From 94cae1572d49660de12f4406f5535225e4975030 Mon Sep 17 00:00:00 2001 From: asun121 Date: Wed, 30 Apr 2025 14:33:16 -0400 Subject: [PATCH 1/4] Decreased timer period for teensy, algo; Changed sail trimming to reflect no-go zone; Change rudder calculation to slightly better behavior --- src/sailboat_launch/config/config.yaml | 2 +- src/sailboat_launch/config/config_sim.yaml | 2 +- .../sailboat_main/main_algo/main_algo.py | 39 ++++++++++++++++--- .../sailboat_main/teensy/teensy_node.py | 2 +- .../sailboat_main/trim_sail/trim_sail.py | 8 ++-- 5 files changed, 41 insertions(+), 12 deletions(-) diff --git a/src/sailboat_launch/config/config.yaml b/src/sailboat_launch/config/config.yaml index 4c953e0..37c0ac1 100644 --- a/src/sailboat_launch/config/config.yaml +++ b/src/sailboat_launch/config/config.yaml @@ -5,7 +5,7 @@ sailbot: #Namespace teensy: ros__parameters: - teensy_port: "/dev/serial/by-id/usb-Teensyduino_USB_Serial_16089010-if00" + teensy_port: "/dev/serial/by-id/usb-Teensyduino_USB_Serial_15675220-if00" simulated: false vectornav: diff --git a/src/sailboat_launch/config/config_sim.yaml b/src/sailboat_launch/config/config_sim.yaml index 167e9ce..91d1518 100644 --- a/src/sailboat_launch/config/config_sim.yaml +++ b/src/sailboat_launch/config/config_sim.yaml @@ -24,6 +24,6 @@ sailbot: #Namespace main_algo: ros__parameters: - tacking_buffer: 1 + tacking_buffer: 15 debug: True diff --git a/src/sailboat_main/sailboat_main/main_algo/main_algo.py b/src/sailboat_main/sailboat_main/main_algo/main_algo.py index 45a9959..712ccc1 100644 --- a/src/sailboat_main/sailboat_main/main_algo/main_algo.py +++ b/src/sailboat_main/sailboat_main/main_algo/main_algo.py @@ -96,7 +96,7 @@ class MainAlgo(Node): def __init__(self): super().__init__('main_algo') - self.declare_parameter('timer_period', 0.500) + self.declare_parameter('timer_period', 0.2500) self.timer_period = self.get_parameter('timer_period').value self.declare_parameter('tacking_buffer', 15) @@ -105,9 +105,12 @@ def __init__(self): self.declare_parameter("debug", False) self.debug = self.get_parameter("debug").value - self.declare_parameter("no_go_zone", 45) + self.declare_parameter("no_go_zone", 50) self.no_go_zone = self.get_parameter("no_go_zone").value + self.declare_parameter("neutral_zone", 20) + self.neutral_zone = self.get_parameter("neutral_zone").value + self.tack_time_tracker = 0 #Subscription for current location @@ -294,15 +297,24 @@ def calculate_rudder_angle(self): self.get_logger().info(f'Heading Difference: {diff}') self.diff = diff - if(not self.in_nogo()): + # if(not self.in_nogo() or np.absolute(self.neutral_zone) < 10 ): + # rudder_angle = (diff / 180.0) * 25 + # else: + # rudder_angle = np.sign(diff) * 25 # max rudder angle if we are in nogo zone + + # THIS RUDDER LOGIC IS TEMPORARY + # This will set the rudder to a small angle in the neutral zone, and a large angle in the no-go zone and medium angle elsewhere + if(np.absolute(diff) < self.neutral_zone ): rudder_angle = (diff / 180.0) * 25 - else: + elif(self.in_nogo()): rudder_angle = np.sign(diff) * 25 # max rudder angle if we are in nogo zone + else: + rudder_angle = np.sign(diff) * 15 # medium rudder angle otherwise (this will help maintain speed pre tack) self.get_logger().info(f'Rudder Angle Raw: {rudder_angle}') # Assuming rudder_angle is a floating-point number and you want it to be an Int32 message - rudder_angle = np.floor(rudder_angle / 5) * 5 # Floor the angle to the nearest multiple of 5 + rudder_angle = np.floor(rudder_angle) # Floor the angle rudder_angle = int(rudder_angle) # Convert to int since Int32 requires an integer value self.get_logger().info(f'Rudder Angle: {rudder_angle}') @@ -321,6 +333,23 @@ def in_nogo(self): if self.wind_dir is None: return False return (150 < self.wind_dir < 210) + + def waypoint_in_nogo(self): + """ + Check if the waypoint is in nogo zone based on the wind direction + """ + if self.curr_dest is None or self.wind_dir is None or self.curr_loc is None: + return False + + x_distance = self.curr_dest.easting - self.curr_loc.easting + y_distance = self.curr_dest.northing - self.curr_loc.northing + + target_bearing = np.arctan2(y_distance, x_distance) * 180 / np.pi + diff = np.mod(self.heading_dir - target_bearing + 180, 360) - 180 + + self.get_logger().info(f'NOGO Zone Check: {diff}') + + return ((self.wind_dir - self.no_go_zone) % 360 < diff < (self.wind_dir + self.no_go_zone) % 360) def calculateTP(self) -> UTMPoint: """ diff --git a/src/sailboat_main/sailboat_main/teensy/teensy_node.py b/src/sailboat_main/sailboat_main/teensy/teensy_node.py index 91f8021..7a6b272 100644 --- a/src/sailboat_main/sailboat_main/teensy/teensy_node.py +++ b/src/sailboat_main/sailboat_main/teensy/teensy_node.py @@ -26,7 +26,7 @@ def __init__(self): self.declare_parameter('simulated', False) # teensy sends data every 0.5s, chose .25s read period to avoid overflow - self.declare_parameter('rx_period', 0.500) + self.declare_parameter('rx_period', 0.2500) # get parameters self.timer_period = self.get_parameter('rx_period').value diff --git a/src/sailboat_main/sailboat_main/trim_sail/trim_sail.py b/src/sailboat_main/sailboat_main/trim_sail/trim_sail.py index ba4bfc5..3bd116b 100644 --- a/src/sailboat_main/sailboat_main/trim_sail/trim_sail.py +++ b/src/sailboat_main/sailboat_main/trim_sail/trim_sail.py @@ -46,10 +46,10 @@ def setSail(self, windDir): # sets a 20 degree buffer zone so that the sail does not always flip. if 0 <= windDir < 10 or 350 < windDir < 360: return 90 - elif 210 < windDir <= 350: - return round(((7/15)*windDir - 80)/5)*5 - elif 10 <= windDir < 150: - return round(((7/15)*windDir - 88)/5)*5 + elif 225 < windDir <= 350: + return round(((18/25)*windDir - 162)/5)*5 + elif 10 <= windDir < 135: + return round((-(18/25)*windDir + 97.2)/5)*5 # these were calculated by finding the line of the linear map for the sail angle # no go zone (150 <= cWindDir <= 210) else: return 0 From d8328c030d93496f789280a23f7ec77f2a50cd03 Mon Sep 17 00:00:00 2001 From: asun121 Date: Wed, 30 Apr 2025 14:33:53 -0400 Subject: [PATCH 2/4] config change --- src/sailboat_launch/config/config.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/sailboat_launch/config/config.yaml b/src/sailboat_launch/config/config.yaml index 37c0ac1..5b43ce7 100644 --- a/src/sailboat_launch/config/config.yaml +++ b/src/sailboat_launch/config/config.yaml @@ -19,7 +19,7 @@ sailbot: #Namespace main_algo: ros__parameters: - tacking_buffer: 10 + tacking_buffer: 20 debug: True From 772b8130006d4be002630112f1904675beecfb21 Mon Sep 17 00:00:00 2001 From: asun121 Date: Thu, 1 May 2025 15:56:47 -0400 Subject: [PATCH 3/4] lake test changes --- nohup.out | 226974 +++++++++++++++ .../sailboat_main/main_algo/main_algo.py | 4 +- 2 files changed, 226977 insertions(+), 1 deletion(-) create mode 100644 nohup.out diff --git a/nohup.out b/nohup.out new file mode 100644 index 0000000..3ee4ec4 --- /dev/null +++ b/nohup.out @@ -0,0 +1,226974 @@ +[INFO] [launch]: All log files can be found below /home/cusail/.ros/log/2025-04-30-14-05-35-366855-cusail-WI-6-5602 +[INFO] [launch]: Default logging verbosity is set to INFO +[INFO] [vectornav-1]: process started with pid [5603] +[INFO] [teensy-2]: process started with pid [5605] +[INFO] [main_algo-3]: process started with pid [5607] +[INFO] [trim_sail-4]: process started with pid [5609] +[INFO] [waypoint_service-5]: process started with pid [5611] +[INFO] [radio-6]: process started with pid [5613] +[INFO] [mux-7]: process started with pid [5621] +[INFO] [rosbridge_websocket-8]: process started with pid [5623] +[teensy-2] [INFO] [1746036335.897584297] [sailbot.teensy]: Real mode enabled. Serial communication on /dev/serial/by-id/usb-Teensyduino_USB_Serial_15675220-if00. +[vectornav-1] [INFO] [1746036336.226826623] [sailbot.vectornav]: Launching Vectornav with real data +[waypoint_service-5] [WARN] [1746036336.326340806] [sailbot.waypoint_service]: No waypoints to publish +[waypoint_service-5] [INFO] [1746036336.326979921] [sailbot.waypoint_service]: Navigate service started +[rosbridge_websocket-8] [INFO] [1746036336.369518792] [rosbridge_websocket]: Rosbridge WebSocket server started on port 9090 +[main_algo-3] [INFO] [1746036336.396157473] [sailbot.main_algo]: Main-algo started successfully +[teensy-2] [INFO] [1746036336.413235406] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036336.414393088] [sailbot.teensy]: Wind angle: 89 +[teensy-2] [INFO] [1746036336.415100997] [sailbot.teensy]: Actual sail angle: 60 +[teensy-2] [INFO] [1746036336.416045803] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036336.416851377] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036336.431255165] [sailbot.mux]: algo sail angle: 45 +[trim_sail-4] [INFO] [1746036336.431326536] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746036336.468476845] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036336.469051956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036336.568433184] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036336.569167072] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036336.643676305] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036336.644944108] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (317.94, -1.328, 5.556) +[mux-7] [INFO] [1746036336.668481919] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036336.669002340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036336.768999395] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036336.769807352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036336.868866728] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036336.869586374] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036336.914396214] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036336.916324571] [sailbot.teensy]: Wind angle: 90 +[trim_sail-4] [INFO] [1746036336.916956974] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746036336.917340321] [sailbot.teensy]: Actual sail angle: 60 +[mux-7] [INFO] [1746036336.917532394] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036336.917802401] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036336.918156243] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036336.968772460] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036336.969327502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036337.068856557] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036337.069493247] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036337.142292982] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036337.143341589] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (317.961, -1.329, 5.54) +[mux-7] [INFO] [1746036337.168722264] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036337.169247062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036337.269002350] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036337.269556072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036337.368852619] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036337.369396522] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036337.414230836] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036337.415945410] [sailbot.teensy]: Wind angle: 89 +[trim_sail-4] [INFO] [1746036337.416645369] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746036337.416898809] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746036337.417100002] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036337.417776197] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036337.418625824] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036337.468856040] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036337.469546895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036337.568891752] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036337.569563082] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036337.642414089] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036337.643475375] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (317.985, -1.33, 5.56) +[mux-7] [INFO] [1746036337.668689549] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036337.669445581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036337.768916977] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036337.769608220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036337.868972869] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036337.869783656] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036337.914766250] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036337.917062128] [sailbot.teensy]: Wind angle: 90 +[trim_sail-4] [INFO] [1746036337.917795350] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746036337.918009315] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746036337.918041749] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036337.918404744] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036337.918757492] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036337.968854323] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036337.969538302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036338.068774224] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036338.069044678] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036338.143433227] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036338.144814716] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.01099999999997, -1.325, 5.559) +[mux-7] [INFO] [1746036338.168907249] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036338.169629090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036338.268634072] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036338.269296981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036338.368669857] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036338.368933161] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036338.414672877] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036338.416943499] [sailbot.teensy]: Wind angle: 90 +[trim_sail-4] [INFO] [1746036338.417599341] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746036338.418114610] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746036338.418234874] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036338.418611420] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036338.418963806] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036338.468981884] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036338.469631422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036338.568945630] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036338.569665490] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036338.643551450] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036338.644979012] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.029, -1.327, 5.624) +[mux-7] [INFO] [1746036338.668818204] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036338.669378645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036338.768861914] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036338.769462942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036338.869069313] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036338.869705534] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036338.914397766] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036338.916317545] [sailbot.teensy]: Wind angle: 89 +[trim_sail-4] [INFO] [1746036338.916899031] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746036338.917309346] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746036338.917506287] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036338.918058791] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036338.918404205] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036338.969014945] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036338.969634292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036339.068707324] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036339.069247318] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036339.142600451] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036339.143749233] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.06, -1.337, 5.593) +[mux-7] [INFO] [1746036339.168588966] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036339.169144323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036339.268636722] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036339.269186179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036339.368770587] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036339.369362342] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036339.414630383] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036339.416858800] [sailbot.teensy]: Wind angle: 90 +[trim_sail-4] [INFO] [1746036339.417411408] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746036339.417794851] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746036339.417842416] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036339.418201786] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036339.418613651] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036339.468640640] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036339.469120771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036339.568935031] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036339.569532261] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036339.643652140] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036339.644914528] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.082, -1.335, 5.613) +[mux-7] [INFO] [1746036339.669037452] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036339.669642963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036339.768817096] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036339.769485843] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036339.868799644] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036339.869421164] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036339.914505673] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036339.916570281] [sailbot.teensy]: Wind angle: 90 +[trim_sail-4] [INFO] [1746036339.917176785] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746036339.917605163] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746036339.917654525] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036339.918571185] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036339.919502358] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036339.968774145] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036339.969482386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036340.068798518] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036340.069456478] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036340.143139954] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036340.144804591] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.13800000000003, -1.33, 6.033) +[mux-7] [INFO] [1746036340.168547787] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036340.169290753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036340.269026574] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036340.269660235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036340.368654234] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036340.369306985] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036340.414242310] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036340.416071447] [sailbot.teensy]: Wind angle: 89 +[trim_sail-4] [INFO] [1746036340.416747129] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746036340.417014178] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746036340.417215505] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036340.417745000] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036340.418086248] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036340.468699096] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036340.469310819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036340.568863375] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036340.569338506] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036340.642389963] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036340.643437838] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.15, -1.316, 6.052) +[mux-7] [INFO] [1746036340.668657322] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036340.669147068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036340.768913882] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036340.769439312] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036340.869083951] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036340.869685383] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036340.914771659] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746036340.917783897] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746036340.918372375] [sailbot.teensy]: Wind angle: 89 +[mux-7] [INFO] [1746036340.918490470] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036340.919502598] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746036340.920370964] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036340.921216522] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036340.968904759] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036340.969480198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036341.068990492] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036341.069741302] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036341.143239577] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036341.144850722] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.156, -1.341, 5.997) +[mux-7] [INFO] [1746036341.168664203] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036341.169405546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036341.268856804] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036341.269577690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036341.368968487] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036341.369690584] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036341.414716221] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746036341.417618244] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746036341.417714246] [sailbot.teensy]: Wind angle: 89 +[mux-7] [INFO] [1746036341.418168652] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036341.418434346] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746036341.418804744] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036341.419123780] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036341.468778568] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036341.469498271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036341.568683880] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036341.569331551] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036341.643034022] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036341.644623648] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.149, -1.329, 6.016) +[mux-7] [INFO] [1746036341.668554826] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036341.669226664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036341.768911244] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036341.769565187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036341.868715100] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036341.871640890] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036341.913687526] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746036341.915568399] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746036341.916023513] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036341.916707547] [sailbot.teensy]: Wind angle: 89 +[teensy-2] [INFO] [1746036341.917905902] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746036341.918834367] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036341.919701836] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036341.968146853] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036341.968617195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036342.068736612] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036342.069405708] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036342.143532542] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036342.145215718] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.151, -1.332, 6.024) +[mux-7] [INFO] [1746036342.168721697] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036342.169414433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036342.269128506] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036342.269915362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036342.368804859] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036342.369518351] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036342.414717968] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746036342.417661371] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746036342.418361048] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036342.418672884] [sailbot.teensy]: Wind angle: 90 +[teensy-2] [INFO] [1746036342.419739345] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746036342.420596373] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036342.421414832] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036342.468433876] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036342.469054604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036342.568883034] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036342.569619099] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036342.643582157] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036342.645009038] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.147, -1.301, 6.061) +[mux-7] [INFO] [1746036342.668932104] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036342.669684969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036342.768898347] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036342.769615375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036342.868966545] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036342.869744107] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036342.914814689] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746036342.917836433] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746036342.918394742] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036342.918438066] [sailbot.teensy]: Wind angle: 89 +[teensy-2] [INFO] [1746036342.919547162] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746036342.920469744] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036342.921414440] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036342.968768979] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036342.969466304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036343.068644341] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036343.069344566] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036343.143142080] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036343.144431042] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.15999999999997, -1.275, 6.058) +[mux-7] [INFO] [1746036343.168495946] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036343.169162440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036343.268997563] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036343.269644473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036343.368703003] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036343.369363398] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036343.414205122] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036343.415979787] [sailbot.teensy]: Wind angle: 89 +[trim_sail-4] [INFO] [1746036343.416493443] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746036343.416968652] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746036343.417018518] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036343.417947762] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036343.418863526] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036343.468789794] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036343.469509908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036343.569021146] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036343.569781218] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036343.644163954] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036343.645924044] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.15700000000004, -1.289, 6.054) +[mux-7] [INFO] [1746036343.668975938] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036343.669683321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036343.768807547] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036343.769427262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036343.868911528] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036343.869655033] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036343.914838969] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036343.917293280] [sailbot.teensy]: Wind angle: 88 +[trim_sail-4] [INFO] [1746036343.917798830] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746036343.918409973] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746036343.918410863] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036343.919446607] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036343.920329936] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036343.968859314] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036343.969493413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036344.068706015] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036344.069414617] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036344.143297080] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036344.144467463] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.148, -1.258, 6.045) +[mux-7] [INFO] [1746036344.168599278] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036344.169233178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036344.268827520] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036344.269568704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036344.368875680] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036344.369556883] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036344.414197112] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036344.416165860] [sailbot.teensy]: Wind angle: 89 +[trim_sail-4] [INFO] [1746036344.416471083] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746036344.417100728] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746036344.417918061] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036344.417975120] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036344.418850324] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036344.468704379] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036344.469250666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036344.569015963] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036344.569487774] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036344.643328572] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036344.644891818] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.163, -1.249, 6.037) +[mux-7] [INFO] [1746036344.668810666] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036344.669318121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036344.769110336] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036344.769873997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036344.869117937] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036344.869987555] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036344.914729760] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746036344.917682517] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746036344.918289601] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036344.918381783] [sailbot.teensy]: Wind angle: 89 +[teensy-2] [INFO] [1746036344.919484482] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746036344.920388199] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036344.921339504] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036344.968658860] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036344.969236227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036345.068950405] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036345.069694939] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036345.143580847] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036345.145004760] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.082, -1.323, 5.871) +[mux-7] [INFO] [1746036345.168577583] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036345.169195806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036345.268978793] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036345.269701863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036345.368874512] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036345.369605434] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036345.414288816] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036345.416133071] [sailbot.teensy]: Wind angle: 89 +[trim_sail-4] [INFO] [1746036345.416527648] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746036345.417067498] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036345.417144759] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746036345.418116148] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036345.418987405] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036345.468785230] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036345.469483458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036345.568919067] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036345.569633611] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036345.642685236] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036345.643856795] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.07, -1.33, 5.741) +[mux-7] [INFO] [1746036345.668693912] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036345.669451219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036345.769046438] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036345.769873214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036345.869101213] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036345.869924753] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036345.914768323] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746036345.917659490] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746036345.917796098] [sailbot.teensy]: Wind angle: 89 +[mux-7] [INFO] [1746036345.917877068] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036345.918226320] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746036345.918798846] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036345.919761565] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036345.968974197] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036345.969474515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036346.069209582] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036346.069803039] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036346.143468712] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036346.145125342] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.06, -1.324, 5.555) +[mux-7] [INFO] [1746036346.168896477] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036346.169523792] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036346.268986432] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036346.269517441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036346.369134755] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036346.369741651] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036346.414974585] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036346.417635701] [sailbot.teensy]: Wind angle: 89 +[trim_sail-4] [INFO] [1746036346.417833889] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746036346.418053938] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746036346.418102529] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036346.418450509] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036346.418812473] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036346.468915260] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036346.469653288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036346.568737031] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036346.569298957] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036346.643302817] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036346.644625082] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.072, -1.327, 5.569) +[mux-7] [INFO] [1746036346.668789033] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036346.669402051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036346.769036512] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036346.769782148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036346.868615277] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036346.869227525] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036346.914059111] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036346.916010827] [sailbot.teensy]: Wind angle: 89 +[trim_sail-4] [INFO] [1746036346.916454261] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746036346.917138585] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036346.917314974] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746036346.918189340] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036346.919014939] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036346.968707025] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036346.969287580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036347.068939152] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036347.069609862] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036347.143201150] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036347.144860129] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.105, -1.321, 5.576) +[mux-7] [INFO] [1746036347.168586062] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036347.169191204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036347.269037611] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036347.269875380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036347.369066343] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036347.369861596] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036347.414849905] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746036347.418168188] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746036347.418225974] [sailbot.teensy]: Wind angle: 89 +[mux-7] [INFO] [1746036347.418971072] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036347.419383209] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746036347.420273951] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036347.421097067] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036347.468867166] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036347.469402087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036347.568933025] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036347.569640843] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036347.643292411] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036347.644838138] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.135, -1.315, 5.681) +[mux-7] [INFO] [1746036347.668690735] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036347.669376289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036347.768914796] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036347.769471131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036347.868806678] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036347.869354362] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036347.914119686] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036347.915851618] [sailbot.teensy]: Wind angle: 89 +[trim_sail-4] [INFO] [1746036347.916533115] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746036347.916781723] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746036347.917046463] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036347.917684071] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036347.918532114] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036347.968940641] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036347.969593583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036348.068703465] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036348.069342342] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036348.142415960] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036348.143518117] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.171, -1.295, 6.013) +[mux-7] [INFO] [1746036348.168847745] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036348.169538229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036348.268770387] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036348.269358180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036348.369139886] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036348.369852926] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036348.414536410] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746036348.417408619] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746036348.417432542] [sailbot.teensy]: Wind angle: 89 +[teensy-2] [INFO] [1746036348.418384278] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746036348.418503091] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036348.419176371] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036348.419570031] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036348.468899029] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036348.469624544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036348.568981762] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036348.569671786] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036348.643270289] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036348.644908822] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.216, -1.307, 5.809) +[mux-7] [INFO] [1746036348.668725819] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036348.669427864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036348.768859471] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036348.769541539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036348.868659702] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036348.869344543] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036348.914886507] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746036348.917848405] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746036348.918035495] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036348.918078927] [sailbot.teensy]: Wind angle: 89 +[teensy-2] [INFO] [1746036348.918495974] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746036348.919105909] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036348.919823157] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036348.968961467] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036348.969578817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036349.068833777] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036349.069449844] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036349.143502769] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036349.144830351] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.275, -1.31, 5.582) +[mux-7] [INFO] [1746036349.168852193] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036349.169495577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036349.268947537] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036349.269639443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036349.368984289] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036349.369657058] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036349.414057205] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036349.415846539] [sailbot.teensy]: Wind angle: 93 +[trim_sail-4] [INFO] [1746036349.416460575] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746036349.416798327] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746036349.417701812] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746036349.418206429] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746036349.418549972] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036349.468766534] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036349.469398249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036349.569223267] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036349.570036932] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036349.643378752] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036349.644894362] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.38, -1.305, 5.583) +[mux-7] [INFO] [1746036349.669022317] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036349.669820021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036349.768880061] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036349.769515969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036349.868309939] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746036349.868782633] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036349.913150337] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036349.913861800] [sailbot.teensy]: Wind angle: 170 +[teensy-2] [INFO] [1746036349.914265484] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746036349.914330265] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746036349.914658195] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036349.915056233] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036349.915523016] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746036349.968689931] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746036349.969183583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036350.069022746] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746036350.069603520] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036350.143351338] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036350.145033446] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.514, -1.305, 5.571) +[mux-7] [INFO] [1746036350.169077201] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746036350.169609652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036350.269032747] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746036350.269475693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036350.369238619] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746036350.369815175] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036350.414773459] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036350.417089519] [sailbot.teensy]: Wind angle: 203 +[trim_sail-4] [INFO] [1746036350.417588635] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746036350.417799339] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746036350.418260662] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746036350.418634916] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036350.418944989] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036350.468930019] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746036350.469530315] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036350.569034487] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746036350.569508087] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036350.643031564] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036350.644656734] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.522, -1.31, 5.569) +[mux-7] [INFO] [1746036350.668874590] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746036350.669436869] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036350.769488481] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746036350.770100647] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036350.869180556] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746036350.869868098] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036350.914658065] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036350.916874493] [sailbot.teensy]: Wind angle: 242 +[trim_sail-4] [INFO] [1746036350.917856523] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746036350.918017963] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746036350.918409270] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746036350.918451090] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746036350.918789852] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036350.968746649] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746036350.969379677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036351.068994403] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746036351.069706907] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036351.142582385] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036351.143615117] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.525, -1.311, 5.568) +[mux-7] [INFO] [1746036351.168484048] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746036351.169136345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036351.269031562] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746036351.269682117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036351.369012705] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746036351.369761990] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036351.414686791] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036351.417009840] [sailbot.teensy]: Wind angle: 141 +[trim_sail-4] [INFO] [1746036351.417767283] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746036351.418026893] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746036351.418320378] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746036351.418419569] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036351.418807506] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036351.468698992] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746036351.469430655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036351.568931370] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746036351.569598673] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036351.641367895] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036351.641833450] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.531, -1.309, 5.569) +[mux-7] [INFO] [1746036351.668990566] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746036351.669769356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036351.768878200] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746036351.769592648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036351.869049214] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746036351.869827287] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036351.914512620] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036351.917382684] [sailbot.teensy]: Wind angle: 107 +[trim_sail-4] [INFO] [1746036351.917493076] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746036351.917601338] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746036351.917845100] [sailbot.teensy]: Actual sail angle: 35 +[teensy-2] [INFO] [1746036351.918224150] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036351.918558091] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036351.969024414] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746036351.969628023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036352.068553629] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746036352.069248969] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036352.143503098] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036352.145261192] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.533, -1.309, 5.569) +[mux-7] [INFO] [1746036352.168748397] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746036352.169492415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036352.268934944] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746036352.269671995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036352.369046808] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746036352.369808323] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036352.414644708] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746036352.417608800] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746036352.418228259] [sailbot.teensy]: Wind angle: 112 +[teensy-2] [INFO] [1746036352.419156643] [sailbot.teensy]: Actual sail angle: 20 +[mux-7] [INFO] [1746036352.419290628] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746036352.419667815] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036352.420032320] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036352.468621275] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746036352.469235677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036352.569073652] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746036352.569828108] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036352.643844768] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036352.645367682] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.533, -1.312, 5.569) +[mux-7] [INFO] [1746036352.668882327] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746036352.669624930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036352.768947126] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746036352.769564267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036352.869248874] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746036352.870061160] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036352.914544485] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036352.916781398] [sailbot.teensy]: Wind angle: 112 +[trim_sail-4] [INFO] [1746036352.917384913] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746036352.917931276] [sailbot.teensy]: Actual sail angle: 40 +[mux-7] [INFO] [1746036352.918301156] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746036352.918483226] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036352.918859977] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036352.968919533] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746036352.969575604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036353.068841477] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746036353.069517101] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036353.143522291] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036353.144854290] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.53700000000003, -1.315, 5.565) +[mux-7] [INFO] [1746036353.168700120] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746036353.169354136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036353.268487992] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746036353.269107097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036353.368976346] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746036353.369689927] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036353.414507317] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036353.416938137] [sailbot.teensy]: Wind angle: 84 +[trim_sail-4] [INFO] [1746036353.417511447] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746036353.418059090] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746036353.418163209] [sailbot.teensy]: Actual sail angle: 35 +[teensy-2] [INFO] [1746036353.418557502] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036353.418916822] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036353.469021830] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746036353.469686440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036353.568813079] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746036353.569514059] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036353.642454917] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036353.643543611] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.54200000000003, -1.316, 5.566) +[mux-7] [INFO] [1746036353.668599109] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746036353.669276531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036353.768636848] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746036353.769312863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036353.869277609] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746036353.870098888] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036353.914557078] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036353.916847952] [sailbot.teensy]: Wind angle: 59 +[trim_sail-4] [INFO] [1746036353.917556955] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746036353.918226227] [sailbot.teensy]: Actual sail angle: 35 +[mux-7] [INFO] [1746036353.918312035] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746036353.918634663] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036353.919544984] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036353.968885766] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746036353.969586737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036354.069042437] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746036354.069789006] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036354.143639011] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036354.145420754] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.546, -1.317, 5.565) +[mux-7] [INFO] [1746036354.168810874] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746036354.169509037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036354.268691218] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746036354.269337417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036354.368750940] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746036354.369407172] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036354.414808421] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746036354.417814121] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746036354.418092180] [sailbot.teensy]: Wind angle: 351 +[teensy-2] [INFO] [1746036354.419136667] [sailbot.teensy]: Actual sail angle: 50 +[mux-7] [INFO] [1746036354.418481209] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746036354.420126513] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746036354.421020169] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036354.468900631] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746036354.469549945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036354.568850027] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746036354.569573612] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036354.642589294] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036354.643814327] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.54499999999996, -1.317, 5.563) +[mux-7] [INFO] [1746036354.668500863] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746036354.669061623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036354.768950537] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746036354.769625203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036354.868861046] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746036354.869591311] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036354.914726432] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036354.917032761] [sailbot.teensy]: Wind angle: 328 +[teensy-2] [INFO] [1746036354.918177603] [sailbot.teensy]: Actual sail angle: 60 +[trim_sail-4] [INFO] [1746036354.918560914] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746036354.919238562] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746036354.919656617] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746036354.920143619] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036354.968714866] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746036354.969321976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036355.068867278] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746036355.069519401] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036355.143447352] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036355.145223976] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.553, -1.314, 5.573) +[mux-7] [INFO] [1746036355.169007785] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746036355.169623158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036355.268548622] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746036355.269199924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036355.368853165] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746036355.369591399] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746036355.414819322] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746036355.417303700] [sailbot.teensy]: Wind angle: 286 +[teensy-2] [INFO] [1746036355.418476312] [sailbot.teensy]: Actual sail angle: 90 +[trim_sail-4] [INFO] [1746036355.417990838] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746036355.419449238] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746036355.419493176] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746036355.420400254] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746036355.468753444] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746036355.469394227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746036355.568412522] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746036355.568801762] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746036355.642433484] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 +[vectornav-1] [INFO] [1746036355.643582437] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.558,[INFO] [launch]: All log files can be found below /home/cusail/.ros/log/2025-04-30-17-39-38-960820-cusail-WI-6-4345 +[INFO] [launch]: Default logging verbosity is set to INFO +[INFO] [vectornav-1]: process started with pid [4363] +[INFO] [teensy-2]: process started with pid [4365] +[INFO] [main_algo-3]: process started with pid [4367] +[INFO] [trim_sail-4]: process started with pid [4370] +[INFO] [waypoint_service-5]: process started with pid [4372] +[INFO] [radio-6]: process started with pid [4374] +[INFO] [mux-7]: process started with pid [4376] +[INFO] [rosbridge_websocket-8]: process started with pid [4378] +[teensy-2] [INFO] [1746049179.572384548] [sailbot.teensy]: Real mode enabled. Serial communication on /dev/serial/by-id/usb-Teensyduino_USB_Serial_15675220-if00. +[teensy-2] [INFO] [1746049179.834570977] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049179.835293261] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049179.836514745] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049179.836917475] [sailbot.teensy]: Actual tail angle: 0 +[teensy-2] [INFO] [1746049179.837298077] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746049179.858944274] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049179.861269937] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049179.863028319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049179.863235561] [sailbot.mux]: Published sail angle from algo: 90 +[mux-7] [INFO] [1746049179.943686695] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049179.945172258] [sailbot.teensy]: Message sent to servo +[waypoint_service-5] [WARN] [1746049179.978868391] [sailbot.waypoint_service]: No waypoints to publish +[waypoint_service-5] [INFO] [1746049179.980207664] [sailbot.waypoint_service]: Navigate service started +[main_algo-3] [INFO] [1746049179.997671679] [sailbot.main_algo]: Main-algo started successfully +[vectornav-1] [INFO] [1746049180.026788031] [sailbot.vectornav]: Launching Vectornav with real data +[mux-7] [INFO] [1746049180.043629008] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049180.044934013] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049180.084473318] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049180.085168889] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049180.085582857] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049180.085972837] [sailbot.teensy]: Actual tail angle: 0 +[trim_sail-4] [INFO] [1746049180.085823849] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049180.086359605] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049180.086904985] [sailbot.mux]: algo sail angle: 90 +[rosbridge_websocket-8] [INFO] [1746049180.087899749] [rosbridge_websocket]: Rosbridge WebSocket server started on port 9090 +[mux-7] [INFO] [1746049180.143672828] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049180.144300879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049180.243682062] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049180.243963609] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049180.334392908] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049180.335217941] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049180.335751049] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049180.335791010] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049180.336391329] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049180.336951202] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049180.336795610] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049180.343732170] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049180.344171421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049180.443702837] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049180.444074686] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049180.501471294] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973943 Long: -76.50298545 +[vectornav-1] [INFO] [1746049180.501994327] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.91100000000006, -3.312, 9.63) +[mux-7] [INFO] [1746049180.543735314] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049180.544280066] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049180.584392316] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049180.585467751] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049180.585762328] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049180.585958248] [sailbot.teensy]: Wind angle: 0 +[teensy-2] [INFO] [1746049180.586391977] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049180.586751684] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049180.587152577] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049180.643882272] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049180.644050262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049180.743801968] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049180.744293798] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049180.834513972] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049180.835424960] [sailbot.teensy]: Wind angle: 2 +[trim_sail-4] [INFO] [1746049180.835901819] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049180.836039560] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049180.836716653] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049180.837346966] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049180.837599227] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049180.843806637] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049180.844324567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049180.943633854] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049180.944753438] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049181.001369616] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973936 Long: -76.50298547 +[vectornav-1] [INFO] [1746049181.001883466] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.924, -3.312, 9.63) +[mux-7] [INFO] [1746049181.043728082] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049181.044289412] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049181.084453810] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049181.085194149] [sailbot.teensy]: Wind angle: 2 +[teensy-2] [INFO] [1746049181.085610558] [sailbot.teensy]: Actual sail angle: 90 +[trim_sail-4] [INFO] [1746049181.085710993] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049181.086012112] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049181.086402518] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049181.086801296] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049181.143735051] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049181.144049103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049181.243674612] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049181.243982972] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049181.334371210] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049181.335282272] [sailbot.teensy]: Wind angle: 2 +[trim_sail-4] [INFO] [1746049181.335655409] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049181.335850138] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746049181.336128247] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049181.336430084] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049181.337010946] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049181.343661100] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049181.343972452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049181.443737788] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049181.444109268] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049181.501319334] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973915 Long: -76.50298562 +[vectornav-1] [INFO] [1746049181.501777751] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.943, -3.315, 9.637) +[mux-7] [INFO] [1746049181.543821267] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049181.544208128] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049181.584431492] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049181.585376981] [sailbot.teensy]: Wind angle: 1 +[teensy-2] [INFO] [1746049181.586057200] [sailbot.teensy]: Actual sail angle: 90 +[trim_sail-4] [INFO] [1746049181.585823491] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049181.586266128] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049181.586689693] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049181.587320792] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049181.643714080] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049181.644246143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049181.743705888] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049181.744081134] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049181.834374601] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049181.835318625] [sailbot.teensy]: Wind angle: 2 +[trim_sail-4] [INFO] [1746049181.835877910] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049181.835921324] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049181.836572099] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049181.837202949] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049181.837515459] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049181.843830162] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049181.844393981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049181.943669411] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049181.944030642] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049182.001306669] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973932 Long: -76.50298533 +[vectornav-1] [INFO] [1746049182.001797240] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.962, -3.319, 9.631) +[mux-7] [INFO] [1746049182.043730834] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049182.044115502] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049182.084391577] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049182.085230676] [sailbot.teensy]: Wind angle: 0 +[teensy-2] [INFO] [1746049182.085740867] [sailbot.teensy]: Actual sail angle: 90 +[trim_sail-4] [INFO] [1746049182.085624353] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049182.085979408] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049182.086203622] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049182.086693175] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049182.143862223] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049182.144275128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049182.243700697] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049182.244050208] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049182.334402935] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049182.335209165] [sailbot.teensy]: Wind angle: 0 +[teensy-2] [INFO] [1746049182.335843543] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049182.336475541] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049182.337001226] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746049182.335959353] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049182.336843221] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049182.343893151] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049182.344330793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049182.443664282] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049182.443967384] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049182.501332563] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973934 Long: -76.50298551 +[vectornav-1] [INFO] [1746049182.501783692] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.98699999999997, -3.307, 9.634) +[mux-7] [INFO] [1746049182.543761555] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049182.544195816] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049182.584475558] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049182.585344378] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049182.585905777] [sailbot.teensy]: Actual sail angle: 90 +[trim_sail-4] [INFO] [1746049182.585833190] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049182.586149554] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049182.586459920] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049182.587042026] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049182.643838592] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049182.644249481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049182.743687658] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049182.744047511] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049182.834447858] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049182.835148199] [sailbot.teensy]: Wind angle: 356 +[teensy-2] [INFO] [1746049182.835556423] [sailbot.teensy]: Actual sail angle: 90 +[trim_sail-4] [INFO] [1746049182.835464355] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049182.835697481] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049182.835938598] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049182.836350406] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049182.843670942] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049182.843968071] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049182.943686384] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049182.943999572] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049183.001469354] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973946 Long: -76.50298569 +[vectornav-1] [INFO] [1746049183.002092768] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.001, -3.312, 9.635) +[mux-7] [INFO] [1746049183.043684197] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049183.084508092] [sailbot.teensy]: Check telemetry callback entered +[mux-7] [INFO] [1746049183.143605068] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049183.226057362] [sailbot.teensy]: Wind angle: 353 +[trim_sail-4] [INFO] [1746049183.226601242] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049183.226659417] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049183.227308265] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049183.227987304] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049183.228287085] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049183.229758150] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049183.231462811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049183.243606914] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049183.244033801] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049183.334399696] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049183.335148639] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049183.335438447] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049183.335582951] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049183.336005921] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049183.336431064] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049183.336486325] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049183.343647699] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049183.344026721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049183.443658258] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049183.444147731] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049183.501379449] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697395 Long: -76.50298586 +[vectornav-1] [INFO] [1746049183.501841365] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.024, -3.31, 9.647) +[mux-7] [INFO] [1746049183.543660527] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049183.544071934] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049183.584388417] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049183.585413114] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049183.585716810] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049183.586225551] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049183.587205416] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049183.587866425] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049183.588534259] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049183.643768341] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049183.644184897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049183.743739937] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049183.744103331] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049183.834380375] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049183.835098324] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049183.835444659] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049183.835512080] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746049183.835757724] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049183.835903640] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049183.836415184] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049183.843677159] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049183.844000249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049183.943685775] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049183.944005810] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049184.001461281] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973969 Long: -76.5029858 +[vectornav-1] [INFO] [1746049184.002086898] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.034, -3.315, 9.628) +[mux-7] [INFO] [1746049184.043667867] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049184.044001103] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049184.084442243] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049184.085355447] [sailbot.teensy]: Wind angle: 351 +[teensy-2] [INFO] [1746049184.085860203] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049184.086336995] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049184.086830333] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746049184.085805152] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049184.087088351] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049184.143654953] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049184.144716356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049184.243661939] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049184.244056384] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049184.334440261] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049184.335419904] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049184.335962459] [sailbot.teensy]: Actual sail angle: 90 +[trim_sail-4] [INFO] [1746049184.335832019] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049184.336606340] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049184.337166581] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049184.337379183] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049184.343657276] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049184.344074945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049184.443647786] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049184.444015403] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049184.501436314] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974002 Long: -76.5029856 +[vectornav-1] [INFO] [1746049184.502027473] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.66700000000003, -3.31, 9.634) +[mux-7] [INFO] [1746049184.543790468] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049184.544227236] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049184.584530129] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049184.585304347] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049184.585770479] [sailbot.teensy]: Actual sail angle: 90 +[trim_sail-4] [INFO] [1746049184.586092045] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049184.586172299] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049184.586566626] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049184.587437811] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746049184.643661510] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049184.643981191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049184.743634738] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049184.743984646] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049184.834410547] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049184.835293505] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049184.835888743] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049184.836490936] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049184.836046878] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049184.837053948] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049184.837294535] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746049184.843862195] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049184.844436268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049184.943691314] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049184.944023777] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049185.001433237] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973982 Long: -76.50298582 +[vectornav-1] [INFO] [1746049185.001913101] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.59400000000005, -3.307, 9.64) +[mux-7] [INFO] [1746049185.043782477] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049185.044272949] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049185.084507446] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049185.085260798] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746049185.085866177] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049185.086189789] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049185.086197218] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746049185.086650188] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049185.087082276] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049185.143724144] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049185.144131246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049185.243631954] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049185.243976077] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049185.334413824] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049185.335395891] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049185.335961217] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746049185.336629169] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049185.337230998] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746049185.337257254] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049185.337563417] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746049185.343852780] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049185.344298581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049185.443676171] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049185.444064050] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049185.501397162] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973973 Long: -76.5029858 +[vectornav-1] [INFO] [1746049185.501872703] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.60900000000004, -3.303, 9.635) +[mux-7] [INFO] [1746049185.543639001] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049185.544033536] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049185.584420798] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049185.585137818] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049185.585532856] [sailbot.teensy]: Actual sail angle: 85 +[trim_sail-4] [INFO] [1746049185.585527716] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049185.585910894] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049185.586112378] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049185.586321717] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049185.643738581] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049185.644172106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049185.743628197] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049185.744010303] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049185.834421508] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049185.835192232] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049185.835672610] [sailbot.teensy]: Actual sail angle: 85 +[trim_sail-4] [INFO] [1746049185.835601324] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049185.836132666] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049185.836606231] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049185.836805308] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746049185.843555174] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049185.843878152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049185.943631361] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049185.944034397] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049186.003071145] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973976 Long: -76.50298584 +[vectornav-1] [INFO] [1746049186.004328435] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.624, -3.298, 9.636) +[mux-7] [INFO] [1746049186.044936118] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049186.045695207] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049186.085783087] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049186.087969282] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049186.088709705] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049186.089123087] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746049186.090019851] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049186.090038061] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049186.090805146] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049186.147026856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049186.148342337] [sailbot.mux]: Published sail angle from algo: 85 +[mux-7] [INFO] [1746049186.244661331] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049186.245279307] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049186.335523697] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049186.337401055] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049186.337914533] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049186.338493479] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049186.339227992] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746049186.339549197] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049186.339882953] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049186.344450313] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049186.345017161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049186.444776103] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049186.445408547] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049186.503211000] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697399 Long: -76.50298563 +[vectornav-1] [INFO] [1746049186.504638551] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.631, -3.302, 9.623) +[mux-7] [INFO] [1746049186.544887164] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049186.545517334] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049186.585831248] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049186.588573024] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049186.588657974] [sailbot.teensy]: Wind angle: 341 +[mux-7] [INFO] [1746049186.589217424] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049186.589648560] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746049186.590528662] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049186.591334500] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049186.645241853] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049186.645850642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049186.745024007] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049186.745562003] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049186.835924225] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049186.838178037] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049186.838832105] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049186.839772097] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049186.840800728] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746049186.841812987] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049186.842713437] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049186.844306660] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049186.844819367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049186.945470267] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049186.945987870] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049187.002985632] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973962 Long: -76.50298565 +[vectornav-1] [INFO] [1746049187.004329128] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.631, -3.27, 9.555) +[mux-7] [INFO] [1746049187.045198388] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049187.045990791] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049187.084400178] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049187.085140743] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049187.085565576] [sailbot.teensy]: Actual sail angle: 85 +[trim_sail-4] [INFO] [1746049187.085842833] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049187.085958321] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049187.086351459] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049187.086943611] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746049187.143676151] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049187.144064766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049187.243905449] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049187.244403271] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049187.335714202] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049187.337810633] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049187.338621337] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049187.338833597] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746049187.339213421] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049187.339263213] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049187.339568391] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049187.344761432] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049187.345468225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049187.445090735] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049187.445841213] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049187.503431331] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973965 Long: -76.50298561 +[vectornav-1] [INFO] [1746049187.504817630] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.648, -3.268, 9.582) +[mux-7] [INFO] [1746049187.545290838] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049187.546030151] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049187.585622527] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049187.587424613] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049187.588132341] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049187.588435475] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746049187.588669564] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049187.589572432] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049187.590483401] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049187.645093771] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049187.645805567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049187.745045824] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049187.745734700] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049187.835310320] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049187.837082038] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049187.838086601] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746049187.838168075] [sailbot.mux]: algo sail angle: 85 +[trim_sail-4] [INFO] [1746049187.838544889] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049187.838994139] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049187.839483200] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049187.844791346] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049187.845398977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049187.944853340] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049187.945548828] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049188.003072452] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973981 Long: -76.50298554 +[vectornav-1] [INFO] [1746049188.004370437] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.62200000000007, -3.236, 9.53) +[mux-7] [INFO] [1746049188.045318044] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049188.045835588] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049188.085258472] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049188.086916278] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049188.087847595] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746049188.087979666] [sailbot.mux]: algo sail angle: 85 +[trim_sail-4] [INFO] [1746049188.088422152] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049188.088690771] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049188.089055979] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049188.144837930] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049188.145383061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049188.245128434] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049188.245716239] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049188.335888960] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049188.338160433] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049188.338717546] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049188.339035502] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049188.339278428] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746049188.339629724] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049188.340103366] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049188.344496554] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049188.344893457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049188.444950262] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049188.445571363] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049188.503000854] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973971 Long: -76.50298561 +[vectornav-1] [INFO] [1746049188.504343914] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.65200000000004, -3.204, 9.626) +[mux-7] [INFO] [1746049188.545267974] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049188.545933875] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049188.586108290] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049188.588443414] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049188.589284376] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049188.589597563] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746049188.589950393] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049188.590591908] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049188.591512945] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049188.644289108] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049188.644714272] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049188.744926108] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049188.745483243] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049188.835410981] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049188.837319760] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049188.838200479] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049188.838932508] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049188.839430094] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746049188.840341225] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049188.841192605] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049188.844374454] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049188.844931936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049188.945174476] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049188.945852806] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049189.003330319] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973968 Long: -76.50298564 +[vectornav-1] [INFO] [1746049189.004855099] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.65200000000004, -3.2, 9.628) +[mux-7] [INFO] [1746049189.044976690] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049189.045601477] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049189.085360882] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049189.087203373] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049189.087676864] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049189.088108679] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746049189.088716821] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049189.088876208] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049189.089226213] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049189.144374565] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049189.144949767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049189.245336633] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049189.246127968] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049189.336008345] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049189.338441768] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049189.339229817] [sailbot.teensy]: Actual sail angle: 85 +[trim_sail-4] [INFO] [1746049189.339248421] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049189.339493079] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049189.339627435] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049189.340002505] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049189.344520735] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049189.345041336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049189.445500979] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049189.446081336] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049189.503336562] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973976 Long: -76.50298564 +[vectornav-1] [INFO] [1746049189.504901623] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.65599999999995, -3.23, 9.469) +[mux-7] [INFO] [1746049189.544953620] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049189.545547868] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049189.585575052] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049189.587491907] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746049189.587992651] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049189.588443274] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746049189.588473205] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049189.589038462] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049189.589384672] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049189.645147116] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049189.645858212] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049189.745487934] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049189.746174000] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049189.835728848] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049189.837724756] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049189.838759833] [sailbot.teensy]: Actual sail angle: 85 +[trim_sail-4] [INFO] [1746049189.838901876] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049189.839149489] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049189.839223130] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049189.839523097] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049189.844504197] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049189.845056051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049189.944899912] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049189.945526395] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049190.003075163] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973981 Long: -76.50298561 +[vectornav-1] [INFO] [1746049190.004418943] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.688, -3.233, 9.53) +[mux-7] [INFO] [1746049190.045123596] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049190.045715900] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049190.085317542] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049190.086980705] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049190.087548307] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049190.087921989] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746049190.088848080] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049190.089363352] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049190.090291420] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049190.145061878] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049190.145608873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049190.244898141] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049190.245567129] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049190.335524379] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049190.337665537] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049190.338400982] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049190.338818362] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049190.339010208] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746049190.339406945] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049190.339764282] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049190.344263980] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049190.344846788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049190.445321781] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049190.446004813] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049190.502894056] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973986 Long: -76.50298557 +[vectornav-1] [INFO] [1746049190.504183738] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.693, -3.224, 9.53) +[mux-7] [INFO] [1746049190.544817582] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049190.545541027] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049190.585329217] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049190.586972170] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049190.587884199] [sailbot.teensy]: Actual sail angle: 85 +[trim_sail-4] [INFO] [1746049190.588653685] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049190.588772383] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049190.589687344] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049190.590325134] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746049190.644929879] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049190.645507744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049190.745329233] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049190.745893729] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049190.835396311] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049190.837157717] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049190.837793126] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049190.838119954] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746049190.838886124] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049190.838986156] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049190.839816445] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049190.844322994] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049190.844928654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049190.945043718] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049190.945626753] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049191.003211573] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973967 Long: -76.50298534 +[vectornav-1] [INFO] [1746049191.004673547] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.679, -3.201, 9.533) +[mux-7] [INFO] [1746049191.045126215] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049191.045873263] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049191.085341597] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049191.087059117] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049191.087800390] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049191.087971317] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746049191.088192755] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049191.088885328] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049191.089740646] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049191.144891468] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049191.145480602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049191.245074614] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049191.245705053] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049191.335341618] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049191.337849053] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049191.338523750] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049191.339609284] [sailbot.teensy]: Wind angle: 346 +[teensy-2] [INFO] [1746049191.340729055] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746049191.341651872] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049191.342542814] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049191.345278640] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049191.345795425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049191.444059044] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049191.444496456] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049191.502620027] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973975 Long: -76.50298531 +[vectornav-1] [INFO] [1746049191.503727239] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.698, -3.199, 9.549) +[mux-7] [INFO] [1746049191.545040194] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049191.545774210] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049191.585230684] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049191.586697831] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049191.587195659] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049191.587577305] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746049191.588474630] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049191.588511221] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049191.589333628] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049191.645478845] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049191.646242964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049191.745317749] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049191.745743043] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049191.835860953] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049191.838042507] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049191.838542384] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049191.839105592] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746049191.839879399] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049191.840015069] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049191.840919465] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049191.844329940] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049191.844920929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049191.944963293] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049191.945645504] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049192.003137654] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973964 Long: -76.50298515 +[vectornav-1] [INFO] [1746049192.004513578] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.696, -3.227, 9.444) +[mux-7] [INFO] [1746049192.045010421] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049192.045715905] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049192.085413461] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049192.087304809] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049192.087927672] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049192.088279212] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746049192.088623455] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049192.089152599] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049192.089980861] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049192.144704333] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049192.145291103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049192.245177199] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049192.245909441] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049192.335414742] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049192.337333396] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049192.338164434] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049192.338315553] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746049192.339117389] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049192.339128655] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049192.339492251] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049192.344313608] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049192.344947950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049192.445098049] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049192.445831604] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049192.502468303] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973964 Long: -76.50298508 +[vectornav-1] [INFO] [1746049192.503455311] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.722, -3.292, 9.564) +[mux-7] [INFO] [1746049192.544986900] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049192.545647688] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049192.585482934] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049192.587364605] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049192.587931739] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049192.588379386] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746049192.588496302] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049192.589311510] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049192.590173152] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049192.645098689] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049192.645893186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049192.745202808] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049192.745813215] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049192.835460997] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049192.837799382] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049192.837999794] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049192.838251410] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049192.839023106] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049192.839602467] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049192.839998635] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049192.844420061] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049192.844899072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049192.945080159] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049192.945701885] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049193.003034651] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973962 Long: -76.50298494 +[vectornav-1] [INFO] [1746049193.004570548] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.736, -3.294, 9.553) +[mux-7] [INFO] [1746049193.045043589] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049193.045759097] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049193.085548193] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049193.087864996] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049193.087918236] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049193.088569075] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049193.088884312] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049193.089751235] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049193.090571640] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049193.144948422] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049193.145544068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049193.245080819] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049193.245741381] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049193.335911890] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049193.338718862] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049193.338744605] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049193.339003828] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049193.339144067] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049193.339535580] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049193.339896635] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049193.344405064] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049193.344815437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049193.445172767] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049193.445804681] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049193.503106990] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973947 Long: -76.50298499 +[vectornav-1] [INFO] [1746049193.504512038] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.74800000000005, -3.286, 9.571) +[mux-7] [INFO] [1746049193.545158039] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049193.545727010] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049193.585658474] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049193.588060717] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049193.588333582] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049193.588809809] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049193.589221697] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049193.589727155] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049193.590030002] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049193.645059153] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049193.645701911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049193.745202175] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049193.745934408] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049193.835428220] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049193.837315629] [sailbot.teensy]: Wind angle: 358 +[trim_sail-4] [INFO] [1746049193.837829194] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049193.838298611] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746049193.838502869] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049193.839183917] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049193.840089477] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049193.844299969] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049193.844825922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049193.944716791] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049193.945366508] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049194.003018794] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973944 Long: -76.50298486 +[vectornav-1] [INFO] [1746049194.004504278] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.76800000000003, -3.287, 9.572) +[mux-7] [INFO] [1746049194.044896938] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746049194.045500673] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049194.085452644] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049194.087365197] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049194.087800400] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049194.088340937] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746049194.088733657] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049194.088847178] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049194.089217252] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049194.145049350] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049194.145587228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049194.245022328] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049194.245678875] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049194.335473022] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049194.337220903] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049194.338126263] [sailbot.teensy]: Actual sail angle: 90 +[trim_sail-4] [INFO] [1746049194.337801108] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049194.338315055] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049194.338953123] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049194.339752218] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049194.344227293] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049194.344719853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049194.444943257] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049194.445528943] [sailbot.teensy]: Message sent to servo +[rosbridge_websocket-8] [INFO] [1746049194.496082806] [rosbridge_websocket]: Calling services in existing thread +[rosbridge_websocket-8] [INFO] [1746049194.497304872] [rosbridge_websocket]: Sending action goals in existing thread +[rosbridge_websocket-8] [INFO] [1746049194.499167823] [rosbridge_websocket]: Client connected. 1 clients total. +[vectornav-1] [INFO] [1746049194.502046626] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973944 Long: -76.50298476 +[vectornav-1] [INFO] [1746049194.502924202] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.769, -3.283, 9.567) +[mux-7] [INFO] [1746049194.544823018] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049194.545581444] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049194.585259770] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049194.587404298] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049194.587619043] [sailbot.teensy]: Wind angle: 340 +[mux-7] [INFO] [1746049194.587860689] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049194.588507738] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746049194.589447174] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049194.590034873] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049194.644812244] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049194.645429311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049194.745210811] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049194.745826522] [sailbot.teensy]: Message sent to servo +[rosbridge_websocket-8] [INFO] [1746049194.787087485] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/algo_rudder +[rosbridge_websocket-8] [INFO] [1746049194.790313019] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/algo_sail +[rosbridge_websocket-8] [INFO] [1746049194.794468587] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/control_mode +[rosbridge_websocket-8] [INFO] [1746049194.798022829] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/radio_rudder +[rosbridge_websocket-8] [INFO] [1746049194.801445739] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/radio_sail +[rosbridge_websocket-8] [INFO] [1746049194.804767096] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/rudder_angle +[rosbridge_websocket-8] [INFO] [1746049194.808039866] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/sail +[teensy-2] [INFO] [1746049194.834497208] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049194.835216106] [sailbot.teensy]: Wind angle: 338 +[teensy-2] [INFO] [1746049194.835611236] [sailbot.teensy]: Actual sail angle: 85 +[trim_sail-4] [INFO] [1746049194.835593922] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049194.835995757] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049194.836400886] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049194.836795751] [sailbot.mux]: algo sail angle: 80 +[mux-7] [INFO] [1746049194.843633904] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049194.844071954] [sailbot.teensy]: Message sent to servo +[rosbridge_websocket-8] [INFO] [1746049194.853474784] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /gps +[rosbridge_websocket-8] [INFO] [1746049194.898323011] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /imu +[rosbridge_websocket-8] [INFO] [1746049194.900253039] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/actual_rudder_angle +[rosbridge_websocket-8] [INFO] [1746049194.902122111] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/wind +[rosbridge_websocket-8] [INFO] [1746049194.903876370] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/actual_sail_angle +[rosbridge_websocket-8] [INFO] [1746049194.905865812] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/tacking_point +[rosbridge_websocket-8] [INFO] [1746049194.909798140] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/main_algo_debug +[rosbridge_websocket-8] [INFO] [1746049194.911661896] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/dropped_packets +[rosbridge_websocket-8] [INFO] [1746049194.913612526] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to sailbot/current_waypoint +[waypoint_service-5] [INFO] [1746049194.916482263] [sailbot.waypoint_service]: Received request: command=get, argument= +[mux-7] [INFO] [1746049194.944525251] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049194.945164223] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049195.002843869] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973931 Long: -76.50298466 +[vectornav-1] [INFO] [1746049195.004059720] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.57400000000007, -3.282, 9.582) +[mux-7] [INFO] [1746049195.044920765] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049195.045605977] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049195.085126558] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049195.086754609] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049195.087259292] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049195.087659230] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746049195.088564465] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049195.088885474] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049195.089506952] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049195.145013933] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049195.145761186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049195.245007665] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049195.245718496] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049195.335196939] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049195.337347742] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049195.337789002] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049195.338304152] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049195.339184115] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746049195.340038011] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049195.340913500] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049195.344332929] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049195.344671662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049195.444940828] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049195.445402227] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049195.503136896] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973927 Long: -76.50298448 +[vectornav-1] [INFO] [1746049195.504500834] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.538, -3.281, 9.589) +[mux-7] [INFO] [1746049195.545130723] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049195.545825935] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049195.585497447] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049195.588060051] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049195.588237306] [sailbot.teensy]: Wind angle: 339 +[mux-7] [INFO] [1746049195.588849953] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049195.589179987] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746049195.590083589] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049195.590922720] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049195.645215359] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049195.645848572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049195.745357787] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049195.746009545] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049195.835294900] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049195.837788436] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049195.837857084] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049195.838742492] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746049195.838814449] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049195.839316327] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049195.839671360] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049195.844436985] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049195.844926745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049195.945041754] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049195.945753738] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049196.003353922] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973916 Long: -76.50298431 +[vectornav-1] [INFO] [1746049196.004939011] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.533, -3.286, 9.582) +[mux-7] [INFO] [1746049196.045435055] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049196.045886331] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049196.085429208] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049196.087206454] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049196.088167674] [sailbot.teensy]: Actual sail angle: 80 +[trim_sail-4] [INFO] [1746049196.087906270] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049196.089033496] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049196.089223948] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049196.089924622] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049196.145398445] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049196.146049156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049196.245002300] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049196.245734273] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049196.335545721] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049196.338189034] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049196.339163829] [sailbot.teensy]: Actual sail angle: 85 +[trim_sail-4] [INFO] [1746049196.338220803] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049196.340123629] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049196.341024320] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049196.341071147] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049196.344454557] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049196.345157312] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049196.444804575] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049196.445364708] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049196.503643319] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697392 Long: -76.50298427 +[vectornav-1] [INFO] [1746049196.505030854] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.48900000000003, -3.291, 9.578) +[mux-7] [INFO] [1746049196.544626287] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049196.545070370] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049196.585268361] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049196.587804264] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049196.588120031] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049196.588849440] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049196.590099584] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746049196.590980963] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049196.591866727] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049196.645159043] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049196.645870479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049196.745186009] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049196.745831543] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049196.835700564] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049196.837872966] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049196.838548116] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049196.839891390] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746049196.840597349] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049196.840855055] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049196.841780618] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049196.844277129] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049196.844717403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049196.945036551] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049196.945996823] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049197.003126954] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973925 Long: -76.50298416 +[vectornav-1] [INFO] [1746049197.004673213] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.5, -3.289, 9.581) +[mux-7] [INFO] [1746049197.044983137] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049197.045648402] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049197.085196203] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049197.086794834] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049197.087762490] [sailbot.teensy]: Actual sail angle: 85 +[trim_sail-4] [INFO] [1746049197.088101165] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049197.088681389] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049197.088734191] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049197.089612813] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049197.145299330] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049197.146004391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049197.245327116] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049197.245769139] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049197.335257479] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049197.337480919] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049197.338751684] [sailbot.teensy]: Wind angle: 336 +[mux-7] [INFO] [1746049197.338954354] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049197.339501613] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746049197.339925486] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049197.340311661] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049197.344553770] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049197.345070023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049197.445176222] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049197.445766113] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049197.503571529] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973923 Long: -76.50298408 +[vectornav-1] [INFO] [1746049197.505290683] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.5, -3.29, 9.569) +[mux-7] [INFO] [1746049197.545047538] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049197.545606699] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049197.585567447] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049197.587405346] [sailbot.teensy]: Wind angle: 333 +[trim_sail-4] [INFO] [1746049197.588029139] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049197.588381979] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746049197.589314305] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049197.589675144] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049197.590219440] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049197.645166327] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049197.645806641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049197.745052495] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049197.745680449] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049197.835227060] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049197.837173088] [sailbot.teensy]: Wind angle: 333 +[trim_sail-4] [INFO] [1746049197.837456958] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049197.838073399] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746049197.838927145] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049197.838619512] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049197.839666544] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049197.844352177] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049197.844891739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049197.945004664] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049197.945866702] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049198.002923198] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973928 Long: -76.50298411 +[vectornav-1] [INFO] [1746049198.004338938] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.52, -3.288, 9.565) +[mux-7] [INFO] [1746049198.045241114] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049198.046081965] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049198.085162868] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049198.086753946] [sailbot.teensy]: Wind angle: 333 +[trim_sail-4] [INFO] [1746049198.087306919] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049198.088664444] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049198.089447186] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746049198.090434991] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049198.091301138] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049198.144850555] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049198.145584872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049198.245115286] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049198.245749278] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049198.335389976] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049198.337230265] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049198.338366124] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049198.339148919] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049198.339400467] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746049198.339810237] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049198.340193350] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049198.344597299] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049198.345006913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049198.445076974] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049198.445673644] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049198.502849771] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973922 Long: -76.5029841 +[vectornav-1] [INFO] [1746049198.504032620] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.528, -3.28, 9.575) +[mux-7] [INFO] [1746049198.545102493] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049198.545663437] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049198.585266853] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049198.587536762] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049198.587698600] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049198.588679852] [sailbot.teensy]: Actual sail angle: 80 +[mux-7] [INFO] [1746049198.589189537] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049198.589604697] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049198.590509210] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049198.644761439] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049198.645396690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049198.745431494] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049198.746046254] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049198.835226673] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049198.836935333] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049198.837854689] [sailbot.teensy]: Actual sail angle: 80 +[trim_sail-4] [INFO] [1746049198.837579080] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049198.838721535] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049198.838736075] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049198.839616209] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049198.844403466] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049198.844917121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049198.945045237] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049198.945601437] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049199.002774625] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973923 Long: -76.50298409 +[vectornav-1] [INFO] [1746049199.004380464] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.53700000000003, -3.287, 9.56) +[mux-7] [INFO] [1746049199.045381010] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049199.045945205] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049199.085466898] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049199.087426110] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049199.087996602] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049199.088404096] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746049199.089324028] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049199.089853104] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049199.090177022] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049199.144921956] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049199.145513000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049199.245158206] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049199.245839844] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049199.335435524] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049199.337810520] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049199.338055548] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049199.338762148] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746049199.339680648] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049199.339705367] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049199.340699069] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049199.344481685] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049199.344917050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049199.444986855] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049199.445615861] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049199.502967791] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973925 Long: -76.50298406 +[vectornav-1] [INFO] [1746049199.504255823] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.57899999999995, -3.274, 9.574) +[mux-7] [INFO] [1746049199.544811609] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049199.545401445] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049199.585360850] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049199.586999870] [sailbot.teensy]: Wind angle: 331 +[trim_sail-4] [INFO] [1746049199.587537996] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049199.587872960] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746049199.588651626] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049199.588628105] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049199.589042200] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049199.644829132] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049199.645468069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049199.745162618] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049199.745955633] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049199.835635395] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049199.837718848] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049199.838736320] [sailbot.teensy]: Actual sail angle: 80 +[trim_sail-4] [INFO] [1746049199.838883032] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049199.839631607] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049199.839924538] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049199.840630019] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049199.844479845] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049199.845095643] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049199.945159738] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049199.946213486] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049200.003034384] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973924 Long: -76.50298409 +[vectornav-1] [INFO] [1746049200.005328079] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.576, -3.286, 9.576) +[mux-7] [INFO] [1746049200.044893133] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049200.045774215] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049200.085494426] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049200.087257577] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049200.088306291] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746049200.089173866] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049200.089199245] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049200.089289589] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049200.090095273] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049200.144666763] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049200.145303070] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049200.245022256] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049200.245771333] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049200.334752099] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049200.335974193] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049200.336705970] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746049200.337392720] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049200.338153045] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746049200.336375860] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049200.337488934] [sailbot.mux]: algo sail angle: 80 +[mux-7] [INFO] [1746049200.343980399] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049200.344356577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049200.445384124] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049200.446036905] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049200.503388608] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973935 Long: -76.50298397 +[vectornav-1] [INFO] [1746049200.504750135] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.571, -3.286, 9.582) +[mux-7] [INFO] [1746049200.545250467] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049200.546053216] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049200.585299242] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049200.586999099] [sailbot.teensy]: Wind angle: 331 +[trim_sail-4] [INFO] [1746049200.587708495] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049200.587948183] [sailbot.teensy]: Actual sail angle: 80 +[mux-7] [INFO] [1746049200.588811725] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049200.588986215] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049200.590177289] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049200.645202835] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049200.645878011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049200.744967626] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049200.745678647] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049200.835437169] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049200.837570874] [sailbot.teensy]: Wind angle: 331 +[trim_sail-4] [INFO] [1746049200.838106358] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049200.838579139] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746049200.839498818] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049200.839953903] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049200.840411707] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049200.844635362] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049200.845425073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049200.945298585] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049200.946167072] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049201.002987482] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973935 Long: -76.50298385 +[vectornav-1] [INFO] [1746049201.004096391] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.56600000000003, -3.282, 9.573) +[mux-7] [INFO] [1746049201.044965414] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049201.045625421] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049201.085218207] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049201.087423946] [sailbot.teensy]: Wind angle: 328 +[trim_sail-4] [INFO] [1746049201.087502217] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049201.088661337] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049201.088767333] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049201.089625607] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049201.090576380] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049201.145161658] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049201.146007700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049201.244884545] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049201.245466182] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049201.335222206] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049201.337053663] [sailbot.teensy]: Wind angle: 328 +[trim_sail-4] [INFO] [1746049201.337684911] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049201.338031515] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049201.338919061] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049201.338780681] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049201.339782565] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049201.344458000] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049201.344963091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049201.444896397] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049201.445581683] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049201.502856764] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973946 Long: -76.5029838 +[vectornav-1] [INFO] [1746049201.504146597] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.58000000000004, -3.284, 9.575) +[mux-7] [INFO] [1746049201.544850468] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049201.545557882] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049201.585261816] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049201.586982131] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049201.587919838] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746049201.587924806] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049201.588862108] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049201.589014947] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049201.589751012] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049201.644977611] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049201.645570829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049201.745001633] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746049201.745753252] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049201.835310098] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049201.837637011] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049201.838560104] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746049201.838364816] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049201.838725143] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049201.839019206] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049201.839384821] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049201.844499967] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049201.844946910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049201.945258991] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049201.945869630] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049202.003367649] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697395 Long: -76.50298363 +[vectornav-1] [INFO] [1746049202.004852424] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.57899999999995, -3.283, 9.57) +[mux-7] [INFO] [1746049202.045106336] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746049202.046759298] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049202.085777783] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049202.087786951] [sailbot.teensy]: Wind angle: 326 +[trim_sail-4] [INFO] [1746049202.088540242] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049202.088802962] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746049202.089721506] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049202.090394275] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049202.090608459] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049202.144440439] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049202.146566852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049202.244941645] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049202.245562522] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049202.335559958] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049202.337327414] [sailbot.teensy]: Wind angle: 326 +[trim_sail-4] [INFO] [1746049202.338026255] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049202.339168603] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746049202.339610644] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049202.339788840] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049202.339997962] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049202.344519064] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049202.344843981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049202.445397749] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049202.445930289] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049202.503743700] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973952 Long: -76.5029836 +[vectornav-1] [INFO] [1746049202.505750472] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.58500000000004, -3.284, 9.569) +[mux-7] [INFO] [1746049202.545285755] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049202.545937921] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049202.585549095] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049202.587924923] [sailbot.teensy]: Wind angle: 327 +[trim_sail-4] [INFO] [1746049202.588257077] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049202.588899969] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049202.589103541] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049202.589815505] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049202.590659187] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049202.645039886] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049202.645750025] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049202.744975926] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049202.745583184] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049202.835319943] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049202.837982701] [sailbot.teensy]: Wind angle: 327 +[trim_sail-4] [INFO] [1746049202.838131721] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049202.839017813] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049202.840215655] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049202.841185526] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049202.842034660] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049202.844431511] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049202.844861428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049202.945655304] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049202.946457039] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049203.002886192] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973949 Long: -76.50298366 +[vectornav-1] [INFO] [1746049203.004075430] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.58000000000004, -3.288, 9.57) +[mux-7] [INFO] [1746049203.045220490] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049203.045892892] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049203.085260287] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049203.086990673] [sailbot.teensy]: Wind angle: 330 +[trim_sail-4] [INFO] [1746049203.087662060] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049203.089289353] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049203.089492660] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049203.090499805] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049203.091386440] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049203.145488642] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049203.146266222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049203.245191109] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049203.246082800] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049203.335398122] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049203.337184982] [sailbot.teensy]: Wind angle: 331 +[trim_sail-4] [INFO] [1746049203.338203758] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049203.339546216] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049203.339811734] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049203.340776445] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049203.342034253] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049203.344546320] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049203.345094451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049203.445359760] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746049203.446136793] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049203.502991598] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974023 Long: -76.50298272 +[vectornav-1] [INFO] [1746049203.504739997] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.577, -3.283, 9.564) +[mux-7] [INFO] [1746049203.533675781] [sailbot.mux]: Switched control mode to controller_app +[teensy-2] [INFO] [1746049203.585538559] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049203.587408800] [sailbot.teensy]: Wind angle: 331 +[trim_sail-4] [INFO] [1746049203.587914914] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049203.588428083] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049203.589351041] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049203.590173410] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049203.590294223] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049203.835514170] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049203.837477614] [sailbot.teensy]: Wind angle: 330 +[trim_sail-4] [INFO] [1746049203.837992554] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049203.838488989] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049203.839486117] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049203.840344444] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049203.840412400] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049204.002938249] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697404 Long: -76.50298264 +[vectornav-1] [INFO] [1746049204.004356268] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.581, -3.289, 9.557) +[teensy-2] [INFO] [1746049204.085212834] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049204.087356603] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049204.087953992] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049204.088412171] [sailbot.teensy]: Wind angle: 330 +[teensy-2] [INFO] [1746049204.089636448] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049204.090556730] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049204.091068889] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049204.335446436] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049204.337107405] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049204.337656153] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049204.338024907] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049204.338916149] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049204.339241787] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049204.339760495] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049204.503054942] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974039 Long: -76.50298255 +[vectornav-1] [INFO] [1746049204.505163879] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.60900000000004, -3.305, 9.549) +[teensy-2] [INFO] [1746049204.585263862] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049204.586868999] [sailbot.teensy]: Wind angle: 330 +[trim_sail-4] [INFO] [1746049204.587488395] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049204.588274748] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049204.588955714] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049204.589171894] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049204.590021322] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049204.835543702] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049204.837482927] [sailbot.teensy]: Wind angle: 330 +[trim_sail-4] [INFO] [1746049204.838100195] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049204.838447193] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049204.839370079] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049204.840146086] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049204.840260447] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049205.003095824] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974031 Long: -76.50298255 +[vectornav-1] [INFO] [1746049205.005099607] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.60300000000007, -3.32, 9.562) +[teensy-2] [INFO] [1746049205.085406439] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049205.087067641] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049205.087751216] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049205.087955288] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049205.088809445] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049205.088967041] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049205.089451146] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049205.335320428] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049205.337253190] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049205.337683055] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049205.338500283] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049205.338715196] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049205.339645393] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049205.340530626] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049205.503247429] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974021 Long: -76.50298229 +[vectornav-1] [INFO] [1746049205.504865451] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.621, -3.311, 9.587) +[teensy-2] [INFO] [1746049205.585164173] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049205.587259000] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049205.587347766] [sailbot.teensy]: Wind angle: 338 +[mux-7] [INFO] [1746049205.587742343] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049205.588407238] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049205.589359492] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049205.590191896] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049205.835242068] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049205.837084075] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049205.837588148] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049205.838786310] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049205.838968766] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049205.839368789] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049205.839725508] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049206.004706089] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697401 Long: -76.50298245 +[vectornav-1] [INFO] [1746049206.006261061] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.653, -3.287, 9.6) +[teensy-2] [INFO] [1746049206.085578804] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049206.087920966] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049206.088289660] [sailbot.teensy]: Wind angle: 336 +[mux-7] [INFO] [1746049206.088859384] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049206.089605494] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049206.090655174] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049206.091499249] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049206.335278858] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049206.337031236] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049206.337837895] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049206.337974297] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049206.338879292] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049206.339679741] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049206.340126653] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049206.503721876] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974021 Long: -76.50298161 +[vectornav-1] [INFO] [1746049206.505377584] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.69499999999994, -3.284, 9.595) +[teensy-2] [INFO] [1746049206.585238024] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049206.586774265] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049206.587335591] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049206.587651854] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049206.587884514] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049206.588530499] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049206.589378496] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049206.835538288] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049206.837512280] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049206.838061551] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049206.838485470] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049206.839447387] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049206.839444744] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049206.840468085] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049207.002826192] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974015 Long: -76.50298193 +[vectornav-1] [INFO] [1746049207.004596032] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.736, -3.283, 9.579) +[teensy-2] [INFO] [1746049207.085370243] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049207.087205602] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049207.088131921] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746049207.087901244] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049207.088357934] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049207.089036622] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049207.089966354] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049207.335296112] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049207.337588382] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049207.337718355] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049207.338475556] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049207.338861261] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049207.339250194] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049207.338585035] [sailbot.mux]: algo sail angle: 80 +[vectornav-1] [INFO] [1746049207.502905661] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974015 Long: -76.50298192 +[vectornav-1] [INFO] [1746049207.504241170] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.82400000000007, -3.289, 9.584) +[teensy-2] [INFO] [1746049207.585368239] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049207.587193579] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049207.588115700] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746049207.587740193] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049207.588722096] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049207.589045332] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049207.590292659] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049207.835537535] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049207.838732504] [sailbot.teensy]: Wind angle: 336 +[mux-7] [INFO] [1746049207.838951281] [sailbot.mux]: algo sail angle: 80 +[trim_sail-4] [INFO] [1746049207.839079168] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049207.839363187] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049207.839752339] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049207.840088110] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049208.003542236] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974028 Long: -76.50298193 +[vectornav-1] [INFO] [1746049208.005334076] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.924, -3.279, 9.595) +[teensy-2] [INFO] [1746049208.085442321] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049208.087244721] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049208.087789005] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049208.088187121] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049208.088779048] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049208.089337990] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049208.090229907] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049208.335307623] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049208.337020747] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049208.337525020] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049208.337940385] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049208.337999684] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049208.338862266] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049208.339749170] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049208.503285089] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974028 Long: -76.50298184 +[vectornav-1] [INFO] [1746049208.504658888] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.006, -3.277, 9.59) +[teensy-2] [INFO] [1746049208.585631248] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049208.587908515] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049208.588324464] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049208.588896190] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049208.589155641] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049208.589564342] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049208.589914188] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049208.835199728] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049208.838322413] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049208.838403635] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049208.838414670] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049208.838905968] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049208.839261939] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049208.840039344] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049209.002987657] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974016 Long: -76.50298169 +[vectornav-1] [INFO] [1746049209.004718956] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.086, -3.275, 9.598) +[teensy-2] [INFO] [1746049209.085354050] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049209.087694567] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049209.087902718] [sailbot.teensy]: Wind angle: 342 +[mux-7] [INFO] [1746049209.088438878] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049209.089095476] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049209.090041544] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049209.090866086] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049209.335385911] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049209.337190520] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746049209.337739458] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049209.338105920] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049209.339018246] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049209.339700693] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049209.339885804] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049209.503279488] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974009 Long: -76.50298161 +[vectornav-1] [INFO] [1746049209.505165238] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.16499999999996, -3.281, 9.605) +[teensy-2] [INFO] [1746049209.585402332] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049209.587229353] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049209.588208948] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746049209.587720514] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049209.589115124] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049209.589308995] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049209.590073039] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049209.835326454] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049209.837156818] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049209.837911000] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049209.838943806] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049209.839180049] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049209.839915811] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049209.840959206] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049210.003827183] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974002 Long: -76.50298136 +[vectornav-1] [INFO] [1746049210.005324432] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.27199999999993, -3.29, 9.605) +[teensy-2] [INFO] [1746049210.085744571] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049210.087938984] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049210.088880995] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746049210.088894987] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049210.089142395] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049210.089353000] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049210.089714956] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049210.335456374] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049210.338063111] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049210.338217808] [sailbot.teensy]: Wind angle: 342 +[mux-7] [INFO] [1746049210.338567992] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049210.338900857] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049210.339259452] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049210.339591687] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049210.503814295] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697399 Long: -76.50298121 +[vectornav-1] [INFO] [1746049210.505515319] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.376, -3.302, 9.594) +[teensy-2] [INFO] [1746049210.585394389] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049210.587600633] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049210.587927356] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049210.588213508] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049210.588692656] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049210.589120176] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049210.589456353] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049210.835493961] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049210.837406121] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049210.838310058] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049210.838401384] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049210.839305811] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049210.839802615] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049210.840220152] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049211.003389950] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973953 Long: -76.5029813 +[vectornav-1] [INFO] [1746049211.004759979] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.46500000000003, -3.323, 9.589) +[teensy-2] [INFO] [1746049211.085326614] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049211.087013828] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049211.087901382] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049211.087971815] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049211.088890659] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049211.088976661] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049211.089487502] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049211.335503429] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049211.337431689] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049211.338069460] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049211.338400766] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049211.339323062] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049211.339692833] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049211.340219425] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049211.503305253] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973962 Long: -76.50298153 +[vectornav-1] [INFO] [1746049211.505715805] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.58000000000004, -3.323, 9.603) +[teensy-2] [INFO] [1746049211.585317616] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049211.587077547] [sailbot.teensy]: Wind angle: 334 +[teensy-2] [INFO] [1746049211.587959554] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746049211.587658072] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049211.588069088] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049211.588798743] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049211.589176553] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049211.835455360] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049211.837595584] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049211.838231883] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049211.838974459] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049211.839166024] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049211.839560894] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049211.839876670] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049212.003800871] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697397 Long: -76.50298215 +[vectornav-1] [INFO] [1746049212.005758677] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.683, -3.304, 9.592) +[teensy-2] [INFO] [1746049212.085711267] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049212.087905392] [sailbot.teensy]: Wind angle: 333 +[trim_sail-4] [INFO] [1746049212.088462292] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049212.089690042] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049212.090950214] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049212.091933119] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049212.092782269] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049212.335317597] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049212.337061730] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746049212.338023626] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746049212.338531298] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049212.338917897] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049212.338937622] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049212.339841506] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049212.504008106] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973969 Long: -76.50298218 +[vectornav-1] [INFO] [1746049212.505669348] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.808, -3.309, 9.65) +[teensy-2] [INFO] [1746049212.585612488] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049212.587469188] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746049212.588408177] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746049212.588053169] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049212.588894248] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049212.589651152] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049212.590511348] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049212.835383473] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049212.837054238] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049212.837672991] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049212.838084358] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049212.839234709] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049212.839755969] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049212.840179212] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049213.003229578] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973968 Long: -76.50298201 +[vectornav-1] [INFO] [1746049213.004752126] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.91700000000003, -3.311, 9.63) +[teensy-2] [INFO] [1746049213.085374145] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049213.087060897] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049213.087696228] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049213.087972888] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049213.088879426] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049213.089086581] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049213.089809333] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049213.335186535] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049213.336882187] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049213.337380047] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049213.337920869] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049213.338929869] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049213.339302942] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049213.339639393] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049213.503385649] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973948 Long: -76.50298217 +[vectornav-1] [INFO] [1746049213.504736046] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (263.03600000000006, -3.319, 9.641) +[teensy-2] [INFO] [1746049213.585676863] [sailbot.teensy]: Check telemetry callback entered +[mux-7] [INFO] [1746049213.588807726] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049213.589029990] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746049213.589960740] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746049213.589175477] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049213.590701094] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049213.591056304] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049213.835278333] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049213.837045250] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746049213.837943502] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746049213.837962011] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049213.838881526] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049213.839802485] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049213.840129802] [sailbot.mux]: algo sail angle: 80 +[vectornav-1] [INFO] [1746049214.003825256] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973952 Long: -76.50298215 +[vectornav-1] [INFO] [1746049214.005894378] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (263.182, -3.31, 9.64) +[teensy-2] [INFO] [1746049214.085706890] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049214.087772925] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049214.088497726] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049214.088830981] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049214.089712140] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049214.089777362] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049214.090639540] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049214.335885624] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049214.338817156] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049214.339319194] [sailbot.teensy]: Wind angle: 334 +[teensy-2] [INFO] [1746049214.340498824] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049214.340750836] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049214.341421826] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049214.342329225] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049214.503534664] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697395 Long: -76.50298217 +[vectornav-1] [INFO] [1746049214.505262552] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (263.312, -3.289, 9.649) +[teensy-2] [INFO] [1746049214.585401014] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049214.587392780] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049214.587560224] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049214.588022158] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049214.588432358] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049214.589404877] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049214.590050229] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049214.835490603] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049214.837934676] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049214.837950719] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049214.839189690] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049214.839263410] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049214.840144936] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049214.841060179] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049215.003703811] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973948 Long: -76.50298205 +[vectornav-1] [INFO] [1746049215.005551827] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (263.457, -3.289, 9.622) +[teensy-2] [INFO] [1746049215.085757169] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049215.087792376] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049215.088389505] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049215.088827976] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049215.089797534] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049215.090527790] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049215.090541182] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049215.335365200] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049215.337588270] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049215.337619482] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049215.338583962] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049215.339007636] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049215.339559455] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049215.340930204] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049215.503989869] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973939 Long: -76.50298194 +[vectornav-1] [INFO] [1746049215.505608589] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (263.606, -3.326, 9.613) +[teensy-2] [INFO] [1746049215.585619058] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049215.587492026] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049215.588566877] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049215.588592888] [sailbot.mux]: algo sail angle: 80 +[trim_sail-4] [INFO] [1746049215.588870863] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049215.589699274] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049215.590639670] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049215.835332862] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049215.837081618] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049215.837577823] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049215.838096532] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049215.839069689] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049215.839559897] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049215.840038278] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049216.003798986] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973937 Long: -76.50298203 +[vectornav-1] [INFO] [1746049216.005320789] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (263.72, -3.297, 9.626) +[teensy-2] [INFO] [1746049216.085772989] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049216.088408308] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049216.089013646] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049216.089701752] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049216.090678708] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049216.091067762] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049216.091428126] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049216.335633195] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049216.337491824] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049216.337984014] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049216.338467715] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049216.339449232] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049216.340255568] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049216.340434258] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049216.504004990] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973916 Long: -76.50298224 +[vectornav-1] [INFO] [1746049216.505597638] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (263.881, -3.312, 9.618) +[teensy-2] [INFO] [1746049216.585208323] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049216.586901480] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049216.587879900] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746049216.588245380] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049216.588761894] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049216.588822243] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049216.589751371] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049216.835368802] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049216.838068718] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049216.838086863] [sailbot.teensy]: Wind angle: 337 +[mux-7] [INFO] [1746049216.838679745] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049216.839264173] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049216.840226617] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049216.841082456] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049217.003243403] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973913 Long: -76.50298225 +[vectornav-1] [INFO] [1746049217.005168608] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (264.03499999999997, -3.311, 9.644) +[teensy-2] [INFO] [1746049217.085367986] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049217.087078308] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049217.087679743] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049217.087992139] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049217.088990648] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049217.089477049] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049217.089889333] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049217.335508806] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049217.337581135] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049217.338167008] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049217.338555955] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049217.339490527] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049217.338912511] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049217.340422699] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049217.503836954] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973905 Long: -76.50298235 +[vectornav-1] [INFO] [1746049217.505262880] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (264.183, -3.313, 9.677) +[teensy-2] [INFO] [1746049217.585358529] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049217.587711301] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049217.587727735] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049217.588322641] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049217.588918537] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049217.589850884] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049217.590961570] [sailbot.teensy]: Dropped packets: 3 +[rosbridge_websocket-8] [INFO] [1746049217.621007504] [rosbridge_websocket]: Calling services in existing thread +[rosbridge_websocket-8] [INFO] [1746049217.621984079] [rosbridge_websocket]: Sending action goals in existing thread +[rosbridge_websocket-8] [INFO] [1746049217.623549700] [rosbridge_websocket]: Client connected. 2 clients total. +[teensy-2] [INFO] [1746049217.835508541] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049217.837527306] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049217.838040103] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049217.838521596] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049217.838786728] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049217.839484642] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049217.840559427] [sailbot.teensy]: Dropped packets: 3 +[vectornav-1] [INFO] [1746049218.003587566] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973894 Long: -76.5029823 +[vectornav-1] [INFO] [1746049218.005228278] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (264.337, -3.349, 9.681) +[teensy-2] [INFO] [1746049218.085494061] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049218.087520654] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049218.088561100] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746049218.088625184] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049218.089523517] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049218.089702073] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049218.090447519] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049218.335401136] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049218.337977061] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049218.338223141] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049218.339269937] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049218.339354506] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049218.340376659] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049218.341266577] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049218.373504123] [sailbot.mux]: controller_app rudder angle: 5 +[mux-7] [INFO] [1746049218.445401582] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746049218.446241944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 5 +[teensy-2] [INFO] [1746049218.448029525] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049218.502878096] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973894 Long: -76.50298221 +[vectornav-1] [INFO] [1746049218.504010525] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (264.50700000000006, -3.371, 9.755) +[mux-7] [INFO] [1746049218.545139670] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746049218.545582750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 5 +[teensy-2] [INFO] [1746049218.546760756] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049218.585377265] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049218.587182261] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049218.587688137] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049218.588284959] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049218.589610669] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049218.590390626] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049218.590740611] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049218.645200656] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746049218.645852712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 5 +[teensy-2] [INFO] [1746049218.647444905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049218.745133848] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746049218.745628858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 5 +[teensy-2] [INFO] [1746049218.747007046] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049218.835533444] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049218.838168531] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049218.838644730] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049218.839210276] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049218.840124239] [sailbot.teensy]: Actual tail angle: 30 +[mux-7] [INFO] [1746049218.840623876] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049218.841154649] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049218.844374864] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746049218.844918640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 5 +[teensy-2] [INFO] [1746049218.846062999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049218.945612213] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746049218.946278405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 5 +[teensy-2] [INFO] [1746049218.948007449] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049219.003155432] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697387 Long: -76.50298226 +[vectornav-1] [INFO] [1746049219.004862921] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (264.66499999999996, -3.31, 9.694) +[mux-7] [INFO] [1746049219.045008408] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746049219.045522374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 5 +[teensy-2] [INFO] [1746049219.046847601] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049219.085319327] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049219.087919452] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049219.088361362] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049219.089323085] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049219.089455324] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049219.090230949] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746049219.091065481] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049219.144882702] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746049219.145237785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 5 +[teensy-2] [INFO] [1746049219.146496304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049219.245087880] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746049219.245601745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 5 +[teensy-2] [INFO] [1746049219.247097745] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049219.335571824] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049219.338253832] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049219.338754776] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049219.339013610] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049219.339764294] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049219.340782901] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746049219.341674357] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049219.344425195] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746049219.344701430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 5 +[teensy-2] [INFO] [1746049219.345865234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049219.373695433] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746049219.444985804] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049219.445474266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746049219.447212396] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049219.502325107] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973862 Long: -76.50298236 +[vectornav-1] [INFO] [1746049219.503348321] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (264.876, -3.304, 9.699) +[mux-7] [INFO] [1746049219.545188573] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049219.545769785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746049219.547127781] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049219.585686295] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049219.587828097] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049219.588641414] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049219.589008501] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049219.590168235] [sailbot.teensy]: Actual tail angle: 30 +[mux-7] [INFO] [1746049219.591026031] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049219.591265090] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049219.644962482] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049219.645460596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746049219.646771820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049219.745039380] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049219.745576487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746049219.746930782] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049219.835445734] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049219.837348496] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049219.838311721] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049219.839118893] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049219.839251692] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049219.840501532] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049219.840929154] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049219.844406167] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049219.844805882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746049219.846085873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049219.945248392] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049219.945806841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746049219.947424121] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049220.003277761] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973845 Long: -76.50298247 +[vectornav-1] [INFO] [1746049220.004784229] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (265.09000000000003, -3.316, 9.724) +[mux-7] [INFO] [1746049220.045000230] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049220.045649227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746049220.046947586] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049220.085264055] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049220.088029536] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049220.088046184] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049220.088994680] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049220.089070345] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049220.089926819] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049220.090866245] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049220.145092982] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049220.145734018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746049220.147119671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049220.245104410] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049220.245662277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746049220.247043451] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049220.335296658] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049220.337913234] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049220.338000879] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049220.338501786] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049220.338937109] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049220.339849122] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049220.340402371] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049220.344484481] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049220.344941062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746049220.346059475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049220.372793250] [sailbot.mux]: controller_app rudder angle: 9 +[mux-7] [INFO] [1746049220.445641042] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049220.446268225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 +[teensy-2] [INFO] [1746049220.448011416] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049220.503733617] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697383 Long: -76.50298257 +[vectornav-1] [INFO] [1746049220.505649873] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (265.246, -3.299, 9.706) +[mux-7] [INFO] [1746049220.544899744] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049220.545629487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 +[teensy-2] [INFO] [1746049220.546743544] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049220.585296240] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049220.587475215] [sailbot.teensy]: Wind angle: 358 +[teensy-2] [INFO] [1746049220.588572859] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746049220.588123497] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049220.588848325] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049220.589596035] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049220.590508314] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049220.644992390] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049220.645494840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 +[teensy-2] [INFO] [1746049220.646852649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049220.744990373] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049220.745453024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 +[teensy-2] [INFO] [1746049220.746693025] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049220.835323468] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049220.837081642] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049220.837992377] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746049220.837710927] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049220.838197185] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049220.838862642] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746049220.839703282] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049220.844435993] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049220.844846285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 +[teensy-2] [INFO] [1746049220.845945735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049220.945000119] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049220.945530550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 +[teensy-2] [INFO] [1746049220.946874185] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049221.003221324] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973826 Long: -76.50298245 +[vectornav-1] [INFO] [1746049221.004950011] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (265.20799999999997, -3.295, 9.673) +[mux-7] [INFO] [1746049221.045035039] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049221.045576983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 +[teensy-2] [INFO] [1746049221.046940381] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049221.085218024] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049221.087541415] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049221.087705203] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049221.088651672] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049221.088774267] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049221.089559320] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746049221.090485919] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049221.145173693] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049221.145631888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 +[teensy-2] [INFO] [1746049221.146984405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049221.244973397] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049221.245377722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 +[teensy-2] [INFO] [1746049221.246603907] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049221.335356774] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049221.337145125] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049221.337783595] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049221.338092323] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049221.338979811] [sailbot.teensy]: Actual tail angle: 34 +[mux-7] [INFO] [1746049221.339385865] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049221.339886115] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049221.344376680] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049221.344734639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 +[teensy-2] [INFO] [1746049221.345919698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049221.444864340] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049221.445262288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 +[teensy-2] [INFO] [1746049221.446418517] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049221.503107406] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973837 Long: -76.50298244 +[vectornav-1] [INFO] [1746049221.504465689] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (265.249, -3.302, 9.648) +[mux-7] [INFO] [1746049221.545199560] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049221.545748541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 +[teensy-2] [INFO] [1746049221.547094349] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049221.585238683] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049221.587586045] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049221.588432055] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049221.588670544] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049221.589651051] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049221.590486713] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746049221.591323788] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049221.645096803] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049221.645556929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 +[teensy-2] [INFO] [1746049221.647008783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049221.745088280] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049221.745533285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 +[teensy-2] [INFO] [1746049221.746979655] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049221.835574199] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049221.838524864] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049221.839490603] [sailbot.teensy]: Wind angle: 337 +[mux-7] [INFO] [1746049221.839521570] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049221.840506599] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049221.841403425] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746049221.842247002] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049221.844531061] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049221.844714295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 +[teensy-2] [INFO] [1746049221.845781710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049221.945221428] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049221.945933595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 +[teensy-2] [INFO] [1746049221.947275634] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049222.003280803] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973838 Long: -76.50298234 +[vectornav-1] [INFO] [1746049222.004562218] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (265.48199999999997, -3.304, 9.645) +[mux-7] [INFO] [1746049222.045078552] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049222.045561490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 +[teensy-2] [INFO] [1746049222.046921156] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049222.085372236] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049222.087168369] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049222.087671415] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049222.088114540] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049222.089078108] [sailbot.teensy]: Actual tail angle: 34 +[mux-7] [INFO] [1746049222.089469547] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049222.089994095] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049222.144939237] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049222.145442041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 +[teensy-2] [INFO] [1746049222.146838304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049222.244968841] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049222.245476278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 +[teensy-2] [INFO] [1746049222.247973581] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049222.335437642] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049222.337482124] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049222.338429597] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746049222.338006615] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049222.339325709] [sailbot.teensy]: Actual tail angle: 34 +[mux-7] [INFO] [1746049222.339692140] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049222.340232582] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049222.344395391] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049222.344765183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 +[teensy-2] [INFO] [1746049222.345869795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049222.375528000] [sailbot.mux]: controller_app rudder angle: -5 +[mux-7] [INFO] [1746049222.444904854] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746049222.445464058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 +[teensy-2] [INFO] [1746049222.446773431] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049222.503730510] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973827 Long: -76.50298241 +[vectornav-1] [INFO] [1746049222.505409605] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (265.696, -3.291, 9.659) +[mux-7] [INFO] [1746049222.545184465] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746049222.545896870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 +[teensy-2] [INFO] [1746049222.547301417] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049222.585445368] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049222.587708667] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049222.587888981] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049222.589105820] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049222.589312637] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049222.590271970] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746049222.591111606] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049222.645365618] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746049222.645844811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 +[teensy-2] [INFO] [1746049222.647282741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049222.745067899] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746049222.745556686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 +[teensy-2] [INFO] [1746049222.747013136] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049222.835196874] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049222.837574186] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049222.837747771] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049222.838675255] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049222.838804822] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049222.839245435] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746049222.839617930] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049222.844434379] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746049222.844924650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 +[teensy-2] [INFO] [1746049222.846079541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049222.945049632] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746049222.945564972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 +[teensy-2] [INFO] [1746049222.946928796] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049223.002629688] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973825 Long: -76.50298252 +[vectornav-1] [INFO] [1746049223.003769879] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (265.975, -3.285, 9.669) +[mux-7] [INFO] [1746049223.045442248] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746049223.046121242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 +[teensy-2] [INFO] [1746049223.047605762] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049223.085628040] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049223.088406600] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049223.088468688] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049223.089387423] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049223.089382811] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049223.090335378] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746049223.091277765] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049223.145104240] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746049223.145573505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 +[teensy-2] [INFO] [1746049223.146909558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049223.245243242] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746049223.245792670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 +[teensy-2] [INFO] [1746049223.247383930] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049223.335384256] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049223.338021007] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049223.338529045] [sailbot.teensy]: Wind angle: 343 +[mux-7] [INFO] [1746049223.338760451] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049223.339362349] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049223.339765773] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746049223.340133458] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049223.344453351] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746049223.344850553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 +[teensy-2] [INFO] [1746049223.346046073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049223.445186287] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746049223.445558081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 +[teensy-2] [INFO] [1746049223.447027476] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049223.504228061] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973828 Long: -76.50298256 +[vectornav-1] [INFO] [1746049223.505790476] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (266.17499999999995, -3.292, 9.655) +[mux-7] [INFO] [1746049223.545265545] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746049223.545730727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 +[teensy-2] [INFO] [1746049223.547222330] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049223.585357601] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049223.587356716] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746049223.587781259] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049223.588514877] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049223.589613190] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049223.590523928] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746049223.591354488] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049223.645146208] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746049223.645700905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 +[teensy-2] [INFO] [1746049223.647047059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049223.745094357] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746049223.745957396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 +[teensy-2] [INFO] [1746049223.747303773] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049223.835246886] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049223.837711000] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049223.838075893] [sailbot.teensy]: Wind angle: 343 +[mux-7] [INFO] [1746049223.838457110] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049223.839005695] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049223.839874156] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746049223.840339618] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049223.844513005] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746049223.844967826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 +[teensy-2] [INFO] [1746049223.846093652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049223.945502601] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746049223.946099831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 +[teensy-2] [INFO] [1746049223.947653542] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049224.002685123] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973824 Long: -76.50298268 +[vectornav-1] [INFO] [1746049224.003787933] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (266.44000000000005, -3.286, 9.654) +[mux-7] [INFO] [1746049224.045452198] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746049224.046160722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 +[teensy-2] [INFO] [1746049224.047700676] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049224.085607153] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049224.088352481] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049224.088360954] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049224.089357352] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049224.089569653] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049224.090263409] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746049224.091112984] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049224.145215371] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746049224.145750698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 +[teensy-2] [INFO] [1746049224.147225848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049224.245214761] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746049224.245748338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 +[teensy-2] [INFO] [1746049224.247191537] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049224.335507920] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049224.337881240] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049224.338626585] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049224.339054156] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049224.339393697] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049224.339841134] [sailbot.teensy]: Actual tail angle: 20 +[mux-7] [INFO] [1746049224.340170775] [sailbot.mux]: controller_app rudder angle: 8 +[teensy-2] [INFO] [1746049224.340325008] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049224.344339012] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746049224.344748875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 +[teensy-2] [INFO] [1746049224.345864236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049224.445297688] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746049224.446009551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 +[teensy-2] [INFO] [1746049224.447414318] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049224.503722206] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697382 Long: -76.50298268 +[vectornav-1] [INFO] [1746049224.505467070] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (266.68000000000006, -3.285, 9.7) +[mux-7] [INFO] [1746049224.545118090] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746049224.545698272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 +[teensy-2] [INFO] [1746049224.547060865] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049224.585361606] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049224.587759118] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049224.587780810] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049224.588662289] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049224.588666550] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049224.589588783] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746049224.590243425] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049224.645406207] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746049224.645847751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 +[teensy-2] [INFO] [1746049224.647315151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049224.745110206] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746049224.745594743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 +[teensy-2] [INFO] [1746049224.747046216] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049224.835510278] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049224.838028083] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049224.838795816] [sailbot.teensy]: Wind angle: 354 +[mux-7] [INFO] [1746049224.838913861] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049224.839459495] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049224.839864450] [sailbot.teensy]: Actual tail angle: 33 +[teensy-2] [INFO] [1746049224.840281734] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049224.844604795] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746049224.845043098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 +[teensy-2] [INFO] [1746049224.846063533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049224.945472986] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746049224.946078677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 +[teensy-2] [INFO] [1746049224.947721688] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049225.002787191] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973819 Long: -76.50298284 +[vectornav-1] [INFO] [1746049225.004135508] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (266.914, -3.277, 9.723) +[mux-7] [INFO] [1746049225.044754453] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746049225.045512874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 +[teensy-2] [INFO] [1746049225.046739992] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049225.085670625] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049225.088195294] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049225.088327173] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049225.089204533] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049225.090116556] [sailbot.teensy]: Actual tail angle: 33 +[mux-7] [INFO] [1746049225.090604734] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049225.091118595] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049225.144980549] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746049225.145522844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 +[teensy-2] [INFO] [1746049225.146850833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049225.245322697] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746049225.245781641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 +[teensy-2] [INFO] [1746049225.247304668] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049225.335574720] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049225.337959807] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049225.338167661] [sailbot.teensy]: Wind angle: 354 +[mux-7] [INFO] [1746049225.338630340] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049225.338973183] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049225.339364968] [sailbot.teensy]: Actual tail angle: 33 +[teensy-2] [INFO] [1746049225.339734400] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049225.344383518] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746049225.344768245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 +[teensy-2] [INFO] [1746049225.345838670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049225.445019580] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746049225.445437803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 +[teensy-2] [INFO] [1746049225.446785327] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049225.504083980] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973825 Long: -76.50298319 +[vectornav-1] [INFO] [1746049225.505710962] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (267.07899999999995, -3.285, 9.768) +[mux-7] [INFO] [1746049225.545062533] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746049225.545482017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 +[teensy-2] [INFO] [1746049225.546816843] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049225.585409518] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049225.587817746] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049225.588515944] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049225.588965659] [sailbot.teensy]: Wind angle: 354 +[teensy-2] [INFO] [1746049225.589905101] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049225.590815304] [sailbot.teensy]: Actual tail angle: 33 +[teensy-2] [INFO] [1746049225.591693756] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049225.645040854] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746049225.645440778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 +[teensy-2] [INFO] [1746049225.646849693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049225.745545880] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746049225.745960770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 +[teensy-2] [INFO] [1746049225.747692697] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049225.835505557] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049225.837971413] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049225.838605325] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049225.838670682] [sailbot.teensy]: Wind angle: 352 +[teensy-2] [INFO] [1746049225.839289610] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049225.839686811] [sailbot.teensy]: Actual tail angle: 33 +[teensy-2] [INFO] [1746049225.840293609] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049225.844719429] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746049225.845038636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 +[teensy-2] [INFO] [1746049225.846325411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049225.945499913] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746049225.945953690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 +[teensy-2] [INFO] [1746049225.947631521] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049226.003693977] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973812 Long: -76.50298307 +[vectornav-1] [INFO] [1746049226.006172048] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (267.283, -3.289, 9.878) +[mux-7] [INFO] [1746049226.045100717] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746049226.045551944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 +[teensy-2] [INFO] [1746049226.046895759] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049226.085332342] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049226.087048220] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049226.087972337] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746049226.087695362] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049226.088339060] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049226.089096424] [sailbot.teensy]: Actual tail angle: 33 +[teensy-2] [INFO] [1746049226.089982213] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049226.145371043] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746049226.145696728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 +[teensy-2] [INFO] [1746049226.147344016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049226.245459241] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746049226.246069732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 +[teensy-2] [INFO] [1746049226.247623487] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049226.335724437] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049226.338338549] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049226.338891395] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049226.339332955] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049226.339409262] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049226.340294925] [sailbot.teensy]: Actual tail angle: 33 +[teensy-2] [INFO] [1746049226.340996777] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049226.344412364] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746049226.344913625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 +[teensy-2] [INFO] [1746049226.346032892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049226.445701722] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746049226.446275898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 +[teensy-2] [INFO] [1746049226.447997138] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049226.504138357] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973786 Long: -76.50298286 +[vectornav-1] [INFO] [1746049226.506447569] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (267.506, -3.293, 9.701) +[mux-7] [INFO] [1746049226.544918278] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746049226.545281782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 +[teensy-2] [INFO] [1746049226.546525886] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049226.585320989] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049226.587175726] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049226.587650245] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049226.588128885] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049226.589101873] [sailbot.teensy]: Actual tail angle: 33 +[mux-7] [INFO] [1746049226.589190337] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049226.589489217] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049226.645504407] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746049226.645931022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 +[teensy-2] [INFO] [1746049226.647602547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049226.708334229] [sailbot.mux]: controller_app rudder angle: -8 +[mux-7] [INFO] [1746049226.745312354] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746049226.745830808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746049226.747452501] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049226.835454590] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049226.838207218] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049226.838350471] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049226.839652144] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049226.840184224] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049226.840652191] [sailbot.teensy]: Actual tail angle: 33 +[teensy-2] [INFO] [1746049226.841020074] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049226.844382907] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746049226.844838335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746049226.845948146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049226.945489231] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746049226.946078182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746049226.947625545] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049227.002538446] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973783 Long: -76.50298302 +[vectornav-1] [INFO] [1746049227.003661941] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (267.81399999999996, -3.305, 9.688) +[mux-7] [INFO] [1746049227.045656935] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746049227.046012604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746049227.047478050] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049227.085581368] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049227.088506685] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049227.088730376] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049227.089662715] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049227.090367571] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049227.090581696] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746049227.091440832] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049227.145537571] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746049227.146181140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746049227.148615672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049227.245528418] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746049227.246039408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746049227.247600093] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049227.335498577] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049227.338061018] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049227.338383923] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049227.339353695] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049227.339416011] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049227.340298930] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746049227.340698018] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049227.344618651] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746049227.344979963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746049227.346132055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049227.445602021] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746049227.446155977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746049227.447944676] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049227.502507335] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973776 Long: -76.50298337 +[vectornav-1] [INFO] [1746049227.504051098] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (268.06999999999994, -3.296, 9.71) +[mux-7] [INFO] [1746049227.545155188] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746049227.545658243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746049227.547180089] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049227.585721899] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049227.588509634] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049227.589191053] [sailbot.teensy]: Wind angle: 347 +[mux-7] [INFO] [1746049227.589247088] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049227.590170255] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049227.591382716] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746049227.592290075] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049227.644930536] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746049227.645336440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746049227.646557899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049227.745413683] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746049227.745979845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746049227.747677820] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049227.835203373] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049227.837583525] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049227.837975876] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049227.838981354] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049227.838408008] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049227.840040400] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746049227.840968085] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049227.844653804] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746049227.844936543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746049227.846087207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049227.945588687] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746049227.946130208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746049227.947808406] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049228.004102088] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973776 Long: -76.50298342 +[vectornav-1] [INFO] [1746049228.005920640] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (268.23299999999995, -3.3, 9.688) +[mux-7] [INFO] [1746049228.045535911] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746049228.046056199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746049228.047699867] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049228.085306279] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049228.087987015] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049228.088287156] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049228.088539483] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049228.089909193] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049228.090833825] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746049228.091734652] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049228.145028852] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746049228.145582357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746049228.146945384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049228.245239774] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746049228.245868221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746049228.247332051] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049228.335409150] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049228.337791547] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746049228.337896135] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049228.338760704] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049228.339055232] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049228.340002127] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746049228.340897274] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049228.344265068] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746049228.344780379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746049228.345914565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049228.372258193] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746049228.445214566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049228.445912347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746049228.447420349] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049228.503709632] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973762 Long: -76.50298351 +[vectornav-1] [INFO] [1746049228.505163135] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (268.48400000000004, -3.302, 9.682) +[mux-7] [INFO] [1746049228.545037977] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049228.545625092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746049228.546978897] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049228.585221864] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049228.587292261] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049228.587442234] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049228.588327312] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049228.589022778] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049228.589210093] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746049228.590093134] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049228.645508017] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049228.646146096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746049228.647831487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049228.745098057] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049228.745655321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746049228.747009402] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049228.835505366] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049228.838260960] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049228.838277792] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049228.839269681] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049228.839372180] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049228.840253326] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049228.841156501] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049228.844518130] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049228.844833079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746049228.845940207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049228.945609517] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049228.946239972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746049228.947702011] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049229.003457486] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973756 Long: -76.50298348 +[vectornav-1] [INFO] [1746049229.005198006] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (268.721, -3.309, 9.695) +[mux-7] [INFO] [1746049229.044981850] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049229.045543759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746049229.046742684] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049229.085410770] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049229.087230662] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049229.088257139] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746049229.088245558] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049229.089232290] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049229.090141797] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049229.090501102] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049229.145011459] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049229.145591230] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746049229.147030368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049229.245261212] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049229.245723144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746049229.246998989] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049229.335315850] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049229.337593758] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049229.339513195] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049229.339729654] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049229.340013160] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746049229.340445811] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049229.340842312] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049229.343637829] [sailbot.mux]: controller_app sail angle: 56 +[mux-7] [INFO] [1746049229.345601290] [sailbot.mux]: Published sail angle from controller_app: 56 +[teensy-2] [INFO] [1746049229.346267673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049229.346652068] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049229.347929311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:56, rudder: 0 +[teensy-2] [INFO] [1746049229.349058030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049229.445457014] [sailbot.mux]: Published sail angle from controller_app: 56 +[teensy-2] [INFO] [1746049229.446280168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049229.447155534] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049229.448251069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:56, rudder: 0 +[teensy-2] [INFO] [1746049229.448790579] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049229.502675735] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973762 Long: -76.50298363 +[vectornav-1] [INFO] [1746049229.503738309] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (268.976, -3.31, 9.673) +[mux-7] [INFO] [1746049229.544764202] [sailbot.mux]: Published sail angle from controller_app: 56 +[teensy-2] [INFO] [1746049229.545638117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049229.545969065] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049229.547384798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:56, rudder: 0 +[teensy-2] [INFO] [1746049229.548448734] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049229.585331978] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049229.587483673] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049229.588011484] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049229.588458264] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746049229.589308667] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049229.589387709] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049229.590296066] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049229.645027043] [sailbot.mux]: Published sail angle from controller_app: 56 +[teensy-2] [INFO] [1746049229.645738964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049229.646303326] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049229.647549393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:56, rudder: 0 +[teensy-2] [INFO] [1746049229.648679208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049229.745756422] [sailbot.mux]: Published sail angle from controller_app: 56 +[teensy-2] [INFO] [1746049229.746797216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049229.747474317] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049229.749466889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:56, rudder: 0 +[teensy-2] [INFO] [1746049229.750625437] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049229.835545525] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049229.838421113] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049229.838492762] [sailbot.teensy]: Wind angle: 356 +[mux-7] [INFO] [1746049229.838965647] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049229.839410944] [sailbot.teensy]: Actual sail angle: 56 +[teensy-2] [INFO] [1746049229.840330070] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049229.841177950] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049229.844471910] [sailbot.mux]: Published sail angle from controller_app: 56 +[teensy-2] [INFO] [1746049229.845156135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049229.845565990] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049229.846966483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:56, rudder: 0 +[teensy-2] [INFO] [1746049229.848064999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049229.945598685] [sailbot.mux]: Published sail angle from controller_app: 56 +[teensy-2] [INFO] [1746049229.946263811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049229.947181013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049229.948706058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:56, rudder: 0 +[teensy-2] [INFO] [1746049229.950300826] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049230.003789213] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973753 Long: -76.50298391 +[vectornav-1] [INFO] [1746049230.005312787] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (269.20500000000004, -3.324, 9.686) +[mux-7] [INFO] [1746049230.045264300] [sailbot.mux]: Published sail angle from controller_app: 56 +[teensy-2] [INFO] [1746049230.046107934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049230.046755018] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049230.048477913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:56, rudder: 0 +[teensy-2] [INFO] [1746049230.049659480] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049230.085499776] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049230.088133281] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049230.088478110] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049230.088863566] [sailbot.teensy]: Wind angle: 358 +[teensy-2] [INFO] [1746049230.090156412] [sailbot.teensy]: Actual sail angle: 56 +[teensy-2] [INFO] [1746049230.091112814] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049230.091912793] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049230.144922686] [sailbot.mux]: Published sail angle from controller_app: 56 +[teensy-2] [INFO] [1746049230.145576061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049230.146182864] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049230.147877234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:56, rudder: 0 +[teensy-2] [INFO] [1746049230.148953931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049230.245156889] [sailbot.mux]: Published sail angle from controller_app: 56 +[teensy-2] [INFO] [1746049230.245929660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049230.246630867] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049230.247795375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:56, rudder: 0 +[teensy-2] [INFO] [1746049230.248312034] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049230.335281782] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049230.337653499] [sailbot.teensy]: Wind angle: 358 +[trim_sail-4] [INFO] [1746049230.338280581] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049230.339357119] [sailbot.teensy]: Actual sail angle: 56 +[teensy-2] [INFO] [1746049230.340542681] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049230.340612359] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049230.340962423] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049230.344384038] [sailbot.mux]: Published sail angle from controller_app: 56 +[teensy-2] [INFO] [1746049230.344933173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049230.345516667] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049230.346595658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:56, rudder: 0 +[teensy-2] [INFO] [1746049230.347656699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049230.397587839] [sailbot.mux]: controller_app sail angle: 58 +[mux-7] [INFO] [1746049230.443655570] [sailbot.mux]: Published sail angle from controller_app: 58 +[teensy-2] [INFO] [1746049230.444229299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049230.444240314] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049230.445124616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:58, rudder: 0 +[teensy-2] [INFO] [1746049230.445716696] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049230.502312912] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973753 Long: -76.50298412 +[vectornav-1] [INFO] [1746049230.503331348] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (269.44900000000007, -3.3, 9.702) +[mux-7] [INFO] [1746049230.544830145] [sailbot.mux]: Published sail angle from controller_app: 58 +[teensy-2] [INFO] [1746049230.545323821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049230.546135493] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049230.547014395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:58, rudder: 0 +[teensy-2] [INFO] [1746049230.548184428] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049230.585251040] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049230.587085663] [sailbot.teensy]: Wind angle: 357 +[teensy-2] [INFO] [1746049230.587994155] [sailbot.teensy]: Actual sail angle: 56 +[mux-7] [INFO] [1746049230.588520124] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049230.588856138] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049230.589001258] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049230.589723154] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049230.644747190] [sailbot.mux]: Published sail angle from controller_app: 58 +[teensy-2] [INFO] [1746049230.645529793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049230.645926309] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049230.647270605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:58, rudder: 0 +[teensy-2] [INFO] [1746049230.648626721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049230.744793257] [sailbot.mux]: Published sail angle from controller_app: 58 +[teensy-2] [INFO] [1746049230.745318216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049230.745958096] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049230.747085282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:58, rudder: 0 +[teensy-2] [INFO] [1746049230.748285336] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049230.835343129] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049230.837202669] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049230.837881387] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049230.838171028] [sailbot.teensy]: Actual sail angle: 58 +[mux-7] [INFO] [1746049230.839010903] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049230.839054436] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049230.839994178] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049230.844412832] [sailbot.mux]: Published sail angle from controller_app: 58 +[teensy-2] [INFO] [1746049230.844953029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049230.845504240] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049230.846680692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:58, rudder: 0 +[teensy-2] [INFO] [1746049230.847703694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049230.945246916] [sailbot.mux]: Published sail angle from controller_app: 58 +[teensy-2] [INFO] [1746049230.945981184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049230.946726792] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049230.948080259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:58, rudder: 0 +[teensy-2] [INFO] [1746049230.948522842] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049231.003508285] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697375 Long: -76.50298433 +[vectornav-1] [INFO] [1746049231.004938900] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (269.68499999999995, -3.312, 9.692) +[mux-7] [INFO] [1746049231.045029858] [sailbot.mux]: Published sail angle from controller_app: 58 +[teensy-2] [INFO] [1746049231.045916502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049231.046299018] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049231.047699487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:58, rudder: 0 +[teensy-2] [INFO] [1746049231.048810864] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049231.085444421] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049231.087900977] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049231.088042026] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049231.089156659] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049231.089359340] [sailbot.teensy]: Actual sail angle: 58 +[teensy-2] [INFO] [1746049231.090746312] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049231.091624145] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049231.144788876] [sailbot.mux]: Published sail angle from controller_app: 58 +[mux-7] [INFO] [1746049231.145942157] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049231.146457517] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049231.148107608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:58, rudder: 0 +[teensy-2] [INFO] [1746049231.149194466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049231.245164811] [sailbot.mux]: Published sail angle from controller_app: 58 +[teensy-2] [INFO] [1746049231.245824802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049231.246626586] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049231.247834635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:58, rudder: 0 +[teensy-2] [INFO] [1746049231.248839504] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049231.335494993] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049231.338172426] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049231.338687524] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049231.338738742] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049231.339184299] [sailbot.teensy]: Actual sail angle: 58 +[teensy-2] [INFO] [1746049231.339730053] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049231.340118278] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049231.344534659] [sailbot.mux]: Published sail angle from controller_app: 58 +[teensy-2] [INFO] [1746049231.344918279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049231.345720526] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049231.346625164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:58, rudder: 0 +[teensy-2] [INFO] [1746049231.347627366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049231.360726090] [sailbot.mux]: controller_app sail angle: 44 +[mux-7] [INFO] [1746049231.445320520] [sailbot.mux]: Published sail angle from controller_app: 44 +[teensy-2] [INFO] [1746049231.445882469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049231.447453278] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049231.448344036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:44, rudder: 0 +[teensy-2] [INFO] [1746049231.449559893] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049231.503534190] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697376 Long: -76.50298428 +[vectornav-1] [INFO] [1746049231.505146813] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (269.93399999999997, -3.32, 9.701) +[mux-7] [INFO] [1746049231.544975031] [sailbot.mux]: Published sail angle from controller_app: 44 +[teensy-2] [INFO] [1746049231.545661894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049231.546287666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049231.547494180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:44, rudder: 0 +[teensy-2] [INFO] [1746049231.549271517] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049231.585478389] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049231.587688427] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049231.587975169] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049231.588789873] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049231.589642693] [sailbot.teensy]: Actual sail angle: 58 +[teensy-2] [INFO] [1746049231.590590297] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049231.591430110] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049231.645324940] [sailbot.mux]: Published sail angle from controller_app: 44 +[teensy-2] [INFO] [1746049231.645862412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049231.647160707] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049231.648069827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:44, rudder: 0 +[teensy-2] [INFO] [1746049231.649290319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049231.745233008] [sailbot.mux]: Published sail angle from controller_app: 44 +[teensy-2] [INFO] [1746049231.745824042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049231.746675758] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049231.747758656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:44, rudder: 0 +[teensy-2] [INFO] [1746049231.748787216] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049231.835476900] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049231.837862150] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049231.838718087] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049231.838741387] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049231.839836908] [sailbot.teensy]: Actual sail angle: 44 +[teensy-2] [INFO] [1746049231.840738531] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049231.841593696] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049231.844333789] [sailbot.mux]: Published sail angle from controller_app: 44 +[teensy-2] [INFO] [1746049231.844867958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049231.845543047] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049231.846534630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:44, rudder: 0 +[teensy-2] [INFO] [1746049231.847558831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049231.945139198] [sailbot.mux]: Published sail angle from controller_app: 44 +[teensy-2] [INFO] [1746049231.945705550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049231.946612563] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049231.947855094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:44, rudder: 0 +[teensy-2] [INFO] [1746049231.948442584] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049232.003761363] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973732 Long: -76.5029841 +[vectornav-1] [INFO] [1746049232.005658285] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (270.176, -3.313, 9.706) +[mux-7] [INFO] [1746049232.045799888] [sailbot.mux]: Published sail angle from controller_app: 44 +[teensy-2] [INFO] [1746049232.046207028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049232.047564816] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049232.048654678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:44, rudder: 0 +[teensy-2] [INFO] [1746049232.049774259] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049232.085358485] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049232.087279766] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049232.087753056] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049232.088286322] [sailbot.teensy]: Actual sail angle: 44 +[teensy-2] [INFO] [1746049232.089184864] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049232.089390833] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049232.090050798] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049232.145314887] [sailbot.mux]: Published sail angle from controller_app: 44 +[teensy-2] [INFO] [1746049232.145864882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049232.147112819] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049232.148002375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:44, rudder: 0 +[teensy-2] [INFO] [1746049232.149171556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049232.245544771] [sailbot.mux]: Published sail angle from controller_app: 44 +[teensy-2] [INFO] [1746049232.246109667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049232.247451770] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049232.248549781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:44, rudder: 0 +[teensy-2] [INFO] [1746049232.249805943] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049232.335196122] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049232.336805891] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049232.337730998] [sailbot.teensy]: Actual sail angle: 44 +[trim_sail-4] [INFO] [1746049232.337403816] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049232.338440517] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049232.338557775] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049232.339442348] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049232.344575462] [sailbot.mux]: Published sail angle from controller_app: 44 +[teensy-2] [INFO] [1746049232.345021322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049232.345913421] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049232.346778508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:44, rudder: 0 +[teensy-2] [INFO] [1746049232.347820929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049232.383733609] [sailbot.mux]: controller_app sail angle: 46 +[mux-7] [INFO] [1746049232.445580428] [sailbot.mux]: Published sail angle from controller_app: 46 +[teensy-2] [INFO] [1746049232.446579424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049232.447250361] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049232.449009416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:46, rudder: 0 +[teensy-2] [INFO] [1746049232.449770020] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049232.502769639] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973718 Long: -76.50298412 +[vectornav-1] [INFO] [1746049232.503921269] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (270.442, -3.306, 9.71) +[mux-7] [INFO] [1746049232.545695624] [sailbot.mux]: Published sail angle from controller_app: 46 +[teensy-2] [INFO] [1746049232.546467382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049232.547465057] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049232.548696623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:46, rudder: 0 +[teensy-2] [INFO] [1746049232.549933945] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049232.585746345] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049232.587876472] [sailbot.teensy]: Wind angle: 353 +[teensy-2] [INFO] [1746049232.589040488] [sailbot.teensy]: Actual sail angle: 44 +[trim_sail-4] [INFO] [1746049232.589299710] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049232.589996288] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049232.590910939] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049232.591011456] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049232.645447276] [sailbot.mux]: Published sail angle from controller_app: 46 +[teensy-2] [INFO] [1746049232.646165531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049232.647114012] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049232.648269142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:46, rudder: 0 +[teensy-2] [INFO] [1746049232.649331296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049232.745409328] [sailbot.mux]: Published sail angle from controller_app: 46 +[teensy-2] [INFO] [1746049232.746212103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049232.746959762] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049232.748589520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:46, rudder: 0 +[teensy-2] [INFO] [1746049232.749727260] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049232.835346537] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049232.837023078] [sailbot.teensy]: Wind angle: 353 +[trim_sail-4] [INFO] [1746049232.837568316] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049232.838463668] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049232.839055060] [sailbot.teensy]: Actual sail angle: 46 +[teensy-2] [INFO] [1746049232.839418685] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049232.839761415] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049232.844444467] [sailbot.mux]: Published sail angle from controller_app: 46 +[teensy-2] [INFO] [1746049232.844932668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049232.845535787] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049232.846606493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:46, rudder: 0 +[teensy-2] [INFO] [1746049232.847745372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049232.945217757] [sailbot.mux]: Published sail angle from controller_app: 46 +[teensy-2] [INFO] [1746049232.945822077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049232.946874479] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049232.948082613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:46, rudder: 0 +[teensy-2] [INFO] [1746049232.949268764] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049233.004592491] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973701 Long: -76.50298442 +[vectornav-1] [INFO] [1746049233.006284562] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (270.69100000000003, -3.309, 9.702) +[mux-7] [INFO] [1746049233.044783218] [sailbot.mux]: Published sail angle from controller_app: 46 +[teensy-2] [INFO] [1746049233.045565779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049233.045975485] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049233.047360249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:46, rudder: 0 +[teensy-2] [INFO] [1746049233.048461731] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049233.085350884] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049233.087073125] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049233.087603942] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049233.088001844] [sailbot.teensy]: Actual sail angle: 46 +[teensy-2] [INFO] [1746049233.089011064] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049233.089132836] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049233.089898111] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049233.144965794] [sailbot.mux]: Published sail angle from controller_app: 46 +[teensy-2] [INFO] [1746049233.145948778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049233.146224373] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049233.147866474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:46, rudder: 0 +[teensy-2] [INFO] [1746049233.149017611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049233.245287213] [sailbot.mux]: Published sail angle from controller_app: 46 +[teensy-2] [INFO] [1746049233.246038264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049233.246805671] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049233.248353452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:46, rudder: 0 +[teensy-2] [INFO] [1746049233.248879198] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049233.335269885] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049233.337225369] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049233.337642625] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049233.338215344] [sailbot.teensy]: Actual sail angle: 46 +[teensy-2] [INFO] [1746049233.339102985] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049233.339102808] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049233.339976455] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049233.344439123] [sailbot.mux]: Published sail angle from controller_app: 46 +[teensy-2] [INFO] [1746049233.345033098] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049233.345553391] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049233.346726347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:46, rudder: 0 +[teensy-2] [INFO] [1746049233.347713286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049233.399550618] [sailbot.mux]: controller_app sail angle: 45 +[mux-7] [INFO] [1746049233.445338199] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049233.446111016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049233.446806859] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049233.448372163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049233.449409287] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049233.502349078] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973701 Long: -76.50298451 +[vectornav-1] [INFO] [1746049233.503334794] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (270.96500000000003, -3.305, 9.706) +[mux-7] [INFO] [1746049233.544741279] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049233.545705387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049233.546362370] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049233.547524485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049233.548708388] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049233.585756286] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049233.588085190] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049233.588992977] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049233.589374753] [sailbot.teensy]: Actual sail angle: 46 +[mux-7] [INFO] [1746049233.589496172] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049233.590288207] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049233.591188655] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049233.645029088] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049233.645531752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049233.646524350] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049233.647358570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049233.648483419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049233.745407290] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049233.745967791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049233.746927622] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049233.748233089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049233.749304116] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049233.835423278] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049233.837806704] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049233.838812187] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049233.838967637] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049233.840087790] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049233.841102133] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049233.842060697] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049233.844457045] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049233.844811714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049233.845615661] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049233.846514527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049233.847671877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049233.945457144] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049233.946069382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049233.947140195] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049233.948195852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049233.949214581] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049234.003403995] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973702 Long: -76.50298454 +[vectornav-1] [INFO] [1746049234.005084786] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (271.217, -3.318, 9.706) +[mux-7] [INFO] [1746049234.045090658] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049234.045605831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049234.046440881] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049234.047604365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049234.048839715] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049234.085563084] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049234.088408609] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049234.089135780] [sailbot.teensy]: Wind angle: 348 +[mux-7] [INFO] [1746049234.089959684] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049234.090048019] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049234.090455787] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049234.090839567] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049234.144678309] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049234.145444360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049234.145841083] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049234.147228426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049234.148340183] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049234.245572833] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049234.246394746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049234.247144882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049234.248626979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049234.249152818] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049234.335623753] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049234.337768883] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049234.338213567] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049234.339090601] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049234.339525967] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049234.339556425] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049234.339904729] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049234.344432273] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049234.344924080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049234.345625608] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049234.346605402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049234.347625922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049234.445076492] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049234.445817793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049234.446678180] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049234.447806824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049234.448453686] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049234.503426282] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973699 Long: -76.50298446 +[vectornav-1] [INFO] [1746049234.504658817] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (271.476, -3.32, 9.718) +[mux-7] [INFO] [1746049234.544952410] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049234.545685834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049234.546233415] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049234.547563815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049234.548744767] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049234.585379823] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049234.587275974] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049234.587738074] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049234.588347504] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049234.589250669] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049234.589611303] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049234.590146746] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049234.645046468] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049234.646268297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049234.646591555] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049234.648460412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049234.649618977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049234.745206941] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049234.746031674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049234.746741985] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049234.748187955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049234.748797304] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049234.835460435] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049234.837719065] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049234.838115863] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049234.838723881] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049234.839491346] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049234.839647173] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049234.840548949] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049234.844702599] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049234.844972133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049234.845863776] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049234.846701489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049234.847769776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049234.945196853] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049234.945803519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049234.946749794] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049234.947919832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049234.949021395] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049235.003089081] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973717 Long: -76.50298395 +[vectornav-1] [INFO] [1746049235.004869768] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (271.741, -3.318, 9.697) +[mux-7] [INFO] [1746049235.044693220] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049235.045526004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049235.045858589] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049235.047354099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049235.048515420] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049235.085576698] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049235.087565744] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049235.088447010] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049235.088601332] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049235.089479865] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049235.089590155] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049235.090373735] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049235.144486171] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049235.145061980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049235.145836248] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049235.146813907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049235.147741841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049235.245390312] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049235.246426006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049235.246927884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049235.247944764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049235.248518011] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049235.335352063] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049235.337182599] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746049235.338185157] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049235.338304328] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049235.339005816] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049235.339065756] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049235.339977287] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049235.344458045] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049235.344959784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049235.345588478] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049235.346637379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049235.347686862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049235.444955285] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049235.445618929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049235.446243137] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049235.447424524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049235.448431642] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049235.503836033] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697371 Long: -76.50298403 +[vectornav-1] [INFO] [1746049235.505592003] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (272.0, -3.315, 9.707) +[mux-7] [INFO] [1746049235.544891094] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049235.545590231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049235.546173170] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049235.547494048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049235.548541216] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049235.585384424] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049235.587860224] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049235.588120833] [sailbot.teensy]: Wind angle: 343 +[mux-7] [INFO] [1746049235.589104390] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049235.589298364] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049235.590188958] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049235.591052881] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049235.645221658] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049235.646128332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049235.646761446] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049235.648347689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049235.649418176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049235.745426288] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049235.746252169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049235.747106192] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049235.748011142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049235.748528155] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049235.835145330] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049235.837574350] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049235.837854887] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049235.838367733] [sailbot.teensy]: Wind angle: 325 +[teensy-2] [INFO] [1746049235.838910230] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049235.839275108] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049235.839675486] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049235.844553870] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049235.845182948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049235.845944929] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049235.846905353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049235.848095327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049235.945188937] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049235.945867107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049235.946664928] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049235.948012790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049235.949135760] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049236.003827455] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973706 Long: -76.50298396 +[vectornav-1] [INFO] [1746049236.005407030] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (272.267, -3.316, 9.706) +[mux-7] [INFO] [1746049236.045381244] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049236.046392968] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049236.046806948] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049236.048449622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049236.049542206] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049236.085579409] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049236.087414380] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049236.087919313] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049236.088442864] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049236.088469624] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049236.089369163] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049236.090236996] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049236.145334898] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049236.146301259] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049236.146823520] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049236.148477306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049236.148900419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049236.244991155] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049236.245937788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049236.246438655] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049236.247913002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049236.248950452] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049236.335516387] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049236.338105509] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049236.338614791] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049236.339531111] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049236.340544269] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049236.341369844] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049236.342236306] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049236.344501822] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049236.344834735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049236.345727032] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049236.346492479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049236.347633458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049236.445383298] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049236.446046509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049236.446785886] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049236.447989703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049236.448969968] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049236.502582064] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973685 Long: -76.50298426 +[vectornav-1] [INFO] [1746049236.503622567] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (272.546, -3.314, 9.691) +[mux-7] [INFO] [1746049236.545062081] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049236.545665860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049236.546712287] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049236.547710086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049236.548746494] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049236.585686221] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049236.588749881] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049236.588917130] [sailbot.teensy]: Wind angle: 344 +[mux-7] [INFO] [1746049236.590650817] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049236.590733225] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049236.591732923] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049236.592712795] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049236.645200304] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049236.645814319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049236.646615091] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049236.647757358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049236.648835216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049236.745124498] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049236.745930701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049236.746741609] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049236.747868755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049236.748946598] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049236.835776464] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049236.838542836] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049236.838599190] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049236.839735013] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049236.840070999] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049236.840666980] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049236.841057350] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049236.844261463] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049236.844931012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049236.845527542] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049236.846781553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049236.847910072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049236.945253180] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049236.946073839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049236.946772066] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049236.948237243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049236.949263037] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049237.003015242] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973672 Long: -76.50298416 +[vectornav-1] [INFO] [1746049237.004854045] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (272.808, -3.318, 9.713) +[mux-7] [INFO] [1746049237.044988913] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049237.045699613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049237.046336133] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049237.047801636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049237.048976328] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049237.085267974] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049237.087033861] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049237.087464256] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049237.087944857] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049237.088853372] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049237.089602406] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049237.089756224] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049237.145192045] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049237.145908896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049237.146704810] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049237.148002918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049237.149040774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049237.245428637] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049237.246000281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049237.247226519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049237.248561344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049237.249702000] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049237.335298130] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049237.337371134] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049237.338315155] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049237.337817509] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049237.338580285] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049237.339300708] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049237.340314197] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049237.344331273] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049237.345045934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049237.345430359] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049237.346814311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049237.347973731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049237.445369251] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049237.446398803] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049237.447048591] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049237.448462050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049237.448978639] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049237.502596069] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973662 Long: -76.50298419 +[vectornav-1] [INFO] [1746049237.503686807] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (273.09299999999996, -3.311, 9.712) +[mux-7] [INFO] [1746049237.545068636] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049237.545817396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049237.546409457] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049237.547630538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049237.548655649] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049237.585050991] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049237.586570549] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049237.587462630] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049237.587773723] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049237.588376403] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049237.588556024] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049237.589292751] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049237.645021494] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049237.645718379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049237.647774995] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049237.648090560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049237.649212713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049237.745533533] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049237.746048211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049237.747421707] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049237.748307717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049237.748901372] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049237.835396144] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049237.837248974] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049237.837908875] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049237.838204897] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049237.839117129] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049237.839721189] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049237.840002675] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049237.844459138] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049237.844882687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049237.845593276] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049237.846584778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049237.847606689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049237.945429952] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049237.946294048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049237.947038789] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049237.948313276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049237.948828565] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049238.003715483] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973648 Long: -76.50298375 +[vectornav-1] [INFO] [1746049238.006103096] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (273.344, -3.317, 9.724) +[mux-7] [INFO] [1746049238.045285868] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049238.045985426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049238.046793956] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049238.048064432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049238.049273890] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049238.085500730] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049238.087311923] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049238.088291595] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049238.088101148] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049238.089186547] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049238.089243716] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049238.090096698] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049238.145069539] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049238.145564490] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049238.146383439] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049238.147386837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049238.148537732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049238.245451317] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049238.246071498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049238.246928129] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049238.248062941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049238.248550565] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049238.335161264] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049238.336763696] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049238.337638442] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049238.337279341] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049238.338494949] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049238.338954333] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049238.339375180] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049238.344588029] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049238.345110050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049238.345734059] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049238.346827217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049238.347903927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049238.445621959] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049238.446288351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049238.447494335] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049238.448599037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049238.449774936] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049238.503222947] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973629 Long: -76.50298371 +[vectornav-1] [INFO] [1746049238.504678540] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (273.61, -3.323, 9.696) +[mux-7] [INFO] [1746049238.545101435] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049238.545805735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049238.546487585] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049238.547622548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049238.548899855] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049238.585421947] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049238.587964200] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049238.588972727] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049238.588501687] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049238.589124792] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049238.589911547] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049238.590815723] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049238.645239856] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049238.645899028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049238.646731587] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049238.648031378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049238.648673234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049238.744724804] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049238.745260889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049238.745897671] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049238.746958548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049238.748112995] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049238.835412277] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049238.837236956] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049238.838207901] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049238.838722988] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049238.838726334] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049238.838916001] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049238.839306465] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049238.844532235] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049238.845173952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049238.845680162] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049238.846877381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049238.847931578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049238.945115178] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049238.945971017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049238.946520129] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049238.947910358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049238.948389625] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049239.003505225] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973619 Long: -76.50298382 +[vectornav-1] [INFO] [1746049239.004869500] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (273.889, -3.326, 9.765) +[mux-7] [INFO] [1746049239.045111296] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049239.045968933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049239.046477112] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049239.048207962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049239.049244264] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049239.085367871] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049239.087845323] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049239.087925382] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049239.088886774] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049239.089364193] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049239.089806363] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049239.090719963] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049239.144935696] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049239.145807964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049239.146193141] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049239.147629851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049239.148655383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049239.245097449] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049239.245827004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049239.246357777] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049239.248562875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049239.249712786] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049239.335515837] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049239.338580635] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049239.338699789] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049239.338949420] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049239.339405870] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049239.339773606] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049239.340558119] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049239.344411033] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049239.344916120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049239.345603659] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049239.346679220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049239.347716636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049239.445386608] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049239.445996762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049239.446883682] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049239.448410300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049239.449131579] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049239.503584962] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973626 Long: -76.50298373 +[vectornav-1] [INFO] [1746049239.505153963] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (274.164, -3.288, 9.749) +[mux-7] [INFO] [1746049239.544824819] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049239.545389600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049239.545987251] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049239.547129034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049239.548277961] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049239.585385129] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049239.587214952] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049239.587993043] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049239.588167066] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049239.589062837] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049239.589281643] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049239.589949904] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049239.645242682] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049239.646021451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049239.646740386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049239.648023368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049239.648479054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049239.745559612] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049239.746281402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049239.747245026] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049239.748680556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049239.749761950] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049239.835458516] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049239.837884377] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049239.839647854] [sailbot.teensy]: Wind angle: 352 +[mux-7] [INFO] [1746049239.839657796] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049239.840690979] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049239.841599932] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049239.842492795] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049239.844337420] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049239.844674015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049239.845650569] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049239.846419507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049239.847558030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049239.945292814] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049239.946234951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049239.947023772] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049239.948185598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049239.948706211] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049240.003580785] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973613 Long: -76.5029837 +[vectornav-1] [INFO] [1746049240.005344065] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (274.442, -3.285, 9.873) +[mux-7] [INFO] [1746049240.044943034] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049240.045586585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049240.046212245] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049240.047523240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049240.048821991] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049240.085294248] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049240.087109117] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049240.087492013] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049240.088015920] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049240.088743378] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049240.088715823] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049240.089211276] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049240.144861952] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049240.145554710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049240.146150670] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049240.147464352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049240.148518034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049240.245490548] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049240.246272814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049240.247296318] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049240.248941779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049240.250091682] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049240.335818098] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049240.338184955] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049240.338613504] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049240.339244659] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049240.339937119] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049240.340198525] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049240.341093509] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049240.344439844] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049240.345036356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049240.345608935] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049240.346797601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049240.347986541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049240.445121424] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049240.446024178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049240.446483241] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049240.448179054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049240.449241083] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049240.503295352] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973603 Long: -76.50298358 +[vectornav-1] [INFO] [1746049240.504696353] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (274.722, -3.276, 9.932) +[mux-7] [INFO] [1746049240.545152626] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049240.545815320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049240.546373891] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049240.547925265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049240.549436317] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049240.585361029] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049240.587176479] [sailbot.teensy]: Wind angle: 351 +[teensy-2] [INFO] [1746049240.588146342] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049240.588488971] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049240.589067384] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049240.590043099] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049240.589476778] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049240.645254071] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049240.645761025] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049240.646679336] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049240.647929506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049240.648957559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049240.745465448] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049240.745967305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049240.747074474] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049240.748096395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049240.748984927] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049240.835336635] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049240.837579038] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049240.838209941] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049240.838730658] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049240.839398555] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049240.839755492] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049240.840109265] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049240.844567836] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049240.845078673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049240.845716200] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049240.846818902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049240.847830618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049240.945651072] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049240.946581467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049240.947999861] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049240.948863492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049240.950131732] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049241.003480474] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973596 Long: -76.50298345 +[vectornav-1] [INFO] [1746049241.005581371] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (274.996, -3.242, 9.901) +[mux-7] [INFO] [1746049241.045017056] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049241.045708570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049241.046290458] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049241.047554229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049241.048661116] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049241.085265662] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049241.086958073] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049241.087517939] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049241.087887859] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049241.088815066] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049241.089060617] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049241.089680706] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049241.145127943] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049241.145855236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049241.146503071] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049241.147878403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049241.148934659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049241.244844162] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049241.245515363] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049241.246015789] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049241.247384940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049241.248466225] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049241.335274401] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049241.337590648] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049241.337745097] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049241.338558869] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049241.339455138] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049241.340365411] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049241.341208731] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049241.344507067] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049241.344959815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049241.345852417] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049241.346555915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049241.347559267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049241.445399189] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049241.446182799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049241.447038309] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049241.448148796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049241.448696066] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049241.502512277] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973589 Long: -76.50298328 +[vectornav-1] [INFO] [1746049241.503605324] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (275.269, -3.241, 9.853) +[mux-7] [INFO] [1746049241.545253366] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049241.546590947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049241.546755998] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049241.548989877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049241.550034613] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049241.585818245] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049241.588029980] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049241.589227601] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049241.589196588] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049241.590292451] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049241.591041280] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049241.591209103] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049241.645068540] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049241.645679749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049241.646458297] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049241.648835378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049241.649996091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049241.745508382] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049241.746239964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049241.747133919] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049241.748047935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049241.748598924] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049241.835338530] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049241.837185071] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049241.837973463] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049241.838137801] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049241.839068872] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049241.839749828] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049241.839905317] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049241.844443216] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049241.845290660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049241.845586697] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049241.847017344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049241.848124474] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049241.945063873] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049241.945749409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049241.946459536] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049241.947718363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049241.948879420] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049242.003363548] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973576 Long: -76.50298305 +[vectornav-1] [INFO] [1746049242.004967843] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (275.52099999999996, -3.263, 9.757) +[mux-7] [INFO] [1746049242.044994533] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049242.046150655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049242.046358502] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049242.048136573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049242.049155471] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049242.085566639] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049242.088517853] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049242.089578158] [sailbot.teensy]: Wind angle: 346 +[mux-7] [INFO] [1746049242.089846562] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049242.090532969] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049242.091378987] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049242.092223549] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049242.145264764] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049242.146201053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049242.146786791] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049242.148275625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049242.149583232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049242.245380197] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049242.246104996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049242.246886955] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049242.248486689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049242.249123588] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049242.335414772] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049242.337902848] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049242.338586002] [sailbot.teensy]: Wind angle: 346 +[mux-7] [INFO] [1746049242.339087303] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049242.339538929] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049242.340456285] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049242.341300726] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049242.344372881] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049242.344802081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049242.345500368] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049242.346487227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049242.347597386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049242.445514089] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049242.446337540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049242.447241672] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049242.448803838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049242.449425540] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049242.502711428] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973562 Long: -76.50298306 +[vectornav-1] [INFO] [1746049242.504254498] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (275.78499999999997, -3.274, 9.818) +[mux-7] [INFO] [1746049242.545550968] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049242.546091589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049242.547275478] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049242.548424079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049242.549282047] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049242.585544054] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049242.587820670] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049242.587995686] [sailbot.teensy]: Wind angle: 346 +[teensy-2] [INFO] [1746049242.588981369] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049242.589599304] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049242.589894926] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049242.590783282] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049242.645633355] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049242.646256610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049242.647671541] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049242.648600876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049242.649849924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049242.745810361] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049242.746396180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049242.747702084] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049242.748678044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049242.749786558] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049242.835408719] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049242.837690316] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049242.838064799] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049242.838469001] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049242.838618177] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049242.839522940] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049242.839992476] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049242.844627678] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049242.845229442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049242.846236443] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049242.846946674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049242.848098755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049242.945644219] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049242.946305185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049242.947540945] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049242.948643348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049242.949801772] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049243.003621611] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973549 Long: -76.50298289 +[vectornav-1] [INFO] [1746049243.005469681] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (276.06100000000004, -3.268, 9.858) +[mux-7] [INFO] [1746049243.045242180] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049243.045821864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049243.046662773] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049243.048621308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049243.049771261] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049243.085440000] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049243.087297737] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049243.088258041] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049243.088421989] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049243.089239572] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049243.089419493] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049243.090178374] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049243.144473460] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049243.145000402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049243.145494195] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049243.146629465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049243.147570696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049243.245556237] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049243.246225709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049243.247375153] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049243.248819966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049243.249400234] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049243.335382804] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049243.337343426] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049243.338076426] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049243.338287014] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049243.339007212] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049243.339149664] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049243.340048206] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049243.344581077] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049243.345210460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049243.345717271] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049243.346955111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049243.348112436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049243.445544604] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049243.446562704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049243.447236013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049243.448872125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049243.449707648] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049243.502907286] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973535 Long: -76.5029827 +[vectornav-1] [INFO] [1746049243.504143422] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (276.36, -3.252, 9.893) +[mux-7] [INFO] [1746049243.545299313] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049243.546046408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049243.546779862] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049243.548183758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049243.549253595] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049243.585634389] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049243.588372313] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049243.588721943] [sailbot.teensy]: Wind angle: 343 +[mux-7] [INFO] [1746049243.589341737] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049243.589800821] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049243.590732750] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049243.591586412] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049243.645286783] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049243.646057520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049243.646918046] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049243.648823605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049243.650095856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049243.745693977] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049243.746872102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049243.747597807] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049243.748348512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049243.748916697] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049243.835832821] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049243.838666383] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049243.838796288] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049243.840093750] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049243.840732902] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049243.841694772] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049243.842621160] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049243.844461091] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049243.845111372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049243.845594127] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049243.846788918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049243.847994241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049243.945508539] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049243.946517083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049243.947107388] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049243.949059171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049243.949591613] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049244.004114181] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973517 Long: -76.5029826 +[vectornav-1] [INFO] [1746049244.005672691] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (276.61199999999997, -3.234, 9.816) +[mux-7] [INFO] [1746049244.045285274] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049244.046174601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049244.046893614] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049244.048330156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049244.049400118] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049244.085583139] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049244.087428881] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049244.088074731] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049244.088402304] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049244.089302122] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049244.089458781] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049244.090198870] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049244.145801172] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049244.146413905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049244.147873994] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049244.148862015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049244.150039967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049244.245617616] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049244.246253914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049244.247463860] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049244.248831625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049244.249630176] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049244.335354119] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049244.337212192] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049244.338091515] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049244.338154742] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049244.339025331] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049244.339062139] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049244.339954072] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049244.344327239] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049244.344840397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049244.345454813] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049244.346494771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049244.347660885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049244.445525109] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049244.446289389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049244.447105325] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049244.447987948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049244.448513739] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049244.502580261] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973502 Long: -76.5029825 +[vectornav-1] [INFO] [1746049244.503808590] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (276.884, -3.307, 9.869) +[mux-7] [INFO] [1746049244.544748330] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049244.545439966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049244.545925377] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049244.547184625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049244.548244258] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049244.585257727] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049244.587593389] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049244.587789394] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049244.588757228] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049244.588087350] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049244.589686148] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049244.590598818] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049244.645303975] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049244.646170051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049244.647040822] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049244.648328086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049244.649941878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049244.745538470] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049244.746342279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049244.747166937] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049244.748870549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049244.750044821] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049244.836029795] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049244.838825538] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049244.839187321] [sailbot.teensy]: Wind angle: 351 +[mux-7] [INFO] [1746049244.839289596] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049244.839591887] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049244.839966459] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049244.840342561] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049244.844440163] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049244.844970341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049244.845569797] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049244.846656394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049244.847830275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049244.945351043] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049244.946040002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049244.947117135] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049244.948368364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049244.949543478] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049245.003649185] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973499 Long: -76.50298222 +[vectornav-1] [INFO] [1746049245.005235283] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (277.129, -3.309, 9.859) +[mux-7] [INFO] [1746049245.045251349] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049245.046234340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049245.046733541] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049245.048666996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049245.049695698] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049245.085450638] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049245.087474224] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049245.087988106] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049245.088459390] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049245.089383030] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049245.089802178] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049245.090265235] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049245.145088938] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049245.145943144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049245.146496146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049245.147955569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049245.149124816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049245.245332314] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049245.246288801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049245.246912601] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049245.248580115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049245.249712227] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049245.335289859] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049245.337463878] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049245.337926596] [sailbot.teensy]: Wind angle: 354 +[teensy-2] [INFO] [1746049245.338962253] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049245.339744799] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049245.339868684] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049245.340818221] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049245.344288709] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049245.344942809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049245.345362236] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049245.346695774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049245.347787216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049245.445502224] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049245.446866302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049245.447244377] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049245.448826617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049245.449293112] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049245.502620822] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973488 Long: -76.50298217 +[vectornav-1] [INFO] [1746049245.504214503] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (277.392, -3.295, 9.676) +[mux-7] [INFO] [1746049245.545264942] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049245.546091268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049245.546781552] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049245.548528588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049245.549582489] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049245.585427974] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049245.587363264] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049245.587853252] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049245.588387779] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049245.589298972] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049245.589330391] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049245.590256756] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049245.645054231] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049245.646010161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049245.646450904] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049245.648055300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049245.649217010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049245.745512746] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049245.746419585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049245.747155733] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049245.748186324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049245.748749562] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049245.835505020] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049245.838008132] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049245.838292063] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049245.839027435] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049245.839501179] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049245.839956113] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049245.840921975] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049245.844270931] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049245.844735219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049245.845504150] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049245.846541530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049245.847578151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049245.945364197] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049245.946300853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049245.946834471] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049245.949287867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049245.950408826] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049246.003557703] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973467 Long: -76.50298219 +[vectornav-1] [INFO] [1746049246.006138129] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (277.65, -3.3, 9.731) +[mux-7] [INFO] [1746049246.045164624] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049246.046102329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049246.046494389] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049246.048427462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049246.049723591] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049246.085645629] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049246.087631755] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049246.088618107] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049246.088434643] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049246.089500223] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049246.090378232] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049246.089614020] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746049246.145021192] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049246.145954967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049246.146411760] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049246.147960840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049246.149010871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049246.245324392] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049246.246338940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049246.247204666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049246.248236788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049246.248845802] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049246.335607096] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049246.337481782] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746049246.338002556] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049246.338424418] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049246.339295116] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049246.339802204] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049246.340167922] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049246.344348599] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049246.344932684] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049246.345444912] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049246.346659365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049246.347675623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049246.445490439] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049246.446040305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049246.447183561] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049246.448141405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049246.449287840] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049246.502714697] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973458 Long: -76.5029823 +[vectornav-1] [INFO] [1746049246.503944171] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (277.913, -3.303, 9.772) +[mux-7] [INFO] [1746049246.545170135] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049246.545795665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049246.546913702] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049246.547764244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049246.548971940] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049246.585814727] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049246.588747378] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049246.589827612] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049246.589210842] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049246.589744165] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049246.590758874] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049246.591628047] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049246.645280266] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049246.646003416] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049246.646785372] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049246.648133016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049246.648639867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049246.745338915] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049246.746085951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049246.747141319] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049246.747918993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049246.748393570] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049246.835290376] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049246.837774988] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049246.837838893] [sailbot.teensy]: Wind angle: 346 +[teensy-2] [INFO] [1746049246.838811967] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049246.838822901] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049246.839213537] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049246.839598445] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049246.844592585] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049246.845127382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049246.845844310] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049246.846869515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049246.848117012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049246.945387421] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049246.946009890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049246.947022761] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049246.948392141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049246.949213513] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049247.003562137] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973453 Long: -76.50298221 +[vectornav-1] [INFO] [1746049247.005173021] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (278.171, -3.292, 9.697) +[mux-7] [INFO] [1746049247.045231873] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049247.045767712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049247.046680288] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049247.047984341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049247.049009674] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049247.085442147] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049247.087396146] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049247.087817463] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049247.088367739] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049247.089240909] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049247.089209689] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049247.090134831] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049247.145357970] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049247.145939655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049247.146960584] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049247.148054768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049247.149160435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049247.245153264] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049247.245689340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049247.246624961] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049247.247625355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049247.248673389] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049247.335558148] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049247.338131756] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049247.338167337] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049247.339283587] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049247.339356393] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049247.339667818] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049247.340067332] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049247.344502587] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049247.345081566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049247.346035857] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049247.346874004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049247.348060679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049247.445407285] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049247.446068062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049247.447072515] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049247.448350794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049247.449502711] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049247.503992536] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973439 Long: -76.50298226 +[vectornav-1] [INFO] [1746049247.505601369] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (278.432, -3.297, 9.724) +[mux-7] [INFO] [1746049247.544818441] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049247.545343420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049247.546047789] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049247.547096788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049247.548218923] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049247.585327818] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049247.586978375] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049247.587887284] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049247.588799296] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049247.587629959] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049247.588229990] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049247.589682970] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049247.645346761] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049247.646009450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049247.646931969] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049247.648510619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049247.649706806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049247.745640991] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049247.746185201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049247.747497566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049247.748594839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049247.749721099] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049247.835372942] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049247.837831049] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049247.838198620] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049247.839126082] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049247.839194742] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049247.840063226] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049247.840885464] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049247.844404456] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049247.844988588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049247.845538474] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049247.846645401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049247.847698033] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049247.945710485] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049247.946618349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049247.947432924] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049247.949407095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049247.950782131] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049248.003360394] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973434 Long: -76.50298208 +[vectornav-1] [INFO] [1746049248.005005340] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (278.69399999999996, -3.3, 9.757) +[mux-7] [INFO] [1746049248.045334677] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049248.046145781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049248.046857312] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049248.048373334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049248.048877876] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049248.085283723] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049248.087260577] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049248.088226768] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049248.088039862] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049248.088713685] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049248.089111879] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049248.089974492] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049248.144805925] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049248.145403535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049248.146126984] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049248.147325347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049248.148528714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049248.245058206] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049248.246003866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049248.246481509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049248.247890442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049248.248375617] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049248.335479092] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049248.338169986] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049248.338268466] [sailbot.teensy]: Wind angle: 349 +[teensy-2] [INFO] [1746049248.339163145] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049248.339201815] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049248.340086714] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049248.340948497] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049248.344358425] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049248.344861223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049248.345472193] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049248.346901615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049248.347987105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049248.445177604] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049248.446149147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049248.446553016] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049248.448131531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049248.449152465] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049248.503770663] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973438 Long: -76.50298219 +[vectornav-1] [INFO] [1746049248.505438735] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (278.952, -3.291, 9.691) +[mux-7] [INFO] [1746049248.545529532] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049248.546367056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049248.547114234] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049248.548811517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049248.549894789] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049248.585471095] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049248.587336534] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049248.588125250] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049248.588381239] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049248.589236063] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049248.589306839] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049248.590226739] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049248.645495914] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049248.646616387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049248.647127159] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049248.649153264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049248.650272630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049248.745539133] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049248.746425564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049248.747166597] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049248.748003175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049248.748450496] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049248.835308146] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049248.837253678] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049248.837933868] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049248.838232956] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049248.839044412] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049248.839160771] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049248.840114511] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049248.844420944] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049248.845303485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049248.845804616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049248.847038159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049248.848073250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049248.945560633] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049248.946246289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049248.947748966] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049248.948032829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049248.948527130] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049249.003217592] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973414 Long: -76.50298223 +[vectornav-1] [INFO] [1746049249.004845146] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (279.20799999999997, -3.289, 9.71) +[mux-7] [INFO] [1746049249.044718654] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049249.045511912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049249.045893361] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049249.047433852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049249.048543467] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049249.085338943] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049249.087790641] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049249.087835949] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049249.088873792] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049249.089271325] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049249.089820448] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049249.090754936] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049249.144717705] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049249.145599021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049249.145966104] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049249.147514815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049249.148611729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049249.245069700] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049249.245790639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049249.246568866] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049249.247805297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049249.249012888] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049249.335160704] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049249.336908156] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049249.337766484] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049249.337852478] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049249.338736247] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049249.338737192] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049249.339660062] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049249.344300418] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049249.344805710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049249.345446029] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049249.346601639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049249.347597840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049249.445612191] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049249.446254216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049249.447747284] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049249.449045027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049249.450199143] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049249.504373665] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973404 Long: -76.50298214 +[vectornav-1] [INFO] [1746049249.506128066] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (279.466, -3.294, 9.733) +[mux-7] [INFO] [1746049249.544923183] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049249.545759922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049249.546192430] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049249.548745106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049249.549883341] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049249.585177729] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049249.586763294] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049249.588379992] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049249.588548400] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049249.589280509] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049249.590307033] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049249.591166663] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049249.645112187] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049249.646000415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049249.646532328] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049249.648229810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049249.649367789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049249.745558522] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049249.746268313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049249.747167566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049249.748560975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049249.749833610] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049249.835392154] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049249.837678715] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049249.837890408] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049249.838608167] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049249.838849858] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049249.839341809] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049249.839742195] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049249.844381791] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049249.845004720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049249.845604868] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049249.846727999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049249.847859690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049249.945655532] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049249.946424279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049249.947591623] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049249.948898451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049249.950069252] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049250.003405577] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973391 Long: -76.50298212 +[vectornav-1] [INFO] [1746049250.005259840] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (279.72900000000004, -3.308, 9.698) +[mux-7] [INFO] [1746049250.045049883] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049250.045797138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049250.046460888] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049250.047973359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049250.049104899] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049250.085196494] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049250.087212276] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049250.087513247] [sailbot.teensy]: Wind angle: 349 +[teensy-2] [INFO] [1746049250.088418607] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049250.089044552] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049250.089451729] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049250.090349755] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049250.145279569] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049250.145955486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049250.146846168] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049250.148082106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049250.149311804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049250.245300725] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049250.245963018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049250.246843283] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049250.248363060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049250.248968793] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049250.335477894] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049250.337908665] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049250.338265171] [sailbot.teensy]: Wind angle: 349 +[mux-7] [INFO] [1746049250.339196243] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049250.339258833] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049250.340202438] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049250.341137731] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049250.344413363] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049250.344873600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049250.345523633] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049250.346561548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049250.347588911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049250.445477630] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049250.446270271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049250.447188290] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049250.448117519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049250.448762244] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049250.503027367] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973378 Long: -76.50298215 +[vectornav-1] [INFO] [1746049250.504457560] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (279.97, -3.295, 9.71) +[mux-7] [INFO] [1746049250.545157598] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049250.546081862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049250.546558548] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049250.548257664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049250.549314779] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049250.585854576] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049250.588359033] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049250.588380499] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049250.589386823] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049250.590332311] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049250.590902605] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049250.591223774] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049250.645175224] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049250.645968566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049250.646426707] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049250.647773091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049250.648819006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049250.745236725] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049250.746144938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049250.746893838] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049250.748285114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049250.748779315] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049250.835275833] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049250.837618829] [sailbot.teensy]: Wind angle: 356 +[trim_sail-4] [INFO] [1746049250.837694888] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049250.838590575] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049250.839116034] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049250.839507753] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049250.840403956] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049250.844455417] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049250.844900890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049250.845593503] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049250.846543085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049250.847592061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049250.945244199] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049250.945946412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049250.946818660] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049250.948214300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049250.948647665] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049251.002549676] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973364 Long: -76.50298216 +[vectornav-1] [INFO] [1746049251.003997670] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.226, -3.3, 9.716) +[mux-7] [INFO] [1746049251.045139210] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049251.045901249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049251.046572025] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049251.047844735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049251.048973977] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049251.085649659] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049251.087861577] [sailbot.teensy]: Wind angle: 358 +[trim_sail-4] [INFO] [1746049251.088372232] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049251.088896377] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049251.089801732] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049251.090322361] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049251.090710267] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049251.145449546] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049251.145894517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049251.146943222] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049251.149080037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049251.150261817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049251.245645072] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049251.246280638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049251.247199416] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049251.248400450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049251.249551002] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049251.335382094] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049251.337460181] [sailbot.teensy]: Wind angle: 358 +[trim_sail-4] [INFO] [1746049251.338068034] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049251.338864531] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049251.339166950] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049251.339567948] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049251.340494471] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049251.344411016] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049251.344909634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049251.345547785] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049251.346617673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049251.347653572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049251.445174828] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049251.446352103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049251.446698154] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049251.448326910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049251.449534441] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049251.502947972] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973367 Long: -76.50298217 +[vectornav-1] [INFO] [1746049251.504109560] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.46299999999997, -3.3, 9.716) +[mux-7] [INFO] [1746049251.544904926] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049251.546001710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049251.547138174] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049251.548111278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049251.549279987] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049251.585201853] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049251.586748697] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049251.587310874] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049251.587614843] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049251.588574045] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049251.589177628] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049251.589470609] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049251.645368864] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049251.645985915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049251.646966168] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049251.648601106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049251.649322241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049251.745701015] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049251.746375742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049251.747370635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049251.748767519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049251.749995982] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049251.835372422] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049251.837248556] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049251.837809819] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049251.838780077] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049251.839206746] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049251.839596442] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049251.839613447] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049251.844685344] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049251.845391410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049251.845990411] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049251.847285157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049251.848413796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049251.945790558] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049251.946731288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049251.947743506] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049251.948956130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049251.949484305] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049252.002530809] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973353 Long: -76.50298216 +[vectornav-1] [INFO] [1746049252.003680359] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.72900000000004, -3.291, 9.711) +[mux-7] [INFO] [1746049252.045443312] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049252.046101625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049252.046931691] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049252.047898948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049252.048427739] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049252.085463318] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049252.087517660] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049252.088072390] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049252.088500329] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049252.089683311] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049252.089823637] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049252.091141179] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049252.145109493] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049252.145645018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049252.146815461] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049252.147444244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049252.149271240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049252.245433147] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049252.246215660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049252.247048867] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049252.248618212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049252.249230256] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049252.335435430] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049252.338209170] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049252.338372840] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049252.339946816] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049252.340118676] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049252.341105045] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049252.341953336] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049252.344311772] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049252.344908965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049252.345442588] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049252.346621325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049252.347593997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049252.445053434] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049252.445829170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049252.446418226] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049252.447643207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049252.448685028] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049252.502882477] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973348 Long: -76.5029823 +[vectornav-1] [INFO] [1746049252.504475111] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.96500000000003, -3.295, 9.742) +[mux-7] [INFO] [1746049252.545032028] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049252.545738526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049252.546701844] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049252.547516298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049252.548606483] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049252.585531764] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049252.587992387] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049252.588477675] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049252.589017831] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049252.589887271] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049252.590197235] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049252.590751536] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049252.645667754] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049252.646170850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049252.648303368] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049252.648496638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049252.649763040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049252.745307611] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049252.746251281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049252.747239522] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049252.748230522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049252.748764462] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049252.835739218] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049252.837932454] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049252.838735666] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049252.839600445] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049252.839677320] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049252.840069600] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049252.840772935] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049252.844514490] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049252.844940903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049252.845700618] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049252.846660430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049252.847791194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049252.945671748] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049252.946428868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049252.947469511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049252.948729604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049252.949248429] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049253.003485467] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973341 Long: -76.5029823 +[vectornav-1] [INFO] [1746049253.005280916] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (281.20500000000004, -3.293, 9.738) +[mux-7] [INFO] [1746049253.045050094] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049253.045568303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049253.046488692] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049253.047483861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049253.048719020] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049253.085407235] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049253.087653290] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049253.087931728] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049253.088673196] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049253.089573615] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049253.089660549] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049253.090428333] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049253.145262601] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049253.146212293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049253.146795611] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049253.148084323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049253.148661005] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049253.245246293] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049253.246104934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049253.246793390] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049253.247983353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049253.248448940] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049253.335215745] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049253.336991322] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049253.337729020] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049253.338875442] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049253.338899837] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049253.339868879] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049253.340805562] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049253.344355207] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049253.344802820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049253.345447428] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049253.346500225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049253.347519082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049253.445273280] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049253.446089662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049253.447216097] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049253.448361404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049253.449029730] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049253.502542498] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697333 Long: -76.50298239 +[vectornav-1] [INFO] [1746049253.503643604] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (281.461, -3.297, 9.751) +[mux-7] [INFO] [1746049253.545342718] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049253.545978910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049253.546952216] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049253.548195012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049253.548703100] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049253.585375094] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049253.587607860] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049253.587772394] [sailbot.teensy]: Wind angle: 349 +[teensy-2] [INFO] [1746049253.588776198] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049253.589218030] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049253.589705304] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049253.590609531] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049253.645482351] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049253.646498696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049253.647851724] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049253.648842991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049253.650172203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049253.745280370] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049253.746096354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049253.746809027] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049253.748559223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049253.749622636] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049253.835569439] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049253.837753001] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049253.838231440] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049253.838813119] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049253.839728832] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049253.839465582] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049253.840465646] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049253.844451152] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049253.845023700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049253.845592280] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049253.846830633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049253.847900514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049253.945648459] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049253.946717654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049253.947423329] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049253.948610280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049253.949152929] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049254.004028199] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973323 Long: -76.50298248 +[vectornav-1] [INFO] [1746049254.005791617] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (281.674, -3.302, 9.743) +[mux-7] [INFO] [1746049254.044973087] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049254.045871894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049254.046598485] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049254.047943534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049254.049097477] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049254.085475554] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049254.087757604] [sailbot.teensy]: Wind angle: 354 +[teensy-2] [INFO] [1746049254.088788622] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049254.089670412] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049254.088857812] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049254.089226680] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049254.090550350] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049254.145098081] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049254.145870074] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049254.146743963] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049254.148022349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049254.149016068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049254.245511641] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049254.246558675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049254.247356765] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049254.248229215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049254.248986947] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049254.335472554] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049254.338053668] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049254.338165838] [sailbot.teensy]: Wind angle: 355 +[teensy-2] [INFO] [1746049254.339106699] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049254.340025820] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049254.340205068] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049254.340999234] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049254.344549038] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049254.345001195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049254.345712413] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049254.346725978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049254.347780513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049254.445349405] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049254.446026882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049254.447108979] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049254.448195600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049254.448951416] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049254.502542353] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973303 Long: -76.5029825 +[vectornav-1] [INFO] [1746049254.503644049] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (281.942, -3.294, 9.762) +[mux-7] [INFO] [1746049254.545373935] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049254.546145011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049254.546990876] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049254.548579987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049254.549801277] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049254.585487574] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049254.587816108] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049254.588069743] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049254.588821187] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049254.589521414] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049254.589759407] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049254.590644807] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049254.644753170] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049254.645381109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049254.645948151] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049254.647125270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049254.648279884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049254.745295338] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049254.746892067] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049254.747778637] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049254.749704229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049254.750876916] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049254.835299115] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049254.837024600] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049254.837836808] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049254.837978804] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049254.838874031] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049254.838896769] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049254.839803082] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049254.844423774] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049254.844990800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049254.845753094] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049254.846858080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049254.848080155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049254.945916557] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049254.946438735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049254.948248364] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049254.949204269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049254.950405602] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049255.003599843] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973287 Long: -76.50298246 +[vectornav-1] [INFO] [1746049255.005586313] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.159, -3.298, 9.746) +[mux-7] [INFO] [1746049255.044942751] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049255.045488998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049255.046188501] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049255.047255743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049255.048686832] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049255.085396850] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049255.087892593] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049255.087943827] [sailbot.teensy]: Wind angle: 355 +[teensy-2] [INFO] [1746049255.088898598] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049255.089081628] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049255.089814084] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049255.090697008] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049255.144997219] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049255.145754494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049255.146297630] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049255.147764986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049255.148842942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049255.245320787] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049255.246269692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049255.247028058] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049255.248178830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049255.248682607] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049255.335385196] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049255.337794194] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049255.337897218] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049255.338769056] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049255.339176239] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049255.339728781] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049255.340659242] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049255.344435920] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049255.344878410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049255.345713148] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049255.346608859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049255.347856700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049255.445335321] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049255.446251133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049255.446968274] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049255.448418952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049255.450063167] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049255.503360939] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973283 Long: -76.50298254 +[vectornav-1] [INFO] [1746049255.504610848] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.372, -3.293, 9.676) +[mux-7] [INFO] [1746049255.544993072] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049255.545865791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049255.546311364] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049255.548071077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049255.549263577] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049255.585443041] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049255.587907801] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049255.588291056] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049255.589245768] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049255.590374006] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049255.591284375] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049255.592144586] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049255.645244085] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049255.645929603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049255.646779840] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049255.648132094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049255.649377052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049255.745609721] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049255.746310897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049255.748065618] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049255.748664281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049255.749239199] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049255.835501572] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049255.838166588] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049255.838426909] [sailbot.teensy]: Wind angle: 355 +[teensy-2] [INFO] [1746049255.839416489] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049255.840356591] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049255.840806835] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049255.841213676] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049255.844367410] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049255.845010794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049255.845583711] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049255.846867658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049255.847933645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049255.945289800] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049255.946014460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049255.946833214] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049255.947940408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049255.948489319] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049256.002558030] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973267 Long: -76.50298243 +[vectornav-1] [INFO] [1746049256.003544949] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.628, -3.289, 9.699) +[mux-7] [INFO] [1746049256.045066825] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049256.045956004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049256.046309374] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049256.047783184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049256.049087548] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049256.086039637] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049256.089208076] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049256.089297253] [sailbot.teensy]: Wind angle: 355 +[teensy-2] [INFO] [1746049256.090387430] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049256.090478761] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049256.091338671] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049256.092245703] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049256.145087193] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049256.145964868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049256.146558584] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049256.148190826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049256.149364486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049256.245304605] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049256.246036487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049256.246823522] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049256.248320134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049256.248862049] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049256.335419461] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049256.337946942] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049256.338217455] [sailbot.teensy]: Wind angle: 355 +[teensy-2] [INFO] [1746049256.339206692] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049256.339369555] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049256.340190469] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049256.341045816] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049256.344377781] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049256.345002879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049256.345547028] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049256.346825383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049256.347848139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049256.445375292] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049256.445979411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049256.447038007] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049256.448211352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049256.448774783] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049256.503203564] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973261 Long: -76.50298249 +[vectornav-1] [INFO] [1746049256.504982174] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.839, -3.306, 9.753) +[mux-7] [INFO] [1746049256.545175864] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049256.545850921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049256.547900188] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049256.548060040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049256.549141344] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049256.585754136] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049256.588684986] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049256.588682777] [sailbot.teensy]: Wind angle: 354 +[teensy-2] [INFO] [1746049256.589964460] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049256.590078992] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049256.590875965] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049256.591789365] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049256.644909146] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049256.645377397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049256.646342678] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049256.647147174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049256.648340628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049256.745431219] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049256.746381679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049256.747448938] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049256.748534364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049256.749695232] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049256.835481300] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049256.837357242] [sailbot.teensy]: Wind angle: 354 +[teensy-2] [INFO] [1746049256.838322363] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049256.838007466] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049256.839183480] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049256.839204075] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049256.840080734] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049256.844379578] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049256.844978242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049256.845520403] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049256.846765628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049256.847831296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049256.945849911] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049256.946452964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049256.947729211] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049256.948169878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049256.948687099] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049257.004007177] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973268 Long: -76.50298248 +[vectornav-1] [INFO] [1746049257.005804276] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.06600000000003, -3.301, 9.771) +[mux-7] [INFO] [1746049257.045111073] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049257.045927942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049257.046526918] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049257.047935371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049257.049094986] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049257.085622204] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049257.087895312] [sailbot.teensy]: Wind angle: 355 +[teensy-2] [INFO] [1746049257.088904292] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049257.089094603] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049257.089665116] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049257.089775248] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049257.090654818] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049257.145156853] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049257.145888944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049257.146591246] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049257.148110173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049257.149253891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049257.245700413] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049257.246782467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049257.247576859] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049257.248621956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049257.249343784] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049257.335418283] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049257.337388501] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049257.337908591] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049257.338405493] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049257.339374288] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049257.339668106] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049257.340034092] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049257.344505592] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049257.345459712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049257.345726810] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049257.347355109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049257.348486134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049257.445886078] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049257.446595960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049257.447942962] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049257.448610327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049257.449114419] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049257.503325286] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973267 Long: -76.50298241 +[vectornav-1] [INFO] [1746049257.505192509] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.296, -3.296, 9.736) +[mux-7] [INFO] [1746049257.545176205] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049257.546004511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049257.546622380] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049257.548306049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049257.549416220] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049257.585715561] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049257.587920833] [sailbot.teensy]: Wind angle: 353 +[teensy-2] [INFO] [1746049257.589113720] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049257.588729662] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049257.590039603] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049257.590158750] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049257.590981006] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049257.645323925] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049257.645961039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049257.646879239] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049257.648135400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049257.649393436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049257.745541858] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049257.746592194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049257.747183832] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049257.749080831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049257.750219072] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049257.835738422] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049257.838405820] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049257.838621878] [sailbot.teensy]: Wind angle: 348 +[mux-7] [INFO] [1746049257.839715510] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049257.839906452] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049257.840961655] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049257.841347780] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049257.844388336] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049257.844970056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049257.845708858] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049257.846883018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049257.848205881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049257.945490554] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049257.946303261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049257.947861615] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049257.948696937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049257.950023242] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049258.003044980] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973264 Long: -76.50298241 +[vectornav-1] [INFO] [1746049258.004413824] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.526, -3.302, 9.828) +[mux-7] [INFO] [1746049258.045004886] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049258.045665124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049258.046289569] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049258.047627656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049258.048787954] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049258.085417271] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049258.087870416] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049258.088438390] [sailbot.teensy]: Wind angle: 348 +[mux-7] [INFO] [1746049258.089005690] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049258.089456595] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049258.090364402] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049258.091250188] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049258.145165749] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049258.146031899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049258.146581427] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049258.148410230] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049258.149457937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049258.245556309] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049258.246397276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049258.247154411] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049258.248213933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049258.248697289] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049258.335315036] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049258.337154265] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049258.337843071] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049258.338143727] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049258.339070385] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049258.339050006] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049258.339981231] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049258.344518068] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049258.345049999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049258.345652837] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049258.346758534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049258.347892494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049258.445110300] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049258.445800143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049258.446591784] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049258.447854123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049258.449024949] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049258.502336928] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973266 Long: -76.50298232 +[vectornav-1] [INFO] [1746049258.503315758] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.743, -3.29, 9.71) +[mux-7] [INFO] [1746049258.545062087] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049258.545838034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049258.546488732] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049258.548170757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049258.549194693] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049258.585666169] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049258.588331776] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049258.588692734] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049258.589809641] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049258.590032084] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049258.590740606] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049258.591643332] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049258.645571896] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049258.646598104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049258.647315118] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049258.648625081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049258.649266630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049258.745388292] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049258.746018912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049258.746962408] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049258.748342510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049258.748961447] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049258.835469621] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049258.838176048] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049258.838933576] [sailbot.teensy]: Wind angle: 349 +[mux-7] [INFO] [1746049258.839348852] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049258.839437736] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049258.839835412] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049258.840242863] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049258.844456008] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049258.844837595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049258.845636335] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049258.846506902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049258.847563658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049258.945190722] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049258.946582341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049258.946874092] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049258.948744620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049258.949267608] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049259.003730906] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973246 Long: -76.5029822 +[vectornav-1] [INFO] [1746049259.005356089] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.952, -3.305, 9.78) +[mux-7] [INFO] [1746049259.045220269] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049259.045963016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049259.046739398] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049259.048273946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049259.049416585] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049259.085315488] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049259.087592665] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049259.087659344] [sailbot.teensy]: Wind angle: 349 +[teensy-2] [INFO] [1746049259.088638176] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049259.089525695] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049259.088434122] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049259.090368421] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049259.145400879] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049259.145880232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049259.146921068] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049259.147821562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049259.148933470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049259.245659207] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049259.246350578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049259.247591768] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049259.248673289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049259.249878774] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049259.335435674] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049259.337934450] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049259.338329421] [sailbot.teensy]: Wind angle: 350 +[mux-7] [INFO] [1746049259.338663634] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049259.339261441] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049259.340232108] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049259.341089950] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049259.344475209] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049259.344884358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049259.345745308] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049259.346566665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049259.347699012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049259.445396673] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049259.445969415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049259.447050136] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049259.448118912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049259.449395323] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049259.503445078] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973243 Long: -76.50298222 +[vectornav-1] [INFO] [1746049259.505113590] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.16700000000003, -3.303, 9.812) +[mux-7] [INFO] [1746049259.545072774] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049259.546104379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049259.546507885] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049259.549174576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049259.550308275] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049259.585118822] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049259.587036018] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049259.587339668] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049259.588681041] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049259.589291591] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049259.590224197] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049259.591051498] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049259.645136745] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049259.646026977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049259.646632767] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049259.648505285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049259.649501636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049259.745283999] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049259.746067140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049259.747339465] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049259.748304007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049259.749272651] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049259.835335350] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049259.837820816] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049259.838268149] [sailbot.teensy]: Wind angle: 346 +[mux-7] [INFO] [1746049259.839169296] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049259.839561986] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049259.840537469] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049259.841399653] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049259.844474991] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049259.845070418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049259.845634978] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049259.846820696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049259.847884553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049259.945572561] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049259.946785544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049259.947233107] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049259.948709551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049259.949325600] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049260.002519649] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973209 Long: -76.50298214 +[vectornav-1] [INFO] [1746049260.003538087] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.382, -3.281, 9.714) +[mux-7] [INFO] [1746049260.045166954] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049260.045847911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049260.046455883] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049260.047934200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049260.049068951] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049260.085438225] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049260.087975760] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049260.088339826] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049260.089298909] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049260.090344183] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049260.089326172] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049260.090793155] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049260.145315500] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049260.146018807] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049260.148378222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[mux-7] [INFO] [1746049260.146980816] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049260.149541823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049260.245437032] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049260.246074101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049260.247150624] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049260.248426456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049260.248988249] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049260.335434445] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049260.337399379] [sailbot.teensy]: Wind angle: 334 +[teensy-2] [INFO] [1746049260.338373587] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049260.338192124] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049260.339254572] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049260.339496462] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049260.340179646] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049260.344319144] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049260.345121437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049260.345463052] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049260.346880847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049260.347934867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049260.445264601] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049260.446063530] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049260.446811253] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049260.448418828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049260.449585309] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049260.501585362] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973244 Long: -76.50298212 +[vectornav-1] [INFO] [1746049260.502387176] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.579, -3.282, 9.7) +[mux-7] [INFO] [1746049260.543716854] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049260.544093671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049260.544204192] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049260.544863346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049260.546612361] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049260.585408086] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049260.587886404] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049260.588125992] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049260.588864292] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049260.589148105] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049260.589316566] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049260.589699451] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049260.644922948] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049260.645489361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049260.645756567] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049260.646622258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049260.647176249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049260.745233392] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049260.746186676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049260.746834879] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049260.748743482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049260.749752572] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049260.835446256] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049260.837718875] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049260.838383556] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049260.838742150] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049260.839646239] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049260.839447156] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049260.840617648] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049260.844346117] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049260.845655867] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049260.845886160] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049260.848778102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049260.849801981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049260.945083718] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049260.946012461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049260.946571923] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049260.948200395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049260.949303824] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049261.002461005] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973246 Long: -76.50298217 +[vectornav-1] [INFO] [1746049261.003492937] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.794, -3.279, 9.706) +[mux-7] [INFO] [1746049261.045040416] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049261.045704371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049261.046560718] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049261.047597775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049261.048739249] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049261.085253103] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049261.086887048] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049261.087806125] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049261.088642893] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049261.088147873] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049261.088640769] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049261.089535842] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049261.145107788] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049261.145879633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049261.146484329] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049261.147721573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049261.148770257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049261.245529720] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049261.246200271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049261.247523682] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049261.248651257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049261.249651402] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049261.335411235] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049261.337941723] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049261.338910996] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049261.338147542] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049261.338913619] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049261.339885889] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049261.340779633] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049261.344412873] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049261.345022507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049261.345660961] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049261.346824517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049261.347872721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049261.445352624] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049261.446015355] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049261.446947323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049261.448189028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049261.449515252] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049261.502447323] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973235 Long: -76.50298229 +[vectornav-1] [INFO] [1746049261.503639722] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.996, -3.277, 9.705) +[mux-7] [INFO] [1746049261.545615367] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049261.546312536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049261.547297311] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049261.548795375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049261.550179546] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049261.585801471] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049261.588674355] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049261.588736793] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049261.589799337] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049261.590396322] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049261.590678912] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049261.591552580] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049261.645127832] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049261.646165282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049261.646754881] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049261.648820933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049261.649905972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049261.744979529] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049261.745850653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049261.746295226] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049261.747794788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049261.748863075] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049261.835370742] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049261.838054902] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049261.838304593] [sailbot.teensy]: Wind angle: 341 +[mux-7] [INFO] [1746049261.838854047] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049261.839209611] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049261.840088239] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049261.840973192] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049261.844285682] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049261.844898035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049261.845435524] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049261.846605569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049261.847593308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049261.944975468] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049261.945566604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049261.946292293] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049261.947412560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049261.948250076] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049262.003739577] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697324 Long: -76.50298218 +[vectornav-1] [INFO] [1746049262.005190351] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.197, -3.276, 9.762) +[mux-7] [INFO] [1746049262.045006525] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049262.045810112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049262.046541049] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049262.047750732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049262.048854012] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049262.085371113] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049262.087856005] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049262.088943462] [sailbot.teensy]: Wind angle: 340 +[mux-7] [INFO] [1746049262.088944254] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049262.089932907] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049262.090850192] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049262.091801795] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049262.145100773] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049262.145829062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049262.146646531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049262.147964136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049262.149011337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049262.245611984] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049262.246363862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049262.247294141] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049262.249033293] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049262.250236083] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049262.335348965] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049262.337505122] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049262.337949654] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049262.338867348] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049262.338868361] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049262.339296270] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049262.339674640] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049262.344344265] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049262.344946004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049262.345451999] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049262.346742401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049262.347755386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049262.445567152] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049262.446266444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049262.447505049] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049262.448337277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049262.448886173] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049262.503762612] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973223 Long: -76.50298239 +[vectornav-1] [INFO] [1746049262.505679071] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.334, -3.253, 9.764) +[mux-7] [INFO] [1746049262.545314164] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049262.546126808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049262.546882837] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049262.548352366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049262.549559318] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049262.585398531] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049262.587581637] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049262.587877832] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049262.589008700] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049262.589929409] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049262.589927267] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049262.590805250] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049262.645141205] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049262.646219456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049262.646939830] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049262.648881008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049262.650032662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049262.745119641] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049262.745794573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049262.746921228] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049262.747761939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049262.748525295] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049262.835857610] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049262.839044688] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049262.839264577] [sailbot.teensy]: Wind angle: 350 +[mux-7] [INFO] [1746049262.839464846] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049262.839681079] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049262.840072942] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049262.840516200] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049262.844753494] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049262.845303017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049262.846043358] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049262.847049089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049262.848134072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049262.945544407] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049262.946201174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049262.947219155] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049262.948313222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049262.948871988] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049263.003179757] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697323 Long: -76.50298234 +[vectornav-1] [INFO] [1746049263.004522059] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.52, -3.257, 9.759) +[mux-7] [INFO] [1746049263.045214463] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049263.046540424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049263.046783565] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049263.048397546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049263.048897167] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049263.085741762] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049263.088402200] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049263.088434767] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049263.089436988] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049263.089934770] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049263.090361553] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049263.091203132] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049263.145357752] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049263.146057219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049263.146922003] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049263.148573367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049263.149641184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049263.245559385] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049263.246273068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049263.247322728] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049263.248742669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049263.249977294] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049263.335743150] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049263.338349343] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746049263.338944693] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049263.339556555] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049263.340642909] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049263.341641919] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049263.341851638] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049263.344334139] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049263.345225973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049263.345616962] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049263.347034202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049263.348206341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049263.445518480] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049263.446217779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049263.447168014] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049263.448604260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049263.449311460] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049263.503963107] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973237 Long: -76.5029823 +[vectornav-1] [INFO] [1746049263.505757307] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.676, -3.253, 9.756) +[mux-7] [INFO] [1746049263.545269579] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049263.546057530] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049263.546904700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049263.548101953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049263.549302685] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049263.585412141] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049263.587800512] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746049263.588233026] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049263.588780388] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049263.589127244] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049263.589662726] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049263.590518187] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049263.645648352] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049263.646193440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049263.647367608] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049263.649273631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049263.651227477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049263.745722572] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049263.746450400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049263.747573888] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049263.748944518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049263.749552373] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049263.835358038] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049263.837314465] [sailbot.teensy]: Wind angle: 1 +[trim_sail-4] [INFO] [1746049263.837886151] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049263.838324222] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049263.839228915] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049263.839715786] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049263.840089337] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049263.844604540] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049263.845322242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049263.846210616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049263.847149220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049263.848690778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049263.945080820] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049263.945725906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049263.946460678] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049263.948410877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049263.949444288] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049264.003493929] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973241 Long: -76.50298233 +[vectornav-1] [INFO] [1746049264.005666094] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.716, -3.254, 9.758) +[mux-7] [INFO] [1746049264.045129481] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049264.045835083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049264.047514327] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049264.047849123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049264.049020762] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049264.085417539] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049264.087315694] [sailbot.teensy]: Wind angle: 2 +[trim_sail-4] [INFO] [1746049264.088059766] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049264.088331573] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049264.089329839] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049264.089931821] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049264.090213830] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049264.145497653] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049264.146270166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049264.147217104] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049264.148496307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049264.149601244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049264.245467970] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049264.246316469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049264.247614798] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049264.249583307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049264.250637953] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049264.335880441] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049264.338788747] [sailbot.teensy]: Wind angle: 4 +[trim_sail-4] [INFO] [1746049264.338955843] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049264.339875318] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049264.340549944] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049264.340942754] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049264.341296584] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049264.344395100] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049264.344926779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049264.345645930] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049264.346710239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049264.347883818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049264.445352234] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049264.446141176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049264.446942988] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049264.448602840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049264.449823918] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049264.503010682] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973253 Long: -76.50298234 +[vectornav-1] [INFO] [1746049264.504344143] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.75, -3.247, 9.776) +[mux-7] [INFO] [1746049264.544967636] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049264.545933148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049264.546480784] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049264.547998218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049264.549098517] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049264.585470364] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049264.588169710] [sailbot.teensy]: Wind angle: 7 +[trim_sail-4] [INFO] [1746049264.588696154] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049264.589170464] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049264.589466195] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049264.590101656] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049264.591041923] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049264.645166495] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049264.645902569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049264.646596509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049264.647950310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049264.649223034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049264.745325020] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049264.746071384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049264.746858336] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049264.748379737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049264.748942279] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049264.835348749] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049264.837121481] [sailbot.teensy]: Wind angle: 8 +[trim_sail-4] [INFO] [1746049264.837649878] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049264.838814667] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049264.838902425] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049264.839884326] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049264.840806143] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049264.844372161] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049264.844880269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049264.845461644] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049264.846543333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049264.847551316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049264.945512890] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049264.946406430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049264.947488486] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049264.948821181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049264.950177121] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049265.003753199] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973244 Long: -76.50298219 +[vectornav-1] [INFO] [1746049265.005664670] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.786, -3.247, 9.781) +[mux-7] [INFO] [1746049265.045110559] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049265.045803268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049265.046519063] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049265.047712576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049265.048905552] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049265.085719793] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049265.087865328] [sailbot.teensy]: Wind angle: 9 +[trim_sail-4] [INFO] [1746049265.088461819] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049265.090275928] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049265.090679064] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049265.091188358] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049265.092125119] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049265.145202775] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049265.145864919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049265.146564548] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049265.147711030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049265.148835547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049265.245314989] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049265.246240523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049265.246895272] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049265.248100134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049265.248628887] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049265.335322714] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049265.337018349] [sailbot.teensy]: Wind angle: 11 +[trim_sail-4] [INFO] [1746049265.337520702] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049265.337970131] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049265.338840211] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049265.338952481] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049265.339239700] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049265.344411891] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049265.345156977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049265.345583427] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049265.346843802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049265.347915353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049265.445325624] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049265.446159093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049265.446990830] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049265.447892891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049265.448401527] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049265.503676704] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973239 Long: -76.50298213 +[vectornav-1] [INFO] [1746049265.505167395] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.81600000000003, -3.246, 9.785) +[mux-7] [INFO] [1746049265.545115057] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049265.545860164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049265.546481525] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049265.547986444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049265.549013167] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049265.585453943] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049265.587378643] [sailbot.teensy]: Wind angle: 13 +[teensy-2] [INFO] [1746049265.588442015] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049265.589394446] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049265.588672129] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049265.590275924] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049265.590765211] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049265.644848958] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049265.645955933] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049265.646268902] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049265.649148190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049265.650435787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049265.745164197] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049265.746163641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049265.747134323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049265.748272473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049265.749391264] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049265.835364996] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049265.838102667] [sailbot.teensy]: Wind angle: 15 +[trim_sail-4] [INFO] [1746049265.838155043] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049265.838766395] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049265.839057542] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049265.839934305] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049265.840845701] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049265.844270321] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049265.844856819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049265.845444061] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049265.846548955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049265.847540985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049265.945581889] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049265.946341761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049265.947279164] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049265.948904825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049265.950165746] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049266.002779936] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973239 Long: -76.5029821 +[vectornav-1] [INFO] [1746049266.003920557] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.852, -3.244, 9.762) +[mux-7] [INFO] [1746049266.045313062] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049266.045934703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049266.046893943] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049266.048300628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049266.048945256] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049266.085711322] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049266.088477050] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049266.088904005] [sailbot.teensy]: Wind angle: 16 +[mux-7] [INFO] [1746049266.089523551] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049266.090068067] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049266.091051294] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049266.091907660] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049266.145468582] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049266.146052284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049266.147764937] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049266.148660071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049266.150465632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049266.245522973] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049266.246245360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049266.247086860] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049266.247999164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049266.248534068] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049266.335404395] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049266.337777607] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049266.338191322] [sailbot.teensy]: Wind angle: 16 +[mux-7] [INFO] [1746049266.339119450] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049266.339132384] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049266.340013292] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049266.340921904] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049266.344447906] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049266.344736298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049266.345574893] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049266.346502187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049266.347593188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049266.445166750] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049266.445951505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049266.446594111] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049266.447881426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049266.449343304] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049266.503748286] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973237 Long: -76.50298208 +[vectornav-1] [INFO] [1746049266.505732388] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.884, -3.243, 9.772) +[mux-7] [INFO] [1746049266.545512547] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049266.546354807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049266.547333957] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049266.548824027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049266.549916400] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049266.585264720] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049266.587315747] [sailbot.teensy]: Wind angle: 16 +[trim_sail-4] [INFO] [1746049266.587378112] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049266.588314328] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049266.588956439] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049266.589216550] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049266.590154953] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049266.645045803] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049266.645763525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049266.646318759] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049266.647555252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049266.648636676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049266.745553489] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049266.746165121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049266.747242362] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049266.748429966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049266.749550638] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049266.835935474] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049266.838946843] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049266.839031750] [sailbot.teensy]: Wind angle: 16 +[teensy-2] [INFO] [1746049266.839518082] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049266.839854871] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049266.839924271] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049266.840309352] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049266.844590639] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049266.845013177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049266.845929964] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049266.846747507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049266.847780298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049266.945119078] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049266.945977312] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049266.946476648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049266.948579786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049266.949060954] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049267.002846433] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973247 Long: -76.50298223 +[vectornav-1] [INFO] [1746049267.004022891] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.911, -3.233, 9.724) +[mux-7] [INFO] [1746049267.045275599] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049267.046057535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049267.046727306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049267.048277333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049267.049372458] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049267.085873963] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049267.087958507] [sailbot.teensy]: Wind angle: 16 +[teensy-2] [INFO] [1746049267.089010968] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049267.088581982] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049267.089992877] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049267.090151288] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049267.090914399] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049267.145281381] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049267.145953749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049267.146884491] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049267.148297154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049267.150278848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049267.245254951] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049267.246273163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049267.246973986] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049267.248725942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049267.249542643] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049267.335308529] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049267.337701905] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049267.338572450] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049267.339176411] [sailbot.teensy]: Wind angle: 16 +[teensy-2] [INFO] [1746049267.340127672] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049267.340801489] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049267.341162716] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049267.344384711] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049267.344701267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049267.345538930] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049267.346314125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049267.347353711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049267.445368107] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049267.446193378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049267.446999531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049267.449494342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049267.450170335] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049267.503785039] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973254 Long: -76.50298228 +[vectornav-1] [INFO] [1746049267.506319040] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.951, -3.229, 9.767) +[mux-7] [INFO] [1746049267.544973829] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049267.545609609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049267.546583908] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049267.547386386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049267.548446816] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049267.585321434] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049267.587097031] [sailbot.teensy]: Wind angle: 15 +[trim_sail-4] [INFO] [1746049267.587881344] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049267.588013663] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049267.588960937] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049267.589333481] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049267.589821447] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049267.645070024] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049267.646640470] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049267.646750258] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049267.648814068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049267.649945251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049267.745346195] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049267.746039072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049267.747125983] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049267.748518885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049267.749065398] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049267.835623560] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049267.837864960] [sailbot.teensy]: Wind angle: 15 +[trim_sail-4] [INFO] [1746049267.838635815] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049267.838986691] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049267.839211639] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049267.840315441] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049267.841242660] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049267.844836122] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049267.844970960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049267.846093940] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049267.846834129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049267.847932465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049267.945284697] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049267.946111258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049267.946986741] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049267.948035090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049267.948495295] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049268.003204319] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973253 Long: -76.5029823 +[vectornav-1] [INFO] [1746049268.004447039] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.981, -3.232, 9.781) +[mux-7] [INFO] [1746049268.045010205] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049268.045728514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049268.046368919] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049268.047924167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049268.049065875] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049268.085228155] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049268.086911517] [sailbot.teensy]: Wind angle: 14 +[trim_sail-4] [INFO] [1746049268.087512999] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049268.087902020] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049268.088717623] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049268.088799239] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049268.089661689] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049268.144927206] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049268.145706199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049268.146204645] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049268.147570352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049268.148631052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049268.245056070] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049268.245906672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049268.246416962] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049268.248033022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049268.248834175] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049268.335410815] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049268.337618767] [sailbot.teensy]: Wind angle: 17 +[teensy-2] [INFO] [1746049268.338510416] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049268.338013033] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049268.338973549] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049268.339325493] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049268.340209025] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049268.344365662] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049268.344885379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049268.345446024] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049268.346632242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049268.347642695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049268.445727055] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049268.446436174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049268.447659122] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049268.448840244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049268.450029210] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049268.502524888] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697326 Long: -76.50298227 +[vectornav-1] [INFO] [1746049268.503571859] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.012, -3.224, 9.804) +[mux-7] [INFO] [1746049268.545198570] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049268.545887090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049268.546674648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049268.548373893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049268.549490048] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049268.585677721] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049268.587814861] [sailbot.teensy]: Wind angle: 17 +[trim_sail-4] [INFO] [1746049268.588520411] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049268.588895919] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049268.589881706] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049268.590366479] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049268.590783857] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049268.645101048] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049268.646193982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049268.646602160] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049268.648279468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049268.649426635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049268.745738517] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049268.746726489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049268.747528597] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049268.748808824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049268.749305337] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049268.835456089] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049268.837753939] [sailbot.teensy]: Wind angle: 17 +[trim_sail-4] [INFO] [1746049268.837807722] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049268.838755335] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049268.839672654] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049268.840037885] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049268.840465390] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049268.844451082] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049268.845007472] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049268.845609884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049268.846722581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049268.847742946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049268.945236204] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049268.945831345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049268.946714025] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049268.947925149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049268.949104825] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049269.004009578] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973274 Long: -76.50298227 +[vectornav-1] [INFO] [1746049269.005600452] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.051, -3.211, 9.806) +[mux-7] [INFO] [1746049269.045437997] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049269.046102174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049269.047042865] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049269.048396547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049269.049503060] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049269.085496044] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049269.087309081] [sailbot.teensy]: Wind angle: 18 +[teensy-2] [INFO] [1746049269.088251072] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049269.087804324] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049269.089124865] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049269.089627455] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049269.090061130] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049269.145383724] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049269.146231334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049269.146833017] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049269.148552870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049269.149562022] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049269.245090954] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049269.245989643] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049269.246473340] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049269.248191414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049269.249213874] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049269.335430367] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049269.337872302] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049269.337923558] [sailbot.teensy]: Wind angle: 19 +[teensy-2] [INFO] [1746049269.338955934] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049269.339221452] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049269.339841410] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049269.340774310] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049269.344365328] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049269.344906481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049269.346142154] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049269.346655294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049269.347739055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049269.446169472] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049269.446379737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049269.448041476] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049269.448782182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049269.450159299] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049269.502935051] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973257 Long: -76.50298233 +[vectornav-1] [INFO] [1746049269.504241311] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.05, -3.223, 9.735) +[mux-7] [INFO] [1746049269.545192564] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049269.545851613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049269.546628969] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049269.548079770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049269.549141158] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049269.585248659] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049269.587276629] [sailbot.teensy]: Wind angle: 19 +[trim_sail-4] [INFO] [1746049269.587365656] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049269.588976124] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049269.589193173] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049269.590128749] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049269.590976434] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049269.645328425] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049269.646029277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049269.646890117] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049269.648498286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049269.649140300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049269.745030691] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049269.745896491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049269.746438567] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049269.747821831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049269.748913643] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049269.835415687] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049269.837735841] [sailbot.teensy]: Wind angle: 18 +[trim_sail-4] [INFO] [1746049269.838394177] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049269.838673019] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049269.839209520] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049269.839580874] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049269.840531770] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049269.844333864] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049269.845029424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049269.845769070] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049269.846928916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049269.848219041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049269.945475808] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049269.946217968] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049269.947020735] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049269.948504814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049269.949101750] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049270.002492027] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973263 Long: -76.50298246 +[vectornav-1] [INFO] [1746049270.003532256] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.079, -3.232, 9.735) +[mux-7] [INFO] [1746049270.045247919] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049270.046192039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049270.046769142] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049270.048399689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049270.049401852] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049270.085716379] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049270.088987544] [sailbot.teensy]: Wind angle: 18 +[teensy-2] [INFO] [1746049270.089950663] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049270.089153121] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049270.089255571] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049270.090843140] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049270.091713861] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049270.145260242] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049270.146121600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049270.146902215] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049270.148058214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049270.149357104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049270.245494939] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049270.246332493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049270.247503831] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049270.248706559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049270.249817135] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049270.335385203] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049270.337240670] [sailbot.teensy]: Wind angle: 17 +[trim_sail-4] [INFO] [1746049270.337724019] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049270.338125584] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049270.338951114] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049270.339322266] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049270.339376208] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746049270.344516704] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049270.344900513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049270.345692534] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049270.346558250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049270.347656795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049270.444965494] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049270.445750115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049270.446266088] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049270.447645767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049270.448698518] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049270.503101044] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973266 Long: -76.50298252 +[vectornav-1] [INFO] [1746049270.505000342] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.113, -3.235, 9.758) +[mux-7] [INFO] [1746049270.545055866] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049270.546053158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049270.546479955] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049270.547914267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049270.549098476] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049270.585709800] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049270.587923586] [sailbot.teensy]: Wind angle: 19 +[trim_sail-4] [INFO] [1746049270.588700405] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049270.589668089] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049270.590566630] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049270.590599866] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049270.591467419] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049270.645249409] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049270.645908026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049270.646747323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049270.648110616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049270.649187891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049270.745415478] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049270.746477686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049270.746996187] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049270.748673344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049270.749218205] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049270.835966791] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049270.839084731] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049270.839685496] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049270.840123242] [sailbot.teensy]: Wind angle: 20 +[teensy-2] [INFO] [1746049270.841134233] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049270.842057951] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049270.842947873] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049270.844426463] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049270.844841185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049270.845538465] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049270.846443934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049270.847444470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049270.945281728] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049270.946049285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049270.946762977] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049270.948276277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049270.949492424] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049271.003815328] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973277 Long: -76.50298238 +[vectornav-1] [INFO] [1746049271.005229291] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.137, -3.235, 9.727) +[mux-7] [INFO] [1746049271.045024181] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049271.045815185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049271.046433709] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049271.048198977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049271.049353207] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049271.085434097] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049271.087236821] [sailbot.teensy]: Wind angle: 23 +[teensy-2] [INFO] [1746049271.088200792] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049271.088052618] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049271.088755211] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049271.089089760] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049271.089996790] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049271.145361506] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049271.146125133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049271.147000965] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049271.148452286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049271.148955578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049271.245489802] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049271.246155851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049271.247081995] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049271.248536892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049271.249759710] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049271.335609674] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049271.337641977] [sailbot.teensy]: Wind angle: 26 +[trim_sail-4] [INFO] [1746049271.338313848] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049271.339617917] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049271.339722780] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049271.340753822] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049271.341610855] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049271.344498580] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049271.344994645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049271.345612593] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049271.346801532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049271.347873662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049271.445480344] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049271.446272968] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049271.447428870] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049271.448628737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049271.449838101] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049271.503160028] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973289 Long: -76.50298235 +[vectornav-1] [INFO] [1746049271.504396699] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.174, -3.235, 9.723) +[mux-7] [INFO] [1746049271.545220500] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049271.546027766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049271.546735823] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049271.548500300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049271.549553297] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049271.585834138] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049271.588890400] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049271.589724361] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049271.590672376] [sailbot.teensy]: Wind angle: 28 +[teensy-2] [INFO] [1746049271.591050799] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049271.591413843] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049271.591928333] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049271.645406676] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049271.646516288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049271.647438121] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049271.649123051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049271.650301041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049271.745466999] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049271.746097055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049271.747096096] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049271.748423551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049271.749550099] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049271.835504675] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049271.837369918] [sailbot.teensy]: Wind angle: 27 +[trim_sail-4] [INFO] [1746049271.837975142] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049271.838327632] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049271.839244540] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049271.839551980] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049271.840139846] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049271.844588373] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049271.844948404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049271.845777298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049271.846945587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049271.848676395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049271.944573010] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049271.945453948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049271.945916990] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049271.947443099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049271.948547776] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049272.003370990] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973293 Long: -76.50298227 +[vectornav-1] [INFO] [1746049272.005123707] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.201, -3.24, 9.728) +[mux-7] [INFO] [1746049272.045270981] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049272.046064659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049272.046770143] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049272.048354044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049272.049645830] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049272.085269420] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049272.087016014] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049272.087545890] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049272.087965202] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049272.088915673] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049272.089267583] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049272.089772332] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049272.145449597] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049272.145842317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049272.146841111] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049272.147802177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049272.148731808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049272.245407339] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049272.245913750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049272.246972023] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049272.248084384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049272.249183456] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049272.335437552] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049272.337477189] [sailbot.teensy]: Wind angle: 307 +[trim_sail-4] [INFO] [1746049272.338122613] [sailbot.trim_sail]: Sail Angle: "60" +[mux-7] [INFO] [1746049272.339081137] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049272.339174879] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049272.339583635] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049272.339959034] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049272.344625232] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049272.345203106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049272.345749162] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049272.346919250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049272.347961393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049272.445365432] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049272.446219715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049272.447024221] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049272.448358015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049272.449533317] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049272.503110424] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973299 Long: -76.50298243 +[vectornav-1] [INFO] [1746049272.504305313] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.226, -3.241, 9.734) +[mux-7] [INFO] [1746049272.545586451] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049272.546173408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049272.547503762] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049272.548551373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049272.550472822] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049272.585482010] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049272.587409064] [sailbot.teensy]: Wind angle: 304 +[trim_sail-4] [INFO] [1746049272.588268553] [sailbot.trim_sail]: Sail Angle: "55" +[mux-7] [INFO] [1746049272.589410600] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049272.590462734] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049272.591406172] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049272.592320881] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049272.645266575] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049272.645925116] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049272.646767772] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049272.648209633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049272.648901463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049272.745480851] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049272.746320644] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049272.747160204] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049272.748857281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049272.749380925] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049272.835499573] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049272.837504175] [sailbot.teensy]: Wind angle: 304 +[trim_sail-4] [INFO] [1746049272.838693536] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049272.839666584] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049272.839675313] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049272.840824436] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049272.841689559] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049272.844335387] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049272.844925349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049272.845555784] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049272.846728232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049272.847950104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049272.944995403] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049272.946381675] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049272.948587337] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049272.950096542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049272.951031443] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049273.002599262] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973301 Long: -76.50298243 +[vectornav-1] [INFO] [1746049273.003670788] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.251, -3.242, 9.736) +[mux-7] [INFO] [1746049273.045383331] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049273.045979773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049273.047538556] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049273.048432945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049273.049587250] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049273.085475825] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049273.088009917] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049273.088035588] [sailbot.teensy]: Wind angle: 302 +[teensy-2] [INFO] [1746049273.088994691] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049273.089604215] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049273.089903275] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049273.090762732] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049273.145048869] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049273.146497920] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049273.146531797] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049273.148141084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049273.149265604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049273.245252000] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049273.245962133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049273.246791187] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049273.248063858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049273.249303383] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049273.335395338] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049273.337263228] [sailbot.teensy]: Wind angle: 304 +[trim_sail-4] [INFO] [1746049273.338203486] [sailbot.trim_sail]: Sail Angle: "55" +[mux-7] [INFO] [1746049273.338494473] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049273.338924262] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049273.339322623] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049273.339656107] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049273.344442409] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049273.344959413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049273.345640558] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049273.346678561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049273.347823663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049273.445028127] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049273.445598306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049273.446452480] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049273.447472574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049273.448218238] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049273.503311791] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973306 Long: -76.5029824 +[vectornav-1] [INFO] [1746049273.505359500] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.26800000000003, -3.235, 9.739) +[mux-7] [INFO] [1746049273.544983423] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049273.545740172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049273.546639529] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049273.547708224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049273.549450998] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049273.585470512] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049273.588205900] [sailbot.teensy]: Wind angle: 311 +[trim_sail-4] [INFO] [1746049273.588241375] [sailbot.trim_sail]: Sail Angle: "60" +[mux-7] [INFO] [1746049273.588732455] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049273.589259223] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049273.590214886] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049273.591138730] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049273.645247898] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049273.646066478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049273.646934145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049273.647934676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049273.648476303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049273.745194181] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049273.746195348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049273.746908751] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049273.748821276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049273.749829308] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049273.835143064] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049273.837570031] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049273.837685695] [sailbot.teensy]: Wind angle: 315 +[teensy-2] [INFO] [1746049273.838600523] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049273.838609612] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049273.839507126] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049273.840532971] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049273.844462622] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049273.845137985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049273.845695080] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049273.846920876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049273.847978823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049273.945459792] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049273.946371320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049273.947245856] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049273.948994938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049273.950115724] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049274.002467459] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973337 Long: -76.50298229 +[vectornav-1] [INFO] [1746049274.003601844] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.29200000000003, -3.231, 9.729) +[mux-7] [INFO] [1746049274.045287412] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049274.046129579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049274.046797904] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049274.048567280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049274.049694557] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049274.085941770] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049274.088485509] [sailbot.teensy]: Wind angle: 316 +[trim_sail-4] [INFO] [1746049274.089252525] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049274.089611881] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049274.089778247] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049274.090767014] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049274.091647078] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049274.145442276] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049274.146577694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049274.147098422] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049274.149000392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049274.150143322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049274.245560706] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049274.246294701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049274.247272673] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049274.248594851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049274.249227448] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049274.335079045] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049274.336714182] [sailbot.teensy]: Wind angle: 319 +[trim_sail-4] [INFO] [1746049274.337395509] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049274.337569836] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049274.338398997] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049274.339002060] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049274.339272167] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049274.344338349] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049274.344838717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049274.345358575] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049274.346388819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049274.347319592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049274.445202338] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049274.446020373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049274.446742670] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049274.448503448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049274.449539358] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049274.504449158] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973344 Long: -76.50298236 +[vectornav-1] [INFO] [1746049274.506540646] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.313, -3.223, 9.716) +[mux-7] [INFO] [1746049274.545488363] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049274.546392765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049274.547090998] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049274.548871418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049274.550011623] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049274.585471034] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049274.588210290] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049274.588693378] [sailbot.teensy]: Wind angle: 321 +[mux-7] [INFO] [1746049274.588875575] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049274.589844888] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049274.590749875] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049274.591571645] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049274.645116689] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049274.646003468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049274.646536531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049274.648115979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049274.649213606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049274.745286051] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049274.746092659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049274.746832059] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049274.749622225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049274.750778371] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049274.835288117] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049274.837179062] [sailbot.teensy]: Wind angle: 322 +[trim_sail-4] [INFO] [1746049274.837931207] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049274.838156356] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049274.838937591] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049274.839190988] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049274.839474585] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049274.844543216] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049274.845105968] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049274.845735426] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049274.846845145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049274.847999317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049274.945567365] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049274.946375530] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049274.947959784] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049274.948657970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049274.949953866] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049275.003406823] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973366 Long: -76.50298245 +[vectornav-1] [INFO] [1746049275.004870490] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.346, -3.223, 9.722) +[mux-7] [INFO] [1746049275.045378145] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049275.046181566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049275.046851626] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049275.048473566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049275.048885922] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049275.085581544] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049275.088016908] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049275.088644070] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049275.089021924] [sailbot.teensy]: Wind angle: 325 +[teensy-2] [INFO] [1746049275.089961436] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049275.090819496] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049275.091667956] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049275.144691803] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049275.145468012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049275.145785769] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049275.147297887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049275.148356138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049275.245493116] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049275.246403095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049275.247123503] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049275.248925256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049275.250099812] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049275.335450431] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049275.337825930] [sailbot.teensy]: Wind angle: 323 +[teensy-2] [INFO] [1746049275.338740783] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049275.338159336] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049275.339025065] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049275.339124953] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049275.339491501] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049275.344513076] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049275.345095527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049275.345926947] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049275.347048474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049275.348227432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049275.445528605] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049275.446573915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049275.448660757] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049275.448920602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049275.449473207] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049275.504277633] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973371 Long: -76.50298254 +[vectornav-1] [INFO] [1746049275.505925673] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.382, -3.236, 9.723) +[mux-7] [INFO] [1746049275.545343939] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049275.546357048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049275.546847913] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049275.548620407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049275.549611396] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049275.585466145] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049275.587378932] [sailbot.teensy]: Wind angle: 312 +[teensy-2] [INFO] [1746049275.588352013] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049275.587869969] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746049275.588412899] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049275.589386847] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049275.590269190] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049275.645237322] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049275.645974292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049275.646994834] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049275.648192027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049275.649443530] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049275.745338046] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049275.746171847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049275.747276855] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049275.748457388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049275.749926434] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049275.835912066] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049275.838266425] [sailbot.teensy]: Wind angle: 297 +[trim_sail-4] [INFO] [1746049275.838947532] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746049275.839455966] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049275.840626611] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049275.841590118] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049275.841598226] [sailbot.mux]: algo sail angle: 50 +[mux-7] [INFO] [1746049275.844287601] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049275.844889886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049275.845390270] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049275.846568913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049275.847640463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049275.945517740] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049275.946361762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049275.947363036] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049275.948369288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049275.948901244] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049276.002546214] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973379 Long: -76.50298254 +[vectornav-1] [INFO] [1746049276.003689359] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.408, -3.235, 9.718) +[mux-7] [INFO] [1746049276.044828509] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049276.045834249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049276.046110940] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049276.047949190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049276.049020504] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049276.085415778] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049276.087590309] [sailbot.teensy]: Wind angle: 297 +[teensy-2] [INFO] [1746049276.088680124] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049276.088708178] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746049276.089659655] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049276.089946439] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049276.090919729] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049276.144876748] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049276.145517309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049276.146446326] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049276.147374299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049276.148416628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049276.245122316] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049276.245844807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049276.246575539] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049276.247893977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049276.249004119] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049276.335617817] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049276.337992538] [sailbot.teensy]: Wind angle: 297 +[trim_sail-4] [INFO] [1746049276.338484118] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746049276.339064309] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049276.339600276] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049276.340022046] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049276.340767303] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049276.344428718] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049276.345038613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049276.345571843] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049276.346877501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049276.347920483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049276.445038713] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049276.446120389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049276.446514604] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049276.448056862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049276.449253382] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049276.503881513] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973389 Long: -76.50298257 +[vectornav-1] [INFO] [1746049276.505807090] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.43399999999997, -3.237, 9.716) +[mux-7] [INFO] [1746049276.544999523] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049276.545836967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049276.546279200] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049276.547608396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049276.548859626] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049276.585515247] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049276.587393407] [sailbot.teensy]: Wind angle: 297 +[trim_sail-4] [INFO] [1746049276.588179302] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746049276.588401978] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049276.589200126] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049276.589277266] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049276.590214833] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049276.645387232] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049276.646269590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049276.647321351] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049276.648884565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049276.650075563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049276.745288385] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049276.746096595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049276.746816667] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049276.748644678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049276.749770798] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049276.835392119] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049276.837913838] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746049276.838140465] [sailbot.teensy]: Wind angle: 296 +[mux-7] [INFO] [1746049276.839105300] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049276.839299792] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049276.839709260] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049276.840070962] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049276.844510365] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049276.845143617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049276.845735470] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049276.846866177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049276.848032751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049276.945485727] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049276.946148026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049276.947391097] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049276.948465417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049276.949742583] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049277.003263210] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973405 Long: -76.50298251 +[vectornav-1] [INFO] [1746049277.004706420] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.459, -3.229, 9.706) +[mux-7] [INFO] [1746049277.045498702] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049277.046217997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049277.047196492] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049277.048745804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049277.049895929] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049277.085804458] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049277.088413171] [sailbot.teensy]: Wind angle: 288 +[teensy-2] [INFO] [1746049277.089460712] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049277.089074162] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746049277.089505516] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746049277.090356746] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049277.091228761] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049277.145779796] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049277.146144577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049277.147678108] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049277.148231027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049277.149684055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049277.245163091] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049277.245813793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049277.246711544] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049277.247992328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049277.249107165] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049277.335411736] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049277.337930949] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746049277.338286013] [sailbot.teensy]: Wind angle: 282 +[mux-7] [INFO] [1746049277.338626969] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746049277.339120411] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049277.339503771] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049277.339836401] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049277.344475712] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049277.345053971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049277.345594264] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049277.346801646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049277.347945446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049277.445394810] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049277.446756678] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049277.447112955] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049277.448818303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049277.449909455] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049277.504109570] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973422 Long: -76.50298261 +[vectornav-1] [INFO] [1746049277.505863407] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.486, -3.229, 9.677) +[mux-7] [INFO] [1746049277.545621949] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049277.546188061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049277.547404447] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049277.548788286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049277.549932493] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049277.585575092] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049277.588000495] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746049277.588945105] [sailbot.teensy]: Wind angle: 283 +[mux-7] [INFO] [1746049277.589518036] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746049277.589887939] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049277.590748120] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049277.591578322] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049277.645186988] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049277.646036256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049277.646849237] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049277.648518882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049277.649673987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049277.745442170] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049277.746165335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049277.747476616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049277.748689512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049277.749248199] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049277.835520576] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049277.837877573] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746049277.838406876] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746049277.839401193] [sailbot.teensy]: Wind angle: 283 +[teensy-2] [INFO] [1746049277.840471403] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049277.841358082] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049277.842218000] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049277.844300609] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049277.845090380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049277.845754039] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049277.846883156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049277.848167519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049277.945620214] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049277.946301024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049277.947309373] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049277.948626428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049277.950542288] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049278.003466392] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973426 Long: -76.50298257 +[vectornav-1] [INFO] [1746049278.005022278] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.51800000000003, -3.231, 9.669) +[mux-7] [INFO] [1746049278.045447226] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049278.046120782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049278.046964395] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049278.048442273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049278.049621423] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049278.085479974] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049278.087983839] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746049278.088241763] [sailbot.teensy]: Wind angle: 284 +[mux-7] [INFO] [1746049278.089720575] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746049278.089962170] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049278.090993954] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049278.091859808] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049278.144860150] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049278.145621042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049278.146188038] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049278.147536498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049278.148601570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049278.245303523] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049278.246025078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049278.246854658] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049278.247813704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049278.248270485] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049278.335444854] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049278.337327833] [sailbot.teensy]: Wind angle: 284 +[teensy-2] [INFO] [1746049278.338273358] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049278.338070690] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746049278.339030816] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746049278.339152071] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049278.340565055] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049278.344364542] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049278.344958073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049278.345471996] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049278.346651533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049278.347681110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049278.445125168] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049278.446209669] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049278.446648067] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049278.448272288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049278.449321284] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049278.503312344] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973445 Long: -76.50298252 +[vectornav-1] [INFO] [1746049278.504857931] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.543, -3.235, 9.693) +[mux-7] [INFO] [1746049278.545330207] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049278.546112652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049278.546955103] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049278.548083099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049278.548558770] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049278.585499388] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049278.588116465] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746049278.588306496] [sailbot.teensy]: Wind angle: 284 +[teensy-2] [INFO] [1746049278.589236887] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049278.589254040] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746049278.590160833] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049278.591000459] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049278.645516435] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049278.646413398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049278.647255177] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049278.648461130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049278.648946936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049278.745399827] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049278.746339885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049278.747347931] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049278.748735650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049278.749965248] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049278.835379887] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049278.837237019] [sailbot.teensy]: Wind angle: 284 +[trim_sail-4] [INFO] [1746049278.837750788] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746049278.838177259] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049278.839064333] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049278.839392663] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746049278.839986156] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049278.844260149] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049278.845029750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049278.845525895] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049278.846844790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049278.847991418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049278.945492750] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049278.946178554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049278.947254765] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049278.948366674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049278.949427596] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049279.002358895] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697345 Long: -76.50298267 +[vectornav-1] [INFO] [1746049279.003429672] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.578, -3.231, 9.726) +[mux-7] [INFO] [1746049279.044977257] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049279.045743577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049279.046400989] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049279.047609154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049279.048658056] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049279.085698478] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049279.088233661] [sailbot.teensy]: Wind angle: 284 +[teensy-2] [INFO] [1746049279.089218462] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049279.088382917] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746049279.089582398] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746049279.090103453] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049279.090992751] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049279.145312949] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049279.146190080] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049279.148543899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[mux-7] [INFO] [1746049279.147600843] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049279.149748011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049279.244843696] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049279.245828815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049279.246370421] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049279.247643100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049279.248558294] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049279.335478438] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049279.338182392] [sailbot.teensy]: Wind angle: 284 +[trim_sail-4] [INFO] [1746049279.338217762] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746049279.339570112] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746049279.340031947] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049279.340938924] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049279.341304747] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049279.344505513] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049279.345139296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049279.345644370] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049279.346863054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049279.347987808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049279.445070856] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049279.445991180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049279.446620528] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049279.449276531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049279.450421820] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049279.503647703] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973447 Long: -76.50298266 +[vectornav-1] [INFO] [1746049279.505556661] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.589, -3.217, 9.702) +[mux-7] [INFO] [1746049279.544888157] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049279.545659472] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049279.546064531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049279.547440169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049279.548436603] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049279.585392596] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049279.587925865] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746049279.588050592] [sailbot.teensy]: Wind angle: 282 +[teensy-2] [INFO] [1746049279.589025384] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049279.589206400] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746049279.589947916] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049279.590798481] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049279.645224418] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049279.646273739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049279.646944717] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049279.648555418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049279.649617864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049279.745086309] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049279.746009243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049279.746557951] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049279.747902470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049279.748478274] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049279.835301559] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049279.837844907] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746049279.838153100] [sailbot.teensy]: Wind angle: 284 +[mux-7] [INFO] [1746049279.838381917] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746049279.838767122] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049279.839155679] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049279.839582452] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049279.844483625] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049279.845161528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049279.845822368] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049279.846992400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049279.848105751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049279.945329311] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049279.946031094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049279.946909792] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049279.948253500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049279.949513058] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049280.002575768] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697345 Long: -76.50298286 +[vectornav-1] [INFO] [1746049280.003618493] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.623, -3.231, 9.686) +[mux-7] [INFO] [1746049280.045093755] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049280.045808791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049280.046378845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049280.047677701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049280.048694211] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049280.085492603] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049280.087981749] [sailbot.teensy]: Wind angle: 288 +[trim_sail-4] [INFO] [1746049280.088531979] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746049280.089165182] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049280.089830377] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746049280.090451212] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049280.091592989] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049280.145347176] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049280.146178111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049280.147987510] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049280.148729942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049280.149937904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049280.245390712] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049280.246021535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049280.247032066] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049280.248200538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049280.249336667] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049280.335501720] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049280.337528354] [sailbot.teensy]: Wind angle: 292 +[trim_sail-4] [INFO] [1746049280.337993852] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746049280.339489279] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049280.340057198] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049280.340486906] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049280.341460645] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049280.344386797] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049280.344869997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049280.345583393] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049280.346502459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049280.347642534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049280.445281173] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049280.445817816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049280.447108286] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049280.447862198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049280.448984720] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049280.503081007] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973479 Long: -76.5029828 +[vectornav-1] [INFO] [1746049280.504402885] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.64099999999996, -3.236, 9.739) +[mux-7] [INFO] [1746049280.545518965] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049280.546131120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049280.547702941] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049280.548440275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049280.549515567] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049280.585381904] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049280.587277456] [sailbot.teensy]: Wind angle: 304 +[trim_sail-4] [INFO] [1746049280.587876757] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049280.588305553] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049280.589242294] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049280.589633210] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049280.590169434] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049280.645382168] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049280.646007246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049280.647134141] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049280.648743453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049280.649847376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049280.745007081] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049280.745706018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049280.746329925] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049280.748688476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049280.749774203] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049280.835272934] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049280.837244345] [sailbot.teensy]: Wind angle: 312 +[trim_sail-4] [INFO] [1746049280.837816807] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049280.838229537] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049280.839107027] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049280.839299254] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049280.839970954] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049280.844553177] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049280.845115659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049280.845712523] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049280.846880198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049280.847981431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049280.945700046] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049280.946199215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049280.947397947] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049280.948646700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049280.949110444] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049281.002635669] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973469 Long: -76.50298267 +[vectornav-1] [INFO] [1746049281.003937038] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.656, -3.235, 9.778) +[mux-7] [INFO] [1746049281.045204522] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049281.045997485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049281.046713348] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049281.047676472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049281.048159742] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049281.085518316] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049281.087579040] [sailbot.teensy]: Wind angle: 312 +[trim_sail-4] [INFO] [1746049281.088341298] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049281.088607246] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049281.089576508] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049281.090433094] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049281.090575303] [sailbot.mux]: algo sail angle: 65 +[mux-7] [INFO] [1746049281.145333644] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049281.146160286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049281.146881537] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049281.148603531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049281.149687833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049281.245167562] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049281.245836882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049281.246675117] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049281.247716328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049281.248132238] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049281.335421535] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049281.337395551] [sailbot.teensy]: Wind angle: 313 +[trim_sail-4] [INFO] [1746049281.338238796] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049281.338391263] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049281.339270822] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049281.339349056] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049281.340165763] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049281.344430022] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049281.345115495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049281.345592665] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049281.346972832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049281.347977234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049281.445686494] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049281.446384516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049281.447553725] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049281.448113424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049281.448755422] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049281.503247671] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973456 Long: -76.50298302 +[vectornav-1] [INFO] [1746049281.504748974] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.676, -3.238, 9.731) +[mux-7] [INFO] [1746049281.545245804] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049281.546083860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049281.547145790] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049281.548671499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049281.549678324] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049281.585205561] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049281.586915572] [sailbot.teensy]: Wind angle: 308 +[trim_sail-4] [INFO] [1746049281.587879133] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746049281.587903325] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049281.588846102] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049281.589141116] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049281.589771419] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049281.645183566] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049281.645866549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049281.646713411] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049281.647929271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049281.649087286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049281.745672871] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049281.746531306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049281.747378707] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049281.749188845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049281.750422130] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049281.835401889] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049281.838200808] [sailbot.teensy]: Wind angle: 306 +[trim_sail-4] [INFO] [1746049281.838277898] [sailbot.trim_sail]: Sail Angle: "60" +[mux-7] [INFO] [1746049281.838618127] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049281.840347911] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049281.841233249] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049281.841617228] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049281.844656763] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049281.845221751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049281.846003200] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049281.847112453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049281.848238698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049281.945173839] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049281.945939051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049281.946628432] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049281.947966718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049281.948465680] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049282.003758584] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973462 Long: -76.50298296 +[vectornav-1] [INFO] [1746049282.005901911] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.697, -3.238, 9.719) +[mux-7] [INFO] [1746049282.045417692] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049282.046595608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049282.046973041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049282.049142505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049282.050431945] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049282.085480908] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049282.087485131] [sailbot.teensy]: Wind angle: 304 +[trim_sail-4] [INFO] [1746049282.088063801] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049282.088473797] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049282.089559224] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049282.090357193] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049282.090415905] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049282.144915587] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049282.145585377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049282.146253288] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049282.147612251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049282.148622701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049282.245199068] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049282.246163279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049282.246858575] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049282.248359286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049282.249613720] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049282.335493531] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049282.338132191] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049282.338765687] [sailbot.teensy]: Wind angle: 303 +[teensy-2] [INFO] [1746049282.339817713] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049282.339936622] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049282.340757565] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049282.341090707] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049282.344462640] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049282.345044547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049282.345634063] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049282.347092600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049282.348248054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049282.445201768] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049282.446068353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049282.446656122] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049282.447809948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049282.448255490] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049282.503619486] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973453 Long: -76.50298293 +[vectornav-1] [INFO] [1746049282.505255333] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.71500000000003, -3.24, 9.746) +[mux-7] [INFO] [1746049282.545296910] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049282.545945571] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049282.547971385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[mux-7] [INFO] [1746049282.546875959] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049282.549102384] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049282.585410043] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049282.587408242] [sailbot.teensy]: Wind angle: 303 +[trim_sail-4] [INFO] [1746049282.587769747] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049282.588756022] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049282.589687528] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049282.590089595] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049282.590569694] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049282.645047750] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049282.645936953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049282.646629731] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049282.648263323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049282.648757232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049282.745781857] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049282.746580880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049282.747523467] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049282.747959671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049282.748803465] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049282.835409923] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049282.837220891] [sailbot.teensy]: Wind angle: 298 +[trim_sail-4] [INFO] [1746049282.837827201] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049282.838740234] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049282.838965688] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049282.839161017] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049282.839565330] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049282.844375686] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049282.845131381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049282.845683087] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049282.846833373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049282.847947934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049282.945342245] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049282.946125866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049282.946888549] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049282.948382098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049282.949194544] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049283.003713551] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973457 Long: -76.50298307 +[vectornav-1] [INFO] [1746049283.005347780] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.731, -3.235, 9.862) +[mux-7] [INFO] [1746049283.045277551] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049283.046205677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049283.046860565] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049283.048573583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049283.049878133] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049283.085248945] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049283.087024900] [sailbot.teensy]: Wind angle: 298 +[trim_sail-4] [INFO] [1746049283.087381905] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049283.087934029] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049283.088855006] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049283.089173283] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049283.089725120] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049283.145314920] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049283.146034295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049283.146919113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049283.148495545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049283.149308522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049283.245169406] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049283.245812027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049283.246628697] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049283.248170652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049283.248990105] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049283.335728320] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049283.337864221] [sailbot.teensy]: Wind angle: 298 +[teensy-2] [INFO] [1746049283.338881224] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049283.338581797] [sailbot.trim_sail]: Sail Angle: "55" +[mux-7] [INFO] [1746049283.339251834] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049283.339791357] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049283.340702536] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049283.344474875] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049283.345043695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049283.345680074] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049283.346937498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049283.348015618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049283.445573976] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049283.446372943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049283.447435900] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049283.448754773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049283.449972270] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049283.503572529] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697346 Long: -76.50298309 +[vectornav-1] [INFO] [1746049283.505034280] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.751, -3.251, 9.741) +[mux-7] [INFO] [1746049283.545304254] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049283.546234215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049283.546844130] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049283.548775250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049283.549949249] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049283.585377294] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049283.587386638] [sailbot.teensy]: Wind angle: 297 +[trim_sail-4] [INFO] [1746049283.587764664] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746049283.588353795] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049283.589162473] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049283.589219093] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049283.590120557] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049283.644326427] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049283.645259238] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049283.647224928] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049283.649514750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049283.650410738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049283.745654923] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049283.746242432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049283.747649289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049283.748612316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049283.750070160] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049283.835395022] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049283.837239133] [sailbot.teensy]: Wind angle: 295 +[trim_sail-4] [INFO] [1746049283.837757845] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746049283.838181050] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049283.839083741] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049283.839669249] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049283.839926834] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049283.844327328] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049283.844883283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049283.845544566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049283.846594765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049283.847713400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049283.945728276] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049283.946591827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049283.947863765] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049283.948915507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049283.949898362] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049284.003442433] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973458 Long: -76.50298307 +[vectornav-1] [INFO] [1746049284.004687474] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.745, -3.259, 9.59) +[mux-7] [INFO] [1746049284.045361167] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049284.046291283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049284.047111291] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049284.048492392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049284.049612138] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049284.085371400] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049284.087712690] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746049284.088129665] [sailbot.teensy]: Wind angle: 293 +[mux-7] [INFO] [1746049284.088258710] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049284.090036377] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049284.090958689] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049284.091813397] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049284.145364628] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049284.146251689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049284.147105099] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049284.148258663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049284.148783484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049284.245307682] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049284.246051845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049284.246998905] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049284.248556553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049284.249767249] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049284.335501082] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049284.337517359] [sailbot.teensy]: Wind angle: 292 +[teensy-2] [INFO] [1746049284.338524524] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049284.339552709] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049284.338685708] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746049284.340427636] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049284.340434767] [sailbot.mux]: algo sail angle: 50 +[mux-7] [INFO] [1746049284.344727762] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049284.345125234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049284.346113949] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049284.346848609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049284.348036500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049284.445601303] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049284.446313578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049284.447351517] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049284.448502533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049284.449772861] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049284.502281190] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973459 Long: -76.50298303 +[vectornav-1] [INFO] [1746049284.503260530] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.741, -3.237, 9.315) +[mux-7] [INFO] [1746049284.545242708] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049284.545843705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049284.546810461] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049284.547893604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049284.548993147] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049284.585391012] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049284.587901142] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746049284.587960378] [sailbot.teensy]: Wind angle: 292 +[mux-7] [INFO] [1746049284.588651945] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049284.588925647] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049284.589816520] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049284.590683421] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049284.645101313] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049284.646084692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049284.646700269] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049284.648276254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049284.649480701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049284.745143912] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049284.745930238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049284.747062475] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049284.747649413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049284.748225631] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049284.835325164] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049284.837145802] [sailbot.teensy]: Wind angle: 292 +[trim_sail-4] [INFO] [1746049284.837951838] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746049284.838086304] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049284.839001051] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049284.839713130] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049284.839874695] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049284.844378211] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049284.844935323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049284.845524270] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049284.846611644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049284.847689756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049284.945576308] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049284.946318426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049284.947270004] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049284.948734201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049284.950043121] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049285.002543487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697346 Long: -76.50298298 +[vectornav-1] [INFO] [1746049285.004081151] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.63800000000003, -3.191, 8.21) +[mux-7] [INFO] [1746049285.045028500] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049285.045749041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049285.046367013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049285.047637457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049285.048732677] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049285.085677702] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049285.088196484] [sailbot.teensy]: Wind angle: 289 +[trim_sail-4] [INFO] [1746049285.088661993] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746049285.089083186] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746049285.089662208] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049285.090788062] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049285.091656649] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049285.145382089] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049285.146253144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049285.147003556] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049285.148709722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049285.149779493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049285.245051018] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049285.245764955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049285.246352847] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049285.247726918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049285.248880746] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049285.335377464] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049285.337778941] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746049285.337887742] [sailbot.teensy]: Wind angle: 289 +[teensy-2] [INFO] [1746049285.338814103] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049285.339070808] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746049285.339724077] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049285.340641763] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049285.344424031] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049285.345105166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049285.345575323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049285.346846278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049285.347984259] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049285.445282110] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049285.446195407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049285.446879527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049285.448515441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049285.449653633] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049285.502250321] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973466 Long: -76.502983 +[vectornav-1] [INFO] [1746049285.503224402] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.71500000000003, -3.184, 8.695) +[mux-7] [INFO] [1746049285.544911001] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049285.546091156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049285.546881073] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049285.547972439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049285.549065074] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049285.585259204] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049285.587332395] [sailbot.teensy]: Wind angle: 290 +[trim_sail-4] [INFO] [1746049285.587892874] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746049285.588383198] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049285.588947657] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746049285.589352788] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049285.590296650] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049285.645138040] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049285.646127650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049285.646609275] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049285.648336476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049285.649499531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049285.745231632] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049285.746242382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049285.747086962] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049285.748439921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049285.749569374] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049285.835650783] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049285.838022659] [sailbot.teensy]: Wind angle: 292 +[trim_sail-4] [INFO] [1746049285.838513832] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746049285.839110209] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049285.839783143] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049285.840075950] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049285.840997577] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049285.844378211] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049285.845041390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049285.845481443] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049285.846787379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049285.847815953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049285.945236966] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049285.945981009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049285.946705568] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049285.948581309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049285.949776512] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049286.002929308] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973462 Long: -76.50298295 +[vectornav-1] [INFO] [1746049286.004554689] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.813, -3.223, 9.338) +[mux-7] [INFO] [1746049286.045333797] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049286.046220272] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049286.046770311] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049286.048380858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049286.049480133] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049286.085369526] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049286.087680972] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746049286.088040842] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049286.088549844] [sailbot.teensy]: Wind angle: 291 +[teensy-2] [INFO] [1746049286.089531886] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049286.090583129] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049286.091437810] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049286.145426173] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049286.146318664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049286.147013363] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049286.148595690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049286.150605776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049286.245007600] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049286.245740505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049286.246382435] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049286.247771455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049286.248831278] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049286.335341098] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049286.337654045] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746049286.338130683] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746049286.338720469] [sailbot.teensy]: Wind angle: 287 +[teensy-2] [INFO] [1746049286.339786592] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049286.340697742] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049286.341579631] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049286.344332862] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049286.344851363] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049286.345528657] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049286.346503035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049286.347642563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049286.445569520] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049286.446437711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049286.447175019] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049286.448674095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049286.449173654] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049286.502745222] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973469 Long: -76.50298289 +[vectornav-1] [INFO] [1746049286.504143214] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.83500000000004, -3.23, 9.371) +[mux-7] [INFO] [1746049286.545375383] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049286.546137087] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049286.548175883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[mux-7] [INFO] [1746049286.548288885] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049286.549401333] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049286.585536574] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049286.587641647] [sailbot.teensy]: Wind angle: 285 +[trim_sail-4] [INFO] [1746049286.588570394] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746049286.588682629] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049286.589588070] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049286.590175196] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746049286.590477457] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049286.645003299] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049286.645649347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049286.646233116] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049286.647697469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049286.648764253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049286.744819705] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049286.745533126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049286.746104941] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049286.747404614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049286.748565435] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049286.835646965] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049286.837811970] [sailbot.teensy]: Wind angle: 287 +[teensy-2] [INFO] [1746049286.838857802] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049286.838866530] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746049286.839134478] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746049286.839330503] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049286.839717165] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049286.844525082] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049286.845053207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049286.845616500] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049286.846746788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049286.847796454] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049286.945497586] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049286.946116151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049286.947343336] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049286.947913508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049286.948472749] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049287.003003836] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973461 Long: -76.50298311 +[vectornav-1] [INFO] [1746049287.004269966] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.852, -3.231, 9.376) +[mux-7] [INFO] [1746049287.045092592] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049287.045732471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049287.046562001] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049287.047601742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049287.049460002] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049287.085418389] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049287.087238196] [sailbot.teensy]: Wind angle: 287 +[trim_sail-4] [INFO] [1746049287.087761872] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746049287.089036266] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049287.089399144] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746049287.089998603] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049287.090914788] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049287.144985297] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049287.145588123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049287.146313345] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049287.147511985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049287.148581490] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049287.245246905] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049287.245962536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049287.246722246] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049287.247873582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049287.248363678] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049287.335457799] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049287.337850131] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746049287.338419919] [sailbot.teensy]: Wind angle: 287 +[teensy-2] [INFO] [1746049287.339440883] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049287.339477635] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746049287.340393054] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049287.340874304] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049287.344531643] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049287.345125470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049287.345632260] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049287.346937566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049287.347936430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049287.445480615] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049287.446160819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049287.447111940] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049287.448566944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049287.449826011] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049287.503162866] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697345 Long: -76.50298332 +[vectornav-1] [INFO] [1746049287.504424917] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.871, -3.234, 9.374) +[mux-7] [INFO] [1746049287.545109379] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049287.545894670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049287.546639026] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049287.548183100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049287.549294739] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049287.585421123] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049287.587728083] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746049287.587888640] [sailbot.teensy]: Wind angle: 288 +[teensy-2] [INFO] [1746049287.588845376] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049287.589070070] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746049287.589775842] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049287.590654441] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049287.645446580] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049287.646100875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049287.647873631] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049287.648431215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049287.649294362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049287.745218560] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049287.745990270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049287.746815493] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049287.748106828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049287.749864858] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049287.835319782] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049287.837764239] [sailbot.trim_sail]: Sail Angle: "55" +[mux-7] [INFO] [1746049287.838879824] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049287.838904269] [sailbot.teensy]: Wind angle: 302 +[teensy-2] [INFO] [1746049287.839899802] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049287.840859046] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049287.841748257] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049287.844732435] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049287.845088685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049287.845971642] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049287.847111043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049287.848177041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049287.945410955] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049287.946112837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049287.947204451] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049287.948438881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049287.949445562] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049288.003054815] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697346 Long: -76.50298334 +[vectornav-1] [INFO] [1746049288.004331430] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.887, -3.237, 9.38) +[mux-7] [INFO] [1746049288.045102209] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049288.045854136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049288.046495189] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049288.047798390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049288.048852388] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049288.085352919] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049288.087126159] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049288.088014626] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049288.088083655] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049288.088982859] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049288.089011858] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049288.089923019] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049288.145232062] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049288.145907499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049288.146747729] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049288.148046308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049288.149258692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049288.245521704] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049288.246532797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049288.247101442] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049288.248811773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049288.250058585] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049288.335470142] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049288.337902760] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049288.338516568] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049288.339149735] [sailbot.teensy]: Wind angle: 358 +[teensy-2] [INFO] [1746049288.339538300] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049288.339902670] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049288.340309042] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049288.344584480] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049288.344918459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049288.345980855] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049288.346561450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049288.347749661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049288.445361625] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049288.445985729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049288.447377233] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049288.448099106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049288.449317791] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049288.503026830] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973451 Long: -76.50298348 +[vectornav-1] [INFO] [1746049288.504401896] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.906, -3.239, 9.384) +[mux-7] [INFO] [1746049288.545319686] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049288.546164322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049288.547345120] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049288.548512619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049288.549675744] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049288.585541230] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049288.587674303] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049288.588387868] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049288.588705368] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049288.589610395] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049288.590362432] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049288.590505966] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049288.645122035] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049288.646212152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049288.646724619] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049288.648602113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049288.649662474] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049288.745508700] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049288.746495311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049288.747408267] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049288.748105885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049288.748659386] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049288.835370505] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049288.837298063] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049288.838269878] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049288.838275319] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049288.839260571] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049288.840342565] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049288.840574249] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746049288.844342973] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049288.844897864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049288.845511254] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049288.846622779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049288.847740051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049288.944925591] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049288.945540741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049288.946281342] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049288.947369448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049288.948449638] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049289.003618715] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973449 Long: -76.50298339 +[vectornav-1] [INFO] [1746049289.005629463] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.91999999999996, -3.237, 9.385) +[mux-7] [INFO] [1746049289.045282686] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049289.046112139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049289.046784733] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049289.048343688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049289.049483153] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049289.085578229] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049289.087377409] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049289.088324445] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049289.088147967] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049289.089116465] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049289.089188202] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049289.090025487] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049289.145283223] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049289.146343075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049289.147076319] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049289.148765435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049289.149785487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049289.245197694] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049289.246240077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049289.246841823] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049289.247986395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049289.248443182] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049289.335399551] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049289.337758412] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049289.337883954] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049289.338767017] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049289.339669507] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049289.339695857] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049289.340605794] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049289.344437230] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049289.344955176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049289.345542207] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049289.346753954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049289.347976439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049289.445441970] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049289.446175667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049289.447047052] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049289.448618685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049289.449323982] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049289.503411262] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973443 Long: -76.50298342 +[vectornav-1] [INFO] [1746049289.504787136] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.938, -3.234, 9.39) +[mux-7] [INFO] [1746049289.545219319] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049289.546326853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049289.546735780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049289.548695062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049289.549701091] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049289.585446034] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049289.587809544] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049289.587948665] [sailbot.teensy]: Wind angle: 358 +[teensy-2] [INFO] [1746049289.588919384] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049289.589279951] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049289.589835391] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049289.590718086] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049289.644951160] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049289.645486384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049289.646517418] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049289.647306472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049289.648519546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049289.745216964] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049289.745830564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049289.747130276] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049289.747809345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049289.748935815] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049289.835405099] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049289.837256918] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049289.837875874] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049289.838211163] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049289.839082144] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049289.839286081] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049289.839954824] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049289.844679016] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049289.845161012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049289.845972603] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049289.846902447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049289.847959009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049289.945469340] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049289.946422388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049289.947051056] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049289.948697914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049289.949372378] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049290.002744764] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973457 Long: -76.50298339 +[vectornav-1] [INFO] [1746049290.003942472] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.923, -3.255, 9.027) +[mux-7] [INFO] [1746049290.044840634] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049290.045525161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049290.046002312] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049290.047362390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049290.048328467] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049290.085669946] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049290.088552294] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049290.088769605] [sailbot.teensy]: Wind angle: 334 +[mux-7] [INFO] [1746049290.089854708] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049290.089978885] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049290.090862440] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049290.091726588] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049290.145118813] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049290.145817721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049290.146546229] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049290.149272979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049290.150368067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049290.245517157] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049290.246438874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049290.247256300] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049290.248355565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049290.248903490] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049290.335259548] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049290.337764432] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049290.338347222] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049290.338597142] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049290.339531378] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049290.340443284] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049290.341396112] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049290.344397263] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049290.344887497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049290.346267099] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049290.346672125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049290.347835368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049290.445189704] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049290.445824145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049290.446750420] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049290.448255171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049290.448937267] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049290.502331379] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973464 Long: -76.50298338 +[vectornav-1] [INFO] [1746049290.503330723] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.81100000000004, -3.287, 7.965) +[mux-7] [INFO] [1746049290.544747968] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049290.545398970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049290.545894780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049290.547744374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049290.549097724] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049290.584384381] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049290.585218183] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049290.585646835] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049290.585461920] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049290.586035256] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049290.586337371] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049290.586415226] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049290.644764500] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049290.645735348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049290.646506910] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049290.647650136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049290.648283524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049290.744981631] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049290.745687552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049290.746244810] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049290.747767411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049290.748983736] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049290.835388667] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049290.837285468] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049290.837799555] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049290.838256137] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049290.839194894] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049290.839970119] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049290.840127030] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049290.844620721] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049290.845093021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049290.845711753] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049290.847010307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049290.848058977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049290.945648880] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049290.946534728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049290.948806853] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049290.949281586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049290.950475015] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049291.003501511] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973474 Long: -76.50298331 +[vectornav-1] [INFO] [1746049291.006232425] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.922, -3.238, 8.767) +[mux-7] [INFO] [1746049291.044961905] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049291.046055862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049291.046237679] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049291.047857423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049291.049003305] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049291.085149038] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049291.086835057] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049291.087237001] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049291.087704826] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049291.088613292] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049291.089156524] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049291.089448879] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049291.145191426] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049291.146067245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049291.146714071] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049291.148547968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049291.149690499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049291.245334099] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049291.245962778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049291.246811064] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049291.248495690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049291.249120928] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049291.335623703] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049291.337822426] [sailbot.teensy]: Wind angle: 331 +[trim_sail-4] [INFO] [1746049291.338289399] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049291.338838118] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049291.339526751] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049291.339730094] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049291.340686864] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049291.344472361] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049291.344980336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049291.345586045] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049291.346666857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049291.347710405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049291.445281455] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049291.446252780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049291.446822577] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049291.448380933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049291.449728043] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049291.503851166] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973484 Long: -76.5029833 +[vectornav-1] [INFO] [1746049291.506229657] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.868, -3.255, 8.233) +[mux-7] [INFO] [1746049291.544619584] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049291.545175599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049291.545706267] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049291.546875769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049291.548003835] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049291.585235168] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049291.587501716] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049291.588040488] [sailbot.teensy]: Wind angle: 334 +[mux-7] [INFO] [1746049291.588356510] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049291.589263218] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049291.590156660] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049291.591014465] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049291.645135478] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049291.645681124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049291.646649618] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049291.647997808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049291.649054768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049291.744879976] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049291.745360417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049291.746196698] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049291.747073307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049291.748354447] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049291.835324259] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049291.837003812] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049291.837508872] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049291.837908311] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049291.838736406] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049291.839588880] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049291.839626940] [sailbot.mux]: algo sail angle: 80 +[mux-7] [INFO] [1746049291.844439318] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049291.845081914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049291.845652523] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049291.846892770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049291.847918053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049291.945000966] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049291.945649116] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049291.947038311] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049291.947469568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049291.948758785] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049292.004123173] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973497 Long: -76.50298316 +[vectornav-1] [INFO] [1746049292.005641997] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.953, -3.201, 8.842) +[mux-7] [INFO] [1746049292.045423899] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049292.045993791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049292.047046629] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049292.048108920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049292.049801436] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049292.085494824] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049292.087344533] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049292.087886371] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049292.089147167] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049292.089288258] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049292.090481779] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049292.091492173] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049292.145535375] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049292.146390804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049292.147394491] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049292.148771369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049292.149885231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049292.245371491] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049292.246030769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049292.246971302] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049292.248261882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049292.248811406] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049292.335143654] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049292.337279212] [sailbot.teensy]: Wind angle: 353 +[trim_sail-4] [INFO] [1746049292.337878605] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049292.338219457] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049292.338423588] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049292.339143952] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049292.340051301] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049292.344316192] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049292.345020953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049292.345400947] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049292.346800689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049292.347843988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049292.445475184] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049292.446161980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049292.447118310] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049292.448010995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049292.448534087] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049292.503281097] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973511 Long: -76.50298325 +[vectornav-1] [INFO] [1746049292.505092283] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.957, -3.203, 8.648) +[mux-7] [INFO] [1746049292.544841397] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049292.545505021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049292.546007421] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049292.547327051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049292.548344950] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049292.585417469] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049292.587442612] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049292.587876244] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049292.588488554] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049292.588790167] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049292.589522787] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049292.590404129] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049292.645488156] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049292.646274999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049292.647398811] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049292.648409143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049292.648949420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049292.745491809] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049292.746381408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049292.747706136] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049292.748514362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049292.750044354] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049292.835376084] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049292.837778330] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049292.837949377] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049292.839189909] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049292.839269412] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049292.839592151] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049292.839985426] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049292.844335073] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049292.844908252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049292.845468257] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049292.846650400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049292.847836529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049292.945282420] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049292.945907971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049292.946980993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049292.948091833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049292.949245690] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049293.003676162] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973507 Long: -76.50298335 +[vectornav-1] [INFO] [1746049293.005010987] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.96299999999997, -3.196, 8.631) +[mux-7] [INFO] [1746049293.045456050] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049293.046035809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049293.047002981] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049293.047972499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049293.049146502] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049293.085428662] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049293.087090128] [sailbot.teensy]: Wind angle: 357 +[teensy-2] [INFO] [1746049293.088019582] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049293.088339053] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049293.088964752] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049293.089864055] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049293.090619179] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049293.145345777] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049293.146133641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049293.146947188] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049293.148475565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049293.149529276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049293.245368718] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049293.246123720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049293.246984064] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049293.248301735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049293.249499693] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049293.335362246] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049293.337349729] [sailbot.teensy]: Wind angle: 358 +[teensy-2] [INFO] [1746049293.338336957] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049293.337970764] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049293.339250003] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049293.339445273] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049293.340096829] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049293.344405478] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049293.344936953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049293.345534830] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049293.346630747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049293.347823895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049293.445442811] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049293.446059126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049293.447132683] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049293.448223804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049293.449472618] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049293.502452501] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973503 Long: -76.50298361 +[vectornav-1] [INFO] [1746049293.503499550] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.977, -3.194, 8.626) +[mux-7] [INFO] [1746049293.545407900] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049293.546040693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049293.547259025] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049293.548707314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049293.549311258] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049293.585704416] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049293.588472386] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049293.589589122] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049293.589640037] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049293.590626147] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049293.591475056] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049293.592329825] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049293.645235553] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049293.646273020] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049293.646763618] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049293.648722324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049293.649735377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049293.745555672] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049293.746225635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049293.747309916] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049293.748663309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049293.749216812] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049293.835484330] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049293.837890127] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049293.838619558] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049293.838689684] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049293.839689471] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049293.841139252] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049293.842070522] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049293.844595915] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049293.845061991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049293.846104035] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049293.846825337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049293.847866474] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049293.945553854] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049293.946938899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049293.947161382] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049293.948305327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049293.948729163] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049294.003572900] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973488 Long: -76.50298387 +[vectornav-1] [INFO] [1746049294.005313964] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.10900000000004, -3.234, 9.499) +[mux-7] [INFO] [1746049294.044823857] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049294.045596335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049294.046013754] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049294.047459497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049294.048499078] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049294.085404488] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049294.087875219] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049294.088080978] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049294.089071399] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049294.089685277] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049294.089957258] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049294.090857837] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049294.145328042] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049294.146222882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049294.147966634] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049294.148802328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049294.149966418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049294.245347586] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049294.245965670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049294.247009907] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049294.248138390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049294.248838542] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049294.335076569] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049294.337205103] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049294.337776882] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049294.338387031] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049294.338705342] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049294.339629302] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049294.340486390] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049294.344599903] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049294.345154406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049294.345800328] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049294.346939977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049294.348045593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049294.445539316] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049294.446413073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049294.447345886] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049294.448946116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049294.450084933] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049294.503966832] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973496 Long: -76.50298378 +[vectornav-1] [INFO] [1746049294.505429437] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.122, -3.239, 9.49) +[mux-7] [INFO] [1746049294.545049294] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049294.545971229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049294.546470292] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049294.548164662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049294.549257533] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049294.585459568] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049294.587929293] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049294.587927432] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746049294.588945628] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049294.589269505] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049294.589863164] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049294.590787296] [sailbot.teensy]: Dropped packets: 3 +[rosbridge_websocket-8] [INFO] [1746049294.607548489] [rosbridge_websocket]: Client disconnected. 1 clients total. +[mux-7] [INFO] [1746049294.645328723] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049294.646294661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049294.646907956] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049294.648791956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049294.649807329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049294.745080922] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049294.746293842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049294.746877405] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049294.748292748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049294.748811956] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049294.835332899] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049294.837868241] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049294.838809864] [sailbot.teensy]: Wind angle: 340 +[mux-7] [INFO] [1746049294.839071183] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049294.840130726] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049294.841067185] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049294.841952261] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049294.844343010] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049294.845014076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049294.845457119] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049294.846817826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049294.847880145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049294.945283911] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049294.946250966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049294.946851639] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049294.948428612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049294.949668365] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049295.003210047] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469735 Long: -76.50298383 +[vectornav-1] [INFO] [1746049295.004542740] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.14, -3.235, 9.492) +[mux-7] [INFO] [1746049295.045013102] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049295.045842404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049295.046305541] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049295.047689540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049295.048895259] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049295.085341862] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049295.087599988] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049295.087912454] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049295.088952595] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049295.089226214] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049295.089908095] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049295.090806705] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049295.145277768] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049295.146086178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049295.146815953] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049295.148665466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049295.149738961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049295.245138291] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049295.246334641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049295.247357076] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049295.248345573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049295.249407176] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049295.335298722] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049295.337116352] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049295.337840583] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049295.339142640] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049295.339563948] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049295.340544312] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049295.341387278] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049295.344471800] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049295.345186891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049295.345700521] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049295.346937221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049295.348054680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049295.445488055] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049295.446192483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049295.447271147] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049295.448571902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049295.449745430] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049295.503579526] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973511 Long: -76.5029838 +[vectornav-1] [INFO] [1746049295.505722104] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.154, -3.232, 9.503) +[mux-7] [INFO] [1746049295.545163808] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049295.545959130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049295.546630937] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049295.548080130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049295.549264997] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049295.585463526] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049295.587275709] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049295.588483945] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049295.588775607] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049295.589449643] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049295.589842569] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049295.590370508] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049295.645075604] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049295.646546943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049295.646595267] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049295.648536239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049295.649613679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049295.745523002] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049295.746750590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049295.747191701] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049295.749168049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049295.750301389] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049295.835585384] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049295.838407779] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049295.838404654] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049295.839439880] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049295.839548091] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049295.840287834] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049295.840662581] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049295.844407390] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049295.844874155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049295.845515907] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049295.846594869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049295.847730755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049295.945596121] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049295.946281231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049295.947379392] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049295.948944398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049295.950206275] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049296.004028287] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697349 Long: -76.50298377 +[vectornav-1] [INFO] [1746049296.005782806] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.169, -3.234, 9.502) +[mux-7] [INFO] [1746049296.045405418] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049296.046246004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049296.047260000] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049296.048477413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049296.049627822] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049296.085595066] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049296.088298093] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049296.088482501] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049296.089475393] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049296.089985665] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049296.090385777] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049296.091244851] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049296.144970808] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049296.146051515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049296.146310363] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049296.147950421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049296.148962898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049296.245165907] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049296.245890983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049296.246666744] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049296.247639880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049296.248102382] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049296.335421768] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049296.337772984] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049296.338277309] [sailbot.teensy]: Wind angle: 354 +[teensy-2] [INFO] [1746049296.339323654] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049296.340076289] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049296.340298379] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049296.341216508] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049296.344297041] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049296.344790843] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049296.345404397] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049296.346450607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049296.347500041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049296.445583451] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049296.446479409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049296.447249500] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049296.448988281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049296.450413500] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049296.503703086] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973495 Long: -76.50298367 +[vectornav-1] [INFO] [1746049296.505467245] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.182, -3.235, 9.491) +[mux-7] [INFO] [1746049296.545329380] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049296.546062275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049296.546871469] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049296.548255273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049296.548734807] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049296.585526818] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049296.587416375] [sailbot.teensy]: Wind angle: 358 +[teensy-2] [INFO] [1746049296.588408133] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049296.588449286] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049296.589349757] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049296.589953252] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049296.590682944] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049296.645085110] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049296.645856214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049296.646552651] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049296.647939379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049296.649080262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049296.744944546] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049296.745684691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049296.746254444] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049296.747610698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049296.748661991] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049296.835419245] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049296.837382637] [sailbot.teensy]: Wind angle: 358 +[trim_sail-4] [INFO] [1746049296.838197645] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049296.838372495] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049296.839253287] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049296.839446666] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049296.840229647] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049296.844518901] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049296.845176813] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049296.845656217] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049296.847009471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049296.848050396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049296.945548607] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049296.946374750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049296.947200742] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049296.948369276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049296.948810358] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049297.002287874] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973494 Long: -76.50298372 +[vectornav-1] [INFO] [1746049297.003324562] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.199, -3.24, 9.476) +[mux-7] [INFO] [1746049297.045426083] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049297.046334942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049297.047123602] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049297.048286404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049297.048846652] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049297.085685653] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049297.088517032] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049297.088759566] [sailbot.teensy]: Wind angle: 358 +[mux-7] [INFO] [1746049297.089390460] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049297.089709823] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049297.090613496] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049297.091471441] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049297.145291240] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049297.146006775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049297.146833253] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049297.148508034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049297.149703896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049297.245649700] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049297.246612222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049297.247436396] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049297.247920300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049297.248437580] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049297.335205923] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049297.337077910] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049297.337400336] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049297.338383598] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049297.339191594] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049297.340118599] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049297.341043051] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049297.344305206] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049297.344878387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049297.345561631] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049297.346526406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049297.347632497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049297.445590915] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049297.446608543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049297.447420822] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049297.449114942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049297.450378955] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049297.502471879] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973492 Long: -76.50298374 +[vectornav-1] [INFO] [1746049297.503553975] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.216, -3.235, 9.485) +[mux-7] [INFO] [1746049297.544859868] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049297.545634943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049297.546300617] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049297.547748588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049297.549009190] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049297.586020589] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049297.588716430] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049297.589202000] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049297.589928508] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049297.590973876] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049297.591564577] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049297.591823286] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049297.645543175] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049297.646144778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049297.647811778] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049297.648459290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049297.650192358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049297.745296380] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049297.746109211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049297.746834955] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049297.748086915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049297.749314718] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049297.835573733] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049297.837535157] [sailbot.teensy]: Wind angle: 358 +[teensy-2] [INFO] [1746049297.838512786] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049297.839127767] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049297.838648889] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049297.839297854] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049297.839691625] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049297.844634999] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049297.845144876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049297.846151750] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049297.847090950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049297.848320982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049297.945399788] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049297.946123877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049297.947064332] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049297.948286181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049297.949533787] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049298.004085455] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973489 Long: -76.50298386 +[vectornav-1] [INFO] [1746049298.005535656] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.23, -3.24, 9.475) +[mux-7] [INFO] [1746049298.045450226] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049298.046149075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049298.047222851] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049298.048390422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049298.049619256] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049298.085560131] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049298.088056719] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049298.088549124] [sailbot.teensy]: Wind angle: 358 +[teensy-2] [INFO] [1746049298.089496940] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049298.088957894] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049298.090424999] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049298.091280035] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049298.144996021] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049298.145882752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049298.146296073] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049298.147833287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049298.148858801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049298.245358163] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049298.246224869] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049298.246946321] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049298.247883907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049298.248358964] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049298.335309406] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049298.337953738] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049298.338720953] [sailbot.teensy]: Wind angle: 357 +[mux-7] [INFO] [1746049298.339016066] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049298.339148437] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049298.339561504] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049298.340262699] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049298.344379308] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049298.344842130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049298.345559564] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049298.346546035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049298.347596782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049298.445160515] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049298.446065549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049298.446614607] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049298.448278634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049298.449430798] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049298.502360475] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973481 Long: -76.5029838 +[vectornav-1] [INFO] [1746049298.503333894] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.238, -3.24, 9.453) +[mux-7] [INFO] [1746049298.545089772] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049298.545842567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049298.546455133] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049298.547720345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049298.548757552] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049298.585673146] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049298.588410890] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049298.588765805] [sailbot.teensy]: Wind angle: 357 +[mux-7] [INFO] [1746049298.589379290] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049298.589699836] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049298.590585282] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049298.591411106] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049298.645350609] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049298.646201866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049298.647022495] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049298.648382742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049298.649657419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049298.745599992] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049298.746460802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049298.747283854] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049298.748996931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049298.749509816] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049298.835344097] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049298.837972814] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049298.838010960] [sailbot.teensy]: Wind angle: 348 +[mux-7] [INFO] [1746049298.838577664] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049298.838950066] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049298.839895832] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049298.840782112] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049298.844533500] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049298.845062150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049298.845597357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049298.846727852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049298.847855104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049298.945632855] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049298.946389049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049298.947414977] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049298.948589484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049298.949160012] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049299.004311925] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973481 Long: -76.50298385 +[vectornav-1] [INFO] [1746049299.006086215] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.26099999999997, -3.245, 9.468) +[mux-7] [INFO] [1746049299.045055477] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049299.045991316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049299.046359804] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049299.048145298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049299.049224724] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049299.085396591] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049299.087747070] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049299.087775151] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049299.088845659] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049299.089813337] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049299.090422966] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049299.090820239] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049299.144987871] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049299.145887272] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049299.146314767] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049299.147585880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049299.148136293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049299.245373660] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049299.246387307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049299.247059741] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049299.248756386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049299.249880237] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049299.335397940] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049299.337734832] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049299.337856952] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049299.338715664] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049299.339547349] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049299.339701086] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049299.339939459] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049299.344581426] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049299.345315847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049299.345884612] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049299.347251330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049299.348378661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049299.445647746] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049299.446635151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049299.447414673] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049299.449323299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049299.450496841] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049299.502551472] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973481 Long: -76.50298395 +[vectornav-1] [INFO] [1746049299.503753141] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.26800000000003, -3.251, 9.46) +[mux-7] [INFO] [1746049299.544900349] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049299.545542290] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049299.546119955] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049299.547406537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049299.548551436] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049299.585395059] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049299.587658309] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049299.587953817] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049299.588674092] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049299.589577578] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049299.589647012] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049299.590508393] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049299.645380939] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049299.646368723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049299.647173644] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049299.649154523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049299.650374644] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049299.745786412] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049299.746606986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049299.747477840] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049299.749334244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049299.749917822] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049299.835668113] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049299.838005325] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049299.838127538] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049299.838669653] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049299.839076438] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049299.839218015] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049299.839452137] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049299.844660288] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049299.845385684] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049299.846007009] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049299.847359289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049299.848425868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049299.945231578] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049299.946087620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049299.946718553] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049299.948117663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049299.948866390] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049300.003880945] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973473 Long: -76.5029839 +[vectornav-1] [INFO] [1746049300.005613942] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.291, -3.253, 9.46) +[mux-7] [INFO] [1746049300.044998314] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049300.045741899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049300.046337923] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049300.047854719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049300.049063069] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049300.085196811] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049300.087310989] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049300.087347470] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049300.088349187] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049300.088953359] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049300.089290974] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049300.090317260] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049300.145199492] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049300.145891892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049300.146693970] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049300.147960053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049300.149015002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049300.245213180] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049300.246088097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049300.246697676] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049300.247959795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049300.248443680] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049300.335291599] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049300.337751411] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049300.339406621] [sailbot.teensy]: Wind angle: 339 +[mux-7] [INFO] [1746049300.340341708] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049300.340573232] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049300.341654479] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049300.342638790] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049300.344824890] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049300.345247042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049300.345951706] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049300.346943853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049300.348009702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049300.445205784] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049300.446031031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049300.446679738] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049300.448171299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049300.449268757] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049300.502341031] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973477 Long: -76.50298383 +[vectornav-1] [INFO] [1746049300.503727890] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.307, -3.263, 9.441) +[mux-7] [INFO] [1746049300.545316640] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049300.546251097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049300.546771758] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049300.548274535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049300.549436721] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049300.585685624] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049300.588427665] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049300.589135908] [sailbot.teensy]: Wind angle: 339 +[mux-7] [INFO] [1746049300.589136159] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049300.590103986] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049300.591004362] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049300.591883012] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049300.645334681] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049300.646256673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049300.646902117] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049300.647888468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049300.648405063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049300.745260967] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049300.745928394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049300.746698880] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049300.747949083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049300.749137778] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049300.835499280] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049300.838067084] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049300.838364818] [sailbot.teensy]: Wind angle: 337 +[mux-7] [INFO] [1746049300.839048632] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049300.839058674] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049300.839548308] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049300.839943721] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049300.844351196] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049300.844899885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049300.845625354] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049300.846686922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049300.847811321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049300.945198287] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049300.945697570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049300.946578920] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049300.947609060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049300.948675448] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049301.003448417] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973477 Long: -76.50298391 +[vectornav-1] [INFO] [1746049301.004867049] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.334, -3.247, 9.489) +[mux-7] [INFO] [1746049301.045203255] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049301.045791760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049301.046790984] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049301.047896888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049301.048730796] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049301.085349276] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049301.087494679] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049301.087608786] [sailbot.teensy]: Wind angle: 335 +[teensy-2] [INFO] [1746049301.088608448] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049301.088894752] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049301.089863023] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049301.090731521] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049301.145345463] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049301.146187555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049301.147005882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049301.148552372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049301.149776816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049301.245449331] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049301.246286078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049301.247086547] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049301.248578359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049301.249124905] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049301.335445373] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049301.337331774] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049301.337696850] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049301.338502305] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049301.338841551] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049301.339247634] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049301.339669345] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049301.344399764] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049301.344797493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049301.345526416] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049301.346364752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049301.347840900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049301.445274539] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049301.446086303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049301.447021263] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049301.448208952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049301.449353831] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049301.502972099] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973477 Long: -76.50298387 +[vectornav-1] [INFO] [1746049301.504662091] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.341, -3.256, 9.466) +[mux-7] [INFO] [1746049301.545229100] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049301.545914445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049301.546746283] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049301.547949448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049301.549102657] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049301.585623160] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049301.588134898] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049301.588874282] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049301.589108857] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049301.589345944] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049301.590019112] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049301.590899542] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049301.645404384] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049301.646345580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049301.647109676] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049301.648728266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049301.650687228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049301.745213943] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049301.746082295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049301.746675931] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049301.748438339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049301.749591489] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049301.835438174] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049301.837594980] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049301.837729076] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049301.838255519] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049301.838537999] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049301.839474989] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049301.840323303] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049301.844373306] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049301.845011801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049301.845501972] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049301.847336971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049301.848523533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049301.945534773] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049301.946294841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049301.947203154] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049301.947967351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049301.948447941] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049302.002605352] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973478 Long: -76.50298382 +[vectornav-1] [INFO] [1746049302.003727036] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.36, -3.257, 9.52) +[mux-7] [INFO] [1746049302.045017892] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049302.045897755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049302.046344497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049302.047775912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049302.048966498] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049302.085201352] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049302.087331527] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049302.087959319] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049302.088186733] [sailbot.teensy]: Wind angle: 335 +[teensy-2] [INFO] [1746049302.089420478] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049302.090312460] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049302.091131816] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049302.145236912] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049302.145992452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049302.146935555] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049302.148578152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049302.149748876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049302.245253270] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049302.246024392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049302.246918400] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049302.248245846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049302.248831306] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049302.335798858] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049302.339380228] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049302.340243788] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049302.340560582] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049302.343138884] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049302.344363350] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049302.345441661] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049302.345453517] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049302.346696123] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049302.347614641] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049302.348874950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049302.349887383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049302.445612740] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049302.446657740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049302.447376597] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049302.449160854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049302.450396417] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049302.503905368] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697347 Long: -76.50298381 +[vectornav-1] [INFO] [1746049302.505690682] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.369, -3.257, 9.504) +[mux-7] [INFO] [1746049302.545107415] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049302.546131882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049302.546566809] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049302.548270314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049302.549200371] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049302.585373909] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049302.587649731] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049302.587837825] [sailbot.teensy]: Wind angle: 334 +[teensy-2] [INFO] [1746049302.588825670] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049302.589716912] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049302.589812392] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049302.590603615] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049302.645408453] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049302.646210626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049302.647056286] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049302.648903087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049302.650094722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049302.745697102] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049302.746798029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049302.747537974] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049302.749501605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049302.750615088] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049302.835413255] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049302.837936907] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049302.838271707] [sailbot.teensy]: Wind angle: 333 +[mux-7] [INFO] [1746049302.838711537] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049302.839213377] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049302.840135076] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049302.840574323] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049302.844752270] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049302.845324685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049302.846007755] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049302.847095634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049302.848862949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049302.945468688] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049302.946319511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049302.947176933] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049302.948762703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049302.949996609] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049303.003194165] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973469 Long: -76.5029838 +[vectornav-1] [INFO] [1746049303.004693508] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.39099999999996, -3.252, 9.515) +[mux-7] [INFO] [1746049303.045137426] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049303.045772026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049303.046535531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049303.048386810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049303.049459789] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049303.085458698] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049303.088005201] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049303.088254545] [sailbot.teensy]: Wind angle: 333 +[mux-7] [INFO] [1746049303.088971774] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049303.089188947] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049303.090074447] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049303.090924514] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049303.145299482] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049303.145951126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049303.146819272] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049303.148148929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049303.149434126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049303.245573803] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049303.246123144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049303.247192205] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049303.248555126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049303.249687350] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049303.335207932] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049303.336903438] [sailbot.teensy]: Wind angle: 331 +[trim_sail-4] [INFO] [1746049303.337676063] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049303.337858136] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049303.338743294] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049303.338826627] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049303.339656114] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049303.344585501] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049303.345082005] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049303.345922275] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049303.346840485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049303.348437306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049303.445077995] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049303.445734666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049303.446657930] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049303.447600646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049303.448859773] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049303.502372854] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973471 Long: -76.50298369 +[vectornav-1] [INFO] [1746049303.503419691] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.402, -3.254, 9.496) +[mux-7] [INFO] [1746049303.545356233] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049303.546034221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049303.547649174] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049303.548286085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049303.549394491] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049303.585665130] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049303.587831214] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049303.588890744] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049303.588415737] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049303.589343259] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049303.589780410] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049303.590677939] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049303.645373926] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049303.646066386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049303.647058531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049303.648593305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049303.649784565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049303.745163468] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049303.745807772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049303.746932412] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049303.747720525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049303.748938793] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049303.835507576] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049303.838039780] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049303.838319795] [sailbot.teensy]: Wind angle: 343 +[mux-7] [INFO] [1746049303.838597197] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049303.839404446] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049303.840328793] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049303.841185862] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049303.844371092] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049303.844867488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049303.845506118] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049303.846608901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049303.847657744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049303.945513069] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049303.946445106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049303.947468306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049303.948834982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049303.950074976] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049304.003321519] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973479 Long: -76.50298372 +[vectornav-1] [INFO] [1746049304.004700216] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.411, -3.251, 9.467) +[mux-7] [INFO] [1746049304.045437754] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049304.046179899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049304.047048021] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049304.048226590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049304.049458127] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049304.085849640] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049304.088501544] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049304.088932608] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049304.089596324] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049304.090527113] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049304.091107543] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049304.091430674] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049304.145122920] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049304.145810198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049304.146822421] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049304.148909284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049304.150049812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049304.245357755] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049304.246127583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049304.246905441] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049304.248482783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049304.249650037] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049304.335467577] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049304.337712119] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049304.338750643] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049304.339649674] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049304.340586352] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746049304.338372331] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049304.340061569] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049304.344543687] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049304.345132320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049304.345668588] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049304.346962730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049304.348006619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049304.445285380] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049304.446011744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049304.447034944] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049304.448523651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049304.448955809] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049304.503637260] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973485 Long: -76.50298379 +[vectornav-1] [INFO] [1746049304.504901283] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.418, -3.246, 9.493) +[mux-7] [INFO] [1746049304.545060589] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049304.545983613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049304.546592932] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049304.548375433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049304.549459848] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049304.585373473] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049304.587903828] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049304.588110114] [sailbot.teensy]: Wind angle: 0 +[teensy-2] [INFO] [1746049304.589085178] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049304.589242267] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049304.590043033] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049304.590957986] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049304.645024848] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049304.645575709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049304.646399507] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049304.647690879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049304.648712437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049304.745035225] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049304.745831493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049304.746686045] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049304.747695194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049304.748617832] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049304.835468420] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049304.837916361] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746049304.838068290] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049304.838885679] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049304.839839058] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049304.839996638] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049304.840730360] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049304.844492891] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049304.844933812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049304.845641472] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049304.846680239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049304.847743460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049304.945406616] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049304.946204250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049304.947331950] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049304.948137777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049304.948678878] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049305.003318124] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973497 Long: -76.50298387 +[vectornav-1] [INFO] [1746049305.004520942] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.433, -3.245, 9.498) +[mux-7] [INFO] [1746049305.045361825] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049305.045955795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049305.046870290] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049305.048393225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049305.049548959] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049305.085405316] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049305.087168852] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049305.088013856] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049305.088114788] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049305.089028970] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049305.089068488] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049305.089969138] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049305.144997518] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049305.145880310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049305.146364837] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049305.147939636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049305.149003966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049305.245110131] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049305.245608302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049305.246522781] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049305.247565960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049305.248630439] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049305.335400931] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049305.338078369] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049305.338075429] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049305.339037059] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049305.339153305] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049305.339968441] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049305.340941473] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049305.344316601] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049305.345031331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049305.345459786] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049305.347587251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049305.348814718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049305.445089027] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049305.445830928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049305.446788650] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049305.447843014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049305.448370317] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049305.502458867] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973506 Long: -76.50298387 +[vectornav-1] [INFO] [1746049305.503878444] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.45500000000004, -3.243, 9.499) +[mux-7] [INFO] [1746049305.545310480] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049305.546110410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049305.547005580] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049305.548357312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049305.549453168] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049305.585483560] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049305.587487599] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049305.588138817] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049305.588490601] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049305.589359548] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049305.589411980] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049305.590252862] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049305.645161858] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049305.646094057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049305.646597871] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049305.649327487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049305.650464986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049305.745462390] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049305.746218616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049305.747112370] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049305.749352130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049305.750516380] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049305.835498809] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049305.838533007] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049305.838539803] [sailbot.teensy]: Wind angle: 347 +[mux-7] [INFO] [1746049305.838947221] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049305.839753844] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049305.840895134] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049305.841783133] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049305.844419698] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049305.844866736] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049305.845655565] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049305.846583272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049305.847662216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049305.944865857] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049305.945599070] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049305.946103237] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049305.947987732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049305.949093224] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049306.003438829] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973495 Long: -76.50298402 +[vectornav-1] [INFO] [1746049306.005157831] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.459, -3.241, 9.515) +[mux-7] [INFO] [1746049306.045039478] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049306.045611968] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049306.046336436] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049306.047502012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049306.049147450] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049306.085193133] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049306.087373539] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049306.087947771] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049306.089284174] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049306.090446397] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049306.091345834] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049306.092222188] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049306.145038205] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049306.145724542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049306.146404129] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049306.147769970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049306.148822316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049306.245605769] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049306.246627832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049306.247243835] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049306.248116682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049306.248673573] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049306.335613059] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049306.338469477] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049306.338696151] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049306.340091892] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049306.341582238] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049306.342539839] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049306.342564715] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049306.345206500] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049306.346037632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049306.346738660] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049306.347907423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049306.349203132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049306.445393485] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049306.446374439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049306.446953265] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049306.448635566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049306.449786731] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049306.502592346] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973499 Long: -76.50298404 +[vectornav-1] [INFO] [1746049306.504038201] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.473, -3.24, 9.508) +[mux-7] [INFO] [1746049306.545102557] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049306.546035855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049306.546753780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049306.547921284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049306.549055629] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049306.585523610] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049306.588014543] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049306.588336862] [sailbot.teensy]: Wind angle: 349 +[mux-7] [INFO] [1746049306.589120962] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049306.589258668] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049306.590263613] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049306.591120151] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049306.645141775] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049306.646083929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049306.646593973] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049306.648205794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049306.649266936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049306.745309120] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049306.746051135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049306.746875142] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049306.748262519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049306.749489563] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049306.835196104] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049306.837664581] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049306.837857943] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049306.838369685] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049306.838606926] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049306.839533543] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049306.840160923] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049306.844384031] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049306.845080488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049306.845515399] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049306.846859551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049306.847894345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049306.945301031] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049306.946656870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049306.946918330] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049306.949311639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049306.950137114] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049307.002645906] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973502 Long: -76.50298397 +[vectornav-1] [INFO] [1746049307.003896676] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.49199999999996, -3.24, 9.512) +[mux-7] [INFO] [1746049307.045140974] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049307.046259044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049307.046592378] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049307.048492011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049307.049616256] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049307.085364093] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049307.087479967] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049307.088054127] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049307.088435166] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049307.088735481] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049307.089345625] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049307.090244474] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049307.144976547] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049307.145600003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049307.146543628] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049307.147400163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049307.148253491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049307.245059452] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049307.245627440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049307.246331876] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049307.247472489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049307.248534946] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049307.335395930] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049307.337965842] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049307.338544842] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049307.339202167] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049307.340219822] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049307.341044005] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049307.341885376] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049307.344251951] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049307.344768048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049307.345345252] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049307.346436360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049307.347587575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049307.444476346] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049307.445501488] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049307.447547423] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049307.449225824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049307.450272475] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049307.503725282] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973505 Long: -76.50298398 +[vectornav-1] [INFO] [1746049307.505378206] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.501, -3.239, 9.512) +[mux-7] [INFO] [1746049307.545670759] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049307.546289071] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049307.547462650] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049307.548930744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049307.551082715] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049307.585486279] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049307.587981228] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049307.588294056] [sailbot.teensy]: Wind angle: 333 +[mux-7] [INFO] [1746049307.589024445] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049307.589265365] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049307.590207021] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049307.591142429] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049307.645073622] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049307.645836141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049307.646360680] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049307.647683587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049307.648710770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049307.745128409] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049307.745802725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049307.747051039] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049307.747749298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049307.748370529] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049307.835294892] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049307.837681166] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049307.838361325] [sailbot.teensy]: Wind angle: 0 +[mux-7] [INFO] [1746049307.838550976] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049307.839341038] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049307.840203769] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049307.840572209] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049307.844494152] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049307.845070737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049307.845662748] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049307.847440504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049307.848579584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049307.945657399] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049307.946278028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049307.947457706] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049307.949077130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049307.950363193] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049308.002404878] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973505 Long: -76.50298396 +[vectornav-1] [INFO] [1746049308.003427944] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.51300000000003, -3.239, 9.524) +[mux-7] [INFO] [1746049308.045604341] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049308.046345205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049308.047206421] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049308.048719009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049308.049869212] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049308.085708045] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049308.088370223] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049308.088491511] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049308.089458475] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049308.089885313] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049308.090361681] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049308.091221129] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049308.145346162] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049308.145876168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049308.146857620] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049308.149458309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049308.150469520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049308.245124298] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049308.245583696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049308.246722053] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049308.247644819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049308.248790942] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049308.335373946] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049308.337892705] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049308.338505947] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049308.338506085] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049308.339453740] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049308.340393214] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049308.341410162] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049308.344549631] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049308.345125719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049308.345722040] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049308.346902817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049308.348568546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049308.445350157] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049308.446190104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049308.446890916] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049308.448747912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049308.449887864] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049308.502997025] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973492 Long: -76.50298394 +[vectornav-1] [INFO] [1746049308.504351317] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.52, -3.241, 9.49) +[mux-7] [INFO] [1746049308.544877837] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049308.545752574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049308.546037515] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049308.547702853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049308.548800386] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049308.585625222] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049308.588308070] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049308.588357720] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049308.588862297] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049308.589385116] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049308.590306466] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049308.591175664] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049308.645295625] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049308.645900618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049308.646857998] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049308.648276207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049308.649476823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049308.745319338] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049308.745980250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049308.747345195] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049308.747906065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049308.748414634] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049308.835286555] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049308.837764761] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049308.838486057] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049308.839239178] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049308.839296686] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049308.840536122] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049308.841436892] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049308.844270916] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049308.844691058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049308.845488816] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049308.846338395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049308.847549022] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049308.945606198] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049308.946809908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049308.947228892] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049308.948518623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049308.949069166] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049309.002417091] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973498 Long: -76.50298377 +[vectornav-1] [INFO] [1746049309.003747026] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.541, -3.237, 9.504) +[mux-7] [INFO] [1746049309.045115602] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049309.045901515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049309.046587240] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049309.048384371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049309.049651634] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049309.085810128] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049309.088961943] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049309.089401844] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049309.089517489] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049309.090552092] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049309.091490148] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049309.092345210] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049309.145208520] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049309.146101051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049309.146647538] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049309.148193024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049309.149354510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049309.245543227] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049309.246503421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049309.247173085] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049309.248840694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049309.250081259] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049309.335401842] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049309.337205583] [sailbot.teensy]: Wind angle: 333 +[trim_sail-4] [INFO] [1746049309.337830246] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049309.338144111] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049309.338810452] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049309.338869872] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049309.339258615] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049309.344350001] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049309.344930072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049309.345454436] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049309.346606142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049309.347661388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049309.445022387] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049309.445856416] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049309.446359210] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049309.447846621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049309.448892359] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049309.503514728] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973477 Long: -76.50298383 +[vectornav-1] [INFO] [1746049309.505551234] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.553, -3.241, 9.511) +[mux-7] [INFO] [1746049309.544845975] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049309.545534103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049309.546020315] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049309.547505153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049309.548571977] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049309.585275954] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049309.587705456] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049309.587767011] [sailbot.teensy]: Wind angle: 0 +[mux-7] [INFO] [1746049309.588289466] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049309.588786776] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049309.589692342] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049309.590236950] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049309.645082491] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049309.645984473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049309.646601920] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049309.647960085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049309.648544384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049309.745349449] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049309.746148101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049309.746859078] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049309.748418560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049309.749041445] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049309.835669240] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049309.838427421] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049309.839091861] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049309.839821523] [sailbot.teensy]: Wind angle: 0 +[teensy-2] [INFO] [1746049309.840834268] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049309.841845945] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049309.842685661] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049309.844482830] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049309.845165837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049309.846369078] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049309.846988092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049309.848032700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049309.945415859] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049309.946493436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049309.947024561] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049309.947873154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049309.948557952] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049310.003447000] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973469 Long: -76.50298376 +[vectornav-1] [INFO] [1746049310.004946973] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.558, -3.241, 9.508) +[mux-7] [INFO] [1746049310.045162905] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049310.046189194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049310.048137213] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049310.048364140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049310.049527027] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049310.085497428] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049310.087905564] [sailbot.teensy]: Wind angle: 333 +[trim_sail-4] [INFO] [1746049310.087938883] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049310.088937122] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049310.089232134] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049310.089827644] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049310.090749023] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049310.145285697] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049310.146001026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049310.146851798] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049310.148575020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049310.149711507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049310.245618547] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049310.246588531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049310.247222044] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049310.248894513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049310.249359544] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049310.335705667] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049310.337984976] [sailbot.teensy]: Wind angle: 356 +[teensy-2] [INFO] [1746049310.339171299] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049310.340043017] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049310.340212871] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049310.341200076] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049310.341628623] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049310.344686414] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049310.345484927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049310.346008391] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049310.347561354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049310.349265246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049310.445714303] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049310.446900932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049310.447470072] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049310.449678095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049310.450828573] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049310.502642526] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973478 Long: -76.50298412 +[vectornav-1] [INFO] [1746049310.504069098] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.56899999999996, -3.245, 9.509) +[mux-7] [INFO] [1746049310.545241944] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049310.546020410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049310.546831066] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049310.548475334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049310.549636883] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049310.585393852] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049310.587543242] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049310.587739482] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049310.588522699] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049310.589382744] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049310.589299494] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049310.590302276] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049310.645531637] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049310.646476481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049310.647447800] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049310.648849423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049310.649942726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049310.745953828] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049310.746580412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049310.747704609] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049310.749377854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049310.750641693] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049310.835859228] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049310.838437489] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049310.838956479] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049310.839192206] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049310.839526066] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049310.839569450] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049310.839944658] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049310.844573009] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049310.845655235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049310.845850762] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049310.847386547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049310.848549926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049310.945307517] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049310.945969536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049310.946882769] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049310.948139026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049310.949103856] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049311.003177806] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697348 Long: -76.50298393 +[vectornav-1] [INFO] [1746049311.004476117] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.587, -3.229, 9.496) +[mux-7] [INFO] [1746049311.045343491] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049311.046911295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049311.046628524] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049311.049589138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049311.050587772] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049311.085548094] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049311.087986283] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049311.088524039] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049311.088936592] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049311.089050838] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049311.089868982] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049311.090712279] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049311.145374719] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049311.145946419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049311.147868054] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049311.148083235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049311.149261358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049311.245337294] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049311.245836356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049311.246944209] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049311.247823542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049311.248528918] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049311.335385244] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049311.337862621] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049311.338521360] [sailbot.teensy]: Wind angle: 356 +[mux-7] [INFO] [1746049311.338731698] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049311.339463164] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049311.340371149] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049311.341189665] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049311.344365053] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049311.344821413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049311.345465832] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049311.346485032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049311.347595110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049311.445020649] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049311.445642376] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049311.447631950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[mux-7] [INFO] [1746049311.446434619] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049311.448862438] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049311.502772951] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697348 Long: -76.50298383 +[vectornav-1] [INFO] [1746049311.504020840] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.599, -3.23, 9.496) +[mux-7] [INFO] [1746049311.544967001] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049311.545534967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049311.546418004] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049311.547395963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049311.548575690] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049311.585366998] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049311.587086167] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049311.587580959] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049311.588018717] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049311.588985290] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049311.589885075] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049311.590097256] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049311.645595813] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049311.646163909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049311.647340521] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049311.648612493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049311.649732492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049311.745642801] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049311.746284717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049311.747502790] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049311.749224420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049311.749761739] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049311.835967302] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049311.838311115] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049311.839441477] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049311.838927559] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049311.840450078] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049311.841370430] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049311.840688639] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049311.844497922] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049311.845044436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049311.845632970] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049311.846919650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049311.848106517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049311.945222394] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049311.945804373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049311.947123102] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049311.947801821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049311.948857109] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049312.003132680] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973474 Long: -76.50298373 +[vectornav-1] [INFO] [1746049312.004527336] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.602, -3.23, 9.487) +[mux-7] [INFO] [1746049312.044876429] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049312.045322703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049312.046142301] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049312.047495144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049312.048690130] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049312.085422034] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049312.087286740] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049312.087848202] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049312.088597512] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049312.089500139] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049312.090182398] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049312.090382869] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049312.145204696] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049312.146197401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049312.146723121] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049312.148318407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049312.149483910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049312.245104330] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049312.245702960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049312.246433708] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049312.247709593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049312.248745742] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049312.335348774] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049312.338011850] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049312.338269460] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049312.338612672] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049312.339231216] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049312.339618753] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049312.339980351] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049312.344385556] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049312.345094351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049312.345556509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049312.349337899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049312.350458509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049312.445558829] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049312.446317900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049312.447172840] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049312.448932801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049312.450647473] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049312.504061971] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973476 Long: -76.50298371 +[vectornav-1] [INFO] [1746049312.507197639] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.625, -3.24, 9.49) +[mux-7] [INFO] [1746049312.545279592] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049312.546025348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049312.546796041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049312.548217967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049312.549420325] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049312.585539917] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049312.587443176] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049312.588443282] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049312.588344966] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049312.589345351] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049312.590241105] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049312.590306562] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746049312.644731491] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049312.645413202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049312.646015553] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049312.647177321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049312.648231983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049312.745537261] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049312.746226032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049312.748077649] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049312.748754219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049312.750312208] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049312.835716599] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049312.837983912] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049312.839050974] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049312.838672156] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049312.839586802] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049312.839722331] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049312.839959170] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049312.844497318] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049312.845158037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049312.845717382] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049312.846970374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049312.848073751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049312.945562970] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049312.946418129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049312.947770788] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049312.949364162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049312.950637774] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049313.003282854] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973461 Long: -76.5029837 +[vectornav-1] [INFO] [1746049313.004731085] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.64, -3.238, 9.505) +[mux-7] [INFO] [1746049313.045073795] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049313.045997594] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049313.047872325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[mux-7] [INFO] [1746049313.046491878] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049313.048764703] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049313.085431253] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049313.087886086] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049313.088009314] [sailbot.teensy]: Wind angle: 338 +[mux-7] [INFO] [1746049313.088713418] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049313.088972247] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049313.089885588] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049313.090748150] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049313.145428796] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049313.146026437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049313.147237713] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049313.148733302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049313.149797734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049313.245348302] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049313.246390570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049313.247368936] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049313.247821880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049313.248386264] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049313.335238446] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049313.337568386] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049313.337770301] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049313.338734145] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049313.339311777] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049313.339628682] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049313.340594911] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049313.344438620] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049313.345133209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049313.345919842] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049313.346976467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049313.348012653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049313.445617803] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049313.446422539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049313.447293755] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049313.449007396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049313.450199793] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049313.503342295] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973456 Long: -76.50298364 +[vectornav-1] [INFO] [1746049313.504856641] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.649, -3.229, 9.511) +[mux-7] [INFO] [1746049313.545086888] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049313.545790993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049313.546622633] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049313.547898236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049313.548478304] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049313.585709423] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049313.588009289] [sailbot.teensy]: Wind angle: 352 +[teensy-2] [INFO] [1746049313.589147470] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049313.588950949] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049313.590759520] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049313.590802608] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049313.591739201] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049313.644826335] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049313.645400115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049313.646114214] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049313.647265195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049313.648428425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049313.745482401] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049313.746184709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049313.747085914] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049313.748019105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049313.748579967] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049313.835518702] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049313.837636375] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049313.838506785] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049313.838672771] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049313.839554477] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049313.839924113] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049313.840521444] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049313.844428235] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049313.844971935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049313.845556675] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049313.846651554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049313.847659296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049313.945227144] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049313.946132548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049313.946768287] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049313.948131449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049313.948618653] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049314.004065205] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973461 Long: -76.50298365 +[vectornav-1] [INFO] [1746049314.006316715] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.656, -3.24, 9.466) +[mux-7] [INFO] [1746049314.045299788] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049314.046200115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049314.046813970] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049314.048309259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049314.048853994] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049314.085616891] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049314.087838080] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049314.088882479] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049314.088397574] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049314.089757028] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049314.089779004] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049314.090657048] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049314.145000107] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049314.145581895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049314.146164949] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049314.147338631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049314.148545250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049314.245255605] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049314.246075339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049314.247419245] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049314.249475297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049314.250645231] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049314.335701321] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049314.337895096] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049314.338724931] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049314.339314247] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049314.339382558] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049314.339758549] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049314.340161591] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049314.344592339] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049314.345080441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049314.345728561] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049314.347439553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049314.348768119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049314.445312596] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049314.446030587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049314.446806174] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049314.448140569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049314.448674551] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049314.502443381] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973458 Long: -76.50298366 +[vectornav-1] [INFO] [1746049314.503578332] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.664, -3.222, 9.31) +[mux-7] [INFO] [1746049314.545230665] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049314.546065903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049314.546752198] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049314.548326480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049314.549499338] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049314.585583061] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049314.587805804] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049314.588356161] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049314.589212812] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049314.590670068] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049314.591615373] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049314.592468134] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049314.645357600] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049314.646121360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049314.646884131] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049314.648276657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049314.649425880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049314.745635384] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049314.746347266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049314.747204250] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049314.748641756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049314.749179796] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049314.835808493] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049314.838655622] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049314.839395381] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049314.839578915] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049314.839831456] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049314.840327467] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049314.840723059] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049314.844592767] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049314.845209656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049314.845985661] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049314.847164333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049314.848478809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049314.945296187] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049314.945965530] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049314.946837920] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049314.948388969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049314.949040789] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049315.003258484] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973463 Long: -76.50298357 +[vectornav-1] [INFO] [1746049315.005053541] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.64300000000003, -3.211, 9.074) +[mux-7] [INFO] [1746049315.045183816] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049315.045857677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049315.046743165] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049315.047716521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049315.048237319] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049315.085424464] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049315.087307392] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049315.087901922] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049315.088318692] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049315.089204421] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049315.089212289] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049315.090098120] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049315.145420480] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049315.146123059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049315.147011512] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049315.148313155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049315.149496826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049315.245399990] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049315.246017564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049315.247102698] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049315.248144287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049315.249374741] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049315.335676948] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049315.338217244] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049315.338591876] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049315.339921500] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049315.340351881] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049315.340613556] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049315.340991655] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049315.344419421] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049315.345049679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049315.345624083] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049315.347952246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049315.349078030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049315.445676362] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049315.446349914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049315.447335718] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049315.448874947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049315.450121776] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049315.502565294] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973475 Long: -76.50298357 +[vectornav-1] [INFO] [1746049315.503855739] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.712, -3.228, 9.496) +[mux-7] [INFO] [1746049315.545020463] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049315.545600902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049315.546327391] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049315.547565867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049315.548607677] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049315.585880038] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049315.588939333] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049315.589084207] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049315.589900824] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049315.590224048] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049315.591178847] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049315.592058027] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049315.645124148] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049315.645829983] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049315.647809704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[mux-7] [INFO] [1746049315.646497835] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049315.648996109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049315.745199265] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049315.746161386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049315.746719574] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049315.748373710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049315.749467316] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049315.835760528] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049315.838877580] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049315.839234761] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049315.839448314] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049315.840552636] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049315.841512058] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049315.842416661] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049315.844409537] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049315.844812721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049315.845518816] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049315.846459217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049315.847441980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049315.945030931] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049315.945663182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049315.946446213] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049315.947668378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049315.948908485] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049316.003791315] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973477 Long: -76.50298362 +[vectornav-1] [INFO] [1746049316.005255871] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.71799999999996, -3.236, 9.489) +[mux-7] [INFO] [1746049316.045170581] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049316.045944866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049316.046577556] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049316.047986080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049316.049044844] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049316.085454584] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049316.087970670] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049316.088368409] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049316.088820673] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746049316.089801258] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049316.090672013] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049316.091484001] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049316.145231948] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049316.145991151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049316.147078862] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049316.148095216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049316.149371739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049316.245507634] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049316.246256134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049316.247097584] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049316.248020313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049316.248562917] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049316.335372199] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049316.337430618] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049316.337927850] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049316.339076518] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049316.339324801] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049316.339696447] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049316.340051102] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049316.344272820] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049316.345027317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049316.345379920] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049316.346841908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049316.347845236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049316.445228676] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049316.445976837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049316.447254161] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049316.448206366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049316.449336680] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049316.503669855] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973481 Long: -76.50298362 +[vectornav-1] [INFO] [1746049316.505694970] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.73900000000003, -3.236, 9.494) +[mux-7] [INFO] [1746049316.544836384] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049316.545498662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049316.546003765] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049316.547247497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049316.548341229] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049316.585335341] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049316.587779953] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049316.588338678] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049316.588755641] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049316.589318503] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049316.590179964] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049316.591031521] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049316.645240674] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049316.646030488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049316.646735227] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049316.648095600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049316.648692202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049316.745572078] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049316.746562619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049316.747151286] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049316.748814579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049316.750084429] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049316.835382136] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049316.837730322] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049316.838107361] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049316.839378546] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049316.839819337] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049316.840221525] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049316.840650526] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049316.844455428] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049316.844966639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049316.845583406] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049316.846673743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049316.847856603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049316.945559073] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049316.946330621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049316.947252365] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049316.948681681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049316.949278176] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049317.002531987] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973486 Long: -76.50298354 +[vectornav-1] [INFO] [1746049317.003614070] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.75, -3.233, 9.484) +[mux-7] [INFO] [1746049317.045124810] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049317.045797623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049317.046754627] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049317.047747117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049317.048868615] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049317.085456158] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049317.087305754] [sailbot.teensy]: Wind angle: 357 +[teensy-2] [INFO] [1746049317.088278187] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049317.087918533] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049317.088865831] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049317.089174669] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049317.090012036] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049317.145275357] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049317.145935843] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049317.146742501] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049317.147991541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049317.148841008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049317.245686911] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049317.246478142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049317.247543084] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049317.249306210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049317.250551771] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049317.335454181] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049317.337884238] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049317.338560676] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049317.338715490] [sailbot.teensy]: Wind angle: 354 +[teensy-2] [INFO] [1746049317.339268151] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049317.339662927] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049317.340019855] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049317.344587493] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049317.345510564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049317.345788250] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049317.347328117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049317.348370490] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049317.445261580] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049317.445906230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049317.446810601] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049317.448071984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049317.448908066] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049317.503988831] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973471 Long: -76.50298355 +[vectornav-1] [INFO] [1746049317.505548047] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.772, -3.236, 9.467) +[mux-7] [INFO] [1746049317.545189875] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049317.546217849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049317.546841964] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049317.548631853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049317.549775633] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049317.585410884] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049317.587224984] [sailbot.teensy]: Wind angle: 352 +[teensy-2] [INFO] [1746049317.588235733] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049317.589445330] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049317.588466221] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049317.589444741] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049317.590906466] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049317.644984577] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049317.645676863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049317.646421897] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049317.648011667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049317.649039042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049317.745058229] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049317.745811786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049317.746485198] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049317.747845225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049317.748967596] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049317.835401269] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049317.837869551] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049317.838136573] [sailbot.teensy]: Wind angle: 351 +[teensy-2] [INFO] [1746049317.839061271] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049317.839206641] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049317.839965445] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049317.840885854] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049317.844470569] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049317.845036422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049317.845669787] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049317.846777704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049317.848030729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049317.945199832] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049317.945806988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049317.946606273] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049317.947734314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049317.948280064] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049318.002622524] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973454 Long: -76.50298365 +[vectornav-1] [INFO] [1746049318.003857554] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.741, -3.206, 9.089) +[mux-7] [INFO] [1746049318.045132809] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049318.046035679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049318.046748716] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049318.048269131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049318.048798979] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049318.085598976] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049318.088215567] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049318.088853518] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049318.089049882] [sailbot.teensy]: Wind angle: 351 +[teensy-2] [INFO] [1746049318.090114935] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049318.091015444] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049318.091836939] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049318.144779545] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049318.145412689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049318.145940906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049318.147143672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049318.148446034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049318.245561673] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049318.246383436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049318.247152861] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049318.249068302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049318.249698928] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049318.335501441] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049318.337489288] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049318.337887734] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049318.339198696] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049318.339576410] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049318.340186379] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049318.341110668] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049318.344369350] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049318.344876613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049318.345754916] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049318.346620340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049318.348370438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049318.445380730] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049318.446511206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049318.446933680] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049318.448660174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049318.449787256] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049318.502435347] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973448 Long: -76.5029836 +[vectornav-1] [INFO] [1746049318.503677738] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.773, -3.236, 9.443) +[mux-7] [INFO] [1746049318.544717774] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049318.545375882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049318.545888718] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049318.547133684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049318.548303891] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049318.585597040] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049318.588279657] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049318.588295646] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049318.589323854] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049318.589445009] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049318.590257942] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049318.591154451] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049318.645502982] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049318.646200231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049318.647515161] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049318.649387171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049318.650576439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049318.744905911] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049318.745783024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049318.746474137] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049318.747731568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049318.748882271] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049318.835394410] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049318.837837323] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049318.838371427] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049318.839068294] [sailbot.teensy]: Wind angle: 354 +[teensy-2] [INFO] [1746049318.839542561] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049318.839918695] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049318.840287107] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049318.844489932] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049318.844894605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049318.845609073] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049318.846504520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049318.847507560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049318.945670161] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049318.946635659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049318.947403097] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049318.949525934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049318.950760438] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049319.003148529] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973431 Long: -76.50298358 +[vectornav-1] [INFO] [1746049319.004608763] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.788, -3.236, 9.453) +[mux-7] [INFO] [1746049319.045157214] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049319.046003782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049319.046556489] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049319.047829290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049319.048304805] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049319.085451866] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049319.087483172] [sailbot.teensy]: Wind angle: 354 +[teensy-2] [INFO] [1746049319.088471198] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049319.087733391] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049319.088472480] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049319.089392914] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049319.090316885] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049319.144999370] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049319.145663057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049319.146851362] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049319.147767380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049319.148987423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049319.245275051] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049319.246091149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049319.246814681] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049319.248477755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049319.249310331] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049319.335393669] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049319.337881965] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049319.338583558] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049319.338730364] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746049319.339364435] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049319.339712075] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049319.340052131] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049319.344437592] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049319.344922531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049319.345577278] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049319.346693317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049319.347870266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049319.445437595] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049319.446553631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049319.447114071] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049319.448446904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049319.448988608] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049319.503221917] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697343 Long: -76.50298366 +[vectornav-1] [INFO] [1746049319.505032127] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.807, -3.236, 9.463) +[mux-7] [INFO] [1746049319.544799640] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049319.545381132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049319.545961297] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049319.547147698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049319.548296162] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049319.585471541] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049319.587483198] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746049319.587851634] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049319.588452003] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049319.589067631] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049319.589326848] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049319.590227476] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049319.645082872] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049319.645827924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049319.646482770] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049319.647888231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049319.648906066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049319.745261416] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049319.745953229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049319.746758840] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049319.748070697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049319.748586563] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049319.835683519] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049319.837889347] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049319.838867166] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049319.839008127] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049319.839251953] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049319.839246776] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049319.839642642] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049319.844367039] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049319.844881637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049319.845424864] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049319.846579773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049319.847681316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049319.945381805] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049319.946335418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049319.947191168] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049319.948779727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049319.949920850] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049320.002711818] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697342 Long: -76.50298373 +[vectornav-1] [INFO] [1746049320.003815868] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.821, -3.239, 9.497) +[mux-7] [INFO] [1746049320.044737779] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049320.045357289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049320.045916108] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049320.047229371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049320.048263498] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049320.085182945] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049320.087425938] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049320.087536806] [sailbot.teensy]: Wind angle: 335 +[teensy-2] [INFO] [1746049320.088494442] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049320.088792763] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049320.089426679] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049320.090346987] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049320.145224584] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049320.146031037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049320.146960519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049320.148517372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049320.149574954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049320.245330197] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049320.246319956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049320.246932955] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049320.247961888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049320.248432690] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049320.335387353] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049320.337824896] [sailbot.teensy]: Wind angle: 332 +[teensy-2] [INFO] [1746049320.338774787] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049320.338406629] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049320.338715155] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049320.339714779] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049320.340362971] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049320.344322465] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049320.345063560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049320.345462811] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049320.347684762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049320.348877501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049320.445128887] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049320.445903517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049320.446560580] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049320.448270844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049320.449336920] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049320.502625667] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697342 Long: -76.50298364 +[vectornav-1] [INFO] [1746049320.503682095] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.831, -3.237, 9.548) +[mux-7] [INFO] [1746049320.545107452] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049320.545749210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049320.546500161] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049320.547979882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049320.548696628] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049320.585574155] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049320.588170589] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049320.588534960] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049320.589469407] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049320.589577009] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049320.590384040] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049320.591260964] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049320.644391625] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049320.645065426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049320.645433759] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049320.647781345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049320.648939010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049320.745293631] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049320.746324616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049320.746638747] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049320.748515227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049320.749001954] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049320.835381284] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049320.837250792] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049320.837891352] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049320.838559055] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049320.839528214] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049320.840100097] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049320.840465951] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049320.844375702] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049320.845149461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049320.845596665] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049320.846923469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049320.847955213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049320.945004351] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049320.945601404] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049320.947444115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[mux-7] [INFO] [1746049320.946592227] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049320.948525651] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049321.002784851] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973401 Long: -76.50298358 +[vectornav-1] [INFO] [1746049321.004076693] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.85, -3.247, 9.5) +[mux-7] [INFO] [1746049321.045177249] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049321.045975971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049321.046613454] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049321.047858142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049321.049101873] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049321.085562064] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049321.087778380] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049321.087887698] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049321.088765174] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049321.089020149] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049321.089666979] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049321.090542643] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049321.144784815] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049321.145536288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049321.145935367] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049321.147459905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049321.148517149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049321.245495588] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049321.246270967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049321.247153780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049321.248276070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049321.248794322] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049321.335483561] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049321.337625539] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049321.338202096] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049321.338625845] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049321.339530683] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049321.339821580] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049321.340397818] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049321.344497226] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049321.344869395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049321.346068653] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049321.346725175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049321.348341337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049321.445080678] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049321.445535489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049321.446509723] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049321.447432932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049321.448501841] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049321.502549933] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973389 Long: -76.50298353 +[vectornav-1] [INFO] [1746049321.503629590] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.874, -3.256, 9.453) +[mux-7] [INFO] [1746049321.545344862] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049321.545954650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049321.546769858] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049321.547967584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049321.549019877] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049321.585571715] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049321.588180426] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049321.588767858] [sailbot.teensy]: Wind angle: 335 +[mux-7] [INFO] [1746049321.588998760] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049321.589719106] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049321.590616455] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049321.591436088] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049321.645016219] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049321.645841689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049321.646480192] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049321.647751436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049321.648914449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049321.745216216] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049321.745949120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049321.747044610] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049321.748082727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049321.749318258] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049321.835195056] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049321.836805163] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049321.837450098] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049321.837763510] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049321.838655358] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049321.839203148] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049321.839550522] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049321.844544983] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049321.845023821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049321.845780726] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049321.846805531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049321.847868245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049321.945673949] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049321.945829717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049321.947498523] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049321.947687896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049321.948749179] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049322.002976466] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973381 Long: -76.50298343 +[vectornav-1] [INFO] [1746049322.004091162] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.899, -3.255, 9.485) +[mux-7] [INFO] [1746049322.045320440] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049322.045787106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049322.046896213] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049322.047706550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049322.049610613] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049322.085569448] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049322.087961475] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049322.088707379] [sailbot.teensy]: Wind angle: 343 +[mux-7] [INFO] [1746049322.088707173] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049322.089666933] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049322.090562204] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049322.091374534] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049322.145415023] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049322.146129694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049322.147004494] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049322.148269200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049322.149437089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049322.245667876] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049322.246227076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049322.247387180] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049322.248507764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049322.249784025] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049322.335381817] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049322.337258148] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049322.337813974] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049322.338228279] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049322.338861361] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049322.339017968] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049322.339292992] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049322.344679767] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049322.345140994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049322.345921689] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049322.346798592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049322.347853732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049322.445640849] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049322.446359296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049322.447388867] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049322.449825673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049322.450384456] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049322.502639322] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697338 Long: -76.50298343 +[vectornav-1] [INFO] [1746049322.503790772] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.892, -3.252, 9.494) +[mux-7] [INFO] [1746049322.545234969] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049322.545895035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049322.546661519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049322.547855193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049322.548880974] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049322.585477583] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049322.588041573] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049322.588047255] [sailbot.teensy]: Wind angle: 342 +[mux-7] [INFO] [1746049322.588780878] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049322.589173073] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049322.590073714] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049322.590917049] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049322.645238235] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049322.645920380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049322.646689382] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049322.648130449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049322.648950435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049322.744851554] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049322.745258502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049322.746107980] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049322.747066446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049322.748236313] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049322.835591323] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049322.837412814] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049322.837990549] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049322.838344106] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049322.839261786] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049322.839464951] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049322.840171298] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049322.844549091] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049322.844962080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049322.845765707] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049322.846642495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049322.847694504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049322.945849583] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049322.945977240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049322.947417657] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049322.948593135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049322.949731818] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049323.002682773] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973398 Long: -76.50298349 +[vectornav-1] [INFO] [1746049323.003861014] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.889, -3.254, 9.495) +[mux-7] [INFO] [1746049323.045417044] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049323.046207948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049323.047309137] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049323.048410068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049323.049207757] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049323.085326935] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049323.087807538] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049323.088512444] [sailbot.teensy]: Wind angle: 344 +[mux-7] [INFO] [1746049323.089387071] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049323.089529699] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049323.090482883] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049323.091365228] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049323.145274103] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049323.146311848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049323.146818760] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049323.148519513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049323.149641629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049323.245151359] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049323.245833817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049323.246538462] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049323.248031808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049323.249146361] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049323.335410828] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049323.337358890] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049323.337788174] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049323.338315982] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049323.339227345] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049323.339560946] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049323.339761076] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049323.344337425] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049323.344860541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049323.345422799] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049323.346569956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049323.347666746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049323.445106147] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049323.446107942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049323.446502592] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049323.447825559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049323.448276040] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049323.502568891] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973396 Long: -76.50298354 +[vectornav-1] [INFO] [1746049323.503778331] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.866, -3.243, 9.528) +[mux-7] [INFO] [1746049323.545428825] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049323.546169095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049323.547126514] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049323.548293121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049323.549449851] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049323.585783828] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049323.588537426] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049323.589513722] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049323.588939430] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049323.589808650] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049323.590399148] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049323.591234731] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049323.645445709] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049323.646061681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049323.647005874] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049323.648419599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049323.649555290] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049323.745622054] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049323.746398572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049323.747400961] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049323.748665039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049323.749258828] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049323.835322540] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049323.837002255] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049323.837960891] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049323.838281596] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049323.839178666] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049323.839146051] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049323.840045530] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049323.844546909] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049323.845070051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049323.846029012] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049323.846837953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049323.847914077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049323.945679035] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049323.946911311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049323.947411047] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049323.949212623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049323.949705173] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049324.002787150] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973398 Long: -76.50298357 +[vectornav-1] [INFO] [1746049324.003957159] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.86, -3.21, 9.202) +[mux-7] [INFO] [1746049324.045280983] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049324.046044677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049324.046712459] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049324.048070649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049324.049131832] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049324.085449752] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049324.088060932] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049324.088510813] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049324.089025298] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049324.089495445] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049324.090398959] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049324.091423106] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049324.145134554] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049324.145777572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049324.146561183] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049324.147698367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049324.148929606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049324.245939854] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049324.246403400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049324.247494320] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049324.248772519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049324.249898022] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049324.335680475] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049324.338497073] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049324.339141121] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049324.339385036] [sailbot.teensy]: Wind angle: 346 +[teensy-2] [INFO] [1746049324.339809806] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049324.340553027] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049324.341401727] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049324.344450511] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049324.344900154] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049324.345599203] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049324.346584825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049324.347749137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049324.445243004] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049324.445813456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049324.446683376] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049324.447706984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049324.448849502] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049324.502513700] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973405 Long: -76.50298383 +[vectornav-1] [INFO] [1746049324.503435957] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (288.77099999999996, -3.111, 5.004) +[mux-7] [INFO] [1746049324.544788389] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049324.545450339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049324.546050329] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049324.547408035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049324.548289395] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049324.585684851] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049324.588621430] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049324.589173210] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049324.589539411] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049324.590454888] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049324.591294785] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049324.592131659] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049324.645507781] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049324.646123591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049324.647609222] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049324.648426907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049324.650563351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049324.745354595] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049324.745925826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049324.747037897] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049324.748135688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049324.749360563] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049324.835506079] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049324.837880862] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049324.838710819] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049324.838742573] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049324.840148771] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049324.841030326] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049324.841868030] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049324.844327442] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049324.844905439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049324.845510546] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049324.846511108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049324.847677678] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049324.945588202] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049324.947114174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049324.947688785] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049324.949342170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049324.949879421] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049325.002842660] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973425 Long: -76.50298386 +[vectornav-1] [INFO] [1746049325.004017373] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.324, -3.114, 3.712) +[mux-7] [INFO] [1746049325.045359037] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049325.046109024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049325.046844795] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049325.048245122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049325.048761260] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049325.085496219] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049325.087798830] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049325.088317724] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049325.089005833] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049325.089985899] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049325.090961363] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049325.091774164] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049325.145189628] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049325.146364557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049325.146933858] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049325.148505279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049325.149626366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049325.245344036] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049325.246028690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049325.246834645] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049325.248107395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049325.249306327] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049325.335425233] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049325.337796032] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049325.338576482] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049325.338773671] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049325.339771699] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049325.340682506] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049325.341519747] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049325.344436299] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049325.345044899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049325.345582696] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049325.346734590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049325.347919187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049325.445515259] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049325.446278795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049325.447104857] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049325.449469343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049325.450715573] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049325.502747157] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973421 Long: -76.50298387 +[vectornav-1] [INFO] [1746049325.503897612] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.317, -3.113, 4.49) +[mux-7] [INFO] [1746049325.545312046] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049325.546104981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049325.546824010] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049325.548226797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049325.549460566] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049325.585341905] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049325.587013778] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049325.587517831] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049325.587957483] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049325.588919606] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049325.589274951] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049325.589801855] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049325.644975995] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049325.645494259] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049325.646320709] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049325.647230983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049325.648408713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049325.745429625] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049325.745979335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049325.747222431] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049325.748084042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049325.749418907] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049325.835409429] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049325.837912566] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049325.839200681] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049325.839304799] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049325.840299536] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049325.841159431] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049325.842003432] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049325.844274902] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049325.845130505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049325.845748254] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049325.846947028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049325.847952867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049325.945420919] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049325.947209452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049325.947238971] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049325.949415582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049325.950633994] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049326.002836951] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973399 Long: -76.5029841 +[vectornav-1] [INFO] [1746049326.003976826] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.327, -3.126, 4.563) +[mux-7] [INFO] [1746049326.044943803] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049326.045639703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049326.046180534] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049326.047426479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049326.048440157] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049326.085273313] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049326.087354885] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049326.088255523] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049326.087617331] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049326.089107403] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049326.089176028] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049326.090030153] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049326.145195186] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049326.146148670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049326.146803169] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049326.148267304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049326.150099868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049326.245124430] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049326.245933514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049326.246537168] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049326.247934525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049326.248740837] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049326.335423064] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049326.337831681] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049326.338875858] [sailbot.teensy]: Wind angle: 346 +[mux-7] [INFO] [1746049326.339085477] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049326.340268802] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049326.341127466] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049326.342017752] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049326.344563039] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049326.344989347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049326.345668091] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049326.346779167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049326.347968285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049326.445254071] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049326.445981234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049326.446847836] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049326.448359906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049326.449547441] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049326.502717125] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973416 Long: -76.50298406 +[vectornav-1] [INFO] [1746049326.504394450] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.201, -3.15, 5.34) +[mux-7] [INFO] [1746049326.545506758] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049326.546583038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049326.547100877] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049326.548902168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049326.550126576] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049326.586065680] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049326.589131444] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049326.589705582] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049326.590495184] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746049326.591555167] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049326.592441589] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049326.593328068] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049326.645299817] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049326.646238016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049326.646711463] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049326.648580658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049326.649810256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049326.745519091] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049326.746319467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049326.747405537] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049326.748219621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049326.748758931] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049326.835578409] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049326.838331292] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049326.838886170] [sailbot.teensy]: Wind angle: 349 +[teensy-2] [INFO] [1746049326.839819957] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049326.839808227] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049326.840776589] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049326.841734885] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049326.844266084] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049326.844814555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049326.845541196] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049326.846620781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049326.847701555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049326.945463611] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049326.946270455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049326.947247000] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049326.948738480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049326.950131709] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049327.002583170] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973401 Long: -76.50298421 +[vectornav-1] [INFO] [1746049327.003642463] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.015, -3.153, 6.349) +[mux-7] [INFO] [1746049327.045212617] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049327.046071301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049327.046732257] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049327.048351134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049327.049530881] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049327.085270058] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049327.087936288] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049327.087958136] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049327.088905553] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049327.088955638] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049327.089904556] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049327.090790314] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049327.145479851] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049327.145914566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049327.147342578] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049327.148295636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049327.149446299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049327.245630078] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049327.246425986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049327.247307963] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049327.249024343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049327.250239313] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049327.335580799] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049327.338112792] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049327.338485672] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049327.339093802] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049327.339403982] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049327.340027040] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049327.340960061] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049327.344511244] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049327.344963226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049327.346351155] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049327.346700167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049327.347912980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049327.445631333] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049327.446404544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049327.447426340] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049327.448631508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049327.449254562] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049327.502278553] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973399 Long: -76.50298428 +[vectornav-1] [INFO] [1746049327.503250025] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.025, -3.152, 6.386) +[mux-7] [INFO] [1746049327.545009113] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049327.545721738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049327.546507645] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049327.547500090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049327.548777443] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049327.585422655] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049327.587802267] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049327.589033784] [sailbot.teensy]: Wind angle: 323 +[mux-7] [INFO] [1746049327.589047406] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049327.590021198] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049327.590923097] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049327.591742662] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049327.645561328] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049327.646126979] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049327.647278459] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049327.648500246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049327.649524095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049327.745804078] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049327.746597135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049327.747722355] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049327.749100334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049327.750656178] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049327.835367648] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049327.837660464] [sailbot.teensy]: Wind angle: 318 +[trim_sail-4] [INFO] [1746049327.837692750] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049327.838639871] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049327.839137150] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049327.839528397] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049327.840428950] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049327.844351761] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049327.844750429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049327.845512061] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049327.846382992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049327.847414871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049327.945199740] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049327.945917255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049327.946704355] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049327.947908994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049327.948466800] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049328.003414009] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973383 Long: -76.50298402 +[vectornav-1] [INFO] [1746049328.004712439] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.039, -3.15, 6.384) +[mux-7] [INFO] [1746049328.045562626] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049328.047174579] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049328.046524698] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049328.048773783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049328.049864500] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049328.085433285] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049328.087617588] [sailbot.teensy]: Wind angle: 316 +[trim_sail-4] [INFO] [1746049328.088513438] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049328.088581172] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049328.088796270] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049328.089495268] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049328.090384228] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049328.145315324] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049328.146245050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049328.146830150] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049328.148448082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049328.149530195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049328.245434854] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049328.246318796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049328.247049523] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049328.248562018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049328.249114161] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049328.335324648] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049328.337838422] [sailbot.teensy]: Wind angle: 315 +[trim_sail-4] [INFO] [1746049328.337917979] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746049328.338388648] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049328.338807750] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049328.339321180] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049328.339698533] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049328.344480112] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049328.344920758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049328.345572079] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049328.346636033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049328.347781097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049328.444934657] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049328.445849324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049328.446249260] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049328.447722899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049328.448791731] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049328.502765347] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697339 Long: -76.50298403 +[vectornav-1] [INFO] [1746049328.503911642] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.04499999999996, -3.149, 6.38) +[mux-7] [INFO] [1746049328.545227609] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049328.545967942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049328.546694775] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049328.548456134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049328.549612743] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049328.586006170] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049328.588656946] [sailbot.teensy]: Wind angle: 316 +[trim_sail-4] [INFO] [1746049328.589309716] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049328.589775506] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049328.590607394] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049328.590730975] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049328.591610424] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049328.645551798] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049328.646277600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049328.647099791] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049328.648551505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049328.649681180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049328.745662715] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049328.746405013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049328.747394396] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049328.749121448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049328.750499777] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049328.835758536] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049328.837994401] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049328.838951622] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049328.839437119] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049328.840881093] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049328.841682090] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049328.841988508] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049328.844425308] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049328.844976063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049328.845544705] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049328.846613255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049328.847633657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049328.945504402] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049328.946380474] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049328.947274180] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049328.948928390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049328.949992317] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049329.002504398] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973388 Long: -76.50298379 +[vectornav-1] [INFO] [1746049329.003574316] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.057, -3.15, 6.386) +[mux-7] [INFO] [1746049329.045224785] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049329.046016502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049329.046852487] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049329.048781793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049329.049905841] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049329.085553607] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049329.087635419] [sailbot.teensy]: Wind angle: 346 +[teensy-2] [INFO] [1746049329.088669842] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049329.088313509] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049329.089377492] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049329.089554574] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049329.090447507] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049329.145418656] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049329.146241136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049329.146960634] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049329.149000480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049329.150090372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049329.245461576] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049329.246633717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049329.247235911] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049329.248957757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049329.250865464] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049329.336048712] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049329.339049067] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049329.339355978] [sailbot.teensy]: Wind angle: 358 +[mux-7] [INFO] [1746049329.339580937] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049329.339782084] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049329.340188080] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049329.340561130] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049329.344699776] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049329.345335314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049329.346272196] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049329.347263954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049329.348549934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049329.445250796] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049329.446178126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049329.446676674] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049329.448418973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049329.449094352] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049329.503083526] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973381 Long: -76.50298385 +[vectornav-1] [INFO] [1746049329.504462128] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.054, -3.137, 6.356) +[mux-7] [INFO] [1746049329.545670538] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049329.546296827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049329.547445198] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049329.548793849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049329.549925577] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049329.585653218] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049329.587646589] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746049329.588219701] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049329.588676127] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049329.589592797] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049329.590773243] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049329.590801056] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049329.645724478] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049329.646212901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049329.647383486] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049329.648801355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049329.649946509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049329.745591587] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049329.746185890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049329.747375902] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049329.748518424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049329.748966260] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049329.835282184] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049329.837557535] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049329.837721173] [sailbot.teensy]: Wind angle: 14 +[teensy-2] [INFO] [1746049329.838661464] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049329.838878106] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049329.839121623] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049329.839525801] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049329.844702608] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049329.845117701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049329.846215089] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049329.847298262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049329.848432868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049329.945629144] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049329.946410468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049329.947531126] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049329.949080071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049329.950241467] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049330.003224386] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973376 Long: -76.50298376 +[vectornav-1] [INFO] [1746049330.004582177] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.051, -3.118, 6.334) +[mux-7] [INFO] [1746049330.045297819] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049330.046016516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049330.047316252] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049330.048425195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049330.049474241] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049330.085644266] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049330.088229231] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049330.088684719] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049330.088892041] [sailbot.teensy]: Wind angle: 19 +[teensy-2] [INFO] [1746049330.089965762] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049330.090850735] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049330.091728059] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049330.145432073] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049330.146465251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049330.147032504] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049330.148800235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049330.150014836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049330.245323792] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049330.245965117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049330.247207151] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049330.247960488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049330.248847026] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049330.335643187] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049330.338485143] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049330.338964271] [sailbot.teensy]: Wind angle: 21 +[mux-7] [INFO] [1746049330.339218012] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049330.340008579] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049330.340969501] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049330.341857726] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049330.344379005] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049330.344979561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049330.345506104] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049330.346716168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049330.347877881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049330.445583626] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049330.446271912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049330.447194390] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049330.448867982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049330.450072153] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049330.502443847] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973378 Long: -76.50298376 +[vectornav-1] [INFO] [1746049330.503424051] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.04200000000003, -3.082, 6.254) +[mux-7] [INFO] [1746049330.545079451] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049330.545855442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049330.546423969] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049330.547748019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049330.548577165] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049330.585561223] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049330.588315622] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049330.588787391] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049330.589212629] [sailbot.teensy]: Wind angle: 23 +[teensy-2] [INFO] [1746049330.590197059] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049330.591080687] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049330.591895137] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049330.645435890] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049330.646338997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049330.647041527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049330.649486438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049330.650595202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049330.745544321] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049330.746317182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049330.747252850] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049330.748899249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049330.749409725] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049330.835535767] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049330.837521485] [sailbot.teensy]: Wind angle: 26 +[teensy-2] [INFO] [1746049330.838546298] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049330.838593284] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049330.839481308] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049330.840073916] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049330.840419313] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049330.844268087] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049330.845114400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049330.845381989] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049330.846852382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049330.847924714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049330.945170007] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049330.946124546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049330.946641691] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049330.948054007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049330.948563674] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049331.002907160] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973359 Long: -76.50298374 +[vectornav-1] [INFO] [1746049331.004215229] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.028, -3.127, 6.323) +[mux-7] [INFO] [1746049331.045182407] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049331.046308021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049331.046709889] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049331.048514221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049331.049643715] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049331.085668106] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049331.088424320] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049331.088929905] [sailbot.teensy]: Wind angle: 35 +[mux-7] [INFO] [1746049331.089498665] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049331.089881219] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049331.090742190] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049331.091584288] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049331.145165504] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049331.145832829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049331.146705543] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049331.147977069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049331.149246105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049331.245593141] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049331.246219831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049331.247212207] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049331.248488406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049331.249679428] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049331.335781051] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049331.338028557] [sailbot.teensy]: Wind angle: 41 +[trim_sail-4] [INFO] [1746049331.338656761] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049331.339099423] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049331.340089938] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049331.341038301] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049331.341035067] [sailbot.mux]: algo sail angle: 70 +[mux-7] [INFO] [1746049331.344326559] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049331.344810812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049331.345525627] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049331.346434562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049331.347776192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049331.445617986] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049331.446292515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049331.447276015] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049331.448778390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049331.449314938] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049331.502211462] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973362 Long: -76.50298361 +[vectornav-1] [INFO] [1746049331.503310071] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.027, -3.141, 6.468) +[mux-7] [INFO] [1746049331.544836948] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049331.545450959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049331.546034206] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049331.547407816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049331.548558836] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049331.585489653] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049331.587803367] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746049331.588389979] [sailbot.teensy]: Wind angle: 89 +[mux-7] [INFO] [1746049331.589191909] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746049331.589713412] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049331.590725474] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049331.591573023] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049331.645558948] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049331.646313425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049331.647205650] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049331.649582564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049331.650718682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049331.745798379] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049331.746376594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049331.747652219] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049331.748756752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049331.750180970] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049331.835558048] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049331.838188000] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049331.838747493] [sailbot.teensy]: Wind angle: 99 +[mux-7] [INFO] [1746049331.839107965] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049331.839147707] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049331.839527382] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049331.839914933] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049331.844964898] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049331.845144902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049331.846200614] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049331.846822217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049331.847955812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049331.945686115] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049331.946335436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049331.947290060] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049331.948683337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049331.949997076] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049332.003209834] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973355 Long: -76.50298355 +[vectornav-1] [INFO] [1746049332.004801562] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.03700000000003, -3.143, 6.573) +[mux-7] [INFO] [1746049332.045760822] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049332.046298865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049332.047437491] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049332.048769120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049332.049853836] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049332.085419301] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049332.087339209] [sailbot.teensy]: Wind angle: 26 +[trim_sail-4] [INFO] [1746049332.087973822] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049332.088400231] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049332.088671352] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049332.089333051] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049332.090210747] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049332.145323348] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049332.145893391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049332.146940751] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049332.147981553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049332.148791199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049332.245707828] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049332.247430269] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049332.248279794] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049332.249237853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049332.249783690] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049332.335770220] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049332.338531515] [sailbot.teensy]: Wind angle: 323 +[trim_sail-4] [INFO] [1746049332.338563947] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049332.339535997] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049332.339880376] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049332.340417628] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049332.341005111] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049332.344611144] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049332.345334065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049332.345778357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049332.347046253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049332.348061665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049332.445535896] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049332.446350027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049332.447130769] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049332.448753906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049332.449264113] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049332.502825360] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973359 Long: -76.50298351 +[vectornav-1] [INFO] [1746049332.503959872] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.03499999999997, -3.147, 6.577) +[mux-7] [INFO] [1746049332.545446150] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049332.546219580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049332.547044503] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049332.548512470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049332.549737725] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049332.585969894] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049332.588855202] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746049332.590054660] [sailbot.teensy]: Wind angle: 273 +[mux-7] [INFO] [1746049332.590586635] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746049332.591099595] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049332.592034420] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049332.592939741] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049332.645623179] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049332.646212379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049332.647460649] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049332.648467641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049332.649623600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049332.745569261] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049332.746060039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049332.747304549] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049332.748439390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049332.748946975] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049332.835699943] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049332.838610730] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746049332.839062338] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746049332.839494199] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049332.839754034] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746049332.839869410] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049332.840245942] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049332.844482950] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049332.845317620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049332.845605836] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049332.847241897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049332.848303555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049332.945356652] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049332.946183366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049332.946840847] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049332.948561592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049332.949744981] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049333.002437908] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973364 Long: -76.50298323 +[vectornav-1] [INFO] [1746049333.003611906] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.03999999999996, -3.146, 6.566) +[mux-7] [INFO] [1746049333.045484543] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049333.046526971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049333.047167652] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049333.049283645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049333.051422025] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049333.086085927] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049333.089022637] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746049333.089674625] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049333.090985408] [sailbot.teensy]: Wind angle: 222 +[teensy-2] [INFO] [1746049333.092006047] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049333.092917683] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049333.093743263] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049333.144739669] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049333.145659382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049333.146138699] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049333.147712118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049333.148798870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049333.245475511] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049333.246535377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049333.247204595] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049333.248884058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049333.250020048] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049333.335419929] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049333.337708751] [sailbot.teensy]: Wind angle: 215 +[trim_sail-4] [INFO] [1746049333.337969701] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049333.338686588] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049333.339050283] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049333.339621152] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049333.340513875] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049333.344382276] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049333.345056624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049333.345536335] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049333.346882765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049333.347932731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049333.445096523] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049333.445820269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049333.446711092] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049333.448834276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049333.449930048] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049333.503533742] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973358 Long: -76.50298324 +[vectornav-1] [INFO] [1746049333.505153493] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.044, -3.145, 6.567) +[mux-7] [INFO] [1746049333.544944459] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049333.545700862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049333.546197653] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049333.547489557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049333.548662498] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049333.585454380] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049333.587752684] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049333.588264743] [sailbot.teensy]: Wind angle: 234 +[mux-7] [INFO] [1746049333.588378628] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049333.589663995] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049333.590560511] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049333.591453979] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049333.645369491] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049333.645913451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049333.646926161] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049333.648067089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049333.648876752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049333.745627200] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049333.746247192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049333.747466807] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049333.748751213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049333.750000442] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049333.835576806] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049333.837978295] [sailbot.teensy]: Wind angle: 325 +[trim_sail-4] [INFO] [1746049333.838244471] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049333.839331927] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049333.839546683] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049333.840318737] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049333.841193598] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049333.844232379] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049333.844852118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049333.845488917] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049333.846667496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049333.847861948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049333.945059054] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049333.946061416] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049333.946427742] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049333.948227978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049333.949372974] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049334.002950383] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973345 Long: -76.50298339 +[vectornav-1] [INFO] [1746049334.004009494] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.062, -3.145, 6.562) +[mux-7] [INFO] [1746049334.045057941] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049334.045780906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049334.046692377] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049334.047865483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049334.049545663] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049334.085441997] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049334.087602121] [sailbot.teensy]: Wind angle: 2 +[trim_sail-4] [INFO] [1746049334.087808634] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049334.088590480] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049334.089482305] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049334.089665534] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049334.090370196] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049334.145076353] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049334.145712462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049334.146556733] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049334.147662120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049334.148331029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049334.245270376] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049334.246325826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049334.246830070] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049334.248742349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049334.249254345] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049334.335528574] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049334.337527198] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049334.338491575] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049334.339044319] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049334.339117398] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049334.339554569] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049334.339967613] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049334.344343088] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049334.344874981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049334.345423854] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049334.346433236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049334.347573925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049334.445542777] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049334.446456996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049334.447250401] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049334.448394242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049334.448936586] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049334.502945270] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973346 Long: -76.50298338 +[vectornav-1] [INFO] [1746049334.504086860] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.05899999999997, -3.151, 6.567) +[mux-7] [INFO] [1746049334.545214042] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049334.546017669] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049334.546639395] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049334.548343483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049334.549376352] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049334.585424218] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049334.587396710] [sailbot.teensy]: Wind angle: 319 +[trim_sail-4] [INFO] [1746049334.588090922] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049334.588416511] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049334.589242039] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049334.589345438] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049334.590216479] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049334.645102502] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049334.646606498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049334.646657514] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049334.648616544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049334.649824006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049334.745273402] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049334.745973239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049334.746964654] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049334.747962483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049334.748518661] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049334.835524529] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049334.838128546] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049334.838773166] [sailbot.teensy]: Wind angle: 344 +[mux-7] [INFO] [1746049334.838904009] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049334.839225166] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049334.839586584] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049334.839919998] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049334.844497702] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049334.845055957] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049334.845668275] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049334.846774574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049334.847784430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049334.945357563] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049334.945982599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049334.946876769] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049334.948495710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049334.949697455] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049335.002987441] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697336 Long: -76.50298325 +[vectornav-1] [INFO] [1746049335.004192386] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.065, -3.148, 6.563) +[mux-7] [INFO] [1746049335.045006381] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049335.045526414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049335.046560396] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049335.047335972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049335.048528999] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049335.085400398] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049335.088043575] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049335.088066470] [sailbot.teensy]: Wind angle: 351 +[mux-7] [INFO] [1746049335.088882744] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049335.089213990] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049335.090141867] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049335.091000305] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049335.145060518] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049335.145964920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049335.146581777] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049335.147907676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049335.149103778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049335.245559772] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049335.246456821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049335.247198137] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049335.248767149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049335.249900795] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049335.335714323] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049335.338698822] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049335.339592828] [sailbot.teensy]: Wind angle: 342 +[mux-7] [INFO] [1746049335.339844003] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049335.340599305] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049335.341552357] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049335.342600932] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049335.344408769] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049335.344878611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049335.345726400] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049335.346510064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049335.347551347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049335.445391532] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049335.446000971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049335.446990184] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049335.448130966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049335.449223696] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049335.502459834] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973352 Long: -76.50298325 +[vectornav-1] [INFO] [1746049335.503628886] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.07, -3.15, 6.556) +[mux-7] [INFO] [1746049335.545196854] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049335.546029252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049335.546539722] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049335.547928668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049335.548432866] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049335.585669732] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049335.588191155] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049335.588490525] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049335.589286401] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049335.590150787] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049335.590603043] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049335.591039980] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049335.645405052] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049335.646169107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049335.646902718] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049335.648275955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049335.649425977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049335.745327672] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049335.746102641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049335.747035509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049335.747862680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049335.748349468] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049335.835350569] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049335.837209207] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049335.838172131] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049335.838434875] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049335.838931333] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049335.839059458] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049335.839975680] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049335.844397483] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049335.845078258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049335.845498397] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049335.847251086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049335.848305748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049335.945019476] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049335.945654235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049335.946436812] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049335.947597489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049335.948674290] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049336.002561617] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973351 Long: -76.5029832 +[vectornav-1] [INFO] [1746049336.003752066] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.078, -3.15, 6.559) +[mux-7] [INFO] [1746049336.044970022] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049336.045702652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049336.046224182] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049336.047838266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049336.048917520] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049336.085450768] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049336.088069454] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049336.088749807] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049336.089061581] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049336.090023700] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049336.090895649] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049336.091726127] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049336.144971842] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049336.145637260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049336.146279534] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049336.147599263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049336.148680030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049336.245052769] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049336.245937938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049336.246541244] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049336.248314426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049336.248782247] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049336.335241262] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049336.337530815] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049336.337646047] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049336.338014629] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049336.338584135] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049336.339496206] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049336.340388766] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049336.344411978] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049336.344951887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049336.345569769] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049336.346915704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049336.347980283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049336.445117854] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049336.445969009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049336.446573960] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049336.447952036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049336.448987845] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049336.502634514] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973361 Long: -76.50298317 +[vectornav-1] [INFO] [1746049336.503870413] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.08299999999997, -3.148, 6.556) +[mux-7] [INFO] [1746049336.545083816] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049336.545858080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049336.546455386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049336.547840169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049336.548894020] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049336.585585510] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049336.588391142] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049336.588511040] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049336.588908635] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049336.589434019] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049336.590381583] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049336.591276386] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049336.645457237] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049336.646426269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049336.647159307] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049336.648140909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049336.648672837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049336.745138390] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049336.746081598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049336.747069774] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049336.748439703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049336.749457162] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049336.835367455] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049336.837955386] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049336.838042569] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049336.838940761] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049336.839186055] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049336.839854934] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049336.840771394] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049336.844352017] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049336.845087732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049336.845433185] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049336.846765263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049336.847853918] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049336.945716356] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049336.946358169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049336.947736497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049336.950199969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049336.951310711] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049337.002625681] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973359 Long: -76.50298315 +[vectornav-1] [INFO] [1746049337.003786675] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.091, -3.146, 6.557) +[mux-7] [INFO] [1746049337.045069739] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049337.045723649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049337.046448083] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049337.047546284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049337.048641609] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049337.085462394] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049337.087886816] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049337.088004955] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049337.089012601] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049337.089237480] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049337.090206360] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049337.091073770] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049337.145039423] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049337.145823748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049337.146353465] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049337.148041688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049337.149204477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049337.245535266] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049337.246111000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049337.247482837] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049337.248684541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049337.249648218] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049337.335413695] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049337.337778513] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049337.338036934] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049337.338875417] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049337.338651675] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049337.339264447] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049337.339637526] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049337.344519039] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049337.345088605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049337.345681540] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049337.346957319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049337.348191435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049337.445425201] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049337.446041339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049337.446947529] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049337.448413933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049337.449106024] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049337.503077670] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973345 Long: -76.50298324 +[vectornav-1] [INFO] [1746049337.504406859] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.094, -3.148, 6.56) +[mux-7] [INFO] [1746049337.545715738] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049337.546550603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049337.547477969] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049337.549075238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049337.550167544] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049337.585713023] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049337.587980650] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049337.588780119] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049337.589087641] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049337.590002146] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049337.589821687] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049337.590888437] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049337.645653711] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049337.646396721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049337.647621628] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049337.649002434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049337.650688636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049337.745227345] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049337.746236756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049337.746837932] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049337.748138643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049337.748888143] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049337.835388987] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049337.838044028] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049337.838289234] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049337.839675081] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049337.840123418] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049337.840837051] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049337.841204460] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049337.844550857] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049337.845662480] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049337.845663366] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049337.847583274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049337.848632797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049337.945551736] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049337.946359749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049337.947225626] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049337.948651408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049337.949881758] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049338.002813030] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973358 Long: -76.50298313 +[vectornav-1] [INFO] [1746049338.003984530] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.099, -3.146, 6.558) +[mux-7] [INFO] [1746049338.045788156] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049338.046281015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049338.047506566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049338.049143549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049338.050265537] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049338.085308837] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049338.086969028] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049338.087535482] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049338.087911216] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049338.088803462] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049338.088842328] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049338.089719483] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049338.145224348] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049338.145788793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049338.146614398] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049338.147661862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049338.148745147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049338.245392301] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049338.245974763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049338.247168981] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049338.248732417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049338.249874889] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049338.335490493] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049338.337903355] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049338.339139831] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049338.339460400] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049338.339494298] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049338.339900722] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049338.340319385] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049338.344599285] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049338.345026558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049338.345786274] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049338.346857892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049338.347877477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049338.445638434] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049338.446435007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049338.447298203] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049338.449006792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049338.450174831] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049338.502706248] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973362 Long: -76.50298312 +[vectornav-1] [INFO] [1746049338.503858122] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.099, -3.148, 6.561) +[mux-7] [INFO] [1746049338.545257174] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049338.545891081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049338.546707772] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049338.548023228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049338.549188280] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049338.585369421] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049338.587290191] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049338.587760904] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049338.588240453] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049338.589138892] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049338.589331518] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049338.590196961] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049338.645382940] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049338.645968650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049338.647010280] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049338.648065779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049338.649219166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049338.745255272] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049338.745926198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049338.747011909] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049338.747811727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049338.748932411] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049338.835697307] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049338.838582080] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049338.838727458] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049338.839635761] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049338.839727698] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049338.840043362] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049338.840461287] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049338.844442614] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049338.844980705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049338.845650814] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049338.847316241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049338.848497334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049338.945418231] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049338.946271051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049338.947128495] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049338.948553203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049338.949123853] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049339.002657763] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973365 Long: -76.50298299 +[vectornav-1] [INFO] [1746049339.003827119] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.10400000000004, -3.15, 6.562) +[mux-7] [INFO] [1746049339.045093488] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049339.045688212] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049339.046509641] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049339.047610898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049339.048803299] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049339.085326957] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049339.087473645] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049339.087492795] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049339.088696368] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049339.088729922] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049339.089911855] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049339.090904047] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049339.145203478] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049339.145818980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049339.146598810] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049339.148639248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049339.149784663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049339.245666807] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049339.246369287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049339.247443362] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049339.249038978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049339.249642916] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049339.335260829] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049339.337550962] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049339.338011189] [sailbot.teensy]: Wind angle: 343 +[mux-7] [INFO] [1746049339.338358911] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049339.340165964] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049339.341053270] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049339.342035761] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049339.344295933] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049339.344904876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049339.345388910] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049339.346588016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049339.347729815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049339.445218215] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049339.446276598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049339.446719409] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049339.448593066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049339.449657052] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049339.502311643] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973369 Long: -76.50298305 +[vectornav-1] [INFO] [1746049339.503339799] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.108, -3.147, 6.563) +[mux-7] [INFO] [1746049339.544723928] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049339.545413674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049339.545854731] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049339.547126429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049339.548281546] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049339.585523761] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049339.588089575] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049339.588367081] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049339.589307424] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049339.589343127] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049339.590184850] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049339.591058930] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049339.645398532] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049339.647363974] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049339.647715995] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049339.649192791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049339.649720476] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049339.745380109] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049339.746217290] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049339.747204818] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049339.748522436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049339.749738757] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049339.835609849] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049339.838325624] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049339.839077935] [sailbot.teensy]: Wind angle: 341 +[mux-7] [INFO] [1746049339.839441408] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049339.840082762] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049339.841319970] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049339.842185078] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049339.844323914] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049339.844953951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049339.845402112] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049339.846626779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049339.847737870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049339.945493963] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049339.946133749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049339.947746983] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049339.948380075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049339.949549465] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049340.003243117] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973385 Long: -76.50298299 +[vectornav-1] [INFO] [1746049340.004506172] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.11199999999997, -3.144, 6.562) +[mux-7] [INFO] [1746049340.045458852] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049340.045947222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049340.047208841] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049340.048055894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049340.049252018] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049340.085386599] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049340.087333231] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049340.088280150] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049340.088142160] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049340.088749811] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049340.089167967] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049340.090036118] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049340.145281040] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049340.146191872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049340.146770615] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049340.148718045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049340.149802329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049340.244950616] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049340.245666128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049340.246209465] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049340.247593417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049340.248820156] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049340.335348909] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049340.337217274] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049340.337778511] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049340.338179218] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049340.338876973] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049340.338902643] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049340.339436273] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049340.344396802] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049340.344890730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049340.345518874] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049340.346567005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049340.347732071] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049340.445113734] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049340.445837847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049340.446806577] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049340.447797525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049340.448570724] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049340.502299833] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973386 Long: -76.50298312 +[vectornav-1] [INFO] [1746049340.503206853] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.11699999999996, -3.142, 6.561) +[mux-7] [INFO] [1746049340.544713692] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049340.545260338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049340.546224988] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049340.546954625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049340.548057423] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049340.585459840] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049340.587791903] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049340.588029454] [sailbot.teensy]: Wind angle: 341 +[mux-7] [INFO] [1746049340.588815539] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049340.588842276] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049340.589228156] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049340.589609043] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049340.645067770] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049340.645762193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049340.646449053] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049340.649472464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049340.650661623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049340.745028612] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049340.746112162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049340.746844236] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049340.748148002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049340.749214215] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049340.835377378] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049340.837913489] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049340.838441085] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049340.838705909] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049340.839601193] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049340.840486818] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049340.840857567] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049340.844328378] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049340.844951587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049340.845408930] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049340.846836240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049340.847869959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049340.944926388] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049340.945625576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049340.946181677] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049340.947644876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049340.948705540] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049341.002540220] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697338 Long: -76.50298312 +[vectornav-1] [INFO] [1746049341.003601405] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.124, -3.141, 6.567) +[mux-7] [INFO] [1746049341.045396093] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049341.046238059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049341.046879839] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049341.047839605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049341.048366370] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049341.085203531] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049341.086936188] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049341.087259378] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049341.088772468] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049341.088888565] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049341.089810626] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049341.090695534] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049341.145290867] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049341.146395463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049341.146735972] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049341.148222726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049341.148675612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049341.246129003] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049341.247213365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049341.247598060] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049341.248950488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049341.249389592] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049341.335462573] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049341.337446355] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049341.338127720] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049341.339195251] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049341.339208940] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049341.340142944] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049341.341074084] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049341.344402801] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049341.344835093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049341.345554259] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049341.346618120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049341.347778637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049341.445542344] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049341.446502019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049341.447177513] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049341.448914276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049341.449496991] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049341.502533931] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973368 Long: -76.50298327 +[vectornav-1] [INFO] [1746049341.503996750] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.125, -3.139, 6.565) +[mux-7] [INFO] [1746049341.544961157] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049341.545638879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049341.546093271] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049341.547396293] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049341.548587414] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049341.585622640] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049341.587793584] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049341.588791683] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049341.588520324] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049341.588838290] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049341.589712992] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049341.590561663] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049341.644760975] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049341.645490258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049341.646061296] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049341.647182814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049341.648233995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049341.745335487] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049341.746280791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049341.746819192] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049341.748501364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049341.749078392] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049341.835434100] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049341.837683201] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049341.837818298] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049341.838646301] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049341.839094971] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049341.839579455] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049341.840446677] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049341.844522009] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049341.845163847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049341.845604887] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049341.847026482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049341.848201249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049341.945526742] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049341.946672830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049341.947075498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049341.949012906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049341.950070877] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049342.003202450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697336 Long: -76.50298298 +[vectornav-1] [INFO] [1746049342.004696054] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.129, -3.139, 6.567) +[mux-7] [INFO] [1746049342.044934479] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049342.045743628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049342.046272595] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049342.047671713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049342.048875161] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049342.085416276] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049342.087701902] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049342.087816370] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049342.088351300] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049342.088730326] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049342.089602520] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049342.090474235] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049342.145238294] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049342.145908919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049342.146673588] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049342.148094476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049342.149244107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049342.245474552] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049342.246239354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049342.247072362] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049342.248337421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049342.249444155] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049342.335281066] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049342.337220624] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049342.337824840] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049342.338297848] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049342.338737753] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049342.339573280] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049342.340604147] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049342.344602259] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049342.345071585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049342.345861930] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049342.346841892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049342.347958908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049342.445112234] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049342.445982361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049342.446711855] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049342.447955865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049342.449042331] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049342.503614253] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973348 Long: -76.50298279 +[vectornav-1] [INFO] [1746049342.504856845] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.137, -3.141, 6.564) +[mux-7] [INFO] [1746049342.545069365] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049342.546025470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049342.546540211] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049342.548059631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049342.549222113] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049342.585603135] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049342.588188400] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049342.588329348] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049342.589318697] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049342.589852640] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049342.590276529] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049342.591204304] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049342.645216205] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049342.646016856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049342.646928321] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049342.648235818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049342.649361250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049342.745401011] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049342.746358172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049342.746886535] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049342.748843914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049342.749831947] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049342.835751475] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049342.838569027] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049342.838969043] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049342.839307813] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049342.839391280] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049342.839766587] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049342.840285019] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049342.844634336] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049342.845157782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049342.845928817] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049342.846834297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049342.848566526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049342.945269625] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049342.946173731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049342.946759172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049342.948298262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049342.949424148] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049343.002453908] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973348 Long: -76.50298251 +[vectornav-1] [INFO] [1746049343.003525531] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.145, -3.14, 6.56) +[mux-7] [INFO] [1746049343.045112028] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049343.045842838] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049343.046914305] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049343.047776159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049343.048259691] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049343.085485491] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049343.087839173] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049343.088072016] [sailbot.teensy]: Wind angle: 348 +[mux-7] [INFO] [1746049343.088595275] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049343.089035935] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049343.089944808] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049343.090793716] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049343.145021749] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049343.145529750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049343.146344619] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049343.147355416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049343.148546145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049343.244942187] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049343.245829946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049343.246219546] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049343.247676753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049343.248591823] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049343.335400153] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049343.337316205] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049343.338139100] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049343.338264617] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049343.338835874] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049343.338815424] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049343.339232852] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049343.344449524] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049343.344969646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049343.345611604] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049343.346641323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049343.347802368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049343.444926439] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049343.445602263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049343.446179534] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049343.447579678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049343.448638397] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049343.503512063] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973347 Long: -76.50298247 +[vectornav-1] [INFO] [1746049343.505280333] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.148, -3.139, 6.569) +[mux-7] [INFO] [1746049343.544862029] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049343.545412858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049343.546010968] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049343.547147143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049343.548345374] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049343.585345048] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049343.587555808] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049343.588885515] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049343.588979526] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746049343.590036931] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049343.590896750] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049343.591729023] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049343.645417738] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049343.646134003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049343.647020724] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049343.648462902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049343.649704198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049343.745446837] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049343.746600260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049343.747364125] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049343.749270125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049343.750428473] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049343.835412166] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049343.837263223] [sailbot.teensy]: Wind angle: 331 +[teensy-2] [INFO] [1746049343.838226616] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049343.837949348] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049343.839117930] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049343.839583026] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049343.840499213] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049343.844346064] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049343.844964715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049343.845442615] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049343.846698553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049343.847742875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049343.945331912] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049343.946123543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049343.946899690] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049343.948148952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049343.948688189] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049344.002483330] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973326 Long: -76.50298226 +[vectornav-1] [INFO] [1746049344.003471747] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.151, -3.141, 6.573) +[mux-7] [INFO] [1746049344.045426969] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049344.046121703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049344.047009824] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049344.048485336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049344.049084698] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049344.085621650] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049344.087660402] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746049344.088776949] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049344.089027211] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049344.089701296] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049344.090599521] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049344.091247792] [sailbot.mux]: algo sail angle: 80 +[mux-7] [INFO] [1746049344.144947959] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049344.145765201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049344.146220710] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049344.147574131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049344.148610021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049344.245596884] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049344.246662138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049344.247246026] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049344.248108439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049344.248723091] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049344.336011369] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049344.339086398] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049344.339693902] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049344.340310067] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049344.341314740] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049344.342247991] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049344.343148897] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049344.344664784] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049344.345140771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049344.345778949] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049344.346820532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049344.348746041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049344.445336503] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049344.446229899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049344.446847859] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049344.448597813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049344.449624778] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049344.502449255] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973317 Long: -76.50298208 +[vectornav-1] [INFO] [1746049344.503443003] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.154, -3.146, 6.573) +[mux-7] [INFO] [1746049344.545278970] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049344.546430095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049344.546769467] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049344.548410862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049344.549551871] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049344.585343730] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049344.587120290] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049344.587562479] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049344.588105185] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049344.589272767] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049344.589510155] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049344.590172573] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049344.645650858] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049344.646704713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049344.647382745] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049344.648236010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049344.649152761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049344.745048998] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049344.745512238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049344.746383452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049344.747342094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049344.748566049] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049344.835565408] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049344.838180372] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049344.838769528] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049344.839515394] [sailbot.teensy]: Wind angle: 338 +[teensy-2] [INFO] [1746049344.839944502] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049344.840345329] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049344.840683533] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049344.844482273] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049344.844972970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049344.845748846] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049344.846677951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049344.847729771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049344.945464713] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049344.946320320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049344.947655170] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049344.948560725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049344.949650630] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049345.002704785] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973295 Long: -76.50298201 +[vectornav-1] [INFO] [1746049345.004447436] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.15700000000004, -3.146, 6.575) +[mux-7] [INFO] [1746049345.045193552] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049345.046234670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049345.046661434] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049345.048882679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049345.050079408] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049345.085964547] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049345.088782044] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049345.089295506] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049345.090276370] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049345.090468758] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049345.091188384] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049345.092060760] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049345.145080042] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049345.145657538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049345.146328851] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049345.147453550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049345.148634203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049345.245407753] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049345.246682544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049345.247125437] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049345.248927837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049345.249412290] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049345.335757727] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049345.337989754] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049345.338657571] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049345.339064950] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049345.340118828] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049345.340701796] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049345.341077496] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049345.344396378] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049345.344905412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049345.345634418] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049345.346622744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049345.347711293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049345.445010346] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049345.445636446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049345.446719717] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049345.447586640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049345.448687430] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049345.502363395] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973288 Long: -76.50298183 +[vectornav-1] [INFO] [1746049345.503362004] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.163, -3.148, 6.577) +[mux-7] [INFO] [1746049345.545429419] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049345.545898732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049345.546961016] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049345.548179210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049345.549431248] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049345.585821825] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049345.587939666] [sailbot.teensy]: Wind angle: 357 +[teensy-2] [INFO] [1746049345.588997487] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049345.588568115] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049345.589962243] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049345.590888995] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049345.591096044] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049345.645356294] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049345.646140237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049345.646971443] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049345.649655779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049345.650796280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049345.745346053] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049345.746330169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049345.746824878] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049345.749257930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049345.750418874] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049345.835556166] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049345.837607989] [sailbot.teensy]: Wind angle: 357 +[teensy-2] [INFO] [1746049345.838590417] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049345.838080626] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049345.839472267] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049345.839925628] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049345.839601979] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049345.844467901] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049345.845222925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049345.845575125] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049345.846967381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049345.848067115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049345.945066289] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049345.945789485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049345.946473344] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049345.947654672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049345.948218148] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049346.002461212] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973253 Long: -76.50298154 +[vectornav-1] [INFO] [1746049346.003525087] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.164, -3.145, 6.573) +[mux-7] [INFO] [1746049346.045224680] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049346.045920917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049346.048668085] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049346.048934587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049346.049973937] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049346.085539808] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049346.087372163] [sailbot.teensy]: Wind angle: 357 +[teensy-2] [INFO] [1746049346.088344578] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049346.088624951] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049346.089267768] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049346.089918504] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049346.090163235] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049346.143950623] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049346.144480334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049346.144871695] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049346.145727131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049346.146368224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049346.244929748] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049346.245906729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049346.246201871] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049346.247815003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049346.248858431] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049346.335374907] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049346.338016676] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049346.338031047] [sailbot.teensy]: Wind angle: 353 +[teensy-2] [INFO] [1746049346.338920109] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049346.339029899] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049346.339833715] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049346.340701326] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049346.344326427] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049346.344946772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049346.345408699] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049346.346654952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049346.347715781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049346.445413996] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049346.446369049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049346.447077020] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049346.449176633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049346.450371867] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049346.502530672] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697324 Long: -76.50298135 +[vectornav-1] [INFO] [1746049346.503604502] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.16999999999996, -3.146, 6.58) +[mux-7] [INFO] [1746049346.544939531] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049346.545774511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049346.546257978] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049346.547558821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049346.548617689] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049346.585800261] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049346.588041717] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049346.589135677] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049346.589178519] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049346.590092513] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049346.590860744] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049346.591035864] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049346.645263826] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049346.646070143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049346.646701568] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049346.648436305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049346.649627321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049346.743694726] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049346.744226573] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049346.745184519] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049346.745916558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049346.746575822] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049346.835467605] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049346.837363120] [sailbot.teensy]: Wind angle: 338 +[teensy-2] [INFO] [1746049346.838286531] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049346.838219038] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049346.839143985] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049346.839175499] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049346.839521306] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049346.844485824] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049346.844951941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049346.845628613] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049346.846590198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049346.847679857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049346.945340581] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049346.946222856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049346.947028054] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049346.948345469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049346.949416228] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049347.002409820] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973242 Long: -76.50298154 +[vectornav-1] [INFO] [1746049347.003463822] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.173, -3.151, 6.579) +[mux-7] [INFO] [1746049347.045537436] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049347.045970003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049347.047482234] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049347.048085499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049347.049324284] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049347.085889196] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049347.088253153] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049347.088691377] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049347.089343405] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049347.090287075] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049347.090812821] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049347.091175244] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049347.145542644] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049347.147624207] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049347.147637439] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049347.148523109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049347.149373587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049347.245497327] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049347.246440027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049347.247093631] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049347.248973629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049347.250073202] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049347.335618627] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049347.338586157] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049347.338635518] [sailbot.teensy]: Wind angle: 354 +[teensy-2] [INFO] [1746049347.339662889] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049347.339783335] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049347.340662080] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049347.341571135] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049347.344324547] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049347.344836418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049347.345440589] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049347.346489218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049347.347525342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049347.445399374] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049347.446842361] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049347.446357905] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049347.448530873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[rosbridge_websocket-8] [INFO] [1746049347.449755388] [rosbridge_websocket]: Calling services in existing thread +[teensy-2] [INFO] [1746049347.449854400] [sailbot.teensy]: Message sent to servo +[rosbridge_websocket-8] [INFO] [1746049347.450976960] [rosbridge_websocket]: Sending action goals in existing thread +[rosbridge_websocket-8] [INFO] [1746049347.452706227] [rosbridge_websocket]: Client connected. 2 clients total. +[vectornav-1] [INFO] [1746049347.503044477] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973231 Long: -76.50298143 +[vectornav-1] [INFO] [1746049347.504559772] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.174, -3.155, 6.578) +[mux-7] [INFO] [1746049347.545235635] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049347.546201814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049347.546837777] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049347.548737536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049347.549773751] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049347.585662805] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049347.587714633] [sailbot.teensy]: Wind angle: 333 +[trim_sail-4] [INFO] [1746049347.588325572] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049347.588797929] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049347.588987650] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049347.589741363] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049347.590684498] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049347.645354839] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049347.645931307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049347.646909276] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049347.648401499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049347.649568267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049347.745611946] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049347.746428771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049347.747338550] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049347.748932208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049347.749430279] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049347.835628620] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049347.838167512] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049347.838982034] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049347.838966904] [sailbot.teensy]: Wind angle: 334 +[teensy-2] [INFO] [1746049347.840101763] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049347.840801722] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049347.841212458] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049347.844390669] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049347.845122503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049347.845657026] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049347.847028926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049347.848079862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049347.945485799] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049347.946616341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049347.947118164] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049347.948013139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049347.948428239] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049348.002452253] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973216 Long: -76.50298121 +[vectornav-1] [INFO] [1746049348.003544333] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.176, -3.155, 6.578) +[mux-7] [INFO] [1746049348.045277754] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049348.046032234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049348.046715854] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049348.048396789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049348.049581023] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049348.085649177] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049348.088200319] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049348.089533710] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049348.089981923] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746049348.090980006] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049348.091934984] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049348.092839037] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049348.144541301] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049348.145725762] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049348.145748201] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049348.147548327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049348.148661534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049348.245418010] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049348.246224107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049348.247006889] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049348.248369105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049348.249499355] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049348.335252305] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049348.337452567] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049348.338022259] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049348.338125370] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049348.339141221] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049348.340048484] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049348.340502365] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049348.344818280] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049348.345205079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049348.346030085] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049348.347332324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049348.348464729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049348.445399708] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049348.446009690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049348.446998118] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049348.448396959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049348.449760555] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049348.502763422] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973209 Long: -76.50298095 +[vectornav-1] [INFO] [1746049348.504463742] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.177, -3.156, 6.577) +[mux-7] [INFO] [1746049348.545380434] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049348.546159564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049348.546966385] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049348.548308697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049348.549489201] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049348.585634646] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049348.587690656] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049348.588216985] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049348.588761133] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049348.589687927] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049348.590116529] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049348.590536699] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049348.645360388] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049348.646064826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049348.647046455] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049348.649166730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049348.650164336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049348.745185466] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049348.745856213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049348.746805262] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049348.748002232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049348.749087806] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049348.835537210] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049348.837561050] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049348.838148227] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049348.838561234] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049348.839453435] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049348.839650242] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049348.840385590] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049348.844470074] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049348.844894557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049348.845721325] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049348.846565020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049348.847695438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049348.945408758] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049348.945987369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049348.947102522] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049348.948375738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049348.949742642] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049349.002558138] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973187 Long: -76.50298073 +[vectornav-1] [INFO] [1746049349.003702927] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.182, -3.158, 6.576) +[mux-7] [INFO] [1746049349.045580048] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049349.045978889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049349.047175084] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049349.048576470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049349.049620952] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049349.085455782] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049349.087990836] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049349.088511656] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049349.088906242] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049349.089862202] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049349.090738664] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049349.091550683] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049349.145437980] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049349.146041175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049349.147083357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049349.148086587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049349.149378347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049349.245240556] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049349.245889220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049349.247145933] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049349.247864554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049349.249164639] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049349.335529510] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049349.338564063] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049349.338595045] [sailbot.teensy]: Wind angle: 349 +[mux-7] [INFO] [1746049349.339358878] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049349.339624036] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049349.340607626] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049349.341479841] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049349.344516738] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049349.344917219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049349.345807088] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049349.346685370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049349.347912215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049349.445081166] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049349.446211950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049349.446418721] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049349.448273667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049349.448797835] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049349.503242485] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973174 Long: -76.50298055 +[vectornav-1] [INFO] [1746049349.504826566] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.18600000000004, -3.162, 6.58) +[mux-7] [INFO] [1746049349.545057172] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049349.545904293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049349.546393861] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049349.547833102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049349.548958341] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049349.585765324] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049349.588410033] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049349.589405335] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049349.589445428] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049349.590315897] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049349.589874366] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049349.591173966] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049349.645542818] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049349.647185664] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049349.646416851] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049349.648804703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049349.650081216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049349.745058153] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049349.745818308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049349.746785823] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049349.747884341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049349.748911372] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049349.835819558] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049349.837994734] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049349.839056036] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049349.838658316] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049349.839887397] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049349.839950669] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049349.840858551] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049349.844444180] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049349.845005627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049349.845554134] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049349.846710157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049349.847719917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049349.945684450] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049349.946362475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049349.947365081] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049349.948315570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049349.948860918] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049350.003239966] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973149 Long: -76.50298061 +[vectornav-1] [INFO] [1746049350.004913552] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.188, -3.164, 6.58) +[mux-7] [INFO] [1746049350.045246845] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049350.046140170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049350.046844644] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049350.049163496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049350.051017080] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049350.085534932] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049350.087868239] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049350.088057811] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049350.088612127] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049350.089114855] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049350.090157038] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049350.091060517] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049350.145463637] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049350.146214424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049350.147087157] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049350.148971665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049350.150816798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049350.245148173] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049350.247056999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049350.247860481] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049350.248992940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049350.250049764] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049350.335937809] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049350.339009384] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049350.339489320] [sailbot.teensy]: Wind angle: 336 +[mux-7] [INFO] [1746049350.340538939] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049350.340667807] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049350.341811045] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049350.342903620] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049350.344816946] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049350.345054272] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049350.346181679] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049350.346812943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049350.348579468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049350.445178369] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049350.445974627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049350.446553237] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049350.448030473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049350.449207716] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049350.502367507] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973123 Long: -76.50298048 +[vectornav-1] [INFO] [1746049350.503402685] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.19100000000003, -3.166, 6.579) +[mux-7] [INFO] [1746049350.544986633] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049350.545796007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049350.546250268] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049350.547744644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049350.548771414] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049350.585764812] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049350.588592557] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049350.589686006] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049350.589370023] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049350.590117633] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049350.590513654] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049350.591383397] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049350.645469889] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049350.646193127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049350.647072817] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049350.648527171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049350.650801262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049350.743726135] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049350.744141326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049350.744343810] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049350.745185390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049350.745737897] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049350.835557349] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049350.837494168] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049350.838300669] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049350.838847177] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049350.839250031] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049350.839828841] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049350.840800550] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049350.844356509] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049350.844925331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049350.845630620] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049350.846964353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049350.848250524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049350.945368819] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049350.946035397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049350.946768637] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049350.948026794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049350.949070384] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049351.003432387] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973111 Long: -76.50298057 +[vectornav-1] [INFO] [1746049351.005376262] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.193, -3.169, 6.585) +[mux-7] [INFO] [1746049351.045081017] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049351.045787311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049351.046483566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049351.047841200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049351.049047917] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049351.085520932] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049351.087595163] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746049351.088280538] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049351.088535804] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049351.088815087] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049351.088929558] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049351.089310733] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049351.144708759] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049351.145444497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049351.145876769] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049351.147173788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049351.148205350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049351.245463192] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049351.246547065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049351.247195007] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049351.248359090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049351.248865823] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049351.335370936] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049351.337914742] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049351.338323714] [sailbot.teensy]: Wind angle: 343 +[mux-7] [INFO] [1746049351.338630709] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049351.339252733] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049351.340035799] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049351.340425990] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049351.344542715] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049351.345237772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049351.345700092] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049351.346988931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049351.348031407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049351.444927807] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049351.445748463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049351.446219405] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049351.447634532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049351.448693604] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049351.502395995] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469731 Long: -76.50298036 +[vectornav-1] [INFO] [1746049351.503385998] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.199, -3.171, 6.588) +[mux-7] [INFO] [1746049351.545002066] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049351.545767734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049351.546393517] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049351.547604359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049351.548621568] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049351.585439286] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049351.588049842] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049351.588260387] [sailbot.teensy]: Wind angle: 352 +[mux-7] [INFO] [1746049351.588337230] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049351.589639103] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049351.590631779] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049351.591627874] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049351.645618349] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049351.646314101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049351.647306707] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049351.649239629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049351.650448380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049351.745155027] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049351.745792891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049351.746612780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049351.747849645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049351.748794185] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049351.835405794] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049351.837759926] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049351.837939657] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049351.838517999] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049351.838710722] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049351.839618297] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049351.840507701] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049351.844421839] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049351.845080906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049351.845855876] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049351.846745706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049351.847842585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049351.945507913] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049351.946518327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049351.947417571] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049351.948007651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049351.948493993] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049352.002828295] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973089 Long: -76.50298026 +[vectornav-1] [INFO] [1746049352.004190665] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.20500000000004, -3.171, 6.585) +[mux-7] [INFO] [1746049352.045231860] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049352.045957004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049352.046756715] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049352.049002619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049352.050167561] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049352.085770732] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049352.088702717] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049352.089291935] [sailbot.teensy]: Wind angle: 352 +[mux-7] [INFO] [1746049352.089596564] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049352.090301854] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049352.091192457] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049352.092007753] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049352.145356418] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049352.146090309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049352.146899661] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049352.148302672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049352.148986438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049352.245690048] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049352.246174868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049352.247686963] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049352.248538068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049352.249494820] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049352.335524943] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049352.337732328] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049352.338283655] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049352.339026669] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049352.339823828] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049352.340801509] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049352.341722868] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049352.344304668] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049352.344849517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049352.345363964] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049352.346583808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049352.347668017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049352.445659975] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049352.447177850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049352.447408535] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049352.449611370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049352.450694912] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049352.503289462] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973099 Long: -76.50298063 +[vectornav-1] [INFO] [1746049352.505198107] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.20799999999997, -3.173, 6.586) +[mux-7] [INFO] [1746049352.545493913] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049352.546577066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049352.547137513] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049352.548989673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049352.550086392] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049352.585245130] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049352.586913685] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049352.587708295] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049352.587813403] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049352.588117496] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049352.588733758] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049352.589679189] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049352.644955612] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049352.645657160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049352.646480368] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049352.647817131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049352.648961654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049352.745417166] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049352.746127328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049352.747176428] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049352.748502204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049352.750331255] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049352.835416744] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049352.837809392] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049352.838369422] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049352.839152095] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049352.840218094] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049352.840823054] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049352.841193533] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049352.844598300] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049352.844975343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049352.845722810] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049352.846630577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049352.847754061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049352.945656207] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049352.946241673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049352.947401694] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049352.948988882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049352.950203612] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049353.002707501] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973089 Long: -76.50298035 +[vectornav-1] [INFO] [1746049353.004174254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.209, -3.178, 6.589) +[mux-7] [INFO] [1746049353.045164604] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049353.046069535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049353.046574017] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049353.048361137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049353.049486119] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049353.085724643] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049353.088192339] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049353.088833027] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049353.089162670] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049353.089502363] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049353.090439456] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049353.091332317] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049353.145606189] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049353.146604903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049353.147186433] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049353.149095250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049353.150189440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049353.245527973] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049353.246321569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049353.247304390] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049353.248338403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049353.248896431] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049353.335908727] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049353.339025196] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049353.339106920] [sailbot.teensy]: Wind angle: 341 +[mux-7] [INFO] [1746049353.339139141] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049353.339535234] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049353.339985168] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049353.340907350] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049353.344525133] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049353.345152068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049353.345735720] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049353.346980150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049353.348059339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049353.445034984] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049353.445749178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049353.446459884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049353.447715011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049353.448804811] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049353.502431193] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973078 Long: -76.50298003 +[vectornav-1] [INFO] [1746049353.503432451] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.20799999999997, -3.18, 6.587) +[mux-7] [INFO] [1746049353.545112334] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049353.546032643] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049353.546528627] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049353.548037420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049353.549034585] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049353.585620288] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049353.587945554] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049353.588990059] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049353.588253965] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049353.589499848] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049353.589916912] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049353.590841346] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049353.645233300] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049353.646067171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049353.647019617] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049353.648000249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049353.648457697] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049353.745468613] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049353.746092301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049353.747324704] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049353.748391492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049353.750233626] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049353.835632629] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049353.838536672] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049353.839145797] [sailbot.teensy]: Wind angle: 342 +[mux-7] [INFO] [1746049353.839824156] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049353.840128760] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049353.841025465] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049353.841889748] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049353.844341829] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049353.844668266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049353.845624551] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049353.846290715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049353.847449479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049353.945348881] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049353.946053668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049353.946849088] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049353.948196373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049353.949417140] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049354.002460572] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973055 Long: -76.50298008 +[vectornav-1] [INFO] [1746049354.003592913] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.20799999999997, -3.181, 6.594) +[mux-7] [INFO] [1746049354.045253220] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049354.046023806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049354.046756815] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049354.048222116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049354.049274046] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049354.085331741] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049354.086982873] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049354.087582909] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049354.087900980] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049354.088854285] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049354.089350018] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049354.089710045] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049354.145627270] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049354.146760321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049354.147189112] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049354.149228514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049354.150382125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049354.245238010] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049354.246637033] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049354.249003707] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049354.250776765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049354.251762577] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049354.335530402] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049354.338224810] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049354.338618811] [sailbot.teensy]: Wind angle: 358 +[mux-7] [INFO] [1746049354.339507220] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049354.339692015] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049354.340609065] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049354.341484407] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049354.344625741] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049354.344911809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049354.345908550] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049354.346576234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049354.347782014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049354.445187374] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049354.445864769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049354.447430324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049354.447833123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049354.449086545] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049354.502663995] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973052 Long: -76.50298007 +[vectornav-1] [INFO] [1746049354.503838911] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.183, -3.184, 6.629) +[mux-7] [INFO] [1746049354.545052704] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049354.545599906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049354.546856493] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049354.547422328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049354.548478036] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049354.585659289] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049354.588377340] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049354.588787970] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049354.589654035] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049354.589878249] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049354.590802620] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049354.591661886] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049354.645132170] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049354.645971418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049354.646540493] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049354.647920433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049354.649142556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049354.745579137] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049354.747176578] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049354.747438182] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049354.749505646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049354.750643194] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049354.835854987] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049354.839100850] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049354.839247822] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049354.839599007] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049354.839702537] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049354.840422510] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049354.841079925] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049354.844459407] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049354.845015261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049354.845561812] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049354.846819414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049354.848038536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049354.945714868] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049354.946975969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049354.947453650] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049354.950195908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049354.951388625] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049355.002458865] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973049 Long: -76.50297984 +[vectornav-1] [INFO] [1746049355.003456114] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.212, -3.182, 6.598) +[mux-7] [INFO] [1746049355.044920935] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049355.045609899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049355.046082580] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049355.047499665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049355.048581739] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049355.085576667] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049355.087563551] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049355.088696535] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049355.089327439] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049355.089672510] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049355.089960464] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049355.090581214] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049355.144967976] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049355.145600999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049355.146349237] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049355.147420328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049355.149255327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049355.245010893] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049355.245948213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049355.246442279] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049355.248240912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049355.249324755] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049355.335732074] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049355.338128374] [sailbot.teensy]: Wind angle: 346 +[teensy-2] [INFO] [1746049355.339228290] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049355.339231683] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049355.340132962] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049355.340234201] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049355.341167330] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049355.344449825] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049355.345535040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049355.345609018] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049355.347372378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049355.348412162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049355.445759491] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049355.446804335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049355.447797800] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049355.448803810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049355.449277551] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049355.503442901] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973045 Long: -76.50297972 +[vectornav-1] [INFO] [1746049355.504622977] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.21299999999997, -3.189, 6.612) +[mux-7] [INFO] [1746049355.544854684] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049355.545478935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049355.545990717] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049355.547514146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049355.548562519] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049355.585528233] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049355.587655572] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049355.588303050] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049355.588753409] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049355.588900085] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049355.589685544] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049355.590563526] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049355.645314407] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049355.646155414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049355.646822293] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049355.648213862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049355.649293720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049355.745707981] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049355.746606219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049355.747426811] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049355.749928641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049355.751094594] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049355.835442756] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049355.837382965] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049355.838364612] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049355.838492346] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049355.839411732] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049355.840252614] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049355.840314033] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049355.844456962] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049355.845822453] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049355.845131668] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049355.846848657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049355.847936790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049355.945650222] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049355.946566674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049355.947365463] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049355.948541343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049355.949163311] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049356.002546557] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973022 Long: -76.50297971 +[vectornav-1] [INFO] [1746049356.003660772] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.19399999999996, -3.209, 6.601) +[mux-7] [INFO] [1746049356.045480896] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049356.046208300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049356.046997091] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049356.048548481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049356.049625710] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049356.085673309] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049356.088587962] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049356.088930267] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049356.089970573] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049356.089962573] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049356.090886248] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049356.091794250] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049356.145544643] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049356.146313677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049356.147245794] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049356.148715248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049356.149977438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049356.245476205] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049356.246150978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049356.247307936] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049356.248226036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049356.248703814] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049356.335437340] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049356.337928727] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049356.338483664] [sailbot.teensy]: Wind angle: 338 +[mux-7] [INFO] [1746049356.339047384] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049356.339258809] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049356.339652879] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049356.340176977] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049356.344713139] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049356.345120569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049356.345853710] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049356.346783808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049356.347849471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049356.445546082] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049356.446639999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049356.447190907] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049356.448847377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049356.449405903] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049356.502614341] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972995 Long: -76.50297974 +[vectornav-1] [INFO] [1746049356.503802829] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.171, -3.265, 6.559) +[mux-7] [INFO] [1746049356.545332206] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049356.546271158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049356.547411529] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049356.548481189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049356.549712142] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049356.585840559] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049356.588112445] [sailbot.teensy]: Wind angle: 352 +[teensy-2] [INFO] [1746049356.589315095] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049356.589728895] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049356.590235834] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049356.591158533] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049356.590363872] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049356.644816539] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049356.645582748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049356.645982490] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049356.647331320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049356.648377920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049356.745359570] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049356.746896070] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049356.747470862] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049356.749257132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049356.750022791] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049356.835899750] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049356.838754446] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049356.838971590] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049356.839928204] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049356.840751254] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049356.841036691] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049356.841454475] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049356.844453931] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049356.845180266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049356.845760511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049356.847062425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049356.848535944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049356.945357272] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049356.946380118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049356.946872139] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049356.948993365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049356.950063424] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049357.002346565] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972987 Long: -76.50297963 +[vectornav-1] [INFO] [1746049357.003424464] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.079, -3.219, 6.689) +[mux-7] [INFO] [1746049357.045018944] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049357.046423106] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049357.047695212] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049357.050314076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049357.051593215] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049357.085771544] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049357.088103964] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049357.088636078] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049357.089144424] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049357.089747485] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049357.090061475] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049357.091029707] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049357.145629740] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049357.146465179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049357.147239181] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049357.148119697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049357.148693656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049357.245554850] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049357.246553380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049357.247270461] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049357.249668220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049357.250725601] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049357.335647849] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049357.338331033] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049357.338784474] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049357.339320896] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049357.339818062] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049357.340762164] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049357.341648253] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049357.344392790] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049357.344954605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049357.345545455] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049357.346790047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049357.347936218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049357.445071630] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049357.445820832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049357.446633790] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049357.448100149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049357.448640701] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049357.502474072] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972976 Long: -76.50297941 +[vectornav-1] [INFO] [1746049357.503469686] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.076, -3.294, 6.582) +[mux-7] [INFO] [1746049357.545225012] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049357.546000086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049357.547075305] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049357.548519301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049357.549647620] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049357.585480773] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049357.587922931] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049357.588362405] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049357.588599287] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049357.589825778] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049357.590669346] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049357.591540889] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049357.645046367] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049357.646429969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049357.646733477] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049357.648659428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049357.649239289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049357.745054934] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049357.745989704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049357.746315679] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049357.748193087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049357.749337772] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049357.835818602] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049357.838051897] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049357.839013767] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049357.839953707] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049357.840340857] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049357.841058715] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049357.841738273] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049357.844519972] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049357.845114845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049357.845877995] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049357.846824464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049357.847965834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049357.945226075] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049357.946013647] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049357.946735498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049357.948318197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049357.948857343] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049358.002387822] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697296 Long: -76.50297925 +[vectornav-1] [INFO] [1746049358.003397330] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.007, -3.229, 5.959) +[mux-7] [INFO] [1746049358.045507382] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049358.046271582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049358.047088815] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049358.048630666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049358.049907048] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049358.086064846] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049358.088366891] [sailbot.teensy]: Wind angle: 346 +[teensy-2] [INFO] [1746049358.089589992] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049358.089621060] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049358.090560875] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049358.091572549] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049358.090589316] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746049358.145575247] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049358.146221043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049358.147205161] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049358.150567617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049358.151736817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049358.245361829] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049358.246089521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049358.246885823] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049358.248332847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049358.249591146] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049358.335371772] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049358.337893008] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049358.338792663] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049358.338940293] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049358.339743294] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049358.340370293] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049358.340730899] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049358.344526027] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049358.344997065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049358.345647789] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049358.346730899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049358.347904818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049358.445487151] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049358.446043019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049358.447195579] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049358.448874735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049358.450022411] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049358.502783634] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972953 Long: -76.50297913 +[vectornav-1] [INFO] [1746049358.504699896] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (288.993, -3.241, 6.143) +[mux-7] [INFO] [1746049358.544909518] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049358.545472884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049358.546132542] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049358.547319262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049358.548504156] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049358.585428028] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049358.587288745] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049358.588108946] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049358.588292984] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049358.589183744] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049358.589201290] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049358.590082681] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049358.645289113] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049358.646433378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049358.647007367] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049358.648722424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049358.649892718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049358.745554537] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049358.746449885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049358.747092989] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049358.748339410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049358.748850242] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049358.835933713] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049358.838455087] [sailbot.teensy]: Wind angle: 335 +[teensy-2] [INFO] [1746049358.839648730] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049358.839301903] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049358.840422680] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049358.840632022] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049358.841467001] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049358.844355022] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049358.844961852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049358.845478759] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049358.846657854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049358.847671324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049358.945648077] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049358.946584884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049358.947230765] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049358.948898318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049358.950034154] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049359.002805319] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972938 Long: -76.50297912 +[vectornav-1] [INFO] [1746049359.003910177] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.01300000000003, -3.276, 6.148) +[mux-7] [INFO] [1746049359.044988414] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049359.045763658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049359.046327871] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049359.047732948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049359.048775105] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049359.085564080] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049359.088305938] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049359.089117242] [sailbot.teensy]: Wind angle: 335 +[mux-7] [INFO] [1746049359.089241770] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049359.090077350] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049359.090970427] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049359.091826901] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049359.144805726] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049359.145382717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049359.146017595] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049359.147840997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049359.148926208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049359.244821820] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049359.245284052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049359.246391621] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049359.247131645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049359.248502305] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049359.335606282] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049359.338337955] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049359.339103693] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049359.339109653] [sailbot.teensy]: Wind angle: 335 +[teensy-2] [INFO] [1746049359.339698746] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049359.340098088] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049359.340467900] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049359.344486894] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049359.345154038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049359.345564882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049359.347047965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049359.348102304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049359.445619753] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049359.446462604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049359.447573145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049359.449166441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049359.450513125] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049359.502882646] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972928 Long: -76.50297899 +[vectornav-1] [INFO] [1746049359.504236739] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.051, -3.093, 6.493) +[mux-7] [INFO] [1746049359.545313324] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049359.545899087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049359.546793340] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049359.548033342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049359.549291680] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049359.585523169] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049359.588181635] [sailbot.teensy]: Wind angle: 323 +[trim_sail-4] [INFO] [1746049359.588655827] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049359.589141741] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049359.589177330] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049359.590174663] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049359.590564988] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049359.645480810] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049359.646174509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049359.647198079] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049359.648882166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049359.650099128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049359.745507023] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049359.746206546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049359.747030833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049359.748417472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049359.749599863] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049359.835478218] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049359.837959091] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049359.838513330] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049359.838877502] [sailbot.teensy]: Wind angle: 321 +[teensy-2] [INFO] [1746049359.839820979] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049359.840679265] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049359.841509474] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049359.844369843] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049359.844989377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049359.845784780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049359.846705760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049359.847770237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049359.945269492] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049359.946014870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049359.946729769] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049359.948063781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049359.948699170] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049360.002343803] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697294 Long: -76.50297892 +[vectornav-1] [INFO] [1746049360.003619936] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.006, -3.199, 5.9) +[mux-7] [INFO] [1746049360.044924921] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049360.045291635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049360.046185023] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049360.047037505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049360.048252909] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049360.085291249] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049360.086963417] [sailbot.teensy]: Wind angle: 330 +[trim_sail-4] [INFO] [1746049360.087623757] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049360.087892942] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049360.088764733] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049360.089130188] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049360.089624870] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049360.144841620] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049360.145346652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049360.145915172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049360.147088933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049360.148082169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049360.244926317] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049360.245711086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049360.246339984] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049360.247573204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049360.248755042] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049360.335399260] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049360.337256149] [sailbot.teensy]: Wind angle: 333 +[trim_sail-4] [INFO] [1746049360.337922087] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049360.338590365] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049360.339225930] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049360.339443703] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049360.339755501] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049360.344610022] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049360.344963091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049360.345862420] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049360.346923476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049360.348000246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049360.444812772] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049360.445597265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049360.446293340] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049360.447496590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049360.448691922] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049360.502289555] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972929 Long: -76.50297905 +[vectornav-1] [INFO] [1746049360.503407011] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.009, -3.204, 6.083) +[mux-7] [INFO] [1746049360.545164563] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049360.545956945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049360.546873027] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049360.548096147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049360.549139106] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049360.585439743] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049360.587390183] [sailbot.teensy]: Wind angle: 333 +[trim_sail-4] [INFO] [1746049360.587855685] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049360.588515282] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049360.589413833] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049360.589477855] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049360.590379367] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049360.645077868] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049360.646020473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049360.646521996] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049360.648766479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049360.649911953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049360.745303230] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049360.746673632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049360.746910702] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049360.748702613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049360.749270807] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049360.835432085] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049360.837803258] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049360.837861777] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049360.838788396] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049360.839170659] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049360.839702215] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049360.840592807] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049360.844362499] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049360.845540324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049360.844952958] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049360.846990425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049360.848004538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049360.945120970] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049360.945774693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049360.946572817] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049360.947765008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049360.949293294] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049361.002796747] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972922 Long: -76.50297905 +[vectornav-1] [INFO] [1746049361.004557621] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.044, -3.204, 6.286) +[mux-7] [INFO] [1746049361.045224329] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049361.045943105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049361.046643118] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049361.047900231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049361.049010618] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049361.085398231] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049361.087256798] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049361.088063503] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049361.088258499] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049361.089173282] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049361.089914553] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049361.090014087] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049361.144963525] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049361.145804330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049361.146233693] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049361.147827014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049361.148908913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049361.245603556] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049361.246462263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049361.247223397] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049361.248102926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049361.248653670] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049361.335407522] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049361.337886430] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049361.338163826] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049361.339152943] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049361.339282366] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049361.340091268] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049361.341052935] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049361.344398614] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049361.344843558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049361.345996860] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049361.346545659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049361.347565954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049361.445118892] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049361.445837460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049361.446557298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049361.448621417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049361.449701105] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049361.502578426] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972932 Long: -76.50297835 +[vectornav-1] [INFO] [1746049361.503769791] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (288.985, -3.215, 5.886) +[mux-7] [INFO] [1746049361.545158012] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049361.545875647] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049361.546575110] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049361.547644284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049361.548174518] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049361.585574408] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049361.587653348] [sailbot.teensy]: Wind angle: 327 +[trim_sail-4] [INFO] [1746049361.588288875] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049361.588686680] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049361.589545436] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049361.589998347] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049361.590474821] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049361.645269844] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049361.647145385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049361.647207462] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049361.649150403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049361.650300793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049361.745530749] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049361.746456272] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049361.747189479] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049361.749138657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049361.749791435] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049361.835458418] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049361.837810605] [sailbot.teensy]: Wind angle: 314 +[trim_sail-4] [INFO] [1746049361.837867723] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049361.838804070] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049361.839389324] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049361.839576603] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049361.839778786] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049361.844669738] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049361.845217103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049361.845906020] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049361.846956066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049361.848075909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049361.945238418] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049361.945766405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049361.946753363] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049361.948004291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049361.949171113] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049362.002991325] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972909 Long: -76.50297808 +[vectornav-1] [INFO] [1746049362.004405584] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.02, -3.213, 6.039) +[mux-7] [INFO] [1746049362.045346275] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049362.045896722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049362.046958803] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049362.047807212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049362.049587558] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049362.085456322] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049362.087943966] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049362.088137770] [sailbot.teensy]: Wind angle: 326 +[mux-7] [INFO] [1746049362.088551267] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049362.089509759] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049362.090429666] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049362.091312826] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049362.144665701] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049362.145127704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049362.145835270] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049362.146870142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049362.147900516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049362.244971518] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049362.245767815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049362.246277635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049362.247722099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049362.248765802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049362.263637075] [sailbot.mux]: controller_app sail angle: 0 +[teensy-2] [INFO] [1746049362.335667179] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049362.338368326] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049362.338905078] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049362.339627879] [sailbot.teensy]: Wind angle: 331 +[teensy-2] [INFO] [1746049362.340734568] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049362.341587582] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049362.342451143] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049362.344490730] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049362.344944481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049362.346028272] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049362.346630648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049362.347831707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049362.445077772] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049362.445773639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049362.446415242] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049362.447778784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049362.448992806] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049362.502297742] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972922 Long: -76.50297848 +[vectornav-1] [INFO] [1746049362.503327846] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.043, -3.211, 6.221) +[mux-7] [INFO] [1746049362.545070469] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049362.545760083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049362.546350032] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049362.547767767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049362.548820879] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049362.585831942] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049362.588217387] [sailbot.teensy]: Wind angle: 328 +[trim_sail-4] [INFO] [1746049362.588607255] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049362.589306675] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049362.590256670] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049362.591110546] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049362.591109697] [sailbot.mux]: algo sail angle: 75 +[mux-7] [INFO] [1746049362.645005500] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049362.645665027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049362.646389014] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049362.647609645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049362.648499215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049362.745324223] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049362.746266126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049362.747132268] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049362.748443391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049362.749500727] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049362.835666336] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049362.837998427] [sailbot.teensy]: Wind angle: 328 +[trim_sail-4] [INFO] [1746049362.839012912] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049362.839063394] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049362.839320671] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049362.840002194] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049362.840905303] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049362.844447320] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049362.844989645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049362.845627243] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049362.847372254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049362.848519017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049362.945446541] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049362.946575890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049362.947046551] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049362.948654129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049362.949796595] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049363.002639958] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972913 Long: -76.50297855 +[vectornav-1] [INFO] [1746049363.003802446] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.033, -3.161, 6.05) +[mux-7] [INFO] [1746049363.044953069] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049363.045616503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049363.046264305] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049363.047741844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049363.048796096] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049363.085458097] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049363.088019132] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049363.088836014] [sailbot.teensy]: Wind angle: 327 +[mux-7] [INFO] [1746049363.089142557] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049363.090045682] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049363.090630260] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049363.090963857] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049363.145148064] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049363.145747588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049363.146450881] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049363.147682301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049363.148945595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049363.245646911] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049363.246470225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049363.247359118] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049363.248894664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049363.250073611] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049363.335532154] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049363.337546104] [sailbot.teensy]: Wind angle: 327 +[trim_sail-4] [INFO] [1746049363.338280981] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049363.338531771] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049363.339463420] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049363.339277205] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049363.340385268] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049363.344397527] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049363.345077139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049363.345547994] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049363.346832821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049363.347811406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049363.445685358] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049363.446552710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049363.447303071] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049363.449247261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049363.450362467] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049363.502583684] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972916 Long: -76.50297836 +[vectornav-1] [INFO] [1746049363.503927207] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.024, -3.079, 5.99) +[mux-7] [INFO] [1746049363.544899975] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049363.545706824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049363.546086994] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049363.547487850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049363.548633317] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049363.585521700] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049363.588241511] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049363.589206566] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049363.589696980] [sailbot.teensy]: Wind angle: 328 +[teensy-2] [INFO] [1746049363.590786762] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049363.591641220] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049363.592489966] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049363.645562047] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049363.646409350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049363.647623464] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049363.648408071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049363.648943175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049363.745066174] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049363.745861907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049363.746528073] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049363.748278806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049363.749394281] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049363.835373108] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049363.837980628] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049363.838858428] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049363.839106931] [sailbot.teensy]: Wind angle: 331 +[teensy-2] [INFO] [1746049363.840138465] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049363.841062542] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049363.841935541] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049363.844429331] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049363.845667925] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049363.845936296] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049363.847659492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049363.848859504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049363.944942547] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049363.945838561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049363.946973275] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049363.947827666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049363.949158703] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049364.002648360] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972904 Long: -76.50297848 +[vectornav-1] [INFO] [1746049364.003836051] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.152, -3.1, 6.238) +[mux-7] [INFO] [1746049364.044853094] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049364.045550792] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049364.046056320] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049364.047316346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049364.048512679] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049364.085562200] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049364.088617394] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049364.088713774] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746049364.090026847] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049364.091086778] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049364.091277395] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049364.092196646] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049364.145127520] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049364.146129685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049364.146555390] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049364.148427742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049364.148871886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049364.245090527] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049364.245960079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049364.246573456] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049364.248187382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049364.249248124] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049364.335288522] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049364.337015135] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049364.337876579] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049364.338790724] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049364.339383865] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049364.339796110] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049364.340171271] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049364.344405811] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049364.344883422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049364.345515499] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049364.346625041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049364.347680238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049364.445157999] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049364.445836851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049364.446609431] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049364.447804890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049364.448378102] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049364.502613410] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697288 Long: -76.50297835 +[vectornav-1] [INFO] [1746049364.503793875] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.187, -3.279, 5.85) +[mux-7] [INFO] [1746049364.544720735] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049364.545390046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049364.545893121] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049364.547127790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049364.548361596] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049364.585582761] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049364.587748240] [sailbot.teensy]: Wind angle: 346 +[teensy-2] [INFO] [1746049364.588840548] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049364.588984772] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049364.589757182] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049364.590010583] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049364.590695668] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049364.645134624] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049364.645786306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049364.646571822] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049364.647756439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049364.649659242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049364.744938028] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049364.745680517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049364.746251474] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049364.747508579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049364.748408126] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049364.835367914] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049364.837301818] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049364.837871787] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049364.838295505] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049364.839069124] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049364.839481671] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049364.839563715] [sailbot.mux]: algo sail angle: 80 +[mux-7] [INFO] [1746049364.844428347] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049364.844990852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049364.845625450] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049364.846638652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049364.847678409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049364.945047398] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049364.945566539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049364.946512113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049364.947392097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049364.948349313] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049365.002566533] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972876 Long: -76.50297817 +[vectornav-1] [INFO] [1746049365.003967719] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.14, -3.24, 5.456) +[mux-7] [INFO] [1746049365.044902184] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049365.045701943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049365.046664412] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049365.047452520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049365.048691138] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049365.085439774] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049365.087298691] [sailbot.teensy]: Wind angle: 331 +[teensy-2] [INFO] [1746049365.088321972] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049365.088652675] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049365.089201751] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049365.089420945] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049365.090094263] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049365.144440037] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049365.145088860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049365.145481709] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049365.146784501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049365.147861421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049365.245307469] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049365.246037918] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049365.246926131] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049365.247870529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049365.248382588] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049365.335441862] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049365.337647841] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049365.338153590] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049365.338737373] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049365.339644320] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049365.339532004] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049365.340579397] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049365.344392600] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049365.344887862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049365.345524797] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049365.346584381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049365.347601929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049365.444881665] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049365.445601666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049365.446079076] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049365.447820091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049365.448872932] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049365.502444240] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972846 Long: -76.50297819 +[vectornav-1] [INFO] [1746049365.503505638] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.14599999999996, -3.244, 5.526) +[mux-7] [INFO] [1746049365.545004725] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049365.545734884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049365.546294819] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049365.547845633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049365.548966994] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049365.585559277] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049365.587542593] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049365.588773384] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049365.588786322] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049365.589791318] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049365.590713163] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049365.590986217] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746049365.645094998] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049365.645769477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049365.646526498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049365.647782216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049365.648512823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049365.745706314] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049365.747273525] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049365.747265373] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049365.749155567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049365.749608701] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049365.835636628] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049365.838286843] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049365.838606697] [sailbot.teensy]: Wind angle: 342 +[mux-7] [INFO] [1746049365.838880671] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049365.839600776] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049365.840530432] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049365.841401164] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049365.844382375] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049365.844761409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049365.845487194] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049365.846408670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049365.847505087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049365.945197725] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049365.945892702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049365.946627166] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049365.947890774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049365.948990799] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049366.002343479] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972848 Long: -76.50297832 +[vectornav-1] [INFO] [1746049366.003400416] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.19100000000003, -3.24, 5.799) +[mux-7] [INFO] [1746049366.045074573] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049366.046055069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049366.046570024] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049366.048210753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049366.049011987] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049366.085468505] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049366.087930269] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049366.088467816] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049366.088899060] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049366.089932393] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049366.090860960] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049366.091710807] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049366.145596377] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049366.146316234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049366.147406574] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049366.148707322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049366.149841271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049366.244858057] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049366.245512761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049366.246021278] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049366.247397279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049366.248455527] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049366.335376799] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049366.337248883] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049366.337849927] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049366.338212782] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049366.339139899] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049366.340127653] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049366.340481381] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746049366.344420988] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049366.345111117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049366.345495264] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049366.346820463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049366.347948735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049366.445265196] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049366.446049562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049366.446657299] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049366.448135807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049366.449188928] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049366.503303592] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972847 Long: -76.50297818 +[vectornav-1] [INFO] [1746049366.504735392] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.224, -3.233, 5.967) +[mux-7] [INFO] [1746049366.545305623] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049366.546242843] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049366.546856221] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049366.548423538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049366.549689708] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049366.585700988] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049366.588415814] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049366.588910126] [sailbot.teensy]: Wind angle: 343 +[mux-7] [INFO] [1746049366.589836938] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049366.590816830] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049366.591685920] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049366.592584843] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049366.645385524] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049366.646201461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049366.647050746] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049366.648934309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049366.650204817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049366.745638379] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049366.746708539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049366.747741742] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049366.749227156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049366.750517238] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049366.835762905] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049366.838739047] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049366.838871350] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049366.839435005] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049366.839523338] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049366.839823243] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049366.840224698] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049366.844470974] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049366.844894566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049366.845689758] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049366.846585540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049366.847762232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049366.945489562] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049366.946824242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049366.947288993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049366.948668342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049366.949254644] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049367.002561010] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972824 Long: -76.50297821 +[vectornav-1] [INFO] [1746049367.003886928] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.177, -3.253, 5.488) +[mux-7] [INFO] [1746049367.045160441] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049367.046180027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049367.046662200] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049367.048189730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049367.049248025] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049367.085608984] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049367.088250576] [sailbot.teensy]: Wind angle: 350 +[mux-7] [INFO] [1746049367.088959719] [sailbot.mux]: algo sail angle: 90 +[trim_sail-4] [INFO] [1746049367.089152427] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049367.089247086] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049367.090129022] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049367.090995654] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049367.145427704] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049367.146189150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049367.147185696] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049367.148753438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049367.149991294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049367.245543181] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049367.246255741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049367.247304073] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049367.248617059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049367.250259618] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049367.335458908] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049367.338185690] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049367.338921862] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049367.339542453] [sailbot.teensy]: Wind angle: 351 +[teensy-2] [INFO] [1746049367.340174340] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049367.340572515] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049367.340919153] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049367.344333812] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049367.345092061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049367.345805269] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049367.346926506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049367.347991018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049367.445383501] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049367.446553349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049367.446994418] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049367.448282599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049367.448809406] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049367.502519961] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972815 Long: -76.50297811 +[vectornav-1] [INFO] [1746049367.503538338] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.247, -3.256, 5.884) +[mux-7] [INFO] [1746049367.544693566] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049367.545432763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049367.545886722] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049367.547378787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049367.548432431] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049367.585228923] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049367.587687132] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049367.588032008] [sailbot.teensy]: Wind angle: 349 +[mux-7] [INFO] [1746049367.588659201] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049367.588996818] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049367.589850763] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049367.590700824] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049367.644973713] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049367.645790510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049367.646759060] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049367.647898694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049367.648701593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049367.745544879] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049367.746367402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049367.747144990] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049367.748838490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049367.750076922] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049367.835513588] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049367.837410801] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049367.838115040] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049367.839200631] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049367.839234404] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049367.839664543] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049367.840060980] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049367.844526523] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049367.845297874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049367.845773909] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049367.847863194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049367.848970828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049367.945582715] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049367.946423770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049367.947378477] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049367.948352919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049367.948912387] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049368.002560397] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972807 Long: -76.50297819 +[vectornav-1] [INFO] [1746049368.003715346] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.257, -3.348, 5.782) +[mux-7] [INFO] [1746049368.045252836] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049368.045963232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049368.046618639] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049368.047878107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049368.048935613] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049368.085226875] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049368.087153327] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049368.088079000] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049368.087638488] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049368.088327988] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049368.089043947] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049368.089979451] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049368.145519788] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049368.146327185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049368.147168366] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049368.149027589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049368.150186068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049368.245594168] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049368.246744546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049368.247242163] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049368.249183253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049368.250310160] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049368.335412890] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049368.337435681] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049368.338462942] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049368.338669916] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049368.339369135] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049368.339381848] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049368.340490068] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049368.344471298] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049368.345170942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049368.345564587] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049368.346873729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049368.347926780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049368.445587820] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049368.446420344] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049368.447269464] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049368.448980045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049368.450381480] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049368.502564720] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972815 Long: -76.50297829 +[vectornav-1] [INFO] [1746049368.503607444] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.589, -3.244, 5.374) +[mux-7] [INFO] [1746049368.544874445] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049368.545604675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049368.546052870] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049368.547355270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049368.548387359] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049368.585507278] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049368.588204274] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049368.588455168] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049368.589484196] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049368.589726217] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049368.590428767] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049368.591336504] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049368.645482298] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049368.646586767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049368.647124367] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049368.648684685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049368.649264364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049368.744716161] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049368.745929412] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049368.745960630] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049368.748391482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049368.749440798] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049368.835310745] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049368.837027902] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049368.837596648] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049368.837959225] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049368.838853199] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049368.839047324] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049368.839740322] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049368.844387007] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049368.844979937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049368.845778606] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049368.846691682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049368.847838405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049368.945720576] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049368.946632952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049368.947610230] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049368.948448417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049368.948969553] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049369.002571755] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972831 Long: -76.50297841 +[vectornav-1] [INFO] [1746049369.003715306] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.78200000000004, -3.187, 5.837) +[mux-7] [INFO] [1746049369.045243635] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049369.046881969] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049369.048851078] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049369.050796949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049369.051925443] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049369.085972240] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049369.088914642] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049369.089327012] [sailbot.teensy]: Wind angle: 347 +[mux-7] [INFO] [1746049369.089448714] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049369.090360983] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049369.091378726] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049369.092335638] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049369.145139874] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049369.145727213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049369.146301403] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049369.147615500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049369.148714921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049369.245716332] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049369.247000041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049369.247397257] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049369.248215415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049369.248986709] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049369.335681108] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049369.338022750] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049369.338386649] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049369.339595851] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049369.340290805] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049369.341165224] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049369.342001541] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049369.344365797] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049369.344852766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049369.345452270] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049369.346507912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049369.347573826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049369.445445169] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049369.446334629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049369.447005618] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049369.448622110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049369.449331889] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049369.502800081] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972836 Long: -76.50297892 +[vectornav-1] [INFO] [1746049369.504001738] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.882, -3.334, 6.055) +[mux-7] [INFO] [1746049369.545008478] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049369.545759482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049369.546308557] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049369.547623772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049369.548705681] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049369.585649149] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049369.588321102] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049369.588912418] [sailbot.teensy]: Wind angle: 353 +[mux-7] [INFO] [1746049369.589708832] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049369.589889368] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049369.590952024] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049369.591979990] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049369.645511501] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049369.646366155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049369.647234772] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049369.648547270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049369.648966339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049369.745310978] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049369.746196373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049369.746879711] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049369.747851913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049369.748400818] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049369.835385662] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049369.837679711] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049369.837780006] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049369.838743037] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049369.839150943] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049369.839199036] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049369.839546647] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049369.844643169] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049369.845263184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049369.845860913] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049369.846986078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049369.848026599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049369.945130953] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049369.946592382] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049369.947190665] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049369.949006064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049369.949574075] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049370.002463884] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697284 Long: -76.50297959 +[vectornav-1] [INFO] [1746049370.003576654] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.91499999999996, -3.087, 6.4) +[mux-7] [INFO] [1746049370.045423478] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049370.045860111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049370.046977214] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049370.047587484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049370.048121227] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049370.085329057] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049370.087045352] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049370.088050138] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049370.088924151] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049370.089744908] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049370.089944875] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049370.090803959] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049370.144940817] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049370.145519810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049370.146280409] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049370.147929112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049370.149168996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049370.244400716] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049370.244813407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049370.244937906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049370.245731178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049370.246273377] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049370.335569255] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049370.338565311] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049370.339113934] [sailbot.teensy]: Wind angle: 337 +[mux-7] [INFO] [1746049370.339981119] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049370.340240050] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049370.341166982] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049370.341982384] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049370.344392583] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049370.345232291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049370.345538720] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049370.347075055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049370.348107792] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049370.445224982] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049370.446078455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049370.446825033] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049370.447785718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049370.448328059] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049370.502555879] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972832 Long: -76.5029794 +[vectornav-1] [INFO] [1746049370.503604152] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.831, -3.248, 5.549) +[mux-7] [INFO] [1746049370.545305224] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049370.546341773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049370.546844635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049370.548643967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049370.549700426] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049370.585540129] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049370.587490918] [sailbot.teensy]: Wind angle: 330 +[trim_sail-4] [INFO] [1746049370.588001091] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049370.588488732] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049370.588561971] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049370.589453105] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049370.590329382] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049370.645659876] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049370.647001968] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049370.647380970] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049370.648760120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049370.649280127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049370.745650749] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049370.746495812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049370.748474896] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049370.748877324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049370.750814162] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049370.835816502] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049370.838790084] [sailbot.teensy]: Wind angle: 333 +[trim_sail-4] [INFO] [1746049370.839169445] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049370.840022800] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049370.840013107] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049370.841033772] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049370.841370749] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049370.844446347] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049370.845139462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049370.845611386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049370.847207959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049370.848325268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049370.945483851] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049370.946197832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049370.947152346] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049370.948001020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049370.948497546] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049371.002533064] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972846 Long: -76.5029794 +[vectornav-1] [INFO] [1746049371.003827989] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.919, -3.147, 6.586) +[mux-7] [INFO] [1746049371.045667747] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049371.046441732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049371.047331594] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049371.048846615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049371.050024761] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049371.085650110] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049371.087902207] [sailbot.teensy]: Wind angle: 346 +[teensy-2] [INFO] [1746049371.088944102] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049371.088742084] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049371.089182456] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049371.089829508] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049371.090674453] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049371.145610352] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049371.146306919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049371.147328875] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049371.149879245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049371.151163706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049371.245618128] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049371.246706352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049371.247275118] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049371.249198702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049371.249743762] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049371.335521488] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049371.337238224] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049371.338009547] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049371.338850475] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049371.339068514] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049371.339474437] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049371.340240795] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049371.344474557] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049371.345034463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049371.345567250] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049371.346710776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049371.348378750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049371.445335670] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049371.446225966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049371.446977668] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049371.448270320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049371.448740828] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049371.502578992] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972834 Long: -76.50297962 +[vectornav-1] [INFO] [1746049371.503613936] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.868, -3.086, 6.309) +[mux-7] [INFO] [1746049371.545325407] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049371.546218176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049371.546872281] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049371.548413415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049371.549584164] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049371.585524751] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049371.588016928] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049371.588179594] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049371.589173843] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049371.589213766] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049371.590092202] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049371.590937557] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049371.645297790] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049371.646192415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049371.646870213] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049371.649129287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049371.649631321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049371.745755632] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049371.746892827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049371.747844255] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049371.749729218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049371.750851949] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049371.835774373] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049371.838433491] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049371.839585529] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049371.838704202] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049371.840029172] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049371.840569817] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049371.841184475] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049371.844380031] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049371.845085595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049371.845507156] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049371.847060061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049371.848774075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049371.945285871] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049371.946204899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049371.946840824] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049371.948379273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049371.948887714] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049372.002408980] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697281 Long: -76.50297982 +[vectornav-1] [INFO] [1746049372.003404878] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.86199999999997, -3.259, 5.882) +[mux-7] [INFO] [1746049372.045295308] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049372.046619359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049372.047516705] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049372.048791372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049372.049834605] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049372.085381011] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049372.087272675] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049372.087649352] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049372.088268958] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049372.089100348] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049372.089815760] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049372.089996140] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049372.145552289] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049372.146142045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049372.146968771] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049372.149446221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049372.150596543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049372.245113852] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049372.245971599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049372.246753486] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049372.247620197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049372.248096134] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049372.335249428] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049372.337614241] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049372.337961446] [sailbot.teensy]: Wind angle: 339 +[mux-7] [INFO] [1746049372.338223487] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049372.338692852] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049372.339104734] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049372.339484894] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049372.344618798] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049372.345390141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049372.345855956] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049372.347183221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049372.348265590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049372.445153933] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049372.445822852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049372.446461892] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049372.447946069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049372.449031364] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049372.502788884] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972797 Long: -76.5029799 +[vectornav-1] [INFO] [1746049372.504399247] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.829, -3.321, 5.503) +[mux-7] [INFO] [1746049372.545027576] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049372.546356194] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049372.546455316] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049372.548406328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049372.549474565] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049372.585825882] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049372.588765825] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049372.588849404] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049372.589897391] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049372.590194092] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049372.590811496] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049372.591732429] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049372.645497871] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049372.646258146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049372.647149388] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049372.648627683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049372.649407213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049372.745711348] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049372.746623865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049372.747483721] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049372.749149532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049372.750449178] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049372.835663886] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049372.838348970] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049372.838574291] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049372.838982495] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049372.839061318] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049372.839448313] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049372.839824214] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049372.844641998] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049372.845252878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049372.845915423] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049372.847479431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049372.848563999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049372.945470294] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049372.946205302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049372.947163217] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049372.948373442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049372.948923656] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049373.002515649] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469728 Long: -76.50298 +[vectornav-1] [INFO] [1746049373.003583033] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.123, -3.368, 5.836) +[mux-7] [INFO] [1746049373.045333591] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049373.045728032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049373.046787507] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049373.047540686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049373.048803293] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049373.085183524] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049373.087105111] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746049373.087525561] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049373.088530557] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049373.088803015] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049373.088945032] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049373.089321843] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049373.145109692] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049373.145903749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049373.146568498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049373.149149144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049373.150263178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049373.245368671] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049373.246386689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049373.247081257] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049373.248014763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049373.248550271] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049373.335491972] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049373.337916752] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746049373.338086434] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049373.338885239] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049373.339181791] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049373.339482160] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049373.339858600] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049373.344542862] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049373.345285087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049373.345889229] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049373.347016374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049373.348058357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049373.445444070] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049373.446457514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049373.447475252] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049373.449768160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049373.450240941] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049373.502747789] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972816 Long: -76.50298014 +[vectornav-1] [INFO] [1746049373.504384222] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.159, -3.359, 5.256) +[mux-7] [INFO] [1746049373.545098781] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049373.545749802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049373.546389006] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049373.547653775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049373.548826460] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049373.585641255] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049373.588519063] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049373.588519220] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049373.589505280] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049373.589603356] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049373.590415439] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049373.591258453] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049373.645121741] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049373.645741569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049373.646480620] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049373.647615613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049373.648705335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049373.745776984] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049373.746622167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049373.747500100] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049373.749050067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049373.750311512] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049373.835372821] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049373.837464855] [sailbot.teensy]: Wind angle: 325 +[trim_sail-4] [INFO] [1746049373.837945484] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049373.838607870] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049373.839519512] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049373.839921306] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049373.840295562] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049373.844353275] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049373.845629633] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049373.846096901] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049373.847767255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049373.848931242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049373.945561028] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049373.946147545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049373.947406064] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049373.948340578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049373.949496484] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049374.002408182] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972841 Long: -76.50298009 +[vectornav-1] [INFO] [1746049374.003435619] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.249, -3.188, 5.88) +[mux-7] [INFO] [1746049374.045525348] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049374.046130458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049374.047208914] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049374.048361410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049374.050017730] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049374.085800889] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049374.088762405] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049374.089406444] [sailbot.teensy]: Wind angle: 313 +[mux-7] [INFO] [1746049374.089718880] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049374.090630801] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049374.091550170] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049374.092424076] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049374.145945540] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049374.146242251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049374.147739551] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049374.148515637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049374.149734262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049374.245787539] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049374.246627739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049374.247573916] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049374.249696948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049374.251657935] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049374.335557107] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049374.338045858] [sailbot.teensy]: Wind angle: 326 +[trim_sail-4] [INFO] [1746049374.338242348] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049374.338752540] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049374.339152472] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049374.340106611] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049374.341019074] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049374.344542353] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049374.345277297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049374.345710226] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049374.346990579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049374.348216806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049374.445900106] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049374.446390180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049374.448627697] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049374.449440052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049374.450633028] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049374.503493880] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697284 Long: -76.50298003 +[vectornav-1] [INFO] [1746049374.505025491] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.29200000000003, -3.245, 6.422) +[mux-7] [INFO] [1746049374.545192248] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049374.545968201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049374.546657083] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049374.548391733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049374.549528338] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049374.585753477] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049374.588683632] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049374.588687384] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049374.589701595] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049374.590166341] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049374.590704624] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049374.591608875] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049374.645576402] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049374.647218968] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049374.647246535] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049374.649483353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049374.650695764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049374.745855937] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049374.746437338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049374.747529086] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049374.748146078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049374.748697178] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049374.835486030] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049374.837603759] [sailbot.teensy]: Wind angle: 357 +[teensy-2] [INFO] [1746049374.838465065] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049374.838316264] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049374.838593609] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049374.838850621] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049374.839302145] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049374.844635803] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049374.845232436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049374.846110384] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049374.846992632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049374.848317437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049374.945515282] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049374.946038725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049374.947220573] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049374.948387147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049374.949263662] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049375.002614128] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972835 Long: -76.50298022 +[vectornav-1] [INFO] [1746049375.003640994] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.336, -3.231, 6.876) +[mux-7] [INFO] [1746049375.045371786] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049375.046303483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049375.046975726] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049375.048539457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049375.049734998] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049375.085858280] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049375.088786553] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746049375.088858191] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049375.089871617] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049375.090349906] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049375.090753107] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049375.091646036] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049375.145584407] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049375.146117372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049375.147181409] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049375.147782729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049375.148229144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049375.244751350] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049375.245637205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049375.246073300] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049375.247620975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049375.248613036] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049375.335188419] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049375.337394942] [sailbot.teensy]: Wind angle: 3 +[mux-7] [INFO] [1746049375.337917622] [sailbot.mux]: algo sail angle: 90 +[trim_sail-4] [INFO] [1746049375.338028074] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049375.338340721] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049375.339349366] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049375.340297483] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049375.344373991] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049375.345249699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049375.345535892] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049375.347101392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049375.348081065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049375.444739261] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049375.445395422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049375.445973358] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049375.447198675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049375.448328122] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049375.502450354] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972826 Long: -76.50298031 +[vectornav-1] [INFO] [1746049375.503485260] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.38, -3.235, 7.196) +[mux-7] [INFO] [1746049375.545048659] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049375.545915136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049375.546387221] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049375.548032046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049375.549090421] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049375.585826826] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049375.588716071] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049375.588711835] [sailbot.teensy]: Wind angle: 6 +[teensy-2] [INFO] [1746049375.589848554] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049375.590231740] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049375.590812435] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049375.591752020] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049375.645501741] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049375.646433085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049375.647170672] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049375.648145360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049375.648713820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049375.745739762] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049375.746702083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049375.747531668] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049375.749204174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049375.750550043] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049375.835670143] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049375.838717115] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049375.839098220] [sailbot.teensy]: Wind angle: 6 +[mux-7] [INFO] [1746049375.839137484] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049375.839544939] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049375.840419195] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049375.840978824] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049375.844421152] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049375.845355732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049375.845581203] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049375.847189460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049375.848242171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049375.945215992] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049375.945998049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049375.946750484] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049375.949048866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049375.950216709] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049376.002560313] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972811 Long: -76.50298033 +[vectornav-1] [INFO] [1746049376.003641674] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.351, -3.232, 7.014) +[mux-7] [INFO] [1746049376.044922085] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049376.045864547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049376.046131563] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049376.047746441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049376.048815896] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049376.085738280] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049376.088890155] [sailbot.teensy]: Wind angle: 6 +[trim_sail-4] [INFO] [1746049376.088896865] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049376.089249196] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049376.089956154] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049376.090858667] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049376.091701364] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049376.145366205] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049376.146777719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049376.147383616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049376.149094005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049376.150221156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049376.245162950] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049376.245883571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049376.246629804] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049376.248046694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049376.249100235] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049376.335665512] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049376.338327673] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049376.338487860] [sailbot.teensy]: Wind angle: 1 +[teensy-2] [INFO] [1746049376.339533996] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049376.339757920] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049376.340506526] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049376.340925352] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049376.344506365] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049376.345166967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049376.345765563] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049376.346983920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049376.348029274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049376.445694559] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049376.446287917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049376.447484507] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049376.448776753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049376.449508867] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049376.502562344] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972815 Long: -76.50298024 +[vectornav-1] [INFO] [1746049376.503602859] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.363, -3.233, 7.109) +[mux-7] [INFO] [1746049376.545342823] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049376.545885579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049376.547050267] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049376.547961701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049376.549042687] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049376.585734882] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049376.588197656] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049376.588903014] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049376.589339186] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049376.590313164] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049376.590419240] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049376.591181287] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049376.645224112] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049376.646000215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049376.646766697] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049376.647907442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049376.648530859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049376.744893663] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049376.745704230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049376.746118800] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049376.747624429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049376.748728307] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049376.835430352] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049376.837921897] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049376.838061387] [sailbot.teensy]: Wind angle: 335 +[mux-7] [INFO] [1746049376.838658645] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049376.839011322] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049376.839912462] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049376.840827661] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049376.844256574] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049376.844815734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049376.845454153] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049376.846545832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049376.847631838] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049376.945371560] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049376.946418421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049376.947096475] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049376.948848123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049376.950014342] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049377.002577132] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972786 Long: -76.50298055 +[vectornav-1] [INFO] [1746049377.003709675] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.374, -3.193, 7.218) +[mux-7] [INFO] [1746049377.045615281] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049377.047285702] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049377.047548741] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049377.049693976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049377.050905581] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049377.085570104] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049377.088067699] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049377.088296274] [sailbot.teensy]: Wind angle: 326 +[teensy-2] [INFO] [1746049377.089501946] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049377.089991657] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049377.090408423] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049377.091276104] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049377.145580437] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049377.146871612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049377.147232064] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049377.148504788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049377.149030701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049377.245360183] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049377.246120692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049377.247212632] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049377.249230283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049377.250348548] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049377.335845845] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049377.338817970] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049377.338833319] [sailbot.teensy]: Wind angle: 323 +[mux-7] [INFO] [1746049377.339369489] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049377.339799890] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049377.340700976] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049377.341556373] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049377.344377763] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049377.344924449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049377.345474209] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049377.346640922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049377.347694328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049377.445246182] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049377.446323786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049377.446695120] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049377.448465748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049377.448951340] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049377.503794627] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972788 Long: -76.50298064 +[vectornav-1] [INFO] [1746049377.505329332] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.378, -3.143, 7.227) +[mux-7] [INFO] [1746049377.545195699] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049377.546087758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049377.546464422] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049377.548014073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049377.549082167] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049377.585702150] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049377.588592543] [sailbot.teensy]: Wind angle: 328 +[trim_sail-4] [INFO] [1746049377.588839293] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049377.589448637] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049377.589564190] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049377.590490393] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049377.591367416] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049377.645193396] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049377.645891508] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049377.646917095] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049377.647950357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049377.649214875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049377.745742494] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049377.746825976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049377.747966129] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049377.749186745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049377.749648062] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049377.835354891] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049377.837639500] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049377.837685347] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049377.839032840] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049377.839360902] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049377.839750502] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049377.840120655] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049377.844482667] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049377.844805586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049377.846106496] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049377.846480206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049377.847731568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049377.945508567] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049377.946245765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049377.947297553] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049377.948663051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049377.949761911] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049378.002377569] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972764 Long: -76.50298061 +[vectornav-1] [INFO] [1746049378.003602699] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.33000000000004, -3.184, 7.095) +[mux-7] [INFO] [1746049378.045217950] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049378.045802177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049378.046574128] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049378.048341255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049378.049488937] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049378.085155294] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049378.086821678] [sailbot.teensy]: Wind angle: 335 +[teensy-2] [INFO] [1746049378.087691752] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049378.087305214] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049378.088541235] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049378.088686538] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049378.089432120] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049378.145677128] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049378.146455661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049378.148744934] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049378.148775915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049378.149311812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049378.245591998] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049378.246357588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049378.247415062] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049378.247887284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049378.248436186] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049378.335906659] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049378.338109307] [sailbot.teensy]: Wind angle: 318 +[trim_sail-4] [INFO] [1746049378.339619865] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049378.339803866] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049378.340076765] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049378.341035042] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049378.342074329] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049378.344363211] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049378.344978539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049378.345449981] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049378.346681723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049378.347810177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049378.445505235] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049378.447099466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049378.447098486] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049378.449808856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049378.450923134] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049378.502648282] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972755 Long: -76.50298068 +[vectornav-1] [INFO] [1746049378.503802431] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.387, -3.387, 7.436) +[mux-7] [INFO] [1746049378.545147056] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049378.546215414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049378.546471144] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049378.548401854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049378.549273615] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049378.585499203] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049378.587909569] [sailbot.teensy]: Wind angle: 321 +[trim_sail-4] [INFO] [1746049378.588182372] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049378.589311035] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049378.590222749] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049378.591171149] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049378.592131908] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049378.645250506] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049378.645907424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049378.646699393] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049378.648433205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049378.649567069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049378.744933414] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049378.745693248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049378.746293981] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049378.747761626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049378.748943453] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049378.835560658] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049378.837936290] [sailbot.teensy]: Wind angle: 331 +[trim_sail-4] [INFO] [1746049378.838532729] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049378.838705555] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049378.839126938] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049378.839554433] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049378.839944995] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049378.844649406] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049378.845300528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049378.845931710] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049378.847525509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049378.848558046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049378.945529368] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049378.946134125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049378.947347421] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049378.948346260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049378.949576905] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049379.002823955] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972758 Long: -76.50298086 +[vectornav-1] [INFO] [1746049379.004055814] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.426, -3.452, 7.419) +[mux-7] [INFO] [1746049379.045543814] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049379.046323677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049379.047191195] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049379.048523757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049379.049089329] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049379.085978926] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049379.088528519] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049379.089074154] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049379.089611671] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049379.090330589] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049379.090561014] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049379.091411417] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049379.145184152] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049379.145778913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049379.146582661] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049379.147755232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049379.148815660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049379.245373825] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049379.246330481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049379.246960351] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049379.248477139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049379.249414626] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049379.336035970] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049379.338980609] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049379.339269650] [sailbot.teensy]: Wind angle: 335 +[mux-7] [INFO] [1746049379.339712119] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049379.340431614] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049379.341462484] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049379.342244765] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049379.344297057] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049379.345033122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049379.345697293] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049379.347055668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049379.348348560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049379.445938441] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049379.446549327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049379.448108132] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049379.449056423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049379.451055557] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049379.502613808] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972759 Long: -76.50298089 +[vectornav-1] [INFO] [1746049379.504094218] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.807, -3.314, 7.919) +[mux-7] [INFO] [1746049379.545434124] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049379.546270292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049379.547127043] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049379.548566152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049379.549443430] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049379.585260080] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049379.587452000] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049379.588393257] [sailbot.teensy]: Wind angle: 332 +[mux-7] [INFO] [1746049379.588409654] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049379.589363737] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049379.590393270] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049379.591218703] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049379.645274266] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049379.645798316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049379.646903711] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049379.649296028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049379.650345058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049379.745566617] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049379.746168279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049379.747755518] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049379.748408584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049379.749654791] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049379.835411495] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049379.837173467] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049379.837744487] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049379.838098319] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049379.838976963] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049379.839160276] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049379.839909645] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049379.844498711] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049379.845142913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049379.845730269] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049379.847007125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049379.848172265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049379.945363399] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049379.945891400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049379.946985824] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049379.947951234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049379.948931659] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049380.002868932] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972782 Long: -76.50298116 +[vectornav-1] [INFO] [1746049380.004074897] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.76800000000003, -3.284, 8.269) +[mux-7] [INFO] [1746049380.045582382] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049380.046132091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049380.047501613] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049380.048390441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049380.049688247] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049380.085807617] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049380.088233741] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049380.088623796] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049380.090207631] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049380.090482539] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049380.091355794] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049380.092225181] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049380.145195457] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049380.146061607] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049380.146629634] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049380.148279509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049380.149312036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049380.245098598] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049380.245417439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049380.246310823] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049380.247152688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049380.248344628] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049380.335532133] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049380.338161719] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049380.339124118] [sailbot.teensy]: Wind angle: 340 +[mux-7] [INFO] [1746049380.339267584] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049380.339613957] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049380.339983573] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049380.340392718] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049380.344369458] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049380.344979862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049380.345464243] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049380.346717816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049380.347766089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049380.445679447] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049380.447153109] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049380.447163912] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049380.449167706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049380.450306531] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049380.502279742] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972796 Long: -76.5029812 +[vectornav-1] [INFO] [1746049380.503293496] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.828, -3.377, 8.561) +[mux-7] [INFO] [1746049380.545159909] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049380.546110675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049380.546835576] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049380.548031952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049380.548656232] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049380.585397837] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049380.587656716] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049380.588834155] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049380.587683974] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049380.589755599] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049380.590002305] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049380.590614337] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049380.645264161] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049380.646157888] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049380.648081358] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049380.648479446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049380.649667941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049380.745561737] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049380.746583909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049380.747387783] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049380.748821826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049380.749282949] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049380.834400563] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049380.835226494] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049380.835628051] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049380.835453786] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049380.836574791] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049380.836792746] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049380.837297270] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049380.843592040] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049380.844104354] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049380.843880197] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049380.845269702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049380.845762765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049380.944803536] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049380.945374050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049380.945936704] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049380.947193123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049380.948526349] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049381.002888406] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972807 Long: -76.50298133 +[vectornav-1] [INFO] [1746049381.004140424] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.821, -3.378, 8.644) +[mux-7] [INFO] [1746049381.045474186] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049381.046874902] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049381.046516181] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049381.048651198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049381.049824115] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049381.085888115] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049381.088351687] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049381.088512760] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049381.089177287] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049381.089704386] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049381.090883592] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049381.091785497] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049381.145664367] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049381.146755289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049381.147237933] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049381.148801172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049381.150069798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049381.245120490] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049381.245604027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049381.246457729] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049381.247493626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049381.247996564] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049381.335509883] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049381.337523150] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049381.337854346] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049381.338545247] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049381.339508850] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049381.339627554] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049381.340437967] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049381.344423507] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049381.345059489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049381.345515112] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049381.346791972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049381.347860992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049381.445422197] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049381.446281835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049381.447046847] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049381.448619345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049381.449827649] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049381.502535339] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972802 Long: -76.50298144 +[vectornav-1] [INFO] [1746049381.503610980] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.738, -3.25, 8.127) +[mux-7] [INFO] [1746049381.544679298] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049381.545263166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049381.545784845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049381.546963345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049381.547994324] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049381.585477135] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049381.588012226] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049381.588224629] [sailbot.teensy]: Wind angle: 338 +[teensy-2] [INFO] [1746049381.589176238] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049381.589403982] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049381.590097701] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049381.591024406] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049381.644858757] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049381.645395175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049381.646388096] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049381.647145179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049381.648375260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049381.745261067] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049381.745803614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049381.747097641] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049381.747952850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049381.748858278] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049381.835438254] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049381.837771232] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049381.838191468] [sailbot.teensy]: Wind angle: 342 +[mux-7] [INFO] [1746049381.838674032] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049381.838818556] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049381.839194956] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049381.839554291] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049381.844391509] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049381.844933127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049381.845517354] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049381.846646170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049381.847840083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049381.945487945] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049381.946248413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049381.947128676] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049381.948374726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049381.949348812] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049382.002590472] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972805 Long: -76.50298156 +[vectornav-1] [INFO] [1746049382.003681497] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.622, -3.259, 7.317) +[mux-7] [INFO] [1746049382.045076008] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049382.045739002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049382.046351525] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049382.047504108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049382.048676877] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049382.085540237] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049382.088146096] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049382.089184888] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049382.090095935] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049382.091038918] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049382.091934749] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049382.092777406] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049382.145326317] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049382.145901651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049382.146882075] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049382.147925564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049382.148664393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049382.245231162] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049382.246036256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049382.246684734] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049382.248110602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049382.249362192] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049382.335491474] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049382.337486341] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049382.337883480] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049382.338447071] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049382.339342992] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049382.340056821] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049382.340233249] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049382.344386428] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049382.345538142] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049382.345116223] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049382.346928902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049382.347919394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049382.445143793] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049382.445774898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049382.446592457] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049382.447963964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049382.448623520] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049382.502628710] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972831 Long: -76.50298149 +[vectornav-1] [INFO] [1746049382.504164402] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.73199999999997, -3.311, 9.457) +[mux-7] [INFO] [1746049382.545078788] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049382.545734317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049382.546445383] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049382.547689399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049382.548793220] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049382.585531476] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049382.588413169] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049382.588745041] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049382.589394462] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049382.589452016] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049382.590921261] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049382.591771907] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049382.645422070] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049382.646560344] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049382.646965972] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049382.648303424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049382.648879088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049382.745382891] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049382.745999651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049382.746978896] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049382.749531828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049382.750713105] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049382.835348667] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049382.837581754] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049382.837847937] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049382.838783682] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049382.838625395] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049382.839660742] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049382.840527566] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049382.844538848] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049382.844922335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049382.845676030] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049382.846613410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049382.847661896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049382.945559391] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049382.946229326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049382.948258217] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049382.948555205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049382.949135179] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049383.002757649] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972858 Long: -76.50298144 +[vectornav-1] [INFO] [1746049383.004105070] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.61199999999997, -3.291, 8.63) +[mux-7] [INFO] [1746049383.045426014] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049383.046298271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049383.046998644] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049383.048697175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049383.049283920] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049383.086037067] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049383.089372989] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049383.089734519] [sailbot.teensy]: Wind angle: 340 +[mux-7] [INFO] [1746049383.089745645] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049383.090758107] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049383.091631477] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049383.092473189] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049383.145172642] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049383.145956008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049383.146519696] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049383.147827015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049383.149011133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049383.245272377] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049383.246587208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049383.246698110] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049383.248623241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049383.249146369] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049383.335511090] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049383.338343646] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049383.338748850] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049383.339032910] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049383.339962840] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049383.340830575] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049383.341680143] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049383.344303545] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049383.345158426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049383.345743121] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049383.347804913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049383.348903036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049383.445195328] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049383.446164921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049383.446686077] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049383.448210090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049383.449363037] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049383.502466177] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972858 Long: -76.50298131 +[vectornav-1] [INFO] [1746049383.503483327] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.578, -3.288, 8.059) +[mux-7] [INFO] [1746049383.545232981] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049383.546153844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049383.546796446] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049383.548464673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049383.548962148] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049383.585819854] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049383.588694612] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049383.588888049] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049383.589566888] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049383.590109867] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049383.591049731] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049383.591880879] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049383.645438954] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049383.646361055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049383.647119686] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049383.648705669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049383.649774441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049383.745513770] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049383.746682477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049383.747172785] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049383.749309428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049383.750457005] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049383.835495165] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049383.838231857] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049383.839529470] [sailbot.teensy]: Wind angle: 336 +[mux-7] [INFO] [1746049383.839811480] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049383.840581488] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049383.841589476] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049383.842010232] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049383.844402723] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049383.845006616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049383.845575865] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049383.846878066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049383.848020800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049383.945449471] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049383.946355227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049383.947030823] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049383.948599253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049383.949108993] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049384.002415756] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972849 Long: -76.50298127 +[vectornav-1] [INFO] [1746049384.003587783] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.582, -3.303, 8.161) +[mux-7] [INFO] [1746049384.045192524] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049384.046102103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049384.047055832] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049384.048348588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049384.049482155] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049384.085504789] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049384.087938670] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049384.088558064] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049384.088922265] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049384.090072215] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049384.090967478] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049384.091793189] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049384.145174874] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049384.146507124] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049384.147516143] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049384.149284600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049384.150431205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049384.245488478] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049384.246463248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049384.247557265] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049384.248530608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049384.249079377] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049384.335712504] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049384.338628805] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049384.339156295] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049384.339592880] [sailbot.teensy]: Wind angle: 335 +[teensy-2] [INFO] [1746049384.340566240] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049384.341352733] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049384.341736371] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049384.344423530] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049384.345145315] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049384.345712903] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049384.347315200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049384.348488257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049384.445164962] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049384.446089317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049384.446527121] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049384.448088551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049384.449197242] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049384.502487928] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972856 Long: -76.5029813 +[vectornav-1] [INFO] [1746049384.503505970] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.619, -3.327, 8.231) +[mux-7] [INFO] [1746049384.545241204] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049384.546095931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049384.546867997] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049384.549011621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049384.550051821] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049384.585637489] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049384.588304452] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049384.588527483] [sailbot.teensy]: Wind angle: 336 +[mux-7] [INFO] [1746049384.589042647] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049384.589450578] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049384.590320472] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049384.591163556] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049384.645109521] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049384.646097839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049384.646683190] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049384.648732177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049384.649910102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049384.745745698] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049384.747141738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049384.747463705] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049384.748910666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049384.749716692] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049384.835595740] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049384.838127572] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049384.838253334] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049384.839520303] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049384.839951916] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049384.840995698] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049384.841932233] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049384.844364676] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049384.845108921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049384.845436782] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049384.847025266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049384.848029095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049384.945244692] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049384.946144948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049384.946711206] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049384.948247625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049384.949350403] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049385.002619466] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972848 Long: -76.50298134 +[vectornav-1] [INFO] [1746049385.003848841] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.622, -3.274, 8.464) +[mux-7] [INFO] [1746049385.045127435] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049385.045947297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049385.046488043] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049385.048306580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049385.049401294] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049385.085575303] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049385.087637473] [sailbot.teensy]: Wind angle: 335 +[teensy-2] [INFO] [1746049385.088747181] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049385.088577612] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049385.089516500] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049385.089823435] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049385.090749637] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049385.145313148] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049385.145951946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049385.146646850] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049385.148050290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049385.149243277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049385.245678197] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049385.246238628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049385.247696338] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049385.248822200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049385.249423769] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049385.335536647] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049385.338126004] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049385.338491654] [sailbot.teensy]: Wind angle: 335 +[teensy-2] [INFO] [1746049385.338945640] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049385.338748645] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049385.339332239] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049385.339885609] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049385.344436233] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049385.345074001] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049385.345634779] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049385.346795265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049385.347820652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049385.445606345] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049385.446683997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049385.447278620] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049385.449004796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049385.449491677] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049385.502698070] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972849 Long: -76.50298127 +[vectornav-1] [INFO] [1746049385.503832838] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.618, -3.277, 8.656) +[mux-7] [INFO] [1746049385.545408995] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049385.546213496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049385.547105877] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049385.550201299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049385.551239501] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049385.585668039] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049385.588307657] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049385.588543663] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049385.589280079] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049385.590193070] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049385.590370180] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049385.591257587] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049385.645394629] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049385.646228470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049385.647785351] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049385.648554516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049385.649665623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049385.745403408] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049385.746230721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049385.747230553] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049385.749281859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049385.750457299] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049385.835644961] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049385.837943755] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049385.839250155] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049385.838484917] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049385.839023861] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049385.839867364] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049385.840237580] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049385.844474519] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049385.845074662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049385.845577466] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049385.846806085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049385.847831822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049385.945649502] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049385.946544410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049385.947480911] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049385.949029028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049385.950909729] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049386.002474692] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972852 Long: -76.5029812 +[vectornav-1] [INFO] [1746049386.003493717] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.625, -3.262, 8.506) +[mux-7] [INFO] [1746049386.045144453] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049386.045977897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049386.046811357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049386.048003326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049386.049068948] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049386.085648579] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049386.087943435] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049386.089066477] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049386.088562456] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049386.089888493] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049386.089996049] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049386.090969277] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049386.145788957] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049386.146559314] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049386.148174107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049386.147740651] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049386.148732462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049386.245294778] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049386.246202526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049386.246800210] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049386.248694519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049386.249751187] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049386.335427227] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049386.337349394] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049386.338197731] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049386.338318966] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049386.338522329] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049386.339270991] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049386.340130783] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049386.344535431] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049386.344952174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049386.345646143] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049386.346651091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049386.347756104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049386.445277024] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049386.445778172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049386.446877700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049386.447703376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049386.448863529] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049386.502912549] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972846 Long: -76.50298099 +[vectornav-1] [INFO] [1746049386.504342598] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.621, -3.262, 8.474) +[mux-7] [INFO] [1746049386.545555157] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049386.546372481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049386.547371776] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049386.548506416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049386.549069371] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049386.586004087] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049386.589186047] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049386.589490447] [sailbot.teensy]: Wind angle: 337 +[mux-7] [INFO] [1746049386.589816713] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049386.591143747] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049386.592046637] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049386.592933327] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049386.645970928] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049386.646947689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049386.648006370] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049386.649304063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049386.650471169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049386.745660960] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049386.746182436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049386.747495024] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049386.748494020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049386.749686392] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049386.835724086] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049386.838416741] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049386.838670640] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049386.839234564] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049386.839476812] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049386.839898898] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049386.840266388] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049386.844723614] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049386.845315943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049386.847198429] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049386.847435791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049386.848656353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049386.945273506] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049386.946254071] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049386.946775146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049386.948549202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049386.949744150] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049387.002961281] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972857 Long: -76.50298081 +[vectornav-1] [INFO] [1746049387.004331986] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.66700000000003, -3.279, 8.801) +[mux-7] [INFO] [1746049387.045509617] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049387.046510862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049387.047086419] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049387.048927655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049387.050084225] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049387.085970681] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049387.088890399] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049387.089945320] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049387.089110385] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049387.090112646] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049387.090893685] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049387.091786556] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049387.145724155] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049387.147527611] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049387.147891603] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049387.149904707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049387.151001978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049387.245145974] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049387.246091822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049387.246545503] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049387.248491479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049387.248986018] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049387.335450538] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049387.337257367] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049387.337777434] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049387.338184113] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049387.338642252] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049387.339111416] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049387.340015781] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049387.344485034] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049387.345025413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049387.345574422] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049387.346707973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049387.347861682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049387.445552138] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049387.447152321] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049387.447187017] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049387.448966159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049387.449442530] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049387.502651789] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972871 Long: -76.50298076 +[vectornav-1] [INFO] [1746049387.503747552] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.7, -3.29, 8.941) +[mux-7] [INFO] [1746049387.544866911] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049387.545448677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049387.546014626] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049387.547400200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049387.548527923] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049387.585587136] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049387.587352782] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049387.587981339] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049387.588287829] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049387.589230389] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049387.590038629] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049387.590090019] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049387.645609985] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049387.646124952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049387.647513828] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049387.648490420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049387.650274307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049387.745404831] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049387.745975306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049387.747475100] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049387.748101277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049387.749197174] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049387.835439159] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049387.838032829] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049387.838307406] [sailbot.teensy]: Wind angle: 336 +[mux-7] [INFO] [1746049387.838424806] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049387.839331287] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049387.840233657] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049387.841083827] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049387.844368674] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049387.844851993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049387.845724168] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049387.846663505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049387.847671465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049387.945671808] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049387.946323048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049387.948681210] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049387.948811255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049387.950005969] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049388.002712910] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972878 Long: -76.50298096 +[vectornav-1] [INFO] [1746049388.003956078] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.634, -3.31, 8.344) +[mux-7] [INFO] [1746049388.045306416] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049388.046266442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049388.046876834] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049388.048483175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049388.049673242] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049388.085782523] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049388.088633505] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049388.089037913] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049388.090066427] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049388.090773744] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049388.091294500] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049388.092212428] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049388.145387783] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049388.146417573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049388.148453606] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049388.148858928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049388.150141962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049388.245524015] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049388.246322456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049388.247114317] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049388.249156220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049388.250383357] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049388.335910701] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049388.338158835] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049388.339323423] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049388.338997677] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049388.340099164] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049388.340307150] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049388.340773401] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049388.344958775] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049388.345435017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049388.346307619] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049388.347230210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049388.348305034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049388.445034833] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049388.445767030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049388.446413725] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049388.447827001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049388.448976056] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049388.502853733] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972882 Long: -76.50298083 +[vectornav-1] [INFO] [1746049388.504067764] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.642, -3.289, 8.275) +[mux-7] [INFO] [1746049388.544860217] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049388.545427179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049388.546069246] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049388.547360841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049388.548273618] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049388.585554032] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049388.587638225] [sailbot.teensy]: Wind angle: 331 +[trim_sail-4] [INFO] [1746049388.588144608] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049388.588649212] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049388.589536226] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049388.589761951] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049388.590411490] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049388.645059493] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049388.645973393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049388.646575311] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049388.648389963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049388.649018038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049388.745709572] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049388.746819191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049388.747440125] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049388.749661542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049388.750842355] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049388.835638517] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049388.838238898] [sailbot.teensy]: Wind angle: 332 +[teensy-2] [INFO] [1746049388.839252420] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049388.838401295] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049388.839551217] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049388.840291015] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049388.841268045] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049388.844364278] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049388.844892299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049388.845450037] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049388.846617525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049388.847767561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049388.945325530] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049388.946219333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049388.946801299] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049388.948433984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049388.949173379] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049389.002496472] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972888 Long: -76.50298083 +[vectornav-1] [INFO] [1746049389.003621260] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.605, -3.271, 8.086) +[mux-7] [INFO] [1746049389.045503389] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049389.046757496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049389.047751332] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049389.049235350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049389.050503728] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049389.085477056] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049389.088048772] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049389.089017450] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049389.089474379] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049389.090427193] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049389.091289334] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049389.092209785] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049389.145280484] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049389.146191841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049389.146827274] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049389.149157502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049389.150201471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049389.245532243] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049389.246633942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049389.247309154] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049389.249209309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049389.250337767] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049389.335646714] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049389.338262223] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049389.338289529] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049389.339314413] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049389.339615461] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049389.340251734] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049389.340634219] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049389.344771849] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049389.345456046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049389.345957452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049389.347191757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049389.348218172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049389.445645690] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049389.446908227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049389.447978882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049389.449919425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049389.450902853] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049389.502519012] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972894 Long: -76.50298081 +[vectornav-1] [INFO] [1746049389.503605717] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.704, -3.265, 8.985) +[mux-7] [INFO] [1746049389.545227650] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049389.546400035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049389.546743023] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049389.548714250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049389.549724887] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049389.585456884] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049389.587383812] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049389.587960888] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049389.588426985] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049389.589304995] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049389.589363613] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049389.590498658] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049389.645376572] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049389.646704232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049389.646876100] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049389.648852767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049389.650187879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049389.745284681] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049389.746026500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049389.747840518] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049389.748555239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049389.749769896] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049389.835871994] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049389.838582467] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049389.838919046] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049389.840347776] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049389.840952656] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049389.841856752] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049389.842336410] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049389.844122738] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049389.844840060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049389.845303814] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049389.846671009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049389.848410707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049389.945847213] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049389.946464915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049389.947837539] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049389.949209897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049389.951153844] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049390.002420735] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972895 Long: -76.502981 +[vectornav-1] [INFO] [1746049390.003427972] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.685, -3.274, 8.832) +[mux-7] [INFO] [1746049390.045396694] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049390.046194521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049390.048331169] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049390.048457907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049390.049655278] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049390.085958428] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049390.088977849] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049390.088993846] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049390.090126275] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049390.090654471] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049390.091270581] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049390.092302551] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049390.145904903] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049390.146840714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049390.147448700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049390.149200383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049390.150575176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049390.245564692] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049390.246453665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049390.247151306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049390.248794435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049390.250030138] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049390.335647506] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049390.337874583] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049390.338428640] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049390.338910229] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049390.339555232] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049390.339833858] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049390.340798685] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049390.344447482] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049390.345070246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049390.345616664] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049390.346911433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049390.348036163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049390.444938803] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049390.445643874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049390.446250592] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049390.447578870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049390.448806179] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049390.502912445] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972908 Long: -76.50298112 +[vectornav-1] [INFO] [1746049390.504580141] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.622, -3.289, 8.308) +[mux-7] [INFO] [1746049390.544928562] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049390.545593251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049390.546211720] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049390.547481321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049390.548696453] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049390.585890616] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049390.588720570] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049390.589126963] [sailbot.teensy]: Wind angle: 331 +[teensy-2] [INFO] [1746049390.590151494] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049390.590151942] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049390.591145190] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049390.592145175] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049390.645115314] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049390.645905554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049390.646537783] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049390.648041743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049390.649334026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049390.745684347] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049390.746650772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049390.747543123] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049390.751482601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049390.752665423] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049390.835650995] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049390.838371858] [sailbot.teensy]: Wind angle: 332 +[teensy-2] [INFO] [1746049390.839345162] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049390.838804348] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049390.839313718] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049390.840285465] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049390.841161669] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049390.844311441] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049390.845087109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049390.845428504] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049390.846871418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049390.847884174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049390.945664340] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049390.946539352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049390.947479551] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049390.949206496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049390.950419604] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049391.003312822] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972901 Long: -76.50298124 +[vectornav-1] [INFO] [1746049391.004994097] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.623, -3.273, 8.412) +[mux-7] [INFO] [1746049391.045265650] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049391.046134534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049391.046793634] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049391.048497597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049391.049650162] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049391.085590420] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049391.087680770] [sailbot.teensy]: Wind angle: 332 +[trim_sail-4] [INFO] [1746049391.088395097] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049391.088797965] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049391.089495484] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049391.089756675] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049391.090614305] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049391.145381471] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049391.146182704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049391.147076082] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049391.148499313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049391.149032314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049391.244617085] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049391.245911399] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049391.246740691] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049391.248199030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049391.248708156] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049391.335931816] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049391.339031720] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049391.339356927] [sailbot.teensy]: Wind angle: 333 +[mux-7] [INFO] [1746049391.339495296] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049391.339789029] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049391.340201584] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049391.340543337] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049391.344635597] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049391.345871548] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049391.346074837] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049391.347845985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049391.348998783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049391.445688624] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049391.446790327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049391.447518897] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049391.449650755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049391.450821761] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049391.502681022] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972906 Long: -76.50298127 +[vectornav-1] [INFO] [1746049391.503834878] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.719, -3.28, 9.017) +[mux-7] [INFO] [1746049391.544973268] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049391.545641927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049391.546144159] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049391.547609558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049391.548684819] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049391.585639643] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049391.587801454] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746049391.588836821] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049391.588479104] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049391.589271591] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049391.589746574] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049391.590608154] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049391.645501921] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049391.646411582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049391.647068621] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049391.648988997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049391.649522286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049391.745711269] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049391.746689437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049391.747435837] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049391.749105726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049391.749658220] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049391.835615245] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049391.838261159] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049391.838832902] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049391.839237839] [sailbot.teensy]: Wind angle: 332 +[teensy-2] [INFO] [1746049391.839655024] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049391.840032934] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049391.840383200] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049391.844539112] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049391.845086227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049391.845983106] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049391.846874906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049391.848067728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049391.945625190] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049391.947347596] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049391.947460683] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049391.949761596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049391.950838639] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049392.002830468] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972889 Long: -76.50298125 +[vectornav-1] [INFO] [1746049392.004475619] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.60699999999997, -3.265, 8.327) +[mux-7] [INFO] [1746049392.045503540] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049392.046347017] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049392.048589834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049392.047226603] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049392.049117052] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049392.085821652] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049392.087989206] [sailbot.teensy]: Wind angle: 332 +[trim_sail-4] [INFO] [1746049392.088700976] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049392.089098218] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049392.090126129] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049392.090829078] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049392.091052225] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049392.145205046] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049392.146318879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049392.146777967] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049392.148573705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049392.149745401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049392.245456585] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049392.247212095] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049392.247218810] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049392.248320949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049392.248840198] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049392.335706933] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049392.338588904] [sailbot.teensy]: Wind angle: 332 +[trim_sail-4] [INFO] [1746049392.338842915] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049392.339616344] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049392.340019262] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049392.340480409] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049392.341083099] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049392.344413937] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049392.344918672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049392.345651688] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049392.346678622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049392.348439955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049392.444917638] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049392.445821257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049392.446218872] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049392.448487271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049392.449624507] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049392.502608682] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972891 Long: -76.50298119 +[vectornav-1] [INFO] [1746049392.503773930] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.547, -3.258, 7.874) +[mux-7] [INFO] [1746049392.545416051] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049392.546387968] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049392.546935078] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049392.548307593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049392.548774103] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049392.585727364] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049392.588768509] [sailbot.teensy]: Wind angle: 332 +[teensy-2] [INFO] [1746049392.589780633] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049392.589176446] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049392.590197628] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049392.590667944] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049392.591508415] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049392.645233478] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049392.646282069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049392.646789990] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049392.648880734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049392.649915053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049392.745593235] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049392.746525559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049392.747337429] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049392.748435705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049392.748951876] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049392.835462738] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049392.837351247] [sailbot.teensy]: Wind angle: 332 +[trim_sail-4] [INFO] [1746049392.838186135] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049392.838671500] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049392.839618674] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049392.840280148] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049392.840545322] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049392.844329193] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049392.844930711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049392.845406849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049392.846774305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049392.847817663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049392.945581542] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049392.946311247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049392.947189442] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049392.949109418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049392.950277568] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049393.002879454] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972877 Long: -76.50298133 +[vectornav-1] [INFO] [1746049393.004539771] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.557, -3.289, 7.922) +[mux-7] [INFO] [1746049393.045190814] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049393.046718757] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049393.047060518] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049393.050022135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049393.050521712] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049393.086151524] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049393.089173203] [sailbot.teensy]: Wind angle: 332 +[teensy-2] [INFO] [1746049393.090288353] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049393.091249145] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049393.090213134] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049393.090638296] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049393.092148562] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049393.146152351] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049393.146855515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049393.148417943] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049393.149148091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049393.150345497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049393.245588417] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049393.246856891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049393.247291015] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049393.249468184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049393.250635476] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049393.335941712] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049393.339052139] [sailbot.teensy]: Wind angle: 332 +[trim_sail-4] [INFO] [1746049393.339046706] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049393.340517831] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049393.341260602] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049393.341624350] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049393.342635947] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049393.344407619] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049393.345406061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049393.345561460] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049393.347294962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049393.348702923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049393.445562505] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049393.446281848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049393.447178701] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049393.448940565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049393.450100802] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049393.502532227] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972857 Long: -76.50298142 +[vectornav-1] [INFO] [1746049393.503862089] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.677, -3.272, 8.778) +[mux-7] [INFO] [1746049393.545294516] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049393.546085328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049393.546816426] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049393.548524904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049393.549604917] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049393.585800555] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049393.588677294] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049393.589173509] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049393.590367511] [sailbot.teensy]: Wind angle: 331 +[teensy-2] [INFO] [1746049393.591312252] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049393.592181385] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049393.593112655] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049393.645579279] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049393.646563231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049393.647181323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049393.649134755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049393.650334504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049393.745319957] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049393.746264517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049393.746887546] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049393.748484935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049393.748911663] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049393.835951181] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049393.838380622] [sailbot.teensy]: Wind angle: 328 +[trim_sail-4] [INFO] [1746049393.839482693] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049393.839947098] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049393.840982818] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049393.841520028] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049393.841638257] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049393.844402578] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049393.845026575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049393.845638698] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049393.847655088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049393.848975077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049393.945241969] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049393.945958656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049393.946782305] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049393.948175009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049393.948641561] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049394.002582146] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972848 Long: -76.5029815 +[vectornav-1] [INFO] [1746049394.003786143] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.699, -3.333, 8.952) +[mux-7] [INFO] [1746049394.045612727] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049394.046543907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049394.047224933] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049394.049052332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049394.050257903] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049394.085656400] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049394.088359430] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049394.088623713] [sailbot.teensy]: Wind angle: 326 +[teensy-2] [INFO] [1746049394.089552947] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049394.089572066] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049394.090478689] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049394.091394311] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049394.145042909] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049394.145735168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049394.146424748] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049394.148643475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049394.149658877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049394.245609243] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049394.246372336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049394.247959417] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049394.248694988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049394.250616040] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049394.335919187] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049394.338522739] [sailbot.teensy]: Wind angle: 322 +[teensy-2] [INFO] [1746049394.339723561] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049394.338934518] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049394.340695074] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049394.340762550] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049394.341692075] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049394.344613416] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049394.345191267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049394.345786723] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049394.346940961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049394.348235623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049394.444806763] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049394.445319255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049394.446076070] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049394.447084870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049394.448137305] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049394.502882879] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972816 Long: -76.50298165 +[vectornav-1] [INFO] [1746049394.504447935] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.741, -3.372, 9.318) +[mux-7] [INFO] [1746049394.545229194] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049394.545807579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049394.546741566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049394.547795216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049394.548892957] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049394.585467773] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049394.587932995] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049394.588464354] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049394.588519968] [sailbot.teensy]: Wind angle: 321 +[teensy-2] [INFO] [1746049394.589449697] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049394.590327840] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049394.591148769] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049394.645453405] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049394.646077786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049394.647104526] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049394.648350720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049394.648894398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049394.745637594] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049394.746496824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049394.747745000] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049394.748926131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049394.750218120] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049394.835912906] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049394.839043015] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049394.839761533] [sailbot.teensy]: Wind angle: 323 +[mux-7] [INFO] [1746049394.840637694] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049394.840827356] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049394.841695463] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049394.842555063] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049394.844364144] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049394.844891842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049394.846008334] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049394.846737922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049394.847913965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049394.945295489] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049394.945851967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049394.946809621] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049394.948043038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049394.949296353] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049395.002509564] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972806 Long: -76.50298183 +[vectornav-1] [INFO] [1746049395.003734061] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.738, -3.346, 9.34) +[mux-7] [INFO] [1746049395.045284466] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049395.046069945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049395.047389205] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049395.048017689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049395.049116284] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049395.085698131] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049395.088489616] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049395.089395365] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049395.089539449] [sailbot.teensy]: Wind angle: 326 +[teensy-2] [INFO] [1746049395.090511880] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049395.091403488] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049395.092246301] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049395.145439835] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049395.146183846] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049395.147313261] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049395.148318258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049395.150165742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049395.244967001] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049395.245240854] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049395.246126116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049395.246183560] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049395.246642677] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049395.335734363] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049395.337996505] [sailbot.teensy]: Wind angle: 326 +[trim_sail-4] [INFO] [1746049395.338617940] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049395.339090466] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049395.339977359] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049395.340045066] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049395.341028187] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049395.344334821] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049395.345369638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049395.345438967] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049395.347167512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049395.348303933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049395.445526805] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049395.446371827] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049395.448142727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049395.447766291] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049395.448683127] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049395.502780511] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972803 Long: -76.5029819 +[vectornav-1] [INFO] [1746049395.503911239] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.733, -3.362, 9.377) +[mux-7] [INFO] [1746049395.545302960] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049395.546148944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049395.547332147] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049395.548080136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049395.548535139] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049395.585646223] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049395.587748710] [sailbot.teensy]: Wind angle: 327 +[teensy-2] [INFO] [1746049395.588899937] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049395.589317699] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049395.589802558] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049395.589893028] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049395.590714769] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049395.645538608] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049395.646469683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049395.647099841] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049395.649180762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049395.650334930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049395.745775163] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049395.746882068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049395.747471167] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049395.749450588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049395.750792941] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049395.835573295] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049395.837626764] [sailbot.teensy]: Wind angle: 327 +[trim_sail-4] [INFO] [1746049395.839123428] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049395.839498494] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049395.839719708] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049395.840534944] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049395.841331920] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049395.844327614] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049395.844820967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049395.845479381] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049395.846480579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049395.847865737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049395.945498862] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049395.946360646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049395.947173552] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049395.949190530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049395.950440856] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049396.002475801] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972815 Long: -76.50298192 +[vectornav-1] [INFO] [1746049396.003767724] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.71799999999996, -3.401, 9.264) +[mux-7] [INFO] [1746049396.045048734] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049396.045808840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049396.046442913] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049396.047801139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049396.048856392] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049396.085431197] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049396.087489654] [sailbot.teensy]: Wind angle: 327 +[teensy-2] [INFO] [1746049396.088521464] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049396.088632245] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049396.088933642] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049396.089010118] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049396.089340282] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049396.145480385] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049396.146130320] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049396.148144429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049396.148252315] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049396.148680831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049396.245495045] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049396.246323452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049396.247155649] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049396.248875125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049396.250029248] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049396.335679193] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049396.337831899] [sailbot.teensy]: Wind angle: 322 +[trim_sail-4] [INFO] [1746049396.338540055] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049396.338885672] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049396.339671537] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049396.339796253] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049396.340453240] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049396.344516266] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049396.345149440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049396.345591739] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049396.346923101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049396.347954679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049396.444478647] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049396.445506311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049396.445572739] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049396.447729899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049396.448747941] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049396.502586666] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972802 Long: -76.50298199 +[vectornav-1] [INFO] [1746049396.503699904] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.66999999999996, -3.313, 8.909) +[mux-7] [INFO] [1746049396.545193090] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049396.545981228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049396.546702320] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049396.548005728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049396.548726835] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049396.585685579] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049396.588300964] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049396.588538997] [sailbot.teensy]: Wind angle: 319 +[teensy-2] [INFO] [1746049396.589528604] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049396.589955308] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049396.590430837] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049396.591500680] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049396.644791315] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049396.645357053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049396.646050629] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049396.647160770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049396.648344266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049396.745896304] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049396.746668668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049396.748193783] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049396.748888006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049396.749352066] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049396.835979883] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049396.839098505] [sailbot.teensy]: Wind angle: 318 +[trim_sail-4] [INFO] [1746049396.839446927] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049396.840320918] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049396.840342870] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049396.841270201] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049396.841637504] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049396.844186794] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049396.844888782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049396.845638098] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049396.846804105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049396.847908931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049396.945571791] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049396.946485265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049396.947215344] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049396.948007914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049396.948511075] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049397.002392662] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972828 Long: -76.50298233 +[vectornav-1] [INFO] [1746049397.003419253] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.70500000000004, -3.306, 9.049) +[mux-7] [INFO] [1746049397.045340170] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049397.046883789] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049397.047044681] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049397.048980628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049397.049475231] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049397.085902881] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049397.088449340] [sailbot.teensy]: Wind angle: 318 +[trim_sail-4] [INFO] [1746049397.088756066] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049397.089562005] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049397.090463414] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049397.090241318] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049397.091403123] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049397.145223677] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049397.146499119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049397.148448221] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049397.148781198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049397.149865842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049397.245548786] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049397.246546862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049397.247444153] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049397.248574660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049397.249195386] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049397.335653590] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049397.338302905] [sailbot.teensy]: Wind angle: 317 +[teensy-2] [INFO] [1746049397.339315879] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049397.338837927] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746049397.339325300] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049397.340266252] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049397.341166138] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049397.344434657] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049397.345123702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049397.345668805] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049397.346933702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049397.347986864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049397.445713614] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049397.447061107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049397.447517517] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049397.449641367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049397.450740937] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049397.502592394] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972823 Long: -76.50298258 +[vectornav-1] [INFO] [1746049397.503764972] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.71000000000004, -3.247, 9.327) +[mux-7] [INFO] [1746049397.545428043] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049397.546181842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049397.546944815] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049397.548351958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049397.549471870] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049397.586113299] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049397.588687813] [sailbot.teensy]: Wind angle: 317 +[trim_sail-4] [INFO] [1746049397.589178722] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049397.589850168] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049397.590826803] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049397.591219142] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049397.591683643] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049397.645382543] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049397.647010834] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049397.647200718] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049397.649138563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049397.650265864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049397.745630682] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049397.746320178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049397.747446156] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049397.748343226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049397.748895175] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049397.835515326] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049397.837466973] [sailbot.teensy]: Wind angle: 317 +[trim_sail-4] [INFO] [1746049397.838005547] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049397.838445285] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049397.839334392] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049397.839589197] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049397.840253843] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049397.844227294] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049397.844713335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049397.845300196] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049397.846453265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049397.848435598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049397.945759214] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049397.946574145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049397.947524671] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049397.949253325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049397.949803641] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049398.002860798] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972829 Long: -76.50298266 +[vectornav-1] [INFO] [1746049398.004085727] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.71799999999996, -3.242, 9.328) +[mux-7] [INFO] [1746049398.045593011] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049398.046824876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049398.047318281] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049398.049429013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049398.050675065] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049398.085993390] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049398.088788385] [sailbot.teensy]: Wind angle: 315 +[trim_sail-4] [INFO] [1746049398.089090679] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049398.090008506] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049398.091050274] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049398.091538096] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049398.092075535] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049398.145604951] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049398.146579254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049398.147363635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049398.148473934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049398.149403680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049398.245099506] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049398.246312320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049398.246747825] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049398.248356681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049398.248876695] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049398.335513550] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049398.337744942] [sailbot.teensy]: Wind angle: 314 +[trim_sail-4] [INFO] [1746049398.338250988] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049398.338610240] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049398.338979468] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049398.338998183] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049398.339373830] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049398.344444966] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049398.344993110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049398.345619845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049398.346713225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049398.347876108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049398.444018654] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049398.444404248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049398.444618882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049398.446339753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049398.447349794] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049398.502543661] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972828 Long: -76.50298275 +[vectornav-1] [INFO] [1746049398.503587180] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.72900000000004, -3.297, 9.297) +[mux-7] [INFO] [1746049398.545393851] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049398.546160991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049398.546944591] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049398.548547431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049398.549614607] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049398.586038903] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049398.588716457] [sailbot.teensy]: Wind angle: 311 +[teensy-2] [INFO] [1746049398.589950692] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049398.590850260] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746049398.590908223] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049398.590920932] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049398.591804642] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049398.645353817] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049398.645441459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049398.646709159] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049398.647407049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049398.648644367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049398.745533457] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049398.746597688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049398.748000193] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049398.748609327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049398.749922705] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049398.836046606] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049398.839672003] [sailbot.teensy]: Wind angle: 317 +[trim_sail-4] [INFO] [1746049398.839915872] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049398.840817393] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049398.841059555] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049398.841596237] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049398.841990295] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049398.843696918] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049398.844282598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049398.845337503] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049398.846189168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049398.847472187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049398.945984796] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049398.947399188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049398.947844568] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049398.949232179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049398.949806445] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049399.002571244] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972831 Long: -76.50298308 +[vectornav-1] [INFO] [1746049399.004140043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.731, -3.281, 9.372) +[mux-7] [INFO] [1746049399.045619054] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049399.046288201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049399.047347712] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049399.048793105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049399.050031981] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049399.085812085] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049399.087973793] [sailbot.teensy]: Wind angle: 321 +[teensy-2] [INFO] [1746049399.089162274] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049399.089392371] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049399.089798919] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049399.090133402] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049399.091059911] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049399.145481881] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049399.146226849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049399.147135267] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049399.148522350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049399.149601956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049399.245795870] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049399.247041768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049399.248105155] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049399.250143167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049399.251513974] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049399.335769651] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049399.338490165] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049399.338700700] [sailbot.teensy]: Wind angle: 321 +[teensy-2] [INFO] [1746049399.339678068] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049399.339689889] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049399.340595260] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049399.341458529] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049399.344374737] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049399.345025446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049399.345455783] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049399.346675888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049399.347861147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049399.445665032] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049399.446652916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049399.447413285] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049399.449373637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049399.449905385] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049399.502812912] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972823 Long: -76.50298328 +[vectornav-1] [INFO] [1746049399.503967324] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.711, -3.306, 9.314) +[mux-7] [INFO] [1746049399.544773339] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049399.545955460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049399.546091557] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049399.547812581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049399.549008726] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049399.585992165] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049399.589753068] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049399.589815073] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049399.589935449] [sailbot.teensy]: Wind angle: 322 +[teensy-2] [INFO] [1746049399.590987455] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049399.591872512] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049399.592776437] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049399.645561022] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049399.646998433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049399.647551210] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049399.649342078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049399.650396537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049399.745438692] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049399.746121493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049399.747075189] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049399.748298853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049399.748859241] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049399.835576651] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049399.837467173] [sailbot.teensy]: Wind angle: 321 +[trim_sail-4] [INFO] [1746049399.838665998] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049399.839165547] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049399.839955332] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049399.840888461] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049399.841259028] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049399.844440630] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049399.845141118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049399.845583463] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049399.846895827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049399.847996387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049399.945719750] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049399.946730111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049399.947492807] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049399.949334779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049399.950563914] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049400.002649878] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972832 Long: -76.50298342 +[vectornav-1] [INFO] [1746049400.003822352] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.69399999999996, -3.3, 9.622) +[mux-7] [INFO] [1746049400.045125649] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049400.045964192] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049400.047997281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049400.046870726] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049400.049320896] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049400.085575175] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049400.088386582] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049400.088810899] [sailbot.teensy]: Wind angle: 320 +[mux-7] [INFO] [1746049400.089479091] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049400.089772645] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049400.090691357] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049400.091540760] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049400.145707126] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049400.146294197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049400.147514053] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049400.148915636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049400.150683190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049400.245670101] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049400.246329893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049400.247402134] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049400.249760640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049400.250921119] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049400.335656586] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049400.338265832] [sailbot.teensy]: Wind angle: 321 +[trim_sail-4] [INFO] [1746049400.338552703] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049400.338955100] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049400.339063643] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049400.339520456] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049400.339889718] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049400.344493698] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049400.345197454] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049400.345949076] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049400.347290368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049400.348472716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049400.445044817] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049400.445715560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049400.446930728] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049400.447936334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049400.449823987] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049400.502306363] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972805 Long: -76.50298363 +[vectornav-1] [INFO] [1746049400.503328145] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.683, -3.359, 9.508) +[mux-7] [INFO] [1746049400.545299045] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049400.546432871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049400.547006431] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049400.548652160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049400.549392607] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049400.585860026] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049400.589022286] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049400.589546717] [sailbot.teensy]: Wind angle: 322 +[mux-7] [INFO] [1746049400.590041680] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049400.590505449] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049400.591412284] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049400.592252949] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049400.645722378] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049400.646446892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049400.647688758] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049400.650282154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049400.651409925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049400.745254085] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049400.745848539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049400.746853086] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049400.747820701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049400.748966482] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049400.835345949] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049400.838054631] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049400.838092961] [sailbot.teensy]: Wind angle: 322 +[mux-7] [INFO] [1746049400.838959867] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049400.839018142] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049400.839894906] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049400.840493414] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049400.844459315] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049400.845251391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049400.845542563] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049400.847075589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049400.848200693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049400.945502704] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049400.946343697] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049400.947161637] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049400.948884213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049400.950776158] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049401.002832282] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972812 Long: -76.50298397 +[vectornav-1] [INFO] [1746049401.004111184] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.698, -3.286, 9.531) +[mux-7] [INFO] [1746049401.045635305] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049401.046401763] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049401.047944807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049401.048185497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049401.048489871] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049401.085654472] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049401.088004395] [sailbot.teensy]: Wind angle: 325 +[trim_sail-4] [INFO] [1746049401.088871574] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049401.089547459] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049401.090210235] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049401.091178462] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049401.092088953] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049401.145217734] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049401.146051261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049401.146686178] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049401.148093424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049401.149243789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049401.245415855] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049401.246184382] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049401.248752108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049401.247013049] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049401.249266135] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049401.335332372] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049401.337324760] [sailbot.teensy]: Wind angle: 325 +[trim_sail-4] [INFO] [1746049401.337854108] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049401.339004624] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049401.340032826] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049401.340963653] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049401.341848041] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049401.344338822] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049401.344893832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049401.345425604] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049401.346620810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049401.347586700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049401.445153524] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049401.445946422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049401.446616663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049401.448434965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049401.449450391] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049401.502290662] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972813 Long: -76.50298411 +[vectornav-1] [INFO] [1746049401.503305842] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.71000000000004, -3.282, 9.562) +[mux-7] [INFO] [1746049401.546016845] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049401.547025516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049401.548178594] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049401.548392499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049401.548923566] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049401.585405576] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049401.587644827] [sailbot.teensy]: Wind angle: 325 +[trim_sail-4] [INFO] [1746049401.587739735] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049401.588635628] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049401.589538432] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049401.589643423] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049401.590434649] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049401.645084662] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049401.645999351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049401.646511589] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049401.648018680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049401.648494098] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049401.745246212] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049401.745973435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049401.746683405] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049401.748721724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049401.750018538] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049401.835413036] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049401.837386559] [sailbot.teensy]: Wind angle: 324 +[trim_sail-4] [INFO] [1746049401.838328390] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049401.838805226] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049401.838827423] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049401.839288572] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049401.839867531] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049401.844365263] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049401.844862552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049401.845886164] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049401.846555861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049401.847602306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049401.945545511] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049401.946381273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049401.947406105] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049401.948812170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049401.949324421] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049402.002750280] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972786 Long: -76.50298367 +[vectornav-1] [INFO] [1746049402.003925677] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.71799999999996, -3.302, 9.73) +[mux-7] [INFO] [1746049402.045030884] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049402.045801277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049402.046621450] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049402.047814777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049402.048887999] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049402.085856382] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049402.088903421] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049402.089827127] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049402.090044413] [sailbot.teensy]: Wind angle: 321 +[teensy-2] [INFO] [1746049402.091095302] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049402.091988775] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049402.092951664] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049402.145342123] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049402.146388417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049402.146926778] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049402.148661804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049402.149235857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049402.244868508] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049402.245902521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049402.246089513] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049402.247705362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049402.248777319] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049402.335503293] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049402.337467579] [sailbot.teensy]: Wind angle: 324 +[trim_sail-4] [INFO] [1746049402.338268662] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049402.338455227] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049402.339257261] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049402.339474442] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049402.340748472] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049402.344508900] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049402.345500897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049402.345649232] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049402.347312332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049402.348436605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049402.445713032] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049402.447284706] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049402.447582782] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049402.448420908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049402.449004468] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049402.502847931] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972797 Long: -76.50298391 +[vectornav-1] [INFO] [1746049402.504219374] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.701, -3.311, 9.506) +[mux-7] [INFO] [1746049402.545128756] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049402.545688815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049402.546486081] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049402.547714990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049402.548756053] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049402.585576864] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049402.587651858] [sailbot.teensy]: Wind angle: 325 +[teensy-2] [INFO] [1746049402.588751443] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049402.588709545] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049402.589126347] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049402.589663141] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049402.590559658] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049402.645295918] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049402.646092355] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049402.647213029] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049402.648120208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049402.649407655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049402.745440569] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049402.746007752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049402.747327795] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049402.748138620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049402.750090402] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049402.835548613] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049402.838128484] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049402.838686778] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049402.839602710] [sailbot.teensy]: Wind angle: 324 +[teensy-2] [INFO] [1746049402.840564336] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049402.841471778] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049402.842341407] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049402.844385311] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049402.845116706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049402.845766113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049402.846810908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049402.848009716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049402.945290743] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049402.946428253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049402.947221806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049402.948238882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049402.948755275] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049403.002579692] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972778 Long: -76.50298378 +[vectornav-1] [INFO] [1746049403.003720256] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.70799999999997, -3.313, 9.34) +[mux-7] [INFO] [1746049403.045426220] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049403.046919050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049403.047222723] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049403.049632961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049403.050692858] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049403.085502905] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049403.087989547] [sailbot.teensy]: Wind angle: 325 +[teensy-2] [INFO] [1746049403.089095102] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049403.088207259] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049403.089430344] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049403.090004850] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049403.090942830] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049403.145112370] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049403.146021971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049403.146814916] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049403.148095318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049403.149171496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049403.245026786] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049403.245986133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049403.246408810] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049403.248079542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049403.248651306] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049403.335535335] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049403.337331386] [sailbot.teensy]: Wind angle: 323 +[teensy-2] [INFO] [1746049403.338571578] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049403.337919415] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049403.339415189] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049403.339447524] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049403.340377183] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049403.344300708] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049403.344894575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049403.345386726] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049403.346549458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049403.347576272] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049403.445360324] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049403.447060139] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049403.447994798] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049403.448979477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049403.450176768] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049403.502557712] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972755 Long: -76.50298401 +[vectornav-1] [INFO] [1746049403.503796185] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.709, -3.308, 9.368) +[mux-7] [INFO] [1746049403.544980377] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049403.545749070] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049403.546453183] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049403.547722079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049403.548785524] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049403.585148925] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049403.586806848] [sailbot.teensy]: Wind angle: 323 +[trim_sail-4] [INFO] [1746049403.587662810] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049403.587714725] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049403.588678651] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049403.589271938] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049403.589694752] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049403.645147673] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049403.645957317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049403.646544517] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049403.648096613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049403.649212340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049403.745341575] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049403.746834711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049403.747336894] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049403.749234433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049403.750402068] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049403.835671335] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049403.837785184] [sailbot.teensy]: Wind angle: 323 +[teensy-2] [INFO] [1746049403.838840043] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049403.838887229] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049403.839072089] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049403.839351744] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049403.839736034] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049403.844514186] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049403.845271133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049403.845749101] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049403.847036298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049403.848167122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049403.945667510] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049403.946663385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049403.947430704] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049403.949133932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049403.950269709] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049404.002380176] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972725 Long: -76.50298383 +[vectornav-1] [INFO] [1746049404.003488312] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.724, -3.364, 9.252) +[mux-7] [INFO] [1746049404.045221747] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049404.046033646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049404.046676195] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049404.048211346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049404.049301463] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049404.085792834] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049404.088287742] [sailbot.teensy]: Wind angle: 323 +[teensy-2] [INFO] [1746049404.089361939] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049404.088839226] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049404.089875000] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049404.090346796] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049404.090930040] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049404.145538194] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049404.146458053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049404.147204170] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049404.149261157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049404.150397666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049404.245033220] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049404.245992383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049404.246357536] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049404.248311284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049404.248766668] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049404.335860147] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049404.339054968] [sailbot.teensy]: Wind angle: 323 +[trim_sail-4] [INFO] [1746049404.339339116] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049404.340559196] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049404.341222430] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049404.342115640] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049404.343020653] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049404.344753945] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049404.344879137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049404.346169289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049404.346566306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049404.348549450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049404.445782859] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049404.447528670] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049404.446640263] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049404.450030900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049404.450958601] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049404.502568549] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972718 Long: -76.50298361 +[vectornav-1] [INFO] [1746049404.503702654] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.70799999999997, -3.417, 9.215) +[mux-7] [INFO] [1746049404.544834845] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049404.545295712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049404.546003752] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049404.547118912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049404.548148531] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049404.585537125] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049404.588182039] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049404.588215814] [sailbot.teensy]: Wind angle: 323 +[teensy-2] [INFO] [1746049404.589176307] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049404.589834207] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049404.590032416] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049404.590930608] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049404.645281717] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049404.645987867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049404.646902208] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049404.648518102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049404.649054916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049404.745398100] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049404.746283448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049404.747789355] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049404.748626019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049404.749141129] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049404.835695904] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049404.838780798] [sailbot.teensy]: Wind angle: 323 +[trim_sail-4] [INFO] [1746049404.838780832] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049404.839234611] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049404.840220252] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049404.841126564] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049404.841594118] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049404.844469602] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049404.845052451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049404.845735584] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049404.847079787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049404.848402864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049404.945665657] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049404.947310374] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049404.947415674] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049404.949683667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049404.950746456] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049405.002444226] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972726 Long: -76.50298352 +[vectornav-1] [INFO] [1746049405.003651095] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.703, -3.543, 9.156) +[mux-7] [INFO] [1746049405.045106650] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049405.046746093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049405.047187800] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049405.049063174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049405.050212705] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049405.085738621] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049405.088088275] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049405.088115321] [sailbot.teensy]: Wind angle: 322 +[mux-7] [INFO] [1746049405.088850910] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049405.089134852] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049405.090083311] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049405.091181455] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049405.144869358] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049405.145807665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049405.146730887] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049405.147648124] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049405.148733457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049405.245437131] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049405.246349821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049405.247002982] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049405.248940026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049405.250034917] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049405.335387197] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049405.337289627] [sailbot.teensy]: Wind angle: 324 +[trim_sail-4] [INFO] [1746049405.337750468] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049405.338286493] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049405.339127435] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049405.339239992] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049405.340183617] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049405.344487710] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049405.345289000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049405.345755241] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049405.347169422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049405.348231991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049405.445309292] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049405.446006015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049405.446781064] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049405.447768801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049405.448280251] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049405.502311441] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972727 Long: -76.50298345 +[vectornav-1] [INFO] [1746049405.503321842] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.707, -3.546, 9.15) +[mux-7] [INFO] [1746049405.545185504] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049405.546129304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049405.546660551] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049405.548263664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049405.549303562] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049405.585726503] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049405.588550518] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049405.588711761] [sailbot.teensy]: Wind angle: 325 +[mux-7] [INFO] [1746049405.589580892] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049405.589724058] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049405.590825401] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049405.591771732] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049405.645201475] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049405.645773851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049405.646966333] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049405.649034348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049405.650071424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049405.745279130] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049405.745997963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049405.746605113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049405.748231199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049405.748883665] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049405.835490433] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049405.838086009] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049405.838515175] [sailbot.teensy]: Wind angle: 327 +[mux-7] [INFO] [1746049405.839414722] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049405.839873416] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049405.840849458] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049405.841793308] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049405.844442937] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049405.845002892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049405.845760654] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049405.846936943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049405.848031701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049405.945745166] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049405.946564103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049405.947374155] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049405.948971862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049405.949442796] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049406.002614042] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972721 Long: -76.50298348 +[vectornav-1] [INFO] [1746049406.003925197] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.707, -3.608, 9.106) +[mux-7] [INFO] [1746049406.045395392] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049406.046228589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049406.046959639] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049406.048924307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049406.050010047] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049406.085288782] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049406.087011138] [sailbot.teensy]: Wind angle: 328 +[trim_sail-4] [INFO] [1746049406.087541401] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049406.087956208] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049406.088900143] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049406.088929943] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049406.089849524] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049406.145222153] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049406.146006203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049406.146796289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049406.148298936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049406.149441886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049406.245548211] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049406.246201599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049406.247251999] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049406.248019532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049406.248589520] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049406.335473209] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049406.337411699] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049406.337859614] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049406.338372827] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049406.339327962] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049406.339966563] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049406.340226025] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049406.344280611] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049406.344848742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049406.345398785] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049406.346522477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049406.347574405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049406.445410189] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049406.446181167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049406.446942325] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049406.448958333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049406.450135296] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049406.502681978] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972719 Long: -76.50298348 +[vectornav-1] [INFO] [1746049406.503738787] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.728, -3.607, 9.256) +[mux-7] [INFO] [1746049406.545263454] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049406.546304661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049406.546783041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049406.548450327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049406.549038019] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049406.585612180] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049406.588250599] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049406.588714479] [sailbot.teensy]: Wind angle: 329 +[teensy-2] [INFO] [1746049406.589668015] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049406.590311764] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049406.590739886] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049406.591613286] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049406.645690315] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049406.646471887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049406.647399726] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049406.649076181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049406.650463381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049406.745201922] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049406.746433370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049406.746720437] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049406.748752445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049406.749843162] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049406.835539451] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049406.838201872] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049406.838650575] [sailbot.teensy]: Wind angle: 329 +[mux-7] [INFO] [1746049406.839036726] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049406.839691169] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049406.840611349] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049406.841472376] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049406.844382142] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049406.844884531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049406.845531273] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049406.846595994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049406.847795921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049406.945098340] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049406.945769264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049406.946741702] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049406.947798701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049406.949455281] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049407.002591334] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972718 Long: -76.50298333 +[vectornav-1] [INFO] [1746049407.003822408] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.70799999999997, -3.62, 9.207) +[mux-7] [INFO] [1746049407.045395391] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049407.046149462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049407.047041996] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049407.048520491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049407.049068304] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049407.085472709] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049407.088177817] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049407.089445107] [sailbot.teensy]: Wind angle: 329 +[mux-7] [INFO] [1746049407.089490867] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049407.090506395] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049407.091454019] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049407.092353591] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049407.145416588] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049407.146156253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049407.147123152] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049407.148445579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049407.149778106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049407.245693590] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049407.246597379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049407.247477423] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049407.248957360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049407.250236431] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049407.335773874] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049407.337931129] [sailbot.teensy]: Wind angle: 329 +[teensy-2] [INFO] [1746049407.338989888] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049407.339916635] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049407.339343414] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049407.340809223] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049407.340795845] [sailbot.mux]: algo sail angle: 75 +[mux-7] [INFO] [1746049407.344242485] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049407.345104577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049407.345591093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049407.346895022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049407.347954443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049407.445261147] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049407.445832659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049407.446751461] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049407.448215074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049407.448766109] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049407.502420168] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972718 Long: -76.5029832 +[vectornav-1] [INFO] [1746049407.503444052] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.69, -3.61, 9.162) +[mux-7] [INFO] [1746049407.545277755] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049407.545989887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049407.546694121] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049407.548588972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049407.549770216] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049407.585667897] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049407.587885348] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049407.588643397] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049407.588881347] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049407.589460637] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049407.589788139] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049407.590710341] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049407.644839319] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049407.645680986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049407.646072071] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049407.647793510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049407.649043054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049407.745457633] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049407.746323725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049407.747185050] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049407.748785783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049407.749761245] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049407.835671114] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049407.838591057] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049407.839166600] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049407.839460973] [sailbot.teensy]: Wind angle: 328 +[teensy-2] [INFO] [1746049407.840598337] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049407.841615705] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049407.842446592] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049407.844715498] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049407.845130722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049407.845857622] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049407.846809038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049407.847899801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049407.945514024] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049407.946435418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049407.947273153] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049407.948162858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049407.948715382] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049408.002786816] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972686 Long: -76.50298406 +[vectornav-1] [INFO] [1746049408.004003619] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.673, -3.516, 9.068) +[mux-7] [INFO] [1746049408.044824093] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049408.045971440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049408.046058363] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049408.047959382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049408.049129874] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049408.085375267] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049408.087698326] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049408.088246420] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049408.089251058] [sailbot.teensy]: Wind angle: 327 +[teensy-2] [INFO] [1746049408.090178662] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049408.091072283] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049408.091951401] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049408.145501334] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049408.146224752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049408.147117674] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049408.149033885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049408.150105820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049408.245573542] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049408.246805310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049408.247148123] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049408.249235476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049408.250219011] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049408.335765286] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049408.338049402] [sailbot.teensy]: Wind angle: 327 +[trim_sail-4] [INFO] [1746049408.338995689] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049408.340176852] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049408.340784678] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049408.341466068] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049408.341849920] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049408.344290190] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049408.344786180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049408.345962630] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049408.346503339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049408.348343690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049408.444773157] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049408.445468052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049408.445912936] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049408.447202401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049408.448319273] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049408.502586734] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697269 Long: -76.50298388 +[vectornav-1] [INFO] [1746049408.503676765] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.672, -3.546, 9.08) +[mux-7] [INFO] [1746049408.545099026] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049408.546126935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049408.546475824] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049408.548240341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049408.549092264] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049408.585545235] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049408.588228510] [sailbot.teensy]: Wind angle: 322 +[trim_sail-4] [INFO] [1746049408.588439964] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049408.589228863] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049408.589368154] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049408.590219670] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049408.591131072] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049408.645596004] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049408.647400299] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049408.646301512] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049408.650829424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049408.651878562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049408.745380331] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049408.746184320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049408.746977022] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049408.748514441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049408.749604591] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049408.835701540] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049408.837939841] [sailbot.teensy]: Wind angle: 324 +[trim_sail-4] [INFO] [1746049408.838619828] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049408.839016330] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049408.839972840] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049408.840504155] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049408.840871660] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049408.844331711] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049408.844899368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049408.845417388] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049408.846569184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049408.847726126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049408.945433503] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049408.946190236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049408.947126959] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049408.948336680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049408.948906796] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049409.002808037] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972682 Long: -76.50298392 +[vectornav-1] [INFO] [1746049409.004592043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.66200000000003, -3.579, 9.063) +[mux-7] [INFO] [1746049409.045403953] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049409.046185195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049409.047415828] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049409.048731115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049409.050011657] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049409.085448768] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049409.087274446] [sailbot.teensy]: Wind angle: 331 +[trim_sail-4] [INFO] [1746049409.087781873] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049409.088232082] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049409.089158941] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049409.089592786] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049409.090175511] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049409.145181215] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049409.146032422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049409.146681890] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049409.148470930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049409.149625104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049409.245349824] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049409.246105636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049409.246825635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049409.248409467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049409.248983983] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049409.335735895] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049409.337921297] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049409.338546553] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049409.338988369] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049409.339927476] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049409.340783084] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049409.340821323] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049409.344364956] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049409.344981700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049409.345495515] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049409.346782837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049409.348396463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049409.445456360] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049409.446383427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049409.447070247] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049409.449379651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049409.450476970] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049409.502629702] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972666 Long: -76.5029841 +[vectornav-1] [INFO] [1746049409.504063051] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.656, -3.564, 9.131) +[mux-7] [INFO] [1746049409.545096017] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049409.545815789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049409.546458114] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049409.547891262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049409.549065481] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049409.585596332] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049409.588191080] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049409.588514783] [sailbot.teensy]: Wind angle: 334 +[mux-7] [INFO] [1746049409.588662984] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049409.590308955] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049409.591154787] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049409.592054191] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049409.645551814] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049409.646399724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049409.648736418] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049409.648905209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049409.650246563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049409.745330206] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049409.745985658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049409.746944569] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049409.748074351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049409.749307046] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049409.835609530] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049409.838213118] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049409.838680173] [sailbot.teensy]: Wind angle: 333 +[mux-7] [INFO] [1746049409.839088848] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049409.839178104] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049409.839571124] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049409.840001502] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049409.844386814] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049409.845075164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049409.845456520] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049409.846780805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049409.847860579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049409.945198426] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049409.945834077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049409.946695542] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049409.948217208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049409.949356209] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049410.002333582] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972661 Long: -76.5029842 +[vectornav-1] [INFO] [1746049410.003363495] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.663, -3.581, 9.153) +[mux-7] [INFO] [1746049410.045217933] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049410.045888806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049410.046570931] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049410.047812372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049410.048938508] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049410.086013809] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049410.089306447] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049410.090059449] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049410.090542109] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049410.091579663] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049410.092772638] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049410.093694367] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049410.144970035] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049410.145821489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049410.146436657] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049410.147676999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049410.148773185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049410.245229909] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049410.246143201] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049410.248118964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049410.246843220] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049410.249378745] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049410.335528386] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049410.338018628] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049410.338086029] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049410.339021507] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049410.339423366] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049410.340001384] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049410.340724989] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049410.344372920] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049410.344942891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049410.345428385] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049410.346645501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049410.347714965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049410.445122101] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049410.445956319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049410.446499295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049410.447829437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049410.448303896] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049410.502426902] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972668 Long: -76.50298425 +[vectornav-1] [INFO] [1746049410.503962043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.659, -3.579, 9.114) +[mux-7] [INFO] [1746049410.545270446] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049410.546748962] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049410.547707643] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049410.548494956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049410.549391575] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049410.585421738] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049410.587181822] [sailbot.teensy]: Wind angle: 327 +[teensy-2] [INFO] [1746049410.588117676] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049410.588875991] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049410.589015213] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049410.589415588] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049410.589891898] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049410.645078037] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049410.646102364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049410.646710235] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049410.648896163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049410.650108904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049410.745246712] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049410.746336010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049410.746750810] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049410.748580991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049410.749165053] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049410.835581381] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049410.837639056] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049410.838200315] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049410.838641692] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049410.839012388] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049410.839058598] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049410.839455943] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049410.844540397] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049410.845086466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049410.845695753] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049410.846793860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049410.848604260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049410.943937157] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049410.944264240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049410.944534539] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049410.945779549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049410.946782638] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049411.002304216] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972691 Long: -76.50298412 +[vectornav-1] [INFO] [1746049411.003335942] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.648, -3.547, 9.121) +[mux-7] [INFO] [1746049411.044238834] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049411.044925813] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049411.045208456] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049411.046584403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049411.047507396] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049411.085392155] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049411.087710270] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049411.087710301] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049411.088209039] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049411.088699652] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049411.089528580] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049411.090398213] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049411.146109715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049411.146151727] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049411.147608900] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049411.147770089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049411.148319322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049411.245260294] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049411.246013487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049411.246738866] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049411.248423295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049411.249349071] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049411.335442105] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049411.337293350] [sailbot.teensy]: Wind angle: 332 +[trim_sail-4] [INFO] [1746049411.337789568] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049411.338483148] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049411.339514317] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049411.339764091] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049411.340468457] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049411.344399422] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049411.345149396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049411.345558174] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049411.346866670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049411.347875658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049411.445231912] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049411.445885592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049411.446728599] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049411.449549225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049411.450665153] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049411.502600249] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697271 Long: -76.50298443 +[vectornav-1] [INFO] [1746049411.504143654] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.56899999999996, -3.456, 8.431) +[mux-7] [INFO] [1746049411.545312946] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049411.546098742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049411.546923368] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049411.548305763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049411.549394263] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049411.585829392] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049411.588598532] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049411.589891501] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049411.590243385] [sailbot.teensy]: Wind angle: 330 +[teensy-2] [INFO] [1746049411.591270768] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049411.592188558] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049411.593161871] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049411.645207217] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049411.645961371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049411.646709503] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049411.648226451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049411.649411234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049411.745236544] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049411.745876990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049411.746865081] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049411.748084708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049411.748822806] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049411.835247581] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049411.837460422] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049411.837793084] [sailbot.teensy]: Wind angle: 331 +[mux-7] [INFO] [1746049411.837995365] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049411.838652495] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049411.839043750] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049411.839395982] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049411.844412530] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049411.844957495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049411.845519027] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049411.846640434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049411.847674481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049411.945401119] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049411.946087076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049411.947150322] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049411.948395316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049411.949392652] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049412.002421458] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972713 Long: -76.50298409 +[vectornav-1] [INFO] [1746049412.003423003] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.562, -3.42, 8.294) +[mux-7] [INFO] [1746049412.045902247] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049412.046274775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049412.048120133] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049412.049069991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049412.050230622] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049412.085582922] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049412.088262528] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049412.088256691] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049412.089307054] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049412.089854151] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049412.090225536] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049412.091140480] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049412.145323953] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049412.145941263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049412.147033088] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049412.148096190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049412.149292023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049412.245161549] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049412.245824538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049412.246645355] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049412.247988531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049412.248895619] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049412.335699589] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049412.337893719] [sailbot.teensy]: Wind angle: 325 +[trim_sail-4] [INFO] [1746049412.338646207] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049412.338916466] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049412.339389553] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049412.339769523] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049412.340144597] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049412.344821610] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049412.345636991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049412.346098353] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049412.347353281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049412.348470254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049412.445607771] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049412.446341221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049412.447581452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049412.448753443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049412.450206454] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049412.502608726] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972688 Long: -76.50298434 +[vectornav-1] [INFO] [1746049412.503913975] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.58500000000004, -3.474, 8.437) +[mux-7] [INFO] [1746049412.545029397] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049412.545790088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049412.546380300] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049412.547761531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049412.548933775] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049412.585554826] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049412.588128751] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049412.588754594] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049412.589217370] [sailbot.teensy]: Wind angle: 325 +[teensy-2] [INFO] [1746049412.590186268] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049412.591022994] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049412.591848564] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049412.645337249] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049412.645940080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049412.647325710] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049412.649206929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049412.650015041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049412.745186761] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049412.745891767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049412.746679144] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049412.748014883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049412.749075083] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049412.835774053] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049412.838463055] [sailbot.teensy]: Wind angle: 324 +[trim_sail-4] [INFO] [1746049412.838518595] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049412.839532017] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049412.840045988] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049412.840578842] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049412.841493033] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049412.844303648] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049412.844878927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049412.845504729] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049412.846710177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049412.847743576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049412.945452353] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049412.947066007] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049412.947479002] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049412.948879797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049412.949406620] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049413.002390667] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972699 Long: -76.5029843 +[vectornav-1] [INFO] [1746049413.003427516] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.616, -3.405, 8.994) +[mux-7] [INFO] [1746049413.044975643] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049413.045697117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049413.046239055] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049413.047729657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049413.048917810] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049413.085457698] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049413.087523235] [sailbot.teensy]: Wind angle: 323 +[trim_sail-4] [INFO] [1746049413.087830595] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049413.088903128] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049413.089171970] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049413.089853783] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049413.090790914] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049413.145445132] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049413.146534940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049413.147075468] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049413.148902504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049413.150194896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049413.245247959] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049413.247129678] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049413.247231005] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049413.248858954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049413.249372449] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049413.335807079] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049413.338716136] [sailbot.teensy]: Wind angle: 319 +[trim_sail-4] [INFO] [1746049413.339735768] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049413.339786992] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049413.340265271] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049413.340752519] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049413.341659594] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049413.344633219] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049413.344962933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049413.345815140] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049413.347761935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049413.348842963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049413.445339004] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049413.446046577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049413.446920937] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049413.448071058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049413.448575098] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049413.476628512] [sailbot.mux]: controller_app rudder angle: 9 +[vectornav-1] [INFO] [1746049413.502317057] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972698 Long: -76.50298423 +[vectornav-1] [INFO] [1746049413.503350799] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.639, -3.443, 9.077) +[mux-7] [INFO] [1746049413.544943477] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049413.545541661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049413.546478003] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049413.547289531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746049413.548583611] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049413.585717052] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049413.588022979] [sailbot.teensy]: Wind angle: 317 +[trim_sail-4] [INFO] [1746049413.588697103] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049413.589422006] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049413.590348911] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049413.590724970] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049413.591224953] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049413.645425207] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049413.646299014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049413.646995754] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049413.648222792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746049413.648757788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049413.745398012] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049413.746377593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049413.747291178] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049413.748825097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746049413.750004864] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049413.835689084] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049413.838670887] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746049413.839124879] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049413.839653879] [sailbot.teensy]: Wind angle: 313 +[teensy-2] [INFO] [1746049413.840603848] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049413.841452431] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746049413.842298977] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049413.844402262] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049413.844905840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049413.845720845] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049413.846700091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746049413.847899883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049413.945687747] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049413.946516537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049413.947650987] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049413.949588071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746049413.950126576] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049414.002554723] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697271 Long: -76.50298394 +[vectornav-1] [INFO] [1746049414.004145751] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.658, -3.454, 9.15) +[mux-7] [INFO] [1746049414.045329903] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049414.046242463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049414.046811419] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049414.048555173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746049414.049679990] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049414.085806518] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049414.087898853] [sailbot.teensy]: Wind angle: 309 +[teensy-2] [INFO] [1746049414.089007253] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049414.088722055] [sailbot.trim_sail]: Sail Angle: "60" +[mux-7] [INFO] [1746049414.089803454] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049414.089917118] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746049414.090825461] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049414.145615018] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049414.146516527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049414.148916838] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049414.149095838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746049414.150275322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049414.245750767] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049414.246789664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049414.247650490] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746049414.249055222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746049414.250280652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049414.314830329] [sailbot.mux]: controller_app rudder angle: 1 +[teensy-2] [INFO] [1746049414.335457215] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049414.337317285] [sailbot.teensy]: Wind angle: 310 +[trim_sail-4] [INFO] [1746049414.337992451] [sailbot.trim_sail]: Sail Angle: "60" +[mux-7] [INFO] [1746049414.339247985] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049414.340176419] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049414.341119119] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746049414.341947935] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049414.344486655] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049414.345770625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049414.345867554] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746049414.347513129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746049414.348545844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049414.445676730] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049414.446317938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049414.447516345] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746049414.448767976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746049414.449417823] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049414.502852510] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972704 Long: -76.50298396 +[vectornav-1] [INFO] [1746049414.504108268] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.618, -3.502, 8.827) +[mux-7] [INFO] [1746049414.545357199] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049414.546017760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049414.547323335] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746049414.548349622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746049414.549445641] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049414.585776051] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049414.588901987] [sailbot.trim_sail]: Sail Angle: "60" +[mux-7] [INFO] [1746049414.589379976] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049414.589657986] [sailbot.teensy]: Wind angle: 310 +[teensy-2] [INFO] [1746049414.590674504] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049414.591597823] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746049414.592507523] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049414.645354707] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049414.645993621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049414.647155072] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746049414.648059255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746049414.649185978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049414.745376094] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049414.746146778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049414.747344789] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746049414.748570364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746049414.750296871] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049414.835322642] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049414.837122401] [sailbot.teensy]: Wind angle: 311 +[trim_sail-4] [INFO] [1746049414.837589292] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746049414.838956843] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049414.839012147] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049414.839943494] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746049414.840839403] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049414.844473999] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049414.844884001] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049414.845730610] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746049414.846553627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746049414.847610314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049414.945416742] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049414.946592282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049414.946981433] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746049414.948705252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746049414.949352517] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049415.002746416] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697271 Long: -76.50298389 +[vectornav-1] [INFO] [1746049415.004199060] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.606, -3.466, 8.85) +[mux-7] [INFO] [1746049415.045075044] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049415.045740820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049415.046505337] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746049415.047641735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746049415.048778004] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049415.085535560] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049415.087939868] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049415.088093222] [sailbot.teensy]: Wind angle: 313 +[mux-7] [INFO] [1746049415.088672470] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049415.089237376] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049415.090157098] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746049415.091056522] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049415.145672034] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049415.146166625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049415.147485032] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746049415.148451264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746049415.150063403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049415.245206966] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049415.245693626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049415.246517249] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746049415.248047560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746049415.249010406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049415.298511406] [sailbot.mux]: controller_app rudder angle: -6 +[teensy-2] [INFO] [1746049415.335722302] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049415.337889919] [sailbot.teensy]: Wind angle: 314 +[trim_sail-4] [INFO] [1746049415.338584923] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746049415.340304180] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049415.340458499] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049415.341415595] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746049415.342257845] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049415.344288939] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049415.344837450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049415.345410393] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746049415.346517186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746049415.347612234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049415.445708997] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049415.446493696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049415.447452901] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746049415.448763227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746049415.449833188] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049415.502506746] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972702 Long: -76.50298374 +[vectornav-1] [INFO] [1746049415.503508875] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.642, -3.498, 9.109) +[mux-7] [INFO] [1746049415.545440721] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049415.546191173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049415.547057810] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746049415.548412335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746049415.549463103] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049415.585656147] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049415.588233148] [sailbot.teensy]: Wind angle: 314 +[trim_sail-4] [INFO] [1746049415.588273659] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049415.589246163] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049415.590116099] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746049415.590143673] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049415.591024542] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049415.645168018] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049415.645961073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049415.646720772] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746049415.647913976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746049415.648862332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049415.745676039] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049415.746415972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049415.747398717] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746049415.748848091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746049415.750082090] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049415.835942494] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049415.838685802] [sailbot.teensy]: Wind angle: 312 +[trim_sail-4] [INFO] [1746049415.838937249] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049415.839657902] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049415.839910788] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049415.840056758] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746049415.840442631] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049415.844684696] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049415.845124446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049415.846047926] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746049415.846946144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746049415.847948664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049415.945654050] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049415.946632202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049415.947322806] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746049415.949163563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746049415.950353126] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049416.002439031] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972717 Long: -76.50298342 +[vectornav-1] [INFO] [1746049416.003444885] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.647, -3.564, 9.151) +[mux-7] [INFO] [1746049416.045740774] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049416.046629533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049416.047377344] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746049416.048912636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746049416.050242297] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049416.085561961] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049416.087613256] [sailbot.teensy]: Wind angle: 312 +[teensy-2] [INFO] [1746049416.088573288] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049416.088230415] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746049416.089100072] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049416.089460278] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746049416.090301704] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049416.145274602] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049416.145933194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049416.146801177] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746049416.148123949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746049416.149394339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049416.245384460] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049416.246080536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049416.246910073] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746049416.248249947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746049416.249344956] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049416.335532106] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049416.339009002] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746049416.339108108] [sailbot.teensy]: Wind angle: 311 +[teensy-2] [INFO] [1746049416.340056196] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049416.339633115] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049416.340765680] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746049416.341101067] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049416.344396233] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049416.345538620] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746049416.346678827] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049416.348332161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746049416.349434764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049416.445542244] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049416.446389278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049416.447133830] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746049416.448694580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746049416.450605726] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049416.502501509] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972723 Long: -76.50298329 +[vectornav-1] [INFO] [1746049416.503623130] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.645, -3.543, 9.642) +[mux-7] [INFO] [1746049416.545466283] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049416.546491586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049416.547246159] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746049416.550317748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746049416.551564766] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049416.586077010] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049416.588909092] [sailbot.teensy]: Wind angle: 311 +[trim_sail-4] [INFO] [1746049416.589410694] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746049416.590030563] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049416.590962643] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049416.591212944] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746049416.592094619] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049416.645462740] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049416.646480381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049416.647090009] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746049416.649000399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746049416.650151262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049416.745565531] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049416.746519931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049416.747205929] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746049416.749356505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746049416.750517868] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049416.835447717] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049416.838112216] [sailbot.trim_sail]: Sail Angle: "60" +[mux-7] [INFO] [1746049416.838473511] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049416.838958988] [sailbot.teensy]: Wind angle: 311 +[teensy-2] [INFO] [1746049416.839894535] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049416.840774960] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746049416.841620473] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049416.844260945] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049416.844912567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049416.845331999] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746049416.846625354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746049416.847869334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049416.945638110] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049416.946869414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049416.947471488] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746049416.948975836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746049416.949510401] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049417.002451850] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972717 Long: -76.5029831 +[vectornav-1] [INFO] [1746049417.003468132] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.634, -3.554, 9.852) +[mux-7] [INFO] [1746049417.045148722] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049417.046025541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049417.047170573] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746049417.048556109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746049417.049796344] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049417.085744184] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049417.088487392] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746049417.088527097] [sailbot.teensy]: Wind angle: 311 +[mux-7] [INFO] [1746049417.089480525] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049417.089826822] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049417.090794114] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746049417.091686968] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049417.145532519] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049417.146866487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049417.147164460] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746049417.149743988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746049417.150839080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049417.245330914] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049417.246780465] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746049417.246997421] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049417.248893009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746049417.249920635] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049417.335932356] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049417.338376038] [sailbot.teensy]: Wind angle: 311 +[trim_sail-4] [INFO] [1746049417.339008811] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746049417.339646899] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049417.340770053] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746049417.341773745] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049417.341806706] [sailbot.mux]: algo sail angle: 60 +[mux-7] [INFO] [1746049417.344240196] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049417.344794341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049417.345549539] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746049417.346450341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746049417.347549111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049417.377216902] [sailbot.mux]: controller_app rudder angle: -9 +[mux-7] [INFO] [1746049417.445555290] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049417.446209572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049417.447180511] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746049417.448331617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746049417.448858716] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049417.502609250] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697273 Long: -76.50298287 +[vectornav-1] [INFO] [1746049417.503693756] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.63, -3.546, 9.903) +[mux-7] [INFO] [1746049417.544975781] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049417.545783691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049417.546846167] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746049417.547592987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746049417.548721872] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049417.585961269] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049417.589097326] [sailbot.trim_sail]: Sail Angle: "60" +[mux-7] [INFO] [1746049417.590096972] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049417.590155446] [sailbot.teensy]: Wind angle: 311 +[teensy-2] [INFO] [1746049417.591137561] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049417.592035081] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746049417.592883424] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049417.645340064] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049417.646275649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049417.646884043] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746049417.648597047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746049417.649652009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049417.745465159] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049417.746433357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049417.747197914] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746049417.749259258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746049417.750479005] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049417.835297043] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049417.837643819] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746049417.837645034] [sailbot.teensy]: Wind angle: 311 +[teensy-2] [INFO] [1746049417.838670214] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049417.839614978] [sailbot.teensy]: Actual tail angle: 16 +[mux-7] [INFO] [1746049417.839953524] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049417.840687134] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049417.844413696] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049417.845165512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049417.845519255] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746049417.846957125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746049417.848048412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049417.945398136] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049417.946084011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049417.946911683] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746049417.948692245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746049417.949923445] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049418.002760811] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972737 Long: -76.50298262 +[vectornav-1] [INFO] [1746049418.003894598] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.625, -3.544, 9.914) +[mux-7] [INFO] [1746049418.045135489] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049418.045827642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049418.046406169] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746049418.047889571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746049418.048974646] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049418.085771250] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049418.088341197] [sailbot.teensy]: Wind angle: 310 +[trim_sail-4] [INFO] [1746049418.088780129] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746049418.089473393] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049418.089556768] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049418.090549102] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746049418.091389979] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049418.145586783] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049418.147006390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049418.147728742] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746049418.148756379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746049418.149477576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049418.245190113] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049418.246306539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049418.246987697] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746049418.248955161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746049418.250087201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049418.287390239] [sailbot.mux]: controller_app rudder angle: 0 +[teensy-2] [INFO] [1746049418.335499483] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049418.337942558] [sailbot.teensy]: Wind angle: 311 +[trim_sail-4] [INFO] [1746049418.338056209] [sailbot.trim_sail]: Sail Angle: "60" +[mux-7] [INFO] [1746049418.338731874] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049418.338934083] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049418.340105501] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746049418.341057961] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049418.344301673] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049418.345041580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049418.345400425] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049418.346875851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049418.348130038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049418.445639793] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049418.446371601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049418.447250402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049418.448818027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049418.449955180] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049418.502703569] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972734 Long: -76.50298237 +[vectornav-1] [INFO] [1746049418.503790442] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.624, -3.525, 9.977) +[mux-7] [INFO] [1746049418.544972070] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049418.545641784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049418.547056154] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049418.547446584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049418.548502346] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049418.585567871] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049418.588576262] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746049418.588792158] [sailbot.teensy]: Wind angle: 311 +[teensy-2] [INFO] [1746049418.590037458] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049418.590442927] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049418.590931789] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746049418.591826299] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049418.645216107] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049418.646100002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049418.646907618] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049418.648739251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049418.649280540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049418.745545998] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049418.746400054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049418.747373745] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049418.748073094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049418.748536332] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049418.835471117] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049418.837551806] [sailbot.teensy]: Wind angle: 311 +[trim_sail-4] [INFO] [1746049418.838327420] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746049418.839805676] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049418.839877216] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049418.840222727] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049418.840647518] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049418.844403527] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049418.845024140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049418.845684918] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049418.846868664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049418.847963255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049418.945501029] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049418.946293360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049418.947134030] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049418.948898561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049418.949498094] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049419.002165937] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697275 Long: -76.50298186 +[vectornav-1] [INFO] [1746049419.003059312] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.547, -3.513, 9.732) +[mux-7] [INFO] [1746049419.045002158] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049419.045606937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049419.046377145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049419.047355003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049419.048983760] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049419.085672753] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049419.088912650] [sailbot.trim_sail]: Sail Angle: "60" +[mux-7] [INFO] [1746049419.089185256] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049419.089828174] [sailbot.teensy]: Wind angle: 311 +[teensy-2] [INFO] [1746049419.090835490] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049419.091672988] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049419.092526742] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049419.145031032] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049419.145766911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049419.146413881] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049419.147616139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049419.148804535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049419.245773145] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049419.246298231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049419.247394854] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049419.248745149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049419.249987577] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049419.335744745] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049419.338340517] [sailbot.teensy]: Wind angle: 311 +[trim_sail-4] [INFO] [1746049419.338618714] [sailbot.trim_sail]: Sail Angle: "60" +[mux-7] [INFO] [1746049419.339298339] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049419.339544797] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049419.339933729] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049419.340323799] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049419.344506835] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049419.344899465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049419.345694956] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049419.346526451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049419.347682995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049419.445697774] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049419.446224397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049419.447467881] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049419.449382400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049419.450527938] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049419.502497367] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972753 Long: -76.50298169 +[vectornav-1] [INFO] [1746049419.503583786] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.39300000000003, -3.397, 8.617) +[mux-7] [INFO] [1746049419.544909780] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049419.545454043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049419.546168975] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049419.547345157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049419.548469706] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049419.585545026] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049419.587756706] [sailbot.teensy]: Wind angle: 309 +[teensy-2] [INFO] [1746049419.588816769] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049419.588250466] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746049419.589733232] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049419.589919261] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049419.590668093] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049419.645753856] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049419.645864727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049419.647315809] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049419.648261782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049419.648800628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049419.745700661] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049419.746470953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049419.747593940] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049419.748727819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049419.749293663] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049419.835618112] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049419.837696114] [sailbot.teensy]: Wind angle: 303 +[trim_sail-4] [INFO] [1746049419.838892651] [sailbot.trim_sail]: Sail Angle: "55" +[mux-7] [INFO] [1746049419.839149024] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049419.839529740] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049419.839936053] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049419.840307698] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049419.844448133] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049419.845225690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049419.845568360] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049419.847201255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049419.848407632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049419.945311848] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049419.946878427] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049419.947636025] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049419.949668902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049419.950766217] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049420.002265834] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972761 Long: -76.50298181 +[vectornav-1] [INFO] [1746049420.003183742] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.36699999999996, -3.413, 8.29) +[mux-7] [INFO] [1746049420.045365317] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049420.046069060] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049420.048333564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049420.046928583] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049420.048861193] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049420.085846137] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049420.088802362] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049420.088907005] [sailbot.teensy]: Wind angle: 301 +[teensy-2] [INFO] [1746049420.089943036] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049420.090555856] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049420.090845157] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049420.091755953] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049420.144992151] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049420.145735514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049420.147307333] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049420.147623113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049420.148112298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049420.245591299] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049420.246476283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049420.248385299] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049420.249392400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049420.250489192] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049420.336054135] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049420.339227927] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049420.339257147] [sailbot.teensy]: Wind angle: 302 +[teensy-2] [INFO] [1746049420.340421510] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049420.340760660] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049420.341457400] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049420.342456593] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049420.344548202] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049420.345087387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049420.345645179] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049420.346787482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049420.347849372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049420.445178839] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049420.445880216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049420.446633697] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049420.448723431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049420.449835226] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049420.502454038] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972779 Long: -76.50298145 +[vectornav-1] [INFO] [1746049420.503506770] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.38, -3.512, 8.349) +[mux-7] [INFO] [1746049420.545012422] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049420.545680600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049420.546309664] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049420.547791794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049420.548749787] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049420.585514871] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049420.587521664] [sailbot.teensy]: Wind angle: 303 +[trim_sail-4] [INFO] [1746049420.588009528] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049420.588559715] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049420.589574595] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049420.589784544] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049420.590467178] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049420.645203442] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049420.646071911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049420.646967796] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049420.648704483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049420.649863038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049420.745500622] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049420.746248075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049420.747116421] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049420.748703712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049420.749484954] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049420.835693192] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049420.838727713] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049420.838750094] [sailbot.teensy]: Wind angle: 313 +[teensy-2] [INFO] [1746049420.839815660] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049420.840067957] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049420.840549852] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049420.840974189] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049420.844685300] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049420.845825018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049420.845971447] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049420.847711946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049420.848813293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049420.945199796] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049420.945911250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049420.946633671] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049420.948585366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049420.949716927] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049421.002291346] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972781 Long: -76.50298141 +[vectornav-1] [INFO] [1746049421.003344050] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.375, -3.512, 8.36) +[mux-7] [INFO] [1746049421.045529197] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049421.045976609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049421.046954431] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049421.047981937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049421.048455798] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049421.085670007] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049421.088242353] [sailbot.teensy]: Wind angle: 328 +[trim_sail-4] [INFO] [1746049421.088825519] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049421.089245663] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049421.089457898] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049421.090166673] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049421.091067579] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049421.145655238] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049421.146238478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049421.147376697] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049421.150578441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049421.151741300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049421.245226375] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049421.246111038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049421.246766483] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049421.248384977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049421.249566608] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049421.335359738] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049421.337655974] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049421.337964978] [sailbot.teensy]: Wind angle: 347 +[mux-7] [INFO] [1746049421.338449175] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049421.338695046] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049421.339088073] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049421.339500899] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049421.344552700] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049421.345133307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049421.346068262] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049421.346836113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049421.348031911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049421.445783965] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049421.446334856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049421.448091840] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049421.448618256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049421.449793606] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049421.502745766] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972751 Long: -76.50298118 +[vectornav-1] [INFO] [1746049421.503825671] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.33299999999997, -3.415, 8.24) +[mux-7] [INFO] [1746049421.545257475] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049421.546009866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049421.546796695] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049421.548089712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049421.549157559] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049421.585418174] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049421.587492113] [sailbot.teensy]: Wind angle: 352 +[teensy-2] [INFO] [1746049421.588558005] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049421.588789777] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049421.589143728] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049421.589510767] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049421.590440108] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049421.645346336] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049421.646052748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049421.647164382] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049421.648449334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049421.649527164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049421.745272821] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049421.746094859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049421.747112549] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049421.748206739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049421.749438230] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049421.835415223] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049421.837905328] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049421.838351121] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746049421.839166605] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049421.839543985] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049421.839092392] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049421.839920216] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049421.844598830] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049421.845185608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049421.845760299] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049421.846985162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049421.848138417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049421.945822954] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049421.946376115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049421.948127910] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049421.948800655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049421.950543529] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049422.002793420] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972792 Long: -76.50298098 +[vectornav-1] [INFO] [1746049422.003933202] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.31, -3.443, 7.983) +[mux-7] [INFO] [1746049422.044919015] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049422.045595529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049422.046081427] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049422.047406808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049422.048541649] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049422.085903788] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049422.088284675] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049422.089571474] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049422.089417409] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049422.090394913] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049422.090481510] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049422.091279657] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049422.145315619] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049422.146852203] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049422.146865948] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049422.148091250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049422.148698591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049422.245188774] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049422.245950529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049422.247069837] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049422.247946872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049422.249438845] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049422.335430190] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049422.337383004] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049422.337972485] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049422.338374299] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049422.339321122] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049422.339610987] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049422.339732769] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049422.344265435] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049422.344926251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049422.345371149] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049422.346667037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049422.347812240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049422.445631325] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049422.446748087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049422.447237675] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049422.447927985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049422.448476847] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049422.502306199] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972815 Long: -76.50298105 +[vectornav-1] [INFO] [1746049422.503290783] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.265, -3.521, 7.941) +[mux-7] [INFO] [1746049422.545093187] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049422.545799078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049422.547445883] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049422.547643132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049422.548728494] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049422.585609644] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049422.588099149] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049422.588353949] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049422.589076263] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049422.589200005] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049422.590117298] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049422.590972903] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049422.645337206] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049422.646197007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049422.646875446] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049422.648717782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049422.649811704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049422.745443227] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049422.746096963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049422.747079456] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049422.748708111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049422.749856372] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049422.835236684] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049422.836905251] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049422.837672984] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049422.837795536] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049422.838674088] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049422.838802697] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049422.839543354] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049422.844618212] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049422.845122049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049422.845824405] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049422.846953943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049422.848049569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049422.945285223] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049422.946188375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049422.946820171] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049422.948343270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049422.949308280] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049423.002226365] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972831 Long: -76.50298082 +[vectornav-1] [INFO] [1746049423.003139736] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.40999999999997, -3.472, 8.312) +[mux-7] [INFO] [1746049423.045415960] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049423.046059132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049423.047125746] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049423.048307484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049423.049354570] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049423.085723407] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049423.089037137] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049423.089475905] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049423.089842379] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049423.090791982] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049423.091677465] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049423.092511057] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049423.145239403] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049423.147081282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049423.147178575] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049423.149041318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049423.150163880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049423.245246803] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049423.245878235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049423.246898185] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049423.248280869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049423.249437562] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049423.335499233] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049423.338352902] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049423.339079705] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049423.339189203] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049423.339647272] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049423.340017055] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049423.340773923] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049423.344343436] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049423.345037919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049423.345765408] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049423.347630297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049423.348723339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049423.445427879] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049423.446239239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049423.447156028] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049423.448646464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049423.449869239] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049423.502466202] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972816 Long: -76.50298085 +[vectornav-1] [INFO] [1746049423.503663539] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.503, -3.431, 8.763) +[mux-7] [INFO] [1746049423.545188770] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049423.545780804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049423.546736589] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049423.548175109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049423.549364890] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049423.585741389] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049423.588138529] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049423.589149213] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049423.588496658] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049423.589157729] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049423.590172767] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049423.591022876] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049423.644940168] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049423.645567904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049423.646181606] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049423.647373244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049423.648543040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049423.745049597] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049423.745592622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049423.746413871] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049423.747732979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049423.748523675] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049423.835322257] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049423.837615130] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049423.837898569] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049423.838670025] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049423.838707232] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049423.839080904] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049423.839443716] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049423.844578169] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049423.845144649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049423.845700228] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049423.847740809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049423.848880288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049423.945600511] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049423.946220751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049423.947816508] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049423.948708754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049423.950100613] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049424.002466935] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697284 Long: -76.50298082 +[vectornav-1] [INFO] [1746049424.003512753] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.504, -3.554, 8.216) +[mux-7] [INFO] [1746049424.045270830] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049424.046034762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049424.047000729] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049424.048936327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049424.050102193] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049424.085720688] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049424.088043710] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049424.088675639] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049424.089450132] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049424.090332086] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049424.090673717] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049424.091631621] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049424.145654191] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049424.146160110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049424.147485243] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049424.148614291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049424.149997055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049424.245114683] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049424.245655403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049424.246501386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049424.247540322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049424.249161186] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049424.335458211] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049424.337624514] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049424.337980869] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049424.338453096] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049424.338546531] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049424.338958450] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049424.339525397] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049424.344695394] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049424.345120239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049424.345903873] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049424.347147298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049424.348344577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049424.445835513] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049424.446374435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049424.447522644] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049424.448719748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049424.450095961] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049424.502390154] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972838 Long: -76.50298067 +[vectornav-1] [INFO] [1746049424.503357693] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.45, -3.44, 8.662) +[mux-7] [INFO] [1746049424.545252492] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049424.545761746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049424.546947707] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049424.547899784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049424.548981670] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049424.585556550] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049424.587900051] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049424.588983236] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049424.588286748] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049424.589708488] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049424.589854502] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049424.590766586] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049424.645197728] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049424.646098394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049424.646645255] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049424.648399181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049424.648954661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049424.745131817] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049424.746083532] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049424.746595768] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049424.747926856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049424.748450136] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049424.835667370] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049424.838617196] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049424.838647190] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049424.839721286] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049424.840262666] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049424.840660114] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049424.841572355] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049424.844359751] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049424.844972593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049424.845471940] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049424.846679068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049424.847855384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049424.945487662] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049424.946109812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049424.947208110] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049424.948565040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049424.949721414] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049425.002895179] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972838 Long: -76.50298054 +[vectornav-1] [INFO] [1746049425.004477732] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.38, -3.535, 8.755) +[mux-7] [INFO] [1746049425.045454823] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049425.046223952] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049425.048732793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049425.048988740] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049425.049848642] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049425.085792229] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049425.089006740] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049425.089072584] [sailbot.teensy]: Wind angle: 354 +[mux-7] [INFO] [1746049425.089467450] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049425.090096214] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049425.090988253] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049425.091808053] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049425.145799761] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049425.147450214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049425.147676730] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049425.149716089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049425.150877797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049425.245200621] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049425.246056150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049425.246831450] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049425.248437078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049425.249481802] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049425.335442637] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049425.338308877] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049425.338979217] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049425.339435788] [sailbot.teensy]: Wind angle: 355 +[teensy-2] [INFO] [1746049425.340451524] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049425.341327660] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049425.342187347] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049425.344515754] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049425.345323030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049425.345753484] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049425.347280337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049425.348347818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049425.445610788] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049425.446421278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049425.447331213] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049425.449980776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049425.451168322] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049425.502374461] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972844 Long: -76.50298064 +[vectornav-1] [INFO] [1746049425.503399026] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.394, -3.448, 8.717) +[mux-7] [INFO] [1746049425.545453347] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049425.546211954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049425.547223857] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049425.548637285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049425.549781309] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049425.586097209] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049425.589827310] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049425.589897733] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049425.590391324] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049425.590912498] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049425.591923347] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049425.592789798] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049425.645349884] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049425.646113262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049425.647046643] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049425.648673602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049425.649750903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049425.745029708] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049425.745730947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049425.747159939] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049425.747764779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049425.748611942] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049425.835864247] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049425.838814049] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049425.839056259] [sailbot.teensy]: Wind angle: 355 +[teensy-2] [INFO] [1746049425.840332985] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049425.840356155] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049425.841244827] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049425.841643876] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049425.844477892] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049425.845050587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049425.845691646] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049425.846792594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049425.848089972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049425.945847492] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049425.946524956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049425.947628828] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049425.949116926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049425.950374381] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049426.002319312] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972832 Long: -76.50298058 +[vectornav-1] [INFO] [1746049426.003346263] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.38800000000003, -3.444, 9.381) +[mux-7] [INFO] [1746049426.045393865] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049426.046502705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049426.047333825] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049426.048880231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049426.050022053] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049426.085563928] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049426.088076118] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049426.088307119] [sailbot.teensy]: Wind angle: 356 +[teensy-2] [INFO] [1746049426.089258851] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049426.089331134] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049426.090156382] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049426.091008898] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049426.145833211] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049426.146255568] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049426.148626697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049426.149167106] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049426.149739024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049426.245158417] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049426.245907000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049426.246628113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049426.248277881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049426.248928192] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049426.335519140] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049426.337699829] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049426.338073166] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049426.338746648] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049426.339560029] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049426.339692718] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049426.340034292] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049426.344715477] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049426.345713497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049426.346102360] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049426.347437397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049426.348637739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049426.445479611] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049426.446100427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049426.447184865] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049426.448858194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049426.450023373] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049426.503254794] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972833 Long: -76.50298058 +[vectornav-1] [INFO] [1746049426.504827389] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.41999999999996, -3.391, 9.18) +[mux-7] [INFO] [1746049426.545018334] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049426.545547567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049426.546818919] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049426.547484004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049426.548593573] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049426.585354675] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049426.587716361] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049426.587922714] [sailbot.teensy]: Wind angle: 351 +[mux-7] [INFO] [1746049426.588603566] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049426.589074260] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049426.590012405] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049426.590918635] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049426.645273633] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049426.645984618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049426.646841030] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049426.648526233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049426.649691909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049426.745213210] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049426.746091743] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049426.746664716] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049426.748317507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049426.749361114] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049426.835935657] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049426.838338943] [sailbot.teensy]: Wind angle: 349 +[teensy-2] [INFO] [1746049426.839453419] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049426.838907233] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049426.839681170] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049426.840458018] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049426.841362346] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049426.844302349] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049426.845054657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049426.845616181] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049426.846858641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049426.847850174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049426.945699015] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049426.946569516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049426.948002232] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049426.948536023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049426.949028246] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049427.002419442] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972851 Long: -76.50298066 +[vectornav-1] [INFO] [1746049427.003430987] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.358, -3.411, 8.706) +[mux-7] [INFO] [1746049427.045192949] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049427.045963273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049427.047034758] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049427.048333989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049427.049394275] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049427.085548388] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049427.087700428] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746049427.088991846] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049427.089083265] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049427.089431625] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049427.090715735] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049427.091616068] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049427.145019825] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049427.145853476] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049427.146763968] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049427.148849497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049427.150017680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049427.245188510] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049427.245952570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049427.246649669] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049427.248338244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049427.249602252] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049427.335513689] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049427.338061260] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049427.338855513] [sailbot.teensy]: Wind angle: 353 +[mux-7] [INFO] [1746049427.339356245] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049427.340122728] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049427.341047242] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049427.341920728] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049427.344343514] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049427.344958883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049427.345443282] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049427.346706119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049427.347727050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049427.445712607] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049427.446647102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049427.447639300] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049427.448769545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049427.449320462] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049427.502245456] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697287 Long: -76.50298046 +[vectornav-1] [INFO] [1746049427.503298756] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.33299999999997, -3.417, 8.621) +[mux-7] [INFO] [1746049427.545127977] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049427.545904320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049427.546614572] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049427.548280338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049427.548834897] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049427.585519139] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049427.588249544] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049427.588476579] [sailbot.teensy]: Wind angle: 353 +[mux-7] [INFO] [1746049427.588733062] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049427.589599267] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049427.590486823] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049427.591343685] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049427.644944225] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049427.645637472] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049427.646357273] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049427.647520432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049427.648573429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049427.745248919] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049427.745899034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049427.746716894] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049427.747998893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049427.748579703] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049427.835427300] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049427.837726649] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049427.838221875] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049427.838583632] [sailbot.teensy]: Wind angle: 353 +[teensy-2] [INFO] [1746049427.839574449] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049427.840478903] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049427.840884766] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049427.844332219] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049427.845183563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049427.845642755] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049427.846893650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049427.848144987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049427.945470112] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049427.946352981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049427.947167907] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049427.948918344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049427.949449811] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049428.002637436] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697287 Long: -76.50298002 +[vectornav-1] [INFO] [1746049428.003775633] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.369, -3.424, 8.661) +[mux-7] [INFO] [1746049428.045434238] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049428.046348717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049428.047135323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049428.048704400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049428.049741998] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049428.086016063] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049428.088474149] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049428.089249066] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049428.089762771] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049428.090205231] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049428.090828771] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049428.091827513] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049428.145251012] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049428.146368086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049428.146806318] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049428.149426604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049428.150600675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049428.245255306] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049428.246167296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049428.246701706] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049428.248413045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049428.249562815] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049428.335496075] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049428.338219015] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049428.338666575] [sailbot.teensy]: Wind angle: 351 +[mux-7] [INFO] [1746049428.339389113] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049428.339617766] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049428.340578431] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049428.341470423] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049428.344322436] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049428.344959691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049428.345477370] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049428.346707246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049428.347819295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049428.445131544] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049428.446028899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049428.446621665] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049428.448221429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049428.449301944] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049428.502416320] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972892 Long: -76.50298003 +[vectornav-1] [INFO] [1746049428.503419636] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.385, -3.453, 8.667) +[mux-7] [INFO] [1746049428.545278746] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049428.546447757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049428.546726263] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049428.548750577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049428.549949964] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049428.586020476] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049428.588560851] [sailbot.teensy]: Wind angle: 353 +[teensy-2] [INFO] [1746049428.589716197] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049428.589598796] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049428.590716574] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049428.591312003] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049428.591656423] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049428.645501828] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049428.646529459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049428.647343313] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049428.649355045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049428.650619287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049428.745249987] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049428.746006240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049428.746698376] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049428.748339506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049428.749402586] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049428.835716456] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049428.837883995] [sailbot.teensy]: Wind angle: 356 +[trim_sail-4] [INFO] [1746049428.838340097] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049428.839684617] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049428.839989124] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049428.840973436] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049428.841843073] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049428.844574491] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049428.845826202] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049428.845881191] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049428.847716774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049428.849017260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049428.945622487] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049428.946420190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049428.947476636] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049428.947981103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049428.949486310] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049429.002843536] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972921 Long: -76.50298063 +[vectornav-1] [INFO] [1746049429.004190636] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.365, -3.46, 8.829) +[mux-7] [INFO] [1746049429.045441404] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049429.046503073] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049429.047791928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049429.046993287] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049429.048328476] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049429.085955551] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049429.088940172] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049429.089800048] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049429.090243034] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049429.091271873] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049429.092182039] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049429.093109569] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049429.145154395] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049429.146375875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049429.146558038] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049429.148309007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049429.149381190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049429.245141504] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049429.245928728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049429.246811650] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049429.247879486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049429.249065259] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049429.335724309] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049429.337875556] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049429.338474940] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049429.338940356] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049429.339861017] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049429.340027999] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049429.340770153] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049429.344311805] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049429.344932300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049429.345410967] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049429.346719797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049429.347953309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049429.445038332] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049429.446002921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049429.446380927] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049429.448069854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049429.449234071] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049429.502307740] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972919 Long: -76.50298058 +[vectornav-1] [INFO] [1746049429.503308128] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.368, -3.425, 9.27) +[mux-7] [INFO] [1746049429.544968092] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049429.545784875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049429.546215682] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049429.547671599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049429.548747251] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049429.585456593] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049429.587527688] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049429.588138210] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049429.588608121] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049429.589522552] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049429.589426922] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049429.590470405] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049429.645019689] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049429.645764007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049429.646473615] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049429.647813701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049429.648884993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049429.745525483] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049429.746688231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049429.747114899] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049429.748890731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049429.749993757] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049429.835735077] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049429.838562261] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049429.838784665] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049429.839033733] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049429.839203848] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049429.839627848] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049429.840009768] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049429.844630857] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049429.845217567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049429.846095875] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049429.846973173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049429.848098354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049429.945459645] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049429.946467252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049429.947056822] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049429.949007395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049429.950164734] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049430.002863055] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972904 Long: -76.50298065 +[vectornav-1] [INFO] [1746049430.004270750] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.3, -3.413, 8.718) +[mux-7] [INFO] [1746049430.045086413] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049430.046008663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049430.046474354] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049430.047919159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049430.048556935] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049430.086017444] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049430.089360205] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049430.089389032] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049430.089614566] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049430.090827811] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049430.091774606] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049430.092674752] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049430.145118828] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049430.145843580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049430.146585996] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049430.147842444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049430.148922013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049430.244723764] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049430.245408026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049430.245923414] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049430.247340385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049430.248792193] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049430.335508369] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049430.338350388] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049430.338445473] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049430.338767045] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049430.339442391] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049430.340357420] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049430.341221254] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049430.344353012] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049430.344831163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049430.345565423] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049430.346471701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049430.347633149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049430.445505072] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049430.446688328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049430.447220568] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049430.448649687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049430.449823638] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049430.502396335] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972883 Long: -76.50298093 +[vectornav-1] [INFO] [1746049430.503419837] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.355, -3.53, 9.003) +[mux-7] [INFO] [1746049430.545138970] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049430.545924382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049430.546510155] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049430.548312436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049430.549342253] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049430.585588185] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049430.587737956] [sailbot.teensy]: Wind angle: 356 +[trim_sail-4] [INFO] [1746049430.588209296] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049430.588805007] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049430.589430978] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049430.589742377] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049430.590733723] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049430.645366892] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049430.646395301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049430.646990913] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049430.648938482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049430.650025437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049430.745565931] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049430.746230184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049430.747086375] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049430.748945691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049430.749801015] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049430.835840509] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049430.838808141] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049430.839178723] [sailbot.teensy]: Wind angle: 355 +[mux-7] [INFO] [1746049430.839547603] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049430.839583838] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049430.839983108] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049430.840799592] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049430.844493365] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049430.845043598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049430.845652739] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049430.846709957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049430.847697519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049430.945190207] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049430.945763654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049430.946630226] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049430.947989247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049430.949082129] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049431.002651577] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972886 Long: -76.50298111 +[vectornav-1] [INFO] [1746049431.003744783] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.339, -3.652, 9.019) +[mux-7] [INFO] [1746049431.045571292] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049431.046198946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049431.047314314] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049431.048476106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049431.049759728] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049431.085817266] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049431.088199149] [sailbot.teensy]: Wind angle: 356 +[teensy-2] [INFO] [1746049431.089214643] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049431.088617172] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049431.089273528] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049431.090112958] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049431.090977200] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049431.145331115] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049431.146151684] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049431.146923629] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049431.148355594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049431.149439945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049431.245630360] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049431.246288182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049431.247314019] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049431.248600798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049431.249774102] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049431.335844846] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049431.338042160] [sailbot.teensy]: Wind angle: 355 +[teensy-2] [INFO] [1746049431.339103849] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049431.338593837] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049431.340092589] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049431.341012174] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049431.341080096] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049431.344409084] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049431.344895971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049431.346021042] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049431.346689151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049431.347866049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049431.445218344] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049431.445966176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049431.446644619] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049431.448022427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049431.449051197] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049431.502684101] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972892 Long: -76.50298091 +[vectornav-1] [INFO] [1746049431.504136615] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.33799999999997, -3.578, 9.072) +[mux-7] [INFO] [1746049431.544938000] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049431.545489417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049431.546305760] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049431.548208199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049431.549369100] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049431.585637483] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049431.587679611] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049431.588224006] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049431.588689938] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049431.589608799] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049431.590181848] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049431.590492616] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049431.645384566] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049431.646050591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049431.647126797] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049431.648661972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049431.650409224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049431.745366140] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049431.746417171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049431.746841276] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049431.748594379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049431.749592999] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049431.835728685] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049431.838324080] [sailbot.teensy]: Wind angle: 352 +[teensy-2] [INFO] [1746049431.839369324] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049431.838663678] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049431.840131889] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049431.840262674] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049431.840723315] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049431.844495855] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049431.845051742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049431.845594181] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049431.846915184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049431.848112408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049431.945541523] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049431.946500024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049431.947126061] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049431.948173944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049431.948747165] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049432.002607472] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972895 Long: -76.50298084 +[vectornav-1] [INFO] [1746049432.003717176] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.365, -3.599, 9.081) +[mux-7] [INFO] [1746049432.045341487] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049432.046236152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049432.046847062] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049432.048614477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049432.049712063] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049432.085802620] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049432.088090484] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049432.088881044] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049432.089210261] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049432.089989038] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049432.090156265] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049432.091047422] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049432.145189867] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049432.147088686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049432.147233389] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049432.149262574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049432.150302530] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049432.245703119] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049432.246298574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049432.247558962] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049432.250150259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049432.251321824] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049432.335973557] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049432.338867921] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049432.339580678] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049432.340907849] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049432.341009864] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049432.342016639] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049432.342993933] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049432.344444162] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049432.345101518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049432.345633562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049432.346830350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049432.347867926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049432.445579995] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049432.446095562] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049432.449132537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049432.447478595] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049432.450413217] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049432.502764321] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972922 Long: -76.50298078 +[vectornav-1] [INFO] [1746049432.504078279] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.377, -3.679, 8.999) +[mux-7] [INFO] [1746049432.545607952] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049432.546254140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049432.547374645] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049432.548526213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049432.549642828] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049432.585973865] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049432.588557970] [sailbot.teensy]: Wind angle: 353 +[teensy-2] [INFO] [1746049432.589694743] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049432.589329157] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049432.590712732] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049432.591578012] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049432.591677864] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049432.645614084] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049432.646533722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049432.647283514] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049432.649127185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049432.650318774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049432.745212758] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049432.745782197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049432.746711024] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049432.747995433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049432.749138329] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049432.835531428] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049432.838489767] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049432.838967429] [sailbot.teensy]: Wind angle: 355 +[mux-7] [INFO] [1746049432.839130416] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049432.839409315] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049432.839819928] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049432.840206169] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049432.844626104] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049432.845274543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049432.845832740] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049432.846979173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049432.847981921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049432.945422995] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049432.946313710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049432.947024489] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049432.949233127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049432.950377041] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049433.002413297] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972933 Long: -76.50298073 +[vectornav-1] [INFO] [1746049433.003473637] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.329, -3.486, 8.993) +[mux-7] [INFO] [1746049433.045550758] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049433.046361598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049433.047287819] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049433.048760042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049433.049980911] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049433.086020464] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049433.088415637] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049433.089029033] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049433.089545780] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049433.090528213] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049433.091070005] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049433.091422125] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049433.145373053] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049433.146126644] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049433.147100995] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049433.149215860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049433.150327811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049433.245572457] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049433.246852280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049433.247164045] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049433.249065943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049433.249564872] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049433.335905894] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049433.338959727] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049433.339404096] [sailbot.teensy]: Wind angle: 354 +[mux-7] [INFO] [1746049433.339891517] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049433.340499452] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049433.341581386] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049433.342483411] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049433.344555016] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049433.345206780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049433.345860805] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049433.346974406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049433.348010667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049433.445662574] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049433.446382535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049433.447231683] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049433.449686392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049433.450768704] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049433.502531879] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972933 Long: -76.50298057 +[vectornav-1] [INFO] [1746049433.503543303] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.356, -3.721, 8.79) +[mux-7] [INFO] [1746049433.545176913] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049433.546488798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049433.546747212] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049433.548631560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049433.549848837] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049433.585566454] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049433.588108258] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049433.588107907] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049433.589268989] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049433.589380700] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049433.590316492] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049433.591217624] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049433.645555419] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049433.646564646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049433.647162522] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049433.649217730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049433.650310333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049433.745561979] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049433.746274567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049433.747181142] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049433.749767381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049433.750802670] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049433.835542603] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049433.838298662] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049433.838266364] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049433.839021573] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049433.839505535] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049433.839897227] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049433.840478816] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049433.844409236] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049433.845095654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049433.845532946] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049433.846822853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049433.848041515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049433.945039933] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049433.945709174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049433.946282527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049433.947684373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049433.948829582] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049434.002898074] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972941 Long: -76.50298048 +[vectornav-1] [INFO] [1746049434.004558141] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.369, -3.732, 8.747) +[mux-7] [INFO] [1746049434.045208080] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049434.045876533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049434.046696496] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049434.048825924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049434.049906876] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049434.085722517] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049434.087891704] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049434.088974100] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049434.088556967] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049434.089449752] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049434.089927177] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049434.090629148] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049434.144884606] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049434.145474362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049434.146210737] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049434.147164429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049434.148238354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049434.244220565] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049434.244590022] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049434.244773012] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049434.245612955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049434.246114268] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049434.335732786] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049434.338636850] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049434.339597740] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049434.340341590] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049434.340528045] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049434.341423239] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049434.342416477] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049434.344384720] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049434.344851754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049434.346056661] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049434.346569812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049434.347756581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049434.445715509] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049434.446441775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049434.447363261] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049434.448935883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049434.449470512] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049434.502933248] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972944 Long: -76.50298047 +[vectornav-1] [INFO] [1746049434.504115782] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.36400000000003, -3.714, 8.765) +[mux-7] [INFO] [1746049434.545352249] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049434.546115946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049434.547036012] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049434.548283949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049434.549323822] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049434.585815904] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049434.588414455] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049434.589431766] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049434.588773426] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049434.589310308] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049434.590320476] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049434.591145169] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049434.645138851] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049434.645812495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049434.647066297] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049434.647735256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049434.648326354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049434.745590078] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049434.746205653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049434.747174637] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049434.748496703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049434.749609286] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049434.835758273] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049434.837909996] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049434.838860724] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049434.839403150] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049434.839690480] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049434.840087166] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049434.840475590] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049434.844924201] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049434.845331116] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049434.846125954] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049434.847182877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049434.848455720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049434.945382122] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049434.946096701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049434.946856679] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049434.948481420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049434.949442469] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049435.002972714] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972977 Long: -76.50298055 +[vectornav-1] [INFO] [1746049435.004181694] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.368, -3.697, 8.776) +[mux-7] [INFO] [1746049435.045281585] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049435.045994525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049435.046815515] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049435.048344765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049435.049548849] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049435.086119682] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049435.088897619] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049435.090115294] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049435.089414373] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049435.090977195] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049435.091068153] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049435.092042983] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049435.145386698] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049435.146503070] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049435.147353447] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049435.148972281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049435.150026083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049435.245617083] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049435.246628743] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049435.247494577] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049435.249235402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049435.250406678] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049435.335946700] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049435.339366382] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049435.339593668] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049435.339827224] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049435.340606253] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049435.341544840] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049435.341902848] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049435.344447201] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049435.344978182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049435.345709344] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049435.346656670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049435.347862995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049435.445352357] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049435.446321130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049435.446931773] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049435.447830280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049435.448350886] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049435.502983475] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697299 Long: -76.50298055 +[vectornav-1] [INFO] [1746049435.504392327] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.348, -3.714, 8.738) +[mux-7] [INFO] [1746049435.545432801] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049435.546088260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049435.547009900] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049435.548382196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049435.549478958] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049435.585575683] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049435.587597487] [sailbot.teensy]: Wind angle: 356 +[teensy-2] [INFO] [1746049435.588645133] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049435.589032688] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049435.589208488] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049435.589540015] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049435.590409908] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049435.645246986] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049435.646684486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049435.646945361] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049435.648481189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049435.649020821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049435.745744636] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049435.746355006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049435.747508559] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049435.748624991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049435.749145609] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049435.835806620] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049435.838478794] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049435.838537031] [sailbot.teensy]: Wind angle: 356 +[teensy-2] [INFO] [1746049435.838946604] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049435.838962148] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049435.839345986] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049435.839735349] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049435.844605034] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049435.845427725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049435.845787902] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049435.847303898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049435.848318023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049435.945046490] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049435.945705719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049435.946311278] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049435.947763027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049435.948953398] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049436.002763722] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973006 Long: -76.50298059 +[vectornav-1] [INFO] [1746049436.003897691] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.345, -3.718, 8.755) +[mux-7] [INFO] [1746049436.044991348] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049436.045674461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049436.046276611] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049436.047679774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049436.048738912] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049436.085735539] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049436.088852826] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049436.089131712] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049436.090882985] [sailbot.teensy]: Wind angle: 356 +[teensy-2] [INFO] [1746049436.091783578] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049436.092656960] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049436.093470871] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049436.145131392] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049436.145986970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049436.146545490] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049436.147926281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049436.148493943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049436.245648218] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049436.246438829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049436.247849049] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049436.248813069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049436.249909354] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049436.335710637] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049436.339197672] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049436.339341125] [sailbot.teensy]: Wind angle: 357 +[mux-7] [INFO] [1746049436.339513298] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049436.339810972] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049436.340203393] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049436.340572976] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049436.344581687] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049436.345202774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049436.345758482] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049436.346945852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049436.348133139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049436.445750549] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049436.446424606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049436.447614728] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049436.448524953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049436.449046793] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049436.502544105] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973013 Long: -76.50298053 +[vectornav-1] [INFO] [1746049436.503574870] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.33000000000004, -3.729, 8.714) +[mux-7] [INFO] [1746049436.545084726] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049436.545812844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049436.546524536] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049436.547763170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049436.548824677] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049436.585801060] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049436.588802252] [sailbot.teensy]: Wind angle: 356 +[trim_sail-4] [INFO] [1746049436.589253970] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049436.589818986] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049436.590732423] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049436.591046160] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049436.591714921] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049436.645658825] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049436.646357606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049436.648801619] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049436.648845020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049436.649394196] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049436.745370669] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049436.746077270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049436.747663907] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049436.748360600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049436.749683594] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049436.835901070] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049436.838241901] [sailbot.teensy]: Wind angle: 356 +[teensy-2] [INFO] [1746049436.839135790] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049436.838745228] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049436.839370049] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049436.839524995] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049436.839897772] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049436.844451783] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049436.844961298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049436.845614108] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049436.846675313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049436.847770710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049436.945598514] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049436.946381385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049436.948009176] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049436.948326435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049436.948875176] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049437.002756041] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973035 Long: -76.50298099 +[vectornav-1] [INFO] [1746049437.004095940] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.331, -3.689, 8.64) +[mux-7] [INFO] [1746049437.045648577] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049437.046467379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049437.047142163] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049437.048647924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049437.049793365] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049437.085781565] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049437.088100247] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049437.088566693] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049437.090264243] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049437.090945406] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049437.091182301] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049437.092108080] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049437.145427469] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049437.146171523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049437.147321509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049437.150238598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049437.150714772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049437.245654592] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049437.246426478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049437.247239801] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049437.248169023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049437.248698191] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049437.335624374] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049437.338260879] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049437.338313747] [sailbot.teensy]: Wind angle: 355 +[teensy-2] [INFO] [1746049437.339019636] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049437.339270152] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049437.339404153] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049437.339834339] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049437.344727578] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049437.345037943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049437.345866293] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049437.347074703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049437.348195326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049437.445045782] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049437.445627832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049437.446380780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049437.447623147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049437.448685864] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049437.502882551] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973025 Long: -76.50298095 +[vectornav-1] [INFO] [1746049437.504116918] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.34299999999996, -3.483, 9.147) +[mux-7] [INFO] [1746049437.545218894] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049437.545894663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049437.546716393] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049437.548100115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049437.549388959] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049437.585795353] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049437.589055442] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049437.589410470] [sailbot.teensy]: Wind angle: 357 +[mux-7] [INFO] [1746049437.589457035] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049437.590422705] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049437.591312631] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049437.592146275] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049437.645236116] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049437.645970002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049437.646765311] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049437.648700689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049437.649888229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049437.745423075] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049437.746337325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049437.747048487] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049437.748723292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049437.749950173] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049437.836036374] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049437.838778882] [sailbot.teensy]: Wind angle: 358 +[teensy-2] [INFO] [1746049437.839881218] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049437.839692585] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049437.840400822] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049437.840855528] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049437.841815788] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049437.844755780] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049437.845321039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049437.846081262] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049437.847234335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049437.848305739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049437.945765836] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049437.946430694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049437.947453041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049437.948448128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049437.949017111] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049438.003245828] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973032 Long: -76.50298046 +[vectornav-1] [INFO] [1746049438.004394189] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.33799999999997, -3.455, 8.969) +[mux-7] [INFO] [1746049438.045214488] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049438.046026191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049438.046851046] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049438.048248605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049438.049411103] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049438.085399732] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049438.087880399] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049438.088686026] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049438.088841834] [sailbot.teensy]: Wind angle: 358 +[teensy-2] [INFO] [1746049438.089792966] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049438.090673871] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049438.091520047] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049438.145660839] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049438.146313432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049438.149010339] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049438.149467550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049438.151240104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049438.245757729] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049438.246722660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049438.248054381] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049438.248731826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049438.249203146] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049438.336094259] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049438.338680518] [sailbot.teensy]: Wind angle: 358 +[teensy-2] [INFO] [1746049438.339881274] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049438.339272704] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049438.339983374] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049438.340969661] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049438.341880917] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049438.344558268] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049438.345100858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049438.345638800] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049438.347603644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049438.348916086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049438.445145549] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049438.445865297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049438.446590446] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049438.447939862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049438.449113847] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049438.502313126] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973016 Long: -76.5029804 +[vectornav-1] [INFO] [1746049438.503275455] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.31899999999996, -3.524, 8.985) +[mux-7] [INFO] [1746049438.545017515] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049438.545908053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049438.546317067] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049438.547787416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049438.548850113] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049438.585606840] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049438.588234671] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049438.588745900] [sailbot.teensy]: Wind angle: 358 +[mux-7] [INFO] [1746049438.589686302] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049438.589950316] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049438.590883572] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049438.591730155] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049438.645687741] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049438.646092644] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049438.648609381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049438.649007610] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049438.649373239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049438.745678606] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049438.746351777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049438.747554872] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049438.748747438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049438.749858267] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049438.835882900] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049438.838897315] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049438.839293008] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049438.840283538] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049438.840624928] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049438.841608411] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049438.842540404] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049438.844620438] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049438.844844325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049438.846007870] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049438.846524685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049438.847634614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049438.945663876] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049438.946441266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049438.947283549] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049438.948923641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049438.950218561] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049439.002504572] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973022 Long: -76.5029804 +[vectornav-1] [INFO] [1746049439.003618134] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.31399999999996, -3.462, 8.912) +[mux-7] [INFO] [1746049439.045030833] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049439.045817652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049439.046302409] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049439.047830961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049439.048783906] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049439.085315274] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049439.086996957] [sailbot.teensy]: Wind angle: 358 +[teensy-2] [INFO] [1746049439.087900629] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049439.087743050] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049439.088193709] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049439.088734610] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049439.089604681] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049439.145666430] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049439.146400856] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049439.148991894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049439.148994891] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049439.150543297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049439.245629209] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049439.246512200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049439.247265934] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049439.248826676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049439.250072780] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049439.335363767] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049439.337811649] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049439.338359355] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049439.338561151] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049439.338610357] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049439.338958955] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049439.339339555] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049439.344496656] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049439.345318498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049439.346081545] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049439.347082479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049439.348223424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049439.445557346] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049439.446383819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049439.447205142] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049439.448673971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049439.449947472] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049439.502644076] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973009 Long: -76.50298047 +[vectornav-1] [INFO] [1746049439.503807271] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.347, -3.475, 9.125) +[mux-7] [INFO] [1746049439.545292788] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049439.546256593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049439.546863395] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049439.548438709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049439.549609852] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049439.586029321] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049439.589117376] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049439.589698519] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049439.590321105] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049439.591435462] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049439.592348850] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049439.593205447] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049439.645505668] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049439.646208694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049439.647163851] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049439.648618332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049439.650420662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049439.745583152] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049439.747286268] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049439.747219877] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049439.749548700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049439.750828647] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049439.835774433] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049439.838240330] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049439.838940587] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049439.839747642] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049439.840031422] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049439.840806313] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049439.841732570] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049439.844324886] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049439.844805245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049439.845428251] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049439.846453998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049439.847665343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049439.945628998] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049439.946526446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049439.947730203] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049439.948844849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049439.950107266] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049440.002644385] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972988 Long: -76.50298076 +[vectornav-1] [INFO] [1746049440.003667006] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.348, -3.495, 9.107) +[mux-7] [INFO] [1746049440.045248898] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049440.046442045] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049440.048465299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049440.048781362] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049440.049562348] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049440.085822010] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049440.088695915] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049440.088983583] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049440.090133602] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049440.090395232] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049440.091116720] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049440.092070952] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049440.145375968] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049440.146239135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049440.146986455] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049440.148421839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049440.149129308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049440.245647016] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049440.246441193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049440.247231984] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049440.248534940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049440.249053147] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049440.335896973] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049440.338959585] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049440.339792708] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049440.340334410] [sailbot.teensy]: Wind angle: 349 +[teensy-2] [INFO] [1746049440.341427033] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049440.342352708] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049440.343244776] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049440.344466698] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049440.345171401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049440.345711869] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049440.346870583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049440.347938865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049440.445397420] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049440.446273924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049440.447093332] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049440.448894988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049440.450085431] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049440.502325485] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973027 Long: -76.50298001 +[vectornav-1] [INFO] [1746049440.503336735] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.327, -3.469, 8.971) +[mux-7] [INFO] [1746049440.545023911] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049440.545761640] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049440.546257433] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049440.547765395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049440.549016121] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049440.585373166] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049440.587418565] [sailbot.teensy]: Wind angle: 358 +[trim_sail-4] [INFO] [1746049440.588246674] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049440.588480978] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049440.589367485] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049440.589611363] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049440.590253347] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049440.645003120] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049440.645764613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049440.646276034] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049440.647767300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049440.649073537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049440.744828913] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049440.745951201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049440.746184445] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049440.747847325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049440.749049479] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049440.835545990] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049440.838764714] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049440.839177873] [sailbot.teensy]: Wind angle: 358 +[mux-7] [INFO] [1746049440.839318324] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049440.839702599] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049440.840091436] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049440.840951364] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049440.844388022] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049440.845261265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049440.845502592] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049440.847293462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049440.848455738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049440.944886731] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049440.946032314] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049440.946694161] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049440.948745465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049440.950163911] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049441.001383704] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973021 Long: -76.50298074 +[vectornav-1] [INFO] [1746049441.001889125] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.337, -3.529, 9.076) +[mux-7] [INFO] [1746049441.045033223] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049441.045914725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049441.046281781] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049441.047094838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049441.048228940] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049441.085457061] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049441.087873913] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049441.088708568] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049441.089505491] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049441.090499081] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049441.091386367] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049441.092237960] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049441.144968795] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049441.145621048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049441.146602394] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049441.148232645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049441.149397793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049441.245694316] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049441.247495723] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049441.247792793] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049441.249992878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049441.251102686] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049441.335825271] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049441.338184039] [sailbot.teensy]: Wind angle: 358 +[trim_sail-4] [INFO] [1746049441.338664366] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049441.339303061] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049441.340282638] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049441.340274619] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049441.341249841] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049441.344287935] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049441.344882331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049441.345409435] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049441.347403305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049441.348597680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049441.445277975] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049441.445999533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049441.446877313] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049441.448192786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049441.448938918] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049441.502661380] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973011 Long: -76.50298085 +[vectornav-1] [INFO] [1746049441.503775873] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.318, -3.644, 9.026) +[mux-7] [INFO] [1746049441.545026714] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049441.545737170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049441.546494539] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049441.548115220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049441.549286927] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049441.585626882] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049441.588346415] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049441.588899380] [sailbot.teensy]: Wind angle: 358 +[mux-7] [INFO] [1746049441.589954527] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049441.590057520] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049441.591060384] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049441.591903154] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049441.644955654] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049441.645624131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049441.646267519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049441.647518444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049441.648581866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049441.745059055] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049441.745934435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049441.746528761] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049441.748303474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049441.748868307] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049441.835412191] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049441.838173158] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049441.838770791] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049441.838847261] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049441.839189170] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049441.839616567] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049441.840290883] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049441.844462181] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049441.844956916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049441.845755490] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049441.846587857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049441.847754001] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049441.944876262] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049441.945756334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049441.946090913] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049441.947579239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049441.948424920] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049442.002686408] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972997 Long: -76.50298076 +[vectornav-1] [INFO] [1746049442.003872073] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.28999999999996, -3.429, 8.983) +[mux-7] [INFO] [1746049442.044936409] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049442.045672080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049442.046244775] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049442.047546794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049442.048618093] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049442.085568971] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049442.088214272] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049442.088507147] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049442.089707118] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049442.090512056] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049442.090644811] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049442.091533035] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049442.145417868] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049442.145434677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049442.146615658] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049442.147317515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049442.148416017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049442.245504995] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049442.246372824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049442.247150704] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049442.249032343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049442.250183601] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049442.335599209] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049442.337629268] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049442.338308971] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049442.339416794] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049442.339737957] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049442.340699705] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049442.341574859] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049442.344457372] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049442.344807365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049442.345605180] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049442.346468675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049442.347530161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049442.445822868] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049442.446451460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049442.447713770] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049442.449101054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049442.449551331] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049442.502322230] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973012 Long: -76.50298097 +[vectornav-1] [INFO] [1746049442.503279643] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.29200000000003, -3.423, 9.068) +[mux-7] [INFO] [1746049442.544836542] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049442.545297577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049442.546096334] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049442.547062348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049442.548203317] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049442.585959252] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049442.588883657] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049442.589127675] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049442.589876318] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049442.590100249] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049442.590992249] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049442.591939693] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049442.644856759] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049442.645476539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049442.646339698] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049442.647436063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049442.648494506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049442.745166107] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049442.746157944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049442.746638128] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049442.748400516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049442.749823995] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049442.835350964] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049442.837615238] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049442.838168349] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049442.838747702] [sailbot.teensy]: Wind angle: 357 +[teensy-2] [INFO] [1746049442.839673549] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049442.840623370] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049442.841466367] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049442.844362484] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049442.844963482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049442.845561776] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049442.846691713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049442.847848540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049442.945398455] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049442.946164859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049442.947660755] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049442.949349458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049442.950336358] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049443.002768068] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697302 Long: -76.50298115 +[vectornav-1] [INFO] [1746049443.003895126] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.294, -3.414, 9.095) +[mux-7] [INFO] [1746049443.045377672] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049443.046376785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049443.046962770] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049443.048696708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049443.049801856] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049443.085639512] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049443.088304553] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049443.088311669] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049443.089385214] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049443.090420302] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049443.091099859] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049443.091353945] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049443.145293633] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049443.146254128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049443.146872917] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049443.148534069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049443.149607097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049443.245528546] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049443.246624786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049443.247212155] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049443.249170157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049443.250331331] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049443.335850955] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049443.338730960] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049443.338733905] [sailbot.teensy]: Wind angle: 357 +[teensy-2] [INFO] [1746049443.339874616] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049443.340475919] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049443.340929077] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049443.342146058] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049443.344430110] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049443.345183723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049443.346160672] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049443.347171853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049443.348373362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049443.445405513] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049443.446107386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049443.446924694] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049443.448351430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049443.449460952] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049443.502549492] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973027 Long: -76.50298132 +[vectornav-1] [INFO] [1746049443.503566271] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.29499999999996, -3.413, 9.113) +[mux-7] [INFO] [1746049443.545347390] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049443.546344220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049443.547285718] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049443.548607797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049443.549826864] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049443.585650043] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049443.587792751] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049443.588346780] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049443.588876883] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049443.589792074] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049443.589826496] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049443.590679441] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049443.644996295] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049443.645713010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049443.646303325] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049443.647712777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049443.649480280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049443.745235498] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049443.746468593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049443.746782253] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049443.748893392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049443.750178783] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049443.835439168] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049443.837996128] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049443.838267347] [sailbot.teensy]: Wind angle: 357 +[mux-7] [INFO] [1746049443.838905017] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049443.839218379] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049443.839680659] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049443.840064041] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049443.844703625] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049443.845917442] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049443.846076825] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049443.847953610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049443.849033433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049443.945787632] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049443.946695604] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049443.948230770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049443.947417973] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049443.948681213] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049444.002718636] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973048 Long: -76.50298112 +[vectornav-1] [INFO] [1746049444.003898805] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.299, -3.404, 9.098) +[mux-7] [INFO] [1746049444.045061059] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049444.045969483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049444.046363795] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049444.048058520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049444.049099723] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049444.085915688] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049444.088500942] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049444.088528430] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049444.089367358] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049444.089525605] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049444.090688711] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049444.091628739] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049444.145630800] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049444.147636879] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049444.148375577] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049444.150312022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049444.151337759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049444.245348206] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049444.246236769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049444.247040329] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049444.247979827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049444.248566860] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049444.335815827] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049444.338540493] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049444.338766260] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049444.339041077] [sailbot.teensy]: Wind angle: 357 +[teensy-2] [INFO] [1746049444.339427102] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049444.339801877] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049444.340191213] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049444.344588327] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049444.345235487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049444.345842581] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049444.347014241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049444.348127451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049444.445211544] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049444.446117384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049444.446785968] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049444.448341597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049444.449531094] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049444.502362804] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973047 Long: -76.50298133 +[vectornav-1] [INFO] [1746049444.503420840] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.31600000000003, -3.412, 9.365) +[mux-7] [INFO] [1746049444.544978652] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049444.545786532] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049444.547715402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049444.546444203] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049444.548881888] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049444.585506901] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049444.587997126] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049444.588673092] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049444.588953046] [sailbot.teensy]: Wind angle: 357 +[teensy-2] [INFO] [1746049444.589370042] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049444.590119331] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049444.591018805] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049444.645596840] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049444.646557210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049444.647258659] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049444.649224811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049444.650450675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049444.745669062] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049444.746432974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049444.747318961] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049444.748787340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049444.749238483] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049444.835615457] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049444.838445996] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049444.839120514] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049444.839297550] [sailbot.teensy]: Wind angle: 357 +[teensy-2] [INFO] [1746049444.839742808] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049444.840115380] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049444.840497726] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049444.844334408] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049444.845062136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049444.845491101] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049444.847329703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049444.848469519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049444.945721264] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049444.947087578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049444.947351274] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049444.949431425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049444.950698268] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049445.002254833] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697305 Long: -76.50298133 +[vectornav-1] [INFO] [1746049445.003215425] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.31600000000003, -3.393, 9.324) +[mux-7] [INFO] [1746049445.045300217] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049445.046085585] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049445.048304935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049445.047075660] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049445.048892287] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049445.085388115] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049445.087666210] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049445.088086735] [sailbot.teensy]: Wind angle: 357 +[mux-7] [INFO] [1746049445.088223089] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049445.089315240] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049445.090354513] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049445.091189742] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049445.145187812] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049445.145968139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049445.146682151] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049445.148214266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049445.149408512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049445.245438734] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049445.246739075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049445.247015582] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049445.248825734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049445.249266242] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049445.335371375] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049445.337747230] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049445.338166723] [sailbot.teensy]: Wind angle: 357 +[mux-7] [INFO] [1746049445.338878797] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049445.338912361] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049445.339313682] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049445.339740345] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049445.344551266] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049445.345189060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049445.345970539] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049445.347952724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049445.349024208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049445.445236363] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049445.445972387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049445.446955485] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049445.447973487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049445.448812586] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049445.502768643] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973016 Long: -76.50298126 +[vectornav-1] [INFO] [1746049445.503930588] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.278, -3.392, 8.934) +[mux-7] [INFO] [1746049445.545256002] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049445.546214107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049445.546979351] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049445.548487157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049445.549605669] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049445.585681565] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049445.587923897] [sailbot.teensy]: Wind angle: 357 +[teensy-2] [INFO] [1746049445.589006312] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049445.588414200] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049445.589738694] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049445.589905976] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049445.590808746] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049445.645734925] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049445.647942359] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049445.648584812] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049445.649349664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049445.650500603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049445.745608868] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049445.746309097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049445.747608181] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049445.748620117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049445.749090423] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049445.835297165] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049445.837636145] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049445.838514736] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049445.838680172] [sailbot.teensy]: Wind angle: 357 +[teensy-2] [INFO] [1746049445.839723423] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049445.840629684] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049445.841027905] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049445.844350964] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049445.844808152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049445.845574190] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049445.846523086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049445.847536746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049445.945215613] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049445.945748771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049445.946723489] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049445.948353866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049445.949544402] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049446.002570764] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973026 Long: -76.50298164 +[vectornav-1] [INFO] [1746049446.003605780] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.283, -3.371, 8.88) +[mux-7] [INFO] [1746049446.045456991] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049446.046056545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049446.047298764] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049446.050021281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049446.051064242] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049446.085391477] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049446.087173197] [sailbot.teensy]: Wind angle: 357 +[teensy-2] [INFO] [1746049446.088144930] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049446.087855944] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049446.089082288] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049446.089444585] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049446.089992570] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049446.145724382] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049446.146373794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049446.147717188] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049446.148610612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049446.149247483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049446.245655054] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049446.246232407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049446.247449461] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049446.248474508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049446.249628878] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049446.335975997] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049446.338387547] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049446.339053874] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049446.339320360] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049446.339454176] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049446.339860919] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049446.340420442] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049446.344460340] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049446.345040384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049446.345589066] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049446.346726765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049446.347896889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049446.445621569] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049446.446280605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049446.447324146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049446.448840312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049446.450142504] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049446.502538985] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973058 Long: -76.50298132 +[vectornav-1] [INFO] [1746049446.503565771] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.23900000000003, -3.384, 8.67) +[mux-7] [INFO] [1746049446.544725941] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049446.545830875] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049446.545826948] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049446.547719601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049446.548997600] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049446.585515633] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049446.588137213] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049446.588353700] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049446.589123429] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049446.590056020] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049446.590138631] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049446.590980376] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049446.645522131] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049446.646324970] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049446.648778587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049446.649464923] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049446.649986445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049446.745422103] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049446.746054531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049446.747155896] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049446.748448408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049446.749603623] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049446.835710883] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049446.838227608] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049446.838700003] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049446.838858261] [sailbot.teensy]: Wind angle: 334 +[teensy-2] [INFO] [1746049446.839263804] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049446.839644496] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049446.840025539] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049446.844504966] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049446.844969653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049446.845681925] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049446.846677368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049446.847709730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049446.945744215] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049446.946320974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049446.947903538] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049446.949335960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049446.950574637] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049447.002274351] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973055 Long: -76.50298147 +[vectornav-1] [INFO] [1746049447.003309336] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.221, -3.384, 8.513) +[mux-7] [INFO] [1746049447.045305084] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049447.046206327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049447.046754101] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049447.048384843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049447.049454476] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049447.085261114] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049447.087445894] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049447.088239300] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049447.088575274] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049447.089585158] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049447.090532704] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049447.091409225] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049447.145158034] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049447.145919786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049447.147892028] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049447.148720143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049447.149840574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049447.245254071] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049447.246089404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049447.246737055] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049447.247958436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049447.248527393] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049447.335481959] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049447.337499304] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049447.338406175] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049447.338592242] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049447.339476266] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049447.339248728] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049447.340457912] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049447.344761612] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049447.345214448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049447.345918048] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049447.346989322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049447.348032728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049447.445255925] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049447.446190558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049447.446780245] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049447.448341930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049447.449510314] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049447.502546345] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973059 Long: -76.5029815 +[vectornav-1] [INFO] [1746049447.503597776] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26099999999997, -3.371, 8.86) +[mux-7] [INFO] [1746049447.545262699] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049447.546034814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049447.546805762] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049447.548585841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049447.549615528] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049447.585567846] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049447.587663358] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049447.588200585] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049447.588737486] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049447.589617701] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049447.589647416] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049447.590519059] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049447.645392067] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049447.646365156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049447.647025289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049447.648988719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049447.650058042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049447.745758587] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049447.747227053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049447.747402614] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049447.748915124] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049447.749364567] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049447.835673767] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049447.837849278] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049447.838544956] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049447.840117466] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049447.840206159] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049447.841111542] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049447.841649745] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049447.844457900] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049447.845872902] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049447.846003946] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049447.847769514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049447.848926130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049447.945509200] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049447.946069926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049447.947602036] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049447.948288523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049447.949857146] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049448.002786552] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973045 Long: -76.50298174 +[vectornav-1] [INFO] [1746049448.003959755] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.235, -3.367, 8.589) +[mux-7] [INFO] [1746049448.045669630] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049448.046198569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049448.047485050] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049448.050076664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049448.051156868] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049448.085741269] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049448.088555058] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049448.089279310] [sailbot.teensy]: Wind angle: 333 +[mux-7] [INFO] [1746049448.090008307] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049448.090233840] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049448.091147711] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049448.092020839] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049448.145337309] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049448.146287237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049448.146911273] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049448.148558153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049448.149075094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049448.245666214] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049448.246393890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049448.247596068] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049448.248399530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049448.249754235] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049448.335772718] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049448.338577526] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049448.339172113] [sailbot.teensy]: Wind angle: 334 +[mux-7] [INFO] [1746049448.339373852] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049448.340685560] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049448.341578830] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049448.342415851] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049448.344472519] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049448.344907507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049448.345575215] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049448.346719897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049448.347756877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049448.445563432] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049448.447079829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049448.447212812] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049448.449265222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049448.450494384] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049448.502259159] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973051 Long: -76.50298168 +[vectornav-1] [INFO] [1746049448.503228583] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.214, -3.378, 8.43) +[mux-7] [INFO] [1746049448.544922744] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049448.545604057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049448.546194323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049448.547669861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049448.548883197] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049448.585781980] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049448.588175837] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049448.589066780] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049448.589218819] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049448.589717731] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049448.590133586] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049448.591413249] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049448.645420761] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049448.646275606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049448.647176483] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049448.649981694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049448.651076326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049448.745545915] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049448.746584913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049448.747236742] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049448.748068197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049448.748591778] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049448.835385817] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049448.837309349] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746049448.837738383] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049448.838233513] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049448.838793231] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049448.838851984] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049448.839225675] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049448.844600123] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049448.845076750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049448.845742013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049448.847089578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049448.848259019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049448.945762109] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049448.946325446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049448.947753243] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049448.948694269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049448.950734642] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049449.002693365] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697308 Long: -76.50298186 +[vectornav-1] [INFO] [1746049449.003816386] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.209, -3.374, 8.445) +[mux-7] [INFO] [1746049449.045038922] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049449.045821969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049449.046330975] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049449.047638974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049449.048762673] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049449.085520091] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049449.088200938] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049449.089131172] [sailbot.teensy]: Wind angle: 333 +[mux-7] [INFO] [1746049449.089408440] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049449.090080018] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049449.090986257] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049449.091807494] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049449.145414210] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049449.147129731] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049449.147233721] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049449.149602113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049449.150783944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049449.245304300] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049449.245833838] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049449.247353863] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049449.248867514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049449.249387442] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049449.335198472] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049449.336891365] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049449.337425394] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049449.337831536] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049449.338778102] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049449.339640489] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049449.339693120] [sailbot.mux]: algo sail angle: 80 +[mux-7] [INFO] [1746049449.344431534] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049449.344997419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049449.345597283] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049449.346664828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049449.347700217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049449.444988821] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049449.445631109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049449.446301469] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049449.447537487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049449.448503618] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049449.502651924] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973107 Long: -76.50298186 +[vectornav-1] [INFO] [1746049449.503743760] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.21500000000003, -3.36, 8.53) +[mux-7] [INFO] [1746049449.544830489] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049449.545365468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049449.546022254] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049449.547201224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049449.548377708] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049449.585929581] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049449.589179525] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049449.589373265] [sailbot.teensy]: Wind angle: 334 +[teensy-2] [INFO] [1746049449.590391997] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049449.590789841] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049449.591327895] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049449.592233361] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049449.645368925] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049449.645973467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049449.646954277] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049449.648078968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049449.648773664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049449.745341318] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049449.746901977] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049449.747017273] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049449.748918176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049449.749850075] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049449.835571068] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049449.838461724] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049449.838516690] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049449.839448858] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049449.840066557] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049449.840389861] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049449.841011451] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049449.844632450] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049449.845070275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049449.845812899] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049449.846789937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049449.847841538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049449.945327452] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049449.946025466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049449.946802675] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049449.948467045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049449.949562655] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049450.002324160] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469731 Long: -76.5029822 +[vectornav-1] [INFO] [1746049450.003387345] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.233, -3.347, 8.622) +[mux-7] [INFO] [1746049450.045301466] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049450.046228306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049450.046841937] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049450.048413033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049450.049445034] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049450.085813190] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049450.088492912] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049450.088554744] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049450.089578010] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049450.090364620] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049450.090488772] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049450.091414700] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049450.145137206] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049450.145779885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049450.147113569] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049450.149341234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049450.150372569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049450.245283846] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049450.246083597] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049450.247175562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049450.247899677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049450.248432668] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049450.335498884] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049450.337519099] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049450.338211350] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049450.338546709] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049450.339441879] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049450.339476491] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049450.340358936] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049450.344355008] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049450.345498821] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049450.345784810] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049450.347626578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049450.348680638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049450.445400316] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049450.446087462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049450.447081919] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049450.448436982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049450.449031053] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049450.502292717] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973096 Long: -76.50298216 +[vectornav-1] [INFO] [1746049450.503266472] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.23699999999997, -3.349, 8.632) +[mux-7] [INFO] [1746049450.544926817] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049450.545952055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049450.546228898] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049450.547813611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049450.548359549] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049450.585296228] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049450.587451391] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049450.587555717] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049450.588546864] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049450.589187405] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049450.589446682] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049450.590328529] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049450.645555073] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049450.646324663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049450.647425452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049450.649689858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049450.650852148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049450.745034561] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049450.745748889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049450.746274547] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049450.747703087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049450.748748354] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049450.835454112] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049450.837788534] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049450.838240960] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049450.838897263] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049450.839499572] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049450.840519975] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049450.841092546] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049450.844446739] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049450.844989320] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049450.846651252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049450.845521905] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049450.847652228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049450.945511441] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049450.946424933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049450.947138846] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049450.948568239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049450.949038425] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049451.002980791] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973125 Long: -76.50298267 +[vectornav-1] [INFO] [1746049451.004678046] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.235, -3.345, 8.631) +[mux-7] [INFO] [1746049451.045213371] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049451.046026568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049451.046763925] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049451.048954662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049451.050077984] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049451.086017962] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049451.089167517] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049451.089551413] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049451.089709327] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049451.090845969] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049451.091757917] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049451.092628096] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049451.145668531] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049451.146366642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049451.147485014] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049451.148895840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049451.150196301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049451.245221776] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049451.246227682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049451.246706504] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049451.248343850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049451.249385839] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049451.335389233] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049451.337846753] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049451.338294264] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049451.338820030] [sailbot.teensy]: Wind angle: 357 +[teensy-2] [INFO] [1746049451.339231615] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049451.339599973] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049451.339963757] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049451.344416721] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049451.344896323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049451.345514690] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049451.346525189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049451.347564169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049451.445565576] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049451.446679845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049451.447120584] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049451.449400652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049451.450524543] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049451.502439496] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973106 Long: -76.50298283 +[vectornav-1] [INFO] [1746049451.503427039] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.235, -3.348, 8.635) +[mux-7] [INFO] [1746049451.545248698] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049451.546296780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049451.546712354] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049451.548530234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049451.549013617] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049451.585377269] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049451.587734351] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049451.588009087] [sailbot.teensy]: Wind angle: 357 +[teensy-2] [INFO] [1746049451.588974790] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049451.589225565] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049451.590084595] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049451.590961319] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049451.645194872] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049451.645757966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049451.646604434] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049451.647799295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049451.648988703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049451.745200182] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049451.745694622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049451.746662766] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049451.747867476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049451.749277795] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049451.835586342] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049451.838070059] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049451.838374661] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049451.839225895] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049451.840579179] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049451.841498895] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049451.842380997] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049451.844335719] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049451.844947799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049451.845424866] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049451.846629481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049451.847795671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049451.945671514] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049451.946505305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049451.947399787] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049451.949124173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049451.950262695] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049452.002784129] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697312 Long: -76.50298305 +[vectornav-1] [INFO] [1746049452.003931581] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.247, -3.346, 8.714) +[mux-7] [INFO] [1746049452.045120671] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049452.045914670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049452.046498761] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049452.048041853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049452.049079601] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049452.085624405] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049452.088297288] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049452.088398794] [sailbot.teensy]: Wind angle: 357 +[mux-7] [INFO] [1746049452.089129218] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049452.089303981] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049452.090161501] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049452.091032123] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049452.145974445] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049452.146720446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049452.148047123] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049452.149138652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049452.150527848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049452.245264969] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049452.246198431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049452.246862104] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049452.247934694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049452.248465532] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049452.335552721] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049452.337385774] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049452.337999001] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049452.338323457] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049452.339203557] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049452.340099850] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049452.339394190] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049452.344317216] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049452.344948812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049452.345681374] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049452.346695969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049452.347841596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049452.445660356] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049452.446792887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049452.447398464] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049452.449272125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049452.450461243] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049452.502357550] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973128 Long: -76.50298319 +[vectornav-1] [INFO] [1746049452.503808194] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.247, -3.342, 8.774) +[mux-7] [INFO] [1746049452.545113155] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049452.545858582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049452.546479287] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049452.547923551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049452.548846200] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049452.585521361] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049452.587505732] [sailbot.teensy]: Wind angle: 356 +[teensy-2] [INFO] [1746049452.588553272] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049452.588207693] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049452.589196221] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049452.589429754] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049452.590272550] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049452.644996238] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049452.645587350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049452.646303368] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049452.647391614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049452.649111720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049452.745449810] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049452.746245736] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049452.747038109] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049452.748617806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049452.749746529] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049452.835847234] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049452.838328381] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049452.838852445] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049452.839397016] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049452.840286437] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049452.840077532] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049452.841171115] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049452.844949800] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049452.845205978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049452.846146612] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049452.846918912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049452.848106966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049452.945799978] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049452.946625114] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049452.947762278] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049452.949010289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049452.950240584] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049453.002759726] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973098 Long: -76.50298336 +[vectornav-1] [INFO] [1746049453.003908265] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.28200000000004, -3.339, 9.051) +[mux-7] [INFO] [1746049453.045653665] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049453.046201023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049453.047328414] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049453.048839798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049453.050051563] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049453.085558135] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049453.087558541] [sailbot.teensy]: Wind angle: 355 +[teensy-2] [INFO] [1746049453.088626617] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049453.088421694] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049453.089485137] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049453.089665680] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049453.090404270] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049453.145349981] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049453.146888398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049453.147367494] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049453.148739073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049453.149290015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049453.245240487] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049453.245835243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049453.246758783] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049453.247805217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049453.249013559] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049453.335316597] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049453.337237726] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049453.337537477] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049453.338292146] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049453.339104719] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049453.339453040] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049453.340196002] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049453.344488333] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049453.344927124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049453.345699747] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049453.346598455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049453.347801401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049453.445405027] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049453.446242146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049453.447225308] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049453.448699909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049453.449759851] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049453.502480302] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973089 Long: -76.50298371 +[vectornav-1] [INFO] [1746049453.503553165] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26, -3.351, 8.849) +[mux-7] [INFO] [1746049453.545055307] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049453.546127120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049453.546460386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049453.548205047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049453.549376514] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049453.585675823] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049453.588165903] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049453.588660859] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049453.589229934] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049453.590170749] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049453.589552119] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049453.591033990] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049453.645657538] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049453.646524984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049453.647497576] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049453.650332945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049453.651565275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049453.745236816] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049453.746053887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049453.746876062] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049453.748343371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049453.749389075] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049453.835700734] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049453.838829987] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049453.839584720] [sailbot.teensy]: Wind angle: 356 +[mux-7] [INFO] [1746049453.839843830] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049453.840558815] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049453.841440287] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049453.842281400] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049453.844395381] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049453.845487578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049453.845519286] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049453.847410732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049453.848456205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049453.945572366] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049453.946414350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049453.947154402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049453.948691246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049453.949485452] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049454.002802653] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973102 Long: -76.50298401 +[vectornav-1] [INFO] [1746049454.003955093] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.262, -3.355, 8.899) +[mux-7] [INFO] [1746049454.044832711] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049454.045460477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049454.046003319] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049454.047224387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049454.048315736] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049454.085696852] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049454.087956385] [sailbot.teensy]: Wind angle: 356 +[trim_sail-4] [INFO] [1746049454.088946801] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049454.089042939] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049454.089991566] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049454.090356117] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049454.090885472] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049454.145190315] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049454.146093883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049454.146640464] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049454.148251656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049454.149191511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049454.245359520] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049454.246213648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049454.247585969] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049454.248392094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049454.249021365] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049454.335591137] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049454.338168499] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049454.338298923] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049454.338899036] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049454.339013576] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049454.339277455] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049454.339665122] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049454.344606091] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049454.345137043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049454.345808663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049454.346902899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049454.348021125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049454.445638626] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049454.446400726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049454.447526477] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049454.450159081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049454.451387394] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049454.502572384] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973106 Long: -76.50298423 +[vectornav-1] [INFO] [1746049454.503906149] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.185, -3.357, 8.316) +[mux-7] [INFO] [1746049454.544982439] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049454.545833271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049454.546277434] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049454.548004296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049454.549063170] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049454.585541312] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049454.588305205] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049454.589090073] [sailbot.teensy]: Wind angle: 356 +[mux-7] [INFO] [1746049454.589224806] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049454.590008524] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049454.590911203] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049454.591762734] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049454.645209049] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049454.646022155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049454.647730652] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049454.649394937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049454.650485645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049454.745252226] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049454.746282658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049454.747316602] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049454.749160048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049454.750242876] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049454.835424668] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049454.837287421] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049454.838167171] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049454.838278188] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049454.839164014] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049454.839168065] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049454.840099974] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049454.844473763] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049454.845137555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049454.845906866] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049454.847026788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049454.848100729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049454.945475038] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049454.946538789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049454.947548833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049454.948937637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049454.950099532] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049455.002760127] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973121 Long: -76.5029842 +[vectornav-1] [INFO] [1746049455.003902730] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.212, -3.357, 8.509) +[mux-7] [INFO] [1746049455.045655126] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049455.046701568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049455.047255585] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049455.049422636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049455.050476628] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049455.086076743] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049455.089140279] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049455.089453070] [sailbot.teensy]: Wind angle: 355 +[teensy-2] [INFO] [1746049455.090522852] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049455.090524620] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049455.091442144] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049455.092382768] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049455.145655072] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049455.146535148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049455.147205452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049455.148901837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049455.150005556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049455.245175369] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049455.245834426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049455.246540623] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049455.248296959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049455.249054619] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049455.335800195] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049455.337966264] [sailbot.teensy]: Wind angle: 355 +[teensy-2] [INFO] [1746049455.339083601] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049455.339878132] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049455.340039781] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049455.340967202] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049455.341491480] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049455.344298051] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049455.345420984] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049455.345637534] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049455.347348416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049455.348551382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049455.445311144] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049455.446021846] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049455.448086558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049455.446853556] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049455.449261580] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049455.502547411] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973114 Long: -76.5029842 +[vectornav-1] [INFO] [1746049455.503627797] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.22, -3.354, 8.571) +[mux-7] [INFO] [1746049455.545471140] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049455.546318191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049455.547095430] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049455.549161080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049455.550282062] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049455.585831580] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049455.588738107] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049455.589331294] [sailbot.teensy]: Wind angle: 355 +[mux-7] [INFO] [1746049455.590272615] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049455.590294908] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049455.591197208] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049455.592061432] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049455.645287821] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049455.646226991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049455.646801383] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049455.648816904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049455.649978436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049455.745344919] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049455.746203554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049455.746884734] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049455.748543773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049455.749727277] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049455.835825096] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049455.838049879] [sailbot.teensy]: Wind angle: 355 +[teensy-2] [INFO] [1746049455.838959142] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049455.838799474] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049455.839336861] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049455.839448442] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049455.839703029] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049455.844388706] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049455.845160451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049455.845523439] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049455.846870602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049455.847933873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049455.945631158] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049455.946258848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049455.947299810] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049455.948951192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049455.950023876] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049456.002445894] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973096 Long: -76.50298436 +[vectornav-1] [INFO] [1746049456.003510915] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.212, -3.358, 8.52) +[mux-7] [INFO] [1746049456.045376854] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049456.046374205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049456.046912500] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049456.048552196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049456.049734204] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049456.085351603] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049456.087270169] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049456.087590551] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049456.088460263] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049456.088571424] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049456.089404473] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049456.090247339] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049456.145293805] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049456.146217537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049456.147732918] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049456.148700160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049456.149751759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049456.245741080] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049456.246547800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049456.247597704] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049456.250721695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049456.251820491] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049456.335779380] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049456.338306708] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049456.338667798] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049456.339654276] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049456.340391525] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049456.340839590] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049456.341411383] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049456.344388768] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049456.345027319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049456.346053625] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049456.346847799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049456.347983715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049456.445483175] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049456.446228679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049456.447194633] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049456.448773097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049456.449960501] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049456.502710573] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697309 Long: -76.5029843 +[vectornav-1] [INFO] [1746049456.503882689] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.224, -3.361, 8.642) +[mux-7] [INFO] [1746049456.545242641] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049456.545955192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049456.546755479] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049456.548481485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049456.549731420] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049456.585637656] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049456.587857943] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049456.588365011] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049456.589294335] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049456.589758537] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049456.590192895] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049456.591088224] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049456.645257885] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049456.646085336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049456.646794150] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049456.648292094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049456.649647691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049456.745640687] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049456.747306710] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049456.747894965] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049456.749280145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049456.749750658] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049456.835869210] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049456.838761150] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049456.838861218] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049456.839825302] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049456.840138641] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049456.840825378] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049456.841840401] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049456.844302260] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049456.844851261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049456.845385946] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049456.846517938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049456.847735210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049456.944803618] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049456.945622569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049456.946098449] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049456.947367434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049456.947899980] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049457.002401404] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973081 Long: -76.50298428 +[vectornav-1] [INFO] [1746049457.003447650] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.241, -3.366, 8.783) +[mux-7] [INFO] [1746049457.045590406] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049457.046772906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049457.047185218] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049457.049235513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049457.050397383] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049457.085690828] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049457.088294682] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049457.088358224] [sailbot.teensy]: Wind angle: 354 +[teensy-2] [INFO] [1746049457.089358732] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049457.090054085] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049457.090262263] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049457.091206820] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049457.145151116] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049457.146065770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049457.146873520] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049457.148219477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049457.149493463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049457.245282571] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049457.245987380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049457.246907414] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049457.248447689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049457.248964071] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049457.335531483] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049457.337706418] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049457.338184400] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049457.338762398] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049457.339302495] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049457.339429551] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049457.339678244] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049457.344461613] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049457.345053202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049457.345563538] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049457.346787196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049457.347803258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049457.445591711] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049457.446766561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049457.447333395] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049457.449312722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049457.450559720] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049457.502789700] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973082 Long: -76.50298422 +[vectornav-1] [INFO] [1746049457.504063984] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.235, -3.367, 8.737) +[mux-7] [INFO] [1746049457.545110277] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049457.546112183] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049457.546593499] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049457.547750447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049457.548235568] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049457.585497461] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049457.587475828] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049457.587945788] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049457.588662638] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049457.589668011] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049457.589944536] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049457.590548415] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049457.645220767] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049457.645992465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049457.646869610] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049457.648937507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049457.650002333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049457.745494499] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049457.746720496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049457.747404951] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049457.748368459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049457.748896408] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049457.835735122] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049457.838617342] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049457.839197655] [sailbot.teensy]: Wind angle: 357 +[mux-7] [INFO] [1746049457.840145349] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049457.840211627] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049457.841106668] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049457.841493025] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049457.844450408] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049457.845200356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049457.845527266] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049457.847619542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049457.848765754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049457.945657651] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049457.946344090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049457.947546384] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049457.948904359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049457.949439537] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049458.002544974] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973094 Long: -76.50298425 +[vectornav-1] [INFO] [1746049458.003740122] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.226, -3.373, 8.682) +[mux-7] [INFO] [1746049458.045222856] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049458.046059256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049458.047012805] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049458.048236828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049458.049393267] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049458.085552637] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049458.087722519] [sailbot.teensy]: Wind angle: 356 +[trim_sail-4] [INFO] [1746049458.088437708] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049458.088783932] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049458.089703961] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049458.089755010] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049458.090579961] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049458.145168934] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049458.145763766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049458.146719434] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049458.147749729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049458.148855129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049458.245581483] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049458.246380647] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049458.247522454] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049458.248579614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049458.249122210] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049458.335517794] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049458.338648757] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049458.339280048] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049458.339893263] [sailbot.teensy]: Wind angle: 356 +[teensy-2] [INFO] [1746049458.340900597] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049458.341460303] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049458.341823931] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049458.344093499] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049458.344672494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049458.345404307] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049458.346539729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049458.347596452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049458.445413259] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049458.445980276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049458.447077784] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049458.448184808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049458.449374177] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049458.502394340] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973104 Long: -76.50298422 +[vectornav-1] [INFO] [1746049458.503465005] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.212, -3.369, 8.574) +[mux-7] [INFO] [1746049458.545258496] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049458.545869652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049458.546810412] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049458.548400875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049458.549469516] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049458.585976548] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049458.588783586] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049458.589008483] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049458.589922463] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049458.590701686] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049458.590920844] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049458.591832745] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049458.645738703] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049458.646877930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049458.647697274] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049458.649652353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049458.650908148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049458.745574487] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049458.746655223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049458.747828876] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049458.748260160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049458.748713914] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049458.835544526] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049458.837935597] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049458.837955330] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049458.839367245] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049458.840051220] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049458.841114336] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049458.842036827] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049458.844364512] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049458.844728560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049458.845498270] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049458.846336964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049458.847489345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049458.945683058] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049458.946614347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049458.947472981] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049458.948837433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049458.949338616] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049459.002264200] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973099 Long: -76.50298429 +[vectornav-1] [INFO] [1746049459.003353339] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.211, -3.38, 8.572) +[mux-7] [INFO] [1746049459.045238950] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049459.045996348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049459.046654869] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049459.048251730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049459.049383814] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049459.085636725] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049459.088328225] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049459.089306435] [sailbot.teensy]: Wind angle: 352 +[mux-7] [INFO] [1746049459.089644749] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049459.090706048] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049459.091596912] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049459.092480482] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049459.145044207] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049459.145761090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049459.146429462] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049459.148010093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049459.149176645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049459.245554205] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049459.246364745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049459.247542138] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049459.249150383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049459.250314181] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049459.335674149] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049459.337838851] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049459.338329774] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049459.338900605] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049459.339591528] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049459.339864392] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049459.341040659] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049459.344282575] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049459.344934869] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049459.345447009] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049459.346690250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049459.347721168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049459.445936149] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049459.446610877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049459.447688986] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049459.449043818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049459.450280190] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049459.502916175] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697311 Long: -76.50298432 +[vectornav-1] [INFO] [1746049459.503979612] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.202, -3.384, 8.51) +[mux-7] [INFO] [1746049459.545158648] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049459.545931034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049459.546647407] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049459.548318446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049459.549513905] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049459.585417238] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049459.587285322] [sailbot.teensy]: Wind angle: 351 +[teensy-2] [INFO] [1746049459.588398355] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049459.589052505] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049459.589541918] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049459.589942588] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049459.590622376] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049459.645276951] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049459.646066090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049459.646921776] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049459.648190350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049459.648757208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049459.745356595] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049459.746865678] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049459.747699974] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049459.748503378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049459.749569371] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049459.835911260] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049459.839409848] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049459.839468757] [sailbot.teensy]: Wind angle: 352 +[mux-7] [INFO] [1746049459.839636405] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049459.841551312] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049459.841965707] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049459.842305961] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049459.843580080] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049459.844296648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049459.844779534] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049459.846129905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049459.847224686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049459.945465460] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049459.946179761] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049459.947858016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049459.947137053] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049459.948385502] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049460.002557555] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973117 Long: -76.50298434 +[vectornav-1] [INFO] [1746049460.003778737] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.22, -3.37, 8.661) +[mux-7] [INFO] [1746049460.045234850] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049460.046003832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049460.046734949] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049460.048334750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049460.049377225] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049460.085336630] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049460.087819524] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049460.087927155] [sailbot.teensy]: Wind angle: 350 +[mux-7] [INFO] [1746049460.088838393] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049460.089074552] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049460.089978378] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049460.090855939] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049460.144981213] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049460.145723190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049460.146289606] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049460.147645126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049460.148084166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049460.245079996] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049460.246050619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049460.246537188] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049460.248428759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049460.249601951] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049460.335382130] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049460.337831834] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049460.337932831] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049460.338407735] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049460.338872758] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049460.339740064] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049460.340619081] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049460.344318285] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049460.345013516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049460.345391834] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049460.346698216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049460.347764046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049460.445393565] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049460.446163028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049460.447073187] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049460.448463675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049460.449749530] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049460.502841193] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973131 Long: -76.50298429 +[vectornav-1] [INFO] [1746049460.503946134] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.212, -3.374, 8.613) +[mux-7] [INFO] [1746049460.545112915] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049460.545922041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049460.546582127] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049460.548031634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049460.549255790] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049460.585668717] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049460.588103485] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049460.588674901] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049460.589180258] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049460.589822470] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049460.590103816] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049460.590975106] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049460.645446475] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049460.646252994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049460.647148427] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049460.648824694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049460.650117262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049460.745297293] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049460.746153074] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049460.747130093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049460.748272504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049460.749293339] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049460.835481966] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049460.838316536] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049460.838809162] [sailbot.teensy]: Wind angle: 352 +[mux-7] [INFO] [1746049460.838941951] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049460.839891480] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049460.840581174] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049460.840960320] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049460.844758087] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049460.845126457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049460.845936412] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049460.846823828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049460.847909333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049460.945473200] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049460.946360803] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049460.947535960] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049460.948663648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049460.949185779] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049461.002690981] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973128 Long: -76.50298452 +[vectornav-1] [INFO] [1746049461.003933010] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.212, -3.372, 8.642) +[mux-7] [INFO] [1746049461.045246232] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049461.045938794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049461.046782058] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049461.048035435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049461.049053200] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049461.085481866] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049461.087262100] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049461.088118621] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049461.088210782] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049461.089086575] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049461.089217918] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049461.089946420] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049461.145105308] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049461.145963947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049461.146590080] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049461.148267606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049461.148886533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049461.245219522] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049461.246029577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049461.246789619] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049461.248126083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049461.248773218] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049461.335740281] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049461.338012062] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049461.339048603] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049461.339119029] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049461.340051291] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049461.340049612] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049461.341315708] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049461.344413294] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049461.345002172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049461.345553158] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049461.346892410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049461.348073671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049461.445627156] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049461.446470268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049461.447415891] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049461.449207782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049461.450462369] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049461.502365741] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973144 Long: -76.50298456 +[vectornav-1] [INFO] [1746049461.503338517] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.214, -3.376, 8.602) +[mux-7] [INFO] [1746049461.545151058] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049461.546168690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049461.546574916] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049461.548253531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049461.549407960] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049461.585520798] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049461.588313689] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049461.588367372] [sailbot.teensy]: Wind angle: 348 +[mux-7] [INFO] [1746049461.589111374] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049461.589274919] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049461.590176008] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049461.591001572] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049461.645615134] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049461.646453857] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049461.649041798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049461.649695701] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049461.650238653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049461.745547678] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049461.746506421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049461.747170826] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049461.749273934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049461.750337699] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049461.835550872] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049461.838225759] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049461.838549357] [sailbot.teensy]: Wind angle: 343 +[mux-7] [INFO] [1746049461.838628940] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049461.839625136] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049461.840532410] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049461.841355146] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049461.844907585] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049461.845048800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049461.846405113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049461.847367738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049461.848504443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049461.945482462] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049461.947092657] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049461.947934813] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049461.949470465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049461.949976778] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049462.002396431] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973155 Long: -76.50298474 +[vectornav-1] [INFO] [1746049462.003398607] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.216, -3.365, 8.574) +[mux-7] [INFO] [1746049462.045178042] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049462.046085493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049462.046989791] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049462.048051785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049462.049699467] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049462.085500348] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049462.087205304] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049462.088147477] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049462.088334403] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049462.089279878] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049462.089431615] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049462.090355838] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049462.144820673] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049462.145502742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049462.146127094] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049462.147409136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049462.148418416] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049462.245077985] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049462.245989997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049462.246384915] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049462.248111344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049462.249147867] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049462.335320199] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049462.337863780] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049462.338789946] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049462.337948870] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049462.338996174] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049462.339794663] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049462.340416419] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049462.344477155] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049462.345063525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049462.345560501] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049462.346929074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049462.347995078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049462.445378101] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049462.446167184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049462.446995295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049462.447981569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049462.448418890] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049462.502197811] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973169 Long: -76.50298488 +[vectornav-1] [INFO] [1746049462.503213753] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.18399999999997, -3.362, 8.504) +[mux-7] [INFO] [1746049462.545036210] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049462.545752863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049462.546473175] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049462.547848426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049462.548758867] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049462.585476944] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049462.588397384] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049462.588734752] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049462.588851578] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049462.589773591] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049462.590834243] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049462.591693843] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049462.645344619] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049462.646103736] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049462.647525256] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049462.648577002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049462.649807729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049462.745398596] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049462.746161025] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049462.746975776] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049462.748460304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049462.749008517] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049462.835928338] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049462.838734274] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049462.838976361] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049462.839028024] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049462.839452041] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049462.839847122] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049462.840225576] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049462.844681055] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049462.845282630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049462.846109136] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049462.847113510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049462.848147635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049462.945442469] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049462.946116157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049462.947509845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049462.948340416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049462.949532609] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049463.002440542] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973184 Long: -76.50298493 +[vectornav-1] [INFO] [1746049463.003490533] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.19399999999996, -3.373, 8.505) +[mux-7] [INFO] [1746049463.045159160] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049463.045964317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049463.046545938] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049463.047842960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049463.048930575] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049463.085861159] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049463.088961935] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049463.089206939] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049463.090221437] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049463.090977251] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049463.091133798] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049463.092070697] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049463.145489319] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049463.146146413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049463.147112972] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049463.148354869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049463.148973194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049463.245247052] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049463.245808383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049463.246942513] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049463.248023305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049463.249109598] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049463.335517574] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049463.337521237] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049463.338203991] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049463.338487752] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049463.339344958] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049463.339279064] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049463.340209396] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049463.344347362] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049463.344940783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049463.345439570] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049463.346660980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049463.347806096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049463.445025182] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049463.445762626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049463.446352306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049463.447828825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049463.448877344] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049463.502260581] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973193 Long: -76.50298519 +[vectornav-1] [INFO] [1746049463.503298944] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.217, -3.369, 8.67) +[mux-7] [INFO] [1746049463.545202145] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049463.545993205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049463.547041237] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049463.548743943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049463.549818555] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049463.585682188] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049463.587963632] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049463.588263920] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049463.588972540] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049463.589271333] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049463.590051084] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049463.590999588] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049463.645043422] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049463.645725668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049463.646321352] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049463.647616667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049463.648856142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049463.745184570] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049463.745909665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049463.746930015] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049463.747929009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049463.749027570] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049463.835447398] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049463.837237533] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049463.837974762] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049463.838967031] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049463.839119953] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049463.839450584] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049463.839889822] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049463.844475480] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049463.844912216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049463.845674096] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049463.846703776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049463.847729295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049463.945363545] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049463.945924647] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049463.947344906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049463.949006250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049463.950314939] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049464.002460554] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973182 Long: -76.50298564 +[vectornav-1] [INFO] [1746049464.003501779] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.219, -3.371, 8.646) +[mux-7] [INFO] [1746049464.045826149] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049464.046908785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049464.048462988] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049464.049382401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049464.050601521] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049464.085244045] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049464.087365463] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049464.087581490] [sailbot.teensy]: Wind angle: 349 +[teensy-2] [INFO] [1746049464.088519480] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049464.088792645] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049464.089410925] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049464.090320225] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049464.145159082] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049464.145867749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049464.146720206] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049464.147899910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049464.149132921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049464.245650563] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049464.246483412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049464.247297811] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049464.248737333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049464.249274723] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049464.335384116] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049464.337811253] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049464.338340038] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049464.338875343] [sailbot.teensy]: Wind angle: 349 +[teensy-2] [INFO] [1746049464.339821315] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049464.340710561] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049464.341568105] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049464.344381973] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049464.344963925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049464.345757357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049464.346970349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049464.348033865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049464.445191769] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049464.445810954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049464.446927709] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049464.447967965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049464.448673730] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049464.502769157] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973169 Long: -76.50298559 +[vectornav-1] [INFO] [1746049464.504392591] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.225, -3.382, 8.627) +[mux-7] [INFO] [1746049464.545265248] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049464.546034075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049464.546721804] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049464.549089329] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049464.550170256] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049464.585630340] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049464.587580707] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049464.588897153] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049464.589000293] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049464.589806716] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049464.589873239] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049464.590779668] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049464.645324377] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049464.646076991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049464.646887348] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049464.648412056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049464.649619342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049464.745188543] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049464.746696721] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049464.747129333] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049464.749009850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049464.750119203] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049464.835560392] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049464.837672637] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049464.838634146] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049464.838109029] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049464.839049443] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049464.839109418] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049464.839479839] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049464.844350749] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049464.844961761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049464.845630690] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049464.846717159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049464.847861882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049464.945440876] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049464.946092210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049464.946989809] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049464.948346575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049464.949613464] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049465.002422689] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973169 Long: -76.50298579 +[vectornav-1] [INFO] [1746049465.003408714] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.224, -3.388, 8.646) +[mux-7] [INFO] [1746049465.045343147] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049465.045862749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049465.046821659] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049465.048017064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049465.048485845] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049465.085387367] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049465.087616445] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049465.088267627] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049465.088469225] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049465.089399088] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049465.090282593] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049465.091108511] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049465.145022842] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049465.146337015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049465.146961838] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049465.149145343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049465.150309240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049465.245076100] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049465.245897465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049465.246431631] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049465.248012259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049465.249151236] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049465.335463010] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049465.337746402] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049465.337795773] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049465.338799293] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049465.338958648] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049465.339198365] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049465.339570642] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049465.344434827] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049465.344889824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049465.345527997] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049465.346598367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049465.347656153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049465.444911731] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049465.446111404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049465.447199769] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049465.447944770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049465.449143616] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049465.502569773] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973182 Long: -76.50298578 +[vectornav-1] [INFO] [1746049465.503602610] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.22, -3.377, 8.626) +[mux-7] [INFO] [1746049465.545223305] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049465.545926673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049465.546867576] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049465.548036139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049465.549076577] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049465.585613839] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049465.588124544] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049465.588567043] [sailbot.teensy]: Wind angle: 346 +[mux-7] [INFO] [1746049465.589107424] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049465.589555726] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049465.590518738] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049465.591409828] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049465.645069744] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049465.645865995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049465.646304945] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049465.647857745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049465.649051383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049465.745199048] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049465.746229745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049465.746681391] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049465.747977875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049465.749515935] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049465.835559645] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049465.837821875] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049465.838474719] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049465.838805477] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049465.840052414] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049465.840963495] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049465.841799534] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049465.844305945] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049465.845365197] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049465.844883894] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049465.846517936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049465.847556882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049465.945015675] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049465.945992010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049465.946661894] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049465.948171661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049465.948757792] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049466.002786046] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973212 Long: -76.50298557 +[vectornav-1] [INFO] [1746049466.004199633] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.182, -3.37, 8.487) +[mux-7] [INFO] [1746049466.045063560] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049466.045811549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049466.046411896] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049466.047727883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049466.048457237] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049466.085690367] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049466.088448868] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049466.088988580] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049466.089604274] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049466.090850294] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049466.091719348] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049466.092656822] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049466.145671520] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049466.147077299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049466.148083648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049466.149461973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049466.150504721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049466.245288886] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049466.246221106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049466.247113867] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049466.248535928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049466.249608342] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049466.335879073] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049466.338883559] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049466.338997321] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049466.340019951] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049466.340594566] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049466.341029304] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049466.341997816] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049466.344343872] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049466.344835441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049466.345566599] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049466.346520772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049466.347652739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049466.445306056] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049466.446245848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049466.447116592] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049466.448730453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049466.450026077] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049466.502586101] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973197 Long: -76.50298574 +[vectornav-1] [INFO] [1746049466.503614045] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.159, -3.367, 8.449) +[mux-7] [INFO] [1746049466.545387426] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049466.546057307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049466.546867795] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049466.548132296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049466.549284158] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049466.585554908] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049466.587541397] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049466.588102731] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049466.588581732] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049466.589523073] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049466.589955109] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049466.590407011] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049466.644712385] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049466.645277618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049466.645939207] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049466.646999670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049466.648081306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049466.745798574] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049466.746346045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049466.747549489] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049466.748761659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049466.750560665] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049466.835630147] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049466.837900493] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049466.838971219] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049466.839155564] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049466.840006603] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049466.840291382] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049466.841208435] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049466.844461884] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049466.845554487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049466.845766346] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049466.847363786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049466.848462967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049466.945653291] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049466.946399894] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049466.948656737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049466.947469838] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049466.949210799] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049467.002747478] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973209 Long: -76.50298556 +[vectornav-1] [INFO] [1746049467.004036886] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.179, -3.375, 8.409) +[mux-7] [INFO] [1746049467.045214467] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049467.046078499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049467.046700774] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049467.048376680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049467.049417470] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049467.085687703] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049467.089179710] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049467.089316917] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049467.089838985] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049467.090557090] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049467.091486431] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049467.092331532] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049467.145426974] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049467.146816667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049467.146945302] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049467.148864286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049467.150019612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049467.245085936] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049467.245591176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049467.246361439] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049467.247391296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049467.249087754] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049467.335481677] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049467.337735108] [sailbot.teensy]: Wind angle: 331 +[trim_sail-4] [INFO] [1746049467.338016900] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049467.338713482] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049467.339599427] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049467.339623869] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049467.340509998] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049467.344310172] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049467.344807180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049467.345425907] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049467.346491350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049467.347733148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049467.445331216] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049467.446362140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049467.446805342] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049467.448707801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049467.449814824] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049467.502491114] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973206 Long: -76.50298554 +[vectornav-1] [INFO] [1746049467.503528450] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.182, -3.379, 8.44) +[mux-7] [INFO] [1746049467.545524349] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049467.546272411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049467.547560116] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049467.548660623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049467.549910099] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049467.586028070] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049467.588832503] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049467.589601906] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049467.589917819] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049467.590890353] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049467.591486624] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049467.591738068] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049467.645552331] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049467.646397901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049467.647731281] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049467.648892744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049467.650029701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049467.745337359] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049467.745926488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049467.747043139] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049467.747988773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049467.749323231] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049467.835562492] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049467.837607314] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049467.838344500] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049467.838630856] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049467.839493731] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049467.839515226] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049467.840221864] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049467.844759265] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049467.845012007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049467.845990493] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049467.846831301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049467.847876367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049467.945819824] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049467.946760549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049467.947561640] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049467.949419929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049467.950787910] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049468.002249677] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973202 Long: -76.50298543 +[vectornav-1] [INFO] [1746049468.003211365] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.214, -3.386, 8.783) +[mux-7] [INFO] [1746049468.045397952] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049468.046082746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049468.047111832] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049468.048259632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049468.050613624] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049468.085569924] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049468.087800442] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049468.088215666] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049468.089928956] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049468.090140394] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049468.091080060] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049468.091912200] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049468.145620810] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049468.146410156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049468.148231396] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049468.149427355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049468.151326972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049468.245456952] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049468.246768920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049468.248172860] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049468.248789103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049468.250045307] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049468.335452444] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049468.337533536] [sailbot.teensy]: Wind angle: 353 +[teensy-2] [INFO] [1746049468.338474209] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049468.337748525] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049468.339043517] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049468.339775126] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049468.340695743] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049468.344260884] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049468.344728235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049468.345368423] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049468.346385256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049468.347988546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049468.445114278] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049468.446038451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049468.446481254] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049468.448591971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049468.449730496] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049468.502659047] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973201 Long: -76.50298554 +[vectornav-1] [INFO] [1746049468.504269504] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.256, -3.386, 9.044) +[mux-7] [INFO] [1746049468.544825545] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049468.545453083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049468.545971672] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049468.548137924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049468.549380204] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049468.585166697] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049468.586965506] [sailbot.teensy]: Wind angle: 353 +[trim_sail-4] [INFO] [1746049468.587335749] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049468.587963990] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049468.588928902] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049468.589659963] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049468.589853502] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049468.645145554] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049468.645929822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049468.646641093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049468.648265147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049468.649577948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049468.744973547] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049468.746098352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049468.746344052] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049468.747870575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049468.748882921] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049468.835553974] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049468.837563481] [sailbot.teensy]: Wind angle: 353 +[trim_sail-4] [INFO] [1746049468.838337641] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049468.838572435] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049468.839466902] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049468.839469251] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049468.840383897] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049468.844418838] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049468.844975678] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049468.845525204] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049468.846654351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049468.847773684] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049468.945328826] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049468.946222034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049468.946828671] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049468.948407301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049468.949426200] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049469.002287593] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973199 Long: -76.50298542 +[vectornav-1] [INFO] [1746049469.003250559] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.291, -3.395, 9.309) +[mux-7] [INFO] [1746049469.045150396] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049469.045817490] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049469.046398425] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049469.047726598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049469.048878158] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049469.085559279] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049469.087786649] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049469.088486935] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049469.088826663] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049469.089717239] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049469.089734498] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049469.090590630] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049469.145406758] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049469.146345246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049469.147120571] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049469.148689428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049469.149807528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049469.245555325] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049469.246647647] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049469.247595945] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049469.248871284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049469.249410706] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049469.335750262] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049469.338034886] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049469.338499407] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049469.339103201] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049469.340204685] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049469.340946404] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049469.341006571] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049469.344386998] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049469.345601322] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049469.346157283] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049469.348071292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049469.349076443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049469.445170045] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049469.445866139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049469.447193918] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049469.447790976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049469.449509318] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049469.502503265] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973196 Long: -76.50298542 +[vectornav-1] [INFO] [1746049469.503569743] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.272, -3.391, 9.323) +[mux-7] [INFO] [1746049469.545235948] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049469.546663984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049469.546815382] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049469.548979507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049469.550040786] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049469.585641421] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049469.588227591] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049469.588792698] [sailbot.teensy]: Wind angle: 355 +[mux-7] [INFO] [1746049469.589859570] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049469.590168314] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049469.591097164] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049469.591951928] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049469.644896931] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049469.645447116] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049469.646233352] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049469.647272708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049469.648365302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049469.745550713] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049469.746172703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049469.747282690] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049469.748267517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049469.748741893] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049469.835289447] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049469.837066393] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746049469.837857952] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049469.838345541] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049469.838933920] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049469.839612034] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049469.839984491] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049469.844548472] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049469.845688455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049469.845728455] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049469.847429636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049469.848479214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049469.945705716] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049469.946433729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049469.947776585] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049469.948834838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049469.950048368] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049470.002295212] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973174 Long: -76.50298558 +[vectornav-1] [INFO] [1746049470.003236061] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.264, -3.4, 9.413) +[mux-7] [INFO] [1746049470.045028569] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049470.045723883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049470.046732422] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049470.047552880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049470.049449282] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049470.085677634] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049470.087756187] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049470.088285906] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049470.089756927] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049470.089943273] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049470.090861075] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049470.091734882] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049470.145296002] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049470.146429352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049470.146845860] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049470.148696100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049470.149836732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049470.245021413] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049470.245760830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049470.246427729] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049470.247868300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049470.249146301] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049470.335508917] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049470.338252780] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049470.339052600] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049470.340098444] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049470.341068194] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049470.341947746] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049470.342778279] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049470.344415268] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049470.344954119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049470.345555645] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049470.346618502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049470.347632319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049470.445038183] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049470.446389350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049470.446392233] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049470.447952415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049470.448405336] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049470.502501341] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973175 Long: -76.50298557 +[vectornav-1] [INFO] [1746049470.503560669] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.139, -3.383, 9.469) +[mux-7] [INFO] [1746049470.545114004] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049470.546012836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049470.546600729] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049470.548183240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049470.549201203] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049470.585746519] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049470.587938236] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049470.589138835] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049470.590074092] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049470.590961010] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746049470.589859331] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049470.590425163] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746049470.645479890] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049470.646755126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049470.647031163] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049470.649051690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049470.649630086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049470.745004376] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049470.745644699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049470.746337326] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049470.747723920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049470.748293525] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049470.835717147] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049470.838494202] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746049470.838622895] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049470.839513101] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049470.839712086] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049470.839906949] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049470.840287387] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049470.844508034] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049470.845145365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049470.845832322] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049470.846868193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049470.847912729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049470.945533698] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049470.946267315] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049470.947115139] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049470.948656031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049470.949257135] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049471.002432933] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973172 Long: -76.50298563 +[vectornav-1] [INFO] [1746049471.003425932] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.81600000000003, -3.406, 9.753) +[mux-7] [INFO] [1746049471.044111978] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049471.044764063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049471.045008172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049471.046155349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049471.047093707] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049471.084359636] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049471.085400157] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049471.085658654] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049471.086217821] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049471.086592566] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049471.086977351] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049471.087366875] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049471.145039729] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049471.145702270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049471.146282559] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049471.149026914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049471.150196563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049471.245045438] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049471.245963550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049471.246443869] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049471.247846112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049471.248351273] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049471.335689944] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049471.338610301] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049471.338771959] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049471.339080841] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049471.339524626] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049471.340328867] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049471.341177589] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049471.344342972] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049471.344972444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049471.345447464] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049471.346745724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049471.347732330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049471.445080321] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049471.446004767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049471.446526893] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049471.447908582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049471.449054895] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049471.502727679] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973171 Long: -76.50298561 +[vectornav-1] [INFO] [1746049471.503956548] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.829, -3.409, 9.727) +[mux-7] [INFO] [1746049471.545163683] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049471.545819790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049471.546590577] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049471.547766958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049471.548719080] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049471.585448087] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049471.587522285] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049471.588080798] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049471.588413267] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049471.588490926] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049471.589410485] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049471.590251141] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049471.645268106] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049471.646073608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049471.646982263] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049471.648257786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049471.649451119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049471.745309406] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049471.746239704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049471.746809564] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049471.748363092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049471.749192284] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049471.835411701] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049471.837999582] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049471.838401691] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049471.838623083] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049471.838993521] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049471.839874516] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049471.840283874] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049471.844430333] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049471.845141384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049471.845519750] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049471.847040059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049471.848224655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049471.945067429] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049471.945741473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049471.946471968] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049471.947677801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049471.948821991] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049472.002827718] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973186 Long: -76.50298554 +[vectornav-1] [INFO] [1746049472.003966594] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.825, -3.411, 9.745) +[mux-7] [INFO] [1746049472.045179056] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049472.045967566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049472.046583617] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049472.049394488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049472.050487190] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049472.085690277] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049472.088841398] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049472.089137310] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049472.089805661] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049472.090749487] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049472.091596577] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049472.092451219] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049472.145228320] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049472.146420102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049472.147215341] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049472.148590094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049472.149604960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049472.245386211] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049472.246154023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049472.247123977] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049472.248550510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049472.249677380] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049472.335610060] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049472.338439874] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049472.338779945] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049472.338991384] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049472.340552895] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049472.341476004] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049472.342332928] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049472.344357899] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049472.344967892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049472.345444167] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049472.346722831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049472.347799045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049472.445603388] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049472.446493689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049472.447123108] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049472.448717169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049472.449938244] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049472.502673056] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973191 Long: -76.50298553 +[vectornav-1] [INFO] [1746049472.503728698] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.799, -3.41, 9.76) +[mux-7] [INFO] [1746049472.545046064] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049472.545736036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049472.546286920] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049472.547555768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049472.548739566] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049472.585798428] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049472.588250321] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049472.588773319] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049472.589394198] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049472.589835246] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049472.590347801] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049472.591191648] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049472.645542060] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049472.646410844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049472.647152586] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049472.649657851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049472.650789219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049472.745403877] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049472.746225173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049472.747012280] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049472.749442074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049472.750578474] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049472.835492548] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049472.838440793] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049472.838706616] [sailbot.teensy]: Wind angle: 346 +[mux-7] [INFO] [1746049472.839306429] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049472.839765622] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049472.840158235] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049472.840818973] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049472.844451842] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049472.845035253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049472.845877221] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049472.846887924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049472.847951538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049472.945555110] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049472.946411821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049472.947295844] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049472.948410933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049472.948907242] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049473.002839068] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973175 Long: -76.50298577 +[vectornav-1] [INFO] [1746049473.004405435] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.79499999999996, -3.408, 9.692) +[mux-7] [INFO] [1746049473.045311665] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049473.046317619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049473.046819761] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049473.048580093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049473.049692893] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049473.086083358] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049473.088686562] [sailbot.teensy]: Wind angle: 353 +[teensy-2] [INFO] [1746049473.089905696] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049473.090999440] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049473.091160188] [sailbot.mux]: algo sail angle: 90 +[trim_sail-4] [INFO] [1746049473.090710429] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049473.091966223] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049473.145593210] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049473.147343200] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049473.147611351] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049473.149652084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049473.150864608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049473.245526088] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049473.246546951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049473.247145712] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049473.249029881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049473.250141163] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049473.335231001] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049473.337117635] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049473.337888309] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049473.338036638] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049473.338927110] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049473.339245050] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049473.339815771] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049473.344430167] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049473.345228768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049473.345542093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049473.347129153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049473.348269739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049473.445488027] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049473.446132610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049473.447050600] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049473.448115827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049473.448652827] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049473.502431873] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973182 Long: -76.50298554 +[vectornav-1] [INFO] [1746049473.503536045] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.786, -3.415, 9.677) +[mux-7] [INFO] [1746049473.545750235] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049473.545873216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049473.547213472] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049473.547937606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049473.548438991] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049473.585363070] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049473.587439201] [sailbot.teensy]: Wind angle: 353 +[trim_sail-4] [INFO] [1746049473.587555593] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049473.588522096] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049473.589434786] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049473.589584758] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049473.590349487] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049473.645320119] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049473.646209691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049473.646831015] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049473.649162452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049473.650420273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049473.745535264] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049473.746633639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049473.747081412] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049473.748966199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049473.749465774] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049473.835766572] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049473.838710371] [sailbot.teensy]: Wind angle: 353 +[trim_sail-4] [INFO] [1746049473.839095130] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049473.839199173] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049473.839392978] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049473.839591773] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049473.839962995] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049473.844490929] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049473.845253540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049473.845970745] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049473.847277853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049473.848574310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049473.945101784] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049473.945946324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049473.946521277] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049473.948097576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049473.949138050] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049474.002517788] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973172 Long: -76.50298563 +[vectornav-1] [INFO] [1746049474.003627142] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.772, -3.414, 9.69) +[mux-7] [INFO] [1746049474.045259567] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049474.046165170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049474.046787973] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049474.048418762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049474.049444500] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049474.085373206] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049474.087628849] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049474.087768724] [sailbot.teensy]: Wind angle: 353 +[teensy-2] [INFO] [1746049474.088692929] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049474.089056293] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049474.089624187] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049474.090539820] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049474.145525546] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049474.146332440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049474.147146874] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049474.150497078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049474.151717470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049474.245518424] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049474.246287509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049474.247601156] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049474.248555618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049474.249755209] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049474.335714734] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049474.338536064] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049474.339045889] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049474.339178337] [sailbot.teensy]: Wind angle: 352 +[teensy-2] [INFO] [1746049474.339590101] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049474.339970963] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049474.340333226] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049474.344534986] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049474.345235005] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049474.345732588] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049474.347040146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049474.348140495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049474.445631443] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049474.447166936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049474.447982688] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049474.448520540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049474.449207177] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049474.503512216] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973173 Long: -76.5029857 +[vectornav-1] [INFO] [1746049474.505443625] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.8, -3.396, 9.74) +[mux-7] [INFO] [1746049474.545027268] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049474.545671329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049474.546320845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049474.547662773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049474.548817656] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049474.585543954] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049474.587577041] [sailbot.teensy]: Wind angle: 351 +[teensy-2] [INFO] [1746049474.588659136] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049474.588148063] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049474.589605889] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049474.590234287] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049474.590490049] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049474.645289909] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049474.646219835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049474.646951741] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049474.648638020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049474.649811776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049474.745728745] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049474.746637383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049474.747439022] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049474.749301370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049474.750595506] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049474.836089971] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049474.838703330] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049474.838917838] [sailbot.teensy]: Wind angle: 351 +[mux-7] [INFO] [1746049474.839280629] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049474.839343878] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049474.839770638] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049474.840148976] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049474.844607606] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049474.845191903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049474.845808654] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049474.847029036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049474.848178943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049474.945613988] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049474.946309746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049474.947190700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049474.948659536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049474.950620434] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049475.002629014] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973165 Long: -76.50298537 +[vectornav-1] [INFO] [1746049475.003793325] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.606, -3.427, 9.816) +[mux-7] [INFO] [1746049475.045176049] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049475.046321742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049475.046625217] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049475.048468526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049475.049640038] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049475.085774405] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049475.088689884] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049475.090281369] [sailbot.teensy]: Wind angle: 347 +[mux-7] [INFO] [1746049475.090542920] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049475.091272451] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049475.092132763] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049475.093023076] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049475.145513250] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049475.146453490] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049475.147128855] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049475.148942219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049475.150058355] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049475.245600555] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049475.246376962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049475.247210684] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049475.247898515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049475.248519324] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049475.335832544] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049475.338442558] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049475.338708875] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049475.339434367] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049475.340785416] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049475.341871918] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049475.342776049] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049475.344500344] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049475.345173887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049475.345615405] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049475.346885994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049475.348016606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049475.445568908] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049475.446671867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049475.447198007] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049475.449556261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049475.451065016] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049475.502786148] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973157 Long: -76.50298514 +[vectornav-1] [INFO] [1746049475.503886976] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.61400000000003, -3.437, 9.768) +[mux-7] [INFO] [1746049475.545006872] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049475.546255516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049475.546448221] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049475.548655122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049475.549782267] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049475.585754230] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049475.588571028] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049475.589485092] [sailbot.teensy]: Wind angle: 347 +[mux-7] [INFO] [1746049475.589709648] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049475.590513283] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049475.591438565] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049475.592353713] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049475.645428166] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049475.646783651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049475.647806456] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049475.649309950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049475.650523866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049475.745132152] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049475.745826741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049475.746724804] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049475.747716296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049475.748268396] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049475.835515703] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049475.837972195] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049475.838304797] [sailbot.teensy]: Wind angle: 348 +[mux-7] [INFO] [1746049475.838431568] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049475.839308925] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049475.840184433] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049475.841006542] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049475.844404775] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049475.844927258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049475.845523293] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049475.846581241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049475.847607938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049475.945583553] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049475.946470528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049475.947179565] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049475.949124984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049475.950347603] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049476.002574326] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973152 Long: -76.50298505 +[vectornav-1] [INFO] [1746049476.003670534] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.60699999999997, -3.445, 9.722) +[mux-7] [INFO] [1746049476.045591254] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049476.046567247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049476.048582957] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049476.048963231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049476.050761784] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049476.085697283] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049476.088259089] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049476.088807059] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049476.089332943] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049476.089843103] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049476.090257643] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049476.091156949] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049476.145335221] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049476.146251643] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049476.146959749] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049476.149326165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049476.150438203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049476.245283697] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049476.246482367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049476.246865042] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049476.249270198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049476.250279780] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049476.335580158] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049476.338553945] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049476.338625605] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049476.339469255] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049476.340644926] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049476.341383740] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049476.341819465] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049476.344515554] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049476.345757515] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049476.346822469] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049476.348531392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049476.349526390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049476.445489190] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049476.446596638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049476.447130645] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049476.448559076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049476.449106894] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049476.502548532] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973155 Long: -76.50298493 +[vectornav-1] [INFO] [1746049476.503594110] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.627, -3.446, 9.733) +[mux-7] [INFO] [1746049476.544730286] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049476.545335879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049476.545990033] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049476.547149195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049476.548386643] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049476.586007580] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049476.588585258] [sailbot.teensy]: Wind angle: 352 +[teensy-2] [INFO] [1746049476.589908992] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049476.589342165] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049476.590521818] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049476.590838176] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049476.591702124] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049476.645501895] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049476.646234702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049476.647057148] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049476.648559437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049476.649795564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049476.745598298] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049476.746363349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049476.747246210] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049476.748290207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049476.749662153] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049476.835348376] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049476.837632190] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049476.838692695] [sailbot.teensy]: Wind angle: 352 +[mux-7] [INFO] [1746049476.839094072] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049476.839858511] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049476.840828942] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049476.841642371] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049476.844294085] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049476.844899198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049476.845447971] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049476.846618218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049476.847655225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049476.945252541] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049476.946737055] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049476.946156456] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049476.948452106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049476.948946809] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049477.002392143] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973142 Long: -76.50298487 +[vectornav-1] [INFO] [1746049477.003353881] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.642, -3.437, 9.839) +[mux-7] [INFO] [1746049477.045300214] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049477.046293422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049477.046892298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049477.048842843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049477.049980534] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049477.085866416] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049477.088327679] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049477.089020586] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049477.089416671] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049477.090175001] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049477.090357733] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049477.091285916] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049477.145141530] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049477.145817736] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049477.146693608] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049477.148833585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049477.149987271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049477.245608457] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049477.246525193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049477.247412459] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049477.248873861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049477.250157763] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049477.335513184] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049477.337987584] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049477.338062063] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049477.338531091] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049477.339062414] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049477.339439692] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049477.339815407] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049477.344377585] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049477.345022874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049477.345672485] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049477.346791031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049477.347849885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049477.445415069] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049477.446176701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049477.446981659] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049477.448402005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049477.449896585] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049477.502812513] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973136 Long: -76.50298472 +[vectornav-1] [INFO] [1746049477.504215004] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.628, -3.429, 9.836) +[mux-7] [INFO] [1746049477.545175331] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049477.546145326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049477.546565814] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049477.548127120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049477.549400718] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049477.585407727] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049477.587729673] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049477.587993693] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049477.588551538] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049477.588689084] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049477.589606051] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049477.590475630] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049477.645319672] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049477.645959298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049477.646849223] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049477.648021968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049477.649917621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049477.745641615] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049477.746855411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049477.747320339] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049477.748093307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049477.748648185] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049477.835541579] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049477.838255825] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049477.838625606] [sailbot.teensy]: Wind angle: 352 +[teensy-2] [INFO] [1746049477.839607738] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049477.839435114] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049477.840571403] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049477.841493539] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049477.844429673] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049477.845132638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049477.845582625] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049477.846952127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049477.847993590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049477.945183315] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049477.946014136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049477.946598505] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049477.948415900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049477.949705017] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049478.002810602] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973131 Long: -76.50298464 +[vectornav-1] [INFO] [1746049478.003956181] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.629, -3.443, 9.754) +[mux-7] [INFO] [1746049478.045532341] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049478.046919914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049478.047168128] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049478.050273972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049478.051486587] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049478.085802487] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049478.088729892] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049478.089203007] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049478.089797039] [sailbot.teensy]: Wind angle: 352 +[teensy-2] [INFO] [1746049478.090866714] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049478.091733856] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049478.092600424] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049478.145496800] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049478.146352853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049478.147080456] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049478.148621628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049478.149819739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049478.245677657] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049478.246379924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049478.247795375] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049478.248781168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049478.249977716] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049478.335474825] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049478.338226505] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049478.338462319] [sailbot.teensy]: Wind angle: 352 +[mux-7] [INFO] [1746049478.338587948] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049478.338974121] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049478.339333872] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049478.339667187] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049478.344744293] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049478.345195314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049478.345971322] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049478.346884487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049478.348707963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049478.445262709] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049478.445943951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049478.446792236] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049478.448050283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049478.449211515] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049478.502561033] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973112 Long: -76.50298461 +[vectornav-1] [INFO] [1746049478.503608221] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.63, -3.446, 9.775) +[mux-7] [INFO] [1746049478.545427346] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049478.546050515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049478.547219199] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049478.548308996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049478.549473117] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049478.586005550] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049478.588728415] [sailbot.teensy]: Wind angle: 352 +[teensy-2] [INFO] [1746049478.589953972] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049478.589424574] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049478.590770617] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049478.590952732] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049478.591896260] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049478.645749002] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049478.646691679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049478.647518893] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049478.649262412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049478.650355892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049478.745465504] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049478.746320441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049478.747247843] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049478.751372897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049478.753731416] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049478.834656530] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049478.836129495] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049478.836444979] [sailbot.teensy]: Wind angle: 352 +[teensy-2] [INFO] [1746049478.837188701] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049478.837367975] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049478.837890917] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049478.838513436] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049478.844067599] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049478.844614148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049478.845016979] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049478.847017882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049478.849174240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049478.945003866] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049478.945576513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049478.946190819] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049478.947325653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049478.948366639] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049479.002371968] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973124 Long: -76.5029847 +[vectornav-1] [INFO] [1746049479.003487123] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.644, -3.449, 9.855) +[mux-7] [INFO] [1746049479.045535854] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049479.046457157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049479.047347750] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049479.048808862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049479.049238319] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049479.085698429] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049479.087789735] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049479.088363618] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049479.088859332] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049479.089796204] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049479.090064503] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049479.090642661] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049479.144927795] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049479.145615418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049479.146244962] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049479.147589825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049479.148897353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049479.245628452] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049479.246542979] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049479.247265163] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049479.249238170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049479.250433560] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049479.335341143] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049479.337449644] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049479.337872298] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049479.339361538] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049479.339728387] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049479.340320876] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049479.341394981] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049479.344329490] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049479.344872714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049479.345431534] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049479.346548369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049479.347705294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049479.445559100] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049479.446325888] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049479.447217408] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049479.449085744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049479.449655571] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049479.502474578] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973115 Long: -76.50298498 +[vectornav-1] [INFO] [1746049479.503517140] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.649, -3.446, 9.891) +[mux-7] [INFO] [1746049479.545112181] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049479.545897364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049479.546565774] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049479.548219261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049479.549219302] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049479.585639550] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049479.588329811] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049479.588841614] [sailbot.teensy]: Wind angle: 351 +[mux-7] [INFO] [1746049479.589641202] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049479.589968620] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049479.590973227] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049479.591862192] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049479.645229467] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049479.645981558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049479.646662416] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049479.648261914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049479.649485523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049479.745137979] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049479.746095899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049479.746767904] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049479.748278069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049479.748810612] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049479.835557697] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049479.837789845] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049479.838221279] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049479.838881799] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049479.840428891] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049479.840727757] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049479.841637258] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049479.844400746] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049479.845086396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049479.845536893] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049479.846780648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049479.847789877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049479.945414654] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049479.946350608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049479.947059063] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049479.947980453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049479.948487009] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049480.002207870] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973153 Long: -76.50298503 +[vectornav-1] [INFO] [1746049480.003143816] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.666, -3.447, 9.961) +[mux-7] [INFO] [1746049480.045336041] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049480.046139527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049480.046949671] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049480.050144977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049480.051266630] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049480.085400342] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049480.087596640] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049480.088352183] [sailbot.teensy]: Wind angle: 351 +[mux-7] [INFO] [1746049480.089013635] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049480.089579650] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049480.090631671] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049480.091461261] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049480.145250385] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049480.146021662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049480.146983282] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049480.147737531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049480.149700513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049480.245599931] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049480.246297684] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049480.247297670] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049480.248837404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049480.250031788] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049480.335507639] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049480.337728095] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049480.338286754] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049480.339381310] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049480.340018975] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049480.340959072] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049480.341797546] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049480.344548378] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049480.345100397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049480.345851484] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049480.346941573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049480.348028222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049480.446403172] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049480.446400235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049480.448026907] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049480.449028529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049480.450188585] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049480.503788542] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697315 Long: -76.50298516 +[vectornav-1] [INFO] [1746049480.505824940] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.671, -3.452, 9.929) +[mux-7] [INFO] [1746049480.545291913] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049480.546079234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049480.546808795] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049480.548188150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049480.549335216] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049480.585357180] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049480.587600645] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049480.588450753] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049480.589196262] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049480.590268088] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049480.591201558] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049480.592041031] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049480.645164209] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049480.646058032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049480.646650965] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049480.649042323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049480.650243585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049480.745399466] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049480.746430442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049480.747009118] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049480.748128579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049480.748676683] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049480.835604326] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049480.837853783] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049480.838367813] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049480.839840749] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049480.840063747] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049480.840874099] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049480.841841219] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049480.844354429] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049480.844874263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049480.845612698] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049480.846645878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049480.848365506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049480.945144650] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049480.945874917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049480.946613176] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049480.947914518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049480.949157535] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049481.002545825] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697314 Long: -76.5029853 +[vectornav-1] [INFO] [1746049481.003573464] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.675, -3.439, 9.979) +[mux-7] [INFO] [1746049481.045003841] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049481.045905074] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049481.046531748] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049481.047672482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049481.048780091] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049481.085567394] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049481.088104507] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049481.088644193] [sailbot.teensy]: Wind angle: 338 +[mux-7] [INFO] [1746049481.089539271] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049481.089590819] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049481.090505557] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049481.091332539] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049481.145193686] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049481.146112877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049481.146672406] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049481.148078716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049481.149172060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049481.245669604] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049481.246421464] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049481.247599077] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049481.248503566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049481.249020141] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049481.335688754] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049481.337887191] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049481.338596591] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049481.339146584] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049481.340086835] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049481.340366475] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049481.340955903] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049481.344390807] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049481.344883106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049481.345657422] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049481.346665725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049481.347808343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049481.445541816] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049481.446192812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049481.447824492] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049481.448376224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049481.449478781] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049481.502165265] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973145 Long: -76.50298548 +[vectornav-1] [INFO] [1746049481.503053481] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.68100000000004, -3.445, 9.933) +[mux-7] [INFO] [1746049481.545497769] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049481.546164899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049481.547149070] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049481.548436951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049481.549411437] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049481.585264210] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049481.587373404] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049481.587480184] [sailbot.teensy]: Wind angle: 338 +[teensy-2] [INFO] [1746049481.588813987] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049481.589053033] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049481.589763261] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049481.590648998] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049481.645467627] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049481.646202882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049481.647162414] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049481.648426664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049481.649500142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049481.745250014] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049481.746005060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049481.746828357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049481.748362113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049481.749420441] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049481.835398407] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049481.838024092] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049481.838467208] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049481.838790107] [sailbot.teensy]: Wind angle: 338 +[teensy-2] [INFO] [1746049481.839764351] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049481.840411889] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049481.840771467] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049481.844886529] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049481.845380904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049481.846198695] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049481.847150985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049481.848355808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049481.945504853] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049481.946085999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049481.947195875] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049481.948341522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049481.950264929] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049482.002593545] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973158 Long: -76.50298549 +[vectornav-1] [INFO] [1746049482.003726137] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.687, -3.448, 9.919) +[mux-7] [INFO] [1746049482.044704798] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049482.046070554] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049482.048258344] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049482.049872315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049482.050768572] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049482.085382194] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049482.087218102] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049482.088131740] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049482.087864269] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049482.088402262] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049482.089131042] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049482.089993057] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049482.145520464] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049482.146245420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049482.147087020] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049482.148310345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049482.149401820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049482.245110434] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049482.245840682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049482.246476469] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049482.247974650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049482.249027417] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049482.335542695] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049482.338120500] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049482.338616006] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049482.339037725] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049482.339278805] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049482.339421460] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049482.339981402] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049482.344367911] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049482.344980308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049482.345446363] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049482.346807627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049482.347896124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049482.445250718] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049482.446206503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049482.446830062] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049482.448245316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049482.448707051] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049482.502382283] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973191 Long: -76.50298563 +[vectornav-1] [INFO] [1746049482.503348758] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.672, -3.453, 9.969) +[mux-7] [INFO] [1746049482.544959344] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049482.545719583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049482.546157715] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049482.547582544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049482.548608221] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049482.585172270] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049482.586701041] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049482.587670420] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049482.587899555] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049482.588581725] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049482.588699820] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049482.589512515] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049482.645147343] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049482.646078128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049482.646617236] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049482.648211642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049482.648991947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049482.745042943] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049482.745742030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049482.746385020] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049482.747799623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049482.748727242] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049482.835520918] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049482.837330574] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049482.838683241] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049482.837833210] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049482.839123280] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049482.839438345] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049482.839823674] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049482.844369177] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049482.845029691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049482.845596753] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049482.847055938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049482.848144738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049482.945323428] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049482.946047199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049482.947168679] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049482.948055570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049482.949564178] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049483.002511721] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973183 Long: -76.50298559 +[vectornav-1] [INFO] [1746049483.003569867] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.704, -3.45, 9.979) +[mux-7] [INFO] [1746049483.044948646] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049483.045713785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049483.046230259] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049483.047618277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049483.049519393] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049483.085687454] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049483.088535460] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049483.089008198] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746049483.089955769] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049483.091077893] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049483.091167714] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049483.092185926] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049483.145417305] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049483.146106041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049483.147110893] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049483.148653979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049483.150015649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049483.245530360] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049483.246443405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049483.247723643] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049483.248610595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049483.249758571] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049483.335743867] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049483.338526957] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049483.338784919] [sailbot.teensy]: Wind angle: 332 +[mux-7] [INFO] [1746049483.339116901] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049483.339186408] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049483.339579584] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049483.339970866] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049483.344462634] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049483.344951587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049483.345890728] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049483.346725111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049483.347949323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049483.444832988] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049483.445208728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049483.445998437] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049483.446852136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049483.448006372] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049483.502364519] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973174 Long: -76.50298567 +[vectornav-1] [INFO] [1746049483.503405209] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.692, -3.46, 10.111) +[mux-7] [INFO] [1746049483.545297448] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049483.546081840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049483.546651643] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049483.548306569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049483.548911943] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049483.585385089] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049483.587771345] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049483.588686617] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049483.588981921] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746049483.589916395] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049483.590848099] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049483.591653041] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049483.645694151] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049483.646191250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049483.647470988] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049483.648478947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049483.649714488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049483.745365909] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049483.746084107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049483.746934503] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049483.748140382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049483.749353142] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049483.835168620] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049483.837161538] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049483.837374313] [sailbot.teensy]: Wind angle: 336 +[mux-7] [INFO] [1746049483.837658141] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049483.838446731] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049483.839124564] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049483.839500888] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049483.844480683] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049483.845063736] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049483.845860728] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049483.846972563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049483.848013624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049483.945476866] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049483.946084164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049483.947404040] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049483.948285052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049483.949365856] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049484.002567788] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973184 Long: -76.50298551 +[vectornav-1] [INFO] [1746049484.003617213] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.724, -3.447, 9.959) +[mux-7] [INFO] [1746049484.045074712] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049484.045942017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049484.046527215] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049484.048722181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049484.049792662] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049484.085545117] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049484.088098181] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049484.088576324] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049484.088775117] [sailbot.teensy]: Wind angle: 346 +[teensy-2] [INFO] [1746049484.089250352] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049484.089619353] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049484.089972579] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049484.144684046] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049484.145478524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049484.146007323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049484.147325907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049484.148373092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049484.245242245] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049484.247206929] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049484.247646945] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049484.249227317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049484.249747086] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049484.335540625] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049484.338054243] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049484.338080396] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049484.339296953] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049484.339943672] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049484.340395527] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049484.341311544] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049484.344253519] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049484.344967711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049484.346542475] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049484.346671860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049484.347846933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049484.445596126] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049484.446486128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049484.447291466] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049484.448839595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049484.449335048] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049484.502517789] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973168 Long: -76.50298553 +[vectornav-1] [INFO] [1746049484.504010484] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.71500000000003, -3.413, 10.017) +[mux-7] [INFO] [1746049484.545016970] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049484.545780454] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049484.546412633] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049484.547635062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049484.548687414] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049484.585766097] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049484.588016112] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049484.588556946] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049484.589115121] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049484.590042188] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049484.590317405] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049484.590935170] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049484.645562707] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049484.646565484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049484.647287172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049484.648889254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049484.650048965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049484.745077604] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049484.745908180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049484.746464874] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049484.747815418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049484.748637192] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049484.835371481] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049484.837972302] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049484.838032855] [sailbot.teensy]: Wind angle: 354 +[mux-7] [INFO] [1746049484.838366811] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049484.839441527] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049484.839822116] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049484.840173509] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049484.844476209] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049484.844969970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049484.845542998] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049484.846941595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049484.847992426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049484.945526661] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049484.946494248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049484.947208571] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049484.948912527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049484.950027594] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049485.002314746] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973176 Long: -76.50298544 +[vectornav-1] [INFO] [1746049485.003291990] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.71299999999997, -3.441, 9.973) +[mux-7] [INFO] [1746049485.045104523] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049485.045819068] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049485.047711162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049485.046694137] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049485.048761485] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049485.085517510] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049485.088140469] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049485.088653204] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049485.089602018] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049485.090099419] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049485.090493647] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049485.091389619] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049485.145022065] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049485.145532715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049485.146407408] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049485.147366097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049485.148546015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049485.245204382] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049485.245905387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049485.246611299] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049485.248317307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049485.249831512] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049485.335402174] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049485.337739721] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049485.338467618] [sailbot.teensy]: Wind angle: 355 +[mux-7] [INFO] [1746049485.338600795] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049485.339312735] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049485.339772339] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049485.340362868] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049485.344378283] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049485.344853829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049485.345453421] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049485.346568604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049485.347587210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049485.445013453] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049485.445733604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049485.446406039] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049485.448085615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049485.449350426] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049485.502410732] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973183 Long: -76.50298547 +[vectornav-1] [INFO] [1746049485.503388660] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.70799999999997, -3.433, 9.995) +[mux-7] [INFO] [1746049485.545220451] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049485.545968669] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049485.546675782] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049485.548363071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049485.549387925] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049485.585369724] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049485.587224397] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049485.588108458] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049485.588121813] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049485.589057057] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049485.589588667] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049485.589982421] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049485.645032278] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049485.645956428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049485.646421298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049485.648066076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049485.648532345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049485.745434464] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049485.746289500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049485.747047927] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049485.748652133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049485.749872329] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049485.835502963] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049485.837848737] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049485.838092468] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049485.839327265] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049485.839887155] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049485.840833082] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049485.841647040] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049485.844521468] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049485.844861605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049485.846708371] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049485.847019774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049485.848200564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049485.945363878] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049485.946175815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049485.946849220] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049485.948402507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049485.949209822] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049486.002814746] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697317 Long: -76.50298536 +[vectornav-1] [INFO] [1746049486.004021946] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.706, -3.43, 9.996) +[mux-7] [INFO] [1746049486.044495169] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049486.045188658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049486.046670347] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049486.047011365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049486.048176479] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049486.085731983] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049486.088561648] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049486.088997587] [sailbot.teensy]: Wind angle: 351 +[teensy-2] [INFO] [1746049486.090003463] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049486.090165725] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049486.090902781] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049486.091792669] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049486.145217175] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049486.145914484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049486.146745855] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049486.149056982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049486.150193503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049486.245532653] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049486.246479673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049486.247094673] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049486.248939278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049486.250062798] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049486.335703827] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049486.338501958] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049486.338586057] [sailbot.teensy]: Wind angle: 340 +[mux-7] [INFO] [1746049486.338718736] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049486.338987427] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049486.339340684] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049486.339981763] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049486.344362072] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049486.344926998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049486.345488710] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049486.346660018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049486.347837154] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049486.445503153] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049486.446451487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049486.446982533] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049486.448459298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049486.449005580] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049486.502650376] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973172 Long: -76.50298526 +[vectornav-1] [INFO] [1746049486.503639823] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.70500000000004, -3.435, 10.036) +[mux-7] [INFO] [1746049486.545053791] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049486.545770234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049486.546399544] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049486.547578693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049486.548754459] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049486.585190197] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049486.587201463] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049486.587579641] [sailbot.teensy]: Wind angle: 338 +[teensy-2] [INFO] [1746049486.588600792] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049486.588685116] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049486.589527442] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049486.590455680] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049486.645334895] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049486.646033520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049486.646950470] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049486.648630252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049486.649148962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049486.745427127] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049486.747404867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049486.747449299] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049486.748485198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049486.748993956] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049486.835723657] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049486.838528867] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049486.839175608] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049486.839778528] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049486.840858080] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049486.841944862] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049486.842809009] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049486.844458748] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049486.845182642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049486.845592405] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049486.846923965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049486.848103455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049486.945457732] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049486.946276793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049486.947215089] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049486.947961624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049486.948542074] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049487.002430157] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973179 Long: -76.5029853 +[vectornav-1] [INFO] [1746049487.003422608] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.699, -3.421, 10.009) +[mux-7] [INFO] [1746049487.044761047] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049487.045542191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049487.045922597] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049487.047290064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049487.048461296] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049487.085700097] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049487.088551549] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049487.089062379] [sailbot.teensy]: Wind angle: 339 +[mux-7] [INFO] [1746049487.089324615] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049487.089482813] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049487.089869429] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049487.090227257] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049487.145067775] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049487.145767908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049487.146412186] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049487.147705223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049487.148799188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049487.245513373] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049487.246217545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049487.247251959] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049487.248484146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049487.250580575] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049487.335264962] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049487.337053193] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049487.337544581] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049487.338062101] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049487.339006470] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049487.339519225] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049487.339859289] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049487.344554009] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049487.345116835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049487.345647308] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049487.346869970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049487.347923839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049487.445636284] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049487.446421957] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049487.447235028] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049487.449015254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049487.450168181] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049487.503401350] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973173 Long: -76.50298521 +[vectornav-1] [INFO] [1746049487.505302450] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.676, -3.403, 9.918) +[mux-7] [INFO] [1746049487.545108934] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049487.545950867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049487.546898995] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049487.547860277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049487.548911031] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049487.585711874] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049487.588559907] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049487.589170969] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049487.590198185] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049487.591178219] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049487.592009413] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049487.592862348] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049487.645378036] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049487.645907494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049487.647250340] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049487.648431367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049487.650085221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049487.745866189] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049487.746698737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049487.747610663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049487.749008069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049487.749518146] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049487.835750523] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049487.838874666] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049487.838987202] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049487.839627820] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049487.839984708] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049487.840994026] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049487.841839404] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049487.844401259] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049487.845046197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049487.845826879] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049487.846754357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049487.847862804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049487.945231028] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049487.945750978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049487.946665861] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049487.947719337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049487.948811942] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049488.002481320] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973174 Long: -76.50298511 +[vectornav-1] [INFO] [1746049488.003496283] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.692, -3.416, 9.913) +[mux-7] [INFO] [1746049488.045434593] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049488.045940505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049488.047126522] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049488.048213020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049488.049407554] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049488.085659074] [sailbot.teensy]: Check telemetry callback entered +[mux-7] [INFO] [1746049488.089212622] [sailbot.mux]: algo sail angle: 80 +[trim_sail-4] [INFO] [1746049488.089598395] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049488.090451671] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049488.091417441] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049488.092265110] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049488.093103021] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049488.145410615] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049488.145993798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049488.146994547] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049488.148235783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049488.150359438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049488.245689370] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049488.246356658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049488.247502186] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049488.248651165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049488.249783743] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049488.335561743] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049488.338168406] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049488.339294852] [sailbot.teensy]: Wind angle: 335 +[mux-7] [INFO] [1746049488.339421138] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049488.339902712] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049488.340299738] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049488.340629587] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049488.344425356] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049488.345011471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049488.345523902] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049488.346741955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049488.347754983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049488.445223432] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049488.446423661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049488.446820133] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049488.448639673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049488.449157360] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049488.502248677] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697317 Long: -76.50298516 +[vectornav-1] [INFO] [1746049488.503257077] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.695, -3.426, 9.893) +[mux-7] [INFO] [1746049488.545072181] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049488.545900011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049488.546347123] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049488.547946045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049488.549081958] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049488.585346978] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049488.586989991] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049488.587957513] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049488.587610118] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049488.588901647] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049488.589706725] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049488.589777708] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049488.645157070] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049488.646026382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049488.646770299] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049488.648503648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049488.649623680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049488.745385744] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049488.746113114] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049488.746992772] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049488.748491823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049488.750347103] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049488.835651993] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049488.838360196] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049488.838438722] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049488.839468123] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049488.840018048] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049488.840387387] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049488.841269908] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049488.844353947] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049488.845416363] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049488.844800306] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049488.846572952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049488.847710689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049488.945328183] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049488.946070902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049488.946773101] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049488.948338732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049488.949398754] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049489.002718656] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973178 Long: -76.50298532 +[vectornav-1] [INFO] [1746049489.004301399] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.70799999999997, -3.41, 9.919) +[mux-7] [INFO] [1746049489.045343585] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049489.047089307] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049489.046902185] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049489.049151034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049489.050376382] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049489.085666622] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049489.087780981] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049489.088849342] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049489.088300422] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049489.088833721] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049489.089756198] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049489.090656763] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049489.145620884] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049489.146259562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049489.147456479] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049489.149352217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049489.150534518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049489.245658815] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049489.246295798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049489.247394287] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049489.249460748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049489.250550348] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049489.335535820] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049489.338000740] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049489.338285361] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049489.338994618] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049489.339231919] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049489.340177614] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049489.340807317] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049489.344539158] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049489.345067696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049489.345636512] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049489.346784487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049489.347970580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049489.445866917] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049489.446606104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049489.447897877] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049489.450729314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049489.451940415] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049489.502882490] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973177 Long: -76.5029853 +[vectornav-1] [INFO] [1746049489.504098477] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.711, -3.418, 9.951) +[mux-7] [INFO] [1746049489.544846266] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049489.545317106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049489.546090388] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049489.547093366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049489.548293926] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049489.585591362] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049489.588253397] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049489.588569997] [sailbot.teensy]: Wind angle: 340 +[mux-7] [INFO] [1746049489.589436573] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049489.589511229] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049489.590535500] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049489.591732288] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049489.645604853] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049489.647098907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049489.647143149] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049489.649024280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049489.649538179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049489.745469108] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049489.746306423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049489.747110225] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049489.748985342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049489.750257208] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049489.835616490] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049489.837693304] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049489.838284406] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049489.839469783] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049489.839910978] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049489.839955082] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049489.840345919] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049489.844722066] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049489.845075061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049489.845843889] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049489.846794233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049489.847877895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049489.945685955] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049489.946731878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049489.947531406] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049489.949693064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049489.950807993] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049490.002865398] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973175 Long: -76.50298551 +[vectornav-1] [INFO] [1746049490.004196007] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.599, -3.432, 9.105) +[mux-7] [INFO] [1746049490.045342625] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049490.046199678] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049490.046966718] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049490.049064132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049490.050201735] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049490.085923996] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049490.088386895] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049490.088776453] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049490.089316250] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049490.089466889] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049490.090448911] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049490.091373523] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049490.145229642] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049490.146040456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049490.147103887] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049490.148326122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049490.149393875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049490.245476052] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049490.246742189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049490.247187700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049490.248444883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049490.249033279] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049490.335821860] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049490.338591718] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049490.339159659] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049490.339252915] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049490.339618729] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049490.340534247] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049490.341387550] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049490.344442505] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049490.344944896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049490.345542020] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049490.346654327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049490.347813254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049490.445533989] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049490.446485453] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049490.447485197] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049490.448175520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049490.448706234] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049490.502688168] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973193 Long: -76.50298558 +[vectornav-1] [INFO] [1746049490.503787924] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.655, -3.421, 9.482) +[mux-7] [INFO] [1746049490.545192292] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049490.546104144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049490.546877282] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049490.547965865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049490.549039319] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049490.585763964] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049490.588547267] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049490.589610421] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049490.588683643] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049490.590384781] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049490.590470741] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049490.591385616] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049490.644939136] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049490.645709507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049490.646446281] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049490.647424588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049490.648252650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049490.745213207] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049490.745938510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049490.746613719] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049490.748751206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049490.749907628] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049490.835447669] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049490.837758425] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049490.838080571] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049490.839144417] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049490.839345819] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049490.839758398] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049490.840147523] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049490.844424390] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049490.845203235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049490.845532220] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049490.846984542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049490.848031452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049490.945584383] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049490.946407769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049490.947294701] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049490.949444311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049490.950557449] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049491.002473376] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973177 Long: -76.50298539 +[vectornav-1] [INFO] [1746049491.003616516] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.655, -3.422, 9.544) +[mux-7] [INFO] [1746049491.045219094] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049491.046153672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049491.046761349] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049491.048547638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049491.049597041] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049491.085613942] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049491.087993267] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049491.088238419] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049491.089093881] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049491.090040589] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049491.090245760] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049491.091049151] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049491.145025560] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049491.146341543] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049491.146508309] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049491.148465318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049491.149549664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049491.245613064] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049491.246662100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049491.247316646] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049491.248635111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049491.249141691] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049491.335598231] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049491.337866848] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049491.338777621] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049491.339634390] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049491.340334222] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049491.341258593] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049491.342093720] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049491.344332779] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049491.344745540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049491.345440040] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049491.346366607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049491.347557099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049491.445234591] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049491.446061257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049491.446931542] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049491.448029793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049491.449224952] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049491.503327194] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973179 Long: -76.50298539 +[vectornav-1] [INFO] [1746049491.504521025] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.565, -3.425, 9.133) +[mux-7] [INFO] [1746049491.545237194] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049491.546159149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049491.546803772] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049491.548374262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049491.549667287] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049491.585484961] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049491.588055796] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049491.588090620] [sailbot.teensy]: Wind angle: 343 +[mux-7] [INFO] [1746049491.588606607] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049491.589320955] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049491.590220198] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049491.591064071] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049491.645454643] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049491.646206249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049491.647977821] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049491.648930616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049491.650007182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049491.745674784] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049491.746348394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049491.747685433] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049491.748864179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049491.750015017] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049491.835998189] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049491.838437666] [sailbot.teensy]: Wind angle: 354 +[teensy-2] [INFO] [1746049491.838975822] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049491.838768393] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049491.839062675] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049491.839367282] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049491.839836198] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049491.844469459] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049491.845165882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049491.846458291] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049491.847108743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049491.848905573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049491.945338729] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049491.946007528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049491.946869931] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049491.948348629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049491.948869142] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049492.002519222] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973173 Long: -76.50298539 +[vectornav-1] [INFO] [1746049492.003560078] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.56600000000003, -3.423, 9.053) +[mux-7] [INFO] [1746049492.045613314] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049492.047032770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049492.047250065] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049492.049323468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049492.050529601] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049492.085686244] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049492.087919950] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049492.088469441] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049492.089363220] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049492.089905218] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049492.090268893] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049492.091147631] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049492.145245307] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049492.145975606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049492.146781886] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049492.149620984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049492.150784976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049492.245570321] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049492.246409331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049492.247185712] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049492.249006142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049492.249479307] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049492.335536754] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049492.338222181] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049492.339094297] [sailbot.teensy]: Wind angle: 332 +[mux-7] [INFO] [1746049492.339255647] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049492.340120557] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049492.341166603] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049492.342028361] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049492.344374718] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049492.345022779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049492.345447698] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049492.346889983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049492.347924322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049492.445958409] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049492.446913082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049492.447495436] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049492.448122260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049492.448685897] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049492.502973619] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973178 Long: -76.50298517 +[vectornav-1] [INFO] [1746049492.504403606] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.546, -3.422, 8.981) +[mux-7] [INFO] [1746049492.544870319] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049492.545662896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049492.546167554] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049492.547817905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049492.548913146] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049492.585838078] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049492.588076147] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049492.588652509] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049492.589200862] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049492.590196699] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049492.590928114] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049492.591113998] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049492.645392343] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049492.646160740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049492.646899934] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049492.648325346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049492.648851102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049492.745418755] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049492.746120567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049492.746964566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049492.748364693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049492.748997550] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049492.835470936] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049492.837808555] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049492.838144444] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049492.838773431] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049492.839155715] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049492.839312731] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049492.839709694] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049492.844587218] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049492.845343348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049492.845952801] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049492.847143418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049492.848244633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049492.945723434] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049492.946708544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049492.947475774] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049492.949437286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049492.950679127] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049493.002569136] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973173 Long: -76.50298526 +[vectornav-1] [INFO] [1746049493.003730387] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.56899999999996, -3.433, 8.969) +[mux-7] [INFO] [1746049493.045659892] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049493.047222343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049493.047248022] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049493.048729385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049493.049249556] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049493.085672190] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049493.088215955] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049493.088528728] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049493.089278408] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049493.089617745] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049493.090209233] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049493.091082498] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049493.145520761] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049493.146482723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049493.147132491] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049493.150303419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049493.151494534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049493.245611131] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049493.246686185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049493.247226712] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049493.248495414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049493.249033884] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049493.335293563] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049493.337594937] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049493.337593784] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049493.338580589] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049493.338823669] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049493.339531059] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049493.340472169] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049493.344486467] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049493.345585212] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049493.345816144] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049493.347567260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049493.348739683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049493.445196926] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049493.446002212] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049493.446597825] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049493.447967429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049493.449211445] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049493.502731219] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973166 Long: -76.50298538 +[vectornav-1] [INFO] [1746049493.503841547] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.586, -3.425, 8.951) +[mux-7] [INFO] [1746049493.545641972] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049493.546537045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049493.547365146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049493.549240902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049493.550357197] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049493.585712307] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049493.588094367] [sailbot.teensy]: Wind angle: 330 +[trim_sail-4] [INFO] [1746049493.588708960] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049493.589618852] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049493.590167523] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049493.591131720] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049493.592008794] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049493.645457663] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049493.646509945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049493.647420174] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049493.649008833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049493.650132897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049493.745637944] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049493.746615984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049493.747729075] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049493.749037040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049493.750157575] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049493.835414901] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049493.837342488] [sailbot.teensy]: Wind angle: 330 +[trim_sail-4] [INFO] [1746049493.837961774] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049493.839412170] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049493.839466430] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049493.840811835] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049493.841782768] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049493.844337706] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049493.844994745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049493.845413400] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049493.846697761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049493.847726270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049493.945606317] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049493.946599117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049493.947244981] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049493.949224383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049493.950454167] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049494.002515099] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973187 Long: -76.50298514 +[vectornav-1] [INFO] [1746049494.003572668] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.60699999999997, -3.397, 8.96) +[mux-7] [INFO] [1746049494.045076426] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049494.045943595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049494.046367993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049494.047990880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049494.049667506] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049494.085624427] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049494.087758551] [sailbot.teensy]: Wind angle: 330 +[trim_sail-4] [INFO] [1746049494.088095851] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049494.089851046] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049494.089914241] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049494.090856617] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049494.091710253] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049494.145918614] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049494.146553047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049494.147746227] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049494.149068135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049494.150287542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049494.245530230] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049494.246323300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049494.247358446] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049494.248160954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049494.248646193] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049494.335937777] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049494.338336952] [sailbot.teensy]: Wind angle: 328 +[trim_sail-4] [INFO] [1746049494.338694674] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049494.338750393] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049494.339135562] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049494.339147909] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049494.339535965] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049494.344678227] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049494.345271513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049494.345799037] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049494.346952300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049494.347958732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049494.445633136] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049494.447229712] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049494.447197189] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049494.449492283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049494.450747391] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049494.503597694] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973188 Long: -76.50298511 +[vectornav-1] [INFO] [1746049494.505547958] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.619, -3.424, 9.08) +[mux-7] [INFO] [1746049494.544485301] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049494.545032885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049494.545839635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049494.546774299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049494.547934144] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049494.585376355] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049494.587860230] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049494.588088509] [sailbot.teensy]: Wind angle: 328 +[mux-7] [INFO] [1746049494.588966623] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049494.589047967] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049494.589930360] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049494.590780432] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049494.645376408] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049494.645975151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049494.646992401] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049494.648453779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049494.649684916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049494.745724324] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049494.746561475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049494.747394664] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049494.748674469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049494.749211402] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049494.835338572] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049494.837663717] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049494.838022822] [sailbot.teensy]: Wind angle: 328 +[mux-7] [INFO] [1746049494.838623776] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049494.838976630] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049494.839833623] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049494.840697331] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049494.844283221] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049494.844749123] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049494.846379141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049494.846879456] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049494.847620418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049494.945490138] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049494.946258821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049494.947249870] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049494.948774539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049494.949437234] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049495.002790803] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973194 Long: -76.50298506 +[vectornav-1] [INFO] [1746049495.003999182] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.56899999999996, -3.439, 8.989) +[mux-7] [INFO] [1746049495.045409225] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049495.046154913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049495.046990263] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049495.048900767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049495.050045233] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049495.085882052] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049495.088992025] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049495.089477025] [sailbot.teensy]: Wind angle: 329 +[mux-7] [INFO] [1746049495.090335991] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049495.090514780] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049495.091843114] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049495.092917503] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049495.144636496] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049495.145378171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049495.145777802] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049495.147191331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049495.148669361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049495.245568128] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049495.246647051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049495.247319367] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049495.249403560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049495.250638036] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049495.335687964] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049495.338674647] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049495.338677087] [sailbot.teensy]: Wind angle: 334 +[teensy-2] [INFO] [1746049495.340198750] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049495.340197964] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049495.341107728] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049495.341978474] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049495.344406610] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049495.345005004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049495.345506447] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049495.346750019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049495.347902779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049495.445749419] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049495.447392137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049495.447572635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049495.449790396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049495.450955159] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049495.503832809] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973201 Long: -76.50298502 +[vectornav-1] [INFO] [1746049495.505308453] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.428, -3.468, 8.105) +[mux-7] [INFO] [1746049495.545558454] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049495.546394360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049495.547201770] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049495.549064298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049495.550181427] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049495.585554537] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049495.587666546] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049495.588700751] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049495.588496843] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049495.589619954] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049495.590196884] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049495.590502466] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049495.645170558] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049495.645866259] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049495.646587723] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049495.647944121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049495.649154427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049495.745545446] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049495.746433874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049495.747201455] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049495.749007307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049495.749557648] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049495.835453789] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049495.837368272] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049495.838338227] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049495.837945816] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049495.838672466] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049495.839235801] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049495.840241425] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049495.844347782] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049495.845061871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049495.845497678] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049495.846741004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049495.847871213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049495.944988083] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049495.945863614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049495.946287527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049495.947942186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049495.949116451] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049496.002270116] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973167 Long: -76.50298507 +[vectornav-1] [INFO] [1746049496.003204137] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.44100000000003, -3.48, 7.915) +[mux-7] [INFO] [1746049496.045477194] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049496.046995572] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049496.047019714] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049496.049235693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049496.049663018] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049496.085782578] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049496.088988507] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049496.089373462] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049496.090505644] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049496.091726457] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049496.092631628] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049496.093489067] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049496.145511177] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049496.146571675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049496.147254886] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049496.149343395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049496.150558762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049496.245715933] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049496.246668704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049496.247483015] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049496.249353849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049496.250747302] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049496.335782094] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049496.338084535] [sailbot.teensy]: Wind angle: 335 +[teensy-2] [INFO] [1746049496.339663106] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049496.340014242] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049496.340256566] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049496.340709072] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049496.341736796] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049496.344906502] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049496.345024902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049496.346077992] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049496.346736771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049496.348656278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049496.445826518] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049496.446694405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049496.448172575] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049496.448646213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049496.450184519] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049496.502566112] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973157 Long: -76.50298513 +[vectornav-1] [INFO] [1746049496.503624788] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.445, -3.46, 8.182) +[mux-7] [INFO] [1746049496.544654829] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049496.545240225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049496.545808067] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049496.546990373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049496.548147639] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049496.585570263] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049496.587841001] [sailbot.teensy]: Wind angle: 330 +[trim_sail-4] [INFO] [1746049496.588429174] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049496.588929662] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049496.589842736] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049496.590222574] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049496.590747126] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049496.645342401] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049496.646181635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049496.646964690] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049496.647811442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049496.648364933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049496.745606464] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049496.747157217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049496.747309186] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049496.749372080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049496.749869450] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049496.835494892] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049496.837890595] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049496.838138841] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049496.839105276] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049496.839227087] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049496.840108921] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049496.841012277] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049496.844430445] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049496.845512247] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049496.845011254] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049496.846678954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049496.847719373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049496.945395859] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049496.946199547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049496.947282469] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049496.948450028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049496.949703069] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049497.002652963] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973171 Long: -76.50298491 +[vectornav-1] [INFO] [1746049497.003920472] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.408, -3.495, 7.866) +[mux-7] [INFO] [1746049497.045457835] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049497.046320997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049497.047019234] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049497.048803665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049497.049970542] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049497.085572462] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049497.087829653] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049497.088307196] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049497.088866320] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049497.088987577] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049497.089924614] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049497.090781743] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049497.145642161] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049497.147394874] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049497.147849572] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049497.149941204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049497.150958330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049497.245547643] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049497.246374726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049497.247337610] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049497.248913342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049497.250093883] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049497.335672259] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049497.338579763] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049497.339227311] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049497.339427297] [sailbot.teensy]: Wind angle: 329 +[teensy-2] [INFO] [1746049497.339847132] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049497.340223092] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049497.340592661] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049497.344660802] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049497.345339535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049497.345852315] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049497.347055095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049497.348099091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049497.445090859] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049497.446410976] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049497.446981440] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049497.448686368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049497.449724922] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049497.503241352] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973169 Long: -76.50298478 +[vectornav-1] [INFO] [1746049497.504608247] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.403, -3.494, 7.849) +[mux-7] [INFO] [1746049497.545554429] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049497.546557727] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049497.548719341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049497.547316431] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049497.549266231] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049497.585500858] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049497.588729669] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049497.589058341] [sailbot.teensy]: Wind angle: 329 +[mux-7] [INFO] [1746049497.589066537] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049497.590066213] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049497.590966304] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049497.591831547] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049497.645167981] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049497.646048132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049497.646781324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049497.648743412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049497.649841148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049497.745273624] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049497.746314670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049497.746775910] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049497.748208539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049497.748721202] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049497.835596373] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049497.837729871] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049497.838204262] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049497.838615377] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049497.838624838] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049497.839013479] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049497.839366488] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049497.844463459] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049497.844999845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049497.845654235] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049497.846698549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049497.847817072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049497.945710387] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049497.946494655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049497.947738267] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049497.949555998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049497.950680321] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049498.002614425] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973164 Long: -76.50298513 +[vectornav-1] [INFO] [1746049498.003669211] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.394, -3.497, 7.878) +[mux-7] [INFO] [1746049498.045331812] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049498.046251805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049498.046989586] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049498.048860226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049498.049499795] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049498.085539431] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049498.087332504] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049498.087876833] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049498.088393811] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049498.089157968] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049498.089380035] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049498.090288483] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049498.145001495] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049498.145734090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049498.146324388] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049498.147850093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049498.149127494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049498.245660528] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049498.246901129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049498.247390391] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049498.249176003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049498.249716909] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049498.335575399] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049498.337754666] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049498.338577118] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049498.338969541] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049498.339272608] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049498.340227018] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049498.341142406] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049498.344512326] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049498.345618225] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049498.345046782] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049498.346686212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049498.347686126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049498.445577827] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049498.446575673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049498.447103669] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049498.449035987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049498.449586945] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049498.502783893] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973178 Long: -76.50298512 +[vectornav-1] [INFO] [1746049498.504148974] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.44, -3.487, 8.033) +[mux-7] [INFO] [1746049498.544840330] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049498.545755213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049498.546114633] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049498.547834344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049498.549087696] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049498.585628261] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049498.587723838] [sailbot.teensy]: Wind angle: 329 +[teensy-2] [INFO] [1746049498.589123903] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049498.588202458] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049498.589520197] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049498.590090543] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049498.590994586] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049498.645409028] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049498.646380583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049498.647034323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049498.648665431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049498.649841739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049498.745662437] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049498.746642213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049498.747322556] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049498.749154005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049498.750430242] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049498.835374662] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049498.837841670] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049498.837853199] [sailbot.teensy]: Wind angle: 328 +[mux-7] [INFO] [1746049498.838481083] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049498.839134921] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049498.840091447] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049498.841012120] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049498.844514697] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049498.844967719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049498.845740065] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049498.846651712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049498.847684202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049498.945649127] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049498.946507211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049498.947303371] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049498.948864299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049498.949338032] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049499.002422972] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973178 Long: -76.50298518 +[vectornav-1] [INFO] [1746049499.003386745] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.425, -3.476, 8.186) +[mux-7] [INFO] [1746049499.045158084] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049499.046021791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049499.046653880] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049499.048747046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049499.049239458] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049499.085416327] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049499.087742975] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049499.088213576] [sailbot.teensy]: Wind angle: 327 +[teensy-2] [INFO] [1746049499.089183970] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049499.088551911] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049499.090049611] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049499.090900625] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049499.145491630] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049499.146426737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049499.147184190] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049499.149143222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049499.150411329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049499.245719609] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049499.247491813] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049499.247991850] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049499.249721129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049499.250235361] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049499.335907277] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049499.338621725] [sailbot.teensy]: Wind angle: 322 +[trim_sail-4] [INFO] [1746049499.338837188] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049499.339732645] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049499.340444604] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049499.340693275] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049499.341567063] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049499.344400720] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049499.344966014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049499.345477261] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049499.346666401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049499.347842167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049499.445672577] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049499.446439428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049499.447340578] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049499.448867725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049499.450192402] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049499.502560188] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973181 Long: -76.50298517 +[vectornav-1] [INFO] [1746049499.503605224] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.429, -3.485, 8.097) +[mux-7] [INFO] [1746049499.545393345] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049499.546241991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049499.546928317] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049499.548511550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049499.549717336] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049499.585476748] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049499.587750633] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049499.587987311] [sailbot.teensy]: Wind angle: 314 +[mux-7] [INFO] [1746049499.588817545] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049499.588907193] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049499.589816049] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049499.590695796] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746049499.645967492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049499.646359907] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049499.647808577] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049499.649203768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049499.650278109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049499.745411321] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049499.746630934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049499.747292479] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049499.748642238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049499.749849231] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049499.835686859] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049499.838024708] [sailbot.teensy]: Wind angle: 306 +[teensy-2] [INFO] [1746049499.839081867] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049499.838424329] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746049499.840012688] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049499.840454524] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049499.840884731] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049499.844479731] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049499.844964599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049499.845673852] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049499.846714556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049499.847808247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049499.945358794] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049499.946080897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049499.947026483] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049499.948078814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049499.948686387] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049500.002565028] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973167 Long: -76.50298519 +[vectornav-1] [INFO] [1746049500.003673571] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.449, -3.478, 8.153) +[mux-7] [INFO] [1746049500.045083664] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049500.046357944] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049500.046587605] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049500.048380076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049500.049514343] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049500.085507193] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049500.087253513] [sailbot.teensy]: Wind angle: 303 +[teensy-2] [INFO] [1746049500.088237905] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049500.088676603] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049500.089183232] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049500.090053400] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049500.090287698] [sailbot.mux]: algo sail angle: 55 +[mux-7] [INFO] [1746049500.145364157] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049500.146414388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049500.146953199] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049500.148872154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049500.149993100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049500.245210220] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049500.246059047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049500.246794968] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049500.248584423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049500.249806058] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049500.335390023] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049500.337156177] [sailbot.teensy]: Wind angle: 303 +[teensy-2] [INFO] [1746049500.338074508] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049500.337836768] [sailbot.trim_sail]: Sail Angle: "55" +[mux-7] [INFO] [1746049500.338443126] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049500.338958972] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049500.339818375] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049500.344359136] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049500.345130572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049500.345451362] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049500.347192389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049500.348259695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049500.444801870] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049500.445474709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049500.445952118] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049500.447257416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049500.448479176] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049500.502551769] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973161 Long: -76.50298521 +[vectornav-1] [INFO] [1746049500.503614536] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.45500000000004, -3.481, 8.222) +[mux-7] [INFO] [1746049500.545352037] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049500.545918605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049500.547840959] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049500.547961406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049500.548469386] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049500.585371786] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049500.587247108] [sailbot.teensy]: Wind angle: 303 +[trim_sail-4] [INFO] [1746049500.587719972] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049500.588217824] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049500.589145704] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049500.589880613] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049500.589999568] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049500.645221003] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049500.645962863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049500.646673809] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049500.648399065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049500.649553625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049500.745435884] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049500.746356983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049500.747026324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049500.748639766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049500.749207006] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049500.835429490] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049500.837273647] [sailbot.teensy]: Wind angle: 306 +[teensy-2] [INFO] [1746049500.838187073] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049500.837756079] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746049500.839061943] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049500.839235495] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049500.839543089] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049500.844360479] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049500.844950219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049500.845560141] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049500.846564611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049500.847656583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049500.945287216] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049500.946251301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049500.946774364] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049500.948538676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049500.949781505] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049501.002804008] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973155 Long: -76.50298524 +[vectornav-1] [INFO] [1746049501.004004663] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.443, -3.475, 8.202) +[mux-7] [INFO] [1746049501.045472135] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049501.046692067] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049501.048811597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049501.047029524] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049501.050141842] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049501.085860624] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049501.088822964] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049501.088871889] [sailbot.teensy]: Wind angle: 314 +[teensy-2] [INFO] [1746049501.090213023] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049501.090452194] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049501.091101754] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049501.092031077] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049501.143760119] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049501.144309568] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049501.144815369] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049501.145606444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049501.146137997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049501.245272953] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049501.245828251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049501.246627699] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049501.247765554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049501.248886410] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049501.335423416] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049501.337743894] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049501.338107147] [sailbot.teensy]: Wind angle: 317 +[teensy-2] [INFO] [1746049501.339143760] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049501.339300910] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049501.340052597] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049501.340966147] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049501.344321494] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049501.344969650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049501.345392566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049501.346718390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049501.347764051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049501.445371522] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049501.446560369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049501.446821151] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049501.448519011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049501.449695693] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049501.502420516] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973139 Long: -76.50298529 +[vectornav-1] [INFO] [1746049501.503584218] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.449, -3.472, 8.177) +[mux-7] [INFO] [1746049501.545059789] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049501.545982751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049501.546438765] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049501.548048404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049501.548940254] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049501.585368248] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049501.587134382] [sailbot.teensy]: Wind angle: 317 +[trim_sail-4] [INFO] [1746049501.587742946] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049501.588101066] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049501.589027434] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049501.589132232] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049501.590053928] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049501.645206421] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049501.645864230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049501.646720060] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049501.647912849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049501.649058629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049501.745027364] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049501.746388539] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049501.746560052] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049501.748361422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049501.749510594] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049501.835700562] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049501.838374946] [sailbot.teensy]: Wind angle: 317 +[trim_sail-4] [INFO] [1746049501.838410109] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049501.838976957] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049501.839070000] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049501.839376015] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049501.839740800] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049501.844540705] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049501.845081536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049501.845695748] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049501.846793434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049501.847865167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049501.945009271] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049501.946366360] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049501.948604869] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049501.950268602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049501.951415315] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049502.002673481] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697314 Long: -76.50298539 +[vectornav-1] [INFO] [1746049502.003750771] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.461, -3.472, 8.181) +[mux-7] [INFO] [1746049502.045121275] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049502.045613023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049502.046397527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049502.047589499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049502.048685563] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049502.085275281] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049502.087814672] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049502.088197372] [sailbot.teensy]: Wind angle: 317 +[mux-7] [INFO] [1746049502.088202000] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049502.089124513] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049502.089973642] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049502.090812697] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049502.145231742] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049502.145821938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049502.146751725] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049502.148450468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049502.149672456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049502.245136456] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049502.245652656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049502.246425804] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049502.247681222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049502.248766692] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049502.335380736] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049502.337804097] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049502.338813724] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049502.338985984] [sailbot.teensy]: Wind angle: 319 +[teensy-2] [INFO] [1746049502.339938931] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049502.340821961] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049502.341674829] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049502.344535518] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049502.345022886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049502.345667979] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049502.346809541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049502.347899025] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049502.445177258] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049502.445647483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049502.446735210] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049502.447475304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049502.448550491] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049502.502482612] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973138 Long: -76.50298517 +[vectornav-1] [INFO] [1746049502.503709716] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.435, -3.472, 8.133) +[mux-7] [INFO] [1746049502.545362843] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049502.546549044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049502.549282975] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049502.550280461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049502.551420625] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049502.585808893] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049502.588621298] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049502.589884020] [sailbot.teensy]: Wind angle: 323 +[mux-7] [INFO] [1746049502.589930917] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049502.590890489] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049502.591768671] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049502.592637447] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049502.644962258] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049502.645791072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049502.646212449] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049502.647642391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049502.648677628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049502.745577808] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049502.746548517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049502.747183131] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049502.750048348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049502.751196116] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049502.835589375] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049502.838258182] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049502.838997255] [sailbot.teensy]: Wind angle: 321 +[mux-7] [INFO] [1746049502.839087758] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049502.839981547] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049502.840873700] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049502.841726352] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049502.844702219] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049502.845132346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049502.845833344] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049502.846859061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049502.847981935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049502.945372383] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049502.945818558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049502.946733768] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049502.948058194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049502.949357068] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049503.002324591] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973121 Long: -76.5029852 +[vectornav-1] [INFO] [1746049503.003341969] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.448, -3.47, 8.174) +[mux-7] [INFO] [1746049503.045296463] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049503.045828922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049503.046704697] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049503.047933326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049503.048848289] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049503.085484394] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049503.087495789] [sailbot.teensy]: Wind angle: 316 +[trim_sail-4] [INFO] [1746049503.087782643] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049503.088521046] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049503.089340342] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049503.089418602] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049503.090366195] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049503.145307104] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049503.146054923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049503.146804954] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049503.148127023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049503.149252777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049503.245555279] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049503.246366672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049503.247329193] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049503.248636783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049503.249887092] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049503.335478894] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049503.338105420] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746049503.338768676] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049503.338776486] [sailbot.teensy]: Wind angle: 318 +[teensy-2] [INFO] [1746049503.339273229] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049503.339696353] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049503.340057828] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049503.344502053] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049503.345045450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049503.345647592] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049503.346858936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049503.348035727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049503.445667626] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049503.446724744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049503.447474980] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049503.449494161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049503.450027177] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049503.502574487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973123 Long: -76.50298528 +[vectornav-1] [INFO] [1746049503.503782110] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.46000000000004, -3.452, 8.304) +[mux-7] [INFO] [1746049503.545331232] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049503.545895236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049503.546725444] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049503.548279732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049503.549328574] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049503.585458823] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049503.587865724] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049503.588265092] [sailbot.teensy]: Wind angle: 321 +[mux-7] [INFO] [1746049503.588919484] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049503.589230613] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049503.590131559] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049503.590975175] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049503.645240980] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049503.645939445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049503.647043959] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049503.648045449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049503.649099303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049503.745555632] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049503.746574321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049503.747162540] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049503.749367054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049503.750478424] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049503.835506986] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049503.837413046] [sailbot.teensy]: Wind angle: 322 +[trim_sail-4] [INFO] [1746049503.837894988] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049503.838666047] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049503.840017110] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049503.840850290] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049503.841293171] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049503.844368304] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049503.845056879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049503.845916297] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049503.846896108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049503.848096521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049503.945146804] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049503.946105718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049503.946884192] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049503.948119265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049503.949232177] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049504.002642364] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973114 Long: -76.50298507 +[vectornav-1] [INFO] [1746049504.003725897] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.41499999999996, -3.473, 7.969) +[mux-7] [INFO] [1746049504.045198069] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049504.046106092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049504.046621601] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049504.048466649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049504.049489226] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049504.085403480] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049504.087563320] [sailbot.teensy]: Wind angle: 322 +[trim_sail-4] [INFO] [1746049504.087739105] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049504.088628516] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049504.088854375] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049504.089763901] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049504.090758901] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049504.145397359] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049504.146137351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049504.147105016] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049504.148609449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049504.149223230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049504.245466389] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049504.246050455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049504.247147708] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049504.248149385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049504.249250963] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049504.335408459] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049504.337306833] [sailbot.teensy]: Wind angle: 322 +[trim_sail-4] [INFO] [1746049504.337845463] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049504.338264273] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049504.339206006] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049504.340000094] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049504.340042725] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049504.344511306] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049504.345159914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049504.345653663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049504.346848516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049504.347926629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049504.445541761] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049504.446237222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049504.446873562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049504.448222371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049504.449224504] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049504.503259926] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973109 Long: -76.50298512 +[vectornav-1] [INFO] [1746049504.505218016] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.418, -3.474, 8.02) +[mux-7] [INFO] [1746049504.545486940] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049504.547295566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049504.546101887] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049504.548496170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049504.549831147] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049504.585355215] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049504.587184905] [sailbot.teensy]: Wind angle: 323 +[trim_sail-4] [INFO] [1746049504.587528991] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049504.588280140] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049504.588976635] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049504.589200286] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049504.590146933] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049504.645283925] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049504.646156039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049504.646816157] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049504.648448136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049504.649504562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049504.745248831] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049504.746628552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049504.746653907] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049504.748960649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049504.749814825] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049504.835266859] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049504.836970109] [sailbot.teensy]: Wind angle: 323 +[trim_sail-4] [INFO] [1746049504.837776090] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049504.837917472] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049504.839027015] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049504.839912287] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049504.839968493] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049504.844597837] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049504.845227716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049504.845732694] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049504.846956505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049504.848109661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049504.945228020] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049504.946489528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049504.946750592] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049504.948237624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049504.948783209] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049505.002357987] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697311 Long: -76.50298498 +[vectornav-1] [INFO] [1746049505.003384842] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.392, -3.483, 7.848) +[mux-7] [INFO] [1746049505.045167676] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049505.045871984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049505.046560306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049505.047805042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049505.048911849] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049505.085589055] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049505.088395238] [sailbot.teensy]: Wind angle: 323 +[trim_sail-4] [INFO] [1746049505.088508313] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049505.089386576] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049505.090426216] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049505.090670009] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049505.091549320] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049505.145673246] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049505.146261062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049505.147601845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049505.148543189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049505.150686749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049505.245489323] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049505.246241954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049505.247072795] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049505.248600045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049505.249765103] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049505.335604631] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049505.337886616] [sailbot.teensy]: Wind angle: 323 +[trim_sail-4] [INFO] [1746049505.338033114] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049505.339128305] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049505.339847720] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049505.340544701] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049505.341411259] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049505.344249454] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049505.344659225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049505.345424826] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049505.346309894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049505.347438228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049505.444849195] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049505.445372363] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049505.446002230] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049505.447577632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049505.448752278] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049505.502871600] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973106 Long: -76.50298497 +[vectornav-1] [INFO] [1746049505.504502067] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.418, -3.472, 7.947) +[mux-7] [INFO] [1746049505.544807058] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049505.545410885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049505.545966583] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049505.547167848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049505.548342040] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049505.585350282] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049505.587663749] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049505.587845781] [sailbot.teensy]: Wind angle: 323 +[mux-7] [INFO] [1746049505.588532840] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049505.589118886] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049505.590042235] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049505.590885191] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049505.645262545] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049505.646368900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049505.646962865] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049505.648652268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049505.649174794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049505.745107274] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049505.746222830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049505.746684840] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049505.748399695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049505.749555105] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049505.835623336] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049505.838480604] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049505.839170899] [sailbot.teensy]: Wind angle: 323 +[mux-7] [INFO] [1746049505.839994447] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049505.840236280] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049505.841540699] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049505.841939189] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049505.844454313] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049505.844941778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049505.845817545] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049505.846951772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049505.847994190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049505.945066030] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049505.945835662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049505.946344806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049505.947632361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049505.948792459] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049506.002556942] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973112 Long: -76.50298514 +[vectornav-1] [INFO] [1746049506.003601581] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.472, -3.443, 8.341) +[mux-7] [INFO] [1746049506.045147732] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049506.046519544] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049506.046109732] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049506.048055317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049506.049233122] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049506.085396063] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049506.087788380] [sailbot.teensy]: Wind angle: 323 +[trim_sail-4] [INFO] [1746049506.087789219] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049506.088784695] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049506.089144246] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049506.089692499] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049506.090554181] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049506.145398081] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049506.146219297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049506.146917138] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049506.148162579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049506.148844123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049506.245440540] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049506.246108056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049506.247057012] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049506.248389510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049506.249616602] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049506.335633317] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049506.338535740] [sailbot.teensy]: Wind angle: 324 +[trim_sail-4] [INFO] [1746049506.338697315] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049506.339484878] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049506.339572722] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049506.340005471] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049506.340445532] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049506.344504138] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049506.345052465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049506.345691792] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049506.346789140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049506.347803796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049506.445192493] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049506.445801479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049506.446622877] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049506.447869957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049506.448785463] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049506.503649809] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973104 Long: -76.50298521 +[vectornav-1] [INFO] [1746049506.505441395] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.495, -3.431, 8.388) +[mux-7] [INFO] [1746049506.545181911] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049506.545839659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049506.546741640] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049506.548702429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049506.550607842] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049506.585683854] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049506.587831078] [sailbot.teensy]: Wind angle: 327 +[trim_sail-4] [INFO] [1746049506.588045776] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049506.588874383] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049506.589944265] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049506.590035213] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049506.590932433] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049506.644943094] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049506.645697935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049506.646225568] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049506.647510030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049506.648600731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049506.745602881] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049506.747350060] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049506.747935218] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049506.749955222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049506.751011279] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049506.835637922] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049506.837715473] [sailbot.teensy]: Wind angle: 328 +[teensy-2] [INFO] [1746049506.838727434] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049506.838251359] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049506.840003249] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049506.840367920] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049506.841327191] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049506.844446590] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049506.845019591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049506.845673221] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049506.846738727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049506.847909506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049506.945594176] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049506.946564447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049506.947215876] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049506.948321529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049506.948851506] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049507.002447071] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973097 Long: -76.50298506 +[vectornav-1] [INFO] [1746049507.003683228] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.529, -3.409, 8.625) +[mux-7] [INFO] [1746049507.045291039] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049507.046340887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049507.046794178] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049507.048775616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049507.049780813] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049507.085896225] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049507.088232402] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049507.088866483] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049507.089735884] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049507.090719968] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049507.090916727] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049507.091632200] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049507.144852356] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049507.145724658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049507.146057982] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049507.147574797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049507.148675040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049507.245019332] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049507.245735812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049507.246277255] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049507.247776363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049507.248600027] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049507.335541678] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049507.337621839] [sailbot.teensy]: Wind angle: 331 +[trim_sail-4] [INFO] [1746049507.338165252] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049507.338639619] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049507.339081476] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049507.339074489] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049507.339507733] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049507.344487104] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049507.345091570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049507.345670646] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049507.346811644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049507.347961306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049507.445075443] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049507.445892817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049507.446323577] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049507.447690472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049507.448726836] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049507.502927013] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973108 Long: -76.50298504 +[vectornav-1] [INFO] [1746049507.504269607] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.49, -3.417, 8.443) +[mux-7] [INFO] [1746049507.545128032] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049507.545874173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049507.547137985] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049507.548093925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049507.549260133] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049507.585544575] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049507.587595349] [sailbot.teensy]: Wind angle: 332 +[teensy-2] [INFO] [1746049507.588968023] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049507.588607772] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049507.589509052] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049507.589876384] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049507.590782057] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049507.644924899] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049507.645710772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049507.646392276] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049507.647556168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049507.648744194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049507.745198095] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049507.746068952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049507.746710731] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049507.748330122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049507.749132712] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049507.835943108] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049507.838594509] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049507.838707711] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049507.839698632] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049507.840619622] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049507.840645491] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049507.841552942] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049507.844379144] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049507.845084917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049507.845484681] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049507.846788984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049507.847969041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049507.945209495] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049507.946283359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049507.946759424] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049507.948087303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049507.948540087] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049508.002504364] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697311 Long: -76.50298527 +[vectornav-1] [INFO] [1746049508.003898202] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.515, -3.424, 8.462) +[mux-7] [INFO] [1746049508.045136839] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049508.046255313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049508.046990485] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049508.048262256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049508.049400558] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049508.085599615] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049508.087708614] [sailbot.teensy]: Wind angle: 353 +[trim_sail-4] [INFO] [1746049508.088351993] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049508.088902996] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049508.089845901] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049508.089986594] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049508.090738246] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049508.145123933] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049508.145991196] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049508.146545958] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049508.148098429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049508.149201503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049508.245487364] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049508.246297017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049508.247116881] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049508.248637886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049508.249745028] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049508.335397056] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049508.337964480] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049508.338185376] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049508.338898208] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049508.339057412] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049508.339802577] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049508.340673096] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049508.344229163] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049508.345668845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049508.344990068] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049508.346723098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049508.347933779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049508.445247258] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049508.445974976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049508.446782493] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049508.447960863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049508.448526337] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049508.502596076] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973114 Long: -76.5029853 +[vectornav-1] [INFO] [1746049508.503709356] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.53700000000003, -3.42, 8.523) +[mux-7] [INFO] [1746049508.545552274] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049508.546271784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049508.547206416] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049508.548665461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049508.551467142] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049508.585878626] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049508.588104801] [sailbot.teensy]: Wind angle: 355 +[teensy-2] [INFO] [1746049508.589256149] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049508.589386559] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049508.590300494] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049508.591195730] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049508.592388228] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049508.645289249] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049508.646171646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049508.646770390] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049508.648498648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049508.649658555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049508.745301559] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049508.746244927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049508.747025732] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049508.748089671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049508.748587456] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049508.835379864] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049508.837331233] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049508.837637554] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049508.838309493] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049508.838407269] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049508.839230073] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049508.840132090] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049508.844389949] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049508.844883774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049508.845630417] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049508.846578698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049508.847599483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049508.945398009] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049508.946787243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049508.947399012] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049508.948944559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049508.950170586] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049509.002657295] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973131 Long: -76.50298518 +[vectornav-1] [INFO] [1746049509.004066488] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.50800000000004, -3.434, 8.322) +[mux-7] [INFO] [1746049509.045186078] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049509.046030607] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049509.047853271] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049509.047977401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049509.048838794] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049509.085651802] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049509.087821463] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049509.088602033] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049509.088875857] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049509.089838407] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049509.090761436] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049509.090984564] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049509.145325361] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049509.146251804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049509.146877996] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049509.148605904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049509.149784040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049509.245603050] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049509.246292065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049509.247147447] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049509.248845953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049509.250086662] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049509.335733297] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049509.337956891] [sailbot.teensy]: Wind angle: 354 +[teensy-2] [INFO] [1746049509.339080276] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049509.338995072] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049509.339482755] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049509.339549174] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049509.339883797] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049509.344559268] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049509.345092503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049509.346274698] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049509.346861137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049509.348007181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049509.445717917] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049509.446401552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049509.447729816] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049509.448735403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049509.450045359] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049509.502628583] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973141 Long: -76.50298504 +[vectornav-1] [INFO] [1746049509.503766052] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.497, -3.431, 8.321) +[mux-7] [INFO] [1746049509.545367469] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049509.546133401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049509.546836062] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049509.548243738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049509.548900314] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049509.585596556] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049509.588012961] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049509.588484196] [sailbot.teensy]: Wind angle: 352 +[teensy-2] [INFO] [1746049509.589438456] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049509.589402516] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049509.590368322] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049509.591209646] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049509.645500555] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049509.646305764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049509.647144685] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049509.648641717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049509.649786915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049509.745274014] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049509.745928208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049509.746663746] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049509.747993557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049509.748472760] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049509.835332262] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049509.837844236] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049509.837966311] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049509.838895697] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049509.839587681] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049509.839979684] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049509.840342672] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049509.844467797] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049509.844969108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049509.846069182] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049509.846648119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049509.847884694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049509.945326965] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049509.946148230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049509.946995090] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049509.947772499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049509.948249343] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049510.002583604] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973124 Long: -76.50298494 +[vectornav-1] [INFO] [1746049510.003647793] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.517, -3.412, 8.399) +[mux-7] [INFO] [1746049510.045191784] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049510.045989389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049510.046632764] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049510.048182164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049510.049247108] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049510.085787709] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049510.088058635] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049510.088698091] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049510.089160984] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049510.090135578] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049510.091058517] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049510.091369903] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746049510.145096024] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049510.146118799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049510.146570667] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049510.148655394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049510.149729015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049510.245582051] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049510.246600815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049510.247197385] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049510.249254899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049510.250352004] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049510.335602342] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049510.338372667] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049510.338492179] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049510.339231956] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049510.339399639] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049510.340375081] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049510.341280698] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049510.344428923] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049510.344995074] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049510.345592493] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049510.346763203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049510.347867479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049510.445544827] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049510.446576555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049510.447140031] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049510.448602323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049510.449072065] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049510.502423827] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973117 Long: -76.50298486 +[vectornav-1] [INFO] [1746049510.503530250] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.608, -3.313, 9.379) +[mux-7] [INFO] [1746049510.545045227] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049510.545900083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049510.546323392] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049510.547866529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049510.548953276] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049510.585508833] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049510.587417179] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049510.587787703] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049510.588976714] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049510.589091455] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049510.590109324] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049510.590978844] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049510.645369810] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049510.646243505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049510.646919678] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049510.648826504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049510.650026245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049510.745128856] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049510.745884300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049510.746922187] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049510.747867165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049510.748996210] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049510.835535958] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049510.838226013] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049510.838673944] [sailbot.teensy]: Wind angle: 348 +[mux-7] [INFO] [1746049510.838810610] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049510.839626816] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049510.840034225] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049510.840400208] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049510.844531642] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049510.845229691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049510.845835941] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049510.846924624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049510.848176737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049510.945295927] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049510.946017124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049510.947124242] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049510.948139644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049510.949377618] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049511.003646602] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973118 Long: -76.50298455 +[vectornav-1] [INFO] [1746049511.005236949] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.576, -3.343, 9.277) +[mux-7] [INFO] [1746049511.045165369] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049511.045902904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049511.046975719] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049511.047766459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049511.048980444] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049511.085645796] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049511.088346060] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049511.088579254] [sailbot.teensy]: Wind angle: 355 +[mux-7] [INFO] [1746049511.088707053] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049511.089519853] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049511.090404881] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049511.091240275] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049511.145476058] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049511.146375615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049511.147211563] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049511.150732751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049511.151784101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049511.245625738] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049511.246656750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049511.247353589] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049511.248288218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049511.248677733] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049511.335813507] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049511.338341969] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049511.338995355] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049511.339497283] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049511.340347730] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049511.340494742] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049511.341503977] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049511.344340537] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049511.345122444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049511.345757513] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049511.347267471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049511.348392591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049511.445619902] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049511.446336204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049511.447404705] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049511.447832208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049511.448391709] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049511.502321716] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973122 Long: -76.50298449 +[vectornav-1] [INFO] [1746049511.503291000] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.555, -3.286, 9.304) +[mux-7] [INFO] [1746049511.545383216] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049511.546106951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049511.547216760] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049511.548216547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049511.549622595] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049511.585629819] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049511.588343105] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049511.588921681] [sailbot.teensy]: Wind angle: 337 +[mux-7] [INFO] [1746049511.589756158] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049511.589857279] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049511.590733184] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049511.591566434] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049511.644971540] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049511.645686576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049511.646274469] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049511.647636527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049511.648705294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049511.745555678] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049511.746434060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049511.747193526] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049511.749202138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049511.750272849] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049511.835625776] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049511.837719545] [sailbot.teensy]: Wind angle: 328 +[trim_sail-4] [INFO] [1746049511.838683032] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049511.838712370] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049511.839615280] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049511.839467231] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049511.840549217] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049511.844343693] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049511.844937106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049511.845515104] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049511.846611094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049511.847738201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049511.945598587] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049511.946609559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049511.947323577] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049511.948568453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049511.949142816] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049512.002745941] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973116 Long: -76.50298475 +[vectornav-1] [INFO] [1746049512.003863447] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.56899999999996, -3.264, 9.342) +[mux-7] [INFO] [1746049512.045301006] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049512.046007100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049512.047073970] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049512.048131820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049512.049375410] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049512.085897026] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049512.088373397] [sailbot.teensy]: Wind angle: 330 +[trim_sail-4] [INFO] [1746049512.089309544] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049512.089573104] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049512.090518729] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049512.090956237] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049512.091419249] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049512.145152756] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049512.146314753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049512.146651741] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049512.148655372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049512.149889788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049512.245003786] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049512.245998811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049512.246302197] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049512.247828291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049512.249016525] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049512.335351312] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049512.337428672] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049512.337827706] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049512.338398066] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049512.338415179] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049512.340065236] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049512.340990067] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049512.344398093] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049512.345006432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049512.345486426] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049512.346820190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049512.347883753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049512.445282211] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049512.446497485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049512.446738200] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049512.448711376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049512.449826010] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049512.503081848] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973129 Long: -76.50298461 +[vectornav-1] [INFO] [1746049512.504232317] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.55600000000004, -3.266, 9.052) +[mux-7] [INFO] [1746049512.544773447] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049512.545627144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049512.546367295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049512.547586395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049512.548754470] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049512.585520058] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049512.587961498] [sailbot.teensy]: Wind angle: 286 +[trim_sail-4] [INFO] [1746049512.587980966] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746049512.588995797] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049512.589946008] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049512.590176598] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746049512.590976482] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049512.645226768] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049512.646200954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049512.646789870] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049512.648574961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049512.649766986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049512.745401618] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049512.746081557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049512.746912206] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049512.748410819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049512.748905375] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049512.835523115] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049512.838215865] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746049512.838882244] [sailbot.teensy]: Wind angle: 241 +[mux-7] [INFO] [1746049512.839616737] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746049512.840784679] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049512.841665385] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049512.842509277] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049512.844349339] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049512.844728820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049512.846002112] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049512.846494952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049512.847596692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049512.945717858] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049512.946456101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049512.947749983] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049512.948453887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049512.948924098] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049513.002518657] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973139 Long: -76.50298457 +[vectornav-1] [INFO] [1746049513.003576888] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.55, -3.265, 9.084) +[mux-7] [INFO] [1746049513.045205435] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049513.045990721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049513.046494054] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049513.047901214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049513.049077500] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049513.085270895] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049513.087022430] [sailbot.teensy]: Wind angle: 237 +[teensy-2] [INFO] [1746049513.088082233] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049513.088075090] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746049513.088971856] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049513.089690793] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746049513.089826205] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049513.145094601] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049513.146464408] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049513.145931807] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049513.147964479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049513.148777898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049513.245471198] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049513.246711855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049513.247403715] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049513.249657892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049513.250781494] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049513.335631698] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049513.338024654] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746049513.339142427] [sailbot.teensy]: Wind angle: 264 +[mux-7] [INFO] [1746049513.339305351] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049513.339594923] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049513.340009988] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049513.340409519] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049513.344471208] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049513.344991511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049513.345632878] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049513.346651460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049513.347715615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049513.445132851] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049513.446164142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049513.446406150] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049513.448195718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049513.448719521] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049513.503095068] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973143 Long: -76.50298472 +[vectornav-1] [INFO] [1746049513.504208804] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.507, -3.389, 8.497) +[mux-7] [INFO] [1746049513.545055267] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049513.545853133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049513.546355113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049513.547543038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049513.548009166] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049513.585584237] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049513.587747161] [sailbot.teensy]: Wind angle: 304 +[trim_sail-4] [INFO] [1746049513.588652135] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049513.589196256] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049513.589911601] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049513.590136240] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049513.591015211] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049513.645649656] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049513.646422142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049513.647487593] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049513.649762624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049513.650844040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049513.745340281] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049513.746195340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049513.746876743] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049513.748527467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049513.749038871] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049513.835485155] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049513.838026420] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049513.838762229] [sailbot.teensy]: Wind angle: 336 +[mux-7] [INFO] [1746049513.839358623] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049513.839716576] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049513.840646950] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049513.841491098] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049513.844334091] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049513.844876394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049513.845512753] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049513.846525108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049513.847597761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049513.945837701] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049513.947224957] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049513.947699592] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049513.949530356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049513.950042058] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049514.002809033] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973152 Long: -76.50298478 +[vectornav-1] [INFO] [1746049514.004205015] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.54200000000003, -3.312, 8.972) +[mux-7] [INFO] [1746049514.045200810] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049514.045929229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049514.046877132] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049514.048382246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049514.049557367] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049514.085419020] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049514.087316765] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049514.087686868] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049514.088282297] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049514.089002453] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049514.089293721] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049514.090244377] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049514.145147532] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049514.145982267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049514.146744946] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049514.148040303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049514.148742924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049514.245487934] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049514.246432986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049514.247442292] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049514.249403032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049514.250535454] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049514.335501160] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049514.337878877] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049514.338190825] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049514.338791163] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049514.338818214] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049514.340031394] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049514.340565289] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049514.344613746] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049514.345107677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049514.345918597] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049514.346853766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049514.348029228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049514.445504512] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049514.446241568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049514.447145791] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049514.448585229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049514.449836250] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049514.502542145] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973157 Long: -76.50298478 +[vectornav-1] [INFO] [1746049514.503576007] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.41700000000003, -3.433, 7.605) +[mux-7] [INFO] [1746049514.545380363] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049514.546294784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049514.546824343] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049514.548294128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049514.549490921] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049514.585477598] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049514.587415139] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049514.588222420] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049514.588415353] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049514.589312775] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049514.589394504] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049514.590189291] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049514.645321872] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049514.646223520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049514.646888570] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049514.648805278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049514.649959576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049514.745584163] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049514.746449362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049514.747294891] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049514.748944584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049514.749573440] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049514.835631677] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049514.838194871] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049514.838349036] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049514.838711373] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049514.838768414] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049514.839165370] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049514.839551075] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049514.844854813] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049514.845467601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049514.846324999] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049514.847237156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049514.848371466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049514.945199763] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049514.946005870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049514.946719042] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049514.948185082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049514.949360032] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049515.002209823] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973151 Long: -76.5029847 +[vectornav-1] [INFO] [1746049515.003177214] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.363, -3.429, 7.412) +[mux-7] [INFO] [1746049515.045075393] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049515.046189763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049515.046388028] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049515.048362105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049515.049348745] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049515.085571238] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049515.088054179] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049515.088364139] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049515.088842534] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049515.089096188] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049515.090042904] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049515.090908534] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049515.145243479] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049515.146270869] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049515.146866629] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049515.148902176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049515.149977311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049515.246158052] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049515.247144398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049515.247761670] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049515.248879398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049515.249407813] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049515.335352211] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049515.338050614] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049515.338257709] [sailbot.teensy]: Wind angle: 340 +[mux-7] [INFO] [1746049515.338761765] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049515.338843624] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049515.339310647] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049515.339741176] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049515.344338924] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049515.345617088] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049515.346689933] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049515.348349971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049515.349455933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049515.445878660] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049515.446542742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049515.447914948] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049515.450589598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049515.451855148] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049515.502533854] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973149 Long: -76.50298467 +[vectornav-1] [INFO] [1746049515.503577754] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.382, -3.434, 7.465) +[mux-7] [INFO] [1746049515.545455672] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049515.546127519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049515.547117124] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049515.548409959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049515.549478526] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049515.585528999] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049515.588310464] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049515.588457722] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049515.588672233] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049515.589224320] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049515.590121878] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049515.590981828] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049515.645504357] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049515.646056931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049515.647448961] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049515.648333806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049515.650230371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049515.745009783] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049515.745550021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049515.746299051] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049515.747441023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049515.748490815] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049515.835400775] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049515.837211145] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049515.837747590] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049515.838151434] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049515.839075123] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049515.839467765] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049515.839959741] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049515.844481656] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049515.845249382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049515.845892473] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049515.847088096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049515.848223812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049515.945837584] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049515.946564790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049515.947658955] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049515.948791489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049515.949385144] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049516.004063363] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973153 Long: -76.50298462 +[vectornav-1] [INFO] [1746049516.005307983] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.382, -3.415, 7.507) +[mux-7] [INFO] [1746049516.045415635] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049516.045939997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049516.046945389] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049516.047986118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049516.049041628] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049516.085385820] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049516.087683354] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049516.088309914] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049516.089117569] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049516.090115906] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049516.090985083] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049516.091862557] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049516.145337207] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049516.145919989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049516.146978506] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049516.148063227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049516.149838191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049516.245634668] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049516.246428090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049516.247266107] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049516.248928299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049516.250134220] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049516.335496201] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049516.337625864] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049516.338308669] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049516.338617007] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049516.339504532] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049516.340232490] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049516.340424874] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049516.344335082] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049516.344895646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049516.345446560] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049516.346802319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049516.348037381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049516.445251169] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049516.446175079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049516.446575920] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049516.448302634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049516.449399029] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049516.502447000] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973161 Long: -76.50298451 +[vectornav-1] [INFO] [1746049516.503470322] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.414, -3.411, 7.551) +[mux-7] [INFO] [1746049516.545189819] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049516.545994157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049516.546694337] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049516.548054771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049516.549255325] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049516.585563222] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049516.588387562] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049516.588634137] [sailbot.teensy]: Wind angle: 339 +[mux-7] [INFO] [1746049516.588676297] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049516.589560806] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049516.590433661] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049516.591271384] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049516.644852792] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049516.645606806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049516.646239931] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049516.647408368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049516.648582173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049516.745202016] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049516.745718084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049516.746573438] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049516.747602940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049516.748779500] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049516.835467995] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049516.837440288] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746049516.838423962] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049516.837988924] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049516.839325267] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049516.839598832] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049516.840224009] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049516.844364941] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049516.844805066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049516.845946876] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049516.846557455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049516.848052837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049516.945734547] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049516.947379381] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049516.946312722] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049516.948577430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049516.949898358] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049517.003327528] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973154 Long: -76.50298465 +[vectornav-1] [INFO] [1746049517.004591552] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.451, -3.401, 7.761) +[mux-7] [INFO] [1746049517.045446749] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049517.046888820] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049517.045865865] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049517.047784388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049517.048764160] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049517.085571845] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049517.087972838] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049517.088655474] [sailbot.teensy]: Wind angle: 335 +[mux-7] [INFO] [1746049517.089182733] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049517.089646937] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049517.090531162] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049517.091403353] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049517.145330850] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049517.145794417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049517.147159104] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049517.147961970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049517.149186544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049517.245597519] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049517.246290359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049517.247234302] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049517.248542532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049517.249739578] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049517.335841448] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049517.338798741] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049517.339004551] [sailbot.teensy]: Wind angle: 337 +[mux-7] [INFO] [1746049517.339928567] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049517.340081245] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049517.341117491] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049517.341684914] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049517.344561482] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049517.345151089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049517.345734572] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049517.346857277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049517.348107116] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049517.445388018] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049517.446272910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049517.447728063] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049517.448601623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049517.449652413] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049517.502733547] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973156 Long: -76.50298463 +[vectornav-1] [INFO] [1746049517.503875757] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.45799999999997, -3.401, 7.799) +[mux-7] [INFO] [1746049517.545223744] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049517.546472934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049517.546813374] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049517.548722621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049517.549973932] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049517.585570999] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049517.588124809] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049517.588712305] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049517.589101657] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049517.590016543] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049517.590754551] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049517.590906982] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049517.645056346] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049517.645769392] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049517.647755221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049517.646372923] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049517.648759344] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049517.745201607] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049517.746135314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049517.746893625] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049517.748425916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049517.749039971] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049517.835725423] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049517.837885085] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049517.838904009] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049517.838438941] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049517.839032175] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049517.839844133] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049517.840729895] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049517.844419391] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049517.844970396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049517.845695531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049517.846652799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049517.847709715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049517.945148739] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049517.945824909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049517.946676495] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049517.947732347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049517.948287520] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049518.002313951] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973152 Long: -76.50298467 +[vectornav-1] [INFO] [1746049518.003316236] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.423, -3.441, 7.408) +[mux-7] [INFO] [1746049518.045107466] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049518.045977083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049518.046409782] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049518.047849947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049518.048891658] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049518.085579522] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049518.088221244] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049518.089174905] [sailbot.teensy]: Wind angle: 344 +[mux-7] [INFO] [1746049518.089396107] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049518.090127988] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049518.091065375] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049518.091914673] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049518.145198746] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049518.146169485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049518.146693217] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049518.148272377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049518.149294972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049518.245403732] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049518.246408357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049518.246991981] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049518.247876680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049518.248344886] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049518.335530149] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049518.337758521] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049518.338102405] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049518.338779553] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049518.339647366] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049518.339687395] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049518.340647404] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049518.344379181] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049518.345431406] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049518.345131776] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049518.346836794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049518.347995856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049518.445639001] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049518.447117547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049518.447428899] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049518.450098532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049518.451226037] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049518.502749196] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973158 Long: -76.50298469 +[vectornav-1] [INFO] [1746049518.504065268] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.40700000000004, -3.449, 7.337) +[mux-7] [INFO] [1746049518.545344392] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049518.546248029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049518.546782867] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049518.548006831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049518.548489779] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049518.585440057] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049518.587775883] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049518.588792461] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049518.589309552] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049518.590310503] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049518.591157132] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049518.591997701] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049518.645052891] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049518.645681903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049518.646543197] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049518.647608228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049518.648892547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049518.745048236] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049518.745953064] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049518.746456993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049518.747986859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049518.749066359] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049518.835486964] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049518.838090881] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049518.838302286] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049518.838794799] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049518.839097010] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049518.840243549] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049518.840870756] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049518.844595827] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049518.845247999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049518.845825196] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049518.847072909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049518.848295369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049518.945497836] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049518.946341213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049518.947052436] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049518.948428719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049518.948997100] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049519.002783682] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973166 Long: -76.5029849 +[vectornav-1] [INFO] [1746049519.003909867] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.414, -3.448, 7.307) +[mux-7] [INFO] [1746049519.045242567] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049519.046052959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049519.046773590] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049519.048296796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049519.049501975] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049519.085616703] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049519.088142150] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049519.089133132] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049519.089228262] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049519.090165553] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049519.091232886] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049519.092189853] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049519.144998440] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049519.145932197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049519.146639763] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049519.148080321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049519.149373532] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049519.245161040] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049519.245927547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049519.246535808] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049519.247795201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049519.248781823] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049519.335513051] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049519.337529546] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049519.338550480] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049519.338775587] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049519.339464017] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049519.340258265] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049519.340332512] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049519.344313602] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049519.344989145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049519.345414304] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049519.346673094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049519.347662158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049519.445750459] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049519.446434266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049519.447995727] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049519.448455766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049519.449813981] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049519.502198500] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973155 Long: -76.502985 +[vectornav-1] [INFO] [1746049519.503195289] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.43100000000004, -3.446, 7.383) +[mux-7] [INFO] [1746049519.545093973] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049519.546017712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049519.546569047] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049519.548313087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049519.549329922] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049519.585781967] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049519.588312760] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049519.588546706] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049519.589410967] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049519.589991540] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049519.590376585] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049519.591298501] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049519.645290305] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049519.646920797] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049519.647327636] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049519.649163063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049519.650162970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049519.745314959] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049519.746114158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049519.746805984] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049519.748511233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049519.749060699] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049519.835577853] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049519.837641730] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049519.838153295] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049519.838666100] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049519.839564657] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049519.839549792] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049519.840518184] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049519.844373600] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049519.844867363] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049519.845433470] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049519.846541767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049519.847612605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049519.945521101] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049519.946309213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049519.947296462] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049519.948949677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049519.950116337] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049520.003373387] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973158 Long: -76.50298506 +[vectornav-1] [INFO] [1746049520.004836932] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.426, -3.419, 7.609) +[mux-7] [INFO] [1746049520.045287280] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049520.046114030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049520.046838359] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049520.047928709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049520.048488485] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049520.085399686] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049520.087727809] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049520.088391484] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746049520.089424321] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049520.089879377] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049520.090395239] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049520.091316931] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049520.145045576] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049520.145691214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049520.146463238] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049520.147794500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049520.148840136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049520.245265898] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049520.246038310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049520.246686262] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049520.247735842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049520.248313945] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049520.335899020] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049520.338320857] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049520.338664609] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049520.339362959] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049520.339880940] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049520.340051347] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049520.340269261] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049520.344395821] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049520.345128604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049520.345549569] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049520.346926506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049520.348085298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049520.445469468] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049520.446267173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049520.447060841] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049520.448839241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049520.450005869] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049520.502604943] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973141 Long: -76.50298516 +[vectornav-1] [INFO] [1746049520.503646081] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.399, -3.435, 7.571) +[mux-7] [INFO] [1746049520.545474008] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049520.546606558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049520.547016473] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049520.548675618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049520.549884178] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049520.585622966] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049520.588015685] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049520.588122310] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049520.589054926] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049520.589383594] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049520.589962031] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049520.590837899] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049520.645525487] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049520.646201546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049520.647149562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049520.648586214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049520.649843293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049520.745307887] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049520.746230227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049520.746755001] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049520.748344337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049520.749511851] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049520.835718608] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049520.838302617] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049520.838466327] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049520.839365157] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049520.840326069] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049520.840759637] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049520.841230114] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049520.844407822] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049520.845191318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049520.845836604] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049520.846883615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049520.848016728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049520.945238221] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049520.945748382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049520.946769388] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049520.947679981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049520.948735234] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049521.002317305] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973161 Long: -76.50298466 +[vectornav-1] [INFO] [1746049521.003289958] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.466, -3.408, 7.958) +[mux-7] [INFO] [1746049521.044919039] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049521.045513645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049521.046121064] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049521.047574257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049521.048812868] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049521.085465572] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049521.087827145] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049521.088507906] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049521.088905617] [sailbot.teensy]: Wind angle: 349 +[teensy-2] [INFO] [1746049521.089989526] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049521.090883102] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049521.091754344] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049521.145475522] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049521.145995143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049521.147244921] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049521.148271937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049521.149312175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049521.245544306] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049521.246344762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049521.247178938] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049521.248834763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049521.249385632] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049521.335552080] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049521.337629637] [sailbot.teensy]: Wind angle: 349 +[teensy-2] [INFO] [1746049521.338845068] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049521.339193925] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049521.339722603] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049521.339871075] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049521.340623548] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049521.344384805] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049521.344957326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049521.345518980] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049521.346653681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049521.347729411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049521.445118537] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049521.445679185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049521.446656124] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049521.447631371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049521.448405366] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049521.502423119] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973167 Long: -76.50298465 +[vectornav-1] [INFO] [1746049521.503486046] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.49199999999996, -3.408, 7.939) +[mux-7] [INFO] [1746049521.545283348] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049521.546407119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049521.546973386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049521.548909508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049521.549407442] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049521.585555716] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049521.588439652] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049521.588478393] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049521.589408424] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049521.589654304] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049521.590310414] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049521.590787442] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049521.645090253] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049521.645902274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049521.646587666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049521.647840902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049521.649062189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049521.745107092] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049521.745713296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049521.746769274] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049521.747807639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049521.748836331] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049521.835507229] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049521.837571554] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049521.838110725] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049521.838583842] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049521.839036892] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049521.839243903] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049521.839421787] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049521.844599068] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049521.845045783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049521.845867356] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049521.846843637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049521.847857656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049521.945570187] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049521.946195350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049521.947557457] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049521.948355119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049521.949081087] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049522.002958411] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973173 Long: -76.50298477 +[vectornav-1] [INFO] [1746049522.004054123] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.531, -3.396, 8.006) +[mux-7] [INFO] [1746049522.045024090] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049522.045635829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049522.046380129] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049522.047643771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049522.048711437] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049522.085345810] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049522.087125293] [sailbot.teensy]: Wind angle: 353 +[trim_sail-4] [INFO] [1746049522.087686231] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049522.088034176] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049522.088583854] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049522.088951810] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049522.089808524] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049522.145015457] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049522.145716094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049522.146431973] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049522.147745844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049522.148755285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049522.245117952] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049522.246365300] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049522.246509110] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049522.248260534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049522.248753668] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049522.335401881] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049522.337718951] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049522.338613996] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049522.339535238] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746049522.339948222] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049522.340336511] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049522.340872330] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049522.344367222] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049522.344872563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049522.345512156] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049522.346639732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049522.347764774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049522.445522088] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049522.445934130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049522.447251113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049522.447882373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049522.448404201] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049522.502765244] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973183 Long: -76.50298467 +[vectornav-1] [INFO] [1746049522.504268294] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.56399999999996, -3.384, 8.062) +[mux-7] [INFO] [1746049522.544730311] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049522.545419155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049522.545964456] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049522.547192260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049522.548354049] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049522.585524320] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049522.587513613] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049522.588048403] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049522.588522885] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049522.589479904] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049522.590401359] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049522.590494197] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746049522.645951708] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049522.646088854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049522.647679050] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049522.648377457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049522.649473508] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049522.745492765] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049522.746096844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049522.747373319] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049522.748197438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049522.750047575] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049522.835239909] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049522.836833979] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049522.837497509] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049522.838701765] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049522.839373352] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049522.839858403] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049522.840241007] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049522.844461774] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049522.845063653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049522.845574145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049522.846981804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049522.847990208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049522.945455466] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049522.946495086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049522.947560422] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049522.949348609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049522.950444800] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049523.002347499] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973177 Long: -76.50298496 +[vectornav-1] [INFO] [1746049523.003332556] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.598, -3.389, 8.192) +[mux-7] [INFO] [1746049523.045307665] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049523.046351796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049523.046837169] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049523.048192002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049523.048683810] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049523.085466392] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049523.088050513] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049523.088225368] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049523.089155025] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049523.089152416] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049523.090229148] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049523.091124369] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049523.145231725] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049523.145921577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049523.146744807] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049523.148094628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049523.149213030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049523.245181607] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049523.245823873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049523.246715440] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049523.247768158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049523.248335257] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049523.335184740] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049523.336912136] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049523.338225734] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049523.338031108] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049523.339016016] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049523.339158426] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049523.340090201] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049523.344299913] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049523.345079051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049523.345412063] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049523.346841705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049523.347930039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049523.444730032] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049523.445552431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049523.445905697] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049523.447546026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049523.448758430] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049523.502438855] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973191 Long: -76.502985 +[vectornav-1] [INFO] [1746049523.503510646] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.592, -3.389, 8.172) +[mux-7] [INFO] [1746049523.545261181] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049523.546375439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049523.546840004] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049523.548860085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049523.550051285] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049523.585497959] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049523.588077434] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049523.588189450] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049523.589141400] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049523.589583766] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049523.590283642] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049523.591167136] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049523.645386582] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049523.646293100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049523.647044360] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049523.648769462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049523.650028632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049523.745515326] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049523.746036434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049523.747022794] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049523.748108679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049523.749250399] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049523.835418167] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049523.837392487] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049523.837936225] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049523.838368673] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049523.839321444] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049523.839825790] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049523.840136494] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049523.844541353] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049523.845649811] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049523.845083618] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049523.846718794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049523.847799788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049523.945371513] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049523.945876432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049523.946936151] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049523.948130373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049523.949579640] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049524.002581817] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973203 Long: -76.50298489 +[vectornav-1] [INFO] [1746049524.003785482] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.613, -3.388, 8.221) +[mux-7] [INFO] [1746049524.045409735] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049524.046028479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049524.046951162] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049524.048260464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049524.049298568] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049524.085446997] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049524.087891864] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049524.088480281] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049524.088674817] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049524.089538792] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049524.090452108] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049524.091264311] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049524.145389351] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049524.146183814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049524.147100783] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049524.148728129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049524.149890091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049524.245690851] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049524.246507088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049524.247377748] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049524.249231654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049524.250393422] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049524.335258802] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049524.337519838] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049524.337597356] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049524.338514831] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049524.339016460] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049524.339218470] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049524.339400596] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049524.344540058] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049524.345206131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049524.345829367] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049524.346948802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049524.348031321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049524.445104475] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049524.445818446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049524.446538402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049524.447488344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049524.448033344] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049524.502521887] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973206 Long: -76.50298487 +[vectornav-1] [INFO] [1746049524.503502494] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.644, -3.388, 8.292) +[mux-7] [INFO] [1746049524.544876506] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049524.545757351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049524.546424016] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049524.547729706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049524.548873590] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049524.585526271] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049524.588140919] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049524.588338924] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049524.589375255] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049524.589986566] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049524.590231494] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049524.591149920] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049524.644848038] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049524.645510744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049524.646004793] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049524.647405269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049524.648496309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049524.744938562] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049524.746018296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049524.746241059] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049524.747825799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049524.748330252] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049524.835408357] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049524.838023218] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049524.838335094] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049524.838529715] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049524.839759292] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049524.840639112] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049524.841479084] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049524.844407650] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049524.845212377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049524.845503202] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049524.847081894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049524.848198733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049524.945626110] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049524.946436380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049524.947223444] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049524.948091122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049524.948549165] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049525.002569214] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973228 Long: -76.50298473 +[vectornav-1] [INFO] [1746049525.003761068] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.648, -3.385, 8.327) +[mux-7] [INFO] [1746049525.045004548] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049525.045733103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049525.046306701] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049525.047580548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049525.048613117] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049525.085516773] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049525.087588847] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049525.088631827] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049525.088848978] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049525.089127755] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049525.089543178] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049525.090444066] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049525.144974988] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049525.145636898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049525.146294798] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049525.147492013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049525.148518988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049525.245120513] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049525.245831108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049525.246555953] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049525.248060938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049525.248576983] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049525.335488920] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049525.337338437] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049525.338011812] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049525.338314196] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049525.338990932] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049525.339070097] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049525.339363255] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049525.344413229] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049525.345021110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049525.345544119] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049525.346718687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049525.347685381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049525.445359164] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049525.446246158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049525.446675022] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049525.448199151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049525.449279847] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049525.503602881] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697322 Long: -76.50298464 +[vectornav-1] [INFO] [1746049525.504894574] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.659, -3.384, 8.301) +[mux-7] [INFO] [1746049525.544976507] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049525.545633928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049525.546524247] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049525.547708855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049525.548918974] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049525.585392525] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049525.587266723] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049525.588132640] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049525.588261414] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049525.589152494] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049525.589464004] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049525.590030972] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049525.645004248] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049525.645794272] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049525.646457255] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049525.647886317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049525.649017432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049525.744834295] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049525.745975265] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049525.745782272] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049525.747660997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049525.748755504] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049525.835508159] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049525.838307998] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049525.838391295] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049525.839331576] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049525.839403916] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049525.840364040] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049525.840947570] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049525.844208957] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049525.845054317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049525.845681126] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049525.846810406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049525.847820522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049525.945070952] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049525.945811840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049525.946498572] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049525.947835803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049525.948929858] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049526.002178768] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973233 Long: -76.50298436 +[vectornav-1] [INFO] [1746049526.003153486] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.707, -3.395, 8.496) +[mux-7] [INFO] [1746049526.045089003] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049526.046003369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049526.046496075] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049526.048355874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049526.049401567] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049526.085207182] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049526.087336556] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049526.087644935] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049526.088534108] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049526.088574385] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049526.089749766] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049526.090611850] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049526.145462249] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049526.146146387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049526.146994108] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049526.149471499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049526.150590280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049526.245390215] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049526.246081528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049526.246917087] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049526.248098763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049526.248580508] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049526.335538889] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049526.337807280] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049526.338418856] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049526.338861035] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049526.338958882] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049526.339373830] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049526.339749827] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049526.344481735] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049526.345071747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049526.345701705] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049526.346772897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049526.347954540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049526.445073861] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049526.445652620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049526.446342003] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049526.447450800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049526.448534218] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049526.502726608] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973228 Long: -76.50298434 +[vectornav-1] [INFO] [1746049526.503980715] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.765, -3.393, 8.851) +[mux-7] [INFO] [1746049526.545200524] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049526.545935444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049526.546637979] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049526.547882034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049526.548930780] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049526.585597028] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049526.587681530] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049526.588465637] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049526.588740099] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049526.589639756] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049526.589824358] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049526.590556564] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049526.644946326] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049526.645644330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049526.646419609] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049526.647446460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049526.648505592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049526.745070546] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049526.745768283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049526.746535706] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049526.747791524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049526.748599866] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049526.835402991] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049526.837285332] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049526.838180905] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049526.838854393] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049526.839033350] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049526.839459339] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049526.839817446] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049526.844441385] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049526.844954480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049526.845569806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049526.846636950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049526.847827335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049526.945122157] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049526.945852765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049526.946759764] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049526.947789960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049526.948351802] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049527.003393733] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973214 Long: -76.50298433 +[vectornav-1] [INFO] [1746049527.004943419] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.78, -3.393, 8.906) +[mux-7] [INFO] [1746049527.045077612] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049527.045857532] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049527.046524442] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049527.048120323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049527.048757703] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049527.085480225] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049527.087600228] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049527.088582749] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049527.088055221] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049527.088482238] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049527.089492526] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049527.090365608] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049527.145131619] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049527.145984001] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049527.146872124] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049527.147987807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049527.149216061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049527.245198700] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049527.245998270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049527.246642653] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049527.248095853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049527.248976959] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049527.335415100] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049527.338095079] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049527.338519519] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049527.339079191] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049527.339496622] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049527.339873904] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049527.340245103] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049527.344399705] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049527.344904816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049527.345558921] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049527.346595779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049527.347833255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049527.445356559] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049527.445993736] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049527.446915011] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049527.448141286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049527.448722988] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049527.502584277] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973205 Long: -76.50298436 +[vectornav-1] [INFO] [1746049527.503637154] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.747, -3.39, 8.583) +[mux-7] [INFO] [1746049527.545238921] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049527.546207626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049527.546784034] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049527.548410641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049527.549702519] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049527.586090797] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049527.589069830] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049527.589599834] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049527.590185911] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049527.591041453] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049527.591147249] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049527.592044395] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049527.645012846] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049527.646443716] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049527.646969307] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049527.648891046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049527.649897213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049527.745343681] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049527.746279255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049527.747023978] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049527.747915720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049527.748406877] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049527.835110912] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049527.837812225] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049527.838013214] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049527.838931085] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049527.839744435] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049527.839839519] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049527.840750066] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049527.844245797] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049527.844750726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049527.845405170] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049527.846444936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049527.847561554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049527.945145776] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049527.945860481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049527.946610378] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049527.947866567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049527.948506194] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049528.002630332] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973211 Long: -76.50298392 +[vectornav-1] [INFO] [1746049528.003777530] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.696, -3.398, 8.381) +[mux-7] [INFO] [1746049528.045563487] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049528.046300914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049528.047219028] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049528.049194421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049528.050405582] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049528.085369461] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049528.087512857] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049528.088124198] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049528.088849668] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049528.089555938] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049528.089801031] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049528.090676297] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049528.145131370] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049528.145806456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049528.146598429] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049528.148085923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049528.149412040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049528.245126590] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049528.245835797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049528.246635609] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049528.247764451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049528.248853163] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049528.335623697] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049528.338558521] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049528.339082895] [sailbot.teensy]: Wind angle: 343 +[mux-7] [INFO] [1746049528.339099198] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049528.339642678] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049528.340024574] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049528.340431062] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049528.344409337] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049528.345128096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049528.345718317] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049528.346916207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049528.347962785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049528.444853734] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049528.445586615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049528.446090805] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049528.447493694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049528.448574018] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049528.502368616] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973209 Long: -76.50298375 +[vectornav-1] [INFO] [1746049528.503344426] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.674, -3.394, 8.43) +[mux-7] [INFO] [1746049528.544430520] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049528.545070858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049528.545494759] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049528.546663268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049528.547679767] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049528.585407109] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049528.587597113] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049528.588019196] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049528.588671847] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049528.589139001] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049528.589605967] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049528.590480231] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049528.644772434] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049528.645521064] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049528.646077481] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049528.647452924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049528.648568156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049528.745260695] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049528.745985700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049528.746885064] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049528.748397159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049528.750347789] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049528.835615647] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049528.838311384] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049528.838551927] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049528.838782372] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049528.839344223] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049528.840337586] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049528.841151842] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049528.844466208] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049528.845148798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049528.845833221] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049528.847000818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049528.848081540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049528.945555976] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049528.946526544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049528.947337990] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049528.948596961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049528.949128878] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049529.002733456] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973235 Long: -76.50298359 +[vectornav-1] [INFO] [1746049529.004094152] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.674, -3.4, 8.392) +[mux-7] [INFO] [1746049529.044771504] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049529.045697242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049529.046074739] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049529.047664276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049529.048822032] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049529.085262477] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049529.087363812] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049529.088346275] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049529.087532809] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049529.088027357] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049529.089148383] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049529.089984249] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049529.145315287] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049529.146045447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049529.146856915] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049529.148542472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049529.149686567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049529.245177009] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049529.245843682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049529.246609154] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049529.248132952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049529.249113161] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049529.335725649] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049529.338964568] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049529.339000987] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049529.339007660] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049529.340411534] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049529.341201369] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049529.341582327] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049529.344470886] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049529.345204019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049529.345735116] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049529.346912209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049529.348073569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049529.445691291] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049529.446423578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049529.447314096] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049529.448042125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049529.448597714] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049529.502833036] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973215 Long: -76.50298365 +[vectornav-1] [INFO] [1746049529.504450679] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.673, -3.397, 8.451) +[mux-7] [INFO] [1746049529.545155791] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049529.545866220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049529.546593438] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049529.548026174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049529.549060612] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049529.585696710] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049529.588335561] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049529.588692262] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049529.589694645] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049529.589767398] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049529.590635037] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049529.591508359] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049529.645047353] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049529.646370576] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049529.646747834] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049529.648523375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049529.649535463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049529.744974888] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049529.745749925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049529.746316527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049529.747737639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049529.748450327] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049529.835511676] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049529.838138390] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049529.838986640] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049529.839175082] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049529.839546539] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049529.840098195] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049529.840812426] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049529.844467188] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049529.845175093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049529.845686578] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049529.846997564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049529.848262689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049529.945603110] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049529.946918208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049529.947223441] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049529.949670728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049529.950772453] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049530.003382224] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973233 Long: -76.50298378 +[vectornav-1] [INFO] [1746049530.004862684] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.68100000000004, -3.405, 8.405) +[mux-7] [INFO] [1746049530.045014264] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049530.045886484] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049530.047832561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049530.046284971] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049530.048997026] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049530.085393482] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049530.087670162] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049530.087677541] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049530.088923396] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049530.088948767] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049530.089882527] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049530.090775941] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049530.145378383] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049530.147103654] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049530.146283370] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049530.148280573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049530.149310972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049530.245055912] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049530.245828705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049530.246550027] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049530.247806059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049530.248419751] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049530.335342299] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049530.337417943] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049530.337932301] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049530.338448436] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049530.339353397] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049530.339449034] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049530.340290703] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049530.344298182] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049530.344977355] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049530.345389724] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049530.346800582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049530.347933651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049530.445327390] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049530.446045923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049530.446856453] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049530.448251714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049530.449512188] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049530.503311449] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973253 Long: -76.50298363 +[vectornav-1] [INFO] [1746049530.504786224] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.719, -3.401, 8.438) +[mux-7] [INFO] [1746049530.545212467] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049530.545972885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049530.547076539] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049530.548006863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049530.549192574] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049530.585469615] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049530.587682747] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049530.587764876] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049530.588669693] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049530.588856126] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049530.589807129] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049530.590681818] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049530.645253306] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049530.645916786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049530.646830995] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049530.648607742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049530.649672999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049530.745167769] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049530.746038843] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049530.746610469] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049530.747996506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049530.749228714] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049530.835483695] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049530.837425070] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049530.838129720] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049530.839151109] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049530.839186648] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049530.839597525] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049530.839991768] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049530.844354530] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049530.844960694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049530.845517210] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049530.846774093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049530.847817137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049530.945044324] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049530.945716987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049530.946389500] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049530.947692782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049530.948952911] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049531.002464278] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973272 Long: -76.5029835 +[vectornav-1] [INFO] [1746049531.003499355] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.71799999999996, -3.411, 8.338) +[mux-7] [INFO] [1746049531.044831381] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049531.045466115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049531.046197222] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049531.047487022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049531.048924310] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049531.085449766] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049531.087709241] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049531.087959027] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746049531.088897806] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049531.088952587] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049531.089811910] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049531.090659627] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049531.144908814] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049531.145534563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049531.146393915] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049531.147484636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049531.148594797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049531.243735896] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049531.244032591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049531.244269037] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049531.244829928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049531.245402292] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049531.335535675] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049531.337714861] [sailbot.teensy]: Wind angle: 335 +[teensy-2] [INFO] [1746049531.338751042] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049531.338070023] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049531.339783729] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049531.340438567] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049531.340724250] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049531.344342731] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049531.345132741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049531.345493552] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049531.347092324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049531.348515779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049531.445105195] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049531.446710814] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049531.445940694] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049531.447899306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049531.448963604] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049531.503217703] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697325 Long: -76.5029831 +[vectornav-1] [INFO] [1746049531.504285820] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.70500000000004, -3.415, 7.918) +[mux-7] [INFO] [1746049531.545041805] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049531.545715362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049531.546478250] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049531.547639938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049531.548709342] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049531.585252690] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049531.587795561] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049531.588127472] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049531.589098839] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049531.589426661] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049531.590169672] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049531.591071858] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049531.645005050] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049531.645864733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049531.646482408] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049531.647739216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049531.648299068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049531.745175325] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049531.746654507] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049531.746191140] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049531.748544067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049531.749436213] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049531.835742464] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049531.838496906] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049531.838665801] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049531.839082606] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049531.839301695] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049531.839458366] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049531.840398973] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049531.844384252] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049531.844956663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049531.845506267] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049531.846579835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049531.847618881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049531.945298350] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049531.946361311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049531.946864980] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049531.948703759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049531.949805285] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049532.002670649] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973273 Long: -76.50298296 +[vectornav-1] [INFO] [1746049532.003876823] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.68399999999997, -3.459, 7.85) +[mux-7] [INFO] [1746049532.045538804] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049532.046377818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049532.047022053] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049532.048521330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049532.049576233] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049532.085392181] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049532.087219483] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049532.087667490] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049532.088318678] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049532.089390418] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049532.089897155] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049532.090318256] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049532.144957351] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049532.145671764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049532.146305058] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049532.147823627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049532.149012158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049532.245386435] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049532.246186674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049532.247042583] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049532.248925838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049532.250305056] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049532.335638059] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049532.337688994] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049532.338238538] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049532.338734943] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049532.339698523] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049532.339711696] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049532.340746582] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049532.344496702] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049532.345118105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049532.345699901] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049532.347031909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049532.348124396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049532.445743908] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049532.446563997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049532.447502104] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049532.448905898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049532.450244912] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049532.502437794] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973287 Long: -76.50298294 +[vectornav-1] [INFO] [1746049532.503464748] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.688, -3.453, 7.856) +[mux-7] [INFO] [1746049532.545215467] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049532.545963782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049532.546781934] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049532.548303334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049532.549028191] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049532.585294990] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049532.586910219] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049532.587926495] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049532.588009137] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049532.588821470] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049532.589160236] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049532.589701017] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049532.645121367] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049532.645732954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049532.646867274] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049532.647680557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049532.649041612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049532.745471273] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049532.745830509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049532.747354948] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049532.749049210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049532.750172001] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049532.835366789] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049532.837111963] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049532.838230720] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049532.838505619] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049532.839153575] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049532.839516887] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049532.840049685] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049532.844544952] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049532.844968462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049532.845775824] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049532.846632522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049532.847745767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049532.944964539] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049532.946143908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049532.946975055] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049532.947971431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049532.949034653] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049533.002415733] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973301 Long: -76.50298281 +[vectornav-1] [INFO] [1746049533.003387227] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.709, -3.441, 7.987) +[mux-7] [INFO] [1746049533.045198265] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049533.046267117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049533.046692799] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049533.048591516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049533.049633651] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049533.085513134] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049533.087721240] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049533.088791647] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049533.088094755] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049533.089137686] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049533.089719838] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049533.090648604] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049533.145048068] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049533.145928825] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049533.146392622] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049533.148130818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049533.149327599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049533.245001986] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049533.245933968] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049533.246356246] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049533.248081010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049533.249253972] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049533.335396136] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049533.337853567] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049533.337851369] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049533.338678444] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049533.338793932] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049533.339704163] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049533.340511949] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049533.344340980] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049533.344826630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049533.345408993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049533.347945309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049533.349090820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049533.445483646] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049533.446099635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049533.447125638] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049533.448437859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049533.449588429] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049533.502296450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973302 Long: -76.50298275 +[vectornav-1] [INFO] [1746049533.503455200] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.721, -3.445, 8.058) +[mux-7] [INFO] [1746049533.545269187] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049533.546115892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049533.546850458] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049533.547821884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049533.548270985] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049533.585509444] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049533.587638097] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049533.588688094] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049533.588386857] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049533.589748195] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049533.590381737] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049533.590658590] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049533.645151565] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049533.645860706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049533.646525330] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049533.648048000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049533.648732024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049533.744996798] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049533.745677206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049533.746398441] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049533.747526803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049533.748717440] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049533.835555331] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049533.837536195] [sailbot.teensy]: Wind angle: 338 +[teensy-2] [INFO] [1746049533.838517760] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049533.838251832] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049533.839379312] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049533.839422849] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049533.840306009] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049533.844496717] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049533.844948495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049533.845695506] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049533.846795978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049533.847963682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049533.945235424] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049533.945845605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049533.946811471] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049533.947739583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049533.948866669] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049534.002368280] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973336 Long: -76.50298262 +[vectornav-1] [INFO] [1746049534.003343412] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.695, -3.453, 7.948) +[mux-7] [INFO] [1746049534.045001993] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049534.045769699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049534.046153061] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049534.047642217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049534.048199749] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049534.085437269] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049534.087647082] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049534.087697016] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049534.088709066] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049534.089972437] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049534.090340064] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049534.090877532] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049534.145020863] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049534.146364011] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049534.147209290] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049534.149021473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049534.150085551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049534.245122636] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049534.246042505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049534.246460947] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049534.248272349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049534.249172120] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049534.335494722] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049534.337458546] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049534.338061692] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049534.339646844] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049534.339674819] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049534.340625173] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049534.341602982] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049534.344480237] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049534.344914112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049534.345674161] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049534.346575135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049534.347657190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049534.446191219] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049534.447654655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049534.448115440] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049534.448659281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049534.449222238] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049534.503088800] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973339 Long: -76.50298281 +[vectornav-1] [INFO] [1746049534.504580625] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.701, -3.447, 7.911) +[mux-7] [INFO] [1746049534.544867986] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049534.545604000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049534.546276020] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049534.547464937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049534.548557726] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049534.585350602] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049534.587273346] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049534.587576006] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049534.588237098] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049534.588857593] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049534.589201689] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049534.590197880] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049534.645159919] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049534.645856205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049534.646661604] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049534.648332914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049534.650258046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049534.744901757] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049534.745665033] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049534.746422440] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049534.747852788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049534.748335289] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049534.835697344] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049534.838335867] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049534.838599037] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049534.839577914] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049534.839840326] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049534.840235749] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049534.840858584] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049534.844376536] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049534.845033295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049534.845463061] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049534.846851160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049534.848004206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049534.945179393] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049534.946148364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049534.946718031] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049534.947808614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049534.948378846] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049535.002700695] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973359 Long: -76.50298286 +[vectornav-1] [INFO] [1746049535.003828485] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.672, -3.458, 7.753) +[mux-7] [INFO] [1746049535.045454024] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049535.046286106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049535.047540182] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049535.048756634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049535.049962833] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049535.085477786] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049535.087510416] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049535.087875665] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049535.088522301] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049535.089446483] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049535.089471627] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049535.090351637] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049535.144928836] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049535.145857638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049535.146188190] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049535.147633156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049535.148717683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049535.245137035] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049535.245977941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049535.246437550] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049535.247961696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049535.249198496] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049535.335474551] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049535.337926606] [sailbot.teensy]: Wind angle: 328 +[trim_sail-4] [INFO] [1746049535.338020486] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049535.339132099] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049535.339411319] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049535.339530694] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049535.339915845] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049535.344412461] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049535.345040255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049535.345569071] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049535.346928816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049535.347982735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049535.445203173] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049535.445832958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049535.446724312] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049535.447896593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049535.448565921] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049535.502275215] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973366 Long: -76.50298298 +[vectornav-1] [INFO] [1746049535.503287374] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.678, -3.436, 7.921) +[mux-7] [INFO] [1746049535.545487293] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049535.547086405] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049535.548221904] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049535.549884581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049535.550854243] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049535.585438839] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049535.587226307] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049535.587762220] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049535.588186619] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049535.589127734] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049535.590001623] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049535.590270072] [sailbot.mux]: algo sail angle: 75 +[mux-7] [INFO] [1746049535.645075718] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049535.645600604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049535.646551697] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049535.647523660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049535.648605230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049535.745220671] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049535.745665165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049535.746868386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049535.747802001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049535.748619348] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049535.835362095] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049535.837054104] [sailbot.teensy]: Wind angle: 332 +[trim_sail-4] [INFO] [1746049535.837576985] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049535.838976341] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049535.839050487] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049535.839948347] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049535.840914905] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049535.844556269] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049535.844946509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049535.845631656] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049535.846660318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049535.847719531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049535.945322272] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049535.946036693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049535.946851509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049535.948456182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049535.949513348] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049536.003024751] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973379 Long: -76.502983 +[vectornav-1] [INFO] [1746049536.004299725] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.68, -3.441, 7.871) +[mux-7] [INFO] [1746049536.045156442] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049536.045799275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049536.047203796] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049536.047769299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049536.049027137] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049536.085387141] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049536.087696082] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049536.088132283] [sailbot.teensy]: Wind angle: 333 +[mux-7] [INFO] [1746049536.088833974] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049536.089143044] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049536.090094395] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049536.090954834] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049536.145002820] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049536.145670640] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049536.146620878] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049536.147624159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049536.148875832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049536.244849497] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049536.245541664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049536.246092687] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049536.247518783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049536.248719588] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049536.335428497] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049536.337873425] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049536.338463627] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049536.339709771] [sailbot.teensy]: Wind angle: 334 +[teensy-2] [INFO] [1746049536.340866191] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049536.341748068] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049536.342597155] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049536.344460799] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049536.344772821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049536.345589107] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049536.347858725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049536.348902761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049536.445294213] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049536.445886951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049536.446907046] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049536.447971317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049536.449104675] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049536.502497341] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973377 Long: -76.50298289 +[vectornav-1] [INFO] [1746049536.503626392] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.675, -3.441, 7.852) +[mux-7] [INFO] [1746049536.545443564] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049536.546171305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049536.547041909] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049536.548271822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049536.549502752] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049536.585117247] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049536.586765793] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049536.587222608] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049536.587626317] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049536.588492329] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049536.589355819] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049536.589389446] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049536.644669441] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049536.645323087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049536.645839315] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049536.647193728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049536.648396247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049536.744895106] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049536.745602116] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049536.746378971] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049536.747576136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049536.748257651] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049536.835854938] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049536.838012893] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049536.838884476] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049536.839079563] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049536.840030944] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049536.840468565] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049536.840899086] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049536.844581575] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049536.845174606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049536.845739520] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049536.846964827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049536.848138767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049536.945650852] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049536.946223491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049536.947462085] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049536.949221722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049536.950307893] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049537.002549651] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973397 Long: -76.50298281 +[vectornav-1] [INFO] [1746049537.003657958] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.651, -3.441, 7.875) +[mux-7] [INFO] [1746049537.045022831] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049537.045560661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049537.046364758] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049537.047476537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049537.048523749] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049537.085161248] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049537.086894622] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049537.087203446] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049537.087888152] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049537.088784303] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049537.088655228] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049537.089654599] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049537.144902271] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049537.146185485] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049537.146781558] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049537.148607946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049537.149854596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049537.245005389] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049537.245691345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049537.246730805] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049537.247844441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049537.248928822] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049537.335444823] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049537.337282497] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049537.338137741] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049537.338275153] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049537.339100372] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049537.339162350] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049537.340093249] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049537.344467476] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049537.345046698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049537.345576086] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049537.346822583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049537.347866757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049537.445077875] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049537.446832282] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049537.447412583] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049537.449247946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049537.450359347] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049537.503627915] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973393 Long: -76.5029828 +[vectornav-1] [INFO] [1746049537.504996469] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.683, -3.445, 7.8) +[mux-7] [INFO] [1746049537.545160835] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049537.545828597] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049537.546811991] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049537.547593648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049537.548723848] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049537.585452657] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049537.587979607] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049537.588726035] [sailbot.teensy]: Wind angle: 337 +[mux-7] [INFO] [1746049537.589398773] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049537.589691753] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049537.590574598] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049537.591461854] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049537.645281743] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049537.645849726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049537.647055842] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049537.647931369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049537.649182946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049537.745063765] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049537.745875967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049537.746506057] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049537.747878079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049537.748934131] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049537.835665858] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049537.837679533] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049537.838463730] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049537.838698231] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049537.839598333] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049537.840483914] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049537.840413618] [sailbot.mux]: algo sail angle: 80 +[mux-7] [INFO] [1746049537.844304028] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049537.845002832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049537.845412396] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049537.846690057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049537.847853600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049537.945657684] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049537.946462343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049537.947404278] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049537.949970394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049537.951275524] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049538.002567882] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973401 Long: -76.5029828 +[vectornav-1] [INFO] [1746049538.003668369] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.68899999999996, -3.437, 7.95) +[mux-7] [INFO] [1746049538.045075436] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049538.045751971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049538.046499481] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049538.047935043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049538.048791041] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049538.085624221] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049538.087425255] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049538.088785907] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049538.088782982] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049538.089466422] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049538.089730008] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049538.090656123] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049538.145218745] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049538.146148500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049538.146681645] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049538.148385343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049538.149562866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049538.245269049] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049538.246049732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049538.247053056] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049538.248338805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049538.249217072] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049538.335264964] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049538.337035668] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049538.338131533] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049538.338637717] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049538.339858891] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049538.340786790] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049538.341638316] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049538.344283783] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049538.344918915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049538.345383080] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049538.346711816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049538.347781873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049538.445672851] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049538.446882760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049538.447342003] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049538.449637295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049538.450776311] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049538.503197520] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697341 Long: -76.50298279 +[vectornav-1] [INFO] [1746049538.504430374] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.704, -3.438, 7.919) +[mux-7] [INFO] [1746049538.545299624] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049538.546302831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049538.546818232] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049538.548700020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049538.549741649] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049538.585142954] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049538.587376848] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049538.587719208] [sailbot.teensy]: Wind angle: 337 +[mux-7] [INFO] [1746049538.587865119] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049538.588725520] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049538.589614184] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049538.590509950] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049538.645137490] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049538.646007791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049538.647307115] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049538.647936477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049538.650152988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049538.745022572] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049538.746077930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049538.746574170] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049538.747857751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049538.748409567] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049538.835664559] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049538.838624855] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049538.839671654] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049538.840029860] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049538.841299548] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049538.842162939] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049538.843042512] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049538.844631057] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049538.844950989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049538.845855021] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049538.846593769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049538.847784077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049538.945076091] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049538.945740335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049538.946462218] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049538.947801011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049538.948358946] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049539.002366964] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973419 Long: -76.50298287 +[vectornav-1] [INFO] [1746049539.003423089] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.723, -3.431, 8.056) +[mux-7] [INFO] [1746049539.045310587] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049539.046751460] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049539.045996790] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049539.047961617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049539.049174203] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049539.085559408] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049539.087859592] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049539.087942100] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049539.088811831] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049539.088871579] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049539.089750300] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049539.090678901] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049539.145057364] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049539.145729233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049539.146308836] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049539.147617853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049539.148817042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049539.245039778] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049539.245717395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049539.246453655] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049539.247835226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049539.248471927] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049539.335390714] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049539.337252886] [sailbot.teensy]: Wind angle: 332 +[trim_sail-4] [INFO] [1746049539.337789656] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049539.338724057] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049539.338993807] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049539.339160929] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049539.339546821] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049539.344538414] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049539.345723794] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049539.346376644] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049539.348053010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049539.349186275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049539.445411436] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049539.446146336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049539.447040109] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049539.448475197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049539.449837865] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049539.502531684] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697343 Long: -76.50298275 +[vectornav-1] [INFO] [1746049539.503557914] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.736, -3.424, 8.125) +[mux-7] [INFO] [1746049539.544819764] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049539.545437749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049539.545992331] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049539.547357585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049539.548376962] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049539.585650945] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049539.588435304] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049539.589033063] [sailbot.teensy]: Wind angle: 332 +[mux-7] [INFO] [1746049539.589076586] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049539.590131284] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049539.591039118] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049539.591887465] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049539.645453103] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049539.646697526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049539.647220228] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049539.648621662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049539.649817460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049539.745413004] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049539.746014145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049539.746922838] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049539.748065602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049539.749154466] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049539.835396454] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049539.837780879] [sailbot.teensy]: Wind angle: 332 +[trim_sail-4] [INFO] [1746049539.837925567] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049539.838327826] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049539.838711270] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049539.839379287] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049539.839744038] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049539.844419693] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049539.845073848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049539.845691185] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049539.846961192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049539.848110278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049539.945476477] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049539.945992961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049539.947210791] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049539.948436813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049539.949833978] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049540.002593760] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697343 Long: -76.50298273 +[vectornav-1] [INFO] [1746049540.003717524] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.77099999999996, -3.411, 8.314) +[mux-7] [INFO] [1746049540.045125131] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049540.045721337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049540.046554838] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049540.047757883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049540.048691772] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049540.085649493] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049540.087750357] [sailbot.teensy]: Wind angle: 331 +[trim_sail-4] [INFO] [1746049540.088277980] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049540.089779804] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049540.090452398] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049540.090764125] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049540.091794469] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049540.145569526] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049540.146130488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049540.147059482] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049540.148202711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049540.149672547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049540.245034617] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049540.245644748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049540.246527586] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049540.247486987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049540.248581619] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049540.335477468] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049540.337901237] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049540.338522140] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049540.339527012] [sailbot.teensy]: Wind angle: 331 +[teensy-2] [INFO] [1746049540.340549989] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049540.341375987] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049540.342199684] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049540.344338473] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049540.344747452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049540.345470318] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049540.346399257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049540.347449012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049540.445975469] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049540.446759835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049540.447627438] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049540.448979878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049540.450244567] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049540.502674363] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973433 Long: -76.5029826 +[vectornav-1] [INFO] [1746049540.503788194] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.764, -3.419, 8.232) +[mux-7] [INFO] [1746049540.545045442] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049540.545870237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049540.546759001] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049540.547756075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049540.548793818] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049540.585017126] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049540.586994389] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049540.588310681] [sailbot.teensy]: Wind angle: 336 +[mux-7] [INFO] [1746049540.588407908] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049540.589247819] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049540.590092433] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049540.590943984] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049540.645193828] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049540.646023832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049540.646883509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049540.648063993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049540.649301160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049540.745726492] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049540.746542250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049540.747535480] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049540.749123607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049540.750369477] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049540.835693590] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049540.838480584] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049540.838802823] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049540.838889455] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049540.839307721] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049540.839707493] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049540.840097964] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049540.844634702] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049540.845291294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049540.845849603] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049540.847125051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049540.848205586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049540.945489104] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049540.946138512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049540.947137044] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049540.948441528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049540.949469363] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049541.002942945] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973449 Long: -76.50298251 +[vectornav-1] [INFO] [1746049541.004435901] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.73, -3.432, 8.056) +[mux-7] [INFO] [1746049541.045109202] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049541.045785884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049541.046656359] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049541.047665679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049541.049524502] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049541.085356493] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049541.087206560] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049541.087739572] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049541.088191410] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049541.089022338] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049541.089071593] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049541.089948387] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049541.144789088] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049541.145453032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049541.146047652] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049541.147196652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049541.148407019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049541.245166170] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049541.245971186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049541.246642489] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049541.248350786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049541.249476019] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049541.335422662] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049541.337412547] [sailbot.teensy]: Wind angle: 338 +[teensy-2] [INFO] [1746049541.338359119] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049541.337841433] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049541.339061446] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049541.339257130] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049541.340189541] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049541.344445056] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049541.345048109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049541.345548741] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049541.346718233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049541.347780157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049541.445338949] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049541.446074466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049541.446858110] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049541.448408636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049541.449600457] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049541.502229377] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973448 Long: -76.50298275 +[vectornav-1] [INFO] [1746049541.503801990] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.773, -3.428, 8.223) +[mux-7] [INFO] [1746049541.544869509] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049541.545682653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049541.546005511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049541.547503609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049541.548639248] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049541.585549989] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049541.588099098] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049541.588181279] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049541.589150955] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049541.589849702] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049541.590076130] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049541.590933250] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049541.645036179] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049541.645946521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049541.646493662] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049541.648320354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049541.649384326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049541.745233147] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049541.746142150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049541.746780825] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049541.748344350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049541.749578885] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049541.835496990] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049541.837613730] [sailbot.teensy]: Wind angle: 327 +[teensy-2] [INFO] [1746049541.838731839] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049541.838156083] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049541.839520175] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049541.839630101] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049541.840504566] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049541.844277319] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049541.844818823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049541.845421471] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049541.846482322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049541.847528634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049541.945213666] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049541.945932085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049541.946963693] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049541.947805404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049541.948897311] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049542.003445192] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973453 Long: -76.50298276 +[vectornav-1] [INFO] [1746049542.004868769] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.69100000000003, -3.445, 7.853) +[mux-7] [INFO] [1746049542.045180543] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049542.045945962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049542.046626611] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049542.048419782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049542.048937503] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049542.085345751] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049542.087040722] [sailbot.teensy]: Wind angle: 319 +[teensy-2] [INFO] [1746049542.087968766] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049542.087780942] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049542.088834268] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049542.089364386] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049542.089636863] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049542.145307268] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049542.146244084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049542.146841493] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049542.148567002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049542.149609033] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049542.244938622] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049542.245604681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049542.246238814] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049542.247457430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049542.248700731] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049542.335537380] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049542.337960638] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049542.338424819] [sailbot.teensy]: Wind angle: 320 +[mux-7] [INFO] [1746049542.339204754] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049542.339346171] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049542.340265079] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049542.341146533] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049542.344254390] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049542.344960991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049542.345605912] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049542.346760107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049542.347979669] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049542.445783411] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049542.446536538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049542.447620735] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049542.448880804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049542.450949085] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049542.502277475] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973447 Long: -76.50298279 +[vectornav-1] [INFO] [1746049542.503425644] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.72900000000004, -3.45, 7.846) +[mux-7] [INFO] [1746049542.545645647] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049542.546431595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049542.547337396] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049542.549622250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049542.550696123] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049542.585112005] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049542.587367048] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049542.588907843] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049542.589771662] [sailbot.teensy]: Wind angle: 320 +[teensy-2] [INFO] [1746049542.590677955] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049542.591605202] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049542.592465299] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049542.645039958] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049542.645825033] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049542.646595466] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049542.647887394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049542.648930781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049542.745269167] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049542.746720675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049542.746803738] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049542.748778924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049542.749238060] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049542.835799845] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049542.838110708] [sailbot.teensy]: Wind angle: 327 +[trim_sail-4] [INFO] [1746049542.838792263] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049542.839197264] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049542.840240108] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049542.840766242] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049542.841127413] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049542.844270924] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049542.844857702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049542.845364655] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049542.846715930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049542.847753042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049542.945287451] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049542.946069950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049542.946733395] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049542.948237766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049542.949338979] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049543.002194154] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973457 Long: -76.50298267 +[vectornav-1] [INFO] [1746049543.003123106] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.74, -3.447, 7.833) +[mux-7] [INFO] [1746049543.045259239] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049543.046841857] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049543.047431364] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049543.049211490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049543.050368535] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049543.085418143] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049543.087302392] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049543.087613890] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049543.088277661] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049543.089186477] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049543.089351333] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049543.090101052] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049543.144384901] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049543.145102093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049543.145435833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049543.146706130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049543.147638354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049543.245364937] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049543.246856151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049543.247023029] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049543.249037450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049543.250208244] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049543.335366644] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049543.337276303] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049543.337910416] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049543.338234281] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049543.339317347] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049543.339481351] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049543.340323043] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049543.344425450] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049543.345765687] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049543.345038047] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049543.346689361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049543.347808593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049543.445190182] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049543.447065873] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049543.446101256] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049543.448338115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049543.449504901] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049543.502760916] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973487 Long: -76.50298255 +[vectornav-1] [INFO] [1746049543.504129126] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.736, -3.438, 7.899) +[mux-7] [INFO] [1746049543.545027166] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049543.545655429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049543.546365077] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049543.548008063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049543.549188133] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049543.585270950] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049543.587765619] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049543.588736724] [sailbot.teensy]: Wind angle: 328 +[mux-7] [INFO] [1746049543.588882288] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049543.589728634] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049543.590608336] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049543.591456990] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049543.644985286] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049543.645598514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049543.646266068] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049543.647577540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049543.648728378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049543.745051147] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049543.745820696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049543.746459262] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049543.747751909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049543.748924812] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049543.835571107] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049543.838218293] [sailbot.teensy]: Wind angle: 332 +[teensy-2] [INFO] [1746049543.839662973] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049543.839170677] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049543.840529050] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049543.840578084] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049543.841459019] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049543.844217579] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049543.844710245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049543.845296815] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049543.846401743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049543.847433145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049543.945094732] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049543.945729487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049543.946558265] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049543.947812025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049543.948958145] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049544.002394294] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973496 Long: -76.50298257 +[vectornav-1] [INFO] [1746049544.003446356] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.75, -3.432, 8.038) +[mux-7] [INFO] [1746049544.045389072] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049544.046096951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049544.046883335] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049544.048222629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049544.049353108] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049544.085616359] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049544.087689783] [sailbot.teensy]: Wind angle: 334 +[teensy-2] [INFO] [1746049544.088734109] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049544.088666141] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049544.089578606] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049544.089612976] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049544.090521643] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049544.144999229] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049544.145618582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049544.146267054] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049544.147582737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049544.148628031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049544.245182397] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049544.245930287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049544.246655253] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049544.247679660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049544.248241132] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049544.335385068] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049544.337298743] [sailbot.teensy]: Wind angle: 335 +[teensy-2] [INFO] [1746049544.338320743] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049544.338583700] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049544.339135457] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049544.339300972] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049544.339534404] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049544.344572360] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049544.345143349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049544.345893414] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049544.346956344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049544.348088090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049544.444932957] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049544.445732086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049544.446272695] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049544.447936678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049544.448977281] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049544.502378684] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973483 Long: -76.50298266 +[vectornav-1] [INFO] [1746049544.503357592] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.77, -3.431, 8.076) +[mux-7] [INFO] [1746049544.545148686] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049544.546151920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049544.546607500] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049544.548214353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049544.549243375] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049544.585830133] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049544.588717769] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049544.589956165] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049544.591104473] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049544.591350713] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049544.592111688] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049544.593130910] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049544.645368016] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049544.646077070] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049544.646833073] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049544.648205884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049544.649445305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049544.745133607] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049544.745890209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049544.746880103] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049544.747865052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049544.748890714] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049544.835571100] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049544.837707189] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049544.838275500] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049544.839378047] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049544.839917169] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049544.840991217] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049544.841823988] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049544.844345507] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049544.844812942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049544.845411573] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049544.846491587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049544.847534368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049544.945638161] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049544.946314211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049544.947209846] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049544.948597252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049544.949895535] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049545.003428487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973488 Long: -76.50298295 +[vectornav-1] [INFO] [1746049545.004987426] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.767, -3.426, 8.104) +[mux-7] [INFO] [1746049545.045172111] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049545.045980638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049545.046902119] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049545.048144766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049545.049415373] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049545.085399815] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049545.087930984] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049545.088830926] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049545.089043409] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049545.090246485] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049545.091150991] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049545.092024509] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049545.145288353] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049545.146181162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049545.146848347] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049545.148537301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049545.149627865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049545.245642358] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049545.246712676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049545.247368675] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049545.249170747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049545.250477143] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049545.335680238] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049545.338397543] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049545.338403369] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049545.339446665] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049545.340073956] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049545.340472994] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049545.341135480] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049545.344476718] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049545.345367639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049545.345999304] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049545.347006660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049545.348119859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049545.445165715] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049545.445809635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049545.446742519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049545.447963557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049545.449069152] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049545.502753809] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973482 Long: -76.50298295 +[vectornav-1] [INFO] [1746049545.503972757] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.796, -3.412, 8.24) +[mux-7] [INFO] [1746049545.545290652] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049545.545963095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049545.546745221] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049545.548320743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049545.549448516] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049545.585424787] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049545.587894025] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049545.588429688] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049545.589544505] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049545.590583935] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049545.591436722] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049545.592298477] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049545.645250454] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049545.646247947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049545.646809461] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049545.648623576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049545.649763073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049545.745391678] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049545.746868564] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049545.746054125] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049545.749001747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049545.750045426] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049545.835659088] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049545.837819288] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049545.838355756] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049545.838908269] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049545.839957702] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049545.840478132] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049545.840945745] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049545.844560525] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049545.845186720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049545.845783577] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049545.847150036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049545.848382883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049545.945183883] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049545.945846617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049545.946794943] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049545.947894636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049545.948962892] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049546.002594922] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973485 Long: -76.50298287 +[vectornav-1] [INFO] [1746049546.003642713] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.796, -3.392, 8.233) +[mux-7] [INFO] [1746049546.045450611] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049546.047115081] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049546.046949785] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049546.049712359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049546.051030357] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049546.085705638] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049546.087901572] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049546.088475258] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049546.089051409] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049546.089961202] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049546.089961962] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049546.090885530] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049546.145319669] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049546.146191694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049546.146885089] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049546.148613643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049546.150226337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049546.245362633] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049546.246323299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049546.246935720] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049546.248673145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049546.249932240] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049546.335517064] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049546.337567079] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049546.338034155] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049546.338607316] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049546.339536855] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049546.339558710] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049546.340478212] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049546.344396024] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049546.345176239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049546.345669152] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049546.346876742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049546.347920507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049546.445214391] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049546.446505795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049546.447006485] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049546.447821905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049546.448311431] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049546.502767281] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973479 Long: -76.50298302 +[vectornav-1] [INFO] [1746049546.503937796] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.845, -3.417, 8.37) +[mux-7] [INFO] [1746049546.545142089] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049546.545942102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049546.546716754] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049546.548011673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049546.549066819] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049546.585880479] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049546.588651259] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049546.589980201] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049546.591073231] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049546.591074028] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049546.592075565] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049546.593667361] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746049546.644913586] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049546.645611981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049546.647391429] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049546.647427757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049546.648591977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049546.745497068] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049546.746400233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049546.747550947] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049546.747897380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049546.748479672] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049546.835527000] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049546.838193959] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049546.838222314] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049546.838758939] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049546.840292181] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049546.841257650] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049546.842100785] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049546.844312227] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049546.845003504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049546.845417211] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049546.846907385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049546.848004288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049546.945167702] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049546.945927721] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049546.948605878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049546.950117357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049546.951359579] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049547.003234909] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973493 Long: -76.50298312 +[vectornav-1] [INFO] [1746049547.004487325] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.899, -3.393, 8.695) +[mux-7] [INFO] [1746049547.045160485] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049547.046060485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049547.047091443] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049547.047799448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049547.048276102] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049547.085487470] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049547.087822235] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049547.087924142] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049547.088831479] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049547.089776730] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049547.090364284] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049547.090534297] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049547.145374937] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049547.146173609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049547.147198219] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049547.148473012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049547.149710494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049547.245424384] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049547.246280921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049547.246954094] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049547.248373433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049547.248905929] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049547.335500627] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049547.338319007] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049547.339494738] [sailbot.teensy]: Wind angle: 340 +[mux-7] [INFO] [1746049547.340273633] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049547.340484708] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049547.341383832] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049547.342246575] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049547.344246476] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049547.344788307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049547.345350412] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049547.346444990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049547.347502884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049547.445331475] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049547.445999716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049547.446914742] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049547.449243453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049547.450383847] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049547.502707356] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697349 Long: -76.50298319 +[vectornav-1] [INFO] [1746049547.503826528] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.90999999999997, -3.353, 8.701) +[mux-7] [INFO] [1746049547.545272736] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049547.545982347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049547.546879570] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049547.548243092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049547.549372528] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049547.585539650] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049547.587550342] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049547.588239074] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049547.588566991] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049547.589467070] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049547.589625442] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049547.590344085] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049547.645282259] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049547.645875542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049547.647196346] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049547.647875796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049547.649061764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049547.745277012] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049547.745972120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049547.746721065] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049547.748103778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049547.748918016] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049547.835431674] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049547.837429721] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049547.837994161] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049547.838432505] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049547.839335649] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049547.839658464] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049547.840264986] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049547.844369577] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049547.844906561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049547.845468531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049547.846810778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049547.847797932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049547.945662323] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049547.946397597] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049547.947614703] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049547.949198333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049547.950462831] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049548.002984306] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973516 Long: -76.50298295 +[vectornav-1] [INFO] [1746049548.004356958] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.855, -3.28, 8.634) +[mux-7] [INFO] [1746049548.045475812] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049548.046335349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049548.047151860] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049548.047857652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049548.048332194] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049548.085501233] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049548.087774470] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049548.087859520] [sailbot.teensy]: Wind angle: 340 +[mux-7] [INFO] [1746049548.088417829] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049548.088806759] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049548.089674905] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049548.090519498] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049548.145393463] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049548.146200225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049548.146960793] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049548.147854065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049548.148470033] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049548.245563079] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049548.246330944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049548.247255845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049548.248714959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049548.249954101] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049548.335727396] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049548.338126555] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049548.338937813] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049548.339747488] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049548.339904961] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049548.340997350] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049548.341951601] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049548.344336186] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049548.344910641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049548.345629594] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049548.346656131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049548.347730062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049548.445619450] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049548.446658108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049548.447490408] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049548.448005662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049548.448447932] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049548.503075036] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973525 Long: -76.50298276 +[vectornav-1] [INFO] [1746049548.504306980] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.852, -3.235, 8.593) +[mux-7] [INFO] [1746049548.544957838] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049548.545840015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049548.546160551] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049548.547661534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049548.548727144] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049548.585545492] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049548.588073927] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049548.588125297] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049548.589131959] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049548.590072926] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049548.591213970] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049548.591883936] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049548.645745064] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049548.646322938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049548.647542849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049548.650022190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049548.651176821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049548.745360888] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049548.745951853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049548.746926959] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049548.747988804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049548.749224041] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049548.835562165] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049548.837532375] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049548.838204897] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049548.838533175] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049548.839119615] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049548.839355101] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049548.839498607] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049548.844558325] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049548.845262715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049548.845678096] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049548.846970129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049548.847987214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049548.945644453] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049548.946650476] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049548.947327653] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049548.948729578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049548.949286000] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049549.002547867] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973541 Long: -76.50298258 +[vectornav-1] [INFO] [1746049549.003576326] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.892, -3.362, 8.545) +[mux-7] [INFO] [1746049549.045477461] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049549.046320834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049549.047019249] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049549.048739369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049549.049842470] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049549.085818880] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049549.088712132] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049549.089086568] [sailbot.teensy]: Wind angle: 339 +[mux-7] [INFO] [1746049549.089473382] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049549.090012494] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049549.090929821] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049549.091801570] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049549.145567686] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049549.147362998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049549.147524516] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049549.148439189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049549.149204507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049549.245524100] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049549.246287346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049549.248309648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049549.248667893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049549.250193316] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049549.335631555] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049549.337767789] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049549.338772418] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049549.338863254] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049549.339708937] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049549.340181695] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049549.340997475] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049549.344554070] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049549.345128071] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049549.345816348] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049549.348330253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049549.349404334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049549.445198579] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049549.446080603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049549.446720345] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049549.448178988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049549.449395060] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049549.502737217] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973547 Long: -76.50298254 +[vectornav-1] [INFO] [1746049549.503941313] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.918, -3.351, 8.717) +[mux-7] [INFO] [1746049549.545113012] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049549.545949465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049549.546450784] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049549.547860038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049549.548896439] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049549.585479349] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049549.587645909] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049549.588065504] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049549.588667624] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049549.589724224] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049549.589767687] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049549.590620828] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049549.645022124] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049549.646169047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049549.646567996] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049549.648607950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049549.649637571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049549.745464733] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049549.746261547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049549.747019681] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049549.748876467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049549.750274530] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049549.835750120] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049549.838239888] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049549.840130317] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049549.839170428] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049549.840688102] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049549.841197350] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049549.842225160] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049549.844589838] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049549.845135323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049549.845847192] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049549.847070150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049549.848139719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049549.945665348] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049549.946695403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049549.947270244] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049549.949163142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049549.950297147] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049550.003674169] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973558 Long: -76.50298245 +[vectornav-1] [INFO] [1746049550.004963837] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.919, -3.344, 8.694) +[mux-7] [INFO] [1746049550.045264978] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049550.046113622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049550.046855716] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049550.048230727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049550.049402305] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049550.085484287] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049550.087936306] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049550.088521019] [sailbot.teensy]: Wind angle: 339 +[mux-7] [INFO] [1746049550.088916171] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049550.089469133] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049550.090402297] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049550.091235583] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049550.145284757] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049550.145931175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049550.146840116] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049550.148208418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049550.149274085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049550.245626580] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049550.246410234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049550.247285421] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049550.248624619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049550.249843517] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049550.335718827] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049550.338349743] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049550.338422844] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049550.339409048] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049550.340114980] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049550.340361138] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049550.341068153] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049550.344631845] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049550.345481264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049550.345871700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049550.347422759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049550.348627500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049550.445430265] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049550.446108286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049550.447007405] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049550.448372281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049550.448995222] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049550.503867258] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973566 Long: -76.50298211 +[vectornav-1] [INFO] [1746049550.505218904] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.942, -3.339, 8.667) +[mux-7] [INFO] [1746049550.545252613] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049550.546024110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049550.546867434] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049550.548072125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049550.549171310] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049550.585500357] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049550.587285093] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049550.588218604] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049550.587781028] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049550.589122191] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049550.589982871] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049550.590004871] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049550.645328397] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049550.646008707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049550.646744489] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049550.647970949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049550.648520725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049550.745342965] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049550.745910048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049550.746911384] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049550.747964531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049550.749069078] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049550.835590596] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049550.838155141] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049550.838536058] [sailbot.teensy]: Wind angle: 339 +[mux-7] [INFO] [1746049550.838861109] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049550.839298053] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049550.839740020] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049550.840611697] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049550.844557735] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049550.845076457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049550.845917733] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049550.846765418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049550.847881172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049550.945074482] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049550.945940147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049550.946420011] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049550.947741300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049550.948244509] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049551.002458407] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973559 Long: -76.50298223 +[vectornav-1] [INFO] [1746049551.003515686] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.905, -3.36, 8.344) +[mux-7] [INFO] [1746049551.045379387] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049551.046143220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049551.046996675] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049551.048331317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049551.049541766] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049551.085445511] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049551.087404259] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049551.087775375] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049551.088361977] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049551.088950865] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049551.089265715] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049551.090122900] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049551.145253368] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049551.146372575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049551.146668656] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049551.148391737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049551.149768160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049551.245311055] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049551.246016311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049551.246789678] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049551.248312208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049551.249479470] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049551.335502570] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049551.337750032] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049551.338319383] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049551.338772521] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049551.339701945] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049551.339916998] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049551.340854904] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049551.344575276] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049551.345058557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049551.345830269] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049551.347630222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049551.348807925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049551.445355446] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049551.446181012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049551.447025986] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049551.448131165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049551.448655699] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049551.502733687] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973544 Long: -76.5029823 +[vectornav-1] [INFO] [1746049551.503846600] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.906, -3.35, 8.369) +[mux-7] [INFO] [1746049551.545196482] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049551.546029955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049551.546782859] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049551.548326363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049551.549498066] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049551.585940093] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049551.588311429] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049551.589433950] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049551.588891236] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049551.590464372] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049551.591440454] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049551.591610487] [sailbot.mux]: algo sail angle: 80 +[mux-7] [INFO] [1746049551.645534419] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049551.646153559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049551.647351747] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049551.648391406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049551.649814030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049551.745404144] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049551.745983256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049551.747347896] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049551.748025239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049551.749145218] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049551.835520747] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049551.838097580] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049551.838690695] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049551.839290670] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049551.840346493] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049551.841270523] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049551.842124853] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049551.844297227] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049551.844885323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049551.845387870] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049551.846803606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049551.847965466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049551.945479477] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049551.946279060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049551.947324904] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049551.948645642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049551.949746428] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049552.003352290] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973574 Long: -76.50298222 +[vectornav-1] [INFO] [1746049552.005160613] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.93, -3.33, 8.645) +[mux-7] [INFO] [1746049552.045566405] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049552.046427908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049552.047244120] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049552.048675774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049552.049885032] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049552.085807186] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049552.088670407] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049552.088855119] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049552.089684682] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049552.090032052] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049552.090543843] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049552.091435370] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049552.145576420] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049552.146096047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049552.147273014] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049552.148374664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049552.149656364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049552.245661707] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049552.246235267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049552.247908548] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049552.248651106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049552.249940511] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049552.335355476] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049552.337036681] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049552.337992858] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049552.338221033] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049552.338926739] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049552.339827569] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049552.339954277] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746049552.344383259] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049552.344956535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049552.345499146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049552.346648121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049552.347661892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049552.445733294] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049552.446516699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049552.447798018] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049552.448085924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049552.448728958] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049552.502244869] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973594 Long: -76.50298205 +[vectornav-1] [INFO] [1746049552.503212715] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.961, -3.324, 8.773) +[mux-7] [INFO] [1746049552.544876513] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049552.545697404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049552.546372458] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049552.547713018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049552.548922838] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049552.585804137] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049552.588775110] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049552.589188495] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049552.590010480] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049552.591026911] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049552.592122237] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049552.593348485] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049552.645272229] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049552.646022973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049552.647156645] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049552.648083501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049552.649157175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049552.745324076] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049552.745970223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049552.746813661] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049552.748040309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049552.748671849] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049552.835538947] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049552.838033989] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049552.838150755] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049552.839007063] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049552.839896672] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049552.840118079] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049552.840831564] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049552.844337541] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049552.844838349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049552.845456266] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049552.846597816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049552.847685725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049552.945607190] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049552.946565307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049552.947391853] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049552.949348346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049552.951066486] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049553.002722021] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973595 Long: -76.50298206 +[vectornav-1] [INFO] [1746049553.003886149] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.951, -3.351, 8.485) +[teensy-2] [INFO] [1746049553.045884264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049553.045872711] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049553.047810284] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049553.047882617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049553.049035736] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049553.085924026] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049553.088350085] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049553.088787354] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049553.090389385] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049553.090996151] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049553.091930037] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049553.092798887] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049553.145460842] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049553.145961673] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049553.148009678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049553.146973066] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049553.149308253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049553.245425302] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049553.246206859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049553.247080347] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049553.248492231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049553.249115889] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049553.335376753] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049553.337744385] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049553.338026008] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049553.338956314] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049553.339844273] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049553.339367144] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049553.340739328] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049553.344377704] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049553.344747548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049553.345409015] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049553.346270725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049553.347365520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049553.445741803] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049553.446051032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049553.447269623] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049553.448247768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049553.449365463] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049553.503644960] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973595 Long: -76.50298192 +[vectornav-1] [INFO] [1746049553.505291838] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.957, -3.353, 8.583) +[mux-7] [INFO] [1746049553.545459242] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049553.546132176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049553.547185885] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049553.548204315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049553.549434488] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049553.585611402] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049553.588192455] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049553.589308471] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049553.589702569] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049553.590670181] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049553.591563442] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049553.592444205] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049553.645265696] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049553.645943408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049553.646866867] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049553.648270141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049553.648895664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049553.745313794] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049553.746109998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049553.746830190] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049553.748192859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049553.748656761] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049553.835453604] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049553.837805715] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049553.837905344] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049553.839407062] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049553.839407335] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049553.839814183] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049553.840329054] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049553.844350936] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049553.845082392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049553.845790223] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049553.846879348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049553.848000191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049553.945075536] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049553.945784169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049553.946710617] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049553.947886362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049553.948937927] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049554.002612477] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973605 Long: -76.50298179 +[vectornav-1] [INFO] [1746049554.003778700] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.96299999999997, -3.38, 8.31) +[mux-7] [INFO] [1746049554.045321486] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049554.046002945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049554.046819290] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049554.048443779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049554.049622331] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049554.085486057] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049554.087389350] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049554.088281538] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049554.089176999] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049554.089284297] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049554.090220598] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049554.091075695] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049554.145154039] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049554.146018643] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049554.146662761] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049554.148333458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049554.149511130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049554.245565744] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049554.246398241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049554.247133593] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049554.248674064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049554.249165558] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049554.335423054] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049554.337916304] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049554.338505367] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049554.339930044] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049554.340424760] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049554.341344466] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049554.342281963] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049554.344528589] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049554.344982391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049554.345672210] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049554.346743574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049554.347783963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049554.445673844] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049554.446373451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049554.447390758] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049554.448900438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049554.449408261] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049554.502652814] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973625 Long: -76.50298158 +[vectornav-1] [INFO] [1746049554.503803278] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.881, -3.38, 8.19) +[mux-7] [INFO] [1746049554.545455218] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049554.546377463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049554.547304609] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049554.548797836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049554.549998573] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049554.585345920] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049554.587646729] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049554.588076999] [sailbot.teensy]: Wind angle: 339 +[mux-7] [INFO] [1746049554.588188877] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049554.589160416] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049554.590097290] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049554.590935952] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049554.645246118] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049554.645989536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049554.646758014] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049554.648487774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049554.649538933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049554.745678872] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049554.746231797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049554.747296733] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049554.748653796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049554.749315731] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049554.835755782] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049554.838763255] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049554.839497517] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049554.839696476] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049554.840693242] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049554.841645585] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049554.842467069] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049554.844436261] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049554.844930851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049554.845597552] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049554.846767384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049554.847827913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049554.945243208] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049554.946241450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049554.947113469] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049554.948427629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049554.949607975] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049555.003119912] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973605 Long: -76.50298148 +[vectornav-1] [INFO] [1746049555.004142274] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.947, -3.36, 8.537) +[mux-7] [INFO] [1746049555.045161189] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049555.045840268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049555.046671320] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049555.048335803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049555.049489734] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049555.085647893] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049555.088486580] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049555.088590402] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049555.089493898] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049555.089823277] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049555.090413837] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049555.091314615] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049555.144985778] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049555.145599774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049555.146258965] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049555.147427827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049555.148454196] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049555.245378556] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049555.246177452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049555.247137024] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049555.248468125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049555.249604274] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049555.335375416] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049555.337511612] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049555.338074449] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049555.338522969] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049555.339509240] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049555.339796131] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049555.340055147] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049555.344364179] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049555.344938919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049555.345450560] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049555.346585966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049555.347683376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049555.445586349] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049555.446636432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049555.447456847] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049555.449190278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049555.450496328] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049555.502424629] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973621 Long: -76.5029814 +[vectornav-1] [INFO] [1746049555.503521702] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.95799999999997, -3.354, 8.619) +[mux-7] [INFO] [1746049555.545304992] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049555.546239072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049555.546829355] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049555.548736457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049555.549775413] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049555.585163740] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049555.587335297] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049555.587999726] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049555.589384016] [sailbot.teensy]: Wind angle: 338 +[teensy-2] [INFO] [1746049555.590387648] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049555.591235409] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049555.592079825] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049555.645055791] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049555.645983424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049555.647219417] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049555.648311548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049555.649503616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049555.745250621] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049555.745795764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049555.746683410] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049555.747749994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049555.748792637] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049555.835732600] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049555.838807590] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049555.838986572] [sailbot.teensy]: Wind angle: 337 +[mux-7] [INFO] [1746049555.839879805] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049555.839955914] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049555.840900235] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049555.841836497] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049555.844443716] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049555.845017663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049555.845699273] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049555.846785869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049555.847844989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049555.945654657] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049555.946500730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049555.947165884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049555.948738678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049555.949982253] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049556.003140254] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973608 Long: -76.50298146 +[vectornav-1] [INFO] [1746049556.004647773] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.943, -3.362, 8.538) +[mux-7] [INFO] [1746049556.044958032] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049556.045844885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049556.046236590] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049556.048435539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049556.049681590] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049556.085360550] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049556.087214950] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049556.088082034] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049556.088240616] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049556.089142993] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049556.089200063] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049556.090054332] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049556.145277340] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049556.146228163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049556.146936454] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049556.148537160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049556.149557625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049556.245634119] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049556.246321414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049556.247237458] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049556.248835614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049556.249321895] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049556.335380543] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049556.337959287] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049556.338322012] [sailbot.teensy]: Wind angle: 336 +[mux-7] [INFO] [1746049556.338564703] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049556.339491183] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049556.340526414] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049556.341401051] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049556.344251011] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049556.344729191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049556.345331348] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049556.346359978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049556.347550193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049556.445334940] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049556.446058390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049556.446863241] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049556.448432877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049556.449471801] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049556.502636961] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973631 Long: -76.50298131 +[vectornav-1] [INFO] [1746049556.503888987] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.976, -3.363, 8.51) +[mux-7] [INFO] [1746049556.545327119] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049556.546199742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049556.546842459] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049556.548595636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049556.549879851] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049556.585472125] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049556.588066874] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049556.588779716] [sailbot.teensy]: Wind angle: 335 +[mux-7] [INFO] [1746049556.589401070] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049556.589775120] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049556.590736708] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049556.591590868] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049556.645305731] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049556.646022051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049556.646727363] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049556.648481387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049556.649659977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049556.745571081] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049556.746476773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049556.747228425] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049556.750086259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049556.751294125] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049556.835484463] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049556.837933512] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049556.838436469] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049556.838658201] [sailbot.teensy]: Wind angle: 335 +[teensy-2] [INFO] [1746049556.839271755] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049556.839628738] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049556.840007602] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049556.844461745] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049556.845156930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049556.845533660] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049556.846878307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049556.847977371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049556.945751738] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049556.946964711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049556.947600391] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049556.949662530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049556.950898738] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049557.003399565] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973634 Long: -76.50298119 +[vectornav-1] [INFO] [1746049557.004686309] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.031, -3.347, 9.059) +[mux-7] [INFO] [1746049557.045129122] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049557.045939198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049557.046534137] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049557.048203695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049557.049220847] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049557.085675270] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049557.088002211] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049557.088763658] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049557.089061522] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049557.089998491] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049557.089733450] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049557.090988109] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049557.144922471] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049557.145533767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049557.146059029] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049557.147226750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049557.148479365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049557.245243124] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049557.246195172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049557.246813693] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049557.248349662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049557.248886549] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049557.335397511] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049557.337341111] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049557.337858666] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049557.339104387] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049557.339268008] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049557.340076163] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049557.340485493] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049557.344471437] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049557.344857088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049557.345716587] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049557.346545845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049557.347646037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049557.445684379] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049557.446311201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049557.447610999] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049557.448267909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049557.448773410] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049557.503394407] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697365 Long: -76.50298111 +[vectornav-1] [INFO] [1746049557.504823880] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.07, -3.346, 9.242) +[mux-7] [INFO] [1746049557.544819218] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049557.545437445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049557.546311629] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049557.547222889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049557.548320552] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049557.585514250] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049557.588110506] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049557.588734959] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049557.588940406] [sailbot.teensy]: Wind angle: 335 +[teensy-2] [INFO] [1746049557.590582320] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049557.591484996] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049557.592360873] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049557.645490776] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049557.646111742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049557.647141361] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049557.648418171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049557.649560779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049557.745253376] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049557.746742132] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049557.747718820] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049557.749163863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049557.749707214] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049557.835582440] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049557.838125606] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049557.838789648] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049557.839202768] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049557.840118388] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049557.840281492] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049557.840560240] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049557.844338772] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049557.844989416] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049557.845540622] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049557.846760827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049557.848570509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049557.945230038] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049557.946146559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049557.946998994] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049557.947914414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049557.948377234] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049558.002561349] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973658 Long: -76.50298121 +[vectornav-1] [INFO] [1746049558.003672234] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.077, -3.354, 8.853) +[mux-7] [INFO] [1746049558.045118111] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049558.045895235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049558.046737745] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049558.047909039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049558.048976754] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049558.085544662] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049558.087926522] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049558.088256906] [sailbot.teensy]: Wind angle: 335 +[teensy-2] [INFO] [1746049558.088741236] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049558.089134496] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049558.089351862] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049558.089509435] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049558.145086447] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049558.145741523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049558.146510839] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049558.147721007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049558.148843179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049558.245084463] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049558.246122859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049558.246945182] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049558.247999260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049558.248549305] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049558.335476140] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049558.337716442] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049558.337952407] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049558.339022317] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049558.339195441] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049558.339954094] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049558.340843801] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049558.344435994] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049558.344907163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049558.345531778] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049558.346565330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049558.347633825] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049558.445389773] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049558.446989669] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049558.447163066] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049558.449555000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049558.450766076] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049558.503311503] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697367 Long: -76.50298135 +[vectornav-1] [INFO] [1746049558.504905647] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.06899999999996, -3.367, 8.842) +[mux-7] [INFO] [1746049558.545245938] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049558.546206417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049558.547083834] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049558.548480106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049558.549552123] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049558.585807526] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049558.588671688] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049558.589029384] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746049558.590035836] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049558.590390458] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049558.590959808] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049558.592075124] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049558.645575021] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049558.646299209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049558.647554123] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049558.648636625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049558.650265936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049558.745478492] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049558.746205392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049558.747196473] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049558.748542659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049558.749731196] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049558.835813047] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049558.838114684] [sailbot.teensy]: Wind angle: 327 +[teensy-2] [INFO] [1746049558.839167456] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049558.838665882] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049558.840085097] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049558.840111199] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049558.841180612] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049558.844362814] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049558.845064041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049558.845472657] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049558.846900786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049558.847907021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049558.945045797] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049558.945715632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049558.946459206] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049558.947862335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049558.949173160] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049559.002841455] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973666 Long: -76.50298141 +[vectornav-1] [INFO] [1746049559.004199404] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.076, -3.371, 8.824) +[mux-7] [INFO] [1746049559.045128412] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049559.045803628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049559.046572126] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049559.047925437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049559.049072580] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049559.085478142] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049559.087919025] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049559.088392516] [sailbot.teensy]: Wind angle: 321 +[mux-7] [INFO] [1746049559.088836437] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049559.089672987] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049559.090556203] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049559.091401924] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049559.145327063] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049559.146055232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049559.146845106] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049559.148503348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049559.151003423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049559.245380637] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049559.246430164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049559.247083519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049559.248782713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049559.249831997] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049559.335795471] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049559.338656795] [sailbot.teensy]: Wind angle: 317 +[trim_sail-4] [INFO] [1746049559.338642248] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049559.339742476] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049559.340077074] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049559.340726993] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049559.341284535] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049559.344621646] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049559.345258932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049559.345731781] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049559.347092166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049559.348121100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049559.445649977] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049559.446634858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049559.447599311] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049559.449344389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049559.450528406] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049559.502698761] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973676 Long: -76.50298133 +[vectornav-1] [INFO] [1746049559.503760980] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.113, -3.371, 8.768) +[mux-7] [INFO] [1746049559.544853307] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049559.545651495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049559.546158905] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049559.547443321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049559.548499481] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049559.585536423] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049559.587799097] [sailbot.teensy]: Wind angle: 317 +[teensy-2] [INFO] [1746049559.588834472] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049559.588213561] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746049559.589595852] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049559.589697090] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049559.590580873] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049559.645518742] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049559.646250983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049559.647306197] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049559.649813151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049559.650942712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049559.745375552] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049559.746323079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049559.747001158] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049559.748536789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049559.749702837] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049559.835150555] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049559.837681880] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049559.837801108] [sailbot.teensy]: Wind angle: 317 +[mux-7] [INFO] [1746049559.837994618] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049559.838717541] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049559.839568130] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049559.839941835] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049559.844644785] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049559.845315506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049559.846020621] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049559.847044137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049559.848246278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049559.945364866] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049559.945993558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049559.946986028] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049559.948262762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049559.948989994] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049560.002309632] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973678 Long: -76.50298112 +[vectornav-1] [INFO] [1746049560.003290711] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.098, -3.391, 8.79) +[mux-7] [INFO] [1746049560.045223465] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049560.045938507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049560.046669218] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049560.048061797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049560.049230213] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049560.085761606] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049560.088604852] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746049560.089708092] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049560.089900063] [sailbot.teensy]: Wind angle: 317 +[teensy-2] [INFO] [1746049560.090853245] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049560.091741297] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049560.092699364] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049560.145892205] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049560.146224763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049560.147706388] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049560.148775887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049560.150095307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049560.245367505] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049560.246020499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049560.246934635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049560.248310234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049560.249488563] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049560.335429275] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049560.338054924] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746049560.338670193] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049560.338741747] [sailbot.teensy]: Wind angle: 317 +[teensy-2] [INFO] [1746049560.339769186] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049560.340678872] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049560.341655915] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049560.344240948] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049560.344980447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049560.345340906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049560.346652501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049560.347670830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049560.445692829] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049560.446758274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049560.447306630] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049560.448317083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049560.448951872] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049560.503310757] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973687 Long: -76.50298114 +[vectornav-1] [INFO] [1746049560.504872367] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.144, -3.416, 8.84) +[mux-7] [INFO] [1746049560.545432492] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049560.546134898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049560.546950033] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049560.548338578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049560.549532041] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049560.585674215] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049560.587843587] [sailbot.teensy]: Wind angle: 317 +[trim_sail-4] [INFO] [1746049560.588468306] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049560.588887992] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049560.589785059] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049560.589824853] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049560.590703151] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049560.645223156] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049560.645906685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049560.646829631] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049560.648175391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049560.649377913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049560.745544357] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049560.746213572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049560.747198785] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049560.748773333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049560.749281454] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049560.835195200] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049560.837498346] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746049560.838172524] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049560.838458178] [sailbot.teensy]: Wind angle: 317 +[teensy-2] [INFO] [1746049560.839611193] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049560.840506277] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049560.841105827] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049560.844422119] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049560.845028101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049560.845539396] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049560.846951978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049560.848032728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049560.945064020] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049560.945736222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049560.946508043] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049560.947779872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049560.948974860] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049561.002217590] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973663 Long: -76.50298114 +[vectornav-1] [INFO] [1746049561.003106918] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.091, -3.391, 8.637) +[mux-7] [INFO] [1746049561.045163902] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049561.046153871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049561.046647012] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049561.048304222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049561.049110242] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049561.085553568] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049561.088203963] [sailbot.teensy]: Wind angle: 317 +[teensy-2] [INFO] [1746049561.089248690] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049561.088454343] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746049561.089602454] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049561.090173768] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049561.091143128] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049561.145245381] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049561.146004512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049561.146799548] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049561.148333231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049561.149572106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049561.246236016] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049561.247054707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049561.247795652] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049561.249056181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049561.249696927] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049561.334463258] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049561.336372659] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049561.337617569] [sailbot.teensy]: Wind angle: 317 +[mux-7] [INFO] [1746049561.337779989] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049561.338503185] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049561.339253298] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049561.339629192] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049561.343885060] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049561.344233695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049561.344663517] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049561.345995424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049561.346944419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049561.443850067] [sailbot.mux]: controller_app sail angle: 37 +[mux-7] [INFO] [1746049561.445782299] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049561.446575476] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049561.447163289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049561.448445968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049561.449460020] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049561.502408872] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973667 Long: -76.50298117 +[vectornav-1] [INFO] [1746049561.503591325] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.105, -3.383, 8.632) +[mux-7] [INFO] [1746049561.545294850] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049561.546103380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049561.546979309] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049561.548718376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049561.549786200] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049561.586032467] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049561.589055900] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049561.589366505] [sailbot.teensy]: Wind angle: 317 +[mux-7] [INFO] [1746049561.589700245] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049561.590465755] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049561.591440225] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049561.592398428] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049561.645244418] [sailbot.mux]: Published sail angle from controller_app: 37 +[mux-7] [INFO] [1746049561.646845130] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049561.646936689] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049561.648808518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049561.649979611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049561.744990688] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049561.745541995] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049561.747402397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[mux-7] [INFO] [1746049561.746542046] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049561.748608805] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049561.835423126] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049561.838550880] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049561.838799554] [sailbot.teensy]: Wind angle: 317 +[mux-7] [INFO] [1746049561.838958289] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049561.839213265] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049561.839579276] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049561.840131985] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049561.844372056] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049561.844927777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049561.845450026] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049561.847843716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049561.849020105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049561.945529483] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049561.946600416] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049561.947186743] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049561.949037448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049561.950203851] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049562.002412554] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973686 Long: -76.50298091 +[vectornav-1] [INFO] [1746049562.003439189] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.097, -3.391, 8.676) +[mux-7] [INFO] [1746049562.045114930] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049562.045840013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049562.046634309] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049562.048103764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049562.048973913] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049562.085660506] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049562.087833277] [sailbot.teensy]: Wind angle: 317 +[teensy-2] [INFO] [1746049562.088883119] [sailbot.teensy]: Actual sail angle: 37 +[trim_sail-4] [INFO] [1746049562.088719824] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049562.089790224] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049562.090286094] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049562.090634381] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049562.145074442] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049562.146131314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049562.146916830] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049562.148521871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049562.149643877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049562.245047319] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049562.245702027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049562.246931357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049562.247739297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049562.248435441] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049562.335369396] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049562.337300372] [sailbot.teensy]: Wind angle: 317 +[trim_sail-4] [INFO] [1746049562.338171753] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049562.338286113] [sailbot.teensy]: Actual sail angle: 37 +[mux-7] [INFO] [1746049562.339072962] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049562.339240113] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049562.339980380] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049562.344446553] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049562.345016984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049562.345515806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049562.346684695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049562.347685017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049562.445165696] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049562.446229820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049562.446660392] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049562.448777116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049562.449821797] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049562.502961714] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973694 Long: -76.50298076 +[vectornav-1] [INFO] [1746049562.504173981] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.121, -3.387, 8.739) +[mux-7] [INFO] [1746049562.544977492] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049562.545701396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049562.546262655] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049562.547600066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049562.548701181] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049562.585515600] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049562.587970298] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049562.588483393] [sailbot.teensy]: Wind angle: 317 +[mux-7] [INFO] [1746049562.589330971] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049562.589623541] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049562.590512093] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049562.591362095] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049562.645084168] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049562.646129307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049562.646557219] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049562.648090131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049562.650020507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049562.745189056] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049562.746413411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049562.746749455] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049562.747783883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049562.748258300] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049562.835466165] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049562.838009191] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049562.838117351] [sailbot.teensy]: Wind angle: 320 +[mux-7] [INFO] [1746049562.838986785] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049562.839038163] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049562.839926618] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049562.840891219] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049562.844596011] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049562.845176348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049562.845704277] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049562.846939218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049562.848001946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049562.945591234] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049562.946591624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049562.947195071] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049562.948644615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049562.949150690] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049563.002709426] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973703 Long: -76.50298067 +[vectornav-1] [INFO] [1746049563.003653759] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.124, -3.391, 8.98) +[mux-7] [INFO] [1746049563.045327102] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049563.046404662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049563.046911225] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049563.049020025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049563.050031478] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049563.085732529] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049563.088491030] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049563.089529370] [sailbot.teensy]: Wind angle: 320 +[mux-7] [INFO] [1746049563.089800422] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049563.090486409] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049563.091375196] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049563.092314236] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049563.145213641] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049563.146035137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049563.146793530] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049563.149180436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049563.150285287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049563.245405849] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049563.246227063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049563.246948992] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049563.248749704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049563.249904376] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049563.335214071] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049563.337675103] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049563.337912813] [sailbot.teensy]: Wind angle: 320 +[mux-7] [INFO] [1746049563.338640592] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049563.338853569] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049563.339759660] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049563.340696855] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049563.344340165] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049563.344881339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049563.345455616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049563.346543228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049563.347593027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049563.444469945] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049563.445167087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049563.445528247] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049563.446887111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049563.447963788] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049563.502525891] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973701 Long: -76.5029807 +[vectornav-1] [INFO] [1746049563.503598889] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.142, -3.389, 9.059) +[mux-7] [INFO] [1746049563.545129572] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049563.545896281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049563.546688975] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049563.547996745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049563.549231836] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049563.585498602] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049563.588655061] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049563.589342393] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049563.589373758] [sailbot.teensy]: Wind angle: 320 +[teensy-2] [INFO] [1746049563.590371453] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049563.591249890] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049563.592116702] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049563.645024211] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049563.645800102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049563.646280412] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049563.647742942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049563.648848420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049563.745126986] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049563.745904125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049563.746768606] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049563.747980111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049563.748562680] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049563.835388222] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049563.837933933] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049563.838882791] [sailbot.teensy]: Wind angle: 320 +[mux-7] [INFO] [1746049563.839715498] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049563.839858358] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049563.840763927] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049563.841244241] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049563.844282525] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049563.845188668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049563.845444511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049563.847077568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049563.848176688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049563.945606586] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049563.946522406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049563.947266770] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049563.948935779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049563.950055852] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049564.003271325] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973685 Long: -76.50298056 +[vectornav-1] [INFO] [1746049564.004700639] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.176, -3.428, 9.347) +[mux-7] [INFO] [1746049564.045058242] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049564.045963159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049564.046532393] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049564.047992655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049564.049169255] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049564.085446074] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049564.087363511] [sailbot.teensy]: Wind angle: 320 +[trim_sail-4] [INFO] [1746049564.087979361] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049564.088389421] [sailbot.teensy]: Actual sail angle: 37 +[mux-7] [INFO] [1746049564.089128134] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049564.089308118] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049564.090200991] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049564.145159323] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049564.145939379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049564.146637081] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049564.147954488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049564.148510582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049564.245576760] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049564.246192112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049564.247121021] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049564.248425245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049564.249600684] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049564.335477692] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049564.338226795] [sailbot.teensy]: Wind angle: 320 +[trim_sail-4] [INFO] [1746049564.338239807] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049564.338781262] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049564.340231274] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049564.341120209] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049564.341977860] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049564.344247294] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049564.344789174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049564.345410363] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049564.346450567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049564.347645904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049564.445249522] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049564.446138843] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049564.446843222] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049564.448459127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049564.449676503] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049564.502703770] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973671 Long: -76.50298066 +[vectornav-1] [INFO] [1746049564.503887774] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.199, -3.406, 9.5) +[mux-7] [INFO] [1746049564.545133939] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049564.545776232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049564.546563822] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049564.547987767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049564.549159409] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049564.585673586] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049564.588981926] [sailbot.teensy]: Wind angle: 320 +[teensy-2] [INFO] [1746049564.589890157] [sailbot.teensy]: Actual sail angle: 37 +[trim_sail-4] [INFO] [1746049564.589336360] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049564.589791862] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049564.590779429] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049564.591623472] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049564.645303929] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049564.646246293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049564.646905241] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049564.648527407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049564.649708695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049564.745539926] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049564.746581618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049564.747541805] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049564.748076511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049564.748577640] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049564.835150008] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049564.837678291] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049564.838027529] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049564.838035003] [sailbot.teensy]: Wind angle: 320 +[teensy-2] [INFO] [1746049564.839041020] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049564.839955936] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049564.840820125] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049564.844368141] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049564.844958021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049564.846282905] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049564.846611587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049564.847691344] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049564.945362511] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049564.946031157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049564.947028435] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049564.948499669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049564.949643032] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049565.002436740] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973664 Long: -76.50298073 +[vectornav-1] [INFO] [1746049565.003469848] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.206, -3.409, 9.477) +[mux-7] [INFO] [1746049565.045415087] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049565.046404399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049565.047612672] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049565.048854143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049565.050011537] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049565.085524451] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049565.087349342] [sailbot.teensy]: Wind angle: 320 +[trim_sail-4] [INFO] [1746049565.088032330] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049565.088344310] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049565.089276091] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049565.090057885] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049565.090161824] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049565.145122541] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049565.146088483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049565.146674864] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049565.148110550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049565.149271135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049565.245585510] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049565.246398224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049565.247904806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049565.248753746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049565.249463606] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049565.335841026] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049565.338200172] [sailbot.teensy]: Wind angle: 320 +[teensy-2] [INFO] [1746049565.339323270] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049565.340289592] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049565.340115729] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049565.340165843] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049565.341208841] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049565.344366344] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049565.345019958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049565.345470442] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049565.346710690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049565.347775714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049565.445328367] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049565.446174619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049565.446865382] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049565.449001769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049565.450139389] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049565.503479004] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973675 Long: -76.50298058 +[vectornav-1] [INFO] [1746049565.504876894] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.23199999999997, -3.405, 9.727) +[mux-7] [INFO] [1746049565.545323834] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049565.546310411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049565.547434432] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049565.548582798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049565.549846679] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049565.585520600] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049565.587765367] [sailbot.teensy]: Wind angle: 320 +[trim_sail-4] [INFO] [1746049565.588277923] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049565.588741753] [sailbot.teensy]: Actual sail angle: 37 +[mux-7] [INFO] [1746049565.589407417] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049565.589657914] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049565.590615920] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049565.645187452] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049565.645938265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049565.646788385] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049565.648107047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049565.649326173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049565.745385029] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049565.746268563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049565.747272674] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049565.748565482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049565.749784392] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049565.835336897] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049565.837843482] [sailbot.teensy]: Wind angle: 320 +[teensy-2] [INFO] [1746049565.838793060] [sailbot.teensy]: Actual sail angle: 37 +[trim_sail-4] [INFO] [1746049565.838132542] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049565.839146042] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049565.839685043] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049565.840598973] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049565.844418960] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049565.845275231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049565.845646016] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049565.847045097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049565.848095230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049565.945380220] [sailbot.mux]: Published sail angle from controller_app: 37 +[mux-7] [INFO] [1746049565.947211698] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049565.946051184] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049565.948100091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049565.949387519] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049566.003387443] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697368 Long: -76.50298063 +[vectornav-1] [INFO] [1746049566.004692565] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.228, -3.386, 9.48) +[mux-7] [INFO] [1746049566.045174965] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049566.046086293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049566.046690652] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049566.048836678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049566.050042952] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049566.085371418] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049566.087170719] [sailbot.teensy]: Wind angle: 321 +[trim_sail-4] [INFO] [1746049566.087830581] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049566.088715360] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049566.089636490] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049566.090576199] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049566.091442581] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049566.145472568] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049566.146657771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049566.147260018] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049566.149184843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049566.150280187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049566.245384474] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049566.246166762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049566.247000646] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049566.248429712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049566.249320461] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049566.335718141] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049566.338623427] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049566.339212813] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049566.339692107] [sailbot.teensy]: Wind angle: 321 +[teensy-2] [INFO] [1746049566.340974276] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049566.342354413] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049566.343255818] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049566.344843620] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049566.345311354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049566.345977307] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049566.347022736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049566.348093247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049566.445327599] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049566.446105477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049566.446842648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049566.448248604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049566.449462360] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049566.502501646] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973673 Long: -76.50298053 +[vectornav-1] [INFO] [1746049566.503527869] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.22900000000004, -3.387, 9.441) +[mux-7] [INFO] [1746049566.545510183] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049566.546576477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049566.547277227] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049566.549371250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049566.550508721] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049566.585588396] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049566.587996080] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049566.588028178] [sailbot.teensy]: Wind angle: 320 +[teensy-2] [INFO] [1746049566.589078376] [sailbot.teensy]: Actual sail angle: 37 +[mux-7] [INFO] [1746049566.589365470] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049566.590081923] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049566.591095954] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049566.645570831] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049566.646302854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049566.647377521] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049566.649360033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049566.650603618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049566.745322685] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049566.746086327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049566.746892692] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049566.748615656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049566.749789755] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049566.835441837] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049566.837388671] [sailbot.teensy]: Wind angle: 321 +[trim_sail-4] [INFO] [1746049566.837945737] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049566.838379420] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049566.838781092] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049566.838869528] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049566.839151610] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049566.844489843] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049566.845127236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049566.845656757] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049566.846829476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049566.847881489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049566.944976716] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049566.945831685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049566.946324084] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049566.947710612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049566.948185620] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049567.002506759] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973669 Long: -76.50298049 +[vectornav-1] [INFO] [1746049567.003605005] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.228, -3.417, 9.468) +[mux-7] [INFO] [1746049567.045201814] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049567.046010766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049567.046734336] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049567.048144145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049567.049440386] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049567.086153183] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049567.089205935] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049567.089861908] [sailbot.teensy]: Wind angle: 321 +[mux-7] [INFO] [1746049567.090843992] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049567.090908504] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049567.091813920] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049567.092664816] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049567.145967793] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049567.146526070] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049567.148217902] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049567.148916114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049567.150141610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049567.245245183] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049567.245871935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049567.247175170] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049567.248625094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049567.250300009] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049567.335443944] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049567.338056440] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049567.338800311] [sailbot.teensy]: Wind angle: 331 +[mux-7] [INFO] [1746049567.339433338] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049567.339997742] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049567.340975716] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049567.341425217] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049567.344329735] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049567.344792177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049567.345401763] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049567.346538944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049567.347578010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049567.445071060] [sailbot.mux]: Published sail angle from controller_app: 37 +[mux-7] [INFO] [1746049567.446665096] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049567.447112372] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049567.449422353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049567.450623790] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049567.503117984] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973661 Long: -76.50298045 +[vectornav-1] [INFO] [1746049567.504773015] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.245, -3.413, 9.457) +[mux-7] [INFO] [1746049567.544943617] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049567.545820534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049567.546236862] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049567.548102681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049567.549143886] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049567.585657518] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049567.588399740] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049567.588630911] [sailbot.teensy]: Wind angle: 339 +[mux-7] [INFO] [1746049567.588936150] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049567.589638291] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049567.590653289] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049567.591539701] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049567.645399743] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049567.646040448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049567.647424434] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049567.648263776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049567.649449751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049567.745571808] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049567.746215576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049567.747236643] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049567.748618021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049567.749992937] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049567.835371356] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049567.837168401] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049567.837684278] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049567.838108177] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049567.839044036] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049567.839412859] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049567.839961997] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049567.844382498] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049567.844859124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049567.845620919] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049567.846533862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049567.847689263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049567.945447399] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049567.946123858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049567.947121160] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049567.947833127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049567.948381070] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049568.002719303] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973662 Long: -76.50298055 +[vectornav-1] [INFO] [1746049568.004026590] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.265, -3.399, 9.408) +[mux-7] [INFO] [1746049568.045336895] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049568.046110733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049568.046892821] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049568.048741911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049568.049606123] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049568.086077856] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049568.088443075] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049568.089657199] [sailbot.teensy]: Actual sail angle: 37 +[trim_sail-4] [INFO] [1746049568.089074183] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049568.090697411] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049568.091134783] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049568.091622903] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049568.145541792] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049568.146379632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049568.148188201] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049568.149528915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049568.150702981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049568.245235439] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049568.245972369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049568.246789698] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049568.249044846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049568.250298761] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049568.335269105] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049568.337487523] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049568.338157763] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049568.338404690] [sailbot.teensy]: Wind angle: 346 +[teensy-2] [INFO] [1746049568.339462416] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049568.339838336] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049568.340208281] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049568.344551826] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049568.345058423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049568.345769443] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049568.346748539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049568.347778102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049568.445523636] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049568.446178491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049568.447079012] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049568.448555826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049568.449691186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049568.477397825] [sailbot.mux]: controller_app sail angle: 90 +[vectornav-1] [INFO] [1746049568.502134889] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973667 Long: -76.50298053 +[vectornav-1] [INFO] [1746049568.503031878] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.264, -3.412, 9.473) +[mux-7] [INFO] [1746049568.545112100] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049568.545769853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049568.546414320] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049568.547913607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049568.549096362] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049568.585487891] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049568.587987508] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049568.588325872] [sailbot.teensy]: Wind angle: 347 +[mux-7] [INFO] [1746049568.588921693] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049568.589277095] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049568.590194761] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049568.591249374] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049568.644783546] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049568.645599059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049568.646031235] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049568.647583779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049568.648628293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049568.745555519] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049568.746155218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049568.747148652] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049568.748340204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049568.748914199] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049568.835388373] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049568.838270645] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049568.838271189] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049568.839023780] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049568.839303775] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049568.839726694] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049568.840107043] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049568.844539681] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049568.845147575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049568.845707271] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049568.846894656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049568.848051621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049568.945351677] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049568.946046142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049568.946939552] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049568.949098400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049568.950056795] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049569.002540988] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973656 Long: -76.50298009 +[vectornav-1] [INFO] [1746049569.003573375] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.254, -3.409, 9.349) +[mux-7] [INFO] [1746049569.045176746] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049569.046189887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049569.046631720] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049569.048321562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049569.049366528] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049569.085569013] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049569.088168316] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049569.088507430] [sailbot.teensy]: Wind angle: 348 +[mux-7] [INFO] [1746049569.089448085] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049569.089599883] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049569.090479582] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049569.091342392] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049569.145080744] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049569.145722488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049569.146740973] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049569.147563039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049569.148684104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049569.245578352] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049569.247209627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049569.247457079] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049569.248731171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049569.249247584] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049569.335424733] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049569.337419404] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049569.338300641] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049569.339477092] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049569.339979913] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049569.340944818] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049569.341393206] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049569.344608325] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049569.345063669] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049569.345811776] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049569.346786247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049569.347799217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049569.445366161] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049569.446119895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049569.447146688] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049569.448574169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049569.449069667] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049569.502494511] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973647 Long: -76.5029803 +[vectornav-1] [INFO] [1746049569.503889770] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26300000000003, -3.399, 9.524) +[mux-7] [INFO] [1746049569.544911677] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049569.545541635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049569.546146533] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049569.547498246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049569.548513741] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049569.585578231] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049569.587628195] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049569.588580792] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049569.588684047] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746049569.589184218] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049569.589610950] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049569.590510530] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049569.645417798] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049569.646496271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049569.647120641] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049569.648719642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049569.649802752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049569.745340341] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049569.746194700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049569.746844681] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049569.748473107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049569.749597444] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049569.835992575] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049569.839234443] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049569.839574082] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049569.840145421] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049569.840582829] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049569.841390695] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049569.841706217] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049569.844424101] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049569.845278832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049569.845760870] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049569.847376519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049569.848585991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049569.945354429] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049569.946001951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049569.946966859] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049569.948284545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049569.949270010] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049570.002210357] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973644 Long: -76.50298027 +[vectornav-1] [INFO] [1746049570.003111663] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.278, -3.4, 9.529) +[mux-7] [INFO] [1746049570.045512796] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049570.046119715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049570.047264289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049570.049030054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049570.050222282] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049570.085264508] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049570.087454638] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049570.087478132] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049570.088373130] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746049570.088369956] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049570.089309304] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049570.090185030] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049570.145195103] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049570.146007592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049570.147053331] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049570.148741034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049570.149896936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049570.245251041] [sailbot.mux]: Published sail angle from controller_app: 90 +[mux-7] [INFO] [1746049570.246750528] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049570.246815525] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049570.248733744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049570.250027765] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049570.335361360] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049570.337768946] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049570.337871507] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049570.338641303] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746049570.338762743] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049570.339037749] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049570.339437371] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049570.344700166] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049570.345209788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049570.346048899] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049570.346920347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049570.347957345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049570.445702773] [sailbot.mux]: Published sail angle from controller_app: 90 +[mux-7] [INFO] [1746049570.447660017] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049570.447698096] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049570.449090382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049570.449622033] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049570.502908988] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973649 Long: -76.50298019 +[vectornav-1] [INFO] [1746049570.504108470] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.298, -3.425, 9.585) +[mux-7] [INFO] [1746049570.545285068] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049570.546047811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049570.546860979] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049570.548212249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049570.549408757] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049570.585956928] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049570.588949838] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049570.589512947] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049570.590512383] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746049570.590731487] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049570.591370307] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049570.592281596] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049570.645368342] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049570.646062939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049570.646950663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049570.648100406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049570.649259062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049570.745847849] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049570.746487067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049570.747588592] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049570.748849374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049570.749819053] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049570.836032191] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049570.838648232] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049570.838908704] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049570.838965673] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049570.839350068] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049570.840178065] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049570.841129079] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049570.844668011] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049570.845069097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049570.846031424] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049570.846911503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049570.848205323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049570.945058680] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049570.945690497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049570.946500347] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049570.947725326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049570.948893642] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049571.003414126] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973648 Long: -76.50298027 +[vectornav-1] [INFO] [1746049571.004830771] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.299, -3.414, 9.613) +[mux-7] [INFO] [1746049571.045259951] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049571.045777076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049571.046763222] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049571.047616368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049571.048777057] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049571.085517008] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049571.087775801] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049571.089289467] [sailbot.teensy]: Wind angle: 347 +[mux-7] [INFO] [1746049571.089680921] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049571.090399402] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049571.091316827] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049571.092131446] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049571.145397268] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049571.146084288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049571.147050310] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049571.148469161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049571.149022947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049571.245595801] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049571.246611096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049571.247315390] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049571.249545401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049571.250778419] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049571.335367661] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049571.337241181] [sailbot.teensy]: Wind angle: 346 +[teensy-2] [INFO] [1746049571.338194062] [sailbot.teensy]: Actual sail angle: 90 +[trim_sail-4] [INFO] [1746049571.338442502] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049571.339103272] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049571.339993329] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049571.340176071] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746049571.344337747] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049571.344913325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049571.345555335] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049571.346634383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049571.347727635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049571.445240561] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049571.445760368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049571.447118929] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049571.448079661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049571.449210435] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049571.503053423] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973649 Long: -76.50298025 +[vectornav-1] [INFO] [1746049571.504017289] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.29499999999996, -3.409, 9.649) +[mux-7] [INFO] [1746049571.544999094] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049571.545843588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049571.546654290] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049571.547787726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049571.548898518] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049571.585638093] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049571.588256090] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049571.588668857] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049571.589024246] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049571.589607285] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049571.590491023] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049571.591489715] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049571.645408967] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049571.646247568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049571.647282453] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049571.648612743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049571.650348255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049571.745365373] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049571.746091105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049571.746962462] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049571.748393902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049571.749670651] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049571.835641609] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049571.837783233] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049571.838593010] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049571.838720387] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746049571.838909831] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049571.839106986] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049571.839501351] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049571.844493011] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049571.845092073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049571.845657919] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049571.846914259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049571.848062378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049571.945474312] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049571.946108670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049571.947038007] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049571.948395728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049571.949669445] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049572.002718110] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973645 Long: -76.50298029 +[vectornav-1] [INFO] [1746049572.004031863] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.30600000000004, -3.396, 9.641) +[mux-7] [INFO] [1746049572.045373749] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049572.046154926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049572.046952882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049572.048525917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049572.049752512] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049572.085548075] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049572.088463597] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049572.088483259] [sailbot.teensy]: Wind angle: 346 +[mux-7] [INFO] [1746049572.089097985] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049572.090204964] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049572.091255146] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049572.092093112] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049572.145283902] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049572.146049466] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049572.148027524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[mux-7] [INFO] [1746049572.146901862] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049572.149085894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049572.245312376] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049572.245901156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049572.246770800] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049572.248177512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049572.248860932] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049572.335473129] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049572.338483006] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049572.338754854] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049572.339112597] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049572.340259000] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049572.340949852] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049572.341319938] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049572.344532045] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049572.345045254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049572.345675041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049572.346858743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049572.347968371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049572.445434545] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049572.446564483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049572.447037154] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049572.448099474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049572.448568910] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049572.503258524] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697364 Long: -76.50298031 +[vectornav-1] [INFO] [1746049572.504604443] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.30600000000004, -3.398, 9.57) +[mux-7] [INFO] [1746049572.544938316] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049572.545602104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049572.546171879] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049572.547418976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049572.548450436] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049572.585411488] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049572.587722695] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049572.588583878] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049572.589073761] [sailbot.teensy]: Wind angle: 346 +[teensy-2] [INFO] [1746049572.590029509] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049572.590902814] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049572.591804910] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049572.645158482] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049572.645960283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049572.647003188] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049572.647944797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049572.649293631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049572.745325207] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049572.745933320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049572.746895004] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049572.747968630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049572.749228696] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049572.835347560] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049572.837104420] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049572.837678787] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049572.838040996] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049572.838735444] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049572.838833616] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049572.839123807] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049572.844516286] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049572.844899346] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049572.846583379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[mux-7] [INFO] [1746049572.845745148] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049572.847671715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049572.945613599] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049572.946140586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049572.947260121] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049572.949738912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049572.950801165] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049573.002598203] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973642 Long: -76.5029802 +[vectornav-1] [INFO] [1746049573.003679710] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.365, -3.398, 9.704) +[mux-7] [INFO] [1746049573.044795625] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049573.045581258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049573.045970374] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049573.047380554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049573.048716008] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049573.085681941] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049573.088558822] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049573.089166766] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049573.090205334] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049573.091226424] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049573.092088795] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049573.092938605] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049573.145389391] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049573.146210325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049573.147333716] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049573.148226183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049573.149277101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049573.245396561] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049573.246026290] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049573.246963127] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049573.248270849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049573.249402347] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049573.335587325] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049573.337596161] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049573.338266971] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049573.338598237] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049573.339491645] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049573.339924050] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049573.340404161] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049573.344557288] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049573.344950045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049573.345677586] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049573.346654865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049573.347830340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049573.445651559] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049573.446217562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049573.448130878] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049573.448708888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049573.450768625] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049573.503561203] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973661 Long: -76.50298005 +[vectornav-1] [INFO] [1746049573.505034254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.366, -3.4, 9.665) +[mux-7] [INFO] [1746049573.545162492] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049573.545765964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049573.546605086] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049573.547674150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049573.548819459] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049573.585633341] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049573.588086049] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049573.588361540] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049573.589307177] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746049573.589734977] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049573.590226075] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049573.591112624] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049573.645393921] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049573.646082113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049573.647012072] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049573.648204135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049573.649542783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049573.745522137] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049573.746209009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049573.747042452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049573.748589826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049573.749826813] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049573.835484834] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049573.837295362] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049573.837919487] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049573.838263445] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049573.839171446] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049573.839318644] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049573.840046457] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049573.844579439] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049573.844921039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049573.845864498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049573.846581598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049573.847783766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049573.945545822] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049573.946188672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049573.947712235] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049573.948684539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049573.949889732] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049574.002459360] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973634 Long: -76.50298007 +[vectornav-1] [INFO] [1746049574.003501210] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.41499999999996, -3.401, 9.657) +[mux-7] [INFO] [1746049574.045200972] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049574.045967011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049574.046633916] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049574.047987351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049574.049224033] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049574.085553620] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049574.088081899] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049574.088832781] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049574.089058588] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746049574.089058821] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049574.089986052] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049574.090860332] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049574.145428941] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049574.146515529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049574.146943110] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049574.149114810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049574.150342983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049574.245540500] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049574.246253462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049574.247247042] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049574.248467612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049574.248955200] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049574.335643818] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049574.338549137] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049574.338768810] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049574.339139609] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049574.339833202] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049574.340850457] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049574.341814863] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049574.344359833] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049574.344887683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049574.345468729] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049574.346539267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049574.347694705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049574.445698673] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049574.447343661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049574.447435067] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049574.449976363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049574.451129621] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049574.503399338] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973619 Long: -76.50298014 +[vectornav-1] [INFO] [1746049574.505121129] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.419, -3.407, 9.693) +[mux-7] [INFO] [1746049574.545177214] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049574.546188457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049574.546687031] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049574.548444391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049574.549645713] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049574.585595676] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049574.588293006] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049574.588291902] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049574.589285012] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049574.590232158] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049574.590623306] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049574.591151100] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049574.644896117] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049574.645651819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049574.646174746] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049574.647461043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049574.648525479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049574.745339529] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049574.746172019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049574.746802577] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049574.748279315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049574.749344709] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049574.835518184] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049574.837929791] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049574.838912469] [sailbot.teensy]: Actual sail angle: 90 +[trim_sail-4] [INFO] [1746049574.838426856] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049574.839365484] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049574.839863257] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049574.840795543] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049574.844375661] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049574.845089471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049574.845467434] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049574.847071384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049574.848283407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049574.945397212] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049574.946457806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049574.946984051] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049574.948867393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049574.949987162] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049575.002501837] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973609 Long: -76.50298028 +[vectornav-1] [INFO] [1746049575.003697636] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.454, -3.415, 10.002) +[mux-7] [INFO] [1746049575.045116856] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049575.045852297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049575.046805591] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049575.048224794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049575.049303607] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049575.085729300] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049575.088540854] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049575.089986882] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049575.090197436] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049575.090932932] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049575.091814520] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049575.092655911] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049575.145116272] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049575.145732082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049575.146382824] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049575.147731164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049575.148910077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049575.245627170] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049575.246490970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049575.247691715] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049575.249336255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049575.251119090] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049575.335728875] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049575.338558635] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049575.338974556] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049575.339650177] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049575.339932535] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049575.340955652] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049575.342086370] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049575.344525801] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049575.345160304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049575.345762586] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049575.346912370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049575.348086201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049575.445526045] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746049575.446772621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049575.447364387] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049575.449379107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746049575.450652255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049575.486306470] [sailbot.mux]: controller_app sail angle: 40 +[vectornav-1] [INFO] [1746049575.502621393] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973591 Long: -76.50298028 +[vectornav-1] [INFO] [1746049575.503576637] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.46299999999997, -3.422, 10.006) +[mux-7] [INFO] [1746049575.544965552] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049575.545624608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049575.546197610] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049575.547451375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049575.548534432] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049575.585526390] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049575.587799344] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049575.589253565] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049575.589933595] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049575.590908736] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746049575.591813136] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049575.592714426] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049575.645388874] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049575.646260448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049575.646954336] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049575.648647548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049575.649919214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049575.745267537] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049575.745973558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049575.746777400] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049575.748217780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049575.748864991] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049575.835426851] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049575.837260895] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049575.837778023] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049575.838203311] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049575.839109527] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049575.839489928] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049575.839950311] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049575.844304230] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049575.844928156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049575.845394625] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049575.846727010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049575.847918787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049575.945234006] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049575.946189506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049575.946735733] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049575.948666723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049575.949790873] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049576.002553650] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973596 Long: -76.50298012 +[vectornav-1] [INFO] [1746049576.003631417] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.456, -3.413, 9.994) +[mux-7] [INFO] [1746049576.045150334] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049576.045928275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049576.046540961] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049576.048020472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049576.049097130] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049576.085563272] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049576.088131748] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049576.088889245] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049576.090214354] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049576.091115101] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049576.091972219] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049576.092980924] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049576.144860432] [sailbot.mux]: Published sail angle from controller_app: 40 +[mux-7] [INFO] [1746049576.146099727] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049576.149849507] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049576.153778573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049576.154531609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049576.245447939] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049576.246411984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049576.246932770] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049576.248666829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049576.249812510] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049576.335427539] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049576.337810110] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049576.338695480] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049576.339287306] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049576.340294003] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049576.341161919] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049576.342042798] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049576.344338472] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049576.344843876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049576.345434089] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049576.346559331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049576.347588841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049576.445288626] [sailbot.mux]: Published sail angle from controller_app: 40 +[mux-7] [INFO] [1746049576.447582297] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049576.447925436] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049576.449006935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049576.449717871] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049576.502818008] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973588 Long: -76.50297996 +[vectornav-1] [INFO] [1746049576.503906956] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.453, -3.42, 10.009) +[mux-7] [INFO] [1746049576.545026831] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049576.545751313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049576.546433531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049576.547561225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049576.548635978] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049576.585424392] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049576.587745091] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049576.588085375] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049576.589108547] [sailbot.teensy]: Actual sail angle: 40 +[mux-7] [INFO] [1746049576.589187451] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049576.590040559] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049576.590451395] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049576.644935470] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049576.645717062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049576.646210664] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049576.647709832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049576.648773141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049576.745363743] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049576.746065492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049576.746925303] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049576.748265336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049576.749423825] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049576.835794525] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049576.838237423] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049576.838627281] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049576.839487564] [sailbot.teensy]: Actual sail angle: 40 +[mux-7] [INFO] [1746049576.840442641] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049576.840498651] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049576.841124067] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049576.844313496] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049576.844931225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049576.845388438] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049576.846610249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049576.847776154] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049576.945639398] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049576.946271481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049576.947116096] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049576.948470375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049576.949027317] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049577.003262145] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973586 Long: -76.50297989 +[vectornav-1] [INFO] [1746049577.004450323] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.45500000000004, -3.407, 9.922) +[mux-7] [INFO] [1746049577.045559162] [sailbot.mux]: Published sail angle from controller_app: 40 +[mux-7] [INFO] [1746049577.047013513] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049577.047025117] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049577.049133579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049577.050321305] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049577.085703230] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049577.088517118] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049577.088547997] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049577.089587431] [sailbot.teensy]: Actual sail angle: 40 +[mux-7] [INFO] [1746049577.089991965] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049577.090502902] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049577.091365380] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049577.144996228] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049577.145902381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049577.146976485] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049577.147946218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049577.149114958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049577.245135069] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049577.245879829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049577.246909055] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049577.248003747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049577.249110208] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049577.335679780] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049577.338585182] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049577.339103951] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049577.339517131] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049577.340269392] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049577.341216341] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049577.342041792] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049577.344456821] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049577.345151534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049577.345546785] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049577.346837176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049577.347995744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049577.445471942] [sailbot.mux]: Published sail angle from controller_app: 40 +[mux-7] [INFO] [1746049577.447224694] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049577.448447431] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049577.450433449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049577.451479565] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049577.503814672] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973604 Long: -76.50297984 +[vectornav-1] [INFO] [1746049577.505388036] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.447, -3.408, 9.912) +[mux-7] [INFO] [1746049577.545268650] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049577.546088452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049577.547932795] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049577.548289052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049577.549484593] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049577.585670575] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049577.588233130] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049577.588711626] [sailbot.teensy]: Wind angle: 346 +[mux-7] [INFO] [1746049577.588972183] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049577.589982804] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049577.590846731] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049577.591697709] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049577.645197109] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049577.645775836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049577.646673140] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049577.647753310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049577.648822738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049577.745423475] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049577.746105998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049577.746943508] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049577.748541232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049577.749065655] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049577.835547449] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049577.838426996] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049577.838762916] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049577.839139799] [sailbot.teensy]: Wind angle: 346 +[teensy-2] [INFO] [1746049577.839556988] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049577.839926886] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049577.840612731] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049577.844376343] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049577.844943333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049577.845510202] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049577.846622763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049577.847809765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049577.945574289] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049577.946264241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049577.947398526] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049577.948588880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049577.950404512] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049578.002468595] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973601 Long: -76.50297982 +[vectornav-1] [INFO] [1746049578.003617238] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.447, -3.411, 9.787) +[mux-7] [INFO] [1746049578.045388883] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049578.045934979] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049578.047061122] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049578.048426810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049578.049506518] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049578.085804464] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049578.088612907] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049578.088828584] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049578.089869744] [sailbot.teensy]: Actual sail angle: 40 +[mux-7] [INFO] [1746049578.090744682] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049578.090763042] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049578.091709591] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049578.144830902] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049578.145298768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049578.146035096] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049578.147023977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049578.148128108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049578.245469570] [sailbot.mux]: Published sail angle from controller_app: 40 +[mux-7] [INFO] [1746049578.247139193] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049578.245985885] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049578.248045011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049578.249278931] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049578.335413058] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049578.337415323] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049578.337838314] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049578.338360773] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049578.339311560] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049578.339371693] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049578.339788654] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049578.344558735] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049578.345018402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049578.345705999] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049578.346769432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049578.347900184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049578.445127618] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049578.445821615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049578.446623786] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049578.447760760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049578.448655559] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049578.502317298] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973603 Long: -76.5029796 +[vectornav-1] [INFO] [1746049578.503253875] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.39, -3.42, 9.466) +[mux-7] [INFO] [1746049578.545285178] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049578.546211440] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049578.548572051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[mux-7] [INFO] [1746049578.548769542] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049578.549051628] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049578.585440630] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049578.587434104] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049578.588450490] [sailbot.teensy]: Actual sail angle: 40 +[trim_sail-4] [INFO] [1746049578.588046020] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049578.588991161] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049578.589273182] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049578.590187344] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049578.644819083] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049578.645500962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049578.646005001] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049578.647297241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049578.648406818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049578.745102821] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049578.746109342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049578.746579288] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049578.748128776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049578.749198844] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049578.835410060] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049578.837351094] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049578.838425785] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049578.839039771] [sailbot.teensy]: Actual sail angle: 40 +[mux-7] [INFO] [1746049578.839126666] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049578.840010337] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049578.840884075] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049578.844488150] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049578.845073768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049578.845597170] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049578.846931984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049578.847950503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049578.945314898] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049578.946094917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049578.946799519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049578.948425232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049578.949578843] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049579.002577791] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973595 Long: -76.50297966 +[vectornav-1] [INFO] [1746049579.004020787] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.387, -3.421, 9.457) +[mux-7] [INFO] [1746049579.045830699] [sailbot.mux]: Published sail angle from controller_app: 40 +[mux-7] [INFO] [1746049579.047313206] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049579.047546248] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049579.049804915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049579.052176950] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049579.085641534] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049579.088098770] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049579.088479929] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746049579.089547301] [sailbot.teensy]: Actual sail angle: 40 +[mux-7] [INFO] [1746049579.089843103] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049579.090865674] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049579.091851268] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049579.144963232] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049579.145658768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049579.146248534] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049579.147471110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049579.148586281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049579.245021778] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049579.245703203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049579.246368013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049579.247567605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049579.248441541] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049579.335453208] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049579.337692115] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049579.337851249] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049579.338661981] [sailbot.teensy]: Actual sail angle: 40 +[mux-7] [INFO] [1746049579.339328091] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049579.339581602] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049579.340544928] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049579.344380067] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049579.344939642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049579.345929349] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049579.346619709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049579.347755472] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049579.444895329] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049579.445889390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049579.446280249] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049579.448164637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049579.448621963] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049579.502516648] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973595 Long: -76.50297956 +[vectornav-1] [INFO] [1746049579.503574051] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.392, -3.423, 9.39) +[mux-7] [INFO] [1746049579.545106126] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049579.545818620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049579.546907065] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049579.547748129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049579.549004587] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049579.585694796] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049579.588341853] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049579.589175725] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049579.589546287] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049579.590489001] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049579.591345788] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049579.592192164] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049579.645290624] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049579.646129372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049579.647354709] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049579.647951324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049579.648438366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049579.745575263] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049579.746629059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049579.747253515] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049579.749125698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049579.750250961] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049579.835709931] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049579.837900165] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049579.838462057] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049579.839018208] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049579.840047696] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049579.840744276] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049579.841051601] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049579.844486589] [sailbot.mux]: Published sail angle from controller_app: 40 +[mux-7] [INFO] [1746049579.845798406] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049579.845254712] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049579.846992348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049579.848064163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049579.945262137] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049579.946197558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049579.946906373] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049579.948448338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049579.949637537] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049580.003340240] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973598 Long: -76.50297969 +[vectornav-1] [INFO] [1746049580.004583345] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.32, -3.42, 9.283) +[mux-7] [INFO] [1746049580.044952589] [sailbot.mux]: Published sail angle from controller_app: 40 +[mux-7] [INFO] [1746049580.046337078] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049580.047745769] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049580.049482588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049580.050507099] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049580.085240754] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049580.086968373] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746049580.087914385] [sailbot.teensy]: Actual sail angle: 40 +[trim_sail-4] [INFO] [1746049580.087999592] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049580.088400106] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049580.089044099] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049580.090040776] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049580.145087509] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049580.145924639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049580.146519500] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049580.148120361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049580.149233570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049580.245011472] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049580.245712889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049580.246288342] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049580.247728910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049580.248832213] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049580.335376827] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049580.337115274] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049580.338133615] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049580.338628443] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049580.339417986] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049580.340395294] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049580.341298184] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049580.344372125] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049580.345026077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049580.345475265] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049580.346800653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049580.347851724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049580.445372052] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049580.446190118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049580.446877049] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049580.449000267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049580.450159112] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049580.502740321] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973607 Long: -76.50297975 +[vectornav-1] [INFO] [1746049580.503935712] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.392, -3.404, 9.338) +[mux-7] [INFO] [1746049580.545293768] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049580.546030053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049580.546800840] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049580.548314799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049580.548923199] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049580.585459032] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049580.588101293] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049580.588392177] [sailbot.teensy]: Wind angle: 351 +[mux-7] [INFO] [1746049580.588410936] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049580.589533480] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049580.590484836] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049580.591356107] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049580.644962776] [sailbot.mux]: Published sail angle from controller_app: 40 +[mux-7] [INFO] [1746049580.646214480] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049580.646063107] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049580.648533704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049580.649533409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049580.745183518] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049580.745992036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049580.746434133] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049580.748061830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049580.749200159] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049580.835410178] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049580.837358855] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049580.837920521] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049580.838386238] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049580.839279135] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049580.839152866] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049580.840188325] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049580.844470253] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049580.845119170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049580.845546761] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049580.846963475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049580.848089613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049580.944752757] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049580.945336375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049580.945922360] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049580.947095671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049580.948113802] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049581.002645973] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973608 Long: -76.50297968 +[vectornav-1] [INFO] [1746049581.003748343] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.361, -3.425, 9.383) +[mux-7] [INFO] [1746049581.044788739] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049581.045470186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049581.045971402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049581.047246303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049581.048295173] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049581.085426214] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049581.087259462] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049581.088201201] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049581.088418892] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049581.089407236] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049581.090242159] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049581.090393602] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049581.144886206] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049581.145825792] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049581.147077946] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049581.147792162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049581.148970599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049581.245633734] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049581.246340061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049581.247346123] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049581.249543250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049581.250587990] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049581.335437706] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049581.337905787] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049581.338185785] [sailbot.teensy]: Wind angle: 349 +[mux-7] [INFO] [1746049581.338750798] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049581.339076915] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049581.339479758] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049581.339848292] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049581.344446290] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049581.344849991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049581.345568614] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049581.346567779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049581.347584639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049581.444982867] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049581.445742099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049581.446205863] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049581.447516588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049581.448645143] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049581.502903589] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973608 Long: -76.50297957 +[vectornav-1] [INFO] [1746049581.504147430] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.385, -3.424, 9.493) +[mux-7] [INFO] [1746049581.544862468] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049581.545544302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049581.546008071] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049581.547462438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049581.548539211] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049581.585572033] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049581.587624292] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049581.587930303] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049581.588768436] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049581.589712423] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049581.589778990] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049581.590683542] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049581.644925236] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049581.645909507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049581.646218261] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049581.648065747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049581.649114798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049581.745323062] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049581.746399847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049581.746805299] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049581.748984449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049581.749491733] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049581.835504831] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049581.837852161] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049581.838833038] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049581.839209234] [sailbot.teensy]: Wind angle: 351 +[teensy-2] [INFO] [1746049581.839627994] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049581.839992844] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049581.840373509] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049581.844445803] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049581.844944022] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049581.845571737] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049581.846586590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049581.847891768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049581.944898732] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049581.945595278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049581.946175853] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049581.947506500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049581.948573133] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049582.002666733] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973592 Long: -76.50297965 +[vectornav-1] [INFO] [1746049582.003749979] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.387, -3.391, 9.291) +[mux-7] [INFO] [1746049582.044858855] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049582.045443737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049582.046026401] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049582.047411937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049582.048418453] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049582.085262214] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049582.087475627] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049582.087752617] [sailbot.teensy]: Wind angle: 353 +[teensy-2] [INFO] [1746049582.088779921] [sailbot.teensy]: Actual sail angle: 40 +[mux-7] [INFO] [1746049582.088895182] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049582.089782993] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049582.090814940] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049582.144699860] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049582.145333102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049582.146241828] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049582.147075907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049582.148120716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049582.245504503] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049582.246450204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049582.246981093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049582.248555041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049582.249241648] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049582.335340799] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049582.337588549] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049582.338080238] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049582.338174367] [sailbot.teensy]: Wind angle: 346 +[teensy-2] [INFO] [1746049582.338968733] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049582.339354731] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049582.339735862] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049582.344446302] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049582.345010295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049582.345568784] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049582.346821320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049582.347863683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049582.444840878] [sailbot.mux]: Published sail angle from controller_app: 40 +[mux-7] [INFO] [1746049582.446018750] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049582.446144323] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049582.448165248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049582.448683553] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049582.502658179] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973583 Long: -76.50297963 +[vectornav-1] [INFO] [1746049582.503807776] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.353, -3.391, 9.024) +[mux-7] [INFO] [1746049582.545003361] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049582.545522291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049582.546399364] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049582.547358444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049582.549219178] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049582.585192937] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049582.587314290] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049582.587702949] [sailbot.teensy]: Wind angle: 344 +[mux-7] [INFO] [1746049582.587909987] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049582.588644710] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049582.589541937] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049582.590390852] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049582.645032469] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049582.645576875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049582.646415497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049582.647425818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049582.648637282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049582.745599979] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049582.746233594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049582.747333804] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049582.749204045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049582.750388611] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049582.835451403] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049582.837411654] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049582.838695600] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049582.839284368] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049582.839511924] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049582.840487611] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049582.841050542] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049582.844564665] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049582.844877483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049582.845738310] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049582.846543315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049582.847580837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049582.945696776] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049582.946531936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049582.947564375] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049582.948825367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049582.949359845] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049583.002300915] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973581 Long: -76.50297971 +[vectornav-1] [INFO] [1746049583.003431414] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.392, -3.384, 9.306) +[mux-7] [INFO] [1746049583.045030787] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049583.045756748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049583.046367501] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049583.047547363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049583.048639112] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049583.085597440] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049583.088016614] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049583.088954674] [sailbot.teensy]: Wind angle: 350 +[mux-7] [INFO] [1746049583.089038805] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049583.089941411] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049583.090837985] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049583.091657203] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049583.145407143] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049583.145987911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049583.146992625] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049583.149120203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049583.149650594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049583.245037374] [sailbot.mux]: Published sail angle from controller_app: 40 +[mux-7] [INFO] [1746049583.246450281] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049583.248745763] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049583.250345910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049583.251356098] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049583.335401642] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049583.338065134] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049583.338713250] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049583.338732752] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049583.339760259] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049583.340668794] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049583.341497519] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049583.344408936] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049583.344844480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049583.345980159] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049583.347426535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049583.348588063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049583.445710619] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049583.446272918] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049583.447409658] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049583.448884793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049583.449437683] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049583.502732095] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973574 Long: -76.50297967 +[vectornav-1] [INFO] [1746049583.503956814] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.402, -3.394, 9.286) +[mux-7] [INFO] [1746049583.544912657] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049583.545504992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049583.546119161] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049583.547243211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049583.548389764] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049583.585334538] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049583.587013223] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049583.587705975] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049583.587937448] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049583.588811107] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049583.590006568] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049583.590119323] [sailbot.mux]: algo sail angle: 80 +[mux-7] [INFO] [1746049583.645453286] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049583.646049113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049583.647016161] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049583.648734251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049583.649802449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049583.745033029] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049583.745620951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049583.746736426] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049583.747495650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049583.748561973] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049583.835449279] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049583.837384019] [sailbot.teensy]: Wind angle: 352 +[teensy-2] [INFO] [1746049583.838367080] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049583.839261508] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049583.838596384] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049583.838947195] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049583.840488395] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049583.844565005] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049583.845143147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049583.845789043] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049583.846850655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049583.848522723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049583.945318367] [sailbot.mux]: Published sail angle from controller_app: 40 +[mux-7] [INFO] [1746049583.946731064] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049583.945836415] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049583.947778733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049583.948964472] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049584.002960473] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973568 Long: -76.50297957 +[vectornav-1] [INFO] [1746049584.004054441] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.429, -3.389, 9.574) +[mux-7] [INFO] [1746049584.044954995] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049584.045419403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049584.046157678] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049584.047195636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049584.048470504] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049584.085306529] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049584.087833021] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049584.088393497] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049584.088874251] [sailbot.teensy]: Wind angle: 352 +[teensy-2] [INFO] [1746049584.089820917] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049584.090675863] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049584.091512185] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049584.145406283] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049584.145975440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049584.147404281] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049584.148078947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049584.149313031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049584.245079118] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049584.245726522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049584.246419224] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049584.247657926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049584.248571935] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049584.335669201] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049584.338579455] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049584.338881094] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049584.339937071] [sailbot.teensy]: Actual sail angle: 40 +[mux-7] [INFO] [1746049584.339997195] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049584.340930169] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049584.342087968] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049584.344509241] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049584.344866603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049584.345757968] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049584.346723691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049584.347970943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049584.445294856] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049584.446269430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049584.446837249] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049584.448638369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049584.449721461] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049584.502212919] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973557 Long: -76.50297962 +[vectornav-1] [INFO] [1746049584.503232666] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.423, -3.392, 9.565) +[mux-7] [INFO] [1746049584.545080293] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049584.546215567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049584.546458646] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049584.548526682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049584.549623148] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049584.585139920] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049584.587034713] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049584.587439912] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049584.588045572] [sailbot.teensy]: Actual sail angle: 40 +[mux-7] [INFO] [1746049584.588929468] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049584.588977994] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049584.589873189] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049584.644948268] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049584.645687721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049584.646305148] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049584.647591291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049584.648063851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049584.744929478] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049584.745853662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049584.746234220] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049584.747766197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049584.748837914] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049584.835317561] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049584.837093656] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049584.837590710] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049584.838076131] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049584.839012834] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049584.839022553] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049584.840074737] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049584.844376502] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049584.845000742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049584.845517207] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049584.846760100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049584.847849400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049584.945285103] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049584.945858266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049584.946981271] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049584.947893833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049584.949177035] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049585.002348564] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973564 Long: -76.50297963 +[vectornav-1] [INFO] [1746049585.003324400] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.40700000000004, -3.398, 9.488) +[mux-7] [INFO] [1746049585.044948329] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049585.045612560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049585.046637934] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049585.047771859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049585.048490204] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049585.085239200] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049585.087518548] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049585.087896054] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049585.088246037] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049585.089163287] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049585.090088378] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049585.091001146] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049585.145123355] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049585.145927079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049585.146563250] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049585.148047913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049585.149053530] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049585.244893698] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049585.245889461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049585.246339831] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049585.247515360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049585.247977275] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049585.335640749] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049585.338050369] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049585.338548349] [sailbot.teensy]: Wind angle: 344 +[mux-7] [INFO] [1746049585.339005492] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049585.339107535] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049585.339504933] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049585.339904640] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049585.344480749] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049585.345061099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049585.345742461] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049585.346756211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049585.347799747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049585.445820129] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049585.446348847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049585.448437580] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049585.450384412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049585.451614677] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049585.502578871] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697357 Long: -76.50297948 +[vectornav-1] [INFO] [1746049585.504026200] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.41200000000003, -3.397, 9.48) +[mux-7] [INFO] [1746049585.545122113] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049585.545851927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049585.546496449] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049585.547866578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049585.548899756] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049585.585419161] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049585.587762363] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049585.588019279] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049585.588781761] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049585.589662831] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049585.590482113] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049585.590531624] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049585.644772718] [sailbot.mux]: Published sail angle from controller_app: 40 +[teensy-2] [INFO] [1746049585.645462032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049585.645989616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049585.647239001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 +[teensy-2] [INFO] [1746049585.648353601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049585.709988184] [sailbot.mux]: controller_app sail angle: 0 +[mux-7] [INFO] [1746049585.744680155] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049585.745421728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049585.745866033] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049585.747179464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049585.748381639] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049585.835503585] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049585.837639264] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049585.838606445] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049585.838667749] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746049585.839590364] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049585.840364092] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049585.840493936] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049585.844366932] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049585.844991997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049585.845560584] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049585.846737633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049585.847900611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049585.945137080] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049585.945906107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049585.946799077] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049585.947845814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049585.948927169] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049586.002927988] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973565 Long: -76.50297963 +[vectornav-1] [INFO] [1746049586.004536313] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.411, -3.398, 9.251) +[mux-7] [INFO] [1746049586.044736541] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049586.045970327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049586.046423916] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049586.047895216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049586.049036921] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049586.085438456] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049586.087815051] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049586.087814864] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049586.088849732] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049586.089237476] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049586.089790025] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049586.090722749] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049586.144468293] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049586.145051517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049586.145531030] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049586.146762394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049586.147791634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049586.244938395] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049586.245924309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049586.246238476] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049586.248080510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049586.248988446] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049586.335386419] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049586.337861570] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049586.337886478] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049586.339231743] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049586.339925267] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049586.340891878] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049586.341713470] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049586.344297332] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049586.344807517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049586.345419759] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049586.346499763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049586.347504034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049586.445179514] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049586.445934752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049586.446607601] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049586.448038966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049586.449178882] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049586.502287138] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973569 Long: -76.5029797 +[vectornav-1] [INFO] [1746049586.503233745] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.402, -3.398, 9.209) +[mux-7] [INFO] [1746049586.545442768] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049586.546348751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049586.546884219] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049586.548621126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049586.549727498] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049586.585683691] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049586.588228244] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049586.588296630] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049586.589347231] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049586.590142343] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049586.590279472] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049586.591181260] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049586.644953387] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049586.645906055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049586.646262141] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049586.648845768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049586.649935076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049586.745355401] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049586.746527669] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049586.746944341] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049586.748906012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049586.749947332] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049586.835369514] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049586.837319922] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049586.837653379] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049586.839069246] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049586.839118172] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049586.840508821] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049586.841403553] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049586.844749634] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049586.844944043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049586.846025751] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049586.846596672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049586.847816388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049586.945340617] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049586.946356209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049586.947210313] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049586.948677536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049586.949716254] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049587.003090316] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973564 Long: -76.50298004 +[vectornav-1] [INFO] [1746049587.004779963] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.404, -3.399, 9.175) +[mux-7] [INFO] [1746049587.045025341] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049587.046363163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049587.046710038] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049587.048425253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049587.049526938] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049587.085455151] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049587.087874946] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049587.088090234] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049587.088431626] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049587.088848715] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049587.089809242] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049587.090713224] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049587.145142765] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049587.146174412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049587.146684772] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049587.148349546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049587.149347659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049587.244868705] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049587.245733030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049587.246027652] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049587.247858607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049587.248908647] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049587.335846584] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049587.338529579] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049587.339149790] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049587.339668739] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049587.340258996] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049587.340675886] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049587.341575953] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049587.344431128] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049587.344970148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049587.345596843] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049587.346650396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049587.347675851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049587.445795315] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049587.446851266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049587.447900326] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049587.449089034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049587.449640535] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049587.502259505] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973581 Long: -76.50298009 +[vectornav-1] [INFO] [1746049587.503146227] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.376, -3.407, 9.056) +[mux-7] [INFO] [1746049587.544685103] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049587.545520643] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049587.545896080] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049587.547302529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049587.548466115] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049587.585383071] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049587.587870764] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049587.588069191] [sailbot.teensy]: Wind angle: 351 +[teensy-2] [INFO] [1746049587.589100326] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049587.589705737] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049587.590043231] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049587.590946347] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049587.645257445] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049587.646043494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049587.647029591] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049587.648403040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049587.649645067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049587.745067916] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049587.745721653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049587.746350395] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049587.747587319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049587.748759544] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049587.835399524] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049587.837912239] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049587.838176284] [sailbot.teensy]: Wind angle: 349 +[teensy-2] [INFO] [1746049587.838717148] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049587.838898805] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049587.839109136] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049587.839508029] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049587.844590121] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049587.845015788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049587.845736381] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049587.846716081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049587.847898429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049587.945222947] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049587.945904924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049587.946861550] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049587.948286547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049587.949368575] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049588.003066518] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973565 Long: -76.50298017 +[vectornav-1] [INFO] [1746049588.004306158] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.384, -3.397, 9.074) +[mux-7] [INFO] [1746049588.045110038] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049588.045738377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049588.046764217] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049588.047645250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049588.048750643] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049588.085351539] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049588.087273125] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049588.088289510] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049588.087817050] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049588.089260835] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049588.090158881] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049588.090294775] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049588.145201758] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049588.145778600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049588.146741259] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049588.147887513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049588.148939925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049588.245173833] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049588.246515874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049588.246565114] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049588.248655470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049588.249081288] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049588.335661388] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049588.338587150] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049588.339212911] [sailbot.teensy]: Wind angle: 335 +[mux-7] [INFO] [1746049588.339291766] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049588.340144063] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049588.341047721] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049588.341903837] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049588.344319050] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049588.344964822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049588.345400385] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049588.346627708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049588.347727825] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049588.445075710] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049588.445841943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049588.446389985] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049588.447962220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049588.449030125] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049588.502385082] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973561 Long: -76.50298022 +[vectornav-1] [INFO] [1746049588.503487475] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.385, -3.394, 9.098) +[mux-7] [INFO] [1746049588.545122794] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049588.545938778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049588.546560469] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049588.547964162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049588.549009091] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049588.585566332] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049588.587739559] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049588.588616047] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049588.588826459] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049588.589752971] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049588.590359895] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049588.590636721] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049588.644995609] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049588.645835287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049588.646327715] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049588.647777474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049588.648845183] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049588.745268282] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049588.746036153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049588.746827575] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049588.748468489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049588.749625925] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049588.835421813] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049588.837468740] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049588.838146176] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049588.839275031] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049588.839374765] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049588.840317289] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049588.841172307] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049588.844304776] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049588.844924526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049588.845724779] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049588.846696000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049588.847816175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049588.945539748] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049588.946282798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049588.947478153] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049588.948619309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049588.950335850] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049589.002530169] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973544 Long: -76.50298 +[vectornav-1] [INFO] [1746049589.003608248] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.38300000000004, -3.398, 9.061) +[mux-7] [INFO] [1746049589.045196980] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049589.045834692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049589.046649076] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049589.048096825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049589.049160828] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049589.085420092] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049589.087276997] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049589.087942950] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049589.088306600] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049589.088867713] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049589.088868823] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049589.089262634] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049589.144973472] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049589.145941083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049589.146840799] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049589.147902537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049589.149090697] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049589.244946301] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049589.245661806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049589.246271212] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049589.247549867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049589.248680216] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049589.335454059] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049589.337406073] [sailbot.teensy]: Wind angle: 335 +[teensy-2] [INFO] [1746049589.338335805] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049589.338015984] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049589.338833945] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049589.339215623] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049589.340113128] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049589.344335008] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049589.344910825] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049589.345436321] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049589.346650443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049589.347689263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049589.445547864] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049589.446389940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049589.447260666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049589.448616678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049589.449084036] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049589.502783002] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973554 Long: -76.50297999 +[vectornav-1] [INFO] [1746049589.503955273] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.382, -3.399, 8.998) +[mux-7] [INFO] [1746049589.545048358] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049589.546033846] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049589.546767150] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049589.548391464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049589.549467367] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049589.585353595] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049589.587683311] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049589.588360222] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049589.588693958] [sailbot.teensy]: Wind angle: 335 +[teensy-2] [INFO] [1746049589.589653540] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049589.590514502] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049589.591356009] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049589.644848004] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049589.645504471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049589.646044527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049589.647365779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049589.648531258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049589.745353190] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049589.746157789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049589.746894105] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049589.747889434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049589.748456281] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049589.835410698] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049589.837449528] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049589.837994352] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049589.838484548] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049589.839371091] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049589.839401517] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049589.840373552] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049589.844354985] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049589.845308755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049589.845540628] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049589.847057296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049589.848346233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049589.945542466] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049589.947118108] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049589.947336205] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049589.949611328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049589.950513653] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049590.002897957] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973541 Long: -76.50298002 +[vectornav-1] [INFO] [1746049590.004052758] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.375, -3.4, 8.986) +[mux-7] [INFO] [1746049590.045170130] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049590.046147835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049590.046633834] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049590.048480601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049590.049565502] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049590.085585154] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049590.088349718] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049590.088843539] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049590.089745074] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049590.090680357] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049590.091607457] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049590.092502486] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049590.144593939] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049590.145196313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049590.145730593] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049590.147000132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049590.148098987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049590.245156755] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049590.246713468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049590.248131824] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049590.249199376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049590.250294597] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049590.335677045] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049590.338441588] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049590.339072446] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049590.340046259] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049590.340204973] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049590.340985040] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049590.341873288] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049590.344359436] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049590.345075184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049590.345545010] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049590.346802980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049590.347850395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049590.445686146] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049590.446339716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049590.447756841] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049590.448284851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049590.448741556] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049590.502398645] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973568 Long: -76.50297998 +[vectornav-1] [INFO] [1746049590.503407604] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.361, -3.399, 9.039) +[mux-7] [INFO] [1746049590.545031221] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049590.545769056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049590.546339646] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049590.547829314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049590.548866257] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049590.585434036] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049590.587636428] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049590.587986453] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049590.588745738] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049590.589079170] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049590.589699600] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049590.590552517] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049590.644626792] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049590.645168151] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049590.646682297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746049590.645706417] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049590.647742051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049590.745417090] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049590.746163098] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049590.747009249] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049590.748410824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049590.749042602] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049590.835785270] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049590.837946055] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049590.838557823] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049590.838963737] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049590.839852350] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049590.840734466] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049590.840751501] [sailbot.mux]: algo sail angle: 80 +[mux-7] [INFO] [1746049590.844357167] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049590.845151739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049590.845437480] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049590.847053476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049590.848264929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049590.945373707] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049590.946036688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049590.946872922] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049590.948382302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049590.949601770] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049591.003038253] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973543 Long: -76.50297987 +[vectornav-1] [INFO] [1746049591.004919740] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.353, -3.407, 8.858) +[mux-7] [INFO] [1746049591.044610737] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049591.045201130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049591.045742794] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049591.046925348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049591.048092444] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049591.085389350] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049591.087684477] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049591.088072439] [sailbot.teensy]: Wind angle: 341 +[mux-7] [INFO] [1746049591.088651573] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049591.088977960] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049591.089778381] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049591.090622498] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049591.144968305] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049591.145579054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049591.146445415] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049591.147468081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049591.148621495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049591.245175103] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049591.246620688] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049591.248522188] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049591.250149782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049591.251087038] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049591.334989935] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049591.336873394] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049591.337157154] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049591.338400121] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049591.340148526] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049591.340675411] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049591.341067925] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049591.344514131] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049591.344902342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049591.347185787] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049591.347183377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049591.348644839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049591.444761315] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049591.445354874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049591.445883685] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049591.447661770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049591.448662506] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049591.502174570] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973545 Long: -76.50297965 +[vectornav-1] [INFO] [1746049591.503092925] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.352, -3.408, 8.828) +[mux-7] [INFO] [1746049591.545131353] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049591.545850254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049591.546408931] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049591.547705147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049591.548907195] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049591.585488158] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049591.587388294] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049591.587916468] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049591.588392757] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049591.589302822] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049591.590062589] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049591.590184984] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049591.645465826] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049591.646431208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049591.647163721] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049591.648931456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049591.650178627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049591.744855273] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049591.745507595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049591.746077250] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049591.747429854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049591.748453037] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049591.835413224] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049591.837149551] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049591.837728807] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049591.838077607] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049591.838972449] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049591.839284548] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049591.839907404] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049591.844619395] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049591.845837718] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049591.846019463] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049591.847849328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049591.848911637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049591.945546539] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049591.946235562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049591.947247973] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049591.948738482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049591.949928682] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049592.002382360] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973537 Long: -76.5029796 +[vectornav-1] [INFO] [1746049592.003399045] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.358, -3.41, 8.775) +[mux-7] [INFO] [1746049592.045157320] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049592.045750802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049592.046630019] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049592.047813599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049592.048921568] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049592.085542854] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049592.088038055] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049592.088706125] [sailbot.teensy]: Wind angle: 341 +[mux-7] [INFO] [1746049592.089000820] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049592.089651177] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049592.090541178] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049592.091356567] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049592.144873663] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049592.145664515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049592.146221948] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049592.147785624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049592.148732147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049592.245037603] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049592.245897580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049592.246373405] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049592.248009419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049592.249137719] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049592.335336480] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049592.337927815] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049592.338325604] [sailbot.teensy]: Wind angle: 340 +[mux-7] [INFO] [1746049592.338576815] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049592.339490313] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049592.340360496] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049592.340727077] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049592.344353442] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049592.345173563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049592.345509728] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049592.346879827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049592.347932235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049592.445254493] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049592.446296484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049592.447093937] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049592.448266795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049592.448801177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049592.463110033] [sailbot.mux]: controller_app sail angle: 3 +[vectornav-1] [INFO] [1746049592.502365247] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973541 Long: -76.50297955 +[vectornav-1] [INFO] [1746049592.503449273] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.33299999999997, -3.41, 8.808) +[mux-7] [INFO] [1746049592.545020727] [sailbot.mux]: Published sail angle from controller_app: 3 +[mux-7] [INFO] [1746049592.546334652] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049592.546558134] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049592.548650343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 +[teensy-2] [INFO] [1746049592.549679541] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049592.585511665] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049592.587955113] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049592.588109410] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049592.589087577] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049592.589457588] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049592.589996804] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049592.590889553] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049592.644926093] [sailbot.mux]: Published sail angle from controller_app: 3 +[teensy-2] [INFO] [1746049592.645586590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049592.646145358] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049592.647473078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 +[teensy-2] [INFO] [1746049592.648526071] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049592.745126833] [sailbot.mux]: Published sail angle from controller_app: 3 +[teensy-2] [INFO] [1746049592.746045472] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049592.746632525] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049592.748222482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 +[teensy-2] [INFO] [1746049592.748769175] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049592.835329480] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049592.837505331] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049592.837910197] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049592.838519849] [sailbot.teensy]: Actual sail angle: 3 +[teensy-2] [INFO] [1746049592.839407265] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049592.839463720] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049592.840299149] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049592.844317002] [sailbot.mux]: Published sail angle from controller_app: 3 +[mux-7] [INFO] [1746049592.845471979] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049592.845643194] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049592.847281836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 +[teensy-2] [INFO] [1746049592.848439828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049592.944997537] [sailbot.mux]: Published sail angle from controller_app: 3 +[teensy-2] [INFO] [1746049592.945727834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049592.946328077] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049592.948066042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 +[teensy-2] [INFO] [1746049592.948734225] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049593.002458607] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973547 Long: -76.50297963 +[vectornav-1] [INFO] [1746049593.003489968] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.323, -3.399, 8.966) +[mux-7] [INFO] [1746049593.045346177] [sailbot.mux]: Published sail angle from controller_app: 3 +[teensy-2] [INFO] [1746049593.046374187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049593.046797298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049593.048147141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 +[teensy-2] [INFO] [1746049593.048593405] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049593.085595172] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049593.088303937] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746049593.088631900] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049593.089327279] [sailbot.teensy]: Actual sail angle: 3 +[mux-7] [INFO] [1746049593.089552047] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049593.090256313] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049593.091103182] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049593.145227464] [sailbot.mux]: Published sail angle from controller_app: 3 +[teensy-2] [INFO] [1746049593.145953719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049593.146706265] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049593.148239511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 +[teensy-2] [INFO] [1746049593.149230908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049593.245071288] [sailbot.mux]: Published sail angle from controller_app: 3 +[teensy-2] [INFO] [1746049593.245973178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049593.246525470] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049593.248223874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 +[teensy-2] [INFO] [1746049593.249463066] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049593.335252120] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049593.337914120] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049593.338929797] [sailbot.teensy]: Wind angle: 349 +[mux-7] [INFO] [1746049593.339045023] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049593.339911073] [sailbot.teensy]: Actual sail angle: 3 +[teensy-2] [INFO] [1746049593.340807818] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049593.341388393] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049593.344409518] [sailbot.mux]: Published sail angle from controller_app: 3 +[teensy-2] [INFO] [1746049593.344964376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049593.345543244] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049593.346949328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 +[teensy-2] [INFO] [1746049593.348001408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049593.445147148] [sailbot.mux]: Published sail angle from controller_app: 3 +[teensy-2] [INFO] [1746049593.446233705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049593.446900190] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049593.447876726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 +[teensy-2] [INFO] [1746049593.448367096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049593.486020876] [sailbot.mux]: controller_app sail angle: 23 +[vectornav-1] [INFO] [1746049593.503084655] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973559 Long: -76.50297943 +[vectornav-1] [INFO] [1746049593.504782346] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.264, -3.419, 8.633) +[mux-7] [INFO] [1746049593.544981515] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049593.545571097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049593.546184533] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049593.547446178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049593.548493328] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049593.585350308] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049593.588411044] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049593.588692799] [sailbot.teensy]: Wind angle: 354 +[mux-7] [INFO] [1746049593.589086026] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049593.589640998] [sailbot.teensy]: Actual sail angle: 3 +[teensy-2] [INFO] [1746049593.590535310] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049593.591396938] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049593.645397140] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049593.646416786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049593.646968604] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049593.648618787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049593.649128760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049593.744962879] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049593.745718904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049593.746244036] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049593.747625490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049593.748739284] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049593.835672297] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049593.838568028] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049593.838628166] [sailbot.teensy]: Wind angle: 352 +[mux-7] [INFO] [1746049593.838657675] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049593.839116425] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049593.839524895] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049593.839882304] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049593.844434487] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049593.844865821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049593.845689688] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049593.846539859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049593.847726562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049593.945661910] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049593.946527809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049593.947381564] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049593.948065672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049593.948546659] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049594.002235765] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697355 Long: -76.50297952 +[vectornav-1] [INFO] [1746049594.003278622] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.257, -3.414, 8.705) +[mux-7] [INFO] [1746049594.045161188] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049594.046101101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049594.046571034] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049594.048217052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049594.049233171] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049594.085583764] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049594.088309239] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049594.088820982] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049594.089022624] [sailbot.teensy]: Wind angle: 346 +[teensy-2] [INFO] [1746049594.089978390] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049594.090838338] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049594.091674041] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049594.145171826] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049594.145946931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049594.146919042] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049594.147921491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049594.149816956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049594.245433282] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049594.246232879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049594.246986654] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049594.248648280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049594.249577927] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049594.335256116] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049594.337711320] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049594.337894999] [sailbot.teensy]: Wind angle: 339 +[mux-7] [INFO] [1746049594.338110709] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049594.339328793] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049594.340204053] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049594.341075156] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049594.344340352] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049594.345016342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049594.345528479] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049594.346728252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049594.347883318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049594.444985353] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049594.445799384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049594.446353019] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049594.448222652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049594.449377501] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049594.503586973] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697355 Long: -76.50297944 +[vectornav-1] [INFO] [1746049594.505035028] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.33799999999997, -3.402, 8.952) +[mux-7] [INFO] [1746049594.544879116] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049594.545983306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049594.546145060] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049594.547812782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049594.548909041] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049594.585385494] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049594.587383680] [sailbot.teensy]: Wind angle: 328 +[trim_sail-4] [INFO] [1746049594.587640514] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049594.588388674] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049594.589362165] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049594.590250234] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049594.590420144] [sailbot.mux]: algo sail angle: 75 +[mux-7] [INFO] [1746049594.644925582] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049594.645755913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049594.646302788] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049594.647625019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049594.648692003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049594.745612830] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049594.746615639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049594.747330707] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049594.749047792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049594.750297138] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049594.835469495] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049594.837419923] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049594.837741702] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049594.838398254] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049594.839329928] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049594.839638891] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049594.840302334] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049594.844406249] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049594.844893051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049594.845534288] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049594.846682681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049594.847738794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049594.945776016] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049594.946923741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049594.947608181] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049594.949580054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049594.950824490] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049595.002798241] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973536 Long: -76.50297953 +[vectornav-1] [INFO] [1746049595.003978536] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.347, -3.398, 8.953) +[mux-7] [INFO] [1746049595.044949203] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049595.045810975] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049595.046602647] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049595.047709945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049595.048929483] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049595.085464642] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049595.087439847] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049595.087783377] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049595.088372479] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049595.088466717] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049595.089302300] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049595.090138555] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049595.144853126] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049595.145709153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049595.146121119] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049595.147607059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049595.148772610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049595.244901942] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049595.245676235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049595.246289607] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049595.247563326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049595.248775285] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049595.335564836] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049595.338079234] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049595.338565029] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049595.339985413] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049595.341011101] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049595.341871629] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049595.342686105] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049595.344511722] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049595.345060905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049595.345833863] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049595.346717071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049595.347913186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049595.445734685] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049595.446735271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049595.447561077] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049595.449023088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049595.450202663] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049595.502589820] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973532 Long: -76.50297949 +[vectornav-1] [INFO] [1746049595.503651164] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.355, -3.4, 8.959) +[mux-7] [INFO] [1746049595.545050153] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049595.545785578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049595.546915815] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049595.547723551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049595.549097097] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049595.585411562] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049595.587663035] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049595.588123127] [sailbot.teensy]: Wind angle: 339 +[mux-7] [INFO] [1746049595.588794510] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049595.589219602] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049595.590121058] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049595.591024712] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049595.645260726] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049595.646673321] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049595.647829353] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049595.649638481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049595.650646533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049595.745630472] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049595.746539300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049595.747300346] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049595.748234873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049595.748779668] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049595.835710778] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049595.838528075] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049595.839115007] [sailbot.teensy]: Wind angle: 339 +[mux-7] [INFO] [1746049595.839786812] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049595.840232970] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049595.841556730] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049595.842437443] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049595.844417472] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049595.844890575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049595.846581594] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049595.847040122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049595.848447314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049595.945880702] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049595.947105516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049595.947512520] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049595.949536460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049595.950709688] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049596.002963197] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973546 Long: -76.50297965 +[vectornav-1] [INFO] [1746049596.003980934] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.344, -3.406, 8.935) +[mux-7] [INFO] [1746049596.045307466] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049596.046647385] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049596.046466860] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049596.049679106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049596.051001779] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049596.085748034] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049596.087776349] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049596.088611009] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049596.088914434] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049596.089414167] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049596.089876062] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049596.090817561] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049596.144896404] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049596.145643705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049596.146151324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049596.147560510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049596.148646094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049596.245177207] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049596.245864516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049596.246820919] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049596.247790287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049596.248358301] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049596.335724893] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049596.338274524] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049596.338566514] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049596.339289907] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049596.339775996] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049596.340729004] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049596.341628380] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049596.344352765] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049596.345034596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049596.345470578] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049596.346708377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049596.347874401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049596.445219616] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049596.446259309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049596.446817489] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049596.448486805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049596.449650179] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049596.502607808] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973563 Long: -76.50297952 +[vectornav-1] [INFO] [1746049596.503673852] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.345, -3.402, 8.989) +[mux-7] [INFO] [1746049596.545207469] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049596.546275117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049596.546704320] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049596.548617246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049596.550308683] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049596.585582489] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049596.588072444] [sailbot.teensy]: Wind angle: 333 +[trim_sail-4] [INFO] [1746049596.588068876] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049596.589113990] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049596.589492214] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049596.590035943] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049596.590962245] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049596.644720107] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049596.645601708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049596.645861738] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049596.647557157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049596.648634392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049596.745405152] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049596.746169534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049596.746965900] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049596.748778351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049596.749951605] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049596.835517449] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049596.838064075] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049596.838849926] [sailbot.teensy]: Wind angle: 334 +[mux-7] [INFO] [1746049596.839341436] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049596.839951563] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049596.841096059] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049596.842036225] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049596.844323811] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049596.844889531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049596.845508592] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049596.847026819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049596.848207988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049596.945144180] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049596.946044357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049596.947054339] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049596.947883975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049596.948428080] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049597.002577821] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973569 Long: -76.50297964 +[vectornav-1] [INFO] [1746049597.004143825] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.341, -3.405, 8.896) +[mux-7] [INFO] [1746049597.045329591] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049597.046224630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049597.047029060] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049597.048489109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049597.049755549] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049597.085520606] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049597.088090645] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049597.089219794] [sailbot.teensy]: Wind angle: 344 +[mux-7] [INFO] [1746049597.089658642] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049597.090168877] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049597.091031602] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049597.091875134] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049597.145089727] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049597.145736966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049597.146728904] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049597.147841230] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049597.149040580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049597.245564451] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049597.246287027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049597.247169630] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049597.248170270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049597.248714461] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049597.335575673] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049597.338254398] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049597.338409296] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049597.338956351] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049597.339214722] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049597.339815118] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049597.340189473] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049597.344361874] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049597.344906325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049597.345451697] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049597.346587120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049597.347597138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049597.445084324] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049597.445908756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049597.446434758] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049597.448292348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049597.448879609] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049597.503513812] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973563 Long: -76.50297967 +[vectornav-1] [INFO] [1746049597.504937661] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.342, -3.411, 8.884) +[mux-7] [INFO] [1746049597.544952542] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049597.545660781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049597.546212383] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049597.547635891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049597.548675121] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049597.585412333] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049597.587600118] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049597.587802980] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049597.588578530] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049597.589275265] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049597.589491200] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049597.590349391] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049597.645096109] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049597.645773695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049597.647147835] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049597.647814869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049597.648651401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049597.744940805] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049597.745708761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049597.746309631] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049597.747545313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049597.748210948] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049597.835561254] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049597.837507412] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049597.838516061] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049597.838124318] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049597.839397221] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049597.839437605] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049597.840296690] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049597.844368423] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049597.844951430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049597.845483080] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049597.846682360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049597.847867798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049597.945413067] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049597.946110579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049597.947124399] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049597.947806602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049597.948265543] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049598.003576212] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973581 Long: -76.50297969 +[vectornav-1] [INFO] [1746049598.005560162] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.36699999999996, -3.402, 9.023) +[mux-7] [INFO] [1746049598.045022567] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049598.045836634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049598.046622745] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049598.047717754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049598.048928337] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049598.085549575] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049598.087871359] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049598.089305923] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049598.089410883] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049598.090618261] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049598.091491450] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049598.092327924] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049598.145469043] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049598.145899233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049598.147127672] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049598.147931682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049598.149029202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049598.245431510] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049598.245948613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049598.247495207] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049598.248133943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049598.249345960] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049598.335696893] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049598.337798102] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049598.338896761] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049598.339446028] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049598.339582315] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049598.339868956] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049598.340256613] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049598.344624102] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049598.345200447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049598.345940339] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049598.346862921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049598.347882182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049598.445216201] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049598.445928515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049598.446851595] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049598.448695627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049598.449858240] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049598.502554730] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973606 Long: -76.50297963 +[vectornav-1] [INFO] [1746049598.503585012] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.361, -3.396, 9.051) +[mux-7] [INFO] [1746049598.545470456] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049598.546023124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049598.547029238] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049598.548390840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049598.549568626] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049598.585536277] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049598.587981660] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049598.588378420] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049598.588985501] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049598.589298483] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049598.589932170] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049598.590808049] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049598.644447166] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049598.645598914] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049598.645600237] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049598.647243172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049598.648422249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049598.745406740] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049598.746077371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049598.747091102] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049598.748604364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049598.749697321] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049598.835523053] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049598.837553569] [sailbot.teensy]: Wind angle: 309 +[trim_sail-4] [INFO] [1746049598.838120652] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746049598.838554631] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049598.839183935] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049598.839316183] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049598.839561430] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049598.844406575] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049598.845118901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049598.845462724] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049598.846818790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049598.847872105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049598.945435948] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049598.946159344] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049598.947034607] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049598.947906229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049598.948448559] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049599.002279690] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973598 Long: -76.50297974 +[vectornav-1] [INFO] [1746049599.003244699] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.351, -3.387, 9.099) +[mux-7] [INFO] [1746049599.045234354] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049599.046134932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049599.047025542] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049599.048299246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049599.049212573] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049599.085577418] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049599.088054308] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746049599.088846713] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746049599.089780861] [sailbot.teensy]: Wind angle: 280 +[teensy-2] [INFO] [1746049599.090687763] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049599.091509476] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049599.092359464] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049599.145487285] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049599.146233512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049599.147066359] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049599.148486531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049599.149790382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049599.245033038] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049599.245904465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049599.246292750] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049599.247854629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049599.248866506] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049599.335490740] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049599.338148644] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746049599.338225257] [sailbot.teensy]: Wind angle: 269 +[teensy-2] [INFO] [1746049599.339661546] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049599.340615464] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049599.340641111] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049599.341181679] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049599.344647483] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049599.345852976] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049599.345124248] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049599.346779587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049599.347926209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049599.445186389] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049599.446154247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049599.447160067] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049599.448605648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049599.449115994] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049599.502805104] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973594 Long: -76.50297995 +[vectornav-1] [INFO] [1746049599.504141830] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.349, -3.389, 9.104) +[mux-7] [INFO] [1746049599.545571859] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049599.546050341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049599.547232510] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049599.548092954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049599.549383298] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049599.585393651] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049599.587388991] [sailbot.teensy]: Wind angle: 261 +[trim_sail-4] [INFO] [1746049599.587743507] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049599.588366774] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049599.589232906] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049599.589337751] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049599.590112806] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049599.645374856] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049599.645907944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049599.647597152] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049599.648447144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049599.649631678] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049599.745131762] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049599.745653425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049599.746443737] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049599.747446814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049599.748513146] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049599.835345225] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049599.838182737] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746049599.838686963] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049599.838810497] [sailbot.teensy]: Wind angle: 249 +[teensy-2] [INFO] [1746049599.839227948] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049599.839615605] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049599.839987932] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049599.844545029] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049599.844908523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049599.845860726] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049599.846924674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049599.848030393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049599.945457946] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049599.945963880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049599.947432767] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049599.948684165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049599.949839784] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049600.003176987] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973626 Long: -76.50298024 +[vectornav-1] [INFO] [1746049600.004458386] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.328, -3.395, 8.998) +[mux-7] [INFO] [1746049600.045296067] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049600.045800495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049600.046939610] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049600.047731369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049600.049427121] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049600.085363517] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049600.087705155] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049600.088002322] [sailbot.teensy]: Wind angle: 249 +[mux-7] [INFO] [1746049600.088317741] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049600.088982164] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049600.089846142] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049600.090694988] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049600.145080727] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049600.145725226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049600.146417015] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049600.147553484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049600.148585697] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049600.245429946] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049600.246299344] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049600.246880555] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049600.248489618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049600.249571295] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049600.335765992] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049600.338547885] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746049600.339114584] [sailbot.teensy]: Wind angle: 253 +[mux-7] [INFO] [1746049600.339460857] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049600.339540373] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049600.340011749] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049600.340972905] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049600.344414513] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049600.344893303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049600.345555387] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049600.346654050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049600.347896412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049600.445526430] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049600.446342329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049600.447159797] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049600.449385726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049600.450562283] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049600.502768338] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973641 Long: -76.50298037 +[vectornav-1] [INFO] [1746049600.503834285] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.326, -3.399, 8.996) +[mux-7] [INFO] [1746049600.545096076] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049600.545930404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049600.546413832] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049600.547838720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049600.548958405] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049600.585570563] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049600.588316163] [sailbot.teensy]: Wind angle: 256 +[trim_sail-4] [INFO] [1746049600.588395080] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746049600.589461251] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049600.589946566] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049600.590423084] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049600.591287167] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049600.644973039] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049600.645728247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049600.646913513] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049600.647577228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049600.648759155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049600.744892370] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049600.745752905] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049600.747501540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[mux-7] [INFO] [1746049600.747716312] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049600.748619428] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049600.835727906] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049600.838293969] [sailbot.teensy]: Wind angle: 258 +[trim_sail-4] [INFO] [1746049600.838517376] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049600.839449067] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049600.840399130] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049600.840756713] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049600.841188222] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049600.844486586] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049600.845068117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049600.845727162] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049600.846762669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049600.847922886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049600.945088283] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049600.945704347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049600.946485391] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049600.948007787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049600.948730547] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049601.002339625] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973668 Long: -76.50298031 +[vectornav-1] [INFO] [1746049601.003484754] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.321, -3.39, 9.0) +[mux-7] [INFO] [1746049601.044978901] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049601.045803964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049601.046245877] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049601.047701785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049601.048673023] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049601.085616531] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049601.087691652] [sailbot.teensy]: Wind angle: 266 +[trim_sail-4] [INFO] [1746049601.088596872] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746049601.088776804] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049601.089602692] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049601.089723181] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049601.090662283] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049601.145385607] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049601.146089311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049601.147022863] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049601.148450923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049601.149672149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049601.244949060] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049601.245583286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049601.246202638] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049601.247439631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049601.248608349] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049601.335521732] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049601.337529601] [sailbot.teensy]: Wind angle: 268 +[trim_sail-4] [INFO] [1746049601.338117974] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746049601.338532278] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049601.339422675] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049601.339628919] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049601.340320110] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049601.344435074] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049601.345506673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049601.345575919] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049601.347424558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049601.348511448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049601.445394594] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049601.446123504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049601.446881888] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049601.448587144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049601.449651345] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049601.502563669] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973678 Long: -76.50298027 +[vectornav-1] [INFO] [1746049601.503668702] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.29499999999996, -3.396, 8.833) +[mux-7] [INFO] [1746049601.544945718] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049601.545786036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049601.546201143] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049601.547725193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049601.548849140] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049601.585533328] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049601.587415390] [sailbot.teensy]: Wind angle: 260 +[teensy-2] [INFO] [1746049601.588500940] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049601.588527381] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049601.589469921] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049601.590421979] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049601.590765340] [sailbot.mux]: algo sail angle: 25 +[mux-7] [INFO] [1746049601.644888518] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049601.645774042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049601.646155598] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049601.647741678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049601.648899794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049601.745115102] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049601.745771147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049601.746487727] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049601.747956066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049601.748853639] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049601.835343482] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049601.837209736] [sailbot.teensy]: Wind angle: 258 +[trim_sail-4] [INFO] [1746049601.837732380] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049601.838153583] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049601.838804239] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049601.838980778] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049601.839184420] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049601.844629180] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049601.845194898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049601.845873802] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049601.846873000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049601.847911330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049601.945688410] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049601.946402462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049601.948203414] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049601.948841976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049601.950137447] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049602.003278037] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973654 Long: -76.50298062 +[vectornav-1] [INFO] [1746049602.004642358] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.3, -3.398, 8.794) +[mux-7] [INFO] [1746049602.045306619] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049602.045879332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049602.046724428] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049602.047859585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049602.048932414] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049602.085637397] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049602.088419256] [sailbot.teensy]: Wind angle: 257 +[trim_sail-4] [INFO] [1746049602.088574211] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746049602.089376178] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049602.089603714] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049602.090538334] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049602.091414714] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049602.145272382] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049602.145996093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049602.147099974] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049602.148249311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049602.149392304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049602.245346222] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049602.246075043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049602.246760795] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049602.248323821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049602.249365270] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049602.335992710] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049602.339110277] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746049602.339303332] [sailbot.teensy]: Wind angle: 256 +[mux-7] [INFO] [1746049602.340235452] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049602.340376929] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049602.341272930] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049602.341620628] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049602.344409821] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049602.345234619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049602.345663049] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049602.347030123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049602.348203439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049602.445532195] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049602.446551966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049602.447134284] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049602.449289135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049602.450528341] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049602.502825431] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973656 Long: -76.50298082 +[vectornav-1] [INFO] [1746049602.504014631] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.28499999999997, -3.403, 8.89) +[mux-7] [INFO] [1746049602.545278213] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049602.546360520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049602.546751318] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049602.548669708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049602.549814399] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049602.585346834] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049602.587580961] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746049602.588086374] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049602.589334990] [sailbot.teensy]: Wind angle: 253 +[teensy-2] [INFO] [1746049602.590267571] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049602.591094969] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049602.591926042] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049602.645097125] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049602.645608088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049602.646709020] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049602.647646111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049602.648927511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049602.745219897] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049602.746198336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049602.746676250] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049602.748376667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049602.749450327] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049602.835664170] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049602.838769630] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746049602.838973349] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746049602.839831022] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049602.840762526] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049602.840922686] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049602.841677261] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049602.844255849] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049602.844917493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049602.845347247] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049602.846643258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049602.847728131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049602.945560871] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049602.946366100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049602.947272765] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049602.948918297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049602.950092672] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049603.002519868] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973662 Long: -76.50298102 +[vectornav-1] [INFO] [1746049603.003526677] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26, -3.41, 8.933) +[mux-7] [INFO] [1746049603.045076239] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049603.046307874] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049603.046025084] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049603.048612006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049603.049767540] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049603.085314310] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049603.087011990] [sailbot.teensy]: Wind angle: 250 +[trim_sail-4] [INFO] [1746049603.087749272] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746049603.088064007] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049603.088747614] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049603.089061940] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049603.089903835] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049603.144935697] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049603.145553511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049603.146188849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049603.147384028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049603.147910759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049603.244947310] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049603.245757995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049603.246628690] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049603.247662843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049603.248848457] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049603.335573422] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049603.338396006] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049603.338902908] [sailbot.teensy]: Wind angle: 249 +[mux-7] [INFO] [1746049603.339371088] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049603.339996840] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049603.340984481] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049603.341820929] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049603.344315160] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049603.345128191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049603.345418754] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049603.347013236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049603.347983396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049603.445315211] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049603.446100488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049603.446984540] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049603.449497912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049603.450631864] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049603.502757936] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697366 Long: -76.50298119 +[vectornav-1] [INFO] [1746049603.504062921] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.23900000000003, -3.424, 8.758) +[mux-7] [INFO] [1746049603.544814082] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049603.545524869] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049603.545979884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049603.547370008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049603.548480850] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049603.585452973] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049603.587872276] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746049603.587923421] [sailbot.teensy]: Wind angle: 250 +[teensy-2] [INFO] [1746049603.588891217] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049603.589478027] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049603.589797117] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049603.590667442] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049603.645024504] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049603.645751695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049603.646684026] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049603.647738778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049603.648916015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049603.745165484] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049603.746041183] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049603.746541186] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049603.748198747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049603.748624241] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049603.835548851] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049603.837597576] [sailbot.teensy]: Wind angle: 253 +[teensy-2] [INFO] [1746049603.838606627] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049603.838336150] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746049603.839487618] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049603.839509669] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049603.840361263] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049603.844443818] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049603.845585733] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049603.845810181] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049603.847496492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049603.848598867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049603.945227020] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049603.945985131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049603.947129590] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049603.947911488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049603.948442816] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049604.002512511] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973649 Long: -76.50298152 +[vectornav-1] [INFO] [1746049604.003529320] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.08500000000004, -3.45, 7.561) +[mux-7] [INFO] [1746049604.045324824] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049604.046328007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049604.046865979] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049604.048710788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049604.049730125] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049604.085362881] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049604.087113912] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746049604.087606087] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049604.088274149] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049604.088990863] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049604.089251011] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049604.090101369] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049604.145488069] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049604.146427775] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049604.149047332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[mux-7] [INFO] [1746049604.147592106] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049604.150219790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049604.244944246] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049604.245939517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049604.246255083] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049604.247753585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049604.248788535] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049604.335544730] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049604.338015674] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746049604.338171694] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746049604.339021549] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049604.339097592] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049604.339435802] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049604.339810652] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049604.344459392] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049604.344909169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049604.345645174] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049604.346633944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049604.347651904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049604.445691262] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049604.446421562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049604.447395048] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049604.448699768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049604.450600897] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049604.503131653] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973639 Long: -76.5029817 +[vectornav-1] [INFO] [1746049604.504952526] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.118, -3.448, 7.43) +[mux-7] [INFO] [1746049604.545381219] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049604.546240251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049604.546749903] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049604.548550236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049604.549853576] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049604.585745583] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049604.591747369] [sailbot.teensy]: Wind angle: 256 +[trim_sail-4] [INFO] [1746049604.592235561] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746049604.592701373] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049604.592727530] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049604.593660303] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049604.594496166] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049604.645459683] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049604.646292287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049604.647102065] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049604.649133701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049604.650991841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049604.745189866] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049604.746061584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049604.747166662] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049604.747986467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049604.748621590] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049604.835596274] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049604.838098193] [sailbot.teensy]: Wind angle: 257 +[trim_sail-4] [INFO] [1746049604.838222633] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049604.839084480] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049604.839232301] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049604.839482992] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049604.839872555] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049604.844574247] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049604.845230587] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049604.846946260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[mux-7] [INFO] [1746049604.845750928] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049604.848128724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049604.945625147] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049604.946569567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049604.947542556] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049604.949153807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049604.949866230] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049605.002677505] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973632 Long: -76.50298182 +[vectornav-1] [INFO] [1746049605.003837617] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.135, -3.438, 7.614) +[mux-7] [INFO] [1746049605.045194053] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049605.046142863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049605.046885751] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049605.048331876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049605.049133572] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049605.085526369] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049605.087556898] [sailbot.teensy]: Wind angle: 258 +[trim_sail-4] [INFO] [1746049605.088317906] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049605.088606505] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049605.089521189] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049605.090090473] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049605.090413016] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049605.144927806] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049605.145824939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049605.146170575] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049605.147738297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049605.149010802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049605.245270952] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049605.245964143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049605.246721021] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049605.248091350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049605.248635863] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049605.335354816] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049605.337078268] [sailbot.teensy]: Wind angle: 264 +[trim_sail-4] [INFO] [1746049605.337950446] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746049605.338067990] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049605.338973303] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049605.338979690] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049605.339911796] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049605.344339747] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049605.344931000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049605.345465264] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049605.347825380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049605.348899630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049605.445185683] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049605.445838989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049605.446728745] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049605.447975834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049605.449761480] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049605.502451532] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973633 Long: -76.50298195 +[vectornav-1] [INFO] [1746049605.503541225] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.152, -3.425, 7.814) +[mux-7] [INFO] [1746049605.545096553] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049605.546042105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049605.546530812] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049605.548148451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049605.549260124] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049605.585402603] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049605.587654068] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746049605.588175992] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049605.589187056] [sailbot.teensy]: Wind angle: 268 +[teensy-2] [INFO] [1746049605.590175647] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049605.591024695] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049605.591862441] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049605.645070844] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049605.645917089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049605.646510842] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049605.647960074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049605.649031538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049605.744891580] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049605.745648507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049605.746325993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049605.747520260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049605.748628075] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049605.835320159] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049605.837510442] [sailbot.teensy]: Wind angle: 274 +[trim_sail-4] [INFO] [1746049605.838244689] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746049605.838469045] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049605.839358447] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049605.839409673] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746049605.840535950] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049605.844529535] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049605.845110662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049605.845677704] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049605.846952487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049605.848282854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049605.945326738] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049605.946348414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049605.947092216] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049605.948775561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049605.949921136] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049606.002953987] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973632 Long: -76.50298175 +[vectornav-1] [INFO] [1746049606.004411848] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.134, -3.432, 7.732) +[mux-7] [INFO] [1746049606.045113169] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049606.045937523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049606.046554830] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049606.047891704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049606.048964287] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049606.085634711] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049606.088590492] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746049606.088672456] [sailbot.teensy]: Wind angle: 294 +[mux-7] [INFO] [1746049606.088766958] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049606.090228495] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049606.091079593] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049606.091909424] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049606.144612173] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049606.145149352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049606.146165570] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049606.146858742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049606.148032284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049606.245172164] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049606.246292802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049606.247487147] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049606.248274321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049606.248835794] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049606.335286411] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049606.336990150] [sailbot.teensy]: Wind angle: 314 +[trim_sail-4] [INFO] [1746049606.337737395] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049606.337923707] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049606.338807693] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049606.339069465] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049606.339725312] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049606.344412004] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049606.344935909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049606.345483985] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049606.346632993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049606.347665819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049606.445611634] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049606.446332074] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049606.447529517] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049606.448920843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049606.450805426] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049606.502698000] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973629 Long: -76.50298181 +[vectornav-1] [INFO] [1746049606.503666744] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.14099999999996, -3.432, 7.676) +[mux-7] [INFO] [1746049606.545046113] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049606.545882907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049606.546654625] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049606.547806313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049606.548947656] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049606.585617704] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049606.587932426] [sailbot.teensy]: Wind angle: 325 +[trim_sail-4] [INFO] [1746049606.588564089] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049606.589021467] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049606.589988265] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049606.590193410] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049606.590896655] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049606.645590857] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049606.646814610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049606.647435932] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049606.649154222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049606.649740993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049606.745428597] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049606.746278666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049606.747062938] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049606.748403124] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049606.749190729] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049606.835409894] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049606.837794628] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049606.837833766] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049606.838752377] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049606.839167484] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049606.839653800] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049606.840403761] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049606.844605642] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049606.845363495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049606.845815002] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049606.847144295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049606.848214630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049606.945581356] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049606.946575492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049606.947556832] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049606.948116326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049606.948568440] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049607.002570278] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973628 Long: -76.5029819 +[vectornav-1] [INFO] [1746049607.003632914] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.125, -3.433, 7.72) +[mux-7] [INFO] [1746049607.045389089] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049607.046165848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049607.046895368] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049607.048497825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049607.050287172] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049607.085889322] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049607.088707432] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049607.088860500] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049607.090270400] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049607.090563551] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049607.091511240] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049607.092474013] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049607.145337748] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049607.146169299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049607.146858111] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049607.148379344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049607.149667759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049607.245369061] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049607.246350374] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049607.247400726] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049607.247841052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049607.248328557] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049607.335469240] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049607.337697179] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049607.338778436] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049607.338940577] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049607.339750401] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049607.340538296] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049607.340758757] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049607.344449066] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049607.344970285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049607.345554225] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049607.346725163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049607.347822199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049607.444898404] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049607.445623058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049607.446381466] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049607.447641186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049607.448320928] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049607.502877439] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973622 Long: -76.50298209 +[vectornav-1] [INFO] [1746049607.503979567] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.12, -3.437, 7.698) +[mux-7] [INFO] [1746049607.545166666] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049607.545953579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049607.546588203] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049607.548027836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049607.549177370] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049607.585360664] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049607.587606364] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049607.588522339] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049607.588611223] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049607.589965321] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049607.590813008] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049607.591650580] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049607.645171353] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049607.645713551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049607.646494839] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049607.647651427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049607.648588853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049607.745394149] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049607.745872689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049607.747016959] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049607.747818401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049607.749264899] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049607.835575506] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049607.838612653] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049607.838738759] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049607.839043635] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049607.839660257] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049607.840038543] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049607.840418401] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049607.844535409] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049607.844879663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049607.845743237] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049607.846496076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049607.847573700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049607.945209308] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049607.946006477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049607.946703912] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049607.948026807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049607.949076918] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049608.002336507] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973627 Long: -76.50298227 +[vectornav-1] [INFO] [1746049608.003333960] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.111, -3.444, 7.68) +[mux-7] [INFO] [1746049608.045209410] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049608.045636600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049608.046815240] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049608.047507683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049608.048467533] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049608.085421314] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049608.087504623] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049608.087887824] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049608.088498688] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049608.089232575] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049608.089375616] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049608.090267586] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049608.145083609] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049608.145986772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049608.146468465] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049608.148009303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049608.149020732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049608.245132828] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049608.246246212] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049608.246997110] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049608.248310428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049608.248891982] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049608.335449729] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049608.337522004] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049608.338869623] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049608.338036591] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049608.339602799] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049608.340175895] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049608.341157619] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049608.344553150] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049608.345006079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049608.345809309] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049608.346772907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049608.347832452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049608.445199657] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049608.446190146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049608.446729578] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049608.448296287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049608.448768165] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049608.503341563] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973618 Long: -76.50298232 +[vectornav-1] [INFO] [1746049608.504849531] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.111, -3.446, 7.651) +[mux-7] [INFO] [1746049608.544988707] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049608.545593695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049608.546311621] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049608.547472379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049608.548701752] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049608.585363848] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049608.587141830] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049608.587922201] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049608.588079971] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049608.588522303] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049608.588660331] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049608.589057859] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049608.644964728] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049608.645628977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049608.646232798] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049608.647367959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049608.647912715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049608.745488277] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049608.746372171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049608.747255360] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049608.748704102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049608.749902521] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049608.835822219] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049608.838031830] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049608.838865164] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049608.838926646] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049608.839263901] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049608.839690646] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049608.839840817] [sailbot.mux]: algo sail angle: 80 +[mux-7] [INFO] [1746049608.844514065] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049608.845332949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049608.845758442] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049608.847080007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049608.848260664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049608.945381934] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049608.946239970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049608.946932772] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049608.948802502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049608.949878509] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049609.002708799] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973613 Long: -76.50298231 +[vectornav-1] [INFO] [1746049609.003807961] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.023, -3.497, 7.015) +[mux-7] [INFO] [1746049609.045568107] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049609.046229674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049609.046967687] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049609.048569220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049609.049829110] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049609.085713564] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049609.088207224] [sailbot.teensy]: Wind angle: 338 +[teensy-2] [INFO] [1746049609.089213272] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049609.088674638] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049609.089768267] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049609.090104542] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049609.090971969] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049609.145216546] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049609.146136715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049609.146771746] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049609.148270810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049609.148787316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049609.245106331] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049609.245821056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049609.246545591] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049609.248096471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049609.249259144] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049609.335579153] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049609.338555170] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049609.338897944] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049609.339265766] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049609.340230507] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049609.341110388] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049609.341663426] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049609.344543524] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049609.345013995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049609.345841073] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049609.346789171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049609.347956888] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049609.445588842] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049609.446478854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049609.447357776] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049609.449393899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049609.450515874] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049609.502523444] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973627 Long: -76.50298207 +[vectornav-1] [INFO] [1746049609.503550629] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.025, -3.492, 7.084) +[mux-7] [INFO] [1746049609.544856797] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049609.545622886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049609.546155449] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049609.547577675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049609.548669269] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049609.585684305] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049609.588499255] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049609.588902753] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049609.589632275] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049609.590574495] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049609.591432229] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049609.592272639] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049609.645551649] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049609.646820035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049609.647243570] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049609.649313681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049609.650401166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049609.744943047] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049609.745625049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049609.746397280] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049609.747484068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049609.748370533] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049609.835467179] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049609.838622670] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049609.838970209] [sailbot.teensy]: Wind angle: 340 +[mux-7] [INFO] [1746049609.839073301] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049609.839890310] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049609.840786783] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049609.841654779] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049609.844358503] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049609.844892246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049609.845419471] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049609.846569476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049609.847819874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049609.945829862] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049609.946425739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049609.947500764] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049609.948717264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049609.949898380] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049610.002295488] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973636 Long: -76.5029823 +[vectornav-1] [INFO] [1746049610.003318284] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03200000000004, -3.484, 7.19) +[mux-7] [INFO] [1746049610.045458966] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049610.046172670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049610.046986884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049610.048640403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049610.049810143] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049610.085567494] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049610.087927505] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049610.088644841] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049610.089277618] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049610.089361692] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049610.090497532] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049610.091338855] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049610.145056127] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049610.145638977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049610.146634444] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049610.147639561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049610.148509896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049610.244930393] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049610.245776355] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049610.246420505] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049610.247594423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049610.248183884] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049610.335521265] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049610.337638697] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049610.338176913] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049610.338684924] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049610.339603886] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049610.339746840] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049610.340477477] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049610.344364865] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049610.344919002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049610.345436906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049610.348470617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049610.349542938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049610.445527489] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049610.446389939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049610.447303053] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049610.449220364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049610.450544669] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049610.502742733] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973636 Long: -76.5029824 +[vectornav-1] [INFO] [1746049610.503814271] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03499999999997, -3.477, 7.23) +[mux-7] [INFO] [1746049610.545199360] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049610.546260292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049610.546619887] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049610.548243800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049610.549398292] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049610.585810269] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049610.588634702] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049610.589270990] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049610.589989420] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049610.590997747] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049610.591938739] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049610.592998136] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049610.645168988] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049610.646062450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049610.646704993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049610.648008899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049610.649123105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049610.745610778] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049610.746338103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049610.747329792] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049610.748712237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049610.750936805] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049610.835529748] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049610.837723598] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049610.837970728] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049610.839042140] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049610.839808700] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049610.840751853] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049610.841583932] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049610.844380226] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049610.845014102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049610.845583283] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049610.846716774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049610.847873600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049610.945589557] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049610.946668434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049610.947232537] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049610.949553435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049610.950935629] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049611.002508627] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973635 Long: -76.50298261 +[vectornav-1] [INFO] [1746049611.003952452] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03499999999997, -3.481, 7.243) +[mux-7] [INFO] [1746049611.045098926] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049611.045966949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049611.046381364] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049611.047939713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049611.048947027] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049611.085505721] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049611.087936173] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049611.087951478] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049611.088941070] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049611.089065946] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049611.089902955] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049611.090785495] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049611.145353953] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049611.146358422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049611.147014697] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049611.148690090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049611.149249233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049611.245163828] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049611.245874464] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049611.246582034] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049611.247876538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049611.249051909] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049611.335620591] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049611.337736130] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049611.338316500] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049611.339366219] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049611.339770652] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049611.339832918] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049611.340178957] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049611.344532609] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049611.345155238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049611.345708303] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049611.346914832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049611.348229298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049611.445612509] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049611.446972450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049611.447370352] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049611.449332728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049611.450636774] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049611.503343052] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973622 Long: -76.5029829 +[vectornav-1] [INFO] [1746049611.504974329] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.029, -3.484, 7.223) +[mux-7] [INFO] [1746049611.545208891] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049611.546045458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049611.546641070] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049611.548382991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049611.549560683] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049611.585868633] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049611.588805306] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049611.588824805] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049611.589856692] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049611.589993743] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049611.590750980] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049611.591618940] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049611.645524420] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049611.646318016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049611.647192353] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049611.648475971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049611.649057875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049611.744974639] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049611.745644125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049611.746289959] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049611.747503624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049611.748730094] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049611.835461953] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049611.837637984] [sailbot.teensy]: Wind angle: 354 +[teensy-2] [INFO] [1746049611.838800454] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049611.838195903] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049611.839724616] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049611.840242962] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049611.840633592] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049611.844471889] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049611.844936702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049611.847454601] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049611.847728629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049611.848867964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049611.945694868] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049611.946546978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049611.948576318] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049611.948702548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049611.949274633] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049612.002637748] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697364 Long: -76.50298318 +[vectornav-1] [INFO] [1746049612.003955350] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03700000000003, -3.478, 7.312) +[mux-7] [INFO] [1746049612.044893368] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049612.045389685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049612.046184386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049612.047445710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049612.048547365] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049612.085457238] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049612.088008219] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049612.088095085] [sailbot.teensy]: Wind angle: 355 +[mux-7] [INFO] [1746049612.089233823] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049612.089442735] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049612.090405485] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049612.091285049] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049612.144834307] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049612.145325800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049612.146035692] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049612.147082732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049612.148262413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049612.245226396] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049612.245884707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049612.246656473] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049612.247689131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049612.248258369] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049612.335474660] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049612.337608742] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049612.338011523] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049612.339271872] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049612.339293201] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049612.340237992] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049612.341113840] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049612.344426629] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049612.345120974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049612.345570363] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049612.346795608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049612.347824615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049612.445278410] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049612.446006490] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049612.447061064] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049612.447991987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049612.448545625] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049612.502486268] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697364 Long: -76.50298338 +[vectornav-1] [INFO] [1746049612.503590584] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.039, -3.472, 7.365) +[mux-7] [INFO] [1746049612.544985500] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049612.545974149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049612.546358740] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049612.548049700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049612.549219690] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049612.585754750] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049612.588238266] [sailbot.teensy]: Wind angle: 354 +[teensy-2] [INFO] [1746049612.589661943] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049612.589250518] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049612.589789530] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049612.590805165] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049612.591651089] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049612.645590473] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049612.646199283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049612.647797655] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049612.648538557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049612.649250055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049612.745698564] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049612.746800989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049612.747615578] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049612.748331212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049612.749266679] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049612.835501400] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049612.837842617] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049612.837917175] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049612.838819453] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049612.839548739] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049612.839721111] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049612.840628656] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049612.844318124] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049612.845225436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049612.845782143] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049612.847010020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049612.848197449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049612.945620134] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049612.946655825] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049612.947595595] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049612.949576654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049612.950758380] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049613.003277603] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973651 Long: -76.50298383 +[vectornav-1] [INFO] [1746049613.004583697] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.05, -3.463, 7.471) +[mux-7] [INFO] [1746049613.045405042] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049613.046222545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049613.047067202] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049613.048493704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049613.049596378] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049613.085422783] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049613.087510500] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049613.088194769] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049613.088591163] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049613.089544930] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049613.090082566] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049613.090392955] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049613.145090684] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049613.146231586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049613.146558525] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049613.148307401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049613.149327118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049613.245144176] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049613.246073101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049613.246688694] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049613.247801433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049613.248355755] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049613.335229138] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049613.338057683] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049613.338157710] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049613.339184908] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049613.339394970] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049613.340139298] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049613.341058419] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049613.344325167] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049613.344875349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049613.346415412] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049613.346670389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049613.347753361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049613.445019446] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049613.445671872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049613.446357559] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049613.447580780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049613.448089314] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049613.502500593] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973654 Long: -76.50298414 +[vectornav-1] [INFO] [1746049613.503508199] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.063, -3.45, 7.598) +[mux-7] [INFO] [1746049613.545344456] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049613.546318217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049613.546834334] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049613.548591725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049613.549763578] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049613.585810032] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049613.588716001] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049613.589942404] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049613.590681325] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049613.591077188] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049613.591425258] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049613.591755622] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049613.644840756] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049613.645482772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049613.646049596] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049613.647482174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049613.648695783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049613.745184329] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049613.745971074] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049613.746803733] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049613.748003549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049613.748544558] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049613.835344626] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049613.837621631] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049613.838724624] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049613.839704568] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049613.839775477] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049613.840664572] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049613.841568317] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049613.844324992] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049613.844899060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049613.845477145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049613.846732941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049613.847734149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049613.945363225] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049613.946766568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049613.946821823] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049613.947970258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049613.948633245] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049614.003253464] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973638 Long: -76.50298422 +[vectornav-1] [INFO] [1746049614.004575262] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.06, -3.445, 7.606) +[mux-7] [INFO] [1746049614.045020016] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049614.045944270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049614.046753339] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049614.047952864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049614.049159456] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049614.085532827] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049614.087824630] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049614.088275219] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049614.088874811] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049614.089780883] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049614.089784162] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049614.090665062] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049614.145123010] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049614.146489953] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049614.146943010] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049614.148693064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049614.149848432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049614.245271722] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049614.245853623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049614.247267084] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049614.247891312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049614.248930119] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049614.335188479] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049614.337082727] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049614.338042905] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049614.337551460] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049614.338736194] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049614.338812515] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049614.339197307] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049614.344481556] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049614.345102499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049614.345631821] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049614.346821585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049614.347862941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049614.445164647] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049614.445995945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049614.446570380] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049614.447669415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049614.448136015] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049614.503703092] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973643 Long: -76.50298436 +[vectornav-1] [INFO] [1746049614.505245975] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.054, -3.454, 7.567) +[mux-7] [INFO] [1746049614.545143556] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049614.545826392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049614.546627709] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049614.547901214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049614.548989115] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049614.585428035] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049614.587171902] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049614.588116268] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049614.588421100] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049614.589019768] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049614.589036448] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049614.589928861] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049614.645240614] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049614.646068810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049614.646971323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049614.648929062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049614.650070606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049614.745404446] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049614.746361211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049614.747087049] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049614.748795724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049614.750048781] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049614.835698333] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049614.837916411] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049614.838990906] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049614.839076292] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049614.839973451] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049614.840757518] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049614.840897478] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049614.844246270] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049614.844991272] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049614.845401371] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049614.846750105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049614.847936165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049614.945370703] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049614.946342713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049614.947318968] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049614.948926806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049614.950100613] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049615.002674354] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973636 Long: -76.50298449 +[vectornav-1] [INFO] [1746049615.003782660] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.047, -3.454, 7.559) +[mux-7] [INFO] [1746049615.044885400] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049615.045548621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049615.046113639] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049615.047697948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049615.048967947] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049615.085418216] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049615.087369011] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049615.088342892] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049615.088043287] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049615.088661292] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049615.089265677] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049615.090169732] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049615.145193344] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049615.145884978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049615.147008704] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049615.147979142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049615.149090253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049615.245099395] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049615.246868262] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049615.247190019] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049615.249114014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049615.250162052] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049615.335740579] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049615.338126030] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049615.338635137] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049615.339282091] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049615.340303480] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049615.340766276] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049615.340957478] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049615.344463011] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049615.345267298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049615.345811915] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049615.347226910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049615.348403306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049615.444897389] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049615.445638449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049615.446155887] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049615.447501460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049615.448666848] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049615.503336518] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973646 Long: -76.50298467 +[vectornav-1] [INFO] [1746049615.504405116] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.041, -3.449, 7.588) +[mux-7] [INFO] [1746049615.545107967] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049615.545902037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049615.546498203] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049615.548039409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049615.548511803] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049615.585405553] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049615.587488016] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049615.587630054] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049615.588462803] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049615.589434147] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049615.590086921] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049615.590328790] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049615.645402952] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049615.646276062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049615.647279496] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049615.649188881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049615.650341062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049615.745279673] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049615.746051008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049615.746984556] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049615.748039422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049615.749094137] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049615.835320244] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049615.837618263] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049615.838051377] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049615.838986050] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049615.839154316] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049615.839889040] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049615.840794668] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049615.844471412] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049615.845301405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049615.845838778] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049615.847034058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049615.848114426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049615.945169999] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049615.946120876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049615.946804833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049615.948231354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049615.948683489] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049616.003566711] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973626 Long: -76.50298488 +[vectornav-1] [INFO] [1746049616.005045070] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03999999999996, -3.445, 7.593) +[mux-7] [INFO] [1746049616.045082248] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049616.046506744] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049616.047608317] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049616.049337689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049616.050329229] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049616.085359156] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049616.087753948] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049616.088450441] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049616.088519304] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049616.089636736] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049616.090524146] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049616.091379209] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049616.145017608] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049616.145613920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049616.146319877] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049616.147555030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049616.148764914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049616.245660747] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049616.246421375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049616.247624856] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049616.248731325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049616.249239071] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049616.335749544] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049616.338347289] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049616.338948590] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049616.339363697] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049616.340291477] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049616.340762919] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049616.341206884] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049616.344360292] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049616.344966719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049616.345598320] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049616.346598579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049616.347765200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049616.445331730] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049616.446184469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049616.447026818] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049616.448764786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049616.449862633] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049616.502708796] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973618 Long: -76.502985 +[vectornav-1] [INFO] [1746049616.503821694] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03700000000003, -3.443, 7.601) +[mux-7] [INFO] [1746049616.545108715] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049616.545854625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049616.546290328] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049616.548012321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049616.549099063] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049616.585707883] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049616.588895920] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049616.589003157] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049616.589963488] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049616.590449008] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049616.590855628] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049616.591773075] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049616.644997715] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049616.645783126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049616.646328807] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049616.647729711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049616.648918330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049616.745677831] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049616.746636039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049616.747765605] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049616.749178246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049616.750318439] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049616.835478161] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049616.837671508] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049616.838658447] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049616.838621923] [sailbot.mux]: algo sail angle: 85 +[trim_sail-4] [INFO] [1746049616.839122619] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049616.839519389] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049616.840383624] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049616.844434525] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049616.845088516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049616.845644709] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049616.846948368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049616.847988757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049616.945694301] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049616.946312765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049616.947419578] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049616.947847296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049616.948458051] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049617.002577814] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973603 Long: -76.50298523 +[vectornav-1] [INFO] [1746049617.003627261] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.033, -3.441, 7.589) +[mux-7] [INFO] [1746049617.045150652] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049617.045918897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049617.046470906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049617.047950274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049617.049112508] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049617.085485268] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049617.088141234] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049617.088348556] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049617.088816516] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049617.089181364] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049617.090040492] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049617.090919563] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049617.145184660] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049617.145956784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049617.146531266] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049617.148054199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049617.149160093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049617.245508469] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049617.246623028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049617.247122043] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049617.248866454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049617.249985389] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049617.335532593] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049617.338155079] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049617.338290365] [sailbot.teensy]: Wind angle: 341 +[mux-7] [INFO] [1746049617.338753755] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049617.339229726] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049617.340188166] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049617.341110015] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049617.344643720] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049617.345066668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049617.345792528] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049617.346786927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049617.347791280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049617.445425171] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049617.446125521] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049617.448044414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[mux-7] [INFO] [1746049617.446968318] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049617.449073252] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049617.503204531] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973589 Long: -76.50298533 +[vectornav-1] [INFO] [1746049617.504475535] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03, -3.437, 7.595) +[mux-7] [INFO] [1746049617.545270445] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049617.545981910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049617.546636171] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049617.548227301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049617.549341384] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049617.585395179] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049617.587655059] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049617.587970188] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049617.588589345] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049617.588722796] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049617.589492684] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049617.590385993] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049617.645203067] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049617.646162803] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049617.646711067] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049617.648689526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049617.649764599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049617.745047353] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049617.745733119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049617.746353306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049617.747620100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049617.748757321] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049617.835665455] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049617.838828379] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049617.838985512] [sailbot.teensy]: Wind angle: 342 +[mux-7] [INFO] [1746049617.839336078] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049617.839507547] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049617.839893559] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049617.840279796] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049617.844440369] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049617.845345723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049617.845733660] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049617.847109245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049617.848458672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049617.945232601] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049617.945983205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049617.946682582] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049617.948320867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049617.949075560] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049618.002694319] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973576 Long: -76.50298553 +[vectornav-1] [INFO] [1746049618.003823408] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.023, -3.434, 7.596) +[mux-7] [INFO] [1746049618.044942663] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049618.045593113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049618.046191419] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049618.047501245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049618.048671153] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049618.085279671] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049618.086896557] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746049618.087431185] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049618.087880422] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049618.088784141] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049618.088819625] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049618.089655442] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049618.144828162] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049618.145443310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049618.146406324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049618.147204199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049618.148471703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049618.245097785] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049618.245772442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049618.246433503] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049618.247857163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049618.248974459] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049618.335231529] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049618.337360933] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049618.337533472] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049618.338417591] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049618.338502928] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049618.338892944] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049618.339285324] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049618.344582416] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049618.345102313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049618.345751394] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049618.346934361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049618.348146656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049618.445413305] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049618.446217944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049618.447185687] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049618.448825364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049618.450087170] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049618.503485641] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973561 Long: -76.50298574 +[vectornav-1] [INFO] [1746049618.505304204] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.02, -3.434, 7.597) +[mux-7] [INFO] [1746049618.545075932] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049618.545734857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049618.546405714] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049618.547855169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049618.549008655] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049618.585552491] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049618.588098670] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049618.588524300] [sailbot.teensy]: Wind angle: 342 +[mux-7] [INFO] [1746049618.589140915] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049618.589528071] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049618.590477812] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049618.591429435] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049618.645239896] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049618.646041030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049618.646721769] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049618.648256280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049618.649331117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049618.745138166] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049618.746070907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049618.746473043] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049618.747960325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049618.749022870] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049618.835508828] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049618.838080577] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049618.838575665] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049618.838847157] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049618.839827591] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049618.840751279] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049618.841208612] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049618.844435090] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049618.845015737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049618.845627060] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049618.846688835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049618.847846571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049618.945319216] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049618.945964816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049618.946884320] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049618.948045942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049618.948751875] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049619.003399461] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973551 Long: -76.50298611 +[vectornav-1] [INFO] [1746049619.004608536] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.019, -3.431, 7.591) +[mux-7] [INFO] [1746049619.045404960] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049619.046294234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049619.047205135] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049619.048552964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049619.049123021] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049619.085525364] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049619.088017525] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049619.088375401] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049619.088499157] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049619.089599132] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049619.090491506] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049619.091629966] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049619.145078468] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049619.145886318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049619.146595731] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049619.147978291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049619.149033165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049619.245508851] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049619.246404465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049619.247112217] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049619.248826234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049619.249907888] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049619.335182347] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049619.337250334] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049619.337441579] [sailbot.teensy]: Wind angle: 341 +[mux-7] [INFO] [1746049619.338474200] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049619.338714415] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049619.339628835] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049619.340111982] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049619.344394585] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049619.345763440] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049619.345896579] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049619.347612378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049619.348619797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049619.445370237] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049619.446141546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049619.446938453] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049619.448517005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049619.449202829] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049619.502641798] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973547 Long: -76.50298624 +[vectornav-1] [INFO] [1746049619.503799813] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.039, -3.419, 7.765) +[mux-7] [INFO] [1746049619.545229168] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049619.546002807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049619.546697077] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049619.548413823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049619.549480263] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049619.585336852] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049619.587532720] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049619.587579664] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049619.588485090] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049619.588963703] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049619.589403570] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049619.590276345] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049619.645078277] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049619.645661722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049619.646452279] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049619.647920705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049619.648930837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049619.745228909] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049619.746003344] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049619.746988921] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049619.748211283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049619.749377266] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049619.835533081] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049619.838239563] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049619.838317848] [sailbot.teensy]: Wind angle: 341 +[mux-7] [INFO] [1746049619.838730566] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049619.839693485] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049619.840632073] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049619.841519261] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049619.844440626] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049619.844895800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049619.845578016] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049619.846589386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049619.847649232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049619.945159900] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049619.945833018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049619.946638539] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049619.948208449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049619.949356040] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049620.003409132] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973536 Long: -76.5029864 +[vectornav-1] [INFO] [1746049620.005366191] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.038, -3.423, 7.785) +[mux-7] [INFO] [1746049620.045494472] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049620.046048326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049620.047779178] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049620.048206359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049620.049445437] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049620.085580218] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049620.087532993] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049620.088419621] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049620.088543177] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049620.089415694] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049620.089661148] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049620.090354310] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049620.145373735] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049620.146104337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049620.146913331] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049620.148879800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049620.150011877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049620.245564012] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049620.246137343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049620.247602341] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049620.248414999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049620.248992551] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049620.335490593] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049620.338164287] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049620.338287488] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049620.339247470] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049620.339477046] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049620.340200707] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049620.341073881] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049620.344391110] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049620.345456408] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049620.345633023] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049620.347370817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049620.348427060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049620.445572420] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049620.446680291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049620.447135713] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049620.449748393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049620.450976784] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049620.502779220] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973528 Long: -76.50298658 +[vectornav-1] [INFO] [1746049620.503915309] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.043, -3.415, 7.82) +[mux-7] [INFO] [1746049620.545475143] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049620.546319145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049620.547044122] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049620.548679383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049620.549988204] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049620.585790182] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049620.588499483] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049620.588888080] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049620.589862098] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049620.590009829] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049620.590762119] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049620.591628769] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049620.645120530] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049620.645990949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049620.646457100] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049620.648378101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049620.649440671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049620.745140534] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049620.746050069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049620.746629023] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049620.748317208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049620.748860570] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049620.835492799] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049620.838080063] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049620.838417086] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049620.839189800] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049620.839468262] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049620.839591440] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049620.839970244] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049620.844428254] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049620.844961776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049620.845606273] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049620.846643983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049620.847759264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049620.945517327] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049620.946671548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049620.947461159] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049620.948966469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049620.949518745] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049621.002271956] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973525 Long: -76.50298671 +[vectornav-1] [INFO] [1746049621.003236972] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.038, -3.415, 7.777) +[mux-7] [INFO] [1746049621.044957171] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049621.045663610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049621.046144260] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049621.047745067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049621.048353813] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049621.085674812] [sailbot.teensy]: Check telemetry callback entered +[mux-7] [INFO] [1746049621.088842325] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049621.088868868] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049621.089107485] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049621.089802630] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049621.090647234] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049621.091505806] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049621.144406763] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049621.144921671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049621.145449678] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049621.146576771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049621.147473993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049621.244962288] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049621.245681682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049621.246358812] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049621.247503420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049621.248588873] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049621.335204129] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049621.337548468] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049621.337729983] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049621.338052642] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049621.338519792] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049621.339460937] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049621.340107626] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049621.344583916] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049621.345599491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049621.345847428] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049621.347347993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049621.348500044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049621.443724315] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049621.444107356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049621.444281828] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049621.444972019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049621.445650712] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049621.502303652] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973508 Long: -76.502987 +[vectornav-1] [INFO] [1746049621.503798163] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.033, -3.415, 7.801) +[mux-7] [INFO] [1746049621.545061485] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049621.545864320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049621.546450819] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049621.548000391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049621.549166902] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049621.584920314] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049621.586651610] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049621.587483602] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049621.588299326] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049621.587100527] [sailbot.mux]: algo sail angle: 85 +[trim_sail-4] [INFO] [1746049621.588140456] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049621.589111277] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049621.645070337] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049621.645757142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049621.646446268] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049621.647761204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049621.648878924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049621.745304342] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049621.745960741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049621.746783429] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049621.748077403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049621.749202377] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049621.835411986] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049621.837250337] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049621.838500637] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049621.838304311] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049621.838797099] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049621.838964756] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049621.839358052] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049621.844242426] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049621.844992042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049621.845349467] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049621.846712146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049621.847861517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049621.945219562] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049621.946281871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049621.946703967] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049621.948509570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049621.949675109] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049622.003405697] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973491 Long: -76.50298722 +[vectornav-1] [INFO] [1746049622.004810523] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03, -3.412, 7.807) +[mux-7] [INFO] [1746049622.045780202] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049622.047682038] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049622.047776259] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049622.048580882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049622.049192644] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049622.085506254] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049622.087963515] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049622.088843514] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049622.089083809] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049622.090112980] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049622.091021671] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049622.091855276] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049622.145213761] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049622.146106034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049622.146868181] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049622.148206091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049622.149372205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049622.245306864] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049622.246289557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049622.246759304] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049622.248522912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049622.249524907] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049622.335604963] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049622.337585179] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049622.338556661] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049622.338489681] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049622.338788966] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049622.339746433] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049622.340693717] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049622.344284289] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049622.344757707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049622.345363523] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049622.346443908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049622.347537830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049622.445216328] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049622.445855018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049622.446735336] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049622.448073332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049622.449110312] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049622.502725439] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697349 Long: -76.50298749 +[vectornav-1] [INFO] [1746049622.504245050] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.025, -3.414, 7.787) +[mux-7] [INFO] [1746049622.545291586] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049622.546159752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049622.546758644] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049622.548455333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049622.549796317] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049622.585705609] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049622.588808337] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049622.589142783] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049622.589452740] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049622.590508302] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049622.591433972] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049622.592333734] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049622.644874495] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049622.645729710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049622.646145509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049622.647590308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049622.648613444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049622.745184898] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049622.746110017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049622.746831871] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049622.747967461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049622.748495001] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049622.835454031] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049622.837300107] [sailbot.teensy]: Wind angle: 346 +[teensy-2] [INFO] [1746049622.838273010] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049622.838318266] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049622.839190104] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049622.839379514] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049622.840002544] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049622.844409801] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049622.844917026] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049622.846521656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[mux-7] [INFO] [1746049622.845491977] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049622.847530615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049622.945331408] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049622.945973635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049622.946820225] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049622.948226447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049622.949418247] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049623.002507279] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973479 Long: -76.5029877 +[vectornav-1] [INFO] [1746049623.003567305] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.007, -3.41, 7.668) +[mux-7] [INFO] [1746049623.044808835] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049623.045423561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049623.045913908] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049623.047161076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049623.048228307] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049623.085570050] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049623.087907790] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049623.088148014] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049623.088968139] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049623.089488062] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049623.089860718] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049623.090748962] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049623.144968501] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049623.145813981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049623.146243049] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049623.147897968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049623.148436474] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049623.245179989] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049623.245907708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049623.246663199] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049623.247821368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049623.248807252] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049623.335603925] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049623.338117045] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049623.338942509] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049623.339095052] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049623.339816714] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049623.340483737] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049623.341331390] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049623.344324580] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049623.344876358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049623.345440202] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049623.346548977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049623.347575917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049623.445063292] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049623.446303646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049623.446456473] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049623.448212704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049623.449248042] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049623.502661744] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973471 Long: -76.50298794 +[vectornav-1] [INFO] [1746049623.503742486] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.971, -3.417, 7.528) +[mux-7] [INFO] [1746049623.545009235] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049623.545722479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049623.546287643] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049623.547807897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049623.548829848] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049623.585565679] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049623.588212804] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049623.588702524] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049623.589200376] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049623.590300097] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049623.591159062] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049623.592011784] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049623.645315349] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049623.646001284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049623.646827690] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049623.648536435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049623.649701348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049623.744976002] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049623.745827329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049623.746255289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049623.747939628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049623.748957739] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049623.835451784] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049623.837526971] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049623.838331550] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049623.838512066] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049623.839444233] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049623.839622434] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049623.840407994] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049623.844562423] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049623.845135629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049623.845706899] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049623.846787473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049623.848003598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049623.945157840] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049623.945840739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049623.946528264] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049623.947754670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049623.948981412] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049624.002437142] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973442 Long: -76.50298819 +[vectornav-1] [INFO] [1746049624.003870856] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03, -3.405, 7.914) +[mux-7] [INFO] [1746049624.045130481] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049624.046365573] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049624.046413742] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049624.048275755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049624.049364551] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049624.085528329] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049624.087515579] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049624.087926008] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049624.088557607] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049624.089208864] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049624.089500585] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049624.090465052] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049624.144899803] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049624.145839653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049624.146146616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049624.147751585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049624.148828633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049624.245306096] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049624.246410940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049624.247452244] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049624.248649027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049624.249693009] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049624.335383759] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049624.337295118] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049624.337783585] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049624.339258856] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049624.339337792] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049624.340283189] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049624.341155707] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049624.344386734] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049624.344934717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049624.345463516] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049624.346579027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049624.347611909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049624.445106752] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049624.445838915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049624.446509413] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049624.448124221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049624.448653378] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049624.502324239] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973432 Long: -76.50298821 +[vectornav-1] [INFO] [1746049624.503295581] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03999999999996, -3.4, 7.977) +[mux-7] [INFO] [1746049624.544872696] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049624.545409432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049624.546040790] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049624.547155155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049624.548334160] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049624.585559490] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049624.588273972] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049624.588990772] [sailbot.teensy]: Wind angle: 344 +[mux-7] [INFO] [1746049624.590031216] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049624.590098755] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049624.590985506] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049624.591907455] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049624.645458602] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049624.646010318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049624.647074647] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049624.648299059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049624.649639702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049624.745309745] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049624.746793749] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049624.746336822] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049624.748540899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049624.749633355] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049624.835746255] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049624.838497831] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049624.839426055] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049624.839627369] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049624.840428138] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049624.840593763] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049624.841300584] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049624.844535847] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049624.845162791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049624.845764452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049624.846974027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049624.848046836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049624.945398991] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049624.946378430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049624.946896533] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049624.948253393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049624.948697213] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049625.002478926] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973406 Long: -76.50298839 +[vectornav-1] [INFO] [1746049625.003671456] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.11, -3.375, 8.532) +[mux-7] [INFO] [1746049625.045478656] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049625.046933691] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049625.046478310] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049625.049207173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049625.049983059] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049625.085402533] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049625.087811001] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049625.087936408] [sailbot.teensy]: Wind angle: 344 +[mux-7] [INFO] [1746049625.088874054] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049625.089177774] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049625.090105508] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049625.090934036] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049625.144682148] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049625.145610568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049625.145873007] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049625.148485016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049625.150184955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049625.245363567] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049625.246333137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049625.246844570] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049625.248127812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049625.248644418] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049625.335460163] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049625.337408577] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049625.338358088] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049625.337858804] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049625.338739968] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049625.339229924] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049625.340062778] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049625.344373086] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049625.345083074] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049625.345683176] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049625.346812654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049625.347824667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049625.445223971] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049625.445947484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049625.447012807] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049625.448099288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049625.449245436] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049625.502457919] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973382 Long: -76.50298846 +[vectornav-1] [INFO] [1746049625.503455031] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.15700000000004, -3.358, 8.809) +[mux-7] [INFO] [1746049625.545156060] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049625.545963512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049625.546756474] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049625.547937679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049625.548999577] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049625.585539322] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049625.588140579] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049625.588565495] [sailbot.teensy]: Wind angle: 344 +[mux-7] [INFO] [1746049625.588744944] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049625.589508432] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049625.590275403] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049625.590620920] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049625.645196124] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049625.645878801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049625.646827851] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049625.648029916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049625.649354100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049625.745165653] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049625.746556114] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049625.745943545] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049625.747968901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049625.748848123] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049625.835606584] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049625.838293842] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049625.838437551] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049625.839293212] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049625.839704865] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049625.840294989] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049625.841184612] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049625.844482296] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049625.844941307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049625.846329065] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049625.846662519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049625.847951070] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049625.945578485] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049625.946475024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049625.947163378] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049625.948949240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049625.950155466] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049626.002501348] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973375 Long: -76.50298865 +[vectornav-1] [INFO] [1746049626.003513045] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.067, -3.395, 8.153) +[mux-7] [INFO] [1746049626.045103497] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049626.045745422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049626.046321413] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049626.048179926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049626.049316069] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049626.085408899] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049626.087813289] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049626.088930484] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049626.089485543] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049626.090999179] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049626.091870012] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049626.092728833] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049626.144955695] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049626.145645619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049626.146238034] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049626.147742949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049626.148895397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049626.245045985] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049626.246301607] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049626.246491374] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049626.248412240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049626.249517832] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049626.335448086] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049626.337526905] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049626.338238892] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049626.339223496] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049626.340502707] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049626.341427509] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049626.342294368] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049626.344376413] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049626.344838835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049626.345477010] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049626.346491003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049626.347511090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049626.444770655] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049626.445345831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049626.445974413] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049626.447067314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049626.448238651] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049626.502450244] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973384 Long: -76.50298854 +[vectornav-1] [INFO] [1746049626.503966557] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.017, -3.415, 7.856) +[mux-7] [INFO] [1746049626.545321970] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049626.546046867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049626.546816174] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049626.548254393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049626.549448452] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049626.585627289] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049626.588215388] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049626.588612721] [sailbot.teensy]: Wind angle: 343 +[mux-7] [INFO] [1746049626.588761567] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049626.589686460] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049626.590650933] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049626.591605239] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049626.645596282] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049626.646647467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049626.647336445] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049626.649122616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049626.650212149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049626.745271142] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049626.746496498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049626.746795734] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049626.748863868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049626.750088530] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049626.835513051] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049626.837606133] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049626.838570784] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049626.837805381] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049626.838403107] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049626.839467796] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049626.840372109] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049626.844390270] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049626.845032473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049626.845844264] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049626.846742366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049626.847832102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049626.945549489] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049626.946584590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049626.947122053] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049626.948317883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049626.948796315] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049627.003184794] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973362 Long: -76.50298862 +[vectornav-1] [INFO] [1746049627.004509700] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.995, -3.418, 7.708) +[mux-7] [INFO] [1746049627.045186509] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049627.045962700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049627.046620677] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049627.048347193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049627.049360248] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049627.085439772] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049627.087285131] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049627.088234239] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049627.089133808] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049627.088037506] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049627.088401491] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049627.090043280] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049627.144974736] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049627.145757544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049627.146391889] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049627.147694622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049627.148765411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049627.245135897] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049627.245883705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049627.246543250] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049627.247864289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049627.249057984] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049627.335533749] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049627.337780851] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049627.338177409] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049627.338785818] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049627.339662294] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049627.339692978] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049627.340656328] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049627.344447606] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049627.345098366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049627.345568581] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049627.346844301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049627.347836822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049627.445476303] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049627.446384688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049627.447588289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049627.448624478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049627.449291323] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049627.503499132] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973358 Long: -76.50298882 +[vectornav-1] [INFO] [1746049627.504834985] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.94399999999996, -3.426, 7.417) +[mux-7] [INFO] [1746049627.545106796] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049627.545804253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049627.546506872] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049627.548036328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049627.548814730] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049627.585372357] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049627.587787914] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049627.587959281] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049627.588968782] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049627.589644114] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049627.589966759] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049627.590847012] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049627.645434351] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049627.646616839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049627.647079962] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049627.649156644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049627.650226062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049627.745593918] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049627.746285492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049627.747210934] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049627.748104497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049627.748657127] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049627.835519503] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049627.837383656] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049627.837909063] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049627.838442847] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049627.839395840] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049627.840233431] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049627.840463634] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746049627.844694312] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049627.845092997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049627.846766449] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049627.847189746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049627.848514177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049627.945755679] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049627.946839356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049627.947463016] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049627.949710880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049627.950926961] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049628.002595507] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697333 Long: -76.50298928 +[vectornav-1] [INFO] [1746049628.003718164] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.009, -3.4, 7.849) +[mux-7] [INFO] [1746049628.045217220] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049628.045896246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049628.046635973] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049628.047851531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049628.048539902] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049628.085822552] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049628.088728899] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049628.088751055] [sailbot.teensy]: Wind angle: 334 +[teensy-2] [INFO] [1746049628.089819624] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049628.090555970] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049628.090759255] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049628.091668848] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049628.145976830] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049628.146225881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049628.148212527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049628.148826985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049628.150070199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049628.245349211] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049628.246279542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049628.247249271] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049628.249631147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049628.250677850] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049628.335483178] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049628.337475178] [sailbot.teensy]: Wind angle: 334 +[teensy-2] [INFO] [1746049628.338436850] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049628.339318646] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049628.338486782] [sailbot.mux]: algo sail angle: 80 +[trim_sail-4] [INFO] [1746049628.339784724] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049628.340200076] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049628.344441603] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049628.345078956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049628.345495715] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049628.346767883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049628.347918882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049628.445478558] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049628.446207511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049628.447355229] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049628.448392598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049628.448912247] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049628.503424503] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973319 Long: -76.50298944 +[vectornav-1] [INFO] [1746049628.504763019] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.024, -3.395, 7.897) +[mux-7] [INFO] [1746049628.545105411] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049628.546541124] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049628.546095302] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049628.547954825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049628.549034061] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049628.585337373] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049628.587504671] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049628.587504640] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049628.588475491] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049628.589236071] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049628.589400144] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049628.590339957] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049628.645405014] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049628.646422127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049628.646922541] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049628.648927970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049628.649926926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049628.745111374] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049628.745912293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049628.746667289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049628.747895053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049628.748536222] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049628.835363308] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049628.837796689] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049628.838508512] [sailbot.teensy]: Wind angle: 334 +[mux-7] [INFO] [1746049628.839215175] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049628.839579268] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049628.840547400] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049628.841116261] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049628.844299066] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049628.844964427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049628.845581748] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049628.846619681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049628.847648420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049628.944960912] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049628.945633777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049628.946382122] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049628.947480989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049628.948452166] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049629.002744207] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973307 Long: -76.50298959 +[vectornav-1] [INFO] [1746049629.004265818] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.026, -3.389, 8.048) +[mux-7] [INFO] [1746049629.045474854] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049629.046087800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049629.046961149] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049629.048275933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049629.049562231] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049629.085526966] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049629.087931346] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049629.088053172] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049629.088999652] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049629.089162331] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049629.089927277] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049629.090779818] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049629.144834154] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049629.145452379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049629.145996223] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049629.147203535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049629.148408237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049629.245334574] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049629.246010154] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049629.247183434] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049629.248001066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049629.248475834] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049629.335359028] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049629.337255651] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049629.337855800] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049629.338225578] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049629.339135457] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049629.339384010] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049629.339997829] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049629.344403770] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049629.345008444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049629.345539304] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049629.346708559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049629.347766967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049629.445140738] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049629.445991818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049629.446972075] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049629.447952040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049629.448508155] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049629.502807263] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973294 Long: -76.50298978 +[vectornav-1] [INFO] [1746049629.503798557] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.975, -3.423, 7.514) +[mux-7] [INFO] [1746049629.545525979] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049629.546872479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049629.548348779] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049629.548550884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049629.549007122] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049629.585668744] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049629.588352543] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049629.588852813] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049629.589347472] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049629.590249558] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049629.590796850] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049629.591183175] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049629.645605330] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049629.646412814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049629.647532966] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049629.648884752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049629.650338470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049629.745746022] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049629.746434998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049629.747755368] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049629.749620732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049629.750750963] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049629.835350782] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049629.837192974] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049629.838239214] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049629.839131101] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049629.839364507] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049629.840203373] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049629.841113541] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049629.844637003] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049629.845281351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049629.845807181] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049629.846973239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049629.848314829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049629.945325401] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049629.945849308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049629.946831095] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049629.948469168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049629.949550060] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049630.002581052] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973277 Long: -76.50299002 +[vectornav-1] [INFO] [1746049630.003653863] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.999, -3.417, 7.761) +[mux-7] [INFO] [1746049630.045198084] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049630.045995596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049630.047019009] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049630.048402507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049630.049550971] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049630.085486281] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049630.087484804] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049630.087947461] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049630.088652172] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049630.089596680] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049630.089876665] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049630.090566222] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049630.145197629] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049630.146004354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049630.146882383] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049630.148335809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049630.148843679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049630.245596895] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049630.246740030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049630.247188525] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049630.249141151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049630.250353619] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049630.335519181] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049630.338050757] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049630.338125203] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049630.339114417] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049630.339714383] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049630.340017968] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049630.340906716] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049630.344500902] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049630.345154560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049630.345642005] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049630.346908091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049630.347883179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049630.445523181] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049630.446776459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049630.447483183] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049630.450323192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049630.451496047] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049630.503233576] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973276 Long: -76.50299005 +[vectornav-1] [INFO] [1746049630.504584326] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.983, -3.434, 7.673) +[mux-7] [INFO] [1746049630.544720322] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049630.545361822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049630.545920249] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049630.547245643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049630.548295556] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049630.585607056] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049630.587760555] [sailbot.teensy]: Wind angle: 358 +[trim_sail-4] [INFO] [1746049630.588295588] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049630.588872764] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049630.589806842] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049630.589749319] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049630.590733936] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049630.645147018] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049630.646366724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049630.647075591] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049630.648576436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049630.649130101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049630.745377847] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049630.746466893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049630.746923340] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049630.748922836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049630.750011808] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049630.835827269] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049630.838726592] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049630.838808978] [sailbot.teensy]: Wind angle: 357 +[mux-7] [INFO] [1746049630.839350161] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049630.840289435] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049630.840850602] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049630.841243168] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049630.844477660] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049630.844944188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049630.845616028] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049630.846701691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049630.847763247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049630.945303330] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049630.946212707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049630.946860470] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049630.948390179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049630.949602335] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049631.002425599] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973273 Long: -76.50299006 +[vectornav-1] [INFO] [1746049631.003408041] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.004, -3.417, 7.751) +[mux-7] [INFO] [1746049631.045531268] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049631.047092619] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049631.046998784] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049631.049545530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049631.050716195] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049631.085440550] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049631.087260730] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049631.087756819] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049631.088221649] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049631.089148881] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049631.089666607] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049631.090010258] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049631.145046235] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049631.145731846] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049631.147512866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[mux-7] [INFO] [1746049631.146306949] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049631.148670798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049631.245073593] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049631.245797333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049631.246714494] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049631.247912666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049631.248480948] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049631.335210783] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049631.337013418] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049631.337881341] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049631.338680027] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049631.339215294] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049631.340136079] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049631.341052378] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049631.344350777] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049631.344862612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049631.345423058] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049631.346545552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049631.347612225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049631.445788801] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049631.446735548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049631.447722449] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049631.449192988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049631.450357854] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049631.503268456] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973247 Long: -76.50299009 +[vectornav-1] [INFO] [1746049631.504595544] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.003, -3.41, 7.762) +[mux-7] [INFO] [1746049631.545384704] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049631.546271136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049631.546842491] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049631.548890979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049631.549978993] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049631.585784511] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049631.588061073] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049631.588699421] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049631.589127824] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049631.589737564] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049631.589994556] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049631.590931423] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049631.645546853] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049631.646416054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049631.647224786] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049631.648939594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049631.650244093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049631.745595202] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049631.746551746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049631.747251860] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049631.749127080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049631.750192477] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049631.835543750] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049631.837998652] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049631.838018509] [sailbot.teensy]: Wind angle: 355 +[mux-7] [INFO] [1746049631.838649727] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049631.838988095] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049631.839909108] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049631.840811763] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049631.844500229] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049631.845244337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049631.845648257] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049631.846964729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049631.848080972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049631.944947565] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049631.945623944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049631.946249945] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049631.947867543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049631.948679555] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049632.002522632] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973224 Long: -76.5029904 +[vectornav-1] [INFO] [1746049632.003569890] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.014, -3.405, 7.807) +[mux-7] [INFO] [1746049632.045413353] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049632.046327424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049632.046925587] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049632.049239306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049632.050322944] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049632.085384483] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049632.087202653] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049632.087762789] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049632.088183117] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049632.088902825] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049632.089101854] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049632.089979789] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049632.145141482] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049632.145898599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049632.146587323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049632.148131855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049632.149764824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049632.245224320] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049632.245978728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049632.246847783] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049632.247956839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049632.248995045] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049632.335401017] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049632.337342503] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049632.338289373] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049632.338330026] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049632.339025370] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049632.339155413] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049632.339377121] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049632.344269020] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049632.345072555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049632.345419511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049632.346841051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049632.347926916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049632.445266010] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049632.446210959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049632.446706144] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049632.448738528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049632.449243667] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049632.502715586] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973218 Long: -76.50299062 +[vectornav-1] [INFO] [1746049632.503724700] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.01, -3.419, 7.728) +[mux-7] [INFO] [1746049632.545023559] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049632.545772703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049632.546324545] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049632.547706012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049632.548779501] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049632.585697019] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049632.588676305] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049632.589600196] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049632.590461640] [sailbot.teensy]: Wind angle: 355 +[teensy-2] [INFO] [1746049632.590855584] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049632.591195363] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049632.591540187] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049632.645096732] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049632.645984537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049632.646576995] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049632.647945358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049632.649004650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049632.745434980] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049632.746826112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049632.747400407] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049632.749842424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049632.750956712] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049632.835582315] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049632.838464901] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049632.838834903] [sailbot.teensy]: Wind angle: 355 +[mux-7] [INFO] [1746049632.838958555] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049632.840063243] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049632.840995624] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049632.841879395] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049632.844587158] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049632.844969096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049632.845731765] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049632.846718275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049632.847850746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049632.945655519] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049632.947317971] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049632.947919879] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049632.949789961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049632.950855812] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049633.003145358] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973213 Long: -76.5029908 +[vectornav-1] [INFO] [1746049633.004499596] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.969, -3.427, 7.548) +[mux-7] [INFO] [1746049633.045467519] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049633.045652826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049633.048188163] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049633.048819495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049633.050006044] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049633.085582734] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049633.087798788] [sailbot.teensy]: Wind angle: 355 +[teensy-2] [INFO] [1746049633.088885126] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049633.088516102] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049633.090158925] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049633.090454363] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049633.091424748] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049633.145327278] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049633.146807266] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049633.145973164] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049633.148229913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049633.149463029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049633.245585713] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049633.246638904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049633.247239810] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049633.249056137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049633.250181868] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049633.335446687] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049633.337977527] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049633.338442961] [sailbot.teensy]: Wind angle: 356 +[mux-7] [INFO] [1746049633.338456832] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049633.339626800] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049633.340574564] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049633.341465504] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049633.344286304] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049633.344873054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049633.345601883] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049633.346562126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049633.347642230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049633.445361093] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049633.446200118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049633.447241797] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049633.447919765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049633.448469517] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049633.503054080] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973199 Long: -76.50299088 +[vectornav-1] [INFO] [1746049633.504334876] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.95799999999997, -3.426, 7.485) +[mux-7] [INFO] [1746049633.545307765] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049633.546289650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049633.546747427] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049633.548406484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049633.549627235] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049633.585465791] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049633.587765242] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049633.588394689] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049633.589170688] [sailbot.teensy]: Wind angle: 356 +[teensy-2] [INFO] [1746049633.590219791] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049633.591053106] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049633.591922924] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049633.645494790] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049633.646280530] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049633.647155629] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049633.648351288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049633.648902918] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049633.745523791] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049633.746722598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049633.747458448] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049633.749497521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049633.750409366] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049633.836044241] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049633.838805650] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049633.838868271] [sailbot.teensy]: Wind angle: 357 +[mux-7] [INFO] [1746049633.839135049] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049633.839277673] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049633.839672718] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049633.840051100] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049633.844432806] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049633.845443219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049633.845614925] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049633.847159921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049633.848197703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049633.945604946] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049633.946315272] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049633.947367204] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049633.948696432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049633.949945075] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049634.002506627] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973185 Long: -76.50299109 +[vectornav-1] [INFO] [1746049634.003563193] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.96299999999997, -3.437, 7.434) +[mux-7] [INFO] [1746049634.045209033] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049634.045946917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049634.046909487] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049634.047984978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049634.048524210] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049634.085562281] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049634.087547095] [sailbot.teensy]: Wind angle: 358 +[trim_sail-4] [INFO] [1746049634.088407503] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049634.088519201] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049634.089406114] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049634.088754390] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049634.090329648] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049634.145236448] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049634.146028118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049634.147401127] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049634.148318023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049634.149442207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049634.245233374] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049634.246086824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049634.246686082] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049634.248060546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049634.248634246] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049634.335585314] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049634.338197166] [sailbot.teensy]: Wind angle: 358 +[trim_sail-4] [INFO] [1746049634.338635845] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049634.339207412] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049634.339615450] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049634.340231837] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049634.341334739] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049634.344295066] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049634.344834683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049634.346625843] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049634.346679355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049634.347869756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049634.445611759] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049634.446457122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049634.447270897] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049634.448522889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049634.449056677] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049634.503082357] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973166 Long: -76.50299108 +[vectornav-1] [INFO] [1746049634.504180795] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.972, -3.429, 7.497) +[mux-7] [INFO] [1746049634.545241570] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049634.546174557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049634.546598293] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049634.548472876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049634.549517564] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049634.585669658] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049634.588088399] [sailbot.teensy]: Wind angle: 358 +[trim_sail-4] [INFO] [1746049634.588382779] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049634.589225873] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049634.590163019] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049634.590215748] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049634.591147215] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049634.645120147] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049634.646093547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049634.646632618] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049634.648867520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049634.649905731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049634.745412819] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049634.746232689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049634.746963668] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049634.748685110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049634.749235492] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049634.835487168] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049634.837662993] [sailbot.teensy]: Wind angle: 357 +[teensy-2] [INFO] [1746049634.838752657] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049634.839180975] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049634.839305520] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049634.839386821] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049634.839780512] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049634.844519896] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049634.845214338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049634.845830417] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049634.847206512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049634.848293698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049634.945520327] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049634.946556431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049634.947558143] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049634.948102550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049634.948609655] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049635.002752879] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973148 Long: -76.50299114 +[vectornav-1] [INFO] [1746049635.003846939] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.025, -3.402, 7.941) +[mux-7] [INFO] [1746049635.044841925] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049635.045461093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049635.046084014] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049635.047575974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049635.048609490] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049635.085430945] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049635.087859668] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049635.088279748] [sailbot.teensy]: Wind angle: 357 +[mux-7] [INFO] [1746049635.088682366] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049635.089426036] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049635.090349991] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049635.091170490] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049635.144902867] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049635.145674181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049635.146197097] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049635.147462733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049635.148451922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049635.245601506] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049635.247357910] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049635.248097204] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049635.250219040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049635.251339844] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049635.335772052] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049635.337944562] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049635.338798169] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049635.339045207] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049635.339920252] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049635.339998615] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049635.340926368] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049635.344443301] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049635.345118544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049635.345720666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049635.346911216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049635.348114126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049635.445210575] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049635.445916627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049635.446645409] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049635.447713913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049635.448269837] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049635.503376719] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973134 Long: -76.50299123 +[vectornav-1] [INFO] [1746049635.504653194] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03499999999997, -3.402, 8.006) +[mux-7] [INFO] [1746049635.545124332] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049635.545855326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049635.546521834] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049635.547824223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049635.548904436] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049635.585620750] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049635.587704311] [sailbot.teensy]: Wind angle: 355 +[teensy-2] [INFO] [1746049635.588774504] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049635.588255692] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049635.589683883] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049635.590109412] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049635.590531253] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049635.645485630] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049635.646295529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049635.647171886] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049635.648783997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049635.650483764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049635.745791444] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049635.746374572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049635.747819878] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049635.748729631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049635.749968358] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049635.835502845] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049635.837515258] [sailbot.teensy]: Wind angle: 354 +[teensy-2] [INFO] [1746049635.838535084] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049635.838075910] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049635.839478515] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049635.840049315] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049635.840372073] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049635.844545745] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049635.845156087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049635.845705221] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049635.846867254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049635.848179426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049635.945508242] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049635.946144738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049635.947162652] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049635.948620210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049635.949144130] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049636.002546741] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973134 Long: -76.50299107 +[vectornav-1] [INFO] [1746049636.003596312] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.041, -3.388, 8.041) +[mux-7] [INFO] [1746049636.045373700] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049636.045984370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049636.046884554] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049636.048054053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049636.049215503] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049636.085557500] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049636.088231931] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049636.088357385] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049636.089183904] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049636.089375419] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049636.090096495] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049636.090985139] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049636.144939123] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049636.145686950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049636.146172735] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049636.147593010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049636.148785317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049636.244818478] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049636.245466038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049636.246044697] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049636.247406401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049636.248585049] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049636.335707524] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049636.337999950] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049636.338692789] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049636.339114725] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049636.339529175] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049636.340099088] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049636.340986048] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049636.344530411] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049636.345129464] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049636.345715654] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049636.346990191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049636.348117087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049636.445643610] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049636.446447993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049636.447432520] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049636.449344637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049636.450607105] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049636.502352305] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973113 Long: -76.50299125 +[vectornav-1] [INFO] [1746049636.503319349] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.041, -3.393, 8.007) +[mux-7] [INFO] [1746049636.545097773] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049636.546075440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049636.546543945] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049636.548312116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049636.549560014] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049636.585696755] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049636.588078584] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049636.588603572] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049636.589436201] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049636.589732395] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049636.590399300] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049636.591331535] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049636.645548755] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049636.646329944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049636.647551899] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049636.649700663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049636.650905717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049636.745688786] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049636.746768188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049636.747368855] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049636.749233747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049636.750297825] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049636.835391757] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049636.837319100] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049636.837657061] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049636.838291606] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049636.839176213] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049636.839605486] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049636.840102039] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049636.844281498] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049636.845188689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049636.845693202] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049636.847056036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049636.848202715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049636.945487700] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049636.946078218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049636.947844305] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049636.948251518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049636.948786390] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049637.003023228] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973096 Long: -76.50299133 +[vectornav-1] [INFO] [1746049637.004787598] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.029, -3.396, 8.019) +[mux-7] [INFO] [1746049637.045135019] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049637.046350317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049637.046625716] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049637.048296261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049637.048857946] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049637.085391118] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049637.087774772] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049637.088989857] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049637.089167778] [sailbot.teensy]: Wind angle: 355 +[teensy-2] [INFO] [1746049637.090078863] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049637.090955192] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049637.091794325] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049637.145228973] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049637.146159999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049637.146653888] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049637.148226521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049637.148773181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049637.245601205] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049637.246780913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049637.247259041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049637.249412716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049637.250563510] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049637.335425936] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049637.337675586] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049637.337675235] [sailbot.teensy]: Wind angle: 355 +[teensy-2] [INFO] [1746049637.338693874] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049637.339119314] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049637.339626938] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049637.340577786] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049637.344326259] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049637.344955811] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049637.346656974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[mux-7] [INFO] [1746049637.345701578] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049637.347817293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049637.444963575] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049637.445914196] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049637.446453126] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049637.448071486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049637.449157518] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049637.502481909] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973098 Long: -76.50299139 +[vectornav-1] [INFO] [1746049637.503515118] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.08000000000004, -3.379, 8.566) +[mux-7] [INFO] [1746049637.545165706] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049637.546271354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049637.546603281] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049637.548412405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049637.549780705] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049637.585409094] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049637.587632823] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049637.587628642] [sailbot.teensy]: Wind angle: 355 +[teensy-2] [INFO] [1746049637.588650694] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049637.589106254] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049637.589575739] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049637.590468273] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049637.645345273] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049637.646812448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049637.646855204] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049637.648598936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049637.649060815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049637.745359653] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049637.746108963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049637.747128387] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049637.748626483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049637.749859353] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049637.835572050] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049637.837826196] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049637.838909639] [sailbot.teensy]: Wind angle: 355 +[mux-7] [INFO] [1746049637.838920569] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049637.839347616] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049637.839738604] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049637.840127000] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049637.844362111] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049637.845112839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049637.845846039] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049637.846797354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049637.847998587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049637.945660756] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049637.946540449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049637.947470070] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049637.948907777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049637.950136491] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049638.003139993] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973065 Long: -76.50299159 +[vectornav-1] [INFO] [1746049638.004384499] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.227, -3.352, 9.619) +[mux-7] [INFO] [1746049638.045229583] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049638.046111846] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049638.046628590] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049638.048356704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049638.049500455] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049638.085530155] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049638.087713589] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049638.087762441] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049638.088731456] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049638.089387610] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049638.089589509] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049638.090504053] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049638.145532880] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049638.146448919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049638.147217967] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049638.148581286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049638.149111093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049638.245601043] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049638.246328214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049638.247514282] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049638.248221624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049638.248804186] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049638.335780200] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049638.337894197] [sailbot.teensy]: Wind angle: 352 +[teensy-2] [INFO] [1746049638.338960758] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049638.339220670] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049638.339902353] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049638.340795126] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049638.340247207] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049638.344401381] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049638.345566748] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049638.344926621] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049638.347792637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049638.348873653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049638.445428030] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049638.446097468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049638.447031150] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049638.448458636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049638.449742202] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049638.502506002] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973069 Long: -76.50299147 +[vectornav-1] [INFO] [1746049638.503700503] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.11699999999996, -3.37, 9.041) +[mux-7] [INFO] [1746049638.545407237] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049638.546361616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049638.547004436] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049638.548859055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049638.549365441] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049638.585435355] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049638.587380293] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049638.588134207] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049638.588428378] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049638.589195589] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049638.589312368] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049638.590196390] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049638.645181856] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049638.646085111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049638.646809297] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049638.648360271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049638.649428229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049638.745228919] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049638.746051664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049638.746676841] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049638.748886719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049638.749910438] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049638.835443826] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049638.837697773] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049638.837782168] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049638.838678401] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049638.839016537] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049638.839831281] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049638.840794999] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049638.844480905] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049638.844990194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049638.845665553] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049638.846671700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049638.847729554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049638.945517533] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049638.946353577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049638.947097780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049638.949638632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049638.950777890] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049639.002753439] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973046 Long: -76.50299186 +[vectornav-1] [INFO] [1746049639.003881481] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.124, -3.363, 9.049) +[mux-7] [INFO] [1746049639.045102289] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049639.046386705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049639.046546845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049639.048537984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049639.049715271] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049639.085693891] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049639.087767011] [sailbot.teensy]: Wind angle: 351 +[teensy-2] [INFO] [1746049639.088896878] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049639.088947740] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049639.089969625] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049639.090915234] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049639.091037101] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049639.145226605] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049639.146021627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049639.146626874] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049639.148361139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049639.149387787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049639.245348217] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049639.246075942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049639.246816844] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049639.248180720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049639.249325577] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049639.335365302] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049639.337277518] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049639.337999443] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049639.338194802] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049639.338997096] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049639.338640521] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049639.339377266] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049639.344321592] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049639.345071860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049639.345393209] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049639.346911337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049639.347957221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049639.445505633] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049639.446361498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049639.447322913] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049639.448649647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049639.449704403] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049639.503546593] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973039 Long: -76.50299196 +[vectornav-1] [INFO] [1746049639.505413493] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.134, -3.366, 9.03) +[mux-7] [INFO] [1746049639.545024245] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049639.545855807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049639.546430291] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049639.547883666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049639.548968610] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049639.585282202] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049639.587463999] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049639.587754167] [sailbot.teensy]: Wind angle: 352 +[mux-7] [INFO] [1746049639.588419095] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049639.589079407] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049639.589989532] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049639.590492849] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049639.645156426] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049639.645654980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049639.646571866] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049639.647681792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049639.648765725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049639.745048047] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049639.745517221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049639.746347264] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049639.747339992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049639.748527562] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049639.835455411] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049639.837369090] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049639.837932943] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049639.838325384] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049639.839166988] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049639.839197304] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049639.839747875] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049639.844381697] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049639.845035199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049639.845766982] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049639.847095977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049639.848224118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049639.945680879] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049639.946311975] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049639.947516307] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049639.948552663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049639.950738440] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049640.003146251] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973034 Long: -76.50299198 +[vectornav-1] [INFO] [1746049640.004481799] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.108, -3.358, 9.021) +[mux-7] [INFO] [1746049640.045680985] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049640.046443899] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049640.048565222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[mux-7] [INFO] [1746049640.049184663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049640.049725998] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049640.085562083] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049640.088016401] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049640.088016268] [sailbot.teensy]: Wind angle: 351 +[teensy-2] [INFO] [1746049640.089220116] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049640.089599241] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049640.090446281] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049640.091330687] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049640.145174729] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049640.146090707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049640.146662264] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049640.148133580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049640.149237761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049640.244608323] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049640.245657224] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049640.245776782] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049640.247513367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049640.248587625] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049640.335456944] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049640.337624538] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049640.337976459] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049640.338629426] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049640.338998390] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049640.339543095] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049640.340512226] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049640.344338733] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049640.344990374] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049640.345536317] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049640.346688313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049640.347832249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049640.445621357] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049640.446557820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049640.447311166] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049640.448202806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049640.448737845] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049640.502534545] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697302 Long: -76.50299187 +[vectornav-1] [INFO] [1746049640.503576650] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.08500000000004, -3.351, 9.009) +[mux-7] [INFO] [1746049640.545087664] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049640.545829695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049640.546430529] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049640.547835294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049640.548924587] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049640.585480896] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049640.587900907] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049640.588348294] [sailbot.teensy]: Wind angle: 352 +[mux-7] [INFO] [1746049640.588478634] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049640.589355692] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049640.590237001] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049640.590603693] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049640.645228639] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049640.646086245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049640.646989615] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049640.648244738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049640.649376723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049640.745233555] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049640.745918028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049640.746965153] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049640.748541870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049640.749679706] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049640.835435718] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049640.837802654] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049640.838308204] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049640.838763234] [sailbot.teensy]: Wind angle: 352 +[teensy-2] [INFO] [1746049640.839200170] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049640.839539876] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049640.840246431] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049640.844380528] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049640.844990319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049640.845501940] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049640.846771731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049640.847902067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049640.945639318] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049640.946457999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049640.947416163] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049640.948912647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049640.950521196] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049641.002803297] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973008 Long: -76.50299185 +[vectornav-1] [INFO] [1746049641.003953329] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.081, -3.357, 8.971) +[mux-7] [INFO] [1746049641.045198362] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049641.045819445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049641.046641647] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049641.047798304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049641.049564877] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049641.085833562] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049641.088669155] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049641.089271869] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049641.090353737] [sailbot.teensy]: Wind angle: 352 +[teensy-2] [INFO] [1746049641.091299655] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049641.092219165] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049641.093041894] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049641.145301882] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049641.145785478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049641.146651588] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049641.147728011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049641.149008836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049641.245415820] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049641.246204612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049641.247079483] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049641.248278635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049641.249362870] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049641.335752530] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049641.337807534] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049641.338501476] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049641.338801704] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049641.339725800] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049641.340052857] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049641.340662843] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049641.344539545] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049641.345012779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049641.345657826] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049641.346701937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049641.347849167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049641.445191473] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049641.446285857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049641.446955497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049641.448782091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049641.449933895] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049641.502812733] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972993 Long: -76.50299195 +[vectornav-1] [INFO] [1746049641.503907619] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.097, -3.372, 8.994) +[mux-7] [INFO] [1746049641.544864418] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049641.545589423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049641.546074520] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049641.547563413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049641.548851012] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049641.585647189] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049641.588689691] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049641.588773864] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049641.589819126] [sailbot.teensy]: Wind angle: 351 +[teensy-2] [INFO] [1746049641.590857133] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049641.591788303] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049641.592668424] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049641.645414229] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049641.646268904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049641.647467004] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049641.648901873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049641.650135754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049641.745337315] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049641.746300498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049641.746846761] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049641.749129458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049641.750263549] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049641.835778808] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049641.838066135] [sailbot.teensy]: Wind angle: 351 +[teensy-2] [INFO] [1746049641.839324499] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049641.839166307] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049641.840170537] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049641.840209092] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049641.840828732] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049641.844238160] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049641.844850219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049641.845316394] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049641.846524976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049641.847690819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049641.945546289] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049641.946375243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049641.947123655] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049641.948759232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049641.949950753] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049642.002358049] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972989 Long: -76.50299195 +[vectornav-1] [INFO] [1746049642.003349538] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.075, -3.365, 8.914) +[mux-7] [INFO] [1746049642.045126161] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049642.045881801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049642.046510640] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049642.048344519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049642.049451616] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049642.085438119] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049642.087754352] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049642.088482975] [sailbot.teensy]: Wind angle: 351 +[mux-7] [INFO] [1746049642.088794436] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049642.089521008] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049642.090440920] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049642.091326065] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049642.145456998] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049642.146302763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049642.147293176] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049642.148446798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049642.148990788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049642.245159103] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049642.246039581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049642.246559489] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049642.248170966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049642.248913068] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049642.335769331] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049642.338305130] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049642.338808262] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049642.339214717] [sailbot.teensy]: Wind angle: 351 +[teensy-2] [INFO] [1746049642.340289441] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049642.341145571] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049642.341974450] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049642.344334180] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049642.345039194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049642.345854471] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049642.347370386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049642.348436802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049642.445422913] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049642.446163788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049642.446897881] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049642.448307638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049642.448847709] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049642.502514051] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972979 Long: -76.50299198 +[vectornav-1] [INFO] [1746049642.503723526] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.094, -3.37, 8.88) +[mux-7] [INFO] [1746049642.544968028] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049642.545656615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049642.546378121] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049642.547498859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049642.548671481] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049642.585680532] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049642.588683489] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049642.589208432] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746049642.590209483] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049642.590570241] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049642.591095240] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049642.592066713] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049642.645139278] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049642.645949250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049642.646817711] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049642.648372524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049642.649447491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049642.745281837] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049642.746094742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049642.747170010] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049642.748257920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049642.749046224] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049642.835720695] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049642.837888351] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049642.838484091] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049642.838973470] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049642.839975349] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049642.840094482] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049642.840888190] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049642.844399304] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049642.844850189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049642.845520135] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049642.846540951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049642.847561212] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049642.945352870] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049642.946104542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049642.946933669] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049642.948410449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049642.949207438] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049643.002300279] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972968 Long: -76.50299197 +[vectornav-1] [INFO] [1746049643.003271717] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.105, -3.345, 9.007) +[mux-7] [INFO] [1746049643.044947060] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049643.045745870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049643.046175208] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049643.047889743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049643.048955373] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049643.085464518] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049643.087807635] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049643.088388170] [sailbot.teensy]: Wind angle: 351 +[mux-7] [INFO] [1746049643.088851427] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049643.089407183] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049643.090323712] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049643.091213084] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049643.145190405] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049643.146142034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049643.147142859] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049643.148318709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049643.150057805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049643.245307449] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049643.246180423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049643.246771879] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049643.248614379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049643.249709854] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049643.335587001] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049643.337672832] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049643.338259097] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049643.338796986] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049643.340116009] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049643.340922790] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049643.341290223] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049643.344410188] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049643.344874760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049643.345517586] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049643.346610006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049643.347656711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049643.445079127] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049643.445714913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049643.446497107] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049643.447871037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049643.448466997] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049643.502342991] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697296 Long: -76.502992 +[vectornav-1] [INFO] [1746049643.503327963] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.197, -3.332, 9.615) +[mux-7] [INFO] [1746049643.545299566] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049643.546189865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049643.546762526] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049643.548605504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049643.549720079] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049643.585533274] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049643.587944219] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049643.588584248] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049643.588836076] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746049643.589810937] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049643.590686143] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049643.591502831] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049643.645119481] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049643.646177905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049643.646903376] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049643.648692138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049643.649781102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049643.745288523] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049643.746165375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049643.747264129] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049643.748257056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049643.748893243] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049643.835471067] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049643.837349644] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049643.838341450] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049643.838450297] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049643.839242152] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049643.839274478] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049643.840247613] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049643.844303361] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049643.844897753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049643.845412762] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049643.846596080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049643.847674686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049643.945521986] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049643.946349346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049643.947272131] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049643.948571437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049643.949718178] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049644.003280187] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972956 Long: -76.50299202 +[vectornav-1] [INFO] [1746049644.004850512] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.286, -3.342, 10.373) +[mux-7] [INFO] [1746049644.045005891] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049644.045871793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049644.046275047] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049644.047696771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049644.048677113] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049644.085440240] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049644.087549061] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049644.087862744] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049644.089167743] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049644.089314034] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049644.090344624] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049644.091227201] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049644.145045727] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049644.145894633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049644.146445786] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049644.148120409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049644.149230175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049644.244928822] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049644.246165299] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049644.245650203] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049644.248818585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049644.249624547] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049644.335578330] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049644.338025291] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049644.338089836] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049644.339244069] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049644.339245898] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049644.340240931] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049644.341172857] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049644.344591545] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049644.345024847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049644.346259830] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049644.346732367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049644.347944590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049644.445296953] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049644.445769875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049644.446697949] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049644.447670627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049644.448952892] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049644.503294917] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972954 Long: -76.50299208 +[vectornav-1] [INFO] [1746049644.504613580] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.256, -3.36, 10.135) +[mux-7] [INFO] [1746049644.545157859] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049644.545631469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049644.546689565] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049644.547463115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049644.548538385] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049644.585279049] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049644.587671268] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049644.587760170] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049644.588719543] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049644.588768366] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049644.589622072] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049644.590154030] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049644.645346554] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049644.645972027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049644.646873830] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049644.648545135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049644.649738694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049644.745511590] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049644.746149694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049644.746985211] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049644.748501387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049644.749640384] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049644.835866859] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049644.838533368] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049644.839363686] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049644.839650506] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049644.839758194] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049644.839923202] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049644.840143265] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049644.844643508] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049644.845179808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049644.845821512] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049644.846966427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049644.848820135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049644.945451844] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049644.946163704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049644.947221886] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049644.948306252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049644.949510595] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049645.002408427] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972971 Long: -76.50299193 +[vectornav-1] [INFO] [1746049645.003446762] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.30899999999997, -3.342, 10.551) +[mux-7] [INFO] [1746049645.045779262] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049645.047242957] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049645.046426597] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049645.048596797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049645.049854049] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049645.085484036] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049645.087316420] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049645.087843771] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049645.088367221] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049645.088830957] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049645.089983339] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049645.090839926] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049645.144095620] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049645.144732854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049645.144928999] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049645.146253835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049645.147222725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049645.245105438] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049645.245700933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049645.246391533] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049645.247519460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049645.248756870] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049645.335522110] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049645.337621934] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049645.337890817] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049645.338692865] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049645.339464637] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049645.339871597] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049645.340387762] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049645.344299900] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049645.344827007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049645.345442442] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049645.346705021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049645.347807443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049645.445104419] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049645.445826414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049645.446508010] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049645.447930139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049645.449041165] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049645.503103830] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972957 Long: -76.50299201 +[vectornav-1] [INFO] [1746049645.504770555] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.325, -3.342, 10.626) +[mux-7] [INFO] [1746049645.544742779] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049645.545680476] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049645.546234409] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049645.547648589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049645.548786608] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049645.585451023] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049645.587357864] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049645.587778892] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049645.588369987] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049645.589350860] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049645.590229882] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049645.590498671] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049645.644834297] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049645.645745091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049645.646635397] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049645.647637087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049645.648760662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049645.745259879] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049645.745978977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049645.747287125] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049645.748557958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049645.749741212] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049645.835428242] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049645.837767256] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049645.838386908] [sailbot.teensy]: Wind angle: 340 +[mux-7] [INFO] [1746049645.839000342] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049645.839385487] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049645.840303037] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049645.840943277] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049645.844421248] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049645.844940804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049645.845515585] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049645.846595671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049645.847692457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049645.945183042] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049645.945912649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049645.946580929] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049645.948230776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049645.949272064] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049646.002473434] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972953 Long: -76.50299209 +[vectornav-1] [INFO] [1746049646.003551519] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.304, -3.355, 10.564) +[mux-7] [INFO] [1746049646.045093445] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049646.045961553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049646.046501303] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049646.048124435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049646.050005914] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049646.085775819] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049646.088638262] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049646.089125313] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049646.089325650] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049646.090335728] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049646.091248718] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049646.092103289] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049646.145552610] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049646.146138540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049646.147101720] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049646.148350607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049646.149465339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049646.244991552] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049646.245580016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049646.246246746] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049646.247495174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049646.249287860] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049646.335572256] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049646.338217793] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049646.339188950] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049646.339487915] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049646.340447250] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049646.341335395] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049646.342145322] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049646.344290228] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049646.344802961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049646.345491781] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049646.346467322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049646.347637356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049646.445302287] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049646.446079565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049646.447046086] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049646.448511244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049646.449608257] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049646.503208355] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697296 Long: -76.5029918 +[vectornav-1] [INFO] [1746049646.504609617] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.305, -3.354, 10.525) +[mux-7] [INFO] [1746049646.545053503] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049646.545778126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049646.546295316] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049646.547658698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049646.548810312] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049646.585469258] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049646.587276930] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049646.588260144] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049646.588386904] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049646.588709077] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049646.588815945] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049646.589203747] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049646.645054454] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049646.645670287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049646.646542923] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049646.647625927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049646.648548598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049646.745182824] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049646.745978842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049646.747035053] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049646.747912714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049646.748958755] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049646.835557773] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049646.837839175] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049646.837880650] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049646.838853982] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049646.839797344] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049646.839908732] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049646.840435314] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049646.844341911] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049646.845027521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049646.845440871] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049646.846695686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049646.847869390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049646.945283417] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049646.946102098] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049646.946802276] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049646.948548216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049646.949450222] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049647.002659845] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972973 Long: -76.50299157 +[vectornav-1] [INFO] [1746049647.003714014] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.277, -3.357, 10.47) +[mux-7] [INFO] [1746049647.045381547] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049647.046303541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049647.046878735] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049647.048408824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049647.049236294] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049647.085796666] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049647.087917779] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049647.088996687] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049647.089634048] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049647.089938235] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049647.090830535] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049647.090856695] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746049647.145179417] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049647.146576013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049647.146634098] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049647.148659987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049647.149760188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049647.245539826] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049647.246042015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049647.247258283] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049647.248172367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049647.249262186] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049647.335313014] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049647.337268173] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049647.337834211] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049647.338247195] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049647.339105378] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049647.339635782] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049647.340009548] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049647.344496376] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049647.345037687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049647.345670754] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049647.346752347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049647.347961955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049647.445706343] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049647.446262408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049647.447482049] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049647.448564439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049647.449618963] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049647.502677841] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972989 Long: -76.50299123 +[vectornav-1] [INFO] [1746049647.503854267] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26800000000003, -3.359, 10.477) +[mux-7] [INFO] [1746049647.545274872] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049647.545833132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049647.546750331] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049647.547822036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049647.549009560] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049647.585643084] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049647.587691844] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049647.588226324] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049647.588748745] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049647.589653357] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049647.590459121] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049647.590534932] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049647.645249702] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049647.646034243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049647.646664411] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049647.648292851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049647.649417403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049647.745489712] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049647.746058417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049647.747333259] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049647.748330451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049647.748897940] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049647.835521577] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049647.838152155] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049647.838458097] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049647.839415998] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049647.839866268] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049647.840363279] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049647.841299860] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049647.844403838] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049647.844956647] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049647.845484766] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049647.846641537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049647.847709842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049647.945099347] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049647.946247039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049647.946568132] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049647.948494994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049647.949355966] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049648.003213447] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972982 Long: -76.50299111 +[vectornav-1] [INFO] [1746049648.004754403] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.24199999999996, -3.37, 10.142) +[mux-7] [INFO] [1746049648.044987252] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049648.045992507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049648.046285311] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049648.047923562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049648.048936027] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049648.085458396] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049648.087789167] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049648.087809348] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049648.088806902] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049648.089549865] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049648.089783503] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049648.090705270] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049648.145328489] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049648.146141943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049648.146853803] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049648.148674159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049648.149752597] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049648.245295131] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049648.246119299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049648.246796518] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049648.248369929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049648.249510980] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049648.335520626] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049648.337636770] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049648.337983352] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049648.338944444] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049648.339449472] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049648.339997975] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049648.340910500] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049648.344356753] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049648.344940602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049648.345458959] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049648.346608437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049648.347663661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049648.445683417] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049648.446690671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049648.447758193] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049648.448518150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049648.449079634] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049648.503757043] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972986 Long: -76.50299091 +[vectornav-1] [INFO] [1746049648.505627823] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.156, -3.37, 9.508) +[mux-7] [INFO] [1746049648.545061171] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049648.545904265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049648.546504721] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049648.548058368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049648.549419959] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049648.585438501] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049648.587716140] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049648.588426510] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049648.588703379] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049648.589625273] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049648.590413622] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049648.590502639] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049648.645361265] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049648.646366067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049648.646869692] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049648.648202452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049648.648751485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049648.745618426] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049648.746591952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049648.747159911] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049648.748985657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049648.750207955] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049648.835910412] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049648.838535116] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049648.839194116] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049648.839348731] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049648.839448172] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049648.839737625] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049648.840117590] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049648.844562992] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049648.845145947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049648.845880289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049648.847085372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049648.848118329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049648.945565220] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049648.946244854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049648.947208793] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049648.948595786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049648.949915101] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049649.002688372] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697297 Long: -76.50299113 +[vectornav-1] [INFO] [1746049649.003926454] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.11, -3.386, 9.282) +[mux-7] [INFO] [1746049649.044908616] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049649.045684942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049649.046191016] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049649.047550063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049649.048581973] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049649.085397844] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049649.087077278] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049649.087600742] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049649.088009564] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049649.088936518] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049649.088961806] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049649.089881771] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049649.145095493] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049649.145809653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049649.146513757] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049649.147990710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049649.149137355] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049649.245018861] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049649.245653687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049649.246707143] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049649.247377543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049649.247915576] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049649.335398757] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049649.337301195] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049649.337863306] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049649.338264282] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049649.339225315] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049649.339625477] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049649.340064620] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049649.344418449] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049649.345173895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049649.345550583] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049649.346906677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049649.348069735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049649.445523186] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049649.446360978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049649.447136931] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049649.448463663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049649.448921084] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049649.502721207] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972972 Long: -76.50299089 +[vectornav-1] [INFO] [1746049649.504056500] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.106, -3.385, 9.409) +[mux-7] [INFO] [1746049649.545357873] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049649.546103173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049649.547002962] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049649.548050606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049649.548606323] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049649.585619113] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049649.588458839] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049649.588693606] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049649.589111108] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049649.589148366] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049649.589494271] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049649.590189222] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049649.645113096] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049649.645821064] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049649.646905927] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049649.647749633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049649.649057153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049649.745532187] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049649.746367546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049649.747167156] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049649.749752692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049649.750511955] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049649.835652726] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049649.838699136] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049649.839075560] [sailbot.teensy]: Wind angle: 339 +[mux-7] [INFO] [1746049649.839548833] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049649.839625340] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049649.839994233] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049649.840375919] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049649.844567952] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049649.845070571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049649.845836744] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049649.846829913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049649.847843443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049649.945424432] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049649.946370608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049649.946987023] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049649.948526997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049649.949018824] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049650.003388834] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972961 Long: -76.50299086 +[vectornav-1] [INFO] [1746049650.004877364] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.039, -3.389, 9.038) +[mux-7] [INFO] [1746049650.045122037] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049650.045673916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049650.046464885] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049650.048145459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049650.049356073] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049650.085658172] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049650.087704481] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049650.088472192] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049650.088756383] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049650.089657746] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049650.089676360] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049650.090587034] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049650.145467897] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049650.146206324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049650.146963115] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049650.148318557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049650.149430080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049650.245573703] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049650.246280511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049650.247222613] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049650.248576323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049650.249798173] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049650.335660476] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049650.337739332] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049650.338287054] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049650.338765363] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049650.339726083] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049650.340536017] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049650.340598252] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049650.344521470] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049650.345025495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049650.345742139] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049650.347015909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049650.348192895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049650.445430006] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049650.446025442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049650.447167548] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049650.448452468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049650.449514599] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049650.502315318] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972947 Long: -76.50299081 +[vectornav-1] [INFO] [1746049650.503341181] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.96799999999996, -3.399, 8.293) +[mux-7] [INFO] [1746049650.545370984] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049650.545965308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049650.548443769] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049650.548910341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049650.550087553] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049650.585555410] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049650.588044283] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049650.588114969] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049650.589593285] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049650.589766184] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049650.590796855] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049650.591721163] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049650.645511775] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049650.646539222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049650.647185223] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049650.648403348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049650.648953537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049650.745542351] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049650.746148076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049650.746962794] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049650.748180364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049650.749246856] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049650.835229195] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049650.837022815] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049650.837559884] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049650.838887421] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049650.838934401] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049650.839848653] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049650.840743629] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049650.844390045] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049650.845134124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049650.846618674] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049650.846986416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049650.848105925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049650.945278385] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049650.946561404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049650.946867560] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049650.949116018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049650.950232078] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049651.002516829] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972941 Long: -76.50299048 +[vectornav-1] [INFO] [1746049651.003647562] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.001, -3.399, 8.519) +[mux-7] [INFO] [1746049651.045417527] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049651.046164165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049651.046930026] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049651.048370332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049651.049467825] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049651.085619007] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049651.088047781] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049651.088452754] [sailbot.teensy]: Wind angle: 340 +[mux-7] [INFO] [1746049651.089163464] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049651.089394257] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049651.090294774] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049651.091124437] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049651.145012175] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049651.145783498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049651.146320779] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049651.147672733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049651.148808325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049651.245165404] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049651.245917970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049651.246761466] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049651.248100675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049651.249136039] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049651.335395408] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049651.337372580] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049651.338356578] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049651.337891657] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049651.339103251] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049651.339629144] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049651.340043144] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049651.344444097] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049651.345163758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049651.345789170] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049651.346918150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049651.348106907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049651.444865003] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049651.445489837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049651.446195544] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049651.447317096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049651.448559620] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049651.502058104] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972941 Long: -76.50299039 +[vectornav-1] [INFO] [1746049651.502853959] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.998, -3.382, 8.674) +[mux-7] [INFO] [1746049651.543687526] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049651.544096950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049651.544202663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049651.545115902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049651.545611386] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049651.585470342] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049651.587692064] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049651.587929280] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049651.588485786] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049651.589048221] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049651.589885940] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049651.590582426] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049651.645160198] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049651.646975123] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049651.647871056] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049651.648646212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049651.649674433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049651.745241334] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049651.745963554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049651.746828855] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049651.748135816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049651.749077497] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049651.835396305] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049651.837291797] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049651.838395701] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049651.839035639] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049651.839049752] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049651.839459388] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049651.839830377] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049651.844417793] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049651.845090902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049651.845524292] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049651.847019354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049651.848015716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049651.945398440] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049651.946255813] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049651.947292227] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049651.948640055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049651.949828949] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049652.002157514] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972947 Long: -76.50299016 +[vectornav-1] [INFO] [1746049652.003043642] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.98699999999997, -3.389, 8.594) +[mux-7] [INFO] [1746049652.045404317] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049652.046075748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049652.047084033] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049652.048519164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049652.049694973] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049652.085509555] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049652.087515270] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049652.088324333] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049652.088524213] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049652.089425034] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049652.089562622] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049652.090454451] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049652.145230955] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049652.146021387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049652.146715113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049652.148222486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049652.149616964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049652.245511024] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049652.246984578] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049652.246128442] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049652.248208527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049652.249277649] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049652.335728354] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049652.337999743] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049652.339118943] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049652.338771163] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049652.340049153] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049652.340070703] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049652.340676445] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049652.344266715] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049652.344816909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049652.345339232] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049652.346579176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049652.347643750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049652.445551633] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049652.446662630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049652.447344255] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049652.448533058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049652.449068470] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049652.502464666] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972949 Long: -76.50298988 +[vectornav-1] [INFO] [1746049652.503611975] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.973, -3.38, 8.656) +[mux-7] [INFO] [1746049652.545689891] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049652.546211688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049652.547266663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049652.547968736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049652.548422774] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049652.585770200] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049652.588755968] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049652.588769075] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049652.589860391] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049652.590005273] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049652.590886288] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049652.591861753] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049652.645543416] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049652.646525838] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049652.647176567] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049652.649827395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049652.651062258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049652.745408855] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049652.746399165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049652.746934383] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049652.747951100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049652.748427808] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049652.835397988] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049652.837189304] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049652.837881377] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049652.838944472] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049652.839412448] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049652.840348386] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049652.841207745] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049652.844283566] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049652.845433490] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049652.845486068] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049652.847346924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049652.848413852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049652.945354802] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049652.946183813] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049652.946899980] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049652.948416514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049652.949423141] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049653.002499406] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972932 Long: -76.5029897 +[vectornav-1] [INFO] [1746049653.003525861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.01800000000003, -3.358, 9.026) +[mux-7] [INFO] [1746049653.045253260] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049653.045932633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049653.046707306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049653.048046853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049653.049087691] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049653.085342049] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049653.087605281] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049653.088868938] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049653.089042783] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049653.089998835] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049653.090870562] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049653.091701522] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049653.144999403] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049653.145797218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049653.146285076] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049653.147847379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049653.149007042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049653.245614042] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049653.246602065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049653.247297336] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049653.249449839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049653.250500377] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049653.335988711] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049653.338703806] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049653.339412658] [sailbot.teensy]: Wind angle: 341 +[mux-7] [INFO] [1746049653.339545718] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049653.340480983] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049653.341419191] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049653.342354982] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049653.344611821] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049653.344889174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049653.345739406] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049653.346608651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049653.347676055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049653.445724162] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049653.446468057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049653.447504355] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049653.449017162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049653.449557643] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049653.502673904] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972927 Long: -76.50298941 +[vectornav-1] [INFO] [1746049653.504051434] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.038, -3.363, 9.104) +[mux-7] [INFO] [1746049653.545311404] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049653.545989555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049653.546976893] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049653.548217875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049653.549428007] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049653.585397829] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049653.587837667] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049653.587970454] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049653.588372024] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049653.589572304] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049653.590497747] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049653.591352293] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049653.644863251] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049653.645548323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049653.646491642] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049653.647328407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049653.647995940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049653.745111650] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049653.746099757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049653.746724624] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049653.748402604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049653.748936916] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049653.835540585] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049653.838387431] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049653.838471995] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049653.839092718] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049653.839135487] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049653.839477408] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049653.839858072] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049653.844966645] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049653.845109512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049653.847151482] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049653.847416402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049653.848611188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049653.945692967] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049653.946925140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049653.947485812] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049653.949249009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049653.950490037] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049654.002536359] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972915 Long: -76.50298912 +[vectornav-1] [INFO] [1746049654.003541371] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.01800000000003, -3.37, 9.044) +[mux-7] [INFO] [1746049654.045183512] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049654.046101883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049654.046638816] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049654.048123140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049654.048791994] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049654.085436317] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049654.087934895] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049654.087955076] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049654.089069285] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049654.089664951] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049654.090334291] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049654.091194568] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049654.144994849] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049654.145533792] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049654.146402599] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049654.147505221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049654.148540012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049654.245025215] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049654.245724958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049654.246328649] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049654.247565737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049654.248629955] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049654.335640131] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049654.338359087] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049654.339287982] [sailbot.teensy]: Wind angle: 339 +[mux-7] [INFO] [1746049654.339706568] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049654.340853571] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049654.341778060] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049654.342662464] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049654.344390922] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049654.344837338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049654.345489920] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049654.346825698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049654.347856898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049654.445180392] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049654.445980328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049654.446627800] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049654.448125315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049654.448674289] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049654.502478060] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972898 Long: -76.50298904 +[vectornav-1] [INFO] [1746049654.503489852] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.007, -3.363, 9.032) +[mux-7] [INFO] [1746049654.545174689] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049654.545906366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049654.546568532] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049654.547944092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049654.549152676] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049654.585595966] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049654.587694498] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049654.588739719] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049654.588269253] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049654.589642612] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049654.589728196] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049654.590607239] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049654.645503157] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049654.646316590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049654.647305021] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049654.649320755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049654.650351205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049654.745178287] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049654.745925652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049654.746666221] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049654.748220525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049654.749200894] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049654.835570709] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049654.838290878] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049654.838288381] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049654.839078774] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049654.839248757] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049654.839490334] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049654.839877262] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049654.844660610] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049654.845342983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049654.845900162] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049654.847082026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049654.848143738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049654.945312888] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049654.946026958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049654.947108334] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049654.949397418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049654.950520284] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049655.003275464] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972884 Long: -76.50298917 +[vectornav-1] [INFO] [1746049655.004517727] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.026, -3.38, 8.923) +[mux-7] [INFO] [1746049655.044774320] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049655.045598848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049655.045973387] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049655.047369169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049655.048658220] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049655.085681522] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049655.088167333] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049655.088705293] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049655.089232472] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049655.089725974] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049655.090156094] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049655.091039589] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049655.145405417] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049655.146481723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049655.146955243] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049655.148816117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049655.149983884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049655.245604301] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049655.246453823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049655.247270259] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049655.248926577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049655.250084436] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049655.335271339] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049655.337083521] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049655.337600353] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049655.338057228] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049655.338964370] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049655.339090220] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049655.339881757] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049655.344487878] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049655.345164837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049655.345869856] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049655.346870505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049655.347977170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049655.445739911] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049655.446542537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049655.447507223] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049655.448655387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049655.449183114] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049655.502815815] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697286 Long: -76.50298896 +[vectornav-1] [INFO] [1746049655.503972844] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.998, -3.384, 8.827) +[mux-7] [INFO] [1746049655.545357309] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049655.546065216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049655.546906811] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049655.548490479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049655.549685755] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049655.586085715] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049655.589143771] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049655.589339487] [sailbot.teensy]: Wind angle: 339 +[mux-7] [INFO] [1746049655.589961333] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049655.590381419] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049655.591426456] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049655.592285351] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049655.645382874] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049655.646189539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049655.646885446] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049655.647899059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049655.648368335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049655.745512428] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049655.746440493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049655.747184119] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049655.748980367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049655.750314486] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049655.835691895] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049655.838095310] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049655.838602330] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049655.839239274] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049655.840341552] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049655.840841466] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049655.841204526] [sailbot.mux]: algo sail angle: 80 +[mux-7] [INFO] [1746049655.844319387] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049655.845000051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049655.845482792] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049655.846783165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049655.847868864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049655.945513049] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049655.946252271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049655.947413944] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049655.948685577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049655.949862767] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049656.002799941] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972848 Long: -76.50298906 +[vectornav-1] [INFO] [1746049656.004118416] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.97900000000004, -3.388, 8.731) +[mux-7] [INFO] [1746049656.044975685] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049656.045509066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049656.046193403] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049656.047291069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049656.048475775] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049656.085560637] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049656.087755321] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049656.088682235] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049656.088834658] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049656.089743527] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049656.089998052] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049656.090616250] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049656.145177987] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049656.146335252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049656.146779980] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049656.148825637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049656.149961458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049656.245332972] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049656.246068747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049656.247120533] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049656.248673738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049656.249442488] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049656.335623210] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049656.337939760] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049656.338522843] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049656.339002547] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049656.339774942] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049656.339923804] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049656.340839387] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049656.344315368] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049656.344758895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049656.346399160] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049656.346429615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049656.347637214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049656.445539642] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049656.447059924] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049656.446035307] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049656.448115984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049656.448883028] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049656.503441983] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972843 Long: -76.50298899 +[vectornav-1] [INFO] [1746049656.504656099] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.97, -3.398, 8.694) +[mux-7] [INFO] [1746049656.544957414] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049656.545636953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049656.546408505] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049656.547533616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049656.548566618] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049656.585379071] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049656.587129862] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049656.587720662] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049656.588085264] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049656.589007542] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049656.589477838] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049656.589845519] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049656.645586267] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049656.646155374] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049656.647210364] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049656.648424014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049656.649575892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049656.745640136] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049656.746412912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049656.747220218] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049656.748873043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049656.749946688] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049656.835371750] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049656.837826054] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049656.837947002] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049656.839174318] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049656.839563114] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049656.840564560] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049656.841457275] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049656.844339546] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049656.844963633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049656.845733082] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049656.846795065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049656.847906671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049656.945157050] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049656.946102467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049656.946602732] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049656.948166244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049656.949304672] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049657.003219838] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972844 Long: -76.50298884 +[vectornav-1] [INFO] [1746049657.004505456] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.959, -3.403, 8.664) +[mux-7] [INFO] [1746049657.045212274] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049657.045965510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049657.047078698] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049657.048296791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049657.049705388] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049657.085622192] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049657.087583929] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049657.088453622] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049657.088553454] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049657.089450704] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049657.089654610] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049657.090308130] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049657.145295421] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049657.146027502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049657.146860869] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049657.148285498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049657.149382194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049657.245447155] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049657.246442720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049657.246975446] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049657.248971718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049657.250030130] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049657.335389840] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049657.337646244] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049657.338206390] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049657.338610355] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049657.338991989] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049657.339544866] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049657.340521238] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049657.344313851] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049657.345127578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049657.345387870] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049657.346897802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049657.347898377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049657.445625765] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049657.446366399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049657.447281715] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049657.449772210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049657.450975508] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049657.502645114] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972833 Long: -76.50298878 +[vectornav-1] [INFO] [1746049657.504378651] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.956, -3.402, 8.648) +[mux-7] [INFO] [1746049657.545395436] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049657.546096454] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049657.547391538] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049657.548353023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049657.549659449] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049657.585750093] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049657.588006201] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049657.588397163] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049657.589115887] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049657.590028682] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049657.590093193] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049657.590970597] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049657.645361982] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049657.646324661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049657.647221896] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049657.648638252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049657.649781752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049657.745183705] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049657.746042991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049657.746774618] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049657.748141593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049657.748683325] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049657.835553450] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049657.838099007] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049657.838686826] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049657.838703439] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049657.839212327] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049657.839652849] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049657.840047869] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049657.844565676] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049657.845077343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049657.845672773] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049657.846805839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049657.847882207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049657.945204465] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049657.946486421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049657.946905237] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049657.948479424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049657.949599187] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049658.002718204] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972801 Long: -76.50298863 +[vectornav-1] [INFO] [1746049658.003664022] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.956, -3.399, 8.71) +[mux-7] [INFO] [1746049658.045342010] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049658.046436692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049658.046874694] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049658.048974968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049658.050203285] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049658.085415627] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049658.087150288] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049658.087697563] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049658.088078647] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049658.088991563] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049658.089440697] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049658.089894657] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049658.145501419] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049658.146381469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049658.147183207] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049658.148827797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049658.149890207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049658.245363032] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049658.246001401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049658.246878879] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049658.248371710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049658.248939532] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049658.335380093] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049658.337173806] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049658.337693368] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049658.338141795] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049658.339039892] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049658.339050205] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049658.339972469] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049658.344418406] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049658.345762430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049658.345967984] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049658.347538736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049658.348678104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049658.445162845] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049658.445816784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049658.446707270] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049658.447843605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049658.448410918] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049658.502574214] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972799 Long: -76.5029885 +[vectornav-1] [INFO] [1746049658.503654599] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.925, -3.399, 8.639) +[mux-7] [INFO] [1746049658.545113322] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049658.545770743] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049658.546553775] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049658.547904944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049658.549077519] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049658.585619668] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049658.588382047] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049658.588741622] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049658.589501952] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049658.590087286] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049658.591213996] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049658.592053666] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049658.645320698] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049658.645943243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049658.646871914] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049658.647991577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049658.649068306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049658.745570188] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049658.746320246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049658.747349016] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049658.748896700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049658.750128076] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049658.835451967] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049658.837935884] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049658.838125186] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049658.838953961] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049658.839454833] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049658.840368485] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049658.841229859] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049658.844473541] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049658.844880031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049658.845670679] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049658.846577955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049658.847802461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049658.945365156] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049658.946074211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049658.947137110] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049658.948447780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049658.948966189] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049659.003018159] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972791 Long: -76.50298863 +[vectornav-1] [INFO] [1746049659.004280286] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.916, -3.403, 8.633) +[mux-7] [INFO] [1746049659.045167366] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049659.046672520] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049659.046020998] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049659.048042569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049659.049221092] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049659.085380635] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049659.087163852] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049659.088089543] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049659.087709831] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049659.088771523] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049659.088974784] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049659.089878807] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049659.145388230] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049659.146383636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049659.146942464] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049659.147949450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049659.148422290] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049659.245202766] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049659.245891011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049659.246722736] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049659.248010633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049659.248542767] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049659.335593201] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049659.337582093] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049659.338147416] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049659.338562867] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049659.339451674] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049659.339691319] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049659.340337829] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049659.344452132] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049659.344977448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049659.345606503] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049659.346652236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049659.347673113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049659.445201900] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049659.445876815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049659.446766541] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049659.447790600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049659.448780260] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049659.502438539] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972788 Long: -76.50298856 +[vectornav-1] [INFO] [1746049659.503485064] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.91700000000003, -3.41, 8.573) +[mux-7] [INFO] [1746049659.545230689] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049659.545844725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049659.546575631] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049659.547744849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049659.548782061] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049659.585540367] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049659.588047264] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049659.588679230] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049659.589174458] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049659.590206627] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049659.591042732] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049659.591877501] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049659.645057444] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049659.645688872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049659.646625434] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049659.647466376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049659.648774408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049659.745611739] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049659.746192619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049659.747491666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049659.748740794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049659.749965234] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049659.835581359] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049659.838198614] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049659.838513600] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049659.838884901] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049659.839648301] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049659.840088575] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049659.840451271] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049659.844489912] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049659.844948794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049659.845638431] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049659.846646279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049659.847819653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049659.945266290] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049659.945894504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049659.946798829] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049659.948319275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049659.949350303] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049660.002484934] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972767 Long: -76.50298859 +[vectornav-1] [INFO] [1746049660.003570637] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.85400000000004, -3.429, 8.164) +[mux-7] [INFO] [1746049660.045303508] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049660.045886376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049660.046791742] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049660.047846220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049660.049037113] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049660.085652396] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049660.088660949] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049660.088849068] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049660.089766693] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049660.089979140] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049660.090911197] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049660.091795493] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049660.145310793] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049660.146706642] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049660.146265883] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049660.147915839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049660.148375346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049660.245378204] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049660.246186360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049660.246845051] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049660.248480379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049660.249626632] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049660.335375633] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049660.337596084] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049660.338067047] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049660.338137460] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049660.338978625] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049660.339385445] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049660.339744215] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049660.344431067] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049660.345165988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049660.345584013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049660.346895975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049660.347939298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049660.445423972] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049660.446418259] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049660.446924931] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049660.448675967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049660.450092903] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049660.503526535] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972756 Long: -76.50298861 +[vectornav-1] [INFO] [1746049660.504855449] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.84000000000003, -3.434, 8.101) +[mux-7] [INFO] [1746049660.545097072] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049660.545820262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049660.546454376] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049660.547923279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049660.548986244] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049660.585445251] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049660.587741226] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049660.588652922] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049660.589008752] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049660.589985033] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049660.590819317] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049660.591655143] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049660.645246986] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049660.646184602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049660.646941397] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049660.648613927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049660.649847834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049660.745203079] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049660.745869066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049660.746665968] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049660.747809115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049660.748891078] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049660.835132505] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049660.836760019] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049660.837151492] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049660.837634256] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049660.838525559] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049660.839099054] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049660.839506890] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049660.844325992] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049660.844883977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049660.845423545] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049660.846581906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049660.847606632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049660.945097001] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049660.945841242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049660.946419053] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049660.947992077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049660.949039041] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049661.003552484] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972756 Long: -76.50298848 +[vectornav-1] [INFO] [1746049661.005109109] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.805, -3.443, 7.916) +[mux-7] [INFO] [1746049661.044956223] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049661.045666309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049661.046210823] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049661.047569092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049661.048749469] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049661.085419931] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049661.087735517] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049661.087847374] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049661.088777795] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049661.089064722] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049661.089657626] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049661.090548320] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049661.145029030] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049661.146377883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049661.147087455] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049661.148299214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049661.149409838] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049661.245283819] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049661.246283049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049661.246760557] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049661.248657979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049661.249756884] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049661.336060721] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049661.339485006] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049661.340598076] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049661.339685754] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049661.341159666] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049661.341475870] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049661.342368568] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049661.343740848] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049661.344444134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049661.344879604] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049661.346120540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049661.347280880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049661.444927577] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049661.445529319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049661.446170007] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049661.447328834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049661.448355386] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049661.502462844] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697274 Long: -76.50298856 +[vectornav-1] [INFO] [1746049661.503575083] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.823, -3.424, 8.134) +[mux-7] [INFO] [1746049661.545243676] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049661.546051313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049661.546651968] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049661.548395288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049661.549560486] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049661.585553241] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049661.587909528] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049661.588250416] [sailbot.teensy]: Wind angle: 347 +[mux-7] [INFO] [1746049661.588812570] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049661.589231421] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049661.590150649] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049661.590996937] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049661.645276860] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049661.646282770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049661.646887718] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049661.649470834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049661.650569256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049661.745741910] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049661.745797627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049661.747071287] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049661.747921115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049661.750421660] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049661.835565468] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049661.837771415] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049661.838211296] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049661.838658361] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049661.838751352] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049661.839773647] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049661.840660116] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049661.844431963] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049661.844875056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049661.845515702] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049661.846557476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049661.847600862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049661.944947209] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049661.945528552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049661.946320851] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049661.947509373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049661.948614928] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049662.003094467] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972716 Long: -76.50298853 +[vectornav-1] [INFO] [1746049662.004709073] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.81600000000003, -3.422, 8.116) +[mux-7] [INFO] [1746049662.045114630] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049662.045984215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049662.046544225] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049662.048103890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049662.049258328] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049662.085435797] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049662.087815413] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049662.088358613] [sailbot.teensy]: Wind angle: 347 +[mux-7] [INFO] [1746049662.089228080] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049662.089491741] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049662.090550412] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049662.091446135] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049662.145232845] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049662.146337160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049662.147194670] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049662.148064319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049662.148531426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049662.245229614] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049662.246233612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049662.246926668] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049662.248264548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049662.249382038] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049662.335780233] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049662.338189817] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049662.338658189] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049662.339290687] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049662.339968990] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049662.340212460] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049662.341195945] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049662.344382984] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049662.345039840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049662.345460625] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049662.346723879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049662.347901237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049662.445491352] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049662.446578355] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049662.447063101] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049662.448893465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049662.449992965] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049662.502649486] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972699 Long: -76.50298854 +[vectornav-1] [INFO] [1746049662.503919174] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.784, -3.439, 7.847) +[mux-7] [INFO] [1746049662.544965879] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049662.545648430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049662.546192551] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049662.547791003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049662.548987406] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049662.585543464] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049662.587658126] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049662.589029799] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049662.588313617] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049662.589927727] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049662.589950671] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049662.590873862] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049662.645249582] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049662.645987168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049662.646834052] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049662.649099936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049662.650246433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049662.745495427] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049662.746252780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049662.747067580] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049662.749107416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049662.750533317] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049662.835474356] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049662.837361895] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049662.838347176] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049662.838399954] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049662.839330801] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049662.840056106] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049662.840262153] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049662.844434401] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049662.844992984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049662.845549530] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049662.846691364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049662.847864091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049662.945073188] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049662.945928568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049662.946756333] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049662.947848040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049662.948339630] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049663.003605902] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972684 Long: -76.5029886 +[vectornav-1] [INFO] [1746049663.005032508] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.781, -3.436, 7.899) +[mux-7] [INFO] [1746049663.044783608] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049663.045492352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049663.046071991] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049663.047433818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049663.048494291] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049663.085253961] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049663.087433889] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049663.087614474] [sailbot.teensy]: Wind angle: 347 +[mux-7] [INFO] [1746049663.088490633] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049663.088526864] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049663.089750018] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049663.090483817] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049663.144979046] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049663.145491283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049663.146302591] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049663.147383990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049663.148527142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049663.245277623] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049663.245976562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049663.247017966] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049663.248223079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049663.249311552] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049663.335624235] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049663.338200279] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049663.338873728] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049663.339598996] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049663.340560089] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049663.341437097] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049663.342358258] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049663.344375619] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049663.344968230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049663.345528289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049663.346773735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049663.347904110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049663.445565158] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049663.446389861] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049663.447287055] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049663.448776258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049663.449923024] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049663.502616515] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972665 Long: -76.50298865 +[vectornav-1] [INFO] [1746049663.504105067] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.76300000000003, -3.447, 7.796) +[mux-7] [INFO] [1746049663.545133159] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049663.545773439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049663.546389004] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049663.547554946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049663.548605960] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049663.585419070] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049663.587724083] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049663.587924145] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049663.588822729] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049663.588873938] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049663.589698483] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049663.590634179] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049663.645360343] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049663.645945406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049663.646823201] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049663.648179719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049663.649257001] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049663.745487361] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049663.746081361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049663.747004848] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049663.748487745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049663.749654138] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049663.835558035] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049663.837580153] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049663.838334292] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049663.838572945] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049663.839392328] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049663.839437276] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049663.840339915] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049663.844417218] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049663.845058217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049663.845585439] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049663.847193046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049663.848440691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049663.944982700] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049663.945978928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049663.946436586] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049663.948177058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049663.949155914] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049664.003123749] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697265 Long: -76.50298857 +[vectornav-1] [INFO] [1746049664.004509397] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.78200000000004, -3.431, 8.005) +[mux-7] [INFO] [1746049664.045224752] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049664.045879496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049664.046606595] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049664.047800245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049664.048954127] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049664.085479484] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049664.088229299] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049664.088257126] [sailbot.teensy]: Wind angle: 347 +[mux-7] [INFO] [1746049664.088629184] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049664.089200192] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049664.090087524] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049664.090945844] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049664.145039911] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049664.145788179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049664.146746304] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049664.147828436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049664.148397002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049664.245210076] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049664.246206666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049664.246656210] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049664.248495376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049664.249535898] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049664.335788130] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049664.338716754] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049664.338738337] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049664.339789171] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049664.340472057] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049664.340690811] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049664.341605125] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049664.344388663] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049664.344823193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049664.345707509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049664.346485131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049664.347512191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049664.445321218] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049664.445886421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049664.446896983] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049664.447912074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049664.448498392] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049664.502542535] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972628 Long: -76.50298828 +[vectornav-1] [INFO] [1746049664.503595676] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.784, -3.43, 7.98) +[mux-7] [INFO] [1746049664.545095795] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049664.545764795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049664.546447458] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049664.547704537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049664.548882532] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049664.585547660] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049664.587272933] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049664.587800840] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049664.588236411] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049664.589235015] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049664.590121791] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049664.590658776] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049664.645383481] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049664.646204141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049664.647175494] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049664.648386652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049664.649513629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049664.745576877] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049664.746120949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049664.747116138] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049664.748524126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049664.749684768] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049664.835698247] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049664.838441788] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049664.838809047] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049664.839053167] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049664.839322182] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049664.839441117] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049664.839864214] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049664.844472586] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049664.845158976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049664.845576027] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049664.846857148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049664.847889799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049664.945252215] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049664.946154937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049664.946851854] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049664.948509578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049664.949021753] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049665.002224281] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972617 Long: -76.50298805 +[vectornav-1] [INFO] [1746049665.003158709] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.783, -3.428, 7.992) +[mux-7] [INFO] [1746049665.045375162] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049665.046362553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049665.046792450] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049665.048780647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049665.049903853] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049665.085671335] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049665.087667285] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049665.088540329] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049665.088694736] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049665.089608442] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049665.090438056] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049665.090496797] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049665.144965092] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049665.145693365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049665.146241414] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049665.147545005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049665.148407751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049665.245113917] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049665.245794223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049665.246518377] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049665.247776365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049665.248248134] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049665.335669533] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049665.337555449] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049665.338372131] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049665.338494817] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049665.339393986] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049665.339851226] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049665.340317861] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049665.344346782] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049665.344913486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049665.345429517] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049665.346579419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049665.347671586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049665.445558573] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049665.446393285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049665.447152623] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049665.448888136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049665.449786390] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049665.502740801] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469726 Long: -76.50298803 +[vectornav-1] [INFO] [1746049665.504357667] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.773, -3.436, 7.959) +[mux-7] [INFO] [1746049665.545345080] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049665.546048272] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049665.546825395] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049665.548323899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049665.549583366] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049665.585346036] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049665.586955927] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049665.587590580] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049665.587854332] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049665.588725496] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049665.588933523] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049665.589606049] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049665.645028716] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049665.645662574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049665.646457193] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049665.647638650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049665.648820737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049665.745045922] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049665.745675509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049665.746469451] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049665.747659681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049665.748722828] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049665.835381494] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049665.837694671] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049665.838044191] [sailbot.teensy]: Wind angle: 347 +[mux-7] [INFO] [1746049665.838744982] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049665.839190511] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049665.840178897] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049665.841125927] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049665.844557352] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049665.845029185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049665.845747297] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049665.846708633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049665.848415157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049665.945263606] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049665.945944060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049665.946704370] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049665.948107222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049665.948999947] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049666.002565556] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972584 Long: -76.50298813 +[vectornav-1] [INFO] [1746049666.003693170] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.76800000000003, -3.43, 7.992) +[mux-7] [INFO] [1746049666.045313870] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049666.045833623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049666.046771843] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049666.047791275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049666.048949785] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049666.085589873] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049666.088198753] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049666.088602472] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049666.089895624] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049666.090584289] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049666.090838888] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049666.091678293] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049666.145107816] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049666.145883888] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049666.146370575] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049666.147766039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049666.148825008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049666.245302602] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049666.246007111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049666.246805123] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049666.249174562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049666.250265898] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049666.335414059] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049666.337672450] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049666.337793172] [sailbot.teensy]: Wind angle: 347 +[mux-7] [INFO] [1746049666.338264311] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049666.339574735] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049666.340549268] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049666.341429767] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049666.344358629] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049666.344945854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049666.345542539] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049666.346980067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049666.348068979] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049666.445532833] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049666.446592460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049666.447095949] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049666.449501438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049666.450845465] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049666.503385794] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972579 Long: -76.50298802 +[vectornav-1] [INFO] [1746049666.504695570] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.76800000000003, -3.43, 7.998) +[mux-7] [INFO] [1746049666.545153418] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049666.545870003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049666.546512547] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049666.547791273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049666.548981982] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049666.585487156] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049666.587312728] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049666.587828072] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049666.588270850] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049666.589189012] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049666.590062383] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049666.590050036] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049666.645334500] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049666.646200602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049666.646909179] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049666.648232015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049666.648769258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049666.745319281] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049666.746269665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049666.746994607] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049666.748394326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049666.749578993] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049666.835639764] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049666.837496973] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049666.838200939] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049666.838455755] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049666.839372928] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049666.840256862] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049666.840456101] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049666.844431096] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049666.845303780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049666.845549533] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049666.847187132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049666.848318815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049666.945490865] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049666.946492550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049666.947521324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049666.950209330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049666.951218621] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049667.002542633] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972571 Long: -76.50298781 +[vectornav-1] [INFO] [1746049667.003632533] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.76099999999997, -3.426, 7.994) +[mux-7] [INFO] [1746049667.045208628] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049667.046271888] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049667.046816002] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049667.048212323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049667.049246218] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049667.085744013] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049667.088044437] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049667.089379688] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049667.089238465] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049667.090460902] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049667.091337450] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049667.091558539] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049667.145468726] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049667.145978414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049667.146967975] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049667.148022354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049667.148527017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049667.245520103] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049667.246122887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049667.247308823] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049667.248450071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049667.249643296] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049667.335437217] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049667.337887451] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049667.338129234] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049667.339070184] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049667.338695769] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049667.339949518] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049667.340417487] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049667.344583983] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049667.345213208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049667.345746504] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049667.346948860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049667.347951267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049667.445795853] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049667.446554534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049667.447698359] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049667.448781440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049667.449892908] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049667.502804231] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972565 Long: -76.50298785 +[vectornav-1] [INFO] [1746049667.504171651] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.759, -3.422, 8.034) +[mux-7] [INFO] [1746049667.545293883] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049667.545924422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049667.546918093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049667.548701491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049667.549754264] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049667.585617186] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049667.587560990] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049667.588614544] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049667.588747400] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049667.589522419] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049667.590270514] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049667.590304277] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049667.645457876] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049667.646390376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049667.647081148] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049667.649216385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049667.650384169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049667.745432502] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049667.746230853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049667.746934795] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049667.748552948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049667.749459224] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049667.835425982] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049667.837429086] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049667.838368632] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049667.837811750] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049667.838319910] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049667.839268706] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049667.840118068] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049667.844357747] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049667.844844533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049667.845469843] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049667.846493882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049667.847527024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049667.945088509] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049667.945712009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049667.946521217] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049667.947912223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049667.949028992] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049668.002545850] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972545 Long: -76.50298772 +[vectornav-1] [INFO] [1746049668.003629156] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.759, -3.421, 8.039) +[mux-7] [INFO] [1746049668.045243888] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049668.046025883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049668.046595126] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049668.047867438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049668.049055328] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049668.085507040] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049668.088039018] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049668.088108901] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049668.089097486] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049668.089152153] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049668.090070552] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049668.090941690] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049668.145132905] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049668.145984652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049668.146374311] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049668.148143909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049668.149363614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049668.245340125] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049668.246118818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049668.247027471] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049668.248009832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049668.248488640] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049668.335420207] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049668.337356634] [sailbot.teensy]: Wind angle: 346 +[teensy-2] [INFO] [1746049668.338303766] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049668.337949036] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049668.339155048] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049668.339266481] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049668.340147683] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049668.344336920] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049668.344898566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049668.345432323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049668.346873285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049668.348114686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049668.445249314] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049668.445964545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049668.446809329] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049668.448015119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049668.448496892] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049668.502837450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972541 Long: -76.50298766 +[vectornav-1] [INFO] [1746049668.504200919] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.751, -3.423, 8.04) +[mux-7] [INFO] [1746049668.545368589] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049668.546191896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049668.546895247] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049668.548734261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049668.549900539] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049668.585486207] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049668.587855203] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049668.588533926] [sailbot.teensy]: Wind angle: 346 +[mux-7] [INFO] [1746049668.589080781] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049668.589508936] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049668.590394765] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049668.591282225] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049668.645008927] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049668.646126941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049668.646776491] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049668.648023503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049668.648595218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049668.745230083] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049668.746030959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049668.746908918] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049668.749168398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049668.750405063] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049668.835423938] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049668.837887990] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049668.838389519] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049668.838512622] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049668.839070387] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049668.839441287] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049668.839933812] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049668.844405215] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049668.845008175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049668.845525269] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049668.846677845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049668.847721381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049668.945350029] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049668.946231150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049668.947016169] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049668.948255015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049668.948795871] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049669.003502293] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972531 Long: -76.50298754 +[vectornav-1] [INFO] [1746049669.004815269] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.74199999999996, -3.424, 8.032) +[mux-7] [INFO] [1746049669.045117460] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049669.045955015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049669.046583759] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049669.047944780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049669.049797039] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049669.085875042] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049669.087917782] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049669.088416256] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049669.088954476] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049669.089883178] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049669.090095011] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049669.090809303] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049669.145136613] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049669.145857554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049669.146560793] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049669.148186043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049669.148720111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049669.245188004] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049669.245871948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049669.246805237] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049669.248169615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049669.249101874] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049669.335734267] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049669.338369395] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049669.338781393] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049669.339377170] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049669.339394777] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049669.339756955] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049669.340132961] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049669.344510001] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049669.345096163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049669.345622802] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049669.346883278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049669.347913392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049669.445365115] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049669.446055207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049669.446881537] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049669.448332234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049669.449619890] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049669.502609890] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972532 Long: -76.5029873 +[vectornav-1] [INFO] [1746049669.503829567] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.735, -3.428, 8.02) +[mux-7] [INFO] [1746049669.544854305] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049669.545770123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049669.546063294] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049669.547572022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049669.548688934] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049669.585408334] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049669.587280314] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049669.587764250] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049669.588798699] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049669.589837580] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049669.590799597] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049669.591725421] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049669.645167549] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049669.645755604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049669.647080576] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049669.647778518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049669.648925606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049669.745103071] [sailbot.mux]: Published sail angle from controller_app: 23 +[mux-7] [INFO] [1746049669.746461724] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049669.745980459] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049669.748098818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049669.748566795] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049669.835710086] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049669.838500551] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049669.838786319] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049669.840322280] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049669.840326517] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049669.841284668] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049669.842171726] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049669.844277258] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049669.845075409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049669.845340589] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049669.846788371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049669.847833674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049669.945235957] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049669.945897329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049669.946777501] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049669.947923357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049669.948376196] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049670.002662697] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697252 Long: -76.50298717 +[vectornav-1] [INFO] [1746049670.003924469] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.73400000000004, -3.43, 8.027) +[mux-7] [INFO] [1746049670.045449588] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049670.046134590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049670.046901391] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049670.048223909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049670.049405272] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049670.085437618] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049670.087835631] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049670.088250421] [sailbot.teensy]: Wind angle: 346 +[mux-7] [INFO] [1746049670.088496613] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049670.089335877] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049670.090300354] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049670.091165130] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049670.145186733] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049670.145661661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049670.146801300] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049670.147500688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049670.148645578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049670.245514492] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049670.246367450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049670.247406004] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049670.248414465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049670.248900695] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049670.335437742] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049670.337379010] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049670.337831685] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049670.338371142] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049670.339277792] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049670.339945764] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049670.340319898] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049670.344242037] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049670.344834057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049670.345366229] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049670.346610987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049670.347621283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049670.445338239] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049670.446347848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049670.446873628] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049670.448227569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049670.448754534] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049670.502737518] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972514 Long: -76.50298707 +[vectornav-1] [INFO] [1746049670.503833863] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.72, -3.43, 8.021) +[mux-7] [INFO] [1746049670.545356162] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049670.546058464] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049670.546878240] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049670.548270793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049670.549494135] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049670.585840733] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049670.588113029] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049670.589260520] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049670.588663856] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049670.590259873] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049670.591174259] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049670.591249909] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746049670.645240503] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049670.646423722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049670.646794869] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049670.648827189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049670.649364456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049670.745127239] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049670.746044507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049670.746580347] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049670.747954735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049670.748548068] [sailbot.teensy]: Message sent to servo +[rosbridge_websocket-8] [INFO] [1746049670.773958402] [rosbridge_websocket]: Client disconnected. 1 clients total. +[teensy-2] [INFO] [1746049670.835482224] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049670.837973846] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049670.838043038] [sailbot.teensy]: Wind angle: 343 +[mux-7] [INFO] [1746049670.838596826] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049670.839014004] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049670.839894794] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049670.840727602] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049670.844190401] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049670.844577937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049670.845275059] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049670.846190497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049670.847199848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049670.945558113] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049670.946093346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049670.947139165] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049670.948322635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049670.948920421] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049671.003195685] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972509 Long: -76.50298695 +[vectornav-1] [INFO] [1746049671.004512398] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.703, -3.435, 7.983) +[mux-7] [INFO] [1746049671.045121856] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049671.045725594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049671.046378864] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049671.047483840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049671.048648308] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049671.085358616] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049671.087159523] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049671.087853965] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049671.088132402] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049671.088621005] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049671.089212998] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049671.090101656] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049671.145166385] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049671.145950433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049671.146631370] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049671.148109041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049671.149335232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049671.245452572] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049671.246249235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049671.246996247] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049671.248380814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049671.248875908] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049671.335589791] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049671.337582031] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049671.338290763] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049671.338604313] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049671.338987974] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049671.339522855] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049671.340417053] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049671.344294129] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049671.344882188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049671.345360950] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049671.346490135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049671.347572660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049671.445588539] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049671.446384953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049671.447340319] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049671.448471182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049671.448953069] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049671.503352584] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972516 Long: -76.50298686 +[vectornav-1] [INFO] [1746049671.504718222] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.693, -3.445, 7.953) +[mux-7] [INFO] [1746049671.545135982] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049671.546044052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049671.546623405] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049671.548334167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049671.549490792] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049671.585514725] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049671.587305198] [sailbot.teensy]: Wind angle: 331 +[teensy-2] [INFO] [1746049671.588360085] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049671.587952050] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049671.588455068] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049671.589259282] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049671.590092363] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049671.644825763] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049671.645380487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049671.646132692] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049671.647210537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049671.647752926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049671.745412304] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049671.746236890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049671.747006034] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049671.748531292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049671.749049389] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049671.835503709] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049671.837559212] [sailbot.teensy]: Wind angle: 327 +[trim_sail-4] [INFO] [1746049671.838326510] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049671.838586969] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049671.838927244] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049671.839494399] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049671.840364276] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049671.844308049] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049671.844878008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049671.845403228] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049671.846428164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049671.847526269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049671.945531414] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049671.946340257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049671.947132256] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049671.948768564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049671.949894870] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049672.002386846] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972494 Long: -76.50298663 +[vectornav-1] [INFO] [1746049672.003382309] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.68399999999997, -3.433, 7.974) +[mux-7] [INFO] [1746049672.045231829] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049672.046184844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049672.046683549] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049672.048298546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049672.049345598] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049672.085880484] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049672.088746134] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049672.089377706] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049672.089659660] [sailbot.teensy]: Wind angle: 327 +[teensy-2] [INFO] [1746049672.090572179] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049672.091398544] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049672.092221063] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049672.145396892] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049672.146174643] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049672.146860715] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049672.148407577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049672.149491165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049672.245296448] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049672.246024712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049672.246846510] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049672.248311731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049672.249390461] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049672.335466932] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049672.337914959] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049672.338441421] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049672.338692328] [sailbot.teensy]: Wind angle: 323 +[teensy-2] [INFO] [1746049672.339625865] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049672.340558174] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049672.341383122] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049672.344245888] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049672.344686568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049672.345285763] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049672.346324809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049672.347333525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049672.445539893] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049672.446394088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049672.447142103] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049672.448699602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049672.449930957] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049672.503545053] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972498 Long: -76.50298639 +[vectornav-1] [INFO] [1746049672.504870306] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.666, -3.438, 7.923) +[mux-7] [INFO] [1746049672.545018436] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049672.545857360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049672.546307916] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049672.547730924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049672.548738869] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049672.585398583] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049672.587941935] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049672.588040047] [sailbot.teensy]: Wind angle: 318 +[mux-7] [INFO] [1746049672.588393906] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049672.588987786] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049672.589856437] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049672.590687290] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049672.645075509] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049672.645731511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049672.646508986] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049672.647647069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049672.648484757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049672.745313172] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049672.746133396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049672.746793996] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049672.748248441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049672.749460471] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049672.835336966] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049672.837320510] [sailbot.teensy]: Wind angle: 318 +[trim_sail-4] [INFO] [1746049672.837935016] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746049672.838705797] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049672.839214244] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049672.839609858] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049672.839963487] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049672.844331713] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049672.844863637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049672.845452822] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049672.846510663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049672.847614020] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049672.945594436] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049672.946327450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049672.947742783] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049672.948441525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049672.948962244] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049673.002585965] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972486 Long: -76.50298618 +[vectornav-1] [INFO] [1746049673.003657841] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.658, -3.429, 7.965) +[mux-7] [INFO] [1746049673.045551457] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049673.046224888] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049673.047147299] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049673.048533923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049673.049802954] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049673.085821016] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049673.088079101] [sailbot.teensy]: Wind angle: 317 +[trim_sail-4] [INFO] [1746049673.088647568] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049673.089205539] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049673.090133324] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049673.090244668] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049673.090985419] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049673.145231474] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049673.145980616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049673.146728372] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049673.148177138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049673.148850769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049673.245363348] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049673.246134100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049673.246807973] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049673.248039628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049673.248524289] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049673.335598666] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049673.337749119] [sailbot.teensy]: Wind angle: 317 +[trim_sail-4] [INFO] [1746049673.338343741] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746049673.339204438] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049673.339675741] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049673.340600417] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049673.341416153] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049673.344418516] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049673.344843098] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049673.345621222] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049673.346483878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049673.347518591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049673.445578331] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049673.446159937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049673.447228686] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049673.448396101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049673.449377081] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049673.503596407] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972475 Long: -76.50298592 +[vectornav-1] [INFO] [1746049673.505493855] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.648, -3.437, 7.926) +[mux-7] [INFO] [1746049673.545437506] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049673.546148357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049673.546982604] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049673.548337774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049673.549840339] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049673.585443806] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049673.587223481] [sailbot.teensy]: Wind angle: 322 +[trim_sail-4] [INFO] [1746049673.588001464] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049673.588222633] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049673.589134956] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049673.589667038] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049673.590038295] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049673.645530348] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049673.646228838] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049673.647169300] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049673.648513700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049673.649666929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049673.745793421] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049673.746460826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049673.747407148] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049673.748843758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049673.750132350] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049673.835787325] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049673.837944383] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049673.838979895] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049673.839001880] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049673.839970777] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049673.840195504] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049673.840845050] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049673.844532202] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049673.845003617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049673.845655613] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049673.846612575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049673.847736987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049673.945582300] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049673.946260228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049673.947225030] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049673.948525501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049673.949854469] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049674.002610103] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972463 Long: -76.50298556 +[vectornav-1] [INFO] [1746049674.003689329] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.642, -3.427, 7.93) +[mux-7] [INFO] [1746049674.045500819] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049674.046094768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049674.046999448] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049674.048230624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049674.049415304] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049674.085649009] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049674.088305761] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049674.088442039] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049674.089283695] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049674.089405062] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049674.090275566] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049674.091145321] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049674.144982551] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049674.145526168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049674.146344713] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049674.148044202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049674.149193992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049674.245310590] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049674.245865286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049674.247015602] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049674.248095537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049674.249311985] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049674.335709977] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049674.338685250] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049674.338757239] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049674.339320294] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049674.339803283] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049674.340727642] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049674.341540330] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049674.344409418] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049674.344929406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049674.345527859] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049674.346581408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049674.347708596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049674.445459950] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049674.446159628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049674.447024041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049674.448455978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049674.449006832] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049674.503220185] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972456 Long: -76.50298549 +[vectornav-1] [INFO] [1746049674.504509827] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.666, -3.418, 8.041) +[mux-7] [INFO] [1746049674.545079102] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049674.545863312] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049674.546463038] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049674.547756623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049674.548221881] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049674.585411498] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049674.587323289] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049674.587842797] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049674.588307017] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049674.589106464] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049674.589182936] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049674.590032920] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049674.645288885] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049674.645969960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049674.646825488] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049674.649305256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049674.650445773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049674.745446158] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049674.746058148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049674.746949051] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049674.748200922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049674.749411318] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049674.835724030] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049674.837770234] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049674.838803606] [sailbot.teensy]: Actual sail angle: 23 +[trim_sail-4] [INFO] [1746049674.839269911] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049674.839743818] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049674.840495325] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049674.840621842] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049674.844460692] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049674.845038831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049674.845644987] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049674.846680827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049674.847827384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049674.945566980] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049674.946295803] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049674.947214004] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049674.948620546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049674.949827247] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049675.002478327] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972443 Long: -76.50298524 +[vectornav-1] [INFO] [1746049675.003508948] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.64300000000003, -3.416, 8.073) +[mux-7] [INFO] [1746049675.045463693] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049675.045901773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049675.047399907] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049675.048640518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049675.049472101] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049675.085533002] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049675.087659239] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049675.087976742] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049675.088651595] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049675.089422593] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049675.089513320] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049675.090373856] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049675.145371108] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049675.146096117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049675.146896244] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049675.148232871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049675.149300601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049675.245619688] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049675.246323628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049675.247288666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049675.248888723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049675.250103172] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049675.335685429] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049675.338206215] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049675.338369259] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049675.339054897] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049675.339282426] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049675.339660826] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049675.340017613] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049675.344436399] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049675.345106311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049675.345657090] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049675.346858271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049675.347851770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049675.445174120] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049675.446003134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049675.446753848] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049675.448173181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049675.448827931] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049675.502397961] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972432 Long: -76.50298509 +[vectornav-1] [INFO] [1746049675.503470021] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.733, -3.404, 9.106) +[mux-7] [INFO] [1746049675.545488140] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049675.546331824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049675.547041840] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049675.548621167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049675.549867631] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049675.585981781] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049675.588953151] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049675.589617638] [sailbot.teensy]: Wind angle: 340 +[mux-7] [INFO] [1746049675.589617797] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049675.591280047] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049675.592212996] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049675.593059196] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049675.645402327] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049675.646278307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049675.646982354] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049675.648685673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049675.649847487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049675.745315650] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049675.746164313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049675.746773511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049675.747970138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049675.748428401] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049675.835444680] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049675.837773690] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049675.838166473] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049675.838702895] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049675.838884307] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049675.839874239] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049675.840649383] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049675.844374081] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049675.844892105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049675.845472570] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049675.846513907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049675.847481627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049675.945471188] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049675.946289752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049675.947052916] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049675.948520705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049675.949008676] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049676.003411266] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972413 Long: -76.50298469 +[vectornav-1] [INFO] [1746049676.004910626] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.733, -3.391, 9.105) +[mux-7] [INFO] [1746049676.045042356] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049676.045906726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049676.046463452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049676.047718847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049676.048170113] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049676.085697805] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049676.088112177] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049676.088600473] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049676.089265234] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049676.090219992] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049676.090600750] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049676.091085375] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049676.144889337] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049676.145464047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049676.146320677] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049676.147336646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049676.148396630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049676.245366470] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049676.246002117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049676.246928829] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049676.248142936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049676.249356176] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049676.335401900] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049676.337140198] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049676.337638576] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049676.338223593] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049676.339116587] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049676.339126020] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049676.339683208] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049676.344424691] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049676.345123745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049676.345650102] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049676.346833955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049676.347998706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049676.445158107] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049676.445850489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049676.446656720] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049676.448744258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049676.449249713] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049676.503604551] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972418 Long: -76.50298456 +[vectornav-1] [INFO] [1746049676.505029575] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.721, -3.387, 9.009) +[mux-7] [INFO] [1746049676.545677019] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049676.546572010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049676.547422430] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049676.549168134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049676.550357980] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049676.585605590] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049676.587852408] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049676.588167711] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049676.588737918] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049676.589193460] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049676.590073868] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049676.590921968] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049676.645499990] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049676.646125952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049676.647277397] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049676.648468765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049676.649643504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049676.745611434] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049676.746218809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049676.747156245] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049676.748350705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049676.749540338] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049676.835911865] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049676.838029886] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049676.838928115] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049676.839169245] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049676.840281455] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049676.841031112] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049676.841141065] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049676.844227163] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049676.844887668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049676.845324081] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049676.846573059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049676.847594662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049676.945417156] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049676.946212909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049676.947078165] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049676.948733729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049676.949837883] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049677.002445318] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972418 Long: -76.50298423 +[vectornav-1] [INFO] [1746049677.003462571] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.69, -3.402, 8.854) +[mux-7] [INFO] [1746049677.045252983] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049677.045975711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049677.046745185] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049677.048188543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049677.049365086] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049677.085726420] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049677.088572985] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049677.088605999] [sailbot.teensy]: Wind angle: 316 +[mux-7] [INFO] [1746049677.089038327] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049677.089694280] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049677.090550652] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049677.091378083] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049677.145149129] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049677.145835864] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049677.147830208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[mux-7] [INFO] [1746049677.147882064] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049677.149040606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049677.245418581] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049677.246337173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049677.247001678] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049677.248641870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049677.249910040] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049677.335721357] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049677.337629490] [sailbot.teensy]: Wind angle: 300 +[trim_sail-4] [INFO] [1746049677.338436417] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049677.338597928] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049677.339262346] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049677.339474254] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049677.340334380] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049677.344273855] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049677.344875443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049677.345312833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049677.346527185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049677.347548796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049677.445353382] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049677.446089757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049677.446840933] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049677.448460498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049677.449644883] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049677.503297500] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697242 Long: -76.50298412 +[vectornav-1] [INFO] [1746049677.504680450] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.653, -3.408, 8.783) +[mux-7] [INFO] [1746049677.544982304] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049677.545590087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049677.546276135] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049677.547454631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049677.547991371] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049677.585402998] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049677.587370958] [sailbot.teensy]: Wind angle: 298 +[trim_sail-4] [INFO] [1746049677.587910427] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049677.588373605] [sailbot.teensy]: Actual sail angle: 23 +[mux-7] [INFO] [1746049677.589023977] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049677.589257081] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049677.590108000] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049677.645259295] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049677.645961620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049677.646780943] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049677.648110778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049677.648892998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049677.745312531] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049677.746079326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049677.747256396] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049677.748330877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049677.749370862] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049677.835621636] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049677.837878027] [sailbot.teensy]: Wind angle: 297 +[trim_sail-4] [INFO] [1746049677.838439460] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746049677.838941144] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049677.839852793] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049677.839904616] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049677.840538733] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049677.844334242] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049677.844900047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049677.845357872] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049677.846540481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049677.847531707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049677.945146848] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049677.945886468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049677.946540497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049677.947864195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049677.949018694] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049678.002473295] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972418 Long: -76.50298407 +[vectornav-1] [INFO] [1746049678.003513101] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.661, -3.403, 8.828) +[mux-7] [INFO] [1746049678.045296237] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049678.046157863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049678.046757685] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049678.048407600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049678.049593859] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049678.085652761] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049678.088473506] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746049678.088719352] [sailbot.teensy]: Wind angle: 297 +[mux-7] [INFO] [1746049678.088950314] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049678.089938623] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049678.090805786] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049678.091608281] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049678.145367871] [sailbot.mux]: Published sail angle from controller_app: 23 +[teensy-2] [INFO] [1746049678.145895773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049678.146943827] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049678.147869571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 +[teensy-2] [INFO] [1746049678.148961016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049678.149222631] [sailbot.mux]: controller_app sail angle: 0 +[mux-7] [INFO] [1746049678.245619423] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049678.246340048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049678.247328553] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049678.248724208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049678.249257405] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049678.335400863] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049678.337246034] [sailbot.teensy]: Wind angle: 297 +[trim_sail-4] [INFO] [1746049678.337690417] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746049678.338155920] [sailbot.teensy]: Actual sail angle: 23 +[teensy-2] [INFO] [1746049678.339027242] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049678.339276471] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049678.339879724] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049678.344390944] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049678.344982410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049678.345479487] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049678.346655059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049678.347777428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049678.445427704] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049678.446091637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049678.446903446] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049678.447977005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049678.448438355] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049678.503767479] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972424 Long: -76.50298406 +[vectornav-1] [INFO] [1746049678.505429144] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.664, -3.399, 8.836) +[mux-7] [INFO] [1746049678.545010419] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049678.545723744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049678.546286763] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049678.547967421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049678.549486666] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049678.585571524] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049678.587468727] [sailbot.teensy]: Wind angle: 297 +[trim_sail-4] [INFO] [1746049678.588217234] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746049678.588501588] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049678.589386207] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049678.589634386] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049678.590233477] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049678.645263327] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049678.645976452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049678.646768050] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049678.648146687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049678.649285577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049678.745380950] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049678.746222264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049678.746856296] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049678.748397616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049678.749467708] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049678.835557958] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049678.838005567] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049678.838291019] [sailbot.teensy]: Wind angle: 298 +[mux-7] [INFO] [1746049678.838657647] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049678.839313830] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049678.840204097] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049678.841032218] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049678.844358047] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049678.844749117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049678.845436156] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049678.846334640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049678.847328769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049678.945622958] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049678.946279329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049678.947506408] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049678.948774187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049678.950074213] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049679.002471129] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972421 Long: -76.50298394 +[vectornav-1] [INFO] [1746049679.003504537] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.645, -3.402, 8.834) +[mux-7] [INFO] [1746049679.045135663] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049679.046008544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049679.046544441] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049679.047980120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049679.049113635] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049679.085466955] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049679.087697266] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746049679.087706989] [sailbot.teensy]: Wind angle: 297 +[mux-7] [INFO] [1746049679.088395592] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049679.088639842] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049679.089450396] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049679.090322979] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049679.145382427] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049679.146142721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049679.146865102] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049679.148326744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049679.149411600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049679.245339575] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049679.246071339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049679.246823878] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049679.248239506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049679.249454291] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049679.335595745] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049679.337442531] [sailbot.teensy]: Wind angle: 298 +[teensy-2] [INFO] [1746049679.338437598] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049679.338016240] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049679.339077768] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049679.339159784] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049679.339463635] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049679.344471408] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049679.344949375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049679.345552121] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049679.346566525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049679.347558142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049679.445662187] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049679.446241893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049679.447365514] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049679.448403213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049679.449514669] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049679.503408607] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972427 Long: -76.50298389 +[vectornav-1] [INFO] [1746049679.505453330] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.626, -3.412, 8.798) +[mux-7] [INFO] [1746049679.545091985] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049679.545734498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049679.546415174] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049679.547698040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049679.548699561] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049679.585488607] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049679.587215866] [sailbot.teensy]: Wind angle: 297 +[teensy-2] [INFO] [1746049679.588141976] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049679.587768684] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746049679.588863053] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049679.589022053] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049679.589860545] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049679.645518292] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049679.646139541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049679.647173225] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049679.648333770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049679.648964685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049679.745535568] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049679.746074438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049679.747265945] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049679.748257061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049679.749427835] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049679.835863393] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049679.838061882] [sailbot.teensy]: Wind angle: 297 +[trim_sail-4] [INFO] [1746049679.838905849] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746049679.839228079] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049679.840234670] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049679.840403467] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049679.841108035] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049679.844300040] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049679.844860396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049679.845445016] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049679.846605910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049679.847631771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049679.945423323] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049679.946246966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049679.946897741] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049679.948459482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049679.949575113] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049680.002614276] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972443 Long: -76.50298376 +[vectornav-1] [INFO] [1746049680.003648220] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.603, -3.418, 8.613) +[mux-7] [INFO] [1746049680.045250910] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049680.046172932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049680.046653085] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049680.048504556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049680.049090701] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049680.085495938] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049680.087400611] [sailbot.teensy]: Wind angle: 297 +[trim_sail-4] [INFO] [1746049680.088109220] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746049680.088399931] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049680.088645873] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049680.089281431] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049680.090132593] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049680.144982917] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049680.145808218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049680.146563816] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049680.147709055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049680.148730816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049680.245032221] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049680.245727257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049680.246378517] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049680.247690404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049680.248820274] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049680.335409612] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049680.337738991] [sailbot.teensy]: Wind angle: 295 +[trim_sail-4] [INFO] [1746049680.337765916] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746049680.338655187] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049680.338656395] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049680.339538628] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049680.340482953] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049680.344206518] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049680.344748324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049680.345234081] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049680.346337232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049680.347444674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049680.444956003] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049680.445561984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049680.446651822] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049680.447404272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049680.448091157] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049680.503382449] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972454 Long: -76.5029838 +[vectornav-1] [INFO] [1746049680.504752818] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.606, -3.41, 8.648) +[mux-7] [INFO] [1746049680.545230532] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049680.545956834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049680.546594088] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049680.547931122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049680.548880627] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049680.585325553] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049680.587147559] [sailbot.teensy]: Wind angle: 290 +[trim_sail-4] [INFO] [1746049680.587647473] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746049680.588286093] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049680.588636545] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746049680.589247362] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049680.590117711] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049680.645149008] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049680.645780042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049680.646579452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049680.647784213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049680.648869313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049680.745376016] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049680.746012445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049680.746834917] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049680.748068244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049680.749306361] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049680.835461222] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049680.837173840] [sailbot.teensy]: Wind angle: 283 +[trim_sail-4] [INFO] [1746049680.837747982] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746049680.838110990] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049680.838997406] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049680.839541974] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746049680.839669027] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049680.844561219] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049680.845009472] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049680.845671613] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049680.846601830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049680.847732258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049680.945260162] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049680.945908433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049680.946785393] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049680.948178817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049680.948998214] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049681.003605778] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972471 Long: -76.50298369 +[vectornav-1] [INFO] [1746049681.005330597] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.61199999999997, -3.409, 8.643) +[mux-7] [INFO] [1746049681.045160236] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049681.045779250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049681.046502361] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049681.047640628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049681.048655739] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049681.085493433] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049681.087785519] [sailbot.teensy]: Wind angle: 283 +[trim_sail-4] [INFO] [1746049681.087823440] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746049681.088887449] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746049681.089634751] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049681.090514182] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049681.091320412] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049681.145383659] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049681.145986382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049681.146880904] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049681.147980333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049681.149021383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049681.245336074] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049681.245838751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049681.247310826] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049681.247829170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049681.248696545] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049681.335680921] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049681.337580107] [sailbot.teensy]: Wind angle: 284 +[trim_sail-4] [INFO] [1746049681.338158711] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746049681.338550723] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049681.339433730] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049681.339788897] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746049681.340312672] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049681.344517164] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049681.344958721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049681.345601525] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049681.346546191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049681.347544205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049681.445278177] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049681.445939431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049681.446728935] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049681.448006450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049681.449078776] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049681.503216726] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972481 Long: -76.50298373 +[vectornav-1] [INFO] [1746049681.504991332] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.624, -3.396, 8.759) +[mux-7] [INFO] [1746049681.545219651] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049681.545780521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049681.546546428] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049681.547606059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049681.548657947] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049681.584725292] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049681.585911466] [sailbot.teensy]: Wind angle: 283 +[trim_sail-4] [INFO] [1746049681.586281201] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746049681.586572677] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049681.586719692] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746049681.587250426] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049681.588394470] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049681.643694887] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049681.644044780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049681.644518214] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049681.645532660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049681.646178222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049681.744144991] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049681.744756711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049681.745013654] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049681.746143569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049681.747174915] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049681.835703879] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049681.838128909] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746049681.838642733] [sailbot.teensy]: Wind angle: 284 +[mux-7] [INFO] [1746049681.838969146] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746049681.839632506] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049681.840523985] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049681.841349749] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049681.843958251] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049681.844475318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049681.845046741] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049681.846072245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049681.847030555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049681.945513734] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049681.946078759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049681.947311451] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049681.948431896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049681.949633871] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049682.003271563] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972501 Long: -76.50298347 +[vectornav-1] [INFO] [1746049682.004626422] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.61, -3.39, 8.799) +[mux-7] [INFO] [1746049682.045153510] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049682.045790485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049682.046712791] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049682.047732667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049682.048771305] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049682.085479024] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049682.087363933] [sailbot.teensy]: Wind angle: 284 +[trim_sail-4] [INFO] [1746049682.087842015] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746049682.088884816] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746049682.088953877] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049682.089348140] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049682.089705872] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049682.145321736] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049682.145983485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049682.146817676] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049682.148014142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049682.149208705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049682.245426679] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049682.246014627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049682.247002126] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049682.248202035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049682.249438958] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049682.335479402] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049682.337305837] [sailbot.teensy]: Wind angle: 279 +[trim_sail-4] [INFO] [1746049682.337961250] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746049682.338520328] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746049682.339318037] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049682.340223716] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049682.340852726] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049682.344335694] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049682.344839314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049682.346297653] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049682.346438191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049682.347647588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049682.445496800] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049682.446202217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049682.447031242] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049682.448452567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049682.449556749] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049682.502495016] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972508 Long: -76.50298352 +[vectornav-1] [INFO] [1746049682.503539469] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.589, -3.385, 8.784) +[mux-7] [INFO] [1746049682.545394386] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049682.546060538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049682.546815897] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049682.548092516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049682.549294800] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049682.585963501] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049682.588264993] [sailbot.teensy]: Wind angle: 272 +[trim_sail-4] [INFO] [1746049682.589186917] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746049682.589420837] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049682.589948253] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746049682.590384881] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049682.591278536] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049682.645541533] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049682.646476415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049682.647146530] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049682.648908890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049682.650078636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049682.745359515] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049682.746221260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049682.746854278] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049682.747915559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049682.748368099] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049682.835663758] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049682.838500690] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746049682.838645836] [sailbot.teensy]: Wind angle: 272 +[mux-7] [INFO] [1746049682.839273848] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746049682.839752646] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049682.840659191] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049682.841479124] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049682.844405805] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049682.844908844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049682.845438619] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049682.846529379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049682.847638586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049682.945386152] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049682.946285715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049682.946943297] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049682.948504854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049682.949325988] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049683.003259610] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697251 Long: -76.50298346 +[vectornav-1] [INFO] [1746049683.004528523] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.56899999999996, -3.383, 8.707) +[mux-7] [INFO] [1746049683.045176690] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049683.045915682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049683.046482045] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049683.047788478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049683.048799997] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049683.085489361] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049683.087237314] [sailbot.teensy]: Wind angle: 270 +[trim_sail-4] [INFO] [1746049683.087878730] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746049683.088208130] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049683.089108118] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049683.089274857] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049683.089969269] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049683.145163235] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049683.145897320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049683.146591591] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049683.148075049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049683.148888929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049683.245521239] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049683.246305300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049683.247013355] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049683.248495829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049683.249730659] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049683.335499915] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049683.337271611] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746049683.337909434] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746049683.338229080] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049683.338632752] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049683.339025843] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049683.339404035] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049683.344502617] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049683.345086649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049683.345628571] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049683.346755427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049683.347754427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049683.445381976] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049683.446157081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049683.446941279] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049683.448074762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049683.448624958] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049683.502489779] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697253 Long: -76.50298358 +[vectornav-1] [INFO] [1746049683.503546562] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.596, -3.376, 8.778) +[mux-7] [INFO] [1746049683.545004774] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049683.545780766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049683.546368903] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049683.547650274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049683.548782346] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049683.585621615] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049683.588270385] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746049683.588757390] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049683.588997251] [sailbot.teensy]: Wind angle: 270 +[teensy-2] [INFO] [1746049683.589915914] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049683.590538316] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049683.590866726] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049683.645161932] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049683.645806577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049683.646580407] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049683.647850125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049683.649032337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049683.745217556] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049683.746149714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049683.746628544] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049683.748148438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049683.749300211] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049683.835526423] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049683.837629087] [sailbot.teensy]: Wind angle: 270 +[trim_sail-4] [INFO] [1746049683.838166956] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746049683.838652623] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049683.839974723] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049683.840863030] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049683.841692620] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049683.844184005] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049683.844825460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049683.845237250] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049683.846497412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049683.847491882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049683.945351322] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049683.946041820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049683.946855260] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049683.948297804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049683.949181264] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049684.002509810] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697253 Long: -76.5029834 +[vectornav-1] [INFO] [1746049684.003575319] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.594, -3.374, 8.8) +[mux-7] [INFO] [1746049684.045300305] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049684.045987615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049684.046771745] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049684.047837497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049684.048284740] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049684.085617003] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049684.087774401] [sailbot.teensy]: Wind angle: 270 +[trim_sail-4] [INFO] [1746049684.088262262] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746049684.088800247] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049684.089006025] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049684.089201672] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049684.089580215] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049684.145046359] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049684.145641550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049684.146531258] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049684.147701826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049684.148904088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049684.245132072] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049684.245912181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049684.247000394] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049684.247947016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049684.248956340] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049684.335401327] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049684.337197582] [sailbot.teensy]: Wind angle: 270 +[trim_sail-4] [INFO] [1746049684.337860955] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746049684.338136853] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049684.338907750] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049684.339025834] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049684.339891398] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049684.344386450] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049684.345030199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049684.345520118] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049684.346692417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049684.347792138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049684.445289935] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049684.446021069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049684.446778585] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049684.447996521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049684.448445429] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049684.503404314] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972542 Long: -76.50298328 +[vectornav-1] [INFO] [1746049684.504974162] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.58299999999997, -3.371, 8.772) +[mux-7] [INFO] [1746049684.545007834] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049684.545815340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049684.546298818] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049684.547678042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049684.548698108] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049684.585671189] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049684.587373411] [sailbot.teensy]: Wind angle: 270 +[trim_sail-4] [INFO] [1746049684.588202939] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746049684.588320073] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049684.589190954] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049684.589370115] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049684.590038319] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049684.645392761] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049684.646205915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049684.646903300] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049684.648465369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049684.649552084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049684.704865474] [sailbot.mux]: controller_app sail angle: 25 +[mux-7] [INFO] [1746049684.745091185] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746049684.745849776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049684.746411756] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049684.747725085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746049684.748769284] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049684.835375286] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049684.837138467] [sailbot.teensy]: Wind angle: 270 +[trim_sail-4] [INFO] [1746049684.837755137] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746049684.838093056] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049684.838993718] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049684.839400809] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049684.839849492] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049684.844429483] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746049684.844927317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049684.845496852] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049684.846659642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746049684.847679075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049684.945367624] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746049684.946043271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049684.946879530] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049684.947977824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746049684.948527694] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049685.003603393] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972532 Long: -76.50298333 +[vectornav-1] [INFO] [1746049685.005030743] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.55899999999997, -3.38, 8.774) +[mux-7] [INFO] [1746049685.045198685] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746049685.046094217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049685.046665585] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049685.048176809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746049685.049321062] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049685.085515772] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049685.087263809] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746049685.087855765] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746049685.088236522] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746049685.089106377] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049685.089098689] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049685.089996518] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049685.145107070] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746049685.145629232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049685.146477069] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049685.147933789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746049685.149029356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049685.245578802] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746049685.246094594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049685.247175115] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049685.248464434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746049685.249694731] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049685.335449919] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049685.337244137] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746049685.337811712] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746049685.338176004] [sailbot.teensy]: Actual sail angle: 25 +[mux-7] [INFO] [1746049685.338438130] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049685.339079112] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049685.340021004] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049685.344350146] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746049685.344749568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049685.345447773] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049685.346376777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746049685.347425747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049685.445599325] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746049685.446259513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049685.447390728] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049685.448494843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746049685.449621413] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049685.502510323] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972534 Long: -76.50298351 +[vectornav-1] [INFO] [1746049685.503607836] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.557, -3.38, 8.741) +[mux-7] [INFO] [1746049685.545336849] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746049685.546070343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049685.546789669] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049685.548102770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746049685.549370500] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049685.585568893] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049685.588064519] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746049685.588246380] [sailbot.teensy]: Wind angle: 269 +[mux-7] [INFO] [1746049685.588702838] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049685.589347129] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746049685.590227017] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049685.591059444] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049685.645745077] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746049685.645899680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049685.647451992] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049685.647903635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746049685.649141292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049685.668682132] [sailbot.mux]: controller_app sail angle: 68 +[mux-7] [INFO] [1746049685.745221361] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049685.746009406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049685.746672641] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049685.748184233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049685.749012737] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049685.835593552] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049685.837616290] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746049685.837935874] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746049685.838575732] [sailbot.teensy]: Actual sail angle: 25 +[mux-7] [INFO] [1746049685.838907605] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049685.838959053] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049685.839326659] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049685.844279681] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049685.844833678] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049685.845335762] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049685.846424452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049685.847526064] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049685.945214916] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049685.945962323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049685.946706335] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049685.948073021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049685.949245281] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049686.003250809] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697256 Long: -76.50298327 +[vectornav-1] [INFO] [1746049686.004776390] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.55, -3.384, 8.767) +[mux-7] [INFO] [1746049686.045188815] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049686.046051653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049686.046660262] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049686.048223734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049686.049342777] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049686.085632324] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049686.087739830] [sailbot.teensy]: Wind angle: 269 +[teensy-2] [INFO] [1746049686.088746792] [sailbot.teensy]: Actual sail angle: 68 +[trim_sail-4] [INFO] [1746049686.088343120] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746049686.088857761] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049686.089623611] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049686.090483302] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049686.145580618] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049686.146250398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049686.147322159] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049686.148596617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049686.149260644] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049686.245369290] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049686.246240062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049686.246940200] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049686.247889289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049686.248348956] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049686.335392819] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049686.337171451] [sailbot.teensy]: Wind angle: 267 +[trim_sail-4] [INFO] [1746049686.337793297] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746049686.338115717] [sailbot.teensy]: Actual sail angle: 68 +[teensy-2] [INFO] [1746049686.338978611] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049686.338967168] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049686.339836617] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049686.344364674] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049686.344856691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049686.345992672] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049686.346506316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049686.348030674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049686.445508632] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049686.446166223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049686.447110611] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049686.448400650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049686.449670183] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049686.502364286] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972569 Long: -76.50298338 +[vectornav-1] [INFO] [1746049686.503327845] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.574, -3.371, 8.929) +[mux-7] [INFO] [1746049686.545008527] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049686.545682208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049686.546314983] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049686.547441803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049686.548537230] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049686.585411820] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049686.587107514] [sailbot.teensy]: Wind angle: 266 +[trim_sail-4] [INFO] [1746049686.587767316] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746049686.588063157] [sailbot.teensy]: Actual sail angle: 68 +[mux-7] [INFO] [1746049686.588659743] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049686.588972832] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049686.589830166] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049686.645004354] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049686.645534894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049686.646285603] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049686.647279514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049686.648313066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049686.745326306] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049686.746223655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049686.746956141] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049686.748461021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049686.749626612] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049686.835479475] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049686.838014099] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746049686.838317728] [sailbot.teensy]: Wind angle: 265 +[mux-7] [INFO] [1746049686.838963683] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049686.839168598] [sailbot.teensy]: Actual sail angle: 68 +[teensy-2] [INFO] [1746049686.839547418] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049686.839884354] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049686.844523746] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049686.845030428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049686.845758071] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049686.846729353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049686.847761407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049686.945584630] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049686.946201681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049686.947523721] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049686.948437842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049686.949706685] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049687.002782792] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972577 Long: -76.50298328 +[vectornav-1] [INFO] [1746049687.003956133] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.577, -3.372, 9.047) +[mux-7] [INFO] [1746049687.044751498] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049687.045553879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049687.045870224] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049687.047510250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049687.048732426] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049687.086021749] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049687.088781369] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746049687.089718255] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049687.089779370] [sailbot.teensy]: Wind angle: 264 +[teensy-2] [INFO] [1746049687.090703728] [sailbot.teensy]: Actual sail angle: 68 +[teensy-2] [INFO] [1746049687.091192866] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049687.091528331] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049687.144902813] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049687.145507192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049687.146246599] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049687.147297989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049687.148437053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049687.245362233] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049687.245905066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049687.246855243] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049687.247931435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049687.249139860] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049687.335443771] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049687.337387644] [sailbot.teensy]: Wind angle: 264 +[teensy-2] [INFO] [1746049687.338408763] [sailbot.teensy]: Actual sail angle: 68 +[trim_sail-4] [INFO] [1746049687.338028733] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746049687.339218808] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049687.339277132] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049687.340119506] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049687.344661588] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049687.345104286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049687.345860157] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049687.346816050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049687.347821004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049687.445605010] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049687.446402596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049687.447301640] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049687.448681483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049687.449992281] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049687.503448377] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972582 Long: -76.50298336 +[vectornav-1] [INFO] [1746049687.505059587] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.61400000000003, -3.363, 9.226) +[mux-7] [INFO] [1746049687.545383415] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049687.545969045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049687.546914023] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049687.548063208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049687.549154468] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049687.585328597] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049687.587059625] [sailbot.teensy]: Wind angle: 262 +[trim_sail-4] [INFO] [1746049687.587765167] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049687.588016167] [sailbot.teensy]: Actual sail angle: 68 +[teensy-2] [INFO] [1746049687.588915963] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049687.589107749] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049687.589780862] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049687.645106139] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049687.645786967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049687.646575846] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049687.647876688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049687.649072800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049687.745472165] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049687.746326393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049687.747063889] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049687.748649782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049687.749877746] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049687.835615689] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049687.838200439] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049687.838298626] [sailbot.teensy]: Wind angle: 262 +[mux-7] [INFO] [1746049687.838887611] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049687.839022865] [sailbot.teensy]: Actual sail angle: 68 +[teensy-2] [INFO] [1746049687.839405013] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049687.839767506] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049687.844519654] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049687.845124339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049687.845698442] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049687.846764461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049687.847775923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049687.945584795] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049687.946268594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049687.947186916] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049687.948513138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049687.949509983] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049688.003351090] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972576 Long: -76.50298333 +[vectornav-1] [INFO] [1746049688.004942431] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.637, -3.359, 9.385) +[mux-7] [INFO] [1746049688.045504387] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049688.045993038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049688.046996393] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049688.048019738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049688.049100313] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049688.085517246] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049688.087864266] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049688.088011309] [sailbot.teensy]: Wind angle: 262 +[mux-7] [INFO] [1746049688.088445787] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049688.089068554] [sailbot.teensy]: Actual sail angle: 68 +[teensy-2] [INFO] [1746049688.089971171] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049688.090823287] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049688.145500283] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049688.146137475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049688.147050949] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049688.148391159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049688.149163582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049688.245384692] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049688.246015353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049688.246853165] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049688.248257538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049688.249333167] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049688.335863963] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049688.338697516] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746049688.339357366] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049688.340083903] [sailbot.teensy]: Wind angle: 262 +[teensy-2] [INFO] [1746049688.341018566] [sailbot.teensy]: Actual sail angle: 68 +[teensy-2] [INFO] [1746049688.341839712] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049688.342637522] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049688.344300088] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049688.344691304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049688.345348223] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049688.346239465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049688.347194861] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049688.445067049] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049688.445713662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049688.446424691] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049688.447621328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049688.448639225] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049688.502915903] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972573 Long: -76.50298347 +[vectornav-1] [INFO] [1746049688.503947390] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.63300000000004, -3.36, 9.404) +[mux-7] [INFO] [1746049688.545117436] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049688.545940573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049688.546452295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049688.547867982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049688.548436102] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049688.585549023] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049688.588016568] [sailbot.teensy]: Wind angle: 261 +[trim_sail-4] [INFO] [1746049688.588297245] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049688.588934301] [sailbot.teensy]: Actual sail angle: 68 +[mux-7] [INFO] [1746049688.589096523] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049688.589317924] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049688.589696893] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049688.645165825] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049688.645856645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049688.646648238] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049688.648332749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049688.649443125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049688.745173230] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049688.745989525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049688.746614915] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049688.748080951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049688.749347602] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049688.835340857] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049688.837185632] [sailbot.teensy]: Wind angle: 261 +[trim_sail-4] [INFO] [1746049688.837874774] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746049688.838499866] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049688.839183890] [sailbot.teensy]: Actual sail angle: 68 +[teensy-2] [INFO] [1746049688.840055651] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049688.840900423] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049688.844379450] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049688.844842502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049688.845482586] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049688.846416979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049688.847403615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049688.945448223] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049688.946337366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049688.947001873] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049688.948979870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049688.950171562] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049689.003355514] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972571 Long: -76.50298341 +[vectornav-1] [INFO] [1746049689.004807236] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.64, -3.363, 9.494) +[mux-7] [INFO] [1746049689.044974668] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049689.045768076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049689.046646938] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049689.047662044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049689.048855539] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049689.085502509] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049689.087829801] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049689.088230929] [sailbot.teensy]: Wind angle: 259 +[mux-7] [INFO] [1746049689.088451823] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049689.089177238] [sailbot.teensy]: Actual sail angle: 68 +[teensy-2] [INFO] [1746049689.090044139] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049689.090855402] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049689.145557239] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049689.146284194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049689.147137039] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049689.148279898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049689.148781680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049689.245141007] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049689.245952031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049689.246625756] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049689.248053217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049689.249243126] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049689.335840871] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049689.338659037] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049689.338909654] [sailbot.teensy]: Wind angle: 258 +[mux-7] [INFO] [1746049689.339128898] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049689.339345363] [sailbot.teensy]: Actual sail angle: 68 +[teensy-2] [INFO] [1746049689.339732331] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049689.340524786] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049689.344217802] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049689.344734016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049689.345260961] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049689.346443885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049689.347484499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049689.445353902] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049689.446204810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049689.446888260] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049689.448524374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049689.449645373] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049689.503162296] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972571 Long: -76.50298333 +[vectornav-1] [INFO] [1746049689.504465563] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.627, -3.357, 9.491) +[mux-7] [INFO] [1746049689.545052865] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049689.545784618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049689.546488983] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049689.547773477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049689.548965140] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049689.585728316] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049689.588031403] [sailbot.teensy]: Wind angle: 258 +[trim_sail-4] [INFO] [1746049689.588563877] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049689.589223826] [sailbot.teensy]: Actual sail angle: 68 +[mux-7] [INFO] [1746049689.589271852] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049689.590153382] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049689.590981873] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049689.645497654] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049689.646038047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049689.647120185] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049689.648308063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049689.649571450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049689.745607053] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049689.746312484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049689.747357927] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049689.748774142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049689.749994368] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049689.835282002] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049689.836930698] [sailbot.teensy]: Wind angle: 258 +[trim_sail-4] [INFO] [1746049689.837466304] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049689.837821637] [sailbot.teensy]: Actual sail angle: 68 +[teensy-2] [INFO] [1746049689.838702604] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049689.838910448] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049689.839215441] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049689.844541164] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049689.845013495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049689.845861842] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049689.846746496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049689.847813372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049689.945534746] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049689.946225080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049689.947287118] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049689.948535748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049689.949681285] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049690.002608039] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972563 Long: -76.50298331 +[vectornav-1] [INFO] [1746049690.003689992] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.61400000000003, -3.371, 9.448) +[mux-7] [INFO] [1746049690.045732515] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049690.046423621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049690.047353779] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049690.048670065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049690.049883699] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049690.085334905] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049690.087152254] [sailbot.teensy]: Wind angle: 259 +[trim_sail-4] [INFO] [1746049690.087877425] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049690.088131512] [sailbot.teensy]: Actual sail angle: 68 +[mux-7] [INFO] [1746049690.089159029] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049690.089217723] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049690.090074986] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049690.145506532] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049690.146320597] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049690.147157504] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049690.148586200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049690.149252049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049690.245226618] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049690.245998140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049690.246785543] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049690.248926747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049690.249456782] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049690.335668256] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049690.338178969] [sailbot.teensy]: Wind angle: 258 +[trim_sail-4] [INFO] [1746049690.338529868] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049690.339911354] [sailbot.teensy]: Actual sail angle: 68 +[mux-7] [INFO] [1746049690.340739843] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049690.340882691] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049690.341724416] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049690.344240965] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049690.344714091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049690.345303527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049690.346292782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049690.347333871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049690.445002358] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049690.445595585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049690.446315846] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049690.447477200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049690.448396699] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049690.502452163] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972549 Long: -76.50298355 +[vectornav-1] [INFO] [1746049690.503597169] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.632, -3.363, 9.453) +[mux-7] [INFO] [1746049690.545407974] [sailbot.mux]: Published sail angle from controller_app: 68 +[teensy-2] [INFO] [1746049690.546059553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049690.546894514] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049690.548240729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 +[teensy-2] [INFO] [1746049690.549470777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049690.574526155] [sailbot.mux]: controller_app sail angle: 0 +[teensy-2] [INFO] [1746049690.585258186] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049690.587303859] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049690.587426683] [sailbot.teensy]: Wind angle: 258 +[mux-7] [INFO] [1746049690.587783679] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049690.588315727] [sailbot.teensy]: Actual sail angle: 68 +[teensy-2] [INFO] [1746049690.589122436] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049690.589880208] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049690.644949241] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049690.645480820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049690.646243248] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049690.647323717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049690.648355227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049690.745234855] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049690.745866630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049690.746629144] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049690.747828429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049690.749034363] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049690.835542611] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049690.838281370] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746049690.838773687] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049690.838799936] [sailbot.teensy]: Wind angle: 257 +[teensy-2] [INFO] [1746049690.839215226] [sailbot.teensy]: Actual sail angle: 68 +[teensy-2] [INFO] [1746049690.839588962] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049690.839943100] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049690.844700078] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049690.845167444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049690.845934195] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049690.846932656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049690.847930850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049690.945610437] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049690.946184428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049690.947237721] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049690.948544168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049690.949363416] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049691.002579707] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972536 Long: -76.50298353 +[vectornav-1] [INFO] [1746049691.003647024] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.62, -3.369, 9.466) +[mux-7] [INFO] [1746049691.045320233] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049691.045926362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049691.046828102] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049691.048093832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049691.049172807] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049691.085569410] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049691.087541117] [sailbot.teensy]: Wind angle: 256 +[trim_sail-4] [INFO] [1746049691.088127689] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746049691.089093083] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049691.090222761] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049691.090403213] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049691.091123439] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049691.145375392] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049691.145873491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049691.146878635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049691.148026943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049691.149055257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049691.245425166] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049691.246076806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049691.246921564] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049691.248190381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049691.249113154] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049691.335715012] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049691.338019162] [sailbot.teensy]: Wind angle: 256 +[trim_sail-4] [INFO] [1746049691.338485059] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746049691.339115994] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049691.340097867] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049691.340424792] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049691.341018526] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049691.344398441] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049691.344794800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049691.345555184] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049691.346436507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049691.347450277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049691.445667599] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049691.446613034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049691.447492216] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049691.448603717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049691.449140246] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049691.502635956] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972527 Long: -76.50298352 +[vectornav-1] [INFO] [1746049691.503771452] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.605, -3.377, 9.441) +[mux-7] [INFO] [1746049691.545521053] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049691.546236173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049691.547047367] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049691.548690519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049691.549962381] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049691.585435936] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049691.588826749] [sailbot.teensy]: Wind angle: 254 +[trim_sail-4] [INFO] [1746049691.589317673] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746049691.589670504] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049691.589803972] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049691.590529879] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049691.591363396] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049691.645176614] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049691.645827221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049691.646635571] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049691.647935474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049691.649029612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049691.745418969] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049691.746129078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049691.746973436] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049691.748230888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049691.748727202] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049691.835323487] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049691.837989480] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746049691.838535581] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049691.838756077] [sailbot.teensy]: Wind angle: 254 +[teensy-2] [INFO] [1746049691.839729051] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049691.840583202] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049691.841385481] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049691.844378442] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049691.844940211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049691.845460874] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049691.846685467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049691.847730394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049691.945635271] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049691.946537993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049691.947441921] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049691.947918706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049691.948437547] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049692.002519491] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972509 Long: -76.50298339 +[vectornav-1] [INFO] [1746049692.003501136] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.603, -3.374, 9.41) +[mux-7] [INFO] [1746049692.045530728] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049692.046381436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049692.047087146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049692.048706464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049692.049880956] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049692.085446928] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049692.087888745] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746049692.088117176] [sailbot.teensy]: Wind angle: 254 +[mux-7] [INFO] [1746049692.089038454] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049692.089056095] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049692.089920961] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049692.090754092] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049692.145264057] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049692.145879526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049692.146753151] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049692.147975013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049692.149110660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049692.245550377] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049692.246399727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049692.247083719] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049692.248698250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049692.249922439] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049692.335838620] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049692.337960063] [sailbot.teensy]: Wind angle: 254 +[trim_sail-4] [INFO] [1746049692.338709598] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746049692.339040548] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049692.340000478] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049692.340039100] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049692.340885304] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049692.344262746] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049692.344859047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049692.345360856] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049692.346496998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049692.347474110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049692.445454343] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049692.446183866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049692.447054284] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049692.447837178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049692.448355439] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049692.502946909] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972488 Long: -76.50298342 +[vectornav-1] [INFO] [1746049692.504005592] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.597, -3.378, 9.385) +[mux-7] [INFO] [1746049692.545371220] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049692.546186573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049692.546951806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049692.548547817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049692.549647319] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049692.585610330] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049692.587631049] [sailbot.teensy]: Wind angle: 254 +[teensy-2] [INFO] [1746049692.588674638] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049692.588384716] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746049692.588901168] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049692.589576566] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049692.590406461] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049692.645487675] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049692.646150559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049692.647103758] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049692.648468603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049692.649306671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049692.744936423] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049692.745641673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049692.746167908] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049692.747512317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049692.748376761] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049692.835322546] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049692.837090934] [sailbot.teensy]: Wind angle: 254 +[trim_sail-4] [INFO] [1746049692.837718782] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746049692.838309491] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049692.838857433] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049692.839224164] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049692.839558466] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049692.844518565] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049692.844871626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049692.845736021] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049692.846587199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049692.847975890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049692.945592839] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049692.946323008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049692.947225004] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049692.948660351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049692.950137949] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049693.002643189] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972471 Long: -76.50298327 +[vectornav-1] [INFO] [1746049693.003738815] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.546, -3.39, 9.117) +[mux-7] [INFO] [1746049693.045307003] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049693.046087190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049693.046795737] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049693.048237854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049693.049401995] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049693.085724044] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049693.087857529] [sailbot.teensy]: Wind angle: 254 +[teensy-2] [INFO] [1746049693.088974398] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049693.088599574] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746049693.089913643] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049693.089970547] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049693.090875575] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049693.145470373] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049693.146107178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049693.147017119] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049693.148567146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049693.149883067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049693.245446950] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049693.246226459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049693.247024181] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049693.248173184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049693.248692447] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049693.335665031] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049693.338259269] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746049693.338955845] [sailbot.teensy]: Wind angle: 253 +[mux-7] [INFO] [1746049693.339194905] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049693.339953260] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049693.340825636] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049693.341632745] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049693.344414848] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049693.344892466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049693.345498275] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049693.346491421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049693.347581362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049693.445095732] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049693.445889647] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049693.446599713] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049693.448050037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049693.449130876] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049693.503036495] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972462 Long: -76.5029831 +[vectornav-1] [INFO] [1746049693.504095230] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.54499999999996, -3.392, 9.129) +[mux-7] [INFO] [1746049693.545538537] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049693.546288436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049693.547134116] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049693.548772401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049693.550006109] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049693.585648582] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049693.587731151] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746049693.588430014] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746049693.588885915] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049693.589252127] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049693.589853160] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049693.590704946] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049693.645453160] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049693.646281033] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049693.647032112] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049693.648863956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049693.650079394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049693.745677897] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049693.746489945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049693.747399168] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049693.748883455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049693.750277052] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049693.835890265] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049693.838069015] [sailbot.teensy]: Wind angle: 251 +[trim_sail-4] [INFO] [1746049693.838927511] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746049693.839033502] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049693.839165141] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049693.839421754] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049693.839830140] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049693.844589662] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049693.845120898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049693.845752799] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049693.846791412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049693.847893554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049693.945489767] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049693.946211503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049693.947153829] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049693.948569766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049693.948999642] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049694.003354295] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697246 Long: -76.5029832 +[vectornav-1] [INFO] [1746049694.004648604] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.544, -3.396, 9.116) +[mux-7] [INFO] [1746049694.045324159] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049694.046151279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049694.046873155] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049694.048304447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049694.049474871] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049694.085432678] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049694.087259916] [sailbot.teensy]: Wind angle: 251 +[teensy-2] [INFO] [1746049694.088236976] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049694.088176665] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746049694.088742919] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049694.089099909] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049694.089947310] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049694.145535173] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049694.146336070] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049694.147081732] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049694.148613883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049694.149151714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049694.245193651] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049694.245951527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049694.246681066] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049694.248139656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049694.248875979] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049694.335312566] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049694.337201430] [sailbot.teensy]: Wind angle: 250 +[trim_sail-4] [INFO] [1746049694.337808448] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746049694.338183639] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049694.338618796] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049694.339065270] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049694.339900444] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049694.344299211] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049694.344944648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049694.345349925] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049694.346589056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049694.347714856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049694.445432277] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049694.446195080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049694.447070520] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049694.448382558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049694.448836681] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049694.502456442] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697245 Long: -76.50298302 +[vectornav-1] [INFO] [1746049694.503498310] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.5, -3.4, 8.863) +[mux-7] [INFO] [1746049694.545178931] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049694.546078974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049694.546648532] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049694.548227613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049694.548818965] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049694.585396998] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049694.587261032] [sailbot.teensy]: Wind angle: 251 +[trim_sail-4] [INFO] [1746049694.587944347] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746049694.588285144] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049694.589222755] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049694.589798534] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049694.590089137] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049694.645236015] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049694.645889558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049694.646771300] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049694.647722884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049694.648193357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049694.745010348] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049694.745706283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049694.746285489] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049694.747547545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049694.748593098] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049694.835855021] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049694.838034872] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746049694.838553710] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746049694.838822740] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049694.839209635] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049694.839600296] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049694.839966331] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049694.844489615] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049694.845050298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049694.845700138] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049694.847219205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049694.848387556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049694.945276362] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049694.946132888] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049694.946780985] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049694.948266097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049694.949237685] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049695.002327030] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972435 Long: -76.50298295 +[vectornav-1] [INFO] [1746049695.003290944] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.497, -3.408, 8.829) +[mux-7] [INFO] [1746049695.045328019] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049695.046759354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049695.046850287] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049695.047947285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049695.048415937] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049695.085496205] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049695.087318367] [sailbot.teensy]: Wind angle: 246 +[trim_sail-4] [INFO] [1746049695.088036272] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049695.088332027] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049695.089018475] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049695.089207214] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049695.090081151] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049695.145198541] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049695.145912355] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049695.146557861] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049695.147928067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049695.148997571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049695.245464095] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049695.246508892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049695.247082979] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049695.248018248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049695.248433308] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049695.335556451] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049695.337561260] [sailbot.teensy]: Wind angle: 246 +[trim_sail-4] [INFO] [1746049695.338185109] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049695.338521501] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049695.338964197] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049695.339413546] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049695.340268579] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049695.344209446] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049695.344859708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049695.345322282] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049695.346536371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049695.347507933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049695.445461311] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049695.446308874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049695.447225270] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049695.448478852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049695.448888532] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049695.503114409] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972421 Long: -76.50298286 +[vectornav-1] [INFO] [1746049695.504125359] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.477, -3.407, 8.926) +[mux-7] [INFO] [1746049695.544831353] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049695.545668152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049695.546107467] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049695.547539572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049695.548529106] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049695.585358970] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049695.587696427] [sailbot.teensy]: Wind angle: 246 +[trim_sail-4] [INFO] [1746049695.587741277] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746049695.588141329] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049695.588746494] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049695.589553293] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049695.590300506] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049695.645516596] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049695.646280877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049695.647132276] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049695.648891096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049695.650073369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049695.745543035] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049695.746457685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049695.747245865] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049695.748945431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049695.750019705] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049695.835869659] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049695.838215086] [sailbot.teensy]: Wind angle: 246 +[trim_sail-4] [INFO] [1746049695.838698984] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049695.839315426] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049695.840001016] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049695.840252017] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049695.841085103] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049695.844409492] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049695.845009011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049695.845627664] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049695.846822751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049695.847873553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049695.945500766] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049695.946450582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049695.947128818] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049695.948826437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049695.949953010] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049696.002938944] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469724 Long: -76.50298272 +[vectornav-1] [INFO] [1746049696.004298351] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.46500000000003, -3.4, 8.923) +[mux-7] [INFO] [1746049696.045481668] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049696.046369100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049696.046983859] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049696.048116315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049696.048694720] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049696.085428528] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049696.087936713] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049696.088280358] [sailbot.teensy]: Wind angle: 246 +[mux-7] [INFO] [1746049696.088447950] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049696.089337727] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049696.090353832] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049696.091209725] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049696.145322607] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049696.146200326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049696.146802730] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049696.148419727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049696.149537596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049696.245642595] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049696.246627323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049696.247465815] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049696.247990228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049696.248441586] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049696.335485003] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049696.337483369] [sailbot.teensy]: Wind angle: 246 +[teensy-2] [INFO] [1746049696.338487558] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049696.337999151] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746049696.338836334] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049696.339391842] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049696.340315255] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049696.344255241] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049696.344854314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049696.345321550] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049696.346453736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049696.347434582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049696.445265316] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049696.446081268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049696.446963489] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049696.447842593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049696.448369629] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049696.502916527] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972388 Long: -76.50298246 +[vectornav-1] [INFO] [1746049696.504069354] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.451, -3.405, 8.875) +[mux-7] [INFO] [1746049696.545426716] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049696.546112255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049696.546913076] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049696.548283013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049696.549458029] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049696.585569666] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049696.587763398] [sailbot.teensy]: Wind angle: 246 +[trim_sail-4] [INFO] [1746049696.588319765] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049696.588876425] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049696.589745776] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049696.589765761] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049696.590588678] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049696.644932929] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049696.645592456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049696.646276532] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049696.647500545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049696.648548594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049696.744462480] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049696.745084130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049696.745562465] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049696.747061663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049696.748015194] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049696.835910183] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049696.838676767] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049696.838708772] [sailbot.teensy]: Wind angle: 246 +[mux-7] [INFO] [1746049696.838938841] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049696.839113464] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049696.839495511] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049696.840190716] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049696.844352135] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049696.845001665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049696.845448756] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049696.846618571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049696.847722404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049696.945493710] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049696.946219860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049696.947109272] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049696.948641221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049696.949175973] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049697.003479482] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972372 Long: -76.5029824 +[vectornav-1] [INFO] [1746049697.004885211] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.46000000000004, -3.402, 8.946) +[mux-7] [INFO] [1746049697.045599859] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049697.046653081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049697.047182292] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049697.049016590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049697.050201319] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049697.085515970] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049697.087927111] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049697.087972509] [sailbot.teensy]: Wind angle: 245 +[mux-7] [INFO] [1746049697.088885620] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049697.088964345] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049697.089881767] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049697.090718580] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049697.145413518] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049697.146025217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049697.146975686] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049697.148246605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049697.149436228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049697.245467261] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049697.246205725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049697.247043350] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049697.248455630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049697.249649038] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049697.335120699] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049697.336785324] [sailbot.teensy]: Wind angle: 242 +[trim_sail-4] [INFO] [1746049697.337150908] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746049697.337782358] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746049697.337929141] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049697.338790482] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049697.339613376] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049697.344317136] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049697.344867384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049697.345423564] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049697.346482988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049697.347458253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049697.445159354] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049697.445835926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049697.446537893] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049697.447880474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049697.448676562] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049697.502935603] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972356 Long: -76.5029824 +[vectornav-1] [INFO] [1746049697.504059080] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.46299999999997, -3.398, 8.982) +[mux-7] [INFO] [1746049697.545157568] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049697.545972643] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049697.546522846] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049697.547854941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049697.548296790] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049697.585673080] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049697.587640904] [sailbot.teensy]: Wind angle: 242 +[teensy-2] [INFO] [1746049697.588711052] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049697.588365799] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746049697.589641141] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049697.590123690] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746049697.590476263] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049697.645324711] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049697.646042672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049697.646833799] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049697.647718060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049697.648253015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049697.745345011] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049697.746097494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049697.746815120] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049697.747947818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049697.748480971] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049697.835550650] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049697.837388639] [sailbot.teensy]: Wind angle: 242 +[trim_sail-4] [INFO] [1746049697.838022566] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746049697.838371699] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049697.839251347] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049697.839505467] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746049697.840126852] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049697.844373832] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049697.845003349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049697.845488126] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049697.846617289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049697.847731511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049697.945557516] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049697.946306705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049697.947165177] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049697.948647759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049697.949926843] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049698.003484689] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972367 Long: -76.50298227 +[vectornav-1] [INFO] [1746049698.005223428] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.448, -3.404, 8.844) +[mux-7] [INFO] [1746049698.044679777] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049698.045253749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049698.045783346] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049698.046884622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049698.047861758] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049698.085537518] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049698.087415467] [sailbot.teensy]: Wind angle: 242 +[trim_sail-4] [INFO] [1746049698.088100034] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746049698.088430805] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049698.089308734] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049698.089359630] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746049698.090215542] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049698.145086615] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049698.145957563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049698.146553802] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049698.147956346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049698.148990227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049698.245244313] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049698.246067827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049698.246755550] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049698.248346708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049698.249514746] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049698.335346294] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049698.337132801] [sailbot.teensy]: Wind angle: 240 +[trim_sail-4] [INFO] [1746049698.337644117] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746049698.338072700] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049698.338803293] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049698.338823039] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746049698.339174303] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049698.344459828] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049698.344902167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049698.345678962] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049698.346562115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049698.347594248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049698.445049602] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049698.445845759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049698.446455247] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049698.447830874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049698.448862053] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049698.503167594] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972361 Long: -76.50298223 +[vectornav-1] [INFO] [1746049698.504485074] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.41999999999996, -3.412, 8.689) +[mux-7] [INFO] [1746049698.545082880] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049698.545830761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049698.546404588] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049698.547802451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049698.548829258] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049698.585389518] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049698.587615025] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746049698.587736759] [sailbot.teensy]: Wind angle: 239 +[mux-7] [INFO] [1746049698.588426784] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746049698.588752651] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049698.589662853] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049698.590506125] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049698.645360636] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049698.646191860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049698.646850898] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049698.648435921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049698.649476069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049698.744768229] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049698.745434869] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049698.745895646] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049698.747100957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049698.748090136] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049698.835456694] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049698.837204475] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746049698.837766796] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746049698.838146494] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049698.839040327] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049698.839164571] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746049698.839894551] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049698.844251217] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049698.844802028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049698.845277771] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049698.846448910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049698.847560762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049698.945463807] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049698.946112958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049698.947301241] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049698.948410873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049698.949029580] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049699.002497899] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697234 Long: -76.50298229 +[vectornav-1] [INFO] [1746049699.003649783] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.445, -3.405, 8.802) +[mux-7] [INFO] [1746049699.045470161] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049699.047031643] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049699.047512879] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049699.048999930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049699.049518202] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049699.085982551] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049699.088935101] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746049699.089175783] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746049699.090024360] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049699.090021224] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746049699.090971999] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049699.091838753] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049699.145262547] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049699.145929174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049699.146775100] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049699.148213853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049699.149078468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049699.245449153] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049699.246274512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049699.246991087] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049699.248529742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049699.249752649] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049699.335526167] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049699.337395053] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746049699.337995301] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746049699.338382199] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049699.339256472] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049699.339410280] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746049699.340102466] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049699.344342710] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049699.344970680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049699.345375611] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049699.346589421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049699.347702498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049699.445409647] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049699.446357604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049699.446912818] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049699.447955715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049699.448442734] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049699.503420883] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972321 Long: -76.50298242 +[vectornav-1] [INFO] [1746049699.504813781] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.447, -3.392, 9.108) +[mux-7] [INFO] [1746049699.544939690] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049699.545799401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049699.546269206] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049699.547790978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049699.548855076] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049699.585458247] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049699.587300275] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746049699.587727165] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746049699.588431642] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049699.588619350] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746049699.589449772] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049699.590370730] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049699.645056187] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049699.645966014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049699.646462626] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049699.648039508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049699.649135073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049699.745373071] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049699.746213147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049699.746999580] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049699.748031082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049699.748468901] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049699.835360188] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049699.837108562] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746049699.837795929] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746049699.838036074] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049699.838935187] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049699.839584201] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746049699.839798294] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049699.844385200] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049699.844984567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049699.845498462] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049699.846634856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049699.847740722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049699.945543040] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049699.946358550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049699.947243636] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049699.948212008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049699.948736225] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049700.002855518] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972305 Long: -76.50298242 +[vectornav-1] [INFO] [1746049700.003935523] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.408, -3.4, 8.908) +[mux-7] [INFO] [1746049700.045544678] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049700.046404634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049700.047003814] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049700.048579062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049700.049464509] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049700.085773975] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049700.087917118] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746049700.088508792] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746049700.089008720] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049700.089959596] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049700.090367009] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746049700.090813876] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049700.145470023] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049700.146145201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049700.146997560] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049700.148430053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049700.149676338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049700.245484496] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049700.245990745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049700.247026326] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049700.248263736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049700.249078159] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049700.335867938] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049700.338106727] [sailbot.teensy]: Wind angle: 236 +[trim_sail-4] [INFO] [1746049700.338541017] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746049700.338911212] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049700.338955217] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746049700.339290352] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049700.339622665] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049700.344577691] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049700.345081997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049700.345704720] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049700.346735171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049700.347754436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049700.445432990] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049700.445959923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049700.446997126] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049700.448099193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049700.448876583] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049700.503395597] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972288 Long: -76.50298241 +[vectornav-1] [INFO] [1746049700.504694081] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.373, -3.412, 8.552) +[mux-7] [INFO] [1746049700.545215733] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049700.545889296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049700.546654050] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049700.547819851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049700.548980903] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049700.585426541] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049700.587119913] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746049700.587831712] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746049700.588722467] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049700.589025656] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049700.589917708] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049700.590731978] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049700.645361519] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049700.646211465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049700.646881722] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049700.648580010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049700.649632062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049700.744740698] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049700.745445233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049700.745857812] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049700.747127576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049700.748262812] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049700.835565267] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049700.838255906] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049700.838461349] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746049700.838690835] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049700.839785828] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049700.840319583] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049700.840656083] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049700.844413924] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049700.844919943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049700.845456993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049700.846570740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049700.847670775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049700.945631214] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049700.946364571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049700.947166536] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049700.948762051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049700.949864551] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049701.002439553] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972254 Long: -76.50298258 +[vectornav-1] [INFO] [1746049701.003506897] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.45500000000004, -3.393, 8.861) +[mux-7] [INFO] [1746049701.045479986] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049701.046370713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049701.046958393] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049701.048599823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049701.049674914] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049701.085561569] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049701.088168791] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049701.088376291] [sailbot.teensy]: Wind angle: 234 +[mux-7] [INFO] [1746049701.088824467] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049701.089465884] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049701.090318658] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049701.091124082] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049701.145217988] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049701.145962428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049701.146630420] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049701.148014652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049701.149073745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049701.245296419] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049701.246107469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049701.246835097] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049701.248279052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049701.248939183] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049701.335281285] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049701.337019213] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746049701.337727549] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049701.338051859] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049701.338969594] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049701.339899943] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049701.340878364] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746049701.344356842] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049701.344925763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049701.345404857] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049701.346648785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049701.347661091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049701.444923960] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049701.445722633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049701.446277223] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049701.447682665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049701.448750292] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049701.502432009] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972224 Long: -76.50298258 +[vectornav-1] [INFO] [1746049701.503465819] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.454, -3.385, 8.86) +[mux-7] [INFO] [1746049701.545492806] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049701.546400281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049701.546948743] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049701.548644687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049701.549726828] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049701.585693259] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049701.587891864] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746049701.588529382] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049701.589017194] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049701.589931704] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049701.589956354] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049701.590880817] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049701.645091445] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049701.645877182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049701.646568531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049701.648092272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049701.649237895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049701.745666814] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049701.746532282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049701.747303099] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049701.748356228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049701.748868253] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049701.835604545] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049701.838118581] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049701.838469190] [sailbot.teensy]: Wind angle: 234 +[mux-7] [INFO] [1746049701.838625052] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049701.839492539] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049701.840452742] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049701.841315513] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049701.844290473] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049701.844878712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049701.845499626] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049701.846536590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049701.847577817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049701.945397921] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049701.946198800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049701.946901230] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049701.948203418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049701.948616403] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049702.003118580] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697221 Long: -76.50298255 +[vectornav-1] [INFO] [1746049702.004583843] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.459, -3.386, 8.866) +[mux-7] [INFO] [1746049702.044927244] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049702.045737148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049702.046107944] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049702.047555463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049702.048667056] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049702.085432467] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049702.087266008] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746049702.087734202] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049702.088308550] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049702.089011676] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049702.089226047] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049702.090074439] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049702.145296489] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049702.146123692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049702.146806184] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049702.148354675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049702.149558362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049702.245459126] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049702.246241215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049702.247360198] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049702.248655940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049702.249856567] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049702.335511529] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049702.337580640] [sailbot.teensy]: Wind angle: 232 +[trim_sail-4] [INFO] [1746049702.338060202] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049702.338580748] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049702.339182037] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049702.339449885] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049702.340359893] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049702.344527870] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049702.345005367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049702.345597410] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049702.346673959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049702.347658103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049702.445420643] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049702.446005614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049702.447518703] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049702.448042838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049702.449123182] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049702.503435005] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697219 Long: -76.50298264 +[vectornav-1] [INFO] [1746049702.505103975] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.448, -3.39, 8.815) +[mux-7] [INFO] [1746049702.545278893] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049702.545974675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049702.546733292] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049702.547992890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049702.549059861] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049702.585464199] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049702.587209918] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746049702.588188718] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049702.588010266] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746049702.588788011] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049702.589072874] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049702.589932371] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049702.645402103] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049702.645945677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049702.646915622] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049702.648007964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049702.649126169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049702.744647858] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049702.745125974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049702.745881619] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049702.746847017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049702.747902381] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049702.835891669] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049702.838763219] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049702.839097403] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746049702.840144373] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049702.840324368] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049702.841046741] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049702.841873558] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049702.844125513] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049702.844761068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049702.845185298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049702.846348316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049702.847431007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049702.945568522] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049702.946113752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049702.947117360] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049702.948339170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049702.949569013] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049703.003594732] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972181 Long: -76.50298277 +[vectornav-1] [INFO] [1746049703.004854047] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.447, -3.395, 8.783) +[mux-7] [INFO] [1746049703.045102239] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049703.045724332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049703.046490369] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049703.047719348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049703.048805635] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049703.085570019] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049703.087417206] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746049703.088081198] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049703.088450808] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049703.088900200] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049703.089338637] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049703.090176575] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049703.145275998] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049703.145945333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049703.146772991] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049703.148136208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049703.149316148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049703.245013433] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049703.245680554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049703.246468635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049703.247685011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049703.248734989] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049703.335649404] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049703.337683367] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746049703.338339600] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049703.338757071] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049703.339716026] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049703.340096011] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049703.340595494] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049703.344391679] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049703.344861948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049703.345530518] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049703.346488564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049703.347490765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049703.445503007] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049703.446108960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049703.447045596] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049703.448397504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049703.449594429] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049703.502903500] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972167 Long: -76.50298275 +[vectornav-1] [INFO] [1746049703.504185910] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.467, -3.401, 8.768) +[mux-7] [INFO] [1746049703.545084635] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049703.545775578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049703.546395796] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049703.547629347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049703.548686210] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049703.585226335] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049703.586833473] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746049703.587499470] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049703.587738737] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049703.587960728] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049703.588582345] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049703.589366996] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049703.645188465] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049703.645995651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049703.646655012] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049703.647812147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049703.648318874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049703.745421458] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049703.746275917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049703.746820624] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049703.748278876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049703.749303035] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049703.835394094] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049703.837136223] [sailbot.teensy]: Wind angle: 232 +[teensy-2] [INFO] [1746049703.838068323] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049703.837967156] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746049703.838717383] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049703.838934278] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049703.839391433] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049703.844279165] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049703.844866184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049703.845343108] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049703.846576541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049703.847666138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049703.945467194] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049703.946223906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049703.947269553] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049703.948238204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049703.948687977] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049704.002532726] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972133 Long: -76.50298285 +[vectornav-1] [INFO] [1746049704.003697928] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.457, -3.399, 8.776) +[mux-7] [INFO] [1746049704.045055891] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049704.045876266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049704.046392335] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049704.047756192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049704.048757980] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049704.085593204] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049704.088399479] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049704.088880556] [sailbot.teensy]: Wind angle: 231 +[mux-7] [INFO] [1746049704.088982377] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049704.089829029] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049704.090670954] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049704.091473135] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049704.145241273] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049704.145895615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049704.146707209] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049704.147969357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049704.149025366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049704.245415351] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049704.246100974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049704.246915888] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049704.248229102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049704.248658268] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049704.335309744] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049704.337021060] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746049704.337591828] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746049704.338685694] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049704.338974688] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049704.339884586] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049704.340736415] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049704.344391958] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049704.344812892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049704.345490264] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049704.346402448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049704.347399478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049704.445323735] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049704.445973297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049704.446912741] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049704.448041970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049704.449304843] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049704.503469267] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972131 Long: -76.50298291 +[vectornav-1] [INFO] [1746049704.505115387] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.462, -3.397, 8.805) +[mux-7] [INFO] [1746049704.545369972] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049704.545915410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049704.546858108] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049704.548006217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049704.549208433] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049704.585463088] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049704.587148365] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746049704.587726498] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049704.588093294] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049704.588996887] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049704.589022407] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049704.589913165] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049704.645004009] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049704.645523821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049704.646439562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049704.647423790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049704.648567966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049704.744988327] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049704.745498558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049704.746311840] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049704.747744886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049704.748858352] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049704.835600959] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049704.837739779] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746049704.838409206] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049704.838773231] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049704.839794856] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049704.840248576] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049704.840668645] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049704.844373522] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049704.844909507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049704.845434824] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049704.846504593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049704.847613360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049704.944730474] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049704.945321414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049704.945853216] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049704.946941076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049704.947957643] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049705.003056642] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972119 Long: -76.50298302 +[vectornav-1] [INFO] [1746049705.004225628] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.459, -3.405, 8.732) +[mux-7] [INFO] [1746049705.045143307] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049705.046043769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049705.046466680] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049705.047955369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049705.048974367] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049705.085407872] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049705.087266649] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746049705.087853701] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049705.088244271] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049705.089136715] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049705.089433742] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049705.089989485] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049705.144906736] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049705.145630648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049705.146106246] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049705.147394815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049705.148380909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049705.245149828] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049705.245805746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049705.246696780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049705.247802123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049705.248767246] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049705.335455417] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049705.337337799] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746049705.337906231] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049705.338287267] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049705.339082437] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049705.339178171] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049705.340016471] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049705.344476049] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049705.345015529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049705.345667517] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049705.348339450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049705.349501918] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049705.445442864] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049705.446457476] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049705.447109357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049705.449415764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049705.450516815] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049705.502658927] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972106 Long: -76.50298307 +[vectornav-1] [INFO] [1746049705.503797774] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.45799999999997, -3.405, 8.752) +[mux-7] [INFO] [1746049705.545171891] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049705.545944396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049705.546595248] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049705.548012209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049705.549174641] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049705.585558945] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049705.587466852] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746049705.588091859] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049705.589385736] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049705.589571665] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049705.590357220] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049705.591227519] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049705.645148783] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049705.646102258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049705.646636300] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049705.647855157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049705.648284625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049705.745075654] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049705.745838888] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049705.746525656] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049705.747918554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049705.749390461] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049705.835351100] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049705.837740091] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049705.837845750] [sailbot.teensy]: Wind angle: 231 +[mux-7] [INFO] [1746049705.838327099] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049705.838784545] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049705.839651839] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049705.840269164] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049705.844366905] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049705.844989664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049705.845427992] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049705.846597439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049705.847696447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049705.945524597] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049705.946266949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049705.947208823] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049705.948106362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049705.948522489] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049706.003109351] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972076 Long: -76.50298319 +[vectornav-1] [INFO] [1746049706.004546649] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.469, -3.401, 8.763) +[mux-7] [INFO] [1746049706.045171309] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049706.045918768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049706.046722199] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049706.047975715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049706.049045129] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049706.085585059] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049706.087520485] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746049706.088242176] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049706.089495019] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049706.089730583] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049706.090405039] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049706.091250434] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049706.145423726] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049706.146105102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049706.146996933] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049706.148259538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049706.148768356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049706.245140139] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049706.245927312] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049706.246584917] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049706.248044371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049706.249105489] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049706.335577827] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049706.337751357] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746049706.338699770] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049706.338799067] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049706.339708804] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049706.339887740] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049706.340605036] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049706.344407126] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049706.344959114] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049706.345472503] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049706.346684538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049706.347690966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049706.445428967] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049706.446173808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049706.446968967] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049706.448510988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049706.449616669] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049706.502591602] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972061 Long: -76.50298321 +[vectornav-1] [INFO] [1746049706.503638389] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.471, -3.403, 8.726) +[mux-7] [INFO] [1746049706.545147037] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049706.545971398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049706.546600162] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049706.548187470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049706.549238144] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049706.585656783] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049706.587733049] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746049706.588284222] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049706.588774860] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049706.589428898] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049706.589687141] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049706.590553518] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049706.644615511] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049706.645320762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049706.645769315] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049706.647069265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049706.648098268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049706.745123809] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049706.745979777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049706.746443891] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049706.747975881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049706.748510967] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049706.835500101] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049706.837388368] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746049706.837902779] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049706.838338135] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049706.839219818] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049706.839240955] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049706.840089242] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049706.844292150] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049706.844750065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049706.845352812] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049706.846332676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049706.847339616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049706.945204682] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049706.945927718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049706.946745845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049706.948174060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049706.948793777] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049707.002931043] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972041 Long: -76.50298326 +[vectornav-1] [INFO] [1746049707.004194212] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.46500000000003, -3.403, 8.69) +[mux-7] [INFO] [1746049707.045214818] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049707.045954027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049707.046658499] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049707.048071852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049707.048933965] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049707.085499938] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049707.087289683] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746049707.087887736] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746049707.088653542] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049707.089063510] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049707.090050873] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049707.090881136] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049707.145576525] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049707.146209067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049707.147246430] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049707.148591614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049707.149806930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049707.245083138] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049707.245741053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049707.246577580] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049707.247764467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049707.248800679] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049707.335833943] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049707.337988732] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746049707.339041075] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049707.339049419] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746049707.339517353] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049707.339968197] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049707.340831621] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049707.344294428] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049707.344825839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049707.345320892] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049707.346418841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049707.347431638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049707.445202753] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049707.446035264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049707.446655613] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049707.448108349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049707.449178187] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049707.503468154] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972029 Long: -76.50298325 +[vectornav-1] [INFO] [1746049707.505202146] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.473, -3.402, 8.732) +[mux-7] [INFO] [1746049707.545412167] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049707.546363385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049707.547074894] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049707.548678945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049707.549791865] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049707.585445698] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049707.587843149] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746049707.588325532] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049707.588689989] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746049707.589605804] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049707.590436377] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049707.591225711] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049707.645409946] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049707.646326901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049707.646975037] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049707.648719316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049707.649832283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049707.745547374] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049707.746316761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049707.747069999] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049707.748127418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049707.748653095] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049707.835557869] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049707.837624819] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746049707.838265452] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049707.838635915] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049707.839521728] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049707.839615170] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049707.840189436] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049707.844395339] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049707.844940660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049707.845492562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049707.846599610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049707.847577463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049707.945414454] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049707.946213802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049707.946935991] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049707.948574736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049707.949821529] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049708.002524049] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697203 Long: -76.50298327 +[vectornav-1] [INFO] [1746049708.003616712] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.472, -3.408, 8.776) +[mux-7] [INFO] [1746049708.044802185] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049708.045543493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049708.046085467] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049708.047315958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049708.048308879] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049708.085424015] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049708.087167830] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746049708.087895987] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049708.088138474] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049708.089045898] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049708.089236242] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049708.089929333] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049708.145434097] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049708.146182290] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049708.146980792] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049708.148619038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049708.149822943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049708.244913948] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049708.245582909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049708.246263446] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049708.247453596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049708.248517283] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049708.335660453] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049708.338555704] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746049708.338720999] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746049708.339099625] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049708.339632398] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049708.340548424] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049708.341190081] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049708.344210461] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049708.344941212] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049708.345287314] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049708.346551143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049708.347645193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049708.445176247] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049708.445968333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049708.446631591] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049708.448050040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049708.449075586] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049708.503091206] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972023 Long: -76.50298324 +[vectornav-1] [INFO] [1746049708.504425905] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.46299999999997, -3.403, 8.788) +[mux-7] [INFO] [1746049708.545053511] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049708.545791891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049708.546617123] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049708.548207422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049708.549354598] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049708.585444019] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049708.587865946] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049708.588097775] [sailbot.teensy]: Wind angle: 230 +[mux-7] [INFO] [1746049708.588416632] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049708.589092653] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049708.589956183] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049708.590781186] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049708.645148616] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049708.645886921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049708.646766843] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049708.647654761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049708.648164041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049708.745507303] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049708.746325673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049708.747348822] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049708.749308916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049708.750773855] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049708.835318970] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049708.837191010] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746049708.837729605] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049708.838117438] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049708.838123959] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049708.839035349] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049708.839873079] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049708.844412029] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049708.844919717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049708.845511739] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049708.846646975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049708.847660324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049708.945452279] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049708.946272579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049708.947012147] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049708.948663533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049708.949897269] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049709.002576480] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972018 Long: -76.5029835 +[vectornav-1] [INFO] [1746049709.003635536] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.454, -3.417, 8.715) +[mux-7] [INFO] [1746049709.045591259] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049709.046330797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049709.047219107] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049709.048882762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049709.050087673] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049709.085336295] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049709.087228712] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746049709.087800409] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049709.088202183] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049709.088481835] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049709.089110778] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049709.089961705] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049709.145255011] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049709.146004727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049709.146699295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049709.148078849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049709.149143629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049709.245448531] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049709.246191139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049709.247232836] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049709.247804140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049709.248346099] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049709.335734742] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049709.337993053] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746049709.338529106] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049709.338718098] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049709.339100482] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049709.339095046] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049709.339477300] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049709.344475618] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049709.345300532] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049709.345668987] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049709.346955221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049709.347908859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049709.445406434] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049709.446127902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049709.447040331] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049709.448430178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049709.448919850] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049709.503632308] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972013 Long: -76.50298345 +[vectornav-1] [INFO] [1746049709.505100341] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.476, -3.408, 8.734) +[mux-7] [INFO] [1746049709.544964360] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049709.545824407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049709.546343817] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049709.547785858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049709.548310962] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049709.585481670] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049709.587402915] [sailbot.teensy]: Wind angle: 244 +[trim_sail-4] [INFO] [1746049709.587945273] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049709.588392318] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049709.588771182] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049709.589320404] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049709.590175138] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049709.645641205] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049709.646573732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049709.647345383] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049709.649902959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049709.651108177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049709.745270250] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049709.746053307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049709.746722466] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049709.748209952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049709.748706463] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049709.835640842] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049709.838379654] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746049709.838649176] [sailbot.teensy]: Wind angle: 281 +[mux-7] [INFO] [1746049709.839246211] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746049709.839590128] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049709.840488458] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049709.841346251] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049709.844411995] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049709.844967305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049709.845510963] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049709.846738484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049709.847746635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049709.945455663] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049709.946196804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049709.947009772] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049709.948346049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049709.948891972] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049710.002487382] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972014 Long: -76.50298354 +[vectornav-1] [INFO] [1746049710.003564111] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.497, -3.409, 8.702) +[mux-7] [INFO] [1746049710.045528480] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049710.046323793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049710.047155789] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049710.048670238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049710.049896650] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049710.085645241] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049710.088277863] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049710.088560995] [sailbot.teensy]: Wind angle: 301 +[mux-7] [INFO] [1746049710.088772000] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049710.089543486] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049710.090413857] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049710.091225776] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049710.145341699] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049710.146068050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049710.146927667] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049710.148360861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049710.149603532] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049710.244959962] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049710.245683639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049710.246545128] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049710.247764631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049710.248933400] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049710.335804970] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049710.338821231] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049710.339336721] [sailbot.teensy]: Wind angle: 303 +[mux-7] [INFO] [1746049710.339336408] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049710.340373282] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049710.341221520] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049710.342036324] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049710.344202282] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049710.344733642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049710.345276944] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049710.346508154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049710.347668438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049710.445409378] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049710.446223199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049710.446957193] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049710.448145507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049710.448665465] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049710.502874586] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971989 Long: -76.50298351 +[vectornav-1] [INFO] [1746049710.504192993] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.486, -3.409, 8.748) +[mux-7] [INFO] [1746049710.545185873] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049710.545916047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049710.546717352] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049710.548177884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049710.549201715] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049710.585758665] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049710.587801569] [sailbot.teensy]: Wind angle: 301 +[trim_sail-4] [INFO] [1746049710.588828969] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049710.588930539] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049710.589899216] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049710.590370364] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049710.590748345] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049710.645625249] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049710.646206713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049710.647362787] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049710.649282480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049710.650377442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049710.745468490] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049710.745924444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049710.747241220] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049710.749143453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049710.749942355] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049710.835462916] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049710.837929711] [sailbot.trim_sail]: Sail Angle: "60" +[mux-7] [INFO] [1746049710.838549247] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049710.838559295] [sailbot.teensy]: Wind angle: 305 +[teensy-2] [INFO] [1746049710.839544784] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049710.840422572] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049710.841237198] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049710.844406156] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049710.844820104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049710.845506528] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049710.846446191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049710.847600706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049710.945592324] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049710.946183989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049710.947249150] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049710.948451677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049710.949750348] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049711.002478247] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971982 Long: -76.50298366 +[vectornav-1] [INFO] [1746049711.003515756] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.49, -3.397, 8.746) +[mux-7] [INFO] [1746049711.044978985] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049711.045714205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049711.046198398] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049711.047510302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049711.048510366] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049711.085763856] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049711.088328147] [sailbot.trim_sail]: Sail Angle: "60" +[mux-7] [INFO] [1746049711.088865422] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049711.089498480] [sailbot.teensy]: Wind angle: 305 +[teensy-2] [INFO] [1746049711.090573441] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049711.091457431] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049711.092295331] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049711.144885765] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049711.145683831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049711.146201450] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049711.147788098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049711.148853968] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049711.245500228] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049711.246336358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049711.247161893] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049711.248316410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049711.248853721] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049711.335482508] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049711.338021457] [sailbot.trim_sail]: Sail Angle: "55" +[mux-7] [INFO] [1746049711.338404723] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049711.338683005] [sailbot.teensy]: Wind angle: 303 +[teensy-2] [INFO] [1746049711.339081923] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049711.339422803] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049711.339753901] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049711.344428459] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049711.345035247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049711.345614528] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049711.346823120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049711.347845306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049711.445157198] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049711.446031800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049711.446765494] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049711.447829439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049711.448302332] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049711.503465571] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971974 Long: -76.50298386 +[vectornav-1] [INFO] [1746049711.504898823] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.538, -3.394, 8.816) +[mux-7] [INFO] [1746049711.545043591] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049711.545867831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049711.546429999] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049711.547917662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049711.549025027] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049711.585471475] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049711.587337803] [sailbot.teensy]: Wind angle: 300 +[trim_sail-4] [INFO] [1746049711.588040961] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049711.588373410] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049711.589277188] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049711.589267345] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049711.590133766] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049711.645200818] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049711.645991554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049711.647015208] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049711.648137182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049711.650563722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049711.744662963] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049711.745414803] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049711.745887511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049711.747259768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049711.749019779] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049711.835556965] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049711.837443421] [sailbot.teensy]: Wind angle: 301 +[trim_sail-4] [INFO] [1746049711.838027194] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049711.839218323] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049711.840001921] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049711.840105752] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049711.841012233] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049711.844251729] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049711.844793799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049711.845306225] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049711.846385156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049711.847487082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049711.945670869] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049711.946233226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049711.947343161] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049711.948654226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049711.949207909] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049712.003527786] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971981 Long: -76.50298392 +[vectornav-1] [INFO] [1746049712.004922460] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.504, -3.404, 8.667) +[mux-7] [INFO] [1746049712.045527789] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049712.046095244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049712.047096337] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049712.048090555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049712.049133153] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049712.085497812] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049712.087328325] [sailbot.teensy]: Wind angle: 314 +[trim_sail-4] [INFO] [1746049712.087919505] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049712.088325676] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049712.089210416] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049712.089295502] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049712.090061361] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049712.145424607] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049712.146166745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049712.147010710] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049712.148198168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049712.148697651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049712.245450670] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049712.246297042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049712.247013662] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049712.248283084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049712.248776217] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049712.335501691] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049712.337493577] [sailbot.teensy]: Wind angle: 320 +[trim_sail-4] [INFO] [1746049712.338105542] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049712.338522401] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049712.338862917] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049712.339451458] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049712.340312029] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049712.344312992] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049712.344917601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049712.345456323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049712.346759088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049712.347753701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049712.445536371] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049712.446221197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049712.447089173] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049712.448423902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049712.448958251] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049712.502384939] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971988 Long: -76.50298386 +[vectornav-1] [INFO] [1746049712.503383871] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.522, -3.405, 8.586) +[mux-7] [INFO] [1746049712.545169117] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049712.545980617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049712.546661932] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049712.547686693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049712.548184845] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049712.585697699] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049712.588025585] [sailbot.teensy]: Wind angle: 311 +[trim_sail-4] [INFO] [1746049712.588725819] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746049712.589203180] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049712.590156562] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049712.590344602] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049712.591001377] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049712.645265899] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049712.645792273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049712.646918280] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049712.647931058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049712.649144088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049712.745467735] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049712.747072310] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049712.747701310] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049712.749787315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049712.750930241] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049712.835964150] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049712.838132731] [sailbot.teensy]: Wind angle: 293 +[trim_sail-4] [INFO] [1746049712.838907398] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746049712.839232272] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049712.839513357] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049712.840203590] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049712.841110735] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049712.844363387] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049712.844865469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049712.845579792] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049712.846561401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049712.847670852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049712.945566768] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049712.946436159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049712.947449836] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049712.949114759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049712.949709489] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049713.002709489] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971983 Long: -76.50298399 +[vectornav-1] [INFO] [1746049713.003787407] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.53700000000003, -3.402, 8.605) +[mux-7] [INFO] [1746049713.045612971] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049713.046907958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049713.047314732] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049713.048102379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049713.048674380] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049713.085749112] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049713.087786295] [sailbot.teensy]: Wind angle: 314 +[trim_sail-4] [INFO] [1746049713.088617012] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049713.088937573] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049713.089862488] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049713.090720355] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049713.090832677] [sailbot.mux]: algo sail angle: 65 +[mux-7] [INFO] [1746049713.145474503] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049713.146235979] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049713.147112474] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049713.148661038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049713.149928316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049713.244776486] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049713.245480331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049713.245926226] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049713.247184221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049713.248336619] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049713.335566658] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049713.337590474] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049713.338342968] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049713.338637586] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049713.339565127] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049713.339768829] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049713.340456329] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049713.344414645] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049713.344895692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049713.345541288] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049713.346512311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049713.347501455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049713.445270598] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049713.446087324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049713.446825445] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049713.448263845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049713.448921290] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049713.503213642] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697199 Long: -76.50298398 +[vectornav-1] [INFO] [1746049713.504681412] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.549, -3.402, 8.627) +[mux-7] [INFO] [1746049713.545712766] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049713.546435933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049713.547280278] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049713.548733004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049713.550002951] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049713.585493523] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049713.587514369] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049713.588361663] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049713.588586539] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049713.589526902] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049713.589769450] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049713.590362283] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049713.645342853] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049713.645971486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049713.646919124] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049713.648224761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049713.649332292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049713.745458709] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049713.746013263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049713.746998375] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049713.748125827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049713.749340851] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049713.835587566] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049713.837457440] [sailbot.teensy]: Wind angle: 14 +[trim_sail-4] [INFO] [1746049713.838147340] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049713.838444541] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049713.839333779] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049713.839870243] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049713.840254383] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049713.844405235] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049713.844950073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049713.845549654] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049713.846644271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049713.847778059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049713.945559523] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049713.946313901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049713.947196202] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049713.947946771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049713.948460192] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049714.003691606] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971982 Long: -76.50298419 +[vectornav-1] [INFO] [1746049714.005255232] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.596, -3.404, 8.582) +[mux-7] [INFO] [1746049714.044890828] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049714.045650267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049714.046170157] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049714.047505868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049714.048530498] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049714.085363436] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049714.087667213] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049714.087699609] [sailbot.teensy]: Wind angle: 8 +[mux-7] [INFO] [1746049714.088073566] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049714.088667306] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049714.089614345] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049714.090424647] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049714.145148416] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049714.145984622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049714.146623115] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049714.148235413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049714.149317813] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049714.245599751] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049714.246437994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049714.247206220] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049714.248755551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049714.249737853] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049714.335670704] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049714.338470343] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049714.338860689] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049714.338889927] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049714.339315203] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049714.339670477] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049714.340003181] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049714.344421768] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049714.345110332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049714.345650481] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049714.346856111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049714.347976679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049714.445553148] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049714.446332338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049714.447139325] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049714.448658098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049714.449946063] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049714.503151979] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971997 Long: -76.50298444 +[vectornav-1] [INFO] [1746049714.504522088] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.579, -3.398, 8.615) +[mux-7] [INFO] [1746049714.544928292] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049714.545626254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049714.546224435] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049714.547555682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049714.548586438] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049714.585527225] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049714.587354521] [sailbot.teensy]: Wind angle: 302 +[trim_sail-4] [INFO] [1746049714.588038836] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049714.588337936] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049714.589201562] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049714.588951553] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049714.590039752] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049714.645179903] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049714.645896153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049714.646666133] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049714.648056410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049714.649218781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049714.745162479] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049714.745951532] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049714.746688603] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049714.747893998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049714.748363985] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049714.835426529] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049714.837263864] [sailbot.teensy]: Wind angle: 279 +[trim_sail-4] [INFO] [1746049714.837760110] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746049714.838248465] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049714.839108808] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049714.839129724] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746049714.840017516] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049714.844352613] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049714.844900541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049714.845464563] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049714.846598969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049714.847574897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049714.945581104] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049714.946196823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049714.947268607] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049714.948654218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049714.949510640] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049715.002505747] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972 Long: -76.50298455 +[vectornav-1] [INFO] [1746049715.003509739] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.54200000000003, -3.404, 8.552) +[mux-7] [INFO] [1746049715.045076392] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049715.045658586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049715.046393196] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049715.047535594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049715.048566090] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049715.085315643] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049715.087620624] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746049715.087777488] [sailbot.teensy]: Wind angle: 269 +[mux-7] [INFO] [1746049715.088471221] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049715.088726654] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049715.089595541] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049715.090418328] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049715.145049957] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049715.145640466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049715.146429603] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049715.147514612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049715.148598082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049715.245483161] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049715.246086692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049715.247031618] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049715.248272615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049715.249486604] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049715.335377427] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049715.337639879] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746049715.338234208] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049715.338448019] [sailbot.teensy]: Wind angle: 269 +[teensy-2] [INFO] [1746049715.339274172] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049715.339646877] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049715.339996670] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049715.344451766] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049715.344764010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049715.345555869] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049715.346316083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049715.347307811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049715.445312362] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049715.446027219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049715.446947993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049715.447740870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049715.448264135] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049715.503681322] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971997 Long: -76.50298448 +[vectornav-1] [INFO] [1746049715.505252459] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.611, -3.385, 8.688) +[mux-7] [INFO] [1746049715.545402148] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049715.546150863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049715.546863497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049715.548347755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049715.549549416] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049715.585416269] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049715.587652605] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746049715.587948270] [sailbot.teensy]: Wind angle: 269 +[mux-7] [INFO] [1746049715.588298094] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049715.589044067] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049715.589926845] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049715.590732194] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049715.645138378] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049715.645721723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049715.646643817] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049715.647715269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049715.648925063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049715.745140424] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049715.745765771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049715.746597883] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049715.747767337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049715.748828728] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049715.835375720] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049715.837308689] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746049715.837805859] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746049715.838460918] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049715.839283943] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049715.840177857] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049715.841000549] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049715.844264573] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049715.845016830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049715.845430740] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049715.846729157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049715.847703701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049715.945604118] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049715.946582877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049715.947358400] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049715.949102646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049715.950345081] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049716.002948037] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971995 Long: -76.50298468 +[vectornav-1] [INFO] [1746049716.004104514] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.703, -3.365, 9.068) +[mux-7] [INFO] [1746049716.045716663] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049716.046677734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049716.047304888] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049716.049118207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049716.050270452] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049716.085367710] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049716.087293033] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746049716.087681681] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746049716.088270612] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049716.088499890] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049716.089323281] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049716.090236698] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049716.145256112] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049716.145966773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049716.146747895] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049716.148109177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049716.149335429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049716.244798637] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049716.245430164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049716.245978911] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049716.247127988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049716.248257288] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049716.335300235] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049716.337584513] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746049716.337664951] [sailbot.teensy]: Wind angle: 269 +[mux-7] [INFO] [1746049716.338274446] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049716.338585096] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049716.339442692] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049716.340274919] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049716.344391407] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049716.344837615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049716.345491114] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049716.346480145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049716.347488403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049716.445373811] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049716.446015536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049716.446949524] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049716.448209462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049716.449318999] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049716.502686999] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697201 Long: -76.50298461 +[vectornav-1] [INFO] [1746049716.503766923] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.73400000000004, -3.364, 9.134) +[mux-7] [INFO] [1746049716.545012970] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049716.545806914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049716.546301865] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049716.547654452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049716.548683260] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049716.585600617] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049716.587702426] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746049716.588062417] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746049716.588758051] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049716.589417401] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049716.589703620] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049716.590582147] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049716.645348154] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049716.646256866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049716.646850889] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049716.648544191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049716.649613319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049716.744977549] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049716.746338695] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049716.746350800] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049716.748074035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049716.749068968] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049716.835563593] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049716.838232902] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746049716.838804006] [sailbot.teensy]: Wind angle: 269 +[mux-7] [INFO] [1746049716.838987803] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049716.839839115] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049716.840753140] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049716.841586502] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049716.844292101] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049716.844847460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049716.845332939] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049716.846431014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049716.847407966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049716.945333260] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049716.946097953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049716.946817234] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049716.948286133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049716.949469672] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049717.003416171] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972025 Long: -76.50298457 +[vectornav-1] [INFO] [1746049717.004887420] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.741, -3.363, 9.068) +[mux-7] [INFO] [1746049717.044924757] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049717.045588793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049717.046136965] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049717.047350341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049717.048409586] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049717.085397183] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049717.087471301] [sailbot.teensy]: Wind angle: 268 +[trim_sail-4] [INFO] [1746049717.087727757] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746049717.088440929] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049717.088988091] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049717.089293285] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049717.090140509] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049717.145192406] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049717.145774742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049717.146622713] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049717.147795028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049717.148855623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049717.245090644] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049717.245620133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049717.246494269] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049717.247487161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049717.248628620] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049717.335314046] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049717.337066371] [sailbot.teensy]: Wind angle: 268 +[trim_sail-4] [INFO] [1746049717.337785581] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746049717.338271502] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049717.339140564] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049717.340041993] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049717.340906217] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049717.344315701] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049717.344812298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049717.345351828] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049717.346506107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049717.347681648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049717.445616411] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049717.446479119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049717.447284455] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049717.448994714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049717.450318574] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049717.502613160] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972033 Long: -76.5029847 +[vectornav-1] [INFO] [1746049717.503715097] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.757, -3.35, 9.124) +[mux-7] [INFO] [1746049717.545434791] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049717.546340095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049717.546912189] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049717.548542668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049717.549703877] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049717.585752487] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049717.588508741] [sailbot.teensy]: Wind angle: 267 +[trim_sail-4] [INFO] [1746049717.588577680] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746049717.589013539] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746049717.590340546] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049717.591234998] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049717.592049785] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049717.645185118] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049717.646056907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049717.646611947] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049717.648608237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049717.649629441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049717.745305567] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049717.745960726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049717.746778713] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049717.748263590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049717.749479451] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049717.835546276] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049717.837293853] [sailbot.teensy]: Wind angle: 262 +[teensy-2] [INFO] [1746049717.838205842] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049717.837902167] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049717.838879931] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049717.838883992] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049717.839254136] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049717.844494947] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049717.845224189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049717.845594298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049717.846838636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049717.847784156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049717.945339650] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049717.945980232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049717.946853887] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049717.947940927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049717.948385964] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049718.003573736] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972031 Long: -76.50298489 +[vectornav-1] [INFO] [1746049718.005092941] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.775, -3.339, 9.196) +[mux-7] [INFO] [1746049718.045177640] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049718.045995869] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049718.046595425] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049718.048111038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049718.049275091] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049718.085396447] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049718.087067793] [sailbot.teensy]: Wind angle: 262 +[trim_sail-4] [INFO] [1746049718.087868452] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049718.088001448] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049718.088910401] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049718.089059308] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049718.089763614] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049718.145227260] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049718.145987302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049718.146751138] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049718.148138786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049718.149386875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049718.245407350] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049718.246303380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049718.246876588] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049718.248527889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049718.249712579] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049718.335568343] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049718.337300830] [sailbot.teensy]: Wind angle: 262 +[trim_sail-4] [INFO] [1746049718.337929461] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049718.338229607] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049718.338950092] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049718.339001860] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049718.339370046] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049718.344395327] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049718.345049751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049718.345506672] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049718.346781353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049718.347810310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049718.445510871] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049718.446318819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049718.447488146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049718.448738728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049718.450587850] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049718.502707870] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972042 Long: -76.50298483 +[vectornav-1] [INFO] [1746049718.503812369] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.794, -3.326, 9.218) +[mux-7] [INFO] [1746049718.545385577] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049718.546183344] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049718.546978804] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049718.548410965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049718.549491333] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049718.585627186] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049718.587486629] [sailbot.teensy]: Wind angle: 262 +[trim_sail-4] [INFO] [1746049718.588439439] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049718.588501628] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049718.589414271] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049718.590181451] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049718.590284383] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049718.645358946] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049718.646055013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049718.646957315] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049718.648317255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049718.648859429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049718.745313294] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049718.746022405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049718.746795505] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049718.748262217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049718.749152615] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049718.835456135] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049718.837260436] [sailbot.teensy]: Wind angle: 262 +[trim_sail-4] [INFO] [1746049718.837891045] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049718.838175123] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049718.839071095] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049718.839674120] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049718.839914278] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049718.844224199] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049718.844841340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049718.845307686] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049718.846496240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049718.847610538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049718.945027058] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049718.945810066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049718.946470704] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049718.947845661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049718.949032631] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049719.003112302] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972052 Long: -76.50298522 +[vectornav-1] [INFO] [1746049719.004429327] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.80899999999997, -3.319, 9.198) +[mux-7] [INFO] [1746049719.044805960] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049719.045486745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049719.045976738] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049719.047191825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049719.048308671] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049719.085442947] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049719.087108182] [sailbot.teensy]: Wind angle: 262 +[teensy-2] [INFO] [1746049719.088044906] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049719.087816843] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049719.088969224] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049719.089168178] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049719.089833101] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049719.144965567] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049719.145690923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049719.146203174] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049719.147429886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049719.148366319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049719.245148023] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049719.245833964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049719.246580726] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049719.247765777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049719.248290232] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049719.335651127] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049719.337758609] [sailbot.teensy]: Wind angle: 262 +[trim_sail-4] [INFO] [1746049719.338546994] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746049719.339152359] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049719.339458671] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049719.339830204] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049719.340382187] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049719.344354429] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049719.344957772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049719.345378133] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049719.346675618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049719.347712687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049719.445652929] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049719.446535619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049719.447255159] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049719.448910340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049719.449819034] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049719.502992641] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972065 Long: -76.50298533 +[vectornav-1] [INFO] [1746049719.504125176] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.846, -3.316, 9.393) +[mux-7] [INFO] [1746049719.545102095] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049719.545876204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049719.546400113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049719.547773266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049719.548937418] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049719.585826466] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049719.587758246] [sailbot.teensy]: Wind angle: 262 +[trim_sail-4] [INFO] [1746049719.588398687] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746049719.589439282] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049719.589610257] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049719.590504598] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049719.591338838] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049719.645122951] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049719.645734386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049719.646628549] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049719.647788005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049719.648970601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049719.745505065] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049719.746080388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049719.747318914] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049719.748531471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049719.749280345] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049719.835783087] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049719.838217011] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746049719.838858913] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049719.839094803] [sailbot.teensy]: Wind angle: 261 +[teensy-2] [INFO] [1746049719.839990860] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049719.840621529] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049719.840979187] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049719.844408954] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049719.844861521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049719.845489955] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049719.846435890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049719.847546888] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049719.945605010] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049719.946173319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049719.947531889] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049719.948625683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049719.949659583] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049720.003329295] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972073 Long: -76.50298547 +[vectornav-1] [INFO] [1746049720.004863777] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.861, -3.314, 9.356) +[mux-7] [INFO] [1746049720.044982316] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049720.045492471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049720.046237384] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049720.047207841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049720.048188275] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049720.085611802] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049720.087535654] [sailbot.teensy]: Wind angle: 261 +[trim_sail-4] [INFO] [1746049720.088196966] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049720.088558535] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049720.089460208] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049720.089738352] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049720.090301101] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049720.144934669] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049720.145694432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049720.146254111] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049720.147618402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049720.148651053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049720.245126189] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049720.245986641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049720.246577594] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049720.248436140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049720.249428808] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049720.335651974] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049720.337693173] [sailbot.teensy]: Wind angle: 260 +[trim_sail-4] [INFO] [1746049720.338318202] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049720.338744361] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049720.339189198] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049720.339684167] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049720.340532937] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049720.344268964] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049720.344830609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049720.345244064] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049720.346292085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049720.347377388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049720.445193546] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049720.445961893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049720.446591813] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049720.447890000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049720.448405023] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049720.502657039] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972072 Long: -76.50298556 +[vectornav-1] [INFO] [1746049720.503806773] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.878, -3.31, 9.369) +[mux-7] [INFO] [1746049720.545230219] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049720.546009123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049720.546633324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049720.548077962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049720.549254105] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049720.585765378] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049720.587827609] [sailbot.teensy]: Wind angle: 260 +[trim_sail-4] [INFO] [1746049720.588525282] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049720.588896015] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049720.589648143] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049720.589815839] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049720.590700080] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049720.645230071] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049720.645868460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049720.646702779] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049720.647980794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049720.648581885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049720.745209153] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049720.745739241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049720.746660232] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049720.747746296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049720.748828613] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049720.835432093] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049720.837189363] [sailbot.teensy]: Wind angle: 260 +[trim_sail-4] [INFO] [1746049720.837746261] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049720.838108945] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049720.838958022] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049720.839085555] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049720.839805032] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049720.844482632] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049720.844851987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049720.845569898] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049720.846434249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049720.847415560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049720.945513935] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049720.946175526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049720.947150134] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049720.948425812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049720.949552400] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049721.003380400] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972078 Long: -76.50298571 +[vectornav-1] [INFO] [1746049721.004953762] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.88599999999997, -3.311, 9.298) +[mux-7] [INFO] [1746049721.045104903] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049721.045828318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049721.046493125] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049721.047693752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049721.048760566] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049721.085316969] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049721.087187355] [sailbot.teensy]: Wind angle: 260 +[teensy-2] [INFO] [1746049721.088120766] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049721.087664396] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746049721.088750102] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049721.089042032] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049721.089941920] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049721.145119011] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049721.145814418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049721.146601691] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049721.147710724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049721.148771792] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049721.245590722] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049721.246317182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049721.247466385] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049721.248687159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049721.249871481] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049721.335374307] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049721.337401833] [sailbot.teensy]: Wind angle: 260 +[trim_sail-4] [INFO] [1746049721.337934568] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746049721.338753710] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049721.339468512] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049721.340591278] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049721.341466706] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049721.344364374] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049721.344810339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049721.345413910] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049721.346471544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049721.347476679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049721.445701081] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049721.446595101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049721.447491113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049721.448993292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049721.450219263] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049721.503500041] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972074 Long: -76.50298585 +[vectornav-1] [INFO] [1746049721.504918279] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.901, -3.31, 9.277) +[mux-7] [INFO] [1746049721.545205246] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049721.546010766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049721.546485795] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049721.548046575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049721.549075600] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049721.585455165] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049721.587875543] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049721.588123483] [sailbot.teensy]: Wind angle: 260 +[mux-7] [INFO] [1746049721.588538188] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049721.589020359] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049721.589848165] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049721.590669677] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049721.645549133] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049721.646443517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049721.647056545] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049721.648633328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049721.649559098] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049721.744929196] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049721.745649285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049721.746380323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049721.747564543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049721.748568642] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049721.835735921] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049721.838533427] [sailbot.teensy]: Wind angle: 260 +[trim_sail-4] [INFO] [1746049721.838650621] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746049721.839154316] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049721.839759484] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049721.840682323] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049721.841509840] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049721.844311560] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049721.844758587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049721.845355307] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049721.846812725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049721.847971004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049721.945219750] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049721.945962292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049721.946660181] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049721.947985163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049721.948871930] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049722.002776914] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972079 Long: -76.50298612 +[vectornav-1] [INFO] [1746049722.003955926] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.895, -3.306, 9.087) +[mux-7] [INFO] [1746049722.045338949] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049722.046036555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049722.046902037] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049722.048121061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049722.049284476] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049722.085373348] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049722.087717339] [sailbot.teensy]: Wind angle: 260 +[trim_sail-4] [INFO] [1746049722.087762093] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746049722.088401380] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049722.088696614] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049722.089579205] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049722.090420712] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049722.145378806] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049722.146199224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049722.146885199] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049722.148300268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049722.148813411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049722.245321586] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049722.246190912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049722.246840494] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049722.248252177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049722.248827275] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049722.335549083] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049722.337537331] [sailbot.teensy]: Wind angle: 260 +[trim_sail-4] [INFO] [1746049722.338225733] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049722.338564513] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049722.339450904] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049722.339696767] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049722.340317004] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049722.344414860] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049722.344981813] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049722.345593836] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049722.346722660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049722.347826072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049722.445300584] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049722.446093602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049722.446995575] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049722.448345964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049722.449572225] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049722.503480094] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972078 Long: -76.50298629 +[vectornav-1] [INFO] [1746049722.504925511] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.913, -3.323, 9.181) +[mux-7] [INFO] [1746049722.545212539] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049722.546099866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049722.546855521] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049722.548322794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049722.549448044] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049722.585535194] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049722.587910367] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049722.588034647] [sailbot.teensy]: Wind angle: 260 +[mux-7] [INFO] [1746049722.588388539] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049722.589255525] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049722.590134250] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049722.590946840] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049722.645130420] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049722.645823741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049722.646549306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049722.647770773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049722.648300131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049722.745321271] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049722.746049456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049722.746778760] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049722.748274828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049722.748981210] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049722.835458708] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049722.837251866] [sailbot.teensy]: Wind angle: 260 +[trim_sail-4] [INFO] [1746049722.838443459] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746049722.838923468] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049722.839210452] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049722.840167765] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049722.841005060] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049722.844301750] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049722.844849236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049722.845369511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049722.846459826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049722.847462467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049722.945439877] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049722.946183367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049722.947072515] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049722.948249223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049722.948785434] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049723.002515180] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972087 Long: -76.50298664 +[vectornav-1] [INFO] [1746049723.003590149] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.93, -3.313, 9.178) +[mux-7] [INFO] [1746049723.045175407] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049723.045851845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049723.046482835] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049723.047934958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049723.048945188] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049723.085741020] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049723.087818315] [sailbot.teensy]: Wind angle: 259 +[trim_sail-4] [INFO] [1746049723.088757333] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746049723.088949513] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049723.089273851] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049723.090110094] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049723.090977003] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049723.144397038] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049723.144999434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049723.145449524] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049723.146589980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049723.147537440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049723.245167466] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049723.245912527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049723.246507364] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049723.247928502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049723.248963066] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049723.335430367] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049723.337509822] [sailbot.teensy]: Wind angle: 254 +[trim_sail-4] [INFO] [1746049723.337884780] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746049723.338509437] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049723.338726638] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049723.339403657] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049723.339850801] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049723.344372996] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049723.344879232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049723.345432377] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049723.346468436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049723.347451177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049723.444954206] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049723.445595399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049723.446174647] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049723.447412072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049723.448537331] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049723.502510838] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697209 Long: -76.50298683 +[vectornav-1] [INFO] [1746049723.503636913] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.967, -3.276, 9.318) +[mux-7] [INFO] [1746049723.545318440] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049723.546117078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049723.546635226] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049723.547748050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049723.548179669] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049723.585531659] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049723.587465723] [sailbot.teensy]: Wind angle: 250 +[trim_sail-4] [INFO] [1746049723.588275080] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746049723.588494479] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049723.589373566] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049723.589427233] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049723.590237986] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049723.645136496] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049723.645877690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049723.646625013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049723.648299138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049723.649403818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049723.745247826] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049723.745967728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049723.746806209] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049723.747822045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049723.748290612] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049723.835377469] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049723.837169160] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746049723.838105123] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049723.837958614] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746049723.838347203] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049723.838975175] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049723.839815508] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049723.844266719] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049723.844806806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049723.845312370] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049723.846413490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049723.847388155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049723.945359306] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049723.946064837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049723.947038705] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049723.948311547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049723.949485214] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049724.003073759] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972079 Long: -76.50298715 +[vectornav-1] [INFO] [1746049724.004339679] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.038, -3.26, 9.72) +[mux-7] [INFO] [1746049724.045212989] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049724.046028017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049724.046722146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049724.047569567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049724.048070473] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049724.085414925] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049724.087316005] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746049724.087865796] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049724.088293113] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049724.089168353] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049724.089340142] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049724.090053556] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049724.144938185] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049724.145677728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049724.146260710] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049724.147559884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049724.148721960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049724.245159498] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049724.245881012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049724.246675745] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049724.247940774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049724.249126097] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049724.335546923] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049724.338174151] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049724.338537533] [sailbot.teensy]: Wind angle: 247 +[mux-7] [INFO] [1746049724.338721540] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049724.339553806] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049724.340466310] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049724.341305343] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049724.344338130] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049724.344869750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049724.345413186] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049724.346513698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049724.347489058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049724.444989860] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049724.445701521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049724.446319498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049724.447635848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049724.448646623] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049724.503045358] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972075 Long: -76.50298759 +[vectornav-1] [INFO] [1746049724.504349887] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.038, -3.275, 9.562) +[mux-7] [INFO] [1746049724.544847126] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049724.545636844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049724.546066696] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049724.547431934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049724.548423171] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049724.585337880] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049724.587155598] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746049724.587523362] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746049724.588363965] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746049724.588426148] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049724.589304415] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049724.590125517] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049724.645477052] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049724.646055144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049724.647068355] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049724.648293901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049724.649561186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049724.745235746] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049724.745847001] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049724.746816593] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049724.748090027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049724.749170017] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049724.835405235] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049724.837225420] [sailbot.teensy]: Wind angle: 225 +[trim_sail-4] [INFO] [1746049724.837797288] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049724.838157732] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049724.838636477] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049724.838697691] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049724.839012641] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049724.844497581] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049724.844958142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049724.845629237] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049724.846602801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049724.847740586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049724.945596752] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049724.946193079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049724.947170374] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049724.948477835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049724.949162988] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049725.002621263] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972081 Long: -76.5029879 +[vectornav-1] [INFO] [1746049725.003774376] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.002, -3.33, 9.249) +[mux-7] [INFO] [1746049725.045273590] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049725.045949212] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049725.046875160] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049725.048122423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049725.049301282] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049725.085625702] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049725.087561947] [sailbot.teensy]: Wind angle: 219 +[teensy-2] [INFO] [1746049725.088602612] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049725.088213109] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746049725.089334667] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049725.089496565] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049725.090360107] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049725.144951490] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049725.145620724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049725.146291350] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049725.147524055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049725.148689512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049725.245307250] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049725.245956086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049725.246859048] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049725.248235832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049725.249418092] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049725.335801491] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049725.337918805] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746049725.338591795] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049725.338993135] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049725.339906802] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049725.340077118] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049725.340771085] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049725.344313443] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049725.344797827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049725.345384330] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049725.346394880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049725.347380463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049725.445353157] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049725.445915300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049725.446907271] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049725.448047511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049725.449238769] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049725.502744385] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972083 Long: -76.50298799 +[vectornav-1] [INFO] [1746049725.503914587] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.003, -3.343, 9.239) +[mux-7] [INFO] [1746049725.544963077] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049725.545602143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049725.546320201] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049725.547393743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049725.548418419] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049725.585434473] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049725.587745805] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746049725.587835211] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746049725.588643208] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049725.588718514] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049725.589582392] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049725.590413180] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049725.645285415] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049725.645880820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049725.646771239] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049725.647958402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049725.649191866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049725.745250482] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049725.745898018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049725.746823583] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049725.748125782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049725.749326660] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049725.835363650] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049725.836994823] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746049725.837569109] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049725.837881145] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049725.838121196] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049725.838715007] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049725.839577630] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049725.844293958] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049725.844813401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049725.845373861] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049725.846390550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049725.847456236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049725.945368458] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049725.945916969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049725.946985932] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049725.948021199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049725.949213330] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049726.002372334] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972082 Long: -76.50298826 +[vectornav-1] [INFO] [1746049726.003386314] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.081, -3.326, 9.601) +[mux-7] [INFO] [1746049726.044935955] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049726.045567951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049726.046185966] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049726.047350881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049726.048536582] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049726.085435939] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049726.087381112] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746049726.087925285] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049726.088359845] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049726.089236336] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049726.088592075] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049726.090079552] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049726.145135873] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049726.145846633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049726.146606927] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049726.147918668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049726.149106406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049726.245296942] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049726.246015591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049726.246783749] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049726.248175412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049726.249361092] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049726.335365930] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049726.337857700] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049726.338210245] [sailbot.teensy]: Wind angle: 220 +[mux-7] [INFO] [1746049726.338384384] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049726.339365683] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049726.340185948] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049726.340970424] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049726.344274176] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049726.344639459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049726.345295138] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049726.346088903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049726.346978274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049726.445273952] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049726.446001340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049726.447080590] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049726.448237614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049726.449445648] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049726.503750937] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972105 Long: -76.5029883 +[vectornav-1] [INFO] [1746049726.505405769] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.082, -3.342, 9.542) +[mux-7] [INFO] [1746049726.545336546] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049726.545914594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049726.546711377] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049726.548008989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049726.549060498] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049726.585512415] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049726.587290984] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746049726.588013487] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049726.588279976] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049726.588674406] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049726.589169618] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049726.590059508] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049726.645407098] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049726.646193381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049726.647078205] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049726.648494973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049726.649469773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049726.745040237] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049726.745663862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049726.746478383] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049726.747699192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049726.748516424] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049726.835893075] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049726.838085396] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746049726.838851589] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049726.839168751] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049726.839724993] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049726.840102363] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049726.840983479] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049726.844368081] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049726.844934034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049726.845444035] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049726.846555013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049726.847721449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049726.945473922] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049726.946135641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049726.947082081] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049726.948360495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049726.948846867] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049727.003260372] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972117 Long: -76.50298849 +[vectornav-1] [INFO] [1746049727.004617394] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03, -3.356, 9.18) +[mux-7] [INFO] [1746049727.045001605] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049727.045799968] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049727.046355401] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049727.047728350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049727.048715954] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049727.085436050] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049727.087256089] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746049727.087946005] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049727.088261071] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049727.089139206] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049727.089133036] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049727.090000495] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049727.145201311] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049727.145860064] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049727.146696750] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049727.147992290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049727.149163526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049727.245086068] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049727.245781789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049727.246440940] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049727.247779343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049727.248604766] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049727.335323700] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049727.337127036] [sailbot.teensy]: Wind angle: 223 +[trim_sail-4] [INFO] [1746049727.337906854] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049727.338105958] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049727.338979202] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049727.339004745] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049727.339838473] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049727.344391385] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049727.344913658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049727.345481902] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049727.346533088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049727.347543239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049727.445452437] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049727.446113455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049727.447038970] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049727.448325923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049727.448848589] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049727.502558209] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972116 Long: -76.50298861 +[vectornav-1] [INFO] [1746049727.503769254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.994, -3.356, 8.692) +[mux-7] [INFO] [1746049727.545622621] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049727.546438468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049727.547159380] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049727.548712076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049727.549335124] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049727.585833905] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049727.587962704] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746049727.588938776] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049727.589720566] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049727.589808393] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049727.590645166] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049727.591529569] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049727.644994818] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049727.645649615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049727.646560475] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049727.647605648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049727.648691524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049727.745487005] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049727.746346768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049727.747147837] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049727.748681729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049727.749905420] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049727.835434013] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049727.837931259] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746049727.838377138] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049727.838531915] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746049727.838943260] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049727.839293625] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049727.839625467] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049727.844412208] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049727.844879713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049727.845494812] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049727.846536979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049727.847521114] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049727.945416722] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049727.946167817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049727.946991365] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049727.948800660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049727.949389942] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049728.003840074] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972124 Long: -76.50298867 +[vectornav-1] [INFO] [1746049728.005254787] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.01800000000003, -3.354, 8.656) +[mux-7] [INFO] [1746049728.045265935] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049728.046028005] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049728.046712079] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049728.047743692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049728.048277414] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049728.085459105] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049728.087748412] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049728.088010455] [sailbot.teensy]: Wind angle: 234 +[mux-7] [INFO] [1746049728.088567671] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049728.089063328] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049728.089870224] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049728.090622453] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049728.145022036] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049728.145787070] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049728.146378097] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049728.147801601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049728.148858842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049728.245188794] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049728.246006459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049728.246649479] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049728.248131143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049728.249237505] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049728.335541281] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049728.338340559] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746049728.338678260] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049728.339282301] [sailbot.teensy]: Wind angle: 232 +[teensy-2] [INFO] [1746049728.340218503] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049728.341041605] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049728.341868804] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049728.344238117] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049728.344721969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049728.345290484] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049728.346373516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049728.347423669] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049728.445348761] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049728.446185043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049728.446922847] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049728.448539741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049728.449801473] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049728.502639228] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972129 Long: -76.50298859 +[vectornav-1] [INFO] [1746049728.503729210] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.012, -3.365, 8.571) +[mux-7] [INFO] [1746049728.545261161] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049728.546046225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049728.546786303] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049728.548181832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049728.549339992] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049728.585839044] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049728.588050361] [sailbot.teensy]: Wind angle: 232 +[trim_sail-4] [INFO] [1746049728.588975151] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746049728.590003913] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049728.590124591] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049728.591063301] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049728.591929499] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049728.645443976] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049728.646162014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049728.647024424] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049728.648440477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049728.649714434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049728.745666950] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049728.746452487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049728.747500661] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049728.748978102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049728.750298359] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049728.835484224] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049728.837301793] [sailbot.teensy]: Wind angle: 232 +[trim_sail-4] [INFO] [1746049728.837970553] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049728.838232926] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049728.839098998] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049728.839218650] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049728.839997055] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049728.844207686] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049728.844826432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049728.845295426] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049728.846415003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049728.847375383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049728.945264452] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049728.946897597] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049728.946946516] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049728.948185220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049728.948653243] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049729.003167371] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972147 Long: -76.50298863 +[vectornav-1] [INFO] [1746049729.004670867] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.01599999999996, -3.365, 8.503) +[mux-7] [INFO] [1746049729.045388768] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049729.046002823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049729.046889350] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049729.048727837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049729.050382988] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049729.085375321] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049729.087674902] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049729.088019116] [sailbot.teensy]: Wind angle: 232 +[mux-7] [INFO] [1746049729.088761102] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049729.088908680] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049729.089777419] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049729.090604493] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049729.145410068] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049729.146175519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049729.146978496] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049729.148548933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049729.149785535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049729.245538703] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049729.246188699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049729.247112940] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049729.248433572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049729.248960619] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049729.335369690] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049729.337181055] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746049729.337966333] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049729.338154802] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049729.338384043] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049729.339046150] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049729.339879717] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049729.344415818] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049729.344939273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049729.345510745] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049729.346562570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049729.347665423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049729.445440269] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049729.446246737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049729.447005561] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049729.448493256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049729.449015488] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049729.502441939] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972153 Long: -76.50298871 +[vectornav-1] [INFO] [1746049729.503461078] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.044, -3.364, 8.678) +[mux-7] [INFO] [1746049729.545616123] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049729.546391526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049729.547026402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049729.548539721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049729.549577643] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049729.585421257] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049729.587887577] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746049729.588618760] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049729.588832662] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746049729.589925925] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049729.590757531] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049729.591584951] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049729.645182741] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049729.646056200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049729.646689935] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049729.648397726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049729.649495253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049729.745320815] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049729.746068955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049729.746757896] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049729.748259327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049729.749382696] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049729.835377130] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049729.837321581] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746049729.837825223] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049729.838319055] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049729.838458028] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049729.839204838] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049729.840116907] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049729.844207425] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049729.844795064] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049729.845233746] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049729.846399371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049729.847314676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049729.945519996] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049729.946390888] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049729.947214582] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049729.948375219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049729.948907732] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049730.003527669] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972145 Long: -76.5029887 +[vectornav-1] [INFO] [1746049730.004740574] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.052, -3.362, 8.753) +[mux-7] [INFO] [1746049730.045358911] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049730.045980265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049730.046728429] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049730.047945608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049730.049095667] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049730.085561867] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049730.087583577] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746049730.088335822] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049730.088649140] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049730.089641379] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049730.089923786] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049730.090442929] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049730.144813070] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049730.145400446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049730.146072422] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049730.147209366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049730.148366963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049730.245281125] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049730.245960722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049730.246731330] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049730.248095478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049730.248614340] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049730.335498691] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049730.337520052] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746049730.337983547] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049730.338483672] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049730.339177334] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049730.339254763] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049730.339629858] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049730.344290617] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049730.344942189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049730.345391213] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049730.346572714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049730.347555846] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049730.445745450] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049730.446707534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049730.447640315] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049730.449226392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049730.449905039] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049730.502447805] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972145 Long: -76.50298869 +[vectornav-1] [INFO] [1746049730.503455183] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.081, -3.374, 8.909) +[mux-7] [INFO] [1746049730.545360044] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049730.546219499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049730.546805703] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049730.548410448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049730.548942714] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049730.585822565] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049730.588575029] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746049730.588645130] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746049730.588995050] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049730.589114138] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049730.589577525] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049730.589951660] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049730.645711570] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049730.646352813] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049730.647937389] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049730.648864094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049730.650151253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049730.745113563] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049730.745756470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049730.746577322] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049730.747785071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049730.748840001] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049730.835788601] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049730.838452994] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049730.838570638] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746049730.838977695] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049730.839154759] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049730.839357962] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049730.840264136] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049730.844432426] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049730.845135488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049730.845594556] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049730.846874840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049730.847910207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049730.945429968] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049730.946277311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049730.947014807] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049730.948403974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049730.948828607] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049731.003197377] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972147 Long: -76.50298872 +[vectornav-1] [INFO] [1746049731.004748897] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.086, -3.38, 8.881) +[mux-7] [INFO] [1746049731.045258852] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049731.046140434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049731.046802405] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049731.048829512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049731.049882192] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049731.085456666] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049731.087511203] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746049731.087874114] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049731.088547378] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049731.089546457] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049731.089591441] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049731.090513165] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049731.145464737] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049731.146374180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049731.147050105] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049731.148931516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049731.150074323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049731.245512826] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049731.246277736] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049731.247103799] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049731.248595178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049731.249335563] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049731.335481898] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049731.338181729] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049731.338651115] [sailbot.teensy]: Wind angle: 230 +[mux-7] [INFO] [1746049731.338889351] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049731.339248584] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049731.339648166] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049731.339979596] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049731.344330208] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049731.344875785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049731.345435321] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049731.346511296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049731.347668691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049731.445416844] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049731.446247062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049731.447002106] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049731.447704962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049731.448228546] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049731.502396949] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972133 Long: -76.50298868 +[vectornav-1] [INFO] [1746049731.503503536] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.071, -3.393, 8.748) +[mux-7] [INFO] [1746049731.545296750] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049731.546145690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049731.546831087] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049731.548427357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049731.549477665] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049731.585404268] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049731.587316057] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746049731.588059383] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049731.588350094] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049731.588898959] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049731.589225231] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049731.590105521] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049731.645388805] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049731.646328475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049731.647712266] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049731.648765392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049731.649902817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049731.745042021] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049731.745826159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049731.746474507] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049731.747885037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049731.749067220] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049731.835533386] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049731.838203446] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049731.838462854] [sailbot.teensy]: Wind angle: 223 +[mux-7] [INFO] [1746049731.838603366] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049731.838869631] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049731.839253037] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049731.839592672] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049731.844496850] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049731.845169887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049731.845700216] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049731.846818941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049731.847820754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049731.945243059] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049731.945919984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049731.946718385] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049731.948058193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049731.949202607] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049732.002826860] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972137 Long: -76.50298845 +[vectornav-1] [INFO] [1746049732.004079633] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.065, -3.397, 8.733) +[mux-7] [INFO] [1746049732.044882326] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049732.045613813] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049732.046162581] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049732.047465458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049732.048522896] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049732.085495797] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049732.088018114] [sailbot.teensy]: Wind angle: 207 +[trim_sail-4] [INFO] [1746049732.088054681] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746049732.088907087] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049732.089025885] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049732.089909598] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049732.090750863] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049732.145566775] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049732.146401313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049732.147373317] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049732.148769103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049732.149918145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049732.245270328] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049732.245974463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049732.246759972] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049732.248222643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049732.249387661] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049732.335456262] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049732.337378522] [sailbot.teensy]: Wind angle: 207 +[trim_sail-4] [INFO] [1746049732.338003446] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049732.338340618] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049732.338464901] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049732.339241006] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049732.339787949] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049732.344550869] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049732.345193206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049732.345735473] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049732.346917406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049732.348034816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049732.445332785] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049732.446031341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049732.446829519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049732.448190887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049732.449368276] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049732.502332649] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972148 Long: -76.50298841 +[vectornav-1] [INFO] [1746049732.503341805] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.099, -3.399, 8.742) +[mux-7] [INFO] [1746049732.545113933] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049732.545713285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049732.546359968] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049732.547512687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049732.547931077] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049732.585531550] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049732.588281991] [sailbot.teensy]: Wind angle: 204 +[trim_sail-4] [INFO] [1746049732.588292645] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746049732.588995241] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049732.589966010] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049732.590827013] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049732.591632557] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049732.645312991] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049732.645829022] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049732.646966816] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049732.648032822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049732.649174828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049732.745266939] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049732.745895217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049732.746804889] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049732.748107356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049732.750209832] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049732.835546275] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049732.837647563] [sailbot.teensy]: Wind angle: 203 +[trim_sail-4] [INFO] [1746049732.838305900] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049732.838697498] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049732.839723189] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049732.839829631] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049732.840401339] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049732.844369344] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049732.844898097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049732.845507648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049732.846498015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049732.847671332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049732.945656910] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049732.946298902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049732.947406561] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049732.948745796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049732.949996317] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049733.002516581] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972147 Long: -76.50298857 +[vectornav-1] [INFO] [1746049733.003551610] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.111, -3.404, 8.778) +[mux-7] [INFO] [1746049733.045127193] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049733.045795756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049733.046596145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049733.047856624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049733.048586352] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049733.085627641] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049733.088498311] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049733.088621826] [sailbot.teensy]: Wind angle: 201 +[teensy-2] [INFO] [1746049733.089645206] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049733.089707878] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049733.090545462] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049733.091379102] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049733.145288447] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049733.145946298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049733.146780098] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049733.148199201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049733.149372456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049733.245494787] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049733.246289166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049733.247105435] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049733.248841995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049733.249533668] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049733.335837594] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049733.338571682] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746049733.339213019] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049733.339300076] [sailbot.teensy]: Wind angle: 201 +[teensy-2] [INFO] [1746049733.340430581] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049733.341303217] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049733.342094774] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049733.344122604] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049733.344746904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049733.345212067] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049733.346454225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049733.347489290] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049733.445558704] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049733.446436127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049733.447181750] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049733.448771798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049733.449882981] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049733.502877442] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972139 Long: -76.50298845 +[vectornav-1] [INFO] [1746049733.504108919] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.098, -3.419, 8.719) +[mux-7] [INFO] [1746049733.545174527] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049733.546073324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049733.546648616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049733.548178250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049733.549175542] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049733.585519971] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049733.587395013] [sailbot.teensy]: Wind angle: 198 +[trim_sail-4] [INFO] [1746049733.587900096] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049733.588426661] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049733.589181349] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049733.589453208] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049733.590337613] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049733.645109115] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049733.645934267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049733.646600254] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049733.648146589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049733.649383548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049733.745519382] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049733.746309936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049733.747346418] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049733.747945743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049733.748451590] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049733.835533801] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049733.837404565] [sailbot.teensy]: Wind angle: 197 +[trim_sail-4] [INFO] [1746049733.837973469] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049733.838379332] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049733.839258475] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049733.839480799] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049733.840098778] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049733.844146368] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049733.844812072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049733.845205047] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049733.846493587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049733.847473609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049733.945416356] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049733.946179999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049733.946972507] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049733.948460511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049733.949487359] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049734.002580335] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972152 Long: -76.50298851 +[vectornav-1] [INFO] [1746049734.003642139] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.092, -3.424, 8.675) +[mux-7] [INFO] [1746049734.045364626] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049734.046257495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049734.046813011] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049734.048485771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049734.049480326] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049734.085803394] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049734.088429853] [sailbot.teensy]: Wind angle: 197 +[trim_sail-4] [INFO] [1746049734.088429697] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049734.089661914] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049734.089819016] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049734.090585926] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049734.091444195] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049734.145268974] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049734.146001585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049734.146792441] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049734.148355218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049734.149412093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049734.244889867] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049734.245587465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049734.246188654] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049734.247423809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049734.248540194] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049734.335465656] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049734.337744207] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746049734.338340118] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049734.338718127] [sailbot.teensy]: Wind angle: 198 +[teensy-2] [INFO] [1746049734.339648340] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049734.340513427] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049734.341328178] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049734.344327896] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049734.344779141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049734.345415205] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049734.346401869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049734.347520340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049734.446033124] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049734.446549296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049734.447968799] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049734.448385503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049734.448908321] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049734.502899606] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972163 Long: -76.5029884 +[vectornav-1] [INFO] [1746049734.504202896] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.1, -3.415, 8.7) +[mux-7] [INFO] [1746049734.544903676] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049734.545556146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049734.546116006] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049734.547253474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049734.548387113] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049734.585483913] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049734.587654910] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049734.587951067] [sailbot.teensy]: Wind angle: 198 +[mux-7] [INFO] [1746049734.588400503] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049734.588908961] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049734.589765510] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049734.590609107] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049734.645248770] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049734.645936954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049734.646816500] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049734.648222009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049734.649473065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049734.744828627] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049734.745474245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049734.746290126] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049734.747207148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049734.748208383] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049734.835396752] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049734.837156617] [sailbot.teensy]: Wind angle: 196 +[trim_sail-4] [INFO] [1746049734.837925391] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049734.838072058] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049734.838866834] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049734.838928887] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049734.839763133] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049734.844320269] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049734.844896439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049734.845391557] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049734.846525407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049734.847671507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049734.945036377] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049734.945582891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049734.946402717] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049734.947410961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049734.948571058] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049735.002308091] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972178 Long: -76.50298811 +[vectornav-1] [INFO] [1746049735.003326587] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.097, -3.418, 8.686) +[mux-7] [INFO] [1746049735.045159166] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049735.046102450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049735.046556396] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049735.048048393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049735.049197379] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049735.085582618] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049735.088007915] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746049735.088702287] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049735.088774442] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746049735.089709652] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049735.090541019] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049735.091333286] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049735.145030498] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049735.145558307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049735.146476070] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049735.147428715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049735.148515407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049735.245298956] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049735.245920260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049735.246800575] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049735.248060566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049735.249108262] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049735.335346983] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049735.337655429] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049735.337913865] [sailbot.teensy]: Wind angle: 193 +[mux-7] [INFO] [1746049735.338178777] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049735.338840959] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049735.339697699] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049735.340167358] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049735.344468924] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049735.344853400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049735.345554507] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049735.346441014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049735.347433871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049735.445529042] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049735.446139197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049735.447435487] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049735.448359423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049735.449605479] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049735.503121024] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972184 Long: -76.50298794 +[vectornav-1] [INFO] [1746049735.504547530] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.152, -3.408, 8.894) +[mux-7] [INFO] [1746049735.545340460] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049735.545956423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049735.546769963] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049735.547953502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049735.549777215] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049735.585576955] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049735.587447978] [sailbot.teensy]: Wind angle: 193 +[trim_sail-4] [INFO] [1746049735.588176044] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049735.588447625] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049735.589405188] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049735.589511019] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049735.590375444] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049735.645304381] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049735.645956805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049735.646802203] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049735.648365797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049735.649574492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049735.745137253] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049735.745828547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049735.746515723] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049735.747858390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049735.748378127] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049735.835437574] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049735.837350046] [sailbot.teensy]: Wind angle: 191 +[trim_sail-4] [INFO] [1746049735.837845850] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049735.838298981] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049735.839173384] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049735.839321090] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049735.840016303] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049735.844287119] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049735.844742048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049735.845321575] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049735.846334071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049735.847436897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049735.944916819] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049735.945609759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049735.946208407] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049735.947509182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049735.948512995] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049736.003024791] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972186 Long: -76.50298754 +[vectornav-1] [INFO] [1746049736.004484262] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.12, -3.428, 8.607) +[mux-7] [INFO] [1746049736.044986460] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049736.045701900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049736.046315083] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049736.047660383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049736.048704050] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049736.085365734] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049736.087186085] [sailbot.teensy]: Wind angle: 190 +[trim_sail-4] [INFO] [1746049736.087741057] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049736.088122766] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049736.089079902] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049736.089463290] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049736.089941616] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049736.145027403] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049736.145807473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049736.146421413] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049736.147812437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049736.149067899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049736.245090618] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049736.245708486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049736.246453047] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049736.247550442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049736.248714347] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049736.335411330] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049736.337143289] [sailbot.teensy]: Wind angle: 190 +[trim_sail-4] [INFO] [1746049736.337789227] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049736.338090957] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049736.338999390] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049736.339585380] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049736.339879131] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049736.344490461] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049736.345005513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049736.345607978] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049736.346664854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049736.347668183] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049736.445563208] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049736.446363531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049736.447446674] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049736.448533244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049736.449046769] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049736.502644409] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972178 Long: -76.50298722 +[vectornav-1] [INFO] [1746049736.503824746] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.129, -3.432, 8.506) +[mux-7] [INFO] [1746049736.545340338] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049736.546152906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049736.546704728] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049736.548182601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049736.549312904] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049736.585612802] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049736.587482271] [sailbot.teensy]: Wind angle: 190 +[teensy-2] [INFO] [1746049736.588482066] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049736.588507760] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049736.589421002] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049736.590035127] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049736.590253674] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049736.645360817] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049736.646330250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049736.646957508] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049736.648561228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049736.649784281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049736.745062364] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049736.745853733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049736.746380723] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049736.747792295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049736.748290693] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049736.835689368] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049736.838498359] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049736.838543484] [sailbot.teensy]: Wind angle: 189 +[mux-7] [INFO] [1746049736.839155926] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049736.839523571] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049736.840418396] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049736.840782675] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049736.844445476] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049736.844878805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049736.845494789] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049736.846568882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049736.847599580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049736.945260011] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049736.946035537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049736.946772550] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049736.948341322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049736.949486049] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049737.002473337] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972165 Long: -76.5029871 +[vectornav-1] [INFO] [1746049737.003524645] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.156, -3.43, 8.649) +[mux-7] [INFO] [1746049737.045596403] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049737.046217132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049737.047101981] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049737.048500441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049737.049541910] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049737.085723878] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049737.088537429] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049737.088745563] [sailbot.teensy]: Wind angle: 188 +[mux-7] [INFO] [1746049737.089071936] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049737.089720802] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049737.090615724] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049737.091430128] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049737.145388686] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049737.146036016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049737.146910205] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049737.147909874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049737.148356266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049737.245413575] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049737.246088550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049737.246918798] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049737.248289216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049737.249378624] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049737.335512070] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049737.338031743] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049737.338629465] [sailbot.teensy]: Wind angle: 187 +[mux-7] [INFO] [1746049737.338653790] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049737.339612741] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049737.339985707] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049737.340368861] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049737.344487399] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049737.344930824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049737.345593919] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049737.346618597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049737.347635620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049737.445417635] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049737.446204421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049737.447067032] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049737.447915987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049737.448411496] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049737.504094745] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972157 Long: -76.50298698 +[vectornav-1] [INFO] [1746049737.505632086] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.16700000000003, -3.426, 8.765) +[mux-7] [INFO] [1746049737.545009402] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049737.545783101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049737.546319470] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049737.547685834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049737.548717772] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049737.585469417] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049737.587242416] [sailbot.teensy]: Wind angle: 187 +[trim_sail-4] [INFO] [1746049737.587738139] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049737.588292156] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049737.589073592] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049737.589201418] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049737.590113478] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049737.645391467] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049737.646205052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049737.646995085] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049737.648552575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049737.649650625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049737.745374355] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049737.746141955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049737.746893996] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049737.748452247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049737.749519381] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049737.835511967] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049737.837356287] [sailbot.teensy]: Wind angle: 187 +[trim_sail-4] [INFO] [1746049737.837906974] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049737.838323403] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049737.839076742] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049737.839202564] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049737.840086097] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049737.844358250] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049737.844867171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049737.845381281] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049737.846526018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049737.847704909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049737.945429580] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049737.946318722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049737.947053138] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049737.948595981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049737.949693248] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049738.003120362] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972173 Long: -76.50298679 +[vectornav-1] [INFO] [1746049738.004672219] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.139, -3.44, 8.494) +[mux-7] [INFO] [1746049738.045078696] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049738.046111128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049738.046469410] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049738.048330325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049738.049355107] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049738.085416135] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049738.087211070] [sailbot.teensy]: Wind angle: 196 +[trim_sail-4] [INFO] [1746049738.087697467] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049738.088555936] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049738.089378171] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049738.089479305] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049738.090349100] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049738.145297553] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049738.146028018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049738.146820448] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049738.148122040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049738.148627261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049738.245196641] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049738.245891455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049738.246672472] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049738.247769734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049738.248292622] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049738.335445458] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049738.337217366] [sailbot.teensy]: Wind angle: 237 +[trim_sail-4] [INFO] [1746049738.337805933] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746049738.338164225] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049738.338997324] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049738.339059984] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746049738.339787302] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049738.344199049] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049738.344771078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049738.345236947] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049738.346303514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049738.347318667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049738.445519776] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049738.446153774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049738.447233995] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049738.448413810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049738.449711119] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049738.502724645] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972177 Long: -76.50298668 +[vectornav-1] [INFO] [1746049738.503880859] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.13800000000003, -3.445, 8.427) +[mux-7] [INFO] [1746049738.545499761] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049738.546399437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049738.546970560] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049738.548553687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049738.549751493] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049738.585906392] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049738.588637384] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746049738.589234893] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746049738.590164926] [sailbot.teensy]: Wind angle: 284 +[teensy-2] [INFO] [1746049738.591064968] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049738.591886146] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049738.592759733] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049738.645414115] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049738.646168008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049738.647612431] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049738.648528315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049738.649665875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049738.745308307] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049738.746115166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049738.746851300] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049738.748582972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049738.749634072] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049738.835322490] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049738.836962370] [sailbot.teensy]: Wind angle: 328 +[trim_sail-4] [INFO] [1746049738.837493512] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049738.837846468] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049738.838669269] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049738.838792166] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049738.839526697] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049738.844388783] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049738.844865450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049738.845428234] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049738.846453272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049738.847510154] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049738.945367902] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049738.946065803] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049738.947052616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049738.948320120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049738.949241466] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049739.002572431] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972189 Long: -76.50298655 +[vectornav-1] [INFO] [1746049739.003644719] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.11, -3.451, 8.162) +[mux-7] [INFO] [1746049739.045529102] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049739.046281186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049739.047005362] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049739.048789812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049739.049956321] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049739.085405473] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049739.087665068] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049739.087926027] [sailbot.teensy]: Wind angle: 357 +[mux-7] [INFO] [1746049739.088477717] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049739.089116427] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049739.090018943] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049739.090861831] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049739.144666949] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049739.145229135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049739.145781756] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049739.147105868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049739.148064810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049739.244771569] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049739.245457242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049739.245956841] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049739.247249046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049739.248359062] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049739.335386637] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049739.337204053] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049739.337790826] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049739.338196748] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049739.339129797] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049739.339382438] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049739.340018296] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049739.344323129] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049739.344881306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049739.345369041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049739.346567516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049739.347566420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049739.445639849] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049739.446458217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049739.447473588] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049739.448812308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049739.450108698] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049739.503509059] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972191 Long: -76.50298642 +[vectornav-1] [INFO] [1746049739.505070518] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03999999999996, -3.468, 7.868) +[mux-7] [INFO] [1746049739.544852647] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049739.545586052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049739.546050289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049739.547336546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049739.548418204] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049739.585594713] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049739.587818314] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049739.588555208] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049739.589246274] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049739.590190862] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049739.591059713] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049739.591895608] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049739.645357265] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049739.646161529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049739.646935390] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049739.648539290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049739.649727812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049739.745299469] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049739.746044792] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049739.746697685] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049739.748080873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049739.749323307] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049739.835453600] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049739.837679246] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049739.837869500] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049739.838406787] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049739.838643334] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049739.839532815] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049739.840397686] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049739.844386295] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049739.844779254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049739.845429585] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049739.846421342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049739.847601663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049739.945400504] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049739.946166144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049739.946943867] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049739.948086358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049739.948542177] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049740.003444032] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972191 Long: -76.50298634 +[vectornav-1] [INFO] [1746049740.005049766] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03999999999996, -3.466, 7.891) +[mux-7] [INFO] [1746049740.045281310] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049740.046103988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049740.046699651] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049740.048224363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049740.049382074] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049740.085521924] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049740.087510844] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049740.087850358] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049740.088485924] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049740.088749004] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049740.089407734] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049740.090257887] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049740.145098693] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049740.145801163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049740.146524449] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049740.147938575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049740.149022976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049740.245157633] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049740.245989329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049740.246606565] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049740.248225667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049740.249370527] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049740.335706958] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049740.338088591] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049740.338556676] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049740.339221982] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049740.340170289] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049740.340254090] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049740.341065096] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049740.344242684] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049740.344959689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049740.345316915] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049740.346582229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049740.347673158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049740.445068762] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049740.445846658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049740.446476563] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049740.447979896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049740.448491677] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049740.502870742] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972187 Long: -76.50298634 +[vectornav-1] [INFO] [1746049740.504074765] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.086, -3.452, 7.983) +[mux-7] [INFO] [1746049740.545123791] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049740.545983618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049740.546585628] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049740.548252513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049740.549456396] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049740.585470626] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049740.587190215] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049740.587771196] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049740.588183596] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049740.588811339] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049740.589151488] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049740.590055593] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049740.645454964] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049740.646320498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049740.647058389] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049740.648727473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049740.649253172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049740.745266123] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049740.746109808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049740.746791596] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049740.748508389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049740.749491537] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049740.835642624] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049740.837654520] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049740.838177376] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049740.838690155] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049740.839614728] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049740.839805631] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049740.840537573] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049740.844389917] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049740.844942158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049740.845448714] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049740.846594468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049740.847624492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049740.945252176] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049740.945989937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049740.946748128] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049740.948405488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049740.949420070] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049741.003079926] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972208 Long: -76.50298634 +[vectornav-1] [INFO] [1746049741.004476124] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.055, -3.461, 7.773) +[mux-7] [INFO] [1746049741.045253126] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049741.046128227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049741.046948223] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049741.048515171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049741.049820189] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049741.085641313] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049741.087459830] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049741.087935027] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049741.088453721] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049741.089333677] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049741.089405655] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049741.090425716] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049741.145206524] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049741.145999711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049741.146639174] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049741.148114712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049741.149244623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049741.245444763] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049741.246190842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049741.246966856] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049741.248619352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049741.249729986] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049741.335384482] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049741.337230595] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049741.337783928] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049741.338388886] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049741.339353246] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049741.340244996] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049741.341057086] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049741.344280446] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049741.344840543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049741.345327751] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049741.346479032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049741.347399174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049741.444985644] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049741.445738391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049741.446318033] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049741.447758366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049741.448830295] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049741.502324023] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972195 Long: -76.5029863 +[vectornav-1] [INFO] [1746049741.503323290] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.11, -3.451, 7.934) +[mux-7] [INFO] [1746049741.545110081] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049741.546170796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049741.546443170] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049741.548036018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049741.549164094] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049741.585500564] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049741.587226816] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049741.588003373] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049741.588952798] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049741.589860799] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049741.590717265] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049741.591517289] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049741.645345364] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049741.646039363] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049741.647025263] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049741.648480533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049741.649441625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049741.744208748] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049741.744688947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049741.745249747] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049741.746088965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049741.747157164] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049741.835330085] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049741.836966284] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049741.837534725] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049741.837846221] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049741.838231910] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049741.838734041] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049741.839513511] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049741.844137709] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049741.844796839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049741.845146553] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049741.846269318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049741.847310681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049741.944982888] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049741.945656919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049741.946241255] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049741.947569688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049741.948608141] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049742.002355647] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972217 Long: -76.50298632 +[vectornav-1] [INFO] [1746049742.003455249] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.102, -3.445, 8.102) +[mux-7] [INFO] [1746049742.045236854] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049742.046119782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049742.046651563] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049742.048203068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049742.049257925] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049742.085624477] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049742.087636224] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049742.088200789] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049742.088714385] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049742.089646318] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049742.090406193] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049742.090511658] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049742.145259888] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049742.146128972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049742.146739847] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049742.148323071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049742.149382543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049742.245161467] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049742.245888534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049742.246487573] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049742.247732209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049742.248184490] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049742.335505907] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049742.337343069] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049742.337900272] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049742.338303234] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049742.339213667] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049742.339631344] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049742.340081895] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049742.344311213] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049742.344844972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049742.345403042] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049742.346587564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049742.347614839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049742.445323698] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049742.446227292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049742.446894549] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049742.448327756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049742.448846550] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049742.503169481] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972229 Long: -76.5029863 +[vectornav-1] [INFO] [1746049742.504483554] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.148, -3.435, 8.391) +[mux-7] [INFO] [1746049742.545081567] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049742.545865948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049742.546309921] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049742.547740891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049742.548767698] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049742.585482436] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049742.587422112] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049742.587859795] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049742.588457260] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049742.588916601] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049742.589382775] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049742.590229084] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049742.645429713] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049742.646261556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049742.646944728] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049742.648614993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049742.649701936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049742.744989734] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049742.745696934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049742.746177047] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049742.747483953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049742.748498611] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049742.835506686] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049742.837371532] [sailbot.teensy]: Wind angle: 331 +[trim_sail-4] [INFO] [1746049742.837864535] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049742.838351190] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049742.839164522] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049742.839219030] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049742.840114819] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049742.844145499] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049742.844705957] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049742.845188663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049742.846291862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049742.847260744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049742.944972379] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049742.945799058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049742.946166662] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049742.947490083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049742.948466422] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049743.002489675] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972236 Long: -76.50298624 +[vectornav-1] [INFO] [1746049743.003590254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.148, -3.428, 8.227) +[mux-7] [INFO] [1746049743.045344713] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049743.046155349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049743.046797341] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049743.048427079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049743.049440732] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049743.085637003] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049743.088131050] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049743.088392476] [sailbot.teensy]: Wind angle: 332 +[mux-7] [INFO] [1746049743.089316868] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049743.089387411] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049743.090262428] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049743.091117582] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049743.145007222] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049743.145796497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049743.146389832] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049743.147740149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049743.148760989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049743.245206029] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049743.245942732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049743.246727640] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049743.247801999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049743.248325594] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049743.335489269] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049743.337245060] [sailbot.teensy]: Wind angle: 332 +[teensy-2] [INFO] [1746049743.338185700] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049743.337837699] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049743.338819785] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049743.339058077] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049743.339972586] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049743.344293941] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049743.344761321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049743.345330433] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049743.346350666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049743.347455783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049743.445565819] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049743.446201683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049743.447143318] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049743.447725095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049743.448265117] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049743.502649984] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697224 Long: -76.50298624 +[vectornav-1] [INFO] [1746049743.503668704] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.148, -3.408, 8.431) +[mux-7] [INFO] [1746049743.545205690] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049743.546040260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049743.546700152] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049743.547939717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049743.548956883] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049743.585560835] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049743.588075631] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049743.588492316] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746049743.589428237] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049743.589476021] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049743.590305755] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049743.591131386] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049743.645211535] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049743.645771707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049743.646848978] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049743.647813714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049743.649045236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049743.745013230] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049743.745702917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049743.746573822] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049743.747684222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049743.748792304] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049743.835493127] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049743.837999857] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049743.838030638] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049743.838963338] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049743.839520150] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049743.839854439] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049743.840374378] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049743.844397785] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049743.844859442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049743.845492440] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049743.846456981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049743.847642648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049743.945179279] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049743.945772032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049743.946687772] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049743.947744737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049743.948528921] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049744.002919864] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972253 Long: -76.50298609 +[vectornav-1] [INFO] [1746049744.004230351] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.154, -3.399, 8.524) +[mux-7] [INFO] [1746049744.045010307] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049744.045656799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049744.046369083] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049744.047502500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049744.048652332] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049744.085403877] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049744.087722612] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049744.087795372] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049744.088710319] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049744.088837979] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049744.089588575] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049744.090298082] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049744.145196575] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049744.145763555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049744.146834419] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049744.147841099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049744.149073699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049744.244911063] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049744.245587971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049744.246160690] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049744.247392489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049744.248251758] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049744.335601784] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049744.337624927] [sailbot.teensy]: Wind angle: 332 +[trim_sail-4] [INFO] [1746049744.338210694] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049744.338644243] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049744.339320928] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049744.339541289] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049744.340400204] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049744.344456988] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049744.344956163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049744.345509577] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049744.346549035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049744.347528392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049744.444844732] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049744.445580640] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049744.446061031] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049744.447432919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049744.447901803] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049744.502202101] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972261 Long: -76.50298592 +[vectornav-1] [INFO] [1746049744.503118764] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.139, -3.432, 8.35) +[mux-7] [INFO] [1746049744.545101980] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049744.546070357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049744.546442791] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049744.547956670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049744.548932698] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049744.585896872] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049744.588684394] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049744.589465842] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049744.589938539] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746049744.590885107] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049744.591746288] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049744.592584832] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049744.645206977] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049744.646015661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049744.646690916] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049744.648164595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049744.649207857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049744.745173010] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049744.745985737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049744.746699345] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049744.747680195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049744.748132624] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049744.835547105] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049744.837635236] [sailbot.teensy]: Wind angle: 333 +[trim_sail-4] [INFO] [1746049744.838068422] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049744.838668447] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049744.839318228] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049744.839570932] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049744.840464683] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049744.844299021] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049744.844789587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049744.845319447] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049744.846384743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049744.847379348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049744.945055934] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049744.945868564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049744.946439853] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049744.947661658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049744.948121730] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049745.002997652] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972282 Long: -76.50298583 +[vectornav-1] [INFO] [1746049745.004442607] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.15, -3.445, 8.417) +[mux-7] [INFO] [1746049745.045315409] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049745.046141586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049745.046943536] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049745.048431827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049745.049541894] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049745.085400394] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049745.087511462] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049745.087820768] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049745.088488534] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049745.088553848] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049745.089476326] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049745.090330215] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049745.145005557] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049745.145770839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049745.146373086] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049745.147763537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049745.148764763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049745.244928129] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049745.245588024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049745.246145905] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049745.247355187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049745.248436560] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049745.335493404] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049745.337976198] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049745.338421475] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049745.338501662] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049745.339443470] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049745.340334938] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049745.341154565] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049745.344279999] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049745.344836728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049745.345328270] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049745.346439408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049745.347433133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049745.445161698] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049745.445908132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049745.446634986] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049745.448044660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049745.449103206] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049745.502219450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972308 Long: -76.50298586 +[vectornav-1] [INFO] [1746049745.503132273] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.173, -3.44, 8.514) +[mux-7] [INFO] [1746049745.544986012] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049745.545801170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049745.546219300] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049745.547590759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049745.548582123] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049745.585399270] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049745.587386071] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049745.587833139] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049745.588412368] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049745.589081558] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049745.589294364] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049745.590185161] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049745.645239064] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049745.646138208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049745.646844669] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049745.648552780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049745.649829013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049745.745142925] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049745.746019682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049745.746770633] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049745.748111718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049745.748545648] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049745.835369367] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049745.837207511] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049745.837769461] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049745.838195834] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049745.838336417] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049745.839126709] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049745.840026572] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049745.844227266] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049745.844909431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049745.845302360] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049745.846576769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049745.847542443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049745.945568407] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049745.946479601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049745.947181953] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049745.948865783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049745.950103634] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049746.002630710] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972335 Long: -76.50298583 +[vectornav-1] [INFO] [1746049746.003856683] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.175, -3.431, 8.553) +[mux-7] [INFO] [1746049746.045214630] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049746.046060868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049746.046670694] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049746.047763693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049746.048183233] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049746.085248856] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049746.087092446] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049746.088196861] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049746.087630499] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049746.088393906] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049746.089194156] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049746.090212336] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049746.145462051] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049746.146276588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049746.147179618] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049746.148754129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049746.149902581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049746.244944468] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049746.245680816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049746.246286912] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049746.247689308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049746.248708422] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049746.335327547] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049746.337182239] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049746.337713774] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049746.338117038] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049746.338898165] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049746.338983681] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049746.339868079] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049746.344309677] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049746.344774857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049746.345328971] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049746.346431700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049746.347420403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049746.445686914] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049746.446651556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049746.447386125] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049746.449122771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049746.450295016] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049746.503091666] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972345 Long: -76.5029859 +[vectornav-1] [INFO] [1746049746.504386663] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.14, -3.424, 8.336) +[mux-7] [INFO] [1746049746.544848683] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049746.545594638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049746.546068253] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049746.547485183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049746.548487346] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049746.585500010] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049746.587819327] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049746.587873478] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049746.588809082] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049746.589657496] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049746.589681443] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049746.590544320] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049746.645429932] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049746.646225748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049746.647020689] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049746.648635889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049746.649777478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049746.745277411] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049746.746011136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049746.746745715] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049746.748103454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049746.749300157] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049746.835478047] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049746.837345151] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049746.838120710] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049746.838348116] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049746.839257357] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049746.839920884] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049746.840121668] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049746.844252593] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049746.844942355] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049746.845334575] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049746.846560586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049746.847538060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049746.945072191] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049746.945861363] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049746.946449799] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049746.947847838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049746.948901249] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049747.002432848] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972371 Long: -76.502986 +[vectornav-1] [INFO] [1746049747.003468704] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.137, -3.428, 8.325) +[mux-7] [INFO] [1746049747.045007281] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049747.045610345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049747.046203548] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049747.047425048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049747.048552606] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049747.085479971] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049747.087309801] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049747.087967924] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049747.088564335] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049747.089475906] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049747.090370305] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049747.091182113] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049747.145135373] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049747.145905263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049747.146628774] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049747.148118972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049747.149177578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049747.245128310] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049747.245921383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049747.246627393] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049747.247793178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049747.248260297] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049747.335540669] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049747.337678407] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049747.338298543] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049747.338782256] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049747.339561663] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049747.339698418] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049747.340517206] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049747.344453394] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049747.345042565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049747.345671435] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049747.346849505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049747.347869403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049747.445232195] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049747.446064569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049747.446707001] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049747.448287724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049747.449431483] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049747.502355814] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972389 Long: -76.50298598 +[vectornav-1] [INFO] [1746049747.503344312] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.11699999999996, -3.419, 8.287) +[mux-7] [INFO] [1746049747.545323949] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049747.546059289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049747.546698581] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049747.548020651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049747.549122403] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049747.585775101] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049747.588400427] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049747.589006759] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049747.589557914] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049747.590557783] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049747.591414595] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049747.592237391] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049747.645175941] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049747.646030482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049747.646907777] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049747.648411793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049747.649491530] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049747.745155674] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049747.746013877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049747.746625789] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049747.748170648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049747.749255883] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049747.835631234] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049747.838283077] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049747.838779646] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049747.839376625] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049747.840359561] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049747.841187396] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049747.842007403] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049747.844243458] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049747.844769383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049747.845266858] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049747.846396486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049747.847449676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049747.945424087] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049747.946298077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049747.947028009] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049747.948231357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049747.948661336] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049748.003920461] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972402 Long: -76.50298593 +[vectornav-1] [INFO] [1746049748.005391887] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.14, -3.429, 8.32) +[mux-7] [INFO] [1746049748.045465487] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049748.046445471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049748.047001131] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049748.048783678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049748.049920853] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049748.085241970] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049748.087507234] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049748.087675853] [sailbot.teensy]: Wind angle: 339 +[mux-7] [INFO] [1746049748.088107122] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049748.088733446] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049748.089613054] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049748.090423303] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049748.145118182] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049748.145738696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049748.146617029] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049748.147556634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049748.148050897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049748.245459731] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049748.246227633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049748.247021180] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049748.247861529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049748.248290561] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049748.335607310] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049748.337871624] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049748.338689409] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049748.339028090] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049748.340028942] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049748.340369292] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049748.341014053] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049748.344294227] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049748.345001383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049748.345449609] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049748.346806062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049748.347837271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049748.445607118] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049748.446481378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049748.447366295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049748.448764667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049748.449988384] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049748.503149693] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972412 Long: -76.50298596 +[vectornav-1] [INFO] [1746049748.504345489] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.16200000000003, -3.417, 8.465) +[mux-7] [INFO] [1746049748.545454035] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049748.546295784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049748.547058154] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049748.548681036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049748.550057576] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049748.585424290] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049748.587784294] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049748.587874877] [sailbot.teensy]: Wind angle: 341 +[mux-7] [INFO] [1746049748.588630362] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049748.588882057] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049748.589753292] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049748.590579583] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049748.645395067] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049748.646208131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049748.646991039] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049748.648500503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049748.649732523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049748.745405455] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049748.746399684] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049748.747180702] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049748.748932486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049748.750287065] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049748.835646519] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049748.837666750] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049748.838341187] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049748.838691535] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049748.839564884] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049748.839590149] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049748.840443397] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049748.844137330] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049748.844781692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049748.845186691] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049748.846444015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049748.847405491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049748.945479085] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049748.946426179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049748.947201130] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049748.948305100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049748.948757171] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049749.003576813] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972426 Long: -76.50298588 +[vectornav-1] [INFO] [1746049749.004981749] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.193, -3.402, 8.646) +[mux-7] [INFO] [1746049749.045440404] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049749.046423633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049749.047035261] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049749.048775832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049749.049875453] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049749.085363146] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049749.087352176] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049749.087900761] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049749.088373483] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049749.088421881] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049749.089259871] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049749.090161294] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049749.145349176] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049749.146160894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049749.146845907] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049749.148626865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049749.149844902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049749.245609631] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049749.246411944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049749.247154223] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049749.248879278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049749.250012390] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049749.335755459] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049749.338050997] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049749.338781992] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049749.339160334] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049749.339291914] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049749.340209252] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049749.341098354] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049749.344392158] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049749.345092032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049749.345544218] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049749.346804914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049749.347914317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049749.445630499] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049749.446593616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049749.447483782] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049749.449035684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049749.450360001] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049749.503206495] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972436 Long: -76.50298585 +[vectornav-1] [INFO] [1746049749.505197444] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.18899999999996, -3.409, 8.61) +[mux-7] [INFO] [1746049749.545043324] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049749.545890689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049749.546390566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049749.547842704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049749.548974829] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049749.585691190] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049749.587734088] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049749.588557001] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049749.588795270] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049749.589704658] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049749.589861814] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049749.590541137] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049749.645467615] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049749.646171908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049749.647676395] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049749.648002164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049749.648466040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049749.745352846] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049749.746203122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049749.746885476] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049749.748202804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049749.748744817] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049749.835802691] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049749.838626924] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049749.839113248] [sailbot.teensy]: Wind angle: 334 +[mux-7] [INFO] [1746049749.839290533] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049749.840311409] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049749.841177902] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049749.841979113] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049749.843524027] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049749.843770281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049749.843978616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049749.844465999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049749.844917447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049749.945190417] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049749.945927847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049749.946678836] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049749.947645619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049749.948138991] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049750.002423078] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972447 Long: -76.5029856 +[vectornav-1] [INFO] [1746049750.003431526] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.183, -3.412, 8.564) +[mux-7] [INFO] [1746049750.045298617] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049750.046028554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049750.046821813] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049750.048225326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049750.049396651] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049750.085162515] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049750.086665169] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049750.087526579] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049750.087272179] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049750.088287205] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049750.088352341] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049750.089196571] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049750.145231347] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049750.145857473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049750.146826304] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049750.147983068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049750.149202990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049750.245199518] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049750.245914766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049750.246751342] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049750.248046891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049750.249284966] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049750.335515613] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049750.337393589] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049750.338077891] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049750.338515908] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049750.338896652] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049750.339526693] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049750.340522798] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049750.344347777] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049750.345058809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049750.345466632] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049750.346653081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049750.347649245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049750.445369325] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049750.446084251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049750.446923513] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049750.448355515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049750.449343870] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049750.502719563] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972441 Long: -76.50298557 +[vectornav-1] [INFO] [1746049750.503897240] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.185, -3.404, 8.662) +[mux-7] [INFO] [1746049750.545194862] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049750.546098750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049750.546600727] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049750.548200355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049750.549357893] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049750.585458637] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049750.587298636] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049750.587891729] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049750.588282999] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049750.589155391] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049750.589359569] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049750.590002310] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049750.645461373] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049750.646346771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049750.647180442] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049750.648676005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049750.649918757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049750.745696171] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049750.746638856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049750.747385367] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049750.747948325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049750.748387398] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049750.835469257] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049750.837763829] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049750.838023242] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049750.838820583] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049750.838817915] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049750.839208171] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049750.839578682] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049750.844484966] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049750.844923554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049750.845813561] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049750.846566325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049750.847678568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049750.945638283] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049750.946202202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049750.947287942] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049750.948516716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049750.949763573] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049751.003851149] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972452 Long: -76.50298555 +[vectornav-1] [INFO] [1746049751.005430237] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.197, -3.405, 8.64) +[mux-7] [INFO] [1746049751.045444913] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049751.046136313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049751.047048224] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049751.048466251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049751.049014992] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049751.085524769] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049751.088215586] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049751.088614968] [sailbot.teensy]: Wind angle: 341 +[mux-7] [INFO] [1746049751.088783784] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049751.089604320] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049751.090458691] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049751.091266967] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049751.145184847] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049751.145890535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049751.146690462] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049751.148189470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049751.149398764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049751.245585013] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049751.246472229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049751.247479676] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049751.249006461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049751.250371542] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049751.335373559] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049751.337097619] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049751.337608892] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049751.338264331] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049751.338963497] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049751.339025797] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049751.339340450] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049751.344553757] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049751.345117765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049751.345669577] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049751.346743827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049751.347852857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049751.445406896] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049751.446106295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049751.447708847] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049751.448404420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049751.449631018] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049751.503484413] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972457 Long: -76.50298555 +[vectornav-1] [INFO] [1746049751.505089347] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.185, -3.412, 8.671) +[mux-7] [INFO] [1746049751.545616518] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049751.546350041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049751.547225532] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049751.548760360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049751.549925818] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049751.585520530] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049751.587389244] [sailbot.teensy]: Wind angle: 353 +[trim_sail-4] [INFO] [1746049751.587965888] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049751.588376085] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049751.589353958] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049751.588681629] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049751.590212446] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049751.645203977] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049751.645840145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049751.646757582] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049751.648101349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049751.649379002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049751.745256846] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049751.745930397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049751.746882505] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049751.748183651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049751.749272027] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049751.835723361] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049751.837747037] [sailbot.teensy]: Wind angle: 353 +[trim_sail-4] [INFO] [1746049751.838372280] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049751.838785826] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049751.839676397] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049751.839952486] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049751.840528802] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049751.844440739] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049751.844836628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049751.845520690] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049751.846430540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049751.847561501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049751.945669867] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049751.946461850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049751.947488964] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049751.948930686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049751.950284919] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049752.003659816] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972477 Long: -76.50298523 +[vectornav-1] [INFO] [1746049752.004955372] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.188, -3.414, 8.585) +[mux-7] [INFO] [1746049752.045329612] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049752.045910816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049752.046868995] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049752.047981382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049752.049105322] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049752.085704106] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049752.087936705] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049752.088615500] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049752.089010293] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049752.089725901] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049752.089898313] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049752.090753705] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049752.144758857] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049752.145435540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049752.145929633] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049752.147153345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049752.148206521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049752.245498463] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049752.246232628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049752.247324370] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049752.248837032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049752.250139191] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049752.335426433] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049752.337352415] [sailbot.teensy]: Wind angle: 313 +[trim_sail-4] [INFO] [1746049752.338218713] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049752.338343926] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049752.339171272] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049752.339204709] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049752.340055397] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049752.344440476] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049752.345025897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049752.345530693] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049752.346650451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049752.347761278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049752.445526428] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049752.446276507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049752.447162111] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049752.448129256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049752.448667953] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049752.503699777] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972483 Long: -76.50298513 +[vectornav-1] [INFO] [1746049752.505394199] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.262, -3.397, 9.038) +[mux-7] [INFO] [1746049752.545404343] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049752.546151020] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049752.546859358] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049752.548235167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049752.548760113] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049752.585433162] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049752.587078924] [sailbot.teensy]: Wind angle: 304 +[trim_sail-4] [INFO] [1746049752.587876670] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049752.588006180] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049752.588855652] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049752.588868816] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049752.589725630] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049752.645353787] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049752.645975488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049752.646838060] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049752.648116631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049752.648941412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049752.745276828] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049752.746090974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049752.746876652] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049752.748279335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049752.749457230] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049752.835543534] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049752.837331907] [sailbot.teensy]: Wind angle: 301 +[trim_sail-4] [INFO] [1746049752.837974151] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049752.838257914] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049752.839151485] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049752.839505531] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049752.840003663] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049752.844387726] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049752.844876170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049752.845421609] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049752.846461024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049752.847541882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049752.945245885] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049752.945979889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049752.946753250] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049752.948201495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049752.949396473] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049753.003284397] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972469 Long: -76.50298498 +[vectornav-1] [INFO] [1746049753.004607594] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.235, -3.407, 8.943) +[mux-7] [INFO] [1746049753.045051114] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049753.045928743] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049753.046332201] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049753.049212110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049753.050313887] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049753.085451631] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049753.087155464] [sailbot.teensy]: Wind angle: 301 +[trim_sail-4] [INFO] [1746049753.087992483] [sailbot.trim_sail]: Sail Angle: "55" +[mux-7] [INFO] [1746049753.088944492] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049753.088950278] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049753.089869369] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049753.090718159] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049753.145178335] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049753.145904842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049753.146559951] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049753.147898669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049753.148927420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049753.245226969] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049753.245959817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049753.246656351] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049753.248114474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049753.249268346] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049753.335368718] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049753.337103320] [sailbot.teensy]: Wind angle: 301 +[teensy-2] [INFO] [1746049753.338038323] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049753.337780785] [sailbot.trim_sail]: Sail Angle: "55" +[mux-7] [INFO] [1746049753.338236896] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049753.338820155] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049753.339191953] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049753.344301392] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049753.344927262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049753.345324401] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049753.346549020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049753.347524153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049753.445584143] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049753.446369325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049753.447366652] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049753.448511575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049753.449052410] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049753.502482006] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972473 Long: -76.5029848 +[vectornav-1] [INFO] [1746049753.503536961] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.22900000000004, -3.402, 9.036) +[mux-7] [INFO] [1746049753.545655648] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049753.546401012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049753.547236444] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049753.548738638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049753.550010941] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049753.585918377] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049753.588072997] [sailbot.teensy]: Wind angle: 301 +[trim_sail-4] [INFO] [1746049753.588822005] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049753.589244876] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049753.590195059] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049753.590360722] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049753.591064152] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049753.645380956] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049753.646147642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049753.646911909] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049753.648359042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049753.649476745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049753.745492132] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049753.746198765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049753.747083997] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049753.748648843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049753.749919424] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049753.835489174] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049753.837916547] [sailbot.trim_sail]: Sail Angle: "55" +[mux-7] [INFO] [1746049753.838490050] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049753.838823637] [sailbot.teensy]: Wind angle: 302 +[teensy-2] [INFO] [1746049753.840005005] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049753.840931224] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049753.841775097] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049753.844317275] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049753.844823405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049753.845347033] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049753.846411639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049753.847413632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049753.945370235] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049753.946091304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049753.946909149] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049753.948311699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049753.949380830] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049754.003460172] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972485 Long: -76.50298471 +[vectornav-1] [INFO] [1746049754.004802115] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.24199999999996, -3.409, 8.959) +[mux-7] [INFO] [1746049754.045166786] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049754.045981506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049754.046609789] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049754.048018263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049754.049139954] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049754.085492934] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049754.087350635] [sailbot.teensy]: Wind angle: 303 +[trim_sail-4] [INFO] [1746049754.087920312] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049754.088307271] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049754.088330588] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049754.089215919] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049754.090042155] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049754.145386694] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049754.146124269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049754.147159732] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049754.148429616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049754.149038642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049754.244879627] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049754.245588610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049754.246244710] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049754.247499600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049754.248630431] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049754.335014116] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049754.336596125] [sailbot.teensy]: Wind angle: 305 +[trim_sail-4] [INFO] [1746049754.337038962] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746049754.337461784] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049754.337877729] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049754.338281757] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049754.339127282] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049754.344433247] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049754.344974049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049754.345511345] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049754.346759386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049754.347774094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049754.445236636] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049754.446075795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049754.446724636] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049754.448321196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049754.449473519] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049754.502470538] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972505 Long: -76.50298439 +[vectornav-1] [INFO] [1746049754.503516414] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26300000000003, -3.405, 8.989) +[mux-7] [INFO] [1746049754.545510877] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049754.546223138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049754.547016487] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049754.548388069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049754.549588089] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049754.585577206] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049754.587442850] [sailbot.teensy]: Wind angle: 304 +[trim_sail-4] [INFO] [1746049754.588025658] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049754.588456901] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049754.589034798] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049754.589331768] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049754.590255700] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049754.645079576] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049754.645670554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049754.646505771] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049754.647719219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049754.648912975] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049754.745374230] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049754.746225405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049754.746886431] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049754.748000840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049754.748458898] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049754.835835705] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049754.838226655] [sailbot.teensy]: Wind angle: 303 +[trim_sail-4] [INFO] [1746049754.838713838] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049754.839348020] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049754.840307248] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049754.840629446] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049754.841190844] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049754.844251481] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049754.844698678] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049754.845310710] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049754.846276055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049754.847234314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049754.945369860] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049754.946112189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049754.946882295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049754.948410854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049754.949505280] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049755.002990164] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972532 Long: -76.50298428 +[vectornav-1] [INFO] [1746049755.004718569] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.23, -3.409, 8.893) +[mux-7] [INFO] [1746049755.045397864] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049755.046168784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049755.046897896] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049755.048638427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049755.049797344] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049755.085420561] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049755.087115234] [sailbot.teensy]: Wind angle: 302 +[trim_sail-4] [INFO] [1746049755.087733146] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049755.088081626] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049755.088996287] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049755.089428553] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049755.089839876] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049755.144583941] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049755.145180403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049755.145633968] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049755.146832116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049755.147928701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049755.245243189] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049755.245928850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049755.246648510] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049755.247864820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049755.248392357] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049755.335366845] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049755.337077589] [sailbot.teensy]: Wind angle: 300 +[trim_sail-4] [INFO] [1746049755.337664363] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049755.338025892] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049755.338908493] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049755.339113873] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049755.339752257] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049755.344319357] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049755.344864189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049755.345367467] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049755.346525485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049755.347661961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049755.445524160] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049755.446333345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049755.447139674] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049755.447997954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049755.448548860] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049755.502590163] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972543 Long: -76.5029842 +[vectornav-1] [INFO] [1746049755.503712424] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.318, -3.41, 9.39) +[mux-7] [INFO] [1746049755.545418532] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049755.546148270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049755.546911161] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049755.548339424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049755.549545838] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049755.585675448] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049755.588473572] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746049755.588802087] [sailbot.teensy]: Wind angle: 297 +[mux-7] [INFO] [1746049755.588960661] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049755.589802238] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049755.590701289] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049755.591569307] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049755.645049657] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049755.645852937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049755.646454072] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049755.647893007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049755.649120007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049755.745305727] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049755.745977616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049755.746806154] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049755.748196660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049755.749433804] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049755.835695926] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049755.838209892] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049755.838351993] [sailbot.teensy]: Wind angle: 298 +[mux-7] [INFO] [1746049755.838705066] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049755.839328442] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049755.839849714] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049755.840224927] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049755.844293155] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049755.844905002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049755.845330684] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049755.846546505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049755.847540566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049755.945385823] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049755.946280705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049755.947200643] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049755.948806145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049755.949865669] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049756.003159237] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972566 Long: -76.50298405 +[vectornav-1] [INFO] [1746049756.005000962] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.3, -3.394, 9.49) +[mux-7] [INFO] [1746049756.045168842] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049756.046036709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049756.046622291] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049756.047963406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049756.048991965] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049756.085418552] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049756.087328937] [sailbot.teensy]: Wind angle: 299 +[trim_sail-4] [INFO] [1746049756.087767188] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049756.088394656] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049756.089192524] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049756.089605901] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049756.090231822] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049756.145095960] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049756.145904026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049756.146570446] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049756.148125494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049756.149317168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049756.245551069] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049756.246610994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049756.247065585] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049756.249002486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049756.250059461] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049756.335926661] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049756.338443614] [sailbot.teensy]: Wind angle: 299 +[trim_sail-4] [INFO] [1746049756.338835370] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049756.339596772] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049756.340608058] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049756.340920748] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049756.341483930] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049756.344365998] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049756.344985103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049756.345404387] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049756.346604650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049756.347581192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049756.445524612] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049756.446206700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049756.447139392] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049756.448579820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049756.449868743] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049756.503488218] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972578 Long: -76.50298379 +[vectornav-1] [INFO] [1746049756.505049522] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.325, -3.407, 9.409) +[mux-7] [INFO] [1746049756.545366279] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049756.546233747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049756.546790992] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049756.548295384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049756.549493063] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049756.585645923] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049756.588363128] [sailbot.teensy]: Wind angle: 299 +[trim_sail-4] [INFO] [1746049756.588426344] [sailbot.trim_sail]: Sail Angle: "55" +[mux-7] [INFO] [1746049756.588916260] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049756.590043270] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049756.590900221] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049756.591698137] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049756.645461907] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049756.646093395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049756.647080101] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049756.648571906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049756.649749728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049756.745417359] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049756.746032365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049756.746915154] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049756.748262618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049756.749575845] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049756.835492077] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049756.837240769] [sailbot.teensy]: Wind angle: 299 +[trim_sail-4] [INFO] [1746049756.838059615] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049756.838201737] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049756.839102907] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049756.839504000] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049756.839957039] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049756.844281147] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049756.844782409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049756.845334513] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049756.846370724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049756.847383049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049756.945386760] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049756.946025097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049756.946998430] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049756.948383638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049756.949295197] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049757.003827454] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972599 Long: -76.50298347 +[vectornav-1] [INFO] [1746049757.005545393] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.325, -3.411, 9.481) +[mux-7] [INFO] [1746049757.045446789] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049757.046208181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049757.046952906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049757.048604355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049757.049734585] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049757.085346114] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049757.087297783] [sailbot.teensy]: Wind angle: 312 +[trim_sail-4] [INFO] [1746049757.087729367] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746049757.088224952] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049757.088314814] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049757.089229053] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049757.090123426] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049757.145418614] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049757.146154889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049757.146908781] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049757.148577002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049757.149832672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049757.245331341] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049757.246137385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049757.246903516] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049757.248541040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049757.249607547] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049757.335722079] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049757.337919634] [sailbot.teensy]: Wind angle: 322 +[trim_sail-4] [INFO] [1746049757.338561760] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049757.339041468] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049757.340011408] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049757.340506860] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049757.340957904] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049757.344291099] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049757.344797302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049757.345335637] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049757.346403884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049757.347561751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049757.445355751] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049757.446245784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049757.446907465] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049757.448613680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049757.449677866] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049757.503880367] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972618 Long: -76.5029832 +[vectornav-1] [INFO] [1746049757.505269547] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.344, -3.407, 9.492) +[mux-7] [INFO] [1746049757.545311124] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049757.546070395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049757.546699915] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049757.548199155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049757.549260035] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049757.585469020] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049757.587207745] [sailbot.teensy]: Wind angle: 323 +[teensy-2] [INFO] [1746049757.588201274] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049757.588087089] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049757.588566287] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049757.589088864] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049757.589979153] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049757.645178570] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049757.645967725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049757.646580383] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049757.648120813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049757.649229243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049757.745341509] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049757.746136988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049757.746844300] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049757.748409944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049757.749524566] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049757.835419409] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049757.837207300] [sailbot.teensy]: Wind angle: 322 +[trim_sail-4] [INFO] [1746049757.837742941] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049757.838173326] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049757.839136417] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049757.839160881] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049757.840097820] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049757.844342177] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049757.844874845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049757.845394125] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049757.846517669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049757.847536362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049757.945422239] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049757.946166022] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049757.946961793] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049757.948624067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049757.949813004] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049758.003790729] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972639 Long: -76.50298301 +[vectornav-1] [INFO] [1746049758.005442299] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.35699999999997, -3.403, 9.626) +[mux-7] [INFO] [1746049758.045199396] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049758.046012527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049758.046645964] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049758.048142040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049758.049226488] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049758.085293055] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049758.087087846] [sailbot.teensy]: Wind angle: 323 +[trim_sail-4] [INFO] [1746049758.087813318] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049758.088083101] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049758.088399672] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049758.089048612] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049758.089927866] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049758.144885968] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049758.145660741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049758.146218815] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049758.147595320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049758.148621282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049758.245543368] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049758.246480677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049758.247358635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049758.249030502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049758.250227319] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049758.335993209] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049758.338504829] [sailbot.teensy]: Wind angle: 323 +[trim_sail-4] [INFO] [1746049758.339529478] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049758.340091330] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049758.340369335] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049758.340828312] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049758.341214593] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049758.344366010] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049758.344908752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049758.345455298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049758.346710025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049758.347739898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049758.445307357] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049758.446063185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049758.446872338] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049758.448346701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049758.449475236] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049758.502694158] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972649 Long: -76.50298276 +[vectornav-1] [INFO] [1746049758.503838368] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.36400000000003, -3.401, 9.564) +[mux-7] [INFO] [1746049758.545281667] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049758.546204484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049758.546763656] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049758.548295693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049758.549293420] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049758.585403330] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049758.587431166] [sailbot.teensy]: Wind angle: 323 +[trim_sail-4] [INFO] [1746049758.587960818] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049758.588381350] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049758.588453767] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049758.589358384] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049758.590230724] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049758.645047630] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049758.645809323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049758.646475397] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049758.647916316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049758.649030725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049758.745596440] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049758.746453389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049758.747148085] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049758.748809829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049758.749939783] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049758.835529668] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049758.837442573] [sailbot.teensy]: Wind angle: 324 +[trim_sail-4] [INFO] [1746049758.837984744] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049758.838372177] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049758.838628374] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049758.839311530] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049758.840199201] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049758.844262623] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049758.844811997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049758.845368547] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049758.846602897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049758.847632421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049758.945614115] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049758.946484048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049758.947599013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049758.949115706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049758.950260568] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049759.002581953] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972682 Long: -76.50298256 +[vectornav-1] [INFO] [1746049759.003822108] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.36, -3.399, 9.612) +[mux-7] [INFO] [1746049759.045263171] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049759.046043933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049759.046692759] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049759.048288503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049759.049508360] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049759.085752289] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049759.087889917] [sailbot.teensy]: Wind angle: 328 +[trim_sail-4] [INFO] [1746049759.088571542] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049759.089029129] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049759.089958885] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049759.089984334] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049759.090870514] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049759.145246132] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049759.146079460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049759.146778477] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049759.148445886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049759.149578239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049759.245400755] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049759.246223215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049759.247013651] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049759.248007009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049759.248496168] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049759.335730938] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049759.337943503] [sailbot.teensy]: Wind angle: 330 +[trim_sail-4] [INFO] [1746049759.338550649] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049759.339074142] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049759.340055684] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049759.340089803] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049759.340972251] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049759.344356330] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049759.344966926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049759.345500185] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049759.346688377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049759.347728965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049759.445531706] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049759.446299507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049759.447040605] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049759.448634620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049759.449730478] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049759.503986581] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972704 Long: -76.5029823 +[vectornav-1] [INFO] [1746049759.505340099] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.34000000000003, -3.407, 9.481) +[mux-7] [INFO] [1746049759.545302391] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049759.546528450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049759.546814880] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049759.548544751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049759.549572615] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049759.585364980] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049759.587197912] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049759.587782244] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049759.588208781] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049759.588652540] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049759.589140718] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049759.590008411] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049759.645516842] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049759.646257260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049759.647005803] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049759.648504894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049759.649697974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049759.745619290] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049759.746426521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049759.747191469] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049759.748685687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049759.749896768] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049759.835728204] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049759.838036088] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049759.838578551] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049759.838800772] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049759.838917766] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049759.839195021] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049759.839568463] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049759.844616195] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049759.845036326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049759.845805421] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049759.846661231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049759.847658228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049759.945543284] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049759.946198261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049759.947331325] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049759.948562045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049759.949771553] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049760.003614020] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972728 Long: -76.50298203 +[vectornav-1] [INFO] [1746049760.005171308] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.36699999999996, -3.406, 9.553) +[mux-7] [INFO] [1746049760.045595617] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049760.046062039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049760.047208642] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049760.048401848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049760.049355797] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049760.085609181] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049760.088010759] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049760.088508532] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049760.088748699] [sailbot.teensy]: Wind angle: 329 +[teensy-2] [INFO] [1746049760.089726546] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049760.090570327] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049760.091366515] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049760.145443307] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049760.146238451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049760.147037340] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049760.147972758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049760.148424363] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049760.245329279] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049760.246034269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049760.246861262] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049760.248277395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049760.249503191] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049760.335577726] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049760.338129342] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049760.338624022] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049760.338979532] [sailbot.teensy]: Wind angle: 329 +[teensy-2] [INFO] [1746049760.339886038] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049760.340747417] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049760.341556866] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049760.344292015] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049760.344923379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049760.345326011] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049760.346520218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049760.347646527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049760.445140230] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049760.445852718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049760.446596297] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049760.447904618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049760.448469267] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049760.503083873] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972756 Long: -76.50298176 +[vectornav-1] [INFO] [1746049760.504629166] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.394, -3.412, 9.668) +[mux-7] [INFO] [1746049760.545036089] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049760.545829015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049760.546418359] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049760.547781386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049760.548714305] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049760.585390893] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049760.587747155] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049760.587747292] [sailbot.teensy]: Wind angle: 332 +[mux-7] [INFO] [1746049760.588473559] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049760.588820375] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049760.589739698] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049760.590580648] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049760.645070842] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049760.645778564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049760.646524424] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049760.648015521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049760.649071426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049760.745006152] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049760.745803929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049760.746341688] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049760.747715617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049760.748855579] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049760.835514128] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049760.838175794] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049760.838536058] [sailbot.teensy]: Wind angle: 338 +[mux-7] [INFO] [1746049760.838824853] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049760.839485974] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049760.840378368] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049760.841194156] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049760.844471525] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049760.844885705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049760.845581090] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049760.846474955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049760.847617499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049760.945550634] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049760.946890350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049760.947202425] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049760.949647612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049760.950790333] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049761.003081876] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972789 Long: -76.50298146 +[vectornav-1] [INFO] [1746049761.004544562] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.328, -3.42, 9.298) +[mux-7] [INFO] [1746049761.045559924] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049761.046396511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049761.047134901] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049761.048644152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049761.049900439] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049761.085474849] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049761.087235549] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049761.087840756] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049761.088737606] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049761.089520048] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049761.089690081] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049761.090556702] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049761.145328268] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049761.146061046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049761.146907717] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049761.148197870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049761.149029965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049761.245563055] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049761.246142348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049761.247272657] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049761.248390540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049761.249657043] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049761.335446881] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049761.337284413] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049761.338095377] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049761.338266775] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049761.339172893] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049761.339822151] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049761.340020642] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049761.344369054] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049761.344956500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049761.345425894] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049761.346570565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049761.347582752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049761.445190378] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049761.445905845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049761.446749474] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049761.447797725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049761.448319278] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049761.503949293] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972801 Long: -76.5029813 +[vectornav-1] [INFO] [1746049761.505743889] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.381, -3.414, 9.555) +[mux-7] [INFO] [1746049761.545417146] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049761.546210462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049761.547073323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049761.548503421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049761.549781837] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049761.585372372] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049761.587116151] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049761.587894708] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049761.588065326] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049761.588966641] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049761.589050247] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049761.589818123] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049761.645026601] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049761.645793048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049761.646348617] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049761.647678422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049761.648846823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049761.745433710] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049761.746088398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049761.747059150] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049761.748427824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049761.750065533] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049761.835228001] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049761.837072217] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049761.837638667] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049761.838035323] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049761.838926495] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049761.838940348] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049761.839796271] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049761.844335625] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049761.844907930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049761.845509680] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049761.846599322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049761.847558874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049761.945086285] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049761.945732852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049761.946435890] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049761.947689095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049761.948568508] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049762.002861373] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972841 Long: -76.50298106 +[vectornav-1] [INFO] [1746049762.004187744] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.356, -3.412, 9.581) +[mux-7] [INFO] [1746049762.045032944] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049762.045766920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049762.046413158] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049762.047704709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049762.048702662] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049762.085481601] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049762.087412372] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049762.088004484] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049762.088602806] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049762.088640298] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049762.089739276] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049762.090582027] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049762.145473398] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049762.146239451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049762.147050817] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049762.148531354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049762.149763843] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049762.245468291] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049762.246137914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049762.246999696] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049762.248419766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049762.249287442] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049762.335513722] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049762.337454376] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049762.338071739] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049762.338411309] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049762.339334261] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049762.339935667] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049762.340189965] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049762.344246159] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049762.344886005] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049762.345360232] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049762.346557047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049762.347595418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049762.445224421] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049762.446000712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049762.446698474] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049762.448100580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049762.449292450] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049762.503352574] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972847 Long: -76.50298104 +[vectornav-1] [INFO] [1746049762.504884243] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.389, -3.407, 9.689) +[mux-7] [INFO] [1746049762.545202312] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049762.545924952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049762.546592971] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049762.547783147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049762.548297908] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049762.585581181] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049762.588406328] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049762.588460424] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049762.589205904] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049762.589253890] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049762.589586227] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049762.589953515] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049762.645440007] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049762.646152992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049762.646981843] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049762.648469015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049762.649779519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049762.745365597] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049762.746149863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049762.746924625] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049762.748502669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049762.749159728] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049762.835382183] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049762.837270260] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049762.837744206] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049762.838199070] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049762.838219431] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049762.839083425] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049762.839921832] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049762.844418551] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049762.844958953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049762.845516669] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049762.846644334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049762.847758444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049762.945190970] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049762.945840379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049762.946651420] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049762.947918257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049762.949128765] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049763.002251573] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972882 Long: -76.50298079 +[vectornav-1] [INFO] [1746049763.003233899] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.385, -3.417, 9.616) +[mux-7] [INFO] [1746049763.045349063] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049763.046162247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049763.046860096] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049763.048213196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049763.049055808] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049763.085475731] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049763.087375888] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049763.087969768] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049763.088375794] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049763.089255264] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049763.089254828] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049763.090110630] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049763.145051066] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049763.145764153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049763.146607240] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049763.147732481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049763.148896562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049763.245224802] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049763.246098786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049763.246676463] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049763.247738931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049763.248235808] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049763.335508545] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049763.337645951] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049763.338552408] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049763.338658644] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049763.339132189] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049763.339544042] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049763.340401643] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049763.344175407] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049763.344878694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049763.345274657] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049763.346505559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049763.347622276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049763.445343759] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049763.446060617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049763.446904168] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049763.448312179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049763.448865219] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049763.502385238] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972898 Long: -76.50298057 +[vectornav-1] [INFO] [1746049763.503376562] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.374, -3.423, 9.603) +[mux-7] [INFO] [1746049763.545090821] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049763.545931165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049763.546572146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049763.547909578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049763.548658397] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049763.585487601] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049763.587265323] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049763.587995914] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049763.588250186] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049763.588649110] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049763.589129845] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049763.589974021] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049763.644978950] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049763.645759681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049763.646330349] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049763.647718169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049763.648868743] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049763.745571349] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049763.746464960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049763.747451317] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049763.748668214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049763.749180889] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049763.835316749] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049763.837772512] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049763.837847929] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049763.838358795] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049763.838760982] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049763.839669332] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049763.840530524] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049763.844194957] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049763.844760278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049763.845224478] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049763.846349149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049763.847456422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049763.945200846] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049763.945938034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049763.946715060] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049763.948061684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049763.949195598] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049764.003188790] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972926 Long: -76.50298018 +[vectornav-1] [INFO] [1746049764.004793409] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.376, -3.421, 9.648) +[mux-7] [INFO] [1746049764.044856044] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049764.045600392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049764.046074082] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049764.047377471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049764.048347320] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049764.085422928] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049764.087676208] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049764.088242755] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049764.088696503] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049764.089581573] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049764.090345433] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049764.091114259] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049764.145246063] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049764.145892890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049764.146691000] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049764.147954733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049764.148396146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049764.245609547] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049764.246588110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049764.247415224] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049764.249298201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049764.250427246] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049764.335381583] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049764.337595958] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049764.337878391] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049764.338781564] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049764.339326306] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049764.340220194] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049764.341043614] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049764.344276215] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049764.344782509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049764.345310459] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049764.346369167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049764.347467778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049764.445707633] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049764.446626099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049764.447490574] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049764.449114637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049764.450412449] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049764.504031383] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697294 Long: -76.5029799 +[vectornav-1] [INFO] [1746049764.505445695] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.387, -3.418, 9.686) +[mux-7] [INFO] [1746049764.545208493] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049764.545909103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049764.546705987] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049764.548041104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049764.549075682] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049764.585545616] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049764.587871086] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049764.589060853] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049764.589239073] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049764.590223101] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049764.591083495] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049764.591892059] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049764.645176565] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049764.645871398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049764.646631579] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049764.648100227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049764.648683479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049764.745590709] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049764.746470897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049764.747175072] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049764.748560663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049764.748962214] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049764.835556528] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049764.837647835] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049764.838024007] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049764.839109707] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049764.839299853] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049764.840232462] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049764.841079578] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049764.844252601] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049764.844862633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049764.845311820] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049764.846603863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049764.847681007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049764.945586994] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049764.946743891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049764.947388492] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049764.949116738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049764.950205562] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049765.002394542] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972962 Long: -76.50297968 +[vectornav-1] [INFO] [1746049765.003529618] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.399, -3.423, 9.69) +[mux-7] [INFO] [1746049765.045504172] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049765.046272497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049765.047693373] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049765.048673645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049765.050352135] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049765.085975350] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049765.088089373] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049765.088837426] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049765.089206509] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049765.090195143] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049765.090779598] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049765.091032460] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049765.145299662] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049765.146179446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049765.146768307] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049765.148331085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049765.149374285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049765.245625677] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049765.246573231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049765.247286479] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049765.247863171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049765.248340374] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049765.335940122] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049765.338446423] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049765.339197389] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049765.340196728] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049765.340571787] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049765.341488347] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049765.342325764] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049765.344320791] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049765.344912972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049765.345351370] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049765.346494741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049765.347586534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049765.445509466] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049765.446354386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049765.447254362] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049765.448290758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049765.448789361] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049765.502970251] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972988 Long: -76.50297944 +[vectornav-1] [INFO] [1746049765.504230653] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.385, -3.427, 9.639) +[mux-7] [INFO] [1746049765.545277916] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049765.546272565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049765.546955316] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049765.548782524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049765.549308387] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049765.585532858] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049765.588183240] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049765.588184502] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049765.589145700] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049765.589253149] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049765.590187936] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049765.591062032] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049765.645388995] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049765.646273989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049765.646990046] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049765.648663296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049765.649948705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049765.745424326] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049765.746133400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049765.747005837] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049765.748423213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049765.749020529] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049765.835504902] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049765.837986976] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049765.838454065] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049765.838829784] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746049765.839753865] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049765.840604605] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049765.841406677] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049765.844190501] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049765.844683330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049765.845259562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049765.846300672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049765.847341408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049765.945439206] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049765.946191448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049765.947064160] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049765.948477763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049765.949386126] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049766.002277170] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973019 Long: -76.50297907 +[vectornav-1] [INFO] [1746049766.003345329] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.4, -3.413, 9.72) +[mux-7] [INFO] [1746049766.045403924] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049766.046056551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049766.046895156] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049766.047855815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049766.048304160] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049766.085542795] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049766.088132868] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049766.088129022] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049766.089125554] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049766.089160935] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049766.090041908] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049766.090869018] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049766.145496548] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049766.146244956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049766.147082899] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049766.148505174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049766.149739126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049766.245405676] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049766.246156040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049766.247087624] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049766.248493113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049766.249465306] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049766.335329491] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049766.337774132] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049766.338090355] [sailbot.teensy]: Wind angle: 344 +[mux-7] [INFO] [1746049766.338371192] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049766.338822155] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049766.339168174] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049766.339517683] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049766.344448389] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049766.345057220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049766.345648177] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049766.346937860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049766.347970725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049766.445564718] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049766.446497900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049766.447339567] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049766.447994694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049766.448518600] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049766.502472518] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973049 Long: -76.5029788 +[vectornav-1] [INFO] [1746049766.503493356] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.325, -3.421, 9.206) +[mux-7] [INFO] [1746049766.545226743] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049766.546081231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049766.546683346] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049766.548267091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049766.549309306] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049766.585534440] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049766.587703784] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049766.588384989] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049766.588967498] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049766.589712029] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049766.590617544] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049766.591448214] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049766.645284626] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049766.645956605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049766.646784790] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049766.648136806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049766.649349286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049766.745627563] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049766.746374480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049766.747375811] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049766.748901623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049766.750246230] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049766.835537210] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049766.838034833] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049766.838678104] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049766.838763788] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049766.839774439] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049766.840765558] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049766.841603638] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049766.844217914] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049766.844658425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049766.845248375] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049766.846246369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049766.847260890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049766.945516292] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049766.946234635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049766.947167390] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049766.948715516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049766.949978246] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049767.003084371] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973099 Long: -76.50297815 +[vectornav-1] [INFO] [1746049767.004598431] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.342, -3.412, 9.283) +[mux-7] [INFO] [1746049767.044850209] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049767.045704242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049767.046184053] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049767.047528415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049767.048537352] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049767.085467555] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049767.087358990] [sailbot.teensy]: Wind angle: 326 +[trim_sail-4] [INFO] [1746049767.088033200] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049767.088392787] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049767.089264327] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049767.089304141] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049767.090113140] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049767.145369967] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049767.146183231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049767.146911345] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049767.148361836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049767.148887789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049767.245415280] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049767.246172062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049767.247003081] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049767.248494332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049767.249770404] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049767.335607535] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049767.337709870] [sailbot.teensy]: Wind angle: 304 +[trim_sail-4] [INFO] [1746049767.338385235] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049767.338586333] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049767.338973727] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049767.339021201] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049767.339346542] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049767.344471546] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049767.345155120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049767.345669955] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049767.346964590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049767.348066754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049767.445472463] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049767.446322005] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049767.447250199] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049767.448813753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049767.450068334] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049767.504118952] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973124 Long: -76.50297798 +[vectornav-1] [INFO] [1746049767.505942578] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.336, -3.412, 9.274) +[mux-7] [INFO] [1746049767.545247809] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049767.546017876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049767.546824946] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049767.548217340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049767.549418799] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049767.585288447] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049767.587121772] [sailbot.teensy]: Wind angle: 307 +[trim_sail-4] [INFO] [1746049767.587727734] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746049767.588078398] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049767.588968983] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049767.589295780] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049767.589808737] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049767.645191862] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049767.645981075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049767.646674109] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049767.648125016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049767.649342307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049767.745550657] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049767.746506926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049767.747216516] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049767.748880026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049767.750057005] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049767.835691408] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049767.837972297] [sailbot.teensy]: Wind angle: 314 +[trim_sail-4] [INFO] [1746049767.838527591] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049767.839117210] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049767.840027910] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049767.840092448] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049767.841008882] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049767.844356108] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049767.844967226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049767.845460759] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049767.846633614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049767.847612219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049767.945667154] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049767.946612463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049767.947513691] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049767.948501938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049767.948944840] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049768.003335648] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697314 Long: -76.50297769 +[vectornav-1] [INFO] [1746049768.004798384] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.324, -3.415, 9.264) +[mux-7] [INFO] [1746049768.044874063] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049768.045710838] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049768.046169488] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049768.047560381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049768.048585531] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049768.085555563] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049768.087505759] [sailbot.teensy]: Wind angle: 317 +[trim_sail-4] [INFO] [1746049768.088041317] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049768.089009664] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049768.089375659] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049768.089924094] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049768.090830954] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049768.145482951] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049768.146248394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049768.147051356] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049768.147816399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049768.148256874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049768.245198971] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049768.245973409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049768.246676683] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049768.248287403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049768.249317246] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049768.335593728] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049768.337684984] [sailbot.teensy]: Wind angle: 322 +[trim_sail-4] [INFO] [1746049768.338216550] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049768.338743635] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049768.338821918] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049768.339736300] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049768.340595593] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049768.344472370] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049768.345216990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049768.345659125] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049768.347034586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049768.348023141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049768.445613997] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049768.446489074] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049768.447981810] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049768.448902935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049768.450074338] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049768.503542064] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973169 Long: -76.5029774 +[vectornav-1] [INFO] [1746049768.505138702] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.327, -3.416, 9.203) +[mux-7] [INFO] [1746049768.545299807] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049768.546375587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049768.546858074] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049768.548576169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049768.549673013] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049768.585333011] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049768.587022438] [sailbot.teensy]: Wind angle: 331 +[trim_sail-4] [INFO] [1746049768.587587317] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049768.587956621] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049768.588850802] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049768.589001945] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049768.589740687] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049768.645204905] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049768.645953887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049768.646678104] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049768.648193376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049768.649302905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049768.745731800] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049768.746576793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049768.747575159] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049768.748982348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049768.749762949] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049768.835807402] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049768.838946386] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049768.839366040] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049768.839532998] [sailbot.teensy]: Wind angle: 334 +[teensy-2] [INFO] [1746049768.840554717] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049768.841424781] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049768.842243286] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049768.844325480] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049768.844713293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049768.845374008] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049768.846264316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049768.847379653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049768.945236120] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049768.946060897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049768.946774761] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049768.948319312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049768.949389284] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049769.003264617] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973204 Long: -76.50297718 +[vectornav-1] [INFO] [1746049769.004634895] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.356, -3.417, 9.216) +[mux-7] [INFO] [1746049769.045466503] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049769.046282883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049769.046968224] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049769.047839038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049769.048279823] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049769.085449759] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049769.087703906] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049769.087699545] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049769.088700997] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049769.088780325] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049769.089681271] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049769.090533747] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049769.145076604] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049769.145674523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049769.146822242] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049769.147823941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049769.149312922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049769.245107744] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049769.245800284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049769.246608965] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049769.247893243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049769.249147028] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049769.336146251] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049769.339128259] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049769.339128129] [sailbot.teensy]: Wind angle: 334 +[teensy-2] [INFO] [1746049769.340274969] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049769.340410404] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049769.341224801] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049769.341895939] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049769.344390975] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049769.345072082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049769.345514586] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049769.346882919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049769.347933527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049769.445601609] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049769.446145418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049769.447255940] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049769.448439660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049769.449614558] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049769.503568694] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973228 Long: -76.50297706 +[vectornav-1] [INFO] [1746049769.505484076] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.379, -3.41, 9.015) +[mux-7] [INFO] [1746049769.544950073] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049769.545611577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049769.546325375] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049769.547487091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049769.548671585] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049769.585421028] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049769.587077200] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049769.587614147] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049769.587986873] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049769.588897123] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049769.589078798] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049769.589748059] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049769.645335824] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049769.645938609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049769.646921337] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049769.648096032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049769.648722566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049769.745477700] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049769.746174170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049769.747146870] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049769.748589003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049769.749879095] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049769.835413557] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049769.837117142] [sailbot.teensy]: Wind angle: 331 +[trim_sail-4] [INFO] [1746049769.837679341] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049769.838038025] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049769.838917510] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049769.839053785] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049769.839594071] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049769.844485249] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049769.844986400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049769.845612299] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049769.846623597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049769.847631435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049769.945391611] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049769.945976399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049769.946971387] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049769.948146863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049769.949280791] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049770.002265608] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973243 Long: -76.5029768 +[vectornav-1] [INFO] [1746049770.003213299] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.349, -3.427, 8.654) +[mux-7] [INFO] [1746049770.044371721] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746049770.045354596] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049770.047402394] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049770.048952679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049770.050031096] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049770.085451046] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049770.087643227] [sailbot.teensy]: Wind angle: 328 +[trim_sail-4] [INFO] [1746049770.087728724] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049770.088553182] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049770.089176680] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049770.090089755] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049770.090913803] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049770.145336702] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049770.146017417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049770.147035363] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049770.148251888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049770.149341187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049770.245423597] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049770.246235010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049770.247174118] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049770.248383741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049770.248879993] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049770.335462373] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049770.337194836] [sailbot.teensy]: Wind angle: 326 +[trim_sail-4] [INFO] [1746049770.337757435] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049770.338112083] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049770.338804927] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049770.338982819] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049770.339823339] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049770.344386555] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049770.344949027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049770.345491224] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049770.346586367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049770.347668679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049770.445401100] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049770.446317082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049770.447209761] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049770.448842407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049770.450226139] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049770.502605286] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973279 Long: -76.5029768 +[vectornav-1] [INFO] [1746049770.503692424] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.39, -3.414, 8.853) +[mux-7] [INFO] [1746049770.545009033] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049770.545770957] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049770.546313992] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049770.547629890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049770.548762144] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049770.585341364] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049770.587648461] [sailbot.teensy]: Wind angle: 326 +[trim_sail-4] [INFO] [1746049770.587695552] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049770.588217733] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049770.588573488] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049770.589448146] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049770.590267403] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049770.644878478] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049770.645576950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049770.646208837] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049770.647445169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049770.648478317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049770.745591247] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049770.746562569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049770.747445234] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049770.748683726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049770.749214669] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049770.835402062] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049770.837793215] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049770.838277523] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049770.837852260] [sailbot.teensy]: Wind angle: 325 +[teensy-2] [INFO] [1746049770.839498458] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049770.840383511] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049770.840743638] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049770.844257248] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049770.844572013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049770.845314898] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049770.846108570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049770.847068316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049770.945112966] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049770.945861008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049770.946484078] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049770.947630471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049770.948126215] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049771.003298240] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973317 Long: -76.50297642 +[vectornav-1] [INFO] [1746049771.004598207] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.43, -3.411, 9.093) +[mux-7] [INFO] [1746049771.044905825] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049771.045632587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049771.046118258] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049771.047389154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049771.048389687] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049771.085364902] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049771.087064116] [sailbot.teensy]: Wind angle: 322 +[trim_sail-4] [INFO] [1746049771.087723907] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049771.088015289] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049771.088927893] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049771.089057765] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049771.089801030] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049771.145074420] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049771.145810699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049771.146360733] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049771.147611801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049771.148130603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049771.245429959] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049771.246217837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049771.246963298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049771.248507599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049771.249539769] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049771.335470298] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049771.337385221] [sailbot.teensy]: Wind angle: 314 +[trim_sail-4] [INFO] [1746049771.338064124] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049771.338723953] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049771.338917761] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049771.339127247] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049771.339503085] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049771.344353908] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049771.344841542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049771.345382973] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049771.346430731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049771.347412420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049771.445435359] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049771.446211289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049771.446950498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049771.448406165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049771.449910325] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049771.503995231] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973334 Long: -76.50297633 +[vectornav-1] [INFO] [1746049771.505659442] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.43, -3.406, 9.202) +[mux-7] [INFO] [1746049771.545449881] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049771.546286728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049771.546981402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049771.548495155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049771.549654006] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049771.585466645] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049771.587204091] [sailbot.teensy]: Wind angle: 304 +[trim_sail-4] [INFO] [1746049771.587844528] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049771.588143780] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049771.589020342] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049771.589032389] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049771.589903220] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049771.645158677] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049771.645903456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049771.646760811] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049771.647955111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049771.649063713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049771.745253434] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049771.746063672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049771.746782330] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049771.748638732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049771.749710051] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049771.834400489] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049771.835542402] [sailbot.teensy]: Wind angle: 299 +[teensy-2] [INFO] [1746049771.836165385] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049771.836022143] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049771.836931189] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049771.837688928] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049771.837968969] [sailbot.mux]: algo sail angle: 55 +[mux-7] [INFO] [1746049771.843491053] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049771.843746286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049771.844004993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049771.844497893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049771.844954273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049771.945507164] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049771.946348529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049771.947064776] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049771.948518684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049771.948938843] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049772.002401593] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973366 Long: -76.50297613 +[vectornav-1] [INFO] [1746049772.003494531] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.404, -3.402, 9.057) +[mux-7] [INFO] [1746049772.045236993] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049772.045909453] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049772.046697073] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049772.047972458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049772.049140748] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049772.085592938] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049772.088029969] [sailbot.teensy]: Wind angle: 299 +[trim_sail-4] [INFO] [1746049772.088032970] [sailbot.trim_sail]: Sail Angle: "55" +[mux-7] [INFO] [1746049772.088917230] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049772.088968309] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049772.089817094] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049772.090652638] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049772.145163261] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049772.145796096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049772.146726688] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049772.147844038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049772.149056361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049772.245282398] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049772.245908473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049772.246821146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049772.248074874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049772.248881685] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049772.335506358] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049772.337358872] [sailbot.teensy]: Wind angle: 299 +[teensy-2] [INFO] [1746049772.338343331] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746049772.337997809] [sailbot.trim_sail]: Sail Angle: "55" +[mux-7] [INFO] [1746049772.338747271] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049772.339221477] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049772.340079869] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049772.344389608] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049772.344836209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049772.345442949] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049772.346428334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049772.347545301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049772.444988432] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049772.445590429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049772.446426712] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049772.448766416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049772.449925551] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049772.503760180] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973382 Long: -76.50297593 +[vectornav-1] [INFO] [1746049772.505317946] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.4, -3.406, 9.048) +[mux-7] [INFO] [1746049772.545419777] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049772.546115562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049772.547003758] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049772.548304126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049772.549511382] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049772.585571021] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049772.587245324] [sailbot.teensy]: Wind angle: 299 +[trim_sail-4] [INFO] [1746049772.587872338] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049772.588147917] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049772.589043017] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049772.589249932] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049772.589890000] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049772.645537165] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049772.646157572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049772.647076281] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049772.648360603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049772.649560267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049772.745537296] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049772.746177787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049772.747229594] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049772.748520512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049772.749747107] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049772.835490039] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049772.837289071] [sailbot.teensy]: Wind angle: 299 +[trim_sail-4] [INFO] [1746049772.837919419] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049772.838249503] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049772.839148461] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049772.839290760] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049772.840041367] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049772.844385509] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049772.844987533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049772.845492587] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049772.846678087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049772.847767157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049772.945506131] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049772.946169625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049772.947035306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049772.947831694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049772.948300065] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049773.003707283] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973418 Long: -76.50297561 +[vectornav-1] [INFO] [1746049773.005149296] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.34299999999996, -3.434, 8.818) +[mux-7] [INFO] [1746049773.045325054] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049773.046009039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049773.046768554] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049773.048061566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049773.049144714] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049773.085548863] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049773.087638989] [sailbot.teensy]: Wind angle: 302 +[trim_sail-4] [INFO] [1746049773.088237266] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746049773.088642620] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049773.089404910] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049773.089509784] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049773.090343628] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049773.144961357] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049773.145696192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049773.146261651] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049773.147656058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049773.148764928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049773.245538637] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049773.246238717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049773.247174246] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049773.248801672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049773.250057030] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049773.335378506] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049773.337811737] [sailbot.trim_sail]: Sail Angle: "60" +[mux-7] [INFO] [1746049773.338281434] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049773.338419509] [sailbot.teensy]: Wind angle: 310 +[teensy-2] [INFO] [1746049773.339405025] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049773.339764702] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049773.340099432] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049773.344355040] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049773.344877664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049773.345392664] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049773.346533161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049773.347557339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049773.445526223] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049773.446413138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049773.447315884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049773.448893341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049773.450026014] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049773.503619489] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973432 Long: -76.50297541 +[vectornav-1] [INFO] [1746049773.505093062] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.344, -3.42, 8.8) +[mux-7] [INFO] [1746049773.545536986] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049773.546416200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049773.547136094] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049773.548771250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049773.549837142] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049773.585352107] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049773.587575481] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049773.588304819] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049773.588702424] [sailbot.teensy]: Wind angle: 321 +[teensy-2] [INFO] [1746049773.589644138] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049773.590459686] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049773.591277289] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049773.645097477] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049773.645874254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049773.646506054] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049773.647886521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049773.648948247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049773.745421684] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049773.746079873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049773.747112442] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049773.748355390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049773.749831054] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049773.835333568] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049773.837039685] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049773.837651631] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049773.838039320] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049773.838910018] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049773.839059315] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049773.839604293] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049773.844431604] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049773.845049412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049773.845477431] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049773.846657389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049773.847652177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049773.945662805] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049773.946372754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049773.947293039] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049773.948912125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049773.949402242] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049774.003031939] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973447 Long: -76.50297538 +[vectornav-1] [INFO] [1746049774.004371101] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.349, -3.419, 8.804) +[mux-7] [INFO] [1746049774.045197404] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049774.045959390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049774.046618206] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049774.048008178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049774.049218737] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049774.085610027] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049774.087334734] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049774.087965736] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049774.088290127] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049774.088991518] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049774.089199035] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049774.090073990] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049774.145079842] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049774.145689064] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049774.146535942] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049774.147590178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049774.148636442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049774.245496978] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049774.246102110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049774.247149894] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049774.248336742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049774.249592168] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049774.335543160] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049774.338008153] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049774.338518735] [sailbot.teensy]: Wind angle: 334 +[mux-7] [INFO] [1746049774.338794272] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049774.339332862] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049774.339722902] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049774.340077622] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049774.344605049] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049774.344925307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049774.345764224] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049774.346539700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049774.347654680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049774.445646526] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049774.447050492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049774.447523912] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049774.449593993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049774.450803580] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049774.503839106] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697346 Long: -76.50297529 +[vectornav-1] [INFO] [1746049774.505703189] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.39099999999996, -3.413, 8.86) +[mux-7] [INFO] [1746049774.545314624] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049774.545926652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049774.546835651] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049774.547940170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049774.549146543] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049774.585455638] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049774.587747359] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049774.587795757] [sailbot.teensy]: Wind angle: 333 +[mux-7] [INFO] [1746049774.588331926] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049774.588793818] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049774.589691923] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049774.590517900] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049774.645276297] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049774.646063706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049774.646785431] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049774.648285864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049774.649156803] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049774.745392626] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049774.746050171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049774.747090605] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049774.748460584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049774.749014089] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049774.835444379] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049774.837784241] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049774.838463259] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049774.838470043] [sailbot.teensy]: Wind angle: 334 +[teensy-2] [INFO] [1746049774.839437086] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049774.840319096] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049774.841162920] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049774.844335451] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049774.844803165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049774.845398683] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049774.846442154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049774.847550250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049774.945385960] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049774.946111604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049774.946942450] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049774.948419813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049774.949626539] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049775.003518430] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973496 Long: -76.50297512 +[vectornav-1] [INFO] [1746049775.005197733] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.387, -3.416, 8.868) +[mux-7] [INFO] [1746049775.045011261] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049775.045780713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049775.046309170] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049775.047608579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049775.048685208] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049775.085780694] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049775.088555219] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049775.088590872] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049775.089694840] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049775.089859381] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049775.090559679] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049775.091398640] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049775.145172489] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049775.145778096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049775.146752732] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049775.147686171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049775.148723893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049775.245226588] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049775.246021108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049775.246716973] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049775.248034143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049775.249196155] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049775.335506879] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049775.337514685] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049775.338046574] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049775.338495550] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049775.338693812] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049775.339071101] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049775.339439802] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049775.344592826] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049775.345104978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049775.345801204] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049775.346756109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049775.347881308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049775.445538068] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049775.446282221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049775.447424982] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049775.448698653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049775.449614965] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049775.503698739] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973512 Long: -76.50297502 +[vectornav-1] [INFO] [1746049775.505454433] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.375, -3.413, 8.946) +[mux-7] [INFO] [1746049775.545640030] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049775.546232782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049775.547263114] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049775.548519237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049775.549738960] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049775.585500635] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049775.587213024] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049775.587871421] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049775.588177965] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746049775.588799622] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049775.589050181] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049775.589888259] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049775.645688442] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746049775.646300922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049775.647190230] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049775.648628074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746049775.649899638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049775.664256761] [sailbot.mux]: controller_app sail angle: 37 +[mux-7] [INFO] [1746049775.745469479] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049775.746243992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049775.747016091] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049775.748559848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049775.749673228] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049775.835505250] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049775.838038605] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049775.838117890] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049775.838612643] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049775.839103850] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746049775.839981282] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049775.840840009] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049775.844328225] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049775.844903793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049775.845443533] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049775.846545434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049775.847519522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049775.945653881] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049775.946529634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049775.947545563] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049775.949033232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049775.950147372] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049776.003311687] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973524 Long: -76.50297493 +[vectornav-1] [INFO] [1746049776.004687981] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.38300000000004, -3.422, 8.869) +[mux-7] [INFO] [1746049776.045178512] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049776.045979888] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049776.046594525] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049776.048127682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049776.049316770] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049776.085609094] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049776.088200683] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049776.088760665] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049776.089098906] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049776.090018170] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049776.090852704] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049776.091652164] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049776.145555279] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049776.146291256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049776.147147958] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049776.148808930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049776.149960726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049776.245521630] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049776.246237847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049776.247099341] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049776.248160459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049776.248587761] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049776.335754074] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049776.338596948] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049776.339079145] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049776.339148500] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049776.340092700] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049776.341001832] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049776.341868538] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049776.344301574] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049776.344850421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049776.345346462] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049776.346509663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049776.347537075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049776.445479494] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049776.446230364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049776.447347986] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049776.449540016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049776.450673248] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049776.504037576] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973532 Long: -76.50297497 +[vectornav-1] [INFO] [1746049776.505561846] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.40700000000004, -3.411, 8.949) +[mux-7] [INFO] [1746049776.545184931] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049776.545994965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049776.546719188] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049776.548069936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049776.549141596] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049776.585442319] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049776.587794692] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049776.588215609] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049776.588884650] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049776.589833750] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049776.590663326] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049776.591460885] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049776.645330745] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049776.646086721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049776.646847134] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049776.648426686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049776.649635592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049776.745326572] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049776.746095589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049776.746862351] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049776.748407749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049776.749576227] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049776.835668210] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049776.837765557] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049776.838232620] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049776.838802403] [sailbot.teensy]: Actual sail angle: 37 +[mux-7] [INFO] [1746049776.839272804] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049776.839748217] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049776.840677725] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049776.844438183] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049776.844974577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049776.845492004] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049776.846630762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049776.847639908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049776.945604665] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049776.946444048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049776.947111943] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049776.948710597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049776.949922332] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049777.003523776] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973553 Long: -76.50297491 +[vectornav-1] [INFO] [1746049777.005111333] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.425, -3.424, 8.905) +[mux-7] [INFO] [1746049777.045253358] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049777.046090828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049777.046865438] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049777.048633259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049777.049703461] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049777.085879099] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049777.088043558] [sailbot.teensy]: Wind angle: 302 +[teensy-2] [INFO] [1746049777.089147589] [sailbot.teensy]: Actual sail angle: 37 +[trim_sail-4] [INFO] [1746049777.088672807] [sailbot.trim_sail]: Sail Angle: "55" +[mux-7] [INFO] [1746049777.089216523] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746049777.090081210] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049777.090941399] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049777.145524055] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049777.146375510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049777.147082584] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049777.148722622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049777.149821342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049777.245330405] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049777.246130834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049777.246870689] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049777.248424103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049777.249578385] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049777.335383488] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049777.337272468] [sailbot.teensy]: Wind angle: 283 +[trim_sail-4] [INFO] [1746049777.337757853] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746049777.338287786] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049777.339244166] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049777.339648488] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746049777.340148621] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049777.344474406] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049777.345067712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049777.345663518] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049777.346824088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049777.347879898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049777.445387191] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049777.446200515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049777.446948439] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049777.448537211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049777.449651407] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049777.503748536] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973572 Long: -76.50297497 +[vectornav-1] [INFO] [1746049777.505666050] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.28700000000003, -3.433, 8.32) +[mux-7] [INFO] [1746049777.545648958] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049777.546648132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049777.547201770] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049777.548992994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049777.550024676] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049777.585533990] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049777.587581926] [sailbot.teensy]: Wind angle: 291 +[trim_sail-4] [INFO] [1746049777.588024118] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746049777.588618884] [sailbot.teensy]: Actual sail angle: 37 +[mux-7] [INFO] [1746049777.589462632] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049777.589479185] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049777.590358592] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049777.645357240] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049777.646125955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049777.647055740] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049777.648424795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049777.649554741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049777.745150696] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049777.745893939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049777.746587738] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049777.748091647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049777.749193741] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049777.835489977] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049777.837583843] [sailbot.teensy]: Wind angle: 307 +[trim_sail-4] [INFO] [1746049777.838102501] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746049777.838625668] [sailbot.teensy]: Actual sail angle: 37 +[mux-7] [INFO] [1746049777.838743492] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049777.839533366] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049777.840404337] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049777.844339305] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049777.844805515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049777.845460905] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049777.846454515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049777.847429229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049777.945606992] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049777.946305775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049777.947268263] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049777.948716191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049777.950032755] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049778.003058696] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973596 Long: -76.50297479 +[vectornav-1] [INFO] [1746049778.004361772] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.27, -3.451, 8.025) +[mux-7] [INFO] [1746049778.045391863] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049778.046113088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049778.046961999] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049778.048706202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049778.049874589] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049778.085495246] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049778.087890656] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049778.088274944] [sailbot.teensy]: Wind angle: 328 +[mux-7] [INFO] [1746049778.088785061] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049778.089331430] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049778.090376013] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049778.091241321] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049778.145591437] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049778.146581284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049778.147378925] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049778.148489476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049778.148986147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049778.245415087] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049778.246212805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049778.246912433] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049778.248538481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049778.249617803] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049778.335479052] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049778.337349871] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049778.337894868] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049778.338361183] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049778.339263964] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049778.339321816] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049778.339690650] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049778.344543780] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049778.345112505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049778.345685238] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049778.346785944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049778.347927876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049778.445505014] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049778.446290756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049778.447190561] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049778.448011841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049778.448527683] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049778.502736030] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973606 Long: -76.50297477 +[vectornav-1] [INFO] [1746049778.503924400] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.305, -3.426, 8.058) +[mux-7] [INFO] [1746049778.545339760] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049778.546193019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049778.546791100] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049778.548245193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049778.549309290] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049778.585973416] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049778.588348889] [sailbot.teensy]: Wind angle: 358 +[trim_sail-4] [INFO] [1746049778.588813167] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049778.589512442] [sailbot.teensy]: Actual sail angle: 37 +[mux-7] [INFO] [1746049778.589832133] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049778.590464641] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049778.591322829] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049778.645712414] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049778.646438751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049778.647407841] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049778.648952744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049778.650234419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049778.745188844] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049778.745997498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049778.746627548] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049778.747833843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049778.748338253] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049778.835520993] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049778.837380685] [sailbot.teensy]: Wind angle: 333 +[trim_sail-4] [INFO] [1746049778.837927030] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049778.838337252] [sailbot.teensy]: Actual sail angle: 37 +[mux-7] [INFO] [1746049778.838956191] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049778.839218443] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049778.840069813] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049778.844444745] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049778.844927208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049778.845580110] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049778.846549982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049778.847555980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049778.945429939] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049778.946121855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049778.947127012] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049778.948451741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049778.949631979] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049779.003246069] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973618 Long: -76.50297458 +[vectornav-1] [INFO] [1746049779.004608933] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.46500000000003, -3.389, 9.062) +[mux-7] [INFO] [1746049779.045189096] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049779.045809233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049779.046686962] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049779.047822823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049779.049012914] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049779.085486873] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049779.087840704] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049779.088368595] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049779.088783206] [sailbot.teensy]: Wind angle: 0 +[teensy-2] [INFO] [1746049779.089725883] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049779.090577581] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049779.091441781] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049779.145341634] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049779.146225486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049779.147004773] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049779.148486844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049779.149701986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049779.245407560] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049779.246032587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049779.246964302] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049779.248318931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049779.249361969] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049779.335914757] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049779.338945482] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049779.339389275] [sailbot.teensy]: Wind angle: 0 +[mux-7] [INFO] [1746049779.339924241] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049779.340573582] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049779.341463409] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049779.342283372] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049779.344267876] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049779.344681071] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049779.345413303] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049779.346311789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049779.347430420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049779.445654866] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049779.446517952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049779.447381858] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049779.448342446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049779.448824768] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049779.503669771] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973614 Long: -76.50297467 +[vectornav-1] [INFO] [1746049779.505108767] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.447, -3.392, 8.985) +[mux-7] [INFO] [1746049779.544841552] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049779.545695718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049779.546079706] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049779.547476460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049779.548635841] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049779.585652484] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049779.587594827] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746049779.588279117] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049779.588649047] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049779.589549869] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049779.590029963] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049779.590391302] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049779.645300998] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049779.646102977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049779.646962403] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049779.648398922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049779.649657576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049779.745428579] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049779.746155387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049779.746995327] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049779.748491029] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049779.749734968] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049779.835365632] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049779.837191450] [sailbot.teensy]: Wind angle: 0 +[teensy-2] [INFO] [1746049779.838134888] [sailbot.teensy]: Actual sail angle: 37 +[trim_sail-4] [INFO] [1746049779.837920813] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049779.838340679] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049779.838870512] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049779.839237467] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049779.844461261] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049779.845114382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049779.845693681] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049779.846787943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049779.847771638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049779.945585821] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049779.946447291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049779.947270963] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049779.948860286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049779.950193008] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049780.002466316] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973638 Long: -76.50297449 +[vectornav-1] [INFO] [1746049780.003462230] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.352, -3.416, 8.259) +[mux-7] [INFO] [1746049780.045165296] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049780.045965868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049780.046506786] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049780.047829089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049780.048816695] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049780.085619528] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049780.088124314] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049780.088746695] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049780.089035277] [sailbot.teensy]: Wind angle: 0 +[teensy-2] [INFO] [1746049780.090020626] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049780.090914689] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049780.091758065] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049780.145262051] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049780.145956468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049780.146747898] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049780.148697581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049780.149991210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049780.245005917] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049780.245863411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049780.246347928] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049780.247778172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049780.248935547] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049780.335770309] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049780.338729345] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049780.338806419] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049780.339504517] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049780.339855073] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049780.340835538] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049780.341230385] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049780.344472940] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049780.345072355] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049780.345644426] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049780.346720250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049780.347682381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049780.445519483] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049780.446199849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049780.447245680] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049780.448460715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049780.449257606] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049780.503295148] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973641 Long: -76.50297437 +[vectornav-1] [INFO] [1746049780.504922647] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.325, -3.429, 8.122) +[mux-7] [INFO] [1746049780.545268375] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049780.546194744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049780.546651197] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049780.548103875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049780.549231057] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049780.585576701] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049780.587906777] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049780.588302231] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049780.588740103] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049780.589355117] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049780.590374531] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049780.591189033] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049780.645321630] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049780.646083170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049780.646829361] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049780.648240158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049780.649459594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049780.744989747] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049780.745612421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049780.746239413] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049780.747409039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049780.748567743] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049780.835849429] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049780.838924089] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049780.839075787] [sailbot.teensy]: Wind angle: 342 +[mux-7] [INFO] [1746049780.839307771] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049780.840029190] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049780.840402303] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049780.840743624] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049780.844460831] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049780.844932539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049780.845630640] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049780.846607705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049780.847640420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049780.945289941] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049780.946072702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049780.946900880] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049780.948191143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049780.949250219] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049781.002912622] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973651 Long: -76.50297428 +[vectornav-1] [INFO] [1746049781.004305407] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.318, -3.444, 8.141) +[mux-7] [INFO] [1746049781.045702178] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049781.046299155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049781.047493137] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049781.048762431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049781.049866585] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049781.085344782] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049781.087589108] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049781.087630337] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049781.088284116] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049781.088498326] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049781.089368592] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049781.090211476] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049781.145242050] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049781.146030556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049781.146668147] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049781.148188449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049781.149416235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049781.245330552] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049781.246067117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049781.246767594] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049781.248285196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049781.249412653] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049781.335641064] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049781.338585709] [sailbot.teensy]: Wind angle: 332 +[trim_sail-4] [INFO] [1746049781.338581359] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049781.339291691] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049781.339641318] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049781.340400644] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049781.340744328] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049781.344351914] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049781.344689712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049781.345490908] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049781.346239483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049781.347247237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049781.445419935] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049781.446200336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049781.446966156] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049781.448589686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049781.449822564] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049781.502442898] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973658 Long: -76.50297427 +[vectornav-1] [INFO] [1746049781.503415902] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.373, -3.443, 8.399) +[mux-7] [INFO] [1746049781.545048210] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049781.545720743] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049781.546373140] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049781.547648959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049781.548813263] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049781.585475004] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049781.587376579] [sailbot.teensy]: Wind angle: 331 +[trim_sail-4] [INFO] [1746049781.587981731] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049781.588369369] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049781.589287203] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049781.589296160] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049781.590171302] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049781.644905678] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049781.645628002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049781.646133606] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049781.647413828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049781.647940851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049781.745414526] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049781.746231969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049781.746994238] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049781.748404131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049781.748942490] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049781.835928433] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049781.839047546] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049781.839580310] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049781.839731119] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746049781.840786316] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049781.841686714] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049781.842548339] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049781.844213356] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049781.844647346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049781.845391344] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049781.846176597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049781.847130232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049781.945286368] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049781.946052439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049781.946738728] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049781.947773550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049781.948289704] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049782.003230910] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973654 Long: -76.50297411 +[vectornav-1] [INFO] [1746049782.004567203] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.312, -3.433, 7.976) +[mux-7] [INFO] [1746049782.045143048] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049782.045879015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049782.046508488] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049782.047821940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049782.048764068] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049782.085364546] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049782.087210474] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049782.087602282] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049782.088169336] [sailbot.teensy]: Actual sail angle: 37 +[mux-7] [INFO] [1746049782.088873621] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049782.089058545] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049782.089913591] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049782.145429728] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049782.146120226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049782.146996644] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049782.148413716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049782.149665337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049782.245279886] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049782.246042782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049782.246715757] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049782.248168535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049782.249088517] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049782.335525458] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049782.337792037] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049782.338359311] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049782.338820898] [sailbot.teensy]: Actual sail angle: 37 +[mux-7] [INFO] [1746049782.339003718] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049782.339771193] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049782.340629324] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049782.344505584] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049782.344933793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049782.345832660] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049782.346698667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049782.347828523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049782.445439174] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049782.446119061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049782.447114913] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049782.448296489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049782.448827153] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049782.502397379] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973665 Long: -76.50297395 +[vectornav-1] [INFO] [1746049782.503398023] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.253, -3.448, 7.602) +[mux-7] [INFO] [1746049782.545678432] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049782.546258522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049782.547453244] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049782.548641692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049782.549139957] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049782.585402437] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049782.587884342] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049782.588317663] [sailbot.teensy]: Wind angle: 344 +[mux-7] [INFO] [1746049782.588385510] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049782.589314251] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049782.590200047] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049782.591021927] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049782.645212079] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049782.646012169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049782.646651214] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049782.647800209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049782.648260875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049782.744935537] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049782.745636773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049782.746337338] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049782.747676146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049782.748776022] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049782.835191331] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049782.837429349] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049782.838177597] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049782.838432062] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049782.839369759] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049782.840270493] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049782.841113716] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049782.844238841] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049782.844806879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049782.845328424] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049782.846410327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049782.847509204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049782.945578596] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049782.946371669] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049782.947305661] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049782.948864820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049782.950218588] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049783.002994831] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973652 Long: -76.50297379 +[vectornav-1] [INFO] [1746049783.004205698] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.262, -3.441, 7.603) +[mux-7] [INFO] [1746049783.045060835] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049783.045784600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049783.046453281] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049783.047760764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049783.048491532] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049783.085479373] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049783.087348951] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049783.087938585] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049783.088338833] [sailbot.teensy]: Actual sail angle: 37 +[mux-7] [INFO] [1746049783.089170109] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049783.089234871] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049783.090089153] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049783.145438333] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049783.146292433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049783.147090294] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049783.148620020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049783.149934977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049783.245302090] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049783.246000891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049783.246852462] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049783.248117582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049783.249325958] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049783.335468473] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049783.338179602] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049783.338614095] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049783.338964432] [sailbot.teensy]: Wind angle: 346 +[teensy-2] [INFO] [1746049783.339368195] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049783.339733802] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049783.340087879] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049783.344493620] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049783.345011756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049783.345728267] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049783.346733894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049783.347710013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049783.445383086] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049783.446260920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049783.446968220] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049783.448414183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049783.449600410] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049783.502892007] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973646 Long: -76.50297375 +[vectornav-1] [INFO] [1746049783.504379420] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.256, -3.449, 7.511) +[mux-7] [INFO] [1746049783.545797144] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049783.546104981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049783.547332705] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049783.548227097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049783.549353791] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049783.585702749] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049783.587692087] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049783.588509492] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049783.588773029] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049783.589700899] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049783.590263251] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049783.590542221] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049783.645339741] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049783.646005009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049783.646931948] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049783.649183498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049783.650220985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049783.745286975] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049783.745888025] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049783.746884474] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049783.748019536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049783.749163619] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049783.835384915] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049783.837589533] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049783.837850496] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049783.838727717] [sailbot.teensy]: Actual sail angle: 37 +[mux-7] [INFO] [1746049783.838756438] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049783.839112951] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049783.839469667] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049783.844515514] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049783.845161381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049783.845701524] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049783.846840084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049783.847931544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049783.945603852] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049783.946518030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049783.947508153] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049783.949036545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049783.949580660] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049784.003415301] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973665 Long: -76.50297351 +[vectornav-1] [INFO] [1746049784.004903733] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.264, -3.451, 7.573) +[mux-7] [INFO] [1746049784.044923438] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049784.045699053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049784.046177868] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049784.047491897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049784.048574021] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049784.085230292] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049784.087181135] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049784.087808204] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049784.088219180] [sailbot.teensy]: Actual sail angle: 37 +[mux-7] [INFO] [1746049784.088298313] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049784.089153435] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049784.090050801] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049784.145435272] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049784.146240086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049784.147025936] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049784.148667105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049784.149790537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049784.245082222] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049784.245780404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049784.246463511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049784.247699744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049784.248141709] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049784.335817053] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049784.338788270] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049784.339685266] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049784.340031450] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049784.340988820] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049784.341810413] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049784.342609358] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049784.344269158] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049784.344655357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049784.345343230] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049784.346206141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049784.347165422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049784.445590395] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049784.446228078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049784.447278671] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049784.448614870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049784.449862980] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049784.502442657] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973669 Long: -76.50297343 +[vectornav-1] [INFO] [1746049784.503467091] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26599999999996, -3.442, 7.611) +[mux-7] [INFO] [1746049784.545304763] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049784.546023444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049784.546846781] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049784.548125091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049784.549328753] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049784.585659765] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049784.587625511] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049784.588372621] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049784.588655012] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049784.589563792] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049784.589725451] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049784.590410224] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049784.645186299] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049784.645703896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049784.646719079] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049784.647776795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049784.648840665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049784.745345577] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049784.746011373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049784.747040335] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049784.748217321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049784.748792635] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049784.835316128] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049784.837042498] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049784.837658921] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049784.837959937] [sailbot.teensy]: Actual sail angle: 37 +[mux-7] [INFO] [1746049784.838501713] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049784.838837530] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049784.839696381] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049784.844450904] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049784.844885301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049784.845620609] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049784.846487151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049784.847591611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049784.945471268] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049784.946349389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049784.947191525] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049784.948688741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049784.949630826] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049785.003422405] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973678 Long: -76.50297342 +[vectornav-1] [INFO] [1746049785.005170140] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.272, -3.435, 7.621) +[mux-7] [INFO] [1746049785.045287169] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049785.045980953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049785.046723712] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049785.047912318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049785.048945643] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049785.085506060] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049785.087678684] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049785.087749170] [sailbot.teensy]: Wind angle: 349 +[mux-7] [INFO] [1746049785.088299425] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049785.088694123] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049785.089550765] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049785.090388959] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049785.145291957] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049785.146088320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049785.146890436] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049785.148274619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049785.149217300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049785.245413827] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049785.246205562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049785.247024172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049785.248797179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049785.249922690] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049785.335455437] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049785.337406684] [sailbot.teensy]: Wind angle: 353 +[trim_sail-4] [INFO] [1746049785.337975649] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049785.338401915] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049785.339340953] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049785.339778692] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049785.340234757] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049785.344336601] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049785.344870943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049785.345427691] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049785.346481832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049785.347504976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049785.445465708] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049785.446201195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049785.447083130] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049785.448246596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049785.448774242] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049785.503489221] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973678 Long: -76.5029733 +[vectornav-1] [INFO] [1746049785.505112164] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.275, -3.432, 7.643) +[mux-7] [INFO] [1746049785.545171450] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049785.545970602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049785.546514714] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049785.547981159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049785.549036046] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049785.585247296] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049785.587149805] [sailbot.teensy]: Wind angle: 356 +[trim_sail-4] [INFO] [1746049785.587731001] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049785.588136196] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049785.589029330] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049785.589030036] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049785.589903068] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049785.645532889] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049785.646207044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049785.647313868] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049785.648529667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049785.649811040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049785.745258388] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049785.745908835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049785.746771382] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049785.747971694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049785.749366932] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049785.835635347] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049785.838270560] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049785.838879844] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049785.839039034] [sailbot.teensy]: Wind angle: 356 +[teensy-2] [INFO] [1746049785.839949922] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049785.840812752] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049785.841617192] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049785.844298290] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049785.844760975] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049785.845479323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049785.846408444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049785.847394513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049785.945361023] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049785.946071527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049785.946930291] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049785.948275271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049785.949073657] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049786.003305843] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973673 Long: -76.50297334 +[vectornav-1] [INFO] [1746049786.004741185] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.277, -3.429, 7.655) +[mux-7] [INFO] [1746049786.045109423] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049786.045698866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049786.046450463] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049786.047553938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049786.048610517] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049786.084987862] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049786.086773755] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049786.087068429] [sailbot.teensy]: Wind angle: 353 +[mux-7] [INFO] [1746049786.087268521] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049786.087919384] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049786.088752673] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049786.089557821] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049786.145169663] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049786.145783081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049786.146649664] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049786.147791435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049786.148863143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049786.245412348] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049786.246107950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049786.246994289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049786.248279327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049786.249448605] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049786.335319221] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049786.337262959] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049786.337866564] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049786.338288441] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049786.339192242] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049786.339297594] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049786.340064594] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049786.344411121] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049786.344932036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049786.345534111] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049786.346567866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049786.347698235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049786.445649363] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049786.446315200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049786.447459062] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049786.448793319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049786.450038803] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049786.503299009] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973671 Long: -76.50297329 +[vectornav-1] [INFO] [1746049786.504820020] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.28, -3.425, 7.656) +[mux-7] [INFO] [1746049786.545146390] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049786.545850720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049786.546730924] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049786.547859537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049786.548930062] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049786.585612384] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049786.587530300] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049786.588297326] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049786.588548163] [sailbot.teensy]: Actual sail angle: 37 +[mux-7] [INFO] [1746049786.589170972] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049786.589420620] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049786.590270775] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049786.645423273] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049786.646030008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049786.647092935] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049786.648204325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049786.648871988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049786.745268409] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049786.745862342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049786.746858906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049786.748012069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049786.749104315] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049786.835050285] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049786.836770415] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049786.837223797] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049786.837722026] [sailbot.teensy]: Actual sail angle: 37 +[mux-7] [INFO] [1746049786.838105078] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049786.838770959] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049786.839149778] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049786.844520092] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746049786.845189771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049786.845744136] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049786.846987558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746049786.847955828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049786.858656069] [sailbot.mux]: controller_app sail angle: 54 +[mux-7] [INFO] [1746049786.945477533] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049786.946230668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049786.947254099] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049786.948559236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049786.949758201] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049787.003828206] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973677 Long: -76.50297329 +[vectornav-1] [INFO] [1746049787.005825650] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.291, -3.417, 7.731) +[mux-7] [INFO] [1746049787.045432667] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049787.046220699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049787.047002223] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049787.048531556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049787.049787544] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049787.085435288] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049787.087081379] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049787.087764284] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049787.087998573] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746049787.088902596] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049787.088984038] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049787.089819753] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049787.145325228] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049787.146202112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049787.146803829] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049787.148367207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049787.149540196] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049787.245425437] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049787.246279038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049787.247220370] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049787.247893974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049787.248398304] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049787.335300252] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049787.336976004] [sailbot.teensy]: Wind angle: 351 +[teensy-2] [INFO] [1746049787.337948361] [sailbot.teensy]: Actual sail angle: 54 +[trim_sail-4] [INFO] [1746049787.338164855] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049787.338837245] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049787.338910999] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049787.339744000] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049787.344282461] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049787.344848258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049787.345386966] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049787.346474056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049787.347573518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049787.445067026] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049787.445789273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049787.446454136] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049787.447580010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049787.448012970] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049787.503279206] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973673 Long: -76.50297323 +[vectornav-1] [INFO] [1746049787.505093554] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.302, -3.411, 7.808) +[mux-7] [INFO] [1746049787.545050172] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049787.545726797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049787.546385764] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049787.547547109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049787.548561407] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049787.585375799] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049787.587074480] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049787.587711745] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049787.588012526] [sailbot.teensy]: Actual sail angle: 54 +[mux-7] [INFO] [1746049787.588882818] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049787.588902840] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049787.589829510] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049787.645327097] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049787.646137536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049787.646791051] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049787.648301689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049787.649325471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049787.745558983] [sailbot.mux]: Published sail angle from controller_app: 54 +[mux-7] [INFO] [1746049787.747234510] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049787.747275734] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049787.749415176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049787.750572870] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049787.835434161] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049787.837723013] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049787.837761909] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049787.838694299] [sailbot.teensy]: Actual sail angle: 54 +[mux-7] [INFO] [1746049787.838887617] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049787.839646498] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049787.840547139] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049787.844357695] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049787.844827857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049787.845452022] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049787.846424023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049787.847470844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049787.945533415] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049787.946362494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049787.947530380] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049787.949783046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049787.951031151] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049788.002429804] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973672 Long: -76.50297323 +[vectornav-1] [INFO] [1746049788.003456620] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.308, -3.406, 7.859) +[mux-7] [INFO] [1746049788.045321858] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049788.046174149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049788.046798830] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049788.048378467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049788.049545364] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049788.085711546] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049788.088177684] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049788.088516777] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049788.089248946] [sailbot.teensy]: Actual sail angle: 54 +[mux-7] [INFO] [1746049788.089791874] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049788.090127653] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049788.090978943] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049788.145159280] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049788.145890621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049788.146590393] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049788.147694110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049788.148237988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049788.245108489] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049788.245836971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049788.246512611] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049788.247849195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049788.249011110] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049788.335561047] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049788.337693356] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049788.338315751] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049788.338857996] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049788.339569971] [sailbot.teensy]: Actual sail angle: 54 +[teensy-2] [INFO] [1746049788.339963057] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049788.340331960] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049788.344364217] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049788.344727420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049788.345388833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049788.346276045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049788.347412766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049788.445563671] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049788.446294265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049788.447216844] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049788.448622701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049788.449876871] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049788.503525352] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973679 Long: -76.50297317 +[vectornav-1] [INFO] [1746049788.505032161] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.30899999999997, -3.4, 7.866) +[mux-7] [INFO] [1746049788.545245414] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049788.545981919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049788.546632669] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049788.548013226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049788.549156881] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049788.585471200] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049788.587847849] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049788.587854831] [sailbot.teensy]: Wind angle: 351 +[mux-7] [INFO] [1746049788.588340963] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049788.588881259] [sailbot.teensy]: Actual sail angle: 54 +[teensy-2] [INFO] [1746049788.589751877] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049788.590578505] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049788.645471747] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049788.646188701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049788.646981194] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049788.648339788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049788.648988588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049788.745307743] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049788.746030047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049788.746698665] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049788.748011209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049788.748963925] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049788.835388348] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049788.838027957] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049788.839124519] [sailbot.teensy]: Wind angle: 350 +[mux-7] [INFO] [1746049788.839239914] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049788.840080540] [sailbot.teensy]: Actual sail angle: 54 +[teensy-2] [INFO] [1746049788.841020437] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049788.841838821] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049788.844352611] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049788.844786142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049788.845404053] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049788.846411614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049788.847544631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049788.945264886] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049788.946080758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049788.946764587] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049788.948288835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049788.949485709] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049789.002340321] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973683 Long: -76.50297335 +[vectornav-1] [INFO] [1746049789.003385904] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.31399999999996, -3.395, 7.869) +[mux-7] [INFO] [1746049789.045228470] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049789.046373815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049789.046470415] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049789.047337727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049789.047828792] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049789.085865764] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049789.088274202] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049789.088688212] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049789.089387849] [sailbot.teensy]: Actual sail angle: 54 +[mux-7] [INFO] [1746049789.089514843] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049789.090348315] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049789.091206943] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049789.145392182] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049789.146132162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049789.146884902] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049789.147927109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049789.148427306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049789.245321991] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049789.246099900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049789.246916179] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049789.248316077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049789.249379197] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049789.335681041] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049789.338576098] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049789.338608199] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049789.339278815] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049789.340235508] [sailbot.teensy]: Actual sail angle: 54 +[teensy-2] [INFO] [1746049789.340989290] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049789.341325287] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049789.344345107] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049789.344778628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049789.345370721] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049789.346355840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049789.347485842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049789.445350599] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049789.446089780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049789.446849018] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049789.448775033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049789.449906229] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049789.503529345] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973685 Long: -76.50297338 +[vectornav-1] [INFO] [1746049789.505256376] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.323, -3.395, 7.929) +[mux-7] [INFO] [1746049789.545215364] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049789.546025614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049789.547098790] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049789.548223985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049789.549376105] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049789.585473511] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049789.587504629] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049789.587767069] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049789.588711730] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049789.589362152] [sailbot.teensy]: Actual sail angle: 54 +[teensy-2] [INFO] [1746049789.590281692] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049789.591093327] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049789.645078464] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049789.645854120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049789.646472033] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049789.647874811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049789.648962006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049789.745161714] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049789.746019943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049789.746768123] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049789.748233803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049789.748783134] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049789.835876907] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049789.838121439] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049789.839257832] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049789.839801931] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049789.840064163] [sailbot.teensy]: Actual sail angle: 54 +[teensy-2] [INFO] [1746049789.841086244] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049789.841944619] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049789.844362901] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049789.844959461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049789.845484753] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049789.846637721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049789.847606422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049789.945477790] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049789.946319594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049789.947269429] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049789.948620015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049789.949682981] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049790.003545848] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973685 Long: -76.50297349 +[vectornav-1] [INFO] [1746049790.004829172] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.327, -3.393, 7.923) +[mux-7] [INFO] [1746049790.045157732] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049790.045957965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049790.046545965] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049790.048010328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049790.049128149] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049790.085739723] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049790.088959926] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049790.089984665] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049790.090362407] [sailbot.teensy]: Wind angle: 351 +[teensy-2] [INFO] [1746049790.091122384] [sailbot.teensy]: Actual sail angle: 54 +[teensy-2] [INFO] [1746049790.091526545] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049790.091902400] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049790.145228290] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049790.145906667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049790.146866565] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049790.147959672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049790.149024527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049790.245187869] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049790.245845937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049790.246581339] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049790.247890523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049790.248909433] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049790.335261371] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049790.337549700] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049790.337703360] [sailbot.teensy]: Wind angle: 351 +[mux-7] [INFO] [1746049790.338106540] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049790.338795410] [sailbot.teensy]: Actual sail angle: 54 +[teensy-2] [INFO] [1746049790.339707558] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049790.340521766] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049790.344437170] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049790.344889038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049790.345478698] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049790.346522448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049790.347548179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049790.445517595] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049790.446266551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049790.447410167] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049790.448614814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049790.449895127] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049790.502624032] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973687 Long: -76.50297348 +[vectornav-1] [INFO] [1746049790.503754654] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.327, -3.383, 7.885) +[mux-7] [INFO] [1746049790.545506765] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049790.546229397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049790.547049738] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049790.548530623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049790.549706890] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049790.586027131] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049790.588428916] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049790.588978695] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049790.589551163] [sailbot.teensy]: Actual sail angle: 54 +[mux-7] [INFO] [1746049790.590389232] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049790.590496298] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049790.591339585] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049790.645409852] [sailbot.mux]: Published sail angle from controller_app: 54 +[teensy-2] [INFO] [1746049790.645945117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049790.647200428] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049790.648124018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 +[teensy-2] [INFO] [1746049790.649424841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049790.665454250] [sailbot.mux]: controller_app sail angle: 28 +[mux-7] [INFO] [1746049790.745081415] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049790.745960748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049790.746660504] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049790.748097097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049790.749166221] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049790.835370190] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049790.837811697] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049790.838749355] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049790.839987762] [sailbot.teensy]: Actual sail angle: 54 +[mux-7] [INFO] [1746049790.840422047] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049790.841034084] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049790.842006237] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049790.844348393] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049790.844892602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049790.845489631] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049790.846533821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049790.847629334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049790.945529168] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049790.946292764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049790.947306332] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049790.948821286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049790.950102513] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049791.002688155] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973677 Long: -76.5029735 +[vectornav-1] [INFO] [1746049791.003633949] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.406, -3.339, 8.453) +[mux-7] [INFO] [1746049791.045015952] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049791.045781995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049791.046293099] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049791.047624408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049791.048605618] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049791.085838069] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049791.087882481] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049791.088646913] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049791.090037445] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049791.090458042] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049791.090972601] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049791.091818565] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049791.145399094] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049791.146144048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049791.147178678] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049791.147899790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049791.148364956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049791.245094216] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049791.245751561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049791.246500844] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049791.247718587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049791.248163311] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049791.335634726] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049791.337604471] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049791.338260800] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049791.339485227] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049791.340010130] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049791.341052468] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049791.341987581] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049791.344225061] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049791.344654729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049791.345255691] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049791.346255380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049791.347305075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049791.445554052] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049791.446348856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049791.447179848] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049791.448709720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049791.449975532] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049791.502561672] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973689 Long: -76.50297365 +[vectornav-1] [INFO] [1746049791.503577000] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.336, -3.382, 7.892) +[mux-7] [INFO] [1746049791.545456652] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049791.546168794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049791.546930815] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049791.548493272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049791.549688009] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049791.585668715] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049791.588384909] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049791.588546481] [sailbot.teensy]: Wind angle: 350 +[mux-7] [INFO] [1746049791.589177994] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049791.589566073] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049791.590461086] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049791.591061175] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049791.645285727] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049791.646086035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049791.646811213] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049791.648468787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049791.649546292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049791.745401401] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049791.746197380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049791.746901319] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049791.748582992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049791.749635207] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049791.835557925] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049791.838044130] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049791.838553704] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049791.838938267] [sailbot.teensy]: Wind angle: 351 +[teensy-2] [INFO] [1746049791.839971534] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049791.840854695] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049791.841679482] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049791.844372420] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049791.844997497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049791.845443265] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049791.846759936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049791.847754324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049791.945592905] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049791.946424440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049791.947238561] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049791.948868292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049791.949994893] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049792.003157487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973696 Long: -76.50297373 +[vectornav-1] [INFO] [1746049792.004759730] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.337, -3.376, 7.948) +[mux-7] [INFO] [1746049792.045149442] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049792.045852987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049792.046477189] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049792.047790966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049792.048911673] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049792.085558376] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049792.087472170] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049792.088077304] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049792.088497946] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049792.089384054] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049792.089697418] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049792.090256312] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049792.145432114] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049792.146031750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049792.147035463] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049792.148366922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049792.149469241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049792.245611933] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049792.246495095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049792.247330778] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049792.248870804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049792.250058195] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049792.335949940] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049792.338813042] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049792.338811363] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049792.339934948] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049792.340013738] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049792.340921809] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049792.341757591] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049792.344383749] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049792.344909316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049792.345418350] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049792.346512624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049792.347616612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049792.445481210] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049792.446241178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049792.447003576] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049792.448729758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049792.449827235] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049792.503838352] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973699 Long: -76.50297391 +[vectornav-1] [INFO] [1746049792.505287529] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.337, -3.381, 7.917) +[mux-7] [INFO] [1746049792.545064584] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049792.546250323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049792.546700024] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049792.547978888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049792.548419356] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049792.585238957] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049792.586937813] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049792.587599523] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049792.587894526] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049792.588448431] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049792.588881242] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049792.589764425] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049792.645474843] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049792.646255560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049792.647027586] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049792.648554265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049792.649598269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049792.745296407] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049792.746139109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049792.746835631] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049792.748347926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049792.749564149] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049792.835593481] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049792.837841729] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049792.839308360] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049792.839405072] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049792.839787075] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049792.839816077] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049792.840226816] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049792.844633795] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049792.845193419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049792.845771392] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049792.846943730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049792.847943206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049792.945666549] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049792.946532986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049792.947493055] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049792.949104254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049792.950386583] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049793.003380402] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973701 Long: -76.50297411 +[vectornav-1] [INFO] [1746049793.004821307] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.337, -3.38, 7.921) +[mux-7] [INFO] [1746049793.044883541] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049793.045639540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049793.046089237] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049793.047421731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049793.048474359] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049793.085538764] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049793.087337195] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049793.088028092] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049793.088315485] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049793.089184257] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049793.089250001] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049793.090040082] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049793.145519843] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049793.146351919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049793.147403039] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049793.148881754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049793.150064952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049793.245134802] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049793.245851635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049793.246555188] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049793.247914372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049793.248807965] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049793.335450123] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049793.337235095] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049793.337898550] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049793.339012725] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049793.339162463] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049793.339560838] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049793.339903436] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049793.344370224] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049793.344822113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049793.345430367] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049793.346412775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049793.347472331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049793.445487458] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049793.446160651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049793.447130815] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049793.448545082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049793.449729636] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049793.502252660] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697371 Long: -76.50297437 +[vectornav-1] [INFO] [1746049793.503167345] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.334, -3.388, 7.882) +[mux-7] [INFO] [1746049793.545473826] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049793.546363258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049793.546960050] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049793.548606970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049793.549780349] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049793.585693062] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049793.587820113] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049793.588852761] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049793.588894257] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049793.589815410] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049793.589598329] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049793.590664065] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049793.645408914] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049793.646344370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049793.646979809] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049793.648663364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049793.649866560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049793.745492353] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049793.746361658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049793.747005148] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049793.748660674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049793.749256816] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049793.835359767] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049793.837091401] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049793.837824603] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049793.838038510] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049793.838478028] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049793.838793122] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049793.839166309] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049793.844442857] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049793.844961673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049793.845568617] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049793.846598084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049793.847708109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049793.945556149] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049793.946353057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049793.947273006] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049793.948831391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049793.950091745] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049794.003058765] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973713 Long: -76.50297462 +[vectornav-1] [INFO] [1746049794.004319257] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.345, -3.387, 7.741) +[mux-7] [INFO] [1746049794.045131592] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049794.045897734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049794.046448852] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049794.047829124] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049794.048946673] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049794.086042672] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049794.088284621] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049794.089196970] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049794.089424741] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049794.089597650] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049794.090431968] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049794.091340148] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049794.145187644] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049794.145782665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049794.146634474] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049794.147689331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049794.148855963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049794.245435358] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049794.246097017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049794.247034911] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049794.248362263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049794.249510465] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049794.335331646] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049794.337147479] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049794.337846587] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049794.338092148] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049794.338420251] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049794.338971805] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049794.339804760] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049794.344346965] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049794.344885605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049794.345430757] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049794.346573004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049794.347594463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049794.445587067] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049794.446412299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049794.447250717] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049794.448827216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049794.449325024] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049794.504016146] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973712 Long: -76.50297477 +[vectornav-1] [INFO] [1746049794.505651370] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.321, -3.396, 7.761) +[mux-7] [INFO] [1746049794.545153528] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049794.545891887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049794.546644565] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049794.547982999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049794.549037484] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049794.585534975] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049794.587258753] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049794.588210690] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049794.587940790] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049794.588420780] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049794.589089514] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049794.589932909] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049794.645127366] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049794.645863728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049794.646584657] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049794.647996952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049794.649067032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049794.745495319] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049794.746486664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049794.747123341] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049794.748073206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049794.748537988] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049794.835676368] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049794.838746246] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049794.839133993] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049794.840774521] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049794.841150496] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049794.841498284] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049794.842204614] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049794.844384450] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049794.844944172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049794.845408660] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049794.846558931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049794.847555224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049794.945576026] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049794.946360575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049794.947234983] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049794.948894205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049794.950072745] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049795.002436508] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973711 Long: -76.50297497 +[vectornav-1] [INFO] [1746049795.003507332] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.328, -3.398, 7.744) +[mux-7] [INFO] [1746049795.045066625] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049795.045973757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049795.046455343] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049795.047935261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049795.048950684] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049795.085206159] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049795.087473881] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049795.087560162] [sailbot.teensy]: Wind angle: 355 +[mux-7] [INFO] [1746049795.087978360] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049795.088522415] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049795.089378245] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049795.090181951] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049795.144917721] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049795.145706441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049795.146343367] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049795.147616970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049795.148669478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049795.245243463] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049795.245915715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049795.246700372] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049795.247776095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049795.248242253] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049795.335941612] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049795.338127092] [sailbot.teensy]: Wind angle: 356 +[teensy-2] [INFO] [1746049795.338893568] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049795.338764880] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049795.338950464] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049795.339281340] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049795.339667365] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049795.344360913] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049795.344862076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049795.345414402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049795.346440019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049795.347424330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049795.445430229] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049795.446135293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049795.446967380] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049795.448416075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049795.449004244] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049795.503346359] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973719 Long: -76.50297491 +[vectornav-1] [INFO] [1746049795.505083097] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.293, -3.41, 7.541) +[mux-7] [INFO] [1746049795.544978862] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049795.545952225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049795.546555297] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049795.548045830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049795.549066128] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049795.585484249] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049795.587237680] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049795.587976649] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049795.588198396] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049795.589077053] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049795.589102734] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049795.589940267] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049795.645112615] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049795.645915171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049795.646557516] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049795.647983349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049795.648530584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049795.745447631] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049795.746070881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049795.747004427] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049795.748453629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049795.749725843] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049795.835318706] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049795.837150041] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049795.837903125] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049795.838126724] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049795.838650501] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049795.839019713] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049795.839871858] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049795.844388073] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049795.844957499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049795.845489055] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049795.846587217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049795.847704690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049795.945577300] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049795.946397623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049795.947219374] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049795.948671487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049795.949165133] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049796.003455543] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973722 Long: -76.50297518 +[vectornav-1] [INFO] [1746049796.005049254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.297, -3.412, 7.528) +[mux-7] [INFO] [1746049796.045333800] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049796.046243376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049796.046784505] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049796.047702934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049796.048203256] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049796.085367205] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049796.087118149] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049796.087864457] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049796.088059820] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049796.088969270] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049796.088530850] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049796.089877296] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049796.145478184] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049796.146287316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049796.147123809] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049796.148755559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049796.149877849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049796.245393002] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049796.246114777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049796.246954938] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049796.248460664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049796.249070861] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049796.335472854] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049796.338256949] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049796.338694258] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049796.339183073] [sailbot.teensy]: Wind angle: 351 +[teensy-2] [INFO] [1746049796.340140387] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049796.340988747] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049796.341779539] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049796.344304262] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049796.344772612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049796.345349023] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049796.346358211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049796.347320491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049796.445405688] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049796.446145051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049796.446958092] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049796.448448847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049796.449382074] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049796.503693004] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973717 Long: -76.50297544 +[vectornav-1] [INFO] [1746049796.505433397] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26099999999997, -3.428, 7.285) +[mux-7] [INFO] [1746049796.545452123] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049796.546323483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049796.546973809] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049796.548212744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049796.548626501] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049796.585444929] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049796.587369139] [sailbot.teensy]: Wind angle: 353 +[teensy-2] [INFO] [1746049796.588339370] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049796.587859051] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049796.588510834] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049796.589238953] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049796.590194095] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049796.645485284] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049796.646178675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049796.647037694] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049796.648431231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049796.649693100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049796.745608456] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049796.746436529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049796.747427384] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049796.748838109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049796.749360501] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049796.835530211] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049796.838196592] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049796.839212763] [sailbot.teensy]: Wind angle: 352 +[mux-7] [INFO] [1746049796.839246899] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049796.840247397] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049796.841223319] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049796.842154358] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049796.844672461] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049796.845446519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049796.845848198] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049796.847243487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049796.848392691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049796.945236465] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049796.945918992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049796.946693982] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049796.947994014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049796.949124297] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049797.003966519] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973727 Long: -76.50297575 +[vectornav-1] [INFO] [1746049797.005747723] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.264, -3.432, 7.28) +[mux-7] [INFO] [1746049797.045015006] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049797.045760681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049797.046343323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049797.047747916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049797.048893739] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049797.085364032] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049797.087150004] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049797.087907448] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049797.088105944] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049797.089023267] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049797.088264738] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049797.089886787] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049797.145094423] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049797.145870175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049797.146466564] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049797.147843865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049797.148956488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049797.245349034] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049797.246235036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049797.246928812] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049797.248679187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049797.249860431] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049797.335897984] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049797.338161544] [sailbot.teensy]: Wind angle: 352 +[teensy-2] [INFO] [1746049797.339234115] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049797.338946258] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049797.339346167] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049797.339613872] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049797.339988377] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049797.344459311] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049797.345002986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049797.345602409] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049797.346652645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049797.347629936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049797.445454697] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049797.446167645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049797.446990361] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049797.448244365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049797.448720284] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049797.503224901] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973731 Long: -76.50297594 +[vectornav-1] [INFO] [1746049797.504712025] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.264, -3.427, 7.23) +[mux-7] [INFO] [1746049797.544940897] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049797.545666278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049797.546308457] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049797.547655689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049797.548885431] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049797.585456495] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049797.587267393] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049797.587968882] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049797.588258645] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049797.589147219] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049797.589290528] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049797.589680263] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049797.645480736] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049797.646315427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049797.647150325] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049797.648711156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049797.649236832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049797.745339200] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049797.746210204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049797.746998298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049797.748503600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049797.749722745] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049797.835351921] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049797.837335347] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049797.837868013] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049797.838299861] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049797.839033622] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049797.839161427] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049797.840014514] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049797.844186046] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049797.844817702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049797.845341115] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049797.846450262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049797.847557305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049797.945366903] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049797.946129460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049797.947128033] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049797.948000252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049797.948519630] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049798.003667827] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973737 Long: -76.50297621 +[vectornav-1] [INFO] [1746049798.005561784] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.259, -3.429, 7.231) +[mux-7] [INFO] [1746049798.045214064] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049798.045904779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049798.046567619] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049798.047794603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049798.048804081] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049798.085494780] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049798.087917497] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049798.088361479] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049798.088561673] [sailbot.teensy]: Wind angle: 349 +[teensy-2] [INFO] [1746049798.089492344] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049798.090348018] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049798.091161233] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049798.145006288] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049798.145788971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049798.146459007] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049798.147618961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049798.148781982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049798.245497088] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049798.246328204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049798.247045593] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049798.248757358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049798.249987046] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049798.336079649] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049798.339052650] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049798.339126084] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049798.339309837] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049798.339567394] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049798.339989504] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049798.340354513] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049798.344548140] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049798.345074348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049798.345713578] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049798.346809062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049798.347808786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049798.445524611] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049798.447025833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049798.447134289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049798.449147776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049798.450172847] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049798.502991161] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973733 Long: -76.50297648 +[vectornav-1] [INFO] [1746049798.504323119] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26300000000003, -3.431, 7.217) +[mux-7] [INFO] [1746049798.545052043] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049798.546491965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049798.546539953] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049798.548353485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049798.549323323] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049798.585573043] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049798.587926187] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049798.588357680] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049798.589288772] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049798.589344103] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049798.590302680] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049798.591144345] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049798.645449736] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049798.646166714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049798.647024001] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049798.648454771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049798.649695321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049798.745467168] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049798.746253877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049798.747075234] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049798.748334272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049798.748838191] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049798.835372385] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049798.837878846] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049798.838005692] [sailbot.teensy]: Wind angle: 347 +[mux-7] [INFO] [1746049798.838350912] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049798.838974626] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049798.839360375] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049798.839723242] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049798.844478981] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049798.845056548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049798.846788882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049798.847042076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049798.848326517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049798.945620500] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049798.946347899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049798.947376091] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049798.948893311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049798.950237784] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049799.002504407] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973743 Long: -76.50297681 +[vectornav-1] [INFO] [1746049799.003489476] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26599999999996, -3.425, 7.252) +[mux-7] [INFO] [1746049799.045644094] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049799.046227201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049799.047421282] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049799.048481219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049799.049638168] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049799.085508537] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049799.087397966] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049799.087942922] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049799.088410530] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049799.088927815] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049799.089280611] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049799.090136706] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049799.145151973] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049799.145913548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049799.146642877] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049799.148055172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049799.148646125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049799.245648396] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049799.246531056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049799.247519574] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049799.248980658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049799.249579981] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049799.335479102] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049799.337488933] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049799.338357878] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049799.338633649] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049799.339096455] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049799.339195085] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049799.339562294] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049799.344534814] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049799.345090274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049799.345700570] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049799.346741515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049799.347722168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049799.445240994] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049799.445986306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049799.446750050] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049799.448233481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049799.448768884] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049799.503329427] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973747 Long: -76.50297733 +[vectornav-1] [INFO] [1746049799.504945472] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.29499999999996, -3.409, 7.449) +[mux-7] [INFO] [1746049799.545155568] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049799.546007901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049799.546601706] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049799.548106253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049799.549311164] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049799.585568279] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049799.587483090] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049799.588505380] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049799.588555072] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049799.589389912] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049799.589476082] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049799.590383350] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049799.645229141] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049799.645947646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049799.646735397] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049799.648115184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049799.649327007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049799.745393562] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049799.746114503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049799.746976813] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049799.748441858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049799.748952244] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049799.835425193] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049799.837390236] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049799.837977309] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049799.838508863] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049799.839397310] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049799.840325579] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049799.841163146] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049799.844191750] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049799.844770392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049799.845293310] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049799.846406561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049799.847420833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049799.945412745] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049799.946202551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049799.946976518] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049799.948578378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049799.949740952] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049800.002407670] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973759 Long: -76.50297776 +[vectornav-1] [INFO] [1746049800.003398954] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.288, -3.421, 7.412) +[mux-7] [INFO] [1746049800.045563177] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049800.046404940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049800.047164413] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049800.048892694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049800.050124586] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049800.085584042] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049800.087711492] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049800.088359696] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049800.088805423] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049800.089248052] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049800.089739044] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049800.090596148] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049800.145426582] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049800.146291210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049800.147010525] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049800.148799380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049800.150054492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049800.245215933] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049800.246207081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049800.246738562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049800.248339152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049800.249488312] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049800.335857880] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049800.338550725] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049800.338624766] [sailbot.teensy]: Wind angle: 350 +[mux-7] [INFO] [1746049800.338817711] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049800.339063452] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049800.339441089] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049800.339800797] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049800.344484730] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049800.345087674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049800.345602753] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049800.346751834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049800.347837775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049800.445639108] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049800.447272970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049800.447534801] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049800.449900352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049800.451103628] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049800.503467350] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973759 Long: -76.50297788 +[vectornav-1] [INFO] [1746049800.505258696] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26, -3.439, 7.189) +[mux-7] [INFO] [1746049800.545321625] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049800.546029454] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049800.546906304] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049800.548382232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049800.548970136] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049800.585394043] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049800.587180834] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049800.587633235] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049800.588135110] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049800.589059010] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049800.589412191] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049800.589902392] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049800.645572353] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049800.646134870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049800.647308468] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049800.648714526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049800.649242973] [sailbot.teensy]: Message sent to servo +[rosbridge_websocket-8] [INFO] [1746049800.670185423] [rosbridge_websocket]: Calling services in existing thread +[rosbridge_websocket-8] [INFO] [1746049800.671200965] [rosbridge_websocket]: Sending action goals in existing thread +[rosbridge_websocket-8] [INFO] [1746049800.672615598] [rosbridge_websocket]: Client connected. 2 clients total. +[mux-7] [INFO] [1746049800.745600622] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049800.746313480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049800.747345891] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049800.748543971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049800.749066029] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049800.835735675] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049800.837929095] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049800.838596725] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049800.839023249] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049800.839256098] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049800.840009501] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049800.840983133] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049800.844463848] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049800.844962859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049800.845788727] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049800.847065586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049800.848546954] [sailbot.teensy]: Message sent to servo +[rosbridge_websocket-8] [INFO] [1746049800.890838321] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/algo_rudder +[rosbridge_websocket-8] [INFO] [1746049800.894444624] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/algo_sail +[rosbridge_websocket-8] [INFO] [1746049800.898070411] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/control_mode +[rosbridge_websocket-8] [INFO] [1746049800.901889891] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/radio_rudder +[rosbridge_websocket-8] [INFO] [1746049800.905101260] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/radio_sail +[rosbridge_websocket-8] [INFO] [1746049800.907827414] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/rudder_angle +[rosbridge_websocket-8] [INFO] [1746049800.910158580] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/sail +[rosbridge_websocket-8] [INFO] [1746049800.912054228] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /gps +[rosbridge_websocket-8] [INFO] [1746049800.914086642] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /imu +[rosbridge_websocket-8] [INFO] [1746049800.916248113] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/actual_rudder_angle +[rosbridge_websocket-8] [INFO] [1746049800.918143658] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/wind +[rosbridge_websocket-8] [INFO] [1746049800.920080206] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/actual_sail_angle +[rosbridge_websocket-8] [INFO] [1746049800.922196590] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/tacking_point +[rosbridge_websocket-8] [INFO] [1746049800.924061268] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/main_algo_debug +[rosbridge_websocket-8] [INFO] [1746049800.926062437] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/dropped_packets +[rosbridge_websocket-8] [INFO] [1746049800.928331940] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to sailbot/current_waypoint +[waypoint_service-5] [INFO] [1746049800.930544651] [sailbot.waypoint_service]: Received request: command=get, argument= +[mux-7] [INFO] [1746049800.944375761] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049800.945253385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049800.945936315] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049800.947882838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049800.948696182] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049801.002891439] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973777 Long: -76.50297819 +[vectornav-1] [INFO] [1746049801.004131006] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.269, -3.439, 7.214) +[mux-7] [INFO] [1746049801.045017753] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049801.045815357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049801.046729203] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049801.047728297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049801.048922549] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049801.085238260] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049801.087492244] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049801.087651001] [sailbot.teensy]: Wind angle: 352 +[mux-7] [INFO] [1746049801.088252168] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049801.089005956] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049801.089923916] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049801.090838074] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049801.145431778] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049801.146197088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049801.146999695] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049801.148565355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049801.149608039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049801.245391040] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049801.246170503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049801.247074541] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049801.247774464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049801.248362097] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049801.335848753] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049801.338635194] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049801.339143234] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049801.339485535] [sailbot.teensy]: Wind angle: 349 +[teensy-2] [INFO] [1746049801.339917502] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049801.340287194] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049801.340640702] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049801.344549493] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049801.344980203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049801.345913238] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049801.346727960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049801.347788123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049801.445269200] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049801.446103193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049801.446843936] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049801.448197806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049801.449414186] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049801.502659351] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973781 Long: -76.50297846 +[vectornav-1] [INFO] [1746049801.503803442] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.346, -3.389, 7.839) +[mux-7] [INFO] [1746049801.545393075] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049801.546540001] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049801.547439355] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049801.549139002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049801.550325314] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049801.585557509] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049801.587929677] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049801.588067846] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049801.589100438] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049801.589872338] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049801.590011075] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049801.590957785] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049801.645469363] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049801.646379915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049801.647138567] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049801.648581379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049801.649807659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049801.745382830] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049801.746053785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049801.747221209] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049801.748422848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049801.749600476] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049801.835364340] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049801.837365575] [sailbot.teensy]: Wind angle: 330 +[teensy-2] [INFO] [1746049801.838370735] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049801.838542669] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049801.839278909] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049801.839831347] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049801.840109056] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049801.844390482] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049801.844881791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049801.846140801] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049801.846555810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049801.847948473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049801.943674682] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049801.943992273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049801.944183265] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049801.944785728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049801.945276540] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049802.002504697] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973766 Long: -76.50297886 +[vectornav-1] [INFO] [1746049802.003524732] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.329, -3.416, 7.676) +[mux-7] [INFO] [1746049802.045013821] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049802.046280312] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049802.046538721] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049802.048547822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049802.049702391] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049802.085516553] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049802.087398034] [sailbot.teensy]: Wind angle: 325 +[teensy-2] [INFO] [1746049802.088433934] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049802.088440326] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049802.089358306] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049802.089423603] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049802.090295971] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049802.144930481] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049802.145581128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049802.146294161] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049802.147625618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049802.148655099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049802.245216690] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049802.246032670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049802.246764833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049802.248251327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049802.248788728] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049802.335387430] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049802.337370004] [sailbot.teensy]: Wind angle: 327 +[trim_sail-4] [INFO] [1746049802.338073626] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049802.338381433] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049802.339125503] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049802.339176514] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049802.339571156] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049802.344420033] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049802.345143342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049802.346018549] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049802.346987584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049802.348028542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049802.445534905] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049802.446363476] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049802.447184399] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049802.448752969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049802.449919978] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049802.503602883] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973796 Long: -76.50297901 +[vectornav-1] [INFO] [1746049802.505394714] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.267, -3.429, 7.17) +[mux-7] [INFO] [1746049802.544581002] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049802.545349805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049802.545733822] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049802.547436462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049802.548720361] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049802.585546303] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049802.587557044] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049802.588349569] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049802.588553771] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049802.589363065] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049802.589429632] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049802.590327832] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049802.644857991] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049802.645514769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049802.646063633] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049802.647260513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049802.648455170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049802.745182397] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049802.746354779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049802.746783586] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049802.748678174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049802.749761103] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049802.835684765] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049802.838309890] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746049802.838522551] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049802.839327298] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049802.839484356] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049802.839910763] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049802.840280133] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049802.844594934] [sailbot.mux]: Published sail angle from controller_app: 28 +[mux-7] [INFO] [1746049802.845824261] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049802.845202235] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049802.847573239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049802.848876449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049802.945545982] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049802.946562299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049802.947223597] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049802.949073873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049802.950167889] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049803.003557077] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973798 Long: -76.50297928 +[vectornav-1] [INFO] [1746049803.004942138] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.308, -3.423, 7.521) +[mux-7] [INFO] [1746049803.045460821] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049803.046542767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049803.048844048] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049803.049130637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049803.051789005] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049803.085577800] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049803.087832410] [sailbot.teensy]: Wind angle: 333 +[trim_sail-4] [INFO] [1746049803.088015594] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049803.088829632] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049803.089746139] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049803.089886310] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049803.090612895] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049803.145252487] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049803.146371649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049803.146880336] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049803.148864704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049803.149384734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049803.244846392] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049803.245629094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049803.246160442] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049803.247557309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049803.248584207] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049803.335385373] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049803.337472628] [sailbot.teensy]: Wind angle: 321 +[trim_sail-4] [INFO] [1746049803.338416232] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049803.338494546] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049803.339397879] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049803.339922024] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049803.340330568] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049803.344418194] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049803.345032581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049803.346033134] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049803.346761387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049803.347946534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049803.445178592] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049803.446117880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049803.446644046] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049803.447764066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049803.448244112] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049803.503492689] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697383 Long: -76.50297929 +[vectornav-1] [INFO] [1746049803.504762985] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.289, -3.425, 7.297) +[mux-7] [INFO] [1746049803.545115233] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049803.545828451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049803.546409630] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049803.547789704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049803.548758874] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049803.585732457] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049803.587922476] [sailbot.teensy]: Wind angle: 321 +[trim_sail-4] [INFO] [1746049803.588902400] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049803.588975832] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049803.589836568] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049803.589855989] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049803.590791171] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049803.645456751] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049803.646395029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049803.646995625] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049803.647989381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049803.648443720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049803.745510669] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049803.746613439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049803.747088586] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049803.748609197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049803.749162320] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049803.835709554] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049803.838365603] [sailbot.teensy]: Wind angle: 322 +[trim_sail-4] [INFO] [1746049803.838572039] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049803.839295703] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049803.839580678] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049803.839981868] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049803.840772900] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049803.844445344] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049803.845049032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049803.845709557] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049803.846934047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049803.848084997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049803.945406197] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049803.946182510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049803.947000057] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049803.947986608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049803.948447370] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049804.003051921] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973828 Long: -76.50297969 +[vectornav-1] [INFO] [1746049804.004292869] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.28700000000003, -3.422, 7.283) +[mux-7] [INFO] [1746049804.045127696] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049804.046004313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049804.046591140] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049804.048668594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049804.049690312] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049804.085529171] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049804.087857902] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049804.088302317] [sailbot.teensy]: Wind angle: 322 +[mux-7] [INFO] [1746049804.088371236] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049804.089504990] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049804.090401029] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049804.091216131] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049804.144908396] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049804.145855578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049804.146193804] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049804.147637958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049804.148499286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049804.245162905] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049804.245882837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049804.246648969] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049804.248117560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049804.249179465] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049804.335439151] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049804.337235431] [sailbot.teensy]: Wind angle: 328 +[teensy-2] [INFO] [1746049804.338151755] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049804.337788888] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049804.338981438] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049804.340381920] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049804.341313391] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049804.344253216] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049804.344835630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049804.345637142] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049804.346632059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049804.347700188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049804.445191675] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049804.445864178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049804.446766044] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049804.447967069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049804.449054249] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049804.502547490] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469738 Long: -76.50298005 +[vectornav-1] [INFO] [1746049804.503751398] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.25800000000004, -3.433, 7.117) +[mux-7] [INFO] [1746049804.544847519] [sailbot.mux]: Published sail angle from controller_app: 28 +[mux-7] [INFO] [1746049804.546331631] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049804.546360726] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049804.547865417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049804.548327272] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049804.585605947] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049804.588119934] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049804.588844358] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049804.589080939] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049804.589308635] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049804.589991486] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049804.590957948] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049804.644987333] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049804.645701671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049804.646334351] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049804.647824155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049804.648987563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049804.745615084] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049804.746604714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049804.747423602] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049804.749221029] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049804.750478948] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049804.835356445] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049804.837937427] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049804.838232939] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049804.838762224] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746049804.839711904] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049804.840614857] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049804.841427920] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049804.844303590] [sailbot.mux]: Published sail angle from controller_app: 28 +[mux-7] [INFO] [1746049804.845468142] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049804.845808146] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049804.848811851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049804.850080848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049804.945193927] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049804.945871255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049804.946775997] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049804.947990851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049804.948784562] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049805.003665239] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973788 Long: -76.50298033 +[vectornav-1] [INFO] [1746049805.005372929] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.276, -3.435, 7.174) +[mux-7] [INFO] [1746049805.045026870] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049805.045955122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049805.046554188] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049805.047848187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049805.048872899] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049805.085269173] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049805.087882971] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746049805.088805537] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049805.087992308] [sailbot.mux]: algo sail angle: 80 +[trim_sail-4] [INFO] [1746049805.088002952] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049805.089696182] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049805.090516066] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049805.145110533] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049805.146148203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049805.147630580] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049805.147937360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049805.148399988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049805.245180266] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049805.245908305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049805.246679742] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049805.248236694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049805.249381391] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049805.335404378] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049805.338056192] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049805.338378733] [sailbot.teensy]: Wind angle: 334 +[mux-7] [INFO] [1746049805.339006309] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049805.339479589] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049805.340418102] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049805.340756481] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049805.344348002] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049805.344928640] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049805.345433604] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049805.346608146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049805.347775366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049805.445192579] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049805.446078377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049805.446680802] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049805.448453691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049805.449651294] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049805.502471970] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973792 Long: -76.50298049 +[vectornav-1] [INFO] [1746049805.503533544] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.277, -3.438, 7.17) +[mux-7] [INFO] [1746049805.545084761] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049805.545831125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049805.546411099] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049805.547751197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049805.548814531] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049805.585408470] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049805.587097964] [sailbot.teensy]: Wind angle: 334 +[teensy-2] [INFO] [1746049805.588006463] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049805.587833582] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049805.588892021] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049805.588938084] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049805.589811150] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049805.645367016] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049805.646085190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049805.646821819] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049805.647725895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049805.648322646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049805.745059226] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049805.745759356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049805.746488445] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049805.747699754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049805.748189809] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049805.835505292] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049805.837456245] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049805.838098879] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049805.838467471] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049805.839422490] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049805.840471860] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049805.841492195] [sailbot.mux]: algo sail angle: 80 +[mux-7] [INFO] [1746049805.844492825] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049805.844927843] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049805.845784908] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049805.846601732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049805.847760322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049805.945587424] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049805.946671667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049805.947468446] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049805.949348917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049805.950511865] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049806.003117840] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973796 Long: -76.50298075 +[vectornav-1] [INFO] [1746049806.004926782] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.277, -3.439, 7.153) +[mux-7] [INFO] [1746049806.045171825] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049806.045792072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049806.046521773] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049806.047743260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049806.048908189] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049806.085419587] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049806.087562450] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049806.087950670] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049806.088516601] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049806.089318642] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049806.089416046] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049806.090309384] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049806.145370793] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049806.146112242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049806.147119710] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049806.148567600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049806.149211174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049806.245368521] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049806.245905769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049806.247209836] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049806.248125725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049806.248686437] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049806.335237996] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049806.337509338] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049806.337995013] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049806.338467630] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049806.338763241] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049806.339404234] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049806.340296746] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049806.344334505] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049806.344935624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049806.345436428] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049806.346623690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049806.347625015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049806.445342807] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049806.446253899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049806.446950906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049806.448724351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049806.449913735] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049806.503482035] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973804 Long: -76.50298108 +[vectornav-1] [INFO] [1746049806.505248920] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.275, -3.439, 7.163) +[mux-7] [INFO] [1746049806.545210817] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049806.546350549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049806.546670161] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049806.549041446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049806.550229540] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049806.585356251] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049806.588034599] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049806.588328887] [sailbot.teensy]: Wind angle: 330 +[mux-7] [INFO] [1746049806.588495748] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049806.589516671] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049806.590445964] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049806.591322197] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049806.645438547] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049806.646351520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049806.647218415] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049806.648732529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049806.649791949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049806.745271993] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049806.746241621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049806.746814378] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049806.748667618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049806.749257980] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049806.835371335] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049806.837674623] [sailbot.teensy]: Wind angle: 330 +[trim_sail-4] [INFO] [1746049806.838019657] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049806.838664300] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049806.839555743] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049806.839291412] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049806.840495148] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049806.844282249] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049806.845183676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049806.845426912] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049806.847708874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049806.849895052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049806.945339049] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049806.946087516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049806.946803826] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049806.948285177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049806.949573693] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049807.002516661] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973794 Long: -76.50298151 +[vectornav-1] [INFO] [1746049807.003594029] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.279, -3.442, 7.173) +[mux-7] [INFO] [1746049807.044862345] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049807.045652382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049807.046124766] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049807.047539339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049807.048611777] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049807.085503400] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049807.088032861] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049807.088327578] [sailbot.teensy]: Wind angle: 330 +[teensy-2] [INFO] [1746049807.089252728] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049807.090119260] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049807.090137110] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049807.091019544] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049807.145132364] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049807.145720989] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049807.147570814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[mux-7] [INFO] [1746049807.146611616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049807.148628714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049807.245478630] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049807.246634981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049807.247074152] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049807.249647804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049807.250806359] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049807.335694333] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049807.338106126] [sailbot.teensy]: Wind angle: 327 +[trim_sail-4] [INFO] [1746049807.338507716] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049807.339227094] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049807.340095975] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049807.340200004] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049807.340900240] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049807.344432712] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049807.344942671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049807.345531502] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049807.346590974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049807.347743976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049807.445231014] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049807.446189471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049807.446741323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049807.448414295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049807.449535019] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049807.503228124] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973793 Long: -76.50298181 +[vectornav-1] [INFO] [1746049807.504675904] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.288, -3.437, 7.233) +[mux-7] [INFO] [1746049807.545335710] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049807.546091415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049807.546812634] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049807.548430590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049807.549559600] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049807.585328893] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049807.587634387] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049807.587634583] [sailbot.teensy]: Wind angle: 322 +[teensy-2] [INFO] [1746049807.588931338] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049807.588957865] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049807.590112882] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049807.590948472] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049807.645395295] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049807.646036544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049807.647124177] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049807.647999633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049807.648449245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049807.745160852] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049807.746138695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049807.746855403] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049807.748438392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049807.749559316] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049807.835302654] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049807.837012870] [sailbot.teensy]: Wind angle: 322 +[trim_sail-4] [INFO] [1746049807.837487218] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049807.838013102] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049807.838941625] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049807.839376217] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049807.839872692] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049807.844394655] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049807.844937028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049807.845459707] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049807.846557249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049807.847729621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049807.945489381] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049807.946267948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049807.947169041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049807.948615171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049807.949827524] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049808.002689393] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973814 Long: -76.50298212 +[vectornav-1] [INFO] [1746049808.004091453] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.28499999999997, -3.448, 7.186) +[mux-7] [INFO] [1746049808.045267106] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049808.045978321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049808.046682008] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049808.048231384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049808.049405313] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049808.085413439] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049808.087205450] [sailbot.teensy]: Wind angle: 323 +[teensy-2] [INFO] [1746049808.088132374] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049808.087930639] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049808.088337026] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049808.089028379] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049808.089869527] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049808.145207531] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049808.145876441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049808.146718263] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049808.149547813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049808.150644496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049808.245233375] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049808.245985768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049808.247088242] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049808.248086274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049808.249843995] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049808.335351351] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049808.337946813] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049808.338180470] [sailbot.teensy]: Wind angle: 323 +[mux-7] [INFO] [1746049808.338291734] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049808.339470679] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049808.340410125] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049808.341268349] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049808.344258146] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049808.344776533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049808.345414861] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049808.346502387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049808.347655219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049808.445529739] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049808.446492466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049808.447133032] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049808.448611037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049808.449148568] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049808.502487985] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973818 Long: -76.5029824 +[vectornav-1] [INFO] [1746049808.503560242] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.30899999999997, -3.434, 7.37) +[mux-7] [INFO] [1746049808.545330477] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049808.546187752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049808.546997597] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049808.548313899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049808.549364852] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049808.585746656] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049808.587816684] [sailbot.teensy]: Wind angle: 333 +[trim_sail-4] [INFO] [1746049808.588686601] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049808.588914237] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049808.589874316] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049808.590557308] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049808.590754955] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049808.645268373] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049808.645855579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049808.646835318] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049808.649442069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049808.650626354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049808.745610823] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049808.746516832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049808.747270086] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049808.748716589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049808.749652856] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049808.835654428] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049808.837831007] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049808.838166432] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049808.838676084] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049808.839073167] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049808.839440738] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049808.839469714] [sailbot.mux]: algo sail angle: 80 +[mux-7] [INFO] [1746049808.844407603] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049808.844920616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049808.845509357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049808.846703576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049808.847694826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049808.945453062] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049808.946236376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049808.947292484] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049808.948821900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049808.950140179] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049809.003612735] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973821 Long: -76.50298254 +[vectornav-1] [INFO] [1746049809.005048839] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.30899999999997, -3.436, 7.355) +[mux-7] [INFO] [1746049809.044941312] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049809.045698309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049809.046206890] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049809.047503170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049809.048535266] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049809.085328065] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049809.087293323] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049809.087639215] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049809.088251461] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049809.089159115] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049809.089400327] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049809.090027783] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049809.145547596] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049809.146163775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049809.147248551] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049809.148462441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049809.149628798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049809.245064290] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049809.245568034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049809.246373959] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049809.247363280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049809.248460047] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049809.335321396] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049809.337121015] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049809.338187067] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049809.339256541] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049809.339531839] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049809.339926071] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049809.340692714] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049809.344507706] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049809.344912750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049809.345973524] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049809.346642820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049809.347839611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049809.445337343] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049809.445867712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049809.446988738] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049809.448333459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049809.449155764] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049809.504026194] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697382 Long: -76.5029829 +[vectornav-1] [INFO] [1746049809.505918043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.30600000000004, -3.437, 7.339) +[mux-7] [INFO] [1746049809.545006247] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049809.545573429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049809.546491596] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049809.547485932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049809.548548054] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049809.585264924] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049809.586921121] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049809.587804883] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049809.587629746] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049809.588672881] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049809.588947329] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049809.589540389] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049809.645121240] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049809.645528430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049809.646727129] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049809.647338267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049809.648536612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049809.745127023] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049809.745696822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049809.747046887] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049809.747801068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049809.749079389] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049809.835609514] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049809.838350988] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049809.838656153] [sailbot.teensy]: Wind angle: 328 +[mux-7] [INFO] [1746049809.839105329] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049809.839584405] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049809.840495625] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049809.841089263] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049809.844384753] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049809.844885547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049809.845469683] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049809.846565942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049809.847600595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049809.945122052] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049809.945921994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049809.946584058] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049809.947988897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049809.949160981] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049810.002937222] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973833 Long: -76.50298315 +[vectornav-1] [INFO] [1746049810.004133060] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.305, -3.437, 7.339) +[mux-7] [INFO] [1746049810.044692551] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049810.045335687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049810.045855134] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049810.047111310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049810.048118129] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049810.085452791] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049810.088242074] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049810.088385513] [sailbot.teensy]: Wind angle: 329 +[mux-7] [INFO] [1746049810.089460694] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049810.089697805] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049810.090570511] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049810.091440265] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049810.145173630] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049810.146153550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049810.146775802] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049810.148273512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049810.148793018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049810.245518003] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049810.246725161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049810.247121569] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049810.248692926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049810.249201381] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049810.335652629] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049810.338101763] [sailbot.teensy]: Wind angle: 332 +[trim_sail-4] [INFO] [1746049810.338558089] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049810.339358250] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049810.339491643] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049810.340484628] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049810.341477833] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049810.344401174] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049810.344984183] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049810.345490265] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049810.346793442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049810.347893808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049810.445345625] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049810.446087236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049810.446852833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049810.448248234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049810.449289390] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049810.503331869] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973843 Long: -76.50298335 +[vectornav-1] [INFO] [1746049810.504821124] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.3, -3.443, 7.309) +[mux-7] [INFO] [1746049810.545028846] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049810.545963199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049810.547112153] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049810.548257053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049810.549573499] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049810.585505328] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049810.587371227] [sailbot.teensy]: Wind angle: 332 +[trim_sail-4] [INFO] [1746049810.588126848] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049810.589256153] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049810.589298831] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049810.590265491] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049810.591119579] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049810.645544301] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049810.646814140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049810.647149509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049810.649112117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049810.650427865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049810.745560380] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049810.746579509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049810.747188682] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049810.748923678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049810.750107418] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049810.835424040] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049810.837797096] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049810.838232595] [sailbot.teensy]: Wind angle: 332 +[mux-7] [INFO] [1746049810.839067310] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049810.839241256] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049810.839691955] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049810.840129200] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049810.844305475] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049810.844946544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049810.845411542] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049810.846707715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049810.847790450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049810.944706820] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049810.945396782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049810.945964684] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049810.947159071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049810.948311122] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049811.002394265] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973857 Long: -76.50298358 +[vectornav-1] [INFO] [1746049811.003538524] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.304, -3.443, 7.32) +[mux-7] [INFO] [1746049811.044977301] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049811.045712251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049811.046376558] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049811.047612368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049811.048638927] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049811.085441110] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049811.088114837] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049811.088309098] [sailbot.teensy]: Wind angle: 332 +[mux-7] [INFO] [1746049811.088508198] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049811.089368596] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049811.090345108] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049811.091286341] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049811.145213408] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049811.146236139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049811.147149182] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049811.148025682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049811.148545408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049811.245289102] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049811.246247209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049811.246945471] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049811.248397385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049811.249558460] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049811.335602137] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049811.337646443] [sailbot.teensy]: Wind angle: 332 +[trim_sail-4] [INFO] [1746049811.338204449] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049811.338654565] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049811.339580205] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049811.338746608] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049811.340601076] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049811.344431395] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049811.345185423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049811.345562890] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049811.347123573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049811.348236807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049811.445315655] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049811.446046765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049811.446817552] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049811.448215203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049811.449411074] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049811.503640722] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973871 Long: -76.50298379 +[vectornav-1] [INFO] [1746049811.505451012] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.328, -3.43, 7.523) +[mux-7] [INFO] [1746049811.545097378] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049811.546326587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049811.546723615] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049811.548411601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049811.549556409] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049811.585559206] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049811.587567605] [sailbot.teensy]: Wind angle: 332 +[trim_sail-4] [INFO] [1746049811.587994897] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049811.588530371] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049811.589367562] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049811.589421029] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049811.590276625] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049811.645565673] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049811.646288703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049811.647482734] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049811.648396724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049811.648948037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049811.745627795] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049811.746709138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049811.747415083] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049811.749256809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049811.750428358] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049811.835872625] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049811.838694483] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049811.839332107] [sailbot.teensy]: Wind angle: 330 +[mux-7] [INFO] [1746049811.840222653] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049811.840638312] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049811.841168106] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049811.841515603] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049811.844546126] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049811.845010404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049811.845725010] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049811.846812912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049811.847918693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049811.945454537] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049811.946340506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049811.947068638] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049811.948634422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049811.949098495] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049812.002925396] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973865 Long: -76.50298386 +[vectornav-1] [INFO] [1746049812.004095760] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.356, -3.426, 7.677) +[mux-7] [INFO] [1746049812.045131175] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049812.045900206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049812.046513432] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049812.048175340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049812.049313630] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049812.085631057] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049812.088283102] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049812.088822347] [sailbot.teensy]: Wind angle: 330 +[teensy-2] [INFO] [1746049812.089771621] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049812.089821842] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049812.090646333] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049812.091517636] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049812.145539296] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049812.146370183] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049812.147220073] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049812.148931735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049812.150173350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049812.245623451] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049812.246379486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049812.247405601] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049812.248661991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049812.249903665] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049812.335528351] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049812.337911990] [sailbot.teensy]: Wind angle: 331 +[teensy-2] [INFO] [1746049812.338727989] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049812.339112398] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049812.338676444] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049812.339370635] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049812.339484117] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049812.344626650] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049812.345302069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049812.346142649] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049812.347231942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049812.349070344] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049812.445430708] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049812.445986842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049812.447035066] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049812.448473764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049812.449903261] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049812.502517559] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973876 Long: -76.50298399 +[vectornav-1] [INFO] [1746049812.503604202] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.349, -3.416, 7.694) +[mux-7] [INFO] [1746049812.545491484] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049812.546084033] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049812.547562634] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049812.548360968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049812.548915413] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049812.585760018] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049812.588586434] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049812.588974488] [sailbot.teensy]: Wind angle: 330 +[mux-7] [INFO] [1746049812.589244300] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049812.590189136] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049812.591076208] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049812.591941196] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049812.645332442] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049812.645838617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049812.647019604] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049812.649413559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049812.650447490] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049812.745640003] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049812.746201679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049812.747468801] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049812.748515090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049812.750562152] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049812.835506801] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049812.838378678] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049812.838370584] [sailbot.teensy]: Wind angle: 330 +[mux-7] [INFO] [1746049812.839018673] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049812.839704002] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049812.840694791] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049812.841535585] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049812.844474684] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049812.844842854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049812.845667329] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049812.846468690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049812.847515024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049812.945578486] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049812.946019309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049812.947848326] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049812.948205380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049812.949318390] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049813.003487104] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973883 Long: -76.50298427 +[vectornav-1] [INFO] [1746049813.005514421] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.342, -3.443, 7.764) +[mux-7] [INFO] [1746049813.045393001] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049813.045564782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049813.046677453] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049813.049078241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049813.050342478] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049813.085744445] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049813.088461717] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049813.089212049] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049813.089757062] [sailbot.teensy]: Wind angle: 330 +[teensy-2] [INFO] [1746049813.090724751] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049813.091555549] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049813.092452831] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049813.145398910] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049813.146140075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049813.147025475] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049813.148224578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049813.149284376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049813.245403882] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049813.246087521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049813.247289705] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049813.248279957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049813.249137020] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049813.335593970] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049813.337958869] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049813.338659777] [sailbot.teensy]: Wind angle: 330 +[mux-7] [INFO] [1746049813.339556707] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049813.339641352] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049813.340652807] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049813.341035742] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049813.344377717] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049813.344909271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049813.345501353] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049813.346623501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049813.347680413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049813.445396350] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049813.446144836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049813.447416136] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049813.448274228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049813.449517122] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049813.503653319] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973884 Long: -76.50298446 +[vectornav-1] [INFO] [1746049813.505685919] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.342, -3.429, 7.85) +[mux-7] [INFO] [1746049813.545188850] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049813.545819556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049813.547021076] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049813.547837443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049813.549193342] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049813.585374740] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049813.587430950] [sailbot.teensy]: Wind angle: 328 +[trim_sail-4] [INFO] [1746049813.588016369] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049813.588452275] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049813.589397816] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049813.589729549] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049813.590375829] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049813.645331807] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049813.646031046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049813.646875928] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049813.648758261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049813.650027894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049813.745529085] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049813.746304792] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049813.747454411] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049813.748944546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049813.749561465] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049813.835645544] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049813.837692587] [sailbot.teensy]: Wind angle: 321 +[teensy-2] [INFO] [1746049813.838756067] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049813.838863165] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049813.839702831] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049813.840308087] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049813.840647169] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049813.844323221] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049813.844929632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049813.845492611] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049813.846606652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049813.847776404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049813.945299631] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049813.945999006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049813.946838664] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049813.948374951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049813.948913119] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049814.002373664] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469739 Long: -76.50298466 +[vectornav-1] [INFO] [1746049814.003487365] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.301, -3.454, 7.445) +[mux-7] [INFO] [1746049814.045064178] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049814.045824373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049814.046347788] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049814.047758696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049814.048758884] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049814.085191009] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049814.086908949] [sailbot.teensy]: Wind angle: 321 +[trim_sail-4] [INFO] [1746049814.087593618] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049814.087857152] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049814.088776809] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049814.088776304] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049814.089667218] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049814.145350893] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049814.146218040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049814.146881376] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049814.148469648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049814.149695564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049814.244782487] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049814.245424419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049814.246294124] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049814.247281694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049814.248322035] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049814.335703012] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049814.338729542] [sailbot.teensy]: Wind angle: 322 +[trim_sail-4] [INFO] [1746049814.339101740] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049814.339799098] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049814.340024622] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049814.340744898] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049814.341641533] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049814.344315438] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049814.344777425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049814.345453303] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049814.346466616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049814.347525629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049814.445452965] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049814.446389132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049814.447128758] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049814.448052233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049814.448601981] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049814.503908072] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973899 Long: -76.50298472 +[vectornav-1] [INFO] [1746049814.505718432] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.24199999999996, -3.47, 7.059) +[mux-7] [INFO] [1746049814.544897528] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049814.545577288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049814.546170385] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049814.547548291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049814.549232529] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049814.585441268] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049814.587275236] [sailbot.teensy]: Wind angle: 328 +[teensy-2] [INFO] [1746049814.588286971] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049814.588347639] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049814.589237568] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049814.590132854] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049814.590488372] [sailbot.mux]: algo sail angle: 75 +[mux-7] [INFO] [1746049814.645291846] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049814.646143477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049814.646796446] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049814.647879579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049814.648348965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049814.745710226] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049814.746506030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049814.748169006] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049814.748393076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049814.748881502] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049814.835433611] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049814.837298378] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049814.838273127] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049814.838413023] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049814.839410946] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049814.839665047] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049814.839817340] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049814.844429718] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049814.845063091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049814.845736942] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049814.846905338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049814.847960279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049814.945632380] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049814.946499417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049814.947279923] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049814.948514981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049814.949067529] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049815.003326841] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973911 Long: -76.50298483 +[vectornav-1] [INFO] [1746049815.005477882] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.19100000000003, -3.499, 6.58) +[mux-7] [INFO] [1746049815.044966833] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049815.045704472] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049815.046421193] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049815.047658939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049815.048685832] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049815.085575576] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049815.087738386] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049815.088234677] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049815.088790163] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049815.089725847] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049815.090506485] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049815.090603689] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049815.145264086] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049815.146060276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049815.146811352] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049815.148297667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049815.149379350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049815.245225886] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049815.245942972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049815.246758238] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049815.247897231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049815.248430059] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049815.335433549] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049815.337340319] [sailbot.teensy]: Wind angle: 325 +[trim_sail-4] [INFO] [1746049815.337997448] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049815.338311964] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049815.339056588] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049815.339165060] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049815.339440784] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049815.344389688] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049815.345052913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049815.345572592] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049815.346777014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049815.347917181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049815.444982525] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049815.445635951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049815.446296924] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049815.447899595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049815.448956792] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049815.503272663] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973929 Long: -76.50298504 +[vectornav-1] [INFO] [1746049815.504422129] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.168, -3.492, 6.403) +[mux-7] [INFO] [1746049815.545273809] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049815.546149781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049815.546810513] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049815.548619479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049815.550054643] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049815.585437296] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049815.587356969] [sailbot.teensy]: Wind angle: 330 +[teensy-2] [INFO] [1746049815.588350803] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049815.587850724] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049815.589227708] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049815.589463141] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049815.590125000] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049815.645423486] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049815.645952175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049815.647116416] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049815.648542199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049815.649205066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049815.744803687] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049815.745573920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049815.746058397] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049815.747384238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049815.748260506] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049815.835451480] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049815.837678474] [sailbot.teensy]: Wind angle: 331 +[trim_sail-4] [INFO] [1746049815.838087515] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049815.838762401] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049815.839231040] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049815.839580862] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049815.839806482] [sailbot.mux]: algo sail angle: 75 +[mux-7] [INFO] [1746049815.844388281] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049815.844934967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049815.845539853] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049815.846648110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049815.847881963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049815.945726271] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049815.946402748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049815.947828981] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049815.948815106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049815.949360455] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049816.002317612] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973928 Long: -76.50298507 +[vectornav-1] [INFO] [1746049816.003308008] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.209, -3.496, 6.732) +[mux-7] [INFO] [1746049816.045305275] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049816.045857117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049816.046855042] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049816.047845774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049816.048960320] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049816.085651314] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049816.088368543] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049816.088830874] [sailbot.teensy]: Wind angle: 329 +[teensy-2] [INFO] [1746049816.089774577] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049816.089327882] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049816.090632926] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049816.091457383] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049816.145108738] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049816.145937052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049816.146615591] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049816.148354918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049816.149612111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049816.245585472] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049816.246309093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049816.247179319] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049816.248542800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049816.248981630] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049816.335330157] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049816.337474397] [sailbot.teensy]: Wind angle: 330 +[trim_sail-4] [INFO] [1746049816.337613774] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049816.338518861] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049816.338945383] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049816.339366936] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049816.339745361] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049816.344467937] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049816.345341553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049816.345624116] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049816.347105360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049816.348100924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049816.445498250] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049816.446527565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049816.447298495] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049816.447937451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049816.448407147] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049816.503537085] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973938 Long: -76.50298505 +[vectornav-1] [INFO] [1746049816.504892826] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.198, -3.497, 6.687) +[mux-7] [INFO] [1746049816.545048402] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049816.545937164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049816.546845587] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049816.547990581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049816.549109895] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049816.585441833] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049816.587567219] [sailbot.teensy]: Wind angle: 330 +[trim_sail-4] [INFO] [1746049816.588187698] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049816.588609347] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049816.589540537] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049816.589329566] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049816.590437154] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049816.645131882] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049816.646068108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049816.646670328] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049816.648335403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049816.649414377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049816.745338389] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049816.746257887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049816.747013127] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049816.748557815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049816.749645784] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049816.835477266] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049816.838005538] [sailbot.teensy]: Wind angle: 330 +[teensy-2] [INFO] [1746049816.838862349] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049816.838530126] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049816.838956059] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049816.839252126] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049816.839659796] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049816.844451979] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049816.844988821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049816.845609252] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049816.846775158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049816.848613608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049816.945483759] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049816.946358403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049816.947207041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049816.948729272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049816.949304267] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049817.003164035] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973934 Long: -76.50298527 +[vectornav-1] [INFO] [1746049817.004733164] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.197, -3.498, 6.678) +[mux-7] [INFO] [1746049817.045522289] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049817.046152375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049817.047213382] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049817.048447208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049817.049529570] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049817.085614511] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049817.088019868] [sailbot.teensy]: Wind angle: 325 +[trim_sail-4] [INFO] [1746049817.088143017] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049817.089033424] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049817.089516205] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049817.090714207] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049817.091602084] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049817.145337784] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049817.145996009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049817.146951721] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049817.148268972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049817.149428109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049817.245434809] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049817.246030637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049817.247300656] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049817.248148823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049817.249613769] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049817.335603463] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049817.338113218] [sailbot.teensy]: Wind angle: 319 +[trim_sail-4] [INFO] [1746049817.338235368] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049817.339127493] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049817.340468247] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049817.340478451] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049817.340914403] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049817.344477975] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049817.345156012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049817.346050493] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049817.347036157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049817.348137901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049817.445701377] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049817.446378070] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049817.447537049] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049817.448960235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049817.450182887] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049817.502946903] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973932 Long: -76.50298532 +[vectornav-1] [INFO] [1746049817.504276350] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.301, -3.451, 7.368) +[mux-7] [INFO] [1746049817.545319548] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049817.546030451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049817.546905177] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049817.548104252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049817.549202682] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049817.585516214] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049817.587590469] [sailbot.teensy]: Wind angle: 319 +[trim_sail-4] [INFO] [1746049817.588194228] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049817.588556208] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049817.588960715] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049817.589224069] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049817.589345839] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049817.645492098] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049817.646054821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049817.647100259] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049817.648572860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049817.649888766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049817.745423537] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049817.746062286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049817.747262751] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049817.748261298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049817.749382782] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049817.835389449] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049817.837317307] [sailbot.teensy]: Wind angle: 319 +[trim_sail-4] [INFO] [1746049817.837994569] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049817.838304630] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049817.838825730] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049817.838895930] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049817.839195867] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049817.844369787] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049817.844828485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049817.845584367] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049817.846528685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049817.847557375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049817.945624414] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049817.946252751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049817.947398601] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049817.948941571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049817.950200730] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049818.003424491] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973929 Long: -76.50298542 +[vectornav-1] [INFO] [1746049818.004958480] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.249, -3.48, 6.936) +[mux-7] [INFO] [1746049818.045416425] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049818.046084834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049818.047060229] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049818.048584098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049818.049787153] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049818.085769293] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049818.088040067] [sailbot.teensy]: Wind angle: 319 +[teensy-2] [INFO] [1746049818.089137699] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049818.088668172] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049818.090090098] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049818.090372234] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049818.091012448] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049818.145414761] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049818.146197714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049818.147063597] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049818.148413589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049818.150059004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049818.245637480] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049818.246252707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049818.247507602] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049818.248572968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049818.249104593] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049818.335223596] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049818.337062669] [sailbot.teensy]: Wind angle: 323 +[trim_sail-4] [INFO] [1746049818.337654547] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049818.339110654] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049818.339728810] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049818.340676123] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049818.341360892] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049818.344376616] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049818.345015161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049818.345529346] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049818.346753818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049818.347788054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049818.445127764] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049818.446025089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049818.446642133] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049818.448161676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049818.448689872] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049818.503134429] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973935 Long: -76.50298551 +[vectornav-1] [INFO] [1746049818.504929783] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.233, -3.491, 6.748) +[mux-7] [INFO] [1746049818.545097888] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049818.545858539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049818.546566557] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049818.548056482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049818.549198456] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049818.585415954] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049818.587879092] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049818.589239123] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049818.589332476] [sailbot.teensy]: Wind angle: 323 +[teensy-2] [INFO] [1746049818.590318090] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049818.591214069] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049818.592017686] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049818.645015141] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049818.645912681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049818.646442321] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049818.647841043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049818.648929574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049818.745551222] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049818.746357829] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049818.748736227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[mux-7] [INFO] [1746049818.749254328] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049818.750035923] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049818.835493996] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049818.837410980] [sailbot.teensy]: Wind angle: 325 +[trim_sail-4] [INFO] [1746049818.838007153] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049818.838410905] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049818.839321242] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049818.840218065] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049818.840330822] [sailbot.mux]: algo sail angle: 70 +[mux-7] [INFO] [1746049818.844497659] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049818.845048941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049818.845722581] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049818.846778554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049818.847815960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049818.945743661] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049818.946333859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049818.948194822] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049818.948539759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049818.949146539] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049819.002519619] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697394 Long: -76.50298566 +[vectornav-1] [INFO] [1746049819.003543148] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.23400000000004, -3.49, 6.76) +[mux-7] [INFO] [1746049819.045070309] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049819.045860079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049819.046431107] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049819.047753340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049819.048768065] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049819.085701869] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049819.087924695] [sailbot.teensy]: Wind angle: 326 +[trim_sail-4] [INFO] [1746049819.088391774] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049819.088733873] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049819.089075335] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049819.089151660] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049819.089543555] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049819.145305963] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049819.145951590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049819.146854455] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049819.147937155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049819.149022924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049819.245486409] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049819.246157060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049819.247122767] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049819.248439973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049819.249556084] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049819.335427052] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049819.337348770] [sailbot.teensy]: Wind angle: 326 +[trim_sail-4] [INFO] [1746049819.338000022] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049819.338315737] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049819.339652062] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049819.340445031] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049819.340709137] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049819.344385658] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049819.344866602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049819.345509463] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049819.346538257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049819.347590182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049819.444339220] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049819.444789822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049819.445259107] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049819.446287420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049819.447240454] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049819.503766558] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973942 Long: -76.50298579 +[vectornav-1] [INFO] [1746049819.505387193] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.25, -3.471, 6.815) +[mux-7] [INFO] [1746049819.545259237] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049819.545898496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049819.546933790] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049819.548286272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049819.549684139] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049819.585592713] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049819.587681416] [sailbot.teensy]: Wind angle: 325 +[trim_sail-4] [INFO] [1746049819.588231396] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049819.588818571] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049819.589466574] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049819.589887195] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049819.590747964] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049819.645251045] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049819.645857252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049819.646745204] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049819.648241609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049819.649404033] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049819.745516993] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049819.746100222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049819.747332543] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049819.748474174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049819.749768471] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049819.835644836] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049819.837839139] [sailbot.teensy]: Wind angle: 325 +[teensy-2] [INFO] [1746049819.838924287] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049819.839323293] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049819.839692608] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049819.840077615] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049819.840227462] [sailbot.mux]: algo sail angle: 70 +[mux-7] [INFO] [1746049819.844343198] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049819.845025646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049819.845847149] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049819.846738090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049819.847795546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049819.945572499] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049819.946370717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049819.947346532] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049819.948379158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049819.948879187] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049820.003101298] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973935 Long: -76.50298598 +[vectornav-1] [INFO] [1746049820.004609363] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.3, -3.434, 7.014) +[mux-7] [INFO] [1746049820.045354227] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049820.046093113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049820.046959393] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049820.048396885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049820.049497610] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049820.085479536] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049820.087205166] [sailbot.teensy]: Wind angle: 325 +[teensy-2] [INFO] [1746049820.088112851] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049820.089005858] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049820.087749639] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049820.088400844] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049820.089890348] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049820.145297364] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049820.146398861] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049820.146899269] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049820.148608045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049820.149763545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049820.245232548] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049820.246144205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049820.247246550] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049820.248494524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049820.249392226] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049820.335371374] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049820.337961277] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049820.338168757] [sailbot.teensy]: Wind angle: 325 +[mux-7] [INFO] [1746049820.338746203] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049820.338898638] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049820.339294274] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049820.339666024] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049820.344600823] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049820.345046654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049820.345961704] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049820.347599136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049820.348741844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049820.445483015] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049820.446464619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049820.447163435] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049820.448891932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049820.450069370] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049820.502477298] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973932 Long: -76.50298615 +[vectornav-1] [INFO] [1746049820.503503324] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.291, -3.439, 7.039) +[mux-7] [INFO] [1746049820.545133201] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049820.545768946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049820.546489061] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049820.547813577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049820.548513113] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049820.585672597] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049820.587932931] [sailbot.teensy]: Wind angle: 325 +[teensy-2] [INFO] [1746049820.588978055] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049820.588677543] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049820.589085798] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049820.589923091] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049820.590794941] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049820.645183367] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049820.645642740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049820.646596486] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049820.647501226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049820.648644462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049820.744793814] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049820.745322034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049820.746127578] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049820.747244167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049820.748415758] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049820.835459889] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049820.838044841] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049820.839042221] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049820.839225139] [sailbot.teensy]: Wind angle: 326 +[teensy-2] [INFO] [1746049820.840260384] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049820.841134773] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049820.841957160] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049820.844399608] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049820.844903018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049820.845616463] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049820.846581962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049820.847779054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049820.945559629] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049820.946224751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049820.947840766] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049820.948482415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049820.949050149] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049821.003143517] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697393 Long: -76.50298628 +[vectornav-1] [INFO] [1746049821.004577197] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.352, -3.424, 7.481) +[mux-7] [INFO] [1746049821.045190594] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049821.045914919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049821.046572812] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049821.048000982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049821.049144112] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049821.085369240] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049821.087813236] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049821.088401279] [sailbot.teensy]: Wind angle: 326 +[mux-7] [INFO] [1746049821.088460560] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049821.089337176] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049821.090221780] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049821.091042624] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049821.145621286] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049821.146367534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049821.147265503] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049821.148625636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049821.149877433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049821.245259409] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049821.245992405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049821.246752639] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049821.248107001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049821.249301402] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049821.335354427] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049821.337355187] [sailbot.teensy]: Wind angle: 326 +[trim_sail-4] [INFO] [1746049821.337997907] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049821.338317812] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049821.339205430] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049821.339431359] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049821.340107904] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049821.344342243] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049821.344835110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049821.345596464] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049821.346909255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049821.347953625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049821.445693254] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049821.446480044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049821.447653865] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049821.448866454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049821.450126545] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049821.502538970] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973927 Long: -76.50298632 +[vectornav-1] [INFO] [1746049821.503563121] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.401, -3.417, 7.866) +[mux-7] [INFO] [1746049821.545188103] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049821.545738973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049821.546540154] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049821.547851790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049821.549018418] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049821.585713225] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049821.588472083] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049821.588984279] [sailbot.teensy]: Wind angle: 326 +[mux-7] [INFO] [1746049821.589719239] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049821.590145865] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049821.591065501] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049821.591950190] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049821.645287490] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049821.646232243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049821.646892107] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049821.648455814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049821.648963274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049821.745486621] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049821.746203762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049821.747176787] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049821.748552294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049821.749806208] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049821.835371007] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049821.837792404] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049821.838846971] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049821.839131971] [sailbot.teensy]: Wind angle: 326 +[teensy-2] [INFO] [1746049821.840306417] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049821.841156859] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049821.842010187] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049821.844354573] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049821.844806597] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049821.845495150] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049821.846527213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049821.847573044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049821.945562817] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049821.945952681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049821.947247316] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049821.949843454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049821.950989716] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049822.004271715] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697393 Long: -76.50298648 +[vectornav-1] [INFO] [1746049822.005890377] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.399, -3.418, 7.87) +[mux-7] [INFO] [1746049822.044777252] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049822.045299022] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049822.046052615] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049822.047020752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049822.048109352] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049822.085363003] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049822.087693991] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049822.087813090] [sailbot.teensy]: Wind angle: 326 +[teensy-2] [INFO] [1746049822.088797499] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049822.089563308] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049822.089731561] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049822.090612801] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049822.144960874] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049822.145717923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049822.146297382] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049822.147768990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049822.148879818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049822.245408655] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049822.246273111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049822.247020235] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049822.248473708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049822.249547366] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049822.335856582] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049822.337932035] [sailbot.teensy]: Wind angle: 326 +[trim_sail-4] [INFO] [1746049822.338495263] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049822.338966212] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049822.339875419] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049822.340694600] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049822.340770106] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049822.344532060] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049822.344935557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049822.345749054] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049822.346598272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049822.347750576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049822.444893856] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049822.445796541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049822.446166151] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049822.447597507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049822.448746637] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049822.502894958] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973922 Long: -76.50298652 +[vectornav-1] [INFO] [1746049822.504133837] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.398, -3.422, 7.864) +[mux-7] [INFO] [1746049822.544837240] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049822.545675679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049822.546101287] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049822.547588441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049822.548801334] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049822.585476664] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049822.587950785] [sailbot.teensy]: Wind angle: 326 +[trim_sail-4] [INFO] [1746049822.587989331] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049822.588990704] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049822.589887449] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049822.589887567] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049822.590756273] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049822.645084889] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049822.645914823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049822.646440426] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049822.647852093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049822.648339820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049822.745222964] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049822.745919712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049822.746692325] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049822.747977182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049822.749060606] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049822.835555774] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049822.837363291] [sailbot.teensy]: Wind angle: 330 +[teensy-2] [INFO] [1746049822.838279107] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049822.838104883] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049822.838561668] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049822.839155272] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049822.840030610] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049822.844273687] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049822.844906089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049822.845558009] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049822.846594433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049822.847612740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049822.945433126] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049822.946464795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049822.947032713] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049822.949049586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049822.950194907] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049823.003561462] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973928 Long: -76.50298683 +[vectornav-1] [INFO] [1746049823.005146346] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.401, -3.421, 7.904) +[mux-7] [INFO] [1746049823.045348200] [sailbot.mux]: Published sail angle from controller_app: 28 +[mux-7] [INFO] [1746049823.046612192] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049823.046785757] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049823.048524342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049823.049731213] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049823.085322847] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049823.087660085] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049823.087913329] [sailbot.teensy]: Wind angle: 325 +[teensy-2] [INFO] [1746049823.088940344] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049823.089202403] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049823.089907712] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049823.090764861] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049823.144924416] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049823.145647656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049823.146178482] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049823.147530327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049823.148554117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049823.245010788] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049823.245903340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049823.246343021] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049823.247825245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049823.248844870] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049823.335701970] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049823.337782982] [sailbot.teensy]: Wind angle: 316 +[trim_sail-4] [INFO] [1746049823.338418985] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049823.338827884] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049823.339735538] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049823.339803788] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049823.340647573] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049823.344395934] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049823.345306007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049823.345668182] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049823.347144028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049823.348338832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049823.445106190] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049823.446389746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049823.446905492] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049823.448509494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049823.448993642] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049823.502633836] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973938 Long: -76.50298693 +[vectornav-1] [INFO] [1746049823.503828965] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.443, -3.413, 8.262) +[mux-7] [INFO] [1746049823.544764409] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049823.545349130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049823.546087610] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049823.547070103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049823.548195694] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049823.585229041] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049823.586827105] [sailbot.teensy]: Wind angle: 318 +[teensy-2] [INFO] [1746049823.587751388] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049823.588103499] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049823.588640064] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049823.588731184] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049823.589562698] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049823.645240047] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049823.645723083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049823.646606012] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049823.647720434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049823.648767834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049823.745186580] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049823.745463245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049823.746454406] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049823.747325430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049823.748798775] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049823.835555851] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049823.837602011] [sailbot.teensy]: Wind angle: 319 +[trim_sail-4] [INFO] [1746049823.838151409] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049823.839672592] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049823.839689690] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049823.840661233] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049823.841559749] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049823.844289561] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049823.844828381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049823.845439081] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049823.846660814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049823.847686570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049823.945315551] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049823.945827879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049823.946898224] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049823.947902889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049823.948986015] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049824.003372643] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973932 Long: -76.50298712 +[vectornav-1] [INFO] [1746049824.004712901] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.447, -3.413, 8.322) +[mux-7] [INFO] [1746049824.045560970] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049824.045989300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049824.047079335] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049824.048029054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049824.049093212] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049824.085293987] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049824.087691916] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049824.088210589] [sailbot.teensy]: Wind angle: 319 +[mux-7] [INFO] [1746049824.089345955] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049824.089373206] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049824.090325639] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049824.091164956] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049824.145002582] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049824.145487620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049824.146293141] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049824.147344250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049824.148478805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049824.244863637] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049824.245645165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049824.246137215] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049824.247516123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049824.248554019] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049824.335290971] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049824.337671109] [sailbot.teensy]: Wind angle: 318 +[trim_sail-4] [INFO] [1746049824.338159529] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049824.338625561] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049824.339167379] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049824.339183468] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049824.339566894] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049824.344383874] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049824.344803898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049824.345500455] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049824.346464884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049824.347497582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049824.445342212] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049824.446090378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049824.446907632] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049824.448345377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049824.449529829] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049824.503007715] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973942 Long: -76.50298719 +[vectornav-1] [INFO] [1746049824.504381185] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.461, -3.394, 8.459) +[mux-7] [INFO] [1746049824.545033777] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049824.545503450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049824.546335517] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049824.548068464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049824.549178021] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049824.585446966] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049824.587815049] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049824.588433370] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049824.588885558] [sailbot.teensy]: Wind angle: 325 +[teensy-2] [INFO] [1746049824.589856007] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049824.591061210] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049824.591902552] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049824.645336161] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049824.645970156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049824.646822174] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049824.648158771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049824.648682904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049824.745323904] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049824.746358566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049824.746867694] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049824.748393033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049824.749401643] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049824.835396586] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049824.837281823] [sailbot.teensy]: Wind angle: 331 +[trim_sail-4] [INFO] [1746049824.837794834] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049824.839219152] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049824.839275460] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049824.840516381] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049824.841461238] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049824.844550177] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049824.845004110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049824.846050366] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049824.846701975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049824.848048425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049824.945243496] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049824.946001451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049824.946849436] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049824.948125734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049824.949134342] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049825.002534114] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973938 Long: -76.50298706 +[vectornav-1] [INFO] [1746049825.003607091] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.198, -3.441, 6.542) +[mux-7] [INFO] [1746049825.044942415] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049825.046020434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049825.046261476] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049825.047965599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049825.049115877] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049825.085635498] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049825.088558324] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049825.089366224] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049825.089856636] [sailbot.teensy]: Wind angle: 332 +[teensy-2] [INFO] [1746049825.090812885] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049825.091681138] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049825.092533002] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049825.144908423] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049825.145520883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049825.146158044] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049825.147432561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049825.148557066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049825.245076157] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049825.245787380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049825.246473767] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049825.247868962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049825.248920850] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049825.335511616] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049825.337557620] [sailbot.teensy]: Wind angle: 331 +[teensy-2] [INFO] [1746049825.338539700] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049825.338201334] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049825.338895330] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049825.339578844] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049825.340464629] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049825.344399640] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049825.344830308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049825.345563291] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049825.346557604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049825.347582637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049825.445356801] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049825.445857629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049825.447074442] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049825.447926250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049825.449025670] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049825.502616163] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973922 Long: -76.50298731 +[vectornav-1] [INFO] [1746049825.503786260] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.304, -3.411, 7.078) +[mux-7] [INFO] [1746049825.545177747] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049825.545835765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049825.546603067] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049825.547797672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049825.548845239] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049825.585793174] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049825.588467896] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049825.590683775] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049825.590825044] [sailbot.teensy]: Wind angle: 332 +[teensy-2] [INFO] [1746049825.593031959] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049825.594059253] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049825.595030096] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049825.645323322] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049825.645851488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049825.646939744] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049825.648112791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049825.649393296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049825.744943442] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049825.745626046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049825.746206799] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049825.747465807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049825.748526949] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049825.835379528] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049825.837311622] [sailbot.teensy]: Wind angle: 331 +[trim_sail-4] [INFO] [1746049825.837777300] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049825.838293371] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049825.838735668] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049825.839345130] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049825.840134286] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049825.844424090] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049825.845002483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049825.845512963] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049825.846660944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049825.847695834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049825.945494121] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049825.946179123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049825.947208984] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049825.948636054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049825.949174273] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049826.003485859] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973905 Long: -76.50298728 +[vectornav-1] [INFO] [1746049826.005093862] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.294, -3.414, 7.083) +[mux-7] [INFO] [1746049826.045286000] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049826.046355966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049826.047396334] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049826.048447127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049826.049633669] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049826.085252923] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049826.087499731] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049826.087611180] [sailbot.teensy]: Wind angle: 330 +[teensy-2] [INFO] [1746049826.088592167] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049826.088596568] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049826.089793765] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049826.090788576] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049826.145289876] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049826.145869336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049826.146839421] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049826.148123778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049826.149397179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049826.245439888] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049826.245975565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049826.246865598] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049826.247904698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049826.249068375] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049826.335405097] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049826.337620017] [sailbot.teensy]: Wind angle: 330 +[trim_sail-4] [INFO] [1746049826.337748501] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049826.338691233] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049826.339662071] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049826.340177202] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049826.340580994] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049826.344548707] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049826.345064082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049826.345748206] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049826.346791868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049826.347965429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049826.445600980] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049826.446469468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049826.447479828] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049826.448325958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049826.448808124] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049826.503202668] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973906 Long: -76.50298725 +[vectornav-1] [INFO] [1746049826.504526630] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.28700000000003, -3.421, 7.024) +[mux-7] [INFO] [1746049826.545292817] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049826.546032854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049826.546785025] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049826.548401265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049826.549541064] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049826.585583016] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049826.588312378] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049826.588795471] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049826.589100450] [sailbot.teensy]: Wind angle: 328 +[teensy-2] [INFO] [1746049826.590030530] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049826.590899721] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049826.591753336] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049826.645334413] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049826.646392863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049826.646824210] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049826.648750245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049826.649983809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049826.745397767] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049826.746181610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049826.746862099] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049826.748283856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049826.749491930] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049826.835698388] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049826.837731312] [sailbot.teensy]: Wind angle: 328 +[teensy-2] [INFO] [1746049826.838720512] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049826.838283731] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049826.839603485] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049826.839718453] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049826.840529096] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049826.844737934] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049826.845144805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049826.846130797] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049826.847064828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049826.848238836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049826.945310815] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049826.946409770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049826.946905104] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049826.948606215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049826.949678952] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049827.003841628] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973898 Long: -76.50298744 +[vectornav-1] [INFO] [1746049827.005864022] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.275, -3.426, 6.976) +[mux-7] [INFO] [1746049827.044962094] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049827.045726385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049827.046206160] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049827.047563803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049827.048714090] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049827.085492809] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049827.088074299] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049827.088555804] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049827.088811562] [sailbot.teensy]: Wind angle: 324 +[teensy-2] [INFO] [1746049827.089773261] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049827.090656047] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049827.091534675] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049827.145165090] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049827.146330221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049827.147044004] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049827.148093816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049827.148580201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049827.246130559] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049827.246201338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049827.247769651] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049827.249433763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049827.250674299] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049827.335420537] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049827.337299060] [sailbot.teensy]: Wind angle: 325 +[trim_sail-4] [INFO] [1746049827.338101893] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049827.338268841] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049827.339189712] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049827.339484089] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049827.339746901] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049827.344533124] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049827.345120284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049827.345704551] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049827.346835448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049827.347958847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049827.445514601] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049827.446390016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049827.447264783] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049827.448199026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049827.448690839] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049827.503333918] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973881 Long: -76.5029874 +[vectornav-1] [INFO] [1746049827.504676691] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.264, -3.431, 6.877) +[mux-7] [INFO] [1746049827.545233854] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049827.545948062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049827.546735113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049827.548546747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049827.549699647] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049827.585403367] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049827.587356435] [sailbot.teensy]: Wind angle: 330 +[trim_sail-4] [INFO] [1746049827.587820003] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049827.588352068] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049827.589269191] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049827.589502291] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049827.590146441] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049827.645518506] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049827.646057030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049827.647210948] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049827.648594065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049827.649132276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049827.745629362] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049827.746305799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049827.747276838] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049827.748618526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049827.749085404] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049827.835408544] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049827.837236648] [sailbot.teensy]: Wind angle: 327 +[trim_sail-4] [INFO] [1746049827.837915556] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049827.839226078] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049827.839315545] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049827.840582261] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049827.841459109] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049827.844454984] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049827.844840160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049827.845697394] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049827.846533616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049827.847640604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049827.945481485] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049827.946195508] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049827.947232693] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049827.948619331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049827.949627233] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049828.002512031] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973874 Long: -76.50298756 +[vectornav-1] [INFO] [1746049828.003590420] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.259, -3.436, 6.877) +[mux-7] [INFO] [1746049828.045474037] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049828.045974902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049828.047224228] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049828.048308366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049828.049485135] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049828.085738779] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049828.087947197] [sailbot.teensy]: Wind angle: 327 +[teensy-2] [INFO] [1746049828.089042998] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049828.088576872] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049828.089706408] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049828.089955459] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049828.090847120] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049828.145277085] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049828.146180068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049828.148464252] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049828.148506906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049828.149715177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049828.245652551] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049828.246199694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049828.247475708] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049828.248974402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049828.250175819] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049828.335694687] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049828.338325132] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049828.338316699] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049828.339091472] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049828.339290553] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049828.340217633] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049828.341062754] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049828.344436380] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049828.345120717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049828.345531512] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049828.346804380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049828.347959630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049828.445365086] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049828.446078641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049828.446842719] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049828.448500604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049828.449633149] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049828.503558253] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973879 Long: -76.50298759 +[vectornav-1] [INFO] [1746049828.505050869] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.248, -3.438, 6.815) +[mux-7] [INFO] [1746049828.544946945] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049828.545631786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049828.546206986] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049828.547478776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049828.548656257] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049828.585401691] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049828.587602560] [sailbot.teensy]: Wind angle: 330 +[trim_sail-4] [INFO] [1746049828.588419857] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049828.588450417] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049828.588553922] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049828.589459981] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049828.590378309] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049828.645467219] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049828.646265037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049828.647057239] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049828.648616805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049828.649861077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049828.745592906] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049828.746558419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049828.747251691] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049828.748961038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049828.750026839] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049828.835463650] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049828.837734138] [sailbot.teensy]: Wind angle: 330 +[trim_sail-4] [INFO] [1746049828.837928025] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049828.838449556] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049828.839999026] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049828.840908525] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049828.841833505] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049828.844329153] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049828.844869362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049828.845517366] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049828.846536193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049828.848115292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049828.945550401] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049828.946246493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049828.947192978] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049828.948393353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049828.949571208] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049829.002595469] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973872 Long: -76.50298754 +[vectornav-1] [INFO] [1746049829.003661951] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.248, -3.436, 6.853) +[mux-7] [INFO] [1746049829.045418845] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049829.046179162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049829.048081685] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049829.048266402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049829.049993212] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049829.085632446] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049829.087739661] [sailbot.teensy]: Wind angle: 328 +[trim_sail-4] [INFO] [1746049829.088434865] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049829.089614611] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049829.089663703] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049829.090599124] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049829.091545601] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049829.145106283] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049829.146101866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049829.146716789] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049829.148286868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049829.149334093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049829.245358370] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049829.246065980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049829.246853896] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049829.248279248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049829.249457092] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049829.335432211] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049829.337475285] [sailbot.teensy]: Wind angle: 323 +[trim_sail-4] [INFO] [1746049829.337867357] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049829.338458550] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049829.339353277] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049829.339366129] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049829.339864862] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049829.344423814] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049829.344977575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049829.345543257] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049829.347000975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049829.347981680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049829.445591192] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049829.446212056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049829.447329496] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049829.448562716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049829.449291475] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049829.504511234] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973867 Long: -76.5029875 +[vectornav-1] [INFO] [1746049829.505993584] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.249, -3.441, 6.82) +[mux-7] [INFO] [1746049829.544959868] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049829.545799787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049829.546233929] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049829.547783768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049829.548848382] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049829.585269935] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049829.587435582] [sailbot.teensy]: Wind angle: 323 +[trim_sail-4] [INFO] [1746049829.587482914] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049829.588408833] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049829.588571296] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049829.589326762] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049829.590252748] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049829.645977521] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049829.646528389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049829.647604817] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049829.648847886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049829.650052230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049829.745572695] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049829.746251860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049829.747421701] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049829.748714901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049829.749986656] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049829.835405983] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049829.837609879] [sailbot.teensy]: Wind angle: 330 +[teensy-2] [INFO] [1746049829.838589213] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049829.838851149] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049829.838860212] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049829.839121046] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049829.839513235] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049829.844414656] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049829.844984557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049829.845526336] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049829.846700328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049829.847844882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049829.945459401] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049829.945975934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049829.947218228] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049829.948133372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049829.949252042] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049830.002573305] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973857 Long: -76.50298765 +[vectornav-1] [INFO] [1746049830.003665212] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.23199999999997, -3.439, 6.823) +[mux-7] [INFO] [1746049830.045223948] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049830.045762333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049830.046697987] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049830.047918931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049830.048953168] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049830.085636112] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049830.087766619] [sailbot.teensy]: Wind angle: 330 +[teensy-2] [INFO] [1746049830.088818482] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049830.089159830] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049830.089722931] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049830.089891897] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049830.090710793] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049830.145166040] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049830.145848556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049830.146732983] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049830.147964209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049830.149359709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049830.245052564] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049830.245691401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049830.246318987] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049830.247457668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049830.247914489] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049830.335730615] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049830.337902295] [sailbot.teensy]: Wind angle: 331 +[teensy-2] [INFO] [1746049830.339035983] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049830.339076984] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049830.339999353] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049830.340069177] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049830.340917958] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049830.344473611] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049830.344934987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049830.345719384] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049830.346767466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049830.347883797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049830.445236759] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049830.446026643] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049830.446917870] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049830.448066259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049830.448583133] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049830.503473426] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973861 Long: -76.50298778 +[vectornav-1] [INFO] [1746049830.504770364] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26300000000003, -3.433, 6.991) +[mux-7] [INFO] [1746049830.544983391] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049830.545672148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049830.546243850] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049830.547747477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049830.548771898] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049830.585373327] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049830.587750370] [sailbot.teensy]: Wind angle: 333 +[trim_sail-4] [INFO] [1746049830.588467836] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049830.588713376] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049830.589170788] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049830.589617718] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049830.590502949] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049830.645613805] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049830.646455502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049830.647700575] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049830.648720546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049830.649274269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049830.745072557] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049830.745824465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049830.746643340] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049830.747832171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049830.748906472] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049830.835724931] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049830.837857195] [sailbot.teensy]: Wind angle: 332 +[trim_sail-4] [INFO] [1746049830.838377890] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049830.839846168] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049830.840109444] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049830.840886474] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049830.841754242] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049830.844498939] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049830.844949668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049830.845653282] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049830.846707310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049830.847835261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049830.945429323] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049830.946069099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049830.947095766] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049830.948233286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049830.949324506] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049831.002260928] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973851 Long: -76.50298797 +[vectornav-1] [INFO] [1746049831.003359268] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.226, -3.435, 6.76) +[mux-7] [INFO] [1746049831.045411139] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049831.046106837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049831.047039602] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049831.048416182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049831.049623995] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049831.085531149] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049831.087662618] [sailbot.teensy]: Wind angle: 330 +[trim_sail-4] [INFO] [1746049831.088101114] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049831.089396171] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049831.089393630] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049831.090839129] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049831.091723565] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049831.145257009] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049831.145839869] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049831.146742507] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049831.148098316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049831.148786002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049831.245590533] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049831.246510461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049831.247287468] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049831.248705227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049831.249277688] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049831.335242148] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049831.337539034] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049831.337644353] [sailbot.teensy]: Wind angle: 327 +[teensy-2] [INFO] [1746049831.338588392] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049831.338984149] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049831.339452903] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049831.340374602] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049831.344513927] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049831.345020342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049831.345661833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049831.346725592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049831.347770338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049831.445137686] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049831.445895580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049831.446555640] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049831.448135567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049831.448705027] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049831.503245763] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973864 Long: -76.50298806 +[vectornav-1] [INFO] [1746049831.505005805] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.249, -3.422, 6.951) +[mux-7] [INFO] [1746049831.544911359] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049831.545641629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049831.546185574] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049831.547510910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049831.548554585] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049831.585372244] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049831.587603123] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049831.588240006] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049831.588832390] [sailbot.teensy]: Wind angle: 328 +[teensy-2] [INFO] [1746049831.589811489] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049831.590824228] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049831.591675829] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049831.645009997] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049831.645679409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049831.646288762] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049831.647530758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049831.648546974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049831.744827123] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049831.745463045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049831.746070141] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049831.747381699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049831.748563133] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049831.835516131] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049831.837778493] [sailbot.teensy]: Wind angle: 331 +[trim_sail-4] [INFO] [1746049831.838417535] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049831.838788059] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049831.838990538] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049831.839699902] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049831.840590409] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049831.844415317] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049831.845013534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049831.845527598] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049831.846684495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049831.847842483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049831.945321772] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049831.946023740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049831.946835613] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049831.947906040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049831.948427966] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049832.001352537] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973859 Long: -76.50298822 +[vectornav-1] [INFO] [1746049832.001798084] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.24, -3.427, 6.912) +[mux-7] [INFO] [1746049832.043898606] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049832.044453818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049832.044915066] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049832.046364093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049832.047062405] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049832.085390880] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049832.087507890] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049832.087872021] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049832.088392452] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049832.088448572] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049832.089156751] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049832.089579805] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049832.144484138] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049832.145345961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049832.145631780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049832.147072047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049832.148082747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049832.245408834] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049832.246422298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049832.246921351] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049832.248523596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049832.249730850] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049832.335365385] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049832.337201796] [sailbot.teensy]: Wind angle: 353 +[trim_sail-4] [INFO] [1746049832.337759274] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049832.338192044] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049832.339076640] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049832.339253288] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049832.339910224] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049832.344371885] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049832.344869241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049832.345569266] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049832.346725050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049832.348469553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049832.445680762] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049832.446325487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049832.447417887] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049832.448740805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049832.450138893] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049832.502504820] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973858 Long: -76.5029883 +[vectornav-1] [INFO] [1746049832.503609652] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.24, -3.422, 6.922) +[mux-7] [INFO] [1746049832.545311860] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049832.545889687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049832.546878422] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049832.548041307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049832.549033505] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049832.585529938] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049832.587509280] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049832.588282651] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049832.588475792] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049832.588645146] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049832.589011389] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049832.589369367] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049832.645202366] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049832.645771781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049832.646850231] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049832.649343994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049832.650381479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049832.745544055] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049832.746116148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049832.747508698] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049832.748433473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049832.749724806] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049832.835646043] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049832.837525380] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049832.838306006] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049832.839402012] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049832.840135412] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049832.841053294] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049832.841880120] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049832.844431103] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049832.845293304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049832.845817478] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049832.847003224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049832.848136519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049832.945140095] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049832.945754045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049832.946505797] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049832.947775502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049832.948987486] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049833.003425131] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973842 Long: -76.50298846 +[vectornav-1] [INFO] [1746049833.004682196] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.241, -3.42, 6.94) +[mux-7] [INFO] [1746049833.045092466] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049833.045778960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049833.046439204] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049833.047898588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049833.048954486] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049833.085430417] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049833.087834451] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049833.087988843] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049833.088836645] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049833.089220451] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049833.089759860] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049833.090605534] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049833.145420658] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049833.146066461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049833.147201194] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049833.148604236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049833.150399604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049833.245541267] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049833.246148352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049833.247283556] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049833.248579384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049833.249407932] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049833.335416588] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049833.337534019] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049833.337890986] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049833.339327551] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049833.339425079] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049833.340491929] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049833.341387277] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049833.344598434] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049833.345070198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049833.345758514] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049833.346785641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049833.347939745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049833.445743423] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049833.446229129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049833.447771502] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049833.448641050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049833.450557352] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049833.503858053] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697384 Long: -76.50298839 +[vectornav-1] [INFO] [1746049833.505603812] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.25, -3.408, 7.039) +[mux-7] [INFO] [1746049833.545265953] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049833.545912949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049833.546753686] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049833.547943294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049833.549087444] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049833.585381798] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049833.587588217] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049833.588582942] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049833.589922716] [sailbot.teensy]: Wind angle: 357 +[teensy-2] [INFO] [1746049833.590816362] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049833.591661450] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049833.592511793] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049833.645359534] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049833.645876950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049833.646856221] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049833.648103642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049833.649314864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049833.745273475] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049833.745823436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049833.747048001] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049833.747870911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049833.749211325] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049833.835748630] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049833.837859030] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746049833.838406661] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049833.838901399] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049833.839879858] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049833.840814197] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049833.840951593] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049833.844505428] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049833.845128095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049833.845759730] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049833.846887802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049833.847914851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049833.945447470] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049833.946053248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049833.947097796] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049833.948400002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049833.949463332] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049834.002437474] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697383 Long: -76.50298845 +[vectornav-1] [INFO] [1746049834.003455369] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.252, -3.402, 7.083) +[mux-7] [INFO] [1746049834.045411363] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049834.046042830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049834.047042677] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049834.048270376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049834.049456620] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049834.085552684] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049834.087444531] [sailbot.teensy]: Wind angle: 1 +[trim_sail-4] [INFO] [1746049834.087975255] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049834.088451332] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049834.089385141] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049834.089587240] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049834.090262070] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049834.145739538] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049834.146332165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049834.147472101] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049834.148741271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049834.149895077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049834.245794021] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049834.246484830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049834.247701556] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049834.248981131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049834.249610668] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049834.335455520] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049834.337790379] [sailbot.teensy]: Wind angle: 2 +[trim_sail-4] [INFO] [1746049834.337873613] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049834.339013417] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049834.339427311] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049834.339918212] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049834.340605945] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049834.344618289] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049834.345275769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049834.345897675] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049834.347020231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049834.348226980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049834.445304375] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049834.445873218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049834.446801596] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049834.447861232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049834.448944991] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049834.503504015] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973814 Long: -76.50298839 +[vectornav-1] [INFO] [1746049834.505187475] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26599999999996, -3.374, 7.386) +[mux-7] [INFO] [1746049834.545197317] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049834.545796609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049834.546832691] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049834.547598459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049834.549444400] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049834.585471627] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049834.588168505] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049834.588456907] [sailbot.teensy]: Wind angle: 2 +[mux-7] [INFO] [1746049834.588773798] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049834.589403783] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049834.590294715] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049834.591137132] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049834.645178480] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049834.646096952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049834.646627705] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049834.648089431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049834.648629667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049834.745147272] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049834.745745606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049834.746637419] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049834.747784970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049834.748370229] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049834.835334708] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049834.837309148] [sailbot.teensy]: Wind angle: 2 +[trim_sail-4] [INFO] [1746049834.837877285] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049834.838250810] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049834.839179169] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049834.840001907] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049834.840048435] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049834.844548753] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049834.845041268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049834.845773392] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049834.847581248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049834.848739176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049834.945812978] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049834.946639666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049834.947914157] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049834.948868661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049834.949419902] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049835.003808100] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973794 Long: -76.50298829 +[vectornav-1] [INFO] [1746049835.005600741] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.277, -3.386, 7.303) +[mux-7] [INFO] [1746049835.045448499] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049835.046028481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049835.047118874] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049835.048608399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049835.049820568] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049835.085361749] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049835.087910274] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049835.088431682] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049835.088447836] [sailbot.teensy]: Wind angle: 1 +[teensy-2] [INFO] [1746049835.089456093] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049835.090345958] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049835.091188455] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049835.145308875] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049835.145880737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049835.146881639] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049835.147839060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049835.148947825] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049835.245521815] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049835.246181929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049835.247154441] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049835.248429352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049835.249507568] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049835.335571859] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049835.337721627] [sailbot.teensy]: Wind angle: 2 +[trim_sail-4] [INFO] [1746049835.338499946] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049835.338762521] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049835.339759606] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049835.340124573] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049835.340753817] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049835.344768710] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049835.345232182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049835.346316326] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049835.347109609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049835.348653866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049835.445604261] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049835.446401014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049835.447277859] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049835.448489156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049835.448949427] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049835.502401256] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973774 Long: -76.50298833 +[vectornav-1] [INFO] [1746049835.503390211] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.257, -3.389, 7.277) +[mux-7] [INFO] [1746049835.545419927] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049835.546532077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049835.547046233] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049835.548751215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049835.549276141] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049835.585715831] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049835.588504931] [sailbot.teensy]: Wind angle: 1 +[trim_sail-4] [INFO] [1746049835.588534604] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049835.589561807] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049835.590138620] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049835.590559345] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049835.590931574] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049835.645177644] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049835.645937177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049835.646812943] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049835.648222853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049835.649470153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049835.745598127] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049835.746703168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049835.747227409] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049835.749393399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049835.750500253] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049835.835576518] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049835.838334230] [sailbot.teensy]: Wind angle: 1 +[trim_sail-4] [INFO] [1746049835.838471059] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049835.839427995] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049835.839748183] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049835.840381085] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049835.841207336] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049835.844446457] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049835.844984074] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049835.845530367] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049835.846652486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049835.847693962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049835.945545338] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049835.946539198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049835.947204045] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049835.949097687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049835.950152438] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049836.002523745] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973753 Long: -76.5029883 +[vectornav-1] [INFO] [1746049836.004040908] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.248, -3.389, 7.221) +[mux-7] [INFO] [1746049836.045225575] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049836.046140996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049836.046640298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049836.048249312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049836.049320622] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049836.085722434] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049836.088219783] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746049836.088993953] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049836.089267925] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049836.089649278] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049836.090227804] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049836.091424259] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049836.145325237] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049836.146347814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049836.146923777] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049836.148941783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049836.149723915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049836.245693184] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049836.246782675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049836.247329276] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049836.249265486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049836.250434180] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049836.335437888] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049836.338055990] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049836.338641003] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049836.338758403] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746049836.339535277] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049836.339917911] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049836.340310791] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049836.344366619] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049836.345071256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049836.345462138] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049836.347364588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049836.348447213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049836.445327910] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049836.446085640] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049836.447059903] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049836.448194549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049836.448792511] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049836.504033553] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973745 Long: -76.50298819 +[vectornav-1] [INFO] [1746049836.505823322] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26300000000003, -3.38, 7.303) +[mux-7] [INFO] [1746049836.544865148] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049836.545541450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049836.546087506] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049836.547483007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049836.548547561] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049836.585411697] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049836.588217822] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049836.588813945] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049836.589653301] [sailbot.teensy]: Wind angle: 357 +[teensy-2] [INFO] [1746049836.590808817] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049836.591756700] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049836.592601387] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049836.644941956] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049836.645728679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049836.646206860] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049836.647537852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049836.648753424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049836.745376335] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049836.746142765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049836.747057209] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049836.748397638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049836.749490233] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049836.835266779] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049836.837305018] [sailbot.teensy]: Wind angle: 356 +[teensy-2] [INFO] [1746049836.838287495] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049836.837876474] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049836.838857924] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049836.839195666] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049836.840062192] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049836.844417650] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049836.845048361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049836.845608443] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049836.846807261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049836.847871331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049836.945560528] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049836.946177752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049836.947392385] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049836.948460054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049836.949003729] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049837.003437787] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973723 Long: -76.50298804 +[vectornav-1] [INFO] [1746049837.004768139] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26099999999997, -3.385, 7.264) +[mux-7] [INFO] [1746049837.045317855] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049837.045967000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049837.046836590] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049837.048193838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049837.049340444] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049837.085433278] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049837.087486064] [sailbot.teensy]: Wind angle: 356 +[trim_sail-4] [INFO] [1746049837.088028050] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049837.088467375] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049837.089248879] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049837.089375139] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049837.090273897] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049837.144810527] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049837.145704155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049837.146070941] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049837.147456656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049837.148565803] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049837.245068692] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049837.245786442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049837.246538095] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049837.247726326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049837.248266899] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049837.335437174] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049837.337731069] [sailbot.teensy]: Wind angle: 356 +[teensy-2] [INFO] [1746049837.338665467] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049837.338555109] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049837.339213418] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049837.339284901] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049837.339650822] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049837.344259195] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049837.345226543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049837.345372762] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049837.347045863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049837.348129668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049837.445525064] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049837.446331572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049837.447184093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049837.449120233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049837.450354724] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049837.502555686] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973706 Long: -76.5029879 +[vectornav-1] [INFO] [1746049837.503592240] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.257, -3.391, 7.261) +[mux-7] [INFO] [1746049837.545264880] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049837.546197292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049837.546872047] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049837.548495142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049837.549644816] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049837.585405766] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049837.587299247] [sailbot.teensy]: Wind angle: 356 +[trim_sail-4] [INFO] [1746049837.587838575] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049837.588298042] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049837.589261958] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049837.589835039] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049837.590214772] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049837.645125082] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049837.646339892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049837.647061742] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049837.647793756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049837.648355156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049837.744755627] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049837.745566051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049837.746018867] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049837.747444080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049837.748461902] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049837.835186369] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049837.837403222] [sailbot.teensy]: Wind angle: 356 +[trim_sail-4] [INFO] [1746049837.837785560] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049837.838380943] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049837.838593830] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049837.839720638] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049837.840643018] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049837.844334478] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049837.844964749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049837.845798306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049837.846731163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049837.847761240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049837.945553120] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049837.946311178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049837.947583591] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049837.948690343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049837.950066569] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049838.004016387] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973692 Long: -76.50298765 +[vectornav-1] [INFO] [1746049838.005401251] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.25, -3.397, 7.248) +[mux-7] [INFO] [1746049838.045177283] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049838.046117049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049838.046646121] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049838.047670337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049838.048209843] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049838.085408841] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049838.087663541] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049838.087933848] [sailbot.teensy]: Wind angle: 356 +[mux-7] [INFO] [1746049838.088649562] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049838.088816873] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049838.089228853] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049838.089590132] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049838.145430827] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049838.146551481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049838.147225013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049838.149268418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049838.150423751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049838.245289743] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049838.246201127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049838.246846886] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049838.248522924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049838.249613279] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049838.335274133] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049838.337004851] [sailbot.teensy]: Wind angle: 356 +[trim_sail-4] [INFO] [1746049838.337469358] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049838.337926582] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049838.338834719] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049838.339008276] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049838.339775804] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049838.344478678] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049838.344967308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049838.345567468] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049838.346679893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049838.347748992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049838.445333512] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049838.446209408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049838.447040448] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049838.448450385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049838.448967670] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049838.502410428] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973676 Long: -76.50298751 +[vectornav-1] [INFO] [1746049838.503446811] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.243, -3.395, 7.256) +[mux-7] [INFO] [1746049838.545276429] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049838.546041045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049838.546973064] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049838.548347101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049838.548859889] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049838.585216325] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049838.587363466] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049838.588226584] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049838.589131785] [sailbot.teensy]: Wind angle: 356 +[teensy-2] [INFO] [1746049838.590105397] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049838.591003717] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049838.591877003] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049838.644892863] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049838.645662684] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049838.646850662] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049838.647715327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049838.649450376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049838.745396727] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049838.746216396] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049838.748402321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[mux-7] [INFO] [1746049838.747224762] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049838.748998994] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049838.835649402] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049838.838055360] [sailbot.teensy]: Wind angle: 356 +[trim_sail-4] [INFO] [1746049838.838929476] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049838.839128837] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049838.839599945] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049838.840022340] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049838.841035735] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049838.844469256] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049838.844953523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049838.845665594] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049838.846777742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049838.847860136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049838.945437885] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049838.946275479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049838.947145153] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049838.948237520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049838.948723396] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049839.003625173] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973655 Long: -76.50298725 +[vectornav-1] [INFO] [1746049839.005392493] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.24199999999996, -3.414, 7.192) +[mux-7] [INFO] [1746049839.045233758] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049839.046145848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049839.046704607] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049839.048251799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049839.049415416] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049839.085369848] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049839.087594713] [sailbot.teensy]: Wind angle: 356 +[trim_sail-4] [INFO] [1746049839.087629400] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049839.089380595] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049839.090043505] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049839.090954735] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049839.091809394] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049839.145070920] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049839.145770240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049839.146681571] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049839.147753871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049839.148828278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049839.245577615] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049839.246580193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049839.247406614] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049839.249102213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049839.250301371] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049839.335257920] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049839.336920431] [sailbot.teensy]: Wind angle: 357 +[teensy-2] [INFO] [1746049839.337871401] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049839.338239159] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049839.338607431] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049839.338756548] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049839.339002310] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049839.344479971] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049839.345177948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049839.345763133] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049839.347103115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049839.348280027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049839.445453750] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049839.446518505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049839.447109605] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049839.448147902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049839.448689278] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049839.502308349] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973641 Long: -76.50298704 +[vectornav-1] [INFO] [1746049839.503421643] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.23400000000004, -3.399, 7.257) +[mux-7] [INFO] [1746049839.544933813] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049839.545604168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049839.546322410] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049839.547579205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049839.548614156] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049839.585536025] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049839.587607839] [sailbot.teensy]: Wind angle: 356 +[teensy-2] [INFO] [1746049839.588550750] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049839.588205810] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049839.588717567] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049839.588929524] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049839.589309966] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049839.645079160] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049839.645766465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049839.646518150] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049839.647962214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049839.649027339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049839.745385288] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049839.746356771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049839.747321593] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049839.748395755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049839.748996446] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049839.835467551] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049839.837819819] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049839.838150136] [sailbot.teensy]: Wind angle: 353 +[mux-7] [INFO] [1746049839.838502880] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049839.839404109] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049839.840308688] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049839.840866651] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049839.844463327] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049839.844923125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049839.845535220] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049839.846637616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049839.847843254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049839.945373286] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049839.946118505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049839.947194025] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049839.948416914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049839.949577199] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049840.003687139] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973634 Long: -76.50298671 +[vectornav-1] [INFO] [1746049840.005180427] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.23699999999997, -3.395, 7.269) +[mux-7] [INFO] [1746049840.045028450] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049840.045789195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049840.046468965] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049840.047749236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049840.048774330] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049840.085423891] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049840.087851593] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049840.088367670] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049840.088455240] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049840.089538247] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049840.090536915] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049840.091444184] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049840.145147653] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049840.145824177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049840.146758052] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049840.147958263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049840.149053426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049840.245235648] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049840.245933178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049840.246805528] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049840.248033054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049840.248693594] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049840.335501986] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049840.337651264] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049840.338258453] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049840.338673133] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049840.340179818] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049840.341109716] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049840.341948783] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049840.344318416] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049840.345023222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049840.345540740] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049840.346855505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049840.347929458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049840.445527637] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049840.446219209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049840.447240753] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049840.448638645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049840.449840749] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049840.503155066] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973632 Long: -76.5029863 +[vectornav-1] [INFO] [1746049840.504804678] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.23199999999997, -3.393, 7.256) +[mux-7] [INFO] [1746049840.544920270] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049840.545513537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049840.546173034] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049840.547433493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049840.548471687] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049840.585301944] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049840.587497934] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049840.588186831] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049840.588723477] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049840.589662558] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049840.590534153] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049840.591374730] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049840.645364192] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049840.646029113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049840.646960912] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049840.647784313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049840.648309679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049840.745499066] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049840.746278403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049840.747243514] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049840.748379406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049840.748975482] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049840.835395920] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049840.837214730] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049840.837754113] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049840.838145768] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049840.838951667] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049840.839032424] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049840.839909931] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049840.844405129] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049840.844941892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049840.845689759] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049840.846631600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049840.847721271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049840.945493390] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049840.946320810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049840.947128480] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049840.948638245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049840.950505203] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049841.003269035] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973603 Long: -76.50298636 +[vectornav-1] [INFO] [1746049841.004461665] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.222, -3.396, 7.274) +[mux-7] [INFO] [1746049841.045261100] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049841.046142513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049841.046892249] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049841.048688202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049841.049772550] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049841.085460887] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049841.087418373] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049841.087766221] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049841.088444449] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049841.089340775] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049841.089861424] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049841.090269449] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049841.145209274] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049841.146015719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049841.146707845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049841.148289760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049841.148824433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049841.245176098] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049841.245963626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049841.246680447] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049841.249537880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049841.250672237] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049841.335663317] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049841.337902986] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049841.338915211] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049841.338813538] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049841.339802865] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049841.340571588] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049841.340716472] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049841.344543154] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049841.345043256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049841.345832519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049841.346784762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049841.348416214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049841.445269551] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049841.446125555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049841.446897878] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049841.448552371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049841.449678526] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049841.503326549] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973585 Long: -76.50298623 +[vectornav-1] [INFO] [1746049841.504975833] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.2, -3.418, 7.038) +[mux-7] [INFO] [1746049841.544883264] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049841.545747732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049841.546137627] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049841.547557741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049841.548660054] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049841.585366489] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049841.587625740] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049841.588104735] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049841.588610819] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049841.589112783] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049841.589503684] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049841.590395280] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049841.645191919] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049841.645946480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049841.646543101] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049841.648233813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049841.649244753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049841.745476829] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049841.746322458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049841.747033075] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049841.748684668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049841.749770087] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049841.835501397] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049841.837485297] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049841.838081861] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049841.838535983] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049841.839364983] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049841.839411517] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049841.839789648] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049841.844396350] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049841.845059499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049841.845559775] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049841.846775716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049841.847926613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049841.945212091] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049841.946096420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049841.946994101] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049841.948354784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049841.949719584] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049842.002975668] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973562 Long: -76.50298565 +[vectornav-1] [INFO] [1746049842.004240995] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.18, -3.418, 6.914) +[mux-7] [INFO] [1746049842.044968351] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049842.045608687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049842.046204176] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049842.047496871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049842.048634513] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049842.085399466] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049842.087313712] [sailbot.teensy]: Wind angle: 325 +[teensy-2] [INFO] [1746049842.088279022] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049842.087814499] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049842.089060836] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049842.089172102] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049842.090010707] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049842.145477902] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049842.146168978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049842.147078592] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049842.148000734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049842.148448815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049842.245437595] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049842.246294373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049842.246990908] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049842.248663922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049842.249883977] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049842.335364075] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049842.337154734] [sailbot.teensy]: Wind angle: 311 +[teensy-2] [INFO] [1746049842.338111605] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049842.337693359] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746049842.338993238] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049842.339470929] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049842.339875578] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049842.344611587] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049842.345215690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049842.345779343] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049842.346943236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049842.348121208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049842.445219913] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049842.446126221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049842.446722154] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049842.448417790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049842.449152608] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049842.502526611] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973556 Long: -76.50298522 +[vectornav-1] [INFO] [1746049842.503566200] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.15700000000004, -3.427, 6.858) +[mux-7] [INFO] [1746049842.545267231] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049842.546063452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049842.546860679] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049842.548418787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049842.549555820] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049842.585247939] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049842.586959144] [sailbot.teensy]: Wind angle: 316 +[trim_sail-4] [INFO] [1746049842.587648158] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049842.587870952] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049842.587927568] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049842.588816242] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049842.589682696] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049842.645205038] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049842.645979150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049842.646820843] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049842.648083350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049842.649284298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049842.745172079] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049842.745970165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049842.747162786] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049842.748051528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049842.748589556] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049842.835371694] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049842.837339066] [sailbot.teensy]: Wind angle: 326 +[trim_sail-4] [INFO] [1746049842.837713648] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049842.838259432] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049842.839184197] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049842.838389477] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049842.840105376] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049842.844418126] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049842.845066213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049842.845559185] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049842.846902866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049842.847937048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049842.945320880] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049842.946699276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049842.946849876] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049842.948696887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049842.949329940] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049843.002511366] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973546 Long: -76.50298476 +[vectornav-1] [INFO] [1746049843.003784029] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.16200000000003, -3.416, 6.826) +[mux-7] [INFO] [1746049843.044807221] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049843.045362760] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049843.047210435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[mux-7] [INFO] [1746049843.047726544] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049843.048652530] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049843.085633597] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049843.088232250] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049843.089726196] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049843.090145374] [sailbot.teensy]: Wind angle: 338 +[teensy-2] [INFO] [1746049843.091134430] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049843.092038907] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049843.092896242] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049843.144910410] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049843.145595507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049843.146172135] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049843.147492134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049843.148580833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049843.245186155] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049843.245969271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049843.246697377] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049843.247931574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049843.248483353] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049843.335423467] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049843.337859120] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049843.337991534] [sailbot.teensy]: Wind angle: 344 +[mux-7] [INFO] [1746049843.338517114] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049843.338930706] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049843.339826130] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049843.340641182] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049843.344469103] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049843.345043490] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049843.345626663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049843.346693949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049843.347745724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049843.445079824] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049843.445709499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049843.446426733] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049843.447593934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049843.448183079] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049843.502858868] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697351 Long: -76.5029846 +[vectornav-1] [INFO] [1746049843.504274697] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.151, -3.415, 6.805) +[mux-7] [INFO] [1746049843.545111255] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049843.545906698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049843.546339914] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049843.547867529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049843.549003676] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049843.585430135] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049843.587255573] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049843.587946970] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049843.588202856] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049843.588808912] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049843.589111351] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049843.589995376] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049843.645416070] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049843.646190392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049843.647000565] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049843.648435521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049843.649576280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049843.745564001] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049843.746247509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049843.747257478] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049843.748543902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049843.749819359] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049843.835425161] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049843.837476122] [sailbot.teensy]: Wind angle: 330 +[trim_sail-4] [INFO] [1746049843.837988693] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049843.838684429] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049843.838904939] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049843.839159646] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049843.839534978] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049843.844577399] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049843.845224504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049843.845757783] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049843.847031508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049843.848100548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049843.945324407] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049843.946644122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049843.946925945] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049843.948381614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049843.948857949] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049844.002501260] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973511 Long: -76.50298404 +[vectornav-1] [INFO] [1746049844.003579719] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.147, -3.404, 6.83) +[mux-7] [INFO] [1746049844.045190842] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049844.045891977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049844.046552959] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049844.048146822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049844.048795610] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049844.085501717] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049844.087307904] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049844.088646931] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049844.089226499] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049844.089256828] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049844.090205290] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049844.091144628] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049844.145071174] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049844.146130095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049844.146507385] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049844.147927968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049844.148504598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049844.245059792] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049844.246263078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049844.246471734] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049844.247867005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049844.248387740] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049844.335512876] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049844.337619624] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049844.338583094] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049844.338201876] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049844.338724837] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049844.339469647] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049844.340351651] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049844.344305280] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049844.344900371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049844.345393991] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049844.346649979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049844.347765168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049844.445243925] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049844.445976709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049844.447102311] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049844.448252288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049844.449370687] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049844.504301571] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973492 Long: -76.50298396 +[vectornav-1] [INFO] [1746049844.506369031] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.14599999999996, -3.4, 6.88) +[mux-7] [INFO] [1746049844.545082005] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049844.545678879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049844.546380253] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049844.547507592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049844.548670733] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049844.585598202] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049844.588057363] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049844.588288078] [sailbot.teensy]: Wind angle: 336 +[mux-7] [INFO] [1746049844.589088574] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049844.589234556] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049844.590146953] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049844.591042945] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049844.645258549] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049844.646347441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049844.646792259] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049844.648792436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049844.649815206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049844.745080413] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049844.745847992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049844.746537594] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049844.747682751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049844.748143249] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049844.835301897] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049844.837716393] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049844.838693957] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049844.838891743] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049844.840423840] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049844.841282318] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049844.842125424] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049844.844329175] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049844.844797255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049844.845624161] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049844.846759204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049844.848498233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049844.945107499] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049844.945669566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049844.946818946] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049844.947991825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049844.949153164] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049845.002618583] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973459 Long: -76.50298324 +[vectornav-1] [INFO] [1746049845.003716216] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.151, -3.385, 6.973) +[mux-7] [INFO] [1746049845.045282942] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049845.045828805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049845.046738241] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049845.048148820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049845.049367853] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049845.085732879] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049845.087761857] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746049845.088580782] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049845.088778905] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049845.089711351] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049845.090284855] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049845.090642746] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049845.145333507] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049845.145842958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049845.146777974] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049845.148019195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049845.149065430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049845.245494637] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049845.246136933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049845.247053067] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049845.248541087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049845.249103535] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049845.335415618] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049845.337425390] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049845.337845760] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049845.339277913] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049845.339661214] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049845.340332565] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049845.341278764] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049845.344443509] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049845.344873828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049845.345569268] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049845.346559821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049845.347668766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049845.445643104] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049845.446177969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049845.447416331] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049845.448646424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049845.449696902] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049845.503791210] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973455 Long: -76.50298293 +[vectornav-1] [INFO] [1746049845.505536931] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.14099999999996, -3.393, 6.938) +[mux-7] [INFO] [1746049845.545428156] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049845.546082780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049845.547371634] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049845.548509639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049845.549688946] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049845.585448153] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049845.587540087] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049845.588575182] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049845.587947502] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049845.589370815] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049845.589444825] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049845.590319899] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049845.644810382] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049845.645499343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049845.645965232] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049845.647262877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049845.648310589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049845.745043985] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049845.745779812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049845.746541893] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049845.747718508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049845.748194414] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049845.835216392] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049845.836975462] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049845.838008049] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049845.838038964] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049845.838938873] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049845.838952570] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049845.839855240] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049845.844353102] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049845.844938066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049845.845617614] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049845.846718962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049845.847907552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049845.945342146] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049845.946185982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049845.946844129] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049845.948636688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049845.949690190] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049846.002606411] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973443 Long: -76.50298264 +[vectornav-1] [INFO] [1746049846.003795272] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.14099999999996, -3.401, 6.942) +[mux-7] [INFO] [1746049846.045022861] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049846.045794329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049846.047111786] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049846.048362785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049846.049418332] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049846.085494898] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049846.087546228] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049846.087933515] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049846.088571104] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049846.089545732] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049846.089844838] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049846.090456663] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049846.144901018] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049846.145603140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049846.146641738] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049846.148729019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049846.149868266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049846.244972170] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049846.245544373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049846.246124459] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049846.247300001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049846.248464113] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049846.335333126] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049846.337825580] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049846.338270692] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049846.339821186] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746049846.340330721] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049846.340670744] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049846.341013350] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049846.344347594] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049846.344977657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049846.345445698] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049846.346838996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049846.347832955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049846.445419534] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049846.446431705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049846.447024416] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049846.448938779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049846.450116665] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049846.503959834] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973427 Long: -76.50298255 +[vectornav-1] [INFO] [1746049846.505865915] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.13800000000003, -3.406, 6.917) +[mux-7] [INFO] [1746049846.545148984] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049846.545851982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049846.546406044] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049846.547696706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049846.548788823] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049846.585387498] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049846.587577587] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049846.587845216] [sailbot.teensy]: Wind angle: 349 +[mux-7] [INFO] [1746049846.588656130] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049846.588869417] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049846.589784120] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049846.590662960] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049846.645118994] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049846.646035633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049846.646757322] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049846.648022498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049846.649180424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049846.745203569] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049846.746248952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049846.746745793] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049846.748368972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049846.748904523] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049846.835247925] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049846.837613516] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049846.838053560] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049846.838544459] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049846.839567493] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049846.840508639] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049846.841372185] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049846.844441570] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049846.844963203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049846.845674848] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049846.846645717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049846.847689286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049846.945431064] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049846.946048264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049846.947070167] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049846.948368194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049846.949611186] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049847.003470575] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973418 Long: -76.50298219 +[vectornav-1] [INFO] [1746049847.005275595] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.132, -3.404, 6.913) +[mux-7] [INFO] [1746049847.044982005] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049847.045779127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049847.046781475] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049847.047630251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049847.048858764] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049847.085259001] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049847.087672428] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049847.087994713] [sailbot.teensy]: Wind angle: 352 +[mux-7] [INFO] [1746049847.088110678] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049847.089078162] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049847.089971931] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049847.090934661] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049847.145176475] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049847.146013652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049847.146589967] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049847.148348181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049847.149433581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049847.245231338] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049847.246384561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049847.246938744] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049847.248541836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049847.250470163] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049847.335378393] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049847.337146421] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049847.337722203] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049847.339053780] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049847.340067925] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049847.340894810] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049847.341248307] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049847.344378710] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049847.344992939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049847.345483475] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049847.346686022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049847.347685807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049847.444748695] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049847.445347849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049847.445929263] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049847.447137267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049847.448291272] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049847.502836177] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973397 Long: -76.50298179 +[vectornav-1] [INFO] [1746049847.504037658] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.11, -3.411, 6.801) +[mux-7] [INFO] [1746049847.545069651] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049847.545908774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049847.546510710] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049847.547915336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049847.548982463] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049847.585437175] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049847.587710696] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049847.588482424] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049847.588659705] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049847.589553083] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049847.590109063] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049847.590504704] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049847.645443574] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049847.645947671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049847.647324338] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049847.648089021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049847.649424236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049847.745427646] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049847.746342199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049847.747187642] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049847.748604100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049847.749778946] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049847.835519933] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049847.837635913] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049847.838191303] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049847.838498774] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049847.839386444] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049847.839632471] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049847.840335877] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049847.844411212] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049847.844858684] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049847.845533007] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049847.846531360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049847.847664128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049847.945554523] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049847.946039557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049847.947136351] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049847.948142108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049847.949393339] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049848.002479073] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973396 Long: -76.50298143 +[vectornav-1] [INFO] [1746049848.003606104] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.113, -3.414, 6.823) +[mux-7] [INFO] [1746049848.045551697] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049848.046364614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049848.047658835] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049848.048561464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049848.049113847] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049848.085550718] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049848.088872722] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049848.089275858] [sailbot.teensy]: Wind angle: 338 +[mux-7] [INFO] [1746049848.089270900] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049848.090201234] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049848.091070695] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049848.091898170] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049848.145090395] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049848.145752908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049848.146510699] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049848.148592655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049848.149745707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049848.245100244] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049848.245873826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049848.246540357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049848.247985728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049848.249109158] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049848.335395779] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049848.337283663] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049848.338276478] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049848.338550708] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049848.339173388] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049848.339998851] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049848.340080004] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049848.344356673] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049848.344952336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049848.345638600] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049848.346821919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049848.348142297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049848.445156128] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049848.445803959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049848.446768599] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049848.447760712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049848.448297524] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049848.503478821] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973367 Long: -76.50298109 +[vectornav-1] [INFO] [1746049848.505282890] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.132, -3.422, 6.92) +[mux-7] [INFO] [1746049848.545264215] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049848.545962024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049848.546801172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049848.547940299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049848.548967112] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049848.585489959] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049848.587371445] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049848.587965028] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049848.588374224] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049848.589266170] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049848.589490473] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049848.590198286] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049848.645049309] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049848.645676918] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049848.646504634] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049848.647681713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049848.648851885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049848.745152030] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049848.745995160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049848.746584025] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049848.748258451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049848.749369624] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049848.835376663] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049848.837254720] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049848.838231277] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049848.839097070] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049848.838041734] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049848.839096519] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049848.839950253] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049848.844290223] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049848.844851168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049848.845374230] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049848.846589657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049848.847620893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049848.945101401] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049848.945838892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049848.946581381] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049848.948100470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049848.949119256] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049849.003346127] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973352 Long: -76.5029809 +[vectornav-1] [INFO] [1746049849.004962079] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.128, -3.418, 6.946) +[mux-7] [INFO] [1746049849.045090783] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049849.046155517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049849.046810004] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049849.048339661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049849.049476050] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049849.085205839] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049849.087129493] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049849.087891915] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049849.087995153] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049849.088308330] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049849.088875449] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049849.089760256] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049849.145083881] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049849.145585395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049849.146612645] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049849.147536532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049849.148682305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049849.245356072] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049849.245875004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049849.246967786] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049849.247933742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049849.248606705] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049849.335382775] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049849.337857639] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049849.338390684] [sailbot.teensy]: Wind angle: 349 +[teensy-2] [INFO] [1746049849.339191126] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049849.339309487] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049849.339584816] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049849.339930031] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049849.344406380] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049849.345103800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049849.345524822] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049849.347664597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049849.348786530] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049849.444795071] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049849.445454800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049849.445971236] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049849.447314857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049849.448384174] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049849.504509503] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973343 Long: -76.50298071 +[vectornav-1] [INFO] [1746049849.505950799] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.132, -3.413, 7.033) +[mux-7] [INFO] [1746049849.544942802] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049849.545807704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049849.546232724] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049849.547924930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049849.548969061] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049849.585428866] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049849.587467866] [sailbot.teensy]: Wind angle: 355 +[teensy-2] [INFO] [1746049849.588856960] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049849.588528870] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049849.589452794] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049849.589951729] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049849.590900887] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049849.644532822] [sailbot.mux]: Published sail angle from controller_app: 28 +[mux-7] [INFO] [1746049849.645725513] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049849.646246341] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049849.648283738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049849.650157783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049849.745567638] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049849.746423966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049849.747211932] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049849.749015738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049849.749631482] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049849.835308566] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049849.837307436] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049849.837849618] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049849.839310376] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049849.839448339] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049849.840495289] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049849.841474422] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049849.844333244] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049849.844944097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049849.845428722] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049849.846725183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049849.847823938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049849.945322922] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049849.946322510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049849.946861528] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049849.948589742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049849.949657341] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049850.002505762] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973315 Long: -76.50298025 +[vectornav-1] [INFO] [1746049850.003534385] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.119, -3.39, 6.896) +[mux-7] [INFO] [1746049850.045337099] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049850.046378713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049850.046887431] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049850.048834321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049850.049826796] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049850.085862542] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049850.088694145] [sailbot.teensy]: Wind angle: 356 +[trim_sail-4] [INFO] [1746049850.088698499] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049850.090265480] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049850.090660305] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049850.091198366] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049850.092063940] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049850.145100183] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049850.145963356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049850.146550348] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049850.148117933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049850.149261250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049850.245298471] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049850.246194325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049850.246853752] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049850.248239688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049850.248822943] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049850.335418970] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049850.337326525] [sailbot.teensy]: Wind angle: 357 +[teensy-2] [INFO] [1746049850.338379556] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049850.337882411] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049850.339131553] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049850.339262105] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049850.340099783] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049850.344552756] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049850.344982815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049850.345908419] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049850.346699772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049850.347754483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049850.445497072] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049850.446278110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049850.447060224] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049850.448455751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049850.449017139] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049850.502529349] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973316 Long: -76.50298 +[vectornav-1] [INFO] [1746049850.503581364] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.11199999999997, -3.419, 6.844) +[mux-7] [INFO] [1746049850.545058162] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049850.545640656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049850.546502506] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049850.547524374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049850.548623189] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049850.585570335] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049850.587739792] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746049850.588764220] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049850.588232790] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049850.588989363] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049850.589683412] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049850.590539759] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049850.645719050] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049850.646124620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049850.647385639] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049850.648261683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049850.649562762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049850.745215018] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049850.745734307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049850.746779831] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049850.747751680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049850.748816041] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049850.835389559] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049850.837247525] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049850.838227668] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049850.839223195] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049850.838044213] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049850.839741471] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049850.840087517] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049850.844409148] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049850.844976189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049850.845568477] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049850.846705639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049850.847739196] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049850.944992017] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049850.945674819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049850.946340074] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049850.947730250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049850.948890438] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049851.003249408] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973313 Long: -76.5029795 +[vectornav-1] [INFO] [1746049851.004739112] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.116, -3.411, 6.912) +[mux-7] [INFO] [1746049851.045499860] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049851.046123645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049851.047248384] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049851.048327273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049851.048973405] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049851.085427565] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049851.087291470] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049851.088147675] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049851.088297569] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049851.089193572] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049851.089505317] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049851.090068832] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049851.144985122] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049851.145757007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049851.146291448] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049851.147698179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049851.148705490] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049851.244914927] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049851.245640706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049851.246259177] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049851.247592863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049851.248516177] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049851.335350119] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049851.337816557] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049851.338332661] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049851.338392878] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049851.338751586] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049851.339250196] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049851.339620476] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049851.344572185] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049851.345298006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049851.346044802] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049851.347286899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049851.348495838] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049851.445499469] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049851.446499415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049851.447283781] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049851.448019092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049851.448503840] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049851.503324275] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973334 Long: -76.5029794 +[vectornav-1] [INFO] [1746049851.504745888] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.13599999999997, -3.397, 7.053) +[mux-7] [INFO] [1746049851.545129373] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049851.546029828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049851.546674899] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049851.548129443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049851.549258535] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049851.585464227] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049851.588066700] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049851.588385239] [sailbot.teensy]: Wind angle: 338 +[mux-7] [INFO] [1746049851.588830320] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049851.589656973] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049851.590591301] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049851.591399218] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049851.644989420] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049851.645716043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049851.646298966] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049851.647533160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049851.647990379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049851.745283994] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049851.746316060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049851.747150604] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049851.748544013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049851.749829841] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049851.835403096] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049851.837283173] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049851.838738923] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049851.839006829] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049851.839199845] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049851.839517108] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049851.839902659] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049851.844475425] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049851.845154179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049851.845723267] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049851.846895583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049851.847905340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049851.945313893] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049851.946171604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049851.947120117] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049851.948611452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049851.949762986] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049852.003558574] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697331 Long: -76.50297911 +[vectornav-1] [INFO] [1746049852.005237946] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.135, -3.4, 7.08) +[mux-7] [INFO] [1746049852.045040162] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049852.045835914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049852.046330293] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049852.047707555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049852.048780442] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049852.085391445] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049852.087144415] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049852.087727261] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049852.088207832] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049852.089198541] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049852.090005304] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049852.090105192] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049852.145065657] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049852.145875122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049852.146524964] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049852.148147497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049852.149175212] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049852.244886222] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049852.245517066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049852.246509262] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049852.247334853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049852.248406485] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049852.335323933] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049852.337940357] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049852.338013444] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049852.338958273] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049852.339331334] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049852.340131033] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049852.341007732] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049852.344518011] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049852.345564825] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049852.345669644] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049852.347417718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049852.348435455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049852.445187906] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049852.445851685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049852.447124473] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049852.447819545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049852.448930332] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049852.503181317] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973308 Long: -76.50297872 +[vectornav-1] [INFO] [1746049852.504703679] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.129, -3.409, 7.076) +[mux-7] [INFO] [1746049852.545011643] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049852.545895848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049852.546408477] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049852.547987474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049852.549153532] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049852.585403958] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049852.587906481] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049852.588080099] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049852.589051524] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049852.589198035] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049852.589958867] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049852.590846809] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049852.645527974] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049852.646277253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049852.647128003] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049852.649752050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049852.650811797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049852.745231443] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049852.745776279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049852.746773921] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049852.747858602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049852.748674856] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049852.835413485] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049852.837364339] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049852.838201073] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049852.838471472] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049852.839385187] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049852.839747096] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049852.840325999] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049852.844351262] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049852.845120049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049852.845501228] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049852.846835811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049852.847961388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049852.945390840] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049852.946086330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049852.947401597] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049852.948230286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049852.949907840] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049853.003737256] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973258 Long: -76.50297871 +[vectornav-1] [INFO] [1746049853.005894769] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.126, -3.413, 7.067) +[mux-7] [INFO] [1746049853.045217986] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049853.046021310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049853.046659037] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049853.048298113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049853.049438362] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049853.085322064] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049853.087834551] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049853.088088891] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049853.088827627] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049853.089174123] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049853.089735044] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049853.090640530] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049853.144993851] [sailbot.mux]: Published sail angle from controller_app: 28 +[mux-7] [INFO] [1746049853.146332604] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049853.146422458] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049853.148324023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049853.149399115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049853.245541738] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049853.246476283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049853.247195627] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049853.249184650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049853.250294096] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049853.335476914] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049853.338407703] [sailbot.teensy]: Wind angle: 334 +[teensy-2] [INFO] [1746049853.339351298] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049853.338806404] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049853.339191778] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049853.340270763] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049853.341113954] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049853.344349482] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049853.344851855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049853.345653744] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049853.346988660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049853.348002814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049853.445427864] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049853.446282625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049853.447067075] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049853.447900196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049853.448395446] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049853.503231054] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973246 Long: -76.50297848 +[vectornav-1] [INFO] [1746049853.505187660] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.116, -3.407, 7.011) +[mux-7] [INFO] [1746049853.545116856] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049853.545682263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049853.546444440] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049853.547585421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049853.548756541] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049853.585342648] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049853.587121171] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049853.587914994] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049853.588075928] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049853.588999306] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049853.589454712] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049853.589880636] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049853.645021084] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049853.645974325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049853.646347041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049853.647864800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049853.649026798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049853.744891022] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049853.745422123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049853.746457479] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049853.747193172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049853.747910408] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049853.835233918] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049853.837182794] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049853.837572890] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049853.838336990] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049853.839082906] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049853.839288207] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049853.840227885] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049853.844388889] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049853.844919725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049853.845568606] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049853.846628813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049853.847679786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049853.945361051] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049853.946281150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049853.946914830] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049853.948489105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049853.949682263] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049854.002459419] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973256 Long: -76.5029782 +[vectornav-1] [INFO] [1746049854.003516020] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.11, -3.405, 7.034) +[mux-7] [INFO] [1746049854.044929582] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049854.045716884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049854.046152717] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049854.047574829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049854.048602311] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049854.085268725] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049854.086964512] [sailbot.teensy]: Wind angle: 323 +[trim_sail-4] [INFO] [1746049854.087371846] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049854.087910922] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049854.088820080] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049854.089145833] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049854.089728041] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049854.144946409] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049854.145685629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049854.146286116] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049854.147662193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049854.148955508] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049854.245189379] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049854.246261582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049854.246685923] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049854.249034759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049854.250197014] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049854.335212414] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049854.337877521] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049854.338346769] [sailbot.teensy]: Wind angle: 325 +[mux-7] [INFO] [1746049854.338893561] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049854.339382929] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049854.340415828] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049854.341388033] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049854.344320257] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049854.344922095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049854.345769202] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049854.346710956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049854.347841384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049854.445469692] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049854.446378478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049854.447295286] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049854.448491565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049854.449024761] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049854.502486059] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973256 Long: -76.50297794 +[vectornav-1] [INFO] [1746049854.503496326] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.096, -3.403, 7.018) +[mux-7] [INFO] [1746049854.545147801] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049854.545933712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049854.546622684] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049854.548380488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049854.549499328] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049854.585492566] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049854.587451509] [sailbot.teensy]: Wind angle: 326 +[trim_sail-4] [INFO] [1746049854.588036773] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049854.588469450] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049854.589407687] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049854.590015663] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049854.590279554] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049854.645058968] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049854.645827276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049854.646478044] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049854.647933712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049854.649012101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049854.745556010] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049854.746074238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049854.747580191] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049854.748537735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049854.749354332] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049854.835513894] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049854.837996053] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049854.838188182] [sailbot.teensy]: Wind angle: 338 +[mux-7] [INFO] [1746049854.838921798] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049854.839114013] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049854.840013254] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049854.840754306] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049854.844572608] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049854.845043441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049854.845777877] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049854.846795034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049854.847927627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049854.945065048] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049854.945891173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049854.946380279] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049854.947887749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049854.949048111] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049855.004016240] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973225 Long: -76.50297761 +[vectornav-1] [INFO] [1746049855.005759126] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.098, -3.411, 6.999) +[teensy-2] [INFO] [1746049855.045587623] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049855.047764258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[mux-7] [INFO] [1746049855.045863652] [sailbot.mux]: Published sail angle from controller_app: 28 +[mux-7] [INFO] [1746049855.047371693] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049855.048927367] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049855.085362909] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049855.087533607] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049855.087839193] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049855.088786704] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049855.088850721] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049855.089727739] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049855.090638323] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049855.144953438] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049855.145359261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049855.146274078] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049855.147134592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049855.148203618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049855.244863517] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049855.245908983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049855.246109229] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049855.247553775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049855.248099258] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049855.335444155] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049855.337420851] [sailbot.teensy]: Wind angle: 328 +[teensy-2] [INFO] [1746049855.338395205] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049855.337988864] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049855.338786061] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049855.339297980] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049855.340344822] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049855.344417905] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049855.344993020] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049855.345585740] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049855.346732010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049855.347853992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049855.445239320] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049855.445970342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049855.446836056] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049855.448719433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049855.449251806] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049855.503142583] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973201 Long: -76.50297735 +[vectornav-1] [INFO] [1746049855.504658287] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.095, -3.388, 7.044) +[mux-7] [INFO] [1746049855.544882241] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049855.545579750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049855.546234862] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049855.547625779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049855.548703768] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049855.585231546] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049855.587343118] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049855.587655244] [sailbot.teensy]: Wind angle: 330 +[teensy-2] [INFO] [1746049855.588540483] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049855.588725082] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049855.589392785] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049855.590262294] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049855.645397718] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049855.646131246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049855.647453800] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049855.648391381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049855.649635916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049855.745028672] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049855.745687572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049855.746416509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049855.747634737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049855.748727282] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049855.835517318] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049855.837654928] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049855.838616160] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049855.838050556] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049855.839173272] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049855.839530885] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049855.840410387] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049855.844351798] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049855.845053241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049855.845752962] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049855.846751738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049855.847801674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049855.945309104] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049855.946025091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049855.946886325] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049855.947897419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049855.948384339] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049856.003162829] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973198 Long: -76.50297762 +[vectornav-1] [INFO] [1746049856.004854359] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.08500000000004, -3.397, 6.984) +[mux-7] [INFO] [1746049856.044906764] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049856.045572463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049856.046179497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049856.047590722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049856.048611077] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049856.085395910] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049856.087481358] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049856.087925887] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049856.088032167] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049856.089081413] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049856.089969030] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049856.090876818] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049856.144903469] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049856.145659514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049856.146148324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049856.147447479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049856.148576312] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049856.245240292] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049856.246012928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049856.246730626] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049856.248441160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049856.248947091] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049856.335470763] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049856.338020519] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049856.338785182] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049856.339133273] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049856.340176592] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049856.341039075] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049856.341535976] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049856.344442374] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049856.345076902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049856.345558651] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049856.346774717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049856.347930162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049856.445052419] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049856.445973884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049856.446712039] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049856.448040450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049856.448779461] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049856.503702816] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973184 Long: -76.50297772 +[vectornav-1] [INFO] [1746049856.505754603] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.095, -3.395, 7.051) +[mux-7] [INFO] [1746049856.544865367] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049856.545591302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049856.546171871] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049856.547521593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049856.548699009] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049856.585249935] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049856.587381774] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049856.587845192] [sailbot.teensy]: Wind angle: 342 +[mux-7] [INFO] [1746049856.587972113] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049856.589546748] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049856.590434420] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049856.591275068] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049856.645316469] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049856.646205134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049856.646867152] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049856.648203022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049856.648731011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049856.745270718] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049856.745918012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049856.746751039] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049856.748118104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049856.748804908] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049856.835335080] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049856.837235561] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049856.837702105] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049856.838175787] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049856.839098812] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049856.839719710] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049856.839969431] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049856.844369249] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049856.844859112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049856.845486145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049856.846532475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049856.847862632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049856.945208984] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049856.945916933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049856.946701179] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049856.947978038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049856.949307537] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049857.003534930] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697314 Long: -76.50297753 +[vectornav-1] [INFO] [1746049857.005481389] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.101, -3.384, 7.18) +[mux-7] [INFO] [1746049857.044885192] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049857.045559862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049857.046114616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049857.047393547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049857.048453312] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049857.085373843] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049857.087317847] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049857.087911883] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049857.088280158] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049857.089186965] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049857.089709855] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049857.090081220] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049857.145033513] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049857.145832821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049857.146498113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049857.147927861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049857.148949350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049857.245083631] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049857.245836115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049857.246988615] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049857.247578008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049857.248054883] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049857.335247133] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049857.336944329] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049857.337757278] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049857.337974265] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049857.338946716] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049857.339282096] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049857.339970148] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049857.344340340] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049857.344911381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049857.345477849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049857.346703323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049857.347943794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049857.445034667] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049857.445858720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049857.446407251] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049857.447892419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049857.448919927] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049857.502360536] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973131 Long: -76.50297746 +[vectornav-1] [INFO] [1746049857.503385049] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.095, -3.397, 7.158) +[mux-7] [INFO] [1746049857.545210850] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049857.546000873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049857.546769611] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049857.548092407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049857.549308392] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049857.585712217] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049857.588499138] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049857.589478417] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049857.589514383] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049857.590536240] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049857.591540214] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049857.592623944] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049857.645187775] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049857.645921322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049857.646678732] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049857.648430075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049857.649514785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049857.744954345] [sailbot.mux]: Published sail angle from controller_app: 28 +[mux-7] [INFO] [1746049857.746288053] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049857.746381812] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049857.748188796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049857.749395487] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049857.835439096] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049857.837414749] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049857.838415383] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049857.838714825] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049857.838780707] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049857.839301849] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049857.839849478] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049857.844321524] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049857.844999343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049857.845713953] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049857.847012278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049857.848062278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049857.945209046] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049857.946054184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049857.946701864] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049857.948287724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049857.948760801] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049858.003056544] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697309 Long: -76.50297725 +[vectornav-1] [INFO] [1746049858.004350979] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.095, -3.407, 7.146) +[mux-7] [INFO] [1746049858.044743855] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049858.045324983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049858.045889129] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049858.047059686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049858.048240912] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049858.085429643] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049858.087361700] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049858.087993148] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049858.088334456] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049858.089175827] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049858.089220491] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049858.090067759] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049858.145041528] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049858.145652781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049858.146421958] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049858.148235846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049858.149397422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049858.245241489] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049858.246289051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049858.246722097] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049858.248688659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049858.249734053] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049858.335409442] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049858.337729675] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049858.337930225] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049858.338726554] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049858.339077615] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049858.339692206] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049858.340872219] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049858.344382780] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049858.344957824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049858.345381674] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049858.346515496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049858.347469409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049858.445199827] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049858.445977148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049858.446768312] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049858.449082298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049858.450220648] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049858.503259303] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973065 Long: -76.5029769 +[vectornav-1] [INFO] [1746049858.504663607] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.09299999999996, -3.412, 7.145) +[mux-7] [INFO] [1746049858.545077816] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049858.545743999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049858.546435133] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049858.547760810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049858.548920319] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049858.585398523] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049858.587217979] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049858.587730937] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049858.589042449] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049858.589047839] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049858.590071529] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049858.590984794] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049858.645138905] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049858.645777271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049858.646512173] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049858.647942195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049858.649096203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049858.745020601] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049858.745925617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049858.746877195] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049858.748700265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049858.749843098] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049858.835246444] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049858.836978432] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049858.838002863] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049858.837455980] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049858.837967655] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049858.838926476] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049858.839796572] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049858.844447350] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049858.844953930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049858.845577729] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049858.846791806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049858.847953053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049858.944978448] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049858.945798924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049858.946248203] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049858.947722747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049858.948934968] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049859.003477992] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973056 Long: -76.50297671 +[vectornav-1] [INFO] [1746049859.005201539] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.126, -3.408, 7.091) +[mux-7] [INFO] [1746049859.045262422] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049859.046276556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049859.046904408] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049859.048450155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049859.049457634] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049859.085331439] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049859.087051757] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049859.088024535] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049859.087511140] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049859.088792229] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049859.088937420] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049859.089891583] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049859.144839064] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049859.145691210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049859.146104659] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049859.147575803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049859.148797997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049859.245398515] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049859.246225126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049859.247212788] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049859.248522182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049859.249666849] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049859.335264094] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049859.336939664] [sailbot.teensy]: Wind angle: 335 +[teensy-2] [INFO] [1746049859.337919298] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049859.338794333] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049859.338853816] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049859.339241118] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049859.339788307] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049859.344454393] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049859.344990682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049859.345549879] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049859.346712296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049859.347702857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049859.445359621] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049859.446206656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049859.446978243] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049859.448295185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049859.448712438] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049859.504047188] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973039 Long: -76.50297662 +[vectornav-1] [INFO] [1746049859.505705451] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.361, -3.283, 7.154) +[mux-7] [INFO] [1746049859.544915833] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049859.545719377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049859.546178447] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049859.547748667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049859.548958769] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049859.585454486] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049859.587727742] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049859.588045232] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049859.588738067] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049859.588922905] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049859.589693165] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049859.590613198] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049859.644976057] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049859.645609735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049859.646439718] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049859.647529273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049859.648680397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049859.745168176] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049859.746239553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049859.746978038] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049859.748375708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049859.749418722] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049859.835385776] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049859.837551197] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049859.837669689] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049859.838568499] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049859.839212632] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049859.839430238] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049859.840354565] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049859.844288821] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049859.844856812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049859.845628891] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049859.846683699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049859.847850162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049859.944983381] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049859.945605605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049859.946406373] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049859.947831061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049859.948909734] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049860.003172375] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973026 Long: -76.50297627 +[vectornav-1] [INFO] [1746049860.004734296] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.929, -3.208, 6.786) +[mux-7] [INFO] [1746049860.044803616] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049860.045378470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049860.045951833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049860.047449290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049860.048278203] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049860.085389358] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049860.087730280] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049860.088493473] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049860.088902065] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049860.089907085] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049860.090835538] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049860.091669157] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049860.145267292] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049860.145845626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049860.146759500] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049860.148257302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049860.149306966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049860.245012499] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049860.245596362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049860.246275748] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049860.247400533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049860.248605698] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049860.335269897] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049860.337229818] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049860.337652282] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049860.338265000] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049860.339220106] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049860.339732915] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049860.340103813] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049860.344234920] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049860.344814477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049860.345320389] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049860.346595509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049860.347718944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049860.444963981] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049860.445834013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049860.446353948] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049860.447835303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049860.448890014] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049860.502461132] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972999 Long: -76.5029758 +[vectornav-1] [INFO] [1746049860.503507858] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.832, -3.372, 6.53) +[mux-7] [INFO] [1746049860.545057724] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049860.545745712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049860.546480015] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049860.547875572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049860.549008909] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049860.585534149] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049860.588142136] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049860.588142105] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049860.589180673] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049860.590254590] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049860.590504588] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049860.591135544] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049860.645013211] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049860.645890299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049860.646439331] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049860.647957163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049860.649043193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049860.745147623] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049860.746098652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049860.746553357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049860.747995451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049860.748468294] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049860.835409100] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049860.837756556] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049860.837751738] [sailbot.teensy]: Wind angle: 334 +[mux-7] [INFO] [1746049860.838762917] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049860.838805370] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049860.839749841] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049860.840718440] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049860.844421711] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049860.845279449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049860.845498203] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049860.847037549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049860.848082280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049860.945144839] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049860.946404871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049860.946742764] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049860.948263303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049860.948661123] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049861.003300609] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972971 Long: -76.50297579 +[vectornav-1] [INFO] [1746049861.004670171] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.79200000000003, -3.39, 6.806) +[mux-7] [INFO] [1746049861.044979473] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049861.045849762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049861.046245529] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049861.048386306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049861.049976551] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049861.085453021] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049861.087297807] [sailbot.teensy]: Wind angle: 0 +[teensy-2] [INFO] [1746049861.088258413] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049861.087791766] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049861.089912440] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049861.090037961] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049861.090987300] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049861.145125315] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049861.145810344] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049861.146659933] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049861.147809454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049861.148852455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049861.245259335] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049861.246171785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049861.246913044] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049861.248538127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049861.249222013] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049861.335166544] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049861.336800128] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049861.337752252] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049861.337292391] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049861.338666355] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049861.339274229] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049861.339537784] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049861.344355804] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049861.345099432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049861.345464127] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049861.347021620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049861.348074854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049861.444726432] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049861.445640481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049861.445939902] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049861.447435649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049861.448516252] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049861.502467497] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972973 Long: -76.50297612 +[vectornav-1] [INFO] [1746049861.503587378] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.786, -3.389, 6.85) +[mux-7] [INFO] [1746049861.545120317] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049861.545804489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049861.546359418] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049861.547733177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049861.548822446] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049861.585480950] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049861.587843217] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049861.588180629] [sailbot.teensy]: Wind angle: 353 +[mux-7] [INFO] [1746049861.589068903] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049861.589232899] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049861.590126221] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049861.590998017] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049861.645502761] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049861.646082508] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049861.647067811] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049861.648288671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049861.649403630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049861.745353105] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049861.746013413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049861.747235195] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049861.748145485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049861.749090888] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049861.835400243] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049861.837145215] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049861.837608230] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049861.838508022] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049861.839484332] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049861.839533533] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049861.840439969] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049861.844387779] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049861.844925470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049861.845555026] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049861.846774657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049861.847831881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049861.945106938] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049861.946078823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049861.946919504] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049861.948105559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049861.949215828] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049862.003835089] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972959 Long: -76.5029763 +[vectornav-1] [INFO] [1746049862.005437186] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.78700000000003, -3.363, 6.861) +[mux-7] [INFO] [1746049862.044592871] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049862.045226398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049862.045733324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049862.047029556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049862.048198857] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049862.084346824] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049862.085410076] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049862.085842112] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049862.086458565] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049862.086858631] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049862.087252625] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049862.087637507] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049862.145050527] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049862.145707967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049862.146311321] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049862.147542366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049862.148588259] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049862.245271786] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049862.246042360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049862.246762506] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049862.248315048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049862.249479318] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049862.335148012] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049862.336726948] [sailbot.teensy]: Wind angle: 356 +[trim_sail-4] [INFO] [1746049862.337286535] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049862.337578621] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049862.338391215] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049862.338472040] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049862.338936177] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049862.344461614] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049862.345037385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049862.345960763] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049862.346798710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049862.348472963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049862.445636706] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049862.446638876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049862.447239044] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049862.448984372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049862.450269561] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049862.502409183] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972944 Long: -76.50297642 +[vectornav-1] [INFO] [1746049862.503507750] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.773, -3.329, 6.798) +[mux-7] [INFO] [1746049862.545362008] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049862.546134198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049862.546845246] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049862.548530121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049862.549695859] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049862.585218710] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049862.587264858] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049862.587864624] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049862.588383759] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049862.589343716] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049862.590194093] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049862.591038132] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049862.645264349] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049862.646046611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049862.647065406] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049862.648626164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049862.649675091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049862.744899160] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049862.745738168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049862.746178888] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049862.747755176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049862.748782162] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049862.835415358] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049862.838114439] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049862.838434759] [sailbot.teensy]: Wind angle: 336 +[mux-7] [INFO] [1746049862.839003918] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049862.839359468] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049862.840280993] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049862.841132501] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049862.844336872] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049862.844919240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049862.845405126] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049862.846614236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049862.847748758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049862.945003462] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049862.945681161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049862.946901409] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049862.948053020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049862.948574500] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049863.003246265] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972944 Long: -76.50297669 +[vectornav-1] [INFO] [1746049863.005072357] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.741, -3.322, 6.641) +[mux-7] [INFO] [1746049863.045259055] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049863.046070019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049863.046896817] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049863.048437557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049863.049792675] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049863.085388529] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049863.087134002] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049863.087585833] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049863.088118395] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049863.088948734] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049863.089056928] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049863.090004053] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049863.144945081] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049863.145655137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049863.146223650] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049863.147593942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049863.148804297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049863.245107408] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049863.245722516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049863.246728219] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049863.247699905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049863.248900961] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049863.335531329] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049863.337599491] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049863.338614818] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049863.339494084] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049863.338654595] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049863.339427339] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049863.340409266] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049863.344299336] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049863.344946380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049863.345413339] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049863.346700704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049863.347703514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049863.445472239] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049863.446173911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049863.447067236] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049863.448827867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049863.450059629] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049863.503113019] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972938 Long: -76.50297684 +[vectornav-1] [INFO] [1746049863.504550611] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.753, -3.358, 6.638) +[mux-7] [INFO] [1746049863.545002022] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049863.545653519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049863.546285571] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049863.547482881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049863.548631869] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049863.585273989] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049863.587510300] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049863.587568843] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049863.588515141] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049863.588703003] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049863.589424181] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049863.590311812] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049863.644973702] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049863.645590282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049863.646305956] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049863.647497650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049863.648797791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049863.745061579] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049863.745809236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049863.746453076] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049863.747622502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049863.748672180] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049863.835715582] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049863.837704300] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049863.838690428] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049863.838829792] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049863.838917534] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049863.839173598] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049863.839570397] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049863.844645892] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049863.845174370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049863.845836663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049863.846943646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049863.847993843] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049863.945610946] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049863.946480049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049863.947313393] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049863.948816400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049863.950153016] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049864.003076585] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972953 Long: -76.50297677 +[vectornav-1] [INFO] [1746049864.004247448] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.728, -3.354, 6.495) +[mux-7] [INFO] [1746049864.045268854] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049864.045674223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049864.046765066] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049864.047631826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049864.048923534] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049864.085129795] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049864.086676444] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746049864.087520433] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049864.087214464] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049864.088342719] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049864.088486188] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049864.089213845] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049864.145120334] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049864.145708749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049864.146617058] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049864.147725268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049864.148886612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049864.245094550] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049864.245696419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049864.246708791] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049864.247619671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049864.248828840] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049864.335383974] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049864.337238143] [sailbot.teensy]: Wind angle: 334 +[teensy-2] [INFO] [1746049864.338219957] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049864.338269383] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049864.339157723] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049864.339965122] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049864.340084596] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049864.344434755] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049864.345424558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049864.345652407] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049864.348048062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049864.349211427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049864.444826438] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049864.445523152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049864.446004819] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049864.447263606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049864.448253010] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049864.502221108] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972951 Long: -76.5029768 +[vectornav-1] [INFO] [1746049864.503416920] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.72, -3.378, 6.467) +[mux-7] [INFO] [1746049864.545056558] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049864.545719513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049864.546509305] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049864.547968581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049864.548991017] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049864.585502599] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049864.587908264] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049864.588270551] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746049864.589215122] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049864.589529000] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049864.590113361] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049864.590994592] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049864.645185218] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049864.645943956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049864.646678814] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049864.647907913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049864.649106855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049864.745136369] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049864.746040440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049864.746837614] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049864.748253505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049864.749332303] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049864.835257419] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049864.837119716] [sailbot.teensy]: Wind angle: 358 +[trim_sail-4] [INFO] [1746049864.837730749] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049864.838079785] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049864.838959884] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049864.839283963] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049864.839849973] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049864.844569004] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049864.844998558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049864.845795774] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049864.846642355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049864.847800884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049864.945244868] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049864.946197378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049864.946867737] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049864.948439080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049864.948934575] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049865.002345747] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972914 Long: -76.50297718 +[vectornav-1] [INFO] [1746049865.003507922] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.714, -3.378, 6.428) +[mux-7] [INFO] [1746049865.045189990] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049865.046165159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049865.046859833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049865.048038027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049865.048555698] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049865.085537258] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049865.087891831] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746049865.088287396] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049865.089282100] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049865.089739612] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049865.090720430] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049865.091652938] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049865.144967990] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049865.145824932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049865.146259472] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049865.147778219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049865.148869950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049865.244885455] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049865.245850744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049865.246190132] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049865.247725344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049865.248823417] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049865.335348465] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049865.337667127] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049865.338018172] [sailbot.teensy]: Wind angle: 338 +[mux-7] [INFO] [1746049865.338743727] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049865.340004930] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049865.340583328] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049865.340952219] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049865.344307740] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049865.344899215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049865.345448380] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049865.346710659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049865.347739825] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049865.445529172] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049865.446233946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049865.447135728] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049865.448043463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049865.448562403] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049865.503295175] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697291 Long: -76.50297742 +[vectornav-1] [INFO] [1746049865.505137171] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.709, -3.377, 6.449) +[mux-7] [INFO] [1746049865.545072549] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049865.545787209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049865.546494105] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049865.547904034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049865.548937499] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049865.585450830] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049865.587335761] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049865.587952542] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049865.588890400] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049865.589542615] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049865.590625166] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049865.591489847] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049865.645020347] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049865.645730370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049865.646451311] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049865.647740314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049865.648825920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049865.744944713] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049865.745808019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049865.746400804] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049865.748435612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049865.749591895] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049865.835331505] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049865.837385633] [sailbot.teensy]: Wind angle: 338 +[teensy-2] [INFO] [1746049865.838361146] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049865.837954401] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049865.838898600] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049865.838914093] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049865.839290226] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049865.844499067] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049865.845118143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049865.845755973] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049865.846860097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049865.847881343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049865.945063773] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049865.945937413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049865.946506536] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049865.947617581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049865.948092426] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049866.003217578] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972899 Long: -76.50297783 +[vectornav-1] [INFO] [1746049866.004795632] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.702, -3.373, 6.433) +[mux-7] [INFO] [1746049866.045061603] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049866.045786253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049866.046540183] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049866.047765679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049866.048866908] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049866.085318765] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049866.087366943] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049866.087740334] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049866.088346649] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049866.088857411] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049866.089242924] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049866.090143254] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049866.144890650] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049866.145656247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049866.146793560] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049866.147872761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049866.149052000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049866.245376190] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049866.246288121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049866.246980190] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049866.248025676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049866.248557346] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049866.335374657] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049866.337265615] [sailbot.teensy]: Wind angle: 334 +[teensy-2] [INFO] [1746049866.338240985] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049866.339125638] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049866.338164577] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049866.338504959] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049866.339977627] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049866.344255031] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049866.344821888] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049866.345430411] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049866.346509972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049866.347605841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049866.445269618] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049866.445915674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049866.446839715] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049866.448169817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049866.449371140] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049866.503433608] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972888 Long: -76.50297817 +[vectornav-1] [INFO] [1746049866.505168867] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.777, -3.318, 7.084) +[mux-7] [INFO] [1746049866.545122635] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049866.545846307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049866.546479725] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049866.547893767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049866.549017782] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049866.585365999] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049866.587184082] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049866.587775018] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049866.588140061] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049866.589115194] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049866.589805492] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049866.590049968] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049866.645061676] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049866.646086168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049866.646565678] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049866.648125850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049866.649206849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049866.745318373] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049866.746368439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049866.746981976] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049866.748609210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049866.749754204] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049866.835298116] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049866.838080449] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746049866.838342957] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049866.839906111] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049866.840308277] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049866.840968801] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049866.841336768] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049866.844621573] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049866.845015089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049866.845787596] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049866.846718323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049866.847790813] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049866.945143709] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049866.945846589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049866.946576853] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049866.947854889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049866.949055853] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049867.002319614] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972894 Long: -76.50297816 +[vectornav-1] [INFO] [1746049867.003327651] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.786, -3.332, 7.167) +[mux-7] [INFO] [1746049867.045258589] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049867.046082827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049867.046826051] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049867.048554785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049867.049673830] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049867.085668504] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049867.088380248] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049867.088562709] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049867.089159314] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049867.089348221] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049867.090241885] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049867.091196101] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049867.144906343] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049867.145591310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049867.146171308] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049867.147432718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049867.148524207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049867.244875948] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049867.245436398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049867.246316638] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049867.247164295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049867.248511515] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049867.335382810] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049867.337301939] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049867.337955602] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049867.338362293] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049867.339306101] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049867.340191992] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049867.340208547] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049867.344210518] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049867.345014552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049867.345355249] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049867.346858167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049867.347971026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049867.445080042] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049867.445885813] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049867.446517010] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049867.447922689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049867.448444743] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049867.503721910] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972879 Long: -76.50297828 +[vectornav-1] [INFO] [1746049867.505673104] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.682, -3.359, 6.431) +[mux-7] [INFO] [1746049867.545110457] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049867.546081184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049867.546698477] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049867.548195857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049867.549269530] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049867.585287958] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049867.587788298] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049867.587798551] [sailbot.teensy]: Wind angle: 338 +[mux-7] [INFO] [1746049867.588641423] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049867.588692110] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049867.589597988] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049867.590501719] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049867.645092118] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049867.645839319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049867.646534113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049867.647884184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049867.648562284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049867.745286812] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049867.746037981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049867.747335114] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049867.748258469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049867.749363065] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049867.835347480] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049867.837315286] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049867.837868029] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049867.838296750] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049867.839236590] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049867.840045468] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049867.840090575] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049867.844551486] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049867.845172496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049867.845722021] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049867.846942220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049867.848111464] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049867.945299737] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049867.945937551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049867.946874109] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049867.948099660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049867.949401049] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049868.002456924] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972873 Long: -76.50297855 +[vectornav-1] [INFO] [1746049868.003544950] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.693, -3.384, 6.57) +[mux-7] [INFO] [1746049868.045195332] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049868.046124400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049868.046633951] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049868.048289773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049868.049404214] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049868.085537940] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049868.088050714] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049868.088309643] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049868.089063525] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049868.089958743] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049868.090149029] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049868.090884027] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049868.144928601] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049868.145455311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049868.146444669] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049868.147512026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049868.148702094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049868.245122238] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049868.245742493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049868.247028322] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049868.247550964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049868.248788222] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049868.335283284] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049868.337798361] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049868.339064667] [sailbot.teensy]: Wind angle: 348 +[mux-7] [INFO] [1746049868.339239957] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049868.340092526] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049868.340483496] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049868.340846581] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049868.344363521] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049868.344936118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049868.345522637] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049868.346724291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049868.347712550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049868.444955942] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049868.445688650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049868.446630294] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049868.448576231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049868.449652139] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049868.503289525] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697286 Long: -76.50297865 +[vectornav-1] [INFO] [1746049868.504628719] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.73199999999997, -3.366, 6.82) +[mux-7] [INFO] [1746049868.545136664] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049868.545718074] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049868.546507576] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049868.547602910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049868.548784836] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049868.585400440] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049868.587938897] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049868.588971976] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049868.589379512] [sailbot.teensy]: Wind angle: 349 +[teensy-2] [INFO] [1746049868.590336900] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049868.591195130] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049868.592039100] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049868.645061450] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049868.645717280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049868.646479680] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049868.647685125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049868.648783607] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049868.745003894] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049868.745564665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049868.746511796] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049868.747375232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049868.748429925] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049868.835666191] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049868.837913113] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049868.838531863] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049868.839181261] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049868.839945733] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049868.840097601] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049868.840650660] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049868.844551197] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049868.845155500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049868.845757862] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049868.846903442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049868.848103435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049868.945297892] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049868.945844787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049868.946819475] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049868.948244616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049868.948822846] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049869.003368747] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972852 Long: -76.50297889 +[vectornav-1] [INFO] [1746049869.004978979] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.73199999999997, -3.362, 6.91) +[mux-7] [INFO] [1746049869.045561709] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049869.046068273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049869.047196678] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049869.049382919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049869.050484047] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049869.085712481] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049869.088226993] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049869.088370340] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049869.089232300] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049869.089954287] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049869.090140893] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049869.091057269] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049869.145153021] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049869.145657371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049869.146544529] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049869.147496536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049869.148627149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049869.245050748] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049869.245765908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049869.246556317] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049869.247767622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049869.249034030] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049869.335325296] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049869.337068204] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746049869.337676542] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049869.337976382] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049869.338957313] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049869.339339650] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049869.339410141] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049869.344393821] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049869.345049586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049869.345562390] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049869.346736854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049869.347778989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049869.445087395] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049869.445974634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049869.446970915] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049869.447701708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049869.448396851] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049869.503396730] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972842 Long: -76.50297927 +[vectornav-1] [INFO] [1746049869.504881773] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.726, -3.363, 6.927) +[mux-7] [INFO] [1746049869.545028107] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049869.546013879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049869.546495660] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049869.548205564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049869.549259045] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049869.585365083] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049869.587874509] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746049869.587899172] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049869.588892575] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049869.589154911] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049869.589814254] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049869.590736356] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049869.645198146] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049869.646039755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049869.646667527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049869.648046694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049869.649347024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049869.745188819] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049869.746107574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049869.747073904] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049869.748836562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049869.750022302] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049869.835299087] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049869.837255643] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049869.838335777] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049869.839173159] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049869.840036382] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049869.840717667] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049869.841060169] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049869.844493233] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049869.845044992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049869.845644546] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049869.846890031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049869.847909424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049869.945106592] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049869.945985017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049869.946562871] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049869.948231935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049869.949365529] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049870.003686429] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972841 Long: -76.50298004 +[vectornav-1] [INFO] [1746049870.005661267] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.717, -3.363, 6.909) +[mux-7] [INFO] [1746049870.045000486] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049870.045732660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049870.046308295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049870.047666037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049870.048771158] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049870.085448376] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049870.088034554] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049870.088267392] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049870.089122781] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049870.089719424] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049870.090003683] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049870.090903731] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049870.144936571] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049870.145626593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049870.146459805] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049870.147520931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049870.148553086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049870.244954065] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049870.245585870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049870.246272445] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049870.247686087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049870.248831448] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049870.335261689] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049870.337601626] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049870.338493656] [sailbot.teensy]: Wind angle: 340 +[mux-7] [INFO] [1746049870.338862584] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049870.339549563] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049870.340491730] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049870.340860923] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049870.344478907] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049870.345011884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049870.345599198] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049870.346775559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049870.347945729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049870.444831262] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049870.445442924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049870.446081625] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049870.447181043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049870.448264546] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049870.502254666] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697282 Long: -76.50297981 +[vectornav-1] [INFO] [1746049870.503215322] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.71299999999997, -3.355, 6.922) +[mux-7] [INFO] [1746049870.545015546] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049870.545711511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049870.546393224] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049870.547680549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049870.548835245] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049870.585371866] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049870.587204112] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049870.587723008] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049870.588422861] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049870.588931460] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049870.589351615] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049870.590205719] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049870.645179596] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049870.645896033] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049870.646720497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049870.648137463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049870.649312980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049870.744966024] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049870.745715646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049870.746290053] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049870.747877443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049870.749065912] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049870.835490732] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049870.838007050] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049870.838372159] [sailbot.teensy]: Wind angle: 327 +[mux-7] [INFO] [1746049870.839203972] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049870.839284917] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049870.839668757] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049870.840036513] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049870.844405456] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049870.844850521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049870.845586690] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049870.846511318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049870.847719998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049870.945144472] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049870.945725791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049870.946732349] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049870.947669585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049870.949117329] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049871.003128517] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972773 Long: -76.50297986 +[vectornav-1] [INFO] [1746049871.004457232] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.70799999999997, -3.356, 6.951) +[mux-7] [INFO] [1746049871.044995136] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049871.045680076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049871.046298570] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049871.047599929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049871.048720481] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049871.085484871] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049871.087376088] [sailbot.teensy]: Wind angle: 327 +[trim_sail-4] [INFO] [1746049871.088010465] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049871.088355938] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049871.089271283] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049871.089867535] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049871.090161651] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049871.144776291] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049871.145482751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049871.146027789] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049871.147272118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049871.148406778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049871.245029646] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049871.245633245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049871.246324410] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049871.247620021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049871.248784967] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049871.335475706] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049871.338342416] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049871.338462749] [sailbot.teensy]: Wind angle: 326 +[mux-7] [INFO] [1746049871.338741758] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049871.338966380] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049871.339498121] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049871.339844669] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049871.344502363] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049871.345104803] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049871.345641511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049871.346781505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049871.347818013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049871.445178675] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049871.446225276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049871.446721669] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049871.448559230] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049871.449068635] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049871.503365296] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972779 Long: -76.50297986 +[vectornav-1] [INFO] [1746049871.504586523] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.69399999999996, -3.362, 6.904) +[mux-7] [INFO] [1746049871.545026004] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049871.545829562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049871.546328951] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049871.547832172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049871.548895461] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049871.585204276] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049871.587115595] [sailbot.teensy]: Wind angle: 320 +[trim_sail-4] [INFO] [1746049871.587371162] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049871.588049027] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049871.588534787] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049871.588990317] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049871.589922972] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049871.645256957] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049871.645932165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049871.646756385] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049871.648061839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049871.649317148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049871.745498972] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049871.746407083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049871.747167485] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049871.748370483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049871.748913841] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049871.835948213] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049871.838056552] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049871.838135970] [sailbot.teensy]: Wind angle: 317 +[mux-7] [INFO] [1746049871.838472097] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049871.838535952] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049871.838936601] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049871.839293309] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049871.844698227] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049871.845199173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049871.846017019] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049871.847033618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049871.848087350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049871.945465660] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049871.946033532] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049871.947217803] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049871.948378603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049871.948990584] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049872.003557524] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972765 Long: -76.50298021 +[vectornav-1] [INFO] [1746049872.004973573] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.704, -3.348, 7.004) +[mux-7] [INFO] [1746049872.045552883] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049872.045931082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049872.047236354] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049872.047967661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049872.049179021] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049872.085546142] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049872.088110994] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049872.088111832] [sailbot.teensy]: Wind angle: 318 +[mux-7] [INFO] [1746049872.088779239] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049872.089135588] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049872.090030912] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049872.090865039] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049872.145236410] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049872.145802011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049872.146806813] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049872.148056188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049872.149269997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049872.244992754] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049872.245691657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049872.246339156] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049872.247898561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049872.249115820] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049872.335200582] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049872.337375824] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049872.337577036] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049872.338435726] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049872.338579650] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049872.338825384] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049872.339195858] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049872.344409419] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049872.344872837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049872.345600872] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049872.346560723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049872.347603343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049872.445079148] [sailbot.mux]: Published sail angle from controller_app: 28 +[mux-7] [INFO] [1746049872.446409670] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049872.448651112] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049872.450281773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049872.451186896] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049872.502321448] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972766 Long: -76.50298021 +[vectornav-1] [INFO] [1746049872.503269461] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.693, -3.356, 6.995) +[mux-7] [INFO] [1746049872.545144630] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049872.545963168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049872.546658194] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049872.547873254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049872.548916230] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049872.585493616] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049872.587927132] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049872.587965296] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049872.588956055] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049872.589731059] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049872.589941160] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049872.590885828] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049872.645042462] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049872.646030205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049872.646369525] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049872.648130045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049872.649255114] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049872.745456618] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049872.746229366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049872.747093986] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049872.748692556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049872.749846845] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049872.835226672] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049872.837439490] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049872.837514755] [sailbot.teensy]: Wind angle: 355 +[teensy-2] [INFO] [1746049872.838414493] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049872.839042520] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049872.839331313] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049872.840225428] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049872.844292356] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049872.845177695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049872.845468720] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049872.846949494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049872.847941563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049872.944886593] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049872.945705727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049872.946129674] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049872.947517196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049872.948595611] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049873.003020386] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972757 Long: -76.50298024 +[vectornav-1] [INFO] [1746049873.004661759] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.69399999999996, -3.353, 7.008) +[mux-7] [INFO] [1746049873.045124583] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049873.045784354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049873.046738350] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049873.048051652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049873.049092500] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049873.085414928] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049873.087763260] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049873.088022059] [sailbot.teensy]: Wind angle: 348 +[mux-7] [INFO] [1746049873.088633889] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049873.089275289] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049873.090391796] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049873.091224295] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049873.144692772] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049873.145451442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049873.145948668] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049873.147257261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049873.148416742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049873.245201867] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049873.246096460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049873.246651107] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049873.248324784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049873.249358545] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049873.335588030] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049873.338303825] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049873.338920456] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049873.339015146] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049873.339977536] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049873.340799976] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049873.341156948] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049873.344336020] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049873.344962425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049873.345469371] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049873.346677685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049873.347704042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049873.444914563] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049873.445692296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049873.446425585] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049873.447627526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049873.448505491] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049873.503745454] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972758 Long: -76.50298011 +[vectornav-1] [INFO] [1746049873.505389779] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.685, -3.337, 7.041) +[mux-7] [INFO] [1746049873.544897974] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049873.546013103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049873.546475361] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049873.548088392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049873.549197790] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049873.585370049] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049873.587634036] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049873.588672535] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049873.589059532] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049873.590088333] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049873.591015083] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049873.591871154] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049873.645216400] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049873.645871483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049873.646898390] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049873.648380912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049873.649515507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049873.745154199] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049873.745804535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049873.746657708] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049873.747892506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049873.748398502] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049873.835477415] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049873.837265958] [sailbot.teensy]: Wind angle: 349 +[teensy-2] [INFO] [1746049873.838316210] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049873.838616887] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049873.839254037] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049873.840098724] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049873.840181705] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049873.844446169] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049873.844932262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049873.845552910] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049873.846945459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049873.848133063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049873.944929360] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049873.945705571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049873.946143047] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049873.947808901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049873.948840202] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049874.002189209] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972753 Long: -76.50298007 +[vectornav-1] [INFO] [1746049874.003097234] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.685, -3.336, 7.087) +[mux-7] [INFO] [1746049874.045371087] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049874.046177512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049874.046805175] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049874.048349163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049874.048866564] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049874.085232939] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049874.086965030] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049874.087374008] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049874.087876840] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049874.088571354] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049874.088788696] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049874.089690103] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049874.145233315] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049874.146201438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049874.146718663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049874.148370212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049874.149409267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049874.244930610] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049874.245569731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049874.246176788] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049874.247460290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049874.248618088] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049874.335516795] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049874.337487589] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049874.338626119] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049874.339387102] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049874.339434105] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049874.339833804] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049874.340236004] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049874.344363967] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049874.344934094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049874.345714367] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049874.346655615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049874.347797115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049874.445233596] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049874.445831949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049874.446827959] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049874.447928552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049874.448626789] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049874.503888900] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972757 Long: -76.5029801 +[vectornav-1] [INFO] [1746049874.505296567] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.68, -3.329, 7.072) +[mux-7] [INFO] [1746049874.545046227] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049874.546058777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049874.546766894] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049874.548193010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049874.549351296] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049874.585403468] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049874.587174233] [sailbot.teensy]: Wind angle: 353 +[teensy-2] [INFO] [1746049874.588105732] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049874.588099579] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049874.588963605] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049874.589011673] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049874.589894972] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049874.645279701] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049874.646153284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049874.647610618] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049874.648425333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049874.649637742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049874.745077283] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049874.745740124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049874.746474650] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049874.747801094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049874.749028279] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049874.835250015] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049874.837687946] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049874.837925323] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049874.838591652] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049874.839195717] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049874.839514072] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049874.840420409] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049874.844599093] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049874.845152125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049874.845710977] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049874.846934564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049874.848269705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049874.944991530] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049874.945539716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049874.946289393] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049874.947300151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049874.948394903] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049875.002466213] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972752 Long: -76.50298023 +[vectornav-1] [INFO] [1746049875.003513624] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.68899999999996, -3.335, 7.146) +[mux-7] [INFO] [1746049875.045339344] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049875.045953886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049875.046852122] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049875.048428504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049875.049588252] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049875.085271601] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049875.087280086] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049875.087832329] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049875.088284361] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049875.089263418] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049875.090187937] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049875.090914334] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049875.145187314] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049875.145810613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049875.146607916] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049875.147988928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049875.149092372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049875.244986832] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049875.245585494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049875.246311384] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049875.247351455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049875.249143327] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049875.335604497] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049875.338248458] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049875.338977376] [sailbot.teensy]: Wind angle: 354 +[mux-7] [INFO] [1746049875.339718857] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049875.340108667] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049875.341022455] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049875.341857862] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049875.344431766] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049875.344920980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049875.345530263] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049875.346773557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049875.347810981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049875.445271104] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049875.446231334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049875.446763640] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049875.448614107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049875.449763067] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049875.503767992] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972745 Long: -76.50298012 +[vectornav-1] [INFO] [1746049875.505834111] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.679, -3.336, 7.128) +[mux-7] [INFO] [1746049875.544845071] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049875.545540003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049875.546101473] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049875.547488305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049875.548546149] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049875.585167576] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049875.587249709] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049875.587669000] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049875.588075122] [sailbot.teensy]: Wind angle: 354 +[teensy-2] [INFO] [1746049875.589144977] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049875.590005354] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049875.590851182] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049875.644950501] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049875.646040094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049875.646471408] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049875.648082753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049875.649187620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049875.745024532] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049875.745869110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049875.746401322] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049875.747721589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049875.748191498] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049875.835206243] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049875.837353619] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049875.837516775] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049875.838374085] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049875.839215255] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049875.839299791] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049875.840054373] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049875.844433368] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049875.845025091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049875.845501778] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049875.846752844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049875.847805740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049875.945090126] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049875.945849875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049875.946442964] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049875.949433716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049875.950442727] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049876.003438629] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972747 Long: -76.50298022 +[vectornav-1] [INFO] [1746049876.005158701] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.66999999999996, -3.339, 7.114) +[mux-7] [INFO] [1746049876.044892784] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049876.045614448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049876.046146303] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049876.047619038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049876.048738467] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049876.085391547] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049876.087474985] [sailbot.teensy]: Wind angle: 354 +[teensy-2] [INFO] [1746049876.088533722] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049876.087972569] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049876.089472850] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049876.089675695] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049876.090415583] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049876.144870171] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049876.145752746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049876.146145423] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049876.147590010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049876.148652321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049876.245059064] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049876.245735492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049876.246546267] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049876.247747770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049876.248569108] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049876.335272738] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049876.337595756] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049876.338481682] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049876.338936872] [sailbot.teensy]: Wind angle: 352 +[teensy-2] [INFO] [1746049876.339925988] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049876.340817696] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049876.341696483] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049876.344295610] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049876.344727068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049876.345385497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049876.346507900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049876.347571885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049876.444507503] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049876.445059242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049876.445611370] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049876.446663925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049876.447684493] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049876.502366771] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972755 Long: -76.50298019 +[vectornav-1] [INFO] [1746049876.503330419] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.663, -3.344, 7.084) +[mux-7] [INFO] [1746049876.545017497] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049876.545655465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049876.546358184] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049876.547484174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049876.548543029] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049876.585441214] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049876.587753343] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049876.587881059] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049876.588871510] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049876.589423944] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049876.589752990] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049876.590642872] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049876.645229666] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049876.646062122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049876.646850372] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049876.648235935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049876.649087779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049876.745012403] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049876.746129652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049876.746797107] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049876.748402069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049876.749004269] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049876.835328657] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049876.837023486] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049876.837890943] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049876.837389323] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049876.838321857] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049876.838723024] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049876.839508636] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049876.844355724] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049876.845002488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049876.845455197] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049876.846713718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049876.847737311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049876.945062865] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049876.945693078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049876.946424799] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049876.947481192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049876.948675586] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049877.003996972] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972763 Long: -76.50298017 +[vectornav-1] [INFO] [1746049877.005623407] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.661, -3.339, 7.116) +[mux-7] [INFO] [1746049877.045023501] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049877.046072821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049877.046545651] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049877.048081325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049877.049096237] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049877.085786121] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049877.087843013] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746049877.088499357] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049877.088919038] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049877.090642799] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049877.090868383] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049877.091717972] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049877.145086879] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049877.145787645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049877.146469575] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049877.147750005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049877.148937893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049877.245345578] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049877.246252001] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049877.246904732] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049877.248704594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049877.249779874] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049877.335560069] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049877.337633977] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746049877.338102534] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049877.338693129] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049877.339640537] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049877.339642990] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049877.340579357] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049877.344197178] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049877.345134369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049877.345281427] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049877.346896825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049877.348076308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049877.445484264] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049877.446328803] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049877.447072261] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049877.448579308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049877.449091188] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049877.503236310] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972781 Long: -76.50298048 +[vectornav-1] [INFO] [1746049877.504656133] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.651, -3.341, 7.114) +[mux-7] [INFO] [1746049877.545072175] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049877.545959275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049877.546563894] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049877.547867307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049877.548926901] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049877.585531231] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049877.587893251] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049877.588456496] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049877.589124942] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049877.590198322] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049877.591092740] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049877.591917392] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049877.645283521] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049877.645983461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049877.646851595] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049877.648460906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049877.649545177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049877.745489548] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049877.746293871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049877.747742464] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049877.748629457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049877.749808920] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049877.835395897] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049877.837282421] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049877.837818562] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049877.838254773] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049877.839203464] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049877.839915214] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049877.840058483] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049877.844682253] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049877.845040770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049877.845973953] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049877.846778667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049877.847938963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049877.945665101] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049877.946373322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049877.947379673] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049877.948666832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049877.949826779] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049878.002483310] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972776 Long: -76.50298079 +[vectornav-1] [INFO] [1746049878.003542743] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.655, -3.346, 7.149) +[mux-7] [INFO] [1746049878.045428446] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049878.046003984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049878.046961742] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049878.048264196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049878.049296987] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049878.085921342] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049878.088502380] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746049878.088886264] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049878.089630590] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049878.090650835] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049878.090804375] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049878.091539036] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049878.145427867] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049878.146357810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049878.147038906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049878.147972411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049878.148494047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049878.245459594] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049878.246201614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049878.247121781] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049878.248477712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049878.249109051] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049878.335549282] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049878.337638638] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049878.338671514] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049878.338916479] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049878.339563854] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049878.339592401] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049878.340515302] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049878.344434945] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049878.345252495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049878.345546461] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049878.347318121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049878.348468353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049878.445606960] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049878.446263356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049878.447205961] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049878.448251423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049878.448765670] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049878.503380288] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697279 Long: -76.50298055 +[vectornav-1] [INFO] [1746049878.505279352] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.649, -3.341, 7.143) +[mux-7] [INFO] [1746049878.545072382] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049878.545732533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049878.546483989] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049878.548452006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049878.549573667] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049878.585349568] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049878.587162793] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049878.588116284] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049878.587545072] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049878.588011504] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049878.589227548] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049878.590133885] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049878.645078656] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049878.645813778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049878.646549160] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049878.648071977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049878.649140477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049878.745534308] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049878.746954645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049878.747507817] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049878.749404447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049878.750540605] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049878.835358773] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049878.837285876] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049878.837771944] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049878.838298994] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049878.839223874] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049878.838951086] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049878.840252609] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049878.844334965] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049878.845253404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049878.845458037] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049878.846967634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049878.848044966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049878.945240863] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049878.946039926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049878.946733443] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049878.948578748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049878.949620129] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049879.003665587] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469728 Long: -76.50298075 +[vectornav-1] [INFO] [1746049879.005291372] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.63800000000003, -3.353, 7.087) +[mux-7] [INFO] [1746049879.044928369] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049879.045873284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049879.046298752] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049879.048010382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049879.049256289] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049879.085659741] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049879.088056599] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049879.088572073] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049879.089047345] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049879.089975085] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049879.090858103] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049879.091705635] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049879.145312992] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049879.146220299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049879.146838975] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049879.148512753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049879.149661713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049879.245043958] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049879.245623524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049879.246302146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049879.247429589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049879.248501168] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049879.335269947] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049879.337480301] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049879.337817821] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049879.338641856] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049879.338415730] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049879.339032289] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049879.339406155] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049879.344515795] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049879.344889351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049879.345962017] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049879.346554911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049879.347702036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049879.445592553] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049879.446413936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049879.447482648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049879.448312743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049879.448833142] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049879.502785696] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972808 Long: -76.50298083 +[vectornav-1] [INFO] [1746049879.503951395] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.632, -3.34, 7.12) +[mux-7] [INFO] [1746049879.545222950] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049879.545750817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049879.546688566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049879.547706967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049879.548894912] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049879.585741542] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049879.587875150] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049879.588823414] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049879.588983515] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049879.589953327] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049879.590720563] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049879.590813962] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049879.645026436] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049879.645795395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049879.646470305] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049879.647924376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049879.648811248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049879.745311127] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049879.746047633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049879.746820984] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049879.748020489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049879.748520720] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049879.835298865] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049879.836981983] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049879.837613850] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049879.837867935] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049879.838663160] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049879.838717535] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049879.839595241] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049879.844519952] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049879.844999792] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049879.845932462] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049879.846744442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049879.847774329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049879.945733369] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049879.946392194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049879.947624139] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049879.948702906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049879.949938847] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049880.003343179] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972826 Long: -76.50298071 +[vectornav-1] [INFO] [1746049880.004763384] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.625, -3.355, 7.077) +[mux-7] [INFO] [1746049880.045070025] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049880.045793261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049880.046397930] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049880.047638586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049880.048768973] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049880.085653796] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049880.088284113] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049880.089193031] [sailbot.teensy]: Wind angle: 349 +[mux-7] [INFO] [1746049880.089669692] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049880.090170622] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049880.091074257] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049880.091933664] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049880.144991982] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049880.145534384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049880.146690119] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049880.147909199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049880.148953449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049880.245667383] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049880.246344596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049880.247300450] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049880.249070091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049880.250067695] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049880.335350296] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049880.337750246] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049880.338561203] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049880.338941382] [sailbot.teensy]: Wind angle: 349 +[teensy-2] [INFO] [1746049880.339956387] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049880.340920363] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049880.341812537] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049880.344402121] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049880.345063726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049880.345512942] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049880.346780667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049880.347797192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049880.444943235] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049880.445738440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049880.446296773] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049880.447618606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049880.448842192] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049880.503549326] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972813 Long: -76.50298119 +[vectornav-1] [INFO] [1746049880.504838048] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.622, -3.348, 7.096) +[mux-7] [INFO] [1746049880.545555862] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049880.546594133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049880.547157426] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049880.549207751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049880.550258524] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049880.585552635] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049880.587967942] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049880.588118185] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746049880.589118512] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049880.589999520] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049880.590184252] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049880.590921829] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049880.645090135] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049880.646058925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049880.646605259] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049880.648355467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049880.649495719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049880.745387175] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049880.746036781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049880.746891762] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049880.748208194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049880.749260446] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049880.835906558] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049880.838838843] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049880.839313108] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049880.839889418] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746049880.840350034] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049880.840676947] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049880.840977063] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049880.844451797] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049880.844960226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049880.845564978] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049880.846670723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049880.847661392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049880.945648772] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049880.946617702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049880.947259047] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049880.948987296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049880.950243044] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049881.002373730] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972804 Long: -76.50298097 +[vectornav-1] [INFO] [1746049881.003516886] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.61699999999996, -3.343, 7.116) +[mux-7] [INFO] [1746049881.045251264] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049881.046321704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049881.046775142] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049881.048540985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049881.049599260] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049881.085609706] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049881.088316260] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049881.088912690] [sailbot.teensy]: Wind angle: 350 +[mux-7] [INFO] [1746049881.089112974] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049881.089868537] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049881.090808827] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049881.091654910] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049881.145335798] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049881.146328480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049881.146837386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049881.148500391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049881.149732708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049881.245056707] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049881.246188256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049881.246622446] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049881.247698900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049881.248197507] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049881.335442768] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049881.337966884] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049881.339115514] [sailbot.teensy]: Wind angle: 350 +[mux-7] [INFO] [1746049881.339531617] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049881.340112334] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049881.341160708] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049881.342186881] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049881.344304580] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049881.344965327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049881.345424180] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049881.346669625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049881.347680099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049881.445591947] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049881.446697356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049881.447236167] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049881.449058521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049881.449521872] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049881.503045960] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972804 Long: -76.50298052 +[vectornav-1] [INFO] [1746049881.504925816] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.61, -3.348, 7.109) +[mux-7] [INFO] [1746049881.544799460] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049881.545532375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049881.546008533] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049881.547540608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049881.548349927] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049881.585279492] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049881.586974721] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049881.587486508] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049881.587884995] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049881.588785832] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049881.589658569] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049881.589671249] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049881.645107438] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049881.645904053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049881.646643121] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049881.647887785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049881.649000575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049881.745536706] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049881.746523061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049881.747441386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049881.748556016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049881.749099390] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049881.835309233] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049881.837704219] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049881.838262699] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746049881.838747687] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049881.839139616] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049881.839285143] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049881.839514375] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049881.844580319] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049881.845323435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049881.846489859] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049881.847203395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049881.848504349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049881.945344251] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049881.946784346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049881.946985397] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049881.948984917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049881.950020286] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049882.003767265] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972805 Long: -76.50298055 +[vectornav-1] [INFO] [1746049882.005278046] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.6, -3.348, 7.1) +[mux-7] [INFO] [1746049882.045175230] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049882.045785832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049882.046617631] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049882.048062128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049882.049258705] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049882.085291754] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049882.087681957] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049882.087680181] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049882.088630126] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049882.088657994] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049882.089621322] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049882.090498960] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049882.145452691] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049882.146089802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049882.147026527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049882.148122861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049882.148677252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049882.245059485] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049882.245685898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049882.246476498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049882.247482651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049882.248249381] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049882.335316519] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049882.337207481] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049882.337979702] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049882.338190886] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049882.339110172] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049882.339122369] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049882.340051089] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049882.344473000] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049882.345069184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049882.345601285] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049882.346796943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049882.347937580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049882.445538624] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049882.446651010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049882.447112145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049882.448120685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049882.448689547] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049882.502539336] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972808 Long: -76.50298054 +[vectornav-1] [INFO] [1746049882.503628804] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.64599999999996, -3.33, 7.482) +[mux-7] [INFO] [1746049882.545238714] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049882.546137640] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049882.546877822] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049882.548591955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049882.549728170] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049882.585313992] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049882.587211092] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746049882.588787854] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049882.587647529] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049882.589532421] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049882.589696587] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049882.590607287] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049882.645414872] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049882.646076884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049882.646962419] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049882.648048116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049882.648605024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049882.745583216] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049882.746222299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049882.747411501] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049882.748237923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049882.748792482] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049882.835521549] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049882.837443845] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049882.838331692] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049882.838429036] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049882.839324761] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049882.839980549] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049882.840240893] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049882.844611848] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049882.845207508] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049882.845842735] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049882.846979995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049882.848142613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049882.945205999] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049882.946027764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049882.946658647] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049882.947967482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049882.949012159] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049883.002543597] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972805 Long: -76.50298071 +[vectornav-1] [INFO] [1746049883.003711434] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.63, -3.316, 7.435) +[mux-7] [INFO] [1746049883.045444067] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049883.046184805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049883.047012088] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049883.048605154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049883.049730410] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049883.085815805] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049883.088020099] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049883.088884096] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049883.089139720] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049883.090108768] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049883.090471843] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049883.091016928] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049883.145243495] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049883.146056188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049883.146832531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049883.148277647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049883.148700063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049883.244884689] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049883.245711350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049883.246193272] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049883.247625649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049883.248746456] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049883.335282493] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049883.337861703] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049883.338333432] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049883.339002492] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049883.339559356] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049883.340236021] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049883.340608338] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049883.344480605] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049883.345050540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049883.345994807] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049883.346850599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049883.347994732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049883.445001551] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049883.445719726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049883.446325275] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049883.447640033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049883.448395497] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049883.502259554] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972813 Long: -76.50298075 +[vectornav-1] [INFO] [1746049883.503188293] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.624, -3.313, 7.403) +[mux-7] [INFO] [1746049883.545390474] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049883.546042091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049883.547028431] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049883.548395751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049883.549447361] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049883.585651098] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049883.588509342] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049883.589048311] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049883.589405676] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049883.590345331] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049883.591255166] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049883.592207861] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049883.645143762] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049883.645957471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049883.646612486] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049883.648922468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049883.650028194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049883.745585351] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049883.746326046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049883.747334288] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049883.748554651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049883.748993911] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049883.835433267] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049883.837979384] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049883.838702632] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049883.838954132] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049883.839862712] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049883.840757417] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049883.841606943] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049883.844365244] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049883.844875533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049883.845829285] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049883.846573299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049883.847769321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049883.945148530] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049883.945791308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049883.946568870] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049883.947787737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049883.948816409] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049884.003432103] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972788 Long: -76.50298104 +[vectornav-1] [INFO] [1746049884.005325944] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.576, -3.299, 7.168) +[mux-7] [INFO] [1746049884.045369816] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049884.046208826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049884.047668170] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049884.048460712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049884.049560069] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049884.085267029] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049884.087491775] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049884.087566818] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049884.088475307] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049884.089366391] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049884.089595782] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049884.090256356] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049884.145082157] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049884.145829015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049884.146541967] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049884.147942118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049884.148972035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049884.245100049] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049884.245995542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049884.246711030] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049884.248296410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049884.249248680] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049884.335627987] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049884.337722973] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049884.338506346] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049884.338806613] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049884.338867288] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049884.339227255] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049884.339601915] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049884.344530090] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049884.345254153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049884.345637267] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049884.346971336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049884.348182489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049884.445329508] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049884.446142520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049884.447087480] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049884.448006518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049884.448545233] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049884.503399721] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972786 Long: -76.50298104 +[vectornav-1] [INFO] [1746049884.504972347] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.576, -3.332, 7.173) +[mux-7] [INFO] [1746049884.545065633] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049884.545759282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049884.546358013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049884.547683146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049884.548764091] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049884.585717412] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049884.588655783] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049884.589107904] [sailbot.teensy]: Wind angle: 339 +[mux-7] [INFO] [1746049884.589991112] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049884.590364575] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049884.591247591] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049884.592085661] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049884.645069884] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049884.645684964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049884.646476176] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049884.647631778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049884.649573596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049884.745496233] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049884.746018418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049884.747204746] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049884.748361635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049884.748864936] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049884.835310026] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049884.837319951] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049884.838354669] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049884.838581214] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049884.839180121] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049884.839252824] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049884.840195062] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049884.844575357] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049884.845214729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049884.845737765] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049884.846927661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049884.848135189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049884.945342055] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049884.945962243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049884.946887465] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049884.947999653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049884.949097121] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049885.003230650] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697276 Long: -76.50298097 +[vectornav-1] [INFO] [1746049885.004647366] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.571, -3.322, 7.174) +[mux-7] [INFO] [1746049885.045164665] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049885.045768945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049885.046554139] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049885.047678751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049885.048701717] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049885.085280389] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049885.087597323] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049885.088535678] [sailbot.teensy]: Wind angle: 342 +[mux-7] [INFO] [1746049885.089142407] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049885.089468645] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049885.090372427] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049885.091259810] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049885.144581252] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049885.145187570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049885.145783784] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049885.147052084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049885.148086582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049885.245294652] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049885.245850534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049885.246875766] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049885.247868036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049885.249241216] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049885.335669246] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049885.338470492] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049885.338593266] [sailbot.teensy]: Wind angle: 343 +[mux-7] [INFO] [1746049885.338887913] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049885.339006797] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049885.339390651] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049885.339804379] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049885.344644233] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049885.345165029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049885.345774594] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049885.346936192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049885.348019111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049885.445356023] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049885.446254704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049885.446942680] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049885.448589485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049885.449678751] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049885.502297424] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697275 Long: -76.50298096 +[vectornav-1] [INFO] [1746049885.503395126] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.56100000000004, -3.332, 7.131) +[mux-7] [INFO] [1746049885.545187677] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049885.545953326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049885.546557193] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049885.547729085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049885.548260920] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049885.585476628] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049885.587788552] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049885.588179051] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049885.588992818] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049885.589477857] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049885.590019171] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049885.590944939] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049885.645246160] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049885.646025975] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049885.647092298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049885.648819027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049885.650446470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049885.744850413] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049885.745552230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049885.746118902] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049885.747335008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049885.748439383] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049885.835485502] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049885.837567709] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049885.838532594] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049885.837883639] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049885.838922390] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049885.838987483] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049885.839294774] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049885.844643758] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049885.845332249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049885.845948845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049885.847101247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049885.848327935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049885.945524034] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049885.946240030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049885.947251007] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049885.948314079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049885.948949505] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049886.003170180] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972724 Long: -76.50298073 +[vectornav-1] [INFO] [1746049886.004448448] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.554, -3.339, 7.127) +[mux-7] [INFO] [1746049886.045100997] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049886.045743727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049886.046485764] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049886.047940306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049886.048952016] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049886.085330892] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049886.087551816] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049886.088053137] [sailbot.teensy]: Wind angle: 338 +[mux-7] [INFO] [1746049886.088878494] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049886.089420883] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049886.090432399] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049886.091286586] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049886.144986047] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049886.145507546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049886.146733826] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049886.147675169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049886.148909755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049886.245274744] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049886.246036769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049886.246952914] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049886.248012126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049886.249731340] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049886.335465796] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049886.338000310] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049886.338593366] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049886.338609498] [sailbot.teensy]: Wind angle: 338 +[teensy-2] [INFO] [1746049886.339593915] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049886.340548503] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049886.341446220] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049886.344614558] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049886.345019828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049886.345932058] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049886.346868683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049886.347928429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049886.445510885] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049886.446130865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049886.447076693] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049886.448332117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049886.449557921] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049886.502538710] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972723 Long: -76.50298071 +[vectornav-1] [INFO] [1746049886.503741956] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.547, -3.333, 7.19) +[mux-7] [INFO] [1746049886.545395450] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049886.546266845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049886.547028471] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049886.548725751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049886.549956542] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049886.585916262] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049886.588993355] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049886.590105788] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049886.589114070] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049886.589575683] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049886.591083696] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049886.591969919] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049886.645378262] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049886.646343127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049886.646968910] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049886.648668861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049886.650067559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049886.745209775] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049886.746004135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049886.746673109] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049886.748368723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049886.749431856] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049886.835511515] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049886.837695835] [sailbot.teensy]: Wind angle: 338 +[teensy-2] [INFO] [1746049886.838756774] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049886.839076817] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049886.839755303] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049886.840134909] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049886.840811050] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049886.844386587] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049886.844932109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049886.845556755] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049886.846747446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049886.847805613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049886.945211105] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049886.945970683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049886.946668490] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049886.948244432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049886.948855348] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049887.003173509] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972698 Long: -76.50298057 +[vectornav-1] [INFO] [1746049887.004725362] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.553, -3.335, 7.221) +[mux-7] [INFO] [1746049887.045517275] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049887.046353724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049887.047041648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049887.048923675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049887.049988395] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049887.085389050] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049887.087559873] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049887.087833416] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049887.088394697] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049887.088587916] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049887.089555154] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049887.090441766] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049887.145046139] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049887.145959886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049887.146895277] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049887.148346564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049887.149440303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049887.245208479] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049887.246131768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049887.246997534] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049887.248499117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049887.249525220] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049887.335220448] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049887.337338663] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746049887.337389642] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049887.338356082] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049887.339092967] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049887.339290038] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049887.340204171] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049887.344369610] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049887.345319891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049887.345859610] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049887.347115168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049887.348209591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049887.445688861] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049887.446685438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049887.447312679] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049887.449128440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049887.449706559] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049887.502670523] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972714 Long: -76.5029805 +[vectornav-1] [INFO] [1746049887.503824872] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.546, -3.336, 7.211) +[mux-7] [INFO] [1746049887.544860559] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049887.545616380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049887.546071454] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049887.547460223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049887.548614375] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049887.585683036] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049887.587868715] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049887.588499465] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049887.588981327] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049887.589916114] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049887.590058440] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049887.590826231] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049887.645921360] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049887.646246462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049887.647552742] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049887.648388440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049887.650181789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049887.745785415] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049887.746428193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049887.747680589] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049887.748931473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049887.750098477] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049887.835360100] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049887.837763398] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049887.838396631] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049887.838605362] [sailbot.teensy]: Wind angle: 349 +[teensy-2] [INFO] [1746049887.839571024] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049887.840422564] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049887.840804940] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049887.844567616] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049887.845009434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049887.845769334] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049887.846715825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049887.847795865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049887.945264413] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049887.945840039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049887.946893283] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049887.948941025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049887.950080108] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049888.003606863] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972691 Long: -76.50298047 +[vectornav-1] [INFO] [1746049888.005041788] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.539, -3.341, 7.194) +[mux-7] [INFO] [1746049888.045395440] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049888.045852798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049888.047191063] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049888.048190067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049888.049345954] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049888.085405418] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049888.088045513] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049888.088118881] [sailbot.teensy]: Wind angle: 353 +[teensy-2] [INFO] [1746049888.089092270] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049888.089252216] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049888.090017098] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049888.090895048] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049888.144791331] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049888.146017308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049888.146290639] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049888.147765544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049888.148934332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049888.245002275] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049888.245783301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049888.246329969] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049888.248116503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049888.249147734] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049888.335413714] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049888.337534098] [sailbot.teensy]: Wind angle: 353 +[trim_sail-4] [INFO] [1746049888.338277634] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049888.339166793] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049888.340002905] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049888.341148621] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049888.341981848] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049888.344380620] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049888.344885327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049888.345514643] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049888.346535420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049888.347705989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049888.445373252] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049888.446303658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049888.446999970] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049888.448559424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049888.449808946] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049888.503149404] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972676 Long: -76.50298057 +[vectornav-1] [INFO] [1746049888.504790192] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.53, -3.338, 7.212) +[mux-7] [INFO] [1746049888.544955744] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049888.545746632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049888.546302566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049888.547758100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049888.548944977] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049888.585367295] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049888.587822516] [sailbot.teensy]: Wind angle: 353 +[trim_sail-4] [INFO] [1746049888.587893419] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049888.588815455] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049888.589287470] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049888.589686762] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049888.590590177] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049888.645179321] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049888.646250000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049888.646651305] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049888.648361414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049888.649472845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049888.745281410] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049888.746090555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049888.746942097] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049888.748344907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049888.748842998] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049888.835464679] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049888.838158146] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049888.838371552] [sailbot.teensy]: Wind angle: 352 +[mux-7] [INFO] [1746049888.838623939] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049888.839358573] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049888.839778807] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049888.840134303] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049888.844367649] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049888.845030259] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049888.845763219] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049888.846719213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049888.847876426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049888.945395548] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049888.946213786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049888.947106964] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049888.948767441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049888.949903644] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049889.002502851] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972664 Long: -76.50298062 +[vectornav-1] [INFO] [1746049889.003796369] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.52, -3.339, 7.188) +[mux-7] [INFO] [1746049889.045428214] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049889.046279653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049889.047019621] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049889.048521994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049889.049013684] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049889.085322746] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049889.087698500] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049889.087754235] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049889.088743334] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049889.089312281] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049889.089607642] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049889.090502807] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049889.145137869] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049889.146027461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049889.146939005] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049889.148380567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049889.149470892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049889.245425137] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049889.246178929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049889.247009035] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049889.247889968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049889.248362034] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049889.335264934] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049889.337345827] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049889.337940512] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049889.339624271] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049889.339652342] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049889.340602810] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049889.341447147] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049889.344421326] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049889.344860801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049889.345823900] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049889.346751258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049889.347962455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049889.445553753] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049889.446363766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049889.447193225] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049889.448779788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049889.449966569] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049889.503573783] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972655 Long: -76.50298061 +[vectornav-1] [INFO] [1746049889.505023169] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.517, -3.333, 7.222) +[mux-7] [INFO] [1746049889.544996660] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049889.545707030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049889.546346603] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049889.547879034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049889.549396999] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049889.585396698] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049889.587807943] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049889.587946008] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049889.588691102] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049889.588777800] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049889.589793504] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049889.590752997] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049889.645345798] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049889.646014178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049889.647035763] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049889.648098269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049889.648953512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049889.745351440] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049889.746155730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049889.746929156] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049889.748214587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049889.749376832] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049889.835249115] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049889.837621628] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049889.837978744] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049889.838433893] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049889.839364427] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049889.840260337] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049889.841103363] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049889.844511193] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049889.844999077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049889.845645539] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049889.846710376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049889.848581484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049889.945521793] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049889.946130787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049889.947286447] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049889.948420913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049889.949681331] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049890.002573730] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972645 Long: -76.50298074 +[vectornav-1] [INFO] [1746049890.003766769] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.497, -3.323, 7.214) +[mux-7] [INFO] [1746049890.045584220] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049890.046350038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049890.047209004] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049890.048628643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049890.049640121] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049890.085915780] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049890.088468768] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746049890.089007695] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049890.089615994] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049890.090636310] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049890.091118985] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049890.091625340] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049890.145453885] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049890.146270512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049890.147062991] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049890.148670686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049890.149852084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049890.245632232] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049890.246282445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049890.247440620] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049890.248361862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049890.248948144] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049890.335342350] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049890.337222376] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049890.337600486] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049890.338156556] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049890.338793932] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049890.339033577] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049890.339183124] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049890.344486291] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049890.345015353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049890.345648125] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049890.346737812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049890.347750628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049890.445763390] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049890.446418855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049890.447452051] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049890.450067215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049890.451280310] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049890.503351785] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972627 Long: -76.50298092 +[vectornav-1] [INFO] [1746049890.504886396] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.495, -3.32, 7.224) +[mux-7] [INFO] [1746049890.544994494] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049890.545838119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049890.546333678] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049890.547922868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049890.549050693] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049890.585237516] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049890.586884155] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049890.587484089] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049890.587776505] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049890.588604385] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049890.588642278] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049890.589548201] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049890.645829757] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049890.646312322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049890.647300105] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049890.648021554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049890.648541990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049890.745320715] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049890.746164378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049890.746925669] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049890.748521074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049890.749702124] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049890.835635203] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049890.838539547] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049890.839224730] [sailbot.teensy]: Wind angle: 338 +[mux-7] [INFO] [1746049890.839269124] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049890.840224633] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049890.840945228] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049890.841314975] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049890.844466078] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049890.845160054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049890.845967995] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049890.847047127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049890.848103514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049890.945189616] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049890.945828463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049890.946529340] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049890.948072406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049890.949084059] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049891.003188145] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972605 Long: -76.50298098 +[vectornav-1] [INFO] [1746049891.005037182] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.488, -3.315, 7.228) +[mux-7] [INFO] [1746049891.045309745] [sailbot.mux]: Published sail angle from controller_app: 28 +[mux-7] [INFO] [1746049891.046780413] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049891.047780576] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049891.049612392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049891.050704085] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049891.085615747] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049891.087987615] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049891.088041336] [sailbot.teensy]: Wind angle: 337 +[teensy-2] [INFO] [1746049891.089160725] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049891.089278274] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049891.090264587] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049891.091151645] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049891.145058014] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049891.145714850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049891.146779020] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049891.147712111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049891.148939830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049891.245429303] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049891.246153667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049891.247033255] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049891.247835909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049891.248407790] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049891.335514518] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049891.338171382] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049891.338580531] [sailbot.teensy]: Wind angle: 337 +[mux-7] [INFO] [1746049891.339109166] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049891.339152629] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049891.339540029] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049891.339975817] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049891.344318858] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049891.344907350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049891.345742560] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049891.346628719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049891.347655170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049891.445259125] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049891.446165074] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049891.446748882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049891.448348394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049891.449492042] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049891.503509500] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972594 Long: -76.50298111 +[vectornav-1] [INFO] [1746049891.504914069] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.48, -3.324, 7.216) +[mux-7] [INFO] [1746049891.545476686] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049891.546311798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049891.547058529] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049891.548702705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049891.549954875] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049891.585546791] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049891.587326826] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049891.588365750] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049891.588794020] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049891.589095562] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049891.589319619] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049891.590219472] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049891.645394445] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049891.646489111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049891.647118258] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049891.648844193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049891.650041900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049891.745265711] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049891.745974839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049891.747114167] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049891.748034719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049891.749285152] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049891.835301233] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049891.837860739] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049891.838606934] [sailbot.teensy]: Wind angle: 337 +[mux-7] [INFO] [1746049891.838763027] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049891.839028032] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049891.839429076] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049891.839990470] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049891.844490661] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049891.845053834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049891.845989036] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049891.846991036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049891.848089357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049891.945589183] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049891.946663233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049891.947365358] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049891.949208964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049891.950506761] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049892.002574655] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972582 Long: -76.5029812 +[vectornav-1] [INFO] [1746049892.003653524] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.474, -3.333, 7.275) +[mux-7] [INFO] [1746049892.045260011] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049892.046101204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049892.046769511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049892.048272555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049892.049273686] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049892.085247530] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049892.086981516] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049892.087676349] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049892.087962468] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049892.088898099] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049892.089179363] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049892.089805644] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049892.143861521] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049892.144424601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049892.144648783] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049892.145821156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049892.146617077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049892.245283107] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049892.245939721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049892.246747371] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049892.247673999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049892.248218508] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049892.335391793] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049892.337495433] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049892.338368837] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049892.338572427] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049892.339530440] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049892.340371690] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049892.340732394] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049892.344390769] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049892.344919611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049892.345757653] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049892.346679733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049892.347713683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049892.445636090] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049892.446181303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049892.447370128] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049892.448438051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049892.449074383] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049892.502626864] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972577 Long: -76.50298143 +[vectornav-1] [INFO] [1746049892.503961032] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.472, -3.33, 7.316) +[mux-7] [INFO] [1746049892.545300487] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049892.546149462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049892.546871963] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049892.548536835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049892.549060355] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049892.585504278] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049892.588130911] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049892.588427517] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049892.589413372] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049892.590370687] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049892.590637625] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049892.591251278] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049892.645193319] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049892.646121283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049892.646747450] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049892.648663903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049892.650328793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049892.745235654] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049892.745965820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049892.746572421] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049892.748070361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049892.749237735] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049892.835503738] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049892.838688383] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049892.839152598] [sailbot.teensy]: Wind angle: 346 +[mux-7] [INFO] [1746049892.839440044] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049892.840132150] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049892.841170270] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049892.841853393] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049892.844366513] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049892.844908415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049892.845443080] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049892.846660101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049892.847851155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049892.944925234] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049892.945811117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049892.946195397] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049892.947635201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049892.948776056] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049893.003422122] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972572 Long: -76.50298151 +[vectornav-1] [INFO] [1746049893.004871128] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.466, -3.329, 7.281) +[mux-7] [INFO] [1746049893.045291909] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049893.046111567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049893.046781760] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049893.048259247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049893.049428798] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049893.085742478] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049893.087976187] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049893.088783979] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049893.089039942] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049893.090023880] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049893.090398788] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049893.090926926] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049893.145555686] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049893.145863431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049893.147147854] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049893.147965892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049893.148802949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049893.245178130] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049893.245981916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049893.246690976] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049893.247859845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049893.248974819] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049893.335379683] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049893.337792985] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049893.338006256] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049893.338934065] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049893.339752676] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049893.339822356] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049893.341135871] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049893.344361245] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049893.344970239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049893.345460289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049893.346794245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049893.347836273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049893.445899159] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049893.447026005] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049893.447922891] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049893.449396573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049893.450629508] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049893.502866615] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697256 Long: -76.50298173 +[vectornav-1] [INFO] [1746049893.504341139] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.404, -3.358, 6.81) +[mux-7] [INFO] [1746049893.545412399] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049893.546484338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049893.546970679] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049893.548810250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049893.549994262] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049893.585497673] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049893.588141142] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049893.589081908] [sailbot.teensy]: Wind angle: 348 +[mux-7] [INFO] [1746049893.589428219] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049893.590030250] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049893.590920561] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049893.591796550] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049893.645214471] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049893.645775925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049893.646661102] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049893.647966052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049893.649285896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049893.745180828] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049893.745938823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049893.746989958] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049893.747871800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049893.748653085] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049893.835717168] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049893.838536054] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049893.839613159] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049893.840179424] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049893.840830450] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049893.841206855] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049893.841567009] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049893.844345692] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049893.844849817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049893.845454706] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049893.846692973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049893.847832574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049893.945245078] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049893.946042159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049893.946881977] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049893.948260493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049893.948819110] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049894.002769274] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972543 Long: -76.50298191 +[vectornav-1] [INFO] [1746049894.004359170] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.43100000000004, -3.348, 7.129) +[mux-7] [INFO] [1746049894.044820096] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049894.045680876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049894.046012234] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049894.047495624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049894.048559656] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049894.085443158] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049894.087759889] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049894.088003057] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049894.088787533] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049894.089702840] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049894.089928827] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049894.090560401] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049894.145045933] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049894.145700640] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049894.146401155] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049894.147674441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049894.148890543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049894.245012315] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049894.245788895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049894.246331208] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049894.247571292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049894.249182075] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049894.335415322] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049894.337913184] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049894.338207811] [sailbot.teensy]: Wind angle: 348 +[mux-7] [INFO] [1746049894.338513790] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049894.339133121] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049894.340006543] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049894.340867234] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049894.344354179] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049894.345272374] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049894.345596393] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049894.346948978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049894.347971557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049894.445552180] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049894.446428937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049894.447705226] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049894.448207151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049894.448755739] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049894.503756120] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697253 Long: -76.50298202 +[vectornav-1] [INFO] [1746049894.505987916] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.426, -3.366, 7.091) +[mux-7] [INFO] [1746049894.544743687] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049894.545547691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049894.546120184] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049894.547394407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049894.548551786] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049894.585324721] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049894.587138758] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049894.588089102] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049894.588076840] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049894.589015589] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049894.589147601] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049894.589887119] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049894.645078429] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049894.645906743] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049894.646494673] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049894.647852905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049894.649036223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049894.745268127] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049894.745961175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049894.747075583] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049894.748385257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049894.749249741] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049894.835167660] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049894.837437233] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049894.838005937] [sailbot.teensy]: Wind angle: 349 +[mux-7] [INFO] [1746049894.838661281] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049894.839375511] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049894.840339003] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049894.841179922] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049894.844439145] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049894.844956559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049894.845615855] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049894.846643036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049894.847831070] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049894.945242161] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049894.945776494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049894.946620282] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049894.947547892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049894.948763383] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049895.003068575] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972528 Long: -76.50298206 +[vectornav-1] [INFO] [1746049895.004486396] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.422, -3.364, 7.108) +[mux-7] [INFO] [1746049895.044986089] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049895.045742924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049895.046315878] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049895.047864937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049895.049050858] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049895.085548689] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049895.087550938] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049895.088238124] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049895.088594026] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049895.089479488] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049895.089445366] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049895.090379806] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049895.145011239] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049895.146035738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049895.146257079] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049895.148017340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049895.149195761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049895.245120436] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049895.245754008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049895.246598414] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049895.247624624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049895.248160128] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049895.335346885] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049895.337228154] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049895.338048833] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049895.338172715] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049895.339062448] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049895.339095855] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049895.340394639] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049895.344545169] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049895.345420252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049895.345757561] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049895.347192126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049895.348252199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049895.445000249] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049895.445668585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049895.446345886] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049895.447494207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049895.448613956] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049895.503042181] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972523 Long: -76.5029822 +[vectornav-1] [INFO] [1746049895.504423961] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.41200000000003, -3.368, 7.085) +[mux-7] [INFO] [1746049895.545255627] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049895.546150153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049895.546762549] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049895.548091274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049895.548854686] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049895.585234797] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049895.587297143] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049895.587428597] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049895.588285800] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049895.588726392] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049895.589165791] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049895.590040371] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049895.644942371] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049895.645575654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049895.646380168] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049895.647432637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049895.648528041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049895.745493309] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049895.746397704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049895.747270623] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049895.748142052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049895.748696687] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049895.835286292] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049895.837750400] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049895.838366847] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049895.838685412] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049895.839059996] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049895.839566447] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049895.840418595] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049895.844345982] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049895.844861702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049895.845471410] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049895.847042876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049895.848077622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049895.945149668] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049895.946612385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049895.947267596] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049895.948251172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049895.948754033] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049896.003367032] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972503 Long: -76.50298243 +[vectornav-1] [INFO] [1746049896.004832805] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.409, -3.363, 7.115) +[mux-7] [INFO] [1746049896.045019204] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049896.045959361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049896.046392334] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049896.047829466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049896.048833487] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049896.085245406] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049896.086909255] [sailbot.teensy]: Wind angle: 358 +[trim_sail-4] [INFO] [1746049896.087715770] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049896.087820734] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049896.088721155] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049896.089007497] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049896.089618237] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049896.144791332] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049896.145469464] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049896.146005926] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049896.147271626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049896.148351802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049896.245415048] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049896.246312347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049896.247091083] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049896.248627036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049896.249061135] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049896.335288944] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049896.337190558] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049896.337991749] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049896.338153643] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049896.339028172] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049896.339105148] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049896.339886381] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049896.344443456] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049896.345501225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049896.345584037] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049896.347517699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049896.348590243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049896.445655873] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049896.446459152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049896.447591646] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049896.448865857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049896.449352553] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049896.502653892] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697251 Long: -76.50298235 +[vectornav-1] [INFO] [1746049896.503707345] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.404, -3.361, 7.115) +[mux-7] [INFO] [1746049896.545356161] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049896.546790850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049896.546956876] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049896.548910917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049896.550220069] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049896.585556542] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049896.587677142] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049896.588210899] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049896.588761100] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049896.589738976] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049896.590097749] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049896.590750447] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049896.645208246] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049896.645978273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049896.646777423] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049896.648531716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049896.649037197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049896.745462880] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049896.746440011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049896.747076742] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049896.748399375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049896.748916504] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049896.835225014] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049896.836933993] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049896.837434931] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049896.837861785] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049896.838743801] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049896.838866098] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049896.839628997] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049896.844269525] [sailbot.mux]: Published sail angle from controller_app: 28 +[mux-7] [INFO] [1746049896.845352155] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049896.845359556] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049896.847026218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049896.848065456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049896.944789001] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049896.945599928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049896.946077106] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049896.947450958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049896.948491007] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049897.002430373] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469725 Long: -76.50298246 +[vectornav-1] [INFO] [1746049897.003574553] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.399, -3.356, 7.14) +[mux-7] [INFO] [1746049897.045121258] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049897.045750562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049897.046402357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049897.047570306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049897.048844051] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049897.085431200] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049897.087274178] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049897.088246904] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049897.087845699] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049897.088820712] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049897.088822069] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049897.089192211] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049897.145441439] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049897.146191882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049897.147172898] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049897.148653650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049897.149966379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049897.245308283] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049897.246168327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049897.246849409] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049897.248127378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049897.248657529] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049897.335295367] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049897.337835411] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049897.338391051] [sailbot.teensy]: Wind angle: 339 +[mux-7] [INFO] [1746049897.338445517] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049897.339409489] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049897.340122010] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049897.340474406] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049897.344434381] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049897.345415433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049897.345857588] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049897.347179075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049897.348337318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049897.445269152] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049897.446144287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049897.446804920] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049897.448283956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049897.448856969] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049897.503265557] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972512 Long: -76.50298238 +[vectornav-1] [INFO] [1746049897.504512173] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.395, -3.355, 7.146) +[mux-7] [INFO] [1746049897.544854537] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049897.545603372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049897.546011658] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049897.547379713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049897.548582938] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049897.585173598] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049897.586877827] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049897.587695448] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049897.587152661] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049897.587685386] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049897.588582918] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049897.589455972] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049897.645411200] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049897.646405795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049897.647272012] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049897.648285372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049897.648841458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049897.745446092] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049897.746513218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049897.747113663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049897.748931773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049897.750142900] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049897.835441365] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049897.837824271] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049897.838299265] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049897.838705375] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049897.839425027] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049897.839798188] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049897.840179935] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049897.844336420] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049897.845016725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049897.845617495] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049897.846805625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049897.847843494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049897.945452246] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049897.946151907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049897.947106121] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049897.948661476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049897.949831829] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049898.003168392] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972506 Long: -76.50298244 +[vectornav-1] [INFO] [1746049898.004962603] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.40999999999997, -3.345, 7.322) +[mux-7] [INFO] [1746049898.045278455] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049898.046254876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049898.047024479] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049898.048325100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049898.048843849] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049898.085362561] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049898.087609937] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049898.087727524] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049898.088879598] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049898.089368363] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049898.089896192] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049898.090755777] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049898.145149207] [sailbot.mux]: Published sail angle from controller_app: 28 +[mux-7] [INFO] [1746049898.146452577] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049898.148632534] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049898.150214493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049898.151131730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049898.245763708] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049898.246282475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049898.247463611] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049898.248659039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049898.249223002] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049898.335270558] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049898.337204467] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049898.337835747] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049898.338188258] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049898.339091378] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049898.339413018] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049898.339937499] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049898.344732685] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049898.345220579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049898.345926686] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049898.347015532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049898.348143411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049898.445431018] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049898.446365811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049898.447057104] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049898.448922501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049898.450049694] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049898.502952213] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972509 Long: -76.50298229 +[vectornav-1] [INFO] [1746049898.504422618] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.402, -3.348, 7.319) +[mux-7] [INFO] [1746049898.545651876] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049898.546713336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049898.547259126] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049898.549062116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049898.550156410] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049898.585853906] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049898.588740287] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049898.588795866] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049898.589803674] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049898.590383477] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049898.590866906] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049898.592027772] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049898.645664793] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049898.646491338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049898.647683211] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049898.649568185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049898.650823620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049898.745454622] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049898.746315491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049898.747188170] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049898.748965879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049898.749474298] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049898.835158242] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049898.836816265] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049898.837310393] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049898.838612520] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049898.838858169] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049898.839652402] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049898.840606511] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049898.844481715] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049898.845175599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049898.845606143] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049898.846934439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049898.847958260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049898.944349837] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049898.945273798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049898.945380479] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049898.947011393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049898.948141862] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049899.002539157] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972522 Long: -76.50298221 +[vectornav-1] [INFO] [1746049899.003634490] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.397, -3.348, 7.321) +[mux-7] [INFO] [1746049899.045205989] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049899.046023476] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049899.046747442] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049899.048045040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049899.048565897] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049899.085619922] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049899.087635911] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049899.088679218] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049899.088683348] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049899.089634530] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049899.090509540] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049899.090586393] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746049899.145055058] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049899.146034683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049899.146553729] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049899.148313253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049899.149401400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049899.245732722] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049899.246572033] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049899.247482157] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049899.249130310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049899.250293254] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049899.335570001] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049899.337838624] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049899.338468672] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049899.338791936] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049899.339164424] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049899.339709418] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049899.340671481] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049899.344573133] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049899.345233080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049899.345805301] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049899.347130385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049899.348174332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049899.445618731] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049899.446343120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049899.447229099] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049899.448334593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049899.448885526] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049899.503893334] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972532 Long: -76.50298213 +[vectornav-1] [INFO] [1746049899.505545726] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.392, -3.354, 7.291) +[mux-7] [INFO] [1746049899.544964729] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049899.545879075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049899.546376815] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049899.547836037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049899.548567149] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049899.585416455] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049899.587738419] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049899.587920528] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049899.588721193] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049899.589657933] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049899.590105561] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049899.590514501] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049899.645355091] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049899.646171531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049899.646990659] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049899.648347092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049899.649695540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049899.745350316] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049899.746342141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049899.746940866] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049899.748534064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049899.749649298] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049899.835179131] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049899.837216235] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049899.837455454] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049899.838722592] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049899.839245467] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049899.840248078] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049899.841195403] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049899.844291850] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049899.844974613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049899.845509621] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049899.846876905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049899.847933234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049899.945279715] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049899.946421235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049899.946830955] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049899.948802340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049899.949923017] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049900.003598999] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697255 Long: -76.50298223 +[vectornav-1] [INFO] [1746049900.004859545] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.389, -3.351, 7.292) +[mux-7] [INFO] [1746049900.044953808] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049900.045701035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049900.046280551] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049900.047654333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049900.048762722] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049900.085420802] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049900.087290423] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049900.088331219] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049900.089258400] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049900.088355013] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049900.089086030] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049900.090122597] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049900.145260399] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049900.145922165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049900.146792357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049900.148274250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049900.148875666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049900.245334663] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049900.246031616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049900.247005156] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049900.248293402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049900.249026149] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049900.335281997] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049900.337138165] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049900.337629718] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049900.338067846] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049900.338997726] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049900.339634152] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049900.339872224] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049900.344374921] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049900.345127356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049900.345534005] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049900.346864645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049900.348007717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049900.445306700] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049900.446215688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049900.446867855] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049900.448294806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049900.448816588] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049900.502696261] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697256 Long: -76.50298228 +[vectornav-1] [INFO] [1746049900.503762920] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.382, -3.352, 7.286) +[mux-7] [INFO] [1746049900.545168704] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049900.546139964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049900.546591927] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049900.548228644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049900.549271450] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049900.585084757] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049900.587066657] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049900.587176529] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049900.588018925] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049900.588902084] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049900.588974989] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049900.589865373] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049900.645532672] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049900.646399787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049900.647583722] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049900.649164943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049900.650351737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049900.745424239] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049900.746501110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049900.747127592] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049900.748234369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049900.748751428] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049900.835369942] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049900.837270718] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049900.838109364] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049900.838253215] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049900.839136217] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049900.839135875] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049900.840039966] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049900.844566757] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049900.845398244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049900.845889182] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049900.847195060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049900.848300112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049900.944810095] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049900.945531512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049900.945947157] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049900.947365858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049900.948421830] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049901.003284210] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972567 Long: -76.5029824 +[vectornav-1] [INFO] [1746049901.004795021] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.378, -3.354, 7.27) +[mux-7] [INFO] [1746049901.045052312] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049901.045794243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049901.046370541] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049901.047840162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049901.048898369] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049901.085249126] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049901.087162137] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049901.088203155] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049901.087577938] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049901.089205545] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049901.089371092] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049901.090260124] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049901.145619927] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049901.146448042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049901.147347759] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049901.148810005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049901.150026853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049901.245354676] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049901.246199158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049901.246905983] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049901.248413175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049901.248950349] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049901.335544191] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049901.338146810] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049901.338273992] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049901.339133318] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049901.340069153] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049901.340558388] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049901.340937971] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049901.344331454] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049901.345014640] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049901.345461536] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049901.346812861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049901.347843095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049901.445571348] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049901.446517207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049901.447242080] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049901.447989161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049901.448447774] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049901.503408739] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972566 Long: -76.50298247 +[vectornav-1] [INFO] [1746049901.505329186] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.371, -3.358, 7.269) +[mux-7] [INFO] [1746049901.544972673] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049901.545672287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049901.546285329] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049901.547526130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049901.548593442] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049901.585198826] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049901.587417708] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049901.587949370] [sailbot.teensy]: Wind angle: 350 +[mux-7] [INFO] [1746049901.588213977] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049901.588997065] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049901.589940343] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049901.590837255] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049901.645149254] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049901.645866058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049901.646835972] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049901.648222757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049901.649282606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049901.745392132] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049901.746187926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049901.747076160] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049901.748666612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049901.749324222] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049901.835833045] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049901.838066608] [sailbot.teensy]: Wind angle: 353 +[trim_sail-4] [INFO] [1746049901.838736184] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049901.839170173] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049901.840211395] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049901.840689355] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049901.840708783] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049901.844516632] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049901.845082842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049901.846042369] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049901.847036691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049901.848096418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049901.945698838] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049901.946473369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049901.947523796] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049901.948830649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049901.949369317] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049902.003398762] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972581 Long: -76.50298242 +[vectornav-1] [INFO] [1746049902.004666979] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.36400000000003, -3.354, 7.278) +[mux-7] [INFO] [1746049902.045443705] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049902.046151692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049902.047069984] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049902.048834216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049902.050104844] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049902.085241753] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049902.087364532] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049902.087624318] [sailbot.teensy]: Wind angle: 353 +[teensy-2] [INFO] [1746049902.088649360] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049902.089609692] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049902.090348779] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049902.090501704] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049902.144958842] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049902.145663083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049902.146189239] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049902.147441235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049902.148468162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049902.245523524] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049902.246404122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049902.247214428] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049902.248297016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049902.248826160] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049902.335282935] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049902.337313983] [sailbot.teensy]: Wind angle: 353 +[trim_sail-4] [INFO] [1746049902.337792886] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049902.338302096] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049902.339203985] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049902.340138604] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049902.339332100] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049902.344446505] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049902.345050374] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049902.345663568] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049902.346824793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049902.348605844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049902.445290248] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049902.446211118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049902.446884936] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049902.447916430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049902.448447491] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049902.502741702] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697257 Long: -76.50298264 +[vectornav-1] [INFO] [1746049902.503817592] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.35900000000004, -3.358, 7.273) +[mux-7] [INFO] [1746049902.545309033] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049902.546079422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049902.546849484] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049902.548377207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049902.549565116] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049902.585247602] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049902.587525081] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049902.588090135] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049902.588551649] [sailbot.teensy]: Wind angle: 354 +[teensy-2] [INFO] [1746049902.589452485] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049902.590314781] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049902.591154973] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049902.645182571] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049902.646140886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049902.646725123] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049902.648107739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049902.649193838] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049902.744949879] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049902.745532164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049902.746477509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049902.747268264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049902.748376604] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049902.835222586] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049902.837156887] [sailbot.teensy]: Wind angle: 353 +[trim_sail-4] [INFO] [1746049902.837655162] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049902.838085841] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049902.838309247] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049902.839002207] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049902.839884184] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049902.844588898] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049902.845140060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049902.845990438] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049902.847266462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049902.848389148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049902.944853784] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049902.945177839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049902.945358977] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049902.945977006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049902.946705151] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049903.002527108] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972574 Long: -76.50298259 +[vectornav-1] [INFO] [1746049903.003548468] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.352, -3.359, 7.281) +[mux-7] [INFO] [1746049903.045459023] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049903.046272704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049903.046836863] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049903.048902581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049903.050170785] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049903.085960989] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049903.088928123] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049903.090321063] [sailbot.teensy]: Wind angle: 353 +[mux-7] [INFO] [1746049903.090464711] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049903.091496193] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049903.092489254] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049903.093365728] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049903.145547316] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049903.146355798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049903.147226585] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049903.148839534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049903.150075113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049903.245000962] [sailbot.mux]: Published sail angle from controller_app: 28 +[mux-7] [INFO] [1746049903.246331928] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049903.246464180] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049903.247719828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049903.248196215] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049903.335238927] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049903.337527701] [sailbot.teensy]: Wind angle: 353 +[trim_sail-4] [INFO] [1746049903.337557977] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049903.338837133] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049903.339788731] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049903.340858688] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049903.341795339] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049903.344380760] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049903.344725926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049903.345487065] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049903.346365982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049903.347448395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049903.445139639] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049903.446252570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049903.446609585] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049903.448923262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049903.450082483] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049903.503191780] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972577 Long: -76.50298269 +[vectornav-1] [INFO] [1746049903.504747580] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.346, -3.35, 7.292) +[mux-7] [INFO] [1746049903.544923899] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049903.545639503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049903.546237575] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049903.547936621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049903.549142985] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049903.585368446] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049903.587402423] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049903.587862326] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049903.588652337] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049903.589568474] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049903.589546202] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049903.590441409] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049903.645136900] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049903.645827633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049903.646593178] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049903.648012517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049903.649330767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049903.745464134] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049903.746013440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049903.747146086] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049903.748215337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049903.749454126] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049903.835270654] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049903.837012069] [sailbot.teensy]: Wind angle: 353 +[trim_sail-4] [INFO] [1746049903.837458578] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049903.837935242] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049903.838842483] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049903.838869167] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049903.839763911] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049903.844384872] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049903.844992989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049903.845819806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049903.846783221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049903.847840346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049903.945528084] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049903.946481234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049903.947496824] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049903.947979691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049903.948480364] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049904.003783462] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972588 Long: -76.50298287 +[vectornav-1] [INFO] [1746049904.005248107] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.337, -3.347, 7.302) +[mux-7] [INFO] [1746049904.044869750] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049904.045662015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049904.046237145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049904.047589567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049904.048748975] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049904.085214799] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049904.087718636] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049904.088389119] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049904.088848687] [sailbot.teensy]: Wind angle: 354 +[teensy-2] [INFO] [1746049904.089779142] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049904.090627741] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049904.091511151] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049904.144977955] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049904.145911006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049904.146289650] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049904.147949827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049904.149066936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049904.244985922] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049904.245592572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049904.246767522] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049904.247443393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049904.248517744] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049904.335557537] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049904.338021661] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049904.338456149] [sailbot.teensy]: Wind angle: 354 +[teensy-2] [INFO] [1746049904.339421079] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049904.339519324] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049904.340335019] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049904.341225986] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049904.344684749] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049904.345163852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049904.346235143] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049904.346901983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049904.347988977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049904.444800909] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049904.445258423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049904.446108593] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049904.447041107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049904.448236438] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049904.503900328] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972588 Long: -76.50298284 +[vectornav-1] [INFO] [1746049904.505995095] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.332, -3.345, 7.301) +[mux-7] [INFO] [1746049904.545113125] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049904.545900726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049904.546503035] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049904.547793249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049904.548825212] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049904.585375248] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049904.587514657] [sailbot.teensy]: Wind angle: 353 +[teensy-2] [INFO] [1746049904.588503790] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049904.587918220] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049904.589215232] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049904.589380119] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049904.590258234] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049904.645126343] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049904.645749659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049904.646468803] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049904.647668814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049904.648263930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049904.745229676] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049904.745916217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049904.746707626] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049904.747965944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049904.749018256] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049904.835208507] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049904.836829437] [sailbot.teensy]: Wind angle: 353 +[trim_sail-4] [INFO] [1746049904.837368463] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049904.837715299] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049904.838590666] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049904.839254732] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049904.839456072] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049904.844499689] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049904.845030938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049904.846026778] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049904.846702441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049904.847832994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049904.945758301] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049904.946688082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049904.948317208] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049904.948752099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049904.949623855] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049905.002560588] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697259 Long: -76.50298287 +[vectornav-1] [INFO] [1746049905.003595701] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.328, -3.352, 7.295) +[mux-7] [INFO] [1746049905.045126442] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049905.045666563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049905.046537787] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049905.047589628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049905.048773881] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049905.085693951] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049905.088403665] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049905.089152162] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049905.089382314] [sailbot.teensy]: Wind angle: 353 +[teensy-2] [INFO] [1746049905.090453706] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049905.091317635] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049905.092191362] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049905.145166140] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049905.145773780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049905.146508369] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049905.148286143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049905.149359353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049905.245441647] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049905.246175623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049905.247126655] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049905.248526151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049905.249796314] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049905.335455849] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049905.338067359] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049905.339220886] [sailbot.teensy]: Wind angle: 354 +[mux-7] [INFO] [1746049905.339467948] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049905.340203075] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049905.341101813] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049905.342048895] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049905.344350734] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049905.345105156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049905.345868185] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049905.347143024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049905.348210220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049905.445256725] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049905.446508373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049905.446955561] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049905.448491318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049905.449528169] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049905.503349282] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972602 Long: -76.50298292 +[vectornav-1] [INFO] [1746049905.504706487] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.323, -3.354, 7.294) +[mux-7] [INFO] [1746049905.545444947] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049905.546192656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049905.547866121] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049905.548431178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049905.549655316] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049905.585731652] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049905.587949301] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049905.588495438] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049905.588981064] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049905.590021649] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049905.590899672] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049905.591087951] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049905.645298659] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049905.646493993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049905.646857930] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049905.648704619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049905.649852572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049905.745384835] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049905.746217854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049905.747076952] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049905.748698384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049905.749865272] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049905.835398771] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049905.837172733] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049905.837751522] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049905.838094467] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049905.838691026] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049905.838778049] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049905.839087203] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049905.844656853] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049905.845164179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049905.845872519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049905.846824155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049905.847997954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049905.945501445] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049905.946312055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049905.947737546] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049905.949030405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049905.950314601] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049906.002440944] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469726 Long: -76.50298294 +[vectornav-1] [INFO] [1746049906.003625418] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.31899999999996, -3.359, 7.292) +[mux-7] [INFO] [1746049906.044848624] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049906.045468915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049906.046168511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049906.047315798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049906.048605818] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049906.085320239] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049906.087528587] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049906.087577282] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049906.088488785] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049906.088755983] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049906.089354891] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049906.090218156] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049906.144908985] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049906.145866036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049906.146145866] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049906.147681906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049906.148698520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049906.244995674] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049906.245915440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049906.246448956] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049906.247790736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049906.248254542] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049906.335318510] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049906.337913286] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049906.338259283] [sailbot.teensy]: Wind angle: 355 +[teensy-2] [INFO] [1746049906.339239468] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049906.340221865] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049906.340785654] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049906.341226946] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049906.344383403] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049906.345458372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049906.346026933] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049906.347327085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049906.348401059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049906.445195682] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049906.445898161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049906.447187784] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049906.447631131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049906.448078945] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049906.502369883] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972595 Long: -76.50298304 +[vectornav-1] [INFO] [1746049906.503344941] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.757, -3.334, 6.971) +[mux-7] [INFO] [1746049906.544848285] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049906.545506501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049906.546080535] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049906.547386707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049906.548517944] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049906.585465751] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049906.587510169] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049906.587929150] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049906.588537877] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049906.589532096] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049906.589555739] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049906.590445375] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049906.644536458] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049906.644969852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049906.645740045] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049906.647105168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049906.648175828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049906.745745971] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049906.746419595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049906.748059510] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049906.750096386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049906.751308264] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049906.835498382] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049906.838052544] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049906.838399727] [sailbot.teensy]: Wind angle: 358 +[mux-7] [INFO] [1746049906.838662188] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049906.838804847] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049906.839203136] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049906.839549037] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049906.844616756] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049906.844933600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049906.845895182] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049906.846651564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049906.847685172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049906.945240903] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049906.945920790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049906.946742003] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049906.948064006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049906.948675391] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049907.004203261] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972602 Long: -76.5029829 +[vectornav-1] [INFO] [1746049907.005687677] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.805, -3.424, 7.121) +[mux-7] [INFO] [1746049907.044931293] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049907.046154001] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049907.046249638] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049907.048095499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049907.049228348] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049907.085252589] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049907.087544951] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049907.088481747] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049907.087763397] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049907.089194649] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049907.089636308] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049907.090506308] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049907.145641400] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049907.146218331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049907.147297832] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049907.148443109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049907.149678776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049907.245247969] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049907.245537679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049907.246557914] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049907.247324514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049907.248575807] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049907.335328429] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049907.337520874] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049907.337883991] [sailbot.teensy]: Wind angle: 351 +[mux-7] [INFO] [1746049907.338245373] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049907.339471803] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049907.340426827] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049907.341301287] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049907.344354970] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049907.344827423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049907.345920624] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049907.346498140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049907.347526548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049907.445594146] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049907.446375357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049907.447432527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049907.448653662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049907.449885625] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049907.503943285] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972601 Long: -76.50298298 +[vectornav-1] [INFO] [1746049907.505580172] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.884, -3.534, 7.002) +[mux-7] [INFO] [1746049907.545162035] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049907.545918551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049907.546672651] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049907.547880918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049907.548978356] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049907.585803883] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049907.588442452] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049907.589310365] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049907.589464902] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049907.590384203] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049907.590767837] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049907.591255465] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049907.645522236] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049907.646420274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049907.647275143] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049907.648903190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049907.650067699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049907.745291158] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049907.746262103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049907.746811266] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049907.748434951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049907.749426705] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049907.835659556] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049907.838551970] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049907.839581580] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049907.838931532] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049907.840076155] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049907.840550935] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049907.841429289] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049907.844302330] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049907.845065803] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049907.845653169] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049907.846865017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049907.847924169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049907.945553251] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049907.946419637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049907.947150514] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049907.948867295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049907.949989627] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049908.003754214] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972591 Long: -76.50298301 +[vectornav-1] [INFO] [1746049908.005104902] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.906, -3.541, 6.972) +[mux-7] [INFO] [1746049908.045139652] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049908.046276134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049908.046704222] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049908.048202212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049908.049530475] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049908.085232832] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049908.086871112] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049908.087339127] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049908.087748365] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049908.088421147] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049908.088662391] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049908.089620555] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049908.145269258] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049908.145898612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049908.146749036] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049908.147982099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049908.149165499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049908.245269332] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049908.246088071] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049908.246982609] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049908.247859663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049908.248312974] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049908.335250646] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049908.337643457] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049908.338024756] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049908.339225341] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049908.339942027] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049908.340245255] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049908.341299175] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049908.344474003] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049908.344845462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049908.345685119] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049908.346599572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049908.347775189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049908.445453377] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049908.446063125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049908.447238702] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049908.448139547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049908.449346436] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049908.502953648] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972604 Long: -76.50298291 +[vectornav-1] [INFO] [1746049908.504810443] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.88800000000003, -3.537, 6.971) +[mux-7] [INFO] [1746049908.545100527] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049908.545627633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049908.546581162] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049908.547573499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049908.548615502] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049908.585447941] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049908.587211791] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049908.587852545] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049908.588192908] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049908.589119571] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049908.589728878] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049908.589980228] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049908.644944240] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049908.645480983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049908.646283823] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049908.647605146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049908.648814575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049908.745679473] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049908.746203998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049908.747456622] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049908.748712069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049908.749628270] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049908.835381559] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049908.837717080] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049908.838247157] [sailbot.teensy]: Wind angle: 347 +[mux-7] [INFO] [1746049908.838928435] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049908.839291106] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049908.840346456] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049908.841272050] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049908.844505050] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049908.844993587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049908.845732818] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049908.846768611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049908.847974637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049908.945235514] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049908.946027926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049908.946586219] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049908.949057073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049908.950878124] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049909.003513949] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697259 Long: -76.50298309 +[vectornav-1] [INFO] [1746049909.004896406] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.89300000000003, -3.537, 7.003) +[mux-7] [INFO] [1746049909.045164480] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049909.045809774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049909.046557285] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049909.047848283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049909.048891432] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049909.085299039] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049909.087111541] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049909.087805563] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049909.088036587] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049909.088956426] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049909.089132419] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049909.090234057] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049909.145200309] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049909.145989769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049909.146977963] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049909.147871590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049909.149083341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049909.245376181] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049909.246053737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049909.247103487] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049909.248280461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049909.249317843] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049909.335266712] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049909.337114762] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049909.337460048] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049909.338282743] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049909.338978237] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049909.339187729] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049909.339624398] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049909.344363056] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049909.344924287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049909.345846224] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049909.346754179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049909.348002200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049909.445211564] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049909.445886003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049909.446835702] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049909.447987638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049909.449152400] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049909.503597324] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697259 Long: -76.50298311 +[vectornav-1] [INFO] [1746049909.505141889] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.88300000000004, -3.528, 7.056) +[mux-7] [INFO] [1746049909.545076714] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049909.545508449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049909.546352590] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049909.547388852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049909.548549111] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049909.585441051] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049909.587776962] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049909.588147393] [sailbot.teensy]: Wind angle: 353 +[teensy-2] [INFO] [1746049909.589110472] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049909.588584110] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049909.590162139] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049909.590996318] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049909.645261747] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049909.646056987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049909.647218780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049909.648138145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049909.649332184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049909.745698465] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049909.746334795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049909.747497549] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049909.748493071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049909.749005631] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049909.835405030] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049909.837830815] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049909.838662534] [sailbot.teensy]: Wind angle: 357 +[mux-7] [INFO] [1746049909.838715065] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049909.839737998] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049909.840115068] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049909.840485405] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049909.844436007] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049909.845276224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049909.845549014] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049909.847110099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049909.848263631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049909.945447161] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049909.946462815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049909.947066412] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049909.949003123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049909.950108288] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049910.003194862] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972584 Long: -76.50298331 +[vectornav-1] [INFO] [1746049910.004658529] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.88, -3.545, 6.975) +[mux-7] [INFO] [1746049910.045233824] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049910.046032244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049910.046574794] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049910.048206122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049910.049203529] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049910.085307346] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049910.087234033] [sailbot.teensy]: Wind angle: 358 +[mux-7] [INFO] [1746049910.087967420] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049910.088198399] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049910.088106913] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049910.089129294] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049910.090252023] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049910.145959915] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049910.146463937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049910.147596650] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049910.148628998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049910.149784431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049910.245110691] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049910.245789037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049910.246577057] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049910.247811040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049910.248352959] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049910.335299866] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049910.337881017] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049910.338193590] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049910.338660524] [sailbot.teensy]: Wind angle: 358 +[teensy-2] [INFO] [1746049910.339664269] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049910.340526216] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049910.341368133] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049910.344408323] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049910.345025580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049910.345505289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049910.346785950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049910.347956314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049910.445068005] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049910.445784885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049910.446473428] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049910.447644044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049910.448203195] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049910.503649130] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972592 Long: -76.50298331 +[vectornav-1] [INFO] [1746049910.505178035] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.778, -3.595, 6.26) +[mux-7] [INFO] [1746049910.545055905] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049910.545802710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049910.546440587] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049910.547968299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049910.548977321] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049910.585237717] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049910.586924028] [sailbot.teensy]: Wind angle: 358 +[teensy-2] [INFO] [1746049910.587812055] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049910.587618010] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049910.588622369] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049910.588670468] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049910.589562667] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049910.645203594] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049910.645944764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049910.647215974] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049910.648261654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049910.649762911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049910.745499795] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049910.746429234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049910.747104152] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049910.748569859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049910.749125155] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049910.835480776] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049910.838262409] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049910.838656481] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049910.838730271] [sailbot.teensy]: Wind angle: 358 +[teensy-2] [INFO] [1746049910.839144048] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049910.839509164] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049910.840321963] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049910.844331932] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049910.845058971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049910.845668359] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049910.846897906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049910.847941939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049910.945064259] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049910.945792675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049910.946577677] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049910.947977635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049910.948480248] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049911.003186147] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972585 Long: -76.50298327 +[vectornav-1] [INFO] [1746049911.005394830] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.74, -3.599, 6.016) +[mux-7] [INFO] [1746049911.045031103] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049911.045759065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049911.046522485] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049911.047880527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049911.048917597] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049911.085461755] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049911.087964001] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049911.087998333] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049911.088451414] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049911.088954304] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049911.089877732] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049911.090685667] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049911.144803179] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049911.145563701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049911.145960490] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049911.147337857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049911.148523704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049911.244971905] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049911.245721952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049911.246614693] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049911.247590532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049911.248788716] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049911.335358481] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049911.337150849] [sailbot.teensy]: Wind angle: 0 +[teensy-2] [INFO] [1746049911.338091605] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049911.337766645] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049911.338949195] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049911.338977774] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049911.339858679] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049911.344350802] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049911.344847335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049911.345806376] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049911.346754459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049911.347825853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049911.445304281] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049911.446137751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049911.446799988] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049911.448252595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049911.448669450] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049911.503742226] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972579 Long: -76.50298313 +[vectornav-1] [INFO] [1746049911.505797949] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.731, -3.615, 5.967) +[mux-7] [INFO] [1746049911.545018139] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049911.545974422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049911.546405501] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049911.548176215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049911.549304620] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049911.585384678] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049911.588202227] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049911.588759140] [sailbot.teensy]: Wind angle: 0 +[teensy-2] [INFO] [1746049911.589670624] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049911.589125235] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049911.590561807] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049911.591367494] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049911.645414124] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049911.646159055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049911.646989787] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049911.648620361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049911.649807755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049911.745179169] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049911.745748614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049911.746710181] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049911.747928966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049911.748998404] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049911.835283806] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049911.837845649] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049911.838282273] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049911.838678790] [sailbot.teensy]: Wind angle: 0 +[teensy-2] [INFO] [1746049911.839623325] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049911.840527983] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049911.841358329] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049911.844430354] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049911.845011771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049911.845690272] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049911.846714356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049911.847890215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049911.945164230] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049911.945771467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049911.946931473] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049911.947819047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049911.948856466] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049912.002337054] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972589 Long: -76.50298306 +[vectornav-1] [INFO] [1746049912.003341366] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.716, -3.618, 5.934) +[mux-7] [INFO] [1746049912.045526653] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049912.046046225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049912.047115860] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049912.048338727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049912.049549325] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049912.085622728] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049912.087647396] [sailbot.teensy]: Wind angle: 0 +[teensy-2] [INFO] [1746049912.088654860] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049912.088200455] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049912.088690893] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049912.089585528] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049912.090499839] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049912.145019694] [sailbot.mux]: Published sail angle from controller_app: 28 +[mux-7] [INFO] [1746049912.146494628] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049912.146773809] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049912.148065399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049912.148584172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049912.245481628] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049912.247155233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049912.247944918] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049912.249557540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049912.250863165] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049912.335239876] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049912.337422185] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746049912.337934052] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049912.339839902] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049912.340196041] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049912.341106618] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049912.341973967] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049912.344237858] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049912.344699322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049912.345318398] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049912.346364388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049912.347439396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049912.445113142] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049912.445893032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049912.446496110] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049912.447787433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049912.448331623] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049912.503542669] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972585 Long: -76.50298304 +[vectornav-1] [INFO] [1746049912.505153296] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.701, -3.625, 5.832) +[mux-7] [INFO] [1746049912.544887744] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049912.545483328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049912.546042300] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049912.547228458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049912.548460397] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049912.585275606] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049912.587307943] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746049912.587713926] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049912.588311026] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049912.589378629] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049912.589417214] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049912.590294766] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049912.645625789] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049912.646116224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049912.647291945] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049912.648461155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049912.649799750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049912.745023928] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049912.745958479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049912.746586865] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049912.747820191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049912.748272223] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049912.835634070] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049912.838380869] [sailbot.teensy]: Wind angle: 0 +[teensy-2] [INFO] [1746049912.839377736] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049912.838934749] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049912.840098568] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049912.840165361] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049912.840536069] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049912.844342226] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049912.845016353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049912.845473131] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049912.846811708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049912.847853501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049912.945492070] [sailbot.mux]: Published sail angle from controller_app: 28 +[mux-7] [INFO] [1746049912.947115386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049912.947291976] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049912.948517224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049912.948933129] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049913.003554771] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972587 Long: -76.50298289 +[vectornav-1] [INFO] [1746049913.005228029] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.69100000000003, -3.631, 5.69) +[mux-7] [INFO] [1746049913.045242348] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049913.046554354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049913.047137904] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049913.047988166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049913.048472433] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049913.085364616] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049913.087210100] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746049913.087522187] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049913.088097805] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049913.088371735] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049913.089044939] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049913.089954811] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049913.145337661] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049913.145835627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049913.147186820] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049913.148103422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049913.149321703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049913.245205105] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049913.245633622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049913.246939623] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049913.247653574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049913.248466343] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049913.335471517] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049913.337342616] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746049913.337879684] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049913.339367181] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049913.339678231] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049913.340636856] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049913.341546905] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049913.344608548] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049913.345763667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049913.346486506] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049913.347501268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049913.348703362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049913.445500199] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049913.446449081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049913.447115025] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049913.448139688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049913.448664159] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049913.503167616] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972584 Long: -76.50298306 +[vectornav-1] [INFO] [1746049913.504747117] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.672, -3.629, 5.695) +[mux-7] [INFO] [1746049913.544949594] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049913.545877135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049913.546250843] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049913.547746460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049913.548847042] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049913.585200223] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049913.587054593] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049913.587568061] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049913.588174663] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049913.588540271] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049913.589174592] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049913.590086996] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049913.645257757] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049913.645971856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049913.646807857] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049913.648551280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049913.649709959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049913.745579023] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049913.746251097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049913.747370137] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049913.748813408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049913.749318850] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049913.835568358] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049913.838657772] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049913.838915519] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049913.840746457] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049913.840843698] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049913.841636946] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049913.841990936] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049913.844257414] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049913.845103947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049913.845811903] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049913.846994516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049913.848095808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049913.945567576] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049913.946218549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049913.947178169] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049913.948519809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049913.949684668] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049914.003212294] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972587 Long: -76.50298326 +[vectornav-1] [INFO] [1746049914.004666128] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.656, -3.648, 5.581) +[mux-7] [INFO] [1746049914.045078070] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049914.045819137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049914.046346358] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049914.047648782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049914.048824299] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049914.085630551] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049914.087803899] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049914.088250058] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049914.088849058] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049914.089704995] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049914.089639111] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049914.090560504] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049914.145295185] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049914.145905729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049914.147168521] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049914.147930591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049914.149004353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049914.245149857] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049914.245885945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049914.246752997] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049914.247833345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049914.249013235] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049914.335349588] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049914.337624825] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049914.337917811] [sailbot.teensy]: Wind angle: 358 +[teensy-2] [INFO] [1746049914.338867849] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049914.339480944] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049914.339736636] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049914.340653537] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049914.344352695] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049914.345017344] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049914.345968142] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049914.346735733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049914.347806464] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049914.445579102] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049914.446501690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049914.447219853] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049914.448907657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049914.450043721] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049914.504148894] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972581 Long: -76.50298338 +[vectornav-1] [INFO] [1746049914.505629605] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.629, -3.667, 5.42) +[mux-7] [INFO] [1746049914.545129993] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049914.545692129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049914.546387952] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049914.547666151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049914.548839537] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049914.585379633] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049914.587741287] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049914.588887683] [sailbot.teensy]: Wind angle: 352 +[mux-7] [INFO] [1746049914.588910130] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049914.589833909] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049914.590790531] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049914.591615211] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049914.645199832] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049914.646176066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049914.646614651] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049914.648196501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049914.649347765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049914.745555448] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049914.746531808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049914.747279295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049914.748915409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049914.750126449] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049914.835804876] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049914.838760189] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049914.838986578] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049914.839272178] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049914.840012158] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049914.841023587] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049914.841927764] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049914.844626755] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049914.845221304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049914.845804946] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049914.847140554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049914.848232979] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049914.945713534] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049914.946628555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049914.947962439] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049914.949115472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049914.950624071] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049915.003826206] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972602 Long: -76.50298348 +[vectornav-1] [INFO] [1746049915.005464165] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.597, -3.683, 5.192) +[mux-7] [INFO] [1746049915.044721478] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049915.045484660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049915.045890163] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049915.047434404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049915.048489307] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049915.085246162] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049915.086934469] [sailbot.teensy]: Wind angle: 329 +[teensy-2] [INFO] [1746049915.087853520] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049915.087938447] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049915.088792388] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049915.088942072] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049915.089730541] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049915.144880354] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049915.145872090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049915.146196870] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049915.147826944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049915.148784051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049915.244839463] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049915.245484449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049915.246041420] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049915.247229778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049915.248280111] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049915.335395251] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049915.337906179] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049915.338082061] [sailbot.teensy]: Wind angle: 332 +[teensy-2] [INFO] [1746049915.339004552] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049915.339219740] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049915.339399192] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049915.339783247] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049915.344545278] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049915.345028363] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049915.345815028] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049915.348799888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049915.350032238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049915.445259445] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049915.446317549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049915.447051616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049915.447954097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049915.448416674] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049915.503672525] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972597 Long: -76.50298349 +[vectornav-1] [INFO] [1746049915.505540709] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.587, -3.692, 5.092) +[mux-7] [INFO] [1746049915.545256573] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049915.546167403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049915.546850387] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049915.548757798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049915.549785388] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049915.585231615] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049915.587325799] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049915.587695762] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049915.588554229] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049915.588854841] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049915.589940275] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049915.590943911] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049915.645708227] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049915.646328434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049915.647836984] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049915.648836526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049915.649993386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049915.745049285] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049915.745809437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049915.746492181] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049915.747596906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049915.748206071] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049915.835336073] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049915.837565739] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049915.837897504] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049915.838871771] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049915.839774509] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049915.839812030] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049915.840722665] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049915.844292941] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049915.844872164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049915.845525446] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049915.846613837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049915.847759113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049915.945288584] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049915.945977946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049915.947112087] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049915.948123168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049915.948982471] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049916.002721645] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972592 Long: -76.50298364 +[vectornav-1] [INFO] [1746049916.003977731] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.581, -3.692, 5.068) +[mux-7] [INFO] [1746049916.045774791] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049916.046377427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049916.047894655] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049916.048505112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049916.049101762] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049916.085416471] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049916.087405704] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049916.087978947] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049916.088398781] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049916.089337564] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049916.090232391] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049916.090233922] [sailbot.mux]: algo sail angle: 80 +[mux-7] [INFO] [1746049916.145297048] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049916.145929135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049916.146959259] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049916.148237966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049916.149434879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049916.245120666] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049916.245909801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049916.246660135] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049916.247964522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049916.249036769] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049916.335477708] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049916.337508035] [sailbot.teensy]: Wind angle: 333 +[trim_sail-4] [INFO] [1746049916.337897748] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049916.338504060] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049916.339381706] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049916.340061650] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049916.340284378] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049916.344504100] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049916.345057123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049916.345655435] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049916.346853108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049916.347937285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049916.445504147] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049916.446512032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049916.447661586] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049916.448361705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049916.448861162] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049916.503677071] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972596 Long: -76.50298371 +[vectornav-1] [INFO] [1746049916.505336997] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.575, -3.692, 5.087) +[mux-7] [INFO] [1746049916.545147166] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049916.545811793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049916.546698890] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049916.547828846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049916.549696843] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049916.585507581] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049916.587969556] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049916.588285997] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049916.589251277] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049916.589252842] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049916.590175084] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049916.591081510] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049916.645603933] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049916.646637257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049916.647274347] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049916.649338765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049916.650481811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049916.745445498] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049916.746570716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049916.747262287] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049916.748354208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049916.748853535] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049916.835304969] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049916.837727474] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049916.838066784] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049916.838649513] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049916.838711219] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049916.839041872] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049916.839432751] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049916.844751967] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049916.845308863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049916.846204904] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049916.847033431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049916.848135303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049916.945397477] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049916.946135982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049916.947046336] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049916.948557984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049916.949651189] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049917.002482099] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972614 Long: -76.50298357 +[vectornav-1] [INFO] [1746049917.003535248] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.579, -3.689, 5.096) +[mux-7] [INFO] [1746049917.045427874] [sailbot.mux]: Published sail angle from controller_app: 28 +[mux-7] [INFO] [1746049917.047053610] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049917.046411742] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049917.048785706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049917.049842290] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049917.085569988] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049917.087872724] [sailbot.teensy]: Wind angle: 1 +[trim_sail-4] [INFO] [1746049917.087942125] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049917.088878945] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049917.089792745] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049917.089891720] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049917.090647665] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049917.144976605] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049917.145341684] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049917.146222956] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049917.147384384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049917.148665161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049917.245278999] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049917.245857821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049917.246818747] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049917.247949245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049917.248725731] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049917.335577357] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049917.338305559] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049917.338699749] [sailbot.teensy]: Wind angle: 333 +[mux-7] [INFO] [1746049917.339588768] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049917.339730935] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049917.340691855] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049917.341291456] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049917.344482312] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049917.345109925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049917.345738513] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049917.347261476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049917.348458252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049917.445664019] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049917.446428833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049917.447397586] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049917.448874435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049917.449420684] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049917.503479503] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972622 Long: -76.50298356 +[vectornav-1] [INFO] [1746049917.505355561] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.56899999999996, -3.683, 5.081) +[mux-7] [INFO] [1746049917.545326993] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049917.546103706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049917.546905813] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049917.548095517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049917.549155743] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049917.585321526] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049917.587675578] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049917.588051687] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049917.588667218] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049917.589573111] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049917.589672918] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049917.590447866] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049917.645672718] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049917.646485322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049917.647418697] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049917.648610906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049917.649150733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049917.745680746] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049917.746185841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049917.747445326] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049917.748669857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049917.749944112] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049917.835313447] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049917.837312448] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049917.838049607] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049917.838296664] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049917.839188834] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049917.839211010] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049917.840114653] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049917.844507143] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049917.845048923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049917.845803056] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049917.846838290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049917.848003891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049917.945150657] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049917.945826181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049917.946798808] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049917.947612832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049917.948172642] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049918.002317630] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972624 Long: -76.50298371 +[vectornav-1] [INFO] [1746049918.003283771] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.58500000000004, -3.668, 5.194) +[mux-7] [INFO] [1746049918.045389603] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049918.046222890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049918.046803093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049918.048245435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049918.049367644] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049918.085247466] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049918.087399392] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049918.087800954] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049918.088374288] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049918.089282406] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049918.090185061] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049918.090577133] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049918.145412877] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049918.146170912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049918.147080450] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049918.148765297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049918.149840378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049918.245393353] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049918.246006949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049918.246915719] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049918.247979246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049918.249052419] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049918.335378220] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049918.337828006] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049918.338654388] [sailbot.teensy]: Wind angle: 353 +[mux-7] [INFO] [1746049918.338654755] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049918.339982694] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049918.340869483] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049918.341701848] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049918.344339251] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049918.344874852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049918.345731579] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049918.346661433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049918.347732906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049918.445752089] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049918.446517729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049918.447342846] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049918.447802985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049918.448551851] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049918.502300288] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972636 Long: -76.50298379 +[vectornav-1] [INFO] [1746049918.503474430] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.56899999999996, -3.658, 5.188) +[mux-7] [INFO] [1746049918.545023449] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049918.546318425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049918.546671762] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049918.548302234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049918.549433350] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049918.585389956] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049918.587282482] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049918.588543019] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049918.588912160] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049918.589870780] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049918.590615988] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049918.590797260] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049918.645002956] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049918.645830729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049918.646351137] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049918.647672026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049918.649819902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049918.745272602] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049918.746369514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049918.746990624] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049918.747902803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049918.748419579] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049918.835284624] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049918.837536262] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049918.837568165] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049918.838506618] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049918.838839275] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049918.839045340] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049918.839433591] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049918.844582438] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049918.845360401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049918.845826752] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049918.847276224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049918.848490734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049918.945332150] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049918.946331772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049918.947156738] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049918.948506630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049918.949038576] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049919.003810413] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972631 Long: -76.50298397 +[vectornav-1] [INFO] [1746049919.005850380] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.616, -3.623, 5.547) +[mux-7] [INFO] [1746049919.045127708] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049919.046007179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049919.046646832] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049919.048026901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049919.049079245] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049919.085380893] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049919.087684267] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049919.088251832] [sailbot.teensy]: Wind angle: 347 +[mux-7] [INFO] [1746049919.088854680] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049919.089227158] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049919.090196098] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049919.091291352] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049919.145772028] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049919.146490246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049919.147685462] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049919.149392536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049919.150696100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049919.245668174] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049919.246566207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049919.247434962] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049919.249119012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049919.250192930] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049919.335318014] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049919.337918785] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049919.337979375] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049919.338321051] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049919.339834053] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049919.340755682] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049919.341611086] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049919.344376655] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049919.344779819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049919.345518135] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049919.346443836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049919.347460935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049919.445255489] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049919.446058430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049919.446825586] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049919.449080785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049919.450207068] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049919.503847455] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972625 Long: -76.50298409 +[vectornav-1] [INFO] [1746049919.506517394] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.635, -3.599, 5.806) +[mux-7] [INFO] [1746049919.545221230] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049919.546196240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049919.546757197] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049919.548635262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049919.549757759] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049919.585307557] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049919.587305676] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049919.587575256] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049919.588369502] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049919.588870743] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049919.589272162] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049919.590191139] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049919.645588016] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049919.646892992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049919.647298173] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049919.648388493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049919.649265650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049919.745333215] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049919.746315698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049919.747242223] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049919.748318706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049919.748842252] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049919.835220034] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049919.837598372] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049919.838092490] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049919.838153992] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049919.839349833] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049919.840276417] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049919.841140677] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049919.844317348] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049919.844928549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049919.845424445] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049919.846653647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049919.847777085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049919.945574434] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049919.946263833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049919.947403551] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049919.949051814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049919.950271378] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049920.002598828] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697263 Long: -76.50298414 +[vectornav-1] [INFO] [1746049920.003636289] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.651, -3.598, 5.91) +[mux-7] [INFO] [1746049920.045238195] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049920.046751855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049920.046789647] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049920.048883490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049920.050038051] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049920.085226694] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049920.086974210] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049920.087521110] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049920.088521071] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049920.089148585] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049920.090109811] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049920.091035187] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049920.145285431] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049920.146115866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049920.146864970] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049920.148523111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049920.149115706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049920.245034040] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049920.245736184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049920.246485975] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049920.247706223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049920.248258521] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049920.335350443] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049920.337307129] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049920.337636692] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049920.338191434] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049920.338542134] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049920.339321326] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049920.339679011] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049920.344533651] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049920.345147903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049920.345794551] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049920.346938939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049920.348090052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049920.445024241] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049920.445803189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049920.446329366] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049920.447791113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049920.448804848] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049920.502793646] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972651 Long: -76.50298399 +[vectornav-1] [INFO] [1746049920.503932029] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.595, -3.625, 5.471) +[mux-7] [INFO] [1746049920.545387690] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049920.546309583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049920.547016052] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049920.548477764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049920.549645589] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049920.585478458] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049920.587401563] [sailbot.teensy]: Wind angle: 351 +[teensy-2] [INFO] [1746049920.588375184] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049920.588141699] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049920.589219442] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049920.589223391] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049920.590161908] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049920.645177103] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049920.645917928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049920.646618552] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049920.647969848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049920.649030434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049920.745370823] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049920.746149146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049920.746940697] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049920.748330913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049920.749549249] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049920.835140399] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049920.836971233] [sailbot.teensy]: Wind angle: 352 +[teensy-2] [INFO] [1746049920.837921565] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049920.837496930] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049920.838831929] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049920.838859251] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049920.839791771] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049920.844450188] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049920.845019971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049920.845653169] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049920.846830143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049920.847880563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049920.945602314] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049920.946448154] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049920.947355448] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049920.948474952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049920.949602732] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049921.003963382] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972656 Long: -76.50298402 +[vectornav-1] [INFO] [1746049921.006294568] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.56100000000004, -3.646, 5.222) +[mux-7] [INFO] [1746049921.045237008] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049921.045783039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049921.046452239] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049921.047546544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049921.048690232] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049921.085265264] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049921.087438391] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049921.087891486] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049921.089271735] [sailbot.teensy]: Wind angle: 351 +[teensy-2] [INFO] [1746049921.090203649] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049921.091033895] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049921.091931154] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049921.145177980] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049921.145796035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049921.146652601] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049921.147906043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049921.149096841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049921.245752170] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049921.246455266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049921.247429211] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049921.249157870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049921.250263270] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049921.335614149] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049921.337755592] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049921.338693374] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049921.338747724] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049921.339694496] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049921.340253163] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049921.340679803] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049921.344489533] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049921.345166974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049921.345815081] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049921.347250922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049921.348541084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049921.445666082] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049921.446699431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049921.447637563] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049921.449240921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049921.451262765] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049921.503831065] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972666 Long: -76.50298413 +[vectornav-1] [INFO] [1746049921.505688041] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.549, -3.649, 5.142) +[mux-7] [INFO] [1746049921.545342197] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049921.546328049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049921.546925275] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049921.548886416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049921.549896079] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049921.585335888] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049921.587642593] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049921.588263768] [sailbot.teensy]: Wind angle: 350 +[mux-7] [INFO] [1746049921.588650499] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049921.589577919] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049921.590496269] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049921.590877440] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049921.645277177] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049921.646709156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049921.647025558] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049921.648891758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049921.650026250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049921.745660229] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049921.746461740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049921.747322703] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049921.748581372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049921.749111152] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049921.835706117] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049921.838400653] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049921.838938678] [sailbot.teensy]: Wind angle: 350 +[mux-7] [INFO] [1746049921.839658064] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049921.839913439] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049921.840895294] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049921.841737225] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049921.844358670] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049921.844835113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049921.845433390] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049921.846580464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049921.847908247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049921.945395019] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049921.946233798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049921.946941911] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049921.948243480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049921.948800794] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049922.002345182] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972676 Long: -76.50298433 +[vectornav-1] [INFO] [1746049922.003330075] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.548, -3.646, 5.159) +[mux-7] [INFO] [1746049922.045484610] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049922.046282919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049922.047217483] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049922.047987875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049922.048454944] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049922.085321402] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049922.087961643] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049922.088527891] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049922.088559205] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746049922.089487849] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049922.090373441] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049922.091181674] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049922.145430820] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049922.146141123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049922.147353185] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049922.148380947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049922.149609192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049922.243711792] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049922.244026655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049922.244246194] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049922.244850180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049922.245409201] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049922.335340948] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049922.337232638] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049922.338395937] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049922.338974605] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049922.338974769] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049922.339917367] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049922.340840117] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049922.344380690] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049922.344799853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049922.345638888] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049922.346465919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049922.347582228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049922.445314471] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049922.445930143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049922.446837576] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049922.447957480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049922.449172763] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049922.502281233] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972679 Long: -76.50298447 +[vectornav-1] [INFO] [1746049922.503329181] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.519, -3.651, 5.014) +[mux-7] [INFO] [1746049922.545117790] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049922.545692777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049922.546561183] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049922.547926449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049922.549093441] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049922.585441605] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049922.587954101] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049922.588399867] [sailbot.teensy]: Wind angle: 352 +[mux-7] [INFO] [1746049922.588727014] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049922.589547438] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049922.590510016] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049922.591416190] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049922.645266494] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049922.645911445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049922.646942254] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049922.648484976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049922.649005112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049922.745346436] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049922.746100458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049922.747195836] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049922.748337036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049922.749650818] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049922.835346516] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049922.837104334] [sailbot.teensy]: Wind angle: 352 +[teensy-2] [INFO] [1746049922.837996457] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049922.837565401] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049922.838122082] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049922.838886872] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049922.839753773] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049922.844294726] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049922.844911765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049922.845467762] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049922.846594142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049922.847779239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049922.945351135] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049922.946055393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049922.946947544] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049922.948072406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049922.948583856] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049923.003840477] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972687 Long: -76.50298461 +[vectornav-1] [INFO] [1746049923.005643313] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.52099999999996, -3.654, 5.002) +[mux-7] [INFO] [1746049923.045007681] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049923.045717234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049923.046604865] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049923.047812143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049923.048871730] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049923.085380133] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049923.087229415] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049923.088045731] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049923.088232565] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049923.089202523] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049923.089986574] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049923.090153941] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049923.145451522] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049923.146383692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049923.146986232] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049923.149025699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049923.150110602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049923.245651312] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049923.246545929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049923.247298463] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049923.247997989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049923.248537582] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049923.335332150] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049923.336933126] [sailbot.teensy]: Wind angle: 353 +[trim_sail-4] [INFO] [1746049923.337742408] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049923.337820908] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049923.338617848] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049923.338665507] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049923.339526835] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049923.344392418] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049923.345268423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049923.345567820] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049923.346963194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049923.348192488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049923.445586119] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049923.446430722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049923.447294725] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049923.447927428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049923.448389778] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049923.502695866] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972688 Long: -76.50298472 +[vectornav-1] [INFO] [1746049923.503873128] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.51599999999996, -3.644, 4.993) +[mux-7] [INFO] [1746049923.545153587] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049923.546122745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049923.546815447] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049923.548322443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049923.548833579] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049923.585372322] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049923.587213656] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049923.587743958] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049923.588127447] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049923.589119509] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049923.589329138] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049923.589979157] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049923.645216652] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049923.645827302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049923.646593343] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049923.647750162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049923.649145949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049923.745284895] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049923.746001534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049923.747227293] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049923.748038252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049923.749090497] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049923.835474651] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049923.837963542] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049923.838395278] [sailbot.teensy]: Wind angle: 348 +[mux-7] [INFO] [1746049923.838493573] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049923.839438114] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049923.840342160] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049923.840962476] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049923.844406095] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049923.844863166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049923.846875201] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049923.846952999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049923.847993590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049923.945283321] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049923.946027168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049923.946901913] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049923.948091202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049923.949235967] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049924.003862372] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972674 Long: -76.50298484 +[vectornav-1] [INFO] [1746049924.005698566] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.514, -3.644, 5.026) +[mux-7] [INFO] [1746049924.045272644] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049924.046259109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049924.046754546] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049924.048439261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049924.049448164] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049924.085400402] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049924.087555893] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049924.088015928] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049924.088635792] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049924.089381620] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049924.089597016] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049924.090503204] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049924.145277132] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049924.146076851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049924.146824711] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049924.148358866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049924.149538457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049924.244722892] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049924.245270367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049924.246004729] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049924.246939928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049924.247962960] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049924.335525322] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049924.337575269] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049924.338149948] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049924.338615059] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049924.340123764] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049924.340527713] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049924.340894159] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049924.344388417] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049924.345246518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049924.345480292] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049924.347013167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049924.348058961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049924.445294443] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049924.446034159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049924.446770066] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049924.448308009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049924.449433105] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049924.503037282] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972683 Long: -76.50298487 +[vectornav-1] [INFO] [1746049924.504331621] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.51, -3.648, 5.032) +[mux-7] [INFO] [1746049924.544898697] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049924.545576247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049924.546462199] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049924.547413819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049924.548616192] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049924.585255325] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049924.586982147] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049924.587394555] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049924.587896316] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049924.588671159] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049924.588837916] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049924.589737376] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049924.644948879] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049924.645695673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049924.646342722] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049924.647884911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049924.648954023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049924.745249862] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049924.746000285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049924.746720800] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049924.748126220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049924.748646592] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049924.835382463] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049924.837122129] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049924.837517191] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049924.838005494] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049924.838701177] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049924.838757130] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049924.839148664] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049924.844409321] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049924.845008422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049924.845555703] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049924.846751967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049924.847827702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049924.945040956] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049924.946044509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049924.946336113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049924.948012027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049924.949132547] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049925.002547859] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972682 Long: -76.50298497 +[vectornav-1] [INFO] [1746049925.003623542] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.50800000000004, -3.653, 5.041) +[mux-7] [INFO] [1746049925.044930178] [sailbot.mux]: Published sail angle from controller_app: 28 +[mux-7] [INFO] [1746049925.046178828] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049925.046192183] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049925.047984810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049925.049098375] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049925.085212606] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049925.087237452] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049925.087349565] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049925.088178406] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049925.088969016] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049925.089078340] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049925.090032744] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049925.144887411] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049925.145553756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049925.146227023] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049925.147529548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049925.148571405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049925.245267711] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049925.246054709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049925.246889103] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049925.248022489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049925.248532376] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049925.335706698] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049925.338107144] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049925.338524216] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049925.339196795] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049925.340238815] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049925.340730025] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049925.341212027] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049925.344603329] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049925.345309787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049925.345994869] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049925.347035742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049925.348225776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049925.444890321] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049925.445489886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049925.446113152] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049925.447303507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049925.448404161] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049925.503968240] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972678 Long: -76.50298506 +[vectornav-1] [INFO] [1746049925.506084145] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.502, -3.647, 5.021) +[mux-7] [INFO] [1746049925.545208347] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049925.546067063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049925.546676394] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049925.548305450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049925.549488915] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049925.585366197] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049925.587198016] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049925.587887044] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049925.588130574] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049925.588577814] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049925.589074074] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049925.590013265] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049925.645138004] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049925.645877807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049925.646471595] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049925.647902873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049925.648444163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049925.745493502] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049925.746731584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049925.747210276] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049925.748974855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049925.750209034] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049925.835391435] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049925.837780228] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049925.838049354] [sailbot.teensy]: Wind angle: 348 +[mux-7] [INFO] [1746049925.838405891] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049925.838978214] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049925.839902053] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049925.840841242] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049925.844344948] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049925.844775137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049925.845474036] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049925.846487766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049925.847659893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049925.945514653] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049925.946388809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049925.947139123] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049925.948693194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049925.949225296] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049926.003423658] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697268 Long: -76.502985 +[vectornav-1] [INFO] [1746049926.005772444] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.495, -3.653, 4.976) +[mux-7] [INFO] [1746049926.044693668] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049926.045303768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049926.045859384] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049926.047066993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049926.048097695] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049926.085215117] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049926.087438602] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049926.087526659] [sailbot.teensy]: Wind angle: 339 +[mux-7] [INFO] [1746049926.088430484] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049926.088655169] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049926.089081796] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049926.089428160] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049926.145149957] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049926.145929337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049926.146580406] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049926.147836815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049926.149016209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049926.245283257] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049926.245882089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049926.247123578] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049926.248268902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049926.250003729] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049926.335772129] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049926.337946239] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746049926.339061071] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049926.339242339] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049926.340069451] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049926.340765544] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049926.340877541] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049926.344398317] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049926.345087482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049926.345589215] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049926.347036463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049926.348069580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049926.445276342] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049926.446356326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049926.447104231] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049926.448064981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049926.448620782] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049926.503088590] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972709 Long: -76.50298494 +[vectornav-1] [INFO] [1746049926.506079711] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.491, -3.648, 4.974) +[mux-7] [INFO] [1746049926.544487955] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049926.545111932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049926.545500899] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049926.546778759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049926.547725521] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049926.585429314] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049926.587829966] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049926.588035670] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049926.588638990] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049926.589606556] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049926.590477411] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049926.591300029] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049926.645793094] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049926.646404685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049926.647473360] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049926.648620239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049926.649887960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049926.745509749] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049926.746183613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049926.747305841] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049926.748802138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049926.750010979] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049926.835558735] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049926.837842003] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049926.838592844] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049926.838868180] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049926.839566621] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049926.839783918] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049926.840744097] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049926.844389906] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049926.845236278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049926.845807593] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049926.847221323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049926.848313057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049926.945372369] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049926.946108294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049926.946879826] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049926.948452714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049926.949574729] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049927.003480529] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972702 Long: -76.50298497 +[vectornav-1] [INFO] [1746049927.005039073] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.48400000000004, -3.652, 4.983) +[mux-7] [INFO] [1746049927.045375264] [sailbot.mux]: Published sail angle from controller_app: 28 +[mux-7] [INFO] [1746049927.047132731] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049927.046515162] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049927.048105278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049927.048625375] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049927.085395865] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049927.087580079] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049927.087738535] [sailbot.teensy]: Wind angle: 349 +[mux-7] [INFO] [1746049927.088060683] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049927.088900735] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049927.089778785] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049927.090614117] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049927.145101988] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049927.146006305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049927.146548229] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049927.148081206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049927.149230631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049927.245399242] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049927.246160576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049927.247000647] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049927.248287373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049927.248885999] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049927.335070860] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049927.337181360] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049927.337396390] [sailbot.teensy]: Wind angle: 351 +[teensy-2] [INFO] [1746049927.338324276] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049927.338593840] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049927.339231011] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049927.340198670] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049927.344642883] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049927.345097403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049927.345896377] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049927.346770195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049927.347834660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049927.445342192] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049927.446287382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049927.446910220] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049927.448368565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049927.449473230] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049927.502782385] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972713 Long: -76.50298502 +[vectornav-1] [INFO] [1746049927.503998026] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.47900000000004, -3.649, 4.979) +[mux-7] [INFO] [1746049927.545217149] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049927.545897406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049927.546634562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049927.547888038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049927.549076101] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049927.585563312] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049927.587927864] [sailbot.teensy]: Wind angle: 357 +[trim_sail-4] [INFO] [1746049927.588107346] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049927.588980161] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049927.589908003] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049927.590043520] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049927.590779374] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049927.645062673] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049927.645969581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049927.646452294] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049927.647999233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049927.649252213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049927.745589136] [sailbot.mux]: Published sail angle from controller_app: 28 +[mux-7] [INFO] [1746049927.747356884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049927.747531606] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049927.748591158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049927.749060954] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049927.835509019] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049927.837875953] [sailbot.teensy]: Wind angle: 356 +[trim_sail-4] [INFO] [1746049927.837864876] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049927.838770988] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049927.838812003] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049927.839752671] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049927.840701746] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049927.844565565] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049927.845345974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049927.845750311] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049927.847081278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049927.848118515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049927.945471925] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049927.946540315] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049927.947205186] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049927.948951361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049927.950084386] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049928.003911447] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972727 Long: -76.50298503 +[vectornav-1] [INFO] [1746049928.005684098] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.472, -3.654, 4.989) +[mux-7] [INFO] [1746049928.045042084] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049928.046205130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049928.046483254] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049928.048279481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049928.049331635] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049928.085441962] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049928.087442049] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049928.088072339] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049928.088415516] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049928.088526247] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049928.089382676] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049928.090375621] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049928.145060803] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049928.145797286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049928.147041516] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049928.148077028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049928.149268079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049928.245341909] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049928.246024890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049928.246828370] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049928.248210424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049928.249382430] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049928.335473643] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049928.337864684] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049928.338455896] [sailbot.teensy]: Wind angle: 353 +[mux-7] [INFO] [1746049928.339124288] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049928.339451982] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049928.340389718] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049928.341282958] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049928.344384331] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049928.345057165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049928.345493840] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049928.346768343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049928.347783604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049928.445506535] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049928.446218850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049928.447115905] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049928.448738383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049928.449806460] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049928.502778848] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972752 Long: -76.50298489 +[vectornav-1] [INFO] [1746049928.504004468] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.46799999999996, -3.659, 4.953) +[mux-7] [INFO] [1746049928.545416106] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049928.546439300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049928.546872849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049928.548711175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049928.549894102] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049928.585919253] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049928.588528661] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049928.588656504] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049928.589569632] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049928.590430740] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049928.590714009] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049928.591347811] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049928.645064041] [sailbot.mux]: Published sail angle from controller_app: 28 +[mux-7] [INFO] [1746049928.646915906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049928.647138665] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049928.649020714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049928.650045470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049928.745203423] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049928.746169539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049928.746810707] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049928.748465824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049928.749532159] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049928.835328974] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049928.837634989] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049928.837688922] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049928.838600922] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049928.839403449] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049928.839497621] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049928.840401879] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049928.844404143] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049928.844897799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049928.845554121] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049928.846663449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049928.847850130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049928.945582483] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049928.946968428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049928.947162689] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049928.949083339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049928.950133814] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049929.003979810] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972741 Long: -76.5029849 +[vectornav-1] [INFO] [1746049929.006186589] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.46500000000003, -3.65, 4.942) +[mux-7] [INFO] [1746049929.045466369] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049929.045957929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049929.046819843] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049929.047904551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049929.049082525] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049929.085268663] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049929.087134927] [sailbot.teensy]: Wind angle: 349 +[teensy-2] [INFO] [1746049929.088078615] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049929.087505383] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049929.088993393] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049929.089128803] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049929.089881663] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049929.145099458] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049929.145744909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049929.146688320] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049929.147622800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049929.148113220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049929.245366328] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049929.245847128] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049929.248230435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[mux-7] [INFO] [1746049929.249392404] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049929.249459437] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049929.335926695] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049929.338212104] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049929.338906456] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049929.339354678] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049929.340463359] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049929.341451256] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049929.341557742] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049929.344573405] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049929.345171479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049929.345761637] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049929.346996569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049929.348014383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049929.445348108] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049929.446071401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049929.446818404] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049929.448220550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049929.449369084] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049929.504396055] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697274 Long: -76.50298489 +[vectornav-1] [INFO] [1746049929.506192096] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.462, -3.629, 4.905) +[mux-7] [INFO] [1746049929.545547444] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049929.546588870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049929.547270746] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049929.548896598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049929.550205886] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049929.585450968] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049929.587741928] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049929.587972299] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049929.588740730] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049929.589578576] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049929.589640005] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049929.590514089] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049929.644745886] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049929.645385419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049929.646019329] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049929.647226453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049929.648501225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049929.745599726] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049929.746410257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049929.747571397] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049929.748671671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049929.749818890] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049929.835424513] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049929.838013342] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049929.838683856] [sailbot.teensy]: Wind angle: 344 +[mux-7] [INFO] [1746049929.839145663] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049929.839601574] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049929.840532958] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049929.841161986] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049929.844403844] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049929.845088364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049929.845784806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049929.846866378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049929.847907118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049929.945582532] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049929.946411944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049929.947187568] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049929.948721884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049929.949425558] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049930.003292626] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972745 Long: -76.50298467 +[vectornav-1] [INFO] [1746049930.004777877] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.45799999999997, -3.635, 4.964) +[mux-7] [INFO] [1746049930.045642372] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049930.046482585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049930.047083803] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049930.049099951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049930.052237327] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049930.085182772] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049930.087188015] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049930.087644617] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049930.087780466] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049930.088909922] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049930.089812976] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049930.090682085] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049930.144957925] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049930.145585965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049930.146485737] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049930.147418856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049930.148503509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049930.245165504] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049930.245978373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049930.246556275] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049930.248260400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049930.249393793] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049930.335354900] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049930.337515668] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049930.338018279] [sailbot.teensy]: Wind angle: 344 +[mux-7] [INFO] [1746049930.338570802] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049930.339101518] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049930.340042460] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049930.340983738] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049930.344400203] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049930.344900906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049930.345813021] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049930.346628091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049930.347787439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049930.445462096] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049930.445948303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049930.447185560] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049930.448071520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049930.449412350] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049930.503349255] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697276 Long: -76.50298466 +[vectornav-1] [INFO] [1746049930.505399233] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.452, -3.625, 4.993) +[mux-7] [INFO] [1746049930.545196097] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049930.545953049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049930.546838654] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049930.548064874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049930.549098307] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049930.585456410] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049930.587668647] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049930.588057367] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049930.588390752] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049930.588627123] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049930.589541513] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049930.590434986] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049930.645292907] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049930.645912540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049930.646723769] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049930.648490450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049930.649539236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049930.745439754] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049930.745980820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049930.747200077] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049930.748137657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049930.749403798] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049930.835392960] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049930.837711873] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049930.838272205] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049930.838796570] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049930.838932265] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049930.839537098] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049930.839924197] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049930.844370057] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049930.845042805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049930.845871589] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049930.846788876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049930.847889384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049930.945088830] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049930.945813077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049930.946509699] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049930.947817371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049930.949048389] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049931.003490508] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972762 Long: -76.50298454 +[vectornav-1] [INFO] [1746049931.005989657] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.46799999999996, -3.643, 5.15) +[mux-7] [INFO] [1746049931.045163752] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049931.045908879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049931.046586657] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049931.047893164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049931.048938568] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049931.085579141] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049931.087558835] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049931.088190227] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049931.088535856] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049931.089366834] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049931.089427584] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049931.090342941] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049931.145550256] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049931.146434075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049931.147182581] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049931.148808578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049931.150044436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049931.245298133] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049931.245811481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049931.246716793] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049931.248002317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049931.248930716] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049931.335158315] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049931.336852317] [sailbot.teensy]: Wind angle: 335 +[teensy-2] [INFO] [1746049931.337985510] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049931.338310975] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049931.339260607] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049931.339569319] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049931.340203760] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049931.344610208] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049931.345164367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049931.345847369] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049931.347231704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049931.348370051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049931.445406392] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049931.446693536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049931.446985621] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049931.448684039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049931.449851381] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049931.503308938] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972764 Long: -76.50298468 +[vectornav-1] [INFO] [1746049931.505248643] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.466, -3.649, 5.146) +[mux-7] [INFO] [1746049931.544970653] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049931.545833082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049931.546271410] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049931.547669176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049931.548669149] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049931.585356512] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049931.587381166] [sailbot.teensy]: Wind angle: 330 +[teensy-2] [INFO] [1746049931.588388492] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049931.588322993] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049931.589257414] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049931.589509387] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049931.590078880] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049931.645031458] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049931.645640041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049931.646548057] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049931.647446137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049931.648652729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049931.744947391] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049931.745575072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049931.746476920] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049931.747424891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049931.748174439] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049931.835565018] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049931.837977493] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049931.838655557] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049931.839038489] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049931.839502568] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049931.839521525] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049931.839911087] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049931.844526308] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049931.845038876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049931.845632570] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049931.846783902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049931.847821696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049931.945281367] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049931.945795575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049931.946763219] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049931.947736688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049931.948648857] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049932.003600394] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972747 Long: -76.50298489 +[vectornav-1] [INFO] [1746049932.005470264] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.462, -3.641, 5.18) +[mux-7] [INFO] [1746049932.045446816] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049932.046100781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049932.047075304] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049932.049136041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049932.050222492] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049932.085463853] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049932.088187920] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049932.088398266] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049932.088978678] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049932.090552202] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049932.091473239] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049932.092389778] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049932.145524298] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049932.146158466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049932.147161502] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049932.148595742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049932.149752691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049932.245657172] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049932.246402558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049932.247214031] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049932.248513134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049932.249682540] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049932.335356930] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049932.337845547] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049932.338099072] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746049932.339033743] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049932.339770868] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049932.339938737] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049932.340868205] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049932.344347513] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049932.344907553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049932.345458927] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049932.346566972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049932.347734411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049932.445615359] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049932.446744200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049932.447288745] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049932.449062596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049932.450024565] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049932.503609936] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972756 Long: -76.50298496 +[vectornav-1] [INFO] [1746049932.505090993] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.58000000000004, -3.575, 6.1) +[mux-7] [INFO] [1746049932.544882874] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049932.545494236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049932.546143548] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049932.547282213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049932.548429907] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049932.585360872] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049932.587310467] [sailbot.teensy]: Wind angle: 4 +[trim_sail-4] [INFO] [1746049932.587597977] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049932.588278539] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049932.589202026] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049932.589520983] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049932.590178136] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049932.645248907] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049932.646024368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049932.647097474] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049932.648287342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049932.649661375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049932.745496829] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049932.746066955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049932.747117637] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049932.748440253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049932.748943586] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049932.835548682] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049932.838013183] [sailbot.teensy]: Wind angle: 7 +[trim_sail-4] [INFO] [1746049932.838113315] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049932.838796402] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049932.839070221] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049932.839183547] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049932.839569792] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049932.844534914] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049932.845095208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049932.845934985] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049932.846897143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049932.848036720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049932.945147275] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049932.945839172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049932.946682262] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049932.947648039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049932.948829029] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049933.003360734] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972794 Long: -76.50298487 +[vectornav-1] [INFO] [1746049933.004688173] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.616, -3.54, 6.473) +[mux-7] [INFO] [1746049933.045117105] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049933.046124725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049933.046430686] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049933.048104367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049933.049241045] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049933.085383869] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049933.087349292] [sailbot.teensy]: Wind angle: 7 +[trim_sail-4] [INFO] [1746049933.087771033] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049933.088338403] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049933.089245020] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049933.090129773] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049933.090305318] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049933.145435345] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049933.146041897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049933.147078246] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049933.148440314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049933.149557040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049933.245733829] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049933.246325513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049933.248141105] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049933.248645635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049933.249773153] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049933.335602520] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049933.338011861] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049933.338731180] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049933.339297540] [sailbot.teensy]: Wind angle: 6 +[teensy-2] [INFO] [1746049933.339695371] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049933.340065601] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049933.340446015] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049933.344658806] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049933.345028516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049933.345841345] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049933.346767341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049933.347903378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049933.445731633] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049933.446387801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049933.447809006] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049933.448703011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049933.449229834] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049933.503736540] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972766 Long: -76.50298492 +[vectornav-1] [INFO] [1746049933.505453633] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.60699999999997, -3.496, 6.606) +[mux-7] [INFO] [1746049933.545401772] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049933.545955461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049933.547060624] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049933.548123148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049933.549353516] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049933.585630273] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049933.587961649] [sailbot.teensy]: Wind angle: 5 +[trim_sail-4] [INFO] [1746049933.588221513] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049933.588983987] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049933.589881072] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049933.590530344] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049933.590750644] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049933.645191922] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049933.645774546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049933.646640415] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049933.647667961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049933.648810175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049933.745101849] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049933.745982143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049933.746457107] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049933.747808100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049933.748854578] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049933.835275193] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049933.837535320] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049933.837731890] [sailbot.teensy]: Wind angle: 2 +[teensy-2] [INFO] [1746049933.838700797] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049933.839507964] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049933.839713396] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049933.839882117] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049933.844517428] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049933.844999069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049933.845778592] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049933.846710341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049933.847885117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049933.945502664] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049933.946254714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049933.947486009] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049933.948688005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049933.949557399] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049934.002934186] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972776 Long: -76.50298485 +[vectornav-1] [INFO] [1746049934.004739953] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.6, -3.497, 6.593) +[mux-7] [INFO] [1746049934.045038493] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049934.045633091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049934.046415539] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049934.047667377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049934.048762935] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049934.084942160] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049934.086291588] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746049934.086723749] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049934.087123538] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049934.087985688] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049934.088382222] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049934.088814691] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049934.145001598] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049934.146090765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049934.146672794] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049934.147916575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049934.148681742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049934.245331115] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049934.245910271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049934.246861822] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049934.247870957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049934.249053887] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049934.335627641] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049934.338303589] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049934.339145910] [sailbot.teensy]: Wind angle: 352 +[mux-7] [INFO] [1746049934.339757762] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049934.340099608] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049934.341012312] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049934.341859046] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049934.344513700] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049934.344950211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049934.345662722] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049934.346598429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049934.348234955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049934.445779415] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049934.446377211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049934.447782987] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049934.448740626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049934.449977100] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049934.502496407] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972791 Long: -76.50298455 +[vectornav-1] [INFO] [1746049934.503775537] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.594, -3.495, 6.599) +[mux-7] [INFO] [1746049934.545470556] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049934.546185492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049934.547185403] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049934.548366747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049934.549473376] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049934.585693083] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049934.588034585] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049934.591114640] [sailbot.teensy]: Wind angle: 334 +[teensy-2] [INFO] [1746049934.592033647] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049934.592894585] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049934.592864796] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049934.593749039] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049934.645806319] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049934.646342158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049934.647558796] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049934.648684344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049934.649821223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049934.745685414] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049934.746392185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049934.747449907] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049934.749054068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049934.750304161] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049934.835307478] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049934.837565092] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049934.838669484] [sailbot.teensy]: Wind angle: 331 +[mux-7] [INFO] [1746049934.838758684] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049934.839474115] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049934.839879215] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049934.840525707] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049934.844477828] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049934.845659847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049934.845671702] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049934.847797243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049934.848865680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049934.945137275] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049934.945864503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049934.946702788] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049934.948708819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049934.949419531] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049935.003312905] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972731 Long: -76.50298483 +[vectornav-1] [INFO] [1746049935.004970819] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.59000000000003, -3.504, 6.581) +[mux-7] [INFO] [1746049935.045010781] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049935.045991694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049935.046292898] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049935.047986998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049935.049047897] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049935.085495851] [sailbot.teensy]: Check telemetry callback entered +[mux-7] [INFO] [1746049935.088841816] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049935.089113531] [sailbot.teensy]: Wind angle: 334 +[teensy-2] [INFO] [1746049935.090002904] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049935.089166932] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049935.090866052] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049935.091737084] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049935.144850788] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049935.145641172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049935.146271451] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049935.147489050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049935.148727539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049935.245031874] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049935.246297291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049935.246374064] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049935.248020751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049935.248533029] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049935.335391542] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049935.337889644] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049935.338872510] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049935.339149383] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049935.340106479] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049935.341031636] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049935.342019278] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049935.344394517] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049935.344824176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049935.345652381] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049935.346626369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049935.347644370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049935.445692638] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049935.446406567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049935.447455197] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049935.449019666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049935.449642838] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049935.504137139] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697274 Long: -76.50298463 +[vectornav-1] [INFO] [1746049935.506075891] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.581, -3.515, 6.553) +[mux-7] [INFO] [1746049935.545402002] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049935.546430151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049935.546988650] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049935.548619716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049935.549791158] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049935.585457937] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049935.587430115] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049935.588421976] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049935.587950836] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049935.589310296] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049935.589387725] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049935.590250054] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049935.645296209] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049935.645804378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049935.646811130] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049935.647830240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049935.648945451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049935.745293290] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049935.746056750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049935.746873299] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049935.748217510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049935.749293600] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049935.835289406] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049935.837259185] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049935.837836414] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049935.838252692] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049935.838810157] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049935.838976734] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049935.839177002] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049935.844669875] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049935.845285037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049935.846252013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049935.847080852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049935.848357273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049935.945794769] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049935.946415496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049935.947548002] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049935.949780396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049935.951011363] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049936.003365481] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972756 Long: -76.50298455 +[vectornav-1] [INFO] [1746049936.004821740] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.56899999999996, -3.531, 6.543) +[mux-7] [INFO] [1746049936.045706709] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049936.046393767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049936.047373717] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049936.048505438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049936.049652481] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049936.085235461] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049936.087382763] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049936.088167475] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049936.088917585] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049936.089136720] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049936.090030324] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049936.090873590] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049936.145175093] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049936.146002564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049936.146466796] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049936.147938087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049936.149079791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049936.245451823] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049936.246264731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049936.247004429] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049936.248703716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049936.249891347] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049936.335651292] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049936.337952398] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049936.339230779] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049936.338526919] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049936.339635212] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049936.339907510] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049936.340007297] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049936.344218833] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049936.345146969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049936.345338738] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049936.346956595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049936.347984987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049936.445553974] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049936.446386635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049936.447351674] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049936.448007481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049936.448482778] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049936.502906922] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972747 Long: -76.50298448 +[vectornav-1] [INFO] [1746049936.504089521] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.56899999999996, -3.535, 6.535) +[mux-7] [INFO] [1746049936.545412847] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049936.546487833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049936.547120050] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049936.548661664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049936.549802426] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049936.585700509] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049936.587882308] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049936.588553946] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049936.588955237] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049936.589863255] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049936.590218748] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049936.590733229] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049936.645177220] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049936.646270176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049936.646655804] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049936.648083282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049936.649322181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049936.745413949] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049936.746258900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049936.747123121] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049936.748488072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049936.749692996] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049936.835404448] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049936.837810949] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049936.839194935] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049936.839826007] [sailbot.teensy]: Wind angle: 332 +[teensy-2] [INFO] [1746049936.840800171] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049936.841713805] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049936.842606011] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049936.844593125] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049936.844798125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049936.845882812] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049936.846482774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049936.847511701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049936.945629948] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049936.946395936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049936.947294964] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049936.948914228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049936.949763909] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049937.003893019] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972732 Long: -76.50298446 +[vectornav-1] [INFO] [1746049937.005776212] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.56899999999996, -3.551, 6.527) +[mux-7] [INFO] [1746049937.045416300] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049937.045916283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049937.046840860] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049937.048003499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049937.049079865] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049937.085389601] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049937.087863545] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049937.088345514] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049937.089484356] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049937.089798580] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049937.090571381] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049937.091662434] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049937.145296876] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049937.145981657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049937.146974389] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049937.148264859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049937.149396802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049937.245424594] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049937.245983979] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049937.246974119] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049937.247965923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049937.248979092] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049937.335277649] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049937.337509173] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049937.338358776] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049937.338623560] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049937.339100438] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049937.339460350] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049937.339793187] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049937.344596274] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049937.345159295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049937.345792294] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049937.346902962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049937.348028591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049937.445521765] [sailbot.mux]: Published sail angle from controller_app: 28 +[mux-7] [INFO] [1746049937.447128662] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049937.449568843] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049937.451208194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049937.452400177] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049937.503449929] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697276 Long: -76.50298457 +[vectornav-1] [INFO] [1746049937.505515396] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.562, -3.532, 6.557) +[mux-7] [INFO] [1746049937.545353050] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049937.546146515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049937.546846562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049937.548432014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049937.548978738] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049937.585119723] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049937.586751063] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049937.587473396] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049937.587707070] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049937.588646375] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049937.589279051] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049937.589530777] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049937.645392645] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049937.646546419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049937.647029738] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049937.648812414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049937.649828102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049937.745332517] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049937.746095378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049937.746962490] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049937.748109379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049937.749794721] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049937.835847377] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049937.838375044] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049937.839265543] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049937.840649717] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049937.841117050] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049937.842152143] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049937.843061759] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049937.844473700] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049937.844931673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049937.845604977] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049937.846568266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049937.847750535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049937.945377639] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049937.946196249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049937.947295354] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049937.947756671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049937.948221933] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049938.003480151] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972762 Long: -76.50298432 +[vectornav-1] [INFO] [1746049938.005310086] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.56100000000004, -3.529, 6.573) +[mux-7] [INFO] [1746049938.045741305] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049938.045796273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049938.047217215] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049938.047944635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049938.049607973] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049938.085321957] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049938.088075601] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049938.088337778] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049938.089606260] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049938.090606348] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049938.091480171] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049938.092442760] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049938.145206918] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049938.146250967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049938.146937902] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049938.148134595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049938.148710577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049938.245206109] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049938.246228259] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049938.246683427] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049938.247805252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049938.248341203] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049938.335344997] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049938.337771921] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049938.338546848] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049938.338635142] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049938.339579796] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049938.340465126] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049938.341432438] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049938.344325700] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049938.345073070] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049938.345504509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049938.346798194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049938.348011690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049938.445624440] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049938.446545308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049938.447377728] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049938.449101820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049938.450228344] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049938.503270450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972749 Long: -76.50298418 +[vectornav-1] [INFO] [1746049938.504721150] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.555, -3.549, 6.538) +[mux-7] [INFO] [1746049938.545436981] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049938.546272734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049938.547109713] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049938.548572194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049938.549684276] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049938.585917329] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049938.589442817] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049938.590033177] [sailbot.teensy]: Wind angle: 343 +[mux-7] [INFO] [1746049938.590537570] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049938.591317054] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049938.592303123] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049938.593193449] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049938.645137696] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049938.645847413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049938.646618005] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049938.648239037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049938.649980256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049938.745094034] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049938.745855118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049938.746534089] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049938.747764237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049938.748260348] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049938.835413641] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049938.838124305] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049938.838251699] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049938.839188924] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049938.839462719] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049938.840096411] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049938.841033586] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049938.844519167] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049938.844971414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049938.845835566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049938.846675406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049938.847779284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049938.945177560] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049938.946248660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049938.946654904] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049938.948140407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049938.948731578] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049939.003496427] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972752 Long: -76.5029843 +[vectornav-1] [INFO] [1746049939.005291092] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.538, -3.558, 6.418) +[mux-7] [INFO] [1746049939.045851819] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049939.046199733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049939.047601501] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049939.048394372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049939.049540287] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049939.085228499] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049939.087410954] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049939.087610505] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049939.088599661] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049939.088669251] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049939.089533493] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049939.090455215] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049939.145189318] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049939.145622786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049939.146899394] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049939.147494472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049939.148670362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049939.245403970] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049939.246357332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049939.247005794] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049939.248047305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049939.248565950] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049939.335216089] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049939.337254195] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049939.337522601] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049939.338114538] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049939.338457879] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049939.338950844] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049939.339853330] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049939.344323626] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049939.344794892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049939.345727351] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049939.346373467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049939.347361206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049939.445288129] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049939.446061199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049939.446926608] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049939.448121121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049939.448883534] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049939.504115158] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972739 Long: -76.50298436 +[vectornav-1] [INFO] [1746049939.506087067] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.534, -3.549, 6.425) +[mux-7] [INFO] [1746049939.545263076] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049939.546001945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049939.546644254] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049939.548195786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049939.549410217] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049939.585237231] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049939.587414919] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049939.588085391] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049939.588371008] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049939.589325400] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049939.590235009] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049939.591148382] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049939.644979575] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049939.645348170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049939.646284905] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049939.647143712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049939.648234933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049939.745613673] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049939.746766994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049939.747329853] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049939.748723741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049939.749254073] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049939.835194536] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049939.837553394] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049939.837927702] [sailbot.teensy]: Wind angle: 356 +[teensy-2] [INFO] [1746049939.838910201] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049939.838923753] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049939.839560394] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049939.839937568] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049939.844453603] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049939.845069182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049939.845729383] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049939.846877827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049939.848070572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049939.945372389] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049939.946451249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049939.946941039] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049939.948929572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049939.949936866] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049940.002848234] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972739 Long: -76.50298447 +[vectornav-1] [INFO] [1746049940.004048935] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.52, -3.533, 6.442) +[mux-7] [INFO] [1746049940.045410258] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049940.046168535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049940.047170177] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049940.048051704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049940.048566827] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049940.085367160] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049940.087364945] [sailbot.teensy]: Wind angle: 333 +[trim_sail-4] [INFO] [1746049940.087792404] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049940.089027975] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049940.089086619] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049940.090027564] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049940.090894896] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049940.145072954] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049940.146306757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049940.146436687] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049940.148504175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049940.149022634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049940.245278520] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049940.246167899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049940.246751187] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049940.248233775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049940.249394553] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049940.335363737] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049940.337884812] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746049940.337894800] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049940.338676076] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049940.339841546] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049940.340774881] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049940.341443697] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049940.344398705] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049940.344989287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049940.345585039] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049940.346805065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049940.347837879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049940.445295642] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049940.446313459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049940.446884776] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049940.448609687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049940.449696291] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049940.504213766] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972709 Long: -76.50298445 +[vectornav-1] [INFO] [1746049940.506739000] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.50800000000004, -3.547, 6.423) +[mux-7] [INFO] [1746049940.545072688] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049940.545950864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049940.546586351] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049940.547810250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049940.549035537] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049940.585518699] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049940.587566830] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049940.588036837] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049940.588547592] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049940.589537197] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049940.589667335] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049940.590428212] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049940.645214674] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049940.645870955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049940.646715988] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049940.647995624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049940.649101024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049940.745051214] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049940.745843944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049940.746821568] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049940.747836027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049940.748940963] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049940.835220903] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049940.837341960] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049940.837395372] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049940.838334772] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049940.838669289] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049940.839264660] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049940.840542088] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049940.844392657] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049940.844888286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049940.845448797] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049940.846512149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049940.847677529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049940.945433619] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049940.946233201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049940.946975823] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049940.948529778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049940.949072296] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049941.002592358] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972732 Long: -76.50298452 +[vectornav-1] [INFO] [1746049941.003671613] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.501, -3.546, 6.373) +[mux-7] [INFO] [1746049941.045243664] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049941.045987657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049941.046719791] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049941.048145437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049941.049285378] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049941.085437118] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049941.087826653] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049941.088413368] [sailbot.teensy]: Wind angle: 347 +[mux-7] [INFO] [1746049941.089101315] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049941.089396344] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049941.090272173] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049941.091138448] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049941.145053647] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049941.145909641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049941.146372785] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049941.148187030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049941.149576563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049941.245020293] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049941.245911770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049941.246756865] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049941.247795029] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049941.248934235] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049941.335227282] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049941.337457782] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049941.337895711] [sailbot.teensy]: Wind angle: 350 +[mux-7] [INFO] [1746049941.338605744] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049941.339115455] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049941.340058428] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049941.340943848] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049941.344374917] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049941.344984225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049941.345546252] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049941.346725589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049941.347925521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049941.445054314] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049941.445827698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049941.446279775] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049941.447591747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049941.448443350] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049941.502640941] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972735 Long: -76.50298443 +[vectornav-1] [INFO] [1746049941.503705281] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.495, -3.543, 6.356) +[mux-7] [INFO] [1746049941.545282608] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049941.546223860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049941.546741156] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049941.548425893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049941.549547197] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049941.585631924] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049941.588121303] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049941.589133928] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049941.589562813] [sailbot.teensy]: Wind angle: 353 +[teensy-2] [INFO] [1746049941.590614940] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049941.591489831] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049941.592359022] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049941.644753751] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049941.645290845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049941.645899306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049941.647090781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049941.648108946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049941.745438309] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049941.745816936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049941.747121757] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049941.747897800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049941.748952075] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049941.835211102] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049941.837366271] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049941.837927796] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049941.838431725] [sailbot.teensy]: Wind angle: 353 +[teensy-2] [INFO] [1746049941.839701741] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049941.840361931] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049941.840720677] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049941.844236072] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049941.844773682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049941.845613337] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049941.846487642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049941.847521998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049941.945461268] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049941.946016421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049941.946946974] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049941.947724031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049941.948224089] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049942.004474599] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972741 Long: -76.50298434 +[vectornav-1] [INFO] [1746049942.005963881] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.498, -3.541, 6.364) +[mux-7] [INFO] [1746049942.045306566] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049942.046260662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049942.046678392] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049942.048347250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049942.049467435] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049942.085265177] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049942.087433848] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049942.087890204] [sailbot.teensy]: Wind angle: 353 +[mux-7] [INFO] [1746049942.088805115] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049942.089078189] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049942.090071097] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049942.091076993] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049942.144742014] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049942.145965331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049942.146046269] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049942.147822966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049942.148884600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049942.245432655] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049942.246464421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049942.247257378] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049942.248763754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049942.249997630] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049942.335372271] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049942.337268361] [sailbot.teensy]: Wind angle: 353 +[trim_sail-4] [INFO] [1746049942.337556133] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049942.338258024] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049942.339179728] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049942.339729631] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049942.340088270] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049942.344301863] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049942.345269222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049942.345608965] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049942.347089897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049942.348098359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049942.445369174] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049942.446130540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049942.447341420] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049942.448111263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049942.449244690] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049942.502376140] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972739 Long: -76.50298441 +[vectornav-1] [INFO] [1746049942.503367821] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.497, -3.54, 6.369) +[mux-7] [INFO] [1746049942.545178251] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049942.545836432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049942.546385566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049942.547659244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049942.548851501] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049942.585424231] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049942.587781912] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049942.588467031] [sailbot.teensy]: Wind angle: 354 +[mux-7] [INFO] [1746049942.588776560] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049942.589490428] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049942.590442095] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049942.591319718] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049942.645167608] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049942.645974799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049942.646530254] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049942.647943915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049942.649870978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049942.745208541] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049942.746241389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049942.746824114] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049942.748498125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049942.749040928] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049942.835309232] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049942.837162285] [sailbot.teensy]: Wind angle: 358 +[teensy-2] [INFO] [1746049942.838124147] [sailbot.teensy]: Actual sail angle: 28 +[trim_sail-4] [INFO] [1746049942.837650132] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049942.838983905] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049942.838999846] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049942.839896270] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049942.844478012] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049942.845008830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049942.845553162] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049942.846724122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049942.847761550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049942.945389838] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049942.945913650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049942.946906796] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049942.947767116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049942.948326701] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049943.003594901] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972747 Long: -76.50298441 +[vectornav-1] [INFO] [1746049943.004943932] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.507, -3.546, 6.381) +[mux-7] [INFO] [1746049943.044791810] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049943.045823302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049943.046005136] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049943.048734132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049943.049834621] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049943.085556315] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049943.087314747] [sailbot.teensy]: Wind angle: 356 +[trim_sail-4] [INFO] [1746049943.087813702] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049943.088230436] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049943.089153553] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049943.090023204] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049943.090171594] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049943.144986896] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049943.146224705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049943.146412479] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049943.148127803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049943.149229138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049943.244598431] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049943.245287647] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049943.245701998] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049943.246931222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049943.247939538] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049943.335277542] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049943.336964494] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746049943.337498869] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049943.337920218] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049943.338838968] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049943.339703234] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049943.339704140] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049943.344321820] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049943.345123506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049943.345456299] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049943.346875319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049943.347967434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049943.445158549] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049943.446050896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049943.446783249] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049943.447900295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049943.448412404] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049943.503519241] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972771 Long: -76.5029845 +[vectornav-1] [INFO] [1746049943.505291883] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.526, -3.534, 6.082) +[mux-7] [INFO] [1746049943.545100955] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049943.546068054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049943.546558451] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049943.547971780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049943.549093386] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049943.585232103] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049943.587534353] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049943.588141230] [sailbot.teensy]: Wind angle: 352 +[mux-7] [INFO] [1746049943.588138021] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049943.589145884] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049943.590043712] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049943.590862010] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049943.644948264] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049943.645675748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049943.646211856] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049943.647506386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049943.648746661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049943.745002120] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049943.745586234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049943.746445137] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049943.747375942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049943.749071096] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049943.835434898] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049943.837885526] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049943.838381890] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049943.838683504] [sailbot.teensy]: Wind angle: 346 +[teensy-2] [INFO] [1746049943.839228435] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049943.839634618] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049943.840256827] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049943.844372519] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049943.844973237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049943.845627552] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049943.846693747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049943.847851084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049943.945478691] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049943.946635635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049943.947809241] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049943.948315209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049943.948857653] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049944.003425900] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972772 Long: -76.50298441 +[vectornav-1] [INFO] [1746049944.005030236] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.50800000000004, -3.517, 5.995) +[mux-7] [INFO] [1746049944.044974070] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049944.045821225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049944.046322310] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049944.047771662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049944.048828401] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049944.085342988] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049944.087542422] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049944.087545170] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049944.088526108] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049944.088897063] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049944.089415761] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049944.090303252] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049944.145125615] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049944.145714379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049944.146433785] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049944.147616079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049944.148681279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049944.245319343] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049944.245957492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049944.246722336] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049944.247937447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049944.249091860] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049944.335330820] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049944.337117432] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049944.337660685] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049944.337847919] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049944.338212862] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049944.338400867] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049944.338599922] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049944.344530966] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049944.345002261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049944.345723989] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049944.346993971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049944.348069819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049944.445401081] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049944.446299303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049944.446966459] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049944.448537959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049944.449676378] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049944.503652539] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972764 Long: -76.50298435 +[vectornav-1] [INFO] [1746049944.505257462] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.517, -3.517, 6.012) +[mux-7] [INFO] [1746049944.545288662] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049944.545885263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049944.546866894] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049944.547983518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049944.549040587] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049944.585237633] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049944.587110930] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049944.587441596] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049944.588028490] [sailbot.teensy]: Actual sail angle: 28 +[mux-7] [INFO] [1746049944.588755455] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049944.588935445] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049944.589778642] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049944.645210357] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049944.645843737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049944.646635210] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049944.647738277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049944.648866727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049944.745431941] [sailbot.mux]: Published sail angle from controller_app: 28 +[teensy-2] [INFO] [1746049944.746079776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049944.747427179] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049944.748182435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 +[teensy-2] [INFO] [1746049944.749386489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049944.823006677] [sailbot.mux]: controller_app sail angle: 45 +[teensy-2] [INFO] [1746049944.835486917] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049944.837499738] [sailbot.teensy]: Wind angle: 338 +[trim_sail-4] [INFO] [1746049944.837880482] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049944.838510889] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049944.839480412] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049944.839725372] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049944.840395000] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049944.844562687] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049944.845102878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049944.845674730] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049944.846856001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049944.847888565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049944.945340124] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049944.946015088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049944.946825814] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049944.948080634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049944.948850099] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049945.003198854] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972768 Long: -76.50298413 +[vectornav-1] [INFO] [1746049945.004948480] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.519, -3.513, 6.041) +[mux-7] [INFO] [1746049945.045535771] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049945.046080527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049945.046901865] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049945.048396635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049945.049557938] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049945.085437018] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049945.087533117] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746049945.088042707] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049945.088527440] [sailbot.teensy]: Actual sail angle: 28 +[teensy-2] [INFO] [1746049945.089452081] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049945.090046450] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049945.090308033] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049945.144669974] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049945.145334740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049945.145837542] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049945.147189662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049945.148237629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049945.244928430] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049945.245559578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049945.246205337] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049945.247351719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049945.248443328] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049945.335340451] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049945.337243799] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049945.338187935] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049945.337754717] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049945.338914799] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049945.339064704] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049945.339949359] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049945.344489912] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049945.344867411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049945.345677403] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049945.346498840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049945.347544264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049945.445262248] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049945.446661665] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049945.449083826] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049945.450687453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049945.451621660] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049945.504259709] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697276 Long: -76.50298421 +[vectornav-1] [INFO] [1746049945.506483855] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.527, -3.506, 6.149) +[mux-7] [INFO] [1746049945.545227814] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049945.545635223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049945.546519656] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049945.547410992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049945.548526490] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049945.585274577] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049945.587004399] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049945.587920942] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049945.587489264] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049945.588843278] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049945.589759330] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049945.589450949] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746049945.644904154] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049945.645753905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049945.646171910] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049945.647554074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049945.648612288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049945.745315346] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049945.746210059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049945.746969697] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049945.748048681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049945.748567431] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049945.835272544] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049945.837537769] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049945.837570728] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049945.838869885] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049945.839420133] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049945.839830170] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049945.840193013] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049945.844529258] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049945.845162305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049945.845623036] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049945.846894596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049945.848036258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049945.945312099] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049945.946357367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049945.946921028] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049945.948743867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049945.949919098] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049946.003365938] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972738 Long: -76.50298374 +[vectornav-1] [INFO] [1746049946.004905832] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.549, -3.495, 6.298) +[mux-7] [INFO] [1746049946.045003018] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049946.045925696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049946.046696573] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049946.047772749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049946.048825414] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049946.085198356] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049946.087250386] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049946.088327137] [sailbot.teensy]: Wind angle: 354 +[mux-7] [INFO] [1746049946.088618927] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049946.089352276] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049946.090244630] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049946.091088170] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049946.144930598] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049946.145742825] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049946.146219720] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049946.147663416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049946.148841190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049946.245278933] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049946.246151806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049946.246848084] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049946.248226815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049946.248734388] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049946.335328190] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049946.337064596] [sailbot.teensy]: Wind angle: 354 +[teensy-2] [INFO] [1746049946.337984299] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049946.337603457] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049946.338478453] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049946.338874204] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049946.339746509] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049946.344542637] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049946.345031054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049946.346139274] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049946.346755890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049946.347906664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049946.445326629] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049946.446024391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049946.447080307] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049946.447983623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049946.449038512] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049946.503088255] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972735 Long: -76.50298367 +[vectornav-1] [INFO] [1746049946.504846077] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.547, -3.489, 6.304) +[mux-7] [INFO] [1746049946.545135012] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049946.545856766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049946.546547404] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049946.547901602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049946.549075419] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049946.585373518] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049946.587813660] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049946.588292912] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049946.588757229] [sailbot.teensy]: Wind angle: 354 +[teensy-2] [INFO] [1746049946.590168668] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049946.591086064] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049946.592063060] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049946.645304817] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049946.646162358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049946.646819397] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049946.648746557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049946.649400828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049946.745319168] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049946.746274398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049946.746807681] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049946.748212367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049946.748642800] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049946.835339506] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049946.837452365] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049946.837786393] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049946.838464449] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049946.839384605] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049946.839400621] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049946.840375214] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049946.844507004] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049946.845318497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049946.845668281] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049946.847177020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049946.848259765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049946.945333851] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049946.946060131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049946.947436657] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049946.947804144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049946.948282226] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049947.003788113] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972718 Long: -76.50298382 +[vectornav-1] [INFO] [1746049947.005452273] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.554, -3.489, 6.373) +[mux-7] [INFO] [1746049947.044949423] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049947.045908812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049947.046524453] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049947.047904405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049947.049153110] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049947.085427151] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049947.087240348] [sailbot.teensy]: Wind angle: 351 +[trim_sail-4] [INFO] [1746049947.087916440] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049947.088190619] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049947.089111962] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049947.089252190] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049947.090149316] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049947.145318689] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049947.145846638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049947.146790479] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049947.147810462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049947.149077673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049947.245513795] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049947.246065734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049947.247135009] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049947.248189817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049947.249246459] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049947.335353482] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049947.337245134] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049947.337893700] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049947.338214782] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049947.339140603] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049947.339997357] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049947.340011819] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049947.344374349] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049947.345114789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049947.345473568] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049947.346896171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049947.347912587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049947.445164442] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049947.445948583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049947.446795280] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049947.448001880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049947.449934097] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049947.503403892] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972711 Long: -76.5029837 +[vectornav-1] [INFO] [1746049947.505120380] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.56100000000004, -3.483, 6.413) +[mux-7] [INFO] [1746049947.544870344] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049947.545514348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049947.546044439] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049947.547265426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049947.548459688] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049947.585172758] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049947.586769457] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049947.587276741] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049947.588711801] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049947.588955419] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049947.589869735] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049947.590711840] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049947.645173267] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049947.645782686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049947.646440512] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049947.647672854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049947.648870709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049947.745351312] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049947.746009934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049947.746842237] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049947.748410169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049947.749174910] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049947.835242822] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049947.837729505] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049947.838519837] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049947.838977580] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049947.839476537] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049947.840198254] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049947.840585150] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049947.844496426] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049947.845123649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049947.845669093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049947.846843980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049947.847836743] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049947.945105965] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049947.945885655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049947.946554450] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049947.947890140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049947.948373616] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049948.003523967] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972716 Long: -76.50298368 +[vectornav-1] [INFO] [1746049948.005794934] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.622, -3.459, 6.814) +[mux-7] [INFO] [1746049948.045141221] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049948.046241701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049948.046788542] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049948.048335093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049948.049976300] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049948.085312220] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049948.087790965] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049948.088584651] [sailbot.teensy]: Wind angle: 344 +[mux-7] [INFO] [1746049948.088698116] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049948.089559951] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049948.090456192] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049948.091270910] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049948.145348071] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049948.145811591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049948.146781540] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049948.148032083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049948.149198501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049948.245431383] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049948.246092134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049948.247053006] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049948.248501203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049948.249194476] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049948.335448741] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049948.337647899] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049948.338502377] [sailbot.teensy]: Wind angle: 343 +[mux-7] [INFO] [1746049948.338764785] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049948.339049347] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049948.339443675] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049948.340002378] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049948.344402210] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049948.344914026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049948.345627885] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049948.346711492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049948.347734389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049948.445555088] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049948.446604272] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049948.447548988] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049948.449043225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049948.450141374] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049948.502638700] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697271 Long: -76.50298364 +[vectornav-1] [INFO] [1746049948.503721890] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.622, -3.461, 6.815) +[mux-7] [INFO] [1746049948.545098265] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049948.545830200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049948.546349783] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049948.547811727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049948.548387119] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049948.585462442] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049948.587978668] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049948.588362744] [sailbot.teensy]: Wind angle: 343 +[mux-7] [INFO] [1746049948.588655247] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049948.589336830] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049948.590229600] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049948.591071624] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049948.645289886] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049948.645979336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049948.646821283] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049948.648203098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049948.649292702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049948.745722917] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049948.746331634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049948.747480343] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049948.748844912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049948.749939692] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049948.835251468] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049948.837117038] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746049948.837606736] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049948.838058638] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049948.838871534] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049948.838899585] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049948.839525184] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049948.844502622] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049948.845295039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049948.846089933] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049948.847095639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049948.848144993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049948.945514919] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049948.946146497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049948.947232407] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049948.948661001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049948.949394258] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049949.003402802] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972695 Long: -76.5029835 +[vectornav-1] [INFO] [1746049949.005344361] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.637, -3.475, 6.784) +[mux-7] [INFO] [1746049949.044858334] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049949.045698761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049949.046442825] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049949.047627364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049949.048694439] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049949.085308980] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049949.087737478] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049949.088113256] [sailbot.teensy]: Wind angle: 338 +[mux-7] [INFO] [1746049949.088418913] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049949.089079130] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049949.090033820] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049949.090904322] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049949.144975071] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049949.146132231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049949.146574359] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049949.148060608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049949.148914140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049949.245335778] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049949.246558959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049949.246863329] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049949.247869107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049949.248411463] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049949.335298525] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049949.337094686] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049949.337599465] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049949.338079485] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049949.338978508] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049949.339553110] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049949.339931836] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049949.344298598] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049949.344943160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049949.345659187] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049949.346728092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049949.347879873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049949.444918785] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049949.445607527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049949.446716150] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049949.447519917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049949.448781519] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049949.503069636] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972697 Long: -76.5029834 +[vectornav-1] [INFO] [1746049949.504561120] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.634, -3.472, 6.757) +[mux-7] [INFO] [1746049949.544942939] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049949.545805500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049949.546163059] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049949.547763913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049949.548820252] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049949.585226871] [sailbot.teensy]: Check telemetry callback entered +[mux-7] [INFO] [1746049949.587953261] [sailbot.mux]: algo sail angle: 80 +[trim_sail-4] [INFO] [1746049949.588116068] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049949.588164135] [sailbot.teensy]: Wind angle: 335 +[teensy-2] [INFO] [1746049949.589091660] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049949.589987010] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049949.590846128] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049949.645141120] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049949.646267378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049949.646589544] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049949.648556562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049949.649715944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049949.745341408] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049949.746595553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049949.746872849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049949.748194745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049949.748734516] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049949.835210293] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049949.837532222] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049949.838382528] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049949.838756542] [sailbot.teensy]: Wind angle: 335 +[teensy-2] [INFO] [1746049949.839759597] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049949.840539485] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049949.840907432] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049949.844437935] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049949.845183315] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049949.845590655] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049949.846996757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049949.847994227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049949.945240777] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049949.946005700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049949.947033553] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049949.948278497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049949.949081621] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049950.003384253] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972677 Long: -76.50298372 +[vectornav-1] [INFO] [1746049950.005071911] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.637, -3.488, 6.748) +[mux-7] [INFO] [1746049950.045030510] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049950.045804077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049950.046445016] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049950.047930897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049950.049036357] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049950.085243298] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049950.087755894] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049950.088740682] [sailbot.teensy]: Wind angle: 337 +[mux-7] [INFO] [1746049950.088914297] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049950.089900473] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049950.090932530] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049950.091781874] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049950.145122348] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049950.146387573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049950.147010425] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049950.148496808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049950.148936171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049950.245607489] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049950.246207456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049950.247242970] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049950.248654283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049950.249933258] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049950.335251023] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049950.337022445] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049950.337697566] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049950.337978565] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049950.338899710] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049950.339305665] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049950.339775134] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049950.344769446] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049950.345126503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049950.345931362] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049950.346872126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049950.347998795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049950.445828823] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049950.446416356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049950.447474992] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049950.448751631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049950.450030966] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049950.502467547] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972653 Long: -76.50298379 +[vectornav-1] [INFO] [1746049950.503552870] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.631, -3.485, 6.765) +[mux-7] [INFO] [1746049950.545054027] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049950.545797403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049950.546337047] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049950.547656605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049950.548712931] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049950.585319216] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049950.587118355] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746049950.587569668] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049950.588065893] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049950.589000984] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049950.589459102] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049950.589884860] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049950.644807973] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049950.645502259] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049950.646014686] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049950.647312896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049950.648489763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049950.745146461] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049950.746136301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049950.746928849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049950.748226859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049950.749312931] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049950.835277196] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049950.837402967] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049950.837758195] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049950.838359376] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049950.838839304] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049950.838982361] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049950.839368036] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049950.844621442] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049950.845096203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049950.845914348] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049950.846801521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049950.847848809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049950.945387477] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049950.946058910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049950.947267886] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049950.948078750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049950.948675781] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049951.002519389] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972644 Long: -76.50298378 +[vectornav-1] [INFO] [1746049951.003714210] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.625, -3.484, 6.773) +[mux-7] [INFO] [1746049951.045441021] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049951.046043677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049951.046794954] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049951.047917852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049951.049015238] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049951.085257091] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049951.087471703] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049951.088777593] [sailbot.teensy]: Wind angle: 343 +[mux-7] [INFO] [1746049951.089032296] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049951.089934441] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049951.090838126] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049951.091675257] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049951.144992682] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049951.145920121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049951.146327504] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049951.147846634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049951.148875618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049951.245083720] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049951.245995792] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049951.246863308] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049951.247894781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049951.248380120] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049951.335402554] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049951.337514909] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049951.337948060] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049951.338428282] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049951.338795454] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049951.338812020] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049951.339169472] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049951.344404914] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049951.344946734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049951.345559089] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049951.346676812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049951.347727152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049951.445146974] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049951.445931150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049951.446609704] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049951.447932058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049951.449107985] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049951.503847545] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697264 Long: -76.50298385 +[vectornav-1] [INFO] [1746049951.505636452] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.635, -3.48, 6.833) +[mux-7] [INFO] [1746049951.545290241] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049951.546262108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049951.546961352] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049951.548451948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049951.549480130] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049951.585538987] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049951.587978423] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049951.588023944] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049951.589033228] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049951.589600733] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049951.589963585] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049951.590816843] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049951.645598643] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049951.645811327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049951.647132099] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049951.647922177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049951.649175018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049951.745483308] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049951.746100646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049951.747124598] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049951.748276610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049951.748726603] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049951.835388823] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049951.837266024] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049951.838416373] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049951.839106378] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049951.839468228] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049951.839864788] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049951.840245611] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049951.844424687] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049951.844943478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049951.845551069] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049951.846651222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049951.847713134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049951.945239083] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049951.945891554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049951.946821727] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049951.948103559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049951.948546338] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049952.003356491] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972615 Long: -76.50298401 +[vectornav-1] [INFO] [1746049952.005027620] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.631, -3.468, 6.753) +[mux-7] [INFO] [1746049952.045259765] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049952.046008345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049952.046858232] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049952.048328362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049952.049400304] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049952.085103328] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049952.086636328] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049952.087728166] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049952.087861462] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049952.088816818] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049952.088834691] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049952.089807810] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049952.145170950] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049952.145983251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049952.146731427] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049952.147776127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049952.148230212] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049952.245554253] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049952.246843210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049952.247272647] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049952.248447535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049952.248992805] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049952.334414828] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049952.335388219] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746049952.335503214] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049952.335798395] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049952.336235755] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049952.336623897] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049952.336667231] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049952.343561574] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049952.344056776] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049952.344329172] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049952.345113795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049952.345600089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049952.445784441] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049952.446518041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049952.447937276] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049952.449231220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049952.449702118] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049952.503363388] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972618 Long: -76.50298407 +[vectornav-1] [INFO] [1746049952.504852741] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.603, -3.461, 6.559) +[mux-7] [INFO] [1746049952.544948613] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049952.545856284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049952.546287451] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049952.547956775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049952.549033730] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049952.585222913] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049952.586950540] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049952.587288844] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049952.587842066] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049952.588423517] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049952.588748086] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049952.589651708] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049952.645122811] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049952.645948028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049952.646735984] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049952.648047844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049952.649164810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049952.745116501] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049952.745824839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049952.746657884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049952.747656335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049952.748124120] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049952.835385577] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049952.837876705] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049952.838354851] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049952.838542670] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049952.839501990] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049952.840432152] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049952.841317073] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049952.844385746] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049952.844898937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049952.845535196] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049952.846718603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049952.847764864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049952.945584778] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049952.946652041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049952.947209376] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049952.949029087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049952.950238916] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049953.002744575] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469726 Long: -76.50298424 +[vectornav-1] [INFO] [1746049953.003875552] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.61199999999997, -3.472, 6.547) +[mux-7] [INFO] [1746049953.045413894] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049953.046170609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049953.047109114] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049953.048604479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049953.049145029] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049953.085188313] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049953.087516835] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049953.088111092] [sailbot.teensy]: Wind angle: 336 +[mux-7] [INFO] [1746049953.088856528] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049953.089082133] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049953.089982437] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049953.090863828] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049953.144975721] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049953.145486310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049953.146250178] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049953.147363229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049953.148391244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049953.244920030] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049953.245548625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049953.246220301] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049953.247343770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049953.248383199] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049953.335206122] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049953.336932713] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049953.337333598] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049953.337870016] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049953.338782128] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049953.339112195] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049953.339651752] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049953.344598791] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049953.345051631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049953.345799523] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049953.347065596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049953.348148357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049953.444738054] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049953.445423073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049953.445806785] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049953.447206672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049953.448873143] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049953.502497557] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972583 Long: -76.50298447 +[vectornav-1] [INFO] [1746049953.503515980] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.62, -3.473, 6.604) +[mux-7] [INFO] [1746049953.545272581] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049953.546299958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049953.546953835] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049953.548565695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049953.549818223] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049953.585434935] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049953.587992449] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049953.588012886] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049953.589037462] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049953.589977350] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049953.590214694] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049953.590903980] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049953.645296834] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049953.645956342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049953.646808102] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049953.648389671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049953.649620148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049953.745135300] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049953.745740516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049953.746579475] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049953.747643961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049953.748161422] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049953.835553637] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049953.838365498] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049953.839328525] [sailbot.teensy]: Wind angle: 355 +[mux-7] [INFO] [1746049953.839450949] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049953.839770384] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049953.840179450] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049953.840523511] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049953.844519584] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049953.845089047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049953.845670226] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049953.846791543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049953.847979528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049953.945254020] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049953.946265920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049953.946820921] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049953.948260005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049953.948742442] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049954.003085191] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972564 Long: -76.50298445 +[vectornav-1] [INFO] [1746049954.004992159] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.608, -3.43, 6.558) +[mux-7] [INFO] [1746049954.045073107] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049954.046156600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049954.046405481] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049954.048428853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049954.049475263] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049954.085316087] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049954.087934514] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049954.088425364] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049954.088524063] [sailbot.teensy]: Wind angle: 355 +[teensy-2] [INFO] [1746049954.089452642] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049954.090223310] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049954.090581204] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049954.145347387] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049954.146282198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049954.146921448] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049954.148976615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049954.150007180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049954.245222879] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049954.246009799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049954.246715850] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049954.248200955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049954.249186268] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049954.335170764] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049954.337636553] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049954.337969377] [sailbot.teensy]: Wind angle: 354 +[mux-7] [INFO] [1746049954.338419493] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049954.338928291] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049954.339513515] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049954.339865322] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049954.344487326] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049954.345101618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049954.345649653] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049954.346815163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049954.347797542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049954.445158293] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049954.445863380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049954.446587915] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049954.448100535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049954.449265993] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049954.502508501] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972558 Long: -76.50298452 +[vectornav-1] [INFO] [1746049954.503532666] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.61400000000003, -3.458, 6.574) +[mux-7] [INFO] [1746049954.545165651] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049954.545892192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049954.546635447] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049954.547968193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049954.549132610] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049954.585465447] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049954.587553612] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746049954.588034221] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049954.588547656] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049954.589057298] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049954.589469008] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049954.590314256] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049954.645267211] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049954.645794733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049954.646821527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049954.648148091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049954.649375013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049954.745337270] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049954.745970824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049954.746852320] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049954.748015506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049954.749049272] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049954.835355628] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049954.837095724] [sailbot.teensy]: Wind angle: 347 +[teensy-2] [INFO] [1746049954.838045816] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049954.838248591] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049954.838974804] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049954.839379468] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049954.840428922] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049954.844586634] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049954.845020369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049954.845756692] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049954.846983291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049954.848043670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049954.945543520] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049954.946071731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049954.947205938] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049954.948524279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049954.950258829] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049955.002527172] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972534 Long: -76.50298445 +[vectornav-1] [INFO] [1746049955.003892861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.61699999999996, -3.461, 6.531) +[mux-7] [INFO] [1746049955.045303803] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049955.045939139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049955.046854532] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049955.048011503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049955.049082621] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049955.085284311] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049955.087472937] [sailbot.teensy]: Wind angle: 349 +[trim_sail-4] [INFO] [1746049955.087589590] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049955.088472992] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049955.089095816] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049955.089361154] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049955.090246033] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049955.145093742] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049955.145932358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049955.146614599] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049955.148247239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049955.149285715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049955.245193648] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049955.245924173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049955.246642544] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049955.247947935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049955.248906693] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049955.335719305] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049955.338636071] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049955.339072544] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049955.339416016] [sailbot.teensy]: Wind angle: 349 +[teensy-2] [INFO] [1746049955.340419798] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049955.341281062] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049955.342105846] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049955.344315716] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049955.344806409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049955.345472473] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049955.346497956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049955.347662657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049955.445105962] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049955.446063910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049955.446609149] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049955.447851921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049955.448288999] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049955.503724151] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972532 Long: -76.5029845 +[vectornav-1] [INFO] [1746049955.505424867] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.63800000000003, -3.466, 6.561) +[mux-7] [INFO] [1746049955.545278890] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049955.546372107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049955.547003054] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049955.548583450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049955.549877067] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049955.585368066] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049955.587487610] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049955.587915868] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049955.588485026] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049955.588946936] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049955.589404623] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049955.590288041] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049955.645188193] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049955.646061115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049955.646769460] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049955.648127250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049955.650621311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049955.745007188] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049955.746559149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049955.746519756] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049955.748556636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049955.749685891] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049955.835407895] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049955.838052241] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049955.838595654] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049955.839066633] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049955.839474019] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049955.839814742] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049955.840147606] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049955.844509983] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049955.845149539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049955.845694192] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049955.846846883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049955.847989920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049955.945193816] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049955.946114281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049955.946757327] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049955.948248810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049955.948739815] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049956.003402256] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972527 Long: -76.50298442 +[vectornav-1] [INFO] [1746049956.005351292] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.60400000000004, -3.45, 6.484) +[mux-7] [INFO] [1746049956.045445181] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049956.046037482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049956.047030844] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049956.048618359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049956.049798534] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049956.085391380] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049956.087177909] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746049956.088090715] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049956.089169992] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049956.087857330] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049956.088198262] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049956.090053936] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049956.145555540] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049956.146315319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049956.147206927] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049956.148468813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049956.148980926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049956.245478930] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049956.246226959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049956.247057775] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049956.248682345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049956.249735898] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049956.335276293] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049956.337031571] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746049956.337511088] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049956.338000028] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049956.338518994] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049956.338960344] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049956.339839231] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049956.344439775] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049956.345156464] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049956.345823176] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049956.346898753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049956.348019407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049956.444713731] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049956.445668824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049956.446115856] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049956.447690543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049956.448144742] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049956.502752015] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697252 Long: -76.50298442 +[vectornav-1] [INFO] [1746049956.503875913] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.632, -3.472, 6.48) +[mux-7] [INFO] [1746049956.545161476] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049956.545898542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049956.546683450] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049956.547969808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049956.549153463] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049956.585556923] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049956.588063399] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049956.588658840] [sailbot.teensy]: Wind angle: 340 +[mux-7] [INFO] [1746049956.588668852] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049956.589613781] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049956.590470032] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049956.591311773] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049956.645411537] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049956.646005409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049956.646963052] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049956.648045750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049956.649125784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049956.745505089] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049956.746199841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049956.747313481] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049956.748746213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049956.749269947] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049956.835227718] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049956.837413559] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049956.837560312] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049956.838183892] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049956.838479135] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049956.839357367] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049956.839724150] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049956.844521178] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049956.845169443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049956.846311717] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049956.846848706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049956.847957360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049956.945311490] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049956.945861111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049956.946894324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049956.947902197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049956.949029706] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049957.002360936] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972492 Long: -76.50298444 +[vectornav-1] [INFO] [1746049957.003428935] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.615, -3.476, 6.506) +[mux-7] [INFO] [1746049957.045200240] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049957.046628985] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049957.048546798] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049957.050471601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049957.051606461] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049957.085349175] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049957.087419318] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049957.087518498] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049957.088468224] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049957.089273088] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049957.089430301] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049957.090365688] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049957.145443877] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049957.146118699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049957.147255191] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049957.148429466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049957.149627918] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049957.244933722] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049957.245643234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049957.246165801] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049957.247473041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049957.248672954] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049957.335451461] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049957.338077211] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049957.338503490] [sailbot.teensy]: Wind angle: 343 +[mux-7] [INFO] [1746049957.339094111] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049957.339615847] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049957.340582953] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049957.341469400] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049957.344388361] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049957.344894282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049957.345864791] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049957.346607658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049957.347692609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049957.445219229] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049957.446205780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049957.446910327] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049957.448317055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049957.449414022] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049957.503142636] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972487 Long: -76.50298436 +[vectornav-1] [INFO] [1746049957.504710838] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.61699999999996, -3.46, 6.519) +[mux-7] [INFO] [1746049957.545046200] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049957.545836170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049957.546380755] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049957.547846771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049957.548892686] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049957.585253331] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049957.587020589] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049957.587353140] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049957.587962573] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049957.588934365] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049957.588956496] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049957.589837221] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049957.645041518] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049957.645667269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049957.646398482] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049957.647700665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049957.648746216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049957.745132718] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049957.745851582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049957.746582691] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049957.747903711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049957.748645353] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049957.835677276] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049957.837786767] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049957.838352570] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049957.838753792] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049957.839323013] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049957.839656879] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049957.839351723] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746049957.844600158] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049957.844961568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049957.846172784] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049957.846647022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049957.847721045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049957.945266133] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049957.945594332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049957.946658498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049957.947492715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049957.948747871] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049958.003783058] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972453 Long: -76.50298454 +[vectornav-1] [INFO] [1746049958.005248321] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.619, -3.456, 6.526) +[mux-7] [INFO] [1746049958.045275209] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049958.046525571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049958.046729867] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049958.048600588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049958.049720374] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049958.085233868] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049958.087235951] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049958.087826403] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049958.088271279] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049958.089268604] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049958.089392804] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049958.090177501] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049958.145414080] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049958.146057549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049958.147013520] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049958.148360692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049958.149602314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049958.245132382] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049958.246040358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049958.246461503] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049958.248053429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049958.248782400] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049958.335219840] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049958.337130348] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049958.338086720] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049958.337384012] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049958.338233326] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049958.338994350] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049958.339900924] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049958.344420603] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049958.344954471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049958.345505273] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049958.346821775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049958.347836725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049958.445820433] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049958.446800156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049958.447773100] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049958.448937541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049958.449492202] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049958.502745395] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972434 Long: -76.50298448 +[vectornav-1] [INFO] [1746049958.503881026] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.625, -3.455, 6.553) +[mux-7] [INFO] [1746049958.545419933] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049958.546221039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049958.546844997] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049958.548451331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049958.549578766] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049958.585270694] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049958.586947567] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746049958.587866399] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049958.587761418] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049958.588807830] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049958.589215347] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049958.589677427] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049958.644957534] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049958.645590806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049958.646352633] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049958.647679582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049958.648901737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049958.745288707] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049958.746130185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049958.746736029] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049958.747906654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049958.748376948] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049958.835363520] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049958.837154457] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049958.838083373] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049958.837868534] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049958.838668163] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049958.838989810] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049958.839848854] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049958.844639652] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049958.845097483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049958.845870053] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049958.846807595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049958.847853600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049958.945443378] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049958.946091389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049958.946917982] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049958.948274524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049958.948817075] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049959.002594500] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972415 Long: -76.50298461 +[vectornav-1] [INFO] [1746049959.004675586] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.629, -3.454, 6.552) +[mux-7] [INFO] [1746049959.045220551] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049959.045797538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049959.046640735] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049959.047766657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049959.048947761] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049959.085554825] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049959.087726805] [sailbot.teensy]: Wind angle: 337 +[trim_sail-4] [INFO] [1746049959.088820045] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049959.089747530] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049959.089935493] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049959.090688443] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049959.091545954] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049959.145166817] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049959.146053821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049959.146500504] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049959.148020767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049959.149209966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049959.245272943] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049959.246228815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049959.246770845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049959.248536331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049959.249698497] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049959.335216866] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049959.336959873] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746049959.337884891] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049959.337481041] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049959.338490844] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049959.338760964] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049959.339610127] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049959.344647307] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049959.345151986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049959.345883626] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049959.346920603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049959.348119811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049959.445516614] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049959.446054240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049959.447385549] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049959.448373231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049959.449546346] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049959.503772011] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972416 Long: -76.50298483 +[vectornav-1] [INFO] [1746049959.505534886] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.63, -3.458, 6.551) +[mux-7] [INFO] [1746049959.545617969] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049959.546001749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049959.547014641] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049959.547909868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049959.548981005] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049959.585495994] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049959.587989170] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746049959.588041530] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049959.588985933] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049959.589221270] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049959.589942589] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049959.590851870] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049959.644861158] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049959.645494832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049959.646128350] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049959.647316234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049959.648493350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049959.745195555] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049959.746009084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049959.746705888] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049959.748309625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049959.749329054] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049959.835242981] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049959.837556705] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049959.837905144] [sailbot.teensy]: Wind angle: 350 +[mux-7] [INFO] [1746049959.838321751] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049959.839471169] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049959.840382949] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049959.841246554] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049959.844466149] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049959.844871296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049959.845828884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049959.846581607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049959.847736814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049959.945087578] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049959.945976007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049959.946442399] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049959.947897119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049959.948895942] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049960.002811371] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972403 Long: -76.50298481 +[vectornav-1] [INFO] [1746049960.004503196] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.63599999999997, -3.454, 6.557) +[mux-7] [INFO] [1746049960.045036345] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049960.046328238] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049960.046554043] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049960.048332991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049960.049486785] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049960.085213283] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049960.087356185] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746049960.088257372] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049960.087458621] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049960.088081866] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049960.089164427] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049960.090004363] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049960.145011446] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049960.146001359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049960.146464009] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049960.147893321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049960.149069230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049960.245158568] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049960.246108698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049960.246525265] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049960.247798982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049960.248341252] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049960.335399742] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049960.337507797] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746049960.338117007] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049960.338474193] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049960.339377492] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049960.339082847] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049960.339963640] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049960.344525244] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049960.345316000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049960.345639980] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049960.347017706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049960.348084381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049960.445118042] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049960.445859011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049960.446471996] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049960.447846802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049960.449026690] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049960.503238057] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972379 Long: -76.50298483 +[vectornav-1] [INFO] [1746049960.505044879] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.63800000000003, -3.455, 6.557) +[mux-7] [INFO] [1746049960.544960491] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049960.545937557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049960.546292623] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049960.547847164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049960.548879364] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049960.585579666] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049960.588364242] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049960.589392350] [sailbot.teensy]: Wind angle: 346 +[mux-7] [INFO] [1746049960.589472751] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049960.590388835] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049960.591282094] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049960.592095422] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049960.645054637] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049960.646043788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049960.646430433] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049960.647971679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049960.649012520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049960.745181014] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049960.745734850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049960.746561665] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049960.747813753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049960.748862521] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049960.835105505] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049960.837593827] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049960.838680642] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049960.838805019] [sailbot.teensy]: Wind angle: 346 +[teensy-2] [INFO] [1746049960.839687509] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049960.840064939] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049960.840430939] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049960.844365308] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049960.844894924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049960.845599185] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049960.846556700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049960.847592362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049960.945426450] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049960.946382675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049960.947089974] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049960.948339646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049960.948869207] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049961.002525008] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972364 Long: -76.50298494 +[vectornav-1] [INFO] [1746049961.003579308] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.63800000000003, -3.453, 6.561) +[mux-7] [INFO] [1746049961.045369460] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049961.045716445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049961.046606797] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049961.047754501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049961.048871855] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049961.085404320] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049961.087405302] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049961.087874528] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049961.088398072] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049961.089299402] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049961.089688013] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049961.090215881] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049961.145463547] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049961.145969374] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049961.147151419] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049961.148423821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049961.149601332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049961.245281828] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049961.246225747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049961.246856868] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049961.248421474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049961.248848668] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049961.335519172] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049961.338377812] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049961.338407265] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049961.338647425] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049961.339383064] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049961.340290561] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049961.341138659] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049961.344385601] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049961.345138945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049961.345514078] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049961.346941676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049961.347993008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049961.445551208] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049961.446363210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049961.447126338] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049961.449001254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049961.450291774] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049961.502818443] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972347 Long: -76.50298487 +[vectornav-1] [INFO] [1746049961.503977781] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.64099999999996, -3.455, 6.561) +[mux-7] [INFO] [1746049961.545109344] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049961.545856143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049961.546589878] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049961.547759203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049961.548227676] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049961.585299399] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049961.587148456] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746049961.587461815] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049961.588137059] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049961.588693418] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049961.589064047] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049961.590024716] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049961.645217929] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049961.646296711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049961.647335087] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049961.648460550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049961.649577360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049961.744813487] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049961.745909338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049961.746361784] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049961.747725913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049961.748762848] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049961.835328094] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049961.837915572] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049961.838112902] [sailbot.teensy]: Wind angle: 342 +[mux-7] [INFO] [1746049961.838853579] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049961.839129804] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049961.839742910] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049961.840162935] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049961.844416955] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049961.844917453] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049961.845719644] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049961.846708558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049961.847737092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049961.945234676] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049961.946158070] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049961.946735253] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049961.948382505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049961.949422276] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049962.003377065] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972333 Long: -76.50298506 +[vectornav-1] [INFO] [1746049962.005249446] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.644, -3.454, 6.561) +[mux-7] [INFO] [1746049962.044970721] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049962.045716625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049962.046196352] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049962.047602007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049962.048662976] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049962.085257306] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049962.086994841] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746049962.087450828] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049962.087983358] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049962.088924269] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049962.089004675] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049962.089830670] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049962.145065601] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049962.145634664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049962.146332093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049962.147603047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049962.148655468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049962.244952152] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049962.245535974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049962.246207236] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049962.247480848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049962.248558505] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049962.335655317] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049962.338428192] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049962.339177109] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049962.339719407] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746049962.340688508] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049962.341571727] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049962.342514792] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049962.344726878] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049962.345017549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049962.345971399] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049962.346788011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049962.347828577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049962.445485089] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049962.446262958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049962.447111595] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049962.448576032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049962.449137922] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049962.503299884] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972309 Long: -76.50298508 +[vectornav-1] [INFO] [1746049962.504999133] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.645, -3.457, 6.551) +[mux-7] [INFO] [1746049962.545043612] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049962.545788737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049962.546594703] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049962.547720622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049962.548912653] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049962.585390998] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049962.587239492] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049962.588235033] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049962.588503266] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049962.589031826] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049962.589118157] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049962.590034009] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049962.645230687] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049962.645744835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049962.646743844] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049962.647758943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049962.648823922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049962.745164039] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049962.745686354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049962.746670921] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049962.747748048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049962.748819972] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049962.835525974] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049962.838195760] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049962.838447819] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746049962.839579875] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049962.840045729] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049962.840530363] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049962.840992285] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049962.844421624] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049962.845248046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049962.845670571] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049962.847091346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049962.848299016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049962.945433934] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049962.946299769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049962.947009835] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049962.948756666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049962.949987224] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049963.002842485] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469723 Long: -76.50298522 +[vectornav-1] [INFO] [1746049963.003883520] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.649, -3.458, 6.549) +[mux-7] [INFO] [1746049963.045283066] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049963.045981619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049963.046683541] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049963.047807370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049963.048849127] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049963.085163799] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049963.087033644] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746049963.087711940] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049963.088004486] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049963.088929861] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049963.088923348] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049963.089809693] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049963.145424163] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049963.146067022] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049963.147042966] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049963.148010771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049963.148565896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049963.245227856] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049963.246103185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049963.246585310] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049963.248117603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049963.249168169] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049963.335247111] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049963.336960576] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746049963.337724270] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049963.337895166] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049963.338843540] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049963.339154420] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049963.340032498] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049963.344483511] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049963.345356648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049963.345708201] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049963.347105515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049963.348263520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049963.445309103] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049963.446478238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049963.446895849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049963.448349895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049963.448848071] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049963.502514897] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972281 Long: -76.50298534 +[vectornav-1] [INFO] [1746049963.503630485] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.651, -3.452, 6.554) +[mux-7] [INFO] [1746049963.545091833] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049963.546086876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049963.546518172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049963.548061640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049963.549151208] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049963.585307408] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049963.587086118] [sailbot.teensy]: Wind angle: 358 +[trim_sail-4] [INFO] [1746049963.587628076] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049963.588027224] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049963.588985823] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049963.589665349] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049963.589824619] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049963.645045297] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049963.645587035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049963.646408962] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049963.647535962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049963.648652058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049963.745039590] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049963.746036619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049963.746489244] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049963.748190724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049963.749260745] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049963.835196491] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049963.837534152] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049963.838291762] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049963.838460367] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049963.839016540] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049963.839397613] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049963.839757416] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049963.844389371] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049963.844924991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049963.845517240] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049963.846705086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049963.847722709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049963.945507672] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049963.946261921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049963.947113393] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049963.948881662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049963.950214557] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049964.002886461] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972255 Long: -76.50298552 +[vectornav-1] [INFO] [1746049964.003899895] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.651, -3.452, 6.552) +[mux-7] [INFO] [1746049964.045145014] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049964.045836966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049964.046571371] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049964.047826103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049964.049028196] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049964.085305882] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049964.086977157] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049964.087902660] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049964.087486050] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049964.088792678] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049964.089652921] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049964.089963259] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049964.144968916] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049964.146382764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049964.146414770] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049964.148380061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049964.149503295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049964.245076139] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049964.245733786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049964.247157126] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049964.247708976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049964.248678042] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049964.335304816] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049964.337674568] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049964.338525941] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049964.339061976] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049964.339992782] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049964.340921764] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049964.341257775] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049964.344443859] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049964.345081835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049964.345591272] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049964.346866552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049964.347922885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049964.445030856] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049964.445837756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049964.446613776] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049964.448006435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049964.449040783] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049964.503688941] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972255 Long: -76.50298576 +[vectornav-1] [INFO] [1746049964.505204847] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.655, -3.447, 6.557) +[mux-7] [INFO] [1746049964.544986369] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049964.545754323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049964.546325738] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049964.547635999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049964.548859701] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049964.585538731] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049964.588131522] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049964.588240837] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049964.588722680] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049964.589154905] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049964.590003306] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049964.590861691] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049964.644810231] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049964.645309035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049964.645996771] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049964.647068226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049964.648246437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049964.745196902] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049964.746010554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049964.746899378] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049964.748288174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049964.749039613] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049964.835332620] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049964.837624711] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049964.837741188] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049964.838087679] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049964.838603792] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049964.839479775] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049964.840335944] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049964.844416570] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049964.845351384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049964.845541799] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049964.847116682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049964.848206383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049964.945416795] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049964.946145250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049964.947060192] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049964.948333637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049964.949492083] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049965.002676084] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972254 Long: -76.50298632 +[vectornav-1] [INFO] [1746049965.003690276] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.66200000000003, -3.441, 6.6) +[mux-7] [INFO] [1746049965.045140476] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049965.045843026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049965.046708896] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049965.048028628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049965.049239967] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049965.085487571] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049965.087424659] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049965.088356882] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049965.088427378] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049965.089290282] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049965.089267864] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049965.090193287] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049965.144955167] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049965.145907097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049965.146270433] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049965.147788692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049965.148964442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049965.245147546] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049965.245925796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049965.246580216] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049965.247975612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049965.249147628] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049965.335154448] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049965.337401504] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049965.337589747] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049965.338515855] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049965.338692767] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049965.339085259] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049965.339429142] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049965.344353458] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049965.344858770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049965.346668757] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049965.346836748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049965.347947219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049965.445045545] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049965.445914725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049965.446646587] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049965.447979836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049965.449168399] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049965.503431232] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972256 Long: -76.50298653 +[vectornav-1] [INFO] [1746049965.504887030] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.688, -3.433, 6.776) +[mux-7] [INFO] [1746049965.545223231] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049965.546203777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049965.546743333] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049965.548333759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049965.549510351] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049965.585280729] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049965.586972653] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049965.587833048] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049965.588891042] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049965.589554743] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049965.590504675] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049965.591379637] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049965.645068791] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049965.645803819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049965.646522641] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049965.647782709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049965.648859664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049965.745077175] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049965.745767586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049965.746984594] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049965.747743950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049965.748293077] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049965.835225635] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049965.836981531] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049965.837748692] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049965.837893612] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049965.838859527] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049965.839465186] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049965.839177098] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049965.844335692] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049965.844937733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049965.845449696] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049965.846735729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049965.847959018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049965.944932432] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049965.945692126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049965.946264124] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049965.947549084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049965.948704581] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049966.002554210] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972252 Long: -76.50298652 +[vectornav-1] [INFO] [1746049966.003732401] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.69, -3.433, 6.775) +[mux-7] [INFO] [1746049966.045004042] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049966.045713157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049966.046555833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049966.047571379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049966.048635236] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049966.085438221] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049966.087268054] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049966.087842636] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049966.088250847] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049966.089124914] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049966.090204939] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049966.091143345] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049966.145122660] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049966.146060844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049966.146566476] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049966.147936125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049966.148398023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049966.245085402] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049966.246162428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049966.246759242] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049966.248027040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049966.248505026] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049966.335285797] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049966.337270033] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049966.337789949] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049966.338304175] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049966.339210337] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049966.339324862] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049966.340209272] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049966.344357211] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049966.345120245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049966.345553635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049966.346942279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049966.347997284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049966.445065704] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049966.446002273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049966.446535144] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049966.448241228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049966.449365459] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049966.503043283] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972252 Long: -76.50298673 +[vectornav-1] [INFO] [1746049966.504639415] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.69399999999996, -3.435, 6.779) +[mux-7] [INFO] [1746049966.545074659] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049966.545905175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049966.546565653] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049966.547884447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049966.549035520] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049966.585209132] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049966.586885689] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049966.587878447] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049966.588091027] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049966.588828024] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049966.589288573] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049966.589743895] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049966.645157250] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049966.645855098] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049966.646607219] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049966.647840202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049966.648974068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049966.745114860] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049966.745925358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049966.746693773] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049966.747960805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049966.749007894] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049966.835181970] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049966.836916373] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049966.837391279] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049966.838435836] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049966.838484068] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049966.838907901] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049966.839290638] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049966.844472746] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049966.845201430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049966.845658926] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049966.846949623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049966.848091365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049966.945077940] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049966.945911453] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049966.946981198] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049966.947943531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049966.948493102] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049967.002718778] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972239 Long: -76.50298679 +[vectornav-1] [INFO] [1746049967.003751343] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.71799999999996, -3.437, 6.935) +[mux-7] [INFO] [1746049967.044806153] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049967.045647016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049967.046015733] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049967.047419587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049967.048445851] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049967.085444099] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049967.087967451] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049967.088353876] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049967.089433593] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049967.089472653] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049967.090341935] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049967.091179865] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049967.144706829] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049967.145289411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049967.145913627] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049967.147155525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049967.148248360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049967.244866922] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049967.245516869] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049967.246156468] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049967.247248903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049967.248357980] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049967.335267353] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049967.337194839] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049967.338112115] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049967.338189830] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049967.338735036] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049967.338743559] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049967.339107206] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049967.344378332] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049967.344944999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049967.345495842] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049967.346667402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049967.347785011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049967.445208518] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049967.446652769] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049967.446681114] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049967.448641658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049967.449637847] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049967.503133352] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972238 Long: -76.50298693 +[vectornav-1] [INFO] [1746049967.504745050] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.71500000000003, -3.444, 6.912) +[mux-7] [INFO] [1746049967.544831440] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049967.545418040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049967.546073518] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049967.547221201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049967.548409299] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049967.585410194] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049967.587321540] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049967.588380768] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049967.589296491] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049967.588451826] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049967.589994447] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049967.590150069] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049967.644780073] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049967.645472328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049967.646004334] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049967.647515315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049967.648560646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049967.745048469] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049967.745803071] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049967.746537777] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049967.748783451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049967.749888156] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049967.835370830] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049967.837375143] [sailbot.teensy]: Wind angle: 354 +[trim_sail-4] [INFO] [1746049967.837943993] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049967.838371800] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049967.839309608] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049967.839409192] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049967.840249001] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049967.844392934] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049967.845173317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049967.845731080] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049967.846964139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049967.847974454] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049967.945521742] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049967.946120286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049967.947071659] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049967.948567324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049967.949074244] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049968.003094478] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972249 Long: -76.50298719 +[vectornav-1] [INFO] [1746049968.004523271] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.696, -4.142, 6.518) +[mux-7] [INFO] [1746049968.045135446] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049968.045920800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049968.047031088] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049968.048216868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049968.049255069] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049968.085192908] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049968.086786886] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746049968.087652933] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049968.087767317] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049968.088519112] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049968.089362791] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049968.089591676] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746049968.145115466] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049968.145962634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049968.146605871] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049968.148280981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049968.148879301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049968.245118386] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049968.245770389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049968.246612460] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049968.248036551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049968.248707784] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049968.335467775] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049968.337452973] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746049968.337776855] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049968.338393891] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049968.339190404] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049968.339471647] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049968.339582994] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049968.344484914] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049968.345793834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049968.345854048] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049968.347583650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049968.348779125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049968.445154004] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049968.446176975] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049968.446599112] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049968.447643843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049968.448192858] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049968.502547812] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972255 Long: -76.50298709 +[vectornav-1] [INFO] [1746049968.503825280] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.156, -3.943, 6.652) +[mux-7] [INFO] [1746049968.545324255] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049968.546406744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049968.546888357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049968.548677157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049968.549674405] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049968.585117037] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049968.587148466] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049968.587208479] [sailbot.teensy]: Wind angle: 346 +[mux-7] [INFO] [1746049968.587947318] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049968.588084611] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049968.589022044] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049968.589866347] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049968.645173053] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049968.645884341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049968.646558629] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049968.648045361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049968.649081729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049968.745077830] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049968.745625376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049968.747247574] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049968.747453223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049968.748605532] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049968.835432913] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049968.838192008] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049968.838320188] [sailbot.teensy]: Wind angle: 346 +[teensy-2] [INFO] [1746049968.839289077] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049968.840406618] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049968.839542336] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049968.841273964] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049968.844312011] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049968.844913802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049968.845567873] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049968.846655266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049968.847667095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049968.945172764] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049968.945994553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049968.946616350] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049968.947628998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049968.948137822] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049969.003145916] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972218 Long: -76.50298748 +[vectornav-1] [INFO] [1746049969.004517353] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (292.75, -3.864, 5.69) +[mux-7] [INFO] [1746049969.045214924] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049969.047072874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049969.048674182] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049969.050139543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049969.051309283] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049969.085480743] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049969.087805359] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049969.088100902] [sailbot.teensy]: Wind angle: 346 +[mux-7] [INFO] [1746049969.089728271] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049969.089766564] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049969.090698892] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049969.091554172] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049969.145002360] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049969.145711226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049969.146663629] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049969.147557106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049969.148003965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049969.245149267] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049969.246002742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049969.246796215] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049969.248072310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049969.249207355] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049969.335279128] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049969.337543600] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746049969.338539894] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049969.337952146] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049969.338490886] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049969.339442412] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049969.340341596] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049969.344480017] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049969.345111863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049969.345693231] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049969.347024272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049969.348001666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049969.444955680] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049969.445833644] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049969.446452475] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049969.447790017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049969.448904326] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049969.502395820] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972148 Long: -76.50298864 +[vectornav-1] [INFO] [1746049969.503372273] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (296.16200000000003, -1.141, 6.622) +[mux-7] [INFO] [1746049969.544979686] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049969.545848043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049969.546469200] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049969.548095266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049969.549272451] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049969.585140977] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049969.587549713] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049969.587957498] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746049969.589074559] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049969.589356998] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049969.590266430] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049969.591126682] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049969.645267535] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049969.646184669] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049969.646819498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049969.648573593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049969.649698436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049969.745133463] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049969.746094856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049969.746923760] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049969.748041541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049969.748569891] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049969.835537532] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049969.837747343] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746049969.838192654] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049969.838849582] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049969.839775064] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049969.839950482] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049969.840585894] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049969.844579155] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049969.845377362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049969.846033227] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049969.847173191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049969.848234292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049969.945380932] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049969.946236577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049969.946951659] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049969.948274126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049969.948775833] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049970.003418551] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697202 Long: -76.50298999 +[vectornav-1] [INFO] [1746049970.004858716] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (300.995, 2.253, 5.734) +[mux-7] [INFO] [1746049970.044495792] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049970.045140130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049970.045556720] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049970.046973000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049970.048098348] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049970.085214431] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049970.087479102] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049970.087712599] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746049970.088681575] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049970.088839144] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049970.089643989] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049970.090565341] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049970.145303702] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049970.146172907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049970.146827764] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049970.148468418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049970.149501845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049970.245674296] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049970.246188340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049970.247218243] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049970.248467649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049970.249664005] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049970.335203505] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049970.337393939] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049970.338028969] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049970.338969359] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746049970.340040429] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049970.340934089] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049970.341822672] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049970.344320871] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049970.344986960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049970.345409100] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049970.346731125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049970.347844525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049970.445315310] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049970.446135417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049970.446989031] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049970.448333666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049970.449551320] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049970.502684312] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697191 Long: -76.50299041 +[vectornav-1] [INFO] [1746049970.503794369] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (307.904, 4.438, 13.616) +[mux-7] [INFO] [1746049970.545297095] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049970.546226849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049970.546920669] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049970.548672454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049970.549836694] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049970.585171461] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049970.587014922] [sailbot.teensy]: Wind angle: 331 +[trim_sail-4] [INFO] [1746049970.587435552] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049970.587909755] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049970.588060295] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049970.588848098] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049970.589704108] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049970.645310836] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049970.646105664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049970.646998103] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049970.648497769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049970.649719145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049970.745132067] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049970.745792109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049970.746579531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049970.747815074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049970.748444125] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049970.835099387] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049970.836766971] [sailbot.teensy]: Wind angle: 328 +[trim_sail-4] [INFO] [1746049970.837185836] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049970.837637305] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049970.838121803] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049970.838528419] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049970.839383767] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049970.844307147] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049970.844829181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049970.845413585] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049970.846551612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049970.847703707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049970.945421254] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049970.946204724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049970.946937950] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049970.947953844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049970.948538184] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049971.002141911] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697187 Long: -76.50299052 +[vectornav-1] [INFO] [1746049971.003035501] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (313.46000000000004, 2.017, 13.085) +[mux-7] [INFO] [1746049971.045014615] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049971.045668508] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049971.046341018] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049971.047720975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049971.048752171] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049971.085572502] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049971.088834651] [sailbot.teensy]: Wind angle: 329 +[trim_sail-4] [INFO] [1746049971.089034969] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049971.089655328] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049971.089913121] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049971.091748338] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049971.092685205] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049971.144955891] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049971.145574814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049971.146157630] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049971.147396467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049971.148567228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049971.245015913] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049971.246256769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049971.246449020] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049971.248353700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049971.249502846] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049971.335190055] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049971.337508631] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049971.338087481] [sailbot.teensy]: Wind angle: 329 +[mux-7] [INFO] [1746049971.338733988] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049971.339022852] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049971.339538281] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049971.339882535] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049971.344393339] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049971.345094038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049971.345489129] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049971.346799479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049971.347991741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049971.445314750] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049971.446114855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049971.446886776] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049971.448416819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049971.448924581] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049971.502783084] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971941 Long: -76.50299052 +[vectornav-1] [INFO] [1746049971.503934855] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (310.871, -1.674, 5.648) +[mux-7] [INFO] [1746049971.545312851] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049971.546308442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049971.546884771] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049971.548817507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049971.549840448] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049971.585860262] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049971.588751954] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049971.589145886] [sailbot.teensy]: Wind angle: 331 +[teensy-2] [INFO] [1746049971.590178550] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049971.590399988] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049971.591100196] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049971.591955472] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049971.645195673] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049971.645825093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049971.646671373] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049971.647865351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049971.648944691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049971.745328467] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049971.746040534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049971.746892827] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049971.748356855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049971.749244941] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049971.835358438] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049971.837686687] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049971.838177947] [sailbot.teensy]: Wind angle: 347 +[mux-7] [INFO] [1746049971.838880098] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049971.839182676] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049971.840174412] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049971.841045952] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049971.844318513] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049971.845136083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049971.845773158] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049971.846871377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049971.848045964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049971.944979554] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049971.945668113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049971.946467924] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049971.947594413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049971.948642276] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049972.002727608] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697195 Long: -76.50299039 +[vectornav-1] [INFO] [1746049972.004446144] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (308.171, -1.947, 7.828) +[mux-7] [INFO] [1746049972.045037836] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049972.046270489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049972.046522480] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049972.048696889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049972.049737447] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049972.085127363] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049972.087184286] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746049972.087292479] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049972.087835807] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049972.088202814] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049972.089187402] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049972.090095133] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049972.144985209] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049972.145794329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049972.146335926] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049972.147865135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049972.148988948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049972.245274733] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049972.246002321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049972.246823675] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049972.248049238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049972.248547911] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049972.335520702] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049972.338133406] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049972.338710784] [sailbot.teensy]: Wind angle: 2 +[mux-7] [INFO] [1746049972.338792183] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049972.339717546] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049972.340585369] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049972.341432541] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049972.344527994] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049972.344993155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049972.345789349] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049972.346767064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049972.347792239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049972.444954398] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049972.445807835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049972.446220355] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049972.447508427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049972.448697498] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049972.503793341] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971915 Long: -76.50299081 +[vectornav-1] [INFO] [1746049972.505788974] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (309.086, -6.489, 7.882) +[mux-7] [INFO] [1746049972.545129384] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049972.545642107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049972.546540288] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049972.547504256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049972.548654155] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049972.585397148] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049972.587843646] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746049972.588411527] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049972.588831534] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049972.589644974] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049972.590039700] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049972.591008605] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049972.645391881] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049972.646013552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049972.647174682] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049972.648476299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049972.649635129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049972.744755233] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049972.745436545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049972.745992640] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049972.747342195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049972.748371971] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049972.835482557] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049972.838063420] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049972.838481308] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049972.839436823] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049972.839574891] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049972.840609485] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049972.841448363] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049972.844356692] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049972.844988200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049972.845674366] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049972.847073574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049972.848226965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049972.945177142] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049972.946006062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049972.946661003] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049972.947771474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049972.948308662] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049973.004224453] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971847 Long: -76.50299147 +[vectornav-1] [INFO] [1746049973.005652640] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (310.30899999999997, -6.225, 6.154) +[mux-7] [INFO] [1746049973.044906295] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049973.045642675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049973.046148695] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049973.047454958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049973.048558790] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049973.085224077] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049973.087395360] [sailbot.teensy]: Wind angle: 333 +[trim_sail-4] [INFO] [1746049973.087582481] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049973.088399038] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049973.088854718] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049973.089314626] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049973.090203870] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049973.145110809] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049973.145888707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049973.146445660] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049973.147793042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049973.148826102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049973.245518158] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049973.246491563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049973.247209765] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049973.248609523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049973.249106761] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049973.335402577] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049973.337261265] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746049973.337816259] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049973.338200334] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049973.339073541] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049973.339004830] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049973.339488169] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049973.344542783] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049973.345299318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049973.345703580] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049973.347022070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049973.348038398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049973.445639318] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049973.446251955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049973.447416067] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049973.448492972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049973.448944055] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049973.503318858] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971659 Long: -76.50299297 +[vectornav-1] [INFO] [1746049973.504610714] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (308.664, -7.113, 3.066) +[mux-7] [INFO] [1746049973.545175096] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049973.546066308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049973.546723459] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049973.548343942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049973.549590137] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049973.585146060] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049973.587210393] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049973.587785553] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049973.588170808] [sailbot.teensy]: Wind angle: 0 +[teensy-2] [INFO] [1746049973.589138900] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049973.590031375] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049973.590906428] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049973.645379968] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049973.646344199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049973.646927942] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049973.648783845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049973.649920127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049973.745363694] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049973.746298760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049973.746971686] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049973.748557002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049973.749478386] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049973.835339082] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049973.837580780] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746049973.837660678] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049973.838289431] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049973.838563666] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049973.839475781] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049973.840318556] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049973.844499784] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049973.845183140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049973.845665630] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049973.847006737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049973.848011526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049973.944888893] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049973.945684528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049973.946128110] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049973.947566926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049973.948600561] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049974.003625856] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971429 Long: -76.50299329 +[vectornav-1] [INFO] [1746049974.005595462] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (306.454, -4.882, 4.025) +[mux-7] [INFO] [1746049974.045431643] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049974.046234828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049974.048112380] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049974.048466383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049974.049475423] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049974.085644267] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049974.088201553] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049974.088367030] [sailbot.teensy]: Wind angle: 0 +[teensy-2] [INFO] [1746049974.089320691] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049974.089726934] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049974.090247695] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049974.091118455] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049974.145435544] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049974.145975981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049974.147076914] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049974.148450136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049974.150346727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049974.245561588] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049974.246510163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049974.247533719] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049974.248785556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049974.249856177] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049974.335350591] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049974.337551823] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746049974.337689948] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049974.338514276] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049974.339214701] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049974.339419768] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049974.340358330] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049974.344488159] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049974.344926169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049974.345774825] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049974.346752633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049974.347770546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049974.445484036] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049974.445984688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049974.447026619] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049974.447997565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049974.449064135] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049974.503785198] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971207 Long: -76.50299222 +[vectornav-1] [INFO] [1746049974.505643052] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (305.727, 0.464, 8.947) +[mux-7] [INFO] [1746049974.545454779] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049974.546009846] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049974.546967979] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049974.548046869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049974.549245885] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049974.585574843] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049974.588394613] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049974.589004104] [sailbot.teensy]: Wind angle: 0 +[mux-7] [INFO] [1746049974.589778645] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049974.590311445] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049974.591314245] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049974.592162874] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049974.645360151] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049974.645854102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049974.646944819] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049974.647982189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049974.648776804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049974.745416068] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049974.745980982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049974.747022558] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049974.748051859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049974.749236571] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049974.835220491] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049974.836892300] [sailbot.teensy]: Wind angle: 333 +[trim_sail-4] [INFO] [1746049974.837477655] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049974.837852900] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049974.838774622] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049974.839443097] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049974.839673241] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049974.844343128] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049974.845025394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049974.845657739] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049974.846801277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049974.847851712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049974.945222067] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049974.946117102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049974.946716089] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049974.948174965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049974.948713021] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049975.002862017] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46970875 Long: -76.50299202 +[vectornav-1] [INFO] [1746049975.003993254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (306.142, 4.287, 9.864) +[mux-7] [INFO] [1746049975.044941860] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049975.045938246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049975.046340261] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049975.047973222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049975.049024308] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049975.085574269] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049975.088536679] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049975.088659551] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049975.088908113] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049975.089674042] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049975.090535064] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049975.091359990] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049975.144839578] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049975.146081830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049975.146168566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049975.147988135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049975.149129987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049975.245433891] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049975.246164267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049975.247043617] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049975.248476146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049975.249538833] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049975.335442995] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049975.337615311] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049975.338330508] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049975.338576259] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049975.339525984] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049975.340434673] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049975.341247020] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049975.344589854] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049975.345124521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049975.345899362] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049975.347005139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049975.348039196] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049975.445023992] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049975.445684930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049975.446464570] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049975.447598561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049975.448133056] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049975.503902543] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46970558 Long: -76.50299158 +[vectornav-1] [INFO] [1746049975.505627631] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (304.56100000000004, 3.586, 6.534) +[mux-7] [INFO] [1746049975.545185536] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049975.545739105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049975.546666021] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049975.547670097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049975.548837558] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049975.585517730] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049975.587885335] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049975.588498740] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746049975.588924746] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049975.589459776] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049975.590366763] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049975.591188409] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049975.645551873] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049975.645876559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049975.647287551] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049975.648078361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049975.649310366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049975.745430228] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049975.746011018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049975.747086172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049975.748071617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049975.748769903] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049975.835586598] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049975.837405507] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049975.838378232] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049975.838271885] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049975.839278691] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049975.839681907] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049975.839819204] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049975.844627374] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049975.845134621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049975.845899482] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049975.846893313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049975.848031995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049975.945388725] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049975.945985264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049975.946943594] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049975.948039207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049975.949072053] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049976.003095216] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46970204 Long: -76.50299188 +[vectornav-1] [INFO] [1746049976.004622891] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (303.601, 2.671, 7.38) +[mux-7] [INFO] [1746049976.044872686] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049976.045447808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049976.046080027] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049976.047210885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049976.048384893] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049976.085418901] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049976.087777307] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049976.088593993] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049976.088605612] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049976.089553314] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049976.090432877] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049976.091272100] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049976.145595884] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049976.146122534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049976.147286260] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049976.148382370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049976.149558175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049976.245181473] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049976.245822854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049976.246633417] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049976.247890087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049976.249056190] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049976.335285794] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049976.336938249] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049976.337893000] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049976.338124288] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049976.338795913] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049976.339246868] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049976.339702273] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049976.344429940] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049976.345148754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049976.346163778] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049976.346904018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049976.347944261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049976.445426785] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049976.446432725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049976.447121149] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049976.448177934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049976.448660732] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049976.502670673] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46969818 Long: -76.50299222 +[vectornav-1] [INFO] [1746049976.503832425] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (303.90999999999997, 1.326, 3.078) +[mux-7] [INFO] [1746049976.545445066] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049976.547125461] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049976.547565310] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049976.549015848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049976.549481240] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049976.585105847] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049976.586803561] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049976.587760426] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049976.587218455] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049976.587890316] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049976.588703035] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049976.589626062] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049976.644749614] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049976.645585393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049976.645897704] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049976.647379897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049976.648406716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049976.745199855] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049976.745926414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049976.746567967] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049976.748067854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049976.749316450] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049976.835605733] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049976.837740480] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049976.838800053] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049976.838465822] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049976.839713610] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049976.839729028] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049976.840653151] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049976.844401191] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049976.844987381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049976.845521074] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049976.846724164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049976.847859254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049976.945015462] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049976.945759999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049976.946417890] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049976.947830704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049976.948852377] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049977.003604691] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46969451 Long: -76.50299238 +[vectornav-1] [INFO] [1746049977.004979484] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (299.755, 0.456, 2.873) +[mux-7] [INFO] [1746049977.045207139] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049977.045938568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049977.046446312] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049977.047611421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049977.048080874] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049977.085390048] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049977.088008255] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049977.088171993] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746049977.089158300] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049977.089286597] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049977.090104821] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049977.091026123] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049977.145321006] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049977.146157882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049977.147004988] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049977.148222554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049977.149263644] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049977.245173890] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049977.246007055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049977.246710061] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049977.247780178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049977.248327205] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049977.335188456] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049977.336944774] [sailbot.teensy]: Wind angle: 358 +[trim_sail-4] [INFO] [1746049977.337473838] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746049977.339351566] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049977.339534386] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049977.340448775] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049977.341350993] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049977.344447067] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049977.345052916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049977.345527052] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049977.346760256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049977.347750284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049977.445475563] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049977.446171444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049977.447166037] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049977.448181179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049977.448712461] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049977.502457561] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46968958 Long: -76.50299316 +[vectornav-1] [INFO] [1746049977.503461741] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.721, -0.84, 3.999) +[mux-7] [INFO] [1746049977.545285130] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049977.546111848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049977.546768805] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049977.548319385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049977.549479449] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049977.585564052] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049977.588135941] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049977.588717523] [sailbot.teensy]: Wind angle: 355 +[mux-7] [INFO] [1746049977.589383524] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049977.589704362] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049977.590653126] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049977.591521887] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049977.645845059] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049977.646482997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049977.647366801] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049977.648439436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049977.648905920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049977.744944331] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049977.745660802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049977.746298986] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049977.747926026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049977.748963099] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049977.835583382] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049977.837969588] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746049977.838475064] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049977.839081983] [sailbot.teensy]: Wind angle: 346 +[teensy-2] [INFO] [1746049977.839512695] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049977.839875484] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049977.840227201] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049977.844525920] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049977.844990042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049977.845633252] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049977.846726862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049977.847736764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049977.945464979] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049977.946257224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049977.947123069] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049977.948810740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049977.950038616] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049978.003819835] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46968549 Long: -76.50299341 +[vectornav-1] [INFO] [1746049978.005626967] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (291.63300000000004, -0.174, 5.202) +[mux-7] [INFO] [1746049978.045071811] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049978.046092367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049978.046529209] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049978.048116374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049978.049239711] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049978.085471616] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049978.087342172] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746049978.088302608] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049978.087743329] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049978.088665558] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049978.089221186] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049978.090115127] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049978.145483678] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049978.146319889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049978.147142649] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049978.148797817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049978.149915550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049978.245058347] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049978.245759365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049978.246529172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049978.247726069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049978.248258139] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049978.335542569] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049978.337924248] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049978.338461840] [sailbot.teensy]: Wind angle: 337 +[mux-7] [INFO] [1746049978.339185139] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049978.339437233] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049978.340329050] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049978.341139243] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049978.344597829] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049978.345050747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049978.345763603] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049978.346725807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049978.347907330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049978.445665720] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049978.446197230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049978.447513663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049978.448882150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049978.450135527] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049978.503029696] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4696804 Long: -76.50299364 +[vectornav-1] [INFO] [1746049978.504607254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.313, -0.66, 8.944) +[mux-7] [INFO] [1746049978.545024483] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049978.545608479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049978.546334265] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049978.547528053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049978.548612874] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049978.585269300] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049978.587582283] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049978.587760908] [sailbot.teensy]: Wind angle: 336 +[mux-7] [INFO] [1746049978.588048485] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049978.588716044] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049978.589608319] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049978.590423368] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049978.645631675] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049978.646610935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049978.647820921] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049978.648855557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049978.650100700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049978.745449358] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049978.746281533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049978.747018668] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049978.748455083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049978.749248831] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049978.835289621] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049978.837499416] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746049978.837949565] [sailbot.teensy]: Wind angle: 336 +[mux-7] [INFO] [1746049978.838770198] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049978.838879850] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049978.839282119] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049978.839682995] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049978.844565794] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049978.845125913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049978.845659863] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049978.846867320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049978.847993057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049978.945622626] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049978.946401775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049978.947485456] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049978.949216206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049978.950482002] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049979.002827366] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46967552 Long: -76.50299395 +[vectornav-1] [INFO] [1746049979.003888185] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.351, -0.117, 4.235) +[mux-7] [INFO] [1746049979.044972639] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049979.045845293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049979.046238296] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049979.047658390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049979.048689527] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049979.085605107] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049979.088104758] [sailbot.teensy]: Wind angle: 335 +[teensy-2] [INFO] [1746049979.089114641] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049979.088227500] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746049979.088911699] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746049979.090037829] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049979.090859824] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049979.145704775] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049979.146104857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049979.147449214] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049979.148419975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049979.150306495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049979.245458839] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049979.246095078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049979.247013928] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049979.248467898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049979.248988728] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049979.335517030] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049979.337566159] [sailbot.teensy]: Wind angle: 332 +[teensy-2] [INFO] [1746049979.338908792] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049979.338386245] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049979.339851218] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049979.339988870] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049979.340864681] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049979.344418503] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049979.344849362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049979.345560143] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049979.346770647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049979.347920681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049979.445153448] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049979.445883421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049979.446475602] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049979.447806841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049979.448858513] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049979.502913250] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46967059 Long: -76.50299548 +[vectornav-1] [INFO] [1746049979.504206940] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.624, -0.739, 5.785) +[mux-7] [INFO] [1746049979.545180025] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049979.545919546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049979.546654921] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049979.548174554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049979.549357018] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049979.585604528] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049979.587915731] [sailbot.teensy]: Wind angle: 332 +[trim_sail-4] [INFO] [1746049979.588488920] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049979.588956633] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049979.589855861] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049979.589879880] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049979.590714090] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049979.644880398] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049979.646146771] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049979.646278716] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049979.648092149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049979.649150795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049979.745057170] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049979.746189233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049979.746550279] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049979.748320033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049979.749456820] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049979.835556062] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049979.838271827] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049979.838432528] [sailbot.teensy]: Wind angle: 331 +[mux-7] [INFO] [1746049979.839172139] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049979.839384574] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049979.840325292] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049979.841023501] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049979.844452551] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049979.845263358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049979.845616405] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049979.846993795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049979.848079706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049979.945262937] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049979.945933953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049979.946766849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049979.948036049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049979.949242772] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049980.003737184] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46966547 Long: -76.50299689 +[vectornav-1] [INFO] [1746049980.005574492] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.804, -0.565, 3.109) +[mux-7] [INFO] [1746049980.045145763] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049980.045961356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049980.046536793] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049980.048289552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049980.049395050] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049980.085366665] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049980.087879293] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049980.088325392] [sailbot.teensy]: Wind angle: 328 +[mux-7] [INFO] [1746049980.088812609] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049980.089356499] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049980.090276127] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049980.091130208] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049980.145300925] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049980.146140153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049980.146829343] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049980.148694005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049980.149858970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049980.244993952] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049980.245776301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049980.246257551] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049980.248145567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049980.248751889] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049980.335426425] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049980.337273091] [sailbot.teensy]: Wind angle: 323 +[trim_sail-4] [INFO] [1746049980.338046017] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049980.338234383] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049980.339151126] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049980.339368959] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049980.340092617] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049980.344412543] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049980.345189484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049980.345908983] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049980.346912244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049980.348110938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049980.445518497] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049980.446422369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049980.447136922] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049980.448844304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049980.450044723] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049980.503312456] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4696601 Long: -76.50299846 +[vectornav-1] [INFO] [1746049980.505132735] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (279.546, -1.026, 3.65) +[mux-7] [INFO] [1746049980.544680528] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049980.545330028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049980.546035519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049980.547112589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049980.548251046] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049980.585203050] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049980.587417678] [sailbot.teensy]: Wind angle: 321 +[trim_sail-4] [INFO] [1746049980.587744151] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049980.588476895] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049980.589187607] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049980.589408373] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049980.590260404] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049980.645108718] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049980.645901418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049980.646501442] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049980.647935889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049980.649160868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049980.745138098] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049980.746163042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049980.746564925] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049980.748430046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049980.749535409] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049980.835268761] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049980.837615600] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049980.838412603] [sailbot.teensy]: Wind angle: 321 +[mux-7] [INFO] [1746049980.838641294] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049980.839384232] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049980.840297011] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049980.841134697] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049980.844365261] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049980.844778076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049980.845778162] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049980.846489571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049980.847548567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049980.945214207] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049980.946172932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049980.946746570] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049980.948448651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049980.949601645] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049981.003984064] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46965506 Long: -76.50300017 +[vectornav-1] [INFO] [1746049981.006038489] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (281.217, -1.037, 1.496) +[mux-7] [INFO] [1746049981.045014699] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049981.046115771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049981.046515771] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049981.048085994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049981.049207657] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049981.085249954] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049981.087525088] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049981.087910817] [sailbot.teensy]: Wind angle: 318 +[mux-7] [INFO] [1746049981.088746300] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049981.089017259] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049981.089967701] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049981.090836379] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049981.145068762] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049981.145698250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049981.146487821] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049981.147807504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049981.148934872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049981.245236287] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049981.245938136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049981.247086565] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049981.248048784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049981.249314537] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049981.335381623] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049981.337261949] [sailbot.teensy]: Wind angle: 318 +[teensy-2] [INFO] [1746049981.338211582] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049981.338129546] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746049981.338697445] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049981.339089398] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049981.339947762] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049981.344633870] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049981.345041186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049981.345934322] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049981.346979834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049981.348028269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049981.445489314] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049981.446159185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049981.447135170] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049981.447938398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049981.448424008] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049981.502467042] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46964947 Long: -76.50300192 +[vectornav-1] [INFO] [1746049981.503493914] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.427, -2.857, 2.277) +[mux-7] [INFO] [1746049981.545093883] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049981.545830492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049981.546525373] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049981.547670484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049981.548949498] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049981.585117697] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049981.586717015] [sailbot.teensy]: Wind angle: 318 +[teensy-2] [INFO] [1746049981.587603787] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049981.587876275] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049981.588518962] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049981.588781767] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049981.589465876] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049981.645015549] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049981.645693523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049981.646431865] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049981.647904674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049981.649092019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049981.745198765] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049981.745990839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049981.747011732] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049981.748246605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049981.748739395] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049981.835724674] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049981.839322474] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049981.839437369] [sailbot.teensy]: Wind angle: 318 +[mux-7] [INFO] [1746049981.840000163] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049981.840422890] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049981.840914016] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049981.841302176] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049981.844394758] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049981.844784194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049981.845598167] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049981.846463097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049981.847579119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049981.945253619] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049981.945946679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049981.946767289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049981.947976043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049981.948440353] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049982.003674271] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46964491 Long: -76.50300381 +[vectornav-1] [INFO] [1746049982.005649665] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.185, -3.157, 2.721) +[mux-7] [INFO] [1746049982.045258919] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049982.046216469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049982.046932507] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049982.048540952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049982.049686956] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049982.085376680] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049982.087589978] [sailbot.teensy]: Wind angle: 319 +[trim_sail-4] [INFO] [1746049982.087711143] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049982.088595605] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049982.088948282] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049982.089536049] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049982.090378489] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049982.145454642] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049982.146077231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049982.147180238] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049982.148359575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049982.149602811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049982.245002617] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049982.245662704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049982.246707077] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049982.247577905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049982.248807237] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049982.335264386] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049982.337234119] [sailbot.teensy]: Wind angle: 321 +[trim_sail-4] [INFO] [1746049982.337581863] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049982.338189356] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049982.337977502] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049982.339055780] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049982.339558485] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049982.344525893] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049982.345391914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049982.345815431] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049982.347194051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049982.348259730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049982.444570316] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049982.445289807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049982.445976255] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049982.447051434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049982.448061137] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049982.503068565] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46964019 Long: -76.50300624 +[vectornav-1] [INFO] [1746049982.505241657] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.757, -3.298, 2.732) +[mux-7] [INFO] [1746049982.545006493] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049982.545837632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049982.546401246] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049982.547995021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049982.549156511] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049982.585143379] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049982.586800888] [sailbot.teensy]: Wind angle: 321 +[trim_sail-4] [INFO] [1746049982.587263047] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049982.587737770] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049982.588632412] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049982.588619618] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049982.589571709] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049982.645263898] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049982.646036605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049982.646918720] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049982.648384727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049982.648858631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049982.745322121] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049982.746105981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049982.746862418] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049982.747952718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049982.748491770] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049982.835717812] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049982.837956459] [sailbot.teensy]: Wind angle: 322 +[teensy-2] [INFO] [1746049982.838971517] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049982.838358332] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049982.839590342] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049982.839882174] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049982.841364973] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049982.844335497] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049982.844999279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049982.845754849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049982.846730672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049982.847745705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049982.945472766] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049982.946395382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049982.947236011] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049982.948950063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049982.949441450] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049983.003043385] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46963511 Long: -76.50300825 +[vectornav-1] [INFO] [1746049983.004625701] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.28, -2.404, 3.642) +[mux-7] [INFO] [1746049983.045211740] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049983.046609203] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049983.045994064] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049983.048043612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049983.049164286] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049983.085364810] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049983.087570866] [sailbot.teensy]: Wind angle: 318 +[trim_sail-4] [INFO] [1746049983.087762281] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049983.088487850] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049983.089423646] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049983.088866836] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049983.090340777] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049983.145003013] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049983.145705558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049983.146374168] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049983.147755689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049983.148928324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049983.245078710] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049983.246030728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049983.246825984] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049983.248160763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049983.248678373] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049983.335465742] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049983.337977055] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049983.337985860] [sailbot.teensy]: Wind angle: 317 +[teensy-2] [INFO] [1746049983.338956364] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049983.339467321] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049983.339892535] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049983.340769603] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049983.344416773] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049983.344962931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049983.345608293] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049983.346711244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049983.347865662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049983.445049354] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049983.445867410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049983.446538613] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049983.447945973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049983.448999083] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049983.503903513] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46962998 Long: -76.50301046 +[vectornav-1] [INFO] [1746049983.505646696] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.59000000000003, -2.664, 1.383) +[mux-7] [INFO] [1746049983.545271800] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049983.545978076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049983.546674567] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049983.547950185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049983.549118407] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049983.585400096] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049983.587936837] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049983.588543484] [sailbot.teensy]: Wind angle: 316 +[mux-7] [INFO] [1746049983.588805763] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049983.589538674] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049983.590400818] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049983.591247747] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049983.644966397] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049983.645570470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049983.646240218] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049983.647563935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049983.648752531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049983.745240700] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049983.745994684] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049983.746792343] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049983.748194313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049983.748861103] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049983.835714315] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049983.838302231] [sailbot.teensy]: Wind angle: 314 +[trim_sail-4] [INFO] [1746049983.838690572] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049983.839457999] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049983.840328416] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049983.840401323] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049983.841281229] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049983.844478913] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049983.845199131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049983.845742601] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049983.847416668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049983.848602683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049983.945368569] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049983.946309970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049983.946879605] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049983.948608347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049983.949747080] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049984.003406317] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46962432 Long: -76.50301323 +[vectornav-1] [INFO] [1746049984.006202879] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (288.961, -1.572, 0.592) +[mux-7] [INFO] [1746049984.045974244] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049984.046319818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049984.047566754] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049984.048490304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049984.049614529] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049984.085608945] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049984.087724888] [sailbot.teensy]: Wind angle: 313 +[trim_sail-4] [INFO] [1746049984.088123339] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049984.088711814] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049984.089605371] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049984.090474996] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049984.090721821] [sailbot.mux]: algo sail angle: 65 +[mux-7] [INFO] [1746049984.145040697] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049984.146026483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049984.146477216] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049984.148014155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049984.148494304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049984.245239662] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049984.246030425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049984.246988764] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049984.248252933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049984.248807147] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049984.335302442] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049984.338020562] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746049984.338558317] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049984.338644214] [sailbot.teensy]: Wind angle: 312 +[teensy-2] [INFO] [1746049984.339614001] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049984.340358328] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049984.340734620] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049984.344363761] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049984.344968681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049984.345912386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049984.346743871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049984.347901357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049984.445361221] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049984.446129780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049984.446934261] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049984.448164446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049984.448633416] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049984.503637534] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46961955 Long: -76.50301437 +[vectornav-1] [INFO] [1746049984.505274266] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.493, -0.987, 3.507) +[mux-7] [INFO] [1746049984.544881129] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049984.545520091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049984.546202481] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049984.547250516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049984.548420524] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049984.585169262] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049984.586759751] [sailbot.teensy]: Wind angle: 314 +[trim_sail-4] [INFO] [1746049984.587507966] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049984.587625573] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049984.588544124] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049984.589319162] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049984.589408483] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049984.645215004] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049984.646041934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049984.646765899] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049984.648074973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049984.649341833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049984.745527396] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049984.746243927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049984.747337737] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049984.748426297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049984.749314112] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049984.835093468] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049984.837692273] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049984.837774194] [sailbot.teensy]: Wind angle: 315 +[mux-7] [INFO] [1746049984.838274086] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049984.838671861] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049984.839740526] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049984.840686604] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049984.844479926] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049984.845147800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049984.845907319] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049984.847071387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049984.848142576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049984.945930567] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049984.946197028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049984.947854490] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049984.948542410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049984.949048218] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049985.003114194] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46961449 Long: -76.50301598 +[vectornav-1] [INFO] [1746049985.004261110] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.81600000000003, -1.118, 3.71) +[mux-7] [INFO] [1746049985.045112506] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049985.045737260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049985.046701129] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049985.047615758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049985.048723912] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049985.085454227] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049985.088051120] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746049985.089549312] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049985.089619828] [sailbot.teensy]: Wind angle: 316 +[teensy-2] [INFO] [1746049985.090588468] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049985.091482535] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049985.092354924] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049985.145122471] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049985.145884226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049985.146699565] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049985.147788360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049985.148914075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049985.245135739] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049985.245960398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049985.246734225] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049985.248042538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049985.249018092] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049985.335223836] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049985.336995904] [sailbot.teensy]: Wind angle: 317 +[trim_sail-4] [INFO] [1746049985.337542474] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049985.337931314] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049985.338839562] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049985.339110385] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049985.339464910] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049985.344339945] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049985.345093232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049985.345494418] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049985.346803838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049985.347837757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049985.445066478] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049985.445933303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049985.446891663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049985.447922345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049985.449039350] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049985.503446780] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46960922 Long: -76.50301703 +[vectornav-1] [INFO] [1746049985.504757818] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (291.98699999999997, -1.825, 4.194) +[mux-7] [INFO] [1746049985.545395240] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049985.546076718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049985.546941460] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049985.548511964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049985.549660525] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049985.585674245] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049985.588406133] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746049985.588901139] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049985.589576099] [sailbot.teensy]: Wind angle: 321 +[teensy-2] [INFO] [1746049985.590556205] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049985.591432529] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049985.592291158] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049985.645188831] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049985.645991444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049985.646854673] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049985.648295619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049985.649439026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049985.745744601] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049985.746731423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049985.747718841] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049985.749314245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049985.750661584] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049985.835246426] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049985.837558563] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049985.837568675] [sailbot.teensy]: Wind angle: 321 +[teensy-2] [INFO] [1746049985.838739797] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049985.838730847] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049985.839695402] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049985.840600030] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049985.844327165] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049985.844946760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049985.845459202] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049985.846773959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049985.847821933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049985.945340495] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049985.946430354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049985.946898619] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049985.948603729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049985.949746679] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049986.003333486] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46960402 Long: -76.5030184 +[vectornav-1] [INFO] [1746049986.004906051] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.488, -2.305, 6.303) +[mux-7] [INFO] [1746049986.044914669] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049986.045725608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049986.046090735] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049986.047599573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049986.048678783] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049986.085271519] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049986.087101803] [sailbot.teensy]: Wind angle: 328 +[teensy-2] [INFO] [1746049986.088063939] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049986.087681002] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049986.088088021] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049986.089066106] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049986.090245870] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049986.145187430] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049986.146031911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049986.146662514] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049986.148275850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049986.149496851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049986.245633338] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049986.246515425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049986.247422719] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049986.248350202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049986.248879504] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049986.335209773] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049986.337053094] [sailbot.teensy]: Wind angle: 328 +[trim_sail-4] [INFO] [1746049986.337686094] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746049986.337949630] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049986.338854476] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049986.338672382] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049986.339731513] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049986.344301715] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049986.344822137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049986.345667614] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049986.346534175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049986.347555789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049986.445495178] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049986.446342542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049986.447357132] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049986.448132186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049986.448681120] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049986.503868849] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46959885 Long: -76.50302033 +[vectornav-1] [INFO] [1746049986.505999587] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.61199999999997, -2.866, 3.499) +[mux-7] [INFO] [1746049986.545282202] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049986.546035492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049986.547022557] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049986.548364710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049986.549567869] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049986.585566097] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049986.588008647] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049986.589132642] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049986.589312293] [sailbot.teensy]: Wind angle: 327 +[teensy-2] [INFO] [1746049986.590342874] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049986.591232558] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049986.592090637] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049986.645237978] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049986.646269283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049986.646776141] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049986.648800747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049986.649897572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049986.745516198] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049986.746313402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049986.747157924] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049986.749089139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049986.750199473] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049986.835379827] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049986.837194835] [sailbot.teensy]: Wind angle: 323 +[trim_sail-4] [INFO] [1746049986.837708856] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049986.838187787] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049986.839127699] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049986.839248864] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049986.840040457] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049986.844477070] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049986.845146939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049986.846163295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049986.847010491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049986.848045634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049986.945551192] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049986.946418245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049986.947240013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049986.947990470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049986.948478486] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049987.003215055] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46959382 Long: -76.5030215 +[vectornav-1] [INFO] [1746049987.004491713] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (298.35699999999997, -1.308, 3.399) +[mux-7] [INFO] [1746049987.044856687] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049987.045444617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049987.046573291] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049987.047468832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049987.048570653] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049987.085528274] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049987.088024508] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746049987.088392286] [sailbot.teensy]: Wind angle: 319 +[mux-7] [INFO] [1746049987.089595446] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746049987.090410426] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049987.091324879] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049987.092241571] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049987.145073972] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049987.145817915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049987.146653853] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049987.147929681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049987.149118692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049987.245434354] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049987.246086450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049987.247234294] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049987.248569272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049987.249113967] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049987.335216325] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049987.337727487] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746049987.338361275] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049987.339138431] [sailbot.teensy]: Wind angle: 318 +[teensy-2] [INFO] [1746049987.339628236] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049987.340113086] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049987.341039413] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049987.344437016] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049987.344806926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049987.345649141] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049987.346484390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049987.347532041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049987.445506808] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049987.446013536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049987.447148094] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049987.448437345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049987.449568649] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049987.502449939] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46958864 Long: -76.50302232 +[vectornav-1] [INFO] [1746049987.503630983] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (299.43399999999997, 1.426, 1.783) +[mux-7] [INFO] [1746049987.545283633] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049987.546074434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049987.546859817] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049987.548146595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049987.549312702] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049987.585195451] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049987.587504421] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049987.588056519] [sailbot.teensy]: Wind angle: 317 +[mux-7] [INFO] [1746049987.588398162] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049987.589024523] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049987.589971670] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049987.590810187] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049987.645719348] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049987.646508747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049987.647752879] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049987.649307116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049987.650553053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049987.745749225] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049987.746302938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049987.747514793] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049987.748633911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049987.749207845] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049987.835559159] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049987.837700093] [sailbot.teensy]: Wind angle: 314 +[trim_sail-4] [INFO] [1746049987.838854142] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049987.839237141] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049987.839237883] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049987.839655432] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049987.840025733] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049987.844411974] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049987.844928930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049987.845793995] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049987.846651653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049987.847763522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049987.945723361] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049987.946442493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049987.947530238] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049987.949012585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049987.950171082] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049988.003372283] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4695838 Long: -76.50302225 +[vectornav-1] [INFO] [1746049988.005730704] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (300.39099999999996, 2.027, 3.436) +[mux-7] [INFO] [1746049988.045289762] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049988.046382794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049988.047017378] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049988.048699596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049988.049751549] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049988.085271923] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049988.087626727] [sailbot.teensy]: Wind angle: 314 +[trim_sail-4] [INFO] [1746049988.088034277] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746049988.088481587] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049988.088557969] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049988.089451383] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049988.090327449] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049988.145143422] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049988.146034681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049988.146917109] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049988.147830829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049988.148403744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049988.245182853] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049988.246160079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049988.246661958] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049988.248203428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049988.249431561] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049988.335174755] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049988.337667136] [sailbot.teensy]: Wind angle: 311 +[trim_sail-4] [INFO] [1746049988.337705680] [sailbot.trim_sail]: Sail Angle: "60" +[mux-7] [INFO] [1746049988.338391904] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049988.339389036] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049988.340365174] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049988.341285080] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049988.344354958] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049988.345153138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049988.345553283] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049988.347088268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049988.348208237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049988.445580552] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049988.446628268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049988.447388572] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049988.447997243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049988.448618419] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049988.503946876] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46957907 Long: -76.50302151 +[vectornav-1] [INFO] [1746049988.506202588] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (302.18100000000004, 2.121, 3.194) +[mux-7] [INFO] [1746049988.545055183] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049988.545714134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049988.547058431] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049988.547696621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049988.548913990] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049988.585482742] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049988.587961998] [sailbot.teensy]: Wind angle: 306 +[trim_sail-4] [INFO] [1746049988.587994974] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746049988.588998201] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049988.589830740] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746049988.589879457] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049988.590778079] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049988.645707987] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049988.646279114] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049988.647624469] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049988.649128846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049988.650428856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049988.745699873] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049988.746353547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049988.747806950] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049988.748736086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049988.749994886] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049988.835295867] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049988.836983486] [sailbot.teensy]: Wind angle: 294 +[trim_sail-4] [INFO] [1746049988.837537140] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746049988.837924324] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049988.838828377] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049988.839160655] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746049988.839707779] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049988.844615009] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049988.845148786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049988.845911654] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049988.846839401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049988.848000989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049988.945356191] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049988.946034447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049988.947203646] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049988.948107673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049988.948666140] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049989.002407324] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46957373 Long: -76.50302085 +[vectornav-1] [INFO] [1746049989.003398217] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (303.582, 1.693, 2.578) +[mux-7] [INFO] [1746049989.044931117] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049989.045716701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049989.046138513] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049989.047581602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049989.048752125] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049989.085776074] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049989.088465106] [sailbot.teensy]: Wind angle: 285 +[trim_sail-4] [INFO] [1746049989.088688078] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746049989.089716718] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049989.090655977] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049989.090719728] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746049989.091596891] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049989.145044852] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049989.145946599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049989.146557215] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049989.148108182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049989.149176279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049989.245409004] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049989.246738881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049989.247125147] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049989.248663410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049989.249119370] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049989.335368594] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049989.337707764] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746049989.337765450] [sailbot.teensy]: Wind angle: 276 +[teensy-2] [INFO] [1746049989.338737937] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049989.339677377] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049989.339717879] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746049989.340649224] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049989.344370912] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049989.345199410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049989.345532670] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049989.347110075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049989.348289815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049989.445394830] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049989.446081299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049989.447089305] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049989.447788424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049989.448275780] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049989.503141241] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46956847 Long: -76.5030199 +[vectornav-1] [INFO] [1746049989.504683315] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (304.89, 0.955, 2.417) +[mux-7] [INFO] [1746049989.545092147] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049989.545928716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049989.546565710] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049989.548114032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049989.548911595] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049989.585237557] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049989.587404229] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746049989.587400452] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746049989.588387010] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049989.588748344] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049989.590091149] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049989.590936934] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049989.645238519] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049989.645860325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049989.646824862] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049989.648237719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049989.648698890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049989.745566860] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049989.746436756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049989.747200671] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049989.748669746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049989.749754707] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049989.835250568] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049989.837451774] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049989.837652041] [sailbot.teensy]: Wind angle: 243 +[mux-7] [INFO] [1746049989.838331678] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049989.838556957] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049989.839484333] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049989.839958899] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049989.844542745] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049989.845379931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049989.846138409] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049989.847159449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049989.848354940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049989.945736506] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049989.946297501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049989.947969844] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049989.948684236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049989.949887050] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049990.003614500] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4695632 Long: -76.50301901 +[vectornav-1] [INFO] [1746049990.004891407] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (306.777, -0.338, 3.002) +[mux-7] [INFO] [1746049990.045243648] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049990.046044631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049990.046936164] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049990.048101080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049990.049270466] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049990.085275195] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049990.087586321] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746049990.088187884] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049990.088686501] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746049990.089633855] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049990.090467307] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049990.091300891] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049990.144968204] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049990.145591872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049990.146244688] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049990.147408930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049990.148567598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049990.245376164] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049990.246113036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049990.246933380] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049990.248359333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049990.249504285] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049990.335137243] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049990.336740555] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746049990.337425023] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746049990.338193431] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049990.338884384] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049990.339239000] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049990.339610913] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049990.344469659] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049990.345038763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049990.345674437] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049990.346864074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049990.347892029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049990.444842473] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049990.445527034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049990.446094256] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049990.447458282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049990.448507793] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049990.503170090] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46955794 Long: -76.5030172 +[vectornav-1] [INFO] [1746049990.504873362] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (306.874, -0.021, 1.64) +[mux-7] [INFO] [1746049990.545031474] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049990.545558414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049990.546339617] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049990.547471550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049990.548570007] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049990.585433056] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049990.587757978] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049990.588676447] [sailbot.teensy]: Wind angle: 247 +[mux-7] [INFO] [1746049990.588988989] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049990.589827132] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049990.590726315] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049990.591570883] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049990.645091154] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049990.645779487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049990.646427561] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049990.647783246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049990.648997609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049990.745329955] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049990.746024294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049990.746913235] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049990.748452669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049990.748982933] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049990.835183618] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049990.837258149] [sailbot.teensy]: Wind angle: 245 +[trim_sail-4] [INFO] [1746049990.837483318] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049990.838144624] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049990.839078109] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049990.839776783] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049990.839951907] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049990.844261316] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049990.844718906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049990.845433097] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049990.846544205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049990.847652905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049990.945515841] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049990.946400130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049990.947322427] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049990.948053122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049990.948715792] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049991.003277826] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46955259 Long: -76.50301514 +[vectornav-1] [INFO] [1746049991.004578345] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (308.087, 0.61, 3.666) +[mux-7] [INFO] [1746049991.044462330] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049991.045112437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049991.045564491] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049991.046759648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049991.048468264] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049991.085128551] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049991.086745523] [sailbot.teensy]: Wind angle: 245 +[teensy-2] [INFO] [1746049991.087599088] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049991.087186681] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746049991.088338012] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049991.088458173] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049991.089260753] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049991.145057901] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049991.145729777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049991.146413061] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049991.147715220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049991.148899518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049991.245201483] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049991.246218929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049991.246795519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049991.248310852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049991.248732076] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049991.335389135] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049991.337769953] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049991.338254820] [sailbot.teensy]: Wind angle: 245 +[teensy-2] [INFO] [1746049991.339231431] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049991.339712577] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049991.340145970] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049991.341062060] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049991.344283314] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049991.344901022] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049991.345470046] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049991.346623595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049991.347770459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049991.445405864] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746049991.447284287] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049991.447474134] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049991.449765874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049991.451006280] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049991.503384570] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46954735 Long: -76.50301256 +[vectornav-1] [INFO] [1746049991.505335099] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (310.817, 1.297, 0.501) +[mux-7] [INFO] [1746049991.545090307] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049991.545804800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049991.546452518] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049991.547889974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049991.549036177] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049991.585215804] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049991.586821559] [sailbot.teensy]: Wind angle: 245 +[trim_sail-4] [INFO] [1746049991.587350964] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049991.587691813] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049991.588675556] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049991.589558743] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049991.589603232] [sailbot.mux]: algo sail angle: 15 +[mux-7] [INFO] [1746049991.645045770] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049991.645890397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049991.646377978] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049991.647812049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049991.648621715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049991.745298213] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049991.746024658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049991.746790337] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049991.748184007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049991.749285423] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049991.835399488] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049991.838163891] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049991.838641300] [sailbot.teensy]: Wind angle: 245 +[mux-7] [INFO] [1746049991.839108924] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049991.839895938] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049991.840847328] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049991.841701416] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049991.844435930] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049991.845166578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049991.845554807] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049991.846985610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049991.847983985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049991.945478746] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049991.946316925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049991.947196597] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049991.948074498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049991.948589778] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049992.003402262] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46954245 Long: -76.50300974 +[vectornav-1] [INFO] [1746049992.004821100] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (313.257, 1.262, 3.374) +[mux-7] [INFO] [1746049992.044960536] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049992.045864817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049992.046225759] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049992.047693028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049992.048725969] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049992.085416614] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049992.087163060] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746049992.087927301] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049992.088107068] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049992.089044094] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049992.089573492] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049992.089930649] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049992.145102101] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049992.145915379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049992.146492195] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049992.148145240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049992.149337509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049992.245483616] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049992.246249549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049992.247209271] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049992.248652743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049992.249709699] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049992.335329866] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049992.337578428] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746049992.338530050] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049992.337636637] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746049992.339234482] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049992.339422571] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049992.340556645] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049992.344425701] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049992.344864579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049992.345620822] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049992.346564100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049992.347594951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049992.445288480] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049992.445930410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049992.446889561] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049992.448026072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049992.449206096] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049992.502880293] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46953766 Long: -76.50300665 +[vectornav-1] [INFO] [1746049992.504300570] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (317.69, 1.538, 0.207) +[mux-7] [INFO] [1746049992.545475108] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049992.546335079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049992.547047921] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049992.548685545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049992.549846498] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049992.585182523] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049992.587501795] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746049992.587788896] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049992.588086596] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746049992.589100970] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049992.589976802] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049992.590806932] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049992.644762536] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049992.645290686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049992.646160324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049992.647112512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049992.648269315] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049992.745359199] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049992.746325973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049992.747035729] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049992.748828105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049992.749941121] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049992.835408491] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049992.837732050] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049992.838029105] [sailbot.teensy]: Wind angle: 246 +[teensy-2] [INFO] [1746049992.839206398] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049992.839875125] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049992.840181740] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049992.841134630] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049992.844435153] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049992.844981959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049992.845877505] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049992.846822577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049992.847895075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049992.945541054] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049992.946577413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049992.947303663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049992.948981802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049992.950120043] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049993.003711048] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46953344 Long: -76.50300338 +[vectornav-1] [INFO] [1746049993.005859376] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (322.327, 2.233, 3.017) +[mux-7] [INFO] [1746049993.044777798] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049993.046204494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049993.046715676] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049993.048292406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049993.049646209] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049993.085712836] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049993.087958314] [sailbot.teensy]: Wind angle: 246 +[teensy-2] [INFO] [1746049993.088981288] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049993.088515655] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746049993.089481911] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049993.089908981] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049993.090811048] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049993.145081823] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049993.145980412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049993.146460847] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049993.147907582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049993.148948048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049993.245040235] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049993.246017942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049993.246497960] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049993.247738775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049993.248305426] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049993.335478058] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049993.337537332] [sailbot.teensy]: Wind angle: 246 +[trim_sail-4] [INFO] [1746049993.338261805] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049993.338515431] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049993.339090416] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049993.339376198] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049993.340245149] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049993.344380342] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049993.344873122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049993.345607385] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049993.346685718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049993.347775937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049993.445314799] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049993.446147891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049993.446818057] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049993.448326486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049993.448844188] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049993.503621094] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46952917 Long: -76.50299958 +[vectornav-1] [INFO] [1746049993.505276657] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (327.919, 0.152, -0.805) +[mux-7] [INFO] [1746049993.544919652] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049993.546016989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049993.546294096] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049993.548087440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049993.549253546] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049993.585230862] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049993.587403076] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746049993.587948536] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049993.589022267] [sailbot.teensy]: Wind angle: 246 +[teensy-2] [INFO] [1746049993.589965640] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049993.590858748] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049993.591711527] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049993.645656053] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049993.646414241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049993.647420011] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049993.648797794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049993.650238107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049993.745200199] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049993.745798174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049993.747644992] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049993.747914554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049993.748997612] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049993.835202929] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049993.836906532] [sailbot.teensy]: Wind angle: 246 +[trim_sail-4] [INFO] [1746049993.837764726] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049993.837855091] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049993.838675487] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049993.838674544] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049993.839081035] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049993.844744567] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049993.845149291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049993.845946928] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049993.846828419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049993.847885168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049993.945398285] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049993.946152327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049993.947403002] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049993.948237042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049993.949536602] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049994.003967825] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46952494 Long: -76.50299454 +[vectornav-1] [INFO] [1746049994.005583964] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (330.749, 0.555, -0.016) +[mux-7] [INFO] [1746049994.044780052] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049994.045336182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049994.046166859] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049994.047138415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049994.048298326] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049994.085427104] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049994.087788724] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049994.088367366] [sailbot.teensy]: Wind angle: 247 +[mux-7] [INFO] [1746049994.088508379] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049994.089323032] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049994.090100416] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049994.090470685] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049994.144869064] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049994.145810614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049994.146271675] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049994.147632768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049994.148747246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049994.245360657] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049994.246655037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049994.246962920] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049994.248692917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049994.249852045] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049994.335760763] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049994.337924258] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746049994.338951705] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049994.339042254] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049994.339337632] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049994.339443717] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049994.339727991] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049994.344683072] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049994.345263680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049994.345911268] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049994.346997816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049994.348032521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049994.445593038] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049994.446257054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049994.447342888] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049994.448552283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049994.449670778] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049994.504265029] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4695217 Long: -76.50298859 +[vectornav-1] [INFO] [1746049994.506100426] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (335.279, 1.165, -1.902) +[mux-7] [INFO] [1746049994.545370151] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049994.545795445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049994.546736247] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049994.547575753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049994.548804108] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049994.585237328] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049994.586898681] [sailbot.teensy]: Wind angle: 243 +[trim_sail-4] [INFO] [1746049994.587415765] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746049994.587799010] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049994.588715490] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049994.589456136] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049994.589573052] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049994.645507212] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049994.646086218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049994.647080562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049994.648442480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049994.649516545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049994.745633876] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049994.746243879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049994.747336566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049994.748523264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049994.749049313] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049994.835128227] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049994.837306709] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746049994.837876538] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049994.838266527] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049994.839178137] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049994.839637914] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049994.840233295] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049994.844485988] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049994.845110672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049994.845808026] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049994.846861507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049994.847988791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049994.944874613] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049994.945548188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049994.946253903] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049994.947475182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049994.948550741] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049995.003265402] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46951929 Long: -76.50298268 +[vectornav-1] [INFO] [1746049995.004721626] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (336.6, -0.039, 1.032) +[mux-7] [INFO] [1746049995.044971694] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049995.045655267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049995.046268919] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049995.047599717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049995.048765054] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049995.085435958] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049995.087999642] [sailbot.teensy]: Wind angle: 216 +[trim_sail-4] [INFO] [1746049995.088256712] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746049995.089503324] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049995.089886363] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049995.090881915] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049995.091783092] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049995.144904816] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049995.145674638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049995.146177301] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049995.147514260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049995.148570802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049995.245432512] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049995.246163541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049995.247189020] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049995.247957992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049995.248503815] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049995.335320179] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049995.337712326] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049995.338014498] [sailbot.teensy]: Wind angle: 200 +[teensy-2] [INFO] [1746049995.338974480] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049995.339183988] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049995.339890887] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049995.340304407] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049995.344486347] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049995.345038840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049995.345573065] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049995.346764931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049995.347962892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049995.445493676] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049995.446273364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049995.447078443] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049995.448584547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049995.449109664] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049995.502592476] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46951741 Long: -76.50297637 +[vectornav-1] [INFO] [1746049995.503714549] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (339.606, 0.471, 1.387) +[mux-7] [INFO] [1746049995.545262227] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049995.546631768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049995.547347000] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049995.548786310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049995.549790691] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049995.585293002] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049995.587477904] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746049995.587661830] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746049995.588290852] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049995.588501164] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049995.589492713] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049995.590437893] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049995.644740462] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049995.645325448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049995.645913632] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049995.647150285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049995.648283733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049995.745566164] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049995.746232425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049995.747162927] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049995.748563800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049995.749853844] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049995.835205501] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049995.837391226] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049995.837717740] [sailbot.teensy]: Wind angle: 211 +[mux-7] [INFO] [1746049995.838833920] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049995.838877039] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049995.839802996] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049995.840792936] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049995.844510340] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049995.845197798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049995.845903354] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049995.846965154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049995.848126865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049995.945441891] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049995.945960016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049995.947002181] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049995.948250735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049995.948794001] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049996.003903904] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46951554 Long: -76.50296947 +[vectornav-1] [INFO] [1746049996.005617257] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (341.554, 0.054, 2.697) +[mux-7] [INFO] [1746049996.045140556] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049996.045974159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049996.046821085] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049996.047849834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049996.048946860] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049996.085612696] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049996.088069443] [sailbot.teensy]: Wind angle: 221 +[trim_sail-4] [INFO] [1746049996.088174624] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049996.089136531] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049996.089957158] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049996.090079829] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049996.090994577] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049996.145005937] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049996.145732913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049996.147524165] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049996.147684458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049996.148811766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049996.245111829] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049996.245714704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049996.246513026] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049996.247725188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049996.248487362] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049996.335268644] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049996.336972027] [sailbot.teensy]: Wind angle: 226 +[teensy-2] [INFO] [1746049996.337920119] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049996.337580750] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049996.338829973] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049996.339229358] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049996.339101982] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746049996.344551688] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049996.345105044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049996.345756882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049996.346877555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049996.348010351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049996.445654737] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049996.446290093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049996.447434141] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049996.448650380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049996.449768766] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049996.502931835] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46951373 Long: -76.50296359 +[vectornav-1] [INFO] [1746049996.504414747] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (342.49, 1.228, 1.678) +[mux-7] [INFO] [1746049996.545441869] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049996.546500025] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049996.547111951] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049996.548669847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049996.549870093] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049996.585153496] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049996.586775998] [sailbot.teensy]: Wind angle: 224 +[teensy-2] [INFO] [1746049996.587626533] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049996.587245101] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746049996.588555316] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746049996.589016023] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049996.589435165] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049996.645218591] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049996.646237755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049996.646851764] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049996.648475307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049996.649598225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049996.745612967] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049996.746306277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049996.747203933] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049996.748651975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049996.750478294] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049996.835225584] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049996.837478285] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746049996.838378420] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049996.838493021] [sailbot.teensy]: Wind angle: 225 +[teensy-2] [INFO] [1746049996.838981484] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049996.839372482] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049996.839736996] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049996.844429539] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049996.845207436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049996.845816751] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049996.846971174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049996.848061628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049996.945601456] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049996.946502864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049996.947515705] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049996.948759565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049996.949307809] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049997.003217992] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46951221 Long: -76.50295767 +[vectornav-1] [INFO] [1746049997.004749554] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (341.677, 2.641, 1.784) +[mux-7] [INFO] [1746049997.044996529] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049997.045731042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049997.046294795] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049997.047620112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049997.048785213] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049997.085164755] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049997.087540447] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746049997.087926354] [sailbot.teensy]: Wind angle: 232 +[mux-7] [INFO] [1746049997.087925737] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049997.089049877] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049997.089922761] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049997.090769695] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049997.145078023] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049997.145927534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049997.146610795] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049997.147957687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049997.149047360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049997.245283518] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049997.246173593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049997.246935225] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049997.248130281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049997.248627176] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049997.335505121] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049997.338026509] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746049997.338184939] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746049997.339250649] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746049997.339426331] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049997.340419293] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049997.341254207] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049997.344331984] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049997.345255027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049997.345516703] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049997.347272088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049997.348470614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049997.445526945] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049997.446393586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049997.447491371] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049997.448223415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049997.448731683] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049997.503605822] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46951041 Long: -76.50295152 +[vectornav-1] [INFO] [1746049997.505039644] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (338.597, 2.578, 2.122) +[mux-7] [INFO] [1746049997.545152052] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049997.545797409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049997.547016135] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049997.548132000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049997.549360876] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049997.585315207] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049997.587144979] [sailbot.teensy]: Wind angle: 221 +[teensy-2] [INFO] [1746049997.588094341] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049997.587953510] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746049997.588376595] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746049997.589005863] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049997.589882606] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049997.645613771] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049997.646671765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049997.647712917] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049997.648929373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049997.649429595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049997.745185589] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049997.745853537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049997.747807494] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049997.747997253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049997.749185234] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049997.835255822] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049997.837856114] [sailbot.teensy]: Wind angle: 243 +[trim_sail-4] [INFO] [1746049997.837922692] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746049997.838162193] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746049997.839292631] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049997.839710703] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049997.840360898] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049997.844380310] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049997.844957238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049997.845526446] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049997.846690077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049997.847805236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049997.945305289] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049997.946081312] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049997.946841215] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049997.948283135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049997.948843945] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049998.003074354] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4695086 Long: -76.50294505 +[vectornav-1] [INFO] [1746049998.004977241] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (333.277, 3.066, 3.2) +[mux-7] [INFO] [1746049998.045117783] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049998.045936220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049998.046536306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049998.047998052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049998.049132410] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049998.085120214] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049998.087339107] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746049998.087857614] [sailbot.teensy]: Wind angle: 252 +[mux-7] [INFO] [1746049998.088215225] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746049998.088957665] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049998.089885054] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049998.090736916] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049998.144705169] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049998.145424813] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049998.146246063] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049998.147213523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049998.148378914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049998.245354960] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049998.246425605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049998.246875258] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049998.248185347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049998.248707042] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049998.335689403] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049998.337922934] [sailbot.teensy]: Wind angle: 262 +[teensy-2] [INFO] [1746049998.338975515] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746049998.339003181] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746049998.339099598] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746049998.339416597] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049998.339807151] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049998.344384823] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049998.345004782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049998.345720201] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049998.346789119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049998.347901843] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049998.445773094] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049998.446478295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049998.448313239] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049998.448950376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049998.450284696] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049998.503564575] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46950723 Long: -76.50293892 +[vectornav-1] [INFO] [1746049998.505173016] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (331.558, 3.19, 2.208) +[mux-7] [INFO] [1746049998.544997969] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049998.545835094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049998.546295299] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049998.547776151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049998.548893782] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049998.585440850] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049998.587307970] [sailbot.teensy]: Wind angle: 272 +[teensy-2] [INFO] [1746049998.588376641] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049998.589291686] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746049998.589479837] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746049998.590209360] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049998.591226544] [sailbot.mux]: algo sail angle: 35 +[mux-7] [INFO] [1746049998.645240032] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049998.646014449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049998.646730773] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049998.648005422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049998.649074563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049998.745688525] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049998.746629178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049998.747397910] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049998.748946436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049998.750132850] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049998.835275488] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746049998.837201268] [sailbot.teensy]: Wind angle: 290 +[trim_sail-4] [INFO] [1746049998.838057239] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746049998.838153717] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049998.838382303] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746049998.839051588] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049998.839926818] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049998.844399569] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049998.844817475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049998.845574937] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049998.846526419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049998.847677085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049998.945399126] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049998.946228719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049998.947061693] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049998.948355323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049998.950175295] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049999.002911563] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46950487 Long: -76.50293279 +[vectornav-1] [INFO] [1746049999.004788454] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (329.524, 3.538, 2.084) +[mux-7] [INFO] [1746049999.044851997] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049999.045393705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049999.047128199] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049999.047205902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049999.048569859] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049999.085228993] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049999.087470111] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746049999.087506540] [sailbot.teensy]: Wind angle: 316 +[teensy-2] [INFO] [1746049999.088698534] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746049999.088883287] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746049999.089630517] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049999.090557273] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049999.145098596] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049999.146130804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049999.146674753] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049999.148245567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049999.148819096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049999.245221794] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049999.245942410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049999.246818950] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049999.248404243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049999.249620232] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049999.335085610] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049999.337173926] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746049999.337488642] [sailbot.teensy]: Wind angle: 341 +[mux-7] [INFO] [1746049999.338413561] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746049999.338468254] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049999.338871210] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049999.339246897] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049999.344440385] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049999.344981097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049999.345566097] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049999.346797573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049999.347847241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049999.445093437] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049999.445818408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049999.446625447] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049999.447793685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049999.448590145] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746049999.502996097] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46950324 Long: -76.5029272 +[vectornav-1] [INFO] [1746049999.504468863] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (322.82, 3.386, 4.704) +[mux-7] [INFO] [1746049999.544807756] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049999.545582318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049999.545985874] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049999.547367712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049999.548509189] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049999.585370142] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049999.587669100] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746049999.588654097] [sailbot.teensy]: Wind angle: 0 +[mux-7] [INFO] [1746049999.589124751] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746049999.589713082] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049999.590657445] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049999.591508410] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049999.645516184] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049999.646255137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049999.647283504] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049999.648480636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049999.649072685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049999.745388296] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049999.746391276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049999.747217206] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049999.748637120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049999.749238182] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746049999.835635015] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746049999.838629571] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746049999.839288465] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746049999.839816633] [sailbot.teensy]: Wind angle: 29 +[teensy-2] [INFO] [1746049999.840978200] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746049999.841950628] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746049999.842847081] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746049999.844647215] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049999.845802136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049999.845874143] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049999.847481949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049999.848555342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049999.945609266] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746049999.946515066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746049999.947252483] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746049999.949004278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746049999.950217333] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050000.003463601] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46950202 Long: -76.50292291 +[vectornav-1] [INFO] [1746050000.004929493] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (314.399, 3.271, 3.56) +[mux-7] [INFO] [1746050000.045254216] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050000.046143796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050000.046864014] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050000.048253350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050000.049328876] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050000.085274931] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050000.087058114] [sailbot.teensy]: Wind angle: 33 +[trim_sail-4] [INFO] [1746050000.087609658] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746050000.088040661] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050000.089087682] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050000.089206171] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746050000.090025004] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050000.145056168] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050000.145889497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050000.146501696] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050000.148065521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050000.149121591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050000.245210052] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050000.246023946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050000.246676720] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050000.248051196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050000.248685787] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050000.335391551] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050000.337290439] [sailbot.teensy]: Wind angle: 33 +[trim_sail-4] [INFO] [1746050000.337825873] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746050000.338256283] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050000.339153820] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050000.339212289] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746050000.340048145] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050000.344450508] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050000.345345709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050000.345703524] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050000.347140832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050000.348353913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050000.445642808] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050000.446739835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050000.447250499] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050000.449084182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050000.450240421] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050000.503527408] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46949933 Long: -76.50291897 +[vectornav-1] [INFO] [1746050000.505094943] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (304.06399999999996, 2.372, 6.836) +[mux-7] [INFO] [1746050000.544955457] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050000.545959369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050000.546231000] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050000.547973371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050000.549005131] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050000.585277644] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050000.587428550] [sailbot.teensy]: Wind angle: 28 +[trim_sail-4] [INFO] [1746050000.587428648] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746050000.588692829] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050000.588790536] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746050000.589681485] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050000.590555702] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050000.645568458] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050000.646719755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050000.648138400] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050000.648417849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050000.648886056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050000.745299788] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050000.746322653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050000.747031292] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050000.748167847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050000.748724465] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050000.835250051] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050000.837483298] [sailbot.teensy]: Wind angle: 26 +[trim_sail-4] [INFO] [1746050000.837560204] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746050000.838672068] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050000.839590599] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050000.839730108] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746050000.840562997] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050000.844435765] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050000.845284998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050000.845836262] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050000.847234016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050000.848267668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050000.945301424] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050000.946040990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050000.946870857] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050000.948426131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050000.949548451] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050001.003358828] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46949616 Long: -76.50291516 +[vectornav-1] [INFO] [1746050001.004803098] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.781, 2.501, 6.035) +[mux-7] [INFO] [1746050001.044515088] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050001.045120148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050001.045781149] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050001.046901285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050001.048018899] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050001.085382725] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050001.087253065] [sailbot.teensy]: Wind angle: 30 +[trim_sail-4] [INFO] [1746050001.087813020] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746050001.088272610] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050001.089252229] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050001.090118917] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050001.090185735] [sailbot.mux]: algo sail angle: 75 +[mux-7] [INFO] [1746050001.145202496] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050001.146160002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050001.146659737] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050001.148453140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050001.149159925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050001.245294972] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050001.246091277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050001.246759682] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050001.248361961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050001.249520794] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050001.335313338] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050001.337485765] [sailbot.teensy]: Wind angle: 19 +[trim_sail-4] [INFO] [1746050001.337866918] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746050001.338454720] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050001.339368223] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050001.340272743] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050001.340287461] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746050001.344303989] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050001.344806003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050001.345400276] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050001.346474484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050001.347518662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050001.445082089] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050001.445769243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050001.446530955] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050001.447790151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050001.449063000] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050001.503240086] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46949272 Long: -76.502913 +[vectornav-1] [INFO] [1746050001.504922074] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.948, 2.424, 7.718) +[mux-7] [INFO] [1746050001.545354490] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050001.546269136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050001.547001435] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050001.547914901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050001.548474745] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050001.585521716] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050001.587458403] [sailbot.teensy]: Wind angle: 11 +[trim_sail-4] [INFO] [1746050001.588091481] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050001.588466667] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050001.589406956] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050001.589808246] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050001.590340617] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050001.645052382] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050001.645888162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050001.646361260] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050001.647822568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050001.649143621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050001.745547736] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050001.746345883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050001.747608284] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050001.748901561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050001.749761002] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050001.835402967] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050001.837904026] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746050001.838853216] [sailbot.teensy]: Wind angle: 17 +[mux-7] [INFO] [1746050001.838986214] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050001.839273945] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050001.839668064] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050001.840455931] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050001.844781267] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050001.845467975] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050001.846079897] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050001.847277403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050001.848362729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050001.945740365] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050001.946574407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050001.947707713] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050001.948900685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050001.949566736] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050002.003089533] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46948931 Long: -76.50291147 +[vectornav-1] [INFO] [1746050002.004269782] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.60699999999997, 2.119, 3.988) +[mux-7] [INFO] [1746050002.045268026] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050002.045831614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050002.046833565] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050002.048122206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050002.049444051] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050002.085475517] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050002.087879864] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746050002.089137156] [sailbot.teensy]: Wind angle: 17 +[mux-7] [INFO] [1746050002.089358351] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050002.090092067] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050002.091323280] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050002.092201900] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050002.145216092] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050002.145853914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050002.146732710] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050002.147833158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050002.148904950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050002.245457082] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050002.246291531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050002.247098825] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050002.248656965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050002.249858408] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050002.335388732] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050002.337900545] [sailbot.teensy]: Wind angle: 17 +[trim_sail-4] [INFO] [1746050002.338028720] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746050002.338606005] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050002.338734301] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050002.339000034] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050002.339372202] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050002.344410381] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050002.345023115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050002.345622354] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050002.346775979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050002.347918063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050002.445248766] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050002.446248107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050002.446854759] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050002.448459028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050002.448943473] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050002.503552623] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46948514 Long: -76.50291076 +[vectornav-1] [INFO] [1746050002.505077038] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.75800000000004, -1.384, 5.977) +[mux-7] [INFO] [1746050002.545094647] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050002.545870402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050002.546459237] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050002.547746046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050002.548801597] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050002.585432829] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050002.587872273] [sailbot.teensy]: Wind angle: 9 +[trim_sail-4] [INFO] [1746050002.588047339] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050002.588880011] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050002.589799004] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050002.589922918] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050002.590664010] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050002.645230415] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050002.646005089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050002.646803085] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050002.648253522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050002.649412977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050002.744683569] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050002.745451956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050002.745920055] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050002.747339089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050002.748413879] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050002.835675048] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050002.838002577] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746050002.838470196] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746050002.839670739] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050002.840139455] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050002.841574073] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050002.842451202] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050002.844482674] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050002.844865782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050002.845702324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050002.846589544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050002.847647630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050002.945269881] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050002.946621163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050002.946725464] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050002.948473773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050002.948964771] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050003.003238943] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46948142 Long: -76.50291018 +[vectornav-1] [INFO] [1746050003.004756057] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.233, -1.508, 3.789) +[mux-7] [INFO] [1746050003.044679622] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050003.045199618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050003.045822113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050003.046943679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050003.047991150] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050003.085184127] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050003.086766535] [sailbot.teensy]: Wind angle: 332 +[teensy-2] [INFO] [1746050003.087717248] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746050003.087729585] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746050003.088741417] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050003.089637729] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050003.089962995] [sailbot.mux]: algo sail angle: 75 +[mux-7] [INFO] [1746050003.145097014] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050003.146039388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050003.146653321] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050003.148321659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050003.149449604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050003.245277951] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050003.246486683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050003.246748160] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050003.248555142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050003.249646371] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050003.335423623] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050003.337691522] [sailbot.teensy]: Wind angle: 313 +[trim_sail-4] [INFO] [1746050003.338336030] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050003.338692887] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050003.339455113] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050003.339591973] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050003.340566644] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050003.344458743] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050003.345395623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050003.345561249] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050003.347215155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050003.348348553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050003.445597410] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050003.446516265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050003.447261331] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050003.449114092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050003.450327392] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050003.502877941] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46947724 Long: -76.50290988 +[vectornav-1] [INFO] [1746050003.504006671] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.187, -1.471, 6.093) +[mux-7] [INFO] [1746050003.545431435] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050003.546363615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050003.547107124] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050003.548918561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050003.549954722] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050003.585501167] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050003.587424790] [sailbot.teensy]: Wind angle: 295 +[trim_sail-4] [INFO] [1746050003.588067927] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050003.588483542] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050003.589451824] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050003.589806397] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050003.590354519] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050003.645195551] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050003.645960927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050003.646719272] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050003.647790225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050003.648265725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050003.745393443] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050003.746481419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050003.746989075] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050003.748683239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050003.749977955] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050003.835525780] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050003.837763122] [sailbot.teensy]: Wind angle: 287 +[trim_sail-4] [INFO] [1746050003.838571158] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746050003.838936935] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050003.839066243] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050003.839438412] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050003.839816757] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050003.844567627] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050003.845521002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050003.845857386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050003.847425065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050003.848483089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050003.945559481] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050003.947151725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050003.947372936] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050003.949558247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050003.950676880] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050004.003909807] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694737 Long: -76.50290889 +[vectornav-1] [INFO] [1746050004.005650134] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.624, 0.411, 2.996) +[mux-7] [INFO] [1746050004.045601807] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050004.046352651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050004.047236665] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050004.048846221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050004.049941011] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050004.085525183] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050004.087469345] [sailbot.teensy]: Wind angle: 287 +[teensy-2] [INFO] [1746050004.088507326] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746050004.088342780] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746050004.089374282] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050004.089412667] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050004.090334143] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050004.144873823] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050004.145957823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050004.146106504] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050004.147852158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050004.149007109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050004.244962425] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050004.245866100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050004.246459713] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050004.247943430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050004.249099401] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050004.335214040] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050004.337019920] [sailbot.teensy]: Wind angle: 286 +[trim_sail-4] [INFO] [1746050004.337532380] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050004.337955466] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050004.338892924] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050004.339762557] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050004.339845114] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050004.344303368] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050004.345131771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050004.345408853] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050004.346879067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050004.348008499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050004.445269683] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050004.446183936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050004.446966431] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050004.447663615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050004.448137361] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050004.503089687] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946914 Long: -76.50290819 +[vectornav-1] [INFO] [1746050004.504402712] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.079, -0.279, 5.593) +[mux-7] [INFO] [1746050004.545091440] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050004.546106667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050004.546599173] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050004.548215355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050004.549262729] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050004.585569949] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050004.588351455] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050004.588351202] [sailbot.teensy]: Wind angle: 283 +[teensy-2] [INFO] [1746050004.589412837] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050004.590210882] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050004.590332718] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050004.591254252] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050004.644954959] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050004.645810257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050004.646308137] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050004.647885504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050004.648952622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050004.745195908] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050004.746089139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050004.746657168] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050004.748323961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050004.749387063] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050004.835118761] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050004.837023397] [sailbot.teensy]: Wind angle: 275 +[trim_sail-4] [INFO] [1746050004.837504935] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050004.838000763] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050004.838916175] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050004.838829969] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050004.839878324] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050004.844433700] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050004.845021463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050004.845952888] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050004.846731013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050004.847796181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050004.944997045] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050004.945687932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050004.946202050] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050004.947545019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050004.948612112] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050005.002768188] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694642 Long: -76.50290714 +[vectornav-1] [INFO] [1746050005.003996049] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.462, -0.639, 3.312) +[mux-7] [INFO] [1746050005.044372244] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746050005.044910982] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050005.044912993] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050005.045786416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050005.046290073] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050005.085249405] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050005.087187803] [sailbot.teensy]: Wind angle: 266 +[teensy-2] [INFO] [1746050005.088144312] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746050005.088417589] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050005.089072628] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050005.089134757] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050005.089958309] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050005.145040403] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050005.145687786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050005.146433276] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050005.147605292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050005.148730691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050005.245146541] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050005.245876009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050005.246999332] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050005.248086353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050005.248711404] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050005.335356582] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050005.337210156] [sailbot.teensy]: Wind angle: 264 +[teensy-2] [INFO] [1746050005.338148755] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050005.339048080] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746050005.338185202] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050005.339210470] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050005.339923716] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050005.344398718] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050005.345121516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050005.345573124] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050005.346864473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050005.347996435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050005.445198668] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050005.446218940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050005.446666189] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050005.448321547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050005.449492899] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050005.503765008] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945977 Long: -76.50290643 +[vectornav-1] [INFO] [1746050005.506173835] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.71799999999996, -0.728, 6.105) +[mux-7] [INFO] [1746050005.545381380] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050005.546189615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050005.547291048] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050005.548456194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050005.549570537] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050005.585314078] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050005.587123938] [sailbot.teensy]: Wind angle: 263 +[teensy-2] [INFO] [1746050005.588026513] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746050005.587777394] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050005.588756719] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050005.588919119] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050005.589761652] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050005.645534190] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050005.646534532] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050005.647356290] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050005.649488661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050005.650722249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050005.745537009] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050005.746318622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050005.747082915] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050005.748609385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050005.749412105] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050005.835461648] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050005.837208304] [sailbot.teensy]: Wind angle: 262 +[trim_sail-4] [INFO] [1746050005.838010041] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050005.838120691] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050005.839012617] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050005.838468863] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050005.839913332] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050005.844486433] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050005.845337779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050005.845802852] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050005.847225997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050005.848258919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050005.945319667] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050005.946368679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050005.946859919] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050005.947852687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050005.948400362] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050006.003472003] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945601 Long: -76.50290579 +[vectornav-1] [INFO] [1746050006.004751052] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.08299999999997, -0.246, 2.169) +[mux-7] [INFO] [1746050006.045245714] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050006.045993595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050006.046738070] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050006.048117512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050006.049393013] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050006.085406392] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050006.087179918] [sailbot.teensy]: Wind angle: 261 +[teensy-2] [INFO] [1746050006.088107906] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746050006.087670262] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050006.088959942] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050006.089011169] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050006.089905494] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050006.145269073] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050006.146150549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050006.146765638] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050006.148182817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050006.148661193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050006.245419701] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050006.246391859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050006.246982411] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050006.248809742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050006.249425238] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050006.335154442] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050006.336785901] [sailbot.teensy]: Wind angle: 262 +[trim_sail-4] [INFO] [1746050006.337435804] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050006.338622982] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050006.338899252] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050006.339307943] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050006.339780685] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050006.344455813] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050006.344945632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050006.345739389] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050006.346649324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050006.347624758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050006.445593451] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050006.446218476] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050006.447159520] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050006.449153784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050006.450398073] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050006.503497336] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945221 Long: -76.50290468 +[vectornav-1] [INFO] [1746050006.505372462] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.599, -4.403, 5.103) +[mux-7] [INFO] [1746050006.544927710] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050006.545643810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050006.546400652] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050006.547466303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050006.548612818] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050006.585419911] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050006.588008252] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050006.588539524] [sailbot.teensy]: Wind angle: 261 +[mux-7] [INFO] [1746050006.589107925] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050006.589549668] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050006.590620867] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050006.591502848] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050006.645025840] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050006.645945286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050006.646389466] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050006.648116450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050006.649390880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050006.745348473] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050006.746008505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050006.747132549] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050006.748372268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050006.749642797] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050006.835305207] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050006.836962862] [sailbot.teensy]: Wind angle: 261 +[trim_sail-4] [INFO] [1746050006.838059248] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050006.838725145] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050006.839477800] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050006.839650367] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050006.840593454] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050006.844325559] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050006.844776685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050006.846149033] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050006.846478383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050006.847680714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050006.945478385] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050006.946380421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050006.947168141] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050006.948410626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050006.948862342] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050007.002711353] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46944648 Long: -76.50290356 +[vectornav-1] [INFO] [1746050007.004017708] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.584, -4.559, 3.414) +[mux-7] [INFO] [1746050007.044998056] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050007.046004353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050007.046423556] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050007.048039594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050007.049392578] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050007.085058430] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050007.087014306] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050007.087888333] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050007.088178562] [sailbot.teensy]: Wind angle: 261 +[teensy-2] [INFO] [1746050007.089249337] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050007.090129664] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050007.091010591] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050007.145199796] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050007.146476283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050007.146778993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050007.148577656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050007.149609495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050007.245198478] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050007.245821101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050007.246671997] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050007.247628052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050007.248142500] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050007.335239184] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050007.336965632] [sailbot.teensy]: Wind angle: 262 +[trim_sail-4] [INFO] [1746050007.337641615] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050007.338227484] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050007.339013037] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050007.339393086] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050007.339757003] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050007.344371995] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050007.344982058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050007.345555979] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050007.346736412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050007.347742667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050007.444972361] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050007.445794584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050007.446693565] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050007.447957271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050007.449097132] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050007.503136533] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46944315 Long: -76.50290132 +[vectornav-1] [INFO] [1746050007.504571038] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.025, -2.921, 2.369) +[mux-7] [INFO] [1746050007.545246959] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050007.546030613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050007.546884755] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050007.548507582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050007.549171886] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050007.585310821] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050007.586948899] [sailbot.teensy]: Wind angle: 263 +[teensy-2] [INFO] [1746050007.587814251] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746050007.587508407] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050007.588792101] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050007.588958809] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050007.589823049] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050007.645173519] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050007.646003702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050007.646669424] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050007.648399526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050007.649559771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050007.745472503] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050007.746336360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050007.747053664] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050007.748883223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050007.749513782] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050007.835275261] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050007.837062724] [sailbot.teensy]: Wind angle: 263 +[trim_sail-4] [INFO] [1746050007.837719464] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050007.838009332] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050007.838741786] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050007.838899606] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050007.839437104] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050007.844476012] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050007.845089372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050007.845741929] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050007.846822830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050007.847889348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050007.945235026] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050007.946175659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050007.946753845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050007.948322921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050007.948879153] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050008.003752648] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943835 Long: -76.50289989 +[vectornav-1] [INFO] [1746050008.005518690] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.442, 1.517, 3.544) +[mux-7] [INFO] [1746050008.045090145] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050008.045865400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050008.046565278] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050008.047804994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050008.049001396] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050008.085392430] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050008.087710607] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050008.088092940] [sailbot.teensy]: Wind angle: 265 +[mux-7] [INFO] [1746050008.088846634] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050008.089122089] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050008.090089120] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050008.090961019] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050008.144889052] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050008.145504807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050008.146189351] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050008.147287043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050008.148519688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050008.245113268] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050008.245849948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050008.246450829] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050008.247688018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050008.248202254] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050008.335196736] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050008.337419143] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050008.338162170] [sailbot.teensy]: Wind angle: 265 +[mux-7] [INFO] [1746050008.338592381] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050008.339208216] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050008.340123228] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050008.340984592] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050008.344411141] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050008.344802907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050008.345583525] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050008.346490597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050008.347523145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050008.445381285] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050008.446171051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050008.446954043] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050008.448455689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050008.449635932] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050008.502586320] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943401 Long: -76.5028982 +[vectornav-1] [INFO] [1746050008.503795989] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.087, 4.299, 7.378) +[mux-7] [INFO] [1746050008.544803122] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050008.545404164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050008.545994348] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050008.547164388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050008.548453585] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050008.585125967] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050008.586639949] [sailbot.teensy]: Wind angle: 266 +[trim_sail-4] [INFO] [1746050008.587337601] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050008.587499805] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050008.588446214] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050008.588656904] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050008.589340711] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050008.644985568] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050008.645902647] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050008.646453930] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050008.647925975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050008.648956411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050008.745067014] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050008.745811590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050008.746557603] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050008.747770700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050008.748855872] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050008.835762431] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050008.839122244] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050008.839207744] [sailbot.teensy]: Wind angle: 266 +[mux-7] [INFO] [1746050008.839214993] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050008.839619268] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050008.840026335] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050008.840432283] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050008.844465545] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050008.845008255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050008.846785976] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050008.847054510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050008.848205872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050008.945478424] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050008.946227838] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050008.947237699] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050008.947991344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050008.948532835] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050009.003761075] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694289 Long: -76.50289723 +[vectornav-1] [INFO] [1746050009.005640923] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.355, 6.553, 1.029) +[mux-7] [INFO] [1746050009.045097333] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746050009.046607573] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050009.048108512] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050009.050174889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050009.051299298] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050009.085530817] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050009.087647188] [sailbot.teensy]: Wind angle: 265 +[trim_sail-4] [INFO] [1746050009.088325637] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050009.089084010] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050009.089328565] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050009.090137103] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050009.091070394] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050009.145157462] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050009.146172706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050009.147334125] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050009.148475641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050009.149634061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050009.245392427] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050009.246205000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050009.246975910] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050009.248310908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050009.248945389] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050009.335054314] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050009.337150163] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050009.338256333] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050009.338980268] [sailbot.teensy]: Wind angle: 266 +[teensy-2] [INFO] [1746050009.339387225] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050009.339730108] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050009.340063367] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050009.344438986] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050009.344970010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050009.345582101] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050009.346753472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050009.347799698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050009.445248452] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050009.445908821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050009.446783947] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050009.447978626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050009.448516638] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050009.503370318] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46942483 Long: -76.50289626 +[vectornav-1] [INFO] [1746050009.505041507] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.467, 6.222, 6.141) +[mux-7] [INFO] [1746050009.544835619] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050009.545500878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050009.546115046] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050009.547428185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050009.548550237] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050009.585411278] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050009.587752139] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050009.588587445] [sailbot.teensy]: Wind angle: 266 +[mux-7] [INFO] [1746050009.588784368] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050009.589000616] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050009.589378584] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050009.589732800] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050009.644883235] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050009.645433901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050009.646135539] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050009.647399702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050009.648586338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050009.745513472] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746050009.747079384] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050009.747202016] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050009.748282233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050009.748866900] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050009.835264885] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050009.837014157] [sailbot.teensy]: Wind angle: 266 +[trim_sail-4] [INFO] [1746050009.837462674] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050009.837995659] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050009.838943609] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050009.838979224] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050009.839945459] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050009.844428175] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050009.845399832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050009.845917142] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050009.847344090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050009.848369384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050009.945242204] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050009.946006343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050009.946821075] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050009.948232838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050009.949491788] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050010.003048945] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46942015 Long: -76.50289454 +[vectornav-1] [INFO] [1746050010.004854397] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.89300000000003, 4.911, 2.302) +[mux-7] [INFO] [1746050010.045272589] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050010.046214331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050010.046958238] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050010.048342874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050010.049518903] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050010.085129414] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050010.087190166] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050010.088003743] [sailbot.teensy]: Wind angle: 265 +[mux-7] [INFO] [1746050010.088696862] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050010.089088960] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050010.090126482] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050010.090986754] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050010.144841995] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050010.145428532] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050010.146183094] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050010.147196008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050010.148361412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050010.245377694] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050010.246072856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050010.247038891] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050010.248274835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050010.248750650] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050010.335134360] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050010.336759271] [sailbot.teensy]: Wind angle: 266 +[trim_sail-4] [INFO] [1746050010.337373011] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050010.337706667] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050010.338580477] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050010.338722434] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050010.338953727] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050010.344383440] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050010.345141403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050010.345691527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050010.346978886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050010.347971612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050010.445792243] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050010.446072587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050010.447538694] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050010.448440727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050010.449597128] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050010.503190492] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46941593 Long: -76.50289315 +[vectornav-1] [INFO] [1746050010.504569813] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.25800000000004, 4.749, 5.107) +[mux-7] [INFO] [1746050010.545101269] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050010.545848746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050010.546470497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050010.547793960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050010.548976124] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050010.585493756] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050010.588069714] [sailbot.teensy]: Wind angle: 265 +[trim_sail-4] [INFO] [1746050010.588121759] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050010.589107767] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050010.589547358] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050010.590026338] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050010.590687171] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050010.645391658] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050010.646136815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050010.647000844] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050010.647913747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050010.648461569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050010.745289768] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050010.746190921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050010.747181135] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050010.748392022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050010.749451578] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050010.835238975] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050010.837318076] [sailbot.teensy]: Wind angle: 266 +[trim_sail-4] [INFO] [1746050010.837885517] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050010.838282367] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050010.838781313] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050010.839186652] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050010.840118693] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050010.844379750] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050010.844893760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050010.845768013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050010.846613909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050010.847768666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050010.945296105] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050010.945998179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050010.947257011] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050010.948064127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050010.949310677] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050011.003084723] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46941201 Long: -76.50289158 +[vectornav-1] [INFO] [1746050011.004746089] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (297.212, 3.688, 3.952) +[mux-7] [INFO] [1746050011.045202896] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050011.046358525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050011.047628433] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050011.049158931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050011.050434084] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050011.085454596] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050011.087812686] [sailbot.teensy]: Wind angle: 266 +[trim_sail-4] [INFO] [1746050011.088060142] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050011.088347700] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050011.089201139] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050011.090271296] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050011.091196057] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050011.144967912] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050011.145820234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050011.146527423] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050011.147625614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050011.148693932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050011.245280365] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050011.246184026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050011.246667911] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050011.247809272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050011.248358084] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050011.335212131] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050011.337395544] [sailbot.teensy]: Wind angle: 266 +[trim_sail-4] [INFO] [1746050011.337468465] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050011.338774888] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050011.338810849] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050011.340068177] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050011.340753429] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050011.344359345] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050011.345042092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050011.345727456] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050011.346932414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050011.348056225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050011.445036892] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050011.445690929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050011.446476713] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050011.447816330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050011.448977411] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050011.502851531] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46940805 Long: -76.50288981 +[vectornav-1] [INFO] [1746050011.504278208] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.253, 4.358, 1.857) +[mux-7] [INFO] [1746050011.545212756] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050011.545984376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050011.546779729] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050011.547908549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050011.548542253] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050011.585102565] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050011.587379001] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050011.587696940] [sailbot.teensy]: Wind angle: 266 +[teensy-2] [INFO] [1746050011.588717135] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050011.587748326] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050011.589580106] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050011.590428701] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050011.645021296] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050011.645671926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050011.646424730] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050011.647756330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050011.648996705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050011.745222989] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050011.746039940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050011.746806035] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050011.748628879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050011.749177019] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050011.835721933] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050011.838850426] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050011.839382742] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050011.839594992] [sailbot.teensy]: Wind angle: 266 +[teensy-2] [INFO] [1746050011.840660322] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050011.841585858] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050011.842524518] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050011.844414402] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050011.844849317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050011.845619215] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050011.846470024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050011.847538802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050011.945512471] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050011.946275316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050011.947325505] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050011.948716664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050011.949211989] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050012.003781237] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46940353 Long: -76.50288767 +[vectornav-1] [INFO] [1746050012.005289493] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.356, 4.377, 4.429) +[mux-7] [INFO] [1746050012.045182531] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050012.045782796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050012.046529558] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050012.048113893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050012.049326997] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050012.085513801] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050012.087456368] [sailbot.teensy]: Wind angle: 267 +[trim_sail-4] [INFO] [1746050012.087922868] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050012.088440374] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050012.089333860] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050012.089432655] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050012.090218783] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050012.145153086] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050012.145805951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050012.146571198] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050012.147829283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050012.149089707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050012.245251174] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050012.245951019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050012.246813183] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050012.247867973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050012.249122182] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050012.335232765] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050012.337487818] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050012.337777976] [sailbot.teensy]: Wind angle: 267 +[mux-7] [INFO] [1746050012.338152828] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050012.338777375] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050012.339721213] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050012.340494577] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050012.344625415] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050012.345079965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050012.345742399] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050012.346791363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050012.347838906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050012.444587245] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050012.445030796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050012.446376004] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050012.446860971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050012.448025651] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050012.501461182] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46939932 Long: -76.50288554 +[vectornav-1] [INFO] [1746050012.501891728] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (291.506, 3.297, 2.631) +[mux-7] [INFO] [1746050012.545090875] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050012.545892228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050012.546356219] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050012.547987494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050012.549001473] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050012.584912515] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050012.586796619] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050012.587002855] [sailbot.teensy]: Wind angle: 266 +[teensy-2] [INFO] [1746050012.587847838] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050012.588824097] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050012.589703987] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050012.590313546] [sailbot.mux]: algo sail angle: 30 +[mux-7] [INFO] [1746050012.645123769] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050012.645956119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050012.646512743] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050012.647991819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050012.649188648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050012.745338781] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050012.746048507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050012.746961541] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050012.748229060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050012.749502612] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050012.835361247] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050012.837737424] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050012.838191003] [sailbot.teensy]: Wind angle: 266 +[mux-7] [INFO] [1746050012.839163872] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050012.839286462] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050012.840341618] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050012.841301655] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050012.844336028] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050012.844899658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050012.845435592] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050012.846622172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050012.847671492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050012.945539907] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050012.946556977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050012.947256514] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050012.949003400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050012.950103709] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050013.003804055] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46939536 Long: -76.50288431 +[vectornav-1] [INFO] [1746050013.005908979] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.475, 3.475, 7.894) +[mux-7] [INFO] [1746050013.045157871] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050013.045914057] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050013.048239382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[mux-7] [INFO] [1746050013.046581436] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050013.049450763] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050013.085179858] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050013.086771699] [sailbot.teensy]: Wind angle: 267 +[teensy-2] [INFO] [1746050013.087671526] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746050013.087295485] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050013.088403221] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050013.088598035] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050013.089453574] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050013.145040706] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050013.145773945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050013.146467890] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050013.147752039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050013.148802255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050013.245249473] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050013.246242049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050013.246913592] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050013.247986261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050013.248439496] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050013.335076510] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050013.337058401] [sailbot.teensy]: Wind angle: 267 +[trim_sail-4] [INFO] [1746050013.337245552] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050013.338027141] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050013.338609612] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050013.338916870] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050013.339766465] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050013.344389435] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050013.345003578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050013.345539850] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050013.346702944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050013.347682323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050013.445227446] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050013.446139876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050013.446973174] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050013.448206038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050013.448765378] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050013.502938956] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46939016 Long: -76.50288285 +[vectornav-1] [INFO] [1746050013.504817249] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.659, 3.18, 3.102) +[mux-7] [INFO] [1746050013.545191980] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050013.546110338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050013.546816626] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050013.548341486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050013.549441680] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050013.585089514] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050013.587200672] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050013.587594412] [sailbot.teensy]: Wind angle: 267 +[mux-7] [INFO] [1746050013.588011714] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050013.589003547] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050013.589865677] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050013.590236222] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050013.645225407] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050013.646142824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050013.646740783] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050013.648603254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050013.649603924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050013.744640372] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050013.745476128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050013.745761344] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050013.747127168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050013.748283305] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050013.835376164] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050013.837789594] [sailbot.teensy]: Wind angle: 267 +[trim_sail-4] [INFO] [1746050013.837883558] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050013.838754777] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050013.839349467] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050013.839669645] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050013.840575059] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050013.844243769] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050013.844800210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050013.845305724] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050013.846398082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050013.847463397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050013.944806619] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050013.945413337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050013.945978143] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050013.947200847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050013.948223359] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050014.003444396] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46938594 Long: -76.5028817 +[vectornav-1] [INFO] [1746050014.004879841] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.401, 3.353, 7.778) +[mux-7] [INFO] [1746050014.045178259] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050014.045828999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050014.046475905] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050014.047639506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050014.048703902] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050014.085245379] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050014.087359178] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050014.088052683] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050014.089388899] [sailbot.teensy]: Wind angle: 267 +[teensy-2] [INFO] [1746050014.090280685] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050014.091128246] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050014.091946343] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050014.145082803] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050014.145894068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050014.146577992] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050014.147873167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050014.148901268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050014.245032831] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050014.245687830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050014.246741729] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050014.247477685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050014.248020066] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050014.335518083] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050014.337923531] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050014.338655599] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050014.339726890] [sailbot.teensy]: Wind angle: 267 +[teensy-2] [INFO] [1746050014.340673957] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050014.341085988] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050014.341441402] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050014.344203709] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050014.344876771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050014.345726119] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050014.346643790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050014.347680621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050014.445554536] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050014.446505446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050014.447341112] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050014.447820663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050014.448318448] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050014.504328517] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46938173 Long: -76.50288077 +[vectornav-1] [INFO] [1746050014.506339269] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (296.03999999999996, 3.872, 3.334) +[mux-7] [INFO] [1746050014.544859182] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050014.545608202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050014.546436517] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050014.547528261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050014.548837074] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050014.585205112] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050014.587095013] [sailbot.teensy]: Wind angle: 267 +[trim_sail-4] [INFO] [1746050014.587488501] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050014.588219006] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050014.589079363] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050014.589338441] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050014.590225874] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050014.645105211] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050014.645707886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050014.646690476] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050014.647623454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050014.648091269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050014.745317404] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050014.746263664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050014.747162891] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050014.748197101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050014.748726089] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050014.835223207] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050014.837407187] [sailbot.teensy]: Wind angle: 267 +[trim_sail-4] [INFO] [1746050014.838060630] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050014.838341360] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050014.838736265] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050014.839112559] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050014.839181920] [sailbot.mux]: algo sail angle: 30 +[mux-7] [INFO] [1746050014.844433839] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050014.845077891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050014.845579993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050014.846907938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050014.847986185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050014.945928812] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050014.946563821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050014.947815512] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050014.948241537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050014.948733422] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050015.003544561] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46937698 Long: -76.50287929 +[vectornav-1] [INFO] [1746050015.005287719] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.308, 4.619, 3.753) +[mux-7] [INFO] [1746050015.045230349] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050015.045919088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050015.046673662] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050015.048107004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050015.049410817] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050015.085278008] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050015.087198882] [sailbot.teensy]: Wind angle: 267 +[trim_sail-4] [INFO] [1746050015.087632586] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050015.088215254] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050015.089049226] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050015.089212585] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050015.090264336] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050015.145063876] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050015.146073520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050015.146480763] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050015.148076795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050015.149143953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050015.245194781] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050015.246147857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050015.246800115] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050015.248015019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050015.248552979] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050015.335537611] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050015.338190941] [sailbot.teensy]: Wind angle: 267 +[trim_sail-4] [INFO] [1746050015.338215652] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050015.339297433] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050015.339908310] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050015.340206231] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050015.341098612] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050015.344332024] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050015.345343804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050015.345655691] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050015.347080331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050015.348238461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050015.445584080] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050015.446327354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050015.447288387] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050015.447983084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050015.448520315] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050015.503728669] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46937181 Long: -76.50287834 +[vectornav-1] [INFO] [1746050015.505624255] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (292.64300000000003, 4.668, 4.991) +[mux-7] [INFO] [1746050015.545313861] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050015.546523183] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050015.546908237] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050015.548746821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050015.550067687] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050015.585202343] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050015.587307348] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050015.587476094] [sailbot.teensy]: Wind angle: 267 +[mux-7] [INFO] [1746050015.588605663] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050015.588697192] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050015.589654682] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050015.590525755] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050015.645315886] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050015.646284789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050015.646973197] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050015.648904145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050015.650190538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050015.745569890] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050015.746551796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050015.747166408] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050015.748174534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050015.748616126] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050015.835077125] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050015.836692104] [sailbot.teensy]: Wind angle: 267 +[teensy-2] [INFO] [1746050015.837615228] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746050015.837441418] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050015.838381084] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050015.838493409] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050015.839364311] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050015.844742130] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050015.845269201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050015.846009347] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050015.847007220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050015.848203649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050015.945413784] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050015.945973768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050015.947042528] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050015.948484633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050015.949150688] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050016.003080369] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693679 Long: -76.50287735 +[vectornav-1] [INFO] [1746050016.004691058] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.594, 3.869, 7.21) +[mux-7] [INFO] [1746050016.045182847] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050016.045895004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050016.046522135] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050016.047738167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050016.048851386] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050016.085308525] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050016.087610400] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050016.089077403] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050016.089272089] [sailbot.teensy]: Wind angle: 267 +[teensy-2] [INFO] [1746050016.090197019] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050016.091113286] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050016.092007877] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050016.145226663] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050016.145706414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050016.146771475] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050016.147987168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050016.149114338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050016.245438346] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050016.246194012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050016.247044387] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050016.248447135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050016.249266283] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050016.335246186] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050016.337569900] [sailbot.teensy]: Wind angle: 267 +[trim_sail-4] [INFO] [1746050016.338015278] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050016.338592141] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050016.338979747] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050016.339370482] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050016.339737447] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050016.344453313] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050016.345037799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050016.346003859] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050016.346791599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050016.347815320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050016.445079832] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050016.445759966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050016.447142971] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050016.447963716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050016.449008383] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050016.503425664] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693629 Long: -76.50287644 +[vectornav-1] [INFO] [1746050016.504939758] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.39, 2.944, 4.658) +[mux-7] [INFO] [1746050016.545117799] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050016.546173268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050016.546545272] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050016.548229703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050016.549227804] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050016.585352049] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050016.587138391] [sailbot.teensy]: Wind angle: 268 +[trim_sail-4] [INFO] [1746050016.588336340] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050016.588484461] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050016.588984898] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050016.589446454] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050016.590453148] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050016.644945516] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050016.645730176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050016.646273625] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050016.647700350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050016.648208596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050016.745474587] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050016.746555909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050016.747457706] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050016.749115650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050016.749606188] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050016.835377343] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050016.837274619] [sailbot.teensy]: Wind angle: 268 +[teensy-2] [INFO] [1746050016.838258738] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746050016.838398919] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050016.839074952] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050016.839116749] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050016.839469704] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050016.844568030] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050016.845270784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050016.845769556] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050016.847089545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050016.848203854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050016.945409481] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050016.946467329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050016.947074743] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050016.948538870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050016.949122828] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050017.003602201] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46935861 Long: -76.50287484 +[vectornav-1] [INFO] [1746050017.005348827] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.64599999999996, 3.602, 1.506) +[mux-7] [INFO] [1746050017.044878082] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050017.045708049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050017.046195700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050017.047601362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050017.048639869] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050017.085332324] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050017.087613956] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746050017.087623386] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050017.088996626] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050017.089008728] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050017.090254248] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050017.091111828] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050017.144724538] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050017.145326425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050017.145939382] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050017.147364995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050017.148582453] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050017.245113912] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050017.245869606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050017.246524281] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050017.247849129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050017.248906643] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050017.335183335] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050017.336935316] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746050017.337553809] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050017.337888397] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050017.338804820] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050017.339028335] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050017.339665906] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050017.344492825] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050017.345099258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050017.345606350] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050017.346880199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050017.347906662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050017.445625768] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050017.446568499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050017.447237376] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050017.448736099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050017.449196991] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050017.502663434] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46935444 Long: -76.50287314 +[vectornav-1] [INFO] [1746050017.503815040] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (298.61199999999997, 2.981, 4.396) +[mux-7] [INFO] [1746050017.545144730] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050017.545970689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050017.546576794] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050017.548082519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050017.549147458] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050017.585353338] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050017.587730828] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050017.588363472] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050017.588664619] [sailbot.teensy]: Wind angle: 269 +[teensy-2] [INFO] [1746050017.589720743] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050017.590581449] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050017.591481018] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050017.645145253] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050017.645873720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050017.646846494] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050017.648240042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050017.649374869] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050017.745550885] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050017.746293818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050017.747183014] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050017.748748864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050017.749981662] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050017.835282334] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050017.837585924] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050017.837956209] [sailbot.teensy]: Wind angle: 269 +[mux-7] [INFO] [1746050017.838562108] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050017.839133530] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050017.840034673] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050017.840879206] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050017.844251688] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050017.844938367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050017.845412508] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050017.846610208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050017.847615427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050017.945138740] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050017.945794312] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050017.946510011] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050017.947887665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050017.948926371] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050018.002822652] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46935022 Long: -76.50287091 +[vectornav-1] [INFO] [1746050018.004511186] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (296.21500000000003, 3.042, 3.097) +[mux-7] [INFO] [1746050018.045198999] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050018.045990576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050018.046695020] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050018.047994533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050018.049087472] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050018.085362935] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050018.087095390] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746050018.087627903] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050018.088025844] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050018.089024332] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050018.089669544] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050018.089878283] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050018.144330004] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746050018.145445238] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050018.146481661] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050018.148021870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050018.149298284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050018.245407734] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050018.246163836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050018.247077871] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050018.248384008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050018.249623121] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050018.335328284] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050018.337060935] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746050018.337855621] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050018.337977949] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050018.338847699] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050018.338959526] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050018.339743145] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050018.344573722] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050018.345080963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050018.345954103] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050018.346807740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050018.347968076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050018.445743150] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050018.446297282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050018.447753534] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050018.448546368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050018.449095196] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050018.503700568] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46934601 Long: -76.50286908 +[vectornav-1] [INFO] [1746050018.505143262] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (296.73199999999997, 1.332, 8.486) +[mux-7] [INFO] [1746050018.545405733] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050018.546037862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050018.547005614] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050018.548677454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050018.549921309] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050018.585615953] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050018.587667083] [sailbot.teensy]: Wind angle: 270 +[teensy-2] [INFO] [1746050018.588736181] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746050018.588229137] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050018.589689447] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050018.590565878] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050018.590994828] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050018.645485173] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050018.645736959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050018.648006596] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050018.649845223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050018.650957079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050018.746193347] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050018.746850076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050018.747886131] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050018.749107576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050018.750425217] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050018.835415222] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050018.837411758] [sailbot.teensy]: Wind angle: 270 +[teensy-2] [INFO] [1746050018.838368520] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746050018.838146289] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050018.839217575] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050018.839251987] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050018.840174975] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050018.844535559] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050018.845267676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050018.845690305] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050018.846973531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050018.848136187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050018.944858623] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050018.945468347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050018.946079550] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050018.947344841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050018.948428372] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050019.002730769] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46934131 Long: -76.50286706 +[vectornav-1] [INFO] [1746050019.004176181] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.853, 1.591, 3.621) +[mux-7] [INFO] [1746050019.044883390] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050019.045507682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050019.046094569] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050019.047363974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050019.048376421] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050019.085366926] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050019.087182572] [sailbot.teensy]: Wind angle: 270 +[trim_sail-4] [INFO] [1746050019.087967700] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050019.088119688] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050019.089038749] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050019.089090151] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050019.089952722] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050019.144860579] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050019.145401114] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050019.146060410] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050019.147202757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050019.148343495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050019.244718156] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050019.245334493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050019.246127382] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050019.247212656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050019.248375435] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050019.335500192] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050019.338190573] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050019.338461637] [sailbot.teensy]: Wind angle: 270 +[mux-7] [INFO] [1746050019.338655825] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050019.339618135] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050019.340596430] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050019.341533616] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050019.344489289] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050019.345047847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050019.345566615] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050019.346760138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050019.347806214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050019.445563128] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050019.446761348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050019.447220731] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050019.448209390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050019.448708659] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050019.503468035] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46933692 Long: -76.50286491 +[vectornav-1] [INFO] [1746050019.504846706] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.61400000000003, 2.561, 6.765) +[mux-7] [INFO] [1746050019.544955314] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050019.545959319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050019.546274523] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050019.548237522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050019.549432528] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050019.585491822] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050019.588130566] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050019.588456617] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050019.588559676] [sailbot.teensy]: Wind angle: 271 +[teensy-2] [INFO] [1746050019.589630566] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050019.590505205] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050019.591317936] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050019.644750051] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050019.645590277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050019.645971852] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050019.647460197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050019.648517380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050019.745548980] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050019.746559333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050019.747175178] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050019.748722568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050019.749176786] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050019.835349010] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050019.838104593] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050019.838469319] [sailbot.teensy]: Wind angle: 271 +[mux-7] [INFO] [1746050019.839048721] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050019.839395748] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050019.840319509] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050019.841181324] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050019.844487484] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050019.844961505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050019.845748321] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050019.846761082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050019.847817339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050019.945174506] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050019.945839480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050019.947423717] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050019.947962075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050019.949067542] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050020.002929452] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46933256 Long: -76.50286362 +[vectornav-1] [INFO] [1746050020.005086695] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.58799999999997, 3.516, 3.298) +[mux-7] [INFO] [1746050020.046147883] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050020.046744018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050020.047980856] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050020.048893858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050020.050117031] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050020.085406616] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050020.087316872] [sailbot.teensy]: Wind angle: 271 +[trim_sail-4] [INFO] [1746050020.088228644] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050020.088581800] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050020.089008819] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050020.089656133] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050020.090547293] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050020.144909518] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050020.145650701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050020.146243554] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050020.147472834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050020.147959361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050020.245125232] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050020.246062318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050020.246579518] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050020.248098688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050020.249272012] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050020.335290319] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050020.337136448] [sailbot.teensy]: Wind angle: 270 +[trim_sail-4] [INFO] [1746050020.337666902] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050020.338073830] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050020.338737933] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050020.338974521] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050020.339117825] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050020.344314543] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050020.344821402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050020.345419387] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050020.346551806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050020.347664392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050020.445631661] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050020.446558917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050020.447755979] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050020.449286621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050020.450421811] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050020.503583538] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693284 Long: -76.5028612 +[vectornav-1] [INFO] [1746050020.505038550] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.522, 4.115, 6.159) +[mux-7] [INFO] [1746050020.544936950] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050020.545718068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050020.546283422] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050020.547854041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050020.548880774] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050020.585459619] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050020.587901832] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050020.588275912] [sailbot.teensy]: Wind angle: 271 +[mux-7] [INFO] [1746050020.588284160] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050020.589398484] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050020.590287273] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050020.591117011] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050020.645024792] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050020.645585389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050020.646257815] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050020.647594726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050020.648639349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050020.745195119] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050020.745965001] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050020.746514761] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050020.747909746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050020.749075212] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050020.835306874] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050020.838139897] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050020.838465471] [sailbot.teensy]: Wind angle: 271 +[mux-7] [INFO] [1746050020.838488530] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050020.839758052] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050020.840611124] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050020.840958736] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050020.844486429] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050020.845153222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050020.845609954] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050020.846887394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050020.848025311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050020.945328155] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050020.946125242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050020.946915428] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050020.947767081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050020.948250235] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050021.003046691] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46932344 Long: -76.50285921 +[vectornav-1] [INFO] [1746050021.005468626] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.39599999999996, 3.285, 3.218) +[mux-7] [INFO] [1746050021.045498450] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746050021.047016240] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050021.046261392] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050021.048416491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050021.049584575] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050021.085690860] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050021.087479999] [sailbot.teensy]: Wind angle: 271 +[teensy-2] [INFO] [1746050021.088449797] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746050021.087932907] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050021.088455951] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050021.089405100] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050021.090268761] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050021.144987007] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050021.145661209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050021.146676513] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050021.147603938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050021.148655210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050021.244756531] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050021.245351942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050021.246028277] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050021.247239171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050021.248284025] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050021.335204374] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050021.337564835] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050021.338242003] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050021.338352700] [sailbot.teensy]: Wind angle: 271 +[teensy-2] [INFO] [1746050021.339367913] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050021.339683418] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050021.340070244] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050021.344527617] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050021.345084305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050021.345617233] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050021.346786030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050021.347831509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050021.444917056] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050021.445549507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050021.446232780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050021.447708887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050021.448654365] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050021.502941679] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931956 Long: -76.50285751 +[vectornav-1] [INFO] [1746050021.504779334] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.284, 2.621, 4.678) +[mux-7] [INFO] [1746050021.545155335] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050021.545894901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050021.546720673] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050021.547961997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050021.549013922] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050021.585339580] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050021.587274442] [sailbot.teensy]: Wind angle: 272 +[trim_sail-4] [INFO] [1746050021.587604660] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050021.588241583] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050021.589147646] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050021.589500457] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050021.590016046] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050021.644865751] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050021.645410089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050021.646074871] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050021.647200932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050021.648369171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050021.745173813] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050021.745806662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050021.746765553] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050021.747894619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050021.748560604] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050021.835602304] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050021.837531455] [sailbot.teensy]: Wind angle: 273 +[trim_sail-4] [INFO] [1746050021.838362169] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050021.838507280] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050021.839447268] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050021.840428562] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050021.841515222] [sailbot.mux]: algo sail angle: 35 +[mux-7] [INFO] [1746050021.844172864] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050021.844767834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050021.845338572] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050021.846442722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050021.847489345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050021.945646134] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050021.946697973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050021.947560231] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050021.948593608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050021.949132433] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050022.003424884] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931508 Long: -76.50285666 +[vectornav-1] [INFO] [1746050022.004986979] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.15999999999997, 2.913, 3.526) +[mux-7] [INFO] [1746050022.045227246] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050022.045969754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050022.047589678] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050022.048082144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050022.049317001] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050022.085538235] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050022.088096010] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050022.088754399] [sailbot.teensy]: Wind angle: 272 +[mux-7] [INFO] [1746050022.089459916] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050022.089725841] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050022.090606709] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050022.091451272] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050022.145470913] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050022.146018851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050022.147270866] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050022.148584399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050022.149691528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050022.245503663] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050022.246168436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050022.247151478] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050022.248580447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050022.249787077] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050022.335221671] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050022.336964416] [sailbot.teensy]: Wind angle: 272 +[trim_sail-4] [INFO] [1746050022.337607724] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050022.338797866] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050022.339066389] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050022.339191939] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050022.339567977] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050022.344430662] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050022.344954477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050022.345662221] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050022.346622450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050022.347733319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050022.445714494] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050022.446372758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050022.447931922] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050022.448888326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050022.450227743] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050022.506475487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930946 Long: -76.50285557 +[vectornav-1] [INFO] [1746050022.508096825] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.26800000000003, 2.154, 4.654) +[mux-7] [INFO] [1746050022.543712169] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050022.544070641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050022.544211838] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050022.544830005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050022.545287392] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050022.585186932] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050022.587363079] [sailbot.teensy]: Wind angle: 270 +[trim_sail-4] [INFO] [1746050022.587505860] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050022.588267871] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050022.588568244] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050022.589129346] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050022.589917291] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050022.645043012] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050022.645470455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050022.646430172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050022.647258786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050022.648339404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050022.745353582] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050022.746141364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050022.746920568] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050022.748259172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050022.749521081] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050022.835291416] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050022.837579774] [sailbot.teensy]: Wind angle: 270 +[trim_sail-4] [INFO] [1746050022.837802524] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050022.838163574] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050022.838508947] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050022.839396808] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050022.840251768] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050022.844528250] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050022.844972030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050022.845707215] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050022.846624028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050022.847674435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050022.945271157] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050022.945876617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050022.946800996] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050022.948210681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050022.949146104] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050023.003250419] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930379 Long: -76.50285496 +[vectornav-1] [INFO] [1746050023.004789070] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.818, 2.3, 4.997) +[mux-7] [INFO] [1746050023.045187542] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050023.045775666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050023.046552888] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050023.048027904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050023.049276360] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050023.085395945] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050023.087667603] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050023.087801005] [sailbot.teensy]: Wind angle: 270 +[mux-7] [INFO] [1746050023.088512370] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050023.089203303] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050023.090238188] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050023.091127686] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050023.145112524] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050023.145877281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050023.147086786] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050023.148027127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050023.149108260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050023.245224240] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050023.245889602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050023.246702682] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050023.247756522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050023.248305513] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050023.335225198] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050023.336891139] [sailbot.teensy]: Wind angle: 271 +[trim_sail-4] [INFO] [1746050023.337728541] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050023.338956780] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050023.339362804] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050023.339769709] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050023.340180155] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050023.344513366] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050023.345034652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050023.345697658] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050023.346697122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050023.347719051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050023.445281797] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050023.445922838] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050023.446801913] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050023.448084464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050023.449344436] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050023.503486318] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929853 Long: -76.50285353 +[vectornav-1] [INFO] [1746050023.505106614] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (292.125, 2.333, 2.892) +[mux-7] [INFO] [1746050023.545172092] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050023.545985136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050023.546901855] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050023.548135401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050023.549320486] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050023.585444252] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050023.587766332] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050023.588392326] [sailbot.teensy]: Wind angle: 270 +[mux-7] [INFO] [1746050023.589344636] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050023.589367739] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050023.590287146] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050023.591175473] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050023.644463481] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050023.645086217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050023.645473561] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050023.647539980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050023.648601257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050023.745416727] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050023.746254048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050023.747017063] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050023.748508046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050023.749748563] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050023.835366442] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050023.837362581] [sailbot.teensy]: Wind angle: 271 +[trim_sail-4] [INFO] [1746050023.837958774] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050023.838301991] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050023.839017860] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050023.839168895] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050023.839611682] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050023.844274996] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050023.844888338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050023.845509701] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050023.846594578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050023.847622618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050023.945629799] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050023.946621437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050023.947316565] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050023.948611011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050023.949128663] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050024.003298405] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929423 Long: -76.50285156 +[vectornav-1] [INFO] [1746050024.005291516] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (296.3, 1.451, 5.12) +[mux-7] [INFO] [1746050024.044780131] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050024.045400301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050024.045946044] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050024.047143779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050024.048219214] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050024.085176522] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050024.087263182] [sailbot.teensy]: Wind angle: 271 +[trim_sail-4] [INFO] [1746050024.087477098] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050024.087979493] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050024.088133685] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050024.089059936] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050024.089941179] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050024.145189687] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050024.145737123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050024.146583620] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050024.147970186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050024.148725330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050024.245470217] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050024.246262581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050024.247078023] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050024.248372835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050024.249567173] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050024.335386155] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050024.337199194] [sailbot.teensy]: Wind angle: 271 +[trim_sail-4] [INFO] [1746050024.337725551] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050024.338159557] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050024.339050012] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050024.338904031] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050024.340292223] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050024.344523092] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050024.345140596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050024.345690483] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050024.346877015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050024.347969538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050024.445306129] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050024.445866437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050024.446892316] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050024.447998498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050024.449057658] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050024.503325452] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928944 Long: -76.50285043 +[vectornav-1] [INFO] [1746050024.504542609] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (292.653, 1.24, 2.617) +[mux-7] [INFO] [1746050024.544992694] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050024.545544887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050024.546289856] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050024.547349539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050024.548481830] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050024.585364466] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050024.587666861] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050024.587885978] [sailbot.teensy]: Wind angle: 271 +[mux-7] [INFO] [1746050024.588208944] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050024.588878497] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050024.589723860] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050024.590513989] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050024.645027790] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050024.645706610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050024.646480074] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050024.647850377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050024.648522652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050024.745328343] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050024.746077460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050024.746765906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050024.748261882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050024.748890594] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050024.835237496] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050024.836894739] [sailbot.teensy]: Wind angle: 271 +[trim_sail-4] [INFO] [1746050024.837428694] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050024.837829046] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050024.838711878] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050024.838523484] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050024.839574641] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050024.844424957] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050024.845014702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050024.845595383] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050024.846734720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050024.847771668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050024.945305563] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050024.946310043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050024.947261083] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050024.948560354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050024.949565976] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050025.003477474] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928528 Long: -76.50284864 +[vectornav-1] [INFO] [1746050025.006171887] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (288.55600000000004, 1.257, 7.081) +[mux-7] [INFO] [1746050025.045034060] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050025.046076055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050025.046554892] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050025.048026642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050025.049011175] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050025.085495700] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050025.087739789] [sailbot.teensy]: Wind angle: 270 +[trim_sail-4] [INFO] [1746050025.087765590] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050025.088733071] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050025.089110364] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050025.089629077] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050025.090551668] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050025.144730751] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050025.145404107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050025.145875030] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050025.147095534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050025.148140955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050025.245242559] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050025.246101072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050025.246732771] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050025.248253873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050025.249497821] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050025.335518087] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050025.338240087] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050025.338408245] [sailbot.teensy]: Wind angle: 270 +[teensy-2] [INFO] [1746050025.339347271] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050025.339365843] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050025.340374867] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050025.341253905] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050025.344348123] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050025.344770935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050025.345497275] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050025.346418867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050025.347390926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050025.445204620] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050025.445925239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050025.446726085] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050025.448055389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050025.449258545] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050025.503592352] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928072 Long: -76.50284663 +[vectornav-1] [INFO] [1746050025.505089008] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.76599999999996, 1.985, 3.915) +[mux-7] [INFO] [1746050025.545185435] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050025.545758561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050025.546540386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050025.547674624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050025.548721919] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050025.585214908] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050025.587045527] [sailbot.teensy]: Wind angle: 270 +[trim_sail-4] [INFO] [1746050025.587432238] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050025.588006684] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050025.588027717] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050025.588964112] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050025.589882725] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050025.644975285] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050025.645511468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050025.646240562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050025.647379699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050025.648101409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050025.745350533] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050025.746124939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050025.746901316] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050025.748276295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050025.749358814] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050025.835158770] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050025.836741802] [sailbot.teensy]: Wind angle: 270 +[trim_sail-4] [INFO] [1746050025.837163911] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050025.837649821] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050025.838563327] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050025.839046164] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050025.839456428] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050025.844459558] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050025.845293708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050025.845900487] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050025.847069718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050025.848252324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050025.945035015] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050025.945706764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050025.946285807] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050025.947543480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050025.948624982] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050026.002731476] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927556 Long: -76.5028446 +[vectornav-1] [INFO] [1746050026.004594981] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.98, 1.436, 6.275) +[mux-7] [INFO] [1746050026.044951184] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050026.045692131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050026.046309898] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050026.047751761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050026.048816579] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050026.085256994] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050026.086885918] [sailbot.teensy]: Wind angle: 271 +[trim_sail-4] [INFO] [1746050026.087575071] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050026.087850367] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050026.088773844] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050026.088906920] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050026.089677279] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050026.145019629] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050026.145880124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050026.146400618] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050026.147985086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050026.149012286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050026.245540906] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050026.246414537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050026.247309511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050026.248878152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050026.250004506] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050026.335332520] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050026.337684769] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050026.337709510] [sailbot.teensy]: Wind angle: 270 +[teensy-2] [INFO] [1746050026.338716117] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050026.338948095] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050026.339638417] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050026.340228211] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050026.344405208] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050026.344912878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050026.345522615] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050026.346706751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050026.347802263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050026.445309130] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050026.445820721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050026.447459262] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050026.447991766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050026.449147194] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050026.503298077] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692704 Long: -76.50284314 +[vectornav-1] [INFO] [1746050026.504830958] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.31, -0.196, 3.541) +[mux-7] [INFO] [1746050026.544926217] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050026.545653394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050026.546185240] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050026.547485591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050026.548505980] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050026.585498387] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050026.587812164] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050026.588288343] [sailbot.teensy]: Wind angle: 270 +[teensy-2] [INFO] [1746050026.589514582] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050026.589545145] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050026.590499005] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050026.591401299] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050026.645060497] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050026.645882413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050026.646610814] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050026.647870554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050026.649037592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050026.745284783] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050026.746337323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050026.746764146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050026.748603845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050026.749662763] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050026.835302813] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050026.837079393] [sailbot.teensy]: Wind angle: 271 +[trim_sail-4] [INFO] [1746050026.837536165] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050026.838071960] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050026.839042644] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050026.839042881] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050026.840084004] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050026.844605360] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050026.845004626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050026.845744543] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050026.846675162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050026.847834633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050026.945234087] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050026.945860081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050026.946768812] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050026.947829791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050026.948963164] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050027.003792280] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926564 Long: -76.50284176 +[vectornav-1] [INFO] [1746050027.005653363] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.89300000000003, -0.299, 3.639) +[mux-7] [INFO] [1746050027.045150643] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050027.045788246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050027.046585881] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050027.047754982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050027.048792736] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050027.085487778] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050027.088041964] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050027.088611989] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050027.088630984] [sailbot.teensy]: Wind angle: 272 +[teensy-2] [INFO] [1746050027.089638706] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050027.090526870] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050027.091406706] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050027.144706597] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050027.145425084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050027.145874392] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050027.147246414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050027.148310070] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050027.244968373] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050027.245670345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050027.246310615] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050027.247526756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050027.248741101] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050027.335305084] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050027.337013547] [sailbot.teensy]: Wind angle: 271 +[trim_sail-4] [INFO] [1746050027.337743724] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050027.337935099] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050027.338778050] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050027.339361286] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050027.339656905] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050027.344322231] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050027.344850396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050027.345403052] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050027.346639105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050027.347632991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050027.445362067] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050027.446415023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050027.446849719] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050027.449006659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050027.450187946] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050027.504088412] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926089 Long: -76.50283977 +[vectornav-1] [INFO] [1746050027.505753117] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.999, -0.312, 2.339) +[mux-7] [INFO] [1746050027.545074819] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050027.545844331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050027.546462748] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050027.547807112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050027.548823954] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050027.585195340] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050027.587581796] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050027.588463774] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050027.588760302] [sailbot.teensy]: Wind angle: 271 +[teensy-2] [INFO] [1746050027.589741245] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050027.590638958] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050027.591553167] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050027.645235208] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746050027.646623240] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050027.646173843] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050027.648903468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050027.649964332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050027.745234266] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050027.745955261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050027.746576134] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050027.748102711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050027.748944772] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050027.835263608] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050027.837453468] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050027.838045769] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050027.838336682] [sailbot.teensy]: Wind angle: 271 +[teensy-2] [INFO] [1746050027.839557441] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050027.840466189] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050027.841290549] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050027.844386889] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050027.844906676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050027.845575107] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050027.846601330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050027.847778534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050027.945317007] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050027.946157053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050027.946819249] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050027.947921401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050027.948464804] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050028.003776256] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46925621 Long: -76.50283815 +[vectornav-1] [INFO] [1746050028.005519546] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.111, 0.929, 3.081) +[mux-7] [INFO] [1746050028.045014291] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050028.045589882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050028.046265335] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050028.047504707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050028.048542113] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050028.085373115] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050028.088016756] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050028.088287143] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050028.088387068] [sailbot.teensy]: Wind angle: 271 +[teensy-2] [INFO] [1746050028.089359649] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050028.090219481] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050028.091038799] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050028.145253981] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050028.145983609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050028.146820915] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050028.148440867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050028.149613518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050028.245254994] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050028.246100871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050028.246754777] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050028.248048160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050028.248583010] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050028.335222666] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050028.337748795] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050028.337875017] [sailbot.teensy]: Wind angle: 270 +[mux-7] [INFO] [1746050028.338070116] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050028.338848825] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050028.339704467] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050028.340586868] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050028.344337081] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050028.344829848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050028.345435992] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050028.346552203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050028.347672406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050028.445238687] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050028.445888185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050028.446824341] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050028.448128677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050028.448995308] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050028.502974862] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46925083 Long: -76.50283564 +[vectornav-1] [INFO] [1746050028.505051709] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.85900000000004, 1.422, 4.668) +[mux-7] [INFO] [1746050028.544774685] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050028.545811341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050028.546014007] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050028.547700828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050028.548742065] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050028.585237227] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050028.586894546] [sailbot.teensy]: Wind angle: 270 +[trim_sail-4] [INFO] [1746050028.587489149] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050028.587809486] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050028.588727180] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050028.588983203] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050028.589647514] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050028.644571233] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050028.645002441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050028.646048330] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050028.646774368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050028.647945936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050028.745251963] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050028.745744585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050028.746667158] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050028.747684797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050028.748731558] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050028.835291293] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050028.837977345] [sailbot.teensy]: Wind angle: 270 +[trim_sail-4] [INFO] [1746050028.838184630] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050028.838904373] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050028.839035561] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050028.840053540] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050028.840932580] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050028.844588073] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050028.845210237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050028.845681186] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050028.847017380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050028.848172686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050028.945475944] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050028.946262826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050028.947221511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050028.948572424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050028.949612039] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050029.003395101] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46924656 Long: -76.50283355 +[vectornav-1] [INFO] [1746050029.004785535] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (281.506, 0.661, 5.107) +[mux-7] [INFO] [1746050029.044970760] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050029.045588941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050029.046238452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050029.047455553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050029.048060923] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050029.085482391] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050029.088280839] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050029.089246852] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050029.089512523] [sailbot.teensy]: Wind angle: 271 +[teensy-2] [INFO] [1746050029.090648529] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050029.091499413] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050029.092353861] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050029.145222492] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050029.145926701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050029.146707589] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050029.148197840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050029.149367820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050029.245293866] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050029.245854556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050029.246748709] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050029.247819048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050029.248892084] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050029.335609322] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050029.337628058] [sailbot.teensy]: Wind angle: 271 +[teensy-2] [INFO] [1746050029.338654974] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746050029.338981302] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050029.339591474] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050029.340453307] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050029.340510524] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050029.344420225] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050029.344860920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050029.345810548] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050029.346608893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050029.347686703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050029.445273987] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050029.445995583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050029.446749196] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050029.447903734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050029.448814113] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050029.503434127] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46924076 Long: -76.50283194 +[vectornav-1] [INFO] [1746050029.505280299] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.256, 0.85, 3.196) +[mux-7] [INFO] [1746050029.545116852] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050029.545912658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050029.546493498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050029.548142996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050029.549310249] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050029.585244195] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050029.587262027] [sailbot.teensy]: Wind angle: 272 +[trim_sail-4] [INFO] [1746050029.587545933] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050029.588171499] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050029.588798694] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050029.589068848] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050029.589977769] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050029.645218539] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050029.645879621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050029.646816685] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050029.648047764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050029.648666549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050029.745377340] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050029.745950331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050029.746869870] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050029.748059791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050029.749309807] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050029.835126853] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050029.837621592] [sailbot.teensy]: Wind angle: 271 +[trim_sail-4] [INFO] [1746050029.837759374] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050029.837986706] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050029.839755714] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050029.840693458] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050029.841639877] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050029.844588781] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050029.844905129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050029.845897697] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050029.846610367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050029.847698569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050029.945191928] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050029.945886629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050029.946621186] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050029.947873805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050029.949036470] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050030.003375893] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692357 Long: -76.50282981 +[vectornav-1] [INFO] [1746050030.005026862] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (279.905, 0.141, 2.554) +[mux-7] [INFO] [1746050030.045119640] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050030.045725633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050030.046612238] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050030.047566524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050030.048769626] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050030.085386418] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050030.088193300] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050030.088206572] [sailbot.teensy]: Wind angle: 273 +[teensy-2] [INFO] [1746050030.089619449] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050030.090149052] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050030.090566651] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050030.091461519] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050030.144940660] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050030.145673192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050030.146220605] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050030.147658284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050030.148687981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050030.245049441] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050030.245837052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050030.246604100] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050030.247887165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050030.248436959] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050030.335252269] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050030.336993640] [sailbot.teensy]: Wind angle: 273 +[trim_sail-4] [INFO] [1746050030.337612281] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050030.338665642] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050030.339564567] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050030.340512743] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050030.341383637] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050030.344535604] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050030.345034017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050030.345768375] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050030.346762478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050030.347817594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050030.445279154] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050030.446238407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050030.446791693] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050030.448694618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050030.449935696] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050030.502998026] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46923046 Long: -76.50282809 +[vectornav-1] [INFO] [1746050030.504621233] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.459, 2.136, 5.505) +[mux-7] [INFO] [1746050030.545125255] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050030.546030831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050030.546620753] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050030.548056560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050030.549312164] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050030.585154493] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050030.587342994] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050030.587452835] [sailbot.teensy]: Wind angle: 272 +[teensy-2] [INFO] [1746050030.588383680] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050030.588458997] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050030.589297634] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050030.590153377] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050030.644938966] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050030.645574019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050030.646206380] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050030.647511726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050030.648770627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050030.745086139] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050030.745716690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050030.746630753] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050030.747683371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050030.748254068] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050030.835133176] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050030.837352787] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050030.837681965] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050030.837703876] [sailbot.teensy]: Wind angle: 272 +[teensy-2] [INFO] [1746050030.838609529] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050030.838992169] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050030.839348967] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050030.844438653] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050030.844951954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050030.845591521] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050030.846649109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050030.847828191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050030.945233880] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050030.945980845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050030.946953264] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050030.948112042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050030.948641465] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050031.002995063] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46922535 Long: -76.50282668 +[vectornav-1] [INFO] [1746050031.004719930] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.5, 1.85, 3.398) +[mux-7] [INFO] [1746050031.045093321] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050031.045765428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050031.046634625] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050031.047745410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050031.048917856] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050031.085350299] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050031.087601560] [sailbot.teensy]: Wind angle: 271 +[trim_sail-4] [INFO] [1746050031.087875691] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050031.088582637] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050031.089184267] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050031.090472345] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050031.091369516] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050031.145109511] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050031.145836012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050031.146608093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050031.147906034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050031.149026799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050031.245187109] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050031.245991124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050031.246548901] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050031.247937653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050031.249067725] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050031.335444268] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050031.338225276] [sailbot.teensy]: Wind angle: 271 +[teensy-2] [INFO] [1746050031.339158228] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746050031.338286185] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050031.338612042] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050031.340065944] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050031.340953647] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050031.344288325] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050031.344902049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050031.345376674] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050031.346540739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050031.347652319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050031.445606178] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050031.446550108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050031.447375019] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050031.449169349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050031.450394363] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050031.503776325] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46922046 Long: -76.50282487 +[vectornav-1] [INFO] [1746050031.505386761] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.815, 1.728, 3.652) +[mux-7] [INFO] [1746050031.545358302] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050031.546415908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050031.547100996] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050031.548310017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050031.548831992] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050031.585186427] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050031.587361071] [sailbot.teensy]: Wind angle: 271 +[trim_sail-4] [INFO] [1746050031.587504392] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050031.588333596] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050031.588674921] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050031.589229626] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050031.590108531] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050031.645251003] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050031.646700572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050031.646886068] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050031.648232886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050031.648760876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050031.745709924] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050031.746666683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050031.747494780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050031.748183343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050031.748662887] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050031.835301966] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050031.837287562] [sailbot.teensy]: Wind angle: 271 +[trim_sail-4] [INFO] [1746050031.837575182] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050031.838232804] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050031.838552113] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050031.838696561] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050031.839079710] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050031.844556866] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050031.845080773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050031.845796444] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050031.846891619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050031.847906334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050031.943682770] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050031.944402123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050031.944464627] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050031.945588596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050031.946195747] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050032.004124796] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46921589 Long: -76.50282371 +[vectornav-1] [INFO] [1746050032.006278969] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.172, 1.303, 4.282) +[mux-7] [INFO] [1746050032.045105128] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050032.045801868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050032.046488874] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050032.047952639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050032.048985699] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050032.085673341] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050032.087722153] [sailbot.teensy]: Wind angle: 271 +[trim_sail-4] [INFO] [1746050032.088370677] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050032.088751952] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050032.089647019] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050032.089945964] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050032.090502899] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050032.145162519] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050032.145962395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050032.146883990] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050032.148058243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050032.149201552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050032.245464606] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050032.246164533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050032.247211284] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050032.248456698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050032.249507613] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050032.335288958] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050032.337196686] [sailbot.teensy]: Wind angle: 271 +[trim_sail-4] [INFO] [1746050032.338302247] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050032.339031823] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050032.339663431] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050032.340090472] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050032.340489163] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050032.344610397] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050032.345183272] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050032.345698775] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050032.346942110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050032.347995815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050032.445504851] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050032.446525433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050032.447155498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050032.449037996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050032.450254971] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050032.502756041] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692112 Long: -76.50282275 +[vectornav-1] [INFO] [1746050032.504235104] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.986, -0.017, 4.243) +[mux-7] [INFO] [1746050032.544945503] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050032.545655783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050032.546325128] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050032.547503653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050032.548512656] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050032.585122317] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050032.586724732] [sailbot.teensy]: Wind angle: 271 +[trim_sail-4] [INFO] [1746050032.587159959] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050032.587597890] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050032.588447651] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050032.588312573] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050032.589273373] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050032.645116562] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050032.645758061] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050032.647756297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[mux-7] [INFO] [1746050032.647894753] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050032.648975370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050032.745029662] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050032.745676597] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050032.746335530] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050032.747677857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050032.748843752] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050032.835134461] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050032.836744040] [sailbot.teensy]: Wind angle: 271 +[trim_sail-4] [INFO] [1746050032.837324133] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050032.838678699] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050032.838681204] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050032.839096919] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050032.839453543] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050032.844437670] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050032.845101014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050032.845589004] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050032.846848118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050032.847998361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050032.945660984] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050032.946416957] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050032.947288838] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050032.948241580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050032.948788765] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050033.003198705] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46920642 Long: -76.50282089 +[vectornav-1] [INFO] [1746050033.004667989] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.719, 0.072, 5.173) +[mux-7] [INFO] [1746050033.044789548] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050033.045603570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050033.046387462] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050033.047395487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050033.048653932] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050033.085516378] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050033.088400153] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050033.088858397] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050033.088933451] [sailbot.teensy]: Wind angle: 270 +[teensy-2] [INFO] [1746050033.089808281] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050033.090699748] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050033.091521329] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050033.145018056] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050033.145732981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050033.146450186] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050033.147656530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050033.148723735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050033.245136917] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050033.245917305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050033.246587123] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050033.248109516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050033.249271848] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050033.335187965] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050033.337368928] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050033.338091323] [sailbot.teensy]: Wind angle: 271 +[mux-7] [INFO] [1746050033.338154233] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050033.339024835] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050033.339913319] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050033.340757658] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050033.344385579] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050033.344900234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050033.345532284] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050033.346594014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050033.347650153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050033.445258953] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050033.446137022] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050033.446796473] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050033.448398422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050033.449599656] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050033.502872046] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46920246 Long: -76.5028198 +[vectornav-1] [INFO] [1746050033.504664756] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.235, -0.316, 5.188) +[mux-7] [INFO] [1746050033.545304255] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050033.546112413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050033.546826552] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050033.548379933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050033.548858103] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050033.585138487] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050033.586873479] [sailbot.teensy]: Wind angle: 271 +[trim_sail-4] [INFO] [1746050033.588048360] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050033.588185298] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050033.589128892] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050033.589569614] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050033.590043853] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050033.645251994] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050033.645968766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050033.647405062] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050033.648328056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050033.648859758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050033.745117031] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050033.745789616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050033.746534564] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050033.747779460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050033.748588311] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050033.835161712] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050033.837566486] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050033.837568252] [sailbot.teensy]: Wind angle: 271 +[mux-7] [INFO] [1746050033.838286660] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050033.838421431] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050033.838809464] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050033.839190123] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050033.844386950] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050033.844956950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050033.845735938] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050033.846637104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050033.847760081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050033.945233609] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050033.946189152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050033.946824117] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050033.948117815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050033.948670867] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050034.003171097] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46919812 Long: -76.50281821 +[vectornav-1] [INFO] [1746050034.004938289] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.14300000000003, -0.742, 4.151) +[mux-7] [INFO] [1746050034.045186979] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050034.046051459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050034.046598549] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050034.048144308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050034.049220519] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050034.085234349] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050034.087027240] [sailbot.teensy]: Wind angle: 270 +[trim_sail-4] [INFO] [1746050034.087582649] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050034.088224032] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050034.089461939] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050034.090339203] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050034.091153977] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050034.145130154] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050034.145840872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050034.146555207] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050034.147805886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050034.148906764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050034.244994286] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050034.245692048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050034.246244154] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050034.247702260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050034.248722710] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050034.335545361] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050034.338185158] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050034.338754252] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050034.339301293] [sailbot.teensy]: Wind angle: 270 +[teensy-2] [INFO] [1746050034.340248836] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050034.341117456] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050034.341968010] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050034.344250299] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050034.344792297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050034.345401668] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050034.346446211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050034.347621178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050034.445564591] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050034.446355903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050034.447172056] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050034.447894266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050034.448402109] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050034.504282587] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46919308 Long: -76.50281718 +[vectornav-1] [INFO] [1746050034.505818597] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.244, -1.308, 7.749) +[mux-7] [INFO] [1746050034.544620737] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050034.545177875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050034.545827641] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050034.547170796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050034.548289223] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050034.585125465] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050034.587549568] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050034.587978107] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050034.588726029] [sailbot.teensy]: Wind angle: 269 +[teensy-2] [INFO] [1746050034.589753631] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050034.590529566] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050034.590887446] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050034.645329589] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050034.646260607] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050034.646990208] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050034.648889430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050034.649861525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050034.745402860] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050034.746747212] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050034.747451471] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050034.748012403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050034.748560540] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050034.835647889] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050034.838603768] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050034.838972025] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050034.839386081] [sailbot.teensy]: Wind angle: 269 +[teensy-2] [INFO] [1746050034.840376439] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050034.841158468] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050034.841533771] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050034.844427678] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050034.845040395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050034.845608742] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050034.846764387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050034.847878420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050034.945501037] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050034.946270906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050034.947160991] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050034.948687164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050034.949364106] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050035.003573963] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691884 Long: -76.50281551 +[vectornav-1] [INFO] [1746050035.005035960] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (288.60400000000004, -1.14, 1.767) +[mux-7] [INFO] [1746050035.045163896] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050035.046112220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050035.046591506] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050035.048254742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050035.049278361] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050035.085438918] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050035.087914766] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050035.087992739] [sailbot.teensy]: Wind angle: 270 +[mux-7] [INFO] [1746050035.088386159] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050035.088926887] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050035.089824842] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050035.090659270] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050035.145209659] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050035.146002114] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050035.146667188] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050035.148276923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050035.149406773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050035.245521880] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050035.246388952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050035.247493249] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050035.247970098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050035.248436034] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050035.335192807] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050035.337712211] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050035.338174461] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050035.338383411] [sailbot.teensy]: Wind angle: 271 +[teensy-2] [INFO] [1746050035.339321255] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050035.340220314] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050035.341039597] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050035.344333409] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050035.345022328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050035.345442635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050035.346750913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050035.347801976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050035.445340222] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050035.446368970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050035.447201348] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050035.448622476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050035.449817839] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050035.503258126] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46918402 Long: -76.50281294 +[vectornav-1] [INFO] [1746050035.504575417] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (288.637, -1.001, 5.867) +[mux-7] [INFO] [1746050035.545204504] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050035.546069356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050035.546657791] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050035.548132360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050035.549170168] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050035.585389799] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050035.587682405] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050035.588990987] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050035.589185575] [sailbot.teensy]: Wind angle: 271 +[teensy-2] [INFO] [1746050035.590169525] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050035.591068668] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050035.591998468] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050035.645378605] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050035.646275933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050035.646897124] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050035.648072958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050035.648535351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050035.745420908] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050035.746251841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050035.747098965] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050035.748758776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050035.749964800] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050035.835479221] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050035.838025417] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050035.838462077] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050035.839323403] [sailbot.teensy]: Wind angle: 272 +[teensy-2] [INFO] [1746050035.840308391] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050035.841195869] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050035.842025872] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050035.844369730] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050035.844928794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050035.845528253] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050035.846587419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050035.847690909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050035.945256169] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050035.946302435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050035.946810236] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050035.948494557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050035.949643246] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050036.003825161] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46917947 Long: -76.50281048 +[vectornav-1] [INFO] [1746050036.006087769] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.451, 0.286, 5.434) +[mux-7] [INFO] [1746050036.044848821] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050036.045446085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050036.046130262] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050036.047208284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050036.048247007] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050036.085232006] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050036.086935867] [sailbot.teensy]: Wind angle: 270 +[teensy-2] [INFO] [1746050036.087874113] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746050036.087803059] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050036.088782311] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050036.089695028] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050036.088800338] [sailbot.mux]: algo sail angle: 30 +[mux-7] [INFO] [1746050036.144830698] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050036.145370203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050036.146139020] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050036.147171528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050036.148235712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050036.245096549] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050036.245895362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050036.246560820] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050036.248525514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050036.249621406] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050036.335284659] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050036.337161958] [sailbot.teensy]: Wind angle: 270 +[teensy-2] [INFO] [1746050036.338298776] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746050036.338318124] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050036.338827290] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050036.339264730] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050036.340209322] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050036.344302673] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050036.344913712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050036.345471570] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050036.346685265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050036.347891740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050036.445677559] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050036.446820401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050036.447329792] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050036.449221279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050036.450480977] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050036.503492807] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46917487 Long: -76.50280898 +[vectornav-1] [INFO] [1746050036.505326286] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.029, 0.166, 6.814) +[mux-7] [INFO] [1746050036.545146550] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050036.546095730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050036.546673169] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050036.548436351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050036.549645148] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050036.585307662] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050036.587380444] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050036.587401092] [sailbot.teensy]: Wind angle: 271 +[teensy-2] [INFO] [1746050036.588311289] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050036.589085888] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050036.589221375] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050036.590122369] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050036.644771680] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050036.645462387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050036.646092965] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050036.647357958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050036.648428416] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050036.745171741] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050036.745838575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050036.746607765] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050036.747878019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050036.749016968] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050036.835494791] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050036.838213914] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050036.838687122] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050036.839084610] [sailbot.teensy]: Wind angle: 271 +[teensy-2] [INFO] [1746050036.840077902] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050036.840954704] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050036.841774867] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050036.844557076] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050036.844909091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050036.845746107] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050036.846569972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050036.847641093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050036.945432329] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050036.946044544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050036.947361082] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050036.948696510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050036.949361175] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050037.003763731] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46917022 Long: -76.50280776 +[vectornav-1] [INFO] [1746050037.005484218] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.538, 0.9, 2.69) +[mux-7] [INFO] [1746050037.045518136] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050037.045978648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050037.047375509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050037.048320092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050037.049615659] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050037.085201666] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050037.087161410] [sailbot.teensy]: Wind angle: 270 +[trim_sail-4] [INFO] [1746050037.087523666] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050037.088275878] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050037.088344544] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050037.089653646] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050037.090534992] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050037.145000804] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050037.145704945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050037.146270226] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050037.147770044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050037.148791505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050037.245024134] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050037.245577214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050037.246272003] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050037.247391884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050037.248460842] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050037.335190100] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050037.337333592] [sailbot.teensy]: Wind angle: 272 +[trim_sail-4] [INFO] [1746050037.337986825] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050037.338624001] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050037.339187636] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050037.339579978] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050037.339923243] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050037.344479299] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050037.345055918] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050037.345680917] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050037.346856631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050037.348032286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050037.445269487] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050037.445991872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050037.447340953] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050037.448125047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050037.448677516] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050037.502803123] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691652 Long: -76.50280598 +[vectornav-1] [INFO] [1746050037.503932712] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (288.296, 1.11, 4.612) +[mux-7] [INFO] [1746050037.545157624] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050037.545940500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050037.546463099] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050037.547859757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050037.548927173] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050037.585205281] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050037.587617778] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050037.588395554] [sailbot.teensy]: Wind angle: 273 +[mux-7] [INFO] [1746050037.588458650] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050037.589677114] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050037.590619478] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050037.591485338] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050037.645136247] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050037.645784186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050037.646596010] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050037.647884569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050037.648983989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050037.745196259] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050037.746047641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050037.746633379] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050037.748391173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050037.749701110] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050037.835528016] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050037.837567996] [sailbot.teensy]: Wind angle: 273 +[trim_sail-4] [INFO] [1746050037.838019651] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050037.838605239] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050037.839538105] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050037.839539192] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050037.840444225] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050037.844376338] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050037.845047662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050037.845568799] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050037.846764982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050037.847883193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050037.945157029] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050037.946100563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050037.946877722] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050037.948206839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050037.949318301] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050038.003388363] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916084 Long: -76.50280383 +[vectornav-1] [INFO] [1746050038.005311893] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.945, 1.487, 2.227) +[mux-7] [INFO] [1746050038.044804545] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050038.045433962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050038.046143009] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050038.047302515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050038.048550832] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050038.085222806] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050038.087472179] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050038.088172461] [sailbot.teensy]: Wind angle: 272 +[teensy-2] [INFO] [1746050038.089166439] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050038.089837318] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050038.090136715] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050038.091000165] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050038.145029719] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050038.145772114] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050038.146346648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050038.148010455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050038.149131697] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050038.245207065] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050038.245984719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050038.246868385] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050038.247915809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050038.248387786] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050038.335167298] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050038.337075948] [sailbot.teensy]: Wind angle: 273 +[trim_sail-4] [INFO] [1746050038.337541999] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050038.338065963] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050038.338976580] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050038.339224923] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050038.339984722] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050038.344396460] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050038.344981644] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050038.345665992] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050038.346631630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050038.347671125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050038.445053464] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050038.445891516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050038.446368174] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050038.447535268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050038.447974978] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050038.504287672] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915633 Long: -76.50280153 +[vectornav-1] [INFO] [1746050038.506319499] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.57, 2.319, 5.77) +[mux-7] [INFO] [1746050038.545256317] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050038.546275111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050038.546850864] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050038.548570327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050038.549652049] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050038.585447287] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050038.587654048] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050038.587650256] [sailbot.teensy]: Wind angle: 272 +[teensy-2] [INFO] [1746050038.588685567] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050038.589633496] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050038.588949850] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050038.590650888] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050038.644729338] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050038.645304913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050038.645966401] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050038.647081999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050038.648139102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050038.744991403] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050038.745714572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050038.746395735] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050038.747630628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050038.748181393] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050038.835242958] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050038.837431673] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050038.837820661] [sailbot.teensy]: Wind angle: 272 +[teensy-2] [INFO] [1746050038.838856504] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050038.839079825] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050038.839397824] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050038.839780305] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050038.844438702] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050038.845206341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050038.845597467] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050038.847032916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050038.848066265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050038.944946348] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050038.945681471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050038.946307839] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050038.947635943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050038.948760816] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050039.002985012] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915245 Long: -76.50280001 +[vectornav-1] [INFO] [1746050039.004808385] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (292.32, 1.55, 3.005) +[mux-7] [INFO] [1746050039.045380702] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050039.046277917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050039.048281046] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050039.048638896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050039.049762912] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050039.085261739] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050039.087345451] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050039.087791934] [sailbot.teensy]: Wind angle: 272 +[mux-7] [INFO] [1746050039.088144039] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050039.089282053] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050039.090247644] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050039.091071934] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050039.144831751] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050039.145405346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050039.146210882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050039.147459551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050039.148736539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050039.245210487] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050039.245833811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050039.246809987] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050039.248081632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050039.249277519] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050039.335212027] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050039.337334590] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050039.337861398] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050039.338742821] [sailbot.teensy]: Wind angle: 271 +[teensy-2] [INFO] [1746050039.339155677] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050039.339525691] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050039.340218803] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050039.344371088] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050039.345446778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050039.345951484] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050039.347320999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050039.348444367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050039.445419128] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050039.446243407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050039.447246113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050039.448644381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050039.449849177] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050039.503080863] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914796 Long: -76.5027987 +[vectornav-1] [INFO] [1746050039.504734633] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.421, 1.165, 4.54) +[mux-7] [INFO] [1746050039.544961798] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050039.545750955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050039.546288370] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050039.547755563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050039.548808702] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050039.585401228] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050039.587154433] [sailbot.teensy]: Wind angle: 271 +[trim_sail-4] [INFO] [1746050039.587712188] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050039.588080541] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050039.589009171] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050039.589132190] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050039.589968890] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050039.645395553] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050039.645953783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050039.647216605] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050039.648251460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050039.649363269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050039.745219643] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050039.745678830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050039.746584782] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050039.747833311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050039.748531442] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050039.835528349] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050039.837729905] [sailbot.teensy]: Wind angle: 272 +[trim_sail-4] [INFO] [1746050039.838072253] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050039.838725566] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050039.839650089] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050039.840006328] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050039.840536337] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050039.844405962] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050039.844895445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050039.845563949] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050039.846564897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050039.847603114] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050039.945368783] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050039.945903593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050039.946870330] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050039.947964453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050039.949030468] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050040.003028862] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914331 Long: -76.5027968 +[vectornav-1] [INFO] [1746050040.004432244] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.56899999999996, 0.332, 3.83) +[mux-7] [INFO] [1746050040.045575948] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050040.046140042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050040.047362410] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050040.048830082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050040.049880164] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050040.085254531] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050040.087336287] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050040.087495775] [sailbot.teensy]: Wind angle: 272 +[mux-7] [INFO] [1746050040.087823046] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050040.088392200] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050040.089260084] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050040.090112846] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050040.145173045] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050040.145731634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050040.146736141] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050040.147768346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050040.148903696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050040.244984886] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050040.245599600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050040.246294264] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050040.247374156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050040.248484749] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050040.335337434] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050040.337595751] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050040.338229657] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050040.338697128] [sailbot.teensy]: Wind angle: 271 +[teensy-2] [INFO] [1746050040.339097816] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050040.339473573] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050040.339849497] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050040.344505697] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050040.345187306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050040.345824169] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050040.347060954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050040.348090493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050040.445247709] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050040.445780251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050040.446910630] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050040.447964652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050040.449105507] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050040.502972494] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913903 Long: -76.50279501 +[vectornav-1] [INFO] [1746050040.504231826] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.71000000000004, 0.181, 6.319) +[mux-7] [INFO] [1746050040.545366725] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050040.546157966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050040.546857940] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050040.548452965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050040.549594940] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050040.584998453] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050040.586925761] [sailbot.teensy]: Wind angle: 271 +[trim_sail-4] [INFO] [1746050040.587392856] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050040.587808426] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050040.588690601] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050040.589067591] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050040.589582598] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050040.645059235] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050040.645894461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050040.646416953] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050040.647890224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050040.648956760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050040.745350034] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050040.746287345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050040.746824475] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050040.748102346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050040.748558574] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050040.835342507] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050040.837149996] [sailbot.teensy]: Wind angle: 272 +[teensy-2] [INFO] [1746050040.838194372] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746050040.837665586] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050040.839126498] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050040.840046379] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050040.840315828] [sailbot.mux]: algo sail angle: 35 +[mux-7] [INFO] [1746050040.844335210] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050040.844888345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050040.845437987] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050040.846589014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050040.847636000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050040.922406249] [sailbot.mux]: controller_app sail angle: 31 +[mux-7] [INFO] [1746050040.944998025] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050040.945618852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050040.946345247] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050040.947535009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050040.948416743] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050041.002752503] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913415 Long: -76.50279365 +[vectornav-1] [INFO] [1746050041.004301089] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.597, 0.413, 6.878) +[mux-7] [INFO] [1746050041.045293382] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050041.046175695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050041.046771341] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050041.048303191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050041.049338293] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050041.085312451] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050041.086926650] [sailbot.teensy]: Wind angle: 272 +[teensy-2] [INFO] [1746050041.087854743] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746050041.087652877] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050041.088512633] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050041.088738535] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050041.089603807] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050041.145219814] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050041.145936431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050041.147401001] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050041.147998472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050041.149064055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050041.245230016] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050041.245974874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050041.246944677] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050041.248176899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050041.249343523] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050041.334550597] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050041.335378957] [sailbot.teensy]: Wind angle: 272 +[teensy-2] [INFO] [1746050041.336385289] [sailbot.teensy]: Actual sail angle: 31 +[trim_sail-4] [INFO] [1746050041.336644710] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050041.337328140] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050041.337941778] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050041.338220391] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050041.343984875] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050041.344416209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050041.345113485] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050041.346226587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050041.347339920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050041.445169103] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050041.445850567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050041.447013135] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050041.447761937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050041.448950614] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050041.503071938] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912962 Long: -76.50279178 +[vectornav-1] [INFO] [1746050041.504599836] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.68100000000004, 0.566, 6.644) +[mux-7] [INFO] [1746050041.545448732] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050041.546316098] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050041.546994285] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050041.548578284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050041.549802829] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050041.585315001] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050041.587504082] [sailbot.teensy]: Wind angle: 271 +[trim_sail-4] [INFO] [1746050041.588225529] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050041.588428842] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050041.589333137] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050041.589648805] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050041.590221845] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050041.645443125] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050041.646384329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050041.647050741] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050041.648225047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050041.648780819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050041.745579002] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050041.746745475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050041.747296374] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050041.748100958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050041.748575244] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050041.835297470] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050041.837010592] [sailbot.teensy]: Wind angle: 272 +[trim_sail-4] [INFO] [1746050041.837810148] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050041.837984888] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050041.838904527] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050041.838642993] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050041.840004284] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050041.844407313] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050041.845141564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050041.845597089] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050041.847113014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050041.848253859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050041.945231947] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050041.945988518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050041.946722581] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050041.948062552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050041.948747981] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050042.003216856] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912564 Long: -76.50278986 +[vectornav-1] [INFO] [1746050042.004566966] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.677, 1.035, 7.096) +[mux-7] [INFO] [1746050042.045254459] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050042.045909264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050042.046606368] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050042.048176169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050042.049235556] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050042.085505625] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050042.087400569] [sailbot.teensy]: Wind angle: 272 +[trim_sail-4] [INFO] [1746050042.088579335] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050042.089112268] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050042.089584520] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050042.090583278] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050042.091495613] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050042.144992256] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050042.145664653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050042.146569770] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050042.147551150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050042.148585478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050042.245555905] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050042.245980657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050042.246982355] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050042.247849862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050042.248940745] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050042.335478395] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050042.337665944] [sailbot.teensy]: Wind angle: 272 +[trim_sail-4] [INFO] [1746050042.338230558] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050042.338596161] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050042.339477870] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050042.339235325] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050042.340430100] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050042.344290230] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050042.344785624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050042.345443261] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050042.346524550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050042.347516351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050042.445296466] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050042.446054197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050042.446857482] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050042.448312328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050042.449516721] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050042.503739361] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912092 Long: -76.50278801 +[vectornav-1] [INFO] [1746050042.505313024] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (288.776, 0.475, 3.9) +[mux-7] [INFO] [1746050042.543766858] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050042.544173249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050042.544391578] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050042.545093946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050042.545639047] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050042.584458098] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050042.585268105] [sailbot.teensy]: Wind angle: 271 +[trim_sail-4] [INFO] [1746050042.585600511] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050042.585753153] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050042.586177442] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050042.586559970] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050042.586730949] [sailbot.mux]: algo sail angle: 35 +[mux-7] [INFO] [1746050042.644592750] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050042.645109410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050042.645726443] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050042.646822958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050042.647840743] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050042.745285868] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050042.745990908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050042.746666467] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050042.747876115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050042.749075229] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050042.835172975] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050042.836993007] [sailbot.teensy]: Wind angle: 271 +[trim_sail-4] [INFO] [1746050042.837375770] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050042.837975470] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050042.838841343] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050042.838847544] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050042.839259319] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050042.844587873] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050042.845262755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050042.846119101] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050042.847103425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050042.848247414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050042.945221234] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050042.946235762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050042.946784169] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050042.948348795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050042.949130919] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050043.003182814] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911613 Long: -76.5027867 +[vectornav-1] [INFO] [1746050043.004603527] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.20500000000004, 0.605, 7.656) +[mux-7] [INFO] [1746050043.045278942] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050043.046027836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050043.046677646] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050043.048706860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050043.049832520] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050043.085156859] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050043.086750251] [sailbot.teensy]: Wind angle: 272 +[teensy-2] [INFO] [1746050043.087613071] [sailbot.teensy]: Actual sail angle: 31 +[trim_sail-4] [INFO] [1746050043.087226940] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050043.088668234] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050043.088897175] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050043.089800961] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050043.145187939] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050043.145961992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050043.146684072] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050043.148213160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050043.149241198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050043.245204523] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050043.246275843] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050043.246766102] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050043.248460092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050043.249483302] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050043.335123520] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050043.336703139] [sailbot.teensy]: Wind angle: 272 +[trim_sail-4] [INFO] [1746050043.337617596] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050043.337645285] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050043.338570799] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050043.339481896] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050043.339625949] [sailbot.mux]: algo sail angle: 35 +[mux-7] [INFO] [1746050043.344252810] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050043.344794084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050043.345378601] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050043.346644550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050043.347659489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050043.444886494] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050043.445594501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050043.446417605] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050043.447530034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050043.448553018] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050043.503103822] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911134 Long: -76.50278595 +[vectornav-1] [INFO] [1746050043.504520329] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (288.901, 1.338, 1.794) +[mux-7] [INFO] [1746050043.545475659] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050043.546258657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050043.547072646] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050043.548831443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050043.550048818] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050043.585164377] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050043.586784035] [sailbot.teensy]: Wind angle: 272 +[trim_sail-4] [INFO] [1746050043.587453727] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050043.587746664] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050043.588697493] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050043.589502359] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050043.589559516] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050043.645246947] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050043.646088887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050043.646858798] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050043.648309763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050043.649051978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050043.745021542] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050043.745740189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050043.746431997] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050043.747684682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050043.748741933] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050043.835373756] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050043.837377383] [sailbot.teensy]: Wind angle: 273 +[trim_sail-4] [INFO] [1746050043.838048324] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050043.838857347] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050043.839225961] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050043.839611288] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050043.840364493] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050043.844349062] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050043.845087466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050043.845482073] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050043.846804767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050043.847924750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050043.945210157] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050043.945894467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050043.946711915] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050043.947942103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050043.948417350] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050044.002743843] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46910685 Long: -76.50278476 +[vectornav-1] [INFO] [1746050044.004389716] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.505, 1.705, 2.405) +[mux-7] [INFO] [1746050044.044703768] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050044.045360078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050044.046024941] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050044.047200905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050044.048308754] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050044.085201421] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050044.087638345] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050044.088098382] [sailbot.teensy]: Wind angle: 273 +[teensy-2] [INFO] [1746050044.089025848] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050044.089314665] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050044.089964821] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050044.090781728] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050044.145071182] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050044.145776974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050044.146468469] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050044.147960349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050044.148978291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050044.245508689] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050044.246233079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050044.247116770] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050044.248011689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050044.248584738] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050044.335404809] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050044.337243722] [sailbot.teensy]: Wind angle: 274 +[trim_sail-4] [INFO] [1746050044.338069076] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050044.338191664] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050044.339056279] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050044.339060298] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050044.339931373] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050044.344454900] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050044.344952011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050044.345526027] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050044.346706106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050044.347758923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050044.445089981] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050044.445945165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050044.446328540] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050044.447784547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050044.448331391] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050044.503060612] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46910315 Long: -76.50278295 +[vectornav-1] [INFO] [1746050044.504737922] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.05600000000004, 1.878, 2.981) +[mux-7] [INFO] [1746050044.545092170] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050044.545845667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050044.546477207] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050044.548051622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050044.549161948] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050044.585073389] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050044.587235113] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050044.587259932] [sailbot.teensy]: Wind angle: 273 +[mux-7] [INFO] [1746050044.588080224] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050044.588231108] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050044.589345080] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050044.590270531] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050044.644928817] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050044.645731450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050044.646180581] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050044.647710323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050044.648911340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050044.745240848] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050044.746142135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050044.746587909] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050044.748384075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050044.749413849] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050044.835507659] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050044.838200069] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050044.839285125] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050044.840298770] [sailbot.teensy]: Wind angle: 273 +[teensy-2] [INFO] [1746050044.841004950] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050044.841400968] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050044.841759846] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050044.844355424] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050044.844823630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050044.845467566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050044.846502221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050044.847565796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050044.945050545] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050044.945671182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050044.946661890] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050044.947651291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050044.948600323] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050045.003057745] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909965 Long: -76.50278087 +[vectornav-1] [INFO] [1746050045.004347704] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.094, 0.891, 4.076) +[mux-7] [INFO] [1746050045.045150983] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050045.045915980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050045.046609509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050045.047987824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050045.049040721] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050045.085213639] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050045.087410361] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050045.087944338] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050045.088902722] [sailbot.teensy]: Wind angle: 273 +[teensy-2] [INFO] [1746050045.089916754] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050045.090927047] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050045.091834417] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050045.144759762] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050045.145440744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050045.146084793] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050045.147260867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050045.148302926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050045.245058835] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050045.245716536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050045.246459159] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050045.247585078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050045.248141589] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050045.335247097] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050045.336979178] [sailbot.teensy]: Wind angle: 273 +[teensy-2] [INFO] [1746050045.337919964] [sailbot.teensy]: Actual sail angle: 31 +[trim_sail-4] [INFO] [1746050045.337599890] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050045.338787730] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050045.338910506] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050045.339683920] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050045.344424751] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050045.344992747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050045.345541180] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050045.346694636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050045.347902128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050045.444994722] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050045.445545274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050045.446436703] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050045.447466008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050045.448061575] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050045.503136167] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909592 Long: -76.50278003 +[vectornav-1] [INFO] [1746050045.504897959] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.796, 1.01, -1.412) +[mux-7] [INFO] [1746050045.545149241] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050045.545839663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050045.546533510] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050045.547823750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050045.548869407] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050045.585129298] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050045.586872034] [sailbot.teensy]: Wind angle: 273 +[trim_sail-4] [INFO] [1746050045.587343177] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050045.588723050] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050045.588775600] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050045.589696002] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050045.590613347] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050045.644893352] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050045.645749186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050045.646302157] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050045.647568212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050045.648646486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050045.745168632] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050045.745856860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050045.746574339] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050045.748080276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050045.748836122] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050045.835607826] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050045.838411876] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050045.839148131] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050045.839318044] [sailbot.teensy]: Wind angle: 270 +[teensy-2] [INFO] [1746050045.840291955] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050045.841152608] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050045.841982036] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050045.844365626] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050045.844878982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050045.845495202] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050045.846689300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050045.847766917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050045.945087460] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050045.945835249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050045.946508976] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050045.947845525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050045.948912651] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050046.003318664] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909268 Long: -76.50277852 +[vectornav-1] [INFO] [1746050046.004600760] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.024, 2.03, 5.614) +[mux-7] [INFO] [1746050046.044952343] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050046.045824390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050046.046226326] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050046.047772696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050046.048812196] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050046.085123773] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050046.087291930] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050046.087975669] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050046.088112470] [sailbot.teensy]: Wind angle: 269 +[teensy-2] [INFO] [1746050046.089100112] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050046.089981403] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050046.090810055] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050046.144960649] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050046.145552027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050046.146223510] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050046.147480979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050046.148056209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050046.244943899] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050046.245628737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050046.246577914] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050046.247607244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050046.248778078] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050046.335058315] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050046.336721645] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746050046.337525162] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050046.337608782] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050046.338327018] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050046.338436022] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050046.339248581] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050046.344410030] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050046.344912995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050046.345630134] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050046.346517743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050046.347486627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050046.445260676] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050046.445889559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050046.447027695] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050046.447804315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050046.448926443] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050046.502760091] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908968 Long: -76.50277873 +[vectornav-1] [INFO] [1746050046.504345625] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (288.004, 1.441, 2.991) +[mux-7] [INFO] [1746050046.544987279] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050046.545729528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050046.546239660] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050046.547576584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050046.548753719] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050046.585122274] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050046.586747773] [sailbot.teensy]: Wind angle: 266 +[trim_sail-4] [INFO] [1746050046.587416402] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050046.587691718] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050046.588634134] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050046.589402069] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050046.589556891] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050046.644879186] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050046.645447227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050046.646243909] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050046.647307526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050046.648273307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050046.744783589] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050046.745374023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050046.745943152] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050046.747377126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050046.748507408] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050046.835581941] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050046.837426690] [sailbot.teensy]: Wind angle: 265 +[trim_sail-4] [INFO] [1746050046.838010400] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050046.838384230] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050046.839270618] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050046.839261939] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050046.840293325] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050046.844285829] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050046.844807582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050046.845375007] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050046.846649533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050046.847827294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050046.945291246] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050046.946015613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050046.947094056] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050046.948457829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050046.949647437] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050047.002903674] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908666 Long: -76.50277795 +[vectornav-1] [INFO] [1746050047.004613131] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.25, 1.426, 3.101) +[mux-7] [INFO] [1746050047.044915900] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050047.045821089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050047.046195217] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050047.047787058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050047.048916994] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050047.085119677] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050047.087065402] [sailbot.teensy]: Wind angle: 264 +[trim_sail-4] [INFO] [1746050047.087276545] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050047.088006118] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050047.088925997] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050047.088997261] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050047.089844094] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050047.145072844] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050047.145808691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050047.146551544] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050047.147798708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050047.148917302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050047.245020126] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050047.245819145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050047.246301229] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050047.247657277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050047.248804233] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050047.335375581] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050047.338000964] [sailbot.teensy]: Wind angle: 264 +[trim_sail-4] [INFO] [1746050047.338338414] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050047.339479842] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050047.339861844] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050047.340253061] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050047.340644614] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050047.344336592] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050047.344870999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050047.345471926] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050047.346566084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050047.347651048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050047.444925039] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050047.445691466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050047.446276996] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050047.447686343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050047.448736856] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050047.502928505] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690852 Long: -76.50277813 +[vectornav-1] [INFO] [1746050047.504371381] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (281.49, 2.124, 4.138) +[mux-7] [INFO] [1746050047.544988616] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050047.545883482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050047.546346365] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050047.547998167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050047.548602451] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050047.585237471] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050047.586926411] [sailbot.teensy]: Wind angle: 265 +[trim_sail-4] [INFO] [1746050047.587678759] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050047.587887870] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050047.588795668] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050047.588823836] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050047.589661765] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050047.644973752] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050047.645787968] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050047.646496214] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050047.647740332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050047.648761391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050047.744848804] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050047.745446878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050047.746016803] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050047.747219811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050047.749494383] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050047.835362978] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050047.837061779] [sailbot.teensy]: Wind angle: 265 +[teensy-2] [INFO] [1746050047.838045178] [sailbot.teensy]: Actual sail angle: 31 +[trim_sail-4] [INFO] [1746050047.838049961] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050047.838882499] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050047.838956384] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050047.839846507] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050047.844304501] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050047.844880208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050047.845765499] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050047.846564830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050047.847647425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050047.945102796] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050047.945680024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050047.946699235] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050047.947645414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050047.948783618] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050048.003230182] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908384 Long: -76.50277738 +[vectornav-1] [INFO] [1746050048.004706294] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.793, 2.468, 0.851) +[mux-7] [INFO] [1746050048.045136726] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050048.045817194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050048.046953995] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050048.047889041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050048.048965237] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050048.085037909] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050048.086604251] [sailbot.teensy]: Wind angle: 265 +[trim_sail-4] [INFO] [1746050048.087374876] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050048.087470986] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050048.088357865] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050048.088670116] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050048.089232509] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050048.144985415] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050048.145728880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050048.146286923] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050048.147519526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050048.148714097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050048.245207616] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050048.245923571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050048.246725450] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050048.247906428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050048.248648853] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050048.335124550] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050048.336709571] [sailbot.teensy]: Wind angle: 265 +[trim_sail-4] [INFO] [1746050048.337486864] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050048.337571947] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050048.338443423] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050048.338585841] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050048.339307481] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050048.344715332] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050048.345313574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050048.345932842] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050048.347105671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050048.348179919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050048.445258806] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050048.446140424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050048.446802325] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050048.448332486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050048.449474078] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050048.503531154] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690838 Long: -76.5027771 +[vectornav-1] [INFO] [1746050048.505874656] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.64300000000003, 1.569, 1.223) +[mux-7] [INFO] [1746050048.544986421] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050048.545733926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050048.546275104] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050048.547839970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050048.548893736] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050048.585322160] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050048.587064565] [sailbot.teensy]: Wind angle: 265 +[teensy-2] [INFO] [1746050048.588105096] [sailbot.teensy]: Actual sail angle: 31 +[trim_sail-4] [INFO] [1746050048.588360921] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050048.588800901] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050048.589048789] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050048.590027106] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050048.645243169] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050048.646548068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050048.647011282] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050048.648859481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050048.649875892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050048.744991501] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050048.745733801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050048.746280917] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050048.747783191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050048.748852107] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050048.835313020] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050048.837178753] [sailbot.teensy]: Wind angle: 265 +[trim_sail-4] [INFO] [1746050048.838088472] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050048.838198389] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050048.838928241] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050048.839088055] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050048.840010432] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050048.844329643] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050048.844942589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050048.845437560] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050048.846721173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050048.847905597] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050048.945383733] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050048.945899036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050048.946970171] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050048.947870228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050048.948447054] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050049.002836568] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690836 Long: -76.50277701 +[vectornav-1] [INFO] [1746050049.004344380] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (279.437, 1.376, 2.75) +[mux-7] [INFO] [1746050049.045216823] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050049.045932484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050049.046642183] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050049.047956617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050049.049112184] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050049.085116756] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050049.087150989] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050049.087704100] [sailbot.teensy]: Wind angle: 265 +[mux-7] [INFO] [1746050049.088387016] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050049.088671721] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050049.089592241] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050049.090496753] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050049.145078901] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050049.146120196] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050049.146546563] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050049.148060197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050049.149285482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050049.245078323] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050049.245885193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050049.246578920] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050049.247959186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050049.248516329] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050049.335042886] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050049.336727102] [sailbot.teensy]: Wind angle: 265 +[trim_sail-4] [INFO] [1746050049.337297816] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050049.337670855] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050049.338552565] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050049.338573769] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050049.339429375] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050049.344323185] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050049.344892527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050049.345503504] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050049.346624830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050049.347793281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050049.445093748] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050049.445840321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050049.446527169] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050049.447791627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050049.448362399] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050049.502771203] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908338 Long: -76.50277663 +[vectornav-1] [INFO] [1746050049.503941112] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (279.519, 0.905, 3.657) +[mux-7] [INFO] [1746050049.545297444] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050049.546023625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050049.546669407] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050049.548281294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050049.549404272] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050049.585138282] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050049.586914418] [sailbot.teensy]: Wind angle: 265 +[trim_sail-4] [INFO] [1746050049.587266327] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050049.587860124] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050049.588804817] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050049.589206823] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050049.589663977] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050049.644981823] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050049.645792213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050049.646292906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050049.647829962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050049.648893265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050049.745392740] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050049.746284832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050049.747394850] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050049.748225781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050049.748788440] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050049.835519734] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050049.837366595] [sailbot.teensy]: Wind angle: 265 +[trim_sail-4] [INFO] [1746050049.838084309] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050049.838329859] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050049.839230924] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050049.839398006] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050049.839601749] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050049.844338229] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050049.845112661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050049.845581397] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050049.847455212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050049.848536423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050049.944926228] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050049.945525931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050049.946273424] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050049.947447969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050049.948066608] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050050.002633613] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908328 Long: -76.50277635 +[vectornav-1] [INFO] [1746050050.004633957] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (278.63, 0.073, 5.187) +[mux-7] [INFO] [1746050050.044885021] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050050.045630011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050050.046063908] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050050.047538549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050050.048657074] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050050.085226205] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050050.087007698] [sailbot.teensy]: Wind angle: 264 +[trim_sail-4] [INFO] [1746050050.087497678] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050050.087982546] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050050.088948821] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050050.089244552] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050050.089878854] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050050.144788925] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050050.145375468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050050.145976937] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050050.147167139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050050.148211284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050050.245131580] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050050.245841237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050050.246408618] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050050.247675948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050050.248310253] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050050.335269075] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050050.337193313] [sailbot.teensy]: Wind angle: 265 +[trim_sail-4] [INFO] [1746050050.337608277] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050050.338172902] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050050.338824072] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050050.338961145] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050050.339362429] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050050.344586293] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050050.345226607] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050050.345866420] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050050.346987156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050050.348236464] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050050.444943711] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050050.445807941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050050.446256582] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050050.447682312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050050.448708041] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050050.502972893] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469083 Long: -76.50277699 +[vectornav-1] [INFO] [1746050050.504342356] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (276.49199999999996, -0.243, 6.11) +[mux-7] [INFO] [1746050050.545164500] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050050.545856663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050050.546542765] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050050.547695721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050050.548714490] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050050.585046775] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050050.587115950] [sailbot.teensy]: Wind angle: 265 +[trim_sail-4] [INFO] [1746050050.587339078] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050050.587982779] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050050.588316096] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050050.588856207] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050050.589731656] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050050.644946279] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050050.645530682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050050.646231252] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050050.647430515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050050.648498537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050050.745572356] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050050.746440219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050050.747246972] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050050.749121926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050050.750385261] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050050.835247931] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050050.837606251] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050050.837660200] [sailbot.teensy]: Wind angle: 265 +[teensy-2] [INFO] [1746050050.838625602] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050050.838774983] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050050.839531959] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050050.840472945] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050050.844496600] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050050.845265446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050050.845644141] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050050.847094008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050050.848142414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050050.944972880] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050050.945835238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050050.946494795] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050050.947713874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050050.948743572] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050051.003167726] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908268 Long: -76.50277715 +[vectornav-1] [INFO] [1746050051.004700646] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (276.188, -0.122, 1.634) +[mux-7] [INFO] [1746050051.045280124] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050051.046128300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050051.046701763] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050051.048260203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050051.049469021] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050051.085461205] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050051.087557118] [sailbot.teensy]: Wind angle: 264 +[teensy-2] [INFO] [1746050051.088787898] [sailbot.teensy]: Actual sail angle: 31 +[trim_sail-4] [INFO] [1746050051.087801135] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050051.089854119] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050051.090672223] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050051.090784477] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050051.145283048] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050051.146386088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050051.147066764] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050051.148721428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050051.149781807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050051.245372797] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050051.246336085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050051.246905895] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050051.248358970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050051.248789738] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050051.335294100] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050051.337663363] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050051.338045339] [sailbot.teensy]: Wind angle: 265 +[teensy-2] [INFO] [1746050051.339033534] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050051.339061258] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050051.339945532] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050051.340878977] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050051.344454949] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050051.344997444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050051.345607197] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050051.346655698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050051.347671135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050051.445332781] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050051.446030930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050051.447004802] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050051.448420688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050051.448927639] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050051.503200879] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908251 Long: -76.50277693 +[vectornav-1] [INFO] [1746050051.505274270] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (275.846, -0.004, 1.139) +[mux-7] [INFO] [1746050051.545167825] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050051.545886181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050051.546599312] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050051.548270537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050051.549391341] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050051.585141102] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050051.586705930] [sailbot.teensy]: Wind angle: 265 +[trim_sail-4] [INFO] [1746050051.588450971] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050051.588425272] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050051.588870593] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050051.589884879] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050051.590811948] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050051.645270403] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050051.646047914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050051.647010724] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050051.648293565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050051.648916235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050051.745255386] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050051.746371146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050051.746786655] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050051.748774437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050051.749932585] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050051.835314635] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050051.837228385] [sailbot.teensy]: Wind angle: 265 +[teensy-2] [INFO] [1746050051.838217519] [sailbot.teensy]: Actual sail angle: 31 +[trim_sail-4] [INFO] [1746050051.838173913] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050051.838761884] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050051.838800869] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050051.839144959] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050051.844361241] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050051.845063047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050051.845866218] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050051.847076670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050051.848131391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050051.945310441] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050051.946062622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050051.946850563] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050051.948310821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050051.949258107] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050052.003371674] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908248 Long: -76.50277676 +[vectornav-1] [INFO] [1746050052.005220675] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (275.851, -0.311, 1.486) +[mux-7] [INFO] [1746050052.045334697] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050052.046312072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050052.046999978] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050052.048753490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050052.049920623] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050052.085128096] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050052.087070830] [sailbot.teensy]: Wind angle: 264 +[trim_sail-4] [INFO] [1746050052.087325778] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050052.088516795] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050052.089255393] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050052.090221243] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050052.091161132] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050052.145022259] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050052.145716873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050052.146341390] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050052.147794796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050052.149080220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050052.245656991] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050052.246880893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050052.247452833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050052.248035338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050052.248902763] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050052.335277674] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050052.337816130] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050052.337951496] [sailbot.teensy]: Wind angle: 264 +[mux-7] [INFO] [1746050052.338304749] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050052.338901719] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050052.339942519] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050052.340855848] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050052.344299134] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050052.344884748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050052.345627330] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050052.346540903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050052.347573916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050052.444990523] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050052.445624866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050052.446846457] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050052.447584992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050052.448132421] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050052.503048943] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908241 Long: -76.50277673 +[vectornav-1] [INFO] [1746050052.504381540] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (276.323, -0.682, 2.131) +[mux-7] [INFO] [1746050052.545089577] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050052.546007257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050052.546526213] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050052.548177946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050052.549330232] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050052.585024029] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050052.587030168] [sailbot.teensy]: Wind angle: 264 +[trim_sail-4] [INFO] [1746050052.587140016] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050052.587991810] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050052.588515914] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050052.588920376] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050052.589815721] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050052.644781018] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050052.645451307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050052.645985691] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050052.647270909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050052.648419241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050052.744372573] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050052.745655245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050052.745928718] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050052.747742888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050052.748921477] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050052.835409476] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050052.837358446] [sailbot.teensy]: Wind angle: 264 +[trim_sail-4] [INFO] [1746050052.838273873] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050052.838332012] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050052.839066324] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050052.839422461] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050052.839453234] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050052.844513183] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050052.845046639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050052.845698343] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050052.846757997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050052.847760387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050052.945013671] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050052.945751567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050052.946417809] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050052.947787854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050052.948623944] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050053.002979225] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908206 Long: -76.50277614 +[vectornav-1] [INFO] [1746050053.004549004] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (276.74, -0.978, 3.66) +[mux-7] [INFO] [1746050053.045173163] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050053.045960874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050053.046429913] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050053.047841530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050053.048358659] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050053.085465813] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050053.088880388] [sailbot.teensy]: Wind angle: 264 +[trim_sail-4] [INFO] [1746050053.089998272] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050053.090187192] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050053.091093278] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050053.092369327] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050053.092537759] [sailbot.mux]: algo sail angle: 30 +[mux-7] [INFO] [1746050053.145100957] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050053.146001517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050053.146557009] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050053.148132950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050053.149144955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050053.245197564] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050053.245945065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050053.246722385] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050053.248046641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050053.249159098] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050053.335084472] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050053.336807457] [sailbot.teensy]: Wind angle: 260 +[trim_sail-4] [INFO] [1746050053.337286779] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050053.337783740] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050053.338753864] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050053.339365745] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050053.339646514] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050053.344351473] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050053.345101758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050053.345501439] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050053.346877334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050053.348005596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050053.445359977] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050053.446163570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050053.446912258] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050053.448147424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050053.448614715] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050053.502560921] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908113 Long: -76.50277518 +[vectornav-1] [INFO] [1746050053.503660084] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (272.534, -1.255, 6.513) +[mux-7] [INFO] [1746050053.545202475] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050053.546270740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050053.547343406] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050053.548535028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050053.549614400] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050053.585266533] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050053.587632639] [sailbot.teensy]: Wind angle: 254 +[trim_sail-4] [INFO] [1746050053.587671481] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050053.588687487] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050053.589619755] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050053.590031326] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050053.590541105] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050053.645214283] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050053.645961807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050053.646785906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050053.648086433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050053.648558920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050053.745642662] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050053.746451224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050053.747337374] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050053.748303055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050053.748822649] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050053.835528052] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050053.838281609] [sailbot.teensy]: Wind angle: 254 +[trim_sail-4] [INFO] [1746050053.838502292] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050053.839156563] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050053.839429306] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050053.840523610] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050053.841367546] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050053.844551140] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050053.845032020] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050053.845826348] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050053.846824946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050053.847883242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050053.945484598] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050053.945973716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050053.947265530] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050053.948191511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050053.949403670] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050054.003556857] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46907946 Long: -76.5027732 +[vectornav-1] [INFO] [1746050054.005782230] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (268.90999999999997, -2.604, 4.525) +[mux-7] [INFO] [1746050054.045247885] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050054.045832553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050054.046876118] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050054.047856996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050054.048915932] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050054.085377935] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050054.088050361] [sailbot.teensy]: Wind angle: 253 +[trim_sail-4] [INFO] [1746050054.088547597] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050054.089035119] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050054.089258417] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050054.090158693] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050054.091064688] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050054.144884636] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050054.145439384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050054.146108796] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050054.147244235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050054.148406574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050054.245174867] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050054.246084988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050054.246864868] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050054.247574510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050054.248065785] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050054.335084647] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050054.337631856] [sailbot.teensy]: Wind angle: 253 +[trim_sail-4] [INFO] [1746050054.337675439] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050054.338522321] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050054.339494029] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050054.340368784] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050054.341137630] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050054.344317441] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050054.344924337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050054.345808249] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050054.346665413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050054.347935859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050054.445338062] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050054.446161672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050054.446891846] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050054.447938990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050054.448422963] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050054.503758031] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46907686 Long: -76.50277183 +[vectornav-1] [INFO] [1746050054.505676296] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (267.293, -3.768, 7.317) +[mux-7] [INFO] [1746050054.544669949] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050054.545300394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050054.545787285] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050054.546973852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050054.548024207] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050054.585393153] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050054.587324236] [sailbot.teensy]: Wind angle: 253 +[trim_sail-4] [INFO] [1746050054.588263255] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050054.588322584] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050054.589188253] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050054.589329681] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050054.590069120] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050054.644732461] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050054.645346607] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050054.645970535] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050054.647253129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050054.648302057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050054.745531938] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050054.746389951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050054.747375035] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050054.748037676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050054.748582468] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050054.835090069] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050054.836627264] [sailbot.teensy]: Wind angle: 253 +[trim_sail-4] [INFO] [1746050054.837147056] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050054.837497142] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050054.838357868] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050054.838530379] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050054.839259312] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050054.844398570] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050054.845023330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050054.845666319] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050054.846718990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050054.847759451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050054.945079770] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050054.945882288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050054.946584229] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050054.948025192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050054.948524008] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050055.002799294] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46907473 Long: -76.50277056 +[vectornav-1] [INFO] [1746050055.004083911] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (264.615, -2.778, 5.699) +[mux-7] [INFO] [1746050055.045181094] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050055.046112644] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050055.046890717] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050055.048196259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050055.049274967] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050055.085119708] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050055.087307354] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050055.088420301] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050055.090344589] [sailbot.teensy]: Wind angle: 253 +[teensy-2] [INFO] [1746050055.090797010] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050055.091165285] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050055.091989726] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050055.144642050] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050055.145469404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050055.145790408] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050055.147206324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050055.148393027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050055.245312594] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050055.246375473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050055.246905536] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050055.247932777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050055.248421675] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050055.335275089] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050055.337542440] [sailbot.teensy]: Wind angle: 253 +[trim_sail-4] [INFO] [1746050055.338205501] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050055.338545209] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050055.339028001] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050055.339492173] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050055.340313569] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050055.344540137] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050055.345111003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050055.345762926] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050055.346925058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050055.348108554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050055.445165551] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050055.445959289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050055.446634734] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050055.448090317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050055.449152063] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050055.502823170] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46907229 Long: -76.50277006 +[vectornav-1] [INFO] [1746050055.503958113] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (265.624, -2.62, 6.032) +[mux-7] [INFO] [1746050055.545103391] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050055.545770354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050055.546434651] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050055.547757409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050055.548780080] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050055.585280824] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050055.586980495] [sailbot.teensy]: Wind angle: 253 +[teensy-2] [INFO] [1746050055.588061849] [sailbot.teensy]: Actual sail angle: 31 +[trim_sail-4] [INFO] [1746050055.588486328] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050055.589037437] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050055.589482996] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050055.589950105] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050055.645117070] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050055.645758145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050055.646577646] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050055.647867362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050055.648660904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050055.745146730] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050055.746217655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050055.746714683] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050055.748426193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050055.749613355] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050055.835411360] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050055.837732910] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050055.838189216] [sailbot.teensy]: Wind angle: 254 +[mux-7] [INFO] [1746050055.838842021] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050055.839199566] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050055.839727673] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050055.840099298] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050055.844326348] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050055.844959280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050055.845429691] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050055.846732991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050055.847789415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050055.944836864] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050055.945649713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050055.946167111] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050055.947497494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050055.948511805] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050056.003358597] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46907075 Long: -76.50276928 +[vectornav-1] [INFO] [1746050056.005399326] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (267.443, -2.616, 3.048) +[mux-7] [INFO] [1746050056.044871164] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050056.046049409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050056.046105115] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050056.047825683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050056.048883446] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050056.085413075] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050056.087948160] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050056.088763363] [sailbot.teensy]: Wind angle: 254 +[mux-7] [INFO] [1746050056.088900424] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050056.089723665] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050056.090627416] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050056.091438720] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746050056.152365141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050056.153451473] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050056.155607863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[mux-7] [INFO] [1746050056.157573449] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050056.157855760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050056.245219165] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050056.245947602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050056.246698890] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050056.248117963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050056.249329146] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050056.335233827] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050056.337504427] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050056.338176117] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050056.338839676] [sailbot.teensy]: Wind angle: 254 +[teensy-2] [INFO] [1746050056.339834710] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050056.340767201] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050056.341625122] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050056.344391705] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050056.344890578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050056.345514650] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050056.346582936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050056.347788227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050056.445299953] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050056.445859232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050056.446910271] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050056.447916771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050056.449018710] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050056.503390346] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906988 Long: -76.50276887 +[vectornav-1] [INFO] [1746050056.505106710] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (268.48, -2.313, 3.821) +[mux-7] [INFO] [1746050056.545356152] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050056.545928260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050056.546875124] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050056.548399740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050056.549596581] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050056.585449622] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050056.587381346] [sailbot.teensy]: Wind angle: 254 +[trim_sail-4] [INFO] [1746050056.588440704] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050056.588496039] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050056.589423313] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050056.589619710] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050056.590333537] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050056.644973365] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050056.645896603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050056.646322910] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050056.647632002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050056.648114218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050056.745246061] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050056.745875412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050056.746842164] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050056.748138434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050056.748791442] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050056.835223766] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050056.840988017] [sailbot.teensy]: Wind angle: 256 +[trim_sail-4] [INFO] [1746050056.841355804] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050056.841398486] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050056.841698045] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050056.841775569] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050056.842157557] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050056.843763748] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050056.844496363] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050056.844907868] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050056.845751913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050056.846202532] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050056.945107153] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050056.945830447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050056.946814366] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050056.947902218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050056.949003856] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050057.003520404] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906953 Long: -76.50276877 +[vectornav-1] [INFO] [1746050057.005562424] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (268.74299999999994, -2.85, 4.342) +[mux-7] [INFO] [1746050057.045423973] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050057.046058790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050057.047389931] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050057.048344325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050057.049515583] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050057.085403004] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050057.087889883] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050057.088821244] [sailbot.teensy]: Wind angle: 256 +[teensy-2] [INFO] [1746050057.089899567] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050057.090564550] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050057.090824803] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050057.091779624] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050057.145632172] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050057.146155592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050057.146722499] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050057.148226866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050057.149350516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050057.245058007] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050057.246100513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050057.246890684] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050057.247884765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050057.248396587] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050057.335143651] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050057.337310579] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050057.337859206] [sailbot.teensy]: Wind angle: 256 +[mux-7] [INFO] [1746050057.338143514] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050057.338999645] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050057.340074769] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050057.340607966] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050057.344420845] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050057.345007665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050057.345711239] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050057.346714698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050057.347745688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050057.445447620] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050057.446249163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050057.447073046] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050057.448310147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050057.448855112] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050057.503036807] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906955 Long: -76.50276869 +[vectornav-1] [INFO] [1746050057.504432963] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (268.25199999999995, -2.367, 4.761) +[mux-7] [INFO] [1746050057.544836904] [sailbot.mux]: Published sail angle from controller_app: 31 +[mux-7] [INFO] [1746050057.546082688] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050057.546259704] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050057.548300577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050057.549356230] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050057.585435807] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050057.587722918] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050057.587717003] [sailbot.teensy]: Wind angle: 256 +[teensy-2] [INFO] [1746050057.588724382] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050057.589045767] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050057.589658887] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050057.590626458] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050057.645027536] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050057.645818027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050057.646418298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050057.648049589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050057.649198065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050057.745253835] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050057.745954841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050057.746681791] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050057.748261619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050057.748754755] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050057.835198209] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050057.837429043] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050057.838109209] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050057.838449529] [sailbot.teensy]: Wind angle: 260 +[teensy-2] [INFO] [1746050057.839076804] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050057.839437880] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050057.839775812] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050057.844442848] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050057.844933145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050057.845533804] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050057.846608775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050057.847671285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050057.944645655] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050057.945272484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050057.945803574] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050057.947034946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050057.948036415] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050058.002910584] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906956 Long: -76.50276856 +[vectornav-1] [INFO] [1746050058.004361058] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (268.18499999999995, -1.845, 6.052) +[mux-7] [INFO] [1746050058.045176146] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050058.046011083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050058.046785601] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050058.048187339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050058.049208083] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050058.085356453] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050058.087084576] [sailbot.teensy]: Wind angle: 260 +[trim_sail-4] [INFO] [1746050058.087553698] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050058.087993042] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050058.088913572] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050058.089363881] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050058.089825869] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050058.145075085] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050058.145891535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050058.146512266] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050058.147837132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050058.148342548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050058.245123946] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050058.245905783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050058.246801172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050058.247871165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050058.248650204] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050058.335190869] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050058.336743297] [sailbot.teensy]: Wind angle: 260 +[trim_sail-4] [INFO] [1746050058.337230454] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050058.337619981] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050058.338469696] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050058.338900118] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050058.339334564] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050058.344373025] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050058.345030950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050058.345500679] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050058.346800982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050058.347850949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050058.444884307] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050058.445397567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050058.446032937] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050058.447141818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050058.448197064] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050058.503068919] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906939 Long: -76.50276841 +[vectornav-1] [INFO] [1746050058.504658781] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (268.50299999999993, -2.306, 5.969) +[mux-7] [INFO] [1746050058.545294500] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050058.546022406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050058.547080820] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050058.548105589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050058.549404100] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050058.585034539] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050058.586639748] [sailbot.teensy]: Wind angle: 260 +[trim_sail-4] [INFO] [1746050058.587058852] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050058.587519026] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050058.588382566] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050058.588737285] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050058.589270520] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050058.645044949] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050058.645673217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050058.646418392] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050058.647726316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050058.648210579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050058.745577088] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050058.746371149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050058.747151879] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050058.748237189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050058.748720927] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050058.835557290] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050058.838515553] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050058.838662842] [sailbot.teensy]: Wind angle: 260 +[mux-7] [INFO] [1746050058.839508089] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050058.839607274] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050058.840564088] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050058.841466885] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050058.844403016] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050058.845283946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050058.845523547] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050058.847013507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050058.848228374] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050058.944953022] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050058.945476158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050058.946250920] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050058.947287202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050058.948491023] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050059.003683149] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906922 Long: -76.50276803 +[vectornav-1] [INFO] [1746050059.005192600] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (267.98, -2.276, 8.231) +[mux-7] [INFO] [1746050059.045311795] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050059.045886486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050059.046624380] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050059.047713980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050059.049222626] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050059.085589089] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050059.087954462] [sailbot.teensy]: Wind angle: 260 +[trim_sail-4] [INFO] [1746050059.088205258] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050059.089336394] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050059.090714913] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050059.091617004] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050059.091783167] [sailbot.mux]: algo sail angle: 25 +[mux-7] [INFO] [1746050059.145175307] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050059.145705543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050059.147030440] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050059.147601905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050059.148712204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050059.245222486] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050059.245797279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050059.247003396] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050059.247656360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050059.248773125] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050059.335499110] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050059.337488306] [sailbot.teensy]: Wind angle: 260 +[trim_sail-4] [INFO] [1746050059.338157052] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050059.338486378] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050059.339372968] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050059.339895166] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050059.340246698] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050059.344340242] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050059.344829130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050059.345418818] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050059.346530320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050059.347688396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050059.445269121] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050059.445907089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050059.446918822] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050059.448085997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050059.448781216] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050059.503009763] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906885 Long: -76.50276782 +[vectornav-1] [INFO] [1746050059.504532723] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (267.615, -2.164, 7.903) +[mux-7] [INFO] [1746050059.545009276] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050059.545752480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050059.546248317] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050059.547642107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050059.548694079] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050059.585150536] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050059.587364837] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050059.587654145] [sailbot.teensy]: Wind angle: 261 +[teensy-2] [INFO] [1746050059.588650117] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050059.589010173] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050059.589582632] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050059.590464347] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050059.645415389] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050059.645958831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050059.647081683] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050059.648057682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050059.649652257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050059.745195411] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050059.745801020] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050059.746669888] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050059.748058962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050059.749342230] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050059.835278510] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050059.836973461] [sailbot.teensy]: Wind angle: 260 +[teensy-2] [INFO] [1746050059.837910298] [sailbot.teensy]: Actual sail angle: 31 +[trim_sail-4] [INFO] [1746050059.838123815] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050059.838806117] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050059.839228583] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050059.839719432] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050059.844428567] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050059.844848969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050059.845615452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050059.846538955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050059.847591479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050059.945299587] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050059.945888516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050059.946886162] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050059.948085404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050059.949164347] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050060.002822256] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906847 Long: -76.50276772 +[vectornav-1] [INFO] [1746050060.004025384] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (267.77099999999996, -2.294, 6.417) +[mux-7] [INFO] [1746050060.045094124] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050060.045761357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050060.046440293] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050060.047570643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050060.048593909] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050060.085128629] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050060.087453648] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050060.088343600] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050060.088886443] [sailbot.teensy]: Wind angle: 260 +[teensy-2] [INFO] [1746050060.090300118] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050060.091165997] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050060.092012026] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050060.145084571] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050060.145834072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050060.146576339] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050060.147914162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050060.148961225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050060.245074312] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050060.245968747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050060.246766563] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050060.247908385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050060.249116731] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050060.335317640] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050060.337357662] [sailbot.teensy]: Wind angle: 260 +[trim_sail-4] [INFO] [1746050060.337659681] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050060.338331339] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050060.339094955] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050060.339215931] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050060.340113519] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050060.344564572] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050060.344984372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050060.345823751] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050060.346653910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050060.347804469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050060.445525770] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050060.446127378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050060.447178791] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050060.448406674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050060.449648945] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050060.504362778] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906795 Long: -76.50276743 +[vectornav-1] [INFO] [1746050060.505822678] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (265.706, -3.122, 7.25) +[mux-7] [INFO] [1746050060.545171934] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050060.545953851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050060.546619108] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050060.547878664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050060.548915754] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050060.585543311] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050060.588111257] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050060.588346281] [sailbot.teensy]: Wind angle: 260 +[mux-7] [INFO] [1746050060.589242129] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050060.589273543] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050060.590182413] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050060.591048348] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050060.645236021] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050060.646071671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050060.646713050] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050060.648312382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050060.649451487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050060.745262118] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050060.746004353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050060.746767373] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050060.748194836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050060.749326209] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050060.835274893] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050060.837588056] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050060.837992697] [sailbot.teensy]: Wind angle: 257 +[teensy-2] [INFO] [1746050060.839039993] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050060.839175080] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050060.839952086] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050060.840836908] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050060.844403258] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050060.844990349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050060.845579773] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050060.846712654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050060.847842839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050060.945378914] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050060.945911783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050060.947057760] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050060.947995695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050060.949132568] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050061.003657574] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690664 Long: -76.50276577 +[vectornav-1] [INFO] [1746050061.005131658] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (253.274, -4.771, 7.741) +[mux-7] [INFO] [1746050061.045214716] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050061.045854065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050061.046676925] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050061.048249781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050061.049406663] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050061.085337852] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050061.087568539] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050061.087819763] [sailbot.teensy]: Wind angle: 252 +[teensy-2] [INFO] [1746050061.088783936] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050061.089247208] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050061.089723420] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050061.090655349] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050061.145153804] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050061.145937763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050061.146984867] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050061.147869799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050061.149074645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050061.245192551] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050061.246019807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050061.246702768] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050061.247921638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050061.249016900] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050061.335219387] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050061.336959378] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050061.337639734] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050061.337898049] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050061.338753940] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050061.338781806] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050061.339724162] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050061.344457022] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050061.345062132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050061.345580363] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050061.346799750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050061.347973277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050061.444994156] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050061.445923981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050061.447030805] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050061.448336561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050061.449536634] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050061.503203461] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906377 Long: -76.50276452 +[vectornav-1] [INFO] [1746050061.505111086] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (241.279, -6.469, 6.602) +[mux-7] [INFO] [1746050061.545142824] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050061.546070052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050061.546533562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050061.548174637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050061.549189160] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050061.585429770] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050061.588179537] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050061.588682985] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050061.588856034] [sailbot.teensy]: Wind angle: 254 +[teensy-2] [INFO] [1746050061.589845776] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050061.591023762] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050061.591922462] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050061.645195727] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050061.646045923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050061.646961390] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050061.648179755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050061.649410509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050061.745054664] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050061.745955459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050061.746783942] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050061.748405641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050061.749443397] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050061.835223054] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050061.837617712] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050061.838030279] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050061.838430604] [sailbot.teensy]: Wind angle: 252 +[teensy-2] [INFO] [1746050061.839415865] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050061.840265684] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050061.841097806] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050061.844442024] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050061.844952575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050061.845737782] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050061.846809701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050061.847931011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050061.945162417] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050061.945836660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050061.946625832] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050061.947721651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050061.948228211] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050062.003366160] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906051 Long: -76.50276369 +[vectornav-1] [INFO] [1746050062.005138869] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (232.827, -4.889, 7.029) +[mux-7] [INFO] [1746050062.045255007] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050062.046021479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050062.046922700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050062.048213479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050062.049256743] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050062.085299485] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050062.087475024] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050062.087722083] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050062.088386949] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050062.088860939] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050062.089323018] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050062.090255437] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050062.145072036] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050062.145755354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050062.146745122] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050062.147596280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050062.148789738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050062.245187556] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050062.245796296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050062.247101915] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050062.247788042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050062.248851440] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050062.335179833] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050062.336876157] [sailbot.teensy]: Wind angle: 253 +[trim_sail-4] [INFO] [1746050062.337576851] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050062.337797442] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050062.338647640] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050062.339419614] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050062.339551617] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050062.344486181] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050062.345048096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050062.345594448] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050062.346812436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050062.347806327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050062.445344629] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050062.446086591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050062.446935101] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050062.448371877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050062.448889849] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050062.502726162] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905779 Long: -76.50276279 +[vectornav-1] [INFO] [1746050062.503881271] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (225.55099999999993, -1.341, 10.68) +[mux-7] [INFO] [1746050062.545251893] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050062.546231685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050062.546644546] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050062.548452992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050062.549471195] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050062.585194116] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050062.587363558] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050062.588061787] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050062.588443311] [sailbot.teensy]: Wind angle: 253 +[teensy-2] [INFO] [1746050062.589400895] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050062.590253495] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050062.591121103] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050062.645144164] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050062.645877123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050062.646690511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050062.648589905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050062.649613599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050062.745326098] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050062.746081954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050062.746816932] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050062.748698256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050062.749861764] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050062.835535716] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050062.838257985] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050062.838733845] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050062.839278096] [sailbot.teensy]: Wind angle: 253 +[teensy-2] [INFO] [1746050062.840511812] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050062.841447241] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050062.842264442] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050062.844342833] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050062.844932989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050062.845529712] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050062.846715302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050062.847765296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050062.945279471] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050062.946024243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050062.946794784] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050062.948249456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050062.949495481] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050063.003510287] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905518 Long: -76.50276206 +[vectornav-1] [INFO] [1746050063.004966078] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (219.85699999999997, -0.806, 9.172) +[mux-7] [INFO] [1746050063.045214731] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050063.046154970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050063.046752641] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050063.048676523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050063.049861519] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050063.085431573] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050063.088006067] [sailbot.teensy]: Wind angle: 254 +[trim_sail-4] [INFO] [1746050063.088030741] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050063.088805056] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050063.088992158] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050063.089899609] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050063.090794523] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050063.145144977] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050063.145841686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050063.146549189] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050063.147858407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050063.148920846] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050063.245050227] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050063.245749303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050063.246985115] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050063.247930144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050063.248774298] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050063.335168681] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050063.337263399] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050063.337525818] [sailbot.teensy]: Wind angle: 253 +[mux-7] [INFO] [1746050063.337764646] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050063.338544317] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050063.339353812] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050063.339743765] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050063.344449696] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050063.344983194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050063.345572184] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050063.346793567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050063.347781188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050063.445044907] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050063.445758097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050063.446474643] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050063.447963043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050063.449011099] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050063.502661968] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690529 Long: -76.50276128 +[vectornav-1] [INFO] [1746050063.504392342] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (214.95000000000005, 0.314, 11.293) +[mux-7] [INFO] [1746050063.545520508] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050063.546604370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050063.547698095] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050063.548862976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050063.549995076] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050063.585291065] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050063.587044260] [sailbot.teensy]: Wind angle: 253 +[trim_sail-4] [INFO] [1746050063.587821940] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050063.588055891] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050063.589049445] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050063.589595399] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050063.590006591] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050063.644901742] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050063.645764737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050063.646174944] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050063.647652192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050063.648675647] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050063.745663310] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050063.746446726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050063.747233344] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050063.748696894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050063.749901405] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050063.835152223] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050063.837276216] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050063.837835489] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050063.838366445] [sailbot.teensy]: Wind angle: 256 +[teensy-2] [INFO] [1746050063.839035979] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050063.839467523] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050063.839815688] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050063.844385342] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050063.845099575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050063.845557773] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050063.846870076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050063.847917916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050063.945180771] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050063.946029736] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050063.946683940] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050063.948565846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050063.949089959] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050064.003479769] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905206 Long: -76.50275993 +[vectornav-1] [INFO] [1746050064.005263828] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (211.49800000000005, -0.087, 12.975) +[mux-7] [INFO] [1746050064.044727252] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050064.045459007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050064.045898352] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050064.047550915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050064.048688481] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050064.085527545] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050064.087443244] [sailbot.teensy]: Wind angle: 258 +[teensy-2] [INFO] [1746050064.088414690] [sailbot.teensy]: Actual sail angle: 31 +[trim_sail-4] [INFO] [1746050064.088006777] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050064.089337895] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050064.089773354] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050064.090183954] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050064.144976112] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050064.146418282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050064.146515854] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050064.148318989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050064.149435238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050064.245166362] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050064.246099300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050064.246597114] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050064.248121402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050064.249292864] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050064.335171536] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050064.336766411] [sailbot.teensy]: Wind angle: 263 +[trim_sail-4] [INFO] [1746050064.337264847] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050064.337624614] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050064.338522778] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050064.338728228] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050064.339519463] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050064.344481389] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050064.345100690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050064.345906665] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050064.346835466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050064.347977455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050064.444928772] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050064.445639402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050064.446191377] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050064.447788952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050064.448829036] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050064.503143236] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905124 Long: -76.5027596 +[vectornav-1] [INFO] [1746050064.504641527] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (208.94100000000003, 4.234, 10.56) +[mux-7] [INFO] [1746050064.545271819] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050064.546119053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050064.546779080] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050064.548680728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050064.549672258] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050064.585263510] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050064.587025177] [sailbot.teensy]: Wind angle: 266 +[teensy-2] [INFO] [1746050064.588129491] [sailbot.teensy]: Actual sail angle: 31 +[trim_sail-4] [INFO] [1746050064.588032591] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050064.589080877] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050064.589899413] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050064.589969808] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050064.645232593] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050064.646349083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050064.646833907] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050064.648827190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050064.649987074] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050064.744945866] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050064.746020564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050064.746232414] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050064.747991046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050064.749089773] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050064.835316976] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050064.837741990] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050064.838385699] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050064.838386217] [sailbot.teensy]: Wind angle: 264 +[teensy-2] [INFO] [1746050064.839342570] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050064.840253890] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050064.840856300] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050064.844413098] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050064.844837444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050064.845496032] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050064.846520315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050064.847657759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050064.945089045] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050064.945782889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050064.946638474] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050064.947950494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050064.949139894] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050065.003040589] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905089 Long: -76.502759 +[vectornav-1] [INFO] [1746050065.004754893] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (209.04499999999996, 4.559, 9.7) +[mux-7] [INFO] [1746050065.045267324] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050065.046071321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050065.046850826] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050065.048412942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050065.049510743] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050065.085132638] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050065.086745752] [sailbot.teensy]: Wind angle: 265 +[trim_sail-4] [INFO] [1746050065.087222265] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050065.088861174] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050065.089235240] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050065.089818820] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050065.090814516] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050065.144893407] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050065.145655988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050065.146132284] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050065.147562043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050065.148572216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050065.244980633] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050065.245757443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050065.246247516] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050065.247690319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050065.248746209] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050065.335160669] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050065.337581035] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050065.338142949] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050065.339047082] [sailbot.teensy]: Wind angle: 266 +[teensy-2] [INFO] [1746050065.339989808] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050065.340593855] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050065.340949833] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050065.344542808] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050065.344978431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050065.345717819] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050065.346809558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050065.347925411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050065.445030786] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050065.445805347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050065.446696038] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050065.447843707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050065.449061922] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050065.503782437] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905059 Long: -76.50275803 +[vectornav-1] [INFO] [1746050065.505300801] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (210.683, 3.112, 7.092) +[mux-7] [INFO] [1746050065.544870055] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050065.545508882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050065.546014220] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050065.547423405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050065.548508371] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050065.585487786] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050065.587393196] [sailbot.teensy]: Wind angle: 267 +[teensy-2] [INFO] [1746050065.588464277] [sailbot.teensy]: Actual sail angle: 31 +[trim_sail-4] [INFO] [1746050065.588296563] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050065.589218371] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050065.589379816] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050065.590292788] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050065.645041999] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050065.645876286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050065.646390580] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050065.647762072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050065.648860571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050065.744756933] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050065.745294492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050065.746131716] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050065.747153558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050065.748184967] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050065.835465570] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050065.837368794] [sailbot.teensy]: Wind angle: 267 +[trim_sail-4] [INFO] [1746050065.837922748] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050065.839194575] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050065.839654157] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050065.840176275] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050065.840928916] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050065.844397983] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050065.845102494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050065.845707356] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050065.846856862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050065.847865456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050065.945326862] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050065.946074003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050065.946843367] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050065.947714261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050065.948279214] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050066.002808893] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905015 Long: -76.50275755 +[vectornav-1] [INFO] [1746050066.004244210] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (210.89800000000002, 1.648, 4.522) +[mux-7] [INFO] [1746050066.044813754] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050066.045634634] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050066.047443670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[mux-7] [INFO] [1746050066.045988806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050066.048530153] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050066.085191812] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050066.087334533] [sailbot.teensy]: Wind angle: 267 +[trim_sail-4] [INFO] [1746050066.087350857] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050066.087823128] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050066.088301879] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050066.089179113] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050066.090029813] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050066.144820479] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050066.145524622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050066.146079296] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050066.147287267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050066.148262563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050066.245167373] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050066.245778743] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050066.246703039] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050066.248019125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050066.249170857] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050066.335201789] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050066.337137364] [sailbot.teensy]: Wind angle: 267 +[teensy-2] [INFO] [1746050066.338082351] [sailbot.teensy]: Actual sail angle: 31 +[trim_sail-4] [INFO] [1746050066.337745497] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050066.338919097] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050066.338967558] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050066.339841405] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050066.344357078] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050066.344893051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050066.346009638] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050066.346660126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050066.347834657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050066.445319929] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050066.446035332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050066.446885774] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050066.448178642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050066.449411091] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050066.503479369] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904971 Long: -76.50275781 +[vectornav-1] [INFO] [1746050066.504991099] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (210.79399999999998, 0.44, 3.189) +[mux-7] [INFO] [1746050066.544960315] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050066.545902948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050066.546289750] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050066.547649747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050066.548110710] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050066.585483007] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050066.587788954] [sailbot.teensy]: Wind angle: 267 +[teensy-2] [INFO] [1746050066.588835800] [sailbot.teensy]: Actual sail angle: 31 +[trim_sail-4] [INFO] [1746050066.588228713] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050066.589725906] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050066.589937585] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050066.590590455] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050066.644960158] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050066.645986207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050066.646855953] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050066.648635636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050066.649691815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050066.745127069] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050066.745872135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050066.746575435] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050066.747985174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050066.748459062] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050066.835144604] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050066.837886101] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050066.838195588] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050066.838905654] [sailbot.teensy]: Wind angle: 266 +[teensy-2] [INFO] [1746050066.839847157] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050066.840805752] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050066.841230899] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050066.844520925] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050066.844965846] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050066.845633964] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050066.846652264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050066.847718170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050066.944943416] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050066.946003083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050066.946246679] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050066.947821780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050066.948949606] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050067.002786845] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904907 Long: -76.50275845 +[vectornav-1] [INFO] [1746050067.004516839] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (206.85000000000002, 1.493, -5.006) +[mux-7] [INFO] [1746050067.045016305] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050067.045871992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050067.046295168] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050067.047836680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050067.049122032] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050067.085274765] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050067.087058542] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746050067.087718175] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050067.088033890] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050067.088844522] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050067.088974544] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050067.089842909] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050067.145145739] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050067.145765873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050067.146863262] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050067.147803800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050067.148861260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050067.244859445] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050067.245393446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050067.246019841] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050067.246512876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050067.247036293] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050067.335070515] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050067.336793362] [sailbot.teensy]: Wind angle: 270 +[trim_sail-4] [INFO] [1746050067.337275232] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050067.337751498] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050067.338884296] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050067.338966484] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050067.339872934] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050067.344386884] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050067.345085875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050067.345752230] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050067.346789951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050067.347941893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050067.445266453] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050067.446120681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050067.446814894] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050067.448314473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050067.449176781] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050067.503520472] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904885 Long: -76.50275845 +[vectornav-1] [INFO] [1746050067.505293650] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (201.447, -1.709, -8.874) +[mux-7] [INFO] [1746050067.544999274] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050067.545877083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050067.546284428] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050067.547923994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050067.549083998] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050067.585389022] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050067.587682090] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050067.588213852] [sailbot.teensy]: Wind angle: 269 +[mux-7] [INFO] [1746050067.588995232] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050067.589878736] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050067.590786729] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050067.591656521] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050067.645038825] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050067.645941725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050067.646702442] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050067.648125890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050067.649129478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050067.745533011] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050067.746250609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050067.747199556] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050067.748330295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050067.748821544] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050067.835189712] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050067.836955695] [sailbot.teensy]: Wind angle: 272 +[trim_sail-4] [INFO] [1746050067.837622667] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050067.838794259] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050067.839871845] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050067.840809980] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050067.841657539] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050067.844359205] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050067.845145889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050067.845503678] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050067.846959980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050067.848026149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050067.945230135] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050067.945956362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050067.946828691] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050067.948280815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050067.949452928] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050068.002931353] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904806 Long: -76.50275843 +[vectornav-1] [INFO] [1746050068.004099247] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (198.341, -2.007, -13.585) +[mux-7] [INFO] [1746050068.045144487] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050068.045825092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050068.046568257] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050068.047914191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050068.049079972] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050068.085533857] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050068.087920590] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050068.088225211] [sailbot.teensy]: Wind angle: 273 +[teensy-2] [INFO] [1746050068.089279307] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050068.089391321] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050068.090233294] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050068.091242686] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050068.145179947] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050068.146021777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050068.146888638] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050068.148408595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050068.149582094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050068.245144885] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050068.246069488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050068.246574790] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050068.248055214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050068.249070346] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050068.335259233] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050068.337538452] [sailbot.teensy]: Wind angle: 275 +[teensy-2] [INFO] [1746050068.338356828] [sailbot.teensy]: Actual sail angle: 31 +[trim_sail-4] [INFO] [1746050068.338126896] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050068.338662496] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050068.338739381] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050068.339106510] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050068.344428102] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050068.345452798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050068.345711750] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050068.347225962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050068.348288256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050068.445005887] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050068.445709359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050068.446327654] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050068.447782754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050068.448792560] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050068.502643644] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690479 Long: -76.50275866 +[vectornav-1] [INFO] [1746050068.503783633] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.14800000000002, 0.104, -17.908) +[mux-7] [INFO] [1746050068.544954401] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050068.545669857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050068.546289322] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050068.547544350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050068.548569262] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050068.585078957] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050068.586737959] [sailbot.teensy]: Wind angle: 275 +[trim_sail-4] [INFO] [1746050068.587283136] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050068.587712279] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050068.588636536] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050068.588681169] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050068.589526671] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050068.645116004] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050068.645764402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050068.646694329] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050068.647795297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050068.648924165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050068.745109670] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050068.745967971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050068.746583988] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050068.748224902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050068.749368020] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050068.835144901] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050068.837139327] [sailbot.teensy]: Wind angle: 275 +[trim_sail-4] [INFO] [1746050068.837625849] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050068.838779747] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050068.838820694] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050068.839237030] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050068.839848739] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050068.844401141] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050068.845212803] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050068.845623590] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050068.847008164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050068.848081483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050068.945468616] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050068.946576117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050068.947115908] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050068.949015355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050068.950310167] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050069.003432432] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904787 Long: -76.50275842 +[vectornav-1] [INFO] [1746050069.005140504] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.17899999999997, 1.765, -15.191) +[mux-7] [INFO] [1746050069.045407921] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050069.046166842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050069.046874608] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050069.048513043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050069.049567030] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050069.085361768] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050069.087766537] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050069.087874653] [sailbot.teensy]: Wind angle: 276 +[teensy-2] [INFO] [1746050069.088813671] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050069.089661838] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050069.089679892] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050069.090621597] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050069.145303068] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050069.146235346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050069.146872635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050069.147973813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050069.148487754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050069.245198200] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050069.245926904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050069.246694238] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050069.247695857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050069.248185831] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050069.335377327] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050069.337271807] [sailbot.teensy]: Wind angle: 276 +[teensy-2] [INFO] [1746050069.338284897] [sailbot.teensy]: Actual sail angle: 31 +[trim_sail-4] [INFO] [1746050069.337947369] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050069.339202405] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050069.340063315] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050069.340382862] [sailbot.mux]: algo sail angle: 35 +[mux-7] [INFO] [1746050069.344413568] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050069.345015991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050069.345671113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050069.346800816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050069.347989921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050069.445488016] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050069.446108519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050069.447122525] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050069.448386365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050069.449490271] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050069.502812086] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904742 Long: -76.50275845 +[vectornav-1] [INFO] [1746050069.504038015] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.95900000000006, 1.813, -8.66) +[mux-7] [INFO] [1746050069.545119769] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050069.545724842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050069.546498148] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050069.547840845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050069.548923746] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050069.585259680] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050069.586894137] [sailbot.teensy]: Wind angle: 276 +[trim_sail-4] [INFO] [1746050069.587566722] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050069.587824670] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050069.588768528] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050069.589175230] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050069.589645190] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050069.645032210] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050069.645781121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050069.646500973] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050069.647841389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050069.649019788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050069.744701803] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050069.745334715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050069.745943950] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050069.747165667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050069.748275204] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050069.835266933] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050069.836930599] [sailbot.teensy]: Wind angle: 275 +[trim_sail-4] [INFO] [1746050069.837690835] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050069.837857895] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050069.838736070] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050069.838827826] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050069.839607315] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050069.844485430] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050069.845200907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050069.845745662] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050069.847058559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050069.848135766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050069.945370649] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050069.946030711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050069.946934484] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050069.948215571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050069.949328413] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050070.002859614] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904726 Long: -76.50275849 +[vectornav-1] [INFO] [1746050070.004112630] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.22000000000003, 2.092, -0.106) +[mux-7] [INFO] [1746050070.044865099] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050070.045702376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050070.046069885] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050070.047579032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050070.048594181] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050070.085178433] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050070.087115595] [sailbot.teensy]: Wind angle: 275 +[trim_sail-4] [INFO] [1746050070.087905520] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050070.088087922] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050070.088800479] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050070.089013952] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050070.089946836] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050070.145512962] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050070.146286622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050070.147171823] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050070.147996242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050070.148477910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050070.245292219] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050070.246088950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050070.246850900] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050070.248410015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050070.249494448] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050070.335370743] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050070.337199615] [sailbot.teensy]: Wind angle: 275 +[trim_sail-4] [INFO] [1746050070.338354907] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050070.338976533] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050070.339038196] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050070.339438250] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050070.339793090] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050070.344587080] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050070.345150096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050070.345826700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050070.347035886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050070.348234416] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050070.445532414] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050070.446288150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050070.447166385] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050070.449010708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050070.450132778] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050070.503247969] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904734 Long: -76.50275854 +[vectornav-1] [INFO] [1746050070.504501250] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.70100000000002, 0.683, -0.384) +[mux-7] [INFO] [1746050070.545020867] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050070.545642063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050070.546313753] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050070.547609762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050070.548763397] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050070.585400093] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050070.588077182] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050070.588556467] [sailbot.teensy]: Wind angle: 275 +[mux-7] [INFO] [1746050070.589480286] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050070.589509539] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050070.590412936] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050070.591243408] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050070.645255201] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050070.646078662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050070.646881700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050070.648606819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050070.649710687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050070.745280618] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050070.746293651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050070.746831428] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050070.748574308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050070.749746838] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050070.835346591] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050070.837440501] [sailbot.teensy]: Wind angle: 275 +[trim_sail-4] [INFO] [1746050070.837708446] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050070.838143082] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050070.838431179] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050070.839401415] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050070.840295724] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050070.844400149] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050070.845075315] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050070.846127511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050070.846849158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050070.848047466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050070.944960564] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050070.945656533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050070.946358348] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050070.947763163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050070.948850168] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050071.003001231] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904711 Long: -76.50275792 +[vectornav-1] [INFO] [1746050071.004587322] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.91599999999994, -0.039, 0.707) +[mux-7] [INFO] [1746050071.044841216] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050071.045600480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050071.046054127] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050071.047458848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050071.048501365] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050071.085467523] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050071.087482501] [sailbot.teensy]: Wind angle: 275 +[trim_sail-4] [INFO] [1746050071.087898730] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050071.088619824] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050071.089592022] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050071.090075857] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050071.090524864] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050071.144888639] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050071.145486134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050071.146114232] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050071.147256512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050071.148522390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050071.245392862] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050071.246117767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050071.246969355] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050071.248433362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050071.249550286] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050071.335391676] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050071.338210773] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050071.338787638] [sailbot.teensy]: Wind angle: 275 +[mux-7] [INFO] [1746050071.339318461] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050071.339471096] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050071.340033991] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050071.340408585] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050071.344637597] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050071.345303448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050071.345948827] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050071.347291289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050071.348403750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050071.445222128] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050071.445892097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050071.446789366] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050071.447927252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050071.449132791] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050071.502761416] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904688 Long: -76.50275785 +[vectornav-1] [INFO] [1746050071.503861067] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.639, 0.263, 4.308) +[mux-7] [INFO] [1746050071.544890975] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050071.545949666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050071.546461294] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050071.547759271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050071.548927251] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050071.585152584] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050071.587297607] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050071.587481915] [sailbot.teensy]: Wind angle: 275 +[mux-7] [INFO] [1746050071.588098801] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050071.588485032] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050071.589407299] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050071.590264581] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050071.645306131] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050071.646060065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050071.646966396] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050071.648426385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050071.649248106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050071.745726098] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050071.746278356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050071.747646506] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050071.748699021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050071.749891616] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050071.835237548] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050071.837537129] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050071.838604611] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050071.838847381] [sailbot.teensy]: Wind angle: 275 +[teensy-2] [INFO] [1746050071.840034479] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050071.840912889] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050071.841729210] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050071.844455374] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050071.844917035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050071.845663322] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050071.846664513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050071.847713371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050071.945301355] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050071.946303079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050071.947113959] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050071.948169163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050071.948679728] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050072.003305561] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904687 Long: -76.50275785 +[vectornav-1] [INFO] [1746050072.004951087] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.73000000000002, -1.304, 3.891) +[mux-7] [INFO] [1746050072.045187596] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050072.045778324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050072.046570129] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050072.047633877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050072.048787076] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050072.085343885] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050072.087190664] [sailbot.teensy]: Wind angle: 275 +[trim_sail-4] [INFO] [1746050072.087601823] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050072.088144244] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050072.089076965] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050072.089657390] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050072.089941484] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050072.145375930] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050072.145880898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050072.146994075] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050072.148272614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050072.149369841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050072.245304368] [sailbot.mux]: Published sail angle from controller_app: 31 +[mux-7] [INFO] [1746050072.246775198] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050072.248461342] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050072.250128521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050072.251132877] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050072.335102199] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050072.337382360] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050072.337482528] [sailbot.teensy]: Wind angle: 275 +[teensy-2] [INFO] [1746050072.338452816] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050072.339243749] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050072.339602234] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050072.340746089] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050072.344301857] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050072.344738190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050072.345404592] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050072.346453556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050072.347686259] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050072.445459032] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050072.446362007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050072.447251173] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050072.448325034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050072.448885523] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050072.503632954] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904658 Long: -76.50275824 +[vectornav-1] [INFO] [1746050072.505707550] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.235, 0.014, 3.618) +[mux-7] [INFO] [1746050072.545020844] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050072.545759465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050072.546576800] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050072.547771002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050072.548946995] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050072.585440874] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050072.587896014] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050072.588854572] [sailbot.teensy]: Wind angle: 275 +[mux-7] [INFO] [1746050072.588972117] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050072.589816449] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050072.590746185] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050072.591637491] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050072.643694579] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050072.644032307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050072.644201520] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050072.644859361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050072.645359217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050072.745168944] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050072.745968561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050072.746736871] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050072.748316070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050072.748843620] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050072.835147437] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050072.837504201] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050072.838465920] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050072.838578098] [sailbot.teensy]: Wind angle: 275 +[teensy-2] [INFO] [1746050072.839753033] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050072.840638762] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050072.841483006] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050072.844333554] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050072.844865653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050072.845788854] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050072.846564994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050072.847592906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050072.945480270] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050072.946337106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050072.947570002] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050072.948515026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050072.949018889] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050073.002762074] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904627 Long: -76.50275832 +[vectornav-1] [INFO] [1746050073.004203611] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.173, 0.453, 3.979) +[mux-7] [INFO] [1746050073.044687344] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050073.045536613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050073.046212110] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050073.047431599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050073.048447947] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050073.085209461] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050073.087023542] [sailbot.teensy]: Wind angle: 275 +[trim_sail-4] [INFO] [1746050073.087577534] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050073.088011302] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050073.088842613] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050073.088972097] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050073.089921729] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050073.144697026] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050073.145433359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050073.145910127] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050073.147203778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050073.148201264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050073.245328197] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050073.246203641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050073.246881766] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050073.248410021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050073.249702322] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050073.335174217] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050073.337347583] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050073.337723577] [sailbot.teensy]: Wind angle: 275 +[teensy-2] [INFO] [1746050073.338717125] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050073.339270171] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050073.339470731] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050073.339845180] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050073.344446077] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050073.345114062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050073.345542193] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050073.346804883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050073.348012534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050073.445445012] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050073.446471714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050073.447116564] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050073.449217591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050073.450320798] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050073.503668732] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904631 Long: -76.50275842 +[vectornav-1] [INFO] [1746050073.505397700] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.48800000000006, -0.987, 3.919) +[mux-7] [INFO] [1746050073.545268890] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050073.546065538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050073.547079573] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050073.548136380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050073.549179568] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050073.585434205] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050073.587526532] [sailbot.teensy]: Wind angle: 275 +[trim_sail-4] [INFO] [1746050073.588128876] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050073.588566611] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050073.589528705] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050073.589744930] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050073.590423399] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050073.645165541] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050073.645817943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050073.646727031] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050073.648266969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050073.649322468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050073.744946443] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050073.745651489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050073.746268641] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050073.747939118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050073.748964835] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050073.835313408] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050073.837121267] [sailbot.teensy]: Wind angle: 275 +[teensy-2] [INFO] [1746050073.838075120] [sailbot.teensy]: Actual sail angle: 31 +[trim_sail-4] [INFO] [1746050073.837723570] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050073.838352505] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050073.838997218] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050073.839907240] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050073.844391244] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050073.844932608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050073.845823774] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050073.846700957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050073.847765837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050073.945463477] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050073.946433682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050073.947024602] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050073.948798855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050073.949978778] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050074.003916788] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904604 Long: -76.50275856 +[vectornav-1] [INFO] [1746050074.005889385] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.644, 0.277, 3.415) +[mux-7] [INFO] [1746050074.045174453] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050074.045975879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050074.046626707] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050074.048085672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050074.049300448] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050074.085390611] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050074.087529386] [sailbot.teensy]: Wind angle: 275 +[trim_sail-4] [INFO] [1746050074.087718295] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050074.088531462] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050074.088940710] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050074.089472740] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050074.090373513] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050074.145211797] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050074.146089624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050074.147306363] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050074.148527618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050074.149719615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050074.245327865] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050074.246107674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050074.247309549] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050074.248713645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050074.249762186] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050074.335121120] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050074.336847098] [sailbot.teensy]: Wind angle: 275 +[trim_sail-4] [INFO] [1746050074.337307514] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050074.337815794] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050074.338734702] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050074.338788771] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050074.339673627] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050074.344485216] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050074.345047763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050074.345723097] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050074.346734407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050074.347784836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050074.444962397] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050074.445663301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050074.446299551] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050074.447883670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050074.449021206] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050074.502754318] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904595 Long: -76.50275846 +[vectornav-1] [INFO] [1746050074.503860546] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.87099999999998, 0.024, 4.638) +[mux-7] [INFO] [1746050074.544921969] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050074.545628325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050074.546265555] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050074.547565630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050074.548731019] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050074.585178251] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050074.586964001] [sailbot.teensy]: Wind angle: 275 +[trim_sail-4] [INFO] [1746050074.588059220] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050074.588947286] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050074.589090409] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050074.589881012] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050074.590728365] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050074.645171839] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050074.645841281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050074.646618854] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050074.648357936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050074.649380243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050074.745599265] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050074.746519146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050074.747255632] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050074.748562811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050074.749056104] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050074.835173122] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050074.837480366] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050074.837886403] [sailbot.teensy]: Wind angle: 275 +[mux-7] [INFO] [1746050074.838140952] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050074.839167308] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050074.840035549] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050074.840913552] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050074.844567700] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050074.845265645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050074.845736757] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050074.846963975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050074.848116513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050074.945652344] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050074.946539830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050074.947426005] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050074.948469632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050074.948974569] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050075.002673526] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904553 Long: -76.5027584 +[vectornav-1] [INFO] [1746050075.003996953] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.97199999999998, -1.133, 4.881) +[mux-7] [INFO] [1746050075.044931265] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050075.045827845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050075.046236371] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050075.047724091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050075.048738292] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050075.085020041] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050075.086417808] [sailbot.teensy]: Wind angle: 275 +[trim_sail-4] [INFO] [1746050075.086930185] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050075.087272584] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050075.088211527] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050075.089099503] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050075.088459401] [sailbot.mux]: algo sail angle: 35 +[mux-7] [INFO] [1746050075.144972148] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050075.145579726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050075.146186589] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050075.147432160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050075.148473274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050075.244796375] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050075.245552369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050075.246295876] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050075.247496180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050075.248562920] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050075.335252324] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050075.337057328] [sailbot.teensy]: Wind angle: 275 +[trim_sail-4] [INFO] [1746050075.337816743] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050075.338002822] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050075.338905039] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050075.339063853] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050075.339785465] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050075.344305488] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050075.344764608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050075.345379631] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050075.346446818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050075.347485150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050075.445599665] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050075.446267694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050075.447256502] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050075.448623273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050075.449943871] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050075.503942337] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904536 Long: -76.50275837 +[vectornav-1] [INFO] [1746050075.505526425] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.43600000000004, 0.12, 4.55) +[mux-7] [INFO] [1746050075.544938909] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050075.545623850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050075.546282514] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050075.547538603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050075.548726618] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050075.585380309] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050075.587892003] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050075.588123826] [sailbot.teensy]: Wind angle: 275 +[mux-7] [INFO] [1746050075.588615987] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050075.588625466] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050075.589022647] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050075.589425304] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050075.644894835] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050075.645489740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050075.646315370] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050075.647479070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050075.648755170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050075.745573019] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050075.746390037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050075.747324876] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050075.748618265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050075.749881818] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050075.835263004] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050075.837547954] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050075.838321800] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050075.838884259] [sailbot.teensy]: Wind angle: 275 +[teensy-2] [INFO] [1746050075.839868434] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050075.840773558] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050075.841605280] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050075.844397985] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050075.844840519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050075.845891305] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050075.846548928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050075.847776490] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050075.945201257] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050075.945622167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050075.946705065] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050075.947684780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050075.948819333] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050076.002737924] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904504 Long: -76.5027584 +[vectornav-1] [INFO] [1746050076.003859732] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.22500000000002, -0.36, 5.309) +[mux-7] [INFO] [1746050076.045262011] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050076.046181323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050076.046870136] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050076.048348987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050076.049523067] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050076.085026091] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050076.086912007] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050076.087647563] [sailbot.teensy]: Wind angle: 275 +[mux-7] [INFO] [1746050076.088099617] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050076.088577636] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050076.089450413] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050076.090408365] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050076.144701633] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050076.145376135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050076.145959243] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050076.147237341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050076.148351436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050076.245341726] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050076.246311358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050076.246892075] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050076.248987675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050076.250074530] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050076.335264240] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050076.337092633] [sailbot.teensy]: Wind angle: 275 +[trim_sail-4] [INFO] [1746050076.337464799] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050076.338431013] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050076.339597878] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050076.338697893] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050076.340435531] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050076.344545973] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050076.344984090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050076.345688678] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050076.346687547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050076.347866405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050076.445417276] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050076.446056513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050076.447243241] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050076.448333781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050076.449434927] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050076.503432425] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904491 Long: -76.50275837 +[vectornav-1] [INFO] [1746050076.504885919] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.04399999999998, -0.805, 5.07) +[mux-7] [INFO] [1746050076.545010553] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050076.545496484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050076.546318136] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050076.547573150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050076.548607763] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050076.585359675] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050076.587925670] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050076.588254846] [sailbot.teensy]: Wind angle: 275 +[mux-7] [INFO] [1746050076.588606791] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050076.589263598] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050076.590156263] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050076.591008197] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050076.645473190] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050076.646575745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050076.647124980] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050076.649352427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050076.650618285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050076.745350980] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050076.746105458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050076.746907393] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050076.748369382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050076.749630055] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050076.835199090] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050076.836977734] [sailbot.teensy]: Wind angle: 275 +[trim_sail-4] [INFO] [1746050076.837343360] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050076.837860892] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050076.838625157] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050076.838751167] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050076.839612317] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050076.844345724] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050076.844976536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050076.845473907] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050076.846830197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050076.847849182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050076.945190345] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050076.945861844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050076.946863044] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050076.947889923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050076.948947830] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050077.002879481] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690447 Long: -76.50275802 +[vectornav-1] [INFO] [1746050077.004119453] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.197, 0.59, 5.886) +[mux-7] [INFO] [1746050077.045049156] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050077.045870396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050077.046376258] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050077.048021466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050077.049150306] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050077.085269331] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050077.087577475] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050077.087853408] [sailbot.teensy]: Wind angle: 275 +[teensy-2] [INFO] [1746050077.088840842] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050077.089371393] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050077.089721556] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050077.090643564] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050077.145193401] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050077.145828624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050077.146677900] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050077.148253431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050077.149334567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050077.245557953] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050077.246184232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050077.247234476] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050077.248531014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050077.249674930] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050077.335377105] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050077.337362248] [sailbot.teensy]: Wind angle: 274 +[teensy-2] [INFO] [1746050077.338481494] [sailbot.teensy]: Actual sail angle: 31 +[trim_sail-4] [INFO] [1746050077.338462457] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050077.339418119] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050077.339885115] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050077.340371190] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050077.344500229] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050077.345026960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050077.345676781] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050077.346710838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050077.347868849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050077.445161437] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050077.445640719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050077.446651187] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050077.447528042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050077.448758741] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050077.503903969] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904483 Long: -76.50275786 +[vectornav-1] [INFO] [1746050077.505642094] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.168, -1.922, 6.235) +[mux-7] [INFO] [1746050077.545176615] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050077.545772197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050077.546534113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050077.547685556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050077.548796863] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050077.585566844] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050077.587916507] [sailbot.teensy]: Wind angle: 274 +[trim_sail-4] [INFO] [1746050077.588358296] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050077.588920683] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050077.589480430] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050077.589787077] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050077.590676280] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050077.645232153] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050077.646004509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050077.646984528] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050077.648250491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050077.648917391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050077.745434588] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050077.746041214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050077.747229464] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050077.748304665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050077.748857879] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050077.835221877] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050077.837365497] [sailbot.teensy]: Wind angle: 274 +[teensy-2] [INFO] [1746050077.838317820] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050077.838858716] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746050077.838634845] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050077.838823249] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050077.839247852] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050077.844418445] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050077.844845519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050077.845618706] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050077.846496327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050077.847663008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050077.945297404] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050077.945802513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050077.946813835] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050077.947834954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050077.949102515] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050078.003048620] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904479 Long: -76.50275821 +[vectornav-1] [INFO] [1746050078.004405970] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.933, 0.782, 4.856) +[mux-7] [INFO] [1746050078.045503684] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050078.046160616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050078.047524490] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050078.048419447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050078.049627415] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050078.085342374] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050078.087198064] [sailbot.teensy]: Wind angle: 273 +[trim_sail-4] [INFO] [1746050078.087938261] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050078.088146856] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050078.089063257] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050078.089825457] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050078.089969951] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050078.145352958] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050078.145903684] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050078.146858480] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050078.148076457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050078.149099587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050078.245501045] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050078.246349526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050078.247287397] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050078.248575718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050078.249754295] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050078.335463279] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050078.337394003] [sailbot.teensy]: Wind angle: 269 +[teensy-2] [INFO] [1746050078.338611449] [sailbot.teensy]: Actual sail angle: 31 +[trim_sail-4] [INFO] [1746050078.339212148] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050078.339578739] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050078.340547841] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050078.340679973] [sailbot.mux]: algo sail angle: 30 +[mux-7] [INFO] [1746050078.344259956] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050078.344845512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050078.345550289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050078.346600677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050078.347736857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050078.444838804] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050078.445491618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050078.446186656] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050078.447539050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050078.448654765] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050078.504196940] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904465 Long: -76.50275842 +[vectornav-1] [INFO] [1746050078.506883861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.64999999999998, -0.426, 5.387) +[mux-7] [INFO] [1746050078.545232034] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050078.546159003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050078.546683917] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050078.548442972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050078.549459557] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050078.585415026] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050078.587857033] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050078.588896416] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050078.588925879] [sailbot.teensy]: Wind angle: 254 +[teensy-2] [INFO] [1746050078.589856198] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050078.590708519] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050078.591546601] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050078.645050371] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050078.645479120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050078.646308985] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050078.647480982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050078.648672516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050078.745150916] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050078.745694136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050078.746516279] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050078.747684502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050078.748710543] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050078.835116560] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050078.836648480] [sailbot.teensy]: Wind angle: 241 +[trim_sail-4] [INFO] [1746050078.837129498] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050078.837504067] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050078.838391383] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050078.838827802] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050078.839263107] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050078.844423507] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050078.844848734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050078.845584894] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050078.846561866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050078.847766236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050078.945585632] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050078.946204771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050078.947257242] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050078.948517470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050078.949747336] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050079.003809202] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904476 Long: -76.50275831 +[vectornav-1] [INFO] [1746050079.005239704] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.687, -0.32, 6.689) +[mux-7] [INFO] [1746050079.045191831] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050079.046474202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050079.046699819] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050079.048544165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050079.049596113] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050079.085400458] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050079.087181542] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050079.088100467] [sailbot.teensy]: Actual sail angle: 31 +[trim_sail-4] [INFO] [1746050079.087747174] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050079.088859479] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050079.088984722] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050079.089855651] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050079.145286309] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050079.146044045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050079.146824162] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050079.148372701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050079.149511604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050079.245588509] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050079.246343079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050079.247712002] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050079.248746968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050079.249530621] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050079.335336812] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050079.337706914] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050079.338017969] [sailbot.teensy]: Wind angle: 232 +[teensy-2] [INFO] [1746050079.338796138] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050079.338960114] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050079.339213871] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050079.339607692] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050079.344372015] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050079.344928530] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050079.345479306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050079.346762646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050079.347813763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050079.444798085] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050079.445421575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050079.446081183] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050079.447214363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050079.448396993] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050079.502775914] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904509 Long: -76.50275809 +[vectornav-1] [INFO] [1746050079.504216535] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.235, -1.294, 7.106) +[mux-7] [INFO] [1746050079.545118219] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050079.545736327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050079.546445980] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050079.547804158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050079.548839006] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050079.585224370] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050079.586984119] [sailbot.teensy]: Wind angle: 232 +[trim_sail-4] [INFO] [1746050079.587842216] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050079.587968078] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050079.588908315] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050079.589377072] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050079.589863158] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050079.645386863] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050079.646263024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050079.646985448] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050079.648551206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050079.649766334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050079.745556458] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050079.746503151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050079.747225650] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050079.749224555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050079.750353654] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050079.835353546] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050079.836994857] [sailbot.teensy]: Wind angle: 232 +[trim_sail-4] [INFO] [1746050079.837642829] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050079.837903657] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050079.838682693] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050079.838801815] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050079.839738294] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050079.844507355] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050079.845274503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050079.845651511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050079.846975066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050079.847997258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050079.945415294] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050079.946050604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050079.947017045] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050079.948397635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050079.949681155] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050080.003665665] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904482 Long: -76.50275802 +[vectornav-1] [INFO] [1746050080.005035219] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.97500000000002, -0.16, 4.686) +[mux-7] [INFO] [1746050080.045026605] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050080.045615632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050080.046382454] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050080.047771756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050080.048497409] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050080.085444244] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050080.087940357] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050080.089014110] [sailbot.teensy]: Wind angle: 232 +[mux-7] [INFO] [1746050080.089653646] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050080.090031990] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050080.090974050] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050080.091855845] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050080.145235239] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050080.146034240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050080.146843524] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050080.148422118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050080.149535195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050080.245549926] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050080.246691782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050080.247383879] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050080.248501857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050080.248934977] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050080.335303753] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050080.337491320] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050080.338517718] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050080.338703704] [sailbot.teensy]: Wind angle: 232 +[teensy-2] [INFO] [1746050080.339982052] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050080.340492239] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050080.340865230] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050080.344362395] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050080.344886463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050080.345617427] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050080.346567311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050080.347606674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050080.444988238] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050080.445631445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050080.446332804] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050080.447519281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050080.448584649] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050080.502642645] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904475 Long: -76.50275781 +[vectornav-1] [INFO] [1746050080.503734927] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.91200000000003, 0.095, 5.394) +[mux-7] [INFO] [1746050080.545292643] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050080.546034374] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050080.546712625] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050080.548089650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050080.549292359] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050080.585165326] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050080.587238125] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050080.587744565] [sailbot.teensy]: Wind angle: 232 +[mux-7] [INFO] [1746050080.588443080] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050080.588791485] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050080.589747446] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050080.590669105] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050080.645326145] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050080.646170732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050080.646847532] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050080.648264961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050080.649276226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050080.745375746] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050080.746242447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050080.747053656] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050080.748473588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050080.748940832] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050080.835211448] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050080.836847702] [sailbot.teensy]: Wind angle: 232 +[trim_sail-4] [INFO] [1746050080.837607270] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050080.837897758] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050080.838934973] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050080.839345313] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050080.839881500] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050080.844341251] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050080.844996868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050080.845507873] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050080.846702418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050080.847834318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050080.945123035] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050080.945946861] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050080.946578606] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050080.947837050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050080.948349904] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050081.003361809] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904469 Long: -76.50275758 +[vectornav-1] [INFO] [1746050081.004739787] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.62400000000002, -1.114, 5.843) +[mux-7] [INFO] [1746050081.045484625] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050081.045989619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050081.046961338] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050081.048226456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050081.049250908] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050081.085432947] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050081.087732775] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050081.087831250] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050081.088849422] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050081.089529118] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050081.089817206] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050081.090685855] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050081.145241699] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050081.145703003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050081.146620242] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050081.147594528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050081.148683420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050081.245589632] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050081.246162628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050081.247242501] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050081.248483019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050081.249130935] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050081.335206075] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050081.337412360] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050081.337966855] [sailbot.teensy]: Wind angle: 234 +[mux-7] [INFO] [1746050081.338415508] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050081.338970185] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050081.339642394] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050081.340018736] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050081.344424660] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050081.344903029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050081.346083134] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050081.346570729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050081.347701859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050081.445151176] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050081.445668781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050081.446814981] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050081.447619528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050081.448864871] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050081.502666890] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904459 Long: -76.50275751 +[vectornav-1] [INFO] [1746050081.503791998] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.20399999999995, -0.954, 4.204) +[mux-7] [INFO] [1746050081.545042634] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050081.545647703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050081.546391919] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050081.547441201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050081.548477047] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050081.585253795] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050081.587413251] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050081.587662381] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050081.588651010] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050081.589042854] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050081.589562661] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050081.590246545] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050081.644942214] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050081.645654250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050081.646640650] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050081.647586049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050081.648776872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050081.745107451] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050081.745800640] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050081.746525581] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050081.747762180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050081.748302716] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050081.835075954] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050081.836779042] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050081.837143117] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050081.838486538] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050081.838714264] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050081.839747521] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050081.840674069] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050081.844296963] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050081.844865609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050081.845567986] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050081.846668138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050081.847757878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050081.945042400] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050081.945792564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050081.946377107] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050081.947837090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050081.948875038] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050082.002692674] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904454 Long: -76.5027576 +[vectornav-1] [INFO] [1746050082.003896060] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.16100000000006, 0.334, 2.983) +[mux-7] [INFO] [1746050082.045246420] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050082.045905501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050082.046717063] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050082.048286453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050082.049328863] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050082.085254102] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050082.086906474] [sailbot.teensy]: Wind angle: 236 +[trim_sail-4] [INFO] [1746050082.087520682] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050082.087861795] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050082.088807408] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050082.089517475] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050082.089722541] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050082.145206651] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050082.146007541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050082.146657363] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050082.148014036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050082.149127808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050082.245205784] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050082.245950752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050082.246643806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050082.248190074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050082.248707967] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050082.335363691] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050082.337742198] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050082.338116938] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746050082.338914990] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050082.339171800] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050082.339652596] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050082.340073446] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050082.344272510] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050082.344884072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050082.345389671] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050082.346687239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050082.347860332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050082.445217598] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050082.446114797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050082.446683177] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050082.448247719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050082.449394070] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050082.503596436] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904451 Long: -76.50275751 +[vectornav-1] [INFO] [1746050082.505265107] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.21799999999996, -0.281, 4.217) +[mux-7] [INFO] [1746050082.545360160] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050082.546192213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050082.546928052] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050082.548318296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050082.549354273] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050082.585554458] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050082.587759806] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050082.587906893] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050082.588819037] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050082.589778306] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050082.589780971] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050082.590711755] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050082.645172646] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050082.645887872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050082.646662949] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050082.648203278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050082.649290566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050082.745318537] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050082.746464925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050082.746793981] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050082.748117133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050082.748571754] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050082.835191189] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050082.836893046] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050082.837204500] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050082.837829169] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050082.838724755] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050082.838713515] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050082.839626836] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050082.844426342] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050082.844938809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050082.845651681] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050082.846758398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050082.847797168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050082.945201667] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050082.945952516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050082.946664937] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050082.948007060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050082.949279922] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050083.002857809] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904418 Long: -76.50275747 +[vectornav-1] [INFO] [1746050083.004414542] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.74099999999999, -0.78, 5.087) +[mux-7] [INFO] [1746050083.044822427] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050083.045481844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050083.046084996] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050083.047303545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050083.048510228] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050083.085037285] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050083.086518419] [sailbot.teensy]: Wind angle: 236 +[trim_sail-4] [INFO] [1746050083.086998314] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050083.087379007] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050083.088246785] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050083.088830161] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050083.089164155] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050083.145058007] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050083.145958449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050083.146389306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050083.148040095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050083.149301321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050083.245339350] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050083.246258935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050083.246901572] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050083.247913742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050083.248454826] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050083.335364080] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050083.337422112] [sailbot.teensy]: Wind angle: 237 +[trim_sail-4] [INFO] [1746050083.338103073] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050083.338751704] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050083.338974662] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050083.339448576] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050083.339860722] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050083.344452571] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050083.344948293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050083.345523561] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050083.346640652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050083.347672767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050083.445302585] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050083.446115460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050083.446765918] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050083.448331769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050083.448758624] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050083.503600523] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690441 Long: -76.50275762 +[vectornav-1] [INFO] [1746050083.505773531] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.38800000000003, -0.378, 4.596) +[mux-7] [INFO] [1746050083.544915546] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050083.545621436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050083.546186124] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050083.547420019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050083.548470007] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050083.585265430] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050083.587390102] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050083.588026278] [sailbot.teensy]: Wind angle: 237 +[teensy-2] [INFO] [1746050083.588924920] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050083.589255265] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050083.589798371] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050083.590604104] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050083.644998227] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050083.645680680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050083.646353965] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050083.647607599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050083.648086076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050083.744993219] [sailbot.mux]: Published sail angle from controller_app: 31 +[mux-7] [INFO] [1746050083.746217859] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050083.746412917] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050083.748189352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050083.749190815] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050083.835165061] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050083.836691736] [sailbot.teensy]: Wind angle: 237 +[trim_sail-4] [INFO] [1746050083.837239706] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050083.837622403] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050083.838519349] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050083.838774943] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050083.839437092] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050083.844575839] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050083.845181847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050083.845779760] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050083.846893024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050083.847938012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050083.945824446] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050083.946622641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050083.947685097] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050083.948699144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050083.949227508] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050084.003743539] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904372 Long: -76.50275735 +[vectornav-1] [INFO] [1746050084.005538187] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.44499999999994, 0.716, 4.675) +[mux-7] [INFO] [1746050084.045022854] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050084.045502380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050084.046309172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050084.047413137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050084.048569768] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050084.085430657] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050084.087731279] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050084.088922362] [sailbot.teensy]: Wind angle: 237 +[mux-7] [INFO] [1746050084.089147178] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050084.089852097] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050084.090747833] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050084.091586422] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050084.145199568] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050084.145651596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050084.146665905] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050084.147692349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050084.148906525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050084.245371524] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050084.246190924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050084.246875344] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050084.248263532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050084.248957713] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050084.335219112] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050084.336869271] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050084.337748157] [sailbot.teensy]: Actual sail angle: 31 +[trim_sail-4] [INFO] [1746050084.337475388] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050084.338053064] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050084.338612727] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050084.339544333] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050084.344425080] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050084.344991424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050084.345568048] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050084.346756907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050084.347899315] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050084.445337028] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050084.446055744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050084.447147292] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050084.448131959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050084.449380135] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050084.502523769] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904362 Long: -76.50275716 +[vectornav-1] [INFO] [1746050084.503596667] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.135, -1.152, 5.35) +[mux-7] [INFO] [1746050084.545358679] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050084.546119990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050084.546782399] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050084.548068849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050084.548565847] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050084.585257486] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050084.586886567] [sailbot.teensy]: Wind angle: 237 +[trim_sail-4] [INFO] [1746050084.587806852] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050084.587848522] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050084.588734993] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050084.588752191] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050084.589634881] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050084.645169172] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050084.646343824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050084.646642223] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050084.648532301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050084.649568619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050084.745346822] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050084.745997293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050084.746950156] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050084.747823883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050084.748396126] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050084.835233925] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050084.836964370] [sailbot.teensy]: Wind angle: 237 +[trim_sail-4] [INFO] [1746050084.837823642] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050084.837881287] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050084.838613613] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050084.838694126] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050084.839095640] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050084.844300640] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050084.844809171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050084.845383426] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050084.846415265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050084.847583603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050084.945233678] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050084.945870300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050084.946788181] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050084.947861804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050084.948339020] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050085.003470539] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904341 Long: -76.50275702 +[vectornav-1] [INFO] [1746050085.005063218] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.85699999999997, -0.777, 4.99) +[mux-7] [INFO] [1746050085.045149707] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050085.045899014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050085.046470773] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050085.047800647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050085.048982961] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050085.085401853] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050085.087122720] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050085.088320470] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050085.088989383] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050085.089253282] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050085.090005436] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050085.090860774] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050085.145048891] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050085.145839604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050085.146405070] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050085.147814489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050085.148951657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050085.245245702] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050085.245998946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050085.246972072] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050085.247764593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050085.248300526] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050085.335243433] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050085.337461656] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050085.338120889] [sailbot.teensy]: Wind angle: 238 +[mux-7] [INFO] [1746050085.338729235] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050085.339111792] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050085.339645004] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050085.340023147] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050085.344683321] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050085.345262445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050085.345807277] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050085.347025695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050085.348237046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050085.445396477] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050085.446040224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050085.447086919] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050085.448392510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050085.449551113] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050085.502918395] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690432 Long: -76.50275711 +[vectornav-1] [INFO] [1746050085.504454637] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.88599999999997, 0.506, 4.286) +[mux-7] [INFO] [1746050085.545342406] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050085.546561320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050085.547009602] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050085.548438577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050085.549017183] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050085.585254618] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050085.587477326] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050085.589191968] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050085.589562640] [sailbot.teensy]: Wind angle: 237 +[teensy-2] [INFO] [1746050085.590517214] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050085.591365575] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050085.592226961] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050085.645291556] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050085.645924289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050085.646827995] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050085.648351787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050085.649399904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050085.745256825] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050085.745897823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050085.746745212] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050085.747889176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050085.748977037] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050085.835146804] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050085.836753289] [sailbot.teensy]: Wind angle: 237 +[trim_sail-4] [INFO] [1746050085.837529824] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050085.837687103] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050085.838618245] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050085.838959530] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050085.839500597] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050085.844447210] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050085.844976345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050085.845654870] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050085.846678800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050085.847709853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050085.945026368] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050085.945990286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050085.946482968] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050085.947880886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050085.948909370] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050086.003322903] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904285 Long: -76.50275684 +[vectornav-1] [INFO] [1746050086.005250727] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.514, -0.465, 5.525) +[mux-7] [INFO] [1746050086.045104775] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050086.045878593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050086.046447237] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050086.047948828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050086.048810688] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050086.085352811] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050086.087151927] [sailbot.teensy]: Wind angle: 237 +[trim_sail-4] [INFO] [1746050086.087803227] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050086.088093723] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050086.089015833] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050086.089474240] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050086.089889197] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050086.145290516] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050086.146192150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050086.146724436] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050086.148139475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050086.149229919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050086.245149559] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050086.245834992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050086.246502006] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050086.247828580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050086.248740827] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050086.335275516] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050086.336889591] [sailbot.teensy]: Wind angle: 237 +[trim_sail-4] [INFO] [1746050086.337491335] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050086.337818477] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050086.338704504] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050086.338883018] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050086.339573047] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050086.344302662] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050086.344924186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050086.345806456] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050086.346941402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050086.348012951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050086.445160203] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050086.446086392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050086.446692101] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050086.448198141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050086.449227701] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050086.502923678] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904273 Long: -76.50275687 +[vectornav-1] [INFO] [1746050086.504290574] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.048, -1.696, 4.572) +[mux-7] [INFO] [1746050086.544966836] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050086.545776373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050086.546203124] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050086.547600272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050086.548815913] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050086.585233086] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050086.587305442] [sailbot.teensy]: Wind angle: 237 +[trim_sail-4] [INFO] [1746050086.587397363] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050086.588229092] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050086.589146881] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050086.589164955] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050086.590086737] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050086.645103008] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050086.645636897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050086.646713834] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050086.647851595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050086.648952383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050086.745115097] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050086.745673126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050086.746519061] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050086.747855489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050086.748871265] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050086.835237444] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050086.836841896] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050086.837775468] [sailbot.teensy]: Actual sail angle: 31 +[trim_sail-4] [INFO] [1746050086.837511673] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050086.838471539] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050086.839013444] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050086.839901072] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050086.844366160] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050086.844949023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050086.845507079] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050086.846732001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050086.847910569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050086.945538858] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050086.946320694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050086.947185562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050086.948547085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050086.949749593] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050087.004040343] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904246 Long: -76.5027569 +[vectornav-1] [INFO] [1746050087.005701205] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.49400000000003, 0.873, 4.691) +[mux-7] [INFO] [1746050087.045170503] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050087.045675687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050087.046570113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050087.047892339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050087.049036988] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050087.085438640] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050087.087266979] [sailbot.teensy]: Wind angle: 237 +[trim_sail-4] [INFO] [1746050087.087680117] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050087.088255357] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050087.089460958] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050087.090106837] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050087.090370373] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050087.144977496] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050087.145847011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050087.146270234] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050087.147739552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050087.148850958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050087.245210888] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050087.246191253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050087.246695881] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050087.248529397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050087.249673169] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050087.335233579] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050087.337490786] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050087.338205501] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050087.338417352] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050087.339391536] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050087.340277368] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050087.340742083] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050087.344410119] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050087.344972649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050087.345531965] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050087.346714341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050087.347729878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050087.445393611] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050087.446133336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050087.446946442] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050087.448588683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050087.449137305] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050087.503063344] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904233 Long: -76.50275694 +[vectornav-1] [INFO] [1746050087.504959965] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.861, -0.81, 4.565) +[mux-7] [INFO] [1746050087.544992453] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050087.545673345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050087.546291592] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050087.547508254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050087.548686447] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050087.585431268] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050087.587753431] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050087.588261754] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050087.588462951] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050087.589486827] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050087.590600712] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050087.591519437] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050087.645005286] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050087.645709614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050087.646607640] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050087.647638422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050087.648692359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050087.745022108] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050087.746013954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050087.746691352] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050087.748200664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050087.748738710] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050087.835099247] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050087.837219203] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050087.837308209] [sailbot.teensy]: Wind angle: 237 +[mux-7] [INFO] [1746050087.838043160] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050087.838679668] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050087.839463138] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050087.839802601] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050087.844351143] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050087.844882624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050087.845492917] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050087.846422370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050087.847544094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050087.945480441] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050087.946380142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050087.947157280] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050087.948782793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050087.949890820] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050088.003260924] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904214 Long: -76.5027568 +[vectornav-1] [INFO] [1746050088.004653316] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.13099999999997, -0.664, 4.653) +[mux-7] [INFO] [1746050088.045065247] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050088.045778822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050088.046390178] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050088.047775195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050088.048865348] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050088.085411402] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050088.087906569] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050088.088370724] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050088.089094399] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050088.090104922] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050088.091092294] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050088.091934112] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050088.145346329] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050088.146122593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050088.146799626] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050088.148525742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050088.149744814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050088.245317358] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050088.245962764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050088.246772555] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050088.248066787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050088.249262008] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050088.335286115] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050088.337503143] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050088.338123021] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746050088.338660272] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050088.339076867] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050088.339945827] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050088.340829716] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050088.344424636] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050088.344876104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050088.345622853] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050088.346580324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050088.347599621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050088.445161740] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050088.445686121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050088.446580778] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050088.447717315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050088.448772224] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050088.502809697] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469042 Long: -76.50275675 +[vectornav-1] [INFO] [1746050088.504009496] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.188, -0.117, 4.587) +[mux-7] [INFO] [1746050088.545042030] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050088.545624352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050088.546318333] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050088.547459888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050088.548581868] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050088.585244951] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050088.587413751] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050088.587731668] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746050088.588241733] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050088.588652677] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050088.589717242] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050088.590565799] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050088.645199830] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050088.645894621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050088.646685370] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050088.648345639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050088.649495179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050088.745243183] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050088.746129985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050088.746831297] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050088.747900335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050088.748431016] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050088.835248683] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050088.837265845] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050088.837534234] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050088.838190073] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050088.839071020] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050088.838811902] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050088.839965272] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050088.844471747] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050088.845051760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050088.845533569] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050088.846822214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050088.847866957] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050088.945630799] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050088.946345990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050088.947629232] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050088.948560073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050088.949856250] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050089.003374102] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690418 Long: -76.50275662 +[vectornav-1] [INFO] [1746050089.004609621] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.12400000000002, -0.184, 5.012) +[mux-7] [INFO] [1746050089.045144578] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050089.045988161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050089.046491203] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050089.048240735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050089.049282616] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050089.085406088] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050089.087747463] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050089.087920401] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050089.088879798] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050089.089175261] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050089.089802971] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050089.090669116] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050089.144900878] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050089.145699763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050089.146340110] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050089.147809037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050089.148877044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050089.245236223] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050089.246127154] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050089.246801470] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050089.248005250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050089.248430054] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050089.335203302] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050089.337032982] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050089.337484421] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050089.338820499] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050089.339072900] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050089.340070268] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050089.340939367] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050089.344583127] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050089.345117372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050089.345824160] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050089.346891299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050089.347945510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050089.444898757] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050089.445551489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050089.446167669] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050089.447455374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050089.448473609] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050089.503182569] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904171 Long: -76.50275648 +[vectornav-1] [INFO] [1746050089.505059809] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.37199999999996, -1.088, 5.01) +[mux-7] [INFO] [1746050089.545185752] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050089.545938439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050089.546494291] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050089.547844196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050089.549061966] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050089.585459641] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050089.587645758] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050089.587729424] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050089.588699137] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050089.589642689] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050089.589813549] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050089.590565807] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050089.645196619] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050089.646130251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050089.646673222] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050089.648638362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050089.649647535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050089.745567292] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050089.746539529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050089.747274417] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050089.748097656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050089.748801481] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050089.835134442] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050089.837216478] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050089.837216551] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050089.838219023] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050089.838654873] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050089.839192599] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050089.840308568] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050089.844386180] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050089.845244365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050089.845868655] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050089.847028621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050089.848099860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050089.923991436] [sailbot.mux]: controller_app sail angle: 15 +[mux-7] [INFO] [1746050089.945369392] [sailbot.mux]: Published sail angle from controller_app: 15 +[teensy-2] [INFO] [1746050089.946227148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050089.947216330] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050089.948630428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 0 +[teensy-2] [INFO] [1746050089.949850409] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050090.002883113] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904146 Long: -76.50275657 +[vectornav-1] [INFO] [1746050090.004773585] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.04099999999994, -0.191, 4.617) +[mux-7] [INFO] [1746050090.045490142] [sailbot.mux]: Published sail angle from controller_app: 15 +[teensy-2] [INFO] [1746050090.046278473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050090.046957925] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050090.048429381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 0 +[teensy-2] [INFO] [1746050090.049557608] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050090.085224267] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050090.087371285] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050090.087406903] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050090.088351017] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050090.088661099] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050090.089575567] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050090.090431601] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050090.144853968] [sailbot.mux]: Published sail angle from controller_app: 15 +[teensy-2] [INFO] [1746050090.145669916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050090.146282574] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050090.147522970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 0 +[teensy-2] [INFO] [1746050090.148708208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050090.244994423] [sailbot.mux]: Published sail angle from controller_app: 15 +[teensy-2] [INFO] [1746050090.245728908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050090.246358072] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050090.247699382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 0 +[teensy-2] [INFO] [1746050090.248807268] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050090.335709948] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050090.338559498] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050090.338744049] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050090.339547095] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050090.340870308] [sailbot.teensy]: Actual sail angle: 15 +[teensy-2] [INFO] [1746050090.341783153] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050090.342601874] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050090.344355364] [sailbot.mux]: Published sail angle from controller_app: 15 +[teensy-2] [INFO] [1746050090.345032752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050090.345466585] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050090.346846589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 0 +[teensy-2] [INFO] [1746050090.347936439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050090.445271776] [sailbot.mux]: Published sail angle from controller_app: 15 +[teensy-2] [INFO] [1746050090.446015483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050090.446744503] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050090.448391981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 0 +[teensy-2] [INFO] [1746050090.449544617] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050090.503337357] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904133 Long: -76.50275643 +[vectornav-1] [INFO] [1746050090.505018024] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.22500000000002, 0.172, 4.985) +[mux-7] [INFO] [1746050090.544969836] [sailbot.mux]: Published sail angle from controller_app: 15 +[teensy-2] [INFO] [1746050090.545604980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050090.546225928] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050090.547407506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 0 +[teensy-2] [INFO] [1746050090.548380102] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050090.585425650] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050090.587253361] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050090.587791651] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050090.588202314] [sailbot.teensy]: Actual sail angle: 15 +[teensy-2] [INFO] [1746050090.589096270] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050090.588462767] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050090.589979149] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050090.645223245] [sailbot.mux]: Published sail angle from controller_app: 15 +[teensy-2] [INFO] [1746050090.645876012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050090.646854085] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050090.648008335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 0 +[teensy-2] [INFO] [1746050090.649038495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050090.745309904] [sailbot.mux]: Published sail angle from controller_app: 15 +[teensy-2] [INFO] [1746050090.745956643] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050090.746905509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050090.747796500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 0 +[teensy-2] [INFO] [1746050090.748281104] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050090.835203865] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050090.836839509] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050090.837447723] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050090.837773177] [sailbot.teensy]: Actual sail angle: 15 +[teensy-2] [INFO] [1746050090.838686611] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050090.839450502] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050090.839574492] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050090.844509855] [sailbot.mux]: Published sail angle from controller_app: 15 +[teensy-2] [INFO] [1746050090.845165658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050090.845617697] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050090.846911595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 0 +[teensy-2] [INFO] [1746050090.847911230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050090.945331992] [sailbot.mux]: Published sail angle from controller_app: 15 +[teensy-2] [INFO] [1746050090.945965497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050090.946963797] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050090.948271138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 0 +[mux-7] [INFO] [1746050090.949103114] [sailbot.mux]: controller_app sail angle: 8 +[teensy-2] [INFO] [1746050090.949447013] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050091.003170919] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904117 Long: -76.50275632 +[vectornav-1] [INFO] [1746050091.004848175] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.606, -0.963, 5.96) +[mux-7] [INFO] [1746050091.045237135] [sailbot.mux]: Published sail angle from controller_app: 8 +[teensy-2] [INFO] [1746050091.046072744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050091.046694907] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050091.048340385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:8, rudder: 0 +[teensy-2] [INFO] [1746050091.049504182] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050091.085563238] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050091.087685714] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050091.088362786] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050091.088742533] [sailbot.teensy]: Actual sail angle: 15 +[mux-7] [INFO] [1746050091.089460405] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050091.089620448] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050091.090507279] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050091.144920789] [sailbot.mux]: Published sail angle from controller_app: 8 +[teensy-2] [INFO] [1746050091.145504115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050091.146192356] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050091.147282700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:8, rudder: 0 +[teensy-2] [INFO] [1746050091.148491103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050091.245253710] [sailbot.mux]: Published sail angle from controller_app: 8 +[teensy-2] [INFO] [1746050091.246117544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050091.246757106] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050091.247968337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:8, rudder: 0 +[teensy-2] [INFO] [1746050091.248416797] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050091.335220564] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050091.336905210] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050091.337820092] [sailbot.teensy]: Actual sail angle: 8 +[trim_sail-4] [INFO] [1746050091.337575858] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050091.338293746] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050091.338714278] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050091.339589055] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050091.344874486] [sailbot.mux]: Published sail angle from controller_app: 8 +[teensy-2] [INFO] [1746050091.344957980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050091.346022310] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050091.346780829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:8, rudder: 0 +[teensy-2] [INFO] [1746050091.347870907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050091.445211792] [sailbot.mux]: Published sail angle from controller_app: 8 +[teensy-2] [INFO] [1746050091.446177494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050091.446664535] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050091.448614445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:8, rudder: 0 +[teensy-2] [INFO] [1746050091.449822312] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050091.502861139] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904112 Long: -76.50275631 +[vectornav-1] [INFO] [1746050091.504239566] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.03499999999997, -0.759, 5.494) +[mux-7] [INFO] [1746050091.545249199] [sailbot.mux]: Published sail angle from controller_app: 8 +[teensy-2] [INFO] [1746050091.546059003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050091.546726924] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050091.548132192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:8, rudder: 0 +[teensy-2] [INFO] [1746050091.549181509] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050091.585329037] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050091.587648696] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050091.587890643] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050091.588615537] [sailbot.teensy]: Actual sail angle: 8 +[mux-7] [INFO] [1746050091.588830802] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050091.589548304] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050091.590620237] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050091.645242155] [sailbot.mux]: Published sail angle from controller_app: 8 +[teensy-2] [INFO] [1746050091.645966233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050091.646762114] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050091.648210711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:8, rudder: 0 +[teensy-2] [INFO] [1746050091.648891293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050091.745187844] [sailbot.mux]: Published sail angle from controller_app: 8 +[teensy-2] [INFO] [1746050091.745769765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050091.746669222] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050091.747708012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:8, rudder: 0 +[teensy-2] [INFO] [1746050091.748644348] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050091.835212477] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050091.836944730] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050091.837886874] [sailbot.teensy]: Actual sail angle: 8 +[trim_sail-4] [INFO] [1746050091.837995269] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050091.838672341] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050091.838783552] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050091.839706647] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050091.844285160] [sailbot.mux]: Published sail angle from controller_app: 8 +[teensy-2] [INFO] [1746050091.845027124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050091.845400199] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050091.846765841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:8, rudder: 0 +[teensy-2] [INFO] [1746050091.847835646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050091.945420718] [sailbot.mux]: Published sail angle from controller_app: 8 +[teensy-2] [INFO] [1746050091.946267657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050091.947267409] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050091.948948083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:8, rudder: 0 +[teensy-2] [INFO] [1746050091.950181318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050091.952956577] [sailbot.mux]: controller_app sail angle: 7 +[vectornav-1] [INFO] [1746050092.003461213] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904083 Long: -76.50275644 +[vectornav-1] [INFO] [1746050092.004699445] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.04700000000003, 0.465, 4.707) +[mux-7] [INFO] [1746050092.044809993] [sailbot.mux]: Published sail angle from controller_app: 7 +[teensy-2] [INFO] [1746050092.045502326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050092.046044378] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050092.047329918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:7, rudder: 0 +[teensy-2] [INFO] [1746050092.048367238] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050092.085240403] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050092.086898474] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050092.087774425] [sailbot.teensy]: Actual sail angle: 8 +[teensy-2] [INFO] [1746050092.088657115] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746050092.087929644] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050092.089159403] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050092.089442920] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050092.145202659] [sailbot.mux]: Published sail angle from controller_app: 7 +[teensy-2] [INFO] [1746050092.146025971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050092.146698744] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050092.148450120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:7, rudder: 0 +[teensy-2] [INFO] [1746050092.149586115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050092.245277048] [sailbot.mux]: Published sail angle from controller_app: 7 +[teensy-2] [INFO] [1746050092.245991817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050092.246752404] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050092.248105525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:7, rudder: 0 +[teensy-2] [INFO] [1746050092.248839163] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050092.335112486] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050092.337158923] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050092.337328361] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050092.338451474] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050092.339296771] [sailbot.teensy]: Actual sail angle: 7 +[teensy-2] [INFO] [1746050092.340359885] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050092.340729620] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050092.344416885] [sailbot.mux]: Published sail angle from controller_app: 7 +[teensy-2] [INFO] [1746050092.344993015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050092.345660466] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050092.346655941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:7, rudder: 0 +[teensy-2] [INFO] [1746050092.347836230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050092.445074532] [sailbot.mux]: Published sail angle from controller_app: 7 +[teensy-2] [INFO] [1746050092.445792482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050092.446473734] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050092.447924796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:7, rudder: 0 +[teensy-2] [INFO] [1746050092.448986916] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050092.502129313] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904053 Long: -76.50275647 +[vectornav-1] [INFO] [1746050092.502953249] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.159, -0.762, 4.266) +[mux-7] [INFO] [1746050092.544836041] [sailbot.mux]: Published sail angle from controller_app: 7 +[teensy-2] [INFO] [1746050092.545494414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050092.546231114] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050092.547499402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:7, rudder: 0 +[teensy-2] [INFO] [1746050092.548606031] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050092.585264817] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050092.587372321] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050092.587450289] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050092.588343673] [sailbot.teensy]: Actual sail angle: 7 +[mux-7] [INFO] [1746050092.588259416] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050092.589278799] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050092.590130392] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050092.645332544] [sailbot.mux]: Published sail angle from controller_app: 7 +[teensy-2] [INFO] [1746050092.646175117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050092.647017616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050092.648687001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:7, rudder: 0 +[teensy-2] [INFO] [1746050092.649250328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050092.745312809] [sailbot.mux]: Published sail angle from controller_app: 7 +[teensy-2] [INFO] [1746050092.746130822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050092.746782815] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050092.747960202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:7, rudder: 0 +[teensy-2] [INFO] [1746050092.748532879] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050092.835108804] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050092.836694008] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050092.837676592] [sailbot.teensy]: Actual sail angle: 7 +[trim_sail-4] [INFO] [1746050092.837672207] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050092.838415376] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050092.838571957] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050092.839449354] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050092.844450628] [sailbot.mux]: Published sail angle from controller_app: 7 +[teensy-2] [INFO] [1746050092.845117995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050092.845563448] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050092.846854747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:7, rudder: 0 +[teensy-2] [INFO] [1746050092.847855913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050092.945408658] [sailbot.mux]: Published sail angle from controller_app: 7 +[teensy-2] [INFO] [1746050092.946226379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050092.947221122] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050092.948131530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:7, rudder: 0 +[teensy-2] [INFO] [1746050092.948823053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050092.950455546] [sailbot.mux]: controller_app sail angle: 0 +[vectornav-1] [INFO] [1746050093.002976166] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904016 Long: -76.50275652 +[vectornav-1] [INFO] [1746050093.004630486] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.16599999999994, -0.811, 3.929) +[mux-7] [INFO] [1746050093.045163461] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050093.045402422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050093.046360187] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050093.047228097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050093.048342655] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050093.085240717] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050093.086949135] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050093.087841761] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050093.087918255] [sailbot.teensy]: Actual sail angle: 7 +[teensy-2] [INFO] [1746050093.088925113] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050093.089875610] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050093.090650572] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050093.144771018] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050093.145439238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050093.145988924] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050093.147086136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050093.148310155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050093.245314262] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050093.246124261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050093.246826329] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050093.248391254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050093.249629132] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050093.335527122] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050093.338441014] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050093.339161668] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050093.339274483] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050093.340276226] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050093.341206192] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050093.342013293] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050093.344292791] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050093.345045504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050093.345395798] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050093.346861987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050093.347875288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050093.444965264] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050093.445757378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050093.446218638] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050093.447780867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050093.448849453] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050093.502322139] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903998 Long: -76.50275661 +[vectornav-1] [INFO] [1746050093.503326451] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.39700000000005, 0.289, 3.642) +[mux-7] [INFO] [1746050093.544114411] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050093.544589793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050093.544966533] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050093.546012267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050093.546938644] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050093.584637726] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050093.586066114] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050093.586353990] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050093.586523575] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050093.587251543] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050093.587909027] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050093.588329689] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050093.645021088] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050093.645792883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050093.646303417] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050093.647788403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050093.648845734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050093.745251766] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050093.745971424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050093.746923202] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050093.748000380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050093.748561019] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050093.835223102] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050093.836911217] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050093.837386034] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050093.837848941] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050093.838796771] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050093.839719666] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050093.839892729] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050093.844335660] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050093.844884580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050093.845828848] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050093.846557445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050093.848094155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050093.945334578] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050093.946213205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050093.946860109] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050093.947839360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050093.948319188] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050094.002727025] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903957 Long: -76.50275654 +[vectornav-1] [INFO] [1746050094.004254204] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.17200000000003, -0.004, 4.375) +[mux-7] [INFO] [1746050094.045096498] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050094.046358347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050094.046569710] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050094.048474906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050094.049579912] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050094.085489588] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050094.088049329] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050094.088146863] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050094.089100170] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050094.089374655] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050094.090034857] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050094.090924499] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050094.145221302] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050094.146170336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050094.146726048] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050094.148426351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050094.149571226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050094.245076248] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050094.245880184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050094.246464877] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050094.247768646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050094.248223460] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050094.335163670] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050094.337262982] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050094.337567782] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050094.338157348] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050094.338759108] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050094.339001327] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050094.339148198] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050094.344512473] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050094.344991636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050094.345650294] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050094.346671183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050094.347846737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050094.445295047] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050094.447245202] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050094.447848786] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050094.448796463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050094.449256592] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050094.502773642] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903957 Long: -76.50275632 +[vectornav-1] [INFO] [1746050094.504133234] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.91999999999996, -1.128, 4.884) +[mux-7] [INFO] [1746050094.544928353] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050094.545694008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050094.546217350] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050094.547493799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050094.548662875] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050094.585184169] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050094.587442012] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050094.588076552] [sailbot.teensy]: Wind angle: 233 +[mux-7] [INFO] [1746050094.589098199] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050094.589479318] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050094.590372644] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050094.591249596] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050094.644991303] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050094.645674350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050094.646415975] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050094.647819980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050094.648909197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050094.745409246] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050094.746061562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050094.747081384] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050094.747841562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050094.748332279] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050094.835425320] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050094.837227552] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050094.837948933] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050094.838176604] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050094.839111179] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050094.840036752] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050094.840237288] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050094.844694761] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050094.845194409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050094.846059371] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050094.846882532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050094.848057811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050094.945131557] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050094.945680533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050094.946615108] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050094.947841442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050094.948707706] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050095.002877552] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903946 Long: -76.50275646 +[vectornav-1] [INFO] [1746050095.004198512] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.409, -0.4, 4.899) +[mux-7] [INFO] [1746050095.045361041] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050095.046014754] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050095.048113252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746050095.048398504] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050095.049360325] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050095.085210681] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050095.087259658] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050095.088346263] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050095.088819601] [sailbot.teensy]: Wind angle: 237 +[teensy-2] [INFO] [1746050095.089792735] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050095.090678046] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050095.091509944] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050095.144971413] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050095.145811753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050095.146306355] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050095.147721296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050095.148780576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050095.245319769] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050095.246219230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050095.246846434] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050095.248321549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050095.249487435] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050095.335558063] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050095.338172489] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050095.338851900] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050095.339203982] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050095.340190145] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050095.340714521] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050095.341071092] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050095.344743969] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050095.345029932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050095.346050006] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050095.346711896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050095.347761252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050095.444936150] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050095.445736884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050095.446259851] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050095.447676750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050095.448707381] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050095.502863065] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690392 Long: -76.50275685 +[vectornav-1] [INFO] [1746050095.504176849] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.75599999999997, 0.015, 4.785) +[mux-7] [INFO] [1746050095.545030995] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050095.545419746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050095.546455635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050095.547233382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050095.548683141] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050095.585055990] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050095.586754864] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050095.587114049] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050095.587651443] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050095.588514736] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050095.588737316] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050095.589433574] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050095.645034340] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050095.645974903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050095.646542970] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050095.647999624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050095.649061205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050095.744965758] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050095.745632738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050095.746334845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050095.747677598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050095.748757880] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050095.835368258] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050095.837780529] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050095.838254952] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050095.838550487] [sailbot.teensy]: Wind angle: 239 +[teensy-2] [INFO] [1746050095.839282522] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050095.839686968] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050095.840078747] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050095.844604839] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050095.845158547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050095.845715565] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050095.846919484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050095.848186843] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050095.945541485] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050095.946269006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050095.947497984] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050095.948642943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050095.949940889] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050096.003365304] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903898 Long: -76.50275708 +[vectornav-1] [INFO] [1746050096.005340031] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.44100000000003, -1.033, 4.758) +[mux-7] [INFO] [1746050096.045281692] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050096.046308831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050096.046707421] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050096.048480650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050096.049559698] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050096.085249944] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050096.086988086] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050096.087929786] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050096.087471102] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050096.088173214] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050096.088888485] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050096.089882723] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050096.145163297] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050096.145851693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050096.146777383] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050096.147996797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050096.149001304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050096.245253884] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050096.245919249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050096.246873504] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050096.248369019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050096.249521795] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050096.335239383] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050096.337307338] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050096.338245056] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050096.337504597] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050096.338912936] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050096.339530466] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050096.339983069] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050096.344419024] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050096.345162582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050096.345538661] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050096.346917088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050096.347983073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050096.444975154] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050096.445686488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050096.446325319] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050096.447681092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050096.448722130] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050096.503306657] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690388 Long: -76.50275716 +[vectornav-1] [INFO] [1746050096.504537563] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.07399999999996, -0.043, 5.065) +[mux-7] [INFO] [1746050096.545237321] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050096.545946789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050096.546697839] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050096.548011002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050096.549147886] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050096.585234190] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050096.586915860] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050096.587739709] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050096.587819713] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050096.587994575] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050096.588741097] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050096.589645598] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050096.645261114] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050096.646219935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050096.646856673] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050096.648407421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050096.649568345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050096.745245608] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050096.746104620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050096.746719946] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050096.748219419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050096.749011569] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050096.835616920] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050096.838268793] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050096.839106143] [sailbot.teensy]: Wind angle: 238 +[mux-7] [INFO] [1746050096.839210750] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050096.840107790] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050096.841032715] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050096.841443033] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050096.844692840] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050096.845162627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050096.845866627] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050096.846902496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050096.848135177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050096.945519264] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050096.946309310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050096.947100838] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050096.948079696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050096.948539836] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050097.003126289] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903863 Long: -76.50275735 +[vectornav-1] [INFO] [1746050097.005185126] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.85500000000002, -0.801, 3.693) +[mux-7] [INFO] [1746050097.045066230] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050097.045944618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050097.046876646] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050097.047939880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050097.048993282] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050097.085261917] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050097.087466668] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050097.088870622] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050097.088871841] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050097.089858611] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050097.090741227] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050097.091546399] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050097.144956835] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050097.145805647] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050097.146242974] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050097.147709320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050097.148753044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050097.245345053] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050097.246301279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050097.247150884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050097.248305339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050097.248811858] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050097.335402745] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050097.337997279] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050097.339113461] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050097.339230787] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050097.340216806] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050097.341098927] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050097.341931605] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050097.344323137] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050097.344785421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050097.345413394] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050097.346484665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050097.347512706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050097.445062429] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050097.445785011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050097.446738655] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050097.447856526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050097.448446761] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050097.503517496] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903843 Long: -76.50275756 +[vectornav-1] [INFO] [1746050097.505627006] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.38099999999997, -0.052, 4.457) +[mux-7] [INFO] [1746050097.544938471] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050097.545749942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050097.546373350] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050097.547922798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050097.549054688] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050097.585500650] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050097.588318705] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050097.588545763] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050097.589289517] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050097.589414626] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050097.590210920] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050097.591097098] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050097.645142292] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050097.645842519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050097.646707095] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050097.647802097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050097.649015413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050097.745380139] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050097.746016820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050097.747132177] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050097.748136802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050097.748839516] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050097.835705295] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050097.838100330] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050097.838856771] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050097.839195586] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050097.840093356] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050097.839888078] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050097.841018034] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050097.844284250] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050097.844824694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050097.845361073] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050097.846535362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050097.847616162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050097.945165053] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050097.945812333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050097.946558261] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050097.947723071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050097.948806637] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050098.003034411] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903828 Long: -76.50275764 +[vectornav-1] [INFO] [1746050098.004452651] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.53200000000004, -0.872, 4.343) +[mux-7] [INFO] [1746050098.044988353] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050098.045654481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050098.046226256] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050098.047470716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050098.048544946] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050098.085189778] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050098.086817381] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050098.087375066] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050098.087720587] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050098.088555204] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050098.088554972] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050098.089508864] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050098.144749676] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050098.145419287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050098.145905300] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050098.147169857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050098.148348077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050098.245231388] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050098.246019370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050098.246693855] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050098.248200404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050098.249348680] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050098.335263918] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050098.337355220] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050098.337990506] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050098.338308690] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050098.338857439] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050098.338928657] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050098.339247907] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050098.344610102] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050098.345256979] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050098.345793106] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050098.347067171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050098.348116973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050098.444738748] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050098.445509667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050098.445939284] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050098.447301680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050098.448357402] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050098.502800735] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903818 Long: -76.5027578 +[vectornav-1] [INFO] [1746050098.504674845] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.58000000000004, 0.168, 4.559) +[mux-7] [INFO] [1746050098.544772656] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050098.545414543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050098.545930650] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050098.547380764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050098.548430555] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050098.585194197] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050098.586770537] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050098.587257408] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050098.587651944] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050098.588462991] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050098.588403641] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050098.589338496] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050098.645496205] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050098.646430627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050098.647128612] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050098.649053231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050098.650282492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050098.745411273] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050098.746183759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050098.746885098] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050098.748367960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050098.749576925] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050098.835111984] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050098.837281825] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050098.837726266] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050098.837885855] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050098.839241927] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050098.840136200] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050098.840826152] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050098.844341130] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050098.844992415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050098.845450748] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050098.846742499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050098.847780670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050098.945355295] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050098.946343276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050098.947298918] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050098.948064295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050098.948609556] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050099.002954376] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903786 Long: -76.50275779 +[vectornav-1] [INFO] [1746050099.005410302] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.05399999999997, -0.492, 4.265) +[mux-7] [INFO] [1746050099.045269846] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050099.045981321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050099.046792068] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050099.048454355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050099.049596863] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050099.085419779] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050099.087854955] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050099.089658237] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050099.089736997] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050099.090657771] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050099.091535931] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050099.092426587] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050099.144789000] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050099.145616265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050099.146255437] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050099.147486454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050099.148853620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050099.245614006] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050099.246289880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050099.247553700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050099.248736336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050099.249816962] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050099.335107755] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050099.337192963] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050099.337817634] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050099.338324786] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050099.339537112] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050099.340373759] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050099.341187483] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050099.344317726] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050099.344924365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050099.345493731] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050099.346517992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050099.347464592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050099.445437768] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050099.446187214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050099.447032077] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050099.448812731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050099.449959770] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050099.503235045] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903772 Long: -76.50275779 +[vectornav-1] [INFO] [1746050099.504624892] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.94899999999996, -0.702, 4.509) +[mux-7] [INFO] [1746050099.544952198] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050099.545771777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050099.546206711] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050099.547641650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050099.548792491] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050099.585567799] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050099.588176960] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050099.588581643] [sailbot.teensy]: Wind angle: 238 +[mux-7] [INFO] [1746050099.589294069] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050099.589577312] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050099.590451354] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050099.591398873] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050099.645232148] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050099.645976428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050099.646760475] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050099.648439447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050099.649459056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050099.745639564] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050099.746306662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050099.747430125] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050099.748652615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050099.749967263] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050099.835171202] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050099.836779681] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050099.837377017] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050099.837653173] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050099.838559711] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050099.838881781] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050099.839430240] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050099.844530869] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050099.844950890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050099.845771426] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050099.846633450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050099.847839184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050099.945357422] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050099.946158614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050099.947046288] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050099.948316986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050099.949491096] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050100.002884816] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903752 Long: -76.50275785 +[vectornav-1] [INFO] [1746050100.004443914] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.12300000000005, 0.232, 3.998) +[mux-7] [INFO] [1746050100.045647405] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050100.046254469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050100.047309568] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050100.048789636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050100.049923435] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050100.085294433] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050100.087477825] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050100.087589888] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050100.088560639] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050100.089515895] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050100.090427994] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050100.090553343] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746050100.145221831] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050100.145810456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050100.146692060] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050100.148054814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050100.149237836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050100.245202588] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050100.245829463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050100.246686644] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050100.247806869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050100.248946483] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050100.335392369] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050100.338101758] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050100.339696597] [sailbot.teensy]: Wind angle: 238 +[mux-7] [INFO] [1746050100.340194613] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050100.340773798] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050100.341990818] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050100.342888346] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050100.344447463] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050100.345075131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050100.345545483] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050100.346802253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050100.347830083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050100.445118033] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050100.446044894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050100.446644143] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050100.448084071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050100.449180732] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050100.503579263] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903739 Long: -76.50275803 +[vectornav-1] [INFO] [1746050100.504895738] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.09199999999998, -0.715, 4.742) +[mux-7] [INFO] [1746050100.544525843] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050100.545155448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050100.545514237] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050100.546797457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050100.547727248] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050100.585403564] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050100.587783542] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050100.588817175] [sailbot.teensy]: Wind angle: 238 +[mux-7] [INFO] [1746050100.589344736] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050100.589717855] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050100.590603770] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050100.591441829] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050100.645018466] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050100.645521543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050100.646334256] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050100.647451708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050100.648506491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050100.745577911] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050100.746077230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050100.747139725] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050100.748192164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050100.749305430] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050100.835269857] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050100.837321674] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050100.837458659] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050100.838045178] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050100.838258402] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050100.839149495] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050100.840005675] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050100.844551502] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050100.844864669] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050100.845790546] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050100.846545118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050100.847614148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050100.945430289] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050100.945952290] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050100.947040450] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050100.948088008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050100.949220250] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050101.003069659] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903724 Long: -76.50275797 +[vectornav-1] [INFO] [1746050101.004640640] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.05100000000004, -0.406, 4.864) +[mux-7] [INFO] [1746050101.045250652] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050101.045876213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050101.046756093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050101.047838467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050101.048911439] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050101.085252414] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050101.086927381] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050101.087472756] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050101.087868619] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050101.088803700] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050101.089645043] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050101.089701349] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050101.144816710] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050101.145583595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050101.145982549] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050101.147399610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050101.148493552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050101.245266364] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050101.246094492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050101.246862788] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050101.248108528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050101.248653705] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050101.335353242] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050101.337047651] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050101.337694619] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050101.338664670] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050101.339173522] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050101.339260969] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050101.339711289] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050101.344453349] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050101.345191379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050101.345552452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050101.346988321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050101.348006922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050101.445080946] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050101.445841011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050101.446526748] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050101.447832973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050101.448997692] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050101.502579037] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903722 Long: -76.50275796 +[vectornav-1] [INFO] [1746050101.503642645] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.091, -0.563, 4.106) +[mux-7] [INFO] [1746050101.544763486] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050101.545301514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050101.545975970] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050101.547042666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050101.548106983] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050101.585200075] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050101.587275180] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050101.587698090] [sailbot.teensy]: Wind angle: 239 +[teensy-2] [INFO] [1746050101.588679764] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050101.588718721] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050101.589709933] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050101.590643661] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050101.645108953] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050101.645870043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050101.646763212] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050101.647898561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050101.649044734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050101.745642776] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050101.746271749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050101.747128125] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050101.748274213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050101.748761612] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050101.835443660] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050101.837829709] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050101.837851902] [sailbot.teensy]: Wind angle: 239 +[mux-7] [INFO] [1746050101.838635490] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050101.839019801] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050101.839979777] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050101.840405907] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050101.844453355] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050101.845125491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050101.845575180] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050101.846967023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050101.847987728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050101.945230567] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050101.945961223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050101.946744875] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050101.948102361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050101.948639663] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050102.003708831] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903709 Long: -76.50275806 +[vectornav-1] [INFO] [1746050102.005799713] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.27099999999996, -0.235, 4.134) +[mux-7] [INFO] [1746050102.045235424] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050102.045957419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050102.046798152] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050102.048571927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050102.049615222] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050102.085389121] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050102.087654801] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050102.088312205] [sailbot.teensy]: Wind angle: 239 +[mux-7] [INFO] [1746050102.088359316] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050102.089478873] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050102.090395730] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050102.091282842] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050102.145219970] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050102.145991798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050102.146754889] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050102.148393903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050102.149573375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050102.245300162] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050102.246244696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050102.247035237] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050102.248042107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050102.248504054] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050102.335250280] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050102.337067055] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050102.337700936] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050102.338025313] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050102.338058413] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050102.338980132] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050102.339854515] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050102.344508332] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050102.345121693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050102.345606017] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050102.347006752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050102.348048304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050102.445507811] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050102.446592537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050102.447098351] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050102.448951704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050102.450101287] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050102.503340374] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903696 Long: -76.50275807 +[vectornav-1] [INFO] [1746050102.505291804] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.22799999999995, -0.093, 4.646) +[mux-7] [INFO] [1746050102.545367170] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050102.546249034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050102.546854929] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050102.548510367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050102.549640303] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050102.585317539] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050102.587396890] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050102.587469241] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050102.588396360] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050102.588779627] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050102.589278336] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050102.590166081] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050102.645483197] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050102.646288106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050102.647090974] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050102.649091968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050102.650405656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050102.743950177] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050102.744357662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050102.744815015] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050102.746058511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050102.746953721] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050102.835532443] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050102.837863819] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050102.838146756] [sailbot.teensy]: Wind angle: 240 +[teensy-2] [INFO] [1746050102.839143242] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050102.840092256] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050102.840930601] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050102.841040270] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050102.844301282] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050102.844903351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050102.845405431] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050102.846587965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050102.847712864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050102.945527523] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050102.946269200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050102.947144976] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050102.948884774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050102.949446172] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050103.003099252] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903694 Long: -76.50275808 +[vectornav-1] [INFO] [1746050103.004883887] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.78700000000003, -1.282, 4.901) +[mux-7] [INFO] [1746050103.045696915] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050103.048011387] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050103.050813809] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050103.052688462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050103.053736449] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050103.085377916] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050103.087273530] [sailbot.teensy]: Wind angle: 242 +[teensy-2] [INFO] [1746050103.088223515] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050103.089147589] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746050103.088234737] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050103.088849220] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050103.090027799] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050103.144633080] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050103.145103959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050103.145782105] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050103.146830628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050103.148003025] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050103.245583726] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050103.246141879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050103.247295106] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050103.248467693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050103.249208799] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050103.335372342] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050103.337733211] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050103.337765440] [sailbot.teensy]: Wind angle: 244 +[mux-7] [INFO] [1746050103.338667600] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050103.338682620] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050103.339599161] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050103.340546784] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050103.344347335] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050103.344921067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050103.345440809] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050103.346621482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050103.347781708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050103.445653503] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050103.446578403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050103.447911668] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050103.448803168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050103.449972119] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050103.504214907] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469037 Long: -76.50275829 +[vectornav-1] [INFO] [1746050103.506049773] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.51999999999998, -0.057, 3.219) +[mux-7] [INFO] [1746050103.545098455] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050103.545586610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050103.546438916] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050103.547408756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050103.548476627] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050103.585247730] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050103.587134597] [sailbot.teensy]: Wind angle: 244 +[trim_sail-4] [INFO] [1746050103.588255862] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050103.588308623] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050103.589224439] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050103.589606882] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050103.590112296] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050103.644940541] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050103.645586018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050103.646203681] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050103.647438413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050103.648473954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050103.745288054] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050103.746137623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050103.746674443] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050103.748256709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050103.749018051] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050103.835213954] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050103.836892689] [sailbot.teensy]: Wind angle: 244 +[trim_sail-4] [INFO] [1746050103.837506905] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050103.837804138] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050103.838719941] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050103.839529713] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050103.839601964] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050103.844440605] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050103.845050629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050103.845550185] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050103.846777842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050103.847795510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050103.945200031] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050103.945887478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050103.946760865] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050103.948047180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050103.948642220] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050104.003180042] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903674 Long: -76.50275855 +[vectornav-1] [INFO] [1746050104.004657644] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.93899999999996, 0.093, 4.607) +[mux-7] [INFO] [1746050104.045263953] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050104.046171678] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050104.046980568] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050104.048578346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050104.049654115] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050104.085494894] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050104.088033478] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050104.088518397] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050104.089004395] [sailbot.teensy]: Wind angle: 244 +[teensy-2] [INFO] [1746050104.090161136] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050104.091025588] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050104.091853971] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050104.145011702] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050104.145668403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050104.146676624] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050104.147686262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050104.148728388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050104.245240482] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050104.245924167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050104.246780361] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050104.248094402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050104.248643727] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050104.335254341] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050104.337812124] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050104.338188685] [sailbot.teensy]: Wind angle: 244 +[teensy-2] [INFO] [1746050104.339127024] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050104.339262541] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050104.339990526] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050104.340893940] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050104.344529931] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050104.344966499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050104.345679612] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050104.346634476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050104.347731388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050104.445191010] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050104.445861015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050104.446685157] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050104.447926378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050104.449109054] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050104.503027443] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903679 Long: -76.50275859 +[vectornav-1] [INFO] [1746050104.505282538] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.30500000000006, -0.383, 5.251) +[mux-7] [INFO] [1746050104.544936559] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050104.545823616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050104.546405152] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050104.547677802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050104.548115651] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050104.585173854] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050104.587339941] [sailbot.teensy]: Wind angle: 244 +[trim_sail-4] [INFO] [1746050104.587565415] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050104.588321546] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050104.588701238] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050104.589224774] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050104.590132194] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050104.645158541] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050104.645779461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050104.646709694] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050104.647769960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050104.648875379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050104.745387533] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050104.745979027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050104.747036994] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050104.748204325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050104.749462787] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050104.835384397] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050104.837592474] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050104.837889666] [sailbot.teensy]: Wind angle: 244 +[teensy-2] [INFO] [1746050104.838756296] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050104.838913970] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050104.839221662] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050104.839623543] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050104.844549551] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050104.845033693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050104.845915797] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050104.846719968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050104.847756294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050104.945328587] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050104.945892121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050104.946963740] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050104.948018991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050104.949292112] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050105.003766512] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903679 Long: -76.50275868 +[vectornav-1] [INFO] [1746050105.005299524] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.788, -1.146, 4.369) +[mux-7] [INFO] [1746050105.045140618] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050105.046046331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050105.046714483] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050105.048064308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050105.049282839] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050105.085636551] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050105.087931245] [sailbot.teensy]: Wind angle: 245 +[trim_sail-4] [INFO] [1746050105.088522371] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050105.088966236] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050105.089895687] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050105.090615287] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050105.090765051] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050105.144434418] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050105.145054901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050105.145447663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050105.146688412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050105.147818792] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050105.244833347] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050105.245476949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050105.245999004] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050105.247280227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050105.248426236] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050105.335318891] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050105.337042436] [sailbot.teensy]: Wind angle: 245 +[trim_sail-4] [INFO] [1746050105.337868593] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050105.338056020] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050105.338937709] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050105.339019681] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050105.339793503] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050105.344478772] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050105.344970783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050105.345588956] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050105.346639703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050105.347672963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050105.445769024] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050105.446058406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050105.447297400] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050105.448494079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050105.449658750] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050105.502950522] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903669 Long: -76.50275891 +[vectornav-1] [INFO] [1746050105.504304103] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.971, 0.476, 4.136) +[mux-7] [INFO] [1746050105.545162949] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050105.546033561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050105.546826303] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050105.548249482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050105.549298510] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050105.585524300] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050105.587543459] [sailbot.teensy]: Wind angle: 245 +[trim_sail-4] [INFO] [1746050105.588480509] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050105.588580954] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050105.589451587] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050105.589473413] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050105.590329896] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050105.645154627] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050105.646259814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050105.646646452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050105.648322143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050105.648813941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050105.745261313] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050105.746074719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050105.746801884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050105.748462181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050105.749547294] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050105.835334679] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050105.837738229] [sailbot.teensy]: Wind angle: 245 +[trim_sail-4] [INFO] [1746050105.838091110] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050105.838662228] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050105.838910509] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050105.839056380] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050105.839454798] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050105.844622448] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050105.845510895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050105.846138684] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050105.847570214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050105.848641927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050105.945310980] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050105.946308808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050105.946919327] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050105.948299385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050105.948856730] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050106.003886360] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903661 Long: -76.50275891 +[vectornav-1] [INFO] [1746050106.005651930] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.76300000000003, 0.374, 4.344) +[mux-7] [INFO] [1746050106.045014652] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050106.045829903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050106.046275474] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050106.047904270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050106.049085110] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050106.085444642] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050106.087311913] [sailbot.teensy]: Wind angle: 245 +[trim_sail-4] [INFO] [1746050106.088242865] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050106.088317126] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050106.089217663] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050106.089690109] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050106.090110715] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050106.145188177] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050106.146122718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050106.146711255] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050106.148430350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050106.148961680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050106.244953172] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050106.245708448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050106.246630261] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050106.247665340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050106.248903923] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050106.335171645] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050106.337791113] [sailbot.teensy]: Wind angle: 245 +[trim_sail-4] [INFO] [1746050106.337788696] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050106.338555837] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050106.339213561] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050106.340136234] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050106.340831774] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050106.344473343] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050106.345262780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050106.345677463] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050106.347083092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050106.348127320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050106.445157823] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050106.445791129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050106.446603057] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050106.447749201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050106.448941761] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050106.503941989] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903657 Long: -76.50275874 +[vectornav-1] [INFO] [1746050106.505373569] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.94799999999998, -1.586, 4.43) +[mux-7] [INFO] [1746050106.544963331] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050106.545700706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050106.546336898] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050106.547559746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050106.548830091] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050106.585072181] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050106.586690924] [sailbot.teensy]: Wind angle: 245 +[trim_sail-4] [INFO] [1746050106.587228049] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050106.587546950] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050106.588504466] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050106.589317546] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050106.589393720] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050106.645008207] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050106.645790605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050106.646536467] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050106.647773502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050106.648874506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050106.745165234] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050106.745889767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050106.746591339] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050106.747892759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050106.748970657] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050106.835387814] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050106.837898467] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050106.838065185] [sailbot.teensy]: Wind angle: 245 +[mux-7] [INFO] [1746050106.839094376] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050106.839126778] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050106.840062498] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050106.840932478] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050106.844469270] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050106.844956867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050106.845599849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050106.846650149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050106.847659767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050106.945038338] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050106.945606424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050106.946461317] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050106.947422178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050106.948620313] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050107.002769409] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903689 Long: -76.50275864 +[vectornav-1] [INFO] [1746050107.004006519] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.77300000000002, 0.553, 4.385) +[mux-7] [INFO] [1746050107.045029968] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050107.045620152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050107.046319035] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050107.047481406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050107.048549281] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050107.085219283] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050107.086805880] [sailbot.teensy]: Wind angle: 246 +[trim_sail-4] [INFO] [1746050107.087382241] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050107.087657185] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050107.088575316] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050107.088776547] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050107.089440687] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050107.144471781] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050107.145071531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050107.145565501] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050107.146847122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050107.147854483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050107.245162112] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050107.245999800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050107.246706384] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050107.248322757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050107.248796400] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050107.335005634] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050107.337057922] [sailbot.teensy]: Wind angle: 246 +[trim_sail-4] [INFO] [1746050107.337196405] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050107.338030165] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050107.338677703] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050107.338896807] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050107.339835042] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050107.344343373] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050107.344889759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050107.345498989] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050107.346669358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050107.347818886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050107.445079794] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050107.445965584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050107.446514425] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050107.447983257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050107.449200769] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050107.503110945] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903672 Long: -76.50275853 +[vectornav-1] [INFO] [1746050107.505077955] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.97199999999998, -0.525, 4.04) +[mux-7] [INFO] [1746050107.544903139] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050107.545739995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050107.546524034] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050107.547678351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050107.548815729] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050107.585361794] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050107.587558638] [sailbot.teensy]: Wind angle: 246 +[trim_sail-4] [INFO] [1746050107.587655598] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050107.588486210] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050107.588810072] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050107.589369013] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050107.590218997] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050107.645205728] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050107.646205461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050107.647070679] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050107.648530104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050107.649623683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050107.745149673] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050107.745724721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050107.746626281] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050107.747991380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050107.748528320] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050107.835234430] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050107.836977651] [sailbot.teensy]: Wind angle: 245 +[trim_sail-4] [INFO] [1746050107.837766462] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050107.837918572] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050107.838804804] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050107.838907228] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050107.839674035] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050107.844449953] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050107.844931399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050107.845672982] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050107.846591323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050107.847635096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050107.945213190] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050107.945820897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050107.947006065] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050107.947999623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050107.949272913] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050108.003651402] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690366 Long: -76.50275849 +[vectornav-1] [INFO] [1746050108.005239924] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.76099999999997, -1.012, 5.132) +[mux-7] [INFO] [1746050108.045199241] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050108.046093221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050108.046612300] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050108.048066835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050108.049261528] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050108.085424864] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050108.087620254] [sailbot.teensy]: Wind angle: 245 +[trim_sail-4] [INFO] [1746050108.087671003] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050108.088620555] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050108.089567202] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050108.089844287] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050108.090478419] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050108.145223280] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050108.145900515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050108.146745829] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050108.147915412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050108.148488121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050108.245431300] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050108.245985238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050108.247036883] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050108.248281355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050108.249365496] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050108.335466764] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050108.337935575] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050108.338546160] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050108.339239007] [sailbot.teensy]: Wind angle: 246 +[teensy-2] [INFO] [1746050108.340197201] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050108.341075304] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050108.341974499] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050108.344563725] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050108.344980469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050108.345696207] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050108.346643279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050108.347712484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050108.445409077] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050108.445998961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050108.447079794] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050108.448540917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050108.449190227] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050108.504061591] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903664 Long: -76.50275866 +[vectornav-1] [INFO] [1746050108.506636936] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.45600000000002, -0.312, 4.143) +[mux-7] [INFO] [1746050108.545071533] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050108.545614301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050108.546419572] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050108.547726656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050108.548782585] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050108.585390946] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050108.587506419] [sailbot.teensy]: Wind angle: 246 +[trim_sail-4] [INFO] [1746050108.587774378] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050108.588481798] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050108.589055531] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050108.589367271] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050108.590305855] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050108.645057959] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050108.645925430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050108.646541330] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050108.648127451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050108.649284316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050108.745691679] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050108.746327619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050108.747525452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050108.748681555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050108.749199913] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050108.835052384] [sailbot.teensy]: Check telemetry callback entered +[mux-7] [INFO] [1746050108.837661649] [sailbot.mux]: algo sail angle: 15 +[trim_sail-4] [INFO] [1746050108.837701202] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050108.837921809] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050108.838840815] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050108.839231575] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050108.839590745] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050108.844515250] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050108.845144848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050108.845698132] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050108.846886071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050108.847918472] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050108.945423787] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050108.946089870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050108.947011140] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050108.948283008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050108.949409267] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050109.003647874] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903676 Long: -76.50275898 +[vectornav-1] [INFO] [1746050109.005970345] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.91200000000003, 0.041, 4.591) +[mux-7] [INFO] [1746050109.045823741] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050109.045856547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050109.047442079] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050109.048067474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050109.049166225] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050109.085151252] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050109.086942495] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050109.087510399] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050109.087943935] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050109.088813061] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050109.088909638] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050109.089812199] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050109.144706203] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050109.146021791] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050109.146015742] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050109.148232727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050109.149375520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050109.245156781] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050109.245947198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050109.246593312] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050109.248031785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050109.249059462] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050109.335271288] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050109.337135341] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050109.337607224] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050109.339193734] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050109.339376928] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050109.340349920] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050109.341210340] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050109.344479741] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050109.344993047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050109.345560321] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050109.346780272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050109.347825911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050109.445454929] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050109.446238188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050109.447390124] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050109.448984022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050109.450142643] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050109.503574894] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903677 Long: -76.50275904 +[vectornav-1] [INFO] [1746050109.505115709] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.30999999999995, -1.174, 5.61) +[mux-7] [INFO] [1746050109.544978193] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050109.545753744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050109.546261666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050109.547675974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050109.548695884] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050109.585637512] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050109.587486451] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050109.587916376] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050109.588496229] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050109.589219887] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050109.589416268] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050109.590388990] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050109.645011268] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050109.645866719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050109.646557567] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050109.647842074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050109.649007872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050109.745509504] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050109.746266713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050109.747304693] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050109.748748537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050109.750227950] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050109.835352568] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050109.837832320] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050109.837911304] [sailbot.teensy]: Wind angle: 249 +[mux-7] [INFO] [1746050109.838388593] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050109.838824041] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050109.840119198] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050109.841035522] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050109.844397974] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050109.845069799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050109.845539715] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050109.846850574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050109.847844134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050109.945308182] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050109.946324295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050109.946993882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050109.947808745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050109.948315835] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050110.003768895] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903693 Long: -76.50275922 +[vectornav-1] [INFO] [1746050110.005389819] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.74400000000003, -0.182, 5.245) +[mux-7] [INFO] [1746050110.045004956] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050110.045856461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050110.046289490] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050110.047796679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050110.048819371] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050110.085442746] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050110.087881926] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050110.088340390] [sailbot.teensy]: Wind angle: 249 +[mux-7] [INFO] [1746050110.088952608] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050110.089366165] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050110.090341917] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050110.091200899] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050110.145058120] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050110.145532230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050110.146482233] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050110.147414429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050110.148500663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050110.245153569] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050110.246116798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050110.246593803] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050110.248099692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050110.249240756] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050110.335294336] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050110.337827082] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050110.338362444] [sailbot.teensy]: Wind angle: 249 +[mux-7] [INFO] [1746050110.338788123] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050110.339327461] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050110.340219970] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050110.340607066] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050110.344569124] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050110.344960568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050110.345868257] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050110.346660857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050110.347709663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050110.445469840] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050110.446059677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050110.447057021] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050110.448130714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050110.448694652] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050110.502729062] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903713 Long: -76.50275931 +[vectornav-1] [INFO] [1746050110.504019343] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.64099999999996, -0.117, 5.4) +[mux-7] [INFO] [1746050110.545101096] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050110.545682203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050110.546483837] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050110.547654057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050110.548791182] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050110.585254652] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050110.587072296] [sailbot.teensy]: Wind angle: 249 +[trim_sail-4] [INFO] [1746050110.587619685] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050110.588018804] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050110.588960051] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050110.589116419] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050110.589865135] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050110.645279106] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050110.646118101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050110.646888323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050110.648404484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050110.649615171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050110.745377436] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050110.746102125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050110.746919507] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050110.747815322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050110.748308592] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050110.835427860] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050110.837932366] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050110.838651325] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050110.839007806] [sailbot.teensy]: Wind angle: 249 +[teensy-2] [INFO] [1746050110.840115439] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050110.841000486] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050110.841830831] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050110.844411549] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050110.844853233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050110.845560697] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050110.846766890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050110.847794923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050110.945346738] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050110.946024641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050110.946997882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050110.948306689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050110.948755111] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050111.003686233] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903705 Long: -76.50275921 +[vectornav-1] [INFO] [1746050111.005351877] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.29499999999996, -0.671, 4.632) +[mux-7] [INFO] [1746050111.045057648] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050111.045768491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050111.046327750] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050111.047700384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050111.048763795] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050111.085463773] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050111.087247550] [sailbot.teensy]: Wind angle: 249 +[trim_sail-4] [INFO] [1746050111.088078592] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050111.088655029] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050111.089712597] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050111.089834652] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050111.090692975] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050111.144605188] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050111.145361474] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050111.145821675] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050111.147148610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050111.148393113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050111.244997772] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050111.245805775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050111.246294444] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050111.247751404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050111.248803525] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050111.335425132] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050111.337386164] [sailbot.teensy]: Wind angle: 249 +[trim_sail-4] [INFO] [1746050111.338028810] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050111.338803701] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050111.338861841] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050111.339221961] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050111.339624106] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050111.344358010] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050111.344943094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050111.345483608] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050111.346628593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050111.347685814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050111.445225175] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050111.445862443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050111.446770910] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050111.448009503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050111.448491111] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050111.503475795] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690371 Long: -76.50275933 +[vectornav-1] [INFO] [1746050111.504727532] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.49199999999996, -0.054, 4.895) +[mux-7] [INFO] [1746050111.545364345] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050111.546068001] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050111.546890480] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050111.548516688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050111.549756267] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050111.585534001] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050111.588254077] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050111.588536948] [sailbot.teensy]: Wind angle: 249 +[mux-7] [INFO] [1746050111.588863261] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050111.589469080] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050111.590363888] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050111.591199909] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050111.645094798] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050111.645913548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050111.646834013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050111.648011765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050111.648615293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050111.745566483] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050111.746383037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050111.747733361] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050111.748561355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050111.749093204] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050111.835185539] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050111.837483547] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050111.837968014] [sailbot.teensy]: Wind angle: 249 +[mux-7] [INFO] [1746050111.838157058] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050111.838953879] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050111.839886209] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050111.840749871] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050111.844364674] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050111.845101695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050111.845522119] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050111.846847614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050111.847968943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050111.945525948] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050111.946279245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050111.947169302] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050111.948868714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050111.950010455] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050112.003734371] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903697 Long: -76.50275938 +[vectornav-1] [INFO] [1746050112.005696130] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.27800000000002, -0.761, 4.614) +[mux-7] [INFO] [1746050112.045376591] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050112.046138871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050112.046925178] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050112.048324530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050112.049509194] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050112.085578034] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050112.087989548] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050112.089009836] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050112.089398527] [sailbot.teensy]: Wind angle: 249 +[teensy-2] [INFO] [1746050112.090952244] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050112.091869460] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050112.092775242] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050112.145524067] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050112.146077093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050112.147155270] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050112.148275152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050112.149536947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050112.245399220] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050112.245983081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050112.247715696] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050112.248482110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050112.250224971] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050112.335454055] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050112.337456249] [sailbot.teensy]: Wind angle: 249 +[trim_sail-4] [INFO] [1746050112.338075023] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050112.338435351] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050112.339343311] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050112.339996076] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050112.340230712] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050112.344325198] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050112.344895550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050112.345484294] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050112.346569778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050112.347620338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050112.445478315] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050112.446254851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050112.447508567] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050112.448335746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050112.448819385] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050112.503282312] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903706 Long: -76.50275946 +[vectornav-1] [INFO] [1746050112.504729680] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.63800000000003, -0.372, 5.036) +[mux-7] [INFO] [1746050112.545424207] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050112.546447833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050112.547186047] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050112.548833837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050112.550009081] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050112.585212832] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050112.587364129] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050112.587864305] [sailbot.teensy]: Wind angle: 249 +[mux-7] [INFO] [1746050112.588515277] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050112.589871245] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050112.590751316] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050112.591586663] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050112.645005713] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050112.645515668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050112.646522076] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050112.647395808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050112.648686927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050112.745421591] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050112.746041234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050112.747127937] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050112.748092567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050112.748556397] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050112.835436958] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050112.837940290] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050112.838555824] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050112.839117620] [sailbot.teensy]: Wind angle: 251 +[teensy-2] [INFO] [1746050112.839539903] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050112.839908773] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050112.840277490] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050112.844668136] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050112.845224184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050112.845800346] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050112.846989944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050112.848123584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050112.945281461] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050112.945875221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050112.946874123] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050112.947891269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050112.949110411] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050113.003527191] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903716 Long: -76.50275943 +[vectornav-1] [INFO] [1746050113.004971796] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.08000000000004, -0.104, 4.572) +[mux-7] [INFO] [1746050113.045228739] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050113.045786610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050113.046667297] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050113.047621811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050113.048700900] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050113.085459434] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050113.087431475] [sailbot.teensy]: Wind angle: 251 +[trim_sail-4] [INFO] [1746050113.087914210] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050113.088414575] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050113.089319226] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050113.090213258] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050113.090285982] [sailbot.mux]: algo sail angle: 20 +[mux-7] [INFO] [1746050113.145780213] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050113.147044770] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050113.149365947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746050113.147455093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050113.150578479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050113.245134393] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050113.245718540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050113.246492531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050113.247544270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050113.248749557] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050113.335426258] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050113.337351180] [sailbot.teensy]: Wind angle: 251 +[teensy-2] [INFO] [1746050113.338355968] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050113.338530709] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050113.339320421] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050113.340229250] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050113.340911778] [sailbot.mux]: algo sail angle: 20 +[mux-7] [INFO] [1746050113.344310159] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050113.344828227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050113.345394496] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050113.346591226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050113.347584128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050113.445563099] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050113.446519847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050113.447189194] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050113.449075464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050113.450281168] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050113.503687937] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903714 Long: -76.50275933 +[vectornav-1] [INFO] [1746050113.505731650] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.72400000000005, 0.128, 5.255) +[mux-7] [INFO] [1746050113.545135641] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050113.545935249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050113.546580288] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050113.548026409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050113.549078600] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050113.585291475] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050113.587601953] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050113.587745548] [sailbot.teensy]: Wind angle: 251 +[teensy-2] [INFO] [1746050113.588690300] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050113.589092875] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050113.589595439] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050113.590480877] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050113.645120262] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050113.645967783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050113.646549172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050113.647770703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050113.648270895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050113.745495095] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050113.746566618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050113.747487066] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050113.748300786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050113.748838387] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050113.835253050] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050113.837756745] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050113.837785513] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050113.838355283] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050113.838706347] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050113.839976354] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050113.841011900] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050113.844351703] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050113.845066157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050113.845761325] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050113.846791934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050113.847964421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050113.945335867] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050113.946803351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050113.946897895] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050113.948938531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050113.949969449] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050114.003543009] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903725 Long: -76.50275866 +[vectornav-1] [INFO] [1746050114.005334686] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.79600000000005, -0.824, 5.792) +[mux-7] [INFO] [1746050114.044852725] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050114.045645765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050114.046062051] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050114.047422338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050114.048480210] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050114.085344776] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050114.087409985] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050114.087631257] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050114.088356173] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050114.089166427] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050114.089199599] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050114.090078957] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050114.145107210] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050114.146001120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050114.147133252] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050114.147977228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050114.149223258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050114.245325863] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050114.246078733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050114.246864466] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050114.248217877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050114.248719228] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050114.335192466] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050114.336968431] [sailbot.teensy]: Wind angle: 253 +[trim_sail-4] [INFO] [1746050114.337583199] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050114.337918217] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050114.338820555] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050114.339088272] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050114.339310939] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050114.344382264] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050114.344937043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050114.345490992] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050114.346794891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050114.347856219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050114.445110451] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050114.445851177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050114.446739725] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050114.447848226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050114.448401904] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050114.503147570] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903741 Long: -76.50275833 +[vectornav-1] [INFO] [1746050114.504925582] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.90999999999997, -0.693, 5.079) +[mux-7] [INFO] [1746050114.544740491] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050114.545941366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050114.545974643] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050114.547671789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050114.548845372] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050114.585281969] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050114.587467361] [sailbot.teensy]: Wind angle: 253 +[trim_sail-4] [INFO] [1746050114.587952332] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050114.588491219] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050114.589030884] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050114.589390455] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050114.590284845] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050114.645274444] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050114.646062595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050114.646936874] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050114.648285671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050114.648822473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050114.745371115] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050114.746234039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050114.746923933] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050114.748143240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050114.748776482] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050114.835190458] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050114.836967457] [sailbot.teensy]: Wind angle: 253 +[trim_sail-4] [INFO] [1746050114.837514156] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050114.837947302] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050114.838836876] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050114.838619878] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050114.839722650] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050114.844285757] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050114.844849060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050114.845457332] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050114.846522126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050114.847637529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050114.944967729] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050114.945944237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050114.946291017] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050114.947767088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050114.948804412] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050115.003703948] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903727 Long: -76.50275801 +[vectornav-1] [INFO] [1746050115.005308083] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.93100000000004, 0.759, 4.824) +[mux-7] [INFO] [1746050115.045452422] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050115.046127950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050115.046854628] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050115.048022751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050115.049068589] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050115.085942931] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050115.088313656] [sailbot.teensy]: Wind angle: 253 +[teensy-2] [INFO] [1746050115.089352801] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050115.088951958] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050115.089489956] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050115.090305364] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050115.091138496] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050115.145750290] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050115.147417550] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050115.148747452] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050115.150795795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050115.152623589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050115.245265288] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050115.246277967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050115.246742249] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050115.248405352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050115.249659250] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050115.335102448] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050115.337470814] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050115.338044239] [sailbot.teensy]: Wind angle: 253 +[mux-7] [INFO] [1746050115.338084636] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050115.339081803] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050115.339451291] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050115.339785802] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050115.344407538] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050115.344980641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050115.345617189] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050115.346702317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050115.347878442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050115.445421164] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050115.446350984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050115.447126699] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050115.448645340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050115.449161460] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050115.503140757] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903712 Long: -76.50275776 +[vectornav-1] [INFO] [1746050115.505253697] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.40499999999997, -1.409, 5.738) +[mux-7] [INFO] [1746050115.544994452] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050115.545687047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050115.546299185] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050115.547735364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050115.548892759] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050115.585214928] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050115.586793404] [sailbot.teensy]: Wind angle: 253 +[teensy-2] [INFO] [1746050115.587729790] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050115.588654302] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746050115.587755347] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050115.588678943] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050115.589548607] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050115.645200868] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050115.646061896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050115.646788642] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050115.648300626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050115.649524600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050115.745523554] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050115.746540840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050115.747151604] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050115.749748815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050115.750994720] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050115.835438953] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050115.838808187] [sailbot.teensy]: Wind angle: 254 +[trim_sail-4] [INFO] [1746050115.839006737] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050115.839027278] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050115.839897805] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050115.841078767] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050115.841950358] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050115.844356848] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050115.844877787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050115.845438710] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050115.846692684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050115.847772548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050115.945244342] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050115.945984607] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050115.946684484] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050115.948003485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050115.948851775] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050116.003416990] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903718 Long: -76.50275753 +[vectornav-1] [INFO] [1746050116.005189554] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.93100000000004, -0.147, 5.182) +[mux-7] [INFO] [1746050116.045192686] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050116.046230084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050116.046650175] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050116.048399840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050116.049456461] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050116.085412481] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050116.088478998] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050116.088927954] [sailbot.teensy]: Wind angle: 256 +[mux-7] [INFO] [1746050116.089647662] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050116.089984118] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050116.090916099] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050116.091720763] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050116.145077801] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050116.145981563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050116.146538491] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050116.148005049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050116.148800414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050116.245687658] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050116.246540200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050116.247339719] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050116.249202203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050116.250373024] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050116.335541269] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050116.338189533] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050116.338188965] [sailbot.teensy]: Wind angle: 256 +[mux-7] [INFO] [1746050116.338918142] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050116.340171413] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050116.341173094] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050116.342094505] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050116.344303955] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050116.344858049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050116.345388133] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050116.346572264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050116.347597875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050116.445221110] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050116.446198211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050116.446701635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050116.448274427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050116.449300525] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050116.502888634] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903731 Long: -76.50275749 +[vectornav-1] [INFO] [1746050116.504195911] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.94100000000003, -0.611, 4.784) +[mux-7] [INFO] [1746050116.545049412] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050116.545789697] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050116.546359162] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050116.547754920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050116.548887360] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050116.585280051] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050116.587144875] [sailbot.teensy]: Wind angle: 256 +[trim_sail-4] [INFO] [1746050116.587762367] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050116.589073322] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050116.589942037] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050116.590028782] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050116.590869061] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050116.644967041] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050116.645678908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050116.646287994] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050116.647859199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050116.648766056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050116.745663132] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050116.746581465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050116.747337505] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050116.748660084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050116.749117247] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050116.835097575] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050116.837382926] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050116.837552996] [sailbot.teensy]: Wind angle: 256 +[teensy-2] [INFO] [1746050116.838615482] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050116.839612474] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050116.839820312] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050116.840737100] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050116.844354135] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050116.844866325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050116.845470452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050116.846596693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050116.847651696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050116.945383896] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050116.946002335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050116.946960891] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050116.947780502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050116.948280611] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050117.003290859] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903735 Long: -76.50275766 +[vectornav-1] [INFO] [1746050117.004636269] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.61400000000003, -0.2, 6.008) +[mux-7] [INFO] [1746050117.045208908] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050117.046034567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050117.046649472] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050117.048552285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050117.049593051] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050117.085432982] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050117.088408700] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050117.088689306] [sailbot.teensy]: Wind angle: 256 +[teensy-2] [INFO] [1746050117.089942216] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050117.090570813] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050117.090862081] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050117.091765152] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050117.145232925] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050117.146156189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050117.146673674] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050117.147785667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050117.148839030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050117.245420405] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050117.246296443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050117.247081230] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050117.249018800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050117.250118941] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050117.335460577] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050117.337602942] [sailbot.teensy]: Wind angle: 253 +[trim_sail-4] [INFO] [1746050117.338027519] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050117.338638498] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050117.339399154] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050117.339567434] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050117.340522316] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050117.344403570] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050117.345059491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050117.345510124] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050117.346796253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050117.347853708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050117.445375767] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050117.446089194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050117.447277317] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050117.448293563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050117.449408109] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050117.502760579] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903743 Long: -76.5027577 +[vectornav-1] [INFO] [1746050117.503959406] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.10299999999995, -0.891, 6.007) +[mux-7] [INFO] [1746050117.545556550] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050117.546521553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050117.547205516] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050117.548941983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050117.550278040] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050117.585343142] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050117.587587568] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050117.587844801] [sailbot.teensy]: Wind angle: 252 +[teensy-2] [INFO] [1746050117.588845328] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050117.589189631] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050117.589800970] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050117.590657402] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050117.645266811] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050117.645973326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050117.646795933] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050117.648211603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050117.649361681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050117.745337449] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050117.746066897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050117.746922534] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050117.748303897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050117.748845963] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050117.835211673] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050117.836881902] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050117.837528066] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050117.837817420] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050117.838725359] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050117.839213780] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050117.839597921] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050117.844508763] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050117.844946290] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050117.845661170] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050117.846613720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050117.847799851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050117.945437031] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050117.946034529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050117.947080310] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050117.948239920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050117.949429441] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050118.003767205] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903746 Long: -76.50275798 +[vectornav-1] [INFO] [1746050118.005657586] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.53700000000003, -0.533, 6.15) +[mux-7] [INFO] [1746050118.044855662] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050118.045436091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050118.046158313] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050118.047256110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050118.048420476] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050118.085232790] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050118.086844620] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050118.087338580] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050118.087716306] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050118.088750358] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050118.089681516] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050118.089928408] [sailbot.mux]: algo sail angle: 20 +[mux-7] [INFO] [1746050118.145244279] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050118.146011240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050118.147087829] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050118.148013452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050118.149169763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050118.245441535] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050118.246015328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050118.247425091] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050118.248544387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050118.249660345] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050118.335595786] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050118.338111742] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050118.338349084] [sailbot.teensy]: Wind angle: 252 +[teensy-2] [INFO] [1746050118.339260818] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050118.339474886] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050118.340134100] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050118.341054512] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050118.344333642] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050118.344964356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050118.345408695] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050118.346696114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050118.347763901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050118.445657256] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050118.446414184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050118.448085314] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050118.448512325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050118.448972008] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050118.503584669] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903757 Long: -76.502758 +[vectornav-1] [INFO] [1746050118.504774170] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.139, -0.507, 4.824) +[mux-7] [INFO] [1746050118.545011845] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050118.545611754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050118.546290933] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050118.547558514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050118.548632208] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050118.585507025] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050118.587652704] [sailbot.teensy]: Wind angle: 252 +[teensy-2] [INFO] [1746050118.588617640] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050118.589489482] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746050118.588091453] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050118.588642318] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050118.590346831] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050118.644973409] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050118.645647348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050118.646303312] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050118.647578795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050118.648742338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050118.745378635] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050118.746079501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050118.747070790] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050118.748082536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050118.748552094] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050118.835320808] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050118.837113433] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050118.837625733] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050118.838056683] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050118.838954344] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050118.839654093] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050118.839944283] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050118.844356560] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050118.844896943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050118.845597567] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050118.846626816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050118.847783695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050118.945024654] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050118.945720502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050118.946392927] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050118.947706374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050118.948166563] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050119.003845543] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903747 Long: -76.50275811 +[vectornav-1] [INFO] [1746050119.005581654] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.293, -0.167, 5.296) +[mux-7] [INFO] [1746050119.045032114] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050119.046141545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050119.046360035] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050119.047945570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050119.049018608] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050119.085266946] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050119.087342401] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050119.087975857] [sailbot.teensy]: Wind angle: 252 +[mux-7] [INFO] [1746050119.088568172] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050119.089039894] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050119.089890445] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050119.090716950] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050119.145288720] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050119.146019702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050119.146700811] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050119.148313702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050119.149026135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050119.245401407] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050119.246220448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050119.247002713] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050119.248414959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050119.249592179] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050119.335281132] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050119.337254359] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050119.337675318] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050119.338544335] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050119.338899244] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050119.338977327] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050119.339345214] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050119.344425117] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050119.344942961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050119.345544151] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050119.346671482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050119.347707148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050119.445335270] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050119.446091591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050119.446916607] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050119.448281052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050119.449433775] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050119.503175406] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903755 Long: -76.50275815 +[vectornav-1] [INFO] [1746050119.504490814] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.41700000000003, -0.599, 5.525) +[mux-7] [INFO] [1746050119.544965142] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050119.545762786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050119.546318017] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050119.547863276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050119.549010343] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050119.585390236] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050119.587781039] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050119.588913075] [sailbot.teensy]: Wind angle: 252 +[mux-7] [INFO] [1746050119.589882408] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050119.590225568] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050119.591189195] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050119.592059854] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050119.645209516] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050119.646056952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050119.646775353] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050119.648728714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050119.649765034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050119.744996236] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050119.745680018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050119.746321410] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050119.747542738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050119.748707225] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050119.835491516] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050119.837590098] [sailbot.teensy]: Wind angle: 252 +[teensy-2] [INFO] [1746050119.838567453] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050119.838275677] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050119.839252858] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050119.839427886] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050119.839812804] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050119.844366734] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050119.845036058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050119.845584546] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050119.846737640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050119.847891219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050119.945261854] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050119.945965369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050119.947139257] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050119.947847966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050119.948318113] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050120.003110525] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903776 Long: -76.50275813 +[vectornav-1] [INFO] [1746050120.004830865] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.02700000000004, -0.492, 5.788) +[mux-7] [INFO] [1746050120.045228714] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050120.046076714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050120.046768450] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050120.048296533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050120.049421515] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050120.085097192] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050120.086766757] [sailbot.teensy]: Wind angle: 252 +[teensy-2] [INFO] [1746050120.087588966] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050120.087060697] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050120.087568785] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050120.088442630] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050120.089309648] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050120.145008469] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050120.145956583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050120.146403436] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050120.148419958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050120.149490167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050120.245376301] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050120.246183277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050120.246924139] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050120.248171211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050120.248641633] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050120.335428465] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050120.337897822] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050120.338633311] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050120.338761272] [sailbot.teensy]: Wind angle: 252 +[teensy-2] [INFO] [1746050120.339763144] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050120.340722455] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050120.341566620] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050120.344580552] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050120.345076122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050120.345744455] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050120.346824120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050120.347851265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050120.445100277] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050120.446031550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050120.446383598] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050120.447921072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050120.448999578] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050120.503653738] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903785 Long: -76.50275813 +[vectornav-1] [INFO] [1746050120.505567216] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.336, -0.621, 5.251) +[mux-7] [INFO] [1746050120.545042497] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050120.546007592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050120.546480760] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050120.548078909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050120.549253017] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050120.585383042] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050120.587775037] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050120.588231893] [sailbot.teensy]: Wind angle: 252 +[mux-7] [INFO] [1746050120.588775761] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050120.589197016] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050120.590117982] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050120.590927266] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050120.645297123] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050120.646075063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050120.647133587] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050120.648514902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050120.649583250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050120.745393394] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050120.746208847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050120.746953980] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050120.747911382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050120.748379551] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050120.835245292] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050120.837828061] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050120.837820506] [sailbot.teensy]: Wind angle: 252 +[mux-7] [INFO] [1746050120.838881204] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050120.839067638] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050120.839483891] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050120.839853564] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050120.844459566] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050120.845232753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050120.845630926] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050120.847009425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050120.848051908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050120.945200146] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050120.946097167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050120.946636260] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050120.948264246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050120.949277569] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050121.003459479] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903784 Long: -76.50275828 +[vectornav-1] [INFO] [1746050121.005630371] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.221, -0.444, 5.481) +[mux-7] [INFO] [1746050121.045094216] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050121.045766957] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050121.046394226] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050121.048069495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050121.049205242] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050121.085426592] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050121.087531764] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050121.088147983] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050121.088532087] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050121.089086377] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050121.089450110] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050121.090337586] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050121.145234159] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050121.145692267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050121.146633059] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050121.147789328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050121.148839199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050121.245387627] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050121.245906658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050121.247039103] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050121.248124440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050121.249273313] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050121.335268869] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050121.337884580] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050121.338664283] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050121.339070088] [sailbot.teensy]: Wind angle: 252 +[teensy-2] [INFO] [1746050121.340133229] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050121.341036251] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050121.341900792] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050121.344512861] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050121.345170266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050121.345769995] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050121.347237097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050121.348431130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050121.445765676] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050121.446401669] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050121.447809189] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050121.448799268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050121.450097239] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050121.504263758] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690379 Long: -76.50275842 +[vectornav-1] [INFO] [1746050121.506706195] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.44000000000005, -0.486, 4.78) +[mux-7] [INFO] [1746050121.545348212] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050121.545986082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050121.546836283] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050121.548026103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050121.549048209] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050121.585237992] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050121.587047013] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050121.587602827] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050121.588011682] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050121.588933798] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050121.589181603] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050121.589788296] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050121.645436352] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050121.646189667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050121.647783955] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050121.648873064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050121.650053885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050121.745264526] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050121.745948669] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050121.746601711] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050121.747812313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050121.749060235] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050121.835228076] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050121.837309071] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050121.837352950] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050121.838221558] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050121.839122344] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050121.839269436] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050121.839541159] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050121.844385006] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050121.845004555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050121.845568744] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050121.846721919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050121.847764821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050121.945812997] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050121.946624348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050121.947692456] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050121.948972656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050121.950166946] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050122.003198110] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903806 Long: -76.5027585 +[vectornav-1] [INFO] [1746050122.004640363] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.36199999999997, 0.198, 5.02) +[mux-7] [INFO] [1746050122.045188667] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050122.045792892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050122.047011043] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050122.047876600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050122.049089976] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050122.085271670] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050122.087378273] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050122.087904120] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050122.088900042] [sailbot.teensy]: Wind angle: 252 +[teensy-2] [INFO] [1746050122.089855222] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050122.090699478] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050122.091526309] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050122.145218640] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050122.145853510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050122.146709909] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050122.147989163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050122.149307916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050122.245520291] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050122.246144901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050122.247151070] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050122.248487328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050122.249599971] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050122.335208607] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050122.337288754] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050122.337537416] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050122.338590288] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050122.339201324] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050122.339519327] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050122.340400607] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050122.344617267] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050122.345076159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050122.345786180] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050122.346805685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050122.347835747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050122.445340924] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050122.446180938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050122.446858708] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050122.448746089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050122.454735195] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050122.503942442] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903805 Long: -76.50275848 +[vectornav-1] [INFO] [1746050122.505699610] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.995, -1.433, 4.72) +[mux-7] [INFO] [1746050122.544970835] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050122.545698877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050122.546297402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050122.547677440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050122.548835225] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050122.585409718] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050122.587155781] [sailbot.teensy]: Wind angle: 252 +[teensy-2] [INFO] [1746050122.588178906] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050122.588710771] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050122.589005958] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050122.589297919] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050122.589893786] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050122.645131106] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050122.645965768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050122.646563189] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050122.648267569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050122.648786046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050122.744958759] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050122.745915836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050122.746195160] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050122.747804729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050122.748870684] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050122.835218514] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050122.836857061] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050122.837545513] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050122.837763454] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050122.838495222] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050122.838691850] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050122.838901499] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050122.844613512] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050122.845346322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050122.845881989] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050122.847153302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050122.848290311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050122.945633161] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050122.946541408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050122.947393527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050122.948923031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050122.949587001] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050123.003838297] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903799 Long: -76.50275857 +[vectornav-1] [INFO] [1746050123.005844283] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.36599999999999, 0.203, 4.534) +[mux-7] [INFO] [1746050123.045274877] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050123.046325867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050123.046871709] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050123.048665443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050123.049743020] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050123.085141607] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050123.087105692] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050123.087156607] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050123.088115058] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050123.089082237] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050123.089446702] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050123.090021987] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050123.145003675] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050123.145756225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050123.146316284] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050123.147549985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050123.148606345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050123.245428504] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050123.246121141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050123.246979715] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050123.248142089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050123.249225098] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050123.335269592] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050123.336899465] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050123.337404701] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050123.337779045] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050123.338634084] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050123.339514938] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050123.339201018] [sailbot.mux]: algo sail angle: 20 +[mux-7] [INFO] [1746050123.344396550] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050123.344829465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050123.345456768] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050123.346429807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050123.347428055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050123.445510163] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050123.446171250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050123.447231693] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050123.448630023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050123.449738617] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050123.503442704] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903788 Long: -76.50275857 +[vectornav-1] [INFO] [1746050123.505014957] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.88400000000001, -0.565, 4.84) +[mux-7] [INFO] [1746050123.545146807] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050123.545863947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050123.546505768] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050123.547774915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050123.548823713] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050123.585493957] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050123.587259541] [sailbot.teensy]: Wind angle: 252 +[teensy-2] [INFO] [1746050123.588252260] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050123.587862966] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050123.589157838] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050123.589631094] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050123.590072932] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050123.645023032] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050123.645856876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050123.646366794] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050123.647918669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050123.648972667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050123.745413321] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050123.746202954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050123.747265327] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050123.748434258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050123.749744023] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050123.835884251] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050123.838151086] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050123.838836907] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050123.839264784] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050123.840304863] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050123.841281825] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050123.841492549] [sailbot.mux]: algo sail angle: 20 +[mux-7] [INFO] [1746050123.844447859] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050123.845210453] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050123.845868595] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050123.846990890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050123.848023620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050123.945286849] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050123.946090844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050123.946885971] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050123.948310990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050123.949472587] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050124.003458484] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903807 Long: -76.5027584 +[vectornav-1] [INFO] [1746050124.005108287] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.21500000000003, -0.317, 5.437) +[mux-7] [INFO] [1746050124.045361210] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050124.045963453] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050124.046903383] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050124.048249048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050124.049455499] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050124.085219974] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050124.086911536] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050124.087446779] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050124.087795480] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050124.087991834] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050124.088722255] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050124.089623579] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050124.145217321] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050124.146096401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050124.146680746] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050124.148289210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050124.149451047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050124.245656972] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050124.246529630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050124.247420399] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050124.248931975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050124.250087667] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050124.335374070] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050124.337733868] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050124.338247278] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050124.338595943] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050124.338987728] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050124.339010726] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050124.339381306] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050124.344582610] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050124.345236866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050124.345813254] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050124.347167491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050124.348312795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050124.445443125] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050124.445969949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050124.447007081] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050124.447998972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050124.449196051] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050124.502640502] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903822 Long: -76.50275843 +[vectornav-1] [INFO] [1746050124.503904737] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.817, -1.06, 4.205) +[mux-7] [INFO] [1746050124.545184163] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050124.545788360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050124.546627700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050124.547924016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050124.548923753] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050124.585043808] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050124.586554097] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050124.587155853] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050124.587403927] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050124.587840802] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050124.588272647] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050124.589512468] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050124.645141910] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050124.645616282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050124.646500624] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050124.647678530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050124.648853407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050124.745258827] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050124.745859465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050124.746766827] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050124.748383870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050124.749038124] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050124.835507947] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050124.837536195] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050124.838154632] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050124.838557497] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050124.839444048] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050124.839466452] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050124.840345712] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050124.844361605] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050124.845020687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050124.845526108] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050124.846792703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050124.847816907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050124.945139361] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050124.945654701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050124.946746190] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050124.947551422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050124.948832060] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050125.004120408] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903827 Long: -76.50275851 +[vectornav-1] [INFO] [1746050125.006064704] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.15300000000002, -0.431, 4.591) +[mux-7] [INFO] [1746050125.045055584] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050125.045628904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050125.046551258] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050125.047489519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050125.048577529] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050125.085256928] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050125.087645479] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050125.088273364] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050125.088543159] [sailbot.teensy]: Wind angle: 252 +[teensy-2] [INFO] [1746050125.089526214] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050125.090366425] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050125.091232906] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050125.145281544] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050125.146175111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050125.146925376] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050125.148526622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050125.149689780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050125.245548389] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050125.246146804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050125.247228321] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050125.248582172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050125.249803714] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050125.335187140] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050125.337316186] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050125.338026148] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050125.338388072] [sailbot.teensy]: Wind angle: 252 +[teensy-2] [INFO] [1746050125.339351506] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050125.340259318] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050125.341165436] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050125.344432997] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050125.344991837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050125.345537064] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050125.346636041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050125.347804888] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050125.445143705] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050125.445839169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050125.446622517] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050125.447983786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050125.449080928] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050125.502644338] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903807 Long: -76.50275844 +[vectornav-1] [INFO] [1746050125.503710099] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.87199999999996, 1.159, 4.233) +[mux-7] [INFO] [1746050125.545157866] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050125.545996252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050125.546631986] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050125.548148237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050125.549364633] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050125.585507963] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050125.587412487] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050125.588041636] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050125.588386197] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050125.589287497] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050125.589309294] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050125.590197926] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050125.645285624] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050125.646136993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050125.646871766] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050125.648622278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050125.649714086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050125.745447525] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050125.746417558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050125.747018037] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050125.748723300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050125.749217505] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050125.835496318] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050125.837923807] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050125.838044708] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050125.838905997] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050125.839935412] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050125.840682998] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050125.841020812] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050125.844614189] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050125.845113965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050125.845831275] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050125.846827696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050125.847997336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050125.945594277] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050125.946226140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050125.947252274] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050125.948732786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050125.949950083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050125.963411459] [sailbot.mux]: controller_app sail angle: 37 +[vectornav-1] [INFO] [1746050126.004374749] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690383 Long: -76.50275794 +[vectornav-1] [INFO] [1746050126.006808150] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.18399999999997, -1.79, 4.998) +[mux-7] [INFO] [1746050126.044989749] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746050126.045516776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050126.046269793] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050126.047277439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746050126.048478230] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050126.085270613] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050126.087420571] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050126.087968713] [sailbot.teensy]: Wind angle: 252 +[mux-7] [INFO] [1746050126.088227922] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050126.088999570] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050126.089916122] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050126.090733370] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050126.145381246] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746050126.145755084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050126.147374199] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050126.148127864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746050126.149314614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050126.245450669] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746050126.246254109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050126.247172745] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050126.248628506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746050126.249199610] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050126.335200947] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050126.337337801] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050126.337366633] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050126.338263382] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746050126.339488219] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050126.339679500] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050126.340464642] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050126.344500557] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746050126.345143478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050126.345611990] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050126.346954574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746050126.347955639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050126.445217388] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746050126.445876236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050126.446763244] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050126.447948280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746050126.449095211] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050126.503747763] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903849 Long: -76.50275767 +[vectornav-1] [INFO] [1746050126.505334953] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.48199999999997, -0.702, 4.451) +[mux-7] [INFO] [1746050126.544958813] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746050126.545558425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050126.546192082] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050126.547353685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746050126.548587969] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050126.585408137] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050126.587332016] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050126.587948016] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050126.588301207] [sailbot.teensy]: Actual sail angle: 37 +[mux-7] [INFO] [1746050126.588837378] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050126.589199208] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050126.590126653] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050126.645230260] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746050126.645995244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050126.646688690] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050126.648133100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746050126.649277100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050126.745301326] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746050126.745963393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050126.746889232] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050126.747676033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746050126.748220007] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050126.835458127] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050126.837269752] [sailbot.teensy]: Wind angle: 251 +[trim_sail-4] [INFO] [1746050126.837854213] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050126.838186812] [sailbot.teensy]: Actual sail angle: 37 +[mux-7] [INFO] [1746050126.838865156] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050126.839106826] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050126.839970906] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050126.844376182] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746050126.845181661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050126.845479187] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050126.846911823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746050126.848055757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050126.945285670] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746050126.945936828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050126.946744034] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050126.947935912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746050126.948467709] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050127.003553550] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690386 Long: -76.50275759 +[vectornav-1] [INFO] [1746050127.005400645] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.11699999999996, 0.626, 3.72) +[mux-7] [INFO] [1746050127.044985686] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746050127.045673926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050127.046288757] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050127.047982551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746050127.049130857] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050127.085389751] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050127.087026987] [sailbot.teensy]: Wind angle: 251 +[trim_sail-4] [INFO] [1746050127.087588265] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050127.087914460] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746050127.088848360] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050127.089785259] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050127.089802151] [sailbot.mux]: algo sail angle: 20 +[mux-7] [INFO] [1746050127.145248947] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746050127.146385255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050127.146691013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050127.147915365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746050127.148371997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050127.245214837] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746050127.246000288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050127.246686886] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050127.247952187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746050127.248489050] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050127.335227452] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050127.336922579] [sailbot.teensy]: Wind angle: 252 +[teensy-2] [INFO] [1746050127.337890542] [sailbot.teensy]: Actual sail angle: 37 +[trim_sail-4] [INFO] [1746050127.338306548] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050127.338787194] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050127.338868459] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050127.339677475] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050127.344443613] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746050127.345073490] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050127.345608189] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050127.346809447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746050127.347976324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050127.445444244] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746050127.446361790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050127.447142738] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050127.448461353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746050127.448968323] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050127.503393624] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690387 Long: -76.50275728 +[vectornav-1] [INFO] [1746050127.506154510] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.72900000000004, -0.717, 4.543) +[mux-7] [INFO] [1746050127.544747382] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746050127.545330952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050127.545869463] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050127.547106915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746050127.548393482] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050127.585688868] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050127.587784397] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050127.588613798] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050127.588879381] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746050127.589855500] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050127.590508001] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050127.590748682] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050127.645238232] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746050127.646112065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050127.646686486] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050127.648017260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746050127.648612860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050127.744807054] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746050127.745375539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050127.745940360] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050127.747194948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746050127.748368674] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050127.835359474] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050127.837180518] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050127.837898180] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050127.838942778] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050127.839212203] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746050127.839610651] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050127.839973383] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050127.844351499] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746050127.844869354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050127.845477016] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050127.846563482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746050127.847622166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050127.945341514] [sailbot.mux]: Published sail angle from controller_app: 37 +[teensy-2] [INFO] [1746050127.946176520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050127.947834870] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050127.948592629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 +[teensy-2] [INFO] [1746050127.949180718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050127.949190580] [sailbot.mux]: controller_app sail angle: 0 +[vectornav-1] [INFO] [1746050128.002793161] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903878 Long: -76.50275709 +[vectornav-1] [INFO] [1746050128.004719303] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.46900000000005, -1.625, 4.463) +[mux-7] [INFO] [1746050128.044979291] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050128.045747837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050128.046195252] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050128.047711737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050128.048731884] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050128.085130424] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050128.087130159] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050128.087705398] [sailbot.teensy]: Wind angle: 252 +[mux-7] [INFO] [1746050128.088220898] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050128.088632708] [sailbot.teensy]: Actual sail angle: 37 +[teensy-2] [INFO] [1746050128.089553248] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050128.090395841] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050128.145029156] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050128.145755055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050128.146338626] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050128.147625047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050128.148730003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050128.245167498] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050128.245693926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050128.246689210] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050128.247876230] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050128.248794564] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050128.335392236] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050128.337069191] [sailbot.teensy]: Wind angle: 251 +[teensy-2] [INFO] [1746050128.337924166] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050128.337711016] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050128.338316101] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050128.338643647] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050128.339050149] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050128.344618089] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050128.345221121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050128.345864047] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050128.346902860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050128.347943971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050128.445007212] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050128.445761802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050128.446312145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050128.447640747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050128.448909964] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050128.503229137] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903883 Long: -76.50275732 +[vectornav-1] [INFO] [1746050128.504697139] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.53099999999995, -0.065, 4.468) +[mux-7] [INFO] [1746050128.545006901] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050128.545733210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050128.546247701] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050128.547545171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050128.548698993] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050128.585567330] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050128.587485643] [sailbot.teensy]: Wind angle: 251 +[trim_sail-4] [INFO] [1746050128.588047795] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050128.588498307] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050128.589439118] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050128.590353723] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050128.590388541] [sailbot.mux]: algo sail angle: 20 +[mux-7] [INFO] [1746050128.644987664] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050128.645918432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050128.646372509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050128.647735132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050128.648207641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050128.745572832] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050128.746247040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050128.747268684] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050128.748617188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050128.749903021] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050128.835456766] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050128.837281582] [sailbot.teensy]: Wind angle: 251 +[trim_sail-4] [INFO] [1746050128.837808214] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050128.838202830] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050128.839069455] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050128.839567458] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050128.839951270] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050128.844410445] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050128.845044588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050128.845520557] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050128.846762469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050128.847820424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050128.945161534] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050128.945880774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050128.946593444] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050128.947787332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050128.948709082] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050129.003003145] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903887 Long: -76.50275731 +[vectornav-1] [INFO] [1746050129.004351325] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.88699999999994, -0.214, 4.186) +[mux-7] [INFO] [1746050129.045159333] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050129.045946234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050129.046625246] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050129.048063409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050129.049201895] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050129.085373719] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050129.087006607] [sailbot.teensy]: Wind angle: 251 +[trim_sail-4] [INFO] [1746050129.087567952] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050129.088092718] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050129.089076416] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050129.089575503] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050129.089941730] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050129.145349368] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050129.146024623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050129.146929078] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050129.148121276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050129.149311305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050129.245353184] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050129.245914131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050129.247160833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050129.247987514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050129.249162936] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050129.335799597] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050129.338809014] [sailbot.teensy]: Wind angle: 251 +[trim_sail-4] [INFO] [1746050129.338832507] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050129.339594063] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050129.339825820] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050129.340213324] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050129.340554479] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050129.344436512] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050129.344870359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050129.345578576] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050129.347011900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050129.348058336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050129.445361524] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050129.445967361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050129.447017380] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050129.448050141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050129.449145947] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050129.503504579] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903882 Long: -76.50275738 +[vectornav-1] [INFO] [1746050129.505380754] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.894, -1.109, 3.756) +[mux-7] [INFO] [1746050129.544782824] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050129.545280119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050129.546168757] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050129.547003931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050129.548057593] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050129.585398944] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050129.587219510] [sailbot.teensy]: Wind angle: 251 +[trim_sail-4] [INFO] [1746050129.587711978] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050129.588170051] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050129.589069961] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050129.589296818] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050129.589933428] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050129.645023215] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050129.645812963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050129.646481800] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050129.647882519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050129.648585101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050129.745408437] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050129.746230435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050129.746995723] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050129.748435839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050129.749602287] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050129.835219204] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050129.836904928] [sailbot.teensy]: Wind angle: 251 +[trim_sail-4] [INFO] [1746050129.837441003] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050129.837855739] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050129.838845999] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050129.839059549] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050129.839722578] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050129.844270048] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050129.844913948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050129.845399628] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050129.846801451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050129.847804347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050129.945384423] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050129.946408929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050129.946997023] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050129.948531495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050129.949045717] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050130.002820344] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903894 Long: -76.50275754 +[vectornav-1] [INFO] [1746050130.004230915] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.79099999999994, -0.078, 4.696) +[mux-7] [INFO] [1746050130.044847791] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050130.045612125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050130.046041021] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050130.047434506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050130.048537148] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050130.085269346] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050130.087331924] [sailbot.teensy]: Wind angle: 251 +[trim_sail-4] [INFO] [1746050130.087425798] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050130.088375370] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050130.089306169] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050130.089450969] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050130.090216156] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050130.144867518] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050130.146020338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050130.146121685] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050130.148040848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050130.149116180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050130.245038248] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050130.245816342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050130.246750677] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050130.247975163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050130.248597817] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050130.335529844] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050130.337526235] [sailbot.teensy]: Wind angle: 251 +[trim_sail-4] [INFO] [1746050130.338057621] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050130.338528150] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050130.339436114] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050130.339538674] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050130.340538036] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050130.344447743] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050130.345004209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050130.345536311] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050130.346828978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050130.347839531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050130.445549108] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050130.446385977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050130.447138334] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050130.448966043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050130.450024748] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050130.503714414] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903902 Long: -76.50275747 +[vectornav-1] [INFO] [1746050130.505354073] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.644, -0.513, 4.119) +[mux-7] [INFO] [1746050130.544938386] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050130.545562058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050130.546296760] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050130.547450309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050130.548603883] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050130.585311855] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050130.587476746] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050130.587692741] [sailbot.teensy]: Wind angle: 251 +[teensy-2] [INFO] [1746050130.588685350] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050130.588858308] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050130.589781099] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050130.590657059] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050130.645200874] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050130.646048582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050130.646688831] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050130.648337613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050130.649512606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050130.745191069] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050130.746216187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050130.746726240] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050130.748531530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050130.749623696] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050130.835322346] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050130.837103066] [sailbot.teensy]: Wind angle: 250 +[trim_sail-4] [INFO] [1746050130.837705087] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050130.838096506] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050130.839016234] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050130.839026293] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050130.839952766] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050130.844346004] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050130.844826428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050130.845428119] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050130.846517379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050130.847628315] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050130.945336364] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050130.946022566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050130.946980709] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050130.948097773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050130.949219131] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050131.003709022] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903919 Long: -76.50275741 +[vectornav-1] [INFO] [1746050131.005360962] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.409, -0.685, 4.036) +[mux-7] [INFO] [1746050131.045108540] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050131.046231564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050131.046555245] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050131.048240553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050131.049387835] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050131.085300484] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050131.087487728] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050131.087824138] [sailbot.teensy]: Wind angle: 251 +[teensy-2] [INFO] [1746050131.089136092] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050131.089714131] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050131.090165254] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050131.091093472] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050131.144939744] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050131.145616809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050131.146179034] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050131.147447563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050131.148616375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050131.245391530] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050131.246498919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050131.247219251] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050131.248794516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050131.249910830] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050131.335542152] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050131.337671620] [sailbot.teensy]: Wind angle: 250 +[teensy-2] [INFO] [1746050131.339104552] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050131.339141263] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050131.339553358] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050131.340093339] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050131.341093097] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050131.344435514] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050131.345342555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050131.345722780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050131.347060169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050131.348072777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050131.445020947] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050131.445710695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050131.446571871] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050131.447656332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050131.448761747] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050131.502653596] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903936 Long: -76.50275744 +[vectornav-1] [INFO] [1746050131.503636481] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.31500000000005, 0.194, 4.257) +[mux-7] [INFO] [1746050131.544858404] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050131.545712427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050131.546104487] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050131.547644369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050131.548773389] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050131.585535348] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050131.587895936] [sailbot.teensy]: Wind angle: 250 +[trim_sail-4] [INFO] [1746050131.588049849] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050131.588944224] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050131.589771623] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050131.589813253] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050131.590750096] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050131.645253272] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050131.646020002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050131.646726017] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050131.647915890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050131.648453921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050131.745475183] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050131.746456574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050131.747080502] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050131.749026030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050131.750061169] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050131.835417367] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050131.837657203] [sailbot.teensy]: Wind angle: 250 +[trim_sail-4] [INFO] [1746050131.837966054] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050131.838616116] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050131.838979007] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050131.839494838] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050131.840400476] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050131.844362123] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050131.844854876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050131.845505632] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050131.846537650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050131.847571705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050131.945417048] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050131.946380516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050131.947138588] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050131.948084960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050131.948603783] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050132.003639166] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903946 Long: -76.50275722 +[vectornav-1] [INFO] [1746050132.005303332] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.56799999999998, -0.597, 4.954) +[mux-7] [INFO] [1746050132.045149502] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050132.045812710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050132.046568251] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050132.047771186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050132.048629670] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050132.085229475] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050132.087561067] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050132.087893169] [sailbot.teensy]: Wind angle: 250 +[mux-7] [INFO] [1746050132.088082958] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050132.088848757] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050132.089770477] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050132.090797804] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050132.145263648] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050132.146188667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050132.146726320] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050132.147895035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050132.148400823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050132.245563347] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050132.246338460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050132.247222735] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050132.248900630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050132.249987864] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050132.335372138] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050132.338031203] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050132.338063165] [sailbot.teensy]: Wind angle: 250 +[mux-7] [INFO] [1746050132.338591023] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050132.338982565] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050132.339885003] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050132.340775514] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050132.344352096] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050132.344747229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050132.345435099] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050132.346416224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050132.347505790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050132.445508027] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050132.446243026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050132.447091616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050132.448449147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050132.448999042] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050132.503905328] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903958 Long: -76.50275704 +[vectornav-1] [INFO] [1746050132.505936218] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.111, -0.602, 4.504) +[mux-7] [INFO] [1746050132.544889393] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050132.545514110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050132.546168779] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050132.547324677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050132.548480856] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050132.585195135] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050132.587406738] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050132.587663785] [sailbot.teensy]: Wind angle: 250 +[teensy-2] [INFO] [1746050132.588606216] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050132.588614458] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050132.589544603] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050132.590446310] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050132.645282877] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050132.646089583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050132.646770521] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050132.648103517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050132.648641459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050132.744757435] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050132.745193101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050132.745891278] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050132.746939064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050132.748065564] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050132.834775939] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050132.836486688] [sailbot.teensy]: Wind angle: 250 +[trim_sail-4] [INFO] [1746050132.837218694] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050132.837524466] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050132.838413276] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050132.838844954] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050132.839255900] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050132.844188354] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050132.844641915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050132.845398962] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050132.846300205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050132.847401159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050132.945314123] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050132.945847679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050132.946901493] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050132.947963517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050132.949209168] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050133.002394042] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690396 Long: -76.50275694 +[vectornav-1] [INFO] [1746050133.003358686] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.41899999999998, -0.469, 4.697) +[mux-7] [INFO] [1746050133.045060053] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050133.045731495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050133.046754927] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050133.047788360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050133.048900051] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050133.085162576] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050133.087468791] [sailbot.teensy]: Wind angle: 250 +[trim_sail-4] [INFO] [1746050133.087567075] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050133.088411660] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050133.088426606] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050133.089353571] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050133.090204086] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050133.145038771] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050133.145732632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050133.146981832] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050133.147671025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050133.148752330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050133.245176727] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050133.246159389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050133.246685108] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050133.248352930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050133.249636558] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050133.335151729] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050133.336966598] [sailbot.teensy]: Wind angle: 250 +[teensy-2] [INFO] [1746050133.337896420] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050133.337616641] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050133.337939377] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050133.338796562] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050133.339712524] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050133.344386988] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050133.344919600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050133.345525838] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050133.346590606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050133.347611165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050133.445412511] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050133.446449980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050133.447124562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050133.449035664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050133.450173302] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050133.503953806] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903959 Long: -76.50275687 +[vectornav-1] [INFO] [1746050133.505469403] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.289, 0.002, 4.163) +[mux-7] [INFO] [1746050133.544989216] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050133.545957086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050133.546372714] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050133.547887036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050133.549052536] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050133.585812065] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050133.588882147] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050133.589357231] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050133.590634687] [sailbot.teensy]: Wind angle: 250 +[teensy-2] [INFO] [1746050133.591610755] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050133.592617839] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050133.593473218] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050133.645025830] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050133.645730944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050133.646392654] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050133.647916456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050133.649071826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050133.745447521] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050133.746218768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050133.747146379] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050133.748066419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050133.748586866] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050133.835176147] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050133.836899300] [sailbot.teensy]: Wind angle: 250 +[trim_sail-4] [INFO] [1746050133.837361461] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050133.837849651] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050133.838744756] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050133.839076320] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050133.839615258] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050133.844543261] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050133.845188918] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050133.845714301] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050133.847000542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050133.848092868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050133.944963443] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050133.945764587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050133.946251981] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050133.947640638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050133.948803929] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050134.003782903] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903963 Long: -76.5027566 +[vectornav-1] [INFO] [1746050134.005883459] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.79999999999995, -0.655, 5.033) +[mux-7] [INFO] [1746050134.044928927] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050134.045774301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050134.046182548] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050134.047550634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050134.048624266] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050134.085272711] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050134.087123120] [sailbot.teensy]: Wind angle: 250 +[trim_sail-4] [INFO] [1746050134.087788415] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050134.088120964] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050134.088843145] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050134.089082626] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050134.089965663] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050134.145184579] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050134.146216453] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050134.147006787] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050134.147473106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050134.148172815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050134.245172125] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050134.246160073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050134.246663155] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050134.248387740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050134.249420356] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050134.335229036] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050134.337422959] [sailbot.teensy]: Wind angle: 250 +[trim_sail-4] [INFO] [1746050134.337463071] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050134.338407306] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050134.339291608] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050134.339481304] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050134.340192941] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050134.344360336] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050134.344798403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050134.345511333] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050134.346464563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050134.347588372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050134.445343603] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050134.445942042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050134.447339826] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050134.448034645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050134.450049049] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050134.502839662] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903967 Long: -76.50275652 +[vectornav-1] [INFO] [1746050134.504354663] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.96000000000004, -0.65, 4.268) +[mux-7] [INFO] [1746050134.545443603] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050134.546322465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050134.547426789] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050134.548766268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050134.549760057] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050134.585356354] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050134.587355453] [sailbot.teensy]: Wind angle: 250 +[trim_sail-4] [INFO] [1746050134.587508501] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050134.588343756] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050134.589210430] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050134.589323006] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050134.590118131] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050134.645147433] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050134.645914284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050134.646591055] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050134.647896475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050134.648935214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050134.745197486] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050134.746640373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050134.746800211] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050134.748795053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050134.750034702] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050134.835620799] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050134.838143350] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050134.838359553] [sailbot.teensy]: Wind angle: 250 +[mux-7] [INFO] [1746050134.838719523] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050134.839504549] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050134.840407675] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050134.841299183] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050134.844390957] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050134.844936160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050134.845689521] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050134.846709691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050134.847785221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050134.945453232] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050134.946212099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050134.947033099] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050134.948617081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050134.949820447] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050135.003616225] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903957 Long: -76.50275658 +[vectornav-1] [INFO] [1746050135.005816183] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.163, -0.255, 3.677) +[mux-7] [INFO] [1746050135.045250518] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050135.046129107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050135.046727821] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050135.048328942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050135.049494328] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050135.086041607] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050135.088403874] [sailbot.teensy]: Wind angle: 250 +[trim_sail-4] [INFO] [1746050135.088897046] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050135.089553157] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050135.090580360] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050135.091305239] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050135.091590928] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050135.144606677] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050135.145353710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050135.145751286] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050135.147272481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050135.148405788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050135.245084589] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050135.245912642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050135.246770833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050135.247883545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050135.248394831] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050135.335220619] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050135.336877748] [sailbot.teensy]: Wind angle: 249 +[trim_sail-4] [INFO] [1746050135.337300539] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050135.337824911] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050135.338748222] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050135.338860382] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050135.339622837] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050135.344485958] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050135.345177300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050135.345606365] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050135.346927170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050135.348014280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050135.445487509] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050135.446378390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050135.447093786] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050135.448992471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050135.450103451] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050135.503453214] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903945 Long: -76.50275643 +[vectornav-1] [INFO] [1746050135.504816292] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.04999999999995, -0.801, 3.816) +[mux-7] [INFO] [1746050135.545026509] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050135.545951828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050135.546421502] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050135.548033768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050135.549093682] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050135.585826294] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050135.588134036] [sailbot.teensy]: Wind angle: 249 +[teensy-2] [INFO] [1746050135.589358262] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050135.589256182] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050135.590336005] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050135.591235480] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050135.591460319] [sailbot.mux]: algo sail angle: 15 +[mux-7] [INFO] [1746050135.645347638] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050135.646240720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050135.646966161] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050135.649210279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050135.650333987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050135.745604968] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050135.746263287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050135.747201157] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050135.748848172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050135.749505029] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050135.835182208] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050135.836917681] [sailbot.teensy]: Wind angle: 249 +[trim_sail-4] [INFO] [1746050135.837416118] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050135.838828959] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050135.839205383] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050135.840124031] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050135.840753521] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050135.844290094] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050135.844871907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050135.845359915] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050135.846475627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050135.847654164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050135.945220983] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050135.946317750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050135.946729288] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050135.948199939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050135.948742392] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050136.003664324] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903932 Long: -76.50275657 +[vectornav-1] [INFO] [1746050136.005863489] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.97000000000003, -0.152, 3.915) +[mux-7] [INFO] [1746050136.045024647] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050136.045705028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050136.046295406] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050136.047812845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050136.048967604] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050136.085272884] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050136.087629885] [sailbot.teensy]: Wind angle: 249 +[teensy-2] [INFO] [1746050136.088545104] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050136.087934695] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050136.088757780] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050136.089444918] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050136.090338380] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050136.144885033] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050136.145693120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050136.146293634] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050136.148032860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050136.148852029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050136.245110452] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050136.246137346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050136.247329751] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050136.247997515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050136.248462251] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050136.335371620] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050136.337294600] [sailbot.teensy]: Wind angle: 249 +[trim_sail-4] [INFO] [1746050136.337764376] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050136.338296257] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050136.339228861] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050136.339286729] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050136.339958764] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050136.344303217] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050136.344919552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050136.345396052] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050136.346624768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050136.347663338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050136.444904106] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050136.445539099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050136.446177106] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050136.447486511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050136.448035091] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050136.503378693] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903924 Long: -76.50275663 +[vectornav-1] [INFO] [1746050136.504626011] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.77999999999997, -0.561, 3.664) +[mux-7] [INFO] [1746050136.545375166] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050136.546075808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050136.546838947] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050136.548208956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050136.549284333] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050136.585441988] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050136.587773585] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050136.588238142] [sailbot.teensy]: Wind angle: 249 +[mux-7] [INFO] [1746050136.588960638] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050136.590258218] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050136.591237828] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050136.592060407] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050136.644706256] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050136.645310207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050136.645886856] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050136.647364413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050136.648554710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050136.745082337] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050136.746023000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050136.746473786] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050136.747877382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050136.748352744] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050136.835384879] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050136.837886372] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050136.838559414] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050136.838769995] [sailbot.teensy]: Wind angle: 249 +[teensy-2] [INFO] [1746050136.839745147] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050136.840658595] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050136.841493191] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050136.844216476] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050136.844770062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050136.845340916] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050136.846424518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050136.847567765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050136.944905142] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050136.945839464] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050136.946172778] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050136.947677023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050136.948746243] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050137.004238031] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690392 Long: -76.50275661 +[vectornav-1] [INFO] [1746050137.006305760] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.543, -0.981, 4.131) +[mux-7] [INFO] [1746050137.045112768] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050137.045810996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050137.046507916] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050137.047875955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050137.049113104] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050137.085261727] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050137.087467251] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050137.087779269] [sailbot.teensy]: Wind angle: 249 +[mux-7] [INFO] [1746050137.088619533] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050137.088838182] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050137.089722388] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050137.090595761] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050137.145352014] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050137.145908084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050137.146984758] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050137.148305379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050137.149546977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050137.245170357] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050137.245847485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050137.246574924] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050137.247689554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050137.248889191] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050137.335252128] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050137.337043898] [sailbot.teensy]: Wind angle: 249 +[trim_sail-4] [INFO] [1746050137.337664303] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050137.339060396] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050137.339905914] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050137.340857036] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050137.341689216] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050137.344347998] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050137.344909886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050137.345480605] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050137.346591137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050137.347719762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050137.445217988] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050137.445834482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050137.446993235] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050137.447820926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050137.448901396] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050137.503107160] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903923 Long: -76.50275697 +[vectornav-1] [INFO] [1746050137.504651525] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.014, 0.019, 4.009) +[mux-7] [INFO] [1746050137.545202049] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050137.545754002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050137.546682515] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050137.547985128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050137.549183827] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050137.585249258] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050137.586898228] [sailbot.teensy]: Wind angle: 249 +[trim_sail-4] [INFO] [1746050137.587478663] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050137.587826503] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050137.588805129] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050137.589618998] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050137.589658736] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050137.645259275] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050137.645864653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050137.646845422] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050137.648182141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050137.649389382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050137.744793423] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050137.745353689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050137.746003862] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050137.747117757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050137.748356242] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050137.835287466] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050137.836965540] [sailbot.teensy]: Wind angle: 249 +[trim_sail-4] [INFO] [1746050137.837536089] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050137.837876755] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050137.838762355] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050137.839463566] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050137.839641086] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050137.844589761] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050137.844861369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050137.845858845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050137.846499019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050137.847845860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050137.945622569] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050137.946211343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050137.947419746] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050137.948879601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050137.950145360] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050138.003696145] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903929 Long: -76.50275699 +[vectornav-1] [INFO] [1746050138.005723685] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.86300000000006, -0.56, 4.836) +[mux-7] [INFO] [1746050138.045054113] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050138.046313340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050138.046356594] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050138.048191232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050138.049257265] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050138.085371516] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050138.087148901] [sailbot.teensy]: Wind angle: 249 +[teensy-2] [INFO] [1746050138.088096145] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050138.087915409] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050138.088298221] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050138.088985938] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050138.089906416] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050138.145055689] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050138.145792297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050138.146640961] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050138.147567880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050138.148721115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050138.245549776] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050138.246390890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050138.247304652] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050138.249249408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050138.250532378] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050138.335333681] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050138.337934820] [sailbot.teensy]: Wind angle: 249 +[trim_sail-4] [INFO] [1746050138.337967503] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050138.338982950] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050138.339775391] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050138.340683765] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050138.341021407] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050138.344572560] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050138.345110696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050138.345718674] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050138.346800683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050138.347990324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050138.445230104] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050138.445980237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050138.446737486] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050138.448170728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050138.449370571] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050138.503449880] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903929 Long: -76.50275686 +[vectornav-1] [INFO] [1746050138.505314457] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.30200000000002, -0.545, 4.352) +[mux-7] [INFO] [1746050138.545237662] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050138.545922487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050138.546754612] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050138.548190130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050138.549276473] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050138.585352643] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050138.587013233] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050138.587852579] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050138.587944925] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050138.588826587] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050138.588857913] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050138.589703267] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050138.645076002] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050138.645950729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050138.646509512] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050138.647880596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050138.648413364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050138.745348974] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050138.746066328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050138.747020829] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050138.748036995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050138.748532501] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050138.835521051] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050138.837706933] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050138.838298163] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050138.838742532] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050138.839510933] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050138.839650338] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050138.840565900] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050138.844278181] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050138.844822836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050138.845390543] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050138.847014387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050138.848069626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050138.945272386] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050138.945935324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050138.946892881] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050138.948111532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050138.948846283] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050139.004296557] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903922 Long: -76.50275697 +[vectornav-1] [INFO] [1746050139.006143549] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.84199999999998, -0.836, 4.122) +[mux-7] [INFO] [1746050139.045065169] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050139.045784244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050139.046646230] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050139.047857959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050139.048878110] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050139.085547644] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050139.087409081] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050139.087974814] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050139.088368289] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050139.089296297] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050139.090143437] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050139.090151820] [sailbot.mux]: algo sail angle: 15 +[mux-7] [INFO] [1746050139.145019336] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050139.145714850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050139.146435826] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050139.147697532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050139.148794705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050139.245290149] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050139.246118235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050139.247828661] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050139.248086770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050139.248615496] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050139.335246800] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050139.337143515] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050139.338232350] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050139.338480002] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050139.338954083] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050139.338970328] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050139.339362545] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050139.344520544] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050139.345132176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050139.345768919] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050139.346835438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050139.347838602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050139.445064193] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050139.445926800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050139.446473908] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050139.447888516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050139.448949075] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050139.503126685] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903913 Long: -76.50275721 +[vectornav-1] [INFO] [1746050139.504204219] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.12400000000002, 0.542, 3.865) +[mux-7] [INFO] [1746050139.545104820] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050139.546002295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050139.546518841] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050139.548052482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050139.549059315] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050139.585327024] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050139.587260830] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050139.587725400] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050139.588237620] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050139.588964711] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050139.589133538] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050139.589985327] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050139.645086287] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050139.645815649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050139.646486104] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050139.647870580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050139.648463265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050139.745458731] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050139.746644277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050139.747036829] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050139.749226960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050139.750372666] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050139.835332175] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050139.837144045] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050139.838094999] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050139.837775081] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050139.838366743] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050139.839008237] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050139.839897080] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050139.844317540] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050139.844916392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050139.845448859] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050139.846606175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050139.847759126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050139.945484086] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050139.946275376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050139.947066036] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050139.949465911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050139.950626868] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050140.003272532] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903913 Long: -76.50275709 +[vectornav-1] [INFO] [1746050140.005335893] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.67600000000004, -0.891, 4.452) +[mux-7] [INFO] [1746050140.045418827] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050140.046130069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050140.046984470] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050140.048242843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050140.049353493] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050140.085449622] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050140.087795487] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050140.087816153] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050140.089116283] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050140.089117507] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050140.090082317] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050140.090912351] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050140.145082461] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050140.145693910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050140.146501421] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050140.148025716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050140.149185941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050140.245564193] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050140.246448373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050140.247218720] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050140.248786974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050140.249738094] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050140.335280569] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050140.337709892] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050140.337843234] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050140.338704430] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050140.338707709] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050140.339099178] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050140.339496777] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050140.344712429] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050140.345522923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050140.346118791] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050140.347312650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050140.348496104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050140.444689329] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050140.445455572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050140.445852058] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050140.447213639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050140.448422913] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050140.504098817] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903915 Long: -76.50275701 +[vectornav-1] [INFO] [1746050140.505888999] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.42200000000003, -0.608, 3.455) +[mux-7] [INFO] [1746050140.544621353] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050140.545272754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050140.545711763] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050140.547020245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050140.548021332] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050140.585525065] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050140.587889667] [sailbot.teensy]: Wind angle: 249 +[trim_sail-4] [INFO] [1746050140.587889716] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050140.588722796] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050140.588854717] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050140.589715522] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050140.590583663] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050140.645074507] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050140.645751211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050140.646549264] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050140.647704473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050140.648785623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050140.745329855] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050140.745995524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050140.746935361] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050140.748130415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050140.749446850] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050140.835265947] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050140.837499306] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050140.838093082] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050140.838496320] [sailbot.teensy]: Wind angle: 249 +[teensy-2] [INFO] [1746050140.839577749] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050140.840457338] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050140.841293103] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050140.844369982] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050140.845027769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050140.845486250] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050140.846837652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050140.848022083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050140.945593015] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050140.946358509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050140.947347225] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050140.948807454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050140.949916687] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050141.003266978] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903899 Long: -76.50275695 +[vectornav-1] [INFO] [1746050141.004729827] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.35699999999997, -0.306, 3.019) +[mux-7] [INFO] [1746050141.045471611] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050141.046235910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050141.047014364] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050141.048653680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050141.049819660] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050141.085192013] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050141.087387972] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050141.087585551] [sailbot.teensy]: Wind angle: 249 +[teensy-2] [INFO] [1746050141.088616311] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050141.089491049] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050141.089526440] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050141.090417601] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050141.145015776] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050141.145633899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050141.146439054] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050141.147551467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050141.148599187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050141.245387770] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050141.246134639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050141.246905612] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050141.248254318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050141.249351930] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050141.335291276] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050141.337040833] [sailbot.teensy]: Wind angle: 249 +[trim_sail-4] [INFO] [1746050141.337743025] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050141.337943111] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050141.338121522] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050141.338854133] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050141.339747945] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050141.344452872] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050141.345068457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050141.345556355] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050141.346839428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050141.348050032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050141.445560244] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050141.446653347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050141.447155562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050141.449155703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050141.450258762] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050141.503789074] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690389 Long: -76.5027568 +[vectornav-1] [INFO] [1746050141.505623184] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.86900000000003, 0.11, 4.233) +[mux-7] [INFO] [1746050141.545244900] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050141.546196328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050141.546757660] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050141.548416988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050141.549450873] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050141.585604883] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050141.588208247] [sailbot.teensy]: Wind angle: 249 +[teensy-2] [INFO] [1746050141.589202094] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050141.588818584] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050141.589699267] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050141.590133642] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050141.591054214] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050141.645448461] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050141.646082687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050141.647079254] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050141.648507087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050141.649630696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050141.745589694] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050141.746292995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050141.747205989] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050141.748653086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050141.749216904] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050141.835291600] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050141.837065555] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050141.837550420] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050141.838006597] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050141.838793125] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050141.838927221] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050141.839166514] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050141.844378111] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050141.844919556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050141.845558967] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050141.846622759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050141.847624366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050141.945208929] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050141.945922017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050141.946729797] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050141.948083599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050141.950290062] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050142.003369319] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690391 Long: -76.50275665 +[vectornav-1] [INFO] [1746050142.004852069] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.71699999999998, -0.774, 4.189) +[mux-7] [INFO] [1746050142.044327667] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050142.044890112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050142.045330214] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050142.046577612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050142.047519513] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050142.085239045] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050142.087033314] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050142.088190723] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050142.088317781] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050142.088618476] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050142.089123580] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050142.090109275] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050142.145054116] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050142.145796681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050142.146818485] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050142.147809912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050142.148997663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050142.244883396] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050142.245762178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050142.246608129] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050142.247648627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050142.248718312] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050142.335244287] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050142.337109905] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050142.337648284] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050142.338906915] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050142.339255371] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050142.340173631] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050142.340866444] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050142.344454758] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050142.345185482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050142.346425826] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050142.346846894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050142.347960230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050142.445381840] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050142.446480487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050142.447075907] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050142.448436362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050142.448936425] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050142.503592411] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903918 Long: -76.5027564 +[vectornav-1] [INFO] [1746050142.504958723] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.37099999999998, -0.293, 3.612) +[mux-7] [INFO] [1746050142.545051933] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050142.545652203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050142.546736318] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050142.547481854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050142.548590148] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050142.585527872] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050142.588103193] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050142.588818378] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050142.589906050] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050142.590846509] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050142.591677160] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050142.592653421] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050142.645343525] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050142.646137503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050142.647309312] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050142.648406431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050142.649428576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050142.744965417] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050142.745638105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050142.746243944] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050142.747463218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050142.748038568] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050142.835265273] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050142.837438344] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050142.838835789] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050142.839395594] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050142.840378403] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050142.841238288] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050142.842096919] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050142.844194162] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050142.844788869] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050142.845541757] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050142.846400640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050142.847364523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050142.945247597] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050142.946023707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050142.947215052] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050142.948928649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050142.950021508] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050143.003766644] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903906 Long: -76.50275615 +[vectornav-1] [INFO] [1746050143.005388913] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.51, -0.612, 4.58) +[mux-7] [INFO] [1746050143.045060227] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050143.046052007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050143.046483226] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050143.048109612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050143.049251646] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050143.085250329] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050143.087584334] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050143.087883038] [sailbot.teensy]: Wind angle: 248 +[mux-7] [INFO] [1746050143.088821077] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050143.088859568] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050143.089813440] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050143.090675498] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050143.145081998] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050143.146111816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050143.146522621] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050143.148086907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050143.149279618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050143.245277913] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050143.245971691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050143.247210247] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050143.248100295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050143.249244889] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050143.335296377] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050143.337755658] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050143.338255529] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050143.339092089] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050143.339998296] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050143.340900405] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050143.341755658] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050143.344310237] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050143.345019283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050143.345436571] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050143.346726850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050143.347747607] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050143.444958453] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050143.445607986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050143.446298433] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050143.447761166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050143.448846673] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050143.503876297] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903902 Long: -76.50275611 +[vectornav-1] [INFO] [1746050143.506313299] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.433, -0.431, 3.466) +[mux-7] [INFO] [1746050143.545226353] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050143.546000746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050143.546736320] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050143.548009961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050143.549086385] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050143.585235890] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050143.587414713] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050143.588032779] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050143.589484247] [sailbot.teensy]: Wind angle: 249 +[teensy-2] [INFO] [1746050143.590450238] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050143.591281809] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050143.592116175] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050143.645336354] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050143.646050226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050143.646978471] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050143.648568140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050143.649777122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050143.745093194] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050143.745568243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050143.746552307] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050143.747407962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050143.748376848] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050143.835623421] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050143.838192393] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050143.838369689] [sailbot.teensy]: Wind angle: 249 +[teensy-2] [INFO] [1746050143.838821143] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050143.839023604] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050143.839245322] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050143.839636178] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050143.844370003] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050143.845002013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050143.845485610] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050143.846772177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050143.847780999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050143.945315394] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050143.945901941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050143.946981557] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050143.948302279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050143.949488241] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050144.002939672] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903879 Long: -76.50275614 +[vectornav-1] [INFO] [1746050144.003949589] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.17899999999997, -0.294, 3.968) +[mux-7] [INFO] [1746050144.044869325] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050144.045364136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050144.046091323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050144.047141932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050144.048218041] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050144.085172982] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050144.086893683] [sailbot.teensy]: Wind angle: 249 +[trim_sail-4] [INFO] [1746050144.087647993] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050144.087806214] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050144.088218645] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050144.088731401] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050144.089613507] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050144.145221868] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050144.146012018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050144.146974396] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050144.147930549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050144.149126859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050144.245412109] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050144.245993560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050144.247016335] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050144.248272540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050144.249509338] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050144.335475418] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050144.337459423] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050144.338450223] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050144.338988886] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050144.338987631] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050144.339278572] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050144.339671246] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050144.344551331] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050144.344981019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050144.345737257] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050144.346659908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050144.347691805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050144.445494852] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050144.446057722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050144.447200112] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050144.448202683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050144.449436036] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050144.503908261] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903872 Long: -76.50275612 +[vectornav-1] [INFO] [1746050144.505762076] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.53200000000004, -1.189, 4.087) +[mux-7] [INFO] [1746050144.545164384] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050144.546004431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050144.546760612] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050144.548447339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050144.549756471] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050144.585673510] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050144.588662630] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050144.588697350] [sailbot.teensy]: Wind angle: 248 +[mux-7] [INFO] [1746050144.588975201] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050144.589691789] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050144.590679109] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050144.591515809] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050144.645415124] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050144.645980386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050144.647031194] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050144.648207229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050144.649427256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050144.745750973] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050144.746175675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050144.748267149] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050144.748812768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050144.750148547] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050144.835495701] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050144.837392687] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050144.838053166] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050144.839460883] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050144.839470753] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050144.840425592] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050144.841383507] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050144.844421955] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050144.844975527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050144.845537642] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050144.846609284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050144.847623291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050144.945601505] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050144.946334735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050144.947187624] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050144.948678220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050144.949254829] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050145.002635737] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903873 Long: -76.50275625 +[vectornav-1] [INFO] [1746050145.003727112] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.65999999999997, 0.304, 4.32) +[mux-7] [INFO] [1746050145.045769820] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050145.046794793] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050145.047970100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746050145.047369250] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050145.048497139] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050145.085395233] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050145.087600265] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050145.087646842] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050145.088624836] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050145.089505171] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050145.089557789] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050145.090396910] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050145.145258384] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050145.146061252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050145.146848554] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050145.148612333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050145.149705952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050145.245188406] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050145.245999853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050145.246703485] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050145.248062015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050145.248562225] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050145.335414482] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050145.337355256] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050145.338382008] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050145.338409332] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050145.339421658] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050145.340287912] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050145.340323633] [sailbot.mux]: algo sail angle: 15 +[mux-7] [INFO] [1746050145.344260117] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050145.344726823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050145.345526061] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050145.346381010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050145.347566562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050145.444995675] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050145.445676506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050145.446632023] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050145.447503930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050145.448704092] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050145.502490182] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690387 Long: -76.50275629 +[vectornav-1] [INFO] [1746050145.503494926] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.284, -0.71, 4.267) +[mux-7] [INFO] [1746050145.545087688] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050145.545717771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050145.546388712] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050145.547540312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050145.548866145] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050145.585553981] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050145.588387298] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050145.588784215] [sailbot.teensy]: Wind angle: 247 +[mux-7] [INFO] [1746050145.589646974] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050145.589945900] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050145.590870337] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050145.591852857] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050145.645319722] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050145.646060110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050145.647617422] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050145.648656902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050145.649865132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050145.745309240] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050145.745950278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050145.746942759] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050145.748184089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050145.749101338] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050145.835378351] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050145.837245617] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050145.837801401] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050145.838233014] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050145.839212440] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050145.839696280] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050145.840073243] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050145.844563196] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050145.845173226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050145.845724453] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050145.846857239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050145.847889983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050145.945159166] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050145.945814338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050145.947047076] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050145.947789614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050145.949000235] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050146.003368032] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903877 Long: -76.50275633 +[vectornav-1] [INFO] [1746050146.004884936] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.50400000000002, -0.613, 4.413) +[mux-7] [INFO] [1746050146.045301344] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050146.046103885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050146.046752367] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050146.048203280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050146.049612187] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050146.085435484] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050146.087698222] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050146.088125583] [sailbot.teensy]: Wind angle: 247 +[mux-7] [INFO] [1746050146.089038588] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050146.089113548] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050146.090018027] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050146.090874353] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050146.145091032] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050146.146547930] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050146.148718588] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050146.150512904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050146.152356380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050146.245057780] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050146.245844477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050146.246346108] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050146.247876286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050146.248994826] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050146.335351220] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050146.337825128] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050146.337915813] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050146.338764196] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050146.339142569] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050146.339148778] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050146.339529153] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050146.344641900] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050146.345208784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050146.345848835] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050146.347010421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050146.348056902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050146.445053644] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050146.445644673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050146.446375233] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050146.447438253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050146.447976828] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050146.503002922] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903867 Long: -76.5027563 +[vectornav-1] [INFO] [1746050146.504375011] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.41599999999994, -0.102, 3.723) +[mux-7] [INFO] [1746050146.544937605] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050146.545823237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050146.546206054] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050146.547867987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050146.548947843] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050146.585270737] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050146.587095583] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050146.587623619] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050146.588124000] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050146.589062904] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050146.588806001] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050146.590054029] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050146.645432646] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050146.646019081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050146.647023696] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050146.648205841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050146.649371091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050146.745323844] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050146.746192351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050146.747328919] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050146.748468525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050146.749143236] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050146.835312242] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050146.837149096] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050146.837596004] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050146.838177159] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050146.839003279] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050146.839004437] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050146.839381193] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050146.844451047] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050146.844924649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050146.845803383] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050146.846672238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050146.847796392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050146.945171090] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050146.945808391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050146.946910425] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050146.947812458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050146.949060280] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050147.003251187] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903877 Long: -76.50275607 +[vectornav-1] [INFO] [1746050147.004629776] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.58000000000004, -0.217, 5.04) +[mux-7] [INFO] [1746050147.045077967] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050147.045468364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050147.046421554] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050147.047257555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050147.048308848] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050147.085434915] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050147.087882247] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050147.088479694] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050147.089277320] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050147.090254228] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050147.091097872] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050147.091948165] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050147.145464236] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050147.146143643] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050147.147052880] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050147.149240309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050147.149824666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050147.245183813] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050147.245918072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050147.246572964] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050147.247756995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050147.248963317] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050147.335546342] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050147.338302317] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050147.338359269] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050147.339073083] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050147.339106930] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050147.339469149] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050147.339812857] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050147.344375366] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050147.344953591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050147.345832360] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050147.346657975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050147.347832623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050147.444896469] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050147.445549479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050147.446465253] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050147.447371688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050147.448111645] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050147.503115644] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903864 Long: -76.50275593 +[vectornav-1] [INFO] [1746050147.504417655] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.92100000000005, -0.799, 5.639) +[mux-7] [INFO] [1746050147.544939805] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050147.545828617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050147.546672919] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050147.547867516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050147.549749868] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050147.585168681] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050147.586944858] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050147.587897591] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050147.587605873] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050147.588816575] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050147.590152960] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050147.591037973] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050147.645198757] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050147.645845989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050147.646635041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050147.647922199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050147.648461281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050147.745303615] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050147.745987242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050147.747028990] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050147.748355751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050147.748898340] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050147.835290934] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050147.837082753] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050147.838029707] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050147.838500772] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050147.838932876] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050147.839305579] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050147.839808456] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050147.844484434] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050147.845040266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050147.845611383] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050147.846737563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050147.847896829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050147.945538078] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050147.946173133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050147.947407894] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050147.948715629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050147.949348212] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050148.002310195] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690386 Long: -76.50275559 +[vectornav-1] [INFO] [1746050148.003282514] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.481, -0.128, 6.286) +[mux-7] [INFO] [1746050148.044826780] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050148.045897068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050148.045976668] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050148.047956663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050148.048997149] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050148.085521179] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050148.088546190] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050148.088684241] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050148.089640421] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050148.089771815] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050148.090570072] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050148.091400211] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050148.144579872] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050148.145116027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050148.145618493] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050148.146665206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050148.147672335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050148.245033716] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050148.246421293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050148.246727661] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050148.248018682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050148.248475601] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050148.335465785] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050148.337735163] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050148.338716917] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050148.338128416] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050148.339118519] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050148.339641094] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050148.340598502] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050148.344525598] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050148.345198359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050148.345775203] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050148.346936703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050148.348090871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050148.445301390] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050148.446211703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050148.446884058] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050148.448416070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050148.449559868] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050148.503432458] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903871 Long: -76.5027553 +[vectornav-1] [INFO] [1746050148.505244038] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.428, -0.048, 5.858) +[mux-7] [INFO] [1746050148.545008262] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050148.545674952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050148.546316760] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050148.547548509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050148.548615523] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050148.585197612] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050148.586764180] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050148.587654723] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050148.588417613] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050148.588558115] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746050148.589020304] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050148.589429094] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050148.645335044] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050148.646279695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050148.646860590] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050148.648715408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050148.649842539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050148.745047563] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050148.745862262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050148.746682274] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050148.747705806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050148.748904853] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050148.835437391] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050148.837775432] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050148.837920524] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050148.838736196] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050148.839616815] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050148.839729472] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050148.840586603] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050148.844488755] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050148.845095039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050148.845605608] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050148.846809134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050148.847970602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050148.945210729] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050148.945902441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050148.946661220] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050148.948231317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050148.949345625] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050149.003147197] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903876 Long: -76.50275485 +[vectornav-1] [INFO] [1746050149.004430319] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.308, -0.315, 5.474) +[mux-7] [INFO] [1746050149.045007811] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050149.045662028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050149.046295735] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050149.047523432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050149.048736370] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050149.085381965] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050149.087130257] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050149.087607726] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050149.088050465] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050149.088972400] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050149.089239562] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050149.089827514] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050149.145213404] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050149.145915621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050149.146742155] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050149.148459063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050149.150325522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050149.245087974] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050149.245776517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050149.246427525] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050149.247780504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050149.248311830] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050149.335428227] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050149.337335031] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050149.337926287] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050149.338304257] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050149.339201389] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050149.339427866] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050149.340074109] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050149.344536953] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050149.344853855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050149.345911745] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050149.346596392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050149.347862957] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050149.445177557] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050149.445831730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050149.446724513] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050149.447953180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050149.449039933] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050149.503277291] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903873 Long: -76.50275448 +[vectornav-1] [INFO] [1746050149.504702381] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.712, -0.932, 3.059) +[mux-7] [INFO] [1746050149.545203227] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050149.545770986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050149.546749055] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050149.547859327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050149.548947743] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050149.585198056] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050149.586758686] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050149.587290306] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050149.587606562] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050149.588482972] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050149.589192867] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050149.589274562] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050149.645193557] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050149.646775882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050149.646798158] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050149.648711387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050149.649734789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050149.745036949] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050149.745673186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050149.746327126] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050149.747591421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050149.748091817] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050149.835236278] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050149.837198526] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050149.838123910] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050149.838509538] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050149.839072502] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050149.839247465] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050149.839468906] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050149.844500207] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050149.845062134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050149.845669114] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050149.846761170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050149.848023620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050149.945102274] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050149.945738841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050149.946500676] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050149.947771899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050149.948679529] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050150.003276913] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903872 Long: -76.50275429 +[vectornav-1] [INFO] [1746050150.004969050] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.73900000000003, 0.133, 2.672) +[mux-7] [INFO] [1746050150.045177834] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050150.045790229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050150.047795930] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050150.048046654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050150.049153008] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050150.085714509] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050150.088922561] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050150.089177342] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050150.089746199] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050150.090772744] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050150.091630162] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050150.092525294] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050150.144810890] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050150.145525399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050150.146334509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050150.147570669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050150.148662367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050150.245301698] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050150.246209028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050150.246967972] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050150.248567839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050150.249586381] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050150.335269752] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050150.337893655] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050150.338291768] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050150.338431514] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050150.339342288] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050150.340244447] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050150.340895936] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050150.344496011] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050150.345132819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050150.345630802] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050150.346843271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050150.347808327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050150.445206589] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050150.446055218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050150.446737373] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050150.448062340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050150.448752005] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050150.503968648] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903865 Long: -76.5027543 +[vectornav-1] [INFO] [1746050150.505786380] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.59900000000005, 0.283, 3.555) +[mux-7] [INFO] [1746050150.544846171] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050150.545466506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050150.546034358] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050150.547321181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050150.548292909] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050150.585264258] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050150.587131777] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050150.588409269] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050150.588546526] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050150.588741785] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050150.588899685] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050150.589274909] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050150.644927171] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050150.645642826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050150.646360357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050150.647584452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050150.648631444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050150.745408528] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050150.746092433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050150.747298114] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050150.748199397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050150.748692943] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050150.835382785] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050150.837159109] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050150.837681236] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050150.838107095] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050150.839000134] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050150.839201249] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050150.839586783] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050150.844339294] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050150.845049104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050150.845452483] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050150.846809850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050150.847810364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050150.945118202] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050150.946047883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050150.946826776] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050150.947586492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050150.948063441] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050151.003142337] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903867 Long: -76.50275392 +[vectornav-1] [INFO] [1746050151.004501048] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.86599999999999, -0.755, 4.746) +[mux-7] [INFO] [1746050151.044748655] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050151.045398504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050151.045947424] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050151.047366877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050151.048452095] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050151.085403608] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050151.087884979] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050151.088536388] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050151.088940504] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050151.089903872] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050151.090222975] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050151.090813401] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050151.145041982] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050151.145971920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050151.146480357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050151.148306949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050151.149334470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050151.245036305] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050151.245892945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050151.246338390] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050151.247873747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050151.248958075] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050151.335212904] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050151.337608415] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050151.337717536] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050151.338596347] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050151.338854453] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050151.339528152] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050151.340398120] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050151.344382227] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050151.345146770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050151.345521080] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050151.347028489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050151.348039169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050151.445493854] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050151.446522905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050151.447133115] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050151.448402617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050151.448839568] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050151.502691522] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903882 Long: -76.50275381 +[vectornav-1] [INFO] [1746050151.503961130] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.721, -1.165, 3.364) +[mux-7] [INFO] [1746050151.544994892] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050151.545860469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050151.546305125] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050151.547856519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050151.548928505] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050151.585396530] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050151.587871648] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050151.588698902] [sailbot.teensy]: Wind angle: 247 +[mux-7] [INFO] [1746050151.588696167] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050151.589658213] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050151.590510553] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050151.591378229] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050151.644969952] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050151.645631018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050151.646292569] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050151.647661001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050151.648810331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050151.745007897] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050151.745694258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050151.746284139] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050151.747540037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050151.748512013] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050151.835368393] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050151.838050757] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050151.838609009] [sailbot.teensy]: Wind angle: 247 +[mux-7] [INFO] [1746050151.838688945] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050151.839610137] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050151.840561076] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050151.841227806] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050151.844308409] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050151.844822647] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050151.845459967] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050151.846916077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050151.848054639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050151.945457057] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050151.946012302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050151.947108987] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050151.948189756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050151.949434614] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050152.003273758] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903881 Long: -76.50275373 +[vectornav-1] [INFO] [1746050152.004690044] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.52800000000002, 1.844, 4.122) +[mux-7] [INFO] [1746050152.045151453] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050152.045642734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050152.046555769] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050152.047484662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050152.048534387] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050152.085146798] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050152.087268334] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050152.087786247] [sailbot.teensy]: Wind angle: 247 +[mux-7] [INFO] [1746050152.087807071] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050152.089073739] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050152.089916996] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050152.090690670] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050152.144808641] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050152.145451015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050152.146061878] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050152.147187126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050152.148252169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050152.244952103] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050152.245563702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050152.246208124] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050152.247441324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050152.248480562] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050152.335342794] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050152.338043637] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050152.338434844] [sailbot.teensy]: Wind angle: 247 +[mux-7] [INFO] [1746050152.338869404] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050152.339247182] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050152.339626362] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050152.339962142] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050152.344543096] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050152.345020406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050152.345806044] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050152.346706603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050152.347740357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050152.445370620] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050152.446350555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050152.447181925] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050152.449019442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050152.450185085] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050152.502159229] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903872 Long: -76.5027535 +[vectornav-1] [INFO] [1746050152.503059436] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.97699999999998, -1.653, 4.524) +[mux-7] [INFO] [1746050152.545164787] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050152.545874576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050152.546440981] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050152.547726272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050152.548767608] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050152.585444174] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050152.587363656] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050152.588186826] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050152.588346059] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050152.588475987] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050152.589257341] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050152.590124314] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050152.645175979] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050152.645905053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050152.647182076] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050152.648471001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050152.649015219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050152.744879393] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050152.745506669] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050152.746060752] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050152.747379372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050152.748419173] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050152.835307227] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050152.837684001] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050152.838137144] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050152.838798754] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050152.839747662] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050152.840621461] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050152.841373525] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050152.844370534] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050152.844849180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050152.845504045] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050152.846534979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050152.847574019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050152.945300931] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050152.946017199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050152.947672517] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050152.947939575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050152.948533516] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050153.002533820] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903874 Long: -76.50275332 +[vectornav-1] [INFO] [1746050153.003635859] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.85000000000002, -0.621, 4.415) +[mux-7] [INFO] [1746050153.044971833] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050153.045811222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050153.046638431] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050153.047791571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050153.048927434] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050153.085348036] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050153.087065610] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050153.087987472] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050153.087684636] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050153.088591732] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050153.088874774] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050153.089789798] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050153.145284601] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050153.146106453] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050153.147095828] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050153.148184722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050153.149353237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050153.245075161] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050153.245873576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050153.246416630] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050153.247824726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050153.248887402] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050153.335385118] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050153.337401406] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050153.337947878] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050153.338369539] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050153.338831484] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050153.338834982] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050153.339223972] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050153.344416919] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050153.344874482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050153.345542007] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050153.346780970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050153.347798546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050153.445715253] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050153.446543764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050153.447328980] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050153.449233032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050153.450499905] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050153.503115358] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903887 Long: -76.50275334 +[vectornav-1] [INFO] [1746050153.504668414] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.414, 0.004, 4.857) +[mux-7] [INFO] [1746050153.545193791] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050153.545930346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050153.546475078] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050153.547777556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050153.548819248] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050153.585215085] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050153.587074840] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050153.587741875] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050153.587929185] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050153.588421311] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050153.588861653] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050153.589736795] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050153.645221796] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050153.646678492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050153.646790778] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050153.648912023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050153.650035873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050153.745440132] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050153.746090692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050153.747028623] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050153.747673634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050153.748172307] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050153.835229334] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050153.837162380] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050153.837654920] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050153.838136343] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050153.838813927] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050153.839036452] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050153.839891664] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050153.844458182] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050153.845248505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050153.845908943] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050153.846968425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050153.848018943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050153.945530291] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050153.946258434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050153.947328535] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050153.948666371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050153.949953796] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050154.003189576] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690392 Long: -76.50275302 +[vectornav-1] [INFO] [1746050154.004704757] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.99400000000003, -0.267, 5.16) +[mux-7] [INFO] [1746050154.045281661] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050154.046602661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050154.046864723] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050154.048673846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050154.049209015] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050154.085386939] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050154.087705696] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050154.088358887] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050154.088446567] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050154.089472886] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050154.090399692] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050154.091263431] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050154.144973083] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050154.145725551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050154.146593326] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050154.147614801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050154.148679533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050154.245336752] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050154.246145312] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050154.246993581] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050154.248280704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050154.248749447] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050154.335207825] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050154.338000233] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050154.338691124] [sailbot.teensy]: Wind angle: 247 +[mux-7] [INFO] [1746050154.338711423] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050154.339672135] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050154.340554739] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050154.340944081] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050154.344383359] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050154.344868833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050154.345459640] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050154.346539861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050154.347703674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050154.445128074] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050154.445766817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050154.446596349] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050154.447805571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050154.448434998] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050154.502533184] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903922 Long: -76.50275304 +[vectornav-1] [INFO] [1746050154.503542036] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.57100000000003, -0.532, 4.384) +[mux-7] [INFO] [1746050154.545121567] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050154.546020360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050154.546593011] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050154.548098339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050154.549247959] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050154.585411741] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050154.588048407] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050154.588510024] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050154.589103096] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050154.590060851] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050154.590932688] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050154.591783070] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050154.644954437] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050154.645788555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050154.646557124] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050154.647666119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050154.648461133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050154.745373026] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050154.746304962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050154.747343810] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050154.748702530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050154.749795957] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050154.835336214] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050154.837494212] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050154.837845167] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050154.838456966] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050154.838941658] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050154.839370382] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050154.840255264] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050154.844647525] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050154.845099058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050154.846017922] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050154.846785136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050154.847837719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050154.944924417] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050154.945530286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050154.946180537] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050154.947374629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050154.948572268] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050155.003214839] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903919 Long: -76.50275332 +[vectornav-1] [INFO] [1746050155.004600889] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.95900000000006, -0.325, 5.108) +[mux-7] [INFO] [1746050155.045378542] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050155.045890865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050155.046902436] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050155.047894361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050155.048726117] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050155.085323713] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050155.087110989] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050155.088041616] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050155.087686550] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050155.088838996] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050155.088965578] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050155.089832418] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050155.145165124] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050155.145788653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050155.147039883] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050155.147705605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050155.148660657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050155.245188562] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050155.246135787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050155.246656008] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050155.248181720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050155.249277845] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050155.335401270] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050155.337157706] [sailbot.teensy]: Wind angle: 246 +[trim_sail-4] [INFO] [1746050155.337881738] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050155.338084102] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050155.338949977] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050155.338926664] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050155.340141895] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050155.344431091] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050155.345047551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050155.345497117] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050155.346771541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050155.347881379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050155.445012425] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050155.445872845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050155.446347722] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050155.447906787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050155.448982527] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050155.503476909] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903922 Long: -76.50275329 +[vectornav-1] [INFO] [1746050155.505674480] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.27099999999996, -0.607, 4.636) +[mux-7] [INFO] [1746050155.545083485] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050155.545897012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050155.546369602] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050155.547900149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050155.548976615] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050155.585431743] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050155.587654900] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050155.588314325] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050155.588637800] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050155.589229565] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050155.589548892] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050155.590456776] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050155.645297196] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050155.646236998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050155.646877761] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050155.648634185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050155.649805690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050155.745430945] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050155.746430783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050155.747029707] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050155.748727573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050155.749764917] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050155.835269741] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050155.837433372] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050155.837864625] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050155.839739214] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050155.840651793] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050155.841479711] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050155.842308690] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050155.844347063] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050155.844773502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050155.845523706] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050155.846444765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050155.847630256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050155.945313020] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050155.946115908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050155.946878144] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050155.947948258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050155.948439002] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050156.003363756] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903941 Long: -76.5027533 +[vectornav-1] [INFO] [1746050156.004815947] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.52099999999996, -0.33, 4.07) +[mux-7] [INFO] [1746050156.045067844] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050156.045947581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050156.046470349] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050156.048081195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050156.049248544] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050156.085160169] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050156.087403865] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050156.087581336] [sailbot.teensy]: Wind angle: 247 +[mux-7] [INFO] [1746050156.087817763] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050156.088592225] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050156.089405270] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050156.090187444] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050156.144747925] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050156.145199548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050156.145981782] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050156.146958870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050156.147998388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050156.245013002] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050156.245925878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050156.246798034] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050156.247801998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050156.249832529] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050156.335422632] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050156.338021583] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050156.338884658] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050156.339018938] [sailbot.teensy]: Wind angle: 246 +[teensy-2] [INFO] [1746050156.339956634] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050156.340534146] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050156.340866606] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050156.344449592] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050156.345022002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050156.345535710] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050156.346750325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050156.347811587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050156.445391400] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050156.446298023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050156.446960472] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050156.448946411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050156.449954591] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050156.503517848] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690395 Long: -76.50275303 +[vectornav-1] [INFO] [1746050156.505425878] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.30899999999997, 0.031, 3.975) +[mux-7] [INFO] [1746050156.545015724] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050156.545760537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050156.546350185] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050156.547828994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050156.548969414] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050156.585510347] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050156.587609070] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050156.588306581] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050156.588658242] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050156.589602160] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050156.590139194] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050156.590889289] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050156.645351179] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050156.645834690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050156.647098108] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050156.648517702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050156.649599689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050156.744962328] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050156.745654023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050156.746297820] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050156.747704862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050156.748864344] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050156.835281470] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050156.836984129] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050156.837467745] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050156.839200302] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050156.839507333] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050156.840458653] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050156.840801945] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050156.844423168] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050156.844961452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050156.845576642] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050156.846770763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050156.847851588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050156.945239660] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050156.945901735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050156.946830285] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050156.948122818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050156.950069043] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050157.003195327] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903963 Long: -76.50275302 +[vectornav-1] [INFO] [1746050157.004821958] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.83299999999997, -0.256, 4.574) +[mux-7] [INFO] [1746050157.045025480] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050157.045951854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050157.046355225] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050157.048007136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050157.049060579] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050157.085304174] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050157.087652071] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050157.088123619] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050157.088741861] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050157.089697394] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050157.090566555] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050157.091435009] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050157.145318009] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050157.146064162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050157.146976358] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050157.148029256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050157.149823423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050157.245283883] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050157.246236374] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050157.246811419] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050157.248235246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050157.248771290] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050157.335448499] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050157.337747046] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050157.338032095] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050157.338517334] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050157.339018452] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050157.339451650] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050157.339787952] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050157.344296759] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050157.344946851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050157.345390188] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050157.346767873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050157.347780249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050157.445685630] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050157.446677951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050157.447347156] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050157.449236245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050157.450453486] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050157.503121556] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690399 Long: -76.5027531 +[vectornav-1] [INFO] [1746050157.504696912] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.54200000000003, -1.46, 4.157) +[mux-7] [INFO] [1746050157.545294841] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050157.546319296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050157.546872787] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050157.548593061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050157.549682364] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050157.585555759] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050157.588324682] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050157.588324340] [sailbot.teensy]: Wind angle: 246 +[teensy-2] [INFO] [1746050157.589387234] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050157.589755888] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050157.590328629] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050157.591236890] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050157.645164342] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050157.645653239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050157.646564913] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050157.647574271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050157.648808114] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050157.745158730] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050157.746007518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050157.746638331] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050157.748103084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050157.748689846] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050157.835214879] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050157.837085924] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050157.837546875] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050157.838062231] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050157.838977550] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050157.838884310] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050157.839890350] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050157.844383118] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050157.845216687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050157.845643482] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050157.847001533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050157.848001224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050157.945243543] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050157.946000133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050157.947064733] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050157.948028761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050157.948509122] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050158.003492162] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904 Long: -76.50275324 +[vectornav-1] [INFO] [1746050158.004834545] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.74599999999998, 0.961, 3.7) +[mux-7] [INFO] [1746050158.045330898] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050158.046092244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050158.046847996] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050158.048352478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050158.049503214] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050158.085414381] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050158.087842502] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050158.088107494] [sailbot.teensy]: Wind angle: 246 +[teensy-2] [INFO] [1746050158.089251630] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050158.089560461] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050158.090163710] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050158.091098035] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050158.145328124] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050158.146044937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050158.146871995] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050158.148043812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050158.149154649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050158.245347122] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050158.246147476] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050158.246901345] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050158.249345026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050158.249899204] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050158.335554666] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050158.338360081] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050158.339034836] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050158.339360944] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050158.340303467] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050158.340656858] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050158.340995999] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050158.344464449] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050158.345026554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050158.345618809] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050158.346722613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050158.347780201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050158.445320957] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050158.445876535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050158.446968137] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050158.447932062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050158.449043155] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050158.503566771] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904004 Long: -76.50275326 +[vectornav-1] [INFO] [1746050158.504985741] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.31999999999994, -1.125, 4.536) +[mux-7] [INFO] [1746050158.545131455] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050158.545708053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050158.546649581] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050158.547889628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050158.549037377] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050158.585464291] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050158.587379618] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050158.588426734] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050158.588816412] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050158.589409959] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050158.590083171] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050158.590317576] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050158.645410272] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050158.646078904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050158.647357486] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050158.648295757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050158.649502737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050158.745246129] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050158.745725088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050158.746628607] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050158.747947263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050158.749101660] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050158.835250156] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050158.837069203] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050158.837635204] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050158.838023327] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050158.838926176] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050158.839029734] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050158.839851388] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050158.844560986] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050158.845116088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050158.846117337] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050158.847014674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050158.848246009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050158.945591034] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050158.946440832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050158.947240945] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050158.948650112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050158.949199567] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050159.003553755] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690401 Long: -76.5027533 +[vectornav-1] [INFO] [1746050159.005211354] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.64499999999998, -0.491, 4.383) +[mux-7] [INFO] [1746050159.044971710] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050159.045701464] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050159.046270485] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050159.047577672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050159.048646615] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050159.085100712] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050159.086920006] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050159.087807672] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050159.087253825] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050159.088695225] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050159.088686498] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050159.089599840] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050159.145461982] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050159.146224861] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050159.147090278] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050159.148541008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050159.149084516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050159.245190590] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050159.245808301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050159.246568957] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050159.247772362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050159.248975536] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050159.335312839] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050159.337502390] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050159.338333163] [sailbot.teensy]: Wind angle: 248 +[mux-7] [INFO] [1746050159.338360517] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050159.339220829] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050159.340037406] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050159.340878279] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050159.344386157] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050159.344739321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050159.345426470] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050159.346297786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050159.347331851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050159.445822181] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050159.446423597] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050159.447764585] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050159.448813655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050159.450120519] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050159.502492172] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904019 Long: -76.50275352 +[vectornav-1] [INFO] [1746050159.503581700] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.64499999999998, -0.265, 4.557) +[mux-7] [INFO] [1746050159.545543357] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050159.546159404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050159.547427723] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050159.548936954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050159.550111492] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050159.585200692] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050159.587392353] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050159.587873816] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050159.588249995] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050159.589208409] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050159.590036463] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050159.590866435] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050159.645477170] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050159.646214709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050159.647072941] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050159.648486258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050159.649761244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050159.745350496] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050159.746266406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050159.746916217] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050159.748189139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050159.748718283] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050159.835232148] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050159.837325994] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050159.837992829] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050159.839055188] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050159.839836064] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050159.840774115] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050159.841657768] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050159.844376774] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050159.845100370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050159.845494208] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050159.846720486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050159.847746613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050159.945516427] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050159.946387512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050159.947182479] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050159.948502658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050159.949071178] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050160.003588751] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904028 Long: -76.50275355 +[vectornav-1] [INFO] [1746050160.005475786] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.99900000000002, 0.035, 3.884) +[mux-7] [INFO] [1746050160.045310364] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050160.046023836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050160.046765872] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050160.048182780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050160.049193425] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050160.085345680] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050160.087462551] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050160.088620257] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050160.088716675] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050160.090120050] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050160.091047457] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050160.091876350] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050160.144527416] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050160.145098663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050160.145618284] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050160.146859444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050160.147885146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050160.245197305] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050160.246046403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050160.246673261] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050160.248212288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050160.249333040] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050160.335456163] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050160.337944010] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050160.337966165] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050160.338920443] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050160.339649202] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050160.339834007] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050160.340725991] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050160.344290361] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050160.344863282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050160.345471011] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050160.346701569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050160.347783126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050160.445229785] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050160.445953902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050160.446923465] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050160.447760170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050160.448326824] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050160.503086626] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904031 Long: -76.50275367 +[vectornav-1] [INFO] [1746050160.504706236] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.69600000000003, -1.423, 4.386) +[mux-7] [INFO] [1746050160.544913370] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050160.545842727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050160.546245670] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050160.547737988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050160.548938823] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050160.585401940] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050160.587191910] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050160.588138238] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050160.587898752] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050160.589131144] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050160.589597777] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050160.589968042] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050160.645481114] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050160.646009858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050160.647160947] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050160.648262582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050160.649409478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050160.745459420] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050160.746407153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050160.747214110] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050160.748757851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050160.749309945] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050160.835213346] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050160.836945759] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050160.837726118] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050160.837827797] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050160.838661993] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050160.838987013] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050160.839111943] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050160.844719288] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050160.844999840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050160.845847491] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050160.846734928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050160.847754053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050160.945354254] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050160.945864746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050160.947133252] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050160.947895819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050160.949142059] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050161.002401629] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904039 Long: -76.50275392 +[vectornav-1] [INFO] [1746050161.003587131] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.02099999999996, 0.558, 4.059) +[mux-7] [INFO] [1746050161.045086458] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050161.045804836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050161.046403895] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050161.047727232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050161.048755383] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050161.085481276] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050161.088044807] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050161.088694258] [sailbot.teensy]: Wind angle: 249 +[mux-7] [INFO] [1746050161.089072201] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050161.089976794] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050161.091090121] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050161.091920854] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050161.145203122] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050161.145733125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050161.146719805] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050161.147907281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050161.149095744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050161.244938070] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050161.245642291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050161.246544666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050161.247506316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050161.248676702] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050161.335347095] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050161.337468458] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050161.337653713] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050161.339144726] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050161.339279202] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050161.339686370] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050161.340047591] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050161.344334816] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050161.344803375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050161.345436464] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050161.346448760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050161.347616331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050161.445188820] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050161.445896178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050161.447215592] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050161.448044192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050161.450183160] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050161.503695880] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904038 Long: -76.50275413 +[vectornav-1] [INFO] [1746050161.505061522] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.937, -0.459, 4.53) +[mux-7] [INFO] [1746050161.545094197] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050161.545820732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050161.546519600] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050161.547738524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050161.548924591] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050161.585353949] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050161.587679271] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050161.587943974] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050161.588944700] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050161.589199535] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050161.589843119] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050161.590720203] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050161.645277622] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050161.645891280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050161.647023166] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050161.647922299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050161.649803077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050161.745750023] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050161.746380899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050161.747645621] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050161.748510113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050161.749028566] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050161.835347558] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050161.837694870] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050161.838211138] [sailbot.teensy]: Wind angle: 248 +[mux-7] [INFO] [1746050161.838294508] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050161.839596598] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050161.840522856] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050161.841382856] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050161.844428225] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050161.845128290] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050161.845717943] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050161.846844060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050161.848041333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050161.945654961] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050161.946370149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050161.947435069] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050161.949341201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050161.950437678] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050162.003548243] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904042 Long: -76.50275425 +[vectornav-1] [INFO] [1746050162.005950109] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.615, -0.867, 3.594) +[mux-7] [INFO] [1746050162.045025186] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050162.045521971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050162.046344048] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050162.047457265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050162.048658050] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050162.085439738] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050162.087731348] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050162.088511176] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050162.089032713] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050162.089961607] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050162.090812657] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050162.091643627] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050162.145339304] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050162.146068229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050162.146994705] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050162.148309942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050162.149508327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050162.245224922] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050162.245749050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050162.246601328] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050162.247726393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050162.248930473] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050162.335378322] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050162.337877197] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050162.338280396] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050162.338719218] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050162.339138927] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050162.339504185] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050162.339860945] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050162.344394298] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050162.345123609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050162.345626085] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050162.346750212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050162.347742755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050162.445102159] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050162.446009442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050162.446591845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050162.447695078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050162.448179309] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050162.503394784] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904044 Long: -76.50275446 +[vectornav-1] [INFO] [1746050162.504886771] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.59299999999996, 0.019, 4.175) +[mux-7] [INFO] [1746050162.545012010] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050162.545711630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050162.546239013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050162.547549820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050162.548764000] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050162.585509895] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050162.588455949] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050162.588813857] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050162.589810983] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050162.590116557] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050162.590751878] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050162.591649298] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050162.645025695] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050162.645817748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050162.646501656] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050162.648023664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050162.649113846] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050162.745532193] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050162.746639257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050162.747347154] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050162.749830031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050162.751028406] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050162.835459253] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050162.837762788] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050162.840033727] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050162.840073847] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050162.841086955] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050162.842006804] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050162.842873412] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050162.844453088] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050162.845605893] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050162.846359405] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050162.848594185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050162.849684463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050162.944945763] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050162.945633776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050162.946193961] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050162.947565756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050162.948614081] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050163.003322786] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904029 Long: -76.50275461 +[vectornav-1] [INFO] [1746050163.004552653] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.12599999999998, -0.52, 4.3) +[mux-7] [INFO] [1746050163.045226192] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050163.046096528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050163.046908049] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050163.048264067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050163.049313642] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050163.085517255] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050163.087626274] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050163.088609064] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050163.087891845] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050163.088394948] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050163.089517904] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050163.090401487] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050163.145452034] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050163.146147836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050163.147068113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050163.148379038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050163.149638150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050163.244928814] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050163.245603214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050163.246519484] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050163.247489456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050163.248198555] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050163.335192544] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050163.336858221] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050163.337785838] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050163.337481949] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050163.338641281] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050163.338664042] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050163.339534218] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050163.344423330] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050163.344960713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050163.345543913] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050163.346574649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050163.347704243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050163.445158708] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050163.445604484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050163.446925314] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050163.447533178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050163.448653877] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050163.502336244] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904042 Long: -76.50275439 +[vectornav-1] [INFO] [1746050163.503294184] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.37800000000004, -0.281, 3.645) +[mux-7] [INFO] [1746050163.545304541] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050163.546223262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050163.547160972] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050163.548198934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050163.549369533] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050163.585234966] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050163.587340334] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050163.587389724] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050163.588391301] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050163.588950914] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050163.589308736] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050163.590237069] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050163.645496318] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050163.646528970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050163.647275517] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050163.649057971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050163.650237436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050163.745141814] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050163.745682427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050163.746555046] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050163.747589414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050163.748668138] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050163.835178573] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050163.836866699] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050163.837464657] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050163.837798758] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050163.838679965] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050163.838600631] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050163.839730007] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050163.844366086] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050163.844968435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050163.845506646] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050163.847046706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050163.848196189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050163.945491245] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050163.946323330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050163.947090506] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050163.948881260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050163.950028868] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050164.003982730] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904048 Long: -76.50275452 +[vectornav-1] [INFO] [1746050164.005570864] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.36900000000003, -0.302, 3.148) +[mux-7] [INFO] [1746050164.045133183] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050164.045865885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050164.046658975] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050164.047783992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050164.048998544] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050164.085237059] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050164.087410986] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050164.087937209] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050164.088499532] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050164.089455332] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050164.090329481] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050164.091141089] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050164.145562849] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050164.146137142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050164.147304168] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050164.148534449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050164.149798754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050164.245372599] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050164.245924024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050164.247016982] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050164.248088187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050164.249193495] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050164.335289075] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050164.337009851] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050164.337603660] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050164.337973541] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050164.338876004] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050164.339199078] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050164.339746681] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050164.344280732] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050164.344861715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050164.345370142] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050164.346502527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050164.347646937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050164.445184316] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050164.445814309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050164.446867845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050164.447922020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050164.449040619] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050164.502658203] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904025 Long: -76.5027548 +[vectornav-1] [INFO] [1746050164.504211393] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.48199999999997, -1.036, 3.225) +[mux-7] [INFO] [1746050164.545150699] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050164.545980395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050164.546974309] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050164.547861187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050164.548409094] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050164.585167081] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050164.587294871] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050164.587636635] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050164.588747186] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050164.587932472] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050164.589786246] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050164.590617443] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050164.644716245] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050164.645350642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050164.645836125] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050164.647167250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050164.648223314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050164.745404326] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050164.746220835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050164.746792218] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050164.747191466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050164.747834587] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050164.835304344] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050164.836975273] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050164.837458749] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050164.837996805] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050164.839006795] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050164.839966680] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050164.840018835] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050164.844462440] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050164.845161256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050164.845636865] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050164.846888032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050164.848032960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050164.945406987] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050164.946237943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050164.947035551] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050164.948593806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050164.949260981] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050165.002563667] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904015 Long: -76.50275517 +[vectornav-1] [INFO] [1746050165.003626686] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.85400000000004, 0.631, 3.18) +[mux-7] [INFO] [1746050165.045133125] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050165.045878972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050165.046483689] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050165.047839867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050165.049014424] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050165.085498107] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050165.087652610] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050165.088282996] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050165.088689594] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050165.089911043] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050165.090490273] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050165.090842307] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050165.144951578] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050165.146210854] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050165.146314261] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050165.148261392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050165.149318161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050165.245299057] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050165.246088935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050165.246884595] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050165.248307679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050165.248814890] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050165.335347140] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050165.337289969] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050165.337787198] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050165.338199275] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050165.339108412] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050165.339311557] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050165.339979444] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050165.344440214] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050165.344973209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050165.345551873] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050165.346714857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050165.347744827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050165.445404928] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050165.446406760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050165.447002835] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050165.448039637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050165.448516599] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050165.503286437] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904024 Long: -76.50275534 +[vectornav-1] [INFO] [1746050165.505034175] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.91200000000003, -0.716, 4.435) +[mux-7] [INFO] [1746050165.544692042] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050165.545434313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050165.545840924] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050165.547262037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050165.548341958] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050165.585382665] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050165.587358267] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050165.587623806] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050165.588274912] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050165.588527440] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050165.589287637] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050165.590195611] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050165.645141548] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050165.646108876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050165.647147106] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050165.648507010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050165.649655662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050165.745308085] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050165.746032974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050165.746733923] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050165.748094297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050165.749322224] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050165.835549204] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050165.837341228] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050165.837846803] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050165.838282608] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050165.839159957] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050165.839281698] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050165.840061344] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050165.844549832] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050165.844965836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050165.845685116] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050165.846781940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050165.847979074] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050165.945446511] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050165.945933833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050165.947042593] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050165.948317848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050165.948929986] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050166.003620339] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690402 Long: -76.50275554 +[vectornav-1] [INFO] [1746050166.005086585] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.04200000000003, -0.557, 3.214) +[mux-7] [INFO] [1746050166.044813297] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050166.045335464] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050166.046030571] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050166.047223292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050166.048440923] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050166.085301277] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050166.087134618] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050166.087572981] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050166.088071689] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050166.088986816] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050166.089218341] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050166.089855519] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050166.145211344] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050166.145861968] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050166.146584966] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050166.147767523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050166.148871489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050166.245278657] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050166.245703694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050166.246687611] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050166.247894861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050166.249174601] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050166.335200160] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050166.337248475] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050166.338314601] [sailbot.teensy]: Wind angle: 248 +[mux-7] [INFO] [1746050166.338816977] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050166.339303812] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050166.340206707] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050166.341099404] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050166.344321822] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050166.344797964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050166.345417433] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050166.346496331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050166.347696057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050166.445262601] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050166.445899535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050166.446743922] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050166.448416871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050166.449563681] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050166.503907062] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904005 Long: -76.50275577 +[vectornav-1] [INFO] [1746050166.505757104] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.43499999999995, 0.328, 3.572) +[mux-7] [INFO] [1746050166.544759229] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050166.545442173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050166.545911396] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050166.547369409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050166.548430225] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050166.585538834] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050166.587593622] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050166.588609586] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050166.588105427] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050166.588715022] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050166.589564467] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050166.590434366] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050166.645221066] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050166.645990290] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050166.646716987] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050166.648395973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050166.649523567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050166.745353561] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050166.746044709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050166.747091824] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050166.748349826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050166.749419297] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050166.835289420] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050166.837173315] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050166.837579407] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050166.838144879] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050166.838759846] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050166.839065536] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050166.839929116] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050166.844266745] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050166.844899449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050166.845412460] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050166.846611230] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050166.847733228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050166.945250717] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050166.946000609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050166.946923189] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050166.947856691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050166.948393757] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050167.002603479] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903984 Long: -76.50275602 +[vectornav-1] [INFO] [1746050167.003648930] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.78999999999996, -0.029, 4.425) +[mux-7] [INFO] [1746050167.045253378] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050167.046087278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050167.046574441] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050167.048001056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050167.049313215] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050167.085431882] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050167.087240567] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050167.087811588] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050167.088185127] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050167.089121879] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050167.090055871] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050167.091463086] [sailbot.mux]: algo sail angle: 15 +[mux-7] [INFO] [1746050167.144988475] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050167.145877815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050167.146406851] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050167.147799027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050167.148881958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050167.245372841] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050167.246239243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050167.246961862] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050167.248558126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050167.249692686] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050167.335227002] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050167.337314133] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050167.338257258] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050167.337536976] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050167.338358501] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050167.338851576] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050167.339226871] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050167.344550794] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050167.345095941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050167.345705217] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050167.346788060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050167.347961346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050167.445245895] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050167.445707187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050167.447120621] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050167.447872907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050167.448781374] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050167.503786770] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904003 Long: -76.50275586 +[vectornav-1] [INFO] [1746050167.505485524] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.38099999999997, -1.165, 3.964) +[mux-7] [INFO] [1746050167.545050433] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050167.545665916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050167.546778442] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050167.547490656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050167.548588580] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050167.585448750] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050167.587785798] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050167.588439097] [sailbot.teensy]: Wind angle: 247 +[mux-7] [INFO] [1746050167.588628392] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050167.589459703] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050167.590398654] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050167.591291470] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050167.645219213] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050167.646201300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050167.647118039] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050167.648392546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050167.649474413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050167.745272989] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050167.746083831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050167.746764620] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050167.748124844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050167.748641091] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050167.835267140] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050167.837562802] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050167.838250910] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050167.838346747] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050167.839356288] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050167.840297384] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050167.841165099] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050167.844316547] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050167.844855638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050167.845623523] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050167.846560377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050167.847700637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050167.945494044] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050167.946393652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050167.947208227] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050167.948409627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050167.948928455] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050168.003405032] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903966 Long: -76.50275603 +[vectornav-1] [INFO] [1746050168.004826886] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.07899999999995, 0.497, 3.171) +[mux-7] [INFO] [1746050168.045120157] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050168.046205810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050168.046536559] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050168.048146666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050168.049228782] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050168.085342971] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050168.087212678] [sailbot.teensy]: Wind angle: 243 +[teensy-2] [INFO] [1746050168.088195310] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050168.087582099] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050168.088073184] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050168.089104617] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050168.089993310] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050168.145083370] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050168.145838372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050168.146542413] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050168.148129836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050168.149244044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050168.244993941] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050168.245801828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050168.246242938] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050168.247802048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050168.248847928] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050168.335477397] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050168.337754379] [sailbot.teensy]: Wind angle: 242 +[trim_sail-4] [INFO] [1746050168.337784528] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050168.338770798] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050168.338918310] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050168.339709712] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050168.340638157] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050168.344343609] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050168.344894769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050168.345525742] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050168.346772125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050168.347975133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050168.445273416] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050168.446069714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050168.446754167] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050168.448230147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050168.449262486] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050168.502576629] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903965 Long: -76.50275606 +[vectornav-1] [INFO] [1746050168.503768679] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.01700000000005, -0.738, 4.461) +[mux-7] [INFO] [1746050168.545192813] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050168.545964040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050168.546647647] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050168.548063799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050168.549251333] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050168.585325217] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050168.587507701] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050168.588079617] [sailbot.teensy]: Wind angle: 242 +[mux-7] [INFO] [1746050168.588508780] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050168.589065220] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050168.589950259] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050168.590798504] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050168.645526404] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050168.645952762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050168.647121752] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050168.648026666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050168.649102281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050168.745460827] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050168.746165067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050168.747011929] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050168.748584324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050168.749708101] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050168.835314547] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050168.837519953] [sailbot.teensy]: Wind angle: 242 +[trim_sail-4] [INFO] [1746050168.837650521] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050168.838472859] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050168.839170735] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050168.839384373] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050168.840258427] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050168.844596439] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050168.845066616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050168.845703736] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050168.846762771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050168.847905652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050168.945442062] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050168.946125892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050168.947349263] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050168.948547249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050168.949594582] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050169.003539992] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903963 Long: -76.50275642 +[vectornav-1] [INFO] [1746050169.005189810] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.69100000000003, -0.81, 3.78) +[mux-7] [INFO] [1746050169.045247462] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050169.046015355] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050169.046692871] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050169.047956977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050169.048997845] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050169.085164442] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050169.087252352] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050169.087512357] [sailbot.teensy]: Wind angle: 242 +[teensy-2] [INFO] [1746050169.088394918] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050169.088527352] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050169.089314895] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050169.090182262] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050169.145021616] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050169.145866131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050169.146419841] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050169.147875626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050169.149009720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050169.245098711] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050169.245948140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050169.246588420] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050169.247882523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050169.250032877] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050169.335867435] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050169.338844821] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050169.339357224] [sailbot.teensy]: Wind angle: 241 +[mux-7] [INFO] [1746050169.339545418] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050169.339786656] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050169.340182845] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050169.340517124] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050169.344423456] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050169.344980102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050169.345499251] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050169.346635065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050169.347691412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050169.445580144] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050169.446522549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050169.447328459] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050169.448890564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050169.449969490] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050169.503219859] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903961 Long: -76.50275679 +[vectornav-1] [INFO] [1746050169.504356755] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.937, 0.415, 4.399) +[mux-7] [INFO] [1746050169.545099544] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050169.545875216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050169.546592295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050169.547699353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050169.548186558] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050169.585559637] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050169.587724459] [sailbot.teensy]: Wind angle: 242 +[trim_sail-4] [INFO] [1746050169.588416808] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050169.588763133] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050169.589674891] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050169.590165395] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050169.590546527] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050169.645190519] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050169.645937187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050169.646649227] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050169.648126968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050169.649332419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050169.745353305] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050169.746349023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050169.746828884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050169.748000553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050169.748499956] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050169.835519263] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050169.838026944] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050169.838344861] [sailbot.teensy]: Wind angle: 241 +[mux-7] [INFO] [1746050169.839008151] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050169.839429904] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050169.840347122] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050169.840763027] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050169.844386291] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050169.844894085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050169.845505036] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050169.846613031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050169.847771874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050169.945111503] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050169.946085687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050169.946978547] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050169.947997334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050169.948476102] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050170.003360074] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903961 Long: -76.50275709 +[vectornav-1] [INFO] [1746050170.004729960] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.83899999999994, -0.557, 4.087) +[mux-7] [INFO] [1746050170.045031461] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050170.046433529] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050170.045881249] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050170.048538175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050170.050726194] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050170.085374148] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050170.087715759] [sailbot.teensy]: Wind angle: 240 +[trim_sail-4] [INFO] [1746050170.088038354] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050170.088649194] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050170.089539432] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050170.088818621] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050170.090393966] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050170.144794380] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050170.145556125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050170.145975956] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050170.147664031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050170.148697157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050170.245059560] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050170.245807300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050170.246533233] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050170.247749747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050170.248854463] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050170.335300848] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050170.337033302] [sailbot.teensy]: Wind angle: 240 +[trim_sail-4] [INFO] [1746050170.337714724] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050170.337976920] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050170.338861301] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050170.339248917] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050170.339835792] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050170.344312825] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050170.344798517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050170.345412269] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050170.346355052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050170.347477298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050170.445048861] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050170.445726676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050170.446634163] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050170.447698169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050170.448913658] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050170.502332627] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903948 Long: -76.50275728 +[vectornav-1] [INFO] [1746050170.503329389] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.94799999999998, -1.055, 3.796) +[mux-7] [INFO] [1746050170.544946370] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050170.545668651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050170.546222434] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050170.547454763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050170.548563034] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050170.585533112] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050170.587525306] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050170.588263657] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050170.588548773] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050170.589439501] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050170.589750770] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050170.590300770] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050170.645349027] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050170.645948302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050170.646963080] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050170.648148294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050170.649492469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050170.744920685] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050170.745609450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050170.746216386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050170.747585045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050170.748736610] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050170.835496381] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050170.837442967] [sailbot.teensy]: Wind angle: 239 +[teensy-2] [INFO] [1746050170.838409216] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050170.839342127] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050170.838557421] [sailbot.mux]: algo sail angle: 10 +[trim_sail-4] [INFO] [1746050170.838673034] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050170.840483589] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050170.844306923] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050170.844861151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050170.845375305] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050170.846540627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050170.847691605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050170.945500644] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050170.946469289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050170.947261412] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050170.948123595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050170.948631214] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050171.004058121] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903922 Long: -76.50275759 +[vectornav-1] [INFO] [1746050171.005716464] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.659, 0.739, 4.188) +[mux-7] [INFO] [1746050171.044929712] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050171.045545894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050171.046195152] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050171.047370378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050171.048461586] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050171.085243448] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050171.086942816] [sailbot.teensy]: Wind angle: 239 +[teensy-2] [INFO] [1746050171.087861980] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050171.087840162] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050171.088534016] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050171.088789808] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050171.089668270] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050171.145137488] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050171.146045657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050171.146578504] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050171.147957304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050171.148413748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050171.245145168] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050171.245971938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050171.246782718] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050171.247882111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050171.248931815] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050171.335513380] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050171.337330808] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050171.338082784] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050171.338295132] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050171.339223619] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050171.340105988] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050171.340244278] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746050171.344336605] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050171.344938694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050171.345423052] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050171.346592617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050171.347686876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050171.445541683] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050171.446355794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050171.447135816] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050171.448784991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050171.450031082] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050171.503252139] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903914 Long: -76.50275755 +[vectornav-1] [INFO] [1746050171.504565808] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.52800000000002, 0.012, 4.139) +[mux-7] [INFO] [1746050171.545108422] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050171.545864750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050171.546501571] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050171.548074856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050171.549253412] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050171.585420843] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050171.587377599] [sailbot.teensy]: Wind angle: 240 +[trim_sail-4] [INFO] [1746050171.588242657] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050171.588335574] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050171.589232672] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050171.588785273] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050171.590156527] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050171.645142571] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050171.646044630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050171.646548320] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050171.648274219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050171.649405890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050171.745134309] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050171.745828471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050171.746552165] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050171.747998775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050171.749029929] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050171.835193795] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050171.836880760] [sailbot.teensy]: Wind angle: 240 +[teensy-2] [INFO] [1746050171.837814465] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050171.837592153] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050171.838680596] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050171.838687607] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050171.839539505] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050171.844325199] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050171.845004048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050171.845724527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050171.846699820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050171.847882726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050171.945577279] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050171.946604709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050171.947167964] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050171.948316848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050171.948837041] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050172.002398352] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903899 Long: -76.50275751 +[vectornav-1] [INFO] [1746050172.003485615] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.53700000000003, -1.207, 3.566) +[mux-7] [INFO] [1746050172.045154127] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050172.046133610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050172.047270262] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050172.048046593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050172.049108744] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050172.085833465] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050172.088612403] [sailbot.teensy]: Wind angle: 240 +[teensy-2] [INFO] [1746050172.089634825] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050172.088971012] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050172.089917245] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050172.090521532] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050172.091580020] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050172.144907631] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050172.145524728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050172.146358730] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050172.147202775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050172.148344776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050172.245035485] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050172.245973615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050172.246547511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050172.247986769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050172.249175355] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050172.335353545] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050172.337383536] [sailbot.teensy]: Wind angle: 240 +[trim_sail-4] [INFO] [1746050172.337618480] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050172.338317162] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050172.338416052] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050172.339250808] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050172.340088727] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050172.344518931] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050172.345029474] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050172.345583654] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050172.346691813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050172.347712294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050172.444927005] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050172.445668807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050172.446384146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050172.447666243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050172.448817459] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050172.504286581] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903891 Long: -76.50275773 +[vectornav-1] [INFO] [1746050172.505964360] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.03099999999995, 0.218, 4.353) +[mux-7] [INFO] [1746050172.545148694] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050172.546059237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050172.546523936] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050172.548136226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050172.549212676] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050172.585765712] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050172.588821908] [sailbot.teensy]: Wind angle: 240 +[trim_sail-4] [INFO] [1746050172.589188576] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050172.589885493] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050172.590184156] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050172.590462321] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050172.590870612] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050172.645278074] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050172.645768518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050172.647147583] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050172.647944982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050172.649343536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050172.745744357] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050172.746207572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050172.747831537] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050172.748525913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050172.749299098] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050172.835481812] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050172.837316809] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050172.837763750] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050172.838423088] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050172.839747848] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050172.840788859] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050172.841621735] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050172.844398484] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050172.844841485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050172.845505352] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050172.846469431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050172.847439285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050172.945240127] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050172.945873130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050172.946776072] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050172.948003461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050172.949121022] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050173.003513421] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903865 Long: -76.50275784 +[vectornav-1] [INFO] [1746050173.005893453] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.288, -0.256, 4.455) +[mux-7] [INFO] [1746050173.045415074] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050173.046497272] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050173.047208706] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050173.048845114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050173.049863093] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050173.085251253] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050173.087210165] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050173.087466936] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050173.088434898] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050173.089103031] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050173.089361885] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050173.090221587] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050173.145324526] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050173.146053395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050173.146915489] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050173.148219417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050173.149390829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050173.244757642] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050173.245948283] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050173.248051702] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050173.249594425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050173.250521829] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050173.335335532] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050173.337580001] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050173.339145120] [sailbot.teensy]: Wind angle: 239 +[mux-7] [INFO] [1746050173.339144628] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050173.340108623] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050173.341000325] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050173.341807128] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050173.344520229] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050173.345116738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050173.345920239] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050173.346822542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050173.347878867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050173.445618509] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050173.446138223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050173.447359433] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050173.448742291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050173.449931586] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050173.503180417] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903854 Long: -76.50275801 +[vectornav-1] [INFO] [1746050173.504465911] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.90700000000004, -1.008, 4.041) +[mux-7] [INFO] [1746050173.545212343] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050173.545836676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050173.546637122] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050173.548035764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050173.549147325] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050173.585582611] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050173.587857158] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050173.588186067] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050173.589086321] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050173.589679490] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050173.590381148] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050173.591268006] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050173.645330208] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050173.645880410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050173.647175043] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050173.648274124] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050173.649510082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050173.745086292] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050173.745705202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050173.746525019] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050173.747757549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050173.748966656] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050173.835317893] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050173.837752234] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050173.838439531] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050173.838457126] [sailbot.teensy]: Wind angle: 239 +[teensy-2] [INFO] [1746050173.839051878] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050173.839429654] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050173.839936807] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050173.844255559] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050173.844827457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050173.845355629] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050173.846602420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050173.847607624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050173.945545701] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050173.946610265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050173.947186902] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050173.948266041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050173.949012027] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050174.004000619] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903819 Long: -76.50275856 +[vectornav-1] [INFO] [1746050174.005681852] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.77800000000002, -0.185, 4.528) +[mux-7] [INFO] [1746050174.045436934] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050174.046361468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050174.047433303] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050174.048428881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050174.049626471] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050174.085356429] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050174.087772009] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050174.088280665] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050174.088623195] [sailbot.teensy]: Wind angle: 239 +[teensy-2] [INFO] [1746050174.089684546] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050174.090557200] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050174.091428832] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050174.145244683] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050174.146047933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050174.146761681] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050174.148160759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050174.148706940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050174.245325595] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050174.246026584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050174.246941523] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050174.248231314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050174.249293672] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050174.335315476] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050174.337203613] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050174.337994839] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050174.338149539] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050174.339018953] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050174.339004881] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050174.339903997] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050174.344402246] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050174.345198646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050174.345973382] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050174.346945053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050174.348135051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050174.445585227] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050174.446370089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050174.447303124] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050174.448795431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050174.449331140] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050174.503397305] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903821 Long: -76.50275898 +[vectornav-1] [INFO] [1746050174.504869462] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.61400000000003, -0.08, 4.633) +[mux-7] [INFO] [1746050174.544673629] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050174.545323620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050174.545832063] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050174.547092086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050174.548271217] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050174.585421229] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050174.587270170] [sailbot.teensy]: Wind angle: 239 +[teensy-2] [INFO] [1746050174.588289906] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050174.588690354] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050174.589276802] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050174.589668043] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050174.590210907] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050174.645225651] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050174.645934696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050174.646745393] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050174.648229036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050174.649416622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050174.745228401] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050174.746463201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050174.746869158] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050174.748111131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050174.748656336] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050174.835503164] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050174.837596255] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050174.838392577] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050174.838621956] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050174.839547349] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050174.840441742] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050174.840867804] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050174.844419043] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050174.845173329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050174.845661085] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050174.846971770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050174.847982042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050174.945242191] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050174.945962347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050174.947096795] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050174.948132542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050174.948738967] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050175.004145886] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903809 Long: -76.50275938 +[vectornav-1] [INFO] [1746050175.005765191] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.13099999999997, -0.595, 5.283) +[mux-7] [INFO] [1746050175.044968325] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050175.045708632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050175.046240586] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050175.047721903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050175.048774580] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050175.085435448] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050175.088030365] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050175.088780148] [sailbot.teensy]: Wind angle: 239 +[mux-7] [INFO] [1746050175.088992579] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050175.089757046] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050175.090641463] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050175.091488291] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050175.144999094] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050175.146277316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050175.146645612] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050175.148723438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050175.149766970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050175.245221655] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050175.246171149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050175.246752292] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050175.248137148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050175.248697199] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050175.335414619] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050175.337314489] [sailbot.teensy]: Wind angle: 239 +[teensy-2] [INFO] [1746050175.338292790] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050175.338396216] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050175.339201452] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050175.340056244] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050175.339752286] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746050175.344321390] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050175.345170870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050175.345435028] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050175.347069921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050175.348227944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050175.445722257] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050175.446413323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050175.447526732] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050175.448732134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050175.451014679] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050175.503969026] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903791 Long: -76.50275969 +[vectornav-1] [INFO] [1746050175.505470508] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.10699999999997, 0.114, 5.691) +[mux-7] [INFO] [1746050175.545375892] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050175.546226683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050175.546940245] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050175.548380152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050175.549465068] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050175.585456298] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050175.587277040] [sailbot.teensy]: Wind angle: 239 +[teensy-2] [INFO] [1746050175.588217090] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050175.588188048] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050175.589109173] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050175.589669079] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050175.590040882] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050175.645484858] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050175.646369195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050175.647113783] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050175.648447031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050175.648961987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050175.745400964] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050175.745924100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050175.747042753] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050175.748035994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050175.749917353] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050175.835483248] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050175.838103939] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050175.838104166] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050175.839047685] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050175.839147721] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050175.839967709] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050175.840891836] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050175.844361028] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050175.844984073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050175.845571734] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050175.846759248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050175.847844816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050175.945282539] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050175.946032955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050175.946862145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050175.948295122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050175.949389807] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050176.004001713] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903783 Long: -76.50275981 +[vectornav-1] [INFO] [1746050176.005447956] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.84199999999998, -1.14, 4.631) +[mux-7] [INFO] [1746050176.045113838] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050176.045791837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050176.046532164] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050176.047944672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050176.048968717] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050176.085483037] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050176.087757285] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050176.087892578] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050176.088722107] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050176.089329656] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050176.089632076] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050176.090528716] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746050176.145316675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050176.145599646] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050176.146832149] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050176.147040193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050176.148347493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050176.245305033] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050176.246661649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050176.246923045] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050176.248221161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050176.248713124] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050176.335131723] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050176.336776844] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050176.337378423] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050176.337715304] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050176.338574229] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050176.338623778] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050176.339467513] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050176.344421191] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050176.344947659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050176.345509703] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050176.346641384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050176.347683047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050176.445348746] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050176.446333316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050176.447111098] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050176.448543002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050176.449587253] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050176.502681484] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903767 Long: -76.50275995 +[vectornav-1] [INFO] [1746050176.504008742] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.75900000000001, 0.63, 4.961) +[mux-7] [INFO] [1746050176.544962644] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050176.545655510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050176.546253661] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050176.547658260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050176.548760880] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050176.585527933] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050176.587382620] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050176.588251846] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050176.588358508] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050176.589278146] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050176.589764011] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050176.590129837] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050176.645063454] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050176.645874464] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050176.646620015] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050176.647874174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050176.648339532] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050176.745514590] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050176.746398865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050176.747606540] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050176.748851421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050176.750074771] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050176.835339099] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050176.837496590] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050176.837634745] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050176.838443595] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050176.838734854] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050176.839371465] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050176.840277825] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050176.844480207] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050176.845053783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050176.845598119] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050176.846768596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050176.847837765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050176.945410063] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050176.946293507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050176.946933676] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050176.947835128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050176.948331400] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050177.003586178] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903761 Long: -76.50276005 +[vectornav-1] [INFO] [1746050177.005120230] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.38200000000006, -0.788, 5.606) +[mux-7] [INFO] [1746050177.045130703] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050177.045702162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050177.046691656] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050177.047525344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050177.048742286] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050177.085625381] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050177.088080909] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050177.088510777] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050177.089085055] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050177.089155703] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050177.090006603] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050177.090966132] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050177.145538349] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050177.146403825] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050177.147414430] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050177.148630290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050177.149167511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050177.244414758] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050177.245475589] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050177.245702332] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050177.247465299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050177.249600187] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050177.335521979] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050177.338070788] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050177.338148496] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050177.339263076] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050177.339328145] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050177.339826383] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050177.340716612] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050177.344553958] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050177.344931656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050177.345932268] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050177.346669053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050177.347721113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050177.445658312] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050177.446326112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050177.447500555] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050177.448576843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050177.449092738] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050177.503104016] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903747 Long: -76.50276014 +[vectornav-1] [INFO] [1746050177.505009469] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.67600000000004, -0.862, 5.744) +[mux-7] [INFO] [1746050177.545181213] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050177.545819462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050177.546660238] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050177.547868601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050177.549186052] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050177.585612774] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050177.587450806] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050177.588418268] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050177.587958499] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050177.589322236] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050177.589868540] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050177.590220247] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050177.645191932] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050177.645952758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050177.646750890] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050177.648261526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050177.649434209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050177.745437998] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050177.745996787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050177.747063911] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050177.748204176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050177.749486383] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050177.835399046] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050177.837295488] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050177.837916758] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050177.838332830] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050177.839223900] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050177.839492442] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050177.840081201] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050177.844454476] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050177.845033710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050177.845875283] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050177.847078746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050177.848242019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050177.945711433] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050177.946440956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050177.947552924] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050177.948881150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050177.950013792] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050178.002552084] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903759 Long: -76.50276038 +[vectornav-1] [INFO] [1746050178.003657616] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.53600000000006, -0.476, 4.787) +[mux-7] [INFO] [1746050178.045191895] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050178.046042222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050178.046632754] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050178.047999966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050178.048605282] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050178.085284432] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050178.087543220] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050178.088491661] [sailbot.teensy]: Wind angle: 238 +[mux-7] [INFO] [1746050178.088859751] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050178.089546121] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050178.090437490] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050178.091312617] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050178.144984541] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050178.145697025] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050178.146263878] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050178.147732516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050178.148732620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050178.245262758] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050178.246369027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050178.246929449] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050178.248601358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050178.249666754] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050178.335388720] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050178.337354457] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050178.338414758] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050178.338533973] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050178.339380073] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050178.340418342] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050178.341317350] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746050178.344181073] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050178.344812560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050178.345297722] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050178.346557880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050178.347698051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050178.445290362] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050178.446073325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050178.447003205] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050178.448166009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050178.448623722] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050178.502644601] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903741 Long: -76.50276065 +[vectornav-1] [INFO] [1746050178.503716226] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.85400000000004, 0.862, 5.321) +[mux-7] [INFO] [1746050178.544996373] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050178.545720310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050178.546394998] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050178.547687659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050178.548825515] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050178.585357248] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050178.587933376] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050178.588418045] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050178.588829772] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050178.589744929] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050178.590238950] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050178.590610624] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050178.645072849] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050178.645820821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050178.646456182] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050178.647947803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050178.648671810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050178.745090176] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050178.746031150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050178.746554292] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050178.748133079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050178.749326005] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050178.835537884] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050178.837406238] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050178.838386821] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050178.838616753] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050178.839338082] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050178.840380778] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050178.841060260] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746050178.844427674] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050178.844910889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050178.845699768] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050178.846789370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050178.847816709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050178.945507114] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050178.946348832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050178.947480233] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050178.948760993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050178.950022629] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050179.004014343] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903733 Long: -76.50276064 +[vectornav-1] [INFO] [1746050179.005412989] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.18499999999995, -1.075, 6.04) +[mux-7] [INFO] [1746050179.045261314] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050179.046055693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050179.046810028] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050179.048278565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050179.049031446] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050179.085797825] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050179.088148595] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050179.089013772] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050179.089250756] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050179.090491979] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050179.090529809] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050179.091388703] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050179.145080244] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050179.146100861] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050179.146469651] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050179.147888982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050179.148922747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050179.245394978] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050179.246429376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050179.247159524] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050179.248873215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050179.249367499] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050179.335365647] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050179.337804644] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050179.337918522] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050179.338538433] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050179.338694599] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050179.338935215] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050179.339417370] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050179.344575983] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050179.345124800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050179.345811642] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050179.346870496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050179.347984125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050179.444924747] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050179.445748161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050179.446257403] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050179.447584604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050179.448628910] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050179.502177769] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690373 Long: -76.5027608 +[vectornav-1] [INFO] [1746050179.503111450] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.49900000000002, -0.668, 5.085) +[mux-7] [INFO] [1746050179.544915943] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050179.545680321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050179.546188540] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050179.547648556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050179.548779831] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050179.585718006] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050179.588632850] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050179.589048424] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050179.590054695] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050179.590359276] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050179.590974970] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050179.591856227] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050179.644630379] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050179.645344899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050179.645806564] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050179.647256660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050179.648299685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050179.745121633] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050179.745963137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050179.746543726] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050179.747761279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050179.748317560] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050179.835360402] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050179.838171132] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050179.838265996] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050179.839101434] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050179.839921713] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050179.840896034] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050179.841749125] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050179.844300119] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050179.844731340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050179.845596656] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050179.846400358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050179.847587927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050179.945583972] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050179.946177466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050179.947445607] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050179.948621267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050179.949158029] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050180.003347776] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903724 Long: -76.50276104 +[vectornav-1] [INFO] [1746050180.004506309] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.45799999999997, -0.395, 4.931) +[mux-7] [INFO] [1746050180.045104297] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050180.045889915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050180.046430875] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050180.047750956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050180.048775330] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050180.085647295] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050180.088720859] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050180.089687366] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050180.089098978] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050180.089764538] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050180.090606077] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050180.091495244] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050180.145152883] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050180.145807373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050180.146624891] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050180.147837367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050180.148402863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050180.245242830] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050180.246061400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050180.246881705] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050180.248063135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050180.249287972] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050180.335641664] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050180.338893083] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050180.339014227] [sailbot.teensy]: Wind angle: 238 +[mux-7] [INFO] [1746050180.339092654] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050180.339526158] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050180.339924537] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050180.340309630] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050180.344367668] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050180.344912610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050180.345482670] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050180.346617258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050180.347638624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050180.445318908] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050180.446150187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050180.446864529] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050180.447980320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050180.448468161] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050180.504388154] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690372 Long: -76.50276116 +[vectornav-1] [INFO] [1746050180.506495749] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.55399999999997, 0.947, 5.46) +[mux-7] [INFO] [1746050180.544961020] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050180.545669373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050180.546246673] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050180.547549623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050180.549231011] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050180.585321502] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050180.587485969] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050180.587941431] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050180.588468058] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050180.589384353] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050180.589637697] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050180.590242654] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050180.645188817] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050180.645945190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050180.646667828] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050180.647948673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050180.648549210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050180.745630190] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050180.746174116] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050180.747430452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050180.748693745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050180.749328552] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050180.835331531] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050180.837842485] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050180.837969953] [sailbot.teensy]: Wind angle: 238 +[mux-7] [INFO] [1746050180.838524794] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050180.839096142] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050180.840052136] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050180.840907828] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050180.844418366] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050180.844978194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050180.845569402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050180.846639294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050180.847675042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050180.945477532] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050180.946433038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050180.947134222] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050180.948431159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050180.948965353] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050181.003568174] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903722 Long: -76.50276118 +[vectornav-1] [INFO] [1746050181.005364626] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.361, -1.853, 5.535) +[mux-7] [INFO] [1746050181.044922732] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050181.046008721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050181.046182221] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050181.048695238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050181.049786343] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050181.085452331] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050181.088025938] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050181.088980066] [sailbot.teensy]: Wind angle: 238 +[mux-7] [INFO] [1746050181.089287268] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050181.090046644] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050181.091057471] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050181.091931329] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050181.145298678] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050181.146111100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050181.147054632] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050181.148288061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050181.149510436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050181.245304754] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050181.246436386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050181.247524321] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050181.248462630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050181.249289091] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050181.335763043] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050181.338013868] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050181.338677731] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050181.339102321] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050181.340246489] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050181.341012870] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050181.341122761] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050181.344417072] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050181.345257706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050181.345623691] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050181.347203074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050181.348304238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050181.445582748] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050181.446404469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050181.447218474] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050181.448808530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050181.450079670] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050181.503917959] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903725 Long: -76.50276145 +[vectornav-1] [INFO] [1746050181.505872451] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.77300000000002, -0.112, 5.478) +[mux-7] [INFO] [1746050181.545125574] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050181.545835904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050181.546591371] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050181.547870360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050181.549049517] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050181.585451781] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050181.587349764] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050181.587963418] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050181.588316854] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050181.589220887] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050181.589458651] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050181.590227287] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050181.645559401] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050181.646287674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050181.647348648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050181.648089477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050181.648562091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050181.745418386] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050181.746094620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050181.746940281] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050181.748244836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050181.748761790] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050181.835311695] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050181.837752758] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050181.838798477] [sailbot.teensy]: Wind angle: 238 +[mux-7] [INFO] [1746050181.839319178] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050181.839753955] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050181.840595336] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050181.840967709] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050181.844521815] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050181.845118409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050181.845721744] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050181.846997744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050181.848086884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050181.945313202] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050181.946622819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050181.946871311] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050181.948787162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050181.949795798] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050182.003433527] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903732 Long: -76.50276125 +[vectornav-1] [INFO] [1746050182.005267544] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.15499999999997, 0.051, 5.44) +[mux-7] [INFO] [1746050182.045153461] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050182.046070252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050182.046801009] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050182.048050237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050182.049202575] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050182.085646644] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050182.088395979] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050182.088810521] [sailbot.teensy]: Wind angle: 238 +[mux-7] [INFO] [1746050182.089548946] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050182.089792834] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050182.090681312] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050182.091541889] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050182.144953640] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050182.145800779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050182.146333462] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050182.147636288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050182.148792184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050182.245275001] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050182.246157311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050182.246869818] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050182.248708054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050182.249452713] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050182.335346856] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050182.337606769] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050182.338127669] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050182.338810255] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050182.340085627] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050182.340737697] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050182.341111006] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050182.344454129] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050182.345335443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050182.345634648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050182.347024599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050182.348178836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050182.445582535] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050182.446605035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050182.447220146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050182.449063437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050182.449549304] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050182.503775952] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903728 Long: -76.50276116 +[vectornav-1] [INFO] [1746050182.505389583] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.336, -0.849, 4.846) +[mux-7] [INFO] [1746050182.544695633] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050182.545432593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050182.545886296] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050182.547207418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050182.548353702] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050182.585294932] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050182.587660961] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050182.588237592] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050182.588331063] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050182.589609896] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050182.590558952] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050182.591433672] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050182.645202508] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050182.646058066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050182.646737127] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050182.648360057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050182.649439487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050182.745338023] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050182.746324956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050182.747111582] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050182.748340702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050182.748829745] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050182.835302228] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050182.838026400] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050182.838427506] [sailbot.teensy]: Wind angle: 238 +[mux-7] [INFO] [1746050182.838489011] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050182.839377574] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050182.839728515] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050182.840103419] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050182.844647046] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050182.845319485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050182.845977839] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050182.847148286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050182.848207032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050182.945420889] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050182.946150919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050182.947565111] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050182.948369972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050182.948949976] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050183.003320015] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903727 Long: -76.50276154 +[vectornav-1] [INFO] [1746050183.004931803] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.80399999999997, -0.437, 4.105) +[mux-7] [INFO] [1746050183.045354307] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050183.045933114] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050183.047254849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050183.048183885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050183.049393978] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050183.085555124] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050183.087424558] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050183.088375675] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050183.088203055] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050183.089247635] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050183.089330419] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050183.090202442] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050183.145469966] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050183.146102262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050183.147337749] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050183.148383736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050183.149615452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050183.245412020] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050183.246012716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050183.247031907] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050183.248189015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050183.248673257] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050183.335352123] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050183.337302899] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050183.337858529] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050183.338311652] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050183.339210583] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050183.339560343] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050183.340137961] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050183.344480032] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050183.345097037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050183.346003412] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050183.346855317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050183.348072100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050183.445696713] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050183.446275391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050183.447707132] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050183.448639953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050183.449730778] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050183.502325275] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903721 Long: -76.50276165 +[vectornav-1] [INFO] [1746050183.503376700] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.81999999999994, -0.473, 4.051) +[mux-7] [INFO] [1746050183.545162166] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050183.545676434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050183.546530098] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050183.547577994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050183.548389970] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050183.585907685] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050183.588069971] [sailbot.teensy]: Wind angle: 237 +[teensy-2] [INFO] [1746050183.589178504] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050183.589402162] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050183.590198812] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050183.591202476] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050183.591519110] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746050183.645197878] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050183.646156552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050183.646707389] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050183.648709641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050183.649862855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050183.745583784] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050183.746412509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050183.747247309] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050183.749028835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050183.749573384] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050183.835805930] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050183.839165439] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050183.839279495] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050183.839746482] [sailbot.teensy]: Wind angle: 236 +[teensy-2] [INFO] [1746050183.840709262] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050183.841742074] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050183.842588685] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050183.844582087] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050183.844980604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050183.845690072] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050183.846659067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050183.847849233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050183.945535462] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050183.947028630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050183.947386806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050183.949582717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050183.950629858] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050184.002317724] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903716 Long: -76.50276199 +[vectornav-1] [INFO] [1746050184.003310952] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.04499999999996, -0.836, 3.645) +[mux-7] [INFO] [1746050184.045151846] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050184.045827985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050184.046649565] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050184.047647545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050184.048162419] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050184.085480806] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050184.087605775] [sailbot.teensy]: Wind angle: 236 +[teensy-2] [INFO] [1746050184.088662767] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050184.088863772] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050184.089569000] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050184.090442078] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050184.089724255] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746050184.145143286] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050184.145842405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050184.146978810] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050184.147579651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050184.148097761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050184.245250282] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050184.246001767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050184.246913953] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050184.248321312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050184.248851744] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050184.335204751] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050184.337028128] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050184.337561756] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050184.337934063] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050184.338754485] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050184.339331223] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050184.339433017] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050184.344249906] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050184.344834821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050184.345223250] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050184.346452837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050184.347421969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050184.445296492] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050184.445995632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050184.447163448] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050184.448100595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050184.448772593] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050184.503276871] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903725 Long: -76.50276253 +[vectornav-1] [INFO] [1746050184.505146226] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.245, 0.026, 4.675) +[mux-7] [INFO] [1746050184.544856361] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050184.545715079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050184.546041512] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050184.547591773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050184.548743038] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050184.585345382] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050184.587328357] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050184.588079535] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050184.588356746] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050184.589240933] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050184.589244330] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050184.590159542] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050184.644977528] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050184.645637343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050184.646276137] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050184.647664518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050184.648702863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050184.745600313] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050184.746312604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050184.747425447] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050184.748465528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050184.749001591] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050184.835382732] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050184.837198692] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050184.837933078] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050184.838117083] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050184.838505611] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050184.838696600] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050184.839085213] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050184.844717561] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050184.845118671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050184.845908334] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050184.846843440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050184.847913216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050184.945530272] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050184.946325994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050184.947457877] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050184.948827904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050184.950041104] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050185.003381220] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690371 Long: -76.5027632 +[vectornav-1] [INFO] [1746050185.004963160] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.553, -0.427, 4.969) +[mux-7] [INFO] [1746050185.045377191] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050185.045985393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050185.046936570] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050185.048270368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050185.049407102] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050185.085266989] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050185.087600459] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050185.087942464] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746050185.088268329] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050185.088932611] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050185.089833150] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050185.090725958] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050185.145256009] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050185.145860045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050185.146838432] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050185.147919486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050185.149126278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050185.245154553] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050185.245812746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050185.246799407] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050185.247689741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050185.248737360] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050185.335230463] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050185.337624286] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050185.338000199] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050185.338602820] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050185.339196008] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050185.339485950] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050185.340390573] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050185.344405219] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050185.344971947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050185.345562622] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050185.346644681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050185.347679248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050185.445317953] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050185.446001479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050185.447076436] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050185.448262414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050185.449505241] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050185.502488139] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903711 Long: -76.50276355 +[vectornav-1] [INFO] [1746050185.503485915] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.09199999999998, -0.891, 5.606) +[mux-7] [INFO] [1746050185.545094422] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050185.546042574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050185.546602381] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050185.548246080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050185.549401734] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050185.585593912] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050185.587648647] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050185.588723298] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050185.588718494] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050185.589669891] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050185.590480215] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050185.590581140] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050185.644908542] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050185.645591251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050185.646404617] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050185.647445451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050185.648684205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050185.745283858] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050185.746013176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050185.746843357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050185.748209158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050185.748674215] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050185.835459421] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050185.837908773] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050185.838038252] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050185.838859043] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050185.839009207] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050185.839264174] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050185.839634778] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050185.844488973] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050185.845444636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050185.845800036] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050185.847175921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050185.848248268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050185.945504713] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050185.946340370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050185.947176817] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050185.949086639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050185.950149344] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050186.003068597] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690371 Long: -76.5027638 +[vectornav-1] [INFO] [1746050186.004292780] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.38300000000004, -0.314, 4.451) +[mux-7] [INFO] [1746050186.045056358] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050186.045884960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050186.046522275] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050186.048041457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050186.049403151] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050186.085480371] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050186.087918767] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050186.088418942] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050186.088952796] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050186.089892651] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050186.090732423] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050186.091561666] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050186.145135398] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050186.146114447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050186.146592700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050186.148207595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050186.148782398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050186.245485110] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050186.246200058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050186.247401141] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050186.248640335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050186.249154533] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050186.335185200] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050186.337480816] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050186.338602285] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050186.338715491] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050186.339140240] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050186.339541299] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050186.339902764] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050186.344431955] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050186.344959855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050186.345567708] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050186.346617745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050186.347669979] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050186.445485832] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050186.446272203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050186.447186375] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050186.447908592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050186.448382818] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050186.502724510] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903702 Long: -76.50276416 +[vectornav-1] [INFO] [1746050186.503831023] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.07600000000002, -0.288, 5.475) +[mux-7] [INFO] [1746050186.545398460] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050186.546462335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050186.547017855] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050186.548468723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050186.548975221] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050186.585103741] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050186.587196128] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050186.587775481] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050186.588749197] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050186.588924996] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050186.589690852] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050186.590552854] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050186.645041590] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050186.645631247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050186.646393487] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050186.647769649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050186.648640752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050186.745111533] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050186.745629370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050186.746463900] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050186.747530312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050186.748516599] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050186.835381126] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050186.837865214] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050186.838764235] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050186.838981283] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050186.839920015] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050186.840824543] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050186.841418414] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050186.844618034] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050186.844993051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050186.845831211] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050186.846686616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050186.847779654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050186.945446931] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050186.946103124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050186.947093677] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050186.949120915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050186.950200247] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050187.003364113] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903687 Long: -76.50276442 +[vectornav-1] [INFO] [1746050187.004976634] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.91700000000003, -0.572, 6.262) +[mux-7] [INFO] [1746050187.045462088] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050187.046290869] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050187.047100862] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050187.048485730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050187.049748479] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050187.085432266] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050187.087782472] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050187.087875783] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050187.088837471] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050187.089473186] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050187.089747917] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050187.090654896] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050187.145002570] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050187.145576638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050187.146579076] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050187.147562632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050187.148070253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050187.245281345] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050187.246125968] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050187.247029373] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050187.248327010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050187.250258259] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050187.335443851] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050187.338248621] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050187.338811064] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050187.339228968] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050187.339711580] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050187.340113844] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050187.340779342] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050187.344351004] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050187.344903387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050187.345460493] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050187.346612919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050187.347703418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050187.445362491] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050187.446204486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050187.446928273] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050187.448789887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050187.449459654] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050187.503330985] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903684 Long: -76.50276452 +[vectornav-1] [INFO] [1746050187.504614107] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.053, -0.482, 6.729) +[mux-7] [INFO] [1746050187.545099288] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050187.546037244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050187.546550229] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050187.548247867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050187.549377800] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050187.585617787] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050187.588412631] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050187.588450738] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050187.589462675] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050187.590333953] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050187.590384118] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050187.591253689] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050187.645351307] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050187.646078349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050187.647297738] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050187.648787676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050187.649962119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050187.745472434] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050187.746285910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050187.747219458] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050187.748407927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050187.748934236] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050187.835413269] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050187.837876569] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050187.837974831] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050187.838852388] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050187.839410344] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050187.839737178] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050187.840639168] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050187.844559101] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050187.845094437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050187.845767111] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050187.846836092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050187.847844091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050187.945262392] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050187.945892251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050187.946843678] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050187.947986658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050187.949629927] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050188.002425053] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903684 Long: -76.50276472 +[vectornav-1] [INFO] [1746050188.003597854] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.94100000000003, -1.556, 5.489) +[mux-7] [INFO] [1746050188.045274116] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050188.045839037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050188.046933829] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050188.048058563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050188.049184922] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050188.085374344] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050188.087672989] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050188.088210079] [sailbot.teensy]: Wind angle: 234 +[mux-7] [INFO] [1746050188.089075188] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050188.089148805] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050188.090058522] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050188.090896086] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050188.145288842] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050188.146055822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050188.146834097] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050188.148261195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050188.149555980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050188.245315734] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050188.246258825] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050188.247428042] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050188.248722402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050188.249874823] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050188.335444604] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050188.337750619] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050188.338482591] [sailbot.teensy]: Wind angle: 234 +[mux-7] [INFO] [1746050188.339372246] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050188.339433258] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050188.340458643] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050188.340996041] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050188.344374669] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050188.345086070] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050188.345597912] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050188.346811292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050188.347856887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050188.445316044] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050188.446039826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050188.447208806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050188.448233660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050188.448807210] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050188.503620380] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903672 Long: -76.50276512 +[vectornav-1] [INFO] [1746050188.504977505] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.91700000000003, 1.338, 6.224) +[mux-7] [INFO] [1746050188.544959870] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050188.545617587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050188.546282648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050188.547833323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050188.548995972] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050188.585276515] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050188.587109191] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050188.587589912] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050188.588044162] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050188.589084075] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050188.589451111] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050188.589970500] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050188.645418014] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050188.646144574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050188.647114806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050188.650091773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050188.651134710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050188.745258935] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050188.746095771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050188.746913915] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050188.748077300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050188.750208966] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050188.835392066] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050188.837989746] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050188.838921509] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050188.839304313] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050188.840325273] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050188.841094835] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050188.841461841] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050188.844393166] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050188.844940965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050188.845543461] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050188.846597703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050188.847680122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050188.945131316] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050188.945847973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050188.946632239] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050188.948089105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050188.948689734] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050189.003282819] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903665 Long: -76.50276503 +[vectornav-1] [INFO] [1746050189.004638970] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.976, -1.129, 5.763) +[mux-7] [INFO] [1746050189.045134079] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050189.045922561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050189.046609560] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050189.048310490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050189.049441748] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050189.085197995] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050189.087338966] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050189.088397034] [sailbot.teensy]: Wind angle: 234 +[mux-7] [INFO] [1746050189.088948998] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050189.089355696] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050189.090282573] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050189.091121071] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050189.145154154] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050189.145991688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050189.146867576] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050189.147996483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050189.149060827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050189.245270806] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050189.245980933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050189.247011649] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050189.248246476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050189.249339860] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050189.335222030] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050189.337044723] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050189.337875549] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050189.339092630] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050189.339518981] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050189.339986972] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050189.340912375] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050189.344365649] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050189.345490631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050189.345648688] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050189.347250391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050189.348471092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050189.445608205] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050189.446415641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050189.447280687] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050189.448005450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050189.448478997] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050189.502302935] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903677 Long: -76.50276515 +[vectornav-1] [INFO] [1746050189.503294657] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.14, -0.583, 4.942) +[mux-7] [INFO] [1746050189.544710710] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050189.545309920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050189.546050559] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050189.547153853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050189.548290535] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050189.585375710] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050189.587622682] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050189.587776830] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050189.588768207] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050189.589202901] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050189.589657483] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050189.590538736] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050189.645373862] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050189.646259803] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050189.646943244] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050189.648583868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050189.649102406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050189.745352854] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050189.746594231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050189.746948036] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050189.748892209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050189.750079135] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050189.835192490] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050189.837079772] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050189.837535521] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050189.838031749] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050189.838944622] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050189.839502313] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050189.839654224] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050189.844297521] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050189.844857159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050189.845382266] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050189.846540654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050189.847586815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050189.945684914] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050189.946609430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050189.947458715] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050189.948629847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050189.949172849] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050190.002652486] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903687 Long: -76.50276537 +[vectornav-1] [INFO] [1746050190.004230918] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.14200000000005, 0.245, 5.296) +[mux-7] [INFO] [1746050190.045237996] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050190.046039832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050190.046701765] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050190.048290818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050190.049298579] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050190.085874997] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050190.088674996] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050190.088951667] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050190.089863681] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050190.090663612] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050190.090831619] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050190.091782562] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050190.144576069] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050190.145478998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050190.145662657] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050190.147300469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050190.148328254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050190.245364092] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050190.246156353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050190.246961321] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050190.248687089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050190.249223953] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050190.335308160] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050190.337039943] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050190.337436561] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050190.337909477] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050190.338766310] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050190.338993581] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050190.339660566] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050190.344327502] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050190.345469544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050190.345796486] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050190.347212212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050190.348413288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050190.445324435] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050190.446315637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050190.446999971] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050190.448141649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050190.448756148] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050190.502957421] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903696 Long: -76.50276533 +[vectornav-1] [INFO] [1746050190.504108675] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.24900000000002, -0.504, 5.426) +[mux-7] [INFO] [1746050190.544940273] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050190.545656411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050190.546296471] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050190.547632041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050190.548696854] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050190.585202335] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050190.586836835] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050190.587315861] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050190.587768989] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050190.588663750] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050190.588945233] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050190.589546445] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050190.645159996] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050190.646016000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050190.646630390] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050190.648071496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050190.648623370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050190.745073273] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050190.745749917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050190.746767936] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050190.747595525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050190.748088562] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050190.835462257] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050190.837787344] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050190.837787453] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050190.838819263] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050190.839133953] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050190.839752664] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050190.840712682] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050190.844379690] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050190.845104222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050190.845638127] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050190.846795227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050190.847834953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050190.945681893] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050190.946673457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050190.947963262] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050190.948198055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050190.948749754] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050191.003884971] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903716 Long: -76.50276536 +[vectornav-1] [INFO] [1746050191.005416072] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.53099999999995, -0.705, 5.07) +[mux-7] [INFO] [1746050191.045223996] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050191.046034593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050191.046678199] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050191.048099191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050191.049360931] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050191.085510843] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050191.087637035] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050191.087850508] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050191.088611665] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050191.089009187] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050191.089551105] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050191.090412628] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050191.144565445] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050191.145422346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050191.145713712] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050191.147363433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050191.148433458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050191.245023967] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050191.246000108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050191.246550761] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050191.247828469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050191.248348148] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050191.335531833] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050191.337548295] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050191.338398956] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050191.339044145] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050191.339529680] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050191.339625625] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050191.339910468] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050191.344515068] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050191.345114680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050191.345946133] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050191.346873734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050191.348047674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050191.444996786] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050191.445715498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050191.446347425] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050191.447744187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050191.448945223] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050191.503319972] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903717 Long: -76.50276543 +[vectornav-1] [INFO] [1746050191.504690931] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.27300000000002, 0.263, 4.854) +[mux-7] [INFO] [1746050191.545117552] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050191.545989286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050191.546628909] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050191.548038351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050191.549093128] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050191.585326511] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050191.587509449] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050191.587674606] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050191.588518287] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050191.589209640] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050191.589428989] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050191.590306963] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050191.645367426] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050191.646679822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050191.647084987] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050191.649283343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050191.650444105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050191.745313848] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050191.746004634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050191.746786967] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050191.747864182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050191.748419190] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050191.835338154] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050191.837644124] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050191.837660436] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050191.838595102] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050191.838764715] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050191.838996275] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050191.839372589] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050191.844422260] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050191.845053186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050191.845543209] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050191.846803018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050191.847960483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050191.945223959] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050191.945874771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050191.946706273] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050191.947702808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050191.948255010] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050192.004019291] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903733 Long: -76.50276543 +[vectornav-1] [INFO] [1746050192.005522189] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.28499999999997, -0.547, 5.444) +[mux-7] [INFO] [1746050192.045315403] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050192.047056106] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050192.046233011] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050192.048100052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050192.049172968] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050192.085328423] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050192.087431296] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050192.087472045] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050192.088445356] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050192.088710232] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050192.089646215] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050192.090507093] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050192.145463866] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050192.146273015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050192.147017185] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050192.148876242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050192.150032497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050192.245354779] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050192.246279696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050192.246973493] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050192.248312584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050192.249417401] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050192.335534615] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050192.337883149] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050192.338327148] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050192.338987443] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050192.339889145] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050192.339887762] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050192.340846795] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050192.344460954] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050192.345276095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050192.345678088] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050192.347196163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050192.348266407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050192.445571133] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050192.446638898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050192.447231250] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050192.449253063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050192.450617864] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050192.503942813] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690375 Long: -76.50276543 +[vectornav-1] [INFO] [1746050192.505578237] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.18399999999997, -0.464, 5.835) +[mux-7] [INFO] [1746050192.545498572] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050192.546471222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050192.547181937] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050192.549034012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050192.550225116] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050192.585885179] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050192.588052399] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050192.588615120] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050192.589180863] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050192.590264085] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050192.590512005] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050192.591287932] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050192.645340569] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050192.646104146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050192.646949489] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050192.648376119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050192.649459462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050192.745341985] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050192.745987306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050192.746798468] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050192.748321236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050192.749475080] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050192.835238921] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050192.836910631] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050192.837429156] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050192.837853382] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050192.838788115] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050192.839425300] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050192.839635474] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050192.844480773] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050192.845022166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050192.845792590] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050192.846785465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050192.847904118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050192.943848179] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050192.944223926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050192.944584964] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050192.945163748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050192.945789313] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050193.001948243] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903763 Long: -76.50276535 +[vectornav-1] [INFO] [1746050193.003105087] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.65800000000002, -0.133, 5.563) +[mux-7] [INFO] [1746050193.046525188] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050193.046684635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050193.048548183] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050193.049007763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050193.050227900] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050193.085048393] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050193.086949260] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050193.087623740] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050193.088558066] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050193.089400476] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050193.089733540] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050193.091011622] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050193.145388013] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050193.146344984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050193.146983679] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050193.148832464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050193.149939847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050193.245215999] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050193.246163935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050193.246714218] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050193.248515303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050193.249731693] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050193.335353680] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050193.337728172] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050193.338699098] [sailbot.teensy]: Wind angle: 234 +[mux-7] [INFO] [1746050193.338827638] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050193.339906601] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050193.340815918] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050193.341740261] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050193.344324691] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050193.344881400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050193.345501392] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050193.346606895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050193.347759125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050193.445495224] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050193.446411134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050193.447360105] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050193.448581768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050193.449114721] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050193.503907330] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903772 Long: -76.50276541 +[vectornav-1] [INFO] [1746050193.505595075] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.63400000000001, -0.252, 5.461) +[mux-7] [INFO] [1746050193.545013579] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050193.545680102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050193.546346294] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050193.547771272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050193.548790343] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050193.585255943] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050193.586933674] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050193.587700079] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050193.587895107] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050193.588849057] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050193.589205017] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050193.589854502] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050193.645409414] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050193.646121300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050193.647280739] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050193.648146831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050193.648698533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050193.745368382] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050193.746146523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050193.746986563] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050193.748687586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050193.749529937] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050193.835602249] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050193.837767927] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050193.838305145] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050193.838730196] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050193.839134357] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050193.839199416] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050193.839532211] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050193.844605525] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050193.845105944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050193.846058169] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050193.846800652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050193.847852408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050193.945083362] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050193.945622270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050193.946499262] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050193.947613914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050193.948901722] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050194.002421543] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903788 Long: -76.5027654 +[vectornav-1] [INFO] [1746050194.003654847] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.14, -0.422, 6.076) +[mux-7] [INFO] [1746050194.045266913] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050194.046419962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050194.046947133] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050194.048715712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050194.049898225] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050194.085517617] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050194.087530567] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050194.088355088] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050194.088585742] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050194.089484905] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050194.089874333] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050194.090732813] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050194.145381573] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050194.146629614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050194.146956568] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050194.149533694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050194.150699277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050194.245565968] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050194.246443172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050194.247242039] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050194.249075838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050194.250207843] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050194.335430961] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050194.337977225] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050194.338069311] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050194.338966864] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050194.339587471] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050194.339897759] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050194.340564547] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050194.344525163] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050194.345058631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050194.345635757] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050194.346744377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050194.347767679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050194.445175968] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050194.446331430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050194.446687653] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050194.449063797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050194.450198163] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050194.503494454] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903814 Long: -76.50276533 +[vectornav-1] [INFO] [1746050194.505256077] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.712, -0.726, 6.636) +[mux-7] [INFO] [1746050194.544920307] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050194.545696039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050194.546142955] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050194.547571984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050194.548749009] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050194.585387541] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050194.587801804] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050194.587801738] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050194.588778619] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050194.588991199] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050194.589680476] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050194.590552822] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050194.644717355] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050194.645336987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050194.645859052] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050194.647066646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050194.648218009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050194.745542709] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050194.746281767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050194.747396117] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050194.748001462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050194.748571481] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050194.835360150] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050194.837199672] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050194.837659656] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050194.838578398] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050194.839342392] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050194.839594806] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050194.840530413] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050194.844425763] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050194.844950869] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050194.845529609] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050194.846633175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050194.847786726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050194.945488326] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050194.946078749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050194.947168407] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050194.948731150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050194.949283043] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050195.003556993] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903832 Long: -76.50276529 +[vectornav-1] [INFO] [1746050195.005494852] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.515, -0.001, 6.429) +[mux-7] [INFO] [1746050195.045029520] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050195.045805413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050195.046361257] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050195.047979003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050195.049099267] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050195.085249806] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050195.087522272] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050195.088491062] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050195.087627422] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050195.088856871] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050195.089388802] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050195.090278033] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050195.144942054] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050195.145626829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050195.146327775] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050195.147480276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050195.148518449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050195.245080557] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050195.245819182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050195.246521817] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050195.247853627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050195.248884310] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050195.335792286] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050195.338279121] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050195.339336468] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050195.338532619] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050195.339075566] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050195.340381120] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050195.341313151] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050195.344409660] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050195.345063765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050195.345465794] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050195.346830938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050195.347866493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050195.445724758] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050195.446432051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050195.447414661] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050195.448770646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050195.449275915] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050195.504206414] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690384 Long: -76.50276536 +[vectornav-1] [INFO] [1746050195.506053490] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.04399999999998, -0.314, 6.164) +[mux-7] [INFO] [1746050195.544878900] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050195.545568707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050195.546111348] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050195.547445175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050195.548459355] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050195.585404561] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050195.587380796] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050195.587791506] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050195.588398770] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050195.589374397] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050195.589542417] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050195.590290995] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050195.645192411] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050195.645768985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050195.646775201] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050195.647684830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050195.648341315] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050195.745518040] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050195.746517472] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050195.747242698] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050195.748710300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050195.749984318] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050195.835416997] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050195.838124764] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050195.838712624] [sailbot.teensy]: Wind angle: 234 +[mux-7] [INFO] [1746050195.839135441] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050195.839698391] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050195.840672189] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050195.841650878] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050195.844351648] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050195.845006529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050195.845479549] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050195.846737902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050195.847814624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050195.945449812] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050195.946164195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050195.947023398] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050195.948450988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050195.949700736] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050196.002504115] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903851 Long: -76.50276543 +[vectornav-1] [INFO] [1746050196.003568226] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.86900000000003, -0.289, 6.474) +[mux-7] [INFO] [1746050196.045350891] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050196.046221186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050196.046810136] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050196.048498389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050196.049477327] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050196.085549566] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050196.087529122] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050196.088580166] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050196.089472835] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746050196.088786965] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050196.089755662] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050196.090380180] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050196.145459449] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050196.146447864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050196.147776846] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050196.148635430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050196.150395889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050196.245138072] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050196.246004623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050196.246731386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050196.247694365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050196.248240939] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050196.335317667] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050196.337721346] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050196.338201630] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050196.338303862] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050196.339425433] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050196.340341342] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050196.341221277] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050196.344325925] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050196.344799350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050196.345449658] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050196.346696647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050196.347665226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050196.445474700] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050196.446199719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050196.447060221] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050196.447823876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050196.448740897] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050196.503969670] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903868 Long: -76.5027654 +[vectornav-1] [INFO] [1746050196.505787046] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.875, -0.618, 6.296) +[mux-7] [INFO] [1746050196.545184369] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050196.545850953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050196.546829881] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050196.547961161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050196.549041048] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050196.585396525] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050196.587687591] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050196.587751196] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050196.588676783] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050196.589412551] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050196.589581212] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050196.590467794] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050196.645091357] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050196.645776906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050196.646439837] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050196.647726988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050196.648905514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050196.745446979] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050196.746269705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050196.747067916] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050196.748534797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050196.749956203] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050196.835590620] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050196.837512520] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050196.837878272] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050196.838417733] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050196.838413069] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050196.839330997] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050196.839731960] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050196.844615823] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050196.845445403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050196.845952236] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050196.847241533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050196.848433268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050196.945528325] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050196.946389448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050196.947280692] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050196.948111575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050196.948648079] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050197.003610670] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903881 Long: -76.50276544 +[vectornav-1] [INFO] [1746050197.005253282] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.33799999999997, -0.37, 5.968) +[mux-7] [INFO] [1746050197.045029467] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050197.045839065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050197.046401266] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050197.047757933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050197.048824313] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050197.085265973] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050197.087274966] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050197.087376595] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050197.088247806] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050197.089174347] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050197.089327384] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050197.090086214] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050197.145186327] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050197.145989250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050197.147129582] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050197.148070048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050197.149283252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050197.245061964] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050197.245753864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050197.246334996] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050197.247668864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050197.248800542] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050197.335721638] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050197.338231298] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050197.339286443] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050197.340022702] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050197.340332588] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050197.341010766] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050197.341023944] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050197.344582326] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050197.345222665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050197.345742283] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050197.346950993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050197.347931523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050197.445479249] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050197.446160381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050197.447110872] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050197.448497803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050197.449578667] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050197.502815445] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903894 Long: -76.50276557 +[vectornav-1] [INFO] [1746050197.504116293] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.461, -0.277, 6.179) +[mux-7] [INFO] [1746050197.545272850] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050197.546209891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050197.546778357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050197.548392604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050197.549541080] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050197.585491523] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050197.588101558] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050197.588798849] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050197.589003919] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050197.590003124] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050197.590889003] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050197.591733378] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050197.645090380] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050197.645716045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050197.646558109] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050197.647637887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050197.648857177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050197.744940139] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050197.745726313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050197.746158020] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050197.747695759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050197.748729320] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050197.835515975] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050197.837932225] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050197.838602686] [sailbot.teensy]: Wind angle: 234 +[mux-7] [INFO] [1746050197.838819127] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050197.839659544] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050197.840587991] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050197.841433369] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050197.844483040] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050197.844864050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050197.845805319] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050197.846638967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050197.847955926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050197.945618201] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050197.946253000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050197.947909149] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050197.948483491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050197.949080954] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050198.002539093] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903895 Long: -76.50276573 +[vectornav-1] [INFO] [1746050198.003665783] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.38400000000001, 0.086, 6.877) +[mux-7] [INFO] [1746050198.044823778] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050198.045349551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050198.046030994] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050198.047109342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050198.048255538] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050198.085710027] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050198.088504526] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050198.088880201] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050198.089549276] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050198.090483765] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050198.091347679] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050198.092184835] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050198.145276958] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050198.146577056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050198.147167831] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050198.148784881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050198.149944494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050198.245309565] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050198.245942506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050198.246883016] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050198.247986840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050198.249150519] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050198.335339431] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050198.337363457] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050198.338319361] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050198.337887992] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050198.338834756] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050198.339352023] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050198.339774064] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050198.344328479] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050198.344849944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050198.345520849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050198.346580091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050198.347570953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050198.445065651] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050198.445787415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050198.446480029] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050198.447850297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050198.448942031] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050198.503788114] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903905 Long: -76.50276571 +[vectornav-1] [INFO] [1746050198.505408861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.87900000000002, -1.081, 6.515) +[mux-7] [INFO] [1746050198.544881240] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050198.545616692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050198.546136123] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050198.547495851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050198.548610474] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050198.585393164] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050198.587896839] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050198.587939094] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050198.588879123] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050198.588999665] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050198.589911047] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050198.590793851] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050198.645172092] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050198.645868632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050198.646664106] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050198.648025295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050198.649121965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050198.745292500] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050198.745928878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050198.747358500] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050198.747947135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050198.748453108] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050198.835483543] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050198.837462247] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050198.837904199] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050198.838891256] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050198.839268130] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050198.839850524] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050198.840227394] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050198.844580000] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050198.845276881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050198.845712213] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050198.846939636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050198.847975385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050198.945297284] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050198.946241102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050198.946811480] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050198.948441076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050198.949772072] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050199.002437012] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903913 Long: -76.50276588 +[vectornav-1] [INFO] [1746050199.003548088] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.35199999999998, 0.3, 6.608) +[mux-7] [INFO] [1746050199.045360044] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050199.046013654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050199.046968523] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050199.048378168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050199.049563276] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050199.085834515] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050199.087933421] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050199.089024587] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050199.088947322] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050199.089966444] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050199.091296690] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050199.091332092] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050199.144962814] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050199.145597260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050199.146261519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050199.147500946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050199.148697634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050199.245376164] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050199.246150950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050199.246897613] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050199.248077101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050199.248587855] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050199.335640265] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050199.337757003] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050199.338820452] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050199.338872452] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050199.339878928] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050199.340810485] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050199.340832295] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050199.344253468] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050199.344913628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050199.345341410] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050199.346645597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050199.347873239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050199.445310681] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050199.446048669] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050199.446790475] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050199.447930951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050199.448495290] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050199.503603173] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903914 Long: -76.50276591 +[vectornav-1] [INFO] [1746050199.505111622] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.79499999999996, -0.307, 6.835) +[mux-7] [INFO] [1746050199.545037087] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050199.545671810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050199.546433098] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050199.547626685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050199.548821399] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050199.585298304] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050199.587040480] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050199.587576299] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050199.587953154] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050199.588801966] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050199.588798968] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050199.589674738] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050199.644998131] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050199.645870824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050199.646780193] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050199.647803808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050199.648992874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050199.745241022] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050199.745977784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050199.746977018] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050199.747846865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050199.748322813] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050199.835235364] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050199.837004074] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050199.837563650] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050199.837974987] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050199.838913641] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050199.839214492] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050199.839823143] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050199.844338356] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050199.844950921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050199.845450333] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050199.846714774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050199.847759851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050199.945207875] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050199.946307600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050199.946739559] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050199.948421381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050199.949627465] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050200.002700419] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903917 Long: -76.50276592 +[vectornav-1] [INFO] [1746050200.003853487] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.84900000000005, -0.682, 6.519) +[mux-7] [INFO] [1746050200.045041479] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050200.045646703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050200.046298751] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050200.047737190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050200.048898253] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050200.085479607] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050200.087263503] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050200.088043341] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050200.088224097] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050200.089109331] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050200.089202743] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050200.089957645] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050200.144891137] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050200.145521721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050200.146040564] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050200.147452546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050200.148206080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050200.245260476] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050200.246005785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050200.247200723] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050200.248092762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050200.249444039] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050200.335320467] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050200.337199548] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050200.338160783] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050200.339136173] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746050200.338193115] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050200.339910249] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050200.340044599] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050200.344313816] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050200.344877019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050200.345587031] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050200.346554615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050200.347626737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050200.444876132] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050200.445604409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050200.446138928] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050200.447523873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050200.448565098] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050200.503911838] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903932 Long: -76.50276591 +[vectornav-1] [INFO] [1746050200.505842234] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.64800000000002, -0.357, 6.862) +[mux-7] [INFO] [1746050200.544929111] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050200.545689953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050200.546215300] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050200.547740420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050200.548781780] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050200.585457815] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050200.587791417] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050200.587788849] [sailbot.teensy]: Wind angle: 234 +[mux-7] [INFO] [1746050200.588324815] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050200.588807610] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050200.589799080] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050200.590712565] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050200.645398559] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050200.646138185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050200.647042199] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050200.648435160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050200.649612288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050200.745594408] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050200.746428927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050200.747801028] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050200.748776688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050200.750080418] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050200.835434529] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050200.837264993] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050200.838217913] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050200.838165490] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050200.839076626] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050200.839089794] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050200.839988941] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050200.844490525] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050200.845026123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050200.845832354] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050200.846741268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050200.847763826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050200.945146095] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050200.945903610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050200.946544645] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050200.948015298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050200.949054263] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050201.002638043] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903923 Long: -76.50276615 +[vectornav-1] [INFO] [1746050201.003725009] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.09699999999998, 0.041, 6.46) +[mux-7] [INFO] [1746050201.045149384] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050201.045838784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050201.046519148] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050201.048207919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050201.049445421] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050201.085820661] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050201.088229772] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050201.089275238] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050201.088724810] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050201.089633344] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050201.090173874] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050201.091034029] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050201.144664789] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050201.145287823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050201.145732463] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050201.146978333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050201.147942993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050201.245011309] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050201.245845925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050201.246446168] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050201.248115585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050201.249240204] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050201.335477738] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050201.337321067] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050201.338092142] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050201.338291339] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050201.339199364] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050201.339386712] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050201.340063174] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050201.344359096] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050201.344879205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050201.345457215] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050201.346885519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050201.348033378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050201.444901796] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050201.445569709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050201.446272724] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050201.447416097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050201.449075891] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050201.503537117] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903913 Long: -76.50276625 +[vectornav-1] [INFO] [1746050201.505231493] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.68200000000002, -0.552, 5.822) +[mux-7] [INFO] [1746050201.544750582] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050201.545372533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050201.545892230] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050201.547148925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050201.548134802] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050201.585444711] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050201.587225666] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050201.588197616] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050201.587949738] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050201.589105985] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050201.589957527] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050201.589646647] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050201.645432919] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050201.646114831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050201.647074696] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050201.648459211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050201.649742572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050201.745641400] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050201.746275281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050201.747355252] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050201.748527948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050201.749002555] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050201.835194407] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050201.836898389] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050201.837493377] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050201.837825003] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050201.838754397] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050201.839618991] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050201.839706330] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050201.844334464] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050201.844816171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050201.845483598] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050201.846514439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050201.847552688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050201.945045835] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050201.945948839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050201.946601892] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050201.947732711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050201.948233195] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050202.002648681] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903913 Long: -76.50276628 +[vectornav-1] [INFO] [1746050202.004089101] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.312, -0.589, 5.893) +[mux-7] [INFO] [1746050202.044895080] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050202.045648504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050202.046186054] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050202.047736322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050202.048789152] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050202.085706922] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050202.088626010] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050202.089492327] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050202.089619396] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050202.090585186] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050202.091431645] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050202.092285275] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050202.145466801] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050202.146664982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050202.147231512] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050202.148636634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050202.149182577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050202.245483229] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050202.246383903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050202.247057402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050202.249165228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050202.250182559] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050202.335664911] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050202.337564837] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050202.338326162] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050202.338518130] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050202.339290427] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050202.339301076] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050202.339696760] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050202.344381205] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050202.344976053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050202.345493404] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050202.346697995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050202.347910359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050202.445459852] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050202.446137183] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050202.447429963] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050202.448451005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050202.449243318] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050202.503026870] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903923 Long: -76.50276634 +[vectornav-1] [INFO] [1746050202.504471413] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.02700000000004, -0.062, 5.283) +[mux-7] [INFO] [1746050202.545046315] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050202.545699777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050202.546816487] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050202.547624181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050202.548656037] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050202.585591430] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050202.588296320] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050202.588321923] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050202.589286586] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050202.589341218] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050202.590231097] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050202.591105767] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050202.645484015] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050202.646287600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050202.647082773] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050202.648601269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050202.649888375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050202.745302301] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050202.745977371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050202.747121837] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050202.748125072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050202.749259471] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050202.835444701] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050202.837109309] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050202.838053469] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050202.838322686] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050202.838989378] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050202.839873240] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050202.840011263] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050202.844543154] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050202.845032394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050202.845707698] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050202.846766685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050202.847840424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050202.945460311] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050202.946025202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050202.947118072] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050202.948302123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050202.949475172] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050203.003448555] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903919 Long: -76.50276644 +[vectornav-1] [INFO] [1746050203.005398991] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.115, -0.641, 5.721) +[mux-7] [INFO] [1746050203.045175498] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050203.045718576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050203.046669158] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050203.048694235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050203.049836161] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050203.085272366] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050203.087498618] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050203.088113030] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050203.089155712] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050203.089724072] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050203.090098582] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050203.090983862] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050203.144482553] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050203.145489353] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050203.147470100] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050203.149005367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050203.149892396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050203.245022159] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050203.245601549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050203.246316599] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050203.247575152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050203.248791842] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050203.335392781] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050203.337846335] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050203.338150635] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050203.339314500] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050203.339350198] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050203.340485208] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050203.341336515] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050203.344604660] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050203.345061355] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050203.345781153] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050203.346830214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050203.347873114] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050203.445206148] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050203.445997365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050203.446785006] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050203.447950749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050203.449012822] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050203.502365858] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903922 Long: -76.50276661 +[vectornav-1] [INFO] [1746050203.503356644] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.91899999999998, 0.092, 5.73) +[mux-7] [INFO] [1746050203.544857370] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050203.545442585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050203.546037905] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050203.547184795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050203.548270756] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050203.585149034] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050203.586704113] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050203.587574710] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050203.587900012] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050203.588408543] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050203.588560425] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050203.589263874] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050203.645165134] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050203.645990295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050203.646694134] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050203.648179325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050203.648713234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050203.745484292] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050203.746524924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050203.747485970] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050203.748998092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050203.750828284] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050203.835197470] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050203.837613429] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050203.837764472] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050203.838671832] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050203.838672381] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050203.839684059] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050203.840583190] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050203.844329096] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050203.844910424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050203.845429113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050203.846607885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050203.847607540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050203.945626246] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050203.946364346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050203.947320162] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050203.948957507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050203.950173798] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050204.004097130] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903916 Long: -76.50276679 +[vectornav-1] [INFO] [1746050204.006226196] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.39300000000003, -1.062, 5.825) +[mux-7] [INFO] [1746050204.045247774] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050204.046031400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050204.046774566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050204.048311816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050204.049510670] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050204.085370356] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050204.087175988] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050204.088132062] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050204.087965376] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050204.089037476] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050204.089075321] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050204.089976168] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050204.145392079] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050204.146496660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050204.147655265] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050204.148943625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050204.150044276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050204.245656542] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050204.246257626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050204.247403077] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050204.248579913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050204.249272101] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050204.335434931] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050204.337275436] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050204.337800292] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050204.338235718] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050204.339179436] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050204.339962874] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050204.340019401] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050204.344549069] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050204.344954436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050204.345693711] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050204.346628673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050204.347778376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050204.445300225] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050204.445855634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050204.447679328] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050204.448237396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050204.449473840] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050204.503253135] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903918 Long: -76.50276713 +[vectornav-1] [INFO] [1746050204.504909759] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.514, -0.28, 4.675) +[mux-7] [INFO] [1746050204.545045418] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050204.545618787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050204.546465164] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050204.547538289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050204.548615182] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050204.585696739] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050204.588445038] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050204.588692703] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050204.589699257] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050204.590599401] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050204.590730415] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050204.591519754] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050204.645015428] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050204.645776592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050204.646455411] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050204.647976198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050204.649135198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050204.745179470] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050204.745881066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050204.746846080] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050204.748730661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050204.749194114] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050204.835579068] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050204.838144945] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050204.838269045] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050204.839434267] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050204.839692291] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050204.840373726] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050204.841294572] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050204.844446999] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050204.844914711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050204.845552373] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050204.846592398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050204.847654089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050204.945663222] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050204.946402449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050204.947336016] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050204.948714735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050204.949817068] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050205.003830434] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903914 Long: -76.5027674 +[vectornav-1] [INFO] [1746050205.005667388] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.24699999999996, 0.592, 5.563) +[mux-7] [INFO] [1746050205.045335791] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050205.046144136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050205.047102726] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050205.048128766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050205.050463196] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050205.085681724] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050205.088109453] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050205.089094999] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050205.089262161] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050205.090234734] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050205.091117776] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050205.091968854] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050205.145302296] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050205.146150104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050205.146887113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050205.148697932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050205.149762833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050205.244755047] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050205.245430470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050205.246094958] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050205.247160357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050205.248238873] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050205.335249236] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050205.337538530] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050205.338062366] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050205.339652655] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050205.340740678] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050205.341707357] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050205.342589650] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050205.344481290] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050205.344974735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050205.345613552] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050205.346739092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050205.347810828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050205.445355527] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050205.446002682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050205.447190743] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050205.448525522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050205.449342194] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050205.503003434] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903917 Long: -76.50276724 +[vectornav-1] [INFO] [1746050205.504463013] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.85000000000002, -0.811, 5.793) +[mux-7] [INFO] [1746050205.545108446] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050205.545853698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050205.546850751] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050205.547834310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050205.549094090] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050205.585468429] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050205.587833659] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050205.588456831] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050205.589142620] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050205.590117780] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050205.591021019] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050205.591861889] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050205.645206043] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050205.645932069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050205.646915266] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050205.648027221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050205.648499836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050205.745192300] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050205.746017323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050205.746707749] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050205.748491354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050205.749557153] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050205.835347846] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050205.837585265] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050205.837650718] [sailbot.teensy]: Wind angle: 233 +[mux-7] [INFO] [1746050205.838369365] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050205.838582364] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050205.839465564] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050205.840358300] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050205.844363226] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050205.844810279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050205.845466396] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050205.846520004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050205.847656288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050205.945383982] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050205.946117332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050205.947096439] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050205.948532443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050205.949734128] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050206.003778272] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690393 Long: -76.50276735 +[vectornav-1] [INFO] [1746050206.005609835] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.73900000000003, -1.75, 5.847) +[mux-7] [INFO] [1746050206.045262141] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050206.046121551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050206.046855232] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050206.048392749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050206.049421617] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050206.085297231] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050206.087517448] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050206.088013936] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050206.089592480] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050206.090472622] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050206.091321716] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050206.092188957] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050206.144807943] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050206.145402072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050206.145969491] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050206.147167304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050206.148342063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050206.244943269] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050206.245673867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050206.246234777] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050206.247754928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050206.248888042] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050206.335173731] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050206.337132481] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050206.337452997] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050206.338349220] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050206.338729892] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050206.339313493] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050206.340206791] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050206.344443764] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050206.344968238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050206.345566266] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050206.346650041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050206.347812775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050206.445292414] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050206.445989467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050206.446810477] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050206.448573524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050206.449701411] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050206.503238432] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903947 Long: -76.50276772 +[vectornav-1] [INFO] [1746050206.504598903] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.93200000000002, 1.62, 5.086) +[mux-7] [INFO] [1746050206.544912901] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050206.545647254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050206.546230418] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050206.547535352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050206.548561388] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050206.585151269] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050206.587425127] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050206.588093964] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050206.588685724] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050206.590019415] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050206.590996698] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050206.591852577] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050206.645106826] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050206.646225666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050206.647793165] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050206.648428755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050206.649513856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050206.745416862] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050206.746444956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050206.747030096] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050206.748898770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050206.749981327] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050206.835532180] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050206.837940429] [sailbot.teensy]: Wind angle: 232 +[trim_sail-4] [INFO] [1746050206.838136414] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050206.839355049] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050206.839981065] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050206.840967564] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050206.841807157] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050206.844482660] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050206.845268876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050206.845748445] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050206.847087493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050206.848099682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050206.945210028] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050206.946117116] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050206.946804472] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050206.947835979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050206.948306406] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050207.003280983] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903958 Long: -76.50276772 +[vectornav-1] [INFO] [1746050207.005007472] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.99, -0.835, 5.62) +[mux-7] [INFO] [1746050207.045202533] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050207.046052721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050207.046847549] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050207.048278502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050207.049480077] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050207.085552814] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050207.087326297] [sailbot.teensy]: Wind angle: 232 +[teensy-2] [INFO] [1746050207.088337568] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050207.088428892] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050207.089248032] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050207.090099162] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050207.090130716] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050207.145239218] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050207.145919486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050207.146740538] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050207.147982419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050207.149379282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050207.244606201] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050207.245190927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050207.245724183] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050207.246878542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050207.247967568] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050207.335251090] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050207.336953262] [sailbot.teensy]: Wind angle: 232 +[trim_sail-4] [INFO] [1746050207.337560528] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050207.337857651] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050207.338649423] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050207.339021593] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050207.339039306] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050207.344346206] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050207.344945768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050207.345491376] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050207.346681900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050207.347809806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050207.445459202] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050207.446343819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050207.447084852] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050207.448876152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050207.450033396] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050207.503701205] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903971 Long: -76.50276774 +[vectornav-1] [INFO] [1746050207.505668443] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.52499999999998, -0.681, 5.314) +[mux-7] [INFO] [1746050207.545236135] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050207.546203176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050207.546790792] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050207.548725369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050207.549256306] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050207.585560798] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050207.588452436] [sailbot.teensy]: Wind angle: 232 +[teensy-2] [INFO] [1746050207.589415187] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050207.588583613] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050207.590251811] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050207.590604981] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050207.591487928] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050207.644949370] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050207.645620489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050207.646229167] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050207.647594448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050207.648627516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050207.745601369] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050207.746135994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050207.747289888] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050207.748473880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050207.749714687] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050207.835301181] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050207.837379377] [sailbot.teensy]: Wind angle: 232 +[trim_sail-4] [INFO] [1746050207.837913067] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050207.838358909] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050207.839196615] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050207.839263194] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050207.840102733] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050207.844517514] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050207.845077001] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050207.845661003] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050207.846771507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050207.847927880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050207.945057157] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050207.945822905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050207.946513530] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050207.947608431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050207.948089636] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050208.002374251] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690397 Long: -76.50276777 +[vectornav-1] [INFO] [1746050208.003500407] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.78700000000003, -0.687, 5.423) +[mux-7] [INFO] [1746050208.044942865] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050208.046034629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050208.046135239] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050208.047782807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050208.048829024] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050208.085429486] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050208.087846568] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050208.087950067] [sailbot.teensy]: Wind angle: 232 +[teensy-2] [INFO] [1746050208.088950408] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050208.089554692] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050208.089862283] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050208.090795602] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050208.145040419] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050208.145615527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050208.146431992] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050208.147572810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050208.148723133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050208.245234997] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050208.245860852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050208.246743207] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050208.248095238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050208.249250874] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050208.335285856] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050208.337185692] [sailbot.teensy]: Wind angle: 232 +[teensy-2] [INFO] [1746050208.338171244] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050208.338175281] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050208.339098073] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050208.339471909] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050208.339642178] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050208.344351188] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050208.344950594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050208.345446713] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050208.346670397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050208.347665601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050208.445066424] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050208.445798179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050208.446468532] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050208.447884894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050208.449043840] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050208.504117685] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903974 Long: -76.50276795 +[vectornav-1] [INFO] [1746050208.506025589] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.798, 0.24, 5.075) +[mux-7] [INFO] [1746050208.545133225] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050208.545921377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050208.546545861] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050208.548023407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050208.549156224] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050208.585531477] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050208.587494172] [sailbot.teensy]: Wind angle: 232 +[teensy-2] [INFO] [1746050208.588604432] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050208.587914660] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050208.589574345] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050208.589818007] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050208.590602190] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050208.645269577] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050208.645933549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050208.646826200] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050208.648193684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050208.649411000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050208.745090139] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050208.745741767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050208.746888349] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050208.747811518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050208.748305908] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050208.835318871] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050208.837911823] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050208.838329048] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050208.838717705] [sailbot.teensy]: Wind angle: 232 +[teensy-2] [INFO] [1746050208.839641796] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050208.840527912] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050208.841358464] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050208.844344510] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050208.844842235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050208.845421872] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050208.846522360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050208.847684878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050208.945251345] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050208.945885406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050208.946842971] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050208.948146101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050208.949354142] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050209.002536499] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690399 Long: -76.50276783 +[vectornav-1] [INFO] [1746050209.003611799] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.94499999999994, -0.711, 4.774) +[mux-7] [INFO] [1746050209.045329713] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050209.046108424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050209.046913032] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050209.048074419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050209.049242331] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050209.086509754] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050209.089105906] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050209.089330022] [sailbot.teensy]: Wind angle: 232 +[teensy-2] [INFO] [1746050209.090585462] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050209.091811493] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050209.092762137] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050209.093790556] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050209.144786625] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050209.145916583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050209.145989551] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050209.147661294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050209.148628571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050209.244696607] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050209.245207120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050209.245772598] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050209.246953799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050209.248121941] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050209.335184414] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050209.336948129] [sailbot.teensy]: Wind angle: 232 +[trim_sail-4] [INFO] [1746050209.337738755] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050209.337882818] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050209.338767304] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050209.338809578] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050209.339626567] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050209.344317570] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050209.344818758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050209.345398269] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050209.346516392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050209.347644395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050209.444656005] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050209.445319827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050209.445840540] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050209.447158515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050209.448248863] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050209.503121070] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904012 Long: -76.50276806 +[vectornav-1] [INFO] [1746050209.504350904] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.83000000000004, -0.611, 5.143) +[mux-7] [INFO] [1746050209.545125520] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050209.546007886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050209.546595172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050209.548143679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050209.549386020] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050209.585263546] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050209.587744387] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050209.587753682] [sailbot.teensy]: Wind angle: 232 +[mux-7] [INFO] [1746050209.588451526] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050209.588705344] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050209.589599370] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050209.590487036] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050209.644888173] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050209.645605861] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050209.646333566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050209.647517234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050209.648815474] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050209.744975090] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050209.745638939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050209.746469545] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050209.748056998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050209.748610075] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050209.835185534] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050209.838062456] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050209.838327129] [sailbot.teensy]: Wind angle: 231 +[mux-7] [INFO] [1746050209.838933968] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050209.839475611] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050209.840430522] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050209.841042405] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050209.844356749] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050209.844870883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050209.845446028] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050209.846575727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050209.847703839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050209.945373348] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050209.945970071] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050209.946910515] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050209.948120306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050209.949354155] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050210.003530634] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904014 Long: -76.50276824 +[vectornav-1] [INFO] [1746050210.004806972] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.81799999999998, 0.009, 5.37) +[mux-7] [INFO] [1746050210.045082337] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050210.045881886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050210.046615583] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050210.047973436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050210.049270911] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050210.085521028] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050210.087563049] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050210.088525421] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050210.088199610] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050210.088540390] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050210.089429837] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050210.090296614] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050210.145120083] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050210.145984613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050210.146547197] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050210.148218653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050210.149391790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050210.244880108] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050210.245750266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050210.246651526] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050210.247606978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050210.248376166] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050210.335350216] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050210.337817521] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050210.337948468] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050210.338757173] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050210.339123943] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050210.339326091] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050210.339698872] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050210.344367106] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050210.345209973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050210.345533886] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050210.346942171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050210.347989274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050210.445600982] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050210.446546258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050210.447230251] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050210.448797583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050210.449263530] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050210.503391253] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904032 Long: -76.50276819 +[vectornav-1] [INFO] [1746050210.504722366] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.91200000000003, -0.698, 5.249) +[mux-7] [INFO] [1746050210.544840926] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050210.545473745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050210.545992830] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050210.547307720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050210.548356175] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050210.585283229] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050210.587104911] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050210.588037024] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050210.587641688] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050210.588846815] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050210.588943389] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050210.589791564] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050210.644933554] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050210.645625208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050210.646495363] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050210.647518301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050210.648706952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050210.745287566] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050210.746039618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050210.746813637] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050210.748324428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050210.748923303] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050210.835343290] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050210.837098262] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050210.838087487] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050210.839291768] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050210.839307633] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050210.840346876] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050210.840800343] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050210.844532932] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050210.845305420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050210.845724250] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050210.847030340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050210.848139841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050210.945109502] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050210.946041852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050210.946639283] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050210.948329589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050210.949339007] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050211.003260608] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904032 Long: -76.50276802 +[vectornav-1] [INFO] [1746050211.005002531] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.73900000000003, 0.268, 5.037) +[mux-7] [INFO] [1746050211.045361556] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050211.046391033] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050211.046963280] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050211.048835270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746050211.049505941] [sailbot.mux]: controller_app sail angle: 31 +[teensy-2] [INFO] [1746050211.051086946] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050211.085344825] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050211.087885381] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050211.088722205] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050211.089280316] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050211.090241421] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050211.091091089] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050211.091900392] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050211.145364150] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050211.146059179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050211.146937254] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050211.148371542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050211.150025675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050211.243950848] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050211.244322992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050211.244613601] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050211.246140001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050211.247134625] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050211.335303347] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050211.337502202] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050211.337812009] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050211.338510450] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050211.338768396] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050211.339832469] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050211.340747982] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050211.344381668] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050211.344853695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050211.345459156] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050211.346598084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050211.347606311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050211.445399915] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050211.446219724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050211.446951060] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050211.448348791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050211.449576350] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050211.503217455] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690403 Long: -76.502768 +[vectornav-1] [INFO] [1746050211.504959796] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.62599999999998, -0.865, 5.136) +[mux-7] [INFO] [1746050211.545170390] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050211.545835943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050211.546597741] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050211.547846494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050211.548925686] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050211.585261804] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050211.587590831] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050211.588367243] [sailbot.teensy]: Wind angle: 231 +[mux-7] [INFO] [1746050211.588424728] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050211.589308229] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050211.590199755] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050211.591083570] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050211.645268906] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050211.645876252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050211.646860846] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050211.648056543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050211.649425279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050211.744924730] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050211.745808894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050211.746215632] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050211.747649241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050211.748734291] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050211.835494960] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050211.838318857] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050211.838783618] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050211.839300719] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050211.840266791] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050211.841040857] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050211.841374462] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050211.844324666] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050211.844963195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050211.845505926] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050211.846664861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050211.847783725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050211.944970938] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050211.945826494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050211.946268270] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050211.947960078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050211.948956194] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050212.002485848] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904039 Long: -76.50276799 +[vectornav-1] [INFO] [1746050212.003570604] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.654, -0.08, 5.633) +[mux-7] [INFO] [1746050212.045256637] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050212.046124696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050212.046937314] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050212.048407985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050212.048908112] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050212.085259973] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050212.087843996] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050212.088075160] [sailbot.teensy]: Wind angle: 231 +[mux-7] [INFO] [1746050212.088934846] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050212.089061707] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050212.090256850] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050212.091357177] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050212.144780015] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050212.145675733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050212.146336620] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050212.147577979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050212.148663788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050212.245334218] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050212.246329999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050212.247163879] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050212.248626006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050212.249695442] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050212.335399721] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050212.337879877] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050212.338691954] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050212.338791437] [sailbot.teensy]: Wind angle: 232 +[teensy-2] [INFO] [1746050212.339206673] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050212.339575867] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050212.340083367] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050212.344300303] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050212.344700417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050212.345416484] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050212.346354553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050212.347417731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050212.445699354] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050212.446688983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050212.447431878] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050212.447984485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050212.448459213] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050212.503216962] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904053 Long: -76.50276782 +[vectornav-1] [INFO] [1746050212.504774279] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.317, -0.564, 4.511) +[mux-7] [INFO] [1746050212.544705568] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050212.545381939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050212.545913402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050212.547206244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050212.548336871] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050212.585355149] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050212.587563647] [sailbot.teensy]: Wind angle: 232 +[trim_sail-4] [INFO] [1746050212.587848685] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050212.588352786] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050212.588586175] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050212.589524574] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050212.590375716] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050212.645669306] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050212.646535088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050212.647281122] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050212.649145734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050212.650246654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050212.745308724] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050212.746184015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050212.747017872] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050212.748367593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050212.748902596] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050212.835364454] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050212.837688780] [sailbot.teensy]: Wind angle: 232 +[trim_sail-4] [INFO] [1746050212.838361795] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050212.838641801] [sailbot.teensy]: Actual sail angle: 31 +[mux-7] [INFO] [1746050212.838888765] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050212.839533583] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050212.840452406] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050212.844524289] [sailbot.mux]: Published sail angle from controller_app: 31 +[mux-7] [INFO] [1746050212.845628476] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050212.845686799] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050212.847695983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050212.848920713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050212.945473087] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050212.946467731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050212.947145306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050212.948943099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050212.950254839] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050213.002343142] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904065 Long: -76.50276776 +[vectornav-1] [INFO] [1746050213.003599616] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.02800000000002, -0.834, 4.688) +[mux-7] [INFO] [1746050213.045144782] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050213.046195555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050213.046639240] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050213.048568483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050213.049662953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050213.050836751] [sailbot.mux]: controller_app sail angle: 0 +[teensy-2] [INFO] [1746050213.085456068] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050213.088761674] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050213.089071112] [sailbot.teensy]: Wind angle: 232 +[mux-7] [INFO] [1746050213.089633918] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050213.089967807] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050213.090863113] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050213.091859454] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050213.145173493] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050213.146084100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050213.146640130] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050213.148303079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050213.149455983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050213.244835387] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050213.245572306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050213.246195801] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050213.247552996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050213.248204301] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050213.335763264] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050213.338424637] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050213.339498268] [sailbot.teensy]: Actual sail angle: 31 +[trim_sail-4] [INFO] [1746050213.338944692] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050213.340048496] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050213.340422114] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050213.341266582] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050213.344329747] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050213.344892243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050213.345402365] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050213.346584596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050213.347741909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050213.445092418] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050213.445873812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050213.446583995] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050213.448072799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050213.449234910] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050213.503914903] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904059 Long: -76.50276779 +[vectornav-1] [INFO] [1746050213.505886295] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.27999999999997, 0.698, 5.08) +[mux-7] [INFO] [1746050213.544971723] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050213.545908050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050213.546276259] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050213.547780284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050213.548939744] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050213.585197997] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050213.587204968] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050213.588131164] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050213.587247116] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050213.589040604] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050213.589908716] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050213.589928328] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050213.645482361] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050213.646319885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050213.647133599] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050213.648707812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050213.649841037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050213.745361924] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050213.746075291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050213.747131650] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050213.747735163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050213.748193194] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050213.835492222] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050213.837433393] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050213.838395715] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050213.838026053] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050213.839277136] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050213.839532599] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050213.840125692] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050213.844490653] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050213.845114550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050213.845604268] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050213.846873718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050213.847996278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050213.945628900] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050213.946757102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050213.947886724] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050213.948622629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050213.949133665] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050214.003366668] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904087 Long: -76.5027677 +[vectornav-1] [INFO] [1746050214.005070462] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.38300000000004, -0.986, 5.467) +[mux-7] [INFO] [1746050214.045236168] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050214.046107623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050214.046781089] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050214.048659449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050214.049703733] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050214.085815975] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050214.088926400] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050214.089891261] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050214.090976310] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050214.091704653] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050214.092012216] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050214.092981450] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050214.144787316] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050214.145423585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050214.145993650] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050214.147288737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050214.148379791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050214.245071688] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050214.245793919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050214.246390283] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050214.247726455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050214.248819720] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050214.335517027] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050214.337419335] [sailbot.teensy]: Wind angle: 232 +[teensy-2] [INFO] [1746050214.338380097] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050214.339258160] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746050214.338445831] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050214.339229674] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050214.340107569] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050214.344343972] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050214.345114813] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050214.345853788] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050214.346925901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050214.347975727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050214.445420582] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050214.446519730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050214.447088526] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050214.447948097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050214.448526779] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050214.503192211] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904093 Long: -76.50276763 +[vectornav-1] [INFO] [1746050214.505006003] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.86400000000003, -0.782, 5.058) +[mux-7] [INFO] [1746050214.544969548] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050214.545877480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050214.546385759] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050214.547915205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050214.549000894] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050214.585324435] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050214.588025297] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050214.588084731] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050214.589018667] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050214.589766951] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050214.589921676] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050214.590810917] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050214.645411714] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050214.646128323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050214.646992740] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050214.648469982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050214.649520047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050214.745451361] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050214.746192694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050214.747156642] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050214.748650912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050214.749893417] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050214.835349113] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050214.837885603] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050214.838267363] [sailbot.teensy]: Wind angle: 231 +[mux-7] [INFO] [1746050214.838325118] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050214.839277964] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050214.840300291] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050214.841002529] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050214.844390459] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050214.845105788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050214.845797846] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050214.846826164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050214.847971467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050214.945284048] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050214.946181785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050214.946979150] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050214.948533337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050214.949105990] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050215.003520647] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904115 Long: -76.50276807 +[vectornav-1] [INFO] [1746050215.004937129] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.44499999999994, -0.186, 4.656) +[mux-7] [INFO] [1746050215.045176260] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050215.046115834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050215.046724426] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050215.048441530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050215.049464509] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050215.085535166] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050215.087943859] [sailbot.teensy]: Wind angle: 232 +[trim_sail-4] [INFO] [1746050215.087977145] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050215.088533372] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050215.088970372] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050215.089978175] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050215.090850922] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050215.144689686] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050215.145541828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050215.145911357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050215.147734366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050215.148923415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050215.245280246] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050215.246709390] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050215.247147989] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050215.249659038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050215.250992425] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050215.335497176] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050215.337820564] [sailbot.teensy]: Wind angle: 232 +[trim_sail-4] [INFO] [1746050215.337988903] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050215.338491851] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050215.338982980] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050215.339964017] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050215.340846087] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050215.344301030] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050215.344829106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050215.345392417] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050215.346768405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050215.347798957] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050215.445388336] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050215.446103416] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050215.446955376] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050215.448478423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050215.449587100] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050215.503178778] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904115 Long: -76.50276848 +[vectornav-1] [INFO] [1746050215.505072313] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.36799999999994, 0.271, 5.228) +[mux-7] [INFO] [1746050215.545016230] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050215.545800180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050215.546357181] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050215.547807307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050215.548888579] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050215.585218349] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050215.587204012] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050215.587726033] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050215.588058407] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050215.588143092] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050215.588917817] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050215.589822233] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050215.645289875] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050215.646321039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050215.647153135] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050215.648491115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050215.649589671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050215.745536374] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050215.746101735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050215.747157944] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050215.748574639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050215.749683446] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050215.835192557] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050215.837164676] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050215.837818607] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050215.838437450] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050215.838686974] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050215.838947915] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050215.839322870] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050215.844540272] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050215.845068795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050215.845728858] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050215.846744528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050215.847781496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050215.945448765] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050215.946165313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050215.947154528] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050215.948492350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050215.949571377] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050216.003090682] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904124 Long: -76.5027684 +[vectornav-1] [INFO] [1746050216.004258554] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.048, -1.236, 5.293) +[mux-7] [INFO] [1746050216.044875146] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050216.045333608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050216.046281945] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050216.047114800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050216.048299719] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050216.085416382] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050216.087334048] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050216.087917442] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050216.088327125] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050216.088932217] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050216.089237354] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050216.090118242] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050216.145281461] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050216.145890329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050216.146783477] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050216.147859705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050216.149003672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050216.245099979] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050216.246658895] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050216.245628338] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050216.249542244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050216.250118425] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050216.335307721] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050216.336979094] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050216.337609674] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050216.337848494] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050216.338744596] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050216.339011293] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050216.339484434] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050216.344577316] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050216.344993192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050216.345776264] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050216.346645013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050216.347720642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050216.445489650] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050216.446082559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050216.447433847] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050216.448326437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050216.449445948] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050216.503900048] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690413 Long: -76.50276854 +[vectornav-1] [INFO] [1746050216.505221652] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.74900000000002, -0.401, 4.887) +[mux-7] [INFO] [1746050216.545761181] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050216.546713783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050216.547461636] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050216.549199065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050216.550287180] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050216.585182079] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050216.587345803] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050216.587920263] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050216.588244921] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050216.589206072] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050216.590230034] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050216.591068467] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050216.645234888] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050216.645818088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050216.647001555] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050216.647906104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050216.648976134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050216.745336325] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050216.746014049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050216.747627540] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050216.748857375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050216.750309274] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050216.835505836] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050216.838041898] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050216.838630757] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050216.840223961] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050216.841113935] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050216.842021493] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050216.842840746] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050216.844520984] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050216.844909701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050216.845648159] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050216.846558665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050216.847567847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050216.945249562] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050216.945909263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050216.946748419] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050216.948183429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050216.948771241] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050217.002317775] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904152 Long: -76.50276889 +[vectornav-1] [INFO] [1746050217.003273919] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.19000000000005, -0.212, 4.541) +[mux-7] [INFO] [1746050217.045205787] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050217.045980251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050217.046446635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050217.047900287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050217.049021162] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050217.085684626] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050217.088553406] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050217.088780120] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050217.089291057] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050217.090270966] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050217.091090982] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050217.091917321] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050217.145112585] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050217.146316103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050217.146597718] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050217.147976057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050217.148421388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050217.245163791] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050217.246528299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050217.248374403] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050217.248503413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050217.249124015] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050217.335299681] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050217.337751782] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050217.338163344] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050217.338599270] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050217.339530404] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050217.340363158] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050217.340709589] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050217.344451723] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050217.345052851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050217.345605180] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050217.346736582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050217.347908212] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050217.445165827] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050217.445775578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050217.446632688] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050217.447836285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050217.448871161] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050217.503571729] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904147 Long: -76.50276876 +[vectornav-1] [INFO] [1746050217.505064738] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.14200000000005, -0.244, 5.007) +[mux-7] [INFO] [1746050217.545347515] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050217.546236431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050217.547129625] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050217.548492609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050217.549680745] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050217.585221494] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050217.587243586] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050217.587447765] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050217.588177227] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050217.588664796] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050217.589044554] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050217.589915496] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050217.645160444] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050217.646118137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050217.646769059] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050217.648298012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050217.649330292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050217.744932338] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050217.745641273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050217.746229658] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050217.747670930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050217.748860842] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050217.835397084] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050217.837347100] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050217.838340379] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050217.839209924] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746050217.838074219] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050217.839256386] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050217.839579332] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050217.844379016] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050217.844961711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050217.845453950] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050217.846694443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050217.847740048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050217.945527035] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050217.946577375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050217.947215437] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050217.949201144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050217.950400643] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050218.002867060] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904156 Long: -76.50276884 +[vectornav-1] [INFO] [1746050218.004097088] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.29600000000005, -0.039, 5.459) +[mux-7] [INFO] [1746050218.045346268] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050218.046413945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050218.046768609] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050218.047981901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050218.048485668] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050218.085420330] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050218.087980706] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050218.087998363] [sailbot.teensy]: Wind angle: 232 +[mux-7] [INFO] [1746050218.088511685] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050218.088932145] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050218.090238199] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050218.091090004] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050218.145013116] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050218.145608731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050218.146321853] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050218.148317103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050218.149404706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050218.245079191] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050218.245799748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050218.246580343] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050218.247676774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050218.248160401] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050218.335251832] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050218.337289226] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050218.337873309] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050218.338356959] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050218.339258535] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050218.338883795] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050218.340214063] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050218.344391810] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050218.344851393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050218.345608034] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050218.346515788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050218.347550941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050218.445390935] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050218.446513086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050218.447188565] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050218.448647783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050218.449825949] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050218.503550287] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904166 Long: -76.50276879 +[vectornav-1] [INFO] [1746050218.505360024] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.19499999999994, -1.263, 5.686) +[mux-7] [INFO] [1746050218.545177747] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050218.545953487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050218.546668588] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050218.548260295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050218.549373160] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050218.585220357] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050218.587345240] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050218.588258004] [sailbot.teensy]: Wind angle: 233 +[mux-7] [INFO] [1746050218.588892160] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050218.589164452] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050218.590037650] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050218.590923332] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050218.645131457] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050218.645752787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050218.646608436] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050218.648242028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050218.649351392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050218.745186269] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050218.745923766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050218.746876758] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050218.747586098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050218.748081579] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050218.835155731] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050218.837005426] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050218.837360597] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050218.838022652] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050218.838957372] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050218.839312006] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050218.839879633] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050218.844557273] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050218.845366047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050218.845678666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050218.847093236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050218.848296372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050218.945225423] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050218.946307471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050218.946791681] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050218.948311966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050218.948771971] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050219.003316352] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904172 Long: -76.50276896 +[vectornav-1] [INFO] [1746050219.004878379] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.61900000000003, 0.439, 5.222) +[mux-7] [INFO] [1746050219.045280925] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050219.046127356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050219.047476249] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050219.048387143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050219.050467086] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050219.085580357] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050219.087955076] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050219.088394425] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050219.089000837] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050219.089756827] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050219.089980150] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050219.090904341] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050219.145219552] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050219.146051045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050219.146716321] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050219.148235067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050219.149241619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050219.245296092] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050219.245994014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050219.247018021] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050219.249599532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050219.250195792] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050219.335312583] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050219.337381169] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050219.338735591] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050219.339819053] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746050219.338760060] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050219.339472867] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050219.340789380] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050219.344245949] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050219.344863554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050219.345346485] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050219.346724829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050219.347874682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050219.445302161] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050219.446103718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050219.447081739] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050219.448451860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050219.449696250] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050219.502681974] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904172 Long: -76.50276896 +[vectornav-1] [INFO] [1746050219.503791224] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.933, -0.629, 6.606) +[mux-7] [INFO] [1746050219.545173809] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050219.546101431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050219.546708356] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050219.548463584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050219.549499509] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050219.585745447] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050219.588634377] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050219.589236266] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050219.589608742] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050219.590529626] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050219.591403170] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050219.592264229] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050219.645488615] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050219.646200843] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050219.647379027] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050219.647741757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050219.648469149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050219.745365310] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050219.746092862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050219.746958838] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050219.748295274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050219.748836226] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050219.835430062] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050219.837747921] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050219.838179794] [sailbot.teensy]: Wind angle: 233 +[mux-7] [INFO] [1746050219.839053661] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050219.839086662] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050219.839457375] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050219.839827815] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050219.844510967] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050219.845098756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050219.845660761] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050219.846847938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050219.847855463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050219.945224461] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050219.945912704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050219.946793884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050219.948179060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050219.949454951] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050220.003756071] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904184 Long: -76.50276883 +[vectornav-1] [INFO] [1746050220.005368893] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.25700000000006, -0.636, 6.662) +[mux-7] [INFO] [1746050220.045310587] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050220.046103594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050220.046897211] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050220.048852704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050220.049904632] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050220.085250146] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050220.087026511] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050220.087325797] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050220.087938639] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050220.088998085] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050220.089595419] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050220.089904177] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050220.145150243] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050220.146118511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050220.146524870] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050220.147826334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050220.148316067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050220.245655157] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050220.246684893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050220.247409857] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050220.248593154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050220.249032578] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050220.335511165] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050220.337681591] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050220.338669017] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050220.338100648] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050220.338603332] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050220.339601089] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050220.340469104] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050220.344334589] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050220.345040646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050220.345522853] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050220.346842620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050220.347891327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050220.445425081] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050220.446096037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050220.447138151] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050220.447798612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050220.448344754] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050220.503712978] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904192 Long: -76.50276891 +[vectornav-1] [INFO] [1746050220.505758396] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.44799999999998, -0.473, 6.959) +[mux-7] [INFO] [1746050220.544672018] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050220.545440349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050220.546533834] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050220.547274076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050220.548474079] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050220.585206410] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050220.587583475] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050220.587988740] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050220.588248818] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050220.589102496] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050220.589939160] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050220.590780200] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050220.644928293] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050220.645713987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050220.647738001] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050220.647967466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050220.649092487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050220.745217642] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050220.746053189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050220.746851522] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050220.748554952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050220.749089335] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050220.835676512] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050220.838773721] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050220.839178115] [sailbot.teensy]: Wind angle: 233 +[mux-7] [INFO] [1746050220.839314376] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050220.840312409] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050220.841213584] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050220.842045454] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050220.844387693] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050220.844871621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050220.845649175] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050220.846535193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050220.847650386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050220.945461968] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050220.946305781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050220.947273946] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050220.948522094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050220.948969819] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050221.002401158] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904205 Long: -76.50276888 +[vectornav-1] [INFO] [1746050221.003447005] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.97699999999998, -0.775, 6.69) +[mux-7] [INFO] [1746050221.044837431] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050221.045858814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050221.046206580] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050221.047764732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050221.048681362] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050221.085531613] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050221.088402936] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050221.089134179] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050221.089769680] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050221.090944207] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050221.091972110] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050221.092927528] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050221.145058850] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050221.145892047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050221.146476466] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050221.148569967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050221.149749163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050221.245343427] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050221.246091471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050221.246918303] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050221.248489450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050221.249005067] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050221.335355022] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050221.337162155] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050221.337909026] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050221.338106644] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050221.338992978] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050221.339148720] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050221.340256130] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050221.344472279] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050221.344965336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050221.345606871] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050221.346760182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050221.347811590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050221.445003434] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050221.445598368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050221.446348215] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050221.447598815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050221.448562098] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050221.503289660] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904203 Long: -76.50276897 +[vectornav-1] [INFO] [1746050221.504707216] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.45500000000004, 0.131, 6.355) +[mux-7] [INFO] [1746050221.545272373] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050221.546065911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050221.546972983] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050221.548969585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050221.550049349] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050221.585505588] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050221.587823707] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050221.588318128] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050221.588741401] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050221.589693532] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050221.590517953] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050221.591346900] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050221.644979246] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050221.645628412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050221.646749642] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050221.647764250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050221.648946498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050221.745310969] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050221.746041057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050221.747210784] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050221.748171386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050221.748703798] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050221.835347750] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050221.837685903] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050221.838003460] [sailbot.teensy]: Wind angle: 233 +[mux-7] [INFO] [1746050221.838189931] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050221.839046079] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050221.840025847] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050221.840957229] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050221.844295373] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050221.844886892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050221.845488476] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050221.846552719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050221.847595447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050221.945334581] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050221.946301869] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050221.946979256] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050221.948048683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050221.948560134] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050222.002632916] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904191 Long: -76.50276897 +[vectornav-1] [INFO] [1746050222.003754041] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.409, -0.072, 6.907) +[mux-7] [INFO] [1746050222.045359725] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050222.046159178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050222.046927008] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050222.048675922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050222.049914369] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050222.085484527] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050222.088178901] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050222.088768906] [sailbot.teensy]: Wind angle: 233 +[mux-7] [INFO] [1746050222.089669240] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050222.089799022] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050222.090722340] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050222.091633777] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050222.145405346] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050222.146196998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050222.147243939] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050222.148625269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050222.149842880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050222.245223468] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050222.246248796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050222.246812016] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050222.248496479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050222.249799677] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050222.335275120] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050222.337335985] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050222.337735384] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050222.338291251] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050222.339015920] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050222.339193684] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050222.339625290] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050222.344560309] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050222.345106334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050222.345688477] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050222.346780135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050222.347855535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050222.445540329] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050222.446198761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050222.447475663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050222.448411415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050222.450235066] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050222.503729955] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904202 Long: -76.50276888 +[vectornav-1] [INFO] [1746050222.505450910] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.49099999999999, -1.135, 6.976) +[mux-7] [INFO] [1746050222.545013491] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050222.545514498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050222.546415406] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050222.547498655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050222.548545853] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050222.585201403] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050222.587419389] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050222.587950603] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050222.588328834] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050222.589238956] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050222.590076912] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050222.590903965] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050222.645361410] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050222.646114672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050222.647781443] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050222.648511585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050222.649703429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050222.744937558] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050222.745422653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050222.746250552] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050222.747206206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050222.748945215] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050222.835307430] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050222.837552773] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050222.838486855] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050222.838782173] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050222.839335253] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050222.839828940] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050222.840887747] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050222.844532950] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050222.845032889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050222.845628726] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050222.846732734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050222.847920243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050222.945314101] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050222.946142063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050222.947493771] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050222.948482674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050222.949616853] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050223.002189674] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904215 Long: -76.50276903 +[vectornav-1] [INFO] [1746050223.003016424] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.54899999999998, -0.047, 6.465) +[mux-7] [INFO] [1746050223.043721515] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050223.044070314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050223.044256426] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050223.044895776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050223.045405061] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050223.085385228] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050223.087310362] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050223.087993287] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050223.088255273] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050223.089070591] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050223.089218245] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050223.089891462] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050223.144998220] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050223.145840362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050223.146518078] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050223.147943155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050223.149129401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050223.244964680] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050223.245868221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050223.246320886] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050223.247832413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050223.248940586] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050223.335478967] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050223.337799339] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050223.337850362] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050223.338820690] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050223.339232968] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050223.340174050] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050223.340891375] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050223.344267879] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050223.344819758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050223.345321963] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050223.346799667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050223.347809445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050223.445386423] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050223.446056783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050223.446990526] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050223.448645819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050223.449558120] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050223.503846946] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904211 Long: -76.50276902 +[vectornav-1] [INFO] [1746050223.506254925] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.13400000000001, 0.707, 6.701) +[mux-7] [INFO] [1746050223.544819736] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050223.545454069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050223.546065026] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050223.547230059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050223.548405340] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050223.585349655] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050223.587506642] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050223.587850961] [sailbot.teensy]: Wind angle: 233 +[mux-7] [INFO] [1746050223.588779666] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050223.588833529] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050223.589825730] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050223.590781072] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050223.645174815] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050223.646175421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050223.647189402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050223.648386065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050223.649490101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050223.745011438] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050223.745646420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050223.746576491] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050223.747570261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050223.748382110] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050223.835509429] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050223.837268847] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050223.838188530] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050223.837840117] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050223.839020172] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050223.839042665] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050223.839944728] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050223.844425134] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050223.844983097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050223.845538964] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050223.846667170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050223.847790308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050223.945130570] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050223.946106216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050223.946639214] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050223.948068360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050223.948491053] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050224.003284249] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904218 Long: -76.50276884 +[vectornav-1] [INFO] [1746050224.004776594] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.971, -1.818, 6.774) +[mux-7] [INFO] [1746050224.045199360] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050224.046725439] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050224.046843284] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050224.048706488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050224.049877720] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050224.085279521] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050224.086901298] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050224.087454241] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050224.087829913] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050224.088757241] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050224.088766384] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050224.089639283] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050224.145161433] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050224.145782320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050224.146630616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050224.148193461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050224.148933885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050224.245508747] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050224.246302332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050224.247123635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050224.248643360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050224.249859774] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050224.335200329] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050224.337373570] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050224.337564356] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050224.338441988] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050224.338685700] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050224.338955090] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050224.339334817] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050224.344384424] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050224.344913612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050224.345474937] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050224.346557247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050224.347734760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050224.445207957] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050224.445897980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050224.446670656] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050224.447996546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050224.449071337] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050224.502427502] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904226 Long: -76.50276888 +[vectornav-1] [INFO] [1746050224.503443035] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.77999999999997, 0.544, 6.788) +[mux-7] [INFO] [1746050224.544889753] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050224.545508907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050224.546331694] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050224.547415637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050224.548577337] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050224.585533081] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050224.587475921] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050224.588479955] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050224.588015928] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050224.589360339] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050224.589564871] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050224.590269055] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050224.645054338] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050224.645738297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050224.646434882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050224.647657787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050224.648755396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050224.745075603] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050224.745812082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050224.746449761] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050224.747738526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050224.748283186] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050224.835585774] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050224.837935006] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050224.838356315] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050224.839268085] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050224.839358901] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050224.839662231] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050224.840036737] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050224.844420606] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050224.844994862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050224.845505825] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050224.846957541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050224.847979770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050224.945207277] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050224.946085860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050224.947054988] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050224.948591156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050224.949409984] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050225.003930493] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904234 Long: -76.50276871 +[vectornav-1] [INFO] [1746050225.005926689] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.84400000000005, -0.217, 6.94) +[mux-7] [INFO] [1746050225.045064173] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050225.045954153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050225.046552444] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050225.048096417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050225.049226501] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050225.085241053] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050225.086888132] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050225.087532030] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050225.087839747] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050225.088771692] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050225.089434016] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050225.089661529] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050225.145569236] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050225.146503403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050225.147328451] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050225.148752108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050225.149989777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050225.245175800] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050225.245964278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050225.246683236] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050225.248441916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050225.249458583] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050225.335495273] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050225.337594630] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050225.338032919] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050225.338603887] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050225.339273504] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050225.339517250] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050225.340482427] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050225.344402964] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050225.344976120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050225.345515116] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050225.346690592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050225.347743442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050225.445374019] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050225.446104641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050225.446962580] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050225.448488465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050225.449043694] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050225.503850855] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904236 Long: -76.5027686 +[vectornav-1] [INFO] [1746050225.505601097] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.37400000000002, -1.274, 6.981) +[mux-7] [INFO] [1746050225.545348019] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050225.546051157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050225.546894717] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050225.548122441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050225.549938460] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050225.585451952] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050225.587780848] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050225.588323202] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050225.589277218] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050225.590208397] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050225.591039055] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050225.591871416] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050225.644994659] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050225.645647255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050225.646382087] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050225.647547636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050225.648623086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050225.744923140] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050225.745807989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050225.746249764] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050225.748308609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050225.749376990] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050225.835526007] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050225.838097273] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050225.838371499] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050225.838551558] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050225.839089908] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050225.840009195] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050225.840819513] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050225.844461419] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050225.844949914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050225.845538164] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050225.846747520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050225.847766316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050225.945404442] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050225.946222797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050225.947059928] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050225.947917271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050225.948391848] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050226.003550115] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904231 Long: -76.50276886 +[vectornav-1] [INFO] [1746050226.004864414] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.34500000000003, -0.287, 7.037) +[mux-7] [INFO] [1746050226.045096676] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050226.045778333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050226.046453177] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050226.047804450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050226.048997435] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050226.085302057] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050226.087195951] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050226.087475708] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050226.088875717] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050226.089264600] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050226.089822498] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050226.090760552] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050226.144972064] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050226.145752410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050226.146393938] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050226.147676525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050226.148864091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050226.245600541] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050226.246208399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050226.247280114] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050226.248568056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050226.249666140] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050226.335455920] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050226.338045700] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050226.338222750] [sailbot.teensy]: Wind angle: 234 +[mux-7] [INFO] [1746050226.338945562] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050226.339573863] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050226.340526043] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050226.341356323] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050226.344464260] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050226.345045028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050226.345618677] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050226.346724966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050226.347874651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050226.445043967] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050226.445746298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050226.446354848] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050226.447556920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050226.448519667] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050226.502264165] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690424 Long: -76.5027689 +[vectornav-1] [INFO] [1746050226.503306041] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.341, 0.389, 7.031) +[mux-7] [INFO] [1746050226.545245485] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050226.545996592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050226.546832429] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050226.547999003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050226.549088000] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050226.585587879] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050226.587973478] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050226.588077481] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050226.589000176] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050226.589513306] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050226.589887633] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050226.590762664] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050226.645432472] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050226.646871282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050226.647056129] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050226.649185193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050226.650242845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050226.745277474] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050226.746098389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050226.746846993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050226.748210089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050226.749454098] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050226.835394033] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050226.837476615] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050226.837753500] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050226.838512606] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050226.839430068] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050226.839519608] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050226.840482944] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050226.844406189] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050226.844912710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050226.845486118] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050226.846666487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050226.847751311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050226.945302932] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050226.946401921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050226.946785060] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050226.948821610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050226.949866699] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050227.003745422] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904249 Long: -76.50276875 +[vectornav-1] [INFO] [1746050227.005365762] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.394, -1.53, 7.3) +[mux-7] [INFO] [1746050227.045114743] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050227.045796943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050227.046475504] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050227.048102833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050227.049135467] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050227.085292283] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050227.087899337] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050227.088434763] [sailbot.teensy]: Wind angle: 234 +[mux-7] [INFO] [1746050227.088868796] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050227.089725304] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050227.090651812] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050227.091551132] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050227.145348969] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050227.146068536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050227.146808735] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050227.148435244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050227.149559078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050227.245294032] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050227.245993560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050227.246996686] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050227.248106557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050227.249214917] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050227.335650753] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050227.338134485] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050227.338584871] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050227.339903559] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050227.340404478] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050227.341351061] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050227.342178685] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050227.344402640] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050227.344904327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050227.345472134] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050227.346673685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050227.347705467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050227.445476264] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050227.446405917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050227.447143157] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050227.448956461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050227.450145801] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050227.502744728] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904255 Long: -76.50276879 +[vectornav-1] [INFO] [1746050227.504021185] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.18100000000004, -0.111, 7.064) +[mux-7] [INFO] [1746050227.544891011] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050227.545584973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050227.546184194] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050227.547564198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050227.549029381] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050227.585580822] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050227.587370589] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050227.588305547] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050227.587890321] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050227.588660542] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050227.589205541] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050227.590052482] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050227.645217347] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050227.645924383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050227.646806905] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050227.648355083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050227.649552432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050227.745241178] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050227.745913913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050227.746699845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050227.748181281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050227.748799387] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050227.835543267] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050227.838031093] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050227.838762169] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050227.839755705] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050227.840726305] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050227.841563095] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050227.842395688] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050227.844446641] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050227.844955870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050227.845622405] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050227.846647174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050227.847851779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050227.945226700] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050227.946072261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050227.946747939] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050227.948434967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050227.949527584] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050228.003856337] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904271 Long: -76.50276911 +[vectornav-1] [INFO] [1746050228.005604845] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.39599999999996, -0.305, 7.275) +[mux-7] [INFO] [1746050228.044758275] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050228.045456464] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050228.045894587] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050228.047315999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050228.048479500] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050228.085267982] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050228.086975873] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050228.087918525] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050228.087937796] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050228.089178601] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050228.089272958] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050228.090062164] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050228.145365233] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050228.146041796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050228.146908047] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050228.148127018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050228.149288537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050228.245432350] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050228.246015876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050228.247477624] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050228.248245305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050228.249336626] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050228.335214737] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050228.337585038] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050228.337668412] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050228.338593877] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050228.338717046] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050228.339675244] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050228.340573225] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050228.344269498] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050228.344750085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050228.345420672] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050228.346443571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050228.347482259] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050228.445492463] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050228.446185958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050228.447105629] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050228.448471651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050228.449689883] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050228.502406391] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904277 Long: -76.50276917 +[vectornav-1] [INFO] [1746050228.503382719] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.47299999999996, -0.175, 7.44) +[mux-7] [INFO] [1746050228.544935735] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050228.545516704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050228.546329048] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050228.547461260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050228.548505582] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050228.585408644] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050228.587216808] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050228.588163641] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050228.587809327] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050228.589040721] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050228.589177615] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050228.589950945] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050228.645230526] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050228.646084661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050228.646649218] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050228.648024639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050228.648708149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050228.745267968] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050228.745925262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050228.746807436] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050228.748720412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050228.749783351] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050228.835183646] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050228.837562421] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050228.837758820] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050228.838219333] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050228.838504479] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050228.839175057] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050228.839535129] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050228.844269317] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050228.844901759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050228.845972917] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050228.846752419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050228.847971072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050228.945388487] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050228.946218681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050228.946989024] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050228.947932099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050228.948449883] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050229.002355920] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904305 Long: -76.50276923 +[vectornav-1] [INFO] [1746050229.003561880] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.87099999999998, -0.522, 7.236) +[mux-7] [INFO] [1746050229.045030609] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050229.045753360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050229.046370458] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050229.048375055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050229.049654216] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050229.085757096] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050229.088595576] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050229.089214320] [sailbot.teensy]: Wind angle: 234 +[mux-7] [INFO] [1746050229.089683638] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050229.090171408] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050229.091113216] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050229.091934529] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050229.145196856] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050229.146330981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050229.146710074] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050229.148141221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050229.148698502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050229.245307934] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050229.246044685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050229.247221232] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050229.248135680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050229.249070638] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050229.335433480] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050229.337312469] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050229.337983134] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050229.338273862] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050229.339106685] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050229.339154575] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050229.340063198] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050229.344328443] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050229.344881971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050229.345535534] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050229.346619818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050229.347761619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050229.445121435] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050229.445698434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050229.446588246] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050229.447732807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050229.448405222] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050229.503817266] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904312 Long: -76.50276934 +[vectornav-1] [INFO] [1746050229.505234640] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.668, -1.078, 7.174) +[mux-7] [INFO] [1746050229.544944019] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050229.545815170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050229.546210205] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050229.547809252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050229.548567580] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050229.585190712] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050229.587404644] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050229.587757294] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050229.588669174] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050229.588941079] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050229.589858542] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050229.590717346] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050229.644998841] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050229.645974392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050229.646421544] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050229.648299112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050229.649434775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050229.744972809] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050229.745882162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050229.746264556] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050229.747792695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050229.748385989] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050229.835320641] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050229.837541593] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050229.837688898] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050229.838500438] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050229.839433154] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050229.840299242] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050229.840332465] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050229.844312253] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050229.844987234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050229.845402842] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050229.846675383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050229.847851012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050229.945056426] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050229.945770452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050229.946629205] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050229.947720907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050229.948772112] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050230.003346512] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904314 Long: -76.50276925 +[vectornav-1] [INFO] [1746050230.005292647] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.976, 0.738, 7.019) +[mux-7] [INFO] [1746050230.044965645] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050230.046063031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050230.046712538] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050230.048222799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050230.049458585] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050230.085231029] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050230.087449888] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050230.088014281] [sailbot.teensy]: Wind angle: 234 +[mux-7] [INFO] [1746050230.088631641] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050230.088923756] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050230.089855117] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050230.090739223] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050230.144916622] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050230.145484387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050230.146356424] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050230.147405740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050230.148453143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050230.245069992] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050230.245604862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050230.246362481] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050230.247575028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050230.248822609] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050230.335387770] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050230.337768683] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050230.337781742] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050230.338735573] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050230.338919094] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050230.339153799] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050230.339556574] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050230.344326287] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050230.345055213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050230.345420190] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050230.346787931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050230.347825633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050230.445272632] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050230.446156741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050230.446786716] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050230.448319658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050230.449458241] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050230.502444856] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904308 Long: -76.50276919 +[vectornav-1] [INFO] [1746050230.503415166] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.077, -0.658, 7.159) +[mux-7] [INFO] [1746050230.544899597] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050230.545628186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050230.546429165] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050230.547622008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050230.548649191] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050230.585571100] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050230.588254833] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050230.588461696] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050230.589418352] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050230.589743386] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050230.590335833] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050230.591212543] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050230.645351492] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050230.646712583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050230.646933559] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050230.649113997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050230.650187929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050230.745081742] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050230.745612628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050230.746543836] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050230.747520033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050230.748855747] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050230.835229354] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050230.837093127] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050230.837468459] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050230.838052761] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050230.838782089] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050230.838809661] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050230.839190607] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050230.844607714] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050230.845304391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050230.845906193] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050230.847120442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050230.848211636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050230.945356627] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050230.945924397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050230.947347497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050230.948028544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050230.949184294] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050231.003756142] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904306 Long: -76.50276926 +[vectornav-1] [INFO] [1746050231.005155971] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.40700000000004, -0.579, 7.774) +[mux-7] [INFO] [1746050231.045265262] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050231.045792486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050231.046794156] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050231.047881297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050231.049658653] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050231.085546285] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050231.087428806] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050231.087822482] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050231.088400127] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050231.089384021] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050231.089967013] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050231.090288431] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050231.145314289] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050231.146264413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050231.146796483] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050231.148569357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050231.149700302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050231.244910129] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050231.245627449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050231.246235708] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050231.247522554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050231.248560690] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050231.335402907] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050231.337656358] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050231.338178500] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050231.338674723] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050231.339613573] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050231.340505654] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050231.341336453] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050231.344375562] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050231.344980946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050231.345492527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050231.346690917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050231.347822047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050231.445178380] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050231.445668213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050231.446644001] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050231.447814260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050231.448909627] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050231.502262655] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690431 Long: -76.50276939 +[vectornav-1] [INFO] [1746050231.503264056] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.52999999999997, -0.902, 7.472) +[mux-7] [INFO] [1746050231.545249164] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050231.545879760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050231.546761221] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050231.547984722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050231.549038322] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050231.585575450] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050231.588220329] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050231.588714956] [sailbot.teensy]: Wind angle: 234 +[mux-7] [INFO] [1746050231.589171655] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050231.589680622] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050231.590537762] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050231.591401900] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050231.645044915] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050231.645584078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050231.646358689] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050231.648092793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050231.649121721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050231.745414401] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050231.745988376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050231.747010041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050231.748065365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050231.749714912] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050231.835331519] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050231.837653952] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050231.837655282] [sailbot.teensy]: Wind angle: 234 +[mux-7] [INFO] [1746050231.838601697] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050231.838760145] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050231.839664141] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050231.840553377] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050231.844346105] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050231.844844387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050231.845421652] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050231.846509649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050231.847673129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050231.945329760] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050231.945989737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050231.946849794] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050231.948547338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050231.949672543] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050232.002390141] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904309 Long: -76.50276939 +[vectornav-1] [INFO] [1746050232.003403849] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.45399999999995, 0.554, 6.888) +[mux-7] [INFO] [1746050232.045467792] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050232.046492566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050232.047285327] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050232.048048602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050232.048596075] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050232.085505253] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050232.087972693] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050232.088743183] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050232.088992895] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050232.089925455] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050232.090795773] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050232.091141303] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050232.145247410] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050232.145965909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050232.146749917] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050232.148453867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050232.149613331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050232.245350845] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050232.246085838] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050232.246830748] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050232.248489233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050232.249621971] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050232.335435413] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050232.337382603] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050232.338292592] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050232.339067253] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050232.339408720] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050232.339803767] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050232.340456400] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050232.344333113] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050232.344893561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050232.345464308] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050232.346737026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050232.347779165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050232.444911754] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050232.445616628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050232.446425303] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050232.447556738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050232.448117446] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050232.503411269] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904314 Long: -76.50276927 +[vectornav-1] [INFO] [1746050232.504961106] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.832, -0.637, 5.947) +[mux-7] [INFO] [1746050232.545112290] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050232.545858960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050232.546570009] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050232.547821200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050232.548918912] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050232.585341429] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050232.587194844] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050232.588175164] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050232.587760852] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050232.589125436] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050232.589791804] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050232.589998762] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050232.644777278] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050232.645446692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050232.646053442] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050232.647324321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050232.648475805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050232.745531920] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050232.746217004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050232.747159330] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050232.748524664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050232.750834508] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050232.835515194] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050232.837890283] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050232.838811670] [sailbot.teensy]: Wind angle: 234 +[mux-7] [INFO] [1746050232.838827902] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050232.839447339] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050232.839802758] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050232.840135791] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050232.844506195] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050232.844938479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050232.845780637] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050232.846684789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050232.847754878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050232.945275118] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050232.945789902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050232.946939023] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050232.947902490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050232.948898635] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050233.003398036] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904318 Long: -76.50276934 +[vectornav-1] [INFO] [1746050233.004816653] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.293, -0.764, 5.413) +[mux-7] [INFO] [1746050233.045164698] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050233.045685108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050233.046476043] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050233.047515111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050233.048572552] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050233.085285724] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050233.087095584] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050233.087580289] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050233.088013475] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050233.088835491] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050233.088835730] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050233.089693606] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050233.145432557] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050233.146141942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050233.147254626] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050233.148608194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050233.149186232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050233.244895229] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050233.245501369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050233.246145718] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050233.247429072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050233.248616157] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050233.335824484] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050233.338359174] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050233.338593886] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050233.339154428] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050233.339198875] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050233.339535708] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050233.339901983] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050233.344468381] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050233.345064704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050233.345712124] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050233.346850254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050233.347908894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050233.445105647] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050233.445933955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050233.446569400] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050233.447909316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050233.448967070] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050233.503488818] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690432 Long: -76.50276929 +[vectornav-1] [INFO] [1746050233.505404472] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.00900000000001, -0.17, 5.852) +[mux-7] [INFO] [1746050233.544918799] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050233.545633035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050233.546183524] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050233.547590346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050233.548660792] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050233.585506918] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050233.587442183] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050233.587919393] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050233.588463155] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050233.589459256] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050233.589974734] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050233.590352979] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050233.645532010] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050233.646578771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050233.647177157] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050233.648929036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050233.650001241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050233.744800775] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050233.745680826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050233.745952703] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050233.747382985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050233.748241153] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050233.835797409] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050233.837992094] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050233.839054216] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050233.838756764] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050233.839957494] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050233.840090487] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050233.840884600] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050233.844498767] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050233.845033368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050233.845641656] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050233.846823930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050233.847976581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050233.945323633] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050233.946341556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050233.946921278] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050233.948302813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050233.948844225] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050234.003346779] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904319 Long: -76.50276926 +[vectornav-1] [INFO] [1746050234.004864661] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.53200000000004, -0.24, 6.006) +[mux-7] [INFO] [1746050234.045153175] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050234.045873021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050234.046552496] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050234.047971619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050234.049032113] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050234.085341977] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050234.087275232] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050234.088265842] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050234.087786319] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050234.089156033] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050234.089373978] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050234.090051951] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050234.145059676] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050234.145544945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050234.146353511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050234.147482871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050234.148646956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050234.244927292] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050234.245732053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050234.246485252] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050234.247588113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050234.248274705] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050234.335609208] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050234.337804717] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050234.338857708] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050234.338095736] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050234.339685090] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050234.339741215] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050234.340664776] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050234.344751470] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050234.345077203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050234.345898749] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050234.346768739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050234.348498205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050234.445453516] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050234.446303521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050234.447064720] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050234.448512953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050234.449692965] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050234.502539286] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904332 Long: -76.50276919 +[vectornav-1] [INFO] [1746050234.503621229] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.99199999999996, -0.479, 5.923) +[mux-7] [INFO] [1746050234.545266624] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050234.545863286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050234.546721615] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050234.548241907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050234.549379596] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050234.585200532] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050234.586795202] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050234.587273486] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050234.587687398] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050234.588656233] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050234.589383896] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050234.589521749] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050234.644929765] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050234.645539389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050234.646254887] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050234.647381019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050234.648575227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050234.745656922] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050234.746257145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050234.747960566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050234.748685451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050234.749287492] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050234.835453404] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050234.837492005] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050234.838475045] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050234.837869045] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050234.839212619] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050234.839373859] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050234.840237050] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050234.844737023] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050234.845214029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050234.846065002] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050234.846932416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050234.847971045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050234.945295322] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050234.945808222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050234.946760806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050234.947838418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050234.949156644] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050235.002497579] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904358 Long: -76.50276913 +[vectornav-1] [INFO] [1746050235.003947930] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.841, -0.68, 6.747) +[mux-7] [INFO] [1746050235.045290326] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050235.045927539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050235.047143779] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050235.047901999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050235.048955272] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050235.085592518] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050235.087637124] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050235.088255160] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050235.088956279] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050235.090444312] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050235.091342082] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050235.092204906] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050235.145240160] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050235.146049088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050235.146689728] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050235.148261575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050235.149413591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050235.245736506] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050235.246400280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050235.247615853] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050235.248819389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050235.249444722] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050235.335336913] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050235.337585575] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050235.338272366] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050235.338777965] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050235.339865222] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050235.340728452] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050235.341795396] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050235.344343825] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050235.344875201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050235.345727745] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050235.346616202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050235.347741125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050235.445489810] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050235.446090636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050235.447084026] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050235.448355166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050235.449555006] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050235.503761629] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904363 Long: -76.50276907 +[vectornav-1] [INFO] [1746050235.505363914] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.20399999999995, -0.418, 6.769) +[mux-7] [INFO] [1746050235.545000062] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050235.545558665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050235.546332722] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050235.547678347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050235.548733646] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050235.585202243] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050235.587460221] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050235.588265108] [sailbot.teensy]: Wind angle: 234 +[mux-7] [INFO] [1746050235.588913576] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050235.589234797] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050235.590141275] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050235.590993262] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050235.645227117] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050235.646265843] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050235.646731338] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050235.648556637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050235.649614970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050235.745331188] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050235.746336475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050235.746822881] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050235.748323504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050235.748789288] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050235.835409209] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050235.837449221] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050235.837887150] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050235.838417072] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050235.839297202] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050235.839597037] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050235.840175654] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050235.844515656] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050235.845116576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050235.845657571] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050235.846831977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050235.847878180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050235.945244615] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050235.945822660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050235.947095289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050235.947773718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050235.949025615] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050236.003283191] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904383 Long: -76.502769 +[vectornav-1] [INFO] [1746050236.005299401] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.25400000000002, -0.698, 6.314) +[mux-7] [INFO] [1746050236.045189637] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050236.045722542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050236.046583500] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050236.047701125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050236.049633331] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050236.085574166] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050236.087629127] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050236.088576153] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050236.088221467] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050236.088611363] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050236.089475303] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050236.090375829] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050236.145451961] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050236.146016545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050236.147064995] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050236.148592392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050236.149749679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050236.245249118] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050236.245980944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050236.246745670] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050236.248070161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050236.249154367] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050236.335312400] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050236.337782553] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050236.338541084] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050236.338657530] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050236.339786688] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050236.340709845] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050236.341117144] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050236.344403974] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050236.345015223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050236.345564833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050236.346752902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050236.347800576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050236.445265900] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050236.445802658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050236.446961173] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050236.448299357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050236.449510637] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050236.503694560] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904396 Long: -76.50276895 +[vectornav-1] [INFO] [1746050236.505384994] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.11900000000003, 0.584, 4.919) +[mux-7] [INFO] [1746050236.545219569] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050236.545929853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050236.546727447] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050236.548148455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050236.549288482] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050236.585412472] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050236.587904235] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050236.589051423] [sailbot.teensy]: Wind angle: 234 +[mux-7] [INFO] [1746050236.589510697] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050236.590023154] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050236.590924291] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050236.591780059] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050236.645219928] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050236.645995863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050236.647293439] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050236.647959367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050236.648519778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050236.745416870] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050236.745993934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050236.747058990] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050236.748111206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050236.749286226] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050236.835198624] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050236.837131861] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050236.837713469] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050236.838125298] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050236.838305016] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050236.839318199] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050236.840143914] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050236.844671619] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050236.845037885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050236.845982555] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050236.846806895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050236.847864955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050236.945536703] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050236.946294238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050236.947334606] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050236.948772334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050236.949923832] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050237.003558609] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904379 Long: -76.50276906 +[vectornav-1] [INFO] [1746050237.004938376] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.587, -1.005, 5.703) +[mux-7] [INFO] [1746050237.045262001] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050237.046063498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050237.046728830] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050237.048276728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050237.049412321] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050237.085347762] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050237.087242652] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050237.087771658] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050237.088243311] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050237.089151799] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050237.089367335] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050237.089999966] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050237.145294511] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050237.145791878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050237.146921865] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050237.148170570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050237.149385974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050237.245419013] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050237.245965799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050237.247426800] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050237.248391198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050237.248958586] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050237.335482708] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050237.337464039] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050237.337905732] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050237.338441838] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050237.339097123] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050237.339243331] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050237.339476607] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050237.344558281] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050237.345364983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050237.346143704] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050237.347126380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050237.348259973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050237.445699776] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050237.446285508] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050237.447428097] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050237.448694773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050237.449860290] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050237.503683701] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904399 Long: -76.502769 +[vectornav-1] [INFO] [1746050237.505540576] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.413, -0.5, 5.677) +[mux-7] [INFO] [1746050237.545145333] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050237.545767089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050237.546860721] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050237.547650313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050237.548744572] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050237.585366810] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050237.587210893] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050237.588194578] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050237.587888773] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050237.589076783] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050237.589271104] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050237.589966728] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050237.644931968] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050237.645540730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050237.646258103] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050237.647409876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050237.649084139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050237.744698379] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050237.745286947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050237.745773449] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050237.747151823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050237.748501375] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050237.835498856] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050237.837407332] [sailbot.teensy]: Wind angle: 236 +[trim_sail-4] [INFO] [1746050237.837958412] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050237.838344528] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050237.838650971] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050237.839252700] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050237.839725928] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050237.844365989] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050237.845136373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050237.845463690] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050237.846982616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050237.848030534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050237.945214102] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050237.946082900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050237.946706308] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050237.948975454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050237.950157560] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050238.003583872] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904406 Long: -76.50276904 +[vectornav-1] [INFO] [1746050238.005416508] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.03700000000003, 0.133, 5.119) +[mux-7] [INFO] [1746050238.045126686] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050238.045948333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050238.046444440] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050238.047949330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050238.049070677] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050238.085289195] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050238.087828181] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050238.088442769] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050238.088507852] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050238.089469624] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050238.090356134] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050238.091161106] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050238.145618981] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050238.146275225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050238.147815705] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050238.148648661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050238.150018433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050238.245672709] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050238.246193512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050238.247434159] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050238.248543232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050238.249440906] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050238.335339991] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050238.337682934] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050238.338556922] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746050238.338791845] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050238.339532434] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050238.340483233] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050238.341092739] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050238.344435952] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050238.344959347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050238.345614496] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050238.346616716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050238.347866279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050238.445230245] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050238.446128152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050238.446776315] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050238.448122468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050238.449307468] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050238.503464410] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904416 Long: -76.50276906 +[vectornav-1] [INFO] [1746050238.504979585] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.39999999999998, -0.586, 6.058) +[mux-7] [INFO] [1746050238.544839641] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050238.545507598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050238.546144700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050238.547630228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050238.548725496] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050238.585398562] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050238.587942941] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050238.588542127] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050238.588761005] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050238.589709506] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050238.590564462] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050238.591389854] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050238.645341510] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050238.646232400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050238.647161760] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050238.648782288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050238.649958449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050238.745620396] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050238.746618896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050238.747267545] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050238.749148979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050238.749754944] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050238.835361823] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050238.837478702] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050238.837683518] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050238.838391236] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050238.839169936] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050238.839282284] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050238.840214795] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050238.844587768] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050238.845339046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050238.845828067] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050238.847082988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050238.848382651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050238.945280499] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050238.946022501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050238.946772239] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050238.948185274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050238.949282816] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050239.002659777] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904424 Long: -76.50276912 +[vectornav-1] [INFO] [1746050239.004215043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.735, -0.543, 5.733) +[mux-7] [INFO] [1746050239.045348612] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050239.045939157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050239.046991852] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050239.048297840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050239.048828159] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050239.085511762] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050239.087471155] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050239.087981354] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050239.088491783] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050239.089314405] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050239.089465002] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050239.090357841] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050239.144859783] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050239.145444234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050239.146092495] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050239.147200158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050239.148386334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050239.245623300] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050239.246299181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050239.247406170] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050239.248795014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050239.249886689] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050239.335445193] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050239.337778555] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050239.338286746] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050239.339435504] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050239.340432054] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050239.341264585] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050239.342097220] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050239.344433242] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050239.345022905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050239.345595163] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050239.346654256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050239.347652072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050239.445362263] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050239.446076985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050239.446883583] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050239.448410792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050239.449271995] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050239.503564969] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904426 Long: -76.50276916 +[vectornav-1] [INFO] [1746050239.505439043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.51300000000003, 0.203, 5.804) +[mux-7] [INFO] [1746050239.544918610] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050239.545617183] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050239.546218505] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050239.547817027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050239.548978253] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050239.585312280] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050239.587754743] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050239.587858783] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050239.588743615] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050239.589140960] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050239.589628725] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050239.590587943] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050239.644966333] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050239.645676875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050239.646380023] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050239.647652745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050239.648691564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050239.745548658] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050239.746456508] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050239.747210757] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050239.749033604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050239.750193770] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050239.835119780] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050239.837234670] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050239.837869578] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050239.838492307] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050239.839495261] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050239.840438358] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050239.840808470] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050239.844560840] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050239.844981573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050239.845718357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050239.846625395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050239.847838781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050239.945528011] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050239.946523540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050239.947166168] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050239.948395911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050239.948814442] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050240.002505509] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904428 Long: -76.50276914 +[vectornav-1] [INFO] [1746050240.003544056] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.98699999999997, -1.081, 5.506) +[mux-7] [INFO] [1746050240.045137579] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050240.046366182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050240.046574458] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050240.048520564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050240.049688318] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050240.085341404] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050240.087673355] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050240.087837639] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050240.089682949] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050240.090030897] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050240.090608492] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050240.091518002] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050240.145228554] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050240.146011249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050240.146633980] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050240.148124106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050240.149283277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050240.245535228] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050240.246549550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050240.247189972] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050240.247981040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050240.248522123] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050240.335532329] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050240.338226832] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050240.338478084] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050240.339159271] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050240.339320816] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050240.339545574] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050240.339916113] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050240.344526631] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050240.345024883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050240.345818840] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050240.347037739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050240.348096613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050240.445424856] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050240.445982860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050240.447178931] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050240.448175637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050240.449448264] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050240.503672912] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904437 Long: -76.50276954 +[vectornav-1] [INFO] [1746050240.505056219] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.97199999999998, -0.537, 5.186) +[mux-7] [INFO] [1746050240.544959049] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050240.545434402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050240.546190286] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050240.547293233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050240.548586529] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050240.585466290] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050240.588044805] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050240.588139193] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050240.588515059] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050240.589193993] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050240.590225302] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050240.591093857] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050240.645466975] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050240.646093090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050240.647112528] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050240.648368600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050240.649636978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050240.745181523] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050240.745742692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050240.746970623] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050240.747734229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050240.748846500] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050240.835467475] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050240.838076659] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050240.838313837] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746050240.838985112] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050240.839901466] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050240.840850160] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050240.841673589] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050240.844373074] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050240.844993028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050240.845530306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050240.846758318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050240.847813885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050240.945148271] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050240.945728235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050240.946566151] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050240.947584710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050240.948444241] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050241.002534517] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904429 Long: -76.50276955 +[vectornav-1] [INFO] [1746050241.003600336] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.12300000000005, 0.438, 5.912) +[mux-7] [INFO] [1746050241.045743094] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050241.047132430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050241.047601898] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050241.049359150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050241.050510672] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050241.085911799] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050241.088598851] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050241.089637737] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050241.088811937] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050241.089653981] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050241.090718994] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050241.091565720] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050241.145347417] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050241.146107282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050241.146916670] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050241.148574201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050241.149770476] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050241.245244938] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050241.245988607] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050241.246749492] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050241.248321167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050241.248868522] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050241.335500429] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050241.338036478] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050241.338117051] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050241.339009004] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050241.339356699] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050241.339931325] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050241.340809331] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050241.344389219] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050241.344820791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050241.345577109] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050241.346599945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050241.347718287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050241.445618013] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050241.446196359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050241.447403695] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050241.448656284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050241.449585732] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050241.503750631] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904431 Long: -76.50276945 +[vectornav-1] [INFO] [1746050241.506021125] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.53700000000003, -1.528, 5.093) +[mux-7] [INFO] [1746050241.544788361] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050241.545356041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050241.546071562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050241.547157248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050241.548219931] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050241.585405561] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050241.588082222] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050241.588114765] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050241.589060575] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050241.589138523] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050241.589987766] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050241.590486783] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050241.645163186] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050241.645847134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050241.646993663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050241.647919413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050241.649049705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050241.745165621] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050241.746375108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050241.746611840] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050241.748456604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050241.749449144] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050241.835319196] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050241.837536361] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050241.837873272] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050241.839346251] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050241.839929892] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050241.840901034] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050241.841741865] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050241.844366834] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050241.844905490] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050241.845435955] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050241.846639323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050241.847824907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050241.945397236] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050241.946531707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050241.946958517] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050241.948860271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050241.949964232] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050242.002560367] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904436 Long: -76.50276963 +[vectornav-1] [INFO] [1746050242.003610929] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.62099999999998, -0.252, 6.143) +[mux-7] [INFO] [1746050242.045153943] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050242.045955423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050242.047101815] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050242.047987899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050242.049137288] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050242.085692319] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050242.088114701] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050242.088771608] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050242.089362664] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050242.090264072] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050242.090329565] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050242.091252515] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050242.145169382] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050242.145698670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050242.146720413] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050242.147835942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050242.149030111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050242.245097206] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050242.245873527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050242.246661708] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050242.247560418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050242.248071045] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050242.335064971] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050242.336986188] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050242.337242404] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050242.338535244] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050242.338927505] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050242.339347377] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050242.339723933] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050242.344343321] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050242.344913058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050242.345457465] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050242.346623793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050242.347812254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050242.444883935] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050242.445485605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050242.446159571] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050242.447361089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050242.448408599] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050242.503370022] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904439 Long: -76.50276969 +[vectornav-1] [INFO] [1746050242.504764766] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.49900000000002, -0.073, 5.879) +[mux-7] [INFO] [1746050242.545103552] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050242.545786996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050242.546550956] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050242.548220471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050242.549358972] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050242.585246700] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050242.587564997] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050242.587692717] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746050242.588072528] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050242.588599614] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050242.589502663] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050242.590350129] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050242.645101437] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050242.645894986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050242.646455424] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050242.647734806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050242.648742638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050242.745605719] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050242.746241065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050242.747368990] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050242.748735650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050242.749289904] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050242.835346602] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050242.837838158] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050242.838201242] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050242.838758734] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050242.839923699] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050242.840870784] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050242.841802295] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050242.844473899] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050242.844974397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050242.845622267] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050242.846694255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050242.847902151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050242.945708621] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050242.946546959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050242.947558427] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050242.948892523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050242.950149506] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050243.002555505] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904446 Long: -76.5027697 +[vectornav-1] [INFO] [1746050243.003688196] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.88400000000001, -0.72, 5.534) +[mux-7] [INFO] [1746050243.045392879] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050243.046224860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050243.047018338] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050243.048639802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050243.049852511] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050243.085693333] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050243.088281797] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050243.088574193] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050243.089291087] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050243.090138074] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050243.090316203] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050243.091022562] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050243.144951841] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050243.145712097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050243.146258779] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050243.147863393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050243.148950536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050243.245124243] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050243.246059207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050243.246575751] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050243.248392357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050243.249466474] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050243.335573164] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050243.338018546] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050243.338054057] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050243.339036365] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050243.339434314] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050243.340013909] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050243.341037715] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050243.344493758] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050243.345056700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050243.346056373] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050243.346782532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050243.347961977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050243.445332425] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050243.446053543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050243.446911106] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050243.448369262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050243.449640973] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050243.503767528] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904449 Long: -76.50276977 +[vectornav-1] [INFO] [1746050243.505429994] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.889, 0.196, 6.171) +[mux-7] [INFO] [1746050243.544865431] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050243.545456436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050243.546067253] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050243.547199066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050243.548787560] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050243.585234532] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050243.587533203] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050243.587901063] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746050243.588012281] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050243.589020169] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050243.589936434] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050243.590762826] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050243.645134347] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050243.645639589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050243.646477766] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050243.647527706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050243.648715084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050243.745740922] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050243.746403203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050243.747496063] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050243.749025232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050243.749585320] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050243.835350605] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050243.837453444] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050243.837761436] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050243.838410195] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050243.839017121] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050243.839318979] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050243.840177728] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050243.844375474] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050243.844763814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050243.845510113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050243.846423161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050243.847529765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050243.945305314] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050243.946013676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050243.946946904] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050243.947993820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050243.949080525] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050244.002530790] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904441 Long: -76.50276982 +[vectornav-1] [INFO] [1746050244.003931413] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.10199999999998, -1.326, 6.399) +[mux-7] [INFO] [1746050244.045340320] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050244.045936811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050244.046879978] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050244.047973595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050244.048585751] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050244.085491866] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050244.087512703] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050244.088325177] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050244.088519374] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050244.089460193] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050244.090361770] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050244.090721615] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050244.145495419] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050244.145928920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050244.147323743] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050244.148376116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050244.149591457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050244.245363296] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050244.246090565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050244.246883934] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050244.248111731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050244.248881641] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050244.335348565] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050244.337571233] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050244.337660836] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050244.338537625] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050244.338821392] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050244.339006764] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050244.339393116] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050244.344442163] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050244.345204293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050244.345617957] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050244.347051614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050244.348051274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050244.445105235] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050244.445905351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050244.447003356] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050244.448472530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050244.449535330] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050244.504021156] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904439 Long: -76.50276991 +[vectornav-1] [INFO] [1746050244.505810305] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.62599999999998, -0.224, 5.91) +[mux-7] [INFO] [1746050244.544924752] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050244.545699350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050244.546381762] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050244.547736566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050244.548751457] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050244.585319571] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050244.587257927] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050244.588003152] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050244.588265076] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050244.589147877] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050244.589309635] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050244.590081706] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050244.645047522] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050244.646002205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050244.646498674] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050244.648072000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050244.649280918] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050244.745103240] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050244.746257347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050244.746759570] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050244.747747549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050244.748271435] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050244.835247702] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050244.837743584] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050244.837879202] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050244.838694223] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050244.838831049] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050244.839596614] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050244.840487137] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050244.844592854] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050244.845079302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050244.845752871] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050244.846779931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050244.847848595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050244.945592247] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050244.946445075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050244.947395098] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050244.948407039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050244.949044248] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050245.003549767] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904449 Long: -76.50276986 +[vectornav-1] [INFO] [1746050245.005281659] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.88099999999997, 0.549, 6.167) +[mux-7] [INFO] [1746050245.045254143] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050245.046048713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050245.046703711] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050245.048279007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050245.049416182] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050245.085363586] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050245.087490059] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050245.088242097] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050245.088509517] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050245.089614568] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050245.089623534] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050245.090495330] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050245.143894247] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050245.144470331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050245.144661932] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050245.145817636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050245.146619859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050245.245266910] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050245.246268179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050245.246701398] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050245.247857949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050245.248307438] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050245.335361484] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050245.337765064] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050245.338310013] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050245.338306990] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050245.339459340] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050245.340390531] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050245.341210554] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050245.344278640] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050245.344899814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050245.345511292] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050245.346585416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050245.347739167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050245.445139917] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050245.446123899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050245.446520648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050245.447123053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050245.448009073] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050245.503196575] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904441 Long: -76.5027697 +[vectornav-1] [INFO] [1746050245.504872127] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.70799999999997, -1.184, 6.817) +[mux-7] [INFO] [1746050245.544703586] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050245.545331878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050245.545988908] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050245.547134133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050245.548263969] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050245.585252138] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050245.587013316] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050245.587929548] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050245.587572993] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050245.588810654] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050245.588948485] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050245.589725019] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050245.645433024] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050245.646088927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050245.647102698] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050245.648288045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050245.649418051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050245.745292946] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050245.745924984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050245.746841036] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050245.748010988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050245.749742493] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050245.835466207] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050245.838205061] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050245.838425650] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746050245.838523615] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050245.839384469] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050245.840296034] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050245.841192792] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050245.844500834] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050245.844905383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050245.845751595] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050245.846687807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050245.847821826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050245.944835572] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050245.945654190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050245.946085105] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050245.947561657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050245.948658664] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050246.003424244] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904446 Long: -76.50276969 +[vectornav-1] [INFO] [1746050246.005521343] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.34799999999996, -0.127, 6.978) +[mux-7] [INFO] [1746050246.045023368] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050246.046037469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050246.046768772] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050246.048705589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050246.049940575] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050246.085364473] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050246.087116198] [sailbot.teensy]: Wind angle: 236 +[trim_sail-4] [INFO] [1746050246.087726884] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050246.088336334] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050246.088557592] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050246.089461605] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050246.090335054] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050246.145311923] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050246.146265771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050246.146921533] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050246.149351538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050246.150440452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050246.245629833] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050246.246331453] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050246.247282194] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050246.248961825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050246.249468852] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050246.335470662] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050246.337433119] [sailbot.teensy]: Wind angle: 236 +[trim_sail-4] [INFO] [1746050246.338244135] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050246.338824899] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050246.339754768] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050246.340028782] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050246.340684484] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050246.344270493] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050246.344945114] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050246.345382519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050246.346728698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050246.347711869] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050246.445538246] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050246.446332794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050246.447351720] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050246.448820169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050246.450028934] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050246.503806936] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904453 Long: -76.5027695 +[vectornav-1] [INFO] [1746050246.505602638] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.534, -0.17, 6.892) +[mux-7] [INFO] [1746050246.545069033] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050246.545805633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050246.546640462] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050246.547896184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050246.549000297] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050246.585524486] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050246.587459802] [sailbot.teensy]: Wind angle: 236 +[trim_sail-4] [INFO] [1746050246.588140306] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050246.588444129] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050246.589382032] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050246.590264328] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050246.590604726] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746050246.645186508] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050246.646087540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050246.646745062] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050246.648592686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050246.649690490] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050246.745018278] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050246.745598378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050246.746328226] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050246.747544693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050246.748586311] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050246.835496366] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050246.837420519] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050246.838103388] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050246.838416297] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050246.839316149] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050246.839677816] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050246.839686520] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050246.844443554] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050246.844947750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050246.845579945] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050246.846620841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050246.847656466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050246.945575206] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050246.946457343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050246.947249085] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050246.948834499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050246.949954065] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050247.004208246] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904477 Long: -76.50276924 +[vectornav-1] [INFO] [1746050247.005655004] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.54999999999995, -0.714, 5.932) +[mux-7] [INFO] [1746050247.045313693] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050247.046337519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050247.046915668] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050247.048738338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050247.049742206] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050247.085819962] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050247.088552536] [sailbot.teensy]: Wind angle: 236 +[trim_sail-4] [INFO] [1746050247.089579509] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050247.089696037] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050247.090654745] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050247.090841767] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050247.091620895] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050247.145320079] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050247.146140709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050247.146903537] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050247.148381147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050247.149613381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050247.245575999] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050247.246648292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050247.247208282] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050247.247951054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050247.248507211] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050247.335645498] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050247.338077637] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050247.338123413] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050247.339909126] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050247.340409355] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050247.340890022] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050247.341416471] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050247.344443512] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050247.344990928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050247.345687680] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050247.346864857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050247.347923472] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050247.445578331] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050247.446354127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050247.447231970] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050247.448763526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050247.450058719] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050247.502303715] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904486 Long: -76.50276907 +[vectornav-1] [INFO] [1746050247.503275428] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.04600000000005, -0.0, 6.541) +[mux-7] [INFO] [1746050247.545062726] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050247.545738218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050247.546370199] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050247.547651454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050247.548628112] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050247.585807439] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050247.588785107] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050247.589096153] [sailbot.teensy]: Wind angle: 236 +[mux-7] [INFO] [1746050247.590001947] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050247.590972291] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050247.591838346] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050247.592707236] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050247.645390028] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050247.646140347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050247.647053862] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050247.648531775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050247.649638632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050247.745428828] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050247.745981453] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050247.747103656] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050247.748304789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050247.749547498] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050247.835380018] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050247.837937948] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050247.837955354] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746050247.838405569] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050247.838977534] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050247.839904806] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050247.840741402] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050247.844650933] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050247.845107953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050247.845905701] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050247.846847753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050247.847921463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050247.944921935] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050247.945665198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050247.946141395] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050247.947648978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050247.948630783] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050248.003988683] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904475 Long: -76.50276891 +[vectornav-1] [INFO] [1746050248.005795479] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.74, -0.497, 7.034) +[mux-7] [INFO] [1746050248.044956755] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050248.045640775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050248.046191548] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050248.047700992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050248.048702054] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050248.085283814] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050248.087433133] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050248.087431433] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050248.088485095] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050248.088941726] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050248.089444801] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050248.090353027] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050248.145169459] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050248.146711543] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050248.147401624] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050248.149546629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050248.150524405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050248.245148893] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050248.245982635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050248.246863793] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050248.248367092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050248.249384221] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050248.335402654] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050248.337267724] [sailbot.teensy]: Wind angle: 236 +[trim_sail-4] [INFO] [1746050248.337954000] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050248.339015321] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050248.339398929] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050248.340391466] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050248.341291075] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050248.344460882] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050248.344818726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050248.345789324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050248.346612184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050248.347739535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050248.445345637] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050248.446384729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050248.446953508] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050248.449000829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050248.450102077] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050248.503052862] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904485 Long: -76.50276867 +[vectornav-1] [INFO] [1746050248.504314834] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.49299999999994, -0.825, 6.527) +[mux-7] [INFO] [1746050248.545154443] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050248.546191497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050248.546614877] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050248.548417679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050248.549512777] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050248.585398471] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050248.587674513] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050248.587702806] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050248.588738719] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050248.589435402] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050248.589725300] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050248.590708859] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050248.644715875] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050248.645771141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050248.646538144] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050248.647944431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050248.649041155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050248.745277997] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050248.746416806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050248.746788845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050248.748403242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050248.748948695] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050248.835732357] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050248.838481114] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050248.838474626] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050248.839491178] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050248.839496769] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050248.840565897] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050248.841459415] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050248.844346261] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050248.844966618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050248.845465863] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050248.846833615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050248.847864336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050248.945397398] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050248.946334746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050248.947121189] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050248.948359476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050248.948861603] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050249.003374039] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904498 Long: -76.5027687 +[vectornav-1] [INFO] [1746050249.004756475] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.05899999999997, 0.083, 5.642) +[mux-7] [INFO] [1746050249.045148102] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050249.045989475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050249.046610290] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050249.048112370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050249.049260415] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050249.085239454] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050249.087600376] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050249.087683640] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050249.088618394] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050249.089746059] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050249.089834700] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050249.090735015] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050249.145073848] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050249.145794172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050249.146431472] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050249.147898547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050249.149085450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050249.245005325] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050249.245754934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050249.246351228] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050249.247915725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050249.248934822] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050249.335563868] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050249.337576280] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050249.338199912] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050249.339641453] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050249.339853894] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050249.340595521] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050249.341513621] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050249.344804582] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050249.345196498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050249.346071372] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050249.346923381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050249.348094368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050249.445300329] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050249.446018699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050249.446846427] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050249.448143194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050249.449328521] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050249.504035062] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904493 Long: -76.50276875 +[vectornav-1] [INFO] [1746050249.505642199] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.62, -1.022, 5.639) +[mux-7] [INFO] [1746050249.544767263] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050249.545327044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050249.546169240] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050249.547156410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050249.548286663] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050249.585405417] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050249.587561535] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050249.587956200] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050249.588547868] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050249.589449986] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050249.590340491] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050249.590556887] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050249.645223256] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050249.646173997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050249.646705918] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050249.647857732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050249.648417633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050249.745088750] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050249.745692071] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050249.746804962] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050249.747692553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050249.748623293] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050249.835212736] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050249.836872780] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050249.837371856] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050249.837813422] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050249.838731975] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050249.839093035] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050249.839575273] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050249.844463318] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050249.844962078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050249.845680588] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050249.846637665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050249.847770991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050249.945245119] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050249.946108117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050249.946817611] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050249.948496390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050249.949625234] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050250.002495702] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904481 Long: -76.50276896 +[vectornav-1] [INFO] [1746050250.003538885] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.87800000000004, -0.257, 6.511) +[mux-7] [INFO] [1746050250.044414699] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050250.045253810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050250.045463619] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050250.046882615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050250.047809773] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050250.085424884] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050250.087232686] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050250.087735387] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050250.088207147] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050250.089084657] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050250.089714821] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050250.089895601] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050250.144958391] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050250.145551365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050250.146297956] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050250.147499761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050250.148590287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050250.245298081] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050250.245991203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050250.247307398] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050250.249125076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050250.250206943] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050250.335430634] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050250.337317378] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050250.338005444] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050250.338253817] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050250.339155814] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050250.339412544] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050250.340062588] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050250.344351772] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050250.344924442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050250.345881767] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050250.346761850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050250.348029994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050250.445531945] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050250.446340767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050250.447218018] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050250.448596287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050250.449845982] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050250.502693562] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904491 Long: -76.5027689 +[vectornav-1] [INFO] [1746050250.503820529] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.10699999999997, -0.806, 6.19) +[mux-7] [INFO] [1746050250.545016036] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050250.545705309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050250.546337480] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050250.547504840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050250.548660768] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050250.585524352] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050250.587532873] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050250.588528327] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050250.588079174] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050250.588655623] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050250.589420619] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050250.590259808] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050250.645410150] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050250.646005113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050250.647090228] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050250.648615662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050250.649760233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050250.745335521] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050250.746140358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050250.746996924] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050250.748216842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050250.748811227] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050250.835426768] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050250.837785005] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050250.838081912] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050250.839028820] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050250.839878639] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050250.840034368] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050250.840926868] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050250.844252556] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050250.844810470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050250.845330909] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050250.846538582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050250.847571351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050250.945216840] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050250.946115140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050250.946709775] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050250.948298277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050250.949352751] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050251.003320729] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904511 Long: -76.50276876 +[vectornav-1] [INFO] [1746050251.004743907] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.039, -0.133, 5.878) +[mux-7] [INFO] [1746050251.045060130] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050251.045806458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050251.046392232] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050251.047977586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050251.049135508] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050251.085454031] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050251.087403878] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050251.087813206] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050251.088412669] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050251.089142803] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050251.089290199] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050251.090185886] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050251.145379703] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050251.146232761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050251.147206360] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050251.147984777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050251.148525589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050251.244915178] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050251.245789385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050251.246170053] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050251.247754847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050251.248816772] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050251.335402819] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050251.337783287] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050251.337800082] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050251.338784225] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050251.339060982] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050251.339716499] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050251.340640732] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050251.344325913] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050251.344996663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050251.345424790] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050251.346735332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050251.347770444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050251.445108219] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050251.445794609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050251.446438777] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050251.447987966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050251.449006454] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050251.502978898] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904508 Long: -76.50276895 +[vectornav-1] [INFO] [1746050251.504645406] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.90099999999995, -0.754, 5.596) +[mux-7] [INFO] [1746050251.544894201] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050251.545515801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050251.546136878] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050251.547413266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050251.548376555] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050251.585397733] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050251.587731928] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050251.588346753] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746050251.588417719] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050251.589359846] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050251.590247101] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050251.591130343] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050251.645225783] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050251.646418962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050251.646767555] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050251.648827226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050251.649820004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050251.745330212] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050251.746098879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050251.746791983] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050251.748375307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050251.749106287] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050251.835169243] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050251.837003903] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050251.837367837] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050251.838674409] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050251.839400025] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050251.839584821] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050251.840516346] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050251.844292103] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050251.844766634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050251.845451118] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050251.846426455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050251.847496829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050251.945176426] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050251.945783826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050251.946653484] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050251.947926201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050251.948762352] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050252.002452135] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904509 Long: -76.50276896 +[vectornav-1] [INFO] [1746050252.003436164] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.67600000000004, -0.51, 5.899) +[mux-7] [INFO] [1746050252.045360868] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050252.045960406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050252.047051677] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050252.048064022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050252.049124562] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050252.085775681] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050252.088820161] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050252.090019875] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050252.090209476] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050252.091197748] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050252.092077508] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050252.092946645] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050252.145292524] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050252.145912065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050252.146857557] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050252.148319383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050252.149397010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050252.245227536] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050252.246019295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050252.246607706] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050252.248174064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050252.248942854] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050252.335549303] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050252.338121596] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050252.338111316] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050252.339095695] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050252.339555624] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050252.340002102] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050252.340961021] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050252.344528718] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050252.345012521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050252.345826366] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050252.346699216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050252.347906958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050252.445331376] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050252.446140343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050252.447218246] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050252.448235592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050252.449355017] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050252.503841498] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904495 Long: -76.50276893 +[vectornav-1] [INFO] [1746050252.506160348] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.72500000000002, -0.306, 5.332) +[mux-7] [INFO] [1746050252.545167546] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050252.545687868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050252.546558666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050252.548017396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050252.549173653] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050252.585232549] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050252.587039365] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050252.587910728] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050252.587546699] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050252.587963007] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050252.588825383] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050252.589664113] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050252.645335672] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050252.645808445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050252.646918526] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050252.648304276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050252.648927763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050252.745392880] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050252.746011838] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050252.747366668] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050252.748099583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050252.749268153] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050252.835342648] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050252.837183927] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050252.838022517] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050252.838162177] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050252.839085485] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050252.839936676] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050252.840100576] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050252.844298312] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050252.844938365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050252.845420654] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050252.846667095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050252.847832589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050252.945554935] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050252.946461693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050252.947285839] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050252.949197416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050252.950344470] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050253.002437529] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904499 Long: -76.50276905 +[vectornav-1] [INFO] [1746050253.003499247] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.274, -0.914, 5.235) +[mux-7] [INFO] [1746050253.045185002] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050253.045943015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050253.046606420] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050253.048141233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050253.049438785] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050253.084804617] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050253.086366899] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050253.086754648] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050253.089178396] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050253.089943810] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050253.090783944] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050253.091612505] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050253.143780443] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050253.144145483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050253.144413670] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050253.145337319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050253.146072763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050253.244388293] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050253.244907260] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050253.246448881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746050253.245384122] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050253.247456679] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050253.335267323] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050253.337039618] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050253.338058091] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050253.338238067] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050253.338969854] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050253.339096487] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050253.339892483] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050253.344316735] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050253.344757446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050253.345539856] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050253.346467562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050253.347488625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050253.445573198] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050253.446207962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050253.447250819] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050253.448757737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050253.449318025] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050253.502707415] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904493 Long: -76.50276907 +[vectornav-1] [INFO] [1746050253.503850925] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.19799999999998, 0.1, 5.692) +[mux-7] [INFO] [1746050253.544844343] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050253.545508298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050253.546071517] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050253.547226421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050253.548408566] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050253.585523467] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050253.588086764] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050253.589164953] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746050253.589494461] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050253.590486368] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050253.591343768] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050253.592201246] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050253.645005352] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050253.645733081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050253.646378984] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050253.648455904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050253.649599939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050253.745450317] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050253.746694771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050253.747047727] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050253.748943307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050253.750135246] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050253.835577820] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050253.837806309] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050253.837850815] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050253.838705827] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050253.838731976] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050253.839104788] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050253.839460470] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050253.844477394] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050253.844948624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050253.845635405] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050253.846669972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050253.847755089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050253.945487273] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050253.946347311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050253.947150900] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050253.948811514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050253.950027072] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050254.003753552] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904485 Long: -76.50276908 +[vectornav-1] [INFO] [1746050254.005581159] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.135, -0.644, 5.802) +[mux-7] [INFO] [1746050254.045058709] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050254.045708706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050254.046735833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050254.047486015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050254.049523569] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050254.085289842] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050254.087492582] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050254.088273010] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746050254.088877910] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050254.089185279] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050254.090093076] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050254.090946934] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050254.144761790] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050254.145377316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050254.145954776] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050254.147340638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050254.148405231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050254.245135427] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050254.245897998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050254.246540783] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050254.247800258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050254.248973193] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050254.335414182] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050254.337745167] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050254.337987689] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050254.338943913] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050254.339405149] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050254.339854085] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050254.340782232] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050254.344352079] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050254.345021690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050254.345460170] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050254.346771079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050254.347786623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050254.445196615] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050254.445909455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050254.446706938] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050254.447999330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050254.449129823] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050254.503455954] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904474 Long: -76.50276915 +[vectornav-1] [INFO] [1746050254.505696201] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.73800000000006, -0.545, 6.005) +[mux-7] [INFO] [1746050254.545114155] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050254.545991456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050254.546682633] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050254.548062537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050254.549726655] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050254.585148081] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050254.587261260] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050254.587257250] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050254.588129851] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050254.588368816] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050254.589456474] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050254.590343203] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050254.645801327] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050254.646199447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050254.647498975] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050254.648496906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050254.649663044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050254.745253664] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050254.745768122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050254.746726437] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050254.747834960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050254.748850970] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050254.835358061] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050254.837228447] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050254.837634390] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050254.838950822] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050254.839234297] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050254.840206666] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050254.841078839] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050254.844363213] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050254.844879388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050254.845514815] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050254.846617155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050254.847859641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050254.945609211] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050254.946435010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050254.947453552] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050254.949000371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050254.950185647] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050255.002382429] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904474 Long: -76.50276944 +[vectornav-1] [INFO] [1746050255.003483367] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.07600000000002, -0.412, 5.672) +[mux-7] [INFO] [1746050255.045128402] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050255.045896340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050255.046621136] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050255.048100650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050255.049302677] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050255.085418462] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050255.087423384] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050255.088501292] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050255.088423318] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050255.089082549] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050255.089417624] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050255.090336630] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050255.145134734] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050255.146061701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050255.146538649] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050255.147964315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050255.149053473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050255.245333390] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050255.246203019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050255.246827621] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050255.247870849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050255.248348988] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050255.335414330] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050255.337802318] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050255.338158040] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050255.338924861] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050255.338981920] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050255.339324375] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050255.339696027] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050255.344530685] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050255.345008745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050255.345640855] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050255.346689515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050255.347738773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050255.445225361] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050255.445892725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050255.446735281] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050255.448291659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050255.449442704] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050255.502569787] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904436 Long: -76.50276966 +[vectornav-1] [INFO] [1746050255.503622184] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.03300000000002, 0.319, 6.648) +[mux-7] [INFO] [1746050255.545254352] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050255.546380915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050255.547501404] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050255.548410797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050255.549586453] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050255.585686510] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050255.588419727] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050255.588487571] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050255.589457411] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050255.589826547] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050255.590359946] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050255.591267738] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050255.645161927] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050255.646118821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050255.646705465] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050255.648220975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050255.648774897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050255.745535572] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050255.746366163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050255.747122733] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050255.748629317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050255.749150847] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050255.835391877] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050255.837223214] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050255.838152914] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050255.838183631] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050255.839070637] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050255.839087210] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050255.840001458] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050255.844433061] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050255.844958003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050255.846417339] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050255.846668627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050255.847763100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050255.945774540] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050255.946457016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050255.947487863] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050255.948330642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050255.948860425] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050256.003682517] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904456 Long: -76.50276939 +[vectornav-1] [INFO] [1746050256.005328160] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.63, -1.455, 6.332) +[mux-7] [INFO] [1746050256.044877551] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050256.045566978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050256.046410414] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050256.047410214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050256.048475207] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050256.085224831] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050256.087520067] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050256.087863914] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050256.088856428] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050256.089054761] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050256.089821312] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050256.090658189] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050256.145186445] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050256.145917077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050256.146689034] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050256.148058494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050256.148571629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050256.245226433] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050256.246318767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050256.246748712] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050256.248126679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050256.248559073] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050256.335461523] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050256.338271526] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050256.338367290] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050256.339375754] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050256.339943467] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050256.340332739] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050256.341281793] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050256.344361221] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050256.345009415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050256.345461504] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050256.346738361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050256.347799945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050256.445510389] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050256.446272108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050256.447111525] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050256.448254329] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050256.448761479] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050256.502588485] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904465 Long: -76.50276966 +[vectornav-1] [INFO] [1746050256.503712714] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.567, 0.686, 6.846) +[mux-7] [INFO] [1746050256.545422055] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050256.545967719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050256.547092942] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050256.548586356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050256.549142603] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050256.585727462] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050256.588648075] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050256.589491789] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050256.589566553] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050256.590564131] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050256.591155671] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050256.591488480] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050256.645382030] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050256.646027890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050256.646969126] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050256.650085450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050256.651264858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050256.745192799] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050256.745738327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050256.746610183] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050256.747805731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050256.748677051] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050256.835404667] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050256.837837138] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050256.838397101] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050256.838717833] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050256.839133698] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050256.839509980] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050256.840271314] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050256.844407578] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050256.844780561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050256.845558301] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050256.846478714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050256.847633380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050256.945313178] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050256.945858185] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050256.947914255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746050256.947041725] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050256.949136742] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050257.003514895] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904438 Long: -76.50276954 +[vectornav-1] [INFO] [1746050257.004972767] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.32799999999997, -0.135, 7.362) +[mux-7] [INFO] [1746050257.045373216] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050257.045790091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050257.046876326] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050257.047753854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050257.048820304] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050257.085254151] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050257.087146044] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050257.087536702] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050257.088070418] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050257.088142621] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050257.089022805] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050257.089867387] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050257.145003917] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050257.145725221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050257.146323938] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050257.147716744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050257.148639860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050257.245560279] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050257.246399243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050257.248387378] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050257.248736035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050257.249836043] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050257.335399435] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050257.337786124] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050257.337824342] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050257.338784798] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050257.339203818] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050257.339763856] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050257.340760470] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050257.344556051] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050257.345064496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050257.345709395] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050257.346972704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050257.347994347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050257.445382101] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050257.445977597] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050257.446980331] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050257.448342096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050257.449414444] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050257.502424193] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904428 Long: -76.50276907 +[vectornav-1] [INFO] [1746050257.503424677] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.13800000000003, -1.094, 6.941) +[mux-7] [INFO] [1746050257.545413118] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050257.546048414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050257.546994771] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050257.548401543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050257.549542115] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050257.585522536] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050257.587858394] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050257.588968683] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050257.589282532] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050257.590246392] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050257.591422221] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050257.592306076] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050257.645157145] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050257.645753564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050257.646594643] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050257.647912321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050257.649082626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050257.745616355] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050257.746435260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050257.747317137] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050257.748858662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050257.750201636] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050257.835320922] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050257.837522098] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050257.837629913] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050257.838102619] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050257.838482305] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050257.838905256] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050257.839297138] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050257.844643556] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050257.845204867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050257.845981000] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050257.846906478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050257.847977975] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050257.945420155] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050257.946095498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050257.947180743] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050257.948240980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050257.950234219] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050258.003864628] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690442 Long: -76.5027688 +[vectornav-1] [INFO] [1746050258.005806147] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.216, -0.291, 6.085) +[mux-7] [INFO] [1746050258.045216066] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050258.045973638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050258.046770716] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050258.048177593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050258.049330786] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050258.085516603] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050258.087918695] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050258.088173970] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746050258.088437470] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050258.089141625] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050258.089992828] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050258.090855720] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050258.144996714] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050258.145621447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050258.146260508] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050258.147469093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050258.148498538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050258.245010231] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050258.245614088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050258.246263595] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050258.247602171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050258.248072140] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050258.335374569] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050258.337202496] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050258.337968054] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050258.338143347] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050258.339074318] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050258.339848311] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050258.339963347] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050258.344395584] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050258.345060984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050258.345623100] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050258.346944178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050258.348086352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050258.445744516] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050258.446760862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050258.447473625] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050258.449381682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050258.450658610] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050258.502616398] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904416 Long: -76.50276803 +[vectornav-1] [INFO] [1746050258.503675844] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.74099999999999, 0.121, 5.633) +[mux-7] [INFO] [1746050258.544926312] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050258.545823466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050258.546325798] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050258.547730177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050258.548753643] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050258.585539616] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050258.588128946] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050258.588379595] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050258.589335347] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050258.590017792] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050258.590266438] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050258.591216620] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050258.645371450] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050258.646071060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050258.646976924] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050258.648234848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050258.649455356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050258.744937963] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050258.745648308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050258.746443999] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050258.747653579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050258.748124849] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050258.835553118] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050258.838268537] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050258.839049424] [sailbot.teensy]: Wind angle: 236 +[mux-7] [INFO] [1746050258.839147080] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050258.839465091] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050258.839890187] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050258.840262660] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050258.844444796] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050258.844906779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050258.845603005] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050258.846643159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050258.847831238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050258.945299531] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050258.946026168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050258.946811589] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050258.948380875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050258.949478544] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050259.003349715] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904411 Long: -76.50276765 +[vectornav-1] [INFO] [1746050259.005787037] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.54899999999998, -1.106, 5.581) +[mux-7] [INFO] [1746050259.045077771] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050259.046009876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050259.046494106] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050259.048290685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050259.049475030] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050259.085500732] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050259.087792396] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050259.088924379] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746050259.089512609] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050259.089889723] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050259.090776931] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050259.091618364] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050259.145191202] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050259.146195592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050259.146828596] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050259.148215183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050259.148735874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050259.245300358] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050259.246175242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050259.246831948] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050259.248203128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050259.248792660] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050259.335330247] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050259.337725364] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050259.337728605] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050259.338849126] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050259.339450233] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050259.340393750] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050259.341371637] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050259.344361149] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050259.344797700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050259.345496024] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050259.346416213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050259.347457383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050259.445665393] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050259.446550091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050259.447406738] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050259.449145323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050259.449726777] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050259.503673131] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904402 Long: -76.50276756 +[vectornav-1] [INFO] [1746050259.506287705] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.68600000000004, -0.899, 5.247) +[mux-7] [INFO] [1746050259.544925390] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050259.545627826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050259.546184501] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050259.547475305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050259.548523161] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050259.585240085] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050259.587606081] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050259.587778050] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050259.589103337] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050259.589721759] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050259.590692728] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050259.591538826] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050259.645244054] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050259.646091969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050259.646767865] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050259.648802281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050259.649974527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050259.745572814] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050259.746362649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050259.747202063] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050259.748906207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050259.750235526] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050259.835631699] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050259.838038746] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050259.838506228] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050259.838842512] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050259.839043223] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050259.839950927] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050259.840846761] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050259.844398748] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050259.844923917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050259.845501835] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050259.846659398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050259.847826916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050259.945188612] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050259.945814920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050259.946605786] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050259.948049316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050259.949227431] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050260.003401762] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904378 Long: -76.50276756 +[vectornav-1] [INFO] [1746050260.004810905] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.72799999999995, 0.553, 6.389) +[mux-7] [INFO] [1746050260.045169953] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050260.045914380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050260.046658672] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050260.047901286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050260.049053669] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050260.085367846] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050260.087564689] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050260.087589752] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050260.088577972] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050260.089008303] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050260.089481744] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050260.090386047] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050260.145174474] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050260.145849015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050260.146671146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050260.148692815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050260.149783160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050260.245598643] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050260.246464368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050260.247311024] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050260.249746577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050260.251003614] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050260.335679866] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050260.337859355] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050260.338931465] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050260.338622432] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050260.339478778] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050260.339867680] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050260.340753636] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050260.344610336] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050260.344872255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050260.345832130] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050260.346522167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050260.347704944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050260.445316662] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050260.446002852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050260.446809240] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050260.448313206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050260.449564589] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050260.503580595] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690436 Long: -76.50276763 +[vectornav-1] [INFO] [1746050260.504954994] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.56899999999996, -1.038, 6.571) +[mux-7] [INFO] [1746050260.545437272] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050260.546062677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050260.547039024] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050260.548599787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050260.549756350] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050260.585515378] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050260.587940048] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050260.588886121] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050260.588982683] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050260.589951301] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050260.590983606] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050260.591814205] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050260.645284136] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050260.646012599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050260.647175339] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050260.648190912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050260.649434783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050260.745532406] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050260.746222396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050260.747253654] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050260.748878441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050260.749467069] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050260.835423936] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050260.837291797] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050260.837970104] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050260.838238842] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050260.839100307] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050260.839118514] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050260.840005570] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050260.844463414] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050260.845069515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050260.845637126] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050260.846810748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050260.848628100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050260.945734220] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050260.947179645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050260.947842350] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050260.948481589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050260.949392230] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050261.002787210] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904347 Long: -76.50276817 +[vectornav-1] [INFO] [1746050261.004027682] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.61900000000003, 0.038, 5.653) +[mux-7] [INFO] [1746050261.045206589] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050261.046063638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050261.046623495] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050261.048215983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050261.049407840] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050261.085475564] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050261.087501998] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050261.087976345] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050261.088519457] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050261.089522313] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050261.090539930] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050261.091342188] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050261.145307663] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050261.146132678] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050261.146960140] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050261.148388568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050261.149543986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050261.245488077] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050261.246252515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050261.247370444] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050261.248415681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050261.248883407] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050261.335418808] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050261.337443761] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050261.337907204] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050261.338454336] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050261.339391849] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050261.339659435] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050261.340448840] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050261.344370644] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050261.345572143] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050261.345732892] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050261.347512531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050261.348558960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050261.445445940] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050261.446262430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050261.447037216] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050261.448863117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050261.449383140] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050261.502435022] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904337 Long: -76.50276864 +[vectornav-1] [INFO] [1746050261.503432207] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (186.44399999999996, -0.557, 6.25) +[mux-7] [INFO] [1746050261.545411801] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050261.546211635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050261.547043062] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050261.548527463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050261.549739134] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050261.585555284] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050261.587919625] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050261.588798297] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050261.588932033] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050261.589847081] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050261.590452412] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050261.590723212] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050261.645342401] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050261.646092732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050261.646856267] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050261.648743896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050261.649926036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050261.745464128] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050261.746266379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050261.747100757] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050261.748807017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050261.750012929] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050261.835690589] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050261.838415935] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050261.838954647] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050261.839400772] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050261.840378447] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050261.841327273] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050261.842218771] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050261.844339441] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050261.844852257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050261.845596077] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050261.846525046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050261.847796371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050261.945479923] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050261.946228932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050261.947236855] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050261.949072197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050261.950178312] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050262.003967155] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904316 Long: -76.50276883 +[vectornav-1] [INFO] [1746050262.005947288] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.38800000000003, 0.586, 6.312) +[mux-7] [INFO] [1746050262.045111496] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050262.045985882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050262.046535780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050262.047958424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050262.049308486] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050262.085642069] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050262.087664986] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050262.088267926] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050262.088603132] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050262.088630409] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050262.089554135] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050262.090484228] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050262.145259312] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050262.146097746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050262.146820110] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050262.148406528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050262.149781468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050262.245621655] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050262.246808420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050262.247233066] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050262.249100248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050262.250356338] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050262.335433565] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050262.337822944] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050262.337837452] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050262.338806982] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050262.339707446] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050262.340070379] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050262.340596821] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050262.344343505] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050262.345079028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050262.345639753] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050262.346809738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050262.347856445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050262.445303904] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050262.446081860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050262.446914058] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050262.449304560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050262.450380676] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050262.503958420] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904318 Long: -76.50276808 +[vectornav-1] [INFO] [1746050262.505472842] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.85500000000002, -0.344, 6.586) +[mux-7] [INFO] [1746050262.545449331] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050262.546539325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050262.547084673] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050262.549236209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050262.551000437] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050262.585457955] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050262.587323095] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050262.587866879] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050262.588980727] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050262.589678195] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050262.589930965] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050262.590833272] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050262.645253944] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050262.646242048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050262.646797309] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050262.648299866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050262.648807320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050262.745463623] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050262.746233134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050262.747384064] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050262.748892895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050262.750121461] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050262.835860091] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050262.839021773] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050262.839395210] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050262.839885023] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050262.840871529] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050262.841806553] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050262.842646777] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050262.844416968] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050262.844889434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050262.845509421] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050262.846530956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050262.847531975] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050262.945563468] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050262.946379194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050262.947223329] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050262.948243254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050262.948761503] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050263.003664173] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904317 Long: -76.50276744 +[vectornav-1] [INFO] [1746050263.005128774] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.966, -1.086, 5.376) +[mux-7] [INFO] [1746050263.045439484] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050263.046219580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050263.047127101] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050263.048813878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050263.050091835] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050263.085913035] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050263.088302233] [sailbot.teensy]: Wind angle: 236 +[teensy-2] [INFO] [1746050263.089438963] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050263.089021962] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050263.090233150] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050263.090323637] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050263.091238035] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050263.144992798] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050263.145739303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050263.146423728] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050263.147703022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050263.148776178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050263.245488462] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050263.246439298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050263.247130098] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050263.248263470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050263.248742459] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050263.335391108] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050263.337856501] [sailbot.teensy]: Wind angle: 236 +[trim_sail-4] [INFO] [1746050263.337946827] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050263.338849354] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050263.339171666] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050263.339795516] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050263.340721894] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050263.344388219] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050263.345072930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050263.345459872] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050263.346733871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050263.347830174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050263.445360370] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050263.446515292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050263.447027530] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050263.447734425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050263.448191135] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050263.502661259] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904308 Long: -76.50276751 +[vectornav-1] [INFO] [1746050263.503800733] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.94000000000005, -0.334, 4.735) +[mux-7] [INFO] [1746050263.545633745] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050263.546440198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050263.547395406] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050263.549067101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050263.550309818] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050263.585847952] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050263.588720370] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050263.589551308] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050263.590455020] [sailbot.teensy]: Wind angle: 236 +[teensy-2] [INFO] [1746050263.591373571] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050263.592221732] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050263.593095458] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050263.645188438] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050263.645964986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050263.646734833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050263.648458481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050263.649524425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050263.745258138] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050263.746195291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050263.747074591] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050263.748090920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050263.748533832] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050263.835358566] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050263.837774868] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050263.838642847] [sailbot.teensy]: Wind angle: 237 +[mux-7] [INFO] [1746050263.839143595] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050263.839620538] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050263.840562337] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050263.841427834] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050263.844304955] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050263.844897569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050263.845381092] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050263.846612757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050263.847631234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050263.945493282] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050263.946226719] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050263.948718460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746050263.947204214] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050263.949951508] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050264.003736851] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904284 Long: -76.50276739 +[vectornav-1] [INFO] [1746050264.005206597] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.60199999999998, 0.365, 5.369) +[mux-7] [INFO] [1746050264.045487057] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050264.046536049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050264.047290481] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050264.048491491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050264.049012881] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050264.085143566] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050264.087226329] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050264.087724359] [sailbot.teensy]: Wind angle: 237 +[mux-7] [INFO] [1746050264.087892516] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050264.088743137] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050264.089616937] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050264.090461201] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050264.145301932] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050264.146033309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050264.146829621] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050264.148233910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050264.149299039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050264.245523022] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050264.246290637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050264.247580232] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050264.248020968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050264.248469066] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050264.335306658] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050264.337181183] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050264.337713728] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050264.338140006] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050264.339073849] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050264.339990885] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050264.339816253] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746050264.344807830] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050264.345199609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050264.346234277] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050264.346941857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050264.348777302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050264.445360284] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050264.446134296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050264.447233165] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050264.448389867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050264.449590382] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050264.502741245] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904272 Long: -76.50276764 +[vectornav-1] [INFO] [1746050264.503822115] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.33000000000004, -1.235, 5.84) +[mux-7] [INFO] [1746050264.545382610] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050264.545907838] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050264.547002424] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050264.548035675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050264.549109063] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050264.585798928] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050264.588735239] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050264.589267109] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050264.590282599] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050264.590609989] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050264.591176094] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050264.592065740] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050264.645523117] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050264.646341361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050264.647161012] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050264.648941625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050264.649466887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050264.745071946] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050264.745608958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050264.746495553] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050264.747546779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050264.748581917] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050264.835482804] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050264.838188913] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050264.838441579] [sailbot.teensy]: Wind angle: 237 +[teensy-2] [INFO] [1746050264.839148853] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050264.839175269] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050264.839538072] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050264.839968062] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050264.844709055] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050264.845155708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050264.846179550] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050264.846909107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050264.847982143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050264.945717958] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050264.946601578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050264.947565920] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050264.949095635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050264.949696314] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050265.003967635] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904253 Long: -76.50276797 +[vectornav-1] [INFO] [1746050265.005487806] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.73699999999997, -0.685, 6.071) +[mux-7] [INFO] [1746050265.045226456] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050265.045981396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050265.046730660] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050265.048073503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050265.049267993] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050265.085358883] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050265.087164472] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050265.087628953] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050265.088105310] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050265.089038237] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050265.089285074] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050265.089942517] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050265.144744135] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050265.145167888] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050265.146105036] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050265.147195516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050265.148275636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050265.245626755] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050265.246201689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050265.247890757] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050265.249478078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050265.250643734] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050265.335136790] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050265.336806597] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050265.337283891] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050265.337707957] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050265.338461720] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050265.338518548] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050265.339410265] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050265.344365720] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050265.344992229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050265.345702301] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050265.346853887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050265.347991425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050265.444959301] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050265.445688311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050265.446244059] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050265.447468006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050265.448312089] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050265.502285845] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690424 Long: -76.50276783 +[vectornav-1] [INFO] [1746050265.503255596] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.52099999999996, 0.982, 5.648) +[mux-7] [INFO] [1746050265.545113374] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050265.545951980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050265.546646032] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050265.548052417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050265.549161711] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050265.585795405] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050265.588777116] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050265.589438287] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050265.590694120] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050265.590725399] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050265.591632084] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050265.592504860] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050265.645467406] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050265.646461599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050265.647080555] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050265.649409135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050265.650520610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050265.745460607] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050265.746296405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050265.747209649] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050265.748200551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050265.748723630] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050265.835269002] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050265.837863886] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050265.838010262] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050265.838214522] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050265.839681978] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050265.840560385] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050265.841415677] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050265.844378735] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050265.844780844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050265.845496854] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050265.846474676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050265.847480998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050265.945547554] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050265.946236843] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050265.947315549] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050265.948821514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050265.950156199] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050266.003419626] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904226 Long: -76.50276726 +[vectornav-1] [INFO] [1746050266.005199404] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.216, -1.079, 5.534) +[mux-7] [INFO] [1746050266.044876941] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050266.045656320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050266.046058294] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050266.047477409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050266.048647115] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050266.085389914] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050266.087784784] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050266.088269516] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050266.088874766] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050266.089804805] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050266.090675388] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050266.091488862] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050266.145085575] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050266.145896883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050266.146760965] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050266.148146019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050266.149210261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050266.245325863] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050266.246098408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050266.246906518] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050266.248397947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050266.249555883] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050266.335353655] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050266.337838673] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050266.338241201] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050266.338550995] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050266.339524640] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050266.340399959] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050266.341077431] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050266.344416824] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050266.344814399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050266.345523391] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050266.346473774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050266.347595593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050266.445663038] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050266.446721808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050266.447309584] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050266.449174888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050266.450345033] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050266.503996128] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904207 Long: -76.50276717 +[vectornav-1] [INFO] [1746050266.506312439] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.91100000000006, -0.65, 5.004) +[mux-7] [INFO] [1746050266.545297143] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050266.546208184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050266.546967867] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050266.548555934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050266.549669948] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050266.585259984] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050266.587930575] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050266.588109808] [sailbot.teensy]: Wind angle: 233 +[mux-7] [INFO] [1746050266.588980060] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050266.589061290] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050266.589940921] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050266.590818689] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050266.645067029] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050266.645989766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050266.646845466] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050266.648045660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050266.649202143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050266.744834788] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050266.745482178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050266.746109892] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050266.747388022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050266.748394603] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050266.835515671] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050266.837610142] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050266.838705466] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050266.838809348] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050266.839147707] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050266.839521886] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050266.839540118] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050266.844403083] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050266.845170558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050266.845520145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050266.846907313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050266.848034848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050266.945516928] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050266.946456110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050266.947194696] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050266.948831052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050266.949925924] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050267.002713636] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904167 Long: -76.50276731 +[vectornav-1] [INFO] [1746050267.003807014] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.63400000000001, -0.031, 4.857) +[mux-7] [INFO] [1746050267.045032052] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050267.045905370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050267.046322126] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050267.047941024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050267.048966855] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050267.085256976] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050267.087740273] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050267.088175920] [sailbot.teensy]: Wind angle: 233 +[mux-7] [INFO] [1746050267.088427192] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050267.089146822] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050267.089998650] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050267.090828828] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050267.145263983] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050267.146081880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050267.146942906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050267.148351541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050267.149447164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050267.245116490] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050267.245882264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050267.246907772] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050267.248431024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050267.248920511] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050267.335693254] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050267.337886265] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050267.338507229] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050267.338911885] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050267.338949579] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050267.339856815] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050267.340960548] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050267.344271991] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050267.344842496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050267.345349990] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050267.346692229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050267.347740753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050267.445539580] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050267.446303608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050267.447352643] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050267.448901289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050267.450067859] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050267.503688373] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904149 Long: -76.5027673 +[vectornav-1] [INFO] [1746050267.505165839] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.50700000000006, 0.093, 5.09) +[mux-7] [INFO] [1746050267.544976777] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050267.545620051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050267.546288959] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050267.547505207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050267.548552759] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050267.585376014] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050267.587097504] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050267.587660158] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050267.588028115] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050267.588976761] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050267.589838922] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050267.589894424] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050267.644992970] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050267.645764323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050267.646328163] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050267.647767695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050267.648907906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050267.745345599] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050267.745987505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050267.746993596] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050267.748240978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050267.749372292] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050267.835486554] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050267.837381417] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050267.838112478] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050267.838800990] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050267.838828564] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050267.839225128] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050267.839607649] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050267.844659030] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050267.845932498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050267.845961746] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050267.847881553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050267.849131248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050267.945614579] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050267.946486391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050267.947319931] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050267.949177003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050267.950360746] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050268.002330314] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904115 Long: -76.50276726 +[vectornav-1] [INFO] [1746050268.003303691] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.14999999999998, -0.975, 5.066) +[mux-7] [INFO] [1746050268.045227559] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050268.046188883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050268.046682543] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050268.048463877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050268.049672761] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050268.085214057] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050268.087346018] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050268.087369264] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050268.088313428] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050268.088502256] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050268.089245459] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050268.090217846] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050268.144862827] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050268.145598990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050268.146067793] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050268.147440630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050268.148647318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050268.245020840] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050268.245948360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050268.246339405] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050268.247865556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050268.248486074] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050268.335576970] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050268.337761922] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050268.338221810] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050268.338809804] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050268.339702472] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050268.339821664] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050268.340431188] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050268.344661798] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050268.345084781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050268.345902351] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050268.346923076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050268.348026866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050268.445232328] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050268.445991886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050268.447265366] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050268.448191607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050268.448833114] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050268.503169542] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904106 Long: -76.50276759 +[vectornav-1] [INFO] [1746050268.504638051] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.05399999999997, -0.105, 5.728) +[mux-7] [INFO] [1746050268.544921576] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050268.545813559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050268.546346167] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050268.547834509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050268.548377465] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050268.585426571] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050268.588110147] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050268.588516963] [sailbot.teensy]: Wind angle: 233 +[mux-7] [INFO] [1746050268.588692826] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050268.589478655] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050268.590412758] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050268.591255871] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050268.645168016] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050268.646078077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050268.646630312] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050268.648349363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050268.649356574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050268.745530519] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050268.746301655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050268.747602631] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050268.748810214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050268.749941389] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050268.835233069] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050268.837854656] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050268.838979303] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050268.839003576] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050268.839477551] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050268.839872121] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050268.840723863] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050268.844297125] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050268.844982987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050268.845392539] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050268.846755916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050268.847802425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050268.945286738] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050268.945945535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050268.946901531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050268.948193982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050268.949446254] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050269.003145052] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904085 Long: -76.50276742 +[vectornav-1] [INFO] [1746050269.004337201] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.26800000000003, -0.299, 5.951) +[mux-7] [INFO] [1746050269.045346375] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050269.045885560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050269.046902023] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050269.047894133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050269.048490033] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050269.085568759] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050269.088368525] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050269.088838238] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050269.089815608] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050269.090735760] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050269.090751992] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050269.092292714] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050269.145238838] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050269.145912492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050269.146795994] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050269.149216842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050269.150356242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050269.245186330] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050269.246081727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050269.246630112] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050269.248078249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050269.248697679] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050269.335436341] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050269.338181115] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050269.338793196] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050269.338819898] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050269.339788417] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050269.340763554] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050269.341619776] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050269.344258117] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050269.344814225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050269.345587888] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050269.346499781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050269.347563734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050269.445411534] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050269.446348436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050269.447111674] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050269.448327546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050269.449162303] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050269.503385856] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904058 Long: -76.50276695 +[vectornav-1] [INFO] [1746050269.504681803] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.90999999999997, -0.752, 5.803) +[mux-7] [INFO] [1746050269.545075767] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050269.545965602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050269.546529102] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050269.548181418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050269.549366966] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050269.585562129] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050269.587688840] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050269.587920594] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050269.588639067] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050269.588675964] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050269.590681242] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050269.591531140] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050269.645021963] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050269.645807725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050269.646833382] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050269.647857253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050269.648991734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050269.745017654] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050269.745608502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050269.746291899] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050269.747547711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050269.748073174] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050269.835376965] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050269.837843347] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050269.837984076] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050269.838962299] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050269.839257514] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050269.839516639] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050269.839885983] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050269.844610676] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050269.845147939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050269.845861790] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050269.846904281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050269.848048052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050269.945544573] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050269.946195948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050269.947225770] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050269.948501126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050269.949002291] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050270.002616818] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904038 Long: -76.50276672 +[vectornav-1] [INFO] [1746050270.003664184] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.356, -0.788, 5.478) +[mux-7] [INFO] [1746050270.044864945] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050270.045586538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050270.046067246] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050270.047419860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050270.048451219] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050270.084994680] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050270.086970623] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050270.086987008] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050270.087864545] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050270.088486118] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050270.088821626] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050270.089701525] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050270.145114527] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050270.145634012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050270.146789041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050270.147733718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050270.148904819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050270.244878584] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050270.245604313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050270.246082334] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050270.247998179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050270.249189369] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050270.335363117] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050270.337863256] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050270.338624726] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746050270.339775076] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050270.339924594] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050270.340871970] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050270.341421455] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050270.344291947] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050270.344960871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050270.345443344] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050270.346650852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050270.347677868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050270.445092005] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050270.445639219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050270.446420736] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050270.447634557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050270.448679785] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050270.503805380] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904018 Long: -76.5027667 +[vectornav-1] [INFO] [1746050270.505183502] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.63, -0.196, 5.597) +[mux-7] [INFO] [1746050270.545002236] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050270.545648592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050270.546600258] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050270.547434308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050270.549344281] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050270.585254469] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050270.587097369] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050270.587582928] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050270.589019502] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050270.589123959] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050270.590017590] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050270.590909346] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050270.645651549] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050270.646402234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050270.647381330] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050270.649174076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050270.651222342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050270.745434551] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050270.746086098] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050270.747486830] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050270.748381612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050270.749611688] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050270.835390918] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050270.837350127] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050270.838063829] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050270.839186608] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050270.840088348] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050270.840195584] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050270.841020851] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050270.844330279] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050270.844851857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050270.845454099] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050270.846597631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050270.847757409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050270.945496090] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050270.946470035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050270.947648435] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050270.948014614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050270.948485627] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050271.002562369] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904025 Long: -76.50276682 +[vectornav-1] [INFO] [1746050271.003591933] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.66100000000006, -0.222, 6.092) +[mux-7] [INFO] [1746050271.045218646] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050271.045949425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050271.046800900] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050271.048076565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050271.049147055] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050271.085233208] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050271.087039224] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050271.087400983] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050271.088000824] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050271.088980105] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050271.089397919] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050271.089933697] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050271.145129434] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050271.146009369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050271.147027362] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050271.148280714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050271.149353245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050271.245066277] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050271.245906519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050271.246719605] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050271.247705432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050271.248235294] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050271.335491452] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050271.338106233] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050271.338439994] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746050271.338850930] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050271.338885850] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050271.339281451] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050271.339716352] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050271.344389951] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050271.345006701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050271.345432480] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050271.346823986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050271.347844599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050271.445097574] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050271.445764113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050271.446957826] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050271.447567038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050271.448017092] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050271.503587474] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904026 Long: -76.50276695 +[vectornav-1] [INFO] [1746050271.505127684] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.78200000000004, -0.597, 5.048) +[mux-7] [INFO] [1746050271.544868360] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050271.545629337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050271.546541077] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050271.547406534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050271.548562444] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050271.585501727] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050271.587986670] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050271.589182115] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746050271.589300017] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050271.590148906] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050271.591268127] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050271.592178118] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050271.645234104] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050271.646162028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050271.647077442] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050271.648655736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050271.649721017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050271.745628723] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050271.746634075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050271.747264407] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050271.749228367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050271.750314719] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050271.835242806] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050271.837833880] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050271.837994687] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050271.838851596] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050271.839078610] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050271.839819540] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050271.840731058] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050271.844425085] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050271.844949649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050271.845550139] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050271.846605326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050271.848282707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050271.945443238] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050271.946218595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050271.947131545] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050271.948809397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050271.949869451] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050272.002540073] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904016 Long: -76.50276681 +[vectornav-1] [INFO] [1746050272.003549584] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.072, 0.141, 5.122) +[mux-7] [INFO] [1746050272.045261744] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050272.045907411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050272.047139846] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050272.049215211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050272.049852526] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050272.085520275] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050272.088034850] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050272.089272062] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050272.089468286] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050272.090765967] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050272.091661050] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050272.092544110] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050272.145363942] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050272.146120833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050272.147014850] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050272.148590381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050272.149741934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050272.245672010] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050272.246210648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050272.247847733] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050272.248624068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050272.249987400] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050272.335732300] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050272.338737702] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050272.339190861] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050272.339214312] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050272.339690933] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050272.340083188] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050272.340448931] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050272.344438072] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050272.344947225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050272.345973158] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050272.346664781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050272.347879407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050272.445892773] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050272.446696706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050272.447649800] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050272.448210978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050272.448748609] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050272.503482727] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904019 Long: -76.50276659 +[vectornav-1] [INFO] [1746050272.505575619] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.42499999999995, -0.721, 5.2) +[teensy-2] [INFO] [1746050272.545849528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050272.546080940] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050272.547455413] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050272.547872252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050272.549009415] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050272.585373401] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050272.587167690] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050272.587705026] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050272.588131613] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050272.589102586] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050272.589608008] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050272.590100849] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050272.645205428] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050272.645874938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050272.647021392] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050272.648637345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050272.649784172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050272.745255738] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050272.746081864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050272.747303844] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050272.748497875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050272.749665384] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050272.835486393] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050272.837593353] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050272.838570849] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050272.838621562] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050272.839537918] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050272.839641808] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050272.840472133] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050272.844360792] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050272.845139776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050272.845527637] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050272.846999094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050272.848232887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050272.945779881] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050272.946516972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050272.947909088] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050272.948724115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050272.949175035] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050273.002327030] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904015 Long: -76.50276643 +[vectornav-1] [INFO] [1746050273.003296959] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.25400000000002, -0.153, 5.015) +[mux-7] [INFO] [1746050273.044832503] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050273.045592433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050273.046189335] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050273.047599119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050273.048616456] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050273.085245911] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050273.087133861] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050273.087800448] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050273.088127511] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050273.088885346] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050273.089073116] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050273.089959576] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050273.145233654] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050273.146129347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050273.146705409] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050273.148240343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050273.149278471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050273.245565337] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050273.246585251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050273.247325027] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050273.248564586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050273.249097909] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050273.335439139] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050273.337715689] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050273.337753538] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050273.338721635] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050273.339665829] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050273.339934424] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050273.340589779] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050273.344322917] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050273.345367367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050273.345513000] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050273.347273859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050273.348475575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050273.445562406] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050273.446462447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050273.447225646] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050273.449126340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050273.450415672] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050273.502298250] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904009 Long: -76.50276641 +[vectornav-1] [INFO] [1746050273.503266428] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.40599999999995, -0.026, 5.88) +[mux-7] [INFO] [1746050273.544946931] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050273.545622278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050273.546156335] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050273.547691036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050273.548771873] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050273.585396078] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050273.587193353] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050273.587671556] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050273.588171263] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050273.589067931] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050273.589430257] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050273.589965562] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050273.644999329] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050273.645680795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050273.646899205] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050273.647557117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050273.648646698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050273.745245414] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050273.745957493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050273.746789774] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050273.748184664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050273.749386309] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050273.835609510] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050273.838076409] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050273.838719983] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746050273.839394077] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050273.839696723] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050273.840778189] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050273.841669817] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050273.844446422] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050273.845035088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050273.845682110] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050273.846876996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050273.847900310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050273.945326141] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050273.946045766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050273.947431838] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050273.948240550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050273.949382254] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050274.003484806] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904013 Long: -76.50276629 +[vectornav-1] [INFO] [1746050274.004951366] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.77599999999995, -1.038, 5.225) +[mux-7] [INFO] [1746050274.045027410] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050274.045889887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050274.046357879] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050274.048175969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050274.049256278] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050274.085348883] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050274.087630022] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050274.087874046] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050274.088488687] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050274.088646018] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050274.089604131] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050274.090572325] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050274.145177402] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050274.145968748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050274.146661452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050274.148080511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050274.149254473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050274.245429676] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050274.246110653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050274.247019992] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050274.248538374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050274.249047646] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050274.335353047] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050274.337695405] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050274.338855401] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746050274.339359574] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050274.339934920] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050274.340884665] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050274.341957988] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050274.344322725] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050274.344735519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050274.345465734] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050274.346577024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050274.347644905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050274.445626364] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050274.446320791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050274.447456146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050274.448485689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050274.448945534] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050274.503829853] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904011 Long: -76.50276634 +[vectornav-1] [INFO] [1746050274.505579837] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.74599999999998, -0.026, 4.325) +[mux-7] [INFO] [1746050274.545159758] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050274.546085023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050274.546627250] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050274.548317359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050274.549363423] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050274.585277070] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050274.586949854] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050274.587440230] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050274.587844587] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050274.587888596] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050274.588826553] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050274.589742250] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050274.645264925] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050274.646310812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050274.647035380] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050274.648637961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050274.649745352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050274.745716921] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050274.746563389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050274.747580062] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050274.748946212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050274.750068060] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050274.835504688] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050274.837584329] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050274.838053344] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050274.838706063] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050274.839706894] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050274.840502375] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050274.840596991] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050274.844452539] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050274.845052042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050274.845646855] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050274.846957979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050274.848096433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050274.945278063] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050274.946289706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050274.946853835] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050274.948259511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050274.948706976] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050275.002497843] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904003 Long: -76.50276609 +[vectornav-1] [INFO] [1746050275.003554699] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.57899999999995, 0.021, 4.335) +[mux-7] [INFO] [1746050275.045148150] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050275.046145194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050275.046827898] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050275.048287560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050275.049292339] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050275.085423949] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050275.087674469] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050275.088412702] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050275.088686474] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050275.089088994] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050275.089624622] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050275.090543398] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050275.144898453] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050275.145559617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050275.146307424] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050275.147339830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050275.147997658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050275.245227017] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050275.245975479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050275.246676329] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050275.247836289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050275.248322442] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050275.335727724] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050275.338152367] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050275.339429815] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050275.340372994] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050275.341277717] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746050275.339879786] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050275.340076529] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050275.344351816] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050275.344876422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050275.345465586] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050275.346613978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050275.347657748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050275.445608303] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050275.446524683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050275.447043381] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050275.447939187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050275.448429464] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050275.503799199] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904004 Long: -76.50276593 +[vectornav-1] [INFO] [1746050275.505305113] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.36199999999997, -0.224, 4.8) +[mux-7] [INFO] [1746050275.545327436] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050275.546197192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050275.547341904] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050275.548695946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050275.549881672] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050275.585551400] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050275.587442612] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050275.588068939] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050275.588526584] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050275.589471612] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050275.590135307] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050275.590355537] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050275.645127106] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050275.646978543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050275.647335048] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050275.649010216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050275.649854617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050275.745610435] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050275.746573470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050275.747449124] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050275.749040246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050275.750193599] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050275.835433028] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050275.837239133] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050275.837743726] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050275.838291760] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050275.839240149] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050275.840017948] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050275.840179997] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050275.844406463] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050275.845135434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050275.845478484] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050275.846939766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050275.848019188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050275.945145291] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050275.946226310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050275.946718553] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050275.947830403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050275.948291378] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050276.002391394] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903982 Long: -76.50276578 +[vectornav-1] [INFO] [1746050276.003485294] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.20399999999995, -1.417, 4.598) +[mux-7] [INFO] [1746050276.044899060] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050276.045642772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050276.046142499] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050276.047568062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050276.048569971] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050276.085374831] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050276.087104733] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050276.088036928] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050276.088293856] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050276.088985026] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050276.089623051] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050276.089905479] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050276.145382240] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050276.146276202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050276.146811105] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050276.148353102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050276.149782330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050276.245204224] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050276.245771770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050276.246589420] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050276.247663727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050276.248979735] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050276.335480663] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050276.337437179] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050276.338164330] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050276.338470449] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050276.339386631] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050276.339910551] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050276.340336468] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050276.344354015] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050276.345123745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050276.345448628] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050276.346842913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050276.347967212] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050276.445191089] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050276.446127058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050276.446656081] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050276.448192582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050276.449342628] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050276.503015400] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690398 Long: -76.50276558 +[vectornav-1] [INFO] [1746050276.504196538] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.54099999999994, 1.097, 4.328) +[mux-7] [INFO] [1746050276.545238255] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050276.546000607] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050276.546709785] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050276.548260362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050276.548742896] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050276.585495039] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050276.587823118] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050276.587958017] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050276.588941990] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050276.589277203] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050276.589807016] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050276.590700341] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050276.645265235] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050276.645908380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050276.647018325] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050276.648022692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050276.648679778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050276.745260575] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050276.745911622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050276.747742050] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050276.748452856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050276.748989865] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050276.835407429] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050276.837255102] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050276.837763054] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050276.838202878] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050276.839089286] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050276.839274833] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050276.839993235] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050276.844531087] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050276.844951163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050276.845664126] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050276.846680315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050276.847730179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050276.945521773] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050276.946256396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050276.947657742] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050276.948584980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050276.949405763] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050277.002460173] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903976 Long: -76.5027652 +[vectornav-1] [INFO] [1746050277.003557141] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.33000000000004, -1.192, 4.437) +[mux-7] [INFO] [1746050277.045428357] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050277.046139169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050277.047933990] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050277.048883428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050277.049485000] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050277.085591230] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050277.087910062] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050277.088779309] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746050277.089031273] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050277.089699245] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050277.090638156] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050277.091455631] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050277.145266284] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050277.146004287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050277.146835847] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050277.148082856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050277.149283632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050277.245329255] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050277.245904678] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050277.247451024] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050277.249127668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050277.250344544] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050277.335485407] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050277.337507423] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050277.337834006] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050277.338739394] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050277.339650893] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050277.340067257] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050277.340538407] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050277.344426298] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050277.344887925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050277.345547784] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050277.346540912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050277.347701124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050277.445333501] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050277.446002775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050277.446907531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050277.448094799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050277.449203427] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050277.503622222] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903977 Long: -76.50276518 +[vectornav-1] [INFO] [1746050277.505416986] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.21900000000005, -0.325, 4.618) +[mux-7] [INFO] [1746050277.544760746] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050277.545255993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050277.545964830] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050277.547011259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050277.548240505] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050277.585171916] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050277.586780295] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050277.588057599] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050277.587854076] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050277.588878130] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050277.589267135] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050277.590204102] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050277.645270494] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050277.646104937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050277.646826206] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050277.648279045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050277.649423975] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050277.745359721] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050277.745958558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050277.746935616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050277.748054734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050277.749260172] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050277.835439931] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050277.837269888] [sailbot.teensy]: Wind angle: 236 +[trim_sail-4] [INFO] [1746050277.837828755] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050277.839172344] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050277.839520561] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050277.840483055] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050277.841306267] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050277.844580391] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050277.845118146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050277.845693372] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050277.846941534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050277.847993159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050277.945151091] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050277.945772276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050277.946501869] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050277.947797235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050277.948906070] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050278.002323662] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903982 Long: -76.50276527 +[vectornav-1] [INFO] [1746050278.003328155] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.83899999999994, -0.323, 5.444) +[mux-7] [INFO] [1746050278.045332192] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050278.045996354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050278.046827675] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050278.048315727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050278.048826353] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050278.085387095] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050278.087337919] [sailbot.teensy]: Wind angle: 236 +[trim_sail-4] [INFO] [1746050278.087717716] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050278.088744509] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050278.089189344] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050278.090034995] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050278.090904353] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050278.145414501] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050278.146245615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050278.147127973] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050278.148510953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050278.149039040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050278.245021908] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050278.245845510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050278.246374770] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050278.247859132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050278.248752877] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050278.335666218] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050278.337886681] [sailbot.teensy]: Wind angle: 236 +[teensy-2] [INFO] [1746050278.338902188] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050278.338719776] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050278.339033929] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050278.339286086] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050278.339673770] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050278.344434174] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050278.345307058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050278.345928918] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050278.347097345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050278.348286671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050278.445270339] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050278.446241383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050278.446735790] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050278.448291394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050278.449400354] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050278.503192371] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690398 Long: -76.50276509 +[vectornav-1] [INFO] [1746050278.504600317] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.25400000000002, -0.426, 4.133) +[mux-7] [INFO] [1746050278.544998961] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050278.545678834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050278.546445645] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050278.547738798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050278.548284234] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050278.585274351] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050278.587023736] [sailbot.teensy]: Wind angle: 236 +[trim_sail-4] [INFO] [1746050278.587669647] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050278.588777302] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050278.588881413] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050278.589932795] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050278.590952018] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050278.645005239] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050278.645637535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050278.646625860] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050278.647586523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050278.648685577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050278.745071735] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050278.745782128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050278.746517117] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050278.747725356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050278.748797612] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050278.835440356] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050278.837795584] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050278.838257520] [sailbot.teensy]: Wind angle: 236 +[mux-7] [INFO] [1746050278.839132741] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050278.839476846] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050278.840459179] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050278.840916392] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050278.844472562] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050278.844925187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050278.846650510] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050278.846719638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050278.848113294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050278.945530205] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050278.946240714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050278.948006029] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050278.948646207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050278.949644118] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050279.004063526] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903959 Long: -76.50276502 +[vectornav-1] [INFO] [1746050279.005330375] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.029, 0.714, 4.064) +[mux-7] [INFO] [1746050279.044948212] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050279.045561967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050279.046271678] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050279.047471671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050279.048456111] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050279.085363303] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050279.087200053] [sailbot.teensy]: Wind angle: 236 +[trim_sail-4] [INFO] [1746050279.087755361] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050279.088170469] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050279.089070882] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050279.089457549] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050279.090117575] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050279.145575638] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050279.146148312] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050279.147337254] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050279.148647046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050279.149865306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050279.245344548] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050279.246126975] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050279.246909894] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050279.248489928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050279.249636924] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050279.335306218] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050279.337333679] [sailbot.teensy]: Wind angle: 237 +[teensy-2] [INFO] [1746050279.338402141] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050279.338657908] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050279.339307989] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050279.339368931] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050279.339844153] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050279.344523360] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050279.345177274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050279.345804679] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050279.346929520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050279.347952306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050279.445378889] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050279.445918337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050279.446968715] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050279.447954866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050279.449065819] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050279.502481611] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690395 Long: -76.50276475 +[vectornav-1] [INFO] [1746050279.503759742] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.13300000000004, -1.762, 4.57) +[mux-7] [INFO] [1746050279.545183536] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050279.545746527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050279.546631950] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050279.547816166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050279.549117278] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050279.585193462] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050279.586820141] [sailbot.teensy]: Wind angle: 236 +[teensy-2] [INFO] [1746050279.587713467] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050279.587366231] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050279.587969296] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050279.588616280] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050279.589508089] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050279.645142386] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050279.645730068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050279.646820919] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050279.647595660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050279.648829188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050279.745601837] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050279.746355588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050279.747259074] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050279.748562631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050279.749867880] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050279.835602957] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050279.838191965] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050279.839177658] [sailbot.teensy]: Wind angle: 236 +[mux-7] [INFO] [1746050279.839805070] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050279.840190268] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050279.841233874] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050279.842178693] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050279.844831950] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050279.845210331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050279.846107746] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050279.846961758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050279.848174994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050279.945356950] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050279.945972659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050279.947053713] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050279.948202362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050279.948858154] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050280.003352535] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903947 Long: -76.50276498 +[vectornav-1] [INFO] [1746050280.004905603] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.30399999999997, -0.433, 4.365) +[mux-7] [INFO] [1746050280.045064733] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050280.045860700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050280.046458148] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050280.047765700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050280.048838692] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050280.085612707] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050280.088394252] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050280.089082303] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050280.089520516] [sailbot.teensy]: Wind angle: 237 +[teensy-2] [INFO] [1746050280.090452889] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050280.091322062] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050280.092122603] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050280.144883675] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050280.145717730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050280.146141040] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050280.147680493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050280.148808917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050280.245340625] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050280.245942998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050280.246969859] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050280.248147031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050280.249384017] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050280.335637155] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050280.337634268] [sailbot.teensy]: Wind angle: 237 +[trim_sail-4] [INFO] [1746050280.338409029] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050280.338663161] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050280.339579202] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050280.340001896] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050280.340541396] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050280.344537056] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050280.345263163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050280.345703581] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050280.346959407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050280.348116609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050280.445471829] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050280.446214858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050280.447070221] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050280.449987259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050280.451196618] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050280.503479968] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903921 Long: -76.50276506 +[vectornav-1] [INFO] [1746050280.505062057] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.211, -0.399, 3.807) +[mux-7] [INFO] [1746050280.545412416] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050280.546100053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050280.546945704] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050280.548239631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050280.549456236] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050280.585465143] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050280.587257742] [sailbot.teensy]: Wind angle: 239 +[teensy-2] [INFO] [1746050280.588231728] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050280.587828257] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050280.589150552] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050280.589527558] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050280.590010425] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050280.645403686] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050280.646194178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050280.646987475] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050280.648324028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050280.649408342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050280.745446983] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050280.746388466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050280.747068744] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050280.748769407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050280.749291048] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050280.835253067] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050280.837514814] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050280.837636417] [sailbot.teensy]: Wind angle: 240 +[teensy-2] [INFO] [1746050280.838594945] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050280.838858617] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050280.839496348] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050280.840197834] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050280.844416278] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050280.845052957] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050280.845600246] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050280.846911179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050280.847918831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050280.944936586] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050280.945616360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050280.946209265] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050280.947440509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050280.948577489] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050281.002359529] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903904 Long: -76.50276549 +[vectornav-1] [INFO] [1746050281.003391577] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.33100000000002, -0.364, 4.544) +[mux-7] [INFO] [1746050281.045312343] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050281.045805203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050281.046749223] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050281.047761768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050281.048932184] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050281.085542732] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050281.088413396] [sailbot.teensy]: Wind angle: 240 +[trim_sail-4] [INFO] [1746050281.088409539] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050281.089388771] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050281.090649889] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050281.091575099] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050281.092459452] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050281.145211985] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050281.146122505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050281.146898187] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050281.148518338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050281.149583291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050281.245440914] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050281.246171308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050281.247056209] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050281.248732800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050281.249810506] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050281.335352721] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050281.337369890] [sailbot.teensy]: Wind angle: 240 +[trim_sail-4] [INFO] [1746050281.337910646] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050281.338354025] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050281.338978797] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050281.339281910] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050281.340212279] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050281.344280381] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050281.344801633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050281.345418090] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050281.346620805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050281.347645301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050281.445372401] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050281.446245901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050281.446824449] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050281.448334370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050281.448912255] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050281.503115966] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903913 Long: -76.50276604 +[vectornav-1] [INFO] [1746050281.504556719] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.39599999999996, -0.811, 4.919) +[mux-7] [INFO] [1746050281.545597468] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050281.546231409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050281.547338172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050281.548716870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050281.549842173] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050281.585280209] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050281.587241404] [sailbot.teensy]: Wind angle: 240 +[trim_sail-4] [INFO] [1746050281.587681109] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050281.588146178] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050281.588614342] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050281.589221033] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050281.590095850] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050281.645212072] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050281.645868352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050281.646828329] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050281.648086116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050281.649167969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050281.745488821] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050281.746492418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050281.747339144] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050281.748762487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050281.749969393] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050281.835468245] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050281.837260871] [sailbot.teensy]: Wind angle: 242 +[trim_sail-4] [INFO] [1746050281.838057820] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050281.838211925] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050281.839092135] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050281.839124229] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050281.839981990] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050281.844478911] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050281.845225727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050281.845864847] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050281.846996509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050281.848135035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050281.945314314] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050281.946063797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050281.946807863] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050281.948284044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050281.948852903] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050282.003133150] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903969 Long: -76.50276693 +[vectornav-1] [INFO] [1746050282.004661435] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.861, -0.109, 5.062) +[mux-7] [INFO] [1746050282.044920129] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050282.045669545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050282.046157794] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050282.047716320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050282.048541803] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050282.085396251] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050282.087214705] [sailbot.teensy]: Wind angle: 243 +[trim_sail-4] [INFO] [1746050282.088108757] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050282.088213404] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050282.089100312] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050282.089127844] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050282.090039232] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050282.145440738] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050282.146160878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050282.148577824] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050282.148758243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050282.149990432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050282.245512631] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050282.246268429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050282.247126013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050282.248593428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050282.249281499] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050282.335413269] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050282.337244408] [sailbot.teensy]: Wind angle: 243 +[trim_sail-4] [INFO] [1746050282.337816612] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050282.338194832] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050282.339070750] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050282.339189365] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050282.339932527] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050282.344640046] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050282.345171126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050282.345782568] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050282.346870056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050282.347923979] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050282.445230800] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050282.445941630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050282.446712760] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050282.448137045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050282.449346312] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050282.502621779] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903974 Long: -76.50276717 +[vectornav-1] [INFO] [1746050282.503793765] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.04600000000005, -0.711, 5.754) +[mux-7] [INFO] [1746050282.545086337] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050282.545781351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050282.546465642] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050282.548080941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050282.549212876] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050282.585748022] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050282.587989796] [sailbot.teensy]: Wind angle: 243 +[trim_sail-4] [INFO] [1746050282.588533497] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050282.589133628] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050282.590091594] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050282.590731567] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050282.591040076] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050282.645484264] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050282.646100364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050282.647312898] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050282.648845639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050282.650117323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050282.745642937] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050282.746183350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050282.747331633] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050282.749841433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050282.751113619] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050282.835526804] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050282.838397079] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050282.838469599] [sailbot.teensy]: Wind angle: 243 +[mux-7] [INFO] [1746050282.839106437] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050282.839147967] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050282.839547142] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050282.839941587] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050282.844642631] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050282.845200527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050282.845855497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050282.847052995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050282.848258632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050282.945443611] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050282.946098206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050282.947064042] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050282.948714149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050282.949923195] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050283.002492141] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903961 Long: -76.50276729 +[vectornav-1] [INFO] [1746050283.003556027] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.798, -0.813, 5.173) +[mux-7] [INFO] [1746050283.045342087] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050283.045974552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050283.046944208] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050283.048114901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050283.049336072] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050283.085837613] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050283.088834210] [sailbot.teensy]: Wind angle: 243 +[teensy-2] [INFO] [1746050283.089856764] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050283.088838312] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050283.089921891] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050283.090813737] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050283.091750069] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050283.145666465] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050283.145834617] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050283.149021481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746050283.149036318] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050283.151393879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050283.245057531] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050283.245800473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050283.246724837] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050283.247686663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050283.248816564] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050283.335159019] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050283.336786098] [sailbot.teensy]: Wind angle: 243 +[trim_sail-4] [INFO] [1746050283.337239866] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050283.337693949] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050283.338562002] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050283.339209713] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050283.339485145] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050283.344296502] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050283.344762575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050283.345375735] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050283.346375851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050283.347291037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050283.445470972] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050283.446465856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050283.447098064] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050283.448998880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050283.450102002] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050283.503508780] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903947 Long: -76.50276767 +[vectornav-1] [INFO] [1746050283.505185624] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.78600000000006, 0.044, 5.257) +[mux-7] [INFO] [1746050283.545031758] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050283.545773826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050283.546448692] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050283.547731170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050283.548893799] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050283.585202298] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050283.587446052] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050283.588057896] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050283.588219965] [sailbot.teensy]: Wind angle: 243 +[teensy-2] [INFO] [1746050283.589081218] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050283.589905241] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050283.590705931] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050283.645324050] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050283.645901097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050283.646768707] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050283.647920318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050283.649089740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050283.744964268] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050283.745598666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050283.746258607] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050283.747521889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050283.748584264] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050283.835380193] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050283.837784570] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050283.838863046] [sailbot.teensy]: Wind angle: 244 +[mux-7] [INFO] [1746050283.839112702] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050283.839837939] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050283.840802032] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050283.841681503] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050283.844350765] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050283.844775819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050283.845473911] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050283.846477996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050283.847483075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050283.945223459] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050283.945901241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050283.946994561] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050283.948030532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050283.948537180] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050284.003280335] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903937 Long: -76.50276774 +[vectornav-1] [INFO] [1746050284.004662880] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.78600000000006, -1.202, 5.088) +[mux-7] [INFO] [1746050284.044889139] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050284.045470363] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050284.046231903] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050284.047227803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050284.048362967] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050284.085343995] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050284.087377177] [sailbot.teensy]: Wind angle: 244 +[trim_sail-4] [INFO] [1746050284.087503477] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050284.088388863] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050284.089125701] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050284.089273956] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050284.090569144] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050284.145051844] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050284.145956024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050284.146738383] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050284.147880543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050284.149072153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050284.244902064] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050284.245730058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050284.246187227] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050284.247558722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050284.248792534] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050284.335345901] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050284.337410581] [sailbot.teensy]: Wind angle: 244 +[teensy-2] [INFO] [1746050284.338359251] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050284.337543266] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050284.339102099] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050284.339227192] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050284.340116983] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050284.344403787] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050284.344963425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050284.345519236] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050284.346676263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050284.347898620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050284.445332292] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050284.446625189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050284.446923824] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050284.448079248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050284.448523231] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050284.502371652] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903932 Long: -76.50276802 +[vectornav-1] [INFO] [1746050284.503478879] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.582, 0.112, 4.354) +[mux-7] [INFO] [1746050284.544865699] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050284.545758506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050284.546135807] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050284.547708331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050284.548715923] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050284.585576956] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050284.588216273] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050284.588877898] [sailbot.teensy]: Wind angle: 244 +[mux-7] [INFO] [1746050284.589266495] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050284.589864611] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050284.590760257] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050284.591632894] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050284.645169371] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050284.645937626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050284.646780586] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050284.649667138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050284.650792896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050284.745434677] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050284.746288613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050284.747029762] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050284.748565615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050284.749071922] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050284.835530138] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050284.837801212] [sailbot.teensy]: Wind angle: 244 +[trim_sail-4] [INFO] [1746050284.838169943] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050284.838823319] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050284.839700374] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050284.839717438] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050284.840629135] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050284.844512926] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050284.844890410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050284.845607371] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050284.846560839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050284.847638111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050284.945452043] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050284.946165913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050284.947205431] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050284.948534299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050284.949661636] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050285.002455821] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903916 Long: -76.50276823 +[vectornav-1] [INFO] [1746050285.003843285] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.00300000000004, -0.471, 4.831) +[mux-7] [INFO] [1746050285.045388258] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050285.046145906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050285.046870729] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050285.048385103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050285.049511796] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050285.085593698] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050285.088214602] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050285.088522693] [sailbot.teensy]: Wind angle: 244 +[teensy-2] [INFO] [1746050285.089466210] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050285.089648459] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050285.090363552] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050285.091447196] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050285.145552044] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050285.146043513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050285.146813269] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050285.148693810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050285.149769265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050285.245020791] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050285.245596936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050285.246353573] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050285.247420352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050285.248467267] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050285.335571217] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050285.337999952] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050285.338684508] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050285.339636093] [sailbot.teensy]: Wind angle: 244 +[teensy-2] [INFO] [1746050285.340623775] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050285.341527049] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050285.342337939] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050285.344435262] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050285.344870136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050285.345456800] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050285.346422963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050285.347557470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050285.445603095] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050285.446258692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050285.447351553] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050285.450518718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050285.451708055] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050285.503978450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903919 Long: -76.50276843 +[vectornav-1] [INFO] [1746050285.505690122] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.65800000000002, -1.085, 4.871) +[mux-7] [INFO] [1746050285.544884055] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050285.545396237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050285.546089129] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050285.547142507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050285.548310375] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050285.585411771] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050285.587277731] [sailbot.teensy]: Wind angle: 244 +[trim_sail-4] [INFO] [1746050285.587802771] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050285.588254005] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050285.589140780] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050285.589217023] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050285.590116105] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050285.645126533] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050285.645934259] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050285.646805573] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050285.647885360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050285.649079163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050285.745274469] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050285.747017240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050285.747229894] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050285.748962302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050285.750095417] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050285.835369271] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050285.837279980] [sailbot.teensy]: Wind angle: 244 +[trim_sail-4] [INFO] [1746050285.837922785] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050285.838250818] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050285.839158006] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050285.840020089] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050285.840237981] [sailbot.mux]: algo sail angle: 15 +[mux-7] [INFO] [1746050285.844328332] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050285.845091038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050285.845459372] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050285.846867739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050285.848001974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050285.945187979] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050285.946131391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050285.946740489] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050285.947848091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050285.948342209] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050286.003724118] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903924 Long: -76.5027687 +[vectornav-1] [INFO] [1746050286.006238828] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.87199999999996, 0.831, 3.85) +[mux-7] [INFO] [1746050286.045067925] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050286.046007773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050286.046574410] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050286.048208553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050286.049240834] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050286.085349193] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050286.087771587] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050286.087812877] [sailbot.teensy]: Wind angle: 245 +[mux-7] [INFO] [1746050286.088309720] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050286.088779182] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050286.089695659] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050286.090520291] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050286.145243917] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050286.146030656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050286.146787523] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050286.148197388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050286.149389354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050286.245270164] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050286.246063201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050286.246765229] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050286.248189576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050286.249389759] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050286.335512063] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050286.337398133] [sailbot.teensy]: Wind angle: 245 +[trim_sail-4] [INFO] [1746050286.337881585] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050286.338309060] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050286.338387122] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050286.339216139] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050286.340146975] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050286.344400737] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050286.345044240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050286.345551468] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050286.346848913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050286.348056042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050286.445507340] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050286.446312036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050286.447494289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050286.448647167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050286.449843829] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050286.502622406] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903917 Long: -76.50276875 +[vectornav-1] [INFO] [1746050286.503773373] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.38699999999994, -0.48, 3.968) +[mux-7] [INFO] [1746050286.544999872] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050286.545777633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050286.546619518] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050286.547705835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050286.548944833] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050286.585770827] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050286.588203154] [sailbot.teensy]: Wind angle: 244 +[trim_sail-4] [INFO] [1746050286.588656537] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050286.589329371] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050286.590339753] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050286.590798828] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050286.591235253] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050286.645199942] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050286.645871148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050286.646745736] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050286.648004567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050286.648545495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050286.745442054] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050286.746224620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050286.747085107] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050286.748099877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050286.748574065] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050286.835714666] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050286.838020168] [sailbot.teensy]: Wind angle: 244 +[trim_sail-4] [INFO] [1746050286.838879518] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050286.839130203] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050286.839835554] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050286.840081486] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050286.841032902] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050286.844266292] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050286.845096822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050286.845402014] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050286.846764193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050286.847789141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050286.945288000] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050286.946019791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050286.946880408] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050286.948215459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050286.949416483] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050287.003306553] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903908 Long: -76.50276897 +[vectornav-1] [INFO] [1746050287.004631825] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.27599999999995, -1.152, 4.65) +[mux-7] [INFO] [1746050287.045044208] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050287.045804267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050287.046475372] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050287.047800202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050287.048899243] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050287.085552916] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050287.087461499] [sailbot.teensy]: Wind angle: 245 +[teensy-2] [INFO] [1746050287.088436810] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050287.088213517] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050287.088839662] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050287.089333768] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050287.090225128] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050287.144888475] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050287.145694121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050287.146552498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050287.147482917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050287.148537163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050287.245129231] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050287.245879688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050287.246670025] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050287.247912088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050287.248480850] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050287.335458712] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050287.337353306] [sailbot.teensy]: Wind angle: 244 +[trim_sail-4] [INFO] [1746050287.337906936] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050287.338343727] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050287.339278475] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050287.340138652] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050287.340173738] [sailbot.mux]: algo sail angle: 15 +[mux-7] [INFO] [1746050287.344281061] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050287.345119846] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050287.345400002] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050287.346985113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050287.348062057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050287.445589929] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050287.446742954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050287.447209355] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050287.449067485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050287.450294017] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050287.502753463] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903926 Long: -76.50276933 +[vectornav-1] [INFO] [1746050287.504314612] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.399, -0.072, 3.703) +[mux-7] [INFO] [1746050287.545361203] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050287.546617923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050287.546963929] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050287.548895244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050287.549923711] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050287.585476150] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050287.587576833] [sailbot.teensy]: Wind angle: 245 +[trim_sail-4] [INFO] [1746050287.588413689] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050287.588584428] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050287.589115363] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050287.589607149] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050287.590578897] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050287.645249480] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050287.646436988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050287.646869065] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050287.648560008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050287.649699786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050287.745294299] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050287.745959840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050287.746819727] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050287.748096940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050287.749201234] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050287.835414583] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050287.837670862] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050287.838033965] [sailbot.teensy]: Wind angle: 245 +[teensy-2] [INFO] [1746050287.839037721] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050287.839433352] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050287.839998258] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050287.840936923] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050287.844544797] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050287.845094943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050287.845640807] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050287.846850094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050287.847930269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050287.945495272] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050287.946319951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050287.947123285] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050287.948852865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050287.949464051] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050288.003569666] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903907 Long: -76.50276967 +[vectornav-1] [INFO] [1746050288.005331902] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.64700000000005, 0.639, 4.846) +[mux-7] [INFO] [1746050288.045014826] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050288.045681657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050288.046287273] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050288.047609687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050288.048635874] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050288.085441732] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050288.087286320] [sailbot.teensy]: Wind angle: 245 +[trim_sail-4] [INFO] [1746050288.087940494] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050288.088296305] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050288.089230366] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050288.089785379] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050288.090104061] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050288.145219649] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050288.146066574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050288.146837491] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050288.148204227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050288.148762128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050288.245220510] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050288.245914084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050288.246727687] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050288.249039470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050288.250145083] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050288.335744658] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050288.338251363] [sailbot.teensy]: Wind angle: 245 +[trim_sail-4] [INFO] [1746050288.338475236] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050288.338730580] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050288.338695047] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050288.339096089] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050288.339451796] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050288.344486363] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050288.345172160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050288.346051665] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050288.347025567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050288.348213144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050288.445655619] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050288.446220676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050288.447463172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050288.448792506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050288.450039597] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050288.503717530] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903923 Long: -76.50277 +[vectornav-1] [INFO] [1746050288.505437888] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.76, -1.446, 5.495) +[mux-7] [INFO] [1746050288.545021620] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050288.545980339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050288.546659579] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050288.548961703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050288.550116531] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050288.585300532] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050288.587508032] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050288.588349868] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050288.588630301] [sailbot.teensy]: Wind angle: 245 +[teensy-2] [INFO] [1746050288.589769918] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050288.590625312] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050288.591482018] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050288.645057688] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050288.645774870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050288.646417833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050288.647866996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050288.648949083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050288.745186436] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050288.745862341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050288.746711739] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050288.747856025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050288.748796617] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050288.835398153] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050288.837834965] [sailbot.teensy]: Wind angle: 246 +[trim_sail-4] [INFO] [1746050288.837830644] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050288.838869813] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050288.839298388] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050288.839752166] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050288.840673708] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050288.844327352] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050288.845041633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050288.845435887] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050288.846848832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050288.847872398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050288.944916857] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050288.945594027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050288.946143239] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050288.947435859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050288.948505535] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050289.003828033] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903911 Long: -76.50277032 +[vectornav-1] [INFO] [1746050289.005874516] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.82899999999995, 0.507, 6.037) +[mux-7] [INFO] [1746050289.045133470] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050289.045885287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050289.046583843] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050289.048759733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050289.051409334] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050289.085494304] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050289.087744447] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050289.088340838] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050289.089356892] [sailbot.teensy]: Wind angle: 246 +[teensy-2] [INFO] [1746050289.090281806] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050289.091139151] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050289.091958950] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050289.145333618] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050289.146082763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050289.146962169] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050289.148346389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050289.149514393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050289.245196052] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050289.245871034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050289.246716196] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050289.247831937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050289.249105886] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050289.335489604] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050289.337402560] [sailbot.teensy]: Wind angle: 246 +[teensy-2] [INFO] [1746050289.337813542] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050289.337633814] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050289.338026777] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050289.338194152] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050289.338563075] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050289.344497960] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050289.345122056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050289.346003520] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050289.347100445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050289.348214605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050289.445063977] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050289.445818934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050289.446452281] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050289.447665769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050289.448456064] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050289.503379321] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903907 Long: -76.50277018 +[vectornav-1] [INFO] [1746050289.504743123] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.13300000000004, -0.81, 6.104) +[mux-7] [INFO] [1746050289.545035236] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050289.545628337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050289.546411653] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050289.547632649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050289.548776789] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050289.585392194] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050289.587101909] [sailbot.teensy]: Wind angle: 246 +[teensy-2] [INFO] [1746050289.588017862] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050289.587638308] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050289.588614141] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050289.588924812] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050289.589836930] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050289.645309980] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050289.646266266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050289.647381235] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050289.648576616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050289.650612206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050289.745316271] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050289.745970141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050289.746845887] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050289.747999452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050289.748595677] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050289.835245536] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050289.836995611] [sailbot.teensy]: Wind angle: 246 +[trim_sail-4] [INFO] [1746050289.838061568] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050289.838317887] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050289.839266146] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050289.839393208] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050289.840174811] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050289.844439352] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050289.845071705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050289.845576830] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050289.846848991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050289.847963437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050289.945291773] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050289.945992991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050289.946811012] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050289.948552079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050289.949772741] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050290.003669226] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903923 Long: -76.50277007 +[vectornav-1] [INFO] [1746050290.005553861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.55500000000006, 0.161, 5.093) +[mux-7] [INFO] [1746050290.045087311] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050290.045938802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050290.046529705] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050290.047926798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050290.048933688] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050290.085479193] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050290.087931047] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050290.088259134] [sailbot.teensy]: Wind angle: 246 +[teensy-2] [INFO] [1746050290.089257033] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050290.089934537] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050290.090214496] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050290.091110996] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050290.144629810] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050290.145244344] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050290.146128213] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050290.147112794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050290.148118364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050290.245042724] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050290.245822630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050290.246323408] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050290.247734897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050290.248792057] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050290.335763540] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050290.337919156] [sailbot.teensy]: Wind angle: 246 +[trim_sail-4] [INFO] [1746050290.338425228] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050290.338992241] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050290.339953000] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050290.340254418] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050290.340869926] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050290.344267917] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050290.344761427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050290.345334176] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050290.346437387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050290.347480645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050290.446118002] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050290.446350024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050290.448398735] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050290.448753226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050290.450060879] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050290.503166806] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903913 Long: -76.50276986 +[vectornav-1] [INFO] [1746050290.504595150] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.36699999999996, -0.669, 5.49) +[mux-7] [INFO] [1746050290.545173120] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050290.546112888] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050290.546917146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050290.548076839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050290.549297261] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050290.585376278] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050290.587662285] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050290.588068278] [sailbot.teensy]: Wind angle: 246 +[teensy-2] [INFO] [1746050290.589051448] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050290.588273252] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050290.589922014] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050290.590762230] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050290.645313499] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050290.646042109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050290.647122733] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050290.648016509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050290.648560872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050290.745354621] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050290.746076746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050290.746875661] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050290.748133375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050290.748699990] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050290.835149219] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050290.836760443] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050290.837729261] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050290.838091961] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050290.838474000] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050290.838562396] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050290.839418591] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050290.844628347] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050290.845180048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050290.845883668] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050290.846957333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050290.848253147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050290.944972459] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050290.945594544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050290.946439644] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050290.947458117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050290.948585287] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050291.003162786] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903915 Long: -76.50276985 +[vectornav-1] [INFO] [1746050291.004608699] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.00900000000001, -0.601, 4.926) +[mux-7] [INFO] [1746050291.044834991] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050291.045429816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050291.046073057] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050291.047195205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050291.048192314] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050291.085193059] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050291.087372884] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050291.087843360] [sailbot.teensy]: Wind angle: 249 +[mux-7] [INFO] [1746050291.088442091] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050291.088873087] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050291.089769858] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050291.090661137] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050291.145069950] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050291.146068000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050291.146509560] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050291.148034594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050291.149040560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050291.244855400] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050291.245445177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050291.246018590] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050291.247203575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050291.248297373] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050291.335316722] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050291.337062927] [sailbot.teensy]: Wind angle: 251 +[teensy-2] [INFO] [1746050291.337994452] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050291.338077284] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050291.338829829] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050291.338919982] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050291.339230236] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050291.344335901] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050291.344950468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050291.345454263] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050291.346564741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050291.347718353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050291.445319706] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050291.445980198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050291.446985659] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050291.448177758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050291.449166235] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050291.502316337] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903922 Long: -76.50276997 +[vectornav-1] [INFO] [1746050291.503753587] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.99400000000003, -0.404, 4.264) +[mux-7] [INFO] [1746050291.545274585] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050291.546109600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050291.547062740] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050291.548549113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050291.549662807] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050291.585876214] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050291.588529910] [sailbot.teensy]: Wind angle: 251 +[trim_sail-4] [INFO] [1746050291.588735739] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050291.589670664] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050291.590527967] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050291.590587531] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050291.591515239] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050291.645129109] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050291.646054951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050291.646605793] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050291.648626417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050291.649689100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050291.745115247] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050291.746006012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050291.746647835] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050291.748063346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050291.748592007] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050291.835435047] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050291.837973961] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050291.837972836] [sailbot.teensy]: Wind angle: 252 +[teensy-2] [INFO] [1746050291.838983999] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050291.839771434] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050291.839907041] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050291.840549262] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050291.844331649] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050291.844947119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050291.845495231] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050291.846701646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050291.847926936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050291.944982508] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050291.945682460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050291.946273445] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050291.947876960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050291.948493764] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050292.002504652] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690393 Long: -76.50277011 +[vectornav-1] [INFO] [1746050292.003617910] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.053, 0.34, 4.493) +[mux-7] [INFO] [1746050292.045206263] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050292.046005072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050292.046619583] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050292.047981099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050292.048500635] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050292.085728374] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050292.087732817] [sailbot.teensy]: Wind angle: 252 +[teensy-2] [INFO] [1746050292.088795180] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050292.089070465] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050292.089711384] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050292.090592376] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050292.091070485] [sailbot.mux]: algo sail angle: 20 +[mux-7] [INFO] [1746050292.145159217] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050292.146293913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050292.146707925] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050292.148182351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050292.149239579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050292.245133467] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050292.245653260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050292.246663881] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050292.247736310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050292.248917654] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050292.335396930] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050292.337866201] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050292.338422729] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050292.338876717] [sailbot.teensy]: Wind angle: 252 +[teensy-2] [INFO] [1746050292.339949848] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050292.340625159] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050292.341010142] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050292.344610751] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050292.345058736] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050292.345821698] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050292.346888353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050292.347960783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050292.445280007] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050292.445967287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050292.446854898] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050292.448172175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050292.448691319] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050292.503479543] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903952 Long: -76.50277023 +[vectornav-1] [INFO] [1746050292.505241446] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.53700000000003, -1.165, 4.693) +[mux-7] [INFO] [1746050292.545305554] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050292.546183515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050292.546852887] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050292.548783820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050292.549948980] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050292.585414916] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050292.587880785] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050292.588250563] [sailbot.teensy]: Wind angle: 253 +[teensy-2] [INFO] [1746050292.589206310] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050292.589912633] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050292.590148431] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050292.591028505] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050292.645247051] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050292.646074330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050292.646793981] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050292.648292278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050292.649309132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050292.745061851] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050292.745945592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050292.746671325] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050292.747943602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050292.749025693] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050292.835409965] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050292.837310805] [sailbot.teensy]: Wind angle: 253 +[teensy-2] [INFO] [1746050292.838289725] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050292.837941903] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050292.838736469] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050292.838823426] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050292.839108771] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050292.844391399] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050292.844951346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050292.845678206] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050292.846942622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050292.847973611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050292.945368989] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050292.945964772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050292.947400840] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050292.949592990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050292.950740582] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050293.003264635] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903951 Long: -76.50277031 +[vectornav-1] [INFO] [1746050293.004588438] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.18100000000004, -0.162, 4.355) +[mux-7] [INFO] [1746050293.044994199] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050293.045693359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050293.046401589] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050293.047581923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050293.048614580] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050293.085336880] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050293.087275165] [sailbot.teensy]: Wind angle: 253 +[trim_sail-4] [INFO] [1746050293.087937736] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050293.088283082] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050293.089144426] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050293.089187229] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050293.090094183] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050293.145167982] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050293.145966160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050293.146683817] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050293.148107234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050293.148754216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050293.245092903] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050293.246310956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050293.246577783] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050293.248490180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050293.249545408] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050293.335286984] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050293.337614333] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050293.338153921] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050293.338627612] [sailbot.teensy]: Wind angle: 253 +[teensy-2] [INFO] [1746050293.339172480] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050293.339557380] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050293.339921190] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050293.344836931] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050293.345141044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050293.346020643] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050293.346831660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050293.347896321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050293.445628211] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050293.446107486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050293.447438734] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050293.448461618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050293.448977169] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050293.503063405] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903963 Long: -76.5027704 +[vectornav-1] [INFO] [1746050293.504257949] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.06600000000003, -0.236, 4.607) +[mux-7] [INFO] [1746050293.545141687] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050293.545730231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050293.546905998] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050293.548040244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050293.549053204] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050293.585395849] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050293.587655979] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050293.588445130] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050293.589115467] [sailbot.teensy]: Wind angle: 253 +[teensy-2] [INFO] [1746050293.590087079] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050293.590901262] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050293.591930463] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050293.645123987] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050293.645637912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050293.646710789] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050293.648269735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050293.649492403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050293.745024508] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050293.745702606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050293.746399864] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050293.747573359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050293.748742685] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050293.835521919] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050293.837701121] [sailbot.teensy]: Wind angle: 253 +[trim_sail-4] [INFO] [1746050293.837979682] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050293.838739902] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050293.839720815] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050293.840470869] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050293.840901507] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050293.844323395] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050293.844878555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050293.845423002] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050293.846641551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050293.847809625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050293.945312069] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050293.945960329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050293.947078156] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050293.948180002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050293.949276261] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050294.003225084] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903962 Long: -76.5027704 +[vectornav-1] [INFO] [1746050294.005153280] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.99099999999999, -0.455, 4.407) +[mux-7] [INFO] [1746050294.045104790] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050294.045656179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050294.046413223] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050294.047569949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050294.048747648] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050294.085399662] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050294.087154257] [sailbot.teensy]: Wind angle: 253 +[teensy-2] [INFO] [1746050294.088061453] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050294.087879731] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050294.088952017] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050294.089446568] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050294.089912226] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050294.145144184] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050294.145928679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050294.147018337] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050294.148503575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050294.149098609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050294.245049499] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050294.245686863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050294.246914054] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050294.247677946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050294.248383543] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050294.335281248] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050294.340330882] [sailbot.teensy]: Wind angle: 256 +[trim_sail-4] [INFO] [1746050294.341000685] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050294.341224174] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050294.342059497] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050294.342090050] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050294.342887952] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050294.344377192] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050294.344628142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050294.344897574] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050294.345351572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050294.345897186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050294.445596689] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050294.446335294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050294.447237627] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050294.448596690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050294.449092151] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050294.502313975] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903961 Long: -76.50277064 +[vectornav-1] [INFO] [1746050294.503293046] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.481, -0.953, 3.162) +[mux-7] [INFO] [1746050294.545247377] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050294.546162408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050294.546922410] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050294.548569354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050294.549616944] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050294.585344540] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050294.587863366] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050294.587897933] [sailbot.teensy]: Wind angle: 262 +[teensy-2] [INFO] [1746050294.588870055] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050294.588919666] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050294.589810663] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050294.590679741] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050294.645145816] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050294.645744390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050294.646591464] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050294.647769685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050294.648861608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050294.745230241] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050294.745976820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050294.747225504] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050294.748073064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050294.748626269] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050294.835427251] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050294.837411214] [sailbot.teensy]: Wind angle: 273 +[teensy-2] [INFO] [1746050294.838383936] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050294.837975042] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050294.839275935] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050294.839881002] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050294.840179414] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050294.844541151] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050294.845069331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050294.845916319] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050294.846835809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050294.848676428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050294.945481998] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050294.946071400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050294.947091916] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050294.948683519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050294.949878760] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050295.002420776] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903965 Long: -76.50277132 +[vectornav-1] [INFO] [1746050295.003479046] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.84199999999998, -0.116, 3.245) +[mux-7] [INFO] [1746050295.045227542] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050295.045949727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050295.046778144] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050295.047949689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050295.049120237] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050295.085599561] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050295.088790896] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050295.088946702] [sailbot.teensy]: Wind angle: 287 +[teensy-2] [INFO] [1746050295.089893076] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050295.090248067] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050295.090786602] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050295.091672307] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050295.145221851] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050295.145790250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050295.146800694] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050295.147800722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050295.148884929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050295.245159524] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050295.245801390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050295.246610947] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050295.247796000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050295.248337087] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050295.335172677] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050295.337301208] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050295.338203300] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050295.338510841] [sailbot.teensy]: Wind angle: 294 +[teensy-2] [INFO] [1746050295.339536824] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050295.340588449] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050295.341470487] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050295.344335300] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050295.344942910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050295.345446954] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050295.346719827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050295.347706236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050295.445430466] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050295.446506833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050295.446998908] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050295.448524714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050295.449012643] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050295.503110538] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903958 Long: -76.50277185 +[vectornav-1] [INFO] [1746050295.504723392] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.44399999999996, -0.964, 2.892) +[mux-7] [INFO] [1746050295.545120659] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050295.545922202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050295.546550829] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050295.548008081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050295.549055807] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050295.585247179] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050295.587460115] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050295.587542545] [sailbot.teensy]: Wind angle: 295 +[teensy-2] [INFO] [1746050295.588508957] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050295.588724309] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050295.589481866] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050295.590369535] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050295.644964270] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050295.645657341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050295.646269044] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050295.647794336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050295.648885786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050295.745151343] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050295.746055296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050295.746632708] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050295.747856763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050295.748305713] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050295.835302888] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050295.837124814] [sailbot.teensy]: Wind angle: 295 +[trim_sail-4] [INFO] [1746050295.837959436] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050295.838911961] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050295.839785775] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050295.840752232] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050295.841699633] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050295.844598958] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050295.845042063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050295.845827485] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050295.846726696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050295.847857930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050295.945333069] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050295.946161701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050295.947158057] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050295.948575133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050295.949884840] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050296.002495012] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903964 Long: -76.50277223 +[vectornav-1] [INFO] [1746050296.003567598] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.09900000000005, -0.08, 1.847) +[mux-7] [INFO] [1746050296.045195755] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050296.046103626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050296.046746160] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050296.048306955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050296.049348619] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050296.085369886] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050296.087139653] [sailbot.teensy]: Wind angle: 294 +[trim_sail-4] [INFO] [1746050296.087840927] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050296.088076710] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050296.088959926] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050296.089146108] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050296.089912846] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050296.145269171] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050296.145989930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050296.147273119] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050296.148350054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050296.149604400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050296.245110436] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050296.246471106] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050296.248680495] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050296.250290528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050296.251207239] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050296.335459783] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050296.337953133] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050296.338793641] [sailbot.teensy]: Wind angle: 295 +[mux-7] [INFO] [1746050296.339502541] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050296.339580297] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050296.339985335] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050296.340437212] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050296.344510706] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050296.345002274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050296.345658849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050296.346706347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050296.347779887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050296.445591478] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050296.446256695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050296.447524859] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050296.448788356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050296.449854299] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050296.503142941] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903953 Long: -76.50277244 +[vectornav-1] [INFO] [1746050296.504459973] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.721, -0.838, 2.786) +[mux-7] [INFO] [1746050296.545200661] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050296.546280819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050296.546759016] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050296.548366172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050296.549526060] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050296.585288226] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050296.587990116] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050296.588011159] [sailbot.teensy]: Wind angle: 294 +[teensy-2] [INFO] [1746050296.588963752] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050296.589104237] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050296.589870709] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050296.590721816] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050296.644740135] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050296.645538293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050296.646336536] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050296.647428625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050296.648487423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050296.745178398] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050296.745944383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050296.746625074] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050296.748047182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050296.748647334] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050296.835410405] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050296.837453722] [sailbot.teensy]: Wind angle: 295 +[trim_sail-4] [INFO] [1746050296.837920760] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050296.838507529] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050296.839457489] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050296.839865112] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050296.840225989] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050296.844537154] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050296.845384634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050296.845821676] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050296.847877780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050296.849075279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050296.945283457] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050296.946531288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050296.946984286] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050296.948750509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050296.949794838] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050297.002574184] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903945 Long: -76.5027729 +[vectornav-1] [INFO] [1746050297.003602765] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.389, -0.414, 2.652) +[mux-7] [INFO] [1746050297.045848011] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050297.046556410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050297.047520796] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050297.048080055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050297.048643414] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050297.085374383] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050297.087608657] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050297.088101643] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050297.088385259] [sailbot.teensy]: Wind angle: 295 +[teensy-2] [INFO] [1746050297.089274842] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050297.090196007] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050297.091076183] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050297.145237662] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050297.146268002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050297.147014256] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050297.148719447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050297.149754055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050297.244900383] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050297.245658226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050297.246121176] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050297.247839637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050297.248896355] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050297.335099333] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050297.337240743] [sailbot.teensy]: Wind angle: 294 +[trim_sail-4] [INFO] [1746050297.337266229] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050297.338262743] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050297.338466655] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050297.339263243] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050297.340427542] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050297.344353093] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050297.344817776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050297.345511718] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050297.346558446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050297.347730601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050297.445129176] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050297.446067335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050297.446650614] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050297.448415685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050297.449576097] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050297.503605138] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903952 Long: -76.50277354 +[vectornav-1] [INFO] [1746050297.505036011] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.71699999999998, 0.017, 2.808) +[mux-7] [INFO] [1746050297.545301065] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050297.546236585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050297.546908776] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050297.548412455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050297.549626069] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050297.585371289] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050297.587679222] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050297.588092259] [sailbot.teensy]: Wind angle: 295 +[mux-7] [INFO] [1746050297.588391994] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050297.589426880] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050297.590416998] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050297.591391652] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050297.644822188] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050297.645645581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050297.646245454] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050297.647654145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050297.648749108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050297.744755851] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050297.745474140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050297.745982583] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050297.747383005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050297.748401921] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050297.835365011] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050297.837163553] [sailbot.teensy]: Wind angle: 295 +[teensy-2] [INFO] [1746050297.838125535] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050297.838438986] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050297.838942051] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050297.839060962] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050297.839847235] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050297.844344010] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050297.844817215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050297.845512779] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050297.846956111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050297.848053526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050297.945102076] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050297.945940436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050297.946933146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050297.947935148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050297.948431290] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050298.003496208] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903926 Long: -76.50277423 +[vectornav-1] [INFO] [1746050298.005032187] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.265, -1.153, 2.884) +[mux-7] [INFO] [1746050298.044760992] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050298.045409198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050298.046171879] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050298.047272390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050298.048461056] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050298.085352763] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050298.087907128] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050298.088100716] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050298.088370689] [sailbot.teensy]: Wind angle: 294 +[teensy-2] [INFO] [1746050298.089626482] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050298.090561470] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050298.091402203] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050298.145512982] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050298.146185075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050298.148070262] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050298.148647681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050298.149801657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050298.245171516] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050298.245997794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050298.246677598] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050298.248024173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050298.248499047] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050298.335511876] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050298.337717971] [sailbot.teensy]: Wind angle: 294 +[teensy-2] [INFO] [1746050298.338679281] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050298.338149335] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050298.338585525] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050298.339496658] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050298.339874676] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050298.344527494] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050298.345264183] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050298.345835421] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050298.347094042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050298.348068436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050298.445276389] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050298.446381193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050298.446808064] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050298.448629997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050298.449703458] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050298.502700645] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903926 Long: -76.50277487 +[vectornav-1] [INFO] [1746050298.503791281] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.89, -0.589, 2.903) +[mux-7] [INFO] [1746050298.545281683] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050298.546083789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050298.546977358] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050298.548592814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050298.549817441] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050298.585439196] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050298.587680736] [sailbot.teensy]: Wind angle: 293 +[trim_sail-4] [INFO] [1746050298.588626064] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050298.588690084] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050298.589637583] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050298.590071168] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050298.590841140] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050298.645352314] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050298.646280391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050298.646930582] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050298.648622044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050298.649740283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050298.745173628] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050298.746057601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050298.746630953] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050298.748074029] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050298.748562564] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050298.835341960] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050298.837502626] [sailbot.teensy]: Wind angle: 292 +[trim_sail-4] [INFO] [1746050298.837667680] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050298.838169578] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050298.838438914] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050298.839351371] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050298.840198476] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050298.844507441] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050298.845063540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050298.845682057] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050298.846823210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050298.848014366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050298.945367242] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050298.946144310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050298.947032093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050298.948487450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050298.948952901] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050299.003526005] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903908 Long: -76.50277545 +[vectornav-1] [INFO] [1746050299.005178317] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.76800000000003, 0.246, 2.729) +[mux-7] [INFO] [1746050299.045313322] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050299.046348881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050299.047114977] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050299.048533094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050299.050088820] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050299.085793841] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050299.088541429] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050299.089204662] [sailbot.teensy]: Wind angle: 292 +[teensy-2] [INFO] [1746050299.090144924] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050299.090281409] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050299.091062487] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050299.091952485] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050299.145194092] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050299.146025163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050299.147349826] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050299.148104204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050299.149288294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050299.245499402] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050299.246651363] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050299.247321349] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050299.248917782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050299.249531148] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050299.335208522] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050299.337202775] [sailbot.teensy]: Wind angle: 293 +[teensy-2] [INFO] [1746050299.338414150] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050299.338594759] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050299.339536336] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050299.340323587] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050299.340544060] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050299.344528460] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050299.345327887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050299.345898234] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050299.347109026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050299.348261901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050299.445941852] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050299.446493837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050299.447773717] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050299.449006258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050299.450264020] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050299.502400368] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903892 Long: -76.50277619 +[vectornav-1] [INFO] [1746050299.503454725] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.28700000000003, -0.54, 2.363) +[mux-7] [INFO] [1746050299.545444157] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050299.546427223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050299.547186007] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050299.548643226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050299.549848892] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050299.585379060] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050299.587687405] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050299.587896396] [sailbot.teensy]: Wind angle: 293 +[teensy-2] [INFO] [1746050299.589042740] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050299.589636506] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050299.589998495] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050299.590897894] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050299.644894922] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050299.645600362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050299.646386098] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050299.647636476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050299.648690664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050299.745349470] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050299.746144411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050299.747118491] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050299.748127380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050299.749445520] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050299.835930885] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050299.838812373] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050299.839919554] [sailbot.teensy]: Wind angle: 293 +[teensy-2] [INFO] [1746050299.840956109] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050299.841186587] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050299.841895878] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050299.842852473] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050299.844544428] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050299.845186147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050299.845673205] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050299.846827275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050299.847890285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050299.945451111] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050299.946168385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050299.947018962] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050299.947836469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050299.948387794] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050300.003225203] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903879 Long: -76.50277689 +[vectornav-1] [INFO] [1746050300.004437273] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.36799999999994, -1.104, 3.236) +[mux-7] [INFO] [1746050300.045159550] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050300.046051225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050300.046667041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050300.048038777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050300.049093188] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050300.085462088] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050300.087193785] [sailbot.teensy]: Wind angle: 293 +[trim_sail-4] [INFO] [1746050300.087716510] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050300.088262153] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050300.089188273] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050300.089388794] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050300.090101011] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050300.145197009] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050300.146486484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050300.146703850] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050300.148117978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050300.148650528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050300.244920726] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050300.245727477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050300.246166513] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050300.247662018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050300.248728450] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050300.335319800] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050300.337578640] [sailbot.teensy]: Wind angle: 292 +[trim_sail-4] [INFO] [1746050300.337654222] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050300.338552818] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050300.339170276] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050300.339235091] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050300.339635508] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050300.344278738] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050300.344930715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050300.345371048] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050300.346647782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050300.347877892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050300.445216754] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050300.446324167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050300.446874418] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050300.448541491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050300.449034087] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050300.502595679] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903838 Long: -76.50277801 +[vectornav-1] [INFO] [1746050300.503631005] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.56399999999996, -0.284, 2.643) +[mux-7] [INFO] [1746050300.544838175] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050300.545745626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050300.546307670] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050300.547784149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050300.548838792] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050300.585409394] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050300.587277895] [sailbot.teensy]: Wind angle: 293 +[trim_sail-4] [INFO] [1746050300.587804976] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050300.588254745] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050300.589119861] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050300.589051936] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050300.590002391] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050300.645054756] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050300.645864453] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050300.646367864] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050300.647772458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050300.648374149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050300.744855551] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050300.745484520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050300.746077142] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050300.747489373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050300.748094491] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050300.835362917] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050300.837452908] [sailbot.teensy]: Wind angle: 293 +[trim_sail-4] [INFO] [1746050300.837948286] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050300.838451855] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050300.838858172] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050300.839420138] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050300.840311919] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050300.844315168] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050300.844822182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050300.845441895] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050300.846610833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050300.847665848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050300.945486807] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050300.946244276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050300.947045808] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050300.948519696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050300.949808671] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050301.003209447] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690378 Long: -76.50277888 +[vectornav-1] [INFO] [1746050301.004443716] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.659, 0.606, 2.551) +[mux-7] [INFO] [1746050301.044894302] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050301.045504255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050301.046130718] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050301.047595567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050301.048671222] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050301.085315319] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050301.086988563] [sailbot.teensy]: Wind angle: 293 +[trim_sail-4] [INFO] [1746050301.087454321] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050301.087869890] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050301.088747300] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050301.089677636] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050301.089694498] [sailbot.mux]: algo sail angle: 50 +[mux-7] [INFO] [1746050301.145163738] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050301.145783557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050301.146653498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050301.148216201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050301.149084026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050301.244836747] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050301.245543133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050301.246655154] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050301.247506765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050301.248443606] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050301.335284519] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050301.337789773] [sailbot.teensy]: Wind angle: 293 +[trim_sail-4] [INFO] [1746050301.339184846] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050301.340044145] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050301.340428668] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050301.341465548] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050301.342334092] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050301.344423146] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050301.344862359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050301.345550398] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050301.346518966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050301.347658849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050301.445577027] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050301.446215959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050301.447595211] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050301.448495923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050301.449661874] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050301.503148588] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903745 Long: -76.50277992 +[vectornav-1] [INFO] [1746050301.504339690] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.99, -1.142, 4.296) +[mux-7] [INFO] [1746050301.545036007] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050301.545562495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050301.546354481] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050301.547564527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050301.548667576] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050301.585660353] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050301.587824616] [sailbot.teensy]: Wind angle: 293 +[trim_sail-4] [INFO] [1746050301.588420549] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050301.588929925] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050301.589920487] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050301.590722146] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050301.590769508] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050301.645587164] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050301.646007091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050301.647225513] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050301.648584671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050301.649683005] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050301.745418218] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050301.746016596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050301.747371206] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050301.748342791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050301.750139667] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050301.835543820] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050301.838119296] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050301.838673094] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050301.839476515] [sailbot.teensy]: Wind angle: 293 +[teensy-2] [INFO] [1746050301.840461181] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050301.841320276] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050301.842162331] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050301.844448810] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050301.845044699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050301.845553298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050301.846757270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050301.847787140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050301.944900881] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050301.945454974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050301.946205145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050301.947211142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050301.948420218] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050302.002985143] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903726 Long: -76.5027808 +[vectornav-1] [INFO] [1746050302.004338456] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.34400000000005, 0.198, 2.693) +[mux-7] [INFO] [1746050302.045123304] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050302.045828932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050302.046475573] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050302.047986132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050302.049162738] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050302.085497602] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050302.087812900] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050302.089110911] [sailbot.teensy]: Wind angle: 291 +[mux-7] [INFO] [1746050302.089204994] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050302.090209246] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050302.091099884] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050302.091969466] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050302.145451536] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050302.146213339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050302.147022741] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050302.148474317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050302.149770933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050302.244880370] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050302.245703219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050302.246139276] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050302.247529981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050302.248587290] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050302.335459905] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050302.337646720] [sailbot.teensy]: Wind angle: 291 +[trim_sail-4] [INFO] [1746050302.337750718] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050302.338634270] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050302.339366558] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050302.339539752] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050302.340470543] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050302.344552601] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050302.344968645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050302.345648427] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050302.346653560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050302.348123202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050302.445352822] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050302.445996890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050302.446688990] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050302.447978545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050302.449266134] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050302.502507717] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903693 Long: -76.50278133 +[vectornav-1] [INFO] [1746050302.503629458] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.836, 0.615, 2.692) +[mux-7] [INFO] [1746050302.544908514] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050302.545527323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050302.546277713] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050302.547564715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050302.548667667] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050302.585596606] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050302.588288837] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050302.588876447] [sailbot.teensy]: Wind angle: 291 +[mux-7] [INFO] [1746050302.589428774] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050302.589875725] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050302.590853330] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050302.591731207] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050302.644952940] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050302.645876444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050302.646319921] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050302.647933709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050302.648995763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050302.745058534] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050302.745634313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050302.746284177] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050302.747419099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050302.748623685] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050302.835685772] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050302.838553324] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050302.839283990] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050302.839374176] [sailbot.teensy]: Wind angle: 291 +[teensy-2] [INFO] [1746050302.839830405] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050302.840184518] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050302.840554599] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050302.844395277] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050302.844901262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050302.845485178] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050302.846658003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050302.847778484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050302.945269798] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050302.946271389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050302.946756510] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050302.948077663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050302.948615456] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050303.002864914] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903669 Long: -76.5027814 +[vectornav-1] [INFO] [1746050303.003991345] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.86400000000003, -0.844, 2.926) +[mux-7] [INFO] [1746050303.044996355] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050303.045450197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050303.046386531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050303.047233074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050303.048932540] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050303.085403356] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050303.087263499] [sailbot.teensy]: Wind angle: 291 +[teensy-2] [INFO] [1746050303.088361175] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050303.088481104] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050303.089308277] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050303.089716129] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050303.090624601] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050303.145265300] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050303.146193111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050303.146712921] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050303.148674827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050303.149753131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050303.245242355] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050303.245880386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050303.246940380] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050303.248201260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050303.249380825] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050303.335527795] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050303.337571978] [sailbot.teensy]: Wind angle: 291 +[teensy-2] [INFO] [1746050303.338961752] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050303.338878574] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050303.339604932] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050303.339876948] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050303.339986997] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050303.344361640] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050303.345002443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050303.345464701] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050303.346794825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050303.347943790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050303.445126090] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050303.445978521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050303.446698752] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050303.448099764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050303.449295260] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050303.503470424] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903659 Long: -76.50278174 +[vectornav-1] [INFO] [1746050303.505018688] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.11900000000003, -0.542, 3.518) +[mux-7] [INFO] [1746050303.545005466] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050303.545666235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050303.546223568] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050303.547492190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050303.548517031] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050303.585531276] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050303.588050640] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050303.588485759] [sailbot.teensy]: Wind angle: 291 +[mux-7] [INFO] [1746050303.589367335] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050303.589522188] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050303.590453538] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050303.591328965] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050303.645199559] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050303.645958035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050303.646663871] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050303.648070434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050303.649162508] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050303.734178200] [sailbot.mux]: controller_app sail angle: 3 +[mux-7] [INFO] [1746050303.744837485] [sailbot.mux]: Published sail angle from controller_app: 3 +[teensy-2] [INFO] [1746050303.745495450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050303.746093062] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050303.747283085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 +[teensy-2] [INFO] [1746050303.748311106] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050303.835374772] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050303.837691572] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050303.838275744] [sailbot.teensy]: Wind angle: 291 +[mux-7] [INFO] [1746050303.838962507] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050303.839521858] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050303.840476005] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050303.841361150] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050303.844415182] [sailbot.mux]: Published sail angle from controller_app: 3 +[teensy-2] [INFO] [1746050303.844909345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050303.845508354] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050303.846596024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 +[teensy-2] [INFO] [1746050303.847602688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050303.945189798] [sailbot.mux]: Published sail angle from controller_app: 3 +[teensy-2] [INFO] [1746050303.945995636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050303.946925708] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050303.948349963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 +[teensy-2] [INFO] [1746050303.948805564] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050304.003236030] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903652 Long: -76.50278199 +[vectornav-1] [INFO] [1746050304.004742446] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.22299999999996, 0.257, 1.761) +[mux-7] [INFO] [1746050304.045303539] [sailbot.mux]: Published sail angle from controller_app: 3 +[teensy-2] [INFO] [1746050304.046169631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050304.046808988] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050304.048305269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 +[teensy-2] [INFO] [1746050304.049437493] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050304.085267615] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050304.087444750] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050304.087813357] [sailbot.teensy]: Wind angle: 291 +[mux-7] [INFO] [1746050304.088428299] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050304.088892998] [sailbot.teensy]: Actual sail angle: 3 +[teensy-2] [INFO] [1746050304.089776896] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050304.090626554] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050304.132554205] [sailbot.mux]: controller_app sail angle: 0 +[mux-7] [INFO] [1746050304.144870624] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050304.145530842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050304.146106149] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050304.147363131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050304.148401309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050304.245097709] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050304.246097348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050304.246480039] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050304.247946868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050304.248514560] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050304.335409630] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050304.337258947] [sailbot.teensy]: Wind angle: 291 +[teensy-2] [INFO] [1746050304.338176524] [sailbot.teensy]: Actual sail angle: 3 +[trim_sail-4] [INFO] [1746050304.337710568] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050304.338209409] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050304.339101195] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050304.340043807] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050304.344335778] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050304.344981052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050304.345444652] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050304.347127528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050304.348338988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050304.445318961] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050304.446069422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050304.447455466] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050304.447871821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050304.448352164] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050304.502510962] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903618 Long: -76.50278198 +[vectornav-1] [INFO] [1746050304.503612042] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.84400000000005, -0.17, 2.835) +[mux-7] [INFO] [1746050304.545039905] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050304.545729316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050304.546480787] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050304.547765139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050304.548799826] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050304.585298545] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050304.587452743] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050304.588198492] [sailbot.teensy]: Wind angle: 291 +[mux-7] [INFO] [1746050304.588875390] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050304.589215503] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050304.590323301] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050304.591275481] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050304.644874037] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050304.645408727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050304.646136958] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050304.647236224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050304.648282506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050304.744842968] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050304.745463045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050304.746198779] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050304.747287329] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050304.748921436] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050304.835397933] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050304.837198803] [sailbot.teensy]: Wind angle: 291 +[trim_sail-4] [INFO] [1746050304.837906552] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050304.838796820] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050304.839384300] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050304.839824868] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050304.840204990] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050304.844289760] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050304.844774566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050304.845379331] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050304.846509265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050304.847466070] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050304.945023933] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050304.945943046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050304.946753009] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050304.947954994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050304.949004047] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050305.003202774] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903584 Long: -76.50278208 +[vectornav-1] [INFO] [1746050305.004464905] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.54099999999994, -0.608, 4.472) +[mux-7] [INFO] [1746050305.045164359] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050305.045684493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050305.046533325] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050305.047710917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050305.048749953] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050305.085401113] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050305.087547589] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050305.088063980] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050305.088436517] [sailbot.teensy]: Wind angle: 292 +[teensy-2] [INFO] [1746050305.089435569] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050305.090341570] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050305.091202173] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050305.145098511] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050305.145825488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050305.146484781] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050305.147825258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050305.148895566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050305.245060407] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050305.245811151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050305.246448519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050305.248128403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050305.249153855] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050305.335470204] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050305.337775237] [sailbot.teensy]: Wind angle: 292 +[teensy-2] [INFO] [1746050305.338958733] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050305.337850880] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050305.338394018] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050305.340138150] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050305.341494757] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050305.344816970] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050305.345060509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050305.346044620] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050305.346863065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050305.348095585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050305.444955616] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050305.445743446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050305.446289557] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050305.447844193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050305.448424989] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050305.503099635] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903591 Long: -76.50278219 +[vectornav-1] [INFO] [1746050305.504471801] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.35199999999998, -0.036, 4.085) +[mux-7] [INFO] [1746050305.544890609] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050305.545496251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050305.546304346] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050305.547526674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050305.548562307] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050305.585258912] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050305.586918105] [sailbot.teensy]: Wind angle: 291 +[trim_sail-4] [INFO] [1746050305.587515987] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050305.587818324] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050305.588663802] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050305.588818095] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050305.589476627] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050305.644913627] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050305.645995769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050305.646202421] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050305.647978950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050305.649016557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050305.745057258] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050305.745938282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050305.746606948] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050305.747921148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050305.748427598] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050305.835415166] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050305.837637703] [sailbot.teensy]: Wind angle: 292 +[trim_sail-4] [INFO] [1746050305.837730269] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050305.838598461] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050305.839461835] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050305.839462609] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050305.840385199] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050305.844542990] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050305.844929821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050305.845695228] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050305.846645061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050305.847694240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050305.945340089] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050305.945873103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050305.946944724] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050305.947972561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050305.949057818] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050306.004027425] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469036 Long: -76.50278206 +[vectornav-1] [INFO] [1746050306.005557916] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.00400000000002, -0.526, 4.343) +[mux-7] [INFO] [1746050306.045201444] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050306.045788056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050306.046844769] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050306.047988431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050306.049064799] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050306.085126435] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050306.087133934] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050306.087815697] [sailbot.teensy]: Wind angle: 292 +[mux-7] [INFO] [1746050306.088486962] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050306.088789820] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050306.089629251] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050306.090476107] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050306.144989140] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050306.145750845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050306.146401281] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050306.147712674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050306.148869942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050306.173939830] [sailbot.mux]: controller_app sail angle: 31 +[mux-7] [INFO] [1746050306.244960017] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050306.245632289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050306.246202701] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050306.247436128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050306.248488646] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050306.335385436] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050306.337214392] [sailbot.teensy]: Wind angle: 292 +[trim_sail-4] [INFO] [1746050306.337770423] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050306.338181323] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050306.338808025] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050306.339072146] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050306.339194596] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050306.344465254] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050306.345166789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050306.345926203] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050306.346987989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050306.347999965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050306.445014109] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050306.445784070] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050306.446777556] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050306.447867177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050306.448940818] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050306.502606725] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903589 Long: -76.50278177 +[vectornav-1] [INFO] [1746050306.503666597] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.41999999999996, 0.267, 4.064) +[mux-7] [INFO] [1746050306.544792329] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050306.545372642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050306.545990558] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050306.547111083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050306.547991131] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050306.585685128] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050306.587941882] [sailbot.teensy]: Wind angle: 292 +[teensy-2] [INFO] [1746050306.589073247] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050306.590059199] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746050306.589193163] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050306.590951040] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050306.591690897] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050306.645166859] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050306.645818174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050306.646551367] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050306.647727147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050306.648952700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050306.745290500] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050306.746023024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050306.747402761] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050306.747916189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050306.748712299] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050306.835360355] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050306.837106839] [sailbot.teensy]: Wind angle: 292 +[teensy-2] [INFO] [1746050306.838049837] [sailbot.teensy]: Actual sail angle: 31 +[trim_sail-4] [INFO] [1746050306.838230083] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050306.838792256] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050306.838801292] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050306.839196212] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050306.844490323] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050306.844978160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050306.845537284] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050306.846671123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050306.847778254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050306.945179650] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050306.945920240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050306.946753195] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050306.948126181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050306.948775645] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050307.003342925] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903587 Long: -76.50278138 +[vectornav-1] [INFO] [1746050307.005197463] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.24199999999996, -1.238, 4.979) +[mux-7] [INFO] [1746050307.044918870] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050307.045587165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050307.046169963] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050307.047654750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[teensy-2] [INFO] [1746050307.048808012] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050307.085308561] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050307.086975291] [sailbot.teensy]: Wind angle: 291 +[trim_sail-4] [INFO] [1746050307.087467505] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050307.087917140] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050307.088840495] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050307.089055544] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050307.089719894] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050307.144667829] [sailbot.mux]: Published sail angle from controller_app: 31 +[teensy-2] [INFO] [1746050307.145473394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050307.145872861] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050307.147258243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 +[mux-7] [INFO] [1746050307.147940558] [sailbot.mux]: controller_app sail angle: 42 +[teensy-2] [INFO] [1746050307.148638227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050307.245213072] [sailbot.mux]: Published sail angle from controller_app: 42 +[teensy-2] [INFO] [1746050307.245980913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050307.246695093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050307.248291923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 +[teensy-2] [INFO] [1746050307.248701994] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050307.335539384] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050307.338794125] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050307.339897108] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050307.341083425] [sailbot.teensy]: Wind angle: 291 +[teensy-2] [INFO] [1746050307.341525204] [sailbot.teensy]: Actual sail angle: 31 +[teensy-2] [INFO] [1746050307.341932343] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050307.342304059] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050307.343555345] [sailbot.mux]: Published sail angle from controller_app: 42 +[teensy-2] [INFO] [1746050307.343784430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050307.344424840] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050307.345719930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 +[teensy-2] [INFO] [1746050307.346816300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050307.445244453] [sailbot.mux]: Published sail angle from controller_app: 42 +[teensy-2] [INFO] [1746050307.446024935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050307.446721767] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050307.448066797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 +[teensy-2] [INFO] [1746050307.448573362] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050307.503556328] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903619 Long: -76.50278107 +[vectornav-1] [INFO] [1746050307.505010066] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.46699999999998, 0.556, 3.427) +[mux-7] [INFO] [1746050307.545048335] [sailbot.mux]: Published sail angle from controller_app: 42 +[teensy-2] [INFO] [1746050307.545784769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050307.547293563] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050307.547709324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 +[teensy-2] [INFO] [1746050307.548511606] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050307.585437028] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050307.587243752] [sailbot.teensy]: Wind angle: 292 +[trim_sail-4] [INFO] [1746050307.587781798] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050307.588209458] [sailbot.teensy]: Actual sail angle: 42 +[teensy-2] [INFO] [1746050307.589157375] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050307.589514504] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050307.590100869] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050307.645143198] [sailbot.mux]: Published sail angle from controller_app: 42 +[teensy-2] [INFO] [1746050307.646041116] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050307.646599340] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050307.648367415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 +[teensy-2] [INFO] [1746050307.649430387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050307.745020958] [sailbot.mux]: Published sail angle from controller_app: 42 +[teensy-2] [INFO] [1746050307.745740264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050307.746363485] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050307.747691365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 +[teensy-2] [INFO] [1746050307.748672227] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050307.835316628] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050307.837741484] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050307.837757917] [sailbot.teensy]: Wind angle: 291 +[teensy-2] [INFO] [1746050307.839012636] [sailbot.teensy]: Actual sail angle: 42 +[mux-7] [INFO] [1746050307.839280787] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050307.839968602] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050307.840839890] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050307.844500498] [sailbot.mux]: Published sail angle from controller_app: 42 +[teensy-2] [INFO] [1746050307.845157150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050307.845746633] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050307.847225831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 +[teensy-2] [INFO] [1746050307.848488496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050307.945148880] [sailbot.mux]: Published sail angle from controller_app: 42 +[teensy-2] [INFO] [1746050307.945933361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050307.946607899] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050307.948113127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 +[teensy-2] [INFO] [1746050307.949119338] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050308.002508258] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903632 Long: -76.50278057 +[vectornav-1] [INFO] [1746050308.003623447] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.38200000000006, -1.061, 3.791) +[mux-7] [INFO] [1746050308.045492913] [sailbot.mux]: Published sail angle from controller_app: 42 +[teensy-2] [INFO] [1746050308.046172140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050308.047748849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050308.048324446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 +[teensy-2] [INFO] [1746050308.049246015] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050308.085671459] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050308.087647535] [sailbot.teensy]: Wind angle: 292 +[teensy-2] [INFO] [1746050308.088656114] [sailbot.teensy]: Actual sail angle: 42 +[trim_sail-4] [INFO] [1746050308.088288767] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050308.089581436] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050308.089836646] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050308.090433671] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050308.144735632] [sailbot.mux]: Published sail angle from controller_app: 42 +[teensy-2] [INFO] [1746050308.145434953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050308.145908701] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050308.147875921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 +[teensy-2] [INFO] [1746050308.149034120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050308.244992712] [sailbot.mux]: Published sail angle from controller_app: 42 +[teensy-2] [INFO] [1746050308.245740642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050308.246267929] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050308.247868404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 +[teensy-2] [INFO] [1746050308.248869930] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050308.335487396] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050308.337760498] [sailbot.teensy]: Wind angle: 292 +[trim_sail-4] [INFO] [1746050308.337812250] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050308.338682677] [sailbot.teensy]: Actual sail angle: 42 +[mux-7] [INFO] [1746050308.339004589] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050308.339077948] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050308.339483418] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050308.344574942] [sailbot.mux]: Published sail angle from controller_app: 42 +[teensy-2] [INFO] [1746050308.344967016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050308.345833884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050308.346654845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 +[teensy-2] [INFO] [1746050308.347752792] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050308.445269131] [sailbot.mux]: Published sail angle from controller_app: 42 +[teensy-2] [INFO] [1746050308.445896496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050308.446758501] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050308.447812603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 +[teensy-2] [INFO] [1746050308.448671035] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050308.502490705] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903625 Long: -76.50278033 +[vectornav-1] [INFO] [1746050308.503566877] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.707, 0.055, 2.966) +[mux-7] [INFO] [1746050308.545044509] [sailbot.mux]: Published sail angle from controller_app: 42 +[teensy-2] [INFO] [1746050308.545626879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050308.546703208] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050308.547705601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 +[teensy-2] [INFO] [1746050308.548767213] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050308.585573293] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050308.588184661] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050308.588680522] [sailbot.teensy]: Wind angle: 292 +[mux-7] [INFO] [1746050308.589469865] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050308.589665503] [sailbot.teensy]: Actual sail angle: 42 +[teensy-2] [INFO] [1746050308.590637541] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050308.591518562] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050308.645354654] [sailbot.mux]: Published sail angle from controller_app: 42 +[teensy-2] [INFO] [1746050308.646351339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050308.646992232] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050308.648528114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 +[teensy-2] [INFO] [1746050308.649733834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050308.745269619] [sailbot.mux]: Published sail angle from controller_app: 42 +[teensy-2] [INFO] [1746050308.746061049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050308.746784884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050308.748532856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 +[teensy-2] [INFO] [1746050308.749616625] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050308.835609896] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050308.837712500] [sailbot.teensy]: Wind angle: 292 +[teensy-2] [INFO] [1746050308.838835828] [sailbot.teensy]: Actual sail angle: 42 +[teensy-2] [INFO] [1746050308.839794975] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050308.839972953] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050308.840719679] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746050308.840749181] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050308.844496362] [sailbot.mux]: Published sail angle from controller_app: 42 +[teensy-2] [INFO] [1746050308.845133724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050308.845604121] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050308.846893566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 +[teensy-2] [INFO] [1746050308.847937622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050308.945239570] [sailbot.mux]: Published sail angle from controller_app: 42 +[teensy-2] [INFO] [1746050308.946030521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050308.946754812] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050308.948293287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 +[teensy-2] [INFO] [1746050308.949433901] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050309.003074947] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903611 Long: -76.50278005 +[vectornav-1] [INFO] [1746050309.004432801] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.13400000000001, 0.055, 2.385) +[mux-7] [INFO] [1746050309.045085072] [sailbot.mux]: Published sail angle from controller_app: 42 +[teensy-2] [INFO] [1746050309.045962911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050309.046602588] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050309.048107617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 +[teensy-2] [INFO] [1746050309.048683195] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050309.085432428] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050309.087955755] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050309.088222089] [sailbot.teensy]: Wind angle: 292 +[mux-7] [INFO] [1746050309.088681969] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050309.089163463] [sailbot.teensy]: Actual sail angle: 42 +[teensy-2] [INFO] [1746050309.090082027] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050309.090947896] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050309.144779489] [sailbot.mux]: Published sail angle from controller_app: 42 +[teensy-2] [INFO] [1746050309.145449377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050309.145961835] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050309.147279981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 +[mux-7] [INFO] [1746050309.147922143] [sailbot.mux]: controller_app sail angle: 90 +[teensy-2] [INFO] [1746050309.148675868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050309.244823578] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746050309.245470942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050309.246068831] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050309.247334485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050309.248540640] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050309.335188290] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050309.336903527] [sailbot.teensy]: Wind angle: 292 +[trim_sail-4] [INFO] [1746050309.337409637] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050309.337844035] [sailbot.teensy]: Actual sail angle: 42 +[teensy-2] [INFO] [1746050309.338775414] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050309.339667719] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050309.339850619] [sailbot.mux]: algo sail angle: 50 +[mux-7] [INFO] [1746050309.344594677] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746050309.345132761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050309.345766960] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050309.346878449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050309.347878360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050309.445408583] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746050309.446061467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050309.446887590] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050309.448372669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050309.449419109] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050309.502513847] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903631 Long: -76.50277975 +[vectornav-1] [INFO] [1746050309.503786859] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.44000000000005, -1.833, 2.605) +[mux-7] [INFO] [1746050309.545239102] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746050309.546151914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050309.546906789] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050309.548209365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050309.548696915] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050309.585464013] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050309.587748185] [sailbot.teensy]: Wind angle: 292 +[trim_sail-4] [INFO] [1746050309.587783213] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050309.588729641] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746050309.588992313] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050309.589611617] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050309.590493547] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050309.645482661] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746050309.646111341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050309.647053782] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050309.648321723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050309.649498330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050309.745395681] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746050309.745862722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050309.746925300] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050309.747933997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050309.749041210] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050309.835401645] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050309.837253240] [sailbot.teensy]: Wind angle: 292 +[teensy-2] [INFO] [1746050309.838186238] [sailbot.teensy]: Actual sail angle: 90 +[trim_sail-4] [INFO] [1746050309.837766182] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050309.838680731] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050309.839112803] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050309.839961185] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050309.844532491] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746050309.844927805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050309.845677432] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050309.846650450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050309.847751850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050309.945160927] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746050309.945865823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050309.946913617] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050309.947836522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050309.948905280] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050310.003430841] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903613 Long: -76.50278011 +[vectornav-1] [INFO] [1746050310.004801521] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.96000000000004, 0.658, 1.846) +[mux-7] [INFO] [1746050310.045064462] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746050310.045663396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050310.046434015] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050310.047666233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050310.048734955] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050310.085405361] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050310.087761430] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050310.088600291] [sailbot.teensy]: Wind angle: 291 +[teensy-2] [INFO] [1746050310.089591850] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746050310.090118495] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050310.090459741] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050310.091338535] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050310.145098654] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746050310.145616969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050310.146613648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050310.147830332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050310.148916317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050310.245069781] [sailbot.mux]: Published sail angle from controller_app: 90 +[mux-7] [INFO] [1746050310.246401472] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050310.248604364] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050310.250122561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050310.251046438] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050310.335388626] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050310.337271390] [sailbot.teensy]: Wind angle: 292 +[trim_sail-4] [INFO] [1746050310.337808825] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050310.339348846] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746050310.339395957] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050310.339772254] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050310.340147621] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050310.344503956] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746050310.344953224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050310.345637096] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050310.346623418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050310.347684874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050310.445691789] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746050310.446476361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050310.447544958] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050310.448856814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050310.449720553] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050310.503126490] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903617 Long: -76.50278018 +[vectornav-1] [INFO] [1746050310.504539200] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.96799999999996, -0.622, 3.114) +[mux-7] [INFO] [1746050310.545251219] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746050310.545955368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050310.546692714] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050310.548100288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050310.549219021] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050310.585459181] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050310.587808261] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050310.588514181] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050310.588554874] [sailbot.teensy]: Wind angle: 292 +[teensy-2] [INFO] [1746050310.589512991] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050310.590388894] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050310.591203743] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050310.644971315] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746050310.645643192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050310.646521244] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050310.647578858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050310.648823883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050310.745590933] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746050310.746366837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050310.747311838] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050310.748121422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050310.748629275] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050310.835469773] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050310.838134022] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050310.838662463] [sailbot.teensy]: Wind angle: 292 +[mux-7] [INFO] [1746050310.839248435] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050310.839730789] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050310.840617852] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050310.840956001] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050310.844393709] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746050310.844978061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050310.845525425] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050310.846686250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050310.847677892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050310.945231179] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746050310.945799359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050310.946883302] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050310.947941674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050310.948454461] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050311.003739721] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903583 Long: -76.50278017 +[vectornav-1] [INFO] [1746050311.005014925] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.68200000000002, -0.455, 3.234) +[mux-7] [INFO] [1746050311.045045750] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746050311.045825202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050311.046295627] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050311.047765652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050311.048799815] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050311.085301021] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050311.087522995] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050311.088064466] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050311.088566995] [sailbot.teensy]: Wind angle: 292 +[teensy-2] [INFO] [1746050311.089544228] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050311.090437471] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050311.090867812] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050311.144980102] [sailbot.mux]: Published sail angle from controller_app: 90 +[teensy-2] [INFO] [1746050311.145699361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050311.146351131] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050311.147721645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050311.149098208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050311.161360312] [sailbot.mux]: controller_app sail angle: 61 +[mux-7] [INFO] [1746050311.244988992] [sailbot.mux]: Published sail angle from controller_app: 61 +[teensy-2] [INFO] [1746050311.245615263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050311.246207811] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050311.247723959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:61, rudder: 0 +[teensy-2] [INFO] [1746050311.248907626] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050311.335439765] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050311.337828841] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050311.338296744] [sailbot.teensy]: Wind angle: 292 +[mux-7] [INFO] [1746050311.338353932] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050311.339448627] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050311.339809621] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050311.340172003] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050311.344568113] [sailbot.mux]: Published sail angle from controller_app: 61 +[mux-7] [INFO] [1746050311.345794321] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050311.346028936] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050311.347963637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:61, rudder: 0 +[teensy-2] [INFO] [1746050311.349035046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050311.445163936] [sailbot.mux]: Published sail angle from controller_app: 61 +[teensy-2] [INFO] [1746050311.446082080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050311.446728089] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050311.448254301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:61, rudder: 0 +[teensy-2] [INFO] [1746050311.448703028] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050311.502487587] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903566 Long: -76.50278072 +[vectornav-1] [INFO] [1746050311.503597479] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.21000000000004, -0.713, 4.101) +[mux-7] [INFO] [1746050311.545126006] [sailbot.mux]: Published sail angle from controller_app: 61 +[teensy-2] [INFO] [1746050311.545883623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050311.546578160] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050311.548131498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:61, rudder: 0 +[teensy-2] [INFO] [1746050311.549151220] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050311.585211523] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050311.587447435] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050311.587781710] [sailbot.teensy]: Wind angle: 292 +[mux-7] [INFO] [1746050311.588223152] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050311.588778809] [sailbot.teensy]: Actual sail angle: 61 +[teensy-2] [INFO] [1746050311.589713832] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050311.590579053] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050311.645261310] [sailbot.mux]: Published sail angle from controller_app: 61 +[teensy-2] [INFO] [1746050311.646010189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050311.646762648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050311.648395596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:61, rudder: 0 +[teensy-2] [INFO] [1746050311.649482402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050311.745317414] [sailbot.mux]: Published sail angle from controller_app: 61 +[teensy-2] [INFO] [1746050311.746032061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050311.746837115] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050311.748558344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:61, rudder: 0 +[teensy-2] [INFO] [1746050311.749011562] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050311.835491255] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050311.838074052] [sailbot.teensy]: Wind angle: 292 +[trim_sail-4] [INFO] [1746050311.838117506] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050311.839112793] [sailbot.teensy]: Actual sail angle: 61 +[teensy-2] [INFO] [1746050311.839619606] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050311.839754960] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050311.839993014] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050311.844390267] [sailbot.mux]: Published sail angle from controller_app: 61 +[teensy-2] [INFO] [1746050311.844900479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050311.845561605] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050311.846585239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:61, rudder: 0 +[teensy-2] [INFO] [1746050311.847682563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050311.945265052] [sailbot.mux]: Published sail angle from controller_app: 61 +[teensy-2] [INFO] [1746050311.945892240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050311.946798645] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050311.948030790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:61, rudder: 0 +[teensy-2] [INFO] [1746050311.948633841] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050312.003462866] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903546 Long: -76.50278118 +[vectornav-1] [INFO] [1746050312.005033304] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.86900000000003, -0.881, 3.31) +[mux-7] [INFO] [1746050312.045147181] [sailbot.mux]: Published sail angle from controller_app: 61 +[teensy-2] [INFO] [1746050312.045915560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050312.046507176] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050312.048207368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:61, rudder: 0 +[teensy-2] [INFO] [1746050312.049353168] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050312.085384042] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050312.087269909] [sailbot.teensy]: Wind angle: 292 +[trim_sail-4] [INFO] [1746050312.087699462] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050312.088093916] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050312.088202415] [sailbot.teensy]: Actual sail angle: 61 +[teensy-2] [INFO] [1746050312.089196185] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050312.090088710] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050312.133791848] [sailbot.mux]: controller_app sail angle: 35 +[mux-7] [INFO] [1746050312.144905676] [sailbot.mux]: Published sail angle from controller_app: 35 +[teensy-2] [INFO] [1746050312.145433733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050312.146391699] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050312.147314834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 +[teensy-2] [INFO] [1746050312.148496442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050312.244917891] [sailbot.mux]: Published sail angle from controller_app: 35 +[teensy-2] [INFO] [1746050312.245621553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050312.246241777] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050312.247681546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 +[teensy-2] [INFO] [1746050312.248753267] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050312.335309204] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050312.337829904] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050312.338319727] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050312.338839353] [sailbot.teensy]: Wind angle: 292 +[teensy-2] [INFO] [1746050312.339770408] [sailbot.teensy]: Actual sail angle: 61 +[teensy-2] [INFO] [1746050312.340698537] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050312.341373593] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050312.344397014] [sailbot.mux]: Published sail angle from controller_app: 35 +[teensy-2] [INFO] [1746050312.345281729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050312.345768173] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050312.347065839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 +[teensy-2] [INFO] [1746050312.348221044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050312.445089646] [sailbot.mux]: Published sail angle from controller_app: 35 +[teensy-2] [INFO] [1746050312.445757474] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050312.446508919] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050312.447478702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 +[teensy-2] [INFO] [1746050312.448014062] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050312.502482477] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903523 Long: -76.50278171 +[vectornav-1] [INFO] [1746050312.503577515] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.707, 0.975, 2.888) +[mux-7] [INFO] [1746050312.545459156] [sailbot.mux]: Published sail angle from controller_app: 35 +[teensy-2] [INFO] [1746050312.546193168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050312.546922146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050312.548435755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 +[teensy-2] [INFO] [1746050312.549591388] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050312.585586710] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050312.587665515] [sailbot.teensy]: Wind angle: 292 +[teensy-2] [INFO] [1746050312.588623115] [sailbot.teensy]: Actual sail angle: 35 +[trim_sail-4] [INFO] [1746050312.587964431] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050312.589256438] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050312.589505321] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050312.590348916] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050312.645129016] [sailbot.mux]: Published sail angle from controller_app: 35 +[teensy-2] [INFO] [1746050312.645786408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050312.646725124] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050312.647887782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 +[teensy-2] [INFO] [1746050312.648576553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050312.745155636] [sailbot.mux]: Published sail angle from controller_app: 35 +[teensy-2] [INFO] [1746050312.745978863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050312.746551298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050312.747897755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 +[teensy-2] [INFO] [1746050312.749062431] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050312.835451759] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050312.837901625] [sailbot.teensy]: Wind angle: 292 +[trim_sail-4] [INFO] [1746050312.837945869] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050312.838876998] [sailbot.teensy]: Actual sail angle: 35 +[mux-7] [INFO] [1746050312.839077152] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050312.839368817] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050312.839741652] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050312.844298633] [sailbot.mux]: Published sail angle from controller_app: 35 +[teensy-2] [INFO] [1746050312.845032674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050312.845385100] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050312.846836346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 +[teensy-2] [INFO] [1746050312.848044531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050312.945202773] [sailbot.mux]: Published sail angle from controller_app: 35 +[teensy-2] [INFO] [1746050312.945865100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050312.946851580] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050312.948256258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 +[teensy-2] [INFO] [1746050312.949012117] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050313.003078802] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903486 Long: -76.50278201 +[vectornav-1] [INFO] [1746050313.004501119] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.24, -1.86, 2.559) +[mux-7] [INFO] [1746050313.045070324] [sailbot.mux]: Published sail angle from controller_app: 35 +[mux-7] [INFO] [1746050313.046491128] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050313.046560279] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050313.048564022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 +[teensy-2] [INFO] [1746050313.049763168] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050313.085646183] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050313.088088337] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050313.089087371] [sailbot.teensy]: Wind angle: 292 +[mux-7] [INFO] [1746050313.089705634] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050313.090010678] [sailbot.teensy]: Actual sail angle: 35 +[teensy-2] [INFO] [1746050313.090926542] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050313.091748260] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050313.145359024] [sailbot.mux]: Published sail angle from controller_app: 35 +[teensy-2] [INFO] [1746050313.145969720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050313.146996069] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050313.148355603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 +[teensy-2] [INFO] [1746050313.149561149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050313.244289318] [sailbot.mux]: Published sail angle from controller_app: 35 +[teensy-2] [INFO] [1746050313.244797530] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050313.245143298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050313.246362288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 +[teensy-2] [INFO] [1746050313.247257427] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050313.335229034] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050313.337307033] [sailbot.teensy]: Wind angle: 292 +[trim_sail-4] [INFO] [1746050313.337437512] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050313.338197200] [sailbot.teensy]: Actual sail angle: 35 +[mux-7] [INFO] [1746050313.338634996] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050313.338865058] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050313.339258687] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050313.344475988] [sailbot.mux]: Published sail angle from controller_app: 35 +[mux-7] [INFO] [1746050313.345718902] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050313.344964459] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050313.346621892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 +[teensy-2] [INFO] [1746050313.347733238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050313.445107615] [sailbot.mux]: Published sail angle from controller_app: 35 +[teensy-2] [INFO] [1746050313.445841662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050313.446467378] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050313.447876359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 +[teensy-2] [INFO] [1746050313.449034883] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050313.503609991] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903476 Long: -76.50278235 +[vectornav-1] [INFO] [1746050313.505307548] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.894, 0.286, 1.961) +[mux-7] [INFO] [1746050313.545278360] [sailbot.mux]: Published sail angle from controller_app: 35 +[teensy-2] [INFO] [1746050313.546012660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050313.546733891] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050313.548078988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 +[teensy-2] [INFO] [1746050313.549148294] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050313.585569103] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050313.587990899] [sailbot.teensy]: Wind angle: 292 +[teensy-2] [INFO] [1746050313.588962528] [sailbot.teensy]: Actual sail angle: 35 +[trim_sail-4] [INFO] [1746050313.588650884] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050313.589353729] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050313.589870194] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050313.590743638] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050313.645314621] [sailbot.mux]: Published sail angle from controller_app: 35 +[teensy-2] [INFO] [1746050313.645889226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050313.646776212] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050313.647865935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 +[teensy-2] [INFO] [1746050313.648904875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050313.745048310] [sailbot.mux]: Published sail angle from controller_app: 35 +[teensy-2] [INFO] [1746050313.745825660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050313.746408549] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050313.747847828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 +[teensy-2] [INFO] [1746050313.749051408] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050313.835337855] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050313.837298754] [sailbot.teensy]: Wind angle: 292 +[teensy-2] [INFO] [1746050313.838295803] [sailbot.teensy]: Actual sail angle: 35 +[trim_sail-4] [INFO] [1746050313.838758523] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050313.839231998] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050313.839715462] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050313.840022961] [sailbot.mux]: algo sail angle: 50 +[mux-7] [INFO] [1746050313.841627601] [sailbot.mux]: controller_app sail angle: 21 +[mux-7] [INFO] [1746050313.844288757] [sailbot.mux]: Published sail angle from controller_app: 21 +[teensy-2] [INFO] [1746050313.845026013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050313.845404300] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050313.846715209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:21, rudder: 0 +[teensy-2] [INFO] [1746050313.847918418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050313.945094526] [sailbot.mux]: Published sail angle from controller_app: 21 +[teensy-2] [INFO] [1746050313.946457846] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050313.946521847] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050313.948549593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:21, rudder: 0 +[teensy-2] [INFO] [1746050313.949624221] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050314.002564778] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903443 Long: -76.50278287 +[vectornav-1] [INFO] [1746050314.003666584] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (186.10699999999997, -0.464, 2.512) +[mux-7] [INFO] [1746050314.044923560] [sailbot.mux]: Published sail angle from controller_app: 21 +[teensy-2] [INFO] [1746050314.045472757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050314.046140872] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050314.047308753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:21, rudder: 0 +[teensy-2] [INFO] [1746050314.048341890] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050314.085359729] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050314.087035632] [sailbot.teensy]: Wind angle: 292 +[teensy-2] [INFO] [1746050314.087990893] [sailbot.teensy]: Actual sail angle: 35 +[trim_sail-4] [INFO] [1746050314.088110594] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050314.088921594] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050314.089299498] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050314.089856292] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050314.145217236] [sailbot.mux]: Published sail angle from controller_app: 21 +[teensy-2] [INFO] [1746050314.145935988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050314.146665594] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050314.147926061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:21, rudder: 0 +[mux-7] [INFO] [1746050314.148660167] [sailbot.mux]: controller_app sail angle: 20 +[teensy-2] [INFO] [1746050314.150227526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050314.245052287] [sailbot.mux]: Published sail angle from controller_app: 20 +[teensy-2] [INFO] [1746050314.245788357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050314.246545695] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050314.247852534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 0 +[teensy-2] [INFO] [1746050314.248915912] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050314.335631899] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050314.337513796] [sailbot.teensy]: Wind angle: 292 +[trim_sail-4] [INFO] [1746050314.338009863] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050314.338458819] [sailbot.teensy]: Actual sail angle: 21 +[teensy-2] [INFO] [1746050314.339392615] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050314.340398988] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050314.340576022] [sailbot.mux]: algo sail angle: 50 +[mux-7] [INFO] [1746050314.344473367] [sailbot.mux]: Published sail angle from controller_app: 20 +[teensy-2] [INFO] [1746050314.344868980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050314.345660583] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050314.346598399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 0 +[teensy-2] [INFO] [1746050314.347728503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050314.445670279] [sailbot.mux]: Published sail angle from controller_app: 20 +[teensy-2] [INFO] [1746050314.445797003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050314.446955598] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050314.447597549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 0 +[teensy-2] [INFO] [1746050314.448905469] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050314.502631072] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903413 Long: -76.50278318 +[vectornav-1] [INFO] [1746050314.503821656] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.64700000000005, -0.328, 2.119) +[mux-7] [INFO] [1746050314.545295752] [sailbot.mux]: Published sail angle from controller_app: 20 +[teensy-2] [INFO] [1746050314.546122912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050314.546861857] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050314.548265369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 0 +[teensy-2] [INFO] [1746050314.549431556] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050314.585658122] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050314.588295161] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050314.588628422] [sailbot.teensy]: Wind angle: 292 +[teensy-2] [INFO] [1746050314.589577045] [sailbot.teensy]: Actual sail angle: 20 +[mux-7] [INFO] [1746050314.589738015] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050314.590471445] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050314.591335324] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050314.645288966] [sailbot.mux]: Published sail angle from controller_app: 20 +[teensy-2] [INFO] [1746050314.646013595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050314.646847552] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050314.648208794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 0 +[teensy-2] [INFO] [1746050314.649426098] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050314.745385311] [sailbot.mux]: Published sail angle from controller_app: 20 +[teensy-2] [INFO] [1746050314.746385780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050314.747020395] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050314.747982800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 0 +[teensy-2] [INFO] [1746050314.748575791] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050314.835543221] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050314.838231762] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050314.838392917] [sailbot.teensy]: Wind angle: 292 +[mux-7] [INFO] [1746050314.839175968] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050314.839458631] [sailbot.teensy]: Actual sail angle: 20 +[teensy-2] [INFO] [1746050314.840471926] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050314.841337632] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050314.844450457] [sailbot.mux]: Published sail angle from controller_app: 20 +[teensy-2] [INFO] [1746050314.844879227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050314.846083733] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050314.846638392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 0 +[teensy-2] [INFO] [1746050314.847847729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050314.945255089] [sailbot.mux]: Published sail angle from controller_app: 20 +[teensy-2] [INFO] [1746050314.946159268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050314.947636098] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050314.948328612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 0 +[teensy-2] [INFO] [1746050314.949431876] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050315.003741135] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903366 Long: -76.50278359 +[vectornav-1] [INFO] [1746050315.006225155] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.75599999999997, -0.75, 3.56) +[mux-7] [INFO] [1746050315.045067125] [sailbot.mux]: Published sail angle from controller_app: 20 +[teensy-2] [INFO] [1746050315.045954447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050315.046516229] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050315.047901614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 0 +[teensy-2] [INFO] [1746050315.049106162] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050315.085335703] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050315.087212628] [sailbot.teensy]: Wind angle: 292 +[trim_sail-4] [INFO] [1746050315.087626637] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050315.088216896] [sailbot.teensy]: Actual sail angle: 20 +[teensy-2] [INFO] [1746050315.089148743] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050315.089438747] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050315.090024133] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050315.144401085] [sailbot.mux]: controller_app sail angle: 25 +[mux-7] [INFO] [1746050315.146503825] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050315.147074395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050315.147541977] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050315.148774514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050315.149946924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050315.245372437] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050315.246109707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050315.246811804] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050315.248070794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050315.249041395] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050315.335273645] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050315.337111002] [sailbot.teensy]: Wind angle: 292 +[trim_sail-4] [INFO] [1746050315.337683569] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050315.338963689] [sailbot.teensy]: Actual sail angle: 20 +[mux-7] [INFO] [1746050315.339378290] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050315.339875249] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050315.340866644] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050315.344864042] [sailbot.mux]: Published sail angle from controller_app: 25 +[mux-7] [INFO] [1746050315.346221379] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050315.347350819] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050315.349194614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050315.350365776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050315.445592012] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050315.446448764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050315.447211041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050315.448226497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050315.448720476] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050315.502510426] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690336 Long: -76.50278418 +[vectornav-1] [INFO] [1746050315.503565744] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.923, -0.038, 2.723) +[mux-7] [INFO] [1746050315.545154337] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050315.545991394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050315.546660922] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050315.548053610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050315.549084686] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050315.585361165] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050315.587582089] [sailbot.teensy]: Wind angle: 292 +[trim_sail-4] [INFO] [1746050315.588309895] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050315.588624835] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050315.589613711] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050315.590466069] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050315.590492812] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050315.645233580] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050315.646201043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050315.646822319] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050315.648247243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050315.649257059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050315.744886058] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050315.745837523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050315.746234581] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050315.747857358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050315.748513364] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050315.835544182] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050315.837766642] [sailbot.teensy]: Wind angle: 292 +[teensy-2] [INFO] [1746050315.838821166] [sailbot.teensy]: Actual sail angle: 25 +[trim_sail-4] [INFO] [1746050315.838880884] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050315.839402294] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050315.839483997] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050315.839802555] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050315.844352354] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050315.845116820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050315.845551147] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050315.846993689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050315.848202552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050315.945332427] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050315.946605317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050315.946943094] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050315.948920598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050315.950106072] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050316.003583929] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903332 Long: -76.50278471 +[vectornav-1] [INFO] [1746050316.005144463] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.89599999999996, -0.282, 2.995) +[mux-7] [INFO] [1746050316.045135920] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050316.045947076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050316.046863138] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050316.047972601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050316.049069603] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050316.085507746] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050316.087931072] [sailbot.teensy]: Wind angle: 292 +[mux-7] [INFO] [1746050316.088822637] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050316.088956184] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050316.089882366] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746050316.089496658] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050316.090844248] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050316.145226078] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050316.146000564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050316.146861121] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050316.148066304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[mux-7] [INFO] [1746050316.149026377] [sailbot.mux]: controller_app sail angle: 25 +[teensy-2] [INFO] [1746050316.149253022] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050316.245011494] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050316.245777101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050316.246303621] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050316.247810775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050316.248961486] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050316.335140290] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050316.337359305] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050316.337407354] [sailbot.teensy]: Wind angle: 292 +[teensy-2] [INFO] [1746050316.338292050] [sailbot.teensy]: Actual sail angle: 25 +[mux-7] [INFO] [1746050316.338491943] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050316.339212513] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050316.340119236] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050316.344559552] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050316.344958698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050316.345740802] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050316.346677122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050316.347798216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050316.445497604] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050316.446046836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050316.447123801] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050316.448474888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050316.449675598] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050316.502483757] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903299 Long: -76.50278519 +[vectornav-1] [INFO] [1746050316.503850414] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.389, -0.636, 3.769) +[mux-7] [INFO] [1746050316.545515781] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050316.546095087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050316.547095379] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050316.548526800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050316.549083540] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050316.585191875] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050316.587330928] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050316.587892488] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050316.588608683] [sailbot.teensy]: Wind angle: 292 +[teensy-2] [INFO] [1746050316.589620227] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050316.590617754] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050316.591495866] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050316.644782996] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050316.645468975] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050316.645994020] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050316.647315943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050316.648444652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050316.745460731] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050316.746029734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050316.747066210] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050316.748648802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050316.749802116] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050316.835887464] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050316.838085337] [sailbot.teensy]: Wind angle: 292 +[trim_sail-4] [INFO] [1746050316.839050719] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050316.839201722] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050316.840265647] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050316.841210999] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050316.841653742] [sailbot.mux]: algo sail angle: 50 +[mux-7] [INFO] [1746050316.844290112] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050316.844896714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050316.845379310] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050316.846635778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050316.847672791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050316.945468215] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050316.946219856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050316.947711273] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050316.948385123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050316.949387679] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050317.003218016] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903285 Long: -76.50278597 +[vectornav-1] [INFO] [1746050317.004614770] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.20100000000002, -0.295, 3.582) +[mux-7] [INFO] [1746050317.044998570] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050317.045783300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050317.046333311] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050317.047770412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050317.048861447] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050317.085392513] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050317.087776475] [sailbot.teensy]: Wind angle: 292 +[trim_sail-4] [INFO] [1746050317.088191174] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050317.088739637] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050317.089634857] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050317.088809036] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050317.090497320] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050317.145246093] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050317.146173903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050317.146895858] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050317.148286226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[mux-7] [INFO] [1746050317.148993109] [sailbot.mux]: controller_app sail angle: 24 +[teensy-2] [INFO] [1746050317.149510430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050317.245315683] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050317.246233182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050317.247135682] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050317.248166381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050317.248706211] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050317.335212401] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050317.337378617] [sailbot.teensy]: Wind angle: 292 +[trim_sail-4] [INFO] [1746050317.337716220] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050317.338325508] [sailbot.teensy]: Actual sail angle: 25 +[mux-7] [INFO] [1746050317.338793565] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050317.339260350] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050317.340237172] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050317.344329979] [sailbot.mux]: Published sail angle from controller_app: 24 +[mux-7] [INFO] [1746050317.345407793] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050317.344772245] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050317.346566492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050317.348241148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050317.444998712] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050317.445977216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050317.446461398] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050317.448266658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050317.448743564] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050317.502923709] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903297 Long: -76.5027867 +[vectornav-1] [INFO] [1746050317.504231792] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (194.678, -0.203, 2.977) +[mux-7] [INFO] [1746050317.544914832] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050317.545643474] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050317.546554833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050317.547768087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050317.548942315] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050317.585419572] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050317.587618610] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050317.588514528] [sailbot.teensy]: Wind angle: 292 +[mux-7] [INFO] [1746050317.588839305] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050317.589926171] [sailbot.teensy]: Actual sail angle: 24 +[teensy-2] [INFO] [1746050317.590803472] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050317.591647956] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050317.645594974] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050317.646001071] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050317.648348581] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050317.648373677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050317.650169569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050317.745479139] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050317.746367586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050317.747114406] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050317.748251344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050317.748668205] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050317.835729354] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050317.838028870] [sailbot.teensy]: Wind angle: 292 +[teensy-2] [INFO] [1746050317.839288813] [sailbot.teensy]: Actual sail angle: 24 +[trim_sail-4] [INFO] [1746050317.838712044] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050317.840339105] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050317.840328060] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050317.841315782] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050317.844367089] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050317.845030273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050317.845596063] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050317.846892278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050317.847923727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050317.945692435] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050317.946612793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050317.947929724] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050317.948526221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050317.949000756] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050318.003887662] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903282 Long: -76.50278745 +[vectornav-1] [INFO] [1746050318.005526757] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (194.41100000000006, 0.062, 2.964) +[mux-7] [INFO] [1746050318.045129850] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050318.045945243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050318.046629788] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050318.048038584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050318.049048939] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050318.085521684] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050318.087339876] [sailbot.teensy]: Wind angle: 295 +[trim_sail-4] [INFO] [1746050318.087797053] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050318.088313828] [sailbot.teensy]: Actual sail angle: 24 +[teensy-2] [INFO] [1746050318.089230006] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050318.089475894] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050318.090545854] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050318.145094163] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050318.146031918] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050318.146628818] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050318.148252579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050318.149325536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050318.245021929] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050318.245762541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050318.246369604] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050318.247584310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050318.248682514] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050318.335378617] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050318.337673152] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050318.338171750] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050318.339016044] [sailbot.teensy]: Wind angle: 297 +[teensy-2] [INFO] [1746050318.339923079] [sailbot.teensy]: Actual sail angle: 24 +[teensy-2] [INFO] [1746050318.340811244] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050318.341657043] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050318.344334502] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050318.345108677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050318.345486906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050318.347101331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050318.348105804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050318.445278259] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050318.446099280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050318.446826744] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050318.448450132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050318.449001592] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050318.502571744] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690325 Long: -76.50278772 +[vectornav-1] [INFO] [1746050318.503633861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.25700000000006, -0.491, 3.158) +[mux-7] [INFO] [1746050318.545569028] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050318.546491796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050318.547334232] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050318.548236604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050318.548684372] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050318.585660802] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050318.587863404] [sailbot.teensy]: Wind angle: 298 +[trim_sail-4] [INFO] [1746050318.588800599] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050318.589045792] [sailbot.teensy]: Actual sail angle: 24 +[teensy-2] [INFO] [1746050318.590039989] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050318.590947825] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050318.590995467] [sailbot.mux]: algo sail angle: 55 +[mux-7] [INFO] [1746050318.645019618] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050318.645871566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050318.646322355] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050318.648007802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050318.649136000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050318.745322315] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050318.746062482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050318.747007097] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050318.748014874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050318.749138262] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050318.835431918] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050318.837374233] [sailbot.teensy]: Wind angle: 297 +[trim_sail-4] [INFO] [1746050318.837907574] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050318.838375002] [sailbot.teensy]: Actual sail angle: 24 +[teensy-2] [INFO] [1746050318.839296460] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050318.839759300] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050318.840228379] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050318.844515996] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050318.844991072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050318.846110208] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050318.846744041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050318.847911877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050318.945737893] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050318.946833335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050318.948300931] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050318.949151378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050318.949733049] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050319.004108944] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903251 Long: -76.50278799 +[vectornav-1] [INFO] [1746050319.006518254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.74900000000002, -0.307, 3.851) +[mux-7] [INFO] [1746050319.045441591] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050319.046016011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050319.047064526] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050319.048215582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050319.049501887] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050319.085567515] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050319.088039499] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050319.088350900] [sailbot.teensy]: Wind angle: 297 +[mux-7] [INFO] [1746050319.089256546] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050319.089270658] [sailbot.teensy]: Actual sail angle: 24 +[teensy-2] [INFO] [1746050319.090209572] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050319.091116517] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050319.145345138] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050319.145948843] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050319.146880700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050319.148075253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050319.148977929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050319.245497975] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050319.245993864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050319.247311645] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050319.248197529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050319.249465097] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050319.335341766] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050319.337829272] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050319.338417412] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050319.338481437] [sailbot.teensy]: Wind angle: 297 +[teensy-2] [INFO] [1746050319.339349838] [sailbot.teensy]: Actual sail angle: 24 +[teensy-2] [INFO] [1746050319.339728073] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050319.340082646] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050319.344565829] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050319.344959025] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050319.345974077] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050319.346697858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050319.348519383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050319.445181159] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050319.445646917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050319.446714450] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050319.447728383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050319.448943137] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050319.502981205] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903263 Long: -76.50278817 +[vectornav-1] [INFO] [1746050319.504341251] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.46500000000003, -0.143, 3.066) +[mux-7] [INFO] [1746050319.545213016] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050319.545970191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050319.546567664] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050319.548077024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050319.549269762] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050319.585277888] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050319.587594290] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050319.587928809] [sailbot.teensy]: Wind angle: 297 +[mux-7] [INFO] [1746050319.588465460] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050319.588889689] [sailbot.teensy]: Actual sail angle: 24 +[teensy-2] [INFO] [1746050319.589857427] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050319.590685494] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050319.644849063] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050319.645289152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050319.646442448] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050319.647065964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050319.648113281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050319.745456400] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050319.746044956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050319.748236824] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050319.748334595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050319.748977705] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050319.835521415] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050319.837886274] [sailbot.teensy]: Wind angle: 297 +[trim_sail-4] [INFO] [1746050319.838414203] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050319.838919479] [sailbot.teensy]: Actual sail angle: 24 +[teensy-2] [INFO] [1746050319.840232534] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050319.841069379] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050319.841380490] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050319.844300570] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050319.844806188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050319.845373136] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050319.846470237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050319.847646331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050319.945212655] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050319.945995306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050319.946667198] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050319.948074231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050319.948976106] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050320.003413788] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690326 Long: -76.50278824 +[vectornav-1] [INFO] [1746050320.004827264] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.06899999999996, 0.007, 2.894) +[mux-7] [INFO] [1746050320.045156988] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050320.046677932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050320.047169424] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050320.048990735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050320.050078296] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050320.085378986] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050320.087615489] [sailbot.teensy]: Wind angle: 297 +[trim_sail-4] [INFO] [1746050320.087763169] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050320.088971039] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050320.089348129] [sailbot.teensy]: Actual sail angle: 24 +[teensy-2] [INFO] [1746050320.090298784] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050320.091175022] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050320.145541352] [sailbot.mux]: Published sail angle from controller_app: 24 +[teensy-2] [INFO] [1746050320.146258930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050320.147002331] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050320.148251394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 +[teensy-2] [INFO] [1746050320.149500735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050320.149795123] [sailbot.mux]: controller_app sail angle: 25 +[mux-7] [INFO] [1746050320.245140901] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050320.245971199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050320.246613557] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050320.248214330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050320.249255267] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050320.335449384] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050320.337473172] [sailbot.teensy]: Wind angle: 297 +[trim_sail-4] [INFO] [1746050320.337953483] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050320.338988355] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050320.339352370] [sailbot.teensy]: Actual sail angle: 24 +[teensy-2] [INFO] [1746050320.340435200] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050320.341284227] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050320.344375326] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050320.344897557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050320.345542910] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050320.346612629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050320.347756401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050320.445198624] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050320.446164740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050320.446830608] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050320.448041916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050320.448583405] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050320.503003352] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903246 Long: -76.50278805 +[vectornav-1] [INFO] [1746050320.504099909] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.24400000000003, -0.514, 2.704) +[mux-7] [INFO] [1746050320.545070100] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050320.545869999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050320.546889930] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050320.548139519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050320.549327215] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050320.585411858] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050320.587306623] [sailbot.teensy]: Wind angle: 297 +[trim_sail-4] [INFO] [1746050320.587735197] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050320.588321776] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050320.589341767] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050320.589373893] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050320.590294750] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050320.645242657] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050320.646210365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050320.646807582] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050320.649637808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050320.650809410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050320.745399221] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050320.746329223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050320.747052653] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050320.748349519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050320.748852509] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050320.835417134] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050320.838000180] [sailbot.teensy]: Wind angle: 297 +[trim_sail-4] [INFO] [1746050320.838145022] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050320.838734369] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050320.839005027] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050320.839408914] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050320.839746464] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050320.844395886] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050320.844878230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050320.845521892] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050320.846568257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050320.847632085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050320.945148546] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050320.945671980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050320.946550900] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050320.947585510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050320.948617462] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050321.003349421] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903244 Long: -76.50278792 +[vectornav-1] [INFO] [1746050321.004872051] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.30100000000004, -0.478, 2.789) +[mux-7] [INFO] [1746050321.045358502] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050321.046094736] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050321.048025878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[mux-7] [INFO] [1746050321.048056983] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050321.049110316] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050321.085358147] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050321.087459842] [sailbot.teensy]: Wind angle: 297 +[trim_sail-4] [INFO] [1746050321.087591895] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050321.088460879] [sailbot.teensy]: Actual sail angle: 25 +[mux-7] [INFO] [1746050321.089134093] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050321.089361440] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050321.090215690] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050321.145062979] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050321.145876453] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050321.146372618] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050321.147772518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050321.148943909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050321.245126449] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050321.245807418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050321.246951984] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050321.247904886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050321.248445234] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050321.335383788] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050321.337687317] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050321.338122556] [sailbot.teensy]: Wind angle: 297 +[mux-7] [INFO] [1746050321.338627729] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050321.338763480] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050321.339184350] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050321.339510001] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050321.344508379] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050321.345070535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050321.345989516] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050321.346781169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050321.348697109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050321.445661292] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050321.446301016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050321.447420616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050321.448313343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050321.448867208] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050321.504129479] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903237 Long: -76.50278764 +[vectornav-1] [INFO] [1746050321.505977710] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.308, 0.133, 2.341) +[mux-7] [INFO] [1746050321.545294901] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050321.546142444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050321.546849444] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050321.548381081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050321.550100864] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050321.585437750] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050321.587826096] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050321.588175170] [sailbot.teensy]: Wind angle: 296 +[mux-7] [INFO] [1746050321.588319492] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050321.589189666] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050321.590099309] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050321.590920499] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050321.645261155] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050321.646040829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050321.646957521] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050321.648463316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050321.649016952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050321.745567221] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050321.746378713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050321.747231252] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050321.748493680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050321.749083510] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050321.835306932] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050321.837271066] [sailbot.teensy]: Wind angle: 297 +[trim_sail-4] [INFO] [1746050321.837947147] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050321.838303193] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050321.839222284] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050321.839376247] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050321.840146299] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050321.844500665] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050321.845142603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050321.845665600] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050321.847502123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050321.849164946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050321.945386680] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050321.946362392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050321.947100280] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050321.948536661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050321.949739155] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050322.002464482] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903228 Long: -76.50278723 +[vectornav-1] [INFO] [1746050322.003501432] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.23699999999997, -0.884, 2.714) +[mux-7] [INFO] [1746050322.045239619] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050322.046277933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050322.047164717] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050322.048386416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050322.048881795] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050322.085579731] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050322.087557415] [sailbot.teensy]: Wind angle: 297 +[teensy-2] [INFO] [1746050322.088480475] [sailbot.teensy]: Actual sail angle: 25 +[trim_sail-4] [INFO] [1746050322.088038746] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050322.088861212] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050322.089225025] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050322.089526043] [sailbot.mux]: algo sail angle: 50 +[mux-7] [INFO] [1746050322.144897503] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050322.145628625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050322.146178715] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050322.148420625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050322.149459925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050322.245447998] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050322.246266853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050322.247228845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050322.248805704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050322.250110101] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050322.335486584] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050322.338017091] [sailbot.teensy]: Wind angle: 296 +[trim_sail-4] [INFO] [1746050322.338016135] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050322.339057052] [sailbot.teensy]: Actual sail angle: 25 +[mux-7] [INFO] [1746050322.339249705] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050322.339469098] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050322.339841373] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050322.344480267] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050322.345165307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050322.345640912] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050322.346873824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050322.347959573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050322.445479116] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050322.446092581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050322.447151253] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050322.448330946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050322.449438269] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050322.502315580] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903227 Long: -76.50278718 +[vectornav-1] [INFO] [1746050322.503280438] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.17899999999997, -0.453, 2.675) +[mux-7] [INFO] [1746050322.545253572] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050322.545858056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050322.546763849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050322.548048226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050322.549131170] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050322.585382842] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050322.587298072] [sailbot.teensy]: Wind angle: 296 +[teensy-2] [INFO] [1746050322.588256870] [sailbot.teensy]: Actual sail angle: 25 +[trim_sail-4] [INFO] [1746050322.587668540] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050322.588710523] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050322.589302184] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050322.590184110] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050322.645298833] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050322.645793570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050322.647158239] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050322.647842520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050322.648922824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050322.745274481] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050322.745747049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050322.747130374] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050322.748141345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050322.748687890] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050322.835356848] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050322.837671164] [sailbot.teensy]: Wind angle: 296 +[trim_sail-4] [INFO] [1746050322.837912360] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050322.838674952] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050322.839065159] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050322.839447941] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050322.840035991] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050322.844370675] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050322.844790181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050322.846290623] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050322.846540693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050322.847647451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050322.944905919] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050322.945481438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050322.946228496] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050322.947271451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050322.949077371] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050323.003967777] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903214 Long: -76.50278711 +[vectornav-1] [INFO] [1746050323.005987521] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.81100000000004, 0.498, 2.602) +[mux-7] [INFO] [1746050323.045130585] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050323.045888624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050323.046625350] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050323.048108827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050323.049356018] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050323.085530722] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050323.087624847] [sailbot.teensy]: Wind angle: 296 +[trim_sail-4] [INFO] [1746050323.088022974] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050323.088541165] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050323.088590018] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050323.089813220] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050323.090693870] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050323.144997606] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050323.145637852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050323.146495088] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050323.147664676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050323.148683595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050323.245073107] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050323.245729437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050323.246414487] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050323.247769956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050323.248814581] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050323.335423085] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050323.337381479] [sailbot.teensy]: Wind angle: 296 +[trim_sail-4] [INFO] [1746050323.337976295] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050323.338540946] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050323.339014461] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050323.339009529] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050323.339390232] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050323.344698322] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050323.345109071] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050323.345893403] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050323.346791870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050323.347955120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050323.446208709] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050323.446343045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050323.447713304] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050323.448345419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050323.449383023] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050323.502953052] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903173 Long: -76.50278687 +[vectornav-1] [INFO] [1746050323.504207340] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.34799999999996, -0.937, 2.328) +[mux-7] [INFO] [1746050323.545104950] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050323.545990369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050323.546893674] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050323.548389237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050323.548900625] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050323.585491284] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050323.587797095] [sailbot.teensy]: Wind angle: 296 +[trim_sail-4] [INFO] [1746050323.588030434] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050323.589249165] [sailbot.teensy]: Actual sail angle: 25 +[mux-7] [INFO] [1746050323.589482132] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050323.590226436] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050323.591367447] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050323.645142454] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050323.645906271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050323.646593506] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050323.648095056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050323.648648350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050323.745915389] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050323.746390586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050323.747759667] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050323.748561605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050323.749089234] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050323.835479995] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050323.838096656] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050323.838479333] [sailbot.teensy]: Wind angle: 293 +[mux-7] [INFO] [1746050323.839168442] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050323.839434826] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050323.840390338] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050323.841281185] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050323.844300955] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050323.844914824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050323.845453591] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050323.846635980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050323.847688404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050323.945203183] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050323.945956105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050323.946636453] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050323.948008403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050323.948554948] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050324.004329640] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903162 Long: -76.50278714 +[vectornav-1] [INFO] [1746050324.006454249] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.837, -1.274, 3.014) +[mux-7] [INFO] [1746050324.044913763] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050324.045662138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050324.046365022] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050324.047588415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050324.048755642] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050324.085388346] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050324.087676270] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050324.087696662] [sailbot.teensy]: Wind angle: 293 +[teensy-2] [INFO] [1746050324.088792886] [sailbot.teensy]: Actual sail angle: 25 +[mux-7] [INFO] [1746050324.088813455] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050324.089766599] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050324.090673309] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050324.145217110] [sailbot.mux]: Published sail angle from controller_app: 25 +[teensy-2] [INFO] [1746050324.146484911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050324.146779098] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050324.148541441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[mux-7] [INFO] [1746050324.149313736] [sailbot.mux]: controller_app sail angle: 0 +[teensy-2] [INFO] [1746050324.149647383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050324.245343312] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050324.246293258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050324.246901292] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050324.248093607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050324.248505724] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050324.335424924] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050324.337746663] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050324.337892953] [sailbot.teensy]: Wind angle: 293 +[teensy-2] [INFO] [1746050324.338656220] [sailbot.teensy]: Actual sail angle: 25 +[mux-7] [INFO] [1746050324.338770172] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050324.339041421] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050324.339411070] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050324.344699736] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050324.345241816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050324.345894688] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050324.346998195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050324.347998331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050324.445610059] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050324.446432188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050324.447275323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050324.448650058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050324.449893972] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050324.503637068] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903173 Long: -76.50278781 +[vectornav-1] [INFO] [1746050324.504996050] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.50300000000004, 0.262, 1.538) +[mux-7] [INFO] [1746050324.544973950] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050324.545630931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050324.546619741] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050324.547628323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050324.548835918] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050324.585335877] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050324.587800844] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050324.588329739] [sailbot.teensy]: Wind angle: 293 +[mux-7] [INFO] [1746050324.588459655] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050324.589892594] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050324.591058747] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050324.591900223] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050324.645514964] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050324.646398771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050324.647073082] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050324.648578601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050324.649067445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050324.745608946] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050324.746370451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050324.747390572] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050324.748796773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050324.749960766] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050324.835343121] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050324.837187108] [sailbot.teensy]: Wind angle: 293 +[trim_sail-4] [INFO] [1746050324.837751963] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050324.838103819] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050324.838994997] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050324.840021955] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050324.840376352] [sailbot.mux]: algo sail angle: 50 +[mux-7] [INFO] [1746050324.844505731] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050324.844914297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050324.845623478] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050324.846598602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050324.847789995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050324.945572027] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050324.946450194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050324.947243058] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050324.948901626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050324.949507522] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050325.002446815] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903111 Long: -76.50278865 +[vectornav-1] [INFO] [1746050325.003537105] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.947, 0.043, 1.812) +[mux-7] [INFO] [1746050325.045388377] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050325.046451937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050325.047316380] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050325.048471171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050325.049081395] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050325.085885314] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050325.088679073] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050325.090013205] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050325.090037211] [sailbot.teensy]: Wind angle: 293 +[teensy-2] [INFO] [1746050325.091041257] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050325.091932213] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050325.092778513] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050325.145235887] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050325.146187948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050325.147243149] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050325.148468054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050325.149574000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050325.245328286] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050325.246113785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050325.247142584] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050325.247958563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050325.248423437] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050325.335672091] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050325.337903445] [sailbot.teensy]: Wind angle: 293 +[trim_sail-4] [INFO] [1746050325.338744127] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050325.338976187] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050325.339875730] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050325.339816566] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050325.340781607] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050325.344430173] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050325.345207328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050325.345522795] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050325.347133941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050325.348311197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050325.445597119] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050325.446677821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050325.447420973] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050325.448292260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050325.448952217] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050325.502561177] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903114 Long: -76.50278957 +[vectornav-1] [INFO] [1746050325.503594278] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.298, -0.91, 3.427) +[mux-7] [INFO] [1746050325.545325555] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050325.546115468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050325.546912387] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050325.548563929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050325.549065729] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050325.585275099] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050325.586900833] [sailbot.teensy]: Wind angle: 293 +[teensy-2] [INFO] [1746050325.587815697] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050325.588724389] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746050325.587752742] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050325.588492773] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050325.589626257] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050325.645059780] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050325.645921862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050325.646414498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050325.648479369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050325.648993818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050325.745490879] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050325.746305274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050325.747044044] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050325.748758583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050325.749301223] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050325.835380449] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050325.837704704] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050325.838443678] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050325.838636467] [sailbot.teensy]: Wind angle: 293 +[teensy-2] [INFO] [1746050325.839597923] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050325.840562677] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050325.841593340] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050325.844325870] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050325.844885506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050325.845413807] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050325.846588753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050325.847743737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050325.945190171] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050325.945930380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050325.946703204] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050325.948201090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050325.949282241] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050326.003654110] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903103 Long: -76.50279085 +[vectornav-1] [INFO] [1746050326.005479294] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.02099999999996, -1.823, 1.75) +[mux-7] [INFO] [1746050326.045080003] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050326.045574129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050326.046328426] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050326.047372442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050326.048450860] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050326.085411156] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050326.087209900] [sailbot.teensy]: Wind angle: 293 +[trim_sail-4] [INFO] [1746050326.087740213] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050326.088143555] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050326.089074631] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050326.089453593] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050326.089936741] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050326.145269708] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050326.146209949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050326.147035059] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050326.148271856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050326.149314781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050326.244636941] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050326.245208632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050326.245973370] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050326.246793746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050326.247905554] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050326.335354616] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050326.337229639] [sailbot.teensy]: Wind angle: 293 +[trim_sail-4] [INFO] [1746050326.337739077] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050326.338208958] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050326.339274536] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050326.339635664] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050326.340184693] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050326.344419696] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050326.344960495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050326.345493337] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050326.346639446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050326.347782688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050326.445070259] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050326.445999458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050326.446852340] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050326.447860758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050326.448640470] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050326.503986413] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903131 Long: -76.50279272 +[vectornav-1] [INFO] [1746050326.505633871] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.23199999999997, 1.356, -0.427) +[mux-7] [INFO] [1746050326.545208503] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050326.546055284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050326.547130954] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050326.548545734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050326.549718033] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050326.585472035] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050326.587793350] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050326.589085329] [sailbot.teensy]: Wind angle: 293 +[mux-7] [INFO] [1746050326.589169999] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050326.590759150] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050326.591675820] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050326.592530679] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050326.644697225] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050326.645229631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050326.645836972] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050326.646949177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050326.647983466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050326.745474570] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050326.746280338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050326.747158394] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050326.748607551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050326.749116943] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050326.835366685] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050326.837474734] [sailbot.teensy]: Wind angle: 293 +[trim_sail-4] [INFO] [1746050326.838390713] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050326.838498325] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050326.839458563] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050326.839829926] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050326.840475408] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050326.844421219] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050326.844954554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050326.845720048] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050326.846775653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050326.847806053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050326.945652849] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050326.946440544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050326.947457005] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050326.948829270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050326.949375067] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050327.002539317] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903047 Long: -76.50279426 +[vectornav-1] [INFO] [1746050327.003617736] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.52700000000004, -0.223, 1.257) +[mux-7] [INFO] [1746050327.045023854] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050327.045559445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050327.046369872] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050327.047473174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050327.048609636] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050327.085629577] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050327.088381989] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050327.088805179] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050327.089241760] [sailbot.teensy]: Wind angle: 293 +[teensy-2] [INFO] [1746050327.090267741] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050327.091105159] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050327.091930868] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050327.145249727] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050327.145959399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050327.146895370] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050327.148281560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050327.149452162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050327.245525373] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050327.246349503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050327.247840363] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050327.248998222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050327.249430233] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050327.335483128] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050327.337884822] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050327.338359085] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050327.339190731] [sailbot.teensy]: Wind angle: 293 +[teensy-2] [INFO] [1746050327.340252352] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050327.341143372] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050327.341968251] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050327.344300816] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050327.344811507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050327.345387872] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050327.346530913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050327.347703322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050327.445119720] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050327.445949770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050327.446478313] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050327.447881220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050327.448953705] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050327.502560908] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903049 Long: -76.50279614 +[vectornav-1] [INFO] [1746050327.504141456] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.38200000000006, -2.247, 2.703) +[mux-7] [INFO] [1746050327.545410606] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050327.546377972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050327.547001703] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050327.548646145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050327.549838174] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050327.585423627] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050327.587611488] [sailbot.teensy]: Wind angle: 293 +[trim_sail-4] [INFO] [1746050327.587818908] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050327.588646432] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050327.588658397] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050327.589562967] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050327.590146375] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050327.645039444] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050327.645706207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050327.646492818] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050327.647818072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050327.648996656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050327.745306796] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050327.746070747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050327.746779806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050327.748539613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050327.749624716] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050327.835270261] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050327.836912604] [sailbot.teensy]: Wind angle: 293 +[trim_sail-4] [INFO] [1746050327.837482417] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050327.837783595] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050327.837978402] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050327.838618801] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050327.839001971] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050327.844424374] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050327.844905142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050327.845532968] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050327.846647901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050327.847787413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050327.945453291] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050327.946954749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050327.947183189] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050327.949750769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050327.950747663] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050328.003378927] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903036 Long: -76.50279794 +[vectornav-1] [INFO] [1746050328.005011399] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.29600000000005, -0.404, 1.615) +[mux-7] [INFO] [1746050328.044941792] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050328.045766153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050328.046101187] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050328.047849573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050328.048943239] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050328.085239369] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050328.086936256] [sailbot.teensy]: Wind angle: 295 +[teensy-2] [INFO] [1746050328.087848334] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050328.087452158] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050328.088911723] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050328.089248316] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050328.089828850] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050328.144776280] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050328.145499386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050328.145993727] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050328.147409623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050328.148651983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050328.245059382] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050328.245952201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050328.246438160] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050328.247882331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050328.249019550] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050328.335409049] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050328.337612606] [sailbot.teensy]: Wind angle: 298 +[trim_sail-4] [INFO] [1746050328.337704912] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050328.338606659] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050328.339289423] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050328.339527437] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050328.340183488] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050328.344417112] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050328.344997637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050328.345503816] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050328.346719732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050328.347754793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050328.444871682] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050328.445449766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050328.446113128] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050328.447339558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050328.448506771] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050328.503466460] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902969 Long: -76.50279955 +[vectornav-1] [INFO] [1746050328.505162607] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.11300000000006, 1.362, 0.1) +[mux-7] [INFO] [1746050328.545244632] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050328.545999899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050328.546921472] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050328.548462079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050328.549562858] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050328.585522406] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050328.587807813] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050328.588331919] [sailbot.teensy]: Wind angle: 299 +[mux-7] [INFO] [1746050328.589126335] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050328.589296632] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050328.590213759] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050328.591071316] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050328.644935319] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050328.645722798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050328.646186500] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050328.647721525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050328.648867989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050328.745593757] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050328.746423769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050328.747178411] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050328.748167560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050328.748682357] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050328.835272402] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050328.836916376] [sailbot.teensy]: Wind angle: 299 +[trim_sail-4] [INFO] [1746050328.837440153] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050328.837794759] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050328.838594407] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050328.838569289] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050328.839394907] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050328.844509659] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050328.844977983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050328.845993079] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050328.846765981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050328.848571701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050328.945167035] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050328.946343799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050328.946705777] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050328.948662319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050328.949178391] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050329.002671693] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902902 Long: -76.50280092 +[vectornav-1] [INFO] [1746050329.003778776] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.72900000000004, -0.928, 3.835) +[mux-7] [INFO] [1746050329.045365819] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050329.046182171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050329.046859057] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050329.048378207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050329.049370755] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050329.085434465] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050329.087331374] [sailbot.teensy]: Wind angle: 299 +[trim_sail-4] [INFO] [1746050329.087837802] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050329.088320495] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050329.089273424] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050329.089387787] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050329.090254074] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050329.145025619] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050329.145817343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050329.146880586] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050329.147794714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050329.148910384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050329.245248572] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050329.246223427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050329.246783198] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050329.248228601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050329.248721175] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050329.335430702] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050329.337470145] [sailbot.teensy]: Wind angle: 299 +[trim_sail-4] [INFO] [1746050329.337934011] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050329.338445616] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050329.339430176] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050329.339805197] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050329.340413879] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050329.344366097] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050329.344889097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050329.345457410] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050329.346628982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050329.347835989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050329.445086531] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050329.446446222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050329.447158684] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050329.447843450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050329.448399831] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050329.503989900] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902899 Long: -76.50280223 +[vectornav-1] [INFO] [1746050329.505478017] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.514, -0.776, 3.08) +[mux-7] [INFO] [1746050329.545019265] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050329.545529430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050329.546340712] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050329.547523296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050329.548603417] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050329.585247158] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050329.587402781] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050329.587723649] [sailbot.teensy]: Wind angle: 299 +[teensy-2] [INFO] [1746050329.588636332] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050329.589545443] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050329.589858747] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050329.590410359] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050329.644859788] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050329.645373524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050329.646100032] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050329.647076596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050329.648239857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050329.745470911] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050329.746009506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050329.747102725] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050329.748278736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050329.749240136] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050329.835520166] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050329.838112456] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050329.838465539] [sailbot.teensy]: Wind angle: 299 +[mux-7] [INFO] [1746050329.838700363] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050329.838999381] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050329.839383226] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050329.839738374] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050329.844523584] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050329.844994767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050329.845744260] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050329.846704260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050329.847758573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050329.945221932] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050329.945691338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050329.946743195] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050329.947654528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050329.948719555] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050330.003295269] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902843 Long: -76.50280337 +[vectornav-1] [INFO] [1746050330.004945144] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.07500000000005, -0.447, 2.014) +[mux-7] [INFO] [1746050330.044871915] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050330.045395541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050330.046113748] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050330.047162543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050330.048278484] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050330.085299232] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050330.087622553] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050330.088043515] [sailbot.teensy]: Wind angle: 299 +[mux-7] [INFO] [1746050330.088235633] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050330.089314123] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050330.090193027] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050330.091037399] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050330.145099718] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050330.145600023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050330.146421803] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050330.148055975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050330.149255770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050330.244995546] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050330.245527533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050330.246018511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050330.246525828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050330.247100488] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050330.335439008] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050330.337275357] [sailbot.teensy]: Wind angle: 298 +[trim_sail-4] [INFO] [1746050330.337864826] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050330.338214453] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050330.339105246] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050330.339226073] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050330.339987473] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050330.344308931] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050330.345037928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050330.345981132] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050330.346814611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050330.347955401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050330.445269273] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050330.446217158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050330.447105503] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050330.447999645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050330.448963936] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050330.503113918] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902809 Long: -76.50280449 +[vectornav-1] [INFO] [1746050330.504774447] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.23199999999997, 0.206, -2.153) +[mux-7] [INFO] [1746050330.544934170] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050330.545762216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050330.546212589] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050330.547779372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050330.548800116] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050330.585428361] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050330.587801579] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050330.587794961] [sailbot.teensy]: Wind angle: 298 +[teensy-2] [INFO] [1746050330.588831655] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050330.589158220] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050330.589759876] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050330.590682666] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050330.644982237] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050330.645652028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050330.646238408] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050330.647523069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050330.648583638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050330.745107234] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050330.745959522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050330.746495066] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050330.748143682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050330.748640528] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050330.835795138] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050330.838062908] [sailbot.teensy]: Wind angle: 297 +[trim_sail-4] [INFO] [1746050330.838575119] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050330.839151664] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050330.840102799] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050330.840046807] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050330.841204072] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050330.844430592] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050330.844938701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050330.845620125] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050330.846609761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050330.847677078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050330.945192409] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050330.945877042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050330.946987206] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050330.948086126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050330.949401220] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050331.002996801] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902742 Long: -76.50280558 +[vectornav-1] [INFO] [1746050331.005049663] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.08799999999997, -1.031, -1.39) +[mux-7] [INFO] [1746050331.044838390] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050331.045554991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050331.045980062] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050331.048085471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050331.049105705] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050331.085433196] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050331.087285091] [sailbot.teensy]: Wind angle: 297 +[trim_sail-4] [INFO] [1746050331.088232451] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050331.088304710] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050331.088926179] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050331.089306966] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050331.089326392] [sailbot.mux]: algo sail angle: 50 +[mux-7] [INFO] [1746050331.144746797] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050331.145527865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050331.145923241] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050331.147313183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050331.148272625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050331.245217190] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050331.245964104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050331.246812927] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050331.248306743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050331.249545289] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050331.335419286] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050331.337237955] [sailbot.teensy]: Wind angle: 297 +[trim_sail-4] [INFO] [1746050331.337804622] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050331.338183317] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050331.339100134] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050331.339957275] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050331.340117550] [sailbot.mux]: algo sail angle: 50 +[mux-7] [INFO] [1746050331.344367874] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050331.344986058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050331.345462174] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050331.346736859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050331.347765057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050331.445061385] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050331.446332834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050331.446989242] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050331.448907402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050331.450063656] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050331.503762275] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690275 Long: -76.50280674 +[vectornav-1] [INFO] [1746050331.505686858] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.46399999999994, -0.899, 4.043) +[mux-7] [INFO] [1746050331.544936124] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050331.545612380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050331.546351024] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050331.547434309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050331.548472513] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050331.585311315] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050331.587007984] [sailbot.teensy]: Wind angle: 296 +[trim_sail-4] [INFO] [1746050331.587498825] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050331.588042513] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050331.588986085] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050331.589284407] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050331.589855675] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050331.645083417] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050331.646025893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050331.646522406] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050331.647792368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050331.648266730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050331.745183348] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050331.746173445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050331.746827322] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050331.748052914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050331.748532715] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050331.835726795] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050331.838592230] [sailbot.teensy]: Wind angle: 295 +[trim_sail-4] [INFO] [1746050331.838747005] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050331.839670162] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050331.839997486] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050331.840823185] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050331.841808134] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050331.844351404] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050331.844999914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050331.845468873] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050331.846784344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050331.847790340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050331.945151523] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050331.946019370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050331.946617336] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050331.948131456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050331.949213366] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050332.003068713] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902769 Long: -76.50280766 +[vectornav-1] [INFO] [1746050332.004317151] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.399, -1.562, 1.186) +[mux-7] [INFO] [1746050332.045119550] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050332.045934624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050332.046377328] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050332.047845373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050332.049027713] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050332.085441124] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050332.087276345] [sailbot.teensy]: Wind angle: 293 +[teensy-2] [INFO] [1746050332.088283424] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050332.088181362] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050332.089190425] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050332.090036534] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050332.090119063] [sailbot.mux]: algo sail angle: 50 +[mux-7] [INFO] [1746050332.145011204] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050332.145790800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050332.146411231] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050332.147779031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050332.148925877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050332.245244264] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050332.245965112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050332.246996096] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050332.248018017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050332.248545272] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050332.335458829] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050332.337337329] [sailbot.teensy]: Wind angle: 289 +[trim_sail-4] [INFO] [1746050332.337881141] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050332.338372027] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050332.339258930] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050332.339607210] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050332.340182935] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050332.344455324] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050332.344953598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050332.345765833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050332.346692922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050332.348039940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050332.445259644] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050332.446390281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050332.446841206] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050332.448933593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050332.449922828] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050332.502414429] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902714 Long: -76.50280651 +[vectornav-1] [INFO] [1746050332.503514682] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (186.885, 1.228, 1.558) +[mux-7] [INFO] [1746050332.545089050] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050332.546338727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050332.546738965] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050332.548365073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050332.548856014] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050332.585589673] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050332.588244988] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050332.588476268] [sailbot.teensy]: Wind angle: 289 +[mux-7] [INFO] [1746050332.589365074] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050332.589383288] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050332.590299461] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050332.591132952] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050332.645206100] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050332.645673143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050332.646702997] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050332.647644995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050332.649308757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050332.745224509] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050332.745746365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050332.746657898] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050332.747672395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050332.748751148] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050332.835595785] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050332.837388760] [sailbot.teensy]: Wind angle: 288 +[trim_sail-4] [INFO] [1746050332.838479486] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050332.839187699] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050332.839965988] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050332.840193963] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050332.841163268] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050332.844640495] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050332.844907498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050332.845838689] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050332.846627530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050332.847736294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050332.945221420] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050332.945721178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050332.946707695] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050332.948618368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050332.949656123] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050333.003179232] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902738 Long: -76.50280466 +[vectornav-1] [INFO] [1746050333.004543894] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (186.841, -2.034, 3.398) +[mux-7] [INFO] [1746050333.045149034] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050333.045727694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050333.046473398] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050333.047753966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050333.048752238] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050333.085417789] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050333.087989953] [sailbot.teensy]: Wind angle: 288 +[teensy-2] [INFO] [1746050333.088936760] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050333.088679942] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746050333.089475255] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050333.089830103] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050333.090686853] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050333.145113667] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050333.145801703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050333.146436292] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050333.147793113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050333.148912823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050333.245519398] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050333.246245899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050333.247265569] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050333.248419612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050333.249538318] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050333.335715612] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050333.337936117] [sailbot.teensy]: Wind angle: 288 +[teensy-2] [INFO] [1746050333.339011047] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050333.339289717] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746050333.339879484] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050333.339936378] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050333.340881179] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050333.344452383] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050333.345053269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050333.345581177] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050333.346785288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050333.347857006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050333.445629729] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050333.446592658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050333.447217261] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050333.448855020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050333.450053389] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050333.502895417] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690276 Long: -76.50280296 +[vectornav-1] [INFO] [1746050333.504074636] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.69100000000003, -2.435, -2.26) +[mux-7] [INFO] [1746050333.544984440] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050333.545691856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050333.546244882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050333.547509994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050333.548068041] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050333.585215061] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050333.587034852] [sailbot.teensy]: Wind angle: 287 +[trim_sail-4] [INFO] [1746050333.587651374] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050333.587984774] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050333.588361876] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050333.588924509] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050333.589802776] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050333.645016295] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050333.645951518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050333.646836730] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050333.648309567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050333.649502590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050333.745357659] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050333.746336683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050333.747076180] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050333.748454560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050333.749506585] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050333.835506235] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050333.838101843] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746050333.838604995] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050333.838957117] [sailbot.teensy]: Wind angle: 285 +[teensy-2] [INFO] [1746050333.840089090] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050333.840964809] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050333.841818013] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050333.844267576] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050333.844942274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050333.845335207] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050333.846763483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050333.847800040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050333.945654901] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050333.946633281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050333.947232200] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050333.948917563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050333.950208655] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050334.002553420] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902745 Long: -76.50280148 +[vectornav-1] [INFO] [1746050334.003625758] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (194.90300000000002, -0.82, -3.111) +[mux-7] [INFO] [1746050334.045116231] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050334.045822905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050334.046517846] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050334.047901955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050334.048426303] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050334.085361254] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050334.087440217] [sailbot.teensy]: Wind angle: 279 +[teensy-2] [INFO] [1746050334.088390565] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050334.087874663] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050334.088376767] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050334.089314842] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050334.090555885] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050334.145253990] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050334.145838291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050334.146813119] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050334.147826131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050334.148889240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050334.245418034] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050334.246037562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050334.247075781] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050334.248113235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050334.249215769] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050334.335405005] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050334.337310803] [sailbot.teensy]: Wind angle: 278 +[teensy-2] [INFO] [1746050334.338264429] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050334.339156778] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746050334.338394489] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050334.338574177] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050334.340027615] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050334.344591667] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050334.344992151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050334.345768634] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050334.346716605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050334.347893655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050334.445507811] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050334.446203944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050334.447095933] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050334.448775153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050334.449920835] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050334.502833445] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902776 Long: -76.50280064 +[vectornav-1] [INFO] [1746050334.504239247] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (200.72199999999998, 0.172, -1.023) +[mux-7] [INFO] [1746050334.545279034] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050334.545838390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050334.546794676] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050334.549006095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050334.550058228] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050334.585385197] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050334.587880614] [sailbot.teensy]: Wind angle: 278 +[trim_sail-4] [INFO] [1746050334.588382156] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050334.589107161] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050334.589122287] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050334.590043235] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050334.590904321] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050334.645082017] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050334.645919882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050334.646819682] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050334.647882876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050334.649158261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050334.745214022] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050334.745950517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050334.747060280] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050334.747900923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050334.748394540] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050334.835402921] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050334.837829931] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050334.838715852] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050334.838776118] [sailbot.teensy]: Wind angle: 278 +[teensy-2] [INFO] [1746050334.839210279] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050334.839578879] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050334.840355849] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050334.844373426] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050334.845037098] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050334.845494701] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050334.846770172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050334.847772665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050334.945369865] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050334.946055050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050334.946892479] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050334.948226701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050334.950010253] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050335.002377787] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902812 Long: -76.50280028 +[vectornav-1] [INFO] [1746050335.003393469] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (205.34500000000003, -2.476, -2.78) +[mux-7] [INFO] [1746050335.045131958] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050335.045877883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050335.046544511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050335.047984249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050335.048422403] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050335.085191276] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050335.087426591] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050335.087425755] [sailbot.teensy]: Wind angle: 278 +[teensy-2] [INFO] [1746050335.088426435] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050335.089024550] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050335.089339139] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050335.090290196] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050335.144934793] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050335.145541066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050335.146093619] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050335.147281342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050335.148463452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050335.245324427] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050335.246444248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050335.246863954] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050335.248519264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050335.249061543] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050335.335720168] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050335.338955948] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050335.338975321] [sailbot.teensy]: Wind angle: 277 +[teensy-2] [INFO] [1746050335.340319889] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050335.340397856] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050335.341324570] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050335.342213754] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050335.344453791] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050335.344959270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050335.345549163] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050335.346758246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050335.347898612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050335.445674369] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050335.446975495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050335.447761365] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050335.449522571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050335.450792898] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050335.503696477] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902814 Long: -76.50280122 +[vectornav-1] [INFO] [1746050335.505761942] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (202.28600000000006, -0.933, -4.734) +[mux-7] [INFO] [1746050335.545120752] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050335.545927821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050335.546533932] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050335.548224768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050335.549368606] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050335.585450350] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050335.587785174] [sailbot.teensy]: Wind angle: 277 +[trim_sail-4] [INFO] [1746050335.587914138] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050335.588778737] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050335.589074015] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050335.589667875] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050335.590652373] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050335.645184353] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050335.645830875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050335.646423183] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050335.647827777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050335.648777604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050335.745079976] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050335.745944625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050335.746851773] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050335.747966674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050335.748441704] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050335.835447772] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050335.837405063] [sailbot.teensy]: Wind angle: 278 +[trim_sail-4] [INFO] [1746050335.837906161] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050335.838404284] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050335.839346269] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050335.839822465] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050335.840090330] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050335.844405027] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050335.845290480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050335.845574791] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050335.847308854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050335.848348937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050335.945401618] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050335.945986228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050335.946916680] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050335.948472711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050335.949636451] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050336.004169473] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902729 Long: -76.50280326 +[vectornav-1] [INFO] [1746050336.005872278] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (202.288, -0.393, -5.436) +[mux-7] [INFO] [1746050336.045277111] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050336.046335395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050336.046805013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050336.048533101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050336.049504587] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050336.085248319] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050336.087678265] [sailbot.teensy]: Wind angle: 278 +[trim_sail-4] [INFO] [1746050336.087747698] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050336.088470994] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050336.088658492] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050336.089572393] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050336.090444946] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050336.145257221] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050336.145903506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050336.146906146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050336.148082456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050336.149339269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050336.245123075] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050336.245805346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050336.246548526] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050336.248020131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050336.249030364] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050336.335409961] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050336.337903517] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050336.338638417] [sailbot.teensy]: Wind angle: 277 +[mux-7] [INFO] [1746050336.338990806] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050336.339636059] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050336.340548518] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050336.340940187] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050336.344474451] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050336.344840288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050336.345625663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050336.346533874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050336.347608236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050336.445297550] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050336.446132256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050336.446743535] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050336.448076490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050336.449313439] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050336.503632864] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690268 Long: -76.50280576 +[vectornav-1] [INFO] [1746050336.505520635] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (200.89200000000005, -1.228, -2.7) +[mux-7] [INFO] [1746050336.544973125] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050336.545765732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050336.546259393] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050336.547608637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050336.548740695] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050336.585244981] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050336.587476732] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050336.587548904] [sailbot.teensy]: Wind angle: 278 +[teensy-2] [INFO] [1746050336.588697722] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050336.589635615] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050336.589844428] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050336.590508775] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050336.645127074] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050336.645819172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050336.646561030] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050336.648084748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050336.649233019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050336.745603087] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050336.746625689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050336.747222188] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050336.747932557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050336.748407859] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050336.835442486] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050336.837329849] [sailbot.teensy]: Wind angle: 277 +[trim_sail-4] [INFO] [1746050336.837858850] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050336.838322381] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050336.839278475] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050336.839817411] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050336.840207556] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050336.844380532] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050336.845101500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050336.845444213] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050336.846804084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050336.847999338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050336.945536527] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050336.946296450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050336.947488837] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050336.948010461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050336.948546279] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050337.002411169] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902699 Long: -76.50280663 +[vectornav-1] [INFO] [1746050337.003514419] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (198.56500000000005, -1.465, -6.942) +[mux-7] [INFO] [1746050337.045679110] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050337.047359547] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050337.047326841] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050337.049811413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050337.051111891] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050337.085885534] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050337.088270949] [sailbot.teensy]: Wind angle: 278 +[teensy-2] [INFO] [1746050337.089353787] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050337.090267240] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746050337.089369136] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050337.090133288] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050337.091154499] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050337.145160729] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050337.145827284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050337.146593775] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050337.147859228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050337.149034263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050337.245384053] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050337.246296666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050337.246909645] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050337.249024340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050337.250098720] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050337.335324173] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050337.337132538] [sailbot.teensy]: Wind angle: 278 +[trim_sail-4] [INFO] [1746050337.337850474] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050337.338136573] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050337.338961947] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050337.339067887] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050337.340023468] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050337.344561269] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050337.345011812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050337.345687882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050337.346740682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050337.347782083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050337.445422456] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050337.446343767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050337.447057686] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050337.447998432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050337.448453014] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050337.502275358] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902732 Long: -76.502805 +[vectornav-1] [INFO] [1746050337.504691400] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (204.39599999999996, -0.476, -4.592) +[mux-7] [INFO] [1746050337.545131168] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050337.545968472] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050337.546528704] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050337.548368089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050337.549488681] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050337.585422552] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050337.588415736] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050337.588472019] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050337.589146221] [sailbot.teensy]: Wind angle: 278 +[teensy-2] [INFO] [1746050337.590101835] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050337.590953887] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050337.591797924] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050337.645541138] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050337.646380123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050337.647267836] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050337.649126733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050337.650285593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050337.745331330] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050337.746318675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050337.746997696] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050337.748730958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050337.749887876] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050337.835577221] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050337.838746578] [sailbot.teensy]: Wind angle: 281 +[trim_sail-4] [INFO] [1746050337.838800479] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050337.839294260] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050337.840243150] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050337.840590470] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050337.841276495] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050337.844386956] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050337.844927271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050337.845489449] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050337.846626600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050337.847761450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050337.945617392] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050337.946332180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050337.947818263] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050337.948929431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050337.950155033] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050338.002666268] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902777 Long: -76.50280381 +[vectornav-1] [INFO] [1746050338.003859557] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (208.13599999999997, -0.876, -3.878) +[mux-7] [INFO] [1746050338.045496069] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050338.046146272] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050338.047107266] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050338.048813206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050338.049974590] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050338.085580170] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050338.088722907] [sailbot.teensy]: Wind angle: 281 +[trim_sail-4] [INFO] [1746050338.089434148] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050338.089592265] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050338.089665067] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050338.090579334] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050338.091430332] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050338.145290888] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050338.145872796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050338.146785896] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050338.148027914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050338.149195371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050338.245737938] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050338.246383927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050338.247412081] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050338.248929886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050338.250244914] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050338.335542066] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050338.338206260] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050338.338510030] [sailbot.teensy]: Wind angle: 281 +[mux-7] [INFO] [1746050338.339199134] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050338.339473902] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050338.339882296] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050338.340380244] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050338.344443711] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050338.345464598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050338.345570822] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050338.347284890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050338.348417751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050338.445453895] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050338.446886952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050338.447220096] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050338.449082330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050338.450233242] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050338.503187658] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902777 Long: -76.5028039 +[vectornav-1] [INFO] [1746050338.504635417] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (207.81600000000003, -1.633, -5.249) +[mux-7] [INFO] [1746050338.545221154] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050338.545870134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050338.546913547] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050338.548585376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050338.549770588] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050338.585226213] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050338.587589668] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050338.587837898] [sailbot.teensy]: Wind angle: 281 +[teensy-2] [INFO] [1746050338.588879888] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050338.588969727] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050338.589786526] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050338.590669897] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050338.645220614] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050338.645840237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050338.646721608] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050338.647817747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050338.648969510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050338.745753196] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050338.746351444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050338.748448334] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050338.749005038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050338.750139914] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050338.835309994] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050338.837586009] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050338.837698889] [sailbot.teensy]: Wind angle: 281 +[teensy-2] [INFO] [1746050338.838537618] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050338.838941301] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050338.838973256] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050338.839319180] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050338.844544720] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050338.845067751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050338.845730717] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050338.846765652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050338.848036420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050338.945384714] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050338.946056668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050338.947188574] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050338.948243744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050338.949482628] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050339.003821386] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690278 Long: -76.50280402 +[vectornav-1] [INFO] [1746050339.005277291] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (208.341, -0.26, -2.321) +[mux-7] [INFO] [1746050339.045535564] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050339.046150391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050339.047160804] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050339.048269664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050339.049589465] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050339.085409193] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050339.087558711] [sailbot.teensy]: Wind angle: 282 +[teensy-2] [INFO] [1746050339.088543278] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050339.087914394] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050339.089235665] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050339.089415740] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050339.090320973] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050339.145156962] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050339.146292670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050339.146584687] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050339.147842800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050339.148419475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050339.245659035] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050339.246319713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050339.247746884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050339.248699198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050339.250294043] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050339.335682231] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050339.337878064] [sailbot.teensy]: Wind angle: 282 +[trim_sail-4] [INFO] [1746050339.338526101] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050339.338901994] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050339.339095148] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050339.340875807] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050339.341776196] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050339.344371207] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050339.345064011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050339.345440407] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050339.346787499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050339.347816397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050339.445634009] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050339.446440026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050339.447583494] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050339.448302085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050339.448891105] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050339.503651859] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902789 Long: -76.5028039 +[vectornav-1] [INFO] [1746050339.505310983] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (207.812, -1.436, -1.302) +[mux-7] [INFO] [1746050339.545067708] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050339.545797854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050339.546514469] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050339.548172462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050339.548778892] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050339.585428709] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050339.587449049] [sailbot.teensy]: Wind angle: 282 +[trim_sail-4] [INFO] [1746050339.587905409] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050339.588439686] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050339.589381861] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050339.589884784] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050339.590245636] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050339.645325329] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050339.646161555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050339.646872130] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050339.648261539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050339.648751794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050339.745201948] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050339.746207976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050339.746741447] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050339.748468865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050339.748981579] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050339.835388811] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050339.838304747] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050339.838536317] [sailbot.teensy]: Wind angle: 281 +[teensy-2] [INFO] [1746050339.839731335] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050339.839775665] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050339.840704832] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050339.841558741] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050339.844378787] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050339.844873349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050339.845456404] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050339.846699734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050339.847741222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050339.945636909] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050339.946431947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050339.947262279] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050339.948564616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050339.949024178] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050340.004108424] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902766 Long: -76.5028044 +[vectornav-1] [INFO] [1746050340.005710701] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (206.086, 0.041, -3.58) +[mux-7] [INFO] [1746050340.045483191] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050340.046317228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050340.047136972] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050340.048458388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050340.049618865] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050340.085504042] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050340.087940424] [sailbot.teensy]: Wind angle: 280 +[trim_sail-4] [INFO] [1746050340.088283112] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050340.088962975] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050340.089053651] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050340.089885773] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050340.090807487] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050340.145001493] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050340.145957387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050340.146674516] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050340.147859044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050340.148919541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050340.245594603] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050340.246592934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050340.247478929] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050340.248919003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050340.250143786] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050340.335599509] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050340.337578170] [sailbot.teensy]: Wind angle: 280 +[trim_sail-4] [INFO] [1746050340.338306887] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050340.338579920] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050340.339529814] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050340.340112027] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050340.340502119] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050340.344408368] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050340.344829176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050340.345622812] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050340.347329672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050340.348526398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050340.445495392] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050340.446287923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050340.446994165] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050340.448437331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050340.449706420] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050340.502540564] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902675 Long: -76.50280672 +[vectornav-1] [INFO] [1746050340.503830088] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (201.0, -0.573, -1.51) +[mux-7] [INFO] [1746050340.545334002] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050340.546058859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050340.546955164] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050340.548541317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050340.549858436] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050340.585599967] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050340.588327444] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050340.589011663] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050340.589230621] [sailbot.teensy]: Wind angle: 278 +[teensy-2] [INFO] [1746050340.590168893] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050340.591039523] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050340.591844260] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050340.645133051] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050340.645993148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050340.646539866] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050340.647948599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050340.648556867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050340.745184935] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050340.746024211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050340.746613550] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050340.748748498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050340.749853215] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050340.835423623] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050340.837848020] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050340.838271502] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050340.839016937] [sailbot.teensy]: Wind angle: 265 +[teensy-2] [INFO] [1746050340.839460024] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050340.840180954] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050340.840947700] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050340.844417678] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050340.844857666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050340.845539245] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050340.846616990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050340.847862960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050340.945369956] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050340.946484806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050340.946919374] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050340.948656358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050340.949718319] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050341.002567436] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902585 Long: -76.50281296 +[vectornav-1] [INFO] [1746050341.003641483] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.572, 3.085, -0.453) +[mux-7] [INFO] [1746050341.045348080] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050341.046031622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050341.046872604] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050341.048422543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050341.049705648] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050341.085379839] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050341.088258620] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050341.088601832] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050341.089572983] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050341.089030356] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050341.090430305] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050341.091272728] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050341.145006672] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050341.145810689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050341.146369569] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050341.147544422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050341.148083153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050341.244860467] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050341.245642000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050341.246058555] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050341.247549091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050341.248709644] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050341.335349292] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050341.337697926] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050341.338328403] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050341.338522846] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746050341.339532922] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050341.340477212] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050341.341333078] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050341.344280525] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050341.344963599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050341.345397266] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050341.346654419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050341.347821673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050341.445417392] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050341.446567911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050341.447505035] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050341.448850872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050341.449581082] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050341.503591619] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902723 Long: -76.50282203 +[vectornav-1] [INFO] [1746050341.505742734] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.99900000000002, 2.845, 1.785) +[mux-7] [INFO] [1746050341.544904989] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050341.545560929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050341.546108187] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050341.547552293] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050341.548668902] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050341.585280188] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050341.587539220] [sailbot.teensy]: Wind angle: 152 +[trim_sail-4] [INFO] [1746050341.587723239] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050341.588518969] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050341.588901526] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050341.589437565] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050341.590281536] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050341.644940368] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050341.645601649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050341.646286066] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050341.648138149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050341.648734638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050341.745275047] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050341.745953607] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050341.746822394] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050341.748424927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050341.749370534] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050341.835416498] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050341.837557381] [sailbot.teensy]: Wind angle: 169 +[trim_sail-4] [INFO] [1746050341.837931117] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050341.838820772] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050341.839438411] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050341.839801023] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050341.840685426] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050341.844384362] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050341.844922373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050341.845517363] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050341.846558092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050341.847785347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050341.945591284] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050341.946360835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050341.947474045] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050341.948764580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050341.950087591] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050342.003549042] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903084 Long: -76.50283248 +[vectornav-1] [INFO] [1746050342.004948125] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.20000000000005, 6.368, -0.625) +[mux-7] [INFO] [1746050342.045325498] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050342.046038800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050342.046867132] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050342.048540801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050342.049746267] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050342.085462662] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050342.088167383] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050342.089418154] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050342.089448101] [sailbot.teensy]: Wind angle: 217 +[teensy-2] [INFO] [1746050342.090382630] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050342.091278903] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050342.092234081] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050342.145251534] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050342.146180047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050342.147313972] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050342.148428866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050342.149544972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050342.245626252] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050342.246684046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050342.248094172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050342.250710952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050342.251900333] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050342.335620923] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050342.337997596] [sailbot.teensy]: Wind angle: 228 +[trim_sail-4] [INFO] [1746050342.338042820] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050342.338971194] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050342.339412617] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050342.339861273] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050342.340760729] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050342.344212050] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050342.344988446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050342.345326150] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050342.346703143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050342.347845088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050342.445074455] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050342.445871036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050342.446545641] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050342.448064459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050342.449132205] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050342.503188660] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690333 Long: -76.502841 +[vectornav-1] [INFO] [1746050342.504487320] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.64999999999998, 0.396, 1.484) +[mux-7] [INFO] [1746050342.545266572] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050342.546301739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050342.546825775] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050342.548648964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050342.549721153] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050342.585504908] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050342.588025154] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050342.588442845] [sailbot.teensy]: Wind angle: 205 +[teensy-2] [INFO] [1746050342.589458597] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050342.588503785] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050342.590317141] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050342.591157899] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050342.645103830] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050342.645906829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050342.646573195] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050342.647929752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050342.648689499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050342.745715693] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050342.746603876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050342.747344588] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050342.748945345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050342.750178927] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050342.835485720] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050342.837390623] [sailbot.teensy]: Wind angle: 212 +[trim_sail-4] [INFO] [1746050342.838174723] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050342.838367270] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050342.839269993] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050342.839543031] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050342.840203422] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050342.844462948] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050342.844936621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050342.845598051] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050342.846646899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050342.848304707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050342.945490762] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050342.946513661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050342.947160160] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050342.948852302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050342.950059580] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050343.002373733] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903619 Long: -76.50284781 +[vectornav-1] [INFO] [1746050343.003374395] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.452, 1.698, 3.198) +[mux-7] [INFO] [1746050343.045153422] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050343.046082717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050343.046642467] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050343.048062978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050343.048591034] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050343.085570792] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050343.088908808] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050343.089113696] [sailbot.teensy]: Wind angle: 219 +[teensy-2] [INFO] [1746050343.090118016] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050343.090108015] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050343.090890433] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050343.091269479] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050343.145286059] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050343.146267967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050343.146863961] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050343.147835738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050343.148401817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050343.245348523] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050343.246045532] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050343.247058745] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050343.248453238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050343.249708801] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050343.334420793] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050343.335845082] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050343.336307219] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050343.336563618] [sailbot.teensy]: Wind angle: 215 +[teensy-2] [INFO] [1746050343.337150267] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050343.337678333] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050343.338216869] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050343.343626659] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050343.343955714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050343.344119940] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050343.344767536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050343.345299645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050343.445321957] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050343.446324638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050343.447321246] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050343.448676276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050343.449852566] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050343.503419652] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903802 Long: -76.50285304 +[vectornav-1] [INFO] [1746050343.505023947] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.71699999999998, -3.961, -0.075) +[mux-7] [INFO] [1746050343.545191596] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050343.545906588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050343.546619246] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050343.548232931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050343.549369711] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050343.585427220] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050343.587522519] [sailbot.teensy]: Wind angle: 215 +[teensy-2] [INFO] [1746050343.588635984] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050343.587928991] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050343.589550103] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050343.589680937] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050343.590430816] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050343.645415269] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050343.646214061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050343.647064957] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050343.648458901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050343.649742086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050343.745528565] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050343.746228775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050343.747194437] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050343.748430753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050343.750217383] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050343.835925446] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050343.838841385] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050343.839808036] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050343.840067240] [sailbot.teensy]: Wind angle: 220 +[teensy-2] [INFO] [1746050343.841064311] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050343.841439869] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050343.841811606] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050343.844089737] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050343.844459644] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050343.845329760] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050343.846120890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050343.847392297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050343.945298336] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050343.946481707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050343.946894274] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050343.948516757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050343.948960098] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050344.003510688] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903968 Long: -76.50285897 +[vectornav-1] [INFO] [1746050344.004932156] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.135, 0.497, -0.973) +[mux-7] [INFO] [1746050344.045052926] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050344.045803364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050344.046426605] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050344.047718096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050344.048766612] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050344.085391655] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050344.087716341] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050344.088244856] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050344.089212284] [sailbot.teensy]: Wind angle: 228 +[teensy-2] [INFO] [1746050344.090160434] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050344.091002294] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050344.091835064] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050344.145341455] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050344.146176143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050344.147008982] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050344.148756820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050344.149957895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050344.245447566] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050344.246322068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050344.247005084] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050344.248707205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050344.249198792] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050344.335398511] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050344.338334804] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050344.339587647] [sailbot.teensy]: Wind angle: 226 +[teensy-2] [INFO] [1746050344.340767678] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050344.341190469] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050344.341709739] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050344.342586325] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050344.344405942] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050344.344764216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050344.345904627] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050344.346465625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050344.347674553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050344.445285352] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050344.446376687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050344.447309282] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050344.448615505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050344.449741890] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050344.502459591] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904161 Long: -76.50286442 +[vectornav-1] [INFO] [1746050344.503572854] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.56100000000004, 3.491, -0.056) +[mux-7] [INFO] [1746050344.545004696] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050344.545635909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050344.546325952] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050344.547578542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050344.548742669] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050344.585267951] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050344.587095497] [sailbot.teensy]: Wind angle: 227 +[trim_sail-4] [INFO] [1746050344.587573179] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050344.588038611] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050344.588907726] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050344.589781883] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050344.589800778] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050344.645425899] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050344.646081877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050344.647146435] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050344.647760049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050344.648326316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050344.745439315] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050344.746148119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050344.747066589] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050344.748343673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050344.749581819] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050344.835459666] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050344.837478115] [sailbot.teensy]: Wind angle: 227 +[trim_sail-4] [INFO] [1746050344.838013235] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050344.838462609] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050344.838977420] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050344.839116200] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050344.839354468] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050344.844407635] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050344.844988261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050344.845582603] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050344.846734840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050344.847803319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050344.945491439] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050344.946194574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050344.947304432] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050344.948526774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050344.949635093] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050345.002514798] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904297 Long: -76.50286885 +[vectornav-1] [INFO] [1746050345.003545646] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.43000000000006, -4.668, 0.718) +[mux-7] [INFO] [1746050345.045104291] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050345.045664243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050345.046329336] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050345.047440067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050345.048575043] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050345.085327244] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050345.087667522] [sailbot.teensy]: Wind angle: 226 +[trim_sail-4] [INFO] [1746050345.087829626] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050345.088667267] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050345.089157314] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050345.089637093] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050345.090536298] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050345.145082870] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050345.145930970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050345.146517324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050345.148587489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050345.149740755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050345.245355158] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050345.246201371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050345.246943944] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050345.248280469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050345.248810422] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050345.335444874] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050345.337804950] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050345.338358494] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050345.338872503] [sailbot.teensy]: Wind angle: 225 +[teensy-2] [INFO] [1746050345.339879929] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050345.340959234] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050345.341912817] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050345.344313158] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050345.344938659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050345.345402393] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050345.346663140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050345.347773785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050345.445238572] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050345.446068856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050345.446724905] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050345.447844087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050345.448385470] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050345.503210718] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904503 Long: -76.50287333 +[vectornav-1] [INFO] [1746050345.504823056] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.23900000000003, 3.883, 1.197) +[mux-7] [INFO] [1746050345.545184257] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050345.546010058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050345.546873609] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050345.548599879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050345.549743205] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050345.585554864] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050345.587698814] [sailbot.teensy]: Wind angle: 226 +[trim_sail-4] [INFO] [1746050345.588003794] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050345.588699256] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050345.589648191] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050345.590559978] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050345.590827695] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050345.645244824] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050345.646064609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050345.646921019] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050345.648348574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050345.649608039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050345.745394830] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050345.746123554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050345.747103888] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050345.747902839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050345.748464397] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050345.835403099] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050345.837528693] [sailbot.teensy]: Wind angle: 224 +[trim_sail-4] [INFO] [1746050345.837964498] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050345.838525432] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050345.839332279] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050345.839388708] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050345.839724544] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050345.844514859] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050345.845289085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050345.845660117] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050345.847063628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050345.848196889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050345.945698146] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050345.946650713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050345.947360343] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050345.949162211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050345.950431956] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050346.003536398] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904519 Long: -76.50287639 +[vectornav-1] [INFO] [1746050346.004944983] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.30999999999995, 0.109, -1.774) +[mux-7] [INFO] [1746050346.044895798] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050346.045572163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050346.046109895] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050346.047434520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050346.048446627] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050346.085422187] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050346.087528315] [sailbot.teensy]: Wind angle: 224 +[trim_sail-4] [INFO] [1746050346.088316384] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050346.088580624] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050346.088951028] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050346.089568077] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050346.090495632] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050346.145193763] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050346.146095627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050346.146662660] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050346.148219960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050346.149311278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050346.245373890] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050346.246045085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050346.246962454] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050346.248606652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050346.249254261] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050346.335486024] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050346.338000664] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050346.338707425] [sailbot.teensy]: Wind angle: 223 +[mux-7] [INFO] [1746050346.338749065] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050346.339154817] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050346.339598906] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050346.340432659] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050346.344363632] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050346.344913498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050346.345464351] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050346.346586511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050346.347746107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050346.445279246] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050346.446023931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050346.447041489] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050346.448196719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050346.448662012] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050346.503361843] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904621 Long: -76.50287896 +[vectornav-1] [INFO] [1746050346.505014254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.702, 1.055, 0.105) +[mux-7] [INFO] [1746050346.545046941] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050346.545850040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050346.546509913] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050346.547977573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050346.549012074] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050346.585404380] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050346.588181026] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050346.588387955] [sailbot.teensy]: Wind angle: 228 +[mux-7] [INFO] [1746050346.588933909] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050346.589441306] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050346.590627053] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050346.591607634] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050346.645354430] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050346.646237004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050346.647175290] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050346.648508327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050346.649706366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050346.745346465] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050346.746257226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050346.746913538] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050346.748300173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050346.748815378] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050346.835374970] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050346.837744682] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050346.838240876] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050346.838953871] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050346.839964855] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050346.840711478] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050346.841083429] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050346.844563033] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050346.845054664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050346.845688974] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050346.846724329] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050346.847888551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050346.945401210] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050346.946350816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050346.947000673] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050346.950165310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050346.950867707] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050347.003487457] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904738 Long: -76.50288173 +[vectornav-1] [INFO] [1746050347.005342043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.97000000000003, -0.389, 2.232) +[mux-7] [INFO] [1746050347.045350548] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050347.046270572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050347.046911449] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050347.048596080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050347.049677342] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050347.085434433] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050347.087774460] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050347.087769258] [sailbot.teensy]: Wind angle: 221 +[teensy-2] [INFO] [1746050347.088767282] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050347.089297776] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050347.089701229] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050347.090733073] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050347.145350900] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050347.145835349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050347.146861633] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050347.148044607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050347.149106504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050347.245252974] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050347.245771856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050347.247147837] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050347.247630464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050347.249196070] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050347.335700960] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050347.338490131] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050347.339226463] [sailbot.teensy]: Wind angle: 217 +[teensy-2] [INFO] [1746050347.340228664] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050347.340751539] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050347.340917780] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050347.341272648] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050347.344678400] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050347.345356300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050347.345914908] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050347.347208156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050347.348291342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050347.445442278] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050347.446466622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050347.447645520] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050347.448752280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050347.449996655] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050347.503820312] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904802 Long: -76.50288377 +[vectornav-1] [INFO] [1746050347.505393058] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.394, 0.453, 3.017) +[mux-7] [INFO] [1746050347.545213186] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050347.545947122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050347.546777000] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050347.548243507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050347.549401900] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050347.585724724] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050347.588070326] [sailbot.teensy]: Wind angle: 223 +[trim_sail-4] [INFO] [1746050347.588798743] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050347.589173125] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050347.590146070] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050347.591121404] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050347.592011360] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050347.645419759] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050347.646136700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050347.647035515] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050347.648494128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050347.649769108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050347.745686266] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050347.746450045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050347.747464360] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050347.748862913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050347.749781232] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050347.835213056] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050347.836839256] [sailbot.teensy]: Wind angle: 227 +[trim_sail-4] [INFO] [1746050347.837357442] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050347.837772026] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050347.838689115] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050347.839566690] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050347.839573428] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050347.844312178] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050347.844881278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050347.845397406] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050347.846546658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050347.847575498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050347.945693422] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050347.946848538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050347.947989942] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050347.949480550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050347.951007885] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050348.002646060] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904881 Long: -76.50288632 +[vectornav-1] [INFO] [1746050348.003697640] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.81999999999994, -1.691, 0.881) +[mux-7] [INFO] [1746050348.045346228] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050348.045894208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050348.046741531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050348.047868950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050348.048929348] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050348.085537073] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050348.087719111] [sailbot.teensy]: Wind angle: 226 +[trim_sail-4] [INFO] [1746050348.088184254] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050348.088760764] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050348.088766927] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050348.089958847] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050348.091216102] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050348.145134260] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050348.145913773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050348.146593555] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050348.148359455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050348.149452656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050348.245458666] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050348.246324175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050348.247140058] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050348.248707442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050348.249204862] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050348.335219124] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050348.337332989] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050348.337548455] [sailbot.teensy]: Wind angle: 226 +[mux-7] [INFO] [1746050348.338236370] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050348.338836388] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050348.339447941] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050348.339810808] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050348.344292059] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050348.344917226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050348.345437351] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050348.346640838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050348.347825949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050348.445043730] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050348.445975576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050348.446385328] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050348.448105575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050348.449177288] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050348.503400084] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904935 Long: -76.50288897 +[vectornav-1] [INFO] [1746050348.505556516] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.84799999999996, 1.557, 1.864) +[mux-7] [INFO] [1746050348.545278752] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050348.546128454] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050348.546831698] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050348.547888991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050348.548429950] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050348.585400339] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050348.587672787] [sailbot.teensy]: Wind angle: 226 +[trim_sail-4] [INFO] [1746050348.587713107] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050348.588398749] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050348.588640613] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050348.589537406] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050348.590377744] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050348.645164277] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050348.646047079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050348.646661179] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050348.648192722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050348.649434841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050348.745657618] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050348.746523104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050348.747455584] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050348.748720371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050348.749266301] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050348.835494851] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050348.838089594] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050348.838548862] [sailbot.teensy]: Wind angle: 227 +[mux-7] [INFO] [1746050348.838682523] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050348.839509377] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050348.840500114] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050348.841525866] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050348.844364641] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050348.845003018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050348.845440711] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050348.846696269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050348.847849608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050348.945331427] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050348.946170335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050348.947033120] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050348.947824746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050348.948318447] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050349.002561192] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904989 Long: -76.50289043 +[vectornav-1] [INFO] [1746050349.003639853] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.55500000000006, 0.182, 0.066) +[mux-7] [INFO] [1746050349.045311499] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050349.047271028] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050349.046491222] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050349.048989165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050349.050168472] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050349.085765514] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050349.088377709] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050349.088368123] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050349.089342053] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050349.089728385] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050349.090262085] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050349.091112683] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050349.145385920] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050349.146036240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050349.147048634] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050349.149523191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050349.150681289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050349.245003844] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050349.245453148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050349.246285325] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050349.247231752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050349.248299743] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050349.335369889] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050349.337202123] [sailbot.teensy]: Wind angle: 232 +[trim_sail-4] [INFO] [1746050349.337799685] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050349.338173020] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050349.339071454] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050349.339763558] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050349.339939833] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050349.344439901] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050349.345081370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050349.345554557] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050349.346971398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050349.348019773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050349.445232305] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050349.446367654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050349.446727248] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050349.448037521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050349.448581386] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050349.503153254] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904993 Long: -76.50289177 +[vectornav-1] [INFO] [1746050349.504612693] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.543, 0.019, -0.077) +[mux-7] [INFO] [1746050349.544910513] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050349.545678601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050349.546230112] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050349.547999440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050349.549175337] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050349.585420752] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050349.587649313] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050349.588602865] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050349.587804835] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050349.588188535] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050349.589496138] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050349.590347785] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050349.645141567] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050349.645835891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050349.646737212] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050349.647918921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050349.649057943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050349.745798963] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050349.745879443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050349.747315706] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050349.748210261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050349.749313035] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050349.835224281] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050349.837351440] [sailbot.teensy]: Wind angle: 236 +[trim_sail-4] [INFO] [1746050349.837540401] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050349.838228832] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050349.838586515] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050349.839161188] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050349.840007055] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050349.844322410] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050349.844843116] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050349.845674974] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050349.846723776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050349.847845364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050349.945194997] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050349.945932208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050349.946716164] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050349.948245963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050349.949405344] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050350.002598922] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904991 Long: -76.50289389 +[vectornav-1] [INFO] [1746050350.003759811] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.40499999999997, -0.485, -0.716) +[mux-7] [INFO] [1746050350.045314699] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050350.046123467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050350.047112096] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050350.048356536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050350.048907730] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050350.085803198] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050350.088786338] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050350.089341719] [sailbot.teensy]: Wind angle: 234 +[mux-7] [INFO] [1746050350.089754190] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050350.090260488] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050350.091162609] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050350.092003559] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050350.144934614] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050350.145776895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050350.146233269] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050350.148080170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050350.149146813] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050350.196482292] [sailbot.mux]: controller_app rudder angle: 2 +[mux-7] [INFO] [1746050350.245199061] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050350.245976629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050350.246659149] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050350.248205294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050350.249343398] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050350.335426622] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050350.337229045] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050350.337965714] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050350.339076924] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050350.339214129] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050350.339715898] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050350.340084992] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050350.344365981] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050350.345017666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050350.345425497] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050350.346680673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050350.347840463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050350.444978948] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050350.445780421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050350.446408058] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050350.447886068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050350.448370373] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050350.503257114] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904995 Long: -76.50289536 +[vectornav-1] [INFO] [1746050350.504884467] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.981, 1.447, 0.618) +[mux-7] [INFO] [1746050350.544859431] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050350.545622688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050350.546145685] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050350.547426496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050350.548487037] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050350.585381004] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050350.587588446] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050350.587872932] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050350.588522439] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050350.588793490] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050350.589675285] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050350.590670338] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050350.645041583] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050350.646675535] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050350.646884072] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050350.649294596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050350.650095666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050350.745218812] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050350.746312564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050350.746990326] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050350.748042683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050350.748522131] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050350.835415263] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050350.837717497] [sailbot.teensy]: Wind angle: 236 +[trim_sail-4] [INFO] [1746050350.837787387] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050350.839221216] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050350.839429672] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050350.840558698] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050350.841428825] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050350.844432771] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050350.844913730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050350.845551393] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050350.846584428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050350.847692146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050350.945225666] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050350.946069836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050350.946725687] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050350.948997639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050350.950098973] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050351.003758119] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905003 Long: -76.50289638 +[vectornav-1] [INFO] [1746050351.005677021] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.67899999999997, -2.992, 1.567) +[mux-7] [INFO] [1746050351.044924333] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050351.045716144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050351.046207030] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050351.047687996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050351.048747745] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050351.085469244] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050351.087358787] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050351.087939891] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050351.088379527] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050351.089347292] [sailbot.teensy]: Actual tail angle: 27 +[mux-7] [INFO] [1746050351.089501529] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050351.090258326] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050351.145309405] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050351.146122516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050351.146790178] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050351.148685537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050351.149725200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050351.187162923] [sailbot.mux]: controller_app rudder angle: 1 +[mux-7] [INFO] [1746050351.245171579] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050351.245915284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050351.246646602] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050351.248710423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050351.249840527] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050351.335705842] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050351.338486849] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050351.339132982] [sailbot.teensy]: Wind angle: 232 +[mux-7] [INFO] [1746050351.339730488] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050351.340132786] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050351.340536499] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050351.341321687] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050351.344372324] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050351.344821004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050351.345441464] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050351.346495362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050351.347532761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050351.445530443] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050351.446431948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050351.447610811] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050351.448608395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050351.449120451] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050351.503411210] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905031 Long: -76.50289831 +[vectornav-1] [INFO] [1746050351.504893169] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.24299999999994, 1.859, -1.042) +[mux-7] [INFO] [1746050351.545265212] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050351.545828596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050351.546625855] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050351.547937386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050351.549016098] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050351.585654359] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050351.587745258] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050351.588245412] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050351.588742236] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050351.589645332] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050351.590445654] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050351.590529947] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050351.645328626] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050351.646080730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050351.647275829] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050351.648724906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050351.649916611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050351.745109519] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050351.745953817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050351.746750999] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050351.747851149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050351.748399928] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050351.835229764] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050351.837443864] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050351.837539886] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050351.838328673] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050351.839214095] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050351.839508506] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050351.840114178] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050351.844442310] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050351.844999261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050351.845554223] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050351.846790262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050351.847805174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050351.945050584] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050351.946078085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050351.946439604] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050351.948141399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050351.949211683] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050352.002523135] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904987 Long: -76.50290033 +[vectornav-1] [INFO] [1746050352.003583277] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.62599999999998, -2.231, -3.679) +[mux-7] [INFO] [1746050352.045365572] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050352.046383822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050352.046923278] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050352.048536641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050352.049015045] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050352.085301652] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050352.087327052] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050352.087515087] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050352.088257968] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050352.089155453] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050352.090022694] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050352.090035749] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050352.145018206] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050352.145825230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050352.146412214] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050352.147702922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050352.148200845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050352.185578620] [sailbot.mux]: controller_app rudder angle: -8 +[mux-7] [INFO] [1746050352.245167681] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050352.245846307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050352.246690081] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050352.247989380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050352.249061565] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050352.335486247] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050352.338353630] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050352.339522758] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050352.339612397] [sailbot.teensy]: Wind angle: 237 +[teensy-2] [INFO] [1746050352.340670981] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050352.342027719] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050352.342956168] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050352.344496319] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050352.345087931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050352.345600013] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050352.346825910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050352.347823522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050352.445022157] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050352.445755420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050352.446573894] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050352.447689678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050352.448870242] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050352.502755271] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904999 Long: -76.50290264 +[vectornav-1] [INFO] [1746050352.504182810] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.47799999999995, 0.292, -0.31) +[mux-7] [INFO] [1746050352.544950316] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050352.545606065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050352.546298023] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050352.547416345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050352.548452703] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050352.585414323] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050352.587482206] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050352.587789735] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050352.588443941] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050352.588945259] [sailbot.teensy]: Actual tail angle: 17 +[mux-7] [INFO] [1746050352.588966568] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050352.589321320] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050352.645203912] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050352.645653494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050352.646648746] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050352.647583048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050352.648680494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050352.745073550] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050352.745775505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050352.746435832] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050352.747597872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050352.748734640] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050352.835215825] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050352.837322884] [sailbot.teensy]: Wind angle: 239 +[teensy-2] [INFO] [1746050352.838286267] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050352.837396947] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050352.839154851] [sailbot.teensy]: Actual tail angle: 17 +[mux-7] [INFO] [1746050352.839178850] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050352.840085702] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050352.844589225] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050352.845148658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050352.845699193] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050352.846839745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050352.847871634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050352.945124272] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050352.945782516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050352.946509975] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050352.947738056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050352.948241871] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050353.002497009] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904996 Long: -76.50290435 +[vectornav-1] [INFO] [1746050353.003615684] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.85199999999998, -0.7, -2.859) +[mux-7] [INFO] [1746050353.045088575] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050353.045870096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050353.046491259] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050353.047794076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050353.048991842] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050353.085436825] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050353.087715071] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050353.088085289] [sailbot.teensy]: Wind angle: 239 +[mux-7] [INFO] [1746050353.088407189] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050353.089088323] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050353.090253116] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050353.091110367] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050353.144890470] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050353.145787782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050353.146209894] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050353.147761029] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050353.148858463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050353.244952904] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050353.246001452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050353.246242279] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050353.247820704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050353.248947883] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050353.335385140] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050353.338163335] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050353.338608524] [sailbot.teensy]: Wind angle: 238 +[mux-7] [INFO] [1746050353.339311024] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050353.339554018] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050353.339947586] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050353.340332667] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050353.344628322] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050353.345449965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050353.345771088] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050353.347149519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050353.348205600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050353.445238281] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050353.445818832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050353.446959377] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050353.447838835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050353.448849452] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050353.502499398] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690498 Long: -76.50290655 +[vectornav-1] [INFO] [1746050353.503593068] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.26800000000003, -1.684, -3.702) +[mux-7] [INFO] [1746050353.518611816] [sailbot.mux]: controller_app rudder angle: -6 +[mux-7] [INFO] [1746050353.544786323] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050353.545257255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050353.546108447] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050353.547126640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050353.548397695] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050353.585600455] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050353.588231024] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050353.588453648] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050353.589411396] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050353.590128959] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050353.590276067] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050353.591230841] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050353.645442818] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050353.645961226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050353.647121671] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050353.648432266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050353.649587305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050353.745235327] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050353.745958439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050353.746724557] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050353.747875550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050353.748953784] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050353.835509757] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050353.838012620] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050353.838055160] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050353.839018524] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050353.839483736] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050353.839916208] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050353.840746921] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050353.844518001] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050353.844905886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050353.845680724] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050353.846617526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050353.847626905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050353.945683987] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050353.946696880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050353.947719941] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050353.949325003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050353.950496341] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050354.003039375] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904997 Long: -76.50290921 +[vectornav-1] [INFO] [1746050354.004385416] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.17899999999997, 1.44, -2.758) +[mux-7] [INFO] [1746050354.045428585] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050354.046043577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050354.047036954] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050354.048626032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050354.049777616] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050354.085472237] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050354.087822062] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050354.088237033] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050354.089200013] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050354.089642272] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050354.090085260] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050354.090967965] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050354.145473740] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050354.146424778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050354.147093332] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050354.148025919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050354.148531806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050354.200404733] [sailbot.mux]: controller_app rudder angle: 1 +[mux-7] [INFO] [1746050354.245315819] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050354.246320388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050354.247149907] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050354.248443073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050354.249532131] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050354.335308908] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050354.337065323] [sailbot.teensy]: Wind angle: 240 +[trim_sail-4] [INFO] [1746050354.337522822] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050354.337960968] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050354.338895213] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050354.339748792] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050354.339824727] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746050354.344364878] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050354.345020972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050354.345446386] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050354.346752297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050354.347966864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050354.445368488] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050354.445856388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050354.447814986] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050354.447985184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050354.449146952] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050354.503136291] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904939 Long: -76.50291142 +[vectornav-1] [INFO] [1746050354.504853476] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (186.89, -0.808, -4.139) +[mux-7] [INFO] [1746050354.545043156] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050354.545857486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050354.546435537] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050354.547870249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050354.548934611] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050354.585432022] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050354.588140906] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050354.588358628] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050354.588997314] [sailbot.teensy]: Wind angle: 241 +[teensy-2] [INFO] [1746050354.589956965] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050354.590819029] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050354.591682022] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050354.645461174] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050354.646316633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050354.647088206] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050354.648727567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050354.649868966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050354.745494865] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050354.746834296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050354.747795294] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050354.748358814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050354.749083095] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050354.835714428] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050354.838064721] [sailbot.teensy]: Wind angle: 242 +[trim_sail-4] [INFO] [1746050354.838564246] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050354.839467084] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050354.839851518] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050354.839916154] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050354.840680520] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050354.844316290] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050354.845139398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050354.845444456] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050354.846873121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050354.848136766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050354.945442278] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050354.946157193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050354.947174755] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050354.948141004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050354.948674809] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050355.003727570] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904907 Long: -76.50291432 +[vectornav-1] [INFO] [1746050355.005489832] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.159, -1.932, -4.826) +[mux-7] [INFO] [1746050355.045912633] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050355.046047731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050355.047579804] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050355.048560420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050355.049092058] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050355.085475900] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050355.087461516] [sailbot.teensy]: Wind angle: 254 +[teensy-2] [INFO] [1746050355.088395458] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050355.087772916] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050355.088660493] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050355.089296944] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050355.090151884] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050355.144632769] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050355.145230246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050355.145715473] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050355.147069322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050355.148076197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050355.245454996] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050355.246130158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050355.247080278] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050355.247992700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050355.248574929] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050355.335327038] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050355.337167318] [sailbot.teensy]: Wind angle: 263 +[trim_sail-4] [INFO] [1746050355.337787430] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050355.338121875] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050355.339007703] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050355.339175536] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050355.339856318] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050355.344351914] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050355.344996414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050355.345459223] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050355.347447774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050355.348688702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050355.445255815] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050355.446128275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050355.446829007] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050355.448429070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050355.449261533] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050355.503617067] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904854 Long: -76.5029181 +[vectornav-1] [INFO] [1746050355.505291229] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (194.36699999999996, -0.672, -5.598) +[mux-7] [INFO] [1746050355.545109214] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050355.546013671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050355.546614830] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050355.548001237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050355.549189528] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050355.585317985] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050355.587578077] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050355.588418692] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050355.588548291] [sailbot.teensy]: Wind angle: 258 +[teensy-2] [INFO] [1746050355.589482129] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050355.590363361] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050355.591219502] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050355.645165112] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050355.645829675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050355.646631543] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050355.648023067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050355.649198539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050355.745566761] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050355.746168256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050355.748239634] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050355.748689622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050355.749906358] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050355.835615582] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050355.837440804] [sailbot.teensy]: Wind angle: 250 +[trim_sail-4] [INFO] [1746050355.837987654] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050355.838990776] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050355.839197903] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050355.839679325] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050355.840201624] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050355.844361236] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050355.844932774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050355.845478780] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050355.846695300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050355.847773006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050355.945545775] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050355.946344385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050355.947184242] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050355.948779487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050355.949947121] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050356.002529580] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904733 Long: -76.50292252 +[vectornav-1] [INFO] [1746050356.003625703] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (194.18600000000004, -0.729, -5.991) +[mux-7] [INFO] [1746050356.045289457] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050356.046394078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050356.046790241] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050356.049095281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050356.050117750] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050356.085724029] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050356.088475471] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050356.088601429] [sailbot.teensy]: Wind angle: 249 +[mux-7] [INFO] [1746050356.089461047] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050356.089514063] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050356.090380286] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050356.091256978] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050356.145409187] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050356.146138243] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050356.148105496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[mux-7] [INFO] [1746050356.148231608] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050356.148678729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050356.199591813] [sailbot.mux]: controller_app rudder angle: 7 +[mux-7] [INFO] [1746050356.244975267] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050356.245725080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050356.246223899] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050356.247556081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050356.248594725] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050356.335585120] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050356.337924366] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050356.338143784] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050356.338999624] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050356.339025518] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050356.339395569] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050356.339784893] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050356.344421245] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050356.345118764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050356.345511371] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050356.346861257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050356.347983686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050356.445012976] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050356.445669232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050356.446622237] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050356.448025159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050356.448553106] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050356.503002524] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904632 Long: -76.50292668 +[vectornav-1] [INFO] [1746050356.504603893] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.16499999999996, -0.568, -6.015) +[mux-7] [INFO] [1746050356.544890134] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050356.545724917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050356.546343903] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050356.547635432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050356.548694401] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050356.585557227] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050356.588179459] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050356.588440493] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050356.589378074] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050356.590265135] [sailbot.teensy]: Actual tail angle: 32 +[mux-7] [INFO] [1746050356.590294383] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050356.591144696] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050356.644851667] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050356.645468226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050356.646263554] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050356.647324075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050356.648424866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050356.745450216] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050356.746136603] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050356.748575376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[mux-7] [INFO] [1746050356.747087434] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050356.749036704] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050356.835654860] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050356.837865386] [sailbot.teensy]: Wind angle: 246 +[teensy-2] [INFO] [1746050356.838974401] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050356.839016814] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050356.839471923] [sailbot.teensy]: Actual tail angle: 32 +[mux-7] [INFO] [1746050356.839702512] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050356.839867172] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050356.844493156] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050356.844970774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050356.845582027] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050356.846706670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050356.847751405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050356.945518481] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050356.946479513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050356.947149254] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050356.948372371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050356.948886345] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050357.003347608] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904577 Long: -76.50293115 +[vectornav-1] [INFO] [1746050357.005045746] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (194.221, -0.596, -4.984) +[mux-7] [INFO] [1746050357.045053523] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050357.045644683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050357.046304428] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050357.047702409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050357.048912796] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050357.085373297] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050357.087980197] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050357.088799461] [sailbot.teensy]: Wind angle: 247 +[mux-7] [INFO] [1746050357.088845593] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050357.089839384] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050357.090781681] [sailbot.teensy]: Actual tail angle: 32 +[teensy-2] [INFO] [1746050357.091665728] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050357.145190019] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050357.145869315] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050357.146583101] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050357.148212155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050357.149296056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050357.184309852] [sailbot.mux]: controller_app rudder angle: 2 +[mux-7] [INFO] [1746050357.245200823] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050357.246000574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050357.246709871] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050357.247779753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050357.248345098] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050357.335271165] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050357.337345478] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050357.338686325] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050357.338828981] [sailbot.teensy]: Wind angle: 246 +[teensy-2] [INFO] [1746050357.339933164] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050357.340299588] [sailbot.teensy]: Actual tail angle: 32 +[teensy-2] [INFO] [1746050357.340674947] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050357.344307882] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050357.344929614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050357.345490078] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050357.347258893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050357.348389378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050357.445084543] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050357.445957608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050357.446502511] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050357.448218506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050357.449385091] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050357.502672209] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904536 Long: -76.50293676 +[vectornav-1] [INFO] [1746050357.504444054] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.16100000000006, -2.816, -6.887) +[mux-7] [INFO] [1746050357.544599713] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050357.545192887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050357.545714676] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050357.547421745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050357.549200972] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050357.585324055] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050357.586985963] [sailbot.teensy]: Wind angle: 243 +[trim_sail-4] [INFO] [1746050357.587825003] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050357.587916820] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050357.588844610] [sailbot.teensy]: Actual tail angle: 27 +[mux-7] [INFO] [1746050357.588988109] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050357.589785795] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050357.645234760] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050357.646045525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050357.646751025] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050357.648589996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050357.649814461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050357.745451646] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050357.746130930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050357.746914497] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050357.748363500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050357.749496818] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050357.835450229] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050357.838098140] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050357.838207606] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050357.839141064] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050357.839133725] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050357.840073586] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050357.840990679] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050357.844893493] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050357.845331438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050357.846082866] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050357.847844619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050357.849088103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050357.945443483] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050357.946684332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050357.947094680] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050357.948436377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050357.948938196] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050358.002616281] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904447 Long: -76.50294239 +[vectornav-1] [INFO] [1746050358.003733309] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.40099999999995, 2.718, -9.347) +[mux-7] [INFO] [1746050358.045223119] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050358.046175823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050358.046714846] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050358.048474434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050358.049626935] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050358.085828260] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050358.087996254] [sailbot.teensy]: Wind angle: 229 +[teensy-2] [INFO] [1746050358.089141385] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050358.089166257] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050358.090111095] [sailbot.teensy]: Actual tail angle: 27 +[mux-7] [INFO] [1746050358.090406099] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050358.091041544] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050358.145540037] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050358.146507536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050358.147129219] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050358.149061771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050358.150247860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050358.213605972] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746050358.245344196] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050358.246103105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050358.246977057] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050358.248416761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050358.249621562] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050358.335365035] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050358.337321973] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050358.337861362] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050358.338281057] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050358.339143595] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050358.339167615] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050358.339605826] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050358.344414096] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050358.344950486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050358.345506086] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050358.346651587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050358.347666846] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050358.445325215] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050358.446116734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050358.446893369] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050358.448432271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050358.449109621] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050358.503324672] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904447 Long: -76.50294661 +[vectornav-1] [INFO] [1746050358.505226515] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.029, -2.517, -8.298) +[mux-7] [INFO] [1746050358.545313412] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050358.546115677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050358.546820095] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050358.548378120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050358.549468452] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050358.585446457] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050358.587870280] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050358.588085561] [sailbot.teensy]: Wind angle: 236 +[mux-7] [INFO] [1746050358.588925553] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050358.589102103] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050358.590009837] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050358.590855847] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050358.645245744] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050358.646095713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050358.646809484] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050358.648474175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050358.649541714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050358.745537322] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050358.746291376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050358.747120905] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050358.748335755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050358.748862237] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050358.835405168] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050358.837469459] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050358.837977898] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050358.839119427] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050358.839691680] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050358.840673428] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050358.841505243] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050358.844345105] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050358.844781537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050358.846070754] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050358.846470572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050358.847564974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050358.945710135] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050358.946369409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050358.947551107] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050358.948684066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050358.949945450] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050359.002501755] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690458 Long: -76.50295206 +[vectornav-1] [INFO] [1746050359.003640091] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.461, 0.303, -2.504) +[mux-7] [INFO] [1746050359.045210400] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050359.045790540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050359.046716302] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050359.048014286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050359.049201961] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050359.085578258] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050359.087948486] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050359.088358310] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050359.089546681] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050359.090050122] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050359.090979640] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050359.091807974] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050359.144917077] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050359.145540888] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050359.146237490] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050359.147434022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050359.148412991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050359.212957509] [sailbot.mux]: controller_app rudder angle: -3 +[mux-7] [INFO] [1746050359.245149056] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050359.245896217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050359.246562038] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050359.248143537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050359.249023120] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050359.335272042] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050359.337153526] [sailbot.teensy]: Wind angle: 223 +[teensy-2] [INFO] [1746050359.338087239] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050359.337574816] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050359.339037188] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050359.339669724] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050359.339956510] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050359.344443031] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050359.345042981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050359.345538055] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050359.346756395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050359.347798527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050359.445322020] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050359.447196577] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050359.447327600] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050359.449690321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050359.450724694] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050359.503271623] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690464 Long: -76.50295646 +[vectornav-1] [INFO] [1746050359.504761382] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.79899999999998, 0.065, -1.587) +[mux-7] [INFO] [1746050359.544899076] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050359.545824834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050359.546187305] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050359.548100441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050359.549262644] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050359.585323071] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050359.587712718] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050359.588191127] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050359.588617401] [sailbot.teensy]: Wind angle: 223 +[teensy-2] [INFO] [1746050359.589570222] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050359.590446294] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050359.591262263] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050359.645216414] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050359.646139617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050359.646928367] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050359.648200572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050359.648766068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050359.745647998] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050359.746393021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050359.747547829] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050359.748321338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050359.748797988] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050359.835169919] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050359.836828015] [sailbot.teensy]: Wind angle: 224 +[trim_sail-4] [INFO] [1746050359.837537213] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050359.837685451] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050359.837770734] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050359.838704824] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050359.839581949] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050359.844331140] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050359.844900275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050359.845450747] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050359.846581682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050359.847737833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050359.945615762] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050359.946511015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050359.947231042] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050359.948966856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050359.950134931] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050360.003825745] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904697 Long: -76.50296098 +[vectornav-1] [INFO] [1746050360.006035897] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.61, 1.147, 1.358) +[mux-7] [INFO] [1746050360.044971608] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050360.046333521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050360.046407130] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050360.048921820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050360.050178450] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050360.085698910] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050360.088331562] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050360.088479884] [sailbot.teensy]: Wind angle: 227 +[mux-7] [INFO] [1746050360.088694677] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050360.089641975] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050360.090678510] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050360.091562010] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050360.145386280] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050360.145897758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050360.146999125] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050360.148025676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050360.149273385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050360.176704497] [sailbot.mux]: controller_app rudder angle: -9 +[mux-7] [INFO] [1746050360.245394244] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050360.246005044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050360.247171973] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050360.248281616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050360.249794503] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050360.335779116] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050360.337989252] [sailbot.teensy]: Wind angle: 229 +[trim_sail-4] [INFO] [1746050360.338967460] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050360.339075212] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050360.339739413] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050360.340015047] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050360.340952925] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050360.344609256] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050360.345277121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050360.345822375] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050360.347022258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050360.348218068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050360.445324521] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050360.445914052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050360.446964406] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050360.448316812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050360.449216892] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050360.502614494] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904826 Long: -76.50296466 +[vectornav-1] [INFO] [1746050360.503838835] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.81899999999996, -1.622, 2.723) +[mux-7] [INFO] [1746050360.545293126] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050360.545839395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050360.546774410] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050360.547828820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050360.548908728] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050360.585298802] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050360.587479229] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050360.587494424] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050360.588735868] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050360.589335741] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050360.589694812] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050360.590555217] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050360.645387295] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050360.645892971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050360.647195228] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050360.648099695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050360.648859997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050360.745384424] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050360.745957197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050360.747049990] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050360.748098911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050360.749930398] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050360.835927533] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050360.838976032] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050360.839283543] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746050360.840131791] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050360.840296374] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050360.841157604] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050360.842026929] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050360.844441916] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050360.844924398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050360.845525225] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050360.846585376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050360.847647203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050360.945554243] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050360.946410057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050360.947229310] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050360.948364277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050360.948898147] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050361.003469634] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690489 Long: -76.50296812 +[vectornav-1] [INFO] [1746050361.005089384] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.80100000000004, 1.675, 0.082) +[mux-7] [INFO] [1746050361.045277877] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050361.045911641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050361.046918933] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050361.047913169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050361.049098217] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050361.085463030] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050361.087485047] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050361.088179489] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050361.088708234] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050361.089626608] [sailbot.teensy]: Actual tail angle: 16 +[mux-7] [INFO] [1746050361.089631019] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050361.090507895] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050361.144986561] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050361.145708437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050361.146304519] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050361.147523844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050361.148579058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050361.245109903] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050361.245837368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050361.246916598] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050361.247885315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050361.248517435] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050361.335569244] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050361.337436256] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050361.338054656] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050361.338404435] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050361.339311807] [sailbot.teensy]: Actual tail angle: 16 +[mux-7] [INFO] [1746050361.339685756] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050361.340184964] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050361.344325535] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050361.345003107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050361.345490956] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050361.346902358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050361.348241143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050361.445153857] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050361.446125793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050361.446601148] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050361.448068699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050361.449270605] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050361.503801143] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904875 Long: -76.50297101 +[vectornav-1] [INFO] [1746050361.505375564] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.90999999999997, -3.011, 0.206) +[mux-7] [INFO] [1746050361.545281888] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050361.546236540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050361.546926857] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050361.548685465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050361.549408375] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050361.585631516] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050361.587486145] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050361.588093018] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050361.589282815] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050361.589554366] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050361.590297392] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050361.591255785] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050361.645314602] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050361.646206253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050361.647003469] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050361.648415432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050361.649518095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050361.745207060] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050361.746161806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050361.746952116] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050361.748526137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050361.749040985] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050361.835292830] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050361.837038776] [sailbot.teensy]: Wind angle: 242 +[teensy-2] [INFO] [1746050361.837977091] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050361.837602567] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050361.838772184] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050361.838919747] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050361.839827610] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050361.844404355] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050361.844900298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050361.845544397] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050361.846615379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050361.847755057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050361.945331642] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050361.946322261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050361.946860275] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050361.948277489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050361.948727365] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050362.002327656] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904805 Long: -76.50297454 +[vectornav-1] [INFO] [1746050362.003322787] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.50700000000006, 0.456, -0.643) +[mux-7] [INFO] [1746050362.044942840] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050362.045470067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050362.046171808] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050362.047283847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050362.048330395] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050362.085635450] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050362.088494194] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050362.089185636] [sailbot.teensy]: Wind angle: 246 +[mux-7] [INFO] [1746050362.089228445] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050362.090143374] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050362.091013451] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050362.091848582] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050362.145295430] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050362.146134096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050362.146991033] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050362.147694200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050362.148260836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050362.233381968] [sailbot.mux]: controller_app rudder angle: -3 +[mux-7] [INFO] [1746050362.244850226] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050362.245738890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050362.246401668] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050362.247511881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050362.248526274] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050362.335741694] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050362.337968055] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050362.338712362] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050362.339091900] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050362.340121441] [sailbot.teensy]: Actual tail angle: 16 +[mux-7] [INFO] [1746050362.340929315] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050362.341061424] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050362.344514808] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050362.345059609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050362.345729589] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050362.346753768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050362.347769521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050362.445389990] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050362.446773661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050362.447886684] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050362.449136007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050362.450283805] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050362.502694482] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904774 Long: -76.50297806 +[vectornav-1] [INFO] [1746050362.503742596] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (206.84299999999996, -0.958, -1.607) +[mux-7] [INFO] [1746050362.545254930] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050362.545943599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050362.546801303] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050362.548300437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050362.549487729] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050362.585839118] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050362.588225755] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050362.589328600] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050362.590499435] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050362.592251428] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050362.593149063] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050362.593955867] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050362.645332979] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050362.645805957] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050362.646985612] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050362.647797201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050362.648918214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050362.745469932] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050362.746160212] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050362.747062967] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050362.748645166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050362.749833073] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050362.835374908] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050362.837118804] [sailbot.teensy]: Wind angle: 258 +[trim_sail-4] [INFO] [1746050362.837701171] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050362.838048722] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050362.838949041] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050362.839416475] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050362.839795068] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050362.844361939] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050362.844974592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050362.845467829] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050362.846633768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050362.847660251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050362.945445282] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050362.946156764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050362.947118696] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050362.950405890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050362.951600732] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050363.003508001] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904643 Long: -76.50298107 +[vectornav-1] [INFO] [1746050363.005222437] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (218.68399999999997, -0.531, -5.894) +[mux-7] [INFO] [1746050363.045140432] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050363.045884347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050363.046565439] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050363.047907418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050363.048671564] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050363.085433469] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050363.087362265] [sailbot.teensy]: Wind angle: 262 +[teensy-2] [INFO] [1746050363.088351736] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050363.088406528] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050363.089225236] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050363.089248758] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050363.090175302] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050363.145103386] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050363.145803052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050363.147193358] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050363.148363468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050363.148993584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050363.245346148] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050363.246062511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050363.246906261] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050363.248415484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050363.248977965] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050363.335285070] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050363.337250368] [sailbot.teensy]: Wind angle: 263 +[teensy-2] [INFO] [1746050363.338220927] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050363.338074417] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050363.338537281] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050363.339108492] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050363.339999161] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050363.344380847] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050363.344957319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050363.345752524] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050363.346671434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050363.347758651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050363.445321669] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050363.445953153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050363.446959390] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050363.448223675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050363.449384730] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050363.503360253] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690433 Long: -76.50298374 +[vectornav-1] [INFO] [1746050363.504609793] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (232.572, -3.017, -7.061) +[mux-7] [INFO] [1746050363.544993371] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050363.545654430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050363.546302075] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050363.547580687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050363.548634290] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050363.585350316] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050363.587172292] [sailbot.teensy]: Wind angle: 264 +[trim_sail-4] [INFO] [1746050363.587696032] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050363.588127061] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050363.589075909] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050363.589463074] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050363.589962523] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050363.645081283] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050363.645978067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050363.647017173] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050363.649060737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050363.650085023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050363.745348959] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050363.746146505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050363.746879595] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050363.748181189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050363.748739153] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050363.835428341] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050363.838540612] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050363.839148399] [sailbot.teensy]: Wind angle: 266 +[mux-7] [INFO] [1746050363.839278090] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050363.840595109] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050363.841443755] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050363.842293153] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050363.844422719] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050363.844963250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050363.845549341] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050363.846633738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050363.847810095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050363.945404677] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050363.946450277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050363.947011798] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050363.949030012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050363.950124349] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050364.004386040] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904013 Long: -76.50298686 +[vectornav-1] [INFO] [1746050364.006345450] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (242.41700000000003, 0.226, -4.072) +[mux-7] [INFO] [1746050364.044897334] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050364.045595337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050364.046112021] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050364.047590844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050364.048659746] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050364.085390258] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050364.087950186] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050364.088430695] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050364.089027330] [sailbot.teensy]: Wind angle: 275 +[teensy-2] [INFO] [1746050364.089976377] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050364.090838270] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050364.091675610] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050364.145128230] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050364.145921367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050364.146745664] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050364.147913533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050364.148969254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050364.209425454] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746050364.244978870] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050364.245762543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050364.246299366] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050364.247562853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050364.248410066] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050364.335412060] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050364.337236006] [sailbot.teensy]: Wind angle: 279 +[trim_sail-4] [INFO] [1746050364.337821295] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050364.338183889] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050364.339095921] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050364.339407649] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050364.339950300] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050364.344472783] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050364.345011479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050364.345641795] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050364.346737547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050364.347783676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050364.445290342] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050364.446193682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050364.446764929] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050364.448205561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050364.449403313] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050364.503304280] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903678 Long: -76.50298972 +[vectornav-1] [INFO] [1746050364.505219522] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (253.90599999999995, 0.402, -1.235) +[mux-7] [INFO] [1746050364.545063628] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050364.545645837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050364.546424654] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050364.547524040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050364.548710739] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050364.585418935] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050364.587497897] [sailbot.teensy]: Wind angle: 281 +[teensy-2] [INFO] [1746050364.588494170] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050364.588915663] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050364.589164822] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050364.589381079] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050364.590345028] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050364.645188247] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050364.645792076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050364.646911188] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050364.647983394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050364.648501540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050364.745352301] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050364.746055859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050364.747029082] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050364.748299110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050364.749403396] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050364.835417804] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050364.838023761] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050364.838235796] [sailbot.teensy]: Wind angle: 285 +[mux-7] [INFO] [1746050364.838790503] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050364.838860082] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050364.839273277] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050364.840076344] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050364.844381482] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050364.844936258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050364.845495007] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050364.846900579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050364.847953053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050364.945307480] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050364.946273101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050364.947118659] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050364.947949754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050364.948437298] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050365.003445296] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903325 Long: -76.50299101 +[vectornav-1] [INFO] [1746050365.004824831] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (263.028, -2.986, -1.222) +[mux-7] [INFO] [1746050365.045339114] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050365.046213139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050365.046885482] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050365.048536230] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050365.049596530] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050365.085639061] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050365.088269907] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050365.088698112] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050365.089271736] [sailbot.teensy]: Wind angle: 284 +[teensy-2] [INFO] [1746050365.090234841] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050365.091219940] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050365.092126298] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050365.145141821] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050365.145971465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050365.146863507] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050365.148074598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050365.149265163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050365.245438277] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050365.246602566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050365.247040441] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050365.248712528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746050365.248988638] [sailbot.mux]: controller_app rudder angle: 1 +[teensy-2] [INFO] [1746050365.249198337] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050365.335423702] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050365.337827149] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746050365.338374911] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050365.338488109] [sailbot.teensy]: Wind angle: 289 +[teensy-2] [INFO] [1746050365.339449354] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050365.340356369] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050365.341245606] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050365.344252008] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050365.344781622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050365.345341607] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050365.346455439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050365.347493604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050365.445396073] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050365.446976565] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050365.447291997] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050365.449293436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050365.450401509] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050365.503408235] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469029 Long: -76.50299133 +[vectornav-1] [INFO] [1746050365.505137541] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (270.01, -1.629, -0.906) +[mux-7] [INFO] [1746050365.544843772] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050365.545468790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050365.546070205] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050365.547271311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050365.548504714] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050365.585272341] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050365.586876587] [sailbot.teensy]: Wind angle: 290 +[trim_sail-4] [INFO] [1746050365.587445472] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050365.587718336] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050365.587878121] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050365.588596559] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050365.589501815] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050365.645190140] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050365.645940095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050365.646652426] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050365.648125630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050365.649268810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050365.745382344] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050365.746191973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050365.746970406] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050365.748465689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050365.748969026] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050365.835423037] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050365.837383718] [sailbot.teensy]: Wind angle: 291 +[trim_sail-4] [INFO] [1746050365.838270079] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050365.838415130] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050365.839374899] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050365.840128930] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050365.840713409] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050365.844435494] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050365.845049352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050365.845624742] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050365.846875818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050365.848027517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050365.945423470] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050365.946445379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050365.947012056] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050365.948907616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050365.950047099] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050366.002412633] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902427 Long: -76.50299063 +[vectornav-1] [INFO] [1746050366.003451736] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (277.438, 1.67, -0.61) +[mux-7] [INFO] [1746050366.045200376] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050366.045915978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050366.046640473] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050366.048074957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050366.048899560] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050366.085358442] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050366.087564259] [sailbot.teensy]: Wind angle: 301 +[trim_sail-4] [INFO] [1746050366.087850969] [sailbot.trim_sail]: Sail Angle: "55" +[mux-7] [INFO] [1746050366.088500302] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050366.088861717] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050366.090033301] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050366.090908123] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050366.144995429] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050366.145548937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050366.146301892] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050366.147887903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050366.149000648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050366.221817610] [sailbot.mux]: controller_app rudder angle: 8 +[mux-7] [INFO] [1746050366.245152760] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050366.246066102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050366.246597712] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746050366.248175943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 8 +[teensy-2] [INFO] [1746050366.249292860] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050366.335573190] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050366.338676047] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050366.339436677] [sailbot.teensy]: Wind angle: 315 +[mux-7] [INFO] [1746050366.339533739] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050366.341036105] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050366.341929767] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050366.342970386] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050366.344434341] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050366.345190868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050366.345539859] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746050366.346837810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 8 +[teensy-2] [INFO] [1746050366.347951107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050366.445679917] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050366.446651367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050366.447348550] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746050366.449214157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 8 +[teensy-2] [INFO] [1746050366.450446251] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050366.503196343] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902061 Long: -76.50299088 +[vectornav-1] [INFO] [1746050366.504514375] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.02, 0.1, 2.126) +[mux-7] [INFO] [1746050366.545066198] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050366.545760161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050366.546340570] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746050366.548016540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 8 +[teensy-2] [INFO] [1746050366.549151417] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050366.585497607] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050366.587564741] [sailbot.teensy]: Wind angle: 317 +[trim_sail-4] [INFO] [1746050366.588228354] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050366.588648980] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050366.589580828] [sailbot.teensy]: Actual tail angle: 33 +[mux-7] [INFO] [1746050366.589793645] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050366.590439827] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050366.645268762] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050366.645960303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050366.648125868] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746050366.648255943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 8 +[teensy-2] [INFO] [1746050366.649356756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050366.745667401] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050366.746522770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050366.747666831] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746050366.749039038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 8 +[teensy-2] [INFO] [1746050366.750251030] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050366.835409967] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050366.837240443] [sailbot.teensy]: Wind angle: 318 +[trim_sail-4] [INFO] [1746050366.838021157] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050366.838175192] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050366.839047051] [sailbot.teensy]: Actual tail angle: 33 +[mux-7] [INFO] [1746050366.839063784] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050366.839974038] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050366.844479694] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050366.845180652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050366.845673411] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746050366.847022885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 8 +[teensy-2] [INFO] [1746050366.848024668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050366.945593386] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050366.946349286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050366.947242100] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746050366.949114393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 8 +[teensy-2] [INFO] [1746050366.949735890] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050367.003713325] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690171 Long: -76.50298985 +[vectornav-1] [INFO] [1746050367.005292122] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (281.488, -2.754, -1.513) +[mux-7] [INFO] [1746050367.045158659] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050367.045925805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050367.046714173] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746050367.048148058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 8 +[teensy-2] [INFO] [1746050367.049325831] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050367.085337861] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050367.087102129] [sailbot.teensy]: Wind angle: 322 +[trim_sail-4] [INFO] [1746050367.087803856] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746050367.088006618] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050367.088916765] [sailbot.teensy]: Actual tail angle: 33 +[mux-7] [INFO] [1746050367.089684408] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746050367.089825776] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050367.145373077] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050367.146405190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050367.146931984] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746050367.148538478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 8 +[teensy-2] [INFO] [1746050367.149067006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050367.176028117] [sailbot.mux]: controller_app rudder angle: 14 +[mux-7] [INFO] [1746050367.245556906] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050367.246652192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050367.247233582] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050367.248664029] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050367.249194020] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050367.335595342] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050367.337801546] [sailbot.teensy]: Wind angle: 323 +[trim_sail-4] [INFO] [1746050367.338758094] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746050367.338859361] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050367.339775360] [sailbot.teensy]: Actual tail angle: 33 +[mux-7] [INFO] [1746050367.340570036] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746050367.340688362] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050367.344424518] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050367.345100166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050367.345645612] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050367.347068784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050367.348121349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050367.445310655] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050367.446240777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050367.447247228] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050367.448452342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050367.449677274] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050367.504231768] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901273 Long: -76.50298845 +[vectornav-1] [INFO] [1746050367.506351270] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (271.548, -1.318, -5.205) +[mux-7] [INFO] [1746050367.545168459] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050367.546129917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050367.546635269] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050367.548233993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050367.549420326] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050367.585454785] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050367.588010032] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746050367.588125907] [sailbot.teensy]: Wind angle: 323 +[teensy-2] [INFO] [1746050367.589154664] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050367.589215333] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746050367.590101677] [sailbot.teensy]: Actual tail angle: 39 +[teensy-2] [INFO] [1746050367.590936462] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050367.645441005] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050367.646397234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050367.647236790] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050367.649091112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050367.650316781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050367.745418410] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050367.746345544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050367.746965076] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050367.747907422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050367.748449923] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050367.835330088] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050367.837074204] [sailbot.teensy]: Wind angle: 323 +[teensy-2] [INFO] [1746050367.838011022] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050367.837635394] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746050367.838898229] [sailbot.teensy]: Actual tail angle: 39 +[mux-7] [INFO] [1746050367.839295447] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746050367.839796636] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050367.844475297] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050367.844979442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050367.845798814] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050367.846671850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050367.848541109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050367.945281980] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050367.946016831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050367.946823348] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050367.948478302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050367.951520581] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050368.002413689] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900782 Long: -76.5029883 +[vectornav-1] [INFO] [1746050368.003467767] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (253.312, -1.068, -9.644) +[mux-7] [INFO] [1746050368.045186403] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050368.046231104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050368.046675788] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050368.048419279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050368.049638060] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050368.085668240] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050368.088450340] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746050368.088705439] [sailbot.teensy]: Wind angle: 322 +[mux-7] [INFO] [1746050368.088963398] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746050368.089680096] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050368.090566943] [sailbot.teensy]: Actual tail angle: 39 +[teensy-2] [INFO] [1746050368.091421197] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050368.145248842] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050368.146212635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050368.146913595] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050368.148724861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050368.149876340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050368.245399451] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050368.246185762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050368.247123095] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050368.248461860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050368.248972914] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050368.335328445] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050368.338034150] [sailbot.teensy]: Wind angle: 312 +[trim_sail-4] [INFO] [1746050368.338405840] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746050368.338972045] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050368.340216009] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050368.341172202] [sailbot.teensy]: Actual tail angle: 39 +[teensy-2] [INFO] [1746050368.342137223] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050368.344391510] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050368.345002318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050368.345460172] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050368.346717989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050368.347866743] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050368.445145985] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050368.446157657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050368.446527841] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050368.448536619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050368.448988815] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050368.502979479] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690037 Long: -76.50299035 +[vectornav-1] [INFO] [1746050368.504619787] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (232.82100000000003, -1.233, -14.362) +[mux-7] [INFO] [1746050368.545191373] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050368.545903486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050368.546635261] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050368.548065214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050368.549128147] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050368.585417763] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050368.587272528] [sailbot.teensy]: Wind angle: 301 +[trim_sail-4] [INFO] [1746050368.588123103] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050368.588314431] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050368.588792820] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050368.589267442] [sailbot.teensy]: Actual tail angle: 39 +[teensy-2] [INFO] [1746050368.590175900] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050368.644852756] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050368.645498755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050368.646174626] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050368.647332951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050368.648514011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050368.745179496] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050368.746082132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050368.746728455] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050368.747654864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050368.748105506] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050368.835497633] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050368.838203675] [sailbot.teensy]: Wind angle: 295 +[trim_sail-4] [INFO] [1746050368.838524513] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050368.839150969] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050368.839312780] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050368.839559269] [sailbot.teensy]: Actual tail angle: 39 +[teensy-2] [INFO] [1746050368.839931018] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050368.844436427] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050368.845088165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050368.845616195] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050368.846839547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050368.847816577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050368.945369644] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050368.946325037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050368.947403153] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050368.947989497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050368.948465101] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050369.003722685] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900139 Long: -76.50299503 +[vectornav-1] [INFO] [1746050369.005435746] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (211.53600000000006, -1.446, -14.837) +[mux-7] [INFO] [1746050369.045256471] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050369.045986801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050369.046736478] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050369.048390088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050369.049592121] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050369.085406223] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050369.087296583] [sailbot.teensy]: Wind angle: 280 +[teensy-2] [INFO] [1746050369.088256383] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050369.087911524] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050369.088514358] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050369.089158781] [sailbot.teensy]: Actual tail angle: 39 +[teensy-2] [INFO] [1746050369.090060185] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050369.145309802] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050369.145832210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050369.146858972] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050369.147938690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050369.149168857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050369.245389792] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050369.246213098] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050369.247060830] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050369.248415282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050369.248979150] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050369.335598468] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050369.338115953] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050369.338116171] [sailbot.teensy]: Wind angle: 264 +[mux-7] [INFO] [1746050369.338757797] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050369.338885333] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050369.339263883] [sailbot.teensy]: Actual tail angle: 39 +[teensy-2] [INFO] [1746050369.339624574] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050369.344527892] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050369.345226887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050369.345903165] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050369.346975704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050369.348066619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050369.445431130] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050369.446254446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050369.447170554] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050369.448468328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050369.449645607] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050369.503543893] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899948 Long: -76.50299998 +[vectornav-1] [INFO] [1746050369.505470739] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.64099999999996, -0.548, -14.853) +[mux-7] [INFO] [1746050369.545250242] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050369.546057065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050369.546905694] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050369.548131613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050369.549304762] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050369.585344899] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050369.587157191] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050369.588035353] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050369.588060442] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050369.588981666] [sailbot.teensy]: Actual tail angle: 39 +[teensy-2] [INFO] [1746050369.589882570] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050369.590969710] [sailbot.mux]: algo sail angle: 15 +[mux-7] [INFO] [1746050369.645164131] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050369.645979593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050369.646646393] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050369.647844475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050369.648358063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050369.744951297] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050369.746089394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050369.746314297] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050369.749064021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050369.750085348] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050369.835689220] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050369.838002333] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050369.839114911] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050369.839131029] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050369.839626669] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050369.840071094] [sailbot.teensy]: Actual tail angle: 39 +[teensy-2] [INFO] [1746050369.840884419] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050369.844627659] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050369.845148092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050369.845999995] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050369.846960883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050369.848011600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050369.945447670] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050369.946037139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050369.947131393] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050369.948279896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050369.949544391] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050370.003182911] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900025 Long: -76.50300483 +[vectornav-1] [INFO] [1746050370.004675118] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.10799999999995, -0.716, -11.653) +[mux-7] [INFO] [1746050370.044891364] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050370.045440823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050370.046174238] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050370.047886986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050370.049224077] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050370.085367873] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050370.087222697] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746050370.087710199] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050370.089025601] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050370.089132687] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050370.089983217] [sailbot.teensy]: Actual tail angle: 39 +[teensy-2] [INFO] [1746050370.090874877] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050370.145311887] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050370.145853947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050370.146965210] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050370.147934407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050370.149065104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050370.199721148] [sailbot.mux]: controller_app rudder angle: -3 +[mux-7] [INFO] [1746050370.245265077] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050370.245864616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050370.247226133] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050370.247955668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050370.248647176] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050370.335544567] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050370.338278438] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050370.338842529] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050370.339061221] [sailbot.teensy]: Wind angle: 230 +[teensy-2] [INFO] [1746050370.340036416] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050370.340941831] [sailbot.teensy]: Actual tail angle: 39 +[teensy-2] [INFO] [1746050370.341804208] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050370.344313562] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050370.345043995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050370.345642983] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050370.346767187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050370.347788212] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050370.445245491] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050370.446232626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050370.446849159] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050370.448052664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050370.448570215] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050370.503003121] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900193 Long: -76.5030089 +[vectornav-1] [INFO] [1746050370.504675399] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (152.29899999999998, 0.103, -4.807) +[mux-7] [INFO] [1746050370.544912189] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050370.545730434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050370.546228097] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050370.547547450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050370.548631795] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050370.585376761] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050370.587325392] [sailbot.teensy]: Wind angle: 229 +[trim_sail-4] [INFO] [1746050370.587765403] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050370.588301082] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050370.588460104] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050370.589191092] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050370.590084171] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050370.645196157] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050370.646073459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050370.646972458] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050370.648204799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050370.649369840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050370.745159849] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050370.746239961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050370.746823801] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050370.747931862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050370.748491058] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050370.835513022] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050370.837913972] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050370.838382174] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050370.838935400] [sailbot.teensy]: Wind angle: 229 +[teensy-2] [INFO] [1746050370.839898036] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050370.840791555] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050370.841654260] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050370.844466487] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050370.844816273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050370.845588652] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050370.846498339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050370.847528809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050370.945486915] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050370.946523206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050370.947078463] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050370.948873566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050370.949499451] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050371.002567984] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900434 Long: -76.50301203 +[vectornav-1] [INFO] [1746050371.003649034] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (137.312, 0.012, 2.165) +[mux-7] [INFO] [1746050371.045046803] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050371.045760894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050371.046580103] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050371.047869364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050371.049054563] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050371.085731060] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050371.088327021] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050371.088979520] [sailbot.teensy]: Wind angle: 211 +[mux-7] [INFO] [1746050371.090016195] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050371.090235348] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050371.091234166] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050371.092203324] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050371.144968067] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050371.145635924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050371.146538780] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050371.147714405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050371.149190964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050371.233744519] [sailbot.mux]: controller_app rudder angle: -3 +[mux-7] [INFO] [1746050371.244601922] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050371.245238981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050371.245772156] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050371.246967584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050371.248794039] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050371.335329685] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050371.337479911] [sailbot.teensy]: Wind angle: 200 +[trim_sail-4] [INFO] [1746050371.337758609] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050371.338001883] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050371.338430162] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050371.339340156] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050371.340171419] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050371.344344344] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050371.344912696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050371.345645440] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050371.346705292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050371.347739096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050371.445522553] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050371.446256076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050371.447107981] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050371.448859890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050371.450043122] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050371.502509102] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900668 Long: -76.50301408 +[vectornav-1] [INFO] [1746050371.503715650] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (129.64499999999998, -1.313, 5.095) +[teensy-2] [INFO] [1746050371.545246092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050371.545267698] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050371.546973203] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050371.546974872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050371.548043615] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050371.585551678] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050371.587646942] [sailbot.teensy]: Wind angle: 195 +[trim_sail-4] [INFO] [1746050371.588144483] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050371.588673941] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050371.589571710] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050371.590066932] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050371.590479995] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050371.645301487] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050371.646276524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050371.647070494] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050371.649024827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050371.650046988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050371.745565003] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050371.746213325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050371.747371911] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050371.748524022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050371.749735798] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050371.835366589] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050371.837147814] [sailbot.teensy]: Wind angle: 187 +[trim_sail-4] [INFO] [1746050371.837557136] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050371.838083059] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050371.838806777] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050371.838832619] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050371.839201565] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050371.844688878] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050371.845303494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050371.845903969] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050371.846984856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050371.848085468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050371.945362707] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050371.945956960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050371.947379822] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050371.948062018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050371.949272861] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050372.003991034] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900913 Long: -76.50301594 +[vectornav-1] [INFO] [1746050372.005179717] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (127.78899999999999, 1.01, 4.356) +[mux-7] [INFO] [1746050372.045069967] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050372.045620891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050372.046344344] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050372.047464056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050372.048619051] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050372.085253153] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050372.087347887] [sailbot.teensy]: Wind angle: 187 +[trim_sail-4] [INFO] [1746050372.087493542] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050372.088451715] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050372.089381191] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050372.089768305] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050372.090657659] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050372.145038003] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050372.145676857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050372.146418846] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050372.148079634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050372.149249723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050372.233061184] [sailbot.mux]: controller_app rudder angle: 19 +[mux-7] [INFO] [1746050372.244829312] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050372.245699710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050372.246082543] [sailbot.mux]: Published rudder angle from controller_app: 19 +[teensy-2] [INFO] [1746050372.247622148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 +[teensy-2] [INFO] [1746050372.248660018] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050372.335445701] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050372.337715869] [sailbot.teensy]: Wind angle: 187 +[trim_sail-4] [INFO] [1746050372.337995983] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050372.338714477] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050372.339116615] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050372.339201491] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050372.339586951] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050372.344344861] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050372.345089874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050372.345427574] [sailbot.mux]: Published rudder angle from controller_app: 19 +[teensy-2] [INFO] [1746050372.346843005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 +[teensy-2] [INFO] [1746050372.347870956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050372.445500643] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050372.446335092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050372.447090329] [sailbot.mux]: Published rudder angle from controller_app: 19 +[teensy-2] [INFO] [1746050372.447934168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 +[teensy-2] [INFO] [1746050372.448481305] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050372.503945663] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901073 Long: -76.50301846 +[vectornav-1] [INFO] [1746050372.505587729] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (130.334, -1.563, 3.59) +[mux-7] [INFO] [1746050372.545211680] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050372.546019149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050372.546666626] [sailbot.mux]: Published rudder angle from controller_app: 19 +[teensy-2] [INFO] [1746050372.548446992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 +[teensy-2] [INFO] [1746050372.549435064] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050372.585277060] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050372.587613581] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050372.587900165] [sailbot.teensy]: Wind angle: 186 +[mux-7] [INFO] [1746050372.588529528] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050372.588875112] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050372.590260062] [sailbot.teensy]: Actual tail angle: 44 +[teensy-2] [INFO] [1746050372.591148968] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050372.644996408] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050372.645895204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050372.646489376] [sailbot.mux]: Published rudder angle from controller_app: 19 +[teensy-2] [INFO] [1746050372.647810440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 +[teensy-2] [INFO] [1746050372.648891908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050372.745271770] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050372.746298522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050372.747186444] [sailbot.mux]: Published rudder angle from controller_app: 19 +[teensy-2] [INFO] [1746050372.748624813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 +[teensy-2] [INFO] [1746050372.749585883] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050372.835407330] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050372.837479662] [sailbot.teensy]: Wind angle: 188 +[trim_sail-4] [INFO] [1746050372.837888833] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050372.838357199] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050372.838831235] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050372.839247447] [sailbot.teensy]: Actual tail angle: 44 +[teensy-2] [INFO] [1746050372.840126260] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050372.844302086] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050372.844837782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050372.845377544] [sailbot.mux]: Published rudder angle from controller_app: 19 +[teensy-2] [INFO] [1746050372.846625222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 +[teensy-2] [INFO] [1746050372.847677294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050372.945202375] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050372.945964268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050372.947048040] [sailbot.mux]: Published rudder angle from controller_app: 19 +[teensy-2] [INFO] [1746050372.948004157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 +[teensy-2] [INFO] [1746050372.948497194] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050373.003353773] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901239 Long: -76.50302039 +[vectornav-1] [INFO] [1746050373.004852038] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (129.623, 3.199, 5.126) +[mux-7] [INFO] [1746050373.044870456] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050373.045539075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050373.046334158] [sailbot.mux]: Published rudder angle from controller_app: 19 +[teensy-2] [INFO] [1746050373.048417975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 +[teensy-2] [INFO] [1746050373.049528335] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050373.085429675] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050373.087759649] [sailbot.teensy]: Wind angle: 191 +[teensy-2] [INFO] [1746050373.088887646] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050373.088196224] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050373.089881779] [sailbot.teensy]: Actual tail angle: 44 +[mux-7] [INFO] [1746050373.089913121] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050373.090807581] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050373.145156724] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050373.145930061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050373.146643075] [sailbot.mux]: Published rudder angle from controller_app: 19 +[teensy-2] [INFO] [1746050373.148076305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 +[teensy-2] [INFO] [1746050373.149305043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050373.245129741] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050373.246037321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050373.246637774] [sailbot.mux]: Published rudder angle from controller_app: 19 +[teensy-2] [INFO] [1746050373.248096874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 +[teensy-2] [INFO] [1746050373.249171692] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050373.335226051] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050373.336981338] [sailbot.teensy]: Wind angle: 191 +[trim_sail-4] [INFO] [1746050373.337435274] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050373.337973460] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050373.338888123] [sailbot.teensy]: Actual tail angle: 44 +[mux-7] [INFO] [1746050373.338960668] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050373.339843961] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050373.344486634] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050373.345168258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050373.345567935] [sailbot.mux]: Published rudder angle from controller_app: 19 +[teensy-2] [INFO] [1746050373.346946838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 +[teensy-2] [INFO] [1746050373.347991383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050373.443731718] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050373.444109133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050373.444247804] [sailbot.mux]: Published rudder angle from controller_app: 19 +[teensy-2] [INFO] [1746050373.444970987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 +[teensy-2] [INFO] [1746050373.445534147] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050373.503006783] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901332 Long: -76.50302193 +[vectornav-1] [INFO] [1746050373.504999739] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (123.71300000000002, -4.422, 1.91) +[mux-7] [INFO] [1746050373.518462575] [sailbot.mux]: controller_app rudder angle: -9 +[mux-7] [INFO] [1746050373.544535998] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050373.545175220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050373.545701842] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050373.547160791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050373.548145336] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050373.585143204] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050373.587173108] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050373.587386482] [sailbot.teensy]: Wind angle: 189 +[teensy-2] [INFO] [1746050373.588300346] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050373.588929744] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050373.589096894] [sailbot.teensy]: Actual tail angle: 44 +[teensy-2] [INFO] [1746050373.589924756] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050373.644779368] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050373.645226922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050373.646004293] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050373.646955960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050373.648121867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050373.745268701] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050373.745934076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050373.747121542] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050373.747989751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050373.749133957] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050373.835699176] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050373.837872548] [sailbot.teensy]: Wind angle: 180 +[trim_sail-4] [INFO] [1746050373.838585490] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050373.838950456] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050373.839355150] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050373.839717686] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050373.839725624] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050373.844466904] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050373.845171258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050373.845674531] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050373.846916404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050373.847907180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050373.945066558] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050373.945715446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050373.946897445] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050373.947805053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050373.948852731] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050374.003272093] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901491 Long: -76.50302351 +[vectornav-1] [INFO] [1746050374.004888090] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (114.53300000000002, 3.211, 4.212) +[mux-7] [INFO] [1746050374.044725974] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050374.045408694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050374.046291058] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050374.047311551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050374.050239928] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050374.085582834] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050374.087534851] [sailbot.teensy]: Wind angle: 164 +[trim_sail-4] [INFO] [1746050374.087904584] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050374.088724714] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050374.089770376] [sailbot.teensy]: Actual tail angle: 16 +[mux-7] [INFO] [1746050374.090201002] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050374.090886632] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050374.144886887] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050374.145580062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050374.146298963] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050374.147539558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050374.148582332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050374.233567807] [sailbot.mux]: controller_app rudder angle: -10 +[mux-7] [INFO] [1746050374.244814841] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050374.245600293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050374.246877329] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050374.247423141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050374.248696799] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050374.335351508] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050374.337696102] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050374.337921813] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746050374.338849527] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050374.338947112] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050374.339743986] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050374.340623746] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050374.344478213] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050374.344969277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050374.345720352] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050374.346732840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050374.347755412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050374.445031102] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050374.445459795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050374.446451848] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050374.447535797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050374.448769181] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050374.503480451] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901653 Long: -76.50302374 +[vectornav-1] [INFO] [1746050374.505409595] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (108.01100000000002, -1.435, 5.672) +[mux-7] [INFO] [1746050374.545006420] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050374.545611143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050374.546565334] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050374.547440191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050374.548617317] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050374.585403284] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050374.587540951] [sailbot.teensy]: Wind angle: 167 +[trim_sail-4] [INFO] [1746050374.587902044] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050374.588506539] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050374.589742707] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050374.589811287] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050374.590698270] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050374.644946362] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050374.645635510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050374.646351316] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050374.647481713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050374.648696984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050374.745369245] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050374.746033562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050374.747274281] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050374.748361448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050374.748939928] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050374.835488110] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050374.837691746] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746050374.837999956] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050374.838643209] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050374.839532020] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050374.840374414] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050374.840378495] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050374.844411097] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050374.844880584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050374.845588298] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050374.846549510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050374.848471704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050374.945525467] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050374.946250150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050374.947223280] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050374.948473458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050374.949017652] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050375.002529435] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901764 Long: -76.50302386 +[vectornav-1] [INFO] [1746050375.003622645] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (100.17200000000003, 2.238, 6.574) +[mux-7] [INFO] [1746050375.044999681] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050375.045620149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050375.046289864] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050375.047560820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050375.048730289] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050375.085307648] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050375.087563536] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050375.087669007] [sailbot.teensy]: Wind angle: 159 +[mux-7] [INFO] [1746050375.088099505] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050375.089075031] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050375.089950945] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050375.090812445] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050375.145134584] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050375.145963452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050375.146659695] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050375.148114252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050375.149286210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050375.234522666] [sailbot.mux]: controller_app rudder angle: -12 +[mux-7] [INFO] [1746050375.244558221] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050375.245129020] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050375.245762465] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050375.247124010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050375.248224114] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050375.335455340] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050375.337272890] [sailbot.teensy]: Wind angle: 154 +[trim_sail-4] [INFO] [1746050375.337991144] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050375.338220120] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050375.338869538] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050375.339229374] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050375.339555144] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050375.344236242] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050375.344989616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050375.345330624] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050375.346737242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050375.347786875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050375.445222784] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050375.446017339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050375.446863913] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050375.447935692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050375.448479178] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050375.503653598] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901815 Long: -76.50302406 +[vectornav-1] [INFO] [1746050375.505732194] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (94.19299999999998, -1.672, 5.019) +[mux-7] [INFO] [1746050375.545218921] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050375.545957795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050375.547003467] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050375.548232374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050375.549329511] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050375.585291025] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050375.587350992] [sailbot.teensy]: Wind angle: 152 +[teensy-2] [INFO] [1746050375.588243478] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050375.587608536] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050375.588624754] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050375.589161985] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050375.590037393] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050375.645254294] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050375.646159927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050375.646735123] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050375.648325088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050375.649486558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050375.745327157] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050375.746147496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050375.747354834] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050375.748270466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050375.749029305] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050375.835408169] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050375.837955518] [sailbot.teensy]: Wind angle: 148 +[trim_sail-4] [INFO] [1746050375.837988694] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050375.838420333] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050375.839326331] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050375.839727831] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050375.840236613] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050375.844370274] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050375.844796343] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050375.846489973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[mux-7] [INFO] [1746050375.846530382] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050375.847572944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050375.945186081] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050375.946229866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050375.946753885] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050375.948304019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050375.949357419] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050376.003541031] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901926 Long: -76.5030239 +[vectornav-1] [INFO] [1746050376.004967671] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (86.72000000000003, -0.314, 5.817) +[mux-7] [INFO] [1746050376.044978568] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050376.045862587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050376.046268356] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050376.047903789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050376.049119067] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050376.085440013] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050376.087577408] [sailbot.teensy]: Wind angle: 145 +[trim_sail-4] [INFO] [1746050376.087793154] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050376.088747920] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050376.089301015] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050376.089713375] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050376.090262091] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050376.145159617] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050376.145892621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050376.146677924] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050376.147973562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050376.149908678] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050376.212733591] [sailbot.mux]: controller_app rudder angle: -13 +[mux-7] [INFO] [1746050376.245329577] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050376.245953373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050376.246931686] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050376.248079633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050376.249292701] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050376.335464885] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050376.337295355] [sailbot.teensy]: Wind angle: 145 +[trim_sail-4] [INFO] [1746050376.338203401] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050376.338274526] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050376.339189247] [sailbot.teensy]: Actual tail angle: 13 +[mux-7] [INFO] [1746050376.339831594] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050376.340095869] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050376.344497947] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050376.345097593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050376.345723627] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050376.346849425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050376.347820416] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050376.445422741] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050376.445902260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050376.447073836] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050376.448221890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050376.449074804] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050376.503116288] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901989 Long: -76.50302338 +[vectornav-1] [INFO] [1746050376.504573494] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (80.37799999999999, 1.629, 8.627) +[mux-7] [INFO] [1746050376.544958259] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050376.545878572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050376.546217850] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050376.547750525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050376.548770983] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050376.585430121] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050376.587876744] [sailbot.teensy]: Wind angle: 143 +[trim_sail-4] [INFO] [1746050376.588082076] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050376.588907877] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050376.589880392] [sailbot.teensy]: Actual tail angle: 12 +[mux-7] [INFO] [1746050376.590516516] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050376.590781510] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050376.645458309] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050376.646259983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050376.647041041] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050376.648106787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050376.648580393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050376.745220061] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050376.746018821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050376.746824628] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050376.748507097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050376.749113420] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050376.835519153] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050376.837538858] [sailbot.teensy]: Wind angle: 137 +[trim_sail-4] [INFO] [1746050376.838190113] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050376.838542426] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050376.839242048] [sailbot.teensy]: Actual tail angle: 12 +[mux-7] [INFO] [1746050376.839454553] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050376.839617735] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050376.844541133] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050376.844929147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050376.845822310] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050376.846593058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050376.847701327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050376.945421931] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050376.946482933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050376.947570091] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050376.948698236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050376.949353948] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050377.003807005] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902072 Long: -76.50302264 +[vectornav-1] [INFO] [1746050377.005389006] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (73.49099999999999, -2.104, 9.485) +[mux-7] [INFO] [1746050377.045234052] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050377.045863211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050377.046688653] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050377.047780908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050377.049058831] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050377.085656634] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050377.088244756] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050377.088788337] [sailbot.teensy]: Wind angle: 136 +[mux-7] [INFO] [1746050377.089625512] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050377.089738270] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050377.090609844] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050377.091473789] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050377.145238047] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050377.146187537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050377.146807893] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050377.148106876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050377.148641592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050377.221564200] [sailbot.mux]: controller_app rudder angle: -14 +[mux-7] [INFO] [1746050377.244943489] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050377.245691207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050377.246336433] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050377.247644151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050377.248365234] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050377.335358414] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050377.337266912] [sailbot.teensy]: Wind angle: 132 +[teensy-2] [INFO] [1746050377.338250846] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050377.339178627] [sailbot.teensy]: Actual tail angle: 12 +[trim_sail-4] [INFO] [1746050377.338786055] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050377.339727668] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050377.340099080] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050377.344369778] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050377.344980167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050377.345842198] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050377.346749518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050377.347825391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050377.445223797] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050377.446097628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050377.446818126] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050377.449039674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050377.450199954] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050377.503209929] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902173 Long: -76.5030212 +[vectornav-1] [INFO] [1746050377.504611005] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (68.03399999999999, 2.011, 9.796) +[mux-7] [INFO] [1746050377.545369589] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050377.546046472] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050377.546934991] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050377.548600695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050377.549133404] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050377.585352321] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050377.587266095] [sailbot.teensy]: Wind angle: 131 +[trim_sail-4] [INFO] [1746050377.588064368] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050377.588263858] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050377.588852232] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050377.589175590] [sailbot.teensy]: Actual tail angle: 11 +[teensy-2] [INFO] [1746050377.590096795] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050377.645425248] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050377.646259752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050377.647241671] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050377.648980111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050377.650170092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050377.745481241] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050377.746260337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050377.747235634] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050377.750056783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050377.751182312] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050377.835621674] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050377.838452908] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050377.838819219] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050377.839045247] [sailbot.teensy]: Wind angle: 129 +[teensy-2] [INFO] [1746050377.839993407] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050377.840708928] [sailbot.teensy]: Actual tail angle: 11 +[teensy-2] [INFO] [1746050377.841071044] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050377.844485814] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050377.844952073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050377.845568519] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050377.846642076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050377.847693737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050377.945548545] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050377.946441097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050377.947131142] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050377.948662745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050377.949973590] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050378.003491547] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902254 Long: -76.5030202 +[vectornav-1] [INFO] [1746050378.005414998] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (65.096, -3.525, 10.725) +[mux-7] [INFO] [1746050378.044796426] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050378.045508037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050378.046010392] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050378.047249387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050378.048449994] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050378.085536162] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050378.087377014] [sailbot.teensy]: Wind angle: 126 +[teensy-2] [INFO] [1746050378.088336786] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050378.089068837] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050378.089329002] [sailbot.teensy]: Actual tail angle: 11 +[teensy-2] [INFO] [1746050378.090220110] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050378.090702132] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050378.145292621] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050378.146407792] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050378.146692291] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050378.148288416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050378.149415346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050378.226161815] [sailbot.mux]: controller_app rudder angle: -7 +[mux-7] [INFO] [1746050378.245234392] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050378.245968807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050378.246706703] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050378.249101339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050378.250243981] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050378.335320590] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050378.337300918] [sailbot.teensy]: Wind angle: 128 +[trim_sail-4] [INFO] [1746050378.338088210] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050378.338256808] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050378.338453840] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050378.338955488] [sailbot.teensy]: Actual tail angle: 11 +[teensy-2] [INFO] [1746050378.339320668] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050378.344801253] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050378.345148620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050378.346052439] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050378.346912400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050378.347941968] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050378.445516016] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050378.446403462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050378.447125378] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050378.448469535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050378.448985962] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050378.503467980] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902396 Long: -76.50301859 +[vectornav-1] [INFO] [1746050378.505266671] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (65.23000000000002, 2.682, 10.685) +[mux-7] [INFO] [1746050378.545369384] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050378.546100373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050378.546984203] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050378.548640374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050378.549807828] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050378.585390856] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050378.587234101] [sailbot.teensy]: Wind angle: 128 +[trim_sail-4] [INFO] [1746050378.588066537] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050378.588193820] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050378.589095515] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746050378.589363717] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050378.589966104] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050378.645365937] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050378.645906990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050378.646996586] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050378.648027189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050378.649172084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050378.745645157] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050378.746173152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050378.747699251] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050378.748465807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050378.749671335] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050378.835664522] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050378.837684389] [sailbot.teensy]: Wind angle: 128 +[teensy-2] [INFO] [1746050378.838604411] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050378.838297546] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050378.839468346] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746050378.839525231] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050378.840369215] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050378.844471602] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050378.845086833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050378.845595878] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050378.847426477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050378.848727101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050378.944853033] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050378.945665752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050378.946322193] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050378.947514249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050378.948587206] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050379.002832746] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902509 Long: -76.50301728 +[vectornav-1] [INFO] [1746050379.004113348] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (66.63400000000001, -2.773, 10.664) +[mux-7] [INFO] [1746050379.044955405] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050379.045950543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050379.046392634] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050379.047743755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050379.048789390] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050379.085581070] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050379.088044382] [sailbot.teensy]: Wind angle: 129 +[teensy-2] [INFO] [1746050379.089096138] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050379.088231289] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050379.090014499] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746050379.090396123] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050379.090846906] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050379.144764559] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050379.145365992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050379.145931418] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050379.147164805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050379.148197150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050379.232612684] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746050379.244885723] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050379.245689286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050379.246157961] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050379.247586780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050379.248635528] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050379.335516586] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050379.338481140] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050379.338478917] [sailbot.teensy]: Wind angle: 135 +[teensy-2] [INFO] [1746050379.339463990] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050379.339593851] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050379.340763341] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050379.341859161] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050379.344373480] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050379.344839608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050379.345460211] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050379.346567797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050379.347619132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050379.445323906] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050379.446139935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050379.446845935] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050379.448681461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050379.449509819] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050379.503330979] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902643 Long: -76.5030161 +[vectornav-1] [INFO] [1746050379.504855872] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (71.85199999999998, 1.766, 10.172) +[mux-7] [INFO] [1746050379.544913396] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050379.545639085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050379.546521354] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050379.547637264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050379.549368029] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050379.585434143] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050379.587673688] [sailbot.teensy]: Wind angle: 140 +[trim_sail-4] [INFO] [1746050379.587940386] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050379.588646996] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050379.589578253] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050379.590334942] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050379.590644008] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050379.645225129] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050379.645937086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050379.646901776] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050379.648471513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050379.649628978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050379.745502315] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050379.746508269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050379.747142342] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050379.748919439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050379.750053382] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050379.835366585] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050379.837323512] [sailbot.teensy]: Wind angle: 140 +[teensy-2] [INFO] [1746050379.838293243] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050379.837782285] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050379.838601387] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050379.839229640] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050379.840004921] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050379.844459880] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050379.845190178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050379.845754585] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050379.846983718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050379.848051779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050379.945549747] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050379.946468856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050379.947334763] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050379.948988152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050379.950070978] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050380.002563615] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690277 Long: -76.50301552 +[vectornav-1] [INFO] [1746050380.003676292] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (76.06400000000002, -2.952, 8.788) +[mux-7] [INFO] [1746050380.045262459] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050380.046216832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050380.046819534] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050380.048535000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050380.049397413] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050380.085627103] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050380.087988653] [sailbot.teensy]: Wind angle: 140 +[trim_sail-4] [INFO] [1746050380.088283281] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050380.089067878] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050380.090118728] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050380.090475716] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050380.091044653] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050380.145010833] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050380.146120739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050380.146463195] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050380.149382204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050380.150547384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050380.207268889] [sailbot.mux]: controller_app rudder angle: -4 +[mux-7] [INFO] [1746050380.244728830] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050380.245330031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050380.245947242] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050380.247235360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050380.248414796] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050380.335093916] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050380.336865416] [sailbot.teensy]: Wind angle: 140 +[trim_sail-4] [INFO] [1746050380.337421045] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050380.337784488] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050380.338664534] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050380.338756444] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050380.339557503] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050380.344320095] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050380.344826590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050380.345809465] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050380.346517783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050380.348365184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050380.445139419] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050380.445732076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050380.446751650] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050380.448457805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050380.449108594] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050380.502668728] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902948 Long: -76.50301516 +[vectornav-1] [INFO] [1746050380.503854755] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (79.344, 1.373, 7.745) +[mux-7] [INFO] [1746050380.545142322] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050380.545701733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050380.546609578] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050380.547557968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050380.548661330] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050380.585582999] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050380.588102022] [sailbot.teensy]: Wind angle: 140 +[trim_sail-4] [INFO] [1746050380.588215901] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050380.589159959] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050380.589789293] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050380.590443586] [sailbot.teensy]: Actual tail angle: 21 +[teensy-2] [INFO] [1746050380.591305865] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050380.645303160] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050380.646043305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050380.646805824] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050380.648713822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050380.649876585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050380.745640246] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050380.745882627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050380.747129963] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050380.747965887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050380.749168701] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050380.835499619] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050380.837555295] [sailbot.teensy]: Wind angle: 140 +[trim_sail-4] [INFO] [1746050380.838204512] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050380.838539742] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050380.839303285] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050380.839451135] [sailbot.teensy]: Actual tail angle: 21 +[teensy-2] [INFO] [1746050380.840350739] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050380.844593597] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050380.845073753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050380.845735307] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050380.846763479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050380.847787793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050380.945455875] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050380.946139538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050380.947231005] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050380.948380832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050380.948830834] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050381.003357154] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903102 Long: -76.50301418 +[vectornav-1] [INFO] [1746050381.005176957] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (80.27999999999997, 3.381, 11.271) +[mux-7] [INFO] [1746050381.045249097] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050381.045758419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050381.047137681] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050381.047759416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050381.048694434] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050381.085441704] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050381.087467001] [sailbot.teensy]: Wind angle: 147 +[trim_sail-4] [INFO] [1746050381.087854355] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050381.088607526] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050381.089505838] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050381.089562223] [sailbot.teensy]: Actual tail angle: 21 +[teensy-2] [INFO] [1746050381.090515370] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050381.145404819] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050381.145900187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050381.147015149] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050381.147871904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050381.148960646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050381.223188612] [sailbot.mux]: controller_app rudder angle: -5 +[mux-7] [INFO] [1746050381.245285815] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050381.245868456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050381.246893856] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050381.248006547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050381.249138666] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050381.335403590] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050381.337925784] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050381.338359616] [sailbot.teensy]: Wind angle: 151 +[mux-7] [INFO] [1746050381.338663262] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050381.339313878] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050381.340317780] [sailbot.teensy]: Actual tail angle: 21 +[teensy-2] [INFO] [1746050381.341188614] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050381.344293902] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050381.344859109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050381.345408978] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050381.346553748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050381.347677560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050381.444979442] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050381.445733180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050381.446285757] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050381.447755234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050381.448543527] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050381.503556414] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903201 Long: -76.50301305 +[vectornav-1] [INFO] [1746050381.505001971] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (82.80399999999997, -5.095, 9.721) +[mux-7] [INFO] [1746050381.545517599] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050381.546496408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050381.547233496] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050381.548809348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050381.549453528] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050381.585498973] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050381.587853444] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050381.588034379] [sailbot.teensy]: Wind angle: 149 +[teensy-2] [INFO] [1746050381.588999019] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050381.589538582] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050381.589903556] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050381.590832767] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050381.645550598] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050381.646297930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050381.647290667] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050381.648884447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050381.650125068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050381.745055000] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050381.745976628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050381.746640796] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050381.747753012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050381.748296930] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050381.835926931] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050381.838781537] [sailbot.teensy]: Wind angle: 145 +[teensy-2] [INFO] [1746050381.839445879] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050381.839153027] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050381.839833534] [sailbot.teensy]: Actual tail angle: 20 +[mux-7] [INFO] [1746050381.840184459] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050381.840208725] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050381.844606085] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050381.845325310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050381.845818000] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050381.847036057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050381.848208350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050381.945238772] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050381.946069768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050381.946749551] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050381.947692289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050381.948224366] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050382.003484921] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903369 Long: -76.50301342 +[vectornav-1] [INFO] [1746050382.005426514] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (86.28500000000003, -0.035, 5.277) +[mux-7] [INFO] [1746050382.045058919] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050382.045820273] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050382.047746933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[mux-7] [INFO] [1746050382.046555621] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050382.048854855] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050382.085455318] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050382.087327942] [sailbot.teensy]: Wind angle: 143 +[trim_sail-4] [INFO] [1746050382.087858385] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050382.088310046] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050382.088711395] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050382.089082444] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050382.089179934] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050382.145001347] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050382.145438462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050382.146347097] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050382.147419312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050382.148522669] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050382.244917184] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050382.245342558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050382.246484784] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050382.247089561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050382.248211132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050382.298210653] [sailbot.mux]: controller_app rudder angle: 9 +[teensy-2] [INFO] [1746050382.335462433] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050382.338169295] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050382.338394661] [sailbot.teensy]: Wind angle: 146 +[teensy-2] [INFO] [1746050382.339630415] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050382.339790175] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050382.340634172] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050382.341641076] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050382.344241535] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050382.344913075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050382.345401947] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050382.346592391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050382.347665974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050382.445641308] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050382.446520800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050382.447320287] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050382.448975715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050382.450131713] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050382.503896996] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903578 Long: -76.50301328 +[vectornav-1] [INFO] [1746050382.506256716] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (87.25599999999997, 4.661, 9.24) +[mux-7] [INFO] [1746050382.544833826] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050382.545511278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050382.546113860] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050382.547666118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050382.548687820] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050382.585327020] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050382.587854315] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050382.588734017] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050382.588863820] [sailbot.teensy]: Wind angle: 154 +[teensy-2] [INFO] [1746050382.589815585] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050382.590707564] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050382.591636122] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050382.645376885] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050382.645942343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050382.647005386] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050382.648143820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050382.649313683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050382.745278733] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050382.746822152] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050382.747055639] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050382.748957264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050382.750017679] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050382.835646448] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050382.838278152] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050382.838357400] [sailbot.teensy]: Wind angle: 154 +[teensy-2] [INFO] [1746050382.838777316] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050382.838945279] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050382.839157582] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746050382.839534540] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050382.844600886] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050382.845184428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050382.845838809] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050382.846921860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050382.848141189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050382.945176525] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050382.945677727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050382.946933958] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050382.947658514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050382.948828996] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050383.003114090] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903624 Long: -76.5030116 +[vectornav-1] [INFO] [1746050383.004599779] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (87.142, -4.073, 10.325) +[mux-7] [INFO] [1746050383.044824128] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050383.045321239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050383.046058389] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050383.047127294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050383.048301464] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050383.085458046] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050383.087514560] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746050383.087986257] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050383.088716032] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050383.089191871] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050383.089643087] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746050383.090537611] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050383.144594513] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050383.145086936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050383.145752623] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050383.146820877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050383.147841468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050383.245419715] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050383.245979534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050383.247055497] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050383.248255546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050383.248748454] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050383.335359900] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050383.337783935] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050383.337878106] [sailbot.teensy]: Wind angle: 147 +[teensy-2] [INFO] [1746050383.338899347] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050383.338959566] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050383.339380207] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746050383.339750039] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050383.344563437] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050383.345002412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050383.345869196] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050383.346702828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050383.347768847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050383.445397903] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050383.446030339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050383.447570286] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050383.448277361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050383.449825778] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050383.503356264] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903746 Long: -76.50301209 +[vectornav-1] [INFO] [1746050383.504693749] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (85.84800000000001, 2.262, 7.537) +[mux-7] [INFO] [1746050383.545408892] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050383.546104603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050383.546974043] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050383.548528043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050383.549599770] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050383.585232598] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050383.587371489] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050383.588462853] [sailbot.teensy]: Wind angle: 143 +[mux-7] [INFO] [1746050383.589200832] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050383.589590743] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050383.590568557] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746050383.591405366] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050383.645289055] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050383.645979451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050383.646940812] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050383.648180569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050383.649319648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050383.663577385] [sailbot.mux]: controller_app rudder angle: 14 +[mux-7] [INFO] [1746050383.745259605] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050383.746030445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050383.746935462] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050383.748240363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050383.749543586] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050383.835648502] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050383.837747536] [sailbot.teensy]: Wind angle: 143 +[trim_sail-4] [INFO] [1746050383.838374781] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050383.838778328] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050383.839457135] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050383.839674186] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746050383.840576476] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050383.844459353] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050383.845191431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050383.845562982] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050383.846961528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050383.848104815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050383.945297138] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050383.946025580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050383.946830955] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050383.948037480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050383.948582724] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050384.003425424] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903899 Long: -76.50301179 +[vectornav-1] [INFO] [1746050384.005238207] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (77.36500000000001, -0.388, 7.729) +[mux-7] [INFO] [1746050384.045108163] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050384.045950414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050384.046460456] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050384.047739865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050384.048943821] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050384.085584773] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050384.088247778] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050384.089423439] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050384.089475470] [sailbot.teensy]: Wind angle: 143 +[teensy-2] [INFO] [1746050384.090570657] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050384.091524015] [sailbot.teensy]: Actual tail angle: 39 +[teensy-2] [INFO] [1746050384.092412897] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050384.145141531] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050384.146064312] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050384.146580919] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050384.148176834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050384.149248299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050384.200842520] [sailbot.mux]: controller_app rudder angle: 13 +[mux-7] [INFO] [1746050384.245561999] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050384.246639240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050384.247298481] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050384.249182153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050384.250380488] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050384.335948392] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050384.339344926] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050384.339598270] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050384.339608593] [sailbot.teensy]: Wind angle: 139 +[teensy-2] [INFO] [1746050384.340707356] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050384.341708045] [sailbot.teensy]: Actual tail angle: 39 +[teensy-2] [INFO] [1746050384.342653689] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050384.344436035] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050384.344975555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050384.345506050] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050384.346626804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050384.347634063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050384.445579365] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050384.446477096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050384.447192979] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050384.449033623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050384.450244111] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050384.503508311] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903996 Long: -76.50301063 +[vectornav-1] [INFO] [1746050384.505155996] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (68.61000000000001, 1.722, 10.266) +[mux-7] [INFO] [1746050384.544982042] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050384.545634502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050384.546249627] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050384.547755863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050384.548801698] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050384.585391465] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050384.587267386] [sailbot.teensy]: Wind angle: 137 +[trim_sail-4] [INFO] [1746050384.587712796] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050384.588256535] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050384.589048352] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050384.589124955] [sailbot.teensy]: Actual tail angle: 38 +[teensy-2] [INFO] [1746050384.590023924] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050384.645085677] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050384.645874212] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050384.646506351] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050384.647857237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050384.648355387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050384.745344193] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050384.746325977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050384.746894201] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050384.748904328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050384.749917248] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050384.835203834] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050384.837127234] [sailbot.teensy]: Wind angle: 135 +[trim_sail-4] [INFO] [1746050384.837310544] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050384.838141501] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050384.838724299] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050384.839072695] [sailbot.teensy]: Actual tail angle: 38 +[teensy-2] [INFO] [1746050384.840007099] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050384.844457573] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050384.845060921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050384.845563311] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050384.846955264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050384.847973467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050384.945545252] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050384.946452668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050384.947192631] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050384.948641801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050384.949168353] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050385.002578950] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904085 Long: -76.50300927 +[vectornav-1] [INFO] [1746050385.003668783] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.252999999999986, -4.937, 11.577) +[mux-7] [INFO] [1746050385.045156061] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050385.046061018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050385.046620145] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050385.048338493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050385.049390018] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050385.085370484] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050385.087330799] [sailbot.teensy]: Wind angle: 129 +[trim_sail-4] [INFO] [1746050385.087938594] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050385.088528036] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050385.089497050] [sailbot.teensy]: Actual tail angle: 38 +[mux-7] [INFO] [1746050385.089860028] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050385.090439294] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050385.144973428] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050385.145645526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050385.146343045] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050385.147729538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050385.148779967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050385.245153771] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050385.245665475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050385.246354624] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050385.247566299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[mux-7] [INFO] [1746050385.248306405] [sailbot.mux]: controller_app rudder angle: -2 +[teensy-2] [INFO] [1746050385.248440177] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050385.335468501] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050385.337757158] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050385.338199777] [sailbot.teensy]: Wind angle: 119 +[mux-7] [INFO] [1746050385.338355414] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050385.339281486] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050385.340130726] [sailbot.teensy]: Actual tail angle: 38 +[teensy-2] [INFO] [1746050385.340488078] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050385.344459607] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050385.345069291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050385.345533033] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050385.346786381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050385.347914534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050385.445374980] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050385.446227815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050385.448085881] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050385.448352498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050385.449446445] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050385.503066137] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904252 Long: -76.50300708 +[vectornav-1] [INFO] [1746050385.504379960] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.031000000000006, 1.782, 15.431) +[mux-7] [INFO] [1746050385.544987392] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050385.545702805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050385.546300223] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050385.547514220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050385.548610002] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050385.585363735] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050385.587864171] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050385.588667147] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050385.589097255] [sailbot.teensy]: Wind angle: 119 +[teensy-2] [INFO] [1746050385.590280514] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050385.591124706] [sailbot.teensy]: Actual tail angle: 38 +[teensy-2] [INFO] [1746050385.591983592] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050385.644853077] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050385.645409769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050385.646029014] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050385.647188160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050385.648346673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050385.745270457] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050385.746131685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050385.747224029] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050385.747671151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050385.748257006] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050385.835184240] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050385.837026422] [sailbot.teensy]: Wind angle: 118 +[trim_sail-4] [INFO] [1746050385.838320288] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050385.839089200] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050385.839738962] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050385.840818862] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050385.841690514] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050385.844355637] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050385.844902951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050385.845431144] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050385.846605177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050385.847681106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050385.945358454] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050385.946167980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050385.947043031] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050385.948447990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050385.949500430] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050386.003679309] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904359 Long: -76.50300328 +[vectornav-1] [INFO] [1746050386.005317337] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.149, 0.425, 18.096) +[mux-7] [INFO] [1746050386.045150673] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050386.045872223] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050386.047927889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[mux-7] [INFO] [1746050386.048061148] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050386.049126904] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050386.085683905] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050386.087899964] [sailbot.teensy]: Wind angle: 109 +[trim_sail-4] [INFO] [1746050386.088434214] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050386.088962020] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050386.090294069] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050386.090858934] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050386.091488252] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050386.144315013] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050386.145103422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050386.145261696] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050386.146674373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050386.147689834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050386.245159284] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050386.245901408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050386.246627933] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050386.248249859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050386.248886650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050386.274934907] [sailbot.mux]: controller_app rudder angle: -4 +[teensy-2] [INFO] [1746050386.335473873] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050386.337396192] [sailbot.teensy]: Wind angle: 90 +[trim_sail-4] [INFO] [1746050386.338054974] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050386.338403492] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050386.339349967] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050386.340077746] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050386.340220757] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050386.344380201] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050386.345042856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050386.345639615] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050386.346807713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050386.347936472] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050386.445404347] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050386.446594616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050386.447030084] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050386.448842062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050386.449311737] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050386.503430256] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904447 Long: -76.50300026 +[vectornav-1] [INFO] [1746050386.504918122] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.449000000000012, -4.743, 13.074) +[mux-7] [INFO] [1746050386.545111500] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050386.545939133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050386.546534051] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050386.548003393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050386.549185205] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050386.585625709] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050386.587782876] [sailbot.teensy]: Wind angle: 95 +[teensy-2] [INFO] [1746050386.588846156] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050386.588829000] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050386.589558142] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050386.589825445] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050386.590709708] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050386.645351302] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050386.646494143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050386.646919472] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050386.648656623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050386.649787787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050386.745337081] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050386.746119068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050386.746940194] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050386.748391405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050386.748965583] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050386.835840795] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050386.838063536] [sailbot.teensy]: Wind angle: 107 +[teensy-2] [INFO] [1746050386.839166784] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050386.838720610] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050386.840119447] [sailbot.teensy]: Actual tail angle: 21 +[mux-7] [INFO] [1746050386.840343635] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050386.841072884] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050386.844349699] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050386.844799587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050386.845504988] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050386.846530078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050386.847686283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050386.945634384] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050386.946231141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050386.947377964] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050386.948961147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050386.950249974] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050387.003330539] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904573 Long: -76.50299598 +[vectornav-1] [INFO] [1746050387.004592239] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (25.82299999999998, 1.347, 13.158) +[mux-7] [INFO] [1746050387.045429890] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050387.046034941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050387.047270703] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050387.049268959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050387.050411759] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050387.085515662] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050387.087983867] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050387.089422973] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050387.089530608] [sailbot.teensy]: Wind angle: 107 +[teensy-2] [INFO] [1746050387.091163538] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050387.092094536] [sailbot.teensy]: Actual tail angle: 21 +[teensy-2] [INFO] [1746050387.092993686] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050387.144841401] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050387.145578403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050387.146388070] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050387.147490172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050387.148584251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050387.234564764] [sailbot.mux]: controller_app rudder angle: -9 +[mux-7] [INFO] [1746050387.245060448] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050387.246186625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050387.246441074] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050387.248216183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050387.249268491] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050387.335387855] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050387.337980077] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050387.338266257] [sailbot.teensy]: Wind angle: 107 +[teensy-2] [INFO] [1746050387.339184087] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050387.339514100] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050387.340080079] [sailbot.teensy]: Actual tail angle: 21 +[teensy-2] [INFO] [1746050387.340464275] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050387.344397931] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050387.344980330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050387.345510113] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050387.346682053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050387.347723714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050387.445415406] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050387.446545275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050387.447059863] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050387.449083265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050387.450097196] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050387.502481912] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469047 Long: -76.50299166 +[vectornav-1] [INFO] [1746050387.503508404] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.238999999999976, 0.069, 11.055) +[mux-7] [INFO] [1746050387.545411620] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050387.546184359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050387.547084850] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050387.548107675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050387.548643879] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050387.585513086] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050387.588025879] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050387.588560139] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050387.589494470] [sailbot.teensy]: Wind angle: 107 +[teensy-2] [INFO] [1746050387.590463454] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050387.591311888] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050387.592140538] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050387.645295486] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050387.646158207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050387.647157579] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050387.648767547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050387.650019815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050387.745353097] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050387.746234493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050387.747006389] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050387.748551372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050387.749038889] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050387.835520007] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050387.837595048] [sailbot.teensy]: Wind angle: 109 +[teensy-2] [INFO] [1746050387.838803833] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050387.838024513] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050387.839031836] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050387.839690488] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050387.840605885] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050387.844387534] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050387.845362878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050387.845520833] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050387.847026584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050387.848260389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050387.945555295] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050387.946549069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050387.947441765] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050387.949283075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050387.949788929] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050388.003397055] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904826 Long: -76.50298818 +[vectornav-1] [INFO] [1746050388.005029467] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.178, -0.254, 10.506) +[mux-7] [INFO] [1746050388.045141920] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050388.045948048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050388.046625075] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050388.047962891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050388.049004392] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050388.085360544] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050388.087838495] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050388.088323008] [sailbot.teensy]: Wind angle: 110 +[teensy-2] [INFO] [1746050388.089303665] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050388.090395269] [sailbot.teensy]: Actual tail angle: 16 +[mux-7] [INFO] [1746050388.090686465] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050388.091280601] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050388.145573327] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050388.146636264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050388.147331556] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050388.148495284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050388.149007315] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050388.244945364] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050388.245759670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050388.246303390] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050388.247499163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050388.248018709] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050388.335353542] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050388.337158553] [sailbot.teensy]: Wind angle: 117 +[teensy-2] [INFO] [1746050388.338093820] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050388.337719813] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050388.338795385] [sailbot.teensy]: Actual tail angle: 16 +[mux-7] [INFO] [1746050388.338813832] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050388.339167264] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050388.344465692] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050388.345061774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050388.345748103] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050388.346777584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050388.347825903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050388.445631004] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050388.446520367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050388.447698027] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050388.449149478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050388.450410270] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050388.503663711] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904984 Long: -76.50298477 +[vectornav-1] [INFO] [1746050388.505234820] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.886000000000024, -3.109, 13.525) +[mux-7] [INFO] [1746050388.545326214] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050388.545911243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050388.546951028] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050388.547910510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050388.548998530] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050388.585636883] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050388.587845520] [sailbot.teensy]: Wind angle: 132 +[teensy-2] [INFO] [1746050388.588998362] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050388.588553545] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050388.589981742] [sailbot.teensy]: Actual tail angle: 16 +[mux-7] [INFO] [1746050388.589982130] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050388.590875377] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050388.645613376] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050388.646309016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050388.647520099] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050388.648756603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050388.649938054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050388.745276932] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050388.746286168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050388.746843287] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050388.748244380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050388.749472230] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050388.835969669] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050388.838524767] [sailbot.teensy]: Wind angle: 143 +[trim_sail-4] [INFO] [1746050388.839049421] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050388.839701401] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050388.840693336] [sailbot.teensy]: Actual tail angle: 16 +[mux-7] [INFO] [1746050388.840647661] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050388.841614116] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050388.844529102] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050388.845226743] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050388.845619269] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050388.846958644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050388.848087480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050388.945472723] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050388.946222357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050388.947071712] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050388.947873645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050388.948421227] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050389.003962042] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690522 Long: -76.5029819 +[vectornav-1] [INFO] [1746050389.005332273] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.545000000000016, 2.382, 14.866) +[mux-7] [INFO] [1746050389.045268418] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050389.045697829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050389.046651183] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050389.047629868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050389.048890269] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050389.085436814] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050389.087909455] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050389.087963783] [sailbot.teensy]: Wind angle: 141 +[teensy-2] [INFO] [1746050389.089014659] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050389.089409987] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050389.090295157] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050389.091285614] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050389.145371859] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050389.146430105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050389.146943526] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050389.148696939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050389.149732978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050389.236977622] [sailbot.mux]: controller_app rudder angle: -22 +[mux-7] [INFO] [1746050389.244477695] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050389.245031421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050389.245794716] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050389.247054081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050389.248247776] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050389.335482417] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050389.337421109] [sailbot.teensy]: Wind angle: 140 +[teensy-2] [INFO] [1746050389.338453455] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050389.338371479] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050389.339526529] [sailbot.teensy]: Actual tail angle: 16 +[mux-7] [INFO] [1746050389.339986077] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050389.340489875] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050389.344393573] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050389.345015232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050389.345569779] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050389.346746184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050389.347877415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050389.445492348] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050389.446286894] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050389.448642486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[mux-7] [INFO] [1746050389.448872829] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050389.449908275] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050389.503495307] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905465 Long: -76.50298057 +[vectornav-1] [INFO] [1746050389.504998718] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (72.40899999999999, -1.106, 11.547) +[mux-7] [INFO] [1746050389.545126674] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050389.546006764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050389.546663421] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050389.548048656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050389.549120398] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050389.585261822] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050389.587317710] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050389.588058593] [sailbot.teensy]: Wind angle: 140 +[mux-7] [INFO] [1746050389.588838391] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050389.589011745] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050389.589935870] [sailbot.teensy]: Actual tail angle: 3 +[teensy-2] [INFO] [1746050389.590773977] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050389.645062061] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050389.645760987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050389.646628226] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050389.647540658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050389.648630354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050389.745486690] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050389.746140297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050389.747352942] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050389.748520015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050389.749667997] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050389.835666597] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050389.837797580] [sailbot.teensy]: Wind angle: 143 +[trim_sail-4] [INFO] [1746050389.838378470] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050389.838798213] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050389.839105149] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050389.839195349] [sailbot.teensy]: Actual tail angle: 3 +[teensy-2] [INFO] [1746050389.839593237] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050389.844684832] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050389.845196919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050389.846008742] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050389.846932209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050389.848046241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050389.945637798] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050389.946225834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050389.947536863] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050389.948649601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050389.949892264] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050390.003668876] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690566 Long: -76.50298005 +[vectornav-1] [INFO] [1746050390.005487060] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (90.59500000000003, -1.22, 11.807) +[mux-7] [INFO] [1746050390.045632426] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050390.046109571] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050390.048209298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[mux-7] [INFO] [1746050390.047442807] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050390.049041980] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050390.085854006] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050390.088569752] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050390.088718411] [sailbot.teensy]: Wind angle: 158 +[mux-7] [INFO] [1746050390.089236965] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050390.089686967] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050390.090563851] [sailbot.teensy]: Actual tail angle: 3 +[teensy-2] [INFO] [1746050390.091452290] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050390.145578672] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050390.145873699] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050390.148174962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[mux-7] [INFO] [1746050390.148623316] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050390.149440273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050390.245475187] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050390.246218361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050390.247015591] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050390.248664942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050390.249845048] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050390.335568165] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050390.338422407] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050390.338425118] [sailbot.teensy]: Wind angle: 172 +[mux-7] [INFO] [1746050390.339617133] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050390.339886046] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050390.340903798] [sailbot.teensy]: Actual tail angle: 3 +[teensy-2] [INFO] [1746050390.341757813] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050390.344387855] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050390.345169651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050390.345526420] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050390.346892133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050390.348008419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050390.445393715] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050390.446424894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050390.446977295] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050390.449128179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050390.450250110] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050390.504598452] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905872 Long: -76.50298044 +[vectornav-1] [INFO] [1746050390.506250684] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (113.334, -0.283, 8.959) +[mux-7] [INFO] [1746050390.545015284] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050390.545955024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050390.546359825] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050390.547810998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050390.548885328] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050390.585311220] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050390.587612033] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050390.588528320] [sailbot.teensy]: Wind angle: 176 +[mux-7] [INFO] [1746050390.588669747] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050390.589479355] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050390.590362739] [sailbot.teensy]: Actual tail angle: 3 +[teensy-2] [INFO] [1746050390.591201621] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050390.645153570] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050390.646034893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050390.646753789] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050390.648610299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050390.649667164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050390.745622711] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050390.746477764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050390.747751527] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050390.749275176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050390.750461724] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050390.835396642] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050390.837767323] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050390.838309202] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050390.838653166] [sailbot.teensy]: Wind angle: 181 +[teensy-2] [INFO] [1746050390.839152071] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050390.839557081] [sailbot.teensy]: Actual tail angle: 3 +[teensy-2] [INFO] [1746050390.839922007] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050390.844656108] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050390.845047506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050390.846067128] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050390.846804271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050390.847875541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050390.945701911] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050390.946205705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050390.947477259] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050390.948585413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050390.949898866] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050391.003371843] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905997 Long: -76.50298257 +[vectornav-1] [INFO] [1746050391.005101515] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (136.736, 2.835, 4.159) +[mux-7] [INFO] [1746050391.045261715] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050391.046047264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050391.046901745] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050391.048607938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050391.049672632] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050391.085493842] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050391.087408955] [sailbot.teensy]: Wind angle: 207 +[teensy-2] [INFO] [1746050391.088330987] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050391.088029049] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050391.088340607] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050391.089220756] [sailbot.teensy]: Actual tail angle: 3 +[teensy-2] [INFO] [1746050391.090087444] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050391.145294532] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050391.145981084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050391.146867250] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050391.149236719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050391.150405579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050391.245494004] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050391.246071895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050391.247198092] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050391.248296747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050391.248779811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050391.274948468] [sailbot.mux]: controller_app rudder angle: -15 +[teensy-2] [INFO] [1746050391.335481786] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050391.338026992] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050391.338321553] [sailbot.teensy]: Wind angle: 224 +[teensy-2] [INFO] [1746050391.339291941] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050391.339760364] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050391.340237612] [sailbot.teensy]: Actual tail angle: 3 +[teensy-2] [INFO] [1746050391.340914406] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050391.344599185] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050391.345336669] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050391.345689438] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050391.347244600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050391.348345161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050391.445644803] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050391.446434870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050391.447466217] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050391.449066926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050391.450337773] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050391.503224536] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906011 Long: -76.50298393 +[vectornav-1] [INFO] [1746050391.504815517] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.966, -0.251, 6.161) +[mux-7] [INFO] [1746050391.545137752] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050391.545828851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050391.546597009] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050391.547991383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050391.549074427] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050391.585432606] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050391.587775406] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050391.588776157] [sailbot.teensy]: Wind angle: 230 +[mux-7] [INFO] [1746050391.589132731] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050391.589796521] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050391.590914067] [sailbot.teensy]: Actual tail angle: 3 +[teensy-2] [INFO] [1746050391.591825738] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050391.645005348] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050391.645820442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050391.646607330] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050391.647825234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050391.648845846] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050391.745158798] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050391.746048706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050391.747173819] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050391.748098478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050391.749130265] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050391.835669619] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050391.837936131] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050391.838421494] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050391.839024225] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050391.839959911] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050391.840074704] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050391.841005117] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050391.844419866] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050391.845081180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050391.845634562] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050391.846951799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050391.848017989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050391.945514016] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050391.946523567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050391.947301810] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050391.948072369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050391.948563682] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050392.003190473] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906015 Long: -76.50298601 +[vectornav-1] [INFO] [1746050392.004855997] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.534, -3.56, 6.193) +[mux-7] [INFO] [1746050392.045013520] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050392.046465782] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050392.047924575] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050392.050346695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050392.051356002] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050392.085358488] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050392.087212199] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050392.088183821] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050392.087671037] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050392.088999192] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050392.089038533] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050392.089999585] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050392.145158091] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050392.145983097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050392.146640841] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050392.148367099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050392.149453534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050392.245624278] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050392.246508347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050392.247324338] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050392.249008776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050392.250301053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050392.278333017] [sailbot.mux]: controller_app rudder angle: 0 +[teensy-2] [INFO] [1746050392.335415258] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050392.337768036] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050392.338345849] [sailbot.teensy]: Wind angle: 244 +[mux-7] [INFO] [1746050392.338365309] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050392.339310909] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050392.340358654] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050392.340743195] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050392.344298915] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050392.344779286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050392.345592275] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050392.346488275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050392.347501093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050392.445153263] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050392.446228833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050392.446668661] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050392.448881553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050392.450100712] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050392.503484388] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905981 Long: -76.50298881 +[vectornav-1] [INFO] [1746050392.505626614] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.31999999999994, 2.646, -2.788) +[mux-7] [INFO] [1746050392.544941086] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050392.545804154] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050392.546203637] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050392.547579235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050392.548769658] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050392.585220776] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050392.587411243] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050392.588390468] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050392.588623961] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050392.589587158] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050392.590491376] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050392.591467197] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050392.645428115] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050392.646253556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050392.647017190] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050392.648540301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050392.649718723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050392.744994788] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050392.745679284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050392.746377943] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050392.747533067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050392.748708902] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050392.835363305] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050392.837682830] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050392.838871341] [sailbot.teensy]: Wind angle: 253 +[mux-7] [INFO] [1746050392.838996231] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050392.839297475] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050392.839808349] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050392.840644932] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050392.844371561] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050392.844858705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050392.845525264] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050392.846674892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050392.847715276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050392.945290802] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050392.945829624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050392.946972796] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050392.948173043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050392.949033748] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050393.003090343] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690572 Long: -76.5029897 +[vectornav-1] [INFO] [1746050393.004424014] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (216.01199999999994, 0.311, -9.779) +[mux-7] [INFO] [1746050393.045141078] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050393.045842133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050393.046663178] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050393.047750790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050393.049018535] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050393.085449341] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050393.087291586] [sailbot.teensy]: Wind angle: 265 +[trim_sail-4] [INFO] [1746050393.088079437] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050393.089433973] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050393.089444122] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050393.090389488] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050393.091263375] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050393.145325221] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050393.145862445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050393.146960502] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050393.147911499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050393.149572582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050393.245313309] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050393.246101776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050393.246851530] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050393.248107906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050393.249195149] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050393.335529031] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050393.338138921] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050393.338521663] [sailbot.teensy]: Wind angle: 279 +[mux-7] [INFO] [1746050393.339271856] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050393.339637711] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050393.340587278] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050393.340933252] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050393.344356792] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050393.344855293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050393.345478015] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050393.346586872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050393.347667250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050393.445093001] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050393.445713088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050393.446467396] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050393.447609115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050393.448674521] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050393.503778749] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905535 Long: -76.50299125 +[vectornav-1] [INFO] [1746050393.505490985] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (227.30200000000002, -0.928, -10.665) +[mux-7] [INFO] [1746050393.545113169] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050393.545992222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050393.546415960] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050393.547946665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050393.549099712] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050393.585552436] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050393.587833061] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050393.588009907] [sailbot.teensy]: Wind angle: 299 +[teensy-2] [INFO] [1746050393.588978652] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050393.589119166] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050393.589883406] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050393.590788167] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050393.645072019] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050393.645939819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050393.646418414] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050393.647859268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050393.648924606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050393.684372104] [sailbot.mux]: controller_app rudder angle: 13 +[mux-7] [INFO] [1746050393.745210695] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050393.746153259] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050393.746889829] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050393.747813848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050393.748341754] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050393.835317221] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050393.837652529] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050393.837710578] [sailbot.teensy]: Wind angle: 315 +[teensy-2] [INFO] [1746050393.839052837] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050393.839525349] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050393.839958209] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050393.840903771] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050393.844324327] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050393.845034492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050393.845432482] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050393.847382836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050393.848561497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050393.945409343] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050393.946126020] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050393.947166847] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050393.947915078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050393.948394954] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050394.002746841] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905404 Long: -76.50299458 +[vectornav-1] [INFO] [1746050394.003888240] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (231.81500000000005, -3.934, -2.452) +[mux-7] [INFO] [1746050394.045220231] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050394.046084935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050394.046785628] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050394.048403108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050394.049537087] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050394.085388696] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050394.087685967] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746050394.088513232] [sailbot.teensy]: Wind angle: 306 +[mux-7] [INFO] [1746050394.089362054] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746050394.089491857] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050394.090428952] [sailbot.teensy]: Actual tail angle: 38 +[teensy-2] [INFO] [1746050394.091315048] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050394.145174052] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050394.145862911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050394.146791079] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050394.148269977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050394.149382397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050394.231637783] [sailbot.mux]: controller_app rudder angle: 14 +[mux-7] [INFO] [1746050394.245090305] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050394.245662251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050394.246488203] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050394.247681354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050394.248724761] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050394.335345586] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050394.337225063] [sailbot.teensy]: Wind angle: 291 +[teensy-2] [INFO] [1746050394.338143478] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050394.337879397] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050394.338526382] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050394.339017583] [sailbot.teensy]: Actual tail angle: 38 +[teensy-2] [INFO] [1746050394.339894321] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050394.344371045] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050394.344936033] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050394.345525788] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050394.346784072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050394.347837735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050394.445513546] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050394.446534374] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050394.447457259] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050394.448613565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050394.449168957] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050394.502558755] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905068 Long: -76.50299708 +[vectornav-1] [INFO] [1746050394.503592470] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (227.95100000000002, -0.709, -7.269) +[mux-7] [INFO] [1746050394.544947879] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050394.545703356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050394.546281340] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050394.547598458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050394.548640107] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050394.585550835] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050394.588067806] [sailbot.teensy]: Wind angle: 286 +[trim_sail-4] [INFO] [1746050394.588086341] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050394.589147098] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050394.590067609] [sailbot.teensy]: Actual tail angle: 39 +[mux-7] [INFO] [1746050394.590219812] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050394.591001740] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050394.645150411] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050394.645811170] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050394.647920007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[mux-7] [INFO] [1746050394.648323004] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050394.649084539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050394.744672426] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050394.745215976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050394.745807915] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050394.746962203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050394.748085136] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050394.835374977] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050394.837182430] [sailbot.teensy]: Wind angle: 284 +[teensy-2] [INFO] [1746050394.838163040] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050394.837788288] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050394.839074940] [sailbot.teensy]: Actual tail angle: 39 +[mux-7] [INFO] [1746050394.839868407] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050394.839936816] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050394.844602721] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050394.844864596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050394.845748737] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050394.846573069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050394.847669902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050394.945453456] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050394.946421127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050394.947201262] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050394.949179055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050394.950511041] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050395.003384922] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904733 Long: -76.50299888 +[vectornav-1] [INFO] [1746050395.005037580] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (218.58899999999994, -0.123, -12.303) +[mux-7] [INFO] [1746050395.044997486] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050395.045732618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050395.046247759] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050395.047599662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050395.048673031] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050395.085141263] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050395.086866543] [sailbot.teensy]: Wind angle: 278 +[trim_sail-4] [INFO] [1746050395.087274077] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050395.087792265] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050395.088030078] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050395.088742238] [sailbot.teensy]: Actual tail angle: 39 +[teensy-2] [INFO] [1746050395.089773283] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050395.144508106] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050395.145337021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050395.145796487] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050395.147191694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050395.148266488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050395.244677823] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050395.245282098] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050395.245973746] [sailbot.mux]: Published rudder angle from controller_app: 14 +[teensy-2] [INFO] [1746050395.247251747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 +[teensy-2] [INFO] [1746050395.248526675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050395.248592322] [sailbot.mux]: controller_app rudder angle: 15 +[teensy-2] [INFO] [1746050395.335376555] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050395.337200526] [sailbot.teensy]: Wind angle: 272 +[trim_sail-4] [INFO] [1746050395.337827614] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050395.338170217] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050395.339065547] [sailbot.teensy]: Actual tail angle: 39 +[mux-7] [INFO] [1746050395.339128838] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050395.339930610] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050395.344317172] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050395.345007842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050395.345459591] [sailbot.mux]: Published rudder angle from controller_app: 15 +[teensy-2] [INFO] [1746050395.346781165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746050395.347883130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050395.445004858] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050395.445680876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050395.446474436] [sailbot.mux]: Published rudder angle from controller_app: 15 +[teensy-2] [INFO] [1746050395.447622983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746050395.448823283] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050395.502417695] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904609 Long: -76.50300308 +[vectornav-1] [INFO] [1746050395.503478153] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (204.43100000000004, 1.732, -10.148) +[mux-7] [INFO] [1746050395.545117938] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050395.545937554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050395.546561519] [sailbot.mux]: Published rudder angle from controller_app: 15 +[teensy-2] [INFO] [1746050395.547745245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746050395.548265199] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050395.585357308] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050395.587694503] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050395.588023159] [sailbot.teensy]: Wind angle: 270 +[teensy-2] [INFO] [1746050395.588993469] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050395.589458296] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050395.589932025] [sailbot.teensy]: Actual tail angle: 39 +[teensy-2] [INFO] [1746050395.590808607] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050395.645190000] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050395.646143202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050395.646711121] [sailbot.mux]: Published rudder angle from controller_app: 15 +[teensy-2] [INFO] [1746050395.649612876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746050395.650732008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050395.745159138] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050395.745894773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050395.746758088] [sailbot.mux]: Published rudder angle from controller_app: 15 +[teensy-2] [INFO] [1746050395.748351935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746050395.749433286] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050395.835469500] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050395.837834168] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050395.838514173] [sailbot.teensy]: Wind angle: 269 +[mux-7] [INFO] [1746050395.838552120] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050395.839562021] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050395.839961010] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050395.840411477] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050395.844511075] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050395.845217782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050395.845641130] [sailbot.mux]: Published rudder angle from controller_app: 15 +[teensy-2] [INFO] [1746050395.847020790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746050395.848053529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050395.945522391] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050395.946501896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050395.947106580] [sailbot.mux]: Published rudder angle from controller_app: 15 +[teensy-2] [INFO] [1746050395.949097476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746050395.950265115] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050396.003389154] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904533 Long: -76.50300735 +[vectornav-1] [INFO] [1746050396.005040325] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.322, -4.382, -7.611) +[mux-7] [INFO] [1746050396.045203607] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050396.046135830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050396.046755203] [sailbot.mux]: Published rudder angle from controller_app: 15 +[teensy-2] [INFO] [1746050396.048457742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746050396.049532976] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050396.085433140] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050396.087337841] [sailbot.teensy]: Wind angle: 263 +[trim_sail-4] [INFO] [1746050396.087789745] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050396.088417239] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050396.089287300] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050396.089339878] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050396.090269694] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050396.144931961] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050396.145752603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050396.146198532] [sailbot.mux]: Published rudder angle from controller_app: 15 +[teensy-2] [INFO] [1746050396.147704729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746050396.148863042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050396.245227442] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050396.246181680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050396.246827324] [sailbot.mux]: Published rudder angle from controller_app: 15 +[mux-7] [INFO] [1746050396.248916357] [sailbot.mux]: controller_app rudder angle: 1 +[teensy-2] [INFO] [1746050396.249261472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746050396.250492265] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050396.335447416] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050396.338125786] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050396.338471768] [sailbot.teensy]: Wind angle: 238 +[mux-7] [INFO] [1746050396.339136069] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050396.339454765] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050396.339921183] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050396.340303116] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050396.344317826] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050396.344851411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050396.345393868] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050396.346557960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050396.347619220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050396.445447072] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050396.446202106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050396.447024953] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050396.448034958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050396.448539108] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050396.502360113] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904484 Long: -76.50301273 +[vectornav-1] [INFO] [1746050396.503325866] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.755, 4.556, -8.109) +[mux-7] [INFO] [1746050396.545236421] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050396.546059704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050396.546706949] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050396.548281423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050396.549334319] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050396.585452355] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050396.587992492] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050396.588303605] [sailbot.teensy]: Wind angle: 222 +[mux-7] [INFO] [1746050396.588542067] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050396.589311756] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050396.590205607] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050396.591056507] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050396.645320908] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050396.646332865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050396.646805822] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050396.648745731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050396.649807065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050396.745550830] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050396.746490294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050396.747314439] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050396.749045734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050396.750163667] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050396.835175530] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050396.836821558] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746050396.837216667] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050396.837699767] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050396.838613939] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050396.838761788] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050396.839528319] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050396.844302530] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050396.844917121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050396.845411756] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050396.846675974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050396.847712402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050396.945526032] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050396.946304784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050396.947218429] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050396.948856752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050396.949445922] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050397.003096658] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904509 Long: -76.50301613 +[vectornav-1] [INFO] [1746050397.004660503] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.93499999999995, -4.427, -2.565) +[mux-7] [INFO] [1746050397.045048634] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050397.045642948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050397.046382620] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050397.047645763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050397.048656836] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050397.085403863] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050397.087227928] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746050397.087751895] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050397.088546832] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050397.089489406] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050397.089516686] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050397.090311062] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050397.145414317] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050397.146161411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050397.147051852] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050397.148521162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050397.149071668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050397.236077196] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746050397.244722341] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050397.245546683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050397.245892270] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050397.247425190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050397.248671954] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050397.335896093] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050397.338787902] [sailbot.teensy]: Wind angle: 209 +[trim_sail-4] [INFO] [1746050397.339144466] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050397.339948825] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050397.340031704] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050397.340473123] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050397.340900814] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050397.344472509] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050397.345215282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050397.345566006] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050397.346903659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050397.348088834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050397.445188918] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050397.445901453] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050397.446635305] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050397.447813804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050397.448863802] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050397.503058451] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904677 Long: -76.50301936 +[vectornav-1] [INFO] [1746050397.504260861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (147.856, 1.767, 3.241) +[mux-7] [INFO] [1746050397.545230646] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050397.546177139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050397.546897993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050397.548625687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050397.549149943] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050397.585375180] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050397.587871570] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050397.588342245] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050397.588365733] [sailbot.teensy]: Wind angle: 205 +[teensy-2] [INFO] [1746050397.589419852] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050397.590350470] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050397.591215014] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050397.645189927] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050397.646137390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050397.646695954] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050397.648845514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050397.649878743] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050397.745517033] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050397.746347391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050397.747213465] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050397.748747307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050397.749897272] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050397.835319549] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050397.837100948] [sailbot.teensy]: Wind angle: 203 +[trim_sail-4] [INFO] [1746050397.837556414] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050397.838100140] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050397.838760134] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050397.839052335] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050397.839949974] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050397.844436320] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050397.845038749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050397.845988806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050397.846812042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050397.847847411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050397.945305352] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050397.946282402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050397.946816272] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050397.948522882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050397.949747034] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050398.002537583] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904821 Long: -76.50302172 +[vectornav-1] [INFO] [1746050398.003598927] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (139.901, 3.624, 5.284) +[mux-7] [INFO] [1746050398.045631329] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050398.046248671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050398.047382552] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050398.048507036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050398.049767658] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050398.085251839] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050398.087674367] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050398.087980145] [sailbot.teensy]: Wind angle: 197 +[mux-7] [INFO] [1746050398.088173190] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050398.088958256] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050398.089852405] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050398.090691873] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050398.144970622] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050398.145635154] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050398.146209493] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050398.147651236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050398.148197387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050398.233651937] [sailbot.mux]: controller_app rudder angle: -7 +[mux-7] [INFO] [1746050398.244851705] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050398.245646004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050398.246134973] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050398.247546901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050398.248049800] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050398.335459198] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050398.337802393] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050398.338999865] [sailbot.teensy]: Wind angle: 197 +[mux-7] [INFO] [1746050398.339149111] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050398.340108621] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050398.341067616] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050398.341908324] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050398.344354961] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050398.344889135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050398.345445137] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050398.346573425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050398.347624531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050398.445497569] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050398.446440462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050398.447091268] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050398.448333405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050398.448853151] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050398.502484880] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904924 Long: -76.50302287 +[vectornav-1] [INFO] [1746050398.503880431] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (135.373, -3.888, 1.982) +[mux-7] [INFO] [1746050398.545242209] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050398.545900862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050398.546635391] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050398.547954140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050398.549001132] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050398.585785907] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050398.588640430] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050398.590088546] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050398.590861467] [sailbot.teensy]: Wind angle: 198 +[teensy-2] [INFO] [1746050398.591791234] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050398.592666881] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050398.593487989] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050398.645062855] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050398.645969329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050398.646460271] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050398.648640292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050398.649778860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050398.745211941] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050398.746252058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050398.746719037] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050398.748676660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050398.751092020] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050398.835361247] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050398.837161403] [sailbot.teensy]: Wind angle: 195 +[trim_sail-4] [INFO] [1746050398.837816800] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050398.838223520] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050398.839170297] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746050398.839700918] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050398.840033616] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050398.844556079] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050398.844976527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050398.845741974] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050398.846614331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050398.847643967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050398.945369038] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050398.945932546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050398.946954165] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050398.947989608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050398.949151238] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050399.003196053] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904955 Long: -76.50302514 +[vectornav-1] [INFO] [1746050399.004531336] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (134.66899999999998, 0.334, 3.376) +[mux-7] [INFO] [1746050399.045349790] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050399.045977991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050399.046940112] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050399.048399866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050399.049567886] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050399.085644198] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050399.087827309] [sailbot.teensy]: Wind angle: 187 +[trim_sail-4] [INFO] [1746050399.088552529] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050399.088861575] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050399.089479575] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050399.089757001] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050399.090633674] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050399.145259331] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050399.146095352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050399.146977675] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050399.148310505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050399.149354417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050399.245020044] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050399.245942776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050399.246454656] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050399.247988358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050399.249226336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050399.262652842] [sailbot.mux]: controller_app rudder angle: -11 +[teensy-2] [INFO] [1746050399.335802493] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050399.338920347] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050399.339167551] [sailbot.teensy]: Wind angle: 197 +[mux-7] [INFO] [1746050399.339588971] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050399.340127574] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050399.341057831] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050399.341790775] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050399.344506996] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050399.345153268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050399.345589166] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050399.346916490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050399.348076437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050399.444802642] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050399.445401558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050399.445960992] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050399.447154709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050399.448379309] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050399.503896770] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905095 Long: -76.50302616 +[vectornav-1] [INFO] [1746050399.505502433] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (133.86700000000002, 1.896, 4.923) +[mux-7] [INFO] [1746050399.544895825] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050399.545633721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050399.546250052] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050399.547557013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050399.548920823] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050399.585445710] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050399.587697860] [sailbot.teensy]: Wind angle: 197 +[trim_sail-4] [INFO] [1746050399.588328501] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050399.588525437] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050399.588656630] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050399.589660067] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050399.590548308] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050399.645462946] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050399.646232614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050399.647146643] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050399.648575991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050399.649730862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050399.745416031] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050399.746317815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050399.747198660] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050399.748574175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050399.749109427] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050399.835431898] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050399.837328256] [sailbot.teensy]: Wind angle: 198 +[trim_sail-4] [INFO] [1746050399.838007956] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050399.838271314] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050399.839206980] [sailbot.teensy]: Actual tail angle: 14 +[mux-7] [INFO] [1746050399.839677543] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050399.840270013] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050399.844460236] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050399.845100872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050399.845611063] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050399.846776486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050399.847917218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050399.945042029] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050399.946121210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050399.946461005] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050399.948032309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050399.948671983] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050400.003102945] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905135 Long: -76.50302694 +[vectornav-1] [INFO] [1746050400.004148915] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (135.856, -0.689, 3.962) +[mux-7] [INFO] [1746050400.044967695] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050400.045795062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050400.046251869] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050400.047883679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050400.048906865] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050400.085550726] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050400.087867579] [sailbot.teensy]: Wind angle: 205 +[teensy-2] [INFO] [1746050400.088850299] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050400.087992810] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050400.089742024] [sailbot.teensy]: Actual tail angle: 14 +[mux-7] [INFO] [1746050400.089808658] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050400.090609346] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050400.144899917] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050400.145789865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050400.146178314] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050400.147614057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050400.148626629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050400.233618129] [sailbot.mux]: controller_app rudder angle: -12 +[mux-7] [INFO] [1746050400.245074580] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050400.245902590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050400.246495879] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050400.247876144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050400.249104297] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050400.335355632] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050400.337192094] [sailbot.teensy]: Wind angle: 200 +[trim_sail-4] [INFO] [1746050400.337859419] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050400.338133731] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050400.338750644] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050400.339036635] [sailbot.teensy]: Actual tail angle: 14 +[teensy-2] [INFO] [1746050400.339961786] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050400.344297686] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050400.344937294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050400.345410019] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050400.346706096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050400.348438446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050400.445547382] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050400.446318865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050400.447432268] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050400.448676163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050400.449253445] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050400.502541825] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905182 Long: -76.50302786 +[vectornav-1] [INFO] [1746050400.503610522] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (136.64800000000002, -2.069, 3.897) +[mux-7] [INFO] [1746050400.545240145] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050400.546164631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050400.546718700] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050400.548387695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050400.549420327] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050400.585817162] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050400.588250440] [sailbot.teensy]: Wind angle: 200 +[trim_sail-4] [INFO] [1746050400.588921869] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050400.589283415] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050400.590224043] [sailbot.teensy]: Actual tail angle: 13 +[mux-7] [INFO] [1746050400.590513623] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050400.591166134] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050400.645623242] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050400.646214670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050400.647367088] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050400.648525565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050400.650769714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050400.745418144] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050400.746182758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050400.747048735] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050400.748265903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050400.748752947] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050400.835406296] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050400.837517200] [sailbot.teensy]: Wind angle: 205 +[trim_sail-4] [INFO] [1746050400.838065743] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050400.838489572] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050400.839384405] [sailbot.teensy]: Actual tail angle: 13 +[mux-7] [INFO] [1746050400.839468204] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050400.840345030] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050400.844485686] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050400.845263522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050400.845815003] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050400.847038975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050400.848201898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050400.945408992] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050400.946337436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050400.947048736] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050400.948645405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050400.949766664] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050401.002560594] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905226 Long: -76.50302892 +[vectornav-1] [INFO] [1746050401.003706823] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (141.69, 6.075, 1.841) +[mux-7] [INFO] [1746050401.045260518] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050401.046009861] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050401.046874558] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050401.048194962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050401.049385407] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050401.085597912] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050401.087658250] [sailbot.teensy]: Wind angle: 205 +[trim_sail-4] [INFO] [1746050401.088486295] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050401.088704139] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050401.089612420] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050401.090507648] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050401.090569850] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050401.145007039] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050401.146027659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050401.146427240] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050401.148237065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050401.149261820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050401.245096161] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050401.245826680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050401.246888867] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050401.247923043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050401.248439980] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050401.335806900] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050401.338027819] [sailbot.teensy]: Wind angle: 209 +[teensy-2] [INFO] [1746050401.338736471] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050401.338753704] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050401.338934671] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050401.339155955] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050401.339620692] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050401.344408685] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050401.344983040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050401.345528794] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050401.346739472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050401.347761197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050401.444916375] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050401.445617832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050401.446216839] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050401.447416904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050401.448896705] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050401.503533322] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905204 Long: -76.50302884 +[vectornav-1] [INFO] [1746050401.505033333] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (145.524, -6.001, 3.765) +[mux-7] [INFO] [1746050401.545112621] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050401.545889826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050401.546603213] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050401.548217446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050401.549557917] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050401.585461258] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050401.587756472] [sailbot.teensy]: Wind angle: 213 +[trim_sail-4] [INFO] [1746050401.587871842] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050401.588765260] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050401.589137182] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050401.589683959] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050401.590738041] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050401.645026382] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050401.645739717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050401.646546973] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050401.647948131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050401.648801717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050401.745042797] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050401.745932542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050401.746613039] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050401.748204721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050401.749396305] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050401.835255814] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050401.837831155] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050401.837831465] [sailbot.teensy]: Wind angle: 220 +[mux-7] [INFO] [1746050401.838384491] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050401.839272865] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050401.840148570] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050401.841023899] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050401.844260011] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050401.844804984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050401.845353697] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050401.846537207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050401.847684973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050401.945289722] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050401.946186118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050401.946820675] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050401.948432966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050401.949606517] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050402.003117299] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905249 Long: -76.5030294 +[vectornav-1] [INFO] [1746050402.004329316] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (149.07799999999997, 2.872, 2.067) +[mux-7] [INFO] [1746050402.045066195] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050402.046123775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050402.046503246] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050402.048257495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050402.049251580] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050402.085413364] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050402.087405314] [sailbot.teensy]: Wind angle: 227 +[trim_sail-4] [INFO] [1746050402.088124265] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050402.088419085] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050402.089327697] [sailbot.teensy]: Actual tail angle: 13 +[mux-7] [INFO] [1746050402.090064309] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050402.090258298] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050402.145467608] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050402.146062167] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050402.148124655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[mux-7] [INFO] [1746050402.147015419] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050402.149233485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050402.230832881] [sailbot.mux]: controller_app rudder angle: -3 +[mux-7] [INFO] [1746050402.244959422] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050402.245721702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050402.246199529] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050402.247567670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050402.248717642] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050402.335288888] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050402.337145325] [sailbot.teensy]: Wind angle: 224 +[teensy-2] [INFO] [1746050402.338125548] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050402.338328420] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050402.339032029] [sailbot.teensy]: Actual tail angle: 13 +[mux-7] [INFO] [1746050402.339715062] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050402.339912566] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050402.344302117] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050402.344885579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050402.345509495] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050402.346646217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050402.347721733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050402.445720569] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050402.446491974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050402.447433434] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050402.449281670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050402.450585303] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050402.504229209] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905188 Long: -76.50303004 +[vectornav-1] [INFO] [1746050402.506485994] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (154.95399999999995, 0.283, 0.681) +[mux-7] [INFO] [1746050402.545243970] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050402.546340908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050402.546766711] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050402.548459047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050402.549555023] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050402.585668535] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050402.587708400] [sailbot.teensy]: Wind angle: 222 +[teensy-2] [INFO] [1746050402.588755808] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050402.588930949] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050402.589659638] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050402.590353415] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050402.590575397] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050402.645203514] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050402.646342350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050402.646756337] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050402.648813276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050402.649926312] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050402.745705131] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050402.746637250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050402.747658229] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050402.748147642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050402.748681738] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050402.835503189] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050402.837463556] [sailbot.teensy]: Wind angle: 224 +[teensy-2] [INFO] [1746050402.838467279] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050402.839407552] [sailbot.teensy]: Actual tail angle: 22 +[trim_sail-4] [INFO] [1746050402.838528927] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050402.840358564] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050402.840957756] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050402.844512969] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050402.845525447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050402.845689450] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050402.847424486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050402.848528247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050402.945549541] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050402.946302073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050402.947286722] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050402.948789205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050402.949900004] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050403.003911416] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905129 Long: -76.5030305 +[vectornav-1] [INFO] [1746050403.005334737] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.94000000000005, -0.808, -0.562) +[mux-7] [INFO] [1746050403.045251616] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050403.046092106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050403.046798870] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050403.048346519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050403.049402815] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050403.085553717] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050403.087996612] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050403.088863915] [sailbot.teensy]: Wind angle: 226 +[mux-7] [INFO] [1746050403.088954570] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050403.089871622] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050403.090811812] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050403.091644479] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050403.145222102] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050403.146264983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050403.146743675] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050403.148684803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050403.149654145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050403.245581837] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050403.246497176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050403.247222785] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050403.250145308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050403.251311882] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050403.335576221] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050403.337624499] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050403.338626413] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050403.338184275] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050403.339230558] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050403.339538061] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050403.340431340] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050403.344284564] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050403.344902504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050403.345369823] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050403.346596300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050403.347644795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050403.444767513] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050403.445570996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050403.445964033] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050403.447411515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050403.448471540] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050403.501324125] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905093 Long: -76.50303111 +[vectornav-1] [INFO] [1746050403.501778612] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.32100000000003, -2.684, -1.361) +[mux-7] [INFO] [1746050403.543921683] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050403.545231108] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050403.545515456] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050403.547658618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050403.548203786] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050403.585463817] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050403.587376351] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050403.588294978] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050403.588425367] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050403.589300713] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050403.589779450] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050403.590777644] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050403.644527998] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050403.645195656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050403.645617633] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050403.646875261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050403.648053899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050403.745277135] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050403.746023339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050403.747007479] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050403.748474549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050403.749621294] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050403.835496561] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050403.837592581] [sailbot.teensy]: Wind angle: 237 +[trim_sail-4] [INFO] [1746050403.838392343] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050403.838637127] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050403.839029730] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050403.839042432] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050403.839410275] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050403.844872302] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050403.845224840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050403.846077131] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050403.847030553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050403.848067165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050403.945266737] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050403.946088045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050403.946819437] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050403.948270024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050403.948832513] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050404.003183052] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905093 Long: -76.50303279 +[vectornav-1] [INFO] [1746050404.004432649] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.38099999999997, 0.359, -4.602) +[mux-7] [INFO] [1746050404.044931328] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050404.045864728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050404.046290364] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050404.047884175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050404.049057515] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050404.085434746] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050404.087870774] [sailbot.teensy]: Wind angle: 245 +[trim_sail-4] [INFO] [1746050404.088466315] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050404.088845507] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050404.088870074] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050404.089799952] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050404.090673694] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050404.145090407] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050404.145891582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050404.146517574] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050404.147871618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050404.149039045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050404.244927419] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050404.245614054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050404.246494241] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050404.247422632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050404.248528887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050404.262498681] [sailbot.mux]: controller_app rudder angle: -2 +[teensy-2] [INFO] [1746050404.335366514] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050404.337064321] [sailbot.teensy]: Wind angle: 251 +[trim_sail-4] [INFO] [1746050404.337624727] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050404.338311753] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050404.339272646] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050404.339799938] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050404.340192103] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050404.344368946] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050404.345104251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050404.345571033] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050404.347178310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050404.348250331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050404.445238369] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050404.446019056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050404.446804495] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050404.448039750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050404.448549776] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050404.502391095] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904972 Long: -76.50303485 +[vectornav-1] [INFO] [1746050404.503556755] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.65499999999997, -0.998, -9.763) +[mux-7] [INFO] [1746050404.545336184] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050404.545955298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050404.547148601] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050404.548006810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050404.549138906] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050404.585792600] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050404.587964789] [sailbot.teensy]: Wind angle: 251 +[trim_sail-4] [INFO] [1746050404.588696419] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050404.589091487] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050404.590102642] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050404.590670206] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050404.591000468] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050404.645211410] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050404.646055260] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050404.648305038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[mux-7] [INFO] [1746050404.649249089] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050404.649453888] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050404.745295281] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050404.746253672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050404.746823664] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050404.748357328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050404.749024979] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050404.835507431] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050404.837965609] [sailbot.teensy]: Wind angle: 251 +[trim_sail-4] [INFO] [1746050404.837955226] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050404.838683515] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050404.838936216] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050404.839825695] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050404.840751865] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050404.844471219] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050404.844923721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050404.845572291] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050404.846590420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050404.847654771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050404.945322496] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050404.946064957] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050404.946978145] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050404.948218520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050404.949444288] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050405.002343928] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904847 Long: -76.50303757 +[vectornav-1] [INFO] [1746050405.003266698] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.41899999999998, -0.82, -13.507) +[mux-7] [INFO] [1746050405.045397251] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050405.046055970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050405.046915896] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050405.048539101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050405.049697608] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050405.085786162] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050405.088298865] [sailbot.teensy]: Wind angle: 253 +[trim_sail-4] [INFO] [1746050405.089414655] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050405.090059214] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050405.090074193] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050405.091083238] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050405.091967159] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050405.144846009] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050405.146015057] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050405.146036848] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050405.148053806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050405.149183456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050405.244804848] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050405.245929978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050405.246030707] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050405.248301189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050405.249456350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050405.249840520] [sailbot.mux]: controller_app rudder angle: 7 +[teensy-2] [INFO] [1746050405.335493235] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050405.337449767] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746050405.337976799] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050405.338451386] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050405.339402907] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050405.339525580] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050405.340359836] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050405.344541844] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050405.345053051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050405.345854329] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050405.346772288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050405.347784140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050405.444473882] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050405.445301210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050405.445543623] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050405.447105949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050405.448238565] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050405.503534946] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904808 Long: -76.50304074 +[vectornav-1] [INFO] [1746050405.504975498] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.02099999999996, -1.893, -13.157) +[mux-7] [INFO] [1746050405.545260933] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050405.546278324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050405.546898388] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050405.548856125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050405.550001240] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050405.585341200] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050405.587617186] [sailbot.teensy]: Wind angle: 289 +[teensy-2] [INFO] [1746050405.588583296] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050405.588587371] [sailbot.mux]: algo sail angle: 45 +[trim_sail-4] [INFO] [1746050405.588739521] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050405.589489168] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050405.590398507] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050405.645217946] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050405.645857239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050405.646933562] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050405.647867329] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050405.648932318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050405.745184234] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050405.745978778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050405.746819497] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050405.747533887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050405.748020294] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050405.835423049] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050405.837852859] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050405.838261459] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050405.838516585] [sailbot.teensy]: Wind angle: 294 +[teensy-2] [INFO] [1746050405.839154451] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050405.839546190] [sailbot.teensy]: Actual tail angle: 32 +[teensy-2] [INFO] [1746050405.839909340] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050405.844441827] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050405.844961714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050405.845775511] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050405.846631040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050405.847668453] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050405.945330033] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050405.946008467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050405.946939498] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050405.948545332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050405.949652115] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050406.003134907] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904749 Long: -76.50304477 +[vectornav-1] [INFO] [1746050406.004791460] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.16899999999998, -2.35, -12.326) +[mux-7] [INFO] [1746050406.045281694] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050406.046066465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050406.047025017] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050406.048501669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050406.049694098] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050406.085557253] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050406.087779893] [sailbot.teensy]: Wind angle: 286 +[trim_sail-4] [INFO] [1746050406.088020081] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050406.088762183] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050406.089646352] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050406.089675985] [sailbot.teensy]: Actual tail angle: 32 +[teensy-2] [INFO] [1746050406.090543948] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050406.145003037] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050406.145747943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050406.146369199] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050406.147747624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050406.148989843] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050406.245298571] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050406.246042303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050406.247981111] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050406.248259103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050406.249265494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050406.249906309] [sailbot.mux]: controller_app rudder angle: 6 +[teensy-2] [INFO] [1746050406.335850821] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050406.338879635] [sailbot.teensy]: Wind angle: 258 +[trim_sail-4] [INFO] [1746050406.338880786] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050406.339917162] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050406.340427401] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050406.340830545] [sailbot.teensy]: Actual tail angle: 32 +[teensy-2] [INFO] [1746050406.341240327] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050406.344414302] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050406.344931104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050406.345568207] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050406.346582423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050406.347726413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050406.445237667] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050406.445821913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050406.446777121] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050406.447978150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050406.449060908] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050406.503121368] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904662 Long: -76.50304962 +[vectornav-1] [INFO] [1746050406.504623013] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.20000000000005, 0.963, -12.68) +[mux-7] [INFO] [1746050406.545206603] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050406.545784598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050406.546786842] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050406.547724388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050406.548955484] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050406.585193420] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050406.587299261] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050406.587999142] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050406.588240907] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050406.589103423] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050406.589912911] [sailbot.teensy]: Actual tail angle: 32 +[teensy-2] [INFO] [1746050406.590741908] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050406.645182004] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050406.646321652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050406.647027989] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050406.648531460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050406.649487101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050406.745462748] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050406.746043608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050406.747090635] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050406.748213103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050406.749338637] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050406.835311579] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050406.837026487] [sailbot.teensy]: Wind angle: 246 +[teensy-2] [INFO] [1746050406.837977989] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050406.837529487] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050406.838987549] [sailbot.teensy]: Actual tail angle: 31 +[teensy-2] [INFO] [1746050406.839868051] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050406.839977936] [sailbot.mux]: algo sail angle: 15 +[mux-7] [INFO] [1746050406.844611850] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050406.845165151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050406.845963933] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050406.846859024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050406.848047142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050406.945432846] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050406.946219272] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050406.947164469] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050406.948531996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050406.950191607] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050407.003394524] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904653 Long: -76.5030545 +[vectornav-1] [INFO] [1746050407.005440043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.77200000000005, -2.491, -12.941) +[mux-7] [INFO] [1746050407.045137952] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050407.045672532] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050407.046753474] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050407.047527683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050407.048841719] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050407.085450200] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050407.087859208] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050407.088022528] [sailbot.teensy]: Wind angle: 271 +[mux-7] [INFO] [1746050407.088547747] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050407.088958329] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050407.089843486] [sailbot.teensy]: Actual tail angle: 31 +[teensy-2] [INFO] [1746050407.090679971] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050407.144983826] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050407.145853881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050407.146299344] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050407.147762238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050407.148792139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050407.244943043] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050407.245642961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050407.246255674] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050407.247503693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050407.248714647] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050407.263604767] [sailbot.mux]: controller_app rudder angle: 4 +[teensy-2] [INFO] [1746050407.335695538] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050407.338191721] [sailbot.teensy]: Wind angle: 287 +[trim_sail-4] [INFO] [1746050407.338321114] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050407.339241767] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050407.340103684] [sailbot.teensy]: Actual tail angle: 31 +[mux-7] [INFO] [1746050407.339994728] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050407.340555564] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050407.344463951] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050407.345105850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050407.345786272] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050407.346853910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050407.348048981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050407.445040964] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050407.445795880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050407.446257507] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050407.447689228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050407.449006541] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050407.503304652] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904693 Long: -76.50305967 +[vectornav-1] [INFO] [1746050407.504572914] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.86400000000003, -1.514, -9.578) +[mux-7] [INFO] [1746050407.545495726] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050407.546043704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050407.547153075] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050407.548452842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050407.549534525] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050407.585459437] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050407.587885099] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746050407.588807826] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050407.589121231] [sailbot.teensy]: Wind angle: 285 +[teensy-2] [INFO] [1746050407.590060602] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050407.590919119] [sailbot.teensy]: Actual tail angle: 31 +[teensy-2] [INFO] [1746050407.591760152] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050407.645083991] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050407.645516211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050407.646451200] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050407.647388243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050407.648466098] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050407.745226836] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050407.745950683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050407.747017205] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050407.748499243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050407.749708863] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050407.835500963] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050407.838551833] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050407.839207124] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050407.839362125] [sailbot.teensy]: Wind angle: 257 +[teensy-2] [INFO] [1746050407.840306982] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050407.841204117] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050407.842090366] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050407.844404421] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050407.844995164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050407.845816241] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050407.846984681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050407.848049896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050407.945241079] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050407.945822841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050407.946778167] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050407.948325204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050407.949402424] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050408.003861249] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904766 Long: -76.50306432 +[vectornav-1] [INFO] [1746050408.005264872] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.37699999999995, 1.913, -6.616) +[mux-7] [INFO] [1746050408.045095284] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050408.045708101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050408.046440382] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050408.047633304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050408.048750976] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050408.085481342] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050408.087184901] [sailbot.teensy]: Wind angle: 225 +[trim_sail-4] [INFO] [1746050408.088131330] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050408.088518255] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050408.089369200] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050408.089466820] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050408.090354043] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050408.145397083] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050408.146101986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050408.146985263] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050408.148296628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050408.148818887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050408.245187591] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050408.246825716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050408.247848855] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050408.248663371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050408.249757847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050408.249867963] [sailbot.mux]: controller_app rudder angle: 0 +[teensy-2] [INFO] [1746050408.335784076] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050408.338907081] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050408.339364126] [sailbot.teensy]: Wind angle: 224 +[mux-7] [INFO] [1746050408.339432564] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050408.340463675] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050408.341436604] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050408.342441084] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050408.344526784] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050408.345352863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050408.345630365] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050408.347038829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050408.348170925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050408.445052335] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050408.445948368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050408.446973065] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050408.447916598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050408.448376142] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050408.503203700] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904803 Long: -76.50306879 +[vectornav-1] [INFO] [1746050408.504699140] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.28499999999997, -2.916, -5.215) +[mux-7] [INFO] [1746050408.545275331] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050408.546299436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050408.546846201] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050408.548700466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050408.549867325] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050408.585594401] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050408.588135805] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746050408.588306094] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050408.589128409] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050408.589316233] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050408.590156097] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050408.591028471] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050408.645072741] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050408.645856258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050408.646510971] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050408.648187793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050408.649280589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050408.745344549] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050408.746213115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050408.747416006] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050408.748371981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050408.748886574] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050408.835407979] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050408.837982097] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050408.838105799] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050408.838915743] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050408.839079454] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050408.839485680] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050408.839876482] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050408.844398694] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050408.845081855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050408.845567472] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050408.846800135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050408.847912355] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050408.945244154] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050408.946146706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050408.946721735] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050408.948219070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050408.949367785] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050409.003862873] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690493 Long: -76.50307406 +[vectornav-1] [INFO] [1746050409.005706682] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.63400000000001, 0.067, -4.018) +[mux-7] [INFO] [1746050409.045210950] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050409.046201725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050409.046790802] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050409.047831402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050409.048463338] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050409.085554398] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050409.088091481] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050409.088319803] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050409.089048875] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050409.089405448] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050409.089957040] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050409.090853320] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050409.145422171] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050409.146366483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050409.147064904] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050409.148724874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050409.149723467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050409.245166944] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050409.246018794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050409.246724816] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050409.248199456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746050409.248824699] [sailbot.mux]: controller_app rudder angle: -3 +[teensy-2] [INFO] [1746050409.249324446] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050409.335764998] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050409.338275274] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050409.338989739] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050409.339416962] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050409.340400588] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050409.340541426] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050409.341217378] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050409.344344926] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050409.344973425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050409.345672838] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050409.346736964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050409.347771361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050409.444915459] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050409.446252026] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050409.446382383] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050409.448312499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050409.448884536] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050409.503337627] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905106 Long: -76.50307802 +[vectornav-1] [INFO] [1746050409.504645666] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (153.683, 1.062, -0.666) +[mux-7] [INFO] [1746050409.544834776] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050409.545473955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050409.546030571] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050409.547340365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050409.548452183] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050409.585430501] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050409.587440344] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050409.587936292] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050409.588463568] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050409.589411668] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050409.589988136] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050409.590262981] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050409.645213732] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050409.646112955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050409.646737808] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050409.648274066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050409.648841388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050409.745587122] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050409.746389929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050409.747217989] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050409.748082578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050409.748677413] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050409.835405283] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050409.837955808] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050409.838031188] [sailbot.teensy]: Wind angle: 228 +[teensy-2] [INFO] [1746050409.838768265] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050409.838849066] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050409.839159652] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050409.839536754] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050409.844543735] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050409.845299270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050409.846032756] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050409.847030228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050409.848175741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050409.945130341] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050409.945880819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050409.946585270] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050409.947932773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050409.949090206] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050410.003150956] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905181 Long: -76.50308151 +[vectornav-1] [INFO] [1746050410.005413730] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (152.07399999999996, -2.465, -0.382) +[mux-7] [INFO] [1746050410.044596547] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050410.045185004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050410.045832289] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050410.046864038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050410.047866433] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050410.085470980] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050410.087959949] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050410.088748704] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050410.089646735] [sailbot.teensy]: Wind angle: 227 +[teensy-2] [INFO] [1746050410.090849536] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050410.091731475] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050410.092600719] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050410.145223294] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050410.146061104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050410.146776033] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050410.148090778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050410.148912484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050410.245018624] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050410.245741887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050410.246339163] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050410.247801056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050410.248950236] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050410.335344744] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050410.337625826] [sailbot.teensy]: Wind angle: 226 +[trim_sail-4] [INFO] [1746050410.337663405] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050410.339000882] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050410.339503910] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050410.340509662] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050410.341366301] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050410.344703565] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050410.344975794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050410.346034837] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050410.346711594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050410.347953633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050410.444855404] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050410.445504873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050410.446067763] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050410.447500844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050410.448794376] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050410.502538016] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905355 Long: -76.50308551 +[vectornav-1] [INFO] [1746050410.503618014] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (151.05200000000002, 2.746, 2.061) +[mux-7] [INFO] [1746050410.545568551] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050410.546230322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050410.547125621] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050410.547914792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050410.548467365] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050410.585330466] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050410.587609860] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050410.587917187] [sailbot.teensy]: Wind angle: 226 +[teensy-2] [INFO] [1746050410.588920419] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050410.589177934] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050410.589793900] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050410.591000239] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050410.645387493] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050410.646155336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050410.647045484] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050410.648671220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050410.649839201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050410.745482587] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050410.746387020] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050410.747488321] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050410.748729995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050410.749239907] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050410.835422678] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050410.837398191] [sailbot.teensy]: Wind angle: 228 +[trim_sail-4] [INFO] [1746050410.837906071] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050410.838376501] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050410.838915366] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050410.839304519] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050410.839325238] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050410.844457409] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050410.844986097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050410.845726214] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050410.846814510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050410.848070437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050410.945162204] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050410.945837704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050410.946737706] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050410.947980462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050410.949155714] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050411.002500797] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905444 Long: -76.50308831 +[vectornav-1] [INFO] [1746050411.003515807] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (154.33000000000004, 0.044, 0.701) +[mux-7] [INFO] [1746050411.045247983] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050411.046143676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050411.047101226] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050411.048478582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050411.049524557] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050411.085658334] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050411.088143399] [sailbot.teensy]: Wind angle: 228 +[trim_sail-4] [INFO] [1746050411.088602067] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050411.089223861] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050411.089743653] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050411.090119765] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050411.091041424] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050411.145287234] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050411.146256940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050411.146872601] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050411.148691988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050411.150002062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050411.245573344] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050411.246504282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050411.247482671] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050411.248843441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050411.250130172] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050411.335352000] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050411.337678165] [sailbot.teensy]: Wind angle: 228 +[trim_sail-4] [INFO] [1746050411.337854256] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050411.338588947] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050411.338972459] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050411.338842727] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050411.339357540] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050411.344401884] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050411.344834596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050411.345488597] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050411.346527232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050411.347602443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050411.445817444] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050411.446036771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050411.447816297] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050411.448035479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050411.448591747] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050411.503156242] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905481 Long: -76.50309089 +[vectornav-1] [INFO] [1746050411.504377148] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (156.74699999999996, -3.231, 0.531) +[mux-7] [INFO] [1746050411.545450894] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050411.546375762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050411.547074675] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050411.548596170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050411.549798248] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050411.585464491] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050411.587688432] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050411.588546863] [sailbot.teensy]: Wind angle: 228 +[mux-7] [INFO] [1746050411.588581625] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050411.590059735] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050411.590903044] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050411.591731851] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050411.645189710] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050411.645934484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050411.646639167] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050411.647970998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050411.649129401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050411.745309994] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050411.746219594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050411.747037730] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050411.748506700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050411.749693232] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050411.835349989] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050411.837497106] [sailbot.teensy]: Wind angle: 227 +[trim_sail-4] [INFO] [1746050411.837597033] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050411.838462340] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050411.839365938] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050411.839414493] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050411.840262487] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050411.844462528] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050411.845192440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050411.845628247] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050411.846948730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050411.847981986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050411.945191471] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050411.946555559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050411.947067280] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050411.948319440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050411.948846998] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050412.002771252] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905538 Long: -76.50309431 +[vectornav-1] [INFO] [1746050412.003902831] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.28300000000002, 3.946, -0.05) +[mux-7] [INFO] [1746050412.045406163] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050412.046696940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050412.047190077] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050412.049111478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050412.049653196] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050412.085618526] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050412.087964854] [sailbot.teensy]: Wind angle: 228 +[trim_sail-4] [INFO] [1746050412.088422600] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050412.089142158] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050412.090109589] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050412.090701582] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050412.090983900] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050412.144703055] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050412.145334152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050412.145843680] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050412.147783401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050412.148858695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050412.245208280] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050412.245823379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050412.246568757] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050412.247981987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050412.248707101] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050412.335428557] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050412.337647348] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050412.338572156] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050412.338743123] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050412.339704782] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050412.339741020] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050412.340722727] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050412.344470872] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050412.344856375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050412.345643541] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050412.346608633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050412.347796081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050412.445281615] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050412.445954490] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050412.447358032] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050412.448398407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050412.448943842] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050412.503153693] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905602 Long: -76.50309661 +[vectornav-1] [INFO] [1746050412.504786289] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.457, -4.959, 1.39) +[mux-7] [INFO] [1746050412.545404925] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050412.546069835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050412.547719474] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050412.548301824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050412.549538218] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050412.585544724] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050412.587616237] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050412.588085132] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050412.588640177] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050412.589526575] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050412.589962431] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050412.590746119] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050412.645420919] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050412.646450042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050412.647133535] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050412.648822282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050412.650016509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050412.745359827] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050412.745933067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050412.746882767] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050412.748027875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050412.749100510] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050412.835431680] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050412.837762311] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050412.838304970] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050412.838450072] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050412.839394775] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050412.840312412] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050412.840846202] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050412.844704233] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050412.845054965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050412.846203881] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050412.846759060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050412.847822524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050412.945354473] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050412.946116651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050412.947881717] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050412.948202652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050412.948759868] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050413.003529826] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905647 Long: -76.50309972 +[vectornav-1] [INFO] [1746050413.005667135] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.33000000000004, 3.137, -3.229) +[mux-7] [INFO] [1746050413.045025132] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050413.045519130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050413.046441071] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050413.047453240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050413.048468493] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050413.085208866] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050413.087432492] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050413.087608712] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746050413.088280808] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050413.088544763] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050413.089389881] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050413.090194701] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050413.144594225] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050413.145070573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050413.145914416] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050413.146821646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050413.148067987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050413.245290203] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050413.246143813] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050413.248142298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[mux-7] [INFO] [1746050413.246852792] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050413.249320877] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050413.335553256] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050413.338236931] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050413.338411857] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746050413.339050104] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050413.339764630] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050413.340864342] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050413.341676317] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050413.344447875] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050413.345011930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050413.345878538] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050413.346869084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050413.348031255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050413.446126974] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050413.448386926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050413.449294373] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050413.450345771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050413.450821955] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050413.503255372] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905614 Long: -76.50310283 +[vectornav-1] [INFO] [1746050413.504552500] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.716, -1.475, -2.411) +[mux-7] [INFO] [1746050413.545262814] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050413.545742694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050413.546622074] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050413.547639938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050413.548708779] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050413.585434234] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050413.587707431] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050413.587959732] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050413.588959481] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050413.590041553] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050413.590146763] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050413.591280230] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050413.645252691] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050413.645846696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050413.646921004] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050413.648217791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050413.649399160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050413.745111871] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050413.745871632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050413.746499613] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050413.748065898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050413.749208915] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050413.835224742] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050413.836852992] [sailbot.teensy]: Wind angle: 244 +[trim_sail-4] [INFO] [1746050413.837490238] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050413.838784360] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050413.839467309] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050413.839552201] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050413.839941126] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050413.844448205] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050413.845177330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050413.845528823] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050413.846862244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050413.848054826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050413.945602897] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050413.947009155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050413.947445035] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050413.949631724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050413.950898515] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050414.002416470] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905645 Long: -76.50310556 +[vectornav-1] [INFO] [1746050414.003471024] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.00700000000006, 3.065, -2.579) +[mux-7] [INFO] [1746050414.045171889] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050414.046292345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050414.046634520] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050414.048638628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050414.049651944] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050414.085670979] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050414.088258547] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050414.088884071] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050414.089307568] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050414.090201419] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050414.090656115] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050414.091116147] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050414.145125196] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050414.145847052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050414.146778918] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050414.147940045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050414.149019181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050414.245226621] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050414.246074932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050414.246739832] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050414.248229222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050414.249305464] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050414.249714361] [sailbot.mux]: controller_app rudder angle: 2 +[teensy-2] [INFO] [1746050414.335378884] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050414.337807437] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050414.338196285] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050414.338620734] [sailbot.teensy]: Wind angle: 256 +[teensy-2] [INFO] [1746050414.339522076] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050414.340411892] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050414.341242222] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050414.344247523] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050414.344815393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050414.345496515] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050414.346405159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050414.347521295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050414.445490028] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050414.446365128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050414.447104220] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050414.448847175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050414.450015933] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050414.503305563] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905597 Long: -76.50310817 +[vectornav-1] [INFO] [1746050414.504814464] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.84900000000005, -6.132, -6.326) +[mux-7] [INFO] [1746050414.544889082] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050414.545602552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050414.546131843] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050414.547431731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050414.548471993] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050414.585368122] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050414.587503098] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050414.587862081] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050414.588507426] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050414.589339114] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050414.589404375] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050414.590289327] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050414.644872533] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050414.645717947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050414.646180607] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050414.647526289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050414.648586482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050414.745070409] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050414.745724732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050414.746392564] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050414.747624918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050414.748687782] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050414.835403021] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050414.837176165] [sailbot.teensy]: Wind angle: 243 +[trim_sail-4] [INFO] [1746050414.837909376] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050414.839233294] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050414.839259169] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050414.839614320] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050414.839994812] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050414.844621537] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050414.845025741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050414.845912051] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050414.846726156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050414.847792577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050414.945096540] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050414.945831489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050414.946425154] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050414.947646067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050414.948180808] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050415.002469081] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905588 Long: -76.50311201 +[vectornav-1] [INFO] [1746050415.003520027] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.60000000000002, 6.345, -7.852) +[mux-7] [INFO] [1746050415.045027824] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050415.046062576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050415.046721163] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050415.047957603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050415.048989713] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050415.085653492] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050415.092085539] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050415.092231996] [sailbot.teensy]: Wind angle: 256 +[mux-7] [INFO] [1746050415.092811567] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050415.093025192] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050415.093816950] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050415.094602060] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050415.145330596] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050415.146606708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050415.147925032] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050415.148767770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050415.149840905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050415.245240512] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050415.246116021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050415.247122247] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050415.247956716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050415.248511507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050415.296919767] [sailbot.mux]: controller_app rudder angle: 3 +[teensy-2] [INFO] [1746050415.335400043] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050415.337402874] [sailbot.teensy]: Wind angle: 256 +[trim_sail-4] [INFO] [1746050415.337761333] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050415.339185477] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050415.339306600] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050415.340361341] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050415.341282554] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050415.344239911] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050415.344750028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050415.345403959] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050415.346460190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050415.347596592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050415.445455095] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050415.447276448] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050415.448501846] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050415.450301187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050415.451376589] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050415.502921984] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905487 Long: -76.50311412 +[vectornav-1] [INFO] [1746050415.504385215] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.418, -4.819, -7.375) +[mux-7] [INFO] [1746050415.545022971] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050415.545828305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050415.546504795] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050415.548050426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050415.549154952] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050415.585413339] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050415.587619262] [sailbot.teensy]: Wind angle: 256 +[trim_sail-4] [INFO] [1746050415.587976705] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050415.588970255] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050415.589241423] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050415.589893797] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050415.590809444] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050415.645174793] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050415.645994148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050415.646659052] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050415.648620472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050415.649681485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050415.745426019] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050415.746337155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050415.747033819] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050415.748810871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050415.749895533] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050415.835611978] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050415.837642847] [sailbot.teensy]: Wind angle: 250 +[trim_sail-4] [INFO] [1746050415.838641025] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050415.839433159] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050415.841109156] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050415.841445230] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050415.841765950] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050415.844222270] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050415.844845473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050415.845502585] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050415.846612160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050415.847759552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050415.945311594] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050415.945886350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050415.946974187] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050415.948126856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050415.950023580] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050416.003692525] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905441 Long: -76.50311758 +[vectornav-1] [INFO] [1746050416.005383932] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.79099999999994, 0.191, -5.193) +[mux-7] [INFO] [1746050416.045255158] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050416.046037718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050416.046631534] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050416.047965055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050416.049038686] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050416.085292512] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050416.087420618] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050416.088030944] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050416.088512664] [sailbot.teensy]: Wind angle: 249 +[teensy-2] [INFO] [1746050416.089484613] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050416.090342328] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050416.091176062] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050416.145190284] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050416.145661350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050416.147357054] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050416.147614715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050416.148911636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050416.245331806] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050416.245848236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050416.247077415] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050416.247978066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050416.249250654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050416.287649676] [sailbot.mux]: controller_app rudder angle: 5 +[teensy-2] [INFO] [1746050416.335751742] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050416.338485608] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050416.339771769] [sailbot.teensy]: Wind angle: 249 +[mux-7] [INFO] [1746050416.339904005] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050416.340785293] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050416.341697573] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050416.342537653] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050416.344280370] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050416.344726490] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050416.345411226] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050416.346440256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050416.347540340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050416.445320988] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050416.446280232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050416.446820596] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050416.448063192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050416.448600432] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050416.502543185] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905435 Long: -76.50312146 +[vectornav-1] [INFO] [1746050416.503592971] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.93600000000004, -1.06, -2.771) +[mux-7] [INFO] [1746050416.545199376] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050416.545963732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050416.546671698] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050416.548023182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050416.549216042] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050416.585535543] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050416.587505351] [sailbot.teensy]: Wind angle: 249 +[teensy-2] [INFO] [1746050416.588510991] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050416.589426943] [sailbot.teensy]: Actual tail angle: 28 +[trim_sail-4] [INFO] [1746050416.588554187] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050416.589726165] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050416.590286746] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050416.645175590] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050416.646102484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050416.646665006] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050416.648271318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050416.649432017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050416.745759734] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050416.746402589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050416.747574565] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050416.748770423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050416.750004215] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050416.835819777] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050416.838996579] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050416.839030994] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050416.839893392] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050416.840919673] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050416.841886747] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746050416.842718015] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050416.844505739] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050416.845207046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050416.845738276] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050416.847074817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050416.848056631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050416.945451563] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050416.946558935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050416.947125505] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050416.948173421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050416.948624831] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050417.003518123] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905437 Long: -76.50312526 +[vectornav-1] [INFO] [1746050417.004971631] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.58100000000002, 1.449, -3.566) +[mux-7] [INFO] [1746050417.045275165] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050417.046125733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050417.046765356] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050417.048532486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050417.049587834] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050417.085475137] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050417.087394910] [sailbot.teensy]: Wind angle: 244 +[teensy-2] [INFO] [1746050417.088364881] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050417.088103271] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050417.089058618] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050417.089244531] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746050417.090116913] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050417.145426827] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050417.146267631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050417.147704812] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050417.148999685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050417.150060057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050417.245477388] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050417.246284873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050417.247055800] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050417.248876678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050417.249650731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050417.276325903] [sailbot.mux]: controller_app rudder angle: 6 +[teensy-2] [INFO] [1746050417.335165667] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050417.336827967] [sailbot.teensy]: Wind angle: 244 +[trim_sail-4] [INFO] [1746050417.337356512] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050417.338505508] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050417.339048265] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050417.339993129] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746050417.340854234] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050417.344401312] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050417.344803749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050417.345894003] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050417.346437763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050417.347638610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050417.445278446] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050417.445761104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050417.446871442] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050417.447841742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050417.449288310] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050417.503409170] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905359 Long: -76.50312814 +[vectornav-1] [INFO] [1746050417.505056882] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.08000000000004, -2.647, -3.385) +[mux-7] [INFO] [1746050417.545187267] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050417.545793379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050417.546552591] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050417.547833089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050417.548872775] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050417.585763807] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050417.587861623] [sailbot.teensy]: Wind angle: 243 +[trim_sail-4] [INFO] [1746050417.588599998] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050417.588947983] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050417.589837522] [sailbot.teensy]: Actual tail angle: 30 +[mux-7] [INFO] [1746050417.589893988] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050417.590707122] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050417.645165805] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050417.646210305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050417.646682631] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050417.647865147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050417.648352008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050417.745504865] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050417.746245645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050417.747125340] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050417.748734636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050417.749880213] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050417.835373224] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050417.837836074] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050417.838043527] [sailbot.teensy]: Wind angle: 240 +[mux-7] [INFO] [1746050417.838715273] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050417.838983673] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050417.839883632] [sailbot.teensy]: Actual tail angle: 31 +[teensy-2] [INFO] [1746050417.840857458] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050417.844290463] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050417.844811745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050417.845365783] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050417.846489901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050417.847637357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050417.945271034] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050417.945981517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050417.947714974] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050417.947936963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050417.948456187] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050418.004010333] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905387 Long: -76.50313164 +[vectornav-1] [INFO] [1746050418.005477800] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.97000000000003, -0.271, -1.801) +[mux-7] [INFO] [1746050418.045193082] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050418.046046632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050418.046722960] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050418.048233113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050418.049289230] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050418.085449696] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050418.087857245] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050418.088511698] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050418.088948702] [sailbot.teensy]: Wind angle: 240 +[teensy-2] [INFO] [1746050418.090163536] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050418.091153199] [sailbot.teensy]: Actual tail angle: 31 +[teensy-2] [INFO] [1746050418.092014171] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050418.145208961] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050418.146004066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050418.147097779] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050418.148076470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050418.149189131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050418.245488796] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050418.246982467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050418.247672244] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050418.249453811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050418.250637169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050418.288244865] [sailbot.mux]: controller_app rudder angle: 5 +[teensy-2] [INFO] [1746050418.335438722] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050418.338016717] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050418.338483398] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050418.339296196] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050418.340268798] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050418.341139462] [sailbot.teensy]: Actual tail angle: 31 +[teensy-2] [INFO] [1746050418.342102210] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050418.344432203] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050418.344857538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050418.345552411] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050418.346599635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050418.347623576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050418.445254051] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050418.446094173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050418.446740427] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050418.448207719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050418.449097881] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050418.502485362] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905389 Long: -76.50313567 +[vectornav-1] [INFO] [1746050418.503537898] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.40200000000004, 2.997, -2.116) +[mux-7] [INFO] [1746050418.545039599] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050418.545826917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050418.546491375] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050418.547717356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050418.548196704] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050418.585538948] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050418.588196587] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050418.589252536] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050418.590190608] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050418.590214849] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050418.591105248] [sailbot.teensy]: Actual tail angle: 31 +[teensy-2] [INFO] [1746050418.591988186] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050418.645292336] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050418.646096342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050418.646825855] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050418.648544084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050418.649703497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050418.745429681] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050418.746094091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050418.747031670] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050418.748203100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050418.749271744] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050418.835421036] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050418.837208683] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050418.837738197] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050418.838144193] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050418.838906613] [sailbot.teensy]: Actual tail angle: 30 +[mux-7] [INFO] [1746050418.838945357] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050418.839280427] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050418.844395768] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050418.844977717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050418.845593948] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050418.847015523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050418.848137230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050418.945479655] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050418.946031332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050418.947310988] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050418.948283723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050418.949416875] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050419.003794926] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905396 Long: -76.50313844 +[vectornav-1] [INFO] [1746050419.005593265] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.71900000000005, -4.158, -1.108) +[mux-7] [INFO] [1746050419.045046974] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050419.045509254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050419.046433203] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050419.047422501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050419.048621563] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050419.085248274] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050419.087481469] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050419.087969865] [sailbot.teensy]: Wind angle: 229 +[mux-7] [INFO] [1746050419.088348156] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050419.088970326] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050419.090086360] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746050419.090934602] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050419.145210531] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050419.145925884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050419.146708973] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050419.148050223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050419.149245891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050419.245261549] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050419.246892830] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050419.247879319] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050419.250330928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050419.251405806] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050419.335741768] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050419.338513655] [sailbot.teensy]: Wind angle: 227 +[trim_sail-4] [INFO] [1746050419.338763094] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050419.339706307] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050419.340584848] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050419.340633322] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746050419.341515046] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050419.344219469] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050419.344961693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050419.345313228] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050419.346688849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050419.347723210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050419.445534136] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050419.446259467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050419.447404604] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050419.448695173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050419.449207232] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050419.502396479] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905429 Long: -76.50314244 +[vectornav-1] [INFO] [1746050419.503526660] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.87300000000005, 2.129, -0.401) +[mux-7] [INFO] [1746050419.545255771] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050419.546185011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050419.546724392] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050419.548392943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050419.549544282] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050419.585772013] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050419.588612443] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050419.590077914] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050419.590512167] [sailbot.teensy]: Wind angle: 227 +[teensy-2] [INFO] [1746050419.591439914] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050419.592352724] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746050419.593185268] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050419.645165728] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050419.646382589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050419.646662756] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050419.648426719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050419.649554281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050419.745255636] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050419.746131108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050419.746872125] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050419.748115649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050419.748676953] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050419.835616998] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050419.837736899] [sailbot.teensy]: Wind angle: 228 +[teensy-2] [INFO] [1746050419.838746514] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050419.838242704] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050419.839233534] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050419.839640975] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746050419.840538811] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050419.844448144] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050419.844976151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050419.845544778] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050419.846758614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050419.847773177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050419.945519728] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050419.946515908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050419.947101591] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050419.948861332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050419.950007148] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050420.002992506] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905471 Long: -76.50314567 +[vectornav-1] [INFO] [1746050420.004403806] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.423, 1.013, -0.624) +[mux-7] [INFO] [1746050420.045233635] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050420.045974277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050420.046588724] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050420.048454507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050420.050255221] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050420.085615932] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050420.087546372] [sailbot.teensy]: Wind angle: 228 +[teensy-2] [INFO] [1746050420.088681222] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050420.088596493] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050420.089618544] [sailbot.teensy]: Actual tail angle: 30 +[mux-7] [INFO] [1746050420.089873376] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050420.090522901] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050420.145167315] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050420.145982955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050420.146673587] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050420.148184259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050420.149257389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050420.245371459] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050420.246202946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050420.246878318] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050420.248357682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050420.248975574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050420.274018377] [sailbot.mux]: controller_app rudder angle: 3 +[teensy-2] [INFO] [1746050420.335318948] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050420.337170371] [sailbot.teensy]: Wind angle: 228 +[trim_sail-4] [INFO] [1746050420.337804570] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050420.338144804] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050420.338967217] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050420.339009824] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746050420.339917785] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050420.344483105] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050420.345038760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050420.345776394] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050420.346824256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050420.347878032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050420.445411733] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050420.446166503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050420.447027017] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050420.448300763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050420.448837310] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050420.503328984] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905486 Long: -76.5031488 +[vectornav-1] [INFO] [1746050420.505391144] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.27200000000005, -2.254, -0.713) +[mux-7] [INFO] [1746050420.545317516] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050420.546126246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050420.547098500] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050420.548270233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050420.549438777] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050420.585800475] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050420.588185584] [sailbot.teensy]: Wind angle: 226 +[trim_sail-4] [INFO] [1746050420.588576914] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050420.589288242] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050420.590231118] [sailbot.teensy]: Actual tail angle: 30 +[mux-7] [INFO] [1746050420.590594141] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050420.591085054] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050420.645561361] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050420.646572844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050420.647423233] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050420.648952975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050420.650236193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050420.745365060] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050420.745949462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050420.747370416] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050420.748596949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050420.749751530] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050420.835615990] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050420.837892528] [sailbot.teensy]: Wind angle: 229 +[trim_sail-4] [INFO] [1746050420.838764486] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050420.838921977] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050420.839892938] [sailbot.teensy]: Actual tail angle: 28 +[mux-7] [INFO] [1746050420.840137597] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050420.840847276] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050420.844507577] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050420.845181885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050420.845617157] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050420.846930746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050420.848247133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050420.945554852] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050420.946332703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050420.947417334] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050420.948531969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050420.949079313] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050421.003951341] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905533 Long: -76.50315154 +[vectornav-1] [INFO] [1746050421.006252685] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.22299999999996, 1.208, 0.154) +[mux-7] [INFO] [1746050421.045152303] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050421.046063833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050421.046567229] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050421.047976065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050421.049014401] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050421.085408982] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050421.087322662] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746050421.087784760] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050421.088282939] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050421.088857947] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050421.089191674] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050421.090052754] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050421.145012544] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050421.145717764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050421.146577529] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050421.147695107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050421.148745330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050421.244904762] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050421.245524593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050421.246268536] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050421.247301598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050421.248320982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050421.298235971] [sailbot.mux]: controller_app rudder angle: -1 +[teensy-2] [INFO] [1746050421.335342879] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050421.337746041] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050421.338074031] [sailbot.teensy]: Wind angle: 227 +[teensy-2] [INFO] [1746050421.340007192] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050421.340298004] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050421.340912590] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050421.341346033] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050421.344433682] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050421.345008302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050421.345514128] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050421.346676453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050421.347832636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050421.445230177] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050421.446260804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050421.446897802] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050421.448801362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050421.450019862] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050421.503616258] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905584 Long: -76.50315434 +[vectornav-1] [INFO] [1746050421.504994483] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.05500000000006, -2.426, 0.012) +[mux-7] [INFO] [1746050421.545319265] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050421.546153447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050421.546986400] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050421.548507428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050421.549557882] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050421.585267699] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050421.587820920] [sailbot.teensy]: Wind angle: 224 +[trim_sail-4] [INFO] [1746050421.587868224] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050421.589035003] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050421.589096886] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050421.590380162] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050421.591407072] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050421.645239354] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050421.645989480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050421.646926987] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050421.648345373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050421.649405264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050421.745478393] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050421.746195937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050421.747331732] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050421.748449404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050421.749027887] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050421.835520403] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050421.838133437] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050421.838370599] [sailbot.teensy]: Wind angle: 224 +[teensy-2] [INFO] [1746050421.838979058] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050421.839189804] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050421.839464260] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050421.840003003] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050421.844614135] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050421.845101996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050421.845810817] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050421.846849819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050421.847931840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050421.945372665] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050421.945918145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050421.947009588] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050421.948106299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050421.949244778] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050422.003141989] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905656 Long: -76.5031569 +[vectornav-1] [INFO] [1746050422.004575724] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.31100000000004, 3.438, 1.765) +[mux-7] [INFO] [1746050422.045382777] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050422.045980082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050422.047025216] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050422.048647067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050422.049835217] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050422.085427470] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050422.087774686] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050422.089020815] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050422.089694323] [sailbot.teensy]: Wind angle: 224 +[teensy-2] [INFO] [1746050422.090681965] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050422.091520546] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050422.092368755] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050422.145369084] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050422.145882293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050422.146818599] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050422.148070499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050422.149227305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050422.245076422] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050422.245787534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050422.246413683] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050422.247696260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050422.248847190] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050422.335360140] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050422.337817578] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050422.337939712] [sailbot.teensy]: Wind angle: 224 +[teensy-2] [INFO] [1746050422.338862885] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050422.339206757] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050422.339788045] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050422.340748032] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050422.344365426] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050422.344870479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050422.345534984] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050422.346546590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050422.347586361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050422.445607508] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050422.446362916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050422.447415791] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050422.449090796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050422.449781742] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050422.503412652] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905705 Long: -76.50315888 +[vectornav-1] [INFO] [1746050422.504860720] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (155.69299999999998, -2.742, 2.255) +[mux-7] [INFO] [1746050422.545219725] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050422.545860093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050422.546713896] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050422.548573182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050422.549587924] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050422.585381007] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050422.587204842] [sailbot.teensy]: Wind angle: 223 +[trim_sail-4] [INFO] [1746050422.587779611] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050422.588523157] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050422.588542949] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050422.589538027] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050422.590413922] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050422.645349523] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050422.646007364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050422.646979823] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050422.648494037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050422.649668321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050422.745697694] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050422.746511560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050422.747356806] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050422.748711036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050422.749235885] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050422.835326667] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050422.837698709] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050422.838044081] [sailbot.teensy]: Wind angle: 222 +[mux-7] [INFO] [1746050422.838413276] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050422.838973851] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050422.840167975] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050422.841050198] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050422.844434848] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050422.845288328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050422.846085548] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050422.847330770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050422.848486739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050422.945466697] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050422.946297715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050422.947438975] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050422.948354939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050422.949921239] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050423.003713378] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905773 Long: -76.50316111 +[vectornav-1] [INFO] [1746050423.005951094] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (153.356, -1.105, 2.88) +[mux-7] [INFO] [1746050423.045603081] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050423.046226794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050423.047393146] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050423.048591736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050423.049837560] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050423.085492446] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050423.087341896] [sailbot.teensy]: Wind angle: 221 +[trim_sail-4] [INFO] [1746050423.088194464] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050423.088356952] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050423.089279441] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050423.089454840] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050423.090213247] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050423.145481568] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050423.146014881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050423.147174270] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050423.148092855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050423.148636152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050423.244984907] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050423.245675577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050423.246247104] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050423.247463049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050423.248390538] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050423.335767578] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050423.337972585] [sailbot.teensy]: Wind angle: 221 +[trim_sail-4] [INFO] [1746050423.338613952] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050423.339035544] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050423.340008099] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050423.340345198] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050423.340888422] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050423.344472590] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050423.345105295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050423.345578137] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050423.346805576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050423.347825072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050423.445596720] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050423.446462050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050423.447474079] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050423.449422553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050423.450819259] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050423.502581455] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905831 Long: -76.50316304 +[vectornav-1] [INFO] [1746050423.503743453] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (152.688, 1.978, 1.567) +[mux-7] [INFO] [1746050423.545087628] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050423.545830527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050423.546981789] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050423.547779414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050423.548880550] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050423.585118089] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050423.586863687] [sailbot.teensy]: Wind angle: 220 +[teensy-2] [INFO] [1746050423.587819943] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050423.588194518] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050423.588721001] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050423.588752099] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050423.589646487] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050423.644919579] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050423.645589897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050423.646215291] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050423.647570771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050423.648451291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050423.745349998] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050423.746005085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050423.746897099] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050423.749495980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050423.750526592] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050423.835665730] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050423.838324301] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050423.839127215] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050423.839681469] [sailbot.teensy]: Wind angle: 219 +[teensy-2] [INFO] [1746050423.840717777] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050423.841296497] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050423.841595797] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050423.844486081] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050423.845090439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050423.845650122] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050423.846936396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050423.848094401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050423.945573477] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050423.946259783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050423.947161132] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050423.948565586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050423.949898206] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050424.003313277] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905848 Long: -76.50316442 +[vectornav-1] [INFO] [1746050424.005033294] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (151.563, -0.983, 2.0) +[mux-7] [INFO] [1746050424.044935404] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050424.045764156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050424.046214008] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050424.047730373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050424.048971046] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050424.085416276] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050424.087488277] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746050424.087917636] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050424.088491451] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050424.088498570] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050424.089458544] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050424.090327955] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050424.144945168] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050424.145867106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050424.146222982] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050424.147781970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050424.148929287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050424.245260640] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050424.246003563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050424.246805288] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050424.248419916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050424.249436443] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050424.335186146] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050424.337191502] [sailbot.teensy]: Wind angle: 221 +[trim_sail-4] [INFO] [1746050424.337573078] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050424.338366789] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050424.338567976] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050424.339351568] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050424.340264066] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050424.344287796] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050424.344781217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050424.345381401] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050424.346514626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050424.347499327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050424.445455645] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050424.446247755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050424.447711266] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050424.448141557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050424.448624713] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050424.503953563] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690591 Long: -76.50316577 +[vectornav-1] [INFO] [1746050424.505449513] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (149.49900000000002, -2.861, 3.545) +[mux-7] [INFO] [1746050424.544914477] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050424.546262511] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050424.546270526] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050424.548334861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050424.549460444] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050424.585469257] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050424.587785300] [sailbot.teensy]: Wind angle: 221 +[trim_sail-4] [INFO] [1746050424.588052221] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050424.588796920] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050424.589738647] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050424.590360184] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050424.590641897] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050424.644859813] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050424.645637237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050424.646027480] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050424.647485064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050424.648754243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050424.745545101] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050424.746516203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050424.747162298] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050424.748920719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050424.749416245] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050424.835399924] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050424.837592470] [sailbot.teensy]: Wind angle: 221 +[trim_sail-4] [INFO] [1746050424.837619131] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050424.838229953] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050424.838560354] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050424.839518647] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050424.840388395] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050424.844358036] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050424.845007320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050424.845751136] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050424.846871303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050424.847881584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050424.945245852] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050424.946107635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050424.946841443] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050424.947831189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050424.948397162] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050425.003777644] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905981 Long: -76.50316732 +[vectornav-1] [INFO] [1746050425.005431141] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (148.34699999999998, 4.276, 1.615) +[mux-7] [INFO] [1746050425.044881534] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050425.045491563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050425.046097735] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050425.047249437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050425.048338373] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050425.085464018] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050425.088461158] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050425.088845639] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050425.088997045] [sailbot.teensy]: Wind angle: 221 +[teensy-2] [INFO] [1746050425.089920258] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050425.090793711] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050425.091636810] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050425.144952128] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050425.145989831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050425.146324039] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050425.148252409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050425.149346227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050425.245142558] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050425.245911945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050425.246813990] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050425.248398465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050425.248845407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050425.285908445] [sailbot.mux]: controller_app rudder angle: 0 +[teensy-2] [INFO] [1746050425.335311568] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050425.337564230] [sailbot.teensy]: Wind angle: 222 +[trim_sail-4] [INFO] [1746050425.337578506] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050425.338381314] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050425.338565349] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050425.339520553] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050425.340424345] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050425.344399222] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050425.345063021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050425.345521270] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050425.346747298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050425.347908982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050425.445264027] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050425.446059407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050425.446909729] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050425.449360400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050425.450493545] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050425.503553632] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905991 Long: -76.50316795 +[vectornav-1] [INFO] [1746050425.505827796] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (147.77999999999997, -3.137, 2.799) +[mux-7] [INFO] [1746050425.544915683] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050425.545536131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050425.546087852] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050425.547398156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050425.548430116] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050425.585441612] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050425.587376906] [sailbot.teensy]: Wind angle: 222 +[trim_sail-4] [INFO] [1746050425.587919657] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050425.588410783] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050425.589392411] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050425.589772201] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050425.590280592] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050425.645010975] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050425.645743522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050425.646816389] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050425.647571114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050425.648621786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050425.745299854] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050425.746040182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050425.747236987] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050425.748425285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050425.749362264] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050425.835743694] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050425.837982320] [sailbot.teensy]: Wind angle: 222 +[teensy-2] [INFO] [1746050425.839084616] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050425.838845213] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050425.840411423] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050425.841202635] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050425.842256500] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050425.844247955] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050425.844960561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050425.845371578] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050425.846875066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050425.847947650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050425.945651728] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050425.946499744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050425.947400201] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050425.949277635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050425.950451012] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050426.003493742] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906029 Long: -76.50316884 +[vectornav-1] [INFO] [1746050426.004861861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (144.834, 0.602, 3.851) +[mux-7] [INFO] [1746050426.044985838] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050426.045711015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050426.046508292] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050426.047750066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050426.048940804] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050426.085353803] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050426.087030099] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746050426.087803787] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050426.087933259] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050426.088787262] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050426.088902172] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050426.089714059] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050426.145235083] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050426.146075542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050426.146817908] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050426.148333018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050426.149532650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050426.245021953] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050426.245811055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050426.246328999] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050426.247687508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050426.248780849] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050426.335324933] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050426.337250247] [sailbot.teensy]: Wind angle: 219 +[trim_sail-4] [INFO] [1746050426.337854369] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050426.338267316] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050426.339047656] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050426.339216928] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050426.340119202] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050426.344404005] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050426.345133254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050426.345664371] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050426.346962849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050426.348176598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050426.445453517] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050426.446655525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050426.447222556] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050426.447892775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050426.448478357] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050426.503327358] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906059 Long: -76.50316957 +[vectornav-1] [INFO] [1746050426.504672485] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (141.49900000000002, 1.157, 2.681) +[mux-7] [INFO] [1746050426.545296603] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050426.546077525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050426.548367422] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050426.548462445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050426.550168926] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050426.585206297] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050426.587618870] [sailbot.teensy]: Wind angle: 216 +[trim_sail-4] [INFO] [1746050426.587661907] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050426.588582400] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050426.588775610] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050426.589498712] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050426.590350754] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050426.645415422] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050426.646493380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050426.647156110] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050426.649246343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050426.649733033] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050426.745555433] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050426.746514418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050426.747164295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050426.748933315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050426.749428520] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050426.835215978] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050426.837013373] [sailbot.teensy]: Wind angle: 214 +[trim_sail-4] [INFO] [1746050426.837577337] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050426.837931252] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050426.838809881] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050426.838847181] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050426.839706283] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050426.844475800] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050426.845200069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050426.845693319] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050426.847129511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050426.848330482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050426.945139444] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050426.945950135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050426.946581455] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050426.947862957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050426.948348519] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050427.002577878] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906079 Long: -76.50316971 +[vectornav-1] [INFO] [1746050427.004085484] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (138.608, -2.988, 5.025) +[mux-7] [INFO] [1746050427.044834114] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050427.045548577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050427.046313961] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050427.047345049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050427.048488478] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050427.085702954] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050427.088124141] [sailbot.teensy]: Wind angle: 212 +[trim_sail-4] [INFO] [1746050427.088700689] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050427.089234386] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050427.090265838] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050427.091169777] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050427.091320971] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050427.145287054] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050427.145974475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050427.147053874] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050427.147747873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050427.148288542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050427.245556521] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050427.246577480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050427.247543896] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050427.248901240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050427.249401758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050427.274384451] [sailbot.mux]: controller_app rudder angle: -7 +[teensy-2] [INFO] [1746050427.335424635] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050427.337691092] [sailbot.teensy]: Wind angle: 206 +[trim_sail-4] [INFO] [1746050427.337686747] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050427.338717044] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050427.339133098] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050427.339710734] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050427.340679444] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050427.344381315] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050427.344951593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050427.345517340] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050427.346624210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050427.347776723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050427.445561583] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050427.446276778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050427.447181680] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050427.448109759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050427.448564141] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050427.502964554] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906101 Long: -76.50317041 +[vectornav-1] [INFO] [1746050427.504349240] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (138.065, 2.311, 3.165) +[mux-7] [INFO] [1746050427.545135149] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050427.546086209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050427.546563521] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050427.548033476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050427.549116493] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050427.585312270] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050427.587768719] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050427.588109144] [sailbot.teensy]: Wind angle: 206 +[mux-7] [INFO] [1746050427.588279147] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050427.589122608] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050427.590045657] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050427.590954137] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050427.645549097] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050427.646310508] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050427.647775545] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050427.649325704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050427.650517889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050427.745533071] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050427.746340679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050427.747175371] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050427.748145777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050427.748677078] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050427.835104155] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050427.836975024] [sailbot.teensy]: Wind angle: 205 +[trim_sail-4] [INFO] [1746050427.837437090] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050427.837943194] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050427.838912323] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746050427.838993800] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050427.839872873] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050427.844356326] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050427.844930738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050427.845505836] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050427.847183063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050427.848366200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050427.945631153] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050427.946328568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050427.946652857] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050427.947056969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050427.947593836] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050428.002781388] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906093 Long: -76.50317053 +[vectornav-1] [INFO] [1746050428.004012826] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (137.038, -0.898, 3.778) +[mux-7] [INFO] [1746050428.044947685] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050428.046325531] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050428.047411871] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050428.049113673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050428.050108089] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050428.085137803] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050428.086792092] [sailbot.teensy]: Wind angle: 205 +[trim_sail-4] [INFO] [1746050428.087485086] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050428.088052206] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050428.089150529] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746050428.089474522] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050428.090058477] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050428.145203389] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050428.146292378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050428.146768036] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050428.148337768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050428.149416882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050428.245629237] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050428.246743208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050428.247415893] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050428.249144782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050428.250507302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050428.289381694] [sailbot.mux]: controller_app rudder angle: -9 +[teensy-2] [INFO] [1746050428.335692399] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050428.338139657] [sailbot.teensy]: Wind angle: 205 +[trim_sail-4] [INFO] [1746050428.338389674] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050428.339199603] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050428.340436489] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746050428.340665943] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050428.341446075] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050428.344314408] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050428.344826263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050428.345395910] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050428.346564237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050428.347662700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050428.445666835] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050428.446792589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050428.447547401] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050428.450156809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050428.451324135] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050428.503380254] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469061 Long: -76.50317029 +[vectornav-1] [INFO] [1746050428.504663462] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (135.928, -1.315, 4.11) +[mux-7] [INFO] [1746050428.544590636] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050428.545245873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050428.545730533] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050428.547293768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050428.548312509] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050428.585455471] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050428.587407412] [sailbot.teensy]: Wind angle: 205 +[teensy-2] [INFO] [1746050428.588566995] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050428.589037349] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050428.589536363] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050428.590464454] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050428.589603704] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050428.645112345] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050428.645854311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050428.646745229] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050428.648111240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050428.648983268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050428.745634855] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050428.746334214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050428.748294717] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050428.749400105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050428.750674235] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050428.835373469] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050428.837693234] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050428.838203654] [sailbot.teensy]: Wind angle: 205 +[mux-7] [INFO] [1746050428.838903730] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050428.839153722] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050428.839529502] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050428.839879561] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050428.844587380] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050428.845013247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050428.845774028] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050428.846711374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050428.847748232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050428.945775298] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050428.946217824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050428.947567252] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050428.948544543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050428.950470299] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050429.003288129] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906104 Long: -76.50317068 +[vectornav-1] [INFO] [1746050429.004722259] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (135.567, -0.759, 3.873) +[mux-7] [INFO] [1746050429.045255422] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050429.046006005] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050429.046788911] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050429.048445791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050429.049547760] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050429.085366646] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050429.087841327] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050429.088776053] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050429.089000534] [sailbot.teensy]: Wind angle: 205 +[teensy-2] [INFO] [1746050429.089946412] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050429.090809208] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050429.091649811] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050429.144953130] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050429.145537272] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050429.146172224] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050429.147426061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050429.148553891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050429.245187160] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050429.245848780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050429.246852571] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050429.247980002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050429.248752171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050429.298120488] [sailbot.mux]: controller_app rudder angle: -13 +[teensy-2] [INFO] [1746050429.335292686] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050429.337537285] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050429.338184906] [sailbot.teensy]: Wind angle: 205 +[mux-7] [INFO] [1746050429.338843692] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050429.339185734] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050429.340173700] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050429.341135482] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050429.344288860] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050429.344891068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050429.345626962] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050429.346708138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050429.347936055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050429.445313950] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050429.446365820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050429.447040333] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050429.449279051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050429.450421448] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050429.503258029] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906114 Long: -76.50317073 +[vectornav-1] [INFO] [1746050429.504507210] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (133.38400000000001, 3.188, 3.069) +[mux-7] [INFO] [1746050429.545105502] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050429.545983429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050429.546540981] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050429.548008638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050429.549037455] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050429.585375732] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050429.587514227] [sailbot.teensy]: Wind angle: 205 +[trim_sail-4] [INFO] [1746050429.587842460] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050429.588480525] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050429.589372551] [sailbot.teensy]: Actual tail angle: 16 +[mux-7] [INFO] [1746050429.589883450] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050429.590274833] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050429.645336360] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050429.645982671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050429.646979287] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050429.648193320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050429.649342978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050429.745473172] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050429.746132041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050429.747148802] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050429.748528813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050429.749594113] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050429.836001348] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050429.839260492] [sailbot.teensy]: Wind angle: 205 +[trim_sail-4] [INFO] [1746050429.839769028] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050429.840483784] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050429.840621433] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050429.841543677] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050429.842577043] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050429.844417577] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050429.844973273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050429.845521223] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050429.847063489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050429.848128992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050429.945736299] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050429.946641125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050429.947472821] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050429.949146399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050429.950473076] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050430.003351011] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906056 Long: -76.50317019 +[vectornav-1] [INFO] [1746050430.004856569] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (133.288, -3.115, 4.402) +[mux-7] [INFO] [1746050430.045063074] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050430.046070491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050430.046542956] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050430.047997563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050430.049120494] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050430.085527419] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050430.087976177] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050430.088307382] [sailbot.teensy]: Wind angle: 205 +[mux-7] [INFO] [1746050430.089118121] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050430.089280908] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050430.090211470] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050430.091089350] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050430.145080594] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050430.145679481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050430.146374069] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050430.147564648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050430.148240087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050430.245120204] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050430.245768364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050430.247056076] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050430.247596686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050430.248177280] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050430.335493030] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050430.337381669] [sailbot.teensy]: Wind angle: 202 +[trim_sail-4] [INFO] [1746050430.337967540] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050430.338347383] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050430.339271641] [sailbot.teensy]: Actual tail angle: 12 +[mux-7] [INFO] [1746050430.339951886] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050430.340116243] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050430.344322720] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050430.345068708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050430.345412635] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050430.346706325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050430.347669656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050430.445542549] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050430.446514877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050430.447285327] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050430.447948929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050430.448575140] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050430.503046082] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906052 Long: -76.50316983 +[vectornav-1] [INFO] [1746050430.504259314] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (132.01800000000003, 0.262, 3.362) +[mux-7] [INFO] [1746050430.545087095] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050430.545817068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050430.546651619] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050430.547774047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050430.548818989] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050430.585483131] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050430.587370194] [sailbot.teensy]: Wind angle: 202 +[teensy-2] [INFO] [1746050430.588749576] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050430.589603012] [sailbot.teensy]: Actual tail angle: 12 +[trim_sail-4] [INFO] [1746050430.588813192] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050430.589740004] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050430.590522629] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050430.645743775] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050430.646703417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050430.647467440] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050430.649142045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050430.650413937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050430.745370410] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050430.746215561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050430.746941921] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050430.748315459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050430.748798860] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050430.835354250] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050430.837290838] [sailbot.teensy]: Wind angle: 202 +[trim_sail-4] [INFO] [1746050430.838027925] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050430.838270701] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050430.839168046] [sailbot.teensy]: Actual tail angle: 12 +[mux-7] [INFO] [1746050430.839512395] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050430.840348971] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050430.844470775] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050430.844928332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050430.846003149] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050430.846687674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050430.847846192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050430.945137016] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050430.945708241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050430.946465200] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050430.947741206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050430.948803532] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050431.002330490] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906039 Long: -76.50316986 +[vectornav-1] [INFO] [1746050431.003323108] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (132.017, 0.449, 4.185) +[mux-7] [INFO] [1746050431.045396700] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050431.046270858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050431.047073519] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050431.048622536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050431.049771734] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050431.085439313] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050431.087901022] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050431.089086094] [sailbot.teensy]: Wind angle: 202 +[mux-7] [INFO] [1746050431.089450427] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050431.090011127] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050431.090899196] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050431.091701613] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050431.144759337] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050431.145358117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050431.146036566] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050431.148250300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050431.149298709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050431.245312763] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050431.245919076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050431.246864649] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050431.247871926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050431.249265119] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050431.335462218] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050431.337571073] [sailbot.teensy]: Wind angle: 202 +[trim_sail-4] [INFO] [1746050431.338508627] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050431.339559114] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050431.339566036] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050431.340570529] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050431.340956732] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050431.344559209] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050431.345029119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050431.346059464] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050431.346747252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050431.347851473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050431.445183993] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050431.445879531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050431.447028520] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050431.448074927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050431.448731135] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050431.503425991] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905989 Long: -76.5031697 +[vectornav-1] [INFO] [1746050431.505047751] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (130.872, -1.66, 2.588) +[mux-7] [INFO] [1746050431.545304529] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050431.546115320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050431.546859912] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050431.548456107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050431.549661316] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050431.585225261] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050431.586927249] [sailbot.teensy]: Wind angle: 202 +[trim_sail-4] [INFO] [1746050431.587713645] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050431.587759803] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050431.587912448] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050431.588618833] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050431.589499120] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050431.645287326] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050431.646249881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050431.646996307] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050431.648059805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050431.648568003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050431.745278317] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050431.746337703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050431.746889130] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050431.749316679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050431.750439667] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050431.835760311] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050431.838976445] [sailbot.teensy]: Wind angle: 202 +[trim_sail-4] [INFO] [1746050431.839063234] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050431.839299350] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050431.841212479] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050431.841601524] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050431.841971785] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050431.844419805] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050431.844922709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050431.845692786] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050431.846716153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050431.848381523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050431.945396689] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050431.946168696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050431.947102494] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050431.948187935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050431.948698150] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050432.003369785] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905941 Long: -76.50316986 +[vectornav-1] [INFO] [1746050432.004969108] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (130.623, 1.675, 4.675) +[mux-7] [INFO] [1746050432.045215167] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050432.045953435] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050432.047923786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[mux-7] [INFO] [1746050432.047989091] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050432.049012205] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050432.085387141] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050432.087926972] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050432.088177077] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050432.088637708] [sailbot.teensy]: Wind angle: 202 +[teensy-2] [INFO] [1746050432.089613245] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050432.090452924] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050432.091279666] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050432.145165555] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050432.145903292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050432.146724602] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050432.148101243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050432.149289877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050432.245245531] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050432.245997809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050432.246850610] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050432.248384858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050432.248898758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050432.298078555] [sailbot.mux]: controller_app rudder angle: -12 +[teensy-2] [INFO] [1746050432.335465651] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050432.338135858] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050432.338331322] [sailbot.teensy]: Wind angle: 202 +[teensy-2] [INFO] [1746050432.339311453] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050432.339901164] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050432.340217412] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050432.341122665] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050432.344335118] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050432.344790781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050432.345422076] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050432.346481673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050432.347545541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050432.445572495] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050432.446462295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050432.447702318] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050432.449509309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050432.450650628] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050432.503228479] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690591 Long: -76.50316934 +[vectornav-1] [INFO] [1746050432.504961978] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (128.308, -2.729, 4.343) +[mux-7] [INFO] [1746050432.545333503] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050432.546204346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050432.547048751] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050432.548743859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050432.549970709] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050432.585900035] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050432.588483006] [sailbot.teensy]: Wind angle: 202 +[trim_sail-4] [INFO] [1746050432.588541271] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050432.589717603] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050432.590732120] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050432.591763858] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050432.592905894] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050432.645277778] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050432.646159197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050432.646834596] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050432.648259350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050432.649250048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050432.745598199] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050432.746539010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050432.747698139] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050432.748073175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050432.748853108] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050432.835333525] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050432.837462751] [sailbot.teensy]: Wind angle: 202 +[trim_sail-4] [INFO] [1746050432.837877537] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050432.838500578] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050432.839411116] [sailbot.teensy]: Actual tail angle: 13 +[mux-7] [INFO] [1746050432.839296671] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050432.840319162] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050432.844322976] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050432.844795920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050432.845581449] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050432.846455487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050432.847512222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050432.945590820] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050432.946351447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050432.947265862] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050432.948906135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050432.949628802] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050433.002388469] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905878 Long: -76.50316945 +[vectornav-1] [INFO] [1746050433.003372879] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (126.94799999999998, 2.331, 2.795) +[mux-7] [INFO] [1746050433.045372616] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050433.046978759] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050433.046604942] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050433.048010274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050433.048643956] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050433.085619275] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050433.088389314] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050433.088839513] [sailbot.teensy]: Wind angle: 201 +[teensy-2] [INFO] [1746050433.089823335] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050433.089893412] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050433.090778475] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050433.091657946] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050433.145280781] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050433.145881503] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050433.148112555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[mux-7] [INFO] [1746050433.148283622] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050433.149323877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050433.245605682] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050433.246573655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050433.247408463] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050433.248829840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050433.249623812] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050433.335249703] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050433.338153022] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050433.338166886] [sailbot.teensy]: Wind angle: 201 +[teensy-2] [INFO] [1746050433.339130459] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050433.339267447] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050433.340024183] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050433.340930156] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050433.344290549] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050433.345005431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050433.345367449] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050433.346761356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050433.347810298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050433.445471544] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050433.446451510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050433.447113901] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050433.447966352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050433.448439882] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050433.503608797] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905827 Long: -76.50316908 +[vectornav-1] [INFO] [1746050433.505245593] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (123.95499999999998, -1.177, 5.098) +[mux-7] [INFO] [1746050433.544621115] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050433.545286807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050433.546266166] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050433.550015775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050433.551118197] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050433.584379201] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050433.585427926] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050433.585757004] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050433.585850498] [sailbot.teensy]: Wind angle: 200 +[teensy-2] [INFO] [1746050433.586253233] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050433.586649806] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050433.587034337] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050433.644966820] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050433.645684955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050433.646315486] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050433.647732833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050433.648268100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050433.744887050] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050433.745514127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050433.746500149] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050433.747347684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050433.748057074] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050433.835454291] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050433.838219060] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050433.838504326] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050433.838927653] [sailbot.teensy]: Wind angle: 197 +[teensy-2] [INFO] [1746050433.839862062] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050433.840761919] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050433.841695547] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050433.844349067] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050433.844888517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050433.845427148] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050433.846556633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050433.847560073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050433.945559671] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050433.946818074] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050433.947325535] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050433.948010437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050433.948731998] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050434.002369330] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905775 Long: -76.50316854 +[vectornav-1] [INFO] [1746050434.003396774] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (120.59800000000001, -1.12, 3.431) +[mux-7] [INFO] [1746050434.045137545] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050434.046081701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050434.046629623] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050434.048335534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050434.049449574] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050434.085426109] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050434.087768482] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746050434.088764420] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050434.088467744] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050434.089352458] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050434.089648277] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050434.090520795] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050434.144982843] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050434.145786685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050434.146323186] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050434.147794434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050434.148935383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050434.244963575] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050434.245797631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050434.246351188] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050434.247861238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050434.248560915] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050434.335215845] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050434.337970915] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050434.338467788] [sailbot.teensy]: Wind angle: 193 +[mux-7] [INFO] [1746050434.338880653] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050434.338982760] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050434.339370460] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050434.339743753] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050434.344343814] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050434.344898880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050434.346862522] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050434.347031262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050434.348265268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050434.444960049] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050434.445715231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050434.446275276] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050434.448057093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050434.449647533] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050434.503199768] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690573 Long: -76.50316883 +[vectornav-1] [INFO] [1746050434.504530802] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (116.58299999999997, 0.744, 4.575) +[mux-7] [INFO] [1746050434.545025719] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050434.545835741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050434.546518946] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050434.547949563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050434.549082729] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050434.585256575] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050434.587103057] [sailbot.teensy]: Wind angle: 190 +[trim_sail-4] [INFO] [1746050434.587574551] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050434.588064735] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050434.588988321] [sailbot.teensy]: Actual tail angle: 13 +[mux-7] [INFO] [1746050434.589018372] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050434.590286786] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050434.645073687] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050434.645669257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050434.646463286] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050434.647769671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050434.648806600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050434.745667028] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050434.746636758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050434.747594327] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050434.749188444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050434.750478339] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050434.835540240] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050434.837732101] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746050434.838797269] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050434.838505663] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050434.839685517] [sailbot.teensy]: Actual tail angle: 13 +[mux-7] [INFO] [1746050434.839692644] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050434.840620558] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050434.844352942] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050434.845013934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050434.845501481] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050434.847064320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050434.848217063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050434.945604395] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050434.946556228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050434.947823454] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050434.948740012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050434.949226868] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050435.003612574] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905697 Long: -76.50316802 +[vectornav-1] [INFO] [1746050435.005263443] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (109.031, 1.846, 5.739) +[mux-7] [INFO] [1746050435.044774076] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050435.045260961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050435.045982096] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050435.047035401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050435.048186816] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050435.085404150] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050435.087401264] [sailbot.teensy]: Wind angle: 179 +[trim_sail-4] [INFO] [1746050435.087874087] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050435.088380165] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050435.089285843] [sailbot.teensy]: Actual tail angle: 13 +[mux-7] [INFO] [1746050435.089306602] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050435.090537856] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050435.145033558] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050435.145818720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050435.146610697] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050435.147862491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050435.148768754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050435.245764114] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050435.246471382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050435.247549617] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050435.248862036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050435.249375321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050435.301859993] [sailbot.mux]: controller_app rudder angle: -15 +[teensy-2] [INFO] [1746050435.335554258] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050435.338080047] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050435.338727056] [sailbot.teensy]: Wind angle: 177 +[mux-7] [INFO] [1746050435.339281278] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050435.339730776] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050435.340651259] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050435.341549351] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050435.344367271] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050435.344782032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050435.345816167] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050435.346414526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050435.347460502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050435.445237250] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050435.446025613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050435.446712893] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050435.448437416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050435.449492901] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050435.503943667] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905589 Long: -76.50316799 +[vectornav-1] [INFO] [1746050435.505515328] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (102.87599999999998, -3.288, 3.728) +[mux-7] [INFO] [1746050435.544720849] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050435.545394529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050435.545873409] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050435.547138239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050435.548293575] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050435.585491275] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050435.587354405] [sailbot.teensy]: Wind angle: 168 +[trim_sail-4] [INFO] [1746050435.587852293] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050435.589054978] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050435.589078497] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050435.590133088] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050435.591014791] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050435.645302575] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050435.646073028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050435.646875509] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050435.647914750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050435.648509752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050435.745444695] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050435.746380783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050435.748630915] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050435.748699600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050435.749253518] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050435.835688274] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050435.838424682] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050435.838606388] [sailbot.teensy]: Wind angle: 158 +[teensy-2] [INFO] [1746050435.839626978] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050435.840811474] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050435.841148719] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050435.841820792] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050435.844236763] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050435.844754119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050435.845366130] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050435.846397826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050435.847444947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050435.945531346] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050435.946407994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050435.947503150] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050435.948131154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050435.948702501] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050436.002968311] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905575 Long: -76.50316807 +[vectornav-1] [INFO] [1746050436.004748644] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (93.995, 2.024, 6.19) +[mux-7] [INFO] [1746050436.044906390] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050436.045408410] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050436.047474693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050436.048526370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050436.048614004] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050436.085223742] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050436.087410176] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050436.088123642] [sailbot.teensy]: Wind angle: 156 +[mux-7] [INFO] [1746050436.088129410] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050436.089101501] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050436.090007048] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050436.090883295] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050436.144926437] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050436.145731295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050436.146153945] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050436.147721067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050436.148704993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050436.245009604] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050436.245668812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050436.246384708] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050436.247708115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050436.248659420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050436.300671230] [sailbot.mux]: controller_app rudder angle: -7 +[teensy-2] [INFO] [1746050436.335450891] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050436.337742926] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050436.338285361] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050436.338782282] [sailbot.teensy]: Wind angle: 156 +[teensy-2] [INFO] [1746050436.339736214] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050436.340586777] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050436.340948956] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050436.344456504] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050436.345046467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050436.345583875] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050436.346759042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050436.347799386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050436.445464061] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050436.446321779] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050436.448457546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[mux-7] [INFO] [1746050436.447032497] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050436.448900716] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050436.503721496] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905485 Long: -76.50316733 +[vectornav-1] [INFO] [1746050436.505541113] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (85.35399999999998, 0.23, 6.506) +[mux-7] [INFO] [1746050436.544968319] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050436.545661966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050436.546275289] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050436.547506685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050436.548666607] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050436.585252885] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050436.587386101] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050436.587996312] [sailbot.teensy]: Wind angle: 156 +[mux-7] [INFO] [1746050436.588105920] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050436.589021500] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050436.589947797] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050436.590800671] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050436.645219866] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050436.646114635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050436.646864564] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050436.648111882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050436.648639459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050436.745467463] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050436.746364927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050436.747051686] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050436.748878531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050436.750442393] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050436.835770994] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050436.838412472] [sailbot.teensy]: Wind angle: 150 +[trim_sail-4] [INFO] [1746050436.838838301] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050436.839394618] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050436.839577129] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050436.839858837] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050436.840236288] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050436.844700223] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050436.845370142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050436.845862272] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050436.847065101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050436.848093668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050436.945035157] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050436.945778458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050436.946387685] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050436.947772198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050436.948853098] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050437.002789294] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905396 Long: -76.50316754 +[vectornav-1] [INFO] [1746050437.003805694] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (74.856, -2.73, 7.102) +[mux-7] [INFO] [1746050437.045272896] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050437.046465387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050437.046857187] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050437.049030396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050437.050067507] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050437.085449446] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050437.087266102] [sailbot.teensy]: Wind angle: 143 +[trim_sail-4] [INFO] [1746050437.087947448] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050437.088201724] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050437.088552209] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050437.089114639] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050437.089963917] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050437.145182384] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050437.146021306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050437.146635341] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050437.148084933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050437.149053650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050437.245299608] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050437.246123609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050437.246747154] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050437.248465547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050437.249625652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050437.325719478] [sailbot.mux]: controller_app rudder angle: 10 +[teensy-2] [INFO] [1746050437.335407469] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050437.337579940] [sailbot.teensy]: Wind angle: 142 +[trim_sail-4] [INFO] [1746050437.337714976] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050437.338550895] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050437.339435446] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746050437.339436223] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050437.340364028] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050437.344377794] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050437.345072683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050437.345765505] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050437.346979203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050437.348117666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050437.445183108] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050437.446234278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050437.446997835] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050437.448509490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050437.449802579] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050437.504217969] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905349 Long: -76.50316732 +[vectornav-1] [INFO] [1746050437.505922133] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (65.23500000000001, 2.443, 8.458) +[mux-7] [INFO] [1746050437.545063595] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050437.545843410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050437.546542550] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050437.547756362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050437.549112833] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050437.585363590] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050437.587728926] [sailbot.teensy]: Wind angle: 140 +[trim_sail-4] [INFO] [1746050437.588752826] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050437.588775942] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050437.588969470] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050437.589886916] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050437.590777387] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050437.645313734] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050437.645948616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050437.646885345] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050437.648380030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050437.648922702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050437.745292459] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050437.745970102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050437.746841441] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050437.748040783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050437.749215024] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050437.835459917] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050437.837743114] [sailbot.teensy]: Wind angle: 137 +[trim_sail-4] [INFO] [1746050437.838032200] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050437.838477515] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050437.838685848] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050437.839605047] [sailbot.teensy]: Actual tail angle: 35 +[teensy-2] [INFO] [1746050437.840512455] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050437.844546164] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050437.845211933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050437.845695515] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050437.847785287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050437.848852745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050437.945492022] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050437.946473480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050437.947034903] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050437.948759975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050437.950011415] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050438.002504621] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905274 Long: -76.5031664 +[vectornav-1] [INFO] [1746050438.003549980] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.04899999999998, -4.608, 15.564) +[mux-7] [INFO] [1746050438.044760033] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050438.045397956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050438.045911070] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050438.047315173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050438.048446600] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050438.085440665] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050438.087354964] [sailbot.teensy]: Wind angle: 133 +[trim_sail-4] [INFO] [1746050438.088014803] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050438.088318462] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050438.088834063] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050438.089212519] [sailbot.teensy]: Actual tail angle: 35 +[teensy-2] [INFO] [1746050438.090123806] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050438.145214212] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050438.145862347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050438.146997668] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050438.147846780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050438.148351615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050438.245445718] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050438.246131855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050438.247026200] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050438.248534102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050438.249083096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050438.297839264] [sailbot.mux]: controller_app rudder angle: 13 +[teensy-2] [INFO] [1746050438.335501564] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050438.337308744] [sailbot.teensy]: Wind angle: 125 +[trim_sail-4] [INFO] [1746050438.337907743] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050438.338249298] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050438.339150856] [sailbot.teensy]: Actual tail angle: 35 +[mux-7] [INFO] [1746050438.339532107] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050438.340010364] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050438.344452319] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050438.344963153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050438.345922770] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050438.346766110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050438.347876915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050438.445596736] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050438.446376402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050438.447296238] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050438.448035255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050438.448498576] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050438.503960794] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905221 Long: -76.50316463 +[vectornav-1] [INFO] [1746050438.505500703] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.297000000000025, 0.972, 21.498) +[mux-7] [INFO] [1746050438.545473931] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050438.546414013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050438.547158834] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050438.549089058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050438.550146754] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050438.585443965] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050438.587845568] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050438.587957401] [sailbot.teensy]: Wind angle: 125 +[teensy-2] [INFO] [1746050438.588927857] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050438.589591034] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050438.589832059] [sailbot.teensy]: Actual tail angle: 35 +[teensy-2] [INFO] [1746050438.590716862] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050438.645316232] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050438.646055138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050438.646892953] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050438.648120886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050438.649236733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050438.745536637] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050438.746187171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050438.747502337] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050438.748661249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050438.749722317] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050438.835662498] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050438.837987520] [sailbot.teensy]: Wind angle: 124 +[trim_sail-4] [INFO] [1746050438.838531752] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050438.839031824] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050438.839948304] [sailbot.teensy]: Actual tail angle: 38 +[mux-7] [INFO] [1746050438.839756969] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050438.841127570] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050438.844471134] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050438.845233530] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050438.845573651] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050438.847036454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050438.848237096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050438.945703231] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050438.946463189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050438.947387568] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050438.948905975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050438.950338046] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050439.003270643] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905288 Long: -76.5031637 +[vectornav-1] [INFO] [1746050439.004718452] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.65100000000001, -2.541, 15.759) +[mux-7] [INFO] [1746050439.045266934] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050439.045996853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050439.046837653] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050439.048552945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050439.049692167] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050439.085674569] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050439.088006959] [sailbot.teensy]: Wind angle: 119 +[trim_sail-4] [INFO] [1746050439.088787454] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050439.089119811] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050439.090048668] [sailbot.teensy]: Actual tail angle: 38 +[mux-7] [INFO] [1746050439.090496587] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050439.090913657] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050439.145157227] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050439.145876878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050439.146655463] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050439.147976740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050439.148649507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050439.245257015] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050439.246231834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050439.246739210] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050439.248349453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050439.248858550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050439.312039264] [sailbot.mux]: controller_app rudder angle: -8 +[teensy-2] [INFO] [1746050439.335374963] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050439.337739346] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050439.338126041] [sailbot.teensy]: Wind angle: 117 +[mux-7] [INFO] [1746050439.338962503] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050439.339115260] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050439.340048270] [sailbot.teensy]: Actual tail angle: 38 +[teensy-2] [INFO] [1746050439.340994192] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050439.344285643] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050439.344764484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050439.345356347] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050439.346358459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050439.347497521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050439.445635849] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050439.446465795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050439.447649206] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050439.449081182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050439.450384283] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050439.502512037] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905327 Long: -76.50316166 +[vectornav-1] [INFO] [1746050439.503576798] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.27600000000001, -0.425, 14.661) +[mux-7] [INFO] [1746050439.544759542] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050439.545422736] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050439.545902033] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050439.547163657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050439.548199030] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050439.585504694] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050439.587516542] [sailbot.teensy]: Wind angle: 116 +[teensy-2] [INFO] [1746050439.588531663] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050439.588038626] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050439.589189465] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050439.589432021] [sailbot.teensy]: Actual tail angle: 38 +[teensy-2] [INFO] [1746050439.590447268] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050439.645356804] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050439.645870429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050439.647024739] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050439.648329850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050439.650371713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050439.745590747] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050439.746156664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050439.747391071] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050439.748414541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050439.749750319] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050439.835642055] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050439.837927570] [sailbot.teensy]: Wind angle: 114 +[trim_sail-4] [INFO] [1746050439.838240543] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050439.838911746] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050439.839564971] [sailbot.teensy]: Actual tail angle: 17 +[mux-7] [INFO] [1746050439.839664082] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050439.839938355] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050439.844553246] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050439.845188097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050439.845724624] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050439.847012092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050439.848116224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050439.945232293] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050439.946135731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050439.946714826] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050439.948271257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050439.949469741] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050440.003002945] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905414 Long: -76.5031592 +[vectornav-1] [INFO] [1746050440.004424554] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.92700000000002, -1.13, 12.321) +[mux-7] [INFO] [1746050440.045107939] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050440.045901357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050440.046567039] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050440.048021364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050440.049058657] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050440.085456449] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050440.087670441] [sailbot.teensy]: Wind angle: 110 +[trim_sail-4] [INFO] [1746050440.088346676] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050440.089057768] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050440.090024890] [sailbot.teensy]: Actual tail angle: 17 +[mux-7] [INFO] [1746050440.090170058] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050440.090891439] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050440.144996003] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050440.146320801] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050440.147652585] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050440.149327561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050440.150324251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050440.245369108] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050440.246566261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050440.247077721] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050440.248749193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050440.249274561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050440.287418959] [sailbot.mux]: controller_app rudder angle: -10 +[teensy-2] [INFO] [1746050440.335470821] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050440.337806046] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050440.337826990] [sailbot.teensy]: Wind angle: 110 +[teensy-2] [INFO] [1746050440.339012981] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050440.339251565] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050440.339941195] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050440.340827593] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050440.344431808] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050440.345009695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050440.345540511] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050440.346680858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050440.347693265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050440.445383184] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050440.446065188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050440.447012960] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050440.448613567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050440.449906896] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050440.502414608] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905409 Long: -76.50315592 +[vectornav-1] [INFO] [1746050440.503480622] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.33299999999997, 0.32, 15.253) +[mux-7] [INFO] [1746050440.545514324] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050440.546022512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050440.547283051] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050440.548130956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050440.549251296] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050440.585615338] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050440.587836888] [sailbot.teensy]: Wind angle: 112 +[teensy-2] [INFO] [1746050440.588855973] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050440.588876296] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050440.589815164] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050440.590696252] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050440.590957716] [sailbot.mux]: algo sail angle: 15 +[mux-7] [INFO] [1746050440.645222907] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050440.645900205] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050440.647994483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[mux-7] [INFO] [1746050440.648228703] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050440.649202819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050440.745483779] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050440.746307544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050440.747289333] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050440.748787307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050440.749296363] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050440.835347783] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050440.837924880] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050440.838355912] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050440.838839703] [sailbot.teensy]: Wind angle: 119 +[teensy-2] [INFO] [1746050440.839743923] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050440.840637127] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050440.841486616] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050440.844412371] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050440.845169274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050440.845605199] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050440.846964442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050440.848082388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050440.945563400] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050440.946654113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050440.947166431] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050440.949041215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050440.950192588] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050441.003225645] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905463 Long: -76.50315333 +[vectornav-1] [INFO] [1746050441.004656184] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.69100000000003, -1.345, 16.925) +[mux-7] [INFO] [1746050441.045356103] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050441.045888060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050441.046725560] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050441.047980149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050441.049294581] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050441.085433067] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050441.087292277] [sailbot.teensy]: Wind angle: 120 +[trim_sail-4] [INFO] [1746050441.087972698] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050441.089172757] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050441.089921239] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050441.091206700] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050441.092083971] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050441.145307201] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050441.145832832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050441.146926186] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050441.147936924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050441.149072692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050441.245447190] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050441.246254856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050441.247076728] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050441.248573640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050441.249074557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050441.299553013] [sailbot.mux]: controller_app rudder angle: -13 +[teensy-2] [INFO] [1746050441.335479162] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050441.337957197] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050441.338357674] [sailbot.teensy]: Wind angle: 115 +[mux-7] [INFO] [1746050441.339091545] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050441.339591506] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050441.340286402] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050441.340667753] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050441.344280960] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050441.344898927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050441.345403285] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050441.346707432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050441.347755294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050441.445451919] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050441.446236338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050441.447062456] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050441.448518459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050441.449405575] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050441.503971661] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905618 Long: -76.50315082 +[vectornav-1] [INFO] [1746050441.505846391] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.603999999999985, 0.032, 14.192) +[mux-7] [INFO] [1746050441.544999820] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050441.545957884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050441.546408369] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050441.548067601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050441.549210598] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050441.585231235] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050441.587521239] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050441.588100256] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050441.588271564] [sailbot.teensy]: Wind angle: 116 +[teensy-2] [INFO] [1746050441.589264204] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050441.590188314] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050441.591041830] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050441.645470893] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050441.646466766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050441.647196566] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050441.648800471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050441.649953056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050441.745123939] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050441.745993883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050441.746494291] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050441.748167623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050441.748821936] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050441.835632595] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050441.838197227] [sailbot.teensy]: Wind angle: 124 +[trim_sail-4] [INFO] [1746050441.838397952] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050441.838750636] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050441.839197441] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050441.840117761] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050441.840958980] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050441.844412704] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050441.844884505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050441.845486583] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050441.846603592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050441.847875515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050441.945530486] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050441.946244792] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050441.947151554] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050441.948852822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050441.950141784] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050442.003252903] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905767 Long: -76.5031485 +[vectornav-1] [INFO] [1746050442.004912189] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.317999999999984, 1.949, 13.968) +[mux-7] [INFO] [1746050442.045355880] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050442.046137149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050442.047105296] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050442.048119821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050442.048627204] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050442.085907647] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050442.088901713] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050442.089735195] [sailbot.teensy]: Wind angle: 132 +[mux-7] [INFO] [1746050442.089820862] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050442.091168592] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050442.092095340] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050442.092980493] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050442.145518921] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050442.146265201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050442.147086425] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050442.148604939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050442.149744605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050442.245328474] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050442.246052072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050442.246832355] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050442.247982615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050442.248536837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050442.288503813] [sailbot.mux]: controller_app rudder angle: -3 +[teensy-2] [INFO] [1746050442.335508321] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050442.337327053] [sailbot.teensy]: Wind angle: 141 +[trim_sail-4] [INFO] [1746050442.337850784] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050442.338277981] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050442.339216859] [sailbot.teensy]: Actual tail angle: 12 +[mux-7] [INFO] [1746050442.339985026] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050442.340431415] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050442.344262323] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050442.344857418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050442.345379796] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050442.346578454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050442.347677970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050442.445536922] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050442.446427592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050442.447169228] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050442.448997446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050442.450243406] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050442.503111927] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905884 Long: -76.50314688 +[vectornav-1] [INFO] [1746050442.504337866] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (70.16199999999998, -3.915, 12.473) +[mux-7] [INFO] [1746050442.544505552] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050442.545047937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050442.545595846] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050442.546693981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050442.547628338] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050442.585274686] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050442.587696679] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050442.588064970] [sailbot.teensy]: Wind angle: 146 +[mux-7] [INFO] [1746050442.588245166] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050442.589139820] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050442.590074277] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050442.590932263] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050442.645033663] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050442.645581470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050442.646508449] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050442.647513153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050442.648584627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050442.745461477] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050442.746047163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050442.747366241] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050442.748188554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050442.749906958] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050442.835799436] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050442.838793717] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050442.839332663] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050442.839472475] [sailbot.teensy]: Wind angle: 154 +[teensy-2] [INFO] [1746050442.839879924] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050442.840272982] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050442.840654898] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050442.844547075] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050442.845073303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050442.845689928] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050442.846758324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050442.847831031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050442.945158114] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050442.945809366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050442.946564882] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050442.947701493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050442.948901162] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050443.003212570] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906109 Long: -76.5031469 +[vectornav-1] [INFO] [1746050443.004554703] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (89.50999999999999, 1.052, 8.665) +[mux-7] [INFO] [1746050443.045097075] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050443.045824584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050443.046501095] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050443.047874849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050443.048893676] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050443.085477479] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050443.087969477] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050443.088169987] [sailbot.teensy]: Wind angle: 171 +[mux-7] [INFO] [1746050443.088939826] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050443.089100956] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050443.089989469] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050443.090848219] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050443.145058782] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050443.145654295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050443.146572549] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050443.147607450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050443.148715084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050443.245020557] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050443.245735832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050443.246355821] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050443.247687613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050443.248825086] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050443.335366481] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050443.337766673] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050443.337878540] [sailbot.teensy]: Wind angle: 177 +[mux-7] [INFO] [1746050443.338312100] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050443.338802620] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050443.339256356] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050443.339635441] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050443.344633307] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050443.345336223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050443.345897783] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050443.347117711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050443.348266401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050443.445646597] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050443.446373126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050443.447889537] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050443.448740447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050443.449401428] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050443.502672499] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906278 Long: -76.50314797 +[vectornav-1] [INFO] [1746050443.503827670] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (106.86200000000002, 2.587, 5.284) +[mux-7] [INFO] [1746050443.544962012] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050443.545596134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050443.546293405] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050443.547522785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050443.548711048] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050443.585492093] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050443.587705414] [sailbot.teensy]: Wind angle: 184 +[trim_sail-4] [INFO] [1746050443.587813979] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050443.588757659] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050443.589588069] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050443.589667908] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050443.590559101] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050443.645165613] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050443.645831384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050443.646635288] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050443.648125108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050443.649084782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050443.663004312] [sailbot.mux]: controller_app rudder angle: -1 +[mux-7] [INFO] [1746050443.745326368] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050443.746374752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050443.746836539] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050443.748675051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050443.749839239] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050443.835478920] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050443.837884346] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050443.838272356] [sailbot.teensy]: Wind angle: 196 +[mux-7] [INFO] [1746050443.838999040] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050443.839530140] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050443.840434956] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050443.840791622] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050443.844487826] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050443.844913521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050443.845656658] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050443.846689413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050443.847869561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050443.945549486] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050443.946203981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050443.947434599] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050443.948719442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050443.949914245] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050444.003199497] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906379 Long: -76.50314884 +[vectornav-1] [INFO] [1746050444.005268207] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (119.59300000000002, -4.282, 5.583) +[mux-7] [INFO] [1746050444.044883375] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050444.045349639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050444.046133515] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050444.047125604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050444.048292547] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050444.085392938] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050444.087763998] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050444.088070739] [sailbot.teensy]: Wind angle: 204 +[teensy-2] [INFO] [1746050444.089042496] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050444.089231386] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050444.089988072] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050444.090875704] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050444.144875756] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050444.145392812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050444.146091287] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050444.147183379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050444.148227364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050444.245217152] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050444.245898462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050444.246733299] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050444.247870718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050444.248999190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050444.300955836] [sailbot.mux]: controller_app rudder angle: 9 +[teensy-2] [INFO] [1746050444.335443995] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050444.337241207] [sailbot.teensy]: Wind angle: 212 +[trim_sail-4] [INFO] [1746050444.337783996] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050444.338193914] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050444.339143527] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050444.340063521] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050444.340307426] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050444.344470705] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050444.345050617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050444.345568218] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050444.346744855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050444.347757580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050444.445558120] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050444.446202111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050444.447301455] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050444.448748191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050444.449256499] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050444.503200682] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906492 Long: -76.50315052 +[vectornav-1] [INFO] [1746050444.504550462] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (130.04899999999998, 4.129, 5.102) +[mux-7] [INFO] [1746050444.544934111] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050444.545747014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050444.546421113] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050444.547843620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050444.548451605] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050444.585427717] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050444.587636140] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050444.588355200] [sailbot.teensy]: Wind angle: 221 +[mux-7] [INFO] [1746050444.589220945] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050444.589308657] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050444.590203788] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050444.591075493] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050444.645492705] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050444.646101652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050444.647227878] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050444.648423041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050444.649596231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050444.745678506] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050444.746414439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050444.747599048] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050444.748710498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050444.750048487] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050444.835402208] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050444.837673962] [sailbot.teensy]: Wind angle: 221 +[trim_sail-4] [INFO] [1746050444.838324339] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050444.838702409] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050444.839316895] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050444.839910389] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746050444.840861124] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050444.844328485] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050444.844735389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050444.845659245] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050444.846411432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050444.847441262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050444.945498478] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050444.946232501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050444.947449055] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050444.948080245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050444.948650500] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050445.003357529] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906548 Long: -76.50315209 +[vectornav-1] [INFO] [1746050445.005009648] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (137.17000000000002, -1.151, 3.987) +[mux-7] [INFO] [1746050445.045075999] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050445.045941359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050445.046522993] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050445.048190718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050445.049301862] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050445.085414948] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050445.088025318] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050445.088258800] [sailbot.teensy]: Wind angle: 221 +[mux-7] [INFO] [1746050445.089116677] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050445.089185354] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050445.090173022] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746050445.091044974] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050445.145098058] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050445.145609524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050445.146421388] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050445.147437090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050445.148578205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050445.245366725] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050445.246340136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050445.247437134] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050445.248568485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050445.249689028] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050445.335302840] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050445.337749943] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050445.338320235] [sailbot.teensy]: Wind angle: 221 +[mux-7] [INFO] [1746050445.338867691] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050445.338986379] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050445.339372395] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746050445.339775286] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050445.344265904] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050445.345037659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050445.345664163] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050445.346724206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050445.347944509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050445.445632696] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050445.446564634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050445.447562193] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050445.448411915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050445.448952600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050445.485690533] [sailbot.mux]: controller_app rudder angle: 1 +[vectornav-1] [INFO] [1746050445.502401915] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906594 Long: -76.5031533 +[vectornav-1] [INFO] [1746050445.503609321] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (139.51299999999998, 2.25, 3.403) +[mux-7] [INFO] [1746050445.544828255] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050445.545505026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050445.546000229] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050445.547291841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050445.548441105] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050445.585584665] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050445.587619265] [sailbot.teensy]: Wind angle: 224 +[teensy-2] [INFO] [1746050445.588712967] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050445.588771239] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050445.589647273] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746050445.590596151] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050445.591571625] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050445.645181957] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050445.646112901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050445.647285435] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050445.648607316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050445.649153465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050445.744922280] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050445.745665589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050445.746675963] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050445.747537908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050445.748654914] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050445.835441673] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050445.837987436] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050445.838013107] [sailbot.teensy]: Wind angle: 224 +[teensy-2] [INFO] [1746050445.838934076] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050445.839033939] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050445.839840066] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050445.840337524] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050445.844370216] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050445.844906863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050445.845492689] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050445.846706826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050445.847685125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050445.945182278] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050445.945834051] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050445.947787579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050445.948253434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050445.946620740] [sailbot.mux]: Published rudder angle from controller_app: 1 +[vectornav-1] [INFO] [1746050446.003136018] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906631 Long: -76.50315435 +[vectornav-1] [INFO] [1746050446.004849142] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (140.317, -1.344, 0.73) +[mux-7] [INFO] [1746050446.045289706] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050446.046162949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050446.046896980] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050446.048353891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050446.049460498] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050446.085399979] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050446.087099435] [sailbot.teensy]: Wind angle: 224 +[trim_sail-4] [INFO] [1746050446.087939503] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050446.088029145] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050446.088925341] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050446.088925734] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050446.089847797] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050446.145061461] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050446.145981837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050446.146472388] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050446.147945843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050446.148527193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050446.245352514] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050446.246310815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050446.246891423] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050446.248512059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050446.249635162] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050446.335421061] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050446.337418912] [sailbot.teensy]: Wind angle: 224 +[teensy-2] [INFO] [1746050446.338425823] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050446.338568292] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050446.339368839] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050446.339560422] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050446.340333769] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050446.344268784] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050446.345010031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050446.345838221] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050446.346873455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050446.348059317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050446.445633852] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050446.446267085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050446.447260833] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050446.448785345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050446.449434337] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050446.502384399] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906622 Long: -76.5031555 +[vectornav-1] [INFO] [1746050446.503503509] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (139.63600000000002, -0.533, 2.266) +[mux-7] [INFO] [1746050446.504669835] [sailbot.mux]: controller_app rudder angle: -10 +[mux-7] [INFO] [1746050446.545011526] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050446.546116687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050446.546616316] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050446.548091669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050446.548972729] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050446.585392852] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050446.587924142] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050446.588044776] [sailbot.teensy]: Wind angle: 222 +[teensy-2] [INFO] [1746050446.588989516] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050446.589082790] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050446.589890738] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050446.590731484] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050446.645125229] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050446.645867949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050446.646531889] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050446.647981897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050446.649084005] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050446.745638672] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050446.746800410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050446.747282119] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050446.749097485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050446.750360397] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050446.835639724] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050446.837784631] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746050446.838273250] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050446.838832145] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050446.839774051] [sailbot.teensy]: Actual tail angle: 15 +[mux-7] [INFO] [1746050446.839836619] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050446.840842456] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050446.844673128] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050446.845464861] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050446.845863339] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050446.847271148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050446.848511850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050446.945316875] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050446.946030987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050446.946925293] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050446.948319710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050446.949528110] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050447.003842883] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906668 Long: -76.50315596 +[vectornav-1] [INFO] [1746050447.005078119] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (139.18, 1.323, 3.112) +[mux-7] [INFO] [1746050447.044923467] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050447.045800304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050447.046272526] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050447.047637177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050447.048635103] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050447.085632728] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050447.088447320] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050447.088622774] [sailbot.teensy]: Wind angle: 222 +[mux-7] [INFO] [1746050447.089374012] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050447.089570274] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050447.090447614] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050447.091302795] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050447.145793457] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050447.146302565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050447.147538553] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050447.148562131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050447.149637226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050447.245371112] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050447.245983063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050447.247053125] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050447.248126624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050447.249378100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050447.276281718] [sailbot.mux]: controller_app rudder angle: -11 +[teensy-2] [INFO] [1746050447.335458745] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050447.338153464] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050447.338519396] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050447.338725101] [sailbot.teensy]: Wind angle: 223 +[teensy-2] [INFO] [1746050447.339681170] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050447.340594732] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050447.341432896] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050447.344501421] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050447.345477353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050447.346017914] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050447.347189262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050447.348215715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050447.445390919] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050447.445962626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050447.447017607] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050447.448088652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050447.448725443] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050447.502664227] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906681 Long: -76.50315656 +[vectornav-1] [INFO] [1746050447.503855519] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (138.322, -1.794, 3.942) +[mux-7] [INFO] [1746050447.545097765] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050447.545705242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050447.546491962] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050447.548033567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050447.549101610] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050447.585737950] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050447.588589161] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050447.589862227] [sailbot.teensy]: Wind angle: 222 +[mux-7] [INFO] [1746050447.590019560] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050447.590821646] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050447.591720719] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050447.592576544] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050447.645315628] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050447.645928823] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050447.647972805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[mux-7] [INFO] [1746050447.646958654] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050447.649651976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050447.745242652] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050447.746010319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050447.746901837] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050447.748042180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050447.749089111] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050447.835577053] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050447.837859806] [sailbot.teensy]: Wind angle: 222 +[trim_sail-4] [INFO] [1746050447.837948877] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050447.838507069] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050447.838814666] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050447.839718995] [sailbot.teensy]: Actual tail angle: 14 +[teensy-2] [INFO] [1746050447.840390189] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050447.844709684] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050447.845195228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050447.845971629] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050447.846916047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050447.847970591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050447.945460569] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050447.946123674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050447.947200874] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050447.948283016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050447.949386587] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050448.003670438] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906684 Long: -76.50315757 +[vectornav-1] [INFO] [1746050448.004983675] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (138.32100000000003, 0.855, 2.118) +[mux-7] [INFO] [1746050448.045578287] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050448.046166019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050448.047306165] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050448.048459610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050448.049678173] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050448.085998213] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050448.088538045] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746050448.089212291] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050448.089682801] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050448.089692501] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050448.090687098] [sailbot.teensy]: Actual tail angle: 14 +[teensy-2] [INFO] [1746050448.091643060] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050448.144688098] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050448.145717770] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050448.147706811] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050448.149351250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050448.150231217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050448.245196525] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050448.245839584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050448.246911200] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050448.247916743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050448.248987395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050448.310916014] [sailbot.mux]: controller_app rudder angle: -10 +[teensy-2] [INFO] [1746050448.335641891] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050448.338426592] [sailbot.teensy]: Wind angle: 219 +[trim_sail-4] [INFO] [1746050448.338690109] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050448.339438153] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050448.339776588] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050448.340415134] [sailbot.teensy]: Actual tail angle: 14 +[teensy-2] [INFO] [1746050448.341323740] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050448.344262292] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050448.344905526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050448.345376990] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050448.346710401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050448.347734736] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050448.445016697] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050448.445756510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050448.446297982] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050448.448060595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050448.448694867] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050448.503957878] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906694 Long: -76.50315813 +[vectornav-1] [INFO] [1746050448.505660464] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (137.832, -0.639, 3.616) +[mux-7] [INFO] [1746050448.545713086] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050448.546288717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050448.547686192] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050448.548777679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050448.550762355] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050448.585579932] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050448.587629593] [sailbot.teensy]: Wind angle: 219 +[trim_sail-4] [INFO] [1746050448.588907424] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050448.589318782] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050448.590999634] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050448.591964964] [sailbot.teensy]: Actual tail angle: 14 +[teensy-2] [INFO] [1746050448.592904969] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050448.645259839] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050448.645848045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050448.646895141] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050448.647899733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050448.648976167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050448.745192168] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050448.745882107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050448.746729976] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050448.748064258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050448.749272589] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050448.835220209] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050448.836971069] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746050448.837596549] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050448.838237866] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050448.838859252] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050448.839231359] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050448.839609080] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050448.844489651] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050448.844981016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050448.845716434] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050448.846652929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050448.847730040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050448.945302023] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050448.946083583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050448.947074339] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050448.947717029] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050448.948326407] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050449.003333946] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906695 Long: -76.50315875 +[vectornav-1] [INFO] [1746050449.005487282] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (136.442, -0.625, 3.943) +[mux-7] [INFO] [1746050449.045104412] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050449.045621580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050449.046459172] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050449.047523347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050449.048591555] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050449.085471675] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050449.087422807] [sailbot.teensy]: Wind angle: 221 +[trim_sail-4] [INFO] [1746050449.087906957] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050449.088433003] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050449.089308909] [sailbot.teensy]: Actual tail angle: 15 +[mux-7] [INFO] [1746050449.089445445] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050449.090233927] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050449.145240254] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050449.145867219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050449.146773269] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050449.148120672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050449.149254065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050449.245273825] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050449.245818453] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050449.246830736] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050449.247822940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050449.248725114] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050449.299143933] [sailbot.mux]: controller_app rudder angle: -13 +[teensy-2] [INFO] [1746050449.335648373] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050449.338318212] [sailbot.teensy]: Wind angle: 221 +[trim_sail-4] [INFO] [1746050449.338332249] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050449.339326223] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050449.339523673] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050449.340244681] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050449.341130971] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050449.344334282] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050449.344909735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050449.345415079] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050449.346672994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050449.347734724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050449.445640973] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050449.446726355] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050449.447239871] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050449.448253245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050449.448775844] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050449.503627389] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906691 Long: -76.50315913 +[vectornav-1] [INFO] [1746050449.505371318] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (134.84000000000003, 0.797, 4.395) +[mux-7] [INFO] [1746050449.545260404] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050449.546052288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050449.547504269] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050449.548225342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050449.549325812] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050449.585224817] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050449.587070267] [sailbot.teensy]: Wind angle: 221 +[trim_sail-4] [INFO] [1746050449.587467951] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050449.588014836] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050449.588957537] [sailbot.teensy]: Actual tail angle: 15 +[mux-7] [INFO] [1746050449.589470625] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050449.589838110] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050449.645529440] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050449.646235174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050449.647266216] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050449.648671564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050449.650116003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050449.745587075] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050449.746320683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050449.747244134] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050449.748880081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050449.750131163] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050449.835802558] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050449.838699500] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050449.839055466] [sailbot.teensy]: Wind angle: 217 +[mux-7] [INFO] [1746050449.839735072] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050449.840267485] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050449.841303884] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050449.842181719] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050449.844316205] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050449.844754882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050449.845494412] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050449.846436030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050449.847515936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050449.945618808] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050449.946640383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050449.947225949] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050449.949169077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050449.950436220] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050450.003259054] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690668 Long: -76.50315923 +[vectornav-1] [INFO] [1746050450.004529104] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (133.916, -0.772, 3.308) +[mux-7] [INFO] [1746050450.045385725] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050450.047681744] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050450.046824611] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050450.049338559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050450.050426296] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050450.085727923] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050450.088064147] [sailbot.teensy]: Wind angle: 207 +[teensy-2] [INFO] [1746050450.089117147] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050450.088505266] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050450.089342198] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050450.090031834] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050450.090948148] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050450.145300567] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050450.146312340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050450.146844684] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050450.148600538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050450.149763393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050450.245223489] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050450.246184905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050450.246789746] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050450.248378307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050450.248877174] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050450.335401132] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050450.337319765] [sailbot.teensy]: Wind angle: 203 +[teensy-2] [INFO] [1746050450.338313060] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050450.337962132] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050450.338850640] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050450.339197134] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050450.340101078] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050450.344415409] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050450.344975322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050450.345679319] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050450.346681708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050450.347833997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050450.445498329] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050450.446248461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050450.447182614] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050450.448622822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050450.449800329] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050450.502522305] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690665 Long: -76.50315968 +[vectornav-1] [INFO] [1746050450.503531425] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (131.22500000000002, -0.804, 4.407) +[mux-7] [INFO] [1746050450.545098122] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050450.546009941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050450.546492975] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050450.547872430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050450.549058410] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050450.585844116] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050450.588338115] [sailbot.teensy]: Wind angle: 203 +[trim_sail-4] [INFO] [1746050450.589140434] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050450.589477161] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050450.590465021] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050450.591357157] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050450.591422991] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050450.645387455] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050450.645997087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050450.647064756] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050450.648195245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050450.648727806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050450.745863191] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050450.746415306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050450.747681244] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050450.748776882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050450.750703911] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050450.835352746] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050450.837866729] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050450.838062797] [sailbot.teensy]: Wind angle: 203 +[mux-7] [INFO] [1746050450.838248731] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050450.839051232] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050450.839985952] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050450.840924757] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050450.844736596] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050450.845129446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050450.845958873] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050450.846812296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050450.847933796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050450.945427468] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050450.946106000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050450.947072585] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050450.948309157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050450.949500828] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050451.003335405] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690664 Long: -76.50315982 +[vectornav-1] [INFO] [1746050451.005467434] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (128.673, 0.139, 5.11) +[mux-7] [INFO] [1746050451.045385650] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050451.046215759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050451.047205950] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050451.048442231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050451.049627641] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050451.085900250] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050451.088259027] [sailbot.teensy]: Wind angle: 203 +[trim_sail-4] [INFO] [1746050451.089243147] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050451.089351386] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050451.090148924] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050451.090289518] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050451.091173388] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050451.145362605] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050451.146098203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050451.146909369] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050451.148512540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050451.149726051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050451.245625453] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050451.246454584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050451.247478556] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050451.247939755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050451.248499002] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050451.335608504] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050451.337542192] [sailbot.teensy]: Wind angle: 203 +[teensy-2] [INFO] [1746050451.338505683] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050451.338529773] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050451.339322962] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050451.339450148] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050451.340391036] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050451.344457858] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050451.345041663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050451.345633013] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050451.346902749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050451.348664893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050451.445456858] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050451.446534758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050451.447103158] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050451.449006944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050451.450166679] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050451.502504108] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906622 Long: -76.50315974 +[vectornav-1] [INFO] [1746050451.503559020] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (126.39699999999999, 0.897, 4.092) +[mux-7] [INFO] [1746050451.545087527] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050451.545848503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050451.546738389] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050451.547798197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050451.548332829] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050451.585556656] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050451.588243485] [sailbot.teensy]: Wind angle: 200 +[trim_sail-4] [INFO] [1746050451.588559529] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050451.589248632] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050451.589596909] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050451.590180215] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050451.591091584] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050451.645250324] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050451.646143271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050451.646844598] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050451.648387737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050451.649456557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050451.745648172] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050451.746565529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050451.747370887] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050451.748088971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050451.748514015] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050451.835225644] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050451.837429197] [sailbot.teensy]: Wind angle: 191 +[trim_sail-4] [INFO] [1746050451.837703133] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050451.838380336] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050451.838772652] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050451.839251297] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050451.840076637] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050451.844352513] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050451.845054687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050451.845524655] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050451.847207415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050451.848322403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050451.945604368] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050451.946800803] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050451.947296644] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050451.948039719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050451.948568742] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050452.003307222] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906568 Long: -76.50315962 +[vectornav-1] [INFO] [1746050452.005215955] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (122.017, -1.58, 5.412) +[mux-7] [INFO] [1746050452.045238452] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050452.046052504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050452.046690089] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050452.048366914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050452.049509227] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050452.085689726] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050452.088051115] [sailbot.teensy]: Wind angle: 190 +[trim_sail-4] [INFO] [1746050452.088797856] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050452.089555735] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050452.090199759] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050452.090533074] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050452.091433692] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050452.145036821] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050452.145838097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050452.146295196] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050452.147883364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050452.149879001] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050452.245402787] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050452.246247129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050452.246984432] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050452.248564128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050452.249759924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050452.298154109] [sailbot.mux]: controller_app rudder angle: -16 +[teensy-2] [INFO] [1746050452.335440211] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050452.338031618] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050452.338234091] [sailbot.teensy]: Wind angle: 186 +[mux-7] [INFO] [1746050452.338477170] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050452.339259932] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050452.340139162] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050452.341043322] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050452.344472520] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050452.344987382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050452.345631120] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050452.346686663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050452.347861317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050452.445108442] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050452.445961489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050452.446555910] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050452.448215826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050452.448831759] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050452.503559197] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906531 Long: -76.50315965 +[vectornav-1] [INFO] [1746050452.504971767] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (118.053, 0.82, 4.027) +[mux-7] [INFO] [1746050452.545033271] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050452.545624573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050452.546309887] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050452.547518951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050452.548642335] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050452.585218806] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050452.587168897] [sailbot.teensy]: Wind angle: 177 +[trim_sail-4] [INFO] [1746050452.587538622] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050452.588126599] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050452.589034100] [sailbot.teensy]: Actual tail angle: 12 +[mux-7] [INFO] [1746050452.589266587] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050452.589916684] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050452.644959208] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050452.645517609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050452.646387077] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050452.647501785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050452.648671567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050452.745032591] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050452.745793288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050452.746345812] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050452.747949040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050452.748680377] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050452.835584086] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050452.837894243] [sailbot.teensy]: Wind angle: 174 +[trim_sail-4] [INFO] [1746050452.838693534] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050452.839548340] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050452.840073089] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050452.841116493] [sailbot.teensy]: Actual tail angle: 9 +[teensy-2] [INFO] [1746050452.842029996] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050452.844269868] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050452.844761473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050452.845560646] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050452.846475505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050452.847612668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050452.945565992] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050452.946264747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050452.947244346] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050452.948663872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050452.949967957] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050453.002500181] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906486 Long: -76.5031593 +[vectornav-1] [INFO] [1746050453.003618998] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (112.62400000000002, -0.011, 6.668) +[mux-7] [INFO] [1746050453.045326952] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050453.046154569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050453.046907211] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050453.048674836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050453.049825660] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050453.085523899] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050453.088106760] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050453.088781964] [sailbot.teensy]: Wind angle: 174 +[mux-7] [INFO] [1746050453.089314292] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050453.089725411] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050453.090596720] [sailbot.teensy]: Actual tail angle: 9 +[teensy-2] [INFO] [1746050453.091441604] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050453.145202193] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050453.145918877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050453.146677439] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050453.148082480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050453.149265877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050453.245149352] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050453.245895995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050453.246589025] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050453.248375668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050453.248818189] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050453.335650665] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050453.338543308] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050453.338774487] [sailbot.teensy]: Wind angle: 171 +[mux-7] [INFO] [1746050453.338895356] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050453.339192994] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050453.339597433] [sailbot.teensy]: Actual tail angle: 9 +[teensy-2] [INFO] [1746050453.340423339] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050453.344439571] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050453.344906112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050453.345639053] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050453.346732438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050453.347921780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050453.445383486] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050453.446091436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050453.447110391] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050453.448202579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050453.448752355] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050453.503028969] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906436 Long: -76.50315876 +[vectornav-1] [INFO] [1746050453.504222886] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (107.32400000000001, -1.743, 5.182) +[mux-7] [INFO] [1746050453.545116489] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050453.545798853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050453.546401112] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050453.547693112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050453.549069857] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050453.585380028] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050453.587241085] [sailbot.teensy]: Wind angle: 169 +[teensy-2] [INFO] [1746050453.588178362] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050453.587727692] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050453.588583372] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050453.589163899] [sailbot.teensy]: Actual tail angle: 9 +[teensy-2] [INFO] [1746050453.590061850] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050453.644983079] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050453.645845323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050453.646642877] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050453.647784528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050453.648661499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050453.745058608] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050453.746374622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050453.746681051] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050453.748571222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050453.749656633] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050453.835369749] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050453.837744521] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050453.837857659] [sailbot.teensy]: Wind angle: 169 +[teensy-2] [INFO] [1746050453.838812627] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050453.839711214] [sailbot.teensy]: Actual tail angle: 9 +[mux-7] [INFO] [1746050453.839775736] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050453.840590811] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050453.844346784] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050453.844846598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050453.845566987] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050453.846618100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050453.847678260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050453.945308235] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050453.945981253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050453.946838584] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050453.948092201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050453.949244430] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050454.002490779] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906385 Long: -76.50315877 +[vectornav-1] [INFO] [1746050454.003985314] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (101.555, 1.541, 5.969) +[mux-7] [INFO] [1746050454.045101647] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050454.045687103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050454.046527317] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050454.047670555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050454.048700482] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050454.085425636] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050454.087552861] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746050454.088622907] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050454.088677359] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050454.089557431] [sailbot.teensy]: Actual tail angle: 9 +[mux-7] [INFO] [1746050454.090296341] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050454.090451513] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050454.144933065] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050454.145625934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050454.146276796] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050454.147540367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050454.148711439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050454.245186304] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050454.246011149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050454.246688417] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050454.248084508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050454.249140184] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050454.335527714] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050454.338034595] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050454.338730308] [sailbot.teensy]: Wind angle: 160 +[mux-7] [INFO] [1746050454.339369946] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050454.339764660] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050454.340740729] [sailbot.teensy]: Actual tail angle: 9 +[teensy-2] [INFO] [1746050454.341616690] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050454.344370508] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050454.345091073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050454.345537140] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050454.347201891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050454.348372543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050454.445608640] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050454.446729416] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050454.447714087] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050454.448501477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050454.449031586] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050454.503253373] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906315 Long: -76.5031584 +[vectornav-1] [INFO] [1746050454.504713029] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (95.87200000000001, -1.742, 4.506) +[mux-7] [INFO] [1746050454.545002904] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050454.545740565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050454.546322936] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050454.548010541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050454.549171325] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050454.585392672] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050454.587287786] [sailbot.teensy]: Wind angle: 157 +[teensy-2] [INFO] [1746050454.588309343] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050454.588330979] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050454.589229437] [sailbot.teensy]: Actual tail angle: 9 +[mux-7] [INFO] [1746050454.589249406] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050454.590706497] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050454.644867413] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050454.645463429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050454.646088617] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050454.647334157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050454.648498043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050454.745174463] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050454.746212444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050454.746657411] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050454.748379816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050454.749383614] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050454.835445326] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050454.837844743] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050454.838109247] [sailbot.teensy]: Wind angle: 153 +[teensy-2] [INFO] [1746050454.839033502] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050454.839116884] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050454.840034301] [sailbot.teensy]: Actual tail angle: 9 +[teensy-2] [INFO] [1746050454.840928049] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050454.844373505] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050454.845124729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050454.845472248] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050454.846948564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050454.847986656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050454.945282045] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050454.946082883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050454.946776314] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050454.948349683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050454.948869818] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050455.002466377] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690626 Long: -76.50315807 +[vectornav-1] [INFO] [1746050455.003555708] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (87.678, -0.207, 6.929) +[mux-7] [INFO] [1746050455.045433143] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050455.046393139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050455.047339583] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050455.048683645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050455.049764204] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050455.085288316] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050455.088305986] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050455.088352559] [sailbot.teensy]: Wind angle: 150 +[teensy-2] [INFO] [1746050455.089330311] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050455.089523405] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050455.090304662] [sailbot.teensy]: Actual tail angle: 9 +[teensy-2] [INFO] [1746050455.091197981] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050455.144998612] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050455.145521695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050455.146400253] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050455.147437506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050455.148491660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050455.245391351] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050455.246225068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050455.247528610] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050455.248673464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050455.250496646] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050455.335633224] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050455.338572640] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050455.339423405] [sailbot.teensy]: Wind angle: 144 +[mux-7] [INFO] [1746050455.339690660] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050455.340361573] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050455.340756690] [sailbot.teensy]: Actual tail angle: 9 +[teensy-2] [INFO] [1746050455.341093998] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050455.344367317] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050455.344884170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050455.345453358] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050455.346583032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050455.347654807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050455.445629043] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050455.446618368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050455.447715369] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050455.449587282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050455.450673521] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050455.503025700] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906216 Long: -76.50315746 +[vectornav-1] [INFO] [1746050455.504352883] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (78.49099999999999, 1.373, 9.358) +[mux-7] [INFO] [1746050455.545194348] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050455.546066177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050455.546677764] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050455.548592342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050455.549679001] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050455.585435897] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050455.587466450] [sailbot.teensy]: Wind angle: 142 +[teensy-2] [INFO] [1746050455.588457240] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050455.588405401] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050455.588781911] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050455.589356687] [sailbot.teensy]: Actual tail angle: 9 +[teensy-2] [INFO] [1746050455.590236007] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050455.645197642] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050455.646241694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050455.646692099] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050455.648404065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050455.649566453] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050455.745267013] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050455.746218564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050455.746846243] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050455.748379740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050455.748983519] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050455.835316947] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050455.837461945] [sailbot.teensy]: Wind angle: 139 +[trim_sail-4] [INFO] [1746050455.837623137] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050455.838421669] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050455.839321407] [sailbot.teensy]: Actual tail angle: 9 +[mux-7] [INFO] [1746050455.840025287] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050455.840602288] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050455.844369662] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050455.845241992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050455.845684894] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050455.847072338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050455.848425775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050455.945239606] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050455.945959401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050455.946879197] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050455.947997863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050455.949275919] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050456.002459929] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906171 Long: -76.50315693 +[vectornav-1] [INFO] [1746050456.003552503] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (67.67599999999999, -2.766, 8.514) +[mux-7] [INFO] [1746050456.045008334] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050456.045701937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050456.046381522] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050456.047926575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050456.049087379] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050456.085513011] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050456.087561054] [sailbot.teensy]: Wind angle: 134 +[trim_sail-4] [INFO] [1746050456.088198874] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050456.089407258] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050456.089542527] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050456.090937056] [sailbot.teensy]: Actual tail angle: 9 +[teensy-2] [INFO] [1746050456.091990234] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050456.145166052] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050456.145876102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050456.146466323] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050456.148098602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050456.149200959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050456.244877538] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050456.245621365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050456.246285473] [sailbot.mux]: Published rudder angle from controller_app: -16 +[teensy-2] [INFO] [1746050456.247389262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 +[teensy-2] [INFO] [1746050456.248621035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050456.300424421] [sailbot.mux]: controller_app rudder angle: 6 +[teensy-2] [INFO] [1746050456.335292055] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050456.336975611] [sailbot.teensy]: Wind angle: 130 +[trim_sail-4] [INFO] [1746050456.337497665] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050456.337866255] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050456.338719693] [sailbot.teensy]: Actual tail angle: 9 +[mux-7] [INFO] [1746050456.338778034] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050456.339620530] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050456.344418911] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050456.345113303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050456.345563445] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050456.346777433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050456.347960187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050456.445162704] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050456.445873919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050456.446462967] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050456.447868409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050456.448979447] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050456.502611076] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690616 Long: -76.50315595 +[vectornav-1] [INFO] [1746050456.503674944] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.295000000000016, 0.513, 12.762) +[mux-7] [INFO] [1746050456.545547076] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050456.546407138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050456.547466185] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050456.548759318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050456.549302902] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050456.585761512] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050456.587876353] [sailbot.teensy]: Wind angle: 128 +[trim_sail-4] [INFO] [1746050456.588550495] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050456.589883866] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050456.590234721] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050456.591211200] [sailbot.teensy]: Actual tail angle: 9 +[teensy-2] [INFO] [1746050456.592134639] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050456.645389428] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050456.646196780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050456.647025468] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050456.648985493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050456.650157161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050456.745272525] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050456.746301003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050456.746873907] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050456.747859035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050456.748394625] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050456.835352403] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050456.837247413] [sailbot.teensy]: Wind angle: 124 +[trim_sail-4] [INFO] [1746050456.837853778] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050456.838210551] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050456.839109700] [sailbot.teensy]: Actual tail angle: 31 +[mux-7] [INFO] [1746050456.839147530] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050456.840022793] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050456.844482760] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050456.845044281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050456.845755503] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050456.846870705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050456.848028328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050456.945162184] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050456.946151441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050456.946640081] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050456.947731505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050456.948231197] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050457.002691525] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906116 Long: -76.50315306 +[vectornav-1] [INFO] [1746050457.004196462] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.74400000000003, -0.64, 19.656) +[mux-7] [INFO] [1746050457.045533735] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050457.046135584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050457.047188173] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050457.047916505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050457.048414513] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050457.085652994] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050457.087765657] [sailbot.teensy]: Wind angle: 123 +[teensy-2] [INFO] [1746050457.088772190] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050457.088199956] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050457.089645362] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050457.089681533] [sailbot.teensy]: Actual tail angle: 31 +[teensy-2] [INFO] [1746050457.090561464] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050457.145301430] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050457.146113346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050457.146895539] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050457.148487907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050457.149086894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050457.245204760] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050457.245912854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050457.246794597] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050457.247944735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050457.248489598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050457.334944093] [sailbot.mux]: controller_app rudder angle: 10 +[teensy-2] [INFO] [1746050457.335157528] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050457.336894872] [sailbot.teensy]: Wind angle: 112 +[teensy-2] [INFO] [1746050457.337643548] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050457.337646981] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050457.338037849] [sailbot.teensy]: Actual tail angle: 31 +[mux-7] [INFO] [1746050457.338150684] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050457.338399907] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050457.344359053] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050457.344957137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050457.345456371] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050457.346649957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050457.347701713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050457.445233884] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050457.445959750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050457.446697946] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050457.448072093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050457.449057500] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050457.503495269] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906166 Long: -76.50315177 +[vectornav-1] [INFO] [1746050457.504907108] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.903999999999996, -1.405, 17.083) +[mux-7] [INFO] [1746050457.544913983] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050457.545641260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050457.546149374] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050457.547690658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050457.548735708] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050457.585431584] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050457.587321110] [sailbot.teensy]: Wind angle: 89 +[teensy-2] [INFO] [1746050457.588337658] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050457.588548713] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050457.589209447] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050457.589275735] [sailbot.teensy]: Actual tail angle: 31 +[teensy-2] [INFO] [1746050457.590255329] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050457.645047342] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050457.646078071] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050457.646695454] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050457.648318908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050457.649590067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050457.745143809] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050457.745930525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050457.746909774] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050457.748146834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050457.749033631] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050457.835638514] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050457.838734086] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050457.838888642] [sailbot.teensy]: Wind angle: 92 +[teensy-2] [INFO] [1746050457.839908446] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050457.840340245] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050457.840877118] [sailbot.teensy]: Actual tail angle: 35 +[teensy-2] [INFO] [1746050457.841960243] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050457.844318140] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050457.845088601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050457.845456410] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050457.846973475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050457.848227903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050457.945835015] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050457.946795490] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050457.947348543] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050457.948297466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050457.948795498] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050458.002486056] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906219 Long: -76.50314953 +[vectornav-1] [INFO] [1746050458.003589685] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.259000000000015, -0.151, 13.807) +[mux-7] [INFO] [1746050458.045459256] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050458.046295946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050458.047135318] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050458.048664651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050458.049997942] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050458.085805175] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050458.088781220] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050458.089131910] [sailbot.teensy]: Wind angle: 109 +[mux-7] [INFO] [1746050458.089595909] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050458.090109291] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050458.091109798] [sailbot.teensy]: Actual tail angle: 35 +[teensy-2] [INFO] [1746050458.092091472] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050458.145460587] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050458.146390207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050458.147148744] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050458.150373078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050458.151433557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050458.245520830] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050458.246129583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050458.247160626] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050458.247760105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050458.248237522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050458.320514466] [sailbot.mux]: controller_app rudder angle: 4 +[teensy-2] [INFO] [1746050458.335465965] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050458.338083844] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050458.339264786] [sailbot.teensy]: Wind angle: 109 +[mux-7] [INFO] [1746050458.339264283] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050458.340300516] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050458.341172719] [sailbot.teensy]: Actual tail angle: 35 +[teensy-2] [INFO] [1746050458.342018226] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050458.344291965] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050458.344855929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050458.345372324] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050458.346539807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050458.347660233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050458.445580686] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050458.446248440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050458.447092027] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050458.448336867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050458.448870612] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050458.503603733] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906202 Long: -76.50314667 +[vectornav-1] [INFO] [1746050458.505318768] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (22.57499999999999, 1.024, 12.904) +[mux-7] [INFO] [1746050458.544914491] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050458.545742947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050458.546150899] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050458.547714010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050458.548742627] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050458.585264208] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050458.587341495] [sailbot.teensy]: Wind angle: 105 +[trim_sail-4] [INFO] [1746050458.587391635] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050458.588342764] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050458.588348965] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050458.589270866] [sailbot.teensy]: Actual tail angle: 35 +[teensy-2] [INFO] [1746050458.590150160] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050458.645133577] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050458.645647039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050458.646684667] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050458.647566213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050458.648699598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050458.745203542] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050458.745931585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050458.746692176] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050458.748002791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050458.748894133] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050458.835367292] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050458.837753169] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050458.839010803] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050458.839304335] [sailbot.teensy]: Wind angle: 102 +[teensy-2] [INFO] [1746050458.839718768] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050458.840094112] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050458.840650457] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050458.844430505] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050458.845186073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050458.845527652] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050458.846956445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050458.848071337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050458.945531953] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050458.946329162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050458.947207366] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050458.949152996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050458.950274576] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050459.002934379] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906291 Long: -76.50314416 +[vectornav-1] [INFO] [1746050459.004529179] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (17.891999999999996, -0.836, 9.802) +[mux-7] [INFO] [1746050459.045219158] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050459.045909863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050459.046580143] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050459.047800959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050459.049164610] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050459.085244994] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050459.086836629] [sailbot.teensy]: Wind angle: 102 +[trim_sail-4] [INFO] [1746050459.087298558] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050459.088788801] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050459.089289711] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050459.090186356] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050459.091064180] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050459.145110636] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050459.145879449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050459.146648225] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050459.147942527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050459.148552241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050459.245236776] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050459.246203031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050459.246719779] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050459.248906739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050459.250183423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050459.310652607] [sailbot.mux]: controller_app rudder angle: 2 +[teensy-2] [INFO] [1746050459.335762340] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050459.338658212] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050459.339096595] [sailbot.teensy]: Wind angle: 103 +[mux-7] [INFO] [1746050459.339923351] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050459.340788788] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050459.341747297] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050459.342622721] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050459.344399390] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050459.344840685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050459.345497170] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050459.346470688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050459.347528325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050459.445387044] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050459.446404913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050459.447008330] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050459.448804590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050459.449995398] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050459.502639920] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906355 Long: -76.50314087 +[vectornav-1] [INFO] [1746050459.504142029] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (13.437000000000012, -2.081, 12.077) +[mux-7] [INFO] [1746050459.545078983] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050459.545772423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050459.546588149] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050459.547672478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050459.548866153] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050459.585498411] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050459.587280284] [sailbot.teensy]: Wind angle: 104 +[trim_sail-4] [INFO] [1746050459.587838299] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050459.588243360] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050459.589143257] [sailbot.teensy]: Actual tail angle: 29 +[mux-7] [INFO] [1746050459.589675011] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050459.590046399] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050459.645417334] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050459.646368185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050459.647023596] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050459.648852090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050459.649364847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050459.745293053] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050459.746228001] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050459.747035942] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050459.748398872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050459.749534590] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050459.835294784] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050459.837410629] [sailbot.teensy]: Wind angle: 106 +[trim_sail-4] [INFO] [1746050459.837455006] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050459.837971374] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050459.838387847] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050459.838960690] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050459.839298951] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050459.844506124] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050459.845116257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050459.845619070] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050459.846881188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050459.847916569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050459.945267093] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050459.946083221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050459.946822918] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050459.948241874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050459.949537630] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050460.003009518] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906285 Long: -76.50313663 +[vectornav-1] [INFO] [1746050460.004557323] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (11.310000000000002, -0.689, 14.454) +[mux-7] [INFO] [1746050460.045203317] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050460.045905070] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050460.046550298] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050460.048091419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050460.049275789] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050460.085533015] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050460.087637276] [sailbot.teensy]: Wind angle: 102 +[trim_sail-4] [INFO] [1746050460.088469035] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050460.088608266] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050460.089516753] [sailbot.teensy]: Actual tail angle: 27 +[mux-7] [INFO] [1746050460.089525693] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050460.090389748] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050460.144889840] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050460.145350578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050460.146153068] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050460.147104494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050460.148267354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050460.245163775] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050460.245800495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050460.246861770] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050460.247740690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050460.248805583] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050460.335402977] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050460.338204984] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050460.338244155] [sailbot.teensy]: Wind angle: 97 +[teensy-2] [INFO] [1746050460.339187835] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050460.339290249] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050460.340090806] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050460.340682637] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050460.344437164] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050460.344976797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050460.346268793] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050460.346767534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050460.347782780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050460.388667295] [sailbot.mux]: controller_app rudder angle: -1 +[mux-7] [INFO] [1746050460.444980301] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050460.445754885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050460.446350820] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050460.447887594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050460.448931543] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050460.502509825] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906295 Long: -76.50313231 +[vectornav-1] [INFO] [1746050460.503724959] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (6.720000000000027, -0.273, 12.67) +[mux-7] [INFO] [1746050460.545253852] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050460.546166125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050460.546739127] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050460.548536210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050460.549512171] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050460.585530378] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050460.589140954] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050460.589373456] [sailbot.teensy]: Wind angle: 95 +[mux-7] [INFO] [1746050460.589583963] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050460.590334255] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050460.591197225] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050460.592059989] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050460.645159019] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050460.646031126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050460.646726037] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050460.648448179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050460.649528289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050460.745043513] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050460.745957643] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050460.746801957] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050460.747930219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050460.748762262] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050460.835289082] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050460.837333747] [sailbot.teensy]: Wind angle: 90 +[teensy-2] [INFO] [1746050460.838294994] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050460.838315243] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050460.838946500] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050460.839193618] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050460.840069877] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050460.844379022] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050460.844955799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050460.845477595] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050460.846685792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050460.847831820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050460.945733380] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050460.946657106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050460.947496819] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050460.949188515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050460.950484859] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050461.002428903] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906335 Long: -76.50312852 +[vectornav-1] [INFO] [1746050461.003413201] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (5.411000000000001, 1.321, 11.086) +[mux-7] [INFO] [1746050461.044975803] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050461.045935539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050461.046236668] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050461.047745243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050461.048927628] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050461.085517110] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050461.087487818] [sailbot.teensy]: Wind angle: 91 +[trim_sail-4] [INFO] [1746050461.088842833] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050461.089288187] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050461.089625547] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050461.090567450] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050461.091432080] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050461.144915800] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050461.145652634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050461.146316168] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050461.147458588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050461.148759117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050461.244901622] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050461.245720085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050461.246470687] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050461.247507460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050461.248764443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050461.286879407] [sailbot.mux]: controller_app rudder angle: -5 +[teensy-2] [INFO] [1746050461.335469876] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050461.337806952] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050461.338258440] [sailbot.teensy]: Wind angle: 92 +[mux-7] [INFO] [1746050461.338990845] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050461.339540879] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050461.340484515] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050461.341325348] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050461.344425197] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050461.344916596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050461.345519289] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050461.346630767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050461.347639294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050461.445543020] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050461.446326500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050461.447418302] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050461.449022546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050461.450607925] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050461.502842366] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906337 Long: -76.50312494 +[vectornav-1] [INFO] [1746050461.504120979] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (4.2379999999999995, -2.337, 10.491) +[mux-7] [INFO] [1746050461.545282038] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050461.546018396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050461.546775065] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050461.548245716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050461.549428039] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050461.585573685] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050461.588126845] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050461.588938413] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050461.589629201] [sailbot.teensy]: Wind angle: 92 +[teensy-2] [INFO] [1746050461.590622209] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050461.591489496] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050461.592429336] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050461.645221481] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050461.646099080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050461.646706633] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050461.648294571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050461.649457592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050461.745194005] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050461.746022805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050461.746848543] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050461.748249306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050461.749305226] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050461.835713139] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050461.837912665] [sailbot.teensy]: Wind angle: 91 +[trim_sail-4] [INFO] [1746050461.838476624] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050461.838933138] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050461.839904782] [sailbot.teensy]: Actual tail angle: 20 +[mux-7] [INFO] [1746050461.840515733] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050461.840987661] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050461.844131056] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050461.844748058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050461.845284100] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050461.846463126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050461.847495993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050461.945567523] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050461.946425694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050461.947268190] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050461.948288424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050461.948748818] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050462.002996684] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906344 Long: -76.50312039 +[vectornav-1] [INFO] [1746050462.004400982] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (7.499000000000024, -3.087, 11.258) +[mux-7] [INFO] [1746050462.045326135] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050462.046112969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050462.046834556] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050462.048752690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050462.049900212] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050462.085486831] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050462.087950477] [sailbot.teensy]: Wind angle: 92 +[trim_sail-4] [INFO] [1746050462.088141175] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050462.088555622] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050462.089624525] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050462.090617092] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050462.091463319] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050462.144881171] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050462.145671826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050462.146426659] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050462.147497982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050462.148646219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050462.245454243] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050462.246426115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050462.247366208] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050462.248611414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050462.249115440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050462.311078852] [sailbot.mux]: controller_app rudder angle: -7 +[teensy-2] [INFO] [1746050462.335309573] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050462.337268091] [sailbot.teensy]: Wind angle: 94 +[trim_sail-4] [INFO] [1746050462.337518534] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050462.338158968] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050462.338643494] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050462.339034358] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050462.339941291] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050462.344413923] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050462.345107079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050462.345522200] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050462.346947211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050462.347976907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050462.445544934] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050462.446203337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050462.447411482] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050462.448454485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050462.449641166] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050462.502526795] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906336 Long: -76.50311497 +[vectornav-1] [INFO] [1746050462.503583752] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (13.298000000000002, 3.76, 14.066) +[mux-7] [INFO] [1746050462.545256326] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050462.546187342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050462.546749596] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050462.548363202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050462.548942837] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050462.585614897] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050462.587759777] [sailbot.teensy]: Wind angle: 94 +[trim_sail-4] [INFO] [1746050462.588111949] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050462.589690515] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050462.590385153] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050462.591328091] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050462.592209785] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050462.645030696] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050462.645756777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050462.646448326] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050462.647697536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050462.648916456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050462.745536322] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050462.746504048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050462.747152993] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050462.748842372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050462.750011504] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050462.835694946] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050462.838078081] [sailbot.teensy]: Wind angle: 94 +[trim_sail-4] [INFO] [1746050462.838513737] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050462.839206883] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050462.840122643] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050462.840256795] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050462.841121610] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050462.844478996] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050462.844933978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050462.845919863] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050462.846723143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050462.847875362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050462.945179174] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050462.945997616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050462.946672738] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050462.948111219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050462.949350978] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050463.003441700] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906401 Long: -76.50311126 +[vectornav-1] [INFO] [1746050463.004888194] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (16.326999999999998, -0.642, 12.134) +[mux-7] [INFO] [1746050463.045086605] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050463.045888677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050463.046541126] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050463.047951418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050463.049015071] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050463.085162953] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050463.087277078] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050463.087783728] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050463.088406166] [sailbot.teensy]: Wind angle: 94 +[teensy-2] [INFO] [1746050463.089456158] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050463.090373072] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050463.091239201] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050463.145191499] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050463.146089975] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050463.146823368] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050463.148314527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050463.149536169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050463.245287668] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050463.246226441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050463.246783481] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050463.248437315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050463.249422990] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050463.335461204] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050463.337330110] [sailbot.teensy]: Wind angle: 94 +[teensy-2] [INFO] [1746050463.338316121] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050463.337786486] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050463.339034799] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050463.339229839] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050463.340260042] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050463.344419845] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050463.344988805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050463.345505087] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050463.346694850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050463.347719159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050463.445711587] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050463.446616910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050463.447552272] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050463.449174405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050463.450384144] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050463.502258249] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906552 Long: -76.50310728 +[vectornav-1] [INFO] [1746050463.503259459] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (22.346000000000004, -2.468, 11.088) +[mux-7] [INFO] [1746050463.545139319] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050463.546096367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050463.546546297] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050463.548095131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050463.549177553] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050463.584368357] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050463.586188656] [sailbot.teensy]: Wind angle: 105 +[trim_sail-4] [INFO] [1746050463.586189107] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050463.587174521] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050463.587215747] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050463.588132496] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050463.589049934] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050463.629595592] [sailbot.mux]: controller_app rudder angle: -10 +[mux-7] [INFO] [1746050463.643615174] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050463.644288732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050463.644413936] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050463.645585994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050463.646383653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050463.744912972] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050463.745547241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050463.746168078] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050463.747629303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050463.748358342] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050463.835443641] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050463.837777186] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050463.838231950] [sailbot.teensy]: Wind angle: 123 +[mux-7] [INFO] [1746050463.838845640] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050463.839192196] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050463.840221566] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050463.841101383] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050463.844451251] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050463.844907396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050463.845577015] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050463.846770009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050463.847826496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050463.945860662] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050463.946546026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050463.947574047] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050463.948915354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050463.950073602] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050464.003327140] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906629 Long: -76.50310223 +[vectornav-1] [INFO] [1746050464.004747578] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.50400000000002, 0.593, 15.228) +[mux-7] [INFO] [1746050464.045267693] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050464.046140230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050464.046660044] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050464.048704554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050464.049795899] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050464.085405514] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050464.087256361] [sailbot.teensy]: Wind angle: 125 +[trim_sail-4] [INFO] [1746050464.087787436] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050464.088311388] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050464.089312319] [sailbot.teensy]: Actual tail angle: 15 +[mux-7] [INFO] [1746050464.090317717] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050464.090550234] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050464.145250957] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050464.146093291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050464.146603067] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050464.148194100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050464.149255455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050464.245321748] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050464.246143965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050464.246846241] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050464.248477622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050464.249019523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050464.332652670] [sailbot.mux]: controller_app rudder angle: -3 +[teensy-2] [INFO] [1746050464.335032202] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050464.336581643] [sailbot.teensy]: Wind angle: 125 +[teensy-2] [INFO] [1746050464.337494781] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050464.337115151] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050464.338014311] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050464.338377264] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050464.339266119] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050464.344652020] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050464.344989146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050464.345919602] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050464.346645670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050464.347717720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050464.445211061] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050464.445916309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050464.446738171] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050464.447913152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050464.449079612] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050464.502505881] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906762 Long: -76.50309796 +[vectornav-1] [INFO] [1746050464.503712705] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (40.25799999999998, 0.047, 16.174) +[mux-7] [INFO] [1746050464.545380629] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050464.545989465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050464.546969070] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050464.548317790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050464.549428419] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050464.585786301] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050464.588673330] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050464.589617636] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050464.589825035] [sailbot.teensy]: Wind angle: 125 +[teensy-2] [INFO] [1746050464.590848930] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050464.591735645] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050464.592610534] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050464.645628204] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050464.646368753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050464.647272493] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050464.649310681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050464.650501291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050464.745476167] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050464.746485451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050464.747208928] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050464.748898454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050464.750125468] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050464.835399426] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050464.837262068] [sailbot.teensy]: Wind angle: 119 +[trim_sail-4] [INFO] [1746050464.837752054] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050464.838208880] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050464.839085863] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050464.839376367] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050464.839947139] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050464.844470261] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050464.845028129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050464.845637491] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050464.846721849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050464.847731863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050464.944926912] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050464.945728600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050464.946319670] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050464.947534987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050464.948005763] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050465.004010045] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906986 Long: -76.50309589 +[vectornav-1] [INFO] [1746050465.005544111] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.19, -0.029, 11.054) +[mux-7] [INFO] [1746050465.045334065] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050465.046017663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050465.047445813] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050465.048266087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050465.049383157] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050465.085331386] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050465.087126358] [sailbot.teensy]: Wind angle: 121 +[trim_sail-4] [INFO] [1746050465.087461218] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050465.088071606] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050465.089043487] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050465.089969197] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050465.090031058] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746050465.145025864] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050465.145944871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050465.146440222] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050465.148000863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050465.149139256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050465.245036816] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050465.246139369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050465.246504259] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050465.248442594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050465.249195904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050465.301012063] [sailbot.mux]: controller_app rudder angle: 1 +[teensy-2] [INFO] [1746050465.335463262] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050465.337747062] [sailbot.teensy]: Wind angle: 140 +[trim_sail-4] [INFO] [1746050465.337902606] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050465.338799693] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050465.339279907] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050465.339708240] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050465.340603937] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050465.344606206] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050465.345062111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050465.346051937] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050465.346771936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050465.347997502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050465.445564955] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050465.446225354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050465.447740216] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050465.448610131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050465.449182254] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050465.502443559] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46907188 Long: -76.50309349 +[vectornav-1] [INFO] [1746050465.503645332] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (72.14100000000002, -1.394, 14.779) +[mux-7] [INFO] [1746050465.545156435] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050465.545982086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050465.546965852] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050465.548194719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050465.549387008] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050465.585305022] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050465.587006307] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746050465.587481498] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050465.587934917] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050465.588854071] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050465.589135166] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050465.589708506] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050465.645393139] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050465.645924024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050465.647016865] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050465.648424888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050465.649082003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050465.745279237] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050465.745901253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050465.747539921] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050465.748301171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050465.748782908] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050465.835407707] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050465.837263109] [sailbot.teensy]: Wind angle: 164 +[trim_sail-4] [INFO] [1746050465.838197613] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050465.838970968] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050465.839233678] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050465.839648037] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050465.840313993] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050465.844580517] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050465.845207219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050465.845779612] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050465.846984526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050465.848055029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050465.945648178] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050465.946795582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050465.947359047] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050465.949617893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050465.950794574] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050466.003537299] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46907444 Long: -76.50309331 +[vectornav-1] [INFO] [1746050466.006648032] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (87.70299999999997, 0.304, 12.189) +[mux-7] [INFO] [1746050466.045304417] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050466.046116696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050466.046894004] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050466.048673212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050466.049694454] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050466.085325318] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050466.087158058] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746050466.087572479] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050466.088207973] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050466.089011767] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050466.089170936] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050466.090144184] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050466.145770752] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050466.146087770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050466.147920608] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050466.148205619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050466.148752185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050466.245397374] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050466.246159719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050466.247144381] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050466.248619918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050466.249803742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050466.289418377] [sailbot.mux]: controller_app rudder angle: 7 +[teensy-2] [INFO] [1746050466.335745834] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050466.338578270] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050466.339666488] [sailbot.teensy]: Wind angle: 164 +[mux-7] [INFO] [1746050466.339715361] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050466.340355837] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050466.341248880] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050466.342082439] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050466.344741327] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050466.345282213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050466.345909287] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050466.346973173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050466.348011902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050466.444643675] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050466.445780378] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050466.447888209] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050466.449576936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050466.450577851] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050466.503153718] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46907665 Long: -76.50309405 +[vectornav-1] [INFO] [1746050466.504483514] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (97.43599999999998, 0.6, 6.1) +[mux-7] [INFO] [1746050466.545156291] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050466.545788701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050466.546712978] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050466.548008365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050466.549214098] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050466.585149896] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050466.587220386] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050466.587262438] [sailbot.teensy]: Wind angle: 164 +[teensy-2] [INFO] [1746050466.588115443] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050466.588216599] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050466.589003189] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050466.589865306] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050466.645496523] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050466.646454738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050466.647090654] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050466.648913350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050466.650101488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050466.745301207] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050466.746030388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050466.746798761] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050466.748259106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050466.749578262] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050466.835372758] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050466.837748467] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050466.837876927] [sailbot.teensy]: Wind angle: 167 +[teensy-2] [INFO] [1746050466.838802987] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050466.838966885] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050466.839712816] [sailbot.teensy]: Actual tail angle: 32 +[teensy-2] [INFO] [1746050466.840642347] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050466.844426386] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050466.845111273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050466.845640936] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050466.846976168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050466.848002071] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050466.945325358] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050466.945950550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050466.946862475] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050466.947848681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050466.948429819] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050467.003560173] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46907889 Long: -76.50309506 +[vectornav-1] [INFO] [1746050467.005417197] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (104.79399999999998, -2.202, 4.9) +[mux-7] [INFO] [1746050467.045096323] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050467.045823548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050467.046633835] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050467.047911849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050467.048973437] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050467.085125963] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050467.086751943] [sailbot.teensy]: Wind angle: 168 +[teensy-2] [INFO] [1746050467.087641323] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050467.088484081] [sailbot.teensy]: Actual tail angle: 32 +[trim_sail-4] [INFO] [1746050467.087486759] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050467.088131139] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050467.089350738] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050467.144947944] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050467.145616091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050467.146226384] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050467.147458982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050467.148614543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050467.245393596] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050467.246176491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050467.246911279] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050467.248484113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050467.249110637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050467.300624348] [sailbot.mux]: controller_app rudder angle: 9 +[teensy-2] [INFO] [1746050467.336003898] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050467.339150939] [sailbot.teensy]: Wind angle: 171 +[trim_sail-4] [INFO] [1746050467.339504933] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050467.340280243] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050467.340639552] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050467.341280601] [sailbot.teensy]: Actual tail angle: 32 +[teensy-2] [INFO] [1746050467.342253262] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050467.344614335] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050467.345690966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050467.345944231] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050467.347811040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050467.348902006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050467.445601425] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050467.446293286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050467.447327415] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050467.448880047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050467.449443869] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050467.502813898] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908127 Long: -76.50309636 +[vectornav-1] [INFO] [1746050467.503901552] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (106.969, 4.269, 4.457) +[mux-7] [INFO] [1746050467.545334958] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050467.546069834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050467.546869453] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050467.548518286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050467.549697012] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050467.585349453] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050467.587054525] [sailbot.teensy]: Wind angle: 172 +[trim_sail-4] [INFO] [1746050467.587656645] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050467.588038023] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050467.588964260] [sailbot.teensy]: Actual tail angle: 32 +[mux-7] [INFO] [1746050467.588117266] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050467.589835969] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050467.644846065] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050467.645473636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050467.646020517] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050467.647301520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050467.648348986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050467.745137431] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050467.745817555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050467.746539774] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050467.747885925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050467.749009266] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050467.835365400] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050467.837532629] [sailbot.teensy]: Wind angle: 172 +[trim_sail-4] [INFO] [1746050467.837977323] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050467.838575103] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050467.839414128] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050467.839925440] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746050467.841003094] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050467.844413943] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050467.844922723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050467.845551529] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050467.847053766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050467.848118353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050467.945040024] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050467.945666619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050467.946322823] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050467.947542616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050467.948636751] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050468.004038251] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908249 Long: -76.50309708 +[vectornav-1] [INFO] [1746050468.005814473] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (105.24599999999998, -3.135, 5.663) +[mux-7] [INFO] [1746050468.045245984] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050468.046118244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050468.046798765] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050468.048527204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050468.049697790] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050468.085232463] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050468.087219185] [sailbot.teensy]: Wind angle: 170 +[trim_sail-4] [INFO] [1746050468.087282820] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050468.088326954] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050468.089038333] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050468.089321031] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746050468.090262347] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050468.145367636] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050468.146018043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050468.146971724] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050468.148564184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050468.149708818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050468.245419402] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050468.246244989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050468.247178555] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050468.248361064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050468.249533940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050468.323601034] [sailbot.mux]: controller_app rudder angle: 10 +[teensy-2] [INFO] [1746050468.335615227] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050468.338210136] [sailbot.teensy]: Wind angle: 170 +[trim_sail-4] [INFO] [1746050468.338244858] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050468.339245356] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050468.339728644] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050468.340298208] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746050468.341341019] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050468.344322169] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050468.345096047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050468.345431048] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050468.346979527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050468.348060958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050468.445589382] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050468.446249390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050468.447203906] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050468.448549298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050468.449703002] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050468.503242581] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908441 Long: -76.50309801 +[vectornav-1] [INFO] [1746050468.504550428] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (103.77800000000002, 0.356, 4.067) +[mux-7] [INFO] [1746050468.545075056] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050468.546013032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050468.546510232] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050468.548109312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050468.549220330] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050468.585380617] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050468.587778787] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050468.587778737] [sailbot.teensy]: Wind angle: 170 +[teensy-2] [INFO] [1746050468.588806280] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050468.589244817] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050468.589712732] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746050468.590351885] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050468.645523641] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050468.646350613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050468.647132175] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050468.648686201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050468.649814021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050468.745363759] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050468.746034063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050468.746887367] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050468.748534312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050468.749165974] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050468.835326879] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050468.837537255] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050468.838061796] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050468.839303856] [sailbot.teensy]: Wind angle: 168 +[teensy-2] [INFO] [1746050468.839710631] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050468.840144730] [sailbot.teensy]: Actual tail angle: 35 +[teensy-2] [INFO] [1746050468.840510794] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050468.844376476] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050468.845048563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050468.845515945] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050468.846781339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050468.847880455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050468.945297004] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050468.945961562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050468.946872459] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050468.948141248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050468.949467970] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050469.003449351] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908609 Long: -76.50309865 +[vectornav-1] [INFO] [1746050469.005438237] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (100.01400000000001, 0.294, 4.844) +[mux-7] [INFO] [1746050469.045327648] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050469.046267613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050469.046912147] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050469.048728005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050469.049763263] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050469.085560951] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050469.087778629] [sailbot.teensy]: Wind angle: 168 +[trim_sail-4] [INFO] [1746050469.087989167] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050469.088754650] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050469.089222245] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050469.089681687] [sailbot.teensy]: Actual tail angle: 35 +[teensy-2] [INFO] [1746050469.090562183] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050469.145758236] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050469.146008889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050469.147392497] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050469.148184473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050469.148836356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050469.245633815] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050469.246354854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050469.247471458] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050469.250067195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 +[teensy-2] [INFO] [1746050469.251096764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050469.301163860] [sailbot.mux]: controller_app rudder angle: 0 +[teensy-2] [INFO] [1746050469.335546034] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050469.337457491] [sailbot.teensy]: Wind angle: 167 +[trim_sail-4] [INFO] [1746050469.338027253] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050469.338432337] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050469.339373679] [sailbot.teensy]: Actual tail angle: 35 +[mux-7] [INFO] [1746050469.339857964] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050469.340263599] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050469.344470658] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050469.344985177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050469.345691693] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050469.346758844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050469.347761637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050469.445443256] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050469.446104730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050469.447040902] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050469.447952448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050469.448502214] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050469.502754958] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908743 Long: -76.50309879 +[vectornav-1] [INFO] [1746050469.503276717] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (94.86200000000002, 0.905, 4.204) +[mux-7] [INFO] [1746050469.545313189] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050469.546262525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050469.546957982] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050469.549111086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050469.550255316] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050469.585547964] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050469.587829230] [sailbot.teensy]: Wind angle: 167 +[teensy-2] [INFO] [1746050469.588794389] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050469.588311832] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050469.589359612] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050469.589661410] [sailbot.teensy]: Actual tail angle: 35 +[teensy-2] [INFO] [1746050469.590563958] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050469.645071445] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050469.645855702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050469.646511819] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050469.648034629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050469.649161304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050469.745628718] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050469.746683206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050469.747362495] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050469.748638653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050469.749038097] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050469.835426328] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050469.837822855] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050469.837967133] [sailbot.teensy]: Wind angle: 159 +[teensy-2] [INFO] [1746050469.838890661] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050469.838880713] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050469.839806685] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050469.840729003] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050469.844449436] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050469.845013166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050469.846384176] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050469.846802123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050469.847992394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050469.945474614] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050469.946682080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050469.947022994] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050469.948871376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050469.950128793] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050470.003205155] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908833 Long: -76.50309875 +[vectornav-1] [INFO] [1746050470.004940599] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (89.38099999999997, -1.173, 4.292) +[mux-7] [INFO] [1746050470.045407187] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050470.046453402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050470.046927740] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050470.048943324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050470.050250550] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050470.085474152] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050470.087964612] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050470.088380445] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050470.089406333] [sailbot.teensy]: Wind angle: 157 +[teensy-2] [INFO] [1746050470.090327685] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050470.091183323] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050470.091985473] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050470.145213633] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050470.145951843] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050470.146743986] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050470.147959970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050470.149063151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050470.244941348] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050470.245582054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050470.246196996] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050470.248295081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050470.249487235] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050470.335729389] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050470.338704765] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050470.339075442] [sailbot.teensy]: Wind angle: 155 +[mux-7] [INFO] [1746050470.339448827] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050470.339989194] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050470.340575916] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050470.340924398] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050470.344447734] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050470.345041736] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050470.345653330] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050470.346715095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050470.347793289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050470.413372931] [sailbot.mux]: controller_app rudder angle: 9 +[mux-7] [INFO] [1746050470.445317662] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050470.446257219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050470.446838966] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050470.448502934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050470.449560921] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050470.503769237] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908955 Long: -76.50309865 +[vectornav-1] [INFO] [1746050470.505761658] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (85.469, -3.284, 3.566) +[mux-7] [INFO] [1746050470.545002506] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050470.545805251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050470.546456213] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050470.548495474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050470.549691751] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050470.585346116] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050470.587265323] [sailbot.teensy]: Wind angle: 155 +[trim_sail-4] [INFO] [1746050470.588913574] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050470.589057392] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050470.589653300] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050470.590194342] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050470.591247578] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050470.645568710] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050470.646449131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050470.647357141] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050470.648919167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050470.650318774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050470.745514249] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050470.746740183] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050470.747188533] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050470.749243612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050470.750361992] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050470.835496355] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050470.837891376] [sailbot.teensy]: Wind angle: 155 +[trim_sail-4] [INFO] [1746050470.838060528] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050470.839221808] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050470.839600014] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050470.840609941] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746050470.841691027] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050470.844625490] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050470.845032082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050470.845810791] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050470.846800233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050470.847866294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050470.945567844] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050470.946361054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050470.947744871] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050470.949284936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050470.950448216] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050471.003635450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909058 Long: -76.50309835 +[vectornav-1] [INFO] [1746050471.005200168] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (77.12400000000002, 8.236, 10.629) +[mux-7] [INFO] [1746050471.045219373] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050471.045851934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050471.046771179] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050471.047601337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050471.048072857] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050471.085401347] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050471.087313959] [sailbot.teensy]: Wind angle: 155 +[trim_sail-4] [INFO] [1746050471.087863258] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050471.088321197] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050471.089234705] [sailbot.teensy]: Actual tail angle: 34 +[mux-7] [INFO] [1746050471.089579857] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050471.090088369] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050471.145202416] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050471.145806229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050471.146858353] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050471.147818831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050471.148879597] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050471.245559233] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050471.246193826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050471.247219602] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050471.248679917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050471.249800466] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050471.335714448] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050471.337954132] [sailbot.teensy]: Wind angle: 154 +[trim_sail-4] [INFO] [1746050471.338577251] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050471.339051384] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050471.340053656] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746050471.340975128] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050471.341299219] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050471.344245213] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050471.344888057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050471.345300702] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050471.346585009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050471.347746882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050471.445231477] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050471.446190893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050471.446866915] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050471.448017572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050471.448589236] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050471.503034063] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690907 Long: -76.503097 +[vectornav-1] [INFO] [1746050471.504433579] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (71.08999999999997, -7.782, 14.276) +[mux-7] [INFO] [1746050471.545285332] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050471.546116544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050471.546875507] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050471.548640410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050471.549784510] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050471.585564232] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050471.587459775] [sailbot.teensy]: Wind angle: 150 +[teensy-2] [INFO] [1746050471.588446826] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050471.588345385] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050471.589303835] [sailbot.teensy]: Actual tail angle: 34 +[mux-7] [INFO] [1746050471.589294578] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050471.590162300] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050471.645324609] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050471.646138321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050471.646917554] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050471.648709684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050471.649293069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050471.745375596] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050471.746062595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050471.746908816] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050471.748336844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050471.750125136] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050471.835895545] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050471.838998794] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050471.839100750] [sailbot.teensy]: Wind angle: 143 +[mux-7] [INFO] [1746050471.839561004] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050471.840120269] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050471.841102076] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746050471.841597632] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050471.844533435] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050471.845051104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050471.845716451] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050471.846829380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050471.848016880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050471.945630142] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050471.946302287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050471.947422945] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050471.948730459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050471.949647923] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050472.003227999] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909158 Long: -76.50309671 +[vectornav-1] [INFO] [1746050472.004868370] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (66.85399999999998, 2.843, 11.254) +[mux-7] [INFO] [1746050472.045280923] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050472.046314197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050472.046922453] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050472.048574713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050472.049751928] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050472.085450196] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050472.087875297] [sailbot.teensy]: Wind angle: 137 +[trim_sail-4] [INFO] [1746050472.088321436] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050472.088848430] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050472.089239314] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050472.089770816] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746050472.090659391] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050472.145488441] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050472.146224049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050472.147156629] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050472.148732088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[teensy-2] [INFO] [1746050472.151019644] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050472.245535325] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050472.246373623] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050472.248374883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 +[mux-7] [INFO] [1746050472.248403698] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050472.248925492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050472.311011183] [sailbot.mux]: controller_app rudder angle: 0 +[teensy-2] [INFO] [1746050472.335347136] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050472.337867609] [sailbot.teensy]: Wind angle: 137 +[trim_sail-4] [INFO] [1746050472.337996267] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050472.338828322] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050472.339214331] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050472.339742484] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746050472.340633538] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050472.344412281] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050472.344887434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050472.345871943] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050472.346622287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050472.347631538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050472.445279948] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050472.446152097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050472.446906882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050472.448222576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050472.448792251] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050472.502491115] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909282 Long: -76.5030957 +[vectornav-1] [INFO] [1746050472.503559621] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (60.149, -1.429, 10.129) +[mux-7] [INFO] [1746050472.545134087] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050472.546083334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050472.546892685] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050472.548103671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050472.549284174] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050472.585193175] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050472.587272741] [sailbot.teensy]: Wind angle: 134 +[trim_sail-4] [INFO] [1746050472.587396302] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050472.588226790] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050472.588475224] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050472.589157735] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746050472.590063148] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050472.645059519] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050472.646461490] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050472.646491085] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050472.648641752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050472.649622524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050472.745277421] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050472.746225419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050472.746833126] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050472.748216381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050472.748763259] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050472.835283132] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050472.837710715] [sailbot.teensy]: Wind angle: 134 +[trim_sail-4] [INFO] [1746050472.837907770] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050472.838505426] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050472.838906613] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050472.839055255] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050472.839275336] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050472.844403144] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050472.845049228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050472.845532738] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050472.846840036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050472.847878727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050472.945806025] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050472.946552551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050472.947411872] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050472.948467596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050472.948992633] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050473.003302929] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909359 Long: -76.5030942 +[vectornav-1] [INFO] [1746050473.005068853] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.09699999999998, 0.184, 10.091) +[mux-7] [INFO] [1746050473.045163330] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050473.045963139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050473.046639424] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050473.048369485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050473.049410478] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050473.085022692] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050473.086856387] [sailbot.teensy]: Wind angle: 132 +[trim_sail-4] [INFO] [1746050473.087276403] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050473.087752910] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050473.088666453] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050473.088914032] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050473.089782194] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050473.144601763] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050473.145140220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050473.145727011] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050473.146861456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050473.147889119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050473.245127871] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050473.245957585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050473.246684306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050473.247910696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050473.248398078] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050473.335650673] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050473.337839568] [sailbot.teensy]: Wind angle: 128 +[teensy-2] [INFO] [1746050473.338938485] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050473.339140542] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050473.339880829] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050473.340189594] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050473.340853563] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050473.344337620] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050473.344998881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050473.345461661] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050473.346866321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050473.347922481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050473.445488844] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050473.446225733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050473.447499060] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050473.448837865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050473.450260554] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050473.502507049] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909444 Long: -76.50309187 +[vectornav-1] [INFO] [1746050473.503686892] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.52800000000002, -0.965, 13.227) +[mux-7] [INFO] [1746050473.544799933] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050473.545579044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050473.546666409] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050473.547300065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050473.549100632] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050473.585285936] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050473.586915213] [sailbot.teensy]: Wind angle: 119 +[trim_sail-4] [INFO] [1746050473.587382904] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050473.588632593] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050473.588859958] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050473.589846032] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050473.590753974] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050473.645145807] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050473.645894794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050473.646618002] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050473.648014361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050473.649119245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050473.707944432] [sailbot.mux]: controller_app rudder angle: -4 +[mux-7] [INFO] [1746050473.745159822] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050473.745958980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050473.746768046] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050473.748260087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050473.748873164] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050473.835385388] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050473.837562096] [sailbot.teensy]: Wind angle: 118 +[trim_sail-4] [INFO] [1746050473.838070331] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050473.838716984] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050473.838921127] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050473.839234166] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050473.839663166] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050473.844317341] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050473.844949279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050473.845507714] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050473.846617043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050473.847757686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050473.945160101] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050473.946186488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050473.946868650] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050473.947858416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050473.948331280] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050474.003196209] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909574 Long: -76.50308978 +[vectornav-1] [INFO] [1746050474.004467482] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (40.860000000000014, -2.331, 12.52) +[mux-7] [INFO] [1746050474.045374686] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050474.046385398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050474.047122922] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050474.049032941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050474.050073083] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050474.084368635] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050474.085767368] [sailbot.teensy]: Wind angle: 117 +[trim_sail-4] [INFO] [1746050474.085905327] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050474.086599858] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050474.087397511] [sailbot.teensy]: Actual tail angle: 21 +[teensy-2] [INFO] [1746050474.088289979] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050474.088801048] [sailbot.mux]: algo sail angle: 15 +[mux-7] [INFO] [1746050474.144465088] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050474.145515912] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050474.144847451] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050474.146383804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050474.147476130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050474.245170936] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050474.245920777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050474.246615808] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050474.248067697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050474.249238116] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050474.287485045] [sailbot.mux]: controller_app rudder angle: -12 +[teensy-2] [INFO] [1746050474.335310669] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050474.337661289] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050474.338361790] [sailbot.teensy]: Wind angle: 118 +[mux-7] [INFO] [1746050474.339052799] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050474.339385154] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050474.340331225] [sailbot.teensy]: Actual tail angle: 21 +[teensy-2] [INFO] [1746050474.341188461] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050474.344482909] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050474.344881867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050474.345710648] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050474.346512948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050474.347551215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050474.445796282] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050474.446939843] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050474.447551617] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050474.449708467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050474.450848227] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050474.502408186] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909715 Long: -76.50308604 +[vectornav-1] [INFO] [1746050474.503931787] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.30500000000001, 2.406, 15.703) +[mux-7] [INFO] [1746050474.545053224] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050474.546254701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050474.546725851] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050474.548124398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050474.549327016] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050474.587804163] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050474.590219512] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050474.591197147] [sailbot.teensy]: Wind angle: 124 +[teensy-2] [INFO] [1746050474.592254878] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050474.592593247] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050474.594149262] [sailbot.teensy]: Actual tail angle: 21 +[teensy-2] [INFO] [1746050474.595232189] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050474.645035500] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050474.645916798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050474.646357522] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050474.648111576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050474.649176168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050474.745172945] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050474.746111658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050474.747009149] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050474.748225406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050474.749404567] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050474.835418168] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050474.837342617] [sailbot.teensy]: Wind angle: 126 +[teensy-2] [INFO] [1746050474.838345632] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050474.838914154] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050474.839241895] [sailbot.teensy]: Actual tail angle: 13 +[mux-7] [INFO] [1746050474.839640074] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050474.840138690] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050474.844285404] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050474.844921872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050474.845396630] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050474.847116811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050474.848357401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050474.945336185] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050474.946135354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050474.946921588] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050474.948378155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050474.949620390] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050475.003937987] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909812 Long: -76.50308333 +[vectornav-1] [INFO] [1746050475.005749698] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.15699999999998, -2.066, 15.071) +[mux-7] [INFO] [1746050475.045230289] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050475.046005452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050475.046685568] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050475.048042957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050475.049119790] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050475.085421986] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050475.087934446] [sailbot.teensy]: Wind angle: 123 +[trim_sail-4] [INFO] [1746050475.088249126] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050475.088945578] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050475.089857982] [sailbot.teensy]: Actual tail angle: 13 +[mux-7] [INFO] [1746050475.090251136] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050475.090842246] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050475.144976101] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050475.145625333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050475.146242918] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050475.147519750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050475.148736125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050475.245415302] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050475.246249566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050475.247120993] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050475.248440253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050475.248975496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050475.323630079] [sailbot.mux]: controller_app rudder angle: -10 +[teensy-2] [INFO] [1746050475.335365091] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050475.337726349] [sailbot.teensy]: Wind angle: 118 +[trim_sail-4] [INFO] [1746050475.337756296] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050475.338875010] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050475.340028864] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050475.340953889] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050475.341841852] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050475.344300923] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050475.344783652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050475.345336122] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050475.346305078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050475.347291574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050475.445599369] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050475.446272128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050475.447282713] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050475.448778067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050475.450070536] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050475.503363869] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909987 Long: -76.5030803 +[vectornav-1] [INFO] [1746050475.504837284] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.886000000000024, -1.191, 13.615) +[mux-7] [INFO] [1746050475.545153180] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050475.545835200] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050475.547659678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[mux-7] [INFO] [1746050475.546895225] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050475.549402591] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050475.585352874] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050475.587635407] [sailbot.teensy]: Wind angle: 126 +[trim_sail-4] [INFO] [1746050475.587726443] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050475.588643359] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050475.589710617] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050475.590571494] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050475.590124277] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050475.645040569] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050475.645969044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050475.646396892] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050475.647620095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050475.648053137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050475.745066192] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050475.745968504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050475.746368628] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050475.748096102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050475.749116542] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050475.835234331] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050475.837476767] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050475.837667683] [sailbot.teensy]: Wind angle: 141 +[teensy-2] [INFO] [1746050475.838614919] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050475.839225103] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050475.839288796] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050475.839680148] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050475.844393130] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050475.844805850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050475.845516958] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050475.846368579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050475.847426045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050475.945871240] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050475.946837729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050475.947689359] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050475.949421248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050475.950564913] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050476.003600496] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46910219 Long: -76.50307738 +[vectornav-1] [INFO] [1746050476.005059780] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.06, 1.916, 13.334) +[mux-7] [INFO] [1746050476.046177253] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050476.046875513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050476.047853438] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050476.049227392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050476.050537607] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050476.085391197] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050476.087612370] [sailbot.teensy]: Wind angle: 143 +[trim_sail-4] [INFO] [1746050476.087735667] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050476.088263407] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050476.088584252] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050476.089648437] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050476.090497752] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050476.145048428] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050476.145849471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050476.146390671] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050476.147895685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050476.149126069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050476.245158695] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050476.245873093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050476.247038182] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050476.247965917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050476.249109597] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050476.322573088] [sailbot.mux]: controller_app rudder angle: -1 +[teensy-2] [INFO] [1746050476.335391398] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050476.337184658] [sailbot.teensy]: Wind angle: 143 +[trim_sail-4] [INFO] [1746050476.337705459] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050476.338122245] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050476.339052009] [sailbot.teensy]: Actual tail angle: 15 +[mux-7] [INFO] [1746050476.339283322] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050476.340321477] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050476.344314514] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050476.344848842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050476.345453724] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050476.346610121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050476.347648815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050476.445442749] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050476.446177513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050476.447022312] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050476.448472667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050476.449773840] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050476.503637980] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46910434 Long: -76.50307591 +[vectornav-1] [INFO] [1746050476.505370072] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (69.721, -1.363, 11.219) +[mux-7] [INFO] [1746050476.545104050] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050476.545880558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050476.546869422] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050476.548115932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050476.549211067] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050476.585297914] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050476.587393102] [sailbot.teensy]: Wind angle: 143 +[teensy-2] [INFO] [1746050476.588411794] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050476.587875133] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050476.588806079] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050476.589296640] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050476.590167456] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050476.645441899] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050476.646330036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050476.647535227] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050476.649161150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050476.650349112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050476.745324789] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050476.746140177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050476.746892951] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050476.747795296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050476.748316223] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050476.835472666] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050476.837439140] [sailbot.teensy]: Wind angle: 145 +[teensy-2] [INFO] [1746050476.838438540] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050476.838015141] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050476.839327783] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050476.839408414] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050476.840244636] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050476.844333289] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050476.844818985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050476.845788873] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050476.846481883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050476.847631595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050476.945357883] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050476.945873700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050476.946970438] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050476.947874511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050476.949686021] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050477.004637282] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691066 Long: -76.50307512 +[vectornav-1] [INFO] [1746050477.006032609] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (82.39299999999997, -1.402, 9.998) +[mux-7] [INFO] [1746050477.045448003] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050477.046152758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050477.047163036] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050477.048587616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050477.049712263] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050477.085335877] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050477.087616970] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050477.087729043] [sailbot.teensy]: Wind angle: 150 +[teensy-2] [INFO] [1746050477.088719536] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050477.089180089] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050477.089662709] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050477.090573381] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050477.145355415] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050477.146320573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050477.146926166] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050477.148679454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050477.149926793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050477.245264785] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050477.245958694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050477.246741222] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050477.247744358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050477.248289380] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050477.335461644] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050477.337612989] [sailbot.teensy]: Wind angle: 156 +[teensy-2] [INFO] [1746050477.338609313] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050477.337940651] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050477.339556078] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050477.340637477] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050477.340979731] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050477.344285728] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050477.344809716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050477.345393052] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050477.346484244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050477.347625725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050477.445662773] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050477.446764806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050477.447366926] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050477.449299094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050477.450373277] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050477.503842503] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691091 Long: -76.50307515 +[vectornav-1] [INFO] [1746050477.505786355] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (93.832, 0.208, 7.196) +[mux-7] [INFO] [1746050477.545213309] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050477.545790993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050477.546707454] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050477.548969001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050477.550015555] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050477.585332455] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050477.587467009] [sailbot.teensy]: Wind angle: 159 +[trim_sail-4] [INFO] [1746050477.587590403] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050477.588573178] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050477.589015470] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050477.589478170] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050477.590376658] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050477.645329257] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050477.646001274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050477.646872416] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050477.648212588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050477.649403903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050477.745343584] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050477.746247080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050477.746944891] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050477.748613393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050477.749880824] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050477.835382784] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050477.837166673] [sailbot.teensy]: Wind angle: 161 +[trim_sail-4] [INFO] [1746050477.837722559] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050477.839158030] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050477.839261477] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050477.840103790] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050477.841010868] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050477.844469947] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050477.844741317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050477.845666916] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050477.846303515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050477.847243688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050477.945324450] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050477.945816859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050477.946935093] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050477.947845518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050477.948610726] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050478.003506557] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911147 Long: -76.50307651 +[vectornav-1] [INFO] [1746050478.004952951] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (102.12599999999998, 3.18, 5.97) +[mux-7] [INFO] [1746050478.045179371] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050478.045791758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050478.046546859] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050478.047836524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050478.048867173] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050478.085475711] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050478.088066460] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050478.088289937] [sailbot.teensy]: Wind angle: 162 +[mux-7] [INFO] [1746050478.088976509] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050478.089251427] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050478.090155759] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050478.091029187] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050478.145460729] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050478.146332367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050478.147063035] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050478.147933943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050478.148437579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050478.245237775] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050478.246002000] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050478.248019452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[mux-7] [INFO] [1746050478.246931442] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050478.248499908] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050478.335620537] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050478.338085115] [sailbot.teensy]: Wind angle: 172 +[trim_sail-4] [INFO] [1746050478.338700635] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050478.339153928] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050478.340238176] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050478.340892877] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050478.341123373] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050478.344586643] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050478.345209772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050478.345868793] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050478.347000960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050478.348177932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050478.445303579] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050478.446151591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050478.446518036] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050478.448951829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050478.450024374] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050478.502927718] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911297 Long: -76.5030771 +[vectornav-1] [INFO] [1746050478.504046730] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (108.582, -4.657, 5.627) +[mux-7] [INFO] [1746050478.545333101] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050478.546124693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050478.547147030] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050478.548620980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050478.549710807] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050478.585295559] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050478.587830224] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050478.587904756] [sailbot.teensy]: Wind angle: 181 +[teensy-2] [INFO] [1746050478.588886381] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050478.589405256] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050478.589796900] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050478.590715077] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050478.645098130] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050478.645913229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050478.646592027] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050478.648693435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050478.649862811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050478.745332626] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050478.746155738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050478.746795436] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050478.748327222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050478.749001736] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050478.835376358] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050478.837534578] [sailbot.teensy]: Wind angle: 184 +[teensy-2] [INFO] [1746050478.838608801] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050478.838851745] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050478.839478808] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050478.840752992] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050478.841614627] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050478.844354505] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050478.845045427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050478.845453694] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050478.846777759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050478.848440369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050478.945658541] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050478.947037457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050478.947198230] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050478.949131556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050478.950403639] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050479.002419153] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911519 Long: -76.50307837 +[vectornav-1] [INFO] [1746050479.003691786] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (114.03399999999999, 3.01, 4.987) +[mux-7] [INFO] [1746050479.045019746] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050479.045766842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050479.046446987] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050479.047706731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050479.048892591] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050479.085549023] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050479.088112830] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050479.088486554] [sailbot.teensy]: Wind angle: 184 +[mux-7] [INFO] [1746050479.088725386] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050479.089502125] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050479.090431865] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050479.091333093] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050479.145172619] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050479.146164646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050479.146705691] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050479.148392835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050479.149699039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050479.245241662] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050479.246255312] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050479.246782762] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050479.248771138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050479.249801042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050479.310276523] [sailbot.mux]: controller_app rudder angle: 12 +[teensy-2] [INFO] [1746050479.335441555] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050479.337721304] [sailbot.teensy]: Wind angle: 184 +[trim_sail-4] [INFO] [1746050479.337782656] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050479.338645896] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050479.339112997] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050479.339495177] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050479.340407201] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050479.344415575] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050479.345064557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050479.345535143] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050479.346658705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 +[teensy-2] [INFO] [1746050479.347622187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050479.445008524] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050479.445473357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050479.446507307] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050479.447227017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 +[teensy-2] [INFO] [1746050479.448741684] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050479.503728253] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691165 Long: -76.50307941 +[vectornav-1] [INFO] [1746050479.505547345] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (119.52100000000002, 1.729, 4.679) +[mux-7] [INFO] [1746050479.545029942] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050479.545837305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050479.546729764] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050479.547706997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 +[teensy-2] [INFO] [1746050479.548783725] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050479.585373818] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050479.587891055] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050479.589386852] [sailbot.teensy]: Wind angle: 185 +[mux-7] [INFO] [1746050479.589415665] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050479.590598692] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050479.591454890] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050479.592373330] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050479.645098579] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050479.645810134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050479.646326522] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050479.647705122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 +[teensy-2] [INFO] [1746050479.648918008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050479.745233834] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050479.746138516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050479.747130398] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050479.748241692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 +[teensy-2] [INFO] [1746050479.748959831] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050479.835409578] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050479.837223427] [sailbot.teensy]: Wind angle: 188 +[trim_sail-4] [INFO] [1746050479.837808078] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050479.838160918] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050479.839051112] [sailbot.teensy]: Actual tail angle: 37 +[mux-7] [INFO] [1746050479.839126131] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050479.839946502] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050479.844400232] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050479.844991667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050479.845658118] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050479.846646641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 +[teensy-2] [INFO] [1746050479.847838427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050479.945250219] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050479.946024544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050479.946727197] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050479.948226138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 +[teensy-2] [INFO] [1746050479.949309758] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050480.003890199] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911735 Long: -76.50308014 +[vectornav-1] [INFO] [1746050480.005671312] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (121.35699999999997, -1.995, 4.726) +[mux-7] [INFO] [1746050480.045024254] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050480.045672642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050480.046276784] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050480.047503065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 +[teensy-2] [INFO] [1746050480.048563726] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050480.085324035] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050480.087049614] [sailbot.teensy]: Wind angle: 193 +[trim_sail-4] [INFO] [1746050480.087907784] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050480.088010983] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050480.088922935] [sailbot.teensy]: Actual tail angle: 37 +[mux-7] [INFO] [1746050480.089087659] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050480.089826845] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050480.145045863] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050480.145691309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050480.146416287] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050480.147728439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 +[teensy-2] [INFO] [1746050480.148782856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050480.245211566] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050480.245924537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050480.246709698] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050480.248457027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 +[teensy-2] [INFO] [1746050480.249011855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050480.325124244] [sailbot.mux]: controller_app rudder angle: 12 +[teensy-2] [INFO] [1746050480.335420380] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050480.337881290] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050480.337924406] [sailbot.teensy]: Wind angle: 196 +[mux-7] [INFO] [1746050480.338513350] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050480.338853717] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050480.339770403] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746050480.340665249] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050480.344409310] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050480.344910667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050480.345762614] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050480.346742667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 +[teensy-2] [INFO] [1746050480.348004161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050480.445256393] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050480.446365379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050480.446864148] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050480.448018319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 +[teensy-2] [INFO] [1746050480.448472658] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050480.503183995] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911839 Long: -76.50308127 +[vectornav-1] [INFO] [1746050480.504649144] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (123.02600000000001, 0.015, 5.029) +[mux-7] [INFO] [1746050480.545090567] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050480.545867252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050480.546437003] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050480.548024059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 +[teensy-2] [INFO] [1746050480.549187874] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050480.585699702] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050480.588570204] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050480.589209073] [sailbot.teensy]: Wind angle: 196 +[mux-7] [INFO] [1746050480.589982658] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050480.590294111] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050480.591254212] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746050480.592203565] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050480.645169005] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050480.645953934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050480.646810108] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050480.648445680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 +[teensy-2] [INFO] [1746050480.649460553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050480.745240164] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050480.745974852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050480.746979545] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050480.748464331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 +[teensy-2] [INFO] [1746050480.749651779] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050480.835390893] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050480.837274740] [sailbot.teensy]: Wind angle: 200 +[trim_sail-4] [INFO] [1746050480.837912044] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050480.839104845] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050480.839123296] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050480.840132731] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746050480.841041613] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050480.844359067] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050480.844975579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050480.845635324] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050480.847018928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 +[teensy-2] [INFO] [1746050480.848034506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050480.945562533] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050480.946345398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050480.947132036] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050480.948635253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 +[teensy-2] [INFO] [1746050480.950002366] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050481.003914916] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911932 Long: -76.50308212 +[vectornav-1] [INFO] [1746050481.005789522] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (122.69400000000002, 2.019, 4.223) +[mux-7] [INFO] [1746050481.045444774] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050481.046150111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050481.047101607] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050481.048574236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 +[teensy-2] [INFO] [1746050481.049675048] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050481.085276145] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050481.087603332] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050481.088720076] [sailbot.teensy]: Wind angle: 200 +[mux-7] [INFO] [1746050481.088790921] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050481.089693827] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050481.090572231] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746050481.091382479] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050481.145022445] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050481.145736194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050481.146398669] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050481.147838853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 +[teensy-2] [INFO] [1746050481.148910145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050481.245223668] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050481.245935623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050481.246988787] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050481.247824940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 +[teensy-2] [INFO] [1746050481.248282824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050481.332235402] [sailbot.mux]: controller_app rudder angle: 7 +[teensy-2] [INFO] [1746050481.335024707] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050481.337078668] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050481.337607441] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050481.337641708] [sailbot.teensy]: Wind angle: 200 +[teensy-2] [INFO] [1746050481.338669174] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050481.339563531] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746050481.340488652] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050481.344380016] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050481.344998062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050481.345493265] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050481.346763217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050481.347792391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050481.445481102] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050481.446440917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050481.447076771] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050481.448875083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050481.450337862] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050481.503483635] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911951 Long: -76.50308246 +[vectornav-1] [INFO] [1746050481.504900228] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (121.66300000000001, 0.164, 4.2) +[mux-7] [INFO] [1746050481.544933335] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050481.545645898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050481.546200753] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050481.547478250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050481.548514980] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050481.585454122] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050481.587790973] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050481.588227770] [sailbot.teensy]: Wind angle: 200 +[mux-7] [INFO] [1746050481.588312525] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050481.589301025] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050481.590169630] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746050481.591018133] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050481.645331386] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050481.646154945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050481.646829780] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050481.648592847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050481.649720660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050481.745544310] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050481.746201925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050481.747131731] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050481.748512796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050481.749461362] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050481.835303753] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050481.837159841] [sailbot.teensy]: Wind angle: 200 +[teensy-2] [INFO] [1746050481.838079195] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050481.837676550] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050481.838164288] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050481.838995498] [sailbot.teensy]: Actual tail angle: 32 +[teensy-2] [INFO] [1746050481.839903843] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050481.844358139] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050481.844938501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050481.846100875] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050481.846738492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050481.847818230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050481.946228771] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050481.946457048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050481.947925320] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050481.950417165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050481.951726670] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050482.003755278] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911969 Long: -76.50308262 +[vectornav-1] [INFO] [1746050482.005131373] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (118.65100000000001, -1.769, 4.401) +[mux-7] [INFO] [1746050482.045077996] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050482.045728859] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050482.047523658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[mux-7] [INFO] [1746050482.047658596] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050482.048751303] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050482.085368636] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050482.087216314] [sailbot.teensy]: Wind angle: 199 +[teensy-2] [INFO] [1746050482.088175406] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050482.087924390] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050482.088614783] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050482.089093041] [sailbot.teensy]: Actual tail angle: 32 +[teensy-2] [INFO] [1746050482.090001562] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050482.145090751] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050482.146008918] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050482.146874933] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050482.147942083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050482.148446548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050482.245041605] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050482.245693318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050482.246701181] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050482.247662472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 +[teensy-2] [INFO] [1746050482.249007696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050482.324835674] [sailbot.mux]: controller_app rudder angle: -19 +[teensy-2] [INFO] [1746050482.335414473] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050482.337843753] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050482.338683255] [sailbot.teensy]: Wind angle: 197 +[mux-7] [INFO] [1746050482.339021787] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050482.339633467] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050482.340621706] [sailbot.teensy]: Actual tail angle: 32 +[teensy-2] [INFO] [1746050482.341458819] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050482.344327663] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050482.344859496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050482.345376581] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050482.346525837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050482.347691897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050482.445505384] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050482.446338224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050482.447700840] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050482.448276682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050482.448749870] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050482.503440881] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912048 Long: -76.50308318 +[vectornav-1] [INFO] [1746050482.505250393] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (116.99400000000003, -2.077, 3.284) +[mux-7] [INFO] [1746050482.544970143] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050482.545796317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050482.546217275] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050482.548904118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050482.550801815] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050482.585524701] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050482.587668584] [sailbot.teensy]: Wind angle: 196 +[trim_sail-4] [INFO] [1746050482.587771113] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050482.588652315] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050482.589605192] [sailbot.teensy]: Actual tail angle: 32 +[mux-7] [INFO] [1746050482.590062434] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050482.590468425] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050482.645226212] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050482.646097544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050482.646714040] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050482.648433105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050482.649592527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050482.745474765] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050482.746288441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050482.747080840] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050482.748676575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050482.749766206] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050482.835772854] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050482.838710046] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050482.840073605] [sailbot.teensy]: Wind angle: 195 +[mux-7] [INFO] [1746050482.840477753] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050482.841143737] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050482.842416316] [sailbot.teensy]: Actual tail angle: 6 +[teensy-2] [INFO] [1746050482.843652868] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050482.844832577] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050482.845781980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050482.846252031] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050482.847495613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050482.848537932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050482.945527032] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050482.946399864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050482.947170304] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050482.948816356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050482.950009652] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050483.003374333] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912086 Long: -76.5030837 +[vectornav-1] [INFO] [1746050483.004920264] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (114.459, 7.923, 5.66) +[mux-7] [INFO] [1746050483.044982339] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050483.046002904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050483.046406679] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050483.047864888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050483.048940941] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050483.085411371] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050483.087762703] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746050483.087754577] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050483.088809613] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050483.089490912] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050483.089787302] [sailbot.teensy]: Actual tail angle: 6 +[teensy-2] [INFO] [1746050483.090711606] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050483.145124358] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050483.145763757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050483.146365198] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050483.147763455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050483.148802665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050483.245383811] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050483.246295334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050483.247125898] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050483.248510156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050483.249551113] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050483.335428856] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050483.337904138] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050483.338354811] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050483.339014999] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746050483.339531811] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050483.339967077] [sailbot.teensy]: Actual tail angle: 6 +[teensy-2] [INFO] [1746050483.340352155] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050483.344340134] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050483.344974996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050483.345551159] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050483.346708482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050483.347897889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050483.445068508] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050483.445865016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050483.446464951] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050483.447837062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050483.448996267] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050483.503798800] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912059 Long: -76.5030828 +[vectornav-1] [INFO] [1746050483.505836117] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (111.19400000000002, -5.999, 4.421) +[mux-7] [INFO] [1746050483.544813711] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050483.545446614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050483.545948227] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050483.547301494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050483.548612230] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050483.585408900] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050483.587395514] [sailbot.teensy]: Wind angle: 189 +[trim_sail-4] [INFO] [1746050483.587784305] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050483.588371393] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050483.588275718] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050483.589292001] [sailbot.teensy]: Actual tail angle: 6 +[teensy-2] [INFO] [1746050483.590163047] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050483.645275715] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050483.646261003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050483.646777033] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050483.648535103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050483.649648649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050483.664138667] [sailbot.mux]: controller_app rudder angle: -22 +[mux-7] [INFO] [1746050483.745056693] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050483.745831031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050483.746365320] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050483.748340570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050483.749474534] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050483.835313931] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050483.837887219] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050483.838154312] [sailbot.teensy]: Wind angle: 187 +[mux-7] [INFO] [1746050483.838440784] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050483.838852448] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050483.839302050] [sailbot.teensy]: Actual tail angle: 6 +[teensy-2] [INFO] [1746050483.839648889] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050483.844459570] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050483.845103201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050483.845828322] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050483.846803771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050483.847969898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050483.945450303] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050483.946206257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050483.947477540] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050483.948249145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050483.948716633] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050484.002568991] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912055 Long: -76.50308287 +[vectornav-1] [INFO] [1746050484.003640991] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (110.04200000000003, -1.174, 4.114) +[mux-7] [INFO] [1746050484.045516620] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050484.047136534] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050484.046771767] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050484.049032289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050484.049612676] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050484.085717911] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050484.088571535] [sailbot.teensy]: Wind angle: 186 +[trim_sail-4] [INFO] [1746050484.088822700] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050484.089532396] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050484.089769418] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050484.090464429] [sailbot.teensy]: Actual tail angle: 3 +[teensy-2] [INFO] [1746050484.091349995] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050484.145145445] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050484.145820100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050484.146512876] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050484.148001798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050484.149034611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050484.245501454] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050484.246253311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050484.247111192] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050484.248696830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050484.249809441] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050484.335515496] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050484.337448517] [sailbot.teensy]: Wind angle: 186 +[trim_sail-4] [INFO] [1746050484.337890411] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050484.338421564] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050484.339358157] [sailbot.teensy]: Actual tail angle: 3 +[mux-7] [INFO] [1746050484.339825133] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050484.340238695] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050484.344547450] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050484.345273596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050484.345670462] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050484.347250513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050484.348483651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050484.445453897] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050484.446526775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050484.447515875] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050484.448353456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050484.448854934] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050484.503692063] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912078 Long: -76.50308293 +[vectornav-1] [INFO] [1746050484.505994249] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (108.03500000000003, 3.561, 4.546) +[mux-7] [INFO] [1746050484.545038901] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050484.545822228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050484.546798892] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050484.547886971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050484.549058216] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050484.585385995] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050484.587562403] [sailbot.teensy]: Wind angle: 182 +[trim_sail-4] [INFO] [1746050484.587590761] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050484.588566208] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050484.588906149] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050484.589480867] [sailbot.teensy]: Actual tail angle: 3 +[teensy-2] [INFO] [1746050484.590369645] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050484.645535969] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050484.646495413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050484.647163402] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050484.648846953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050484.650034492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050484.745519076] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050484.746275500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050484.747100696] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050484.748888395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050484.750160093] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050484.835365238] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050484.837225355] [sailbot.teensy]: Wind angle: 177 +[trim_sail-4] [INFO] [1746050484.837784892] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050484.838196115] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050484.839102196] [sailbot.teensy]: Actual tail angle: 3 +[mux-7] [INFO] [1746050484.839936659] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050484.839954177] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050484.844405822] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050484.845169695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050484.845563767] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050484.846861742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050484.848543495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050484.945563180] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050484.946817077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050484.947158485] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050484.948341173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050484.948871143] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050485.002659749] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912028 Long: -76.50308254 +[vectornav-1] [INFO] [1746050485.003822640] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (103.74000000000001, -2.489, 5.477) +[mux-7] [INFO] [1746050485.044978207] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050485.045680028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050485.046272841] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050485.047719304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050485.048755770] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050485.085458638] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050485.087450488] [sailbot.teensy]: Wind angle: 177 +[trim_sail-4] [INFO] [1746050485.088089387] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050485.088447027] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050485.089384630] [sailbot.teensy]: Actual tail angle: 3 +[mux-7] [INFO] [1746050485.090280098] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050485.090324470] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050485.145158984] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050485.145765398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050485.146636965] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050485.147978291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050485.149751462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050485.245373191] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050485.246041732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050485.246990462] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050485.248201399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050485.248721846] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050485.335396794] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050485.337557025] [sailbot.teensy]: Wind angle: 176 +[trim_sail-4] [INFO] [1746050485.338041291] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050485.338554600] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050485.339570788] [sailbot.teensy]: Actual tail angle: 3 +[mux-7] [INFO] [1746050485.339571186] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050485.340582438] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050485.344839558] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050485.345349393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050485.346176537] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050485.347233097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050485.348437961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050485.445534646] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050485.446169779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050485.447155721] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050485.448966426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050485.450166021] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050485.503353860] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912051 Long: -76.50308243 +[vectornav-1] [INFO] [1746050485.505049767] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (99.00799999999998, 1.678, 6.411) +[mux-7] [INFO] [1746050485.545148769] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050485.545922221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050485.546623806] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050485.548326311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050485.549566717] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050485.585475481] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050485.587974476] [sailbot.teensy]: Wind angle: 170 +[trim_sail-4] [INFO] [1746050485.588046706] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050485.588934867] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050485.589121962] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050485.589817566] [sailbot.teensy]: Actual tail angle: 3 +[teensy-2] [INFO] [1746050485.590710224] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050485.645244669] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050485.646093370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050485.646893000] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050485.648053432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050485.648586264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050485.745506107] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050485.746425587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050485.747232902] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050485.748730221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050485.750026322] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050485.835400319] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050485.837703606] [sailbot.teensy]: Wind angle: 169 +[trim_sail-4] [INFO] [1746050485.837967002] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050485.838664223] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050485.839110151] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050485.839574922] [sailbot.teensy]: Actual tail angle: 3 +[teensy-2] [INFO] [1746050485.840460749] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050485.844238803] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050485.845081422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050485.845350469] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050485.846865840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050485.848014139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050485.945742275] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050485.946739079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050485.947452234] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050485.948259200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050485.948968383] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050486.002454566] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911989 Long: -76.50308198 +[vectornav-1] [INFO] [1746050486.003916346] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (92.805, -4.189, 4.248) +[mux-7] [INFO] [1746050486.044688318] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050486.045281879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050486.045902653] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050486.047036181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050486.048214433] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050486.085748433] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050486.087930242] [sailbot.teensy]: Wind angle: 168 +[trim_sail-4] [INFO] [1746050486.088584055] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050486.089062014] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050486.090005643] [sailbot.teensy]: Actual tail angle: 3 +[mux-7] [INFO] [1746050486.090208335] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050486.090944486] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050486.144992703] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050486.145720395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050486.146705836] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050486.147540979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050486.148731425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050486.245327926] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050486.246269998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050486.246853582] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050486.248596925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050486.249647265] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050486.335377069] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050486.337190207] [sailbot.teensy]: Wind angle: 162 +[trim_sail-4] [INFO] [1746050486.337874722] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050486.338130741] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050486.339007164] [sailbot.teensy]: Actual tail angle: 3 +[mux-7] [INFO] [1746050486.339123420] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050486.339898664] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050486.344362546] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050486.345078990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050486.345528731] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050486.347149505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050486.348196387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050486.445537523] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050486.446366577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050486.447412271] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050486.448680380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050486.449215854] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050486.503338062] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912008 Long: -76.50308234 +[vectornav-1] [INFO] [1746050486.505229004] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (87.541, 2.668, 5.882) +[mux-7] [INFO] [1746050486.545052047] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050486.545769413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050486.546739577] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050486.548312545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050486.549436227] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050486.585358794] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050486.587155694] [sailbot.teensy]: Wind angle: 159 +[teensy-2] [INFO] [1746050486.588166683] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050486.587764878] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050486.588872262] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050486.589048717] [sailbot.teensy]: Actual tail angle: 3 +[teensy-2] [INFO] [1746050486.589963297] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050486.645705551] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050486.646323891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050486.647431805] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050486.650148700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050486.651344253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050486.745435384] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050486.746075117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050486.747078585] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050486.748489013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050486.749353821] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050486.835485120] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050486.838139171] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050486.838547074] [sailbot.teensy]: Wind angle: 156 +[teensy-2] [INFO] [1746050486.839484589] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050486.839968407] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050486.840484885] [sailbot.teensy]: Actual tail angle: 3 +[teensy-2] [INFO] [1746050486.841394974] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050486.844343384] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050486.844972784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050486.845556621] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050486.846750475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050486.848028520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050486.945573515] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050486.946513720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050486.947175973] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050486.949093721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050486.950411330] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050487.003478920] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911948 Long: -76.50308143 +[vectornav-1] [INFO] [1746050487.004814890] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (78.81799999999998, 0.027, 8.706) +[mux-7] [INFO] [1746050487.045279752] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050487.046246526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050487.046828596] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050487.049383007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050487.050439022] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050487.085582960] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050487.087379501] [sailbot.teensy]: Wind angle: 149 +[trim_sail-4] [INFO] [1746050487.088255086] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050487.089170829] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050487.089761300] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050487.090720405] [sailbot.teensy]: Actual tail angle: 3 +[teensy-2] [INFO] [1746050487.091572904] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050487.144965424] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050487.145920979] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050487.147016106] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050487.148037299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050487.148510867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050487.245006321] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050487.245804037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050487.246427550] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050487.247796033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050487.248935907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050487.312002353] [sailbot.mux]: controller_app rudder angle: 24 +[teensy-2] [INFO] [1746050487.335364185] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050487.337330439] [sailbot.teensy]: Wind angle: 145 +[trim_sail-4] [INFO] [1746050487.337788333] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050487.338314533] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050487.339242945] [sailbot.teensy]: Actual tail angle: 3 +[mux-7] [INFO] [1746050487.340099102] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050487.340135919] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050487.344443328] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050487.344885094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050487.345562594] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050487.347334126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050487.348528726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050487.445520087] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050487.446506271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050487.447274441] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050487.448956727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050487.450762536] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050487.502734299] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911867 Long: -76.5030811 +[vectornav-1] [INFO] [1746050487.503975749] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (69.62599999999998, -0.942, 8.103) +[mux-7] [INFO] [1746050487.545158078] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050487.546094317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050487.546582320] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050487.548088814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050487.549231772] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050487.585210756] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050487.587458775] [sailbot.teensy]: Wind angle: 141 +[trim_sail-4] [INFO] [1746050487.587591260] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050487.588462358] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050487.588953358] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050487.589358415] [sailbot.teensy]: Actual tail angle: 3 +[teensy-2] [INFO] [1746050487.590267944] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050487.645640378] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050487.646161193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050487.647458033] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050487.648547833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050487.649854786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050487.745733584] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050487.746286950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050487.747408611] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050487.748738655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050487.749899580] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050487.835463960] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050487.837541488] [sailbot.teensy]: Wind angle: 136 +[trim_sail-4] [INFO] [1746050487.838338309] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050487.838519949] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050487.839442175] [sailbot.teensy]: Actual tail angle: 49 +[mux-7] [INFO] [1746050487.839906272] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050487.840417119] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050487.844468859] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050487.845103372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050487.845637286] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050487.846926933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050487.848098154] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050487.945732213] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050487.946699045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050487.947501755] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050487.948845999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050487.949282820] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050488.002627918] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911858 Long: -76.50308045 +[vectornav-1] [INFO] [1746050488.003805224] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.158000000000015, -2.191, 8.357) +[mux-7] [INFO] [1746050488.045327010] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050488.046261215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050488.046878133] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050488.048527091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050488.049563150] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050488.085688426] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050488.088193152] [sailbot.teensy]: Wind angle: 136 +[trim_sail-4] [INFO] [1746050488.088263661] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050488.089706708] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050488.089755472] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050488.090622271] [sailbot.teensy]: Actual tail angle: 49 +[teensy-2] [INFO] [1746050488.091519427] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050488.145257472] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050488.146213380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050488.147119779] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050488.148431957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050488.149520746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050488.245342857] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050488.246289481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050488.246895405] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050488.248519841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050488.249614592] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050488.335343863] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050488.337536508] [sailbot.teensy]: Wind angle: 134 +[trim_sail-4] [INFO] [1746050488.337584473] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050488.338537691] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050488.338851101] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050488.339508731] [sailbot.teensy]: Actual tail angle: 49 +[teensy-2] [INFO] [1746050488.340399543] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050488.344409792] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050488.344985466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050488.345522755] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050488.346762191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050488.347755919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050488.445319421] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050488.446648174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050488.447051174] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050488.448927225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050488.449484819] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050488.504018163] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911906 Long: -76.50307935 +[vectornav-1] [INFO] [1746050488.505368678] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.45100000000002, 0.516, 11.243) +[mux-7] [INFO] [1746050488.545157190] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050488.546037539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050488.546594697] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050488.548306268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050488.549353281] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050488.585338747] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050488.587721288] [sailbot.teensy]: Wind angle: 129 +[trim_sail-4] [INFO] [1746050488.587770338] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050488.588752537] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050488.589054968] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050488.589684504] [sailbot.teensy]: Actual tail angle: 49 +[teensy-2] [INFO] [1746050488.590532091] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050488.645496051] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050488.646423297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050488.647136483] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050488.648864098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050488.649998701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050488.745304112] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050488.746284343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050488.747117749] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050488.748403772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050488.748942895] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050488.835369896] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050488.837838589] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050488.838179986] [sailbot.teensy]: Wind angle: 120 +[mux-7] [INFO] [1746050488.838463347] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050488.839098045] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050488.840029468] [sailbot.teensy]: Actual tail angle: 49 +[teensy-2] [INFO] [1746050488.840871556] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050488.844403862] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050488.845005232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050488.845768936] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050488.846710173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050488.847740643] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050488.945732261] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050488.946311587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050488.947725101] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050488.948681473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050488.950646035] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050489.003986325] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911888 Long: -76.50307725 +[vectornav-1] [INFO] [1746050489.005776091] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.886000000000024, -1.533, 14.86) +[mux-7] [INFO] [1746050489.045254513] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050489.046137203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050489.046830268] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050489.048427104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050489.049559357] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050489.085598586] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050489.088256482] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050489.089199973] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050489.089213062] [sailbot.teensy]: Wind angle: 112 +[teensy-2] [INFO] [1746050489.090511315] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050489.091407990] [sailbot.teensy]: Actual tail angle: 49 +[teensy-2] [INFO] [1746050489.092257336] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050489.144959981] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050489.145591991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050489.146252769] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050489.147445780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050489.148473133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050489.244819901] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050489.245374392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050489.246183070] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050489.247166891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050489.248242882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050489.334259872] [sailbot.mux]: controller_app rudder angle: 4 +[teensy-2] [INFO] [1746050489.335031181] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050489.337074780] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050489.337570419] [sailbot.teensy]: Wind angle: 110 +[mux-7] [INFO] [1746050489.338513679] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050489.338648131] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050489.339386595] [sailbot.teensy]: Actual tail angle: 49 +[teensy-2] [INFO] [1746050489.339765181] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050489.344411296] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050489.345133482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050489.345847687] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050489.346984157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050489.348273410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050489.445548522] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050489.446465401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050489.447667016] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050489.448889446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050489.450068817] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050489.503935432] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911876 Long: -76.50307481 +[vectornav-1] [INFO] [1746050489.505517853] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (19.257000000000005, -0.095, 14.644) +[mux-7] [INFO] [1746050489.545141330] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050489.545876672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050489.546533158] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050489.548192208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050489.549238090] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050489.585609166] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050489.587958528] [sailbot.teensy]: Wind angle: 103 +[teensy-2] [INFO] [1746050489.589016052] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050489.588238464] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050489.588975763] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050489.589951146] [sailbot.teensy]: Actual tail angle: 49 +[teensy-2] [INFO] [1746050489.590840124] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050489.645359102] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050489.646931236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050489.647320304] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050489.649150347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050489.650265285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050489.745583767] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050489.746500852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050489.747350868] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050489.747900540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050489.748382098] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050489.835781198] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050489.838121961] [sailbot.teensy]: Wind angle: 92 +[teensy-2] [INFO] [1746050489.839316027] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050489.838953427] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050489.840304118] [sailbot.teensy]: Actual tail angle: 29 +[mux-7] [INFO] [1746050489.840826679] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050489.841221263] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050489.844238440] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050489.844789852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050489.845323517] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050489.846534449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050489.847626669] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050489.945538796] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050489.946220166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050489.947337141] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050489.948583914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050489.949896906] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050490.003416962] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911939 Long: -76.5030726 +[vectornav-1] [INFO] [1746050490.005330585] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (7.980000000000018, -0.251, 9.803) +[mux-7] [INFO] [1746050490.045415449] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050490.046194017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050490.046967973] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050490.048469242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050490.049209812] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050490.085481051] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050490.087516582] [sailbot.teensy]: Wind angle: 89 +[trim_sail-4] [INFO] [1746050490.087873947] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050490.088529890] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050490.089434869] [sailbot.teensy]: Actual tail angle: 29 +[mux-7] [INFO] [1746050490.089629741] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050490.090316866] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050490.145055957] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050490.145880685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050490.146363904] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050490.147783051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050490.148853356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050490.245362879] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050490.246384636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050490.247053246] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050490.248854975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050490.249968368] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050490.335399685] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050490.337437912] [sailbot.teensy]: Wind angle: 93 +[mux-7] [INFO] [1746050490.337470143] [sailbot.mux]: controller_app rudder angle: -2 +[trim_sail-4] [INFO] [1746050490.338475479] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050490.339472749] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050490.340394354] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050490.341290882] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050490.342138835] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050490.344356447] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050490.345037725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050490.345778406] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050490.346777531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050490.348637528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050490.445777401] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050490.447243581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050490.447586122] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050490.450247684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050490.451384435] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050490.502513690] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911958 Long: -76.50307011 +[vectornav-1] [INFO] [1746050490.503542315] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (357.443, -2.074, 10.41) +[mux-7] [INFO] [1746050490.545383193] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050490.546338908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050490.546894219] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050490.548847875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050490.550000424] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050490.585328169] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050490.587764957] [sailbot.teensy]: Wind angle: 98 +[trim_sail-4] [INFO] [1746050490.587962318] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050490.588738720] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050490.589138188] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050490.589702716] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050490.590595435] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050490.645071575] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050490.645847165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050490.646638977] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050490.648240679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050490.649273486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050490.745350506] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050490.746203283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050490.746904185] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050490.748751426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050490.749866897] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050490.835598647] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050490.837797936] [sailbot.teensy]: Wind angle: 98 +[trim_sail-4] [INFO] [1746050490.838662784] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050490.838886702] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050490.839812088] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050490.839837764] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050490.841335410] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050490.844413405] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050490.844996918] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050490.845525975] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050490.846714216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050490.847734432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050490.945602170] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050490.946561961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050490.947231951] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050490.948929660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050490.950294950] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050491.004045766] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911868 Long: -76.50306714 +[vectornav-1] [INFO] [1746050491.005551184] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (353.494, -2.623, 12.137) +[mux-7] [INFO] [1746050491.045275705] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050491.046816844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050491.046859287] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050491.048867532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050491.049854332] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050491.085369139] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050491.087611614] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050491.087982122] [sailbot.teensy]: Wind angle: 92 +[mux-7] [INFO] [1746050491.088659087] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050491.089025336] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050491.090013304] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050491.090917653] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050491.145344132] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050491.146135910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050491.146910651] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050491.148372116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050491.149535907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050491.245171349] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050491.245883040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050491.246714538] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050491.247940242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050491.249028327] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050491.335349319] [sailbot.teensy]: Check telemetry callback entered +[mux-7] [INFO] [1746050491.335375092] [sailbot.mux]: controller_app rudder angle: -19 +[teensy-2] [INFO] [1746050491.337150572] [sailbot.teensy]: Wind angle: 90 +[trim_sail-4] [INFO] [1746050491.337543316] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050491.338123714] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050491.339056097] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050491.339094048] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050491.339973528] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050491.344296169] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050491.344850613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050491.345476392] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050491.346584524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050491.347746518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050491.445342668] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050491.446184485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050491.446927373] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050491.448649093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050491.449887174] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050491.503537974] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911732 Long: -76.50306313 +[vectornav-1] [INFO] [1746050491.504955213] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (350.36199999999997, 3.022, 13.971) +[mux-7] [INFO] [1746050491.545010943] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050491.545709718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050491.546310642] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050491.547633623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050491.548741928] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050491.585456254] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050491.587862544] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050491.588636143] [sailbot.teensy]: Wind angle: 89 +[teensy-2] [INFO] [1746050491.589585221] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050491.589557746] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050491.590476013] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050491.591347144] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050491.645206126] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050491.645791814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050491.646733743] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050491.648026642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050491.649078690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050491.745437720] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050491.746048503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050491.747268328] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050491.748840165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050491.750004277] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050491.835416710] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050491.837338582] [sailbot.teensy]: Wind angle: 77 +[trim_sail-4] [INFO] [1746050491.837929455] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050491.838653389] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050491.839612676] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050491.839996945] [sailbot.teensy]: Actual tail angle: 6 +[teensy-2] [INFO] [1746050491.840352389] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050491.844582807] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050491.844943916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050491.845772136] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050491.846566608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050491.847642528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050491.945378009] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050491.946021494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050491.947090310] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050491.948246570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050491.949363885] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050492.003976589] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911695 Long: -76.50306021 +[vectornav-1] [INFO] [1746050492.005595980] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (348.762, 0.781, 9.483) +[mux-7] [INFO] [1746050492.045436859] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050492.046525334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050492.046857225] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050492.048968371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050492.049989734] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050492.085269145] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050492.087192071] [sailbot.teensy]: Wind angle: 75 +[trim_sail-4] [INFO] [1746050492.087556134] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050492.088414153] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050492.089093272] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050492.089857391] [sailbot.teensy]: Actual tail angle: 6 +[teensy-2] [INFO] [1746050492.090968707] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050492.145072732] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050492.145630592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050492.146433746] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050492.147721861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050492.148831744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050492.245374449] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050492.245965674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050492.247787195] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050492.248114451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050492.249974385] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050492.335492164] [sailbot.teensy]: Check telemetry callback entered +[mux-7] [INFO] [1746050492.335790109] [sailbot.mux]: controller_app rudder angle: -20 +[teensy-2] [INFO] [1746050492.337583803] [sailbot.teensy]: Wind angle: 84 +[trim_sail-4] [INFO] [1746050492.338111527] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050492.338566213] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050492.339307680] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050492.339480948] [sailbot.teensy]: Actual tail angle: 6 +[teensy-2] [INFO] [1746050492.340399289] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050492.344408870] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050492.345068019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050492.345564671] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746050492.346829583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 +[teensy-2] [INFO] [1746050492.347856909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050492.445603751] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050492.446417589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050492.447659101] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746050492.448293375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 +[teensy-2] [INFO] [1746050492.448786808] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050492.503058720] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691163 Long: -76.50305762 +[vectornav-1] [INFO] [1746050492.504578852] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (0.3299999999999841, -4.96, 12.56) +[mux-7] [INFO] [1746050492.545062539] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050492.546159954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050492.547000311] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746050492.548125201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 +[teensy-2] [INFO] [1746050492.549197205] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050492.585494644] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050492.587680428] [sailbot.teensy]: Wind angle: 81 +[trim_sail-4] [INFO] [1746050492.588300936] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050492.588718021] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050492.589663750] [sailbot.teensy]: Actual tail angle: 6 +[mux-7] [INFO] [1746050492.590145289] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050492.590537303] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050492.645319304] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050492.646151738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050492.646883515] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746050492.648580944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 +[teensy-2] [INFO] [1746050492.649729722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050492.745168918] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050492.745878184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050492.747070586] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746050492.747697224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 +[teensy-2] [INFO] [1746050492.748255272] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050492.835440972] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050492.837424168] [sailbot.teensy]: Wind angle: 82 +[trim_sail-4] [INFO] [1746050492.838222335] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050492.838427269] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050492.839232295] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050492.839329157] [sailbot.teensy]: Actual tail angle: 5 +[teensy-2] [INFO] [1746050492.840241186] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050492.844455811] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050492.845108648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050492.845599042] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746050492.846909234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 +[teensy-2] [INFO] [1746050492.847956611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050492.945587416] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050492.946276483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050492.947858864] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746050492.948332036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 +[teensy-2] [INFO] [1746050492.948921397] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050493.003315943] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691156 Long: -76.50305363 +[vectornav-1] [INFO] [1746050493.005059326] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (20.16700000000003, 0.759, 20.423) +[mux-7] [INFO] [1746050493.045517679] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050493.046013107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050493.046985563] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746050493.048047298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 +[teensy-2] [INFO] [1746050493.048837581] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050493.085523439] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050493.087406467] [sailbot.teensy]: Wind angle: 95 +[trim_sail-4] [INFO] [1746050493.088204042] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050493.090125580] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050493.090250551] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050493.091166758] [sailbot.teensy]: Actual tail angle: 5 +[teensy-2] [INFO] [1746050493.092007576] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050493.144984705] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050493.145830663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050493.146280203] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746050493.147808731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 +[teensy-2] [INFO] [1746050493.148841462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050493.245104270] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050493.245942613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050493.246958697] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746050493.248518192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 +[teensy-2] [INFO] [1746050493.249697811] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050493.335513799] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050493.337413926] [sailbot.teensy]: Wind angle: 109 +[trim_sail-4] [INFO] [1746050493.338184044] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050493.338575413] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050493.339243930] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050493.339311301] [sailbot.teensy]: Actual tail angle: 5 +[teensy-2] [INFO] [1746050493.339701398] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050493.344393229] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050493.345299279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050493.345539908] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746050493.347051366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 +[teensy-2] [INFO] [1746050493.348267870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050493.445559779] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050493.446230278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050493.447270656] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746050493.448324214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 +[teensy-2] [INFO] [1746050493.448833742] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050493.503526494] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911575 Long: -76.5030501 +[vectornav-1] [INFO] [1746050493.505432608] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (36.644000000000005, -2.935, 22.729) +[mux-7] [INFO] [1746050493.545019673] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050493.545810760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050493.546747615] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746050493.547719431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 +[teensy-2] [INFO] [1746050493.548850890] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050493.585681907] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050493.587786457] [sailbot.teensy]: Wind angle: 114 +[teensy-2] [INFO] [1746050493.588910502] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050493.589824651] [sailbot.teensy]: Actual tail angle: 5 +[trim_sail-4] [INFO] [1746050493.589402024] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050493.589944972] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050493.590700987] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050493.645091197] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050493.645738300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050493.646562346] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746050493.647801235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 +[teensy-2] [INFO] [1746050493.648850004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050493.743710704] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050493.744055219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050493.744223840] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746050493.744860973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 +[teensy-2] [INFO] [1746050493.745402150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050493.757810996] [sailbot.mux]: controller_app rudder angle: 0 +[teensy-2] [INFO] [1746050493.835529634] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050493.837714040] [sailbot.teensy]: Wind angle: 114 +[trim_sail-4] [INFO] [1746050493.837992387] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050493.838681400] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050493.839233750] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050493.839579676] [sailbot.teensy]: Actual tail angle: 5 +[teensy-2] [INFO] [1746050493.840457034] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050493.844360867] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050493.844932575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050493.845441493] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050493.846624046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050493.847638215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050493.945044465] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050493.946114706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050493.946380853] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050493.948111548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050493.949218751] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050494.003185313] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691173 Long: -76.50304845 +[vectornav-1] [INFO] [1746050494.004470116] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.21100000000001, 3.019, 17.736) +[mux-7] [INFO] [1746050494.045355559] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050494.046252033] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050494.046756743] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050494.048125967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050494.048641551] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050494.085403023] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050494.087628570] [sailbot.teensy]: Wind angle: 112 +[trim_sail-4] [INFO] [1746050494.087990862] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050494.088932519] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050494.089312997] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050494.090248881] [sailbot.teensy]: Actual tail angle: 5 +[teensy-2] [INFO] [1746050494.091117229] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050494.144888693] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050494.145718748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050494.146714298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050494.148142626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050494.149410120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050494.245211034] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050494.245966967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050494.246996963] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050494.248101563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050494.248650031] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050494.335515229] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050494.338210200] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050494.338867689] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050494.339030482] [sailbot.teensy]: Wind angle: 120 +[teensy-2] [INFO] [1746050494.339438873] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050494.339821697] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050494.340521459] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050494.344425586] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050494.344931817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050494.345595196] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050494.346620639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050494.347644523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050494.445273716] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050494.445870613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050494.446944264] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050494.448178346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050494.449341041] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050494.502986846] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911913 Long: -76.50304793 +[vectornav-1] [INFO] [1746050494.504347550] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (75.803, -1.278, 12.043) +[mux-7] [INFO] [1746050494.545211315] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050494.545901786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050494.546760867] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050494.548268426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050494.549456401] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050494.585435320] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050494.587559077] [sailbot.teensy]: Wind angle: 125 +[teensy-2] [INFO] [1746050494.588561939] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050494.587946174] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050494.588932900] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050494.589459488] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050494.590303966] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050494.645373744] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050494.646461620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050494.647095847] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050494.649105550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050494.650293713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050494.745348678] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050494.746131854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050494.746891579] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050494.748433903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050494.748994816] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050494.835375363] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050494.838149595] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050494.838449068] [sailbot.teensy]: Wind angle: 140 +[mux-7] [INFO] [1746050494.838688054] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050494.839540869] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050494.840547838] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050494.841391593] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050494.844358215] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050494.844861269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050494.845557499] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050494.846630722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050494.847800812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050494.944959093] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050494.945641664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050494.946345125] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050494.947504367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050494.948047381] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050495.002465517] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912085 Long: -76.50304713 +[vectornav-1] [INFO] [1746050495.003892439] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (85.53800000000001, 1.742, 10.485) +[mux-7] [INFO] [1746050495.044727857] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050495.045339301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050495.045990390] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050495.047136280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050495.048172688] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050495.085237329] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050495.086984787] [sailbot.teensy]: Wind angle: 157 +[trim_sail-4] [INFO] [1746050495.087300532] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050495.087928276] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050495.088860277] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050495.088925465] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050495.089800897] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050495.144875351] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050495.145574956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050495.146107252] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050495.147952721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050495.149129784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050495.244697587] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050495.245498884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050495.245952523] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050495.247456882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050495.248569428] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050495.335125244] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050495.337034487] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746050495.337469638] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050495.337959816] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050495.338289227] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050495.338854086] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050495.339733221] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050495.344303654] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050495.344962452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050495.345418739] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050495.346632146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050495.347670548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050495.445297695] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050495.446050568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050495.447773944] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050495.448319224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050495.449046135] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050495.503773800] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912255 Long: -76.50304731 +[vectornav-1] [INFO] [1746050495.505400666] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (93.435, -2.669, 5.789) +[mux-7] [INFO] [1746050495.545034567] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050495.545997862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050495.546426206] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050495.547912123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050495.548943090] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050495.585293957] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050495.587921943] [sailbot.teensy]: Wind angle: 160 +[trim_sail-4] [INFO] [1746050495.587945595] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050495.588971380] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050495.589722792] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050495.589914874] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050495.590813388] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050495.645151984] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050495.646052057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050495.647014464] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050495.647779949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050495.648245540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050495.744780654] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050495.745681768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050495.746055467] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050495.747529520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050495.748631093] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050495.835310368] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050495.837103936] [sailbot.teensy]: Wind angle: 160 +[trim_sail-4] [INFO] [1746050495.837841779] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050495.838657267] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050495.839039132] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050495.839053979] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050495.839427680] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050495.844359600] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050495.844907459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050495.845473168] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050495.846776906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050495.847806844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050495.945609422] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050495.946547735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050495.947344441] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050495.948944406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050495.950085883] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050496.003002630] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912458 Long: -76.50304838 +[vectornav-1] [INFO] [1746050496.004628889] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (97.88, 3.272, 7.834) +[mux-7] [INFO] [1746050496.045246426] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050496.046220397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050496.046707208] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050496.048226291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050496.049287067] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050496.085517348] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050496.087698679] [sailbot.teensy]: Wind angle: 160 +[trim_sail-4] [INFO] [1746050496.088176875] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050496.088682684] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050496.089255792] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050496.089618094] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050496.090472727] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050496.145285290] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050496.146078217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050496.146855440] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050496.148527103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050496.149024616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050496.245574247] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050496.246461022] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050496.247242921] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050496.249119353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050496.250362591] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050496.335438225] [sailbot.teensy]: Check telemetry callback entered +[mux-7] [INFO] [1746050496.336604926] [sailbot.mux]: controller_app rudder angle: 13 +[teensy-2] [INFO] [1746050496.337275120] [sailbot.teensy]: Wind angle: 160 +[teensy-2] [INFO] [1746050496.338227287] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050496.338893457] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746050496.339027417] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050496.339290029] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050496.339631218] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050496.344446676] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050496.345229351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050496.345728741] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050496.347007734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050496.348061299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050496.445488793] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050496.446371192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050496.447550610] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050496.449365106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050496.450530835] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050496.502513855] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691261 Long: -76.50304775 +[vectornav-1] [INFO] [1746050496.503541084] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (97.35399999999998, -1.828, 7.587) +[mux-7] [INFO] [1746050496.545527326] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050496.546555213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050496.547214055] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050496.549119662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050496.550216987] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050496.585873167] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050496.589072048] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050496.589115737] [sailbot.teensy]: Wind angle: 160 +[teensy-2] [INFO] [1746050496.590209458] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050496.590440266] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050496.591187555] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050496.592199368] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050496.645395978] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050496.646368808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050496.646987102] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050496.649331768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050496.650571181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050496.745362735] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050496.746483507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050496.746961066] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050496.749170867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050496.750347845] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050496.835234971] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050496.837092149] [sailbot.teensy]: Wind angle: 160 +[trim_sail-4] [INFO] [1746050496.837424541] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050496.838009887] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050496.838977641] [sailbot.teensy]: Actual tail angle: 38 +[mux-7] [INFO] [1746050496.839119965] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050496.839822396] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050496.844418408] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050496.845253298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050496.845577400] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050496.847150931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050496.848365906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050496.945714198] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050496.946743254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050496.947353209] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050496.949297249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050496.950446296] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050497.002300044] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469127 Long: -76.50304831 +[vectornav-1] [INFO] [1746050497.003284933] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (97.37599999999998, -2.502, 4.151) +[mux-7] [INFO] [1746050497.045406270] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050497.046207822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050497.047090112] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050497.048669011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050497.049723545] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050497.085453405] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050497.087447157] [sailbot.teensy]: Wind angle: 158 +[trim_sail-4] [INFO] [1746050497.088011879] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050497.088517865] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050497.089069294] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050497.089487421] [sailbot.teensy]: Actual tail angle: 38 +[teensy-2] [INFO] [1746050497.090375942] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050497.144998300] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050497.145782143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050497.146354278] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050497.148598595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050497.149672718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050497.245662005] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050497.246609263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050497.247327252] [sailbot.mux]: Published rudder angle from controller_app: 13 +[teensy-2] [INFO] [1746050497.248167038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 +[teensy-2] [INFO] [1746050497.248872702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050497.312849375] [sailbot.mux]: controller_app rudder angle: 11 +[teensy-2] [INFO] [1746050497.335464978] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050497.337482285] [sailbot.teensy]: Wind angle: 157 +[trim_sail-4] [INFO] [1746050497.337806569] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050497.338476402] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050497.339102019] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050497.339436187] [sailbot.teensy]: Actual tail angle: 38 +[teensy-2] [INFO] [1746050497.340360857] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050497.344383445] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050497.344948567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050497.345559571] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050497.346635959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050497.347802223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050497.445323599] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050497.446275849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050497.447030628] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050497.448011621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050497.448466443] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050497.503270907] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912863 Long: -76.5030493 +[vectornav-1] [INFO] [1746050497.504574110] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (95.613, 1.775, 5.534) +[mux-7] [INFO] [1746050497.545114038] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050497.545839150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050497.546772660] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050497.547832884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050497.549131705] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050497.585378981] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050497.587166012] [sailbot.teensy]: Wind angle: 157 +[teensy-2] [INFO] [1746050497.588088494] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050497.587723734] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050497.588760963] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050497.588995646] [sailbot.teensy]: Actual tail angle: 38 +[teensy-2] [INFO] [1746050497.589860402] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050497.645242849] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050497.646371545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050497.646725799] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050497.648480492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050497.649526101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050497.745539968] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050497.746476897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050497.747762626] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050497.748095695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050497.748563744] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050497.835358673] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050497.837148888] [sailbot.teensy]: Wind angle: 156 +[trim_sail-4] [INFO] [1746050497.838014975] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050497.839476086] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050497.839736297] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050497.840510418] [sailbot.teensy]: Actual tail angle: 36 +[teensy-2] [INFO] [1746050497.841439610] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050497.844345459] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050497.844880052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050497.845527928] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050497.846615755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050497.847877861] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050497.945465043] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050497.946111304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050497.947243355] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050497.947698669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050497.948256615] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050498.003485577] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912952 Long: -76.50304918 +[vectornav-1] [INFO] [1746050498.005104344] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (87.863, 3.311, 8.238) +[mux-7] [INFO] [1746050498.045500752] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050498.046373399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050498.047231001] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050498.048732906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050498.049901766] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050498.085481165] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050498.087370599] [sailbot.teensy]: Wind angle: 152 +[trim_sail-4] [INFO] [1746050498.087847737] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050498.088404619] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050498.089351850] [sailbot.teensy]: Actual tail angle: 36 +[mux-7] [INFO] [1746050498.089435810] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050498.090378863] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050498.145208819] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050498.146003313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050498.147162980] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050498.148048196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050498.149221423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050498.245348809] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050498.246148562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050498.247459050] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050498.247948527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050498.248492132] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050498.335279753] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050498.337658668] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050498.338379080] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050498.338771230] [sailbot.teensy]: Wind angle: 146 +[teensy-2] [INFO] [1746050498.339237115] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050498.339767152] [sailbot.teensy]: Actual tail angle: 36 +[teensy-2] [INFO] [1746050498.340615475] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050498.344351523] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050498.344994419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050498.345456358] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050498.346675717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050498.347776292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050498.445630959] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050498.446440811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050498.447332990] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050498.448958456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050498.450310707] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050498.502550985] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912996 Long: -76.50304851 +[vectornav-1] [INFO] [1746050498.503594601] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (79.55000000000001, -5.416, 6.608) +[mux-7] [INFO] [1746050498.545179716] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050498.546038161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050498.546700466] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050498.548320574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050498.549520151] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050498.585376762] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050498.587676076] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050498.588051954] [sailbot.teensy]: Wind angle: 138 +[teensy-2] [INFO] [1746050498.589000633] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050498.589013124] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050498.589897985] [sailbot.teensy]: Actual tail angle: 36 +[teensy-2] [INFO] [1746050498.590814293] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050498.645254058] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050498.646067985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050498.647449559] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050498.648138641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050498.649373983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050498.745030960] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050498.745852365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050498.746395428] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050498.747740210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050498.748924550] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050498.835680941] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050498.838449972] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050498.838803732] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050498.839314134] [sailbot.teensy]: Wind angle: 136 +[teensy-2] [INFO] [1746050498.839857489] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050498.840726160] [sailbot.teensy]: Actual tail angle: 36 +[teensy-2] [INFO] [1746050498.841629809] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050498.844274842] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050498.844726133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050498.845530654] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050498.846330186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050498.847373519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050498.945258826] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050498.946179091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050498.947080197] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050498.948475061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050498.949023239] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050499.003501347] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913137 Long: -76.5030485 +[vectornav-1] [INFO] [1746050499.005689632] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (71.51800000000003, 2.038, 7.533) +[mux-7] [INFO] [1746050499.045087903] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050499.045823150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050499.046464557] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050499.047753510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050499.048863221] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050499.085418256] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050499.087706515] [sailbot.teensy]: Wind angle: 136 +[trim_sail-4] [INFO] [1746050499.087847975] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050499.088597814] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050499.088698538] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050499.089616474] [sailbot.teensy]: Actual tail angle: 36 +[teensy-2] [INFO] [1746050499.090470823] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050499.145030886] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050499.145584103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050499.146317579] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050499.147550002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050499.148651090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050499.245136271] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050499.245596729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050499.246583220] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050499.247593296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050499.248799373] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050499.335446964] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050499.338018661] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050499.338045996] [sailbot.teensy]: Wind angle: 135 +[mux-7] [INFO] [1746050499.338911544] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050499.339125943] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050499.340036610] [sailbot.teensy]: Actual tail angle: 36 +[teensy-2] [INFO] [1746050499.340591321] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050499.344444183] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050499.344963224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050499.345556530] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050499.346722941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050499.347897286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050499.397078940] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746050499.445469190] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050499.445585517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050499.446710148] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050499.447581730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050499.448476343] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050499.502474263] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913237 Long: -76.50304691 +[vectornav-1] [INFO] [1746050499.503511560] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.82600000000002, 0.16, 11.307) +[mux-7] [INFO] [1746050499.544733541] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050499.545256150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050499.545895421] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050499.546981696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050499.548079244] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050499.585399692] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050499.587474500] [sailbot.teensy]: Wind angle: 133 +[trim_sail-4] [INFO] [1746050499.587846000] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050499.588454702] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050499.589356040] [sailbot.teensy]: Actual tail angle: 36 +[mux-7] [INFO] [1746050499.589359863] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050499.590230805] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050499.645353199] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050499.646348517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050499.646943625] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050499.648737980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050499.649944550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050499.745499445] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050499.746429683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050499.747057273] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050499.749195194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050499.750260999] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050499.835379400] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050499.837539717] [sailbot.teensy]: Wind angle: 124 +[trim_sail-4] [INFO] [1746050499.837753329] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050499.838064944] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050499.839373365] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050499.840272654] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050499.841143928] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050499.844403315] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050499.844919846] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050499.845531803] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050499.846727070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050499.847757173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050499.945468773] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050499.946477983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050499.946955892] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050499.948144636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050499.948700130] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050500.004053695] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913314 Long: -76.50304508 +[vectornav-1] [INFO] [1746050500.006228461] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.17599999999999, -2.36, 13.33) +[mux-7] [INFO] [1746050500.045286356] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050500.046167510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050500.046806616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050500.048616083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050500.050145031] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050500.085472376] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050500.087822158] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050500.088409125] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050500.089001172] [sailbot.teensy]: Wind angle: 116 +[teensy-2] [INFO] [1746050500.089871574] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050500.090679083] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050500.091494978] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050500.145105239] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050500.145836536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050500.146467152] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050500.148004202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050500.149126301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050500.245138515] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050500.245880192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050500.246771009] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050500.247800482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050500.248972321] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050500.335353440] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050500.337732575] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050500.339257053] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050500.339402363] [sailbot.teensy]: Wind angle: 110 +[teensy-2] [INFO] [1746050500.340460320] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050500.341340233] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050500.342156514] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050500.344491918] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050500.344805018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050500.345674967] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050500.346435039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050500.347548304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050500.445299074] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050500.445902088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050500.446896770] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050500.448006054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050500.449126031] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050500.502419868] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913454 Long: -76.50304229 +[vectornav-1] [INFO] [1746050500.503482137] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.77800000000002, 0.18, 12.419) +[mux-7] [INFO] [1746050500.545166137] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050500.545725601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050500.546675951] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050500.547668038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050500.549309942] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050500.585386810] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050500.587642979] [sailbot.teensy]: Wind angle: 110 +[trim_sail-4] [INFO] [1746050500.587678390] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050500.588637635] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050500.589062036] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050500.589515231] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050500.590398626] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050500.645231534] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050500.646114372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050500.646923076] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050500.648538741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050500.649686936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050500.745181602] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050500.746010857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050500.746518434] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050500.747990590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050500.749176086] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050500.835562098] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050500.837610381] [sailbot.teensy]: Wind angle: 110 +[teensy-2] [INFO] [1746050500.838624631] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050500.838321992] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050500.838927673] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050500.839022877] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050500.839389588] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050500.844542718] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050500.845115079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050500.845712304] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050500.846868713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050500.847857086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050500.945150522] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050500.946128555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050500.946653885] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050500.948852668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050500.950044158] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050501.003585490] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913609 Long: -76.50304016 +[vectornav-1] [INFO] [1746050501.005011826] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.233000000000004, -0.759, 10.385) +[mux-7] [INFO] [1746050501.045306164] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050501.046242417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050501.046780745] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050501.048524651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050501.049544934] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050501.085284414] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050501.087318507] [sailbot.teensy]: Wind angle: 109 +[trim_sail-4] [INFO] [1746050501.087534520] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050501.088100004] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050501.088198433] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050501.089103660] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050501.089967710] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050501.144906963] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050501.145731275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050501.146158587] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050501.147706815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050501.148757442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050501.244934760] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050501.245610674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050501.246198908] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050501.248293938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050501.249445084] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050501.335577995] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050501.338002104] [sailbot.teensy]: Wind angle: 109 +[trim_sail-4] [INFO] [1746050501.338628164] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050501.338969462] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050501.339421641] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050501.339871029] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050501.340766988] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050501.344358163] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050501.345521007] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050501.345747432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050501.347545195] [sailbot.mux]: controller_app rudder angle: -2 +[teensy-2] [INFO] [1746050501.347743186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050501.348864027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050501.445195434] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050501.445952789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050501.446700620] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050501.448138751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050501.449337769] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050501.503479357] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913773 Long: -76.50303712 +[vectornav-1] [INFO] [1746050501.505544212] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (36.327, -0.634, 11.239) +[mux-7] [INFO] [1746050501.544939014] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050501.545678826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050501.546215181] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050501.547687159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050501.548725257] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050501.585411785] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050501.587945051] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050501.588342980] [sailbot.teensy]: Wind angle: 109 +[mux-7] [INFO] [1746050501.588451392] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050501.589541893] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050501.590405589] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050501.591262530] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050501.645583977] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050501.645839586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050501.647182034] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050501.648025818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050501.648828019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050501.745192525] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050501.745886338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050501.746711908] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050501.747999008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050501.749089966] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050501.835427374] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050501.837797873] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050501.839114531] [sailbot.teensy]: Wind angle: 110 +[mux-7] [INFO] [1746050501.839319067] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050501.840085926] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050501.841012747] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050501.841828483] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050501.844296306] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050501.844951064] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050501.845392362] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050501.846721118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050501.847769328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050501.945280946] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050501.946021701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050501.946749691] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050501.947827561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050501.948273135] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050502.003907738] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691387 Long: -76.50303354 +[vectornav-1] [INFO] [1746050502.005738141] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.851999999999975, -0.676, 12.171) +[mux-7] [INFO] [1746050502.044693755] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050502.045353105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050502.045841458] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050502.047224968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050502.048245693] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050502.085245904] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050502.087056912] [sailbot.teensy]: Wind angle: 119 +[trim_sail-4] [INFO] [1746050502.087413272] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050502.087950611] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050502.088689694] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050502.088932018] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050502.089833204] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050502.144867733] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050502.145715703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050502.146136330] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050502.147601819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050502.148588336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050502.245229180] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050502.245885673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050502.246731590] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050502.247958408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050502.249123189] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050502.335730259] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050502.338478645] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050502.339147016] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050502.339202193] [sailbot.teensy]: Wind angle: 115 +[teensy-2] [INFO] [1746050502.339623162] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050502.340407725] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050502.341257897] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050502.344525133] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050502.345069806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050502.345638289] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050502.346718401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050502.347811209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050502.375564974] [sailbot.mux]: controller_app rudder angle: -9 +[mux-7] [INFO] [1746050502.445426820] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050502.446063172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050502.446919734] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050502.448465764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050502.449703122] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050502.503246606] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914004 Long: -76.50303013 +[vectornav-1] [INFO] [1746050502.504503661] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.928999999999974, 0.008, 8.675) +[mux-7] [INFO] [1746050502.545435766] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050502.546159786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050502.547141892] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050502.548450254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050502.549621432] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050502.585563433] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050502.588501130] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050502.588877725] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050502.589179484] [sailbot.teensy]: Wind angle: 107 +[teensy-2] [INFO] [1746050502.590189266] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050502.591043550] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050502.591897144] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050502.645426095] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050502.646175488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050502.647378395] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050502.648464068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050502.649659395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050502.745147411] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050502.745806428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050502.746731843] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050502.747742442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050502.748278799] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050502.835319980] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050502.837706706] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050502.838197496] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050502.839217578] [sailbot.teensy]: Wind angle: 100 +[teensy-2] [INFO] [1746050502.839949499] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050502.840351803] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050502.840942161] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050502.844477228] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050502.844938009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050502.845567820] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050502.846773568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050502.847778914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050502.945949031] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050502.946512653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050502.947530303] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050502.948934048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050502.950065939] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050503.004022292] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914168 Long: -76.50302711 +[vectornav-1] [INFO] [1746050503.005794988] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.654999999999973, -1.991, 6.599) +[mux-7] [INFO] [1746050503.045508261] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050503.046378310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050503.048031498] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050503.048812805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050503.050020292] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050503.085428730] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050503.087275381] [sailbot.teensy]: Wind angle: 100 +[trim_sail-4] [INFO] [1746050503.087558837] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050503.088241428] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050503.089218390] [sailbot.teensy]: Actual tail angle: 16 +[mux-7] [INFO] [1746050503.089493091] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050503.090134893] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050503.144927749] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050503.145647633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050503.146333400] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050503.147798972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050503.148876249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050503.245310327] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050503.246059791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050503.246963654] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050503.248188656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050503.249104558] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050503.335433653] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050503.337813956] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050503.338231718] [sailbot.teensy]: Wind angle: 101 +[mux-7] [INFO] [1746050503.339263390] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050503.339516686] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050503.340552562] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050503.341398234] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050503.344290083] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050503.345001998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050503.345493020] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050503.346913884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050503.347931510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050503.361550895] [sailbot.mux]: controller_app rudder angle: -11 +[mux-7] [INFO] [1746050503.445190264] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050503.446197909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050503.447093652] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050503.448381513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050503.448957832] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050503.503075837] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914291 Long: -76.50302348 +[vectornav-1] [INFO] [1746050503.504382985] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.81299999999999, 2.48, 10.811) +[mux-7] [INFO] [1746050503.544909098] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050503.545579325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050503.546181881] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050503.547403866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050503.548587833] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050503.585457745] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050503.588319576] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050503.588819442] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050503.588861483] [sailbot.teensy]: Wind angle: 104 +[teensy-2] [INFO] [1746050503.589803962] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050503.590770158] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050503.591585597] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050503.645188230] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050503.645681350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050503.646858153] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050503.647825787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050503.649060986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050503.745587772] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050503.746202190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050503.747276045] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050503.749118366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050503.750405577] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050503.835453950] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050503.837819757] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050503.838350999] [sailbot.teensy]: Wind angle: 114 +[teensy-2] [INFO] [1746050503.838909178] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050503.838983015] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050503.839314563] [sailbot.teensy]: Actual tail angle: 14 +[teensy-2] [INFO] [1746050503.839742456] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050503.844515707] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050503.845229187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050503.845601334] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050503.847027495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050503.848132515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050503.945121952] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050503.945800542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050503.946509546] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050503.947860305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050503.948906620] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050504.002520298] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914386 Long: -76.50302 +[vectornav-1] [INFO] [1746050504.003802804] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.30000000000001, -4.574, 14.509) +[mux-7] [INFO] [1746050504.045176337] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050504.045972902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050504.046622164] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050504.047947523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050504.049008456] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050504.085774300] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050504.088301610] [sailbot.teensy]: Wind angle: 129 +[trim_sail-4] [INFO] [1746050504.088585929] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050504.090221372] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050504.090454277] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050504.091374168] [sailbot.teensy]: Actual tail angle: 14 +[teensy-2] [INFO] [1746050504.092228695] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050504.145351917] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050504.146216757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050504.147084331] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050504.150120221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050504.151189204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050504.245293380] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050504.245990682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050504.246887628] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050504.248257158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050504.249422192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050504.313863651] [sailbot.mux]: controller_app rudder angle: -24 +[teensy-2] [INFO] [1746050504.335610369] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050504.337725606] [sailbot.teensy]: Wind angle: 134 +[teensy-2] [INFO] [1746050504.338718603] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050504.338260770] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050504.339219797] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050504.339600211] [sailbot.teensy]: Actual tail angle: 14 +[teensy-2] [INFO] [1746050504.340503556] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050504.344360056] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050504.344798562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050504.345521751] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050504.346560313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050504.347617498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050504.445640751] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050504.446181765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050504.447513297] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050504.448495886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050504.449618086] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050504.504064204] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914524 Long: -76.50301682 +[vectornav-1] [INFO] [1746050504.506101787] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.59100000000001, 3.237, 15.714) +[mux-7] [INFO] [1746050504.545165520] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050504.545856906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050504.546696153] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050504.547753283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050504.548272637] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050504.585229043] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050504.587403807] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050504.588329610] [sailbot.teensy]: Wind angle: 133 +[mux-7] [INFO] [1746050504.588729471] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050504.589325206] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050504.590249752] [sailbot.teensy]: Actual tail angle: 14 +[teensy-2] [INFO] [1746050504.591115308] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050504.645084674] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050504.645889674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050504.646655424] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050504.648260792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050504.649256786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050504.745479981] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050504.746342834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050504.747128508] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050504.749207501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050504.751287805] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050504.835598292] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050504.838232085] [sailbot.teensy]: Wind angle: 134 +[trim_sail-4] [INFO] [1746050504.838311452] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050504.838863656] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050504.839275612] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050504.840198669] [sailbot.teensy]: Actual tail angle: 1 +[teensy-2] [INFO] [1746050504.841076440] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050504.844317837] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050504.845037159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050504.845711543] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050504.846953043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050504.848065210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050504.945497454] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050504.946196736] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050504.947146025] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050504.948513365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050504.949691247] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050505.003357300] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914721 Long: -76.50301552 +[vectornav-1] [INFO] [1746050505.005798055] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (64.16399999999999, -2.131, 12.522) +[mux-7] [INFO] [1746050505.045474788] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050505.046316559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050505.047082027] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050505.048744356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050505.050021779] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050505.085411241] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050505.087679189] [sailbot.teensy]: Wind angle: 136 +[trim_sail-4] [INFO] [1746050505.087792072] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050505.088698875] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050505.089129211] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050505.089620827] [sailbot.teensy]: Actual tail angle: 1 +[teensy-2] [INFO] [1746050505.090480807] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050505.144958187] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050505.145778128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050505.146281010] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050505.148042643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050505.148591665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050505.245261439] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050505.246776947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050505.246909042] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050505.248657498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050505.249105143] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050505.335832108] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050505.338866474] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050505.339279698] [sailbot.teensy]: Wind angle: 141 +[mux-7] [INFO] [1746050505.339536207] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050505.340415858] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050505.341400092] [sailbot.teensy]: Actual tail angle: 1 +[teensy-2] [INFO] [1746050505.342288102] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050505.344448367] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050505.345260540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050505.345626157] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050505.347182927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[mux-7] [INFO] [1746050505.348237820] [sailbot.mux]: controller_app rudder angle: -23 +[teensy-2] [INFO] [1746050505.348284195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050505.445516439] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050505.446371751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050505.447108537] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050505.448798589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050505.450035398] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050505.503855924] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914903 Long: -76.50301437 +[vectornav-1] [INFO] [1746050505.505250243] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (81.65100000000001, 2.322, 13.045) +[mux-7] [INFO] [1746050505.544523476] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050505.545041438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050505.545623902] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050505.546684028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050505.547689194] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050505.585503258] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050505.587754076] [sailbot.teensy]: Wind angle: 155 +[trim_sail-4] [INFO] [1746050505.588126247] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050505.588944126] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050505.589899045] [sailbot.teensy]: Actual tail angle: 1 +[mux-7] [INFO] [1746050505.590256465] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050505.590758445] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050505.645225668] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050505.646120770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050505.646719218] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050505.648650369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050505.649671820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050505.745251002] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050505.746191519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050505.746886879] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050505.748128128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050505.748608871] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050505.835228677] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050505.837451487] [sailbot.teensy]: Wind angle: 164 +[trim_sail-4] [INFO] [1746050505.837607592] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050505.838449987] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050505.838675716] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050505.839391189] [sailbot.teensy]: Actual tail angle: 2 +[teensy-2] [INFO] [1746050505.840294255] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050505.844386705] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050505.845056779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050505.845526847] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050505.846748241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050505.847807658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050505.945346077] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050505.946278251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050505.946927796] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050505.948010524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050505.948485862] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050506.002562751] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914983 Long: -76.5030136 +[vectornav-1] [INFO] [1746050506.003644705] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (103.73500000000001, -2.771, 11.178) +[mux-7] [INFO] [1746050506.045165083] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050506.045956247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050506.046647402] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050506.047984531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050506.049148173] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050506.085474926] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050506.087864442] [sailbot.teensy]: Wind angle: 168 +[teensy-2] [INFO] [1746050506.088852564] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050506.088906561] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050506.089153373] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050506.089752629] [sailbot.teensy]: Actual tail angle: 2 +[teensy-2] [INFO] [1746050506.090638306] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050506.145225111] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050506.146180735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050506.147296518] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050506.148507226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050506.149540645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050506.245457064] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050506.246247423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050506.247056740] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050506.248695292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050506.249213826] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050506.335434581] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050506.337324461] [sailbot.teensy]: Wind angle: 176 +[trim_sail-4] [INFO] [1746050506.338112261] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050506.338264942] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050506.338477021] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050506.339159523] [sailbot.teensy]: Actual tail angle: 2 +[teensy-2] [INFO] [1746050506.340044340] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050506.344419017] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050506.344889705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050506.345513926] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050506.346563600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050506.347602990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050506.445419428] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050506.446209277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050506.447066718] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050506.448920884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050506.450077366] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050506.503651705] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915116 Long: -76.50301418 +[vectornav-1] [INFO] [1746050506.505094748] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (123.79899999999998, -1.608, 6.476) +[mux-7] [INFO] [1746050506.545066144] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050506.545866949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050506.546465280] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050506.548109041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050506.549293725] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050506.585242422] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050506.587506308] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050506.587604073] [sailbot.teensy]: Wind angle: 179 +[mux-7] [INFO] [1746050506.587947220] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050506.588520956] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050506.589381507] [sailbot.teensy]: Actual tail angle: 2 +[teensy-2] [INFO] [1746050506.590215995] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050506.645056471] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050506.645676206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050506.646587846] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050506.647669491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050506.648762362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050506.745484535] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050506.746362162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050506.747186746] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050506.748895966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050506.749514233] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050506.835316181] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050506.837744125] [sailbot.teensy]: Wind angle: 199 +[trim_sail-4] [INFO] [1746050506.837951054] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050506.838721563] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050506.839410785] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050506.839619460] [sailbot.teensy]: Actual tail angle: 2 +[teensy-2] [INFO] [1746050506.840540060] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050506.844526241] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050506.845014895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050506.845616103] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050506.846682731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050506.847790924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050506.945504177] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050506.946458393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050506.947524975] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050506.948588780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050506.949118368] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050507.003529455] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915147 Long: -76.50301598 +[vectornav-1] [INFO] [1746050507.005110017] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (148.966, 5.156, 2.885) +[mux-7] [INFO] [1746050507.044979749] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050507.045847699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050507.046276632] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050507.047690561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050507.048711234] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050507.085151301] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050507.087235026] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050507.087366955] [sailbot.teensy]: Wind angle: 225 +[teensy-2] [INFO] [1746050507.088314115] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050507.089233092] [sailbot.teensy]: Actual tail angle: 2 +[mux-7] [INFO] [1746050507.089524003] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050507.090100485] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050507.144740357] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050507.145539232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050507.145902047] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050507.147276389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050507.148455192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050507.244908903] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050507.245885100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050507.246373888] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050507.247789072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050507.248281461] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050507.335714442] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050507.337942807] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050507.338547174] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050507.339105422] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050507.340240747] [sailbot.teensy]: Actual tail angle: 2 +[teensy-2] [INFO] [1746050507.341210656] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050507.341741620] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050507.344549093] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050507.344976288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050507.345690082] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050507.346742881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[mux-7] [INFO] [1746050507.347654919] [sailbot.mux]: controller_app rudder angle: 1 +[teensy-2] [INFO] [1746050507.347770010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050507.445720066] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050507.446331800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050507.447333441] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050507.448823639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050507.449354988] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050507.502659748] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915144 Long: -76.50301659 +[vectornav-1] [INFO] [1746050507.503720478] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.17100000000005, -2.992, 1.375) +[mux-7] [INFO] [1746050507.544854099] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050507.545458591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050507.546121728] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050507.547210103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050507.548344878] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050507.585549325] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050507.587925036] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050507.589110131] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050507.589241695] [sailbot.teensy]: Wind angle: 237 +[teensy-2] [INFO] [1746050507.590196617] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050507.591086846] [sailbot.teensy]: Actual tail angle: 2 +[teensy-2] [INFO] [1746050507.591905868] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050507.645117501] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050507.645863679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050507.646519796] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050507.647954888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050507.648989689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050507.745281817] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050507.746107270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050507.747497558] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050507.748286790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050507.749457121] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050507.835769310] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050507.838024509] [sailbot.teensy]: Wind angle: 246 +[trim_sail-4] [INFO] [1746050507.838435346] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050507.838645423] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050507.839023637] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050507.839204716] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050507.839425272] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050507.844516750] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050507.845044946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050507.845748452] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050507.846938667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050507.848043449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050507.945307948] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050507.946015706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050507.946837093] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050507.948184904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050507.948750993] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050508.003926933] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915104 Long: -76.50301812 +[vectornav-1] [INFO] [1746050508.005753422] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.20399999999995, -2.198, -0.759) +[mux-7] [INFO] [1746050508.045101896] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050508.045804715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050508.046527068] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050508.048007438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050508.049186074] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050508.085344544] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050508.087789920] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050508.088524954] [sailbot.teensy]: Wind angle: 250 +[mux-7] [INFO] [1746050508.089464854] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050508.089540892] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050508.090471301] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050508.091366933] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050508.145389429] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050508.146027746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050508.146923832] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050508.148197681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050508.149301136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050508.245598007] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050508.246296670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050508.247227992] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050508.248947959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050508.250155185] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050508.335431276] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050508.337854352] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050508.338237024] [sailbot.teensy]: Wind angle: 252 +[teensy-2] [INFO] [1746050508.339236436] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050508.339747380] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050508.340146448] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050508.341113060] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050508.344420229] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050508.345017811] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050508.347193428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[mux-7] [INFO] [1746050508.347818478] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050508.349531195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050508.349850948] [sailbot.mux]: controller_app rudder angle: 3 +[mux-7] [INFO] [1746050508.445659821] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050508.446777322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050508.447581806] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050508.449499401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050508.450646183] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050508.502358523] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914974 Long: -76.5030209 +[vectornav-1] [INFO] [1746050508.503366539] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (204.88200000000006, 1.167, -5.5) +[mux-7] [INFO] [1746050508.543801280] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050508.544535959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050508.544874974] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050508.546845092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050508.547305200] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050508.585512550] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050508.587335255] [sailbot.teensy]: Wind angle: 261 +[teensy-2] [INFO] [1746050508.588334068] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050508.588979172] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050508.589256785] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050508.590204883] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050508.591866940] [sailbot.mux]: algo sail angle: 25 +[mux-7] [INFO] [1746050508.645036986] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050508.645763282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050508.646699985] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050508.647844099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050508.649224521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050508.745287810] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050508.746017157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050508.747248975] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050508.747935228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050508.748587705] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050508.835809251] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050508.838524716] [sailbot.teensy]: Wind angle: 274 +[teensy-2] [INFO] [1746050508.839543295] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050508.839444585] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050508.839915725] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050508.840429764] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050508.841318060] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050508.844250445] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050508.844913494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050508.845330470] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050508.846662453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050508.847690217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050508.945740274] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050508.946395475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050508.947326759] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050508.948729423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050508.950021215] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050509.003424685] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914811 Long: -76.50302372 +[vectornav-1] [INFO] [1746050509.005095032] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (211.812, -1.24, -6.414) +[mux-7] [INFO] [1746050509.045418153] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050509.047238225] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050509.049001005] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050509.050963050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050509.052096752] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050509.085456529] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050509.088012562] [sailbot.teensy]: Wind angle: 275 +[trim_sail-4] [INFO] [1746050509.088368160] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050509.088844497] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050509.090231727] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050509.091169977] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050509.092042272] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050509.145308709] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050509.146045496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050509.147510741] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050509.148470182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050509.149668246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050509.244926987] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050509.245647949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050509.246215188] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050509.247628766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050509.248838564] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050509.335541511] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050509.337685976] [sailbot.teensy]: Wind angle: 272 +[trim_sail-4] [INFO] [1746050509.338373526] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050509.339605756] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050509.340920884] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050509.341557918] [sailbot.mux]: controller_app rudder angle: 11 +[teensy-2] [INFO] [1746050509.341760870] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050509.342153512] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050509.344255908] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050509.344821520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050509.345426136] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050509.347013627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050509.348282807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050509.445601779] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050509.446306300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050509.447237758] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050509.448701690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050509.449226241] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050509.502526598] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914537 Long: -76.5030266 +[vectornav-1] [INFO] [1746050509.503813948] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (212.62900000000002, -2.342, -9.234) +[mux-7] [INFO] [1746050509.544476761] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050509.545081594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050509.545491403] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050509.546756569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050509.547745879] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050509.585350134] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050509.587653371] [sailbot.teensy]: Wind angle: 269 +[teensy-2] [INFO] [1746050509.588628857] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050509.587997008] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050509.589140535] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050509.589505259] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050509.590561908] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050509.645487495] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050509.646425857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050509.647352674] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050509.649463273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050509.650584865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050509.745295191] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050509.746050053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050509.747242068] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050509.748377997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050509.749197214] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050509.835855269] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050509.838260784] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746050509.839016131] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050509.839383834] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050509.840464011] [sailbot.teensy]: Actual tail angle: 36 +[mux-7] [INFO] [1746050509.840939494] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050509.841484655] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050509.844228859] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050509.844869184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050509.845437872] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050509.846608828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050509.847618942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050509.945735510] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050509.946370432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050509.947498113] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050509.948940390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050509.950101104] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050510.003503101] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691439 Long: -76.50303077 +[vectornav-1] [INFO] [1746050510.004859542] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (205.88400000000001, 0.729, -6.379) +[mux-7] [INFO] [1746050510.045429102] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050510.046956707] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050510.047174735] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050510.049167691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050510.050370610] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050510.085578415] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050510.087842219] [sailbot.teensy]: Wind angle: 273 +[teensy-2] [INFO] [1746050510.088863462] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050510.088267136] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050510.089332585] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050510.089735451] [sailbot.teensy]: Actual tail angle: 36 +[teensy-2] [INFO] [1746050510.090611650] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050510.145195295] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050510.145755893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050510.146757245] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050510.147779830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050510.148936126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050510.245439064] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050510.246275168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050510.247069826] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050510.248692617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050510.249880295] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050510.335465382] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050510.337903404] [sailbot.teensy]: Wind angle: 270 +[trim_sail-4] [INFO] [1746050510.338416452] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050510.339209979] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050510.339309655] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050510.339724256] [sailbot.teensy]: Actual tail angle: 36 +[teensy-2] [INFO] [1746050510.340090423] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050510.344857349] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050510.345451204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050510.346300479] [sailbot.mux]: Published rudder angle from controller_app: 11 +[mux-7] [INFO] [1746050510.348253980] [sailbot.mux]: controller_app rudder angle: -3 +[teensy-2] [INFO] [1746050510.348309312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050510.349514198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050510.445740953] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050510.446608042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050510.447453363] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050510.449450886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050510.450612558] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050510.502446000] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914278 Long: -76.503035 +[vectornav-1] [INFO] [1746050510.503551947] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.26800000000003, -2.249, -4.607) +[mux-7] [INFO] [1746050510.545669891] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050510.546367336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050510.547518829] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050510.548748268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050510.550034610] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050510.585521199] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050510.587921021] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050510.588875560] [sailbot.teensy]: Wind angle: 256 +[mux-7] [INFO] [1746050510.589672055] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050510.589841322] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050510.590698695] [sailbot.teensy]: Actual tail angle: 36 +[teensy-2] [INFO] [1746050510.591562113] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050510.645359947] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050510.646112332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050510.647013594] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050510.648523498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050510.649027953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050510.745199231] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050510.745795273] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050510.747940494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[mux-7] [INFO] [1746050510.748284592] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050510.749029279] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050510.835735630] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050510.837996610] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050510.839058488] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050510.838890615] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050510.839436445] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050510.839478064] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050510.839804096] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050510.844679293] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050510.845094164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050510.845990918] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050510.846856299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050510.848179518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050510.945645712] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050510.946244417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050510.947373290] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050510.948751507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050510.949328749] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050511.003628622] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914216 Long: -76.50303904 +[vectornav-1] [INFO] [1746050511.005587531] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.93100000000004, 0.406, -5.444) +[mux-7] [INFO] [1746050511.045267379] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050511.045846100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050511.046891657] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050511.048017759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050511.049177981] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050511.085482474] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050511.088455478] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050511.088841026] [sailbot.teensy]: Wind angle: 229 +[teensy-2] [INFO] [1746050511.089781948] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050511.089688402] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050511.090675747] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050511.091506837] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050511.145161451] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050511.145875892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050511.146622775] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050511.147912887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050511.148714009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050511.245430091] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050511.246105562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050511.247073127] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050511.248342754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050511.249419522] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050511.335353502] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050511.337169897] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746050511.337608504] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050511.338106529] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050511.339012415] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050511.339895227] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050511.339974934] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050511.344447445] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050511.344898493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050511.345685388] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050511.346593241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050511.347792504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050511.350968900] [sailbot.mux]: controller_app rudder angle: -1 +[mux-7] [INFO] [1746050511.445365500] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050511.446071230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050511.447474896] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050511.448611111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050511.449253339] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050511.502460349] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914212 Long: -76.50304393 +[vectornav-1] [INFO] [1746050511.503465039] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.68100000000004, -0.55, -3.952) +[mux-7] [INFO] [1746050511.544546125] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050511.545187056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050511.545724597] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050511.546952799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050511.547948268] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050511.585212308] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050511.587469318] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050511.587519673] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050511.588508836] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050511.589063744] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050511.589399461] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050511.590286164] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050511.644928880] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050511.645699741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050511.646288460] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050511.647689249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050511.648419915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050511.744949685] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050511.745705439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050511.746413914] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050511.747732503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050511.748928577] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050511.835534963] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050511.838127670] [sailbot.teensy]: Wind angle: 236 +[trim_sail-4] [INFO] [1746050511.838227226] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050511.839079401] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050511.839450042] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050511.840248087] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050511.841092311] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050511.844427088] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050511.844824482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050511.845667959] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050511.846475195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050511.847529948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050511.945707606] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050511.945824982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050511.947298967] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050511.947835813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050511.948957648] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050512.003475607] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914221 Long: -76.50304811 +[vectornav-1] [INFO] [1746050512.005062404] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.01700000000005, 0.171, -2.841) +[mux-7] [INFO] [1746050512.045301509] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050512.046083300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050512.047008685] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050512.048919710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050512.049999089] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050512.085467434] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050512.087850893] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050512.087969409] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050512.089265504] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050512.089270450] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050512.090340495] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050512.091213529] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050512.145476159] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050512.147044824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050512.147162431] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050512.149354008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050512.150621785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050512.245405502] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050512.246100203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050512.246959988] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050512.248454885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050512.249622011] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050512.335421733] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050512.337365553] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050512.338372062] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050512.338636900] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050512.339293055] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050512.339476054] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050512.340197420] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050512.344209572] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050512.344704529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050512.345280698] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050512.346389003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050512.347466309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050512.374284129] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746050512.445107861] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050512.446062299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050512.446741881] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050512.447952363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050512.448411663] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050512.502413774] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914247 Long: -76.50305266 +[vectornav-1] [INFO] [1746050512.503468766] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.64499999999998, 1.241, -2.767) +[mux-7] [INFO] [1746050512.545217217] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050512.546039711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050512.547078124] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050512.548124163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050512.548682383] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050512.585282079] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050512.587769056] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050512.588224858] [sailbot.teensy]: Wind angle: 236 +[mux-7] [INFO] [1746050512.588508693] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050512.589857853] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050512.591015453] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050512.591884552] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050512.644855870] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050512.645742912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050512.646172661] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050512.647728865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050512.648846305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050512.745145461] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050512.746086087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050512.746595875] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050512.748367997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050512.749523955] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050512.835638896] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050512.838279460] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050512.839179102] [sailbot.teensy]: Wind angle: 236 +[mux-7] [INFO] [1746050512.839543784] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050512.839660348] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050512.840037111] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050512.840606453] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050512.844602622] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050512.845129040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050512.845793633] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050512.846836975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050512.847856346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050512.945214894] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050512.945762384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050512.946993229] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050512.947655778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050512.948812985] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050513.003364450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914213 Long: -76.50305671 +[vectornav-1] [INFO] [1746050513.004908847] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.90200000000004, -1.174, -2.551) +[mux-7] [INFO] [1746050513.045116889] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050513.045883078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050513.046832140] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050513.047740263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050513.048855777] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050513.085357577] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050513.087689819] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050513.088142188] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050513.088569533] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050513.089578655] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050513.090443748] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050513.091253270] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050513.145451196] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050513.146185345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050513.147229378] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050513.148375443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050513.149654305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050513.245291620] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050513.246067549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050513.247027800] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050513.248395805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050513.248972101] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050513.335236448] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050513.337725092] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050513.338755285] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050513.339398522] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050513.339803406] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050513.340742664] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050513.341189781] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050513.344269983] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050513.344795480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050513.345389859] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050513.346473704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050513.347540773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050513.363368329] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746050513.444909912] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050513.445644131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050513.446243536] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050513.447519840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050513.448425399] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050513.503628787] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914193 Long: -76.5030607 +[vectornav-1] [INFO] [1746050513.504995380] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.35000000000002, -0.612, -0.923) +[mux-7] [INFO] [1746050513.544723011] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050513.545198746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050513.545912597] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050513.547000848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050513.548136848] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050513.585606056] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050513.588274198] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050513.589099016] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050513.589282842] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050513.589454338] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050513.590180241] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050513.591047461] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050513.644989334] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050513.645729451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050513.646402139] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050513.647873787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050513.648745783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050513.744946805] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050513.745718238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050513.746255409] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050513.747701767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050513.748902686] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050513.835670427] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050513.837768859] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050513.838716809] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050513.838823003] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050513.839063119] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050513.839097045] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050513.839486189] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050513.844426856] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050513.845056340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050513.845562982] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050513.846719580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050513.847849222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050513.945753700] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050513.946815329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050513.947527278] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050513.949401395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050513.949921217] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050514.003777041] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691423 Long: -76.50306437 +[vectornav-1] [INFO] [1746050514.005580175] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.20900000000006, 2.349, 0.742) +[mux-7] [INFO] [1746050514.044932193] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050514.045648365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050514.046123244] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050514.047484737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050514.048649393] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050514.085196969] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050514.087536569] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050514.088040782] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050514.088084125] [sailbot.teensy]: Wind angle: 237 +[teensy-2] [INFO] [1746050514.089077446] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050514.089948808] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050514.090811467] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050514.145306147] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050514.146211069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050514.146893504] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050514.148774303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050514.149801574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050514.245373485] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050514.246086876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050514.246914938] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050514.247815444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050514.248425855] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050514.335181347] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050514.336856361] [sailbot.teensy]: Wind angle: 242 +[teensy-2] [INFO] [1746050514.337738266] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050514.337845511] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050514.338607916] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050514.338679243] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050514.339541350] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050514.344431122] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050514.345021815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050514.345621639] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050514.346762147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050514.347884932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050514.445623183] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050514.446388057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050514.447344109] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050514.448756096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050514.449345443] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050514.503950264] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914268 Long: -76.50306769 +[vectornav-1] [INFO] [1746050514.505758820] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.71699999999998, -2.789, 1.114) +[mux-7] [INFO] [1746050514.545121061] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050514.546035875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050514.546583904] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050514.548020462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050514.549207400] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050514.585375628] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050514.587881541] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050514.588063001] [sailbot.teensy]: Wind angle: 227 +[teensy-2] [INFO] [1746050514.589053046] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050514.589368164] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050514.589949653] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050514.590825713] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050514.645619856] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050514.646276805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050514.647648050] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050514.648297616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050514.648890151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050514.745407821] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050514.746106829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050514.747071941] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050514.748643008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050514.749834526] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050514.835647653] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050514.838411814] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050514.839143603] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050514.839305799] [sailbot.teensy]: Wind angle: 229 +[teensy-2] [INFO] [1746050514.839716587] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050514.840081053] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050514.840871199] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050514.844505395] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050514.845045579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050514.845719102] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050514.846687475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050514.847929575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050514.944998156] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050514.945796105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050514.946363380] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050514.947600461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050514.948775370] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050515.002856104] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914271 Long: -76.50307101 +[vectornav-1] [INFO] [1746050515.004137428] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.562, 3.523, -1.07) +[mux-7] [INFO] [1746050515.045403843] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050515.046204177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050515.047053071] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050515.048430712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050515.049547009] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050515.085643546] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050515.088253664] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746050515.088426256] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050515.089288971] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050515.090167256] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050515.090433647] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050515.091077188] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050515.145039790] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050515.145699565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050515.146323573] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050515.147614591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050515.148797884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050515.245019310] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050515.245858151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050515.246322601] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050515.247912877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050515.248976355] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050515.335467806] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050515.338118073] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050515.338469485] [sailbot.teensy]: Wind angle: 230 +[mux-7] [INFO] [1746050515.338985976] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050515.339579093] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050515.340537878] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050515.341392279] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050515.344348788] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050515.344769499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050515.345499526] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050515.346389824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050515.347443837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050515.445144973] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050515.446092663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050515.446722864] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050515.447827018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050515.448353976] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050515.502278085] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914313 Long: -76.50307389 +[vectornav-1] [INFO] [1746050515.503252037] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.54600000000005, -1.084, 1.13) +[mux-7] [INFO] [1746050515.544995134] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050515.546106098] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050515.546327202] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050515.548516587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050515.549752977] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050515.585696705] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050515.588445836] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050515.588974314] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050515.590260216] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050515.591218862] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050515.592051133] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050515.592945943] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050515.645189943] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050515.646075891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050515.646931206] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050515.648381216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050515.649530518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050515.745026806] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050515.745718280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050515.746349509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050515.748449583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050515.749752851] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050515.835581757] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050515.838102914] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050515.838450424] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050515.838891154] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050515.838704424] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050515.839282012] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050515.839726349] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050515.844812305] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050515.845612253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050515.846114295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050515.847357267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050515.848514575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050515.945595419] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050515.946561915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050515.947366249] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050515.948938290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050515.950245614] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050516.003586070] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914336 Long: -76.50307649 +[vectornav-1] [INFO] [1746050516.005249630] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.07600000000002, -1.934, 1.517) +[mux-7] [INFO] [1746050516.045211379] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050516.046124044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050516.046700383] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050516.048197863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050516.049390124] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050516.085573914] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050516.087600913] [sailbot.teensy]: Wind angle: 229 +[trim_sail-4] [INFO] [1746050516.087873877] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050516.088678566] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050516.089199333] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050516.089639374] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050516.090536520] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050516.145185304] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050516.145873333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050516.146673345] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050516.148290161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050516.148795773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050516.245051864] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050516.245755201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050516.246490849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050516.247581656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050516.248085114] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050516.335367596] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050516.337194816] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746050516.337730668] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050516.339094862] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050516.339264980] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050516.339756908] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050516.340129973] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050516.344464173] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050516.344887941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050516.345630587] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050516.346627498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050516.347772609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050516.445294333] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050516.446168876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050516.446870711] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050516.448662555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050516.449156392] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050516.503304675] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914358 Long: -76.50307924 +[vectornav-1] [INFO] [1746050516.504580882] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.202, 4.543, -0.209) +[mux-7] [INFO] [1746050516.545096103] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050516.545777216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050516.546412286] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050516.547864304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050516.549059887] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050516.585461795] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050516.587810552] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050516.588922522] [sailbot.teensy]: Wind angle: 231 +[mux-7] [INFO] [1746050516.589316102] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050516.589929176] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050516.591006615] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050516.591889788] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050516.645449595] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050516.645985303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050516.647134525] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050516.648236621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050516.648824056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050516.745278125] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050516.745925302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050516.746931136] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050516.748303313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050516.749305066] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050516.835175553] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050516.837169553] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050516.837381126] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050516.838595572] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050516.838922784] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050516.839004467] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050516.839390500] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050516.844408978] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050516.844938643] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050516.845863254] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050516.846984736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050516.848023828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050516.945167455] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050516.945855055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050516.946672134] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050516.948327323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050516.949500653] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050517.002693792] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914384 Long: -76.50308137 +[vectornav-1] [INFO] [1746050517.003861154] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.322, -2.302, 0.172) +[mux-7] [INFO] [1746050517.045157586] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050517.046174084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050517.046706882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050517.048350603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050517.048997115] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050517.085747863] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050517.087921788] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050517.088985138] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050517.088423912] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050517.089874112] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050517.090157717] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050517.090740509] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050517.145267544] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050517.145844286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050517.146943371] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050517.148062122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050517.149319810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050517.245374462] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050517.246905054] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050517.249185622] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050517.250848713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050517.251799045] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050517.335299622] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050517.337716490] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050517.338551427] [sailbot.teensy]: Wind angle: 243 +[mux-7] [INFO] [1746050517.338999308] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050517.339623798] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050517.340556479] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050517.341533502] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050517.344289118] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050517.344704905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050517.345348652] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050517.346280384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050517.347348614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050517.445273607] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050517.445961430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050517.447008899] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050517.448656746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050517.449296900] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050517.503022314] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914393 Long: -76.50308367 +[vectornav-1] [INFO] [1746050517.505205962] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.68100000000004, 1.949, -2.96) +[mux-7] [INFO] [1746050517.545645062] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050517.546385002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050517.547345118] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050517.549013281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050517.550363744] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050517.585542212] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050517.587591949] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050517.588584395] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050517.589458363] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746050517.588690846] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050517.589411993] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050517.590319947] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050517.645248905] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050517.645901828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050517.646761931] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050517.647818723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050517.648372408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050517.745280167] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050517.745848761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050517.746973972] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050517.747909917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050517.749039687] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050517.835567849] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050517.837659326] [sailbot.teensy]: Wind angle: 240 +[trim_sail-4] [INFO] [1746050517.838403759] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050517.838647164] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050517.838799416] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050517.839050124] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050517.839444639] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050517.844443572] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050517.845345693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050517.845553888] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050517.847156233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050517.848362418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050517.945989489] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050517.946959894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050517.947944936] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050517.949033503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050517.949563300] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050518.003558168] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914297 Long: -76.50308585 +[vectornav-1] [INFO] [1746050518.005017635] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.49800000000005, -2.773, -2.922) +[mux-7] [INFO] [1746050518.045027413] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050518.045816512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050518.046362805] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050518.047805448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050518.048910645] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050518.085395669] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050518.087413144] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050518.087956245] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050518.088307459] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050518.088410035] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050518.089346769] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050518.090229683] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050518.145528601] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050518.146337240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050518.147257615] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050518.148918684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050518.150154068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050518.245233477] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050518.246010234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050518.247201486] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050518.248029798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050518.249216973] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050518.335425232] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050518.337919564] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050518.338358118] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050518.338609474] [sailbot.teensy]: Wind angle: 237 +[teensy-2] [INFO] [1746050518.339031943] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050518.339625577] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050518.340008739] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050518.344514562] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050518.345244473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050518.345793071] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050518.347011692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050518.348697853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050518.445679689] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050518.446333883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050518.447489855] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050518.448717648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050518.449310547] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050518.502369598] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914392 Long: -76.50308847 +[vectornav-1] [INFO] [1746050518.503558255] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.42499999999995, -0.973, 1.743) +[mux-7] [INFO] [1746050518.545410516] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050518.546139277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050518.547016878] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050518.548709503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050518.549932509] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050518.585427484] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050518.587751301] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050518.588354944] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050518.588619440] [sailbot.teensy]: Wind angle: 239 +[teensy-2] [INFO] [1746050518.589716692] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050518.590578352] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050518.591417027] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050518.645187506] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050518.646038052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050518.646657260] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050518.648025302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050518.648541039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050518.745025623] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050518.745777639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050518.746525354] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050518.747604454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050518.748184769] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050518.835465704] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050518.837474322] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050518.837853742] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050518.838639234] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050518.839079599] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050518.839128652] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050518.839514446] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050518.844470592] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050518.844930974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050518.845612436] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050518.846601609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050518.847690549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050518.945652598] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050518.946376251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050518.947706439] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050518.948592267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050518.949751560] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050519.003521891] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914437 Long: -76.50309088 +[vectornav-1] [INFO] [1746050519.005094344] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.46699999999998, 5.167, -2.222) +[mux-7] [INFO] [1746050519.045142804] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050519.045913273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050519.046561930] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050519.047816338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050519.048873436] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050519.085336215] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050519.087220165] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050519.087926697] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050519.088144520] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050519.088517351] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050519.089071557] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050519.089944108] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050519.144938562] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050519.145824788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050519.146196194] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050519.147599445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050519.148651239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050519.245047225] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050519.245958664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050519.246520411] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050519.247928621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050519.248961255] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050519.335227633] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050519.337322017] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050519.337564388] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050519.338322699] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050519.338712125] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050519.339272799] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050519.340255175] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050519.344607423] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050519.345269397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050519.345729818] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050519.347040222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050519.348061205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050519.445488591] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050519.446452952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050519.447293479] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050519.448495414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050519.448993753] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050519.502544904] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914381 Long: -76.50309274 +[vectornav-1] [INFO] [1746050519.503653648] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.89200000000005, -5.894, -1.344) +[mux-7] [INFO] [1746050519.545321288] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050519.546141663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050519.546952815] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050519.548289358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050519.550757543] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050519.585375874] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050519.587075432] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050519.587598317] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050519.588802474] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050519.589195615] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050519.590189381] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050519.591069418] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050519.645426876] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050519.646380971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050519.647546977] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050519.648106242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050519.648875352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050519.744836836] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050519.745509320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050519.746341046] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050519.747495922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050519.748551252] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050519.835307789] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050519.837711019] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050519.837828416] [sailbot.teensy]: Wind angle: 229 +[teensy-2] [INFO] [1746050519.838758511] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050519.838809092] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050519.839686456] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050519.840578996] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050519.844627602] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050519.845102746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050519.845809041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050519.846819035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050519.847881322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050519.945553911] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050519.946797653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050519.947137035] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050519.948976435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050519.949506493] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050520.003162272] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914485 Long: -76.50309563 +[vectornav-1] [INFO] [1746050520.004742923] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.24699999999996, -1.158, 2.758) +[mux-7] [INFO] [1746050520.044989055] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050520.045692639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050520.046292630] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050520.047490112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050520.048557769] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050520.085280455] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050520.087427449] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050520.088103423] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050520.088304741] [sailbot.teensy]: Wind angle: 229 +[teensy-2] [INFO] [1746050520.089300075] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050520.090147114] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050520.090984752] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050520.145185048] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050520.145959368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050520.146678255] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050520.148118838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050520.149193982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050520.245254378] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050520.246035496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050520.246859701] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050520.248403251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050520.249564857] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050520.335175284] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050520.337416468] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050520.337652760] [sailbot.teensy]: Wind angle: 229 +[mux-7] [INFO] [1746050520.338233897] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050520.338756999] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050520.339918351] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050520.340842041] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050520.344473742] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050520.345051190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050520.345618906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050520.346876911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050520.347924544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050520.445155624] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050520.446212550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050520.446627511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050520.448438936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050520.449163128] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050520.504847376] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914575 Long: -76.50309834 +[vectornav-1] [INFO] [1746050520.506797715] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (161.72799999999995, 5.676, -1.32) +[mux-7] [INFO] [1746050520.545239354] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050520.546461324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050520.546771657] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050520.549034717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050520.550242038] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050520.585221187] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050520.586955010] [sailbot.teensy]: Wind angle: 229 +[trim_sail-4] [INFO] [1746050520.587420750] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050520.587918248] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050520.588834104] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050520.588953977] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050520.589928533] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050520.645194082] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050520.646105024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050520.646691665] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050520.648258375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050520.649393753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050520.745031894] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050520.745911035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050520.746718582] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050520.747611627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050520.748166117] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050520.835198487] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050520.837245921] [sailbot.teensy]: Wind angle: 228 +[trim_sail-4] [INFO] [1746050520.837503687] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050520.838262105] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050520.838664500] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050520.839150514] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050520.839867320] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050520.844403318] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050520.844875148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050520.845713073] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050520.846613345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050520.847653288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050520.945239739] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050520.946175522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050520.946806447] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050520.948605620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050520.949232017] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050521.002560786] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914555 Long: -76.5031001 +[vectornav-1] [INFO] [1746050521.003752976] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.08299999999997, -5.094, -2.598) +[mux-7] [INFO] [1746050521.045298520] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050521.046275687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050521.046914234] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050521.048524061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050521.049116778] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050521.085834285] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050521.088525283] [sailbot.teensy]: Wind angle: 229 +[trim_sail-4] [INFO] [1746050521.088554991] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050521.089725354] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050521.089977247] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050521.090707790] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050521.091668958] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050521.145348742] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050521.146144395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050521.146878733] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050521.149419795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050521.150532954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050521.245415334] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050521.246278147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050521.247319240] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050521.248661492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050521.249788359] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050521.335602914] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050521.338112313] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050521.338480769] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050521.339030520] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050521.339982577] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050521.339509603] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050521.340948183] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050521.344498621] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050521.345049200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050521.345715267] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050521.346808537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050521.347939756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050521.445454066] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050521.446187057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050521.447516587] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050521.447836884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050521.448399798] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050521.503524714] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914594 Long: -76.50310277 +[vectornav-1] [INFO] [1746050521.505290282] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.957, 1.147, 0.763) +[mux-7] [INFO] [1746050521.545047895] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050521.545754197] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050521.548076341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050521.549412048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050521.548093350] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050521.585567159] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050521.587557819] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050521.588343180] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050521.588608435] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050521.589505442] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050521.589779509] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050521.590475644] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050521.645038598] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050521.645752461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050521.646413590] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050521.648546595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050521.649592722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050521.745469062] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050521.746331835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050521.747090894] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050521.748213358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050521.748757602] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050521.835486642] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050521.838107538] [sailbot.teensy]: Wind angle: 228 +[trim_sail-4] [INFO] [1746050521.838584336] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050521.839212531] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050521.839417187] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050521.839633255] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050521.840012183] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050521.844592941] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050521.845021537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050521.845838086] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050521.846757576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050521.847788903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050521.945461983] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050521.946310861] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050521.947363481] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050521.948880853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050521.949565317] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050522.004202401] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914729 Long: -76.5031055 +[vectornav-1] [INFO] [1746050522.006133240] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.53700000000003, -0.158, 0.478) +[mux-7] [INFO] [1746050522.044966405] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050522.045597635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050522.046247196] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050522.047405525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050522.048597800] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050522.085448913] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050522.087306061] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746050522.087962465] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050522.088302124] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050522.089204215] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050522.089282170] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050522.090087087] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050522.145355322] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050522.146282171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050522.147562399] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050522.148375110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050522.149539351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050522.245137667] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050522.245792176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050522.246862466] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050522.247699141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050522.249251143] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050522.335707146] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050522.338656666] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050522.339389039] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050522.339709853] [sailbot.teensy]: Wind angle: 221 +[teensy-2] [INFO] [1746050522.340797755] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050522.341149985] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050522.341479241] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050522.344323490] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050522.344872876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050522.345398247] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050522.346647548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050522.347686018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050522.445203671] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050522.445985713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050522.446803534] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050522.448041909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050522.448534501] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050522.502502278] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914761 Long: -76.50310733 +[vectornav-1] [INFO] [1746050522.503553086] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (156.072, 3.311, 3.593) +[mux-7] [INFO] [1746050522.545044836] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050522.545983005] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050522.546417534] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050522.547915563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050522.548928464] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050522.585416732] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050522.587591801] [sailbot.teensy]: Wind angle: 221 +[teensy-2] [INFO] [1746050522.588555862] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050522.588068055] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050522.589478225] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050522.590389495] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050522.590023948] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050522.645042395] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050522.645920551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050522.646417503] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050522.648032705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050522.649082966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050522.745313212] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050522.746040863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050522.746787119] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050522.748213341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050522.749276386] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050522.835337218] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050522.837793091] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050522.837868817] [sailbot.teensy]: Wind angle: 221 +[teensy-2] [INFO] [1746050522.838833841] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050522.839381803] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050522.839742269] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050522.840650319] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050522.844404861] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050522.845084447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050522.845823160] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050522.847227437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050522.848273583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050522.945283844] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050522.946791791] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050522.947293179] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050522.949400335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050522.950453651] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050523.003510220] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914805 Long: -76.50310848 +[vectornav-1] [INFO] [1746050523.005059887] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (155.86400000000003, -7.239, 3.415) +[mux-7] [INFO] [1746050523.045467628] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050523.046462734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050523.047062979] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050523.049038239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050523.050198742] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050523.085530073] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050523.088119144] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050523.088447679] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050523.088055974] [sailbot.teensy]: Wind angle: 221 +[teensy-2] [INFO] [1746050523.089920641] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050523.090826680] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050523.091635421] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050523.145206547] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050523.145961050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050523.146809210] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050523.147899569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050523.148421049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050523.245035615] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050523.245855174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050523.246795776] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050523.247815337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050523.248984979] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050523.335101439] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050523.336683135] [sailbot.teensy]: Wind angle: 223 +[trim_sail-4] [INFO] [1746050523.337410132] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050523.337547730] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050523.338140231] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050523.338456687] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050523.339359639] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050523.344432389] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050523.344952664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050523.345636006] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050523.346652481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050523.347708523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050523.445326765] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050523.446114263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050523.447644230] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050523.448373251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050523.449559428] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050523.503645685] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914847 Long: -76.50311102 +[vectornav-1] [INFO] [1746050523.504972035] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.85799999999995, 6.496, 0.702) +[mux-7] [INFO] [1746050523.545339197] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050523.545980341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050523.546906135] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050523.548354467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050523.549544037] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050523.585549812] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050523.587701679] [sailbot.teensy]: Wind angle: 223 +[teensy-2] [INFO] [1746050523.588712788] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050523.588476854] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050523.588856935] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050523.589777424] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050523.590859263] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050523.645333458] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050523.645959746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050523.646988729] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050523.648088666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050523.649337414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050523.745177598] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050523.745837579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050523.746613891] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050523.747818558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050523.749032826] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050523.834434131] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050523.835519055] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050523.835774201] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050523.835933526] [sailbot.teensy]: Wind angle: 224 +[teensy-2] [INFO] [1746050523.836356857] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050523.836762240] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050523.837158879] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050523.843625641] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050523.843914330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050523.844126305] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050523.844857606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050523.845353111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050523.945173372] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050523.946042597] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050523.946840330] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050523.948592037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050523.949710734] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050524.003901778] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914819 Long: -76.50311203 +[vectornav-1] [INFO] [1746050524.005597364] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.34799999999996, -2.876, 1.838) +[mux-7] [INFO] [1746050524.044934957] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050524.045836276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050524.046240799] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050524.047734079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050524.048780650] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050524.085356366] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050524.087409463] [sailbot.teensy]: Wind angle: 224 +[trim_sail-4] [INFO] [1746050524.087833964] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050524.088738535] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050524.088788001] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050524.089816849] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050524.090673056] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050524.145064284] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050524.145823178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050524.146481734] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050524.147872374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050524.148918918] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050524.244943566] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050524.245896478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050524.246308802] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050524.247624850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050524.248147410] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050524.335428522] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050524.337958220] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050524.338158486] [sailbot.teensy]: Wind angle: 230 +[mux-7] [INFO] [1746050524.338903487] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050524.339065479] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050524.339928524] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050524.340823761] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050524.344452583] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050524.344930865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050524.345544127] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050524.346663796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050524.347783339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050524.445529169] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050524.446221689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050524.447291122] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050524.448720098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050524.449366259] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050524.502703549] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914847 Long: -76.50311321 +[vectornav-1] [INFO] [1746050524.503929967] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.80899999999997, 0.06, 2.115) +[mux-7] [INFO] [1746050524.544951572] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050524.545596997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050524.546194981] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050524.547513067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050524.548540302] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050524.585442939] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050524.587794053] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050524.588824997] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050524.589077662] [sailbot.teensy]: Wind angle: 224 +[teensy-2] [INFO] [1746050524.590309177] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050524.591243580] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050524.592222525] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050524.645068311] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050524.645862751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050524.646609289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050524.648227713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050524.649263172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050524.745268898] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050524.746056648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050524.746774559] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050524.748497577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050524.749630696] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050524.835541451] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050524.838247337] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050524.838681430] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050524.838911806] [sailbot.teensy]: Wind angle: 217 +[teensy-2] [INFO] [1746050524.839350135] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050524.839809168] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050524.840712753] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050524.844341277] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050524.844892057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050524.845421696] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050524.846585826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050524.847730269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050524.945585064] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050524.946286537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050524.947332298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050524.948569822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050524.949129319] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050525.003467067] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914835 Long: -76.50311454 +[vectornav-1] [INFO] [1746050525.004878073] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (161.44399999999996, 0.85, 2.979) +[mux-7] [INFO] [1746050525.045069578] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050525.045939157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050525.046427103] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050525.048053284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050525.049142977] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050525.085436619] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050525.087331970] [sailbot.teensy]: Wind angle: 223 +[teensy-2] [INFO] [1746050525.088342070] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050525.087791203] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050525.088659652] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050525.089286348] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050525.090230138] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050525.144532745] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050525.145270706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050525.146018977] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050525.147107298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050525.148118492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050525.244937998] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050525.246221325] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050525.246664035] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050525.248379490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050525.249362295] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050525.335416019] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050525.337765779] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050525.338214876] [sailbot.teensy]: Wind angle: 230 +[mux-7] [INFO] [1746050525.338914028] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050525.339056111] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050525.339442050] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050525.339896219] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050525.344622341] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050525.345128188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050525.345730526] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050525.346899815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050525.348110431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050525.445461169] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050525.446366822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050525.447651437] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050525.449033970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050525.450887438] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050525.503445208] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914824 Long: -76.50311562 +[vectornav-1] [INFO] [1746050525.505337811] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.519, -1.914, 2.093) +[mux-7] [INFO] [1746050525.545440065] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050525.546029814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050525.546957984] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050525.548292319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050525.549279463] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050525.585390428] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050525.587847782] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050525.588260001] [sailbot.teensy]: Wind angle: 230 +[teensy-2] [INFO] [1746050525.589276989] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050525.589403719] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050525.590202610] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050525.591120061] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050525.644907903] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050525.645635009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050525.646178107] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050525.647622059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050525.648663619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050525.745295887] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050525.746098489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050525.746949092] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050525.748180958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050525.748820443] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050525.835608245] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050525.837635846] [sailbot.teensy]: Wind angle: 223 +[trim_sail-4] [INFO] [1746050525.838196109] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050525.838623732] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050525.839512306] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050525.839885138] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050525.839899001] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050525.844512716] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050525.845233496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050525.845715120] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050525.846949514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050525.847977246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050525.945602909] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050525.946596616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050525.947228386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050525.948743530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050525.949265239] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050526.003360270] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914807 Long: -76.50311706 +[vectornav-1] [INFO] [1746050526.004940180] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.09699999999998, 2.279, 1.421) +[mux-7] [INFO] [1746050526.045048530] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050526.045797901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050526.046590432] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050526.048899011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050526.049985738] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050526.085460591] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050526.087601810] [sailbot.teensy]: Wind angle: 223 +[trim_sail-4] [INFO] [1746050526.087845208] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050526.088663940] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050526.089493727] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050526.089875850] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050526.090794259] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050526.145623111] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050526.146497629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050526.147463975] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050526.148985360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050526.150162539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050526.245276309] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050526.246047714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050526.246900903] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050526.248147286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050526.248610924] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050526.335371797] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050526.337365576] [sailbot.teensy]: Wind angle: 227 +[trim_sail-4] [INFO] [1746050526.337871138] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050526.338346693] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050526.339024920] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050526.339261556] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050526.340193686] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050526.344509441] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050526.345432894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050526.345883075] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050526.347353156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050526.348438350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050526.445515394] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050526.446227354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050526.447136855] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050526.448701573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050526.449997026] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050526.503556894] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914789 Long: -76.50311759 +[vectornav-1] [INFO] [1746050526.505198783] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.149, -0.62, 1.31) +[mux-7] [INFO] [1746050526.545107053] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050526.546169921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050526.546516467] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050526.548522777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050526.549667029] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050526.585552147] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050526.587886435] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050526.589065479] [sailbot.teensy]: Wind angle: 228 +[mux-7] [INFO] [1746050526.589264415] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050526.590050392] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050526.590952925] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050526.591798353] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050526.645514306] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050526.646390322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050526.647132619] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050526.648969445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050526.650189017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050526.745249554] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050526.746005946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050526.746784527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050526.748313333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050526.749526115] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050526.835488865] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050526.837367084] [sailbot.teensy]: Wind angle: 229 +[trim_sail-4] [INFO] [1746050526.838324862] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050526.839025825] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050526.839164916] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050526.839558074] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050526.839945291] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050526.844362269] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050526.844979823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050526.845435127] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050526.846773004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050526.847857450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050526.945558763] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050526.946740262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050526.947411008] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050526.948165508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050526.948771293] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050527.002508559] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914752 Long: -76.50311857 +[vectornav-1] [INFO] [1746050527.003655613] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.18000000000006, -2.494, 1.004) +[mux-7] [INFO] [1746050527.044733283] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050527.045465768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050527.046177832] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050527.047334968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050527.048549390] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050527.085447806] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050527.087445830] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746050527.088034136] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050527.088519253] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050527.089413475] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050527.089449278] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050527.090384313] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050527.145167127] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050527.145514867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050527.146832842] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050527.148404468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050527.150077942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050527.245438732] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050527.246056159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050527.247014613] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050527.248436782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050527.249398818] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050527.335306604] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050527.337022008] [sailbot.teensy]: Wind angle: 228 +[trim_sail-4] [INFO] [1746050527.337549969] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050527.337959760] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050527.338849661] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050527.339037428] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050527.339735109] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050527.344418041] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050527.344951102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050527.345534634] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050527.346676280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050527.347679483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050527.375579422] [sailbot.mux]: controller_app rudder angle: -7 +[mux-7] [INFO] [1746050527.445184930] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050527.446349555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050527.446722329] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050527.447989211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050527.448513667] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050527.502638598] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914758 Long: -76.50312018 +[vectornav-1] [INFO] [1746050527.503936715] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.66999999999996, 4.422, 1.606) +[mux-7] [INFO] [1746050527.545286899] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050527.546170172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050527.546847531] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050527.548558040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050527.549028748] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050527.585432799] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050527.587132373] [sailbot.teensy]: Wind angle: 226 +[trim_sail-4] [INFO] [1746050527.587884866] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050527.588035366] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050527.588913616] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050527.589381882] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050527.589782470] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050527.645252994] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050527.646138078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050527.646928880] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050527.648273507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050527.648816811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050527.744948298] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050527.745789806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050527.746228857] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050527.747631922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050527.748688555] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050527.835435646] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050527.837863807] [sailbot.teensy]: Wind angle: 226 +[trim_sail-4] [INFO] [1746050527.838074278] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050527.838891345] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050527.839910037] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746050527.840079375] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050527.840906209] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050527.844318474] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050527.845014440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050527.845980900] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050527.846822067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050527.848009355] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050527.945248024] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050527.945993784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050527.946758507] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050527.949260367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050527.950407101] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050528.003818497] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914724 Long: -76.50312069 +[vectornav-1] [INFO] [1746050528.005695565] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.45399999999995, -4.969, -0.12) +[mux-7] [INFO] [1746050528.045310065] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050528.046156842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050528.046815624] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050528.048393325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050528.048941892] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050528.085494910] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050528.087505498] [sailbot.teensy]: Wind angle: 228 +[teensy-2] [INFO] [1746050528.088464519] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050528.087904153] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050528.089188379] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050528.089431682] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050528.090331542] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050528.145293768] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050528.146285500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050528.146833657] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050528.148569346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050528.149700905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050528.245335735] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050528.246082404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050528.246828030] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050528.248192755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050528.248726662] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050528.335307183] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050528.337776868] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050528.338080598] [sailbot.teensy]: Wind angle: 227 +[teensy-2] [INFO] [1746050528.339010285] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050528.339471122] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050528.339952122] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050528.340842208] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050528.344441182] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050528.345154020] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050528.345613879] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050528.346979241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050528.348095329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050528.374730973] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746050528.445668625] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050528.446468784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050528.447488382] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050528.448912135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050528.450126128] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050528.503301574] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914653 Long: -76.50312191 +[vectornav-1] [INFO] [1746050528.504847436] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.60400000000004, 4.211, -2.884) +[mux-7] [INFO] [1746050528.545364186] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050528.546090536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050528.546997695] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050528.548533407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050528.549698278] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050528.585364392] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050528.587553821] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050528.588013040] [sailbot.teensy]: Wind angle: 229 +[mux-7] [INFO] [1746050528.588891540] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050528.590560324] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050528.591487761] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050528.592345063] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050528.645256468] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050528.645810636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050528.646799013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050528.647830297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050528.648873703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050528.745421257] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050528.745997336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050528.747027403] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050528.748119301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050528.749405912] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050528.835292974] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050528.837200808] [sailbot.teensy]: Wind angle: 236 +[trim_sail-4] [INFO] [1746050528.837982069] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050528.838188118] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050528.839077548] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050528.839316537] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050528.839927354] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050528.844395236] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050528.844902654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050528.845455994] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050528.846585459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050528.848356215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050528.945458251] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050528.946102135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050528.947133818] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050528.948448606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050528.948947898] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050529.002495923] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914587 Long: -76.50312309 +[vectornav-1] [INFO] [1746050529.003581480] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.07799999999997, -4.996, -5.436) +[mux-7] [INFO] [1746050529.045272517] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050529.046110563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050529.046981326] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050529.048432919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050529.049482654] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050529.085642901] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050529.088535191] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050529.088873622] [sailbot.teensy]: Wind angle: 246 +[mux-7] [INFO] [1746050529.089654889] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050529.089788892] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050529.090716424] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050529.091622203] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050529.145338200] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050529.146213254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050529.146892023] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050529.149656272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050529.150851437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050529.245575531] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050529.246362703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050529.247325850] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050529.248750444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050529.249849509] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050529.335508517] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050529.337728901] [sailbot.teensy]: Wind angle: 243 +[teensy-2] [INFO] [1746050529.338753564] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050529.338907656] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050529.339341870] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050529.339429424] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050529.339819248] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050529.344429750] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050529.345049885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050529.345686243] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050529.346798592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050529.347923325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050529.445633717] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050529.446328374] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050529.447257205] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050529.448690757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050529.449953311] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050529.503311793] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469145 Long: -76.50312492 +[vectornav-1] [INFO] [1746050529.504751727] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.07100000000003, 1.38, -7.031) +[mux-7] [INFO] [1746050529.545151045] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050529.545950022] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050529.546582092] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050529.548298611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050529.549071876] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050529.585430416] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050529.587693304] [sailbot.teensy]: Wind angle: 245 +[trim_sail-4] [INFO] [1746050529.588293086] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050529.588764034] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050529.589207546] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050529.589746766] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050529.590659546] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050529.645575832] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050529.646359437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050529.647729700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050529.648710114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050529.649879118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050529.744902185] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050529.745555199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050529.746148878] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050529.747317748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050529.748305108] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050529.835269138] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050529.837382075] [sailbot.teensy]: Wind angle: 246 +[trim_sail-4] [INFO] [1746050529.837539992] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050529.838344589] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050529.839261513] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050529.839599404] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050529.840119496] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050529.844630958] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050529.845336575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050529.845739029] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050529.847675972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050529.848765691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050529.945318962] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050529.946364390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050529.946893697] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050529.948863215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050529.949986953] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050530.002653661] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691433 Long: -76.50312718 +[vectornav-1] [INFO] [1746050530.003857039] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.47400000000005, -1.625, -12.842) +[mux-7] [INFO] [1746050530.045068390] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050530.045967003] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050530.047874863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746050530.046300172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050530.049027831] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050530.085624783] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050530.087519305] [sailbot.teensy]: Wind angle: 251 +[teensy-2] [INFO] [1746050530.088612937] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050530.088055774] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050530.089506003] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050530.089644307] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050530.090405458] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050530.145100989] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050530.145849545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050530.146580298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050530.147871628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050530.148897927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050530.245247167] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050530.245939003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050530.247332605] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050530.248066498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050530.248547586] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050530.335376982] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050530.337840744] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050530.339043806] [sailbot.teensy]: Wind angle: 261 +[mux-7] [INFO] [1746050530.339107865] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050530.340032179] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050530.340940563] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050530.341358079] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050530.344358992] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050530.345050884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050530.345452605] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050530.346833874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050530.348007847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050530.374651701] [sailbot.mux]: controller_app rudder angle: 1 +[mux-7] [INFO] [1746050530.445023104] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050530.446141314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050530.446719491] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050530.448302755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050530.448812963] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050530.503339648] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914213 Long: -76.50313 +[vectornav-1] [INFO] [1746050530.505075969] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.389, -2.156, -15.827) +[mux-7] [INFO] [1746050530.545285214] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050530.546252408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050530.546830687] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050530.547860504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050530.548344624] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050530.585329747] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050530.588368149] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050530.589012846] [sailbot.teensy]: Wind angle: 271 +[mux-7] [INFO] [1746050530.589194017] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050530.590019755] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050530.590891612] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050530.591747561] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050530.645087528] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050530.645795297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050530.646541493] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050530.647783387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050530.648850497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050530.745308023] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050530.745989094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050530.746876597] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050530.748355853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050530.749282597] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050530.835702228] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050530.838199064] [sailbot.teensy]: Wind angle: 274 +[trim_sail-4] [INFO] [1746050530.839097620] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050530.839172389] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050530.839232442] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050530.839564147] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050530.839955201] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050530.844421052] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050530.844984362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050530.845945754] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050530.846734129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050530.847819603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050530.945478059] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050530.946114213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050530.947159104] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050530.948457765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050530.949013967] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050531.003184063] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914097 Long: -76.50313396 +[vectornav-1] [INFO] [1746050531.004542192] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.36699999999996, -3.046, -16.62) +[mux-7] [INFO] [1746050531.045139119] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050531.045996543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050531.046673003] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050531.048828794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050531.049898766] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050531.085376437] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050531.087817056] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050531.088122748] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050531.088676263] [sailbot.teensy]: Wind angle: 258 +[teensy-2] [INFO] [1746050531.089713500] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050531.090580367] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050531.091485706] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050531.145145853] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050531.145962307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050531.146611703] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050531.148165803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050531.148683774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050531.245123256] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050531.245782766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050531.246595169] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050531.248026678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050531.249175621] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050531.335389832] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050531.337688133] [sailbot.teensy]: Wind angle: 246 +[trim_sail-4] [INFO] [1746050531.338327914] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050531.338661444] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050531.339562176] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050531.340110496] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050531.340470654] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050531.344495034] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050531.345191359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050531.346796224] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050531.347506738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050531.348689387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050531.349026487] [sailbot.mux]: controller_app rudder angle: 3 +[mux-7] [INFO] [1746050531.445345037] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050531.446042804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050531.446891362] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050531.448107797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050531.448706148] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050531.503718112] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914065 Long: -76.50313878 +[vectornav-1] [INFO] [1746050531.505031978] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.15099999999995, -1.48, -16.883) +[mux-7] [INFO] [1746050531.545135923] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050531.546010945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050531.547255674] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050531.547986364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050531.549124466] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050531.585353476] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050531.587184226] [sailbot.teensy]: Wind angle: 249 +[trim_sail-4] [INFO] [1746050531.588012251] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050531.588107918] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050531.588989668] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050531.589824520] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050531.590222944] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050531.645200512] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050531.645928153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050531.646738620] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050531.648114887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050531.649399545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050531.745336988] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050531.746261618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050531.747008637] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050531.748855086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050531.750037562] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050531.835349664] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050531.837672683] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050531.837690376] [sailbot.teensy]: Wind angle: 252 +[teensy-2] [INFO] [1746050531.838690809] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050531.838875352] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050531.839716131] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050531.840686190] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050531.844411121] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050531.844932601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050531.845523012] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050531.846642332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050531.847954332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050531.945748571] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050531.946882253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050531.947620621] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050531.948355616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050531.948784570] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050532.002467922] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914005 Long: -76.50314393 +[vectornav-1] [INFO] [1746050532.003529150] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.66100000000006, 0.827, -13.086) +[mux-7] [INFO] [1746050532.045122086] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050532.046032008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050532.046588558] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050532.048029388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050532.049110981] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050532.085758906] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050532.088487693] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050532.089195869] [sailbot.teensy]: Wind angle: 252 +[mux-7] [INFO] [1746050532.089747970] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050532.090165361] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050532.091084273] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050532.091916310] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050532.145553602] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050532.146451066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050532.147202288] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050532.148801691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050532.150030186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050532.245320414] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050532.246146728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050532.247055291] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050532.247900345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050532.248408614] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050532.335448031] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050532.337904159] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050532.338230586] [sailbot.teensy]: Wind angle: 241 +[teensy-2] [INFO] [1746050532.339222681] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050532.339557135] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050532.340129400] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050532.341107262] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050532.344283635] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050532.344863034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050532.345354837] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050532.346608434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050532.347613106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050532.445030037] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050532.445721204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050532.446504525] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050532.447530944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050532.448549198] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050532.503689630] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913998 Long: -76.50314844 +[vectornav-1] [INFO] [1746050532.505032726] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.93899999999996, -2.823, -9.254) +[mux-7] [INFO] [1746050532.545065528] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050532.545867272] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050532.546601408] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050532.547927823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050532.548964786] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050532.585286260] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050532.587249957] [sailbot.teensy]: Wind angle: 236 +[trim_sail-4] [INFO] [1746050532.587780619] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050532.588258128] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050532.589157586] [sailbot.teensy]: Actual tail angle: 28 +[mux-7] [INFO] [1746050532.589576634] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050532.590058338] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050532.645341258] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050532.646405075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050532.647663467] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050532.648503026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050532.649008326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050532.745081496] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050532.745849964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050532.746911830] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050532.747671521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050532.748102207] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050532.835753227] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050532.838025285] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050532.839090886] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050532.840196426] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050532.840976340] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050532.841624114] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050532.841979297] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050532.844521241] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050532.845106187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050532.845790005] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050532.846857411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050532.848010322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050532.945663510] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050532.946459870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050532.947634356] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050532.949369593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050532.950482832] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050533.003135447] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914082 Long: -76.50315348 +[vectornav-1] [INFO] [1746050533.004250018] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.82299999999998, 0.154, -5.262) +[mux-7] [INFO] [1746050533.044730385] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050533.045490153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050533.046218793] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050533.047404663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050533.048484853] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050533.085357315] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050533.087797938] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050533.087935361] [sailbot.teensy]: Wind angle: 234 +[mux-7] [INFO] [1746050533.088770161] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050533.088915476] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050533.089811904] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050533.090672593] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050533.144920645] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050533.145613219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050533.146146201] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050533.147581893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050533.148602593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050533.244983310] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050533.245729686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050533.246380188] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050533.247707204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050533.248754580] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050533.335519955] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050533.337550312] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050533.338125671] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050533.338517428] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050533.338997192] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050533.339422273] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050533.340340434] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050533.344481680] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050533.344988893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050533.345638249] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050533.346801292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050533.347901956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050533.387934962] [sailbot.mux]: controller_app rudder angle: -3 +[mux-7] [INFO] [1746050533.445353188] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050533.446337842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050533.447238292] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050533.448216633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050533.448761106] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050533.504171603] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691418 Long: -76.50315767 +[vectornav-1] [INFO] [1746050533.505437424] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.71900000000005, -0.735, -2.527) +[mux-7] [INFO] [1746050533.544819317] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050533.545508550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050533.546394008] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050533.547397079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050533.548497853] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050533.585331692] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050533.587387484] [sailbot.teensy]: Wind angle: 232 +[trim_sail-4] [INFO] [1746050533.587644339] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050533.588102341] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050533.588564378] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050533.589558748] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050533.590497193] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050533.645165303] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050533.646048194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050533.646745432] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050533.648144526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050533.649285408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050533.744942232] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050533.746095115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050533.746624121] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050533.748029702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050533.749325517] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050533.835281706] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050533.837628293] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746050533.837677079] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050533.838040115] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050533.838598969] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050533.839487236] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050533.840276128] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050533.844504551] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050533.845090239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050533.845656408] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050533.846787374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050533.847973282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050533.945703486] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050533.946611576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050533.947313212] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050533.948945924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050533.949521151] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050534.003373088] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914215 Long: -76.50316127 +[vectornav-1] [INFO] [1746050534.004646732] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (161.216, 2.17, -3.001) +[mux-7] [INFO] [1746050534.045264614] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050534.046101160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050534.047043255] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050534.048746048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050534.049938038] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050534.085415366] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050534.087335086] [sailbot.teensy]: Wind angle: 229 +[trim_sail-4] [INFO] [1746050534.087951900] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050534.088323232] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050534.089225540] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050534.089131816] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050534.090519107] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050534.144856861] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050534.145681035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050534.146157984] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050534.147563398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050534.148695186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050534.245318441] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050534.246063536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050534.246867954] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050534.248384103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050534.248895760] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050534.335374382] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050534.337923793] [sailbot.teensy]: Wind angle: 224 +[trim_sail-4] [INFO] [1746050534.338409492] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050534.338968414] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050534.340295522] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050534.341189684] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050534.342012066] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050534.344299762] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050534.344854147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050534.345387095] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050534.346574116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050534.347622757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050534.349742402] [sailbot.mux]: controller_app rudder angle: -4 +[mux-7] [INFO] [1746050534.445154247] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050534.445926515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050534.446597763] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050534.448118706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050534.449165785] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050534.503737115] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914314 Long: -76.50316437 +[vectornav-1] [INFO] [1746050534.505705430] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.889, -1.689, 1.845) +[mux-7] [INFO] [1746050534.545155708] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050534.545994498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050534.546579061] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050534.548239912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050534.549439008] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050534.585447435] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050534.587753063] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050534.588725050] [sailbot.teensy]: Wind angle: 224 +[mux-7] [INFO] [1746050534.589068913] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050534.589702599] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050534.590610585] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050534.591450855] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050534.645524708] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050534.646041950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050534.648060226] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050534.648334365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050534.649604967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050534.745118768] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050534.745671457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050534.746579970] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050534.747812934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050534.748791440] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050534.835414946] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050534.837587851] [sailbot.teensy]: Wind angle: 227 +[trim_sail-4] [INFO] [1746050534.838296123] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050534.838641175] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050534.839675700] [sailbot.teensy]: Actual tail angle: 21 +[mux-7] [INFO] [1746050534.839790563] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050534.840650161] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050534.844322261] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050534.845041959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050534.845435885] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050534.846807920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050534.847961397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050534.945282997] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050534.946201687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050534.947320893] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050534.948646734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050534.949834328] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050535.002848158] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691442 Long: -76.50316733 +[vectornav-1] [INFO] [1746050535.004297212] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.505, 0.771, 1.485) +[mux-7] [INFO] [1746050535.044965284] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050535.045664252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050535.046296544] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050535.047557514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050535.048587054] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050535.085383394] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050535.087101852] [sailbot.teensy]: Wind angle: 224 +[teensy-2] [INFO] [1746050535.088044709] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050535.088362485] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050535.088876079] [sailbot.teensy]: Actual tail angle: 21 +[mux-7] [INFO] [1746050535.088926318] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050535.089724704] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050535.145440964] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050535.146050229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050535.147063496] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050535.148081041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050535.149344587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050535.245063854] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050535.245662947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050535.246538102] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050535.247570365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050535.248177676] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050535.335360855] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050535.337553239] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746050535.337920571] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050535.338749765] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050535.339729064] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050535.339940767] [sailbot.teensy]: Actual tail angle: 21 +[teensy-2] [INFO] [1746050535.340910451] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050535.344708381] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050535.345140675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050535.345872719] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050535.346912414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050535.348070327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050535.349214024] [sailbot.mux]: controller_app rudder angle: -8 +[mux-7] [INFO] [1746050535.445349002] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050535.446123531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050535.446931592] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050535.448307526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050535.448754047] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050535.502426077] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914494 Long: -76.50317 +[vectornav-1] [INFO] [1746050535.503451853] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.788, 0.441, 3.867) +[mux-7] [INFO] [1746050535.545395877] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050535.546291239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050535.546962796] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050535.548494970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050535.548981221] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050535.585393493] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050535.587743884] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050535.588039842] [sailbot.teensy]: Wind angle: 225 +[mux-7] [INFO] [1746050535.589234084] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050535.589297176] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050535.590309281] [sailbot.teensy]: Actual tail angle: 21 +[teensy-2] [INFO] [1746050535.591097310] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050535.644924058] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050535.645582763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050535.646313448] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050535.647573587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050535.649476687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050535.745028849] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050535.746038577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050535.746380534] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050535.747936919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050535.748990160] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050535.835508181] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050535.837736245] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050535.838259735] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050535.838850536] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050535.839805837] [sailbot.teensy]: Actual tail angle: 17 +[mux-7] [INFO] [1746050535.839737612] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050535.840703269] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050535.844442377] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050535.845119260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050535.845546932] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050535.846881351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050535.847911658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050535.945190034] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050535.947085108] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050535.948204146] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050535.949000881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050535.949953194] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050536.003248470] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691449 Long: -76.50317169 +[vectornav-1] [INFO] [1746050536.005120842] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.62800000000004, -2.005, 1.138) +[mux-7] [INFO] [1746050536.045312180] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050536.046184264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050536.046909318] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050536.048515305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050536.049806721] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050536.085544713] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050536.088175975] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050536.088686007] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050536.089268712] [sailbot.teensy]: Wind angle: 229 +[teensy-2] [INFO] [1746050536.090224172] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050536.091147940] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050536.092103949] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746050536.149400412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050536.152431530] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050536.155186905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[mux-7] [INFO] [1746050536.155266930] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050536.158253510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050536.245417481] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050536.246459955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050536.246985198] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050536.248954466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050536.250030194] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050536.335504944] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050536.338134904] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050536.338337714] [sailbot.teensy]: Wind angle: 215 +[teensy-2] [INFO] [1746050536.339308515] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050536.340127858] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050536.340222936] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050536.341162804] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050536.344446156] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050536.344896728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050536.345698880] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050536.346550373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050536.347585735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050536.387820547] [sailbot.mux]: controller_app rudder angle: -2 +[mux-7] [INFO] [1746050536.445255860] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050536.445941442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050536.446764038] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050536.448709810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050536.449757768] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050536.503570131] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914496 Long: -76.50317333 +[vectornav-1] [INFO] [1746050536.505074514] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.42899999999997, 3.694, 1.627) +[mux-7] [INFO] [1746050536.545448807] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050536.546094354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050536.547229401] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050536.548572708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050536.549783488] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050536.585390415] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050536.587198751] [sailbot.teensy]: Wind angle: 216 +[teensy-2] [INFO] [1746050536.588108070] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050536.587997242] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050536.588294457] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050536.589052711] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050536.590035388] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050536.645261995] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050536.645858142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050536.647027250] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050536.648281856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050536.648951667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050536.745174489] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050536.745916326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050536.746752360] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050536.747847024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050536.748657373] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050536.835569509] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050536.838026275] [sailbot.teensy]: Wind angle: 224 +[trim_sail-4] [INFO] [1746050536.838127791] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050536.839029266] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050536.839639820] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050536.839934834] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050536.840815051] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050536.844414659] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050536.845104527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050536.845498785] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050536.846842186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050536.847837733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050536.945349413] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050536.946244570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050536.946978539] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050536.948872332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050536.950148625] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050537.003276420] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914504 Long: -76.50317459 +[vectornav-1] [INFO] [1746050537.004759391] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.865, -3.013, 1.267) +[mux-7] [INFO] [1746050537.045178140] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050537.046169748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050537.046895151] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050537.048047948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050537.049075221] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050537.085395120] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050537.087672823] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050537.088061572] [sailbot.teensy]: Wind angle: 223 +[mux-7] [INFO] [1746050537.088437737] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050537.089095249] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050537.089971934] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050537.090826167] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050537.145046437] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050537.145965714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050537.146396629] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050537.148096761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050537.149152619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050537.245178294] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050537.246211069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050537.246747628] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050537.247882195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050537.248335181] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050537.335400813] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050537.337791927] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050537.338904548] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050537.339238935] [sailbot.teensy]: Wind angle: 228 +[teensy-2] [INFO] [1746050537.340271015] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050537.341166704] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050537.342016181] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050537.344352575] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050537.345093760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050537.345463274] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050537.346876094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050537.348139247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050537.387423204] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746050537.445618160] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050537.446424647] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050537.447388765] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050537.448966219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050537.450098117] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050537.502405714] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914479 Long: -76.50317612 +[vectornav-1] [INFO] [1746050537.503579322] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.97900000000004, 2.205, -2.241) +[mux-7] [INFO] [1746050537.545606297] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050537.546865636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050537.547265190] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050537.549527481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050537.550623870] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050537.585523080] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050537.587822983] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050537.587820198] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050537.588797485] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050537.588813084] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050537.589788360] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050537.590665138] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050537.645061404] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050537.645951918] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050537.646563902] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050537.647977512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050537.649262305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050537.745005434] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050537.745599465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050537.746236765] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050537.747402461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050537.748582271] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050537.835311660] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050537.837669291] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050537.837999030] [sailbot.teensy]: Wind angle: 237 +[teensy-2] [INFO] [1746050537.839070310] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050537.839136287] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050537.839986937] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050537.840900925] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050537.844463567] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050537.844849457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050537.845765270] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050537.846509178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050537.847645829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050537.945428190] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050537.946007785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050537.947044111] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050537.948037590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050537.949266485] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050538.003356178] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914369 Long: -76.50317755 +[vectornav-1] [INFO] [1746050538.005049480] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.13300000000004, -3.411, -6.807) +[mux-7] [INFO] [1746050538.045440695] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050538.046477913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050538.047095736] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050538.048509126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050538.049671199] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050538.085345165] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050538.087087279] [sailbot.teensy]: Wind angle: 237 +[teensy-2] [INFO] [1746050538.088007640] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050538.087767656] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050538.088889268] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050538.089098400] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050538.089779487] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050538.144754622] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050538.145206473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050538.145960586] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050538.147028788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050538.148069439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050538.245202215] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050538.245742422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050538.246546156] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050538.247707104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050538.248894722] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050538.335190639] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050538.336955751] [sailbot.teensy]: Wind angle: 244 +[trim_sail-4] [INFO] [1746050538.337267410] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050538.338220166] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050538.338863159] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050538.339147234] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050538.340005206] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050538.344527066] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050538.345122203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050538.345754685] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050538.347093539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050538.348196952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050538.420484839] [sailbot.mux]: controller_app rudder angle: 2 +[mux-7] [INFO] [1746050538.445298247] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050538.446100035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050538.447094760] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050538.449188568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050538.450319520] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050538.504364466] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914334 Long: -76.50317993 +[vectornav-1] [INFO] [1746050538.506255396] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.14700000000005, -1.224, -8.636) +[mux-7] [INFO] [1746050538.545320667] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050538.545989515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050538.546862460] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050538.548090496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050538.549273659] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050538.585399191] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050538.587684350] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050538.589140170] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050538.589281763] [sailbot.teensy]: Wind angle: 252 +[teensy-2] [INFO] [1746050538.590210737] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050538.591095271] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050538.591905830] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050538.645208979] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050538.645965120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050538.646697889] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050538.648006383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050538.649052425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050538.745095483] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050538.745801678] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050538.746563693] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050538.748107585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050538.749303185] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050538.835692772] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050538.837913838] [sailbot.teensy]: Wind angle: 254 +[teensy-2] [INFO] [1746050538.838992746] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050538.838566069] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050538.839917787] [sailbot.teensy]: Actual tail angle: 27 +[mux-7] [INFO] [1746050538.839942507] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050538.840900034] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050538.844453385] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050538.845001249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050538.845605748] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050538.846681815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050538.847915692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050538.945514753] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050538.946455060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050538.947341966] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050538.948579133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050538.949149458] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050539.003345521] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914279 Long: -76.5031832 +[vectornav-1] [INFO] [1746050539.004806852] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.72699999999998, -0.596, -9.101) +[mux-7] [INFO] [1746050539.045292392] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050539.046752424] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050539.046520225] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050539.048795410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050539.049950306] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050539.085575827] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050539.088116137] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050539.089074458] [sailbot.teensy]: Wind angle: 258 +[mux-7] [INFO] [1746050539.089513819] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050539.090063823] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050539.090976913] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050539.091835709] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050539.145307315] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050539.145937496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050539.146950158] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050539.147982620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050539.149080558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050539.245023663] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050539.245749019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050539.246413904] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050539.247773899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050539.248830908] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050539.335453373] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050539.337790912] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050539.338048771] [sailbot.teensy]: Wind angle: 257 +[mux-7] [INFO] [1746050539.338633248] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050539.338983685] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050539.339591093] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050539.340035009] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050539.344440624] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050539.344997305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050539.345796473] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050539.346781679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050539.347965609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050539.445506403] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050539.446106992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050539.447219796] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050539.448624062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050539.449692468] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050539.502544085] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914168 Long: -76.50318705 +[vectornav-1] [INFO] [1746050539.503609014] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.87300000000005, 0.234, -10.445) +[mux-7] [INFO] [1746050539.545137110] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050539.545880410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050539.546514736] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050539.547936474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050539.548661783] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050539.585467082] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050539.591843407] [sailbot.teensy]: Wind angle: 254 +[teensy-2] [INFO] [1746050539.592653235] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050539.592664085] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050539.593404158] [sailbot.teensy]: Actual tail angle: 27 +[mux-7] [INFO] [1746050539.593598079] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050539.594228825] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050539.645295915] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050539.646014571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050539.647213775] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050539.649837133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050539.650986210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050539.745053081] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050539.745766995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050539.746404267] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050539.747878192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050539.748872653] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050539.835387755] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050539.837817406] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050539.838078141] [sailbot.teensy]: Wind angle: 251 +[mux-7] [INFO] [1746050539.838812738] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050539.839065660] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050539.839987551] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050539.840866210] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050539.844528217] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050539.844875701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050539.845831443] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050539.846545553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050539.847680478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050539.945415136] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050539.945924950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050539.947239029] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050539.947970837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050539.949275853] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050540.003584144] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914093 Long: -76.50319101 +[vectornav-1] [INFO] [1746050540.005503428] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.70799999999997, -4.667, -12.483) +[mux-7] [INFO] [1746050540.045333897] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050540.045795100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050540.047249456] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050540.047752216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050540.048956748] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050540.085598167] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050540.087736748] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050540.088494193] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050540.089678494] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050540.090198622] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050540.090578829] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050540.091461393] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050540.145015126] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050540.145486637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050540.146384489] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050540.147249518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050540.148359065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050540.245351353] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050540.246224709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050540.246911926] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050540.248307960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050540.250095375] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050540.335773487] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050540.339077832] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050540.339564805] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050540.339716003] [sailbot.teensy]: Wind angle: 254 +[teensy-2] [INFO] [1746050540.340132229] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050540.340526785] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050540.340952505] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050540.344494375] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050540.344912087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050540.345706851] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050540.346915856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050540.347951635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050540.402016883] [sailbot.mux]: controller_app rudder angle: 3 +[mux-7] [INFO] [1746050540.445523574] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050540.446164304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050540.447403154] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050540.448423947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050540.449565126] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050540.503706261] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914083 Long: -76.50319594 +[vectornav-1] [INFO] [1746050540.505446095] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.62400000000002, 2.742, -10.722) +[mux-7] [INFO] [1746050540.545323508] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050540.545951118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050540.547008780] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050540.548066276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050540.549315787] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050540.585386726] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050540.587271560] [sailbot.teensy]: Wind angle: 256 +[trim_sail-4] [INFO] [1746050540.587843805] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050540.588228106] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050540.589110512] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050540.589145530] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050540.590046676] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050540.645490098] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050540.646095657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050540.647361588] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050540.648488441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050540.649081885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050540.745271960] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050540.746087313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050540.746974689] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050540.748114231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050540.748662220] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050540.835277154] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050540.837576798] [sailbot.teensy]: Wind angle: 259 +[trim_sail-4] [INFO] [1746050540.837682436] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050540.838700122] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050540.839068457] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050540.839466742] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050540.840298818] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050540.844337417] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050540.844930132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050540.845471042] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050540.846900926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050540.848359926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050540.945076765] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050540.945811086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050540.946437172] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050540.947795427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050540.948262938] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050541.002307943] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913996 Long: -76.50320054 +[vectornav-1] [INFO] [1746050541.003288537] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.00900000000001, -1.442, -8.146) +[mux-7] [INFO] [1746050541.045278569] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050541.046057662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050541.046747942] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050541.048398489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050541.049513037] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050541.085441912] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050541.087256941] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050541.088769551] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050541.089702049] [sailbot.teensy]: Actual tail angle: 28 +[trim_sail-4] [INFO] [1746050541.089103102] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050541.090135427] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050541.090568050] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050541.144750288] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050541.145334345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050541.146435669] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050541.147369003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050541.148431864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050541.245186972] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050541.245716584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050541.246768495] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050541.247763917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050541.248559251] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050541.335230342] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050541.336984124] [sailbot.teensy]: Wind angle: 243 +[trim_sail-4] [INFO] [1746050541.337958135] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050541.339012787] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050541.339534816] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050541.340683822] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050541.341647656] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050541.344595568] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050541.344876256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050541.345894529] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050541.346563344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050541.347770715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050541.399734116] [sailbot.mux]: controller_app rudder angle: 2 +[mux-7] [INFO] [1746050541.445133323] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050541.445949957] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050541.446634463] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050541.448066595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050541.449259084] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050541.502494073] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913876 Long: -76.50320532 +[vectornav-1] [INFO] [1746050541.503688682] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (186.52700000000004, -4.098, -8.372) +[mux-7] [INFO] [1746050541.544959485] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050541.545700903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050541.546410366] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050541.547536597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050541.548679504] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050541.585467837] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050541.587746977] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050541.588016033] [sailbot.teensy]: Wind angle: 242 +[teensy-2] [INFO] [1746050541.589018499] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050541.589479877] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050541.589929231] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050541.590807881] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050541.645336852] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050541.645974788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050541.646920716] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050541.648463808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050541.649039523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050541.745318532] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050541.746416738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050541.746908726] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050541.748433826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050541.749461497] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050541.835380493] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050541.837696357] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050541.838342879] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050541.838950763] [sailbot.teensy]: Wind angle: 252 +[teensy-2] [INFO] [1746050541.839363198] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050541.839744557] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050541.840549636] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050541.844542272] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050541.844956612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050541.845784542] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050541.846614641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050541.847742121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050541.945446797] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050541.946390707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050541.948516662] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050541.949736268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050541.950919510] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050542.003129564] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913882 Long: -76.5032114 +[vectornav-1] [INFO] [1746050542.004376445] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.336, 6.387, -8.365) +[mux-7] [INFO] [1746050542.045337020] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050542.046022570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050542.046916804] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050542.048191733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050542.049341907] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050542.085266957] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050542.087881894] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050542.088729015] [sailbot.teensy]: Wind angle: 253 +[mux-7] [INFO] [1746050542.089356902] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050542.089723358] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050542.090648993] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050542.091554105] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050542.144561101] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050542.145131353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050542.145810921] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050542.147006193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050542.148050200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050542.245182372] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050542.245946601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050542.246899281] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050542.248571175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050542.249721012] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050542.335252472] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050542.336940767] [sailbot.teensy]: Wind angle: 241 +[trim_sail-4] [INFO] [1746050542.337468242] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050542.338041922] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050542.338837592] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050542.339230925] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050542.339994411] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050542.344486504] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050542.345064635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050542.345752011] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050542.346807478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050542.347828829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050542.387705800] [sailbot.mux]: controller_app rudder angle: 3 +[mux-7] [INFO] [1746050542.445048944] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050542.445906823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050542.446413054] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050542.447830272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050542.448885612] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050542.502485372] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913785 Long: -76.5032158 +[vectornav-1] [INFO] [1746050542.503539626] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.22500000000002, -3.491, -10.198) +[mux-7] [INFO] [1746050542.545466220] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050542.546301901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050542.547037116] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050542.548801672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050542.550020422] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050542.585712721] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050542.588993566] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050542.589291609] [sailbot.teensy]: Wind angle: 236 +[mux-7] [INFO] [1746050542.589463660] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050542.590546641] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050542.591424819] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050542.592280864] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050542.645224834] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050542.646024031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050542.646656005] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050542.648060803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050542.649417285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050542.745176153] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050542.745717296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050542.746634645] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050542.747636060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050542.748688556] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050542.835396415] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050542.837227596] [sailbot.teensy]: Wind angle: 246 +[teensy-2] [INFO] [1746050542.838157013] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050542.838889654] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050542.839055934] [sailbot.teensy]: Actual tail angle: 28 +[mux-7] [INFO] [1746050542.839874894] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050542.839946256] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050542.844408573] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050542.844865588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050542.845556055] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050542.846521546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050542.847566099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050542.945412579] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050542.946020509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050542.947047870] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050542.948066048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050542.949688511] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050543.003438347] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913767 Long: -76.50322088 +[vectornav-1] [INFO] [1746050543.004976524] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.31100000000004, -2.731, -7.489) +[mux-7] [INFO] [1746050543.045028741] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050543.045564821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050543.046351193] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050543.047674864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050543.048729206] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050543.085387469] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050543.087219452] [sailbot.teensy]: Wind angle: 250 +[teensy-2] [INFO] [1746050543.088169083] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050543.087753219] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050543.088414778] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050543.089064893] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050543.089890946] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050543.145299839] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050543.146081435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050543.147099660] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050543.148271074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050543.149350879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050543.245486150] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050543.246563408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050543.247818855] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050543.248477707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050543.248964038] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050543.335342922] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050543.337179927] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050543.337737744] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050543.338937322] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050543.339107951] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050543.339516622] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050543.339911239] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050543.344390298] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050543.344891589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050543.345855871] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050543.346535552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050543.347621701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050543.445262152] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050543.446334459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050543.446782393] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050543.448694791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050543.449726212] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050543.502754216] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913804 Long: -76.50322628 +[vectornav-1] [INFO] [1746050543.503883700] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.274, 2.94, -4.968) +[mux-7] [INFO] [1746050543.545107259] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050543.545896072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050543.546362871] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050543.547936787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050543.549012706] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050543.585546826] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050543.587956534] [sailbot.teensy]: Wind angle: 240 +[trim_sail-4] [INFO] [1746050543.588018293] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050543.588726526] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050543.588970729] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050543.589916854] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050543.590821866] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050543.645039074] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050543.645807951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050543.646476258] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050543.647842684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050543.649079245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050543.745534617] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050543.746204591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050543.747123600] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050543.748126224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050543.748653221] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050543.835364565] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050543.837825609] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050543.838393223] [sailbot.teensy]: Wind angle: 224 +[mux-7] [INFO] [1746050543.838747369] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050543.839376921] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050543.840328126] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050543.841189124] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050543.844240963] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050543.844826708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050543.845778970] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050543.846515786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050543.847542190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050543.945299058] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050543.946098380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050543.946802741] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050543.947963560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050543.948521265] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050544.003382054] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691383 Long: -76.50323042 +[vectornav-1] [INFO] [1746050544.005237187] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.26599999999996, -3.058, -2.621) +[mux-7] [INFO] [1746050544.045154945] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050544.045676408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050544.046432388] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050544.047471870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050544.048508437] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050544.085174087] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050544.086713802] [sailbot.teensy]: Wind angle: 225 +[trim_sail-4] [INFO] [1746050544.087174560] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050544.087627182] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050544.088220318] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050544.088519351] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050544.089384114] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050544.145037937] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050544.145867304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050544.146509777] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050544.147829311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050544.148971720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050544.245110221] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050544.245852577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050544.246505794] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050544.248008409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050544.249067144] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050544.335414462] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050544.337386126] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050544.337764573] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050544.338323262] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050544.338472175] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050544.339257944] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050544.340116318] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050544.344608537] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050544.345039436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050544.345711356] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050544.346724180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050544.347741167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050544.402167399] [sailbot.mux]: controller_app rudder angle: -1 +[mux-7] [INFO] [1746050544.445457947] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050544.446482556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050544.447047006] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050544.448443433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050544.448990117] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050544.502417692] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913909 Long: -76.50323464 +[vectornav-1] [INFO] [1746050544.503493085] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.02200000000005, 1.71, -1.23) +[mux-7] [INFO] [1746050544.544675101] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050544.545271109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050544.545875020] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050544.547028581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050544.548048204] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050544.585563434] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050544.587608813] [sailbot.teensy]: Wind angle: 227 +[trim_sail-4] [INFO] [1746050544.588221784] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050544.588654689] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050544.589558146] [sailbot.teensy]: Actual tail angle: 28 +[mux-7] [INFO] [1746050544.589937537] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050544.590415327] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050544.645535706] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050544.646360547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050544.647497493] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050544.648926351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050544.649507268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050544.745561785] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050544.746283110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050544.747283562] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050544.748632099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050544.749895617] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050544.835459460] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050544.837469388] [sailbot.teensy]: Wind angle: 226 +[teensy-2] [INFO] [1746050544.838565578] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050544.838616101] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050544.839129830] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050544.839946906] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050544.840322188] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050544.844497969] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050544.844930946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050544.845674806] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050544.846647985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050544.847670782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050544.945369275] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050544.947072496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050544.947348836] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050544.948775373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050544.949312417] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050545.003480635] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913986 Long: -76.50323773 +[vectornav-1] [INFO] [1746050545.004837168] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.09199999999998, 0.186, 1.165) +[mux-7] [INFO] [1746050545.044845197] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050545.045421653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050545.046069366] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050545.047307162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050545.048377782] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050545.085231347] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050545.087298991] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050545.087838086] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050545.088726625] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050545.088734389] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050545.089635245] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050545.090466495] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050545.145016046] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050545.145657360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050545.146354044] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050545.148072469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050545.149248016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050545.245487479] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050545.246192067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050545.247221621] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050545.247911077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050545.248397641] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050545.335268372] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050545.337573327] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050545.337905604] [sailbot.teensy]: Wind angle: 227 +[mux-7] [INFO] [1746050545.338532350] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050545.338915496] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050545.339871346] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050545.340876751] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050545.344467659] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050545.344880175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050545.345551364] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050545.346546857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050545.347596491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050545.389368308] [sailbot.mux]: controller_app rudder angle: -2 +[mux-7] [INFO] [1746050545.445323697] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050545.446864636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050545.447060917] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050545.449229422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050545.450368476] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050545.503908393] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914055 Long: -76.50324079 +[vectornav-1] [INFO] [1746050545.505531385] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.106, -1.986, 0.03) +[mux-7] [INFO] [1746050545.545103393] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050545.545913510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050545.546526663] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050545.548033632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050545.549067767] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050545.585255643] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050545.587083069] [sailbot.teensy]: Wind angle: 221 +[teensy-2] [INFO] [1746050545.588034664] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050545.587533662] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050545.588719103] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050545.589011104] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050545.590015540] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050545.644710695] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050545.645456473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050545.645901723] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050545.647314801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050545.648373500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050545.744940238] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050545.745591216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050545.746322136] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050545.747495919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050545.748936898] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050545.835591021] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050545.838245653] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050545.838636837] [sailbot.teensy]: Wind angle: 227 +[mux-7] [INFO] [1746050545.839078286] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050545.839554797] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050545.840505496] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050545.841373493] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050545.844622089] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050545.844984542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050545.845910997] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050545.846691412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050545.847865349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050545.945411836] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050545.946064904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050545.947004201] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050545.948239538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050545.949373547] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050546.003356826] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914118 Long: -76.50324357 +[vectornav-1] [INFO] [1746050546.004772105] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.27099999999996, 0.975, 0.866) +[mux-7] [INFO] [1746050546.045546521] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050546.046572596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050546.047244241] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050546.049716051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050546.051104697] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050546.085620261] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050546.087486339] [sailbot.teensy]: Wind angle: 229 +[trim_sail-4] [INFO] [1746050546.088116884] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050546.089477848] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050546.089495480] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050546.090433915] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050546.091327559] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050546.145011056] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050546.145663281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050546.146454337] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050546.148335726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050546.149470784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050546.245059786] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050546.245566254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050546.246391729] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050546.247485966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050546.248356096] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050546.335368484] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050546.337568304] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050546.338233939] [sailbot.teensy]: Wind angle: 220 +[mux-7] [INFO] [1746050546.338935279] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050546.339209352] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050546.340128006] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050546.341010287] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050546.344326507] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050546.344808210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050546.345416557] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050546.346501228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050546.347647849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050546.409396077] [sailbot.mux]: controller_app rudder angle: -5 +[mux-7] [INFO] [1746050546.444848537] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050546.445336047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050546.446058892] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050546.447314217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050546.448348458] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050546.503231714] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914231 Long: -76.50324627 +[vectornav-1] [INFO] [1746050546.504641361] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (154.664, -0.608, 3.384) +[mux-7] [INFO] [1746050546.545148718] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050546.546280719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050546.546628324] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050546.548400234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050546.549557438] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050546.585236641] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050546.587449323] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050546.587887863] [sailbot.teensy]: Wind angle: 220 +[teensy-2] [INFO] [1746050546.588882700] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050546.588488047] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050546.589815964] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050546.590662131] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050546.645204298] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050546.646018827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050546.646746923] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050546.648575159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050546.649409224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050546.745504558] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050546.746218846] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050546.747149394] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050546.747987490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050546.748544047] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050546.835646872] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050546.839072430] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050546.839281693] [sailbot.teensy]: Wind angle: 223 +[mux-7] [INFO] [1746050546.839285306] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050546.839926554] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050546.840649117] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050546.841501459] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050546.844337251] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050546.844807928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050546.845476704] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050546.846586775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050546.847637379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050546.945545910] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050546.946734856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050546.947268732] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050546.949161922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050546.950407830] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050547.003623605] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914332 Long: -76.50324817 +[vectornav-1] [INFO] [1746050547.005457661] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (151.389, 1.884, 1.352) +[mux-7] [INFO] [1746050547.045143432] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050547.045895420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050547.046568936] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050547.048117092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050547.049247001] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050547.085394111] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050547.087263271] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746050547.088100179] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050547.088242192] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050547.089147530] [sailbot.teensy]: Actual tail angle: 20 +[mux-7] [INFO] [1746050547.089507610] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050547.090047877] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050547.144856044] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050547.145282823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050547.146108797] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050547.147062472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050547.148199793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050547.245400886] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050547.246220942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050547.247175813] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050547.248410988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050547.249006866] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050547.335408221] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050547.337800060] [sailbot.teensy]: Wind angle: 207 +[trim_sail-4] [INFO] [1746050547.337821910] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050547.338791763] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050547.339163010] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050547.339351237] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050547.339725866] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050547.344559467] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050547.345139139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050547.345802290] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050547.346937764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050547.347997010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050547.397575366] [sailbot.mux]: controller_app rudder angle: -6 +[mux-7] [INFO] [1746050547.445152483] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050547.446035077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050547.446684946] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050547.448388841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050547.449411646] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050547.502652626] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914351 Long: -76.50325002 +[vectornav-1] [INFO] [1746050547.503714313] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (151.11399999999998, -5.105, 2.627) +[mux-7] [INFO] [1746050547.544913321] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050547.545521356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050547.546055784] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050547.547330600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050547.548487410] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050547.585209360] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050547.586891749] [sailbot.teensy]: Wind angle: 208 +[trim_sail-4] [INFO] [1746050547.587680439] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050547.587821783] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050547.588794494] [sailbot.teensy]: Actual tail angle: 20 +[mux-7] [INFO] [1746050547.589501901] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050547.589661407] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050547.644726881] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050547.645590935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050547.646184736] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050547.647694679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050547.648777265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050547.745308748] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050547.745949168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050547.746840603] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050547.748299802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050547.748817412] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050547.835388381] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050547.837903534] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050547.838493307] [sailbot.teensy]: Wind angle: 212 +[mux-7] [INFO] [1746050547.839130882] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050547.839428554] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050547.840247689] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050547.840705439] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050547.844527994] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050547.845022308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050547.845719820] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050547.846725363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050547.847762391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050547.945312495] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050547.946559416] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050547.947191645] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050547.949088082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050547.950203735] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050548.003509292] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914441 Long: -76.50325216 +[vectornav-1] [INFO] [1746050548.005229555] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (151.76999999999998, 4.709, 3.397) +[mux-7] [INFO] [1746050548.045190315] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050548.045935561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050548.046706532] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050548.048177929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050548.049170891] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050548.085387576] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050548.087235148] [sailbot.teensy]: Wind angle: 221 +[teensy-2] [INFO] [1746050548.088256973] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050548.088258698] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050548.089195474] [sailbot.teensy]: Actual tail angle: 19 +[mux-7] [INFO] [1746050548.089959405] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050548.090077682] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050548.145188316] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050548.145789341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050548.146720224] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050548.147794320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050548.149076842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050548.245044243] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050548.246329263] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050548.248525141] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050548.250172160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050548.251162905] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050548.335299439] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050548.337721470] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050548.338189407] [sailbot.teensy]: Wind angle: 219 +[mux-7] [INFO] [1746050548.339188390] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050548.339285203] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050548.339719058] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050548.340089759] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050548.344752421] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050548.345163646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050548.346026081] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050548.346823927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050548.347917870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050548.408351418] [sailbot.mux]: controller_app rudder angle: -7 +[mux-7] [INFO] [1746050548.445272967] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050548.446056535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050548.446787138] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050548.448170072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050548.449414569] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050548.502602984] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914452 Long: -76.50325254 +[vectornav-1] [INFO] [1746050548.503797351] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (153.94100000000003, -1.685, 2.69) +[mux-7] [INFO] [1746050548.545267403] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050548.546094841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050548.546931190] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050548.548346292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050548.549499520] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050548.585804601] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050548.588092763] [sailbot.teensy]: Wind angle: 216 +[teensy-2] [INFO] [1746050548.589205035] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050548.588852738] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050548.590104661] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050548.590173287] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050548.591081929] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050548.645193041] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050548.645974156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050548.647086118] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050548.647957970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050548.649271893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050548.745768194] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050548.746263622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050548.747540408] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050548.748690068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050548.749801045] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050548.835660732] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050548.838145050] [sailbot.teensy]: Wind angle: 215 +[trim_sail-4] [INFO] [1746050548.838230926] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050548.839204363] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050548.840223451] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746050548.840542155] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050548.841013580] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050548.844316799] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050548.844889406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050548.845643548] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050548.846832639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050548.847912548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050548.945646507] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050548.946478724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050548.948629590] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050548.948740315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050548.949377123] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050549.003660655] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914463 Long: -76.50325315 +[vectornav-1] [INFO] [1746050549.006045856] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (156.62900000000002, -1.427, 3.005) +[mux-7] [INFO] [1746050549.045298704] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050549.046257030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050549.046934616] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050549.048718908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050549.049744923] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050549.085341481] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050549.087678487] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050549.088764912] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050549.088973003] [sailbot.teensy]: Wind angle: 223 +[teensy-2] [INFO] [1746050549.090010706] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050549.091014124] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050549.091974710] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050549.145235136] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050549.145900381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050549.147161929] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050549.147877381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050549.148434566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050549.245129241] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050549.245846956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050549.246637028] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050549.247957732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050549.249125549] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050549.335365923] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050549.337634723] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050549.337637692] [sailbot.teensy]: Wind angle: 226 +[teensy-2] [INFO] [1746050549.338651813] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050549.338800284] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050549.339550741] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050549.340492185] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050549.344333308] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050549.344954276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050549.345490501] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050549.346649662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050549.347841330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050549.384408546] [sailbot.mux]: controller_app rudder angle: -5 +[mux-7] [INFO] [1746050549.445278755] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050549.446009775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050549.446983435] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050549.448422809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050549.449381918] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050549.503918196] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914446 Long: -76.50325414 +[vectornav-1] [INFO] [1746050549.505398231] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.66200000000003, 2.813, 2.147) +[mux-7] [INFO] [1746050549.545177600] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050549.546044029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050549.546610149] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050549.548046597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050549.549106611] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050549.585368843] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050549.587960583] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050549.588051690] [sailbot.teensy]: Wind angle: 214 +[mux-7] [INFO] [1746050549.588866400] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050549.589033570] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050549.589928743] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050549.590823509] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050549.645125267] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050549.645854814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050549.647086367] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050549.647866560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050549.649088861] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050549.745149348] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050549.745834103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050549.746583102] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050549.748102890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050549.748630138] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050549.835390311] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050549.837884490] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050549.838494384] [sailbot.teensy]: Wind angle: 220 +[mux-7] [INFO] [1746050549.839048322] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050549.839535156] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050549.840534363] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050549.841430752] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050549.844308259] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050549.844771230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050549.845310573] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050549.846273049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050549.847344621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050549.945511446] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050549.947119790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050549.947238403] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050549.949816263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050549.950991597] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050550.003819977] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914394 Long: -76.50325399 +[vectornav-1] [INFO] [1746050550.005561424] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.91599999999994, -1.973, 1.995) +[mux-7] [INFO] [1746050550.045135452] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050550.046032347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050550.046759138] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050550.048092200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050550.049249214] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050550.085451554] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050550.087870548] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050550.088540669] [sailbot.teensy]: Wind angle: 224 +[mux-7] [INFO] [1746050550.089178391] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050550.089890497] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050550.091202542] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050550.092112323] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050550.144426557] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050550.145024437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050550.145534113] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050550.147061071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050550.148117983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050550.245469344] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050550.246340749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050550.247118397] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050550.248833323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050550.250094133] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050550.335428942] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050550.337434976] [sailbot.teensy]: Wind angle: 225 +[trim_sail-4] [INFO] [1746050550.337907534] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050550.338445912] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050550.339418631] [sailbot.teensy]: Actual tail angle: 20 +[mux-7] [INFO] [1746050550.340444346] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050550.340764249] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050550.344456057] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050550.344916031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050550.345581171] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050550.346581292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050550.347750594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050550.422651802] [sailbot.mux]: controller_app rudder angle: 1 +[mux-7] [INFO] [1746050550.445315533] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050550.446051008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050550.447008291] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050550.448234163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050550.449363902] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050550.503340697] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914388 Long: -76.50325428 +[vectornav-1] [INFO] [1746050550.504975715] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.59199999999998, -0.989, 0.918) +[mux-7] [INFO] [1746050550.545306818] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050550.546142133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050550.546765173] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050550.547889138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050550.548376176] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050550.585350965] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050550.587204788] [sailbot.teensy]: Wind angle: 229 +[teensy-2] [INFO] [1746050550.588115001] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050550.588245401] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050550.588329432] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050550.589037103] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050550.589918019] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050550.644919562] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050550.645927058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050550.646650779] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050550.648131060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050550.648791257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050550.745022812] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050550.745709664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050550.746442918] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050550.747622149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050550.748539099] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050550.835749992] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050550.839193930] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050550.839300839] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050550.839508412] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050550.840318929] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050550.841232783] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050550.842082701] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050550.844455200] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050550.844949504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050550.845509808] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050550.846681383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050550.847728986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050550.945612366] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050550.946691916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050550.947474661] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050550.948989961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050550.950259327] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050551.003623500] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914343 Long: -76.50325504 +[vectornav-1] [INFO] [1746050551.005238087] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.423, 0.247, -0.307) +[mux-7] [INFO] [1746050551.044977317] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050551.045760872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050551.046265536] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050551.047933207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050551.049088415] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050551.085579011] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050551.087865813] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050551.088539410] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050551.088601416] [sailbot.teensy]: Wind angle: 232 +[teensy-2] [INFO] [1746050551.089741776] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050551.090675441] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050551.091563813] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050551.145005723] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050551.145688603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050551.146296892] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050551.147562690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050551.148593764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050551.245046652] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050551.245889563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050551.246526177] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050551.247700753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050551.248804166] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050551.335383287] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050551.337322845] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050551.338094460] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050551.338315033] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050551.339193304] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050551.339661315] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050551.339359790] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050551.344438138] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050551.345224705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050551.345553761] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050551.347026700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050551.348092551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050551.401050773] [sailbot.mux]: controller_app rudder angle: 2 +[mux-7] [INFO] [1746050551.445305140] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050551.446182877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050551.446853955] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050551.448319445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050551.448830839] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050551.503520467] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914252 Long: -76.50325581 +[vectornav-1] [INFO] [1746050551.504771528] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.28300000000002, 1.466, -3.601) +[mux-7] [INFO] [1746050551.545204975] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050551.546085180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050551.546886170] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050551.548070681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050551.549172145] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050551.585227603] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050551.586821639] [sailbot.teensy]: Wind angle: 244 +[trim_sail-4] [INFO] [1746050551.587366670] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050551.587753973] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050551.588687499] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050551.588963131] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050551.589564018] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050551.645224068] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050551.645731394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050551.647158921] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050551.647770983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050551.648874164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050551.744922699] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050551.745437082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050551.746199967] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050551.747205742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050551.748954486] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050551.835659640] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050551.838410544] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050551.839167723] [sailbot.teensy]: Wind angle: 247 +[mux-7] [INFO] [1746050551.839581617] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050551.840196970] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050551.841074176] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050551.841940713] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050551.844304450] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050551.845216667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050551.845470286] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050551.847086902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050551.848112928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050551.945441689] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050551.946098504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050551.947090652] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050551.948239536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050551.949362580] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050552.003335202] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914117 Long: -76.50325619 +[vectornav-1] [INFO] [1746050552.004839426] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.692, -3.152, -5.144) +[mux-7] [INFO] [1746050552.045412064] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050552.046079311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050552.047059022] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050552.048560491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050552.049622422] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050552.085460930] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050552.087853351] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050552.089303697] [sailbot.teensy]: Wind angle: 247 +[mux-7] [INFO] [1746050552.089311908] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050552.090325926] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050552.091216924] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050552.092088198] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050552.144927049] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050552.145699894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050552.146255072] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050552.147545655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050552.148728163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050552.245010882] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050552.245712476] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050552.246542953] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050552.247577783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050552.248658501] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050552.335206873] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050552.337332147] [sailbot.teensy]: Wind angle: 250 +[trim_sail-4] [INFO] [1746050552.337729873] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050552.338330424] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050552.339232349] [sailbot.teensy]: Actual tail angle: 27 +[mux-7] [INFO] [1746050552.339301363] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050552.340106177] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050552.344378948] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050552.345184893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050552.345471434] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050552.346938622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050552.348018744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050552.397626048] [sailbot.mux]: controller_app rudder angle: 4 +[teensy-2] [INFO] [1746050552.445923464] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050552.445940303] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050552.447630972] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050552.449125336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050552.450326483] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050552.503646255] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914083 Long: -76.50325826 +[vectornav-1] [INFO] [1746050552.505085044] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.789, -0.913, -5.099) +[mux-7] [INFO] [1746050552.545443746] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050552.546303998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050552.547101176] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050552.548760476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050552.549909800] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050552.585526013] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050552.587938716] [sailbot.teensy]: Wind angle: 250 +[trim_sail-4] [INFO] [1746050552.587963865] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050552.589049905] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050552.589759117] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050552.589974814] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050552.590837839] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050552.645190072] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050552.646009090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050552.646642226] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050552.647899524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050552.648382060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050552.745642074] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050552.746327049] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050552.748306609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050552.748783167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050552.747357950] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050552.835516244] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050552.837665271] [sailbot.teensy]: Wind angle: 251 +[trim_sail-4] [INFO] [1746050552.838486698] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050552.839583077] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050552.840246624] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050552.841192609] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050552.842024781] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050552.844253251] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050552.844772269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050552.845388022] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050552.846438992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050552.847464027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050552.945599298] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050552.946513100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050552.947381552] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050552.948723423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050552.949244763] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050553.003217831] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913967 Long: -76.50326062 +[vectornav-1] [INFO] [1746050553.004858701] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (198.51999999999998, 0.902, -9.921) +[mux-7] [INFO] [1746050553.045003865] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050553.045630550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050553.046193604] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050553.047405879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050553.048444765] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050553.085548578] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050553.087752947] [sailbot.teensy]: Wind angle: 251 +[trim_sail-4] [INFO] [1746050553.088827098] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050553.088855519] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050553.089767656] [sailbot.teensy]: Actual tail angle: 29 +[mux-7] [INFO] [1746050553.090415238] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050553.090676639] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050553.145010357] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050553.145918835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050553.146400113] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050553.147770445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050553.148835074] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050553.245294165] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050553.246091052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050553.247110067] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050553.248243304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050553.248765224] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050553.335371227] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050553.337323779] [sailbot.teensy]: Wind angle: 251 +[teensy-2] [INFO] [1746050553.338323627] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050553.339227016] [sailbot.teensy]: Actual tail angle: 29 +[trim_sail-4] [INFO] [1746050553.338329591] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050553.339253197] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050553.340118548] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050553.344482673] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050553.345072286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050553.345776103] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050553.346865130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050553.347986686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050553.409916398] [sailbot.mux]: controller_app rudder angle: 5 +[mux-7] [INFO] [1746050553.444748345] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050553.445704060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050553.445992879] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050553.447648541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050553.448655459] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050553.502410564] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691377 Long: -76.50326291 +[vectornav-1] [INFO] [1746050553.503436174] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.56600000000003, -3.03, -13.15) +[mux-7] [INFO] [1746050553.545498468] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050553.546384024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050553.547635534] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050553.549514075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050553.550652495] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050553.585935652] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050553.589036173] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050553.590251078] [sailbot.teensy]: Wind angle: 251 +[teensy-2] [INFO] [1746050553.591402426] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050553.591984508] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050553.592560167] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050553.593594563] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050553.645503400] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050553.646410482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050553.647197835] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050553.650332564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050553.651520816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050553.745352782] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050553.746146576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050553.746910291] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050553.748518823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050553.749511538] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050553.835397747] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050553.837886149] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050553.838296603] [sailbot.teensy]: Wind angle: 257 +[teensy-2] [INFO] [1746050553.839416158] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050553.839515086] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050553.840373038] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746050553.841253085] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050553.844420248] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050553.844896253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050553.845603815] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050553.846649613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050553.847692702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050553.944574646] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050553.945247969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050553.945759047] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050553.947098427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050553.947870497] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050554.003595522] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913717 Long: -76.5032668 +[vectornav-1] [INFO] [1746050554.005038512] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.97199999999998, -0.958, -13.226) +[mux-7] [INFO] [1746050554.044908790] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050554.045603979] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050554.046133035] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050554.047501341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050554.048687469] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050554.085194366] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050554.087290329] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050554.087313659] [sailbot.teensy]: Wind angle: 257 +[mux-7] [INFO] [1746050554.088527615] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050554.088553450] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050554.089547633] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746050554.090400608] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050554.144846550] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050554.145473373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050554.146089878] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050554.147305396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050554.148304248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050554.244934052] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050554.245609725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050554.246247348] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050554.247498803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050554.248549710] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050554.335292134] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050554.337580287] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050554.338166910] [sailbot.teensy]: Wind angle: 253 +[mux-7] [INFO] [1746050554.338354389] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050554.339180222] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050554.339561681] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746050554.339915699] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050554.344271845] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050554.345063921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050554.345894122] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050554.346860982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050554.348029943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050554.420264558] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746050554.445284891] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050554.446063337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050554.446846945] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050554.448644893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050554.449172908] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050554.502287438] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913706 Long: -76.50327132 +[vectornav-1] [INFO] [1746050554.503263254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.90800000000002, 0.011, -8.994) +[mux-7] [INFO] [1746050554.545275950] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050554.546262870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050554.546844215] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050554.548464934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050554.549701779] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050554.585833596] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050554.588487293] [sailbot.teensy]: Wind angle: 250 +[teensy-2] [INFO] [1746050554.589595013] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050554.588617181] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050554.590151011] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050554.590503679] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746050554.591366971] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050554.645353250] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050554.646070216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050554.646948972] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050554.649387131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050554.650476392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050554.745295204] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050554.746200475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050554.746896888] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050554.748554576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050554.749599118] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050554.835400901] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050554.837855150] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050554.838081726] [sailbot.teensy]: Wind angle: 244 +[teensy-2] [INFO] [1746050554.839072335] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050554.839326380] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050554.839543074] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050554.839938432] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050554.844311503] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050554.844942504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050554.845394487] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050554.846614614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050554.847647141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050554.945141089] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050554.945854539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050554.947019826] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050554.947918448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050554.949153721] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050555.003135919] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913692 Long: -76.50327547 +[vectornav-1] [INFO] [1746050555.004893964] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.76300000000003, -0.153, -7.163) +[mux-7] [INFO] [1746050555.044905649] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050555.045763524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050555.046063944] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050555.047505239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050555.048644610] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050555.085239962] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050555.087179654] [sailbot.teensy]: Wind angle: 242 +[trim_sail-4] [INFO] [1746050555.087897589] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050555.088177010] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050555.089095189] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050555.089740593] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050555.089954183] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050555.144872390] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050555.145696362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050555.146154373] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050555.147425775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050555.148404278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050555.245016003] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050555.245815151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050555.246311497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050555.247871801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050555.248931686] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050555.335310685] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050555.337339243] [sailbot.teensy]: Wind angle: 242 +[trim_sail-4] [INFO] [1746050555.337658457] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050555.338344216] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050555.339069157] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050555.339301999] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050555.340215952] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050555.344225345] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050555.344810921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050555.345396631] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050555.346518756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050555.347779239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050555.398204643] [sailbot.mux]: controller_app rudder angle: -1 +[mux-7] [INFO] [1746050555.444814704] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050555.445510734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050555.446025722] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050555.447434693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050555.448479879] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050555.502329487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913692 Long: -76.50327997 +[vectornav-1] [INFO] [1746050555.503527328] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.07299999999998, -2.797, -3.335) +[mux-7] [INFO] [1746050555.545331906] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050555.546153286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050555.546910367] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050555.548380076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050555.549611306] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050555.585700906] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050555.588513562] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050555.589146639] [sailbot.teensy]: Wind angle: 237 +[teensy-2] [INFO] [1746050555.590201967] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050555.591657096] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050555.592737604] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050555.594532926] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746050555.645194247] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050555.645938904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050555.647114326] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050555.647970399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050555.649055814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050555.745614449] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050555.746390539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050555.747255183] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050555.748840071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050555.750025707] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050555.835413298] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050555.838072819] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050555.838593584] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050555.839069515] [sailbot.teensy]: Wind angle: 237 +[teensy-2] [INFO] [1746050555.839559672] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050555.839950762] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050555.840340483] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050555.844733201] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050555.845156430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050555.846038118] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050555.846949315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050555.847961400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050555.945162603] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050555.945606827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050555.946761995] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050555.947542888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050555.948765075] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050556.003981345] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913736 Long: -76.50328377 +[vectornav-1] [INFO] [1746050556.006012034] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.20100000000002, 1.821, -0.542) +[mux-7] [INFO] [1746050556.045245792] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050556.046018681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050556.046850366] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050556.048547558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050556.049566837] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050556.085447751] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050556.087704777] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050556.088206157] [sailbot.teensy]: Wind angle: 232 +[mux-7] [INFO] [1746050556.089082265] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050556.089280252] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050556.090311036] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050556.091195006] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050556.144977681] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050556.145749347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050556.146591786] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050556.147634818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050556.148738575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050556.245419510] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050556.246428517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050556.246975282] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050556.248651917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050556.249833209] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050556.335216438] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050556.337384501] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050556.337747459] [sailbot.teensy]: Wind angle: 223 +[mux-7] [INFO] [1746050556.338692398] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050556.338762212] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050556.339244895] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050556.339622512] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050556.344484512] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050556.344837300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050556.345726575] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050556.346513123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050556.347572915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050556.445167261] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050556.445672195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050556.446549744] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050556.447760598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050556.448559417] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050556.503261602] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913829 Long: -76.50328723 +[vectornav-1] [INFO] [1746050556.504849016] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.798, 2.411, -0.382) +[mux-7] [INFO] [1746050556.545255245] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050556.545872584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050556.546825802] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050556.547958736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050556.549006821] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050556.585258672] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050556.587046300] [sailbot.teensy]: Wind angle: 225 +[trim_sail-4] [INFO] [1746050556.587428004] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050556.587932811] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050556.588851139] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050556.589211901] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050556.589729711] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050556.645237347] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050556.645886356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050556.646917861] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050556.648134696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050556.649430140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050556.745472037] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050556.746138693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050556.747332021] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050556.749862956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050556.750343020] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050556.835486604] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050556.838134324] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050556.838767119] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050556.839259960] [sailbot.teensy]: Wind angle: 226 +[teensy-2] [INFO] [1746050556.840393678] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050556.840977000] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050556.841391987] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050556.844412845] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050556.844996227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050556.845909961] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050556.846929452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050556.847959052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050556.945364377] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050556.946180806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050556.947265832] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050556.948687844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050556.949200178] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050557.003184608] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913841 Long: -76.50329014 +[vectornav-1] [INFO] [1746050557.004836604] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.22500000000002, -1.302, -0.325) +[mux-7] [INFO] [1746050557.045404654] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050557.046265247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050557.046965431] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050557.048794164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050557.049793045] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050557.085375031] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050557.087648451] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050557.088529548] [sailbot.teensy]: Wind angle: 225 +[mux-7] [INFO] [1746050557.088932873] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050557.090346437] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050557.091349639] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050557.092222513] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050557.145185855] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050557.146222982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050557.147297042] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050557.148283394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050557.149349835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050557.245269280] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050557.246046495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050557.246849374] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050557.248269474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050557.249531846] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050557.335379322] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050557.337730032] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050557.338271294] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050557.338741591] [sailbot.teensy]: Wind angle: 227 +[teensy-2] [INFO] [1746050557.339376225] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050557.339825677] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050557.340388182] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050557.344457753] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050557.345041704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050557.345546376] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050557.346756273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050557.347912524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050557.445083083] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050557.445981294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050557.446409876] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050557.447871776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050557.448886725] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050557.502187852] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913898 Long: -76.50329309 +[vectornav-1] [INFO] [1746050557.503157953] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.24699999999996, -1.034, 2.345) +[mux-7] [INFO] [1746050557.545297440] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050557.546060168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050557.547093078] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050557.548354561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050557.548907110] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050557.585545957] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050557.588191077] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050557.590716895] [sailbot.teensy]: Wind angle: 229 +[teensy-2] [INFO] [1746050557.592017511] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050557.592194497] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050557.593090732] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050557.594001739] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050557.645157324] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050557.645959829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050557.646613229] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050557.649021861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050557.650146410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050557.745215816] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050557.746163094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050557.746693525] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050557.748283043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050557.749462334] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050557.835341293] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050557.837723859] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050557.837884474] [sailbot.teensy]: Wind angle: 216 +[mux-7] [INFO] [1746050557.838212947] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050557.838824199] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050557.839721735] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050557.840600520] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050557.844323647] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050557.844856245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050557.845586571] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050557.846601255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050557.847703120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050557.945484827] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050557.946222762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050557.947148908] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050557.948412225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050557.949733573] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050558.003720549] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913977 Long: -76.50329596 +[vectornav-1] [INFO] [1746050558.005389610] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.45600000000002, 1.741, 1.726) +[mux-7] [INFO] [1746050558.045232203] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050558.046206320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050558.046706599] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050558.048262791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050558.049416975] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050558.085433494] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050558.087825344] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050558.088036605] [sailbot.teensy]: Wind angle: 217 +[mux-7] [INFO] [1746050558.089225858] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050558.089670008] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050558.090630258] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050558.091505057] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050558.145305017] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050558.146198083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050558.146855721] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050558.148285994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050558.149431559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050558.245276502] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050558.245935666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050558.246837987] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050558.248136343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050558.249340398] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050558.335424313] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050558.337224365] [sailbot.teensy]: Wind angle: 223 +[trim_sail-4] [INFO] [1746050558.337958838] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050558.338303594] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050558.339190350] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050558.339206345] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050558.340060926] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050558.344520120] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050558.344916771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050558.345716291] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050558.346601937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050558.347618712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050558.445313408] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050558.445876687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050558.446921297] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050558.448054174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050558.449170116] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050558.502703008] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914002 Long: -76.50329784 +[vectornav-1] [INFO] [1746050558.503716036] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.89800000000002, 0.412, 0.144) +[mux-7] [INFO] [1746050558.545322125] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050558.545934137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050558.546878896] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050558.548053039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050558.549238323] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050558.585530231] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050558.587972040] [sailbot.teensy]: Wind angle: 224 +[teensy-2] [INFO] [1746050558.588965635] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050558.588537090] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050558.589884889] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050558.590696170] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050558.590756600] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050558.644954528] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050558.645797047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050558.646318119] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050558.648469971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050558.649548467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050558.744823005] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050558.745642701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050558.746332681] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050558.747846591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050558.748895844] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050558.835366453] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050558.837188694] [sailbot.teensy]: Wind angle: 224 +[trim_sail-4] [INFO] [1746050558.838056984] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050558.838166312] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050558.838968178] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050558.839043871] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050558.839938511] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050558.844349204] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050558.844780277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050558.845454783] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050558.846352365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050558.847379287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050558.945303549] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050558.945988562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050558.947156393] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050558.947907660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050558.948414436] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050559.003257664] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913981 Long: -76.50329951 +[vectornav-1] [INFO] [1746050559.004642355] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.52099999999996, -3.022, 2.09) +[mux-7] [INFO] [1746050559.045206984] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050559.045732605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050559.046701678] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050559.047955854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050559.049125874] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050559.085709370] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050559.088073242] [sailbot.teensy]: Wind angle: 224 +[trim_sail-4] [INFO] [1746050559.088841654] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050559.089190529] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050559.090154673] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050559.091016287] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050559.091036430] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050559.144996395] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050559.145498606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050559.146583796] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050559.147318125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050559.148553043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050559.245386047] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050559.246176629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050559.246938033] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050559.248325413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050559.250085609] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050559.335521748] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050559.337673060] [sailbot.teensy]: Wind angle: 224 +[teensy-2] [INFO] [1746050559.338739916] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050559.338077013] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050559.339490691] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050559.339633349] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050559.340472364] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050559.344709591] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050559.344865125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050559.345860475] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050559.346549334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050559.347589803] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050559.445396768] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050559.446387770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050559.446983676] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050559.448163795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050559.448661853] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050559.503794546] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914076 Long: -76.50330206 +[vectornav-1] [INFO] [1746050559.505303086] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.27700000000004, 1.636, 3.11) +[mux-7] [INFO] [1746050559.545099538] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050559.545707249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050559.546628555] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050559.547813253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050559.548978693] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050559.585427060] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050559.587797841] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050559.587900417] [sailbot.teensy]: Wind angle: 224 +[mux-7] [INFO] [1746050559.588978466] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050559.589127638] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050559.590231884] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050559.591346751] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050559.645419769] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050559.646244011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050559.647009178] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050559.648552624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050559.649730362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050559.745253953] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050559.745956341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050559.746716018] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050559.748116440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050559.749322803] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050559.835320733] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050559.837709597] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050559.838459649] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050559.838479430] [sailbot.teensy]: Wind angle: 225 +[teensy-2] [INFO] [1746050559.838988237] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050559.839418446] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050559.839783042] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050559.844478456] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050559.844876812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050559.845869343] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050559.846516874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050559.847636779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050559.945032273] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050559.945474841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050559.946359199] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050559.947523981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050559.948716219] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050560.003362543] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914119 Long: -76.50330345 +[vectornav-1] [INFO] [1746050560.004932649] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.10500000000002, 0.928, 0.964) +[mux-7] [INFO] [1746050560.044774908] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050560.045322030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050560.046016244] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050560.047310123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050560.048521942] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050560.085507845] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050560.087851805] [sailbot.teensy]: Wind angle: 224 +[trim_sail-4] [INFO] [1746050560.087852074] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050560.088864935] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050560.089264880] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050560.089817171] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050560.090775191] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050560.145092033] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050560.145504439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050560.146396917] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050560.147305380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050560.148425207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050560.245552629] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050560.246459310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050560.247412233] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050560.248844996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050560.250164641] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050560.335456527] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050560.337867295] [sailbot.teensy]: Wind angle: 224 +[trim_sail-4] [INFO] [1746050560.338063508] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050560.339274729] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050560.339808456] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050560.340266101] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050560.341026307] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050560.344355945] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050560.344813237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050560.345464021] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050560.346584886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050560.347882048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050560.445057740] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050560.446002970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050560.446441500] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050560.447973312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050560.449033649] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050560.502314435] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914107 Long: -76.50330483 +[vectornav-1] [INFO] [1746050560.503286718] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (156.49299999999994, -1.438, 1.209) +[mux-7] [INFO] [1746050560.545030277] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050560.545740751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050560.546279168] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050560.547899464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050560.548955536] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050560.585447378] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050560.587746848] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050560.587814484] [sailbot.teensy]: Wind angle: 221 +[mux-7] [INFO] [1746050560.588770426] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050560.589178654] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050560.590059629] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050560.590909227] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050560.645151889] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050560.646051405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050560.646630141] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050560.648516722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050560.649652138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050560.745202798] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050560.745906221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050560.746553699] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050560.748108119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050560.749250768] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050560.835423099] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050560.837256372] [sailbot.teensy]: Wind angle: 217 +[trim_sail-4] [INFO] [1746050560.837933006] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050560.838212806] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050560.839214622] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050560.839266307] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050560.840220819] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050560.844395813] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050560.844863535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050560.845549668] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050560.846590306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050560.847608335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050560.945583383] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050560.946326068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050560.947407927] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050560.948591142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050560.949891398] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050561.002551794] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914134 Long: -76.50330634 +[vectornav-1] [INFO] [1746050561.003611184] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (154.40099999999995, -1.703, 3.005) +[mux-7] [INFO] [1746050561.044995082] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050561.045484688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050561.046317691] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050561.047364475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050561.048614295] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050561.085481051] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050561.087990032] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050561.088388824] [sailbot.teensy]: Wind angle: 216 +[mux-7] [INFO] [1746050561.088602959] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050561.089469814] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050561.090432625] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050561.091311545] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050561.145080530] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050561.145935569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050561.146515819] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050561.147797709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050561.148257488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050561.245079576] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050561.245658553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050561.246696546] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050561.247572348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050561.248769625] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050561.335539259] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050561.338372218] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050561.338569830] [sailbot.teensy]: Wind angle: 218 +[mux-7] [INFO] [1746050561.338847479] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050561.339274108] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050561.339690085] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050561.340101929] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050561.344406779] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050561.345115725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050561.345624608] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050561.346802426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050561.347831382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050561.445133360] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050561.446090377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050561.447000624] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050561.448561937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050561.449050673] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050561.503475861] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691421 Long: -76.50330741 +[vectornav-1] [INFO] [1746050561.505033229] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (152.28499999999997, 2.518, 4.031) +[mux-7] [INFO] [1746050561.545019085] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050561.545755674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050561.546397067] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050561.547697521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050561.548569002] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050561.585312831] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050561.587192260] [sailbot.teensy]: Wind angle: 219 +[trim_sail-4] [INFO] [1746050561.587961689] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050561.589001036] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050561.589977526] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050561.591022321] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050561.591968940] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050561.645448209] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050561.646304758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050561.647203866] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050561.648965811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050561.650324806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050561.744996397] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050561.745672908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050561.746234644] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050561.747606122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050561.748694996] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050561.835382224] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050561.837850957] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050561.838303626] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050561.839793139] [sailbot.teensy]: Wind angle: 219 +[teensy-2] [INFO] [1746050561.840776759] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050561.841670492] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050561.842487101] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050561.844397805] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050561.844919157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050561.845531470] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050561.846554308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050561.847938180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050561.945667493] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050561.946470432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050561.947359331] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050561.949112616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050561.949573310] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050562.003991160] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914234 Long: -76.50330845 +[vectornav-1] [INFO] [1746050562.005557234] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (150.14800000000002, -0.128, 1.772) +[mux-7] [INFO] [1746050562.044918822] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050562.045549578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050562.046173833] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050562.047377942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050562.048337783] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050562.085433223] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050562.087850161] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050562.088393447] [sailbot.teensy]: Wind angle: 218 +[mux-7] [INFO] [1746050562.088535689] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050562.089327338] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050562.090239286] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050562.091065095] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050562.145195186] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050562.146558060] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050562.148835303] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050562.150516950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050562.151441836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050562.245574756] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050562.246393008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050562.247585784] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050562.248704965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050562.249859572] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050562.335298260] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050562.337509319] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050562.338545546] [sailbot.teensy]: Wind angle: 217 +[mux-7] [INFO] [1746050562.338837876] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050562.339494602] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050562.340392004] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050562.341274738] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050562.344481128] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050562.344868232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050562.345788416] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050562.346572848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050562.347702880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050562.425699597] [sailbot.mux]: controller_app rudder angle: -6 +[mux-7] [INFO] [1746050562.445150402] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050562.446005764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050562.446620639] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050562.448242242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050562.449248811] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050562.502576931] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914208 Long: -76.5033092 +[vectornav-1] [INFO] [1746050562.503624364] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (147.48899999999998, -3.368, 1.986) +[mux-7] [INFO] [1746050562.545231520] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050562.546128753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050562.546811214] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050562.548269398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050562.549418229] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050562.585777725] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050562.587929855] [sailbot.teensy]: Wind angle: 215 +[trim_sail-4] [INFO] [1746050562.588519466] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050562.589025525] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050562.589984681] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050562.590007558] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050562.590973739] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050562.645202915] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050562.645919410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050562.646697707] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050562.648324220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050562.648808234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050562.745230321] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050562.746196109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050562.746727611] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050562.748595354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050562.749741126] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050562.835385897] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050562.837202265] [sailbot.teensy]: Wind angle: 214 +[trim_sail-4] [INFO] [1746050562.837745762] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050562.838147522] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050562.838907297] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050562.839048415] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050562.839895626] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050562.844635242] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050562.845830968] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050562.845909478] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050562.847728165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050562.848751855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050562.945452829] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050562.946036656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050562.947722455] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050562.948469858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050562.949566455] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050563.003218495] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914298 Long: -76.50330957 +[vectornav-1] [INFO] [1746050563.004503589] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (144.93900000000002, 0.74, 5.682) +[mux-7] [INFO] [1746050563.045369079] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050563.046120341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050563.046949498] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050563.048854962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050563.050045361] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050563.085458148] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050563.087751387] [sailbot.teensy]: Wind angle: 214 +[trim_sail-4] [INFO] [1746050563.087821554] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050563.088755854] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050563.089180553] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050563.089671814] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050563.090528971] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050563.145201439] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050563.146034746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050563.146872669] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050563.148062086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050563.149405412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050563.245186053] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050563.245745890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050563.246837811] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050563.247955657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050563.248801509] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050563.335613692] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050563.337667699] [sailbot.teensy]: Wind angle: 214 +[trim_sail-4] [INFO] [1746050563.338211332] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050563.338657976] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050563.339039759] [sailbot.teensy]: Actual tail angle: 19 +[mux-7] [INFO] [1746050563.339261674] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050563.339419767] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050563.344673509] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050563.345130248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050563.345908249] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050563.346830709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050563.347887458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050563.445659776] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050563.446253582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050563.447354728] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050563.448869658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050563.449421532] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050563.488827695] [sailbot.mux]: controller_app rudder angle: -9 +[vectornav-1] [INFO] [1746050563.502733025] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914323 Long: -76.50331008 +[vectornav-1] [INFO] [1746050563.504204958] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (142.748, 3.036, 3.452) +[mux-7] [INFO] [1746050563.545356883] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050563.546240332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050563.546922012] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050563.549260540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050563.550387961] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050563.585447748] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050563.587288175] [sailbot.teensy]: Wind angle: 213 +[teensy-2] [INFO] [1746050563.588335637] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050563.588178782] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050563.589264635] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050563.590170855] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050563.590776717] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050563.645024310] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050563.645641439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050563.647010704] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050563.647584088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050563.648685373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050563.745476320] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050563.746436222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050563.747081182] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050563.748740655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050563.749853383] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050563.835272961] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050563.837157569] [sailbot.teensy]: Wind angle: 211 +[teensy-2] [INFO] [1746050563.838103936] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050563.837685383] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050563.838499312] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050563.839017299] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050563.839881138] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050563.844468391] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050563.845167414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050563.845585373] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050563.846889984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050563.847921130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050563.945161424] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050563.945880260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050563.946535325] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050563.948093261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050563.948973592] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050564.002416324] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914283 Long: -76.50331027 +[vectornav-1] [INFO] [1746050564.003501988] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (140.60000000000002, -2.535, 3.137) +[mux-7] [INFO] [1746050564.045279727] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050564.046059135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050564.046790566] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050564.048437897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050564.049645753] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050564.085061134] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050564.087076492] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050564.087201344] [sailbot.teensy]: Wind angle: 202 +[teensy-2] [INFO] [1746050564.088070956] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050564.088333516] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050564.088959665] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050564.089854541] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050564.145082422] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050564.145763024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050564.147410132] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050564.147769819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050564.148527149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050564.245442402] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050564.246284964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050564.247022127] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050564.248627266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050564.249769538] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050564.335533840] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050564.337646518] [sailbot.teensy]: Wind angle: 202 +[trim_sail-4] [INFO] [1746050564.338270712] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050564.338669669] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050564.339265384] [sailbot.teensy]: Actual tail angle: 16 +[mux-7] [INFO] [1746050564.339238955] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050564.339653995] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050564.344444407] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050564.344986224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050564.345542143] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050564.346870870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050564.347909105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050564.445249086] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050564.446133489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050564.446792936] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050564.448550750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050564.449570665] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050564.502630831] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914297 Long: -76.50331028 +[vectornav-1] [INFO] [1746050564.503753059] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (138.188, -2.589, 3.793) +[mux-7] [INFO] [1746050564.544926521] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050564.545715718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050564.546253484] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050564.547507574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050564.548487608] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050564.585530611] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050564.588255492] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050564.589216121] [sailbot.teensy]: Wind angle: 202 +[teensy-2] [INFO] [1746050564.590137317] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050564.590252432] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050564.591072523] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050564.591932176] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050564.645485326] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050564.646708141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050564.647178726] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050564.650319215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050564.651370047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050564.745651733] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050564.746409274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050564.747359759] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050564.748219459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050564.748733763] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050564.835422569] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050564.837289041] [sailbot.teensy]: Wind angle: 197 +[teensy-2] [INFO] [1746050564.838220508] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050564.838058128] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050564.838803848] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050564.839117663] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050564.840061977] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050564.844595890] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050564.845102700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050564.845783088] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050564.846793636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050564.847940815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050564.945433942] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050564.946364543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050564.947087063] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050564.948502438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050564.948999267] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050565.003600970] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914327 Long: -76.50331079 +[vectornav-1] [INFO] [1746050565.005023862] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (135.289, 2.42, 5.39) +[mux-7] [INFO] [1746050565.044932702] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050565.045750976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050565.046203837] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050565.047583202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050565.048675450] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050565.085430811] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050565.087913708] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050565.088381250] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050565.088757561] [sailbot.teensy]: Wind angle: 197 +[teensy-2] [INFO] [1746050565.089722483] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050565.090600748] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050565.091474826] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050565.144914326] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050565.145752702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050565.146621558] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050565.147541664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050565.148613004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050565.245144248] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050565.246064988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050565.246670100] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050565.248102389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050565.248734985] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050565.335359672] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050565.338051293] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050565.339131741] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050565.339448305] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746050565.340471482] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050565.341427655] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050565.342295759] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050565.344718599] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050565.344882152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050565.345930783] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050565.346755718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050565.347828600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050565.406789481] [sailbot.mux]: controller_app rudder angle: -11 +[mux-7] [INFO] [1746050565.444833537] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050565.445348513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050565.446127422] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050565.447114515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050565.448283795] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050565.502628775] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914294 Long: -76.5033106 +[vectornav-1] [INFO] [1746050565.504124736] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (132.44, 1.938, 4.446) +[mux-7] [INFO] [1746050565.545405901] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050565.545986430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050565.547014454] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050565.548264237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050565.549384720] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050565.585648241] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050565.588519200] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050565.588619997] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746050565.589578379] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050565.589380204] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050565.590507533] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050565.591346502] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050565.645155427] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050565.645926960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050565.646570977] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050565.647962291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050565.649065995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050565.745544112] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050565.746624207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050565.747697438] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050565.748692887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050565.749209130] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050565.835556196] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050565.837796374] [sailbot.teensy]: Wind angle: 197 +[teensy-2] [INFO] [1746050565.839009975] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050565.839024929] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050565.839289901] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050565.839482549] [sailbot.teensy]: Actual tail angle: 14 +[teensy-2] [INFO] [1746050565.839863131] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050565.844371673] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050565.845017916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050565.845483046] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050565.846725318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050565.847746130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050565.945592950] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050565.946226954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050565.947713789] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050565.948850686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050565.950176327] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050566.003136486] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914248 Long: -76.50331004 +[vectornav-1] [INFO] [1746050566.004261712] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (128.48399999999998, -4.518, 2.861) +[mux-7] [INFO] [1746050566.045252011] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050566.046100202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050566.046879154] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050566.048448359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050566.049530461] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050566.085436443] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050566.087347544] [sailbot.teensy]: Wind angle: 195 +[trim_sail-4] [INFO] [1746050566.088061608] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050566.088372895] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050566.089191651] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050566.089239802] [sailbot.teensy]: Actual tail angle: 14 +[teensy-2] [INFO] [1746050566.090130420] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050566.144538156] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050566.145245750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050566.145600468] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050566.147204768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050566.148369041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050566.245246965] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050566.245918815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050566.246764014] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050566.248107288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050566.249447991] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050566.335420766] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050566.337953460] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050566.338990039] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050566.339533296] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746050566.340591256] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050566.341498860] [sailbot.teensy]: Actual tail angle: 14 +[teensy-2] [INFO] [1746050566.342350421] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050566.344381426] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050566.345028336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050566.345465233] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050566.346782792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050566.347827082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050566.425490576] [sailbot.mux]: controller_app rudder angle: -12 +[mux-7] [INFO] [1746050566.445365591] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050566.446294042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050566.446951284] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050566.448457941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050566.449643687] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050566.503718628] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914217 Long: -76.50330992 +[vectornav-1] [INFO] [1746050566.505239956] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (124.892, 3.026, 5.204) +[mux-7] [INFO] [1746050566.545397264] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050566.546090802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050566.547000324] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050566.548214785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050566.549446639] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050566.585350189] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050566.587746419] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050566.587977485] [sailbot.teensy]: Wind angle: 194 +[mux-7] [INFO] [1746050566.588263732] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050566.589400435] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050566.590512119] [sailbot.teensy]: Actual tail angle: 14 +[teensy-2] [INFO] [1746050566.591394464] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050566.645072661] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050566.645932918] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050566.646508307] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050566.647853878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050566.648386215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050566.745541071] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050566.746250257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050566.747379043] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050566.748424374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050566.748923707] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050566.835657433] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050566.837871634] [sailbot.teensy]: Wind angle: 192 +[trim_sail-4] [INFO] [1746050566.838981034] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050566.839354977] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050566.840287738] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050566.840541020] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050566.841432586] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050566.844467925] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050566.844968502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050566.845693846] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050566.846782618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050566.847879620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050566.945538900] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050566.946705611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050566.947176723] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050566.948204715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050566.948963926] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050567.003610557] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914183 Long: -76.50330943 +[vectornav-1] [INFO] [1746050567.005142865] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (119.959, -1.018, 4.117) +[mux-7] [INFO] [1746050567.045153110] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050567.045887084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050567.046574124] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050567.048048203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050567.049066775] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050567.085391080] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050567.087749129] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050567.088101507] [sailbot.teensy]: Wind angle: 182 +[teensy-2] [INFO] [1746050567.089099437] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050567.089308037] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050567.089963148] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050567.090849112] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050567.144919662] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050567.145638008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050567.146503886] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050567.147896897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050567.148489396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050567.245589587] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050567.246454775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050567.247221382] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050567.248734039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050567.249925720] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050567.335420199] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050567.337896348] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050567.338249398] [sailbot.teensy]: Wind angle: 182 +[teensy-2] [INFO] [1746050567.339287070] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050567.340031382] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050567.340144971] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050567.340551926] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050567.344245612] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050567.345213223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050567.345506739] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050567.347068654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050567.348411816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050567.422142975] [sailbot.mux]: controller_app rudder angle: -13 +[mux-7] [INFO] [1746050567.445033486] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050567.446027313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050567.446444675] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050567.448078423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050567.449234547] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050567.503351869] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914112 Long: -76.50330889 +[vectornav-1] [INFO] [1746050567.504662674] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (114.55099999999999, 2.242, 4.903) +[mux-7] [INFO] [1746050567.544768815] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050567.545526510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050567.545932031] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050567.547451064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050567.548598890] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050567.585262965] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050567.587500623] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050567.587793885] [sailbot.teensy]: Wind angle: 175 +[mux-7] [INFO] [1746050567.588577167] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050567.588751890] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050567.589651076] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050567.590488048] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050567.644908931] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050567.645625396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050567.646148263] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050567.647385338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050567.648578005] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050567.745807457] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050567.746455445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050567.748043151] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050567.748913802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050567.750387453] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050567.835469551] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050567.838320667] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050567.838988707] [sailbot.teensy]: Wind angle: 173 +[mux-7] [INFO] [1746050567.839532161] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050567.839942688] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050567.840743671] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050567.841090472] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050567.844493805] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050567.845037929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050567.845597663] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050567.846895377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050567.848135056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050567.945611606] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050567.946727586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050567.947331794] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050567.949477401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050567.950674435] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050568.004190451] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914034 Long: -76.50330822 +[vectornav-1] [INFO] [1746050568.005802296] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (108.38600000000002, -4.053, 5.55) +[mux-7] [INFO] [1746050568.045058638] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050568.045739733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050568.046349751] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050568.047599679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050568.048698152] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050568.085405891] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050568.087265361] [sailbot.teensy]: Wind angle: 170 +[teensy-2] [INFO] [1746050568.088232193] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050568.087889856] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050568.088631617] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050568.089131031] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050568.089986205] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050568.145438995] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050568.146201018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050568.147082867] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050568.148463594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050568.148976252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050568.245230376] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050568.245918546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050568.247124334] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050568.247570971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050568.248124622] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050568.335397406] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050568.337315176] [sailbot.teensy]: Wind angle: 162 +[trim_sail-4] [INFO] [1746050568.337959855] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050568.338596317] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050568.339630122] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050568.339990516] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050568.340593627] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050568.344303264] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050568.344841410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050568.345418344] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050568.346666036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050568.347751067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050568.434962294] [sailbot.mux]: controller_app rudder angle: -14 +[mux-7] [INFO] [1746050568.445004654] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050568.445676911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050568.446257286] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050568.447716842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050568.448745587] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050568.502637834] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913981 Long: -76.50330826 +[vectornav-1] [INFO] [1746050568.503727606] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (101.375, 4.2, 4.437) +[mux-7] [INFO] [1746050568.545193230] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050568.546164474] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050568.546627707] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050568.548223941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050568.549350033] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050568.585591589] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050568.587709207] [sailbot.teensy]: Wind angle: 158 +[trim_sail-4] [INFO] [1746050568.588248956] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050568.588758856] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050568.589691891] [sailbot.teensy]: Actual tail angle: 12 +[mux-7] [INFO] [1746050568.590097555] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050568.590591565] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050568.644961351] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050568.645716574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050568.646418189] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050568.647750056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050568.649105747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050568.745732355] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050568.746876696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050568.747469938] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050568.748550199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050568.748980070] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050568.835335521] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050568.837626232] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050568.837651379] [sailbot.teensy]: Wind angle: 157 +[teensy-2] [INFO] [1746050568.838602344] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050568.838853562] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050568.839578005] [sailbot.teensy]: Actual tail angle: 11 +[teensy-2] [INFO] [1746050568.840650167] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050568.844354825] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050568.844848462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050568.845488491] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050568.846530885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050568.847684902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050568.945504613] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050568.946267772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050568.947489636] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050568.949050830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050568.949703053] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050569.002487465] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913863 Long: -76.50330778 +[vectornav-1] [INFO] [1746050569.003500558] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (92.863, -3.089, 7.029) +[mux-7] [INFO] [1746050569.045284609] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050569.046297939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050569.046839526] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050569.048513917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050569.049669262] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050569.085912178] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050569.088683662] [sailbot.teensy]: Wind angle: 155 +[trim_sail-4] [INFO] [1746050569.088757664] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050569.090594133] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050569.090669426] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050569.092013519] [sailbot.teensy]: Actual tail angle: 11 +[teensy-2] [INFO] [1746050569.092946618] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050569.145158392] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050569.145940759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050569.146613434] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050569.147925827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050569.148984664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050569.245168920] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050569.245959800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050569.246952983] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050569.247988647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050569.248532555] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050569.335329050] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050569.337772044] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050569.337982586] [sailbot.teensy]: Wind angle: 154 +[teensy-2] [INFO] [1746050569.338931587] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050569.338989952] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050569.339425107] [sailbot.teensy]: Actual tail angle: 11 +[teensy-2] [INFO] [1746050569.339821099] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050569.344464484] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050569.345113184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050569.345621265] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050569.346984003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050569.347972900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050569.445425530] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050569.446135587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050569.447048553] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050569.448525092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050569.449507293] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050569.503270590] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913809 Long: -76.50330728 +[vectornav-1] [INFO] [1746050569.505054495] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (84.30200000000002, 1.085, 6.107) +[mux-7] [INFO] [1746050569.544833543] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050569.545309244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050569.546160969] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050569.547186892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050569.548226741] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050569.585474643] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050569.587883068] [sailbot.teensy]: Wind angle: 149 +[teensy-2] [INFO] [1746050569.588830013] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050569.588578554] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050569.589147482] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050569.589797372] [sailbot.teensy]: Actual tail angle: 11 +[teensy-2] [INFO] [1746050569.590640694] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050569.645503749] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050569.646367381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050569.647065854] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050569.648606831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050569.649162734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050569.745543668] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050569.746285841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050569.747414185] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050569.748661206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050569.749948142] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050569.835415329] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050569.837767399] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050569.838971382] [sailbot.teensy]: Wind angle: 140 +[mux-7] [INFO] [1746050569.839006811] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050569.839922379] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050569.840537524] [sailbot.teensy]: Actual tail angle: 11 +[teensy-2] [INFO] [1746050569.840908595] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050569.844560833] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050569.845100038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050569.845888119] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050569.846856826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050569.848025830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050569.945441438] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050569.946402001] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050569.947134408] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050569.948782132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050569.950022747] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050570.003389239] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913766 Long: -76.50330707 +[vectornav-1] [INFO] [1746050570.004649871] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (73.03199999999998, -0.289, 7.958) +[mux-7] [INFO] [1746050570.045102829] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050570.045648937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050570.046461145] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050570.047527460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050570.048652158] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050570.085292637] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050570.087240211] [sailbot.teensy]: Wind angle: 136 +[trim_sail-4] [INFO] [1746050570.087749328] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050570.088248577] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050570.089143947] [sailbot.teensy]: Actual tail angle: 11 +[mux-7] [INFO] [1746050570.089315923] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050570.090068042] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050570.144792763] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050570.145296539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050570.146060602] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050570.147058262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050570.148009217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050570.245317068] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050570.246192675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050570.247001237] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050570.248412624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050570.249631683] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050570.335361146] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050570.337860954] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050570.338569786] [sailbot.teensy]: Wind angle: 136 +[mux-7] [INFO] [1746050570.339453282] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050570.339475773] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050570.340412526] [sailbot.teensy]: Actual tail angle: 11 +[teensy-2] [INFO] [1746050570.340977825] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050570.344458388] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050570.345008747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050570.345664364] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050570.346675499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050570.347781585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050570.434313980] [sailbot.mux]: controller_app rudder angle: -13 +[mux-7] [INFO] [1746050570.444943918] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050570.445649667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050570.446228884] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050570.447501314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050570.448541104] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050570.502562063] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913698 Long: -76.50330592 +[vectornav-1] [INFO] [1746050570.503666145] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.627999999999986, -1.444, 11.847) +[mux-7] [INFO] [1746050570.545217718] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050570.546016843] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050570.546651106] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050570.548479338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050570.549476951] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050570.585657170] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050570.588063506] [sailbot.teensy]: Wind angle: 132 +[trim_sail-4] [INFO] [1746050570.588501085] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050570.589119653] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050570.589952240] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050570.590068582] [sailbot.teensy]: Actual tail angle: 11 +[teensy-2] [INFO] [1746050570.590970410] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050570.645313616] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050570.646008523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050570.646875948] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050570.648633202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050570.649782976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050570.745279838] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050570.746030921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050570.746818684] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050570.748414336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050570.748896872] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050570.835284120] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050570.837810717] [sailbot.teensy]: Wind angle: 121 +[trim_sail-4] [INFO] [1746050570.837941786] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050570.838769454] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050570.838961247] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050570.839220760] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050570.839593319] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050570.844377091] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050570.845000034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050570.845567341] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050570.846779857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050570.847834802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050570.945605036] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050570.946284727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050570.947450520] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050570.948498782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050570.949108045] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050571.002455056] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913671 Long: -76.50330497 +[vectornav-1] [INFO] [1746050571.003498981] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.761000000000024, -0.509, 13.681) +[mux-7] [INFO] [1746050571.045426702] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050571.046317868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050571.047089865] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050571.048753958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050571.049892802] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050571.085420799] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050571.087711924] [sailbot.teensy]: Wind angle: 118 +[trim_sail-4] [INFO] [1746050571.087851146] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050571.088718031] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050571.089422435] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050571.089609694] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050571.090500182] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050571.145269084] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050571.146295670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050571.146812037] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050571.149394425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050571.150540652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050571.245274351] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050571.246306134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050571.246920909] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050571.247828872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050571.248358556] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050571.335225461] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050571.337895662] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050571.337985278] [sailbot.teensy]: Wind angle: 115 +[teensy-2] [INFO] [1746050571.338962183] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050571.338967935] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050571.339363887] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050571.339742714] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050571.344379569] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050571.344917345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050571.345515951] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050571.346608559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050571.347696461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050571.412921430] [sailbot.mux]: controller_app rudder angle: -1 +[mux-7] [INFO] [1746050571.445208435] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050571.445895566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050571.446788869] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050571.448955646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050571.450064751] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050571.503845528] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913679 Long: -76.50330364 +[vectornav-1] [INFO] [1746050571.505243064] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.63099999999997, -1.77, 14.904) +[mux-7] [INFO] [1746050571.545389287] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050571.546165230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050571.547017000] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050571.548464863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050571.549786423] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050571.585555399] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050571.587900480] [sailbot.teensy]: Wind angle: 103 +[trim_sail-4] [INFO] [1746050571.588627601] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050571.588868456] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050571.589298085] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050571.589783475] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050571.590670456] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050571.645026042] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050571.645982035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050571.646371108] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050571.647908084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050571.649116132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050571.745188483] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050571.745988613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050571.746704886] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050571.748140238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050571.748713145] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050571.835452593] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050571.837449669] [sailbot.teensy]: Wind angle: 103 +[trim_sail-4] [INFO] [1746050571.838114925] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050571.839204420] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050571.839505498] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050571.840183441] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050571.841114718] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050571.844288983] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050571.844812998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050571.845657165] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050571.846474743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050571.847646137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050571.945334317] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050571.946301343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050571.947070242] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050571.948683285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050571.949156699] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050572.003190642] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691362 Long: -76.50330104 +[vectornav-1] [INFO] [1746050572.004478475] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.218999999999994, 0.376, 18.752) +[mux-7] [INFO] [1746050572.045166632] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050572.046049221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050572.046681722] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050572.048042742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050572.048590658] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050572.085462745] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050572.087365120] [sailbot.teensy]: Wind angle: 109 +[teensy-2] [INFO] [1746050572.088428026] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050572.087905142] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050572.088488382] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050572.089345135] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050572.090174157] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050572.145279907] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050572.145586301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050572.146702227] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050572.148114742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050572.149251909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050572.245336208] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050572.246205377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050572.246960955] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050572.247910829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050572.248380481] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050572.335465455] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050572.337642345] [sailbot.teensy]: Wind angle: 107 +[trim_sail-4] [INFO] [1746050572.338440827] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050572.338604392] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050572.339063631] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050572.339499581] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050572.340302101] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050572.344502403] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050572.345297287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050572.345745115] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050572.347137514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050572.348226182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050572.445284351] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050572.446181940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050572.446833797] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050572.449408480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050572.450430597] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050572.486675753] [sailbot.mux]: controller_app rudder angle: 1 +[vectornav-1] [INFO] [1746050572.503211227] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913623 Long: -76.50329871 +[vectornav-1] [INFO] [1746050572.504693873] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.718000000000018, -2.4, 18.184) +[mux-7] [INFO] [1746050572.545248202] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050572.546321293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050572.547018756] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050572.548535049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050572.549693316] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050572.585228331] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050572.587348573] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050572.587504678] [sailbot.teensy]: Wind angle: 97 +[mux-7] [INFO] [1746050572.588177985] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050572.588446296] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050572.589346881] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050572.590446578] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050572.645135401] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050572.646074086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050572.646776318] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050572.647785207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050572.648262097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050572.745464520] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050572.746248724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050572.747103426] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050572.748424540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050572.749667127] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050572.835461300] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050572.838165498] [sailbot.teensy]: Wind angle: 93 +[trim_sail-4] [INFO] [1746050572.838175853] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050572.839110342] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050572.839705692] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050572.840005446] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050572.840606367] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050572.844636521] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050572.845166389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050572.845898626] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050572.846995211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050572.848190722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050572.945490100] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050572.946200797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050572.947149244] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050572.947834961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050572.948300766] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050573.002624595] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913741 Long: -76.50329653 +[vectornav-1] [INFO] [1746050573.003641927] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.182000000000016, 0.551, 15.308) +[mux-7] [INFO] [1746050573.045678994] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050573.046881204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050573.047357538] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050573.048052745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050573.048983475] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050573.085503073] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050573.088264966] [sailbot.teensy]: Wind angle: 94 +[trim_sail-4] [INFO] [1746050573.088280897] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050573.088825196] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050573.090208006] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050573.091104311] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050573.091977229] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050573.145213601] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050573.146051802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050573.146887226] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050573.148358032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050573.149434913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050573.245632735] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050573.246594685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050573.247267634] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050573.249155505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050573.250333043] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050573.335486692] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050573.338333043] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050573.339650738] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050573.339694745] [sailbot.teensy]: Wind angle: 104 +[teensy-2] [INFO] [1746050573.340678522] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050573.341637534] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050573.342568628] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050573.344369184] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050573.345180461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050573.345459410] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050573.346839894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050573.347833077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050573.445512917] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050573.446597771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050573.447171387] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050573.449574471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050573.450713785] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050573.503053989] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913759 Long: -76.50329334 +[vectornav-1] [INFO] [1746050573.504494177] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (36.411, -1.33, 17.031) +[mux-7] [INFO] [1746050573.545313674] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050573.546183726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050573.546892156] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050573.548468511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050573.549614651] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050573.585378187] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050573.587366431] [sailbot.teensy]: Wind angle: 116 +[trim_sail-4] [INFO] [1746050573.588115404] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050573.588364936] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050573.589325828] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050573.589587019] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050573.590235590] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050573.645080140] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050573.645934438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050573.646397345] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050573.647718906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050573.648221804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050573.745346112] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050573.746111351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050573.746990472] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050573.748307794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050573.748837801] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050573.835648029] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050573.837769060] [sailbot.teensy]: Wind angle: 118 +[trim_sail-4] [INFO] [1746050573.838355352] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050573.838817920] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050573.839762547] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050573.840587307] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050573.840652558] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050573.844427863] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050573.845218633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050573.845564145] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050573.847036644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050573.848101462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050573.945668599] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050573.946383129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050573.947466591] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050573.948330766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050573.948853246] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050574.002537123] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913853 Long: -76.50329005 +[vectornav-1] [INFO] [1746050574.003581241] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.15699999999998, -0.339, 16.92) +[mux-7] [INFO] [1746050574.045193702] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050574.046181600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050574.046638006] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050574.048378301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050574.049505025] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050574.085713592] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050574.088372288] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050574.089005231] [sailbot.teensy]: Wind angle: 117 +[teensy-2] [INFO] [1746050574.089964212] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050574.090022260] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050574.090840502] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050574.091711268] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050574.144592316] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050574.145433398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050574.145776999] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050574.147403046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050574.148648755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050574.245490159] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050574.246363243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050574.247138503] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050574.248323881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050574.248892286] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050574.335483730] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050574.337959768] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050574.338272189] [sailbot.teensy]: Wind angle: 118 +[teensy-2] [INFO] [1746050574.339221605] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050574.339530290] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050574.340129995] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050574.341063783] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050574.344399992] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050574.345018044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050574.345568028] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050574.346704810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050574.347843495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050574.445585915] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050574.446360014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050574.447459465] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050574.449226778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050574.450356916] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050574.503275502] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914045 Long: -76.50328774 +[vectornav-1] [INFO] [1746050574.504951007] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.988, -2.28, 15.234) +[mux-7] [INFO] [1746050574.545263077] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050574.546024119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050574.546675493] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050574.548072775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050574.549337400] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050574.585392707] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050574.587278770] [sailbot.teensy]: Wind angle: 121 +[teensy-2] [INFO] [1746050574.588299241] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050574.588822447] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050574.589232520] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050574.590211122] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050574.591068767] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746050574.645115560] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050574.646056477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050574.646616957] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050574.648651264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050574.649664644] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050574.745383069] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050574.746145154] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050574.746944817] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050574.748747686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050574.749793005] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050574.835452737] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050574.838100741] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050574.838436266] [sailbot.teensy]: Wind angle: 129 +[teensy-2] [INFO] [1746050574.839444044] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050574.840454424] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050574.840674469] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050574.841660852] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050574.844408266] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050574.844997443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050574.845564109] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050574.846819071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050574.847905461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050574.945174427] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050574.946169608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050574.946611147] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050574.948204465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050574.949560113] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050575.003317286] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914292 Long: -76.50328493 +[vectornav-1] [INFO] [1746050575.005149354] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.245000000000005, 0.245, 16.171) +[mux-7] [INFO] [1746050575.045042177] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050575.045798340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050575.046364166] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050575.047835968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050575.048979310] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050575.085231688] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050575.086991225] [sailbot.teensy]: Wind angle: 132 +[trim_sail-4] [INFO] [1746050575.087406676] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050575.087938531] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050575.088858178] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050575.089021830] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050575.089751406] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050575.144875376] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050575.145810302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050575.146513255] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050575.147699320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050575.148783047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050575.245048121] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050575.245682204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050575.246536133] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050575.247631092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050575.248108254] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050575.335164856] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050575.336896611] [sailbot.teensy]: Wind angle: 128 +[trim_sail-4] [INFO] [1746050575.337437967] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050575.338579034] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050575.338751795] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050575.339143286] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050575.339527619] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050575.344268079] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050575.345065211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050575.345446408] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050575.346869121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050575.347978422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050575.445110421] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050575.445804293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050575.446595577] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050575.448217833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050575.449375818] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050575.502297488] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914493 Long: -76.50328179 +[vectornav-1] [INFO] [1746050575.503246358] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.322, 0.25, 16.586) +[mux-7] [INFO] [1746050575.544915976] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050575.545598608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050575.546245301] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050575.547546539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050575.548751473] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050575.585360710] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050575.587108204] [sailbot.teensy]: Wind angle: 130 +[trim_sail-4] [INFO] [1746050575.587927227] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050575.588049649] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050575.589008810] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050575.589895465] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050575.589917685] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050575.645188854] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050575.646083059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050575.646657353] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050575.649259726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050575.650387184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050575.745328778] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050575.746230003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050575.747025745] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050575.748091815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050575.748540486] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050575.835233485] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050575.837688142] [sailbot.teensy]: Wind angle: 135 +[trim_sail-4] [INFO] [1746050575.837936329] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050575.839202480] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050575.839964923] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050575.840878539] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050575.841769637] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050575.844403703] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050575.845010966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050575.845586642] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050575.846880721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050575.847921136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050575.945514510] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050575.947102815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050575.947151646] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050575.949161452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050575.949771482] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050576.002305947] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914729 Long: -76.50327938 +[vectornav-1] [INFO] [1746050576.003281967] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (67.118, -4.14, 17.343) +[mux-7] [INFO] [1746050576.045328876] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050576.045903744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050576.046892237] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050576.047946315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050576.049041888] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050576.085503298] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050576.088146256] [sailbot.teensy]: Wind angle: 134 +[trim_sail-4] [INFO] [1746050576.088248730] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050576.089265772] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050576.089322207] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050576.090406228] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050576.091268004] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050576.145172684] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050576.145919398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050576.146660362] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050576.148080820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050576.149309446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050576.245103449] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050576.245845950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050576.246877854] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050576.248177512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050576.248704372] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050576.335576023] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050576.338392133] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050576.338384357] [sailbot.teensy]: Wind angle: 131 +[teensy-2] [INFO] [1746050576.338996446] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050576.338991255] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050576.339394666] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050576.339820128] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050576.344421790] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050576.345132280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050576.345589430] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050576.346765934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050576.347786512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050576.445196985] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050576.446086721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050576.446630363] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050576.447832956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050576.448378320] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050576.503546294] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915052 Long: -76.50327898 +[vectornav-1] [INFO] [1746050576.505566402] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (75.59199999999998, 2.572, 13.984) +[mux-7] [INFO] [1746050576.545315078] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050576.545933710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050576.546907145] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050576.547974954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050576.549073466] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050576.585348835] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050576.587842142] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050576.588207481] [sailbot.teensy]: Wind angle: 136 +[mux-7] [INFO] [1746050576.588231704] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050576.589069768] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050576.589944950] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050576.590777154] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050576.645012886] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050576.645794356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050576.646368772] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050576.647644962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050576.648238761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050576.745381733] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050576.746164162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050576.747105289] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050576.748458396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050576.749555592] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050576.835396859] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050576.837370537] [sailbot.teensy]: Wind angle: 143 +[trim_sail-4] [INFO] [1746050576.838225044] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050576.838372711] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050576.839251436] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050576.840164183] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050576.839287266] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050576.844343623] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050576.845096133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050576.845781352] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050576.846884297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050576.848192915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050576.945494313] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050576.946225108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050576.947458414] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050576.948397651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050576.949468811] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050577.003946776] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915328 Long: -76.50327802 +[vectornav-1] [INFO] [1746050577.005772350] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (82.267, 0.581, 11.271) +[mux-7] [INFO] [1746050577.044830030] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050577.045580495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050577.046311095] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050577.047764283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050577.048832835] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050577.085221886] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050577.086907607] [sailbot.teensy]: Wind angle: 144 +[trim_sail-4] [INFO] [1746050577.087417727] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050577.087894181] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050577.088902334] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050577.089568690] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050577.089802444] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050577.144928702] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050577.145585274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050577.147418059] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050577.147501854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050577.148750814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050577.244869645] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050577.245700769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050577.246153320] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050577.248396695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050577.249522615] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050577.335501405] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050577.337875110] [sailbot.teensy]: Wind angle: 149 +[trim_sail-4] [INFO] [1746050577.337958062] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050577.338845328] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050577.339709375] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050577.339724914] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050577.340650579] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050577.344279819] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050577.345136961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050577.345538759] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050577.346901724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050577.347930198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050577.445492319] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050577.446482157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050577.447221520] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050577.449118437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050577.450218903] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050577.503243443] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915583 Long: -76.50327754 +[vectornav-1] [INFO] [1746050577.504962614] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (88.63299999999998, -2.638, 9.062) +[mux-7] [INFO] [1746050577.545102040] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050577.545882291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050577.546414323] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050577.547789175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050577.548845006] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050577.585437203] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050577.587717135] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050577.587931893] [sailbot.teensy]: Wind angle: 152 +[mux-7] [INFO] [1746050577.588964017] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050577.589209510] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050577.590150095] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050577.590979505] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050577.644730475] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050577.645415323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050577.645870633] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050577.647253781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050577.648308346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050577.745127016] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050577.745924999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050577.746715758] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050577.747995920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050577.749245866] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050577.835175456] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050577.837401940] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050577.837913228] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050577.838387227] [sailbot.teensy]: Wind angle: 152 +[teensy-2] [INFO] [1746050577.838945198] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050577.839313936] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050577.839797955] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050577.844297927] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050577.844905309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050577.845384962] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050577.846605709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050577.847632723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050577.945184792] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050577.946243462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050577.946694256] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050577.948100247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050577.948552703] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050578.002981224] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691591 Long: -76.50327807 +[vectornav-1] [INFO] [1746050578.004271470] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (95.35700000000003, 2.098, 7.437) +[mux-7] [INFO] [1746050578.045153284] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050578.046123096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050578.046765924] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050578.048276657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050578.049307676] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050578.085404639] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050578.087522456] [sailbot.teensy]: Wind angle: 159 +[trim_sail-4] [INFO] [1746050578.087689427] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050578.088518347] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050578.089165055] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050578.089433676] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050578.090413333] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050578.145268134] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050578.146364195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050578.146618927] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050578.148510972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050578.149520245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050578.244826015] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050578.245705800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050578.246454258] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050578.247518255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050578.248740049] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050578.335353406] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050578.337720949] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050578.338158154] [sailbot.teensy]: Wind angle: 159 +[mux-7] [INFO] [1746050578.338162275] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050578.339009890] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050578.339380316] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050578.339762739] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050578.344438882] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050578.345174534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050578.346011225] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050578.346959539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050578.348043602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050578.445159971] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050578.445989594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050578.446495863] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050578.448021782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[mux-7] [INFO] [1746050578.448689084] [sailbot.mux]: controller_app rudder angle: -22 +[teensy-2] [INFO] [1746050578.449141126] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050578.503049959] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691616 Long: -76.50327879 +[vectornav-1] [INFO] [1746050578.504376105] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (97.947, -0.397, 6.783) +[mux-7] [INFO] [1746050578.544802182] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050578.545451038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050578.545910783] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050578.547383325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050578.548512544] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050578.585447325] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050578.587611558] [sailbot.teensy]: Wind angle: 159 +[trim_sail-4] [INFO] [1746050578.587887654] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050578.588640663] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050578.589516572] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050578.589546981] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050578.590467275] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050578.644983593] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050578.645925867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050578.646354026] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050578.648004229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050578.649108705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050578.745028820] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050578.745781905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050578.746560094] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050578.747876088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050578.748433416] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050578.835591083] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050578.838280252] [sailbot.teensy]: Wind angle: 160 +[trim_sail-4] [INFO] [1746050578.838810705] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050578.839370703] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050578.839747787] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050578.840323460] [sailbot.teensy]: Actual tail angle: 3 +[teensy-2] [INFO] [1746050578.841253252] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050578.844298580] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050578.844937144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050578.845386024] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050578.846604258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050578.847663007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050578.945551379] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050578.946567790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050578.947685184] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050578.948541445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050578.949014277] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050579.002534975] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916387 Long: -76.50327895 +[vectornav-1] [INFO] [1746050579.003662412] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (103.44600000000003, -1.155, 7.8) +[mux-7] [INFO] [1746050579.045253165] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050579.046048483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050579.046731402] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050579.048172011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050579.049203913] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050579.085705291] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050579.087973584] [sailbot.teensy]: Wind angle: 160 +[trim_sail-4] [INFO] [1746050579.088733521] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050579.089051199] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050579.090004441] [sailbot.teensy]: Actual tail angle: 3 +[mux-7] [INFO] [1746050579.090408456] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050579.090899397] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050579.145292075] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050579.145961534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050579.147049482] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050579.148042726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050579.149863350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050579.245396216] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050579.245990582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050579.247003740] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050579.248046435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050579.248744470] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050579.335243842] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050579.337038267] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746050579.337493212] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050579.337992462] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050579.338927724] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050579.338938787] [sailbot.teensy]: Actual tail angle: 3 +[teensy-2] [INFO] [1746050579.339834582] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050579.344533200] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050579.344924721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050579.345711891] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050579.346606275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050579.347668869] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050579.445318224] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050579.445977740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050579.447087619] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050579.448140343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050579.449355829] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050579.503164061] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916575 Long: -76.5032793 +[vectornav-1] [INFO] [1746050579.504801030] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (112.08100000000002, -2.207, 6.151) +[mux-7] [INFO] [1746050579.545012495] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050579.545621443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050579.546307892] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050579.547417608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050579.548364347] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050579.585217210] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050579.587321488] [sailbot.teensy]: Wind angle: 173 +[trim_sail-4] [INFO] [1746050579.587375709] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050579.588390266] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050579.589250146] [sailbot.teensy]: Actual tail angle: 3 +[mux-7] [INFO] [1746050579.589361102] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050579.590151163] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050579.645184225] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050579.646173481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050579.646604684] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050579.648189817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050579.649400191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050579.745527160] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050579.746400730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050579.747237648] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050579.749051277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050579.750213956] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050579.835738471] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050579.838040550] [sailbot.teensy]: Wind angle: 176 +[trim_sail-4] [INFO] [1746050579.838932543] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050579.839090937] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050579.840082998] [sailbot.teensy]: Actual tail angle: 3 +[mux-7] [INFO] [1746050579.840538998] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050579.841080208] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050579.844336960] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050579.844911836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050579.845483889] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050579.846615304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050579.847726696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050579.945271484] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050579.945933113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050579.947050474] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050579.947896150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050579.948372606] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050580.002451323] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691675 Long: -76.50328085 +[vectornav-1] [INFO] [1746050580.003493072] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (123.73700000000002, 7.334, 5.67) +[mux-7] [INFO] [1746050580.044891992] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050580.045762727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050580.046305020] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050580.047673775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050580.048717717] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050580.085385171] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050580.087666209] [sailbot.teensy]: Wind angle: 179 +[teensy-2] [INFO] [1746050580.088626521] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050580.087802054] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050580.088137341] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050580.089520923] [sailbot.teensy]: Actual tail angle: 3 +[teensy-2] [INFO] [1746050580.090338585] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050580.145002236] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050580.145934763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050580.146439990] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050580.147842264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050580.148585164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050580.245311531] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050580.246274702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050580.246770327] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050580.248332294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050580.249539082] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050580.335382988] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050580.337705680] [sailbot.teensy]: Wind angle: 192 +[trim_sail-4] [INFO] [1746050580.337928474] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050580.338411332] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050580.338665479] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050580.339209941] [sailbot.teensy]: Actual tail angle: 3 +[teensy-2] [INFO] [1746050580.339595328] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050580.344549418] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050580.345055808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050580.345905255] [sailbot.mux]: Published rudder angle from controller_app: -22 +[teensy-2] [INFO] [1746050580.346884829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 +[teensy-2] [INFO] [1746050580.347925763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050580.436934931] [sailbot.mux]: controller_app rudder angle: -21 +[mux-7] [INFO] [1746050580.444404527] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050580.445176376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050580.445587829] [sailbot.mux]: Published rudder angle from controller_app: -21 +[teensy-2] [INFO] [1746050580.446917179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -21 +[teensy-2] [INFO] [1746050580.447939496] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050580.504258423] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916789 Long: -76.50328113 +[vectornav-1] [INFO] [1746050580.506008923] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (134.44100000000003, -5.128, 6.706) +[mux-7] [INFO] [1746050580.545146481] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050580.545730763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050580.546541758] [sailbot.mux]: Published rudder angle from controller_app: -21 +[teensy-2] [INFO] [1746050580.547817094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -21 +[teensy-2] [INFO] [1746050580.549043547] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050580.585383097] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050580.587719445] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050580.588014560] [sailbot.teensy]: Wind angle: 198 +[teensy-2] [INFO] [1746050580.588974931] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050580.588339782] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050580.589874198] [sailbot.teensy]: Actual tail angle: 3 +[teensy-2] [INFO] [1746050580.590706262] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050580.645419988] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050580.646537997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050580.647124232] [sailbot.mux]: Published rudder angle from controller_app: -21 +[teensy-2] [INFO] [1746050580.649124344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -21 +[teensy-2] [INFO] [1746050580.650284555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050580.744880929] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050580.745822006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050580.746314867] [sailbot.mux]: Published rudder angle from controller_app: -21 +[teensy-2] [INFO] [1746050580.748348959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -21 +[teensy-2] [INFO] [1746050580.748875783] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050580.835476890] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050580.837489772] [sailbot.teensy]: Wind angle: 198 +[trim_sail-4] [INFO] [1746050580.838124400] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050580.838907162] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050580.839091645] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050580.839325920] [sailbot.teensy]: Actual tail angle: 4 +[teensy-2] [INFO] [1746050580.839732430] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050580.844403587] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050580.844983314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050580.845790058] [sailbot.mux]: Published rudder angle from controller_app: -21 +[teensy-2] [INFO] [1746050580.846722153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -21 +[teensy-2] [INFO] [1746050580.847803662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050580.945483706] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050580.946349601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050580.948698862] [sailbot.mux]: Published rudder angle from controller_app: -21 +[teensy-2] [INFO] [1746050580.949492688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -21 +[teensy-2] [INFO] [1746050580.950726669] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050581.002613493] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916857 Long: -76.50328206 +[vectornav-1] [INFO] [1746050581.003666764] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (145.39100000000002, 1.585, 5.869) +[mux-7] [INFO] [1746050581.045077863] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050581.045966382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050581.046476893] [sailbot.mux]: Published rudder angle from controller_app: -21 +[teensy-2] [INFO] [1746050581.047992473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -21 +[teensy-2] [INFO] [1746050581.049084809] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050581.085421891] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050581.087789830] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050581.089102137] [sailbot.teensy]: Wind angle: 202 +[mux-7] [INFO] [1746050581.089180722] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050581.090094529] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050581.091048133] [sailbot.teensy]: Actual tail angle: 4 +[teensy-2] [INFO] [1746050581.091973093] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050581.145974612] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050581.148710334] [sailbot.mux]: Published rudder angle from controller_app: -21 +[teensy-2] [INFO] [1746050581.148992119] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050581.151205389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -21 +[teensy-2] [INFO] [1746050581.152495429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050581.244925391] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050581.245764130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050581.246185445] [sailbot.mux]: Published rudder angle from controller_app: -21 +[teensy-2] [INFO] [1746050581.247574717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -21 +[teensy-2] [INFO] [1746050581.248499675] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050581.335318375] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050581.337562110] [sailbot.teensy]: Wind angle: 215 +[trim_sail-4] [INFO] [1746050581.337799882] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050581.338603139] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050581.339373124] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050581.339485736] [sailbot.teensy]: Actual tail angle: 4 +[teensy-2] [INFO] [1746050581.340415190] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050581.344321669] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050581.344783869] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050581.345442000] [sailbot.mux]: Published rudder angle from controller_app: -21 +[teensy-2] [INFO] [1746050581.346510378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -21 +[teensy-2] [INFO] [1746050581.347654100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050581.445683577] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050581.446001335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050581.447489583] [sailbot.mux]: Published rudder angle from controller_app: -21 +[teensy-2] [INFO] [1746050581.448307092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -21 +[teensy-2] [INFO] [1746050581.449634885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050581.450218490] [sailbot.mux]: controller_app rudder angle: -11 +[vectornav-1] [INFO] [1746050581.503438821] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469169 Long: -76.50328286 +[vectornav-1] [INFO] [1746050581.504897714] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.46399999999994, 3.85, 2.771) +[mux-7] [INFO] [1746050581.545202625] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050581.545684692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050581.546821651] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050581.547853366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050581.548890079] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050581.585224318] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050581.587102101] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746050581.587407640] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050581.588208488] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050581.589114772] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050581.589372337] [sailbot.teensy]: Actual tail angle: 4 +[teensy-2] [INFO] [1746050581.590239561] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050581.645188455] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050581.645898084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050581.646854331] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050581.647852317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050581.648985167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050581.744762145] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050581.745298797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050581.745961468] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050581.747052525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050581.748250032] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050581.835232971] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050581.836971950] [sailbot.teensy]: Wind angle: 222 +[trim_sail-4] [INFO] [1746050581.837604462] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050581.838305404] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050581.839272016] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050581.839655838] [sailbot.teensy]: Actual tail angle: 14 +[teensy-2] [INFO] [1746050581.840404939] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050581.844427814] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050581.844867712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050581.845626969] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050581.846686286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050581.847720089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050581.945195370] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050581.945880397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050581.946703171] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050581.947761077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050581.948233983] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050582.003660951] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916832 Long: -76.50328312 +[vectornav-1] [INFO] [1746050582.005182712] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.61599999999999, -4.621, -0.23) +[mux-7] [INFO] [1746050582.045511919] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050582.046155738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050582.047057668] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050582.048137333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050582.049276854] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050582.085469354] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050582.087290681] [sailbot.teensy]: Wind angle: 228 +[teensy-2] [INFO] [1746050582.088260726] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050582.088454233] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050582.089092132] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050582.089150191] [sailbot.teensy]: Actual tail angle: 14 +[teensy-2] [INFO] [1746050582.090054323] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050582.145080695] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050582.145807123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050582.146498106] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050582.147768273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050582.148821942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050582.245003374] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050582.245692733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050582.246831603] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050582.247599652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050582.248674825] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050582.335567253] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050582.337689868] [sailbot.teensy]: Wind angle: 229 +[trim_sail-4] [INFO] [1746050582.338325410] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050582.338738077] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050582.339861788] [sailbot.teensy]: Actual tail angle: 14 +[teensy-2] [INFO] [1746050582.340885133] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050582.340894218] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050582.344237841] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050582.345028632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050582.345319555] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050582.346779221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050582.347811644] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050582.445422071] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050582.446208896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050582.447640041] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746050582.448673751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 +[teensy-2] [INFO] [1746050582.449130956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050582.475013628] [sailbot.mux]: controller_app rudder angle: 0 +[vectornav-1] [INFO] [1746050582.503216353] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916839 Long: -76.50328411 +[vectornav-1] [INFO] [1746050582.504509774] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.05200000000002, 1.878, 0.749) +[mux-7] [INFO] [1746050582.544789613] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050582.545322941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050582.546316879] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050582.547079498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050582.548346029] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050582.585362451] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050582.587208227] [sailbot.teensy]: Wind angle: 229 +[teensy-2] [INFO] [1746050582.588181731] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050582.588313411] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050582.588473415] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050582.589086808] [sailbot.teensy]: Actual tail angle: 14 +[teensy-2] [INFO] [1746050582.589975436] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050582.645540714] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050582.646354894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050582.647372162] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050582.648647763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050582.649155511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050582.745540392] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050582.746139490] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050582.747294872] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050582.748600116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050582.749667374] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050582.835172581] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050582.837555528] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050582.837620174] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050582.838521697] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050582.838774958] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050582.839157909] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050582.839535585] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050582.844256562] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050582.845002714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050582.845432238] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050582.846705017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050582.847732135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050582.945569752] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050582.946284942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050582.947164445] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050582.948238657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050582.948746839] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050583.004232029] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916803 Long: -76.50328515 +[vectornav-1] [INFO] [1746050583.006104625] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.45600000000002, -1.208, -2.197) +[mux-7] [INFO] [1746050583.045175340] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050583.046102796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050583.046774018] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050583.048444828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050583.049769156] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050583.085309804] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050583.087145557] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050583.088076001] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050583.087856878] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050583.088186582] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050583.088982021] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050583.089916889] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050583.144680731] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050583.145450262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050583.145875665] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050583.147218880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050583.148376766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050583.245143385] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050583.245888506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050583.246665503] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050583.248025277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050583.249052259] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050583.335379399] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050583.337244171] [sailbot.teensy]: Wind angle: 240 +[teensy-2] [INFO] [1746050583.338163910] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050583.338054035] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050583.338331101] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050583.339063553] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050583.339946736] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050583.344350038] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050583.344921379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050583.345454600] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050583.346673451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050583.347743401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050583.445180656] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050583.445933166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050583.446621833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050583.448121580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050583.449147364] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050583.502589477] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916704 Long: -76.50328677 +[vectornav-1] [INFO] [1746050583.503887191] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.23199999999997, 0.393, -5.724) +[mux-7] [INFO] [1746050583.545092537] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050583.545927730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050583.547035909] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050583.547926432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050583.548991958] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050583.585602757] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050583.587824046] [sailbot.teensy]: Wind angle: 243 +[teensy-2] [INFO] [1746050583.588824098] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050583.588573222] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050583.589299906] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050583.589721145] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050583.590623567] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050583.645186987] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050583.645957337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050583.646581079] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050583.647873242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050583.649676209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050583.745578119] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050583.746476444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050583.747150700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050583.748929475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050583.750045728] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050583.835445621] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050583.837466073] [sailbot.teensy]: Wind angle: 246 +[trim_sail-4] [INFO] [1746050583.837867154] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050583.838319875] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050583.838382824] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050583.839294511] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050583.840130001] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050583.844432422] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050583.844938479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050583.845590726] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050583.846733574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050583.847914124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050583.944260918] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050583.944902108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050583.945151800] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050583.946389294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050583.947592282] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050584.001442973] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916598 Long: -76.50328868 +[vectornav-1] [INFO] [1746050584.002093774] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (197.08100000000002, -2.788, -11.385) +[mux-7] [INFO] [1746050584.045235227] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050584.046109491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050584.046544501] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050584.048067216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050584.049243649] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050584.085266412] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050584.086960159] [sailbot.teensy]: Wind angle: 249 +[trim_sail-4] [INFO] [1746050584.088085371] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050584.088983961] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050584.089381599] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050584.090353136] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050584.091221459] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050584.144750196] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050584.145379405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050584.145926332] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050584.147167420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050584.148359686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050584.245031440] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050584.246299877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050584.246452198] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050584.248338828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050584.249376003] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050584.335607094] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050584.338359605] [sailbot.teensy]: Wind angle: 254 +[teensy-2] [INFO] [1746050584.339353445] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050584.338728559] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050584.339319964] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050584.340329740] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050584.341221791] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050584.344541497] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050584.345141765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050584.345631648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050584.346934757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050584.347985715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050584.445474284] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050584.446249072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050584.447084924] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050584.449017590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050584.450240330] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050584.503198620] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916502 Long: -76.50329219 +[vectornav-1] [INFO] [1746050584.504933743] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.50099999999998, -1.577, -15.305) +[mux-7] [INFO] [1746050584.545283365] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050584.546011079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050584.547250223] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050584.548247502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050584.549475169] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050584.585542418] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050584.587979358] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050584.588516464] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050584.588945751] [sailbot.teensy]: Wind angle: 257 +[teensy-2] [INFO] [1746050584.589908743] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050584.590764188] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050584.591603994] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050584.644946880] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050584.645762121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050584.646257053] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050584.647561934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050584.648607756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050584.745173476] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050584.745959123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050584.746700946] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050584.748510417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050584.749337900] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050584.835511003] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050584.837732026] [sailbot.teensy]: Wind angle: 264 +[teensy-2] [INFO] [1746050584.838742516] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050584.838167228] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050584.839547986] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050584.839607942] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050584.840531242] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050584.844329263] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050584.844925775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050584.845747506] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050584.846632982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050584.847654844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050584.945072144] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050584.945940197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050584.946482440] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050584.947888994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050584.949052074] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050585.003503805] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916391 Long: -76.50329606 +[vectornav-1] [INFO] [1746050585.005190208] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (197.601, -1.574, -14.282) +[mux-7] [INFO] [1746050585.045357523] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050585.045832003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050585.046924520] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050585.047782439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050585.048853963] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050585.085396401] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050585.087167604] [sailbot.teensy]: Wind angle: 284 +[trim_sail-4] [INFO] [1746050585.087951673] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050585.088107204] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050585.089073904] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050585.089082778] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050585.089989493] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050585.144779542] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050585.145609196] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050585.145985780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050585.147700728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050585.148736089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050585.245203388] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050585.246024514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050585.246754402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050585.248184632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050585.249441259] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050585.335162413] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050585.337017986] [sailbot.teensy]: Wind angle: 285 +[trim_sail-4] [INFO] [1746050585.337222118] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050585.338363825] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050585.339303361] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050585.339333367] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050585.340218063] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050585.344430123] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050585.344967364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050585.345538027] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050585.346620694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050585.347734884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050585.445242828] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050585.446079933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050585.446758960] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050585.448234616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050585.448729671] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050585.502594244] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916242 Long: -76.50330065 +[vectornav-1] [INFO] [1746050585.503775774] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.31500000000005, -1.168, -11.504) +[mux-7] [INFO] [1746050585.545226995] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050585.546377992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050585.546772666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050585.548907613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050585.549915959] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050585.585462036] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050585.587639989] [sailbot.teensy]: Wind angle: 274 +[trim_sail-4] [INFO] [1746050585.588022181] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050585.588729853] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050585.589684774] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050585.589843652] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050585.590574462] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050585.645048466] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050585.645672381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050585.646353929] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050585.647709308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050585.648940844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050585.745286408] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050585.746098347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050585.746783775] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050585.748333558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050585.748861712] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050585.835344936] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050585.837200736] [sailbot.teensy]: Wind angle: 264 +[trim_sail-4] [INFO] [1746050585.837834950] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050585.838191628] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050585.839062337] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050585.839063246] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050585.839724649] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050585.844257692] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050585.844934966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050585.845571259] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050585.846625964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050585.847678596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050585.945338366] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050585.946016179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050585.946967600] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050585.949077409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050585.950180171] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050586.003786890] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916101 Long: -76.50330549 +[vectornav-1] [INFO] [1746050586.005385582] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.33899999999994, -4.134, -12.677) +[mux-7] [INFO] [1746050586.045330001] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050586.046201613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050586.046836089] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050586.048602481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050586.049820356] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050586.085405259] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050586.087912111] [sailbot.teensy]: Wind angle: 254 +[trim_sail-4] [INFO] [1746050586.088266651] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050586.088927460] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050586.089268275] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050586.090005732] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050586.091252624] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050586.145168352] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050586.145872146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050586.147188778] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050586.148022087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050586.149178180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050586.245350521] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050586.246027954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050586.246833399] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050586.248021132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050586.248511301] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050586.335379078] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050586.337346430] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050586.337877019] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050586.338321111] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050586.338878247] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050586.338923334] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050586.339259213] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050586.344456903] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050586.345125541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050586.345562183] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050586.346864719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050586.347908726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050586.444717337] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050586.445453930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050586.445903267] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050586.447289959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050586.448303945] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050586.503740811] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916049 Long: -76.50331182 +[vectornav-1] [INFO] [1746050586.505199823] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.09799999999996, 2.171, -11.742) +[mux-7] [INFO] [1746050586.545111610] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050586.545829837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050586.546874102] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050586.547771916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050586.548270616] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050586.585637589] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050586.587709698] [sailbot.teensy]: Wind angle: 254 +[teensy-2] [INFO] [1746050586.588730887] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050586.588665458] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050586.589197838] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050586.589625429] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050586.590553165] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050586.645281742] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050586.645918598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050586.647888542] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050586.648427502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050586.649672832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050586.745803346] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050586.746461360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050586.747629296] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050586.748482313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050586.749038891] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050586.835539361] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050586.838095047] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050586.839181210] [sailbot.teensy]: Wind angle: 263 +[mux-7] [INFO] [1746050586.839275368] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050586.840205789] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050586.841119768] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050586.841993063] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050586.844316655] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050586.844845167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050586.845398172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050586.846565187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050586.847670567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050586.945711728] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050586.946547810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050586.947468016] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050586.948372768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050586.948942329] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050587.003233212] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915926 Long: -76.50331738 +[vectornav-1] [INFO] [1746050587.004741265] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.41899999999998, -0.833, -8.772) +[mux-7] [INFO] [1746050587.044778726] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050587.045459125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050587.045941075] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050587.047226828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050587.048367483] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050587.085430871] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050587.087288344] [sailbot.teensy]: Wind angle: 253 +[trim_sail-4] [INFO] [1746050587.087828184] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050587.088283567] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050587.089240345] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050587.089909479] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050587.090088066] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050587.145200202] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050587.146124524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050587.146783562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050587.148739853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050587.149856989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050587.245344927] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050587.246063464] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050587.246858919] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050587.248446281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050587.248939918] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050587.335745955] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050587.339159880] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050587.339801606] [sailbot.teensy]: Wind angle: 242 +[mux-7] [INFO] [1746050587.340372374] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050587.340897034] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050587.341779570] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050587.342616386] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050587.344819624] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050587.345350553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050587.346001192] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050587.347221049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050587.348290953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050587.445582582] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050587.446340135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050587.447770161] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050587.449016956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050587.450277659] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050587.504279597] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915832 Long: -76.5033227 +[vectornav-1] [INFO] [1746050587.505892494] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.47299999999996, -3.89, -11.215) +[mux-7] [INFO] [1746050587.545239925] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050587.546084163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050587.546790655] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050587.548581471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050587.549753357] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050587.585448773] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050587.587833242] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050587.588316697] [sailbot.teensy]: Wind angle: 242 +[teensy-2] [INFO] [1746050587.589318347] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050587.589365894] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050587.590270943] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050587.591147115] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050587.645357061] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050587.646362627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050587.646917542] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050587.648696005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050587.649872152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050587.745457959] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050587.746527498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050587.747234019] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050587.748732486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050587.749305782] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050587.835744287] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050587.838574013] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050587.838840537] [sailbot.teensy]: Wind angle: 245 +[mux-7] [INFO] [1746050587.839061368] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050587.839283257] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050587.839699203] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050587.840413396] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050587.844396728] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050587.845189295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050587.845546989] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050587.846953318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050587.848200037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050587.945538854] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050587.946255550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050587.947620922] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050587.948361859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050587.948907230] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050588.003382655] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915788 Long: -76.50332934 +[vectornav-1] [INFO] [1746050588.004836490] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.54999999999995, -0.77, -8.908) +[mux-7] [INFO] [1746050588.045426863] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050588.046102879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050588.046918510] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050588.048297745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050588.049434993] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050588.085459095] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050588.087459416] [sailbot.teensy]: Wind angle: 246 +[teensy-2] [INFO] [1746050588.088429707] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050588.088192206] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050588.088900964] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050588.089315285] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050588.090153189] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050588.145088449] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050588.145856317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050588.146973033] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050588.147674501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050588.148760431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050588.244877458] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050588.245389929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050588.246258238] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050588.247170217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050588.248403183] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050588.335372796] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050588.337682303] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050588.337831794] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050588.338642265] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050588.339552418] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050588.339909034] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050588.340426880] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050588.344378033] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050588.344941523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050588.345568129] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050588.346655609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050588.347836316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050588.445405786] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050588.446103762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050588.447007710] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050588.448325950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050588.449551944] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050588.502571729] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915707 Long: -76.50333631 +[vectornav-1] [INFO] [1746050588.503740196] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.98699999999997, 1.041, -9.861) +[mux-7] [INFO] [1746050588.545373170] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050588.546025573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050588.547009389] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050588.548499770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050588.549042102] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050588.585874757] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050588.588723335] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050588.589514217] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050588.591423413] [sailbot.teensy]: Wind angle: 251 +[teensy-2] [INFO] [1746050588.592440361] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050588.593381832] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050588.594308236] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050588.645431428] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050588.645931092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050588.647032337] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050588.647917183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050588.649028578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050588.745746284] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050588.746457873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050588.747765426] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050588.748818645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050588.749347792] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050588.835382033] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050588.837714375] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050588.837951699] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050588.838689318] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050588.839140310] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050588.839257865] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050588.839631824] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050588.844532911] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050588.845367144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050588.845812849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050588.847084998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050588.848192642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050588.945408539] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050588.946217252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050588.947006660] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050588.948493304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050588.949465508] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050589.003985153] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915511 Long: -76.50334173 +[vectornav-1] [INFO] [1746050589.005782037] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.519, -3.81, -10.402) +[mux-7] [INFO] [1746050589.045404959] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050589.046079985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050589.047028250] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050589.048147917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050589.049335343] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050589.085312375] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050589.087758089] [sailbot.teensy]: Wind angle: 243 +[trim_sail-4] [INFO] [1746050589.087895322] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050589.088725462] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050589.089344137] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050589.089656551] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050589.090558811] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050589.144632522] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050589.145354575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050589.145772132] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050589.147123647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050589.148178813] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050589.245045678] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050589.245847568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050589.246347729] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050589.247793956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050589.248844275] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050589.335204572] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050589.337457049] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050589.337542020] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050589.338560280] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050589.338781542] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050589.339195581] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050589.339559410] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050589.344321452] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050589.344931270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050589.345568831] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050589.347138987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050589.348323691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050589.445224630] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050589.445950794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050589.446774337] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050589.448145519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050589.448745625] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050589.502486390] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691543 Long: -76.50334871 +[vectornav-1] [INFO] [1746050589.503558056] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.37, -0.533, -9.66) +[mux-7] [INFO] [1746050589.545004222] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050589.545583698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050589.546311382] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050589.547423906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050589.548634186] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050589.585404933] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050589.587422936] [sailbot.teensy]: Wind angle: 256 +[trim_sail-4] [INFO] [1746050589.587862630] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050589.588422375] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050589.589372019] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050589.589838929] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050589.590233275] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050589.645037221] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050589.645806923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050589.646338220] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050589.647477083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050589.647975106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050589.745129760] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050589.745990524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050589.746550562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050589.748241948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050589.749251676] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050589.835607282] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050589.838179665] [sailbot.teensy]: Wind angle: 254 +[trim_sail-4] [INFO] [1746050589.838225164] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050589.839242664] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050589.840474087] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050589.841405295] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050589.841434678] [sailbot.mux]: algo sail angle: 20 +[mux-7] [INFO] [1746050589.844552414] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050589.845212210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050589.845906910] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050589.847171373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050589.848351762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050589.944866942] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050589.945486446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050589.946035972] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050589.947373536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050589.948554182] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050590.003362528] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915353 Long: -76.50335561 +[vectornav-1] [INFO] [1746050590.005229847] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.01, -0.916, -8.863) +[mux-7] [INFO] [1746050590.045433908] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050590.047010078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050590.047012559] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050590.050352254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050590.052483210] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050590.085639686] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050590.088092023] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050590.089160896] [sailbot.teensy]: Wind angle: 257 +[mux-7] [INFO] [1746050590.089266261] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050590.090127747] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050590.090985715] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050590.091812216] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050590.144970007] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050590.146144779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050590.146257074] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050590.148043933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050590.149017585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050590.245383081] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050590.246372931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050590.246927647] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050590.248649840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050590.249850238] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050590.335589571] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050590.337948231] [sailbot.teensy]: Wind angle: 249 +[trim_sail-4] [INFO] [1746050590.338003776] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050590.338917367] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050590.339268354] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050590.339818725] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050590.340804149] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050590.344319089] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050590.344947952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050590.345477493] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050590.346648397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050590.347803993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050590.445182271] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050590.445897221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050590.446602496] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050590.447867596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050590.448899335] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050590.502265317] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691519 Long: -76.50336261 +[vectornav-1] [INFO] [1746050590.503190667] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.12, -2.143, -9.924) +[mux-7] [INFO] [1746050590.545105124] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050590.545954190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050590.546543851] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050590.548224268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050590.548745211] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050590.585362473] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050590.587644863] [sailbot.teensy]: Wind angle: 243 +[trim_sail-4] [INFO] [1746050590.587762012] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050590.588638489] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050590.589489344] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050590.589525275] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050590.590409312] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050590.645333089] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050590.646135251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050590.647102074] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050590.648937274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050590.650134185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050590.745442080] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050590.746234594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050590.747943133] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050590.748454581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050590.750279660] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050590.835416639] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050590.838019631] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050590.838621975] [sailbot.teensy]: Wind angle: 248 +[mux-7] [INFO] [1746050590.838937666] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050590.839602932] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050590.840617768] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050590.841155166] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050590.844419453] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050590.845059739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050590.845488244] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050590.846774508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050590.847914322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050590.945268108] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050590.946287438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050590.947274027] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050590.948589566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050590.949047675] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050591.003004541] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915035 Long: -76.50336914 +[vectornav-1] [INFO] [1746050591.004180213] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.63400000000001, -1.213, -9.808) +[mux-7] [INFO] [1746050591.044841263] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050591.045512985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050591.046026728] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050591.047369721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050591.048438545] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050591.085448721] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050591.088403027] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050591.089105878] [sailbot.teensy]: Wind angle: 261 +[teensy-2] [INFO] [1746050591.090084144] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050591.089548302] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050591.091008810] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050591.091873336] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050591.144750896] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050591.145377558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050591.145976748] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050591.147157062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050591.148198670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050591.245341972] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050591.246250640] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050591.246884357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050591.248415020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050591.249602188] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050591.335343755] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050591.337206561] [sailbot.teensy]: Wind angle: 267 +[trim_sail-4] [INFO] [1746050591.337886604] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050591.338143814] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050591.338940010] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050591.338964157] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050591.339343660] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050591.344446527] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050591.345052027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050591.345602615] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050591.346825917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050591.347901337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050591.445643961] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050591.446497814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050591.447405382] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050591.448394019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050591.448904180] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050591.502647981] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914956 Long: -76.50337652 +[vectornav-1] [INFO] [1746050591.503803850] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.09900000000005, 1.689, -6.041) +[mux-7] [INFO] [1746050591.545297899] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050591.546158252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050591.546892738] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050591.548360924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050591.549612089] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050591.585873164] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050591.588667129] [sailbot.teensy]: Wind angle: 264 +[trim_sail-4] [INFO] [1746050591.588721963] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050591.589802240] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050591.590525806] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050591.590689075] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050591.591631459] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050591.645146993] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050591.646137471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050591.646616951] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050591.647897038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050591.648401145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050591.745589727] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050591.746580205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050591.747243757] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050591.749054856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050591.750363406] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050591.835279911] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050591.837149962] [sailbot.teensy]: Wind angle: 249 +[trim_sail-4] [INFO] [1746050591.838521387] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050591.839016190] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050591.839149687] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050591.840061407] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050591.841024989] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050591.844425817] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050591.845160343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050591.845834156] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050591.847019206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050591.848255780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050591.945587480] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050591.946321779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050591.947866766] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050591.948440988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050591.949003621] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050592.002561219] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914797 Long: -76.50338291 +[vectornav-1] [INFO] [1746050592.003662104] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.836, -3.241, -5.475) +[mux-7] [INFO] [1746050592.044981113] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050592.045680971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050592.046739195] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050592.047467162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050592.048660901] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050592.085663895] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050592.088640869] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050592.088837541] [sailbot.teensy]: Wind angle: 238 +[mux-7] [INFO] [1746050592.089502193] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050592.089766644] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050592.090667862] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050592.091538753] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050592.145110720] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050592.145777257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050592.146846929] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050592.148669179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050592.149788586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050592.245598856] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050592.246360711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050592.247251926] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050592.248962483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050592.250191957] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050592.335504649] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050592.337657570] [sailbot.teensy]: Wind angle: 243 +[trim_sail-4] [INFO] [1746050592.338294028] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050592.338727579] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050592.339713682] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050592.340052477] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050592.340604256] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050592.344584081] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050592.345179395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050592.345728882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050592.346874622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050592.347935283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050592.445517846] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050592.446356014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050592.447168616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050592.448812899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050592.450147352] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050592.503150837] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914618 Long: -76.5033889 +[vectornav-1] [INFO] [1746050592.504793644] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.01999999999998, -1.003, -6.925) +[mux-7] [INFO] [1746050592.545149028] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050592.546091357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050592.546619392] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050592.548240811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050592.549385304] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050592.585376197] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050592.587633302] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050592.588877530] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050592.589140484] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050592.590117758] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050592.590981216] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050592.591808668] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050592.645532976] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050592.646538726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050592.647288954] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050592.648927250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050592.650176152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050592.745506568] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050592.746356148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050592.747223146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050592.748728147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050592.750023094] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050592.835374992] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050592.837251565] [sailbot.teensy]: Wind angle: 257 +[trim_sail-4] [INFO] [1746050592.837753258] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050592.838223178] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050592.838860320] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050592.838950162] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050592.839243266] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050592.844607178] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050592.845312326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050592.846089897] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050592.847054309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050592.848823235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050592.945635669] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050592.946656844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050592.948320679] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050592.950068879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050592.951197723] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050593.002504723] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914524 Long: -76.50339602 +[vectornav-1] [INFO] [1746050593.003503276] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (194.74599999999998, -0.841, -4.869) +[mux-7] [INFO] [1746050593.045291701] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050593.046402511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050593.046829515] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050593.048701152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050593.049825481] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050593.085722871] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050593.087885962] [sailbot.teensy]: Wind angle: 256 +[trim_sail-4] [INFO] [1746050593.088381798] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050593.088971987] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050593.089964502] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050593.090804901] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050593.090683794] [sailbot.mux]: algo sail angle: 20 +[mux-7] [INFO] [1746050593.145185122] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050593.145966939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050593.146663576] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050593.148017999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050593.149102240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050593.245230206] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050593.246176737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050593.246693503] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050593.248170930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050593.248739248] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050593.335331506] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050593.337911759] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050593.338571521] [sailbot.teensy]: Wind angle: 251 +[mux-7] [INFO] [1746050593.338735467] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050593.338974993] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050593.339361851] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050593.339738267] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050593.344407376] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050593.345044987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050593.345658716] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050593.346861182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050593.347863208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050593.433577649] [sailbot.mux]: controller_app rudder angle: 3 +[mux-7] [INFO] [1746050593.444881405] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050593.445347518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050593.446254944] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050593.447094036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050593.448895754] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050593.503207555] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691442 Long: -76.50340241 +[vectornav-1] [INFO] [1746050593.504603301] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.28600000000006, -1.378, -6.603) +[mux-7] [INFO] [1746050593.545435809] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050593.546056518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050593.547087212] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050593.548221202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050593.549480157] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050593.585442674] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050593.587945880] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050593.588138890] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050593.588572593] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050593.588954086] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050593.589876058] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050593.590726008] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050593.645168341] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050593.646165178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050593.646883752] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050593.648189814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050593.649365267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050593.745579471] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050593.746418271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050593.747580795] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050593.748024589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050593.748504167] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050593.835372450] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050593.838094403] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050593.838466731] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050593.839808719] [sailbot.teensy]: Wind angle: 245 +[teensy-2] [INFO] [1746050593.840756703] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050593.841581647] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050593.842415475] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050593.844337653] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050593.844958018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050593.845439618] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050593.846649196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050593.847778805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050593.945637210] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050593.946334812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050593.947323500] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050593.947937134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050593.948454689] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050594.003834523] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914218 Long: -76.50340868 +[vectornav-1] [INFO] [1746050594.005583569] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.52200000000005, -0.253, -9.899) +[mux-7] [INFO] [1746050594.045408279] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050594.046756830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050594.047092397] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050594.049380813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050594.050564586] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050594.085435553] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050594.087355366] [sailbot.teensy]: Wind angle: 245 +[trim_sail-4] [INFO] [1746050594.088195915] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050594.088455602] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050594.089369638] [sailbot.teensy]: Actual tail angle: 28 +[mux-7] [INFO] [1746050594.089410492] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050594.090645191] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050594.145291925] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050594.146325555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050594.147136790] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050594.148691013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050594.149852430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050594.245615153] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050594.246562253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050594.247333197] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050594.249202554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050594.250421239] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050594.335311167] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050594.337476359] [sailbot.teensy]: Wind angle: 246 +[trim_sail-4] [INFO] [1746050594.337579292] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050594.338414330] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050594.339155907] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050594.339304755] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050594.340230241] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050594.344457122] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050594.345103801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050594.345633253] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050594.347275847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050594.348568766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050594.438448178] [sailbot.mux]: controller_app rudder angle: 4 +[mux-7] [INFO] [1746050594.444515769] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050594.445664779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050594.445740772] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050594.447429673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050594.448468581] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050594.502418157] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914086 Long: -76.5034152 +[vectornav-1] [INFO] [1746050594.503433550] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.45000000000005, 0.148, -12.023) +[mux-7] [INFO] [1746050594.545114155] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050594.546085756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050594.546736767] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050594.548168768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050594.549312123] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050594.585431388] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050594.587739449] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050594.588510798] [sailbot.teensy]: Wind angle: 243 +[mux-7] [INFO] [1746050594.589362871] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050594.589833489] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050594.590750859] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050594.591596270] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050594.644998089] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050594.645720841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050594.646470894] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050594.647632886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050594.648676687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050594.745338207] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050594.746254345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050594.747040111] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050594.748795885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050594.749288043] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050594.835390545] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050594.837917450] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050594.837936185] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050594.838808715] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050594.838884271] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050594.839224436] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050594.839586453] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050594.844597333] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050594.845277086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050594.846041910] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050594.846999667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050594.848052042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050594.945444200] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050594.946314518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050594.947008309] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050594.948375653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050594.948874062] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050595.002465683] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914092 Long: -76.50342173 +[vectornav-1] [INFO] [1746050595.003571701] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.87, -1.407, -11.159) +[mux-7] [INFO] [1746050595.045064729] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050595.046142396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050595.047034169] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050595.047992228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050595.049049137] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050595.085520172] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050595.087421172] [sailbot.teensy]: Wind angle: 249 +[trim_sail-4] [INFO] [1746050595.087979392] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050595.088435956] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050595.089350218] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050595.090206362] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050595.090403098] [sailbot.mux]: algo sail angle: 15 +[mux-7] [INFO] [1746050595.145022003] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050595.145797339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050595.146428270] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050595.147938621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050595.149005413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050595.245031513] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050595.245705405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050595.246333406] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050595.247585079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050595.248626673] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050595.335404858] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050595.338460623] [sailbot.teensy]: Wind angle: 250 +[trim_sail-4] [INFO] [1746050595.338600830] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050595.338910349] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050595.339058145] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050595.339297916] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050595.340092343] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050595.344457723] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050595.345173536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050595.345636260] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050595.346991583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050595.348001633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050595.444954728] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050595.445765982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050595.446347735] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050595.447929332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050595.448449631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050595.462126587] [sailbot.mux]: controller_app rudder angle: -1 +[vectornav-1] [INFO] [1746050595.503287701] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914036 Long: -76.50342746 +[vectornav-1] [INFO] [1746050595.504790640] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.68399999999997, -0.122, -8.856) +[mux-7] [INFO] [1746050595.544903212] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050595.546249107] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050595.546453791] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050595.548382863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050595.549524692] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050595.585247486] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050595.587359665] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050595.587727619] [sailbot.teensy]: Wind angle: 243 +[mux-7] [INFO] [1746050595.588462998] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050595.588663854] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050595.589559036] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050595.590391206] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050595.645147975] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050595.646109214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050595.646690507] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050595.648335347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050595.649514376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050595.745286283] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050595.746239937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050595.747112956] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050595.748472340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050595.748991677] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050595.835197053] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050595.837551097] [sailbot.teensy]: Wind angle: 237 +[trim_sail-4] [INFO] [1746050595.837708610] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050595.838496203] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050595.838635308] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050595.838956098] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050595.839321437] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050595.844318543] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050595.844857569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050595.845623142] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050595.846635056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050595.847689339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050595.945453858] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050595.946345403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050595.947454705] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050595.947941102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050595.948456236] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050596.003736417] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914025 Long: -76.50343355 +[vectornav-1] [INFO] [1746050596.005448317] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.00900000000001, -0.678, -8.427) +[mux-7] [INFO] [1746050596.045219442] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050596.046183896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050596.047299987] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050596.048251523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050596.049275471] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050596.085327613] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050596.087564817] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050596.088019041] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050596.089403506] [sailbot.teensy]: Wind angle: 240 +[teensy-2] [INFO] [1746050596.090332546] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050596.091189603] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050596.092013177] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050596.144927328] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050596.145739903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050596.146280632] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050596.147910749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050596.149034387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050596.245148262] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050596.246248345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050596.246691412] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050596.248327270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050596.249461737] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050596.335262178] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050596.337870674] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050596.338179914] [sailbot.teensy]: Wind angle: 238 +[mux-7] [INFO] [1746050596.338870752] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050596.339113927] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050596.340004390] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050596.340642223] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050596.344495991] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050596.344983588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050596.345742680] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050596.346741268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050596.347899801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050596.444998516] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050596.445602584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050596.446247709] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050596.447352198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050596.448579323] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050596.502468542] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691419 Long: -76.50343887 +[vectornav-1] [INFO] [1746050596.503499030] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.95799999999997, -1.358, -2.985) +[mux-7] [INFO] [1746050596.544959173] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050596.545611487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050596.546257851] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050596.547532688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050596.548551016] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050596.585580943] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050596.588462506] [sailbot.teensy]: Wind angle: 232 +[teensy-2] [INFO] [1746050596.589525500] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050596.588675969] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050596.589972773] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050596.590448167] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050596.591287206] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050596.645054155] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050596.645794347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050596.646447693] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050596.648400494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050596.649558627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050596.745480179] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050596.746594576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050596.747075363] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050596.749063382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050596.750206737] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050596.835358850] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050596.837882064] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050596.838047757] [sailbot.teensy]: Wind angle: 228 +[mux-7] [INFO] [1746050596.838597066] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050596.838988686] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050596.839881533] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050596.840774168] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050596.844325223] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050596.844922345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050596.845440725] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050596.846617305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050596.847652420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050596.945626985] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050596.946553534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050596.947458583] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050596.948552872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050596.949005434] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050597.002457066] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914289 Long: -76.50344338 +[vectornav-1] [INFO] [1746050597.003495154] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.11699999999996, 2.898, 0.906) +[mux-7] [INFO] [1746050597.045132105] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050597.045920494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050597.046475572] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050597.047924681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050597.048959443] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050597.085550168] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050597.088387715] [sailbot.teensy]: Wind angle: 226 +[trim_sail-4] [INFO] [1746050597.088478429] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050597.088943387] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050597.089361510] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050597.090219726] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050597.091061845] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050597.144552219] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050597.145474712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050597.145734910] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050597.147289227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050597.148427317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050597.245355655] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050597.246341705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050597.246944833] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050597.249112776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050597.250119194] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050597.335378920] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050597.337341436] [sailbot.teensy]: Wind angle: 224 +[teensy-2] [INFO] [1746050597.338288265] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050597.337835095] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050597.338293417] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050597.339215595] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050597.340126025] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050597.344476754] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050597.345173113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050597.345655645] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050597.346964491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050597.348019202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050597.445251378] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050597.446009438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050597.446815030] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050597.448147139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050597.449199485] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050597.503020311] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914383 Long: -76.50344696 +[vectornav-1] [INFO] [1746050597.504857861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (153.17700000000002, -2.891, 3.129) +[mux-7] [INFO] [1746050597.544742997] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050597.545479420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050597.545982272] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050597.547375389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050597.548403992] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050597.585359134] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050597.587212395] [sailbot.teensy]: Wind angle: 223 +[trim_sail-4] [INFO] [1746050597.587960615] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050597.588200614] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050597.588353768] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050597.589153392] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050597.590105077] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050597.645283385] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050597.646092981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050597.646823102] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050597.647865173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050597.648342477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050597.745440957] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050597.746132023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050597.747184262] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050597.748569579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050597.749649735] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050597.835503329] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050597.837315565] [sailbot.teensy]: Wind angle: 221 +[trim_sail-4] [INFO] [1746050597.837801045] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050597.838251667] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050597.839117486] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050597.839987945] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050597.840072447] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050597.844301758] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050597.844969965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050597.845529724] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050597.846758582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050597.847791763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050597.945546397] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050597.946417009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050597.947143317] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050597.948640162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050597.949708113] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050598.003870775] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914539 Long: -76.50345016 +[vectornav-1] [INFO] [1746050598.005465391] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (148.483, 0.784, 3.025) +[mux-7] [INFO] [1746050598.045231969] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050598.046310469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050598.046748697] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050598.048458437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050598.049637227] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050598.085279404] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050598.087442967] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050598.087526254] [sailbot.teensy]: Wind angle: 218 +[teensy-2] [INFO] [1746050598.088773040] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050598.088773745] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050598.089755538] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050598.090608615] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050598.145165001] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050598.146164434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050598.146718537] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050598.148348095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050598.149527860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050598.244883625] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050598.245533118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050598.246135419] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050598.248433059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050598.249577697] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050598.335598593] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050598.338160944] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050598.338854552] [sailbot.teensy]: Wind angle: 217 +[mux-7] [INFO] [1746050598.339401867] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050598.339581605] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050598.339975356] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050598.340366505] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050598.344261798] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050598.344901159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050598.345362513] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050598.346584622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050598.347616351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050598.445436864] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050598.446213042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050598.447145900] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050598.448628827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050598.449729102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050598.462429685] [sailbot.mux]: controller_app rudder angle: -5 +[vectornav-1] [INFO] [1746050598.503766480] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691469 Long: -76.50345301 +[vectornav-1] [INFO] [1746050598.505549421] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (145.37599999999998, 5.608, 1.357) +[mux-7] [INFO] [1746050598.545210117] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050598.546172670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050598.546695275] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050598.548310721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050598.549455626] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050598.585278187] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050598.587408945] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050598.588283794] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050598.589057533] [sailbot.teensy]: Wind angle: 216 +[teensy-2] [INFO] [1746050598.589976882] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050598.590872855] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050598.591776720] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050598.645122801] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050598.645799685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050598.646535389] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050598.647928128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050598.649104235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050598.745007178] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050598.745746768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050598.746764195] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050598.747676373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050598.748849574] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050598.835221773] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050598.836885838] [sailbot.teensy]: Wind angle: 216 +[trim_sail-4] [INFO] [1746050598.837410157] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050598.837826781] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050598.838749572] [sailbot.teensy]: Actual tail angle: 20 +[mux-7] [INFO] [1746050598.839097499] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050598.839677774] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050598.844535602] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050598.844943585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050598.845837270] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050598.846638255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050598.847669165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050598.945490509] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050598.946081836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050598.947233859] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050598.949091603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050598.950422572] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050599.003724969] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914716 Long: -76.50345418 +[vectornav-1] [INFO] [1746050599.005169708] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (143.856, -7.393, 3.488) +[mux-7] [INFO] [1746050599.045215701] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050599.046116443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050599.046723448] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050599.048319374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050599.049476390] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050599.085537102] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050599.087841492] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050599.088146164] [sailbot.teensy]: Wind angle: 215 +[teensy-2] [INFO] [1746050599.089490500] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050599.089546611] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050599.090398006] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050599.091332046] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050599.145377961] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050599.145998051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050599.147272390] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050599.148086637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050599.149339916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050599.245181352] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050599.245919891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050599.246562010] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050599.248011410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050599.249161672] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050599.335223083] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050599.337472673] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050599.338187113] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050599.338263440] [sailbot.teensy]: Wind angle: 202 +[teensy-2] [INFO] [1746050599.339209646] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050599.340084505] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050599.340939651] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050599.344418708] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050599.344928336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050599.345561877] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050599.346644248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050599.347736900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050599.444994722] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050599.445854881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050599.446418254] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050599.447820672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050599.448884167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050599.463101420] [sailbot.mux]: controller_app rudder angle: -6 +[vectornav-1] [INFO] [1746050599.502525468] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914816 Long: -76.50345626 +[vectornav-1] [INFO] [1746050599.503589832] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (143.623, 4.502, 3.484) +[mux-7] [INFO] [1746050599.544906709] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050599.545755370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050599.546150569] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050599.547944556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050599.549017762] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050599.585549689] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050599.588065355] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050599.588095677] [sailbot.teensy]: Wind angle: 211 +[teensy-2] [INFO] [1746050599.589134602] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050599.589341848] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050599.590118597] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050599.591000879] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050599.645106057] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050599.646060216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050599.646487522] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050599.648177643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050599.649238275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050599.745133645] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050599.745947894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050599.746651085] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050599.748169942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050599.749330317] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050599.835331704] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050599.837105486] [sailbot.teensy]: Wind angle: 212 +[trim_sail-4] [INFO] [1746050599.837631544] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050599.838048388] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050599.838921412] [sailbot.teensy]: Actual tail angle: 19 +[mux-7] [INFO] [1746050599.839017488] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050599.839787528] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050599.844571347] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050599.844998085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050599.845737551] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050599.846663337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050599.847785114] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050599.945005109] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050599.945550470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050599.946298912] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050599.947395818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050599.948552148] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050600.002549659] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914892 Long: -76.50345781 +[vectornav-1] [INFO] [1746050600.003656920] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (145.555, 0.366, 4.376) +[mux-7] [INFO] [1746050600.045222800] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050600.045796566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050600.046604842] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050600.047758457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050600.048742729] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050600.085403317] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050600.087187635] [sailbot.teensy]: Wind angle: 202 +[trim_sail-4] [INFO] [1746050600.088240004] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050600.089003458] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050600.089167927] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050600.090011284] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050600.090931919] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050600.145100829] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050600.146270764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050600.146534647] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050600.148337359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050600.149467645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050600.245045369] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050600.245851356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050600.246422955] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050600.247746105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050600.248793690] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050600.335413926] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050600.337256162] [sailbot.teensy]: Wind angle: 211 +[teensy-2] [INFO] [1746050600.338189369] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050600.337836243] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050600.338819198] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050600.339090743] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050600.339937628] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050600.344257470] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050600.344909812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050600.345648446] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050600.346639142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050600.347796142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050600.444796716] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050600.445389947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050600.445953510] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050600.447168914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050600.448315747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050600.461277450] [sailbot.mux]: controller_app rudder angle: -8 +[vectornav-1] [INFO] [1746050600.503270814] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914915 Long: -76.5034585 +[vectornav-1] [INFO] [1746050600.504480725] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (148.09000000000003, -2.248, 2.174) +[mux-7] [INFO] [1746050600.545238198] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050600.546168611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050600.546888108] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050600.548266401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050600.549415299] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050600.585349605] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050600.587645981] [sailbot.teensy]: Wind angle: 213 +[trim_sail-4] [INFO] [1746050600.587666359] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050600.588244712] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050600.588614346] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050600.589523458] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050600.590336679] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050600.645030843] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050600.645909425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050600.646424861] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050600.647964012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050600.649063879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050600.745044332] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050600.745704761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050600.746558454] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050600.747715994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050600.748251713] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050600.835310610] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050600.837726785] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050600.837977404] [sailbot.teensy]: Wind angle: 214 +[mux-7] [INFO] [1746050600.838476513] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050600.838861493] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050600.839326822] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050600.839685849] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050600.844503048] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050600.845110084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050600.845601625] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050600.846807539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050600.847828766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050600.945504666] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050600.946418190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050600.947139167] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050600.948481420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050600.949032546] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050601.003469933] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691489 Long: -76.50345975 +[vectornav-1] [INFO] [1746050601.005097267] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (150.392, 2.461, 2.404) +[mux-7] [INFO] [1746050601.045373601] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050601.046068012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050601.046897867] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050601.048197115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050601.049460161] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050601.085301202] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050601.087742305] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050601.087822710] [sailbot.teensy]: Wind angle: 214 +[mux-7] [INFO] [1746050601.088000200] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050601.088850617] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050601.089802741] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050601.090625252] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050601.145231522] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050601.146153856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050601.147061280] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050601.148677424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050601.149740429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050601.245500180] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050601.246545762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050601.247216377] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050601.248130003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050601.248572739] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050601.335421818] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050601.337321521] [sailbot.teensy]: Wind angle: 221 +[trim_sail-4] [INFO] [1746050601.337766449] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050601.338292809] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050601.339282553] [sailbot.teensy]: Actual tail angle: 17 +[mux-7] [INFO] [1746050601.339542686] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050601.340195710] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050601.344337418] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050601.344912963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050601.345439813] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050601.346767598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050601.347830022] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050601.445556395] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050601.446416929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050601.447282539] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050601.449110139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050601.450377498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050601.464170754] [sailbot.mux]: controller_app rudder angle: -2 +[vectornav-1] [INFO] [1746050601.502322741] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914907 Long: -76.50346035 +[vectornav-1] [INFO] [1746050601.503313689] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (152.82500000000005, -3.969, 3.872) +[mux-7] [INFO] [1746050601.545027892] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050601.545847721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050601.546482016] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050601.547641415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050601.548898339] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050601.585509995] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050601.587595111] [sailbot.teensy]: Wind angle: 221 +[trim_sail-4] [INFO] [1746050601.588084753] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050601.588641854] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050601.590407832] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050601.590480338] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050601.591442330] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050601.644734206] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050601.645627330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050601.645907044] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050601.647403450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050601.648459029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050601.744758927] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050601.745448288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050601.745898561] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050601.747226585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050601.748382658] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050601.835218503] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050601.837441396] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050601.837638833] [sailbot.teensy]: Wind angle: 223 +[teensy-2] [INFO] [1746050601.838563998] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050601.838815920] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050601.839457885] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050601.840071365] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050601.844445085] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050601.845082062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050601.845612169] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050601.847085615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050601.848122330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050601.945452771] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050601.946332861] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050601.947164637] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050601.948102108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050601.948857290] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050602.003098132] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914924 Long: -76.50346139 +[vectornav-1] [INFO] [1746050602.004989047] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (156.293, 3.927, 0.943) +[mux-7] [INFO] [1746050602.045078991] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050602.045893770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050602.046480834] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050602.047835893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050602.049090898] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050602.085448976] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050602.087855535] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050602.088538782] [sailbot.teensy]: Wind angle: 224 +[mux-7] [INFO] [1746050602.088562217] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050602.089626126] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050602.090529359] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050602.091373311] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050602.145113177] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050602.145897717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050602.146555332] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050602.148329285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050602.149476434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050602.245430110] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050602.246905262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050602.247491604] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050602.248738507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050602.249245575] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050602.335476908] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050602.338137119] [sailbot.teensy]: Wind angle: 224 +[trim_sail-4] [INFO] [1746050602.338681325] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050602.339779469] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050602.340563216] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050602.341537012] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050602.342374484] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050602.344335265] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050602.344778039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050602.345409577] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050602.346409200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050602.347567499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050602.445545093] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050602.446740256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050602.447415233] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050602.448942924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[mux-7] [INFO] [1746050602.449065576] [sailbot.mux]: controller_app rudder angle: 0 +[teensy-2] [INFO] [1746050602.449463323] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050602.502303549] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691487 Long: -76.50346223 +[vectornav-1] [INFO] [1746050602.503287144] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.50599999999997, -1.949, 0.751) +[mux-7] [INFO] [1746050602.545046251] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050602.545958410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050602.546480440] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050602.547894111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050602.548897778] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050602.585264415] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050602.587564067] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050602.588190258] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050602.588311040] [sailbot.teensy]: Wind angle: 227 +[teensy-2] [INFO] [1746050602.589591057] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050602.590529118] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050602.591377375] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050602.645361007] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050602.646200816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050602.646955670] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050602.648350778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050602.649476440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050602.745375463] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050602.745889695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050602.747200260] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050602.748228241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050602.749294564] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050602.835187076] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050602.836909139] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746050602.837766700] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050602.837844291] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050602.838730493] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050602.838945045] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050602.839642852] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050602.844344085] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050602.844899305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050602.845388883] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050602.846591336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050602.847741874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050602.945359494] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050602.946103894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050602.946898873] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050602.947928915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050602.948395090] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050603.004258693] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914845 Long: -76.50346283 +[vectornav-1] [INFO] [1746050603.006075672] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.60699999999997, -1.276, 1.45) +[mux-7] [INFO] [1746050603.045085577] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050603.045811953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050603.046468677] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050603.047751420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050603.048791591] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050603.085257826] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050603.087586679] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050603.087960091] [sailbot.teensy]: Wind angle: 230 +[teensy-2] [INFO] [1746050603.089292431] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050603.089529857] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050603.090264306] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050603.091114444] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050603.144915405] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050603.145785195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050603.146217556] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050603.147591202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050603.148726298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050603.245542062] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050603.246420407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050603.247168310] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050603.248038741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050603.248550969] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050603.335554965] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050603.337832312] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050603.338483394] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050603.339164547] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050603.339893707] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050603.340144699] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050603.340542592] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050603.344437387] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050603.344954455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050603.345607846] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050603.346938165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050603.347998570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050603.445206046] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050603.446129004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050603.446758444] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050603.448429551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050603.449363299] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050603.503035463] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914828 Long: -76.5034638 +[vectornav-1] [INFO] [1746050603.504451215] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.413, 1.445, 2.091) +[mux-7] [INFO] [1746050603.545123457] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050603.546025267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050603.546716318] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050603.548341118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050603.548843095] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050603.585401458] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050603.587985263] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050603.588338049] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050603.588349480] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050603.589349127] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050603.590209971] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050603.591073125] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050603.644931145] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050603.645546270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050603.646217507] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050603.647547266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050603.649618797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050603.745085964] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050603.745788268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050603.746491649] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050603.748412532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050603.748874587] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050603.835165676] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050603.836878769] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050603.838109803] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050603.838586721] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050603.838703558] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050603.839638776] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050603.840520384] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050603.844304587] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050603.845035031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050603.845405764] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050603.846931662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050603.848045843] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050603.945450461] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050603.946443947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050603.947116145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050603.949102425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050603.949569514] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050604.003713446] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914817 Long: -76.50346436 +[vectornav-1] [INFO] [1746050604.005862341] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.63200000000006, -1.397, 1.896) +[mux-7] [INFO] [1746050604.045191255] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050604.045863132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050604.046726436] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050604.048034129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050604.049047597] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050604.085448501] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050604.087280216] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050604.087775937] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050604.088354902] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050604.089292502] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050604.089906987] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050604.090184430] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050604.145423141] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050604.146465475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050604.147628136] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050604.149069208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050604.149616275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050604.245309441] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050604.246114703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050604.246811780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050604.248339583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050604.249350521] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050604.335414362] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050604.337366911] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050604.337846247] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050604.338357138] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050604.339253534] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050604.339644210] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050604.340214513] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050604.344462136] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050604.345203817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050604.345637334] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050604.347062492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050604.348109213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050604.444992493] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050604.445676304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050604.446408497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050604.447776016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050604.448800777] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050604.502669522] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914753 Long: -76.50346507 +[vectornav-1] [INFO] [1746050604.503968402] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.187, 1.737, -1.313) +[mux-7] [INFO] [1746050604.544887793] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050604.545561151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050604.546487035] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050604.547405761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050604.548473056] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050604.585396960] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050604.587321527] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050604.587782443] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050604.588322139] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050604.589236502] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050604.589559488] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050604.590118816] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050604.645288367] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050604.646128999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050604.646914393] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050604.648560343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050604.649623642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050604.745159758] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050604.745830820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050604.746563706] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050604.748025969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050604.749218391] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050604.835303320] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050604.837746062] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050604.839541590] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050604.839638113] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050604.840633222] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050604.840992220] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050604.841319460] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050604.844488140] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050604.845252461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050604.845617133] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050604.846992264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050604.847995401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050604.945621248] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050604.946466118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050604.947191895] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050604.948881177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050604.949517806] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050605.003325342] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914692 Long: -76.50346527 +[vectornav-1] [INFO] [1746050605.004541842] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.61799999999994, -3.386, -0.092) +[mux-7] [INFO] [1746050605.045396452] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050605.046661606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050605.046973571] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050605.048870691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050605.049962972] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050605.085462287] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050605.087812581] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050605.088777557] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050605.088038514] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050605.088578904] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050605.089665928] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050605.090571377] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050605.144907016] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050605.145574274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050605.146318174] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050605.147651538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050605.148838242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050605.245288895] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050605.246283926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050605.246771672] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050605.248530386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050605.249625869] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050605.335910471] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050605.338786906] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050605.339162358] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050605.340728775] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050605.340743726] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050605.341773479] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050605.342710452] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050605.344587523] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050605.344982713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050605.345820248] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050605.346660823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050605.347665651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050605.445589055] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050605.446632322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050605.447232241] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050605.448849472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050605.449288097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050605.476116527] [sailbot.mux]: controller_app rudder angle: 1 +[vectornav-1] [INFO] [1746050605.502900866] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914679 Long: -76.50346624 +[vectornav-1] [INFO] [1746050605.504291682] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.06399999999996, 2.682, -0.787) +[mux-7] [INFO] [1746050605.545190958] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050605.546128809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050605.546786208] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050605.548572865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050605.549583787] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050605.585472396] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050605.587307201] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050605.587912828] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050605.588313500] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050605.589215307] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050605.589594181] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050605.590140249] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050605.644760657] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050605.645481068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050605.646055144] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050605.647243268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050605.648373360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050605.745260116] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050605.745796886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050605.747152831] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050605.747771923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050605.748426165] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050605.835457217] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050605.837262388] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050605.837825790] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050605.838276094] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050605.839200795] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050605.840073215] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050605.840092411] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050605.844356447] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050605.844882855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050605.845510340] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050605.846575916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050605.847666460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050605.945292572] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050605.946087797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050605.946819090] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050605.948371319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050605.949461349] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050606.002576728] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691455 Long: -76.50346737 +[vectornav-1] [INFO] [1746050606.003989999] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.34799999999996, -3.129, -5.431) +[mux-7] [INFO] [1746050606.045340850] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050606.046064592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050606.046878124] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050606.048213614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050606.049448008] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050606.085431146] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050606.087270757] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050606.087926694] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050606.088279692] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050606.089201708] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050606.089606257] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050606.090065107] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050606.144996361] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050606.145765896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050606.146677572] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050606.147549423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050606.148598557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050606.245505106] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050606.246379456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050606.247245834] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050606.248707834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050606.249863146] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050606.335471918] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050606.337231595] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050606.337715422] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050606.338214575] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050606.339272679] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050606.339413009] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050606.340237593] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050606.344326566] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050606.344909963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050606.345623820] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050606.346614545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050606.347667704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050606.444948672] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050606.445849534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050606.446199667] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050606.447880197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050606.448944225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050606.487004048] [sailbot.mux]: controller_app rudder angle: 4 +[vectornav-1] [INFO] [1746050606.503988358] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691446 Long: -76.50346881 +[vectornav-1] [INFO] [1746050606.505692362] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (186.702, 1.08, -9.058) +[mux-7] [INFO] [1746050606.545400964] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050606.546289881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050606.547001593] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050606.548445560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050606.549580627] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050606.585507747] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050606.587894099] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050606.589337313] [sailbot.teensy]: Wind angle: 238 +[mux-7] [INFO] [1746050606.589554036] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050606.590555634] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050606.591498850] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050606.592369426] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050606.645208369] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050606.645926922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050606.646773284] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050606.648724155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050606.649892974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050606.745150574] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050606.745931740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050606.746543514] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050606.747986439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050606.748468133] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050606.835530988] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050606.838346384] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050606.838375200] [sailbot.teensy]: Wind angle: 242 +[mux-7] [INFO] [1746050606.839295873] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050606.839310418] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050606.840229567] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050606.841151018] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050606.844345634] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050606.844968291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050606.845490792] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050606.846863832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050606.847923944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050606.945296211] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050606.946133590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050606.946818508] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050606.948372494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050606.949543831] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050607.004476653] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914362 Long: -76.50347173 +[vectornav-1] [INFO] [1746050607.006488799] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.77200000000005, -2.277, -11.993) +[mux-7] [INFO] [1746050607.045104341] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050607.046069519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050607.046524621] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050607.048232206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050607.049345610] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050607.085226688] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050607.087333024] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050607.087967856] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050607.088312444] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050607.089214530] [sailbot.teensy]: Actual tail angle: 29 +[mux-7] [INFO] [1746050607.089537192] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050607.090121014] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050607.145316411] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050607.146092711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050607.146932885] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050607.148292470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050607.149479342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050607.245466743] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050607.246274472] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050607.247053168] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050607.248488169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050607.249555449] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050607.335924525] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050607.339046727] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050607.339177283] [sailbot.teensy]: Wind angle: 265 +[mux-7] [INFO] [1746050607.339542777] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050607.340274223] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050607.341198956] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050607.342026985] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050607.344464145] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050607.344954231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050607.345599951] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050607.346682283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050607.347746125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050607.445638952] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050607.446603594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050607.447613661] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050607.448912897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[mux-7] [INFO] [1746050607.449993213] [sailbot.mux]: controller_app rudder angle: 5 +[teensy-2] [INFO] [1746050607.450218092] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050607.503734246] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914225 Long: -76.50347483 +[vectornav-1] [INFO] [1746050607.505068948] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.351, 0.354, -13.663) +[mux-7] [INFO] [1746050607.545395923] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050607.546185331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050607.546903423] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050607.548763110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050607.549794077] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050607.585767699] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050607.588478384] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050607.590236768] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050607.590679206] [sailbot.teensy]: Wind angle: 263 +[teensy-2] [INFO] [1746050607.591633485] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050607.592499323] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050607.593350471] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050607.645002669] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050607.645540646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050607.646372727] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050607.647441647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050607.648548628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050607.745442464] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050607.746021142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050607.747073343] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050607.748178050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050607.748747684] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050607.835187355] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050607.836926967] [sailbot.teensy]: Wind angle: 259 +[trim_sail-4] [INFO] [1746050607.838057953] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050607.838275824] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050607.838880379] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050607.839170951] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746050607.840063672] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050607.844347329] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050607.844776837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050607.845500919] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050607.846443694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050607.847546491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050607.945083027] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050607.945561667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050607.946409069] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050607.947506615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050607.948800078] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050608.002473306] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914082 Long: -76.50347873 +[vectornav-1] [INFO] [1746050608.003482546] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (186.27200000000005, -0.45, -15.232) +[mux-7] [INFO] [1746050608.044918365] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050608.045376254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050608.046387004] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050608.047255674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050608.048317899] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050608.085411147] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050608.087291254] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746050608.088192816] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050608.088327699] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050608.089274646] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746050608.090176069] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050608.090241444] [sailbot.mux]: algo sail angle: 30 +[mux-7] [INFO] [1746050608.145039594] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050608.145782646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050608.146381065] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050608.148400776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050608.149573242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050608.245043751] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050608.245644308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050608.246390135] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050608.247607563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050608.248640434] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050608.335391854] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050608.337442931] [sailbot.teensy]: Wind angle: 273 +[trim_sail-4] [INFO] [1746050608.337848558] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050608.338441787] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050608.339304770] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050608.339342980] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746050608.340213217] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050608.344366118] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050608.345043340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050608.345506046] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050608.346731575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050608.348394447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050608.445122472] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050608.445964104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050608.446605798] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050608.448262739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050608.449334984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050608.486363893] [sailbot.mux]: controller_app rudder angle: 1 +[vectornav-1] [INFO] [1746050608.503674551] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914021 Long: -76.50348243 +[vectornav-1] [INFO] [1746050608.506528053] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.207, -0.773, -12.739) +[mux-7] [INFO] [1746050608.544964047] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050608.545638702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050608.546214872] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050608.547587391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050608.548647794] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050608.585231160] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050608.587495439] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050608.587726287] [sailbot.teensy]: Wind angle: 266 +[teensy-2] [INFO] [1746050608.588745626] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050608.589263220] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050608.589708176] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746050608.590577822] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050608.645198950] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050608.645733603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050608.646835566] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050608.647825712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050608.648942693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050608.745349736] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050608.746118452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050608.746867184] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050608.748069438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050608.749265980] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050608.835227928] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050608.837553903] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050608.838469611] [sailbot.teensy]: Wind angle: 257 +[mux-7] [INFO] [1746050608.838662780] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050608.839410709] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050608.840334452] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050608.841149779] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050608.844361601] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050608.845019562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050608.845535211] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050608.846737416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050608.847833183] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050608.945678149] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050608.946459491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050608.947373572] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050608.948811092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050608.950040676] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050609.002788026] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914001 Long: -76.50348629 +[vectornav-1] [INFO] [1746050609.003946173] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.67899999999997, -3.568, -10.211) +[mux-7] [INFO] [1746050609.045643114] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050609.046349872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050609.047359432] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050609.049081471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050609.050348217] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050609.085643177] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050609.087887171] [sailbot.teensy]: Wind angle: 256 +[trim_sail-4] [INFO] [1746050609.088773324] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050609.089348338] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050609.090299746] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050609.091045756] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050609.091196298] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050609.145265529] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050609.146154299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050609.146851596] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050609.148033459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050609.148528307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050609.245307185] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050609.246085970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050609.247196738] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050609.248389368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050609.248899982] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050609.335368874] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050609.338002179] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050609.338339920] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050609.339310195] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050609.338779483] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050609.340275029] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050609.341287695] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050609.344297468] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050609.344742522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050609.345387876] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050609.346439396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050609.347479773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050609.445559255] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050609.446234417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050609.447231015] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050609.448632622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050609.449152938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050609.476216321] [sailbot.mux]: controller_app rudder angle: 0 +[vectornav-1] [INFO] [1746050609.503614329] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914014 Long: -76.50349057 +[vectornav-1] [INFO] [1746050609.505519043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.86400000000003, 1.693, -6.673) +[mux-7] [INFO] [1746050609.545104507] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050609.546028456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050609.546506604] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050609.548290439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050609.548856093] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050609.585402161] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050609.587793102] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050609.587816309] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050609.588772817] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050609.589190430] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050609.589667697] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050609.590574536] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050609.644689177] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050609.645301993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050609.645891565] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050609.647108844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050609.648171287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050609.745088362] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050609.745987590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050609.747018564] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050609.748262125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050609.748830237] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050609.835648465] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050609.837711306] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050609.838748521] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050609.839265321] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746050609.838720769] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050609.839491355] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050609.839642772] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050609.844305939] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050609.844906903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050609.845411927] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050609.846586301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050609.847648773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050609.945643992] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050609.946491536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050609.947291480] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050609.948956134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050609.950125656] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050610.003698221] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914068 Long: -76.50349454 +[vectornav-1] [INFO] [1746050610.005658626] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.23900000000003, -0.834, -2.506) +[mux-7] [INFO] [1746050610.045281828] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050610.046111701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050610.046834184] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050610.048436811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050610.049535154] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050610.085397004] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050610.087544479] [sailbot.teensy]: Wind angle: 237 +[trim_sail-4] [INFO] [1746050610.087939838] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050610.088957000] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050610.089963091] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050610.090448973] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050610.090895741] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050610.145232295] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050610.145972935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050610.146848665] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050610.148393067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050610.149587372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050610.245528807] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050610.246391908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050610.247155669] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050610.249055090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050610.249546162] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050610.335172244] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050610.337539725] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050610.338652673] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050610.338708320] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050610.339784644] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050610.340700030] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050610.341704905] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050610.344377361] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050610.344955921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050610.345523506] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050610.346753694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050610.347874989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050610.445561866] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050610.446346539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050610.447277394] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050610.448750668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050610.449220258] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050610.503784755] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914162 Long: -76.50349818 +[vectornav-1] [INFO] [1746050610.505339007] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.173, 0.718, -0.216) +[mux-7] [INFO] [1746050610.545259841] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050610.546193343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050610.546919633] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050610.548473533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050610.549659839] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050610.585407576] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050610.587322933] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050610.588328574] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050610.587868126] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050610.589078384] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050610.589197270] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050610.590087694] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050610.645239369] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050610.645873171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050610.646771056] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050610.647908880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050610.648958141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050610.745386668] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050610.746103439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050610.747133842] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050610.748284321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050610.750420907] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050610.835822406] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050610.838695810] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050610.838882497] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746050610.839299357] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050610.839404130] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050610.839699476] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050610.840088258] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050610.844546735] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050610.845096230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050610.845962288] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050610.846866126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050610.848011753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050610.945682592] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050610.946354304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050610.947943089] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050610.949106865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050610.950447352] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050611.003157972] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914222 Long: -76.50350197 +[vectornav-1] [INFO] [1746050611.004485269] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (161.95399999999995, -1.544, 0.186) +[mux-7] [INFO] [1746050611.045213468] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050611.045787326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050611.046770450] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050611.047788987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050611.048931312] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050611.085275656] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050611.087082934] [sailbot.teensy]: Wind angle: 223 +[trim_sail-4] [INFO] [1746050611.087552649] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050611.088026814] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050611.088946941] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050611.089785730] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050611.089892210] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050611.145284715] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050611.145827373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050611.146825503] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050611.147856856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050611.149013338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050611.245460410] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050611.246212042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050611.247102797] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050611.248286566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050611.248830608] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050611.335403415] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050611.337794420] [sailbot.teensy]: Wind angle: 226 +[trim_sail-4] [INFO] [1746050611.338063593] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050611.338742904] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050611.339236729] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050611.339658488] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050611.340539647] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050611.344363900] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050611.344949797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050611.345489211] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050611.346670960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050611.347700067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050611.445036280] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050611.445989105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050611.446642006] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050611.448380338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050611.448910415] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050611.503122393] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914277 Long: -76.50350529 +[vectornav-1] [INFO] [1746050611.504479025] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.94899999999996, 2.52, -0.139) +[mux-7] [INFO] [1746050611.544880735] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050611.545683168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050611.546066303] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050611.547458350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050611.548417630] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050611.585413245] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050611.587455723] [sailbot.teensy]: Wind angle: 230 +[teensy-2] [INFO] [1746050611.588786433] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050611.588007650] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050611.588349353] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050611.589731759] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050611.590563095] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050611.644534763] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050611.645105193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050611.645809896] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050611.646858552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050611.648006356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050611.744815564] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050611.745445042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050611.746053011] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050611.747306034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050611.749076506] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050611.835657145] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050611.837927549] [sailbot.teensy]: Wind angle: 222 +[trim_sail-4] [INFO] [1746050611.838846691] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050611.839423260] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050611.839433692] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050611.839820679] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050611.840221549] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050611.844842123] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050611.844993205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050611.846129341] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050611.846673924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050611.847714998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050611.945429764] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050611.946084391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050611.947062867] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050611.948502712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050611.949048850] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050612.003633609] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914303 Long: -76.50350805 +[vectornav-1] [INFO] [1746050612.005154777] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.58799999999997, -4.953, 0.959) +[mux-7] [INFO] [1746050612.045224583] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050612.045789802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050612.046569364] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050612.047691250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050612.048731079] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050612.085374361] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050612.087858919] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050612.088502013] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050612.089065677] [sailbot.teensy]: Wind angle: 221 +[teensy-2] [INFO] [1746050612.090018375] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050612.090864260] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050612.091713229] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050612.145442607] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050612.146253466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050612.147417151] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050612.148466495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050612.149662760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050612.245475366] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050612.246100292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050612.247263454] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050612.248618273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050612.249383896] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050612.335308180] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050612.337803734] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746050612.337844309] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050612.339145473] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050612.339144593] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050612.340079235] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050612.340964811] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050612.344381538] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050612.344876926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050612.345497448] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050612.346581287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050612.347646262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050612.445259919] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050612.446174620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050612.446959195] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050612.448660722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050612.449218924] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050612.503285735] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914427 Long: -76.50351062 +[vectornav-1] [INFO] [1746050612.504673662] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.015, 6.513, 1.864) +[mux-7] [INFO] [1746050612.545143617] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050612.546003306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050612.546581833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050612.548082487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050612.549218996] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050612.585532850] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050612.587737245] [sailbot.teensy]: Wind angle: 220 +[teensy-2] [INFO] [1746050612.588770224] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050612.587970552] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050612.589378565] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050612.589642594] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050612.590579352] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050612.645238150] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050612.646261091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050612.646793337] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050612.649183896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050612.650317243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050612.745378839] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050612.746196282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050612.746936180] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050612.748216954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050612.748713055] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050612.835390189] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050612.837857205] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050612.838451865] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050612.838957506] [sailbot.teensy]: Wind angle: 218 +[teensy-2] [INFO] [1746050612.839912201] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050612.840776850] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050612.841603711] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050612.844317091] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050612.844897155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050612.845804989] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050612.846622370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050612.847682127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050612.945661351] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050612.946264093] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050612.948557342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746050612.947838403] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050612.949417347] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050613.003165221] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914393 Long: -76.50351223 +[vectornav-1] [INFO] [1746050613.004381986] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (155.44000000000005, -3.699, 0.312) +[mux-7] [INFO] [1746050613.045081267] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050613.045609898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050613.046448639] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050613.047783002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050613.048941990] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050613.085479340] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050613.087952599] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746050613.088645491] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050613.088960388] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050613.089896571] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050613.090643030] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050613.090783023] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050613.144749842] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050613.145595828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050613.146046145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050613.147533429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050613.148552447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050613.244978844] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050613.246305009] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050613.247120570] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050613.248176129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050613.248607645] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050613.335580451] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050613.337984033] [sailbot.teensy]: Wind angle: 222 +[trim_sail-4] [INFO] [1746050613.338048675] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050613.338954902] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050613.339623191] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050613.339657646] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050613.340018120] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050613.344436706] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050613.345007436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050613.345700897] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050613.346810188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050613.347845640] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050613.445140353] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050613.445960183] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050613.446610261] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050613.447653569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050613.448229289] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050613.503833325] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914434 Long: -76.50351365 +[vectornav-1] [INFO] [1746050613.505429351] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (151.00099999999998, 1.012, 1.389) +[mux-7] [INFO] [1746050613.545228375] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050613.545966380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050613.546808637] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050613.548216092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050613.549366256] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050613.585396800] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050613.587363346] [sailbot.teensy]: Wind angle: 228 +[teensy-2] [INFO] [1746050613.588394813] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050613.589301423] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050613.590180823] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746050613.589454072] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050613.589803167] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050613.644501347] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050613.645013379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050613.645651703] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050613.646702810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050613.647765482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050613.745269234] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050613.745920096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050613.746985949] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050613.747946780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050613.749185097] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050613.835207933] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050613.837476156] [sailbot.teensy]: Wind angle: 214 +[trim_sail-4] [INFO] [1746050613.837627672] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050613.838438301] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050613.839120186] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050613.839251932] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050613.839621225] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050613.844397467] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050613.844801223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050613.845590984] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050613.846504221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050613.847557094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050613.945192776] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050613.946149116] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050613.946695979] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050613.948414349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050613.948923746] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050614.002293539] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914498 Long: -76.50351536 +[vectornav-1] [INFO] [1746050614.003286476] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (147.106, -0.083, 4.99) +[mux-7] [INFO] [1746050614.043656797] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050614.044067409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050614.044179972] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050614.045068529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050614.045666622] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050614.084412090] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050614.085302626] [sailbot.teensy]: Wind angle: 211 +[trim_sail-4] [INFO] [1746050614.085912778] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050614.086862809] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050614.087103204] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050614.087848065] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050614.088435539] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050614.145332515] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050614.146087096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050614.146935043] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050614.149384508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050614.150571961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050614.244953642] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050614.245857482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050614.246284242] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050614.247721986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050614.248805232] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050614.335369489] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050614.337151667] [sailbot.teensy]: Wind angle: 209 +[trim_sail-4] [INFO] [1746050614.338016148] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050614.338806295] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050614.339187461] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050614.340333025] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050614.341076569] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050614.344455021] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050614.344937459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050614.345557554] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050614.346637227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050614.347786565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050614.445029658] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050614.445629244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050614.446387897] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050614.447538225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050614.448083230] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050614.502450809] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914559 Long: -76.50351594 +[vectornav-1] [INFO] [1746050614.503497822] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (144.85899999999998, 2.612, 1.997) +[mux-7] [INFO] [1746050614.544755605] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050614.545373140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050614.546008514] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050614.547167563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050614.548288360] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050614.585362527] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050614.587133435] [sailbot.teensy]: Wind angle: 211 +[trim_sail-4] [INFO] [1746050614.587684511] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050614.588052017] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050614.588479893] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050614.588971166] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050614.589859845] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050614.645139440] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050614.645651386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050614.646616249] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050614.647809401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050614.649071758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050614.744982673] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050614.745666385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050614.746322937] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050614.747600586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050614.748463439] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050614.835406917] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050614.837799741] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050614.837621451] [sailbot.teensy]: Wind angle: 212 +[mux-7] [INFO] [1746050614.839130948] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050614.839478002] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050614.839882497] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050614.840258710] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050614.844378707] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050614.845557630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050614.845823485] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050614.847352794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050614.848490897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050614.945496860] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050614.946430877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050614.947037877] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050614.948973738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050614.950031712] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050615.003200151] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691452 Long: -76.50351685 +[vectornav-1] [INFO] [1746050615.004626962] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (142.45100000000002, -5.486, 2.063) +[mux-7] [INFO] [1746050615.045152202] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050615.046103716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050615.046481048] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050615.048082287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050615.049147811] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050615.085413892] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050615.087804177] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050615.087846954] [sailbot.teensy]: Wind angle: 216 +[teensy-2] [INFO] [1746050615.088883229] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050615.089003486] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050615.089774450] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050615.090463079] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050615.144891665] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050615.145621068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050615.146202530] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050615.147697420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050615.148745503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050615.245045058] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050615.245752438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050615.246709199] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050615.247841234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050615.248839979] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050615.335337844] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050615.337617629] [sailbot.teensy]: Wind angle: 216 +[teensy-2] [INFO] [1746050615.338617442] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050615.337682050] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050615.339260363] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050615.339502899] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050615.340235082] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050615.344263184] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050615.345072533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050615.345426099] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050615.346831987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050615.347920379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050615.444955478] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050615.445737576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050615.446508102] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050615.447564472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050615.448685255] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050615.504301129] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691461 Long: -76.50351791 +[vectornav-1] [INFO] [1746050615.505852618] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (139.00900000000001, 2.921, 4.369) +[mux-7] [INFO] [1746050615.545158244] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050615.546009063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050615.546714660] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050615.548308102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050615.549444728] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050615.585218676] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050615.586932275] [sailbot.teensy]: Wind angle: 215 +[trim_sail-4] [INFO] [1746050615.587437038] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050615.587881283] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050615.588749067] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050615.588790544] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050615.589680092] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050615.644671838] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050615.645492646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050615.645886648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050615.647660128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050615.648788004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050615.744851381] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050615.745705988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050615.746347120] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050615.747769104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050615.748803627] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050615.835336710] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050615.837494151] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050615.838281498] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050615.838380235] [sailbot.teensy]: Wind angle: 212 +[teensy-2] [INFO] [1746050615.838901377] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050615.839297999] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050615.839882428] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050615.844441305] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050615.844997570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050615.845582710] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050615.846747419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050615.847824660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050615.945230833] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050615.946544012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050615.946772615] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050615.948600768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050615.949716693] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050616.003355370] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914633 Long: -76.50351839 +[vectornav-1] [INFO] [1746050616.005160709] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (137.01800000000003, 0.979, 2.88) +[mux-7] [INFO] [1746050616.045141300] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050616.046239685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050616.046550448] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050616.048774000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050616.049867894] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050616.085411685] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050616.087669796] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050616.088177768] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050616.088448109] [sailbot.teensy]: Wind angle: 202 +[teensy-2] [INFO] [1746050616.089656690] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050616.090575447] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050616.091416211] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050616.145171561] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050616.145899421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050616.146731230] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050616.147955105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050616.149054811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050616.245188550] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050616.245934175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050616.246776137] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050616.248205766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050616.249412793] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050616.335294210] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050616.337695014] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050616.338755403] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050616.339635986] [sailbot.teensy]: Wind angle: 202 +[teensy-2] [INFO] [1746050616.340560499] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050616.341424159] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050616.342267236] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050616.344324350] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050616.344840240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050616.345427119] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050616.346541877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050616.347564359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050616.445276657] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050616.446044418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050616.446774821] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050616.448067857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050616.449306470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050616.497389986] [sailbot.mux]: controller_app rudder angle: -8 +[vectornav-1] [INFO] [1746050616.502463663] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691461 Long: -76.50351812 +[vectornav-1] [INFO] [1746050616.503599329] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (134.298, -1.407, 4.563) +[mux-7] [INFO] [1746050616.544999548] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050616.545722536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050616.546344065] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050616.547732216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050616.548875512] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050616.585570401] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050616.588057112] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050616.588400269] [sailbot.teensy]: Wind angle: 205 +[teensy-2] [INFO] [1746050616.589486880] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050616.589736065] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050616.590403328] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050616.591298068] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050616.644984502] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050616.645974446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050616.646338473] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050616.647933090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050616.648997745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050616.745281409] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050616.746089735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050616.746902558] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050616.747973697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050616.748427859] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050616.835276095] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050616.837027933] [sailbot.teensy]: Wind angle: 207 +[trim_sail-4] [INFO] [1746050616.837480520] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050616.838002029] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050616.838934490] [sailbot.teensy]: Actual tail angle: 17 +[mux-7] [INFO] [1746050616.838956820] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050616.839880149] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050616.844549740] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050616.845249026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050616.845726589] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050616.847038278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050616.848108521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050616.945389738] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050616.946309007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050616.947134388] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050616.949004852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050616.949606860] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050617.003800068] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914594 Long: -76.50351817 +[vectornav-1] [INFO] [1746050617.006109517] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (131.16500000000002, 0.462, 3.651) +[mux-7] [INFO] [1746050617.045268068] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050617.045813700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050617.046670276] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050617.048301710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050617.049459730] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050617.085425389] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050617.087690859] [sailbot.teensy]: Wind angle: 197 +[teensy-2] [INFO] [1746050617.088746489] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050617.089248871] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050617.089676813] [sailbot.teensy]: Actual tail angle: 17 +[mux-7] [INFO] [1746050617.090176741] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050617.090616927] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050617.145052672] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050617.146020863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050617.146426985] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050617.147894176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050617.148920974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050617.245256261] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050617.246245689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050617.247126546] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050617.247846073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050617.248417165] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050617.335442769] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050617.337849206] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050617.338184458] [sailbot.teensy]: Wind angle: 196 +[mux-7] [INFO] [1746050617.339035245] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050617.339200869] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050617.339700440] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050617.340064086] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050617.344449162] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050617.345266593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050617.345605564] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050617.347059876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050617.348119312] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050617.445073083] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050617.445874722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050617.446403335] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050617.447726232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050617.448206296] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050617.503308989] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914584 Long: -76.50351813 +[vectornav-1] [INFO] [1746050617.504512789] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (127.57, 2.464, 6.085) +[mux-7] [INFO] [1746050617.545234605] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050617.546239692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050617.546791523] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050617.548308833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050617.549386162] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050617.585249423] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050617.587240331] [sailbot.teensy]: Wind angle: 196 +[trim_sail-4] [INFO] [1746050617.587546328] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050617.588122856] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050617.588708459] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050617.589102225] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050617.589998131] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050617.644918915] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050617.645442716] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050617.647192044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[mux-7] [INFO] [1746050617.646279364] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050617.647839580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050617.744980462] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050617.745928177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050617.746378506] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050617.748529127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050617.749651121] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050617.835384152] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050617.838143212] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050617.838405636] [sailbot.teensy]: Wind angle: 193 +[teensy-2] [INFO] [1746050617.839355665] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050617.838983341] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050617.839773463] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050617.840160999] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050617.844416954] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050617.844855661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050617.845524227] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050617.846548942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050617.847569322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050617.945453768] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050617.946144963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050617.946987405] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050617.948437319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050617.949465919] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050618.003606014] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914531 Long: -76.5035178 +[vectornav-1] [INFO] [1746050618.005698781] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (123.48399999999998, -3.184, 4.094) +[mux-7] [INFO] [1746050618.045094421] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050618.045907763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050618.046458483] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050618.047916046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050618.048937297] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050618.085269783] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050618.087694403] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050618.087946897] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050618.088613170] [sailbot.teensy]: Wind angle: 188 +[teensy-2] [INFO] [1746050618.089736005] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050618.090609750] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050618.091414385] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050618.145079678] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050618.145899787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050618.147064715] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050618.148308842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050618.149410587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050618.245006017] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050618.245725784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050618.246523684] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050618.247710699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050618.248852819] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050618.335421453] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050618.337289377] [sailbot.teensy]: Wind angle: 187 +[teensy-2] [INFO] [1746050618.338235494] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050618.337823967] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050618.339348577] [sailbot.teensy]: Actual tail angle: 17 +[mux-7] [INFO] [1746050618.340314255] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050618.340631837] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050618.344296939] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050618.344857196] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050618.345387735] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050618.346545545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050618.347604199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050618.445370760] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050618.446450806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050618.447278737] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050618.448872395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050618.450166430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050618.477676389] [sailbot.mux]: controller_app rudder angle: -9 +[vectornav-1] [INFO] [1746050618.503204158] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691451 Long: -76.5035179 +[vectornav-1] [INFO] [1746050618.504980370] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (121.38400000000001, 2.377, 4.22) +[mux-7] [INFO] [1746050618.545066171] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050618.545977991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050618.546446412] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050618.548002422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050618.549022483] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050618.585395536] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050618.587791315] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050618.587909122] [sailbot.teensy]: Wind angle: 187 +[teensy-2] [INFO] [1746050618.588935582] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050618.589174983] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050618.589817500] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050618.590719794] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050618.645226475] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050618.645969915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050618.646708639] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050618.648078098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050618.648686301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050618.745140672] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050618.746058436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050618.746750938] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050618.748438983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050618.749623509] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050618.835507709] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050618.838257533] [sailbot.teensy]: Wind angle: 186 +[trim_sail-4] [INFO] [1746050618.838682443] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050618.838881133] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050618.839278459] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050618.839662932] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050618.839747978] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050618.844410853] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050618.845002451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050618.845627022] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050618.846872198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050618.847911428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050618.945222408] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050618.945966711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050618.946708709] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050618.947885736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050618.948338957] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050619.003581217] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914446 Long: -76.50351757 +[vectornav-1] [INFO] [1746050619.005264609] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (117.19299999999998, -2.89, 4.733) +[mux-7] [INFO] [1746050619.044906920] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050619.045572148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050619.046161523] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050619.047617845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050619.048732762] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050619.085478322] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050619.087268056] [sailbot.teensy]: Wind angle: 183 +[trim_sail-4] [INFO] [1746050619.087812678] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050619.088262131] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050619.089209901] [sailbot.teensy]: Actual tail angle: 16 +[mux-7] [INFO] [1746050619.089615236] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050619.090074235] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050619.145243984] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050619.146684381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050619.146905968] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050619.149278146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050619.150389439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050619.245267979] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050619.246054209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050619.247395795] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050619.248270043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050619.249387838] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050619.335408039] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050619.337306236] [sailbot.teensy]: Wind angle: 180 +[trim_sail-4] [INFO] [1746050619.337792752] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050619.339248924] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050619.339312043] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050619.340666244] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050619.341536417] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050619.344395261] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050619.344911931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050619.345507104] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050619.346627451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050619.347653889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050619.445500416] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050619.446517740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050619.447288342] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050619.448894405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050619.450113306] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050619.503125088] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914447 Long: -76.50351721 +[vectornav-1] [INFO] [1746050619.504390782] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (114.69299999999998, 0.981, 3.479) +[mux-7] [INFO] [1746050619.544896641] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050619.545696587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050619.546163510] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050619.547594153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050619.548770002] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050619.585401824] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050619.587718939] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050619.588193894] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050619.588345403] [sailbot.teensy]: Wind angle: 179 +[teensy-2] [INFO] [1746050619.589355060] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050619.590227535] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050619.591068027] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050619.645653891] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050619.647776650] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050619.646337311] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050619.648095921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050619.649236300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050619.745093436] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050619.745847387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050619.746496181] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050619.747975239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050619.748625885] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050619.835485947] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050619.838031649] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050619.838392524] [sailbot.teensy]: Wind angle: 179 +[teensy-2] [INFO] [1746050619.839313270] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050619.839356020] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050619.840284189] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050619.841264017] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050619.844459508] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050619.844956858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050619.845601115] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050619.846704373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050619.847715959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050619.945043725] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050619.945981802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050619.946435290] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050619.948364004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050619.948824971] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050620.003467913] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691442 Long: -76.50351663 +[vectornav-1] [INFO] [1746050620.005108637] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (110.51100000000002, 0.852, 5.584) +[mux-7] [INFO] [1746050620.044795455] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050620.045403392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050620.045950880] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050620.047148056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050620.047913794] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050620.085245317] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050620.087505244] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050620.087893782] [sailbot.teensy]: Wind angle: 177 +[mux-7] [INFO] [1746050620.088343694] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050620.088981016] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050620.090077089] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050620.090943139] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050620.144715086] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050620.145314092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050620.145861028] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050620.147151078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050620.148322318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050620.245050633] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050620.245711405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050620.246459287] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050620.247695353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050620.248839087] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050620.335294646] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050620.337693059] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050620.338407450] [sailbot.teensy]: Wind angle: 172 +[teensy-2] [INFO] [1746050620.339485702] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050620.339726394] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050620.340445150] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050620.340903309] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050620.344376638] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050620.344900720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050620.345452572] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050620.346565731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050620.347716759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050620.445240174] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050620.446161445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050620.447045892] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050620.448282990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050620.449454145] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050620.503358679] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914351 Long: -76.50351607 +[vectornav-1] [INFO] [1746050620.505044140] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (105.26299999999998, -1.187, 5.454) +[mux-7] [INFO] [1746050620.545218827] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050620.546204039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050620.546697825] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050620.548374784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050620.549528239] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050620.585411822] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050620.587555104] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746050620.588067871] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050620.588600295] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050620.589530183] [sailbot.teensy]: Actual tail angle: 16 +[mux-7] [INFO] [1746050620.589642234] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050620.590489269] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050620.645024275] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050620.645793605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050620.646417058] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050620.648143460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050620.649309169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050620.745042110] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050620.745719606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050620.746558869] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050620.747903162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050620.748712546] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050620.835372820] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050620.837735242] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050620.838156353] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746050620.839111582] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050620.839391776] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050620.839685793] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050620.840086169] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050620.844589402] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050620.845285837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050620.845872776] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050620.847002624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050620.848168927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050620.945310815] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050620.946114165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050620.946818503] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050620.948380701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050620.949714338] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050621.003338116] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914283 Long: -76.50351587 +[vectornav-1] [INFO] [1746050621.004877342] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (98.71600000000001, -0.254, 4.686) +[mux-7] [INFO] [1746050621.045317952] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050621.046366377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050621.046832680] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050621.048473021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050621.049638321] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050621.085460688] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050621.087882674] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050621.089040502] [sailbot.teensy]: Wind angle: 164 +[mux-7] [INFO] [1746050621.089353158] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050621.090381473] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050621.091362185] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050621.092250242] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050621.145163486] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050621.145826677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050621.146752256] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050621.147938622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050621.149044960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050621.245170867] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050621.245877637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050621.246568532] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050621.247818303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050621.249008612] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050621.335803128] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050621.338569190] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050621.339092126] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050621.339245720] [sailbot.teensy]: Wind angle: 157 +[teensy-2] [INFO] [1746050621.339698037] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050621.340070364] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050621.340435237] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050621.344366702] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050621.344911174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050621.345735031] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050621.346715662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050621.348122196] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050621.445102446] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050621.445736028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050621.446749005] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050621.447724908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050621.448355037] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050621.502345043] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914243 Long: -76.5035159 +[vectornav-1] [INFO] [1746050621.503422985] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (90.43599999999998, -1.809, 5.185) +[mux-7] [INFO] [1746050621.505177844] [sailbot.mux]: controller_app rudder angle: -10 +[mux-7] [INFO] [1746050621.545040612] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050621.545667946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050621.546490552] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050621.547668019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050621.548719354] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050621.585501006] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050621.587522472] [sailbot.teensy]: Wind angle: 155 +[teensy-2] [INFO] [1746050621.588618786] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050621.588658684] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050621.589576065] [sailbot.teensy]: Actual tail angle: 16 +[mux-7] [INFO] [1746050621.590237639] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050621.590435971] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050621.645079592] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050621.645837437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050621.646651942] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050621.649404838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050621.650667406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050621.745356096] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050621.745955896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050621.746925683] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050621.748035866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050621.749118599] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050621.835345459] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050621.837956222] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050621.837949339] [sailbot.teensy]: Wind angle: 149 +[mux-7] [INFO] [1746050621.838630265] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050621.838920684] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050621.839702470] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050621.840078837] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050621.844405451] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050621.844848353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050621.845545664] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050621.846627006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050621.847755203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050621.945550497] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050621.946408200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050621.947428417] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050621.948991341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050621.950263064] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050622.003622121] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914227 Long: -76.50351572 +[vectornav-1] [INFO] [1746050622.005145831] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (81.51100000000002, 4.904, 8.776) +[mux-7] [INFO] [1746050622.045360475] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050622.046133415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050622.046935153] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050622.048497815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050622.049518685] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050622.085447159] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050622.088013718] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050622.088400588] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050622.088909718] [sailbot.teensy]: Wind angle: 143 +[teensy-2] [INFO] [1746050622.089903140] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050622.090860480] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050622.091682670] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050622.145395876] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050622.145625131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050622.146853989] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050622.147570146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050622.148650702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050622.245606631] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050622.246115431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050622.247225735] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050622.248458302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050622.249027611] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050622.335593763] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050622.337611009] [sailbot.teensy]: Wind angle: 141 +[trim_sail-4] [INFO] [1746050622.338162006] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050622.338625046] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050622.339530572] [sailbot.teensy]: Actual tail angle: 15 +[mux-7] [INFO] [1746050622.340016831] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050622.340445026] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050622.344546410] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050622.345132960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050622.345699580] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050622.346882983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050622.348045420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050622.445613994] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050622.446202891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050622.447329997] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050622.448503818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 +[teensy-2] [INFO] [1746050622.449788916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050622.476442878] [sailbot.mux]: controller_app rudder angle: -12 +[vectornav-1] [INFO] [1746050622.502312976] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914102 Long: -76.50351417 +[vectornav-1] [INFO] [1746050622.503303441] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (68.78399999999999, -4.881, 13.56) +[mux-7] [INFO] [1746050622.545241801] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050622.546037046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050622.546752734] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050622.548408339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050622.549443337] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050622.585379189] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050622.587788131] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050622.588024133] [sailbot.teensy]: Wind angle: 134 +[mux-7] [INFO] [1746050622.588782321] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050622.589204473] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050622.590092717] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050622.590956847] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050622.645113225] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050622.645699155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050622.646591053] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050622.647669484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050622.649649214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050622.745063701] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050622.745714063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050622.746455419] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050622.747638600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050622.748713847] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050622.835502238] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050622.837863540] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050622.838472288] [sailbot.teensy]: Wind angle: 131 +[mux-7] [INFO] [1746050622.839028191] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050622.839823769] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050622.840701995] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050622.841081764] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050622.844483386] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050622.844892485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050622.845593816] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050622.846564867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050622.847750980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050622.944842200] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050622.945298251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050622.946061487] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050622.947240857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050622.948625100] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050623.003330231] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914084 Long: -76.50351372 +[vectornav-1] [INFO] [1746050623.005413427] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (63.58800000000002, -1.055, 13.06) +[mux-7] [INFO] [1746050623.045368227] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050623.046254161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050623.046958927] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050623.048510758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050623.049664615] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050623.085522561] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050623.087811990] [sailbot.teensy]: Wind angle: 127 +[trim_sail-4] [INFO] [1746050623.087872957] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050623.088341911] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050623.089092104] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050623.090014891] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050623.090906907] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050623.145576549] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050623.146557675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050623.147352576] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050623.148682705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050623.149242239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050623.244749818] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050623.245372739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050623.245899754] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050623.247276114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050623.248414421] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050623.335529903] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050623.338194754] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050623.338641882] [sailbot.teensy]: Wind angle: 124 +[teensy-2] [INFO] [1746050623.339572217] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050623.339715354] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050623.340523369] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050623.340979529] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050623.344317295] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050623.344938572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050623.345824758] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050623.346674830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050623.347928050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050623.445541577] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050623.446328834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050623.447123813] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050623.448949737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050623.450211229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050623.475677297] [sailbot.mux]: controller_app rudder angle: -13 +[vectornav-1] [INFO] [1746050623.502314986] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914141 Long: -76.50351195 +[vectornav-1] [INFO] [1746050623.503307111] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.21199999999999, 0.712, 15.727) +[mux-7] [INFO] [1746050623.544826572] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050623.545478746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050623.545974246] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050623.547208975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050623.548394961] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050623.585450574] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050623.587293248] [sailbot.teensy]: Wind angle: 123 +[trim_sail-4] [INFO] [1746050623.588001451] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050623.588282801] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050623.589199988] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050623.590080941] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050623.590078973] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746050623.645311658] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050623.645909201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050623.646908449] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050623.648434377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050623.649755341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050623.745551940] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050623.746594842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050623.747192522] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050623.748960431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050623.750073570] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050623.835968390] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050623.839244659] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050623.839757057] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050623.840485994] [sailbot.teensy]: Wind angle: 123 +[teensy-2] [INFO] [1746050623.841559651] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050623.841974819] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050623.842279556] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050623.844580816] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050623.845103656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050623.845681537] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050623.846768996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050623.847987999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050623.945534798] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050623.946170186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050623.947546896] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050623.948496197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050623.949001093] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050624.003842365] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914141 Long: -76.50351016 +[vectornav-1] [INFO] [1746050624.005899735] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.05200000000002, -1.798, 18.914) +[mux-7] [INFO] [1746050624.045440576] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050624.046056106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050624.046960986] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050624.048365632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050624.049416832] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050624.085405154] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050624.087567018] [sailbot.teensy]: Wind angle: 122 +[trim_sail-4] [INFO] [1746050624.087760451] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050624.088623792] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050624.089395478] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050624.089523472] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050624.090456292] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050624.145382120] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050624.145795414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050624.147072036] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050624.147787581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050624.148883162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050624.245567846] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050624.246177213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050624.247572082] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050624.248386750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050624.248936627] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050624.335455276] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050624.337855110] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050624.338105650] [sailbot.teensy]: Wind angle: 120 +[teensy-2] [INFO] [1746050624.339035784] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050624.339887341] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050624.339911452] [sailbot.teensy]: Actual tail angle: 12 +[teensy-2] [INFO] [1746050624.340885568] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050624.344509998] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050624.345169186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050624.345633582] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050624.346892364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050624.348053409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050624.445592693] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050624.446361706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050624.447324391] [sailbot.mux]: Published rudder angle from controller_app: -13 +[teensy-2] [INFO] [1746050624.448684059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 +[teensy-2] [INFO] [1746050624.449972763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050624.486733409] [sailbot.mux]: controller_app rudder angle: 3 +[vectornav-1] [INFO] [1746050624.503271781] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914198 Long: -76.50350811 +[vectornav-1] [INFO] [1746050624.504648142] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.21500000000003, -1.14, 18.818) +[mux-7] [INFO] [1746050624.545158003] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050624.545731866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050624.546745664] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050624.547802338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050624.548867071] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050624.585637586] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050624.587892791] [sailbot.teensy]: Wind angle: 118 +[trim_sail-4] [INFO] [1746050624.588485244] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050624.588931583] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050624.589821395] [sailbot.teensy]: Actual tail angle: 12 +[mux-7] [INFO] [1746050624.590641802] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050624.590690882] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050624.645081092] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050624.645838212] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050624.646509663] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050624.648003311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050624.649179428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050624.745558374] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050624.746382077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050624.747252851] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050624.748385834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050624.748894613] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050624.835312086] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050624.837119956] [sailbot.teensy]: Wind angle: 119 +[trim_sail-4] [INFO] [1746050624.837719410] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050624.838058159] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050624.838804154] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050624.838933817] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050624.839787730] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050624.844451103] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050624.844918557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050624.845550509] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050624.846598261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050624.847598100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050624.945482454] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050624.946191162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050624.947100446] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050624.947996357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050624.948484533] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050625.002549812] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914297 Long: -76.50350621 +[vectornav-1] [INFO] [1746050625.003651114] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (61.26600000000002, -0.989, 15.324) +[mux-7] [INFO] [1746050625.045074997] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050625.045973812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050625.046458148] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050625.047839089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050625.048999717] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050625.085424679] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050625.087731691] [sailbot.teensy]: Wind angle: 123 +[trim_sail-4] [INFO] [1746050625.088009513] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050625.088707019] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050625.089029637] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050625.089624561] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050625.090628103] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050625.144958925] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050625.145665485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050625.146350724] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050625.147818106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050625.148905797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050625.245621815] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050625.246820372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050625.247193670] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050625.249136039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050625.250157849] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050625.335326359] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050625.337056233] [sailbot.teensy]: Wind angle: 130 +[trim_sail-4] [INFO] [1746050625.338081625] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050625.338906473] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050625.338991842] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050625.340258272] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050625.340658702] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050625.344440068] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050625.344926361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050625.345492917] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050625.346594480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050625.347624718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050625.445470688] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050625.446207732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050625.447636267] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050625.448580147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050625.449865953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050625.499080131] [sailbot.mux]: controller_app rudder angle: 1 +[vectornav-1] [INFO] [1746050625.502676428] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914453 Long: -76.50350512 +[vectornav-1] [INFO] [1746050625.504205338] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (67.36900000000003, 0.48, 12.015) +[mux-7] [INFO] [1746050625.545161305] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050625.546041685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050625.546679220] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050625.548012183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050625.549115360] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050625.585658573] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050625.588292437] [sailbot.teensy]: Wind angle: 132 +[trim_sail-4] [INFO] [1746050625.588534212] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050625.589281938] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050625.589776709] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050625.590216623] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050625.591056208] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050625.644716021] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050625.645403570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050625.645905440] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050625.647250835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050625.648281574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050625.745175831] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050625.746034495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050625.746579289] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050625.748049383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050625.749240992] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050625.835338070] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050625.837639668] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050625.838172150] [sailbot.teensy]: Wind angle: 133 +[mux-7] [INFO] [1746050625.838959289] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050625.839104258] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050625.839996435] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050625.840849531] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050625.844482316] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050625.845063609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050625.845646547] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050625.847011015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050625.848185837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050625.945543136] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050625.946508564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050625.947162408] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050625.948667150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050625.949174259] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050626.002424151] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914617 Long: -76.50350385 +[vectornav-1] [INFO] [1746050626.003556710] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (68.827, -0.769, 10.989) +[mux-7] [INFO] [1746050626.045003576] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050626.045735021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050626.046267206] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050626.047653492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050626.048740746] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050626.085703774] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050626.088721535] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050626.089073646] [sailbot.teensy]: Wind angle: 136 +[mux-7] [INFO] [1746050626.089493645] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050626.090061657] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050626.090963261] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050626.091825624] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050626.144454485] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050626.145146295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050626.145580849] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050626.146878281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050626.147951998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050626.245335454] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050626.246155004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050626.246854428] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050626.248477680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050626.249492269] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050626.335313672] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050626.337988450] [sailbot.teensy]: Wind angle: 136 +[trim_sail-4] [INFO] [1746050626.338077516] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050626.338573609] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050626.340032259] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050626.340938550] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050626.341810628] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050626.344240691] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050626.344794347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050626.345309132] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050626.346461947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050626.347496551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050626.445325276] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050626.446111654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050626.447680292] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050626.448328386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050626.448865950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050626.497880900] [sailbot.mux]: controller_app rudder angle: 0 +[vectornav-1] [INFO] [1746050626.502534080] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914792 Long: -76.5035031 +[vectornav-1] [INFO] [1746050626.503732080] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (69.13400000000001, -0.8, 11.553) +[mux-7] [INFO] [1746050626.544934531] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050626.545643749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050626.546300440] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050626.547594738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050626.548720992] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050626.585436010] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050626.587442866] [sailbot.teensy]: Wind angle: 137 +[trim_sail-4] [INFO] [1746050626.587971547] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050626.588572679] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050626.589512950] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050626.589692965] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050626.590387546] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050626.645280455] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050626.646047401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050626.646902143] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050626.648389682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050626.649216801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050626.744936940] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050626.745647680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050626.746348977] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050626.747678502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050626.748729994] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050626.835226998] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050626.837628933] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050626.838176243] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050626.838640806] [sailbot.teensy]: Wind angle: 138 +[teensy-2] [INFO] [1746050626.839641369] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050626.840506301] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050626.841349246] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050626.844335560] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050626.844985946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050626.845596264] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050626.846565389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050626.847596449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050626.945525216] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050626.946338327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050626.947312281] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050626.948113625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050626.948652846] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050627.002566204] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915006 Long: -76.50350094 +[vectornav-1] [INFO] [1746050627.004043331] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (66.05799999999999, -1.479, 13.723) +[mux-7] [INFO] [1746050627.045345471] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050627.046257293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050627.047184017] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050627.048081598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050627.048625674] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050627.085831327] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050627.088546669] [sailbot.teensy]: Wind angle: 137 +[trim_sail-4] [INFO] [1746050627.088612465] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050627.089709610] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050627.090220452] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050627.090609534] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050627.091504844] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050627.145143338] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050627.145908294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050627.146613002] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050627.148675069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050627.149828323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050627.245561833] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050627.246614706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050627.247178295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050627.248346230] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050627.248792345] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050627.335394853] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050627.337399291] [sailbot.teensy]: Wind angle: 134 +[teensy-2] [INFO] [1746050627.338397426] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050627.338116050] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050627.338458014] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050627.339308437] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050627.340238431] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050627.344296840] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050627.344904559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050627.345558210] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050627.346629435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050627.347648321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050627.445603037] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050627.446400386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050627.447192790] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050627.448852386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050627.450120767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050627.464977936] [sailbot.mux]: controller_app rudder angle: -5 +[vectornav-1] [INFO] [1746050627.503087700] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915255 Long: -76.50349946 +[vectornav-1] [INFO] [1746050627.504436952] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (66.27800000000002, 0.691, 14.026) +[mux-7] [INFO] [1746050627.545269929] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050627.546239250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050627.547376720] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050627.548785981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050627.549800203] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050627.585584254] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050627.588280364] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050627.588683765] [sailbot.teensy]: Wind angle: 134 +[teensy-2] [INFO] [1746050627.589706031] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050627.590479329] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050627.590646234] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050627.591528564] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050627.645259527] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050627.646083499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050627.646803632] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050627.648366521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050627.649529243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050627.744967863] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050627.745644937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050627.746141332] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050627.747523086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050627.748702033] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050627.835408169] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050627.837911804] [sailbot.teensy]: Wind angle: 133 +[trim_sail-4] [INFO] [1746050627.838110062] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050627.838714935] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050627.838797856] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050627.839120667] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050627.839507642] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050627.844540568] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050627.844993020] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050627.845733399] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050627.846656553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050627.847693977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050627.945455342] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050627.946255504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050627.947132578] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050627.948912816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050627.949537211] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050628.003689835] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915502 Long: -76.50349701 +[vectornav-1] [INFO] [1746050628.005539384] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (63.341999999999985, -2.139, 17.531) +[mux-7] [INFO] [1746050628.045006379] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050628.045651424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050628.046292449] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050628.047504255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050628.048629690] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050628.085418430] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050628.087128324] [sailbot.teensy]: Wind angle: 131 +[trim_sail-4] [INFO] [1746050628.087746297] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050628.088184310] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050628.089119558] [sailbot.teensy]: Actual tail angle: 20 +[mux-7] [INFO] [1746050628.089309580] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050628.089998090] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050628.144635132] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050628.145270354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050628.146013839] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050628.146994877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050628.148067912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050628.245082632] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050628.245864152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050628.246796610] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050628.247890487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050628.248919531] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050628.335343087] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050628.337502735] [sailbot.teensy]: Wind angle: 130 +[trim_sail-4] [INFO] [1746050628.337902690] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050628.338513389] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050628.339401854] [sailbot.teensy]: Actual tail angle: 20 +[mux-7] [INFO] [1746050628.339447328] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050628.340813599] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050628.344776089] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050628.345050945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050628.346038452] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050628.346754031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050628.348623399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050628.445630929] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050628.446486375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050628.447262865] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050628.448621302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050628.449148626] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050628.503374116] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915776 Long: -76.50349488 +[vectornav-1] [INFO] [1746050628.504856246] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (67.32100000000003, 0.022, 18.281) +[mux-7] [INFO] [1746050628.505054345] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746050628.544942061] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050628.546110050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050628.546666448] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050628.548343574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050628.549482454] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050628.585216266] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050628.586926142] [sailbot.teensy]: Wind angle: 133 +[teensy-2] [INFO] [1746050628.587775157] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050628.587339883] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050628.588605120] [sailbot.teensy]: Actual tail angle: 20 +[mux-7] [INFO] [1746050628.588599565] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050628.589484978] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050628.645058686] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050628.645519676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050628.646617632] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050628.647459826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050628.648723222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050628.745556593] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050628.746232149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050628.747641964] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050628.748599132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050628.749361848] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050628.835414678] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050628.837224788] [sailbot.teensy]: Wind angle: 134 +[trim_sail-4] [INFO] [1746050628.837679656] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050628.838199576] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050628.839202323] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050628.840231096] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050628.840380580] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050628.844478173] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050628.845350211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050628.845991672] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050628.847190250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050628.848461474] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050628.945200921] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050628.945928696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050628.946659653] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050628.948039964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050628.949284901] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050629.002494186] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916096 Long: -76.5034931 +[vectornav-1] [INFO] [1746050629.003511109] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (69.84800000000001, -1.358, 16.699) +[mux-7] [INFO] [1746050629.045064168] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050629.046024778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050629.046328676] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050629.047830492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050629.048325944] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050629.085404784] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050629.087699218] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050629.088392142] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050629.089050903] [sailbot.teensy]: Wind angle: 137 +[teensy-2] [INFO] [1746050629.090009497] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050629.090879774] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050629.091705340] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050629.144960387] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050629.145850545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050629.146529039] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050629.147707592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050629.148778093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050629.245540420] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050629.246304124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050629.247247845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050629.248253120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050629.248745949] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050629.335437868] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050629.337905556] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050629.339208905] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050629.339883128] [sailbot.teensy]: Wind angle: 134 +[teensy-2] [INFO] [1746050629.340814523] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050629.341659919] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050629.342553330] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050629.344371502] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050629.344889224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050629.345493605] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050629.346579797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050629.347756257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050629.445120256] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050629.445837350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050629.447028284] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050629.447991014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050629.449070711] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050629.503821087] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916397 Long: -76.50349154 +[vectornav-1] [INFO] [1746050629.505927541] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (70.423, 0.883, 15.396) +[mux-7] [INFO] [1746050629.545351679] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050629.546233152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050629.547480417] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050629.548496653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050629.549694030] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050629.585776877] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050629.588744237] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050629.589443063] [sailbot.teensy]: Wind angle: 139 +[teensy-2] [INFO] [1746050629.590449730] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050629.591196037] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050629.591313548] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050629.592219294] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050629.645112403] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050629.645782210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050629.646559701] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050629.647907951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050629.649117323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050629.745165521] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050629.745917078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050629.746972888] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050629.747561257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050629.748126767] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050629.835344534] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050629.837869147] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050629.838440843] [sailbot.teensy]: Wind angle: 141 +[mux-7] [INFO] [1746050629.838623928] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050629.838856388] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050629.839249818] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050629.839858510] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050629.844273957] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050629.844815537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050629.845816495] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050629.846614089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050629.847649258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050629.945421780] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050629.946388026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050629.947075368] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050629.948807597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050629.949369675] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050630.003270700] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916715 Long: -76.50349 +[vectornav-1] [INFO] [1746050630.004486552] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (70.20600000000002, -1.686, 13.544) +[mux-7] [INFO] [1746050630.045084925] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050630.045689534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050630.046429187] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050630.048214764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050630.049308136] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050630.085396511] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050630.087929830] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050630.088473174] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050630.088692956] [sailbot.teensy]: Wind angle: 137 +[teensy-2] [INFO] [1746050630.090156712] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050630.091043886] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050630.091945204] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050630.145170199] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050630.145896508] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050630.146528827] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050630.147776658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050630.148929887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050630.245460742] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050630.246241793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050630.247080467] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050630.248431168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050630.249651026] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050630.335462358] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050630.337931476] [sailbot.teensy]: Wind angle: 137 +[trim_sail-4] [INFO] [1746050630.338217300] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050630.338973182] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050630.339794300] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050630.339859708] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050630.340513653] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050630.344541248] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050630.345026987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050630.345960668] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050630.346928602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050630.348625934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050630.445587214] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050630.446134557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050630.447574051] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050630.448512022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050630.449858285] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050630.502697218] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46917063 Long: -76.50348805 +[vectornav-1] [INFO] [1746050630.503805372] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (68.66199999999998, 0.772, 12.366) +[mux-7] [INFO] [1746050630.544847192] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050630.545391228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050630.546071514] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050630.547216982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050630.548363144] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050630.585368045] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050630.587568732] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050630.588203472] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050630.588678994] [sailbot.teensy]: Wind angle: 138 +[teensy-2] [INFO] [1746050630.589571264] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050630.590317389] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050630.590679645] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050630.645056221] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050630.645618531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050630.646704968] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050630.647547971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050630.648816851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050630.745116189] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050630.745642892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050630.746728924] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050630.747495209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050630.748811095] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050630.835425134] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050630.837374582] [sailbot.teensy]: Wind angle: 137 +[trim_sail-4] [INFO] [1746050630.837922319] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050630.838323519] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050630.838549565] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050630.839241046] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050630.840116534] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050630.844370913] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050630.844992162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050630.845561119] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050630.846815848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050630.848046291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050630.945460154] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050630.946048302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050630.947232012] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050630.948258560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050630.949395423] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050631.003263844] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46917382 Long: -76.50348637 +[vectornav-1] [INFO] [1746050631.004786731] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (66.57299999999998, -1.141, 10.62) +[mux-7] [INFO] [1746050631.044836775] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050631.045427006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050631.046295687] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050631.047242861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050631.048429736] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050631.085294843] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050631.087760795] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050631.088047541] [sailbot.teensy]: Wind angle: 134 +[teensy-2] [INFO] [1746050631.089216868] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050631.089314678] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050631.090169685] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050631.091272278] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050631.144645052] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050631.145234159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050631.145790113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050631.146968908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050631.147986518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050631.245425531] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050631.246055788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050631.247079225] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050631.248381732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050631.249628948] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050631.335544098] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050631.338288580] [sailbot.teensy]: Wind angle: 137 +[trim_sail-4] [INFO] [1746050631.338479384] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050631.339613435] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050631.339653508] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050631.339999968] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050631.340389862] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050631.344469866] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050631.344916336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050631.345708006] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050631.346676930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050631.347852839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050631.445286836] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050631.445768062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050631.446820293] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050631.448043763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050631.448854371] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050631.502422479] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46917717 Long: -76.503484 +[vectornav-1] [INFO] [1746050631.503444048] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (64.37700000000001, -1.76, 12.265) +[mux-7] [INFO] [1746050631.545116161] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050631.545570837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050631.546512072] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050631.547505810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050631.548653057] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050631.585567712] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050631.587716548] [sailbot.teensy]: Wind angle: 137 +[teensy-2] [INFO] [1746050631.588592027] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050631.588622509] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050631.588873242] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050631.588986001] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050631.589367896] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050631.645233659] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050631.645838939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050631.646734656] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050631.647889971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050631.648943684] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050631.745333717] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050631.746294939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050631.746976270] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050631.748588506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050631.749139718] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050631.835379303] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050631.838078709] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050631.838422680] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050631.838862190] [sailbot.teensy]: Wind angle: 137 +[teensy-2] [INFO] [1746050631.839886306] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050631.840774998] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050631.841618442] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050631.844374089] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050631.845478191] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050631.845718764] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050631.847397981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050631.848538504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050631.945278309] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050631.946074686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050631.946954985] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050631.948078067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050631.949262681] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050632.003412043] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46917998 Long: -76.50348114 +[vectornav-1] [INFO] [1746050632.005193286] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (61.30200000000002, 2.307, 14.139) +[mux-7] [INFO] [1746050632.045205015] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050632.046038080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050632.046778500] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050632.048043656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050632.048777366] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050632.085401737] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050632.087444589] [sailbot.teensy]: Wind angle: 136 +[trim_sail-4] [INFO] [1746050632.088070358] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050632.088442872] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050632.089355693] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050632.089058206] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050632.090218777] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050632.145022419] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050632.145471010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050632.146559275] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050632.147405231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050632.148510733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050632.245099092] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050632.245621631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050632.246687404] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050632.247493655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050632.248417914] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050632.335210488] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050632.337735287] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050632.338116942] [sailbot.teensy]: Wind angle: 135 +[mux-7] [INFO] [1746050632.338302838] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050632.338815997] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050632.339185432] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050632.339532813] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050632.344397515] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050632.344914312] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050632.345613734] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050632.346586168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050632.347690731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050632.445353419] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050632.446128088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050632.447034670] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050632.448463659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050632.449581156] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050632.502735055] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46918312 Long: -76.50347805 +[vectornav-1] [INFO] [1746050632.503860493] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.08800000000002, -3.502, 16.305) +[mux-7] [INFO] [1746050632.545301090] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050632.546112419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050632.547137386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050632.548373430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050632.549574498] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050632.585400374] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050632.587330671] [sailbot.teensy]: Wind angle: 133 +[trim_sail-4] [INFO] [1746050632.587753027] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050632.589010983] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050632.589423709] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050632.589959646] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050632.590846675] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050632.645186295] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050632.645832704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050632.646685835] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050632.648214606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050632.648788400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050632.745276623] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050632.746439553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050632.747421882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050632.748885900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050632.749622800] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050632.835231180] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050632.837463411] [sailbot.teensy]: Wind angle: 131 +[trim_sail-4] [INFO] [1746050632.837723624] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050632.838335711] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050632.839039985] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050632.839442324] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050632.839794189] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050632.844541287] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050632.845214012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050632.845857234] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050632.847018869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050632.848044865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050632.945394959] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050632.946366338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050632.947057989] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050632.948892605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050632.950147720] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050633.003092021] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46918662 Long: -76.50347508 +[vectornav-1] [INFO] [1746050633.004536765] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.15100000000001, -1.234, 17.661) +[mux-7] [INFO] [1746050633.045243200] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050633.046048393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050633.046696147] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050633.048254786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050633.049403213] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050633.085262686] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050633.087331625] [sailbot.teensy]: Wind angle: 132 +[trim_sail-4] [INFO] [1746050633.087886036] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050633.088349743] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050633.089234537] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050633.089343584] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050633.090115061] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050633.144950866] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050633.145990376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050633.146339891] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050633.148035045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050633.149110627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050633.244818522] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050633.245591541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050633.246181499] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050633.247564987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050633.248116188] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050633.335440604] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050633.337856739] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050633.338442965] [sailbot.teensy]: Wind angle: 131 +[mux-7] [INFO] [1746050633.338984795] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050633.339610275] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050633.340542337] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050633.341030128] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050633.344442704] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050633.345037079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050633.345510153] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050633.346746269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050633.347960546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050633.445404151] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050633.446108876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050633.446966290] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050633.448218431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050633.448772924] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050633.502883117] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46919033 Long: -76.50347122 +[vectornav-1] [INFO] [1746050633.504599115] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.94400000000002, -0.194, 18.849) +[mux-7] [INFO] [1746050633.545143746] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050633.545802734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050633.546612469] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050633.547887916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050633.548970754] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050633.585226216] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050633.586851860] [sailbot.teensy]: Wind angle: 131 +[trim_sail-4] [INFO] [1746050633.587364528] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050633.587728433] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050633.588627727] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050633.589083141] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050633.589502557] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050633.645163747] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050633.645887209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050633.646644834] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050633.648465135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050633.649513810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050633.745617879] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050633.746798748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050633.747627137] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050633.748063407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050633.748532198] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050633.835781644] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050633.838517132] [sailbot.teensy]: Wind angle: 131 +[trim_sail-4] [INFO] [1746050633.839044657] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050633.839260547] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050633.839646905] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050633.839699033] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050633.840038678] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050633.844479683] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050633.844947551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050633.845587340] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050633.846693832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050633.847869159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050633.945700139] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050633.946419731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050633.947556509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050633.948296060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050633.948738568] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050634.003073901] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46919378 Long: -76.50346757 +[vectornav-1] [INFO] [1746050634.004443125] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.59100000000001, -1.422, 18.298) +[mux-7] [INFO] [1746050634.045172624] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050634.046055582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050634.046630325] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050634.048460624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050634.049652074] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050634.085253615] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050634.087035938] [sailbot.teensy]: Wind angle: 129 +[trim_sail-4] [INFO] [1746050634.087560080] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050634.087887086] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050634.087887334] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050634.088819848] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050634.089687661] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050634.144984031] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050634.145941912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050634.146347587] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050634.148143738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050634.149219507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050634.245557589] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050634.246353705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050634.247505487] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050634.247956776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050634.248513205] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050634.335353424] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050634.337675600] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050634.338000536] [sailbot.teensy]: Wind angle: 117 +[teensy-2] [INFO] [1746050634.338622229] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050634.338661409] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050634.339041213] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050634.339429376] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050634.344331231] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050634.344920871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050634.345393159] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050634.346637215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050634.347684991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050634.445329613] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050634.446284246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050634.447044917] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050634.448779799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050634.449833396] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050634.503382266] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46919751 Long: -76.50346453 +[vectornav-1] [INFO] [1746050634.505035230] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.90100000000001, -0.165, 18.012) +[mux-7] [INFO] [1746050634.545149228] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050634.545902566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050634.546611702] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050634.548129485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050634.549150814] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050634.585371145] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050634.587284313] [sailbot.teensy]: Wind angle: 116 +[trim_sail-4] [INFO] [1746050634.587672504] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050634.588284654] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050634.589161398] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050634.589220528] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050634.590030143] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050634.645179230] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050634.645990502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050634.646790572] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050634.647735881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050634.648269773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050634.745358162] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050634.746303057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050634.747278951] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050634.748543122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050634.749136296] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050634.835289612] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050634.836955817] [sailbot.teensy]: Wind angle: 122 +[teensy-2] [INFO] [1746050634.837824796] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050634.837481152] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050634.838599195] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050634.838665806] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050634.839507456] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050634.844325093] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050634.844892192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050634.845629621] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050634.846632341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050634.847684023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050634.944921958] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050634.945552930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050634.946130787] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050634.947410874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050634.948618192] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050635.002515450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46920153 Long: -76.50346079 +[vectornav-1] [INFO] [1746050635.003557991] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.24799999999999, -0.476, 17.567) +[mux-7] [INFO] [1746050635.044753177] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050635.045378093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050635.045874217] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050635.047307813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050635.048445805] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050635.085375577] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050635.087672569] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050635.088716128] [sailbot.teensy]: Wind angle: 132 +[mux-7] [INFO] [1746050635.088923722] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050635.089668889] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050635.090531942] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050635.091425874] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050635.145198333] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050635.145873276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050635.146577967] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050635.147868716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050635.149329779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050635.245316659] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050635.246180839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050635.246889582] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050635.248238141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050635.249414776] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050635.335220379] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050635.337378453] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050635.338083831] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050635.338237791] [sailbot.teensy]: Wind angle: 131 +[teensy-2] [INFO] [1746050635.339209321] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050635.340074328] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050635.340957556] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050635.344297953] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050635.344849227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050635.345552301] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050635.346529419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050635.347725148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050635.445042396] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050635.445778302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050635.446697641] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050635.447581761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050635.448059113] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050635.502529251] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46920523 Long: -76.50345662 +[vectornav-1] [INFO] [1746050635.503563120] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.952999999999975, -3.877, 20.559) +[mux-7] [INFO] [1746050635.544858368] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050635.545495471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050635.546243698] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050635.547297198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050635.548350990] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050635.585385463] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050635.587161868] [sailbot.teensy]: Wind angle: 124 +[trim_sail-4] [INFO] [1746050635.587911734] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050635.588087389] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050635.589026946] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050635.589512466] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050635.589961447] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050635.645171642] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050635.645857914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050635.646635041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050635.647720322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050635.648230446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050635.745471472] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050635.746249609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050635.747058893] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050635.747970861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050635.748549741] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050635.835268520] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050635.837031143] [sailbot.teensy]: Wind angle: 115 +[trim_sail-4] [INFO] [1746050635.837472135] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050635.837995753] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050635.839003460] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050635.838975734] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050635.839987379] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050635.844395163] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050635.844920631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050635.845520568] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050635.846575327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050635.847615485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050635.945496767] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050635.946545762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050635.947316440] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050635.949118433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050635.949769081] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050636.003629695] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46920865 Long: -76.50345257 +[vectornav-1] [INFO] [1746050636.005788212] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.120000000000005, 0.652, 20.977) +[mux-7] [INFO] [1746050636.045397043] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050636.045969721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050636.046965318] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050636.048019561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050636.050061860] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050636.085272726] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050636.086850209] [sailbot.teensy]: Wind angle: 124 +[trim_sail-4] [INFO] [1746050636.087355436] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050636.088547081] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050636.088853264] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050636.089434411] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050636.090346107] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050636.145140310] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050636.145787567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050636.146432700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050636.147565820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050636.148650610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050636.245330972] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050636.246099366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050636.247113739] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050636.248209705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050636.249950447] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050636.335558122] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050636.338272730] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050636.338500289] [sailbot.teensy]: Wind angle: 120 +[mux-7] [INFO] [1746050636.338800716] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050636.339051637] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050636.339434010] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050636.339790064] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050636.344361904] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050636.344966040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050636.345479103] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050636.346656776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050636.347816770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050636.445398199] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050636.446410510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050636.447389397] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050636.448200819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050636.448728100] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050636.503394728] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46921251 Long: -76.50344827 +[vectornav-1] [INFO] [1746050636.504733309] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.30899999999997, 1.087, 21.262) +[mux-7] [INFO] [1746050636.544671541] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050636.545323499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050636.545897479] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050636.547131392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050636.548147865] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050636.585254551] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050636.586956316] [sailbot.teensy]: Wind angle: 118 +[teensy-2] [INFO] [1746050636.587856936] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050636.587467055] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050636.588721273] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050636.588759677] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050636.589675485] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050636.645227195] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050636.646121666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050636.646774467] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050636.648393378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050636.648954801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050636.744991690] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050636.745895117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050636.746308295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050636.747776903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050636.748933576] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050636.835456251] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050636.837422075] [sailbot.teensy]: Wind angle: 117 +[teensy-2] [INFO] [1746050636.838410851] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050636.837984425] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050636.838666747] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050636.839315413] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050636.840193425] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050636.844357968] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050636.845020391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050636.845497970] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050636.846706385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050636.847768385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050636.945132931] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050636.945793234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050636.946646026] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050636.948329590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050636.949013366] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050637.003456569] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46921601 Long: -76.50344402 +[vectornav-1] [INFO] [1746050637.004816053] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.98399999999998, -3.882, 20.151) +[mux-7] [INFO] [1746050637.044949913] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050637.045496010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050637.046204981] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050637.047377796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050637.048491666] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050637.085284635] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050637.087057700] [sailbot.teensy]: Wind angle: 119 +[teensy-2] [INFO] [1746050637.087985782] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050637.087486256] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050637.088694472] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050637.088745603] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050637.089140887] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050637.144665316] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050637.145226389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050637.145832660] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050637.146964286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050637.148000851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050637.245039171] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050637.245667785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050637.246430233] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050637.247745862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050637.248691108] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050637.335349726] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050637.337232845] [sailbot.teensy]: Wind angle: 120 +[trim_sail-4] [INFO] [1746050637.337905063] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050637.338792900] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050637.338929352] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050637.339336991] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050637.339711737] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050637.344290041] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050637.344881590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050637.345724145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050637.346573613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050637.347659900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050637.445317132] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050637.446290696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050637.447323093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050637.448645620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050637.449951506] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050637.503272833] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46922042 Long: -76.50344071 +[vectornav-1] [INFO] [1746050637.504848861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.66199999999998, 0.776, 16.433) +[mux-7] [INFO] [1746050637.544929062] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050637.545532682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050637.546167220] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050637.547463751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050637.548389384] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050637.585533553] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050637.587982546] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050637.588428687] [sailbot.teensy]: Wind angle: 120 +[mux-7] [INFO] [1746050637.588424731] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050637.589421939] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050637.590354513] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050637.591248003] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050637.645056744] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050637.645731659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050637.646414467] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050637.647877760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050637.649062164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050637.745302317] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050637.746021367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050637.746788527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050637.748109033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050637.749338944] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050637.835328114] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050637.837166767] [sailbot.teensy]: Wind angle: 121 +[trim_sail-4] [INFO] [1746050637.837661541] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050637.838106178] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050637.839005394] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050637.839442709] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050637.839889037] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050637.844451926] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050637.845059770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050637.845571821] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050637.846767596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050637.847766481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050637.945445462] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050637.946215054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050637.947070049] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050637.947990997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050637.948715008] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050638.003364822] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46922418 Long: -76.50343731 +[vectornav-1] [INFO] [1746050638.004978129] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.31200000000001, -0.623, 15.152) +[mux-7] [INFO] [1746050638.045070147] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050638.045901886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050638.046470434] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050638.047952227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050638.049230725] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050638.085265061] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050638.086904023] [sailbot.teensy]: Wind angle: 123 +[teensy-2] [INFO] [1746050638.087787238] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050638.087412592] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050638.088569204] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050638.088683298] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050638.089562894] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050638.144945101] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050638.145622383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050638.146206315] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050638.147442296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050638.148615213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050638.245226016] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050638.246033508] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050638.246703226] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050638.248444858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050638.249509283] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050638.335641381] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050638.337909049] [sailbot.teensy]: Wind angle: 130 +[trim_sail-4] [INFO] [1746050638.338442836] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050638.338997984] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050638.339925856] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050638.339761773] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050638.340830683] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050638.344523958] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050638.345143263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050638.345782956] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050638.346922929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050638.347965627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050638.445499315] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050638.446414204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050638.447258360] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050638.448936074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050638.450169985] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050638.502560616] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46922631 Long: -76.5034299 +[vectornav-1] [INFO] [1746050638.503604058] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.666, -1.289, 24.537) +[mux-7] [INFO] [1746050638.544783992] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050638.545580336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050638.545963883] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050638.547624242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050638.548646012] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050638.585489732] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050638.587307132] [sailbot.teensy]: Wind angle: 131 +[teensy-2] [INFO] [1746050638.588317640] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050638.588492438] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050638.589253728] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050638.590166742] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050638.590559997] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050638.645059212] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050638.645701194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050638.646441230] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050638.647598282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050638.648821617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050638.745533023] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050638.746401982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050638.747106888] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050638.749193888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050638.750276846] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050638.835434272] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050638.837827164] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050638.838542459] [sailbot.teensy]: Wind angle: 107 +[mux-7] [INFO] [1746050638.838994688] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050638.839495305] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050638.840735857] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050638.841596741] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050638.844289691] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050638.844989503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050638.845399868] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050638.846784235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050638.847829637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050638.945286698] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050638.945985647] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050638.946904835] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050638.948382962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050638.948933978] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050639.003962160] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46922969 Long: -76.50342646 +[vectornav-1] [INFO] [1746050639.005848841] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.37299999999999, -1.668, 26.055) +[mux-7] [INFO] [1746050639.044731563] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050639.045361892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050639.045887284] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050639.047226977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050639.048389886] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050639.085295741] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050639.087469554] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050639.088002281] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050639.088912817] [sailbot.teensy]: Wind angle: 68 +[teensy-2] [INFO] [1746050639.089876889] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050639.090743752] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050639.091602419] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050639.145097273] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050639.146010890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050639.146494554] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050639.148274678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050639.149361182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050639.245351375] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050639.246277728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050639.246832915] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050639.248855423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050639.250785531] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050639.335744177] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050639.338503334] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050639.338885807] [sailbot.teensy]: Wind angle: 66 +[mux-7] [INFO] [1746050639.339012198] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050639.339289841] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050639.339942050] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050639.340791273] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050639.344476924] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050639.344965994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050639.346303348] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050639.346732526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050639.347777672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050639.445394354] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050639.446098796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050639.447285038] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050639.448484748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050639.449759133] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050639.502602254] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46923303 Long: -76.50342176 +[vectornav-1] [INFO] [1746050639.503654776] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.54599999999999, -2.581, 20.728) +[mux-7] [INFO] [1746050639.544888924] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050639.545741576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050639.546139802] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050639.547561328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050639.548582182] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050639.585557363] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050639.587549204] [sailbot.teensy]: Wind angle: 91 +[trim_sail-4] [INFO] [1746050639.588090724] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050639.588585610] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050639.589536571] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050639.590493629] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050639.590522674] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050639.645300610] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050639.645900599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050639.646891115] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050639.648169773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050639.649218689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050639.745390465] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050639.745948747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050639.747050486] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050639.748144210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050639.749270472] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050639.835364101] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050639.837284737] [sailbot.teensy]: Wind angle: 139 +[trim_sail-4] [INFO] [1746050639.837761809] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050639.839191978] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050639.839282322] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050639.840224803] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050639.841099327] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050639.844432345] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050639.844885306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050639.845548690] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050639.846626761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050639.847708271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050639.945223621] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050639.945645558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050639.946740287] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050639.947859827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050639.949062979] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050640.003832224] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46923589 Long: -76.50341682 +[vectornav-1] [INFO] [1746050640.005621729] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.577999999999975, 0.421, 20.467) +[mux-7] [INFO] [1746050640.045643620] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050640.045821702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050640.047093312] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050640.047782247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050640.049028217] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050640.085524968] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050640.087314523] [sailbot.teensy]: Wind angle: 141 +[teensy-2] [INFO] [1746050640.088290886] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050640.088351765] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050640.088997866] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050640.089188990] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050640.090089850] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050640.145003747] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050640.145531819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050640.146366167] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050640.147291645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050640.148665917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050640.245195554] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050640.245707352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050640.246652109] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050640.247783988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050640.248895617] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050640.335614977] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050640.337682500] [sailbot.teensy]: Wind angle: 114 +[teensy-2] [INFO] [1746050640.338671190] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050640.338350105] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050640.339361056] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050640.339535779] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050640.340394709] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050640.344452816] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050640.345002731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050640.345807523] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050640.346771696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050640.347890986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050640.445306015] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050640.446087192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050640.447130154] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050640.448060752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050640.448630246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050640.495042749] [sailbot.mux]: controller_app rudder angle: -6 +[vectornav-1] [INFO] [1746050640.502239221] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46923917 Long: -76.503412 +[vectornav-1] [INFO] [1746050640.503224436] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.68599999999998, -0.55, 17.272) +[mux-7] [INFO] [1746050640.545015611] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050640.545688337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050640.546259951] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050640.547714795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050640.548828547] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050640.585396051] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050640.587817830] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050640.588078796] [sailbot.teensy]: Wind angle: 110 +[teensy-2] [INFO] [1746050640.589067246] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050640.589979317] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050640.590196013] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050640.590859426] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050640.645031237] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050640.645624927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050640.646410879] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050640.647661716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050640.648871088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050640.745477188] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050640.746101066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050640.747059458] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050640.747918317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050640.748414635] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050640.835307544] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050640.837164670] [sailbot.teensy]: Wind angle: 113 +[trim_sail-4] [INFO] [1746050640.837816616] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050640.838135671] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050640.839085333] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050640.840004979] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050640.840456681] [sailbot.mux]: algo sail angle: 15 +[mux-7] [INFO] [1746050640.844395631] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050640.844979841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050640.845460728] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050640.846668328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050640.847819672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050640.945593157] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050640.946466283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050640.947205939] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050640.948994579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050640.949876732] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050641.003472417] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46924253 Long: -76.50340827 +[vectornav-1] [INFO] [1746050641.005004995] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.120000000000005, -2.105, 14.176) +[mux-7] [INFO] [1746050641.045148274] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050641.046446556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050641.046673458] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050641.048590286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050641.049766953] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050641.085343836] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050641.088036651] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050641.088313006] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050641.088351339] [sailbot.teensy]: Wind angle: 116 +[teensy-2] [INFO] [1746050641.089379209] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050641.090277708] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050641.091129557] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050641.145194917] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050641.145871783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050641.146632369] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050641.148099354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050641.149267447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050641.245372154] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050641.246072842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050641.246837366] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050641.247997559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050641.248511982] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050641.335322437] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050641.337696525] [sailbot.teensy]: Wind angle: 126 +[trim_sail-4] [INFO] [1746050641.337869933] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050641.338898176] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050641.339139076] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050641.339540020] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050641.339922792] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050641.344395946] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050641.344909553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050641.345775955] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050641.346590751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050641.347771890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050641.445122824] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050641.445897522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050641.446509544] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050641.447978035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050641.449024157] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050641.503938321] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46924526 Long: -76.50340303 +[vectornav-1] [INFO] [1746050641.505454038] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.79000000000002, 0.852, 18.925) +[mux-7] [INFO] [1746050641.519866981] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746050641.544812738] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050641.545611262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050641.546098308] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050641.547659775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050641.548832673] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050641.585245174] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050641.587399364] [sailbot.teensy]: Wind angle: 130 +[trim_sail-4] [INFO] [1746050641.587476072] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050641.588430504] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050641.588943046] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050641.589393826] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050641.590357173] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050641.645158982] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050641.646126699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050641.646756365] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050641.648783251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050641.649914462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050641.745287763] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050641.746209650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050641.746874179] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050641.748435589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050641.749117843] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050641.835616380] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050641.837731486] [sailbot.teensy]: Wind angle: 126 +[trim_sail-4] [INFO] [1746050641.838216945] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050641.838763259] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050641.839702064] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050641.839724898] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050641.840760155] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050641.844315002] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050641.845035416] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050641.845813159] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050641.846737402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050641.847785036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050641.945006397] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050641.945698013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050641.946708903] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050641.947678126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050641.948227052] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050642.003195594] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46924837 Long: -76.50339891 +[vectornav-1] [INFO] [1746050642.004520388] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.922000000000025, -1.177, 16.751) +[mux-7] [INFO] [1746050642.045194120] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050642.046112673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050642.046580409] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050642.048832047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050642.050083524] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050642.085438442] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050642.087249506] [sailbot.teensy]: Wind angle: 113 +[trim_sail-4] [INFO] [1746050642.087827929] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050642.088942743] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050642.089265781] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050642.089951655] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050642.090835833] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050642.144974153] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050642.145820296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050642.146327123] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050642.147984258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050642.149027807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050642.244910153] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050642.245730023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050642.246260396] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050642.247620503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050642.248222078] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050642.335473395] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050642.337840354] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050642.338062605] [sailbot.teensy]: Wind angle: 118 +[mux-7] [INFO] [1746050642.338299255] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050642.338983990] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050642.339924518] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050642.340651241] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050642.344358101] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050642.345022088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050642.345658776] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050642.346677702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050642.347713597] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050642.445040244] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050642.445713362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050642.446478788] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050642.447657097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050642.448716532] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050642.503567334] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46925146 Long: -76.50339468 +[vectornav-1] [INFO] [1746050642.504889319] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.87900000000002, -1.281, 16.793) +[mux-7] [INFO] [1746050642.545041338] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050642.545772819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050642.546308321] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050642.547592541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050642.548708935] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050642.585666503] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050642.587660672] [sailbot.teensy]: Wind angle: 121 +[teensy-2] [INFO] [1746050642.588723803] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050642.589043609] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050642.589651159] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050642.590563006] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050642.590967644] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746050642.645309941] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050642.645876393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050642.646963509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050642.648013111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050642.648642321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050642.745032849] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050642.745702553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050642.746727341] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050642.747541449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050642.748660610] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050642.835288045] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050642.837599653] [sailbot.teensy]: Wind angle: 125 +[trim_sail-4] [INFO] [1746050642.837929218] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050642.839660970] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050642.839677920] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050642.840603091] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050642.841487578] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050642.844487747] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050642.844949305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050642.845605353] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050642.846664559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050642.847741376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050642.945385558] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050642.946079052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050642.947096608] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050642.948376854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050642.949864448] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050643.002840103] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46925479 Long: -76.50339027 +[vectornav-1] [INFO] [1746050643.005134290] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.666, -1.835, 18.263) +[mux-7] [INFO] [1746050643.045114847] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050643.045619111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050643.046430027] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050643.047644693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050643.048687945] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050643.085330759] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050643.087152290] [sailbot.teensy]: Wind angle: 124 +[trim_sail-4] [INFO] [1746050643.087927289] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050643.088202907] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050643.089127013] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050643.089992790] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050643.090017810] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050643.144997962] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050643.145741509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050643.146426003] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050643.147725522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050643.148750247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050643.245125120] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050643.245900532] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050643.246934089] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050643.247943402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050643.248502919] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050643.335370499] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050643.337286141] [sailbot.teensy]: Wind angle: 111 +[trim_sail-4] [INFO] [1746050643.338187469] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050643.338223484] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050643.338506617] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050643.339119229] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050643.340026045] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050643.344358790] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050643.344947805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050643.345619212] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050643.346739592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050643.347876802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050643.445532561] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050643.446234529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050643.447256488] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050643.448131713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050643.448711171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050643.500664181] [sailbot.mux]: controller_app rudder angle: -1 +[vectornav-1] [INFO] [1746050643.502584613] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46925884 Long: -76.50338715 +[vectornav-1] [INFO] [1746050643.503813127] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.865999999999985, 0.977, 13.982) +[mux-7] [INFO] [1746050643.545211641] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050643.545951229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050643.546876006] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050643.548454847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050643.549699174] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050643.585415670] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050643.587266259] [sailbot.teensy]: Wind angle: 111 +[trim_sail-4] [INFO] [1746050643.587868212] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050643.588244021] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050643.589142356] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050643.589296029] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050643.590014748] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050643.645244282] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050643.645900400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050643.646898695] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050643.648054593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050643.648966867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050643.745283229] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050643.746105913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050643.746774663] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050643.748570377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050643.749083930] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050643.835476914] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050643.837352881] [sailbot.teensy]: Wind angle: 130 +[trim_sail-4] [INFO] [1746050643.837893805] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050643.839069612] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050643.839105480] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050643.839511778] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050643.839891454] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050643.844413367] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050643.844915730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050643.845534147] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050643.846611800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050643.847708644] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050643.945525928] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050643.946516967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050643.947161144] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050643.949367166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050643.950539554] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050644.002426377] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926138 Long: -76.50338227 +[vectornav-1] [INFO] [1746050644.003471411] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.86500000000001, -2.185, 16.375) +[mux-7] [INFO] [1746050644.045322316] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050644.046023056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050644.046850104] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050644.048136827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050644.049399842] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050644.085263813] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050644.087359039] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050644.088133859] [sailbot.teensy]: Wind angle: 135 +[teensy-2] [INFO] [1746050644.089198870] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050644.090058892] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050644.090088368] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050644.091040259] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050644.143689400] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050644.144098176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050644.144264342] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050644.144903180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050644.145443484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050644.245041379] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050644.245768370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050644.246297889] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050644.247735888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050644.248841670] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050644.335266821] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050644.337602406] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050644.337998034] [sailbot.teensy]: Wind angle: 128 +[teensy-2] [INFO] [1746050644.338908999] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050644.339025799] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050644.339304230] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050644.339696404] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050644.344590916] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050644.344974042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050644.346024887] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050644.346761172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050644.347838846] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050644.445007574] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050644.445559785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050644.446321252] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050644.447545818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050644.448613108] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050644.503411462] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926465 Long: -76.50337853 +[vectornav-1] [INFO] [1746050644.505094523] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.89999999999998, -0.726, 16.367) +[mux-7] [INFO] [1746050644.545080445] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050644.545580956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050644.546434824] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050644.547866670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050644.548886681] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050644.585257031] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050644.587537765] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050644.588142787] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050644.588989461] [sailbot.teensy]: Wind angle: 108 +[teensy-2] [INFO] [1746050644.590097475] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050644.591005293] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050644.591824573] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050644.645617649] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050644.646130064] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050644.647346615] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050644.648881530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050644.650201040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050644.745679554] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050644.746414812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050644.747432157] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050644.748807778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050644.749368753] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050644.835605313] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050644.838244163] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050644.838790693] [sailbot.teensy]: Wind angle: 112 +[mux-7] [INFO] [1746050644.839008824] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050644.839410040] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050644.839843302] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050644.840213071] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050644.844550490] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050644.844965180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050644.845701544] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050644.846640814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050644.847749828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050644.945592557] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050644.946336909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050644.947351235] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050644.948943758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050644.950192587] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050645.003528019] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926836 Long: -76.50337496 +[vectornav-1] [INFO] [1746050645.004758833] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.291, -1.029, 13.167) +[mux-7] [INFO] [1746050645.045220908] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050645.046375191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050645.046681223] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050645.048343910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050645.048908979] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050645.085431785] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050645.087299409] [sailbot.teensy]: Wind angle: 125 +[trim_sail-4] [INFO] [1746050645.088206589] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050645.088273117] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050645.089160015] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050645.089413409] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050645.090017541] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050645.145200179] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050645.146733415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050645.146900650] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050645.148781337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050645.149817208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050645.245084368] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050645.245922612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050645.246505004] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050645.247966755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050645.248991494] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050645.335303837] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050645.337346941] [sailbot.teensy]: Wind angle: 125 +[trim_sail-4] [INFO] [1746050645.337799746] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050645.338291001] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050645.338679618] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050645.338822790] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050645.339062997] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050645.344482656] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050645.345076254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050645.345712194] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050645.346873490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050645.347871677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050645.445493716] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050645.446268265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050645.447142850] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050645.448391342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050645.448905275] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050645.503517542] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927103 Long: -76.50336991 +[vectornav-1] [INFO] [1746050645.504810549] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.99599999999998, -0.773, 14.996) +[mux-7] [INFO] [1746050645.545056541] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050645.545722374] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050645.546329058] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050645.547767978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050645.548777482] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050645.585489561] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050645.587432293] [sailbot.teensy]: Wind angle: 127 +[trim_sail-4] [INFO] [1746050645.588168100] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050645.588412214] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050645.589343226] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050645.590036089] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050645.590217199] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050645.645366259] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050645.646337268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050645.646886949] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050645.648483534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050645.649663231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050645.745374059] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050645.746130752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050645.746905746] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050645.748797550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050645.749799668] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050645.835433015] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050645.837344472] [sailbot.teensy]: Wind angle: 126 +[teensy-2] [INFO] [1746050645.838316701] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050645.838136204] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050645.839186472] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050645.839307499] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050645.840070695] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050645.844479592] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050645.845052008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050645.845593675] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050645.846764799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050645.847744688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050645.945381544] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050645.946392346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050645.947294240] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050645.948726341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050645.950042631] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050646.004082925] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927384 Long: -76.50336473 +[vectornav-1] [INFO] [1746050646.005545916] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.85500000000002, -0.853, 17.989) +[mux-7] [INFO] [1746050646.045620562] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050646.046458939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050646.047221102] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050646.048877201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050646.049976584] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050646.085348230] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050646.087860033] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050646.087925753] [sailbot.teensy]: Wind angle: 123 +[mux-7] [INFO] [1746050646.088747069] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050646.089260653] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050646.090151210] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050646.091041619] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050646.144382088] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050646.144857753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050646.145507722] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050646.146437650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050646.147378983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050646.245100040] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050646.246002923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050646.246523558] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050646.247988504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050646.248889101] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050646.335475692] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050646.337859624] [sailbot.teensy]: Wind angle: 106 +[trim_sail-4] [INFO] [1746050646.337893070] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050646.338549295] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050646.338830756] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050646.339249220] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050646.339632172] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050646.344650391] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050646.345378694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050646.345995271] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050646.347128317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050646.348130911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050646.445554147] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050646.446379092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050646.447329704] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050646.448846317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050646.449469084] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050646.503460238] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927729 Long: -76.5033608 +[vectornav-1] [INFO] [1746050646.505004240] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.346000000000004, 0.424, 15.153) +[mux-7] [INFO] [1746050646.545111608] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050646.545790034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050646.546527970] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050646.548066627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050646.549210523] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050646.585614779] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050646.588244240] [sailbot.teensy]: Wind angle: 98 +[teensy-2] [INFO] [1746050646.589305803] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050646.588296695] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050646.590328312] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050646.591039649] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050646.591250632] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050646.645411893] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050646.646314336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050646.647060896] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050646.648843116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050646.649354300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050646.745367308] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050646.746129883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050646.746881919] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050646.747773578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050646.748326036] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050646.835098851] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050646.836880778] [sailbot.teensy]: Wind angle: 102 +[trim_sail-4] [INFO] [1746050646.837322319] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050646.837820787] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050646.838728323] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050646.839004954] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050646.839603108] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050646.844444690] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050646.845048955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050646.845515170] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050646.846796643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050646.847906909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050646.945469354] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050646.946378724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050646.947340865] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050646.948739303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050646.950131973] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050647.002395671] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927984 Long: -76.50335541 +[vectornav-1] [INFO] [1746050647.003469089] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (40.49000000000001, -2.443, 18.197) +[mux-7] [INFO] [1746050647.045213087] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050647.045968804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050647.046629062] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050647.048200327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050647.049227200] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050647.085719483] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050647.088383943] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050647.088932360] [sailbot.teensy]: Wind angle: 121 +[mux-7] [INFO] [1746050647.089870208] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050647.089968875] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050647.090870133] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050647.091709239] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050647.144987120] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050647.146414697] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050647.149122251] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050647.150775098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050647.151792810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050647.245454017] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050647.246002775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050647.247107854] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050647.248888655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050647.250116018] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050647.335520966] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050647.338184011] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050647.338709581] [sailbot.teensy]: Wind angle: 134 +[mux-7] [INFO] [1746050647.338902075] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050647.339660959] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050647.340580548] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050647.341058042] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050647.344399183] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050647.344981263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050647.345540235] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050647.346750710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050647.347783628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050647.445129711] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050647.445815216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050647.446980097] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050647.447550640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050647.448026331] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050647.503346186] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928218 Long: -76.50334983 +[vectornav-1] [INFO] [1746050647.504611005] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.303999999999974, -1.647, 22.867) +[mux-7] [INFO] [1746050647.544954603] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050647.545532910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050647.546556240] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050647.547466204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050647.548599714] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050647.585322772] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050647.587431028] [sailbot.teensy]: Wind angle: 124 +[teensy-2] [INFO] [1746050647.588424619] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050647.588535333] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050647.589320400] [sailbot.teensy]: Actual tail angle: 24 +[trim_sail-4] [INFO] [1746050647.589506059] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050647.590219205] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050647.645409975] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050647.646214939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050647.646924382] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050647.648406413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050647.649191970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050647.744937945] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050647.745784830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050647.746120936] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050647.747622471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050647.748772867] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050647.835281624] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050647.837730192] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050647.838158057] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050647.838396881] [sailbot.teensy]: Wind angle: 97 +[teensy-2] [INFO] [1746050647.839211491] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050647.839597975] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050647.839949437] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050647.844448998] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050647.844979695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050647.845855714] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050647.846692358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050647.847806504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050647.945140440] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050647.945800103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050647.946802100] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050647.947813289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050647.948579214] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050648.002493166] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928587 Long: -76.50334525 +[vectornav-1] [INFO] [1746050648.003506744] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.08299999999997, -0.609, 19.002) +[mux-7] [INFO] [1746050648.045023558] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050648.045754596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050648.046314006] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050648.047780864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050648.048892555] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050648.085342861] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050648.087689471] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050648.087838963] [sailbot.teensy]: Wind angle: 92 +[mux-7] [INFO] [1746050648.088205293] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050648.088896837] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050648.089809554] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050648.090635032] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050648.145455877] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050648.146165189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050648.147080665] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050648.148631207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050648.149260206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050648.245636937] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050648.246609097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050648.247483909] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050648.249023620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050648.250155000] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050648.335410527] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050648.337299963] [sailbot.teensy]: Wind angle: 117 +[trim_sail-4] [INFO] [1746050648.338079547] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050648.339138383] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050648.339396048] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050648.340241871] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050648.341140709] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050648.344525086] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050648.345192978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050648.345683291] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050648.346917581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050648.348114395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050648.445634381] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050648.446667802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050648.447346450] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050648.448975728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050648.449576103] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050648.503851461] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928825 Long: -76.5033403 +[vectornav-1] [INFO] [1746050648.505374441] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.39499999999998, -0.972, 18.319) +[mux-7] [INFO] [1746050648.545027927] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050648.545689336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050648.546326044] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050648.547566664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050648.548705133] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050648.585369485] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050648.587454693] [sailbot.teensy]: Wind angle: 130 +[trim_sail-4] [INFO] [1746050648.588291458] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050648.588526465] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050648.589430353] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050648.589820199] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050648.590361155] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050648.644978842] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050648.646028004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050648.646329015] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050648.647849480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050648.648912878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050648.745270938] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050648.746271572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050648.746839945] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050648.748604183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050648.749736435] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050648.835298452] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050648.837665287] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050648.838140786] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050648.838702328] [sailbot.teensy]: Wind angle: 122 +[teensy-2] [INFO] [1746050648.839677825] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050648.840337142] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050648.840712394] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050648.844414213] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050648.844985055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050648.845772719] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050648.846716985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050648.847735554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050648.945395491] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050648.946337112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050648.946934293] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050648.948648736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050648.949965157] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050649.003330073] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929145 Long: -76.50333533 +[vectornav-1] [INFO] [1746050649.005369152] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.57299999999998, -2.496, 18.112) +[mux-7] [INFO] [1746050649.045157704] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050649.045844551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050649.046433159] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050649.047846496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050649.048931917] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050649.085299695] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050649.087311946] [sailbot.teensy]: Wind angle: 111 +[trim_sail-4] [INFO] [1746050649.087807670] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050649.088333323] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050649.089233656] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050649.089518986] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050649.090136578] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050649.145434140] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050649.146017141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050649.148035895] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050649.148505745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050649.149715548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050649.245743762] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050649.246304040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050649.247706746] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050649.248786251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050649.249926555] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050649.335277541] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050649.337286071] [sailbot.teensy]: Wind angle: 106 +[teensy-2] [INFO] [1746050649.338278878] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050649.338785676] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050649.339203942] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050649.340097322] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050649.340333068] [sailbot.mux]: algo sail angle: 20 +[mux-7] [INFO] [1746050649.344409913] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050649.345107405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050649.345564618] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050649.346867388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050649.347928243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050649.445576646] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050649.446635828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050649.447476962] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050649.448077051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050649.448900159] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050649.504272538] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929479 Long: -76.50332984 +[vectornav-1] [INFO] [1746050649.506472255] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.89300000000003, -0.664, 14.961) +[mux-7] [INFO] [1746050649.545000026] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050649.545751967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050649.546307373] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050649.547635823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050649.548667958] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050649.585290566] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050649.587187499] [sailbot.teensy]: Wind angle: 115 +[teensy-2] [INFO] [1746050649.588187147] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050649.587925021] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050649.589111198] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050649.590002177] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050649.589538673] [sailbot.mux]: algo sail angle: 15 +[mux-7] [INFO] [1746050649.645256694] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050649.646052322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050649.646940349] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050649.648393611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050649.649544731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050649.745547161] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050649.746176962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050649.747184220] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050649.748416086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050649.750309660] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050649.835659661] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050649.838451457] [sailbot.teensy]: Wind angle: 121 +[teensy-2] [INFO] [1746050649.839591964] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050649.838953139] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050649.840337068] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050649.840559280] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050649.841369939] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050649.844377418] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050649.845101107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050649.845618681] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050649.846903027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050649.847896680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050649.945647701] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050649.946203600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050649.947433925] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050649.948806809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050649.950002352] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050650.003433920] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929736 Long: -76.50332398 +[vectornav-1] [INFO] [1746050650.005473371] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.04599999999999, -0.667, 13.664) +[mux-7] [INFO] [1746050650.045440585] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050650.046108823] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050650.047987765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[mux-7] [INFO] [1746050650.046905993] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050650.049038206] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050650.085638395] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050650.088031451] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050650.088358357] [sailbot.teensy]: Wind angle: 121 +[teensy-2] [INFO] [1746050650.089315668] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050650.089881538] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050650.090223450] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050650.091130307] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050650.144738996] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050650.145336345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050650.145690213] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050650.146257321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050650.147165615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050650.245719687] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050650.246389260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050650.247451572] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050650.249044084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050650.249616676] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050650.335523677] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050650.337658753] [sailbot.teensy]: Wind angle: 120 +[trim_sail-4] [INFO] [1746050650.338230019] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050650.338721915] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050650.339644314] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050650.340250239] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050650.340516512] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050650.344411124] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050650.345075075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050650.345786743] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050650.347097579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050650.348247800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050650.445410322] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050650.446055314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050650.447328505] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050650.448481873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050650.449710860] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050650.503081615] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693003 Long: -76.50331901 +[vectornav-1] [INFO] [1746050650.504858841] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.706999999999994, 0.776, 11.062) +[mux-7] [INFO] [1746050650.545411817] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050650.546063176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050650.547058129] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050650.548727021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050650.549956797] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050650.585262238] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050650.587051152] [sailbot.teensy]: Wind angle: 118 +[trim_sail-4] [INFO] [1746050650.587561674] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050650.587987316] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050650.588894996] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050650.589011932] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050650.589830105] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050650.645434756] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050650.646463164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050650.647225271] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050650.649382856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050650.650533960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050650.745115525] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050650.746486321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050650.746700336] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050650.747927893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050650.748427573] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050650.835749888] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050650.838378681] [sailbot.teensy]: Wind angle: 119 +[teensy-2] [INFO] [1746050650.838788757] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050650.838593849] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050650.839188411] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050650.839562846] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050650.839723550] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746050650.844464042] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050650.845061261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050650.845601195] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050650.846783615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050650.847799215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050650.945272882] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050650.945932270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050650.946785802] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050650.947969028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050650.949060205] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050651.003498693] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930249 Long: -76.50331351 +[vectornav-1] [INFO] [1746050651.005408107] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.076000000000022, -2.17, 12.272) +[mux-7] [INFO] [1746050651.045423431] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050651.046239141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050651.047068429] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050651.048591076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050651.049152549] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050651.085155977] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050651.087274206] [sailbot.teensy]: Wind angle: 118 +[trim_sail-4] [INFO] [1746050651.087599926] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050651.088253864] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050651.088927006] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050651.089148244] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050651.090048515] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050651.144885556] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050651.145631712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050651.146299767] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050651.147775183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050651.149369241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050651.245173642] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050651.246083976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050651.246623890] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050651.248275693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050651.249343424] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050651.335670934] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050651.338518583] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050651.338563036] [sailbot.teensy]: Wind angle: 118 +[mux-7] [INFO] [1746050651.339493666] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050651.339518534] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050651.340414438] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050651.341261623] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050651.344376480] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050651.344803804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050651.345456447] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050651.346486590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050651.347671051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050651.445545586] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050651.446210274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050651.447212168] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050651.448367932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050651.448890587] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050651.503891305] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930473 Long: -76.50330781 +[vectornav-1] [INFO] [1746050651.505414605] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (28.12299999999999, 0.251, 13.111) +[mux-7] [INFO] [1746050651.545223430] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050651.545959931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050651.546648947] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050651.547994074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050651.549108407] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050651.585437759] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050651.588026923] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050651.588470038] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050651.588615663] [sailbot.teensy]: Wind angle: 118 +[teensy-2] [INFO] [1746050651.589643352] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050651.590507892] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050651.591356515] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050651.645206470] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050651.646352086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050651.646662387] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050651.648397199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050651.649499588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050651.745382743] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050651.746244819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050651.747510238] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050651.748454618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050651.749109207] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050651.835216238] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050651.837176015] [sailbot.teensy]: Wind angle: 118 +[trim_sail-4] [INFO] [1746050651.837538114] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050651.838122345] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050651.838838623] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050651.838899154] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050651.839238297] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050651.844340206] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050651.845113582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050651.845455944] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050651.846905467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050651.848000623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050651.945412172] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050651.946184947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050651.946947166] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050651.948824290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050651.950002112] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050652.002550325] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693069 Long: -76.50330207 +[vectornav-1] [INFO] [1746050652.003633689] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.090000000000032, -0.985, 12.054) +[mux-7] [INFO] [1746050652.044927391] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050652.045697225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050652.046100507] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050652.047681993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050652.048738793] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050652.085610513] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050652.087803107] [sailbot.teensy]: Wind angle: 116 +[trim_sail-4] [INFO] [1746050652.088375478] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050652.089005734] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050652.089954842] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050652.090021239] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050652.090828857] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050652.145531586] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050652.146369000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050652.147307948] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050652.148816962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050652.150033226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050652.245057559] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050652.245984394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050652.246352413] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050652.247955338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050652.249195232] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050652.335472021] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050652.338100564] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050652.338101508] [sailbot.teensy]: Wind angle: 112 +[teensy-2] [INFO] [1746050652.339089733] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050652.339204504] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050652.340014677] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050652.340989046] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050652.344397394] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050652.345053686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050652.345623019] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050652.346781021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050652.347957437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050652.445391723] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050652.446329239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050652.446965467] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050652.448562420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050652.449091690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050652.487304173] [sailbot.mux]: controller_app rudder angle: -8 +[vectornav-1] [INFO] [1746050652.503606152] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930877 Long: -76.5032967 +[vectornav-1] [INFO] [1746050652.505461747] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.92700000000002, -1.674, 10.608) +[mux-7] [INFO] [1746050652.545426250] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050652.546233913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050652.547192898] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050652.548497303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050652.549553528] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050652.585226187] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050652.587523966] [sailbot.teensy]: Wind angle: 109 +[trim_sail-4] [INFO] [1746050652.587614217] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050652.588473424] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050652.588572802] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050652.589431272] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050652.590273850] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050652.645184408] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050652.645865563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050652.646662646] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050652.648592589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050652.649704035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050652.745356946] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050652.746335158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050652.747276502] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050652.748774154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050652.749448333] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050652.835443726] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050652.837817629] [sailbot.teensy]: Wind angle: 112 +[trim_sail-4] [INFO] [1746050652.838284396] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050652.838796708] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050652.839227559] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050652.839714419] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050652.840678300] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050652.844616076] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050652.845257754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050652.846232569] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050652.847131749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050652.848248332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050652.945600849] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050652.946480788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050652.947399198] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050652.949576834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050652.950091939] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050653.003905356] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931048 Long: -76.5032907 +[vectornav-1] [INFO] [1746050653.005642190] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (25.826999999999998, -0.031, 12.858) +[mux-7] [INFO] [1746050653.045154449] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050653.046150968] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050653.046620909] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050653.048287984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050653.049350234] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050653.085575929] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050653.087770062] [sailbot.teensy]: Wind angle: 120 +[teensy-2] [INFO] [1746050653.088804550] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050653.088670606] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050653.089793563] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050653.090642232] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050653.091409609] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746050653.145317535] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050653.146207441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050653.146877370] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050653.148513270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050653.149620786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050653.245602041] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050653.246436864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050653.247816954] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050653.248526056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050653.249171489] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050653.335348073] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050653.337273268] [sailbot.teensy]: Wind angle: 122 +[trim_sail-4] [INFO] [1746050653.337801288] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050653.338217546] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050653.339118067] [sailbot.teensy]: Actual tail angle: 17 +[mux-7] [INFO] [1746050653.338929075] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050653.339965477] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050653.344301343] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050653.344878904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050653.345481995] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050653.346576794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050653.347636395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050653.444890560] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050653.445590234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050653.446116202] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050653.447481794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050653.448528862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050653.499755655] [sailbot.mux]: controller_app rudder angle: -24 +[vectornav-1] [INFO] [1746050653.502302429] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931219 Long: -76.5032849 +[vectornav-1] [INFO] [1746050653.503304636] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.21100000000001, -0.007, 15.308) +[mux-7] [INFO] [1746050653.545150114] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050653.546023147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050653.546604451] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050653.548071103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050653.549093315] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050653.585425166] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050653.587206410] [sailbot.teensy]: Wind angle: 123 +[trim_sail-4] [INFO] [1746050653.587704650] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050653.588132233] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050653.588904106] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050653.589030412] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050653.589903440] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050653.645178328] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050653.645973490] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050653.646645527] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050653.648788757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050653.649923400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050653.745177301] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050653.745788758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050653.746548516] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050653.747892672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050653.749048379] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050653.835246444] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050653.836883201] [sailbot.teensy]: Wind angle: 125 +[teensy-2] [INFO] [1746050653.837750285] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050653.837536014] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050653.838429946] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050653.838591688] [sailbot.teensy]: Actual tail angle: 1 +[teensy-2] [INFO] [1746050653.839456615] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050653.844301512] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050653.844804570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050653.845438275] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050653.846450557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050653.847676030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050653.945319382] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050653.946207277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050653.946867229] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050653.949182720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050653.950298318] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050654.003292190] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931429 Long: -76.50328107 +[vectornav-1] [INFO] [1746050654.004511619] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.803, -0.125, 16.74) +[mux-7] [INFO] [1746050654.045238594] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050654.045982505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050654.046891350] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050654.048070039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050654.049260839] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050654.085276140] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050654.086872556] [sailbot.teensy]: Wind angle: 129 +[trim_sail-4] [INFO] [1746050654.087484400] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050654.087765194] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050654.089075919] [sailbot.teensy]: Actual tail angle: 1 +[mux-7] [INFO] [1746050654.090043933] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050654.090319214] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050654.145513145] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050654.146444535] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050654.148794419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[mux-7] [INFO] [1746050654.149076541] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050654.149945463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050654.244992210] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050654.245723823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050654.246345606] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050654.247673304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050654.248710731] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050654.335230594] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050654.336866899] [sailbot.teensy]: Wind angle: 132 +[trim_sail-4] [INFO] [1746050654.337398319] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050654.337747497] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050654.338640286] [sailbot.teensy]: Actual tail angle: 1 +[teensy-2] [INFO] [1746050654.339511654] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050654.339532621] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050654.344272043] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050654.344861175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050654.345388484] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050654.346601105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050654.347758381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050654.445210202] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050654.446118408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050654.446673004] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050654.447826829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050654.448337654] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050654.503599856] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931606 Long: -76.50327776 +[vectornav-1] [INFO] [1746050654.505238978] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (81.00099999999998, 1.074, 20.549) +[mux-7] [INFO] [1746050654.518567526] [sailbot.mux]: controller_app rudder angle: -25 +[mux-7] [INFO] [1746050654.544833740] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050654.545486608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050654.546204486] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050654.547451502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050654.548484522] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050654.585280945] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050654.587001657] [sailbot.teensy]: Wind angle: 146 +[trim_sail-4] [INFO] [1746050654.587419793] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050654.587965294] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050654.588877151] [sailbot.teensy]: Actual tail angle: 1 +[mux-7] [INFO] [1746050654.589136988] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050654.589773774] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050654.645127141] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050654.645863924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050654.646604822] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050654.647938793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050654.649107642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050654.745132218] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050654.746185694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050654.746643360] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050654.748281239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050654.749446655] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050654.835702890] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050654.838063837] [sailbot.teensy]: Wind angle: 168 +[teensy-2] [INFO] [1746050654.838864642] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050654.838888075] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050654.839134930] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050654.839253064] [sailbot.teensy]: Actual tail angle: 0 +[teensy-2] [INFO] [1746050654.839653050] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050654.844302839] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050654.844819577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050654.845401917] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050654.846492229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050654.847683989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050654.945438276] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050654.946268301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050654.947042460] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050654.948086990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050654.948646963] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050655.003330129] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931779 Long: -76.50327726 +[vectornav-1] [INFO] [1746050655.004920388] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (109.92899999999997, -2.481, 19.555) +[mux-7] [INFO] [1746050655.044815599] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050655.045254943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050655.045956985] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050655.046976629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050655.048176000] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050655.085261635] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050655.087379788] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050655.087631974] [sailbot.teensy]: Wind angle: 187 +[mux-7] [INFO] [1746050655.088523049] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050655.088580201] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050655.089457868] [sailbot.teensy]: Actual tail angle: 0 +[teensy-2] [INFO] [1746050655.090329050] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050655.144662786] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050655.145177878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050655.145899934] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050655.146868631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050655.148051518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050655.245318425] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050655.245841887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050655.246866842] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050655.248495987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050655.249675744] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050655.335372521] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050655.337202050] [sailbot.teensy]: Wind angle: 188 +[trim_sail-4] [INFO] [1746050655.338064366] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050655.338119645] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050655.339025257] [sailbot.teensy]: Actual tail angle: 0 +[teensy-2] [INFO] [1746050655.339884185] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050655.339594691] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050655.344469643] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050655.345042630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050655.345578825] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050655.346768263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050655.347792864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050655.445297758] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050655.445943336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050655.446837891] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050655.448701882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050655.449797168] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050655.503870878] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931879 Long: -76.50327889 +[vectornav-1] [INFO] [1746050655.505567290] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (135.212, 6.179, 6.262) +[mux-7] [INFO] [1746050655.529444095] [sailbot.mux]: controller_app rudder angle: -23 +[mux-7] [INFO] [1746050655.544941608] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050655.545552211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050655.546244068] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050655.547478159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050655.548617523] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050655.585205698] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050655.586816762] [sailbot.teensy]: Wind angle: 206 +[trim_sail-4] [INFO] [1746050655.587728080] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050655.587742531] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050655.588605043] [sailbot.teensy]: Actual tail angle: 0 +[mux-7] [INFO] [1746050655.588716829] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050655.589488853] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050655.644945309] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050655.645594302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050655.646233106] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050655.647502756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050655.648594476] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050655.745055903] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050655.745759744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050655.746584676] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050655.747562346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050655.748772611] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050655.835490715] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050655.837679338] [sailbot.teensy]: Wind angle: 222 +[trim_sail-4] [INFO] [1746050655.837873838] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050655.838637442] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050655.839134128] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050655.839505116] [sailbot.teensy]: Actual tail angle: 2 +[teensy-2] [INFO] [1746050655.840425982] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050655.844255706] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050655.844813142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050655.845458957] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050655.846472891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050655.847581535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050655.945338791] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050655.945897151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050655.946879118] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050655.947963879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050655.949435493] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050656.003919154] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931837 Long: -76.50328016 +[vectornav-1] [INFO] [1746050656.005680442] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.71399999999994, -6.508, 3.789) +[mux-7] [INFO] [1746050656.044875169] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050656.045414566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050656.046068556] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050656.047129172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050656.048305799] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050656.085396922] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050656.087205197] [sailbot.teensy]: Wind angle: 230 +[teensy-2] [INFO] [1746050656.088140220] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050656.087854088] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050656.088493117] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050656.089008865] [sailbot.teensy]: Actual tail angle: 2 +[teensy-2] [INFO] [1746050656.089878205] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050656.144836967] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050656.145510676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050656.146065880] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050656.147185911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050656.148285817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050656.244992716] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050656.245495952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050656.246599615] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050656.247269916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050656.248397238] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050656.335400578] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050656.337819647] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050656.338041034] [sailbot.teensy]: Wind angle: 239 +[mux-7] [INFO] [1746050656.338505606] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050656.338988967] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050656.339571367] [sailbot.teensy]: Actual tail angle: 2 +[teensy-2] [INFO] [1746050656.339940063] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050656.344566509] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050656.345124112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050656.345722218] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050656.346884564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050656.348010073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050656.445134514] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050656.445681217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050656.446503664] [sailbot.mux]: Published rudder angle from controller_app: -23 +[teensy-2] [INFO] [1746050656.447698423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 +[teensy-2] [INFO] [1746050656.448795245] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050656.503586562] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931911 Long: -76.50328224 +[vectornav-1] [INFO] [1746050656.505362027] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.56100000000004, 2.514, -0.26) +[mux-7] [INFO] [1746050656.531780200] [sailbot.mux]: controller_app rudder angle: -2 +[mux-7] [INFO] [1746050656.544782988] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050656.545463445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050656.546029526] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050656.547384003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050656.548445225] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050656.585281432] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050656.587465927] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050656.588019732] [sailbot.teensy]: Wind angle: 246 +[mux-7] [INFO] [1746050656.588853661] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050656.589021697] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050656.589933210] [sailbot.teensy]: Actual tail angle: 2 +[teensy-2] [INFO] [1746050656.590783554] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050656.645323513] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050656.646195465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050656.647009253] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050656.648463039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050656.649570147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050656.745140802] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050656.746018765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050656.746539229] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050656.747946258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050656.748988464] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050656.835424759] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050656.837835924] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050656.838244453] [sailbot.teensy]: Wind angle: 253 +[mux-7] [INFO] [1746050656.838386935] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050656.839087833] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050656.839466250] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050656.839839485] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050656.844442726] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050656.844991977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050656.845563434] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050656.846675961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050656.847922326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050656.945294927] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050656.946016579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050656.946814798] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050656.947996755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050656.948539231] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050657.002551341] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931769 Long: -76.50328413 +[vectornav-1] [INFO] [1746050657.003821964] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (200.721, -0.224, -9.665) +[mux-7] [INFO] [1746050657.045290410] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050657.046022255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050657.046784217] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050657.048237127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050657.049411237] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050657.085440004] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050657.087703120] [sailbot.teensy]: Wind angle: 254 +[trim_sail-4] [INFO] [1746050657.088006881] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050657.088695459] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050657.089592342] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050657.089632523] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050657.090483396] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050657.144840893] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050657.145474062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050657.146032027] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050657.147262525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050657.148386686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050657.244959907] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050657.245773341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050657.246189766] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050657.247770164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050657.248909596] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050657.335346673] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050657.337552534] [sailbot.teensy]: Wind angle: 260 +[trim_sail-4] [INFO] [1746050657.337811558] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050657.338484595] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050657.338670866] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050657.339415311] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050657.340354790] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050657.344431595] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050657.345092659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050657.345634296] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050657.346934357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050657.348009505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050657.445485310] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050657.446187195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050657.447097717] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050657.448719868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050657.449956352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050657.500506185] [sailbot.mux]: controller_app rudder angle: 4 +[vectornav-1] [INFO] [1746050657.502398722] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931532 Long: -76.50328628 +[vectornav-1] [INFO] [1746050657.503404538] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (209.69600000000003, -4.07, -15.151) +[mux-7] [INFO] [1746050657.544736760] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050657.545428492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050657.545888484] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050657.547158902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050657.548212043] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050657.585405801] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050657.587596658] [sailbot.teensy]: Wind angle: 271 +[trim_sail-4] [INFO] [1746050657.587675227] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050657.588557378] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050657.588843965] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050657.589435791] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050657.590325141] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050657.644975861] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050657.645595102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050657.646856527] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050657.647523677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050657.649334352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050657.745093470] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050657.745805271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050657.746456764] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050657.747676169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050657.748220909] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050657.835522635] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050657.837292683] [sailbot.teensy]: Wind angle: 289 +[trim_sail-4] [INFO] [1746050657.837903476] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050657.838237960] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050657.839139820] [sailbot.teensy]: Actual tail angle: 29 +[mux-7] [INFO] [1746050657.839206597] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050657.840005623] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050657.844458963] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050657.845012987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050657.845542716] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050657.846705793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050657.847931679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050657.945328080] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050657.946052315] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050657.946879241] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050657.948307699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050657.949597989] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050658.003832463] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931394 Long: -76.50329026 +[vectornav-1] [INFO] [1746050658.005605929] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (208.572, -1.589, -17.532) +[mux-7] [INFO] [1746050658.045113014] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050658.045965973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050658.046464160] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050658.047946167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050658.049014336] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050658.085415343] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050658.087285762] [sailbot.teensy]: Wind angle: 314 +[teensy-2] [INFO] [1746050658.088298248] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050658.088359238] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050658.089277760] [sailbot.teensy]: Actual tail angle: 29 +[mux-7] [INFO] [1746050658.089739256] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050658.090224047] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050658.145186532] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050658.146398638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050658.146672865] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050658.148818574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050658.150020384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050658.245124775] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050658.246180776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050658.246520236] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050658.248060432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050658.249207171] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050658.335211337] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050658.337466733] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050658.337783328] [sailbot.teensy]: Wind angle: 317 +[teensy-2] [INFO] [1746050658.338752684] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050658.338980534] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050658.339638400] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050658.340548078] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050658.344354457] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050658.344928325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050658.345514170] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050658.346626501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050658.347755287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050658.445148988] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050658.445790099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050658.446574364] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050658.447695611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050658.448519497] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050658.503847046] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931236 Long: -76.50329549 +[vectornav-1] [INFO] [1746050658.505506345] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (200.683, -0.749, -15.544) +[mux-7] [INFO] [1746050658.519054801] [sailbot.mux]: controller_app rudder angle: 3 +[mux-7] [INFO] [1746050658.544832925] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050658.545612573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050658.546087691] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050658.547596958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050658.548944446] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050658.585306915] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050658.587121794] [sailbot.teensy]: Wind angle: 316 +[trim_sail-4] [INFO] [1746050658.587778748] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050658.588191441] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050658.589162245] [sailbot.teensy]: Actual tail angle: 29 +[mux-7] [INFO] [1746050658.589509829] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050658.590138598] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050658.645274286] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050658.645947355] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050658.646739932] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050658.647796126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050658.648287461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050658.745070386] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050658.745717881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050658.746493309] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050658.748541568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050658.749600175] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050658.835356960] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050658.838004016] [sailbot.teensy]: Wind angle: 310 +[trim_sail-4] [INFO] [1746050658.838010378] [sailbot.trim_sail]: Sail Angle: "60" +[mux-7] [INFO] [1746050658.838943382] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746050658.839161161] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050658.839605633] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050658.840355960] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050658.844485080] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050658.844815702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050658.845758683] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050658.846492659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050658.847561912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050658.945149270] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050658.945797648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050658.946556358] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050658.947734528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050658.948985411] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050659.003046740] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931073 Long: -76.50330052 +[vectornav-1] [INFO] [1746050659.004621148] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.62800000000004, -1.265, -13.225) +[mux-7] [INFO] [1746050659.045061155] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050659.045697366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050659.046513708] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050659.048125097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050659.049352522] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050659.085439621] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050659.087400135] [sailbot.teensy]: Wind angle: 292 +[teensy-2] [INFO] [1746050659.088531204] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050659.087764321] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050659.089284425] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050659.089374374] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050659.090277370] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050659.145256039] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050659.146063802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050659.147541685] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050659.148515853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050659.149768570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050659.245135498] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050659.246130392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050659.246647305] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050659.248076570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050659.249394384] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050659.335225111] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050659.337105407] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746050659.337886987] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050659.338597692] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050659.338910893] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050659.339316383] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050659.339648060] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050659.344437506] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050659.345063604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050659.345597103] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050659.346803459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050659.347978447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050659.445023076] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050659.445633586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050659.446443115] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050659.447626840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050659.448221703] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050659.502389439] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931005 Long: -76.50330677 +[vectornav-1] [INFO] [1746050659.503880756] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.76999999999998, -1.148, -14.77) +[mux-7] [INFO] [1746050659.518286318] [sailbot.mux]: controller_app rudder angle: -6 +[mux-7] [INFO] [1746050659.544789266] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050659.545550367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050659.546031630] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050659.547369513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050659.548651507] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050659.585438918] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050659.587966499] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050659.588569908] [sailbot.teensy]: Wind angle: 260 +[mux-7] [INFO] [1746050659.589549898] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050659.589576227] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050659.590494898] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050659.591434216] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050659.644991002] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050659.645958311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050659.646250704] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050659.648140337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050659.649235647] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050659.745404975] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050659.746029539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050659.746998793] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050659.748095772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050659.749256469] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050659.835395147] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050659.837453588] [sailbot.teensy]: Wind angle: 264 +[trim_sail-4] [INFO] [1746050659.837773877] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050659.838415816] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050659.839307767] [sailbot.teensy]: Actual tail angle: 19 +[mux-7] [INFO] [1746050659.839423104] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050659.840187728] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050659.844432338] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050659.844900310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050659.845512773] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050659.846599168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050659.847626042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050659.945395878] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050659.946318364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050659.947063157] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050659.948669413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050659.949779133] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050660.004191272] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931068 Long: -76.50331215 +[vectornav-1] [INFO] [1746050660.006016105] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.255, 1.793, -10.734) +[mux-7] [INFO] [1746050660.045409075] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050660.046524306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050660.047162876] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050660.048967137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050660.050145639] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050660.085399106] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050660.087790752] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050660.088298920] [sailbot.teensy]: Wind angle: 266 +[mux-7] [INFO] [1746050660.088407001] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050660.089305647] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050660.090226626] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050660.091086860] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050660.145267919] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050660.146093545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050660.146748577] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050660.147905336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050660.148397206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050660.245353074] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050660.246304423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050660.246931826] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050660.248606166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050660.249649427] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050660.335501315] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050660.337926267] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050660.338424778] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050660.338978193] [sailbot.teensy]: Wind angle: 270 +[teensy-2] [INFO] [1746050660.339935257] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050660.340830979] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050660.341704266] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050660.344331412] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050660.345062763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050660.345738632] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050660.346754363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050660.347761980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050660.445453006] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050660.446233542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050660.447193585] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050660.448095536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050660.448631754] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050660.503139217] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931121 Long: -76.50331716 +[vectornav-1] [INFO] [1746050660.504821651] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.23699999999997, -2.637, -5.022) +[mux-7] [INFO] [1746050660.544112105] [sailbot.mux]: controller_app rudder angle: -5 +[mux-7] [INFO] [1746050660.545961994] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050660.546682591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050660.546927937] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050660.548518997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050660.549623446] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050660.585325471] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050660.587469273] [sailbot.teensy]: Wind angle: 254 +[trim_sail-4] [INFO] [1746050660.587555811] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050660.588420289] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050660.589372081] [sailbot.teensy]: Actual tail angle: 19 +[mux-7] [INFO] [1746050660.589572183] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050660.590341710] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050660.645121831] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050660.646049109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050660.646512448] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050660.648276791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050660.649313528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050660.745286165] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050660.745911991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050660.746713536] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050660.748593609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050660.749806318] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050660.835553694] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050660.837432302] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050660.838587171] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050660.839397047] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050660.839571403] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050660.840612452] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050660.841504832] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050660.844377539] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050660.845056310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050660.845573452] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050660.846826562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050660.847962732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050660.945592054] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050660.946200799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050660.947508874] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050660.948507473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050660.949080005] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050661.003594771] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931089 Long: -76.50332256 +[vectornav-1] [INFO] [1746050661.005247876] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.808, -1.447, -1.093) +[mux-7] [INFO] [1746050661.045290757] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050661.046489220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050661.047048721] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050661.048876499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050661.050032571] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050661.085450187] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050661.088388695] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050661.088823779] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050661.088912900] [sailbot.teensy]: Wind angle: 242 +[teensy-2] [INFO] [1746050661.089855033] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050661.090742710] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050661.091580392] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050661.145315438] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050661.145916659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050661.146937380] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050661.148117307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050661.149273573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050661.245459511] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050661.246057839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050661.247067548] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050661.248225365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050661.249449296] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050661.335368106] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050661.337780980] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050661.338101026] [sailbot.teensy]: Wind angle: 250 +[teensy-2] [INFO] [1746050661.339080729] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050661.339586473] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050661.340012269] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050661.340971179] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050661.344274670] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050661.344763632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050661.345387758] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050661.346536964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050661.347587426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050661.445573123] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050661.446537222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050661.447191968] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050661.448389942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050661.448933726] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050661.503444619] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931103 Long: -76.5033279 +[vectornav-1] [INFO] [1746050661.505286709] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.365, 2.251, -0.401) +[mux-7] [INFO] [1746050661.545403626] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050661.546064672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050661.546982170] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050661.548202985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050661.549373583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050661.563833944] [sailbot.mux]: controller_app rudder angle: -4 +[teensy-2] [INFO] [1746050661.585243667] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050661.586974518] [sailbot.teensy]: Wind angle: 245 +[trim_sail-4] [INFO] [1746050661.587323390] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050661.588063171] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050661.589074780] [sailbot.teensy]: Actual tail angle: 20 +[mux-7] [INFO] [1746050661.588748728] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050661.589992491] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050661.644822180] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050661.645425559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050661.646009233] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050661.647144896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050661.648405720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050661.745240279] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050661.745779029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050661.747124047] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050661.747678061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050661.749497750] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050661.835549999] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050661.838191474] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050661.838686195] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050661.838987518] [sailbot.teensy]: Wind angle: 240 +[teensy-2] [INFO] [1746050661.840011629] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050661.840895882] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050661.841680248] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050661.844509060] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050661.845092456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050661.845585068] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050661.846850170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050661.847895590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050661.945549400] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050661.946464648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050661.947391174] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050661.949080786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050661.950287141] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050662.003622887] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931118 Long: -76.50333277 +[vectornav-1] [INFO] [1746050662.005278132] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.83400000000006, 0.543, -2.619) +[mux-7] [INFO] [1746050662.044876493] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050662.045763631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050662.046055953] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050662.047528161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050662.048661874] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050662.085420825] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050662.087647721] [sailbot.teensy]: Wind angle: 242 +[trim_sail-4] [INFO] [1746050662.088136740] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050662.088630163] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050662.089468057] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050662.089537193] [sailbot.teensy]: Actual tail angle: 21 +[teensy-2] [INFO] [1746050662.090394126] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050662.145192801] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050662.146326361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050662.147292896] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050662.148456007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050662.149646579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050662.245268516] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050662.245957044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050662.246824801] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050662.248239052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050662.249407439] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050662.335356354] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050662.337231386] [sailbot.teensy]: Wind angle: 244 +[teensy-2] [INFO] [1746050662.338194768] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050662.339089294] [sailbot.teensy]: Actual tail angle: 21 +[trim_sail-4] [INFO] [1746050662.338362772] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050662.339550995] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050662.339932667] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050662.344642318] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050662.344986472] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050662.345985800] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050662.346684866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050662.347867428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050662.445415822] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050662.445991032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050662.447042133] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050662.448316289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050662.449475441] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050662.502495737] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931087 Long: -76.50333764 +[vectornav-1] [INFO] [1746050662.503522616] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.79099999999994, -2.718, -3.964) +[mux-7] [INFO] [1746050662.545428615] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050662.546028822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050662.547039409] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050662.548350648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050662.549515414] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050662.585453306] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050662.587694435] [sailbot.teensy]: Wind angle: 243 +[trim_sail-4] [INFO] [1746050662.587764204] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050662.588383759] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050662.588684504] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050662.589571322] [sailbot.teensy]: Actual tail angle: 21 +[teensy-2] [INFO] [1746050662.590421676] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050662.644845439] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050662.645290155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050662.646221670] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050662.647120251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050662.648238518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050662.745315693] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050662.745956333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050662.746968014] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050662.748533547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050662.749770184] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050662.835369547] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050662.837215815] [sailbot.teensy]: Wind angle: 243 +[teensy-2] [INFO] [1746050662.838144787] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050662.837802870] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050662.838391474] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050662.839015361] [sailbot.teensy]: Actual tail angle: 21 +[teensy-2] [INFO] [1746050662.839853996] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050662.844518676] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050662.845017897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050662.846314388] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050662.846727066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050662.847900781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050662.945645169] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050662.946427411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050662.947389818] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050662.949944096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050662.950997565] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050663.003663844] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930989 Long: -76.50334246 +[vectornav-1] [INFO] [1746050663.005309624] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.74, 1.784, -6.45) +[mux-7] [INFO] [1746050663.044795419] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050663.045295051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050663.046052037] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050663.047070398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050663.048098614] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050663.085465901] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050663.087429494] [sailbot.teensy]: Wind angle: 246 +[teensy-2] [INFO] [1746050663.088441055] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050663.087886531] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050663.089390973] [sailbot.teensy]: Actual tail angle: 21 +[mux-7] [INFO] [1746050663.090238780] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050663.090297697] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050663.144795323] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050663.145294952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050663.146044705] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050663.147066397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050663.148089671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050663.245655611] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050663.246252614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050663.247559726] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050663.248654525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050663.249962305] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050663.335601437] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050663.337528579] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050663.338050296] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050663.338471261] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050663.339415806] [sailbot.teensy]: Actual tail angle: 21 +[mux-7] [INFO] [1746050663.339850084] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050663.340318063] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050663.344418956] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050663.344882408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050663.345582177] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050663.346543547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050663.347579321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050663.445407010] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050663.445975534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050663.447036563] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050663.447964017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050663.449212092] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050663.503494170] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930903 Long: -76.50334817 +[vectornav-1] [INFO] [1746050663.504793173] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.78099999999995, -2.37, -11.438) +[mux-7] [INFO] [1746050663.545380334] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050663.546119217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050663.546983794] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746050663.548338146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 +[teensy-2] [INFO] [1746050663.548842052] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050663.585559718] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050663.588024353] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050663.588534809] [sailbot.mux]: controller_app rudder angle: 2 +[teensy-2] [INFO] [1746050663.589114714] [sailbot.teensy]: Wind angle: 246 +[teensy-2] [INFO] [1746050663.590044894] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050663.590461432] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050663.590928131] [sailbot.teensy]: Actual tail angle: 21 +[teensy-2] [INFO] [1746050663.591775102] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050663.645233614] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050663.645828807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050663.646910332] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050663.648085045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050663.649370996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050663.745284594] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050663.745771451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050663.746766797] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050663.748732578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050663.749779505] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050663.835501052] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050663.837435531] [sailbot.teensy]: Wind angle: 254 +[trim_sail-4] [INFO] [1746050663.838695770] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050663.839133467] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050663.839904742] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050663.840470532] [sailbot.teensy]: Actual tail angle: 21 +[teensy-2] [INFO] [1746050663.840808880] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050663.844648132] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050663.845165740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050663.845791432] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050663.846862376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050663.847867710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050663.945355969] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050663.945891459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050663.946962419] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050663.948013273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050663.949307654] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050664.003768539] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930806 Long: -76.50335418 +[vectornav-1] [INFO] [1746050664.005563058] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.70900000000006, 0.533, -10.097) +[mux-7] [INFO] [1746050664.044939092] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050664.045368336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050664.046178509] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050664.047213488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050664.048460847] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050664.085354270] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050664.087646071] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050664.088176669] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050664.088571010] [sailbot.teensy]: Wind angle: 266 +[teensy-2] [INFO] [1746050664.089661416] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050664.090561679] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050664.091394580] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050664.145396741] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050664.145914583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050664.147122675] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050664.148102977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050664.149245438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050664.245337699] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050664.246058651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050664.246800776] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050664.248029048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050664.249071643] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050664.335331860] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050664.338090411] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050664.338672079] [sailbot.teensy]: Wind angle: 257 +[mux-7] [INFO] [1746050664.338695818] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050664.339623119] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050664.340523526] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050664.341356734] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050664.344276408] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050664.344862996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050664.345417291] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050664.346525323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050664.347686769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050664.445441347] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050664.446064974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050664.447255851] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050664.448346179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050664.449079603] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050664.502372662] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930738 Long: -76.50336022 +[vectornav-1] [INFO] [1746050664.503410216] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (186.50400000000002, -2.2, -9.359) +[mux-7] [INFO] [1746050664.545612892] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050664.546282646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050664.547221258] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050664.548695197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050664.549984476] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050664.550702240] [sailbot.mux]: controller_app rudder angle: 4 +[teensy-2] [INFO] [1746050664.585439109] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050664.587678102] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050664.587983767] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050664.589307198] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050664.589670111] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050664.590595932] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050664.591441859] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050664.645199576] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050664.646142154] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050664.646741209] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050664.649057006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050664.650132134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050664.745337927] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050664.746116368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050664.746962957] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050664.748352327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050664.748828504] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050664.835436509] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050664.838075211] [sailbot.teensy]: Wind angle: 240 +[trim_sail-4] [INFO] [1746050664.838088370] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050664.839045908] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050664.840136200] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050664.841068709] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050664.841893659] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050664.844463542] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050664.844862867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050664.845851203] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050664.846556917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050664.847601254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050664.945230374] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050664.946216751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050664.946743304] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050664.947784919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050664.948310095] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050665.003536266] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930676 Long: -76.50336625 +[vectornav-1] [INFO] [1746050665.005219178] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.409, -0.919, -9.594) +[mux-7] [INFO] [1746050665.044998854] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050665.045824631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050665.046307730] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050665.047671677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050665.048709549] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050665.085437250] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050665.087989496] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050665.088591820] [sailbot.teensy]: Wind angle: 241 +[mux-7] [INFO] [1746050665.088721490] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050665.089523408] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050665.090460886] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050665.091294399] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050665.145144190] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050665.145856824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050665.146557385] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050665.147922975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050665.149108998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050665.245252255] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050665.245795132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050665.246725780] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050665.247858829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050665.248997397] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050665.335269875] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050665.338029623] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050665.338363276] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050665.339288254] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050665.339216837] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050665.340199933] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050665.341069148] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050665.344415326] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050665.345089982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050665.345646662] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050665.346889170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050665.348036538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050665.445297064] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050665.446661146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050665.446955131] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050665.448868109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050665.449942580] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050665.502757400] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469307 Long: -76.5033727 +[vectornav-1] [INFO] [1746050665.504046856] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.01800000000003, 0.891, -5.54) +[mux-7] [INFO] [1746050665.531946511] [sailbot.mux]: controller_app rudder angle: -1 +[mux-7] [INFO] [1746050665.544879022] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050665.545686266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050665.546158367] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050665.547648199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050665.548722574] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050665.585609413] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050665.588108079] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050665.588361472] [sailbot.teensy]: Wind angle: 259 +[teensy-2] [INFO] [1746050665.589304496] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050665.589596159] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050665.590228377] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050665.591079607] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050665.645166443] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050665.645692259] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050665.646645164] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050665.648369704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050665.649492628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050665.745494281] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050665.746232682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050665.747134588] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050665.748488754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050665.749376697] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050665.835423713] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050665.837851370] [sailbot.teensy]: Wind angle: 249 +[trim_sail-4] [INFO] [1746050665.838376228] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050665.839159688] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050665.840362952] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050665.841281996] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050665.842166418] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050665.844413968] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050665.844727445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050665.845604075] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050665.846398322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050665.847513724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050665.945693279] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050665.946401147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050665.947619386] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050665.950072167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050665.951248834] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050666.003666452] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930717 Long: -76.50337846 +[vectornav-1] [INFO] [1746050666.005464437] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.611, -2.082, -3.442) +[mux-7] [INFO] [1746050666.044982712] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050666.045697332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050666.046329969] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050666.047589749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050666.048633307] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050666.085228822] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050666.087539485] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050666.088218740] [sailbot.teensy]: Wind angle: 236 +[mux-7] [INFO] [1746050666.088443283] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050666.089232016] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050666.090138450] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050666.091000681] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050666.144964201] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050666.145842824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050666.146288226] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050666.147689266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050666.148853752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050666.245526198] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050666.246259625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050666.247131621] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050666.248335776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050666.248857116] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050666.335304306] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050666.337896237] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050666.339025125] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050666.339135201] [sailbot.teensy]: Wind angle: 237 +[teensy-2] [INFO] [1746050666.340057506] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050666.340956541] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050666.341762229] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050666.344478565] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050666.344926309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050666.345970841] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050666.346712732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050666.347937216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050666.445560516] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050666.446164061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050666.447700342] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050666.448300682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050666.449753447] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050666.503852151] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930756 Long: -76.50338434 +[vectornav-1] [INFO] [1746050666.505750147] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.66499999999996, 2.091, -4.59) +[mux-7] [INFO] [1746050666.533100672] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746050666.545025722] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050666.545720774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050666.546375233] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050666.547665147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050666.548701631] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050666.585326227] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050666.587563619] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050666.587801019] [sailbot.teensy]: Wind angle: 238 +[mux-7] [INFO] [1746050666.588486438] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050666.588746449] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050666.589611711] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050666.590473145] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050666.645209721] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050666.645754689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050666.646706417] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050666.648130271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050666.648782140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050666.745184868] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050666.745870860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050666.747084632] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050666.748608085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050666.749693030] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050666.835711950] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050666.838256907] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746050666.839119981] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050666.839232303] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050666.839244780] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050666.839626750] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050666.839998222] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050666.844489943] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050666.845040525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050666.845599059] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050666.846709699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050666.847753594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050666.945606417] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050666.946409532] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050666.947335715] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050666.948890667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050666.950112940] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050667.003732965] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930792 Long: -76.50338981 +[vectornav-1] [INFO] [1746050667.005721960] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.404, -1.289, -3.45) +[mux-7] [INFO] [1746050667.044988327] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050667.045662503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050667.046291768] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050667.047526919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050667.048578555] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050667.085595436] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050667.087549130] [sailbot.teensy]: Wind angle: 228 +[trim_sail-4] [INFO] [1746050667.088194382] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050667.088587679] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050667.088805688] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050667.089520429] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050667.090412401] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050667.145407356] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050667.146103058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050667.146947606] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050667.148324174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050667.149539162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050667.245039929] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050667.245576207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050667.246374255] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050667.247475351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050667.248563547] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050667.335113103] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050667.337670764] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050667.338127978] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050667.338157880] [sailbot.teensy]: Wind angle: 230 +[teensy-2] [INFO] [1746050667.339332968] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050667.340248600] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050667.341225487] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050667.344344292] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050667.344751983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050667.345451924] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050667.346437736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050667.347512620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050667.444960877] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050667.445408644] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050667.446312020] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050667.447440316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050667.448502523] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050667.504100749] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930866 Long: -76.503395 +[vectornav-1] [INFO] [1746050667.505855771] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.42399999999998, -1.313, -0.961) +[mux-7] [INFO] [1746050667.545241701] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050667.545879457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050667.546792393] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050667.547924713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050667.549046761] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050667.585446812] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050667.588095552] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050667.588131290] [sailbot.teensy]: Wind angle: 228 +[teensy-2] [INFO] [1746050667.589088575] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050667.589225678] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050667.590039372] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050667.590949910] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050667.645053925] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050667.645875226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050667.646492498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050667.647908851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050667.649060556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050667.745360607] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050667.746045385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050667.746914553] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050667.748313608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050667.748822346] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050667.835738911] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050667.837871675] [sailbot.teensy]: Wind angle: 229 +[trim_sail-4] [INFO] [1746050667.839003262] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050667.839323170] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050667.839366886] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050667.839789632] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050667.840178546] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050667.844456420] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050667.845034156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050667.845564845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050667.846735915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050667.847730506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050667.945524378] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050667.946419899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050667.947286017] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050667.948357222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050667.948882334] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050668.003200057] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930974 Long: -76.50340013 +[vectornav-1] [INFO] [1746050668.004786641] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.94399999999996, 1.307, 0.578) +[mux-7] [INFO] [1746050668.044873636] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050668.045621606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050668.046070593] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050668.047601471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050668.048600961] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050668.085402202] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050668.087434033] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746050668.088138642] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050668.089463257] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050668.089762593] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050668.090711592] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050668.091540132] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050668.145120667] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050668.145964604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050668.146555967] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050668.148044292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050668.149056720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050668.245410860] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050668.246183413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050668.247262701] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050668.248377167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050668.249403372] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050668.335220492] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050668.336933729] [sailbot.teensy]: Wind angle: 226 +[trim_sail-4] [INFO] [1746050668.337664030] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050668.337892836] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050668.338741949] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050668.339642100] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050668.338758707] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050668.344384332] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050668.344941546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050668.345705792] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050668.346615285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050668.347782740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050668.445379085] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050668.445914761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050668.447080794] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050668.448808984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050668.449889127] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050668.503087706] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931082 Long: -76.50340477 +[vectornav-1] [INFO] [1746050668.504558536] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.65599999999995, 1.227, -0.062) +[mux-7] [INFO] [1746050668.529806452] [sailbot.mux]: controller_app rudder angle: -9 +[mux-7] [INFO] [1746050668.544991565] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050668.545599331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050668.546324189] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050668.547688693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050668.548879431] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050668.585227197] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050668.587463603] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050668.587641292] [sailbot.teensy]: Wind angle: 223 +[mux-7] [INFO] [1746050668.588425450] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050668.588595717] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050668.589508954] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050668.590440307] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050668.645489471] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050668.645705142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050668.646874187] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050668.647520419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050668.648749031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050668.745368301] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050668.746070768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050668.746928773] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050668.748175690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050668.748721149] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050668.835447537] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050668.837502217] [sailbot.teensy]: Wind angle: 228 +[teensy-2] [INFO] [1746050668.838457300] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050668.837947425] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050668.838467743] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050668.839350839] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050668.840276213] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050668.844435971] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050668.845249878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050668.845693839] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050668.846996731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050668.848007250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050668.945598053] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050668.946388207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050668.947696831] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050668.948438523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050668.948972911] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050669.003693442] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931156 Long: -76.50340848 +[vectornav-1] [INFO] [1746050669.005232794] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.486, -4.182, -0.532) +[mux-7] [INFO] [1746050669.045059250] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050669.045773873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050669.046326990] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050669.047579968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050669.048789754] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050669.085542119] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050669.087410884] [sailbot.teensy]: Wind angle: 228 +[teensy-2] [INFO] [1746050669.088368992] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050669.088027631] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050669.088464395] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050669.089260927] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050669.090131660] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050669.145118541] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050669.146599736] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050669.146636535] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050669.148729100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050669.149784196] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050669.245354329] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050669.246273000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050669.247010617] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050669.247859971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050669.248443983] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050669.335220059] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050669.337623941] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050669.338033354] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050669.338378898] [sailbot.teensy]: Wind angle: 226 +[teensy-2] [INFO] [1746050669.339383242] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050669.340248092] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050669.340675284] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050669.344495889] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050669.345092905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050669.346637290] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050669.346827728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050669.347918657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050669.444965464] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050669.445642709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050669.446262525] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050669.447535189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050669.448615110] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050669.502819356] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931245 Long: -76.50341231 +[vectornav-1] [INFO] [1746050669.504102603] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.471, 4.597, 0.591) +[mux-7] [INFO] [1746050669.545304058] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050669.546222447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050669.546702586] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050669.548577957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050669.549726900] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050669.585355823] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050669.587544264] [sailbot.teensy]: Wind angle: 226 +[trim_sail-4] [INFO] [1746050669.587791171] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050669.588526361] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050669.588877118] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050669.589427881] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050669.590309462] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050669.645348400] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050669.646722353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050669.647333817] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050669.648940668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050669.650042999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050669.745605909] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050669.746489977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050669.747404562] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050669.749126854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050669.750238821] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050669.835874359] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050669.839114229] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050669.839128388] [sailbot.teensy]: Wind angle: 229 +[mux-7] [INFO] [1746050669.839567366] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050669.839615338] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050669.839991608] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050669.840357851] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050669.844465237] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050669.844965477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050669.845578134] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050669.846670647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050669.847687292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050669.945351845] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050669.946195650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050669.947086827] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050669.948511699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050669.949778990] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050670.003163500] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693123 Long: -76.50341512 +[vectornav-1] [INFO] [1746050670.004471912] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.45500000000004, -5.207, 0.87) +[mux-7] [INFO] [1746050670.044998689] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050670.045688920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050670.046306189] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050670.047602550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050670.048781075] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050670.085465769] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050670.087557875] [sailbot.teensy]: Wind angle: 237 +[trim_sail-4] [INFO] [1746050670.088028830] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050670.088563859] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050670.089403699] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050670.089422687] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050670.090328056] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050670.145204833] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050670.145731311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050670.146667060] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050670.147670024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050670.148522856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050670.245617607] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050670.246388551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050670.247344719] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050670.248830927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050670.250069191] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050670.335232167] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050670.337682218] [sailbot.teensy]: Wind angle: 242 +[trim_sail-4] [INFO] [1746050670.338204660] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050670.338607522] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050670.338623536] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050670.339214098] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050670.339586371] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050670.344507310] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050670.345295572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050670.345772571] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050670.347184159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050670.348313065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050670.445147878] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050670.446135939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050670.446603553] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050670.447810170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050670.448252275] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050670.502374812] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931232 Long: -76.50341884 +[vectornav-1] [INFO] [1746050670.503751962] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.87300000000005, 4.658, -3.267) +[mux-7] [INFO] [1746050670.542310651] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746050670.544209979] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050670.544904751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050670.545176838] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050670.546563107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050670.547674704] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050670.585355424] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050670.587778200] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050670.588275593] [sailbot.teensy]: Wind angle: 242 +[mux-7] [INFO] [1746050670.588786627] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050670.589303439] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050670.590328222] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050670.591243421] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050670.645202708] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050670.646048559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050670.646711815] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050670.647656547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050670.649086750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050670.745115700] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050670.746087325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050670.746623264] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050670.747700305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050670.748228781] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050670.835454369] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050670.837579153] [sailbot.teensy]: Wind angle: 249 +[trim_sail-4] [INFO] [1746050670.838228017] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050670.838493846] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050670.838874643] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050670.838885623] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050670.839272289] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050670.844386308] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050670.844950663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050670.845543575] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050670.846673195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050670.847668851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050670.945207857] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050670.945886391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050670.946651862] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050670.948043072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050670.949512152] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050671.003301462] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931133 Long: -76.50342138 +[vectornav-1] [INFO] [1746050671.005321840] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.11599999999999, -3.894, -3.039) +[mux-7] [INFO] [1746050671.045523106] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050671.046535475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050671.047900341] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050671.048447003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050671.049012805] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050671.085402149] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050671.087728422] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050671.088516713] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050671.088692006] [sailbot.teensy]: Wind angle: 258 +[teensy-2] [INFO] [1746050671.089841098] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050671.090746993] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050671.091593165] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050671.145254617] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050671.145957019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050671.146700240] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050671.148184679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050671.149368413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050671.245034400] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050671.246065384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050671.246733557] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050671.247658556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050671.248202879] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050671.335420364] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050671.338257360] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050671.339441896] [sailbot.teensy]: Wind angle: 259 +[mux-7] [INFO] [1746050671.339485289] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050671.340427614] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050671.340951886] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050671.341311289] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050671.344329414] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050671.344818025] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050671.345497161] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050671.346532997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050671.347596081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050671.445343979] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050671.446333349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050671.447093088] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050671.449408996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050671.450618921] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050671.504497493] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693106 Long: -76.50342523 +[vectornav-1] [INFO] [1746050671.505956991] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (199.89999999999998, 0.815, -3.642) +[mux-7] [INFO] [1746050671.545004612] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050671.545956227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050671.546355941] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050671.547988142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050671.549026587] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050671.585380362] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050671.587214704] [sailbot.teensy]: Wind angle: 264 +[trim_sail-4] [INFO] [1746050671.587662563] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050671.588203144] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050671.589135750] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050671.589392590] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050671.590040082] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050671.645144127] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050671.646178009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050671.646604169] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050671.648470768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050671.649552267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050671.745161978] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050671.746194372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050671.746694749] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050671.748378278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050671.749451428] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050671.835246908] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050671.837538443] [sailbot.teensy]: Wind angle: 264 +[trim_sail-4] [INFO] [1746050671.837691370] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050671.838603387] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050671.838910502] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050671.839553127] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050671.840277304] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050671.844384476] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050671.845009819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050671.845535633] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050671.846776555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050671.847850916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050671.945330437] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050671.946291953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050671.947226518] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050671.948784866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050671.949310382] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050672.004122073] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930917 Long: -76.50342913 +[vectornav-1] [INFO] [1746050672.006238910] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (202.50900000000001, -3.092, -5.613) +[mux-7] [INFO] [1746050672.045168337] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050672.045882913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050672.046436806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050672.047742706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050672.048866813] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050672.085354721] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050672.087693100] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050672.088030741] [sailbot.teensy]: Wind angle: 264 +[mux-7] [INFO] [1746050672.088228781] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050672.089057098] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050672.089993139] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050672.090851346] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050672.145157954] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050672.145851519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050672.146818669] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050672.147926535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050672.149002862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050672.245055790] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050672.245745170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050672.246646611] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050672.247800995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050672.248946198] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050672.335234428] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050672.338306076] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050672.338918592] [sailbot.teensy]: Wind angle: 263 +[mux-7] [INFO] [1746050672.339698487] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050672.339883896] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050672.340703405] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050672.341079050] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050672.344550418] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050672.345105289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050672.345707646] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050672.346805016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050672.347961491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050672.445179696] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050672.445819988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050672.446748512] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050672.447499153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050672.447960679] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050672.503542742] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930747 Long: -76.50343376 +[vectornav-1] [INFO] [1746050672.505021724] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (206.92100000000005, 0.414, -5.305) +[mux-7] [INFO] [1746050672.544680504] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050672.545289919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050672.546087837] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050672.547072636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050672.548193885] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050672.585272244] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050672.587612095] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050672.588369789] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050672.588538316] [sailbot.teensy]: Wind angle: 263 +[teensy-2] [INFO] [1746050672.589556083] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050672.590448097] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050672.591276145] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050672.645038912] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050672.645662637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050672.646340892] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050672.647559456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050672.648792075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050672.745394108] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050672.746353873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050672.747010545] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050672.747930258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050672.748485199] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050672.835709661] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050672.838089229] [sailbot.teensy]: Wind angle: 264 +[teensy-2] [INFO] [1746050672.838933216] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050672.838580469] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050672.839098485] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050672.839321745] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050672.839694402] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050672.844707554] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050672.845186270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050672.846444902] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050672.847249991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050672.848395765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050672.945685690] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050672.946427925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050672.947591493] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050672.948836669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050672.950172398] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050673.004125313] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693058 Long: -76.5034381 +[vectornav-1] [INFO] [1746050673.005933041] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (210.52700000000004, -2.103, -2.837) +[mux-7] [INFO] [1746050673.045501875] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050673.046119943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050673.047232958] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050673.048425126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050673.049707081] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050673.085369732] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050673.087540901] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050673.087601360] [sailbot.teensy]: Wind angle: 264 +[teensy-2] [INFO] [1746050673.088540425] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050673.089085495] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050673.089437288] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050673.090408708] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050673.145327433] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050673.146227631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050673.146899456] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050673.148488729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050673.149570159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050673.245387358] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050673.246214153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050673.246948790] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050673.248578689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050673.249081104] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050673.335321529] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050673.337747198] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050673.337849862] [sailbot.teensy]: Wind angle: 263 +[teensy-2] [INFO] [1746050673.338685349] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050673.338819247] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050673.339091386] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050673.339479818] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050673.344406417] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050673.344987674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050673.345529715] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050673.346688633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050673.347732243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050673.444977525] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050673.445767434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050673.446682849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050673.447811055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050673.448557013] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050673.503811293] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693033 Long: -76.50344239 +[vectornav-1] [INFO] [1746050673.505597831] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (216.135, -0.818, -4.571) +[mux-7] [INFO] [1746050673.545327675] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050673.546114832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050673.546920994] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050673.548527195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050673.549731001] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050673.585526986] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050673.587289854] [sailbot.teensy]: Wind angle: 263 +[trim_sail-4] [INFO] [1746050673.587807826] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050673.588261335] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050673.589200598] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050673.589731202] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050673.590069378] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050673.645202366] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050673.645842108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050673.646847075] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050673.647692622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050673.648261959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050673.745255056] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050673.746204836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050673.746933665] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050673.748464657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050673.749578383] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050673.835823527] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050673.838674804] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050673.839491580] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050673.840088897] [sailbot.teensy]: Wind angle: 262 +[teensy-2] [INFO] [1746050673.841042185] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050673.841395393] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050673.841720578] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050673.844432023] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050673.845094203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050673.845543102] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050673.846904054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050673.847981342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050673.945198463] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050673.945865858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050673.946819799] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050673.948065151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050673.949525353] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050674.003743129] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930084 Long: -76.50344728 +[vectornav-1] [INFO] [1746050674.005615055] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (220.53300000000002, -0.936, -4.38) +[mux-7] [INFO] [1746050674.045273821] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050674.045983518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050674.046783349] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050674.048197562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050674.049540933] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050674.085432052] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050674.087239379] [sailbot.teensy]: Wind angle: 263 +[trim_sail-4] [INFO] [1746050674.088025295] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050674.088184666] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050674.089069881] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050674.089221501] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050674.089949933] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050674.145187102] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050674.145890776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050674.146684357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050674.148005617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050674.149363658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050674.244234372] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050674.244685764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050674.245298233] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050674.246629103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050674.247477220] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050674.334939613] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050674.336555307] [sailbot.teensy]: Wind angle: 265 +[trim_sail-4] [INFO] [1746050674.337260196] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050674.337430523] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050674.338144036] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050674.338255810] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050674.339113377] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050674.344367203] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050674.345079501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050674.345489383] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050674.346808561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050674.347840705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050674.445271382] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050674.445994386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050674.447026185] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050674.448078926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050674.449902379] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050674.503308484] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929754 Long: -76.50345171 +[vectornav-1] [INFO] [1746050674.504735226] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (226.606, -1.005, -5.044) +[mux-7] [INFO] [1746050674.543320833] [sailbot.mux]: controller_app rudder angle: 2 +[mux-7] [INFO] [1746050674.545412816] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050674.546054427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050674.546468928] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050674.547767038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050674.548922505] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050674.585254403] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050674.586890002] [sailbot.teensy]: Wind angle: 266 +[trim_sail-4] [INFO] [1746050674.587787810] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050674.587843563] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050674.588758695] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050674.589331087] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050674.589690114] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050674.645028752] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050674.645670806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050674.646377706] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050674.647884154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050674.649033052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050674.745133265] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050674.745703953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050674.746452833] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050674.747611310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050674.748173385] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050674.835133838] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050674.836791951] [sailbot.teensy]: Wind angle: 267 +[trim_sail-4] [INFO] [1746050674.837350260] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050674.837701138] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050674.838595446] [sailbot.teensy]: Actual tail angle: 27 +[mux-7] [INFO] [1746050674.839435592] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050674.839572891] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050674.844388063] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050674.844874951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050674.845477509] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050674.846759717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050674.847834021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050674.945397651] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050674.946055167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050674.947363211] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050674.948019844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050674.948637163] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050675.003215123] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929421 Long: -76.50345608 +[vectornav-1] [INFO] [1746050675.004652902] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (228.96500000000003, -0.775, -5.277) +[mux-7] [INFO] [1746050675.044919646] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050675.045522414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050675.046176675] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050675.047369268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050675.048581756] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050675.085336687] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050675.087705319] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050675.088041660] [sailbot.teensy]: Wind angle: 288 +[mux-7] [INFO] [1746050675.088762229] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050675.089653449] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050675.090558147] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050675.091411854] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050675.145098121] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050675.145609635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050675.146374224] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050675.147504105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050675.148476768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050675.245357962] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050675.246079352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050675.246997312] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050675.248118225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050675.249225369] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050675.335417727] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050675.337162319] [sailbot.teensy]: Wind angle: 291 +[trim_sail-4] [INFO] [1746050675.337699405] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050675.338092750] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050675.338690314] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050675.339008577] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050675.339913433] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050675.344498445] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050675.344833939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050675.345681495] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050675.346541503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050675.347622348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050675.445688815] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050675.446445079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050675.448120808] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050675.449689664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050675.450863851] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050675.502949977] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692903 Long: -76.50346009 +[vectornav-1] [INFO] [1746050675.504272007] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (232.89800000000002, -2.596, -4.854) +[mux-7] [INFO] [1746050675.545159121] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050675.545643964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050675.547126860] [sailbot.mux]: Published rudder angle from controller_app: 2 +[teensy-2] [INFO] [1746050675.547781421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 +[teensy-2] [INFO] [1746050675.549065235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050675.549223403] [sailbot.mux]: controller_app rudder angle: 5 +[teensy-2] [INFO] [1746050675.585334494] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050675.587503481] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050675.587767219] [sailbot.teensy]: Wind angle: 277 +[mux-7] [INFO] [1746050675.587988862] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050675.588749440] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050675.589713739] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050675.590617206] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050675.644928712] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050675.645661589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050675.646246159] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050675.647565021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050675.648606137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050675.745215575] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050675.746194202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050675.746692961] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050675.747869788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050675.748346660] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050675.835720407] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050675.838530986] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050675.838999940] [sailbot.teensy]: Wind angle: 274 +[mux-7] [INFO] [1746050675.839261662] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050675.839418673] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050675.839790044] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050675.840183874] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050675.844546386] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050675.845109989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050675.845709322] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050675.846792979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050675.847946636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050675.945167729] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050675.946183529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050675.947157294] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050675.948319041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050675.949370627] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050676.003517602] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928568 Long: -76.5034637 +[vectornav-1] [INFO] [1746050676.005400138] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (237.28200000000004, 0.545, -4.84) +[mux-7] [INFO] [1746050676.045462221] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050676.046503151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050676.046980376] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050676.049561132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050676.050712162] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050676.085533916] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050676.088135509] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746050676.088428525] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050676.089420874] [sailbot.teensy]: Wind angle: 290 +[teensy-2] [INFO] [1746050676.090384766] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050676.091321033] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746050676.092177330] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050676.144912976] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050676.145545190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050676.146314955] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050676.147379571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050676.148417237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050676.245049526] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050676.245927737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050676.246436413] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050676.247860631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050676.248357785] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050676.335387987] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050676.337294766] [sailbot.teensy]: Wind angle: 297 +[trim_sail-4] [INFO] [1746050676.337850297] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050676.338842895] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050676.339385453] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050676.339861736] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746050676.340248724] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050676.344369664] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050676.344895527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050676.346273157] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050676.346673850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050676.347913889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050676.445101471] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050676.446020229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050676.446460254] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050676.448170633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050676.449068720] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050676.503273283] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692817 Long: -76.50346811 +[vectornav-1] [INFO] [1746050676.504745778] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (236.63699999999994, -0.881, -3.341) +[mux-7] [INFO] [1746050676.544926276] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050676.545958307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050676.546240165] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746050676.547811412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 +[teensy-2] [INFO] [1746050676.548907806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050676.550603406] [sailbot.mux]: controller_app rudder angle: 6 +[teensy-2] [INFO] [1746050676.585349891] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050676.587609104] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050676.588662962] [sailbot.teensy]: Wind angle: 287 +[mux-7] [INFO] [1746050676.588659391] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050676.589626945] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050676.590538029] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746050676.591367511] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050676.645011700] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050676.645748846] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050676.646396714] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050676.647901517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050676.649019204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050676.745278125] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050676.746004807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050676.746883184] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050676.748050748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050676.749136956] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050676.835245768] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050676.837614068] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050676.838135670] [sailbot.teensy]: Wind angle: 279 +[mux-7] [INFO] [1746050676.838286728] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050676.839107331] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050676.840108923] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746050676.840976933] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050676.844333526] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050676.844811801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050676.845425297] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050676.846816871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050676.847849707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050676.945551308] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050676.946483717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050676.947142585] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050676.949088226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050676.950143006] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050677.002520552] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927718 Long: -76.50347189 +[vectornav-1] [INFO] [1746050677.003601996] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (230.923, -1.921, -8.13) +[mux-7] [INFO] [1746050677.045508526] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050677.046062105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050677.047289396] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050677.047949442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050677.048578639] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050677.085388037] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050677.087347641] [sailbot.teensy]: Wind angle: 279 +[teensy-2] [INFO] [1746050677.088283258] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050677.087890073] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050677.088671606] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050677.089173313] [sailbot.teensy]: Actual tail angle: 31 +[teensy-2] [INFO] [1746050677.090052095] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050677.145267266] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050677.145978347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050677.146856982] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050677.148034997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050677.149110468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050677.245144009] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050677.245980329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050677.246513659] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050677.247956436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050677.248983808] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050677.335337381] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050677.337080343] [sailbot.teensy]: Wind angle: 278 +[teensy-2] [INFO] [1746050677.338072864] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050677.338234271] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050677.338836764] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050677.339007781] [sailbot.teensy]: Actual tail angle: 31 +[teensy-2] [INFO] [1746050677.339952784] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050677.344425060] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050677.345080630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050677.345515757] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050677.346809500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050677.347946943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050677.445265181] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050677.445925067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050677.446716842] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050677.448322621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050677.449450705] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050677.503727533] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927306 Long: -76.50347611 +[vectornav-1] [INFO] [1746050677.505547173] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (222.20900000000006, -2.222, -11.025) +[mux-7] [INFO] [1746050677.532515430] [sailbot.mux]: controller_app rudder angle: 6 +[mux-7] [INFO] [1746050677.544803014] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050677.545494603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050677.546047139] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050677.547356657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050677.548406185] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050677.585261897] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050677.587432797] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050677.587423948] [sailbot.teensy]: Wind angle: 276 +[teensy-2] [INFO] [1746050677.588412120] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050677.588735158] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050677.589353763] [sailbot.teensy]: Actual tail angle: 31 +[teensy-2] [INFO] [1746050677.590232976] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050677.645381779] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050677.646268457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050677.646943369] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050677.648651334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050677.649754642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050677.745213438] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050677.745890776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050677.746576098] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050677.747792493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050677.748976234] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050677.835233898] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050677.836897009] [sailbot.teensy]: Wind angle: 273 +[trim_sail-4] [INFO] [1746050677.837439097] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050677.837885119] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050677.838812813] [sailbot.teensy]: Actual tail angle: 31 +[mux-7] [INFO] [1746050677.839593173] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050677.839705041] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050677.844337634] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050677.844899044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050677.845457678] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050677.846545883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050677.847681917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050677.945377510] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050677.946119590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050677.946942922] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050677.948269578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050677.949405471] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050678.002484700] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692695 Long: -76.50348182 +[vectornav-1] [INFO] [1746050678.003545140] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (213.64499999999998, 1.928, -9.744) +[mux-7] [INFO] [1746050678.045048349] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050678.045716936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050678.046334743] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050678.047731990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050678.048755513] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050678.085483221] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050678.087861583] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050678.088328397] [sailbot.teensy]: Wind angle: 275 +[mux-7] [INFO] [1746050678.088687552] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050678.089278616] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050678.090206126] [sailbot.teensy]: Actual tail angle: 31 +[teensy-2] [INFO] [1746050678.091101363] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050678.145268515] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050678.146331736] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050678.147258060] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050678.148402959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050678.148958708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050678.245132642] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050678.246015752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050678.246948829] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050678.247897677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050678.248432923] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050678.335584163] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050678.337753032] [sailbot.teensy]: Wind angle: 274 +[trim_sail-4] [INFO] [1746050678.337832349] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050678.338596467] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050678.338945692] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050678.338984053] [sailbot.teensy]: Actual tail angle: 31 +[teensy-2] [INFO] [1746050678.339369360] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050678.344302461] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050678.344888305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050678.345416465] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050678.346984996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050678.348141899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050678.445346575] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050678.446094198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050678.446978219] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050678.448542788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050678.449726215] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050678.503825514] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926723 Long: -76.50348711 +[vectornav-1] [INFO] [1746050678.505382805] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (204.35900000000004, -3.708, -13.321) +[mux-7] [INFO] [1746050678.544960615] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050678.546076328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050678.546278975] [sailbot.mux]: Published rudder angle from controller_app: 6 +[teensy-2] [INFO] [1746050678.548070900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 +[teensy-2] [INFO] [1746050678.549236839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050678.549720745] [sailbot.mux]: controller_app rudder angle: 4 +[teensy-2] [INFO] [1746050678.585427776] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050678.587391866] [sailbot.teensy]: Wind angle: 272 +[trim_sail-4] [INFO] [1746050678.587781606] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050678.588319320] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050678.589287667] [sailbot.teensy]: Actual tail angle: 31 +[mux-7] [INFO] [1746050678.589601048] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050678.590195468] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050678.645050987] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050678.645706651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050678.646450768] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050678.647688628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050678.648766018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050678.745177758] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050678.745903866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050678.746545361] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050678.747915647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050678.748769194] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050678.835327569] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050678.837571427] [sailbot.teensy]: Wind angle: 277 +[trim_sail-4] [INFO] [1746050678.837714281] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050678.838552163] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050678.839458839] [sailbot.teensy]: Actual tail angle: 31 +[mux-7] [INFO] [1746050678.839657185] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050678.840326169] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050678.844242435] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050678.845030266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050678.845342843] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050678.846742701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050678.847880375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050678.945083566] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050678.946122325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050678.946485974] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050678.948472342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050678.949659459] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050679.003678116] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926555 Long: -76.50349403 +[vectornav-1] [INFO] [1746050679.005886796] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (194.62900000000002, 1.811, -13.324) +[mux-7] [INFO] [1746050679.045242609] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050679.046310121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050679.046746569] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050679.048716307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050679.049756258] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050679.085410775] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050679.087607189] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050679.087836938] [sailbot.teensy]: Wind angle: 285 +[teensy-2] [INFO] [1746050679.088959052] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050679.089013103] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050679.089913483] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050679.090762192] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050679.145253859] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050679.146028079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050679.146811783] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050679.148121959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050679.149350896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050679.245380168] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050679.246060784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050679.247251662] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050679.247986281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050679.249088504] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050679.335686880] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050679.338569060] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050679.339077637] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050679.339441511] [sailbot.teensy]: Wind angle: 282 +[teensy-2] [INFO] [1746050679.339865733] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050679.340240021] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050679.340594110] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050679.344367596] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050679.345226837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050679.345506732] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050679.346984310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050679.347983037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050679.445202224] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050679.445883562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050679.446736307] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050679.447965263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050679.448501353] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050679.502778082] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926415 Long: -76.50350043 +[vectornav-1] [INFO] [1746050679.503910417] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.97699999999998, -3.735, -11.269) +[mux-7] [INFO] [1746050679.545064565] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050679.545883166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050679.546883020] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050679.547896381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050679.548951085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050679.562019421] [sailbot.mux]: controller_app rudder angle: 3 +[teensy-2] [INFO] [1746050679.585681512] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050679.589252175] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050679.590265220] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050679.590686001] [sailbot.teensy]: Wind angle: 254 +[teensy-2] [INFO] [1746050679.591701697] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050679.592727265] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050679.593623664] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050679.645091268] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050679.645813742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050679.646502924] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050679.647895287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050679.649035984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050679.745428750] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050679.746152526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050679.746937708] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050679.748365683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050679.749532923] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050679.835396385] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050679.837453236] [sailbot.teensy]: Wind angle: 242 +[teensy-2] [INFO] [1746050679.838400512] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050679.837799144] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050679.838675912] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050679.838956722] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050679.839333468] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050679.844560598] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050679.845149596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050679.845741007] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050679.846848883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050679.847873242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050679.945064091] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050679.945775962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050679.946777752] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050679.947770875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050679.949261162] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050680.003502201] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926392 Long: -76.50350667 +[vectornav-1] [INFO] [1746050680.005047811] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.33000000000004, -2.896, -10.69) +[mux-7] [INFO] [1746050680.045217703] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050680.045966069] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050680.048188717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[mux-7] [INFO] [1746050680.046708173] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050680.048892724] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050680.085459550] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050680.087624879] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050680.088990894] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050680.089446434] [sailbot.teensy]: Wind angle: 245 +[teensy-2] [INFO] [1746050680.090403445] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050680.091276220] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050680.092092844] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050680.145086523] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050680.145977235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050680.146507000] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050680.148063605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050680.149255775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050680.245113919] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050680.245654899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050680.246921784] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050680.247473601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050680.248515268] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050680.335632667] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050680.337892823] [sailbot.teensy]: Wind angle: 240 +[trim_sail-4] [INFO] [1746050680.338547668] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050680.338981568] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050680.339869263] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050680.339894872] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050680.340864842] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050680.344405253] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050680.344910829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050680.345557280] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050680.346578504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050680.347733558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050680.445637577] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050680.446444459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050680.447221997] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050680.448203991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050680.448721360] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050680.502645678] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926498 Long: -76.50351332 +[vectornav-1] [INFO] [1746050680.503766822] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.83400000000006, 5.389, -6.389) +[mux-7] [INFO] [1746050680.545109512] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050680.545636500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050680.546329774] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050680.548043026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[mux-7] [INFO] [1746050680.548719703] [sailbot.mux]: controller_app rudder angle: -2 +[teensy-2] [INFO] [1746050680.549192308] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050680.585469222] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050680.587829833] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050680.588540064] [sailbot.teensy]: Wind angle: 240 +[mux-7] [INFO] [1746050680.589055525] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050680.589497221] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050680.590418186] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050680.591301845] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050680.645448143] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050680.645987543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050680.647135833] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050680.648562104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050680.649594445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050680.745226174] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050680.745761087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050680.746702747] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050680.747728681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050680.748861996] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050680.835270901] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050680.837476623] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050680.837594236] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050680.838718069] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050680.838909961] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050680.839650699] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050680.840509173] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050680.844533753] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050680.845161565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050680.845704868] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050680.847014095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050680.848089551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050680.945619611] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050680.946342879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050680.947240957] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050680.949703098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050680.950866094] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050681.003974493] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926555 Long: -76.50351769 +[vectornav-1] [INFO] [1746050681.005810760] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.60400000000004, -5.064, -1.328) +[mux-7] [INFO] [1746050681.045154721] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050681.045914905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050681.046563398] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050681.048094845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050681.049268051] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050681.085218453] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050681.087522179] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050681.087574286] [sailbot.teensy]: Wind angle: 232 +[teensy-2] [INFO] [1746050681.088461393] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050681.088598608] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050681.089383753] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050681.090251073] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050681.145105573] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050681.145615910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050681.146687323] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050681.147525373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050681.148769886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050681.245054019] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050681.245635508] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050681.246421192] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050681.247436415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050681.248656818] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050681.335525278] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050681.338088489] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050681.339133313] [sailbot.teensy]: Wind angle: 233 +[mux-7] [INFO] [1746050681.339156808] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050681.339550618] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050681.339924872] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050681.340499893] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050681.344508021] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050681.344954807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050681.345824126] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050681.346642136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050681.347696324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050681.445187508] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050681.446011379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050681.446751554] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050681.448299481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050681.449501670] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050681.502512372] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926659 Long: -76.50352294 +[vectornav-1] [INFO] [1746050681.503583382] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.72799999999995, 0.915, 1.181) +[mux-7] [INFO] [1746050681.545168849] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050681.545863947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050681.546479679] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050681.547918698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050681.549343161] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050681.585576505] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050681.588196329] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050681.588752160] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050681.590006412] [sailbot.teensy]: Wind angle: 230 +[teensy-2] [INFO] [1746050681.590914436] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050681.591791490] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050681.592709008] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050681.644967759] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050681.645792812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050681.646260623] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050681.647806554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[mux-7] [INFO] [1746050681.648272902] [sailbot.mux]: controller_app rudder angle: -1 +[teensy-2] [INFO] [1746050681.649019973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050681.745385215] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050681.746330856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050681.747174729] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050681.749264751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050681.750410686] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050681.835748509] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050681.838650133] [sailbot.teensy]: Wind angle: 223 +[trim_sail-4] [INFO] [1746050681.839059800] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050681.839602113] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050681.839655389] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050681.840574190] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050681.841369547] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050681.844713836] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050681.845461884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050681.845971819] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050681.847317174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050681.848369465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050681.945355397] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050681.946050363] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050681.947279412] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050681.947956101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050681.948507588] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050682.003985680] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926748 Long: -76.50352682 +[vectornav-1] [INFO] [1746050682.005775029] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (161.79099999999994, 1.496, 1.338) +[mux-7] [INFO] [1746050682.045390714] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050682.046192054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050682.046895924] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050682.048643909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050682.049727175] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050682.085539031] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050682.088115957] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050682.088209975] [sailbot.teensy]: Wind angle: 222 +[teensy-2] [INFO] [1746050682.089178798] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050682.089444157] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050682.090056735] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050682.090423842] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050682.144940665] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050682.145691242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050682.146433544] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050682.147652906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050682.148168831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050682.245099988] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050682.245905356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050682.246530311] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050682.247856642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050682.248473263] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050682.335197851] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050682.336916369] [sailbot.teensy]: Wind angle: 224 +[teensy-2] [INFO] [1746050682.338042088] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050682.338147986] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050682.339150883] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050682.340122260] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050682.341029535] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050682.344412176] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050682.344877670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050682.345617202] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050682.346592104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050682.347740887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050682.445237552] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050682.445846579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050682.446778285] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050682.447996920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050682.449182787] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050682.503444397] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926824 Long: -76.50353021 +[vectornav-1] [INFO] [1746050682.504960733] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (161.096, 0.408, 0.512) +[mux-7] [INFO] [1746050682.544977291] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050682.545701451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050682.546242467] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050682.547702066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050682.548846080] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050682.585410526] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050682.587252184] [sailbot.teensy]: Wind angle: 225 +[trim_sail-4] [INFO] [1746050682.587813682] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050682.588237423] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050682.589116189] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050682.589127238] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050682.589960032] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050682.645614516] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050682.646404633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050682.647211194] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050682.648745480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050682.650107675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050682.745661442] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050682.746386367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050682.747660395] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050682.748708930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050682.749832302] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050682.835440061] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050682.837815134] [sailbot.teensy]: Wind angle: 225 +[trim_sail-4] [INFO] [1746050682.837848634] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050682.838482652] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050682.838765427] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050682.839293562] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050682.839695114] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050682.844491294] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050682.845139505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050682.845905523] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050682.846825056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050682.847962705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050682.945394503] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050682.946261595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050682.947277287] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050682.948420392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050682.949780727] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050683.003602641] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926856 Long: -76.50353395 +[vectornav-1] [INFO] [1746050683.005528553] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.40599999999995, 0.234, 0.949) +[mux-7] [INFO] [1746050683.045260087] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050683.046033007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050683.046727326] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050683.048364063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050683.049472473] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050683.085462596] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050683.087499652] [sailbot.teensy]: Wind angle: 222 +[trim_sail-4] [INFO] [1746050683.087812145] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050683.088475409] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050683.089379465] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050683.090070600] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050683.090292842] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050683.145171977] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050683.146456342] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050683.148642866] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050683.150361384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050683.151380910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050683.245230967] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050683.245806963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050683.247098852] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050683.247972065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050683.248794938] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050683.335262587] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050683.336977084] [sailbot.teensy]: Wind angle: 226 +[trim_sail-4] [INFO] [1746050683.337635720] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050683.337933694] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050683.338843565] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050683.339765609] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050683.340125758] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050683.344351697] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050683.345100872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050683.345528014] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050683.346847717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050683.347904520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050683.445240961] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050683.445881913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050683.446888327] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050683.448371561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050683.449205147] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050683.503410681] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926871 Long: -76.50353639 +[vectornav-1] [INFO] [1746050683.504979129] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.87900000000002, -2.889, 2.039) +[mux-7] [INFO] [1746050683.545004367] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050683.545829964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050683.546197894] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050683.547764290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050683.548885609] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050683.585512116] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050683.587636171] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050683.588609541] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050683.588518343] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050683.588563379] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050683.589526065] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050683.590396496] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050683.645071837] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050683.645806293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050683.646513812] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050683.647854018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050683.648320077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050683.745380748] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050683.746361425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050683.746966893] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050683.748679516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050683.749888186] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050683.835513494] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050683.837924777] [sailbot.teensy]: Wind angle: 225 +[trim_sail-4] [INFO] [1746050683.838033622] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050683.839148863] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050683.839780606] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050683.840719735] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050683.841557485] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050683.844351889] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050683.845023773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050683.845519955] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050683.846983669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050683.848007426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050683.945541808] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050683.946503674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050683.947183702] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050683.948201154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050683.948728979] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050684.003844812] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926948 Long: -76.50353912 +[vectornav-1] [INFO] [1746050684.005737886] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.66899999999998, 3.431, 1.578) +[mux-7] [INFO] [1746050684.045379120] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050684.046481139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050684.047037898] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050684.048860218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050684.050045683] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050684.085477450] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050684.087887144] [sailbot.teensy]: Wind angle: 223 +[trim_sail-4] [INFO] [1746050684.087920591] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050684.088556630] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050684.088924025] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050684.089888289] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050684.090758281] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050684.145206316] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050684.146136321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050684.146668271] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050684.148356540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050684.149362119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050684.245017286] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050684.245727595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050684.246336148] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050684.247557243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050684.248083826] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050684.335212353] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050684.337424514] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050684.337734397] [sailbot.teensy]: Wind angle: 223 +[teensy-2] [INFO] [1746050684.338839229] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050684.338890912] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050684.339458665] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050684.339802577] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050684.344667522] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050684.345333331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050684.345844420] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050684.347162938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050684.348195779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050684.445617360] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050684.446533482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050684.447345670] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050684.448641366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050684.449043266] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050684.503145670] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926984 Long: -76.5035415 +[vectornav-1] [INFO] [1746050684.504560049] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.95399999999995, -1.982, 0.333) +[mux-7] [INFO] [1746050684.544647867] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050684.545254545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050684.545763461] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050684.547106506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[mux-7] [INFO] [1746050684.547792044] [sailbot.mux]: controller_app rudder angle: -2 +[teensy-2] [INFO] [1746050684.548202316] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050684.585447340] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050684.587777714] [sailbot.teensy]: Wind angle: 224 +[trim_sail-4] [INFO] [1746050684.588046722] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050684.588862248] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050684.589793070] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050684.590344472] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050684.590690023] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050684.645200521] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050684.646252324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050684.646872086] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050684.648693716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050684.649862616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050684.745715956] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050684.746501708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050684.747564035] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050684.748128999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050684.748567213] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050684.835535865] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050684.837429498] [sailbot.teensy]: Wind angle: 224 +[teensy-2] [INFO] [1746050684.838388874] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050684.837915466] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050684.839330057] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050684.839704118] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050684.840280635] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050684.844390663] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050684.844999612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050684.845563178] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050684.846747786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050684.847838127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050684.945487162] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050684.946430749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050684.947012198] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050684.948308874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050684.948825475] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050685.004218693] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692696 Long: -76.50354413 +[vectornav-1] [INFO] [1746050685.006242136] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.70900000000006, 0.741, 0.85) +[mux-7] [INFO] [1746050685.044848363] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050685.045421358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050685.046042949] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050685.047218126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050685.048394250] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050685.085547760] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050685.088451089] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050685.088995734] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050685.089166309] [sailbot.teensy]: Wind angle: 224 +[teensy-2] [INFO] [1746050685.090134401] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050685.091020063] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050685.091904984] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050685.145184943] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050685.145860349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050685.146664185] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050685.147652009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050685.148783987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050685.245332353] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050685.245927905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050685.247156199] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050685.248028880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050685.249221643] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050685.335502418] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050685.338116718] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050685.338700551] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050685.338924032] [sailbot.teensy]: Wind angle: 224 +[teensy-2] [INFO] [1746050685.339851307] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050685.340771559] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050685.341636001] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050685.344629445] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050685.345294494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050685.345879085] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050685.347121291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050685.348323997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050685.445438556] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050685.446302019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050685.447564387] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050685.447942777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050685.448555226] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050685.504046210] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927019 Long: -76.50354669 +[vectornav-1] [INFO] [1746050685.506015833] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.03300000000002, -0.427, 2.215) +[mux-7] [INFO] [1746050685.545125404] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050685.545958347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050685.546561889] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050685.548146739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050685.549326872] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050685.585249732] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050685.587539596] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050685.588287659] [sailbot.teensy]: Wind angle: 224 +[mux-7] [INFO] [1746050685.588342823] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050685.589298198] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050685.590192634] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050685.591081934] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050685.645619230] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050685.646272104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050685.647230083] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050685.648534040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050685.649607915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050685.745430907] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050685.746164847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050685.747034100] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050685.748370499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050685.748953542] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050685.835789604] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050685.838546666] [sailbot.teensy]: Wind angle: 226 +[trim_sail-4] [INFO] [1746050685.838598565] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050685.840318281] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050685.840455838] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050685.841392239] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050685.842364176] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050685.844368148] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050685.844840971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050685.845479447] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050685.846564494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050685.847595892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050685.945262897] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050685.946070679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050685.946824570] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050685.947777822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050685.948359446] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050686.003765619] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927034 Long: -76.50354883 +[vectornav-1] [INFO] [1746050686.005891895] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.48800000000006, 1.251, -0.78) +[mux-7] [INFO] [1746050686.045143512] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050686.045914351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050686.046582556] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050686.047908639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050686.048921747] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050686.085377864] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050686.087672547] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050686.088126342] [sailbot.teensy]: Wind angle: 226 +[teensy-2] [INFO] [1746050686.089175718] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050686.089244240] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050686.090115851] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050686.091031361] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050686.144990127] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050686.145643458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050686.146296227] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050686.147453840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050686.148687977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050686.245343168] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050686.246309287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050686.246884468] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050686.247835197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050686.248324776] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050686.335472444] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050686.337825746] [sailbot.teensy]: Wind angle: 226 +[trim_sail-4] [INFO] [1746050686.338098206] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050686.339284247] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050686.339738956] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050686.340144636] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050686.340779243] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050686.344391039] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050686.345003745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050686.345519806] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050686.346751197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050686.347758528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050686.445369729] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050686.446258688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050686.446903954] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050686.448472363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050686.449659909] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050686.502961008] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927004 Long: -76.50355121 +[vectornav-1] [INFO] [1746050686.504458502] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.31999999999994, -2.879, -1.957) +[mux-7] [INFO] [1746050686.544991974] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050686.545833021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050686.546301208] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050686.547767443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050686.548813192] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050686.585486292] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050686.587661926] [sailbot.teensy]: Wind angle: 229 +[trim_sail-4] [INFO] [1746050686.588179808] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050686.588696914] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050686.589700909] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050686.590398288] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050686.590679277] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050686.645081140] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050686.645892010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050686.646579200] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050686.647887666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050686.649797557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050686.744969130] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050686.745786165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050686.746319834] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050686.748007082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050686.749136759] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050686.835413996] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050686.837497691] [sailbot.teensy]: Wind angle: 228 +[trim_sail-4] [INFO] [1746050686.837932288] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050686.838491752] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050686.839468612] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050686.840144027] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050686.840376468] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050686.844418105] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050686.845091490] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050686.845737533] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050686.846842842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050686.848032687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050686.945583433] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050686.946518416] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050686.947236318] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050686.948594082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050686.949164326] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050687.003689906] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927063 Long: -76.50355374 +[vectornav-1] [INFO] [1746050687.005526249] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.80999999999995, 1.309, 0.709) +[mux-7] [INFO] [1746050687.044894824] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050687.045605108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050687.046117521] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050687.047381653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050687.048430865] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050687.085430057] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050687.087843922] [sailbot.teensy]: Wind angle: 229 +[trim_sail-4] [INFO] [1746050687.087878929] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050687.088871481] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050687.089767665] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050687.090201138] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050687.090632720] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050687.145055955] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050687.145931103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050687.146359791] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050687.147851272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050687.148497300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050687.245182128] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050687.246042351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050687.246723703] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050687.247996105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050687.248533079] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050687.335456575] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050687.338319164] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050687.338948460] [sailbot.teensy]: Wind angle: 239 +[mux-7] [INFO] [1746050687.339484442] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050687.339899073] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050687.340603579] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050687.340935481] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050687.344669216] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050687.345134550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050687.345787075] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050687.346848436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050687.348006861] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050687.445558389] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050687.446353157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050687.447203860] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050687.448760486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050687.450017212] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050687.502664501] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692708 Long: -76.50355599 +[vectornav-1] [INFO] [1746050687.503747721] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.14800000000002, -0.295, -1.231) +[mux-7] [INFO] [1746050687.545176824] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050687.545876617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050687.546934568] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050687.547931712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050687.548993326] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050687.585445221] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050687.587966572] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050687.588551703] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050687.588948958] [sailbot.teensy]: Wind angle: 229 +[teensy-2] [INFO] [1746050687.589917452] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050687.590836861] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050687.591696883] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050687.645140213] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050687.645844969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050687.646701100] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050687.648001787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050687.649146308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050687.745180627] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050687.745931851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050687.746812518] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050687.748295286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050687.749392803] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050687.835572009] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050687.837528870] [sailbot.teensy]: Wind angle: 228 +[trim_sail-4] [INFO] [1746050687.838329270] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050687.838466741] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050687.839348111] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050687.838896805] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050687.840257161] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050687.844484033] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050687.844972270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050687.845699309] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050687.846760852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050687.847821483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050687.945515950] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050687.946010309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050687.947254427] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050687.948199212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050687.950246955] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050688.003780596] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927078 Long: -76.50355798 +[vectornav-1] [INFO] [1746050688.005327233] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.25599999999997, -2.082, -0.582) +[mux-7] [INFO] [1746050688.045144627] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050688.046235483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050688.046592382] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050688.048516784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050688.049561857] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050688.085480344] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050688.087880961] [sailbot.teensy]: Wind angle: 227 +[trim_sail-4] [INFO] [1746050688.087921148] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050688.088926956] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050688.089376376] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050688.090277068] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050688.091201606] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050688.145230197] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050688.146047011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050688.146761026] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050688.148430729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050688.149540468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050688.245378446] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050688.246393871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050688.247049337] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050688.248842299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050688.249898136] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050688.335234852] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050688.337679809] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050688.337679056] [sailbot.teensy]: Wind angle: 230 +[mux-7] [INFO] [1746050688.338054610] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050688.338692375] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050688.339616419] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050688.340511294] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050688.344424498] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050688.345109999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050688.345519369] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050688.346804328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050688.347901217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050688.445662215] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050688.447426361] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050688.447589256] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050688.449878378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050688.450996280] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050688.503371629] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927184 Long: -76.50356043 +[vectornav-1] [INFO] [1746050688.505300059] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.55600000000004, 0.797, 2.06) +[mux-7] [INFO] [1746050688.545481483] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050688.546516449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050688.547762683] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050688.549176986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050688.550530775] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050688.585365724] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050688.587698886] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050688.588355698] [sailbot.teensy]: Wind angle: 232 +[teensy-2] [INFO] [1746050688.589317556] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050688.589734812] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050688.590231872] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050688.591098236] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050688.645837097] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050688.646164064] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050688.647613459] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050688.648787862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050688.650077800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050688.745390072] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050688.746075817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050688.747049454] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050688.748424074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050688.749674575] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050688.835405207] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050688.837349799] [sailbot.teensy]: Wind angle: 232 +[trim_sail-4] [INFO] [1746050688.838009508] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050688.839107613] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050688.839142673] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050688.839546236] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050688.839962231] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050688.844501745] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050688.845247421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050688.845865702] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050688.847375864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050688.848424052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050688.945385609] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050688.946277461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050688.946936631] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050688.947878173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050688.948402003] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050689.002502130] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927202 Long: -76.50356264 +[vectornav-1] [INFO] [1746050689.003505062] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.34900000000005, -0.285, 0.306) +[mux-7] [INFO] [1746050689.045227214] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050689.045860285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050689.046704204] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050689.047908966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050689.049069089] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050689.085471653] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050689.087855667] [sailbot.teensy]: Wind angle: 232 +[trim_sail-4] [INFO] [1746050689.088141398] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050689.088903730] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050689.089670658] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050689.089835290] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050689.090693395] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050689.145272757] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050689.146238885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050689.147020037] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050689.147955418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050689.148442965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050689.245031793] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050689.245862766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050689.246339602] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050689.247520188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050689.247992931] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050689.335510928] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050689.337934814] [sailbot.teensy]: Wind angle: 232 +[trim_sail-4] [INFO] [1746050689.338161661] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050689.338982184] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050689.340070255] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050689.340419297] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050689.341142973] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050689.344287306] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050689.344990646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050689.345385244] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050689.346790741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050689.347902726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050689.445349519] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050689.446329940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050689.446891897] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050689.448204902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050689.448747172] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050689.502483703] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927219 Long: -76.5035648 +[vectornav-1] [INFO] [1746050689.503502867] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.74, -0.376, -0.112) +[mux-7] [INFO] [1746050689.545135047] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050689.545898158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050689.546585069] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050689.548035828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050689.549016411] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050689.585421956] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050689.587700003] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050689.588137284] [sailbot.teensy]: Wind angle: 231 +[mux-7] [INFO] [1746050689.588620607] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050689.589182751] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050689.590169639] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050689.591190019] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050689.645054855] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050689.645785722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050689.646715142] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050689.647687971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050689.648209205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050689.745123851] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050689.746122889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050689.746695646] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050689.748251655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050689.749391140] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050689.835677279] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050689.838264194] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050689.838911843] [sailbot.teensy]: Wind angle: 231 +[mux-7] [INFO] [1746050689.839316658] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050689.839868675] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050689.840814389] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050689.841625452] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050689.844614874] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050689.845199798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050689.845847034] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050689.846888138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050689.848098934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050689.945592249] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050689.946153789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050689.947375586] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050689.948334543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050689.949635445] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050690.003741758] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927267 Long: -76.50356689 +[vectornav-1] [INFO] [1746050690.005347889] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.53700000000003, -0.984, 1.349) +[mux-7] [INFO] [1746050690.045210964] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050690.045677305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050690.046572248] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050690.047748362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050690.048890662] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050690.085238157] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050690.087001518] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050690.087522116] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050690.087949420] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050690.088805254] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050690.089009289] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050690.089192353] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050690.145114813] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050690.145854890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050690.146829354] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050690.148203504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050690.149568200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050690.245367634] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050690.245890081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050690.246915396] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050690.248898644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050690.250069928] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050690.335430091] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050690.338051233] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050690.338246331] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050690.339198718] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050690.339657172] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050690.340141777] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050690.341111528] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050690.344376654] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050690.344850658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050690.345644497] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050690.346819025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050690.347842027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050690.445590879] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050690.446729704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050690.447227689] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050690.449295022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050690.450438229] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050690.502693717] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927301 Long: -76.50356923 +[vectornav-1] [INFO] [1746050690.503835726] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.81600000000003, 0.158, 0.799) +[mux-7] [INFO] [1746050690.545219524] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050690.546220479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050690.546647426] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050690.548451514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050690.549502822] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050690.585443691] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050690.587671387] [sailbot.teensy]: Wind angle: 232 +[trim_sail-4] [INFO] [1746050690.587965036] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050690.588641185] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050690.588820489] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050690.589587437] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050690.590499988] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050690.645207158] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050690.646206016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050690.646756589] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050690.648324144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050690.649455523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050690.745411710] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050690.746132120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050690.746996392] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050690.748423976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050690.749647164] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050690.835356715] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050690.837908855] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050690.838673370] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050690.839430006] [sailbot.teensy]: Wind angle: 232 +[teensy-2] [INFO] [1746050690.840428619] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050690.841319492] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050690.842183691] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050690.844453238] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050690.845016708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050690.845561183] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050690.846763787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050690.847756552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050690.945096850] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050690.945784348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050690.946452293] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050690.947831422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050690.949104391] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050691.003694588] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927291 Long: -76.5035712 +[vectornav-1] [INFO] [1746050691.005568464] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (161.56899999999996, 0.304, -0.563) +[mux-7] [INFO] [1746050691.045014024] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050691.045827317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050691.046344442] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050691.048032486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050691.049188540] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050691.085345495] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050691.087365171] [sailbot.teensy]: Wind angle: 232 +[trim_sail-4] [INFO] [1746050691.087677873] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050691.088429169] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050691.089369669] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050691.089449647] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050691.090354041] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050691.144639552] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050691.145405452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050691.145803643] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050691.147252962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050691.148434833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050691.245371232] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050691.246015854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050691.246966634] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050691.248290665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050691.249359490] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050691.335240688] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050691.337588454] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050691.338205532] [sailbot.teensy]: Wind angle: 232 +[mux-7] [INFO] [1746050691.338482304] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050691.339176062] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050691.340122159] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050691.341063257] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050691.344266121] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050691.344922638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050691.345608841] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050691.346772506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050691.347841944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050691.445429470] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050691.446246752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050691.446993350] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050691.447905134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050691.448364644] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050691.504023735] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927249 Long: -76.50357317 +[vectornav-1] [INFO] [1746050691.505534654] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.62400000000002, -0.283, -0.175) +[mux-7] [INFO] [1746050691.545196431] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050691.545941372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050691.546691505] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050691.547610706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050691.548103296] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050691.585134100] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050691.587360826] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050691.588090532] [sailbot.teensy]: Wind angle: 232 +[mux-7] [INFO] [1746050691.588438724] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050691.588639381] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050691.589027472] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050691.589397922] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050691.645079830] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050691.645982059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050691.646402029] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050691.647987543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050691.649038307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050691.745127852] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050691.745927161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050691.746610650] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050691.748133773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050691.749180958] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050691.835397793] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050691.837904473] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050691.838103215] [sailbot.teensy]: Wind angle: 232 +[mux-7] [INFO] [1746050691.838718928] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050691.839047544] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050691.839943563] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050691.840820693] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050691.844584614] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050691.845095813] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050691.845891040] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050691.846801609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050691.847896557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050691.945767236] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050691.946387342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050691.947560844] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050691.949499405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050691.950806446] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050692.002491994] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927269 Long: -76.50357515 +[vectornav-1] [INFO] [1746050692.003566559] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.85799999999995, -1.313, 1.065) +[mux-7] [INFO] [1746050692.045313234] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050692.045937897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050692.046828671] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050692.048127703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050692.049386327] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050692.085494590] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050692.088213970] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050692.088739339] [sailbot.teensy]: Wind angle: 232 +[mux-7] [INFO] [1746050692.088754448] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050692.089739624] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050692.090611194] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050692.091439410] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050692.145094891] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050692.145831211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050692.146697317] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050692.147869306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050692.148576109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050692.245016205] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050692.245904067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050692.246580440] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050692.247868844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050692.248949646] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050692.335426209] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050692.337254767] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050692.337724079] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050692.338245757] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050692.339196461] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050692.339513809] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050692.340101819] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050692.344357961] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050692.344901433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050692.345546565] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050692.346586639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050692.347601917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050692.445397648] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050692.446124551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050692.447000837] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050692.448378344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050692.448914308] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050692.503503561] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927321 Long: -76.50357744 +[vectornav-1] [INFO] [1746050692.504991071] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.10699999999997, 1.484, -0.002) +[mux-7] [INFO] [1746050692.545135758] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050692.545859645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050692.546582402] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050692.547956402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050692.549028040] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050692.585381875] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050692.587803009] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050692.587911892] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746050692.588744503] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050692.589735436] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050692.590697016] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050692.591531208] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050692.645178965] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050692.646174505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050692.646667653] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050692.647886546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050692.648437690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050692.744986136] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050692.745899034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050692.746382322] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050692.747787610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050692.748928473] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050692.835464715] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050692.837977995] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050692.838569778] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050692.839105118] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050692.840039960] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050692.840880405] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050692.841214608] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050692.844421390] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050692.844909652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050692.845797519] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050692.846558615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050692.847625757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050692.945029699] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050692.945692101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050692.946369185] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050692.947541311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050692.948087905] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050693.003896776] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927254 Long: -76.50357977 +[vectornav-1] [INFO] [1746050693.006030718] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.914, -0.803, -2.324) +[mux-7] [INFO] [1746050693.045167044] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050693.046131129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050693.046931938] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050693.048139192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050693.049239127] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050693.085236546] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050693.087230063] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050693.088193986] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050693.087382756] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050693.089167842] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050693.089423085] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050693.090159679] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050693.145116846] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050693.146221329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050693.146663645] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050693.148313899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050693.149952616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050693.245300977] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050693.245925588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050693.246779459] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050693.248078619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050693.248895383] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050693.335229670] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050693.336883318] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050693.337395761] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050693.337893241] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050693.338712885] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050693.338924887] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050693.339090731] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050693.344416842] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050693.344898857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050693.345722260] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050693.346616083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050693.347862276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050693.445775086] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050693.446395654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050693.447562615] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050693.448591208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050693.449141868] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050693.503345528] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927249 Long: -76.50358179 +[vectornav-1] [INFO] [1746050693.504608266] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.78600000000006, -0.931, -2.057) +[mux-7] [INFO] [1746050693.544845930] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050693.545433461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050693.546060311] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050693.547299664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050693.548355636] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050693.585264598] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050693.586956901] [sailbot.teensy]: Wind angle: 237 +[trim_sail-4] [INFO] [1746050693.587443325] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050693.587929966] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050693.588860583] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050693.589089947] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050693.589753903] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050693.644776357] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050693.645245229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050693.646290949] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050693.646975842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050693.648144582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050693.745442108] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050693.745971105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050693.747130901] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050693.748373339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050693.749243411] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050693.835499003] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050693.837521636] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050693.838832086] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050693.838976455] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050693.839649621] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050693.839921657] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050693.840749776] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050693.844432615] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050693.844892818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050693.845873347] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050693.847063183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050693.848135678] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050693.945225047] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050693.945837684] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050693.947112981] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050693.947590303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050693.948081412] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050694.003714298] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927247 Long: -76.50358434 +[vectornav-1] [INFO] [1746050694.005819920] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.06899999999996, -1.004, -2.102) +[mux-7] [INFO] [1746050694.045078569] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050694.045937044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050694.046416095] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050694.047904807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050694.048938542] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050694.085412780] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050694.087577614] [sailbot.teensy]: Wind angle: 240 +[trim_sail-4] [INFO] [1746050694.087901270] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050694.088539677] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050694.089235008] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050694.089460010] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050694.090315302] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050694.145076131] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050694.145914601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050694.146781181] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050694.148121281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050694.149325274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050694.245333150] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050694.246085456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050694.246806192] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050694.247856248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050694.248354389] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050694.335246406] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050694.337470748] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050694.338182039] [sailbot.teensy]: Wind angle: 240 +[mux-7] [INFO] [1746050694.338245727] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050694.339209692] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050694.339616565] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050694.340022083] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050694.344490329] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050694.344983537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050694.345721350] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050694.346746646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050694.347850202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050694.445274599] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050694.446284084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050694.446764586] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050694.447998536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050694.448470583] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050694.502478251] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927238 Long: -76.50358784 +[vectornav-1] [INFO] [1746050694.503544726] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.69899999999996, 0.583, -2.947) +[mux-7] [INFO] [1746050694.545008458] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050694.545916801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050694.546374892] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050694.548133153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050694.549201249] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050694.585535609] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050694.587945594] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050694.588385675] [sailbot.teensy]: Wind angle: 239 +[teensy-2] [INFO] [1746050694.589333919] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050694.588905411] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050694.590306683] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050694.591129145] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050694.645357937] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050694.646135204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050694.646912954] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050694.648707116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050694.649753199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050694.745371830] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050694.746270650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050694.746835842] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050694.748679555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050694.749799288] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050694.835149675] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050694.837187426] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050694.837854401] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050694.838163720] [sailbot.teensy]: Wind angle: 239 +[teensy-2] [INFO] [1746050694.839168213] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050694.840044757] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050694.840919760] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050694.844306264] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050694.844978417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050694.845413047] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050694.846707144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050694.847842861] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050694.945289531] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050694.946102827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050694.946758167] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050694.948185678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050694.949417725] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050695.004079934] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927184 Long: -76.50359065 +[vectornav-1] [INFO] [1746050695.005692765] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.947, -1.47, -4.264) +[mux-7] [INFO] [1746050695.045090960] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050695.045825192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050695.046445566] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050695.047973488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050695.049024197] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050695.085445988] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050695.088030901] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050695.088638733] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050695.089418738] [sailbot.teensy]: Wind angle: 239 +[teensy-2] [INFO] [1746050695.090380066] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050695.091281378] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050695.092132502] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050695.145099360] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050695.146422695] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050695.147392327] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050695.149182609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050695.150201443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050695.244979731] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050695.245855528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050695.246423260] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050695.247795873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050695.248277629] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050695.335285345] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050695.337499384] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050695.338447124] [sailbot.teensy]: Wind angle: 240 +[mux-7] [INFO] [1746050695.338772818] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050695.339956967] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050695.340772021] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050695.341147004] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050695.344412678] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050695.345023234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050695.345637511] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050695.346851911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050695.347894920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050695.445660260] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050695.446426753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050695.447418025] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050695.448657330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050695.449880686] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050695.503678259] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927224 Long: -76.50359402 +[vectornav-1] [INFO] [1746050695.505750272] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.63800000000003, 0.267, -2.855) +[mux-7] [INFO] [1746050695.545390795] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050695.546270212] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050695.547105639] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050695.548675498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050695.550017986] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050695.585447959] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050695.587364060] [sailbot.teensy]: Wind angle: 243 +[trim_sail-4] [INFO] [1746050695.587780895] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050695.588346391] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050695.588626072] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050695.589295871] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050695.590187858] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050695.645080537] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050695.645947554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050695.646516308] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050695.647801027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050695.648360260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050695.745099871] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050695.745838973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050695.746455881] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050695.747880133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050695.748912269] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050695.835227993] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050695.837429004] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050695.837809680] [sailbot.teensy]: Wind angle: 244 +[mux-7] [INFO] [1746050695.838086635] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050695.838928303] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050695.839874342] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050695.840804096] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050695.844427448] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050695.844907138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050695.845528956] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050695.846631474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050695.847675789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050695.945410502] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050695.946108946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050695.947139798] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050695.947943569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050695.948505914] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050696.002462073] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927213 Long: -76.50359764 +[vectornav-1] [INFO] [1746050696.003643594] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.038, 0.155, -2.453) +[mux-7] [INFO] [1746050696.045261368] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050696.046355963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050696.046763838] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050696.048866333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050696.049938775] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050696.085246708] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050696.087172633] [sailbot.teensy]: Wind angle: 242 +[trim_sail-4] [INFO] [1746050696.087203282] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050696.089006883] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050696.089160454] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050696.089930779] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050696.090824722] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050696.144911609] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050696.145571477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050696.146243948] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050696.147411861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050696.148499606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050696.245235882] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050696.246875933] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050696.247038439] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050696.249312919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050696.250552321] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050696.335281171] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050696.337568168] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050696.338849681] [sailbot.teensy]: Wind angle: 237 +[mux-7] [INFO] [1746050696.339010706] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050696.339812474] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050696.340734495] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050696.341557557] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050696.344637785] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050696.345054137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050696.345926080] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050696.346804168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050696.347813953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050696.445554806] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050696.446148599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050696.447285632] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050696.448550275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050696.449255398] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050696.503775917] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927265 Long: -76.50360087 +[vectornav-1] [INFO] [1746050696.505287461] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.81500000000005, -1.15, -0.992) +[mux-7] [INFO] [1746050696.545294840] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050696.545867012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050696.547053546] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050696.548072227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050696.549145165] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050696.585344288] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050696.587581162] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050696.587989766] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050696.587979204] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050696.589083962] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050696.590248277] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050696.591121539] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050696.645120200] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050696.646094447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050696.646643792] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050696.648052319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050696.648538041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050696.745029635] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050696.745753852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050696.746431159] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050696.747664375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050696.748754134] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050696.835236726] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050696.837012646] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050696.837999881] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050696.839369994] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050696.839825884] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050696.840809420] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050696.841579541] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050696.844380284] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050696.845155310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050696.845518050] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050696.846972902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050696.847994121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050696.945392487] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050696.946149674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050696.947519030] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050696.948438084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050696.949762196] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050697.002531729] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927287 Long: -76.5036044 +[vectornav-1] [INFO] [1746050697.003659299] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.81999999999994, 0.811, -1.796) +[mux-7] [INFO] [1746050697.045339209] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050697.046189318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050697.046847587] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050697.048327197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050697.049359734] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050697.085618251] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050697.088207472] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050697.089045105] [sailbot.teensy]: Wind angle: 236 +[mux-7] [INFO] [1746050697.089361257] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050697.090042468] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050697.090944893] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050697.091810301] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050697.145407678] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050697.146147147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050697.146915495] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050697.148479174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050697.149486007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050697.245146108] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050697.246086251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050697.246546194] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050697.247968635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050697.248441305] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050697.335231152] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050697.337452511] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050697.337463976] [sailbot.teensy]: Wind angle: 236 +[teensy-2] [INFO] [1746050697.338445250] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050697.338785006] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050697.339360784] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050697.340355972] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050697.344290302] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050697.345117616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050697.345732143] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050697.346876507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050697.347960100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050697.445261535] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050697.446139915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050697.447008727] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050697.448812019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050697.449960818] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050697.503199833] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692728 Long: -76.50360747 +[vectornav-1] [INFO] [1746050697.504852563] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.85900000000004, -3.508, -0.725) +[mux-7] [INFO] [1746050697.544921275] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050697.545729831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050697.546170753] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050697.547698863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050697.549018194] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050697.585267705] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050697.587886239] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050697.588566900] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050697.589583537] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050697.588828545] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050697.590541708] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050697.591516651] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050697.645055597] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050697.645684707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050697.646441324] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050697.647655458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050697.648818609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050697.745114877] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050697.745849033] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050697.746517440] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050697.747822961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050697.748302064] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050697.835566670] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050697.837332757] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050697.837857430] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050697.838264131] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050697.839125135] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050697.839055186] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050697.839503064] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050697.844388865] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050697.845038538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050697.845417954] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050697.846675346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050697.847830011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050697.945451984] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050697.946248216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050697.947313317] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050697.948210630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050697.948673434] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050698.003342248] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927367 Long: -76.50361077 +[vectornav-1] [INFO] [1746050698.005002651] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.75900000000001, 5.727, -1.672) +[mux-7] [INFO] [1746050698.045092044] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050698.045837232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050698.046491043] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050698.048079960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050698.049262249] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050698.085215785] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050698.086777695] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050698.087355247] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050698.087683215] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050698.088581198] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050698.088811889] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050698.089437228] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050698.144925684] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050698.145868023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050698.146210527] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050698.147785350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050698.148930361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050698.245232942] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050698.245877252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050698.246782180] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050698.248007827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050698.249140321] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050698.335222717] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050698.336897103] [sailbot.teensy]: Wind angle: 239 +[teensy-2] [INFO] [1746050698.337911395] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050698.338121650] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050698.338806904] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050698.338897276] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050698.339740657] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050698.344302001] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050698.344821908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050698.345407476] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050698.346636861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050698.347637524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050698.445203888] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050698.446273485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050698.446765682] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050698.449117409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050698.450103352] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050698.503583036] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927322 Long: -76.5036135 +[vectornav-1] [INFO] [1746050698.505825771] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.49800000000005, -3.582, -3.275) +[mux-7] [INFO] [1746050698.545068677] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050698.545776757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050698.546812543] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050698.547752051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050698.548798271] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050698.585205663] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050698.587507217] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050698.587732281] [sailbot.teensy]: Wind angle: 237 +[teensy-2] [INFO] [1746050698.588647050] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050698.588977994] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050698.589457084] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050698.590365737] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050698.645043265] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050698.645763145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050698.646532949] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050698.647712022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050698.648285196] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050698.744875891] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050698.745629944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050698.746635242] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050698.747504398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050698.748881809] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050698.835523109] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050698.837445818] [sailbot.teensy]: Wind angle: 237 +[trim_sail-4] [INFO] [1746050698.837907828] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050698.838449673] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050698.839379384] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050698.840188008] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050698.840316900] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050698.844438734] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050698.844973343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050698.845532909] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050698.846729350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050698.847787174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050698.945272894] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050698.946030779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050698.947241648] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050698.948146088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050698.948676293] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050699.003814240] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927324 Long: -76.50361663 +[vectornav-1] [INFO] [1746050699.006025485] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.68399999999997, -0.128, -1.877) +[mux-7] [INFO] [1746050699.045109228] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050699.045804482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050699.046513621] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050699.048066326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050699.049113084] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050699.085268803] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050699.087537503] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050699.087877753] [sailbot.teensy]: Wind angle: 238 +[mux-7] [INFO] [1746050699.088291372] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050699.088897586] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050699.089873777] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050699.090853566] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050699.145400973] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050699.146096103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050699.147150290] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050699.149407858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050699.150612749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050699.245147989] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050699.245829855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050699.246578765] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050699.247871531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050699.248931203] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050699.335387981] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050699.337356396] [sailbot.teensy]: Wind angle: 237 +[trim_sail-4] [INFO] [1746050699.337832231] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050699.339328979] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050699.339667818] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050699.340639423] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050699.341475895] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050699.344353585] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050699.344825031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050699.345500164] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050699.346558670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050699.347636373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050699.445193817] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050699.445966852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050699.446806540] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050699.448763866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050699.449929927] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050699.503961121] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692731 Long: -76.50361963 +[vectornav-1] [INFO] [1746050699.505912269] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.71299999999997, 0.691, -1.657) +[mux-7] [INFO] [1746050699.545290497] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050699.546560433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050699.546876531] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050699.548717152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050699.549865478] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050699.585222988] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050699.587073084] [sailbot.teensy]: Wind angle: 236 +[trim_sail-4] [INFO] [1746050699.587482465] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050699.588038057] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050699.588961324] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050699.589149873] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050699.590265820] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050699.644999061] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050699.645666405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050699.646440440] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050699.647629430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050699.648927096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050699.745139864] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050699.746028005] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050699.747080876] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050699.748134940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050699.749332651] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050699.835727789] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050699.838644639] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050699.838877453] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050699.839891337] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050699.839635473] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050699.840673856] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050699.841032765] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050699.844467153] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050699.845409989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050699.845620743] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050699.847222945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050699.848276616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050699.945603612] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050699.946476349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050699.947190348] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050699.948771502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050699.950033210] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050700.003675598] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927333 Long: -76.5036226 +[vectornav-1] [INFO] [1746050700.005257888] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.10199999999998, -0.825, -1.049) +[mux-7] [INFO] [1746050700.044987611] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050700.045677129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050700.046258020] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050700.047653547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050700.048720020] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050700.085455263] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050700.088025906] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050700.087993126] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050700.088573542] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050700.088990614] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050700.089832051] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050700.090712250] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050700.145128300] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050700.146549797] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050700.145804864] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050700.148725311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050700.149204800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050700.245369475] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050700.246112859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050700.247045820] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050700.247977745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050700.248532362] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050700.335406761] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050700.337328920] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050700.337886413] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050700.338302943] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050700.339146839] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050700.339173945] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050700.340085173] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050700.344405379] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050700.344998691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050700.345540872] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050700.346728314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050700.347732712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050700.445222802] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050700.445926956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050700.446783321] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050700.448311377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050700.449531483] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050700.504030488] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927339 Long: -76.50362568 +[vectornav-1] [INFO] [1746050700.506289990] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.99099999999999, 2.401, -1.905) +[mux-7] [INFO] [1746050700.545130004] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050700.545899283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050700.546589294] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050700.547893742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050700.549004500] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050700.585292799] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050700.587027434] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050700.587921234] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050700.587722900] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050700.588775451] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050700.589013681] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050700.589675835] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050700.645055396] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050700.645821905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050700.646448481] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050700.647785760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050700.648331602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050700.745493286] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050700.746602738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050700.747276678] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050700.748926604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050700.750159177] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050700.835892520] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050700.838087214] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050700.838900284] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050700.839181005] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050700.840073593] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050700.840053693] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050700.840961455] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050700.844367367] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050700.844978354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050700.845522220] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050700.846806784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050700.847858139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050700.945337137] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050700.945980247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050700.946855392] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050700.948283619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050700.949454309] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050701.003261738] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927298 Long: -76.50362842 +[vectornav-1] [INFO] [1746050701.004653487] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.69000000000005, -6.103, -2.01) +[mux-7] [INFO] [1746050701.045030989] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050701.045669633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050701.046341445] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050701.047694897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050701.048720456] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050701.085554391] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050701.087539262] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050701.088389688] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050701.088562358] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050701.089468091] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050701.090027356] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050701.090318754] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050701.145095817] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050701.145971240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050701.146536330] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050701.147986946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050701.148884621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050701.245283961] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050701.246004052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050701.246723756] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050701.248023261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050701.249061913] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050701.335191540] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050701.337416523] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050701.337659702] [sailbot.teensy]: Wind angle: 236 +[teensy-2] [INFO] [1746050701.338591221] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050701.339485222] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050701.339711186] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050701.340240629] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050701.344359748] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050701.344882514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050701.345503004] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050701.346642284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050701.347671213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050701.445249347] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050701.446165665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050701.446775432] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050701.448349893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050701.449403261] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050701.502415881] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927388 Long: -76.50363191 +[vectornav-1] [INFO] [1746050701.503505369] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.89800000000002, 5.369, -0.131) +[mux-7] [INFO] [1746050701.545108637] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050701.545837437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050701.546581377] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050701.548102143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050701.548605247] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050701.585588160] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050701.588490269] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050701.588619583] [sailbot.teensy]: Wind angle: 236 +[teensy-2] [INFO] [1746050701.589539887] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050701.589564998] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050701.590496901] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050701.591355455] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050701.645257531] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050701.645884430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050701.647564739] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050701.648082321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050701.649160923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050701.745208096] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050701.746038742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050701.746665100] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050701.747988618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050701.749068545] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050701.835446543] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050701.837894157] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050701.838439140] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050701.839636808] [sailbot.teensy]: Wind angle: 236 +[teensy-2] [INFO] [1746050701.840024604] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050701.840396652] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050701.840753603] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050701.844351318] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050701.844916099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050701.845647137] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050701.846769725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050701.847864492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050701.945299777] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050701.946065734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050701.946924395] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050701.948392747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050701.949655619] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050702.003715228] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927369 Long: -76.50363419 +[vectornav-1] [INFO] [1746050702.005866947] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.35000000000002, -2.456, -0.726) +[mux-7] [INFO] [1746050702.045293676] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050702.046083367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050702.046804819] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050702.048057374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050702.049094044] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050702.085440855] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050702.087862244] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050702.088045957] [sailbot.teensy]: Wind angle: 237 +[mux-7] [INFO] [1746050702.088891948] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050702.088997766] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050702.089878255] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050702.090796562] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050702.145150698] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050702.146023448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050702.146798641] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050702.148255710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050702.148745111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050702.245070411] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050702.245902250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050702.246645168] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050702.247969722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050702.249124999] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050702.335259126] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050702.337387871] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050702.337560456] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050702.338368356] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050702.339135754] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050702.339238649] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050702.340148058] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050702.344544783] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050702.344965089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050702.345706178] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050702.346720505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050702.347804525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050702.445496122] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050702.446122032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050702.447428216] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050702.448235494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050702.448832677] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050702.502816065] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927396 Long: -76.5036372 +[vectornav-1] [INFO] [1746050702.503980137] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.351, -0.605, 1.607) +[mux-7] [INFO] [1746050702.545221973] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050702.545994301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050702.546751995] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050702.547957871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050702.548992491] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050702.585371465] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050702.587712639] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746050702.587929139] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050702.588656735] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050702.588657149] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050702.589601712] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050702.590487353] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050702.645148043] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050702.645830574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050702.646575398] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050702.647987410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050702.649084906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050702.744952917] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050702.745556457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050702.746260900] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050702.747743394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050702.748750256] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050702.835249777] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050702.837470085] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050702.837696749] [sailbot.teensy]: Wind angle: 227 +[teensy-2] [INFO] [1746050702.838675511] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050702.838935815] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050702.839407777] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050702.839805050] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050702.844227536] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050702.844858256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050702.845668420] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050702.846546906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050702.847573585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050702.945644800] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050702.946438947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050702.947429879] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050702.948212924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050702.948699707] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050703.003821366] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927447 Long: -76.50363966 +[vectornav-1] [INFO] [1746050703.005696562] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.986, 1.832, 1.096) +[mux-7] [INFO] [1746050703.045326522] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050703.046055292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050703.046844891] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050703.048770003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050703.049921312] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050703.085707307] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050703.088126433] [sailbot.teensy]: Wind angle: 228 +[trim_sail-4] [INFO] [1746050703.088458430] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050703.089221325] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050703.089822307] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050703.090117799] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050703.091003888] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050703.145249885] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050703.145808607] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050703.146749509] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050703.148057188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050703.149240347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050703.245490556] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050703.247008079] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050703.249442266] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050703.251112113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050703.252096891] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050703.335561339] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050703.337646499] [sailbot.teensy]: Wind angle: 229 +[trim_sail-4] [INFO] [1746050703.338524908] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050703.338662128] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050703.339540549] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050703.339560929] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050703.340457166] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050703.344580729] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050703.345121359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050703.345706455] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050703.346835525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050703.348024267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050703.445437165] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050703.446161505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050703.446987552] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050703.448358187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050703.449430669] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050703.503457870] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927447 Long: -76.50364194 +[vectornav-1] [INFO] [1746050703.505066468] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.74599999999998, 0.255, 0.815) +[mux-7] [INFO] [1746050703.545304241] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050703.546098267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050703.546762897] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050703.548266990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050703.549444070] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050703.585216626] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050703.587266451] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050703.587475965] [sailbot.teensy]: Wind angle: 230 +[teensy-2] [INFO] [1746050703.588414534] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050703.588876954] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050703.589321929] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050703.590204782] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050703.645513096] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050703.646339762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050703.647129088] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050703.648926043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050703.650015387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050703.745364359] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050703.746126216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050703.746979268] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050703.748360788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050703.749481655] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050703.835184901] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050703.837243687] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050703.837975112] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050703.838897294] [sailbot.teensy]: Wind angle: 229 +[teensy-2] [INFO] [1746050703.839867465] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050703.840749470] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050703.841591711] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050703.844362772] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050703.844942117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050703.845625135] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050703.846673650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050703.847708400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050703.945101009] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050703.945938720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050703.946985215] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050703.947930031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050703.948995296] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050704.002516842] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927452 Long: -76.503644 +[vectornav-1] [INFO] [1746050704.003504936] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.76800000000003, -4.153, 2.358) +[mux-7] [INFO] [1746050704.045158306] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050704.045821649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050704.046410362] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050704.047574039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050704.048120560] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050704.085288972] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050704.087570123] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050704.089192524] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050704.089294672] [sailbot.teensy]: Wind angle: 229 +[teensy-2] [INFO] [1746050704.090269974] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050704.091157148] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050704.091982786] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050704.144836806] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050704.145629301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050704.146090571] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050704.147452802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050704.148489638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050704.244521947] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050704.245330901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050704.245843165] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050704.247503290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050704.248651066] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050704.335268734] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050704.337262367] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746050704.337615807] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050704.338565323] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050704.339050247] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050704.339049177] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050704.339428754] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050704.344547319] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050704.345003721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050704.345772564] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050704.346758033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050704.347776446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050704.445121069] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050704.445994651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050704.446535730] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050704.448420776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050704.449543452] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050704.502511390] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927511 Long: -76.5036465 +[vectornav-1] [INFO] [1746050704.503606505] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.19299999999998, 4.277, 0.346) +[mux-7] [INFO] [1746050704.545187400] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050704.545936777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050704.546794649] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050704.547984836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050704.548986272] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050704.585421873] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050704.587923866] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050704.588303659] [sailbot.teensy]: Wind angle: 226 +[mux-7] [INFO] [1746050704.589004189] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050704.589266075] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050704.590191077] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050704.591055422] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050704.645099143] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050704.645581639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050704.646473935] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050704.647424788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050704.648356426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050704.745201342] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050704.746017811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050704.746765933] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050704.748346898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050704.749523163] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050704.835245663] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050704.837645072] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050704.838632143] [sailbot.teensy]: Wind angle: 222 +[mux-7] [INFO] [1746050704.838629317] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050704.839137956] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050704.839525328] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050704.839881883] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050704.844428355] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050704.845169417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050704.845672142] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050704.846889073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050704.847963470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050704.945187000] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050704.945969442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050704.946836212] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050704.948199702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050704.948777958] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050705.003141481] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927497 Long: -76.50364832 +[vectornav-1] [INFO] [1746050705.004813750] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.94299999999998, -1.285, 0.053) +[mux-7] [INFO] [1746050705.045053945] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050705.045693458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050705.046368987] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050705.047532434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050705.048706832] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050705.085429114] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050705.087287890] [sailbot.teensy]: Wind angle: 228 +[trim_sail-4] [INFO] [1746050705.088570105] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050705.089932296] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050705.090097057] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050705.091119930] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050705.091971217] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050705.145120003] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050705.145930773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050705.146617577] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050705.147914159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050705.148945029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050705.245268904] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050705.245950917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050705.246851777] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050705.248124064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050705.249351174] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050705.335250449] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050705.337606452] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050705.337938842] [sailbot.teensy]: Wind angle: 228 +[mux-7] [INFO] [1746050705.338767494] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050705.339032155] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050705.339930193] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050705.340806774] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050705.344346289] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050705.344900486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050705.345607388] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050705.346730138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050705.347893770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050705.445563627] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050705.446176609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050705.447876308] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050705.448481988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050705.448994456] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050705.502471782] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927448 Long: -76.50364981 +[vectornav-1] [INFO] [1746050705.503458451] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.67399999999998, 0.132, -2.294) +[mux-7] [INFO] [1746050705.544964707] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050705.545553700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050705.546506449] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050705.547485659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050705.547994563] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050705.585434872] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050705.587479217] [sailbot.teensy]: Wind angle: 226 +[teensy-2] [INFO] [1746050705.588476590] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050705.587937603] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050705.589096899] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050705.589353379] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050705.590238613] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050705.644955607] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050705.645641941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050705.646258901] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050705.647507989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050705.648078545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050705.745074051] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050705.745929875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050705.746371060] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050705.747813015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050705.748874913] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050705.835485948] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050705.838013088] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050705.838196769] [sailbot.teensy]: Wind angle: 230 +[mux-7] [INFO] [1746050705.838919151] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050705.839104588] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050705.840000687] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050705.840853134] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050705.844460247] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050705.844969097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050705.845698629] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050705.846776425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050705.847813426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050705.945327335] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050705.946160439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050705.946883212] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050705.948826133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050705.950073699] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050706.004077090] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927438 Long: -76.50365153 +[vectornav-1] [INFO] [1746050706.005950278] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.09400000000005, -1.568, -0.067) +[mux-7] [INFO] [1746050706.045074249] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050706.045914252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050706.046873522] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050706.047803285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050706.048985670] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050706.085412279] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050706.087304379] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050706.088309631] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050706.089231159] [sailbot.teensy]: Actual tail angle: 23 +[trim_sail-4] [INFO] [1746050706.088091478] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050706.089371103] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050706.090160849] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050706.145178302] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050706.146035155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050706.146637783] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050706.148233733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050706.149365017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050706.245155713] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050706.245877590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050706.246616992] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050706.248212390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050706.248794933] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050706.335269080] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050706.337017894] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050706.337788987] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050706.338976792] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050706.339349129] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050706.340321501] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050706.341176915] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050706.344308391] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050706.344859552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050706.345709413] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050706.346557109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050706.347595524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050706.445082011] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050706.445825426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050706.446500365] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050706.447860546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050706.448902742] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050706.502706957] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927501 Long: -76.50365334 +[vectornav-1] [INFO] [1746050706.503796739] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.34500000000003, 0.982, -1.251) +[mux-7] [INFO] [1746050706.544787006] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050706.545462342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050706.545994522] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050706.547252963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050706.548293534] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050706.585434920] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050706.587705251] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050706.587940793] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050706.588659006] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050706.588682343] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050706.589604918] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050706.590434246] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050706.645126255] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050706.645914607] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050706.646801469] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050706.647896085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050706.649530538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050706.745056582] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050706.745816715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050706.746350321] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050706.747711115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050706.748856370] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050706.835270128] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050706.837175435] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050706.837580419] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050706.838121322] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050706.839014036] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050706.839229150] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050706.839906727] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050706.844406260] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050706.844895370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050706.845510869] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050706.846557117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050706.847676230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050706.945136018] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050706.945893366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050706.946614676] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050706.947994535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050706.948733259] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050707.003832017] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692745 Long: -76.50365478 +[vectornav-1] [INFO] [1746050707.005837079] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.62800000000004, -1.393, -1.478) +[mux-7] [INFO] [1746050707.045136827] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050707.045998186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050707.047059302] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050707.048693813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050707.049836814] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050707.085511149] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050707.087958290] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746050707.088144536] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050707.089125062] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050707.089501864] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050707.090420684] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050707.091311387] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050707.144754562] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050707.145383921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050707.145974101] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050707.147296608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050707.148359960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050707.245029755] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050707.245943161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050707.246564903] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050707.247462261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050707.248007179] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050707.335358933] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050707.337238107] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746050707.337831880] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050707.338220755] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050707.339122879] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050707.339982646] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050707.340203312] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050707.344384049] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050707.344819614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050707.345644775] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050707.346535323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050707.347551170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050707.445542348] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050707.446306812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050707.447382636] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050707.449210441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050707.450291178] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050707.503260562] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927481 Long: -76.50365654 +[vectornav-1] [INFO] [1746050707.505399963] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.61300000000006, 0.09, 1.994) +[mux-7] [INFO] [1746050707.544944758] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050707.545697186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050707.546277362] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050707.547545308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[mux-7] [INFO] [1746050707.548374869] [sailbot.mux]: controller_app rudder angle: -3 +[teensy-2] [INFO] [1746050707.548616395] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050707.585313761] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050707.587167095] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050707.587637986] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050707.588121770] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050707.589028620] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050707.589129039] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050707.589881415] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050707.644975230] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050707.645684809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050707.646531014] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050707.647549042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050707.648609401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050707.745189453] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050707.745680095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050707.746698876] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050707.747749672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050707.748957202] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050707.835474102] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050707.838019302] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050707.838252605] [sailbot.teensy]: Wind angle: 233 +[mux-7] [INFO] [1746050707.838590642] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050707.839577934] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050707.839940920] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050707.840293902] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050707.844370724] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050707.845188464] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050707.845521936] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050707.846884266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050707.847918292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050707.944980964] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050707.945812354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050707.946300488] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050707.947758300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050707.948261760] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050708.003405482] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927538 Long: -76.50365791 +[vectornav-1] [INFO] [1746050708.004630346] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.46900000000005, -0.047, 2.313) +[mux-7] [INFO] [1746050708.044816716] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050708.045566146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050708.046027179] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050708.047430982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050708.048446221] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050708.085640493] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050708.088311352] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050708.089372862] [sailbot.teensy]: Wind angle: 231 +[mux-7] [INFO] [1746050708.089873081] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050708.090349158] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050708.091258590] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050708.092084164] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050708.145198539] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050708.146269075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050708.146781207] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050708.148553064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050708.149718397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050708.244882580] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050708.245634654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050708.246289853] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050708.247511046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050708.248671011] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050708.335269724] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050708.337631274] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050708.338071310] [sailbot.teensy]: Wind angle: 227 +[teensy-2] [INFO] [1746050708.339196133] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050708.339406050] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050708.339721151] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050708.340113947] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050708.344438687] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050708.345158205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050708.345598526] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050708.346911006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050708.347960740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050708.445210052] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050708.446169395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050708.446807689] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050708.448479583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050708.449529316] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050708.502353792] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692753 Long: -76.50365995 +[vectornav-1] [INFO] [1746050708.503315775] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.692, -1.458, 1.874) +[mux-7] [INFO] [1746050708.545235216] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050708.546211352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050708.546671914] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050708.547849899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050708.548321922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050708.576070426] [sailbot.mux]: controller_app rudder angle: -7 +[teensy-2] [INFO] [1746050708.585346854] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050708.587825104] [sailbot.teensy]: Wind angle: 227 +[trim_sail-4] [INFO] [1746050708.588451470] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050708.588904984] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050708.589836895] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050708.589626287] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050708.590782052] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050708.645183719] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050708.645954573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050708.646612837] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050708.648362126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050708.649457826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050708.745605323] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050708.746454379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050708.747450648] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050708.748050784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050708.748594419] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050708.835397038] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050708.837889453] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050708.838756436] [sailbot.teensy]: Wind angle: 226 +[mux-7] [INFO] [1746050708.838873473] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050708.839229292] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050708.839634532] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050708.840051109] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050708.844486887] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050708.845008122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050708.845561116] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050708.846777224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050708.847837766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050708.945454255] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050708.946393187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050708.947347580] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050708.948885526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050708.949997686] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050709.003365754] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927567 Long: -76.50366149 +[vectornav-1] [INFO] [1746050709.004894757] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.40200000000004, 2.934, 1.934) +[mux-7] [INFO] [1746050709.045035759] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050709.045917611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050709.046361072] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050709.047983466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050709.049138941] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050709.085412140] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050709.087968934] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050709.088269427] [sailbot.teensy]: Wind angle: 226 +[mux-7] [INFO] [1746050709.088911047] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050709.089207560] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050709.090083218] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050709.090922644] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050709.145729364] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050709.146504683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050709.147791296] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050709.148696082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050709.149238269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050709.245577555] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050709.246136893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050709.247380047] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050709.248421290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050709.249631769] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050709.335392434] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050709.338223536] [sailbot.teensy]: Wind angle: 227 +[trim_sail-4] [INFO] [1746050709.338270042] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050709.338821271] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050709.339216139] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746050709.339347978] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050709.339602455] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050709.344530742] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050709.345236719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050709.345665614] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050709.346960396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050709.347996890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050709.445603207] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050709.446243045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050709.447272249] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050709.448747046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050709.450014230] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050709.502741059] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927554 Long: -76.50366285 +[vectornav-1] [INFO] [1746050709.503847764] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (161.47500000000002, -3.712, -0.35) +[mux-7] [INFO] [1746050709.545135335] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050709.545776093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050709.547014792] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050709.547868650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050709.548946228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050709.562190666] [sailbot.mux]: controller_app rudder angle: -6 +[teensy-2] [INFO] [1746050709.585526546] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050709.587485270] [sailbot.teensy]: Wind angle: 227 +[trim_sail-4] [INFO] [1746050709.588003631] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050709.588488578] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050709.589433032] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746050709.589977950] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050709.590492816] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050709.644840863] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050709.645476454] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050709.646166228] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050709.647486305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050709.648696402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050709.745123947] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050709.745668133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050709.746497450] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050709.747526755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050709.748730903] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050709.835419621] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050709.837381989] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746050709.838215338] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050709.838371017] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050709.839283624] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746050709.839779214] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050709.840174837] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050709.844439114] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050709.845090779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050709.845759452] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050709.846988646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050709.847996900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050709.945553418] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050709.946200069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050709.947558600] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050709.948612059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050709.949818717] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050710.003520418] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927555 Long: -76.50366457 +[vectornav-1] [INFO] [1746050710.005021560] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.216, 1.95, -0.562) +[mux-7] [INFO] [1746050710.045446576] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050710.046716144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050710.046987645] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050710.049235826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050710.050520541] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050710.085517499] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050710.088071500] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050710.088563314] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050710.089015009] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050710.089980867] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050710.090893658] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050710.091734192] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050710.145049319] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050710.145657311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050710.146551187] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050710.147622645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050710.148590613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050710.245108696] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050710.245779626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050710.246439653] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050710.247608656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050710.248208169] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050710.335220976] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050710.336996943] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050710.337443714] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050710.338812053] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050710.338891265] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050710.339546657] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050710.339933107] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050710.344419970] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050710.345010695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050710.345536580] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050710.346856894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050710.348019735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050710.445473244] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050710.446422796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050710.447095369] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050710.448806442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050710.449870475] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050710.502503916] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927561 Long: -76.50366657 +[vectornav-1] [INFO] [1746050710.503775327] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.99299999999994, -1.57, 0.634) +[mux-7] [INFO] [1746050710.545649709] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050710.546687226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050710.547566056] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050710.549192646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050710.549825608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050710.576909239] [sailbot.mux]: controller_app rudder angle: 0 +[teensy-2] [INFO] [1746050710.585373023] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050710.587543795] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050710.588446924] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050710.589401258] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050710.589440211] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050710.590370742] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050710.591368152] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050710.645364554] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050710.645825079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050710.646714563] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050710.647923224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050710.649079523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050710.745139185] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050710.745760816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050710.746552215] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050710.747691281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050710.748784729] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050710.835349840] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050710.837350137] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050710.837650471] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050710.838663150] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050710.839219901] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050710.840242009] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050710.840627464] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050710.844434610] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050710.845025698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050710.845763199] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050710.846702871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050710.847760722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050710.945473879] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050710.946027081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050710.947237249] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050710.948555028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050710.949120300] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050711.003368017] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927518 Long: -76.50366811 +[vectornav-1] [INFO] [1746050711.005078043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.25800000000004, 2.249, -1.317) +[mux-7] [INFO] [1746050711.045156319] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050711.045736799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050711.046544922] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050711.047764336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050711.048856303] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050711.085385323] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050711.087635180] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050711.087796687] [sailbot.teensy]: Wind angle: 236 +[teensy-2] [INFO] [1746050711.089105180] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050711.089476423] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050711.090065515] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050711.090943928] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050711.144976293] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050711.145725890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050711.146282131] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050711.147639193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050711.148796291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050711.245582883] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050711.246227648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050711.247628559] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050711.248480062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050711.249822585] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050711.335321809] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050711.337145450] [sailbot.teensy]: Wind angle: 236 +[trim_sail-4] [INFO] [1746050711.337830420] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050711.338074854] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050711.338978843] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050711.339511369] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050711.339609381] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050711.344522398] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050711.345080077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050711.345691298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050711.346801490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050711.347908151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050711.445494360] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050711.446312784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050711.447512389] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050711.448568810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050711.449821458] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050711.502839832] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927513 Long: -76.50366985 +[vectornav-1] [INFO] [1746050711.504365536] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.17899999999997, -2.937, -1.863) +[mux-7] [INFO] [1746050711.545583492] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050711.546264896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050711.547233381] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050711.548529459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050711.549026831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050711.576810057] [sailbot.mux]: controller_app rudder angle: -1 +[teensy-2] [INFO] [1746050711.585313362] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050711.587655551] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050711.588065524] [sailbot.teensy]: Wind angle: 237 +[mux-7] [INFO] [1746050711.588737062] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050711.589015712] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050711.589897853] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050711.590759435] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050711.645124715] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050711.645921548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050711.646874539] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050711.648272674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050711.649442748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050711.744681338] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050711.745214417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050711.745824217] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050711.746937469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050711.747971013] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050711.835217479] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050711.836868682] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050711.837820678] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050711.838741272] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050711.839620537] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746050711.837830798] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050711.838991714] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746050711.844365549] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050711.844987672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050711.845448031] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050711.846727071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050711.847859769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050711.945242492] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050711.946011058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050711.947059218] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050711.948324690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050711.949399297] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050712.003257249] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927493 Long: -76.50367235 +[vectornav-1] [INFO] [1746050712.004844643] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.44899999999996, 1.273, -4.176) +[mux-7] [INFO] [1746050712.044929910] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050712.045709781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050712.046183958] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050712.047926312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050712.049179627] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050712.085210811] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050712.087082320] [sailbot.teensy]: Wind angle: 237 +[trim_sail-4] [INFO] [1746050712.087512825] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050712.087988751] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050712.088880635] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050712.088935161] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050712.089870796] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050712.145193206] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050712.145945675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050712.146946950] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050712.148144557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050712.148705058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050712.244731999] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050712.245347396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050712.245891045] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050712.247135837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050712.248288730] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050712.335497016] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050712.337436593] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050712.338453154] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050712.338730117] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050712.339494738] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050712.339910766] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050712.340280713] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050712.344534277] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050712.345174671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050712.345604012] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050712.346937528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050712.348009294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050712.445572203] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050712.446320347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050712.447559588] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050712.448735828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050712.450046163] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050712.503087478] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927447 Long: -76.50367471 +[vectornav-1] [INFO] [1746050712.504392162] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.014, -2.12, -5.7) +[mux-7] [INFO] [1746050712.545236692] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050712.545919118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050712.546904473] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050712.548142637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050712.549336032] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050712.585383644] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050712.587459970] [sailbot.teensy]: Wind angle: 241 +[trim_sail-4] [INFO] [1746050712.587995053] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050712.588264960] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050712.588422789] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050712.589330194] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050712.590198330] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050712.644914932] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050712.645477627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050712.646177127] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050712.647548367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050712.648699969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050712.745365262] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050712.746249785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050712.746941658] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050712.748630784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050712.749132032] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050712.835203811] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050712.837350697] [sailbot.teensy]: Wind angle: 242 +[trim_sail-4] [INFO] [1746050712.837402297] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050712.837812847] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050712.838227907] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050712.838829414] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050712.839205270] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050712.844536574] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050712.845043146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050712.845661332] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050712.846723589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050712.847883577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050712.945325393] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050712.946185015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050712.947411063] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050712.948423446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050712.949445826] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050713.003477856] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927435 Long: -76.50367824 +[vectornav-1] [INFO] [1746050713.005047530] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.00199999999995, 0.936, -6.239) +[mux-7] [INFO] [1746050713.044976409] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050713.045839393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050713.046248727] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050713.047767177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050713.048796229] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050713.085292139] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050713.087630097] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050713.087676771] [sailbot.teensy]: Wind angle: 243 +[teensy-2] [INFO] [1746050713.088563883] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050713.088720379] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050713.089462309] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050713.090329183] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050713.144930075] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050713.145596605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050713.146200247] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050713.147591839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050713.148397936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050713.245196293] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050713.246001386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050713.246683133] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050713.248216937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050713.249325225] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050713.335237432] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050713.336929238] [sailbot.teensy]: Wind angle: 244 +[trim_sail-4] [INFO] [1746050713.337953454] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050713.337971403] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050713.338957713] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050713.339254021] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050713.339860822] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050713.344555230] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050713.345028568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050713.345783277] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050713.346725690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050713.347753023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050713.445096286] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050713.445981811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050713.446964623] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050713.447916593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050713.448711763] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050713.502620717] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927356 Long: -76.50368221 +[vectornav-1] [INFO] [1746050713.503704100] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.288, -3.972, -9.008) +[mux-7] [INFO] [1746050713.545182275] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050713.545876088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050713.546621421] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050713.547809733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050713.548962668] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050713.585550161] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050713.588098637] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050713.588790599] [sailbot.teensy]: Wind angle: 243 +[mux-7] [INFO] [1746050713.589107057] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050713.589753138] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050713.590650996] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050713.591471925] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050713.608965200] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746050713.645197714] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050713.646181498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050713.646876260] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050713.648337941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050713.649503517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050713.744738644] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050713.745505285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050713.745871481] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050713.747353849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050713.748381833] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050713.835455662] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050713.837845071] [sailbot.teensy]: Wind angle: 244 +[trim_sail-4] [INFO] [1746050713.837936386] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050713.838799554] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050713.838934126] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050713.839240400] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050713.839641318] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050713.844325343] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050713.844975153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050713.845575503] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050713.846709246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050713.847912862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050713.945402806] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050713.946143960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050713.947019517] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050713.948430558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050713.949733060] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050714.002856844] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927336 Long: -76.50368705 +[vectornav-1] [INFO] [1746050714.003983781] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.885, 1.134, -8.253) +[mux-7] [INFO] [1746050714.045209407] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050714.046203215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050714.046683233] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050714.048277361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050714.049322594] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050714.085568499] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050714.088321060] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050714.088317187] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050714.088580662] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050714.089270326] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050714.090171924] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050714.091033731] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050714.144912280] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050714.145775565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050714.146287067] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050714.147593625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050714.148737431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050714.244923717] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050714.245685372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050714.246185813] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050714.247494017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050714.248424896] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050714.335208698] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050714.337451507] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050714.338010758] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050714.338633338] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050714.339994180] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050714.340881886] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050714.341730915] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050714.344366542] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050714.344769819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050714.345532290] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050714.346466719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050714.347522877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050714.445182294] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050714.445993106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050714.447425818] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050714.448312000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050714.448902833] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050714.503736317] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927242 Long: -76.50369134 +[vectornav-1] [INFO] [1746050714.505668672] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.87, -1.02, -9.947) +[mux-7] [INFO] [1746050714.545058767] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050714.545826529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050714.546432627] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050714.547906216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050714.548971192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050714.561863930] [sailbot.mux]: controller_app rudder angle: 1 +[teensy-2] [INFO] [1746050714.585443730] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050714.587612846] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050714.588167355] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050714.588177909] [sailbot.teensy]: Wind angle: 246 +[teensy-2] [INFO] [1746050714.589179065] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050714.590042066] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050714.590894841] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050714.645319032] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050714.646010191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050714.646881651] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050714.648088955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050714.648974731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050714.745587142] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050714.746307173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050714.747286487] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050714.748543003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050714.749881921] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050714.835259804] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050714.837047445] [sailbot.teensy]: Wind angle: 251 +[trim_sail-4] [INFO] [1746050714.837494245] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050714.838036008] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050714.838995497] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050714.839301451] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050714.839887510] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050714.844336580] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050714.844830936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050714.845440294] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050714.846550926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050714.847569868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050714.944916210] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050714.945493244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050714.946169084] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050714.947309747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050714.948327949] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050715.002937038] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927221 Long: -76.50369625 +[vectornav-1] [INFO] [1746050715.004978886] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (186.90099999999995, -3.024, -7.269) +[mux-7] [INFO] [1746050715.045290164] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050715.045988388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050715.046769000] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050715.048383034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050715.049384002] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050715.085287240] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050715.087428102] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050715.087564278] [sailbot.teensy]: Wind angle: 260 +[teensy-2] [INFO] [1746050715.088515875] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050715.088762875] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050715.089381322] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050715.090279459] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050715.145064054] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050715.145962991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050715.146544719] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050715.148024569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050715.149221344] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050715.245086049] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050715.245989378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050715.246680288] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050715.247942121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050715.248541571] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050715.335589331] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050715.337905024] [sailbot.teensy]: Wind angle: 262 +[trim_sail-4] [INFO] [1746050715.338226566] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050715.339675895] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050715.339986888] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050715.340706414] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050715.341089611] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050715.344446144] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050715.345079563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050715.345627218] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050715.346870819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050715.347921647] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050715.444884205] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050715.445645413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050715.446272113] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050715.447619392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050715.448707695] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050715.503064608] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927132 Long: -76.50370239 +[vectornav-1] [INFO] [1746050715.504516567] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.66200000000003, 1.395, -7.688) +[mux-7] [INFO] [1746050715.545208977] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050715.545855797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050715.546899538] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050715.547663627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050715.548320035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050715.573334092] [sailbot.mux]: controller_app rudder angle: 0 +[teensy-2] [INFO] [1746050715.585146163] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050715.587152059] [sailbot.teensy]: Wind angle: 260 +[trim_sail-4] [INFO] [1746050715.587185822] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050715.588035596] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050715.588329937] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050715.588878912] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050715.589678157] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050715.644902162] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050715.645523179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050715.646150778] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050715.647419367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050715.648738855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050715.744610794] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050715.745197255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050715.745674241] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050715.746925136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050715.747948391] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050715.835239445] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050715.837141181] [sailbot.teensy]: Wind angle: 258 +[trim_sail-4] [INFO] [1746050715.837471157] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050715.838120072] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050715.838830409] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050715.839018963] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050715.839921719] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050715.844381791] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050715.844940381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050715.845631904] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050715.846643064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050715.847668651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050715.945234353] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050715.946011303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050715.946719351] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050715.948270265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050715.949201091] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050716.003217546] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927045 Long: -76.50370822 +[vectornav-1] [INFO] [1746050716.004752146] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.226, -2.79, -5.201) +[mux-7] [INFO] [1746050716.045291158] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050716.045940047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050716.046799394] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050716.048207355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050716.049281998] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050716.085461435] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050716.087417224] [sailbot.teensy]: Wind angle: 257 +[teensy-2] [INFO] [1746050716.088370591] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050716.087828244] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050716.089284016] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050716.089334892] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050716.090163288] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050716.145113241] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050716.145714440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050716.146582315] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050716.147785814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050716.148873213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050716.245057140] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050716.245855383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050716.246822088] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050716.247825702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050716.248394667] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050716.335239374] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050716.336982730] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050716.337470613] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050716.338091274] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050716.338670774] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050716.339016753] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050716.339996307] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050716.344494500] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050716.344940661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050716.345518966] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050716.346768729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050716.347850392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050716.445229397] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050716.445986970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050716.446747860] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050716.447918037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050716.448467425] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050716.502493994] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926971 Long: -76.50371432 +[vectornav-1] [INFO] [1746050716.503557105] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.95100000000002, 2.899, -5.837) +[mux-7] [INFO] [1746050716.545192623] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050716.545912922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050716.546709043] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050716.548081887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050716.549285886] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050716.585455095] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050716.587772530] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050716.588132555] [sailbot.teensy]: Wind angle: 244 +[mux-7] [INFO] [1746050716.589057439] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050716.589077657] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050716.589970878] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050716.590835167] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050716.645325808] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050716.646556315] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050716.647313741] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050716.649283586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050716.650297577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050716.745368511] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050716.746267201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050716.747013590] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050716.748763962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050716.749824646] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050716.835421295] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050716.837832697] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050716.837902537] [sailbot.teensy]: Wind angle: 246 +[mux-7] [INFO] [1746050716.838323372] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050716.838921566] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050716.839850510] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050716.840692042] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050716.844308584] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050716.844900050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050716.845424451] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050716.846572540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050716.847586209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050716.945056676] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050716.945775785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050716.946451531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050716.947817042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050716.948902886] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050717.003305777] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926827 Long: -76.50371945 +[vectornav-1] [INFO] [1746050717.004758844] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.22199999999998, -2.895, -5.559) +[mux-7] [INFO] [1746050717.044730146] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050717.045401603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050717.045902115] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050717.047166672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050717.048197433] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050717.085361499] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050717.087510520] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050717.087806289] [sailbot.teensy]: Wind angle: 250 +[teensy-2] [INFO] [1746050717.088774988] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050717.089122863] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050717.089732557] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050717.090617289] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050717.145266773] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050717.146041251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050717.146904102] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050717.149527413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050717.150600791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050717.245067461] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050717.245701096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050717.246497774] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050717.247665471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050717.248775277] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050717.335357788] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050717.337173319] [sailbot.teensy]: Wind angle: 250 +[trim_sail-4] [INFO] [1746050717.337842957] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050717.338200573] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050717.339153225] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050717.340017024] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050717.340345062] [sailbot.mux]: algo sail angle: 20 +[mux-7] [INFO] [1746050717.344255067] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050717.345025939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050717.345373645] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050717.346905985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050717.348077705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050717.445103943] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050717.445895569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050717.446600566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050717.448125146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050717.448880557] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050717.503440144] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926771 Long: -76.50372559 +[vectornav-1] [INFO] [1746050717.504800157] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.84799999999996, -0.305, -4.459) +[mux-7] [INFO] [1746050717.545100609] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050717.545773700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050717.546596689] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050717.547714113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050717.548847353] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050717.585233113] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050717.586952904] [sailbot.teensy]: Wind angle: 253 +[teensy-2] [INFO] [1746050717.587891218] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050717.588037898] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050717.588815392] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050717.589157295] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050717.589690522] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050717.645061808] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050717.645646061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050717.646505107] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050717.647609447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050717.648840044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050717.744835884] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050717.746365189] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050717.746648344] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050717.748484057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050717.749491424] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050717.835402546] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050717.837270747] [sailbot.teensy]: Wind angle: 253 +[teensy-2] [INFO] [1746050717.838248484] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050717.838330572] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050717.839163303] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050717.840033110] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050717.840313771] [sailbot.mux]: algo sail angle: 20 +[mux-7] [INFO] [1746050717.844197802] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050717.844785840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050717.845311519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050717.846538066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050717.847564832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050717.945217804] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050717.946129020] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050717.946693269] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050717.948357670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050717.949427591] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050718.003940879] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926628 Long: -76.50373113 +[vectornav-1] [INFO] [1746050718.005911600] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.89499999999998, 1.18, -4.535) +[mux-7] [INFO] [1746050718.044888218] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050718.045767247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050718.046149512] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050718.047829841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050718.048908466] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050718.085629460] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050718.088217343] [sailbot.teensy]: Wind angle: 249 +[teensy-2] [INFO] [1746050718.089229114] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050718.089427463] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050718.089446000] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050718.090183583] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050718.091114553] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050718.145226226] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050718.146036821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050718.146992470] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050718.148339585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050718.149528403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050718.245211486] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050718.245946521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050718.246610046] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050718.247887917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050718.248975957] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050718.335300373] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050718.337718002] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050718.338218028] [sailbot.teensy]: Wind angle: 248 +[mux-7] [INFO] [1746050718.339129499] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050718.339151232] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050718.340078781] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050718.340723578] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050718.344364148] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050718.344982555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050718.345528678] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050718.346848556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050718.347906644] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050718.445175355] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050718.445916017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050718.446902749] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050718.448093151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050718.449332681] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050718.503366954] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926591 Long: -76.5037368 +[vectornav-1] [INFO] [1746050718.505306745] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.43200000000002, -2.165, -5.364) +[mux-7] [INFO] [1746050718.544717002] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050718.545363305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050718.545885070] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050718.547118732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050718.548303793] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050718.585166380] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050718.587562398] [sailbot.teensy]: Wind angle: 249 +[trim_sail-4] [INFO] [1746050718.587756445] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050718.588480590] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050718.588820657] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050718.589365913] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050718.590235744] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050718.644905192] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050718.645715680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050718.646328819] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050718.647714612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050718.648477750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050718.745190379] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050718.746171720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050718.746909533] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050718.748797834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050718.750106162] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050718.835259966] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050718.836934141] [sailbot.teensy]: Wind angle: 250 +[teensy-2] [INFO] [1746050718.837999310] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050718.838047464] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050718.838859634] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050718.839123769] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050718.840027684] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050718.844256261] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050718.844913671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050718.845338579] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050718.846600182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050718.847752754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050718.945248574] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050718.946006005] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050718.947140938] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050718.948340345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050718.949380682] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050719.002962692] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926498 Long: -76.50374252 +[vectornav-1] [INFO] [1746050719.004573394] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.69899999999996, -0.473, -3.728) +[mux-7] [INFO] [1746050719.045180807] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050719.045914404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050719.046680830] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050719.047995420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050719.048490866] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050719.085336662] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050719.087539446] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050719.088140304] [sailbot.teensy]: Wind angle: 246 +[mux-7] [INFO] [1746050719.089067155] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050719.089409898] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050719.090283011] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050719.091187583] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050719.145271375] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050719.145745395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050719.146731752] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050719.147805448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050719.148869635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050719.244950715] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050719.245663335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050719.246247605] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050719.247573825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050719.248696205] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050719.335269732] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050719.336988597] [sailbot.teensy]: Wind angle: 241 +[trim_sail-4] [INFO] [1746050719.337477597] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050719.337936051] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050719.338861794] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050719.339800119] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050719.339808872] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746050719.344221391] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050719.344805719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050719.345313291] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050719.346600716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050719.347589975] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050719.445243429] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050719.446000078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050719.446967877] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050719.448300472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050719.449394913] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050719.502360911] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926437 Long: -76.50374864 +[vectornav-1] [INFO] [1746050719.503513947] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.47299999999996, -1.201, -4.134) +[mux-7] [INFO] [1746050719.544927850] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050719.545686297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050719.546207565] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050719.547596406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050719.548695043] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050719.585463251] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050719.587840057] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050719.587961842] [sailbot.teensy]: Wind angle: 241 +[teensy-2] [INFO] [1746050719.589204289] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050719.589285380] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050719.590193677] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050719.591036619] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050719.645307032] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050719.646276879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050719.646841252] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050719.649023676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050719.650140860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050719.744959140] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050719.746275684] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050719.746265847] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050719.748607260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050719.749868040] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050719.835469133] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050719.837539703] [sailbot.teensy]: Wind angle: 241 +[trim_sail-4] [INFO] [1746050719.837861833] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050719.838521730] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050719.839430099] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050719.839301837] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050719.840754803] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050719.844514963] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050719.845152182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050719.845644316] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050719.846897340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050719.848181084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050719.945495842] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050719.946304958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050719.947467469] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050719.948623076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050719.949858923] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050720.003593721] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469264 Long: -76.50375392 +[vectornav-1] [INFO] [1746050720.005304885] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.471, 0.441, -3.153) +[mux-7] [INFO] [1746050720.044966295] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050720.045715670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050720.046133521] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050720.047490070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050720.048506280] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050720.085546110] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050720.087906608] [sailbot.teensy]: Wind angle: 241 +[trim_sail-4] [INFO] [1746050720.087912116] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050720.088908208] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050720.089384023] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050720.089801899] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050720.090678321] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050720.145245473] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050720.145977280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050720.146902676] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050720.147972792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050720.149088657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050720.245499132] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050720.246198998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050720.247002832] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050720.248442112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050720.249633357] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050720.335508517] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050720.337878618] [sailbot.teensy]: Wind angle: 241 +[trim_sail-4] [INFO] [1746050720.337906427] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050720.338866397] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050720.339515432] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050720.339740566] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050720.340663257] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050720.344536286] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050720.344949963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050720.345673425] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050720.346626186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050720.347728857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050720.445435698] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050720.445920539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050720.447019367] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050720.448340957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050720.449245982] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050720.503157640] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926385 Long: -76.50375956 +[vectornav-1] [INFO] [1746050720.505002791] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.63400000000001, -2.82, -2.226) +[mux-7] [INFO] [1746050720.545392411] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050720.546079339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050720.546991090] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050720.548268083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050720.549316579] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050720.585227106] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050720.587486122] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050720.587765213] [sailbot.teensy]: Wind angle: 240 +[mux-7] [INFO] [1746050720.587945745] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050720.588817328] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050720.589727301] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050720.590590297] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050720.645148876] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050720.645943223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050720.646632945] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050720.647891374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050720.648476556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050720.745408454] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050720.746164526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050720.747007074] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050720.748520085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050720.749709715] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050720.835548551] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050720.838208362] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050720.838584158] [sailbot.teensy]: Wind angle: 240 +[mux-7] [INFO] [1746050720.838800388] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050720.839592858] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050720.839976018] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050720.840357583] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050720.844649731] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050720.845749795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050720.845920125] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050720.848093144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050720.849129380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050720.945243883] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050720.946098436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050720.946819102] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050720.948528587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050720.949652295] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050721.002477326] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926377 Long: -76.50376561 +[vectornav-1] [INFO] [1746050721.003491791] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.64099999999996, 0.986, -2.401) +[mux-7] [INFO] [1746050721.045419809] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050721.046296356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050721.046931236] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050721.048079854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050721.048619940] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050721.085521313] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050721.087989326] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050721.088532530] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050721.088563485] [sailbot.teensy]: Wind angle: 239 +[teensy-2] [INFO] [1746050721.089935280] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050721.090830777] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050721.091646001] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050721.145024278] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050721.145665330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050721.146408375] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050721.147701142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050721.148739486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050721.245666391] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050721.246241786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050721.247387139] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050721.248676741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050721.249373921] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050721.335218631] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050721.337073331] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050721.337388999] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050721.338040407] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050721.339021385] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050721.339627959] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050721.339936687] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050721.344411277] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050721.344840275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050721.345558370] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050721.346532366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050721.347558550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050721.445029196] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050721.445583106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050721.446391316] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050721.447803373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050721.448517948] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050721.503871236] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926331 Long: -76.50377086 +[vectornav-1] [INFO] [1746050721.505198848] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.812, 0.948, -3.663) +[mux-7] [INFO] [1746050721.545271934] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050721.546302991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050721.546802703] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050721.548541730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050721.549593303] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050721.585191016] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050721.587027500] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050721.587704976] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050721.588010716] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050721.588922146] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050721.588534575] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050721.589814187] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050721.645259441] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050721.646021175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050721.646772064] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050721.648560912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050721.649701249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050721.745657313] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050721.747391223] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050721.748199932] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050721.750496498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050721.751800411] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050721.835262336] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050721.837394947] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050721.837493674] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050721.838347183] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050721.838728032] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050721.839489422] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050721.840394025] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050721.844368536] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050721.844898536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050721.845449610] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050721.846693933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050721.847688245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050721.945384356] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050721.946276300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050721.946901500] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050721.948479857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050721.948999771] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050722.003813801] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926251 Long: -76.50377605 +[vectornav-1] [INFO] [1746050722.005652316] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.678, -4.107, -5.511) +[mux-7] [INFO] [1746050722.045067442] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050722.045713675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050722.046357818] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050722.047728058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050722.048778674] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050722.085314610] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050722.087175803] [sailbot.teensy]: Wind angle: 237 +[teensy-2] [INFO] [1746050722.088179935] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050722.088305611] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050722.088775319] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050722.089079512] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050722.089951561] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050722.145116237] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050722.145822591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050722.146517472] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050722.147996270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050722.149111587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050722.245334105] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050722.246208787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050722.246969266] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050722.248254467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050722.248691761] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050722.335146778] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050722.336988826] [sailbot.teensy]: Wind angle: 237 +[trim_sail-4] [INFO] [1746050722.337437710] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050722.337976472] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050722.338841341] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050722.339013978] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050722.339884675] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050722.344272572] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050722.344790178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050722.345777985] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050722.346504922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050722.347682769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050722.445103847] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050722.445780097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050722.446560969] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050722.447829276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050722.448959287] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050722.502655511] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926297 Long: -76.5037821 +[vectornav-1] [INFO] [1746050722.503725539] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.31600000000003, 5.728, -5.54) +[mux-7] [INFO] [1746050722.545263847] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050722.545986276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050722.546888785] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050722.548207037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050722.549265563] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050722.585352425] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050722.587771229] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050722.588267143] [sailbot.teensy]: Wind angle: 237 +[mux-7] [INFO] [1746050722.588486009] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050722.589316538] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050722.590205286] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050722.591077276] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050722.645239675] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050722.645929634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050722.646751970] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050722.648047974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050722.655774932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050722.745346719] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050722.746172904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050722.746889663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050722.748326508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050722.749539487] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050722.835485886] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050722.837582312] [sailbot.teensy]: Wind angle: 237 +[trim_sail-4] [INFO] [1746050722.838236951] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050722.838627531] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050722.839558118] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050722.840422555] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050722.840463583] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746050722.844469573] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050722.845061214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050722.845633676] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050722.846771875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050722.847863535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050722.945323456] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050722.946883130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050722.947177013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050722.949294929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050722.950341346] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050723.003558818] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926286 Long: -76.50378662 +[vectornav-1] [INFO] [1746050723.006218721] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.72500000000002, -3.363, -5.509) +[mux-7] [INFO] [1746050723.045394469] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050723.046034700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050723.046930887] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050723.048429399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050723.049602887] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050723.085171239] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050723.086803900] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050723.087562115] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050723.087672981] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050723.088577985] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050723.088543470] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050723.089458551] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050723.144934693] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050723.145719448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050723.146344565] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050723.147474623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050723.147978738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050723.245144548] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050723.245884400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050723.246569483] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050723.247989113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050723.248676458] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050723.335224746] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050723.337630996] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050723.337709126] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050723.338844136] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050723.338998871] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050723.339767512] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050723.340645527] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050723.344457033] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050723.345076015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050723.345573537] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050723.346800726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050723.347867206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050723.445323374] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050723.446335097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050723.446836083] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050723.448790451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050723.449661404] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050723.502555820] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926295 Long: -76.50379152 +[vectornav-1] [INFO] [1746050723.503758268] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.34199999999998, -0.002, -3.778) +[mux-7] [INFO] [1746050723.545355078] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050723.546085472] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050723.546869860] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050723.548379357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050723.549559998] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050723.585907464] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050723.588222754] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050723.589286706] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050723.589425425] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050723.590393052] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050723.591276816] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050723.591561325] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746050723.592866106] [sailbot.mux]: controller_app rudder angle: 25 +[mux-7] [INFO] [1746050723.645030002] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050723.645659181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050723.646386464] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050723.647514530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050723.648609059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050723.745439763] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050723.745961403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050723.746996667] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050723.749058664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050723.749618677] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050723.835385050] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050723.837641746] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050723.837767341] [sailbot.teensy]: Wind angle: 238 +[mux-7] [INFO] [1746050723.838779183] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050723.839361096] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050723.840316990] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050723.841152607] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050723.844472384] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050723.845042287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050723.845585368] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050723.846747435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050723.847817466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050723.945426086] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050723.945949843] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050723.947225356] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050723.948471137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050723.949648850] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050724.002966010] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926325 Long: -76.50379639 +[vectornav-1] [INFO] [1746050724.004506439] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.52099999999996, -1.323, -0.656) +[mux-7] [INFO] [1746050724.045327248] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050724.046015767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050724.047026463] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050724.048282442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050724.049967297] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050724.085545692] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050724.087588223] [sailbot.teensy]: Wind angle: 240 +[trim_sail-4] [INFO] [1746050724.088120297] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050724.089390144] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050724.089461664] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050724.090369053] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746050724.091233195] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050724.144887505] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050724.145450384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050724.146195283] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050724.147237242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050724.148224513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050724.245526514] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050724.246186411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050724.247132415] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050724.248334843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050724.249648573] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050724.335284429] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050724.337236042] [sailbot.teensy]: Wind angle: 240 +[trim_sail-4] [INFO] [1746050724.337578777] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050724.338201536] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050724.339008949] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746050724.339105511] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050724.339380070] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050724.344398604] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050724.345054534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050724.345562002] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050724.346780210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050724.347845623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050724.444839446] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050724.445424900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050724.446014801] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050724.447195231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050724.448213715] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050724.502714651] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926409 Long: -76.50380099 +[vectornav-1] [INFO] [1746050724.503843823] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (153.48299999999995, 3.592, -0.381) +[mux-7] [INFO] [1746050724.545152358] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050724.545796439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050724.546584179] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050724.547844212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050724.548357831] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050724.585300339] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050724.587603329] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050724.589212606] [sailbot.teensy]: Wind angle: 239 +[mux-7] [INFO] [1746050724.589401170] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050724.590186550] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050724.591085327] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746050724.591908363] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050724.644980064] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050724.645682471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050724.646258582] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050724.647589727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050724.648708765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050724.745318111] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050724.746127468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050724.746871916] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050724.747831157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050724.748298654] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050724.835389701] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050724.837828676] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050724.838343093] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050724.839180772] [sailbot.teensy]: Wind angle: 229 +[teensy-2] [INFO] [1746050724.840116216] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050724.841000713] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746050724.841808238] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050724.844512553] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050724.844943781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050724.845627682] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050724.846610802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050724.847669710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050724.945360926] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050724.946157592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050724.946831899] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050724.948116421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050724.949026050] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050725.002398869] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926493 Long: -76.50380407 +[vectornav-1] [INFO] [1746050725.003408087] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (133.06600000000003, -1.926, -3.259) +[mux-7] [INFO] [1746050725.045056832] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050725.045763802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050725.046336129] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050725.047693303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050725.048788088] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050725.085400941] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050725.087616026] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050725.088274816] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050725.089171494] [sailbot.teensy]: Wind angle: 211 +[teensy-2] [INFO] [1746050725.090216345] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050725.091049066] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746050725.091896324] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050725.145149749] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050725.145963417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050725.146971345] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050725.147758166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050725.148881793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050725.245357606] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050725.245943728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050725.246879963] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050725.247925115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050725.249059877] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050725.335275323] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050725.337186469] [sailbot.teensy]: Wind angle: 207 +[teensy-2] [INFO] [1746050725.338276160] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050725.338317912] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050725.339099194] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050725.339279742] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746050725.340317998] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050725.344437002] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050725.344832419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050725.345588738] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050725.346589695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050725.347928108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050725.445476419] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050725.446212173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050725.447239927] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050725.448644948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050725.449810950] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050725.503356595] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692665 Long: -76.50380537 +[vectornav-1] [INFO] [1746050725.504936606] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (111.77699999999999, -1.271, 0.691) +[mux-7] [INFO] [1746050725.545091462] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050725.545652816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050725.546465366] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050725.547554741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050725.548400247] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050725.585225760] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050725.587649663] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050725.588331093] [sailbot.teensy]: Wind angle: 206 +[mux-7] [INFO] [1746050725.588513035] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050725.589252243] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050725.590119458] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746050725.590954287] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050725.645138274] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050725.646062854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050725.646593562] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050725.648314201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050725.649373544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050725.744980763] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050725.745730722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050725.746308193] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050725.747763525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050725.750184731] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050725.835215746] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050725.837010392] [sailbot.teensy]: Wind angle: 197 +[trim_sail-4] [INFO] [1746050725.837810444] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050725.837940439] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050725.839095920] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746050725.839414166] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050725.839555244] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050725.844536510] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050725.845191328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050725.845654099] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050725.846948278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050725.848079511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050725.945515900] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050725.946406812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050725.947264351] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050725.947759599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050725.948215043] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050726.002565233] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926867 Long: -76.50380552 +[vectornav-1] [INFO] [1746050726.003622809] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (89.47800000000001, 2.114, 4.437) +[mux-7] [INFO] [1746050726.045378826] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050726.046060136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050726.046957658] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050726.048326657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050726.049239826] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050726.085369456] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050726.087190957] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746050726.088229765] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050726.088087002] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050726.088805007] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050726.089126359] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746050726.090009448] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050726.145129522] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050726.145920729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050726.147367454] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050726.148030776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050726.148541806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050726.245188836] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050726.245853986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050726.246602670] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050726.247867255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050726.248947542] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050726.335084374] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050726.336876899] [sailbot.teensy]: Wind angle: 177 +[teensy-2] [INFO] [1746050726.337794408] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050726.338626774] [sailbot.mux]: algo sail angle: 0 +[trim_sail-4] [INFO] [1746050726.338649772] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050726.338670398] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746050726.339054356] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050726.344325630] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050726.344982142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050726.345422357] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050726.346804890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050726.347843974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050726.445235448] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050726.445733185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050726.446605203] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050726.447611635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050726.448415785] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050726.503285050] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927004 Long: -76.50380458 +[vectornav-1] [INFO] [1746050726.505307845] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (68.46300000000002, -1.119, 5.656) +[mux-7] [INFO] [1746050726.545509687] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050726.546291424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050726.547096939] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050726.548515993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746050726.549568509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050726.563209744] [sailbot.mux]: controller_app rudder angle: 24 +[teensy-2] [INFO] [1746050726.585438599] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050726.587711350] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050726.587982752] [sailbot.teensy]: Wind angle: 160 +[teensy-2] [INFO] [1746050726.589014614] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050726.589871999] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050726.589920569] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746050726.590820190] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050726.644622605] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050726.646005562] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050726.646014052] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050726.648066614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050726.649227116] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050726.745595425] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050726.746246111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050726.747225701] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050726.748731534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050726.749904197] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050726.835369892] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050726.837146408] [sailbot.teensy]: Wind angle: 148 +[trim_sail-4] [INFO] [1746050726.837953058] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050726.838077203] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050726.838606267] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050726.838971714] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746050726.839605014] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050726.844746148] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050726.845342872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050726.846040063] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050726.847145346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050726.848383075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050726.945316921] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050726.946066565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050726.946828367] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050726.948085428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050726.949251172] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050727.003044082] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927135 Long: -76.50380309 +[vectornav-1] [INFO] [1746050727.004263355] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.103999999999985, 0.02, 7.013) +[mux-7] [INFO] [1746050727.045437085] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050727.046157569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050727.047159854] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050727.049003648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050727.050140676] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050727.085440946] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050727.087654754] [sailbot.teensy]: Wind angle: 131 +[trim_sail-4] [INFO] [1746050727.088585353] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050727.088789516] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050727.089714563] [sailbot.teensy]: Actual tail angle: 49 +[mux-7] [INFO] [1746050727.089841087] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050727.090601078] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050727.145034636] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050727.145989398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050727.146599571] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050727.148283567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050727.148777190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050727.245428862] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050727.246148031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050727.246996202] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050727.248386018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050727.249007135] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050727.335362867] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050727.337890728] [sailbot.teensy]: Wind angle: 122 +[trim_sail-4] [INFO] [1746050727.338036864] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050727.339010288] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050727.339766883] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050727.340708550] [sailbot.teensy]: Actual tail angle: 49 +[teensy-2] [INFO] [1746050727.341567917] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050727.344359506] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050727.344885739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050727.345523178] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050727.346554126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050727.347552252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050727.445403941] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050727.446281017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050727.446963595] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050727.448624965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050727.449187930] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050727.503424118] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927217 Long: -76.5038 +[vectornav-1] [INFO] [1746050727.504694350] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.547000000000025, -1.063, 11.434) +[mux-7] [INFO] [1746050727.545118241] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050727.546066623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050727.546568022] [sailbot.mux]: Published rudder angle from controller_app: 24 +[teensy-2] [INFO] [1746050727.548393229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 +[teensy-2] [INFO] [1746050727.549568869] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050727.576001174] [sailbot.mux]: controller_app rudder angle: 0 +[teensy-2] [INFO] [1746050727.585221164] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050727.587516618] [sailbot.teensy]: Wind angle: 116 +[trim_sail-4] [INFO] [1746050727.587593661] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050727.588475114] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050727.588364277] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050727.589379031] [sailbot.teensy]: Actual tail angle: 49 +[teensy-2] [INFO] [1746050727.590260850] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050727.645014741] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050727.645683740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050727.646315820] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050727.647679502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050727.648716475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050727.745246567] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050727.746068398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050727.746829701] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050727.748276930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050727.749483645] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050727.835694198] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050727.837831872] [sailbot.teensy]: Wind angle: 104 +[teensy-2] [INFO] [1746050727.838845460] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050727.838757243] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050727.839813881] [sailbot.teensy]: Actual tail angle: 49 +[mux-7] [INFO] [1746050727.840273749] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050727.840773461] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050727.844277698] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050727.845025319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050727.845397458] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050727.846807190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050727.847830178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050727.945094433] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050727.945890135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050727.946544068] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050727.948214285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050727.948738881] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050728.003062889] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927243 Long: -76.50379641 +[vectornav-1] [INFO] [1746050728.004380210] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (11.158000000000015, -3.464, 11.519) +[mux-7] [INFO] [1746050728.045025224] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050728.045660469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050728.046213686] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050728.047621272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050728.048771670] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050728.085560780] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050728.088306440] [sailbot.teensy]: Wind angle: 89 +[trim_sail-4] [INFO] [1746050728.088815113] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050728.089440242] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050728.090393522] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050728.090704509] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050728.091312764] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050728.145157706] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050728.146088667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050728.146634777] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050728.148422031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050728.149605920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050728.245236724] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050728.246971621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050728.247008644] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050728.249401189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050728.250428981] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050728.335470591] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050728.337331427] [sailbot.teensy]: Wind angle: 92 +[trim_sail-4] [INFO] [1746050728.337848450] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050728.339185891] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050728.339776089] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050728.340130359] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050728.340844969] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050728.344323109] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050728.344885026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050728.345487551] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050728.346540972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050728.347576119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050728.445330217] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050728.446216067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050728.447060148] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050728.448528136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050728.449674672] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050728.503136951] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927156 Long: -76.50379167 +[vectornav-1] [INFO] [1746050728.504599995] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (356.418, 1.838, 14.267) +[mux-7] [INFO] [1746050728.545028043] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050728.545942082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050728.546373334] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050728.547739261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050728.548231982] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050728.585522521] [sailbot.teensy]: Check telemetry callback entered +[mux-7] [INFO] [1746050728.587530215] [sailbot.mux]: controller_app rudder angle: -5 +[teensy-2] [INFO] [1746050728.587797479] [sailbot.teensy]: Wind angle: 89 +[trim_sail-4] [INFO] [1746050728.588486753] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050728.588817758] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050728.589811373] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050728.590883743] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050728.591443926] [sailbot.mux]: algo sail angle: 35 +[mux-7] [INFO] [1746050728.645223721] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050728.646233794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050728.646771595] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050728.648893368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050728.649910289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050728.744931714] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050728.745658334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050728.746708278] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050728.747524787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050728.747995346] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050728.835429840] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050728.837171863] [sailbot.teensy]: Wind angle: 82 +[trim_sail-4] [INFO] [1746050728.837958124] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050728.838122068] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050728.839018423] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050728.839211113] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050728.839885643] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050728.844293517] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050728.844785722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050728.845399157] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050728.846538713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050728.847575695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050728.945390388] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050728.946346505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050728.947066472] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050728.948772082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050728.949846000] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050729.002595025] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692704 Long: -76.50378721 +[vectornav-1] [INFO] [1746050729.003650198] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (345.3, 0.856, 12.152) +[mux-7] [INFO] [1746050729.045578442] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050729.046609785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050729.047242635] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050729.048952211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050729.050119234] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050729.085413378] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050729.088377715] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746050729.088586323] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050729.089705132] [sailbot.teensy]: Wind angle: 70 +[teensy-2] [INFO] [1746050729.090690956] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050729.091602143] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050729.092447212] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050729.145173172] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050729.145874071] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050729.146772067] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050729.148176599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050729.149235692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050729.245178534] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050729.246030753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050729.247208244] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050729.248209313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050729.248673918] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050729.335441986] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050729.337457240] [sailbot.teensy]: Wind angle: 64 +[teensy-2] [INFO] [1746050729.338462150] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050729.338051363] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050729.339394344] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050729.340353283] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050729.339848888] [sailbot.mux]: algo sail angle: 50 +[mux-7] [INFO] [1746050729.344301257] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050729.344818000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050729.345376517] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050729.346591611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050729.347638779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050729.445343804] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050729.446392204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050729.447022091] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050729.448733643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050729.449838104] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050729.504192313] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692698 Long: -76.50378347 +[vectornav-1] [INFO] [1746050729.506562268] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (344.493, -3.785, 7.999) +[mux-7] [INFO] [1746050729.544886261] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050729.545677821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050729.546290413] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050729.547844698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050729.548958423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050729.583207579] [sailbot.mux]: controller_app rudder angle: -12 +[teensy-2] [INFO] [1746050729.585000838] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050729.586883638] [sailbot.teensy]: Wind angle: 74 +[trim_sail-4] [INFO] [1746050729.587112137] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050729.587800194] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050729.588545471] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050729.588691672] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050729.589586060] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050729.645131312] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050729.646209492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050729.646817612] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050729.648043780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050729.648504042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050729.744631772] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050729.745801525] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050729.745911441] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050729.747595963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050729.748640168] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050729.835338288] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050729.837558485] [sailbot.teensy]: Wind angle: 86 +[trim_sail-4] [INFO] [1746050729.837648044] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050729.838549081] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050729.839341246] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050729.839468677] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050729.840354491] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050729.844394480] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050729.844931248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050729.845571641] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050729.846736568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050729.847763644] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050729.945152707] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050729.945845694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050729.946471595] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050729.947590079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050729.948050528] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050730.004044750] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926876 Long: -76.50377852 +[vectornav-1] [INFO] [1746050730.005936921] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (346.995, -0.812, 10.614) +[mux-7] [INFO] [1746050730.045333388] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050730.046277509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050730.046769832] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050730.048389752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050730.049339172] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050730.085315175] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050730.087420158] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050730.087647705] [sailbot.teensy]: Wind angle: 91 +[teensy-2] [INFO] [1746050730.088617094] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050730.088870214] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050730.089594943] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050730.090488215] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050730.144885752] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050730.145817578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050730.146511592] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050730.147873035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050730.149039286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050730.245014216] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050730.245707229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050730.246366507] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050730.247614427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050730.248061673] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050730.335230221] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050730.337717120] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050730.338547120] [sailbot.teensy]: Wind angle: 91 +[mux-7] [INFO] [1746050730.338818150] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050730.339977676] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050730.341017437] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050730.342192341] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050730.344391790] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050730.344893249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050730.345565113] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050730.346655655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050730.347706605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050730.445655379] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050730.446607101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050730.447303997] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050730.449185322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050730.450373872] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050730.502630011] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926764 Long: -76.50377315 +[vectornav-1] [INFO] [1746050730.503650368] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (357.852, 1.871, 12.27) +[mux-7] [INFO] [1746050730.545292825] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050730.546409348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050730.546870756] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050730.548884314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050730.549961411] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050730.585504482] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050730.587558477] [sailbot.teensy]: Wind angle: 92 +[trim_sail-4] [INFO] [1746050730.587941653] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050730.588571021] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050730.588733478] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050730.589524900] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050730.590394322] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050730.645100233] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050730.645887186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050730.646584626] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050730.648321501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050730.649356438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050730.745405574] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050730.746511214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050730.747240529] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050730.748804040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050730.749964151] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050730.835206303] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050730.837469301] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050730.837935808] [sailbot.teensy]: Wind angle: 93 +[mux-7] [INFO] [1746050730.838760133] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050730.838846967] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050730.839732175] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050730.840628364] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050730.844282371] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050730.844812279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050730.845358825] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050730.846485939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050730.847423070] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050730.944898681] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050730.945730731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050730.946140776] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050730.947596080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050730.948601791] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050731.003656391] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926722 Long: -76.50376948 +[vectornav-1] [INFO] [1746050731.005685190] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (9.396000000000015, -0.189, 13.466) +[mux-7] [INFO] [1746050731.045116246] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050731.045804493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050731.046548801] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050731.047715822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050731.048767685] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050731.085536047] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050731.087620822] [sailbot.teensy]: Wind angle: 94 +[trim_sail-4] [INFO] [1746050731.088147325] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050731.089393878] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050731.090434022] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050731.091333177] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050731.092182339] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050731.145076014] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050731.145729224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050731.146609171] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050731.147682475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050731.148721278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050731.245033587] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050731.245928455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050731.246653432] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050731.247857585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050731.248903013] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050731.335382027] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050731.337732292] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050731.338733854] [sailbot.teensy]: Wind angle: 96 +[mux-7] [INFO] [1746050731.338977683] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050731.339140433] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050731.339533141] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050731.339923001] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050731.344328163] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050731.344841446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050731.345998778] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050731.346611195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050731.347692088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050731.445153759] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050731.446059401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050731.446536103] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050731.448029087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050731.449148361] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050731.503157439] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926796 Long: -76.50376588 +[vectornav-1] [INFO] [1746050731.504625401] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (22.88900000000001, -2.001, 12.563) +[mux-7] [INFO] [1746050731.545048021] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050731.545744940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050731.546873795] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050731.547859532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050731.548677508] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050731.585395867] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050731.587712205] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050731.588730381] [sailbot.teensy]: Wind angle: 105 +[mux-7] [INFO] [1746050731.588909193] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050731.589670757] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050731.590582285] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050731.591431499] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050731.596879596] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746050731.645152538] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050731.645874561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050731.646666050] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050731.648450008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050731.649535178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050731.745260003] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050731.746272446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050731.746722561] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050731.748647500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050731.749717486] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050731.835316375] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050731.837123179] [sailbot.teensy]: Wind angle: 116 +[teensy-2] [INFO] [1746050731.838112685] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050731.838223233] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050731.839007498] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050731.839055209] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050731.840013087] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050731.844421601] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050731.844950280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050731.845514115] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050731.846606470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050731.847611414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050731.945303677] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050731.945878115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050731.947089362] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050731.948087462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050731.949149167] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050732.003779087] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926907 Long: -76.50376167 +[vectornav-1] [INFO] [1746050732.005753113] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.303999999999974, -0.339, 16.374) +[mux-7] [INFO] [1746050732.045073548] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050732.045825890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050732.046449231] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050732.047725642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050732.048782592] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050732.085182002] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050732.087400433] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050732.087818606] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050732.088077295] [sailbot.teensy]: Wind angle: 127 +[teensy-2] [INFO] [1746050732.089012098] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050732.089901101] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050732.090731330] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050732.145201578] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050732.146253329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050732.146733105] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050732.148385888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050732.149576345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050732.245029504] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050732.245658110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050732.246544230] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050732.247666812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050732.248183844] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050732.335193399] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050732.336857806] [sailbot.teensy]: Wind angle: 131 +[trim_sail-4] [INFO] [1746050732.337439254] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050732.337782624] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050732.338700701] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050732.339762602] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050732.340127586] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050732.344479138] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050732.344976427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050732.345677549] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050732.346835579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050732.347901558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050732.445361922] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050732.446355322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050732.446988098] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050732.448717975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050732.449929467] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050732.502317756] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927082 Long: -76.50375815 +[vectornav-1] [INFO] [1746050732.503336402] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.47300000000001, -0.034, 13.561) +[mux-7] [INFO] [1746050732.545237913] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050732.546298095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050732.546839567] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050732.548618742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050732.549667559] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050732.585746042] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050732.588822238] [sailbot.teensy]: Wind angle: 132 +[trim_sail-4] [INFO] [1746050732.589043649] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050732.589260069] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050732.589844551] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050732.590814964] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050732.591714346] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050732.645076586] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050732.645771549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050732.646467054] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050732.647919541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050732.648995723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050732.745440054] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050732.746485394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050732.747039106] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050732.748929819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050732.750069083] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050732.835393650] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050732.837820989] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050732.837980752] [sailbot.teensy]: Wind angle: 132 +[mux-7] [INFO] [1746050732.838826482] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050732.838902247] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050732.839791096] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050732.840676503] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050732.844554775] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050732.844938020] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050732.845721335] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050732.846665420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050732.847700186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050732.945420991] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050732.946064247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050732.946985473] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050732.948195709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050732.949381939] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050733.003668623] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927355 Long: -76.50375678 +[vectornav-1] [INFO] [1746050733.004988688] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.81400000000002, -0.914, 9.826) +[mux-7] [INFO] [1746050733.045487615] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050733.046067805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050733.047066637] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050733.048281093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050733.049402519] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050733.085330425] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050733.087461443] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050733.087917936] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050733.088332807] [sailbot.teensy]: Wind angle: 132 +[teensy-2] [INFO] [1746050733.089259179] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050733.090111608] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050733.090931641] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050733.145072820] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050733.145663081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050733.146594696] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050733.147570998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050733.148606366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050733.245364733] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050733.245837931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050733.246912489] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050733.247924555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050733.249025363] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050733.335355008] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050733.337279507] [sailbot.teensy]: Wind angle: 134 +[trim_sail-4] [INFO] [1746050733.337913502] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050733.339016342] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050733.339183039] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050733.339596777] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050733.339962502] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050733.344385632] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050733.345025882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050733.345508862] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050733.346932057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050733.347956761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050733.444773451] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050733.445286243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050733.445915483] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050733.447024683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050733.448068648] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050733.503292499] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927584 Long: -76.50375463 +[vectornav-1] [INFO] [1746050733.505483252] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (64.62, 3.518, 10.986) +[mux-7] [INFO] [1746050733.544719532] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050733.545508913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050733.546579842] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050733.547274794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050733.548333522] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050733.585292111] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050733.587505768] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050733.588024806] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050733.588864034] [sailbot.teensy]: Wind angle: 145 +[teensy-2] [INFO] [1746050733.589884319] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050733.590784634] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050733.591619251] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050733.644857817] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050733.645501258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050733.646100029] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050733.647345486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050733.648514075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050733.744986955] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050733.745975003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050733.746407125] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050733.747932470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050733.749019765] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050733.835415663] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050733.837353499] [sailbot.teensy]: Wind angle: 149 +[trim_sail-4] [INFO] [1746050733.837753497] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050733.838299073] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050733.838315016] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050733.839269752] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050733.840110704] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050733.844479479] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050733.844978510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050733.845686340] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050733.846794350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050733.848058023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050733.945246078] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050733.946071463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050733.946820337] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050733.948473670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050733.949478929] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050734.002417135] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927801 Long: -76.50375314 +[vectornav-1] [INFO] [1746050734.003515467] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (71.64499999999998, -4.777, 9.123) +[mux-7] [INFO] [1746050734.045267516] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050734.046055003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050734.046747363] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050734.048248665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050734.049329894] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050734.085382171] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050734.087254806] [sailbot.teensy]: Wind angle: 149 +[trim_sail-4] [INFO] [1746050734.087719969] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050734.088280299] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050734.088909358] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050734.089208389] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050734.090106649] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050734.145008439] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050734.145701979] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050734.146497071] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050734.147874197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050734.148672883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050734.244888356] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050734.245974282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050734.246175046] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050734.247822355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050734.248949688] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050734.334790850] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050734.336259637] [sailbot.teensy]: Wind angle: 149 +[teensy-2] [INFO] [1746050734.337012748] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050734.337794904] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746050734.336438397] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050734.337999667] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050734.338605359] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050734.343999322] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050734.344710795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050734.345459329] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050734.346260883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050734.347284278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050734.445084137] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050734.445865952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050734.446459677] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050734.448057187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050734.449146818] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050734.502133140] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928102 Long: -76.50375247 +[vectornav-1] [INFO] [1746050734.503050753] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (77.75299999999999, 3.617, 6.483) +[mux-7] [INFO] [1746050734.544953070] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050734.545771908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050734.546563880] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050734.547686355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050734.548751242] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050734.585590506] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050734.588299982] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050734.588879362] [sailbot.teensy]: Wind angle: 150 +[mux-7] [INFO] [1746050734.589259072] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050734.589861605] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050734.590874797] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050734.591811897] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050734.609637171] [sailbot.mux]: controller_app rudder angle: -1 +[mux-7] [INFO] [1746050734.645119734] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050734.645828231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050734.646664916] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050734.648132497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050734.649344380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050734.745221026] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050734.746030015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050734.746720822] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050734.748227057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050734.749286321] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050734.835145409] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050734.836703203] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746050734.837150459] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050734.837605884] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050734.838485830] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050734.839116715] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050734.839340717] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050734.844274353] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050734.844810155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050734.845413247] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050734.846554800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050734.847561466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050734.945212020] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050734.946198291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050734.946729679] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050734.947921386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050734.948594096] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050735.003561268] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928284 Long: -76.50375225 +[vectornav-1] [INFO] [1746050735.005393660] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (81.517, -0.28, 6.442) +[mux-7] [INFO] [1746050735.044724874] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050735.045335816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050735.045882220] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050735.047077934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050735.048104891] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050735.085175346] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050735.086687036] [sailbot.teensy]: Wind angle: 153 +[teensy-2] [INFO] [1746050735.087544862] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050735.087191904] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050735.088349166] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050735.089211314] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050735.088899761] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050735.144929745] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050735.145756305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050735.146296274] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050735.147724780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050735.148760637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050735.245069860] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050735.245904457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050735.246511706] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050735.247682856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050735.248176630] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050735.335168890] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050735.336946970] [sailbot.teensy]: Wind angle: 156 +[trim_sail-4] [INFO] [1746050735.337390835] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050735.337907212] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050735.338837446] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050735.339416158] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050735.339775604] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050735.344368542] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050735.345083395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050735.345527427] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050735.346674392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050735.347754153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050735.445197683] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050735.445912425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050735.446943608] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050735.448010175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050735.448472380] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050735.503026678] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928466 Long: -76.50375163 +[vectornav-1] [INFO] [1746050735.504139492] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (85.94, -1.077, 5.963) +[mux-7] [INFO] [1746050735.545112273] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050735.545997495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050735.546745710] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050735.547967781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050735.548865802] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050735.585455916] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050735.587763279] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050735.587873848] [sailbot.teensy]: Wind angle: 156 +[mux-7] [INFO] [1746050735.589325256] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050735.589749072] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050735.590707069] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050735.591575652] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050735.645214891] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050735.646169594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050735.646903901] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050735.649000219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050735.650098401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050735.745221958] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050735.746036483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050735.746970442] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050735.748254057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050735.749340142] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050735.835229554] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050735.836872981] [sailbot.teensy]: Wind angle: 156 +[teensy-2] [INFO] [1746050735.837782662] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050735.837861419] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050735.838695484] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050735.839074884] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050735.839625310] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050735.844502394] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050735.844990513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050735.845788676] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050735.846795638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050735.847859451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050735.945370326] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050735.946216811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050735.947158561] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050735.948542994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050735.949609459] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050736.003826837] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928668 Long: -76.50375167 +[vectornav-1] [INFO] [1746050736.005607455] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (88.38299999999998, -0.918, 4.843) +[mux-7] [INFO] [1746050736.045268838] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050736.046034027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050736.046780687] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050736.048462996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050736.049684660] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050736.085514363] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050736.087360788] [sailbot.teensy]: Wind angle: 157 +[teensy-2] [INFO] [1746050736.088390833] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050736.089327146] [sailbot.teensy]: Actual tail angle: 24 +[trim_sail-4] [INFO] [1746050736.088838617] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050736.090199237] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050736.090865933] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050736.145036694] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050736.145804478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050736.146398577] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050736.147749000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050736.148867917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050736.245236459] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050736.245810662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050736.246741051] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050736.247774459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050736.248937480] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050736.335346833] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050736.337561217] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050736.337901816] [sailbot.teensy]: Wind angle: 158 +[teensy-2] [INFO] [1746050736.338786256] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050736.339052081] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050736.339690503] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050736.340581420] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050736.344292540] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050736.344776017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050736.345393123] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050736.346397927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050736.347422710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050736.445151339] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050736.445674643] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050736.447435050] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050736.447615538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050736.449004435] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050736.502406332] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928872 Long: -76.5037511 +[vectornav-1] [INFO] [1746050736.503460893] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (85.56400000000002, 2.63, 8.606) +[mux-7] [INFO] [1746050736.545232309] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050736.546434665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050736.546649405] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050736.548325964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050736.549467976] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050736.585414326] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050736.587777785] [sailbot.teensy]: Wind angle: 159 +[trim_sail-4] [INFO] [1746050736.587777264] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050736.588762500] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050736.589101143] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050736.589693237] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050736.590615469] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050736.645048517] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050736.645850934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050736.646577921] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050736.648202790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050736.649425774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050736.745265634] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050736.746011651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050736.746734966] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050736.748606516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050736.749754010] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050736.835354282] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050736.837316577] [sailbot.teensy]: Wind angle: 159 +[trim_sail-4] [INFO] [1746050736.837764572] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050736.838328077] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050736.839286175] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050736.840029267] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050736.840243573] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050736.844355449] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050736.844935246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050736.845436973] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050736.846660020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050736.847697899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050736.945186883] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050736.946188018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050736.946970216] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050736.948397160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050736.949455221] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050737.003228591] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928996 Long: -76.50375005 +[vectornav-1] [INFO] [1746050737.004977054] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (84.572, -2.208, 6.539) +[mux-7] [INFO] [1746050737.045073650] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050737.045927344] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050737.046489807] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050737.047893056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050737.049069740] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050737.085289670] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050737.087488235] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050737.087795087] [sailbot.teensy]: Wind angle: 159 +[teensy-2] [INFO] [1746050737.088801994] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050737.089195926] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050737.090566509] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050737.091437919] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050737.145086774] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050737.145585016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050737.146454623] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050737.147386199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050737.148517953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050737.245199869] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050737.245657430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050737.246522104] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050737.247449765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050737.248651228] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050737.335313121] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050737.337254692] [sailbot.teensy]: Wind angle: 158 +[trim_sail-4] [INFO] [1746050737.337818006] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050737.338922137] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050737.339729178] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050737.340671965] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050737.341493975] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050737.344362364] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050737.344808091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050737.345754508] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050737.346531250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050737.347573545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050737.444902098] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050737.445704461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050737.446251332] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050737.447521597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050737.448559778] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050737.503504427] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929133 Long: -76.50375013 +[vectornav-1] [INFO] [1746050737.505144991] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (85.09800000000001, 0.313, 4.376) +[mux-7] [INFO] [1746050737.545098244] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050737.545994691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050737.546499249] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050737.548030487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050737.549067313] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050737.585360730] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050737.587045314] [sailbot.teensy]: Wind angle: 154 +[trim_sail-4] [INFO] [1746050737.587663738] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050737.587987813] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050737.588958691] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050737.589746743] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050737.589824352] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050737.645179931] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050737.645676094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050737.646629727] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050737.647649097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050737.648726887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050737.745536568] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050737.746030631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050737.747131832] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050737.748123237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050737.748819051] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050737.835491187] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050737.837348800] [sailbot.teensy]: Wind angle: 154 +[teensy-2] [INFO] [1746050737.838778850] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050737.838250444] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050737.839411574] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050737.839673421] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050737.840590095] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050737.844505864] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050737.844916821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050737.845729159] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050737.846575116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050737.847773248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050737.945447159] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050737.946219620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050737.947128039] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050737.948522622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050737.949674180] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050738.003169601] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929284 Long: -76.50375011 +[vectornav-1] [INFO] [1746050738.005184224] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (84.09500000000003, -0.053, 6.117) +[mux-7] [INFO] [1746050738.044914585] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050738.045416238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050738.046099165] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050738.047175977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050738.048397480] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050738.085402242] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050738.087214058] [sailbot.teensy]: Wind angle: 154 +[trim_sail-4] [INFO] [1746050738.087871288] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050738.088222706] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050738.089146880] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050738.089653365] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050738.090009684] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050738.145242417] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050738.146038928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050738.146887187] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050738.148358352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050738.148854605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050738.244725089] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050738.245942003] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050738.246197530] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050738.247899469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050738.248924724] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050738.335276475] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050738.337145210] [sailbot.teensy]: Wind angle: 154 +[trim_sail-4] [INFO] [1746050738.337461867] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050738.338088174] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050738.338883301] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050738.338939505] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050738.339252857] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050738.344489697] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050738.345126289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050738.345647826] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050738.346942331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050738.347959351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050738.445030764] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050738.445677835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050738.446464749] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050738.447643212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050738.448194813] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050738.503105193] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929409 Long: -76.50374886 +[vectornav-1] [INFO] [1746050738.504755268] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (81.656, -0.087, 9.061) +[mux-7] [INFO] [1746050738.545097055] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050738.545748155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050738.546510469] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050738.547861039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050738.548893446] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050738.585121599] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050738.587514729] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050738.588453946] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050738.589056104] [sailbot.teensy]: Wind angle: 154 +[teensy-2] [INFO] [1746050738.589997466] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050738.590853439] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050738.591687357] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050738.608941434] [sailbot.mux]: controller_app rudder angle: -8 +[mux-7] [INFO] [1746050738.644887220] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050738.645449162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050738.646438955] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050738.647205248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050738.648360663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050738.745496864] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050738.746101577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050738.747220839] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050738.748265183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050738.749015229] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050738.835156344] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050738.837442277] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050738.837640439] [sailbot.teensy]: Wind angle: 154 +[teensy-2] [INFO] [1746050738.838620546] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050738.839817066] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050738.840173530] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050738.840659718] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050738.844373568] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050738.844967880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050738.845513920] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050738.846695342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050738.847687180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050738.945587051] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050738.946145940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050738.947343727] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050738.948618700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050738.949736028] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050739.003788143] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929535 Long: -76.50374841 +[vectornav-1] [INFO] [1746050739.005330425] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (81.94600000000003, -0.62, 6.393) +[mux-7] [INFO] [1746050739.045030257] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050739.045662194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050739.046424268] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050739.047454939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050739.048576189] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050739.085281639] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050739.087080979] [sailbot.teensy]: Wind angle: 154 +[teensy-2] [INFO] [1746050739.088056409] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050739.087869243] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050739.089002819] [sailbot.teensy]: Actual tail angle: 17 +[mux-7] [INFO] [1746050739.089433723] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050739.089913606] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050739.144801917] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050739.145504703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050739.146504645] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050739.147273614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050739.148441009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050739.245096060] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050739.245774549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050739.246616873] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050739.247571392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050739.248774920] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050739.335147842] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050739.337240305] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050739.337694577] [sailbot.teensy]: Wind angle: 153 +[mux-7] [INFO] [1746050739.338305784] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050739.338634745] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050739.339655596] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050739.340600608] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050739.344465476] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050739.344923180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050739.345739779] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050739.346860578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050739.347926980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050739.445305651] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050739.445937169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050739.446853531] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050739.448484030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050739.449635245] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050739.502915926] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929679 Long: -76.5037485 +[vectornav-1] [INFO] [1746050739.504809097] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (81.5, 0.395, 5.651) +[mux-7] [INFO] [1746050739.544795408] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050739.545597317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050739.545969718] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050739.547439435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 +[teensy-2] [INFO] [1746050739.548479313] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050739.585313821] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050739.587037914] [sailbot.teensy]: Wind angle: 153 +[trim_sail-4] [INFO] [1746050739.587925038] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050739.588042632] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050739.588997550] [sailbot.teensy]: Actual tail angle: 17 +[mux-7] [INFO] [1746050739.589393441] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050739.589944955] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050739.609122677] [sailbot.mux]: controller_app rudder angle: 11 +[mux-7] [INFO] [1746050739.645002251] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050739.645772652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050739.646431291] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050739.647841290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050739.648955677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050739.744895291] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050739.745653417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050739.746428250] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050739.747652391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050739.749178017] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050739.835617040] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050739.837794772] [sailbot.teensy]: Wind angle: 152 +[trim_sail-4] [INFO] [1746050739.838296791] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050739.838838171] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050739.839791923] [sailbot.teensy]: Actual tail angle: 17 +[mux-7] [INFO] [1746050739.839913601] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050739.840732418] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050739.844450006] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050739.844994519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050739.845604765] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050739.846748637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050739.847818110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050739.945096093] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050739.945805018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050739.946605738] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050739.947852381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050739.948409644] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050740.003005948] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929796 Long: -76.50374804 +[vectornav-1] [INFO] [1746050740.004240100] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (82.42000000000002, 0.924, 5.576) +[mux-7] [INFO] [1746050740.045068915] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050740.045676793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050740.046509033] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050740.047541258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050740.048602385] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050740.085382685] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050740.087835701] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050740.088253877] [sailbot.teensy]: Wind angle: 151 +[teensy-2] [INFO] [1746050740.089250827] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050740.090070735] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050740.090158202] [sailbot.teensy]: Actual tail angle: 36 +[teensy-2] [INFO] [1746050740.091040311] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050740.145014655] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050740.145783182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050740.146291118] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050740.147819903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050740.148984349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050740.244949675] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050740.245691290] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050740.246563806] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050740.247526904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050740.248609408] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050740.335308722] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050740.337213715] [sailbot.teensy]: Wind angle: 149 +[trim_sail-4] [INFO] [1746050740.337781633] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050740.338205349] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050740.339114557] [sailbot.teensy]: Actual tail angle: 36 +[mux-7] [INFO] [1746050740.339399777] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050740.339973003] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050740.344358569] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050740.344968961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050740.345407638] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050740.346744603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050740.347847537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050740.445272697] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050740.446031019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050740.446779954] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050740.448390009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050740.449520112] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050740.503014497] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929883 Long: -76.50374694 +[vectornav-1] [INFO] [1746050740.504428843] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (78.981, -0.408, 7.643) +[mux-7] [INFO] [1746050740.545074854] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050740.545898903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050740.546577781] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050740.547929539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050740.549077100] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050740.585324411] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050740.587365533] [sailbot.teensy]: Wind angle: 149 +[teensy-2] [INFO] [1746050740.588352765] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050740.587508926] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050740.588868212] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050740.589253809] [sailbot.teensy]: Actual tail angle: 36 +[teensy-2] [INFO] [1746050740.590141537] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050740.644902390] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050740.645535351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050740.646186626] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050740.647513688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050740.648687079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050740.745204209] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050740.745963366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050740.746691800] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050740.747884610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050740.748609467] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050740.835394034] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050740.837863385] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050740.838649582] [sailbot.teensy]: Wind angle: 149 +[mux-7] [INFO] [1746050740.838803894] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050740.839949772] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050740.840916670] [sailbot.teensy]: Actual tail angle: 36 +[teensy-2] [INFO] [1746050740.841753353] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050740.844379473] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050740.844809329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050740.845583147] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050740.846496292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050740.847519709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050740.945021821] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050740.945546263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050740.946502204] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050740.947596011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050740.948750452] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050741.003340274] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929949 Long: -76.50374673 +[vectornav-1] [INFO] [1746050741.004690746] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (76.17500000000001, -1.826, 5.351) +[mux-7] [INFO] [1746050741.045516136] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050741.045902388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050741.046988599] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050741.048205779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050741.049225391] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050741.085288312] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050741.087261807] [sailbot.teensy]: Wind angle: 149 +[trim_sail-4] [INFO] [1746050741.087939043] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050741.088282439] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050741.089167127] [sailbot.teensy]: Actual tail angle: 36 +[mux-7] [INFO] [1746050741.089209723] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050741.090064852] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050741.145023632] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050741.145500857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050741.146433025] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050741.147358390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050741.148368529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050741.245401177] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050741.245948675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050741.247005508] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050741.248025309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050741.248509930] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050741.335182273] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050741.336922876] [sailbot.teensy]: Wind angle: 149 +[trim_sail-4] [INFO] [1746050741.337482023] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050741.338668585] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050741.339132116] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050741.339622961] [sailbot.teensy]: Actual tail angle: 36 +[teensy-2] [INFO] [1746050741.340589564] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050741.344514504] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050741.345031654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050741.345699852] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050741.346811377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050741.347868178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050741.445300648] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050741.446112081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050741.447108484] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050741.448315538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050741.449098953] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050741.503633141] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930086 Long: -76.50374626 +[vectornav-1] [INFO] [1746050741.505759251] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (72.13600000000002, 2.431, 7.505) +[mux-7] [INFO] [1746050741.545051095] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050741.545584057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050741.546440450] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050741.547472685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 +[teensy-2] [INFO] [1746050741.548520379] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050741.585287244] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050741.586986895] [sailbot.teensy]: Wind angle: 147 +[trim_sail-4] [INFO] [1746050741.587505033] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050741.587908746] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050741.588822551] [sailbot.teensy]: Actual tail angle: 36 +[mux-7] [INFO] [1746050741.589039211] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050741.589707999] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050741.634827916] [sailbot.mux]: controller_app rudder angle: 3 +[mux-7] [INFO] [1746050741.644901911] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050741.645580788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050741.646181609] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050741.647528672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050741.648577004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050741.744958651] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050741.745755011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050741.746507598] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050741.747723298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050741.748895301] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050741.835491886] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050741.837501927] [sailbot.teensy]: Wind angle: 143 +[trim_sail-4] [INFO] [1746050741.838004144] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050741.838442110] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050741.839179140] [sailbot.teensy]: Actual tail angle: 36 +[mux-7] [INFO] [1746050741.839191817] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050741.839553219] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050741.844328973] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050741.844968577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050741.845454124] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050741.846667897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050741.847791570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050741.945163723] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050741.945920029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050741.946599984] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050741.948048265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050741.948508690] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050742.003578287] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930118 Long: -76.50374501 +[vectornav-1] [INFO] [1746050742.005273221] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (66.11599999999999, 0.341, 8.207) +[mux-7] [INFO] [1746050742.045317627] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050742.046277059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050742.046835211] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050742.048505136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050742.049728551] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050742.085484062] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050742.087455851] [sailbot.teensy]: Wind angle: 143 +[teensy-2] [INFO] [1746050742.088471303] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050742.089359694] [sailbot.teensy]: Actual tail angle: 28 +[mux-7] [INFO] [1746050742.088786843] [sailbot.mux]: algo sail angle: 0 +[trim_sail-4] [INFO] [1746050742.089022973] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050742.090233971] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050742.145239406] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050742.145779762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050742.146823819] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050742.147922415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050742.149112237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050742.245346675] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050742.245952037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050742.247096283] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050742.248364367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050742.249517585] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050742.335247628] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050742.337053837] [sailbot.teensy]: Wind angle: 143 +[trim_sail-4] [INFO] [1746050742.337571971] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050742.337989579] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050742.338923913] [sailbot.teensy]: Actual tail angle: 28 +[mux-7] [INFO] [1746050742.339291982] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050742.339842230] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050742.344405043] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050742.345022199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050742.345522434] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050742.346740056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050742.347920067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050742.444772058] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050742.445396615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050742.445999896] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050742.447184952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050742.448219662] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050742.503575966] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930179 Long: -76.50374409 +[vectornav-1] [INFO] [1746050742.505025236] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (60.07600000000002, -3.367, 8.032) +[mux-7] [INFO] [1746050742.545295659] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050742.545883769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050742.546779679] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050742.547875328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050742.549008814] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050742.585267063] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050742.586935995] [sailbot.teensy]: Wind angle: 140 +[teensy-2] [INFO] [1746050742.587849418] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050742.587607459] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050742.588306583] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050742.588739470] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050742.589603465] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050742.608257061] [sailbot.mux]: controller_app rudder angle: -1 +[mux-7] [INFO] [1746050742.645160371] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050742.645854182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050742.646683846] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050742.648194916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050742.649383183] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050742.745102011] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050742.745775835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050742.746462759] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050742.747597414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050742.748686047] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050742.835414707] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050742.837501052] [sailbot.teensy]: Wind angle: 134 +[trim_sail-4] [INFO] [1746050742.837982612] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050742.838459820] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050742.839359930] [sailbot.teensy]: Actual tail angle: 28 +[mux-7] [INFO] [1746050742.840063521] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050742.840268333] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050742.844293748] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050742.845012455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050742.845401499] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050742.846791087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050742.847924661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050742.945156956] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050742.946159420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050742.947360157] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050742.947802986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050742.948360405] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050743.003343898] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930279 Long: -76.50374267 +[vectornav-1] [INFO] [1746050743.004831399] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.13900000000001, 1.662, 9.55) +[mux-7] [INFO] [1746050743.045028082] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050743.045755431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050743.046322415] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050743.047709018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050743.048749787] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050743.085412876] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050743.087600457] [sailbot.teensy]: Wind angle: 134 +[trim_sail-4] [INFO] [1746050743.088346086] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050743.088935148] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050743.089161072] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050743.090035235] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050743.090973940] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050743.144984545] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050743.145718767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050743.146269226] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050743.147601904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050743.148550116] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050743.245006730] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050743.246010320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050743.246333660] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050743.247863370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050743.248888458] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050743.335242581] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050743.337549259] [sailbot.teensy]: Wind angle: 133 +[teensy-2] [INFO] [1746050743.338484911] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050743.337762943] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050743.338763647] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050743.339113614] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050743.339505674] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050743.344409713] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050743.345117339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050743.345653754] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050743.346851084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050743.347879811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050743.445240404] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050743.446106161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050743.446796745] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050743.448302623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050743.450145781] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050743.502901226] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930362 Long: -76.50374036 +[vectornav-1] [INFO] [1746050743.504431584] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.14999999999998, -2.061, 12.507) +[mux-7] [INFO] [1746050743.545262850] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050743.546221975] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050743.546792385] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050743.548332626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050743.549527683] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050743.585342774] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050743.587101576] [sailbot.teensy]: Wind angle: 134 +[trim_sail-4] [INFO] [1746050743.587573286] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050743.588045762] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050743.588955576] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050743.589484196] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050743.589862945] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050743.645114575] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050743.645598119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050743.646589404] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050743.647436736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050743.648719513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050743.745273337] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050743.745964937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050743.747535139] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050743.748081011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050743.749297824] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050743.835508120] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050743.837990488] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050743.838559055] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050743.838827439] [sailbot.teensy]: Wind angle: 130 +[teensy-2] [INFO] [1746050743.839253728] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050743.839950638] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050743.840852452] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050743.844393704] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050743.844970819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050743.845505511] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050743.846694752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050743.847711772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050743.945380672] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050743.946144356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050743.947144080] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050743.948332531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050743.949406091] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050744.003694506] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930417 Long: -76.50373749 +[vectornav-1] [INFO] [1746050744.005457936] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.297000000000025, 2.557, 14.554) +[mux-7] [INFO] [1746050744.045063962] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050744.045862543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050744.046511032] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050744.047759091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050744.048882610] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050744.085727560] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050744.088017936] [sailbot.teensy]: Wind angle: 117 +[teensy-2] [INFO] [1746050744.089074605] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050744.088399242] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050744.089909392] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050744.090030587] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050744.090943562] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050744.144948583] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050744.145825348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050744.146584979] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050744.147649889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050744.148774781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050744.245132791] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050744.246324508] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050744.246652797] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050744.248483869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050744.249552926] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050744.335226607] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050744.337065079] [sailbot.teensy]: Wind angle: 114 +[trim_sail-4] [INFO] [1746050744.338000656] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050744.338018569] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050744.338958937] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050744.339146753] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050744.339897242] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050744.344193110] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050744.344800072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050744.345317819] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050744.346599872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050744.347673822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050744.445104441] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050744.445875756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050744.446479198] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050744.447894900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050744.449069374] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050744.502976224] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930497 Long: -76.50373531 +[vectornav-1] [INFO] [1746050744.504485143] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.572, -4.26, 11.648) +[mux-7] [INFO] [1746050744.545060227] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050744.545770487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050744.546461093] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050744.547921511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050744.548976031] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050744.585186797] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050744.586924426] [sailbot.teensy]: Wind angle: 114 +[teensy-2] [INFO] [1746050744.587843471] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050744.587306040] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050744.587957891] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050744.588765064] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050744.589674964] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050744.619476897] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746050744.644986330] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050744.645632343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050744.646379480] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050744.647551132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050744.648697354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050744.745019026] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050744.745792581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050744.746841455] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050744.747655978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050744.749432311] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050744.835428270] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050744.838169508] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050744.838954723] [sailbot.teensy]: Wind angle: 114 +[teensy-2] [INFO] [1746050744.839966233] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050744.840508275] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050744.840913744] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050744.841774504] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050744.844332217] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050744.844908238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050744.845441020] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050744.846646101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050744.847686188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050744.944947291] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050744.945665098] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050744.946256323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050744.947460285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050744.948001580] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050745.003271406] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930584 Long: -76.50373185 +[vectornav-1] [INFO] [1746050745.004732672] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.071000000000026, 2.108, 11.008) +[mux-7] [INFO] [1746050745.045253604] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050745.046030251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050745.046794913] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050745.048228660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050745.049342751] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050745.085241509] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050745.086935365] [sailbot.teensy]: Wind angle: 115 +[trim_sail-4] [INFO] [1746050745.087357648] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050745.087838595] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050745.088845124] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050745.089719681] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050745.089736234] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050745.145002339] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050745.145863368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050745.146315150] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050745.147969874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050745.149090884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050745.245276239] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050745.246063919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050745.246948021] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050745.248296458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050745.248842872] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050745.335252551] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050745.337263433] [sailbot.teensy]: Wind angle: 119 +[trim_sail-4] [INFO] [1746050745.337815589] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050745.339408126] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050745.339539305] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050745.340483014] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050745.341405857] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050745.344358877] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050745.344959944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050745.345438842] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050745.346788388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050745.347780166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050745.445285822] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050745.446152672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050745.446841246] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050745.448375885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050745.449187849] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050745.503685062] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930662 Long: -76.50372846 +[vectornav-1] [INFO] [1746050745.505297580] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.487000000000023, -0.972, 11.192) +[mux-7] [INFO] [1746050745.544852078] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050745.545446259] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050745.546050882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050745.547460780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050745.548590789] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050745.585088564] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050745.586562670] [sailbot.teensy]: Wind angle: 118 +[trim_sail-4] [INFO] [1746050745.587061236] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050745.587429345] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050745.588328260] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050745.588740746] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050745.589128913] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050745.644943074] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050745.645693522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050745.646262738] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050745.647794735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050745.648761755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050745.745159820] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050745.746077838] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050745.746651651] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050745.748570363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050745.749318362] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050745.835286017] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050745.836925172] [sailbot.teensy]: Wind angle: 115 +[teensy-2] [INFO] [1746050745.837814847] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050745.838315803] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050745.838636741] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050745.838746548] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050745.839568446] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050745.844398333] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050745.844929964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050745.845490657] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050745.846619663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050745.847641155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050745.945062995] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050745.945844750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050745.946540311] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050745.947988505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050745.948493858] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050746.003439001] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930787 Long: -76.5037256 +[vectornav-1] [INFO] [1746050746.004975542] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (25.686000000000035, -0.095, 9.978) +[mux-7] [INFO] [1746050746.045391889] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050746.046155000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050746.046963557] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050746.048725653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050746.049838317] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050746.085380767] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050746.087739695] [sailbot.teensy]: Wind angle: 113 +[trim_sail-4] [INFO] [1746050746.087859517] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050746.088737106] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050746.089673106] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050746.090056069] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050746.090545867] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050746.144955992] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050746.145920239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050746.146784158] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050746.147921922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050746.149013718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050746.245466873] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050746.245977054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050746.247013373] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050746.248113234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050746.249402545] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050746.335228352] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050746.337370813] [sailbot.teensy]: Wind angle: 118 +[trim_sail-4] [INFO] [1746050746.337798047] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050746.338384482] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050746.339264775] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050746.339400251] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050746.339667666] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050746.344371444] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050746.345083631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050746.345492312] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050746.346876884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050746.347945165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050746.444941441] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050746.445963300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050746.446438140] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050746.447839577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050746.448582003] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050746.503599770] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930799 Long: -76.50372124 +[vectornav-1] [INFO] [1746050746.505553024] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.629999999999995, -2.649, 13.616) +[mux-7] [INFO] [1746050746.545210400] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050746.545995564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050746.546958390] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050746.548235817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050746.549369475] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050746.585229158] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050746.587078194] [sailbot.teensy]: Wind angle: 117 +[trim_sail-4] [INFO] [1746050746.587314654] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050746.588293882] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050746.588871068] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050746.589231705] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050746.590101974] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050746.645198188] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050746.645958866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050746.646665201] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050746.647857590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050746.648381400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050746.745577132] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050746.746199929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050746.747126043] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050746.748408750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050746.749540886] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050746.835653537] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050746.837691792] [sailbot.teensy]: Wind angle: 111 +[trim_sail-4] [INFO] [1746050746.838145449] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050746.838682613] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050746.839343820] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050746.839567684] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050746.840444916] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050746.844372088] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050746.844943860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050746.845552659] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050746.846659215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050746.847690830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050746.945371021] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050746.946127002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050746.946924507] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050746.948461595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050746.949640647] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050747.003450637] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930943 Long: -76.50371716 +[vectornav-1] [INFO] [1746050747.005065664] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (23.432999999999993, 0.325, 11.897) +[mux-7] [INFO] [1746050747.044976987] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050747.045667474] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050747.046317910] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050747.047735846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050747.048933710] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050747.085445779] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050747.087465033] [sailbot.teensy]: Wind angle: 108 +[trim_sail-4] [INFO] [1746050747.087895101] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050747.088410714] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050747.088826203] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050747.089309523] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050747.090197331] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050747.145236228] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050747.146515349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050747.147295820] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050747.148545905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050747.149088494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050747.244869542] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050747.245579234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050747.246245695] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050747.247355525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050747.248102390] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050747.335199717] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050747.336853438] [sailbot.teensy]: Wind angle: 107 +[trim_sail-4] [INFO] [1746050747.338093611] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050747.338514462] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050747.339650335] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050747.340596292] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050747.341348456] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050747.344429050] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050747.345130609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050747.345726328] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050747.346910321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050747.348038384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050747.445073869] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050747.445954896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050747.446585856] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050747.448089755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050747.449184444] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050747.503452757] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693106 Long: -76.50371322 +[vectornav-1] [INFO] [1746050747.505377720] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (20.99799999999999, -1.839, 11.405) +[mux-7] [INFO] [1746050747.545098738] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050747.545869321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050747.546563298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050747.547945831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050747.549082728] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050747.585208133] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050747.587512132] [sailbot.teensy]: Wind angle: 115 +[trim_sail-4] [INFO] [1746050747.587613437] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050747.588434512] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050747.588776800] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050747.589381719] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050747.590254626] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050747.610049880] [sailbot.mux]: controller_app rudder angle: -1 +[mux-7] [INFO] [1746050747.645039410] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050747.645781992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050747.646455452] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050747.647683574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050747.648814830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050747.745073775] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050747.745598910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050747.746482724] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050747.747764866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050747.748942709] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050747.835406275] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050747.837194743] [sailbot.teensy]: Wind angle: 115 +[trim_sail-4] [INFO] [1746050747.838100016] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050747.839212862] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050747.839450864] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050747.840447043] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050747.841302070] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050747.844355645] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050747.844943690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050747.845443516] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050747.846724404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050747.847905708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050747.945383274] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050747.946333405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050747.947089701] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050747.948468063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050747.948999088] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050748.003754446] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931134 Long: -76.50370842 +[vectornav-1] [INFO] [1746050748.005334001] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (20.906999999999982, -1.465, 12.957) +[mux-7] [INFO] [1746050748.045236816] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050748.045739802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050748.046532091] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050748.047876275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050748.048959375] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050748.085419711] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050748.087426969] [sailbot.teensy]: Wind angle: 109 +[trim_sail-4] [INFO] [1746050748.087716293] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050748.088409230] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050748.088871802] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050748.089337367] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050748.090272498] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050748.145171600] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050748.145942458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050748.146662381] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050748.147865566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050748.148375039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050748.244978326] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050748.245824087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050748.246394795] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050748.247945559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050748.249068605] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050748.335238113] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050748.337525686] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050748.337801047] [sailbot.teensy]: Wind angle: 109 +[teensy-2] [INFO] [1746050748.338742821] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050748.339214641] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050748.339618881] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050748.340470984] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050748.344390763] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050748.344993907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050748.345566479] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050748.346707727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050748.347714389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050748.445679851] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050748.446352994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050748.447377925] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050748.448834336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050748.450078452] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050748.503420490] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931182 Long: -76.50370341 +[vectornav-1] [INFO] [1746050748.505130847] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (17.307999999999993, 2.053, 12.156) +[mux-7] [INFO] [1746050748.545029550] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050748.545713394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050748.546361541] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050748.547819390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050748.548844593] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050748.585175742] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050748.586910376] [sailbot.teensy]: Wind angle: 104 +[teensy-2] [INFO] [1746050748.587909920] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050748.588633066] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050748.588848660] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050748.588963256] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050748.589769464] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050748.644921767] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050748.645606502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050748.646164023] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050748.647434467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050748.647894871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050748.745313959] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050748.746207353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050748.747329624] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050748.747782489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050748.748274206] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050748.835259119] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050748.837113627] [sailbot.teensy]: Wind angle: 102 +[trim_sail-4] [INFO] [1746050748.837681465] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050748.838098721] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050748.839001953] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050748.838701350] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050748.839840928] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050748.844381562] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050748.845095110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050748.845520464] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050748.846793716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050748.847987078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050748.944965842] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050748.945933217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050748.946365771] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050748.947718416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050748.948233189] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050749.003138938] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931298 Long: -76.50369892 +[vectornav-1] [INFO] [1746050749.005435759] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (14.672000000000025, -2.708, 8.78) +[mux-7] [INFO] [1746050749.044797795] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050749.045802769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050749.046203874] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050749.047819901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050749.048873767] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050749.085477150] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050749.087702251] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050749.087710054] [sailbot.teensy]: Wind angle: 103 +[teensy-2] [INFO] [1746050749.088884755] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050749.089498039] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050749.089846455] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050749.090860287] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050749.144998801] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050749.145637320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050749.146375695] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050749.147654620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050749.148874460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050749.245801045] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050749.246691566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050749.247678007] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050749.248275543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050749.248783210] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050749.335206433] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050749.337396370] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050749.338267333] [sailbot.teensy]: Wind angle: 103 +[mux-7] [INFO] [1746050749.339021088] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050749.339183190] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050749.339647637] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050749.340031607] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050749.344361686] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050749.345047335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050749.345611284] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050749.346817108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050749.347914510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050749.445347789] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050749.446393269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050749.447172567] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050749.448706399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050749.449869286] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050749.502324619] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931347 Long: -76.50369326 +[vectornav-1] [INFO] [1746050749.503313307] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (13.115000000000009, -1.198, 12.112) +[mux-7] [INFO] [1746050749.545061372] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050749.545644365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050749.546528833] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050749.547651819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050749.548814483] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050749.585430983] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050749.587385757] [sailbot.teensy]: Wind angle: 105 +[teensy-2] [INFO] [1746050749.588365688] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050749.587770387] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050749.589191386] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050749.589243987] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050749.590157307] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050749.608022472] [sailbot.mux]: controller_app rudder angle: -3 +[mux-7] [INFO] [1746050749.644923076] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050749.645699524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050749.646297475] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050749.647726129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050749.648903221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050749.745382793] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050749.746282404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050749.747093314] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050749.748878807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050749.749953908] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050749.835458445] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050749.837337227] [sailbot.teensy]: Wind angle: 112 +[teensy-2] [INFO] [1746050749.838347374] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050749.837787987] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050749.839412335] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050749.839945715] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050749.840345909] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050749.844592420] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050749.845103643] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050749.845855894] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050749.846881136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050749.848042806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050749.945000700] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050749.945619814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050749.946344950] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050749.947515496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050749.949345449] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050750.003387122] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931356 Long: -76.50368758 +[vectornav-1] [INFO] [1746050750.004951167] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (10.963999999999999, 0.756, 12.852) +[mux-7] [INFO] [1746050750.045229924] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050750.046051851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050750.046716218] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050750.048138541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050750.049419126] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050750.085417530] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050750.087262203] [sailbot.teensy]: Wind angle: 102 +[trim_sail-4] [INFO] [1746050750.087692060] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050750.088211754] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050750.089137204] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050750.089289440] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050750.090003877] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050750.145375610] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050750.146190722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050750.146980371] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050750.148656903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050750.149747836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050750.244925104] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050750.245851873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050750.246201561] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050750.247814150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050750.248945695] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050750.335187690] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050750.337192961] [sailbot.teensy]: Wind angle: 94 +[trim_sail-4] [INFO] [1746050750.337746887] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050750.338281656] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050750.338683526] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050750.339236522] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050750.340124811] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050750.344326594] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050750.344823066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050750.345421487] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050750.346590281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050750.347596785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050750.445407468] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050750.446282023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050750.447141043] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050750.448583092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050750.449769348] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050750.502390911] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693142 Long: -76.50368202 +[vectornav-1] [INFO] [1746050750.503362848] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (12.01600000000002, 0.601, 12.177) +[mux-7] [INFO] [1746050750.545187030] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050750.546000412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050750.546513799] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050750.547973086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050750.549019178] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050750.585270654] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050750.587153709] [sailbot.teensy]: Wind angle: 104 +[teensy-2] [INFO] [1746050750.588069876] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050750.587557366] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050750.588668931] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050750.588986597] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050750.589932145] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050750.633244973] [sailbot.mux]: controller_app rudder angle: -6 +[mux-7] [INFO] [1746050750.644811024] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050750.645802699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050750.646086410] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050750.647564023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050750.648691088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050750.745024981] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050750.745858248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050750.746866119] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050750.747935781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050750.748630769] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050750.835203294] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050750.837384503] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050750.837930018] [sailbot.teensy]: Wind angle: 108 +[mux-7] [INFO] [1746050750.838117224] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050750.838886643] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050750.839516583] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050750.839935871] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050750.844414398] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050750.845149320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050750.845538674] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050750.846792622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050750.847746892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050750.945284066] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050750.945766062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050750.946700376] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050750.947625982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050750.948758770] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050751.003511596] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931473 Long: -76.50367695 +[vectornav-1] [INFO] [1746050751.005199390] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (15.481999999999971, -4.078, 13.351) +[mux-7] [INFO] [1746050751.045177196] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050751.045703365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050751.046605237] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050751.047814840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050751.048914433] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050751.085253433] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050751.086884846] [sailbot.teensy]: Wind angle: 104 +[trim_sail-4] [INFO] [1746050751.087494113] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050751.087790989] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050751.088674523] [sailbot.teensy]: Actual tail angle: 19 +[mux-7] [INFO] [1746050751.088844061] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050751.089536774] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050751.145328878] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050751.145802841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050751.146904562] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050751.148019283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050751.149091845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050751.244995756] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050751.245677298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050751.246394828] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050751.247580230] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050751.248622239] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050751.335251937] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050751.337399301] [sailbot.teensy]: Wind angle: 105 +[trim_sail-4] [INFO] [1746050751.337634754] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050751.338362597] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050751.338790399] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050751.339298324] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050751.340266233] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050751.344691020] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050751.345258651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050751.345862101] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050751.346944461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050751.348085043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050751.445356565] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050751.446172097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050751.447276372] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050751.448526108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050751.449216091] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050751.503280521] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931574 Long: -76.50367125 +[vectornav-1] [INFO] [1746050751.504485924] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (23.412000000000035, -1.42, 15.076) +[mux-7] [INFO] [1746050751.545019075] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050751.545778569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050751.546412512] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050751.547714729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050751.548757938] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050751.585693477] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050751.588537067] [sailbot.teensy]: Wind angle: 116 +[trim_sail-4] [INFO] [1746050751.588546693] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050751.589566412] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050751.590112829] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050751.590450370] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050751.591392587] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050751.644892118] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050751.645690716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050751.646138633] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050751.647549689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[mux-7] [INFO] [1746050751.648122572] [sailbot.mux]: controller_app rudder angle: -3 +[teensy-2] [INFO] [1746050751.649730107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050751.745457017] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050751.746212974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050751.747146499] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050751.748339958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050751.748793063] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050751.835335643] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050751.836997027] [sailbot.teensy]: Wind angle: 124 +[teensy-2] [INFO] [1746050751.837963828] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050751.838856085] [sailbot.teensy]: Actual tail angle: 19 +[trim_sail-4] [INFO] [1746050751.838452299] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050751.838870243] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050751.839746348] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050751.844367294] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050751.845231825] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050751.845506908] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050751.847101987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050751.848199662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050751.945178661] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050751.945841016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050751.946708672] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050751.947785912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050751.949094935] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050752.003529065] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931758 Long: -76.5036656 +[vectornav-1] [INFO] [1746050752.005884838] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (28.331999999999994, 2.354, 15.778) +[mux-7] [INFO] [1746050752.044775337] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050752.045410631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050752.046293598] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050752.047275656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050752.048327086] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050752.085284484] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050752.086946923] [sailbot.teensy]: Wind angle: 113 +[trim_sail-4] [INFO] [1746050752.087407695] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050752.087886013] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050752.088796967] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050752.089291581] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050752.089647401] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050752.145186388] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050752.145860408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050752.146999728] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050752.148222277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050752.149283845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050752.244856105] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050752.245933590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050752.246202901] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050752.247603867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050752.248070179] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050752.335274377] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050752.337386454] [sailbot.teensy]: Wind angle: 111 +[trim_sail-4] [INFO] [1746050752.337459984] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050752.338812870] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050752.339007817] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050752.339397252] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050752.339758034] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050752.344429757] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050752.344959632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050752.345715345] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050752.346737086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050752.347773171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050752.445293053] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050752.445950905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050752.446764135] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050752.448062288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050752.449439516] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050752.503327266] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931944 Long: -76.50366094 +[vectornav-1] [INFO] [1746050752.504715165] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.44, -2.186, 13.629) +[mux-7] [INFO] [1746050752.545074537] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050752.545841006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050752.546562401] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050752.547903515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 +[teensy-2] [INFO] [1746050752.548332890] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050752.585406537] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050752.587824240] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050752.588768265] [sailbot.teensy]: Wind angle: 113 +[mux-7] [INFO] [1746050752.589439374] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050752.589703099] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050752.590613119] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050752.591437301] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050752.620425607] [sailbot.mux]: controller_app rudder angle: -1 +[mux-7] [INFO] [1746050752.644501468] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050752.645063271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050752.645583328] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050752.646715824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050752.647718367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050752.745138885] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050752.746001942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050752.746943951] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050752.747951950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050752.748504743] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050752.835068077] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050752.836795724] [sailbot.teensy]: Wind angle: 113 +[trim_sail-4] [INFO] [1746050752.837194454] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050752.837687394] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050752.838562694] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050752.838971883] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050752.839359922] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050752.844191278] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050752.844746688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050752.845301846] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050752.846431069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050752.847445775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050752.945433590] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050752.946139894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050752.947428046] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050752.947984823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050752.948563296] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050753.003181330] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46932146 Long: -76.5036564 +[vectornav-1] [INFO] [1746050753.004504412] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (40.339, -1.092, 13.392) +[mux-7] [INFO] [1746050753.044881151] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050753.045407443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050753.046048934] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050753.047269903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050753.048419941] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050753.085208830] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050753.086875060] [sailbot.teensy]: Wind angle: 117 +[teensy-2] [INFO] [1746050753.087800706] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050753.087479473] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050753.088552194] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050753.088744403] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050753.089614106] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050753.145437413] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050753.145859308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050753.147138376] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050753.148080791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050753.149195984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050753.245493055] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050753.246077753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050753.247078971] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050753.248454474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050753.250271126] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050753.335528788] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050753.338097930] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050753.338464312] [sailbot.teensy]: Wind angle: 129 +[mux-7] [INFO] [1746050753.338923305] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050753.339553320] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050753.339906975] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050753.340251523] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050753.344582659] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050753.345148054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050753.345819824] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050753.346862503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050753.347969416] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050753.445807254] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050753.446526558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050753.447636968] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050753.448731005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050753.449853562] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050753.503186161] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693241 Long: -76.50365221 +[vectornav-1] [INFO] [1746050753.504790163] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.32400000000001, -1.256, 11.841) +[mux-7] [INFO] [1746050753.545171178] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050753.545895146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050753.546822344] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050753.547845985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050753.549035381] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050753.585350254] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050753.587329376] [sailbot.teensy]: Wind angle: 129 +[teensy-2] [INFO] [1746050753.588287115] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050753.587718081] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050753.589170952] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050753.589265948] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050753.590059229] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050753.620321077] [sailbot.mux]: controller_app rudder angle: 1 +[mux-7] [INFO] [1746050753.644835247] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050753.645848015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050753.646097521] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050753.647741252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050753.648877756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050753.745044910] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050753.745986191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050753.746648460] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050753.748024883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050753.749194574] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050753.835445056] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050753.837926291] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050753.838166192] [sailbot.teensy]: Wind angle: 128 +[mux-7] [INFO] [1746050753.838689137] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050753.839091926] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050753.840009786] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050753.840687739] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050753.844525075] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050753.844904655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050753.845767850] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050753.846613440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050753.847741784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050753.945021894] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050753.945799703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050753.946434053] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050753.947717756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050753.948811484] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050754.003666529] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46932648 Long: -76.50364808 +[vectornav-1] [INFO] [1746050754.005408175] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.81099999999998, -0.154, 11.916) +[mux-7] [INFO] [1746050754.045156169] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050754.046077771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050754.046540194] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050754.047990587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050754.049198448] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050754.085358401] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050754.087576143] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050754.087799576] [sailbot.teensy]: Wind angle: 127 +[mux-7] [INFO] [1746050754.088365263] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050754.088785673] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050754.089717641] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050754.090567519] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050754.145187424] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050754.145854295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050754.146704726] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050754.147850517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050754.148307830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050754.245155571] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050754.245825259] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050754.246794364] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050754.247853116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050754.248411992] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050754.335367669] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050754.337413274] [sailbot.teensy]: Wind angle: 130 +[teensy-2] [INFO] [1746050754.338292942] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050754.337745903] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050754.338169273] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050754.339167491] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050754.339707194] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050754.344326964] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050754.344804648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050754.345441442] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050754.346528500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050754.347528698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050754.445248228] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050754.445922322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050754.446727235] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050754.448061237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050754.449142933] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050754.502407555] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46932968 Long: -76.50364462 +[vectornav-1] [INFO] [1746050754.503396452] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.696000000000026, -0.604, 11.234) +[mux-7] [INFO] [1746050754.545074711] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050754.545862235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050754.546484581] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050754.547903592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050754.548453533] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050754.585448606] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050754.587218001] [sailbot.teensy]: Wind angle: 130 +[trim_sail-4] [INFO] [1746050754.587788648] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050754.589218980] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050754.589335030] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050754.590215437] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050754.590599979] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050754.632131563] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746050754.644622525] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050754.645338518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050754.646598856] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050754.647184801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050754.648507310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050754.745301005] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050754.745878545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050754.746850148] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050754.748274711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050754.749322991] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050754.835257817] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050754.836954747] [sailbot.teensy]: Wind angle: 130 +[trim_sail-4] [INFO] [1746050754.837495082] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050754.837889260] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050754.838908625] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050754.839462081] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050754.839766446] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050754.844218816] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050754.844878854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050754.845298181] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050754.846589962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050754.847622176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050754.945092621] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050754.945924819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050754.946481800] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050754.947880877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050754.948456567] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050755.003476529] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46933236 Long: -76.50364152 +[vectornav-1] [INFO] [1746050755.004972825] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.84100000000001, -0.938, 9.856) +[mux-7] [INFO] [1746050755.045061744] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050755.045876374] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050755.046489060] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050755.048021015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050755.049130000] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050755.085472534] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050755.087818311] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050755.088120562] [sailbot.teensy]: Wind angle: 130 +[teensy-2] [INFO] [1746050755.089156420] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050755.090065685] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050755.090100827] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050755.090981591] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050755.144863974] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050755.145539709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050755.146268093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050755.147418953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050755.148588195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050755.245123279] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050755.245946680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050755.246539117] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050755.248019843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050755.248861333] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050755.335323602] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050755.337756732] [sailbot.teensy]: Wind angle: 130 +[trim_sail-4] [INFO] [1746050755.337803096] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050755.338720742] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050755.338934217] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050755.339170962] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050755.339543961] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050755.344317634] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050755.344911148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050755.345728614] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050755.346610867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050755.347784856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050755.444942231] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050755.445556993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050755.446442499] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050755.447386737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050755.448472918] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050755.502514438] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46933508 Long: -76.5036377 +[vectornav-1] [INFO] [1746050755.504383564] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.452999999999975, 1.467, 12.996) +[mux-7] [INFO] [1746050755.544923760] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050755.545804089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050755.546218298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050755.547795815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050755.548860210] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050755.585192438] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050755.587106184] [sailbot.teensy]: Wind angle: 131 +[trim_sail-4] [INFO] [1746050755.587601039] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050755.588061285] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050755.589005292] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050755.589226874] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050755.589919468] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050755.645015068] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050755.645983961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050755.646635217] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050755.647976894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050755.649142414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050755.744889379] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050755.745551332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050755.746134410] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050755.747559825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050755.748611234] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050755.835629596] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050755.838596722] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050755.838991293] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050755.839619277] [sailbot.teensy]: Wind angle: 131 +[teensy-2] [INFO] [1746050755.840561925] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050755.841433476] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050755.842279563] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050755.844401719] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050755.844900574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050755.845511570] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050755.846668723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050755.847879082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050755.945265759] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050755.946193649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050755.946967744] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050755.948400025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050755.948968074] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050756.003422476] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46933726 Long: -76.50363399 +[vectornav-1] [INFO] [1746050756.004730079] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.985000000000014, -3.458, 12.902) +[mux-7] [INFO] [1746050756.045077185] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050756.045760283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050756.046364728] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050756.047661540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050756.048828246] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050756.085313002] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050756.086964213] [sailbot.teensy]: Wind angle: 130 +[trim_sail-4] [INFO] [1746050756.087678432] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050756.088889844] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050756.089326778] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050756.090263351] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050756.091132398] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050756.144458745] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050756.145071321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050756.145503170] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050756.147286066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050756.148120027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050756.244901364] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050756.245645943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050756.246671902] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050756.247547685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050756.248582064] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050756.335324109] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050756.337270634] [sailbot.teensy]: Wind angle: 120 +[trim_sail-4] [INFO] [1746050756.337722171] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050756.338275843] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050756.339253537] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050756.339790844] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050756.340126602] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050756.344332159] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050756.344885556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050756.345805842] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050756.346608189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050756.347800939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050756.445287819] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050756.445932489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050756.446967536] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050756.448040067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050756.449148867] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050756.502299459] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46934083 Long: -76.50363076 +[vectornav-1] [INFO] [1746050756.503433019] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.841999999999985, 1.128, 13.52) +[mux-7] [INFO] [1746050756.545468549] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050756.546184515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050756.546945974] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050756.548512815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050756.549111479] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050756.585582829] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050756.587669347] [sailbot.teensy]: Wind angle: 120 +[teensy-2] [INFO] [1746050756.588697239] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050756.588416152] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050756.589591755] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050756.589806092] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050756.590467711] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050756.645139499] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050756.646293960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050756.646602476] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050756.648215815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050756.649259275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050756.745235551] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050756.745894945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050756.747260591] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050756.747961756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050756.748517039] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050756.835252584] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050756.837530727] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050756.837902006] [sailbot.teensy]: Wind angle: 134 +[mux-7] [INFO] [1746050756.838413689] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050756.838832321] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050756.839731600] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050756.840654760] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050756.844523746] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050756.844942761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050756.845778066] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050756.846628229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050756.847786389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050756.945244536] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050756.945909380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050756.946893448] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050756.948220621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050756.948751100] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050757.003585489] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46934258 Long: -76.50362581 +[vectornav-1] [INFO] [1746050757.004978649] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.54399999999998, 0.305, 15.403) +[mux-7] [INFO] [1746050757.045333800] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050757.046030636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050757.046854209] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050757.048498281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050757.049715314] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050757.085371340] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050757.087578556] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050757.088143404] [sailbot.teensy]: Wind angle: 135 +[mux-7] [INFO] [1746050757.088353746] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050757.089432051] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050757.090425200] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050757.091337992] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050757.145064556] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050757.145584740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050757.146586309] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050757.147435256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050757.148562981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050757.245393746] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050757.245873756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050757.247216851] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050757.248177546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050757.249224902] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050757.335247393] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050757.337017644] [sailbot.teensy]: Wind angle: 131 +[trim_sail-4] [INFO] [1746050757.337826316] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050757.337970704] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050757.338882240] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050757.339175795] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050757.339760665] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050757.344383877] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050757.344894985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050757.345558112] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050757.346983423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050757.348043523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050757.445245222] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050757.445943659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050757.446780321] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050757.447845308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050757.448398879] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050757.502450067] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46934464 Long: -76.50362147 +[vectornav-1] [INFO] [1746050757.503588759] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.14499999999998, -2.666, 14.654) +[mux-7] [INFO] [1746050757.545127177] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050757.545779989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050757.546624578] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050757.547772267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050757.548896883] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050757.585434255] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050757.587633036] [sailbot.teensy]: Wind angle: 129 +[trim_sail-4] [INFO] [1746050757.587896049] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050757.588622092] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050757.589164114] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050757.589505660] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050757.590397069] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050757.645282772] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050757.646261676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050757.646872100] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050757.648473506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050757.649668807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050757.744919555] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050757.745606582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050757.746196228] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050757.747382665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050757.748612053] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050757.835395049] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050757.837869719] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050757.838226594] [sailbot.teensy]: Wind angle: 118 +[mux-7] [INFO] [1746050757.838769717] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050757.838890919] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050757.839281601] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050757.839630574] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050757.844421080] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050757.844729926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050757.845587826] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050757.846390077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050757.847437039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050757.945157292] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050757.945861002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050757.946786028] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050757.947866602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050757.948819497] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050758.003220170] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46934775 Long: -76.50361862 +[vectornav-1] [INFO] [1746050758.004538962] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.983000000000004, 0.418, 10.969) +[mux-7] [INFO] [1746050758.045141341] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050758.045927952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050758.046579070] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050758.048177505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050758.049348672] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050758.085203991] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050758.087463741] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050758.087806939] [sailbot.teensy]: Wind angle: 116 +[mux-7] [INFO] [1746050758.088022688] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050758.088787455] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050758.089822785] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050758.090678873] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050758.144930496] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050758.145525549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050758.146234642] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050758.147473016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050758.148608014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050758.244919010] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050758.245639454] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050758.246226799] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050758.247469183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050758.248696145] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050758.335205965] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050758.337825000] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050758.338141113] [sailbot.teensy]: Wind angle: 134 +[mux-7] [INFO] [1746050758.338981330] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050758.339950621] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050758.340474877] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050758.340814788] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050758.344401137] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050758.345090788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050758.345524220] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050758.346802665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050758.347954161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050758.445193331] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050758.445918133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050758.446625729] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050758.448006946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050758.449126504] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050758.503028291] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46934993 Long: -76.50361388 +[vectornav-1] [INFO] [1746050758.504135257] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (40.283000000000015, -0.389, 13.847) +[mux-7] [INFO] [1746050758.545147016] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050758.545882336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050758.546605508] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050758.548000619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050758.548859882] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050758.585189532] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050758.587362393] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050758.587854392] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050758.588485873] [sailbot.teensy]: Wind angle: 136 +[teensy-2] [INFO] [1746050758.589885316] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050758.590769014] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050758.591582287] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050758.645060544] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050758.645740543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050758.646620270] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050758.647827096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050758.649981933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050758.745350193] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050758.745988306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050758.747595744] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050758.748254073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050758.748862676] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050758.835140169] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050758.837228305] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050758.837735126] [sailbot.teensy]: Wind angle: 134 +[mux-7] [INFO] [1746050758.838401504] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050758.838652230] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050758.839700307] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050758.840604908] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050758.844345044] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050758.844874562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050758.845629366] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050758.846537716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050758.847694797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050758.945104196] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050758.945776249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050758.946534467] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050758.947704861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050758.948892943] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050759.003089073] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46935182 Long: -76.50360925 +[vectornav-1] [INFO] [1746050759.004953231] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.502999999999986, -0.904, 13.544) +[mux-7] [INFO] [1746050759.045074769] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050759.045802865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050759.046490946] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050759.048010496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050759.049198315] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050759.085312676] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050759.087670676] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050759.088094968] [sailbot.teensy]: Wind angle: 125 +[mux-7] [INFO] [1746050759.088649269] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050759.089682236] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050759.090601705] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050759.091460681] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050759.145224776] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050759.145688098] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050759.146734808] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050759.147639705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050759.149023267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050759.244970184] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050759.246230891] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050759.248295775] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050759.249805525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050759.250701977] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050759.335332757] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050759.337440964] [sailbot.teensy]: Wind angle: 118 +[trim_sail-4] [INFO] [1746050759.337940340] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050759.338445922] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050759.339386123] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050759.340246480] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050759.340257824] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746050759.344562005] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050759.345192697] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050759.345927360] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050759.346936082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050759.347984068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050759.445235099] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050759.445799582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050759.446738290] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050759.447754817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050759.448850281] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050759.502858462] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46935428 Long: -76.50360494 +[vectornav-1] [INFO] [1746050759.504301274] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.749000000000024, -1.677, 11.914) +[mux-7] [INFO] [1746050759.545316593] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050759.545789982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050759.546778103] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050759.547830689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050759.548992212] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050759.585361649] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050759.587805332] [sailbot.teensy]: Wind angle: 119 +[trim_sail-4] [INFO] [1746050759.587870229] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050759.588838888] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050759.589142925] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050759.590397725] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050759.591251684] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050759.644973423] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050759.645652648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050759.646665069] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050759.647699692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050759.648913294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050759.744916032] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050759.745693029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050759.746200929] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050759.747741587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050759.748852326] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050759.835574438] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050759.838050186] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050759.838627826] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050759.839257223] [sailbot.teensy]: Wind angle: 121 +[teensy-2] [INFO] [1746050759.840477624] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050759.841337209] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050759.842162777] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050759.844287325] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050759.844814723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050759.845644354] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050759.846536181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050759.847662679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050759.945122375] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050759.945790321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050759.946893843] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050759.947760410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050759.948427866] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050760.003185108] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46935707 Long: -76.50360001 +[vectornav-1] [INFO] [1746050760.005247529] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.10699999999997, 0.474, 13.442) +[mux-7] [INFO] [1746050760.045048606] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050760.045702477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050760.046292394] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050760.047536516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050760.048714116] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050760.085398549] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050760.087276489] [sailbot.teensy]: Wind angle: 121 +[trim_sail-4] [INFO] [1746050760.088146278] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050760.089364056] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050760.089893751] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050760.090850926] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050760.091684949] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050760.145343235] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050760.145907192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050760.147040795] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050760.148147919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050760.148640174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050760.244808019] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050760.245454789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050760.246152414] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050760.247278270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050760.248415142] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050760.335406416] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050760.338051113] [sailbot.teensy]: Wind angle: 122 +[teensy-2] [INFO] [1746050760.339074480] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050760.338187234] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050760.339242387] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050760.339478610] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050760.339867757] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050760.344382117] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050760.345018477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050760.345480655] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050760.346814203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050760.347835099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050760.445321106] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050760.446264111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050760.446737541] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050760.448349202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050760.448866259] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050760.503260535] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693595 Long: -76.50359509 +[vectornav-1] [INFO] [1746050760.504719981] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.90199999999999, -1.247, 13.313) +[mux-7] [INFO] [1746050760.545071489] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050760.546019076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050760.546707058] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050760.548212004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050760.549375887] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050760.585279264] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050760.587855163] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050760.588213659] [sailbot.teensy]: Wind angle: 116 +[mux-7] [INFO] [1746050760.588912932] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050760.589252351] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050760.590192412] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050760.591010908] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050760.644906350] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050760.645766118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050760.646209402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050760.647826239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050760.648870819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050760.744876475] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050760.745804084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050760.746192011] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050760.747853299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050760.749051098] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050760.835290163] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050760.837621999] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050760.837762525] [sailbot.teensy]: Wind angle: 112 +[teensy-2] [INFO] [1746050760.838703810] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050760.838877954] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050760.839292201] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050760.839665448] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050760.844440665] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050760.844924420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050760.845566251] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050760.846610772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050760.847678488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050760.945234599] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050760.946060105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050760.946729227] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050760.948110627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050760.949199789] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050761.002319084] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46936181 Long: -76.50359032 +[vectornav-1] [INFO] [1746050761.003258549] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.988, -1.234, 12.084) +[mux-7] [INFO] [1746050761.045158956] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050761.045877744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050761.046605056] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050761.048129494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050761.049287944] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050761.085324485] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050761.087380536] [sailbot.teensy]: Wind angle: 112 +[trim_sail-4] [INFO] [1746050761.087847861] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050761.088663362] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050761.088876238] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050761.089754978] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050761.090623867] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050761.144976872] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050761.145557372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050761.146255007] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050761.147441486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050761.148626380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050761.244821943] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050761.245503626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050761.246422918] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050761.247418266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050761.247960341] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050761.335242509] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050761.337370370] [sailbot.teensy]: Wind angle: 115 +[trim_sail-4] [INFO] [1746050761.337491070] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050761.339000858] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050761.339429569] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050761.340467956] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050761.341319778] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050761.344355668] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050761.344763604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050761.345510332] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050761.346427001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050761.347504134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050761.445516980] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050761.446247685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050761.447161521] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050761.448459276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050761.449682307] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050761.502294152] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693636 Long: -76.50358501 +[vectornav-1] [INFO] [1746050761.503313258] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.17599999999999, -2.701, 14.504) +[mux-7] [INFO] [1746050761.545180281] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050761.545915349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050761.546623806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050761.547711492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050761.548161024] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050761.585433505] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050761.588121545] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050761.588447639] [sailbot.teensy]: Wind angle: 121 +[teensy-2] [INFO] [1746050761.589516378] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050761.590204847] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050761.590433300] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050761.591298768] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050761.644889108] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050761.645775674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050761.646439100] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050761.647609248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050761.649479836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050761.745112035] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050761.745983822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050761.746556863] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050761.748118577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050761.748567867] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050761.835317321] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050761.837824987] [sailbot.teensy]: Wind angle: 125 +[trim_sail-4] [INFO] [1746050761.837843813] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050761.838979442] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050761.839171718] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050761.839727315] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050761.840093601] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050761.844459226] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050761.844922985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050761.845617799] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050761.846666032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050761.847809859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050761.945238747] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050761.945917858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050761.946831993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050761.948356721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050761.948893700] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050762.003130300] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46936574 Long: -76.50357999 +[vectornav-1] [INFO] [1746050762.004689018] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.46199999999999, 1.938, 15.028) +[mux-7] [INFO] [1746050762.045166461] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050762.046233875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050762.046820068] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050762.048232420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050762.049536505] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050762.085856063] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050762.088466333] [sailbot.teensy]: Wind angle: 121 +[trim_sail-4] [INFO] [1746050762.088983679] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050762.089535330] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050762.090418081] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050762.090559547] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050762.091261443] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050762.145347294] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050762.146003821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050762.146983111] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050762.148323292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050762.148835290] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050762.245329433] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050762.246128609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050762.246907237] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050762.248413592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050762.248849487] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050762.335345464] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050762.337771548] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050762.338125881] [sailbot.teensy]: Wind angle: 115 +[mux-7] [INFO] [1746050762.338435711] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050762.339474244] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050762.340403991] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050762.341258831] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050762.344351540] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050762.344859728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050762.345466269] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050762.346577844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050762.347629510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050762.445686838] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050762.447027209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050762.447604746] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050762.448527422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050762.449225075] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050762.502494810] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46936802 Long: -76.50357501 +[vectornav-1] [INFO] [1746050762.503570237] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.228999999999985, -1.712, 11.422) +[mux-7] [INFO] [1746050762.545621105] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050762.546740734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050762.547901462] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050762.549039837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050762.550234515] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050762.585693143] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050762.588367714] [sailbot.teensy]: Wind angle: 113 +[trim_sail-4] [INFO] [1746050762.588942414] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050762.589359351] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050762.590256763] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050762.590618330] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050762.591107632] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050762.644987288] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050762.645694383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050762.646525917] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050762.647547185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050762.648814085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050762.745037416] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050762.745587242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050762.746599692] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050762.747578821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050762.748760168] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050762.835398454] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050762.837319860] [sailbot.teensy]: Wind angle: 112 +[teensy-2] [INFO] [1746050762.838281019] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050762.837916020] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050762.838930348] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050762.839148320] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050762.839517645] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050762.844638803] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050762.845261349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050762.845899946] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050762.846963034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050762.848064938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050762.945041836] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050762.945842956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050762.946455388] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050762.947804513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050762.948897055] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050763.003848349] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46937024 Long: -76.50356999 +[vectornav-1] [INFO] [1746050763.005699755] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (28.187000000000012, -1.383, 11.947) +[mux-7] [INFO] [1746050763.045080447] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050763.045667877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050763.046465821] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050763.047644541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050763.048684867] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050763.085256384] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050763.087162512] [sailbot.teensy]: Wind angle: 114 +[trim_sail-4] [INFO] [1746050763.087651604] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050763.088120436] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050763.088441269] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050763.089028069] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050763.089936237] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050763.145215234] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050763.145785499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050763.147110422] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050763.148084948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050763.149554394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050763.244543306] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050763.245005640] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050763.245714473] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050763.246580350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050763.247507843] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050763.335156278] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050763.337462140] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050763.338010726] [sailbot.teensy]: Wind angle: 115 +[mux-7] [INFO] [1746050763.338335671] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050763.338949519] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050763.339373492] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050763.339933049] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050763.344406620] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050763.344944467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050763.345570956] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050763.346684750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050763.347823637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050763.445351835] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050763.446218036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050763.447432458] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050763.448595724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050763.449407788] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050763.502832850] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46937184 Long: -76.50356371 +[vectornav-1] [INFO] [1746050763.504201996] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.37299999999999, 0.417, 14.133) +[mux-7] [INFO] [1746050763.545266911] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050763.545896585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050763.546771767] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050763.548290248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050763.548966437] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050763.585261843] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050763.587040131] [sailbot.teensy]: Wind angle: 118 +[teensy-2] [INFO] [1746050763.587977811] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050763.588187060] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050763.589607915] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050763.590057281] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050763.591024282] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050763.645059877] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050763.645935491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050763.646520601] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050763.648007754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050763.649187445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050763.745162381] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050763.746204658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050763.746620496] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050763.748600339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050763.749767816] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050763.835483671] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050763.838067446] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050763.838292028] [sailbot.teensy]: Wind angle: 119 +[teensy-2] [INFO] [1746050763.839244816] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050763.840230859] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050763.840574721] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050763.841150132] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050763.844220069] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050763.844752084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050763.845302585] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050763.846465548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050763.847598518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050763.945383062] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050763.946273500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050763.947149125] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050763.948201502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050763.948717439] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050764.003646414] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46937301 Long: -76.50355789 +[vectornav-1] [INFO] [1746050764.005046310] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.303999999999974, 0.502, 14.894) +[mux-7] [INFO] [1746050764.045220937] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050764.045826532] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050764.046704504] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050764.047815506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050764.049002327] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050764.085334991] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050764.087917349] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050764.089324640] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050764.089425255] [sailbot.teensy]: Wind angle: 117 +[teensy-2] [INFO] [1746050764.090355363] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050764.091279542] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050764.092257139] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050764.145323271] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050764.146231186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050764.147072974] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050764.148716957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050764.149752248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050764.245440624] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050764.246491473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050764.247256084] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050764.248917471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050764.250086220] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050764.335230106] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050764.337044719] [sailbot.teensy]: Wind angle: 108 +[teensy-2] [INFO] [1746050764.337976858] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050764.337530399] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050764.338959919] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050764.339646396] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050764.339878513] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050764.344448053] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050764.345112573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050764.345633869] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050764.346852070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050764.347970755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050764.443703329] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050764.444222866] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050764.444648782] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050764.445468144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050764.445945810] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050764.502522198] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46937533 Long: -76.50355323 +[vectornav-1] [INFO] [1746050764.504085386] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.803999999999974, -3.196, 11.843) +[mux-7] [INFO] [1746050764.544826252] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050764.545494113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050764.546069602] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050764.547291306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050764.548437196] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050764.585035255] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050764.586525408] [sailbot.teensy]: Wind angle: 104 +[teensy-2] [INFO] [1746050764.587392997] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050764.587000026] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050764.588283410] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050764.588615545] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050764.589109150] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050764.645117525] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050764.645993918] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050764.646416738] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050764.647909863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050764.649086032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050764.744983464] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050764.745856158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050764.746511361] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050764.747647597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050764.748222426] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050764.835583362] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050764.837748099] [sailbot.teensy]: Wind angle: 115 +[teensy-2] [INFO] [1746050764.838820148] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050764.838929505] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050764.839577488] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050764.839720080] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050764.840708065] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050764.844577114] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050764.845183961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050764.845764451] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050764.846905846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050764.848053137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050764.945125227] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050764.945880947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050764.946629162] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050764.948043701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050764.949071379] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050765.003116586] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46937679 Long: -76.5035472 +[vectornav-1] [INFO] [1746050765.004920459] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.09899999999999, 0.061, 14.288) +[mux-7] [INFO] [1746050765.045034346] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050765.045735918] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050765.046344326] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050765.047800865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050765.048848671] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050765.085410613] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050765.087878149] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050765.088275069] [sailbot.teensy]: Wind angle: 119 +[teensy-2] [INFO] [1746050765.089216083] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050765.089256471] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050765.090094614] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050765.090976912] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050765.145153125] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050765.145924054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050765.146613648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050765.148201502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050765.149365634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050765.244849340] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050765.245502016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050765.246110285] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050765.247320575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050765.248452125] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050765.335233596] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050765.337152551] [sailbot.teensy]: Wind angle: 116 +[teensy-2] [INFO] [1746050765.338130116] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050765.338282279] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050765.338824654] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050765.339070159] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050765.339975343] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050765.344363915] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050765.344874970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050765.345472696] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050765.346829230] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050765.347898619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050765.445109610] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050765.445815039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050765.446605188] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050765.447866018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050765.449128646] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050765.502942535] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46937775 Long: -76.50354078 +[vectornav-1] [INFO] [1746050765.504441073] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (15.199000000000012, 1.406, 13.026) +[mux-7] [INFO] [1746050765.545254021] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050765.546256206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050765.546699998] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050765.548489818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050765.549616093] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050765.585108102] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050765.586936494] [sailbot.teensy]: Wind angle: 110 +[trim_sail-4] [INFO] [1746050765.587186346] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050765.587805605] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050765.588636559] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050765.589475361] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050765.589506208] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050765.644954535] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050765.645604627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050765.646364644] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050765.647529780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050765.648737248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050765.745106322] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050765.745907412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050765.746567798] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050765.747871059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050765.748532163] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050765.835556978] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050765.838277991] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050765.838357173] [sailbot.teensy]: Wind angle: 103 +[teensy-2] [INFO] [1746050765.839362065] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050765.839634421] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050765.840335313] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050765.840800505] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050765.844414530] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050765.844958926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050765.845501539] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050765.846635995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050765.847671737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050765.944856573] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050765.945521971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050765.946100743] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050765.947275309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050765.948313654] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050766.003102196] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46937883 Long: -76.50353511 +[vectornav-1] [INFO] [1746050766.004286298] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (16.88499999999999, -1.34, 11.925) +[mux-7] [INFO] [1746050766.045067845] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050766.045925319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050766.046414834] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050766.047676436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050766.048167725] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050766.085380572] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050766.087743751] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050766.088378816] [sailbot.teensy]: Wind angle: 110 +[teensy-2] [INFO] [1746050766.089687147] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050766.089759368] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050766.090890923] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050766.091738635] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050766.144920777] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050766.145500169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050766.146163786] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050766.147330900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050766.148361964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050766.245137810] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050766.245684441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050766.246579629] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050766.247590353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050766.248708820] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050766.335123999] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050766.336972737] [sailbot.teensy]: Wind angle: 113 +[trim_sail-4] [INFO] [1746050766.337746050] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050766.337903630] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050766.338182591] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050766.338605918] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050766.338991579] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050766.344745567] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050766.345212825] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050766.345945011] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050766.347000859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050766.348239228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050766.445027190] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050766.445873915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050766.446447409] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050766.447912223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050766.448970501] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050766.502339728] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46938006 Long: -76.50352911 +[vectornav-1] [INFO] [1746050766.503295044] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (14.423000000000002, 0.194, 12.595) +[mux-7] [INFO] [1746050766.545337577] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050766.546078847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050766.546907152] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050766.548578148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050766.549736723] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050766.585268755] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050766.586912890] [sailbot.teensy]: Wind angle: 106 +[trim_sail-4] [INFO] [1746050766.587695669] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050766.587808819] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050766.588681960] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050766.588737650] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050766.589551005] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050766.644806126] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050766.645821772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050766.646781578] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050766.647976763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[mux-7] [INFO] [1746050766.648766511] [sailbot.mux]: controller_app rudder angle: -5 +[teensy-2] [INFO] [1746050766.649504361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050766.744955776] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050766.745825573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050766.746280238] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050766.747622537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050766.748094841] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050766.835198096] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050766.837530122] [sailbot.teensy]: Wind angle: 100 +[trim_sail-4] [INFO] [1746050766.837612846] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050766.838467189] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050766.838921752] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050766.839303747] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050766.839998622] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050766.844341168] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050766.844991224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050766.845663195] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050766.846916086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050766.848070148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050766.945166561] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050766.945980662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050766.946802079] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050766.948099422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050766.949160177] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050767.003346499] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46938121 Long: -76.50352402 +[vectornav-1] [INFO] [1746050767.004979756] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (10.757999999999981, -2.992, 9.811) +[mux-7] [INFO] [1746050767.044947743] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050767.045800336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050767.046159767] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050767.047730216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050767.048784396] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050767.085456801] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050767.087710670] [sailbot.teensy]: Wind angle: 100 +[trim_sail-4] [INFO] [1746050767.087817269] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050767.088747914] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050767.088993260] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050767.089751040] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050767.090756535] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050767.144821964] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050767.145705255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050767.146314567] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050767.147565489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050767.148641333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050767.244655751] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050767.245714118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050767.245829093] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050767.247627843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050767.248723532] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050767.335484187] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050767.337409508] [sailbot.teensy]: Wind angle: 105 +[trim_sail-4] [INFO] [1746050767.337803087] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050767.338412297] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050767.339326484] [sailbot.teensy]: Actual tail angle: 20 +[mux-7] [INFO] [1746050767.339600075] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050767.340250745] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050767.344411793] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050767.345162757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050767.345893385] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050767.347100903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050767.348270706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050767.445180730] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050767.445897369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050767.446695269] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050767.447998538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050767.449066249] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050767.503355095] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46938167 Long: -76.50351774 +[vectornav-1] [INFO] [1746050767.505322230] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (14.024999999999977, -2.606, 13.374) +[mux-7] [INFO] [1746050767.544979585] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050767.545934458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050767.546376187] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746050767.547861565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 +[teensy-2] [INFO] [1746050767.549051494] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050767.585311952] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050767.587007827] [sailbot.teensy]: Wind angle: 108 +[trim_sail-4] [INFO] [1746050767.587442587] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050767.587978423] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050767.588906840] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050767.588921826] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746050767.589931095] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050767.643668208] [sailbot.mux]: controller_app rudder angle: -6 +[mux-7] [INFO] [1746050767.645773250] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050767.646421541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050767.646823776] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050767.648080896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050767.649170053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050767.744969222] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050767.745638581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050767.746335866] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050767.747415987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050767.747960693] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050767.835268723] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050767.836897337] [sailbot.teensy]: Wind angle: 112 +[trim_sail-4] [INFO] [1746050767.837420123] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050767.837787296] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050767.838664565] [sailbot.teensy]: Actual tail angle: 20 +[mux-7] [INFO] [1746050767.839009942] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050767.839754153] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050767.844448959] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050767.845006493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050767.845512851] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050767.846710837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050767.847895929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050767.945243958] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050767.945815734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050767.946804987] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050767.947882397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050767.949010465] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050768.003754493] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46938219 Long: -76.50351078 +[vectornav-1] [INFO] [1746050768.005555902] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (17.259000000000015, 1.178, 16.981) +[mux-7] [INFO] [1746050768.045277087] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050768.046033003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050768.046763475] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050768.048073438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050768.049245333] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050768.085390408] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050768.087148325] [sailbot.teensy]: Wind angle: 108 +[teensy-2] [INFO] [1746050768.088105249] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050768.088035020] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050768.089029953] [sailbot.teensy]: Actual tail angle: 19 +[mux-7] [INFO] [1746050768.089683587] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050768.089931387] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050768.145096490] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050768.145910359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050768.146588159] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050768.148190854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050768.149232994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050768.244886055] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050768.245772045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050768.246131718] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050768.247626012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050768.248680463] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050768.335230963] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050768.337686903] [sailbot.teensy]: Wind angle: 108 +[trim_sail-4] [INFO] [1746050768.338199807] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050768.339426265] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050768.339876457] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050768.340610497] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050768.341001080] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050768.344334797] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050768.344830573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050768.345414269] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050768.346521446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050768.347541667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050768.445854379] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050768.446842677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050768.447880814] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050768.448270304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050768.448812083] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050768.502542681] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46938362 Long: -76.50350496 +[vectornav-1] [INFO] [1746050768.503592084] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (20.766999999999996, 1.684, 16.446) +[mux-7] [INFO] [1746050768.545225822] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050768.545918967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050768.546697473] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050768.548008079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050768.548696960] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050768.585389243] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050768.587232722] [sailbot.teensy]: Wind angle: 98 +[teensy-2] [INFO] [1746050768.588194935] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050768.588283720] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050768.589100776] [sailbot.teensy]: Actual tail angle: 19 +[mux-7] [INFO] [1746050768.589258180] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050768.590029636] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050768.645349330] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050768.645763220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050768.646880949] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050768.648301629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050768.649514384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050768.745265433] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050768.746113330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050768.746835869] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050768.747977381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050768.748542206] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050768.835210108] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050768.836949683] [sailbot.teensy]: Wind angle: 90 +[trim_sail-4] [INFO] [1746050768.837372386] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050768.837835716] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050768.838703447] [sailbot.teensy]: Actual tail angle: 19 +[mux-7] [INFO] [1746050768.839117515] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050768.839564956] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050768.844380490] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050768.844924317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050768.845641962] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050768.846476405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050768.847453075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050768.945165088] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050768.945796244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050768.946675138] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050768.947882596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050768.948985541] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050769.003990231] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46938574 Long: -76.50350091 +[vectornav-1] [INFO] [1746050769.006121435] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (25.44999999999999, -3.478, 12.224) +[mux-7] [INFO] [1746050769.044775048] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050769.045570242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050769.045917247] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050769.047354602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050769.048372985] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050769.085379983] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050769.087165429] [sailbot.teensy]: Wind angle: 111 +[trim_sail-4] [INFO] [1746050769.087675972] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050769.088117483] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050769.089099449] [sailbot.teensy]: Actual tail angle: 19 +[mux-7] [INFO] [1746050769.089871491] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050769.090184735] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050769.144995347] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050769.145924986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050769.146363669] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050769.147956458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050769.149096930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050769.244999849] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050769.245845377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050769.246350118] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050769.247928548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050769.248688894] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050769.335229466] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050769.337006936] [sailbot.teensy]: Wind angle: 123 +[trim_sail-4] [INFO] [1746050769.337399788] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050769.337868069] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050769.338677336] [sailbot.teensy]: Actual tail angle: 19 +[mux-7] [INFO] [1746050769.339039692] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050769.339061542] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050769.344350618] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050769.344879844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050769.345446417] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050769.346492958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050769.347433993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050769.445416533] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050769.446095753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050769.447066444] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050769.448231904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050769.448788694] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050769.503194696] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46938766 Long: -76.50349551 +[vectornav-1] [INFO] [1746050769.504660203] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.10699999999997, -2.038, 14.397) +[mux-7] [INFO] [1746050769.544850042] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050769.545671812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050769.546101952] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050769.547526998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050769.548552389] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050769.585411182] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050769.587712083] [sailbot.teensy]: Wind angle: 122 +[trim_sail-4] [INFO] [1746050769.587741853] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050769.588708945] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050769.589423766] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050769.589616608] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050769.590484519] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050769.645068870] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050769.646086620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050769.646454043] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050769.648058419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050769.649122664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050769.744915715] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050769.745706468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050769.746172256] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050769.747579216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050769.748712966] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050769.835290399] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050769.837435392] [sailbot.teensy]: Wind angle: 122 +[trim_sail-4] [INFO] [1746050769.837438043] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050769.838392636] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050769.839045747] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050769.839339948] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050769.840238317] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050769.844401243] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050769.844998138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050769.845536545] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050769.846680653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050769.847842010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050769.945028347] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050769.945802860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050769.946437954] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050769.947896546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050769.948993472] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050770.003478835] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693895 Long: -76.5034895 +[vectornav-1] [INFO] [1746050770.004862068] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.63799999999998, 2.18, 15.861) +[mux-7] [INFO] [1746050770.044910454] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050770.045756232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050770.046210554] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050770.048378251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050770.049582815] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050770.085381856] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050770.087544597] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050770.088036084] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050770.088876794] [sailbot.teensy]: Wind angle: 117 +[teensy-2] [INFO] [1746050770.089910065] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050770.090789126] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050770.091612597] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050770.145002616] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050770.145667501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050770.146588159] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050770.147624614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050770.148748721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050770.245061661] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050770.245777296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050770.246483844] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050770.247762225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050770.248957780] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050770.335258724] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050770.336939883] [sailbot.teensy]: Wind angle: 118 +[trim_sail-4] [INFO] [1746050770.337433421] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050770.337838561] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050770.338741768] [sailbot.teensy]: Actual tail angle: 19 +[mux-7] [INFO] [1746050770.339798967] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050770.339952200] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050770.344306573] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050770.345044593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050770.345404802] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050770.346857531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050770.347862306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050770.445261103] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050770.445976582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050770.447141674] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050770.448189868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050770.449287042] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050770.502365843] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46939228 Long: -76.50348499 +[vectornav-1] [INFO] [1746050770.503422267] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.370000000000005, -0.925, 12.683) +[mux-7] [INFO] [1746050770.545203625] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050770.546105759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050770.547946240] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050770.548384535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050770.549470645] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050770.585480562] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050770.587894632] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050770.587936681] [sailbot.teensy]: Wind angle: 113 +[teensy-2] [INFO] [1746050770.588876969] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050770.588990912] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050770.589775785] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050770.590623041] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050770.644858803] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050770.645493801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050770.646002823] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050770.647269108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 +[teensy-2] [INFO] [1746050770.649463137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050770.650674542] [sailbot.mux]: controller_app rudder angle: -7 +[mux-7] [INFO] [1746050770.744786057] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050770.745691421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050770.746377914] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050770.747525508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050770.748614469] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050770.835396122] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050770.837764693] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050770.838020586] [sailbot.teensy]: Wind angle: 108 +[teensy-2] [INFO] [1746050770.838961999] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050770.839342671] [sailbot.teensy]: Actual tail angle: 19 +[mux-7] [INFO] [1746050770.839379307] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050770.839719460] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050770.844417890] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050770.845154346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050770.845541156] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050770.846882199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050770.847885227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050770.945220497] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050770.945875561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050770.946739582] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050770.947918799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050770.948450289] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050771.002761633] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46939487 Long: -76.50348107 +[vectornav-1] [INFO] [1746050771.003762892] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (40.543000000000006, -1.357, 12.694) +[mux-7] [INFO] [1746050771.045233270] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050771.045846264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050771.046867191] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050771.048079590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050771.049620814] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050771.085455283] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050771.087966256] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050771.088340717] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050771.089709871] [sailbot.teensy]: Wind angle: 121 +[teensy-2] [INFO] [1746050771.090615037] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050771.091435074] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050771.092279033] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050771.144704476] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050771.145417851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050771.145897359] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050771.147331785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050771.148436071] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050771.245099708] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050771.245691357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050771.246521364] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050771.247644628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050771.248487059] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050771.335249483] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050771.337593492] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050771.338206319] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050771.338411427] [sailbot.teensy]: Wind angle: 130 +[teensy-2] [INFO] [1746050771.339387334] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050771.340265281] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050771.341120791] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050771.344373237] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050771.344865253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050771.345482615] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050771.346581710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050771.347585717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050771.445237967] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050771.446038703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050771.446791507] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050771.448370820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050771.448914313] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050771.503369020] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46939698 Long: -76.50347593 +[vectornav-1] [INFO] [1746050771.504691498] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.86700000000002, 0.188, 15.456) +[mux-7] [INFO] [1746050771.545053255] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050771.545903129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050771.546484552] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050771.547853428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050771.549001004] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050771.585421656] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050771.587896877] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050771.588474539] [sailbot.teensy]: Wind angle: 130 +[mux-7] [INFO] [1746050771.588672137] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050771.589450688] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050771.590328159] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050771.591180840] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050771.645206962] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050771.646225280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050771.647184948] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050771.648760536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050771.649882304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050771.745042754] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050771.745653479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050771.746456545] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050771.747561342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050771.748618493] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050771.835576817] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050771.838080955] [sailbot.teensy]: Wind angle: 130 +[trim_sail-4] [INFO] [1746050771.838524083] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050771.839070350] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050771.839893834] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050771.839982248] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050771.840919910] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050771.844283474] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050771.845023727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050771.845568046] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050771.846802634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050771.847891855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050771.945628940] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050771.946250287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050771.947354458] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050771.948510359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050771.949816805] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050772.002947820] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46939958 Long: -76.50347177 +[vectornav-1] [INFO] [1746050772.004216307] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.93700000000001, -0.517, 12.773) +[mux-7] [INFO] [1746050772.044851572] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050772.045490650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050772.046055337] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050772.047335180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050772.048354003] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050772.085430836] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050772.087199481] [sailbot.teensy]: Wind angle: 128 +[teensy-2] [INFO] [1746050772.088139693] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050772.089060159] [sailbot.teensy]: Actual tail angle: 18 +[trim_sail-4] [INFO] [1746050772.087940430] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050772.089029923] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050772.089937225] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050772.145012330] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050772.145679387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050772.146489959] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050772.147643995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050772.148766092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050772.245267051] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050772.245928428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050772.247023380] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050772.248006373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050772.249154271] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050772.335367377] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050772.337407418] [sailbot.teensy]: Wind angle: 126 +[trim_sail-4] [INFO] [1746050772.338095464] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050772.338637949] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050772.339181775] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050772.339581630] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050772.340463232] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050772.344398635] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050772.345014037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050772.345818927] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050772.346782771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050772.347860953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050772.445492291] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050772.446248618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050772.447086869] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050772.447976704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050772.448430978] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050772.503283556] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46940326 Long: -76.50346906 +[vectornav-1] [INFO] [1746050772.504816373] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.60699999999997, -0.156, 11.093) +[mux-7] [INFO] [1746050772.545057497] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050772.545918606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050772.546455020] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050772.548095059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[teensy-2] [INFO] [1746050772.549141410] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050772.585287346] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050772.587455002] [sailbot.teensy]: Wind angle: 125 +[trim_sail-4] [INFO] [1746050772.587519461] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050772.588427406] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050772.589320715] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746050772.589310534] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050772.590218594] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050772.644731434] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050772.645518859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050772.645954935] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050772.647319642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 +[mux-7] [INFO] [1746050772.647904245] [sailbot.mux]: controller_app rudder angle: -2 +[teensy-2] [INFO] [1746050772.648386563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050772.745237247] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050772.746078373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050772.746804764] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050772.748106284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050772.748666309] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050772.835451125] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050772.837279786] [sailbot.teensy]: Wind angle: 126 +[trim_sail-4] [INFO] [1746050772.837930538] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050772.838232241] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050772.839129667] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746050772.839496671] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050772.839978864] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050772.844438997] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050772.845480330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050772.845649951] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050772.847241037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050772.848413470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050772.945504158] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050772.945938739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050772.947210039] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050772.948121130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050772.949260327] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050773.003225544] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46940551 Long: -76.50346448 +[vectornav-1] [INFO] [1746050773.004661121] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.29399999999998, 0.172, 16.406) +[mux-7] [INFO] [1746050773.044795897] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050773.045383576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050773.046010667] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050773.047181037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050773.048266208] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050773.085241609] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050773.087453163] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050773.087447720] [sailbot.teensy]: Wind angle: 137 +[teensy-2] [INFO] [1746050773.088448952] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050773.088956471] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050773.089367309] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050773.090206137] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050773.145161900] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050773.145739059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050773.146645363] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050773.147884638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050773.149081369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050773.245210233] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050773.245915271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050773.246869617] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050773.248096575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050773.248833792] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050773.335295468] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050773.337505855] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050773.338471196] [sailbot.teensy]: Wind angle: 136 +[mux-7] [INFO] [1746050773.338922697] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050773.339454849] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050773.340402947] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050773.341295630] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050773.344437432] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050773.344914817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050773.345576768] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050773.346592895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050773.347677180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050773.445238423] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050773.445877279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050773.447087908] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050773.447989947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050773.449305835] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050773.503450336] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46940802 Long: -76.50346111 +[vectornav-1] [INFO] [1746050773.505380516] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.74400000000003, -2.72, 15.664) +[mux-7] [INFO] [1746050773.545085033] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050773.545793472] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050773.546794703] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050773.547690395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050773.548806736] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050773.585458031] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050773.588007018] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050773.588025076] [sailbot.teensy]: Wind angle: 133 +[teensy-2] [INFO] [1746050773.589027535] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050773.589474271] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050773.589970339] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050773.590893079] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050773.645084783] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050773.646110663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050773.646720483] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050773.648225966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 +[teensy-2] [INFO] [1746050773.649434483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050773.650172861] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746050773.745225335] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050773.745946911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050773.746884104] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050773.748072900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050773.749282394] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050773.835267450] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050773.837783870] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050773.838134942] [sailbot.teensy]: Wind angle: 118 +[mux-7] [INFO] [1746050773.838470555] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050773.839080857] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050773.839993452] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050773.840869178] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050773.844428534] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050773.844964574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050773.845604388] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050773.846762491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050773.847836009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050773.945290697] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050773.946339963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050773.946906414] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050773.948473889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050773.949604251] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050774.002483997] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46941176 Long: -76.5034586 +[vectornav-1] [INFO] [1746050774.003630491] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.58100000000002, -0.01, 12.642) +[mux-7] [INFO] [1746050774.045654992] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050774.046185739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050774.047530494] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050774.048737463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050774.049265080] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050774.085035015] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050774.087077686] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050774.087285506] [sailbot.teensy]: Wind angle: 119 +[mux-7] [INFO] [1746050774.088066288] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050774.088239467] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050774.089357433] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050774.090207041] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050774.145155483] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050774.145894897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050774.146801478] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050774.147861088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050774.148900772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050774.244997272] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050774.245724525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050774.246765901] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050774.247752577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050774.249073583] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050774.335731643] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050774.338122561] [sailbot.teensy]: Wind angle: 133 +[trim_sail-4] [INFO] [1746050774.338554686] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050774.339924052] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050774.340880991] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050774.340911172] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050774.341802153] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050774.344354087] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050774.344940147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050774.345708163] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050774.346641611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050774.347672557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050774.445603981] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050774.446230927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050774.447280269] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050774.448731178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050774.449953604] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050774.503837774] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46941446 Long: -76.50345487 +[vectornav-1] [INFO] [1746050774.505677164] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.25999999999999, -0.067, 13.718) +[mux-7] [INFO] [1746050774.545390047] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050774.546148538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050774.546939309] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050774.548309021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050774.548941524] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050774.585327370] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050774.587701811] [sailbot.teensy]: Wind angle: 135 +[trim_sail-4] [INFO] [1746050774.587835400] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050774.589082208] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050774.589316539] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050774.590066655] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050774.590945850] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050774.645227734] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050774.645969227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050774.646756147] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050774.648296499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050774.649391464] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050774.745018909] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050774.745706749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050774.746534308] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050774.747876710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050774.748917028] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050774.835247225] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050774.836984983] [sailbot.teensy]: Wind angle: 135 +[trim_sail-4] [INFO] [1746050774.837767449] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050774.837944313] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050774.838819959] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050774.838934775] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050774.839737449] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050774.844299643] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050774.844918022] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050774.845631585] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050774.846649995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050774.847640794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050774.945318835] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050774.945953973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050774.947012100] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050774.948066755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050774.948618561] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050775.002354658] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46941767 Long: -76.50345176 +[vectornav-1] [INFO] [1746050775.003401967] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.803999999999974, -1.817, 12.22) +[mux-7] [INFO] [1746050775.045299363] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050775.045991893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050775.046827526] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050775.048350070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050775.049506465] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050775.085196043] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050775.087746876] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050775.088100108] [sailbot.teensy]: Wind angle: 133 +[mux-7] [INFO] [1746050775.088516255] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050775.089078504] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050775.089993715] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050775.090820195] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050775.144987265] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050775.145728927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050775.146470744] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050775.147563014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050775.148671940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050775.244784798] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050775.246017304] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050775.246082513] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050775.247883848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050775.248965211] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050775.335492136] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050775.337952526] [sailbot.teensy]: Wind angle: 122 +[trim_sail-4] [INFO] [1746050775.338226168] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050775.338889019] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050775.339129618] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050775.339456812] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050775.339824772] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050775.344330070] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050775.345071651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050775.345453134] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050775.346774756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050775.347896114] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050775.445433798] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050775.446094418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050775.447084275] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050775.448452784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050775.449769280] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050775.503984056] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46942086 Long: -76.50344899 +[vectornav-1] [INFO] [1746050775.505948698] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.726, -0.22, 11.652) +[mux-7] [INFO] [1746050775.545081951] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050775.545754159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050775.546667039] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050775.547763507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050775.548948177] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050775.585225638] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050775.587525276] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050775.587745542] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050775.588444455] [sailbot.teensy]: Wind angle: 117 +[teensy-2] [INFO] [1746050775.589378164] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050775.590207151] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050775.591039144] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050775.644913809] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050775.645542202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050775.646184138] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050775.647399857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050775.648351660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050775.744950443] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050775.745705518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050775.746246677] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050775.747761957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050775.748842762] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050775.835217114] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050775.837038433] [sailbot.teensy]: Wind angle: 125 +[trim_sail-4] [INFO] [1746050775.837564503] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050775.838617785] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050775.839112229] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050775.839534950] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050775.840460268] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050775.844305066] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050775.845064089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050775.845860905] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050775.846784713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050775.847943965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050775.945293741] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050775.946039927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050775.946819566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050775.948434604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050775.949233089] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050776.002791928] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46942372 Long: -76.50344452 +[vectornav-1] [INFO] [1746050776.004269796] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.617999999999995, 0.506, 11.107) +[mux-7] [INFO] [1746050776.045566545] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050776.046493841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050776.047160248] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050776.048863593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050776.050192628] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050776.085373546] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050776.087116090] [sailbot.teensy]: Wind angle: 133 +[teensy-2] [INFO] [1746050776.088030247] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050776.087911849] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050776.089025248] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050776.089788325] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050776.090837669] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050776.145061222] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050776.145770974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050776.146408506] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050776.147755841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050776.148943467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050776.245237029] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050776.246056316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050776.246858355] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050776.248196410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050776.249202610] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050776.335612581] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050776.338650711] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050776.339262963] [sailbot.teensy]: Wind angle: 132 +[mux-7] [INFO] [1746050776.340092750] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050776.340259467] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050776.340839608] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050776.341190264] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050776.344448567] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050776.344921234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050776.345616959] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050776.346943725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050776.348149001] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050776.445074962] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050776.445964527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050776.446825047] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050776.447288912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050776.447784878] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050776.502955670] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46942656 Long: -76.50344144 +[vectornav-1] [INFO] [1746050776.504451258] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.841999999999985, -2.977, 9.879) +[mux-7] [INFO] [1746050776.545195468] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050776.545962428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050776.546891492] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050776.548276954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050776.549479746] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050776.585202787] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050776.586987002] [sailbot.teensy]: Wind angle: 132 +[trim_sail-4] [INFO] [1746050776.587447863] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050776.587938929] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050776.588848371] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050776.588678859] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050776.589719273] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050776.645097232] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050776.645857065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050776.646503468] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050776.647987177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050776.649026170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050776.745156530] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050776.745883308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050776.746578210] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050776.747872858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050776.748361367] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050776.835039998] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050776.836598582] [sailbot.teensy]: Wind angle: 130 +[trim_sail-4] [INFO] [1746050776.837191933] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050776.837464336] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050776.838376641] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050776.839266291] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050776.839494837] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050776.844340942] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050776.844872605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050776.845453960] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050776.846539641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050776.847587515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050776.945262885] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050776.945897526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050776.946929483] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050776.948367748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050776.949146519] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050777.003618618] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943001 Long: -76.50343833 +[vectornav-1] [INFO] [1746050777.005185549] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.96300000000002, 2.133, 9.228) +[mux-7] [INFO] [1746050777.044832348] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050777.045722898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050777.046338017] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050777.047632316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050777.048797304] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050777.085196396] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050777.086990805] [sailbot.teensy]: Wind angle: 131 +[trim_sail-4] [INFO] [1746050777.087308749] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050777.087950860] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050777.088891140] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050777.089788477] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050777.089973068] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746050777.145587826] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050777.146235669] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050777.147271728] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050777.148660414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050777.149976339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050777.245032665] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050777.245636175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050777.246486010] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050777.247469745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050777.248478289] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050777.335397124] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050777.337781909] [sailbot.teensy]: Wind angle: 134 +[trim_sail-4] [INFO] [1746050777.337806299] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050777.338762688] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050777.339673511] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050777.340299904] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050777.340552915] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050777.344478470] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050777.345025230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050777.345609578] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050777.346800924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050777.347935948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050777.445753705] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050777.446484460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050777.447327193] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050777.448756588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050777.450049621] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050777.503056180] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943227 Long: -76.50343436 +[vectornav-1] [INFO] [1746050777.504189955] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.58600000000001, -1.362, 10.631) +[mux-7] [INFO] [1746050777.545259841] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050777.546035081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050777.546780264] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050777.548194822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050777.549418893] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050777.585607935] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050777.588251224] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050777.588589023] [sailbot.teensy]: Wind angle: 134 +[mux-7] [INFO] [1746050777.589503229] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050777.589613805] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050777.590664081] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050777.591623870] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050777.645218374] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050777.645916688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050777.646798410] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050777.648522445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050777.649528393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050777.745115084] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050777.745764329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050777.746527146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050777.747875659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050777.748927401] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050777.835305884] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050777.837588307] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050777.838257239] [sailbot.teensy]: Wind angle: 134 +[mux-7] [INFO] [1746050777.838290180] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050777.839103268] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050777.839503526] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050777.839872378] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050777.844276909] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050777.844849448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050777.845426227] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050777.846580184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050777.847624011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050777.945635619] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050777.946106634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050777.947412275] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050777.948755056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050777.949604617] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050778.002949635] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943469 Long: -76.50343108 +[vectornav-1] [INFO] [1746050778.004066504] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.80599999999998, -1.165, 8.111) +[mux-7] [INFO] [1746050778.044817736] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050778.045601138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050778.046025817] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050778.047395114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050778.048391991] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050778.085219855] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050778.087312869] [sailbot.teensy]: Wind angle: 134 +[trim_sail-4] [INFO] [1746050778.087471429] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050778.088302958] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050778.089210771] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050778.090044412] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050778.090074911] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050778.145153194] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050778.145804084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050778.146882969] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050778.147791547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050778.148880216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050778.244976504] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050778.245645522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050778.246515214] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050778.247541327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050778.248779027] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050778.335739512] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050778.338933183] [sailbot.teensy]: Wind angle: 131 +[trim_sail-4] [INFO] [1746050778.339118821] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050778.339686153] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050778.339986451] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050778.340385783] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050778.340769548] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050778.344508862] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050778.345103347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050778.345619119] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050778.346779000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050778.347992706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050778.445348444] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050778.446102827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050778.446886745] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050778.448286568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050778.449516845] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050778.503834638] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943765 Long: -76.50342811 +[vectornav-1] [INFO] [1746050778.505452567] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.66899999999998, 1.07, 7.035) +[mux-7] [INFO] [1746050778.545122139] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050778.545842074] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050778.546546479] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050778.548048247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050778.549197013] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050778.585337620] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050778.587242986] [sailbot.teensy]: Wind angle: 129 +[trim_sail-4] [INFO] [1746050778.588204160] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050778.588228617] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050778.589137046] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050778.589159105] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050778.590043132] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050778.644869826] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050778.645658759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050778.646561120] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050778.647585678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050778.648756210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050778.650114643] [sailbot.mux]: controller_app rudder angle: -1 +[mux-7] [INFO] [1746050778.744899973] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050778.745801011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050778.746188464] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050778.747787993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050778.748932938] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050778.835193376] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050778.837626437] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050778.837737941] [sailbot.teensy]: Wind angle: 129 +[teensy-2] [INFO] [1746050778.838711220] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050778.839603502] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050778.839813673] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050778.840437985] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050778.844257216] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050778.844876219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050778.845640093] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050778.846605390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050778.847787465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050778.945001939] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050778.945691028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050778.946316851] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050778.947579604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050778.948516607] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050779.002348036] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943996 Long: -76.50342428 +[vectornav-1] [INFO] [1746050779.003288382] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.646000000000015, -0.47, 11.56) +[mux-7] [INFO] [1746050779.045067531] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050779.045692174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050779.046244584] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050779.047527823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050779.048587151] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050779.085200708] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050779.087544322] [sailbot.teensy]: Wind angle: 129 +[trim_sail-4] [INFO] [1746050779.087782090] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050779.088084327] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050779.088939449] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050779.089918208] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050779.090776735] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050779.145048916] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050779.145738216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050779.146964309] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050779.148239028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050779.148838139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050779.245009250] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050779.245655993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050779.246430682] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050779.247475571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050779.248511491] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050779.335279843] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050779.337081005] [sailbot.teensy]: Wind angle: 129 +[trim_sail-4] [INFO] [1746050779.337880298] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050779.338943435] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050779.339335149] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050779.340494830] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050779.341401491] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050779.344362362] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050779.344962824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050779.345441316] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050779.346668338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050779.347780650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050779.445274922] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050779.446100063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050779.446826196] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050779.448452437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050779.449014095] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050779.502450910] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46944182 Long: -76.50342049 +[vectornav-1] [INFO] [1746050779.503453310] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.33600000000001, -0.683, 9.134) +[mux-7] [INFO] [1746050779.544958406] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050779.545675575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050779.546229245] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050779.547569245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050779.548598331] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050779.585417300] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050779.587762602] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050779.588171852] [sailbot.teensy]: Wind angle: 130 +[mux-7] [INFO] [1746050779.588903466] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050779.589092797] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050779.590207198] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050779.591040316] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050779.645285966] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050779.645984043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050779.646830409] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050779.648555098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050779.649729875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050779.745457028] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050779.746193130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050779.746962263] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050779.747875869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050779.748346269] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050779.835260902] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050779.837024183] [sailbot.teensy]: Wind angle: 130 +[trim_sail-4] [INFO] [1746050779.837633148] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050779.837908010] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050779.838564385] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050779.838484937] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050779.839128802] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050779.844274181] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050779.844817338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050779.845663941] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050779.846486626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050779.847546594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050779.945548300] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050779.946361547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050779.947290050] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050779.948618574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050779.949144642] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050780.003091503] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46944335 Long: -76.50341681 +[vectornav-1] [INFO] [1746050780.004344632] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.759000000000015, -0.633, 10.498) +[mux-7] [INFO] [1746050780.045074135] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050780.045800421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050780.046389419] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050780.047697662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050780.048747555] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050780.085423648] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050780.087415252] [sailbot.teensy]: Wind angle: 127 +[trim_sail-4] [INFO] [1746050780.088132601] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050780.088451650] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050780.089300313] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050780.089339976] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050780.090219818] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050780.144975815] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050780.145863916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050780.146290606] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050780.147775383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050780.149023786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050780.245073274] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050780.245834778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050780.246559082] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050780.247952725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050780.249043429] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050780.335496834] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050780.338179914] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050780.338176304] [sailbot.teensy]: Wind angle: 125 +[teensy-2] [INFO] [1746050780.339125534] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050780.339244410] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050780.339555964] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050780.340007027] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050780.344459569] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050780.344958350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050780.345658246] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050780.346792279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050780.347855514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050780.445279884] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050780.446091321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050780.446988348] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050780.448628642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050780.449779275] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050780.503004571] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46944618 Long: -76.50341343 +[vectornav-1] [INFO] [1746050780.504068641] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.946000000000026, -0.24, 9.581) +[mux-7] [INFO] [1746050780.545200495] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050780.545972196] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050780.547316535] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050780.548445952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050780.548992752] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050780.585392070] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050780.587124026] [sailbot.teensy]: Wind angle: 124 +[trim_sail-4] [INFO] [1746050780.587896354] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050780.588057040] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050780.588998905] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050780.589594617] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050780.589868309] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050780.645093869] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050780.645801793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050780.646625584] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050780.647876271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050780.648936360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050780.745446442] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050780.746390618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050780.747107091] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050780.748692278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050780.749839090] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050780.835187380] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050780.837115687] [sailbot.teensy]: Wind angle: 123 +[trim_sail-4] [INFO] [1746050780.838028139] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050780.839506136] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050780.839605990] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050780.839988735] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050780.840371912] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050780.844411640] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050780.844942093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050780.846458972] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050780.846609938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050780.847807144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050780.945503904] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050780.946192386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050780.947613845] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050780.948694865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050780.949847857] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050781.003281252] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46944756 Long: -76.50340921 +[vectornav-1] [INFO] [1746050781.005073529] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.80799999999999, -1.286, 13.392) +[mux-7] [INFO] [1746050781.045311682] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050781.046205819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050781.046852616] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050781.048310739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050781.049455595] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050781.085164129] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050781.087245004] [sailbot.teensy]: Wind angle: 124 +[trim_sail-4] [INFO] [1746050781.087310229] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050781.088251209] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050781.088803065] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050781.089146669] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050781.090020165] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050781.144980387] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050781.145802519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050781.146318513] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050781.147893149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050781.148963431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050781.244789110] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050781.245516901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050781.246148767] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050781.247308148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050781.248391554] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050781.335244057] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050781.337672650] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050781.338123846] [sailbot.teensy]: Wind angle: 124 +[mux-7] [INFO] [1746050781.338282261] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050781.339225205] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050781.340112317] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050781.340568774] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050781.344457028] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050781.344968356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050781.345599834] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050781.346652384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050781.347822664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050781.445198037] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050781.445878230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050781.446759668] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050781.448134722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050781.449369301] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050781.502477860] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46944904 Long: -76.50340383 +[vectornav-1] [INFO] [1746050781.503494081] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.218999999999994, -0.923, 14.911) +[mux-7] [INFO] [1746050781.545321995] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050781.545989455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050781.546993947] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050781.547918700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050781.548486482] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050781.585626031] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050781.587762311] [sailbot.teensy]: Wind angle: 124 +[teensy-2] [INFO] [1746050781.588827939] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050781.588396850] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050781.589753240] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050781.590480561] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050781.590622923] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050781.645210507] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050781.645953265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050781.646711645] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050781.648040118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050781.649399722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050781.745719771] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050781.746303339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050781.747582335] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050781.749003279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050781.749529119] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050781.835308229] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050781.837781884] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050781.838241420] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050781.839035532] [sailbot.teensy]: Wind angle: 125 +[teensy-2] [INFO] [1746050781.840031391] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050781.840691557] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050781.841061871] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050781.844570467] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050781.844983484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050781.845759747] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050781.846682706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050781.847779723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050781.945471799] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050781.946066691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050781.947131500] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050781.948960695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050781.950141720] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050782.003322868] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945147 Long: -76.50340014 +[vectornav-1] [INFO] [1746050782.004871893] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.553999999999974, 0.83, 11.489) +[mux-7] [INFO] [1746050782.045452741] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050782.046308746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050782.047070992] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050782.048774545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050782.049947557] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050782.085439018] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050782.088016532] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050782.088737936] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050782.089609877] [sailbot.teensy]: Wind angle: 122 +[teensy-2] [INFO] [1746050782.090559670] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050782.091444664] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050782.092280807] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050782.145190084] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050782.146193542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050782.146571565] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050782.147976550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050782.149141272] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050782.245043155] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050782.245693240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050782.246444681] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050782.247604505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050782.248763994] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050782.335295312] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050782.337870181] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050782.338436878] [sailbot.teensy]: Wind angle: 117 +[mux-7] [INFO] [1746050782.339242251] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050782.339483315] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050782.340398906] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050782.341261053] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050782.344538986] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050782.345160131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050782.345792012] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050782.346936909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050782.348140271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050782.445236383] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050782.445754526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050782.446801199] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050782.447776031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050782.448982598] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050782.502849454] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945399 Long: -76.50339658 +[vectornav-1] [INFO] [1746050782.504148279] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.855999999999995, -1.655, 12.183) +[mux-7] [INFO] [1746050782.545252307] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050782.546162747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050782.546780799] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050782.548378080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050782.549600815] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050782.585327309] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050782.587413806] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050782.588022732] [sailbot.teensy]: Wind angle: 117 +[mux-7] [INFO] [1746050782.588286817] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050782.589225545] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050782.590102165] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050782.590946755] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050782.644904684] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050782.645566159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050782.646143970] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050782.647441722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050782.648341465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050782.745106166] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050782.745758117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050782.746486989] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050782.747815465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050782.748893816] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050782.835682944] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050782.838463524] [sailbot.teensy]: Wind angle: 118 +[trim_sail-4] [INFO] [1746050782.838482022] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050782.838815027] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050782.838877314] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050782.839259632] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050782.839623755] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050782.844558801] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050782.845255560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050782.845742286] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050782.846970172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050782.848091809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050782.945335703] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050782.946045135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050782.947225649] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050782.947858157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050782.948396977] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050783.003708910] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945526 Long: -76.5033918 +[vectornav-1] [INFO] [1746050783.005511597] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.891999999999996, -0.221, 11.157) +[mux-7] [INFO] [1746050783.045243744] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050783.046105014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050783.046967667] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050783.048770637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050783.049839863] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050783.085641384] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050783.087799045] [sailbot.teensy]: Wind angle: 117 +[trim_sail-4] [INFO] [1746050783.088462852] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050783.088892795] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050783.089591720] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050783.089819969] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050783.090791879] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050783.145684326] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050783.146787752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050783.147438079] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050783.149257997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050783.150453338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050783.245178517] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050783.245862892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050783.246652271] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050783.248235989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050783.248980432] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050783.335316801] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050783.337156851] [sailbot.teensy]: Wind angle: 115 +[trim_sail-4] [INFO] [1746050783.337634978] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050783.338097534] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050783.339009415] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050783.339211558] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050783.339867343] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050783.344476818] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050783.345146965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050783.345645723] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050783.346874341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050783.347996316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050783.445637884] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050783.446511347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050783.447264619] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050783.448895843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050783.450189676] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050783.503888267] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945736 Long: -76.50338746 +[vectornav-1] [INFO] [1746050783.506223547] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.57499999999999, 0.086, 6.773) +[mux-7] [INFO] [1746050783.545358810] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050783.546052566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050783.546962479] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050783.548404972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050783.549498200] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050783.585515902] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050783.587877128] [sailbot.teensy]: Wind angle: 113 +[trim_sail-4] [INFO] [1746050783.587917240] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050783.588992487] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050783.589885942] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050783.589926877] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050783.590799400] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050783.644966687] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050783.645830891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050783.646292711] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050783.647843211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050783.649044922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050783.745207742] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050783.746214105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050783.746858378] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050783.748216611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050783.748876266] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050783.835548278] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050783.837696576] [sailbot.teensy]: Wind angle: 113 +[trim_sail-4] [INFO] [1746050783.838356697] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050783.839009626] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050783.839779991] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050783.839890698] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050783.840842657] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050783.844587628] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050783.845209656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050783.845855160] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050783.846909273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050783.847931243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050783.945317380] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050783.945985562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050783.946886603] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050783.947859241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050783.948357651] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050784.003730119] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945903 Long: -76.50338305 +[vectornav-1] [INFO] [1746050784.005426835] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (25.89300000000003, -1.111, 8.164) +[mux-7] [INFO] [1746050784.045171124] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050784.045865789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050784.046641180] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050784.047926108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050784.049091775] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050784.085392543] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050784.087746385] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050784.088240969] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050784.088655163] [sailbot.teensy]: Wind angle: 116 +[teensy-2] [INFO] [1746050784.089598770] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050784.090427105] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050784.091268514] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050784.145323252] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050784.146113518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050784.146870976] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050784.148554197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050784.149668580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050784.245275609] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050784.246092566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050784.246830943] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050784.247717436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050784.248254223] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050784.335269300] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050784.337692925] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050784.337818644] [sailbot.teensy]: Wind angle: 120 +[mux-7] [INFO] [1746050784.338012355] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050784.339323016] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050784.339731726] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050784.340091805] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050784.344500405] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050784.345031856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050784.345631938] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050784.346705817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050784.347844747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050784.445131703] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050784.445800364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050784.446610949] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050784.447593937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050784.448034289] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050784.502486270] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946037 Long: -76.50337799 +[vectornav-1] [INFO] [1746050784.503514393] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (22.521000000000015, -0.445, 7.996) +[mux-7] [INFO] [1746050784.545075515] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050784.546591503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050784.546879484] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050784.548856648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050784.549894592] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050784.585614906] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050784.588331813] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050784.588386592] [sailbot.teensy]: Wind angle: 120 +[teensy-2] [INFO] [1746050784.589623125] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050784.590597078] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050784.590724765] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050784.591539200] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050784.644983948] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050784.645722958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050784.646333606] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050784.647864902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050784.648891096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050784.745382943] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050784.746088892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050784.746939370] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050784.747762418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050784.748220000] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050784.835199385] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050784.837398207] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050784.838385880] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050784.838715991] [sailbot.teensy]: Wind angle: 120 +[teensy-2] [INFO] [1746050784.839696148] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050784.840624922] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050784.841448844] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050784.844455626] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050784.844888703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050784.845566838] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050784.846574431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050784.847633934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050784.945367267] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050784.946184944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050784.947262982] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050784.947947889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050784.948419778] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050785.003773978] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946162 Long: -76.50337311 +[vectornav-1] [INFO] [1746050785.005661358] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (18.653999999999996, 0.19, 8.634) +[mux-7] [INFO] [1746050785.045017043] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050785.045723875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050785.046333929] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050785.047865288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050785.048874181] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050785.085286506] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050785.087828855] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050785.088256865] [sailbot.teensy]: Wind angle: 120 +[teensy-2] [INFO] [1746050785.089503460] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050785.089515449] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050785.090497917] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050785.091411629] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050785.144514512] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050785.145497317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050785.145642911] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050785.147299050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050785.148319995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050785.245056459] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050785.245869570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050785.246419852] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050785.247538361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050785.248111401] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050785.335399099] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050785.337494051] [sailbot.teensy]: Wind angle: 115 +[trim_sail-4] [INFO] [1746050785.337975919] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050785.338504570] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050785.339335202] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050785.339395248] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050785.340378811] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050785.344431465] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050785.345311900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050785.345635467] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050785.347032220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050785.348214046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050785.445557026] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050785.446422149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050785.447093920] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050785.447966203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050785.448559944] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050785.503147602] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946225 Long: -76.50336808 +[vectornav-1] [INFO] [1746050785.504175243] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (14.239000000000033, 0.507, 8.583) +[mux-7] [INFO] [1746050785.544978993] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050785.546565587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050785.546640505] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050785.548653072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050785.549686652] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050785.585569136] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050785.587364697] [sailbot.teensy]: Wind angle: 111 +[trim_sail-4] [INFO] [1746050785.587881830] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050785.588347539] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050785.589275877] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050785.590165376] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050785.590215504] [sailbot.mux]: algo sail angle: 15 +[mux-7] [INFO] [1746050785.644838219] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050785.645509534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050785.646078104] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050785.647419806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050785.648444288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050785.745404594] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050785.746285340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050785.746974431] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050785.748336408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050785.748874453] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050785.835267907] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050785.837151155] [sailbot.teensy]: Wind angle: 111 +[trim_sail-4] [INFO] [1746050785.837456924] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050785.838166941] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050785.838774565] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050785.839088738] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050785.839150586] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050785.844414142] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050785.844976220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050785.845583713] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050785.846676298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050785.847730991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050785.945465516] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050785.946217061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050785.947171681] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050785.948626002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050785.949770274] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050786.003416801] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946316 Long: -76.50336383 +[vectornav-1] [INFO] [1746050786.004711537] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (12.004000000000019, -1.674, 7.156) +[mux-7] [INFO] [1746050786.045291565] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050786.046047721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050786.046720215] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050786.048436190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050786.049559639] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050786.085301244] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050786.087542758] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050786.088375504] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050786.088678996] [sailbot.teensy]: Wind angle: 111 +[teensy-2] [INFO] [1746050786.089682863] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050786.090813588] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050786.091695404] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050786.145234763] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050786.145903315] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050786.146710570] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050786.148261536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050786.149420626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050786.245062368] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050786.245778285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050786.246466866] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050786.247855762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050786.248402707] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050786.335100679] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050786.336653182] [sailbot.teensy]: Wind angle: 110 +[teensy-2] [INFO] [1746050786.337499819] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050786.337280117] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050786.337907202] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050786.338342474] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050786.339228308] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050786.344317510] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050786.344922914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050786.345422718] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050786.346701542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050786.347723804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050786.445346682] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050786.446092570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050786.446935092] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050786.448532577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050786.449593934] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050786.503305778] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946419 Long: -76.50335913 +[vectornav-1] [INFO] [1746050786.504764948] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (9.942999999999984, -1.851, 9.512) +[mux-7] [INFO] [1746050786.545240199] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050786.546357113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050786.546763617] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050786.548670144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050786.549665829] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050786.585401294] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050786.587802612] [sailbot.teensy]: Wind angle: 110 +[trim_sail-4] [INFO] [1746050786.588702835] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050786.588828657] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050786.589265881] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050786.589773937] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050786.590722936] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050786.645078553] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050786.645833359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050786.646391315] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050786.647741069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050786.648949046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050786.745157659] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050786.745918575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050786.746616112] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050786.748084181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050786.748741740] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050786.835294296] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050786.837596835] [sailbot.teensy]: Wind angle: 111 +[trim_sail-4] [INFO] [1746050786.837822676] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050786.839443471] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050786.839633922] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050786.840588213] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050786.841451986] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050786.844388085] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050786.844740690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050786.845639280] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050786.846401517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050786.847447964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050786.945326729] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050786.945960354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050786.947026323] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050786.948597077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050786.949736665] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050787.003240747] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946416 Long: -76.50335394 +[vectornav-1] [INFO] [1746050787.004771244] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (9.037000000000035, 0.308, 13.215) +[mux-7] [INFO] [1746050787.044966675] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050787.045635523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050787.046230181] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050787.047449401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050787.048558074] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050787.085461824] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050787.087229523] [sailbot.teensy]: Wind angle: 110 +[trim_sail-4] [INFO] [1746050787.087712729] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050787.088145892] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050787.089058031] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050787.089660500] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050787.089915817] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050787.145513798] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050787.146025308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050787.147186860] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050787.148547634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050787.149155735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050787.245355418] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050787.246138902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050787.246981711] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050787.248433446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050787.249603603] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050787.335287916] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050787.337475258] [sailbot.teensy]: Wind angle: 110 +[trim_sail-4] [INFO] [1746050787.337471572] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050787.338627083] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050787.338785185] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050787.339199755] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050787.339597075] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050787.344539721] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050787.344890798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050787.345696543] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050787.346604231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050787.347688447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050787.445233643] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050787.446102602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050787.447176998] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050787.448287467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050787.450065785] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050787.503382112] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694644 Long: -76.50334906 +[vectornav-1] [INFO] [1746050787.505882758] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (2.8430000000000177, 2.317, 11.68) +[mux-7] [INFO] [1746050787.545574120] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050787.546461614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050787.547282885] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050787.548669956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050787.549944475] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050787.585215526] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050787.587275253] [sailbot.teensy]: Wind angle: 103 +[trim_sail-4] [INFO] [1746050787.587548007] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050787.588189664] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050787.589110753] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050787.589455560] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050787.590001800] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050787.644877320] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050787.645615076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050787.646310116] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050787.647532073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050787.648687730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050787.744970301] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050787.745766605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050787.746584430] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050787.747720075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050787.748951732] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050787.835473552] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050787.838029988] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050787.838029820] [sailbot.teensy]: Wind angle: 96 +[teensy-2] [INFO] [1746050787.839019714] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050787.839199348] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050787.840020519] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050787.840934456] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050787.844360467] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050787.844948409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050787.845456322] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050787.846669161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050787.847742889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050787.945150089] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050787.945723569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050787.946483289] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050787.947641279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050787.948224190] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050788.003902597] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946483 Long: -76.50334487 +[vectornav-1] [INFO] [1746050788.005593221] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (2.2250000000000227, -4.223, 7.48) +[mux-7] [INFO] [1746050788.045223719] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050788.046003686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050788.046546748] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050788.047897031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050788.049233037] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050788.085462221] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050788.087819062] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050788.088306598] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050788.088479387] [sailbot.teensy]: Wind angle: 96 +[teensy-2] [INFO] [1746050788.089999192] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050788.090890334] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050788.091705951] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050788.145215222] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050788.146059543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050788.146721189] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050788.148221046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050788.149285176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050788.245296790] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050788.246044629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050788.246831267] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050788.248103535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050788.249245190] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050788.335211842] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050788.336938623] [sailbot.teensy]: Wind angle: 98 +[trim_sail-4] [INFO] [1746050788.337345953] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050788.337869833] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050788.338780673] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050788.339645301] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050788.339648708] [sailbot.mux]: algo sail angle: 25 +[mux-7] [INFO] [1746050788.344321527] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050788.344854879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050788.345465680] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050788.346681983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050788.347800893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050788.445301305] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050788.446082056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050788.446793076] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050788.448285420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050788.449405636] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050788.502627105] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946483 Long: -76.50333956 +[vectornav-1] [INFO] [1746050788.504203779] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (2.159999999999968, -0.345, 9.988) +[mux-7] [INFO] [1746050788.544876314] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050788.545621785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050788.546121656] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050788.547559970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050788.548566944] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050788.585266685] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050788.587307781] [sailbot.teensy]: Wind angle: 102 +[trim_sail-4] [INFO] [1746050788.587526102] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050788.588282006] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050788.589193149] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050788.589810828] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050788.590102450] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050788.644913060] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050788.645592960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050788.646312388] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050788.647435441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 +[teensy-2] [INFO] [1746050788.648582113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050788.674190589] [sailbot.mux]: controller_app rudder angle: -25 +[mux-7] [INFO] [1746050788.745020613] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050788.745740998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050788.746597040] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050788.747688589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050788.748794846] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050788.835242232] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050788.837588327] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050788.837917879] [sailbot.teensy]: Wind angle: 102 +[teensy-2] [INFO] [1746050788.838872597] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050788.838206007] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050788.839742566] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050788.840252284] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050788.844451617] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050788.845136761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050788.845564052] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050788.846907839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050788.848023782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050788.945428608] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050788.946200534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050788.947161481] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050788.948589856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050788.949787584] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050789.003304857] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946436 Long: -76.5033343 +[vectornav-1] [INFO] [1746050789.004507905] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (356.791, 2.527, 8.853) +[mux-7] [INFO] [1746050789.045141149] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050789.045787499] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050789.047787196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[mux-7] [INFO] [1746050789.048078517] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050789.048898142] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050789.085149892] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050789.086661486] [sailbot.teensy]: Wind angle: 102 +[trim_sail-4] [INFO] [1746050789.087498172] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050789.088634319] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050789.088790468] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050789.089801775] [sailbot.teensy]: Actual tail angle: 0 +[teensy-2] [INFO] [1746050789.090720179] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050789.145078208] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050789.145978925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050789.146489196] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050789.148336973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050789.149532419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050789.244858083] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050789.245574306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050789.246152784] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050789.247456533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050789.248494946] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050789.335220499] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050789.337020966] [sailbot.teensy]: Wind angle: 102 +[trim_sail-4] [INFO] [1746050789.337926400] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050789.337966809] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050789.338923296] [sailbot.teensy]: Actual tail angle: 0 +[mux-7] [INFO] [1746050789.339349410] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050789.339955164] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050789.344481958] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050789.345250491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050789.345612189] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050789.346959660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050789.348011855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050789.445165369] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050789.445869639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050789.446674792] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050789.448069221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050789.449299905] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050789.502944082] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946404 Long: -76.50333075 +[vectornav-1] [INFO] [1746050789.504261619] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (4.038999999999987, -0.516, 6.791) +[mux-7] [INFO] [1746050789.545073593] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050789.545811320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050789.546893121] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050789.547702964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050789.548919912] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050789.585563478] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050789.587746711] [sailbot.teensy]: Wind angle: 102 +[trim_sail-4] [INFO] [1746050789.588210335] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050789.588757616] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050789.589395995] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050789.589636737] [sailbot.teensy]: Actual tail angle: 0 +[teensy-2] [INFO] [1746050789.590487768] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050789.645204836] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050789.645847178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050789.646700436] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050789.648033538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050789.649288916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050789.745546492] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050789.746293762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050789.747154571] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050789.748712037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050789.749356617] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050789.835458336] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050789.837828860] [sailbot.teensy]: Wind angle: 102 +[trim_sail-4] [INFO] [1746050789.838472351] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050789.838778956] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050789.839244463] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050789.839683859] [sailbot.teensy]: Actual tail angle: 0 +[teensy-2] [INFO] [1746050789.840613477] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050789.844453796] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050789.845025697] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050789.845615556] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050789.846696123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050789.847832645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050789.945464423] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050789.946133231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050789.947026130] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050789.948266988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050789.949425942] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050790.003768161] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946427 Long: -76.50332746 +[vectornav-1] [INFO] [1746050790.005486507] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.050999999999988, -1.34, 14.461) +[mux-7] [INFO] [1746050790.044987884] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050790.045556238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050790.046299306] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050790.047312379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050790.048446756] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050790.085366952] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050790.087726507] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050790.088014266] [sailbot.teensy]: Wind angle: 103 +[mux-7] [INFO] [1746050790.088325434] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050790.088972931] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050790.089887000] [sailbot.teensy]: Actual tail angle: 0 +[teensy-2] [INFO] [1746050790.090755459] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050790.145417955] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050790.146218399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050790.146813784] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050790.148108337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050790.149391653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050790.245671552] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050790.246115109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050790.247488454] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050790.248459949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050790.249650011] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050790.335357286] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050790.337814233] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050790.338595060] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050790.339046141] [sailbot.teensy]: Wind angle: 108 +[teensy-2] [INFO] [1746050790.339561354] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050790.340243222] [sailbot.teensy]: Actual tail angle: 0 +[teensy-2] [INFO] [1746050790.341084783] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050790.344366789] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050790.344756779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050790.345515231] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050790.346524048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050790.347591374] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050790.445476966] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050790.446070834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050790.447389975] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050790.448372346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050790.449519952] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050790.503431686] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946462 Long: -76.50332448 +[vectornav-1] [INFO] [1746050790.505244166] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.541, 0.284, 18.351) +[mux-7] [INFO] [1746050790.545389981] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050790.546106689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050790.546977515] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050790.548522404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050790.549753843] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050790.585201240] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050790.586902147] [sailbot.teensy]: Wind angle: 117 +[trim_sail-4] [INFO] [1746050790.587403627] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050790.587838966] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050790.588779092] [sailbot.teensy]: Actual tail angle: 0 +[mux-7] [INFO] [1746050790.589326425] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050790.589652666] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050790.644910508] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050790.645552037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050790.646132720] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050790.647355442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050790.648630224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050790.745292079] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050790.746024111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050790.746771351] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050790.748069163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050790.749337086] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050790.835416439] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050790.837631455] [sailbot.teensy]: Wind angle: 128 +[teensy-2] [INFO] [1746050790.838612609] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050790.838673143] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050790.838926165] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050790.839013500] [sailbot.teensy]: Actual tail angle: 0 +[teensy-2] [INFO] [1746050790.839406248] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050790.844401366] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050790.845039625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050790.845588121] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050790.846729612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050790.847876474] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050790.945207678] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050790.945907302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050790.946726493] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050790.948088179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050790.948778955] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050791.003670908] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946584 Long: -76.50332342 +[vectornav-1] [INFO] [1746050791.005289206] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (69.19200000000001, -0.086, 11.306) +[mux-7] [INFO] [1746050791.045050983] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050791.045788481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050791.046460192] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050791.047824099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050791.048953007] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050791.085454068] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050791.087797301] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050791.088454600] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050791.089517619] [sailbot.teensy]: Wind angle: 142 +[teensy-2] [INFO] [1746050791.090276370] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050791.090662601] [sailbot.teensy]: Actual tail angle: 0 +[teensy-2] [INFO] [1746050791.091026475] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050791.144984853] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050791.145625156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050791.146266909] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050791.147572511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050791.148786535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050791.245076130] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050791.245822326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050791.246472419] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050791.247910707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050791.248547223] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050791.335481651] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050791.337820983] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050791.338238834] [sailbot.teensy]: Wind angle: 157 +[mux-7] [INFO] [1746050791.339468231] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050791.340171772] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050791.340813280] [sailbot.teensy]: Actual tail angle: 0 +[teensy-2] [INFO] [1746050791.341197005] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050791.344343240] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050791.345001674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050791.345452276] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050791.346824301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050791.347997335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050791.445334919] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050791.445964458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050791.446818216] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050791.448132612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050791.449321067] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050791.503423100] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946727 Long: -76.50332267 +[vectornav-1] [INFO] [1746050791.505368395] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (95.64999999999998, -0.514, 8.032) +[mux-7] [INFO] [1746050791.544690726] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050791.545344538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050791.545857882] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050791.547050830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050791.547991641] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050791.585494146] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050791.587453236] [sailbot.teensy]: Wind angle: 167 +[teensy-2] [INFO] [1746050791.588396123] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050791.587832180] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050791.588442537] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050791.589330603] [sailbot.teensy]: Actual tail angle: 0 +[teensy-2] [INFO] [1746050791.590241845] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050791.645045809] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050791.645744652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050791.646704092] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050791.647911816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050791.648903127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050791.745485001] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050791.746503298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050791.747222108] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050791.748873428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050791.749366625] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050791.835417310] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050791.837868718] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050791.838208505] [sailbot.teensy]: Wind angle: 172 +[mux-7] [INFO] [1746050791.838573667] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050791.839200486] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050791.840146940] [sailbot.teensy]: Actual tail angle: 0 +[teensy-2] [INFO] [1746050791.841042162] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050791.844408783] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050791.844943353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050791.845534048] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050791.846731428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050791.847944072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050791.945616528] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050791.946491708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050791.947350843] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050791.948391723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050791.948940056] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050792.002632259] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694683 Long: -76.50332356 +[vectornav-1] [INFO] [1746050792.003961002] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (116.50200000000001, 1.219, 6.416) +[mux-7] [INFO] [1746050792.044858541] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050792.045400388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050792.046127344] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050792.047305340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050792.048475779] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050792.085281398] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050792.086919467] [sailbot.teensy]: Wind angle: 173 +[trim_sail-4] [INFO] [1746050792.087591177] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050792.087955506] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050792.088910093] [sailbot.teensy]: Actual tail angle: 0 +[mux-7] [INFO] [1746050792.089322954] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050792.089774252] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050792.145420357] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050792.146149418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050792.147201847] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050792.148300879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050792.148883399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050792.244904883] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050792.245786048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050792.246532862] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050792.247577015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050792.248054657] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050792.335240399] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050792.337344635] [sailbot.teensy]: Wind angle: 188 +[trim_sail-4] [INFO] [1746050792.337446560] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050792.338425953] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050792.339064447] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050792.339323734] [sailbot.teensy]: Actual tail angle: 0 +[teensy-2] [INFO] [1746050792.340298620] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050792.344501097] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050792.345233108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050792.345622017] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050792.346973835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050792.348123423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050792.444909526] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050792.445643674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050792.446251822] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050792.447553656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050792.448610808] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050792.503466517] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946901 Long: -76.50332411 +[vectornav-1] [INFO] [1746050792.505184825] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (134.14100000000002, -0.311, 5.095) +[mux-7] [INFO] [1746050792.545477654] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050792.546293227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050792.547066703] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050792.548670175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[teensy-2] [INFO] [1746050792.549942356] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050792.585568079] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050792.587825578] [sailbot.teensy]: Wind angle: 214 +[trim_sail-4] [INFO] [1746050792.588498600] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050792.588794027] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050792.589088488] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050792.589706053] [sailbot.teensy]: Actual tail angle: 0 +[teensy-2] [INFO] [1746050792.590567339] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050792.645379395] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050792.646191650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050792.646896491] [sailbot.mux]: Published rudder angle from controller_app: -25 +[teensy-2] [INFO] [1746050792.648446265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 +[mux-7] [INFO] [1746050792.648949628] [sailbot.mux]: controller_app rudder angle: -24 +[teensy-2] [INFO] [1746050792.649149885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050792.745392195] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050792.746350612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050792.746989818] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050792.748566755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050792.749109240] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050792.835529981] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050792.838176812] [sailbot.teensy]: Wind angle: 225 +[teensy-2] [INFO] [1746050792.839191950] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050792.838491869] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050792.840103187] [sailbot.teensy]: Actual tail angle: 0 +[mux-7] [INFO] [1746050792.840115878] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050792.840937987] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050792.844312238] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050792.844967598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050792.845451114] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050792.846762951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050792.847773774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050792.945528664] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050792.946487305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050792.947371346] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050792.948798253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050792.949955716] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050793.003570896] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694695 Long: -76.50332499 +[vectornav-1] [INFO] [1746050793.005078866] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (149.548, -0.669, 3.852) +[mux-7] [INFO] [1746050793.044944570] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050793.045667599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050793.046241187] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050793.047587026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050793.048439277] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050793.085341468] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050793.087705869] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050793.088121001] [sailbot.teensy]: Wind angle: 226 +[teensy-2] [INFO] [1746050793.089211753] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050793.088983867] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050793.090132214] [sailbot.teensy]: Actual tail angle: 1 +[teensy-2] [INFO] [1746050793.090953961] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050793.144971827] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050793.145696072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050793.146276799] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050793.147530593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050793.148576907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050793.245218421] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050793.245975246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050793.246823393] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050793.248317943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050793.248815522] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050793.335184369] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050793.337197573] [sailbot.teensy]: Wind angle: 226 +[trim_sail-4] [INFO] [1746050793.337469888] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050793.338136179] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050793.338685290] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050793.338999491] [sailbot.teensy]: Actual tail angle: 1 +[teensy-2] [INFO] [1746050793.339375051] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050793.344678036] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050793.345241853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050793.345926916] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050793.346966532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050793.348067877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050793.445663285] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050793.446193157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050793.447890153] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050793.448929421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050793.450197146] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050793.503556495] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946952 Long: -76.50332621 +[vectornav-1] [INFO] [1746050793.504998359] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.85199999999998, 0.801, 2.765) +[mux-7] [INFO] [1746050793.545198478] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050793.545990348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050793.547179111] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050793.548096309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050793.549296173] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050793.585561339] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050793.587630201] [sailbot.teensy]: Wind angle: 226 +[teensy-2] [INFO] [1746050793.588659250] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050793.588144923] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050793.589555921] [sailbot.teensy]: Actual tail angle: 1 +[mux-7] [INFO] [1746050793.589801386] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050793.590473470] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050793.645348580] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050793.646195386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050793.646973361] [sailbot.mux]: Published rudder angle from controller_app: -24 +[teensy-2] [INFO] [1746050793.648564859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 +[teensy-2] [INFO] [1746050793.649105435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050793.674167870] [sailbot.mux]: controller_app rudder angle: 1 +[mux-7] [INFO] [1746050793.745303031] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050793.746005856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050793.746963704] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050793.748172832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050793.749255407] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050793.835381093] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050793.837282976] [sailbot.teensy]: Wind angle: 227 +[trim_sail-4] [INFO] [1746050793.837835821] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050793.838228901] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050793.839137453] [sailbot.teensy]: Actual tail angle: 1 +[mux-7] [INFO] [1746050793.839274924] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050793.840008432] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050793.844394308] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050793.844853020] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050793.845723603] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050793.846626663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050793.847690324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050793.945439754] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050793.945992438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050793.947162335] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050793.948148972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050793.950054483] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050794.003215655] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946926 Long: -76.50332743 +[vectornav-1] [INFO] [1746050794.004649797] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.69000000000005, -0.784, 1.32) +[mux-7] [INFO] [1746050794.045618362] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050794.046272521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050794.047362055] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050794.048778939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050794.049944517] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050794.085452651] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050794.087320932] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050794.088244796] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050794.088327217] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050794.089229524] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050794.089489072] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050794.090425727] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050794.145185040] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050794.146010003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050794.146691814] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050794.148120303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050794.149296689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050794.245239354] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050794.246220419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050794.246786448] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050794.248289558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050794.248854835] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050794.335512891] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050794.337801351] [sailbot.teensy]: Wind angle: 250 +[trim_sail-4] [INFO] [1746050794.338136281] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050794.338789695] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050794.339165844] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050794.340074992] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050794.341017036] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050794.344740580] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050794.345152946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050794.346085523] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050794.346900314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050794.347978013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050794.445375314] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050794.446121661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050794.446879015] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050794.448559016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050794.449311441] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050794.501563487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946876 Long: -76.50332894 +[vectornav-1] [INFO] [1746050794.502281977] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.86400000000003, 0.228, -1.395) +[mux-7] [INFO] [1746050794.543640805] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050794.544083395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050794.544317051] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050794.545557566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050794.546029730] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050794.585646187] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050794.587494793] [sailbot.teensy]: Wind angle: 260 +[trim_sail-4] [INFO] [1746050794.587981251] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050794.588594969] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050794.588899613] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050794.589312612] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050794.589698297] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050794.645197887] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050794.646000021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050794.646818519] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050794.649032243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050794.650202095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050794.676542147] [sailbot.mux]: controller_app rudder angle: 3 +[mux-7] [INFO] [1746050794.745453323] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050794.746283373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050794.747156374] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050794.748285592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050794.748784876] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050794.835233731] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050794.836939132] [sailbot.teensy]: Wind angle: 260 +[trim_sail-4] [INFO] [1746050794.837541282] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050794.837889325] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050794.838810171] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050794.839291101] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050794.839400354] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050794.844467459] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050794.845018389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050794.845846744] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050794.846723375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050794.847744912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050794.945650826] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050794.946461529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050794.947397218] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050794.948904251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050794.949413850] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050795.003063190] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946744 Long: -76.50333036 +[vectornav-1] [INFO] [1746050795.004525077] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (203.663, -0.748, -5.685) +[mux-7] [INFO] [1746050795.045014527] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050795.045664758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050795.046348055] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050795.047504521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050795.048543793] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050795.085137366] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050795.087275253] [sailbot.teensy]: Wind angle: 259 +[trim_sail-4] [INFO] [1746050795.087587481] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050795.088228674] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050795.088236184] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050795.089163353] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050795.090063575] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050795.145258545] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050795.146117125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050795.146828515] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050795.148744665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050795.149931149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050795.245111341] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050795.245748050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050795.246861063] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050795.247679134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050795.248774662] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050795.335325532] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050795.337069887] [sailbot.teensy]: Wind angle: 260 +[teensy-2] [INFO] [1746050795.338013899] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050795.337566122] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050795.338930639] [sailbot.teensy]: Actual tail angle: 28 +[mux-7] [INFO] [1746050795.339344898] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050795.339781924] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050795.344319108] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050795.344892073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050795.345496421] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050795.346575427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050795.347817249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050795.445657135] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050795.446127131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050795.447577630] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050795.448779511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050795.449333537] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050795.503211318] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946617 Long: -76.50333256 +[vectornav-1] [INFO] [1746050795.504963681] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (206.86900000000003, -0.633, -4.74) +[mux-7] [INFO] [1746050795.545133389] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050795.545815512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050795.546644404] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050795.547761898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050795.548824407] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050795.585221474] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050795.586915029] [sailbot.teensy]: Wind angle: 260 +[trim_sail-4] [INFO] [1746050795.587483125] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050795.587835035] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050795.588684906] [sailbot.teensy]: Actual tail angle: 28 +[mux-7] [INFO] [1746050795.589053669] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050795.589496190] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050795.644794082] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050795.645382108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050795.645977403] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050795.647234726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050795.648263714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050795.686645900] [sailbot.mux]: controller_app rudder angle: 4 +[mux-7] [INFO] [1746050795.744894730] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050795.745760498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050795.746568893] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050795.747656634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050795.748185339] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050795.835241605] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050795.837570382] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050795.838602430] [sailbot.teensy]: Wind angle: 262 +[mux-7] [INFO] [1746050795.838602102] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050795.839601357] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050795.840520740] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050795.841467536] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050795.844358639] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050795.844894664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050795.845855311] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050795.846633260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050795.847850248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050795.945386390] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050795.946213586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050795.946976713] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050795.948570219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050795.949770362] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050796.003442236] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946545 Long: -76.50333585 +[vectornav-1] [INFO] [1746050796.005645659] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (206.33500000000004, -0.641, -2.168) +[mux-7] [INFO] [1746050796.045462565] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050796.046218052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050796.047060629] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050796.048535380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050796.049583017] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050796.085446500] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050796.087575266] [sailbot.teensy]: Wind angle: 265 +[trim_sail-4] [INFO] [1746050796.087792447] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050796.088537904] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050796.088954785] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050796.089447422] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050796.090361873] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050796.145121753] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050796.146024727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050796.146570176] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050796.148081184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050796.149171141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050796.245003154] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050796.245746345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050796.246925119] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050796.247633902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050796.248162847] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050796.335300501] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050796.337247128] [sailbot.teensy]: Wind angle: 265 +[trim_sail-4] [INFO] [1746050796.338025615] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050796.338275094] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050796.339216190] [sailbot.teensy]: Actual tail angle: 29 +[mux-7] [INFO] [1746050796.339395501] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050796.340245292] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050796.344427024] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050796.344985949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050796.345530434] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050796.346781569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050796.347908391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050796.445397784] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050796.446336611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050796.446934803] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050796.448766295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050796.450007995] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050796.502467061] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946435 Long: -76.50333867 +[vectornav-1] [INFO] [1746050796.503474933] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (204.409, 0.445, -2.349) +[mux-7] [INFO] [1746050796.544843494] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050796.545556454] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050796.546226358] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050796.547526663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050796.548680444] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050796.585411121] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050796.587299351] [sailbot.teensy]: Wind angle: 265 +[trim_sail-4] [INFO] [1746050796.587841729] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050796.588309426] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050796.589235609] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050796.590111094] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050796.590271939] [sailbot.mux]: algo sail angle: 30 +[mux-7] [INFO] [1746050796.645030720] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050796.645758754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050796.646441461] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050796.647761900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050796.648859850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050796.675779165] [sailbot.mux]: controller_app rudder angle: 3 +[mux-7] [INFO] [1746050796.745220791] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050796.746045594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050796.746770260] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050796.747921971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050796.748466961] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050796.835213510] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050796.836807367] [sailbot.teensy]: Wind angle: 264 +[trim_sail-4] [INFO] [1746050796.837326987] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050796.837736459] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050796.838664171] [sailbot.teensy]: Actual tail angle: 29 +[mux-7] [INFO] [1746050796.839424402] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050796.839554161] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050796.844405445] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050796.845086136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050796.845553945] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050796.846853019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050796.848000689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050796.945276099] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050796.946205138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050796.947145492] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050796.947957210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050796.948455179] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050797.003173738] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694628 Long: -76.50334122 +[vectornav-1] [INFO] [1746050797.004491357] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (202.32899999999995, -3.149, -1.838) +[mux-7] [INFO] [1746050797.045167200] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050797.045920293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050797.046597663] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050797.047954136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050797.049090303] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050797.085377636] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050797.087579836] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050797.088008308] [sailbot.teensy]: Wind angle: 259 +[mux-7] [INFO] [1746050797.088985435] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050797.089357531] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050797.090407072] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050797.091247958] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050797.145273449] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050797.146156911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050797.146902839] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050797.148377235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050797.149433450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050797.245207369] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050797.246837628] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050797.247035619] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050797.249555985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050797.250450264] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050797.335632800] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050797.338836025] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050797.338848208] [sailbot.teensy]: Wind angle: 258 +[mux-7] [INFO] [1746050797.339821503] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050797.340376275] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050797.341329373] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050797.342220836] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050797.344331233] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050797.345007997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050797.345432772] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050797.346802659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050797.347920058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050797.445357634] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050797.446044468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050797.447210920] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050797.448397556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050797.449989603] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050797.503626602] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946189 Long: -76.50334553 +[vectornav-1] [INFO] [1746050797.505132305] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (199.02800000000002, 3.26, -1.985) +[mux-7] [INFO] [1746050797.544865616] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050797.545631551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050797.546022593] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050797.547408649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050797.548600698] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050797.585599807] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050797.587918821] [sailbot.teensy]: Wind angle: 258 +[teensy-2] [INFO] [1746050797.588961427] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050797.589024596] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050797.589516873] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050797.589848871] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746050797.590734947] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050797.645252763] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050797.646022185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050797.646837354] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746050797.648233555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 +[teensy-2] [INFO] [1746050797.649611922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050797.650538068] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746050797.745532438] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050797.746256215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050797.747164986] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050797.748939847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050797.750211921] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050797.835366884] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050797.837143317] [sailbot.teensy]: Wind angle: 257 +[trim_sail-4] [INFO] [1746050797.837968778] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050797.838058421] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050797.838930564] [sailbot.teensy]: Actual tail angle: 28 +[mux-7] [INFO] [1746050797.839082226] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050797.839780974] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050797.844363890] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050797.844874599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050797.845503537] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050797.846603656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050797.847631730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050797.945290615] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050797.946051680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050797.946832230] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050797.948225034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050797.948838491] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050798.003485851] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946051 Long: -76.50334883 +[vectornav-1] [INFO] [1746050798.004939552] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (197.22000000000003, -2.29, -4.344) +[mux-7] [INFO] [1746050798.045302432] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050798.046098595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050798.046882398] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050798.048303537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050798.049490177] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050798.085451039] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050798.087920796] [sailbot.teensy]: Wind angle: 254 +[trim_sail-4] [INFO] [1746050798.088036460] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050798.088908726] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050798.089328306] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050798.089802283] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050798.090771989] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050798.145007272] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050798.145643370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050798.146286056] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050798.147593163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050798.148610962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050798.245454895] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050798.246419754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050798.247201334] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050798.247958718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050798.248503086] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050798.335107001] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050798.337301932] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050798.337774897] [sailbot.teensy]: Wind angle: 251 +[mux-7] [INFO] [1746050798.338470318] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050798.338718030] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050798.339659093] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050798.340666070] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050798.344329945] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050798.344879827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050798.345446441] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050798.346589494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050798.347620006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050798.444954944] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050798.445636505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050798.446348518] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050798.447467111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050798.448576737] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050798.502666265] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945938 Long: -76.50335216 +[vectornav-1] [INFO] [1746050798.503773337] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.52800000000002, 0.865, -4.091) +[mux-7] [INFO] [1746050798.545243157] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050798.546108923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050798.546796223] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050798.548413748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050798.548969002] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050798.585377941] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050798.587457756] [sailbot.teensy]: Wind angle: 251 +[trim_sail-4] [INFO] [1746050798.587568659] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050798.588398034] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050798.589258999] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050798.588928650] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050798.590118666] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050798.644829563] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050798.645303267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050798.646076252] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050798.647166195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050798.648293220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050798.745226219] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050798.745946592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050798.746928158] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050798.747931700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050798.749014774] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050798.835252333] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050798.836931984] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050798.837455788] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050798.837865242] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050798.838787892] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050798.839224274] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050798.839667323] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050798.844505230] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050798.844970813] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050798.845790737] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050798.846869225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050798.847857742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050798.945469286] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050798.946007786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050798.947210017] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050798.948192249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050798.949430649] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050799.003367388] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945897 Long: -76.50335646 +[vectornav-1] [INFO] [1746050799.005077519] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.26599999999996, -0.833, -2.984) +[mux-7] [INFO] [1746050799.045376531] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050799.046050690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050799.047058912] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050799.048673045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050799.049841676] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050799.085732329] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050799.088420535] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050799.089367667] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050799.089631335] [sailbot.teensy]: Wind angle: 243 +[teensy-2] [INFO] [1746050799.090593293] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050799.091466270] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050799.092343768] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050799.144980944] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050799.145726410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050799.146264131] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050799.147563619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050799.148614193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050799.245060772] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050799.245704034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050799.246349138] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050799.247591558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050799.248161585] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050799.335503638] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050799.338029736] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050799.338698451] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050799.338820572] [sailbot.teensy]: Wind angle: 246 +[teensy-2] [INFO] [1746050799.339207419] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050799.339781101] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050799.340658307] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050799.344422961] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050799.344862308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050799.346440511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050799.347037392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050799.348262196] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050799.445372264] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050799.446049427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050799.446921157] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050799.448581033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050799.449217446] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050799.503046400] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945804 Long: -76.50335993 +[vectornav-1] [INFO] [1746050799.504612224] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.91599999999994, 1.424, -4.856) +[mux-7] [INFO] [1746050799.544966733] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050799.545761696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050799.546613882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050799.547708948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050799.548868739] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050799.585264162] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050799.587228359] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050799.587643967] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050799.588269481] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050799.588983939] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050799.589214170] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050799.590213583] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050799.645149173] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050799.646129961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050799.646623789] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050799.648630195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050799.649862234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050799.744953931] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050799.745674687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050799.746537525] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050799.747631557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050799.748914872] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050799.835119831] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050799.836815176] [sailbot.teensy]: Wind angle: 242 +[trim_sail-4] [INFO] [1746050799.837238766] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050799.837780707] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050799.838628389] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050799.838651937] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050799.839552081] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050799.844454045] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050799.845158213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050799.845981335] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050799.846881655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050799.848082757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050799.945227032] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050799.946145931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050799.946769814] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050799.947868219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050799.948418132] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050800.003259242] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945717 Long: -76.50336355 +[vectornav-1] [INFO] [1746050800.004787902] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.31600000000003, -1.674, -6.21) +[mux-7] [INFO] [1746050800.045314959] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050800.046178293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050800.047282498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050800.048844134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050800.049950288] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050800.085414607] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050800.087786476] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050800.088372660] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050800.088540617] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746050800.089518274] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050800.090371976] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050800.091278388] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050800.145070445] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050800.146034869] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050800.146523721] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050800.148032771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050800.149182927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050800.245677226] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050800.246599207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050800.247349290] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050800.248388664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050800.248849973] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050800.335256905] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050800.337223492] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746050800.337690937] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050800.338512943] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050800.339163488] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050800.339567343] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050800.339901052] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050800.344386175] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050800.344853052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050800.345550295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050800.346539997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050800.347592853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050800.445597902] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050800.446355009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050800.447214748] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050800.448210886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050800.448729773] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050800.502474448] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945706 Long: -76.50336787 +[vectornav-1] [INFO] [1746050800.503826117] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.27999999999997, 2.886, -4.274) +[mux-7] [INFO] [1746050800.545120688] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050800.545884560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050800.546569292] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050800.547898252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050800.549105763] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050800.585162340] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050800.587122337] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050800.587897329] [sailbot.teensy]: Wind angle: 236 +[mux-7] [INFO] [1746050800.588114257] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050800.589212772] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050800.590144825] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050800.591001609] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050800.645272132] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050800.645816188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050800.646766581] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050800.647813517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050800.648411401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050800.745368758] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050800.746363299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050800.746932621] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050800.748233345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050800.748797724] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050800.835220713] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050800.837725790] [sailbot.teensy]: Wind angle: 244 +[mux-7] [INFO] [1746050800.838023372] [sailbot.mux]: algo sail angle: 15 +[trim_sail-4] [INFO] [1746050800.838311948] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050800.838816194] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050800.839764058] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050800.840621148] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050800.844343863] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050800.844802013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050800.845765765] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050800.846452628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050800.847591934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050800.945624081] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050800.946501949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050800.947396648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050800.949086488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050800.949855375] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050801.002742266] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945675 Long: -76.50337128 +[vectornav-1] [INFO] [1746050801.003969380] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.30500000000006, -3.227, -4.02) +[mux-7] [INFO] [1746050801.045135584] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050801.045997082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050801.046583018] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050801.048563007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050801.049602412] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050801.085075783] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050801.086570588] [sailbot.teensy]: Wind angle: 242 +[trim_sail-4] [INFO] [1746050801.087052153] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050801.087425517] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050801.088307997] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050801.088389751] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050801.089165526] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050801.145162914] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050801.145913350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050801.146719985] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050801.148084111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050801.149266562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050801.245439389] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050801.246260446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050801.247142205] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050801.248554656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050801.249111538] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050801.335522658] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050801.337657956] [sailbot.teensy]: Wind angle: 241 +[teensy-2] [INFO] [1746050801.338716123] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050801.338836546] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050801.339277976] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050801.339430092] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050801.339672915] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050801.344548452] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050801.345181744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050801.345863674] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050801.346975086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050801.348139941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050801.445510311] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050801.445996204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050801.447264559] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050801.448238653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050801.449501985] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050801.503353885] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945737 Long: -76.50337537 +[vectornav-1] [INFO] [1746050801.504608269] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.731, -0.851, -0.841) +[mux-7] [INFO] [1746050801.545146269] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050801.545819569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050801.546697451] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050801.547672319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050801.549737244] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050801.585364962] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050801.587357562] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050801.587953363] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050801.589229225] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050801.589712687] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050801.590680059] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050801.591497309] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050801.645200415] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050801.645792871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050801.646786607] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050801.647995050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050801.648782023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050801.745516170] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050801.746106455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050801.747815866] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050801.748428572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050801.749536456] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050801.835224329] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050801.836965744] [sailbot.teensy]: Wind angle: 237 +[trim_sail-4] [INFO] [1746050801.837430654] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050801.837952099] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050801.838915426] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050801.839134585] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050801.839824955] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050801.844670051] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050801.845116744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050801.845805023] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050801.846838525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050801.848005830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050801.945257236] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050801.946055132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050801.947095380] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050801.948274506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050801.949420359] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050802.003339460] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945769 Long: -76.50337954 +[vectornav-1] [INFO] [1746050802.005048503] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.635, 1.76, -0.807) +[mux-7] [INFO] [1746050802.045140049] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050802.045862159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050802.046538330] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050802.047749170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050802.048951735] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050802.085381694] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050802.087493410] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050802.088475015] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050802.087890630] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050802.088433211] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050802.089392414] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050802.090305627] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050802.145237156] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050802.146015013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050802.146765319] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050802.148233886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050802.149455183] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050802.245513066] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050802.246076430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050802.247250007] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050802.248579467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050802.249173538] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050802.335388162] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050802.337605370] [sailbot.teensy]: Wind angle: 226 +[trim_sail-4] [INFO] [1746050802.337888055] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050802.338944769] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050802.339000514] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050802.339902253] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050802.340768415] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050802.344493262] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050802.345138177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050802.345625133] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050802.346845508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050802.348003871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050802.445266488] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050802.446150810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050802.446879823] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050802.448391420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050802.449442551] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050802.503148432] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945812 Long: -76.50338326 +[vectornav-1] [INFO] [1746050802.504853517] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.40300000000002, -4.044, -1.424) +[mux-7] [INFO] [1746050802.545327757] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050802.546223239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050802.548070180] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050802.548588116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050802.549804399] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050802.585255653] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050802.587263020] [sailbot.teensy]: Wind angle: 226 +[trim_sail-4] [INFO] [1746050802.587601101] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050802.588119103] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050802.588781966] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050802.589066699] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050802.589916994] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050802.645310702] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050802.645814331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050802.646931037] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050802.648286056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050802.649432229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050802.745637626] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050802.746527396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050802.747309112] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050802.748968934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050802.749624235] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050802.835524003] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050802.838171001] [sailbot.teensy]: Wind angle: 226 +[trim_sail-4] [INFO] [1746050802.838717637] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050802.838866668] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050802.839163463] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050802.840057840] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050802.840955513] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050802.844253181] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050802.844873960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050802.845590491] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050802.846644241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050802.847853040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050802.945382764] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050802.946180122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050802.946954312] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050802.948899259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050802.949909852] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050803.002940578] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945906 Long: -76.50338722 +[vectornav-1] [INFO] [1746050803.004485024] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.937, 5.383, -1.578) +[mux-7] [INFO] [1746050803.045242274] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050803.046229075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050803.046849312] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050803.048520869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050803.049713905] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050803.085473430] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050803.087795714] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746050803.088226355] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050803.088769647] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050803.089175060] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050803.089713186] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050803.090998736] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050803.145143687] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050803.146107682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050803.146610095] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050803.148254559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050803.148791666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050803.245269992] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050803.246059670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050803.246949449] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050803.248182439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050803.248746625] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050803.335313528] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050803.337825704] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050803.338501579] [sailbot.teensy]: Wind angle: 230 +[mux-7] [INFO] [1746050803.338564234] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050803.339485224] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050803.340379567] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050803.341211046] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050803.344336233] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050803.344847886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050803.345348247] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050803.346381061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050803.347316228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050803.445515629] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050803.446305135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050803.447373003] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050803.448344691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050803.448897169] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050803.503169402] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945943 Long: -76.5033897 +[vectornav-1] [INFO] [1746050803.505355974] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (155.34000000000003, -2.529, -0.957) +[mux-7] [INFO] [1746050803.545230331] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050803.546134492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050803.547137084] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050803.548090004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050803.549286608] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050803.585368429] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050803.587367487] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050803.587694479] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050803.588115588] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050803.588767707] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050803.589758185] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050803.590614819] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050803.645013909] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050803.645748797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050803.646834775] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050803.647623023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050803.648907337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050803.745150266] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050803.746252849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050803.747188930] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050803.748286394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050803.748831285] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050803.835200251] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050803.837160258] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050803.837422280] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050803.838108413] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050803.838874333] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050803.839002715] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050803.839878883] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050803.844314719] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050803.845067132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050803.845486081] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050803.846903267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050803.847984209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050803.945547969] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050803.946374217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050803.947618959] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050803.948976709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050803.950137105] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050804.003322485] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946054 Long: -76.50339232 +[vectornav-1] [INFO] [1746050804.004792640] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (150.238, -0.981, 2.332) +[mux-7] [INFO] [1746050804.045403090] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050804.046056575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050804.047296708] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050804.048378848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050804.049609719] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050804.085546223] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050804.087419724] [sailbot.teensy]: Wind angle: 229 +[teensy-2] [INFO] [1746050804.088443541] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050804.088297356] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050804.089326283] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050804.089993304] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050804.090206933] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050804.145313157] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050804.146056963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050804.146855791] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050804.148348183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050804.148883605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050804.245747075] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050804.246349931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050804.247531293] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050804.249070505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050804.250350125] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050804.335320077] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050804.337308014] [sailbot.teensy]: Wind angle: 217 +[trim_sail-4] [INFO] [1746050804.339001524] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050804.339012848] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050804.339708974] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050804.339797721] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050804.340103144] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050804.344812516] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050804.345298152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050804.346015379] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050804.347036355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050804.348065805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050804.445741100] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050804.446494273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050804.447630553] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050804.449377819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050804.451306062] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050804.503517242] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946191 Long: -76.50339508 +[vectornav-1] [INFO] [1746050804.505394707] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (146.95499999999998, 2.011, 2.456) +[mux-7] [INFO] [1746050804.545148358] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050804.546112700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050804.546618893] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050804.548427374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050804.549499856] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050804.585150004] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050804.586825495] [sailbot.teensy]: Wind angle: 212 +[teensy-2] [INFO] [1746050804.587689696] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050804.587391565] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050804.587993165] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050804.588563394] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050804.589400677] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050804.644858855] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050804.645537337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050804.646104489] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050804.647421637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050804.648490719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050804.745551250] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050804.746122451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050804.747428099] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050804.749040826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050804.749931222] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050804.835358443] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050804.837287708] [sailbot.teensy]: Wind angle: 218 +[teensy-2] [INFO] [1746050804.838245839] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050804.838617358] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050804.839109137] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050804.839133238] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050804.840045371] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050804.844691995] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050804.845220796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050804.845843152] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050804.846893997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050804.848016527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050804.945389272] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050804.945918297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050804.947096786] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050804.948239588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050804.949388459] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050805.003100392] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946263 Long: -76.50339686 +[vectornav-1] [INFO] [1746050805.005087762] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (142.988, 0.182, 3.351) +[mux-7] [INFO] [1746050805.045169312] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050805.045930993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050805.046599359] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050805.048057260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050805.049242016] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050805.085380335] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050805.087936752] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050805.088670828] [sailbot.teensy]: Wind angle: 217 +[mux-7] [INFO] [1746050805.088997984] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050805.089670821] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050805.090584528] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050805.091404255] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050805.144942233] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050805.145583568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050805.146236316] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050805.147389224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050805.148555059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050805.245005875] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050805.245667044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050805.246434963] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050805.247756190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050805.248302699] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050805.335382288] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050805.337381644] [sailbot.teensy]: Wind angle: 215 +[trim_sail-4] [INFO] [1746050805.337813035] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050805.338351194] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050805.339257553] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050805.340112774] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050805.340148651] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050805.344568027] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050805.345031275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050805.345674950] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050805.346796391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050805.347842745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050805.445483588] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050805.446233475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050805.447215696] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050805.448655458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050805.449116918] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050805.503161113] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946341 Long: -76.50339868 +[vectornav-1] [INFO] [1746050805.505107208] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (141.29200000000003, -1.473, 2.683) +[mux-7] [INFO] [1746050805.545156459] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050805.545906142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050805.546962184] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050805.547953613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050805.549088927] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050805.585227069] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050805.586959038] [sailbot.teensy]: Wind angle: 218 +[trim_sail-4] [INFO] [1746050805.587617736] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050805.587847532] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050805.588648802] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050805.588719665] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050805.589595754] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050805.645163191] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050805.645950838] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050805.646631138] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050805.648119744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050805.648947341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050805.745457405] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050805.746186005] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050805.747054570] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050805.748980252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050805.750175189] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050805.835055492] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050805.836943178] [sailbot.teensy]: Wind angle: 218 +[teensy-2] [INFO] [1746050805.837921957] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050805.838202121] [sailbot.mux]: algo sail angle: 0 +[trim_sail-4] [INFO] [1746050805.839241865] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050805.839547895] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050805.839996208] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050805.844557452] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050805.844917243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050805.845724368] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050805.846581651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050805.847619350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050805.945286347] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050805.945890496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050805.946975480] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050805.948239550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050805.949341678] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050806.003566839] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946433 Long: -76.50340042 +[vectornav-1] [INFO] [1746050806.004897521] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (140.64100000000002, 2.234, 3.295) +[mux-7] [INFO] [1746050806.044835222] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050806.045313702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050806.046170792] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050806.047066172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050806.048234905] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050806.085312993] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050806.087469554] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050806.088754211] [sailbot.teensy]: Wind angle: 209 +[mux-7] [INFO] [1746050806.089257260] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050806.089754383] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050806.090684397] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050806.091548790] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050806.145049202] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050806.145806130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050806.146422141] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050806.147789149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050806.148992986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050806.245026766] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050806.245770346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050806.246365214] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050806.247799674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050806.248869647] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050806.335331848] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050806.337162122] [sailbot.teensy]: Wind angle: 208 +[trim_sail-4] [INFO] [1746050806.337626832] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050806.338119580] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050806.339028781] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050806.339387558] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050806.339623858] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050806.344540869] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050806.345223849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050806.345702788] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050806.346919031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050806.347950928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050806.445612855] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050806.446356650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050806.447186750] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050806.448404347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050806.448961770] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050806.503604608] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946451 Long: -76.50340135 +[vectornav-1] [INFO] [1746050806.505313028] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (140.899, -2.551, 2.753) +[mux-7] [INFO] [1746050806.545250348] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050806.546017700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050806.546851117] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050806.548188864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050806.549357396] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050806.585523134] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050806.587869530] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050806.588236000] [sailbot.teensy]: Wind angle: 211 +[teensy-2] [INFO] [1746050806.589229366] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050806.590174782] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050806.590289531] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050806.591080378] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050806.645210787] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050806.646001512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050806.648026130] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050806.648205303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050806.649374609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050806.744999540] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050806.745744124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050806.746281490] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050806.747567054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050806.748451153] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050806.835243277] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050806.837444501] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050806.837728660] [sailbot.teensy]: Wind angle: 211 +[mux-7] [INFO] [1746050806.837985023] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050806.838658102] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050806.839537172] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050806.840404216] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050806.844445998] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050806.844909645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050806.845638487] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050806.846577698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050806.847611679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050806.945411004] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050806.945979139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050806.946964661] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050806.948364116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050806.949512533] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050807.003513068] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694652 Long: -76.50340243 +[vectornav-1] [INFO] [1746050807.005028739] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (140.39100000000002, 1.319, 3.746) +[mux-7] [INFO] [1746050807.044872569] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050807.045374928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050807.046071593] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050807.047522361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050807.048664965] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050807.085109903] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050807.086819053] [sailbot.teensy]: Wind angle: 214 +[trim_sail-4] [INFO] [1746050807.087174804] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050807.087856247] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050807.088565861] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050807.088901979] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050807.089973846] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050807.145086752] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050807.145706591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050807.146485958] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050807.147643104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050807.148833401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050807.245301533] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050807.245999767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050807.246760308] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050807.248062876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050807.249268116] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050807.335298883] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050807.337551357] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050807.337710555] [sailbot.teensy]: Wind angle: 218 +[teensy-2] [INFO] [1746050807.338621314] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050807.338800018] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050807.339629319] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050807.340556268] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050807.344264232] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050807.344949174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050807.345478807] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050807.346757901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050807.347787173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050807.445473041] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050807.446244215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050807.447135241] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050807.448659919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050807.449101375] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050807.503492755] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946567 Long: -76.50340335 +[vectornav-1] [INFO] [1746050807.505165947] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (138.901, -0.483, 1.57) +[mux-7] [INFO] [1746050807.545408997] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050807.546305731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050807.546858821] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050807.548547940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050807.549677208] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050807.585819978] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050807.588584626] [sailbot.teensy]: Wind angle: 217 +[trim_sail-4] [INFO] [1746050807.589264061] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050807.589613496] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050807.590589867] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050807.589953533] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050807.591541543] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050807.645156071] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050807.646115097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050807.646645438] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050807.648327262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050807.649383943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050807.745446424] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050807.746178805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050807.747077786] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050807.748542131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050807.749093854] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050807.835368609] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050807.838253907] [sailbot.teensy]: Wind angle: 218 +[teensy-2] [INFO] [1746050807.838974429] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050807.838302231] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050807.838505988] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050807.839372691] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050807.839744111] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050807.844451270] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050807.845001543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050807.845588975] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050807.846779866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050807.847808918] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050807.945289932] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050807.946332330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050807.946771054] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050807.948453860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050807.949579861] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050808.003386265] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946579 Long: -76.50340397 +[vectornav-1] [INFO] [1746050808.005359895] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (137.29200000000003, 0.712, 4.215) +[mux-7] [INFO] [1746050808.045024678] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050808.045785971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050808.046623971] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050808.048025889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050808.049167118] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050808.085258092] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050808.086981811] [sailbot.teensy]: Wind angle: 218 +[teensy-2] [INFO] [1746050808.087956103] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050808.088140816] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050808.088877398] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050808.088974455] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050808.089842403] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050808.145024581] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050808.145794035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050808.146415445] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050808.147886561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050808.149082707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050808.245395439] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050808.246359684] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050808.246957389] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050808.248802548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050808.249789347] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050808.335191098] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050808.337640108] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050808.338045903] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050808.338941056] [sailbot.teensy]: Wind angle: 217 +[teensy-2] [INFO] [1746050808.339860473] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050808.340745797] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050808.341709049] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050808.344421179] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050808.344940511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050808.345513693] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050808.346729744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050808.347735187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050808.445137051] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050808.445980627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050808.446660711] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050808.447857724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050808.448319957] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050808.503291517] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946612 Long: -76.50340441 +[vectornav-1] [INFO] [1746050808.504775040] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (136.36900000000003, -2.866, 4.208) +[mux-7] [INFO] [1746050808.545226654] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050808.545878559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050808.546581280] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050808.547819521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050808.548857127] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050808.585301998] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050808.586975732] [sailbot.teensy]: Wind angle: 212 +[trim_sail-4] [INFO] [1746050808.587789346] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050808.588872189] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050808.589732357] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050808.590688415] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050808.591565131] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050808.645067749] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050808.645829080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050808.646451528] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050808.647909932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050808.648985490] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050808.745175518] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050808.746670956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050808.746678935] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050808.748017422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050808.748504268] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050808.835212658] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050808.837685263] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050808.837716801] [sailbot.teensy]: Wind angle: 213 +[teensy-2] [INFO] [1746050808.838724799] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050808.838923872] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050808.839700643] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050808.840657313] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050808.844378220] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050808.844975452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050808.845486477] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050808.846680585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050808.847799801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050808.945338254] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050808.946098160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050808.947211970] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050808.948467564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050808.949685613] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050809.002940677] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946629 Long: -76.50340524 +[vectornav-1] [INFO] [1746050809.004286133] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (135.755, 3.826, 4.036) +[mux-7] [INFO] [1746050809.045660609] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050809.046816535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050809.047300803] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050809.049062937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050809.050136620] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050809.085459366] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050809.087868780] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050809.087902297] [sailbot.teensy]: Wind angle: 213 +[teensy-2] [INFO] [1746050809.088877799] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050809.089047571] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050809.089831069] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050809.090745429] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050809.145363261] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050809.145962994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050809.146965666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050809.148177924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050809.150477928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050809.245134651] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050809.245799603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050809.246810950] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050809.247778779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050809.248838249] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050809.335259782] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050809.337818752] [sailbot.teensy]: Wind angle: 213 +[trim_sail-4] [INFO] [1746050809.338007997] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050809.338534046] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050809.338930640] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050809.339573459] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050809.339947404] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050809.344353833] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050809.345032057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050809.345605572] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050809.346796970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050809.347962083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050809.445542971] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050809.446318702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050809.447026179] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050809.447998573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050809.448576713] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050809.502854270] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946602 Long: -76.50340533 +[vectornav-1] [INFO] [1746050809.504084229] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (135.627, -2.489, 2.869) +[mux-7] [INFO] [1746050809.544892262] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050809.545466556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050809.546104444] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050809.548001095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050809.549045526] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050809.585316830] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050809.587164141] [sailbot.teensy]: Wind angle: 212 +[teensy-2] [INFO] [1746050809.588085290] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050809.588111443] [sailbot.mux]: algo sail angle: 0 +[trim_sail-4] [INFO] [1746050809.588125268] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050809.589020273] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050809.589886874] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050809.645192044] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050809.646160162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050809.646726289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050809.648708750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050809.649763266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050809.745484926] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050809.746391142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050809.747090695] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050809.749038186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050809.750240485] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050809.835343520] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050809.838028225] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050809.839288327] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050809.839706323] [sailbot.teensy]: Wind angle: 211 +[teensy-2] [INFO] [1746050809.840122437] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050809.840518133] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050809.840881158] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050809.844761121] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050809.845169654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050809.846056743] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050809.847010441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050809.848042525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050809.945279834] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050809.945845863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050809.947034029] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050809.947951058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050809.948848502] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050810.003424096] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946577 Long: -76.50340559 +[vectornav-1] [INFO] [1746050810.005033397] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (134.55599999999998, -2.245, 4.561) +[mux-7] [INFO] [1746050810.045249764] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050810.045802153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050810.046831527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050810.048059132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050810.049290076] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050810.085412316] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050810.087393642] [sailbot.teensy]: Wind angle: 211 +[trim_sail-4] [INFO] [1746050810.088102772] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050810.088396365] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050810.089191133] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050810.089301610] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050810.090194836] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050810.145302086] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050810.145934342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050810.147043699] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050810.148439030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050810.148950050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050810.245274445] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050810.246145063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050810.247156375] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050810.248286015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050810.248835597] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050810.335130426] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050810.336743354] [sailbot.teensy]: Wind angle: 207 +[trim_sail-4] [INFO] [1746050810.337220914] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050810.337634301] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050810.338562924] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050810.339226525] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050810.339412325] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050810.344400816] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050810.344888993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050810.345635297] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050810.346579658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050810.347641815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050810.445657370] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050810.446217906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050810.448205540] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050810.448670800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050810.449933170] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050810.503560899] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946596 Long: -76.50340617 +[vectornav-1] [INFO] [1746050810.505066994] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (135.027, 5.087, 2.567) +[mux-7] [INFO] [1746050810.545141617] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050810.545829561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050810.546622961] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050810.547789539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050810.548952922] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050810.585406641] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050810.587469091] [sailbot.teensy]: Wind angle: 210 +[teensy-2] [INFO] [1746050810.588436795] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050810.588255595] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050810.589471439] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050810.590091780] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050810.590346373] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050810.645244666] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050810.645753972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050810.646719218] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050810.647759502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050810.649125181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050810.745040198] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050810.745786442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050810.746446766] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050810.747830665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050810.748495130] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050810.835228412] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050810.836942664] [sailbot.teensy]: Wind angle: 210 +[teensy-2] [INFO] [1746050810.838252063] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050810.838669190] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050810.838726264] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050810.838850119] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050810.839245895] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050810.844699860] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050810.845170854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050810.845899858] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050810.846901384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050810.847971704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050810.945056960] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050810.945758349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050810.946473427] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050810.947745567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050810.948897525] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050811.002865236] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946531 Long: -76.50340563 +[vectornav-1] [INFO] [1746050811.003987534] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (135.618, -1.631, 4.284) +[mux-7] [INFO] [1746050811.044924915] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050811.045661622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050811.046326233] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050811.047563824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050811.048635634] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050811.085421977] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050811.087319961] [sailbot.teensy]: Wind angle: 210 +[teensy-2] [INFO] [1746050811.088416727] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050811.088478902] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050811.089407280] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050811.089999474] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050811.090321189] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050811.145566000] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050811.146373658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050811.147058997] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050811.148687595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050811.149785059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050811.245286536] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050811.246111643] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050811.247972388] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050811.248319016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050811.249422242] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050811.335318779] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050811.337319533] [sailbot.teensy]: Wind angle: 212 +[trim_sail-4] [INFO] [1746050811.337685980] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050811.338257191] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050811.338932293] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050811.339185853] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050811.340080514] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050811.344499669] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050811.344991834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050811.345686222] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050811.346777608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050811.347947969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050811.445493945] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050811.446419813] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050811.447165304] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050811.448826980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050811.450103989] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050811.502782249] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946484 Long: -76.50340541 +[vectornav-1] [INFO] [1746050811.504729724] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (135.128, -5.571, 4.419) +[mux-7] [INFO] [1746050811.545469943] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050811.546173292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050811.547212590] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050811.548522072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050811.549653064] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050811.585291634] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050811.587492550] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050811.587987808] [sailbot.teensy]: Wind angle: 210 +[mux-7] [INFO] [1746050811.588478457] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050811.589097504] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050811.590028151] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050811.590905997] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050811.644790445] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050811.645271705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050811.645960574] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050811.647284340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050811.648355056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050811.698087738] [sailbot.mux]: controller_app rudder angle: -9 +[mux-7] [INFO] [1746050811.744947269] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050811.745776671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050811.746374544] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050811.747703147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050811.748204375] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050811.835229666] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050811.837102718] [sailbot.teensy]: Wind angle: 207 +[trim_sail-4] [INFO] [1746050811.837740823] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050811.838111457] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050811.839142792] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050811.840306725] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050811.840926985] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050811.844493682] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050811.845136656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050811.845762520] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050811.847140492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050811.848295401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050811.945265760] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050811.945985973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050811.946801684] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050811.947744204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050811.948303421] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050812.003573249] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694652 Long: -76.50340587 +[vectornav-1] [INFO] [1746050812.005157970] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (136.07299999999998, 8.266, 2.646) +[mux-7] [INFO] [1746050812.045023910] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050812.045833214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050812.046562131] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050812.047729150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050812.048773207] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050812.085477380] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050812.087854472] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050812.088900622] [sailbot.teensy]: Wind angle: 207 +[teensy-2] [INFO] [1746050812.089871816] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050812.090092517] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050812.090738191] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050812.091651962] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050812.145024217] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050812.145691233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050812.146454848] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050812.147911109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050812.148965150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050812.244900142] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050812.245617081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050812.246472737] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050812.247458720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050812.248567163] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050812.335176500] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050812.336995692] [sailbot.teensy]: Wind angle: 207 +[trim_sail-4] [INFO] [1746050812.337479885] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050812.339294257] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050812.339304576] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050812.340385163] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050812.341322252] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050812.344445302] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050812.345079956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050812.345832189] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050812.346756813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050812.347819361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050812.445305886] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050812.446568494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050812.446836044] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050812.448603171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050812.449138278] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050812.503429778] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946398 Long: -76.50340536 +[vectornav-1] [INFO] [1746050812.505768122] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (135.925, -4.322, 3.49) +[mux-7] [INFO] [1746050812.545374685] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050812.546013792] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050812.546995210] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050812.547888276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050812.548395545] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050812.585396594] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050812.587385429] [sailbot.teensy]: Wind angle: 207 +[trim_sail-4] [INFO] [1746050812.587780166] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050812.588341785] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050812.589545054] [sailbot.teensy]: Actual tail angle: 16 +[mux-7] [INFO] [1746050812.590061649] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050812.590428745] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050812.645122139] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050812.645761250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050812.646376945] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050812.647594875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050812.648680760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050812.745512329] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050812.746441181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050812.747418344] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050812.748140934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050812.748674088] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050812.835503658] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050812.837905978] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050812.838278390] [sailbot.teensy]: Wind angle: 202 +[mux-7] [INFO] [1746050812.838835524] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050812.838989844] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050812.839447492] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050812.839787695] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050812.844698018] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050812.845173514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050812.845883070] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050812.846950772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050812.847982820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050812.945253162] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050812.946057136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050812.946775528] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050812.948200048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050812.948698037] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050813.003068765] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946345 Long: -76.5034048 +[vectornav-1] [INFO] [1746050813.004609369] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (134.392, -0.344, 3.545) +[mux-7] [INFO] [1746050813.045532318] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050813.046236063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050813.047181424] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050813.048741847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050813.049866918] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050813.085291164] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050813.087676383] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050813.088003583] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050813.088447012] [sailbot.teensy]: Wind angle: 203 +[teensy-2] [INFO] [1746050813.089396754] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050813.090231675] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050813.091075547] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050813.145268896] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050813.145972987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050813.146810108] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050813.148119059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050813.149296877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050813.245192677] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050813.245978921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050813.247083511] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050813.248251997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050813.249446009] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050813.335236759] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050813.337055680] [sailbot.teensy]: Wind angle: 205 +[trim_sail-4] [INFO] [1746050813.337550736] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050813.337999635] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050813.338918732] [sailbot.teensy]: Actual tail angle: 16 +[mux-7] [INFO] [1746050813.339447052] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050813.339854642] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050813.344431112] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050813.345107835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050813.345594677] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050813.346930703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050813.348060647] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050813.445529662] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050813.446498902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050813.447125813] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050813.448434395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050813.448911127] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050813.503489147] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946299 Long: -76.5034046 +[vectornav-1] [INFO] [1746050813.504942161] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (133.211, -2.159, 4.872) +[mux-7] [INFO] [1746050813.544964286] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050813.545623823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050813.546226657] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050813.547448117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050813.548478182] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050813.585322650] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050813.587780775] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050813.587967717] [sailbot.teensy]: Wind angle: 204 +[mux-7] [INFO] [1746050813.588675019] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050813.589200841] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050813.590140863] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050813.591026532] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050813.645221674] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050813.646087834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050813.646909747] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050813.648391700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 +[teensy-2] [INFO] [1746050813.649662038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050813.697107232] [sailbot.mux]: controller_app rudder angle: -12 +[mux-7] [INFO] [1746050813.745056036] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050813.745903697] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050813.746716074] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050813.748147865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050813.748790799] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050813.835235161] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050813.837520446] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050813.838559388] [sailbot.teensy]: Wind angle: 204 +[teensy-2] [INFO] [1746050813.839037588] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050813.839367715] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050813.839448439] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050813.839849770] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050813.844461755] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050813.845239336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050813.845559980] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050813.847071262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050813.848087444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050813.945522340] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050813.946521890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050813.947457784] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050813.948710091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050813.949221515] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050814.003563722] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946259 Long: -76.50340468 +[vectornav-1] [INFO] [1746050814.005227602] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (131.34500000000003, 4.548, 3.647) +[mux-7] [INFO] [1746050814.045289134] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050814.046062043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050814.046854493] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050814.048314480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050814.049463328] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050814.085616560] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050814.087890538] [sailbot.teensy]: Wind angle: 203 +[trim_sail-4] [INFO] [1746050814.088653257] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050814.089922390] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050814.090377579] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050814.091273432] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050814.092111609] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050814.145283321] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050814.146188885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050814.146798996] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050814.148677411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050814.149216258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050814.245057930] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050814.245698712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050814.246518332] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050814.247658191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050814.248565818] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050814.335178754] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050814.336921121] [sailbot.teensy]: Wind angle: 203 +[mux-7] [INFO] [1746050814.338130375] [sailbot.mux]: algo sail angle: 0 +[trim_sail-4] [INFO] [1746050814.338468442] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050814.338644795] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050814.339604252] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050814.340568585] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050814.344645053] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050814.345021102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050814.345774958] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050814.346729591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050814.347786057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050814.445493880] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050814.446194293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050814.447399346] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050814.448370958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050814.448958586] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050814.503449138] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946168 Long: -76.50340384 +[vectornav-1] [INFO] [1746050814.505221786] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (129.661, -0.951, 4.545) +[mux-7] [INFO] [1746050814.545349292] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050814.546065129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050814.546901795] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050814.548615734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050814.549726297] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050814.585177551] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050814.587460317] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050814.588001565] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050814.588363202] [sailbot.teensy]: Wind angle: 203 +[teensy-2] [INFO] [1746050814.589293792] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050814.590127113] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050814.590967200] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050814.645247165] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050814.646110371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050814.646777154] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746050814.648044562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 +[teensy-2] [INFO] [1746050814.648548678] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050814.733456976] [sailbot.mux]: controller_app rudder angle: -14 +[mux-7] [INFO] [1746050814.744602384] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050814.745171809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050814.745809604] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050814.746928871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050814.748076635] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050814.835086556] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050814.837254282] [sailbot.teensy]: Wind angle: 200 +[trim_sail-4] [INFO] [1746050814.837254756] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050814.838489373] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050814.839125861] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050814.840065952] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746050814.840566751] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050814.844541527] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050814.845025570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050814.845861792] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050814.846738115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050814.847770293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050814.945276791] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050814.945961594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050814.946817502] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050814.948430123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050814.949090320] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050815.002949132] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946061 Long: -76.50340262 +[vectornav-1] [INFO] [1746050815.005414094] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (125.61200000000002, -0.526, 5.071) +[mux-7] [INFO] [1746050815.045298881] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050815.046050113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050815.046803480] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050815.047948803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050815.048897979] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050815.085458522] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050815.087946614] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050815.088193796] [sailbot.teensy]: Wind angle: 198 +[teensy-2] [INFO] [1746050815.089360284] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050815.089363916] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050815.090327440] [sailbot.teensy]: Actual tail angle: 11 +[teensy-2] [INFO] [1746050815.091191295] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050815.145388307] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050815.146048892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050815.147027030] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050815.148263721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050815.149622649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050815.245063714] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050815.245645477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050815.246484987] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050815.247741763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050815.248888771] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050815.335697163] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050815.338339767] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050815.338866324] [sailbot.teensy]: Wind angle: 195 +[teensy-2] [INFO] [1746050815.339833785] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050815.339864397] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050815.340757726] [sailbot.teensy]: Actual tail angle: 11 +[teensy-2] [INFO] [1746050815.341623898] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050815.344339983] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050815.344829984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050815.345491996] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050815.346555679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050815.347593219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050815.445617446] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050815.446553795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050815.448122503] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050815.448940845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050815.449522918] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050815.503799313] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945974 Long: -76.503402 +[vectornav-1] [INFO] [1746050815.505731980] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (121.11500000000001, -2.156, 3.486) +[mux-7] [INFO] [1746050815.544828213] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050815.545460825] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050815.546028507] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050815.547208644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050815.548444467] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050815.585559389] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050815.587536576] [sailbot.teensy]: Wind angle: 193 +[teensy-2] [INFO] [1746050815.588594041] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050815.588246534] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050815.589472874] [sailbot.teensy]: Actual tail angle: 11 +[mux-7] [INFO] [1746050815.589918838] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050815.590377968] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050815.645315626] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050815.646216137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050815.646866626] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050815.648432310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 +[teensy-2] [INFO] [1746050815.649605606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050815.700060324] [sailbot.mux]: controller_app rudder angle: -15 +[mux-7] [INFO] [1746050815.745664278] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050815.746478119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050815.747360518] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050815.749480779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050815.750704343] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050815.835112989] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050815.837338097] [sailbot.teensy]: Wind angle: 187 +[trim_sail-4] [INFO] [1746050815.838374608] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050815.838867149] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050815.841028352] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050815.841977604] [sailbot.teensy]: Actual tail angle: 11 +[teensy-2] [INFO] [1746050815.842968929] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050815.846308623] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050815.846326808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050815.848647487] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050815.848905826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050815.849979996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050815.945455066] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050815.946500951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050815.947083199] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050815.948936560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050815.950081950] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050816.003754078] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945913 Long: -76.50340186 +[vectornav-1] [INFO] [1746050816.005772578] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (116.29000000000002, 5.038, 5.143) +[mux-7] [INFO] [1746050816.045361466] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050816.046352980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050816.046906382] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050816.048774526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050816.049769532] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050816.085463221] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050816.087766587] [sailbot.teensy]: Wind angle: 187 +[trim_sail-4] [INFO] [1746050816.087875913] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050816.088802507] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050816.089603228] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050816.089706098] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050816.090649975] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050816.144948228] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050816.145980046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050816.146367313] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050816.147897972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050816.148951450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050816.245428547] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050816.246440992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050816.247111058] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050816.248924911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050816.250073094] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050816.335386516] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050816.337390812] [sailbot.teensy]: Wind angle: 181 +[trim_sail-4] [INFO] [1746050816.338153031] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050816.338431780] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050816.339306840] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050816.339378749] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050816.340322174] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050816.344481784] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050816.345195838] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050816.345585260] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050816.346884434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050816.348014436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050816.445363993] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050816.446243150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050816.447337751] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050816.447837650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050816.448409192] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050816.502798622] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945788 Long: -76.50340085 +[vectornav-1] [INFO] [1746050816.504349530] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (107.851, -4.245, 5.394) +[mux-7] [INFO] [1746050816.545357787] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050816.546042403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050816.546905165] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050816.548400334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050816.549621624] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050816.585431283] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050816.587493241] [sailbot.teensy]: Wind angle: 172 +[teensy-2] [INFO] [1746050816.588481678] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050816.589370674] [sailbot.teensy]: Actual tail angle: 10 +[trim_sail-4] [INFO] [1746050816.588612115] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050816.589294446] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050816.590246214] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050816.645122691] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050816.646014002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050816.646581575] [sailbot.mux]: Published rudder angle from controller_app: -15 +[teensy-2] [INFO] [1746050816.648049928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746050816.649086099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050816.698343779] [sailbot.mux]: controller_app rudder angle: -19 +[mux-7] [INFO] [1746050816.745431604] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050816.746476054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050816.747124141] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050816.749085841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050816.749644963] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050816.835319748] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050816.837740973] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050816.838261808] [sailbot.teensy]: Wind angle: 167 +[mux-7] [INFO] [1746050816.838983337] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050816.839665256] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050816.840735970] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050816.841580928] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050816.844376522] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050816.844839348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050816.845465993] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050816.846530361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050816.847624397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050816.945686612] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050816.946463501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050816.947446011] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050816.948958780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050816.950192240] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050817.003611164] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945694 Long: -76.50340074 +[vectornav-1] [INFO] [1746050817.005642585] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (101.78699999999998, 1.359, 4.234) +[mux-7] [INFO] [1746050817.044963872] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050817.045467232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050817.046185616] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050817.047266766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050817.048428910] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050817.085226125] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050817.086946679] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746050817.087505746] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050817.087887668] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050817.088829727] [sailbot.teensy]: Actual tail angle: 6 +[mux-7] [INFO] [1746050817.089367594] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050817.089688221] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050817.145263646] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050817.146154571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050817.146798547] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050817.147832746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050817.148320661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050817.245674604] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050817.246490636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050817.247436219] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050817.249301470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050817.249811717] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050817.335017348] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050817.337055006] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746050817.337264468] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050817.338149042] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050817.338509486] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050817.339050549] [sailbot.teensy]: Actual tail angle: 6 +[teensy-2] [INFO] [1746050817.339415160] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050817.344406168] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050817.344939301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050817.345761898] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050817.346697649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050817.347735177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050817.445208200] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050817.446171620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050817.446829033] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050817.447746862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050817.448333402] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050817.503405632] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945596 Long: -76.50340075 +[vectornav-1] [INFO] [1746050817.504566171] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (91.53500000000003, -0.997, 5.869) +[mux-7] [INFO] [1746050817.545115825] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050817.545885431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050817.546574609] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050817.547803812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050817.548855231] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050817.585453298] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050817.588243251] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050817.588377685] [sailbot.teensy]: Wind angle: 154 +[mux-7] [INFO] [1746050817.588619475] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050817.589319490] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050817.590266355] [sailbot.teensy]: Actual tail angle: 6 +[teensy-2] [INFO] [1746050817.591113006] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050817.645098953] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050817.645756007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050817.646910971] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050817.647772640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050817.648338897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050817.744953684] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050817.745676651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050817.746268378] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050817.747491764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050817.747975145] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050817.835136042] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050817.837677573] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050817.838872996] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050817.840348471] [sailbot.teensy]: Wind angle: 151 +[teensy-2] [INFO] [1746050817.841339517] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050817.841732194] [sailbot.teensy]: Actual tail angle: 6 +[teensy-2] [INFO] [1746050817.842147376] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050817.844774223] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050817.845299677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050817.846011333] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050817.847209285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050817.848405027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050817.945676097] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050817.946696316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050817.947561160] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050817.949125823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050817.950347494] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050818.003102719] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945545 Long: -76.50340021 +[vectornav-1] [INFO] [1746050818.004468779] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (81.322, -1.005, 6.472) +[mux-7] [INFO] [1746050818.045326252] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050818.046034778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050818.046898160] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050818.048267693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050818.049546278] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050818.085863561] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050818.088182602] [sailbot.teensy]: Wind angle: 150 +[teensy-2] [INFO] [1746050818.089305228] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050818.090258854] [sailbot.teensy]: Actual tail angle: 6 +[trim_sail-4] [INFO] [1746050818.089770948] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050818.090654129] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050818.091131134] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050818.145244212] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050818.146407945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050818.146821026] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050818.148798771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050818.149961741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050818.245388352] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050818.246407233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050818.246952216] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050818.248986867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050818.249984448] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050818.335095039] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050818.337055858] [sailbot.teensy]: Wind angle: 145 +[trim_sail-4] [INFO] [1746050818.337098296] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050818.337961856] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050818.338401306] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050818.338872744] [sailbot.teensy]: Actual tail angle: 6 +[teensy-2] [INFO] [1746050818.339749039] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050818.344306749] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050818.345053238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050818.345469904] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050818.346779215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050818.347812190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050818.445813633] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050818.446024603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050818.447485349] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050818.448223269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050818.449215130] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050818.502611266] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945502 Long: -76.50339955 +[vectornav-1] [INFO] [1746050818.503916089] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (69.55900000000003, 0.443, 11.097) +[mux-7] [INFO] [1746050818.545034826] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050818.546209920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050818.546363416] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050818.548251101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050818.549378596] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050818.585528709] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050818.587419746] [sailbot.teensy]: Wind angle: 139 +[teensy-2] [INFO] [1746050818.588379349] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050818.587737101] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050818.589141842] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050818.589259221] [sailbot.teensy]: Actual tail angle: 6 +[teensy-2] [INFO] [1746050818.590147108] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050818.644980238] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050818.645678614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050818.646293619] [sailbot.mux]: Published rudder angle from controller_app: -19 +[teensy-2] [INFO] [1746050818.647472149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 +[teensy-2] [INFO] [1746050818.648003326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050818.709534814] [sailbot.mux]: controller_app rudder angle: -18 +[mux-7] [INFO] [1746050818.745361599] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050818.746211189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050818.747594084] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050818.748527188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -18 +[teensy-2] [INFO] [1746050818.749750735] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050818.835263212] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050818.837352641] [sailbot.teensy]: Wind angle: 133 +[trim_sail-4] [INFO] [1746050818.837823169] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050818.838793545] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050818.839230648] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050818.840087685] [sailbot.teensy]: Actual tail angle: 6 +[teensy-2] [INFO] [1746050818.840982867] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050818.844412454] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050818.845153632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050818.845943695] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050818.847202160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -18 +[teensy-2] [INFO] [1746050818.848254509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050818.945408531] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050818.946230129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050818.947343693] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050818.948610436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -18 +[teensy-2] [INFO] [1746050818.949696946] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050819.002917746] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945448 Long: -76.50339837 +[vectornav-1] [INFO] [1746050819.004859615] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.47500000000002, -0.464, 13.764) +[mux-7] [INFO] [1746050819.044845983] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050819.045361553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050819.046122258] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050819.047277224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -18 +[teensy-2] [INFO] [1746050819.048438498] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050819.085100827] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050819.087279148] [sailbot.teensy]: Wind angle: 128 +[trim_sail-4] [INFO] [1746050819.087435107] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050819.088543483] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050819.088896298] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050819.089444599] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050819.090341575] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050819.145241445] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050819.145657724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050819.146630123] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050819.147631020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -18 +[teensy-2] [INFO] [1746050819.148828934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050819.245094787] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050819.245757417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050819.246469584] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050819.247879343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -18 +[teensy-2] [INFO] [1746050819.248506941] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050819.335229899] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050819.337137112] [sailbot.teensy]: Wind angle: 116 +[trim_sail-4] [INFO] [1746050819.337646183] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050819.338219126] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050819.338944554] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050819.339008369] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050819.339386311] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050819.344487842] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050819.345184028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050819.345856773] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050819.346915142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -18 +[teensy-2] [INFO] [1746050819.348088945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050819.445380039] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050819.446060588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050819.447050786] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050819.448334286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -18 +[teensy-2] [INFO] [1746050819.448884458] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050819.503427578] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945435 Long: -76.50339696 +[vectornav-1] [INFO] [1746050819.505227436] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.158000000000015, -3.849, 15.477) +[mux-7] [INFO] [1746050819.545055270] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050819.545626317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050819.546396186] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050819.547605658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -18 +[teensy-2] [INFO] [1746050819.548799772] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050819.585413171] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050819.587533911] [sailbot.teensy]: Wind angle: 114 +[teensy-2] [INFO] [1746050819.588540890] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746050819.587929849] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050819.589326641] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050819.589398629] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050819.590285279] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050819.645128996] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050819.645718229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050819.646930748] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050819.647646346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -18 +[teensy-2] [INFO] [1746050819.648760094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050819.711966522] [sailbot.mux]: controller_app rudder angle: 1 +[mux-7] [INFO] [1746050819.745280893] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050819.746081650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050819.746839441] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050819.748243158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050819.749295848] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050819.835226671] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050819.837198260] [sailbot.teensy]: Wind angle: 111 +[trim_sail-4] [INFO] [1746050819.837713826] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050819.838173943] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050819.838932671] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050819.839089133] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050819.839542346] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050819.844518785] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050819.845440325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050819.845716142] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050819.847927233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050819.848978884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050819.945026218] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050819.946169964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050819.946362290] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050819.948750341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050819.949319849] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050820.003246807] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945468 Long: -76.50339469 +[vectornav-1] [INFO] [1746050820.004927377] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.69999999999999, 1.519, 15.237) +[mux-7] [INFO] [1746050820.045452603] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050820.046471773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050820.047005092] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050820.047965291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050820.048491396] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050820.085380063] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050820.087909489] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050820.087974385] [sailbot.teensy]: Wind angle: 112 +[teensy-2] [INFO] [1746050820.088966944] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050820.089902941] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050820.090290243] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050820.090802955] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050820.145101341] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050820.145697301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050820.146377124] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050820.147582166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050820.148775053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050820.245261401] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050820.246327594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050820.246831330] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050820.248759825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050820.249963399] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050820.335445099] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050820.338214114] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050820.338213898] [sailbot.teensy]: Wind angle: 111 +[teensy-2] [INFO] [1746050820.339373151] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050820.340277784] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050820.340336066] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050820.341237588] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050820.344480524] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050820.345104371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050820.345730142] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050820.346852765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050820.347915060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050820.445402319] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050820.446250114] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050820.446969648] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050820.448646205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050820.449688546] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050820.503198667] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945542 Long: -76.50339315 +[vectornav-1] [INFO] [1746050820.504828459] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.46300000000002, -1.997, 13.354) +[mux-7] [INFO] [1746050820.545179547] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050820.545242218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050820.546483368] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050820.546955097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050820.548043805] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050820.585396072] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050820.587443361] [sailbot.teensy]: Wind angle: 112 +[trim_sail-4] [INFO] [1746050820.587982824] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050820.588470820] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050820.589735922] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050820.590076991] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050820.590657047] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050820.645042370] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050820.645586934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050820.646413681] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050820.647522247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050820.648720182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050820.745104309] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050820.745822347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050820.746460675] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050820.747703018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050820.748526613] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050820.835253940] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050820.837076222] [sailbot.teensy]: Wind angle: 115 +[trim_sail-4] [INFO] [1746050820.837868145] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050820.837984316] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050820.838399651] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050820.838717137] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050820.839102837] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050820.844635685] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050820.844909905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050820.845823967] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050820.846553495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050820.847801773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050820.945090635] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050820.945666818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050820.946463257] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050820.947579500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050820.948682896] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050821.003163280] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945616 Long: -76.50339121 +[vectornav-1] [INFO] [1746050821.005188182] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.740999999999985, -0.009, 13.136) +[mux-7] [INFO] [1746050821.045798166] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050821.046555579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050821.047810658] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050821.048953335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050821.050244347] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050821.085183939] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050821.087385843] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050821.088354809] [sailbot.teensy]: Wind angle: 115 +[mux-7] [INFO] [1746050821.088705726] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050821.089347887] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050821.090628458] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050821.091496417] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050821.144986335] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050821.145586565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050821.146195173] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050821.147428884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050821.148623761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050821.245005643] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050821.245693156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050821.246464170] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050821.247581613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050821.248112168] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050821.335394757] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050821.338120542] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050821.338128746] [sailbot.teensy]: Wind angle: 115 +[teensy-2] [INFO] [1746050821.338719741] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050821.338751980] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050821.339112018] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050821.339493599] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050821.344320445] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050821.344833777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050821.345485231] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050821.346534249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050821.347584593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050821.445377861] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050821.446237884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050821.446872429] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050821.447940474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050821.448461237] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050821.503518653] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945754 Long: -76.50338914 +[vectornav-1] [INFO] [1746050821.504737167] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.68099999999998, 0.01, 11.491) +[mux-7] [INFO] [1746050821.545047541] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050821.545724448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050821.546527475] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050821.547745101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050821.548834345] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050821.585298500] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050821.587409541] [sailbot.teensy]: Wind angle: 116 +[trim_sail-4] [INFO] [1746050821.587437421] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050821.588738884] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050821.589258618] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050821.589666396] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050821.590544425] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050821.645205216] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050821.646154382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050821.646795203] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050821.648416661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050821.649633808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050821.745367235] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050821.746162054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050821.747055540] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050821.747948494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050821.748446704] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050821.835471187] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050821.837492229] [sailbot.teensy]: Wind angle: 120 +[trim_sail-4] [INFO] [1746050821.838010965] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050821.838536078] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050821.839519548] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050821.839763394] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050821.840473365] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050821.844435320] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050821.845206646] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050821.847186008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[mux-7] [INFO] [1746050821.847687946] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050821.849536451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050821.945406651] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050821.946172219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050821.947068053] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050821.948879056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050821.949964179] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050822.003344972] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945906 Long: -76.50338704 +[vectornav-1] [INFO] [1746050822.004798480] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.403999999999996, -0.453, 12.11) +[mux-7] [INFO] [1746050822.045125011] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050822.045771358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050822.046444869] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050822.047915058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050822.049139552] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050822.085292562] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050822.087068939] [sailbot.teensy]: Wind angle: 131 +[trim_sail-4] [INFO] [1746050822.087473672] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050822.088030239] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050822.088955974] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050822.088970428] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050822.089852987] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050822.145171149] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050822.146188946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050822.146761432] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050822.148254103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050822.149407226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050822.245202722] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050822.246121430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050822.246686615] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050822.248444899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050822.249566102] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050822.335151757] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050822.337217170] [sailbot.teensy]: Wind angle: 133 +[trim_sail-4] [INFO] [1746050822.337345087] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050822.338119856] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050822.338570375] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050822.338998997] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050822.339496009] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050822.344371401] [sailbot.mux]: Published sail angle from controller_app: 0 +[mux-7] [INFO] [1746050822.345554261] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050822.345756737] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050822.347498631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050822.348597881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050822.445731169] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050822.446562928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050822.447518938] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050822.448925121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050822.450071847] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050822.503532029] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946088 Long: -76.50338554 +[vectornav-1] [INFO] [1746050822.504815731] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (62.639999999999986, -1.905, 10.826) +[mux-7] [INFO] [1746050822.545099812] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050822.545907354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050822.546575632] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050822.548445603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050822.549556549] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050822.585624635] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050822.588235683] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050822.589124964] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050822.589186338] [sailbot.teensy]: Wind angle: 133 +[teensy-2] [INFO] [1746050822.590156000] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050822.591035666] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050822.591869140] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050822.644999511] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050822.646009237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050822.646375137] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050822.647941608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050822.649048947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050822.745429131] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050822.746488178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050822.747442190] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050822.748590146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050822.749029478] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050822.835581167] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050822.837615610] [sailbot.teensy]: Wind angle: 131 +[trim_sail-4] [INFO] [1746050822.838098638] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050822.838634515] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050822.839614047] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050822.840133933] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050822.840505429] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050822.844489591] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050822.845277626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050822.845983721] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050822.847260539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050822.848325588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050822.945192442] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050822.945836852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050822.946821244] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050822.947904444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050822.949162325] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050823.003705218] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946328 Long: -76.50338502 +[vectornav-1] [INFO] [1746050823.005470624] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (66.91500000000002, 3.106, 12.684) +[mux-7] [INFO] [1746050823.045155819] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050823.045971056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050823.046897297] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050823.048281035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050823.049336556] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050823.085257564] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050823.087013972] [sailbot.teensy]: Wind angle: 136 +[trim_sail-4] [INFO] [1746050823.087496526] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050823.087980665] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050823.088712361] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050823.088954349] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050823.089868257] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050823.144954921] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050823.145615994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050823.146321537] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050823.147567972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050823.148692260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050823.244913889] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050823.245555945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050823.246240237] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050823.247345454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050823.248533219] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050823.335271924] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050823.337472364] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050823.338106425] [sailbot.teensy]: Wind angle: 140 +[mux-7] [INFO] [1746050823.338727325] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050823.339199635] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050823.340122612] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050823.341018306] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050823.344527036] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050823.345444885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050823.345624991] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050823.347509300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050823.348592759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050823.445525251] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050823.446385990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050823.447095599] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050823.448392907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050823.448945309] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050823.503769763] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946432 Long: -76.50338201 +[vectornav-1] [INFO] [1746050823.505919023] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (69.27600000000001, -3.275, 17.123) +[mux-7] [INFO] [1746050823.545196166] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050823.545948348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050823.546636789] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050823.548043985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050823.549222302] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050823.585642116] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050823.587576008] [sailbot.teensy]: Wind angle: 140 +[trim_sail-4] [INFO] [1746050823.588111599] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050823.588604605] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050823.589531957] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050823.590337209] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050823.590401403] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050823.645568327] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050823.646514247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050823.647241342] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746050823.649212256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 +[teensy-2] [INFO] [1746050823.650383705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050823.700504743] [sailbot.mux]: controller_app rudder angle: 4 +[mux-7] [INFO] [1746050823.745276450] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050823.746049528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050823.746790560] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050823.747989725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050823.748543534] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050823.835213634] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050823.837481854] [sailbot.teensy]: Wind angle: 141 +[trim_sail-4] [INFO] [1746050823.837542378] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050823.838118919] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050823.838620980] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050823.839452664] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050823.839836536] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050823.844370204] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050823.845080256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050823.845767212] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050823.846982987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050823.848384576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050823.945661689] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050823.946681084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050823.947819671] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050823.949468449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050823.950698682] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050824.003272939] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946642 Long: -76.50338181 +[vectornav-1] [INFO] [1746050824.004567050] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (78.35000000000002, -1.008, 15.124) +[mux-7] [INFO] [1746050824.045254719] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050824.046518462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050824.047085441] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050824.048649078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050824.049756051] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050824.085419432] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050824.087816525] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050824.087932167] [sailbot.teensy]: Wind angle: 138 +[mux-7] [INFO] [1746050824.088547528] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050824.089227138] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050824.090125070] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050824.090996094] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050824.145314565] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050824.146078221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050824.146786033] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050824.148416916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050824.149654446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050824.245546276] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050824.246258509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050824.247126786] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050824.247916850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050824.248462945] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050824.335312750] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050824.337299044] [sailbot.teensy]: Wind angle: 133 +[trim_sail-4] [INFO] [1746050824.337735363] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050824.339179942] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050824.339276919] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050824.339600332] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050824.339985407] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050824.344451523] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050824.344948550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050824.345540981] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050824.346622247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050824.347844679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050824.445498442] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050824.446117067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050824.447061224] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050824.448366917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050824.449027602] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050824.503198841] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946928 Long: -76.503382 +[vectornav-1] [INFO] [1746050824.504551446] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (78.59300000000002, 2.826, 8.889) +[mux-7] [INFO] [1746050824.545021116] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050824.545803499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050824.546508926] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050824.547797417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050824.548843781] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050824.584414276] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050824.585745129] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050824.585885861] [sailbot.teensy]: Wind angle: 141 +[teensy-2] [INFO] [1746050824.586341239] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050824.586810197] [sailbot.teensy]: Actual tail angle: 29 +[mux-7] [INFO] [1746050824.587027850] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050824.587231543] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050824.644364069] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050824.645329368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050824.645506399] [sailbot.mux]: Published rudder angle from controller_app: 4 +[teensy-2] [INFO] [1746050824.647005097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 +[teensy-2] [INFO] [1746050824.647998883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050824.708675945] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746050824.744906038] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050824.745818358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050824.746155324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050824.747720860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050824.748468765] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050824.835254565] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050824.837725098] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050824.838253777] [sailbot.teensy]: Wind angle: 151 +[mux-7] [INFO] [1746050824.838695879] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050824.839212585] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050824.840097875] [sailbot.teensy]: Actual tail angle: 29 +[teensy-2] [INFO] [1746050824.840839727] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050824.844517933] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050824.844936370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050824.845996214] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050824.846693979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050824.847838655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050824.945337313] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050824.945891075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050824.947119228] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050824.948080990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050824.948758064] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050825.002762500] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46947104 Long: -76.50338035 +[vectornav-1] [INFO] [1746050825.004194805] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (78.30399999999997, -2.107, 8.721) +[mux-7] [INFO] [1746050825.045342639] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050825.046106089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050825.047182869] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050825.048251268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050825.049454622] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050825.085215412] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050825.086859871] [sailbot.teensy]: Wind angle: 150 +[trim_sail-4] [INFO] [1746050825.087560656] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050825.087890107] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050825.088748786] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050825.088795026] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050825.089669625] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050825.145221995] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050825.145709027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050825.146783598] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050825.147645264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050825.148758848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050825.245335285] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050825.245978996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050825.247144008] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050825.248356478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050825.250394551] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050825.335647308] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050825.337586335] [sailbot.teensy]: Wind angle: 147 +[trim_sail-4] [INFO] [1746050825.338399528] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050825.338590512] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050825.339550263] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050825.340482105] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050825.340836450] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050825.344810267] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050825.345200312] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050825.346132891] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050825.346931216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050825.347986581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050825.445519733] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050825.446677981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050825.447198218] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050825.448953167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050825.450216676] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050825.503035293] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46947339 Long: -76.50337985 +[vectornav-1] [INFO] [1746050825.504365252] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (79.029, -4.027, 5.926) +[mux-7] [INFO] [1746050825.544955011] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050825.545605186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050825.546255901] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050825.547487119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050825.548512625] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050825.585480776] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050825.587454330] [sailbot.teensy]: Wind angle: 143 +[trim_sail-4] [INFO] [1746050825.588286612] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050825.588470851] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050825.589341958] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050825.589420543] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050825.590213484] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050825.645138896] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050825.646140520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050825.646612608] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050825.648291072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050825.649336254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050825.745507228] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050825.746271536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050825.747597176] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050825.747921693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050825.748404102] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050825.835173787] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050825.836869353] [sailbot.teensy]: Wind angle: 140 +[trim_sail-4] [INFO] [1746050825.837562961] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050825.837815410] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050825.838602437] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050825.838709756] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050825.839414370] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050825.844502485] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050825.845103524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050825.845685145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050825.846939781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050825.848464341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050825.945182699] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050825.946024937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050825.946681158] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050825.948199649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050825.949351834] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050826.003023734] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46947528 Long: -76.50337892 +[vectornav-1] [INFO] [1746050826.004891333] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (70.29399999999998, 8.629, 14.221) +[mux-7] [INFO] [1746050826.045105620] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050826.045944014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050826.046403753] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050826.048629899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050826.049762310] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050826.085291884] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050826.087521385] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050826.087969957] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050826.088130366] [sailbot.teensy]: Wind angle: 141 +[teensy-2] [INFO] [1746050826.089232604] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050826.090144533] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050826.091179561] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050826.144713493] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050826.145327982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050826.145875102] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050826.147315835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050826.148347573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050826.245190293] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050826.245997449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050826.246792437] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050826.248299391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050826.249533264] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050826.335383817] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050826.338016517] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050826.338204873] [sailbot.teensy]: Wind angle: 140 +[mux-7] [INFO] [1746050826.339003981] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050826.339120715] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050826.340018238] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050826.340906468] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050826.344482720] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050826.344941495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050826.345705725] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050826.346674011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050826.347827313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050826.445498339] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050826.446375466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050826.447276166] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050826.448259501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050826.448799184] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050826.503530598] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46947603 Long: -76.50337654 +[vectornav-1] [INFO] [1746050826.504863366] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (68.67500000000001, -6.957, 18.843) +[mux-7] [INFO] [1746050826.544805497] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050826.545543224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050826.546457066] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050826.547502584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050826.548565292] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050826.585551565] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050826.588388923] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050826.588719300] [sailbot.teensy]: Wind angle: 140 +[teensy-2] [INFO] [1746050826.589691576] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746050826.590027483] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050826.590554663] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050826.591437905] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050826.644812462] [sailbot.mux]: Published sail angle from controller_app: 0 +[teensy-2] [INFO] [1746050826.645249340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050826.646025463] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050826.646979836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 +[teensy-2] [INFO] [1746050826.648117788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050826.723529109] [sailbot.mux]: controller_app sail angle: 52 +[mux-7] [INFO] [1746050826.745231611] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050826.746036537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050826.746957626] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050826.748203923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 0 +[teensy-2] [INFO] [1746050826.749401054] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050826.835304110] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050826.837006600] [sailbot.teensy]: Wind angle: 138 +[trim_sail-4] [INFO] [1746050826.837698700] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050826.838842080] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050826.838867973] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746050826.839270414] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050826.839646022] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050826.844538392] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050826.845040727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050826.845946097] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050826.846786952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 0 +[teensy-2] [INFO] [1746050826.847839007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050826.945529338] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050826.946404175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050826.947381603] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050826.948806498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 0 +[teensy-2] [INFO] [1746050826.949357859] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050827.003103326] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46947815 Long: -76.50337672 +[vectornav-1] [INFO] [1746050827.004556715] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (71.26800000000003, 1.939, 11.27) +[mux-7] [INFO] [1746050827.044993060] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050827.045765702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050827.046291097] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050827.047697121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 0 +[teensy-2] [INFO] [1746050827.048822584] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050827.085438660] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050827.087629177] [sailbot.teensy]: Wind angle: 137 +[trim_sail-4] [INFO] [1746050827.087715174] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050827.088632501] [sailbot.teensy]: Actual sail angle: 52 +[mux-7] [INFO] [1746050827.089273449] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050827.089531262] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050827.090411828] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050827.145623763] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050827.145757367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050827.147043416] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050827.147671195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 0 +[teensy-2] [INFO] [1746050827.148919560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050827.245050930] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050827.245790134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050827.246479106] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050827.248000267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 0 +[teensy-2] [INFO] [1746050827.248468521] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050827.335266022] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050827.336948450] [sailbot.teensy]: Wind angle: 136 +[trim_sail-4] [INFO] [1746050827.337467238] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050827.337888532] [sailbot.teensy]: Actual sail angle: 52 +[teensy-2] [INFO] [1746050827.338774273] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050827.338765551] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050827.339645216] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050827.344516780] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050827.345098866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050827.345587845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050827.346807911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 0 +[teensy-2] [INFO] [1746050827.347887867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050827.445747533] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050827.446371828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050827.447739136] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050827.448497625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 0 +[teensy-2] [INFO] [1746050827.449892152] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050827.503240652] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46948034 Long: -76.50337624 +[vectornav-1] [INFO] [1746050827.504709493] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (68.22899999999998, 2.376, 6.914) +[mux-7] [INFO] [1746050827.545249964] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050827.546254235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050827.546864334] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050827.548350117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 0 +[teensy-2] [INFO] [1746050827.549504068] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050827.585417999] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050827.587052900] [sailbot.teensy]: Wind angle: 135 +[trim_sail-4] [INFO] [1746050827.587597104] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050827.587970704] [sailbot.teensy]: Actual sail angle: 52 +[teensy-2] [INFO] [1746050827.588900925] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050827.589227882] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050827.589827293] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050827.645208789] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050827.646091952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050827.646692976] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050827.648186426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 0 +[teensy-2] [INFO] [1746050827.649261627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050827.686808922] [sailbot.mux]: controller_app rudder angle: 22 +[mux-7] [INFO] [1746050827.745301514] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050827.746136227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050827.747060542] [sailbot.mux]: Published rudder angle from controller_app: 22 +[teensy-2] [INFO] [1746050827.748348147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 22 +[teensy-2] [INFO] [1746050827.749394360] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050827.835161120] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050827.836887177] [sailbot.teensy]: Wind angle: 135 +[trim_sail-4] [INFO] [1746050827.837422870] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050827.837906712] [sailbot.teensy]: Actual sail angle: 52 +[mux-7] [INFO] [1746050827.838686634] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050827.838837807] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050827.839729837] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050827.844432043] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050827.845089159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050827.845635615] [sailbot.mux]: Published rudder angle from controller_app: 22 +[teensy-2] [INFO] [1746050827.846874946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 22 +[teensy-2] [INFO] [1746050827.847926755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050827.945550660] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050827.946314995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050827.947304812] [sailbot.mux]: Published rudder angle from controller_app: 22 +[teensy-2] [INFO] [1746050827.948700753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 22 +[teensy-2] [INFO] [1746050827.949260512] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050828.002889880] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46948156 Long: -76.50337484 +[vectornav-1] [INFO] [1746050828.004857792] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (65.94900000000001, -5.162, 4.211) +[mux-7] [INFO] [1746050828.045546407] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050828.046350893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050828.047155259] [sailbot.mux]: Published rudder angle from controller_app: 22 +[teensy-2] [INFO] [1746050828.048663683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 22 +[teensy-2] [INFO] [1746050828.049735911] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050828.085357794] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050828.087686822] [sailbot.teensy]: Wind angle: 135 +[trim_sail-4] [INFO] [1746050828.087753933] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050828.088780959] [sailbot.teensy]: Actual sail angle: 52 +[mux-7] [INFO] [1746050828.089290132] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050828.089698205] [sailbot.teensy]: Actual tail angle: 47 +[teensy-2] [INFO] [1746050828.090578344] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050828.145003544] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050828.145718471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050828.146392528] [sailbot.mux]: Published rudder angle from controller_app: 22 +[teensy-2] [INFO] [1746050828.147675514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 22 +[teensy-2] [INFO] [1746050828.148679874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050828.245233853] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050828.246364987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050828.247154322] [sailbot.mux]: Published rudder angle from controller_app: 22 +[teensy-2] [INFO] [1746050828.248791826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 22 +[teensy-2] [INFO] [1746050828.249825967] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050828.335394081] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050828.337331903] [sailbot.teensy]: Wind angle: 133 +[trim_sail-4] [INFO] [1746050828.338018802] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050828.339125945] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050828.339279490] [sailbot.teensy]: Actual sail angle: 52 +[teensy-2] [INFO] [1746050828.339698526] [sailbot.teensy]: Actual tail angle: 47 +[teensy-2] [INFO] [1746050828.340092508] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050828.344399269] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050828.344964065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050828.345745457] [sailbot.mux]: Published rudder angle from controller_app: 22 +[teensy-2] [INFO] [1746050828.346649574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 22 +[teensy-2] [INFO] [1746050828.347673036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050828.445562788] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050828.446230306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050828.447541357] [sailbot.mux]: Published rudder angle from controller_app: 22 +[teensy-2] [INFO] [1746050828.448007871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 22 +[teensy-2] [INFO] [1746050828.448530327] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050828.503911623] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46948379 Long: -76.50337418 +[vectornav-1] [INFO] [1746050828.505802692] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.92099999999999, 3.802, 6.175) +[mux-7] [INFO] [1746050828.545097372] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050828.545824180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050828.546505185] [sailbot.mux]: Published rudder angle from controller_app: 22 +[teensy-2] [INFO] [1746050828.547872004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 22 +[teensy-2] [INFO] [1746050828.548917970] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050828.585494797] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050828.587313880] [sailbot.teensy]: Wind angle: 128 +[trim_sail-4] [INFO] [1746050828.588298361] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050828.588317237] [sailbot.teensy]: Actual sail angle: 52 +[teensy-2] [INFO] [1746050828.589248107] [sailbot.teensy]: Actual tail angle: 47 +[mux-7] [INFO] [1746050828.590140192] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050828.590168077] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050828.645263191] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050828.645836787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050828.646789307] [sailbot.mux]: Published rudder angle from controller_app: 22 +[teensy-2] [INFO] [1746050828.648094826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 22 +[teensy-2] [INFO] [1746050828.649302465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050828.708386874] [sailbot.mux]: controller_app rudder angle: 25 +[mux-7] [INFO] [1746050828.744630506] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050828.745304037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050828.745796256] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050828.747152160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050828.748192015] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050828.835291175] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050828.837980956] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050828.838275188] [sailbot.teensy]: Wind angle: 127 +[teensy-2] [INFO] [1746050828.839227555] [sailbot.teensy]: Actual sail angle: 52 +[mux-7] [INFO] [1746050828.839489060] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050828.840109260] [sailbot.teensy]: Actual tail angle: 47 +[teensy-2] [INFO] [1746050828.840729059] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050828.844411338] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050828.844957627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050828.845635242] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050828.846747611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050828.847758699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050828.945283220] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050828.946011914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050828.947310169] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050828.948227250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050828.949360994] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050829.003328266] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46948479 Long: -76.50337268 +[vectornav-1] [INFO] [1746050829.004910608] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.18799999999999, -1.235, 5.145) +[mux-7] [INFO] [1746050829.044755982] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050829.045552450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050829.045922089] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050829.047318503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050829.048476686] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050829.085501108] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050829.087505266] [sailbot.teensy]: Wind angle: 126 +[teensy-2] [INFO] [1746050829.088530267] [sailbot.teensy]: Actual sail angle: 52 +[trim_sail-4] [INFO] [1746050829.088481915] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050829.089148561] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050829.089432775] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746050829.090349504] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050829.145063347] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050829.145979289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050829.146469338] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050829.147934749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050829.148855320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050829.245254662] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050829.246071677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050829.246822270] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050829.248454671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050829.249647510] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050829.335326987] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050829.337255725] [sailbot.teensy]: Wind angle: 117 +[teensy-2] [INFO] [1746050829.338199525] [sailbot.teensy]: Actual sail angle: 52 +[trim_sail-4] [INFO] [1746050829.337983251] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050829.339053580] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746050829.339300856] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050829.340010122] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050829.344496952] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050829.344931747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050829.345702030] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050829.346666010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050829.347775440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050829.445381634] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050829.446412429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050829.447121303] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050829.448125819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050829.448742650] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050829.503017618] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46948596 Long: -76.50337116 +[vectornav-1] [INFO] [1746050829.504664926] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.55200000000002, -2.144, 6.106) +[mux-7] [INFO] [1746050829.544838779] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050829.545541042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050829.546109645] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050829.547482103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050829.548641419] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050829.585165461] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050829.587068606] [sailbot.teensy]: Wind angle: 110 +[trim_sail-4] [INFO] [1746050829.587690388] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050829.588014225] [sailbot.teensy]: Actual sail angle: 52 +[mux-7] [INFO] [1746050829.588806372] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050829.588941684] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746050829.589824998] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050829.645104519] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050829.646002916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050829.646508970] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050829.647940668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050829.649094485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050829.745325758] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050829.746189180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050829.746940898] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050829.748168138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050829.748682268] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050829.835275950] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050829.837339609] [sailbot.teensy]: Wind angle: 105 +[teensy-2] [INFO] [1746050829.838403601] [sailbot.teensy]: Actual sail angle: 52 +[trim_sail-4] [INFO] [1746050829.837433101] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050829.839142254] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050829.839254199] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746050829.839643103] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050829.844436070] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050829.845263157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050829.845559542] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050829.847042899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050829.848099519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050829.945326492] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050829.946120306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050829.946845225] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050829.948341007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050829.949532142] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050830.003070841] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46948673 Long: -76.50336821 +[vectornav-1] [INFO] [1746050830.004575837] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.524, 0.945, 6.181) +[mux-7] [INFO] [1746050830.045339853] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050830.046136240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050830.046830123] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050830.048335513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050830.049485393] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050830.085280769] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050830.087734321] [sailbot.teensy]: Wind angle: 100 +[trim_sail-4] [INFO] [1746050830.087860893] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050830.087985126] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050830.088720760] [sailbot.teensy]: Actual sail angle: 52 +[teensy-2] [INFO] [1746050830.089603097] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746050830.090429226] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050830.145125673] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050830.146381369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050830.146552526] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050830.148505187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050830.149535484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050830.245071570] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050830.245989513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050830.246490824] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050830.248181013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050830.248713239] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050830.335380012] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050830.337253405] [sailbot.teensy]: Wind angle: 89 +[teensy-2] [INFO] [1746050830.338186635] [sailbot.teensy]: Actual sail angle: 52 +[trim_sail-4] [INFO] [1746050830.338114692] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050830.338412897] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050830.339077254] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746050830.339963093] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050830.344479513] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050830.345245388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050830.345659451] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050830.347225197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050830.348358781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050830.445725637] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050830.446328548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050830.447439502] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050830.447906331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050830.448386494] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050830.503560060] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46948717 Long: -76.50336534 +[vectornav-1] [INFO] [1746050830.505187011] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (7.8840000000000146, -0.75, 5.869) +[mux-7] [INFO] [1746050830.545041612] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050830.545959819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050830.546460093] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050830.547928603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050830.549057874] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050830.585693268] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050830.587389688] [sailbot.teensy]: Wind angle: 82 +[teensy-2] [INFO] [1746050830.588343009] [sailbot.teensy]: Actual sail angle: 52 +[trim_sail-4] [INFO] [1746050830.588485957] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050830.589262269] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746050830.589840633] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050830.590169886] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050830.645041781] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050830.645582156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050830.646369071] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050830.647430619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050830.648614313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050830.745215167] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050830.746055155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050830.746775168] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050830.748201152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050830.749450709] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050830.835231732] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050830.837014400] [sailbot.teensy]: Wind angle: 81 +[teensy-2] [INFO] [1746050830.837957358] [sailbot.teensy]: Actual sail angle: 52 +[mux-7] [INFO] [1746050830.838226309] [sailbot.mux]: algo sail angle: 40 +[trim_sail-4] [INFO] [1746050830.838568919] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050830.838830696] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746050830.839737746] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050830.844624141] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050830.844967384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050830.845915397] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050830.846647830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050830.847684367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050830.945420035] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050830.946263675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050830.947005882] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050830.948574464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050830.949407973] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050831.003472064] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694873 Long: -76.50336197 +[vectornav-1] [INFO] [1746050831.005155923] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (354.677, -2.768, 4.834) +[mux-7] [INFO] [1746050831.045294559] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050831.046548278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050831.046852290] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050831.048669692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050831.049780245] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050831.085175287] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050831.086939630] [sailbot.teensy]: Wind angle: 80 +[trim_sail-4] [INFO] [1746050831.087586741] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050831.088484047] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050831.089570281] [sailbot.teensy]: Actual sail angle: 52 +[teensy-2] [INFO] [1746050831.090515679] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746050831.091340495] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050831.145467336] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050831.146001748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050831.147141768] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050831.148142078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050831.149369637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050831.245589942] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050831.246210317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050831.247239336] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050831.248756668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050831.250652078] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050831.335160788] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050831.337293209] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050831.337901072] [sailbot.teensy]: Wind angle: 79 +[mux-7] [INFO] [1746050831.338365746] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050831.338909791] [sailbot.teensy]: Actual sail angle: 52 +[teensy-2] [INFO] [1746050831.339307665] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746050831.339686074] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050831.344489431] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050831.345018793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050831.345608825] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050831.346936082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050831.347978099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050831.445212410] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050831.446077074] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050831.446771378] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050831.448342995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050831.449717277] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050831.503279934] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694864 Long: -76.50335757 +[vectornav-1] [INFO] [1746050831.504905095] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (339.971, -1.89, 6.466) +[mux-7] [INFO] [1746050831.544830178] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050831.545453723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050831.545993382] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050831.547234814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050831.548250608] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050831.585121739] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050831.586832795] [sailbot.teensy]: Wind angle: 79 +[trim_sail-4] [INFO] [1746050831.587235781] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050831.587714335] [sailbot.teensy]: Actual sail angle: 52 +[mux-7] [INFO] [1746050831.588124050] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050831.588651581] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746050831.589513751] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050831.644775463] [sailbot.mux]: Published sail angle from controller_app: 52 +[teensy-2] [INFO] [1746050831.645543519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050831.646209146] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050831.647349364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 +[teensy-2] [INFO] [1746050831.648648854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050831.711963188] [sailbot.mux]: controller_app sail angle: 74 +[mux-7] [INFO] [1746050831.745176935] [sailbot.mux]: Published sail angle from controller_app: 74 +[teensy-2] [INFO] [1746050831.746044769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050831.746707030] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050831.748339482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:74, rudder: 25 +[teensy-2] [INFO] [1746050831.749540335] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050831.835257172] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050831.837141848] [sailbot.teensy]: Wind angle: 71 +[teensy-2] [INFO] [1746050831.838079427] [sailbot.teensy]: Actual sail angle: 52 +[trim_sail-4] [INFO] [1746050831.837600872] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746050831.838256487] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050831.839336529] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746050831.840237651] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050831.844512779] [sailbot.mux]: Published sail angle from controller_app: 74 +[teensy-2] [INFO] [1746050831.845001558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050831.845734836] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050831.846817814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:74, rudder: 25 +[teensy-2] [INFO] [1746050831.847853870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050831.944847110] [sailbot.mux]: Published sail angle from controller_app: 74 +[teensy-2] [INFO] [1746050831.945647935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050831.946476318] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050831.947606223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:74, rudder: 25 +[teensy-2] [INFO] [1746050831.948083060] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050832.004038617] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46948423 Long: -76.50335318 +[vectornav-1] [INFO] [1746050832.006489868] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (317.18, 2.582, 4.104) +[mux-7] [INFO] [1746050832.044878913] [sailbot.mux]: Published sail angle from controller_app: 74 +[teensy-2] [INFO] [1746050832.045589455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050832.046171187] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050832.047395356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:74, rudder: 25 +[teensy-2] [INFO] [1746050832.048541564] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050832.085280622] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050832.087127276] [sailbot.teensy]: Wind angle: 56 +[trim_sail-4] [INFO] [1746050832.087508295] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050832.088068106] [sailbot.teensy]: Actual sail angle: 74 +[teensy-2] [INFO] [1746050832.089020975] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746050832.089989682] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050832.090500184] [sailbot.mux]: algo sail angle: 55 +[mux-7] [INFO] [1746050832.145713231] [sailbot.mux]: Published sail angle from controller_app: 74 +[teensy-2] [INFO] [1746050832.146230288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050832.148072150] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050832.148658367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:74, rudder: 25 +[teensy-2] [INFO] [1746050832.149865988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050832.245281041] [sailbot.mux]: Published sail angle from controller_app: 74 +[teensy-2] [INFO] [1746050832.245972771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050832.247110971] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050832.247547862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:74, rudder: 25 +[teensy-2] [INFO] [1746050832.248114661] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050832.335161772] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050832.337222405] [sailbot.teensy]: Wind angle: 45 +[trim_sail-4] [INFO] [1746050832.337423200] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746050832.337928881] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050832.338159128] [sailbot.teensy]: Actual sail angle: 74 +[teensy-2] [INFO] [1746050832.339060505] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746050832.339488892] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050832.344625667] [sailbot.mux]: Published sail angle from controller_app: 74 +[teensy-2] [INFO] [1746050832.345149429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050832.345831493] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050832.346869840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:74, rudder: 25 +[teensy-2] [INFO] [1746050832.347922795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050832.445322405] [sailbot.mux]: Published sail angle from controller_app: 74 +[teensy-2] [INFO] [1746050832.446294310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050832.446970584] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050832.448461048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:74, rudder: 25 +[teensy-2] [INFO] [1746050832.449625080] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050832.503135868] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46948214 Long: -76.50335027 +[vectornav-1] [INFO] [1746050832.504548343] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.281, 0.357, 0.55) +[mux-7] [INFO] [1746050832.544995148] [sailbot.mux]: Published sail angle from controller_app: 74 +[teensy-2] [INFO] [1746050832.545791273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050832.546783408] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050832.547619982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:74, rudder: 25 +[teensy-2] [INFO] [1746050832.548753015] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050832.585612404] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050832.587698760] [sailbot.teensy]: Wind angle: 40 +[trim_sail-4] [INFO] [1746050832.588252358] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746050832.588767959] [sailbot.teensy]: Actual sail angle: 74 +[teensy-2] [INFO] [1746050832.589710110] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746050832.589961758] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746050832.590563603] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050832.645491808] [sailbot.mux]: Published sail angle from controller_app: 74 +[teensy-2] [INFO] [1746050832.646202997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050832.647313895] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050832.648236185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:74, rudder: 25 +[teensy-2] [INFO] [1746050832.648801515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050832.701920717] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746050832.703829050] [sailbot.mux]: controller_app sail angle: 75 +[mux-7] [INFO] [1746050832.745515318] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050832.746255197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050832.747125703] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050832.748621922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050832.749286773] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050832.835383167] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050832.837247032] [sailbot.teensy]: Wind angle: 27 +[trim_sail-4] [INFO] [1746050832.838006114] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746050832.838237538] [sailbot.teensy]: Actual sail angle: 74 +[teensy-2] [INFO] [1746050832.838974771] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746050832.839073005] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746050832.839347035] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050832.844500336] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050832.845188674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050832.845870226] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050832.847033850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050832.848052530] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050832.944912001] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050832.945745996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050832.946543805] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050832.947747797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050832.948521433] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050833.002937465] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46947941 Long: -76.50334956 +[vectornav-1] [INFO] [1746050833.004448511] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (269.491, -4.942, -1.526) +[mux-7] [INFO] [1746050833.045300799] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050833.046289646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050833.046838820] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050833.048523948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050833.049704540] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050833.085252640] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050833.087489517] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746050833.087690869] [sailbot.teensy]: Wind angle: 14 +[teensy-2] [INFO] [1746050833.088643205] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050833.088687374] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050833.089560185] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050833.090425073] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050833.145044129] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050833.145598477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050833.146394853] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050833.147481811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050833.148395275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050833.245053517] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050833.245595980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050833.246431148] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050833.247415819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050833.248553082] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050833.335517776] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050833.338306055] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050833.339017580] [sailbot.teensy]: Wind angle: 0 +[mux-7] [INFO] [1746050833.339385574] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050833.339618177] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050833.339992641] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050833.340356212] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050833.344429067] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050833.344983579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050833.345567520] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050833.346825867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050833.347846206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050833.445133234] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050833.445885775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050833.446282692] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050833.446719909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050833.447613556] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050833.503587911] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46947555 Long: -76.50335039 +[vectornav-1] [INFO] [1746050833.505138088] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (248.312, 1.984, -2.404) +[mux-7] [INFO] [1746050833.545570244] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050833.546041847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050833.547151157] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050833.548175911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050833.549376109] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050833.585490824] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050833.587776604] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746050833.588140782] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050833.588793047] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050833.588866491] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050833.589725059] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050833.590600880] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050833.645131523] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050833.646032027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050833.646565882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050833.648032737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050833.649108309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050833.710934560] [sailbot.mux]: controller_app rudder angle: -1 +[mux-7] [INFO] [1746050833.745039175] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050833.745880705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050833.746483366] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050833.748063931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 +[teensy-2] [INFO] [1746050833.748661948] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050833.835514891] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050833.838460691] [sailbot.teensy]: Wind angle: 318 +[teensy-2] [INFO] [1746050833.839419555] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050833.838928536] [sailbot.mux]: algo sail angle: 65 +[trim_sail-4] [INFO] [1746050833.838948833] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050833.840287288] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050833.840651238] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050833.844185359] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050833.844931959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050833.845269378] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050833.846635240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 +[teensy-2] [INFO] [1746050833.847647810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050833.945134511] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050833.946051947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050833.946699750] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050833.947863373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 +[teensy-2] [INFO] [1746050833.948410205] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050834.003531442] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46947274 Long: -76.50335274 +[vectornav-1] [INFO] [1746050834.005872083] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (237.226, -0.856, 1.98) +[mux-7] [INFO] [1746050834.045027265] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050834.045788670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050834.046901916] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050834.047589345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 +[teensy-2] [INFO] [1746050834.048066057] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050834.085205205] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050834.087011207] [sailbot.teensy]: Wind angle: 288 +[trim_sail-4] [INFO] [1746050834.087453973] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050834.087918546] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050834.088226946] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050834.088844536] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050834.089780527] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050834.144988147] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050834.145741443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050834.146240189] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050834.147700927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 +[teensy-2] [INFO] [1746050834.148733202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050834.245242970] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050834.245943894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050834.247203460] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050834.248100948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 +[teensy-2] [INFO] [1746050834.249410429] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050834.335312310] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050834.337091396] [sailbot.teensy]: Wind angle: 278 +[trim_sail-4] [INFO] [1746050834.337665909] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050834.338034867] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050834.338933647] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050834.339108985] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050834.339877801] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050834.344469201] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050834.345117484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050834.345635147] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050834.346879030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 +[teensy-2] [INFO] [1746050834.347912191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050834.445466397] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050834.446201217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050834.447244133] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050834.448571452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 +[teensy-2] [INFO] [1746050834.449845063] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050834.503204466] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46947052 Long: -76.50335549 +[vectornav-1] [INFO] [1746050834.504752878] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (229.53300000000002, -1.642, 3.137) +[mux-7] [INFO] [1746050834.544963495] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050834.545794569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050834.546269259] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050834.547661001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 +[teensy-2] [INFO] [1746050834.548710863] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050834.585319104] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050834.587444960] [sailbot.teensy]: Wind angle: 279 +[trim_sail-4] [INFO] [1746050834.587486319] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050834.588378262] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050834.588657174] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050834.589257738] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050834.590140140] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050834.645114184] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050834.645651881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050834.646880083] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746050834.647502268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 +[teensy-2] [INFO] [1746050834.648741966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050834.719965962] [sailbot.mux]: controller_app rudder angle: -2 +[mux-7] [INFO] [1746050834.745359099] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050834.745976140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050834.746985518] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050834.748142286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -2 +[teensy-2] [INFO] [1746050834.749457253] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050834.835498538] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050834.837615093] [sailbot.teensy]: Wind angle: 280 +[trim_sail-4] [INFO] [1746050834.838243622] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050834.839134298] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050834.839762444] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050834.840134825] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050834.840499388] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050834.844510575] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050834.845475480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050834.845694652] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050834.847307682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -2 +[teensy-2] [INFO] [1746050834.848422202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050834.945295924] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050834.945951504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050834.947052773] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050834.948059911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -2 +[teensy-2] [INFO] [1746050834.949235210] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050835.002974713] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946816 Long: -76.50335803 +[vectornav-1] [INFO] [1746050835.004452504] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (227.139, 0.947, 1.994) +[mux-7] [INFO] [1746050835.045395945] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050835.046129681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050835.047278415] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050835.048486746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -2 +[teensy-2] [INFO] [1746050835.048984573] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050835.085196407] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050835.086948916] [sailbot.teensy]: Wind angle: 278 +[trim_sail-4] [INFO] [1746050835.087385143] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050835.088806893] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050835.089036440] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050835.089982819] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050835.090813042] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050835.145408910] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050835.146161325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050835.146945961] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050835.148783656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -2 +[teensy-2] [INFO] [1746050835.149994229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050835.245545669] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050835.246266160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050835.247204020] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050835.248674595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -2 +[teensy-2] [INFO] [1746050835.249961577] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050835.335387172] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050835.338103718] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050835.338398911] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050835.338600182] [sailbot.teensy]: Wind angle: 274 +[teensy-2] [INFO] [1746050835.339022526] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050835.339428684] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050835.339817235] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050835.344480768] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050835.345269267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050835.345693177] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050835.347129777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -2 +[teensy-2] [INFO] [1746050835.348343937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050835.445527547] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050835.446496265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050835.447298629] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050835.448387239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -2 +[teensy-2] [INFO] [1746050835.448839127] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050835.504108577] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946609 Long: -76.50336074 +[vectornav-1] [INFO] [1746050835.506167390] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (224.90300000000002, -0.474, 0.409) +[mux-7] [INFO] [1746050835.544943392] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050835.545675060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050835.546238911] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050835.547646962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -2 +[teensy-2] [INFO] [1746050835.548448168] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050835.585360964] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050835.587225128] [sailbot.teensy]: Wind angle: 277 +[trim_sail-4] [INFO] [1746050835.588104132] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050835.588218319] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050835.589096120] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050835.589167478] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050835.590026465] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050835.645044280] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050835.646110206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050835.646718078] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050835.648179981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -2 +[teensy-2] [INFO] [1746050835.649316873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050835.709742431] [sailbot.mux]: controller_app rudder angle: -8 +[mux-7] [INFO] [1746050835.745346621] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050835.745994194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050835.746959859] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050835.748628359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746050835.749871704] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050835.835353077] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050835.837311681] [sailbot.teensy]: Wind angle: 289 +[teensy-2] [INFO] [1746050835.838280137] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050835.838108036] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050835.839150244] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050835.839237642] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050835.840029995] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050835.844477893] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050835.845205235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050835.845708549] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050835.846959692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746050835.848108007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050835.945381355] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050835.946301253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050835.947259324] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050835.948578562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746050835.949626098] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050836.003336575] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694643 Long: -76.50336243 +[vectornav-1] [INFO] [1746050836.005270615] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (226.13, -0.592, -1.352) +[mux-7] [INFO] [1746050836.045183239] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050836.045999325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050836.046746394] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050836.048262426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746050836.049338315] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050836.085436586] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050836.088177555] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050836.088263208] [sailbot.teensy]: Wind angle: 286 +[mux-7] [INFO] [1746050836.088903582] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050836.089173253] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050836.090075255] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050836.090902933] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050836.144747711] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050836.145568965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050836.146000319] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050836.147431316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746050836.148462768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050836.245349203] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050836.246105117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050836.246936720] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050836.248423698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746050836.249509117] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050836.335323354] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050836.337990773] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050836.338475612] [sailbot.teensy]: Wind angle: 279 +[mux-7] [INFO] [1746050836.338652566] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050836.339578200] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050836.340468654] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050836.341310549] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050836.344405944] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050836.344848672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050836.345722013] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050836.346510488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746050836.347692975] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050836.445642375] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050836.446743828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050836.447366705] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050836.448577190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746050836.449139607] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050836.503010421] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946277 Long: -76.5033652 +[vectornav-1] [INFO] [1746050836.504456134] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (225.64, -0.608, 1.5) +[mux-7] [INFO] [1746050836.545354420] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050836.546031219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050836.547057264] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050836.548258456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746050836.549530827] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050836.585224471] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050836.587176862] [sailbot.teensy]: Wind angle: 278 +[trim_sail-4] [INFO] [1746050836.587729460] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050836.588132924] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050836.588832184] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050836.589236591] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050836.590110293] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050836.645300485] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050836.646269355] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050836.646871381] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050836.648995220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 +[teensy-2] [INFO] [1746050836.650099788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050836.733832492] [sailbot.mux]: controller_app rudder angle: -10 +[mux-7] [INFO] [1746050836.744802076] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050836.745876940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050836.746197090] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050836.747847580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050836.748469375] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050836.835103568] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050836.837451914] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050836.837516069] [sailbot.teensy]: Wind angle: 278 +[teensy-2] [INFO] [1746050836.838451731] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050836.838684280] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050836.839368914] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050836.840230320] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050836.844299867] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050836.844927673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050836.845403660] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050836.846952459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050836.848010249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050836.945304335] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050836.946030920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050836.947240297] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050836.948425624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050836.949603951] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050837.002915187] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469461 Long: -76.50336739 +[vectornav-1] [INFO] [1746050837.004641595] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (229.65200000000004, 0.844, 2.072) +[mux-7] [INFO] [1746050837.045185702] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050837.045861413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050837.046797828] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050837.047912908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050837.048957409] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050837.085295650] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050837.087506161] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050837.088272718] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050837.088914123] [sailbot.teensy]: Wind angle: 279 +[teensy-2] [INFO] [1746050837.089859156] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050837.090718526] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050837.091557993] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050837.144968464] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050837.145764549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050837.146287911] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050837.147596422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050837.148074519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050837.244795527] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050837.245711259] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050837.246067680] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050837.247514681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050837.248343535] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050837.335380147] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050837.338157433] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050837.338509763] [sailbot.teensy]: Wind angle: 279 +[teensy-2] [INFO] [1746050837.339483093] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050837.340238879] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050837.340419782] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050837.341127763] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050837.344395997] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050837.344978117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050837.345624378] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050837.346723721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050837.347876412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050837.445744107] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050837.446724442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050837.447513233] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050837.449172605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050837.450519350] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050837.504054262] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945953 Long: -76.50336911 +[vectornav-1] [INFO] [1746050837.505892248] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (234.30500000000006, -2.135, 5.068) +[mux-7] [INFO] [1746050837.545396267] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050837.546314847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050837.547210450] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050837.548523864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050837.549747254] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050837.585412990] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050837.587893852] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050837.588054141] [sailbot.teensy]: Wind angle: 281 +[mux-7] [INFO] [1746050837.588745700] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050837.589007388] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050837.589898859] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050837.590878427] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050837.645414596] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050837.646003700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050837.647105453] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050837.648221844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050837.649392156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050837.744972059] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050837.745521691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050837.746217252] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050837.747322357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050837.748485304] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050837.835210593] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050837.837062556] [sailbot.teensy]: Wind angle: 284 +[teensy-2] [INFO] [1746050837.837999841] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050837.837533725] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050837.838962441] [sailbot.teensy]: Actual tail angle: 15 +[mux-7] [INFO] [1746050837.839047950] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050837.839875490] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050837.844574545] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050837.845184912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050837.845901612] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050837.846978623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050837.848108583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050837.945373402] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050837.945953653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050837.947399370] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050837.948179113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050837.949474165] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050838.003865323] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945764 Long: -76.50337136 +[vectornav-1] [INFO] [1746050838.006165782] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (237.69799999999998, -0.327, 0.522) +[mux-7] [INFO] [1746050838.045289549] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050838.045896121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050838.047020056] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050838.047933622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050838.049000401] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050838.085240710] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050838.087033263] [sailbot.teensy]: Wind angle: 289 +[trim_sail-4] [INFO] [1746050838.087539322] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050838.087967329] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050838.088943138] [sailbot.teensy]: Actual tail angle: 15 +[mux-7] [INFO] [1746050838.089424622] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050838.089816769] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050838.145248557] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050838.145761332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050838.146796222] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050838.147833598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050838.148927681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050838.245406703] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050838.245944388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050838.247197501] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050838.248258920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050838.249507631] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050838.335484323] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050838.337628940] [sailbot.teensy]: Wind angle: 289 +[trim_sail-4] [INFO] [1746050838.337991517] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050838.338617145] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050838.339459019] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050838.339519351] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050838.340398656] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050838.344411726] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050838.344913889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050838.345717522] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050838.346658427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050838.347747827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050838.445498856] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050838.446012568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050838.447533617] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050838.448273998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050838.448917385] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050838.504020426] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945481 Long: -76.50337219 +[vectornav-1] [INFO] [1746050838.506414043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (243.46299999999997, 0.45, -0.35) +[mux-7] [INFO] [1746050838.545418194] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050838.546186239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050838.547135669] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050838.548620444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050838.549723333] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050838.585515359] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050838.588294401] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746050838.588977032] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050838.589354132] [sailbot.teensy]: Wind angle: 290 +[teensy-2] [INFO] [1746050838.590636812] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050838.591547551] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050838.592377532] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050838.645380921] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050838.646062857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050838.646943535] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050838.648402208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050838.648922664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050838.744868765] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050838.745525572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050838.746092041] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050838.747350983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050838.748516269] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050838.835396841] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050838.837994202] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050838.838167102] [sailbot.teensy]: Wind angle: 294 +[teensy-2] [INFO] [1746050838.838860272] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050838.838893536] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050838.839251148] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050838.839625586] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050838.844295182] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050838.844840654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050838.845639862] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050838.846617861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050838.847659352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050838.945413112] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050838.946166498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050838.947038091] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050838.948477891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050838.949023455] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050839.003111645] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945241 Long: -76.50337457 +[vectornav-1] [INFO] [1746050839.004525970] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (245.34000000000003, -1.552, 5.884) +[mux-7] [INFO] [1746050839.045333173] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050839.046075854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050839.046806618] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050839.048318192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050839.049033517] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050839.085439052] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050839.087646857] [sailbot.teensy]: Wind angle: 299 +[teensy-2] [INFO] [1746050839.089035271] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050839.088372209] [sailbot.trim_sail]: Sail Angle: "55" +[mux-7] [INFO] [1746050839.089242261] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050839.089994395] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050839.090870160] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050839.145189986] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050839.145935750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050839.146655886] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050839.147974127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050839.149231203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050839.245324424] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050839.246111467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050839.246919638] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050839.248630002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050839.249387119] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050839.335233120] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050839.337229483] [sailbot.teensy]: Wind angle: 300 +[trim_sail-4] [INFO] [1746050839.338063201] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050839.338211490] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050839.339094079] [sailbot.teensy]: Actual tail angle: 15 +[mux-7] [INFO] [1746050839.339370100] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050839.339977623] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050839.344576240] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050839.345172868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050839.345807469] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050839.347024737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050839.348125071] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050839.445577428] [sailbot.mux]: Published sail angle from controller_app: 75 +[mux-7] [INFO] [1746050839.447363186] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050839.447546603] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050839.449582341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050839.450629726] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050839.503071465] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694496 Long: -76.50337725 +[vectornav-1] [INFO] [1746050839.504297282] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (247.68399999999997, -2.457, 5.604) +[mux-7] [INFO] [1746050839.545077899] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050839.545843724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050839.546458964] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050839.547854274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050839.548960438] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050839.585227547] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050839.587187450] [sailbot.teensy]: Wind angle: 300 +[trim_sail-4] [INFO] [1746050839.587572456] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050839.588122288] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050839.589122275] [sailbot.teensy]: Actual tail angle: 15 +[mux-7] [INFO] [1746050839.589517065] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050839.590045806] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050839.644922361] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050839.645522181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050839.646153921] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050839.647463005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 +[teensy-2] [INFO] [1746050839.648547118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050839.723675542] [sailbot.mux]: controller_app rudder angle: -14 +[mux-7] [INFO] [1746050839.745131631] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050839.745968630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050839.746587483] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050839.748072471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 +[teensy-2] [INFO] [1746050839.749152857] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050839.835224561] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050839.837296168] [sailbot.teensy]: Wind angle: 300 +[trim_sail-4] [INFO] [1746050839.837344406] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050839.839094764] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050839.839121961] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050839.839511034] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050839.839889029] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050839.844533125] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050839.844913862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050839.845834620] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050839.846591894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 +[teensy-2] [INFO] [1746050839.847755696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050839.944999997] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050839.945557432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050839.946272473] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050839.947421788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 +[teensy-2] [INFO] [1746050839.948601211] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050840.002916697] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46944575 Long: -76.50337866 +[vectornav-1] [INFO] [1746050840.004841176] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (256.74800000000005, -0.271, 3.665) +[mux-7] [INFO] [1746050840.045245462] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050840.045802889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050840.046747908] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050840.047680292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 +[teensy-2] [INFO] [1746050840.048752846] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050840.085369652] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050840.088146617] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050840.088408310] [sailbot.teensy]: Wind angle: 300 +[teensy-2] [INFO] [1746050840.089351889] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050840.089190076] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050840.090294709] [sailbot.teensy]: Actual tail angle: 11 +[teensy-2] [INFO] [1746050840.091161954] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050840.144990311] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050840.145775914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050840.146320136] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050840.147881187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 +[teensy-2] [INFO] [1746050840.148904009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050840.245319768] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050840.246128591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050840.247368877] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050840.248338865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 +[teensy-2] [INFO] [1746050840.248852234] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050840.335222779] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050840.337494682] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746050840.337949229] [sailbot.teensy]: Wind angle: 305 +[mux-7] [INFO] [1746050840.338564239] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746050840.338914331] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050840.339772391] [sailbot.teensy]: Actual tail angle: 11 +[teensy-2] [INFO] [1746050840.340147089] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050840.344571705] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050840.345045657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050840.345854506] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050840.346770905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 +[teensy-2] [INFO] [1746050840.347873426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050840.445474062] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050840.445991185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050840.447603697] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050840.447793660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 +[teensy-2] [INFO] [1746050840.448371783] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050840.502803563] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46944163 Long: -76.50337935 +[vectornav-1] [INFO] [1746050840.504298301] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (273.108, 2.132, 8.702) +[mux-7] [INFO] [1746050840.545074347] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050840.545969789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050840.546620022] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050840.548106986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 +[teensy-2] [INFO] [1746050840.549346542] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050840.585274236] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050840.587519610] [sailbot.teensy]: Wind angle: 313 +[trim_sail-4] [INFO] [1746050840.587536064] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050840.588458153] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050840.589244753] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050840.589374251] [sailbot.teensy]: Actual tail angle: 11 +[teensy-2] [INFO] [1746050840.590142513] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050840.645005234] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050840.645573398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050840.646458519] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050840.647712446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 +[teensy-2] [INFO] [1746050840.648728945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050840.745221279] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050840.745921521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050840.746849000] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050840.747905583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 +[teensy-2] [INFO] [1746050840.749019429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050840.749061512] [sailbot.mux]: controller_app rudder angle: -14 +[teensy-2] [INFO] [1746050840.835284127] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050840.837301758] [sailbot.teensy]: Wind angle: 316 +[trim_sail-4] [INFO] [1746050840.837565040] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050840.838202137] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050840.838941031] [sailbot.teensy]: Actual tail angle: 11 +[mux-7] [INFO] [1746050840.839314735] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050840.839339095] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050840.844446980] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050840.844945468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050840.845573471] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050840.846626343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 +[teensy-2] [INFO] [1746050840.847827322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050840.945214797] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050840.945795101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050840.946766818] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050840.948041669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 +[teensy-2] [INFO] [1746050840.949294922] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050841.002962391] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943781 Long: -76.50337953 +[vectornav-1] [INFO] [1746050841.005065833] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (291.3, -0.449, 14.337) +[mux-7] [INFO] [1746050841.045221288] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050841.046399787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050841.046887977] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050841.048590515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 +[teensy-2] [INFO] [1746050841.049697755] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050841.085310161] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050841.087792684] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050841.087832258] [sailbot.teensy]: Wind angle: 317 +[mux-7] [INFO] [1746050841.088595555] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050841.088773630] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050841.089658667] [sailbot.teensy]: Actual tail angle: 11 +[teensy-2] [INFO] [1746050841.090501888] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050841.144871749] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050841.145538403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050841.146148288] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050841.147334899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 +[teensy-2] [INFO] [1746050841.148498528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050841.245359291] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050841.246187902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050841.246923825] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050841.248652150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 +[teensy-2] [INFO] [1746050841.249246969] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050841.335494069] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050841.338307683] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746050841.338719760] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746050841.338948087] [sailbot.teensy]: Wind angle: 319 +[teensy-2] [INFO] [1746050841.339913246] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050841.340794445] [sailbot.teensy]: Actual tail angle: 11 +[teensy-2] [INFO] [1746050841.341743594] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050841.344294615] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050841.344821707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050841.345369121] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050841.346536360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 +[teensy-2] [INFO] [1746050841.347588759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050841.445446743] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050841.446351664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050841.447046087] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050841.448036858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 +[teensy-2] [INFO] [1746050841.448574532] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050841.503532746] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943515 Long: -76.50337751 +[vectornav-1] [INFO] [1746050841.505197854] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (314.47, -1.144, 12.815) +[mux-7] [INFO] [1746050841.545251578] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050841.546003618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050841.546679663] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050841.548324494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 +[teensy-2] [INFO] [1746050841.549501689] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050841.585455162] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050841.587978445] [sailbot.teensy]: Wind angle: 323 +[teensy-2] [INFO] [1746050841.588951647] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050841.588103611] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746050841.588366904] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746050841.589820017] [sailbot.teensy]: Actual tail angle: 11 +[teensy-2] [INFO] [1746050841.590647405] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050841.645236993] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050841.645868046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050841.646715817] [sailbot.mux]: Published rudder angle from controller_app: -14 +[teensy-2] [INFO] [1746050841.648374567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 +[teensy-2] [INFO] [1746050841.649516611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050841.734169092] [sailbot.mux]: controller_app rudder angle: 17 +[mux-7] [INFO] [1746050841.745006514] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050841.745857231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050841.746331264] [sailbot.mux]: Published rudder angle from controller_app: 17 +[teensy-2] [INFO] [1746050841.748053179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 17 +[teensy-2] [INFO] [1746050841.748818507] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050841.835138223] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050841.837314556] [sailbot.teensy]: Wind angle: 332 +[teensy-2] [INFO] [1746050841.838239602] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050841.837418946] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746050841.838311101] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746050841.839113825] [sailbot.teensy]: Actual tail angle: 11 +[teensy-2] [INFO] [1746050841.839980819] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050841.844399482] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050841.845013789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050841.845567475] [sailbot.mux]: Published rudder angle from controller_app: 17 +[teensy-2] [INFO] [1746050841.846718228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 17 +[teensy-2] [INFO] [1746050841.847759185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050841.945100950] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050841.945802787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050841.946441040] [sailbot.mux]: Published rudder angle from controller_app: 17 +[teensy-2] [INFO] [1746050841.947694631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 17 +[teensy-2] [INFO] [1746050841.948810231] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050842.002979589] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943316 Long: -76.5033737 +[vectornav-1] [INFO] [1746050842.004560395] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (342.744, -2.961, 14.916) +[mux-7] [INFO] [1746050842.045412288] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050842.046440871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050842.047086276] [sailbot.mux]: Published rudder angle from controller_app: 17 +[teensy-2] [INFO] [1746050842.048722193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 17 +[teensy-2] [INFO] [1746050842.049919849] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050842.085371313] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050842.087309223] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746050842.088028439] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050842.088265616] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050842.089169810] [sailbot.teensy]: Actual tail angle: 42 +[mux-7] [INFO] [1746050842.089912715] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050842.090102777] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050842.145113197] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050842.145923738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050842.146609578] [sailbot.mux]: Published rudder angle from controller_app: 17 +[teensy-2] [INFO] [1746050842.147957664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 17 +[teensy-2] [INFO] [1746050842.149032212] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050842.244994018] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050842.245696692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050842.246253802] [sailbot.mux]: Published rudder angle from controller_app: 17 +[teensy-2] [INFO] [1746050842.247484787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 17 +[teensy-2] [INFO] [1746050842.248023008] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050842.335472401] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050842.337518324] [sailbot.teensy]: Wind angle: 14 +[teensy-2] [INFO] [1746050842.338489831] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050842.338128968] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746050842.338852431] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050842.339355339] [sailbot.teensy]: Actual tail angle: 42 +[teensy-2] [INFO] [1746050842.340203859] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050842.344277612] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050842.344938823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050842.345376583] [sailbot.mux]: Published rudder angle from controller_app: 17 +[teensy-2] [INFO] [1746050842.346684008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 17 +[teensy-2] [INFO] [1746050842.347736139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050842.445154483] [sailbot.mux]: Published sail angle from controller_app: 75 +[mux-7] [INFO] [1746050842.446907588] [sailbot.mux]: Published rudder angle from controller_app: 17 +[teensy-2] [INFO] [1746050842.447004315] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050842.448118762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 17 +[teensy-2] [INFO] [1746050842.448633625] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050842.503779678] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943262 Long: -76.5033681 +[vectornav-1] [INFO] [1746050842.505443856] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (358.141, -1.444, 13.195) +[mux-7] [INFO] [1746050842.544896899] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050842.545526152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050842.546256935] [sailbot.mux]: Published rudder angle from controller_app: 17 +[teensy-2] [INFO] [1746050842.547357852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 17 +[teensy-2] [INFO] [1746050842.548539770] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050842.585260257] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050842.587228574] [sailbot.teensy]: Wind angle: 39 +[teensy-2] [INFO] [1746050842.588147902] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050842.587645656] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746050842.588508898] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746050842.589070413] [sailbot.teensy]: Actual tail angle: 42 +[teensy-2] [INFO] [1746050842.589959800] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050842.644981139] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050842.645769740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050842.646356233] [sailbot.mux]: Published rudder angle from controller_app: 17 +[teensy-2] [INFO] [1746050842.648225825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 17 +[teensy-2] [INFO] [1746050842.649437080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050842.734869772] [sailbot.mux]: controller_app rudder angle: -3 +[mux-7] [INFO] [1746050842.744713683] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050842.745776990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050842.745999495] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050842.747709825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -3 +[teensy-2] [INFO] [1746050842.748867768] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050842.835592546] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050842.837970422] [sailbot.teensy]: Wind angle: 72 +[trim_sail-4] [INFO] [1746050842.838415081] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050842.838959218] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050842.839369305] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050842.839536352] [sailbot.teensy]: Actual tail angle: 42 +[teensy-2] [INFO] [1746050842.839922869] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050842.844615949] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050842.845374026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050842.845909078] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050842.847237114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -3 +[teensy-2] [INFO] [1746050842.848303816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050842.945053714] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050842.945797020] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050842.946412564] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050842.948004779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -3 +[teensy-2] [INFO] [1746050842.949084682] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050843.003421867] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943265 Long: -76.50336138 +[vectornav-1] [INFO] [1746050843.005266092] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (350.955, -0.457, 5.851) +[mux-7] [INFO] [1746050843.044933074] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050843.045661224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050843.046551843] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050843.047555781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -3 +[teensy-2] [INFO] [1746050843.048176827] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050843.085357258] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050843.087500816] [sailbot.teensy]: Wind angle: 90 +[trim_sail-4] [INFO] [1746050843.087855343] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050843.088480626] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050843.089461349] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050843.089510502] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050843.090403898] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050843.145430486] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050843.146207891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050843.147589947] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050843.148464046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -3 +[teensy-2] [INFO] [1746050843.149821217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050843.245034481] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050843.245805999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050843.246399120] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050843.247800845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -3 +[teensy-2] [INFO] [1746050843.248869595] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050843.335226895] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050843.336967709] [sailbot.teensy]: Wind angle: 77 +[teensy-2] [INFO] [1746050843.337919781] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050843.337422978] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050843.338853079] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050843.339537551] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050843.339697037] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050843.344344087] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050843.345027895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050843.345466958] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050843.346870659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -3 +[teensy-2] [INFO] [1746050843.348025053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050843.445357596] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050843.446026445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050843.446927916] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050843.448143456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -3 +[teensy-2] [INFO] [1746050843.449362272] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050843.502926546] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943102 Long: -76.50335483 +[vectornav-1] [INFO] [1746050843.504398639] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (332.402, 1.433, -0.394) +[mux-7] [INFO] [1746050843.545347528] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050843.546176717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050843.546914941] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050843.548468094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -3 +[teensy-2] [INFO] [1746050843.549579061] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050843.585114202] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050843.586898846] [sailbot.teensy]: Wind angle: 61 +[trim_sail-4] [INFO] [1746050843.587214146] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050843.587828376] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050843.588739730] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050843.589344766] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050843.589635831] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050843.645245133] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050843.646019678] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050843.646789703] [sailbot.mux]: Published rudder angle from controller_app: -3 +[teensy-2] [INFO] [1746050843.648489815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -3 +[teensy-2] [INFO] [1746050843.649694844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050843.723587430] [sailbot.mux]: controller_app rudder angle: -7 +[mux-7] [INFO] [1746050843.745027260] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050843.745817092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050843.746836134] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050843.747812480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 +[teensy-2] [INFO] [1746050843.748933061] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050843.835219250] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050843.837459085] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746050843.837791514] [sailbot.teensy]: Wind angle: 52 +[teensy-2] [INFO] [1746050843.838746355] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050843.838033731] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746050843.839647162] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050843.840482917] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050843.844401765] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050843.845100605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050843.845526504] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050843.846905855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 +[teensy-2] [INFO] [1746050843.847951461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050843.945378476] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050843.946194245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050843.947023826] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050843.948462318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 +[teensy-2] [INFO] [1746050843.949654429] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050844.003569001] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46942839 Long: -76.50334951 +[vectornav-1] [INFO] [1746050844.005166671] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (319.93399999999997, -0.819, 1.023) +[mux-7] [INFO] [1746050844.045374718] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050844.045942254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050844.046969402] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050844.048263720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 +[teensy-2] [INFO] [1746050844.049431218] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050844.085507794] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050844.087445046] [sailbot.teensy]: Wind angle: 48 +[trim_sail-4] [INFO] [1746050844.087745208] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050844.088398416] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050844.089336837] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746050844.090055814] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050844.090192374] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050844.145197403] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050844.146644855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050844.146968616] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050844.149027466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 +[teensy-2] [INFO] [1746050844.150197527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050844.245139263] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050844.245904849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050844.246713068] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050844.247797244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 +[teensy-2] [INFO] [1746050844.248856958] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050844.335291695] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050844.337474144] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050844.337886135] [sailbot.teensy]: Wind angle: 46 +[mux-7] [INFO] [1746050844.338310422] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050844.338594223] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050844.338992289] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050844.339368260] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050844.344686122] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050844.345198203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050844.345879591] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050844.346976870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 +[teensy-2] [INFO] [1746050844.348032425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050844.445361080] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050844.445887369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050844.447085554] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050844.447958411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 +[teensy-2] [INFO] [1746050844.449136499] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050844.503049809] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46942486 Long: -76.50334501 +[vectornav-1] [INFO] [1746050844.504636752] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (310.122, -1.217, 3.035) +[mux-7] [INFO] [1746050844.544988476] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050844.545644892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050844.546311295] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050844.547577656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 +[teensy-2] [INFO] [1746050844.548589297] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050844.585280723] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050844.587325153] [sailbot.teensy]: Wind angle: 44 +[trim_sail-4] [INFO] [1746050844.587418609] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050844.588326763] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050844.589239779] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746050844.590011701] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050844.590111012] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050844.644974413] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050844.645553932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050844.646279586] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050844.647389311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 +[teensy-2] [INFO] [1746050844.648563102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050844.745274854] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050844.746070079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050844.747040965] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050844.748144376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 +[teensy-2] [INFO] [1746050844.749336022] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050844.835313007] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050844.837500548] [sailbot.teensy]: Wind angle: 44 +[trim_sail-4] [INFO] [1746050844.838077155] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050844.838463846] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050844.839368022] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746050844.839505749] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050844.840269877] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050844.844478603] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050844.845129360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050844.845648356] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050844.846839560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 +[teensy-2] [INFO] [1746050844.847919889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050844.945122728] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050844.946028644] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050844.946466255] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050844.947889373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 +[teensy-2] [INFO] [1746050844.948958976] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050845.003232171] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46942058 Long: -76.50334118 +[vectornav-1] [INFO] [1746050845.004976933] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (303.587, -5.151, 3.228) +[mux-7] [INFO] [1746050845.045181087] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050845.045908966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050845.046678859] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050845.047810180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 +[teensy-2] [INFO] [1746050845.049007332] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050845.085447879] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050845.087941380] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050845.089203962] [sailbot.teensy]: Wind angle: 44 +[mux-7] [INFO] [1746050845.089386826] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050845.090241315] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050845.091163290] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050845.092018291] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050845.144014388] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050845.144940575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050845.144979182] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050845.146412990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 +[teensy-2] [INFO] [1746050845.147268682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050845.244892561] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050845.245772869] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050845.246570154] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050845.247679701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 +[teensy-2] [INFO] [1746050845.248369424] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050845.335306819] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050845.337080180] [sailbot.teensy]: Wind angle: 38 +[trim_sail-4] [INFO] [1746050845.337527226] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746050845.337974097] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050845.338880495] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746050845.339358765] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746050845.339729442] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050845.344364862] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050845.344859053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050845.345555384] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050845.346559106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 +[teensy-2] [INFO] [1746050845.347634389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050845.445440719] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050845.446181249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050845.446898856] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050845.448128012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 +[teensy-2] [INFO] [1746050845.448772749] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050845.502930734] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46941506 Long: -76.50333717 +[vectornav-1] [INFO] [1746050845.504637461] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (299.193, -1.156, 2.996) +[mux-7] [INFO] [1746050845.545138704] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050845.545720275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050845.546559782] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050845.547673643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 +[teensy-2] [INFO] [1746050845.548739890] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050845.585251640] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050845.587067212] [sailbot.teensy]: Wind angle: 22 +[teensy-2] [INFO] [1746050845.587976861] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050845.587502101] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746050845.588869228] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746050845.588961671] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746050845.589774873] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050845.645244001] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050845.645785086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050845.646886474] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050845.648084698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 +[teensy-2] [INFO] [1746050845.649266888] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050845.721845081] [sailbot.mux]: controller_app rudder angle: -6 +[mux-7] [INFO] [1746050845.744758960] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050845.745405328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050845.746370738] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050845.747229857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -6 +[teensy-2] [INFO] [1746050845.748045141] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050845.835236555] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050845.836952057] [sailbot.teensy]: Wind angle: 10 +[teensy-2] [INFO] [1746050845.837885941] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050845.837435855] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050845.838762504] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746050845.839024462] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050845.839643125] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050845.844528066] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050845.844893310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050845.845887639] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050845.846627194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -6 +[teensy-2] [INFO] [1746050845.847648246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050845.945201425] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050845.945968600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050845.946613408] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050845.947887126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -6 +[teensy-2] [INFO] [1746050845.948892533] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050846.002846589] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46940942 Long: -76.50333311 +[vectornav-1] [INFO] [1746050846.004296751] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (296.879, 2.092, 2.851) +[mux-7] [INFO] [1746050846.045330984] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050846.045972632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050846.046920633] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050846.048338062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -6 +[teensy-2] [INFO] [1746050846.049473092] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050846.085270162] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050846.087567296] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746050846.088134366] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050846.088336240] [sailbot.teensy]: Wind angle: 4 +[teensy-2] [INFO] [1746050846.089319868] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050846.090204616] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050846.091048951] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050846.144862290] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050846.145974624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050846.146127267] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050846.147779711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -6 +[teensy-2] [INFO] [1746050846.148754324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050846.245328541] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050846.246506711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050846.246869326] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050846.248267413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -6 +[teensy-2] [INFO] [1746050846.248830836] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050846.335401918] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050846.337931329] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050846.338082108] [sailbot.teensy]: Wind angle: 4 +[teensy-2] [INFO] [1746050846.339204701] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050846.339642266] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050846.340212456] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050846.341172988] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050846.344232461] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050846.344829466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050846.345624324] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050846.346535001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -6 +[teensy-2] [INFO] [1746050846.347603121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050846.445200377] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050846.446102061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050846.446728204] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050846.448331445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -6 +[teensy-2] [INFO] [1746050846.449501225] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050846.503763875] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46940474 Long: -76.50333009 +[vectornav-1] [INFO] [1746050846.505515066] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (296.914, 3.235, 5.223) +[mux-7] [INFO] [1746050846.545058907] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050846.545831288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050846.546612524] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050846.547774559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -6 +[teensy-2] [INFO] [1746050846.548982125] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050846.585497119] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050846.587499126] [sailbot.teensy]: Wind angle: 4 +[teensy-2] [INFO] [1746050846.588476677] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050846.587844117] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050846.589386691] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050846.590266921] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050846.590267861] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746050846.645274751] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050846.645801167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050846.647062130] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746050846.648254143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -6 +[teensy-2] [INFO] [1746050846.649352655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050846.733962591] [sailbot.mux]: controller_app rudder angle: -7 +[mux-7] [INFO] [1746050846.744730261] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050846.745536359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050846.746002648] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050846.747399059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 +[teensy-2] [INFO] [1746050846.748487473] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050846.835287977] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050846.837548166] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050846.837776287] [sailbot.teensy]: Wind angle: 2 +[teensy-2] [INFO] [1746050846.839361179] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050846.839410668] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050846.840709387] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746050846.841873475] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050846.844711624] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050846.845287527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050846.845921922] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746050846.847214091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 +[teensy-2] [INFO] [1746050846.848341699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050846.851451135] [sailbot.mux]: Switched control mode to algo +[mux-7] [INFO] [1746050846.945301995] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050846.945837686] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050847.003323377] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46940085 Long: -76.50332803 +[vectornav-1] [INFO] [1746050847.004721332] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.983, 0.256, 5.448) +[mux-7] [INFO] [1746050847.044804917] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050847.045274843] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050847.085449397] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050847.087360219] [sailbot.teensy]: Wind angle: 1 +[trim_sail-4] [INFO] [1746050847.087784996] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050847.088345827] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050847.089292468] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746050847.089827146] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050847.090145452] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050847.145168552] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050847.145731482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050847.244978540] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050847.245565502] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050847.335336321] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050847.337568363] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050847.338092233] [sailbot.teensy]: Wind angle: 0 +[mux-7] [INFO] [1746050847.338803535] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050847.339197744] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050847.340074487] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050847.340962335] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050847.344391842] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050847.345118111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050847.445142934] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050847.445883616] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050847.502827374] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46939682 Long: -76.50332603 +[vectornav-1] [INFO] [1746050847.504478823] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.095, -5.202, 4.912) +[mux-7] [INFO] [1746050847.544780030] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050847.545300212] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050847.585211073] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050847.586914934] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746050847.587472533] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050847.587842355] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050847.588762866] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746050847.588808832] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050847.589155388] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050847.644981020] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050847.645558447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050847.745411362] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050847.746040511] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050847.835350591] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050847.837037550] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746050847.837566488] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050847.837992436] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050847.838925864] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746050847.839544864] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050847.839851624] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050847.844531748] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050847.845063634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050847.945494419] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050847.946372890] [sailbot.teensy]: Message sent to servo +[vectornav-1] [INFO] [1746050848.003044367] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46939176 Long: -76.50332319 +[vectornav-1] [INFO] [1746050848.004462428] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.012, -2.378, 1.695) +[mux-7] [INFO] [1746050848.045273116] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050848.046113455] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050848.085255256] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050848.087131163] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746050848.087573853] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050848.088061601] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050848.088986672] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746050848.089765595] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050848.089866387] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050848.145190206] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050848.145771512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050848.245035195] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050848.245555340] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050848.335515545] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050848.337873777] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050848.337878837] [sailbot.teensy]: Wind angle: 0 +[teensy-2] [INFO] [1746050848.338896813] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746050848.339437065] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050848.339805203] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050848.340603202] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050848.344719749] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050848.345131810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050848.445666922] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050848.446112676] [sailbot.teensy]: Message sent to servo +[waypoint_service-5] [INFO] [1746050848.474035736] [sailbot.waypoint_service]: Received request: command=set, argument=42.46905659809444,-76.50352614378555 +[waypoint_service-5] [INFO] [1746050848.474973429] [sailbot.waypoint_service]: New waypoint queue: [(42.46905659809444, -76.50352614378555)] +[waypoint_service-5] [INFO] [1746050848.476356850] [sailbot.waypoint_service]: Published current waypoint: Lat=42.46905659809444, Lon=-76.50352614378555 +[main_algo-3] [INFO] [1746050848.477596545] [sailbot.main_algo]: Updated current waypoint to: (42.46905659809444, -76.50352614378555) +[waypoint_service-5] [INFO] [1746050848.485731484] [sailbot.waypoint_service]: Received request: command=get, argument= +[vectornav-1] [INFO] [1746050848.502606885] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46938623 Long: -76.50332011 +[main_algo-3] [INFO] [1746050848.503629128] [sailbot.main_algo]: Distance to destination: 40.3381351098595 +[vectornav-1] [INFO] [1746050848.503780623] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.903, -1.236, 1.43) +[main_algo-3] [INFO] [1746050848.504733839] [sailbot.main_algo]: Target Bearing: -115.84741907534963 +[main_algo-3] [INFO] [1746050848.505730716] [sailbot.main_algo]: Heading Difference: 44.859419075349706 +[main_algo-3] [INFO] [1746050848.506701988] [sailbot.main_algo]: Wind Direction: 0 +[main_algo-3] [INFO] [1746050848.507652662] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050848.508591735] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050848.510324584] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050848.545028335] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050848.545663164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050848.546356941] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050848.547564408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050848.548799261] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050848.585269217] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050848.587248110] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746050848.588003279] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050848.588208724] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050848.589166649] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746050848.590048234] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050848.590241812] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746050848.644939102] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050848.645628119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050848.646256482] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050848.647592885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050848.648604698] [sailbot.teensy]: Message sent to servo +[waypoint_service-5] [INFO] [1746050848.687362941] [sailbot.waypoint_service]: Received request: command=get, argument= +[mux-7] [INFO] [1746050848.745177938] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050848.746100618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050848.746560229] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050848.748179608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050848.748947107] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050848.835143556] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050848.837461052] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050848.837693920] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746050848.838844300] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746050848.838968864] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050848.839802593] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050848.841168124] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050848.844601553] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050848.845067435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050848.845805974] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050848.846740204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050848.847769968] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050848.944886724] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050848.945597445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050848.946159478] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050848.947738846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050848.948794138] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050848.957186634] [sailbot.main_algo]: Wind Direction: 359 +[main_algo-3] [INFO] [1746050848.958306859] [sailbot.main_algo]: Target Bearing: -115.84741907534963 +[main_algo-3] [INFO] [1746050848.959272568] [sailbot.main_algo]: Heading Difference: 41.75041907534967 +[main_algo-3] [INFO] [1746050848.960175514] [sailbot.main_algo]: Wind Direction: 359 +[main_algo-3] [INFO] [1746050848.961051968] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050848.961847771] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050848.962985101] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050848.963423343] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050849.002897643] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46938064 Long: -76.50331769 +[main_algo-3] [INFO] [1746050849.004082492] [sailbot.main_algo]: Distance to destination: 39.86072198571874 +[vectornav-1] [INFO] [1746050849.004227770] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.748, 4.446, 4.917) +[main_algo-3] [INFO] [1746050849.005379377] [sailbot.main_algo]: Target Bearing: -116.48175688024112 +[main_algo-3] [INFO] [1746050849.006430580] [sailbot.main_algo]: Heading Difference: 42.384756880241184 +[main_algo-3] [INFO] [1746050849.007395386] [sailbot.main_algo]: Wind Direction: 359 +[main_algo-3] [INFO] [1746050849.008322096] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050849.009199117] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050849.010898506] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050849.045314593] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050849.046136198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050849.047016814] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050849.048481719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050849.049621690] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050849.085058132] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050849.086738989] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746050849.087145095] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050849.087625173] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050849.088490647] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050849.088520880] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050849.089399496] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050849.145072127] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050849.145708282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050849.146503695] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050849.147685627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050849.148815895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050849.245560128] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050849.246534120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050849.247212876] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050849.248997520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050849.250194041] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050849.335503915] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050849.338377474] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746050849.338547346] [sailbot.teensy]: Wind angle: 344 +[mux-7] [INFO] [1746050849.339336650] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050849.339720007] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050849.340617928] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050849.341510630] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050849.344293383] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050849.344824149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050849.345361399] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050849.346569978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050849.347726916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050849.445535630] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050849.446731808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050849.447874531] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050849.448983850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050849.450185803] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050849.457130538] [sailbot.main_algo]: Wind Direction: 344 +[main_algo-3] [INFO] [1746050849.458210913] [sailbot.main_algo]: Target Bearing: -116.48175688024112 +[main_algo-3] [INFO] [1746050849.459137119] [sailbot.main_algo]: Heading Difference: 39.2297568802411 +[main_algo-3] [INFO] [1746050849.459990439] [sailbot.main_algo]: Wind Direction: 344 +[main_algo-3] [INFO] [1746050849.460891254] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050849.461693105] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050849.462784070] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050849.463253070] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050849.503609361] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46937607 Long: -76.50331728 +[main_algo-3] [INFO] [1746050849.504479643] [sailbot.main_algo]: Distance to destination: 39.417777050409626 +[vectornav-1] [INFO] [1746050849.504990667] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (267.927, 1.416, 3.378) +[main_algo-3] [INFO] [1746050849.505785367] [sailbot.main_algo]: Target Bearing: -116.84321315265369 +[main_algo-3] [INFO] [1746050849.506990115] [sailbot.main_algo]: Heading Difference: 39.59121315265361 +[main_algo-3] [INFO] [1746050849.507934404] [sailbot.main_algo]: Wind Direction: 344 +[main_algo-3] [INFO] [1746050849.508848803] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050849.509706516] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050849.511425461] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050849.545093390] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050849.545837410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050849.546495516] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050849.548142583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050849.549410709] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050849.585309902] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050849.587169550] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746050849.587850955] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746050849.588118766] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050849.589056073] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050849.589361912] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050849.589929967] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050849.644873476] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050849.645459881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050849.646046653] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050849.647237113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050849.648447271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050849.734085185] [sailbot.mux]: controller_app rudder angle: -6 +[mux-7] [INFO] [1746050849.744586882] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050849.745355318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050849.745895542] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050849.747150679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050849.748206655] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050849.835774868] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050849.838559501] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746050849.838880248] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746050849.839615307] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746050849.840013803] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050849.840514910] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050849.841363610] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050849.844281993] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050849.844807095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050849.845435017] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050849.846549807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050849.847580525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050849.945363035] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050849.946309379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050849.946885450] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050849.948061915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050849.948594307] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050849.956926367] [sailbot.main_algo]: Wind Direction: 344 +[main_algo-3] [INFO] [1746050849.957900358] [sailbot.main_algo]: Target Bearing: -116.84321315265369 +[main_algo-3] [INFO] [1746050849.958782838] [sailbot.main_algo]: Heading Difference: 24.770213152653696 +[main_algo-3] [INFO] [1746050849.959582174] [sailbot.main_algo]: Wind Direction: 344 +[main_algo-3] [INFO] [1746050849.960396660] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050849.961202121] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050849.962258783] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050849.962845498] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050850.003240222] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46937215 Long: -76.50331932 +[main_algo-3] [INFO] [1746050850.004099224] [sailbot.main_algo]: Distance to destination: 38.952858490099075 +[main_algo-3] [INFO] [1746050850.005343444] [sailbot.main_algo]: Target Bearing: -116.90012718968228 +[main_algo-3] [INFO] [1746050850.006350163] [sailbot.main_algo]: Heading Difference: 24.8271271896823 +[vectornav-1] [INFO] [1746050850.006726775] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (246.33000000000004, -2.548, -1.881) +[main_algo-3] [INFO] [1746050850.007287480] [sailbot.main_algo]: Wind Direction: 344 +[main_algo-3] [INFO] [1746050850.008194393] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050850.009049567] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050850.010745269] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050850.045274542] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050850.046115030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050850.046807201] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050850.048536944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050850.049694192] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050850.085211836] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050850.087470291] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746050850.087827169] [sailbot.teensy]: Wind angle: 335 +[mux-7] [INFO] [1746050850.089112757] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746050850.089187811] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746050850.090634093] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050850.091507786] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050850.145463374] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050850.145976328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050850.147418657] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050850.148418526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050850.149710355] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050850.245476001] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050850.246162807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050850.247290428] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050850.248313781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050850.249557933] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050850.335325084] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050850.337048829] [sailbot.teensy]: Wind angle: 314 +[trim_sail-4] [INFO] [1746050850.337874174] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050850.337992870] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746050850.338909392] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050850.339573060] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050850.339670262] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050850.344520508] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050850.345147469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050850.345742600] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050850.346884715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 +[teensy-2] [INFO] [1746050850.347881931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050850.445567800] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050850.446674383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050850.447203316] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050850.448161616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 +[teensy-2] [INFO] [1746050850.448724208] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050850.457023877] [sailbot.main_algo]: Wind Direction: 314 +[main_algo-3] [INFO] [1746050850.457985625] [sailbot.main_algo]: Target Bearing: -116.90012718968228 +[main_algo-3] [INFO] [1746050850.458903331] [sailbot.main_algo]: Heading Difference: 3.230127189682321 +[main_algo-3] [INFO] [1746050850.459719701] [sailbot.main_algo]: Rudder Angle Raw: 0.44862877634476683 +[main_algo-3] [INFO] [1746050850.460566107] [sailbot.main_algo]: Rudder Angle: 0 +[main_algo-3] [INFO] [1746050850.461581417] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050850.462172887] [sailbot.mux]: algo rudder angle: 0 +[vectornav-1] [INFO] [1746050850.503984958] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46936785 Long: -76.50332155 +[main_algo-3] [INFO] [1746050850.504490806] [sailbot.main_algo]: Distance to destination: 38.443195633694764 +[main_algo-3] [INFO] [1746050850.505785704] [sailbot.main_algo]: Target Bearing: -116.96499607017626 +[vectornav-1] [INFO] [1746050850.506189109] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (222.13800000000003, -0.825, -11.078) +[main_algo-3] [INFO] [1746050850.506921623] [sailbot.main_algo]: Heading Difference: 3.2949960701762393 +[main_algo-3] [INFO] [1746050850.507883915] [sailbot.main_algo]: Rudder Angle Raw: 0.45763834308003326 +[main_algo-3] [INFO] [1746050850.508826857] [sailbot.main_algo]: Rudder Angle: 0 +[mux-7] [INFO] [1746050850.510556345] [sailbot.mux]: algo rudder angle: 0 +[mux-7] [INFO] [1746050850.545302432] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050850.546296668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050850.547055058] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050850.548954727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 0 +[teensy-2] [INFO] [1746050850.550059294] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050850.585547557] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050850.588417304] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050850.589087823] [sailbot.teensy]: Wind angle: 295 +[mux-7] [INFO] [1746050850.589327779] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050850.590136190] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746050850.591046424] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050850.591886124] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050850.645247781] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050850.646098637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050850.646809457] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050850.647944031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 0 +[teensy-2] [INFO] [1746050850.648576319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050850.732770525] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746050850.744728336] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050850.745532885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050850.746181616] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050850.747523663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 0 +[teensy-2] [INFO] [1746050850.748570847] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050850.835155713] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050850.837777030] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050850.838102715] [sailbot.teensy]: Wind angle: 288 +[teensy-2] [INFO] [1746050850.839055957] [sailbot.teensy]: Actual sail angle: 65 +[mux-7] [INFO] [1746050850.839318890] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050850.839994928] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050850.840865982] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050850.844445118] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050850.844858744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050850.845645544] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050850.846519204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050850.847548316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050850.944974496] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050850.945782196] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050850.946355939] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050850.947693469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050850.948718221] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050850.957193435] [sailbot.main_algo]: Wind Direction: 288 +[main_algo-3] [INFO] [1746050850.958285815] [sailbot.main_algo]: Target Bearing: -116.96499607017626 +[main_algo-3] [INFO] [1746050850.959242269] [sailbot.main_algo]: Heading Difference: -20.897003929823768 +[main_algo-3] [INFO] [1746050850.960076791] [sailbot.main_algo]: Wind Direction: 288 +[main_algo-3] [INFO] [1746050850.960923707] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050850.961716322] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050850.962880715] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050850.963391588] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050851.003206261] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46936475 Long: -76.50332575 +[main_algo-3] [INFO] [1746050851.004318098] [sailbot.main_algo]: Distance to destination: 37.98284968134345 +[vectornav-1] [INFO] [1746050851.005166827] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (202.62099999999998, -0.019, -12.555) +[main_algo-3] [INFO] [1746050851.005672281] [sailbot.main_algo]: Target Bearing: -116.72385000354875 +[main_algo-3] [INFO] [1746050851.006784155] [sailbot.main_algo]: Heading Difference: -21.138149996451148 +[main_algo-3] [INFO] [1746050851.007795535] [sailbot.main_algo]: Wind Direction: 288 +[main_algo-3] [INFO] [1746050851.008741847] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050851.009629523] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050851.011395391] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050851.045271664] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050851.046131084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050851.046826139] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050851.048341908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 +[teensy-2] [INFO] [1746050851.049513690] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050851.085221340] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050851.087466915] [sailbot.teensy]: Wind angle: 284 +[trim_sail-4] [INFO] [1746050851.088125909] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050851.088518715] [sailbot.teensy]: Actual sail angle: 50 +[teensy-2] [INFO] [1746050851.089454848] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050851.089811167] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050851.090357698] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050851.145251328] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050851.146057185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050851.146801594] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050851.148463233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050851.149644597] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050851.244970405] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050851.245811006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050851.246272775] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050851.247946218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050851.248590242] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050851.335410737] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050851.337861735] [sailbot.teensy]: Wind angle: 283 +[trim_sail-4] [INFO] [1746050851.337908750] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050851.338841647] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050851.339051263] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050851.339360330] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050851.339761159] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050851.344489867] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050851.345233553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050851.346059859] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050851.346995780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050851.348026570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050851.445727415] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050851.446465507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050851.448047799] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050851.448504881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050851.449038926] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050851.457006865] [sailbot.main_algo]: Wind Direction: 283 +[main_algo-3] [INFO] [1746050851.458023486] [sailbot.main_algo]: Target Bearing: -116.72385000354875 +[main_algo-3] [INFO] [1746050851.458916543] [sailbot.main_algo]: Heading Difference: -40.65514999645126 +[main_algo-3] [INFO] [1746050851.459766295] [sailbot.main_algo]: Wind Direction: 283 +[main_algo-3] [INFO] [1746050851.460572670] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050851.461381198] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050851.463000679] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746050851.463056321] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746050851.502862561] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46936413 Long: -76.50333015 +[main_algo-3] [INFO] [1746050851.503403319] [sailbot.main_algo]: Distance to destination: 37.765033395866126 +[vectornav-1] [INFO] [1746050851.504125916] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.952, -0.696, -6.764) +[main_algo-3] [INFO] [1746050851.504465354] [sailbot.main_algo]: Target Bearing: -116.27462185661459 +[main_algo-3] [INFO] [1746050851.505462901] [sailbot.main_algo]: Heading Difference: -41.10437814338542 +[main_algo-3] [INFO] [1746050851.506364927] [sailbot.main_algo]: Wind Direction: 283 +[main_algo-3] [INFO] [1746050851.507274577] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050851.508128274] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050851.510017279] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050851.545125648] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050851.546111152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050851.546568414] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050851.548239703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050851.549326654] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050851.585614427] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050851.588563454] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050851.589558733] [sailbot.teensy]: Wind angle: 264 +[mux-7] [INFO] [1746050851.589935056] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050851.590506122] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746050851.591420000] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050851.592280425] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050851.645291057] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050851.645970064] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050851.646856038] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050851.648458131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050851.649011338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050851.745403482] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050851.746133794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050851.746939974] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050851.748309187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050851.749205571] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050851.835495119] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050851.837804450] [sailbot.teensy]: Wind angle: 245 +[trim_sail-4] [INFO] [1746050851.838271146] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050851.839230547] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746050851.840173770] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050851.840725180] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050851.841100465] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050851.844259878] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746050851.844939564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050851.845369137] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050851.846719471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746050851.847726158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050851.945616864] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746050851.946538955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050851.947292819] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050851.948522174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746050851.949046867] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050851.957133550] [sailbot.main_algo]: Wind Direction: 245 +[main_algo-3] [INFO] [1746050851.958264932] [sailbot.main_algo]: Target Bearing: -116.27462185661459 +[main_algo-3] [INFO] [1746050851.959237294] [sailbot.main_algo]: Heading Difference: -51.7733781433854 +[main_algo-3] [INFO] [1746050851.960119484] [sailbot.main_algo]: Wind Direction: 245 +[main_algo-3] [INFO] [1746050851.961004324] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050851.961802701] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050851.963103206] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050851.963558796] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050852.003576582] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46936443 Long: -76.50333432 +[main_algo-3] [INFO] [1746050852.004206294] [sailbot.main_algo]: Distance to destination: 37.65025567442916 +[main_algo-3] [INFO] [1746050852.005396437] [sailbot.main_algo]: Target Bearing: -115.78110140060149 +[vectornav-1] [INFO] [1746050852.005612422] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.52099999999996, 0.523, 1.164) +[main_algo-3] [INFO] [1746050852.006442938] [sailbot.main_algo]: Heading Difference: -52.26689859939853 +[main_algo-3] [INFO] [1746050852.007359447] [sailbot.main_algo]: Wind Direction: 245 +[main_algo-3] [INFO] [1746050852.008297938] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050852.009186774] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050852.010888025] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050852.045163503] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746050852.046185389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050852.046605225] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050852.048263708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746050852.049300281] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050852.085189191] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050852.087364601] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050852.087428381] [sailbot.teensy]: Wind angle: 256 +[teensy-2] [INFO] [1746050852.088357676] [sailbot.teensy]: Actual sail angle: 30 +[mux-7] [INFO] [1746050852.088429925] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050852.089258202] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050852.090157185] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050852.145285920] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050852.146205302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050852.146866981] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050852.148470824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050852.149507208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050852.245077299] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050852.245733712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050852.246634696] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050852.247751955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050852.248947744] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050852.335090232] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050852.337193793] [sailbot.teensy]: Wind angle: 263 +[trim_sail-4] [INFO] [1746050852.337857004] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050852.338135021] [sailbot.teensy]: Actual sail angle: 15 +[teensy-2] [INFO] [1746050852.339060832] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050852.339204671] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050852.339940227] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050852.344483274] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050852.345106089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050852.345635159] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050852.346862659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050852.347871849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050852.445055544] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050852.445715129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050852.446406000] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050852.447659365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050852.448702918] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050852.457038316] [sailbot.main_algo]: Wind Direction: 263 +[main_algo-3] [INFO] [1746050852.457994750] [sailbot.main_algo]: Target Bearing: -115.78110140060149 +[main_algo-3] [INFO] [1746050852.458847439] [sailbot.main_algo]: Heading Difference: -51.69789859939857 +[main_algo-3] [INFO] [1746050852.459671421] [sailbot.main_algo]: Wind Direction: 263 +[main_algo-3] [INFO] [1746050852.460505529] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050852.461347142] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050852.462396151] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050852.462956043] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050852.503785717] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46936382 Long: -76.50333719 +[main_algo-3] [INFO] [1746050852.504123968] [sailbot.main_algo]: Distance to destination: 37.49034814139214 +[main_algo-3] [INFO] [1746050852.505469900] [sailbot.main_algo]: Target Bearing: -115.49700329124408 +[main_algo-3] [INFO] [1746050852.506470801] [sailbot.main_algo]: Heading Difference: -51.98199670875596 +[vectornav-1] [INFO] [1746050852.507044226] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (202.48299999999995, -0.844, 1.967) +[main_algo-3] [INFO] [1746050852.507401211] [sailbot.main_algo]: Wind Direction: 263 +[main_algo-3] [INFO] [1746050852.508330129] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050852.509190171] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050852.510945947] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050852.544842885] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050852.545638035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050852.546127815] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050852.547505325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050852.548524034] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050852.585516940] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050852.587846676] [sailbot.teensy]: Wind angle: 261 +[teensy-2] [INFO] [1746050852.588814014] [sailbot.teensy]: Actual sail angle: 20 +[teensy-2] [INFO] [1746050852.589745850] [sailbot.teensy]: Actual tail angle: 10 +[trim_sail-4] [INFO] [1746050852.588237999] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050852.588968184] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050852.590689346] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050852.645008842] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050852.645687293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050852.646326562] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050852.647595448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050852.648786803] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050852.745133822] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050852.745781326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050852.746512420] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050852.747683549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050852.748478697] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050852.835315619] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050852.837546248] [sailbot.teensy]: Wind angle: 261 +[trim_sail-4] [INFO] [1746050852.837704049] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050852.838528888] [sailbot.teensy]: Actual sail angle: 25 +[mux-7] [INFO] [1746050852.839172506] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050852.839438519] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050852.840358823] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050852.844623806] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050852.845104053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050852.845965655] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050852.846849001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050852.847894940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050852.945419747] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050852.945923772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050852.947054967] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050852.948104560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050852.949323452] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050852.957056335] [sailbot.main_algo]: Wind Direction: 261 +[main_algo-3] [INFO] [1746050852.958081122] [sailbot.main_algo]: Target Bearing: -115.49700329124408 +[main_algo-3] [INFO] [1746050852.958977843] [sailbot.main_algo]: Heading Difference: -42.01999670875597 +[main_algo-3] [INFO] [1746050852.959837681] [sailbot.main_algo]: Wind Direction: 261 +[main_algo-3] [INFO] [1746050852.960676957] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050852.961488417] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050852.962639299] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050852.963096753] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050853.003574036] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46936266 Long: -76.50333973 +[main_algo-3] [INFO] [1746050853.004188699] [sailbot.main_algo]: Distance to destination: 37.28680744679727 +[main_algo-3] [INFO] [1746050853.005372730] [sailbot.main_algo]: Target Bearing: -115.28697782597429 +[vectornav-1] [INFO] [1746050853.005424756] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (214.394, 1.094, 4.385) +[main_algo-3] [INFO] [1746050853.006465565] [sailbot.main_algo]: Heading Difference: -42.23002217402575 +[main_algo-3] [INFO] [1746050853.007383735] [sailbot.main_algo]: Wind Direction: 261 +[main_algo-3] [INFO] [1746050853.008322245] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050853.009195055] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050853.010948255] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050853.046014598] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050853.046181955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050853.047544833] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050853.048467592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050853.050374601] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050853.085208719] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050853.087759242] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050853.088288279] [sailbot.teensy]: Wind angle: 272 +[mux-7] [INFO] [1746050853.088319945] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050853.089639124] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050853.090492208] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050853.091350629] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050853.145314733] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050853.146356821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050853.146987431] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050853.148439122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050853.148955325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050853.245349157] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050853.246355165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050853.246904577] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050853.248573035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050853.249635359] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050853.335257589] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050853.337644407] [sailbot.teensy]: Wind angle: 282 +[trim_sail-4] [INFO] [1746050853.337860769] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050853.338647286] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050853.339536748] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050853.339974788] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050853.340536996] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050853.344394688] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050853.345073155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050853.345876603] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050853.346891478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050853.348075594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050853.445279806] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050853.445940491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050853.446850999] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050853.447962135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050853.448484346] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050853.457410497] [sailbot.main_algo]: Wind Direction: 282 +[main_algo-3] [INFO] [1746050853.458601294] [sailbot.main_algo]: Target Bearing: -115.28697782597429 +[main_algo-3] [INFO] [1746050853.459539965] [sailbot.main_algo]: Heading Difference: -30.31902217402569 +[main_algo-3] [INFO] [1746050853.460452191] [sailbot.main_algo]: Wind Direction: 282 +[main_algo-3] [INFO] [1746050853.461327127] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050853.462167253] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050853.463172157] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050853.463762788] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050853.503429387] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46936148 Long: -76.50334261 +[main_algo-3] [INFO] [1746050853.504490866] [sailbot.main_algo]: Distance to destination: 37.070356261603074 +[vectornav-1] [INFO] [1746050853.504890878] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (227.64699999999993, -3.64, 4.098) +[main_algo-3] [INFO] [1746050853.506363766] [sailbot.main_algo]: Target Bearing: -115.03659533891394 +[main_algo-3] [INFO] [1746050853.507449272] [sailbot.main_algo]: Heading Difference: -30.569404661086082 +[main_algo-3] [INFO] [1746050853.508405795] [sailbot.main_algo]: Wind Direction: 282 +[main_algo-3] [INFO] [1746050853.509311991] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050853.510192323] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050853.511907255] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050853.545955750] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050853.546092168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050853.547485073] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050853.548756889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050853.549811682] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050853.585274813] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050853.587884177] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050853.587993946] [sailbot.teensy]: Wind angle: 281 +[teensy-2] [INFO] [1746050853.588938797] [sailbot.teensy]: Actual sail angle: 35 +[mux-7] [INFO] [1746050853.589025591] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050853.589845615] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050853.590703703] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050853.645139603] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050853.645853117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050853.646587495] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050853.647850333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050853.648930873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050853.744805715] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050853.745570193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050853.746024401] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050853.747349073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050853.748476765] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050853.835211822] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050853.837583809] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050853.838045707] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050853.838343522] [sailbot.teensy]: Wind angle: 280 +[teensy-2] [INFO] [1746050853.839346943] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746050853.840248564] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050853.841042182] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050853.844466637] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050853.845014349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050853.845617484] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050853.846692685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050853.847750027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050853.945167081] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050853.945923197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050853.946610897] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050853.947962752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050853.948988964] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050853.957010084] [sailbot.main_algo]: Wind Direction: 280 +[main_algo-3] [INFO] [1746050853.958057581] [sailbot.main_algo]: Target Bearing: -115.03659533891394 +[main_algo-3] [INFO] [1746050853.958958628] [sailbot.main_algo]: Heading Difference: -17.316404661086153 +[main_algo-3] [INFO] [1746050853.959846970] [sailbot.main_algo]: Rudder Angle Raw: -2.4050562029286326 +[main_algo-3] [INFO] [1746050853.960682347] [sailbot.main_algo]: Rudder Angle: -3 +[main_algo-3] [INFO] [1746050853.961693571] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050853.962360467] [sailbot.mux]: algo rudder angle: -3 +[vectornav-1] [INFO] [1746050854.003112028] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46935886 Long: -76.50334507 +[main_algo-3] [INFO] [1746050854.003632963] [sailbot.main_algo]: Distance to destination: 36.72230443051708 +[vectornav-1] [INFO] [1746050854.004629022] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (243.49199999999996, -2.222, -1.906) +[main_algo-3] [INFO] [1746050854.004729946] [sailbot.main_algo]: Target Bearing: -114.93315320238528 +[main_algo-3] [INFO] [1746050854.005661985] [sailbot.main_algo]: Heading Difference: -17.41984679761481 +[main_algo-3] [INFO] [1746050854.006590334] [sailbot.main_algo]: Rudder Angle Raw: -2.4194231663353905 +[main_algo-3] [INFO] [1746050854.007484683] [sailbot.main_algo]: Rudder Angle: -3 +[mux-7] [INFO] [1746050854.009325218] [sailbot.mux]: algo rudder angle: -3 +[mux-7] [INFO] [1746050854.045002696] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050854.045540952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050854.046352066] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050854.047668317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -3 +[teensy-2] [INFO] [1746050854.048812882] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050854.085383802] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050854.087337996] [sailbot.teensy]: Wind angle: 281 +[trim_sail-4] [INFO] [1746050854.087799349] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050854.089018224] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050854.089180238] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746050854.090151905] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050854.091018431] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050854.144958091] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050854.145780058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050854.146345964] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050854.147716672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -3 +[teensy-2] [INFO] [1746050854.148840852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050854.244886909] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050854.245633765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050854.246076351] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050854.247416969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -3 +[teensy-2] [INFO] [1746050854.248504890] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050854.335227625] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050854.337058996] [sailbot.teensy]: Wind angle: 281 +[trim_sail-4] [INFO] [1746050854.338002302] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050854.338894408] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050854.339545315] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746050854.340528745] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050854.341353972] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050854.344266037] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050854.344873025] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050854.345425202] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050854.346560051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -3 +[teensy-2] [INFO] [1746050854.347726210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050854.445528848] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050854.446206677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050854.447335147] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050854.448289382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -3 +[teensy-2] [INFO] [1746050854.448811895] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050854.457081893] [sailbot.main_algo]: Wind Direction: 281 +[main_algo-3] [INFO] [1746050854.458112615] [sailbot.main_algo]: Target Bearing: -114.93315320238528 +[main_algo-3] [INFO] [1746050854.459018552] [sailbot.main_algo]: Heading Difference: -1.5748467976147822 +[main_algo-3] [INFO] [1746050854.459894044] [sailbot.main_algo]: Rudder Angle Raw: -0.21872872189094197 +[main_algo-3] [INFO] [1746050854.460725318] [sailbot.main_algo]: Rudder Angle: -1 +[main_algo-3] [INFO] [1746050854.461789548] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050854.462741856] [sailbot.mux]: algo rudder angle: -1 +[vectornav-1] [INFO] [1746050854.503054054] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46935472 Long: -76.5033458 +[main_algo-3] [INFO] [1746050854.503678879] [sailbot.main_algo]: Distance to destination: 36.277907810270875 +[vectornav-1] [INFO] [1746050854.504531420] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (265.28, 2.294, 0.349) +[main_algo-3] [INFO] [1746050854.504814129] [sailbot.main_algo]: Target Bearing: -115.14090507462907 +[main_algo-3] [INFO] [1746050854.505885028] [sailbot.main_algo]: Heading Difference: -1.3670949253710205 +[main_algo-3] [INFO] [1746050854.506819676] [sailbot.main_algo]: Rudder Angle Raw: -0.1898742951904195 +[main_algo-3] [INFO] [1746050854.507749325] [sailbot.main_algo]: Rudder Angle: -1 +[mux-7] [INFO] [1746050854.509489342] [sailbot.mux]: algo rudder angle: -1 +[mux-7] [INFO] [1746050854.545447302] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050854.545542845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050854.546977295] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050854.547422421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -1 +[teensy-2] [INFO] [1746050854.548687535] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050854.585283151] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050854.587710444] [sailbot.teensy]: Wind angle: 293 +[trim_sail-4] [INFO] [1746050854.587969810] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050854.588714858] [sailbot.teensy]: Actual sail angle: 40 +[mux-7] [INFO] [1746050854.589283599] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050854.589596453] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050854.590510188] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050854.644492419] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050854.645043659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050854.645527220] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050854.646671139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 +[teensy-2] [INFO] [1746050854.647819852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050854.745100981] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050854.745941785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050854.746422954] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050854.747795818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 +[teensy-2] [INFO] [1746050854.748835108] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050854.835462938] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050854.837784088] [sailbot.teensy]: Wind angle: 320 +[teensy-2] [INFO] [1746050854.838764123] [sailbot.teensy]: Actual sail angle: 40 +[trim_sail-4] [INFO] [1746050854.838057763] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746050854.839425078] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746050854.839641069] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050854.840673777] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050854.844305154] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050854.844873503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050854.845371947] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050854.846557964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: -1 +[teensy-2] [INFO] [1746050854.847747503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050854.945144750] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050854.945903560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050854.946734871] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050854.948108303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: -1 +[teensy-2] [INFO] [1746050854.949264990] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050854.957030821] [sailbot.main_algo]: Wind Direction: 320 +[main_algo-3] [INFO] [1746050854.958079872] [sailbot.main_algo]: Target Bearing: -115.14090507462907 +[main_algo-3] [INFO] [1746050854.958993276] [sailbot.main_algo]: Heading Difference: 20.42090507462899 +[main_algo-3] [INFO] [1746050854.959848399] [sailbot.main_algo]: Wind Direction: 320 +[main_algo-3] [INFO] [1746050854.960685860] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050854.961508283] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050854.962525908] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050854.963093463] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050855.003589989] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46935131 Long: -76.50334582 +[main_algo-3] [INFO] [1746050855.004207153] [sailbot.main_algo]: Distance to destination: 35.931932080561765 +[vectornav-1] [INFO] [1746050855.004931388] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.147, 3.32, 7.435) +[main_algo-3] [INFO] [1746050855.005468204] [sailbot.main_algo]: Target Bearing: -115.38534217674088 +[main_algo-3] [INFO] [1746050855.006472441] [sailbot.main_algo]: Heading Difference: 20.665342176740864 +[main_algo-3] [INFO] [1746050855.007434892] [sailbot.main_algo]: Wind Direction: 320 +[main_algo-3] [INFO] [1746050855.008359688] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050855.009217926] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050855.010910400] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050855.045184170] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050855.045923937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050855.046626366] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050855.047908365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 +[teensy-2] [INFO] [1746050855.048963219] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050855.085391454] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050855.087120444] [sailbot.teensy]: Wind angle: 332 +[trim_sail-4] [INFO] [1746050855.087832332] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746050855.088050815] [sailbot.teensy]: Actual sail angle: 50 +[teensy-2] [INFO] [1746050855.088962276] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050855.089299565] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746050855.089864612] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050855.145311296] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050855.146277966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050855.146862434] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050855.148561673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 +[teensy-2] [INFO] [1746050855.149751183] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050855.245264945] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050855.246245673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050855.246930210] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050855.248440172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 +[teensy-2] [INFO] [1746050855.249628935] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050855.335177026] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050855.336865329] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746050855.337806820] [sailbot.teensy]: Actual sail angle: 70 +[trim_sail-4] [INFO] [1746050855.337905949] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746050855.338716112] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050855.339558236] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746050855.339600632] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050855.344402295] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050855.345075087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050855.345563876] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050855.346788532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050855.347773802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050855.444959958] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050855.445649456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050855.446293173] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050855.447563185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050855.448179507] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050855.457037347] [sailbot.main_algo]: Wind Direction: 333 +[main_algo-3] [INFO] [1746050855.458057578] [sailbot.main_algo]: Target Bearing: -115.38534217674088 +[main_algo-3] [INFO] [1746050855.458905217] [sailbot.main_algo]: Heading Difference: 41.53234217674094 +[main_algo-3] [INFO] [1746050855.459723658] [sailbot.main_algo]: Wind Direction: 333 +[main_algo-3] [INFO] [1746050855.460518441] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050855.461301231] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050855.462307026] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050855.462829682] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050855.503830228] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46934834 Long: -76.50334496 +[main_algo-3] [INFO] [1746050855.504308420] [sailbot.main_algo]: Distance to destination: 35.66121798759734 +[vectornav-1] [INFO] [1746050855.505125643] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.679, -4.987, 8.095) +[main_algo-3] [INFO] [1746050855.505562672] [sailbot.main_algo]: Target Bearing: -115.70750375768297 +[main_algo-3] [INFO] [1746050855.507401134] [sailbot.main_algo]: Heading Difference: 41.854503757683005 +[main_algo-3] [INFO] [1746050855.508394458] [sailbot.main_algo]: Wind Direction: 333 +[main_algo-3] [INFO] [1746050855.509292265] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050855.510152657] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050855.511879646] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050855.545285442] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050855.546105854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050855.546827469] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050855.548601998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050855.549684065] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050855.585611027] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050855.588279222] [sailbot.teensy]: Wind angle: 336 +[trim_sail-4] [INFO] [1746050855.588284715] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746050855.589344213] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050855.590258224] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050855.590578639] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746050855.591180744] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050855.644929067] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050855.645659970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050855.646228891] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050855.647748335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050855.648802242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050855.745516221] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050855.746332923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050855.747158130] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050855.748852262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050855.750031766] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050855.835636556] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050855.837796019] [sailbot.teensy]: Wind angle: 347 +[trim_sail-4] [INFO] [1746050855.838276335] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050855.838866858] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746050855.839783060] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050855.839337679] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050855.840843881] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050855.844388949] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050855.845150006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050855.845466688] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050855.846934919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050855.848035325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050855.945335934] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050855.946076694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050855.947063914] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050855.948294940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050855.949539815] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050855.957068958] [sailbot.main_algo]: Wind Direction: 347 +[main_algo-3] [INFO] [1746050855.958086379] [sailbot.main_algo]: Target Bearing: -115.70750375768297 +[main_algo-3] [INFO] [1746050855.959002625] [sailbot.main_algo]: Heading Difference: 51.38650375768293 +[main_algo-3] [INFO] [1746050855.959892012] [sailbot.main_algo]: Wind Direction: 347 +[main_algo-3] [INFO] [1746050855.960721177] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050855.961536326] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050855.962550673] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050855.963145841] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050856.003225465] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693448 Long: -76.50334199 +[main_algo-3] [INFO] [1746050856.003658801] [sailbot.main_algo]: Distance to destination: 35.40813549882309 +[vectornav-1] [INFO] [1746050856.004372154] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.794, -3.428, 1.894) +[main_algo-3] [INFO] [1746050856.004774158] [sailbot.main_algo]: Target Bearing: -116.3322944942467 +[main_algo-3] [INFO] [1746050856.005769399] [sailbot.main_algo]: Heading Difference: 52.01129449424661 +[main_algo-3] [INFO] [1746050856.006661118] [sailbot.main_algo]: Wind Direction: 347 +[main_algo-3] [INFO] [1746050856.007522219] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050856.008380360] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050856.010063170] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050856.045328723] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050856.046103744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050856.047034706] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050856.048430576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050856.049539083] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050856.085208126] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050856.086925630] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746050856.087815376] [sailbot.teensy]: Actual sail angle: 80 +[trim_sail-4] [INFO] [1746050856.087411752] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746050856.088301457] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050856.088739353] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050856.089633796] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050856.145436438] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050856.145994823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050856.147019837] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050856.148237097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050856.149386805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050856.245126949] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050856.246133919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050856.246672367] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050856.248133768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050856.249313809] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050856.335407137] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050856.337347155] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746050856.337728530] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746050856.338336719] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050856.339256371] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050856.339677919] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746050856.340224308] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050856.344378682] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050856.344974359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050856.345539008] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050856.346661118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050856.347743651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050856.445294424] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050856.446213544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050856.446856855] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050856.448386534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050856.448919653] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050856.457100646] [sailbot.main_algo]: Wind Direction: 334 +[main_algo-3] [INFO] [1746050856.458061503] [sailbot.main_algo]: Target Bearing: -116.3322944942467 +[main_algo-3] [INFO] [1746050856.458997103] [sailbot.main_algo]: Heading Difference: 46.12629449424662 +[main_algo-3] [INFO] [1746050856.459799827] [sailbot.main_algo]: Wind Direction: 334 +[main_algo-3] [INFO] [1746050856.460646852] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050856.461481884] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050856.462581530] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050856.463073623] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050856.503705542] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46933983 Long: -76.50333962 +[main_algo-3] [INFO] [1746050856.504462221] [sailbot.main_algo]: Distance to destination: 34.994943791093 +[vectornav-1] [INFO] [1746050856.505284162] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (271.334, 1.12, -1.632) +[main_algo-3] [INFO] [1746050856.505582611] [sailbot.main_algo]: Target Bearing: -117.00716222314809 +[main_algo-3] [INFO] [1746050856.506584856] [sailbot.main_algo]: Heading Difference: 46.80116222314814 +[main_algo-3] [INFO] [1746050856.507503251] [sailbot.main_algo]: Wind Direction: 334 +[main_algo-3] [INFO] [1746050856.508385695] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050856.509231427] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050856.511028306] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050856.545302465] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050856.546193964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050856.546862806] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050856.548455324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050856.549556648] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050856.585455974] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050856.587802143] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050856.587834939] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746050856.588801041] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746050856.588909560] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050856.589671424] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050856.590648973] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050856.645291092] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050856.645962529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050856.647212613] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050856.648018639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050856.648496839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050856.744926001] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050856.745595048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050856.746247583] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050856.747500360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050856.748586710] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050856.835205019] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050856.837555863] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050856.837819078] [sailbot.teensy]: Wind angle: 358 +[mux-7] [INFO] [1746050856.838681916] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050856.838778529] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746050856.839665377] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050856.840468194] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050856.844580988] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050856.844980854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050856.846125438] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050856.846679152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050856.847901756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050856.945854467] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050856.946074507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050856.947524506] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050856.948285395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050856.949561573] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050856.957136119] [sailbot.main_algo]: Wind Direction: 358 +[main_algo-3] [INFO] [1746050856.958158668] [sailbot.main_algo]: Target Bearing: -117.00716222314809 +[main_algo-3] [INFO] [1746050856.959043202] [sailbot.main_algo]: Heading Difference: 28.341162223148103 +[main_algo-3] [INFO] [1746050856.959898303] [sailbot.main_algo]: Wind Direction: 358 +[main_algo-3] [INFO] [1746050856.960790800] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050856.961649031] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050856.962726583] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050856.963316059] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050857.002814923] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46933578 Long: -76.50333995 +[main_algo-3] [INFO] [1746050857.004050620] [sailbot.main_algo]: Distance to destination: 34.57918956426952 +[vectornav-1] [INFO] [1746050857.004425219] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (249.332, 0.394, -3.431) +[main_algo-3] [INFO] [1746050857.005421859] [sailbot.main_algo]: Target Bearing: -117.29336549838018 +[main_algo-3] [INFO] [1746050857.006504769] [sailbot.main_algo]: Heading Difference: 28.627365498380186 +[main_algo-3] [INFO] [1746050857.007443748] [sailbot.main_algo]: Wind Direction: 358 +[main_algo-3] [INFO] [1746050857.008391672] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050857.009287549] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050857.011051189] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050857.045464523] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050857.046127129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050857.047112300] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050857.048624448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050857.049795866] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050857.085471698] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050857.087397511] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746050857.088405788] [sailbot.teensy]: Actual sail angle: 90 +[trim_sail-4] [INFO] [1746050857.088203847] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746050857.088901203] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050857.089312087] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050857.090214532] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050857.145301532] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050857.145882986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050857.146939353] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050857.148056310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050857.149266201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050857.245013915] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050857.245491371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050857.246343045] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050857.247363262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050857.248404321] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050857.335164480] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050857.337367706] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050857.337749280] [sailbot.teensy]: Wind angle: 314 +[mux-7] [INFO] [1746050857.338107567] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050857.338821858] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050857.339423460] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050857.339789138] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050857.344488038] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050857.344880091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050857.345871051] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050857.346550281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 +[teensy-2] [INFO] [1746050857.347601247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050857.446286092] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050857.446323899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050857.448197858] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050857.448781593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 +[teensy-2] [INFO] [1746050857.450088854] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050857.457059059] [sailbot.main_algo]: Wind Direction: 314 +[main_algo-3] [INFO] [1746050857.458011263] [sailbot.main_algo]: Target Bearing: -117.29336549838018 +[main_algo-3] [INFO] [1746050857.458895907] [sailbot.main_algo]: Heading Difference: 6.6253654983802335 +[main_algo-3] [INFO] [1746050857.459699279] [sailbot.main_algo]: Rudder Angle Raw: 0.9201896525528102 +[main_algo-3] [INFO] [1746050857.460509001] [sailbot.main_algo]: Rudder Angle: 0 +[main_algo-3] [INFO] [1746050857.461471935] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050857.462319308] [sailbot.mux]: algo rudder angle: 0 +[vectornav-1] [INFO] [1746050857.503061606] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46933252 Long: -76.50334351 +[main_algo-3] [INFO] [1746050857.503762798] [sailbot.main_algo]: Distance to destination: 34.125115731418454 +[vectornav-1] [INFO] [1746050857.504615534] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (227.15599999999995, -1.367, -1.899) +[main_algo-3] [INFO] [1746050857.504861073] [sailbot.main_algo]: Target Bearing: -117.12182580091839 +[main_algo-3] [INFO] [1746050857.505843894] [sailbot.main_algo]: Heading Difference: 6.453825800918366 +[main_algo-3] [INFO] [1746050857.506768521] [sailbot.main_algo]: Rudder Angle Raw: 0.8963646945719954 +[main_algo-3] [INFO] [1746050857.507628139] [sailbot.main_algo]: Rudder Angle: 0 +[mux-7] [INFO] [1746050857.509350352] [sailbot.mux]: algo rudder angle: 0 +[mux-7] [INFO] [1746050857.545739427] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050857.545796375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050857.547387818] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050857.547789361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 0 +[teensy-2] [INFO] [1746050857.549097217] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050857.585407070] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050857.587732772] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050857.588111282] [sailbot.teensy]: Wind angle: 304 +[teensy-2] [INFO] [1746050857.589148058] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746050857.589828556] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050857.590029265] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050857.590932764] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050857.644821616] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050857.645923509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050857.646065465] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050857.647660185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: 0 +[teensy-2] [INFO] [1746050857.648810094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050857.745345687] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050857.746171963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050857.747038980] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050857.748040464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: 0 +[teensy-2] [INFO] [1746050857.748502971] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050857.835635035] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050857.838235265] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050857.838720942] [sailbot.teensy]: Wind angle: 295 +[mux-7] [INFO] [1746050857.839416373] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050857.839685166] [sailbot.teensy]: Actual sail angle: 65 +[teensy-2] [INFO] [1746050857.840627653] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050857.841588845] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050857.844401369] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050857.844954035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050857.845554807] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050857.846710331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 0 +[teensy-2] [INFO] [1746050857.847724866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050857.945302060] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050857.946368191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050857.946973215] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050857.948506705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 0 +[teensy-2] [INFO] [1746050857.949040654] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050857.956998171] [sailbot.main_algo]: Wind Direction: 295 +[main_algo-3] [INFO] [1746050857.957985129] [sailbot.main_algo]: Target Bearing: -117.12182580091839 +[main_algo-3] [INFO] [1746050857.958836188] [sailbot.main_algo]: Heading Difference: -15.722174199081678 +[main_algo-3] [INFO] [1746050857.959625528] [sailbot.main_algo]: Rudder Angle Raw: -2.1836353054280107 +[main_algo-3] [INFO] [1746050857.960452828] [sailbot.main_algo]: Rudder Angle: -3 +[main_algo-3] [INFO] [1746050857.961580512] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050857.962063067] [sailbot.mux]: algo rudder angle: -3 +[vectornav-1] [INFO] [1746050858.003821022] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46933023 Long: -76.50334743 +[main_algo-3] [INFO] [1746050858.004465873] [sailbot.main_algo]: Distance to destination: 33.75537481380879 +[vectornav-1] [INFO] [1746050858.005322487] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (209.51800000000003, 1.792, -4.918) +[main_algo-3] [INFO] [1746050858.005652722] [sailbot.main_algo]: Target Bearing: -116.82051838202258 +[main_algo-3] [INFO] [1746050858.006711071] [sailbot.main_algo]: Heading Difference: -16.023481617977495 +[main_algo-3] [INFO] [1746050858.008106564] [sailbot.main_algo]: Rudder Angle Raw: -2.22548355805243 +[main_algo-3] [INFO] [1746050858.009063996] [sailbot.main_algo]: Rudder Angle: -3 +[mux-7] [INFO] [1746050858.010838268] [sailbot.mux]: algo rudder angle: -3 +[mux-7] [INFO] [1746050858.045166573] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050858.046026149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050858.046729306] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050858.048438045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -3 +[teensy-2] [INFO] [1746050858.049669935] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050858.085246140] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050858.087000996] [sailbot.teensy]: Wind angle: 281 +[teensy-2] [INFO] [1746050858.087953215] [sailbot.teensy]: Actual sail angle: 55 +[trim_sail-4] [INFO] [1746050858.087432267] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050858.089082891] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050858.089223805] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050858.090035352] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050858.145156923] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050858.145972344] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050858.146708090] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050858.147720763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -3 +[teensy-2] [INFO] [1746050858.148180064] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050858.245130811] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050858.245886447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050858.246582297] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050858.247910622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -3 +[teensy-2] [INFO] [1746050858.249103224] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050858.335267860] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050858.337714617] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050858.338755219] [sailbot.teensy]: Wind angle: 271 +[teensy-2] [INFO] [1746050858.339716640] [sailbot.teensy]: Actual sail angle: 50 +[mux-7] [INFO] [1746050858.339761410] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050858.340114891] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050858.340486215] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050858.344433603] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050858.345095446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050858.345605126] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050858.346781957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -3 +[teensy-2] [INFO] [1746050858.347812820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050858.445262401] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050858.446005806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050858.446824692] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050858.448247658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -3 +[teensy-2] [INFO] [1746050858.449516563] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050858.457058331] [sailbot.main_algo]: Wind Direction: 271 +[main_algo-3] [INFO] [1746050858.458012495] [sailbot.main_algo]: Target Bearing: -116.82051838202258 +[main_algo-3] [INFO] [1746050858.458926743] [sailbot.main_algo]: Heading Difference: -33.661481617977415 +[main_algo-3] [INFO] [1746050858.459751059] [sailbot.main_algo]: Wind Direction: 271 +[main_algo-3] [INFO] [1746050858.460567833] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050858.461374161] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050858.462376135] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050858.462958487] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050858.502371989] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46932831 Long: -76.50335135 +[main_algo-3] [INFO] [1746050858.503209559] [sailbot.main_algo]: Distance to destination: 33.42368239258489 +[vectornav-1] [INFO] [1746050858.503303675] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (198.736, -2.669, -4.521) +[main_algo-3] [INFO] [1746050858.504275183] [sailbot.main_algo]: Target Bearing: -116.48222323826778 +[main_algo-3] [INFO] [1746050858.505167350] [sailbot.main_algo]: Heading Difference: -33.999776761732164 +[main_algo-3] [INFO] [1746050858.506030805] [sailbot.main_algo]: Wind Direction: 271 +[main_algo-3] [INFO] [1746050858.506861049] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050858.507645021] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050858.509259448] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050858.545099792] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050858.545760216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050858.546540060] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050858.547818589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050858.548891732] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050858.585184458] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050858.587221509] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050858.587762070] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050858.587947434] [sailbot.teensy]: Wind angle: 269 +[teensy-2] [INFO] [1746050858.589131160] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746050858.590000398] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050858.590831532] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050858.644987291] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050858.645851414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050858.646327605] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050858.648058860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050858.649208986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050858.745196326] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050858.746089315] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050858.746667038] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050858.747931002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050858.748430207] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050858.835370466] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050858.837149329] [sailbot.teensy]: Wind angle: 269 +[teensy-2] [INFO] [1746050858.838098355] [sailbot.teensy]: Actual sail angle: 35 +[trim_sail-4] [INFO] [1746050858.838400295] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050858.838994875] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050858.839414028] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050858.839422249] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050858.844453873] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050858.845102010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050858.845593099] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050858.846784393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050858.847841413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050858.945181054] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050858.946176980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050858.946651963] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050858.948219762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050858.948749848] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050858.957167416] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050858.958150178] [sailbot.main_algo]: Target Bearing: -116.48222323826778 +[main_algo-3] [INFO] [1746050858.958992370] [sailbot.main_algo]: Heading Difference: -44.7817767617322 +[main_algo-3] [INFO] [1746050858.959801816] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050858.960692961] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050858.961525935] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050858.962731406] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050858.963084685] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050859.003435759] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46932799 Long: -76.50335508 +[main_algo-3] [INFO] [1746050859.003845316] [sailbot.main_algo]: Distance to destination: 33.26075267599528 +[main_algo-3] [INFO] [1746050859.004992974] [sailbot.main_algo]: Target Bearing: -116.03157019965461 +[vectornav-1] [INFO] [1746050859.005143431] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.41999999999996, 2.568, -0.231) +[main_algo-3] [INFO] [1746050859.006021663] [sailbot.main_algo]: Heading Difference: -45.232429800345415 +[main_algo-3] [INFO] [1746050859.006925197] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050859.008046317] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050859.008945916] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050859.010701338] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050859.045131657] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050859.046262948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050859.046701722] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050859.048621647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050859.049777205] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050859.085267875] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050859.087354684] [sailbot.teensy]: Wind angle: 260 +[trim_sail-4] [INFO] [1746050859.087439116] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050859.088345575] [sailbot.teensy]: Actual sail angle: 30 +[mux-7] [INFO] [1746050859.088843023] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050859.089244264] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050859.090163528] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050859.145185630] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050859.145943710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050859.146651004] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050859.147718612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050859.148181046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050859.245504851] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050859.246506167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050859.247331800] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050859.249325177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050859.250544062] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050859.335221287] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050859.337961307] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050859.338099094] [sailbot.teensy]: Wind angle: 252 +[mux-7] [INFO] [1746050859.338900964] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050859.339243014] [sailbot.teensy]: Actual sail angle: 30 +[teensy-2] [INFO] [1746050859.340364164] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050859.341379006] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050859.344396040] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050859.345029840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050859.345611388] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050859.346808153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050859.347809750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050859.445222032] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050859.446328999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050859.446723937] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050859.448076393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050859.448579754] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050859.457052337] [sailbot.main_algo]: Wind Direction: 252 +[main_algo-3] [INFO] [1746050859.458020574] [sailbot.main_algo]: Target Bearing: -116.03157019965461 +[main_algo-3] [INFO] [1746050859.458857799] [sailbot.main_algo]: Heading Difference: -48.548429800345446 +[main_algo-3] [INFO] [1746050859.459646904] [sailbot.main_algo]: Wind Direction: 252 +[main_algo-3] [INFO] [1746050859.460466556] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050859.461266853] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050859.462286247] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050859.462936889] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050859.502904378] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46932734 Long: -76.50335808 +[main_algo-3] [INFO] [1746050859.503503343] [sailbot.main_algo]: Distance to destination: 33.09159030186637 +[vectornav-1] [INFO] [1746050859.504309967] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (198.98900000000003, -2.255, 3.107) +[main_algo-3] [INFO] [1746050859.504647653] [sailbot.main_algo]: Target Bearing: -115.69740573815902 +[main_algo-3] [INFO] [1746050859.505717974] [sailbot.main_algo]: Heading Difference: -48.88259426184101 +[main_algo-3] [INFO] [1746050859.506636449] [sailbot.main_algo]: Wind Direction: 252 +[main_algo-3] [INFO] [1746050859.507512426] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050859.508371288] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050859.510081751] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050859.544675433] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050859.545366089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050859.546062446] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050859.547430480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050859.548451322] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050859.585003134] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050859.586591322] [sailbot.teensy]: Wind angle: 256 +[trim_sail-4] [INFO] [1746050859.586931786] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050859.587493793] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050859.588342483] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050859.588343829] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050859.589176380] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050859.644620481] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050859.645265892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050859.645847598] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050859.646986498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050859.648135389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050859.745240959] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050859.745757649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050859.746623209] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050859.747663682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050859.748861557] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050859.835216095] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050859.837576953] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050859.838003841] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050859.838321629] [sailbot.teensy]: Wind angle: 267 +[teensy-2] [INFO] [1746050859.839244141] [sailbot.teensy]: Actual sail angle: 20 +[teensy-2] [INFO] [1746050859.839626795] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050859.840002641] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050859.844547446] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050859.844998921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050859.845786672] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050859.846698123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050859.847769481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050859.945328745] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050859.946036915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050859.946887187] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050859.948388540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050859.949537887] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050859.957067704] [sailbot.main_algo]: Wind Direction: 267 +[main_algo-3] [INFO] [1746050859.958038562] [sailbot.main_algo]: Target Bearing: -115.69740573815902 +[main_algo-3] [INFO] [1746050859.958924716] [sailbot.main_algo]: Heading Difference: -45.31359426184093 +[main_algo-3] [INFO] [1746050859.959732023] [sailbot.main_algo]: Wind Direction: 267 +[main_algo-3] [INFO] [1746050859.960551670] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050859.961342840] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050859.962339114] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050859.963095029] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050860.003628545] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693266 Long: -76.50336121 +[main_algo-3] [INFO] [1746050860.003998752] [sailbot.main_algo]: Distance to destination: 32.910052851811166 +[vectornav-1] [INFO] [1746050860.004900025] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (207.59500000000003, -0.624, 1.966) +[main_algo-3] [INFO] [1746050860.005206003] [sailbot.main_algo]: Target Bearing: -115.35003786450507 +[main_algo-3] [INFO] [1746050860.006207784] [sailbot.main_algo]: Heading Difference: -45.66096213549491 +[main_algo-3] [INFO] [1746050860.007120740] [sailbot.main_algo]: Wind Direction: 267 +[main_algo-3] [INFO] [1746050860.008050191] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050860.008921622] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050860.010792662] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050860.045146031] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050860.045796609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050860.046560185] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050860.047895218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050860.048984100] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050860.085151925] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050860.086650320] [sailbot.teensy]: Wind angle: 272 +[teensy-2] [INFO] [1746050860.087504262] [sailbot.teensy]: Actual sail angle: 20 +[trim_sail-4] [INFO] [1746050860.087180203] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050860.088351556] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050860.088382936] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050860.089251756] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050860.144667488] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050860.145151815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050860.145835672] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050860.146863285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050860.148072534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050860.244855430] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050860.245482254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050860.246173636] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050860.247240996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050860.247927987] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050860.335264292] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050860.337445143] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050860.338145598] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050860.338666752] [sailbot.teensy]: Wind angle: 270 +[teensy-2] [INFO] [1746050860.339903011] [sailbot.teensy]: Actual sail angle: 30 +[teensy-2] [INFO] [1746050860.340759457] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050860.341600346] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050860.344324266] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050860.344918033] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050860.345765748] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050860.346632166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050860.347740088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050860.445201074] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050860.445982976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050860.447493994] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050860.448404118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050860.448933775] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050860.457064959] [sailbot.main_algo]: Wind Direction: 270 +[main_algo-3] [INFO] [1746050860.458071963] [sailbot.main_algo]: Target Bearing: -115.35003786450507 +[main_algo-3] [INFO] [1746050860.458978172] [sailbot.main_algo]: Heading Difference: -37.05496213549492 +[main_algo-3] [INFO] [1746050860.459806176] [sailbot.main_algo]: Wind Direction: 270 +[main_algo-3] [INFO] [1746050860.460643497] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050860.461459925] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050860.462929109] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050860.463248007] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050860.502925263] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46932476 Long: -76.50336418 +[main_algo-3] [INFO] [1746050860.503423067] [sailbot.main_algo]: Distance to destination: 32.623526918080614 +[vectornav-1] [INFO] [1746050860.504278907] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (219.91700000000003, 0.647, -0.612) +[main_algo-3] [INFO] [1746050860.504564403] [sailbot.main_algo]: Target Bearing: -115.10715054306043 +[main_algo-3] [INFO] [1746050860.505568871] [sailbot.main_algo]: Heading Difference: -37.29784945693956 +[main_algo-3] [INFO] [1746050860.506491385] [sailbot.main_algo]: Wind Direction: 270 +[main_algo-3] [INFO] [1746050860.507350052] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050860.508200278] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050860.509929565] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050860.545656807] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050860.545793590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050860.546982777] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050860.548198622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050860.549262337] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050860.585022336] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050860.586659609] [sailbot.teensy]: Wind angle: 270 +[teensy-2] [INFO] [1746050860.587551286] [sailbot.teensy]: Actual sail angle: 35 +[trim_sail-4] [INFO] [1746050860.587098032] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050860.588449860] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050860.588568074] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050860.589368729] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050860.645113196] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050860.646101906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050860.646591154] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050860.648566943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050860.649736984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050860.744918335] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050860.745546175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050860.746151822] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050860.747378657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050860.748474662] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050860.835296770] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050860.837421194] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050860.837927453] [sailbot.teensy]: Wind angle: 278 +[mux-7] [INFO] [1746050860.838748056] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050860.839087285] [sailbot.teensy]: Actual sail angle: 30 +[teensy-2] [INFO] [1746050860.839980060] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050860.840869354] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050860.844394536] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050860.844943130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050860.845529725] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050860.846683700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050860.847668191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050860.945192462] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050860.946030778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050860.946680029] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050860.948002235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050860.948448686] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050860.957035462] [sailbot.main_algo]: Wind Direction: 278 +[main_algo-3] [INFO] [1746050860.958040444] [sailbot.main_algo]: Target Bearing: -115.10715054306043 +[main_algo-3] [INFO] [1746050860.958893925] [sailbot.main_algo]: Heading Difference: -24.975849456939613 +[main_algo-3] [INFO] [1746050860.959684529] [sailbot.main_algo]: Wind Direction: 278 +[main_algo-3] [INFO] [1746050860.960609369] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050860.961436947] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050860.962502328] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050860.962970298] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050861.003375160] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46932269 Long: -76.50336728 +[main_algo-3] [INFO] [1746050861.003911091] [sailbot.main_algo]: Distance to destination: 32.30991333354774 +[main_algo-3] [INFO] [1746050861.005080662] [sailbot.main_algo]: Target Bearing: -114.86093835871482 +[vectornav-1] [INFO] [1746050861.005313506] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (233.37300000000005, -2.404, 1.528) +[main_algo-3] [INFO] [1746050861.006109814] [sailbot.main_algo]: Heading Difference: -25.22206164128511 +[main_algo-3] [INFO] [1746050861.007051887] [sailbot.main_algo]: Wind Direction: 278 +[main_algo-3] [INFO] [1746050861.007995232] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050861.008915064] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050861.010636392] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050861.045129456] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050861.046117319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050861.046899555] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050861.048054568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050861.049142869] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050861.085377650] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050861.087047601] [sailbot.teensy]: Wind angle: 281 +[teensy-2] [INFO] [1746050861.087952397] [sailbot.teensy]: Actual sail angle: 30 +[trim_sail-4] [INFO] [1746050861.087626009] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050861.088855855] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050861.088948498] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050861.089780475] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050861.145310093] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050861.145841305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050861.146939862] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050861.148332617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050861.149520982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050861.245421888] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050861.246040193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050861.247026278] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050861.248185937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050861.249361695] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050861.335338051] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050861.337682636] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050861.337993150] [sailbot.teensy]: Wind angle: 285 +[mux-7] [INFO] [1746050861.338592659] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050861.338912267] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746050861.339810257] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050861.340691448] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050861.344269489] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050861.344760149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050861.345445626] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050861.346460935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 +[teensy-2] [INFO] [1746050861.347501541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050861.445222091] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050861.445674163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050861.446886554] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050861.447591265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 +[teensy-2] [INFO] [1746050861.448679059] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050861.456956523] [sailbot.main_algo]: Wind Direction: 285 +[main_algo-3] [INFO] [1746050861.457911637] [sailbot.main_algo]: Target Bearing: -114.86093835871482 +[main_algo-3] [INFO] [1746050861.458765083] [sailbot.main_algo]: Heading Difference: -11.766061641285205 +[main_algo-3] [INFO] [1746050861.459595164] [sailbot.main_algo]: Rudder Angle Raw: -1.6341752279562785 +[main_algo-3] [INFO] [1746050861.460414009] [sailbot.main_algo]: Rudder Angle: -2 +[main_algo-3] [INFO] [1746050861.461555061] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050861.462359357] [sailbot.mux]: algo rudder angle: -2 +[vectornav-1] [INFO] [1746050861.502992474] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931941 Long: -76.50336973 +[main_algo-3] [INFO] [1746050861.503436555] [sailbot.main_algo]: Distance to destination: 31.89531851181762 +[vectornav-1] [INFO] [1746050861.504279606] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (248.38099999999997, -1.961, 1.588) +[main_algo-3] [INFO] [1746050861.504504022] [sailbot.main_algo]: Target Bearing: -114.79450715842283 +[main_algo-3] [INFO] [1746050861.505515481] [sailbot.main_algo]: Heading Difference: -11.83249284157705 +[main_algo-3] [INFO] [1746050861.506401845] [sailbot.main_algo]: Rudder Angle Raw: -1.643401783552368 +[main_algo-3] [INFO] [1746050861.507287675] [sailbot.main_algo]: Rudder Angle: -2 +[mux-7] [INFO] [1746050861.509084061] [sailbot.mux]: algo rudder angle: -2 +[mux-7] [INFO] [1746050861.544968736] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050861.545546082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050861.546258867] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050861.547430965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -2 +[teensy-2] [INFO] [1746050861.548521543] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050861.585080551] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050861.586764409] [sailbot.teensy]: Wind angle: 291 +[trim_sail-4] [INFO] [1746050861.587307568] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050861.587652689] [sailbot.teensy]: Actual sail angle: 40 +[mux-7] [INFO] [1746050861.588419189] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050861.588532593] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050861.589431586] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050861.644977691] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050861.645545328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050861.646704771] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050861.647374211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -2 +[teensy-2] [INFO] [1746050861.648629564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050861.745315060] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050861.745868458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050861.746904710] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050861.747941808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -2 +[teensy-2] [INFO] [1746050861.748945310] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050861.835242083] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050861.837303360] [sailbot.teensy]: Wind angle: 299 +[trim_sail-4] [INFO] [1746050861.837492209] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050861.838357534] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050861.838733264] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050861.839262498] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050861.840314824] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050861.844392352] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050861.845217425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050861.845911893] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050861.846970507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -2 +[teensy-2] [INFO] [1746050861.848123396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050861.945278728] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050861.946282128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050861.946759621] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050861.948008069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -2 +[teensy-2] [INFO] [1746050861.948563287] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050861.957004337] [sailbot.main_algo]: Wind Direction: 299 +[main_algo-3] [INFO] [1746050861.957995451] [sailbot.main_algo]: Target Bearing: -114.79450715842283 +[main_algo-3] [INFO] [1746050861.958851294] [sailbot.main_algo]: Heading Difference: 3.1755071584227608 +[main_algo-3] [INFO] [1746050861.959661573] [sailbot.main_algo]: Rudder Angle Raw: 0.44104266089205013 +[main_algo-3] [INFO] [1746050861.960501460] [sailbot.main_algo]: Rudder Angle: 0 +[main_algo-3] [INFO] [1746050861.961500652] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050861.962103117] [sailbot.mux]: algo rudder angle: 0 +[vectornav-1] [INFO] [1746050862.003118197] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931553 Long: -76.50337142 +[main_algo-3] [INFO] [1746050862.003526168] [sailbot.main_algo]: Distance to destination: 31.44499789876512 +[vectornav-1] [INFO] [1746050862.004144353] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (267.793, 0.58, 6.013) +[main_algo-3] [INFO] [1746050862.004583121] [sailbot.main_algo]: Target Bearing: -114.87939935889482 +[main_algo-3] [INFO] [1746050862.005593145] [sailbot.main_algo]: Heading Difference: 3.2603993588948015 +[main_algo-3] [INFO] [1746050862.006489134] [sailbot.main_algo]: Rudder Angle Raw: 0.4528332442909446 +[main_algo-3] [INFO] [1746050862.007373081] [sailbot.main_algo]: Rudder Angle: 0 +[mux-7] [INFO] [1746050862.009094593] [sailbot.mux]: algo rudder angle: 0 +[mux-7] [INFO] [1746050862.045044974] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050862.045886684] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050862.046385731] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050862.047833102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: 0 +[teensy-2] [INFO] [1746050862.048952538] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050862.085439227] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050862.087514953] [sailbot.teensy]: Wind angle: 311 +[trim_sail-4] [INFO] [1746050862.088436552] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746050862.088598640] [sailbot.teensy]: Actual sail angle: 50 +[teensy-2] [INFO] [1746050862.089570729] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050862.090259256] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746050862.090498407] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050862.144858162] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050862.145653572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050862.146314517] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050862.147567075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 0 +[teensy-2] [INFO] [1746050862.148580626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050862.245165189] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050862.246129604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050862.246730231] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050862.248035893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 0 +[teensy-2] [INFO] [1746050862.248522467] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050862.335260736] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050862.337608052] [sailbot.teensy]: Wind angle: 316 +[trim_sail-4] [INFO] [1746050862.338355124] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050862.338642647] [sailbot.teensy]: Actual sail angle: 55 +[mux-7] [INFO] [1746050862.338907117] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050862.339117902] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050862.339504204] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050862.344336905] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050862.344725877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050862.345474467] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050862.346495091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 0 +[teensy-2] [INFO] [1746050862.347555089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050862.445326450] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050862.445857385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050862.446921584] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050862.447915656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 0 +[teensy-2] [INFO] [1746050862.449094655] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050862.457131845] [sailbot.main_algo]: Wind Direction: 316 +[main_algo-3] [INFO] [1746050862.458184684] [sailbot.main_algo]: Target Bearing: -114.87939935889482 +[main_algo-3] [INFO] [1746050862.459077896] [sailbot.main_algo]: Heading Difference: 22.672399358894836 +[main_algo-3] [INFO] [1746050862.459932438] [sailbot.main_algo]: Wind Direction: 316 +[main_algo-3] [INFO] [1746050862.460782508] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050862.461572272] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050862.462549158] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050862.463176727] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050862.502969469] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693114 Long: -76.50337081 +[main_algo-3] [INFO] [1746050862.504406897] [sailbot.main_algo]: Distance to destination: 31.04669217206487 +[vectornav-1] [INFO] [1746050862.504598556] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.688, -0.589, 6.155) +[main_algo-3] [INFO] [1746050862.505653194] [sailbot.main_algo]: Target Bearing: -115.30650594820884 +[main_algo-3] [INFO] [1746050862.506913848] [sailbot.main_algo]: Heading Difference: 23.099505948208844 +[main_algo-3] [INFO] [1746050862.507891262] [sailbot.main_algo]: Wind Direction: 316 +[main_algo-3] [INFO] [1746050862.508820437] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050862.509679058] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050862.511435281] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050862.544983440] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050862.545610891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050862.546273927] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050862.547447296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 +[teensy-2] [INFO] [1746050862.548473750] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050862.585199559] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050862.586913461] [sailbot.teensy]: Wind angle: 322 +[teensy-2] [INFO] [1746050862.587785190] [sailbot.teensy]: Actual sail angle: 60 +[trim_sail-4] [INFO] [1746050862.587441279] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746050862.587992134] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746050862.588663616] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050862.589525127] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050862.644877102] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050862.645693363] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050862.646163197] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050862.647804723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 +[teensy-2] [INFO] [1746050862.648961401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050862.745507012] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050862.746263702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050862.747098373] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050862.748137783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 +[teensy-2] [INFO] [1746050862.748680984] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050862.835256060] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050862.837431259] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746050862.837924409] [sailbot.teensy]: Wind angle: 335 +[mux-7] [INFO] [1746050862.838786450] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746050862.839171703] [sailbot.teensy]: Actual sail angle: 65 +[teensy-2] [INFO] [1746050862.840132226] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050862.840637067] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050862.844315894] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050862.845009926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050862.845850107] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050862.846755002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050862.847815498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050862.945276427] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050862.946107263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050862.946743907] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050862.948112617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050862.949324852] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050862.957145470] [sailbot.main_algo]: Wind Direction: 335 +[main_algo-3] [INFO] [1746050862.958205012] [sailbot.main_algo]: Target Bearing: -115.30650594820884 +[main_algo-3] [INFO] [1746050862.959103453] [sailbot.main_algo]: Heading Difference: 37.994505948208825 +[main_algo-3] [INFO] [1746050862.959943276] [sailbot.main_algo]: Wind Direction: 335 +[main_algo-3] [INFO] [1746050862.960829113] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050862.961650306] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050862.962758771] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050862.963242851] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050863.002942779] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930744 Long: -76.50336875 +[main_algo-3] [INFO] [1746050863.004007876] [sailbot.main_algo]: Distance to destination: 30.7173435749597 +[vectornav-1] [INFO] [1746050863.004227566] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (291.14300000000003, 0.293, 5.862) +[main_algo-3] [INFO] [1746050863.005462000] [sailbot.main_algo]: Target Bearing: -115.93194228915281 +[main_algo-3] [INFO] [1746050863.006520308] [sailbot.main_algo]: Heading Difference: 38.61994228915273 +[main_algo-3] [INFO] [1746050863.007410737] [sailbot.main_algo]: Wind Direction: 335 +[main_algo-3] [INFO] [1746050863.008331936] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050863.009218450] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050863.010898321] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050863.045062657] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050863.045799760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050863.046424856] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050863.047960214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050863.049110381] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050863.085136783] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050863.087663029] [sailbot.teensy]: Wind angle: 353 +[trim_sail-4] [INFO] [1746050863.087764507] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746050863.088810108] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050863.090218323] [sailbot.teensy]: Actual sail angle: 70 +[teensy-2] [INFO] [1746050863.091261459] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050863.092143259] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050863.145114302] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050863.146034527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050863.147433226] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050863.148673053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050863.149707155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050863.245273826] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050863.246109059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050863.246760458] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050863.247946903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050863.248428167] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050863.335277601] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050863.337039036] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746050863.337974131] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050863.339060091] [sailbot.teensy]: Actual sail angle: 80 +[mux-7] [INFO] [1746050863.339068748] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050863.340018521] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050863.340941845] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050863.344307427] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050863.345031444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050863.345759005] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050863.346994714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050863.348028419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050863.445192862] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050863.446308806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050863.446718165] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050863.448067733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050863.448607088] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050863.457044371] [sailbot.main_algo]: Wind Direction: 359 +[main_algo-3] [INFO] [1746050863.458030540] [sailbot.main_algo]: Target Bearing: -115.93194228915281 +[main_algo-3] [INFO] [1746050863.458871450] [sailbot.main_algo]: Heading Difference: 47.07494228915289 +[main_algo-3] [INFO] [1746050863.459651563] [sailbot.main_algo]: Wind Direction: 359 +[main_algo-3] [INFO] [1746050863.460485792] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050863.461306765] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050863.462434073] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050863.463094931] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050863.503329698] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930374 Long: -76.50336626 +[main_algo-3] [INFO] [1746050863.503825377] [sailbot.main_algo]: Distance to destination: 30.433042672547074 +[vectornav-1] [INFO] [1746050863.504916584] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.177, -2.889, 1.367) +[main_algo-3] [INFO] [1746050863.505110020] [sailbot.main_algo]: Target Bearing: -116.60745701349458 +[main_algo-3] [INFO] [1746050863.506097878] [sailbot.main_algo]: Heading Difference: 47.75045701349461 +[main_algo-3] [INFO] [1746050863.507029697] [sailbot.main_algo]: Wind Direction: 359 +[main_algo-3] [INFO] [1746050863.507925558] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050863.508797739] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050863.510586022] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050863.545050375] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050863.545755329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050863.546806359] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050863.547679659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050863.548772482] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050863.585413394] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050863.587584259] [sailbot.teensy]: Wind angle: 0 +[teensy-2] [INFO] [1746050863.588629192] [sailbot.teensy]: Actual sail angle: 90 +[trim_sail-4] [INFO] [1746050863.587686471] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050863.589572959] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050863.590266820] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050863.590507190] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050863.644975836] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050863.645902094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050863.646376611] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050863.648008137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050863.649181980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050863.745111223] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050863.745786494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050863.746488900] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050863.747939288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050863.748602119] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050863.835384817] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050863.837202411] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746050863.837720372] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050863.838154490] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050863.838980884] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050863.839051343] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050863.839350216] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050863.844355474] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050863.844969901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050863.845486388] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050863.846654709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050863.847802663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050863.945241547] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050863.946135341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050863.946790059] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050863.947809783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050863.948359477] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050863.957040268] [sailbot.main_algo]: Wind Direction: 0 +[main_algo-3] [INFO] [1746050863.958054438] [sailbot.main_algo]: Target Bearing: -116.60745701349458 +[main_algo-3] [INFO] [1746050863.958921872] [sailbot.main_algo]: Heading Difference: 38.7844570134946 +[main_algo-3] [INFO] [1746050863.959748006] [sailbot.main_algo]: Wind Direction: 0 +[main_algo-3] [INFO] [1746050863.960579033] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050863.961397085] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050863.962425124] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050863.963093439] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050864.003454590] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929874 Long: -76.50336538 +[main_algo-3] [INFO] [1746050864.003942893] [sailbot.main_algo]: Distance to destination: 29.965036223942704 +[vectornav-1] [INFO] [1746050864.004739137] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (263.15, -1.039, -0.657) +[main_algo-3] [INFO] [1746050864.005139170] [sailbot.main_algo]: Target Bearing: -117.19089012073383 +[main_algo-3] [INFO] [1746050864.006162993] [sailbot.main_algo]: Heading Difference: 39.36789012073382 +[main_algo-3] [INFO] [1746050864.007178060] [sailbot.main_algo]: Wind Direction: 0 +[main_algo-3] [INFO] [1746050864.008118655] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050864.009031103] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050864.010746551] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050864.045115465] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050864.045891478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050864.046500105] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050864.047814758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050864.048835464] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050864.085369250] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050864.087153019] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746050864.087688723] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746050864.088086691] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050864.089034943] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050864.089927174] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050864.090060441] [sailbot.mux]: algo sail angle: 80 +[mux-7] [INFO] [1746050864.145306800] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050864.145958817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050864.146912539] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050864.148407701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050864.149553820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050864.245577131] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050864.246091960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050864.247190920] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050864.248005912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050864.248850288] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050864.335257279] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050864.337397789] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050864.338318795] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746050864.338631064] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050864.339174001] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050864.339567889] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050864.339936071] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050864.344565076] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050864.345013707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050864.345741464] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050864.346768490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050864.347960079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050864.445294367] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050864.446005310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050864.446986335] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050864.448086218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050864.449319538] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050864.456975235] [sailbot.main_algo]: Wind Direction: 359 +[main_algo-3] [INFO] [1746050864.457890207] [sailbot.main_algo]: Target Bearing: -117.19089012073383 +[main_algo-3] [INFO] [1746050864.458708759] [sailbot.main_algo]: Heading Difference: 20.340890120733775 +[main_algo-3] [INFO] [1746050864.459496815] [sailbot.main_algo]: Wind Direction: 359 +[main_algo-3] [INFO] [1746050864.460291489] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050864.461084543] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050864.462057444] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050864.462670058] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050864.503693588] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929403 Long: -76.50336725 +[main_algo-3] [INFO] [1746050864.504031679] [sailbot.main_algo]: Distance to destination: 29.427915078426555 +[main_algo-3] [INFO] [1746050864.505281144] [sailbot.main_algo]: Target Bearing: -117.37149384600234 +[vectornav-1] [INFO] [1746050864.505029419] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (239.52600000000007, 0.417, -4.453) +[main_algo-3] [INFO] [1746050864.506261058] [sailbot.main_algo]: Heading Difference: 20.521493846002386 +[main_algo-3] [INFO] [1746050864.507166775] [sailbot.main_algo]: Wind Direction: 359 +[main_algo-3] [INFO] [1746050864.508062439] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050864.508968308] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050864.510801440] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050864.544989596] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050864.545544522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050864.546288771] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050864.547354142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050864.548435425] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050864.585433424] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050864.587365834] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746050864.587847473] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050864.588319605] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746050864.589229545] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050864.589713520] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050864.590138871] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050864.645045336] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050864.645713986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050864.646434806] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050864.647692180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050864.648701561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050864.744921739] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050864.745557773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050864.746189329] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050864.747399481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050864.748587642] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050864.835177962] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050864.836892029] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746050864.837939124] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746050864.838586231] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746050864.838702480] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050864.839124605] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050864.839494794] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050864.844429938] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050864.844842323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050864.845568871] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050864.846524157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050864.847525886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050864.945134973] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050864.945827636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050864.946646893] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050864.947894792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050864.948395982] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050864.957478249] [sailbot.main_algo]: Wind Direction: 335 +[main_algo-3] [INFO] [1746050864.958631461] [sailbot.main_algo]: Target Bearing: -117.37149384600234 +[main_algo-3] [INFO] [1746050864.959610536] [sailbot.main_algo]: Heading Difference: -3.1025061539976377 +[main_algo-3] [INFO] [1746050864.960530529] [sailbot.main_algo]: Rudder Angle Raw: -0.4309036324996719 +[main_algo-3] [INFO] [1746050864.961386906] [sailbot.main_algo]: Rudder Angle: -1 +[main_algo-3] [INFO] [1746050864.962405724] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050864.963004306] [sailbot.mux]: algo rudder angle: -1 +[vectornav-1] [INFO] [1746050865.002894969] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929097 Long: -76.50337117 +[main_algo-3] [INFO] [1746050865.003929377] [sailbot.main_algo]: Distance to destination: 28.980639566881948 +[vectornav-1] [INFO] [1746050865.004256676] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (213.317, 0.451, -4.405) +[main_algo-3] [INFO] [1746050865.005175955] [sailbot.main_algo]: Target Bearing: -117.09879446676436 +[main_algo-3] [INFO] [1746050865.006161996] [sailbot.main_algo]: Heading Difference: -3.375205533235544 +[main_algo-3] [INFO] [1746050865.007153684] [sailbot.main_algo]: Rudder Angle Raw: -0.4687785462827144 +[main_algo-3] [INFO] [1746050865.008050967] [sailbot.main_algo]: Rudder Angle: -1 +[mux-7] [INFO] [1746050865.009785684] [sailbot.mux]: algo rudder angle: -1 +[mux-7] [INFO] [1746050865.045836463] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050865.045957306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050865.047388866] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050865.048335123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: -1 +[teensy-2] [INFO] [1746050865.049445593] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050865.085320601] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050865.087025834] [sailbot.teensy]: Wind angle: 314 +[trim_sail-4] [INFO] [1746050865.087742017] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050865.087947197] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050865.088848536] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050865.089716327] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050865.089859500] [sailbot.mux]: algo sail angle: 65 +[mux-7] [INFO] [1746050865.145275417] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050865.146202783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050865.146792877] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050865.148487309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: -1 +[teensy-2] [INFO] [1746050865.149499140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050865.245295912] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050865.246552453] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050865.247216569] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050865.248580957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: -1 +[teensy-2] [INFO] [1746050865.249098376] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050865.335492424] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050865.338091368] [sailbot.teensy]: Wind angle: 295 +[trim_sail-4] [INFO] [1746050865.338191468] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050865.338909536] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746050865.339290233] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050865.339678541] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050865.339847203] [sailbot.mux]: algo sail angle: 50 +[mux-7] [INFO] [1746050865.344409012] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050865.344996426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050865.345519183] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050865.346706169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 +[teensy-2] [INFO] [1746050865.347714881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050865.445455314] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050865.446154465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050865.447193136] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050865.448438155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 +[teensy-2] [INFO] [1746050865.449612568] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050865.457066990] [sailbot.main_algo]: Wind Direction: 295 +[main_algo-3] [INFO] [1746050865.458050398] [sailbot.main_algo]: Target Bearing: -117.09879446676436 +[main_algo-3] [INFO] [1746050865.458931976] [sailbot.main_algo]: Heading Difference: -29.584205533235604 +[main_algo-3] [INFO] [1746050865.459778653] [sailbot.main_algo]: Wind Direction: 295 +[main_algo-3] [INFO] [1746050865.460648715] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050865.461507384] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050865.462477946] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050865.463186306] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050865.503620022] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692897 Long: -76.50337594 +[main_algo-3] [INFO] [1746050865.504038900] [sailbot.main_algo]: Distance to destination: 28.682985848413864 +[vectornav-1] [INFO] [1746050865.504894029] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.16999999999996, -0.327, -3.919) +[main_algo-3] [INFO] [1746050865.505440586] [sailbot.main_algo]: Target Bearing: -116.51901667508945 +[main_algo-3] [INFO] [1746050865.506489815] [sailbot.main_algo]: Heading Difference: -30.163983324910532 +[main_algo-3] [INFO] [1746050865.507420183] [sailbot.main_algo]: Wind Direction: 295 +[main_algo-3] [INFO] [1746050865.508306398] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050865.509154401] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050865.511263394] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050865.545339595] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050865.545997038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050865.546917432] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050865.548512876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 +[teensy-2] [INFO] [1746050865.549669201] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050865.585471630] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050865.587482772] [sailbot.teensy]: Wind angle: 275 +[teensy-2] [INFO] [1746050865.588452499] [sailbot.teensy]: Actual sail angle: 65 +[trim_sail-4] [INFO] [1746050865.587788400] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050865.589450427] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050865.589488970] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050865.590424195] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050865.645167217] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050865.645640250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050865.646602719] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050865.647595570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050865.648881258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050865.745414089] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050865.746085858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050865.747032068] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050865.748354654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050865.749527741] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050865.835293607] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050865.837163316] [sailbot.teensy]: Wind angle: 253 +[trim_sail-4] [INFO] [1746050865.837669211] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050865.838069399] [sailbot.teensy]: Actual sail angle: 50 +[mux-7] [INFO] [1746050865.838767925] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050865.838953195] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050865.839820553] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050865.844725721] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050865.844887683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050865.845990265] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050865.846703176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050865.847722931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050865.945237068] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050865.945837290] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050865.946685352] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050865.947768664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050865.948980475] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050865.957017884] [sailbot.main_algo]: Wind Direction: 253 +[main_algo-3] [INFO] [1746050865.957995350] [sailbot.main_algo]: Target Bearing: -116.51901667508945 +[main_algo-3] [INFO] [1746050865.958881286] [sailbot.main_algo]: Heading Difference: -51.31098332491058 +[main_algo-3] [INFO] [1746050865.959671436] [sailbot.main_algo]: Wind Direction: 253 +[main_algo-3] [INFO] [1746050865.960517635] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050865.961326744] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050865.962505632] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050865.963101824] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050866.003970540] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928962 Long: -76.50338021 +[main_algo-3] [INFO] [1746050866.004453363] [sailbot.main_algo]: Distance to destination: 28.525516761113767 +[main_algo-3] [INFO] [1746050866.006145018] [sailbot.main_algo]: Target Bearing: -115.89021729142267 +[main_algo-3] [INFO] [1746050866.007223791] [sailbot.main_algo]: Heading Difference: -51.939782708577354 +[vectornav-1] [INFO] [1746050866.007407754] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.61199999999997, -0.878, -0.901) +[main_algo-3] [INFO] [1746050866.008275018] [sailbot.main_algo]: Wind Direction: 253 +[main_algo-3] [INFO] [1746050866.009237379] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050866.010163272] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050866.011902226] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050866.045453978] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050866.045688103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050866.047177564] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050866.047517833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050866.048585662] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050866.085398023] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050866.088042509] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050866.088341990] [sailbot.teensy]: Wind angle: 240 +[mux-7] [INFO] [1746050866.088594426] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050866.089594248] [sailbot.teensy]: Actual sail angle: 35 +[teensy-2] [INFO] [1746050866.090445654] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050866.091281841] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050866.145242097] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746050866.146332944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050866.146775262] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050866.148578915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: -15 +[teensy-2] [INFO] [1746050866.149721938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050866.245480867] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746050866.246556560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050866.247240804] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050866.248820538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: -15 +[teensy-2] [INFO] [1746050866.249946965] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050866.335177766] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050866.336921181] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050866.337640017] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050866.337855461] [sailbot.teensy]: Actual sail angle: 20 +[teensy-2] [INFO] [1746050866.338778983] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050866.339651950] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050866.339920272] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746050866.344370811] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746050866.344925039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050866.345523383] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050866.346612304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: -15 +[teensy-2] [INFO] [1746050866.347739501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050866.445071806] [sailbot.mux]: Published sail angle from algo: 10 +[mux-7] [INFO] [1746050866.446559364] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050866.446583892] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050866.448529341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: -15 +[teensy-2] [INFO] [1746050866.449816232] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050866.456935044] [sailbot.main_algo]: Wind Direction: 239 +[main_algo-3] [INFO] [1746050866.457904602] [sailbot.main_algo]: Target Bearing: -115.89021729142267 +[main_algo-3] [INFO] [1746050866.458781542] [sailbot.main_algo]: Heading Difference: -62.49778270857735 +[main_algo-3] [INFO] [1746050866.459588498] [sailbot.main_algo]: Wind Direction: 239 +[main_algo-3] [INFO] [1746050866.460397394] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050866.461204813] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050866.462183559] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050866.463501506] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050866.503060378] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928965 Long: -76.50338396 +[main_algo-3] [INFO] [1746050866.503633596] [sailbot.main_algo]: Distance to destination: 28.400234179165846 +[vectornav-1] [INFO] [1746050866.504494223] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.74900000000002, -0.882, 2.912) +[main_algo-3] [INFO] [1746050866.505205724] [sailbot.main_algo]: Target Bearing: -115.32304808970106 +[main_algo-3] [INFO] [1746050866.506343486] [sailbot.main_algo]: Heading Difference: -63.06495191029899 +[main_algo-3] [INFO] [1746050866.507291145] [sailbot.main_algo]: Wind Direction: 239 +[main_algo-3] [INFO] [1746050866.508222878] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050866.509136798] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050866.510846256] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050866.545031470] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746050866.545909960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050866.546617605] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050866.547933717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: -15 +[teensy-2] [INFO] [1746050866.548952868] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050866.585207637] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050866.586991574] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050866.587500161] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050866.587975503] [sailbot.teensy]: Actual sail angle: 10 +[teensy-2] [INFO] [1746050866.589014291] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050866.589348521] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050866.589961410] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050866.645390909] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746050866.646259806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050866.647096576] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050866.648656609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: -15 +[teensy-2] [INFO] [1746050866.649912179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050866.745454692] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746050866.746151873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050866.747079672] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050866.748349363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: -15 +[teensy-2] [INFO] [1746050866.749124646] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050866.835447110] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050866.837629447] [sailbot.teensy]: Wind angle: 246 +[trim_sail-4] [INFO] [1746050866.837918213] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050866.839132860] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050866.839622455] [sailbot.teensy]: Actual sail angle: 10 +[teensy-2] [INFO] [1746050866.840575526] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050866.841429212] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050866.844438161] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746050866.845273079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050866.845628927] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050866.847045146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746050866.848130993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050866.945402047] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746050866.946096335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050866.947213063] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050866.948203641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746050866.948711369] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050866.957040657] [sailbot.main_algo]: Wind Direction: 246 +[main_algo-3] [INFO] [1746050866.958038758] [sailbot.main_algo]: Target Bearing: -115.32304808970106 +[main_algo-3] [INFO] [1746050866.958924523] [sailbot.main_algo]: Heading Difference: -61.92795191029893 +[main_algo-3] [INFO] [1746050866.959752630] [sailbot.main_algo]: Wind Direction: 246 +[main_algo-3] [INFO] [1746050866.960590531] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050866.961378081] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050866.962547451] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050866.963027323] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050867.003431050] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928984 Long: -76.50338707 +[main_algo-3] [INFO] [1746050867.003684788] [sailbot.main_algo]: Distance to destination: 28.315236371751883 +[main_algo-3] [INFO] [1746050867.004794846] [sailbot.main_algo]: Target Bearing: -114.83390969978721 +[vectornav-1] [INFO] [1746050867.004912248] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.59400000000005, 1.416, 3.419) +[main_algo-3] [INFO] [1746050867.005771860] [sailbot.main_algo]: Heading Difference: -62.41709030021275 +[main_algo-3] [INFO] [1746050867.006691600] [sailbot.main_algo]: Wind Direction: 246 +[main_algo-3] [INFO] [1746050867.007587141] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050867.008507982] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050867.010148024] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050867.045040693] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746050867.045745241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050867.046508275] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050867.047728332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746050867.048765816] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050867.085301069] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050867.086978765] [sailbot.teensy]: Wind angle: 258 +[trim_sail-4] [INFO] [1746050867.087677688] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050867.087922317] [sailbot.teensy]: Actual sail angle: 10 +[teensy-2] [INFO] [1746050867.088899857] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050867.089178255] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050867.089789088] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050867.144763649] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050867.145417379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050867.145932155] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050867.147262962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050867.148345104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050867.245546153] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050867.246589377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050867.247273170] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050867.248248244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050867.248754605] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050867.335233464] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050867.337362565] [sailbot.teensy]: Wind angle: 259 +[trim_sail-4] [INFO] [1746050867.337450650] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050867.338331221] [sailbot.teensy]: Actual sail angle: 15 +[mux-7] [INFO] [1746050867.339119484] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050867.339224539] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050867.340112606] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050867.344448719] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050867.344894629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050867.345607952] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050867.346557054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050867.347714757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050867.444976654] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050867.445686088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050867.446238749] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050867.447869193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050867.448891198] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050867.457020002] [sailbot.main_algo]: Wind Direction: 259 +[main_algo-3] [INFO] [1746050867.457984807] [sailbot.main_algo]: Target Bearing: -114.83390969978721 +[main_algo-3] [INFO] [1746050867.458867029] [sailbot.main_algo]: Heading Difference: -52.57209030021272 +[main_algo-3] [INFO] [1746050867.459689265] [sailbot.main_algo]: Wind Direction: 259 +[main_algo-3] [INFO] [1746050867.460517961] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050867.461322039] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050867.462332540] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050867.462948445] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050867.503280899] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928906 Long: -76.50338935 +[main_algo-3] [INFO] [1746050867.504043860] [sailbot.main_algo]: Distance to destination: 28.16061260828958 +[main_algo-3] [INFO] [1746050867.505183675] [sailbot.main_algo]: Target Bearing: -114.5561532625114 +[main_algo-3] [INFO] [1746050867.506201757] [sailbot.main_algo]: Heading Difference: -52.84984673748852 +[vectornav-1] [INFO] [1746050867.506941956] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (204.54899999999998, -3.283, 1.645) +[main_algo-3] [INFO] [1746050867.507201068] [sailbot.main_algo]: Wind Direction: 259 +[main_algo-3] [INFO] [1746050867.508171723] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050867.509054094] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050867.510804674] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050867.545040057] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050867.545899469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050867.546444704] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050867.547916824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050867.549143159] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050867.585654317] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050867.588227719] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050867.589688671] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050867.589760305] [sailbot.teensy]: Wind angle: 260 +[teensy-2] [INFO] [1746050867.590777970] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050867.591703977] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050867.592545924] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050867.645318757] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050867.646119461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050867.647126777] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050867.648301941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050867.649561496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050867.745309512] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050867.746019241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050867.747066916] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050867.748183384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050867.748849690] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050867.835330407] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050867.837537318] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050867.838447965] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050867.838517083] [sailbot.teensy]: Wind angle: 266 +[teensy-2] [INFO] [1746050867.839361908] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050867.839767547] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050867.840144901] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050867.844540797] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050867.845092809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050867.845667416] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050867.846913914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050867.847956050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050867.945539773] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050867.946383384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050867.947143428] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050867.948255231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050867.948785937] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050867.956945732] [sailbot.main_algo]: Wind Direction: 266 +[main_algo-3] [INFO] [1746050867.957927874] [sailbot.main_algo]: Target Bearing: -114.5561532625114 +[main_algo-3] [INFO] [1746050867.958821452] [sailbot.main_algo]: Heading Difference: -40.89484673748859 +[main_algo-3] [INFO] [1746050867.959615263] [sailbot.main_algo]: Wind Direction: 266 +[main_algo-3] [INFO] [1746050867.960458405] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050867.961266072] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050867.962394446] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050867.962879934] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050868.003160489] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928777 Long: -76.50339236 +[main_algo-3] [INFO] [1746050868.004175303] [sailbot.main_algo]: Distance to destination: 27.93093775733692 +[vectornav-1] [INFO] [1746050868.004998248] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (217.03999999999996, 0.979, 1.462) +[main_algo-3] [INFO] [1746050868.005953383] [sailbot.main_algo]: Target Bearing: -114.20810197187392 +[main_algo-3] [INFO] [1746050868.007000734] [sailbot.main_algo]: Heading Difference: -41.24289802812609 +[main_algo-3] [INFO] [1746050868.007928811] [sailbot.main_algo]: Wind Direction: 266 +[main_algo-3] [INFO] [1746050868.008824284] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050868.009667966] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050868.011505212] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050868.045118354] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050868.045893641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050868.046508989] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050868.047891349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050868.048895015] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050868.085207893] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050868.086953009] [sailbot.teensy]: Wind angle: 272 +[teensy-2] [INFO] [1746050868.087867434] [sailbot.teensy]: Actual sail angle: 25 +[trim_sail-4] [INFO] [1746050868.087455599] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050868.088783380] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050868.089090047] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050868.089724129] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050868.145349145] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050868.146039286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050868.146985775] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050868.148321661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050868.149419846] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050868.245465254] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050868.246063928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050868.247097097] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050868.248185174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050868.249215620] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050868.335185461] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050868.337419312] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050868.337605218] [sailbot.teensy]: Wind angle: 276 +[teensy-2] [INFO] [1746050868.338570482] [sailbot.teensy]: Actual sail angle: 30 +[mux-7] [INFO] [1746050868.338670549] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050868.339533336] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050868.340453720] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050868.344708809] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050868.345128939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050868.346003348] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050868.346840756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050868.347915571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050868.445429317] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050868.446239588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050868.447016219] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050868.448393890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050868.448890200] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050868.456967502] [sailbot.main_algo]: Wind Direction: 276 +[main_algo-3] [INFO] [1746050868.457903311] [sailbot.main_algo]: Target Bearing: -114.20810197187392 +[main_algo-3] [INFO] [1746050868.458730533] [sailbot.main_algo]: Heading Difference: -28.751898028126107 +[main_algo-3] [INFO] [1746050868.459530592] [sailbot.main_algo]: Wind Direction: 276 +[main_algo-3] [INFO] [1746050868.460363570] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050868.461156838] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050868.462278935] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050868.462963831] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050868.504071471] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928606 Long: -76.50339526 +[main_algo-3] [INFO] [1746050868.504974573] [sailbot.main_algo]: Distance to destination: 27.662846126716065 +[vectornav-1] [INFO] [1746050868.505481295] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (232.21000000000004, -2.899, 2.029) +[main_algo-3] [INFO] [1746050868.506201432] [sailbot.main_algo]: Target Bearing: -113.90905587340487 +[main_algo-3] [INFO] [1746050868.507230873] [sailbot.main_algo]: Heading Difference: -29.05094412659514 +[main_algo-3] [INFO] [1746050868.508175302] [sailbot.main_algo]: Wind Direction: 276 +[main_algo-3] [INFO] [1746050868.509076608] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050868.509942557] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050868.511676506] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050868.545401588] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050868.546100535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050868.547235660] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050868.548292910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050868.549458630] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050868.585639680] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050868.587876372] [sailbot.teensy]: Wind angle: 277 +[trim_sail-4] [INFO] [1746050868.588702461] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050868.588958090] [sailbot.teensy]: Actual sail angle: 35 +[teensy-2] [INFO] [1746050868.589846878] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050868.589883293] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050868.590756305] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050868.645248217] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050868.646187233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050868.646785372] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050868.648700344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050868.649263173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050868.745481052] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050868.746338095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050868.747106209] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050868.748541137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050868.749041524] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050868.835230676] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050868.837433917] [sailbot.teensy]: Wind angle: 282 +[trim_sail-4] [INFO] [1746050868.837684231] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050868.838423701] [sailbot.teensy]: Actual sail angle: 35 +[teensy-2] [INFO] [1746050868.839526756] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050868.840200849] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050868.840273587] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050868.844357034] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050868.844954979] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050868.845628183] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050868.846636117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050868.847808304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050868.945260610] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050868.945737495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050868.946729485] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050868.947661681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050868.948798092] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050868.957173659] [sailbot.main_algo]: Wind Direction: 282 +[main_algo-3] [INFO] [1746050868.958267828] [sailbot.main_algo]: Target Bearing: -113.90905587340487 +[main_algo-3] [INFO] [1746050868.959205945] [sailbot.main_algo]: Heading Difference: -13.880944126595068 +[main_algo-3] [INFO] [1746050868.960075328] [sailbot.main_algo]: Rudder Angle Raw: -1.9279089064715371 +[main_algo-3] [INFO] [1746050868.960961546] [sailbot.main_algo]: Rudder Angle: -2 +[main_algo-3] [INFO] [1746050868.962043743] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050868.962729467] [sailbot.mux]: algo rudder angle: -2 +[vectornav-1] [INFO] [1746050869.002923263] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928325 Long: -76.50339778 +[main_algo-3] [INFO] [1746050869.003971317] [sailbot.main_algo]: Distance to destination: 27.294836675230755 +[main_algo-3] [INFO] [1746050869.005205622] [sailbot.main_algo]: Target Bearing: -113.76322363961837 +[vectornav-1] [INFO] [1746050869.005560635] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (245.23400000000004, -2.034, 1.694) +[main_algo-3] [INFO] [1746050869.006232683] [sailbot.main_algo]: Heading Difference: -14.026776360381518 +[main_algo-3] [INFO] [1746050869.007181052] [sailbot.main_algo]: Rudder Angle Raw: -1.948163383386322 +[main_algo-3] [INFO] [1746050869.008067465] [sailbot.main_algo]: Rudder Angle: -2 +[mux-7] [INFO] [1746050869.010023698] [sailbot.mux]: algo rudder angle: -2 +[mux-7] [INFO] [1746050869.045238710] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050869.045847059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050869.046772013] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050869.047866069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -2 +[teensy-2] [INFO] [1746050869.049125962] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050869.085273736] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050869.087577950] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050869.087757773] [sailbot.teensy]: Wind angle: 293 +[mux-7] [INFO] [1746050869.088411496] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050869.089265878] [sailbot.teensy]: Actual sail angle: 35 +[teensy-2] [INFO] [1746050869.090177967] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050869.091083251] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050869.145286770] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050869.146234838] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050869.146787608] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050869.148498211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -2 +[teensy-2] [INFO] [1746050869.149673265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050869.245380473] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050869.246280486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050869.246898996] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050869.248561087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -2 +[teensy-2] [INFO] [1746050869.249769346] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050869.335732136] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050869.338666451] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050869.338892304] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050869.339067259] [sailbot.teensy]: Wind angle: 296 +[teensy-2] [INFO] [1746050869.339483021] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746050869.340049360] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050869.340979714] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050869.344434495] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050869.345016784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050869.345561929] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050869.346821047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -2 +[teensy-2] [INFO] [1746050869.347815116] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050869.445528542] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050869.446531497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050869.447480187] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050869.449045339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -2 +[teensy-2] [INFO] [1746050869.450290255] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050869.456941850] [sailbot.main_algo]: Wind Direction: 296 +[main_algo-3] [INFO] [1746050869.458018354] [sailbot.main_algo]: Target Bearing: -113.76322363961837 +[main_algo-3] [INFO] [1746050869.458909827] [sailbot.main_algo]: Heading Difference: -1.002776360381631 +[main_algo-3] [INFO] [1746050869.459769856] [sailbot.main_algo]: Rudder Angle Raw: -0.13927449449744875 +[main_algo-3] [INFO] [1746050869.460638503] [sailbot.main_algo]: Rudder Angle: -1 +[main_algo-3] [INFO] [1746050869.461657667] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050869.462268394] [sailbot.mux]: algo rudder angle: -1 +[vectornav-1] [INFO] [1746050869.503008529] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927921 Long: -76.50339843 +[main_algo-3] [INFO] [1746050869.503718674] [sailbot.main_algo]: Distance to destination: 26.860681041405464 +[vectornav-1] [INFO] [1746050869.504096858] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (264.807, 0.544, 1.962) +[main_algo-3] [INFO] [1746050869.505132838] [sailbot.main_algo]: Target Bearing: -114.02816762743892 +[main_algo-3] [INFO] [1746050869.506164151] [sailbot.main_algo]: Heading Difference: -0.7378323725611153 +[main_algo-3] [INFO] [1746050869.507123269] [sailbot.main_algo]: Rudder Angle Raw: -0.10247671841126602 +[main_algo-3] [INFO] [1746050869.508032887] [sailbot.main_algo]: Rudder Angle: -1 +[mux-7] [INFO] [1746050869.509810307] [sailbot.mux]: algo rudder angle: -1 +[mux-7] [INFO] [1746050869.544931205] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050869.545709820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050869.546180104] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050869.547689064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 +[teensy-2] [INFO] [1746050869.548719060] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050869.585385274] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050869.587662316] [sailbot.teensy]: Wind angle: 302 +[teensy-2] [INFO] [1746050869.588665287] [sailbot.teensy]: Actual sail angle: 50 +[teensy-2] [INFO] [1746050869.589582705] [sailbot.teensy]: Actual tail angle: 23 +[trim_sail-4] [INFO] [1746050869.587821205] [sailbot.trim_sail]: Sail Angle: "55" +[mux-7] [INFO] [1746050869.590217849] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050869.590455359] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050869.645109678] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050869.645913699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050869.646740684] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050869.648190779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -1 +[teensy-2] [INFO] [1746050869.649502759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050869.745491092] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050869.746257075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050869.747506614] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050869.748639533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -1 +[teensy-2] [INFO] [1746050869.749842025] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050869.835480155] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050869.837882676] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746050869.838637015] [sailbot.teensy]: Wind angle: 326 +[mux-7] [INFO] [1746050869.838856990] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746050869.839119369] [sailbot.teensy]: Actual sail angle: 50 +[teensy-2] [INFO] [1746050869.839495195] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050869.839846917] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050869.844370966] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050869.844998583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050869.845499145] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050869.846690981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 +[teensy-2] [INFO] [1746050869.847733301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050869.945434222] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050869.946450908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050869.946974969] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050869.948785506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 +[teensy-2] [INFO] [1746050869.949784497] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050869.956987706] [sailbot.main_algo]: Wind Direction: 326 +[main_algo-3] [INFO] [1746050869.957993395] [sailbot.main_algo]: Target Bearing: -114.02816762743892 +[main_algo-3] [INFO] [1746050869.958884786] [sailbot.main_algo]: Heading Difference: 18.835167627438977 +[main_algo-3] [INFO] [1746050869.959741897] [sailbot.main_algo]: Rudder Angle Raw: 2.6159955038109692 +[main_algo-3] [INFO] [1746050869.960562059] [sailbot.main_algo]: Rudder Angle: 2 +[main_algo-3] [INFO] [1746050869.961546478] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050869.962212035] [sailbot.mux]: algo rudder angle: 2 +[vectornav-1] [INFO] [1746050870.003625787] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927556 Long: -76.50339845 +[main_algo-3] [INFO] [1746050870.004416159] [sailbot.main_algo]: Distance to destination: 26.487398785411628 +[main_algo-3] [INFO] [1746050870.005803903] [sailbot.main_algo]: Target Bearing: -114.36769381058242 +[main_algo-3] [INFO] [1746050870.007153751] [sailbot.main_algo]: Heading Difference: 19.174693810582426 +[vectornav-1] [INFO] [1746050870.007149975] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.8, 3.356, 6.684) +[main_algo-3] [INFO] [1746050870.008209790] [sailbot.main_algo]: Rudder Angle Raw: 2.663151918136448 +[main_algo-3] [INFO] [1746050870.009229820] [sailbot.main_algo]: Rudder Angle: 2 +[mux-7] [INFO] [1746050870.011112228] [sailbot.mux]: algo rudder angle: 2 +[mux-7] [INFO] [1746050870.045188173] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050870.045832115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050870.046663084] [sailbot.mux]: Published rudder angle from algo: 2 +[teensy-2] [INFO] [1746050870.047869689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 2 +[teensy-2] [INFO] [1746050870.049041766] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050870.085169397] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050870.086756014] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746050870.087595022] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746050870.087705022] [sailbot.teensy]: Actual sail angle: 55 +[teensy-2] [INFO] [1746050870.088613072] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050870.089190559] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050870.089450794] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050870.144932422] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050870.145461329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050870.146151193] [sailbot.mux]: Published rudder angle from algo: 2 +[teensy-2] [INFO] [1746050870.147224566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 2 +[teensy-2] [INFO] [1746050870.148413483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050870.245393257] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050870.246014032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050870.247026341] [sailbot.mux]: Published rudder angle from algo: 2 +[teensy-2] [INFO] [1746050870.248594147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 2 +[teensy-2] [INFO] [1746050870.249785218] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050870.335336169] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050870.337585974] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746050870.338533083] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050870.338531234] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746050870.339465597] [sailbot.teensy]: Actual tail angle: 27 +[mux-7] [INFO] [1746050870.339915460] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050870.340377285] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050870.344692930] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050870.345241727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050870.346806582] [sailbot.mux]: Published rudder angle from algo: 2 +[teensy-2] [INFO] [1746050870.347079062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 2 +[teensy-2] [INFO] [1746050870.348207005] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050870.445618206] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050870.446675219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050870.447382528] [sailbot.mux]: Published rudder angle from algo: 2 +[teensy-2] [INFO] [1746050870.449120547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 2 +[teensy-2] [INFO] [1746050870.450299367] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050870.457215456] [sailbot.main_algo]: Wind Direction: 345 +[main_algo-3] [INFO] [1746050870.458442617] [sailbot.main_algo]: Target Bearing: -114.36769381058242 +[main_algo-3] [INFO] [1746050870.459503255] [sailbot.main_algo]: Heading Difference: 37.16769381058248 +[main_algo-3] [INFO] [1746050870.460439203] [sailbot.main_algo]: Wind Direction: 345 +[main_algo-3] [INFO] [1746050870.461349226] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050870.462216348] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050870.463371051] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050870.464084495] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050870.502618603] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927235 Long: -76.5033977 +[main_algo-3] [INFO] [1746050870.503415384] [sailbot.main_algo]: Distance to destination: 26.185294711934592 +[vectornav-1] [INFO] [1746050870.503691789] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.411, -5.308, 5.511) +[main_algo-3] [INFO] [1746050870.504596417] [sailbot.main_algo]: Target Bearing: -114.80077837263758 +[main_algo-3] [INFO] [1746050870.505599926] [sailbot.main_algo]: Heading Difference: 37.60077837263759 +[main_algo-3] [INFO] [1746050870.506573580] [sailbot.main_algo]: Wind Direction: 345 +[main_algo-3] [INFO] [1746050870.507528646] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050870.508433880] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050870.510139707] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050870.545250478] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050870.546451434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050870.546703052] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050870.548456716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050870.549584587] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050870.585232967] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050870.587427306] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746050870.587840180] [sailbot.teensy]: Wind angle: 345 +[teensy-2] [INFO] [1746050870.588840338] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746050870.589072164] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050870.589779525] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050870.590675886] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050870.644929476] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050870.645577726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050870.646198222] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050870.647416860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050870.648603545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050870.745171516] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050870.745870773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050870.746595221] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050870.747883501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050870.748414719] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050870.835655554] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050870.838291126] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746050870.839195662] [sailbot.teensy]: Wind angle: 345 +[mux-7] [INFO] [1746050870.839297616] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050870.840666930] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746050870.841093534] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050870.841432430] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050870.844312762] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050870.844788908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050870.845411843] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050870.846484867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050870.847497676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050870.944806889] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050870.945380891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050870.946332871] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050870.947282678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050870.948495801] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050870.956945730] [sailbot.main_algo]: Wind Direction: 345 +[main_algo-3] [INFO] [1746050870.957896490] [sailbot.main_algo]: Target Bearing: -114.80077837263758 +[main_algo-3] [INFO] [1746050870.958798312] [sailbot.main_algo]: Heading Difference: 44.21177837263758 +[main_algo-3] [INFO] [1746050870.959612249] [sailbot.main_algo]: Wind Direction: 345 +[main_algo-3] [INFO] [1746050870.960431719] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050870.961223499] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050870.962227932] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050870.962986887] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050871.003094959] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926826 Long: -76.50339518 +[main_algo-3] [INFO] [1746050871.003893854] [sailbot.main_algo]: Distance to destination: 25.855899881123513 +[main_algo-3] [INFO] [1746050871.005102282] [sailbot.main_algo]: Target Bearing: -115.626913792058 +[vectornav-1] [INFO] [1746050871.006021354] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (291.96799999999996, -3.425, 3.54) +[main_algo-3] [INFO] [1746050871.006187810] [sailbot.main_algo]: Heading Difference: 45.03791379205802 +[main_algo-3] [INFO] [1746050871.007131579] [sailbot.main_algo]: Wind Direction: 345 +[main_algo-3] [INFO] [1746050871.008025205] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050871.008912369] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050871.010620981] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050871.045202047] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050871.046020165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050871.046623964] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050871.048315254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050871.049309603] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050871.085361114] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050871.087205147] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746050871.087684225] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050871.088239896] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746050871.089235414] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050871.090125020] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050871.090534309] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050871.145163437] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050871.146079880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050871.146570678] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050871.148326935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050871.149433456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050871.245300907] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050871.246230320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050871.246931014] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050871.248630743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050871.249544296] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050871.335211224] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050871.337505884] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050871.338257815] [sailbot.teensy]: Wind angle: 348 +[mux-7] [INFO] [1746050871.338857593] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050871.339272422] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746050871.340240806] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050871.341349266] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050871.344350695] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050871.344912721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050871.345560756] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050871.346626716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050871.347644362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050871.445329698] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050871.446331706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050871.447114343] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050871.448495986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050871.449350530] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050871.457227885] [sailbot.main_algo]: Wind Direction: 348 +[main_algo-3] [INFO] [1746050871.458429412] [sailbot.main_algo]: Target Bearing: -115.626913792058 +[main_algo-3] [INFO] [1746050871.459442311] [sailbot.main_algo]: Heading Difference: 47.59491379205792 +[main_algo-3] [INFO] [1746050871.460348419] [sailbot.main_algo]: Wind Direction: 348 +[main_algo-3] [INFO] [1746050871.461226622] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050871.462105782] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050871.463094802] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050871.463720338] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050871.502956454] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926323 Long: -76.50339184 +[main_algo-3] [INFO] [1746050871.503424172] [sailbot.main_algo]: Distance to destination: 25.46696261050455 +[vectornav-1] [INFO] [1746050871.504054881] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.59299999999996, 1.086, 1.581) +[main_algo-3] [INFO] [1746050871.504469477] [sailbot.main_algo]: Target Bearing: -116.71210806015777 +[main_algo-3] [INFO] [1746050871.505460422] [sailbot.main_algo]: Heading Difference: 48.68010806015775 +[main_algo-3] [INFO] [1746050871.506342175] [sailbot.main_algo]: Wind Direction: 348 +[main_algo-3] [INFO] [1746050871.507235725] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050871.508109272] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050871.509841294] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050871.545244692] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050871.545974086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050871.546798361] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050871.548659028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050871.549824831] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050871.585029851] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050871.586731900] [sailbot.teensy]: Wind angle: 348 +[teensy-2] [INFO] [1746050871.587675865] [sailbot.teensy]: Actual sail angle: 90 +[trim_sail-4] [INFO] [1746050871.587258725] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050871.588565667] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050871.588667516] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050871.589477533] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050871.645446479] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050871.646203339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050871.647159665] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050871.648784441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050871.649913063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050871.745190768] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050871.745990986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050871.746594092] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050871.747984652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050871.748949449] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050871.835433330] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050871.837478197] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746050871.838110468] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050871.838421519] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746050871.838490703] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050871.839177389] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050871.839555156] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050871.844534145] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050871.845080649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050871.845681593] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050871.846761787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050871.847844927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050871.944852840] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050871.945558127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050871.946088255] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050871.947428213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050871.948473099] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050871.957066535] [sailbot.main_algo]: Wind Direction: 348 +[main_algo-3] [INFO] [1746050871.958118636] [sailbot.main_algo]: Target Bearing: -116.71210806015777 +[main_algo-3] [INFO] [1746050871.959064864] [sailbot.main_algo]: Heading Difference: 37.30510806015775 +[main_algo-3] [INFO] [1746050871.959946903] [sailbot.main_algo]: Wind Direction: 348 +[main_algo-3] [INFO] [1746050871.960793907] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050871.961613942] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050871.962656753] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050871.963195075] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050872.003492545] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46925829 Long: -76.50339136 +[main_algo-3] [INFO] [1746050872.004302542] [sailbot.main_algo]: Distance to destination: 24.991200409422277 +[main_algo-3] [INFO] [1746050872.005797437] [sailbot.main_algo]: Target Bearing: -117.33905436111787 +[vectornav-1] [INFO] [1746050872.005896874] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (260.35699999999997, 2.166, -0.052) +[main_algo-3] [INFO] [1746050872.006874707] [sailbot.main_algo]: Heading Difference: 37.93205436111782 +[main_algo-3] [INFO] [1746050872.007797632] [sailbot.main_algo]: Wind Direction: 348 +[main_algo-3] [INFO] [1746050872.008793291] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050872.009681376] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050872.011446183] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050872.045681323] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050872.045816601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050872.047288064] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050872.047835336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050872.049037597] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050872.085239989] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050872.087503895] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746050872.087521312] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050872.088580671] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746050872.089461450] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050872.089785374] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050872.090654963] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050872.144956228] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050872.145581478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050872.146256505] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050872.147450981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050872.148557039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050872.245532569] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050872.246471943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050872.247326279] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050872.247971822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050872.248906342] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050872.335244170] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050872.336950402] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746050872.337483740] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746050872.337860722] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050872.338738376] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050872.339473008] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050872.339632653] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050872.344375481] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050872.345054647] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050872.345462275] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050872.346757820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050872.347837369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050872.445330406] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050872.446552342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050872.447714781] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050872.448137345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050872.448658548] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050872.457236981] [sailbot.main_algo]: Wind Direction: 344 +[main_algo-3] [INFO] [1746050872.458355808] [sailbot.main_algo]: Target Bearing: -117.33905436111787 +[main_algo-3] [INFO] [1746050872.459314311] [sailbot.main_algo]: Heading Difference: 17.69605436111783 +[main_algo-3] [INFO] [1746050872.460234498] [sailbot.main_algo]: Rudder Angle Raw: 2.457785327933032 +[main_algo-3] [INFO] [1746050872.461067800] [sailbot.main_algo]: Rudder Angle: 2 +[main_algo-3] [INFO] [1746050872.462260297] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050872.463017240] [sailbot.mux]: algo rudder angle: 2 +[vectornav-1] [INFO] [1746050872.502877785] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692545 Long: -76.50339325 +[main_algo-3] [INFO] [1746050872.503853813] [sailbot.main_algo]: Distance to destination: 24.545070035716755 +[vectornav-1] [INFO] [1746050872.504271950] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (237.17899999999997, -0.402, -0.697) +[main_algo-3] [INFO] [1746050872.505036791] [sailbot.main_algo]: Target Bearing: -117.44962316953291 +[main_algo-3] [INFO] [1746050872.506141224] [sailbot.main_algo]: Heading Difference: 17.80662316953294 +[main_algo-3] [INFO] [1746050872.507082250] [sailbot.main_algo]: Rudder Angle Raw: 2.473142106879575 +[main_algo-3] [INFO] [1746050872.507957404] [sailbot.main_algo]: Rudder Angle: 2 +[mux-7] [INFO] [1746050872.509788324] [sailbot.mux]: algo rudder angle: 2 +[mux-7] [INFO] [1746050872.544998119] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050872.545829910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050872.546459519] [sailbot.mux]: Published rudder angle from algo: 2 +[teensy-2] [INFO] [1746050872.547847139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 2 +[teensy-2] [INFO] [1746050872.548899777] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050872.585254006] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050872.587314474] [sailbot.teensy]: Wind angle: 332 +[trim_sail-4] [INFO] [1746050872.587903308] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746050872.588250405] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050872.589183321] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050872.589989317] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746050872.590087838] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050872.644939569] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050872.645792891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050872.646626835] [sailbot.mux]: Published rudder angle from algo: 2 +[teensy-2] [INFO] [1746050872.647822253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 2 +[teensy-2] [INFO] [1746050872.648909069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050872.745110767] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050872.745673629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050872.746736987] [sailbot.mux]: Published rudder angle from algo: 2 +[teensy-2] [INFO] [1746050872.747573326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 2 +[teensy-2] [INFO] [1746050872.748752222] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050872.835232449] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050872.837527745] [sailbot.trim_sail]: Sail Angle: "60" +[mux-7] [INFO] [1746050872.838179362] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746050872.839043074] [sailbot.teensy]: Wind angle: 310 +[teensy-2] [INFO] [1746050872.839980606] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746050872.840685965] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050872.841051597] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050872.844528287] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050872.844984890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050872.845706632] [sailbot.mux]: Published rudder angle from algo: 2 +[teensy-2] [INFO] [1746050872.846675071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 2 +[teensy-2] [INFO] [1746050872.847751755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050872.945622024] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050872.946431839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050872.947474523] [sailbot.mux]: Published rudder angle from algo: 2 +[teensy-2] [INFO] [1746050872.948529726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 2 +[teensy-2] [INFO] [1746050872.949053438] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050872.957108313] [sailbot.main_algo]: Wind Direction: 310 +[main_algo-3] [INFO] [1746050872.958117464] [sailbot.main_algo]: Target Bearing: -117.44962316953291 +[main_algo-3] [INFO] [1746050872.959005854] [sailbot.main_algo]: Heading Difference: -5.37137683046717 +[main_algo-3] [INFO] [1746050872.959867325] [sailbot.main_algo]: Rudder Angle Raw: -0.746024559787107 +[main_algo-3] [INFO] [1746050872.960745384] [sailbot.main_algo]: Rudder Angle: -1 +[main_algo-3] [INFO] [1746050872.961768265] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050872.962375622] [sailbot.mux]: algo rudder angle: -1 +[vectornav-1] [INFO] [1746050873.003256676] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46925205 Long: -76.50339776 +[main_algo-3] [INFO] [1746050873.003663610] [sailbot.main_algo]: Distance to destination: 24.13726708112942 +[main_algo-3] [INFO] [1746050873.004776160] [sailbot.main_algo]: Target Bearing: -116.94894554961637 +[vectornav-1] [INFO] [1746050873.005198931] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (215.60400000000004, -1.201, -3.651) +[main_algo-3] [INFO] [1746050873.005765074] [sailbot.main_algo]: Heading Difference: -5.872054450383644 +[main_algo-3] [INFO] [1746050873.006739679] [sailbot.main_algo]: Rudder Angle Raw: -0.8155631181088394 +[main_algo-3] [INFO] [1746050873.007634270] [sailbot.main_algo]: Rudder Angle: -1 +[mux-7] [INFO] [1746050873.009391845] [sailbot.mux]: algo rudder angle: -1 +[mux-7] [INFO] [1746050873.045356957] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050873.045989783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050873.046984470] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050873.048280278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: -1 +[teensy-2] [INFO] [1746050873.049383846] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050873.085515256] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050873.087342882] [sailbot.teensy]: Wind angle: 292 +[trim_sail-4] [INFO] [1746050873.087898451] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050873.088335379] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050873.089245043] [sailbot.teensy]: Actual tail angle: 27 +[mux-7] [INFO] [1746050873.090007411] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050873.090113435] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050873.145306147] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050873.145987687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050873.146869545] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050873.148106253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 +[teensy-2] [INFO] [1746050873.148605238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050873.245140657] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050873.245791936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050873.246935715] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050873.247966082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 +[teensy-2] [INFO] [1746050873.249028736] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050873.335198035] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050873.337472459] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050873.337912393] [sailbot.teensy]: Wind angle: 284 +[mux-7] [INFO] [1746050873.338339031] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050873.338572954] [sailbot.teensy]: Actual sail angle: 60 +[teensy-2] [INFO] [1746050873.339010040] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050873.339372622] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050873.344503741] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050873.345122348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050873.345757760] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050873.346910558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -1 +[teensy-2] [INFO] [1746050873.347912691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050873.445293772] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050873.445870001] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050873.446774368] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050873.448323508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -1 +[teensy-2] [INFO] [1746050873.449416656] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050873.457021337] [sailbot.main_algo]: Wind Direction: 284 +[main_algo-3] [INFO] [1746050873.457986116] [sailbot.main_algo]: Target Bearing: -116.94894554961637 +[main_algo-3] [INFO] [1746050873.458876217] [sailbot.main_algo]: Heading Difference: -27.447054450383575 +[main_algo-3] [INFO] [1746050873.459675258] [sailbot.main_algo]: Wind Direction: 284 +[main_algo-3] [INFO] [1746050873.460500186] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050873.461279924] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050873.462234861] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050873.462871425] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050873.503037645] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692495 Long: -76.50340121 +[main_algo-3] [INFO] [1746050873.503428209] [sailbot.main_algo]: Distance to destination: 23.758891926727244 +[vectornav-1] [INFO] [1746050873.504222819] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (201.563, 0.138, -7.613) +[main_algo-3] [INFO] [1746050873.504893855] [sailbot.main_algo]: Target Bearing: -116.63243240131787 +[main_algo-3] [INFO] [1746050873.505896142] [sailbot.main_algo]: Heading Difference: -27.76356759868213 +[main_algo-3] [INFO] [1746050873.506817992] [sailbot.main_algo]: Wind Direction: 284 +[main_algo-3] [INFO] [1746050873.507714694] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050873.508588914] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050873.510305609] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050873.545130623] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050873.545756067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050873.546797536] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050873.547968790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050873.549020163] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050873.585423416] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050873.587860781] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050873.588130293] [sailbot.teensy]: Wind angle: 276 +[teensy-2] [INFO] [1746050873.589102364] [sailbot.teensy]: Actual sail angle: 50 +[mux-7] [INFO] [1746050873.589514065] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050873.589964002] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050873.591098546] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050873.645233456] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050873.645784741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050873.646800031] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050873.647949703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050873.649095313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050873.745061218] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050873.745760383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050873.746356452] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050873.747737759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050873.748769702] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050873.835492760] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050873.837878385] [sailbot.teensy]: Wind angle: 267 +[trim_sail-4] [INFO] [1746050873.837992854] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050873.838945517] [sailbot.teensy]: Actual sail angle: 40 +[mux-7] [INFO] [1746050873.840315606] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050873.840549170] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050873.840947194] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050873.844561115] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050873.845318727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050873.845806962] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050873.847185459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050873.848413291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050873.945349009] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050873.946428206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050873.946894931] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050873.948571517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050873.949748232] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050873.956969585] [sailbot.main_algo]: Wind Direction: 267 +[main_algo-3] [INFO] [1746050873.958011465] [sailbot.main_algo]: Target Bearing: -116.63243240131787 +[main_algo-3] [INFO] [1746050873.958900988] [sailbot.main_algo]: Heading Difference: -41.80456759868213 +[main_algo-3] [INFO] [1746050873.959768892] [sailbot.main_algo]: Wind Direction: 267 +[main_algo-3] [INFO] [1746050873.960613214] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050873.961418798] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050873.962469272] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050873.963055069] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050874.003609052] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46924883 Long: -76.50340509 +[main_algo-3] [INFO] [1746050874.004231695] [sailbot.main_algo]: Distance to destination: 23.555251624671868 +[main_algo-3] [INFO] [1746050874.005469220] [sailbot.main_algo]: Target Bearing: -116.01096545966749 +[main_algo-3] [INFO] [1746050874.006497467] [sailbot.main_algo]: Heading Difference: -42.42603454033252 +[vectornav-1] [INFO] [1746050874.007139564] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.59299999999996, -0.385, -5.727) +[main_algo-3] [INFO] [1746050874.007446177] [sailbot.main_algo]: Wind Direction: 267 +[main_algo-3] [INFO] [1746050874.008425544] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050874.009339336] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050874.011047867] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050874.045224274] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050874.046178543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050874.046918067] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050874.048872120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050874.050014208] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050874.085317263] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050874.087045022] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746050874.087952863] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050874.087984630] [sailbot.teensy]: Actual sail angle: 35 +[teensy-2] [INFO] [1746050874.088893425] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050874.088917390] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050874.089818679] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050874.145471921] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050874.146232559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050874.147135587] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050874.148442232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050874.149691063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050874.245245929] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050874.246001217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050874.246751385] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050874.248105837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050874.249315228] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050874.335324753] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050874.337343961] [sailbot.teensy]: Wind angle: 270 +[teensy-2] [INFO] [1746050874.338320878] [sailbot.teensy]: Actual sail angle: 30 +[trim_sail-4] [INFO] [1746050874.337865999] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050874.339207261] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050874.339398500] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050874.340234991] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050874.344367491] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050874.344870854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050874.345438968] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050874.346565836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050874.347708079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050874.444990752] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050874.445635208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050874.446319455] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050874.447886337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050874.448951919] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050874.457050153] [sailbot.main_algo]: Wind Direction: 270 +[main_algo-3] [INFO] [1746050874.458002530] [sailbot.main_algo]: Target Bearing: -116.01096545966749 +[main_algo-3] [INFO] [1746050874.458887597] [sailbot.main_algo]: Heading Difference: -52.39603454033255 +[main_algo-3] [INFO] [1746050874.459715000] [sailbot.main_algo]: Wind Direction: 270 +[main_algo-3] [INFO] [1746050874.460538750] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050874.461357689] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050874.462445739] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050874.463054552] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050874.503143702] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46924919 Long: -76.50340859 +[main_algo-3] [INFO] [1746050874.503427146] [sailbot.main_algo]: Distance to destination: 23.47153097227499 +[vectornav-1] [INFO] [1746050874.504218993] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.15800000000002, -1.091, 3.684) +[main_algo-3] [INFO] [1746050874.504433084] [sailbot.main_algo]: Target Bearing: -115.33302112828751 +[main_algo-3] [INFO] [1746050874.505455718] [sailbot.main_algo]: Heading Difference: -53.07397887171254 +[main_algo-3] [INFO] [1746050874.506381133] [sailbot.main_algo]: Wind Direction: 270 +[main_algo-3] [INFO] [1746050874.507289163] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050874.508143606] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050874.509868804] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050874.545082432] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050874.545986039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050874.546501356] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050874.548111634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050874.549199883] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050874.585242888] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050874.586943999] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050874.587375478] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050874.587805431] [sailbot.teensy]: Actual sail angle: 30 +[teensy-2] [INFO] [1746050874.588725599] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050874.588708718] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050874.589629503] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050874.645495770] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746050874.646480807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050874.647159426] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050874.649221508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746050874.650463680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050874.745441982] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746050874.746577526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050874.747595855] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050874.748379754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746050874.748903788] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050874.835398114] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050874.837905146] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050874.837935540] [sailbot.teensy]: Wind angle: 243 +[teensy-2] [INFO] [1746050874.838961782] [sailbot.teensy]: Actual sail angle: 30 +[mux-7] [INFO] [1746050874.839231510] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050874.839510989] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050874.839879777] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050874.844781305] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746050874.845211303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050874.846030971] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050874.846980677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746050874.848002927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050874.945286165] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746050874.945878726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050874.947111374] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050874.947942834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746050874.949032454] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050874.957000917] [sailbot.main_algo]: Wind Direction: 243 +[main_algo-3] [INFO] [1746050874.957975516] [sailbot.main_algo]: Target Bearing: -115.33302112828751 +[main_algo-3] [INFO] [1746050874.958870537] [sailbot.main_algo]: Heading Difference: -48.508978871712486 +[main_algo-3] [INFO] [1746050874.959707292] [sailbot.main_algo]: Wind Direction: 243 +[main_algo-3] [INFO] [1746050874.960520347] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050874.961329206] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050874.962318518] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050874.963277776] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050875.003951625] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46924836 Long: -76.50341175 +[main_algo-3] [INFO] [1746050875.004494118] [sailbot.main_algo]: Distance to destination: 23.281385904547935 +[main_algo-3] [INFO] [1746050875.005812627] [sailbot.main_algo]: Target Bearing: -114.84374259123372 +[vectornav-1] [INFO] [1746050875.006402887] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (204.41499999999996, -1.21, 2.779) +[main_algo-3] [INFO] [1746050875.006910755] [sailbot.main_algo]: Heading Difference: -48.99825740876628 +[main_algo-3] [INFO] [1746050875.007853557] [sailbot.main_algo]: Wind Direction: 243 +[main_algo-3] [INFO] [1746050875.008813826] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050875.009684761] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050875.011403930] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050875.045194276] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746050875.045739060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050875.046728441] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050875.047804549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746050875.049040968] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050875.085267914] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050875.086993304] [sailbot.teensy]: Wind angle: 261 +[trim_sail-4] [INFO] [1746050875.087488166] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050875.087931102] [sailbot.teensy]: Actual sail angle: 15 +[teensy-2] [INFO] [1746050875.088852793] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050875.089707074] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050875.089698113] [sailbot.mux]: algo sail angle: 25 +[mux-7] [INFO] [1746050875.145205885] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050875.145962840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050875.146798349] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050875.147610214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050875.148126566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050875.245386096] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050875.246208108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050875.246986718] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050875.248660327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050875.249845314] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050875.335211085] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050875.337424222] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050875.337873679] [sailbot.teensy]: Wind angle: 274 +[teensy-2] [INFO] [1746050875.338837448] [sailbot.teensy]: Actual sail angle: 15 +[mux-7] [INFO] [1746050875.338891417] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050875.339741164] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050875.340750722] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050875.344490403] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050875.344984237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050875.345612534] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050875.346633272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050875.347823848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050875.445327096] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050875.445887494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050875.447104596] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050875.448450170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050875.449495022] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050875.457150690] [sailbot.main_algo]: Wind Direction: 274 +[main_algo-3] [INFO] [1746050875.458206716] [sailbot.main_algo]: Target Bearing: -114.84374259123372 +[main_algo-3] [INFO] [1746050875.459107982] [sailbot.main_algo]: Heading Difference: -40.74125740876633 +[main_algo-3] [INFO] [1746050875.459937436] [sailbot.main_algo]: Wind Direction: 274 +[main_algo-3] [INFO] [1746050875.460784646] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050875.461602413] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050875.462833986] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050875.463501795] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050875.502796616] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46924638 Long: -76.50341459 +[main_algo-3] [INFO] [1746050875.504590672] [sailbot.main_algo]: Distance to destination: 22.986234063405636 +[vectornav-1] [INFO] [1746050875.504616986] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (219.486, 0.56, -0.229) +[main_algo-3] [INFO] [1746050875.506231415] [sailbot.main_algo]: Target Bearing: -114.53274528213625 +[main_algo-3] [INFO] [1746050875.507382695] [sailbot.main_algo]: Heading Difference: -41.052254717863775 +[main_algo-3] [INFO] [1746050875.508379168] [sailbot.main_algo]: Wind Direction: 274 +[main_algo-3] [INFO] [1746050875.509287371] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050875.510313800] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050875.512030238] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050875.545356571] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050875.545964137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050875.547049412] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050875.548011309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050875.549039873] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050875.585400117] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050875.587987959] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050875.588682533] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050875.589211956] [sailbot.teensy]: Wind angle: 274 +[teensy-2] [INFO] [1746050875.590241724] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050875.591118931] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050875.591932070] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050875.645330198] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050875.645870087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050875.646984632] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050875.648588327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050875.649804964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050875.745230743] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050875.745790988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050875.747235332] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050875.748067630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050875.749292583] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050875.835261520] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050875.837770272] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050875.838514430] [sailbot.teensy]: Wind angle: 275 +[mux-7] [INFO] [1746050875.838666971] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050875.839471896] [sailbot.teensy]: Actual sail angle: 35 +[teensy-2] [INFO] [1746050875.839864643] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050875.840229682] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050875.844457242] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050875.845027473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050875.845775884] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050875.846719824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050875.847875710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050875.945254437] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050875.946023683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050875.946974998] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050875.948068819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050875.949320192] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050875.957013920] [sailbot.main_algo]: Wind Direction: 275 +[main_algo-3] [INFO] [1746050875.957970883] [sailbot.main_algo]: Target Bearing: -114.53274528213625 +[main_algo-3] [INFO] [1746050875.958812455] [sailbot.main_algo]: Heading Difference: -25.98125471786375 +[main_algo-3] [INFO] [1746050875.959610582] [sailbot.main_algo]: Wind Direction: 275 +[main_algo-3] [INFO] [1746050875.960445471] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050875.961235436] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050875.962246708] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050875.963122914] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050876.003122409] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46924415 Long: -76.50341689 +[main_algo-3] [INFO] [1746050876.003653232] [sailbot.main_algo]: Distance to destination: 22.683806086509865 +[main_algo-3] [INFO] [1746050876.004751104] [sailbot.main_algo]: Target Bearing: -114.3443718184096 +[vectornav-1] [INFO] [1746050876.004811041] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (237.61799999999994, -0.807, 4.002) +[main_algo-3] [INFO] [1746050876.005758884] [sailbot.main_algo]: Heading Difference: -26.169628181590383 +[main_algo-3] [INFO] [1746050876.006693745] [sailbot.main_algo]: Wind Direction: 275 +[main_algo-3] [INFO] [1746050876.007566978] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050876.008437111] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050876.010142497] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050876.044988676] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050876.045719519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050876.046310117] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050876.047635379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050876.048799118] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050876.085607758] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050876.088687917] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050876.090119122] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050876.090337160] [sailbot.teensy]: Wind angle: 282 +[teensy-2] [INFO] [1746050876.091297111] [sailbot.teensy]: Actual sail angle: 35 +[teensy-2] [INFO] [1746050876.092171985] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050876.093009131] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050876.145122989] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050876.145974143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050876.146682374] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050876.148040969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050876.149120296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050876.245401119] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050876.246216369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050876.246995008] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050876.248438887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050876.249650928] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050876.335275087] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050876.337289080] [sailbot.teensy]: Wind angle: 283 +[trim_sail-4] [INFO] [1746050876.337457600] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050876.338456470] [sailbot.teensy]: Actual sail angle: 35 +[teensy-2] [INFO] [1746050876.339394568] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050876.339650485] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050876.340328962] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050876.344392042] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050876.345061801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050876.345664838] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050876.346780878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050876.347782651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050876.445496511] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050876.446056197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050876.447263740] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050876.448553488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050876.449807150] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050876.457127998] [sailbot.main_algo]: Wind Direction: 283 +[main_algo-3] [INFO] [1746050876.458085233] [sailbot.main_algo]: Target Bearing: -114.3443718184096 +[main_algo-3] [INFO] [1746050876.458967743] [sailbot.main_algo]: Heading Difference: -8.037628181590435 +[main_algo-3] [INFO] [1746050876.459769179] [sailbot.main_algo]: Rudder Angle Raw: -1.116337247443116 +[main_algo-3] [INFO] [1746050876.460619540] [sailbot.main_algo]: Rudder Angle: -2 +[main_algo-3] [INFO] [1746050876.461673772] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050876.462267777] [sailbot.mux]: algo rudder angle: -2 +[vectornav-1] [INFO] [1746050876.503481564] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692416 Long: -76.50341942 +[main_algo-3] [INFO] [1746050876.504201109] [sailbot.main_algo]: Distance to destination: 22.341519171363707 +[main_algo-3] [INFO] [1746050876.505481927] [sailbot.main_algo]: Target Bearing: -114.14212206204809 +[main_algo-3] [INFO] [1746050876.506468722] [sailbot.main_algo]: Heading Difference: -8.239877937951974 +[vectornav-1] [INFO] [1746050876.506916286] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (252.09799999999996, -4.015, 4.685) +[main_algo-3] [INFO] [1746050876.507506612] [sailbot.main_algo]: Rudder Angle Raw: -1.1444274913822186 +[main_algo-3] [INFO] [1746050876.508418524] [sailbot.main_algo]: Rudder Angle: -2 +[mux-7] [INFO] [1746050876.510139649] [sailbot.mux]: algo rudder angle: -2 +[mux-7] [INFO] [1746050876.545584632] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050876.545674158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050876.546923333] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050876.548055275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -2 +[teensy-2] [INFO] [1746050876.549102253] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050876.585398617] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050876.587926208] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050876.588897625] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050876.588929317] [sailbot.teensy]: Wind angle: 291 +[teensy-2] [INFO] [1746050876.589941440] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746050876.590853840] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050876.591726066] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050876.645132291] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050876.645922647] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050876.646614647] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050876.648263620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -2 +[teensy-2] [INFO] [1746050876.649295061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050876.745328539] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050876.746259807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050876.747114290] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050876.748491574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -2 +[teensy-2] [INFO] [1746050876.749658575] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050876.835326704] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050876.837920170] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050876.839156883] [sailbot.teensy]: Wind angle: 301 +[mux-7] [INFO] [1746050876.839174824] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050876.840548038] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746050876.841414522] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050876.842275791] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050876.844307647] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050876.844984860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050876.845493410] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050876.846869302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -2 +[teensy-2] [INFO] [1746050876.847921872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050876.945212646] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050876.945977021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050876.946767549] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050876.947870664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -2 +[teensy-2] [INFO] [1746050876.948340152] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050876.957080209] [sailbot.main_algo]: Wind Direction: 301 +[main_algo-3] [INFO] [1746050876.958051074] [sailbot.main_algo]: Target Bearing: -114.14212206204809 +[main_algo-3] [INFO] [1746050876.958930584] [sailbot.main_algo]: Heading Difference: 6.240122062048044 +[main_algo-3] [INFO] [1746050876.959737188] [sailbot.main_algo]: Rudder Angle Raw: 0.866683619728895 +[main_algo-3] [INFO] [1746050876.960571557] [sailbot.main_algo]: Rudder Angle: 0 +[main_algo-3] [INFO] [1746050876.961743229] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050876.962131819] [sailbot.mux]: algo rudder angle: 0 +[vectornav-1] [INFO] [1746050877.003215617] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46923753 Long: -76.50341993 +[main_algo-3] [INFO] [1746050877.004281256] [sailbot.main_algo]: Distance to destination: 21.9098051107577 +[vectornav-1] [INFO] [1746050877.004543041] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (274.43, -2.058, 3.852) +[main_algo-3] [INFO] [1746050877.005694818] [sailbot.main_algo]: Target Bearing: -114.50554657064788 +[main_algo-3] [INFO] [1746050877.006665114] [sailbot.main_algo]: Heading Difference: 6.603546570647836 +[main_algo-3] [INFO] [1746050877.007630921] [sailbot.main_algo]: Rudder Angle Raw: 0.9171592459233106 +[main_algo-3] [INFO] [1746050877.008589794] [sailbot.main_algo]: Rudder Angle: 0 +[mux-7] [INFO] [1746050877.010375918] [sailbot.mux]: algo rudder angle: 0 +[mux-7] [INFO] [1746050877.045235595] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050877.046094141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050877.046678984] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050877.048255867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: 0 +[teensy-2] [INFO] [1746050877.049391383] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050877.085211536] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050877.087076638] [sailbot.teensy]: Wind angle: 308 +[teensy-2] [INFO] [1746050877.087983321] [sailbot.teensy]: Actual sail angle: 50 +[trim_sail-4] [INFO] [1746050877.087488601] [sailbot.trim_sail]: Sail Angle: "60" +[mux-7] [INFO] [1746050877.087988759] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746050877.088927068] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050877.089755378] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050877.145064000] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050877.145868999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050877.146417714] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050877.148059648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 0 +[teensy-2] [INFO] [1746050877.149084337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050877.245432931] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050877.246417201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050877.247122152] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050877.248906676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 0 +[teensy-2] [INFO] [1746050877.250080633] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050877.335032315] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050877.337246257] [sailbot.teensy]: Wind angle: 323 +[trim_sail-4] [INFO] [1746050877.337719940] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746050877.338199806] [sailbot.teensy]: Actual sail angle: 55 +[mux-7] [INFO] [1746050877.338814489] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746050877.338889600] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050877.339281058] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050877.344366790] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050877.344894913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050877.345440206] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050877.346623322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 0 +[teensy-2] [INFO] [1746050877.347756136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050877.445394922] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050877.446027999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050877.446889777] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050877.448127863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 0 +[teensy-2] [INFO] [1746050877.449241913] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050877.457185210] [sailbot.main_algo]: Wind Direction: 323 +[main_algo-3] [INFO] [1746050877.458253443] [sailbot.main_algo]: Target Bearing: -114.50554657064788 +[main_algo-3] [INFO] [1746050877.459167154] [sailbot.main_algo]: Heading Difference: 28.93554657064783 +[main_algo-3] [INFO] [1746050877.459986461] [sailbot.main_algo]: Wind Direction: 323 +[main_algo-3] [INFO] [1746050877.460818877] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050877.461633921] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050877.462676788] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050877.463387445] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050877.502586899] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46923265 Long: -76.50341857 +[main_algo-3] [INFO] [1746050877.503584870] [sailbot.main_algo]: Distance to destination: 21.459688491398367 +[vectornav-1] [INFO] [1746050877.503966911] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.179, 1.689, 6.247) +[main_algo-3] [INFO] [1746050877.504713815] [sailbot.main_algo]: Target Bearing: -115.35616200894604 +[main_algo-3] [INFO] [1746050877.505730028] [sailbot.main_algo]: Heading Difference: 29.78616200894612 +[main_algo-3] [INFO] [1746050877.506677800] [sailbot.main_algo]: Wind Direction: 323 +[main_algo-3] [INFO] [1746050877.507565635] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050877.508438786] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050877.510145359] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050877.545061156] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050877.545968331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050877.546371668] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050877.547930350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 +[teensy-2] [INFO] [1746050877.548981361] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050877.585486643] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050877.587447985] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746050877.588015125] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746050877.588486429] [sailbot.teensy]: Actual sail angle: 60 +[mux-7] [INFO] [1746050877.588754502] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050877.589446745] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050877.590409553] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050877.645244718] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050877.645949851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050877.646733549] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050877.648076160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050877.649285772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050877.745013109] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050877.745969052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050877.746628524] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050877.747705402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050877.748257568] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050877.835334096] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050877.836997369] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746050877.837566929] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050877.837938306] [sailbot.teensy]: Actual sail angle: 70 +[teensy-2] [INFO] [1746050877.838810038] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050877.839069574] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050877.839708250] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050877.844348836] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050877.845052195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050877.845414303] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050877.846792999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050877.847916698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050877.945292839] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050877.946120452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050877.947182038] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050877.948311793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050877.948827558] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050877.957076535] [sailbot.main_algo]: Wind Direction: 352 +[main_algo-3] [INFO] [1746050877.958113152] [sailbot.main_algo]: Target Bearing: -115.35616200894604 +[main_algo-3] [INFO] [1746050877.958998911] [sailbot.main_algo]: Heading Difference: 48.53516200894603 +[main_algo-3] [INFO] [1746050877.959885050] [sailbot.main_algo]: Wind Direction: 352 +[main_algo-3] [INFO] [1746050877.960714773] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050877.961519531] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050877.962527886] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050877.963175076] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050878.003386541] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46922891 Long: -76.50341572 +[main_algo-3] [INFO] [1746050878.004100349] [sailbot.main_algo]: Distance to destination: 21.181327615504802 +[vectornav-1] [INFO] [1746050878.004753551] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (301.671, 1.939, 5.76) +[main_algo-3] [INFO] [1746050878.005308597] [sailbot.main_algo]: Target Bearing: -116.39683618138736 +[main_algo-3] [INFO] [1746050878.006349451] [sailbot.main_algo]: Heading Difference: 49.57583618138733 +[main_algo-3] [INFO] [1746050878.007329236] [sailbot.main_algo]: Wind Direction: 352 +[main_algo-3] [INFO] [1746050878.008344007] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050878.009243625] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050878.011085781] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050878.044975004] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050878.045530733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050878.046235137] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050878.047499384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050878.048557606] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050878.085192292] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050878.086726014] [sailbot.teensy]: Wind angle: 354 +[teensy-2] [INFO] [1746050878.087614268] [sailbot.teensy]: Actual sail angle: 85 +[trim_sail-4] [INFO] [1746050878.087423713] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050878.088469826] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050878.088655111] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050878.089375290] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050878.145261921] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050878.146044306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050878.147042183] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050878.148455700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050878.149531421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050878.245305455] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050878.245850219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050878.247252628] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050878.247899555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050878.249028443] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050878.335242658] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050878.336930246] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746050878.337561074] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050878.337889292] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050878.338799121] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050878.339582474] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050878.339673015] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050878.344226928] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050878.345074842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050878.345329205] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050878.346813398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050878.347928058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050878.445179284] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050878.445938471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050878.446974298] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050878.448515279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050878.449658526] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050878.457053045] [sailbot.main_algo]: Wind Direction: 359 +[main_algo-3] [INFO] [1746050878.458015062] [sailbot.main_algo]: Target Bearing: -116.39683618138736 +[main_algo-3] [INFO] [1746050878.458897693] [sailbot.main_algo]: Heading Difference: 58.06783618138729 +[main_algo-3] [INFO] [1746050878.459706341] [sailbot.main_algo]: Wind Direction: 359 +[main_algo-3] [INFO] [1746050878.460530068] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050878.461330159] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050878.462334626] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050878.463709756] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050878.503422146] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46922597 Long: -76.50341241 +[main_algo-3] [INFO] [1746050878.503900929] [sailbot.main_algo]: Distance to destination: 21.00653344829895 +[vectornav-1] [INFO] [1746050878.504818910] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.325, -0.406, 2.946) +[main_algo-3] [INFO] [1746050878.505113335] [sailbot.main_algo]: Target Bearing: -117.44928879117428 +[main_algo-3] [INFO] [1746050878.506108001] [sailbot.main_algo]: Heading Difference: 59.12028879117429 +[main_algo-3] [INFO] [1746050878.507033880] [sailbot.main_algo]: Wind Direction: 359 +[main_algo-3] [INFO] [1746050878.507930976] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050878.508791909] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050878.510618538] [sailbot.mux]: algo rudder angle: 15 +[teensy-2] [INFO] [1746050878.545773993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050878.545782393] [sailbot.mux]: Published sail angle from algo: 90 +[mux-7] [INFO] [1746050878.547333238] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050878.547903368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050878.549077180] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050878.585422509] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050878.587894092] [sailbot.teensy]: Wind angle: 3 +[trim_sail-4] [INFO] [1746050878.588062301] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746050878.588567980] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050878.588869698] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050878.590078414] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050878.590960012] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050878.645167313] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050878.645856269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050878.646666522] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050878.648010979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050878.648772518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050878.745446425] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050878.746321858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050878.747235768] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050878.748780499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050878.750029358] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050878.835407135] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050878.837232357] [sailbot.teensy]: Wind angle: 4 +[trim_sail-4] [INFO] [1746050878.838121218] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050878.838139466] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050878.839024351] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050878.838482045] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050878.839458601] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050878.844471685] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050878.845114845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050878.845560039] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050878.846808907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050878.847961724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050878.945111306] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050878.945910429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050878.946449149] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050878.947848626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050878.948363542] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050878.956902171] [sailbot.main_algo]: Wind Direction: 4 +[main_algo-3] [INFO] [1746050878.957866057] [sailbot.main_algo]: Target Bearing: -117.44928879117428 +[main_algo-3] [INFO] [1746050878.958726385] [sailbot.main_algo]: Heading Difference: 52.774288791174286 +[main_algo-3] [INFO] [1746050878.959530379] [sailbot.main_algo]: Wind Direction: 4 +[main_algo-3] [INFO] [1746050878.960357469] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050878.961159262] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050878.962144515] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050878.962762264] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050879.003043449] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46922229 Long: -76.50341056 +[main_algo-3] [INFO] [1746050879.003919117] [sailbot.main_algo]: Distance to destination: 20.71072562477754 +[vectornav-1] [INFO] [1746050879.004613424] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (278.219, -3.585, 0.841) +[main_algo-3] [INFO] [1746050879.005131722] [sailbot.main_algo]: Target Bearing: -118.3294657904551 +[main_algo-3] [INFO] [1746050879.006119328] [sailbot.main_algo]: Heading Difference: 53.654465790455106 +[main_algo-3] [INFO] [1746050879.007040777] [sailbot.main_algo]: Wind Direction: 4 +[main_algo-3] [INFO] [1746050879.007932657] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050879.008811686] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050879.010466038] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050879.045073137] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050879.046421450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050879.046646420] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050879.048420569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050879.049552277] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050879.085449408] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050879.087335941] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746050879.088068046] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050879.088274944] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050879.089170888] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050879.089425862] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050879.090039453] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050879.144883671] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050879.145719871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050879.146150673] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050879.147618222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050879.148553310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050879.245038997] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050879.245718689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050879.246570059] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050879.247840898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050879.249055200] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050879.335224222] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050879.337068674] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746050879.337424868] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050879.337993925] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746050879.338786742] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050879.338906606] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050879.339783036] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050879.344383106] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050879.344914676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050879.345586043] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050879.346671195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050879.347752790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050879.445167080] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050879.446026970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050879.446570656] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050879.447947674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050879.449093760] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050879.457011319] [sailbot.main_algo]: Wind Direction: 359 +[main_algo-3] [INFO] [1746050879.458012818] [sailbot.main_algo]: Target Bearing: -118.3294657904551 +[main_algo-3] [INFO] [1746050879.458847272] [sailbot.main_algo]: Heading Difference: 36.54846579045511 +[main_algo-3] [INFO] [1746050879.459679055] [sailbot.main_algo]: Wind Direction: 359 +[main_algo-3] [INFO] [1746050879.460518159] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050879.461353662] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050879.462468234] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050879.463188010] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050879.502568722] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46921718 Long: -76.50341055 +[main_algo-3] [INFO] [1746050879.503399246] [sailbot.main_algo]: Distance to destination: 20.2085552352439 +[vectornav-1] [INFO] [1746050879.503538083] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (253.183, 0.094, -4.013) +[main_algo-3] [INFO] [1746050879.504765264] [sailbot.main_algo]: Target Bearing: -119.06988936165388 +[main_algo-3] [INFO] [1746050879.505638515] [sailbot.main_algo]: Heading Difference: 37.2888893616539 +[main_algo-3] [INFO] [1746050879.506458640] [sailbot.main_algo]: Wind Direction: 359 +[main_algo-3] [INFO] [1746050879.507279803] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050879.508067770] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050879.509655321] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050879.544917582] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050879.545563678] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050879.546157150] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050879.547326537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050879.548295543] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050879.585128482] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050879.586689521] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746050879.587200164] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746050879.587582989] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050879.588473306] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050879.589025373] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050879.589389794] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050879.645080421] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050879.645776626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050879.646433500] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050879.647919196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050879.649070248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050879.744904170] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050879.745533605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050879.746193826] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050879.747330043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050879.748554633] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050879.835109992] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050879.837250109] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746050879.837613330] [sailbot.teensy]: Wind angle: 326 +[mux-7] [INFO] [1746050879.838017085] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746050879.838637863] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050879.839617163] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050879.840543011] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050879.844354248] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050879.844793517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050879.845355379] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050879.846328633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 +[teensy-2] [INFO] [1746050879.847376828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050879.945434627] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050879.946080847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050879.946935204] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050879.948273303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 +[teensy-2] [INFO] [1746050879.949333423] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050879.956979646] [sailbot.main_algo]: Wind Direction: 326 +[main_algo-3] [INFO] [1746050879.957957351] [sailbot.main_algo]: Target Bearing: -119.06988936165388 +[main_algo-3] [INFO] [1746050879.958860442] [sailbot.main_algo]: Heading Difference: 12.252889361653843 +[main_algo-3] [INFO] [1746050879.959685533] [sailbot.main_algo]: Rudder Angle Raw: 1.7017901891185891 +[main_algo-3] [INFO] [1746050879.960508508] [sailbot.main_algo]: Rudder Angle: 1 +[main_algo-3] [INFO] [1746050879.961639058] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050879.962282220] [sailbot.mux]: algo rudder angle: 1 +[vectornav-1] [INFO] [1746050880.002905551] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46921268 Long: -76.50341295 +[main_algo-3] [INFO] [1746050880.003729341] [sailbot.main_algo]: Distance to destination: 19.67479921212101 +[vectornav-1] [INFO] [1746050880.004640672] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (229.08400000000006, 1.129, -6.762) +[main_algo-3] [INFO] [1746050880.004963286] [sailbot.main_algo]: Target Bearing: -119.24724038588867 +[main_algo-3] [INFO] [1746050880.005997286] [sailbot.main_algo]: Heading Difference: 12.430240385888737 +[main_algo-3] [INFO] [1746050880.006922333] [sailbot.main_algo]: Rudder Angle Raw: 1.72642227581788 +[main_algo-3] [INFO] [1746050880.007822877] [sailbot.main_algo]: Rudder Angle: 1 +[mux-7] [INFO] [1746050880.009571372] [sailbot.mux]: algo rudder angle: 1 +[mux-7] [INFO] [1746050880.044756849] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050880.045449262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050880.045872482] [sailbot.mux]: Published rudder angle from algo: 1 +[teensy-2] [INFO] [1746050880.047275849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 1 +[teensy-2] [INFO] [1746050880.048756911] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050880.085451870] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050880.087479767] [sailbot.teensy]: Wind angle: 310 +[teensy-2] [INFO] [1746050880.088425930] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746050880.088500711] [sailbot.mux]: algo sail angle: 60 +[trim_sail-4] [INFO] [1746050880.088645565] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746050880.089345124] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050880.090245715] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050880.145032187] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050880.146227939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050880.146610799] [sailbot.mux]: Published rudder angle from algo: 1 +[teensy-2] [INFO] [1746050880.148078767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 1 +[teensy-2] [INFO] [1746050880.149257105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050880.245208224] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050880.246284975] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050880.246906819] [sailbot.mux]: Published rudder angle from algo: 1 +[teensy-2] [INFO] [1746050880.247956921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 1 +[teensy-2] [INFO] [1746050880.248389764] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050880.335285076] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050880.337229286] [sailbot.teensy]: Wind angle: 299 +[teensy-2] [INFO] [1746050880.338119777] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050880.338467890] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050880.338921738] [sailbot.teensy]: Actual tail angle: 26 +[trim_sail-4] [INFO] [1746050880.339252704] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050880.339305173] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050880.344407804] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050880.345090597] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050880.345954311] [sailbot.mux]: Published rudder angle from algo: 1 +[teensy-2] [INFO] [1746050880.347028784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: 1 +[teensy-2] [INFO] [1746050880.348235842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050880.445221801] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050880.445940617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050880.446709570] [sailbot.mux]: Published rudder angle from algo: 1 +[teensy-2] [INFO] [1746050880.448054643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: 1 +[teensy-2] [INFO] [1746050880.449359598] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050880.457017481] [sailbot.main_algo]: Wind Direction: 299 +[main_algo-3] [INFO] [1746050880.457990596] [sailbot.main_algo]: Target Bearing: -119.24724038588867 +[main_algo-3] [INFO] [1746050880.458826309] [sailbot.main_algo]: Heading Difference: -11.668759614111195 +[main_algo-3] [INFO] [1746050880.459648979] [sailbot.main_algo]: Rudder Angle Raw: -1.6206610575154439 +[main_algo-3] [INFO] [1746050880.460467336] [sailbot.main_algo]: Rudder Angle: -2 +[main_algo-3] [INFO] [1746050880.461486855] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050880.462058551] [sailbot.mux]: algo rudder angle: -2 +[vectornav-1] [INFO] [1746050880.503121852] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46921023 Long: -76.50341669 +[main_algo-3] [INFO] [1746050880.503888826] [sailbot.main_algo]: Distance to destination: 19.29013238248619 +[vectornav-1] [INFO] [1746050880.504433968] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (209.62099999999998, -0.486, -4.563) +[main_algo-3] [INFO] [1746050880.504962015] [sailbot.main_algo]: Target Bearing: -118.82482498506076 +[main_algo-3] [INFO] [1746050880.506286822] [sailbot.main_algo]: Heading Difference: -12.091175014939154 +[main_algo-3] [INFO] [1746050880.507252211] [sailbot.main_algo]: Rudder Angle Raw: -1.6793298631859934 +[main_algo-3] [INFO] [1746050880.508138660] [sailbot.main_algo]: Rudder Angle: -2 +[mux-7] [INFO] [1746050880.509889863] [sailbot.mux]: algo rudder angle: -2 +[mux-7] [INFO] [1746050880.545089570] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050880.545813729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050880.546416697] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050880.548102630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -2 +[teensy-2] [INFO] [1746050880.549249476] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050880.585423005] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050880.587325255] [sailbot.teensy]: Wind angle: 291 +[trim_sail-4] [INFO] [1746050880.587736726] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050880.588328271] [sailbot.teensy]: Actual sail angle: 60 +[teensy-2] [INFO] [1746050880.589297316] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050880.590385399] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050880.590437264] [sailbot.mux]: algo sail angle: 50 +[mux-7] [INFO] [1746050880.645241817] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050880.645834740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050880.646632801] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050880.648030022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -2 +[teensy-2] [INFO] [1746050880.649048856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050880.745286907] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050880.746339200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050880.746788716] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050880.748406131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -2 +[teensy-2] [INFO] [1746050880.749393716] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050880.835137554] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050880.837219944] [sailbot.teensy]: Wind angle: 275 +[trim_sail-4] [INFO] [1746050880.837378390] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050880.838205009] [sailbot.teensy]: Actual sail angle: 55 +[mux-7] [INFO] [1746050880.838630160] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050880.839021939] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050880.839399866] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050880.844485722] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050880.845113595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050880.845558418] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050880.846943557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -2 +[teensy-2] [INFO] [1746050880.847995573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050880.945418249] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050880.946259256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050880.947030254] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050880.948653703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -2 +[teensy-2] [INFO] [1746050880.949703723] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050880.957035184] [sailbot.main_algo]: Wind Direction: 275 +[main_algo-3] [INFO] [1746050880.958019412] [sailbot.main_algo]: Target Bearing: -118.82482498506076 +[main_algo-3] [INFO] [1746050880.958908580] [sailbot.main_algo]: Heading Difference: -31.554175014939233 +[main_algo-3] [INFO] [1746050880.959762224] [sailbot.main_algo]: Wind Direction: 275 +[main_algo-3] [INFO] [1746050880.960639915] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050880.961424617] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050880.962439344] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050880.963229143] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050881.003176106] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46920932 Long: -76.50342132 +[main_algo-3] [INFO] [1746050881.003752373] [sailbot.main_algo]: Distance to destination: 19.02534126443541 +[vectornav-1] [INFO] [1746050881.004698502] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.46399999999994, -2.167, 0.502) +[main_algo-3] [INFO] [1746050881.004893151] [sailbot.main_algo]: Target Bearing: -117.95273845886794 +[main_algo-3] [INFO] [1746050881.005903085] [sailbot.main_algo]: Heading Difference: -32.42626154113208 +[main_algo-3] [INFO] [1746050881.006833796] [sailbot.main_algo]: Wind Direction: 275 +[main_algo-3] [INFO] [1746050881.007734677] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050881.008599523] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050881.010371373] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050881.045095151] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050881.046184559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050881.046468770] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050881.048142870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050881.049225366] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050881.085498531] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050881.087361718] [sailbot.teensy]: Wind angle: 258 +[trim_sail-4] [INFO] [1746050881.088042565] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050881.088356192] [sailbot.teensy]: Actual sail angle: 50 +[mux-7] [INFO] [1746050881.089181503] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050881.089263244] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050881.090205555] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050881.144742829] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050881.145393000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050881.145891642] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050881.147147208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050881.148351255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050881.245275137] [sailbot.mux]: Published sail angle from algo: 25 +[mux-7] [INFO] [1746050881.246850827] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050881.247573176] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050881.248648677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050881.249105083] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050881.335398580] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050881.337419206] [sailbot.teensy]: Wind angle: 256 +[trim_sail-4] [INFO] [1746050881.337805840] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050881.339097842] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050881.339195689] [sailbot.teensy]: Actual sail angle: 35 +[teensy-2] [INFO] [1746050881.339608957] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050881.340044416] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050881.344375538] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050881.345278194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050881.345801419] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050881.347031304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050881.348044762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050881.445271973] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050881.446799639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050881.447292148] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050881.448599387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050881.449142859] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050881.457188619] [sailbot.main_algo]: Wind Direction: 256 +[main_algo-3] [INFO] [1746050881.458247612] [sailbot.main_algo]: Target Bearing: -117.95273845886794 +[main_algo-3] [INFO] [1746050881.459143807] [sailbot.main_algo]: Heading Difference: -45.58326154113212 +[main_algo-3] [INFO] [1746050881.459948067] [sailbot.main_algo]: Wind Direction: 256 +[main_algo-3] [INFO] [1746050881.460779589] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050881.461562911] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050881.462581154] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050881.463573578] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050881.502756373] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46920863 Long: -76.50342568 +[main_algo-3] [INFO] [1746050881.503717223] [sailbot.main_algo]: Distance to destination: 18.79678244555356 +[vectornav-1] [INFO] [1746050881.503905853] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.43200000000002, 0.341, -0.024) +[main_algo-3] [INFO] [1746050881.505066440] [sailbot.main_algo]: Target Bearing: -117.0843521416152 +[main_algo-3] [INFO] [1746050881.506075080] [sailbot.main_algo]: Heading Difference: -46.45164785838483 +[main_algo-3] [INFO] [1746050881.506994154] [sailbot.main_algo]: Wind Direction: 256 +[main_algo-3] [INFO] [1746050881.507873970] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050881.508748661] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050881.510786289] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050881.544968495] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050881.545736709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050881.546200146] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050881.547790326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050881.548991199] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050881.585308285] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050881.586835045] [sailbot.teensy]: Wind angle: 253 +[teensy-2] [INFO] [1746050881.587712678] [sailbot.teensy]: Actual sail angle: 25 +[trim_sail-4] [INFO] [1746050881.587314470] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050881.588539435] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050881.588590340] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050881.589577808] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050881.645156211] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050881.645896402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050881.646913268] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050881.648008451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050881.649256450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050881.745422410] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050881.746460762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050881.747036160] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050881.748770198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050881.750029118] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050881.835231266] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050881.837162768] [sailbot.teensy]: Wind angle: 253 +[trim_sail-4] [INFO] [1746050881.837478988] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050881.838543739] [sailbot.teensy]: Actual sail angle: 20 +[teensy-2] [INFO] [1746050881.839605392] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050881.840330814] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050881.840504217] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050881.844399502] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050881.844985163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050881.845512824] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050881.846688592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050881.847832177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050881.945180016] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050881.946026376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050881.946653110] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050881.947978185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050881.949122779] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050881.957109312] [sailbot.main_algo]: Wind Direction: 253 +[main_algo-3] [INFO] [1746050881.958094908] [sailbot.main_algo]: Target Bearing: -117.0843521416152 +[main_algo-3] [INFO] [1746050881.958949950] [sailbot.main_algo]: Heading Difference: -51.48364785838476 +[main_algo-3] [INFO] [1746050881.959737175] [sailbot.main_algo]: Wind Direction: 253 +[main_algo-3] [INFO] [1746050881.960538581] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050881.961349080] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050881.962387877] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050881.963035637] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050882.002995032] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46920807 Long: -76.50342915 +[main_algo-3] [INFO] [1746050882.003499937] [sailbot.main_algo]: Distance to destination: 18.61694369886387 +[vectornav-1] [INFO] [1746050882.004299178] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.47799999999995, 2.289, 0.212) +[main_algo-3] [INFO] [1746050882.004545897] [sailbot.main_algo]: Target Bearing: -116.3797058201563 +[main_algo-3] [INFO] [1746050882.005485100] [sailbot.main_algo]: Heading Difference: -52.188294179843695 +[main_algo-3] [INFO] [1746050882.006336574] [sailbot.main_algo]: Wind Direction: 253 +[main_algo-3] [INFO] [1746050882.007148392] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050882.007969519] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050882.009743593] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050882.044917031] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050882.045710343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050882.046198997] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050882.047507111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050882.048693710] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050882.085392441] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050882.087952584] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050882.088333097] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050882.088589428] [sailbot.teensy]: Wind angle: 260 +[teensy-2] [INFO] [1746050882.089637999] [sailbot.teensy]: Actual sail angle: 20 +[teensy-2] [INFO] [1746050882.090540082] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050882.091407023] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050882.145462902] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050882.146069628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050882.146845293] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050882.148211835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050882.149263548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050882.245458802] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050882.246213661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050882.247039817] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050882.248842969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050882.249738186] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050882.335405997] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050882.337809701] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050882.338646153] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050882.338811389] [sailbot.teensy]: Wind angle: 261 +[teensy-2] [INFO] [1746050882.339422959] [sailbot.teensy]: Actual sail angle: 20 +[teensy-2] [INFO] [1746050882.339815288] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050882.340197128] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050882.344446375] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050882.344928809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050882.345544688] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050882.346623540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050882.347657543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050882.445340804] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050882.445900087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050882.446830190] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050882.447796964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050882.448274980] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050882.457193037] [sailbot.main_algo]: Wind Direction: 261 +[main_algo-3] [INFO] [1746050882.458257334] [sailbot.main_algo]: Target Bearing: -116.3797058201563 +[main_algo-3] [INFO] [1746050882.459161090] [sailbot.main_algo]: Heading Difference: -48.14229417984376 +[main_algo-3] [INFO] [1746050882.459981428] [sailbot.main_algo]: Wind Direction: 261 +[main_algo-3] [INFO] [1746050882.460795114] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050882.461596365] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050882.462581227] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050882.463136669] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050882.502844521] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46920718 Long: -76.50343177 +[main_algo-3] [INFO] [1746050882.503840987] [sailbot.main_algo]: Distance to destination: 18.435977718164846 +[vectornav-1] [INFO] [1746050882.504043545] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (205.02700000000004, -2.926, 4.023) +[main_algo-3] [INFO] [1746050882.505172351] [sailbot.main_algo]: Target Bearing: -115.90633719827348 +[main_algo-3] [INFO] [1746050882.506152229] [sailbot.main_algo]: Heading Difference: -48.61566280172656 +[main_algo-3] [INFO] [1746050882.507058085] [sailbot.main_algo]: Wind Direction: 261 +[main_algo-3] [INFO] [1746050882.507937237] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050882.508832766] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050882.510539112] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050882.545054542] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050882.545778683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050882.546436045] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050882.547929454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050882.549141971] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050882.585277870] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050882.587035029] [sailbot.teensy]: Wind angle: 263 +[trim_sail-4] [INFO] [1746050882.587522522] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050882.587933195] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050882.588816785] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050882.589248564] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050882.589720845] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050882.645028606] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050882.645775345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050882.646631701] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050882.647739101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050882.648857211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050882.744792633] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050882.745334512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050882.745972507] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050882.747050725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050882.748253595] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050882.835067945] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050882.837222272] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050882.837407666] [sailbot.teensy]: Wind angle: 267 +[mux-7] [INFO] [1746050882.838122279] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050882.838346379] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050882.839234543] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050882.840089633] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050882.844410339] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050882.844818184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050882.845539671] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050882.846507465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050882.847572109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050882.944756786] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050882.945290413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050882.946025766] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050882.947052188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050882.948216222] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050882.956949148] [sailbot.main_algo]: Wind Direction: 267 +[main_algo-3] [INFO] [1746050882.957944432] [sailbot.main_algo]: Target Bearing: -115.90633719827348 +[main_algo-3] [INFO] [1746050882.958810093] [sailbot.main_algo]: Heading Difference: -39.066662801726466 +[main_algo-3] [INFO] [1746050882.959636655] [sailbot.main_algo]: Wind Direction: 267 +[main_algo-3] [INFO] [1746050882.960452066] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050882.961247404] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050882.962247139] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050882.963225419] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050883.003513761] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46920615 Long: -76.50343481 +[main_algo-3] [INFO] [1746050883.003701844] [sailbot.main_algo]: Distance to destination: 18.227883212935634 +[vectornav-1] [INFO] [1746050883.004642063] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (214.69899999999996, 0.43, 0.675) +[main_algo-3] [INFO] [1746050883.004788023] [sailbot.main_algo]: Target Bearing: -115.34496647587332 +[main_algo-3] [INFO] [1746050883.005793032] [sailbot.main_algo]: Heading Difference: -39.628033524126636 +[main_algo-3] [INFO] [1746050883.006783349] [sailbot.main_algo]: Wind Direction: 267 +[main_algo-3] [INFO] [1746050883.007718382] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050883.008612855] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050883.010393076] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050883.045160223] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050883.045698697] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050883.046605979] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050883.047657383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050883.048850773] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050883.085435765] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050883.087273457] [sailbot.teensy]: Wind angle: 267 +[teensy-2] [INFO] [1746050883.088263282] [sailbot.teensy]: Actual sail angle: 25 +[trim_sail-4] [INFO] [1746050883.088022121] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050883.089140903] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050883.089446081] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050883.090044163] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050883.145205854] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050883.145982785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050883.146704506] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050883.148112370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050883.148943847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050883.245322332] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050883.246184541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050883.247052164] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050883.248318883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050883.248952401] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050883.335202445] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050883.337524878] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050883.337776575] [sailbot.teensy]: Wind angle: 267 +[mux-7] [INFO] [1746050883.338578742] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050883.338949267] [sailbot.teensy]: Actual sail angle: 30 +[teensy-2] [INFO] [1746050883.339832963] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050883.340711456] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050883.344495562] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050883.344851607] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050883.345622255] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050883.346508373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050883.347664595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050883.445238815] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050883.446007998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050883.446670643] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050883.447952933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050883.449103761] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050883.457122166] [sailbot.main_algo]: Wind Direction: 267 +[main_algo-3] [INFO] [1746050883.458187771] [sailbot.main_algo]: Target Bearing: -115.34496647587332 +[main_algo-3] [INFO] [1746050883.459104493] [sailbot.main_algo]: Heading Difference: -29.956033524126724 +[main_algo-3] [INFO] [1746050883.459966098] [sailbot.main_algo]: Wind Direction: 267 +[main_algo-3] [INFO] [1746050883.460777762] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050883.461585259] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050883.462744273] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050883.463150924] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050883.502941871] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46920373 Long: -76.50343721 +[main_algo-3] [INFO] [1746050883.504061446] [sailbot.main_algo]: Distance to destination: 17.901824496589875 +[vectornav-1] [INFO] [1746050883.504302954] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (229.45399999999995, -0.93, -1.786) +[main_algo-3] [INFO] [1746050883.505688456] [sailbot.main_algo]: Target Bearing: -115.12386929540236 +[main_algo-3] [INFO] [1746050883.506672524] [sailbot.main_algo]: Heading Difference: -30.177130704597687 +[main_algo-3] [INFO] [1746050883.507575135] [sailbot.main_algo]: Wind Direction: 267 +[main_algo-3] [INFO] [1746050883.508473651] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050883.509348860] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050883.511082608] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050883.545070435] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050883.545965103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050883.546471904] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050883.547932919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050883.548932941] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050883.585322502] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050883.587214814] [sailbot.teensy]: Wind angle: 270 +[trim_sail-4] [INFO] [1746050883.587857774] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050883.588189169] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050883.588209564] [sailbot.teensy]: Actual sail angle: 30 +[teensy-2] [INFO] [1746050883.589189964] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050883.590097256] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050883.645218364] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050883.646011701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050883.646730829] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050883.648768542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050883.649783950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050883.745563563] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050883.746327733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050883.747163254] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050883.748820445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050883.749430824] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050883.835204208] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050883.837471880] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050883.838180285] [sailbot.teensy]: Wind angle: 278 +[mux-7] [INFO] [1746050883.838761686] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050883.839167719] [sailbot.teensy]: Actual sail angle: 30 +[teensy-2] [INFO] [1746050883.840125967] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050883.841056659] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050883.844366074] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050883.845190591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050883.845942730] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050883.847094201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050883.848121350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050883.945356087] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050883.946313185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050883.946828949] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050883.948412123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050883.949577546] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050883.956973789] [sailbot.main_algo]: Wind Direction: 278 +[main_algo-3] [INFO] [1746050883.957984967] [sailbot.main_algo]: Target Bearing: -115.12386929540236 +[main_algo-3] [INFO] [1746050883.958876176] [sailbot.main_algo]: Heading Difference: -15.422130704597748 +[main_algo-3] [INFO] [1746050883.959732735] [sailbot.main_algo]: Rudder Angle Raw: -2.1419625978607986 +[main_algo-3] [INFO] [1746050883.960549305] [sailbot.main_algo]: Rudder Angle: -3 +[main_algo-3] [INFO] [1746050883.961551251] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050883.962328803] [sailbot.mux]: algo rudder angle: -3 +[vectornav-1] [INFO] [1746050884.003138235] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46920127 Long: -76.5034402 +[main_algo-3] [INFO] [1746050884.003535298] [sailbot.main_algo]: Distance to destination: 17.552393959336005 +[main_algo-3] [INFO] [1746050884.004666108] [sailbot.main_algo]: Target Bearing: -114.75564444865252 +[vectornav-1] [INFO] [1746050884.004803268] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (240.79099999999994, -0.605, 0.177) +[main_algo-3] [INFO] [1746050884.005625086] [sailbot.main_algo]: Heading Difference: -15.790355551347602 +[main_algo-3] [INFO] [1746050884.006787502] [sailbot.main_algo]: Rudder Angle Raw: -2.193104937687167 +[main_algo-3] [INFO] [1746050884.007668259] [sailbot.main_algo]: Rudder Angle: -3 +[mux-7] [INFO] [1746050884.009827819] [sailbot.mux]: algo rudder angle: -3 +[mux-7] [INFO] [1746050884.044893468] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050884.045772659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050884.046216965] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050884.047593292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -3 +[teensy-2] [INFO] [1746050884.048691877] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050884.085582127] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050884.087486546] [sailbot.teensy]: Wind angle: 287 +[trim_sail-4] [INFO] [1746050884.088208195] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050884.088560326] [sailbot.teensy]: Actual sail angle: 30 +[teensy-2] [INFO] [1746050884.089477859] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050884.090022852] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050884.090360433] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050884.145607681] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050884.145992579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050884.147252021] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050884.148076162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -3 +[teensy-2] [INFO] [1746050884.149252450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050884.245747922] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050884.246033190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050884.247451818] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050884.248247740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -3 +[teensy-2] [INFO] [1746050884.249336233] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050884.335268900] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050884.337059506] [sailbot.teensy]: Wind angle: 287 +[trim_sail-4] [INFO] [1746050884.337713714] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050884.338001802] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746050884.339026778] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050884.339399306] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050884.339523174] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050884.344662773] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050884.345041875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050884.345974838] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050884.346705013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -3 +[teensy-2] [INFO] [1746050884.347808667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050884.445563700] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050884.446203323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050884.448107090] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050884.448909099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -3 +[teensy-2] [INFO] [1746050884.450024982] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050884.456999859] [sailbot.main_algo]: Wind Direction: 287 +[main_algo-3] [INFO] [1746050884.457948833] [sailbot.main_algo]: Target Bearing: -114.75564444865252 +[main_algo-3] [INFO] [1746050884.458812570] [sailbot.main_algo]: Heading Difference: -4.453355551347613 +[main_algo-3] [INFO] [1746050884.459606314] [sailbot.main_algo]: Rudder Angle Raw: -0.6185216043538351 +[main_algo-3] [INFO] [1746050884.460424562] [sailbot.main_algo]: Rudder Angle: -1 +[main_algo-3] [INFO] [1746050884.461395860] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050884.461998987] [sailbot.mux]: algo rudder angle: -1 +[vectornav-1] [INFO] [1746050884.503153096] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46919819 Long: -76.50344226 +[main_algo-3] [INFO] [1746050884.503523064] [sailbot.main_algo]: Distance to destination: 17.171096944254355 +[vectornav-1] [INFO] [1746050884.504258089] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (254.69399999999996, -2.653, 3.85) +[main_algo-3] [INFO] [1746050884.504574712] [sailbot.main_algo]: Target Bearing: -114.69780955721873 +[main_algo-3] [INFO] [1746050884.505642727] [sailbot.main_algo]: Heading Difference: -4.511190442781299 +[main_algo-3] [INFO] [1746050884.506561767] [sailbot.main_algo]: Rudder Angle Raw: -0.6265542281640692 +[main_algo-3] [INFO] [1746050884.507464957] [sailbot.main_algo]: Rudder Angle: -1 +[mux-7] [INFO] [1746050884.509167636] [sailbot.mux]: algo rudder angle: -1 +[mux-7] [INFO] [1746050884.545431171] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050884.545570189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050884.546939774] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050884.547361912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -1 +[teensy-2] [INFO] [1746050884.548463360] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050884.585342652] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050884.587077137] [sailbot.teensy]: Wind angle: 295 +[trim_sail-4] [INFO] [1746050884.587738691] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050884.587978921] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050884.588860399] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050884.589831208] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050884.589889812] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050884.645153582] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050884.645840445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050884.646693009] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050884.647798945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 +[teensy-2] [INFO] [1746050884.648913107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050884.743739284] [sailbot.mux]: Published sail angle from algo: 50 +[mux-7] [INFO] [1746050884.744359394] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050884.744177949] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050884.745069857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 +[teensy-2] [INFO] [1746050884.745668656] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050884.835581655] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050884.837967583] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746050884.838888677] [sailbot.teensy]: Wind angle: 309 +[mux-7] [INFO] [1746050884.839173679] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746050884.839845479] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050884.840605217] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050884.840960708] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050884.844443822] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050884.845092395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050884.845610425] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050884.846873505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: -1 +[teensy-2] [INFO] [1746050884.848052121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050884.945351900] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050884.946057876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050884.946957743] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050884.948210343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: -1 +[teensy-2] [INFO] [1746050884.949244871] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050884.957010525] [sailbot.main_algo]: Wind Direction: 309 +[main_algo-3] [INFO] [1746050884.958001799] [sailbot.main_algo]: Target Bearing: -114.69780955721873 +[main_algo-3] [INFO] [1746050884.958889956] [sailbot.main_algo]: Heading Difference: 9.391809557218721 +[main_algo-3] [INFO] [1746050884.959738599] [sailbot.main_algo]: Rudder Angle Raw: 1.3044179940581557 +[main_algo-3] [INFO] [1746050884.960575692] [sailbot.main_algo]: Rudder Angle: 1 +[main_algo-3] [INFO] [1746050884.961563467] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050884.962180802] [sailbot.mux]: algo rudder angle: 1 +[vectornav-1] [INFO] [1746050885.003279763] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46919438 Long: -76.50344319 +[main_algo-3] [INFO] [1746050885.003965470] [sailbot.main_algo]: Distance to destination: 16.75318091960208 +[main_algo-3] [INFO] [1746050885.005602135] [sailbot.main_algo]: Target Bearing: -115.03958256323962 +[vectornav-1] [INFO] [1746050885.006106595] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (272.52099999999996, -0.287, 6.452) +[main_algo-3] [INFO] [1746050885.006640285] [sailbot.main_algo]: Heading Difference: 9.733582563239565 +[main_algo-3] [INFO] [1746050885.007559145] [sailbot.main_algo]: Rudder Angle Raw: 1.3518864671166062 +[main_algo-3] [INFO] [1746050885.008457700] [sailbot.main_algo]: Rudder Angle: 1 +[mux-7] [INFO] [1746050885.010263201] [sailbot.mux]: algo rudder angle: 1 +[mux-7] [INFO] [1746050885.045020407] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050885.045657987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050885.046282382] [sailbot.mux]: Published rudder angle from algo: 1 +[teensy-2] [INFO] [1746050885.047501097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 1 +[teensy-2] [INFO] [1746050885.048518309] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050885.085264373] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050885.086943587] [sailbot.teensy]: Wind angle: 313 +[teensy-2] [INFO] [1746050885.087839829] [sailbot.teensy]: Actual sail angle: 50 +[trim_sail-4] [INFO] [1746050885.087491039] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050885.088764544] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050885.088825032] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050885.089658093] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050885.145020108] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050885.145672938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050885.146284054] [sailbot.mux]: Published rudder angle from algo: 1 +[teensy-2] [INFO] [1746050885.147475766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 1 +[teensy-2] [INFO] [1746050885.148639405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050885.244885412] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050885.245834855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050885.246264223] [sailbot.mux]: Published rudder angle from algo: 1 +[teensy-2] [INFO] [1746050885.247625224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 1 +[teensy-2] [INFO] [1746050885.248745408] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050885.335122253] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050885.336818861] [sailbot.teensy]: Wind angle: 317 +[trim_sail-4] [INFO] [1746050885.337560724] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746050885.338509324] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050885.338848256] [sailbot.teensy]: Actual sail angle: 60 +[teensy-2] [INFO] [1746050885.340338554] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050885.341026138] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050885.344392940] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050885.344878672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050885.345532067] [sailbot.mux]: Published rudder angle from algo: 1 +[teensy-2] [INFO] [1746050885.346628427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 1 +[teensy-2] [INFO] [1746050885.347667892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050885.445258729] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050885.445915507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050885.446815760] [sailbot.mux]: Published rudder angle from algo: 1 +[teensy-2] [INFO] [1746050885.448381570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 1 +[teensy-2] [INFO] [1746050885.448969524] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050885.456989223] [sailbot.main_algo]: Wind Direction: 317 +[main_algo-3] [INFO] [1746050885.457972220] [sailbot.main_algo]: Target Bearing: -115.03958256323962 +[main_algo-3] [INFO] [1746050885.458892676] [sailbot.main_algo]: Heading Difference: 27.560582563239564 +[main_algo-3] [INFO] [1746050885.459754046] [sailbot.main_algo]: Wind Direction: 317 +[main_algo-3] [INFO] [1746050885.460593363] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050885.461390110] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050885.462407749] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050885.462911196] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050885.503009635] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46919042 Long: -76.50344253 +[main_algo-3] [INFO] [1746050885.503263759] [sailbot.main_algo]: Distance to destination: 16.375175180673537 +[vectornav-1] [INFO] [1746050885.504046601] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.31399999999996, 0.859, 5.797) +[main_algo-3] [INFO] [1746050885.504256091] [sailbot.main_algo]: Target Bearing: -115.83952288973647 +[main_algo-3] [INFO] [1746050885.505269878] [sailbot.main_algo]: Heading Difference: 28.360522889736444 +[main_algo-3] [INFO] [1746050885.506228846] [sailbot.main_algo]: Wind Direction: 317 +[main_algo-3] [INFO] [1746050885.507124025] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050885.508003466] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050885.509675048] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050885.545004577] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050885.545822666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050885.546721119] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050885.547791656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 +[teensy-2] [INFO] [1746050885.548845035] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050885.585160922] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050885.586846628] [sailbot.teensy]: Wind angle: 320 +[trim_sail-4] [INFO] [1746050885.587294085] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746050885.587746964] [sailbot.teensy]: Actual sail angle: 65 +[mux-7] [INFO] [1746050885.587955285] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746050885.588680197] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050885.589582989] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050885.644922735] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050885.645514245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050885.646550019] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050885.647298536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 +[teensy-2] [INFO] [1746050885.648553938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050885.745071672] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050885.745710280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050885.746481604] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050885.747730289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 +[teensy-2] [INFO] [1746050885.748181688] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050885.835249933] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050885.837009415] [sailbot.teensy]: Wind angle: 324 +[trim_sail-4] [INFO] [1746050885.837592025] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746050885.837962634] [sailbot.teensy]: Actual sail angle: 65 +[teensy-2] [INFO] [1746050885.838847595] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050885.838941234] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746050885.839769809] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050885.844495345] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050885.844992399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050885.845642020] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050885.846616671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 +[teensy-2] [INFO] [1746050885.847634061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050885.945653055] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050885.946445275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050885.947591031] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050885.947959077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 +[teensy-2] [INFO] [1746050885.948489692] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050885.957064201] [sailbot.main_algo]: Wind Direction: 324 +[main_algo-3] [INFO] [1746050885.958060601] [sailbot.main_algo]: Target Bearing: -115.83952288973647 +[main_algo-3] [INFO] [1746050885.958918955] [sailbot.main_algo]: Heading Difference: 40.15352288973645 +[main_algo-3] [INFO] [1746050885.959698454] [sailbot.main_algo]: Wind Direction: 324 +[main_algo-3] [INFO] [1746050885.960532140] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050885.961310641] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050885.962315339] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050885.963033941] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050886.003503417] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46918689 Long: -76.50344067 +[main_algo-3] [INFO] [1746050886.004594468] [sailbot.main_algo]: Distance to destination: 16.086429962499896 +[vectornav-1] [INFO] [1746050886.004691732] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.624, -0.072, 5.149) +[main_algo-3] [INFO] [1746050886.006022546] [sailbot.main_algo]: Target Bearing: -116.92019781671654 +[main_algo-3] [INFO] [1746050886.007019698] [sailbot.main_algo]: Heading Difference: 41.23419781671646 +[main_algo-3] [INFO] [1746050886.007944126] [sailbot.main_algo]: Wind Direction: 324 +[main_algo-3] [INFO] [1746050886.008842608] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050886.009771195] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050886.011527778] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050886.044992807] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050886.045667941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050886.046266641] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050886.047499883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 +[teensy-2] [INFO] [1746050886.048550450] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050886.085417669] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050886.087247163] [sailbot.teensy]: Wind angle: 326 +[teensy-2] [INFO] [1746050886.088230618] [sailbot.teensy]: Actual sail angle: 70 +[teensy-2] [INFO] [1746050886.089109353] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050886.088312198] [sailbot.mux]: algo sail angle: 75 +[trim_sail-4] [INFO] [1746050886.088464576] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746050886.089969582] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050886.144977821] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050886.145638487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050886.146272579] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050886.147552522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 +[teensy-2] [INFO] [1746050886.148638055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050886.245466952] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050886.246362006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050886.247140197] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050886.248470861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 +[teensy-2] [INFO] [1746050886.249476492] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050886.335114873] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050886.337072404] [sailbot.teensy]: Wind angle: 328 +[teensy-2] [INFO] [1746050886.338011810] [sailbot.teensy]: Actual sail angle: 70 +[trim_sail-4] [INFO] [1746050886.337382031] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746050886.338871276] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050886.338893363] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746050886.339792413] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050886.344689962] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050886.345185931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050886.345980572] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050886.346861706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 +[teensy-2] [INFO] [1746050886.347895497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050886.445421321] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050886.445925806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050886.447223354] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050886.448084062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 +[teensy-2] [INFO] [1746050886.449289193] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050886.457162823] [sailbot.main_algo]: Wind Direction: 328 +[main_algo-3] [INFO] [1746050886.458245647] [sailbot.main_algo]: Target Bearing: -116.92019781671654 +[main_algo-3] [INFO] [1746050886.459200399] [sailbot.main_algo]: Heading Difference: 46.54419781671663 +[main_algo-3] [INFO] [1746050886.460059642] [sailbot.main_algo]: Wind Direction: 328 +[main_algo-3] [INFO] [1746050886.460964281] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050886.461801453] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050886.462780997] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050886.463369982] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050886.502663962] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46918311 Long: -76.50343873 +[main_algo-3] [INFO] [1746050886.503714818] [sailbot.main_algo]: Distance to destination: 15.781881890571114 +[vectornav-1] [INFO] [1746050886.504026794] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.154, -0.89, 2.862) +[main_algo-3] [INFO] [1746050886.504842091] [sailbot.main_algo]: Target Bearing: -118.10703533852974 +[main_algo-3] [INFO] [1746050886.505863238] [sailbot.main_algo]: Heading Difference: 47.73103533852975 +[main_algo-3] [INFO] [1746050886.506816173] [sailbot.main_algo]: Wind Direction: 328 +[main_algo-3] [INFO] [1746050886.507702699] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050886.508593174] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050886.510322992] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050886.545242477] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050886.545895682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050886.546666264] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050886.547824983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 +[teensy-2] [INFO] [1746050886.548989271] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050886.585320689] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050886.587474599] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746050886.588417320] [sailbot.teensy]: Wind angle: 329 +[mux-7] [INFO] [1746050886.588989943] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746050886.589401161] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050886.590288620] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050886.591138849] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050886.645451549] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050886.646140628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050886.647079541] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050886.648927857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 +[teensy-2] [INFO] [1746050886.650019754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050886.745096251] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050886.745815005] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050886.746506084] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050886.748046635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 +[teensy-2] [INFO] [1746050886.749141298] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050886.835252096] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050886.836971047] [sailbot.teensy]: Wind angle: 331 +[trim_sail-4] [INFO] [1746050886.837581755] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746050886.837923049] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050886.838830812] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050886.839359423] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746050886.839732727] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050886.844490980] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050886.845092566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050886.845716409] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050886.846853950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 +[teensy-2] [INFO] [1746050886.847857788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050886.945263910] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050886.946072964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050886.946753202] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050886.948195765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 +[teensy-2] [INFO] [1746050886.949413760] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050886.956957141] [sailbot.main_algo]: Wind Direction: 331 +[main_algo-3] [INFO] [1746050886.957974676] [sailbot.main_algo]: Target Bearing: -118.10703533852974 +[main_algo-3] [INFO] [1746050886.958880806] [sailbot.main_algo]: Heading Difference: 38.26103533852972 +[main_algo-3] [INFO] [1746050886.959746499] [sailbot.main_algo]: Wind Direction: 331 +[main_algo-3] [INFO] [1746050886.960667513] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050886.961464441] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050886.962544760] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050886.963058298] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050887.003063181] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46917895 Long: -76.50343818 +[main_algo-3] [INFO] [1746050887.003617307] [sailbot.main_algo]: Distance to destination: 15.393205151536645 +[vectornav-1] [INFO] [1746050887.004569982] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.14699999999993, -1.405, -1.439) +[main_algo-3] [INFO] [1746050887.004758175] [sailbot.main_algo]: Target Bearing: -119.04008958043157 +[main_algo-3] [INFO] [1746050887.005820420] [sailbot.main_algo]: Heading Difference: 39.19408958043164 +[main_algo-3] [INFO] [1746050887.006821652] [sailbot.main_algo]: Wind Direction: 331 +[main_algo-3] [INFO] [1746050887.007714438] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050887.008600849] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050887.010291399] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050887.044907071] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050887.045757024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050887.046194175] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050887.047663975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 +[teensy-2] [INFO] [1746050887.048717972] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050887.085450652] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050887.087701984] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746050887.088664165] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746050887.088721303] [sailbot.teensy]: Wind angle: 334 +[teensy-2] [INFO] [1746050887.089696184] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050887.090616959] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050887.091449474] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050887.144934245] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050887.145818325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050887.146220816] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050887.147802978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050887.148932037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050887.245255620] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050887.245989689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050887.246926831] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050887.248072912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050887.248583519] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050887.335284088] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050887.337796768] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746050887.338057826] [sailbot.teensy]: Wind angle: 334 +[teensy-2] [INFO] [1746050887.339037979] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050887.339584667] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746050887.339913579] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050887.340821233] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050887.344422597] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050887.345039345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050887.345553696] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050887.346728548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050887.347879281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050887.445151310] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050887.445839178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050887.447371421] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050887.448460270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050887.449006430] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050887.457171033] [sailbot.main_algo]: Wind Direction: 334 +[main_algo-3] [INFO] [1746050887.458283211] [sailbot.main_algo]: Target Bearing: -119.04008958043157 +[main_algo-3] [INFO] [1746050887.459229479] [sailbot.main_algo]: Heading Difference: 21.187089580431575 +[main_algo-3] [INFO] [1746050887.460099963] [sailbot.main_algo]: Wind Direction: 334 +[main_algo-3] [INFO] [1746050887.460995107] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050887.461775538] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050887.462952143] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050887.463948154] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050887.503000675] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46917442 Long: -76.50343947 +[main_algo-3] [INFO] [1746050887.504359629] [sailbot.main_algo]: Distance to destination: 14.899947854984715 +[main_algo-3] [INFO] [1746050887.505641705] [sailbot.main_algo]: Target Bearing: -119.58903497056882 +[vectornav-1] [INFO] [1746050887.505845794] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (239.08899999999994, -0.658, -6.298) +[main_algo-3] [INFO] [1746050887.506681228] [sailbot.main_algo]: Heading Difference: 21.736034970568767 +[main_algo-3] [INFO] [1746050887.507645570] [sailbot.main_algo]: Wind Direction: 334 +[main_algo-3] [INFO] [1746050887.508581316] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050887.509474362] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050887.511237782] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050887.545380485] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050887.546272299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050887.546882238] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050887.548448652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050887.549585101] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050887.585348347] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050887.587487863] [sailbot.teensy]: Wind angle: 332 +[trim_sail-4] [INFO] [1746050887.587598035] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746050887.589000443] [sailbot.teensy]: Actual sail angle: 80 +[mux-7] [INFO] [1746050887.590360819] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746050887.591110600] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050887.591988313] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050887.645279277] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050887.646104375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050887.646831029] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050887.648663478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 +[teensy-2] [INFO] [1746050887.649786212] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050887.745382978] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050887.746328870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050887.746914318] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050887.748479300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 +[teensy-2] [INFO] [1746050887.749016181] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050887.835261971] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050887.837091172] [sailbot.teensy]: Wind angle: 326 +[trim_sail-4] [INFO] [1746050887.837565792] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746050887.838010730] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746050887.838953170] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050887.839673358] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746050887.839789887] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050887.844641736] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050887.845124956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050887.845916830] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050887.846886166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 +[teensy-2] [INFO] [1746050887.847890006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050887.945336156] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050887.945987905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050887.947022977] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050887.947943820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 +[teensy-2] [INFO] [1746050887.948872005] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050887.957046435] [sailbot.main_algo]: Wind Direction: 326 +[main_algo-3] [INFO] [1746050887.958074806] [sailbot.main_algo]: Target Bearing: -119.58903497056882 +[main_algo-3] [INFO] [1746050887.958969357] [sailbot.main_algo]: Heading Difference: -1.321965029431226 +[main_algo-3] [INFO] [1746050887.959792241] [sailbot.main_algo]: Rudder Angle Raw: -0.18360625408767026 +[main_algo-3] [INFO] [1746050887.960630040] [sailbot.main_algo]: Rudder Angle: -1 +[main_algo-3] [INFO] [1746050887.961698249] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050887.962363624] [sailbot.mux]: algo rudder angle: -1 +[vectornav-1] [INFO] [1746050888.002914881] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46917114 Long: -76.50344255 +[main_algo-3] [INFO] [1746050888.003872938] [sailbot.main_algo]: Distance to destination: 14.458998941517446 +[vectornav-1] [INFO] [1746050888.004288931] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (219.70399999999995, -1.003, -5.052) +[main_algo-3] [INFO] [1746050888.005131208] [sailbot.main_algo]: Target Bearing: -119.39815138540992 +[main_algo-3] [INFO] [1746050888.006289081] [sailbot.main_algo]: Heading Difference: -1.5128486145902116 +[main_algo-3] [INFO] [1746050888.007244980] [sailbot.main_algo]: Rudder Angle Raw: -0.2101178631375294 +[main_algo-3] [INFO] [1746050888.008131800] [sailbot.main_algo]: Rudder Angle: -1 +[mux-7] [INFO] [1746050888.009829199] [sailbot.mux]: algo rudder angle: -1 +[mux-7] [INFO] [1746050888.045860284] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050888.046141737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050888.047859634] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050888.048406372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 +[teensy-2] [INFO] [1746050888.049602191] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050888.085636799] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050888.088019297] [sailbot.teensy]: Wind angle: 311 +[trim_sail-4] [INFO] [1746050888.088262068] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746050888.089052950] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050888.089976820] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050888.090612154] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746050888.090859163] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050888.145216697] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050888.145948765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050888.146787235] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050888.148190120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: -1 +[teensy-2] [INFO] [1746050888.148777941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050888.244889156] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050888.245491598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050888.246404315] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050888.247282859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: -1 +[teensy-2] [INFO] [1746050888.248341260] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050888.335309762] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050888.337577391] [sailbot.teensy]: Wind angle: 293 +[trim_sail-4] [INFO] [1746050888.338334536] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050888.338599950] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050888.339537958] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050888.339881938] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050888.339977444] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050888.344711349] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050888.345231369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050888.346063817] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050888.347027739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 +[teensy-2] [INFO] [1746050888.348190984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050888.445161980] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050888.445691415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050888.446682532] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050888.447934710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 +[teensy-2] [INFO] [1746050888.449099630] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050888.457103342] [sailbot.main_algo]: Wind Direction: 293 +[main_algo-3] [INFO] [1746050888.458292846] [sailbot.main_algo]: Target Bearing: -119.39815138540992 +[main_algo-3] [INFO] [1746050888.459316825] [sailbot.main_algo]: Heading Difference: -20.897848614590202 +[main_algo-3] [INFO] [1746050888.460211760] [sailbot.main_algo]: Wind Direction: 293 +[main_algo-3] [INFO] [1746050888.461066786] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050888.461857954] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050888.462890008] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050888.463608862] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050888.502260587] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916939 Long: -76.50344716 +[vectornav-1] [INFO] [1746050888.503268661] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (200.43499999999995, -0.51, -1.66) +[main_algo-3] [INFO] [1746050888.503364570] [sailbot.main_algo]: Distance to destination: 14.109886293922926 +[main_algo-3] [INFO] [1746050888.504471087] [sailbot.main_algo]: Target Bearing: -118.41911134909608 +[main_algo-3] [INFO] [1746050888.505488856] [sailbot.main_algo]: Heading Difference: -21.876888650903993 +[main_algo-3] [INFO] [1746050888.506409773] [sailbot.main_algo]: Wind Direction: 293 +[main_algo-3] [INFO] [1746050888.507254341] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050888.508048464] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050888.509684625] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050888.544725478] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050888.545476571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050888.545942808] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050888.547354367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 +[teensy-2] [INFO] [1746050888.548426597] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050888.585103488] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050888.586663660] [sailbot.teensy]: Wind angle: 274 +[trim_sail-4] [INFO] [1746050888.587145249] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050888.587554436] [sailbot.teensy]: Actual sail angle: 60 +[mux-7] [INFO] [1746050888.588199216] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050888.588433468] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050888.589403469] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050888.645088680] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050888.645821428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050888.646521128] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050888.647798357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050888.648910556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050888.745635393] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050888.746566955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050888.747979897] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050888.748456261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050888.748985399] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050888.835296050] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050888.837559811] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050888.837877075] [sailbot.teensy]: Wind angle: 257 +[teensy-2] [INFO] [1746050888.838920546] [sailbot.teensy]: Actual sail angle: 50 +[mux-7] [INFO] [1746050888.839265903] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050888.839794528] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050888.840485677] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050888.844439719] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050888.845086206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050888.845573089] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050888.846909099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050888.847972484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050888.945512301] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050888.946567120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050888.947283288] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050888.949046219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050888.950185500] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050888.957384788] [sailbot.main_algo]: Wind Direction: 257 +[main_algo-3] [INFO] [1746050888.958451937] [sailbot.main_algo]: Target Bearing: -118.41911134909608 +[main_algo-3] [INFO] [1746050888.959369570] [sailbot.main_algo]: Heading Difference: -41.145888650904 +[main_algo-3] [INFO] [1746050888.960253168] [sailbot.main_algo]: Wind Direction: 257 +[main_algo-3] [INFO] [1746050888.961139092] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050888.961996414] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050888.963109468] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050888.963838703] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050889.002670559] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916872 Long: -76.50345182 +[main_algo-3] [INFO] [1746050889.003642818] [sailbot.main_algo]: Distance to destination: 13.87085004240932 +[vectornav-1] [INFO] [1746050889.003766236] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.159, 1.572, -1.077) +[main_algo-3] [INFO] [1746050889.004862502] [sailbot.main_algo]: Target Bearing: -117.15539552075428 +[main_algo-3] [INFO] [1746050889.005865882] [sailbot.main_algo]: Heading Difference: -42.409604479245786 +[main_algo-3] [INFO] [1746050889.006853972] [sailbot.main_algo]: Wind Direction: 257 +[main_algo-3] [INFO] [1746050889.007876346] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050889.008881185] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050889.010686357] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050889.044981110] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050889.045781766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050889.046267941] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050889.047629171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050889.048792623] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050889.085270378] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050889.087008011] [sailbot.teensy]: Wind angle: 250 +[teensy-2] [INFO] [1746050889.087904085] [sailbot.teensy]: Actual sail angle: 35 +[trim_sail-4] [INFO] [1746050889.087540974] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050889.088794020] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050889.089054643] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050889.089698147] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050889.145111031] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050889.145710566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050889.146465545] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050889.147546734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050889.148804558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050889.245442127] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050889.246190707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050889.247076218] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050889.248413424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050889.248942386] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050889.335387105] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050889.337353288] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050889.337842627] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050889.338307978] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050889.339201673] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050889.339328185] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050889.340176726] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050889.344466977] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050889.345043701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050889.345592931] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050889.347121012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050889.348143774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050889.445368450] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050889.446036270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050889.446894893] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050889.448138112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050889.448627629] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050889.456996871] [sailbot.main_algo]: Wind Direction: 252 +[main_algo-3] [INFO] [1746050889.457990375] [sailbot.main_algo]: Target Bearing: -117.15539552075428 +[main_algo-3] [INFO] [1746050889.458869952] [sailbot.main_algo]: Heading Difference: -53.68560447924574 +[main_algo-3] [INFO] [1746050889.459711858] [sailbot.main_algo]: Wind Direction: 252 +[main_algo-3] [INFO] [1746050889.460606102] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050889.461445755] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050889.462498247] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050889.463036105] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050889.503456823] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916803 Long: -76.50345515 +[main_algo-3] [INFO] [1746050889.503896196] [sailbot.main_algo]: Distance to destination: 13.683073037613118 +[vectornav-1] [INFO] [1746050889.504637089] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.50900000000001, -2.211, 0.939) +[main_algo-3] [INFO] [1746050889.505010089] [sailbot.main_algo]: Target Bearing: -116.26750145742375 +[main_algo-3] [INFO] [1746050889.505979386] [sailbot.main_algo]: Heading Difference: -54.57349854257626 +[main_algo-3] [INFO] [1746050889.506901879] [sailbot.main_algo]: Wind Direction: 252 +[main_algo-3] [INFO] [1746050889.507808280] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050889.508693014] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050889.510469245] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050889.544983642] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050889.545671412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050889.546511093] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050889.547575860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050889.548645838] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050889.585398264] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050889.587430136] [sailbot.teensy]: Wind angle: 252 +[teensy-2] [INFO] [1746050889.588416125] [sailbot.teensy]: Actual sail angle: 20 +[trim_sail-4] [INFO] [1746050889.587996873] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050889.589287177] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050889.589540121] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050889.590172809] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050889.645276533] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050889.645829039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050889.646897332] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050889.648070113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050889.649229441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050889.745298450] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050889.745994141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050889.747176561] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050889.747957700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050889.748506258] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050889.835198363] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050889.839073294] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050889.839592155] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050889.840247877] [sailbot.teensy]: Wind angle: 256 +[teensy-2] [INFO] [1746050889.841160853] [sailbot.teensy]: Actual sail angle: 20 +[teensy-2] [INFO] [1746050889.841993201] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050889.842827127] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050889.844350976] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050889.844634207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050889.845437080] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050889.846203703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050889.847241277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050889.945366678] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050889.946098804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050889.947271396] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050889.948350978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050889.948862121] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050889.957054075] [sailbot.main_algo]: Wind Direction: 256 +[main_algo-3] [INFO] [1746050889.958157885] [sailbot.main_algo]: Target Bearing: -116.26750145742375 +[main_algo-3] [INFO] [1746050889.959103359] [sailbot.main_algo]: Heading Difference: -51.22349854257624 +[main_algo-3] [INFO] [1746050889.959952742] [sailbot.main_algo]: Wind Direction: 256 +[main_algo-3] [INFO] [1746050889.960832516] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050889.961625305] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050889.962621956] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050889.963262795] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050890.003074147] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691676 Long: -76.5034586 +[main_algo-3] [INFO] [1746050890.003620299] [sailbot.main_algo]: Distance to destination: 13.520931329415214 +[vectornav-1] [INFO] [1746050890.004286510] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (200.24900000000002, 0.322, 2.566) +[main_algo-3] [INFO] [1746050890.004717727] [sailbot.main_algo]: Target Bearing: -115.26659975029877 +[main_algo-3] [INFO] [1746050890.005765509] [sailbot.main_algo]: Heading Difference: -52.224400249701205 +[main_algo-3] [INFO] [1746050890.006734892] [sailbot.main_algo]: Wind Direction: 256 +[main_algo-3] [INFO] [1746050890.007619931] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050890.008536790] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050890.010262389] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050890.045287051] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050890.045793925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050890.046783213] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050890.047807587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050890.048874004] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050890.085422580] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050890.087831841] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050890.087875297] [sailbot.teensy]: Wind angle: 260 +[mux-7] [INFO] [1746050890.089045671] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050890.089103690] [sailbot.teensy]: Actual sail angle: 20 +[teensy-2] [INFO] [1746050890.089975303] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050890.090847067] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050890.145020470] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050890.145835307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050890.146337353] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050890.147675618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050890.148820692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050890.245199335] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050890.246012874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050890.246653558] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050890.247669480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050890.248176728] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050890.335313854] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050890.337861254] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050890.338487752] [sailbot.teensy]: Wind angle: 261 +[mux-7] [INFO] [1746050890.338728747] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050890.339722282] [sailbot.teensy]: Actual sail angle: 20 +[teensy-2] [INFO] [1746050890.340393786] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050890.340755610] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050890.344364693] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050890.344885521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050890.345461737] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050890.346983399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050890.348075529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050890.445491041] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050890.446330668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050890.447586245] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050890.448375715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050890.448885964] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050890.457036419] [sailbot.main_algo]: Wind Direction: 261 +[main_algo-3] [INFO] [1746050890.457989257] [sailbot.main_algo]: Target Bearing: -115.26659975029877 +[main_algo-3] [INFO] [1746050890.458946969] [sailbot.main_algo]: Heading Difference: -44.484400249701196 +[main_algo-3] [INFO] [1746050890.459764467] [sailbot.main_algo]: Wind Direction: 261 +[main_algo-3] [INFO] [1746050890.460624086] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050890.461414887] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050890.462426550] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050890.463246873] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050890.503315278] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916691 Long: -76.50346177 +[main_algo-3] [INFO] [1746050890.504228844] [sailbot.main_algo]: Distance to destination: 13.345598949571444 +[vectornav-1] [INFO] [1746050890.504572173] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (212.096, -1.469, 1.765) +[main_algo-3] [INFO] [1746050890.505618397] [sailbot.main_algo]: Target Bearing: -114.38144082475604 +[main_algo-3] [INFO] [1746050890.506976989] [sailbot.main_algo]: Heading Difference: -45.36955917524392 +[main_algo-3] [INFO] [1746050890.507972508] [sailbot.main_algo]: Wind Direction: 261 +[main_algo-3] [INFO] [1746050890.508869919] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050890.509727841] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050890.511497937] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050890.545147417] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050890.545956213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050890.546872476] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050890.548118605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050890.549302719] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050890.585416088] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050890.587893229] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050890.588673828] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050890.588805057] [sailbot.teensy]: Wind angle: 263 +[teensy-2] [INFO] [1746050890.589946427] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050890.590852307] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050890.591675925] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050890.645176165] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050890.646075019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050890.646630885] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050890.648324226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050890.649452718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050890.745443886] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050890.746335834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050890.747172978] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050890.747901050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050890.748419710] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050890.835294203] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050890.837567595] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050890.837612829] [sailbot.teensy]: Wind angle: 266 +[teensy-2] [INFO] [1746050890.838581956] [sailbot.teensy]: Actual sail angle: 25 +[mux-7] [INFO] [1746050890.839050948] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050890.839517884] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050890.840475526] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050890.844337198] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050890.845073583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050890.845465643] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050890.846767800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050890.847804367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050890.945007965] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050890.945676428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050890.946325760] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050890.947545225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050890.948440852] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050890.957052283] [sailbot.main_algo]: Wind Direction: 266 +[main_algo-3] [INFO] [1746050890.958011630] [sailbot.main_algo]: Target Bearing: -114.38144082475604 +[main_algo-3] [INFO] [1746050890.958894081] [sailbot.main_algo]: Heading Difference: -33.52255917524394 +[main_algo-3] [INFO] [1746050890.959684648] [sailbot.main_algo]: Wind Direction: 266 +[main_algo-3] [INFO] [1746050890.960519421] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050890.961316045] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050890.962338147] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050890.962905846] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050891.003281614] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916495 Long: -76.50346443 +[main_algo-3] [INFO] [1746050891.004041961] [sailbot.main_algo]: Distance to destination: 13.059534972114767 +[vectornav-1] [INFO] [1746050891.004692252] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (226.29099999999994, -0.631, 1.399) +[main_algo-3] [INFO] [1746050891.005204855] [sailbot.main_algo]: Target Bearing: -113.87934444293575 +[main_algo-3] [INFO] [1746050891.006243654] [sailbot.main_algo]: Heading Difference: -34.02465555706425 +[main_algo-3] [INFO] [1746050891.007190523] [sailbot.main_algo]: Wind Direction: 266 +[main_algo-3] [INFO] [1746050891.008107777] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050891.009002768] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050891.010699648] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050891.045122125] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050891.045919111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050891.046767546] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050891.047942763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050891.049038597] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050891.085289679] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050891.086994975] [sailbot.teensy]: Wind angle: 274 +[trim_sail-4] [INFO] [1746050891.087670549] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050891.087911339] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050891.088812932] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050891.088986465] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050891.090086158] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050891.145302047] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050891.145894321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050891.146800678] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050891.148183848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050891.149351805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050891.244988650] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050891.245509783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050891.246211296] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050891.247295647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050891.248336400] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050891.335286503] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050891.337126218] [sailbot.teensy]: Wind angle: 280 +[trim_sail-4] [INFO] [1746050891.338060623] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050891.338076645] [sailbot.teensy]: Actual sail angle: 30 +[teensy-2] [INFO] [1746050891.339001201] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050891.339882276] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050891.340298392] [sailbot.mux]: algo sail angle: 40 +[mux-7] [INFO] [1746050891.344360739] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050891.344830075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050891.345651359] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050891.346561953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050891.347615134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050891.444879240] [sailbot.mux]: Published sail angle from algo: 40 +[mux-7] [INFO] [1746050891.446079499] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050891.448293211] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050891.449864567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050891.450946160] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050891.456926916] [sailbot.main_algo]: Wind Direction: 280 +[main_algo-3] [INFO] [1746050891.457829359] [sailbot.main_algo]: Target Bearing: -113.87934444293575 +[main_algo-3] [INFO] [1746050891.458701720] [sailbot.main_algo]: Heading Difference: -19.82965555706437 +[main_algo-3] [INFO] [1746050891.459537800] [sailbot.main_algo]: Rudder Angle Raw: -2.7541188273700516 +[main_algo-3] [INFO] [1746050891.460396793] [sailbot.main_algo]: Rudder Angle: -3 +[main_algo-3] [INFO] [1746050891.461445419] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050891.462169317] [sailbot.mux]: algo rudder angle: -3 +[vectornav-1] [INFO] [1746050891.502935029] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916227 Long: -76.50346685 +[main_algo-3] [INFO] [1746050891.503308406] [sailbot.main_algo]: Distance to destination: 12.708151374967896 +[vectornav-1] [INFO] [1746050891.504132530] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (244.15700000000004, -0.675, 1.814) +[main_algo-3] [INFO] [1746050891.504294825] [sailbot.main_algo]: Target Bearing: -113.5741242553783 +[main_algo-3] [INFO] [1746050891.505192609] [sailbot.main_algo]: Heading Difference: -20.134875744621695 +[main_algo-3] [INFO] [1746050891.506048174] [sailbot.main_algo]: Wind Direction: 280 +[main_algo-3] [INFO] [1746050891.506905298] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050891.507769708] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050891.509505597] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050891.545098490] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050891.545987921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050891.546571637] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050891.548084507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050891.549275689] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050891.585249610] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050891.587027866] [sailbot.teensy]: Wind angle: 282 +[teensy-2] [INFO] [1746050891.587948323] [sailbot.teensy]: Actual sail angle: 35 +[teensy-2] [INFO] [1746050891.588835292] [sailbot.teensy]: Actual tail angle: 10 +[trim_sail-4] [INFO] [1746050891.587583384] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050891.588590812] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050891.589684020] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050891.645096009] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050891.645757803] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050891.646519714] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050891.647805084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050891.648563251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050891.745522092] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050891.746553365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050891.747487909] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050891.748995402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050891.750252638] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050891.835284342] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050891.837645213] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050891.838709611] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050891.839139457] [sailbot.teensy]: Wind angle: 292 +[teensy-2] [INFO] [1746050891.840212313] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746050891.841098002] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050891.841927027] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050891.844543508] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050891.845019863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050891.845708830] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050891.846756919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 +[teensy-2] [INFO] [1746050891.847774681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050891.945081388] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050891.945968329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050891.946376583] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050891.947699448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 +[teensy-2] [INFO] [1746050891.948274424] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050891.956953192] [sailbot.main_algo]: Wind Direction: 292 +[main_algo-3] [INFO] [1746050891.957910633] [sailbot.main_algo]: Target Bearing: -113.5741242553783 +[main_algo-3] [INFO] [1746050891.958817229] [sailbot.main_algo]: Heading Difference: -2.2688757446217096 +[main_algo-3] [INFO] [1746050891.959649582] [sailbot.main_algo]: Rudder Angle Raw: -0.3151216311974597 +[main_algo-3] [INFO] [1746050891.960463034] [sailbot.main_algo]: Rudder Angle: -1 +[main_algo-3] [INFO] [1746050891.961494208] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050891.962368900] [sailbot.mux]: algo rudder angle: -1 +[vectornav-1] [INFO] [1746050892.002972129] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915924 Long: -76.5034684 +[main_algo-3] [INFO] [1746050892.004098735] [sailbot.main_algo]: Distance to destination: 12.34850430987146 +[vectornav-1] [INFO] [1746050892.004423377] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (263.16100000000006, -0.074, 6.091) +[main_algo-3] [INFO] [1746050892.005296865] [sailbot.main_algo]: Target Bearing: -113.62703175432993 +[main_algo-3] [INFO] [1746050892.006581525] [sailbot.main_algo]: Heading Difference: -2.2159682456699556 +[main_algo-3] [INFO] [1746050892.007507880] [sailbot.main_algo]: Rudder Angle Raw: -0.3077733674541605 +[main_algo-3] [INFO] [1746050892.008398311] [sailbot.main_algo]: Rudder Angle: -1 +[mux-7] [INFO] [1746050892.010170448] [sailbot.mux]: algo rudder angle: -1 +[mux-7] [INFO] [1746050892.045201068] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050892.045966984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050892.046547008] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050892.047833712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 +[teensy-2] [INFO] [1746050892.048982369] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050892.085435992] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050892.088045792] [sailbot.trim_sail]: Sail Angle: "60" +[mux-7] [INFO] [1746050892.088526157] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746050892.088904206] [sailbot.teensy]: Wind angle: 305 +[teensy-2] [INFO] [1746050892.089845677] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746050892.090693421] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050892.091534470] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050892.144989292] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050892.145758359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050892.146310354] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050892.147666255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: -1 +[teensy-2] [INFO] [1746050892.148713092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050892.245371084] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050892.246176189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050892.247063477] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050892.248781853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: -1 +[teensy-2] [INFO] [1746050892.249932543] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050892.335469137] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050892.337916912] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746050892.338196560] [sailbot.teensy]: Wind angle: 307 +[teensy-2] [INFO] [1746050892.339096201] [sailbot.teensy]: Actual sail angle: 50 +[mux-7] [INFO] [1746050892.339187708] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746050892.339466255] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050892.339834905] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050892.344511573] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050892.345266302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050892.345609524] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050892.347107161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: -1 +[teensy-2] [INFO] [1746050892.348183797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050892.445345573] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050892.446358881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050892.447021957] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050892.448605401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: -1 +[teensy-2] [INFO] [1746050892.449748629] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050892.457155863] [sailbot.main_algo]: Wind Direction: 307 +[main_algo-3] [INFO] [1746050892.458171867] [sailbot.main_algo]: Target Bearing: -113.62703175432993 +[main_algo-3] [INFO] [1746050892.459057970] [sailbot.main_algo]: Heading Difference: 16.78803175432995 +[main_algo-3] [INFO] [1746050892.459920184] [sailbot.main_algo]: Rudder Angle Raw: 2.3316710769902707 +[main_algo-3] [INFO] [1746050892.460748716] [sailbot.main_algo]: Rudder Angle: 2 +[main_algo-3] [INFO] [1746050892.461780765] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050892.462404401] [sailbot.mux]: algo rudder angle: 2 +[vectornav-1] [INFO] [1746050892.502889540] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915602 Long: -76.50346883 +[main_algo-3] [INFO] [1746050892.503874258] [sailbot.main_algo]: Distance to destination: 12.005248122803193 +[main_algo-3] [INFO] [1746050892.505004367] [sailbot.main_algo]: Target Bearing: -114.12747821561568 +[vectornav-1] [INFO] [1746050892.505545389] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.861, -2.283, 7.451) +[main_algo-3] [INFO] [1746050892.505993012] [sailbot.main_algo]: Heading Difference: 17.28847821561567 +[main_algo-3] [INFO] [1746050892.507329421] [sailbot.main_algo]: Rudder Angle Raw: 2.401177529946621 +[main_algo-3] [INFO] [1746050892.508226504] [sailbot.main_algo]: Rudder Angle: 2 +[mux-7] [INFO] [1746050892.510022335] [sailbot.mux]: algo rudder angle: 2 +[mux-7] [INFO] [1746050892.545755847] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050892.546451081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050892.547650893] [sailbot.mux]: Published rudder angle from algo: 2 +[teensy-2] [INFO] [1746050892.548827450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 2 +[teensy-2] [INFO] [1746050892.550067023] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050892.585269689] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050892.587562486] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050892.587917834] [sailbot.teensy]: Wind angle: 314 +[mux-7] [INFO] [1746050892.588659239] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050892.589107120] [sailbot.teensy]: Actual sail angle: 60 +[teensy-2] [INFO] [1746050892.590008430] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050892.590864574] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050892.645001359] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050892.645378770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050892.646327776] [sailbot.mux]: Published rudder angle from algo: 2 +[teensy-2] [INFO] [1746050892.647247992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 2 +[teensy-2] [INFO] [1746050892.648545142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050892.745349114] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050892.745915945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050892.746915796] [sailbot.mux]: Published rudder angle from algo: 2 +[teensy-2] [INFO] [1746050892.747930704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 2 +[teensy-2] [INFO] [1746050892.749050879] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050892.835099184] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050892.837350771] [sailbot.teensy]: Wind angle: 335 +[trim_sail-4] [INFO] [1746050892.837393072] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746050892.839015763] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746050892.839133603] [sailbot.teensy]: Actual sail angle: 60 +[teensy-2] [INFO] [1746050892.840089174] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050892.841002766] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050892.844467788] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050892.844906867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050892.845609258] [sailbot.mux]: Published rudder angle from algo: 2 +[teensy-2] [INFO] [1746050892.846693551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 2 +[teensy-2] [INFO] [1746050892.847769353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050892.945678104] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050892.946761301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050892.947389062] [sailbot.mux]: Published rudder angle from algo: 2 +[teensy-2] [INFO] [1746050892.948701390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 2 +[teensy-2] [INFO] [1746050892.949194973] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050892.957090737] [sailbot.main_algo]: Wind Direction: 335 +[main_algo-3] [INFO] [1746050892.958073947] [sailbot.main_algo]: Target Bearing: -114.12747821561568 +[main_algo-3] [INFO] [1746050892.959000489] [sailbot.main_algo]: Heading Difference: 36.988478215615714 +[main_algo-3] [INFO] [1746050892.959873707] [sailbot.main_algo]: Wind Direction: 335 +[main_algo-3] [INFO] [1746050892.960776943] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050892.961604124] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050892.962778087] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050892.963631384] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050893.003311753] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915249 Long: -76.50346668 +[main_algo-3] [INFO] [1746050893.003894752] [sailbot.main_algo]: Distance to destination: 11.718341452977823 +[main_algo-3] [INFO] [1746050893.005098166] [sailbot.main_algo]: Target Bearing: -115.6750500593796 +[main_algo-3] [INFO] [1746050893.006120386] [sailbot.main_algo]: Heading Difference: 38.53605005937959 +[vectornav-1] [INFO] [1746050893.006481833] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (300.243, 0.172, 6.274) +[main_algo-3] [INFO] [1746050893.007144244] [sailbot.main_algo]: Wind Direction: 335 +[main_algo-3] [INFO] [1746050893.008224803] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050893.009169378] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050893.010921342] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050893.045062580] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050893.045748432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050893.046352236] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050893.047884640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050893.049101316] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050893.085497203] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050893.088050156] [sailbot.teensy]: Wind angle: 352 +[trim_sail-4] [INFO] [1746050893.088213938] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050893.089315029] [sailbot.teensy]: Actual sail angle: 65 +[mux-7] [INFO] [1746050893.089829974] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050893.090209657] [sailbot.teensy]: Actual tail angle: 27 +[teensy-2] [INFO] [1746050893.091091504] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050893.145009630] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050893.145944708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050893.146333010] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050893.147755950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050893.148963824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050893.245182891] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050893.246001089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050893.246663161] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050893.247861057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050893.248304089] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050893.335346024] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050893.337270312] [sailbot.teensy]: Wind angle: 359 +[trim_sail-4] [INFO] [1746050893.338188995] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050893.338476123] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746050893.339380881] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050893.339031745] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050893.340591397] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050893.344450088] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050893.344850901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050893.345808588] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050893.346583039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050893.347651274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050893.445458607] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050893.445990419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050893.447512860] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050893.449096717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050893.450276042] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050893.457216449] [sailbot.main_algo]: Wind Direction: 359 +[main_algo-3] [INFO] [1746050893.458228611] [sailbot.main_algo]: Target Bearing: -115.6750500593796 +[main_algo-3] [INFO] [1746050893.459124292] [sailbot.main_algo]: Heading Difference: 55.91805005937954 +[main_algo-3] [INFO] [1746050893.459995476] [sailbot.main_algo]: Wind Direction: 359 +[main_algo-3] [INFO] [1746050893.460901530] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050893.461755966] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050893.462801018] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050893.463440608] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050893.502713394] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914933 Long: -76.50346332 +[main_algo-3] [INFO] [1746050893.503801652] [sailbot.main_algo]: Distance to destination: 11.521526470101428 +[vectornav-1] [INFO] [1746050893.504219871] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (308.226, -1.415, 6.541) +[main_algo-3] [INFO] [1746050893.504987406] [sailbot.main_algo]: Target Bearing: -117.65216178274427 +[main_algo-3] [INFO] [1746050893.505948454] [sailbot.main_algo]: Heading Difference: 57.89516178274425 +[main_algo-3] [INFO] [1746050893.506874487] [sailbot.main_algo]: Wind Direction: 359 +[main_algo-3] [INFO] [1746050893.507789516] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050893.508681898] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050893.510556357] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050893.545548387] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050893.545686527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050893.546874673] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050893.547891843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050893.548924718] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050893.585271052] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050893.587070802] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746050893.588059234] [sailbot.teensy]: Actual sail angle: 90 +[trim_sail-4] [INFO] [1746050893.587575614] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050893.588947970] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050893.588922909] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050893.589845152] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050893.645251691] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050893.645648813] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050893.646537550] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050893.647386534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050893.648630510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050893.745651732] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050893.746446367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050893.747580205] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050893.748504227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050893.748979909] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050893.835104992] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050893.836939861] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746050893.837055370] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050893.837855727] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050893.838776121] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050893.839623258] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050893.839651856] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050893.844318755] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050893.844874754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050893.845492210] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050893.846701951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050893.847704941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050893.945172440] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050893.945946638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050893.946632165] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050893.947754625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050893.948205890] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050893.957244051] [sailbot.main_algo]: Wind Direction: 0 +[main_algo-3] [INFO] [1746050893.958300252] [sailbot.main_algo]: Target Bearing: -117.65216178274427 +[main_algo-3] [INFO] [1746050893.959250221] [sailbot.main_algo]: Heading Difference: 65.8781617827442 +[main_algo-3] [INFO] [1746050893.960089756] [sailbot.main_algo]: Wind Direction: 0 +[main_algo-3] [INFO] [1746050893.960920463] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050893.961745934] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050893.963052094] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050893.963358493] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050894.002875343] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691457 Long: -76.50345974 +[vectornav-1] [INFO] [1746050894.004230383] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (298.983, -1.16, 2.74) +[main_algo-3] [INFO] [1746050894.004257801] [sailbot.main_algo]: Distance to destination: 11.301858874593371 +[main_algo-3] [INFO] [1746050894.005446164] [sailbot.main_algo]: Target Bearing: -119.90291261405383 +[main_algo-3] [INFO] [1746050894.006528749] [sailbot.main_algo]: Heading Difference: 68.12891261405389 +[main_algo-3] [INFO] [1746050894.007472376] [sailbot.main_algo]: Wind Direction: 0 +[main_algo-3] [INFO] [1746050894.008428811] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050894.009306685] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050894.010984347] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050894.045464096] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050894.046219241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050894.047020819] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050894.048450874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050894.049625365] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050894.085303762] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050894.087114560] [sailbot.teensy]: Wind angle: 5 +[trim_sail-4] [INFO] [1746050894.087916663] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050894.088052977] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050894.088958226] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050894.089075375] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050894.089876985] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050894.145035164] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050894.145862705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050894.146285512] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050894.147736397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050894.148932828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050894.245568695] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050894.246211144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050894.247333909] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050894.248568360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050894.249676404] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050894.335408824] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050894.337908767] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050894.338179824] [sailbot.teensy]: Wind angle: 5 +[teensy-2] [INFO] [1746050894.339110745] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746050894.339131197] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050894.340022566] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050894.340673651] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050894.344661090] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050894.345233674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050894.345847507] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050894.347081448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050894.348211249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050894.445372351] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050894.446220556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050894.446951667] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050894.448426844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050894.449739007] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050894.456999689] [sailbot.main_algo]: Wind Direction: 5 +[main_algo-3] [INFO] [1746050894.457976406] [sailbot.main_algo]: Target Bearing: -119.90291261405383 +[main_algo-3] [INFO] [1746050894.458858817] [sailbot.main_algo]: Heading Difference: 58.88591261405384 +[main_algo-3] [INFO] [1746050894.459680581] [sailbot.main_algo]: Wind Direction: 5 +[main_algo-3] [INFO] [1746050894.460497904] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050894.461336015] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050894.462362238] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050894.462976709] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050894.503565323] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914125 Long: -76.50345686 +[main_algo-3] [INFO] [1746050894.504357099] [sailbot.main_algo]: Distance to destination: 10.992593655816151 +[vectornav-1] [INFO] [1746050894.505328956] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (278.51300000000003, 0.464, -0.778) +[main_algo-3] [INFO] [1746050894.505708152] [sailbot.main_algo]: Target Bearing: -122.22864144325172 +[main_algo-3] [INFO] [1746050894.506833466] [sailbot.main_algo]: Heading Difference: 61.211641443251665 +[main_algo-3] [INFO] [1746050894.507751643] [sailbot.main_algo]: Wind Direction: 5 +[main_algo-3] [INFO] [1746050894.508712818] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050894.509627608] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050894.511363001] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050894.545054686] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050894.545837880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050894.546501425] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050894.548013960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050894.549225096] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050894.585473773] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050894.587709066] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050894.587861189] [sailbot.teensy]: Wind angle: 4 +[teensy-2] [INFO] [1746050894.588824814] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746050894.589081137] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050894.589729857] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050894.590604210] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050894.645130913] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050894.645818505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050894.646731553] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050894.647942246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050894.649050482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050894.745372030] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050894.746159556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050894.747063988] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050894.748627400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050894.749827833] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050894.835212823] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050894.837529895] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050894.837573067] [sailbot.teensy]: Wind angle: 0 +[teensy-2] [INFO] [1746050894.838493625] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050894.838877591] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050894.838935689] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050894.839254563] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050894.844443888] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050894.845085197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050894.845628354] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050894.846841228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050894.847874579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050894.946168861] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050894.946481328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050894.947988570] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050894.949375646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050894.949833093] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050894.957009699] [sailbot.main_algo]: Wind Direction: 0 +[main_algo-3] [INFO] [1746050894.957985169] [sailbot.main_algo]: Target Bearing: -122.22864144325172 +[main_algo-3] [INFO] [1746050894.958885935] [sailbot.main_algo]: Heading Difference: 40.74164144325175 +[main_algo-3] [INFO] [1746050894.959698503] [sailbot.main_algo]: Wind Direction: 0 +[main_algo-3] [INFO] [1746050894.960506126] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050894.961310247] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050894.962297775] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050894.962897895] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050895.003002718] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913703 Long: -76.50345669 +[main_algo-3] [INFO] [1746050895.003472644] [sailbot.main_algo]: Distance to destination: 10.602074895967895 +[vectornav-1] [INFO] [1746050895.004375949] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (256.51, 1.839, -3.112) +[main_algo-3] [INFO] [1746050895.004442335] [sailbot.main_algo]: Target Bearing: -123.60593231733053 +[main_algo-3] [INFO] [1746050895.005332564] [sailbot.main_algo]: Heading Difference: 42.11893231733052 +[main_algo-3] [INFO] [1746050895.006189427] [sailbot.main_algo]: Wind Direction: 0 +[main_algo-3] [INFO] [1746050895.007072023] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050895.007935315] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050895.009610990] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050895.045190878] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050895.045946708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050895.046621557] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050895.048020928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050895.049079237] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050895.085646634] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050895.088307771] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050895.088808765] [sailbot.teensy]: Wind angle: 358 +[teensy-2] [INFO] [1746050895.089830762] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746050895.090436935] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050895.090766602] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050895.091719192] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050895.145057926] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050895.145886369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050895.146355192] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050895.148031925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050895.149078654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050895.245192933] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050895.246027342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050895.246693461] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050895.248182839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050895.249278379] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050895.335310757] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050895.337204413] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746050895.337918905] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746050895.338162945] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746050895.338546778] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050895.339113840] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050895.340016155] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050895.344526916] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050895.345000640] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050895.345770513] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050895.346840884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050895.347881785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050895.445274429] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050895.445934887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050895.446833665] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050895.447687999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050895.448217413] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050895.457353529] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746050895.458465829] [sailbot.main_algo]: Target Bearing: -123.60593231733053 +[main_algo-3] [INFO] [1746050895.459430038] [sailbot.main_algo]: Heading Difference: 20.11593231733059 +[main_algo-3] [INFO] [1746050895.460340379] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746050895.461153851] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050895.461953781] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050895.462978425] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050895.463623343] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050895.502817088] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913353 Long: -76.50345926 +[main_algo-3] [INFO] [1746050895.503720760] [sailbot.main_algo]: Distance to destination: 10.160803906939012 +[vectornav-1] [INFO] [1746050895.504118305] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (232.76300000000003, -2.222, -3.548) +[main_algo-3] [INFO] [1746050895.504819281] [sailbot.main_algo]: Target Bearing: -123.7826139816765 +[main_algo-3] [INFO] [1746050895.505774205] [sailbot.main_algo]: Heading Difference: 20.29261398167648 +[main_algo-3] [INFO] [1746050895.506677861] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746050895.507579080] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050895.508447394] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050895.510169359] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050895.545998633] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050895.546128023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050895.547589002] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050895.548471254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050895.549591893] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050895.585280721] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050895.587835921] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746050895.588633417] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746050895.588991702] [sailbot.teensy]: Wind angle: 322 +[teensy-2] [INFO] [1746050895.589919357] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050895.590782032] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050895.591588954] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050895.645024255] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050895.645670931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050895.646409618] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050895.647719941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 +[teensy-2] [INFO] [1746050895.648914736] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050895.745340067] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050895.746299493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050895.747522815] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050895.748105549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 +[teensy-2] [INFO] [1746050895.748636160] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050895.835248522] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050895.837409566] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746050895.838115461] [sailbot.teensy]: Wind angle: 305 +[mux-7] [INFO] [1746050895.838817603] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746050895.839126558] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746050895.840052088] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050895.840924383] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050895.844434651] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050895.845122446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050895.845610359] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050895.846796946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 15 +[teensy-2] [INFO] [1746050895.847829628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050895.945054302] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050895.946055198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050895.946423893] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050895.948398981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 15 +[teensy-2] [INFO] [1746050895.949420917] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050895.956931513] [sailbot.main_algo]: Wind Direction: 305 +[main_algo-3] [INFO] [1746050895.957895548] [sailbot.main_algo]: Target Bearing: -123.7826139816765 +[main_algo-3] [INFO] [1746050895.958745938] [sailbot.main_algo]: Heading Difference: -3.4543860183234756 +[main_algo-3] [INFO] [1746050895.959553394] [sailbot.main_algo]: Rudder Angle Raw: -0.4797758358782605 +[main_algo-3] [INFO] [1746050895.960395518] [sailbot.main_algo]: Rudder Angle: -1 +[main_algo-3] [INFO] [1746050895.961389255] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050895.962072847] [sailbot.mux]: algo rudder angle: -1 +[vectornav-1] [INFO] [1746050896.003181943] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913065 Long: -76.50346347 +[main_algo-3] [INFO] [1746050896.003395662] [sailbot.main_algo]: Distance to destination: 9.70521836111767 +[vectornav-1] [INFO] [1746050896.004241405] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (211.19399999999996, -0.159, -4.622) +[main_algo-3] [INFO] [1746050896.004426980] [sailbot.main_algo]: Target Bearing: -123.08620242820234 +[main_algo-3] [INFO] [1746050896.005411045] [sailbot.main_algo]: Heading Difference: -4.150797571797625 +[main_algo-3] [INFO] [1746050896.006332445] [sailbot.main_algo]: Rudder Angle Raw: -0.5764996627496701 +[main_algo-3] [INFO] [1746050896.007292853] [sailbot.main_algo]: Rudder Angle: -1 +[mux-7] [INFO] [1746050896.009222059] [sailbot.mux]: algo rudder angle: -1 +[mux-7] [INFO] [1746050896.045014325] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050896.045535637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050896.046297947] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050896.047313755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: -1 +[teensy-2] [INFO] [1746050896.048391691] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050896.085458138] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050896.087408372] [sailbot.teensy]: Wind angle: 291 +[trim_sail-4] [INFO] [1746050896.088059184] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050896.088390131] [sailbot.teensy]: Actual sail angle: 70 +[teensy-2] [INFO] [1746050896.089324146] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050896.090187303] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050896.090328990] [sailbot.mux]: algo sail angle: 50 +[mux-7] [INFO] [1746050896.145169199] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050896.145691081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050896.146569328] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050896.147686787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 +[teensy-2] [INFO] [1746050896.148904922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050896.245059801] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050896.245661091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050896.246334990] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050896.247560298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 +[teensy-2] [INFO] [1746050896.248602907] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050896.335277018] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050896.336946920] [sailbot.teensy]: Wind angle: 281 +[trim_sail-4] [INFO] [1746050896.337700357] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050896.337852678] [sailbot.teensy]: Actual sail angle: 60 +[teensy-2] [INFO] [1746050896.338732945] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050896.339027318] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050896.339664493] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050896.344267321] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050896.344814369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050896.345406034] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050896.346654561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -1 +[teensy-2] [INFO] [1746050896.347730792] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050896.445369467] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050896.446083334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050896.447983356] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050896.448412809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -1 +[teensy-2] [INFO] [1746050896.449707175] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050896.456998637] [sailbot.main_algo]: Wind Direction: 281 +[main_algo-3] [INFO] [1746050896.457973146] [sailbot.main_algo]: Target Bearing: -123.08620242820234 +[main_algo-3] [INFO] [1746050896.458833709] [sailbot.main_algo]: Heading Difference: -25.7197975717977 +[main_algo-3] [INFO] [1746050896.459672247] [sailbot.main_algo]: Wind Direction: 281 +[main_algo-3] [INFO] [1746050896.460496873] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050896.461332390] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050896.462401675] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050896.462952481] [sailbot.mux]: algo rudder angle: -15 +[waypoint_service-5] [INFO] [1746050896.467696150] [sailbot.waypoint_service]: Received request: command=set, argument=42.46905659809444,-76.50352614378555;42.468722228966215,-76.50330754375084 +[waypoint_service-5] [INFO] [1746050896.468646548] [sailbot.waypoint_service]: New waypoint queue: [(42.46905659809444, -76.50352614378555), (42.468722228966215, -76.50330754375084)] +[waypoint_service-5] [INFO] [1746050896.469892847] [sailbot.waypoint_service]: Published current waypoint: Lat=42.46905659809444, Lon=-76.50352614378555 +[main_algo-3] [INFO] [1746050896.471040268] [sailbot.main_algo]: Updated current waypoint to: (42.46905659809444, -76.50352614378555) +[waypoint_service-5] [INFO] [1746050896.479455608] [sailbot.waypoint_service]: Received request: command=get, argument= +[vectornav-1] [INFO] [1746050896.503175161] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912845 Long: -76.50346732 +[main_algo-3] [INFO] [1746050896.503675362] [sailbot.main_algo]: Distance to destination: 9.331123135460976 +[vectornav-1] [INFO] [1746050896.504309092] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.664, -0.499, -4.819) +[main_algo-3] [INFO] [1746050896.504847970] [sailbot.main_algo]: Target Bearing: -122.23565340261868 +[main_algo-3] [INFO] [1746050896.505884162] [sailbot.main_algo]: Heading Difference: -26.57034659738133 +[main_algo-3] [INFO] [1746050896.506760431] [sailbot.main_algo]: Wind Direction: 281 +[main_algo-3] [INFO] [1746050896.507616411] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050896.508467099] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050896.510078890] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050896.545004923] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050896.545779286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050896.546427861] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050896.547704507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050896.548748189] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050896.585256447] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050896.586849016] [sailbot.teensy]: Wind angle: 267 +[trim_sail-4] [INFO] [1746050896.587406865] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050896.587749879] [sailbot.teensy]: Actual sail angle: 50 +[teensy-2] [INFO] [1746050896.588654167] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050896.589135845] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050896.589685004] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050896.645066472] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050896.646090730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050896.646545156] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050896.648473969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050896.649504471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050896.744728294] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050896.745527088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050896.745992266] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050896.747548469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050896.748509871] [sailbot.teensy]: Message sent to servo +[waypoint_service-5] [INFO] [1746050896.759217638] [sailbot.waypoint_service]: Received request: command=get, argument= +[teensy-2] [INFO] [1746050896.835810239] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050896.838612530] [sailbot.teensy]: Wind angle: 253 +[trim_sail-4] [INFO] [1746050896.839140730] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050896.839664637] [sailbot.teensy]: Actual sail angle: 40 +[mux-7] [INFO] [1746050896.839858278] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050896.840623396] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050896.841568270] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050896.844482524] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050896.845211454] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050896.845646569] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050896.846999396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050896.848052792] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050896.945205601] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050896.946049332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050896.946848485] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050896.948028357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050896.948494409] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050896.956972722] [sailbot.main_algo]: Wind Direction: 253 +[main_algo-3] [INFO] [1746050896.957865063] [sailbot.main_algo]: Target Bearing: -122.23565340261868 +[main_algo-3] [INFO] [1746050896.958680316] [sailbot.main_algo]: Heading Difference: -44.100346597381304 +[main_algo-3] [INFO] [1746050896.959468643] [sailbot.main_algo]: Wind Direction: 253 +[main_algo-3] [INFO] [1746050896.960275757] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050896.961081783] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050896.962032367] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050896.962624162] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050897.003009729] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912835 Long: -76.50347155 +[main_algo-3] [INFO] [1746050897.003897237] [sailbot.main_algo]: Distance to destination: 9.146002488525273 +[vectornav-1] [INFO] [1746050897.004679331] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.284, -0.736, -1.518) +[main_algo-3] [INFO] [1746050897.005126223] [sailbot.main_algo]: Target Bearing: -120.40812988227056 +[main_algo-3] [INFO] [1746050897.006122987] [sailbot.main_algo]: Heading Difference: -45.92787011772947 +[main_algo-3] [INFO] [1746050897.007017142] [sailbot.main_algo]: Wind Direction: 253 +[main_algo-3] [INFO] [1746050897.007914387] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050897.008798127] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050897.010495752] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050897.045290323] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050897.046098599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050897.046810745] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050897.048383284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050897.049439339] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050897.085244383] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050897.086851496] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050897.087361997] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050897.087790957] [sailbot.teensy]: Actual sail angle: 30 +[teensy-2] [INFO] [1746050897.088720959] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050897.089556109] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050897.089607510] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050897.145049583] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746050897.145613099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050897.146315084] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050897.147430519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746050897.148575950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050897.245182484] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746050897.245917319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050897.246716846] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050897.247820294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746050897.249124307] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050897.335094388] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050897.336629736] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050897.337233121] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050897.337522251] [sailbot.teensy]: Actual sail angle: 20 +[teensy-2] [INFO] [1746050897.338357307] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050897.338663926] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050897.339152824] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050897.344336921] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746050897.344788511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050897.345581633] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050897.346394922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746050897.347367767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050897.445087931] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746050897.445533479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050897.446379157] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050897.447242765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746050897.448320840] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050897.457185179] [sailbot.main_algo]: Wind Direction: 248 +[main_algo-3] [INFO] [1746050897.458262791] [sailbot.main_algo]: Target Bearing: -120.40812988227056 +[main_algo-3] [INFO] [1746050897.459176341] [sailbot.main_algo]: Heading Difference: -57.307870117729465 +[main_algo-3] [INFO] [1746050897.460032659] [sailbot.main_algo]: Wind Direction: 248 +[main_algo-3] [INFO] [1746050897.460844307] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050897.461668683] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050897.462705323] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050897.463272682] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050897.502840882] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912881 Long: -76.5034752 +[main_algo-3] [INFO] [1746050897.504168736] [sailbot.main_algo]: Distance to destination: 9.047759489764605 +[vectornav-1] [INFO] [1746050897.504991977] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.961, -0.866, 2.983) +[main_algo-3] [INFO] [1746050897.505212389] [sailbot.main_algo]: Target Bearing: -118.59321006476573 +[main_algo-3] [INFO] [1746050897.506243840] [sailbot.main_algo]: Heading Difference: -59.122789935234266 +[main_algo-3] [INFO] [1746050897.507162238] [sailbot.main_algo]: Wind Direction: 248 +[main_algo-3] [INFO] [1746050897.508056853] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050897.508916806] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050897.510782749] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050897.544853854] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746050897.545506918] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050897.546071452] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050897.547322649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746050897.548486899] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050897.585170483] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050897.586851094] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050897.587776623] [sailbot.teensy]: Actual sail angle: 15 +[trim_sail-4] [INFO] [1746050897.587329037] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050897.588338280] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050897.588700476] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050897.589550655] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050897.645194417] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746050897.646108966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050897.646630734] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050897.647957698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746050897.649124358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050897.745258685] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746050897.746085415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050897.746744214] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050897.748007716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746050897.748513248] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050897.835212919] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050897.837444216] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050897.838081462] [sailbot.teensy]: Wind angle: 249 +[mux-7] [INFO] [1746050897.838493868] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050897.839108755] [sailbot.teensy]: Actual sail angle: 15 +[teensy-2] [INFO] [1746050897.840006659] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050897.840653585] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050897.844543999] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746050897.844928413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050897.845695546] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050897.846617673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746050897.847661821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050897.945472594] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746050897.946103279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050897.947531606] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050897.948351296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746050897.949548949] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050897.956984021] [sailbot.main_algo]: Wind Direction: 249 +[main_algo-3] [INFO] [1746050897.957980695] [sailbot.main_algo]: Target Bearing: -118.59321006476573 +[main_algo-3] [INFO] [1746050897.958879266] [sailbot.main_algo]: Heading Difference: -57.445789935234245 +[main_algo-3] [INFO] [1746050897.959674483] [sailbot.main_algo]: Wind Direction: 249 +[main_algo-3] [INFO] [1746050897.960468923] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050897.961235821] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050897.962235916] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050897.962861426] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050898.003023682] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912828 Long: -76.50347812 +[main_algo-3] [INFO] [1746050898.003689810] [sailbot.main_algo]: Distance to destination: 8.886373566648716 +[vectornav-1] [INFO] [1746050898.004351427] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.42200000000003, 1.225, -0.159) +[main_algo-3] [INFO] [1746050898.004825911] [sailbot.main_algo]: Target Bearing: -117.3967079323586 +[main_algo-3] [INFO] [1746050898.005791565] [sailbot.main_algo]: Heading Difference: -58.64229206764139 +[main_algo-3] [INFO] [1746050898.006721879] [sailbot.main_algo]: Wind Direction: 249 +[main_algo-3] [INFO] [1746050898.007576666] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050898.008464321] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050898.010202732] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050898.044890456] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746050898.045502940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050898.046409914] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050898.047433598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746050898.048511772] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050898.085222110] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050898.087136107] [sailbot.teensy]: Wind angle: 253 +[trim_sail-4] [INFO] [1746050898.087194082] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050898.088059960] [sailbot.teensy]: Actual sail angle: 15 +[mux-7] [INFO] [1746050898.088859348] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050898.089004159] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050898.089896421] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050898.145416032] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050898.146213261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050898.146875090] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050898.148559405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050898.149665887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050898.245287882] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050898.245961418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050898.246760259] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050898.248037636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050898.249085300] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050898.335315547] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050898.337639472] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050898.338362103] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050898.339677687] [sailbot.teensy]: Wind angle: 261 +[teensy-2] [INFO] [1746050898.340647027] [sailbot.teensy]: Actual sail angle: 15 +[teensy-2] [INFO] [1746050898.341674170] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050898.342616468] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050898.344371557] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050898.344855810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050898.345459677] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050898.346528110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050898.347603718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050898.445276120] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050898.445908269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050898.446860584] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050898.447970522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050898.449025634] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050898.457028006] [sailbot.main_algo]: Wind Direction: 261 +[main_algo-3] [INFO] [1746050898.458016300] [sailbot.main_algo]: Target Bearing: -117.3967079323586 +[main_algo-3] [INFO] [1746050898.458880860] [sailbot.main_algo]: Heading Difference: -49.18129206764138 +[main_algo-3] [INFO] [1746050898.459679037] [sailbot.main_algo]: Wind Direction: 261 +[main_algo-3] [INFO] [1746050898.460490701] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050898.461311462] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050898.462316803] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050898.463014164] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050898.503168152] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912727 Long: -76.5034808 +[main_algo-3] [INFO] [1746050898.503702049] [sailbot.main_algo]: Distance to destination: 8.689225400281227 +[vectornav-1] [INFO] [1746050898.504667735] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (204.61, -2.013, 1.565) +[main_algo-3] [INFO] [1746050898.504844518] [sailbot.main_algo]: Target Bearing: -116.42363854829871 +[main_algo-3] [INFO] [1746050898.505842944] [sailbot.main_algo]: Heading Difference: -50.15436145170128 +[main_algo-3] [INFO] [1746050898.506846382] [sailbot.main_algo]: Wind Direction: 261 +[main_algo-3] [INFO] [1746050898.507765274] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050898.508685415] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050898.510333064] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050898.544891121] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050898.545596725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050898.546347113] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050898.547484696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050898.548673423] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050898.585117704] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050898.586733038] [sailbot.teensy]: Wind angle: 265 +[trim_sail-4] [INFO] [1746050898.587221121] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050898.587623034] [sailbot.teensy]: Actual sail angle: 20 +[teensy-2] [INFO] [1746050898.588501225] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050898.589217817] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050898.589515818] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050898.645173658] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050898.646250268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050898.646670242] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050898.648577422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050898.649748284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050898.745123529] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050898.746114009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050898.746800259] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050898.747778568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050898.748263415] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050898.835276437] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050898.837438384] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050898.838112691] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050898.839212976] [sailbot.teensy]: Wind angle: 269 +[teensy-2] [INFO] [1746050898.840133256] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050898.840998142] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050898.841828195] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050898.844252381] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050898.845153761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050898.845594167] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050898.846826424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050898.847870711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050898.945102955] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050898.946042040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050898.946817528] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050898.947728979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050898.948212062] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050898.956996526] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050898.957917248] [sailbot.main_algo]: Target Bearing: -116.42363854829871 +[main_algo-3] [INFO] [1746050898.958764660] [sailbot.main_algo]: Heading Difference: -38.96636145170129 +[main_algo-3] [INFO] [1746050898.959622493] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050898.960467591] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050898.961293512] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050898.962333579] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050898.963166842] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050899.003011924] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912614 Long: -76.50348452 +[vectornav-1] [INFO] [1746050899.004208254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (216.19899999999996, 0.12, 0.717) +[main_algo-3] [INFO] [1746050899.004208294] [sailbot.main_algo]: Distance to destination: 8.447559861709507 +[main_algo-3] [INFO] [1746050899.005417920] [sailbot.main_algo]: Target Bearing: -114.91480137991698 +[main_algo-3] [INFO] [1746050899.006558951] [sailbot.main_algo]: Heading Difference: -40.475198620083006 +[main_algo-3] [INFO] [1746050899.007540352] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050899.008448435] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050899.009312904] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050899.011607260] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050899.044972133] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050899.045762671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050899.046673186] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050899.047543373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050899.048613283] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050899.085335670] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050899.087078384] [sailbot.teensy]: Wind angle: 274 +[teensy-2] [INFO] [1746050899.087944199] [sailbot.teensy]: Actual sail angle: 30 +[trim_sail-4] [INFO] [1746050899.087504967] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050899.088828779] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050899.088851658] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050899.089783868] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050899.145140419] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050899.145732568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050899.146635274] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050899.147820206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050899.149001875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050899.245381736] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050899.246260925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050899.246904658] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050899.248352649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050899.248939752] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050899.335194332] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050899.337293220] [sailbot.teensy]: Wind angle: 274 +[trim_sail-4] [INFO] [1746050899.337546875] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050899.338671845] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050899.338946058] [sailbot.teensy]: Actual sail angle: 30 +[teensy-2] [INFO] [1746050899.339426998] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050899.339772698] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050899.344462835] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050899.344858986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050899.345572700] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050899.346676180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050899.347844713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050899.445098112] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050899.445737731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050899.447011722] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050899.447901268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050899.449010423] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050899.456961405] [sailbot.main_algo]: Wind Direction: 274 +[main_algo-3] [INFO] [1746050899.457932038] [sailbot.main_algo]: Target Bearing: -114.91480137991698 +[main_algo-3] [INFO] [1746050899.458814484] [sailbot.main_algo]: Heading Difference: -28.886198620083064 +[main_algo-3] [INFO] [1746050899.459639732] [sailbot.main_algo]: Wind Direction: 274 +[main_algo-3] [INFO] [1746050899.460486175] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050899.461301967] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050899.462340081] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050899.463011995] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050899.503064756] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912361 Long: -76.50348747 +[main_algo-3] [INFO] [1746050899.503738851] [sailbot.main_algo]: Distance to destination: 8.093125234981763 +[vectornav-1] [INFO] [1746050899.504490746] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (231.53099999999995, -3.27, -0.04) +[main_algo-3] [INFO] [1746050899.504901334] [sailbot.main_algo]: Target Bearing: -114.15072790951211 +[main_algo-3] [INFO] [1746050899.505982601] [sailbot.main_algo]: Heading Difference: -29.65027209048793 +[main_algo-3] [INFO] [1746050899.506895816] [sailbot.main_algo]: Wind Direction: 274 +[main_algo-3] [INFO] [1746050899.507820512] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050899.508732595] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050899.510421867] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050899.544899273] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050899.545630004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050899.546123130] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050899.547456239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050899.548631199] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050899.585493929] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050899.588016535] [sailbot.teensy]: Wind angle: 276 +[trim_sail-4] [INFO] [1746050899.588028493] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050899.588949907] [sailbot.teensy]: Actual sail angle: 35 +[mux-7] [INFO] [1746050899.589233912] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050899.590107916] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050899.591042946] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050899.645111280] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050899.645880512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050899.646503018] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050899.648080438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050899.649234843] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050899.745210569] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050899.745859228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050899.746544318] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050899.747794411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 +[teensy-2] [INFO] [1746050899.748296783] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050899.835642069] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050899.837430732] [sailbot.teensy]: Wind angle: 283 +[trim_sail-4] [INFO] [1746050899.837924728] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050899.838377737] [sailbot.teensy]: Actual sail angle: 35 +[teensy-2] [INFO] [1746050899.839272292] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050899.839454736] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050899.839721813] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050899.844351515] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050899.844855541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050899.845452037] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050899.846608606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050899.847711292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050899.944947641] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050899.945776607] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050899.946243187] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050899.947711494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050899.948740164] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050899.956913566] [sailbot.main_algo]: Wind Direction: 283 +[main_algo-3] [INFO] [1746050899.957889941] [sailbot.main_algo]: Target Bearing: -114.15072790951211 +[main_algo-3] [INFO] [1746050899.958772225] [sailbot.main_algo]: Heading Difference: -14.31827209048788 +[main_algo-3] [INFO] [1746050899.959606626] [sailbot.main_algo]: Rudder Angle Raw: -1.9886489014566502 +[main_algo-3] [INFO] [1746050899.960439705] [sailbot.main_algo]: Rudder Angle: -2 +[main_algo-3] [INFO] [1746050899.961763804] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050899.962026482] [sailbot.mux]: algo rudder angle: -2 +[vectornav-1] [INFO] [1746050900.003318452] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911985 Long: -76.50349019 +[main_algo-3] [INFO] [1746050900.004140879] [sailbot.main_algo]: Distance to destination: 7.6213688699444555 +[main_algo-3] [INFO] [1746050900.005325404] [sailbot.main_algo]: Target Bearing: -113.83807833039245 +[vectornav-1] [INFO] [1746050900.005671952] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (247.70900000000006, -1.515, 2.507) +[main_algo-3] [INFO] [1746050900.006408998] [sailbot.main_algo]: Heading Difference: -14.630921669607574 +[main_algo-3] [INFO] [1746050900.007402519] [sailbot.main_algo]: Rudder Angle Raw: -2.032072454112163 +[main_algo-3] [INFO] [1746050900.008353501] [sailbot.main_algo]: Rudder Angle: -3 +[mux-7] [INFO] [1746050900.010013790] [sailbot.mux]: algo rudder angle: -3 +[mux-7] [INFO] [1746050900.045395470] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050900.045609778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050900.046696808] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050900.047440892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -3 +[teensy-2] [INFO] [1746050900.048593451] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050900.085365788] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050900.087692765] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050900.088032966] [sailbot.teensy]: Wind angle: 291 +[mux-7] [INFO] [1746050900.088704596] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050900.089023854] [sailbot.teensy]: Actual sail angle: 35 +[teensy-2] [INFO] [1746050900.089945751] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050900.090803182] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050900.145226659] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050900.146005072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050900.146761858] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050900.148116509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -3 +[teensy-2] [INFO] [1746050900.149343835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050900.245014726] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050900.245866489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050900.246281087] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050900.247815638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -3 +[teensy-2] [INFO] [1746050900.248857402] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050900.335318776] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050900.337734356] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050900.338306482] [sailbot.teensy]: Wind angle: 294 +[mux-7] [INFO] [1746050900.338813842] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050900.339426139] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746050900.340406768] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050900.341248336] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050900.344280791] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050900.344874522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050900.345365304] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050900.346588574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -3 +[teensy-2] [INFO] [1746050900.347671420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050900.445304363] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050900.446192861] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050900.447096547] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050900.448315920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -3 +[teensy-2] [INFO] [1746050900.449489564] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050900.457092593] [sailbot.main_algo]: Wind Direction: 294 +[main_algo-3] [INFO] [1746050900.458081243] [sailbot.main_algo]: Target Bearing: -113.83807833039245 +[main_algo-3] [INFO] [1746050900.458911894] [sailbot.main_algo]: Heading Difference: 1.5470783303925373 +[main_algo-3] [INFO] [1746050900.459728852] [sailbot.main_algo]: Rudder Angle Raw: 0.21487199033229684 +[main_algo-3] [INFO] [1746050900.460612750] [sailbot.main_algo]: Rudder Angle: 0 +[main_algo-3] [INFO] [1746050900.461651140] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050900.462235146] [sailbot.mux]: algo rudder angle: 0 +[vectornav-1] [INFO] [1746050900.503415672] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911561 Long: -76.50349158 +[main_algo-3] [INFO] [1746050900.504207965] [sailbot.main_algo]: Distance to destination: 7.143433648096542 +[vectornav-1] [INFO] [1746050900.505193063] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (269.677, -0.543, 3.376) +[main_algo-3] [INFO] [1746050900.505565931] [sailbot.main_algo]: Target Bearing: -114.45816728892557 +[main_algo-3] [INFO] [1746050900.506612876] [sailbot.main_algo]: Heading Difference: 2.1671672889256115 +[main_algo-3] [INFO] [1746050900.507517253] [sailbot.main_algo]: Rudder Angle Raw: 0.3009954567952238 +[main_algo-3] [INFO] [1746050900.508409425] [sailbot.main_algo]: Rudder Angle: 0 +[mux-7] [INFO] [1746050900.510517311] [sailbot.mux]: algo rudder angle: 0 +[mux-7] [INFO] [1746050900.545119656] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050900.545689227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050900.546419144] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050900.547680901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 0 +[teensy-2] [INFO] [1746050900.548739887] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050900.585403737] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050900.587735853] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746050900.587946265] [sailbot.teensy]: Wind angle: 309 +[teensy-2] [INFO] [1746050900.588948924] [sailbot.teensy]: Actual sail angle: 50 +[mux-7] [INFO] [1746050900.589530040] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746050900.590257308] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050900.591198654] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050900.645065246] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050900.645611962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050900.646370117] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050900.647558994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 0 +[teensy-2] [INFO] [1746050900.648677501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050900.745089755] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050900.745591082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050900.746389211] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050900.747389796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 0 +[teensy-2] [INFO] [1746050900.748487861] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050900.835275448] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050900.836920770] [sailbot.teensy]: Wind angle: 329 +[teensy-2] [INFO] [1746050900.837844338] [sailbot.teensy]: Actual sail angle: 50 +[trim_sail-4] [INFO] [1746050900.838160765] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746050900.838683679] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050900.838898682] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746050900.839602141] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050900.844487494] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050900.845025320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050900.846320831] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050900.846882247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050900.847941985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050900.945295945] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050900.945759831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050900.946802353] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050900.947683159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050900.948782371] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050900.956910004] [sailbot.main_algo]: Wind Direction: 329 +[main_algo-3] [INFO] [1746050900.957941342] [sailbot.main_algo]: Target Bearing: -114.45816728892557 +[main_algo-3] [INFO] [1746050900.958826893] [sailbot.main_algo]: Heading Difference: 24.135167288925572 +[main_algo-3] [INFO] [1746050900.959645777] [sailbot.main_algo]: Wind Direction: 329 +[main_algo-3] [INFO] [1746050900.960484699] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050900.961312874] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050900.962357129] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050900.963065425] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050901.003410379] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691115 Long: -76.50349037 +[main_algo-3] [INFO] [1746050901.004418562] [sailbot.main_algo]: Distance to destination: 6.769740237398257 +[vectornav-1] [INFO] [1746050901.005233722] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.63300000000004, 4.191, 6.802) +[main_algo-3] [INFO] [1746050901.005721618] [sailbot.main_algo]: Target Bearing: -116.7682232527058 +[main_algo-3] [INFO] [1746050901.006724149] [sailbot.main_algo]: Heading Difference: 26.445223252705773 +[main_algo-3] [INFO] [1746050901.007666017] [sailbot.main_algo]: Wind Direction: 329 +[main_algo-3] [INFO] [1746050901.008610974] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050901.009485369] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050901.011160804] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050901.045123326] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050901.045881815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050901.046506700] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050901.048106223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 +[teensy-2] [INFO] [1746050901.049262586] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050901.085362714] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050901.087254898] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746050901.087799585] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746050901.088378118] [sailbot.teensy]: Actual sail angle: 60 +[teensy-2] [INFO] [1746050901.089258152] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050901.089380033] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050901.090115237] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050901.145226933] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050901.145743756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050901.146690829] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050901.147694827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050901.148755779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050901.245297749] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050901.246178849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050901.246849262] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050901.248314467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050901.249407826] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050901.335192212] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050901.337312880] [sailbot.teensy]: Wind angle: 350 +[trim_sail-4] [INFO] [1746050901.337606717] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050901.338274709] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050901.338822094] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050901.339029423] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050901.339424202] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050901.344532344] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050901.345179911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050901.345683006] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050901.346957620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050901.348281102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050901.445297051] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050901.445828799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050901.446707457] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050901.447730844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050901.448831886] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050901.457022621] [sailbot.main_algo]: Wind Direction: 350 +[main_algo-3] [INFO] [1746050901.458049427] [sailbot.main_algo]: Target Bearing: -116.7682232527058 +[main_algo-3] [INFO] [1746050901.458911340] [sailbot.main_algo]: Heading Difference: 50.401223252705904 +[main_algo-3] [INFO] [1746050901.459744586] [sailbot.main_algo]: Wind Direction: 350 +[main_algo-3] [INFO] [1746050901.460604050] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050901.461420308] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050901.462468973] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050901.463497323] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050901.502794376] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46910844 Long: -76.50348778 +[main_algo-3] [INFO] [1746050901.503261030] [sailbot.main_algo]: Distance to destination: 6.564963970692035 +[vectornav-1] [INFO] [1746050901.504057182] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (306.467, -0.361, 8.199) +[main_algo-3] [INFO] [1746050901.504216324] [sailbot.main_algo]: Target Bearing: -119.73219498619231 +[main_algo-3] [INFO] [1746050901.505177020] [sailbot.main_algo]: Heading Difference: 53.365194986192364 +[main_algo-3] [INFO] [1746050901.506093049] [sailbot.main_algo]: Wind Direction: 350 +[main_algo-3] [INFO] [1746050901.506967118] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050901.507804395] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050901.509528625] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050901.544956688] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050901.545669998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050901.546195719] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050901.547607365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050901.548612501] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050901.585334680] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050901.587508571] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050901.587674418] [sailbot.teensy]: Wind angle: 355 +[mux-7] [INFO] [1746050901.588093371] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050901.588576340] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746050901.589454823] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050901.590302521] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050901.644950056] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050901.645774417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050901.646358891] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050901.647738969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050901.648775226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050901.744909251] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050901.745791114] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050901.746218724] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050901.747611667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050901.748799636] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050901.835691651] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050901.838265149] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746050901.838790408] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050901.839451609] [sailbot.teensy]: Wind angle: 0 +[teensy-2] [INFO] [1746050901.839852892] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050901.840211250] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050901.840577035] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050901.844534506] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050901.844916738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050901.845670593] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050901.846621827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050901.847753762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050901.945174885] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050901.945882083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050901.946561576] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050901.947838210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050901.948878294] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050901.956940148] [sailbot.main_algo]: Wind Direction: 0 +[main_algo-3] [INFO] [1746050901.957905646] [sailbot.main_algo]: Target Bearing: -119.73219498619231 +[main_algo-3] [INFO] [1746050901.958788600] [sailbot.main_algo]: Heading Difference: 66.19919498619231 +[main_algo-3] [INFO] [1746050901.959615428] [sailbot.main_algo]: Wind Direction: 0 +[main_algo-3] [INFO] [1746050901.960449744] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050901.961282073] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050901.962323021] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050901.962921622] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050902.003048301] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691054 Long: -76.50348487 +[main_algo-3] [INFO] [1746050902.004027441] [sailbot.main_algo]: Distance to destination: 6.394666727202183 +[vectornav-1] [INFO] [1746050902.005283718] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (302.02, -5.682, 5.097) +[main_algo-3] [INFO] [1746050902.005886816] [sailbot.main_algo]: Target Bearing: -123.06768752691173 +[main_algo-3] [INFO] [1746050902.006908651] [sailbot.main_algo]: Heading Difference: 69.53468752691174 +[main_algo-3] [INFO] [1746050902.007890413] [sailbot.main_algo]: Wind Direction: 0 +[main_algo-3] [INFO] [1746050902.008804197] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050902.009653874] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050902.011381680] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050902.045558757] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050902.045748958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050902.047073676] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050902.047698712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050902.048812287] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050902.085258913] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050902.086830768] [sailbot.teensy]: Wind angle: 13 +[teensy-2] [INFO] [1746050902.087748519] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050902.088649329] [sailbot.teensy]: Actual tail angle: 40 +[trim_sail-4] [INFO] [1746050902.087636588] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746050902.088613089] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050902.089573303] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050902.145121519] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050902.145829884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050902.146532124] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050902.147922607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050902.148946020] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050902.244941709] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050902.245820182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050902.246247903] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050902.247637602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050902.248833696] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050902.335151580] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050902.337501456] [sailbot.teensy]: Wind angle: 16 +[trim_sail-4] [INFO] [1746050902.337501382] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746050902.338510161] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050902.339385458] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050902.340299274] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050902.341142604] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050902.344354047] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050902.344768985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050902.345462240] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050902.346415232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050902.347465868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050902.445223236] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050902.445903231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050902.446789510] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050902.448189928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050902.448665075] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050902.457202799] [sailbot.main_algo]: Wind Direction: 16 +[main_algo-3] [INFO] [1746050902.458271517] [sailbot.main_algo]: Target Bearing: -123.06768752691173 +[main_algo-3] [INFO] [1746050902.459175320] [sailbot.main_algo]: Heading Difference: 65.08768752691174 +[main_algo-3] [INFO] [1746050902.460026004] [sailbot.main_algo]: Wind Direction: 16 +[main_algo-3] [INFO] [1746050902.460904273] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050902.461682659] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050902.462817440] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050902.463550716] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050902.502655805] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46910054 Long: -76.50348136 +[main_algo-3] [INFO] [1746050902.503555441] [sailbot.main_algo]: Distance to destination: 6.113464597495278 +[vectornav-1] [INFO] [1746050902.503953157] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.879, -1.876, -0.144) +[main_algo-3] [INFO] [1746050902.504615329] [sailbot.main_algo]: Target Bearing: -128.05096987387319 +[main_algo-3] [INFO] [1746050902.505588968] [sailbot.main_algo]: Heading Difference: 70.0709698738732 +[main_algo-3] [INFO] [1746050902.506511871] [sailbot.main_algo]: Wind Direction: 16 +[main_algo-3] [INFO] [1746050902.507394943] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050902.508284184] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050902.510031566] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050902.545215043] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050902.546024155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050902.547130626] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050902.548203206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050902.549280867] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050902.585298692] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050902.587550942] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746050902.588320706] [sailbot.teensy]: Wind angle: 15 +[mux-7] [INFO] [1746050902.589067346] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050902.589531905] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050902.590729085] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050902.591614865] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050902.645085553] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050902.645824559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050902.646479575] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050902.647936500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050902.649049913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050902.745394986] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050902.746365417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050902.747308513] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050902.748658027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050902.749803959] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050902.835022344] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050902.837013244] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050902.837279165] [sailbot.teensy]: Wind angle: 6 +[teensy-2] [INFO] [1746050902.838172985] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746050902.837762385] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050902.839043320] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050902.839890470] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050902.844596619] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050902.845068392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050902.845745934] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050902.846763982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050902.847797185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050902.945474857] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050902.946311017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050902.947048774] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050902.948397858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050902.949587779] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050902.956896960] [sailbot.main_algo]: Wind Direction: 6 +[main_algo-3] [INFO] [1746050902.957839318] [sailbot.main_algo]: Target Bearing: -128.05096987387319 +[main_algo-3] [INFO] [1746050902.958769874] [sailbot.main_algo]: Heading Difference: 50.92996987387323 +[main_algo-3] [INFO] [1746050902.959558485] [sailbot.main_algo]: Wind Direction: 6 +[main_algo-3] [INFO] [1746050902.960354795] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050902.961150783] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050902.962116207] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050902.962738491] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050903.002742817] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909439 Long: -76.50348057 +[main_algo-3] [INFO] [1746050903.003387084] [sailbot.main_algo]: Distance to destination: 5.626468799188318 +[vectornav-1] [INFO] [1746050903.004013160] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (254.34199999999998, 2.496, -4.927) +[main_algo-3] [INFO] [1746050903.004327087] [sailbot.main_algo]: Target Bearing: -132.77358706029574 +[main_algo-3] [INFO] [1746050903.005240118] [sailbot.main_algo]: Heading Difference: 55.65258706029579 +[main_algo-3] [INFO] [1746050903.006081502] [sailbot.main_algo]: Wind Direction: 6 +[main_algo-3] [INFO] [1746050903.006893883] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050903.007675216] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050903.009327994] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050903.044967742] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050903.045634479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050903.046387685] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050903.047575961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050903.048729584] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050903.085498864] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050903.087293389] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746050903.088289863] [sailbot.teensy]: Actual sail angle: 85 +[trim_sail-4] [INFO] [1746050903.088300836] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746050903.089169380] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050903.089273084] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050903.090199726] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050903.145208727] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050903.145957976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050903.146663002] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050903.148210048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050903.149264257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050903.245453212] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050903.246291005] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050903.247039669] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050903.248410207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050903.249698317] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050903.335209046] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050903.337320857] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746050903.338281087] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050903.339163117] [sailbot.teensy]: Actual tail angle: 40 +[trim_sail-4] [INFO] [1746050903.338387298] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746050903.338631414] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746050903.340017887] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050903.344506715] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050903.345059477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050903.345692175] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050903.346813882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050903.347881376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050903.444867266] [sailbot.mux]: Published sail angle from algo: 80 +[mux-7] [INFO] [1746050903.446073493] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050903.448108884] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050903.449648231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050903.450691395] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050903.456959033] [sailbot.main_algo]: Wind Direction: 333 +[main_algo-3] [INFO] [1746050903.457897725] [sailbot.main_algo]: Target Bearing: -132.77358706029574 +[main_algo-3] [INFO] [1746050903.458711452] [sailbot.main_algo]: Heading Difference: 27.115587060295752 +[main_algo-3] [INFO] [1746050903.459511012] [sailbot.main_algo]: Wind Direction: 333 +[main_algo-3] [INFO] [1746050903.460341787] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050903.461151013] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050903.462164983] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050903.462910434] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050903.503271291] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908999 Long: -76.50348264 +[main_algo-3] [INFO] [1746050903.503874856] [sailbot.main_algo]: Distance to destination: 5.15242150822383 +[vectornav-1] [INFO] [1746050903.504824038] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (230.05399999999997, 1.448, -6.73) +[main_algo-3] [INFO] [1746050903.505047402] [sailbot.main_algo]: Target Bearing: -134.98126057834628 +[main_algo-3] [INFO] [1746050903.506046582] [sailbot.main_algo]: Heading Difference: 29.323260578346208 +[main_algo-3] [INFO] [1746050903.506959022] [sailbot.main_algo]: Wind Direction: 333 +[main_algo-3] [INFO] [1746050903.507830198] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050903.508693089] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050903.510417277] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050903.545341463] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050903.545618356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050903.546631832] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050903.547467025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050903.548753267] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050903.585088096] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050903.586664108] [sailbot.teensy]: Wind angle: 314 +[trim_sail-4] [INFO] [1746050903.587239092] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050903.587544471] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050903.588391262] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050903.589243203] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050903.589366649] [sailbot.mux]: algo sail angle: 65 +[mux-7] [INFO] [1746050903.645362249] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050903.646035600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050903.646872602] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050903.648551766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 +[teensy-2] [INFO] [1746050903.649677798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050903.745277764] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050903.746003870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050903.746775774] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050903.747905885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 +[teensy-2] [INFO] [1746050903.748404494] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050903.835358789] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050903.837230373] [sailbot.teensy]: Wind angle: 305 +[trim_sail-4] [INFO] [1746050903.837806563] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746050903.838950314] [sailbot.teensy]: Actual sail angle: 80 +[mux-7] [INFO] [1746050903.839465516] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746050903.839558151] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050903.839940378] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050903.844376611] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050903.845086536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050903.845490339] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050903.846851783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 15 +[teensy-2] [INFO] [1746050903.847900073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050903.945355259] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050903.946342086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050903.946897556] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050903.948540410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 15 +[teensy-2] [INFO] [1746050903.949534248] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050903.956931242] [sailbot.main_algo]: Wind Direction: 305 +[main_algo-3] [INFO] [1746050903.957868422] [sailbot.main_algo]: Target Bearing: -134.98126057834628 +[main_algo-3] [INFO] [1746050903.958696863] [sailbot.main_algo]: Heading Difference: 5.035260578346197 +[main_algo-3] [INFO] [1746050903.959498782] [sailbot.main_algo]: Rudder Angle Raw: 0.6993417469925273 +[main_algo-3] [INFO] [1746050903.960318881] [sailbot.main_algo]: Rudder Angle: 0 +[main_algo-3] [INFO] [1746050903.961298966] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050903.961950038] [sailbot.mux]: algo rudder angle: 0 +[vectornav-1] [INFO] [1746050904.003424962] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908769 Long: -76.50348707 +[main_algo-3] [INFO] [1746050904.003904678] [sailbot.main_algo]: Distance to destination: 4.716465061623431 +[main_algo-3] [INFO] [1746050904.005022926] [sailbot.main_algo]: =============================== Waypoint popped =============================== +[vectornav-1] [INFO] [1746050904.005772780] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (208.726, -2.778, -3.649) +[waypoint_service-5] [INFO] [1746050904.010222271] [sailbot.waypoint_service]: Received request: command=pop, argument= +[waypoint_service-5] [INFO] [1746050904.011180437] [sailbot.waypoint_service]: Popped waypoint: (42.46905659809444, -76.50352614378555) +[waypoint_service-5] [INFO] [1746050904.012543985] [sailbot.waypoint_service]: Published current waypoint: Lat=42.468722228966215, Lon=-76.50330754375084 +[main_algo-3] [INFO] [1746050904.013781413] [sailbot.main_algo]: Updated current waypoint to: (42.468722228966215, -76.50330754375084) +[main_algo-3] [INFO] [1746050904.015842255] [sailbot.main_algo]: Waypoint popped successfully. +[mux-7] [INFO] [1746050904.045094283] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050904.045810542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050904.046435761] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050904.047786220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 0 +[teensy-2] [INFO] [1746050904.048944838] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050904.085220464] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050904.087044250] [sailbot.teensy]: Wind angle: 288 +[trim_sail-4] [INFO] [1746050904.087378712] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050904.087938885] [sailbot.teensy]: Actual sail angle: 65 +[teensy-2] [INFO] [1746050904.088857295] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050904.089702732] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050904.090037118] [sailbot.mux]: algo sail angle: 45 +[mux-7] [INFO] [1746050904.145240482] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050904.146231606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050904.146763982] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050904.148320289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050904.148772092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050904.245477417] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050904.246582181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050904.247072669] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050904.250568480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[waypoint_service-5] [INFO] [1746050904.251279629] [sailbot.waypoint_service]: Received request: command=get, argument= +[teensy-2] [INFO] [1746050904.252123441] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050904.335266181] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050904.336994664] [sailbot.teensy]: Wind angle: 261 +[teensy-2] [INFO] [1746050904.337961834] [sailbot.teensy]: Actual sail angle: 60 +[trim_sail-4] [INFO] [1746050904.338229280] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050904.338889685] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050904.339801479] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050904.340359853] [sailbot.mux]: algo sail angle: 25 +[mux-7] [INFO] [1746050904.344330514] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050904.345476233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050904.345575866] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050904.347207378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050904.348410165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050904.445240729] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050904.446181759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050904.446745878] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050904.448341117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 +[teensy-2] [INFO] [1746050904.449521312] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050904.456966072] [sailbot.main_algo]: Wind Direction: 261 +[main_algo-3] [INFO] [1746050904.457888518] [sailbot.main_algo]: Target Bearing: -71.02972766396182 +[main_algo-3] [INFO] [1746050904.458711546] [sailbot.main_algo]: Heading Difference: -80.2442723360382 +[main_algo-3] [INFO] [1746050904.459498831] [sailbot.main_algo]: Wind Direction: 261 +[main_algo-3] [INFO] [1746050904.460324509] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050904.461112565] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050904.462185814] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050904.462664885] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050904.503544491] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908599 Long: -76.50349154 +[main_algo-3] [INFO] [1746050904.504273112] [sailbot.main_algo]: Distance to destination: 43.13865669454605 +[vectornav-1] [INFO] [1746050904.505035803] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.39200000000005, 1.388, -5.271) +[main_algo-3] [INFO] [1746050904.505498847] [sailbot.main_algo]: Target Bearing: -70.48526245121555 +[main_algo-3] [INFO] [1746050904.506537008] [sailbot.main_algo]: Heading Difference: -80.78873754878447 +[main_algo-3] [INFO] [1746050904.507429429] [sailbot.main_algo]: Wind Direction: 261 +[main_algo-3] [INFO] [1746050904.508337653] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050904.509220019] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050904.510946632] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050904.544903856] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050904.545579433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050904.546185489] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050904.547676516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050904.548945440] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050904.585340807] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050904.587168857] [sailbot.teensy]: Wind angle: 248 +[teensy-2] [INFO] [1746050904.588128441] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746050904.587763106] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050904.589048309] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050904.589375588] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050904.589954213] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050904.645213452] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746050904.645747141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050904.646779920] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050904.647803786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746050904.649010525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050904.745124516] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746050904.745771131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050904.746929289] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050904.747718335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746050904.748796633] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050904.835377833] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050904.837700520] [sailbot.teensy]: Wind angle: 251 +[trim_sail-4] [INFO] [1746050904.838111383] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050904.838630376] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050904.839016871] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050904.839180731] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050904.839417143] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050904.844617689] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050904.845329951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050904.845805733] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050904.847115792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050904.848259522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050904.944973008] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050904.945687061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050904.946414101] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050904.947769805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050904.948347675] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050904.957040800] [sailbot.main_algo]: Wind Direction: 251 +[main_algo-3] [INFO] [1746050904.958099032] [sailbot.main_algo]: Target Bearing: -70.48526245121555 +[main_algo-3] [INFO] [1746050904.959027764] [sailbot.main_algo]: Heading Difference: -98.12273754878441 +[main_algo-3] [INFO] [1746050904.959830121] [sailbot.main_algo]: Wind Direction: 251 +[main_algo-3] [INFO] [1746050904.960688631] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050904.961544472] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050904.962588229] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050904.963321463] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050905.003374235] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908553 Long: -76.50349569 +[main_algo-3] [INFO] [1746050905.004080815] [sailbot.main_algo]: Distance to destination: 43.21179769011519 +[main_algo-3] [INFO] [1746050905.005330879] [sailbot.main_algo]: Target Bearing: -70.03780165417106 +[vectornav-1] [INFO] [1746050905.005586135] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.46399999999994, -3.153, -1.735) +[main_algo-3] [INFO] [1746050905.006614886] [sailbot.main_algo]: Heading Difference: -98.57019834582889 +[main_algo-3] [INFO] [1746050905.007603466] [sailbot.main_algo]: Wind Direction: 251 +[main_algo-3] [INFO] [1746050905.008839237] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050905.009748751] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050905.011432765] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050905.045156802] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050905.045912308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050905.046577800] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050905.048000452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050905.049046303] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050905.085305131] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050905.087035496] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050905.087555593] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050905.089145468] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050905.089698239] [sailbot.teensy]: Actual sail angle: 15 +[teensy-2] [INFO] [1746050905.090660145] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050905.091830371] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050905.144661079] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050905.145186957] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050905.145738810] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050905.146854603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050905.148805715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050905.245209066] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050905.246066449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050905.246755531] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050905.249193532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050905.250360596] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050905.335223473] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050905.337364843] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746050905.337532665] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050905.338382380] [sailbot.teensy]: Actual sail angle: 20 +[mux-7] [INFO] [1746050905.338988567] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050905.339339419] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050905.340255798] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050905.344499145] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050905.345010556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050905.345639343] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050905.346776270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050905.347903806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050905.445005568] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050905.445668838] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050905.446272363] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050905.447585712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050905.448707116] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050905.457183097] [sailbot.main_algo]: Wind Direction: 252 +[main_algo-3] [INFO] [1746050905.458256941] [sailbot.main_algo]: Target Bearing: -70.03780165417106 +[main_algo-3] [INFO] [1746050905.459198439] [sailbot.main_algo]: Heading Difference: -108.498198345829 +[main_algo-3] [INFO] [1746050905.460065497] [sailbot.main_algo]: Wind Direction: 252 +[main_algo-3] [INFO] [1746050905.460923425] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050905.461716473] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050905.462721833] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050905.463843535] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050905.503027159] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908572 Long: -76.50349959 +[main_algo-3] [INFO] [1746050905.504078143] [sailbot.main_algo]: Distance to destination: 43.34728159604717 +[vectornav-1] [INFO] [1746050905.504554334] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.279, 3.262, 2.09) +[main_algo-3] [INFO] [1746050905.505299654] [sailbot.main_algo]: Target Bearing: -69.65202470670921 +[main_algo-3] [INFO] [1746050905.506318742] [sailbot.main_algo]: Heading Difference: -108.88397529329086 +[main_algo-3] [INFO] [1746050905.507395888] [sailbot.main_algo]: Wind Direction: 252 +[main_algo-3] [INFO] [1746050905.508355665] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050905.509224827] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050905.511010552] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050905.544948695] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050905.545566865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050905.546393936] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050905.547520813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050905.548748654] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050905.585106007] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050905.587039760] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050905.588058683] [sailbot.teensy]: Wind angle: 252 +[mux-7] [INFO] [1746050905.588297000] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050905.589254986] [sailbot.teensy]: Actual sail angle: 20 +[teensy-2] [INFO] [1746050905.590271008] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050905.590643921] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050905.645503875] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050905.646120828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050905.647157826] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050905.648267996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050905.649359017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050905.745241836] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050905.745787340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050905.746784134] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050905.747741048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050905.748690932] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050905.835250211] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050905.837710698] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050905.838275583] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050905.838384507] [sailbot.teensy]: Wind angle: 253 +[teensy-2] [INFO] [1746050905.838796601] [sailbot.teensy]: Actual sail angle: 20 +[teensy-2] [INFO] [1746050905.839177744] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050905.839722902] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050905.844402226] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050905.844923304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050905.845714549] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050905.846672885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050905.847799860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050905.945112324] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050905.945802625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050905.946436575] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050905.947840627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050905.948875937] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050905.956974362] [sailbot.main_algo]: Wind Direction: 253 +[main_algo-3] [INFO] [1746050905.957976959] [sailbot.main_algo]: Target Bearing: -69.65202470670921 +[main_algo-3] [INFO] [1746050905.958865911] [sailbot.main_algo]: Heading Difference: -105.0689752932908 +[main_algo-3] [INFO] [1746050905.959666863] [sailbot.main_algo]: Wind Direction: 253 +[main_algo-3] [INFO] [1746050905.960479661] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050905.961275988] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050905.962299566] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050905.962923176] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050906.003414069] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908486 Long: -76.50350231 +[main_algo-3] [INFO] [1746050906.004145679] [sailbot.main_algo]: Distance to destination: 43.340484122934875 +[vectornav-1] [INFO] [1746050906.005246963] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.90999999999997, -2.838, 2.131) +[main_algo-3] [INFO] [1746050906.005278688] [sailbot.main_algo]: Target Bearing: -69.3306865341024 +[main_algo-3] [INFO] [1746050906.006450907] [sailbot.main_algo]: Heading Difference: -105.39031346589763 +[main_algo-3] [INFO] [1746050906.007406722] [sailbot.main_algo]: Wind Direction: 253 +[main_algo-3] [INFO] [1746050906.008345219] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050906.009241398] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050906.010927874] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050906.045100662] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050906.045701206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050906.046415623] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050906.047650878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050906.048737225] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050906.085417218] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050906.087292868] [sailbot.teensy]: Wind angle: 254 +[teensy-2] [INFO] [1746050906.088250782] [sailbot.teensy]: Actual sail angle: 20 +[trim_sail-4] [INFO] [1746050906.087778514] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050906.089090852] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050906.089127073] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050906.090006170] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050906.144804375] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050906.145437293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050906.145978012] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050906.147320143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050906.148373242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050906.245371473] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050906.246186119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050906.246910833] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050906.248368212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746050906.249030829] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050906.335167969] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050906.337460150] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050906.337962597] [sailbot.teensy]: Wind angle: 258 +[mux-7] [INFO] [1746050906.338209034] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050906.338908762] [sailbot.teensy]: Actual sail angle: 20 +[teensy-2] [INFO] [1746050906.339812107] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050906.340462574] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050906.344426823] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050906.345102561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050906.345534942] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050906.346810033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050906.347850493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050906.444849044] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050906.445461319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050906.446370737] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050906.447365734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050906.448305067] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050906.457010059] [sailbot.main_algo]: Wind Direction: 258 +[main_algo-3] [INFO] [1746050906.457965665] [sailbot.main_algo]: Target Bearing: -69.3306865341024 +[main_algo-3] [INFO] [1746050906.458892811] [sailbot.main_algo]: Heading Difference: -96.75931346589766 +[main_algo-3] [INFO] [1746050906.459694275] [sailbot.main_algo]: Wind Direction: 258 +[main_algo-3] [INFO] [1746050906.460529979] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050906.461316730] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050906.462435998] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050906.462921522] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050906.502770247] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908401 Long: -76.50350543 +[main_algo-3] [INFO] [1746050906.503784722] [sailbot.main_algo]: Distance to destination: 43.34841399177191 +[vectornav-1] [INFO] [1746050906.503971212] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (205.13099999999997, 0.223, 0.152) +[main_algo-3] [INFO] [1746050906.504869732] [sailbot.main_algo]: Target Bearing: -68.96950397186522 +[main_algo-3] [INFO] [1746050906.506159509] [sailbot.main_algo]: Heading Difference: -97.12049602813482 +[main_algo-3] [INFO] [1746050906.507078087] [sailbot.main_algo]: Wind Direction: 258 +[main_algo-3] [INFO] [1746050906.507906203] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050906.508714050] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050906.510270067] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050906.545088506] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050906.545881712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050906.546512973] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050906.547905100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050906.549125259] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050906.585531316] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050906.587395934] [sailbot.teensy]: Wind angle: 262 +[trim_sail-4] [INFO] [1746050906.587981820] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050906.588349786] [sailbot.teensy]: Actual sail angle: 20 +[teensy-2] [INFO] [1746050906.589328759] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050906.589877560] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050906.590183764] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050906.644979518] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050906.645590437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050906.646370089] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050906.647440728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050906.648484476] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050906.744891267] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050906.745557707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050906.746281156] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050906.747432589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 +[teensy-2] [INFO] [1746050906.748599687] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050906.835124986] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050906.836772337] [sailbot.teensy]: Wind angle: 267 +[trim_sail-4] [INFO] [1746050906.837568749] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050906.837689762] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050906.838557482] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050906.838636158] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050906.839442704] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050906.844336926] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050906.844891037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050906.845475856] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050906.846545138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050906.847590487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050906.945361436] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050906.945981382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050906.946896500] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050906.948117867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050906.949322787] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050906.957054539] [sailbot.main_algo]: Wind Direction: 267 +[main_algo-3] [INFO] [1746050906.958063087] [sailbot.main_algo]: Target Bearing: -68.96950397186522 +[main_algo-3] [INFO] [1746050906.958933890] [sailbot.main_algo]: Heading Difference: -85.89949602813482 +[main_algo-3] [INFO] [1746050906.959776256] [sailbot.main_algo]: Wind Direction: 267 +[main_algo-3] [INFO] [1746050906.960608226] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050906.961395454] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050906.962451140] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050906.963318140] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050907.003095602] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908235 Long: -76.50350884 +[main_algo-3] [INFO] [1746050907.003611802] [sailbot.main_algo]: Distance to destination: 43.28402554008876 +[vectornav-1] [INFO] [1746050907.004248089] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (217.086, -3.058, -1.634) +[main_algo-3] [INFO] [1746050907.004710794] [sailbot.main_algo]: Target Bearing: -68.53389725559816 +[main_algo-3] [INFO] [1746050907.005630793] [sailbot.main_algo]: Heading Difference: -86.33510274440187 +[main_algo-3] [INFO] [1746050907.006516950] [sailbot.main_algo]: Wind Direction: 267 +[main_algo-3] [INFO] [1746050907.007406515] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050907.008284293] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050907.009976515] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050907.045027566] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050907.045653259] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050907.046686159] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050907.047478266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050907.048546710] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050907.085353955] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050907.087853522] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050907.088058867] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050907.088292849] [sailbot.teensy]: Wind angle: 268 +[teensy-2] [INFO] [1746050907.089441003] [sailbot.teensy]: Actual sail angle: 25 +[teensy-2] [INFO] [1746050907.090296281] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050907.091138188] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050907.145078520] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050907.145652780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050907.146374661] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050907.147474861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050907.148663588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050907.245055825] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050907.245680597] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050907.246599667] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050907.247400383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 +[teensy-2] [INFO] [1746050907.247935001] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050907.335247943] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050907.337722466] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050907.337938083] [sailbot.teensy]: Wind angle: 286 +[mux-7] [INFO] [1746050907.338609659] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050907.338864618] [sailbot.teensy]: Actual sail angle: 30 +[teensy-2] [INFO] [1746050907.339769844] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050907.340683279] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050907.344448151] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050907.344975735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050907.345729401] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050907.346739167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 +[teensy-2] [INFO] [1746050907.347778805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050907.444974053] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050907.446131828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050907.446571293] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050907.448105241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 +[teensy-2] [INFO] [1746050907.449118390] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050907.457187464] [sailbot.main_algo]: Wind Direction: 286 +[main_algo-3] [INFO] [1746050907.458267000] [sailbot.main_algo]: Target Bearing: -68.53389725559816 +[main_algo-3] [INFO] [1746050907.459194525] [sailbot.main_algo]: Heading Difference: -74.38010274440182 +[main_algo-3] [INFO] [1746050907.460066083] [sailbot.main_algo]: Wind Direction: 286 +[main_algo-3] [INFO] [1746050907.460966877] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050907.461770962] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050907.462847884] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050907.463330707] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050907.502687184] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46907906 Long: -76.50351263 +[main_algo-3] [INFO] [1746050907.503802354] [sailbot.main_algo]: Distance to destination: 43.067691949187854 +[vectornav-1] [INFO] [1746050907.504179854] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (234.163, -1.379, -2.633) +[main_algo-3] [INFO] [1746050907.504868686] [sailbot.main_algo]: Target Bearing: -67.96494884783661 +[main_algo-3] [INFO] [1746050907.505922371] [sailbot.main_algo]: Heading Difference: -74.9490511521634 +[main_algo-3] [INFO] [1746050907.506828031] [sailbot.main_algo]: Wind Direction: 286 +[main_algo-3] [INFO] [1746050907.507716847] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050907.508603389] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050907.510274423] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050907.545209725] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050907.546005295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050907.546629249] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050907.548080156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 +[teensy-2] [INFO] [1746050907.549234482] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050907.585317814] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050907.587016376] [sailbot.teensy]: Wind angle: 291 +[teensy-2] [INFO] [1746050907.587932057] [sailbot.teensy]: Actual sail angle: 30 +[trim_sail-4] [INFO] [1746050907.587867076] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050907.588595406] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050907.589010542] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050907.589890318] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050907.644802564] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050907.645637665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050907.645991886] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050907.647484730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 +[teensy-2] [INFO] [1746050907.648391881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050907.745255313] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050907.746087437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050907.746925027] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050907.748391832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 +[teensy-2] [INFO] [1746050907.748908579] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050907.835420343] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050907.837574943] [sailbot.teensy]: Wind angle: 293 +[trim_sail-4] [INFO] [1746050907.837998091] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050907.838514552] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050907.838965611] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050907.839420503] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050907.840364584] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050907.844365550] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050907.844919933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050907.845932795] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050907.846667643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 +[teensy-2] [INFO] [1746050907.847881329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050907.945005874] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050907.945678437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050907.946337416] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050907.947691453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 +[teensy-2] [INFO] [1746050907.948771656] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050907.957176381] [sailbot.main_algo]: Wind Direction: 293 +[main_algo-3] [INFO] [1746050907.958270440] [sailbot.main_algo]: Target Bearing: -67.96494884783661 +[main_algo-3] [INFO] [1746050907.959214800] [sailbot.main_algo]: Heading Difference: -57.87205115216341 +[main_algo-3] [INFO] [1746050907.960067558] [sailbot.main_algo]: Wind Direction: 293 +[main_algo-3] [INFO] [1746050907.960965380] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050907.961754350] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050907.962768132] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050907.963542810] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050908.003011015] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46907541 Long: -76.50351552 +[main_algo-3] [INFO] [1746050908.003945666] [sailbot.main_algo]: Distance to destination: 42.78939342529096 +[vectornav-1] [INFO] [1746050908.004365582] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (255.53499999999997, 2.299, 2.992) +[main_algo-3] [INFO] [1746050908.005238228] [sailbot.main_algo]: Target Bearing: -67.45964132137019 +[main_algo-3] [INFO] [1746050908.006327694] [sailbot.main_algo]: Heading Difference: -58.377358678629776 +[main_algo-3] [INFO] [1746050908.007247357] [sailbot.main_algo]: Wind Direction: 293 +[main_algo-3] [INFO] [1746050908.008136968] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050908.009004367] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050908.010676367] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050908.045360974] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050908.046248333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050908.046879488] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050908.048421968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 +[teensy-2] [INFO] [1746050908.049571705] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050908.085338293] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050908.088086344] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746050908.088244456] [sailbot.teensy]: Wind angle: 308 +[mux-7] [INFO] [1746050908.088783778] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746050908.089226764] [sailbot.teensy]: Actual sail angle: 50 +[teensy-2] [INFO] [1746050908.090124972] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050908.090966329] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050908.144957168] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050908.145743831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050908.146256927] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050908.147845880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: -15 +[teensy-2] [INFO] [1746050908.148909158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050908.245271685] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050908.246364785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050908.246736436] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050908.248099146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: -15 +[teensy-2] [INFO] [1746050908.248561165] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050908.335328080] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050908.337855648] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050908.337927319] [sailbot.teensy]: Wind angle: 313 +[mux-7] [INFO] [1746050908.338430761] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050908.338838752] [sailbot.teensy]: Actual sail angle: 50 +[teensy-2] [INFO] [1746050908.339738578] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050908.340576832] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050908.344570157] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050908.345176082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050908.345740378] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050908.346900600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: -15 +[teensy-2] [INFO] [1746050908.348003177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050908.445579859] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050908.446676024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050908.448599153] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050908.449105451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: -15 +[teensy-2] [INFO] [1746050908.450431209] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050908.457042733] [sailbot.main_algo]: Wind Direction: 313 +[main_algo-3] [INFO] [1746050908.458056557] [sailbot.main_algo]: Target Bearing: -67.45964132137019 +[main_algo-3] [INFO] [1746050908.458940957] [sailbot.main_algo]: Heading Difference: -37.00535867862982 +[main_algo-3] [INFO] [1746050908.459826959] [sailbot.main_algo]: Wind Direction: 313 +[main_algo-3] [INFO] [1746050908.460705801] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050908.461547558] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050908.462648066] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050908.463267070] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050908.503448899] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46907172 Long: -76.50351684 +[main_algo-3] [INFO] [1746050908.503967412] [sailbot.main_algo]: Distance to destination: 42.45792488853297 +[vectornav-1] [INFO] [1746050908.504756679] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.874, -1.844, 9.862) +[main_algo-3] [INFO] [1746050908.505320104] [sailbot.main_algo]: Target Bearing: -67.1043710086984 +[main_algo-3] [INFO] [1746050908.506306958] [sailbot.main_algo]: Heading Difference: -37.36062899130161 +[main_algo-3] [INFO] [1746050908.507237961] [sailbot.main_algo]: Wind Direction: 313 +[main_algo-3] [INFO] [1746050908.508169182] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050908.509039534] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050908.510772825] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050908.545274892] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050908.545992088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050908.547017383] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050908.548312144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: -15 +[teensy-2] [INFO] [1746050908.549532582] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050908.585231618] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050908.587457238] [sailbot.teensy]: Wind angle: 319 +[trim_sail-4] [INFO] [1746050908.587745405] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746050908.588449692] [sailbot.teensy]: Actual sail angle: 60 +[teensy-2] [INFO] [1746050908.589350679] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050908.590244532] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746050908.590830762] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050908.645257837] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050908.645833978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050908.646765506] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050908.647860767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: -15 +[teensy-2] [INFO] [1746050908.649183756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050908.744920849] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050908.745447400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050908.746198322] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050908.747196201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: -15 +[teensy-2] [INFO] [1746050908.748361064] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050908.835431366] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050908.838006244] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746050908.838184194] [sailbot.teensy]: Wind angle: 326 +[mux-7] [INFO] [1746050908.838662900] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746050908.838763538] [sailbot.teensy]: Actual sail angle: 65 +[teensy-2] [INFO] [1746050908.839169361] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050908.839552552] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050908.844324679] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050908.844907742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050908.845653724] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050908.846580126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -15 +[teensy-2] [INFO] [1746050908.847733538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050908.945207627] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050908.945907112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050908.946779655] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050908.948121407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -15 +[teensy-2] [INFO] [1746050908.948719535] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050908.957082119] [sailbot.main_algo]: Wind Direction: 326 +[main_algo-3] [INFO] [1746050908.958030220] [sailbot.main_algo]: Target Bearing: -67.1043710086984 +[main_algo-3] [INFO] [1746050908.958916386] [sailbot.main_algo]: Heading Difference: -12.021628991301554 +[main_algo-3] [INFO] [1746050908.959709285] [sailbot.main_algo]: Rudder Angle Raw: -1.6696706932363268 +[main_algo-3] [INFO] [1746050908.960551116] [sailbot.main_algo]: Rudder Angle: -2 +[main_algo-3] [INFO] [1746050908.961511386] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050908.962089401] [sailbot.mux]: algo rudder angle: -2 +[vectornav-1] [INFO] [1746050909.003128542] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906793 Long: -76.50351545 +[main_algo-3] [INFO] [1746050909.003841164] [sailbot.main_algo]: Distance to destination: 42.026864999848144 +[vectornav-1] [INFO] [1746050909.004670616] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (305.829, -4.777, 13.733) +[main_algo-3] [INFO] [1746050909.005167000] [sailbot.main_algo]: Target Bearing: -67.01422508881166 +[main_algo-3] [INFO] [1746050909.006248358] [sailbot.main_algo]: Heading Difference: -12.111774911188377 +[main_algo-3] [INFO] [1746050909.007344458] [sailbot.main_algo]: Rudder Angle Raw: -1.6821909598872746 +[main_algo-3] [INFO] [1746050909.008228067] [sailbot.main_algo]: Rudder Angle: -2 +[mux-7] [INFO] [1746050909.009995486] [sailbot.mux]: algo rudder angle: -2 +[mux-7] [INFO] [1746050909.045164994] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050909.046015624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050909.046583030] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050909.048182059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -2 +[teensy-2] [INFO] [1746050909.049238572] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050909.085390827] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050909.087894610] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050909.087926442] [sailbot.teensy]: Wind angle: 349 +[teensy-2] [INFO] [1746050909.088900910] [sailbot.teensy]: Actual sail angle: 70 +[mux-7] [INFO] [1746050909.089604271] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050909.089809812] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050909.090724955] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050909.145140595] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050909.145698196] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050909.146616718] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050909.147745564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: -2 +[teensy-2] [INFO] [1746050909.148621408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050909.245215592] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050909.245983039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050909.246645140] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050909.248061330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: -2 +[teensy-2] [INFO] [1746050909.248589458] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050909.335266251] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050909.337506056] [sailbot.teensy]: Wind angle: 6 +[trim_sail-4] [INFO] [1746050909.337782206] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050909.338745392] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050909.338897434] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050909.339664814] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050909.340569681] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050909.344510132] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050909.345099946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050909.345663300] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050909.346816788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: -2 +[teensy-2] [INFO] [1746050909.348004913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050909.444868705] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050909.445643581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050909.446068877] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050909.447415436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: -2 +[teensy-2] [INFO] [1746050909.448622872] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050909.457002441] [sailbot.main_algo]: Wind Direction: 6 +[main_algo-3] [INFO] [1746050909.458021008] [sailbot.main_algo]: Target Bearing: -67.01422508881166 +[main_algo-3] [INFO] [1746050909.458916462] [sailbot.main_algo]: Heading Difference: 12.843225088811664 +[main_algo-3] [INFO] [1746050909.459802550] [sailbot.main_algo]: Rudder Angle Raw: 1.7837812623349534 +[main_algo-3] [INFO] [1746050909.460620090] [sailbot.main_algo]: Rudder Angle: 1 +[main_algo-3] [INFO] [1746050909.461679479] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050909.462254573] [sailbot.mux]: algo rudder angle: 1 +[vectornav-1] [INFO] [1746050909.502749663] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906396 Long: -76.50351092 +[main_algo-3] [INFO] [1746050909.503202489] [sailbot.main_algo]: Distance to destination: 41.472893141402665 +[vectornav-1] [INFO] [1746050909.504041699] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (332.64, -4.108, 16.171) +[main_algo-3] [INFO] [1746050909.504350075] [sailbot.main_algo]: Target Bearing: -67.2365441439201 +[main_algo-3] [INFO] [1746050909.505249469] [sailbot.main_algo]: Heading Difference: 13.065544143920079 +[main_algo-3] [INFO] [1746050909.506070321] [sailbot.main_algo]: Rudder Angle Raw: 1.8146589088777885 +[main_algo-3] [INFO] [1746050909.506914077] [sailbot.main_algo]: Rudder Angle: 1 +[mux-7] [INFO] [1746050909.508640246] [sailbot.mux]: algo rudder angle: 1 +[mux-7] [INFO] [1746050909.545084330] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050909.545605104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050909.546433904] [sailbot.mux]: Published rudder angle from algo: 1 +[teensy-2] [INFO] [1746050909.547468710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 1 +[teensy-2] [INFO] [1746050909.548562385] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050909.585317610] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050909.587027649] [sailbot.teensy]: Wind angle: 29 +[trim_sail-4] [INFO] [1746050909.587920681] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746050909.587978907] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050909.588937484] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050909.589818539] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050909.589944955] [sailbot.mux]: algo sail angle: 75 +[mux-7] [INFO] [1746050909.645322939] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050909.645891122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050909.646817522] [sailbot.mux]: Published rudder angle from algo: 1 +[teensy-2] [INFO] [1746050909.647988521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 1 +[teensy-2] [INFO] [1746050909.649057976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050909.745431020] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050909.745953561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050909.747147788] [sailbot.mux]: Published rudder angle from algo: 1 +[teensy-2] [INFO] [1746050909.748146647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 1 +[teensy-2] [INFO] [1746050909.749325043] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050909.835802426] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050909.837868472] [sailbot.teensy]: Wind angle: 42 +[teensy-2] [INFO] [1746050909.838884598] [sailbot.teensy]: Actual sail angle: 90 +[trim_sail-4] [INFO] [1746050909.838497192] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050909.839777936] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746050909.840608135] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050909.840694435] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050909.844254682] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050909.845340989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050909.845441963] [sailbot.mux]: Published rudder angle from algo: 1 +[teensy-2] [INFO] [1746050909.847105217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 1 +[teensy-2] [INFO] [1746050909.848089362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050909.944928962] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050909.945695545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050909.946228396] [sailbot.mux]: Published rudder angle from algo: 1 +[teensy-2] [INFO] [1746050909.947609159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 1 +[teensy-2] [INFO] [1746050909.948690124] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050909.956948047] [sailbot.main_algo]: Wind Direction: 42 +[main_algo-3] [INFO] [1746050909.957903594] [sailbot.main_algo]: Target Bearing: -67.2365441439201 +[main_algo-3] [INFO] [1746050909.958737309] [sailbot.main_algo]: Heading Difference: 39.876544143920114 +[main_algo-3] [INFO] [1746050909.959543642] [sailbot.main_algo]: Wind Direction: 42 +[main_algo-3] [INFO] [1746050909.960356252] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050909.961151274] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050909.962287743] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050909.962707286] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050910.003157278] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906285 Long: -76.5035038 +[main_algo-3] [INFO] [1746050910.003829801] [sailbot.main_algo]: Distance to destination: 41.12690940571329 +[vectornav-1] [INFO] [1746050910.004426316] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (354.473, 0.812, 18.003) +[main_algo-3] [INFO] [1746050910.005031568] [sailbot.main_algo]: Target Bearing: -67.9136553747173 +[main_algo-3] [INFO] [1746050910.006115849] [sailbot.main_algo]: Heading Difference: 40.55365537471721 +[main_algo-3] [INFO] [1746050910.007124961] [sailbot.main_algo]: Wind Direction: 42 +[main_algo-3] [INFO] [1746050910.008029896] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050910.008929154] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050910.010757979] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050910.045357153] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050910.046313430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050910.046891214] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050910.048831245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 +[teensy-2] [INFO] [1746050910.049939173] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050910.085274123] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050910.087685551] [sailbot.trim_sail]: Sail Angle: "60" +[mux-7] [INFO] [1746050910.088102811] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746050910.089418876] [sailbot.teensy]: Wind angle: 54 +[teensy-2] [INFO] [1746050910.090506210] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050910.091352081] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050910.092197089] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050910.145073767] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050910.145674112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050910.146594561] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050910.147641947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 15 +[teensy-2] [INFO] [1746050910.148681483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050910.244925267] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050910.245858569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050910.246246525] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050910.247763243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 15 +[teensy-2] [INFO] [1746050910.248402601] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050910.335257566] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050910.337849898] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050910.338388993] [sailbot.teensy]: Wind angle: 67 +[mux-7] [INFO] [1746050910.338557269] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050910.339377880] [sailbot.teensy]: Actual sail angle: 65 +[teensy-2] [INFO] [1746050910.340292191] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050910.341188744] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050910.344288361] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050910.344856164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050910.345697240] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050910.346589751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 15 +[teensy-2] [INFO] [1746050910.347641072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050910.445190571] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050910.446141550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050910.446874898] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050910.448231830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 15 +[teensy-2] [INFO] [1746050910.449260776] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050910.457051170] [sailbot.main_algo]: Wind Direction: 67 +[main_algo-3] [INFO] [1746050910.458001957] [sailbot.main_algo]: Target Bearing: -67.9136553747173 +[main_algo-3] [INFO] [1746050910.458893268] [sailbot.main_algo]: Heading Difference: 62.38665537471729 +[main_algo-3] [INFO] [1746050910.459708417] [sailbot.main_algo]: Wind Direction: 67 +[main_algo-3] [INFO] [1746050910.460515797] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050910.461305616] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050910.462311277] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050910.462924795] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050910.502721327] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906343 Long: -76.50349675 +[main_algo-3] [INFO] [1746050910.503158357] [sailbot.main_algo]: Distance to destination: 40.96252570314747 +[vectornav-1] [INFO] [1746050910.503902994] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (3.5889999999999986, -0.179, 13.646) +[main_algo-3] [INFO] [1746050910.504140168] [sailbot.main_algo]: Target Bearing: -68.6948127032513 +[main_algo-3] [INFO] [1746050910.505142340] [sailbot.main_algo]: Heading Difference: 63.16781270325134 +[main_algo-3] [INFO] [1746050910.506110286] [sailbot.main_algo]: Wind Direction: 67 +[main_algo-3] [INFO] [1746050910.506956807] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050910.507807773] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050910.509429563] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050910.545002970] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050910.545721008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050910.546266793] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050910.547647717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 15 +[teensy-2] [INFO] [1746050910.548802471] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050910.585166836] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050910.587674068] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050910.588172993] [sailbot.teensy]: Wind angle: 76 +[mux-7] [INFO] [1746050910.588625631] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050910.589120699] [sailbot.teensy]: Actual sail angle: 60 +[teensy-2] [INFO] [1746050910.589985706] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050910.590843698] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050910.645271430] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050910.646248413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050910.646824895] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050910.648488096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 +[teensy-2] [INFO] [1746050910.648987985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050910.745289565] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050910.746010990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050910.746839440] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050910.748236560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 +[teensy-2] [INFO] [1746050910.748873558] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050910.835465249] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050910.838293237] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050910.838966187] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050910.839694548] [sailbot.teensy]: Wind angle: 77 +[teensy-2] [INFO] [1746050910.840677154] [sailbot.teensy]: Actual sail angle: 50 +[teensy-2] [INFO] [1746050910.841544171] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050910.842372283] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050910.844249085] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050910.844666348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050910.845335689] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050910.846311443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 +[teensy-2] [INFO] [1746050910.847339301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050910.945214442] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050910.945938054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050910.946810325] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050910.947689264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 +[teensy-2] [INFO] [1746050910.948199282] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050910.957070048] [sailbot.main_algo]: Wind Direction: 77 +[main_algo-3] [INFO] [1746050910.958028084] [sailbot.main_algo]: Target Bearing: -68.6948127032513 +[main_algo-3] [INFO] [1746050910.958965787] [sailbot.main_algo]: Heading Difference: 72.2838127032513 +[main_algo-3] [INFO] [1746050910.959777425] [sailbot.main_algo]: Wind Direction: 77 +[main_algo-3] [INFO] [1746050910.960637410] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050910.961432982] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050910.962437930] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050910.963068095] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050911.002989289] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690646 Long: -76.50349055 +[main_algo-3] [INFO] [1746050911.004034623] [sailbot.main_algo]: Distance to destination: 40.89244056783471 +[main_algo-3] [INFO] [1746050911.005400562] [sailbot.main_algo]: Target Bearing: -69.4247257110173 +[vectornav-1] [INFO] [1746050911.006476832] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (353.759, -1.111, 3.268) +[main_algo-3] [INFO] [1746050911.006757233] [sailbot.main_algo]: Heading Difference: 73.01372571101729 +[main_algo-3] [INFO] [1746050911.007729713] [sailbot.main_algo]: Wind Direction: 77 +[main_algo-3] [INFO] [1746050911.008680638] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050911.009534999] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050911.011396993] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050911.045114440] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050911.045968177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050911.046544954] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050911.048086350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 +[teensy-2] [INFO] [1746050911.049291797] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050911.085507066] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050911.088051408] [sailbot.teensy]: Wind angle: 77 +[trim_sail-4] [INFO] [1746050911.088127170] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050911.089069287] [sailbot.teensy]: Actual sail angle: 40 +[mux-7] [INFO] [1746050911.089492858] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050911.090009865] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050911.090938018] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050911.145048133] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050911.145816146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050911.146334418] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050911.147751714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 +[teensy-2] [INFO] [1746050911.148815087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050911.245210389] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050911.246247066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050911.246728013] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050911.248323307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 +[teensy-2] [INFO] [1746050911.249467396] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050911.335299028] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050911.337919664] [sailbot.teensy]: Wind angle: 75 +[trim_sail-4] [INFO] [1746050911.338152094] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746050911.339802870] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050911.339990315] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746050911.340964415] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050911.341834630] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050911.344217193] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050911.344838289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050911.345299120] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050911.346527949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746050911.347525153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050911.444928703] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050911.445529116] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050911.446583543] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050911.447554167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746050911.449203924] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050911.456993596] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746050911.457955079] [sailbot.main_algo]: Target Bearing: -69.4247257110173 +[main_algo-3] [INFO] [1746050911.458770308] [sailbot.main_algo]: Heading Difference: 63.18372571101736 +[main_algo-3] [INFO] [1746050911.459551437] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746050911.460350851] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050911.461141567] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050911.462119969] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050911.462818523] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050911.502993452] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690639 Long: -76.50348431 +[main_algo-3] [INFO] [1746050911.504107534] [sailbot.main_algo]: Distance to destination: 40.633835350155046 +[vectornav-1] [INFO] [1746050911.504242583] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (340.329, -4.705, 5.038) +[main_algo-3] [INFO] [1746050911.505188589] [sailbot.main_algo]: Target Bearing: -70.05709163659543 +[main_algo-3] [INFO] [1746050911.506290927] [sailbot.main_algo]: Heading Difference: 63.8160916365955 +[main_algo-3] [INFO] [1746050911.507177661] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746050911.508060468] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050911.508951516] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050911.510708946] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050911.545313564] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050911.545878566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050911.546802299] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050911.547907139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746050911.549027757] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050911.585167142] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050911.586955530] [sailbot.teensy]: Wind angle: 72 +[trim_sail-4] [INFO] [1746050911.587684025] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050911.588029320] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746050911.588959338] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050911.589039690] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050911.590281847] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050911.645091730] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050911.646117977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050911.646707825] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050911.648272194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746050911.648707525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050911.745229662] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050911.746297127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050911.746925940] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050911.748585801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746050911.749778432] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050911.835403901] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050911.837525453] [sailbot.teensy]: Wind angle: 64 +[trim_sail-4] [INFO] [1746050911.838407883] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050911.838887196] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050911.839665502] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050911.840659629] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050911.841547980] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050911.844377891] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050911.845086815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050911.845626087] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050911.846869955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 15 +[teensy-2] [INFO] [1746050911.847965903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050911.945098406] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050911.946013240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050911.946403527] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050911.947765024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 15 +[teensy-2] [INFO] [1746050911.948229166] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050911.957033457] [sailbot.main_algo]: Wind Direction: 64 +[main_algo-3] [INFO] [1746050911.957984510] [sailbot.main_algo]: Target Bearing: -70.05709163659543 +[main_algo-3] [INFO] [1746050911.958851458] [sailbot.main_algo]: Heading Difference: 50.38609163659544 +[main_algo-3] [INFO] [1746050911.959668855] [sailbot.main_algo]: Wind Direction: 64 +[main_algo-3] [INFO] [1746050911.960500614] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050911.961304903] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050911.962518199] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050911.963037934] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050912.002732544] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906075 Long: -76.50347762 +[main_algo-3] [INFO] [1746050912.003664345] [sailbot.main_algo]: Distance to destination: 40.11227529642852 +[vectornav-1] [INFO] [1746050912.004265687] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (319.525, 2.603, 3.386) +[main_algo-3] [INFO] [1746050912.004778565] [sailbot.main_algo]: Target Bearing: -70.61208942923477 +[main_algo-3] [INFO] [1746050912.005775062] [sailbot.main_algo]: Heading Difference: 50.94108942923481 +[main_algo-3] [INFO] [1746050912.006702956] [sailbot.main_algo]: Wind Direction: 64 +[main_algo-3] [INFO] [1746050912.007610674] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050912.008491219] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050912.010241974] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050912.045148940] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050912.045918750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050912.046431257] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050912.048026131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 15 +[teensy-2] [INFO] [1746050912.049142357] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050912.085238002] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050912.087121329] [sailbot.teensy]: Wind angle: 58 +[trim_sail-4] [INFO] [1746050912.087653380] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050912.088025746] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050912.088960940] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050912.089833497] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050912.089913183] [sailbot.mux]: algo sail angle: 55 +[mux-7] [INFO] [1746050912.145358839] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050912.145725791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050912.147026613] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050912.147951489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: 15 +[teensy-2] [INFO] [1746050912.149156513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050912.245552943] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050912.246203586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050912.247416543] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050912.248676682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: 15 +[teensy-2] [INFO] [1746050912.249260998] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050912.335199286] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050912.337547071] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746050912.337868201] [sailbot.teensy]: Wind angle: 41 +[mux-7] [INFO] [1746050912.338478815] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746050912.339004149] [sailbot.teensy]: Actual sail angle: 50 +[teensy-2] [INFO] [1746050912.339957404] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050912.340366570] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050912.344822830] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050912.345123370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050912.346249715] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050912.346885214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 +[teensy-2] [INFO] [1746050912.347961812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050912.444963384] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050912.445664881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050912.446551201] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050912.447692751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 +[teensy-2] [INFO] [1746050912.448424960] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050912.456905766] [sailbot.main_algo]: Wind Direction: 41 +[main_algo-3] [INFO] [1746050912.457839627] [sailbot.main_algo]: Target Bearing: -70.61208942923477 +[main_algo-3] [INFO] [1746050912.458670785] [sailbot.main_algo]: Heading Difference: 30.13708942923472 +[main_algo-3] [INFO] [1746050912.459483976] [sailbot.main_algo]: Wind Direction: 41 +[main_algo-3] [INFO] [1746050912.460289946] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050912.461086535] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050912.462077873] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050912.462728127] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050912.502511665] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905702 Long: -76.50347274 +[main_algo-3] [INFO] [1746050912.502868772] [sailbot.main_algo]: Distance to destination: 39.58480934330185 +[vectornav-1] [INFO] [1746050912.503729704] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.625, 2.241, -0.069) +[main_algo-3] [INFO] [1746050912.503765878] [sailbot.main_algo]: Target Bearing: -70.94739091862073 +[main_algo-3] [INFO] [1746050912.504683064] [sailbot.main_algo]: Heading Difference: 30.472390918620704 +[main_algo-3] [INFO] [1746050912.505480556] [sailbot.main_algo]: Wind Direction: 41 +[main_algo-3] [INFO] [1746050912.506281277] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050912.507099490] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050912.508699500] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050912.545034804] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050912.545834653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050912.546733159] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050912.547899951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 +[teensy-2] [INFO] [1746050912.548976518] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050912.585243004] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050912.586938181] [sailbot.teensy]: Wind angle: 31 +[teensy-2] [INFO] [1746050912.587816838] [sailbot.teensy]: Actual sail angle: 55 +[trim_sail-4] [INFO] [1746050912.587623733] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746050912.588721989] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050912.589028824] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746050912.589644163] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050912.645207549] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050912.645844346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050912.646652492] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050912.648269199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 +[teensy-2] [INFO] [1746050912.649269451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050912.745107462] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050912.745730522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050912.746581092] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050912.747803829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 +[teensy-2] [INFO] [1746050912.748437215] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050912.835411541] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050912.838213630] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746050912.838797662] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050912.838949541] [sailbot.teensy]: Wind angle: 15 +[teensy-2] [INFO] [1746050912.839460630] [sailbot.teensy]: Actual sail angle: 70 +[teensy-2] [INFO] [1746050912.839817212] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050912.840198916] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050912.844535051] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050912.845151880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050912.845702525] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050912.846876195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050912.848006738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050912.944978483] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050912.945560788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050912.946665169] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050912.947475614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050912.948022856] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050912.956836462] [sailbot.main_algo]: Wind Direction: 15 +[main_algo-3] [INFO] [1746050912.957714182] [sailbot.main_algo]: Target Bearing: -70.94739091862073 +[main_algo-3] [INFO] [1746050912.958531214] [sailbot.main_algo]: Heading Difference: 5.5723909186207266 +[main_algo-3] [INFO] [1746050912.959316593] [sailbot.main_algo]: Rudder Angle Raw: 0.7739431831417676 +[main_algo-3] [INFO] [1746050912.960099995] [sailbot.main_algo]: Rudder Angle: 0 +[main_algo-3] [INFO] [1746050912.961089911] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050912.961748469] [sailbot.mux]: algo rudder angle: 0 +[vectornav-1] [INFO] [1746050913.003319961] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905285 Long: -76.50347121 +[main_algo-3] [INFO] [1746050913.004407852] [sailbot.main_algo]: Distance to destination: 39.106666328044 +[vectornav-1] [INFO] [1746050913.004693779] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (271.877, -1.169, -0.779) +[main_algo-3] [INFO] [1746050913.006091770] [sailbot.main_algo]: Target Bearing: -70.88769027205558 +[main_algo-3] [INFO] [1746050913.007047135] [sailbot.main_algo]: Heading Difference: 5.512690272055579 +[main_algo-3] [INFO] [1746050913.008018795] [sailbot.main_algo]: Rudder Angle Raw: 0.765651426674386 +[main_algo-3] [INFO] [1746050913.009010053] [sailbot.main_algo]: Rudder Angle: 0 +[mux-7] [INFO] [1746050913.010823259] [sailbot.mux]: algo rudder angle: 0 +[mux-7] [INFO] [1746050913.045443876] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050913.046175960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050913.047094497] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050913.048622256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 0 +[teensy-2] [INFO] [1746050913.049829760] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050913.085377024] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050913.087415740] [sailbot.teensy]: Wind angle: 0 +[teensy-2] [INFO] [1746050913.088365245] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050913.087635385] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746050913.089135775] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050913.089304245] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050913.090157926] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050913.145361255] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050913.145876965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050913.147086896] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050913.147914355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050913.149192834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050913.245332837] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050913.246146667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050913.246966212] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050913.248435720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050913.249589439] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050913.335042376] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050913.337203698] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746050913.337471780] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746050913.338178657] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746050913.339086753] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050913.339333078] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050913.339559676] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050913.344374972] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050913.344929794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050913.345568939] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050913.346664621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 0 +[teensy-2] [INFO] [1746050913.347681481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050913.444975395] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050913.445626809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050913.446342085] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050913.447503285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 0 +[teensy-2] [INFO] [1746050913.448414102] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050913.457098904] [sailbot.main_algo]: Wind Direction: 346 +[main_algo-3] [INFO] [1746050913.458202620] [sailbot.main_algo]: Target Bearing: -70.88769027205558 +[main_algo-3] [INFO] [1746050913.459086783] [sailbot.main_algo]: Heading Difference: -17.23530972794447 +[main_algo-3] [INFO] [1746050913.459905111] [sailbot.main_algo]: Rudder Angle Raw: -2.393793017770065 +[main_algo-3] [INFO] [1746050913.460734011] [sailbot.main_algo]: Rudder Angle: -3 +[main_algo-3] [INFO] [1746050913.461723495] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050913.462593167] [sailbot.mux]: algo rudder angle: -3 +[vectornav-1] [INFO] [1746050913.502737113] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904811 Long: -76.50347236 +[main_algo-3] [INFO] [1746050913.503676897] [sailbot.main_algo]: Distance to destination: 38.645876744780224 +[vectornav-1] [INFO] [1746050913.503917975] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (247.92700000000002, -2.394, -3.383) +[main_algo-3] [INFO] [1746050913.504786692] [sailbot.main_algo]: Target Bearing: -70.48749649567456 +[main_algo-3] [INFO] [1746050913.505742273] [sailbot.main_algo]: Heading Difference: -17.63550350432547 +[main_algo-3] [INFO] [1746050913.506649979] [sailbot.main_algo]: Rudder Angle Raw: -2.449375486711871 +[main_algo-3] [INFO] [1746050913.507529679] [sailbot.main_algo]: Rudder Angle: -3 +[mux-7] [INFO] [1746050913.509309909] [sailbot.mux]: algo rudder angle: -3 +[mux-7] [INFO] [1746050913.545346062] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050913.546000814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050913.546845079] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050913.548065972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: -3 +[teensy-2] [INFO] [1746050913.549265095] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050913.585294948] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050913.586888335] [sailbot.teensy]: Wind angle: 326 +[teensy-2] [INFO] [1746050913.587789287] [sailbot.teensy]: Actual sail angle: 90 +[trim_sail-4] [INFO] [1746050913.587755044] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746050913.588710279] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050913.589022939] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746050913.589640587] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050913.645314727] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050913.646023251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050913.646876261] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050913.648884715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -3 +[teensy-2] [INFO] [1746050913.650045387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050913.744890386] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050913.745483250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050913.746303472] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050913.747370822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -3 +[teensy-2] [INFO] [1746050913.747920689] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050913.835139299] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050913.836739890] [sailbot.teensy]: Wind angle: 314 +[trim_sail-4] [INFO] [1746050913.837394387] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050913.837692270] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746050913.838513508] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050913.838565301] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050913.839472275] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050913.844342341] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050913.844892572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050913.845454155] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050913.846626865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: -3 +[teensy-2] [INFO] [1746050913.847844586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050913.944740884] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050913.945567357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050913.945982671] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050913.947474367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: -3 +[teensy-2] [INFO] [1746050913.948601617] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050913.956940966] [sailbot.main_algo]: Wind Direction: 314 +[main_algo-3] [INFO] [1746050913.957894582] [sailbot.main_algo]: Target Bearing: -70.48749649567456 +[main_algo-3] [INFO] [1746050913.958736929] [sailbot.main_algo]: Heading Difference: -41.5855035043254 +[main_algo-3] [INFO] [1746050913.959543770] [sailbot.main_algo]: Wind Direction: 314 +[main_algo-3] [INFO] [1746050913.960375608] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050913.961169903] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050913.962199616] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050913.962782424] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050914.002980902] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904344 Long: -76.50347546 +[main_algo-3] [INFO] [1746050914.003415009] [sailbot.main_algo]: Distance to destination: 38.25185631041498 +[vectornav-1] [INFO] [1746050914.004277415] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (234.197, -0.913, -5.941) +[main_algo-3] [INFO] [1746050914.004436978] [sailbot.main_algo]: Target Bearing: -69.85752692400091 +[main_algo-3] [INFO] [1746050914.005321899] [sailbot.main_algo]: Heading Difference: -42.21547307599906 +[main_algo-3] [INFO] [1746050914.006178767] [sailbot.main_algo]: Wind Direction: 314 +[main_algo-3] [INFO] [1746050914.007058266] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050914.007902237] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050914.009542585] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050914.044938672] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050914.045730739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050914.046267778] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050914.047944066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: -15 +[teensy-2] [INFO] [1746050914.048980615] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050914.085644299] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050914.087757315] [sailbot.teensy]: Wind angle: 300 +[trim_sail-4] [INFO] [1746050914.088045356] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050914.088812080] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050914.089506314] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050914.089781316] [sailbot.teensy]: Actual tail angle: 22 +[teensy-2] [INFO] [1746050914.090680454] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050914.145098041] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050914.145957611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050914.146767692] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050914.147842905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -15 +[teensy-2] [INFO] [1746050914.149109448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050914.245244148] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050914.246190955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050914.246704609] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050914.248431740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -15 +[teensy-2] [INFO] [1746050914.248922283] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050914.335176321] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050914.336891325] [sailbot.teensy]: Wind angle: 296 +[trim_sail-4] [INFO] [1746050914.337383478] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050914.337843631] [sailbot.teensy]: Actual sail angle: 65 +[teensy-2] [INFO] [1746050914.338748600] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050914.339328285] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050914.339644709] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050914.344567073] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050914.345061595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050914.345779294] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050914.346757409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 +[teensy-2] [INFO] [1746050914.347913033] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050914.445177323] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050914.445644971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050914.446548674] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050914.447539375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 +[teensy-2] [INFO] [1746050914.448686711] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050914.457072630] [sailbot.main_algo]: Wind Direction: 296 +[main_algo-3] [INFO] [1746050914.458042899] [sailbot.main_algo]: Target Bearing: -69.85752692400091 +[main_algo-3] [INFO] [1746050914.458943855] [sailbot.main_algo]: Heading Difference: -55.945473075999075 +[main_algo-3] [INFO] [1746050914.459831383] [sailbot.main_algo]: Wind Direction: 296 +[main_algo-3] [INFO] [1746050914.460684232] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050914.461490261] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050914.462494472] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050914.463259626] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050914.502986602] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903946 Long: -76.50347959 +[main_algo-3] [INFO] [1746050914.503702297] [sailbot.main_algo]: Distance to destination: 37.9651910362112 +[main_algo-3] [INFO] [1746050914.504875942] [sailbot.main_algo]: Target Bearing: -69.13880441245162 +[vectornav-1] [INFO] [1746050914.504439814] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (234.014, 1.329, -1.734) +[main_algo-3] [INFO] [1746050914.506041324] [sailbot.main_algo]: Heading Difference: -56.66419558754836 +[main_algo-3] [INFO] [1746050914.507007692] [sailbot.main_algo]: Wind Direction: 296 +[main_algo-3] [INFO] [1746050914.507914536] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050914.508804757] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050914.510527909] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050914.545178419] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050914.545770557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050914.546535800] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050914.547702627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 +[teensy-2] [INFO] [1746050914.548795898] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050914.585374779] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050914.587692804] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050914.587844349] [sailbot.teensy]: Wind angle: 296 +[mux-7] [INFO] [1746050914.588404412] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050914.588809827] [sailbot.teensy]: Actual sail angle: 55 +[teensy-2] [INFO] [1746050914.589734687] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050914.590843292] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050914.645194774] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050914.645904099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050914.646560889] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050914.648063114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 +[teensy-2] [INFO] [1746050914.649277014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050914.744802940] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050914.745239548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050914.746358758] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050914.747043158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 +[teensy-2] [INFO] [1746050914.748206524] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050914.834389823] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050914.835520658] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050914.835841353] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050914.835906690] [sailbot.teensy]: Wind angle: 295 +[teensy-2] [INFO] [1746050914.836331383] [sailbot.teensy]: Actual sail angle: 50 +[teensy-2] [INFO] [1746050914.836727267] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050914.837117723] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050914.843711145] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050914.844115448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050914.844307622] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050914.845130001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 +[teensy-2] [INFO] [1746050914.845655307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050914.945133245] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050914.945891459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050914.946576577] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050914.947765374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 +[teensy-2] [INFO] [1746050914.948716193] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050914.956965633] [sailbot.main_algo]: Wind Direction: 295 +[main_algo-3] [INFO] [1746050914.957910633] [sailbot.main_algo]: Target Bearing: -69.13880441245162 +[main_algo-3] [INFO] [1746050914.958783789] [sailbot.main_algo]: Heading Difference: -56.847195587548356 +[main_algo-3] [INFO] [1746050914.959585121] [sailbot.main_algo]: Wind Direction: 295 +[main_algo-3] [INFO] [1746050914.960409027] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050914.961326710] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050914.962361530] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050914.963434807] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050915.002749981] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690363 Long: -76.50348357 +[main_algo-3] [INFO] [1746050915.003950547] [sailbot.main_algo]: Distance to destination: 37.76394923431814 +[vectornav-1] [INFO] [1746050915.004391501] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (251.57899999999995, -2.813, 7.731) +[main_algo-3] [INFO] [1746050915.005043213] [sailbot.main_algo]: Target Bearing: -68.47964817602966 +[main_algo-3] [INFO] [1746050915.005977028] [sailbot.main_algo]: Heading Difference: -57.50635182397036 +[main_algo-3] [INFO] [1746050915.006877064] [sailbot.main_algo]: Wind Direction: 295 +[main_algo-3] [INFO] [1746050915.007723655] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050915.008570332] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050915.010479960] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050915.044963236] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050915.045577684] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050915.046186317] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050915.047374166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 +[teensy-2] [INFO] [1746050915.048615484] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050915.085245844] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050915.087405747] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050915.087810547] [sailbot.teensy]: Wind angle: 292 +[teensy-2] [INFO] [1746050915.088834469] [sailbot.teensy]: Actual sail angle: 50 +[mux-7] [INFO] [1746050915.089441657] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050915.089783283] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050915.090752365] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050915.144878834] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050915.145664898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050915.146139552] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050915.147502887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 +[teensy-2] [INFO] [1746050915.148470693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050915.245071945] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050915.245855508] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050915.246479898] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050915.247970861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 +[teensy-2] [INFO] [1746050915.249103362] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050915.335124323] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050915.337344095] [sailbot.trim_sail]: Sail Angle: "55" +[mux-7] [INFO] [1746050915.337946983] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050915.338005859] [sailbot.teensy]: Wind angle: 300 +[teensy-2] [INFO] [1746050915.339029540] [sailbot.teensy]: Actual sail angle: 50 +[teensy-2] [INFO] [1746050915.340013526] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050915.340971586] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050915.344500442] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050915.345107606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050915.345748335] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050915.346832435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -15 +[teensy-2] [INFO] [1746050915.348001183] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050915.445335406] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050915.445923553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050915.446851588] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050915.447940861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -15 +[teensy-2] [INFO] [1746050915.449073585] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050915.457207170] [sailbot.main_algo]: Wind Direction: 300 +[main_algo-3] [INFO] [1746050915.458215528] [sailbot.main_algo]: Target Bearing: -68.47964817602966 +[main_algo-3] [INFO] [1746050915.459151607] [sailbot.main_algo]: Heading Difference: -39.94135182397042 +[main_algo-3] [INFO] [1746050915.460145219] [sailbot.main_algo]: Wind Direction: 300 +[main_algo-3] [INFO] [1746050915.461089644] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050915.461945601] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050915.463112004] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050915.464023750] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050915.503289835] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903236 Long: -76.50348535 +[main_algo-3] [INFO] [1746050915.504223017] [sailbot.main_algo]: Distance to destination: 37.417107471358804 +[vectornav-1] [INFO] [1746050915.505072881] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.096, 0.528, 14.788) +[main_algo-3] [INFO] [1746050915.505443614] [sailbot.main_algo]: Target Bearing: -68.01584725623866 +[main_algo-3] [INFO] [1746050915.506952920] [sailbot.main_algo]: Heading Difference: -40.40515274376139 +[main_algo-3] [INFO] [1746050915.507907532] [sailbot.main_algo]: Wind Direction: 300 +[main_algo-3] [INFO] [1746050915.508911795] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050915.509762634] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050915.511447984] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050915.545191944] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050915.546022398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050915.546641662] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050915.548494005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -15 +[teensy-2] [INFO] [1746050915.549549961] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050915.585414681] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050915.587368716] [sailbot.teensy]: Wind angle: 316 +[trim_sail-4] [INFO] [1746050915.587824319] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050915.588355960] [sailbot.teensy]: Actual sail angle: 50 +[teensy-2] [INFO] [1746050915.589355850] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050915.590035190] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050915.590247309] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050915.644904721] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050915.645725131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050915.646142692] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050915.647587418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: -15 +[teensy-2] [INFO] [1746050915.648700836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050915.745160867] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050915.746158285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050915.746909061] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050915.748036738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: -15 +[teensy-2] [INFO] [1746050915.748571346] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050915.834972095] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050915.836826392] [sailbot.teensy]: Wind angle: 333 +[trim_sail-4] [INFO] [1746050915.836982557] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746050915.837924683] [sailbot.teensy]: Actual sail angle: 55 +[teensy-2] [INFO] [1746050915.838691541] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050915.838736794] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746050915.839078167] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050915.844422703] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050915.844917409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050915.845557134] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050915.846684324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: -15 +[teensy-2] [INFO] [1746050915.847764622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050915.944524301] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050915.945315251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050915.946206072] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050915.947160480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: -15 +[teensy-2] [INFO] [1746050915.948320894] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050915.957012621] [sailbot.main_algo]: Wind Direction: 333 +[main_algo-3] [INFO] [1746050915.957992313] [sailbot.main_algo]: Target Bearing: -68.01584725623866 +[main_algo-3] [INFO] [1746050915.958873739] [sailbot.main_algo]: Heading Difference: -6.888152743761339 +[main_algo-3] [INFO] [1746050915.959682979] [sailbot.main_algo]: Rudder Angle Raw: -0.9566878810779637 +[main_algo-3] [INFO] [1746050915.960539550] [sailbot.main_algo]: Rudder Angle: -1 +[main_algo-3] [INFO] [1746050915.961541701] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050915.962241325] [sailbot.mux]: algo rudder angle: -1 +[vectornav-1] [INFO] [1746050916.003299947] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902898 Long: -76.50348281 +[main_algo-3] [INFO] [1746050916.004635494] [sailbot.main_algo]: Distance to destination: 36.989995981832735 +[vectornav-1] [INFO] [1746050916.004919849] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (321.8, -1.408, 17.034) +[main_algo-3] [INFO] [1746050916.006018961] [sailbot.main_algo]: Target Bearing: -68.08643958293952 +[main_algo-3] [INFO] [1746050916.007178361] [sailbot.main_algo]: Heading Difference: -6.817560417060463 +[main_algo-3] [INFO] [1746050916.008125858] [sailbot.main_algo]: Rudder Angle Raw: -0.9468833912583976 +[main_algo-3] [INFO] [1746050916.009036387] [sailbot.main_algo]: Rudder Angle: -1 +[mux-7] [INFO] [1746050916.010764294] [sailbot.mux]: algo rudder angle: -1 +[mux-7] [INFO] [1746050916.045536817] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050916.045986146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050916.047113770] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050916.048367278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: -1 +[teensy-2] [INFO] [1746050916.049591661] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050916.085130469] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050916.086706845] [sailbot.teensy]: Wind angle: 350 +[teensy-2] [INFO] [1746050916.087636600] [sailbot.teensy]: Actual sail angle: 65 +[trim_sail-4] [INFO] [1746050916.087801163] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050916.088572016] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050916.089474701] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050916.088912769] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746050916.145226139] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050916.145738302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050916.146714372] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050916.147688752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: -1 +[teensy-2] [INFO] [1746050916.148920356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050916.245252495] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050916.245862297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050916.246695639] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050916.247898541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: -1 +[teensy-2] [INFO] [1746050916.248933657] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050916.335403559] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050916.337268063] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746050916.337906781] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746050916.338194240] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746050916.339112428] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050916.339564838] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050916.339588297] [sailbot.mux]: algo sail angle: 80 +[mux-7] [INFO] [1746050916.344346451] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050916.345046061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050916.345545219] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050916.346985662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: -1 +[teensy-2] [INFO] [1746050916.347993116] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050916.445287678] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050916.446005722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050916.446871721] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050916.447840984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: -1 +[teensy-2] [INFO] [1746050916.448372940] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050916.457022058] [sailbot.main_algo]: Wind Direction: 334 +[main_algo-3] [INFO] [1746050916.457991969] [sailbot.main_algo]: Target Bearing: -68.08643958293952 +[main_algo-3] [INFO] [1746050916.458844357] [sailbot.main_algo]: Heading Difference: 29.8864395829396 +[main_algo-3] [INFO] [1746050916.459648123] [sailbot.main_algo]: Wind Direction: 334 +[main_algo-3] [INFO] [1746050916.460461620] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050916.461267112] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050916.462258414] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050916.462880805] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050916.503232698] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902812 Long: -76.50347815 +[main_algo-3] [INFO] [1746050916.503717785] [sailbot.main_algo]: Distance to destination: 36.75411496812963 +[vectornav-1] [INFO] [1746050916.504431215] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (356.83799999999997, -0.934, 16.599) +[main_algo-3] [INFO] [1746050916.504799839] [sailbot.main_algo]: Target Bearing: -68.57854509280152 +[main_algo-3] [INFO] [1746050916.505796391] [sailbot.main_algo]: Heading Difference: 30.37854509280146 +[main_algo-3] [INFO] [1746050916.506724765] [sailbot.main_algo]: Wind Direction: 334 +[main_algo-3] [INFO] [1746050916.507605826] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050916.508467952] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050916.510316460] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050916.545000515] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050916.545624391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050916.546314083] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050916.547472489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746050916.548543767] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050916.585427863] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050916.587215252] [sailbot.teensy]: Wind angle: 13 +[teensy-2] [INFO] [1746050916.588147768] [sailbot.teensy]: Actual sail angle: 90 +[trim_sail-4] [INFO] [1746050916.587960970] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050916.589083894] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746050916.589695954] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050916.589952684] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050916.644980858] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050916.645600485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050916.646380708] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050916.647751405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050916.648696418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050916.745187839] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050916.745854686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050916.746688862] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050916.747944290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050916.748495526] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050916.834998445] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050916.836546934] [sailbot.teensy]: Wind angle: 43 +[trim_sail-4] [INFO] [1746050916.837219326] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050916.837384733] [sailbot.teensy]: Actual sail angle: 80 +[mux-7] [INFO] [1746050916.837476938] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050916.838281884] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050916.839128134] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050916.844411262] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050916.844862547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050916.845550113] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050916.846611703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 +[teensy-2] [INFO] [1746050916.847637948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050916.945249815] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050916.946169723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050916.947286328] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050916.947825631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 +[teensy-2] [INFO] [1746050916.948374257] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050916.957227664] [sailbot.main_algo]: Wind Direction: 43 +[main_algo-3] [INFO] [1746050916.958313905] [sailbot.main_algo]: Target Bearing: -68.57854509280152 +[main_algo-3] [INFO] [1746050916.959270257] [sailbot.main_algo]: Heading Difference: 65.41654509280147 +[main_algo-3] [INFO] [1746050916.960174952] [sailbot.main_algo]: Wind Direction: 43 +[main_algo-3] [INFO] [1746050916.961048222] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050916.961875888] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050916.962967418] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050916.963448188] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050917.002943658] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690291 Long: -76.50347347 +[main_algo-3] [INFO] [1746050917.004596317] [sailbot.main_algo]: Distance to destination: 36.709999145206226 +[vectornav-1] [INFO] [1746050917.004886848] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.470000000000027, 1.137, 16.842) +[main_algo-3] [INFO] [1746050917.005998458] [sailbot.main_algo]: Target Bearing: -69.19850994637838 +[main_algo-3] [INFO] [1746050917.007035894] [sailbot.main_algo]: Heading Difference: 66.03650994637837 +[main_algo-3] [INFO] [1746050917.007962783] [sailbot.main_algo]: Wind Direction: 43 +[main_algo-3] [INFO] [1746050917.008868104] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050917.009730143] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050917.011510020] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050917.045277656] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050917.046084367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050917.046848836] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050917.048201233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 +[teensy-2] [INFO] [1746050917.049425029] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050917.085062540] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050917.086610535] [sailbot.teensy]: Wind angle: 81 +[teensy-2] [INFO] [1746050917.087449274] [sailbot.teensy]: Actual sail angle: 90 +[trim_sail-4] [INFO] [1746050917.087204911] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050917.087860194] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050917.088276394] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050917.089152398] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050917.145091457] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050917.145698972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050917.146454506] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050917.147881335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 +[teensy-2] [INFO] [1746050917.149024415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050917.244904472] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050917.245638123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050917.246337341] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050917.247545590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 +[teensy-2] [INFO] [1746050917.248633920] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050917.335526849] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050917.338465609] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050917.339314250] [sailbot.teensy]: Wind angle: 96 +[mux-7] [INFO] [1746050917.339609599] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050917.340351681] [sailbot.teensy]: Actual sail angle: 65 +[teensy-2] [INFO] [1746050917.341261494] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050917.341606933] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050917.344309789] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050917.344856462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050917.345380944] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050917.346628807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 +[teensy-2] [INFO] [1746050917.347630873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050917.445280441] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050917.445956203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050917.447138858] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050917.447829886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 +[teensy-2] [INFO] [1746050917.448347620] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050917.457016825] [sailbot.main_algo]: Wind Direction: 96 +[main_algo-3] [INFO] [1746050917.458014844] [sailbot.main_algo]: Target Bearing: -69.19850994637838 +[main_algo-3] [INFO] [1746050917.458887926] [sailbot.main_algo]: Heading Difference: 90.66850994637844 +[main_algo-3] [INFO] [1746050917.459705476] [sailbot.main_algo]: Wind Direction: 96 +[main_algo-3] [INFO] [1746050917.460564687] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050917.461387013] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050917.462498536] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050917.463115543] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050917.503380289] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903038 Long: -76.50346995 +[main_algo-3] [INFO] [1746050917.503751363] [sailbot.main_algo]: Distance to destination: 36.735819436967894 +[vectornav-1] [INFO] [1746050917.504529799] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.105000000000018, -0.339, 9.117) +[main_algo-3] [INFO] [1746050917.504833199] [sailbot.main_algo]: Target Bearing: -69.69998662184432 +[main_algo-3] [INFO] [1746050917.505768724] [sailbot.main_algo]: Heading Difference: 91.16998662184437 +[main_algo-3] [INFO] [1746050917.506609141] [sailbot.main_algo]: Wind Direction: 96 +[main_algo-3] [INFO] [1746050917.507429667] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050917.508216359] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050917.509786888] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050917.545175717] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050917.545898900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050917.546609193] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050917.547839397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 +[teensy-2] [INFO] [1746050917.548900825] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050917.585262905] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050917.587458735] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050917.587975802] [sailbot.teensy]: Wind angle: 97 +[teensy-2] [INFO] [1746050917.588899621] [sailbot.teensy]: Actual sail angle: 40 +[mux-7] [INFO] [1746050917.589146702] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050917.589775581] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050917.590979185] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050917.644790894] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050917.645435122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050917.645982219] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050917.647203292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 15 +[teensy-2] [INFO] [1746050917.648318642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050917.745562288] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050917.746024797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050917.747189947] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050917.748065112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 15 +[teensy-2] [INFO] [1746050917.749320681] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050917.835074430] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050917.837221139] [sailbot.teensy]: Wind angle: 98 +[trim_sail-4] [INFO] [1746050917.837284821] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050917.838179145] [sailbot.teensy]: Actual sail angle: 30 +[mux-7] [INFO] [1746050917.838281661] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050917.839011535] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050917.839379784] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050917.844526405] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050917.845170469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050917.845725121] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050917.846916687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 15 +[teensy-2] [INFO] [1746050917.848069201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050917.944800904] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050917.945620241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050917.946598161] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050917.947870515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 15 +[teensy-2] [INFO] [1746050917.948603376] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050917.957017966] [sailbot.main_algo]: Wind Direction: 98 +[main_algo-3] [INFO] [1746050917.957966854] [sailbot.main_algo]: Target Bearing: -69.69998662184432 +[main_algo-3] [INFO] [1746050917.958820932] [sailbot.main_algo]: Heading Difference: 93.80498662184436 +[main_algo-3] [INFO] [1746050917.959605501] [sailbot.main_algo]: Wind Direction: 98 +[main_algo-3] [INFO] [1746050917.960438145] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050917.961244969] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050917.962248583] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050917.963213342] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050918.003489875] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903235 Long: -76.50346689 +[main_algo-3] [INFO] [1746050918.003768257] [sailbot.main_algo]: Distance to destination: 36.84951993890372 +[vectornav-1] [INFO] [1746050918.004721841] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.19799999999998, -1.853, 5.857) +[main_algo-3] [INFO] [1746050918.004904389] [sailbot.main_algo]: Target Bearing: -70.1880896540856 +[main_algo-3] [INFO] [1746050918.006012243] [sailbot.main_algo]: Heading Difference: 94.29308965408563 +[main_algo-3] [INFO] [1746050918.007013631] [sailbot.main_algo]: Wind Direction: 98 +[main_algo-3] [INFO] [1746050918.007933381] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050918.008818863] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050918.010596260] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050918.045134717] [sailbot.mux]: Published sail angle from algo: 25 +[teensy-2] [INFO] [1746050918.046241252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050918.047298606] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050918.048174917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 15 +[teensy-2] [INFO] [1746050918.049261854] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050918.085437519] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050918.087782611] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050918.087782669] [sailbot.teensy]: Wind angle: 106 +[teensy-2] [INFO] [1746050918.088809811] [sailbot.teensy]: Actual sail angle: 25 +[mux-7] [INFO] [1746050918.089367581] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050918.089774988] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050918.090756353] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050918.145252391] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050918.146059481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050918.146730692] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050918.148295274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 15 +[teensy-2] [INFO] [1746050918.149526454] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050918.245248563] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050918.246357438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050918.247081140] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050918.248454329] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 15 +[teensy-2] [INFO] [1746050918.248938004] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050918.335215811] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050918.337628259] [sailbot.teensy]: Wind angle: 104 +[trim_sail-4] [INFO] [1746050918.337888675] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050918.339745283] [sailbot.teensy]: Actual sail angle: 25 +[mux-7] [INFO] [1746050918.339766189] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050918.340673144] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050918.341466204] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050918.344534568] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050918.344926915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050918.345703744] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050918.346637319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 15 +[teensy-2] [INFO] [1746050918.347690064] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050918.445444706] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050918.445941781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050918.447558292] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050918.448098993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 15 +[teensy-2] [INFO] [1746050918.449395581] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050918.457193306] [sailbot.main_algo]: Wind Direction: 104 +[main_algo-3] [INFO] [1746050918.458285727] [sailbot.main_algo]: Target Bearing: -70.1880896540856 +[main_algo-3] [INFO] [1746050918.459230795] [sailbot.main_algo]: Heading Difference: 91.3860896540856 +[main_algo-3] [INFO] [1746050918.460126222] [sailbot.main_algo]: Wind Direction: 104 +[main_algo-3] [INFO] [1746050918.460974948] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050918.461790917] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050918.462805158] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050918.463401610] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050918.502735793] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903357 Long: -76.50346257 +[main_algo-3] [INFO] [1746050918.503838919] [sailbot.main_algo]: Distance to destination: 36.851827999247305 +[vectornav-1] [INFO] [1746050918.504231373] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (11.774000000000001, -0.712, 4.471) +[main_algo-3] [INFO] [1746050918.505333057] [sailbot.main_algo]: Target Bearing: -70.77916417965486 +[main_algo-3] [INFO] [1746050918.506457032] [sailbot.main_algo]: Heading Difference: 91.97716417965484 +[main_algo-3] [INFO] [1746050918.507336936] [sailbot.main_algo]: Wind Direction: 104 +[main_algo-3] [INFO] [1746050918.508199459] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050918.508999106] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050918.510573880] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050918.544916220] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746050918.545570574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050918.546165887] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050918.547386616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 15 +[teensy-2] [INFO] [1746050918.548482614] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050918.585238828] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050918.587495702] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050918.588040680] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050918.588399845] [sailbot.teensy]: Wind angle: 96 +[teensy-2] [INFO] [1746050918.589365757] [sailbot.teensy]: Actual sail angle: 20 +[teensy-2] [INFO] [1746050918.590217840] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050918.591054006] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050918.645232722] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050918.645697701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050918.646645717] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050918.647629689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 +[teensy-2] [INFO] [1746050918.648824573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050918.745419490] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050918.745963338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050918.746961729] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050918.748042216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 +[teensy-2] [INFO] [1746050918.749192203] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050918.835410116] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050918.837065534] [sailbot.teensy]: Wind angle: 94 +[teensy-2] [INFO] [1746050918.837982557] [sailbot.teensy]: Actual sail angle: 20 +[trim_sail-4] [INFO] [1746050918.837607617] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050918.838898649] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050918.839324299] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050918.839750083] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050918.844636010] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050918.845192138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050918.845849205] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050918.846965927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 +[teensy-2] [INFO] [1746050918.848031598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050918.945243789] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050918.945996500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050918.946712078] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050918.948399119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 +[teensy-2] [INFO] [1746050918.949606614] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050918.957117837] [sailbot.main_algo]: Wind Direction: 94 +[main_algo-3] [INFO] [1746050918.958176807] [sailbot.main_algo]: Target Bearing: -70.77916417965486 +[main_algo-3] [INFO] [1746050918.959078512] [sailbot.main_algo]: Heading Difference: 82.55316417965486 +[main_algo-3] [INFO] [1746050918.959934653] [sailbot.main_algo]: Wind Direction: 94 +[main_algo-3] [INFO] [1746050918.960795070] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050918.961584616] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050918.962614897] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050918.963314786] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050919.002992489] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903342 Long: -76.50345695 +[main_algo-3] [INFO] [1746050919.003961335] [sailbot.main_algo]: Distance to destination: 36.67886098985493 +[vectornav-1] [INFO] [1746050919.004447955] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (1.0090000000000146, -1.512, 7.761) +[main_algo-3] [INFO] [1746050919.005178407] [sailbot.main_algo]: Target Bearing: -71.4474487733939 +[main_algo-3] [INFO] [1746050919.006205721] [sailbot.main_algo]: Heading Difference: 83.22144877339389 +[main_algo-3] [INFO] [1746050919.007126823] [sailbot.main_algo]: Wind Direction: 94 +[main_algo-3] [INFO] [1746050919.008025164] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050919.008913184] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050919.010686795] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050919.045255916] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050919.046234057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050919.046768097] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050919.048582140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 +[teensy-2] [INFO] [1746050919.049735679] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050919.085212001] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050919.087406619] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050919.088592072] [sailbot.teensy]: Wind angle: 94 +[mux-7] [INFO] [1746050919.088610875] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050919.089619157] [sailbot.teensy]: Actual sail angle: 30 +[teensy-2] [INFO] [1746050919.090568136] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050919.091432730] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050919.145141997] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050919.145965456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050919.146547972] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050919.148303589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 +[teensy-2] [INFO] [1746050919.149349287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050919.245069290] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050919.245831082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050919.246532753] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050919.247869449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 +[teensy-2] [INFO] [1746050919.249117195] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050919.335494405] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050919.338126248] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050919.338406837] [sailbot.teensy]: Wind angle: 90 +[teensy-2] [INFO] [1746050919.339383065] [sailbot.teensy]: Actual sail angle: 30 +[mux-7] [INFO] [1746050919.339413391] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050919.340372234] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050919.341295277] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050919.344328417] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050919.344746484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050919.345433731] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050919.346507088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 +[teensy-2] [INFO] [1746050919.347573249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050919.445588646] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050919.446570283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050919.447315829] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050919.448228335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 +[teensy-2] [INFO] [1746050919.448643631] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050919.456949332] [sailbot.main_algo]: Wind Direction: 90 +[main_algo-3] [INFO] [1746050919.457865684] [sailbot.main_algo]: Target Bearing: -71.4474487733939 +[main_algo-3] [INFO] [1746050919.458681630] [sailbot.main_algo]: Heading Difference: 72.4564487733939 +[main_algo-3] [INFO] [1746050919.459476560] [sailbot.main_algo]: Wind Direction: 90 +[main_algo-3] [INFO] [1746050919.460335685] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050919.461201845] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050919.462602255] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050919.462940013] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050919.502421247] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903279 Long: -76.50345094 +[vectornav-1] [INFO] [1746050919.503874598] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (346.817, 1.384, 6.681) +[main_algo-3] [INFO] [1746050919.503893002] [sailbot.main_algo]: Distance to destination: 36.4501135985446 +[main_algo-3] [INFO] [1746050919.505525524] [sailbot.main_algo]: Target Bearing: -72.1425297246578 +[main_algo-3] [INFO] [1746050919.506672321] [sailbot.main_algo]: Heading Difference: 73.15152972465782 +[main_algo-3] [INFO] [1746050919.507543135] [sailbot.main_algo]: Wind Direction: 90 +[main_algo-3] [INFO] [1746050919.508418633] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050919.509276295] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050919.510984830] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050919.545061022] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746050919.545867735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050919.546422122] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050919.548064670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 +[teensy-2] [INFO] [1746050919.549212184] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050919.585335757] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050919.586968379] [sailbot.teensy]: Wind angle: 80 +[trim_sail-4] [INFO] [1746050919.587476851] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050919.587870649] [sailbot.teensy]: Actual sail angle: 30 +[teensy-2] [INFO] [1746050919.588796711] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050919.589743685] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050919.590638517] [sailbot.mux]: algo sail angle: 40 +[mux-7] [INFO] [1746050919.645034980] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050919.645770955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050919.646436598] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050919.647805308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 +[teensy-2] [INFO] [1746050919.648836545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050919.745081725] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050919.745855819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050919.746889152] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050919.748060756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 +[teensy-2] [INFO] [1746050919.749410635] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050919.835225726] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050919.836951980] [sailbot.teensy]: Wind angle: 70 +[trim_sail-4] [INFO] [1746050919.837481506] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050919.837944121] [sailbot.teensy]: Actual sail angle: 30 +[teensy-2] [INFO] [1746050919.838869198] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050919.839012970] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050919.839787149] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050919.844602036] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050919.845337204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050919.845839197] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050919.847120004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746050919.848141582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050919.944736664] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050919.945709276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050919.946112297] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050919.948197732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746050919.949504035] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050919.957124264] [sailbot.main_algo]: Wind Direction: 70 +[main_algo-3] [INFO] [1746050919.958194861] [sailbot.main_algo]: Target Bearing: -72.1425297246578 +[main_algo-3] [INFO] [1746050919.959120159] [sailbot.main_algo]: Heading Difference: 58.95952972465784 +[main_algo-3] [INFO] [1746050919.959968706] [sailbot.main_algo]: Wind Direction: 70 +[main_algo-3] [INFO] [1746050919.960833104] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050919.961622081] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050919.962830608] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050919.963328844] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050920.002735834] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903129 Long: -76.50344544 +[main_algo-3] [INFO] [1746050920.003804484] [sailbot.main_algo]: Distance to destination: 36.14813754985399 +[vectornav-1] [INFO] [1746050920.003836861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (331.906, 0.477, 3.662) +[main_algo-3] [INFO] [1746050920.005054214] [sailbot.main_algo]: Target Bearing: -72.73537887564113 +[main_algo-3] [INFO] [1746050920.006146026] [sailbot.main_algo]: Heading Difference: 59.552378875641125 +[main_algo-3] [INFO] [1746050920.007035354] [sailbot.main_algo]: Wind Direction: 70 +[main_algo-3] [INFO] [1746050920.007927247] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050920.008810243] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050920.010535205] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050920.045435826] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050920.045863086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050920.046839083] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050920.048442879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746050920.049465529] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050920.085248377] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050920.087582993] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050920.087763958] [sailbot.teensy]: Wind angle: 66 +[mux-7] [INFO] [1746050920.088356068] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050920.089298653] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746050920.090232156] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050920.091059285] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050920.145344424] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050920.145961739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050920.147275027] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050920.147897838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 15 +[teensy-2] [INFO] [1746050920.149137118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050920.245117353] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050920.245911836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050920.246600654] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050920.247749333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 15 +[teensy-2] [INFO] [1746050920.248837361] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050920.335409204] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050920.337812926] [sailbot.trim_sail]: Sail Angle: "55" +[mux-7] [INFO] [1746050920.338459001] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050920.338770779] [sailbot.teensy]: Wind angle: 61 +[teensy-2] [INFO] [1746050920.339726553] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050920.340312275] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050920.340665644] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050920.344495513] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050920.344994186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050920.345637047] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050920.346717681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: 15 +[teensy-2] [INFO] [1746050920.347970477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050920.445506470] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050920.446082104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050920.447314219] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050920.449027459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: 15 +[teensy-2] [INFO] [1746050920.450182030] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050920.456973021] [sailbot.main_algo]: Wind Direction: 61 +[main_algo-3] [INFO] [1746050920.457929598] [sailbot.main_algo]: Target Bearing: -72.73537887564113 +[main_algo-3] [INFO] [1746050920.458798628] [sailbot.main_algo]: Heading Difference: 44.64137887564107 +[main_algo-3] [INFO] [1746050920.459594959] [sailbot.main_algo]: Wind Direction: 61 +[main_algo-3] [INFO] [1746050920.460440759] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050920.461238362] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050920.462434739] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050920.463029727] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050920.502567671] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902904 Long: -76.50344067 +[main_algo-3] [INFO] [1746050920.503482653] [sailbot.main_algo]: Distance to destination: 35.78905630585522 +[vectornav-1] [INFO] [1746050920.503842949] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (313.087, -1.816, 0.065) +[main_algo-3] [INFO] [1746050920.504645751] [sailbot.main_algo]: Target Bearing: -73.20610518116128 +[main_algo-3] [INFO] [1746050920.506221624] [sailbot.main_algo]: Heading Difference: 45.11210518116127 +[main_algo-3] [INFO] [1746050920.507408630] [sailbot.main_algo]: Wind Direction: 61 +[main_algo-3] [INFO] [1746050920.508315470] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050920.509168749] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050920.511058817] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050920.545231702] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050920.545822221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050920.546636245] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050920.547783116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: 15 +[teensy-2] [INFO] [1746050920.548812740] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050920.585298241] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050920.587124267] [sailbot.teensy]: Wind angle: 55 +[trim_sail-4] [INFO] [1746050920.587865886] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746050920.588077532] [sailbot.teensy]: Actual sail angle: 50 +[mux-7] [INFO] [1746050920.588653814] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746050920.588997002] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050920.589911281] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050920.644975179] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050920.645579786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050920.646533207] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050920.647513550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 15 +[teensy-2] [INFO] [1746050920.648618478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050920.745029590] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050920.745821264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050920.746484279] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050920.747837497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 15 +[teensy-2] [INFO] [1746050920.748927315] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050920.835235861] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050920.836982889] [sailbot.teensy]: Wind angle: 41 +[trim_sail-4] [INFO] [1746050920.837696534] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746050920.837990098] [sailbot.teensy]: Actual sail angle: 55 +[mux-7] [INFO] [1746050920.838721036] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746050920.838943504] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050920.839851500] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050920.844345348] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050920.845098488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050920.845850090] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050920.846855197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 +[teensy-2] [INFO] [1746050920.847945046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050920.945021163] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050920.945839165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050920.946294834] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050920.947660018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 +[teensy-2] [INFO] [1746050920.948424646] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050920.957063356] [sailbot.main_algo]: Wind Direction: 41 +[main_algo-3] [INFO] [1746050920.958059136] [sailbot.main_algo]: Target Bearing: -73.20610518116128 +[main_algo-3] [INFO] [1746050920.958944087] [sailbot.main_algo]: Heading Difference: 26.29310518116131 +[main_algo-3] [INFO] [1746050920.959741362] [sailbot.main_algo]: Wind Direction: 41 +[main_algo-3] [INFO] [1746050920.960562829] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050920.961364753] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050920.962425655] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050920.963049963] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050921.002810020] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902527 Long: -76.50343691 +[main_algo-3] [INFO] [1746050921.003727120] [sailbot.main_algo]: Distance to destination: 35.296265391391984 +[vectornav-1] [INFO] [1746050921.003948676] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.31, -4.788, -1.264) +[main_algo-3] [INFO] [1746050921.005059599] [sailbot.main_algo]: Target Bearing: -73.47603360252243 +[main_algo-3] [INFO] [1746050921.006172220] [sailbot.main_algo]: Heading Difference: 26.56303360252241 +[main_algo-3] [INFO] [1746050921.007066499] [sailbot.main_algo]: Wind Direction: 41 +[main_algo-3] [INFO] [1746050921.007920405] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050921.008782400] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050921.010557231] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050921.045250493] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050921.046078408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050921.046897072] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050921.048259795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 +[teensy-2] [INFO] [1746050921.049442702] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050921.085140135] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050921.087418255] [sailbot.teensy]: Wind angle: 32 +[trim_sail-4] [INFO] [1746050921.087558097] [sailbot.trim_sail]: Sail Angle: "75" +[mux-7] [INFO] [1746050921.087844140] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746050921.088320459] [sailbot.teensy]: Actual sail angle: 60 +[teensy-2] [INFO] [1746050921.089206741] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050921.090129166] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050921.144979261] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050921.145922459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050921.146351698] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050921.148106873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 +[teensy-2] [INFO] [1746050921.149175382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050921.245176395] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050921.245974327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050921.246854834] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050921.247923364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 +[teensy-2] [INFO] [1746050921.248962935] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050921.335425084] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050921.337350431] [sailbot.teensy]: Wind angle: 19 +[trim_sail-4] [INFO] [1746050921.337841669] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746050921.338291404] [sailbot.teensy]: Actual sail angle: 70 +[mux-7] [INFO] [1746050921.339037096] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050921.339185345] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050921.340057259] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050921.344420273] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050921.344833168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050921.345671409] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050921.346489897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050921.347535764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050921.445369345] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050921.446204440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050921.446983861] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050921.448459807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050921.448983497] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050921.456991604] [sailbot.main_algo]: Wind Direction: 19 +[main_algo-3] [INFO] [1746050921.457903104] [sailbot.main_algo]: Target Bearing: -73.47603360252243 +[main_algo-3] [INFO] [1746050921.458721539] [sailbot.main_algo]: Heading Difference: 6.786033602522366 +[main_algo-3] [INFO] [1746050921.459513330] [sailbot.main_algo]: Rudder Angle Raw: 0.9425046670169952 +[main_algo-3] [INFO] [1746050921.460317697] [sailbot.main_algo]: Rudder Angle: 0 +[main_algo-3] [INFO] [1746050921.461349820] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050921.461951699] [sailbot.mux]: algo rudder angle: 0 +[vectornav-1] [INFO] [1746050921.502524759] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901976 Long: -76.50343508 +[main_algo-3] [INFO] [1746050921.503299949] [sailbot.main_algo]: Distance to destination: 34.66745923322998 +[vectornav-1] [INFO] [1746050921.503750315] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (269.11699999999996, -1.919, -2.223) +[main_algo-3] [INFO] [1746050921.504499471] [sailbot.main_algo]: Target Bearing: -73.40837107770008 +[main_algo-3] [INFO] [1746050921.505473854] [sailbot.main_algo]: Heading Difference: 6.718371077700112 +[main_algo-3] [INFO] [1746050921.506457212] [sailbot.main_algo]: Rudder Angle Raw: 0.9331070941250156 +[main_algo-3] [INFO] [1746050921.507331091] [sailbot.main_algo]: Rudder Angle: 0 +[mux-7] [INFO] [1746050921.509071066] [sailbot.mux]: algo rudder angle: 0 +[mux-7] [INFO] [1746050921.544858350] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050921.545552924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050921.546487651] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050921.547361183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 0 +[teensy-2] [INFO] [1746050921.548422798] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050921.585402130] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050921.587175391] [sailbot.teensy]: Wind angle: 0 +[teensy-2] [INFO] [1746050921.588123079] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050921.588067334] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050921.589036423] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050921.589090757] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050921.590344246] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050921.644986919] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050921.645813561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050921.646427470] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050921.647884669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050921.648668520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050921.744724779] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050921.745567904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050921.745935754] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050921.747371122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050921.748558211] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050921.835255560] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050921.837121285] [sailbot.teensy]: Wind angle: 355 +[trim_sail-4] [INFO] [1746050921.837670704] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050921.838096610] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746050921.838941550] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050921.839000412] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050921.839887091] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050921.844402634] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050921.844937941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050921.845823780] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050921.846608697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050921.847668521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050921.945293198] [sailbot.mux]: Published sail angle from algo: 90 +[mux-7] [INFO] [1746050921.946787395] [sailbot.mux]: Published rudder angle from algo: 0 +[teensy-2] [INFO] [1746050921.948057667] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050921.948860836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 +[teensy-2] [INFO] [1746050921.949357538] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050921.957009124] [sailbot.main_algo]: Wind Direction: 355 +[main_algo-3] [INFO] [1746050921.957964016] [sailbot.main_algo]: Target Bearing: -73.40837107770008 +[main_algo-3] [INFO] [1746050921.958825095] [sailbot.main_algo]: Heading Difference: -17.474628922299985 +[main_algo-3] [INFO] [1746050921.959648416] [sailbot.main_algo]: Rudder Angle Raw: -2.4270317947638866 +[main_algo-3] [INFO] [1746050921.960464444] [sailbot.main_algo]: Rudder Angle: -3 +[main_algo-3] [INFO] [1746050921.961452588] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050921.962206022] [sailbot.mux]: algo rudder angle: -3 +[vectornav-1] [INFO] [1746050922.003363593] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901439 Long: -76.50343657 +[main_algo-3] [INFO] [1746050922.003914749] [sailbot.main_algo]: Distance to destination: 34.137362376305596 +[vectornav-1] [INFO] [1746050922.004933187] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (246.12, 1.407, -3.21) +[main_algo-3] [INFO] [1746050922.004978107] [sailbot.main_algo]: Target Bearing: -72.90959927223857 +[main_algo-3] [INFO] [1746050922.005991905] [sailbot.main_algo]: Heading Difference: -17.973400727761486 +[main_algo-3] [INFO] [1746050922.007241991] [sailbot.main_algo]: Rudder Angle Raw: -2.49630565663354 +[main_algo-3] [INFO] [1746050922.008193636] [sailbot.main_algo]: Rudder Angle: -3 +[mux-7] [INFO] [1746050922.009905901] [sailbot.mux]: algo rudder angle: -3 +[mux-7] [INFO] [1746050922.044985386] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050922.045726023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050922.046263467] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050922.047630554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: -3 +[teensy-2] [INFO] [1746050922.048688245] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050922.085483676] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050922.087524553] [sailbot.teensy]: Wind angle: 335 +[teensy-2] [INFO] [1746050922.088506733] [sailbot.teensy]: Actual sail angle: 90 +[trim_sail-4] [INFO] [1746050922.087911471] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746050922.088826189] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746050922.089385325] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050922.090292310] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050922.144988717] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050922.145629879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050922.146260529] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050922.147459186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: -3 +[teensy-2] [INFO] [1746050922.148693298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050922.245339710] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746050922.246075287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050922.247135821] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050922.248063810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: -3 +[teensy-2] [INFO] [1746050922.248636443] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050922.335449141] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050922.337526054] [sailbot.teensy]: Wind angle: 319 +[trim_sail-4] [INFO] [1746050922.337852319] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746050922.338513126] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050922.339504939] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050922.339818362] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746050922.339979658] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050922.344506013] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050922.344941464] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050922.345687848] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050922.346692584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: -3 +[teensy-2] [INFO] [1746050922.347760353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050922.445238702] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050922.445972977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050922.446633869] [sailbot.mux]: Published rudder angle from algo: -3 +[teensy-2] [INFO] [1746050922.448369527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: -3 +[teensy-2] [INFO] [1746050922.449530112] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050922.457190364] [sailbot.main_algo]: Wind Direction: 319 +[main_algo-3] [INFO] [1746050922.458289174] [sailbot.main_algo]: Target Bearing: -72.90959927223857 +[main_algo-3] [INFO] [1746050922.459252401] [sailbot.main_algo]: Heading Difference: -40.970400727761444 +[main_algo-3] [INFO] [1746050922.460186216] [sailbot.main_algo]: Wind Direction: 319 +[main_algo-3] [INFO] [1746050922.461020610] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050922.461841661] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050922.462845213] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050922.463360422] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050922.503133745] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690106 Long: -76.50344058 +[main_algo-3] [INFO] [1746050922.504103196] [sailbot.main_algo]: Distance to destination: 33.8426702015606 +[main_algo-3] [INFO] [1746050922.505291954] [sailbot.main_algo]: Target Bearing: -72.15755820004699 +[vectornav-1] [INFO] [1746050922.505513410] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (232.20799999999997, -0.239, 0.011) +[main_algo-3] [INFO] [1746050922.506310303] [sailbot.main_algo]: Heading Difference: -41.722441799953 +[main_algo-3] [INFO] [1746050922.507267662] [sailbot.main_algo]: Wind Direction: 319 +[main_algo-3] [INFO] [1746050922.508162516] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050922.509010972] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050922.510708767] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050922.545061059] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050922.545903928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050922.546459451] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050922.548058343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: -15 +[teensy-2] [INFO] [1746050922.549154729] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050922.585281243] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050922.586987305] [sailbot.teensy]: Wind angle: 299 +[trim_sail-4] [INFO] [1746050922.587527968] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050922.587951543] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746050922.588912685] [sailbot.teensy]: Actual tail angle: 22 +[mux-7] [INFO] [1746050922.589055932] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050922.589858208] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050922.644947409] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050922.645706313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050922.646363099] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050922.647839813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -15 +[teensy-2] [INFO] [1746050922.649037189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050922.745148218] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050922.745794118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050922.746555951] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050922.747728609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -15 +[teensy-2] [INFO] [1746050922.748204068] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050922.835220805] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050922.836822888] [sailbot.teensy]: Wind angle: 286 +[trim_sail-4] [INFO] [1746050922.837342458] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050922.837749199] [sailbot.teensy]: Actual sail angle: 70 +[teensy-2] [INFO] [1746050922.838645751] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746050922.838712919] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050922.839536589] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050922.844414317] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050922.844932601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050922.845557980] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050922.846645542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 +[teensy-2] [INFO] [1746050922.847788628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050922.945357765] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050922.946093249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050922.946889294] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050922.948524803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 +[teensy-2] [INFO] [1746050922.949625127] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050922.957009997] [sailbot.main_algo]: Wind Direction: 286 +[main_algo-3] [INFO] [1746050922.957956497] [sailbot.main_algo]: Target Bearing: -72.15755820004699 +[main_algo-3] [INFO] [1746050922.958827146] [sailbot.main_algo]: Heading Difference: -55.63444179995304 +[main_algo-3] [INFO] [1746050922.959605720] [sailbot.main_algo]: Wind Direction: 286 +[main_algo-3] [INFO] [1746050922.960418908] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050922.961207446] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050922.962204652] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050922.962920206] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050923.002910213] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900752 Long: -76.50344443 +[main_algo-3] [INFO] [1746050923.003574764] [sailbot.main_algo]: Distance to destination: 33.62378719582133 +[vectornav-1] [INFO] [1746050923.004087219] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (232.139, -1.756, 1.741) +[main_algo-3] [INFO] [1746050923.005129495] [sailbot.main_algo]: Target Bearing: -71.4586783801396 +[main_algo-3] [INFO] [1746050923.006129365] [sailbot.main_algo]: Heading Difference: -56.33332161986044 +[main_algo-3] [INFO] [1746050923.007117878] [sailbot.main_algo]: Wind Direction: 286 +[main_algo-3] [INFO] [1746050923.008000389] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050923.008889637] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050923.010789136] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050923.045206278] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050923.045817360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050923.046762192] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050923.047802183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 +[teensy-2] [INFO] [1746050923.048918300] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050923.085510227] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050923.087948861] [sailbot.teensy]: Wind angle: 284 +[trim_sail-4] [INFO] [1746050923.088028300] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050923.088804658] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050923.089300230] [sailbot.teensy]: Actual sail angle: 55 +[teensy-2] [INFO] [1746050923.090224618] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050923.091094799] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050923.145209758] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050923.145866895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050923.146672145] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050923.148070517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050923.149243515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050923.245259428] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050923.245808747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050923.246719612] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050923.248080619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 +[teensy-2] [INFO] [1746050923.249317172] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050923.335284114] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050923.337482347] [sailbot.teensy]: Wind angle: 286 +[trim_sail-4] [INFO] [1746050923.337517372] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050923.338980731] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050923.339080034] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050923.339413794] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050923.339799341] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050923.344614147] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050923.345122314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050923.345839290] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050923.346902999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 +[teensy-2] [INFO] [1746050923.348070717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050923.445305556] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050923.445830665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050923.446765402] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050923.447975667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 +[teensy-2] [INFO] [1746050923.449115299] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050923.457084315] [sailbot.main_algo]: Wind Direction: 286 +[main_algo-3] [INFO] [1746050923.458212193] [sailbot.main_algo]: Target Bearing: -71.4586783801396 +[main_algo-3] [INFO] [1746050923.459166995] [sailbot.main_algo]: Heading Difference: -56.4023216198604 +[main_algo-3] [INFO] [1746050923.460002864] [sailbot.main_algo]: Wind Direction: 286 +[main_algo-3] [INFO] [1746050923.460843128] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050923.461679474] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050923.462722961] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050923.463266259] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050923.502758528] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900417 Long: -76.50344812 +[vectornav-1] [INFO] [1746050923.503939299] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (246.39599999999996, -1.147, 5.684) +[main_algo-3] [INFO] [1746050923.504068113] [sailbot.main_algo]: Distance to destination: 33.37728575056571 +[main_algo-3] [INFO] [1746050923.505253421] [sailbot.main_algo]: Target Bearing: -70.75410361679889 +[main_algo-3] [INFO] [1746050923.506236156] [sailbot.main_algo]: Heading Difference: -57.106896383201104 +[main_algo-3] [INFO] [1746050923.507177711] [sailbot.main_algo]: Wind Direction: 286 +[main_algo-3] [INFO] [1746050923.508043154] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050923.508921924] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050923.510669739] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050923.544931163] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050923.545602940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050923.546199455] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050923.547563017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 +[teensy-2] [INFO] [1746050923.548663913] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050923.585155684] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050923.587213500] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050923.587861252] [sailbot.teensy]: Wind angle: 290 +[mux-7] [INFO] [1746050923.588396945] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050923.588770419] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746050923.589668929] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050923.590873383] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050923.645024796] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050923.645576233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050923.646404659] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050923.647424012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 +[teensy-2] [INFO] [1746050923.648485763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050923.745248805] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050923.745920425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050923.746829594] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050923.748006080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 +[teensy-2] [INFO] [1746050923.748544793] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050923.835138103] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050923.837258527] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050923.837740580] [sailbot.teensy]: Wind angle: 291 +[mux-7] [INFO] [1746050923.838003871] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050923.838714948] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050923.839282232] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050923.839653794] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050923.844608121] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050923.845140252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050923.845817547] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050923.846866415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 +[teensy-2] [INFO] [1746050923.847918498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050923.945113225] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050923.946324494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050923.946595122] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050923.948489157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 +[teensy-2] [INFO] [1746050923.949019010] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050923.957024621] [sailbot.main_algo]: Wind Direction: 291 +[main_algo-3] [INFO] [1746050923.958059614] [sailbot.main_algo]: Target Bearing: -70.75410361679889 +[main_algo-3] [INFO] [1746050923.958974687] [sailbot.main_algo]: Heading Difference: -42.849896383201155 +[main_algo-3] [INFO] [1746050923.959825786] [sailbot.main_algo]: Wind Direction: 291 +[main_algo-3] [INFO] [1746050923.960715538] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050923.961540826] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050923.962542509] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050923.963108784] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050924.003219858] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900056 Long: -76.50344934 +[main_algo-3] [INFO] [1746050924.003690055] [sailbot.main_algo]: Distance to destination: 33.03672970955823 +[vectornav-1] [INFO] [1746050924.004680928] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (279.721, 2.899, 10.554) +[main_algo-3] [INFO] [1746050924.004779418] [sailbot.main_algo]: Target Bearing: -70.35010524233095 +[main_algo-3] [INFO] [1746050924.005838582] [sailbot.main_algo]: Heading Difference: -43.25389475766906 +[main_algo-3] [INFO] [1746050924.006812040] [sailbot.main_algo]: Wind Direction: 291 +[main_algo-3] [INFO] [1746050924.007731356] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050924.008606245] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050924.010272116] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050924.044929627] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050924.045615649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050924.046193228] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050924.047567426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 +[teensy-2] [INFO] [1746050924.048742708] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050924.085362183] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050924.087237958] [sailbot.teensy]: Wind angle: 304 +[teensy-2] [INFO] [1746050924.088192220] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050924.089166524] [sailbot.teensy]: Actual tail angle: 10 +[trim_sail-4] [INFO] [1746050924.087720549] [sailbot.trim_sail]: Sail Angle: "55" +[mux-7] [INFO] [1746050924.088650605] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050924.090055485] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050924.144915294] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050924.145625367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050924.146195270] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050924.147465681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -15 +[teensy-2] [INFO] [1746050924.148634720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050924.245325060] [sailbot.mux]: Published sail angle from algo: 55 +[teensy-2] [INFO] [1746050924.246075418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050924.246800560] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050924.248313911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -15 +[teensy-2] [INFO] [1746050924.249552940] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050924.335225479] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050924.337616245] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746050924.338338396] [sailbot.teensy]: Wind angle: 321 +[mux-7] [INFO] [1746050924.339027951] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746050924.339366554] [sailbot.teensy]: Actual sail angle: 50 +[teensy-2] [INFO] [1746050924.340314686] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050924.340687586] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050924.344641806] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050924.345238863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050924.345773859] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050924.346920265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: -15 +[teensy-2] [INFO] [1746050924.348092041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050924.445050119] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050924.445588377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050924.446613582] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746050924.447441654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: -15 +[teensy-2] [INFO] [1746050924.448565898] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050924.457063584] [sailbot.main_algo]: Wind Direction: 321 +[main_algo-3] [INFO] [1746050924.458041057] [sailbot.main_algo]: Target Bearing: -70.35010524233095 +[main_algo-3] [INFO] [1746050924.458945534] [sailbot.main_algo]: Heading Difference: -9.928894757669013 +[main_algo-3] [INFO] [1746050924.459782879] [sailbot.main_algo]: Rudder Angle Raw: -1.379013160787363 +[main_algo-3] [INFO] [1746050924.460620639] [sailbot.main_algo]: Rudder Angle: -2 +[main_algo-3] [INFO] [1746050924.461660910] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050924.462493958] [sailbot.mux]: algo rudder angle: -2 +[vectornav-1] [INFO] [1746050924.503066943] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899745 Long: -76.50344847 +[main_algo-3] [INFO] [1746050924.504064964] [sailbot.main_algo]: Distance to destination: 32.688361368765655 +[vectornav-1] [INFO] [1746050924.504318098] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (313.098, 0.907, 14.748) +[main_algo-3] [INFO] [1746050924.505672484] [sailbot.main_algo]: Target Bearing: -70.2537713007861 +[main_algo-3] [INFO] [1746050924.506724308] [sailbot.main_algo]: Heading Difference: -10.025228699213926 +[main_algo-3] [INFO] [1746050924.507684749] [sailbot.main_algo]: Rudder Angle Raw: -1.3923928748908232 +[main_algo-3] [INFO] [1746050924.508591117] [sailbot.main_algo]: Rudder Angle: -2 +[mux-7] [INFO] [1746050924.510311352] [sailbot.mux]: algo rudder angle: -2 +[mux-7] [INFO] [1746050924.544998133] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050924.545807422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050924.546262716] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050924.547882190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: -2 +[teensy-2] [INFO] [1746050924.548947392] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050924.585373320] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050924.587348135] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746050924.588344203] [sailbot.teensy]: Actual sail angle: 55 +[trim_sail-4] [INFO] [1746050924.587619973] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746050924.588635064] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050924.589457946] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746050924.590341339] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050924.644751618] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050924.645891279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050924.645913137] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050924.647546542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: -2 +[teensy-2] [INFO] [1746050924.648544483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050924.745209871] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050924.745838762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050924.746791723] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050924.748004493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: -2 +[teensy-2] [INFO] [1746050924.748593228] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050924.835101332] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050924.837288339] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746050924.837745516] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050924.837999189] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746050924.839058723] [sailbot.teensy]: Actual sail angle: 70 +[teensy-2] [INFO] [1746050924.839945637] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050924.840824081] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050924.844393446] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050924.844803501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050924.845555739] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050924.846560917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: -2 +[teensy-2] [INFO] [1746050924.847567850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050924.944914812] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050924.945671864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050924.946224283] [sailbot.mux]: Published rudder angle from algo: -2 +[teensy-2] [INFO] [1746050924.947566726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: -2 +[teensy-2] [INFO] [1746050924.948744708] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050924.956943241] [sailbot.main_algo]: Wind Direction: 359 +[main_algo-3] [INFO] [1746050924.957904333] [sailbot.main_algo]: Target Bearing: -70.2537713007861 +[main_algo-3] [INFO] [1746050924.958750502] [sailbot.main_algo]: Heading Difference: 23.35177130078614 +[main_algo-3] [INFO] [1746050924.959568970] [sailbot.main_algo]: Wind Direction: 359 +[main_algo-3] [INFO] [1746050924.960424089] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050924.961243795] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050924.962301182] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050924.962865207] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050925.003190470] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899637 Long: -76.50344559 +[main_algo-3] [INFO] [1746050925.003858388] [sailbot.main_algo]: Distance to destination: 32.49275857955928 +[vectornav-1] [INFO] [1746050925.004425093] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (341.974, -3.486, 15.203) +[main_algo-3] [INFO] [1746050925.004962274] [sailbot.main_algo]: Target Bearing: -70.56924445020812 +[main_algo-3] [INFO] [1746050925.005989000] [sailbot.main_algo]: Heading Difference: 23.66724445020816 +[main_algo-3] [INFO] [1746050925.006883988] [sailbot.main_algo]: Wind Direction: 359 +[main_algo-3] [INFO] [1746050925.007780301] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050925.008657447] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050925.010313958] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050925.044959901] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050925.045683100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050925.046242107] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050925.047569749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050925.048732567] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050925.085331107] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050925.087510836] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050925.087654357] [sailbot.teensy]: Wind angle: 4 +[teensy-2] [INFO] [1746050925.088546402] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746050925.088997627] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050925.089443317] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050925.090319277] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050925.145138748] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050925.145703410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050925.146458226] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050925.147749663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050925.148874522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050925.245341483] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050925.246140933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050925.246931073] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050925.248382377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746050925.249558767] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050925.335392981] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050925.337302624] [sailbot.teensy]: Wind angle: 20 +[teensy-2] [INFO] [1746050925.338290465] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050925.339299012] [sailbot.teensy]: Actual tail angle: 40 +[trim_sail-4] [INFO] [1746050925.338587436] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746050925.339339839] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050925.340208960] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050925.344444659] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050925.344985059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050925.346091651] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050925.346740442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050925.347961881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050925.445472284] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050925.446021386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050925.447238056] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050925.448214134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050925.449433297] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050925.457021003] [sailbot.main_algo]: Wind Direction: 20 +[main_algo-3] [INFO] [1746050925.457994234] [sailbot.main_algo]: Target Bearing: -70.56924445020812 +[main_algo-3] [INFO] [1746050925.458906498] [sailbot.main_algo]: Heading Difference: 52.543244450208135 +[main_algo-3] [INFO] [1746050925.459724891] [sailbot.main_algo]: Wind Direction: 20 +[main_algo-3] [INFO] [1746050925.460590592] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050925.461423055] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050925.462490781] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050925.463261596] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050925.503627341] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899582 Long: -76.50344099 +[main_algo-3] [INFO] [1746050925.504193197] [sailbot.main_algo]: Distance to destination: 32.30511905124679 +[main_algo-3] [INFO] [1746050925.505301157] [sailbot.main_algo]: Target Bearing: -71.15995908796134 +[vectornav-1] [INFO] [1746050925.505291773] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (5.223000000000013, -1.722, 15.878) +[main_algo-3] [INFO] [1746050925.506770196] [sailbot.main_algo]: Heading Difference: 53.13395908796133 +[main_algo-3] [INFO] [1746050925.507781223] [sailbot.main_algo]: Wind Direction: 20 +[main_algo-3] [INFO] [1746050925.508735041] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050925.509614074] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050925.511372052] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050925.544977684] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050925.545767022] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050925.546314424] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050925.547872505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050925.548894412] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050925.585644797] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050925.587549263] [sailbot.teensy]: Wind angle: 38 +[teensy-2] [INFO] [1746050925.588634630] [sailbot.teensy]: Actual sail angle: 90 +[trim_sail-4] [INFO] [1746050925.588027188] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746050925.589514965] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746050925.589576275] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050925.590642155] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050925.644791701] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050925.645376733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050925.645970901] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050925.647268936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 +[teensy-2] [INFO] [1746050925.648574240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050925.745138125] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050925.745794885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050925.746685535] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050925.747800897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 +[teensy-2] [INFO] [1746050925.748347999] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050925.835411197] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050925.837855503] [sailbot.trim_sail]: Sail Angle: "50" +[mux-7] [INFO] [1746050925.838343681] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050925.838819202] [sailbot.teensy]: Wind angle: 67 +[teensy-2] [INFO] [1746050925.839699695] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746050925.840555289] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050925.841395861] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050925.844360698] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050925.844869057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050925.845483029] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050925.846629029] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 15 +[teensy-2] [INFO] [1746050925.847758073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050925.945397939] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050925.946194840] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050925.948493047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 15 +[mux-7] [INFO] [1746050925.946892081] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050925.949437122] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050925.957139718] [sailbot.main_algo]: Wind Direction: 67 +[main_algo-3] [INFO] [1746050925.958143390] [sailbot.main_algo]: Target Bearing: -71.15995908796134 +[main_algo-3] [INFO] [1746050925.959128468] [sailbot.main_algo]: Heading Difference: 76.38295908796135 +[main_algo-3] [INFO] [1746050925.959994291] [sailbot.main_algo]: Wind Direction: 67 +[main_algo-3] [INFO] [1746050925.960953235] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050925.961770615] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050925.962761862] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050925.963307476] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050926.002647685] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899656 Long: -76.5034366 +[main_algo-3] [INFO] [1746050926.003906919] [sailbot.main_algo]: Distance to destination: 32.261912398090736 +[vectornav-1] [INFO] [1746050926.004133551] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (9.949999999999989, 1.018, 8.532) +[main_algo-3] [INFO] [1746050926.004979287] [sailbot.main_algo]: Target Bearing: -71.81247957552918 +[main_algo-3] [INFO] [1746050926.005925368] [sailbot.main_algo]: Heading Difference: 77.03547957552917 +[main_algo-3] [INFO] [1746050926.006917011] [sailbot.main_algo]: Wind Direction: 67 +[main_algo-3] [INFO] [1746050926.007833485] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050926.008735257] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050926.010334827] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050926.045130125] [sailbot.mux]: Published sail angle from algo: 50 +[teensy-2] [INFO] [1746050926.045909917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050926.046605841] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050926.048214182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 15 +[teensy-2] [INFO] [1746050926.049418855] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050926.085323660] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050926.087082105] [sailbot.teensy]: Wind angle: 89 +[teensy-2] [INFO] [1746050926.088013901] [sailbot.teensy]: Actual sail angle: 70 +[trim_sail-4] [INFO] [1746050926.087620058] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050926.088881034] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050926.089247567] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050926.089793257] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050926.144950276] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050926.145832249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050926.146247935] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050926.147670440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 +[teensy-2] [INFO] [1746050926.148706557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050926.245044144] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050926.245998354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050926.246509407] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050926.248056180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 +[teensy-2] [INFO] [1746050926.249067225] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050926.335099092] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050926.337171336] [sailbot.teensy]: Wind angle: 88 +[trim_sail-4] [INFO] [1746050926.337213120] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050926.338521243] [sailbot.teensy]: Actual sail angle: 50 +[mux-7] [INFO] [1746050926.338737232] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050926.339457317] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050926.340420708] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050926.344393088] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050926.345060585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050926.345560623] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050926.346837391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 +[teensy-2] [INFO] [1746050926.347919659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050926.445233519] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050926.446151264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050926.446790179] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050926.448367620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 +[teensy-2] [INFO] [1746050926.449568682] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050926.457003179] [sailbot.main_algo]: Wind Direction: 88 +[main_algo-3] [INFO] [1746050926.457958835] [sailbot.main_algo]: Target Bearing: -71.81247957552918 +[main_algo-3] [INFO] [1746050926.458838173] [sailbot.main_algo]: Heading Difference: 81.76247957552914 +[main_algo-3] [INFO] [1746050926.459616500] [sailbot.main_algo]: Wind Direction: 88 +[main_algo-3] [INFO] [1746050926.460413374] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050926.461210889] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050926.462260405] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050926.462780298] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050926.502476219] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899786 Long: -76.50343279 +[main_algo-3] [INFO] [1746050926.503533078] [sailbot.main_algo]: Distance to destination: 32.29704360370082 +[vectornav-1] [INFO] [1746050926.503928958] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (6.0470000000000255, -0.22, 2.155) +[main_algo-3] [INFO] [1746050926.504734643] [sailbot.main_algo]: Target Bearing: -72.42155597540021 +[main_algo-3] [INFO] [1746050926.505989153] [sailbot.main_algo]: Heading Difference: 82.37155597540021 +[main_algo-3] [INFO] [1746050926.506925943] [sailbot.main_algo]: Wind Direction: 88 +[main_algo-3] [INFO] [1746050926.507818539] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050926.508710411] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050926.510442701] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050926.545145159] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050926.546222778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050926.546819274] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050926.548290092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 +[teensy-2] [INFO] [1746050926.549308788] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050926.585383962] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050926.587763485] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050926.588197458] [sailbot.teensy]: Wind angle: 86 +[teensy-2] [INFO] [1746050926.589155237] [sailbot.teensy]: Actual sail angle: 35 +[mux-7] [INFO] [1746050926.588705423] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050926.590331838] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050926.591282367] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050926.644979050] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050926.645635073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050926.646301459] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050926.647537883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 +[teensy-2] [INFO] [1746050926.648685913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050926.745134079] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050926.745779929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050926.746580335] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050926.747804685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 +[teensy-2] [INFO] [1746050926.748509390] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050926.835259931] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050926.836997649] [sailbot.teensy]: Wind angle: 84 +[trim_sail-4] [INFO] [1746050926.837543555] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050926.837952465] [sailbot.teensy]: Actual sail angle: 35 +[teensy-2] [INFO] [1746050926.838865003] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050926.839728711] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050926.839756174] [sailbot.mux]: algo sail angle: 35 +[mux-7] [INFO] [1746050926.844378178] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050926.844926255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050926.845538570] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050926.846604500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 +[teensy-2] [INFO] [1746050926.847611324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050926.945235992] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050926.945881548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050926.946802787] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050926.948080083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 +[teensy-2] [INFO] [1746050926.949378204] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050926.957159817] [sailbot.main_algo]: Wind Direction: 84 +[main_algo-3] [INFO] [1746050926.958277686] [sailbot.main_algo]: Target Bearing: -72.42155597540021 +[main_algo-3] [INFO] [1746050926.959221363] [sailbot.main_algo]: Heading Difference: 78.46855597540025 +[main_algo-3] [INFO] [1746050926.960053377] [sailbot.main_algo]: Wind Direction: 84 +[main_algo-3] [INFO] [1746050926.960950861] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050926.961764050] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050926.962812128] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050926.963520977] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050927.002694742] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899849 Long: -76.50342892 +[main_algo-3] [INFO] [1746050927.003547642] [sailbot.main_algo]: Distance to destination: 32.26352504448267 +[vectornav-1] [INFO] [1746050927.003799673] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (357.55899999999997, -2.505, 3.054) +[main_algo-3] [INFO] [1746050927.004948050] [sailbot.main_algo]: Target Bearing: -72.99676987833757 +[main_algo-3] [INFO] [1746050927.006126761] [sailbot.main_algo]: Heading Difference: 79.04376987833757 +[main_algo-3] [INFO] [1746050927.007226902] [sailbot.main_algo]: Wind Direction: 84 +[main_algo-3] [INFO] [1746050927.008164870] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050927.009018527] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050927.010756847] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050927.045217165] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050927.046031121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050927.046632402] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050927.048407057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 +[teensy-2] [INFO] [1746050927.049463343] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050927.085112757] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050927.086886292] [sailbot.teensy]: Wind angle: 83 +[teensy-2] [INFO] [1746050927.087796873] [sailbot.teensy]: Actual sail angle: 35 +[trim_sail-4] [INFO] [1746050927.087397685] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050927.088205840] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050927.088733393] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050927.089647486] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050927.144801163] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050927.145491435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050927.146054704] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050927.147292178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 +[teensy-2] [INFO] [1746050927.148529126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050927.245158668] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746050927.246191094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050927.246817651] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050927.248262111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 +[teensy-2] [INFO] [1746050927.249249196] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050927.335287578] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050927.337829954] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050927.338349205] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050927.339056928] [sailbot.teensy]: Wind angle: 82 +[teensy-2] [INFO] [1746050927.340040633] [sailbot.teensy]: Actual sail angle: 35 +[teensy-2] [INFO] [1746050927.340936102] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050927.341817720] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050927.344286039] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050927.344784535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050927.345347746] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050927.346447754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 +[teensy-2] [INFO] [1746050927.347595312] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050927.445330664] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050927.446026160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050927.447407421] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050927.448704938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 +[teensy-2] [INFO] [1746050927.449796868] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050927.456972386] [sailbot.main_algo]: Wind Direction: 82 +[main_algo-3] [INFO] [1746050927.457995105] [sailbot.main_algo]: Target Bearing: -72.99676987833757 +[main_algo-3] [INFO] [1746050927.458882437] [sailbot.main_algo]: Heading Difference: 70.55576987833751 +[main_algo-3] [INFO] [1746050927.459738606] [sailbot.main_algo]: Wind Direction: 82 +[main_algo-3] [INFO] [1746050927.460597493] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050927.461379923] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050927.462495656] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050927.463031897] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050927.503041396] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899749 Long: -76.50342368 +[main_algo-3] [INFO] [1746050927.503706063] [sailbot.main_algo]: Distance to destination: 32.02684243421418 +[vectornav-1] [INFO] [1746050927.504200465] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (345.16200000000003, -2.183, 6.17) +[main_algo-3] [INFO] [1746050927.504867942] [sailbot.main_algo]: Target Bearing: -73.66830348757264 +[main_algo-3] [INFO] [1746050927.505876054] [sailbot.main_algo]: Heading Difference: 71.22730348757261 +[main_algo-3] [INFO] [1746050927.506792305] [sailbot.main_algo]: Wind Direction: 82 +[main_algo-3] [INFO] [1746050927.507656983] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050927.508520513] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050927.510310939] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050927.545356618] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050927.545609036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050927.546811383] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050927.547583673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 +[teensy-2] [INFO] [1746050927.548705232] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050927.585113630] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050927.586865517] [sailbot.teensy]: Wind angle: 82 +[trim_sail-4] [INFO] [1746050927.587339348] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050927.587872572] [sailbot.teensy]: Actual sail angle: 35 +[teensy-2] [INFO] [1746050927.588853939] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050927.589402019] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050927.589798012] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050927.645142119] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050927.646463674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050927.646876587] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050927.648422373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 +[teensy-2] [INFO] [1746050927.648830421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050927.745108929] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050927.745953286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050927.746521354] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050927.748357684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 +[teensy-2] [INFO] [1746050927.749555065] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050927.835409170] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050927.837582992] [sailbot.teensy]: Wind angle: 81 +[trim_sail-4] [INFO] [1746050927.837882306] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050927.838621492] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746050927.839545484] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050927.839554403] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050927.840596924] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050927.844376968] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050927.844990833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050927.845451363] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050927.846700134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 +[teensy-2] [INFO] [1746050927.847734897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050927.945194315] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050927.946008604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050927.946864369] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050927.948503316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 +[teensy-2] [INFO] [1746050927.949769986] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050927.956880601] [sailbot.main_algo]: Wind Direction: 81 +[main_algo-3] [INFO] [1746050927.957772287] [sailbot.main_algo]: Target Bearing: -73.66830348757264 +[main_algo-3] [INFO] [1746050927.958613917] [sailbot.main_algo]: Heading Difference: 58.83030348757268 +[main_algo-3] [INFO] [1746050927.959434936] [sailbot.main_algo]: Wind Direction: 81 +[main_algo-3] [INFO] [1746050927.960308820] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050927.961116359] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050927.962133805] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050927.962912341] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050928.002738449] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899544 Long: -76.5034177 +[main_algo-3] [INFO] [1746050928.003680525] [sailbot.main_algo]: Distance to destination: 31.665471525505758 +[vectornav-1] [INFO] [1746050928.004244832] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (330.595, 1.179, 3.571) +[main_algo-3] [INFO] [1746050928.004766402] [sailbot.main_algo]: Target Bearing: -74.39469841377151 +[main_algo-3] [INFO] [1746050928.005747308] [sailbot.main_algo]: Heading Difference: 59.55669841377153 +[main_algo-3] [INFO] [1746050928.006664655] [sailbot.main_algo]: Wind Direction: 81 +[main_algo-3] [INFO] [1746050928.007547690] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050928.008404167] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050928.010173900] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050928.045179587] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746050928.045694693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050928.046676402] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050928.047708611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 +[teensy-2] [INFO] [1746050928.048823783] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050928.085367248] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050928.087130693] [sailbot.teensy]: Wind angle: 70 +[trim_sail-4] [INFO] [1746050928.087611172] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050928.088067572] [sailbot.teensy]: Actual sail angle: 40 +[teensy-2] [INFO] [1746050928.088979237] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050928.088661392] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050928.089869607] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050928.145495507] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050928.145993700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050928.147218635] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050928.148334475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746050928.149144110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050928.245319622] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746050928.245840865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050928.246976963] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050928.247934105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746050928.248531096] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050928.335113389] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050928.337192871] [sailbot.teensy]: Wind angle: 55 +[trim_sail-4] [INFO] [1746050928.337760990] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746050928.338997471] [sailbot.teensy]: Actual sail angle: 40 +[mux-7] [INFO] [1746050928.339256932] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746050928.339915076] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050928.340844045] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050928.344427498] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050928.344810636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050928.345557666] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050928.346476467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 15 +[teensy-2] [INFO] [1746050928.347491172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050928.445299083] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050928.445924614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050928.446820958] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050928.448091570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 15 +[teensy-2] [INFO] [1746050928.448978053] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050928.457087889] [sailbot.main_algo]: Wind Direction: 55 +[main_algo-3] [INFO] [1746050928.458049322] [sailbot.main_algo]: Target Bearing: -74.39469841377151 +[main_algo-3] [INFO] [1746050928.458979932] [sailbot.main_algo]: Heading Difference: 44.98969841377152 +[main_algo-3] [INFO] [1746050928.459890031] [sailbot.main_algo]: Wind Direction: 55 +[main_algo-3] [INFO] [1746050928.460744745] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050928.461591424] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050928.462658558] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050928.463314310] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050928.503429646] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899284 Long: -76.50341258 +[main_algo-3] [INFO] [1746050928.504233781] [sailbot.main_algo]: Distance to destination: 31.27001526574031 +[main_algo-3] [INFO] [1746050928.505383899] [sailbot.main_algo]: Target Bearing: -74.98250170447994 +[main_algo-3] [INFO] [1746050928.506512453] [sailbot.main_algo]: Heading Difference: 45.57750170448003 +[vectornav-1] [INFO] [1746050928.506551737] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (312.856, 1.94, 1.354) +[main_algo-3] [INFO] [1746050928.507525501] [sailbot.main_algo]: Wind Direction: 55 +[main_algo-3] [INFO] [1746050928.508472579] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050928.509346439] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050928.511118357] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050928.545398927] [sailbot.mux]: Published sail angle from algo: 60 +[teensy-2] [INFO] [1746050928.546518379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050928.546923938] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050928.548733504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 15 +[teensy-2] [INFO] [1746050928.549815009] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050928.585568901] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050928.587993782] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050928.588532580] [sailbot.teensy]: Wind angle: 46 +[teensy-2] [INFO] [1746050928.589495263] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746050928.589667460] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050928.590478041] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050928.591447676] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050928.645237778] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050928.646587412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050928.647010006] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050928.648945672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 +[teensy-2] [INFO] [1746050928.649405630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050928.745184177] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050928.746123947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050928.746899291] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050928.747834427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 +[teensy-2] [INFO] [1746050928.748304866] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050928.835351661] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050928.837086794] [sailbot.teensy]: Wind angle: 44 +[teensy-2] [INFO] [1746050928.838013455] [sailbot.teensy]: Actual sail angle: 60 +[trim_sail-4] [INFO] [1746050928.837697581] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050928.838893302] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050928.838983607] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050928.839827466] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050928.844428896] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050928.845085414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050928.845530391] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050928.846807168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 +[teensy-2] [INFO] [1746050928.847823265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050928.945171955] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050928.946126844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050928.946628820] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050928.948498977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 +[teensy-2] [INFO] [1746050928.949692211] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050928.957033168] [sailbot.main_algo]: Wind Direction: 44 +[main_algo-3] [INFO] [1746050928.957991692] [sailbot.main_algo]: Target Bearing: -74.98250170447994 +[main_algo-3] [INFO] [1746050928.958879451] [sailbot.main_algo]: Heading Difference: 27.838501704479995 +[main_algo-3] [INFO] [1746050928.959684694] [sailbot.main_algo]: Wind Direction: 44 +[main_algo-3] [INFO] [1746050928.960487123] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050928.961274049] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050928.962294857] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050928.962905113] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050929.002868068] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46898945 Long: -76.50340986 +[vectornav-1] [INFO] [1746050929.004098050] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.52, -2.032, 1.956) +[main_algo-3] [INFO] [1746050929.004105716] [sailbot.main_algo]: Distance to destination: 30.84660178263191 +[main_algo-3] [INFO] [1746050929.005304158] [sailbot.main_algo]: Target Bearing: -75.18861189277249 +[main_algo-3] [INFO] [1746050929.006314285] [sailbot.main_algo]: Heading Difference: 28.044611892772537 +[main_algo-3] [INFO] [1746050929.007228880] [sailbot.main_algo]: Wind Direction: 44 +[main_algo-3] [INFO] [1746050929.008116734] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050929.009047915] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050929.010792449] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050929.045124136] [sailbot.mux]: Published sail angle from algo: 65 +[teensy-2] [INFO] [1746050929.045835063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050929.046576685] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050929.048064386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 +[teensy-2] [INFO] [1746050929.049215491] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050929.085389137] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050929.087313821] [sailbot.teensy]: Wind angle: 35 +[trim_sail-4] [INFO] [1746050929.087788665] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746050929.088278897] [sailbot.teensy]: Actual sail angle: 65 +[teensy-2] [INFO] [1746050929.089297292] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050929.089358855] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746050929.090202547] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050929.144900049] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050929.145427450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050929.146372846] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050929.147319365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 +[teensy-2] [INFO] [1746050929.148530840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050929.245308633] [sailbot.mux]: Published sail angle from algo: 70 +[teensy-2] [INFO] [1746050929.245848944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050929.247062122] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050929.247845588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 +[teensy-2] [INFO] [1746050929.248960531] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050929.335267789] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050929.337065186] [sailbot.teensy]: Wind angle: 17 +[teensy-2] [INFO] [1746050929.337998885] [sailbot.teensy]: Actual sail angle: 65 +[trim_sail-4] [INFO] [1746050929.337629161] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746050929.338842736] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746050929.338878603] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746050929.339751091] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050929.344476372] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050929.345056873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050929.345617442] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050929.346740041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050929.347767867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050929.445313387] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050929.445953462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050929.447010942] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746050929.448250021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746050929.448801373] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050929.457026226] [sailbot.main_algo]: Wind Direction: 17 +[main_algo-3] [INFO] [1746050929.458002447] [sailbot.main_algo]: Target Bearing: -75.18861189277249 +[main_algo-3] [INFO] [1746050929.458918081] [sailbot.main_algo]: Heading Difference: 10.708611892772524 +[main_algo-3] [INFO] [1746050929.459798783] [sailbot.main_algo]: Rudder Angle Raw: 1.487307207329517 +[main_algo-3] [INFO] [1746050929.460648897] [sailbot.main_algo]: Rudder Angle: 1 +[main_algo-3] [INFO] [1746050929.461688754] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050929.462244732] [sailbot.mux]: algo rudder angle: 1 +[vectornav-1] [INFO] [1746050929.503278749] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689852 Long: -76.50340826 +[main_algo-3] [INFO] [1746050929.504172551] [sailbot.main_algo]: Distance to destination: 30.356615880864613 +[vectornav-1] [INFO] [1746050929.504683467] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (278.53700000000003, -3.568, 0.0) +[main_algo-3] [INFO] [1746050929.505418051] [sailbot.main_algo]: Target Bearing: -75.18453740017776 +[main_algo-3] [INFO] [1746050929.506426917] [sailbot.main_algo]: Heading Difference: 10.704537400177742 +[main_algo-3] [INFO] [1746050929.507360435] [sailbot.main_algo]: Rudder Angle Raw: 1.4867413055802419 +[main_algo-3] [INFO] [1746050929.508296897] [sailbot.main_algo]: Rudder Angle: 1 +[mux-7] [INFO] [1746050929.509957621] [sailbot.mux]: algo rudder angle: 1 +[mux-7] [INFO] [1746050929.545018417] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050929.545630635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050929.546306388] [sailbot.mux]: Published rudder angle from algo: 1 +[teensy-2] [INFO] [1746050929.547519187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 1 +[teensy-2] [INFO] [1746050929.548547879] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050929.585446220] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050929.587350830] [sailbot.teensy]: Wind angle: 0 +[trim_sail-4] [INFO] [1746050929.588371495] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050929.588453864] [sailbot.teensy]: Actual sail angle: 70 +[teensy-2] [INFO] [1746050929.589345973] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746050929.589374599] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050929.590277191] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050929.645003654] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050929.645506049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050929.646354631] [sailbot.mux]: Published rudder angle from algo: 1 +[teensy-2] [INFO] [1746050929.648323242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 1 +[teensy-2] [INFO] [1746050929.649340121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050929.745462537] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050929.746189284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050929.747235618] [sailbot.mux]: Published rudder angle from algo: 1 +[teensy-2] [INFO] [1746050929.748487853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 1 +[teensy-2] [INFO] [1746050929.748974468] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050929.835344364] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050929.837902458] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746050929.838639751] [sailbot.teensy]: Wind angle: 357 +[mux-7] [INFO] [1746050929.839132908] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746050929.839270335] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746050929.839675729] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050929.840069275] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050929.844539239] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050929.845027404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050929.845757502] [sailbot.mux]: Published rudder angle from algo: 1 +[teensy-2] [INFO] [1746050929.846686948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 1 +[teensy-2] [INFO] [1746050929.847835611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050929.945503233] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050929.946044839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050929.947114704] [sailbot.mux]: Published rudder angle from algo: 1 +[teensy-2] [INFO] [1746050929.948346418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 1 +[teensy-2] [INFO] [1746050929.948915322] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050929.957044594] [sailbot.main_algo]: Wind Direction: 357 +[main_algo-3] [INFO] [1746050929.958010843] [sailbot.main_algo]: Target Bearing: -75.18453740017776 +[main_algo-3] [INFO] [1746050929.958829255] [sailbot.main_algo]: Heading Difference: -6.2784625998222054 +[main_algo-3] [INFO] [1746050929.959625479] [sailbot.main_algo]: Rudder Angle Raw: -0.8720086944197507 +[main_algo-3] [INFO] [1746050929.960482812] [sailbot.main_algo]: Rudder Angle: -1 +[main_algo-3] [INFO] [1746050929.961506580] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050929.962170514] [sailbot.mux]: algo rudder angle: -1 +[vectornav-1] [INFO] [1746050930.003125104] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46898003 Long: -76.50340783 +[main_algo-3] [INFO] [1746050930.004260716] [sailbot.main_algo]: Distance to destination: 29.794826391077525 +[vectornav-1] [INFO] [1746050930.004647621] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (258.89, -1.758, -3.695) +[main_algo-3] [INFO] [1746050930.005798241] [sailbot.main_algo]: Target Bearing: -74.94874190115209 +[main_algo-3] [INFO] [1746050930.006817738] [sailbot.main_algo]: Heading Difference: -6.514258098847904 +[main_algo-3] [INFO] [1746050930.007752513] [sailbot.main_algo]: Rudder Angle Raw: -0.9047580692844311 +[main_algo-3] [INFO] [1746050930.008648059] [sailbot.main_algo]: Rudder Angle: -1 +[mux-7] [INFO] [1746050930.010449221] [sailbot.mux]: algo rudder angle: -1 +[mux-7] [INFO] [1746050930.044982820] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746050930.045558495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050930.046403497] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050930.047599922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: -1 +[teensy-2] [INFO] [1746050930.048687881] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050930.085086677] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050930.086871798] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746050930.087385017] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746050930.087826954] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746050930.088746607] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746050930.089817224] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050930.089338105] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746050930.145115793] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050930.145572300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050930.146539842] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050930.147451861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: -1 +[teensy-2] [INFO] [1746050930.148529254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050930.245492799] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746050930.246064481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050930.247111179] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050930.248364101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: -1 +[teensy-2] [INFO] [1746050930.249617091] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050930.335353558] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050930.337125288] [sailbot.teensy]: Wind angle: 327 +[trim_sail-4] [INFO] [1746050930.337918100] [sailbot.trim_sail]: Sail Angle: "75" +[teensy-2] [INFO] [1746050930.339078701] [sailbot.teensy]: Actual sail angle: 90 +[mux-7] [INFO] [1746050930.339082891] [sailbot.mux]: algo sail angle: 75 +[teensy-2] [INFO] [1746050930.340035048] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050930.340928360] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050930.344379747] [sailbot.mux]: Published sail angle from algo: 75 +[teensy-2] [INFO] [1746050930.344884004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050930.345740549] [sailbot.mux]: Published rudder angle from algo: -1 +[teensy-2] [INFO] [1746050930.346550331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 +[teensy-2] [INFO] [1746050930.347649338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050930.362096675] [sailbot.mux]: Switched control mode to controller_app +[mux-7] [INFO] [1746050930.445094838] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050930.446242591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050930.446572596] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050930.448281228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050930.449313778] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050930.456913047] [sailbot.main_algo]: Wind Direction: 327 +[main_algo-3] [INFO] [1746050930.457884705] [sailbot.main_algo]: Target Bearing: -74.94874190115209 +[main_algo-3] [INFO] [1746050930.458740627] [sailbot.main_algo]: Heading Difference: -26.161258098847952 +[main_algo-3] [INFO] [1746050930.459554042] [sailbot.main_algo]: Wind Direction: 327 +[main_algo-3] [INFO] [1746050930.460392580] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050930.461213075] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050930.462235260] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050930.462808118] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050930.503247512] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46897486 Long: -76.50340949 +[main_algo-3] [INFO] [1746050930.503384564] [sailbot.main_algo]: Distance to destination: 29.282288990060977 +[vectornav-1] [INFO] [1746050930.504442865] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (248.293, 0.591, -1.418) +[main_algo-3] [INFO] [1746050930.504477618] [sailbot.main_algo]: Target Bearing: -74.3811772516581 +[main_algo-3] [INFO] [1746050930.505482891] [sailbot.main_algo]: Heading Difference: -26.72882274834194 +[main_algo-3] [INFO] [1746050930.506415064] [sailbot.main_algo]: Wind Direction: 327 +[main_algo-3] [INFO] [1746050930.507287318] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050930.508132109] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050930.509902253] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050930.545311715] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050930.546250791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050930.546862991] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050930.548504222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050930.549580420] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050930.585453503] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050930.587438118] [sailbot.teensy]: Wind angle: 315 +[trim_sail-4] [INFO] [1746050930.587995743] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746050930.589153184] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746050930.589244933] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746050930.590175016] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746050930.591047670] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050930.644822589] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050930.645489492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050930.646040973] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050930.647442243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050930.648719071] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050930.744991099] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050930.746184243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050930.746581828] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050930.748312946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050930.749510460] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050930.835387945] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050930.837436526] [sailbot.teensy]: Wind angle: 306 +[teensy-2] [INFO] [1746050930.838401470] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050930.838033453] [sailbot.trim_sail]: Sail Angle: "60" +[mux-7] [INFO] [1746050930.839180117] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746050930.839254791] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050930.840121406] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050930.844320975] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050930.844863028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050930.845386871] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050930.846599421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050930.847655836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050930.944805564] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050930.945576689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050930.946115303] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050930.947443615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050930.948567453] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050930.956930780] [sailbot.main_algo]: Wind Direction: 306 +[main_algo-3] [INFO] [1746050930.957826795] [sailbot.main_algo]: Target Bearing: -74.3811772516581 +[main_algo-3] [INFO] [1746050930.958639595] [sailbot.main_algo]: Heading Difference: -37.32582274834192 +[main_algo-3] [INFO] [1746050930.959420227] [sailbot.main_algo]: Wind Direction: 306 +[main_algo-3] [INFO] [1746050930.960235407] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050930.961014752] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050930.962019052] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050930.962723247] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050931.002688148] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46897059 Long: -76.50341309 +[main_algo-3] [INFO] [1746050931.003530769] [sailbot.main_algo]: Distance to destination: 28.915686030774587 +[vectornav-1] [INFO] [1746050931.003909991] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (242.47399999999993, -0.152, 4.151) +[main_algo-3] [INFO] [1746050931.004726902] [sailbot.main_algo]: Target Bearing: -73.55019061580003 +[main_algo-3] [INFO] [1746050931.005688643] [sailbot.main_algo]: Heading Difference: -38.15680938419996 +[main_algo-3] [INFO] [1746050931.006593878] [sailbot.main_algo]: Wind Direction: 306 +[main_algo-3] [INFO] [1746050931.007522525] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050931.008417171] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050931.010073377] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050931.045111048] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050931.045706596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050931.046469933] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050931.047681357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050931.048860098] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050931.085259013] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050931.087575407] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050931.087888926] [sailbot.teensy]: Wind angle: 302 +[mux-7] [INFO] [1746050931.088673791] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050931.088831397] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050931.089733007] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050931.090660074] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050931.145211529] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050931.146116616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050931.146691575] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050931.148363662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050931.149520329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050931.245011106] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050931.245761206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050931.246483386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050931.247816831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050931.248328620] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050931.335003074] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050931.337236280] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746050931.337610038] [sailbot.teensy]: Wind angle: 302 +[mux-7] [INFO] [1746050931.337680752] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746050931.338549289] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050931.339395081] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050931.340263092] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050931.344330178] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050931.345000660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050931.345428519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050931.346716552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050931.347757850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050931.445167861] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050931.445852444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050931.446748717] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050931.448432295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050931.448989778] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050931.457082105] [sailbot.main_algo]: Wind Direction: 302 +[main_algo-3] [INFO] [1746050931.458040009] [sailbot.main_algo]: Target Bearing: -73.55019061580003 +[main_algo-3] [INFO] [1746050931.458882967] [sailbot.main_algo]: Heading Difference: -43.97580938420003 +[main_algo-3] [INFO] [1746050931.459669271] [sailbot.main_algo]: Wind Direction: 302 +[main_algo-3] [INFO] [1746050931.460494907] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050931.461298860] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050931.462301473] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050931.462896573] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050931.503072655] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896669 Long: -76.50341662 +[main_algo-3] [INFO] [1746050931.503667847] [sailbot.main_algo]: Distance to destination: 28.592527708949532 +[vectornav-1] [INFO] [1746050931.504360184] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (238.938, -0.077, 1.641) +[main_algo-3] [INFO] [1746050931.504766428] [sailbot.main_algo]: Target Bearing: -72.73487434469075 +[main_algo-3] [INFO] [1746050931.505764465] [sailbot.main_algo]: Heading Difference: -44.791125655309315 +[main_algo-3] [INFO] [1746050931.506664922] [sailbot.main_algo]: Wind Direction: 302 +[main_algo-3] [INFO] [1746050931.507555368] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050931.508429058] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050931.510144195] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050931.545001458] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050931.545892796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050931.546642965] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050931.547784601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050931.548949262] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050931.585361745] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050931.587219541] [sailbot.teensy]: Wind angle: 297 +[teensy-2] [INFO] [1746050931.588177099] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050931.587965735] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050931.589062273] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050931.589387037] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050931.589937750] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050931.645388815] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050931.645875315] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050931.647149144] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050931.648118387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050931.649356810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050931.745361180] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050931.746480409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050931.747603684] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050931.748142477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050931.748659520] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050931.835226674] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050931.837420068] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746050931.837960561] [sailbot.teensy]: Wind angle: 292 +[mux-7] [INFO] [1746050931.838452924] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746050931.838771422] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050931.839218516] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050931.839562986] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050931.844325248] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050931.844944607] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050931.845618040] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050931.846666101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050931.847839990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050931.945246865] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050931.945993060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050931.946809336] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050931.947966994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050931.948553920] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050931.957162095] [sailbot.main_algo]: Wind Direction: 292 +[main_algo-3] [INFO] [1746050931.958190999] [sailbot.main_algo]: Target Bearing: -72.73487434469075 +[main_algo-3] [INFO] [1746050931.959100703] [sailbot.main_algo]: Heading Difference: -48.32712565530926 +[main_algo-3] [INFO] [1746050931.959969148] [sailbot.main_algo]: Wind Direction: 292 +[main_algo-3] [INFO] [1746050931.960899364] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050931.961759771] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050931.963036617] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050931.963389470] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050932.002759268] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896234 Long: -76.50341943 +[vectornav-1] [INFO] [1746050932.003867196] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (235.115, -2.132, -0.184) +[main_algo-3] [INFO] [1746050932.004077942] [sailbot.main_algo]: Distance to destination: 28.208712280361976 +[main_algo-3] [INFO] [1746050932.005210040] [sailbot.main_algo]: Target Bearing: -71.98146584384322 +[main_algo-3] [INFO] [1746050932.006152012] [sailbot.main_algo]: Heading Difference: -49.08053415615677 +[main_algo-3] [INFO] [1746050932.007048837] [sailbot.main_algo]: Wind Direction: 292 +[main_algo-3] [INFO] [1746050932.007879216] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050932.008718782] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050932.010289936] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050932.045267116] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050932.046039383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050932.046729499] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050932.048198324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050932.049232230] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050932.085242299] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050932.087384098] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050932.087738056] [sailbot.teensy]: Wind angle: 290 +[mux-7] [INFO] [1746050932.088220304] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050932.089825179] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050932.090762660] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050932.091583887] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050932.145187536] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050932.145724516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050932.146621963] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050932.147843875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050932.148877895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050932.245008842] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050932.245643621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050932.246357712] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050932.247662060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050932.248887692] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050932.335601623] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050932.338377959] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050932.339060558] [sailbot.teensy]: Wind angle: 290 +[mux-7] [INFO] [1746050932.339485295] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050932.339881484] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050932.340322893] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050932.341056139] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050932.344361175] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050932.344941499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050932.345579558] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050932.346781835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050932.347809593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050932.445176006] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050932.445913303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050932.446867808] [sailbot.mux]: Published rudder angle from controller_app: 0 +[rosbridge_websocket-8] [INFO] [1746050932.447168997] [rosbridge_websocket]: Client disconnected. 1 clients total. +[teensy-2] [INFO] [1746050932.448076010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050932.449022408] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050932.456958496] [sailbot.main_algo]: Wind Direction: 290 +[main_algo-3] [INFO] [1746050932.457947964] [sailbot.main_algo]: Target Bearing: -71.98146584384322 +[main_algo-3] [INFO] [1746050932.458807667] [sailbot.main_algo]: Heading Difference: -52.90353415615675 +[main_algo-3] [INFO] [1746050932.459613337] [sailbot.main_algo]: Wind Direction: 290 +[main_algo-3] [INFO] [1746050932.460446020] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050932.461267277] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050932.462279454] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050932.462856083] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050932.502960588] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689584 Long: -76.50342353 +[main_algo-3] [INFO] [1746050932.503779677] [sailbot.main_algo]: Distance to destination: 27.90881841814739 +[vectornav-1] [INFO] [1746050932.504136785] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (231.24400000000003, -0.557, 1.167) +[main_algo-3] [INFO] [1746050932.505061776] [sailbot.main_algo]: Target Bearing: -71.03421977307862 +[main_algo-3] [INFO] [1746050932.506585892] [sailbot.main_algo]: Heading Difference: -53.85078022692136 +[main_algo-3] [INFO] [1746050932.507503523] [sailbot.main_algo]: Wind Direction: 290 +[main_algo-3] [INFO] [1746050932.508388803] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050932.509232581] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050932.510933394] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050932.544848619] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050932.545721776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050932.546078469] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050932.547615565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050932.548693611] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050932.585278082] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050932.587007007] [sailbot.teensy]: Wind angle: 290 +[trim_sail-4] [INFO] [1746050932.587386927] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050932.587915620] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050932.588780691] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050932.589405431] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050932.589643345] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050932.645167990] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050932.645944347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050932.646846906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050932.648334024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050932.649378883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050932.745118902] [sailbot.mux]: Published sail angle from controller_app: 75 +[mux-7] [INFO] [1746050932.746645094] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050932.746760924] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050932.748253930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050932.748766920] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050932.835250806] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050932.837432819] [sailbot.teensy]: Wind angle: 286 +[trim_sail-4] [INFO] [1746050932.837623504] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050932.838418038] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050932.838779271] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050932.839350536] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050932.840037202] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050932.844451700] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050932.844969789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050932.845549414] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050932.846766515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050932.847756789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050932.945649595] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050932.946693397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050932.947358318] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050932.949176450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050932.950390459] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050932.957395873] [sailbot.main_algo]: Wind Direction: 286 +[main_algo-3] [INFO] [1746050932.958492946] [sailbot.main_algo]: Target Bearing: -71.03421977307862 +[main_algo-3] [INFO] [1746050932.959450731] [sailbot.main_algo]: Heading Difference: -57.72178022692134 +[main_algo-3] [INFO] [1746050932.960346743] [sailbot.main_algo]: Wind Direction: 286 +[main_algo-3] [INFO] [1746050932.961226193] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050932.962073638] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050932.963158534] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050932.963822349] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050933.003009835] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895437 Long: -76.50342773 +[main_algo-3] [INFO] [1746050933.003988261] [sailbot.main_algo]: Distance to destination: 27.610324579911175 +[vectornav-1] [INFO] [1746050933.004455277] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (223.97500000000002, -1.966, -0.538) +[main_algo-3] [INFO] [1746050933.005275748] [sailbot.main_algo]: Target Bearing: -70.04331602480362 +[main_algo-3] [INFO] [1746050933.006270580] [sailbot.main_algo]: Heading Difference: -58.71268397519634 +[main_algo-3] [INFO] [1746050933.007158259] [sailbot.main_algo]: Wind Direction: 286 +[main_algo-3] [INFO] [1746050933.008027715] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050933.008888364] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050933.010683328] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050933.045105841] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050933.046368311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050933.046658017] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050933.048574079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050933.049675105] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050933.085197280] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050933.086952978] [sailbot.teensy]: Wind angle: 285 +[trim_sail-4] [INFO] [1746050933.087217862] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746050933.087901195] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050933.088866563] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050933.088988707] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746050933.089789045] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050933.145063527] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050933.145729837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050933.146413530] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050933.147538585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050933.147984781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050933.244989814] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050933.246449405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050933.246462721] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050933.248297870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050933.249284839] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050933.335385880] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050933.337710110] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050933.338414815] [sailbot.teensy]: Wind angle: 283 +[mux-7] [INFO] [1746050933.338976525] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050933.339410304] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050933.339816628] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050933.340211619] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050933.344415392] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050933.345007027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050933.345478537] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050933.346776045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050933.347833567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050933.445626998] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050933.446442299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050933.447432152] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050933.448678947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050933.449091462] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050933.457099866] [sailbot.main_algo]: Wind Direction: 283 +[main_algo-3] [INFO] [1746050933.458068755] [sailbot.main_algo]: Target Bearing: -70.04331602480362 +[main_algo-3] [INFO] [1746050933.458957911] [sailbot.main_algo]: Heading Difference: -65.98168397519635 +[main_algo-3] [INFO] [1746050933.459770889] [sailbot.main_algo]: Wind Direction: 283 +[main_algo-3] [INFO] [1746050933.460594931] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050933.461384910] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050933.462536747] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050933.463191811] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050933.503422391] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895165 Long: -76.50343233 +[main_algo-3] [INFO] [1746050933.504105645] [sailbot.main_algo]: Distance to destination: 27.467498794263065 +[vectornav-1] [INFO] [1746050933.505045011] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (217.59799999999996, 3.536, -1.959) +[main_algo-3] [INFO] [1746050933.505167344] [sailbot.main_algo]: Target Bearing: -69.08105452891269 +[main_algo-3] [INFO] [1746050933.506109617] [sailbot.main_algo]: Heading Difference: -66.94394547108732 +[main_algo-3] [INFO] [1746050933.507292741] [sailbot.main_algo]: Wind Direction: 283 +[main_algo-3] [INFO] [1746050933.508236081] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050933.509116016] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050933.510867495] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050933.545095003] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050933.545879190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050933.546444973] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050933.548048590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050933.549084968] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050933.585024739] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050933.586501013] [sailbot.teensy]: Wind angle: 282 +[trim_sail-4] [INFO] [1746050933.587160231] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050933.587341536] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050933.588102257] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050933.588636661] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050933.589269392] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050933.645291478] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050933.646047880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050933.646903874] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050933.648023616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050933.648606884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050933.745205990] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050933.746095509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050933.746700027] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050933.748245430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050933.749317208] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050933.835225959] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050933.837392756] [sailbot.teensy]: Wind angle: 279 +[trim_sail-4] [INFO] [1746050933.838180614] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746050933.838745536] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050933.839890336] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050933.840731723] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050933.841634015] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050933.844297426] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050933.844761241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050933.845379445] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050933.846373494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050933.847290651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050933.945541569] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050933.946407171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050933.947224205] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050933.948847613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050933.950132418] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050933.957131295] [sailbot.main_algo]: Wind Direction: 279 +[main_algo-3] [INFO] [1746050933.958154296] [sailbot.main_algo]: Target Bearing: -69.08105452891269 +[main_algo-3] [INFO] [1746050933.959099138] [sailbot.main_algo]: Heading Difference: -73.32094547108738 +[main_algo-3] [INFO] [1746050933.960081621] [sailbot.main_algo]: Wind Direction: 279 +[main_algo-3] [INFO] [1746050933.961056833] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050933.961921694] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050933.963024293] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050933.963689327] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050934.003402960] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894937 Long: -76.50343596 +[main_algo-3] [INFO] [1746050934.004212656] [sailbot.main_algo]: Distance to destination: 27.346626294548493 +[main_algo-3] [INFO] [1746050934.005440662] [sailbot.main_algo]: Target Bearing: -68.30278526153097 +[vectornav-1] [INFO] [1746050934.005801380] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (215.14700000000005, -2.785, -1.125) +[main_algo-3] [INFO] [1746050934.006472047] [sailbot.main_algo]: Heading Difference: -74.09921473846907 +[main_algo-3] [INFO] [1746050934.007473619] [sailbot.main_algo]: Wind Direction: 279 +[main_algo-3] [INFO] [1746050934.008392728] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050934.009283064] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050934.010942273] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050934.044942357] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050934.045680640] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050934.046180983] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050934.047629590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050934.048657753] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050934.085132836] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050934.087142637] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050934.087387066] [sailbot.teensy]: Wind angle: 271 +[teensy-2] [INFO] [1746050934.088381884] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050934.088898998] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050934.089301695] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050934.090230160] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050934.145223931] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050934.146081097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050934.146743918] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050934.148166173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050934.148697382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050934.244859189] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050934.245676555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050934.246116160] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050934.247533454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050934.248544411] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050934.335193745] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050934.337343952] [sailbot.teensy]: Wind angle: 271 +[trim_sail-4] [INFO] [1746050934.338253210] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050934.338647055] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050934.339299638] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050934.339954025] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050934.340854898] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050934.344259267] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050934.344905969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050934.345353103] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050934.346776806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050934.347809085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050934.445175162] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050934.445764552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050934.446678919] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050934.447829237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050934.448500607] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050934.457100498] [sailbot.main_algo]: Wind Direction: 271 +[main_algo-3] [INFO] [1746050934.458069791] [sailbot.main_algo]: Target Bearing: -68.30278526153097 +[main_algo-3] [INFO] [1746050934.458952979] [sailbot.main_algo]: Heading Difference: -76.55021473846898 +[main_algo-3] [INFO] [1746050934.459758762] [sailbot.main_algo]: Wind Direction: 271 +[main_algo-3] [INFO] [1746050934.460579536] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050934.461356529] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050934.462490089] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050934.463022734] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050934.502815065] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894756 Long: -76.50343995 +[main_algo-3] [INFO] [1746050934.503608127] [sailbot.main_algo]: Distance to destination: 27.29051554272405 +[vectornav-1] [INFO] [1746050934.504098661] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (209.32600000000002, 1.665, -1.636) +[main_algo-3] [INFO] [1746050934.504715636] [sailbot.main_algo]: Target Bearing: -67.50445410482992 +[main_algo-3] [INFO] [1746050934.505750487] [sailbot.main_algo]: Heading Difference: -77.34854589517005 +[main_algo-3] [INFO] [1746050934.506663901] [sailbot.main_algo]: Wind Direction: 271 +[main_algo-3] [INFO] [1746050934.507551239] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050934.508438885] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050934.510163232] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050934.544833598] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050934.545538445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050934.546057936] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050934.547319984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050934.548485740] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050934.585360436] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050934.587091893] [sailbot.teensy]: Wind angle: 270 +[trim_sail-4] [INFO] [1746050934.587674441] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050934.588018130] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050934.588947412] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050934.589942922] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050934.590263128] [sailbot.mux]: algo sail angle: 30 +[mux-7] [INFO] [1746050934.645244637] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050934.646008978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050934.646713233] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050934.648063896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050934.648738826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050934.745062051] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050934.745815220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050934.746430648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050934.748001469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050934.748537665] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050934.835279859] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050934.837524693] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050934.838312299] [sailbot.teensy]: Wind angle: 270 +[teensy-2] [INFO] [1746050934.839280302] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050934.839307997] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050934.840180308] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050934.840787341] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050934.844358941] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050934.844882991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050934.845421752] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050934.846631473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050934.847772343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050934.945091727] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050934.946028894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050934.946698299] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050934.947139003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050934.947623324] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050934.957292144] [sailbot.main_algo]: Wind Direction: 270 +[main_algo-3] [INFO] [1746050934.958349886] [sailbot.main_algo]: Target Bearing: -67.50445410482992 +[main_algo-3] [INFO] [1746050934.959261102] [sailbot.main_algo]: Heading Difference: -83.16954589517007 +[main_algo-3] [INFO] [1746050934.960146558] [sailbot.main_algo]: Wind Direction: 270 +[main_algo-3] [INFO] [1746050934.961014041] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050934.961853839] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050934.962894318] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050934.963602415] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050935.002777309] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894527 Long: -76.50344303 +[main_algo-3] [INFO] [1746050935.003832760] [sailbot.main_algo]: Distance to destination: 27.160378032319564 +[vectornav-1] [INFO] [1746050935.003925406] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (203.50800000000004, -2.292, -2.664) +[main_algo-3] [INFO] [1746050935.005042765] [sailbot.main_algo]: Target Bearing: -66.80053285302535 +[main_algo-3] [INFO] [1746050935.006038135] [sailbot.main_algo]: Heading Difference: -83.87346714697463 +[main_algo-3] [INFO] [1746050935.007084935] [sailbot.main_algo]: Wind Direction: 270 +[main_algo-3] [INFO] [1746050935.007978405] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050935.008911517] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050935.010594136] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050935.044857585] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050935.045561244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050935.046100500] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050935.047465556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050935.048512522] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050935.085111896] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050935.086878124] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746050935.087277100] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050935.087914983] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050935.087937913] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050935.088849296] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050935.089739479] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050935.145001474] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050935.145581093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050935.146276591] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050935.147509464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050935.148615787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050935.245307058] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050935.246024848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050935.246964141] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050935.248000123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050935.248485374] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050935.335539408] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050935.338101759] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050935.339181545] [sailbot.teensy]: Wind angle: 270 +[mux-7] [INFO] [1746050935.339258362] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050935.340133123] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050935.341043327] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050935.341864709] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050935.344348608] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050935.344962475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050935.345452577] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050935.346763579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050935.347786065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050935.445397594] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050935.446068379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050935.446981635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050935.448389994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050935.449668225] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050935.456976970] [sailbot.main_algo]: Wind Direction: 270 +[main_algo-3] [INFO] [1746050935.457925490] [sailbot.main_algo]: Target Bearing: -66.80053285302535 +[main_algo-3] [INFO] [1746050935.458806837] [sailbot.main_algo]: Heading Difference: -89.69146714697462 +[main_algo-3] [INFO] [1746050935.459630778] [sailbot.main_algo]: Wind Direction: 270 +[main_algo-3] [INFO] [1746050935.460435522] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050935.461238327] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050935.462235524] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050935.462834311] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050935.503057298] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894497 Long: -76.50344727 +[main_algo-3] [INFO] [1746050935.503694017] [sailbot.main_algo]: Distance to destination: 27.27499774465728 +[vectornav-1] [INFO] [1746050935.504274683] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.649, 0.744, 2.145) +[main_algo-3] [INFO] [1746050935.504812625] [sailbot.main_algo]: Target Bearing: -66.1039036119388 +[main_algo-3] [INFO] [1746050935.505768923] [sailbot.main_algo]: Heading Difference: -90.38809638806117 +[main_algo-3] [INFO] [1746050935.506696263] [sailbot.main_algo]: Wind Direction: 270 +[main_algo-3] [INFO] [1746050935.507600100] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050935.508470721] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050935.510421688] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050935.544578967] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050935.545353629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050935.545749425] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050935.547153981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050935.548112919] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050935.585237884] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050935.587477353] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050935.587489825] [sailbot.teensy]: Wind angle: 269 +[mux-7] [INFO] [1746050935.588637443] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050935.588682998] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050935.589564591] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050935.590833663] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050935.645102745] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050935.645776061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050935.646444894] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050935.647706497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050935.648194157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050935.745064909] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050935.745920356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050935.746443932] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050935.748081191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050935.749096630] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050935.835256860] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050935.837798752] [sailbot.teensy]: Wind angle: 259 +[trim_sail-4] [INFO] [1746050935.837889171] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050935.839097608] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050935.839711998] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050935.840652154] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050935.841479001] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050935.844366459] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050935.845049435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050935.845697190] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050935.846916171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050935.848003126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050935.945001655] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050935.945765316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050935.946649534] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050935.947782047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050935.948890341] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050935.957008857] [sailbot.main_algo]: Wind Direction: 259 +[main_algo-3] [INFO] [1746050935.958044242] [sailbot.main_algo]: Target Bearing: -66.1039036119388 +[main_algo-3] [INFO] [1746050935.959003800] [sailbot.main_algo]: Heading Difference: -97.24709638806121 +[main_algo-3] [INFO] [1746050935.959945841] [sailbot.main_algo]: Wind Direction: 259 +[main_algo-3] [INFO] [1746050935.960909994] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050935.961843212] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050935.963207178] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050935.963737119] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050936.002863974] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894419 Long: -76.50345088 +[main_algo-3] [INFO] [1746050936.003733347] [sailbot.main_algo]: Distance to destination: 27.323167673707697 +[vectornav-1] [INFO] [1746050936.004503025] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.45000000000005, 0.861, -1.213) +[main_algo-3] [INFO] [1746050936.004977506] [sailbot.main_algo]: Target Bearing: -65.46285942772971 +[main_algo-3] [INFO] [1746050936.006006644] [sailbot.main_algo]: Heading Difference: -97.88814057227029 +[main_algo-3] [INFO] [1746050936.006909689] [sailbot.main_algo]: Wind Direction: 259 +[main_algo-3] [INFO] [1746050936.007949050] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050936.008845358] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050936.010647425] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050936.045506177] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050936.045737036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050936.046862876] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050936.047553206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050936.048693329] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050936.085214525] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050936.089003117] [sailbot.teensy]: Wind angle: 256 +[teensy-2] [INFO] [1746050936.089886866] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050936.089429870] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050936.090534633] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050936.090716177] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050936.091586926] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050936.144872724] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050936.145478049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050936.146148576] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050936.147256075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050936.148415563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050936.245110872] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050936.245740894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050936.246710390] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050936.247803004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050936.248842405] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050936.335232769] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050936.337586570] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050936.338057679] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050936.338479697] [sailbot.teensy]: Wind angle: 254 +[teensy-2] [INFO] [1746050936.339607569] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050936.340579680] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050936.341425984] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050936.344320398] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050936.344839898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050936.345757892] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050936.346547141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050936.347740318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050936.445004141] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050936.445620031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050936.446583884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050936.447575347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050936.448044322] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050936.457414144] [sailbot.main_algo]: Wind Direction: 254 +[main_algo-3] [INFO] [1746050936.458522770] [sailbot.main_algo]: Target Bearing: -65.46285942772971 +[main_algo-3] [INFO] [1746050936.459496194] [sailbot.main_algo]: Heading Difference: -102.08714057227024 +[main_algo-3] [INFO] [1746050936.460370958] [sailbot.main_algo]: Wind Direction: 254 +[main_algo-3] [INFO] [1746050936.461244920] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050936.462037883] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050936.463048334] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050936.463625666] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050936.502861048] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894262 Long: -76.50345349 +[main_algo-3] [INFO] [1746050936.503784287] [sailbot.main_algo]: Distance to destination: 27.259749702270625 +[vectornav-1] [INFO] [1746050936.503966776] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.79700000000003, -0.726, -1.203) +[main_algo-3] [INFO] [1746050936.504905854] [sailbot.main_algo]: Target Bearing: -64.89783410544364 +[main_algo-3] [INFO] [1746050936.505857297] [sailbot.main_algo]: Heading Difference: -102.65216589455633 +[main_algo-3] [INFO] [1746050936.506768251] [sailbot.main_algo]: Wind Direction: 254 +[main_algo-3] [INFO] [1746050936.507665429] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050936.508560612] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050936.510393429] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050936.545218996] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050936.545748478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050936.546679012] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050936.547917257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050936.549083829] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050936.585097336] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050936.586657942] [sailbot.teensy]: Wind angle: 253 +[trim_sail-4] [INFO] [1746050936.587374376] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050936.587504984] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050936.588054480] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050936.588438460] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050936.589344721] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050936.645347796] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050936.645991996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050936.646896484] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050936.648520575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050936.649686588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050936.745496721] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050936.746111135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050936.747332702] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050936.748220048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050936.749378572] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050936.835427645] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050936.837236104] [sailbot.teensy]: Wind angle: 254 +[teensy-2] [INFO] [1746050936.838203368] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050936.837763508] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050936.839122604] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050936.840043754] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050936.839186993] [sailbot.mux]: algo sail angle: 20 +[mux-7] [INFO] [1746050936.844338659] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050936.844950674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050936.845449306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050936.846729559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050936.847732887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050936.945218231] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050936.946115477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050936.946712375] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050936.948092125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050936.948524400] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050936.956983904] [sailbot.main_algo]: Wind Direction: 254 +[main_algo-3] [INFO] [1746050936.957902092] [sailbot.main_algo]: Target Bearing: -64.89783410544364 +[main_algo-3] [INFO] [1746050936.958723429] [sailbot.main_algo]: Heading Difference: -105.30516589455635 +[main_algo-3] [INFO] [1746050936.959534583] [sailbot.main_algo]: Wind Direction: 254 +[main_algo-3] [INFO] [1746050936.960346802] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050936.961148452] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050936.962146156] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050936.962858292] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050937.002983263] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894244 Long: -76.50345677 +[main_algo-3] [INFO] [1746050937.003988657] [sailbot.main_algo]: Distance to destination: 27.361671451926203 +[vectornav-1] [INFO] [1746050937.004813504] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.13099999999997, -2.329, 2.923) +[main_algo-3] [INFO] [1746050937.005261307] [sailbot.main_algo]: Target Bearing: -64.37232891935045 +[main_algo-3] [INFO] [1746050937.006020047] [sailbot.main_algo]: Heading Difference: -105.8306710806495 +[main_algo-3] [INFO] [1746050937.006408831] [sailbot.main_algo]: Wind Direction: 254 +[main_algo-3] [INFO] [1746050937.006786820] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050937.007643019] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050937.009598942] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050937.045098734] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050937.045945887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050937.046478736] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050937.048284917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050937.049422393] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050937.085341277] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050937.087538697] [sailbot.teensy]: Wind angle: 260 +[trim_sail-4] [INFO] [1746050937.087637521] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050937.088547812] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050937.088945302] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050937.089466263] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050937.090377928] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050937.145380963] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050937.146136173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050937.146982983] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050937.148001839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050937.148484063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050937.245017549] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050937.245914229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050937.246418490] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050937.248124874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050937.249438292] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050937.335228734] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050937.337549851] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050937.338165828] [sailbot.teensy]: Wind angle: 260 +[mux-7] [INFO] [1746050937.338700795] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050937.339524754] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050937.340558241] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050937.341583058] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050937.344339839] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050937.344845901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050937.345458128] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050937.346487211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050937.347535773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050937.444870364] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050937.445485689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050937.446115075] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050937.447293963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050937.448257130] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050937.457115827] [sailbot.main_algo]: Wind Direction: 260 +[main_algo-3] [INFO] [1746050937.458087720] [sailbot.main_algo]: Target Bearing: -64.37232891935045 +[main_algo-3] [INFO] [1746050937.458982937] [sailbot.main_algo]: Heading Difference: -107.49667108064955 +[main_algo-3] [INFO] [1746050937.459816498] [sailbot.main_algo]: Wind Direction: 260 +[main_algo-3] [INFO] [1746050937.460637463] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050937.461434374] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050937.462431458] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050937.463261185] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050937.502574244] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894268 Long: -76.50345978 +[main_algo-3] [INFO] [1746050937.503476784] [sailbot.main_algo]: Distance to destination: 27.49727281307186 +[vectornav-1] [INFO] [1746050937.503816146] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.99900000000002, 5.404, -1.062) +[main_algo-3] [INFO] [1746050937.504599761] [sailbot.main_algo]: Target Bearing: -63.93629655131521 +[main_algo-3] [INFO] [1746050937.505585246] [sailbot.main_algo]: Heading Difference: -107.93270344868483 +[main_algo-3] [INFO] [1746050937.506514665] [sailbot.main_algo]: Wind Direction: 260 +[main_algo-3] [INFO] [1746050937.507450606] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050937.508340267] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050937.510052874] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050937.545027567] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050937.545927591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050937.546426868] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050937.547915395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050937.549082637] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050937.585670455] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050937.588216163] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050937.588568900] [sailbot.teensy]: Wind angle: 250 +[teensy-2] [INFO] [1746050937.589559223] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050937.589705520] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050937.590507385] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050937.591426271] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050937.645232245] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050937.646110575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050937.646702743] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050937.648475471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050937.649518043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050937.744862924] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050937.745488238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050937.746130515] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050937.747277053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050937.748342242] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050937.835189577] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050937.836952529] [sailbot.teensy]: Wind angle: 251 +[trim_sail-4] [INFO] [1746050937.837401697] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050937.837933519] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050937.838837470] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050937.839049407] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050937.839610034] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050937.844652849] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050937.845105966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050937.845790786] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050937.846854329] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050937.847878830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050937.945253295] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050937.945767605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050937.946855620] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050937.947798735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050937.948852259] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050937.957277538] [sailbot.main_algo]: Wind Direction: 251 +[main_algo-3] [INFO] [1746050937.958351870] [sailbot.main_algo]: Target Bearing: -63.93629655131521 +[main_algo-3] [INFO] [1746050937.959457743] [sailbot.main_algo]: Heading Difference: -106.06470344868478 +[main_algo-3] [INFO] [1746050937.960582680] [sailbot.main_algo]: Wind Direction: 251 +[main_algo-3] [INFO] [1746050937.961595046] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050937.962626405] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050937.963803534] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050937.964924602] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050938.002745354] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894056 Long: -76.50346079 +[main_algo-3] [INFO] [1746050938.003725793] [sailbot.main_algo]: Distance to destination: 27.32604107556571 +[vectornav-1] [INFO] [1746050938.003863475] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.22900000000004, -6.457, -9.178) +[main_algo-3] [INFO] [1746050938.004860549] [sailbot.main_algo]: Target Bearing: -63.556531490733924 +[main_algo-3] [INFO] [1746050938.005813114] [sailbot.main_algo]: Heading Difference: -106.44446850926602 +[main_algo-3] [INFO] [1746050938.006789524] [sailbot.main_algo]: Wind Direction: 251 +[main_algo-3] [INFO] [1746050938.007688283] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050938.008659940] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050938.010385527] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050938.045103716] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050938.045817292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050938.046504567] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050938.047863300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050938.048909275] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050938.085233691] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050938.087165000] [sailbot.teensy]: Wind angle: 251 +[trim_sail-4] [INFO] [1746050938.087440655] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050938.088923945] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050938.089293268] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050938.090270366] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050938.091158063] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050938.145255744] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050938.146158660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050938.147418326] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050938.148250931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050938.149449594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050938.245002896] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050938.245624722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050938.246267963] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050938.247402273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050938.248599917] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050938.335310074] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050938.337536856] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050938.338163395] [sailbot.teensy]: Wind angle: 251 +[mux-7] [INFO] [1746050938.338181576] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050938.338917931] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050938.339356369] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050938.339724171] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050938.344469839] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050938.344932961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050938.345663316] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050938.346737674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050938.347789982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050938.445400379] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050938.446131808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050938.447066250] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050938.448282497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050938.449753182] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050938.456962078] [sailbot.main_algo]: Wind Direction: 251 +[main_algo-3] [INFO] [1746050938.457917933] [sailbot.main_algo]: Target Bearing: -63.556531490733924 +[main_algo-3] [INFO] [1746050938.458780213] [sailbot.main_algo]: Heading Difference: -106.214468509266 +[main_algo-3] [INFO] [1746050938.459571026] [sailbot.main_algo]: Wind Direction: 251 +[main_algo-3] [INFO] [1746050938.460401190] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050938.461179931] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050938.462192145] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050938.462893882] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050938.503274030] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893979 Long: -76.50346319 +[main_algo-3] [INFO] [1746050938.504615531] [sailbot.main_algo]: Distance to destination: 27.341993589758943 +[vectornav-1] [INFO] [1746050938.504940640] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.12300000000005, 3.348, -5.159) +[main_algo-3] [INFO] [1746050938.505762600] [sailbot.main_algo]: Target Bearing: -63.106965152649536 +[main_algo-3] [INFO] [1746050938.506723965] [sailbot.main_algo]: Heading Difference: -106.66403484735042 +[main_algo-3] [INFO] [1746050938.507625046] [sailbot.main_algo]: Wind Direction: 251 +[main_algo-3] [INFO] [1746050938.508535945] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050938.509382408] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050938.511097690] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050938.545006038] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050938.545612243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050938.546617564] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050938.547424225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050938.548466067] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050938.585456029] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050938.587390607] [sailbot.teensy]: Wind angle: 262 +[trim_sail-4] [INFO] [1746050938.588186442] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050938.588683423] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050938.589287421] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050938.589851668] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050938.590843258] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050938.645145442] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050938.645963565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050938.646653882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050938.648082874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050938.649313976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050938.745122847] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050938.745990718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050938.746522520] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050938.747759006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050938.748309368] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050938.835298861] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050938.837528544] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050938.837730079] [sailbot.teensy]: Wind angle: 263 +[teensy-2] [INFO] [1746050938.838626454] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050938.839466737] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050938.839530725] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050938.839844819] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050938.844306558] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050938.844812145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050938.845415519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050938.846465633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050938.847501351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050938.945239861] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050938.945904197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050938.946623354] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050938.948100930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050938.949266156] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050938.956938128] [sailbot.main_algo]: Wind Direction: 263 +[main_algo-3] [INFO] [1746050938.957856290] [sailbot.main_algo]: Target Bearing: -63.106965152649536 +[main_algo-3] [INFO] [1746050938.958673543] [sailbot.main_algo]: Heading Difference: -111.77003484735042 +[main_algo-3] [INFO] [1746050938.959458129] [sailbot.main_algo]: Wind Direction: 263 +[main_algo-3] [INFO] [1746050938.960286721] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050938.961073528] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050938.962185513] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050938.962846164] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050939.003032688] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894035 Long: -76.50346541 +[main_algo-3] [INFO] [1746050939.003917143] [sailbot.main_algo]: Distance to destination: 27.482707451502975 +[vectornav-1] [INFO] [1746050939.004349729] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.389, -1.542, 3.678) +[main_algo-3] [INFO] [1746050939.005173548] [sailbot.main_algo]: Target Bearing: -62.83136584099302 +[main_algo-3] [INFO] [1746050939.006152865] [sailbot.main_algo]: Heading Difference: -112.04563415900691 +[main_algo-3] [INFO] [1746050939.007102511] [sailbot.main_algo]: Wind Direction: 263 +[main_algo-3] [INFO] [1746050939.008318685] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050939.009226896] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050939.011099207] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050939.045191756] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050939.045791216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050939.046626556] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050939.047786004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050939.048970352] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050939.085286629] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050939.087012775] [sailbot.teensy]: Wind angle: 253 +[trim_sail-4] [INFO] [1746050939.087681093] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050939.087953807] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050939.088918693] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050939.089850166] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050939.090176173] [sailbot.mux]: algo sail angle: 20 +[mux-7] [INFO] [1746050939.145152579] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050939.145729908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050939.146626164] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050939.148020917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050939.149169382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050939.244986667] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050939.245598657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050939.246518640] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050939.247853440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050939.248991765] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050939.335256513] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050939.339431675] [sailbot.teensy]: Wind angle: 254 +[trim_sail-4] [INFO] [1746050939.339904795] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050939.341153920] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050939.341640602] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050939.342468188] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050939.343563155] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050939.344495891] [sailbot.mux]: Published sail angle from controller_app: 75 +[mux-7] [INFO] [1746050939.345828012] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050939.346145035] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050939.348027742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050939.349272456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050939.445261815] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050939.446020271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050939.446820322] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050939.448052926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050939.448569405] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050939.457003375] [sailbot.main_algo]: Wind Direction: 254 +[main_algo-3] [INFO] [1746050939.458032989] [sailbot.main_algo]: Target Bearing: -62.83136584099302 +[main_algo-3] [INFO] [1746050939.458938435] [sailbot.main_algo]: Heading Difference: -111.77963415900695 +[main_algo-3] [INFO] [1746050939.459788586] [sailbot.main_algo]: Wind Direction: 254 +[main_algo-3] [INFO] [1746050939.460638002] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050939.461475485] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050939.462528585] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050939.463037751] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050939.502911300] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894014 Long: -76.503467 +[main_algo-3] [INFO] [1746050939.503428643] [sailbot.main_algo]: Distance to destination: 27.52418557171909 +[vectornav-1] [INFO] [1746050939.504045552] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (186.351, 0.588, 3.501) +[main_algo-3] [INFO] [1746050939.504451041] [sailbot.main_algo]: Target Bearing: -62.56855976967062 +[main_algo-3] [INFO] [1746050939.505433309] [sailbot.main_algo]: Heading Difference: -112.04244023032936 +[main_algo-3] [INFO] [1746050939.506324324] [sailbot.main_algo]: Wind Direction: 254 +[main_algo-3] [INFO] [1746050939.507172988] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050939.507995931] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050939.509621340] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050939.544945897] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050939.545682570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050939.546198273] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050939.547565211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050939.548708813] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050939.585273280] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050939.587659018] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050939.588373802] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050939.588446497] [sailbot.teensy]: Wind angle: 254 +[teensy-2] [INFO] [1746050939.589389494] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050939.590275498] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050939.591097069] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050939.644883496] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050939.645733410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050939.646148110] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050939.647546781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050939.648724926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050939.744939042] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050939.745786468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050939.746217625] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050939.747995754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050939.749102218] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050939.835486933] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050939.838771299] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050939.839078129] [sailbot.teensy]: Wind angle: 254 +[mux-7] [INFO] [1746050939.839288948] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050939.840041252] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050939.840980022] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050939.841837317] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050939.844307375] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050939.844929692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050939.845335519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050939.846539565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050939.847557040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050939.945058432] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050939.945671391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050939.946728857] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050939.947625422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050939.948768087] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050939.956993998] [sailbot.main_algo]: Wind Direction: 254 +[main_algo-3] [INFO] [1746050939.957920010] [sailbot.main_algo]: Target Bearing: -62.56855976967062 +[main_algo-3] [INFO] [1746050939.958746756] [sailbot.main_algo]: Heading Difference: -111.08044023032937 +[main_algo-3] [INFO] [1746050939.959552406] [sailbot.main_algo]: Wind Direction: 254 +[main_algo-3] [INFO] [1746050939.960432132] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050939.961322996] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050939.962505171] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050939.964227081] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050940.002521709] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893945 Long: -76.50346852 +[main_algo-3] [INFO] [1746050940.003664530] [sailbot.main_algo]: Distance to destination: 27.51672875466072 +[main_algo-3] [INFO] [1746050940.004654038] [sailbot.main_algo]: Target Bearing: -62.263741935827994 +[vectornav-1] [INFO] [1746050940.004716049] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.235, -1.124, 1.018) +[main_algo-3] [INFO] [1746050940.005579672] [sailbot.main_algo]: Heading Difference: -111.38525806417204 +[main_algo-3] [INFO] [1746050940.006455629] [sailbot.main_algo]: Wind Direction: 254 +[main_algo-3] [INFO] [1746050940.007270390] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050940.008098070] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050940.009676600] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050940.044872994] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050940.045652310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050940.046321234] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050940.047522053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050940.048755551] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050940.085220045] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050940.087215843] [sailbot.teensy]: Wind angle: 254 +[teensy-2] [INFO] [1746050940.088143972] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050940.087856404] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050940.088828053] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050940.089069011] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050940.089916358] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050940.144804233] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050940.145349435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050940.145994910] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050940.147227726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050940.148400153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050940.244788710] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050940.245501906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050940.246309531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050940.247326490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050940.248493813] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050940.335257949] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050940.337378634] [sailbot.teensy]: Wind angle: 256 +[trim_sail-4] [INFO] [1746050940.337469730] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050940.338355490] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050940.338973414] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050940.339238098] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050940.340143484] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050940.344480251] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050940.345107059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050940.345579921] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050940.346864658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050940.348037775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050940.445239873] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050940.446490821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050940.446935140] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050940.449149687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050940.450181069] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050940.457178819] [sailbot.main_algo]: Wind Direction: 256 +[main_algo-3] [INFO] [1746050940.458185397] [sailbot.main_algo]: Target Bearing: -62.263741935827994 +[main_algo-3] [INFO] [1746050940.459118171] [sailbot.main_algo]: Heading Difference: -110.50125806417202 +[main_algo-3] [INFO] [1746050940.460052612] [sailbot.main_algo]: Wind Direction: 256 +[main_algo-3] [INFO] [1746050940.461018803] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050940.461823171] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050940.462871557] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050940.463821254] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050940.503056063] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893924 Long: -76.50346997 +[main_algo-3] [INFO] [1746050940.503873056] [sailbot.main_algo]: Distance to destination: 27.55387213532876 +[vectornav-1] [INFO] [1746050940.504326883] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.44399999999996, 0.448, 1.885) +[main_algo-3] [INFO] [1746050940.505042453] [sailbot.main_algo]: Target Bearing: -62.0230659077583 +[main_algo-3] [INFO] [1746050940.506046793] [sailbot.main_algo]: Heading Difference: -110.74193409224165 +[main_algo-3] [INFO] [1746050940.506971437] [sailbot.main_algo]: Wind Direction: 256 +[main_algo-3] [INFO] [1746050940.507862241] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050940.508727669] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050940.510513533] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050940.545110356] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050940.545944472] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050940.546661637] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050940.547978251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050940.549025723] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050940.585379424] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050940.587655305] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050940.587891315] [sailbot.teensy]: Wind angle: 267 +[mux-7] [INFO] [1746050940.588381706] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050940.589879563] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050940.590774039] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050940.591658453] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050940.645004091] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050940.645832768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050940.646275700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050940.647715243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050940.648750404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050940.745143457] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050940.745816642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050940.746822781] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050940.747988864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050940.748588705] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050940.835073907] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050940.836743905] [sailbot.teensy]: Wind angle: 267 +[trim_sail-4] [INFO] [1746050940.837442212] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050940.837634415] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050940.838528753] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050940.838270182] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050940.839400782] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050940.844399746] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050940.844915725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050940.845503980] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050940.846750557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050940.847755269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050940.944972992] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050940.945578835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050940.946268259] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050940.947380262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050940.948497090] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050940.957122905] [sailbot.main_algo]: Wind Direction: 267 +[main_algo-3] [INFO] [1746050940.958139831] [sailbot.main_algo]: Target Bearing: -62.0230659077583 +[main_algo-3] [INFO] [1746050940.959052488] [sailbot.main_algo]: Heading Difference: -109.5329340922417 +[main_algo-3] [INFO] [1746050940.959905265] [sailbot.main_algo]: Wind Direction: 267 +[main_algo-3] [INFO] [1746050940.960785524] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050940.961600796] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050940.962636897] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050940.963226293] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050941.002872684] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893896 Long: -76.50347118 +[main_algo-3] [INFO] [1746050941.003859739] [sailbot.main_algo]: Distance to destination: 27.57508281076896 +[vectornav-1] [INFO] [1746050941.004067461] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.87400000000002, -1.992, 3.438) +[main_algo-3] [INFO] [1746050941.005086522] [sailbot.main_algo]: Target Bearing: -61.8109341144319 +[main_algo-3] [INFO] [1746050941.006052447] [sailbot.main_algo]: Heading Difference: -109.74506588556812 +[main_algo-3] [INFO] [1746050941.006972675] [sailbot.main_algo]: Wind Direction: 267 +[main_algo-3] [INFO] [1746050941.007869948] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050941.008759086] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050941.010452104] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050941.045038800] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050941.045778575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050941.046444637] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050941.047759319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050941.048950696] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050941.085070459] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050941.086699171] [sailbot.teensy]: Wind angle: 262 +[teensy-2] [INFO] [1746050941.087617992] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050941.087368651] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050941.087880540] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050941.088505892] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050941.089393137] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050941.145042737] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050941.145599200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050941.146393282] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050941.147422659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050941.148234156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050941.245431660] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050941.246003134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050941.247040402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050941.248121532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050941.249363814] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050941.335515173] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050941.337667672] [sailbot.teensy]: Wind angle: 264 +[trim_sail-4] [INFO] [1746050941.338398835] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050941.338693219] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050941.339612086] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050941.340536536] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050941.341351251] [sailbot.mux]: algo sail angle: 30 +[mux-7] [INFO] [1746050941.344316424] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050941.344854820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050941.345624157] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050941.346514753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050941.347578244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050941.445477432] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050941.445983989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050941.447306877] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050941.448091954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050941.449429215] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050941.456981101] [sailbot.main_algo]: Wind Direction: 264 +[main_algo-3] [INFO] [1746050941.457934458] [sailbot.main_algo]: Target Bearing: -61.8109341144319 +[main_algo-3] [INFO] [1746050941.458800351] [sailbot.main_algo]: Heading Difference: -108.31506588556806 +[main_algo-3] [INFO] [1746050941.459582250] [sailbot.main_algo]: Wind Direction: 264 +[main_algo-3] [INFO] [1746050941.460440893] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050941.461256772] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050941.462266065] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050941.463020645] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050941.503333372] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893865 Long: -76.50347236 +[main_algo-3] [INFO] [1746050941.503855895] [sailbot.main_algo]: Distance to destination: 27.592557180605347 +[vectornav-1] [INFO] [1746050941.504558118] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.293, 2.412, 0.478) +[main_algo-3] [INFO] [1746050941.505374986] [sailbot.main_algo]: Target Bearing: -61.60019501877233 +[main_algo-3] [INFO] [1746050941.506395506] [sailbot.main_algo]: Heading Difference: -108.52580498122768 +[main_algo-3] [INFO] [1746050941.507424235] [sailbot.main_algo]: Wind Direction: 264 +[main_algo-3] [INFO] [1746050941.508318180] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050941.509157122] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050941.511001804] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050941.545026210] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050941.545604417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050941.546422014] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050941.547450574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050941.548535307] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050941.585295253] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050941.586966312] [sailbot.teensy]: Wind angle: 267 +[trim_sail-4] [INFO] [1746050941.587867197] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050941.587895534] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050941.588779951] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050941.589723898] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050941.590454482] [sailbot.mux]: algo sail angle: 30 +[mux-7] [INFO] [1746050941.644933970] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050941.645628371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050941.646710050] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050941.647490564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050941.648599930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050941.744806849] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050941.745443584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050941.745971930] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050941.747261880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050941.748422803] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050941.835226429] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050941.836942292] [sailbot.teensy]: Wind angle: 266 +[teensy-2] [INFO] [1746050941.837884380] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050941.837884597] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050941.838809869] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050941.839722878] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050941.839770218] [sailbot.mux]: algo sail angle: 30 +[mux-7] [INFO] [1746050941.844367891] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050941.844839394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050941.845803080] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050941.846515012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050941.847613718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050941.944935784] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050941.945587181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050941.946248730] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050941.947422602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050941.947962099] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050941.957059024] [sailbot.main_algo]: Wind Direction: 266 +[main_algo-3] [INFO] [1746050941.958067413] [sailbot.main_algo]: Target Bearing: -61.60019501877233 +[main_algo-3] [INFO] [1746050941.958950286] [sailbot.main_algo]: Heading Difference: -106.1068049812277 +[main_algo-3] [INFO] [1746050941.959758159] [sailbot.main_algo]: Wind Direction: 266 +[main_algo-3] [INFO] [1746050941.960586991] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050941.961451210] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050941.962656285] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050941.964118360] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050942.002573187] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893765 Long: -76.50347272 +[main_algo-3] [INFO] [1746050942.003389771] [sailbot.main_algo]: Distance to destination: 27.510470331623587 +[vectornav-1] [INFO] [1746050942.003647411] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (194.447, -2.822, -1.182) +[main_algo-3] [INFO] [1746050942.004519629] [sailbot.main_algo]: Target Bearing: -61.432894896691046 +[main_algo-3] [INFO] [1746050942.005446828] [sailbot.main_algo]: Heading Difference: -106.27410510330895 +[main_algo-3] [INFO] [1746050942.006419618] [sailbot.main_algo]: Wind Direction: 266 +[main_algo-3] [INFO] [1746050942.007334299] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050942.008203409] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050942.009924153] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050942.045136015] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050942.045926642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050942.046527879] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050942.048000254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050942.049142947] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050942.085257161] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050942.086985892] [sailbot.teensy]: Wind angle: 266 +[trim_sail-4] [INFO] [1746050942.087833920] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050942.087915279] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050942.088830080] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050942.088941312] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050942.089777710] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050942.144875899] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050942.145460359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050942.146158913] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050942.147430357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050942.148600487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050942.245140184] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050942.246034457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050942.246569651] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050942.248133485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050942.249192201] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050942.335298433] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050942.337618288] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050942.338401125] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050942.339171829] [sailbot.teensy]: Wind angle: 267 +[teensy-2] [INFO] [1746050942.340134702] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050942.340988935] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050942.341895554] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050942.344289330] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050942.344905504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050942.345368540] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050942.346621065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050942.347762719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050942.445206746] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050942.445926274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050942.446734257] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050942.447906708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050942.448386071] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050942.456948302] [sailbot.main_algo]: Wind Direction: 267 +[main_algo-3] [INFO] [1746050942.457894869] [sailbot.main_algo]: Target Bearing: -61.432894896691046 +[main_algo-3] [INFO] [1746050942.458722691] [sailbot.main_algo]: Heading Difference: -104.12010510330896 +[main_algo-3] [INFO] [1746050942.459509238] [sailbot.main_algo]: Wind Direction: 267 +[main_algo-3] [INFO] [1746050942.460318477] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050942.461102654] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050942.462100543] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050942.462718534] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050942.502956985] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689371 Long: -76.503474 +[vectornav-1] [INFO] [1746050942.504284200] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (194.89700000000005, -0.338, 2.506) +[main_algo-3] [INFO] [1746050942.504310248] [sailbot.main_algo]: Distance to destination: 27.50957583528264 +[main_algo-3] [INFO] [1746050942.505625690] [sailbot.main_algo]: Target Bearing: -61.179463446348585 +[main_algo-3] [INFO] [1746050942.506608671] [sailbot.main_algo]: Heading Difference: -104.37353655365143 +[main_algo-3] [INFO] [1746050942.507557754] [sailbot.main_algo]: Wind Direction: 267 +[main_algo-3] [INFO] [1746050942.508609995] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050942.509469199] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050942.511237355] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050942.545043149] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050942.545715236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050942.546455899] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050942.548024707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050942.549206531] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050942.585046161] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050942.587293511] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050942.587914533] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050942.588098545] [sailbot.teensy]: Wind angle: 266 +[teensy-2] [INFO] [1746050942.589067653] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050942.590006905] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050942.590866637] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050942.645040438] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050942.645768321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050942.646761311] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050942.647713952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050942.648203541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050942.745048112] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050942.745775467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050942.746472448] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050942.747571748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050942.748135803] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050942.835334465] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050942.837333510] [sailbot.teensy]: Wind angle: 265 +[trim_sail-4] [INFO] [1746050942.838160144] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050942.838871859] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050942.838987156] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050942.839640775] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050942.840318018] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050942.844490750] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050942.844857560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050942.845737533] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050942.846515099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050942.847587931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050942.945071561] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050942.945819550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050942.946543577] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050942.947915248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050942.948450934] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050942.957034855] [sailbot.main_algo]: Wind Direction: 265 +[main_algo-3] [INFO] [1746050942.957971974] [sailbot.main_algo]: Target Bearing: -61.179463446348585 +[main_algo-3] [INFO] [1746050942.958796003] [sailbot.main_algo]: Heading Difference: -103.92353655365139 +[main_algo-3] [INFO] [1746050942.959605532] [sailbot.main_algo]: Wind Direction: 265 +[main_algo-3] [INFO] [1746050942.960419332] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050942.961224348] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050942.962409732] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050942.962763497] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050943.002734534] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893758 Long: -76.50347532 +[main_algo-3] [INFO] [1746050943.003980749] [sailbot.main_algo]: Distance to destination: 27.60989823492196 +[vectornav-1] [INFO] [1746050943.005062657] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.35199999999998, 1.587, 1.914) +[main_algo-3] [INFO] [1746050943.005123324] [sailbot.main_algo]: Target Bearing: -61.03912634458726 +[main_algo-3] [INFO] [1746050943.006139909] [sailbot.main_algo]: Heading Difference: -104.06387365541269 +[main_algo-3] [INFO] [1746050943.007083237] [sailbot.main_algo]: Wind Direction: 265 +[main_algo-3] [INFO] [1746050943.008040542] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050943.008951434] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050943.010680672] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050943.044983605] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050943.045665871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050943.046262001] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050943.047586175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050943.048638783] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050943.085144420] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050943.086718689] [sailbot.teensy]: Wind angle: 265 +[trim_sail-4] [INFO] [1746050943.087489799] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050943.088708676] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050943.088734675] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050943.089695278] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050943.090568378] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050943.144961010] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050943.145501147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050943.146243567] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050943.147372526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050943.148469438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050943.245098481] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050943.245914930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050943.246522573] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050943.247942039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050943.249055157] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050943.335295570] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050943.338071637] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050943.338155927] [sailbot.teensy]: Wind angle: 264 +[teensy-2] [INFO] [1746050943.339056909] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050943.339051402] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050943.339977793] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050943.340857266] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050943.344297851] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050943.344865130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050943.345379515] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050943.346536602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050943.347614324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050943.445303165] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050943.446112324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050943.447250740] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050943.448320854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050943.449584049] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050943.457023107] [sailbot.main_algo]: Wind Direction: 264 +[main_algo-3] [INFO] [1746050943.458011029] [sailbot.main_algo]: Target Bearing: -61.03912634458726 +[main_algo-3] [INFO] [1746050943.458908429] [sailbot.main_algo]: Heading Difference: -103.60887365541276 +[main_algo-3] [INFO] [1746050943.459715734] [sailbot.main_algo]: Wind Direction: 264 +[main_algo-3] [INFO] [1746050943.460567289] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050943.461375713] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050943.462467586] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050943.462937896] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050943.502343349] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893663 Long: -76.5034758 +[main_algo-3] [INFO] [1746050943.503241083] [sailbot.main_algo]: Distance to destination: 27.53836169738151 +[vectornav-1] [INFO] [1746050943.503334170] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.42100000000005, -1.819, -0.446) +[main_algo-3] [INFO] [1746050943.504646734] [sailbot.main_algo]: Target Bearing: -60.858318914719256 +[main_algo-3] [INFO] [1746050943.505587317] [sailbot.main_algo]: Heading Difference: -103.78968108528079 +[main_algo-3] [INFO] [1746050943.506494593] [sailbot.main_algo]: Wind Direction: 264 +[main_algo-3] [INFO] [1746050943.507380461] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050943.508247424] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050943.509952667] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050943.545046102] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050943.545769258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050943.546988106] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050943.547592315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050943.548792308] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050943.585096868] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050943.586736402] [sailbot.teensy]: Wind angle: 264 +[trim_sail-4] [INFO] [1746050943.587173902] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050943.587734303] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050943.588674745] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050943.589110032] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050943.589575428] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050943.645246675] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050943.645948206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050943.646819389] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050943.648361992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050943.649539982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050943.745152616] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050943.745869514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050943.746927437] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050943.748011729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050943.748542119] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050943.835260058] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050943.836975770] [sailbot.teensy]: Wind angle: 264 +[trim_sail-4] [INFO] [1746050943.837892194] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050943.838870147] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050943.838972520] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050943.839275748] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050943.839678975] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050943.844833231] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050943.845213236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050943.846201420] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050943.846968041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050943.848146139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050943.945026640] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050943.945794938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050943.946421206] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050943.947644247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050943.948752473] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050943.956993439] [sailbot.main_algo]: Wind Direction: 264 +[main_algo-3] [INFO] [1746050943.957995127] [sailbot.main_algo]: Target Bearing: -60.858318914719256 +[main_algo-3] [INFO] [1746050943.958905279] [sailbot.main_algo]: Heading Difference: -103.72068108528072 +[main_algo-3] [INFO] [1746050943.959719159] [sailbot.main_algo]: Wind Direction: 264 +[main_algo-3] [INFO] [1746050943.960574994] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050943.961382392] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050943.962424028] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050943.963248963] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050944.003043149] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893592 Long: -76.50347654 +[main_algo-3] [INFO] [1746050944.003328993] [sailbot.main_algo]: Distance to destination: 27.50090338545698 +[main_algo-3] [INFO] [1746050944.004383313] [sailbot.main_algo]: Target Bearing: -60.66618167659068 +[vectornav-1] [INFO] [1746050944.004635549] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.90099999999995, -0.981, 0.741) +[main_algo-3] [INFO] [1746050944.005299635] [sailbot.main_algo]: Heading Difference: -103.91281832340928 +[main_algo-3] [INFO] [1746050944.006202349] [sailbot.main_algo]: Wind Direction: 264 +[main_algo-3] [INFO] [1746050944.007019355] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050944.007824498] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050944.009413469] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050944.044972816] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050944.045764668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050944.046333624] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050944.047827854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050944.048895127] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050944.085500269] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050944.087444756] [sailbot.teensy]: Wind angle: 264 +[trim_sail-4] [INFO] [1746050944.087951842] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050944.088482611] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050944.089422980] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050944.089332265] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050944.090354615] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050944.145112025] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050944.145703110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050944.146585818] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050944.147966071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050944.149116418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050944.244961796] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050944.245628034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050944.246255740] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050944.247746286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050944.248985038] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050944.335406394] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050944.337803107] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050944.338131655] [sailbot.teensy]: Wind angle: 266 +[mux-7] [INFO] [1746050944.338301828] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050944.338656862] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050944.339045588] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050944.339701104] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050944.344475177] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050944.345139411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050944.345608324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050944.346871161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050944.347919142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050944.445119416] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050944.445999990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050944.446555790] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050944.448091540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050944.448774421] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050944.456996619] [sailbot.main_algo]: Wind Direction: 266 +[main_algo-3] [INFO] [1746050944.457992140] [sailbot.main_algo]: Target Bearing: -60.66618167659068 +[main_algo-3] [INFO] [1746050944.458807508] [sailbot.main_algo]: Heading Difference: -103.43281832340938 +[main_algo-3] [INFO] [1746050944.459620776] [sailbot.main_algo]: Wind Direction: 266 +[main_algo-3] [INFO] [1746050944.460448487] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050944.461246197] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050944.462246654] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050944.462862900] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050944.502299408] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893597 Long: -76.50347793 +[main_algo-3] [INFO] [1746050944.503205088] [sailbot.main_algo]: Distance to destination: 27.56360835062033 +[vectornav-1] [INFO] [1746050944.503399825] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.731, 0.285, 4.493) +[main_algo-3] [INFO] [1746050944.504285735] [sailbot.main_algo]: Target Bearing: -60.466999735699694 +[main_algo-3] [INFO] [1746050944.505232324] [sailbot.main_algo]: Heading Difference: -103.63200026430036 +[main_algo-3] [INFO] [1746050944.506115970] [sailbot.main_algo]: Wind Direction: 266 +[main_algo-3] [INFO] [1746050944.506922777] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050944.507700247] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050944.509314946] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050944.544915285] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050944.545575695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050944.546170185] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050944.547448391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050944.548458998] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050944.585248680] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050944.587409213] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050944.588526187] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050944.588810940] [sailbot.teensy]: Wind angle: 266 +[teensy-2] [INFO] [1746050944.589768755] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050944.590607630] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050944.591520401] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050944.645009083] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050944.645713393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050944.646306308] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050944.647600241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050944.648683666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050944.744971482] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050944.745819819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050944.746259666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050944.747694948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050944.748562094] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050944.835154234] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050944.837352082] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050944.837882835] [sailbot.teensy]: Wind angle: 265 +[mux-7] [INFO] [1746050944.837981215] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050944.838929877] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050944.839856282] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050944.840805759] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050944.844485211] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050944.845162244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050944.845628598] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050944.846965473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050944.847992220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050944.943710568] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050944.944051042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050944.944201206] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050944.944825903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050944.945392609] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050944.956331521] [sailbot.main_algo]: Wind Direction: 265 +[main_algo-3] [INFO] [1746050944.956802018] [sailbot.main_algo]: Target Bearing: -60.466999735699694 +[main_algo-3] [INFO] [1746050944.957291517] [sailbot.main_algo]: Heading Difference: -103.80200026430032 +[main_algo-3] [INFO] [1746050944.957674800] [sailbot.main_algo]: Wind Direction: 265 +[main_algo-3] [INFO] [1746050944.958322372] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050944.958705182] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050944.959612264] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050944.960040342] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050945.003449574] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893546 Long: -76.50347865 +[main_algo-3] [INFO] [1746050945.003577687] [sailbot.main_algo]: Distance to destination: 27.54503464610113 +[main_algo-3] [INFO] [1746050945.004734139] [sailbot.main_algo]: Target Bearing: -60.30106927547533 +[vectornav-1] [INFO] [1746050945.005054135] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.20799999999997, 0.942, 1.441) +[main_algo-3] [INFO] [1746050945.006138331] [sailbot.main_algo]: Heading Difference: -103.96793072452465 +[main_algo-3] [INFO] [1746050945.007188100] [sailbot.main_algo]: Wind Direction: 265 +[main_algo-3] [INFO] [1746050945.008120149] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050945.009003564] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050945.010833139] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050945.044260799] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050945.044852822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050945.045258191] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050945.046612463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050945.047649658] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050945.085446544] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050945.087510791] [sailbot.teensy]: Wind angle: 266 +[teensy-2] [INFO] [1746050945.088515042] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050945.088281258] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050945.088826771] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050945.089771558] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050945.090690460] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050945.144878267] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050945.145635124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050945.146161687] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050945.147407243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050945.148414191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050945.244772356] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050945.245570473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050945.246067761] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050945.247644261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050945.248825363] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050945.335243694] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050945.337497462] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050945.338644437] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050945.338903292] [sailbot.teensy]: Wind angle: 266 +[teensy-2] [INFO] [1746050945.339888114] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050945.340568532] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050945.340933458] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050945.344330158] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050945.344813123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050945.345411010] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050945.346501812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050945.347532470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050945.445085699] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050945.445872309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050945.446541662] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050945.447933365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050945.449023645] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050945.456896685] [sailbot.main_algo]: Wind Direction: 266 +[main_algo-3] [INFO] [1746050945.457869934] [sailbot.main_algo]: Target Bearing: -60.30106927547533 +[main_algo-3] [INFO] [1746050945.458774260] [sailbot.main_algo]: Heading Difference: -103.49093072452467 +[main_algo-3] [INFO] [1746050945.459588098] [sailbot.main_algo]: Wind Direction: 266 +[main_algo-3] [INFO] [1746050945.460410600] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050945.461233517] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050945.462241039] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050945.462933220] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050945.503317376] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893465 Long: -76.50347914 +[main_algo-3] [INFO] [1746050945.503618843] [sailbot.main_algo]: Distance to destination: 27.488391637063955 +[vectornav-1] [INFO] [1746050945.504425865] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.19299999999998, -2.385, -0.789) +[main_algo-3] [INFO] [1746050945.504691886] [sailbot.main_algo]: Target Bearing: -60.13310313666847 +[main_algo-3] [INFO] [1746050945.505641015] [sailbot.main_algo]: Heading Difference: -103.65889686333156 +[main_algo-3] [INFO] [1746050945.506514635] [sailbot.main_algo]: Wind Direction: 266 +[main_algo-3] [INFO] [1746050945.507402331] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050945.508288850] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050945.509978936] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050945.544972501] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050945.545748111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050945.546242990] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050945.547717053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050945.548854133] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050945.585678586] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050945.588058928] [sailbot.teensy]: Wind angle: 266 +[trim_sail-4] [INFO] [1746050945.588613029] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050945.589160173] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050945.589859626] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050945.590100975] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050945.590998793] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050945.645237691] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050945.645790304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050945.646778833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050945.647794197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050945.648984772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050945.744960939] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050945.745550782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050945.746507390] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050945.747378599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050945.748258709] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050945.835109031] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050945.837491555] [sailbot.teensy]: Wind angle: 267 +[trim_sail-4] [INFO] [1746050945.837704031] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050945.839022799] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050945.839952801] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050945.840926013] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050945.841858578] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050945.844318953] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050945.844804773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050945.845422799] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050945.846439069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050945.847358330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050945.944930584] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050945.945779429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050945.946235829] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050945.947609491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050945.948053479] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050945.957102408] [sailbot.main_algo]: Wind Direction: 267 +[main_algo-3] [INFO] [1746050945.958199515] [sailbot.main_algo]: Target Bearing: -60.13310313666847 +[main_algo-3] [INFO] [1746050945.959150366] [sailbot.main_algo]: Heading Difference: -104.67389686333155 +[main_algo-3] [INFO] [1746050945.960027053] [sailbot.main_algo]: Wind Direction: 267 +[main_algo-3] [INFO] [1746050945.960839113] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050945.961634828] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050945.962626581] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050945.963201853] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050946.002699012] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689341 Long: -76.50347992 +[main_algo-3] [INFO] [1746050946.003597522] [sailbot.main_algo]: Distance to destination: 27.46902308688928 +[vectornav-1] [INFO] [1746050946.003825316] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.235, 0.161, 1.06) +[main_algo-3] [INFO] [1746050946.004685567] [sailbot.main_algo]: Target Bearing: -59.952901872911774 +[main_algo-3] [INFO] [1746050946.005595568] [sailbot.main_algo]: Heading Difference: -104.85409812708826 +[main_algo-3] [INFO] [1746050946.006428784] [sailbot.main_algo]: Wind Direction: 267 +[main_algo-3] [INFO] [1746050946.007236752] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050946.008024766] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050946.009667101] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050946.045122718] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050946.045850604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050946.046541918] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050946.048021571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050946.049162750] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050946.085219834] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050946.086993802] [sailbot.teensy]: Wind angle: 268 +[trim_sail-4] [INFO] [1746050946.087686400] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050946.087959796] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050946.088889821] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050946.089297601] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050946.090202978] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050946.144946056] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050946.145756906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050946.146242560] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050946.147632443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050946.148873202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050946.244955003] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050946.245854629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050946.246531689] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050946.247774359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050946.248845577] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050946.335183251] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050946.337482166] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050946.338441878] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050946.338651767] [sailbot.teensy]: Wind angle: 269 +[teensy-2] [INFO] [1746050946.339775876] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050946.340475600] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050946.340847219] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050946.344498605] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050946.345191257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050946.345730482] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050946.347097704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050946.348112314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050946.445019601] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050946.445608433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050946.446320418] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050946.447646522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050946.448673826] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050946.457075111] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050946.458032296] [sailbot.main_algo]: Target Bearing: -59.952901872911774 +[main_algo-3] [INFO] [1746050946.458960645] [sailbot.main_algo]: Heading Difference: -104.81209812708823 +[main_algo-3] [INFO] [1746050946.459767606] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050946.460586653] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050946.461382622] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050946.462350874] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050946.462997469] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050946.502667588] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893422 Long: -76.50348084 +[main_algo-3] [INFO] [1746050946.503693617] [sailbot.main_algo]: Distance to destination: 27.51953041664743 +[vectornav-1] [INFO] [1746050946.503934043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.735, 1.035, 4.318) +[main_algo-3] [INFO] [1746050946.504895717] [sailbot.main_algo]: Target Bearing: -59.83230970623544 +[main_algo-3] [INFO] [1746050946.505905115] [sailbot.main_algo]: Heading Difference: -104.93269029376455 +[main_algo-3] [INFO] [1746050946.506819783] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050946.507738547] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050946.508598212] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050946.510320749] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050946.544964894] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050946.545664120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050946.546287003] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050946.547518218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050946.548563744] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050946.585297254] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050946.587103527] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746050946.587543703] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050946.588117455] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050946.589039901] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050946.589242673] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050946.589900038] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050946.645202544] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050946.646085161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050946.646812078] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050946.648254369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050946.649450393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050946.744870288] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050946.745774392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050946.746110241] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050946.747494739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050946.748041671] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050946.835212380] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050946.837313975] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050946.837786189] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050946.838263928] [sailbot.teensy]: Wind angle: 269 +[teensy-2] [INFO] [1746050946.839202806] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050946.840060595] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050946.840910861] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050946.844300420] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050946.844865612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050946.845394136] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050946.846584884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050946.847724207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050946.945375267] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050946.946442135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050946.947039165] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050946.948411632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050946.948872576] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050946.957113603] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050946.958104335] [sailbot.main_algo]: Target Bearing: -59.83230970623544 +[main_algo-3] [INFO] [1746050946.959021615] [sailbot.main_algo]: Heading Difference: -104.43269029376455 +[main_algo-3] [INFO] [1746050946.959826318] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050946.960687734] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050946.961509223] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050946.962519403] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050946.963067512] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050947.003139762] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893389 Long: -76.50348122 +[main_algo-3] [INFO] [1746050947.003789525] [sailbot.main_algo]: Distance to destination: 27.504391664197435 +[vectornav-1] [INFO] [1746050947.004453234] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.94899999999996, -1.408, 0.602) +[main_algo-3] [INFO] [1746050947.004884512] [sailbot.main_algo]: Target Bearing: -59.737096643265154 +[main_algo-3] [INFO] [1746050947.005877351] [sailbot.main_algo]: Heading Difference: -104.52790335673484 +[main_algo-3] [INFO] [1746050947.006765009] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050947.007642979] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050947.008526205] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050947.010215499] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050947.045004118] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050947.045701372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050947.046304518] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050947.047610571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050947.048650865] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050947.085089682] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050947.087014436] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050947.087563532] [sailbot.teensy]: Wind angle: 269 +[teensy-2] [INFO] [1746050947.088575275] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050947.088885940] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050947.090203235] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050947.091318709] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050947.145029819] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050947.145733152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050947.146361015] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050947.147909614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050947.148943004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050947.245087957] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050947.245770091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050947.246407970] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050947.247678605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050947.248330412] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050947.335343865] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050947.337148876] [sailbot.teensy]: Wind angle: 268 +[teensy-2] [INFO] [1746050947.338121859] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050947.338234523] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050947.339081308] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050947.339414673] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050947.340084022] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050947.344248259] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050947.344937573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050947.345412553] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050947.346635740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050947.347762000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050947.445385192] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050947.446093842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050947.446943969] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050947.448593461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050947.449110556] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050947.457027630] [sailbot.main_algo]: Wind Direction: 268 +[main_algo-3] [INFO] [1746050947.457986497] [sailbot.main_algo]: Target Bearing: -59.737096643265154 +[main_algo-3] [INFO] [1746050947.458872950] [sailbot.main_algo]: Heading Difference: -104.3139033567349 +[main_algo-3] [INFO] [1746050947.459666816] [sailbot.main_algo]: Wind Direction: 268 +[main_algo-3] [INFO] [1746050947.460483616] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050947.461264762] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050947.462265824] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050947.463148503] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050947.502119091] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893316 Long: -76.50348157 +[main_algo-3] [INFO] [1746050947.502894447] [sailbot.main_algo]: Distance to destination: 27.450124363389858 +[vectornav-1] [INFO] [1746050947.502985988] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.39999999999998, 0.22, 0.299) +[main_algo-3] [INFO] [1746050947.503869789] [sailbot.main_algo]: Target Bearing: -59.59790141316965 +[main_algo-3] [INFO] [1746050947.504746684] [sailbot.main_algo]: Heading Difference: -104.45309858683038 +[main_algo-3] [INFO] [1746050947.505585653] [sailbot.main_algo]: Wind Direction: 268 +[main_algo-3] [INFO] [1746050947.506395674] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050947.507173204] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050947.508749936] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050947.544892911] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050947.545540788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050947.546617365] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050947.547437157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050947.548512072] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050947.585125871] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050947.586610552] [sailbot.teensy]: Wind angle: 269 +[teensy-2] [INFO] [1746050947.587455341] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050947.587209236] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050947.587642042] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050947.588320214] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050947.589181054] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050947.644877585] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050947.645656764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050947.646657813] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050947.647805943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050947.649011551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050947.745247294] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050947.746176770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050947.746848767] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050947.748253285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050947.748782559] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050947.835167473] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050947.837629441] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050947.837715412] [sailbot.teensy]: Wind angle: 269 +[teensy-2] [INFO] [1746050947.838668007] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050947.838924787] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050947.839193907] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050947.839560146] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050947.844528704] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050947.845067388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050947.845720512] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050947.846994739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050947.848201491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050947.945477535] [sailbot.mux]: Published sail angle from controller_app: 75 +[mux-7] [INFO] [1746050947.947077654] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050947.947154796] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050947.949222306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050947.950269429] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050947.957016470] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050947.957968345] [sailbot.main_algo]: Target Bearing: -59.59790141316965 +[main_algo-3] [INFO] [1746050947.958794128] [sailbot.main_algo]: Heading Difference: -104.00209858683036 +[main_algo-3] [INFO] [1746050947.959585489] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050947.960411756] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050947.961199843] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050947.962420629] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050947.962846143] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050948.003119206] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689327 Long: -76.50348222 +[main_algo-3] [INFO] [1746050948.003656617] [sailbot.main_algo]: Distance to destination: 27.434481036415413 +[vectornav-1] [INFO] [1746050948.004268346] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.18200000000002, -0.558, 2.84) +[main_algo-3] [INFO] [1746050948.004753413] [sailbot.main_algo]: Target Bearing: -59.44703266969282 +[main_algo-3] [INFO] [1746050948.005749041] [sailbot.main_algo]: Heading Difference: -104.1529673303072 +[main_algo-3] [INFO] [1746050948.006655162] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050948.007598169] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050948.008488443] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050948.010215688] [sailbot.mux]: algo rudder angle: -15 +[teensy-2] [INFO] [1746050948.045883195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050948.045884721] [sailbot.mux]: Published sail angle from controller_app: 75 +[mux-7] [INFO] [1746050948.047629581] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050948.047948269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050948.049161877] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050948.085201556] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050948.087288092] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050948.087407984] [sailbot.teensy]: Wind angle: 269 +[teensy-2] [INFO] [1746050948.088316175] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050948.088975237] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050948.089142471] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050948.090027463] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050948.144800070] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050948.145487646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050948.146525639] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050948.147278321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050948.148362026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050948.245085215] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050948.245854956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050948.246453919] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050948.247815176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050948.248981139] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050948.335254123] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050948.337026688] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746050948.337549064] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050948.337955185] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050948.338843710] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050948.339055758] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050948.339707912] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050948.344456550] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050948.345005985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050948.345535236] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050948.346696995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050948.347857248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050948.445104776] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050948.445879631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050948.446584525] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050948.448362055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050948.449391581] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050948.456938126] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050948.457905630] [sailbot.main_algo]: Target Bearing: -59.44703266969282 +[main_algo-3] [INFO] [1746050948.458743841] [sailbot.main_algo]: Heading Difference: -104.37096733030717 +[main_algo-3] [INFO] [1746050948.459603140] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050948.460433657] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050948.461261112] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050948.462273308] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050948.463017318] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050948.502818833] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893237 Long: -76.50348265 +[main_algo-3] [INFO] [1746050948.503895572] [sailbot.main_algo]: Distance to destination: 27.421808553599305 +[vectornav-1] [INFO] [1746050948.504053586] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (197.235, -0.052, 1.975) +[main_algo-3] [INFO] [1746050948.505100743] [sailbot.main_algo]: Target Bearing: -59.34400307367204 +[main_algo-3] [INFO] [1746050948.506058941] [sailbot.main_algo]: Heading Difference: -104.47399692632791 +[main_algo-3] [INFO] [1746050948.506964525] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050948.507822494] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050948.508674679] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050948.510427362] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050948.545096019] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050948.545928116] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050948.546548559] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050948.548276935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050948.549454730] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050948.585155146] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050948.587094689] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746050948.587504458] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050948.588080826] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050948.589108313] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050948.589722049] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050948.590316064] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050948.645112144] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050948.645887814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050948.646588747] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050948.648243161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050948.649374371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050948.745065678] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050948.745692484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050948.746798864] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050948.747669868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050948.748504149] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050948.835170274] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050948.837543558] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050948.838143211] [sailbot.teensy]: Wind angle: 269 +[mux-7] [INFO] [1746050948.838512265] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050948.839189897] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050948.840095113] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050948.840716441] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050948.844477719] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050948.845095849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050948.845677548] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050948.847089331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050948.848274425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050948.945489303] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050948.946235066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050948.947099853] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050948.948461792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050948.949535577] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050948.956951061] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050948.957898104] [sailbot.main_algo]: Target Bearing: -59.34400307367204 +[main_algo-3] [INFO] [1746050948.958738494] [sailbot.main_algo]: Heading Difference: -103.42099692632792 +[main_algo-3] [INFO] [1746050948.959523057] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050948.960333880] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050948.961156603] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050948.962132220] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050948.962745943] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050949.003023774] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893243 Long: -76.50348347 +[main_algo-3] [INFO] [1746050949.003644631] [sailbot.main_algo]: Distance to destination: 27.462932277890747 +[vectornav-1] [INFO] [1746050949.004377710] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.606, -0.519, 2.692) +[main_algo-3] [INFO] [1746050949.004791705] [sailbot.main_algo]: Target Bearing: -59.231587775145115 +[main_algo-3] [INFO] [1746050949.005859593] [sailbot.main_algo]: Heading Difference: -103.53341222485489 +[main_algo-3] [INFO] [1746050949.006772482] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050949.007663565] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050949.008559079] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050949.010488318] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050949.044983389] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050949.045575651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050949.046411635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050949.047631124] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050949.048802584] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050949.085475813] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050949.087968687] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050949.088221589] [sailbot.teensy]: Wind angle: 269 +[teensy-2] [INFO] [1746050949.089134627] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050949.089315248] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050949.090005731] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050949.090899153] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050949.145150871] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050949.145800947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050949.146628528] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050949.147642117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050949.148736490] [sailbot.teensy]: Message sent to servo +[rosbridge_websocket-8] [INFO] [1746050949.198938192] [rosbridge_websocket]: Calling services in existing thread +[rosbridge_websocket-8] [INFO] [1746050949.200081207] [rosbridge_websocket]: Sending action goals in existing thread +[rosbridge_websocket-8] [INFO] [1746050949.201672317] [rosbridge_websocket]: Client connected. 2 clients total. +[mux-7] [INFO] [1746050949.245069578] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050949.245907060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050949.246471594] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050949.247926156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050949.248661075] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050949.335275773] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050949.337982430] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050949.338105309] [sailbot.teensy]: Wind angle: 269 +[mux-7] [INFO] [1746050949.338989071] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050949.339033193] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050949.339962882] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050949.340950273] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050949.344406250] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050949.344886130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050949.345850228] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050949.346628476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050949.347760791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050949.445381191] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050949.446345974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050949.447054182] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050949.448513729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050949.449048982] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050949.457035068] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050949.457988332] [sailbot.main_algo]: Target Bearing: -59.231587775145115 +[main_algo-3] [INFO] [1746050949.458829016] [sailbot.main_algo]: Heading Difference: -104.1624122248549 +[main_algo-3] [INFO] [1746050949.459618585] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050949.460447816] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050949.461231437] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050949.462239623] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050949.463077408] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050949.503029573] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893175 Long: -76.50348375 +[main_algo-3] [INFO] [1746050949.504181876] [sailbot.main_algo]: Distance to destination: 27.410927406583188 +[main_algo-3] [INFO] [1746050949.505769757] [sailbot.main_algo]: Target Bearing: -59.107536783762114 +[vectornav-1] [INFO] [1746050949.506077120] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (198.57299999999998, 1.369, 0.081) +[main_algo-3] [INFO] [1746050949.506814336] [sailbot.main_algo]: Heading Difference: -104.2864632162379 +[main_algo-3] [INFO] [1746050949.507756760] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050949.508640140] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050949.509479310] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050949.511360175] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050949.545359589] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050949.545654767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050949.546849690] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050949.547672209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050949.548802316] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050949.585071805] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050949.586836090] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746050949.587258499] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050949.587841465] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050949.588845042] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050949.589177693] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050949.589738454] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050949.645190414] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050949.645994223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050949.646662889] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050949.648100769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050949.649246273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050949.745200715] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050949.746043357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050949.746911960] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050949.747735435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050949.748217645] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050949.835309083] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050949.837051245] [sailbot.teensy]: Wind angle: 274 +[trim_sail-4] [INFO] [1746050949.837541055] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050949.837933447] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050949.838747411] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050949.838802857] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050949.839691924] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050949.844443310] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050949.845035878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050949.845581981] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050949.846776653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050949.847877756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050949.945021739] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050949.945735797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050949.946497130] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050949.947691493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050949.948403907] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050949.957060650] [sailbot.main_algo]: Wind Direction: 274 +[main_algo-3] [INFO] [1746050949.958067905] [sailbot.main_algo]: Target Bearing: -59.107536783762114 +[main_algo-3] [INFO] [1746050949.958964543] [sailbot.main_algo]: Heading Difference: -102.31946321623792 +[main_algo-3] [INFO] [1746050949.959772577] [sailbot.main_algo]: Wind Direction: 274 +[main_algo-3] [INFO] [1746050949.960617374] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050949.961407629] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050949.962537217] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050949.963033126] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050950.002840484] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893103 Long: -76.50348378 +[main_algo-3] [INFO] [1746050950.003454751] [sailbot.main_algo]: Distance to destination: 27.344387065047687 +[vectornav-1] [INFO] [1746050950.004351322] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (199.48800000000006, -3.377, 0.824) +[main_algo-3] [INFO] [1746050950.004490153] [sailbot.main_algo]: Target Bearing: -59.014591050124004 +[main_algo-3] [INFO] [1746050950.005414066] [sailbot.main_algo]: Heading Difference: -102.41240894987601 +[main_algo-3] [INFO] [1746050950.006247786] [sailbot.main_algo]: Wind Direction: 274 +[main_algo-3] [INFO] [1746050950.007066766] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050950.007838988] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050950.009460823] [sailbot.mux]: algo rudder angle: -15 +[teensy-2] [INFO] [1746050950.045426491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050950.045428543] [sailbot.mux]: Published sail angle from controller_app: 75 +[mux-7] [INFO] [1746050950.046972178] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050950.047348966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050950.048606111] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050950.085488666] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050950.087741134] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050950.089249442] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050950.089345273] [sailbot.teensy]: Wind angle: 274 +[teensy-2] [INFO] [1746050950.090329696] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050950.091175613] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050950.092048495] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050950.144814484] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050950.145492790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050950.146017251] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050950.147374961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050950.148433725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050950.245147525] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050950.245848492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050950.246943303] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050950.247887217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050950.249134466] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050950.335227090] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050950.337189004] [sailbot.teensy]: Wind angle: 273 +[trim_sail-4] [INFO] [1746050950.337699638] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050950.338842957] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050950.339079079] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050950.339242893] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050950.339617760] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050950.344649557] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050950.345657150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050950.345998705] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050950.347454561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050950.348501523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050950.445579430] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050950.446311710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050950.447412057] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050950.448764939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050950.449297031] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050950.457077230] [sailbot.main_algo]: Wind Direction: 273 +[main_algo-3] [INFO] [1746050950.458034447] [sailbot.main_algo]: Target Bearing: -59.014591050124004 +[main_algo-3] [INFO] [1746050950.458932426] [sailbot.main_algo]: Heading Difference: -101.49740894987593 +[main_algo-3] [INFO] [1746050950.459804696] [sailbot.main_algo]: Wind Direction: 273 +[main_algo-3] [INFO] [1746050950.460641080] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050950.461434733] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050950.462708262] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050950.463050416] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050950.502637089] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893064 Long: -76.50348488 +[main_algo-3] [INFO] [1746050950.503438865] [sailbot.main_algo]: Distance to destination: 27.355766560987643 +[vectornav-1] [INFO] [1746050950.503862885] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (199.68200000000002, 3.38, 4.349) +[main_algo-3] [INFO] [1746050950.504889114] [sailbot.main_algo]: Target Bearing: -58.80586951004426 +[main_algo-3] [INFO] [1746050950.505906198] [sailbot.main_algo]: Heading Difference: -101.70613048995568 +[main_algo-3] [INFO] [1746050950.507121969] [sailbot.main_algo]: Wind Direction: 273 +[main_algo-3] [INFO] [1746050950.508048040] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050950.508925884] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050950.510668667] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050950.544960246] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050950.545542944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050950.546216323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050950.547340940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050950.548409986] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050950.585213529] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050950.586860835] [sailbot.teensy]: Wind angle: 274 +[teensy-2] [INFO] [1746050950.587759684] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050950.587648423] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050950.588660348] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050950.588968792] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050950.589560326] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050950.644877466] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050950.645640307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050950.646173667] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050950.647545054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050950.648616865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050950.745460059] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050950.746243055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050950.747335267] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050950.748970828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050950.750115711] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050950.835304396] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050950.836959144] [sailbot.teensy]: Wind angle: 270 +[trim_sail-4] [INFO] [1746050950.837938687] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746050950.838871978] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050950.839479532] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050950.840431142] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050950.841317235] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050950.844317026] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050950.844791804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050950.845389230] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050950.846460810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050950.847575699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050950.945179191] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050950.945859156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050950.946637805] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050950.948281813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050950.949431699] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050950.956944188] [sailbot.main_algo]: Wind Direction: 270 +[main_algo-3] [INFO] [1746050950.957896983] [sailbot.main_algo]: Target Bearing: -58.80586951004426 +[main_algo-3] [INFO] [1746050950.958746587] [sailbot.main_algo]: Heading Difference: -101.51213048995572 +[main_algo-3] [INFO] [1746050950.959533266] [sailbot.main_algo]: Wind Direction: 270 +[main_algo-3] [INFO] [1746050950.960398839] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050950.961196769] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050950.962506474] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050950.962796195] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050951.003034467] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893051 Long: -76.50348491 +[main_algo-3] [INFO] [1746050951.003388702] [sailbot.main_algo]: Distance to destination: 27.34486730387502 +[vectornav-1] [INFO] [1746050951.004164851] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (200.04999999999995, -3.172, 0.825) +[main_algo-3] [INFO] [1746050951.004442193] [sailbot.main_algo]: Target Bearing: -58.785372110627044 +[main_algo-3] [INFO] [1746050951.005353745] [sailbot.main_algo]: Heading Difference: -101.53262788937292 +[main_algo-3] [INFO] [1746050951.006201514] [sailbot.main_algo]: Wind Direction: 270 +[main_algo-3] [INFO] [1746050951.007084049] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050951.007943151] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050951.009525416] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050951.045424416] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050951.045530444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050951.046864009] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050951.047328896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050951.048556089] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050951.085225851] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050951.087036081] [sailbot.teensy]: Wind angle: 264 +[trim_sail-4] [INFO] [1746050951.087698915] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050951.087903825] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050951.088020828] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050951.088884428] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050951.089822094] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050951.145002442] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050951.145630994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050951.146419726] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050951.147506483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050951.148690209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050951.245126197] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050951.245726535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050951.246698198] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050951.247670397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050951.248750412] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050951.335110600] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050951.337380756] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050951.337530103] [sailbot.teensy]: Wind angle: 265 +[teensy-2] [INFO] [1746050951.338427139] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050951.339183449] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050951.339347432] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050951.340219699] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050951.344432598] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050951.344877906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050951.345622810] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050951.346567178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050951.347650017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050951.445183763] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050951.445706729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050951.446761834] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050951.447976276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050951.449070211] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050951.457126562] [sailbot.main_algo]: Wind Direction: 265 +[main_algo-3] [INFO] [1746050951.458170041] [sailbot.main_algo]: Target Bearing: -58.785372110627044 +[main_algo-3] [INFO] [1746050951.459067168] [sailbot.main_algo]: Heading Difference: -101.16462788937298 +[main_algo-3] [INFO] [1746050951.459924749] [sailbot.main_algo]: Wind Direction: 265 +[main_algo-3] [INFO] [1746050951.460763694] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050951.461552003] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050951.462834748] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050951.463092179] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050951.503615182] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892938 Long: -76.503485 +[vectornav-1] [INFO] [1746050951.507232663] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (200.86199999999997, 0.647, -0.665) +[main_algo-3] [INFO] [1746050951.504630762] [sailbot.main_algo]: Distance to destination: 27.242752802698153 +[main_algo-3] [INFO] [1746050951.505711831] [sailbot.main_algo]: Target Bearing: -58.63144340491621 +[main_algo-3] [INFO] [1746050951.506983456] [sailbot.main_algo]: Heading Difference: -101.3185565950838 +[main_algo-3] [INFO] [1746050951.507954424] [sailbot.main_algo]: Wind Direction: 265 +[main_algo-3] [INFO] [1746050951.508867083] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050951.509718901] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050951.511474994] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050951.545599625] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050951.545785790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050951.547126059] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050951.547999612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050951.549174732] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050951.585178046] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050951.586696775] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746050951.587266231] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050951.588642453] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050951.589359034] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050951.589789112] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050951.590710538] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050951.644965274] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050951.645481988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050951.646296290] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050951.647330689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050951.648444538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050951.744735672] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050951.745405175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050951.745934397] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050951.747189646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050951.748343514] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050951.835483180] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050951.837459064] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746050951.838204270] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050951.838456024] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050951.839360505] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050951.840248441] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050951.840270110] [sailbot.mux]: algo sail angle: 30 +[mux-7] [INFO] [1746050951.844575949] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050951.844951443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050951.845859639] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050951.846663512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050951.847943345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050951.945418150] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050951.946016357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050951.946979777] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050951.948305348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050951.949548025] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050951.956973860] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050951.957926305] [sailbot.main_algo]: Target Bearing: -58.63144340491621 +[main_algo-3] [INFO] [1746050951.958769231] [sailbot.main_algo]: Heading Difference: -100.5065565950838 +[main_algo-3] [INFO] [1746050951.959572794] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050951.960392985] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050951.961183687] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050951.962266024] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050951.962759638] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050952.002896852] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892858 Long: -76.50348517 +[main_algo-3] [INFO] [1746050952.003748679] [sailbot.main_algo]: Distance to destination: 27.175274533016 +[main_algo-3] [INFO] [1746050952.004842155] [sailbot.main_algo]: Target Bearing: -58.50622791746941 +[vectornav-1] [INFO] [1746050952.005124342] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (201.38300000000004, -1.808, 1.519) +[main_algo-3] [INFO] [1746050952.005857881] [sailbot.main_algo]: Heading Difference: -100.63177208253063 +[main_algo-3] [INFO] [1746050952.006808235] [sailbot.main_algo]: Wind Direction: 269 +[main_algo-3] [INFO] [1746050952.007709991] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050952.008591929] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050952.010350802] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050952.045384470] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050952.045625243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050952.046628869] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050952.047441351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050952.048625067] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050952.085229887] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050952.086840032] [sailbot.teensy]: Wind angle: 272 +[trim_sail-4] [INFO] [1746050952.087454309] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050952.087723550] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050952.088628367] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050952.089476318] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050952.089471344] [sailbot.mux]: algo sail angle: 35 +[mux-7] [INFO] [1746050952.144878180] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050952.145678636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050952.146132473] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050952.147504909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050952.148585257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050952.244842868] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050952.245710351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050952.246116893] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050952.247511629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050952.248586459] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050952.335154732] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050952.337759477] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050952.338409372] [sailbot.teensy]: Wind angle: 275 +[mux-7] [INFO] [1746050952.338630483] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050952.339340062] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050952.340228384] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050952.341163323] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050952.344404086] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050952.345038300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050952.345623107] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050952.346779425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050952.347796858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050952.445328854] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050952.445811227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050952.446837268] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050952.447874507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050952.448969568] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050952.457169548] [sailbot.main_algo]: Wind Direction: 275 +[main_algo-3] [INFO] [1746050952.458216538] [sailbot.main_algo]: Target Bearing: -58.50622791746941 +[main_algo-3] [INFO] [1746050952.459108642] [sailbot.main_algo]: Heading Difference: -100.11077208253056 +[main_algo-3] [INFO] [1746050952.459948128] [sailbot.main_algo]: Wind Direction: 275 +[main_algo-3] [INFO] [1746050952.460910434] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050952.461729395] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050952.462835074] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050952.463336372] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050952.502960816] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892875 Long: -76.50348615 +[main_algo-3] [INFO] [1746050952.503954931] [sailbot.main_algo]: Distance to destination: 27.234562660407683 +[vectornav-1] [INFO] [1746050952.504268859] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (200.93499999999995, 1.985, 1.811) +[main_algo-3] [INFO] [1746050952.505129508] [sailbot.main_algo]: Target Bearing: -58.38461813093578 +[main_algo-3] [INFO] [1746050952.506106603] [sailbot.main_algo]: Heading Difference: -100.23238186906417 +[main_algo-3] [INFO] [1746050952.507009108] [sailbot.main_algo]: Wind Direction: 275 +[main_algo-3] [INFO] [1746050952.507893264] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050952.508746632] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050952.510527190] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050952.544986311] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050952.545568025] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050952.546301592] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050952.547381714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050952.548582759] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050952.585236891] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050952.587349804] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050952.587528207] [sailbot.teensy]: Wind angle: 275 +[mux-7] [INFO] [1746050952.587924765] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050952.588428592] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050952.589363896] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050952.590233952] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050952.645223292] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050952.645951371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050952.646693371] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050952.648111053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050952.649175255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050952.745433345] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050952.746454649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050952.747020042] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050952.748307563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050952.748804333] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050952.835394509] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050952.837489359] [sailbot.teensy]: Wind angle: 272 +[trim_sail-4] [INFO] [1746050952.837750858] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050952.838672081] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050952.839658004] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050952.839947445] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050952.840609950] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050952.844347406] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050952.844873620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050952.845457319] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050952.846640579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050952.847674516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050952.945192429] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050952.945930346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050952.946720917] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050952.948302584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050952.949614777] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050952.957009945] [sailbot.main_algo]: Wind Direction: 272 +[main_algo-3] [INFO] [1746050952.957969812] [sailbot.main_algo]: Target Bearing: -58.38461813093578 +[main_algo-3] [INFO] [1746050952.958816359] [sailbot.main_algo]: Heading Difference: -100.68038186906426 +[main_algo-3] [INFO] [1746050952.959599858] [sailbot.main_algo]: Wind Direction: 272 +[main_algo-3] [INFO] [1746050952.960425228] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050952.961211415] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050952.962186899] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050952.962846146] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050953.002950595] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892803 Long: -76.50348603 +[main_algo-3] [INFO] [1746050953.003988942] [sailbot.main_algo]: Distance to destination: 27.161923210757106 +[vectornav-1] [INFO] [1746050953.005481179] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (201.28700000000003, -2.223, 1.118) +[main_algo-3] [INFO] [1746050953.005496973] [sailbot.main_algo]: Target Bearing: -58.31119344818301 +[main_algo-3] [INFO] [1746050953.006541017] [sailbot.main_algo]: Heading Difference: -100.75380655181704 +[main_algo-3] [INFO] [1746050953.007466447] [sailbot.main_algo]: Wind Direction: 272 +[main_algo-3] [INFO] [1746050953.008388846] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050953.009276655] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050953.011086452] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050953.045072371] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050953.045889828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050953.046675707] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050953.047948242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050953.049005883] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050953.085236965] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050953.087351483] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050953.087364606] [sailbot.teensy]: Wind angle: 271 +[teensy-2] [INFO] [1746050953.088397369] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050953.088766876] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050953.089366381] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050953.090298388] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050953.144968308] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050953.145713316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050953.146212627] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050953.147752129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050953.148763046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050953.244872107] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050953.245588322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050953.246258189] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050953.247654159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050953.248696251] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050953.335224019] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050953.336968954] [sailbot.teensy]: Wind angle: 271 +[teensy-2] [INFO] [1746050953.338043935] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050953.337795457] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050953.338794481] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050953.338977509] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050953.339893500] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050953.344396563] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050953.344961482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050953.345506168] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050953.346670402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050953.347634564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050953.445317600] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050953.446059579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050953.447121200] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050953.448067749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050953.448603176] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050953.457075865] [sailbot.main_algo]: Wind Direction: 271 +[main_algo-3] [INFO] [1746050953.458059937] [sailbot.main_algo]: Target Bearing: -58.31119344818301 +[main_algo-3] [INFO] [1746050953.458892184] [sailbot.main_algo]: Heading Difference: -100.40180655181695 +[main_algo-3] [INFO] [1746050953.459685842] [sailbot.main_algo]: Wind Direction: 271 +[main_algo-3] [INFO] [1746050953.460513860] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050953.461303312] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050953.462399438] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050953.462990480] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050953.502370890] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689274 Long: -76.50348627 +[main_algo-3] [INFO] [1746050953.503162657] [sailbot.main_algo]: Distance to destination: 27.113764370858455 +[vectornav-1] [INFO] [1746050953.503478105] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (200.82799999999997, 1.215, 1.171) +[main_algo-3] [INFO] [1746050953.504237425] [sailbot.main_algo]: Target Bearing: -58.19621985635489 +[main_algo-3] [INFO] [1746050953.505201327] [sailbot.main_algo]: Heading Difference: -100.51678014364506 +[main_algo-3] [INFO] [1746050953.506119184] [sailbot.main_algo]: Wind Direction: 271 +[main_algo-3] [INFO] [1746050953.507015776] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050953.507855241] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050953.509549697] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050953.545432804] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050953.545507712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050953.546750769] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050953.547399553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050953.548560227] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050953.585250688] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050953.587112939] [sailbot.teensy]: Wind angle: 272 +[teensy-2] [INFO] [1746050953.588048736] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050953.587421834] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050953.588949006] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050953.589006348] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050953.589842542] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050953.644823744] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050953.645352270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050953.646014153] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050953.647092489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050953.648251210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050953.745403770] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050953.746122516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050953.747166748] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050953.748298912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050953.749439785] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050953.835058747] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050953.836930941] [sailbot.teensy]: Wind angle: 273 +[teensy-2] [INFO] [1746050953.837818784] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050953.837043078] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050953.838614199] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050953.839081441] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050953.839992296] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050953.844466906] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050953.845045287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050953.845599033] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050953.846779870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050953.847888920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050953.944993075] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050953.945697536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050953.946408151] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050953.947941121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050953.949069514] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050953.957005730] [sailbot.main_algo]: Wind Direction: 273 +[main_algo-3] [INFO] [1746050953.958017481] [sailbot.main_algo]: Target Bearing: -58.19621985635489 +[main_algo-3] [INFO] [1746050953.958895789] [sailbot.main_algo]: Heading Difference: -100.97578014364512 +[main_algo-3] [INFO] [1746050953.959756061] [sailbot.main_algo]: Wind Direction: 273 +[main_algo-3] [INFO] [1746050953.960604733] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050953.961430718] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050953.962461416] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050953.962985507] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050954.002939946] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892663 Long: -76.50348639 +[main_algo-3] [INFO] [1746050954.003669653] [sailbot.main_algo]: Distance to destination: 27.047301267535733 +[vectornav-1] [INFO] [1746050954.004045254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (201.212, -2.149, 3.204) +[main_algo-3] [INFO] [1746050954.004716158] [sailbot.main_algo]: Target Bearing: -58.08047275241943 +[main_algo-3] [INFO] [1746050954.005719124] [sailbot.main_algo]: Heading Difference: -101.09152724758059 +[main_algo-3] [INFO] [1746050954.006568189] [sailbot.main_algo]: Wind Direction: 273 +[main_algo-3] [INFO] [1746050954.007386646] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050954.008206457] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050954.009798334] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050954.045213855] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050954.045823361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050954.046785130] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050954.047809609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050954.049054341] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050954.085326071] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050954.087116155] [sailbot.teensy]: Wind angle: 273 +[teensy-2] [INFO] [1746050954.088056875] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050954.087729555] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050954.089013824] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050954.089753471] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050954.089860131] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050954.145033078] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050954.146022481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050954.146430876] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050954.148031237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050954.149063034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050954.245396752] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050954.246207703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050954.246937495] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050954.248401759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050954.249453749] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050954.335362256] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050954.337811477] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050954.338609620] [sailbot.teensy]: Wind angle: 272 +[teensy-2] [INFO] [1746050954.339563196] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050954.340092666] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050954.340528124] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050954.341398328] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050954.344274630] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050954.344911085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050954.345384829] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050954.346591112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050954.347759176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050954.445177557] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050954.445848594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050954.446754358] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050954.447725283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050954.448270450] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050954.457093571] [sailbot.main_algo]: Wind Direction: 272 +[main_algo-3] [INFO] [1746050954.458090386] [sailbot.main_algo]: Target Bearing: -58.08047275241943 +[main_algo-3] [INFO] [1746050954.458972472] [sailbot.main_algo]: Heading Difference: -100.70752724758057 +[main_algo-3] [INFO] [1746050954.459829347] [sailbot.main_algo]: Wind Direction: 272 +[main_algo-3] [INFO] [1746050954.460670468] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050954.461565505] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050954.463052905] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050954.463122190] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050954.502894519] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689265 Long: -76.5034871 +[main_algo-3] [INFO] [1746050954.503776447] [sailbot.main_algo]: Distance to destination: 27.066982681509643 +[vectornav-1] [INFO] [1746050954.504402944] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (199.85799999999995, 1.109, 3.134) +[main_algo-3] [INFO] [1746050954.504889590] [sailbot.main_algo]: Target Bearing: -57.96014145459183 +[main_algo-3] [INFO] [1746050954.505911662] [sailbot.main_algo]: Heading Difference: -100.82785854540816 +[main_algo-3] [INFO] [1746050954.506816368] [sailbot.main_algo]: Wind Direction: 272 +[main_algo-3] [INFO] [1746050954.507699130] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050954.508551919] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050954.510296044] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050954.544940803] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050954.545750573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050954.546189691] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050954.547666839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050954.548702744] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050954.585262069] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050954.587002446] [sailbot.teensy]: Wind angle: 272 +[trim_sail-4] [INFO] [1746050954.587482532] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050954.587983538] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050954.588941961] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050954.588962505] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050954.589842340] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050954.644801470] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050954.645539285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050954.646112813] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050954.647368820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050954.648589436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050954.745141490] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050954.745822911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050954.746860060] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050954.748144406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050954.749386899] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050954.835275770] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050954.837668615] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050954.837883521] [sailbot.teensy]: Wind angle: 273 +[mux-7] [INFO] [1746050954.838285340] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050954.838880779] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050954.839819525] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050954.840737613] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050954.844318289] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050954.844896040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050954.846007690] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050954.846771472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050954.847889559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050954.944838337] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050954.945516322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050954.946099669] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050954.947365663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050954.948458191] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050954.956945162] [sailbot.main_algo]: Wind Direction: 273 +[main_algo-3] [INFO] [1746050954.957909424] [sailbot.main_algo]: Target Bearing: -57.96014145459183 +[main_algo-3] [INFO] [1746050954.958779785] [sailbot.main_algo]: Heading Difference: -102.1818585454082 +[main_algo-3] [INFO] [1746050954.959585584] [sailbot.main_algo]: Wind Direction: 273 +[main_algo-3] [INFO] [1746050954.960427532] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050954.961227969] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050954.962245253] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050954.962809538] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050955.003503296] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892601 Long: -76.5034872 +[main_algo-3] [INFO] [1746050955.003753127] [sailbot.main_algo]: Distance to destination: 27.02588126843672 +[main_algo-3] [INFO] [1746050955.004903053] [sailbot.main_algo]: Target Bearing: -57.88260343460076 +[vectornav-1] [INFO] [1746050955.005214015] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (199.48000000000002, -0.802, 1.983) +[main_algo-3] [INFO] [1746050955.005898599] [sailbot.main_algo]: Heading Difference: -102.2593965653993 +[main_algo-3] [INFO] [1746050955.006841396] [sailbot.main_algo]: Wind Direction: 273 +[main_algo-3] [INFO] [1746050955.007706595] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050955.008565294] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050955.010260186] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050955.045184171] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050955.045920691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050955.047050149] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050955.047864571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050955.049021591] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050955.085271917] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050955.087101786] [sailbot.teensy]: Wind angle: 273 +[trim_sail-4] [INFO] [1746050955.087545847] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050955.088116615] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050955.089029434] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050955.088986144] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050955.089892302] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050955.144780085] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050955.145448240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050955.145925769] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050955.147165775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050955.148508761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050955.244786475] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050955.245340762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050955.245954769] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050955.247026461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050955.248087438] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050955.335181278] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050955.337750893] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050955.337866053] [sailbot.teensy]: Wind angle: 272 +[mux-7] [INFO] [1746050955.338219567] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050955.338832359] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050955.339749912] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050955.340596284] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050955.344243353] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050955.344910671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050955.345377361] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050955.346631185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050955.347675144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050955.444680171] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050955.445253782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050955.445841348] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050955.446981524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050955.448060902] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050955.457157847] [sailbot.main_algo]: Wind Direction: 272 +[main_algo-3] [INFO] [1746050955.458123293] [sailbot.main_algo]: Target Bearing: -57.88260343460076 +[main_algo-3] [INFO] [1746050955.458975438] [sailbot.main_algo]: Heading Difference: -102.63739656539923 +[main_algo-3] [INFO] [1746050955.459770959] [sailbot.main_algo]: Wind Direction: 272 +[main_algo-3] [INFO] [1746050955.460592689] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050955.461383693] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050955.462385637] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050955.463128938] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050955.502708011] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892514 Long: -76.50348693 +[vectornav-1] [INFO] [1746050955.503874257] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (199.024, -0.896, -0.199) +[main_algo-3] [INFO] [1746050955.504285887] [sailbot.main_algo]: Distance to destination: 26.932857653367233 +[main_algo-3] [INFO] [1746050955.505443302] [sailbot.main_algo]: Target Bearing: -57.80980377844454 +[main_algo-3] [INFO] [1746050955.506384734] [sailbot.main_algo]: Heading Difference: -102.71019622155546 +[main_algo-3] [INFO] [1746050955.507251995] [sailbot.main_algo]: Wind Direction: 272 +[main_algo-3] [INFO] [1746050955.508098756] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050955.508992529] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050955.510761433] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050955.544917319] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050955.545749367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050955.546187070] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050955.547704584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050955.548835653] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050955.585110190] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050955.587122040] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050955.587361277] [sailbot.teensy]: Wind angle: 272 +[mux-7] [INFO] [1746050955.587803291] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050955.588247704] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050955.589068055] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050955.589847138] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050955.645220723] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050955.646049344] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050955.646691648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050955.648477645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050955.649539271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050955.744895480] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050955.745772770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050955.746173316] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050955.747761460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050955.748658247] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050955.835173142] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050955.837353892] [sailbot.teensy]: Wind angle: 272 +[trim_sail-4] [INFO] [1746050955.837375956] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050955.838381421] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050955.838721070] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050955.839260508] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050955.840229479] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050955.844509220] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050955.845054075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050955.845727779] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050955.846804806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050955.847810396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050955.945006008] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050955.945741882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050955.946424492] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050955.947658053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050955.948788080] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050955.956977006] [sailbot.main_algo]: Wind Direction: 272 +[main_algo-3] [INFO] [1746050955.957945069] [sailbot.main_algo]: Target Bearing: -57.80980377844454 +[main_algo-3] [INFO] [1746050955.958789200] [sailbot.main_algo]: Heading Difference: -103.16619622155548 +[main_algo-3] [INFO] [1746050955.959573222] [sailbot.main_algo]: Wind Direction: 272 +[main_algo-3] [INFO] [1746050955.960400114] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050955.961189889] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050955.962297068] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050955.962769542] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050956.002864772] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892444 Long: -76.5034869 +[main_algo-3] [INFO] [1746050956.003286758] [sailbot.main_algo]: Distance to destination: 26.866490347702165 +[vectornav-1] [INFO] [1746050956.003877447] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (198.00400000000002, -0.055, 1.907) +[main_algo-3] [INFO] [1746050956.004257761] [sailbot.main_algo]: Target Bearing: -57.72341053681732 +[main_algo-3] [INFO] [1746050956.005157164] [sailbot.main_algo]: Heading Difference: -103.25258946318269 +[main_algo-3] [INFO] [1746050956.006048083] [sailbot.main_algo]: Wind Direction: 272 +[main_algo-3] [INFO] [1746050956.006895461] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050956.007696334] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050956.009290217] [sailbot.mux]: algo rudder angle: -15 +[teensy-2] [INFO] [1746050956.045511020] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050956.045578836] [sailbot.mux]: Published sail angle from controller_app: 75 +[mux-7] [INFO] [1746050956.047029740] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050956.047449005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050956.048570682] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050956.085433831] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050956.087309457] [sailbot.teensy]: Wind angle: 272 +[teensy-2] [INFO] [1746050956.088336858] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050956.088634155] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050956.089250210] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050956.089680968] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050956.090156117] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050956.144952262] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050956.145547836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050956.146257982] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050956.147430153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050956.148702729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050956.244950435] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050956.245747219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050956.246305614] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050956.247563212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050956.248750212] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050956.335207410] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050956.337596436] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050956.338073505] [sailbot.teensy]: Wind angle: 272 +[mux-7] [INFO] [1746050956.338257054] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050956.338750143] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050956.339129026] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050956.339488832] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050956.344338772] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050956.344985404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050956.345711895] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050956.346673669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050956.347832795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050956.445001927] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050956.445795562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050956.446674808] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050956.447763602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050956.448872919] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050956.457029647] [sailbot.main_algo]: Wind Direction: 272 +[main_algo-3] [INFO] [1746050956.458041668] [sailbot.main_algo]: Target Bearing: -57.72341053681732 +[main_algo-3] [INFO] [1746050956.458897940] [sailbot.main_algo]: Heading Difference: -104.27258946318267 +[main_algo-3] [INFO] [1746050956.459684493] [sailbot.main_algo]: Wind Direction: 272 +[main_algo-3] [INFO] [1746050956.460489783] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050956.461287671] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050956.462328240] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050956.463172462] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050956.503170593] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892486 Long: -76.50348745 +[main_algo-3] [INFO] [1746050956.503523254] [sailbot.main_algo]: Distance to destination: 26.930305417049457 +[vectornav-1] [INFO] [1746050956.504392483] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.688, -1.72, 4.174) +[main_algo-3] [INFO] [1746050956.504553618] [sailbot.main_algo]: Target Bearing: -57.697460409827826 +[main_algo-3] [INFO] [1746050956.505472104] [sailbot.main_algo]: Heading Difference: -104.29853959017214 +[main_algo-3] [INFO] [1746050956.506335784] [sailbot.main_algo]: Wind Direction: 272 +[main_algo-3] [INFO] [1746050956.507222489] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050956.508037357] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050956.509640315] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050956.544965136] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050956.545633132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050956.546402940] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050956.547618402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050956.548765977] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050956.585432219] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050956.587719769] [sailbot.teensy]: Wind angle: 272 +[trim_sail-4] [INFO] [1746050956.587974426] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050956.588685304] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050956.589557456] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050956.589615712] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050956.590422153] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050956.644884990] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050956.645553412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050956.646154993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050956.647464341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050956.648312817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050956.745037817] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050956.745694281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050956.746443032] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050956.747629947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050956.748683604] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050956.835222676] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050956.836898159] [sailbot.teensy]: Wind angle: 272 +[teensy-2] [INFO] [1746050956.837809670] [sailbot.teensy]: Actual sail angle: 75 +[trim_sail-4] [INFO] [1746050956.837644216] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050956.838673537] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050956.839108838] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050956.838695643] [sailbot.mux]: algo sail angle: 35 +[mux-7] [INFO] [1746050956.844353987] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050956.845024959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050956.845469231] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050956.846833324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050956.847826037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050956.945187198] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050956.946124385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050956.947148936] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050956.948595237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050956.949882014] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050956.957178321] [sailbot.main_algo]: Wind Direction: 272 +[main_algo-3] [INFO] [1746050956.958238929] [sailbot.main_algo]: Target Bearing: -57.697460409827826 +[main_algo-3] [INFO] [1746050956.959168234] [sailbot.main_algo]: Heading Difference: -105.61453959017217 +[main_algo-3] [INFO] [1746050956.960025789] [sailbot.main_algo]: Wind Direction: 272 +[main_algo-3] [INFO] [1746050956.960922867] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050956.961770918] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050956.963119934] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050956.963868787] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050957.002859499] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892415 Long: -76.5034872 +[main_algo-3] [INFO] [1746050957.004051423] [sailbot.main_algo]: Distance to destination: 26.85313588132192 +[main_algo-3] [INFO] [1746050957.005131319] [sailbot.main_algo]: Target Bearing: -57.6416970570431 +[main_algo-3] [INFO] [1746050957.006098314] [sailbot.main_algo]: Heading Difference: -105.67030294295694 +[vectornav-1] [INFO] [1746050957.006365790] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (199.84199999999998, 2.533, -0.472) +[main_algo-3] [INFO] [1746050957.007086346] [sailbot.main_algo]: Wind Direction: 272 +[main_algo-3] [INFO] [1746050957.008022155] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050957.008913701] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050957.010664379] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050957.045106181] [sailbot.mux]: Published sail angle from controller_app: 75 +[teensy-2] [INFO] [1746050957.045752066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050957.046427144] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050957.047928430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 +[teensy-2] [INFO] [1746050957.049500881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050957.050473160] [sailbot.mux]: controller_app sail angle: 45 +[teensy-2] [INFO] [1746050957.085099815] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050957.087046710] [sailbot.teensy]: Wind angle: 272 +[trim_sail-4] [INFO] [1746050957.087179459] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050957.087940552] [sailbot.teensy]: Actual sail angle: 75 +[mux-7] [INFO] [1746050957.088592242] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050957.088795386] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050957.089707366] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050957.144966555] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050957.145980470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050957.146692051] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050957.147986904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050957.149154715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050957.245055822] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050957.245620910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050957.246419200] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050957.247543587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050957.248668045] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050957.335191335] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050957.337472299] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746050957.337909036] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050957.337981600] [sailbot.teensy]: Wind angle: 272 +[teensy-2] [INFO] [1746050957.339186062] [sailbot.teensy]: Actual sail angle: 75 +[teensy-2] [INFO] [1746050957.340135786] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050957.341008755] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050957.344375164] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050957.344928858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050957.345482444] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050957.346685749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050957.347735170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050957.445467848] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050957.446485396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050957.447059215] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050957.448251514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050957.448826166] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050957.456937960] [sailbot.main_algo]: Wind Direction: 272 +[main_algo-3] [INFO] [1746050957.457903325] [sailbot.main_algo]: Target Bearing: -57.6416970570431 +[main_algo-3] [INFO] [1746050957.458780090] [sailbot.main_algo]: Heading Difference: -102.51630294295694 +[main_algo-3] [INFO] [1746050957.459571784] [sailbot.main_algo]: Wind Direction: 272 +[main_algo-3] [INFO] [1746050957.460397178] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050957.461184068] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050957.462403645] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050957.462883482] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050957.503547627] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689229 Long: -76.50348612 +[main_algo-3] [INFO] [1746050957.503904064] [sailbot.main_algo]: Distance to destination: 26.688355675701967 +[vectornav-1] [INFO] [1746050957.504715064] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (201.207, -2.811, -3.444) +[main_algo-3] [INFO] [1746050957.505011455] [sailbot.main_algo]: Target Bearing: -57.63695434507826 +[main_algo-3] [INFO] [1746050957.506045480] [sailbot.main_algo]: Heading Difference: -102.52104565492175 +[main_algo-3] [INFO] [1746050957.506962219] [sailbot.main_algo]: Wind Direction: 272 +[main_algo-3] [INFO] [1746050957.507825084] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050957.508708501] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050957.510355732] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050957.545168354] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050957.545946493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050957.546520883] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050957.547882298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050957.549042272] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050957.585458960] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050957.587561297] [sailbot.teensy]: Wind angle: 272 +[trim_sail-4] [INFO] [1746050957.587896222] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050957.588548948] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050957.589435689] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050957.589749220] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050957.590305300] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050957.645388511] [sailbot.mux]: Published sail angle from controller_app: 45 +[mux-7] [INFO] [1746050957.646962019] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050957.647063489] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050957.649094686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050957.650131291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050957.745100228] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050957.745639880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050957.746631049] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050957.747611510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050957.748760994] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050957.835128649] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050957.836717093] [sailbot.teensy]: Wind angle: 273 +[trim_sail-4] [INFO] [1746050957.837533250] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050957.837559908] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050957.838484230] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050957.838871043] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050957.839336552] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050957.844352629] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050957.844855815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050957.845391829] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050957.846387748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050957.847426418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050957.945165522] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050957.945821721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050957.946829376] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050957.947969808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050957.948554080] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050957.957166771] [sailbot.main_algo]: Wind Direction: 273 +[main_algo-3] [INFO] [1746050957.958231348] [sailbot.main_algo]: Target Bearing: -57.63695434507826 +[main_algo-3] [INFO] [1746050957.959179983] [sailbot.main_algo]: Heading Difference: -101.15604565492174 +[main_algo-3] [INFO] [1746050957.960002524] [sailbot.main_algo]: Wind Direction: 273 +[main_algo-3] [INFO] [1746050957.960840792] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050957.961622395] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050957.962646107] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050957.963163718] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050958.002806516] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892276 Long: -76.50348649 +[main_algo-3] [INFO] [1746050958.003802289] [sailbot.main_algo]: Distance to destination: 26.692130866970032 +[vectornav-1] [INFO] [1746050958.004143110] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (199.10500000000002, -1.4, 2.092) +[main_algo-3] [INFO] [1746050958.004993848] [sailbot.main_algo]: Target Bearing: -57.56406125801929 +[main_algo-3] [INFO] [1746050958.006011070] [sailbot.main_algo]: Heading Difference: -101.2289387419807 +[main_algo-3] [INFO] [1746050958.006980845] [sailbot.main_algo]: Wind Direction: 273 +[main_algo-3] [INFO] [1746050958.007919501] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050958.008832829] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050958.010598106] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050958.045096136] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050958.045862119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050958.046500054] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050958.048573064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050958.049618880] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050958.085139693] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050958.086683704] [sailbot.teensy]: Wind angle: 274 +[trim_sail-4] [INFO] [1746050958.087498682] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050958.087520400] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050958.088433124] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050958.088976844] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050958.089343643] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050958.145171668] [sailbot.mux]: Published sail angle from controller_app: 45 +[teensy-2] [INFO] [1746050958.145925069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050958.147384064] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050958.147925214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 +[teensy-2] [INFO] [1746050958.148526978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050958.148565803] [sailbot.mux]: controller_app sail angle: 22 +[mux-7] [INFO] [1746050958.245252670] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050958.246062819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050958.246780290] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050958.248307281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050958.249345942] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050958.335141661] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050958.337719657] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050958.338475806] [sailbot.teensy]: Wind angle: 273 +[mux-7] [INFO] [1746050958.339253156] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050958.339393210] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746050958.340360611] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050958.341337588] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050958.344382652] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050958.344899900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050958.345515943] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050958.346554232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050958.347680589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050958.444918314] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050958.445745625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050958.446217396] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050958.447731682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050958.448834960] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050958.457177789] [sailbot.main_algo]: Wind Direction: 273 +[main_algo-3] [INFO] [1746050958.458309507] [sailbot.main_algo]: Target Bearing: -57.56406125801929 +[main_algo-3] [INFO] [1746050958.459237742] [sailbot.main_algo]: Heading Difference: -103.33093874198067 +[main_algo-3] [INFO] [1746050958.460105674] [sailbot.main_algo]: Wind Direction: 273 +[main_algo-3] [INFO] [1746050958.460949882] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050958.461715812] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050958.462703078] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050958.463287259] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050958.502952649] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892272 Long: -76.50348729 +[main_algo-3] [INFO] [1746050958.504009185] [sailbot.main_algo]: Distance to destination: 26.724744342175697 +[vectornav-1] [INFO] [1746050958.504228075] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.385, 2.437, 2.513) +[main_algo-3] [INFO] [1746050958.505243829] [sailbot.main_algo]: Target Bearing: -57.441148314287474 +[main_algo-3] [INFO] [1746050958.506204737] [sailbot.main_algo]: Heading Difference: -103.4538516857125 +[main_algo-3] [INFO] [1746050958.507309147] [sailbot.main_algo]: Wind Direction: 273 +[main_algo-3] [INFO] [1746050958.508209061] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050958.509053594] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050958.510761681] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050958.545115217] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050958.545794672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050958.546604154] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050958.547764618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050958.548936829] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050958.585039046] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050958.587019069] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050958.587949633] [sailbot.teensy]: Wind angle: 271 +[mux-7] [INFO] [1746050958.588225347] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050958.588855758] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050958.589752896] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050958.590642602] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050958.645082783] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050958.645830339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050958.646602677] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050958.648008773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050958.649045639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050958.745346506] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050958.746040834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050958.747076770] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050958.748172921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050958.749472297] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050958.835197643] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050958.836773662] [sailbot.teensy]: Wind angle: 270 +[teensy-2] [INFO] [1746050958.837657174] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050958.837253795] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050958.838516398] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050958.838693385] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050958.839198322] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050958.844320809] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050958.845088863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050958.845656008] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050958.846782680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050958.847966055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050958.945556622] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050958.946029521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050958.947112914] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050958.948354721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050958.949209951] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050958.957049464] [sailbot.main_algo]: Wind Direction: 270 +[main_algo-3] [INFO] [1746050958.958046223] [sailbot.main_algo]: Target Bearing: -57.441148314287474 +[main_algo-3] [INFO] [1746050958.958936729] [sailbot.main_algo]: Heading Difference: -106.17385168571252 +[main_algo-3] [INFO] [1746050958.959770551] [sailbot.main_algo]: Wind Direction: 270 +[main_algo-3] [INFO] [1746050958.960604340] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050958.961412325] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050958.962428477] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050958.963077085] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050959.002680370] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892187 Long: -76.50348754 +[main_algo-3] [INFO] [1746050959.003613325] [sailbot.main_algo]: Distance to destination: 26.65755067400837 +[vectornav-1] [INFO] [1746050959.004017837] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (194.41599999999994, -2.186, -0.151) +[main_algo-3] [INFO] [1746050959.004696775] [sailbot.main_algo]: Target Bearing: -57.292133288721146 +[main_algo-3] [INFO] [1746050959.005668097] [sailbot.main_algo]: Heading Difference: -106.32286671127883 +[main_algo-3] [INFO] [1746050959.006586442] [sailbot.main_algo]: Wind Direction: 270 +[main_algo-3] [INFO] [1746050959.007491347] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050959.008377596] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050959.010199751] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050959.045163811] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050959.045741343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050959.046671409] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050959.048075419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050959.049216014] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050959.085460011] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050959.087272130] [sailbot.teensy]: Wind angle: 269 +[trim_sail-4] [INFO] [1746050959.088180662] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050959.088276631] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050959.089150264] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050959.089071758] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050959.090018583] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050959.144894864] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050959.145705065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050959.146162793] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050959.147625043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050959.148672658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050959.244875596] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050959.245631959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050959.246403111] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050959.247534306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050959.248170086] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050959.335404059] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050959.337298536] [sailbot.teensy]: Wind angle: 266 +[trim_sail-4] [INFO] [1746050959.337782924] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746050959.338279611] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050959.339245651] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050959.339992958] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746050959.340274728] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050959.344406477] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050959.344921651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050959.345584157] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050959.346676431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050959.348048526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050959.444956818] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050959.446022632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050959.446424346] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050959.447978436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050959.449142847] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050959.457010685] [sailbot.main_algo]: Wind Direction: 266 +[main_algo-3] [INFO] [1746050959.458003781] [sailbot.main_algo]: Target Bearing: -57.292133288721146 +[main_algo-3] [INFO] [1746050959.458890796] [sailbot.main_algo]: Heading Difference: -108.29186671127889 +[main_algo-3] [INFO] [1746050959.459746935] [sailbot.main_algo]: Wind Direction: 266 +[main_algo-3] [INFO] [1746050959.460554766] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050959.461351385] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050959.462322418] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050959.463519288] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050959.502395008] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892089 Long: -76.50348795 +[main_algo-3] [INFO] [1746050959.503383351] [sailbot.main_algo]: Distance to destination: 26.585890053979256 +[vectornav-1] [INFO] [1746050959.503511594] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.813, 0.011, -0.868) +[main_algo-3] [INFO] [1746050959.504520817] [sailbot.main_algo]: Target Bearing: -57.101484381956034 +[main_algo-3] [INFO] [1746050959.505527081] [sailbot.main_algo]: Heading Difference: -108.48251561804403 +[main_algo-3] [INFO] [1746050959.506467075] [sailbot.main_algo]: Wind Direction: 266 +[main_algo-3] [INFO] [1746050959.507361906] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050959.508238763] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050959.509958346] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050959.545013688] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050959.545756984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050959.546275893] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050959.547760638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050959.548863029] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050959.585132644] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050959.586768848] [sailbot.teensy]: Wind angle: 261 +[trim_sail-4] [INFO] [1746050959.587415059] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050959.587751799] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050959.588712506] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050959.588841215] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050959.589617977] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050959.645185209] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050959.646031814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050959.646697019] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050959.648568349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050959.649587517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050959.745305997] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050959.746064724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050959.746878224] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050959.748902714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050959.749930688] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050959.835454491] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050959.837396947] [sailbot.teensy]: Wind angle: 260 +[trim_sail-4] [INFO] [1746050959.838250775] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050959.838492265] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050959.839410872] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050959.839231792] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050959.840297469] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050959.844459055] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050959.845029932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050959.845562324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050959.846700405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050959.847707409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050959.944975195] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050959.945760006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050959.946249449] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050959.947597634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050959.948643738] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050959.956973456] [sailbot.main_algo]: Wind Direction: 260 +[main_algo-3] [INFO] [1746050959.957914510] [sailbot.main_algo]: Target Bearing: -57.101484381956034 +[main_algo-3] [INFO] [1746050959.958735779] [sailbot.main_algo]: Heading Difference: -113.08551561804398 +[main_algo-3] [INFO] [1746050959.959514898] [sailbot.main_algo]: Wind Direction: 260 +[main_algo-3] [INFO] [1746050959.960336971] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050959.961122866] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050959.962137278] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050959.962769628] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050960.002852962] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689202 Long: -76.50348934 +[main_algo-3] [INFO] [1746050960.003823999] [sailbot.main_algo]: Distance to destination: 26.586419014138684 +[vectornav-1] [INFO] [1746050960.004129545] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.85000000000002, -2.938, 0.039) +[main_algo-3] [INFO] [1746050960.004968569] [sailbot.main_algo]: Target Bearing: -56.804941138494975 +[main_algo-3] [INFO] [1746050960.005934792] [sailbot.main_algo]: Heading Difference: -113.38205886150502 +[main_algo-3] [INFO] [1746050960.006854030] [sailbot.main_algo]: Wind Direction: 260 +[main_algo-3] [INFO] [1746050960.007737889] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050960.008626197] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050960.010531371] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050960.045084083] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050960.045626173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050960.046534611] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050960.047625833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050960.048721639] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050960.085101069] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050960.086666134] [sailbot.teensy]: Wind angle: 258 +[trim_sail-4] [INFO] [1746050960.087217273] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050960.087552582] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050960.088476869] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050960.088961667] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050960.089360674] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050960.144935980] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050960.145738336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050960.146216725] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050960.147669680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050960.148707750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050960.245298388] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050960.245983978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050960.247445427] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050960.248185885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050960.249334802] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050960.335479125] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050960.338059840] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050960.338881404] [sailbot.teensy]: Wind angle: 259 +[mux-7] [INFO] [1746050960.338954731] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050960.339849196] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050960.340722315] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050960.341548333] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050960.344512123] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050960.345098315] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050960.345741552] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050960.346864083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050960.348200181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050960.445111688] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050960.445750140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050960.446552962] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050960.447817303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050960.448331119] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050960.457004156] [sailbot.main_algo]: Wind Direction: 259 +[main_algo-3] [INFO] [1746050960.457951351] [sailbot.main_algo]: Target Bearing: -56.804941138494975 +[main_algo-3] [INFO] [1746050960.458816662] [sailbot.main_algo]: Heading Difference: -117.34505886150498 +[main_algo-3] [INFO] [1746050960.459608641] [sailbot.main_algo]: Wind Direction: 259 +[main_algo-3] [INFO] [1746050960.460419214] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050960.461204925] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050960.462298842] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050960.462771894] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050960.503045119] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689203 Long: -76.5034911 +[main_algo-3] [INFO] [1746050960.504436402] [sailbot.main_algo]: Distance to destination: 26.67720582818342 +[vectornav-1] [INFO] [1746050960.504987966] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.78499999999997, 3.035, 1.238) +[main_algo-3] [INFO] [1746050960.505701302] [sailbot.main_algo]: Target Bearing: -56.56132394050972 +[main_algo-3] [INFO] [1746050960.506687978] [sailbot.main_algo]: Heading Difference: -117.58867605949024 +[main_algo-3] [INFO] [1746050960.507620067] [sailbot.main_algo]: Wind Direction: 259 +[main_algo-3] [INFO] [1746050960.508638250] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050960.509525210] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050960.511311892] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050960.544963050] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050960.545638574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050960.546232896] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050960.547491458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050960.548666892] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050960.585034011] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050960.586523764] [sailbot.teensy]: Wind angle: 258 +[trim_sail-4] [INFO] [1746050960.587059892] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050960.587367315] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050960.587443088] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050960.588217513] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050960.589051051] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050960.645359427] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050960.646006376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050960.646921327] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050960.648142504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050960.649270941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050960.744983679] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050960.745810714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050960.746661722] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050960.747699615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050960.748540187] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050960.835111624] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050960.836997971] [sailbot.teensy]: Wind angle: 254 +[teensy-2] [INFO] [1746050960.838032721] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050960.838686978] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050960.838808362] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050960.839112822] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050960.839196582] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050960.844425487] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050960.844890047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050960.845610011] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050960.846592052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050960.847603717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050960.945700678] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050960.946120256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050960.947720620] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050960.948479946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050960.949700091] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050960.957033959] [sailbot.main_algo]: Wind Direction: 254 +[main_algo-3] [INFO] [1746050960.958089467] [sailbot.main_algo]: Target Bearing: -56.56132394050972 +[main_algo-3] [INFO] [1746050960.959009359] [sailbot.main_algo]: Heading Difference: -122.6536760594903 +[main_algo-3] [INFO] [1746050960.959903843] [sailbot.main_algo]: Wind Direction: 254 +[main_algo-3] [INFO] [1746050960.960754089] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050960.961574600] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050960.962588818] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050960.963163713] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050961.003233637] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891965 Long: -76.50349217 +[main_algo-3] [INFO] [1746050961.003590768] [sailbot.main_algo]: Distance to destination: 26.667694699336597 +[vectornav-1] [INFO] [1746050961.004454791] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.56799999999998, -1.489, -1.211) +[main_algo-3] [INFO] [1746050961.005090801] [sailbot.main_algo]: Target Bearing: -56.31771472562544 +[main_algo-3] [INFO] [1746050961.006051080] [sailbot.main_algo]: Heading Difference: -122.89728527437455 +[main_algo-3] [INFO] [1746050961.006969025] [sailbot.main_algo]: Wind Direction: 254 +[main_algo-3] [INFO] [1746050961.007858992] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050961.008749690] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050961.010431877] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050961.038463269] [sailbot.mux]: controller_app rudder angle: -8 +[mux-7] [INFO] [1746050961.044242416] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050961.044927448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050961.045358675] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050961.046691973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050961.047811876] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050961.085296403] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050961.087164392] [sailbot.teensy]: Wind angle: 253 +[teensy-2] [INFO] [1746050961.088122376] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050961.087745970] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050961.089051522] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050961.089101423] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050961.089972911] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050961.145015055] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050961.145823784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050961.146305100] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050961.147787270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050961.148890466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050961.244725066] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050961.245381943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050961.245922900] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050961.247307161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050961.248438333] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050961.335216102] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050961.337222689] [sailbot.teensy]: Wind angle: 248 +[trim_sail-4] [INFO] [1746050961.337466958] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050961.338177948] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050961.339004537] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050961.339091116] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050961.339957729] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050961.344450953] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050961.344849767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050961.345632703] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050961.346537549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050961.347658665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050961.445382358] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050961.446192208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050961.446969382] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050961.448364945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050961.449704763] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050961.457144439] [sailbot.main_algo]: Wind Direction: 248 +[main_algo-3] [INFO] [1746050961.458176741] [sailbot.main_algo]: Target Bearing: -56.31771472562544 +[main_algo-3] [INFO] [1746050961.459088606] [sailbot.main_algo]: Heading Difference: -127.11428527437454 +[main_algo-3] [INFO] [1746050961.459960040] [sailbot.main_algo]: Wind Direction: 248 +[main_algo-3] [INFO] [1746050961.460879153] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050961.461694122] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050961.462911229] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050961.463282510] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050961.502848803] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891909 Long: -76.5034937 +[main_algo-3] [INFO] [1746050961.503802601] [sailbot.main_algo]: Distance to destination: 26.688533719962365 +[vectornav-1] [INFO] [1746050961.504237758] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.66200000000003, -1.93, -0.797) +[main_algo-3] [INFO] [1746050961.504953263] [sailbot.main_algo]: Target Bearing: -56.01966486929183 +[main_algo-3] [INFO] [1746050961.505939141] [sailbot.main_algo]: Heading Difference: -127.41233513070819 +[main_algo-3] [INFO] [1746050961.506845875] [sailbot.main_algo]: Wind Direction: 248 +[main_algo-3] [INFO] [1746050961.507721143] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050961.508584993] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050961.510248550] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050961.545267091] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050961.546010956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050961.546675076] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050961.547948331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050961.549090918] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050961.585080267] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050961.586618351] [sailbot.teensy]: Wind angle: 247 +[teensy-2] [INFO] [1746050961.587500327] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050961.587595422] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050961.588422040] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050961.589300424] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050961.589532870] [sailbot.mux]: algo sail angle: 15 +[mux-7] [INFO] [1746050961.645101488] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050961.645771103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050961.646569050] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050961.647759587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050961.648805286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050961.744898186] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050961.745583115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050961.746217371] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050961.747483395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050961.748592786] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050961.835230466] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050961.837567261] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050961.838720495] [sailbot.teensy]: Wind angle: 247 +[mux-7] [INFO] [1746050961.838900929] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050961.839707424] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050961.840486899] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050961.840846481] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050961.844570361] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050961.845093957] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050961.845699468] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050961.846806217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050961.847842172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050961.945282750] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050961.945945524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050961.946944490] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050961.948122857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050961.948771998] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050961.957140170] [sailbot.main_algo]: Wind Direction: 247 +[main_algo-3] [INFO] [1746050961.958210461] [sailbot.main_algo]: Target Bearing: -56.01966486929183 +[main_algo-3] [INFO] [1746050961.959132001] [sailbot.main_algo]: Heading Difference: -133.31833513070814 +[main_algo-3] [INFO] [1746050961.960026961] [sailbot.main_algo]: Wind Direction: 247 +[main_algo-3] [INFO] [1746050961.960951943] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050961.961772795] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050961.963069013] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050961.963437436] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050962.003132297] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891947 Long: -76.50349502 +[main_algo-3] [INFO] [1746050962.003696021] [sailbot.main_algo]: Distance to destination: 26.785429266906927 +[vectornav-1] [INFO] [1746050962.004232209] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.135, 0.272, 3.951) +[main_algo-3] [INFO] [1746050962.004821741] [sailbot.main_algo]: Target Bearing: -55.88125331669611 +[main_algo-3] [INFO] [1746050962.005807231] [sailbot.main_algo]: Heading Difference: -133.4567466833039 +[main_algo-3] [INFO] [1746050962.006806159] [sailbot.main_algo]: Wind Direction: 247 +[main_algo-3] [INFO] [1746050962.007758226] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050962.008649677] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050962.010359885] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050962.034567406] [sailbot.mux]: controller_app rudder angle: -8 +[mux-7] [INFO] [1746050962.045115513] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050962.045223701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050962.046459769] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050962.046974944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050962.047944041] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050962.085299604] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050962.087730813] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050962.088435047] [sailbot.teensy]: Wind angle: 247 +[mux-7] [INFO] [1746050962.088534496] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050962.089749954] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050962.090627562] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050962.091464139] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050962.145093802] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050962.145743991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050962.146608245] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050962.147911075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050962.149091595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050962.244983339] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050962.245824742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050962.246267235] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050962.247761560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050962.248801094] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050962.335551825] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050962.338259136] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050962.338953085] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050962.339622584] [sailbot.teensy]: Wind angle: 245 +[teensy-2] [INFO] [1746050962.340605082] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050962.341445275] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050962.342265526] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050962.344291784] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050962.344867130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050962.345436513] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050962.346552510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050962.347562980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050962.445176229] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050962.445740284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050962.446827315] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050962.447661996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050962.448113910] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050962.457178313] [sailbot.main_algo]: Wind Direction: 245 +[main_algo-3] [INFO] [1746050962.458212334] [sailbot.main_algo]: Target Bearing: -55.88125331669611 +[main_algo-3] [INFO] [1746050962.459136625] [sailbot.main_algo]: Heading Difference: -137.98374668330393 +[main_algo-3] [INFO] [1746050962.459980549] [sailbot.main_algo]: Wind Direction: 245 +[main_algo-3] [INFO] [1746050962.460851112] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050962.461675920] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050962.462722356] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050962.463244650] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050962.502737909] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891974 Long: -76.50349636 +[main_algo-3] [INFO] [1746050962.503828846] [sailbot.main_algo]: Distance to destination: 26.873457057700076 +[vectornav-1] [INFO] [1746050962.504926233] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.63599999999997, 1.454, 1.61) +[main_algo-3] [INFO] [1746050962.505076118] [sailbot.main_algo]: Target Bearing: -55.72593750916302 +[main_algo-3] [INFO] [1746050962.506099003] [sailbot.main_algo]: Heading Difference: -138.13906249083698 +[main_algo-3] [INFO] [1746050962.507000888] [sailbot.main_algo]: Wind Direction: 245 +[main_algo-3] [INFO] [1746050962.507957220] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050962.508831151] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050962.510515835] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050962.544974311] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050962.545688699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050962.546336386] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050962.547559145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050962.548752263] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050962.585166543] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050962.587406324] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050962.587651768] [sailbot.teensy]: Wind angle: 244 +[teensy-2] [INFO] [1746050962.588615576] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050962.589103371] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050962.589557488] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050962.590406311] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050962.644990446] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050962.645839875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050962.646291845] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050962.647923245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050962.648960740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050962.744490812] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050962.745043465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050962.745534328] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050962.746646866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050962.747669505] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050962.835244782] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050962.837036171] [sailbot.teensy]: Wind angle: 240 +[teensy-2] [INFO] [1746050962.837989635] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050962.837657803] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050962.838907185] [sailbot.teensy]: Actual tail angle: 17 +[mux-7] [INFO] [1746050962.839166046] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050962.839792502] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050962.844327683] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050962.844932601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050962.845468863] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050962.846634375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050962.847647743] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050962.944907343] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050962.945631446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050962.946411326] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050962.947738509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050962.948816842] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050962.956951893] [sailbot.main_algo]: Wind Direction: 240 +[main_algo-3] [INFO] [1746050962.957970280] [sailbot.main_algo]: Target Bearing: -55.72593750916302 +[main_algo-3] [INFO] [1746050962.958846450] [sailbot.main_algo]: Heading Difference: -139.638062490837 +[main_algo-3] [INFO] [1746050962.959660885] [sailbot.main_algo]: Wind Direction: 240 +[main_algo-3] [INFO] [1746050962.960467099] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050962.961269496] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050962.962277496] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050962.963074882] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050963.003306740] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891937 Long: -76.50349718 +[main_algo-3] [INFO] [1746050963.003573519] [sailbot.main_algo]: Distance to destination: 26.87898175305545 +[vectornav-1] [INFO] [1746050963.004495085] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.72699999999998, -2.024, 1.567) +[main_algo-3] [INFO] [1746050963.004645311] [sailbot.main_algo]: Target Bearing: -55.558025192834315 +[main_algo-3] [INFO] [1746050963.005609415] [sailbot.main_algo]: Heading Difference: -139.80597480716574 +[main_algo-3] [INFO] [1746050963.006525436] [sailbot.main_algo]: Wind Direction: 240 +[main_algo-3] [INFO] [1746050963.007416428] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050963.008276191] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050963.010110608] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050963.044855760] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050963.045603377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050963.046177066] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050963.047516725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050963.048531588] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050963.085348393] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050963.087089798] [sailbot.teensy]: Wind angle: 239 +[teensy-2] [INFO] [1746050963.088008817] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050963.087632456] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050963.088872610] [sailbot.teensy]: Actual tail angle: 17 +[mux-7] [INFO] [1746050963.089212392] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050963.089797190] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050963.145051437] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050963.145643158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050963.146426856] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050963.147530913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050963.148456338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050963.244999257] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050963.245867846] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050963.246294745] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050963.247872675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050963.248925845] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050963.335135894] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050963.337623070] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050963.337777742] [sailbot.teensy]: Wind angle: 238 +[mux-7] [INFO] [1746050963.338086713] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050963.338687928] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050963.339582329] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050963.340094295] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050963.344406944] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050963.344850687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050963.345655090] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050963.346495896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050963.347558452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050963.445199239] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050963.445888835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050963.446811011] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050963.447801544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050963.448368607] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050963.456986733] [sailbot.main_algo]: Wind Direction: 238 +[main_algo-3] [INFO] [1746050963.457866649] [sailbot.main_algo]: Target Bearing: -55.558025192834315 +[main_algo-3] [INFO] [1746050963.458687189] [sailbot.main_algo]: Heading Difference: -141.71497480716573 +[main_algo-3] [INFO] [1746050963.459502476] [sailbot.main_algo]: Wind Direction: 238 +[main_algo-3] [INFO] [1746050963.460306978] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050963.461110528] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050963.462074415] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050963.462671666] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050963.503114853] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891936 Long: -76.50349837 +[main_algo-3] [INFO] [1746050963.503344126] [sailbot.main_algo]: Distance to destination: 26.934956093203713 +[main_algo-3] [INFO] [1746050963.504978388] [sailbot.main_algo]: Target Bearing: -55.38711934270583 +[main_algo-3] [INFO] [1746050963.505504362] [sailbot.main_algo]: Heading Difference: -141.8858806572942 +[vectornav-1] [INFO] [1746050963.505540593] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (161.55600000000004, -0.355, 3.875) +[main_algo-3] [INFO] [1746050963.505894094] [sailbot.main_algo]: Wind Direction: 238 +[main_algo-3] [INFO] [1746050963.506257069] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050963.506600367] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050963.507664699] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050963.544963634] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050963.545649203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050963.546277425] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050963.547508309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050963.548657828] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050963.585446924] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050963.587891450] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050963.588424046] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050963.588881282] [sailbot.teensy]: Wind angle: 238 +[teensy-2] [INFO] [1746050963.589941580] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050963.590797880] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050963.591623994] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050963.645137443] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050963.645997966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050963.646587187] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050963.647997459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050963.649017787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050963.745057856] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050963.746055866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050963.746621698] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050963.748190487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050963.749334671] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050963.835167659] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050963.837658406] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050963.838125705] [sailbot.teensy]: Wind angle: 236 +[mux-7] [INFO] [1746050963.838291750] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050963.839126971] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050963.840028340] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050963.840943118] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050963.844521987] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050963.844967962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050963.845892889] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050963.847050996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050963.848148331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050963.945238036] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050963.945964987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050963.946902336] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050963.948588044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050963.949634744] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050963.957046169] [sailbot.main_algo]: Wind Direction: 236 +[main_algo-3] [INFO] [1746050963.958066707] [sailbot.main_algo]: Target Bearing: -55.38711934270583 +[main_algo-3] [INFO] [1746050963.958953230] [sailbot.main_algo]: Heading Difference: -143.05688065729413 +[main_algo-3] [INFO] [1746050963.959832946] [sailbot.main_algo]: Wind Direction: 236 +[main_algo-3] [INFO] [1746050963.960717538] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050963.961533146] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050963.962492811] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050963.963102511] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050964.002453256] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891954 Long: -76.50349954 +[vectornav-1] [INFO] [1746050964.003498929] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.38800000000003, -0.3, 1.724) +[main_algo-3] [INFO] [1746050964.003806612] [sailbot.main_algo]: Distance to destination: 27.007325421280406 +[main_algo-3] [INFO] [1746050964.004857598] [sailbot.main_algo]: Target Bearing: -55.24593859847272 +[main_algo-3] [INFO] [1746050964.005799639] [sailbot.main_algo]: Heading Difference: -143.19806140152724 +[main_algo-3] [INFO] [1746050964.006669573] [sailbot.main_algo]: Wind Direction: 236 +[main_algo-3] [INFO] [1746050964.007494533] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050964.008296310] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050964.010051459] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050964.035220639] [sailbot.mux]: controller_app rudder angle: 12 +[mux-7] [INFO] [1746050964.044590213] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050964.045187756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050964.045816072] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050964.047077895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746050964.048111392] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050964.085293301] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050964.087538957] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050964.087529667] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050964.088907830] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050964.089900061] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050964.090533232] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050964.091424236] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050964.144784281] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050964.145562668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050964.146004674] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050964.147398013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746050964.148427393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050964.245002315] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050964.245659922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050964.246426053] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050964.247544877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746050964.248062817] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050964.335250306] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050964.337274988] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050964.338266073] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050964.337777291] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050964.339136841] [sailbot.teensy]: Actual tail angle: 37 +[mux-7] [INFO] [1746050964.339154725] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050964.340037226] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050964.344261636] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050964.344908810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050964.345405470] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050964.346601281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746050964.347651411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050964.445346680] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050964.445984467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050964.447027580] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050964.448188925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746050964.449423551] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050964.456956393] [sailbot.main_algo]: Wind Direction: 234 +[main_algo-3] [INFO] [1746050964.457942735] [sailbot.main_algo]: Target Bearing: -55.24593859847272 +[main_algo-3] [INFO] [1746050964.458795434] [sailbot.main_algo]: Heading Difference: -144.36606140152725 +[main_algo-3] [INFO] [1746050964.459595809] [sailbot.main_algo]: Wind Direction: 234 +[main_algo-3] [INFO] [1746050964.460446547] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050964.461231983] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050964.462309725] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050964.462807826] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050964.502710867] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891941 Long: -76.50350025 +[main_algo-3] [INFO] [1746050964.503714871] [sailbot.main_algo]: Distance to destination: 27.029791861796053 +[vectornav-1] [INFO] [1746050964.503833462] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.14499999999998, 1.357, 2.149) +[main_algo-3] [INFO] [1746050964.504860538] [sailbot.main_algo]: Target Bearing: -55.12764599129142 +[main_algo-3] [INFO] [1746050964.505893402] [sailbot.main_algo]: Heading Difference: -144.48435400870858 +[main_algo-3] [INFO] [1746050964.506832522] [sailbot.main_algo]: Wind Direction: 234 +[main_algo-3] [INFO] [1746050964.507729517] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050964.508630670] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050964.510397562] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050964.544930617] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050964.546167473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050964.546475525] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050964.548248206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746050964.549451252] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050964.585162117] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050964.587313161] [sailbot.teensy]: Wind angle: 234 +[teensy-2] [INFO] [1746050964.588272657] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050964.587402681] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050964.589198452] [sailbot.teensy]: Actual tail angle: 37 +[mux-7] [INFO] [1746050964.589811473] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050964.590048243] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050964.644788713] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050964.645527136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050964.646030949] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050964.647286598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746050964.647926805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050964.745357687] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050964.746302358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050964.747019724] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050964.748470572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746050964.748959564] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050964.835220550] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050964.837255894] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050964.837586826] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050964.838242883] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050964.838819550] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050964.839177324] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746050964.839673495] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050964.844451712] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050964.845173400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050964.845797776] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050964.846891878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746050964.847913783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050964.944849226] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050964.945443094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050964.946062745] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050964.947284146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746050964.948357069] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050964.956998588] [sailbot.main_algo]: Wind Direction: 234 +[main_algo-3] [INFO] [1746050964.958097573] [sailbot.main_algo]: Target Bearing: -55.12764599129142 +[main_algo-3] [INFO] [1746050964.959020626] [sailbot.main_algo]: Heading Difference: -142.72735400870863 +[main_algo-3] [INFO] [1746050964.959881588] [sailbot.main_algo]: Wind Direction: 234 +[main_algo-3] [INFO] [1746050964.960771187] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050964.961608686] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050964.962687916] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050964.963255850] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050965.003231537] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891911 Long: -76.50350085 +[main_algo-3] [INFO] [1746050965.003620680] [sailbot.main_algo]: Distance to destination: 27.031783532131563 +[main_algo-3] [INFO] [1746050965.004650789] [sailbot.main_algo]: Target Bearing: -55.001533450742905 +[vectornav-1] [INFO] [1746050965.004622253] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.20100000000002, -3.566, 3.017) +[main_algo-3] [INFO] [1746050965.005657213] [sailbot.main_algo]: Heading Difference: -142.85346654925712 +[main_algo-3] [INFO] [1746050965.006577593] [sailbot.main_algo]: Wind Direction: 234 +[main_algo-3] [INFO] [1746050965.007462885] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050965.008353477] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050965.010111282] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050965.045067443] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050965.045732920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050965.046792077] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746050965.047622366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746050965.048893506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050965.049204937] [sailbot.mux]: controller_app rudder angle: 23 +[teensy-2] [INFO] [1746050965.085375367] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050965.087560658] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746050965.088253329] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050965.089725966] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050965.089946059] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050965.090811512] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746050965.091854377] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050965.145041454] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050965.145727914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050965.146324127] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050965.147757894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050965.148833034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050965.245095895] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050965.245781139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050965.246565268] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050965.247865027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050965.249053194] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050965.335135246] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050965.336922491] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050965.337551213] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050965.337857563] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050965.338756492] [sailbot.teensy]: Actual tail angle: 37 +[mux-7] [INFO] [1746050965.338911735] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050965.339615426] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050965.344674896] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050965.345152650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050965.345980894] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050965.346930676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050965.347950804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050965.445477423] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050965.446197080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050965.447199542] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050965.448395834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050965.449473706] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050965.457054371] [sailbot.main_algo]: Wind Direction: 231 +[main_algo-3] [INFO] [1746050965.458034162] [sailbot.main_algo]: Target Bearing: -55.001533450742905 +[main_algo-3] [INFO] [1746050965.458879142] [sailbot.main_algo]: Heading Difference: -142.79746654925708 +[main_algo-3] [INFO] [1746050965.459683178] [sailbot.main_algo]: Wind Direction: 231 +[main_algo-3] [INFO] [1746050965.460535353] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050965.461318825] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050965.462648714] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050965.462911690] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050965.503377435] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891897 Long: -76.50350165 +[main_algo-3] [INFO] [1746050965.504006253] [sailbot.main_algo]: Distance to destination: 27.057954763764496 +[main_algo-3] [INFO] [1746050965.505118919] [sailbot.main_algo]: Target Bearing: -54.86950985837633 +[main_algo-3] [INFO] [1746050965.506081258] [sailbot.main_algo]: Heading Difference: -142.92949014162366 +[vectornav-1] [INFO] [1746050965.506294538] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.62, 2.647, 0.013) +[main_algo-3] [INFO] [1746050965.506998174] [sailbot.main_algo]: Wind Direction: 231 +[main_algo-3] [INFO] [1746050965.507911920] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050965.508811501] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050965.510483728] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050965.545143652] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050965.545873953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050965.546580800] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050965.548558177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050965.549619808] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050965.585438065] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050965.587174559] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746050965.587745758] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050965.588127209] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050965.589054725] [sailbot.teensy]: Actual tail angle: 48 +[mux-7] [INFO] [1746050965.589379257] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050965.589939217] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050965.645374048] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050965.645944811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050965.647120709] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050965.648148474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050965.649383824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050965.745770400] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050965.746393305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050965.747342979] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050965.748562736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050965.749401384] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050965.835439156] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050965.837415220] [sailbot.teensy]: Wind angle: 238 +[trim_sail-4] [INFO] [1746050965.837962298] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050965.838410419] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050965.838862676] [sailbot.teensy]: Actual tail angle: 48 +[mux-7] [INFO] [1746050965.839118682] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050965.839230136] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050965.844475850] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050965.845159241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050965.845769916] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050965.847091142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050965.848128221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050965.945213611] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050965.945835211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050965.946724111] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050965.947769794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050965.948247214] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050965.957235924] [sailbot.main_algo]: Wind Direction: 238 +[main_algo-3] [INFO] [1746050965.958245468] [sailbot.main_algo]: Target Bearing: -54.86950985837633 +[main_algo-3] [INFO] [1746050965.959134828] [sailbot.main_algo]: Heading Difference: -139.51049014162368 +[main_algo-3] [INFO] [1746050965.960018204] [sailbot.main_algo]: Wind Direction: 238 +[main_algo-3] [INFO] [1746050965.960837351] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050965.961635272] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050965.962766965] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050965.963256526] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050966.002576346] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891841 Long: -76.50350225 +[main_algo-3] [INFO] [1746050966.003504717] [sailbot.main_algo]: Distance to destination: 27.036939933969563 +[vectornav-1] [INFO] [1746050966.003567982] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.865, -2.249, 1.929) +[main_algo-3] [INFO] [1746050966.004606755] [sailbot.main_algo]: Target Bearing: -54.70734758775794 +[main_algo-3] [INFO] [1746050966.005624579] [sailbot.main_algo]: Heading Difference: -139.6726524122421 +[main_algo-3] [INFO] [1746050966.006506370] [sailbot.main_algo]: Wind Direction: 238 +[main_algo-3] [INFO] [1746050966.007398021] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050966.008260694] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050966.009882656] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050966.045233913] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050966.045886612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050966.046920862] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050966.048326927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050966.049335249] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050966.085142660] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050966.086631373] [sailbot.teensy]: Wind angle: 240 +[teensy-2] [INFO] [1746050966.087481676] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050966.087408890] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050966.088097290] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050966.088325795] [sailbot.teensy]: Actual tail angle: 48 +[teensy-2] [INFO] [1746050966.089209650] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050966.145316495] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050966.145815789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050966.146863493] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050966.147816879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050966.148606963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050966.245284507] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050966.245990304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050966.246944669] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050966.248025291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050966.249098283] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050966.335225341] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050966.337940647] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050966.338123087] [sailbot.teensy]: Wind angle: 242 +[teensy-2] [INFO] [1746050966.339065084] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050966.339105224] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050966.340123262] [sailbot.teensy]: Actual tail angle: 48 +[teensy-2] [INFO] [1746050966.340503010] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050966.344437734] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050966.345115080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050966.345626647] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050966.346883648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050966.348067013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050966.445546737] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050966.446141969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050966.447138357] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050966.448554467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050966.449672693] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050966.457067778] [sailbot.main_algo]: Wind Direction: 242 +[main_algo-3] [INFO] [1746050966.458018417] [sailbot.main_algo]: Target Bearing: -54.70734758775794 +[main_algo-3] [INFO] [1746050966.458911374] [sailbot.main_algo]: Heading Difference: -138.42765241224208 +[main_algo-3] [INFO] [1746050966.459714888] [sailbot.main_algo]: Wind Direction: 242 +[main_algo-3] [INFO] [1746050966.460542621] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050966.461355621] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050966.462373096] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050966.463148312] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050966.503039525] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891807 Long: -76.50350338 +[vectornav-1] [INFO] [1746050966.504544540] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.49099999999999, 0.013, 2.477) +[main_algo-3] [INFO] [1746050966.504825561] [sailbot.main_algo]: Distance to destination: 27.061700843837233 +[main_algo-3] [INFO] [1746050966.506023248] [sailbot.main_algo]: Target Bearing: -54.50148750643146 +[main_algo-3] [INFO] [1746050966.506982810] [sailbot.main_algo]: Heading Difference: -138.63351249356856 +[main_algo-3] [INFO] [1746050966.507944371] [sailbot.main_algo]: Wind Direction: 242 +[main_algo-3] [INFO] [1746050966.508836282] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050966.509674782] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050966.511420451] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050966.545063741] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050966.545664915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050966.546428467] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050966.548451504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050966.549560437] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050966.585192830] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050966.587051062] [sailbot.teensy]: Wind angle: 242 +[trim_sail-4] [INFO] [1746050966.587470137] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050966.588036437] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050966.588867157] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050966.589004490] [sailbot.teensy]: Actual tail angle: 48 +[teensy-2] [INFO] [1746050966.589940599] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050966.645408578] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050966.646309469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050966.647723784] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050966.648632316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050966.649875947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050966.745549784] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050966.746411318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050966.747216728] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050966.748461365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050966.749042693] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050966.835229179] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050966.837371705] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050966.837348794] [sailbot.teensy]: Wind angle: 245 +[teensy-2] [INFO] [1746050966.838339142] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050966.838727374] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050966.839287913] [sailbot.teensy]: Actual tail angle: 48 +[teensy-2] [INFO] [1746050966.840201060] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050966.844305030] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050966.845044429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050966.845460735] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050966.846806835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050966.847859914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050966.945665176] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050966.946541621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050966.947877807] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050966.948959117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050966.949464207] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050966.957094310] [sailbot.main_algo]: Wind Direction: 245 +[main_algo-3] [INFO] [1746050966.958058004] [sailbot.main_algo]: Target Bearing: -54.50148750643146 +[main_algo-3] [INFO] [1746050966.958951967] [sailbot.main_algo]: Heading Difference: -138.00751249356858 +[main_algo-3] [INFO] [1746050966.959799438] [sailbot.main_algo]: Wind Direction: 245 +[main_algo-3] [INFO] [1746050966.960646045] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050966.961437317] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050966.962430033] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050966.963049201] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050967.003323151] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891784 Long: -76.50350417 +[main_algo-3] [INFO] [1746050967.003621356] [sailbot.main_algo]: Distance to destination: 27.079904680996634 +[main_algo-3] [INFO] [1746050967.004692575] [sailbot.main_algo]: Target Bearing: -54.3588725860649 +[vectornav-1] [INFO] [1746050967.004929529] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.764, 0.222, 2.079) +[main_algo-3] [INFO] [1746050967.005818529] [sailbot.main_algo]: Heading Difference: -138.15012741393514 +[main_algo-3] [INFO] [1746050967.006896276] [sailbot.main_algo]: Wind Direction: 245 +[main_algo-3] [INFO] [1746050967.007821895] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050967.008698089] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050967.010391177] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050967.045035080] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050967.045681623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050967.046343621] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050967.047604740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050967.048634661] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050967.085423404] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050967.087534491] [sailbot.teensy]: Wind angle: 245 +[trim_sail-4] [INFO] [1746050967.087910911] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050967.088557208] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050967.089466841] [sailbot.teensy]: Actual tail angle: 48 +[mux-7] [INFO] [1746050967.090282477] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050967.090324042] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050967.145259124] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050967.146111387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050967.146841046] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050967.147835753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050967.148321559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050967.245474194] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050967.246252297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050967.247028309] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050967.248702416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050967.249928381] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050967.335294834] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050967.336987099] [sailbot.teensy]: Wind angle: 245 +[teensy-2] [INFO] [1746050967.337954401] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050967.338848435] [sailbot.teensy]: Actual tail angle: 48 +[trim_sail-4] [INFO] [1746050967.338499459] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050967.339088543] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050967.340049735] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050967.344523348] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050967.345078713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050967.345643905] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050967.346785625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050967.347847649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050967.444882672] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050967.445584205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050967.446228729] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050967.447640045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050967.448404936] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050967.456972242] [sailbot.main_algo]: Wind Direction: 245 +[main_algo-3] [INFO] [1746050967.457866135] [sailbot.main_algo]: Target Bearing: -54.3588725860649 +[main_algo-3] [INFO] [1746050967.458675327] [sailbot.main_algo]: Heading Difference: -136.8771274139351 +[main_algo-3] [INFO] [1746050967.459497034] [sailbot.main_algo]: Wind Direction: 245 +[main_algo-3] [INFO] [1746050967.460295045] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050967.461097733] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050967.462095123] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050967.462692118] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050967.503289381] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891752 Long: -76.5035048 +[main_algo-3] [INFO] [1746050967.503891851] [sailbot.main_algo]: Distance to destination: 27.082392504228384 +[main_algo-3] [INFO] [1746050967.505061434] [sailbot.main_algo]: Target Bearing: -54.22606979489344 +[vectornav-1] [INFO] [1746050967.505078815] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.789, -0.942, 0.67) +[main_algo-3] [INFO] [1746050967.506082016] [sailbot.main_algo]: Heading Difference: -137.00993020510657 +[main_algo-3] [INFO] [1746050967.507001148] [sailbot.main_algo]: Wind Direction: 245 +[main_algo-3] [INFO] [1746050967.507997606] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050967.508865336] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050967.510705678] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050967.545717849] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050967.545735506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050967.547195937] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050967.548060793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050967.549379909] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050967.585525320] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050967.587722136] [sailbot.teensy]: Wind angle: 245 +[trim_sail-4] [INFO] [1746050967.588280694] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050967.588702353] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050967.589586152] [sailbot.teensy]: Actual tail angle: 48 +[mux-7] [INFO] [1746050967.589809801] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050967.590498785] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050967.645136200] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050967.645907881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050967.647015447] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050967.648878170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050967.650167444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050967.744929947] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050967.745702399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050967.746150752] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050967.747677044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050967.748746492] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050967.835306748] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050967.837727267] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050967.838236214] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050967.838577556] [sailbot.teensy]: Wind angle: 246 +[teensy-2] [INFO] [1746050967.839518452] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050967.840480322] [sailbot.teensy]: Actual tail angle: 48 +[teensy-2] [INFO] [1746050967.841335703] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050967.844369177] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050967.845075672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050967.845516120] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050967.846785255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050967.848007039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050967.945649925] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050967.946550343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050967.947326862] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050967.948610853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050967.949081495] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050967.957411601] [sailbot.main_algo]: Wind Direction: 246 +[main_algo-3] [INFO] [1746050967.958523058] [sailbot.main_algo]: Target Bearing: -54.22606979489344 +[main_algo-3] [INFO] [1746050967.959456993] [sailbot.main_algo]: Heading Difference: -137.9849302051066 +[main_algo-3] [INFO] [1746050967.960357063] [sailbot.main_algo]: Wind Direction: 246 +[main_algo-3] [INFO] [1746050967.961238997] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050967.962101206] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050967.963211635] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050967.963908962] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050968.002545642] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891673 Long: -76.5035055 +[main_algo-3] [INFO] [1746050968.003438103] [sailbot.main_algo]: Distance to destination: 27.046777585307353 +[vectornav-1] [INFO] [1746050968.003898330] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.481, 1.957, 0.017) +[main_algo-3] [INFO] [1746050968.004562316] [sailbot.main_algo]: Target Bearing: -54.017119130673215 +[main_algo-3] [INFO] [1746050968.005547214] [sailbot.main_algo]: Heading Difference: -138.1938808693268 +[main_algo-3] [INFO] [1746050968.006455718] [sailbot.main_algo]: Wind Direction: 246 +[main_algo-3] [INFO] [1746050968.007380248] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050968.008258580] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050968.009916432] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050968.045049324] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050968.045700318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050968.046383290] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050968.047597008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050968.048685490] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050968.085213657] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050968.086955133] [sailbot.teensy]: Wind angle: 245 +[teensy-2] [INFO] [1746050968.087868761] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050968.087410275] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050968.088072143] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050968.088798982] [sailbot.teensy]: Actual tail angle: 48 +[teensy-2] [INFO] [1746050968.089635640] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050968.145016049] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746050968.146518273] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050968.146703721] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050968.148841133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050968.149853569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050968.245231974] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050968.246018757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050968.247041060] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050968.247879235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050968.248379315] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050968.335128782] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050968.336701794] [sailbot.teensy]: Wind angle: 246 +[trim_sail-4] [INFO] [1746050968.337146376] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050968.337605716] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050968.338501094] [sailbot.teensy]: Actual tail angle: 48 +[mux-7] [INFO] [1746050968.339121349] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050968.339434784] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050968.344481393] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050968.345113653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050968.345610148] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050968.346776986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050968.347813050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050968.445531959] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050968.446456805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050968.447989175] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050968.448831939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050968.450529040] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050968.457093045] [sailbot.main_algo]: Wind Direction: 246 +[main_algo-3] [INFO] [1746050968.458044770] [sailbot.main_algo]: Target Bearing: -54.017119130673215 +[main_algo-3] [INFO] [1746050968.458928604] [sailbot.main_algo]: Heading Difference: -136.50188086932678 +[main_algo-3] [INFO] [1746050968.459779120] [sailbot.main_algo]: Wind Direction: 246 +[main_algo-3] [INFO] [1746050968.460685998] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050968.461549092] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050968.462974533] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050968.463272172] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050968.503176888] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891649 Long: -76.50350627 +[main_algo-3] [INFO] [1746050968.504136784] [sailbot.main_algo]: Distance to destination: 27.063672080127894 +[vectornav-1] [INFO] [1746050968.504914689] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.452, -4.93, 2.995) +[main_algo-3] [INFO] [1746050968.505390592] [sailbot.main_algo]: Target Bearing: -53.87611359065719 +[main_algo-3] [INFO] [1746050968.506511456] [sailbot.main_algo]: Heading Difference: -136.64288640934285 +[main_algo-3] [INFO] [1746050968.507479671] [sailbot.main_algo]: Wind Direction: 246 +[main_algo-3] [INFO] [1746050968.508415377] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050968.509298206] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050968.511046514] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050968.545348377] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050968.546135481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050968.546925727] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050968.548383631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050968.549476161] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050968.585249592] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050968.587065164] [sailbot.teensy]: Wind angle: 247 +[trim_sail-4] [INFO] [1746050968.587431749] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050968.588007872] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050968.588907917] [sailbot.teensy]: Actual tail angle: 48 +[mux-7] [INFO] [1746050968.589184048] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050968.589750570] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050968.645552520] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050968.646227852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050968.647195434] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050968.648881829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050968.650022267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050968.745036019] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050968.746205862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050968.746445401] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050968.748218872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050968.748753310] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050968.835171849] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050968.837236226] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746050968.837674231] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050968.838486547] [sailbot.teensy]: Wind angle: 246 +[teensy-2] [INFO] [1746050968.839521518] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050968.840537583] [sailbot.teensy]: Actual tail angle: 48 +[teensy-2] [INFO] [1746050968.841491591] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050968.844429649] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050968.844951023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050968.845531821] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050968.846729166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050968.847905565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050968.945352271] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050968.946837796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050968.946906950] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050968.949532340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746050968.950557758] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050968.957028619] [sailbot.main_algo]: Wind Direction: 246 +[main_algo-3] [INFO] [1746050968.957987968] [sailbot.main_algo]: Target Bearing: -53.87611359065719 +[main_algo-3] [INFO] [1746050968.958865077] [sailbot.main_algo]: Heading Difference: -136.67188640934285 +[main_algo-3] [INFO] [1746050968.959689216] [sailbot.main_algo]: Wind Direction: 246 +[main_algo-3] [INFO] [1746050968.960518613] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050968.961311138] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050968.962372541] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050968.963080928] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050969.002925645] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891646 Long: -76.50350774 +[main_algo-3] [INFO] [1746050969.003944039] [sailbot.main_algo]: Distance to destination: 27.13416804753234 +[vectornav-1] [INFO] [1746050969.004866216] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.69499999999994, 6.246, -0.216) +[main_algo-3] [INFO] [1746050969.005225312] [sailbot.main_algo]: Target Bearing: -53.6684123173101 +[main_algo-3] [INFO] [1746050969.006257826] [sailbot.main_algo]: Heading Difference: -136.87958768268993 +[main_algo-3] [INFO] [1746050969.007218788] [sailbot.main_algo]: Wind Direction: 246 +[main_algo-3] [INFO] [1746050969.008124122] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050969.009000066] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050969.010701407] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050969.045027172] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050969.046129602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050969.046832494] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746050969.048340314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[mux-7] [INFO] [1746050969.048791457] [sailbot.mux]: controller_app rudder angle: 25 +[teensy-2] [INFO] [1746050969.049444227] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050969.085413245] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050969.087291876] [sailbot.teensy]: Wind angle: 246 +[trim_sail-4] [INFO] [1746050969.087746502] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050969.088312786] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050969.089305697] [sailbot.teensy]: Actual tail angle: 48 +[mux-7] [INFO] [1746050969.089978414] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050969.090199291] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050969.144970747] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050969.146261277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050969.146332839] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050969.148120466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746050969.149297380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050969.245186191] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050969.246097872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050969.246643173] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050969.248148263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746050969.249288126] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050969.335223924] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050969.336912645] [sailbot.teensy]: Wind angle: 244 +[trim_sail-4] [INFO] [1746050969.337505842] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050969.337854604] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050969.338793200] [sailbot.teensy]: Actual tail angle: 48 +[mux-7] [INFO] [1746050969.339178733] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050969.339684274] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050969.344415229] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746050969.345521483] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050969.345650653] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050969.347356381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746050969.348428749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050969.445216855] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050969.445987827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050969.446682389] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050969.448143632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746050969.449174977] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050969.457049542] [sailbot.main_algo]: Wind Direction: 244 +[main_algo-3] [INFO] [1746050969.458015251] [sailbot.main_algo]: Target Bearing: -53.6684123173101 +[main_algo-3] [INFO] [1746050969.458850061] [sailbot.main_algo]: Heading Difference: -138.63658768269 +[main_algo-3] [INFO] [1746050969.459633288] [sailbot.main_algo]: Wind Direction: 244 +[main_algo-3] [INFO] [1746050969.460453438] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050969.461235296] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050969.462242227] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050969.463051511] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050969.503051134] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891555 Long: -76.50350804 +[main_algo-3] [INFO] [1746050969.503933415] [sailbot.main_algo]: Distance to destination: 27.068909518403668 +[vectornav-1] [INFO] [1746050969.504526556] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.78999999999996, -3.113, -0.08) +[main_algo-3] [INFO] [1746050969.505108719] [sailbot.main_algo]: Target Bearing: -53.49713472050884 +[main_algo-3] [INFO] [1746050969.506106441] [sailbot.main_algo]: Heading Difference: -138.80786527949124 +[main_algo-3] [INFO] [1746050969.506999472] [sailbot.main_algo]: Wind Direction: 244 +[main_algo-3] [INFO] [1746050969.507906905] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050969.508792312] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050969.510552176] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050969.544867825] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050969.545484007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050969.546126422] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050969.547279512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746050969.548394331] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050969.585335823] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050969.587172929] [sailbot.teensy]: Wind angle: 243 +[trim_sail-4] [INFO] [1746050969.587738359] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050969.588105410] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050969.589043220] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746050969.589273834] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050969.589967153] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050969.645531499] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050969.646086416] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050969.647157340] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050969.648728136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746050969.649968511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050969.745265305] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050969.746045911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050969.747096544] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050969.748084839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746050969.749360675] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050969.835256802] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050969.837583748] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050969.837687785] [sailbot.teensy]: Wind angle: 243 +[mux-7] [INFO] [1746050969.838439534] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050969.838603887] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050969.839687476] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746050969.840528319] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050969.844353364] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050969.845050663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050969.845771553] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050969.846864849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746050969.847888616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050969.945252407] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050969.946057139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050969.946750490] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050969.948175283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746050969.948769198] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050969.957059288] [sailbot.main_algo]: Wind Direction: 243 +[main_algo-3] [INFO] [1746050969.958029963] [sailbot.main_algo]: Target Bearing: -53.49713472050884 +[main_algo-3] [INFO] [1746050969.958962701] [sailbot.main_algo]: Heading Difference: -140.7128652794912 +[main_algo-3] [INFO] [1746050969.959792515] [sailbot.main_algo]: Wind Direction: 243 +[main_algo-3] [INFO] [1746050969.960603720] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050969.961376802] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050969.962377183] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050969.963255447] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050970.002591891] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891516 Long: -76.50350845 +[main_algo-3] [INFO] [1746050970.003093408] [sailbot.main_algo]: Distance to destination: 27.055138045889557 +[vectornav-1] [INFO] [1746050970.003818209] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (161.71299999999997, -2.247, 3.873) +[main_algo-3] [INFO] [1746050970.004163316] [sailbot.main_algo]: Target Bearing: -53.38464771111315 +[main_algo-3] [INFO] [1746050970.005120636] [sailbot.main_algo]: Heading Difference: -140.82535228888685 +[main_algo-3] [INFO] [1746050970.006113792] [sailbot.main_algo]: Wind Direction: 243 +[main_algo-3] [INFO] [1746050970.007036301] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050970.007911391] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050970.009588788] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050970.044882587] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050970.045605543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050970.046128901] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050970.047385968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746050970.048473528] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050970.085412321] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050970.087308053] [sailbot.teensy]: Wind angle: 244 +[trim_sail-4] [INFO] [1746050970.088065088] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050970.088279721] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050970.089213424] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746050970.089978906] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050970.090107802] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050970.145299068] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050970.146112259] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050970.146854568] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050970.148585099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746050970.149809267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050970.245143518] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050970.245888012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050970.246540870] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050970.247971475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746050970.248997845] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050970.335381312] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050970.337213415] [sailbot.teensy]: Wind angle: 243 +[teensy-2] [INFO] [1746050970.338143093] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050970.337824667] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050970.339009519] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746050970.339255887] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050970.339923302] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050970.344366659] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050970.344961962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050970.345533264] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050970.346760358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746050970.347841775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050970.444996183] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050970.445859655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050970.446344826] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050970.447860083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746050970.448904515] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050970.456954567] [sailbot.main_algo]: Wind Direction: 243 +[main_algo-3] [INFO] [1746050970.457912536] [sailbot.main_algo]: Target Bearing: -53.38464771111315 +[main_algo-3] [INFO] [1746050970.458765161] [sailbot.main_algo]: Heading Difference: -144.90235228888685 +[main_algo-3] [INFO] [1746050970.459590595] [sailbot.main_algo]: Wind Direction: 243 +[main_algo-3] [INFO] [1746050970.460393181] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050970.461222830] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050970.462221907] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050970.462817942] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050970.503189959] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891525 Long: -76.50350959 +[main_algo-3] [INFO] [1746050970.504634614] [sailbot.main_algo]: Distance to destination: 27.120370207590206 +[vectornav-1] [INFO] [1746050970.504890217] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.93399999999997, 0.547, 4.033) +[main_algo-3] [INFO] [1746050970.506067466] [sailbot.main_algo]: Target Bearing: -53.24071163502986 +[main_algo-3] [INFO] [1746050970.507042533] [sailbot.main_algo]: Heading Difference: -145.04628836497017 +[main_algo-3] [INFO] [1746050970.507972717] [sailbot.main_algo]: Wind Direction: 243 +[main_algo-3] [INFO] [1746050970.508976935] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050970.509841907] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050970.511589529] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050970.544909206] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050970.545562239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050970.546133911] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050970.547355794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746050970.548544940] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050970.585211588] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050970.587104541] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746050970.587550926] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050970.588091555] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050970.588885010] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050970.589009074] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746050970.589929645] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050970.645235861] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050970.646004687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050970.646720396] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050970.648100100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746050970.649257958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050970.745067500] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746050970.746540448] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050970.746566294] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050970.747964123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746050970.748538067] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050970.835261977] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050970.837325561] [sailbot.teensy]: Wind angle: 228 +[trim_sail-4] [INFO] [1746050970.837420983] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050970.838207916] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050970.838250929] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050970.839118463] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746050970.839624308] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050970.844646414] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050970.845137637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050970.845918383] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050970.846899906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746050970.847938439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050970.944917663] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050970.945826034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050970.946204052] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746050970.947839561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746050970.948941336] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050970.957002702] [sailbot.main_algo]: Wind Direction: 228 +[main_algo-3] [INFO] [1746050970.958059721] [sailbot.main_algo]: Target Bearing: -53.24071163502986 +[main_algo-3] [INFO] [1746050970.958906515] [sailbot.main_algo]: Heading Difference: -148.82528836497016 +[main_algo-3] [INFO] [1746050970.959721771] [sailbot.main_algo]: Wind Direction: 228 +[main_algo-3] [INFO] [1746050970.960579301] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050970.961354692] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050970.962334012] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050970.963107940] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050971.002709312] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891509 Long: -76.50351014 +[main_algo-3] [INFO] [1746050971.003198326] [sailbot.main_algo]: Distance to destination: 27.13406602817965 +[main_algo-3] [INFO] [1746050971.004304601] [sailbot.main_algo]: Target Bearing: -53.142249293645655 +[vectornav-1] [INFO] [1746050971.004872336] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (155.64499999999998, 4.811, 2.297) +[main_algo-3] [INFO] [1746050971.005199343] [sailbot.main_algo]: Heading Difference: -148.92375070635438 +[main_algo-3] [INFO] [1746050971.006082219] [sailbot.main_algo]: Wind Direction: 228 +[main_algo-3] [INFO] [1746050971.006930317] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050971.007751432] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050971.009615511] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050971.023508121] [sailbot.mux]: controller_app rudder angle: -17 +[mux-7] [INFO] [1746050971.044666273] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050971.045240909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050971.045868233] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050971.047021322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050971.048188056] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050971.085182718] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050971.086741350] [sailbot.teensy]: Wind angle: 226 +[teensy-2] [INFO] [1746050971.087593293] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050971.087263500] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050971.088928429] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746050971.089294017] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050971.090198688] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050971.144797963] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050971.145274128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050971.146001040] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050971.146962543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050971.148061614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050971.245011105] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050971.245564232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050971.246304994] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050971.247342049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050971.248438528] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050971.335263760] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050971.336948071] [sailbot.teensy]: Wind angle: 226 +[teensy-2] [INFO] [1746050971.337864533] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050971.338309668] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050971.338774373] [sailbot.teensy]: Actual tail angle: 8 +[mux-7] [INFO] [1746050971.339013245] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050971.339693999] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050971.344419997] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050971.344980817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050971.345641796] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050971.346702357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050971.347693641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050971.445418557] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050971.445997259] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050971.446937394] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050971.448277063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050971.449605348] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050971.457132646] [sailbot.main_algo]: Wind Direction: 226 +[main_algo-3] [INFO] [1746050971.458183691] [sailbot.main_algo]: Target Bearing: -53.142249293645655 +[main_algo-3] [INFO] [1746050971.459086312] [sailbot.main_algo]: Heading Difference: -151.21275070635437 +[main_algo-3] [INFO] [1746050971.459936442] [sailbot.main_algo]: Wind Direction: 226 +[main_algo-3] [INFO] [1746050971.460862631] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050971.461687348] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050971.462794118] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050971.463328444] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050971.502734783] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891415 Long: -76.50350967 +[main_algo-3] [INFO] [1746050971.503456064] [sailbot.main_algo]: Distance to destination: 27.027955668351847 +[vectornav-1] [INFO] [1746050971.503771116] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (155.28300000000002, -6.674, 1.834) +[main_algo-3] [INFO] [1746050971.504524809] [sailbot.main_algo]: Target Bearing: -53.071053804023 +[main_algo-3] [INFO] [1746050971.505520423] [sailbot.main_algo]: Heading Difference: -151.28394619597702 +[main_algo-3] [INFO] [1746050971.506475317] [sailbot.main_algo]: Wind Direction: 226 +[main_algo-3] [INFO] [1746050971.507368763] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050971.508285229] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050971.510045973] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050971.545147936] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050971.545703076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050971.546596385] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050971.547638169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050971.548709986] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050971.585106169] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050971.586680538] [sailbot.teensy]: Wind angle: 229 +[trim_sail-4] [INFO] [1746050971.587274101] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050971.587625770] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050971.588508002] [sailbot.teensy]: Actual tail angle: 8 +[mux-7] [INFO] [1746050971.588659651] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050971.589433834] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050971.645333062] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050971.645923913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050971.646901785] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050971.648364415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050971.649538164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050971.745000526] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050971.745709656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050971.746289378] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050971.747639510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050971.748818096] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050971.835355827] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050971.837615134] [sailbot.teensy]: Wind angle: 229 +[trim_sail-4] [INFO] [1746050971.837949756] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050971.839379177] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050971.839844411] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050971.840862201] [sailbot.teensy]: Actual tail angle: 8 +[teensy-2] [INFO] [1746050971.841738050] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050971.844518272] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050971.844920633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050971.845718717] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050971.846577086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050971.847736868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050971.944746525] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050971.945467039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050971.946287217] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050971.947126446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050971.948182749] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050971.956828481] [sailbot.main_algo]: Wind Direction: 229 +[main_algo-3] [INFO] [1746050971.957696511] [sailbot.main_algo]: Target Bearing: -53.071053804023 +[main_algo-3] [INFO] [1746050971.958454542] [sailbot.main_algo]: Heading Difference: -151.645946195977 +[main_algo-3] [INFO] [1746050971.959144838] [sailbot.main_algo]: Wind Direction: 229 +[main_algo-3] [INFO] [1746050971.959864855] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050971.960568563] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050971.961547197] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050971.962099574] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050972.002304430] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891405 Long: -76.50351052 +[vectornav-1] [INFO] [1746050972.003334383] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (154.053, 1.551, 4.473) +[main_algo-3] [INFO] [1746050972.003926716] [sailbot.main_algo]: Distance to destination: 27.06224265283165 +[main_algo-3] [INFO] [1746050972.004948690] [sailbot.main_algo]: Target Bearing: -52.93990669830622 +[main_algo-3] [INFO] [1746050972.005936242] [sailbot.main_algo]: Heading Difference: -151.77709330169375 +[main_algo-3] [INFO] [1746050972.006772932] [sailbot.main_algo]: Wind Direction: 229 +[main_algo-3] [INFO] [1746050972.007623380] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050972.008467409] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050972.010348233] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050972.045442392] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050972.045772803] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050972.046761028] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050972.047642869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050972.048861175] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050972.085313149] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050972.087185445] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050972.087629285] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050972.088262585] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050972.089336202] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050972.089593706] [sailbot.teensy]: Actual tail angle: 8 +[teensy-2] [INFO] [1746050972.090532374] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050972.145224776] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050972.145634780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050972.146568686] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050972.147364840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050972.148436701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050972.245221419] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050972.245760061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050972.246643785] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050972.247637992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050972.248324119] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050972.335311149] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050972.336992291] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050972.337641629] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050972.337963514] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050972.338851885] [sailbot.teensy]: Actual tail angle: 8 +[mux-7] [INFO] [1746050972.338929815] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050972.339241712] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050972.344581794] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050972.345221514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050972.345773841] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050972.346954981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050972.348095287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050972.445104039] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050972.445759072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050972.446663067] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050972.447654497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050972.448844414] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050972.457169882] [sailbot.main_algo]: Wind Direction: 231 +[main_algo-3] [INFO] [1746050972.458222064] [sailbot.main_algo]: Target Bearing: -52.93990669830622 +[main_algo-3] [INFO] [1746050972.459119791] [sailbot.main_algo]: Heading Difference: -153.00709330169377 +[main_algo-3] [INFO] [1746050972.459940061] [sailbot.main_algo]: Wind Direction: 231 +[main_algo-3] [INFO] [1746050972.460765218] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050972.461556106] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050972.462582084] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050972.463340969] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050972.502835009] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891406 Long: -76.50351099 +[main_algo-3] [INFO] [1746050972.503907687] [sailbot.main_algo]: Distance to destination: 27.086965184634995 +[vectornav-1] [INFO] [1746050972.504031886] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (152.25400000000002, 2.08, 3.081) +[main_algo-3] [INFO] [1746050972.505110705] [sailbot.main_algo]: Target Bearing: -52.87700745415307 +[main_algo-3] [INFO] [1746050972.506087831] [sailbot.main_algo]: Heading Difference: -153.06999254584696 +[main_algo-3] [INFO] [1746050972.506988363] [sailbot.main_algo]: Wind Direction: 231 +[main_algo-3] [INFO] [1746050972.507869882] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050972.508794059] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050972.510513560] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050972.545384490] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050972.546130085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050972.546884369] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050972.548270781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050972.549455727] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050972.585350197] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050972.586935161] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050972.587789064] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050972.587857404] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050972.588774998] [sailbot.teensy]: Actual tail angle: 8 +[mux-7] [INFO] [1746050972.589413844] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050972.589666964] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050972.644719586] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050972.645312819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050972.645867116] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050972.647019095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050972.648138590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050972.744956154] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050972.745731207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050972.746238995] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050972.747603779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050972.748668085] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050972.835592125] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050972.838263588] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050972.839068576] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050972.839552457] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050972.840556018] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050972.841473991] [sailbot.teensy]: Actual tail angle: 8 +[teensy-2] [INFO] [1746050972.842282894] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050972.843666076] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050972.844449952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050972.844771795] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050972.846166570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050972.847302370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050972.945415727] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050972.946165779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050972.946960224] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050972.948846867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050972.949402530] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050972.957010764] [sailbot.main_algo]: Wind Direction: 231 +[main_algo-3] [INFO] [1746050972.957968005] [sailbot.main_algo]: Target Bearing: -52.87700745415307 +[main_algo-3] [INFO] [1746050972.958822878] [sailbot.main_algo]: Heading Difference: -154.86899254584694 +[main_algo-3] [INFO] [1746050972.959611159] [sailbot.main_algo]: Wind Direction: 231 +[main_algo-3] [INFO] [1746050972.960425458] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050972.961210160] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050972.962347057] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050972.962942871] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050973.003001543] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689133 Long: -76.50351063 +[main_algo-3] [INFO] [1746050973.003996366] [sailbot.main_algo]: Distance to destination: 27.002314534924345 +[main_algo-3] [INFO] [1746050973.005247169] [sailbot.main_algo]: Target Bearing: -52.815803789265374 +[main_algo-3] [INFO] [1746050973.006209639] [sailbot.main_algo]: Heading Difference: -154.9301962107346 +[vectornav-1] [INFO] [1746050973.006257587] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (150.78300000000002, -1.317, 3.775) +[main_algo-3] [INFO] [1746050973.007218651] [sailbot.main_algo]: Wind Direction: 231 +[main_algo-3] [INFO] [1746050973.008179852] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050973.009080967] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050973.010887196] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050973.044914484] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050973.045659801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050973.046165992] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050973.047566190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050973.048771877] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050973.085409565] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050973.087639065] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746050973.088603246] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050973.087951153] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050973.088978978] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050973.089598126] [sailbot.teensy]: Actual tail angle: 8 +[teensy-2] [INFO] [1746050973.090465291] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050973.145022847] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050973.145724789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050973.146448342] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050973.147848451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050973.149049082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050973.245409960] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050973.246136422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050973.246885273] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050973.248224423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050973.249395561] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050973.335190629] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050973.336783693] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746050973.337802310] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050973.338532066] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050973.339419686] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050973.340406952] [sailbot.teensy]: Actual tail angle: 8 +[teensy-2] [INFO] [1746050973.341004822] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050973.344444403] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050973.345180058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050973.345566475] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050973.346957079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050973.348001557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050973.444741401] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050973.445277093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050973.446089445] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050973.447013170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050973.448175324] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050973.457039320] [sailbot.main_algo]: Wind Direction: 231 +[main_algo-3] [INFO] [1746050973.458022960] [sailbot.main_algo]: Target Bearing: -52.815803789265374 +[main_algo-3] [INFO] [1746050973.458905118] [sailbot.main_algo]: Heading Difference: -156.4011962107346 +[main_algo-3] [INFO] [1746050973.459713002] [sailbot.main_algo]: Wind Direction: 231 +[main_algo-3] [INFO] [1746050973.460547461] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050973.461343932] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050973.462343475] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050973.462905261] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050973.489143582] [sailbot.mux]: controller_app rudder angle: -18 +[vectornav-1] [INFO] [1746050973.503128513] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891258 Long: -76.50351076 +[main_algo-3] [INFO] [1746050973.503674074] [sailbot.main_algo]: Distance to destination: 26.946147231281433 +[vectornav-1] [INFO] [1746050973.504404687] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (148.70499999999998, -2.958, 2.564) +[main_algo-3] [INFO] [1746050973.504766243] [sailbot.main_algo]: Target Bearing: -52.69279932124321 +[main_algo-3] [INFO] [1746050973.505777578] [sailbot.main_algo]: Heading Difference: -156.52420067875676 +[main_algo-3] [INFO] [1746050973.506693071] [sailbot.main_algo]: Wind Direction: 231 +[main_algo-3] [INFO] [1746050973.507591340] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050973.508454191] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050973.510097537] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050973.545049733] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050973.545888584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050973.546430795] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050973.547977525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050973.549132087] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050973.585331849] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050973.587060155] [sailbot.teensy]: Wind angle: 230 +[teensy-2] [INFO] [1746050973.587944011] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050973.587632116] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050973.588396377] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050973.588826479] [sailbot.teensy]: Actual tail angle: 8 +[teensy-2] [INFO] [1746050973.589681666] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050973.644788372] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050973.645416141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050973.646120477] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050973.647258693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050973.648420282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050973.745023706] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050973.745717960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050973.746439326] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050973.747687721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050973.748726220] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050973.835281599] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050973.837742414] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746050973.837741761] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050973.838680461] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050973.838681514] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050973.839593044] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050973.840465607] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050973.844396245] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050973.844980108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050973.845504176] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050973.846733247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050973.847737404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050973.944781833] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050973.945327746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050973.945948822] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050973.947224195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050973.948284448] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050973.957111225] [sailbot.main_algo]: Wind Direction: 230 +[main_algo-3] [INFO] [1746050973.958251172] [sailbot.main_algo]: Target Bearing: -52.69279932124321 +[main_algo-3] [INFO] [1746050973.959184050] [sailbot.main_algo]: Heading Difference: -158.60220067875684 +[main_algo-3] [INFO] [1746050973.960053826] [sailbot.main_algo]: Wind Direction: 230 +[main_algo-3] [INFO] [1746050973.960915936] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050973.961703173] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050973.962677039] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050973.963243836] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050974.002433090] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891236 Long: -76.50351108 +[main_algo-3] [INFO] [1746050974.003135139] [sailbot.main_algo]: Distance to destination: 26.94331773887163 +[vectornav-1] [INFO] [1746050974.003569897] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (146.736, 1.999, 5.22) +[main_algo-3] [INFO] [1746050974.004173598] [sailbot.main_algo]: Target Bearing: -52.61668546318875 +[main_algo-3] [INFO] [1746050974.005159303] [sailbot.main_algo]: Heading Difference: -158.67831453681129 +[main_algo-3] [INFO] [1746050974.005997529] [sailbot.main_algo]: Wind Direction: 230 +[main_algo-3] [INFO] [1746050974.006847031] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050974.007644414] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050974.009308441] [sailbot.mux]: algo rudder angle: -15 +[teensy-2] [INFO] [1746050974.045967438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050974.046025991] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746050974.047438087] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050974.047925307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050974.049080743] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050974.085247372] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050974.087633928] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050974.087976970] [sailbot.teensy]: Wind angle: 224 +[teensy-2] [INFO] [1746050974.088997670] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050974.089086857] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050974.089914848] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050974.090809073] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050974.145062650] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050974.145861053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050974.146465909] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050974.147965667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050974.149190534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050974.244951717] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050974.245652082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050974.246204959] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050974.247546398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050974.248714299] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050974.335254718] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050974.337628570] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050974.337974217] [sailbot.teensy]: Wind angle: 221 +[teensy-2] [INFO] [1746050974.338944002] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050974.338969574] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050974.339858167] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050974.340537228] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050974.344440842] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050974.344939414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050974.345860288] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050974.346738461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050974.347838040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050974.445486703] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050974.446537428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050974.447223895] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050974.448871049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050974.450125993] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050974.457171447] [sailbot.main_algo]: Wind Direction: 221 +[main_algo-3] [INFO] [1746050974.458242743] [sailbot.main_algo]: Target Bearing: -52.61668546318875 +[main_algo-3] [INFO] [1746050974.459149051] [sailbot.main_algo]: Heading Difference: -160.64731453681122 +[main_algo-3] [INFO] [1746050974.460013528] [sailbot.main_algo]: Wind Direction: 221 +[main_algo-3] [INFO] [1746050974.460928609] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050974.461794415] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050974.462868264] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050974.463769881] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050974.502931910] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891207 Long: -76.5035105 +[main_algo-3] [INFO] [1746050974.503701025] [sailbot.main_algo]: Distance to destination: 26.888461439698496 +[vectornav-1] [INFO] [1746050974.504131588] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (144.332, 0.657, 4.112) +[main_algo-3] [INFO] [1746050974.504979341] [sailbot.main_algo]: Target Bearing: -52.653697571829746 +[main_algo-3] [INFO] [1746050974.507111940] [sailbot.main_algo]: Heading Difference: -160.61030242817026 +[main_algo-3] [INFO] [1746050974.508035317] [sailbot.main_algo]: Wind Direction: 221 +[main_algo-3] [INFO] [1746050974.508958829] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050974.509802774] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050974.511542260] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050974.545390074] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050974.545634324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050974.547022059] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050974.547506719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050974.548484427] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050974.585195821] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050974.587358554] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050974.587877820] [sailbot.teensy]: Wind angle: 221 +[mux-7] [INFO] [1746050974.587934542] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050974.588861525] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050974.589928897] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050974.590791541] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050974.645435698] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050974.646221942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050974.647414501] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050974.648550752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050974.649686925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050974.745034783] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050974.745752427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050974.746599143] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050974.747731636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050974.748945283] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050974.835358151] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050974.837233526] [sailbot.teensy]: Wind angle: 223 +[teensy-2] [INFO] [1746050974.838187128] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050974.837865803] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050974.838794203] [sailbot.teensy]: Actual tail angle: 7 +[mux-7] [INFO] [1746050974.838794633] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050974.839162182] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050974.844446075] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050974.845042753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050974.845836691] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050974.846765329] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050974.847818574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050974.945327078] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746050974.947004048] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050974.947449554] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050974.949581487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050974.950147411] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050974.957047375] [sailbot.main_algo]: Wind Direction: 223 +[main_algo-3] [INFO] [1746050974.958079581] [sailbot.main_algo]: Target Bearing: -52.653697571829746 +[main_algo-3] [INFO] [1746050974.959049895] [sailbot.main_algo]: Heading Difference: -163.01430242817025 +[main_algo-3] [INFO] [1746050974.959957065] [sailbot.main_algo]: Wind Direction: 223 +[main_algo-3] [INFO] [1746050974.960921329] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050974.961932542] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050974.963242835] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050974.963700894] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050975.001371983] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891087 Long: -76.50350996 +[vectornav-1] [INFO] [1746050975.001813780] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (144.10199999999998, -0.708, 1.913) +[main_algo-3] [INFO] [1746050975.001835867] [sailbot.main_algo]: Distance to destination: 26.756449881178032 +[main_algo-3] [INFO] [1746050975.002289425] [sailbot.main_algo]: Target Bearing: -52.551133445086975 +[main_algo-3] [INFO] [1746050975.002717199] [sailbot.main_algo]: Heading Difference: -163.11686655491303 +[main_algo-3] [INFO] [1746050975.003116298] [sailbot.main_algo]: Wind Direction: 223 +[main_algo-3] [INFO] [1746050975.003490916] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050975.003876416] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050975.004770299] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050975.040947254] [sailbot.mux]: controller_app rudder angle: -17 +[mux-7] [INFO] [1746050975.044011436] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050975.044714884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050975.045032188] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050975.046316126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050975.047276673] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050975.085127510] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050975.087177720] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050975.087370892] [sailbot.teensy]: Wind angle: 224 +[mux-7] [INFO] [1746050975.088217223] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050975.088258577] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050975.089100658] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050975.089945766] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050975.145097972] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050975.145876943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050975.146503602] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050975.147671905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050975.148735628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050975.245151034] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050975.245941955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050975.246818410] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050975.247790665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050975.248343539] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050975.335376840] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050975.337035317] [sailbot.teensy]: Wind angle: 223 +[trim_sail-4] [INFO] [1746050975.337520985] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050975.337944266] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050975.338899802] [sailbot.teensy]: Actual tail angle: 8 +[mux-7] [INFO] [1746050975.339648544] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050975.339744779] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050975.344483791] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050975.345229891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050975.345631090] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050975.346981171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050975.348006983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050975.445178443] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050975.445940431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050975.446703975] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050975.448188444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050975.449263603] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050975.457015003] [sailbot.main_algo]: Wind Direction: 223 +[main_algo-3] [INFO] [1746050975.458002143] [sailbot.main_algo]: Target Bearing: -52.551133445086975 +[main_algo-3] [INFO] [1746050975.458896098] [sailbot.main_algo]: Heading Difference: -163.34686655491305 +[main_algo-3] [INFO] [1746050975.459753042] [sailbot.main_algo]: Wind Direction: 223 +[main_algo-3] [INFO] [1746050975.460566058] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050975.461367033] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050975.462362761] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050975.462940165] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050975.503176043] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891008 Long: -76.50351003 +[main_algo-3] [INFO] [1746050975.503789058] [sailbot.main_algo]: Distance to destination: 26.691397917519545 +[vectornav-1] [INFO] [1746050975.504729547] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (141.385, -1.792, 3.509) +[main_algo-3] [INFO] [1746050975.504944213] [sailbot.main_algo]: Target Bearing: -52.42431030834267 +[main_algo-3] [INFO] [1746050975.505922980] [sailbot.main_algo]: Heading Difference: -163.47368969165734 +[main_algo-3] [INFO] [1746050975.506840976] [sailbot.main_algo]: Wind Direction: 223 +[main_algo-3] [INFO] [1746050975.507698097] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050975.508554313] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050975.510263465] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050975.545050940] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050975.545785516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050975.546460002] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050975.547720439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050975.548758327] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050975.585430499] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050975.587123911] [sailbot.teensy]: Wind angle: 217 +[trim_sail-4] [INFO] [1746050975.587579471] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050975.588060530] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050975.589055538] [sailbot.teensy]: Actual tail angle: 8 +[teensy-2] [INFO] [1746050975.590018526] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050975.590385044] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050975.645045008] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050975.645684991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050975.646457873] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050975.647654460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050975.648831235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050975.744898908] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050975.745964556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050975.746566462] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050975.747784950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050975.748933728] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050975.835175003] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050975.837218580] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050975.838624938] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050975.838874911] [sailbot.teensy]: Wind angle: 218 +[teensy-2] [INFO] [1746050975.839866711] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050975.840794845] [sailbot.teensy]: Actual tail angle: 8 +[teensy-2] [INFO] [1746050975.841649991] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050975.844480254] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050975.844926178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050975.845662642] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050975.846660879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050975.847722741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050975.945159140] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050975.945809188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050975.946695487] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050975.947939246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050975.949068527] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050975.957157568] [sailbot.main_algo]: Wind Direction: 218 +[main_algo-3] [INFO] [1746050975.958142840] [sailbot.main_algo]: Target Bearing: -52.42431030834267 +[main_algo-3] [INFO] [1746050975.959028424] [sailbot.main_algo]: Heading Difference: -166.19068969165733 +[main_algo-3] [INFO] [1746050975.959875286] [sailbot.main_algo]: Wind Direction: 218 +[main_algo-3] [INFO] [1746050975.960730203] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050975.961529864] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050975.962517575] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050975.963272342] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050976.002213591] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890937 Long: -76.50350989 +[main_algo-3] [INFO] [1746050976.003103078] [sailbot.main_algo]: Distance to destination: 26.622616084209444 +[vectornav-1] [INFO] [1746050976.003224189] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (141.61, 5.317, 3.495) +[main_algo-3] [INFO] [1746050976.004277815] [sailbot.main_algo]: Target Bearing: -52.33782195212633 +[main_algo-3] [INFO] [1746050976.005660172] [sailbot.main_algo]: Heading Difference: -166.2771780478737 +[main_algo-3] [INFO] [1746050976.006623720] [sailbot.main_algo]: Wind Direction: 218 +[main_algo-3] [INFO] [1746050976.007506443] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050976.008370295] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050976.010099138] [sailbot.mux]: algo rudder angle: -15 +[teensy-2] [INFO] [1746050976.046055952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050976.046316694] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746050976.047854509] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050976.048041915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050976.049904633] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050976.085558760] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050976.087947350] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050976.088771133] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050976.089258425] [sailbot.teensy]: Wind angle: 218 +[teensy-2] [INFO] [1746050976.090269099] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050976.091171753] [sailbot.teensy]: Actual tail angle: 8 +[teensy-2] [INFO] [1746050976.092009652] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050976.145274163] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050976.146177377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050976.146843950] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050976.148306307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050976.149494870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050976.245003864] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050976.245793723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050976.246454011] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050976.247740366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050976.248875440] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050976.335323295] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050976.337354256] [sailbot.teensy]: Wind angle: 214 +[trim_sail-4] [INFO] [1746050976.337692637] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050976.339117187] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050976.339662751] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050976.340709584] [sailbot.teensy]: Actual tail angle: 8 +[teensy-2] [INFO] [1746050976.341607085] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050976.344278576] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050976.344780701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050976.345422246] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050976.346470231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050976.347513601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050976.445479655] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050976.446158120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050976.447210756] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050976.448467385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050976.449018754] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050976.456954043] [sailbot.main_algo]: Wind Direction: 214 +[main_algo-3] [INFO] [1746050976.457962943] [sailbot.main_algo]: Target Bearing: -52.33782195212633 +[main_algo-3] [INFO] [1746050976.458840054] [sailbot.main_algo]: Heading Difference: -166.05217804787367 +[main_algo-3] [INFO] [1746050976.459638616] [sailbot.main_algo]: Wind Direction: 214 +[main_algo-3] [INFO] [1746050976.460462094] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050976.461269883] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050976.462335471] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050976.462879242] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050976.503225194] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890837 Long: -76.50350879 +[main_algo-3] [INFO] [1746050976.503895917] [sailbot.main_algo]: Distance to destination: 26.479393107503 +[vectornav-1] [INFO] [1746050976.504659607] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (138.281, -5.222, 3.868) +[main_algo-3] [INFO] [1746050976.505309400] [sailbot.main_algo]: Target Bearing: -52.340425560342155 +[main_algo-3] [INFO] [1746050976.506315385] [sailbot.main_algo]: Heading Difference: -166.04957443965782 +[main_algo-3] [INFO] [1746050976.507260428] [sailbot.main_algo]: Wind Direction: 214 +[main_algo-3] [INFO] [1746050976.508128772] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050976.508988769] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050976.510756024] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050976.544993003] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050976.545658245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050976.546236154] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050976.547712522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050976.548908383] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050976.585124182] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050976.587128990] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050976.587791263] [sailbot.teensy]: Wind angle: 213 +[teensy-2] [INFO] [1746050976.588794095] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050976.589021115] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050976.589787533] [sailbot.teensy]: Actual tail angle: 8 +[teensy-2] [INFO] [1746050976.590640317] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050976.644762474] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050976.645323395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050976.645933015] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050976.647123364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050976.648335450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050976.745048931] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050976.745761629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050976.746598718] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050976.747723840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050976.748764437] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050976.835127808] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050976.836874355] [sailbot.teensy]: Wind angle: 213 +[trim_sail-4] [INFO] [1746050976.837429907] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050976.837739491] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050976.837759141] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050976.838629043] [sailbot.teensy]: Actual tail angle: 8 +[teensy-2] [INFO] [1746050976.839002671] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050976.844486934] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050976.845012208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050976.845604412] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050976.846743941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050976.847739957] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050976.945205655] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050976.946300159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050976.946756465] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050976.948691408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050976.949850568] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050976.957114028] [sailbot.main_algo]: Wind Direction: 213 +[main_algo-3] [INFO] [1746050976.958293381] [sailbot.main_algo]: Target Bearing: -52.340425560342155 +[main_algo-3] [INFO] [1746050976.959258973] [sailbot.main_algo]: Heading Difference: -169.37857443965783 +[main_algo-3] [INFO] [1746050976.960148464] [sailbot.main_algo]: Wind Direction: 213 +[main_algo-3] [INFO] [1746050976.961081686] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050976.961919604] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050976.962911609] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050976.963476981] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050977.002805468] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890775 Long: -76.50350861 +[main_algo-3] [INFO] [1746050977.003912352] [sailbot.main_algo]: Distance to destination: 26.41640674789313 +[vectornav-1] [INFO] [1746050977.004426015] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (134.75400000000002, 2.161, 3.069) +[main_algo-3] [INFO] [1746050977.005111945] [sailbot.main_algo]: Target Bearing: -52.2721601467691 +[main_algo-3] [INFO] [1746050977.006253869] [sailbot.main_algo]: Heading Difference: -169.44683985323093 +[main_algo-3] [INFO] [1746050977.007191721] [sailbot.main_algo]: Wind Direction: 213 +[main_algo-3] [INFO] [1746050977.008060615] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050977.008963926] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050977.010672160] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050977.045108848] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050977.045882657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050977.046539164] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050977.048093174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050977.049248050] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050977.085313222] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050977.087379570] [sailbot.teensy]: Wind angle: 213 +[trim_sail-4] [INFO] [1746050977.087631677] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050977.088318788] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050977.088353207] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050977.089274740] [sailbot.teensy]: Actual tail angle: 8 +[teensy-2] [INFO] [1746050977.090145045] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050977.144849573] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050977.145409114] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050977.146054694] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050977.147504592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050977.148646569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050977.245107233] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050977.245673373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050977.247044374] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050977.247547761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050977.248639069] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050977.335282167] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050977.337530965] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050977.338513856] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050977.338907914] [sailbot.teensy]: Wind angle: 212 +[teensy-2] [INFO] [1746050977.339871087] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050977.340425974] [sailbot.teensy]: Actual tail angle: 8 +[teensy-2] [INFO] [1746050977.340828809] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050977.344536655] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050977.344978237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050977.345856089] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050977.346640872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050977.347720190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050977.445201613] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050977.446001285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050977.446810100] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050977.448045700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050977.449213215] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050977.457126503] [sailbot.main_algo]: Wind Direction: 212 +[main_algo-3] [INFO] [1746050977.458119194] [sailbot.main_algo]: Target Bearing: -52.2721601467691 +[main_algo-3] [INFO] [1746050977.459001554] [sailbot.main_algo]: Heading Difference: -172.97383985323086 +[main_algo-3] [INFO] [1746050977.459854693] [sailbot.main_algo]: Wind Direction: 212 +[main_algo-3] [INFO] [1746050977.460665284] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050977.461458571] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746050977.462473481] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050977.463201726] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746050977.502739014] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890689 Long: -76.50350846 +[main_algo-3] [INFO] [1746050977.503786704] [sailbot.main_algo]: Distance to destination: 26.334241518838795 +[vectornav-1] [INFO] [1746050977.504133041] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (131.103, -1.398, 2.875) +[main_algo-3] [INFO] [1746050977.504927676] [sailbot.main_algo]: Target Bearing: -52.16303958403642 +[main_algo-3] [INFO] [1746050977.505899980] [sailbot.main_algo]: Heading Difference: -173.08296041596356 +[main_algo-3] [INFO] [1746050977.506802912] [sailbot.main_algo]: Wind Direction: 212 +[main_algo-3] [INFO] [1746050977.507667354] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746050977.508524162] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746050977.510259074] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746050977.544995492] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050977.545694448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050977.546295580] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050977.547549555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050977.548837119] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050977.585284852] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050977.587681468] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050977.587891089] [sailbot.teensy]: Wind angle: 205 +[mux-7] [INFO] [1746050977.588267258] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050977.588863960] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050977.589749747] [sailbot.teensy]: Actual tail angle: 8 +[teensy-2] [INFO] [1746050977.590650356] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050977.645367732] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050977.646033631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050977.646981212] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050977.648137760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050977.649242711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050977.745463382] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050977.746193569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050977.747034771] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050977.748581812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050977.749719026] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050977.835301808] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050977.837040402] [sailbot.teensy]: Wind angle: 199 +[teensy-2] [INFO] [1746050977.837945121] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050977.837489466] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050977.838217040] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050977.838837652] [sailbot.teensy]: Actual tail angle: 8 +[teensy-2] [INFO] [1746050977.839412953] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050977.844637777] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050977.844965866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050977.845800768] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050977.846669147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050977.847816348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050977.945390824] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050977.946090923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050977.947473116] [sailbot.mux]: Published rudder angle from controller_app: -17 +[teensy-2] [INFO] [1746050977.948275999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 +[teensy-2] [INFO] [1746050977.949272738] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050977.957065651] [sailbot.main_algo]: Wind Direction: 199 +[main_algo-3] [INFO] [1746050977.958081587] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746050977.958975910] [sailbot.main_algo]: Wind Direction: 199 +[main_algo-3] [INFO] [1746050977.960173947] [sailbot.main_algo]: Current Location: (42.46890689215145, -76.50350846005456) +[main_algo-3] [INFO] [1746050977.961065799] [sailbot.main_algo]: Target Bearing: -52.16303958403642 +[main_algo-3] [INFO] [1746050977.961909903] [sailbot.main_algo]: Heading Difference: -176.73396041596357 +[main_algo-3] [INFO] [1746050977.962710233] [sailbot.main_algo]: Wind Direction: 199 +[main_algo-3] [INFO] [1746050977.963503220] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746050977.964294523] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746050977.965311499] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050977.966269779] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746050978.002317721] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890598 Long: -76.50350808 +[main_algo-3] [INFO] [1746050978.003180983] [sailbot.main_algo]: Distance to destination: 26.235965621323917 +[vectornav-1] [INFO] [1746050978.003278501] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (124.56099999999998, 1.231, 5.234) +[main_algo-3] [INFO] [1746050978.004574997] [sailbot.main_algo]: Target Bearing: -52.07772373310966 +[main_algo-3] [INFO] [1746050978.005531264] [sailbot.main_algo]: Heading Difference: -176.81927626689037 +[main_algo-3] [INFO] [1746050978.006453250] [sailbot.main_algo]: Wind Direction: 199 +[main_algo-3] [INFO] [1746050978.007332598] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746050978.008197684] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746050978.009935585] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746050978.035057087] [sailbot.mux]: controller_app rudder angle: -18 +[mux-7] [INFO] [1746050978.044550535] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050978.045145428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050978.045857681] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050978.046910005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050978.047857640] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050978.085214466] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050978.087425616] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050978.087411628] [sailbot.teensy]: Wind angle: 196 +[mux-7] [INFO] [1746050978.088659422] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050978.088747864] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050978.089633077] [sailbot.teensy]: Actual tail angle: 8 +[teensy-2] [INFO] [1746050978.090492205] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050978.145038802] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050978.145785666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050978.146389212] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050978.147603926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050978.148661257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050978.245450370] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050978.245928169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050978.247253180] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050978.248145602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050978.249302127] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050978.335331710] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050978.337477610] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746050978.337790064] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050978.338639884] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050978.339455047] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050978.340397007] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050978.341238216] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050978.344446745] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050978.344966111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050978.345572248] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050978.346759065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050978.347835320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050978.445573629] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050978.446700109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050978.447443386] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050978.449026734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050978.450174649] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050978.457219939] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746050978.458412708] [sailbot.main_algo]: Target Bearing: -52.07772373310966 +[main_algo-3] [INFO] [1746050978.459400230] [sailbot.main_algo]: Heading Difference: 176.6387237331096 +[main_algo-3] [INFO] [1746050978.460293016] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746050978.461127835] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746050978.461983002] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746050978.463025740] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050978.463700706] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746050978.502850048] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890537 Long: -76.50350726 +[main_algo-3] [INFO] [1746050978.503818246] [sailbot.main_algo]: Distance to destination: 26.140899519313354 +[vectornav-1] [INFO] [1746050978.503978808] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (119.63299999999998, -1.824, 4.589) +[main_algo-3] [INFO] [1746050978.505019259] [sailbot.main_algo]: Target Bearing: -52.09934960141881 +[main_algo-3] [INFO] [1746050978.505998612] [sailbot.main_algo]: Heading Difference: 176.66034960141877 +[main_algo-3] [INFO] [1746050978.506901159] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746050978.507812702] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746050978.508684689] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746050978.510519757] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746050978.545044213] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050978.545865680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050978.546481806] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050978.548143795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050978.549328981] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050978.585170553] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050978.587698534] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050978.587894185] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746050978.588866171] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050978.588515363] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050978.589757110] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050978.590608708] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050978.645163426] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050978.646133466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050978.647036672] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050978.648303492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050978.649447489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050978.744714849] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050978.745323689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050978.745898245] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050978.747125100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050978.748298578] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050978.835292551] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050978.838059701] [sailbot.teensy]: Wind angle: 191 +[teensy-2] [INFO] [1746050978.839026131] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050978.838416244] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050978.839189596] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050978.839878609] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050978.840918447] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050978.844371239] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050978.845093243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050978.845725506] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050978.846806014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050978.847961419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050978.945280986] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050978.945895449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050978.946811281] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050978.948076978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050978.949357244] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050978.957012479] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746050978.957974895] [sailbot.main_algo]: Target Bearing: -52.09934960141881 +[main_algo-3] [INFO] [1746050978.958855128] [sailbot.main_algo]: Heading Difference: 171.73234960141878 +[main_algo-3] [INFO] [1746050978.959636561] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746050978.960463011] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746050978.961255692] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746050978.962362639] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050978.962861469] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746050979.003892604] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890462 Long: -76.5035074 +[main_algo-3] [INFO] [1746050979.004364144] [sailbot.main_algo]: Distance to destination: 26.083394011218136 +[vectornav-1] [INFO] [1746050979.005277988] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (114.69400000000002, 0.372, 3.38) +[main_algo-3] [INFO] [1746050979.005798236] [sailbot.main_algo]: Target Bearing: -51.96473926915184 +[main_algo-3] [INFO] [1746050979.006961549] [sailbot.main_algo]: Heading Difference: 171.59773926915182 +[main_algo-3] [INFO] [1746050979.007942322] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746050979.008872121] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746050979.009789307] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746050979.011653470] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746050979.045165732] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050979.045890655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050979.046676339] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050979.047882397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050979.049077352] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050979.085063612] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050979.086987395] [sailbot.teensy]: Wind angle: 187 +[teensy-2] [INFO] [1746050979.087923398] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050979.087012063] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050979.088455091] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050979.088802329] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050979.089715744] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050979.145154747] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050979.145885031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050979.146675383] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050979.147739554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050979.148813257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050979.245321433] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050979.246210268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050979.246849728] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050979.248359858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050979.249069467] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050979.335361843] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050979.337517575] [sailbot.teensy]: Wind angle: 179 +[trim_sail-4] [INFO] [1746050979.337553538] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050979.338536263] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050979.339424047] [sailbot.teensy]: Actual tail angle: 7 +[mux-7] [INFO] [1746050979.339972753] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050979.340333654] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050979.344418643] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050979.344884945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050979.345621804] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050979.346567000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050979.347609945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050979.445392992] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050979.445909083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050979.447034676] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050979.448033242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050979.448765848] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050979.456929763] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746050979.457918374] [sailbot.main_algo]: Target Bearing: -51.96473926915184 +[main_algo-3] [INFO] [1746050979.458815877] [sailbot.main_algo]: Heading Difference: 166.65873926915185 +[main_algo-3] [INFO] [1746050979.459621661] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746050979.460464828] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746050979.461251519] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746050979.462311369] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050979.463045191] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746050979.502861395] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890386 Long: -76.50350749 +[main_algo-3] [INFO] [1746050979.503393148] [sailbot.main_algo]: Distance to destination: 26.02257485962158 +[vectornav-1] [INFO] [1746050979.504451001] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (108.30799999999999, -0.63, 4.599) +[main_algo-3] [INFO] [1746050979.504485661] [sailbot.main_algo]: Target Bearing: -51.835005838341296 +[main_algo-3] [INFO] [1746050979.505472235] [sailbot.main_algo]: Heading Difference: 166.52900583834128 +[main_algo-3] [INFO] [1746050979.506402876] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746050979.507282938] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746050979.508126162] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746050979.509831171] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746050979.544866150] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050979.545552036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050979.546174476] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050979.547396515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050979.548570758] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050979.585330594] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050979.587570072] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050979.588308930] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050979.588533156] [sailbot.teensy]: Wind angle: 173 +[teensy-2] [INFO] [1746050979.589461036] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050979.590313754] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050979.591162080] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050979.645124208] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050979.645936438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050979.646617559] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050979.648003664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050979.649045915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050979.745279934] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050979.745955452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050979.746841364] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050979.748177166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050979.749288269] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050979.835194807] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050979.837552591] [sailbot.teensy]: Wind angle: 173 +[trim_sail-4] [INFO] [1746050979.837786382] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050979.838211140] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050979.838506961] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050979.839411983] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050979.840316316] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050979.844422721] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050979.845100867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050979.845866722] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050979.846806363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050979.847878531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050979.945210836] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050979.946099851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050979.947023583] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050979.948349108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050979.949425427] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050979.957119941] [sailbot.main_algo]: Wind Direction: 173 +[main_algo-3] [INFO] [1746050979.958203972] [sailbot.main_algo]: Target Bearing: -51.835005838341296 +[main_algo-3] [INFO] [1746050979.959088091] [sailbot.main_algo]: Heading Difference: 160.1430058383413 +[main_algo-3] [INFO] [1746050979.959992974] [sailbot.main_algo]: Wind Direction: 173 +[main_algo-3] [INFO] [1746050979.960874745] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746050979.961739318] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746050979.962737339] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050979.963579535] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746050980.003110983] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890313 Long: -76.50350634 +[vectornav-1] [INFO] [1746050980.004426417] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (97.238, 1.973, 7.543) +[main_algo-3] [INFO] [1746050980.003814977] [sailbot.main_algo]: Distance to destination: 25.9000028893031 +[main_algo-3] [INFO] [1746050980.004948983] [sailbot.main_algo]: Target Bearing: -51.88384460005261 +[main_algo-3] [INFO] [1746050980.005997497] [sailbot.main_algo]: Heading Difference: 160.1918446000526 +[main_algo-3] [INFO] [1746050980.006952344] [sailbot.main_algo]: Wind Direction: 173 +[main_algo-3] [INFO] [1746050980.007882772] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746050980.008753831] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746050980.010711941] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746050980.045232342] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050980.045886769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050980.046750742] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050980.048115301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050980.049328301] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050980.085418791] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050980.087103243] [sailbot.teensy]: Wind angle: 172 +[trim_sail-4] [INFO] [1746050980.087706105] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050980.088015715] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050980.089375444] [sailbot.teensy]: Actual tail angle: 7 +[mux-7] [INFO] [1746050980.090264230] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050980.091006670] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050980.144894226] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050980.145501598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050980.146130250] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050980.147368985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050980.148438282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050980.245366125] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050980.246056390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050980.247059899] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050980.248645278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050980.249957861] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050980.335301754] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050980.337785198] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050980.338285382] [sailbot.teensy]: Wind angle: 167 +[mux-7] [INFO] [1746050980.338464585] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050980.340066100] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050980.340520008] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050980.340868131] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050980.344457819] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050980.345020402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050980.345622167] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050980.346700450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050980.347923682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050980.445238019] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050980.446062336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050980.446797871] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050980.447868150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050980.448329778] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050980.457165306] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746050980.458266489] [sailbot.main_algo]: Target Bearing: -51.88384460005261 +[main_algo-3] [INFO] [1746050980.459205294] [sailbot.main_algo]: Heading Difference: 149.1218446000526 +[main_algo-3] [INFO] [1746050980.460089053] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746050980.460990321] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746050980.461851218] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746050980.463023414] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050980.463661591] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746050980.502684582] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890223 Long: -76.50350618 +[main_algo-3] [INFO] [1746050980.503558595] [sailbot.main_algo]: Distance to destination: 25.814221006964573 +[vectornav-1] [INFO] [1746050980.503740189] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (86.84500000000003, -3.418, 6.356) +[main_algo-3] [INFO] [1746050980.504654697] [sailbot.main_algo]: Target Bearing: -51.76648465076176 +[main_algo-3] [INFO] [1746050980.505619069] [sailbot.main_algo]: Heading Difference: 149.00448465076175 +[main_algo-3] [INFO] [1746050980.506497787] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746050980.507387310] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746050980.508333274] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746050980.510056659] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746050980.545105446] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050980.545928309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050980.546533798] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050980.548251127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050980.549303735] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050980.585119155] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050980.586862710] [sailbot.teensy]: Wind angle: 149 +[teensy-2] [INFO] [1746050980.587747790] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050980.587236038] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050980.587684659] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050980.588641548] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050980.589544928] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050980.645122205] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050980.645881523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050980.646666353] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050980.647993664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050980.649329646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050980.745612177] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050980.746605432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050980.747703995] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050980.749101517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050980.750240472] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050980.835473055] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050980.837409682] [sailbot.teensy]: Wind angle: 137 +[trim_sail-4] [INFO] [1746050980.838025907] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050980.838390646] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050980.839321755] [sailbot.teensy]: Actual tail angle: 7 +[mux-7] [INFO] [1746050980.838511871] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050980.840244950] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050980.844431769] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050980.845418933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050980.845917450] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050980.847196219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050980.848332427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050980.945411145] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050980.946378927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050980.946942736] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050980.948520332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050980.949695181] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050980.956931606] [sailbot.main_algo]: Wind Direction: 137 +[main_algo-3] [INFO] [1746050980.957875832] [sailbot.main_algo]: Target Bearing: -51.76648465076176 +[main_algo-3] [INFO] [1746050980.958689414] [sailbot.main_algo]: Heading Difference: 138.61148465076178 +[main_algo-3] [INFO] [1746050980.959465932] [sailbot.main_algo]: Wind Direction: 137 +[main_algo-3] [INFO] [1746050980.960245677] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050980.961029827] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050980.961994187] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050980.962875547] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050981.003515473] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890179 Long: -76.50350661 +[main_algo-3] [INFO] [1746050981.003669102] [sailbot.main_algo]: Distance to destination: 25.798813928299143 +[main_algo-3] [INFO] [1746050981.004757039] [sailbot.main_algo]: Target Bearing: -51.637015686489605 +[vectornav-1] [INFO] [1746050981.005379175] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (75.435, 1.518, 6.397) +[main_algo-3] [INFO] [1746050981.005766105] [sailbot.main_algo]: Heading Difference: 138.4820156864896 +[main_algo-3] [INFO] [1746050981.007119865] [sailbot.main_algo]: Wind Direction: 137 +[main_algo-3] [INFO] [1746050981.008017792] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050981.008880763] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050981.010673080] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050981.045079625] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050981.045690828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050981.046402328] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050981.047568054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050981.048658367] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050981.085336152] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050981.087590287] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050981.087788260] [sailbot.teensy]: Wind angle: 137 +[teensy-2] [INFO] [1746050981.088738807] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050981.088745974] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050981.089657149] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050981.090595673] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050981.144846643] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050981.145501913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050981.146034950] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050981.147349085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050981.148338405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050981.244866291] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050981.245404528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050981.246080431] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050981.247141714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050981.248341939] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050981.335183797] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050981.337284294] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050981.337400054] [sailbot.teensy]: Wind angle: 134 +[mux-7] [INFO] [1746050981.337751465] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050981.338284924] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050981.339171676] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050981.339976971] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050981.344552119] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050981.345165653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050981.345731853] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050981.346854806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050981.347906995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050981.445399095] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050981.446385784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050981.447057691] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050981.449059593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050981.450332753] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050981.457135808] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746050981.458283223] [sailbot.main_algo]: Target Bearing: -51.637015686489605 +[main_algo-3] [INFO] [1746050981.459236400] [sailbot.main_algo]: Heading Difference: 127.07201568648964 +[main_algo-3] [INFO] [1746050981.460125910] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746050981.461052876] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050981.461880830] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050981.462906861] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050981.463504790] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050981.502749144] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890119 Long: -76.50350659 +[main_algo-3] [INFO] [1746050981.503665526] [sailbot.main_algo]: Distance to destination: 25.74629590499873 +[vectornav-1] [INFO] [1746050981.504274484] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (62.024, -0.458, 6.923) +[main_algo-3] [INFO] [1746050981.504820774] [sailbot.main_algo]: Target Bearing: -51.545763582449794 +[main_algo-3] [INFO] [1746050981.505783090] [sailbot.main_algo]: Heading Difference: 126.98076358244981 +[main_algo-3] [INFO] [1746050981.506697831] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746050981.507581831] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050981.508437865] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050981.510131487] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050981.545046343] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050981.545868940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050981.546596509] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050981.547930301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050981.549064202] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050981.585250386] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050981.587606925] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050981.588319490] [sailbot.teensy]: Wind angle: 130 +[teensy-2] [INFO] [1746050981.589311784] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050981.589500851] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050981.590227134] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050981.591140392] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050981.645044349] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050981.645705183] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050981.646342223] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050981.647617031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050981.648718820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050981.745295955] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050981.746225325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050981.746828092] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050981.748372240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050981.749588364] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050981.835133745] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050981.837382713] [sailbot.teensy]: Wind angle: 120 +[trim_sail-4] [INFO] [1746050981.837515606] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050981.838399253] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050981.839341920] [sailbot.teensy]: Actual tail angle: 7 +[mux-7] [INFO] [1746050981.839357644] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050981.840337423] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050981.844399816] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050981.844950216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050981.845561149] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050981.846624671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050981.847678870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050981.945116488] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050981.945810002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050981.946548241] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050981.947814092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050981.948399068] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050981.957043373] [sailbot.main_algo]: Wind Direction: 120 +[main_algo-3] [INFO] [1746050981.958009145] [sailbot.main_algo]: Target Bearing: -51.545763582449794 +[main_algo-3] [INFO] [1746050981.958898393] [sailbot.main_algo]: Heading Difference: 113.56976358244981 +[main_algo-3] [INFO] [1746050981.959691197] [sailbot.main_algo]: Wind Direction: 120 +[main_algo-3] [INFO] [1746050981.960511257] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050981.961298449] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050981.962359753] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050981.963134712] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050982.003317944] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46889984 Long: -76.50350533 +[vectornav-1] [INFO] [1746050982.005323784] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.379999999999995, -3.141, 13.236) +[main_algo-3] [INFO] [1746050982.004193589] [sailbot.main_algo]: Distance to destination: 25.56470531760791 +[main_algo-3] [INFO] [1746050982.005339452] [sailbot.main_algo]: Target Bearing: -51.51140620358169 +[main_algo-3] [INFO] [1746050982.006486385] [sailbot.main_algo]: Heading Difference: 113.53540620358172 +[main_algo-3] [INFO] [1746050982.007572239] [sailbot.main_algo]: Wind Direction: 120 +[main_algo-3] [INFO] [1746050982.008561528] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050982.009417729] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050982.011305375] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050982.045062026] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050982.045728328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050982.046393675] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050982.047720121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050982.048767092] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050982.085381255] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050982.087335212] [sailbot.teensy]: Wind angle: 113 +[trim_sail-4] [INFO] [1746050982.088043215] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050982.088344039] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050982.088800683] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050982.089258452] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050982.090180546] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050982.145190947] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050982.146015966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050982.146718979] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050982.148177757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050982.148761078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050982.245414456] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050982.245938133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050982.247058708] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050982.248126952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050982.248734000] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050982.335215962] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050982.337388892] [sailbot.teensy]: Wind angle: 110 +[trim_sail-4] [INFO] [1746050982.337582439] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050982.338156471] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050982.338338328] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050982.339267191] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050982.340224609] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050982.344652825] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050982.345201034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050982.345823243] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050982.346905478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050982.348103525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050982.445225202] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050982.446055156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050982.447029078] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050982.448289640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050982.449402878] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050982.457151571] [sailbot.main_algo]: Wind Direction: 110 +[main_algo-3] [INFO] [1746050982.458151976] [sailbot.main_algo]: Target Bearing: -51.51140620358169 +[main_algo-3] [INFO] [1746050982.459027678] [sailbot.main_algo]: Heading Difference: 102.89140620358171 +[main_algo-3] [INFO] [1746050982.459870746] [sailbot.main_algo]: Wind Direction: 110 +[main_algo-3] [INFO] [1746050982.460669221] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050982.461466250] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050982.462440887] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050982.463092746] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050982.502756114] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46889989 Long: -76.50350465 +[vectornav-1] [INFO] [1746050982.503880410] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.834, 1.397, 13.45) +[main_algo-3] [INFO] [1746050982.504204577] [sailbot.main_algo]: Distance to destination: 25.533465733504226 +[main_algo-3] [INFO] [1746050982.505309247] [sailbot.main_algo]: Target Bearing: -51.61613675929653 +[main_algo-3] [INFO] [1746050982.506241460] [sailbot.main_algo]: Heading Difference: 102.99613675929652 +[main_algo-3] [INFO] [1746050982.507148489] [sailbot.main_algo]: Wind Direction: 110 +[main_algo-3] [INFO] [1746050982.508033955] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050982.508906132] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050982.510702834] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050982.545196304] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050982.545879329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050982.546960651] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050982.547919868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050982.549087352] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050982.585089064] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050982.587202563] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050982.588635417] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050982.589664290] [sailbot.teensy]: Wind angle: 105 +[teensy-2] [INFO] [1746050982.590559285] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050982.591407343] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050982.592314112] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050982.645178862] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050982.646002278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050982.646684732] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050982.647979525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050982.649121723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050982.745087826] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050982.745731290] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050982.746415159] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050982.747617256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050982.748798379] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050982.835244172] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050982.837976320] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050982.838502732] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050982.838822913] [sailbot.teensy]: Wind angle: 104 +[teensy-2] [INFO] [1746050982.839243469] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050982.839621388] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050982.839996736] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050982.844544285] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050982.844923129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050982.845790026] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050982.846625645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050982.847696261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050982.945392296] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050982.945983964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050982.947051779] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050982.948210164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050982.949463894] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050982.957120945] [sailbot.main_algo]: Wind Direction: 104 +[main_algo-3] [INFO] [1746050982.958301079] [sailbot.main_algo]: Target Bearing: -51.61613675929653 +[main_algo-3] [INFO] [1746050982.959203430] [sailbot.main_algo]: Heading Difference: 96.45013675929653 +[main_algo-3] [INFO] [1746050982.960055461] [sailbot.main_algo]: Wind Direction: 104 +[main_algo-3] [INFO] [1746050982.960945979] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050982.961744158] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050982.962730606] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050982.963367956] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050983.002698199] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890039 Long: -76.50350403 +[vectornav-1] [INFO] [1746050983.003794458] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.72399999999999, -2.535, 8.447) +[main_algo-3] [INFO] [1746050983.004001950] [sailbot.main_algo]: Distance to destination: 25.54412816289055 +[main_algo-3] [INFO] [1746050983.005184888] [sailbot.main_algo]: Target Bearing: -51.78355166213154 +[main_algo-3] [INFO] [1746050983.006148548] [sailbot.main_algo]: Heading Difference: 96.61755166213152 +[main_algo-3] [INFO] [1746050983.007129141] [sailbot.main_algo]: Wind Direction: 104 +[main_algo-3] [INFO] [1746050983.008046471] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050983.008937457] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050983.010660922] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050983.045016065] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050983.045702126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050983.046558006] [sailbot.mux]: Published rudder angle from controller_app: -18 +[teensy-2] [INFO] [1746050983.048321903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 +[teensy-2] [INFO] [1746050983.049433463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050983.049750714] [sailbot.mux]: controller_app rudder angle: 0 +[teensy-2] [INFO] [1746050983.085243429] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050983.087337673] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050983.087971390] [sailbot.teensy]: Wind angle: 104 +[mux-7] [INFO] [1746050983.088826411] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050983.089075972] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050983.090017376] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050983.090886124] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050983.144979458] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746050983.146320976] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050983.148505583] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050983.150004749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050983.150972885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050983.245253770] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050983.246039675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050983.247068774] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050983.248044820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050983.249140016] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050983.335187388] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050983.337322714] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050983.337419452] [sailbot.teensy]: Wind angle: 103 +[teensy-2] [INFO] [1746050983.338351670] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050983.338833481] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050983.339435472] [sailbot.teensy]: Actual tail angle: 7 +[teensy-2] [INFO] [1746050983.340911046] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050983.344431063] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050983.345014772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050983.345736763] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050983.346737620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050983.347893423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050983.445667623] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050983.446262855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050983.448097305] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050983.448831030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050983.449259030] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050983.457024259] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746050983.458001536] [sailbot.main_algo]: Target Bearing: -51.78355166213154 +[main_algo-3] [INFO] [1746050983.458915897] [sailbot.main_algo]: Heading Difference: 93.5075516621315 +[main_algo-3] [INFO] [1746050983.459747237] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746050983.460611479] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050983.461434900] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050983.462632708] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050983.463212931] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050983.502824367] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890074 Long: -76.50350207 +[main_algo-3] [INFO] [1746050983.503284129] [sailbot.main_algo]: Distance to destination: 25.472751055232123 +[vectornav-1] [INFO] [1746050983.503907952] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.146000000000015, 0.586, 10.401) +[main_algo-3] [INFO] [1746050983.504383040] [sailbot.main_algo]: Target Bearing: -52.11963078335 +[main_algo-3] [INFO] [1746050983.505395726] [sailbot.main_algo]: Heading Difference: 93.84363078335002 +[main_algo-3] [INFO] [1746050983.506346150] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746050983.507273443] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050983.508137066] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050983.509940937] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050983.544969384] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050983.545729885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050983.546277392] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050983.547694438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050983.548856791] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050983.585421027] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050983.587416825] [sailbot.teensy]: Wind angle: 105 +[teensy-2] [INFO] [1746050983.588408588] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050983.587965848] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050983.589308334] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050983.589654730] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050983.590552584] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050983.645257272] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050983.645859959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050983.646843282] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050983.647940749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050983.648660528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050983.745554776] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050983.746154999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050983.747194952] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050983.748676104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050983.749292597] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050983.835273844] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050983.837599229] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050983.837967125] [sailbot.teensy]: Wind angle: 115 +[mux-7] [INFO] [1746050983.838646274] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050983.839102805] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050983.839986249] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050983.840862456] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050983.844343829] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050983.844829019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050983.845497712] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050983.846544945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050983.847621399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050983.945679506] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050983.946801995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050983.947539062] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050983.948606662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050983.949096976] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050983.957129786] [sailbot.main_algo]: Wind Direction: 115 +[main_algo-3] [INFO] [1746050983.958197755] [sailbot.main_algo]: Target Bearing: -52.11963078335 +[main_algo-3] [INFO] [1746050983.959126686] [sailbot.main_algo]: Heading Difference: 94.26563078335005 +[main_algo-3] [INFO] [1746050983.959990638] [sailbot.main_algo]: Wind Direction: 115 +[main_algo-3] [INFO] [1746050983.960809888] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050983.961642690] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050983.962668506] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050983.963214112] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050984.002876306] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689012 Long: -76.50350029 +[vectornav-1] [INFO] [1746050984.004058266] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.55599999999998, -0.608, 11.953) +[main_algo-3] [INFO] [1746050984.004041513] [sailbot.main_algo]: Distance to destination: 25.42103352070643 +[main_algo-3] [INFO] [1746050984.005275608] [sailbot.main_algo]: Target Bearing: -52.44866437275605 +[main_algo-3] [INFO] [1746050984.006285692] [sailbot.main_algo]: Heading Difference: 94.59466437275603 +[main_algo-3] [INFO] [1746050984.007328939] [sailbot.main_algo]: Wind Direction: 115 +[main_algo-3] [INFO] [1746050984.008429355] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050984.009665264] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050984.011621044] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050984.044953399] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050984.045596192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050984.046250149] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050984.047707365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050984.048754582] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050984.085096284] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050984.087059029] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050984.087235367] [sailbot.teensy]: Wind angle: 121 +[teensy-2] [INFO] [1746050984.088111327] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050984.088571857] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050984.088944896] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050984.089853060] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050984.145159784] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050984.146063937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050984.146638518] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050984.148317134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050984.149472757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050984.245391681] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050984.246044064] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050984.246985094] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050984.247798330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050984.248346985] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050984.335222815] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050984.337348630] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050984.337816411] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050984.338460444] [sailbot.teensy]: Wind angle: 122 +[teensy-2] [INFO] [1746050984.339423237] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050984.340324724] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050984.341158061] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050984.344383800] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050984.345156648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050984.345564722] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050984.346890993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050984.347890937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050984.445556247] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050984.446482008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050984.447333750] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050984.448312356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050984.448843711] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050984.457033991] [sailbot.main_algo]: Wind Direction: 122 +[main_algo-3] [INFO] [1746050984.458003826] [sailbot.main_algo]: Target Bearing: -52.44866437275605 +[main_algo-3] [INFO] [1746050984.458902332] [sailbot.main_algo]: Heading Difference: 99.004664372756 +[main_algo-3] [INFO] [1746050984.459731012] [sailbot.main_algo]: Wind Direction: 122 +[main_algo-3] [INFO] [1746050984.460579659] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050984.461373408] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050984.462438297] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050984.462909760] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050984.503122201] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890245 Long: -76.50349871 +[main_algo-3] [INFO] [1746050984.503447029] [sailbot.main_algo]: Distance to destination: 25.44928294533901 +[vectornav-1] [INFO] [1746050984.504175834] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.738, -0.118, 9.821) +[main_algo-3] [INFO] [1746050984.504505407] [sailbot.main_algo]: Target Bearing: -52.8721993979373 +[main_algo-3] [INFO] [1746050984.505451150] [sailbot.main_algo]: Heading Difference: 99.4281993979373 +[main_algo-3] [INFO] [1746050984.506422187] [sailbot.main_algo]: Wind Direction: 122 +[main_algo-3] [INFO] [1746050984.507328636] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050984.508206831] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050984.509914728] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050984.544885713] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050984.545664733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050984.546675932] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050984.547672956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050984.548852530] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050984.585525709] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050984.587385999] [sailbot.teensy]: Wind angle: 121 +[teensy-2] [INFO] [1746050984.588378267] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050984.587914643] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050984.589278205] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050984.590121822] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050984.590142567] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050984.645084844] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050984.645831372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050984.646575885] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050984.647964766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050984.649045636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050984.745420343] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050984.746555275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050984.747033986] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050984.749261448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050984.750394619] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050984.835438244] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050984.838367237] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050984.839578215] [sailbot.teensy]: Wind angle: 125 +[mux-7] [INFO] [1746050984.839823737] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050984.840642168] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050984.841512093] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050984.842359986] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050984.844394187] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050984.844694108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050984.845703854] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050984.846301865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050984.847368292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050984.945357670] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050984.945863513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050984.946879674] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050984.947996311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050984.949161138] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050984.957324262] [sailbot.main_algo]: Wind Direction: 125 +[main_algo-3] [INFO] [1746050984.958448607] [sailbot.main_algo]: Target Bearing: -52.8721993979373 +[main_algo-3] [INFO] [1746050984.959498099] [sailbot.main_algo]: Heading Difference: 105.61019939793732 +[main_algo-3] [INFO] [1746050984.960391261] [sailbot.main_algo]: Wind Direction: 125 +[main_algo-3] [INFO] [1746050984.961362333] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050984.962191012] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050984.963277429] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050984.964002755] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050985.002928666] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689036 Long: -76.50349669 +[vectornav-1] [INFO] [1746050985.004185596] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.12900000000002, 0.381, 11.202) +[main_algo-3] [INFO] [1746050985.004540582] [sailbot.main_algo]: Distance to destination: 25.448010469220407 +[main_algo-3] [INFO] [1746050985.005683820] [sailbot.main_algo]: Target Bearing: -53.343904314212146 +[main_algo-3] [INFO] [1746050985.006648608] [sailbot.main_algo]: Heading Difference: 106.08190431421212 +[main_algo-3] [INFO] [1746050985.007586420] [sailbot.main_algo]: Wind Direction: 125 +[main_algo-3] [INFO] [1746050985.008513133] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050985.009357546] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050985.011072946] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050985.045220604] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050985.045737348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050985.046537282] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050985.047863944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050985.049018201] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050985.085111039] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050985.086801377] [sailbot.teensy]: Wind angle: 124 +[trim_sail-4] [INFO] [1746050985.087160456] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050985.087668574] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050985.088497888] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050985.088491689] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050985.089386470] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050985.145157848] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050985.145928560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050985.146579794] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050985.147888179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050985.148935914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050985.245108069] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050985.245779933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050985.246513671] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050985.247878906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050985.249026396] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050985.335093177] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050985.336788320] [sailbot.teensy]: Wind angle: 124 +[trim_sail-4] [INFO] [1746050985.337403795] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050985.337673649] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050985.338517933] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050985.338662451] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050985.339346007] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050985.344422386] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050985.344845410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050985.345873704] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050985.346486915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050985.347462037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050985.445022739] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050985.445837895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050985.446366479] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050985.447972895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050985.448733300] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050985.457026568] [sailbot.main_algo]: Wind Direction: 124 +[main_algo-3] [INFO] [1746050985.457983732] [sailbot.main_algo]: Target Bearing: -53.343904314212146 +[main_algo-3] [INFO] [1746050985.458798426] [sailbot.main_algo]: Heading Difference: 110.4729043142122 +[main_algo-3] [INFO] [1746050985.459608867] [sailbot.main_algo]: Wind Direction: 124 +[main_algo-3] [INFO] [1746050985.460417169] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050985.461215445] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050985.462212039] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050985.463027855] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050985.503380337] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890533 Long: -76.50349539 +[main_algo-3] [INFO] [1746050985.503589838] [sailbot.main_algo]: Distance to destination: 25.535564292517417 +[main_algo-3] [INFO] [1746050985.504617395] [sailbot.main_algo]: Target Bearing: -53.7972021858309 +[vectornav-1] [INFO] [1746050985.504808132] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (62.543000000000006, -1.738, 8.685) +[main_algo-3] [INFO] [1746050985.505606472] [sailbot.main_algo]: Heading Difference: 110.9262021858309 +[main_algo-3] [INFO] [1746050985.506549566] [sailbot.main_algo]: Wind Direction: 124 +[main_algo-3] [INFO] [1746050985.507484520] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050985.508373618] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050985.510133921] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050985.545051103] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050985.545731392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050985.546546127] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050985.547668106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050985.548938565] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050985.585610934] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050985.587525611] [sailbot.teensy]: Wind angle: 124 +[trim_sail-4] [INFO] [1746050985.588245291] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050985.588533976] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050985.589457566] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050985.590341261] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050985.590589923] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746050985.645946708] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050985.646387847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050985.648459245] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050985.648830385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050985.650005358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050985.745201334] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050985.745771898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050985.746754198] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050985.747828072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050985.748707282] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050985.835208811] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050985.837012807] [sailbot.teensy]: Wind angle: 124 +[trim_sail-4] [INFO] [1746050985.837733140] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746050985.838289838] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050985.839314418] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050985.839735748] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050985.840077432] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050985.844370236] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050985.844900331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050985.845499033] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050985.846651571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050985.847696574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050985.945075429] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050985.945895365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050985.946615992] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050985.947829527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050985.948494626] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050985.957032321] [sailbot.main_algo]: Wind Direction: 124 +[main_algo-3] [INFO] [1746050985.958004149] [sailbot.main_algo]: Target Bearing: -53.7972021858309 +[main_algo-3] [INFO] [1746050985.958875744] [sailbot.main_algo]: Heading Difference: 116.34020218583089 +[main_algo-3] [INFO] [1746050985.959688854] [sailbot.main_algo]: Wind Direction: 124 +[main_algo-3] [INFO] [1746050985.960510543] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050985.961281052] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050985.962274653] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050985.962879523] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050986.003174907] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890688 Long: -76.50349388 +[main_algo-3] [INFO] [1746050986.003728284] [sailbot.main_algo]: Distance to destination: 25.598356342829785 +[main_algo-3] [INFO] [1746050986.004814795] [sailbot.main_algo]: Target Bearing: -54.25155063676318 +[main_algo-3] [INFO] [1746050986.005775176] [sailbot.main_algo]: Heading Difference: 116.79455063676318 +[vectornav-1] [INFO] [1746050986.004307873] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (63.44900000000001, 1.42, 8.876) +[main_algo-3] [INFO] [1746050986.006802693] [sailbot.main_algo]: Wind Direction: 124 +[main_algo-3] [INFO] [1746050986.007844730] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050986.008797915] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050986.011952045] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050986.044956325] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050986.045764007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050986.046383596] [sailbot.mux]: Published rudder angle from controller_app: 0 +[mux-7] [INFO] [1746050986.048623673] [sailbot.mux]: controller_app rudder angle: -2 +[teensy-2] [INFO] [1746050986.048936326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050986.050253256] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050986.085349267] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050986.087604413] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050986.087992515] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050986.088239060] [sailbot.teensy]: Wind angle: 128 +[teensy-2] [INFO] [1746050986.089395634] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050986.090288543] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050986.091115794] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050986.145201373] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050986.145880023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050986.146626744] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050986.148072344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 +[teensy-2] [INFO] [1746050986.149135471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050986.245186415] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050986.246138147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050986.246885681] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050986.247814016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 +[teensy-2] [INFO] [1746050986.248326870] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050986.335246115] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050986.337226430] [sailbot.teensy]: Wind angle: 134 +[trim_sail-4] [INFO] [1746050986.337451046] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050986.338205867] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050986.339131355] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050986.339374622] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050986.339621797] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050986.344273642] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050986.344923105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050986.345584803] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050986.346696755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 +[teensy-2] [INFO] [1746050986.347752414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050986.445170505] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050986.446182949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050986.446747600] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050986.448424133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 +[teensy-2] [INFO] [1746050986.449571482] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050986.457169908] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746050986.458218283] [sailbot.main_algo]: Target Bearing: -54.25155063676318 +[main_algo-3] [INFO] [1746050986.459117622] [sailbot.main_algo]: Heading Difference: 117.70055063676318 +[main_algo-3] [INFO] [1746050986.460002166] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746050986.460846126] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050986.461656926] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050986.462642398] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050986.463258293] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050986.502688362] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890835 Long: -76.50349267 +[main_algo-3] [INFO] [1746050986.503703333] [sailbot.main_algo]: Distance to destination: 25.67021013505843 +[vectornav-1] [INFO] [1746050986.503817537] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (69.15899999999999, -1.643, 7.321) +[main_algo-3] [INFO] [1746050986.504888685] [sailbot.main_algo]: Target Bearing: -54.64753950923959 +[main_algo-3] [INFO] [1746050986.505841721] [sailbot.main_algo]: Heading Difference: 118.09653950923962 +[main_algo-3] [INFO] [1746050986.506758613] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746050986.507665922] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050986.508539969] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050986.510247485] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050986.545088551] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050986.545893983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050986.546506408] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050986.547991367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 +[teensy-2] [INFO] [1746050986.549099468] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050986.585162382] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050986.587064807] [sailbot.teensy]: Wind angle: 136 +[trim_sail-4] [INFO] [1746050986.587613052] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050986.588281839] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050986.589809108] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050986.590734361] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050986.591595865] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050986.645200857] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050986.645851709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050986.646684078] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050986.648277075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 +[teensy-2] [INFO] [1746050986.649453918] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050986.744802616] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050986.745667210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050986.746283825] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050986.747417976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 +[teensy-2] [INFO] [1746050986.747960253] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050986.835241914] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050986.836903948] [sailbot.teensy]: Wind angle: 134 +[trim_sail-4] [INFO] [1746050986.837600560] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050986.837875692] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050986.838746888] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746050986.838785247] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050986.839608262] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050986.844426304] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050986.845115540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050986.845542819] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050986.847069516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 +[teensy-2] [INFO] [1746050986.848103601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050986.945005936] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050986.945616405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050986.946369723] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746050986.947688292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 +[teensy-2] [INFO] [1746050986.948732869] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050986.957022449] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746050986.957995227] [sailbot.main_algo]: Target Bearing: -54.64753950923959 +[main_algo-3] [INFO] [1746050986.958833818] [sailbot.main_algo]: Heading Difference: 123.8065395092396 +[main_algo-3] [INFO] [1746050986.959703430] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746050986.960535659] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050986.961313566] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050986.962306780] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050986.963065455] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050987.002785154] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890993 Long: -76.50349235 +[main_algo-3] [INFO] [1746050987.003708276] [sailbot.main_algo]: Distance to destination: 25.79620827222825 +[vectornav-1] [INFO] [1746050987.003891835] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (72.68, 2.865, 7.575) +[main_algo-3] [INFO] [1746050987.004793940] [sailbot.main_algo]: Target Bearing: -54.92570112882537 +[main_algo-3] [INFO] [1746050987.005738675] [sailbot.main_algo]: Heading Difference: 124.08470112882537 +[main_algo-3] [INFO] [1746050987.006659431] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746050987.007608300] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050987.008479703] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050987.010284641] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050987.036648119] [sailbot.mux]: controller_app rudder angle: -8 +[mux-7] [INFO] [1746050987.044558962] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050987.045295195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050987.045812740] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050987.047104928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050987.048269316] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050987.085174664] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050987.087300539] [sailbot.teensy]: Wind angle: 134 +[teensy-2] [INFO] [1746050987.088303464] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050987.087486865] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050987.088460951] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050987.089272248] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746050987.090246440] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050987.145126620] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050987.145942610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050987.147006028] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050987.148526052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050987.149585919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050987.244907719] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050987.245680881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050987.246190970] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050987.247588148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050987.248695079] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050987.335454154] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050987.337995034] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050987.338189078] [sailbot.teensy]: Wind angle: 135 +[teensy-2] [INFO] [1746050987.339159750] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050987.339714509] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050987.340013803] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050987.340921258] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050987.344284472] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050987.344956830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050987.345382890] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050987.346675790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050987.347747286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050987.445256618] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050987.446063478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050987.446867931] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050987.448293666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050987.449533133] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050987.457091213] [sailbot.main_algo]: Wind Direction: 135 +[main_algo-3] [INFO] [1746050987.458062110] [sailbot.main_algo]: Target Bearing: -54.92570112882537 +[main_algo-3] [INFO] [1746050987.458947876] [sailbot.main_algo]: Heading Difference: 127.60570112882539 +[main_algo-3] [INFO] [1746050987.459794511] [sailbot.main_algo]: Wind Direction: 135 +[main_algo-3] [INFO] [1746050987.460644078] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050987.461429493] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050987.462520820] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050987.463008948] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050987.502926203] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891111 Long: -76.5034921 +[vectornav-1] [INFO] [1746050987.504247089] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (76.25099999999998, -1.769, 5.924) +[main_algo-3] [INFO] [1746050987.504357871] [sailbot.main_algo]: Distance to destination: 25.890170638187637 +[main_algo-3] [INFO] [1746050987.505636663] [sailbot.main_algo]: Target Bearing: -55.133296106816864 +[main_algo-3] [INFO] [1746050987.506624051] [sailbot.main_algo]: Heading Difference: 127.81329610681689 +[main_algo-3] [INFO] [1746050987.507525553] [sailbot.main_algo]: Wind Direction: 135 +[main_algo-3] [INFO] [1746050987.508435042] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050987.509335838] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050987.511059356] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050987.544932151] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050987.545591271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050987.546164191] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050987.547443173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050987.548498629] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050987.585370303] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050987.587434284] [sailbot.teensy]: Wind angle: 135 +[trim_sail-4] [INFO] [1746050987.587640012] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050987.588421484] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050987.589284464] [sailbot.teensy]: Actual tail angle: 17 +[mux-7] [INFO] [1746050987.589244043] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050987.590169904] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050987.644962524] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050987.645800485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050987.646355726] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050987.647725195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050987.648742264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050987.745187943] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050987.745833885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050987.746737216] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050987.748413384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050987.749461327] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050987.835233370] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050987.837399368] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050987.838178577] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050987.839219523] [sailbot.teensy]: Wind angle: 134 +[teensy-2] [INFO] [1746050987.840217833] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050987.841073458] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050987.841892843] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050987.844425175] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050987.845141275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050987.845498844] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050987.846908018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050987.847934479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050987.945244384] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050987.945880432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050987.946718871] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050987.948217370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050987.949350693] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050987.957020084] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746050987.958030188] [sailbot.main_algo]: Target Bearing: -55.133296106816864 +[main_algo-3] [INFO] [1746050987.958951230] [sailbot.main_algo]: Heading Difference: 131.3842961068168 +[main_algo-3] [INFO] [1746050987.959818217] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746050987.960696237] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050987.961500526] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050987.962536492] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050987.963134741] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050988.002719915] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891218 Long: -76.50349139 +[main_algo-3] [INFO] [1746050988.003649509] [sailbot.main_algo]: Distance to destination: 25.95249944442959 +[vectornav-1] [INFO] [1746050988.003822966] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (78.75099999999998, 1.812, 6.814) +[main_algo-3] [INFO] [1746050988.004771264] [sailbot.main_algo]: Target Bearing: -55.391487980398026 +[main_algo-3] [INFO] [1746050988.005717834] [sailbot.main_algo]: Heading Difference: 131.64248798039802 +[main_algo-3] [INFO] [1746050988.006636512] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746050988.007554276] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050988.008555287] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050988.010462097] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050988.044877531] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050988.045546855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050988.046126785] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050988.047328591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050988.048455281] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050988.085066432] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050988.086990911] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050988.087192484] [sailbot.teensy]: Wind angle: 135 +[mux-7] [INFO] [1746050988.087479646] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050988.088276396] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050988.089135419] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050988.090018936] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050988.145007119] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050988.145711095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050988.146371868] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050988.147886707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050988.148996943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050988.244783186] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050988.245353925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050988.246034414] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050988.247164664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050988.248355542] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050988.335386783] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050988.337249626] [sailbot.teensy]: Wind angle: 140 +[trim_sail-4] [INFO] [1746050988.337708849] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050988.338186923] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050988.339102632] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050988.339997471] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050988.339466973] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050988.344443359] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050988.345078259] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050988.345545764] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050988.346794447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050988.347928560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050988.445118805] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050988.446115013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050988.446739616] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050988.448297863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050988.449502305] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050988.456997516] [sailbot.main_algo]: Wind Direction: 140 +[main_algo-3] [INFO] [1746050988.457965760] [sailbot.main_algo]: Target Bearing: -55.391487980398026 +[main_algo-3] [INFO] [1746050988.458850652] [sailbot.main_algo]: Heading Difference: 134.14248798039802 +[main_algo-3] [INFO] [1746050988.459674044] [sailbot.main_algo]: Wind Direction: 140 +[main_algo-3] [INFO] [1746050988.460470841] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050988.461286696] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050988.462256447] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050988.462946298] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050988.502592092] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891297 Long: -76.50349122 +[main_algo-3] [INFO] [1746050988.503423608] [sailbot.main_algo]: Distance to destination: 26.015750324637224 +[main_algo-3] [INFO] [1746050988.504505102] [sailbot.main_algo]: Target Bearing: -55.52905789313244 +[main_algo-3] [INFO] [1746050988.505507264] [sailbot.main_algo]: Heading Difference: 134.28005789313238 +[vectornav-1] [INFO] [1746050988.505857656] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (81.743, -1.289, 4.72) +[main_algo-3] [INFO] [1746050988.506411991] [sailbot.main_algo]: Wind Direction: 140 +[main_algo-3] [INFO] [1746050988.507309272] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050988.508179242] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050988.509971375] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050988.545138354] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050988.545690382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050988.546546646] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746050988.547632154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746050988.548674149] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050988.585650124] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050988.588228355] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050988.588703330] [sailbot.teensy]: Wind angle: 142 +[mux-7] [INFO] [1746050988.589167709] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050988.589646100] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050988.590545108] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746050988.591401289] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050988.632694695] [sailbot.mux]: controller_app rudder angle: -9 +[mux-7] [INFO] [1746050988.644957411] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050988.645747849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050988.646373876] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050988.647601511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 +[teensy-2] [INFO] [1746050988.648804111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050988.745118212] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050988.745775538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050988.746667505] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050988.747666917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 +[teensy-2] [INFO] [1746050988.748844431] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050988.835436614] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050988.837235309] [sailbot.teensy]: Wind angle: 142 +[trim_sail-4] [INFO] [1746050988.837757955] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050988.838174012] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050988.839087448] [sailbot.teensy]: Actual tail angle: 17 +[mux-7] [INFO] [1746050988.839366959] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050988.839986489] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050988.844453976] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050988.844960890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050988.845687453] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050988.846679370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 +[teensy-2] [INFO] [1746050988.847686754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050988.945319245] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050988.946120961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050988.946795553] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746050988.948074238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 +[teensy-2] [INFO] [1746050988.948591371] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050988.957157370] [sailbot.main_algo]: Wind Direction: 142 +[main_algo-3] [INFO] [1746050988.958188695] [sailbot.main_algo]: Target Bearing: -55.52905789313244 +[main_algo-3] [INFO] [1746050988.959084406] [sailbot.main_algo]: Heading Difference: 137.27205789313246 +[main_algo-3] [INFO] [1746050988.959968489] [sailbot.main_algo]: Wind Direction: 142 +[main_algo-3] [INFO] [1746050988.960902744] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050988.961779469] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050988.962878100] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050988.963584780] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050989.002992250] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891385 Long: -76.50349116 +[vectornav-1] [INFO] [1746050989.004294558] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (84.68, 2.433, 6.756) +[main_algo-3] [INFO] [1746050989.004347168] [sailbot.main_algo]: Distance to destination: 26.0925358252772 +[main_algo-3] [INFO] [1746050989.005551713] [sailbot.main_algo]: Target Bearing: -55.66245918422843 +[main_algo-3] [INFO] [1746050989.006566475] [sailbot.main_algo]: Heading Difference: 137.40545918422845 +[main_algo-3] [INFO] [1746050989.007505449] [sailbot.main_algo]: Wind Direction: 142 +[main_algo-3] [INFO] [1746050989.008422908] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050989.009314887] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050989.011059706] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050989.025563351] [sailbot.mux]: controller_app rudder angle: -10 +[mux-7] [INFO] [1746050989.044922723] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050989.045652728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050989.046153759] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050989.047497290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 +[teensy-2] [INFO] [1746050989.048744788] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050989.085355907] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050989.087601857] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050989.088325728] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050989.089509403] [sailbot.teensy]: Wind angle: 144 +[teensy-2] [INFO] [1746050989.090476230] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050989.091307692] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746050989.092178104] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050989.145062300] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050989.145879545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050989.146614694] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050989.147891748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 +[teensy-2] [INFO] [1746050989.149074025] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050989.245045547] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050989.245911578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050989.246426750] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050989.248141391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 +[teensy-2] [INFO] [1746050989.249319718] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050989.335166732] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050989.337207136] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050989.337856964] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050989.338434645] [sailbot.teensy]: Wind angle: 147 +[teensy-2] [INFO] [1746050989.339377131] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050989.340231721] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050989.341079519] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050989.344313925] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050989.345061401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050989.345487724] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050989.346860082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 +[teensy-2] [INFO] [1746050989.348012085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050989.445392816] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050989.446225142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050989.446983320] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050989.448783474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 +[teensy-2] [INFO] [1746050989.450242890] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050989.456964957] [sailbot.main_algo]: Wind Direction: 147 +[main_algo-3] [INFO] [1746050989.457981355] [sailbot.main_algo]: Target Bearing: -55.66245918422843 +[main_algo-3] [INFO] [1746050989.458902351] [sailbot.main_algo]: Heading Difference: 140.34245918422846 +[main_algo-3] [INFO] [1746050989.459799450] [sailbot.main_algo]: Wind Direction: 147 +[main_algo-3] [INFO] [1746050989.460699543] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050989.461511664] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050989.462519797] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050989.463027730] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050989.502746456] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891446 Long: -76.50349124 +[main_algo-3] [INFO] [1746050989.503279329] [sailbot.main_algo]: Distance to destination: 26.151617544630916 +[vectornav-1] [INFO] [1746050989.503744227] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (87.41199999999998, -3.151, 5.779) +[main_algo-3] [INFO] [1746050989.504299951] [sailbot.main_algo]: Target Bearing: -55.73658540655275 +[main_algo-3] [INFO] [1746050989.505250075] [sailbot.main_algo]: Heading Difference: 140.41658540655277 +[main_algo-3] [INFO] [1746050989.506326661] [sailbot.main_algo]: Wind Direction: 147 +[main_algo-3] [INFO] [1746050989.507245696] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050989.508194837] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050989.509906096] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050989.544879656] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050989.545642560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050989.546473679] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050989.547508747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 +[teensy-2] [INFO] [1746050989.548572973] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050989.585412867] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050989.587819458] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050989.587892397] [sailbot.teensy]: Wind angle: 148 +[teensy-2] [INFO] [1746050989.589066793] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050989.590047537] [sailbot.teensy]: Actual tail angle: 15 +[mux-7] [INFO] [1746050989.590065226] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050989.590960976] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050989.645240038] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050989.645951082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050989.646733373] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050989.648692918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 +[teensy-2] [INFO] [1746050989.649682512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050989.745075680] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050989.745726265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050989.746441873] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050989.747874112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 +[teensy-2] [INFO] [1746050989.748913480] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050989.835193240] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050989.837271324] [sailbot.teensy]: Wind angle: 146 +[trim_sail-4] [INFO] [1746050989.837452633] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050989.838599399] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050989.839180014] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050989.839785845] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050989.840177789] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050989.844519826] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050989.845100918] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050989.845597940] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050989.846885782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 +[teensy-2] [INFO] [1746050989.847982590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050989.945256186] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050989.946153077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050989.946938693] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050989.948563871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 +[teensy-2] [INFO] [1746050989.949764758] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050989.957162097] [sailbot.main_algo]: Wind Direction: 146 +[main_algo-3] [INFO] [1746050989.958164709] [sailbot.main_algo]: Target Bearing: -55.73658540655275 +[main_algo-3] [INFO] [1746050989.959087380] [sailbot.main_algo]: Heading Difference: 143.14858540655274 +[main_algo-3] [INFO] [1746050989.959998527] [sailbot.main_algo]: Wind Direction: 146 +[main_algo-3] [INFO] [1746050989.960906103] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050989.961793373] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050989.962880306] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050989.963578427] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050990.002783725] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891506 Long: -76.5034914 +[main_algo-3] [INFO] [1746050990.003664489] [sailbot.main_algo]: Distance to destination: 26.21362817485814 +[vectornav-1] [INFO] [1746050990.004138869] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (88.61099999999999, 4.025, 8.109) +[main_algo-3] [INFO] [1746050990.004795034] [sailbot.main_algo]: Target Bearing: -55.79723033940947 +[main_algo-3] [INFO] [1746050990.005795942] [sailbot.main_algo]: Heading Difference: 143.20923033940943 +[main_algo-3] [INFO] [1746050990.006705837] [sailbot.main_algo]: Wind Direction: 146 +[main_algo-3] [INFO] [1746050990.007599329] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050990.008490136] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050990.010323516] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050990.044939035] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746050990.046233375] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746050990.046366503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050990.048184564] [sailbot.mux]: controller_app rudder angle: 7 +[teensy-2] [INFO] [1746050990.048393146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 +[teensy-2] [INFO] [1746050990.049545525] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050990.085387677] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050990.087276898] [sailbot.teensy]: Wind angle: 146 +[trim_sail-4] [INFO] [1746050990.087841325] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050990.088282868] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050990.089244684] [sailbot.teensy]: Actual tail angle: 15 +[mux-7] [INFO] [1746050990.089367149] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050990.090138208] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050990.145308041] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050990.146124847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050990.146802581] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050990.148485745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746050990.149651668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050990.245080663] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050990.245987885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050990.246444554] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050990.247908275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746050990.249020228] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050990.335205795] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050990.337313198] [sailbot.teensy]: Wind angle: 149 +[trim_sail-4] [INFO] [1746050990.338168535] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050990.338828100] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050990.339289828] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050990.339668054] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746050990.340078501] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050990.344460947] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050990.344870115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050990.345739812] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050990.346557756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746050990.347676518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050990.445008054] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050990.445745583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050990.446546820] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050990.447747225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746050990.448831155] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050990.457033155] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746050990.458012331] [sailbot.main_algo]: Target Bearing: -55.79723033940947 +[main_algo-3] [INFO] [1746050990.458892815] [sailbot.main_algo]: Heading Difference: 144.40823033940944 +[main_algo-3] [INFO] [1746050990.459734877] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746050990.460546490] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050990.461346838] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050990.462397535] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050990.463090239] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050990.502451769] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891501 Long: -76.50349088 +[vectornav-1] [INFO] [1746050990.503552622] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (91.27600000000001, -3.408, 7.141) +[main_algo-3] [INFO] [1746050990.504070572] [sailbot.main_algo]: Distance to destination: 26.184454147960455 +[main_algo-3] [INFO] [1746050990.505135868] [sailbot.main_algo]: Target Bearing: -55.8666550333636 +[main_algo-3] [INFO] [1746050990.506078441] [sailbot.main_algo]: Heading Difference: 144.4776550333636 +[main_algo-3] [INFO] [1746050990.507090289] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746050990.507975540] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050990.508837843] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050990.510709296] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050990.545086781] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050990.545921216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050990.546653626] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050990.547935272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746050990.548964949] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050990.585129694] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050990.586755756] [sailbot.teensy]: Wind angle: 157 +[trim_sail-4] [INFO] [1746050990.587260948] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050990.587736209] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050990.588713244] [sailbot.teensy]: Actual tail angle: 32 +[mux-7] [INFO] [1746050990.589539637] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050990.589668432] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050990.645139180] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050990.645931435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050990.646632695] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050990.648115057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746050990.649250465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050990.745248111] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050990.745964369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050990.746728476] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050990.748024636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746050990.748487368] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050990.835046677] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050990.836682713] [sailbot.teensy]: Wind angle: 156 +[trim_sail-4] [INFO] [1746050990.837120227] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050990.838735144] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050990.839026879] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050990.839661018] [sailbot.teensy]: Actual tail angle: 32 +[teensy-2] [INFO] [1746050990.840591304] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050990.844423461] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050990.844933718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050990.845665060] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050990.846604506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746050990.847640941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050990.945087798] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050990.946142108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050990.946842737] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050990.948106526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746050990.949317431] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050990.957062264] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746050990.958035432] [sailbot.main_algo]: Target Bearing: -55.8666550333636 +[main_algo-3] [INFO] [1746050990.958937591] [sailbot.main_algo]: Heading Difference: 147.1426550333636 +[main_algo-3] [INFO] [1746050990.959818854] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746050990.960705304] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746050990.961627901] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746050990.962721347] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050990.963372599] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746050991.003098698] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891533 Long: -76.50349161 +[main_algo-3] [INFO] [1746050991.004401156] [sailbot.main_algo]: Distance to destination: 26.248083254244385 +[vectornav-1] [INFO] [1746050991.004487298] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (94.08800000000002, 0.15, 3.484) +[main_algo-3] [INFO] [1746050991.006110337] [sailbot.main_algo]: Target Bearing: -55.804185583070904 +[main_algo-3] [INFO] [1746050991.007174028] [sailbot.main_algo]: Heading Difference: 147.08018558307094 +[main_algo-3] [INFO] [1746050991.008127459] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746050991.009045881] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746050991.009911016] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746050991.011742893] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746050991.045502941] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050991.045584479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050991.046830370] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746050991.047395636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746050991.048576749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050991.063613480] [sailbot.mux]: controller_app rudder angle: 8 +[teensy-2] [INFO] [1746050991.085134428] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050991.086812143] [sailbot.teensy]: Wind angle: 156 +[trim_sail-4] [INFO] [1746050991.087095251] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050991.087689848] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050991.088560900] [sailbot.teensy]: Actual tail angle: 32 +[mux-7] [INFO] [1746050991.089140998] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050991.089531744] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050991.144451498] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050991.145230389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050991.145745249] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746050991.146900102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 +[teensy-2] [INFO] [1746050991.147950766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050991.245178389] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050991.245777717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050991.246529405] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746050991.247817933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 +[teensy-2] [INFO] [1746050991.248491674] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050991.335367551] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050991.337053907] [sailbot.teensy]: Wind angle: 157 +[teensy-2] [INFO] [1746050991.337994660] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050991.337555935] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050991.338862343] [sailbot.teensy]: Actual tail angle: 32 +[mux-7] [INFO] [1746050991.338964666] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050991.339736235] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050991.344363564] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050991.344998323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050991.345563920] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746050991.346776044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 +[teensy-2] [INFO] [1746050991.347848343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050991.445416432] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050991.446118156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050991.447245520] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746050991.448625008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 +[teensy-2] [INFO] [1746050991.449201350] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050991.457074694] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746050991.458098537] [sailbot.main_algo]: Target Bearing: -55.804185583070904 +[main_algo-3] [INFO] [1746050991.459014465] [sailbot.main_algo]: Heading Difference: 149.89218558307095 +[main_algo-3] [INFO] [1746050991.459876456] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746050991.460729081] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746050991.461540581] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746050991.462564622] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050991.463101704] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746050991.502995612] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891579 Long: -76.50349217 +[main_algo-3] [INFO] [1746050991.503540335] [sailbot.main_algo]: Distance to destination: 26.316373160943577 +[main_algo-3] [INFO] [1746050991.504649745] [sailbot.main_algo]: Target Bearing: -55.78641195212569 +[vectornav-1] [INFO] [1746050991.504868742] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (92.88999999999999, 2.053, 6.304) +[main_algo-3] [INFO] [1746050991.505651126] [sailbot.main_algo]: Heading Difference: 149.87441195212568 +[main_algo-3] [INFO] [1746050991.506589128] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746050991.507489405] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746050991.508392355] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746050991.510136812] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746050991.545280165] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050991.545958830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050991.546757085] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746050991.548074854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 +[teensy-2] [INFO] [1746050991.549185805] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050991.585585239] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050991.587483625] [sailbot.teensy]: Wind angle: 156 +[trim_sail-4] [INFO] [1746050991.587890892] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050991.588454275] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050991.589376758] [sailbot.teensy]: Actual tail angle: 33 +[mux-7] [INFO] [1746050991.590094053] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050991.590258497] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050991.645222709] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050991.646004966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050991.646718633] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746050991.648447733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 +[teensy-2] [INFO] [1746050991.648985864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050991.745318686] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050991.746024131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050991.746833481] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746050991.747879255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 +[teensy-2] [INFO] [1746050991.748411915] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050991.835127676] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050991.837427782] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050991.838420637] [sailbot.teensy]: Wind angle: 156 +[mux-7] [INFO] [1746050991.839185025] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050991.839326603] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050991.840275950] [sailbot.teensy]: Actual tail angle: 33 +[teensy-2] [INFO] [1746050991.841121353] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050991.844357316] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050991.844835762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050991.845478778] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746050991.846501270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 +[teensy-2] [INFO] [1746050991.847935469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050991.944624394] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050991.945349717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050991.945795260] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746050991.947108828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 +[teensy-2] [INFO] [1746050991.948247114] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050991.957033970] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746050991.958083323] [sailbot.main_algo]: Target Bearing: -55.78641195212569 +[main_algo-3] [INFO] [1746050991.958960647] [sailbot.main_algo]: Heading Difference: 148.6764119521257 +[main_algo-3] [INFO] [1746050991.959786315] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746050991.960687771] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746050991.961475065] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746050991.962469886] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050991.963178325] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746050992.002889796] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891577 Long: -76.50349167 +[main_algo-3] [INFO] [1746050992.003909337] [sailbot.main_algo]: Distance to destination: 26.29086391777991 +[vectornav-1] [INFO] [1746050992.004127747] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (90.41199999999998, -1.809, 6.152) +[main_algo-3] [INFO] [1746050992.005152249] [sailbot.main_algo]: Target Bearing: -55.856804669616544 +[main_algo-3] [INFO] [1746050992.006123050] [sailbot.main_algo]: Heading Difference: 148.7468046696165 +[main_algo-3] [INFO] [1746050992.007048617] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746050992.007926148] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746050992.008798164] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746050992.010694582] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746050992.045254632] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050992.045956319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050992.047131856] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746050992.047924628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 +[teensy-2] [INFO] [1746050992.049079230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050992.074055279] [sailbot.mux]: controller_app rudder angle: 9 +[teensy-2] [INFO] [1746050992.085328175] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050992.086942488] [sailbot.teensy]: Wind angle: 156 +[trim_sail-4] [INFO] [1746050992.087570207] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050992.087858109] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050992.088750909] [sailbot.teensy]: Actual tail angle: 33 +[mux-7] [INFO] [1746050992.088859099] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050992.089608108] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050992.145020875] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050992.145916428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050992.146516145] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050992.147982919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 +[teensy-2] [INFO] [1746050992.149182405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050992.245117018] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050992.246007629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050992.246584819] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050992.247982714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 +[teensy-2] [INFO] [1746050992.249157300] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050992.335484642] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050992.337343950] [sailbot.teensy]: Wind angle: 156 +[teensy-2] [INFO] [1746050992.338303342] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050992.337842770] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050992.339267690] [sailbot.teensy]: Actual tail angle: 33 +[mux-7] [INFO] [1746050992.339933239] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050992.340127570] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050992.344238644] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050992.344953629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050992.345400370] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050992.347012266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 +[teensy-2] [INFO] [1746050992.348139836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050992.445273509] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050992.446121510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050992.446745096] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050992.448099767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 +[teensy-2] [INFO] [1746050992.448689555] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050992.457324840] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746050992.458390659] [sailbot.main_algo]: Target Bearing: -55.856804669616544 +[main_algo-3] [INFO] [1746050992.459295160] [sailbot.main_algo]: Heading Difference: 146.26880466961654 +[main_algo-3] [INFO] [1746050992.460210220] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746050992.461088652] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746050992.461966844] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746050992.463062367] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050992.463912594] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746050992.502617710] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891597 Long: -76.50349182 +[main_algo-3] [INFO] [1746050992.503567630] [sailbot.main_algo]: Distance to destination: 26.316125595125474 +[vectornav-1] [INFO] [1746050992.503698604] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (88.58499999999998, -0.335, 5.118) +[main_algo-3] [INFO] [1746050992.505361688] [sailbot.main_algo]: Target Bearing: -55.86269869251428 +[main_algo-3] [INFO] [1746050992.506346636] [sailbot.main_algo]: Heading Difference: 146.27469869251422 +[main_algo-3] [INFO] [1746050992.507244656] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746050992.508101648] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746050992.508968192] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746050992.510651118] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746050992.545064808] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050992.545848142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050992.546448985] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050992.547835100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 +[teensy-2] [INFO] [1746050992.549038572] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050992.585623975] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050992.588213154] [sailbot.teensy]: Wind angle: 155 +[trim_sail-4] [INFO] [1746050992.588376724] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746050992.588834064] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050992.589228286] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050992.590151616] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746050992.591026565] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050992.645163745] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050992.646058292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050992.646820709] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050992.648658462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 +[teensy-2] [INFO] [1746050992.649721755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050992.745135565] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050992.746087294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050992.746786211] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050992.748299591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 +[teensy-2] [INFO] [1746050992.749349988] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050992.835254374] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050992.837528319] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050992.838534653] [sailbot.teensy]: Wind angle: 155 +[mux-7] [INFO] [1746050992.838856046] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050992.839490816] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050992.840428193] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746050992.841260353] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050992.844568433] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050992.845083377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050992.845691741] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050992.846766038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 +[teensy-2] [INFO] [1746050992.847925233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050992.945377717] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050992.946037819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050992.947111683] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050992.948302788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 +[teensy-2] [INFO] [1746050992.949450958] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050992.957267503] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746050992.958320473] [sailbot.main_algo]: Target Bearing: -55.86269869251428 +[main_algo-3] [INFO] [1746050992.959229475] [sailbot.main_algo]: Heading Difference: 144.44769869251422 +[main_algo-3] [INFO] [1746050992.960113176] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746050992.961004785] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746050992.961870340] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746050992.963025932] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050992.964171895] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746050993.003063594] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891631 Long: -76.50349198 +[vectornav-1] [INFO] [1746050993.004433296] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (84.08499999999998, 0.25, 6.511) +[main_algo-3] [INFO] [1746050993.004421731] [sailbot.main_algo]: Distance to destination: 26.354575680592387 +[main_algo-3] [INFO] [1746050993.005666318] [sailbot.main_algo]: Target Bearing: -55.886578870520026 +[main_algo-3] [INFO] [1746050993.006679697] [sailbot.main_algo]: Heading Difference: 144.47157887052003 +[main_algo-3] [INFO] [1746050993.007586155] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746050993.008489688] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746050993.009340706] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746050993.011088800] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746050993.045362679] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050993.046028810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050993.046971078] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050993.048194364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 +[teensy-2] [INFO] [1746050993.049404011] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050993.085132586] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050993.086859350] [sailbot.teensy]: Wind angle: 153 +[trim_sail-4] [INFO] [1746050993.087274625] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050993.087803764] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050993.088751733] [sailbot.teensy]: Actual tail angle: 34 +[mux-7] [INFO] [1746050993.089176403] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050993.089607521] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050993.145313180] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050993.146342357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050993.147333482] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050993.148454247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 +[teensy-2] [INFO] [1746050993.149512089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050993.245057974] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050993.245597588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050993.246355150] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050993.247485950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 +[teensy-2] [INFO] [1746050993.248638891] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050993.335476452] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050993.337301479] [sailbot.teensy]: Wind angle: 142 +[trim_sail-4] [INFO] [1746050993.337943148] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050993.338260645] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050993.339159181] [sailbot.teensy]: Actual tail angle: 34 +[mux-7] [INFO] [1746050993.339503684] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050993.340034852] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050993.344487856] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050993.344947153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050993.345731247] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746050993.346649816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 +[teensy-2] [INFO] [1746050993.347683452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050993.351236537] [sailbot.mux]: controller_app rudder angle: 10 +[mux-7] [INFO] [1746050993.445236297] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050993.446213856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050993.446737484] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050993.448283757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746050993.448816851] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050993.457101330] [sailbot.main_algo]: Wind Direction: 142 +[main_algo-3] [INFO] [1746050993.458101680] [sailbot.main_algo]: Target Bearing: -55.886578870520026 +[main_algo-3] [INFO] [1746050993.459017475] [sailbot.main_algo]: Heading Difference: 139.97157887052003 +[main_algo-3] [INFO] [1746050993.459888580] [sailbot.main_algo]: Wind Direction: 142 +[main_algo-3] [INFO] [1746050993.460742427] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050993.461560381] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050993.462570606] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050993.463060871] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050993.502807573] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891644 Long: -76.50349194 +[vectornav-1] [INFO] [1746050993.504046103] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (80.60699999999997, -0.136, 4.65) +[main_algo-3] [INFO] [1746050993.504904100] [sailbot.main_algo]: Distance to destination: 26.364493496933807 +[main_algo-3] [INFO] [1746050993.505976110] [sailbot.main_algo]: Target Bearing: -55.91047882321512 +[main_algo-3] [INFO] [1746050993.506949760] [sailbot.main_algo]: Heading Difference: 139.99547882321508 +[main_algo-3] [INFO] [1746050993.507864913] [sailbot.main_algo]: Wind Direction: 142 +[main_algo-3] [INFO] [1746050993.508766679] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050993.509627507] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050993.511357014] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050993.545204445] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050993.546132905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050993.546580258] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050993.548121890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746050993.549280438] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050993.585189244] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050993.587255762] [sailbot.teensy]: Wind angle: 140 +[trim_sail-4] [INFO] [1746050993.587379036] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050993.588256319] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050993.588814647] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050993.589118961] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746050993.590016473] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050993.645271234] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050993.646085185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050993.646861642] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050993.648303089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746050993.649374818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050993.745179662] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050993.746001039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050993.747050887] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050993.747991784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746050993.749036042] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050993.835257342] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050993.837319101] [sailbot.teensy]: Wind angle: 140 +[trim_sail-4] [INFO] [1746050993.837412993] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050993.838319139] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050993.839212323] [sailbot.teensy]: Actual tail angle: 35 +[mux-7] [INFO] [1746050993.839806996] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050993.840044185] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050993.844484487] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050993.845031343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050993.845676217] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050993.846731046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746050993.847913266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050993.945178611] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050993.945742251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050993.946696634] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050993.947720709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746050993.948862766] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050993.957151387] [sailbot.main_algo]: Wind Direction: 140 +[main_algo-3] [INFO] [1746050993.958196752] [sailbot.main_algo]: Target Bearing: -55.91047882321512 +[main_algo-3] [INFO] [1746050993.959175874] [sailbot.main_algo]: Heading Difference: 136.51747882321513 +[main_algo-3] [INFO] [1746050993.960072119] [sailbot.main_algo]: Wind Direction: 140 +[main_algo-3] [INFO] [1746050993.960932408] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050993.961740952] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050993.962781926] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050993.963547401] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050994.002904879] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891638 Long: -76.50349107 +[main_algo-3] [INFO] [1746050994.003964672] [sailbot.main_algo]: Distance to destination: 26.31796191043403 +[vectornav-1] [INFO] [1746050994.004202570] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (73.74000000000001, 0.232, 8.031) +[main_algo-3] [INFO] [1746050994.005266187] [sailbot.main_algo]: Target Bearing: -56.02954134341812 +[main_algo-3] [INFO] [1746050994.006287321] [sailbot.main_algo]: Heading Difference: 136.63654134341812 +[main_algo-3] [INFO] [1746050994.007227019] [sailbot.main_algo]: Wind Direction: 140 +[main_algo-3] [INFO] [1746050994.008115355] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050994.009003023] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050994.010780254] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050994.045756964] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050994.045842250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050994.047156692] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050994.047904299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746050994.049059425] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050994.085220955] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050994.087419895] [sailbot.teensy]: Wind angle: 140 +[trim_sail-4] [INFO] [1746050994.087456165] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050994.088423374] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050994.088940075] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050994.089323445] [sailbot.teensy]: Actual tail angle: 35 +[teensy-2] [INFO] [1746050994.090235931] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050994.145218457] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050994.146097008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050994.147225585] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050994.148327449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746050994.149450081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050994.244965968] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050994.245811735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050994.246218706] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050994.247853078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746050994.249024242] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050994.335249917] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050994.336981384] [sailbot.teensy]: Wind angle: 140 +[teensy-2] [INFO] [1746050994.338022933] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050994.338230321] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746050994.338931570] [sailbot.teensy]: Actual tail angle: 35 +[trim_sail-4] [INFO] [1746050994.339450410] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050994.339869581] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050994.344552304] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050994.345047711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050994.346034415] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050994.346741601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746050994.348023159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050994.445483456] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050994.446346146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050994.447561870] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050994.449028240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746050994.450198438] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050994.457022104] [sailbot.main_algo]: Wind Direction: 140 +[main_algo-3] [INFO] [1746050994.457983113] [sailbot.main_algo]: Target Bearing: -56.02954134341812 +[main_algo-3] [INFO] [1746050994.458879298] [sailbot.main_algo]: Heading Difference: 129.76954134341815 +[main_algo-3] [INFO] [1746050994.459755218] [sailbot.main_algo]: Wind Direction: 140 +[main_algo-3] [INFO] [1746050994.460574852] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050994.461381108] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050994.462494099] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050994.463018117] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050994.503371109] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891635 Long: -76.50349075 +[main_algo-3] [INFO] [1746050994.503514031] [sailbot.main_algo]: Distance to destination: 26.300153476302675 +[main_algo-3] [INFO] [1746050994.504560188] [sailbot.main_algo]: Target Bearing: -56.072341325764256 +[vectornav-1] [INFO] [1746050994.504659443] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (68.769, 0.061, 5.947) +[main_algo-3] [INFO] [1746050994.505530476] [sailbot.main_algo]: Heading Difference: 129.81234132576424 +[main_algo-3] [INFO] [1746050994.506471272] [sailbot.main_algo]: Wind Direction: 140 +[main_algo-3] [INFO] [1746050994.507368309] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050994.508249914] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050994.509985566] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050994.544799886] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050994.545570819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050994.546188194] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050994.547415315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746050994.548564148] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050994.585422167] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050994.587173483] [sailbot.teensy]: Wind angle: 135 +[trim_sail-4] [INFO] [1746050994.587719281] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746050994.588107462] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050994.589028302] [sailbot.teensy]: Actual tail angle: 35 +[teensy-2] [INFO] [1746050994.589941832] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050994.590088564] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746050994.644785694] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050994.645555228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050994.645960149] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050994.647328329] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746050994.648475643] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050994.745234921] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050994.746094917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050994.747212861] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050994.748591935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746050994.749757267] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050994.835235377] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050994.837052572] [sailbot.teensy]: Wind angle: 130 +[trim_sail-4] [INFO] [1746050994.837484723] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050994.838073354] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050994.839005844] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050994.839065485] [sailbot.teensy]: Actual tail angle: 35 +[teensy-2] [INFO] [1746050994.840125742] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050994.844368460] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050994.844835328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050994.845466698] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050994.846631687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746050994.847641655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050994.945341061] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050994.946157923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050994.946862629] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050994.948415730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746050994.949446902] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050994.956993496] [sailbot.main_algo]: Wind Direction: 130 +[main_algo-3] [INFO] [1746050994.958041135] [sailbot.main_algo]: Target Bearing: -56.072341325764256 +[main_algo-3] [INFO] [1746050994.958941609] [sailbot.main_algo]: Heading Difference: 124.84134132576423 +[main_algo-3] [INFO] [1746050994.959813785] [sailbot.main_algo]: Wind Direction: 130 +[main_algo-3] [INFO] [1746050994.960699190] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050994.961559699] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050994.962580193] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050994.963187831] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050995.003116598] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891659 Long: -76.5034909 +[main_algo-3] [INFO] [1746050995.004047782] [sailbot.main_algo]: Distance to destination: 26.329067024445255 +[vectornav-1] [INFO] [1746050995.004648909] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (62.668000000000006, -0.108, 6.902) +[main_algo-3] [INFO] [1746050995.005437502] [sailbot.main_algo]: Target Bearing: -56.083562596066955 +[main_algo-3] [INFO] [1746050995.006418509] [sailbot.main_algo]: Heading Difference: 124.85256259606695 +[main_algo-3] [INFO] [1746050995.007691807] [sailbot.main_algo]: Wind Direction: 130 +[main_algo-3] [INFO] [1746050995.008607101] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050995.009453403] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050995.011186550] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050995.045105734] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050995.045939480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050995.046513109] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746050995.047934197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746050995.049071771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050995.073827354] [sailbot.mux]: controller_app rudder angle: 11 +[teensy-2] [INFO] [1746050995.085309506] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050995.086876186] [sailbot.teensy]: Wind angle: 130 +[trim_sail-4] [INFO] [1746050995.087598831] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050995.087813983] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050995.088700087] [sailbot.teensy]: Actual tail angle: 35 +[mux-7] [INFO] [1746050995.088809532] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050995.089555932] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050995.144739419] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050995.145386606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050995.145844879] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050995.147936435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050995.149095514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050995.245262153] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050995.245769715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050995.247027446] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050995.248282865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050995.249453729] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050995.335563419] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050995.337771082] [sailbot.teensy]: Wind angle: 130 +[trim_sail-4] [INFO] [1746050995.338782930] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746050995.339271621] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050995.339619498] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050995.340000177] [sailbot.teensy]: Actual tail angle: 35 +[teensy-2] [INFO] [1746050995.340354738] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050995.344678076] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050995.345104569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050995.345960756] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050995.346829916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050995.347876120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050995.445384703] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050995.445976478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050995.447006608] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050995.448140452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050995.449305616] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050995.457109606] [sailbot.main_algo]: Wind Direction: 130 +[main_algo-3] [INFO] [1746050995.458107063] [sailbot.main_algo]: Target Bearing: -56.083562596066955 +[main_algo-3] [INFO] [1746050995.458996860] [sailbot.main_algo]: Heading Difference: 118.75156259606695 +[main_algo-3] [INFO] [1746050995.459852035] [sailbot.main_algo]: Wind Direction: 130 +[main_algo-3] [INFO] [1746050995.460705771] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050995.461475765] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050995.462500228] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050995.463248016] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050995.502719165] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689162 Long: -76.50349 +[main_algo-3] [INFO] [1746050995.503757182] [sailbot.main_algo]: Distance to destination: 26.251209649043858 +[vectornav-1] [INFO] [1746050995.503904152] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.48399999999998, -1.797, 7.782) +[main_algo-3] [INFO] [1746050995.505053468] [sailbot.main_algo]: Target Bearing: -56.16184547676381 +[main_algo-3] [INFO] [1746050995.506376991] [sailbot.main_algo]: Heading Difference: 118.82984547676381 +[main_algo-3] [INFO] [1746050995.507282732] [sailbot.main_algo]: Wind Direction: 130 +[main_algo-3] [INFO] [1746050995.508136750] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050995.509011379] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050995.510716499] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050995.545092265] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050995.545870867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050995.546503348] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050995.547898691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050995.548962473] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050995.585254623] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050995.586893139] [sailbot.teensy]: Wind angle: 129 +[teensy-2] [INFO] [1746050995.587814130] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050995.587973433] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746050995.588787164] [sailbot.teensy]: Actual tail angle: 36 +[mux-7] [INFO] [1746050995.589172051] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746050995.589714935] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050995.645327634] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050995.646311227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050995.646868514] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050995.648854964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050995.649912218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050995.745238850] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050995.746000036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050995.746824071] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050995.747937044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050995.748409879] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050995.835185601] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050995.836918031] [sailbot.teensy]: Wind angle: 124 +[trim_sail-4] [INFO] [1746050995.837508471] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746050995.837906543] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050995.838736339] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746050995.838884009] [sailbot.teensy]: Actual tail angle: 36 +[teensy-2] [INFO] [1746050995.840148685] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050995.844557416] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050995.845180820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050995.845753493] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050995.847069258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050995.848104727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050995.945282120] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050995.945992247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050995.946806680] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050995.948142710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050995.949259722] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050995.957072258] [sailbot.main_algo]: Wind Direction: 124 +[main_algo-3] [INFO] [1746050995.958164097] [sailbot.main_algo]: Target Bearing: -56.16184547676381 +[main_algo-3] [INFO] [1746050995.959096042] [sailbot.main_algo]: Heading Difference: 111.64584547676378 +[main_algo-3] [INFO] [1746050995.959948396] [sailbot.main_algo]: Wind Direction: 124 +[main_algo-3] [INFO] [1746050995.960834792] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050995.961624643] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050995.962774411] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050995.963404794] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050996.003003680] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891658 Long: -76.50348896 +[vectornav-1] [INFO] [1746050996.004306520] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.19, 2.253, 8.877) +[main_algo-3] [INFO] [1746050996.004303634] [sailbot.main_algo]: Distance to destination: 26.23714320381777 +[main_algo-3] [INFO] [1746050996.005528721] [sailbot.main_algo]: Target Bearing: -56.367752447556015 +[main_algo-3] [INFO] [1746050996.006517927] [sailbot.main_algo]: Heading Difference: 111.85175244755601 +[main_algo-3] [INFO] [1746050996.007449551] [sailbot.main_algo]: Wind Direction: 124 +[main_algo-3] [INFO] [1746050996.008323615] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050996.009166092] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050996.010857945] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050996.045135096] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050996.045860302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050996.046555986] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050996.047884315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050996.049046242] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050996.085261644] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050996.087463219] [sailbot.teensy]: Wind angle: 117 +[trim_sail-4] [INFO] [1746050996.087529668] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050996.088463762] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050996.089269944] [sailbot.teensy]: Actual tail angle: 36 +[mux-7] [INFO] [1746050996.088986036] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050996.090114431] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050996.145339336] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050996.145958615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050996.146963647] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050996.148473652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050996.149665195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050996.245561955] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050996.245983825] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050996.247171653] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050996.248358412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050996.249613770] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050996.335383358] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050996.337792963] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050996.338578644] [sailbot.teensy]: Wind angle: 117 +[mux-7] [INFO] [1746050996.338652869] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050996.338999145] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050996.339634479] [sailbot.teensy]: Actual tail angle: 36 +[teensy-2] [INFO] [1746050996.340388817] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050996.344578679] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050996.345060110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050996.346057693] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050996.346795871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050996.348050816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050996.445329598] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050996.445916088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050996.446969722] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050996.448179558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050996.449446870] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050996.457111205] [sailbot.main_algo]: Wind Direction: 117 +[main_algo-3] [INFO] [1746050996.458121193] [sailbot.main_algo]: Target Bearing: -56.367752447556015 +[main_algo-3] [INFO] [1746050996.459009528] [sailbot.main_algo]: Heading Difference: 104.55775244755603 +[main_algo-3] [INFO] [1746050996.459836754] [sailbot.main_algo]: Wind Direction: 117 +[main_algo-3] [INFO] [1746050996.460631962] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050996.461431759] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050996.462405738] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050996.463164779] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050996.502951857] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891684 Long: -76.50348764 +[vectornav-1] [INFO] [1746050996.504883312] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.71100000000001, -2.722, 10.312) +[main_algo-3] [INFO] [1746050996.505083216] [sailbot.main_algo]: Distance to destination: 26.199407058971317 +[main_algo-3] [INFO] [1746050996.506292757] [sailbot.main_algo]: Target Bearing: -56.59891619244621 +[main_algo-3] [INFO] [1746050996.507245982] [sailbot.main_algo]: Heading Difference: 104.78891619244621 +[main_algo-3] [INFO] [1746050996.508172101] [sailbot.main_algo]: Wind Direction: 117 +[main_algo-3] [INFO] [1746050996.509041777] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050996.509881024] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050996.511613679] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050996.545104018] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050996.545920717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050996.546508200] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050996.548066979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050996.549210466] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050996.585345537] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050996.587064368] [sailbot.teensy]: Wind angle: 114 +[teensy-2] [INFO] [1746050996.588040201] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050996.588569801] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050996.588953082] [sailbot.teensy]: Actual tail angle: 36 +[mux-7] [INFO] [1746050996.589310282] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050996.589838467] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050996.645047213] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050996.646222011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050996.646715679] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050996.647983744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050996.648438785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050996.745200009] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050996.745883105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050996.747188149] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050996.747912040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050996.748461273] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050996.835225250] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050996.837088431] [sailbot.teensy]: Wind angle: 109 +[teensy-2] [INFO] [1746050996.838006425] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050996.838140457] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050996.838349347] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050996.838612533] [sailbot.teensy]: Actual tail angle: 36 +[teensy-2] [INFO] [1746050996.839000297] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050996.844636106] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050996.845412962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050996.845855801] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050996.847171316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050996.848320542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050996.945057850] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050996.945743115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050996.946794876] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050996.947940322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050996.949011864] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050996.956969720] [sailbot.main_algo]: Wind Direction: 109 +[main_algo-3] [INFO] [1746050996.957922974] [sailbot.main_algo]: Target Bearing: -56.59891619244621 +[main_algo-3] [INFO] [1746050996.958792802] [sailbot.main_algo]: Heading Difference: 98.30991619244622 +[main_algo-3] [INFO] [1746050996.959570715] [sailbot.main_algo]: Wind Direction: 109 +[main_algo-3] [INFO] [1746050996.960374408] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050996.961193550] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050996.962170188] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050996.963024521] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050997.002914112] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891794 Long: -76.50348561 +[main_algo-3] [INFO] [1746050997.003824722] [sailbot.main_algo]: Distance to destination: 26.206663988199473 +[vectornav-1] [INFO] [1746050997.004244157] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.053999999999974, -1.898, 11.323) +[main_algo-3] [INFO] [1746050997.004994114] [sailbot.main_algo]: Target Bearing: -57.05092119099523 +[main_algo-3] [INFO] [1746050997.006042188] [sailbot.main_algo]: Heading Difference: 98.76192119099528 +[main_algo-3] [INFO] [1746050997.006960607] [sailbot.main_algo]: Wind Direction: 109 +[main_algo-3] [INFO] [1746050997.007861675] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050997.008729230] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050997.010451650] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050997.045199121] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050997.045874868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050997.046713430] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050997.047872350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050997.049036620] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050997.085253589] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050997.086976072] [sailbot.teensy]: Wind angle: 105 +[trim_sail-4] [INFO] [1746050997.087705240] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050997.087897191] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050997.088821643] [sailbot.teensy]: Actual tail angle: 36 +[mux-7] [INFO] [1746050997.089671291] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050997.089727607] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050997.144915969] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050997.145791498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050997.146194908] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050997.147624938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050997.148783861] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050997.245109724] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050997.245879118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050997.246561208] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050997.247859186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050997.248650597] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050997.335292929] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050997.337044859] [sailbot.teensy]: Wind angle: 106 +[teensy-2] [INFO] [1746050997.337968142] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050997.337776537] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050997.338801081] [sailbot.teensy]: Actual tail angle: 36 +[mux-7] [INFO] [1746050997.338849102] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050997.339174721] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050997.344464319] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050997.345086379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050997.345777029] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050997.346886265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050997.348030045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050997.445253841] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050997.445936307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050997.446824160] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050997.448116137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050997.449215168] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050997.456943960] [sailbot.main_algo]: Wind Direction: 106 +[main_algo-3] [INFO] [1746050997.457982621] [sailbot.main_algo]: Target Bearing: -57.05092119099523 +[main_algo-3] [INFO] [1746050997.458882992] [sailbot.main_algo]: Heading Difference: 94.10492119099524 +[main_algo-3] [INFO] [1746050997.459735560] [sailbot.main_algo]: Wind Direction: 106 +[main_algo-3] [INFO] [1746050997.460540870] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050997.461353761] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050997.462309561] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050997.462896916] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050997.503258744] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689188 Long: -76.50348192 +[main_algo-3] [INFO] [1746050997.503936539] [sailbot.main_algo]: Distance to destination: 26.1181572754086 +[vectornav-1] [INFO] [1746050997.504512707] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.49400000000003, 0.882, 14.967) +[main_algo-3] [INFO] [1746050997.505449626] [sailbot.main_algo]: Target Bearing: -57.72000888588109 +[main_algo-3] [INFO] [1746050997.506449535] [sailbot.main_algo]: Heading Difference: 94.77400888588107 +[main_algo-3] [INFO] [1746050997.507384644] [sailbot.main_algo]: Wind Direction: 106 +[main_algo-3] [INFO] [1746050997.508297499] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050997.509155705] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050997.510839880] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050997.545251697] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050997.546071323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050997.547063403] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050997.548289697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050997.549475797] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050997.585515284] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050997.587744378] [sailbot.teensy]: Wind angle: 103 +[trim_sail-4] [INFO] [1746050997.588097039] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050997.588707869] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050997.589569902] [sailbot.teensy]: Actual tail angle: 36 +[mux-7] [INFO] [1746050997.589599677] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050997.590488492] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050997.645128377] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050997.645678450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050997.646681294] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050997.647718947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050997.648957592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050997.745053246] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050997.745589504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050997.746397447] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050997.747638410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050997.748730933] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050997.835298636] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050997.837188897] [sailbot.teensy]: Wind angle: 88 +[teensy-2] [INFO] [1746050997.838187817] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050997.838294007] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746050997.839102248] [sailbot.teensy]: Actual tail angle: 36 +[mux-7] [INFO] [1746050997.839736827] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746050997.840008901] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050997.844413202] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050997.844841055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050997.845619681] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050997.846537609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050997.847555882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050997.945429858] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050997.946019591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050997.947048075] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746050997.948386280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746050997.949380391] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050997.957126914] [sailbot.main_algo]: Wind Direction: 88 +[main_algo-3] [INFO] [1746050997.958147700] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746050997.959096948] [sailbot.main_algo]: Target Bearing: -57.72000888588109 +[main_algo-3] [INFO] [1746050997.959998797] [sailbot.main_algo]: Heading Difference: 90.21400888588113 +[main_algo-3] [INFO] [1746050997.960895930] [sailbot.main_algo]: Wind Direction: 88 +[main_algo-3] [INFO] [1746050997.961720055] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050997.962511315] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050997.963577421] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050997.964104638] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050998.002982327] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892023 Long: -76.50347884 +[main_algo-3] [INFO] [1746050998.003824438] [sailbot.main_algo]: Distance to destination: 26.113593187730704 +[main_algo-3] [INFO] [1746050998.005128783] [sailbot.main_algo]: Target Bearing: -58.37574428919442 +[main_algo-3] [INFO] [1746050998.006307847] [sailbot.main_algo]: Heading Difference: 90.86974428919444 +[vectornav-1] [INFO] [1746050998.006351828] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (28.915999999999997, -0.363, 12.14) +[main_algo-3] [INFO] [1746050998.007298044] [sailbot.main_algo]: Wind Direction: 88 +[main_algo-3] [INFO] [1746050998.008216176] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050998.009079702] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050998.010818529] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050998.024035300] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746050998.045037076] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050998.045768591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050998.046312308] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050998.047835041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050998.048866803] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050998.085411163] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050998.087532366] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746050998.087971649] [sailbot.teensy]: Wind angle: 82 +[mux-7] [INFO] [1746050998.088717652] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746050998.089438599] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050998.090388810] [sailbot.teensy]: Actual tail angle: 36 +[teensy-2] [INFO] [1746050998.091238201] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050998.145262616] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050998.145793153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050998.146761899] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050998.148069000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050998.149259910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050998.245295855] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050998.245855915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050998.246836625] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050998.248138770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050998.249302314] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050998.335417908] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050998.337149312] [sailbot.teensy]: Wind angle: 100 +[trim_sail-4] [INFO] [1746050998.337994575] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746050998.338134616] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050998.339057884] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050998.339963720] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050998.339993354] [sailbot.mux]: algo sail angle: 25 +[mux-7] [INFO] [1746050998.344547309] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050998.345106668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050998.345983542] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050998.346860690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050998.347867973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050998.445571953] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050998.446459812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050998.447893750] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050998.448926833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050998.450316739] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050998.456968278] [sailbot.main_algo]: Wind Direction: 100 +[main_algo-3] [INFO] [1746050998.457984784] [sailbot.main_algo]: Target Bearing: -58.37574428919442 +[main_algo-3] [INFO] [1746050998.458866982] [sailbot.main_algo]: Heading Difference: 87.29174428919441 +[main_algo-3] [INFO] [1746050998.459704834] [sailbot.main_algo]: Wind Direction: 100 +[main_algo-3] [INFO] [1746050998.460565980] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050998.461407717] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050998.462431426] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050998.463158834] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050998.503958761] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892219 Long: -76.50347559 +[main_algo-3] [INFO] [1746050998.504260151] [sailbot.main_algo]: Distance to destination: 26.155008174627806 +[main_algo-3] [INFO] [1746050998.505417806] [sailbot.main_algo]: Target Bearing: -59.12589294767944 +[vectornav-1] [INFO] [1746050998.505612426] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.682999999999993, -2.709, 8.119) +[main_algo-3] [INFO] [1746050998.506449644] [sailbot.main_algo]: Heading Difference: 88.04189294767946 +[main_algo-3] [INFO] [1746050998.507387175] [sailbot.main_algo]: Wind Direction: 100 +[main_algo-3] [INFO] [1746050998.508283329] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050998.509125320] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050998.510801734] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050998.545130573] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050998.545969910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050998.546573118] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050998.548026508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050998.549072427] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050998.585465976] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050998.588030022] [sailbot.teensy]: Wind angle: 114 +[trim_sail-4] [INFO] [1746050998.588030012] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746050998.589097972] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050998.589831624] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746050998.590164289] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050998.591168488] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050998.644926515] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050998.645597073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050998.646300199] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050998.647447089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050998.648542560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050998.745364888] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050998.746125953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050998.746879027] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050998.748804555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050998.750004825] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050998.835371394] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050998.837149333] [sailbot.teensy]: Wind angle: 106 +[trim_sail-4] [INFO] [1746050998.837655552] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050998.838097298] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050998.839042055] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746050998.839771179] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050998.839834378] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050998.844403314] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050998.845129782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050998.845620806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050998.846998914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050998.848043186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050998.945474331] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050998.946207092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050998.947462339] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050998.948288599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050998.948809414] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050998.956993557] [sailbot.main_algo]: Wind Direction: 106 +[main_algo-3] [INFO] [1746050998.957939367] [sailbot.main_algo]: Target Bearing: -59.12589294767944 +[main_algo-3] [INFO] [1746050998.958827678] [sailbot.main_algo]: Heading Difference: 85.8088929476794 +[main_algo-3] [INFO] [1746050998.959609355] [sailbot.main_algo]: Wind Direction: 106 +[main_algo-3] [INFO] [1746050998.960426796] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050998.961211423] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050998.962325890] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050998.962911084] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050999.003676323] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892342 Long: -76.50347058 +[main_algo-3] [INFO] [1746050999.004280476] [sailbot.main_algo]: Distance to destination: 26.056792785585166 +[vectornav-1] [INFO] [1746050999.005447271] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (22.141999999999996, -0.948, 10.641) +[main_algo-3] [INFO] [1746050999.005514729] [sailbot.main_algo]: Target Bearing: -60.053695647755305 +[main_algo-3] [INFO] [1746050999.006588634] [sailbot.main_algo]: Heading Difference: 86.73669564775531 +[main_algo-3] [INFO] [1746050999.007554459] [sailbot.main_algo]: Wind Direction: 106 +[main_algo-3] [INFO] [1746050999.008493091] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050999.009360304] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050999.011079935] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050999.045163892] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050999.045889673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050999.046569009] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050999.048172199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050999.049359441] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050999.085435969] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050999.087997363] [sailbot.teensy]: Wind angle: 107 +[teensy-2] [INFO] [1746050999.088934857] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050999.088270049] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746050999.090013841] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050999.090037916] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050999.091417891] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050999.145056820] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050999.145757695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050999.146663664] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050999.147976622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050999.149169503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050999.244983804] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050999.245653188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050999.246310492] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050999.247501712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050999.248417681] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050999.335179586] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746050999.337460540] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746050999.338209983] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746050999.338776728] [sailbot.teensy]: Wind angle: 103 +[teensy-2] [INFO] [1746050999.339770865] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746050999.340638890] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050999.341474192] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050999.344249545] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050999.344875966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050999.345344281] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050999.346516730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050999.347677121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050999.445241081] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050999.445907605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050999.446785812] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050999.447732076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050999.448174998] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050999.457167740] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746050999.458304433] [sailbot.main_algo]: Target Bearing: -60.053695647755305 +[main_algo-3] [INFO] [1746050999.459285771] [sailbot.main_algo]: Heading Difference: 82.19569564775531 +[main_algo-3] [INFO] [1746050999.460212108] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746050999.461110966] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050999.461925181] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050999.463155556] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050999.463484803] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746050999.503111047] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892376 Long: -76.50346468 +[main_algo-3] [INFO] [1746050999.504108018] [sailbot.main_algo]: Distance to destination: 25.843268948729403 +[vectornav-1] [INFO] [1746050999.504407603] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (15.420999999999992, 0.928, 10.862) +[main_algo-3] [INFO] [1746050999.505363707] [sailbot.main_algo]: Target Bearing: -61.01907804236632 +[main_algo-3] [INFO] [1746050999.506359229] [sailbot.main_algo]: Heading Difference: 83.16107804236628 +[main_algo-3] [INFO] [1746050999.507261568] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746050999.508120438] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050999.508976921] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746050999.510770181] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746050999.545106397] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050999.545905549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050999.546630161] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050999.547899305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050999.549116661] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050999.585137101] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050999.586757498] [sailbot.teensy]: Wind angle: 104 +[teensy-2] [INFO] [1746050999.587725298] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746050999.587325756] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050999.588743259] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050999.589671293] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050999.588962021] [sailbot.mux]: algo sail angle: 20 +[mux-7] [INFO] [1746050999.644783117] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050999.645573106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050999.646097289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050999.647366086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050999.648416457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050999.745030151] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050999.745794912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050999.746641026] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050999.747933288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050999.748495689] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746050999.835220721] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746050999.837076331] [sailbot.teensy]: Wind angle: 106 +[trim_sail-4] [INFO] [1746050999.837766539] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746050999.838927988] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746050999.838982856] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746050999.839856777] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746050999.840758085] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746050999.844617689] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050999.845063591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050999.845807611] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050999.846854971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050999.847923315] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050999.945296876] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746050999.946236863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746050999.946863202] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746050999.948442839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746050999.949129613] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746050999.957300185] [sailbot.main_algo]: Wind Direction: 106 +[main_algo-3] [INFO] [1746050999.958408361] [sailbot.main_algo]: Target Bearing: -61.01907804236632 +[main_algo-3] [INFO] [1746050999.959358765] [sailbot.main_algo]: Heading Difference: 76.44007804236628 +[main_algo-3] [INFO] [1746050999.960236741] [sailbot.main_algo]: Wind Direction: 106 +[main_algo-3] [INFO] [1746050999.961116911] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746050999.961900345] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746050999.963028418] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746050999.963490108] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051000.002809275] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892473 Long: -76.50345958 +[main_algo-3] [INFO] [1746051000.003706452] [sailbot.main_algo]: Distance to destination: 25.730304110304314 +[vectornav-1] [INFO] [1746051000.003870482] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (11.730999999999995, 0.263, 8.832) +[main_algo-3] [INFO] [1746051000.004820779] [sailbot.main_algo]: Target Bearing: -61.94774207647315 +[main_algo-3] [INFO] [1746051000.005875210] [sailbot.main_algo]: Heading Difference: 77.36874207647315 +[main_algo-3] [INFO] [1746051000.006967958] [sailbot.main_algo]: Wind Direction: 106 +[main_algo-3] [INFO] [1746051000.007878635] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051000.008762628] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051000.010554836] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051000.045076864] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051000.045825265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051000.046668927] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051000.047904717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051000.049041063] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051000.084992629] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051000.086626657] [sailbot.teensy]: Wind angle: 98 +[teensy-2] [INFO] [1746051000.087487519] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051000.087142261] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746051000.088175620] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051000.088354716] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051000.089250834] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051000.145107043] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051000.145603848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051000.146470862] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051000.147659814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051000.148869813] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051000.244873810] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051000.245427624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051000.246113664] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051000.247243063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051000.248371011] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051000.335244482] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051000.337073125] [sailbot.teensy]: Wind angle: 95 +[trim_sail-4] [INFO] [1746051000.337437681] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746051000.338043184] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051000.339113281] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051000.339160440] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051000.340047296] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051000.344430490] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051000.345055724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051000.345609208] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051000.346773790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051000.347836477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051000.445386734] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051000.445956716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051000.447196303] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051000.448202588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051000.449494344] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051000.456962502] [sailbot.main_algo]: Wind Direction: 95 +[main_algo-3] [INFO] [1746051000.457944632] [sailbot.main_algo]: Target Bearing: -61.94774207647315 +[main_algo-3] [INFO] [1746051000.458783886] [sailbot.main_algo]: Heading Difference: 73.67874207647316 +[main_algo-3] [INFO] [1746051000.459584697] [sailbot.main_algo]: Wind Direction: 95 +[main_algo-3] [INFO] [1746051000.460384055] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051000.461217623] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051000.462226962] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051000.462793439] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051000.503174347] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892611 Long: -76.50345449 +[main_algo-3] [INFO] [1746051000.503563597] [sailbot.main_algo]: Distance to destination: 25.664708748011613 +[vectornav-1] [INFO] [1746051000.504574369] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (10.057000000000016, -1.269, 9.559) +[main_algo-3] [INFO] [1746051000.504610127] [sailbot.main_algo]: Target Bearing: -62.93065750956164 +[main_algo-3] [INFO] [1746051000.505581326] [sailbot.main_algo]: Heading Difference: 74.66165750956162 +[main_algo-3] [INFO] [1746051000.506508174] [sailbot.main_algo]: Wind Direction: 95 +[main_algo-3] [INFO] [1746051000.507409210] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051000.508289031] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051000.509959630] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051000.544953573] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051000.545667748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051000.546221152] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051000.547620091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051000.548766527] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051000.585241497] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051000.586996109] [sailbot.teensy]: Wind angle: 94 +[teensy-2] [INFO] [1746051000.587906876] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051000.587687195] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746051000.588206424] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051000.588811905] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051000.589715111] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051000.645111462] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051000.645933705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051000.647010857] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051000.648233777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051000.649352386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051000.745677544] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051000.746662210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051000.747332977] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051000.749053733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051000.750211938] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051000.835244870] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051000.837842583] [sailbot.teensy]: Wind angle: 97 +[trim_sail-4] [INFO] [1746051000.838123469] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051000.838794680] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051000.839022598] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051000.839783942] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051000.840527060] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051000.844448125] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051000.845018282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051000.845660375] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051000.846728280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051000.847850262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051000.945226655] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051000.945875349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051000.946976198] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051000.948027970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051000.948791895] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051000.957043961] [sailbot.main_algo]: Wind Direction: 97 +[main_algo-3] [INFO] [1746051000.958049493] [sailbot.main_algo]: Target Bearing: -62.93065750956164 +[main_algo-3] [INFO] [1746051000.958937004] [sailbot.main_algo]: Heading Difference: 72.98765750956164 +[main_algo-3] [INFO] [1746051000.959740803] [sailbot.main_algo]: Wind Direction: 97 +[main_algo-3] [INFO] [1746051000.960569521] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051000.961355639] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051000.962486400] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051000.963469499] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051001.003199269] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892628 Long: -76.50344818 +[main_algo-3] [INFO] [1746051001.003662581] [sailbot.main_algo]: Distance to destination: 25.44139679556343 +[vectornav-1] [INFO] [1746051001.004317390] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (6.699999999999989, -3.497, 12.584) +[main_algo-3] [INFO] [1746051001.004805134] [sailbot.main_algo]: Target Bearing: -63.98157951548372 +[main_algo-3] [INFO] [1746051001.006252272] [sailbot.main_algo]: Heading Difference: 74.03857951548375 +[main_algo-3] [INFO] [1746051001.007314255] [sailbot.main_algo]: Wind Direction: 97 +[main_algo-3] [INFO] [1746051001.008266257] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051001.009154999] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051001.010878238] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051001.044976855] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051001.045736705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051001.046310051] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051001.047783423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051001.048836921] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051001.085672995] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051001.088047425] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746051001.088125015] [sailbot.teensy]: Wind angle: 96 +[mux-7] [INFO] [1746051001.088658397] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051001.089125686] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051001.090055216] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051001.090910352] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051001.144994803] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051001.145955330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051001.146309637] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051001.147878841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051001.148983090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051001.245293929] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051001.245888697] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051001.246840812] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051001.247881703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051001.249120401] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051001.335311949] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051001.337545221] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746051001.338400417] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051001.338974703] [sailbot.teensy]: Wind angle: 94 +[teensy-2] [INFO] [1746051001.339498144] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051001.339863310] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051001.340307809] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051001.344660308] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051001.345085190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051001.345901144] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051001.346863997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051001.348047550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051001.445163925] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051001.445696211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051001.446750469] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051001.447733682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051001.448847741] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051001.457111873] [sailbot.main_algo]: Wind Direction: 94 +[main_algo-3] [INFO] [1746051001.458132729] [sailbot.main_algo]: Target Bearing: -63.98157951548372 +[main_algo-3] [INFO] [1746051001.459014585] [sailbot.main_algo]: Heading Difference: 70.68157951548372 +[main_algo-3] [INFO] [1746051001.459795961] [sailbot.main_algo]: Wind Direction: 94 +[main_algo-3] [INFO] [1746051001.460608566] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051001.461411697] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051001.462408989] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051001.463264799] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051001.502486536] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892544 Long: -76.50344094 +[main_algo-3] [INFO] [1746051001.503722872] [sailbot.main_algo]: Distance to destination: 25.09247580560214 +[vectornav-1] [INFO] [1746051001.503936387] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (1.7060000000000173, 0.648, 12.716) +[main_algo-3] [INFO] [1746051001.504823923] [sailbot.main_algo]: Target Bearing: -65.09559065109046 +[main_algo-3] [INFO] [1746051001.505793119] [sailbot.main_algo]: Heading Difference: 71.79559065109044 +[main_algo-3] [INFO] [1746051001.506685018] [sailbot.main_algo]: Wind Direction: 94 +[main_algo-3] [INFO] [1746051001.507575023] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051001.508434856] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051001.510109759] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051001.544916227] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051001.545721643] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051001.546230464] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051001.547621270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051001.548738865] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051001.585155900] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051001.586773507] [sailbot.teensy]: Wind angle: 92 +[trim_sail-4] [INFO] [1746051001.587340614] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746051001.587688086] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051001.588619963] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051001.588851848] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051001.589509463] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051001.645239285] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051001.646131207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051001.646747527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051001.648642565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051001.649664085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051001.745542207] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051001.746263747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051001.747119993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051001.748535706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051001.749591067] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051001.835185164] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051001.837577962] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746051001.838346522] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051001.838579599] [sailbot.teensy]: Wind angle: 90 +[teensy-2] [INFO] [1746051001.839376082] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051001.839731166] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051001.840093366] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051001.844419853] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051001.844835217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051001.845596334] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051001.846500359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051001.847540419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051001.945201142] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051001.946013961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051001.946663827] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051001.948079135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051001.949138822] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051001.957125291] [sailbot.main_algo]: Wind Direction: 90 +[main_algo-3] [INFO] [1746051001.958165722] [sailbot.main_algo]: Target Bearing: -65.09559065109046 +[main_algo-3] [INFO] [1746051001.959081493] [sailbot.main_algo]: Heading Difference: 66.80159065109046 +[main_algo-3] [INFO] [1746051001.959895158] [sailbot.main_algo]: Wind Direction: 90 +[main_algo-3] [INFO] [1746051001.960724519] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051001.961511063] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051001.962505482] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051001.963095416] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051002.002517229] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892527 Long: -76.50343413 +[main_algo-3] [INFO] [1746051002.003360563] [sailbot.main_algo]: Distance to destination: 24.835682820170454 +[vectornav-1] [INFO] [1746051002.003565547] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (358.17, 2.81, 9.443) +[main_algo-3] [INFO] [1746051002.004362475] [sailbot.main_algo]: Target Bearing: -66.23845016221992 +[main_algo-3] [INFO] [1746051002.005283812] [sailbot.main_algo]: Heading Difference: 67.94445016221994 +[main_algo-3] [INFO] [1746051002.006190964] [sailbot.main_algo]: Wind Direction: 90 +[main_algo-3] [INFO] [1746051002.007079289] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051002.007915481] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051002.009954911] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051002.044909412] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051002.045583439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051002.046452706] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051002.047422586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051002.048742874] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051002.085250235] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051002.087517467] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746051002.087846060] [sailbot.teensy]: Wind angle: 89 +[teensy-2] [INFO] [1746051002.089423971] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051002.090164119] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051002.090345841] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051002.091279592] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051002.144588365] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051002.145202199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051002.145796481] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051002.147100436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051002.148241924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051002.244953615] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051002.245498905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051002.246536075] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051002.247252575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051002.248453837] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051002.335386006] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051002.337948281] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746051002.338465523] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746051002.338580704] [sailbot.teensy]: Wind angle: 81 +[teensy-2] [INFO] [1746051002.338975395] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051002.339364661] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051002.339718410] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051002.344575586] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051002.345045234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051002.345837043] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051002.346873718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051002.347916497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051002.445416256] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051002.446256006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051002.447095227] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051002.448400645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051002.448922148] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051002.457039874] [sailbot.main_algo]: Wind Direction: 81 +[main_algo-3] [INFO] [1746051002.457988883] [sailbot.main_algo]: Target Bearing: -66.23845016221992 +[main_algo-3] [INFO] [1746051002.458878084] [sailbot.main_algo]: Heading Difference: 64.40845016221988 +[main_algo-3] [INFO] [1746051002.459683584] [sailbot.main_algo]: Wind Direction: 81 +[main_algo-3] [INFO] [1746051002.460517884] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051002.461305172] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051002.462564268] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051002.462874691] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051002.502746021] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892568 Long: -76.50342859 +[main_algo-3] [INFO] [1746051002.503706030] [sailbot.main_algo]: Distance to destination: 24.689919081409005 +[vectornav-1] [INFO] [1746051002.503888590] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (354.563, -2.046, 6.057) +[main_algo-3] [INFO] [1746051002.504835433] [sailbot.main_algo]: Target Bearing: -67.24254540226653 +[main_algo-3] [INFO] [1746051002.505799383] [sailbot.main_algo]: Heading Difference: 65.41254540226657 +[main_algo-3] [INFO] [1746051002.506742153] [sailbot.main_algo]: Wind Direction: 81 +[main_algo-3] [INFO] [1746051002.507620806] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051002.508526718] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051002.510392070] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051002.545072528] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051002.545725213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051002.546378067] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051002.547612249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051002.548703022] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051002.585107064] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051002.587068002] [sailbot.teensy]: Wind angle: 81 +[trim_sail-4] [INFO] [1746051002.587455030] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746051002.588002336] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051002.588934530] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051002.589149099] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746051002.589811595] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051002.644992005] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051002.645513448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051002.646458947] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051002.647433409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051002.648486697] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051002.745442512] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051002.746337854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051002.747954447] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051002.748843073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051002.750129534] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051002.835257299] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051002.838041170] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746051002.838075161] [sailbot.teensy]: Wind angle: 83 +[teensy-2] [INFO] [1746051002.839037176] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051002.839944546] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051002.840188492] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051002.840586462] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051002.844500071] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051002.845003626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051002.845875181] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051002.846812786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051002.847954291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051002.945084559] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051002.945650960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051002.946513687] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051002.947716324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051002.948886483] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051002.957048365] [sailbot.main_algo]: Wind Direction: 83 +[main_algo-3] [INFO] [1746051002.958009321] [sailbot.main_algo]: Target Bearing: -67.24254540226653 +[main_algo-3] [INFO] [1746051002.958900779] [sailbot.main_algo]: Heading Difference: 61.80554540226649 +[main_algo-3] [INFO] [1746051002.959710345] [sailbot.main_algo]: Wind Direction: 83 +[main_algo-3] [INFO] [1746051002.960514499] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051002.961311795] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051002.962313611] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051002.963022812] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051003.002747787] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892533 Long: -76.50342283 +[main_algo-3] [INFO] [1746051003.003668782] [sailbot.main_algo]: Distance to destination: 24.46700061611763 +[vectornav-1] [INFO] [1746051003.003838059] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (351.999, -2.059, 7.859) +[main_algo-3] [INFO] [1746051003.004804678] [sailbot.main_algo]: Target Bearing: -68.22085529149072 +[main_algo-3] [INFO] [1746051003.005754870] [sailbot.main_algo]: Heading Difference: 62.78385529149068 +[main_algo-3] [INFO] [1746051003.006655766] [sailbot.main_algo]: Wind Direction: 83 +[main_algo-3] [INFO] [1746051003.007543189] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051003.008491753] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051003.010319001] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051003.044968820] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051003.045673755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051003.046307651] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051003.047575139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051003.048633164] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051003.085143707] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051003.086827878] [sailbot.teensy]: Wind angle: 83 +[teensy-2] [INFO] [1746051003.087692073] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051003.087279354] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746051003.088556844] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051003.088583389] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051003.089477018] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051003.145278473] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051003.146291160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051003.146887534] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051003.148604865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051003.149637907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051003.244919998] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051003.245542506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051003.246165548] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051003.247315445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051003.248383515] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051003.335226722] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051003.337608945] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746051003.338346058] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051003.338492591] [sailbot.teensy]: Wind angle: 83 +[teensy-2] [INFO] [1746051003.339658562] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051003.340586873] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051003.341458965] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051003.344411894] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051003.345002297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051003.345772939] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051003.346740606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051003.347789919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051003.444907208] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051003.445483547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051003.446313806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051003.447565087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051003.448767012] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051003.456902410] [sailbot.main_algo]: Wind Direction: 83 +[main_algo-3] [INFO] [1746051003.457844304] [sailbot.main_algo]: Target Bearing: -68.22085529149072 +[main_algo-3] [INFO] [1746051003.458670874] [sailbot.main_algo]: Heading Difference: 60.21985529149072 +[main_algo-3] [INFO] [1746051003.459471676] [sailbot.main_algo]: Wind Direction: 83 +[main_algo-3] [INFO] [1746051003.460306890] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051003.461095958] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051003.462091570] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051003.462697828] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051003.503219910] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892411 Long: -76.50341639 +[main_algo-3] [INFO] [1746051003.504025249] [sailbot.main_algo]: Distance to destination: 24.140876133546843 +[vectornav-1] [INFO] [1746051003.504940437] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (347.431, -1.849, 8.341) +[main_algo-3] [INFO] [1746051003.505136802] [sailbot.main_algo]: Target Bearing: -69.25491388276848 +[main_algo-3] [INFO] [1746051003.506188756] [sailbot.main_algo]: Heading Difference: 61.25391388276853 +[main_algo-3] [INFO] [1746051003.507151917] [sailbot.main_algo]: Wind Direction: 83 +[main_algo-3] [INFO] [1746051003.508070704] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051003.508959998] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051003.510696386] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051003.545236393] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051003.545923593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051003.546998566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051003.547953549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051003.549110316] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051003.585501529] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051003.587363908] [sailbot.teensy]: Wind angle: 83 +[trim_sail-4] [INFO] [1746051003.587726602] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746051003.588345923] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051003.589271306] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051003.590239247] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051003.590434088] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051003.645256014] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051003.645757830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051003.646817304] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051003.648087334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051003.649280958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051003.745003977] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051003.745628633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051003.746375531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051003.747534382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051003.748659166] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051003.835248053] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051003.836983743] [sailbot.teensy]: Wind angle: 80 +[trim_sail-4] [INFO] [1746051003.837830483] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746051003.838827652] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746051003.839499943] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051003.840482926] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051003.840942804] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051003.844586427] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051003.845049299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051003.845735665] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051003.846756315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051003.847928653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051003.945279047] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051003.945901967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051003.946980177] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051003.948002363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051003.949074193] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051003.957135290] [sailbot.main_algo]: Wind Direction: 80 +[main_algo-3] [INFO] [1746051003.958205285] [sailbot.main_algo]: Target Bearing: -69.25491388276848 +[main_algo-3] [INFO] [1746051003.959114909] [sailbot.main_algo]: Heading Difference: 56.68591388276843 +[main_algo-3] [INFO] [1746051003.959981597] [sailbot.main_algo]: Wind Direction: 80 +[main_algo-3] [INFO] [1746051003.960878568] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051003.961746421] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051003.962971301] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051003.963326477] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051004.002847925] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689224 Long: -76.50340976 +[main_algo-3] [INFO] [1746051004.003776319] [sailbot.main_algo]: Distance to destination: 23.76640110223917 +[vectornav-1] [INFO] [1746051004.004029635] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (342.835, -0.329, 5.966) +[main_algo-3] [INFO] [1746051004.004879259] [sailbot.main_algo]: Target Bearing: -70.3057982816267 +[main_algo-3] [INFO] [1746051004.005845740] [sailbot.main_algo]: Heading Difference: 57.73679828162676 +[main_algo-3] [INFO] [1746051004.006780214] [sailbot.main_algo]: Wind Direction: 80 +[main_algo-3] [INFO] [1746051004.007852106] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051004.008765209] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051004.010514371] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051004.045079418] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051004.045769250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051004.046386535] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051004.047650287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051004.048741303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051004.060791553] [sailbot.mux]: controller_app rudder angle: -11 +[teensy-2] [INFO] [1746051004.085170440] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051004.086740861] [sailbot.teensy]: Wind angle: 78 +[teensy-2] [INFO] [1746051004.087624939] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051004.087285323] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746051004.088114208] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746051004.089375881] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051004.090283156] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051004.145299822] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051004.145902337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051004.146870635] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051004.147939590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051004.149035127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051004.245182630] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051004.245963984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051004.246752747] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051004.248205427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051004.249372771] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051004.335154735] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051004.337197931] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746051004.337369985] [sailbot.teensy]: Wind angle: 78 +[teensy-2] [INFO] [1746051004.338247778] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051004.338633073] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746051004.339117579] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051004.339548020] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051004.344370539] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051004.344917782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051004.345571140] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051004.346948091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051004.348057960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051004.445738979] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051004.446315157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051004.447416924] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051004.448485744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051004.448972951] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051004.457099880] [sailbot.main_algo]: Wind Direction: 78 +[main_algo-3] [INFO] [1746051004.458042056] [sailbot.main_algo]: Target Bearing: -70.3057982816267 +[main_algo-3] [INFO] [1746051004.458923193] [sailbot.main_algo]: Heading Difference: 53.14079828162676 +[main_algo-3] [INFO] [1746051004.459727452] [sailbot.main_algo]: Wind Direction: 78 +[main_algo-3] [INFO] [1746051004.460549273] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051004.461368738] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051004.462386945] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051004.463008429] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051004.503451740] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892028 Long: -76.50340353 +[vectornav-1] [INFO] [1746051004.505096539] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (339.911, 1.108, 6.722) +[main_algo-3] [INFO] [1746051004.504089041] [sailbot.main_algo]: Distance to destination: 23.368378661837756 +[main_algo-3] [INFO] [1746051004.505286920] [sailbot.main_algo]: Target Bearing: -71.2764994244905 +[main_algo-3] [INFO] [1746051004.506275623] [sailbot.main_algo]: Heading Difference: 54.11149942449049 +[main_algo-3] [INFO] [1746051004.507203435] [sailbot.main_algo]: Wind Direction: 78 +[main_algo-3] [INFO] [1746051004.508086135] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051004.508970697] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051004.510728789] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051004.544980433] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051004.545622211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051004.546452822] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051004.547723605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051004.548947009] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051004.585425702] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051004.587585164] [sailbot.teensy]: Wind angle: 77 +[teensy-2] [INFO] [1746051004.588554827] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051004.587923509] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746051004.588386626] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746051004.589420547] [sailbot.teensy]: Actual tail angle: 14 +[teensy-2] [INFO] [1746051004.590292788] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051004.645167522] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051004.645719933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051004.646613962] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051004.647610310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051004.648673318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051004.745347415] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051004.746038578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051004.746978699] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051004.748272386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051004.749242811] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051004.835207555] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051004.836896135] [sailbot.teensy]: Wind angle: 76 +[trim_sail-4] [INFO] [1746051004.837430649] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746051004.837805930] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051004.838680086] [sailbot.teensy]: Actual tail angle: 14 +[mux-7] [INFO] [1746051004.838897754] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746051004.839589709] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051004.844371653] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051004.844857276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051004.845499817] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051004.846533974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051004.847615147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051004.945143797] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051004.946186793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051004.946650191] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051004.948686421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051004.949729012] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051004.957175589] [sailbot.main_algo]: Wind Direction: 76 +[main_algo-3] [INFO] [1746051004.958220159] [sailbot.main_algo]: Target Bearing: -71.2764994244905 +[main_algo-3] [INFO] [1746051004.959137035] [sailbot.main_algo]: Heading Difference: 51.18749942449051 +[main_algo-3] [INFO] [1746051004.960018680] [sailbot.main_algo]: Wind Direction: 76 +[main_algo-3] [INFO] [1746051004.960908175] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051004.961753134] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051004.962889485] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051004.963422845] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051005.002891086] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689189 Long: -76.50339807 +[main_algo-3] [INFO] [1746051005.003925979] [sailbot.main_algo]: Distance to destination: 23.0754830838871 +[vectornav-1] [INFO] [1746051005.004087543] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (346.765, 2.246, 6.552) +[main_algo-3] [INFO] [1746051005.005145615] [sailbot.main_algo]: Target Bearing: -72.19721096205743 +[main_algo-3] [INFO] [1746051005.006111584] [sailbot.main_algo]: Heading Difference: 52.108210962057456 +[main_algo-3] [INFO] [1746051005.007059090] [sailbot.main_algo]: Wind Direction: 76 +[main_algo-3] [INFO] [1746051005.007987029] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051005.008873158] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051005.010758589] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051005.044411177] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051005.044873713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051005.045322837] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051005.046397923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051005.047645499] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051005.084438638] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051005.085496305] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051005.085785015] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051005.086493969] [sailbot.teensy]: Wind angle: 75 +[teensy-2] [INFO] [1746051005.086969383] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051005.087712929] [sailbot.teensy]: Actual tail angle: 14 +[teensy-2] [INFO] [1746051005.088141326] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051005.088458554] [sailbot.mux]: controller_app rudder angle: -12 +[mux-7] [INFO] [1746051005.144969439] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051005.145859310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051005.146213038] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746051005.147716856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -12 +[teensy-2] [INFO] [1746051005.148735505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051005.244956462] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051005.245513323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051005.246265625] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746051005.247320378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -12 +[teensy-2] [INFO] [1746051005.248363897] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051005.335170785] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051005.337312440] [sailbot.teensy]: Wind angle: 75 +[trim_sail-4] [INFO] [1746051005.337321777] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051005.338288072] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051005.338686313] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051005.338892309] [sailbot.teensy]: Actual tail angle: 14 +[teensy-2] [INFO] [1746051005.339291162] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051005.344720639] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051005.345142941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051005.346163562] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746051005.346948377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -12 +[teensy-2] [INFO] [1746051005.348018671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051005.445448242] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051005.446137776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051005.447204111] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746051005.448680242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -12 +[teensy-2] [INFO] [1746051005.449147533] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051005.456982905] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051005.457927584] [sailbot.main_algo]: Target Bearing: -72.19721096205743 +[main_algo-3] [INFO] [1746051005.458756185] [sailbot.main_algo]: Heading Difference: 58.962210962057384 +[main_algo-3] [INFO] [1746051005.459534201] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051005.460362164] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051005.461146646] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051005.462108943] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051005.462710731] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051005.503484417] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891864 Long: -76.50339368 +[main_algo-3] [INFO] [1746051005.503996881] [sailbot.main_algo]: Distance to destination: 22.934128474236708 +[vectornav-1] [INFO] [1746051005.504908534] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (1.0500000000000114, -1.271, 10.1) +[main_algo-3] [INFO] [1746051005.505373212] [sailbot.main_algo]: Target Bearing: -73.02753664012823 +[main_algo-3] [INFO] [1746051005.506386616] [sailbot.main_algo]: Heading Difference: 59.79253664012822 +[main_algo-3] [INFO] [1746051005.507287231] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051005.508127403] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051005.508978968] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051005.510707115] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051005.544970599] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051005.545683486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051005.546372294] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746051005.547789128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -12 +[teensy-2] [INFO] [1746051005.548898155] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051005.585418043] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051005.587873820] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746051005.588054936] [sailbot.teensy]: Wind angle: 76 +[mux-7] [INFO] [1746051005.588424868] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746051005.589032423] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051005.589917122] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746051005.590756534] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051005.645144701] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051005.645739440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051005.646603371] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746051005.647635419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -12 +[teensy-2] [INFO] [1746051005.648692353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051005.745226816] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051005.745829561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051005.746722501] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746051005.747706888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -12 +[teensy-2] [INFO] [1746051005.748183962] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051005.835140278] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051005.836804174] [sailbot.teensy]: Wind angle: 79 +[trim_sail-4] [INFO] [1746051005.837295026] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746051005.838784252] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051005.839322150] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746051005.839841204] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746051005.840783855] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051005.844302018] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051005.844791449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051005.845418624] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746051005.846430936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -12 +[teensy-2] [INFO] [1746051005.847652587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051005.945067789] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051005.945879588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051005.946412073] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746051005.947831493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -12 +[teensy-2] [INFO] [1746051005.948343444] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051005.957282596] [sailbot.main_algo]: Wind Direction: 79 +[main_algo-3] [INFO] [1746051005.958420678] [sailbot.main_algo]: Target Bearing: -73.02753664012823 +[main_algo-3] [INFO] [1746051005.959384720] [sailbot.main_algo]: Heading Difference: 74.07753664012824 +[main_algo-3] [INFO] [1746051005.960283354] [sailbot.main_algo]: Wind Direction: 79 +[main_algo-3] [INFO] [1746051005.961139287] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051005.961975450] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051005.963061471] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051005.963721380] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051006.002977527] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891903 Long: -76.50338914 +[main_algo-3] [INFO] [1746051006.003985724] [sailbot.main_algo]: Distance to destination: 22.863016748172406 +[vectornav-1] [INFO] [1746051006.004638182] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (20.85899999999998, -1.67, 16.114) +[main_algo-3] [INFO] [1746051006.005281916] [sailbot.main_algo]: Target Bearing: -73.95085276665951 +[main_algo-3] [INFO] [1746051006.006366325] [sailbot.main_algo]: Heading Difference: 75.00085276665953 +[main_algo-3] [INFO] [1746051006.007280371] [sailbot.main_algo]: Wind Direction: 79 +[main_algo-3] [INFO] [1746051006.008216185] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051006.009090604] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051006.010854563] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051006.045007593] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051006.045581484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051006.046260558] [sailbot.mux]: Published rudder angle from controller_app: -12 +[teensy-2] [INFO] [1746051006.047857068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -12 +[teensy-2] [INFO] [1746051006.048974581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051006.084523918] [sailbot.mux]: controller_app rudder angle: 0 +[teensy-2] [INFO] [1746051006.085080573] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051006.087109471] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746051006.087323262] [sailbot.teensy]: Wind angle: 89 +[teensy-2] [INFO] [1746051006.088399577] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051006.089199326] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051006.089600932] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746051006.090557975] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051006.144770237] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051006.145338419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051006.146041612] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051006.147149447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051006.148222118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051006.245038823] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051006.245703941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051006.246428159] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051006.247544450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051006.248095136] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051006.335123196] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051006.336868459] [sailbot.teensy]: Wind angle: 106 +[trim_sail-4] [INFO] [1746051006.337692915] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051006.337803080] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051006.338667024] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051006.338688796] [sailbot.teensy]: Actual tail angle: 13 +[teensy-2] [INFO] [1746051006.339631046] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051006.344364487] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051006.345074801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051006.345433968] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051006.346778025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051006.347930297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051006.445273703] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051006.446190170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051006.446721586] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051006.448085130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051006.448579516] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051006.456976965] [sailbot.main_algo]: Wind Direction: 106 +[main_algo-3] [INFO] [1746051006.457878818] [sailbot.main_algo]: Target Bearing: -73.95085276665951 +[main_algo-3] [INFO] [1746051006.458696253] [sailbot.main_algo]: Heading Difference: 94.8098527666595 +[main_algo-3] [INFO] [1746051006.459481094] [sailbot.main_algo]: Wind Direction: 106 +[main_algo-3] [INFO] [1746051006.460309168] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051006.461095639] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051006.462096027] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051006.462857950] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051006.503336975] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891912 Long: -76.50338389 +[main_algo-3] [INFO] [1746051006.503863356] [sailbot.main_algo]: Distance to destination: 22.74969770359628 +[vectornav-1] [INFO] [1746051006.504652441] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.40100000000001, 0.165, 21.694) +[main_algo-3] [INFO] [1746051006.505046156] [sailbot.main_algo]: Target Bearing: -74.99760217751049 +[main_algo-3] [INFO] [1746051006.506099110] [sailbot.main_algo]: Heading Difference: 95.85660217751047 +[main_algo-3] [INFO] [1746051006.507337819] [sailbot.main_algo]: Wind Direction: 106 +[main_algo-3] [INFO] [1746051006.508258847] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051006.509146534] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051006.510886201] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051006.545068320] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051006.545792830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051006.546388558] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051006.547928921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051006.549068284] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051006.585447727] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051006.587268941] [sailbot.teensy]: Wind angle: 123 +[teensy-2] [INFO] [1746051006.588189725] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051006.589126206] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051006.588233016] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746051006.589707413] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051006.589998666] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051006.644971376] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051006.645580088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051006.646238972] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051006.647353248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051006.648047308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051006.745222287] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051006.746191054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051006.746723058] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051006.748500984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051006.749109047] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051006.835369074] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051006.837218054] [sailbot.teensy]: Wind angle: 128 +[trim_sail-4] [INFO] [1746051006.837909744] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051006.838161283] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051006.839070923] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051006.839339747] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051006.840044379] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051006.844396149] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051006.845015068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051006.845549049] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051006.846727906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051006.847782428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051006.944763951] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051006.945199205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051006.945933738] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051006.947110420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051006.948196468] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051006.957076768] [sailbot.main_algo]: Wind Direction: 128 +[main_algo-3] [INFO] [1746051006.958059687] [sailbot.main_algo]: Target Bearing: -74.99760217751049 +[main_algo-3] [INFO] [1746051006.958992733] [sailbot.main_algo]: Heading Difference: 112.3986021775105 +[main_algo-3] [INFO] [1746051006.959787309] [sailbot.main_algo]: Wind Direction: 128 +[main_algo-3] [INFO] [1746051006.960621253] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051006.961404318] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051006.962370934] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051006.962978098] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051007.003916298] [sailbot.main_algo]: Distance to destination: 22.886131307952994 +[vectornav-1] [INFO] [1746051007.004144376] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892103 Long: -76.50338083 +[main_algo-3] [INFO] [1746051007.005398212] [sailbot.main_algo]: Target Bearing: -75.74958897119546 +[vectornav-1] [INFO] [1746051007.005732724] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.59800000000001, -1.743, 19.771) +[main_algo-3] [INFO] [1746051007.006421652] [sailbot.main_algo]: Heading Difference: 113.15058897119548 +[main_algo-3] [INFO] [1746051007.007402386] [sailbot.main_algo]: Wind Direction: 128 +[main_algo-3] [INFO] [1746051007.008418015] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051007.009298326] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051007.011090426] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051007.045023676] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051007.045589484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051007.046326081] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051007.047486161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051007.048903313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051007.049305582] [sailbot.mux]: controller_app rudder angle: 12 +[teensy-2] [INFO] [1746051007.085551811] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051007.087799308] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051007.088436133] [sailbot.teensy]: Wind angle: 125 +[mux-7] [INFO] [1746051007.089038476] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051007.089753057] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051007.090728537] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051007.091633028] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051007.145434348] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051007.145888520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051007.147570813] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051007.148001573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051007.149296190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051007.245187414] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051007.246503569] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051007.248759729] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051007.250284165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051007.251236142] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051007.335088654] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051007.337137405] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051007.338297472] [sailbot.teensy]: Wind angle: 112 +[mux-7] [INFO] [1746051007.338584007] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051007.339290488] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051007.339872310] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051007.340255226] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051007.344402693] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051007.345026686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051007.345517934] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051007.346862670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051007.347906918] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051007.445469470] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051007.446090734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051007.447154862] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051007.448363507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051007.449629895] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051007.457174365] [sailbot.main_algo]: Wind Direction: 112 +[main_algo-3] [INFO] [1746051007.458306156] [sailbot.main_algo]: Target Bearing: -75.74958897119546 +[main_algo-3] [INFO] [1746051007.459213839] [sailbot.main_algo]: Heading Difference: 129.34758897119548 +[main_algo-3] [INFO] [1746051007.460071353] [sailbot.main_algo]: Wind Direction: 112 +[main_algo-3] [INFO] [1746051007.460957941] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051007.461833281] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051007.462881504] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051007.463530562] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051007.502633033] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892445 Long: -76.50337986 +[main_algo-3] [INFO] [1746051007.503475566] [sailbot.main_algo]: Distance to destination: 23.232225478830127 +[vectornav-1] [INFO] [1746051007.503658346] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (65.81200000000001, -0.408, 9.708) +[main_algo-3] [INFO] [1746051007.504559828] [sailbot.main_algo]: Target Bearing: -76.1859812639526 +[main_algo-3] [INFO] [1746051007.505511698] [sailbot.main_algo]: Heading Difference: 129.78398126395263 +[main_algo-3] [INFO] [1746051007.506415350] [sailbot.main_algo]: Wind Direction: 112 +[main_algo-3] [INFO] [1746051007.507309024] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051007.508169443] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051007.509897732] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051007.545185797] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051007.545887510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051007.546664492] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051007.547848751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051007.548998300] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051007.585253623] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051007.586762288] [sailbot.teensy]: Wind angle: 118 +[trim_sail-4] [INFO] [1746051007.587244249] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051007.587620747] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051007.588546165] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051007.589397451] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051007.589395654] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746051007.645337752] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051007.646016949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051007.646869295] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051007.648121945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051007.648848365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051007.745344452] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051007.746220034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051007.746990371] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051007.748374094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051007.749153834] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051007.835201933] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051007.837401347] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746051007.838005183] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051007.839509158] [sailbot.teensy]: Wind angle: 124 +[teensy-2] [INFO] [1746051007.840135516] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051007.840513037] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051007.840869839] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051007.844530577] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051007.845091496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051007.845737493] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051007.846793135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051007.847799435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051007.945404617] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051007.946384968] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051007.947010367] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051007.948755141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051007.950001137] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051007.957172756] [sailbot.main_algo]: Wind Direction: 124 +[main_algo-3] [INFO] [1746051007.958241880] [sailbot.main_algo]: Target Bearing: -76.1859812639526 +[main_algo-3] [INFO] [1746051007.959154317] [sailbot.main_algo]: Heading Difference: 141.99798126395262 +[main_algo-3] [INFO] [1746051007.960010396] [sailbot.main_algo]: Wind Direction: 124 +[main_algo-3] [INFO] [1746051007.960896643] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051007.961730241] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051007.962730909] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051007.963390664] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051008.002901358] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.468927 Long: -76.50337852 +[main_algo-3] [INFO] [1746051008.004039697] [sailbot.main_algo]: Distance to destination: 23.47847649488661 +[vectornav-1] [INFO] [1746051008.004115084] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (64.661, 4.284, 12.395) +[main_algo-3] [INFO] [1746051008.005659039] [sailbot.main_algo]: Target Bearing: -76.62278430456512 +[main_algo-3] [INFO] [1746051008.006675835] [sailbot.main_algo]: Heading Difference: 142.43478430456514 +[main_algo-3] [INFO] [1746051008.007571387] [sailbot.main_algo]: Wind Direction: 124 +[main_algo-3] [INFO] [1746051008.008466347] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051008.009303808] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051008.011086868] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051008.045072016] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051008.045623756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051008.046374967] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051008.047654507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051008.048761280] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051008.085133504] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051008.086724261] [sailbot.teensy]: Wind angle: 127 +[trim_sail-4] [INFO] [1746051008.087171024] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051008.087661332] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051008.088533275] [sailbot.teensy]: Actual tail angle: 37 +[mux-7] [INFO] [1746051008.088962055] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051008.089446152] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051008.144758441] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051008.145261563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051008.146278487] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051008.147023322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051008.148212914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051008.245319173] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051008.246177483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051008.247007578] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051008.248387271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051008.249572058] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051008.335364704] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051008.337605544] [sailbot.teensy]: Wind angle: 130 +[trim_sail-4] [INFO] [1746051008.338095587] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051008.338362125] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051008.338547828] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051008.339456214] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051008.340338803] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051008.344488233] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051008.345131125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051008.345635837] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051008.346864645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051008.348011050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051008.445475804] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051008.446337585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051008.447077451] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051008.448612976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051008.449898284] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051008.457062805] [sailbot.main_algo]: Wind Direction: 130 +[main_algo-3] [INFO] [1746051008.458046805] [sailbot.main_algo]: Target Bearing: -76.62278430456512 +[main_algo-3] [INFO] [1746051008.458931565] [sailbot.main_algo]: Heading Difference: 141.28378430456513 +[main_algo-3] [INFO] [1746051008.459823971] [sailbot.main_algo]: Wind Direction: 130 +[main_algo-3] [INFO] [1746051008.460703119] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051008.461568052] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051008.462677968] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051008.463276797] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051008.502803664] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.468929 Long: -76.5033764 +[main_algo-3] [INFO] [1746051008.503733460] [sailbot.main_algo]: Distance to destination: 23.651357438492052 +[vectornav-1] [INFO] [1746051008.504405052] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (61.608000000000004, -5.392, 10.676) +[main_algo-3] [INFO] [1746051008.504981758] [sailbot.main_algo]: Target Bearing: -77.16555832841762 +[main_algo-3] [INFO] [1746051008.505969367] [sailbot.main_algo]: Heading Difference: 141.8265583284176 +[main_algo-3] [INFO] [1746051008.506886356] [sailbot.main_algo]: Wind Direction: 130 +[main_algo-3] [INFO] [1746051008.507786558] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051008.508665932] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051008.510376429] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051008.545071514] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051008.545849236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051008.546772662] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051008.547833090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051008.548889008] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051008.585029657] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051008.586534033] [sailbot.teensy]: Wind angle: 131 +[trim_sail-4] [INFO] [1746051008.587295081] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051008.587391081] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051008.587603786] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051008.588247622] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051008.589165933] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051008.645459406] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051008.646349573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051008.647066620] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051008.648685259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051008.649944568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051008.745396476] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051008.746305484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051008.747059231] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051008.748455701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051008.748987591] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051008.835184316] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051008.836745460] [sailbot.teensy]: Wind angle: 122 +[trim_sail-4] [INFO] [1746051008.837493082] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746051008.838536991] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051008.838857961] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051008.839822082] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051008.840736586] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051008.844463207] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051008.845010317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051008.845580843] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051008.846734789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051008.847810791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051008.945400670] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051008.946353454] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051008.947433458] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051008.948324099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051008.948855360] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051008.957249645] [sailbot.main_algo]: Wind Direction: 122 +[main_algo-3] [INFO] [1746051008.958310172] [sailbot.main_algo]: Target Bearing: -77.16555832841762 +[main_algo-3] [INFO] [1746051008.959204836] [sailbot.main_algo]: Heading Difference: 138.7735583284176 +[main_algo-3] [INFO] [1746051008.960043357] [sailbot.main_algo]: Wind Direction: 122 +[main_algo-3] [INFO] [1746051008.960903371] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051008.961720056] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051008.962813383] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051008.963312343] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051009.002873865] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893247 Long: -76.50337502 +[main_algo-3] [INFO] [1746051009.003892192] [sailbot.main_algo]: Distance to destination: 23.999220318871924 +[vectornav-1] [INFO] [1746051009.004438934] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.432000000000016, 1.603, 5.34) +[main_algo-3] [INFO] [1746051009.005429770] [sailbot.main_algo]: Target Bearing: -77.64881410827655 +[main_algo-3] [INFO] [1746051009.006412713] [sailbot.main_algo]: Heading Difference: 139.25681410827656 +[main_algo-3] [INFO] [1746051009.007281570] [sailbot.main_algo]: Wind Direction: 122 +[main_algo-3] [INFO] [1746051009.008213052] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051009.009083448] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051009.010897176] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051009.045166567] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051009.045900699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051009.046562837] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051009.047812714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051009.048955491] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051009.085125778] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051009.087175489] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051009.087238099] [sailbot.teensy]: Wind angle: 114 +[teensy-2] [INFO] [1746051009.088193713] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051009.088694113] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051009.089103590] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051009.089993941] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051009.145505227] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051009.146284314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051009.147119938] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051009.149030346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051009.150089847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051009.245208855] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051009.246002842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051009.246657485] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051009.247906625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051009.248400092] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051009.335175884] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051009.337342401] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051009.338150826] [sailbot.teensy]: Wind angle: 117 +[mux-7] [INFO] [1746051009.339041339] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051009.339098004] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051009.339959833] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051009.340853778] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051009.344299471] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051009.344932465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051009.345483609] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051009.346749339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051009.347747313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051009.445544332] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051009.446235334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051009.447127730] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051009.448530674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051009.449131662] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051009.456967912] [sailbot.main_algo]: Wind Direction: 117 +[main_algo-3] [INFO] [1746051009.457907927] [sailbot.main_algo]: Target Bearing: -77.64881410827655 +[main_algo-3] [INFO] [1746051009.458802412] [sailbot.main_algo]: Heading Difference: 131.08081410827657 +[main_algo-3] [INFO] [1746051009.459587560] [sailbot.main_algo]: Wind Direction: 117 +[main_algo-3] [INFO] [1746051009.460410255] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051009.461228166] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051009.462271070] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051009.462811365] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051009.503365352] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893503 Long: -76.50337335 +[main_algo-3] [INFO] [1746051009.504269665] [sailbot.main_algo]: Distance to destination: 24.24490558482841 +[vectornav-1] [INFO] [1746051009.504703103] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.36500000000001, 0.967, 8.004) +[main_algo-3] [INFO] [1746051009.505915453] [sailbot.main_algo]: Target Bearing: -78.11984883475706 +[main_algo-3] [INFO] [1746051009.506917956] [sailbot.main_algo]: Heading Difference: 131.5518488347571 +[main_algo-3] [INFO] [1746051009.507817387] [sailbot.main_algo]: Wind Direction: 117 +[main_algo-3] [INFO] [1746051009.508712535] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051009.509543495] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051009.511236701] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051009.544864937] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051009.545545439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051009.546148430] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051009.547364245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051009.548554519] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051009.585385265] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051009.587198751] [sailbot.teensy]: Wind angle: 119 +[trim_sail-4] [INFO] [1746051009.587698998] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051009.588144608] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051009.589075712] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051009.589966846] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051009.589293859] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746051009.644878843] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051009.645687831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051009.646136415] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051009.647518253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051009.648660652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051009.745047652] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051009.745643273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051009.746701444] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051009.747529159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051009.748651131] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051009.835198151] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051009.837361714] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051009.837852374] [sailbot.teensy]: Wind angle: 118 +[mux-7] [INFO] [1746051009.838801051] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051009.839062878] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051009.840382717] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051009.841211409] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051009.844408403] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051009.844892716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051009.845497468] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051009.846606040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051009.847637636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051009.945073588] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051009.945779236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051009.946697842] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051009.947821802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051009.948887656] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051009.957093101] [sailbot.main_algo]: Wind Direction: 118 +[main_algo-3] [INFO] [1746051009.958137306] [sailbot.main_algo]: Target Bearing: -78.11984883475706 +[main_algo-3] [INFO] [1746051009.959183616] [sailbot.main_algo]: Heading Difference: 122.48484883475709 +[main_algo-3] [INFO] [1746051009.960089559] [sailbot.main_algo]: Wind Direction: 118 +[main_algo-3] [INFO] [1746051009.961016936] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051009.961895592] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051009.962890732] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051009.963473435] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051010.002784560] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893588 Long: -76.50336897 +[main_algo-3] [INFO] [1746051010.003769883] [sailbot.main_algo]: Distance to destination: 24.259407629854138 +[vectornav-1] [INFO] [1746051010.003937918] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.286999999999978, -3.796, 10.513) +[main_algo-3] [INFO] [1746051010.004923775] [sailbot.main_algo]: Target Bearing: -78.99875016069198 +[main_algo-3] [INFO] [1746051010.005924101] [sailbot.main_algo]: Heading Difference: 123.363750160692 +[main_algo-3] [INFO] [1746051010.006927362] [sailbot.main_algo]: Wind Direction: 118 +[main_algo-3] [INFO] [1746051010.007827373] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051010.008735580] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051010.010440809] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051010.045027955] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051010.045720314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051010.046294841] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051010.047601514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051010.048673190] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051010.085310205] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051010.087380434] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051010.087883186] [sailbot.teensy]: Wind angle: 117 +[mux-7] [INFO] [1746051010.087948669] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051010.089553745] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051010.090556438] [sailbot.teensy]: Actual tail angle: 37 +[mux-7] [INFO] [1746051010.090552560] [sailbot.mux]: controller_app rudder angle: 5 +[teensy-2] [INFO] [1746051010.091461879] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051010.144903542] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051010.145760241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051010.146213130] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746051010.147691650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 5 +[teensy-2] [INFO] [1746051010.148806132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051010.244819672] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051010.245438801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051010.246093616] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746051010.247543566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 5 +[teensy-2] [INFO] [1746051010.248661563] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051010.335312703] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051010.337538780] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051010.337850715] [sailbot.teensy]: Wind angle: 113 +[teensy-2] [INFO] [1746051010.338947051] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051010.338961742] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051010.340303321] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051010.341322479] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051010.344438816] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051010.345044188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051010.345546901] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746051010.346892009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 5 +[teensy-2] [INFO] [1746051010.347958476] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051010.445591429] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051010.446221198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051010.447384402] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746051010.448484264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 5 +[teensy-2] [INFO] [1746051010.449038302] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051010.457075906] [sailbot.main_algo]: Wind Direction: 113 +[main_algo-3] [INFO] [1746051010.458035412] [sailbot.main_algo]: Target Bearing: -78.99875016069198 +[main_algo-3] [INFO] [1746051010.458896199] [sailbot.main_algo]: Heading Difference: 110.28575016069198 +[main_algo-3] [INFO] [1746051010.459680738] [sailbot.main_algo]: Wind Direction: 113 +[main_algo-3] [INFO] [1746051010.460502491] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051010.461292998] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051010.462284412] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051010.462926993] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051010.503243163] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893705 Long: -76.50336424 +[main_algo-3] [INFO] [1746051010.503969126] [sailbot.main_algo]: Distance to destination: 24.308945723853885 +[vectornav-1] [INFO] [1746051010.504545562] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (22.23599999999999, 1.673, 10.203) +[main_algo-3] [INFO] [1746051010.505177662] [sailbot.main_algo]: Target Bearing: -79.95912826488295 +[main_algo-3] [INFO] [1746051010.506170846] [sailbot.main_algo]: Heading Difference: 111.24612826488294 +[main_algo-3] [INFO] [1746051010.507370150] [sailbot.main_algo]: Wind Direction: 113 +[main_algo-3] [INFO] [1746051010.508293204] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051010.509138532] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051010.510830646] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051010.544906707] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051010.545626877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051010.546167674] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746051010.547443031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 5 +[teensy-2] [INFO] [1746051010.548493678] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051010.585229537] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051010.587271230] [sailbot.teensy]: Wind angle: 106 +[teensy-2] [INFO] [1746051010.588175841] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051010.587414298] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746051010.588596147] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051010.589012663] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746051010.589848060] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051010.645183712] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051010.645965460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051010.646867807] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746051010.648244026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 5 +[teensy-2] [INFO] [1746051010.649096164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051010.745317601] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051010.746302492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051010.747169967] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746051010.747909463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 5 +[teensy-2] [INFO] [1746051010.748438354] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051010.835384612] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051010.837725038] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746051010.838180384] [sailbot.teensy]: Wind angle: 93 +[mux-7] [INFO] [1746051010.838981016] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051010.840205279] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051010.841079430] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746051010.841931529] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051010.844326747] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051010.844812039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051010.845442017] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746051010.846536517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 5 +[teensy-2] [INFO] [1746051010.847573016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051010.945509435] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051010.946351948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051010.947562025] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746051010.948761139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 5 +[teensy-2] [INFO] [1746051010.949881466] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051010.957138828] [sailbot.main_algo]: Wind Direction: 93 +[main_algo-3] [INFO] [1746051010.958127323] [sailbot.main_algo]: Target Bearing: -79.95912826488295 +[main_algo-3] [INFO] [1746051010.959020868] [sailbot.main_algo]: Heading Difference: 102.19512826488295 +[main_algo-3] [INFO] [1746051010.959887683] [sailbot.main_algo]: Wind Direction: 93 +[main_algo-3] [INFO] [1746051010.960797930] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051010.961654807] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051010.962881738] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051010.963482127] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051011.003176944] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893857 Long: -76.50335959 +[main_algo-3] [INFO] [1746051011.004387975] [sailbot.main_algo]: Distance to destination: 24.404706462276703 +[vectornav-1] [INFO] [1746051011.004960374] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (10.45799999999997, 0.43, 7.488) +[main_algo-3] [INFO] [1746051011.005765515] [sailbot.main_algo]: Target Bearing: -80.91613250069985 +[main_algo-3] [INFO] [1746051011.006792715] [sailbot.main_algo]: Heading Difference: 103.15213250069985 +[main_algo-3] [INFO] [1746051011.007686725] [sailbot.main_algo]: Wind Direction: 93 +[main_algo-3] [INFO] [1746051011.008596160] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051011.009494465] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051011.011215533] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051011.045094238] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051011.046354793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051011.046565981] [sailbot.mux]: Published rudder angle from controller_app: 5 +[teensy-2] [INFO] [1746051011.048375443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 5 +[teensy-2] [INFO] [1746051011.049523839] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051011.085050397] [sailbot.teensy]: Check telemetry callback entered +[mux-7] [INFO] [1746051011.085107539] [sailbot.mux]: controller_app rudder angle: -1 +[teensy-2] [INFO] [1746051011.086650801] [sailbot.teensy]: Wind angle: 93 +[trim_sail-4] [INFO] [1746051011.087090648] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746051011.087342933] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051011.087509244] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051011.088417935] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746051011.089359362] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051011.145268858] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051011.146075696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051011.146800335] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746051011.148326352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -1 +[teensy-2] [INFO] [1746051011.149028081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051011.245059919] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051011.245685870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051011.246340852] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746051011.247696578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -1 +[teensy-2] [INFO] [1746051011.248821318] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051011.335165492] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051011.336991488] [sailbot.teensy]: Wind angle: 91 +[teensy-2] [INFO] [1746051011.337943838] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051011.337312673] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746051011.337797137] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051011.338899357] [sailbot.teensy]: Actual tail angle: 30 +[teensy-2] [INFO] [1746051011.339765676] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051011.344426382] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051011.344978168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051011.345530240] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746051011.346689703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -1 +[teensy-2] [INFO] [1746051011.347713202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051011.445256209] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051011.446070866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051011.446761571] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746051011.448483740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -1 +[teensy-2] [INFO] [1746051011.448990682] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051011.457048403] [sailbot.main_algo]: Wind Direction: 91 +[main_algo-3] [INFO] [1746051011.458001469] [sailbot.main_algo]: Target Bearing: -80.91613250069985 +[main_algo-3] [INFO] [1746051011.458862731] [sailbot.main_algo]: Heading Difference: 91.37413250069983 +[main_algo-3] [INFO] [1746051011.459661952] [sailbot.main_algo]: Wind Direction: 91 +[main_algo-3] [INFO] [1746051011.460563252] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051011.461371137] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051011.462471183] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051011.463031229] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051011.503139504] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893911 Long: -76.50335457 +[main_algo-3] [INFO] [1746051011.503742206] [sailbot.main_algo]: Distance to destination: 24.394934370471976 +[vectornav-1] [INFO] [1746051011.504551600] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (2.856999999999971, -3.996, 8.994) +[main_algo-3] [INFO] [1746051011.504984500] [sailbot.main_algo]: Target Bearing: -81.8952877743396 +[main_algo-3] [INFO] [1746051011.506076021] [sailbot.main_algo]: Heading Difference: 92.35328777433955 +[main_algo-3] [INFO] [1746051011.507212734] [sailbot.main_algo]: Wind Direction: 91 +[main_algo-3] [INFO] [1746051011.508080668] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051011.508948505] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051011.510993535] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051011.545095699] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051011.545839836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051011.546495786] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746051011.547815716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -1 +[teensy-2] [INFO] [1746051011.548842263] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051011.585649144] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051011.587893999] [sailbot.teensy]: Wind angle: 90 +[trim_sail-4] [INFO] [1746051011.588281766] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746051011.588910105] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051011.589797032] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746051011.590536846] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051011.590662492] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051011.645370920] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051011.646115711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051011.646919646] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746051011.648672658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -1 +[teensy-2] [INFO] [1746051011.649681197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051011.745336788] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051011.745924925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051011.747054873] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746051011.748425759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -1 +[teensy-2] [INFO] [1746051011.749717236] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051011.835078283] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051011.836660910] [sailbot.teensy]: Wind angle: 89 +[trim_sail-4] [INFO] [1746051011.837169240] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746051011.837502850] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051011.837963125] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051011.838580216] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746051011.839055725] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051011.844457364] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051011.845036535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051011.845548118] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746051011.846734290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -1 +[teensy-2] [INFO] [1746051011.847759433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051011.945319080] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051011.945858284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051011.947250319] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746051011.948000983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -1 +[teensy-2] [INFO] [1746051011.948902659] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051011.957166907] [sailbot.main_algo]: Wind Direction: 89 +[main_algo-3] [INFO] [1746051011.958139042] [sailbot.main_algo]: Target Bearing: -81.8952877743396 +[main_algo-3] [INFO] [1746051011.959015923] [sailbot.main_algo]: Heading Difference: 84.75228777433955 +[main_algo-3] [INFO] [1746051011.959875698] [sailbot.main_algo]: Wind Direction: 89 +[main_algo-3] [INFO] [1746051011.960735466] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051011.961531784] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051011.962524336] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051011.963309612] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051012.002774007] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893868 Long: -76.50334814 +[main_algo-3] [INFO] [1746051012.003791362] [sailbot.main_algo]: Distance to destination: 24.26943795117032 +[vectornav-1] [INFO] [1746051012.003904572] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (356.506, -0.616, 8.556) +[main_algo-3] [INFO] [1746051012.004956559] [sailbot.main_algo]: Target Bearing: -83.10987088614935 +[main_algo-3] [INFO] [1746051012.005915480] [sailbot.main_algo]: Heading Difference: 85.96687088614931 +[main_algo-3] [INFO] [1746051012.006814152] [sailbot.main_algo]: Wind Direction: 89 +[main_algo-3] [INFO] [1746051012.007708324] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051012.008561626] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051012.010296786] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051012.044826050] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051012.045406499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051012.045987954] [sailbot.mux]: Published rudder angle from controller_app: -1 +[teensy-2] [INFO] [1746051012.047166985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -1 +[teensy-2] [INFO] [1746051012.048337648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051012.061936401] [sailbot.mux]: controller_app rudder angle: -5 +[teensy-2] [INFO] [1746051012.085103847] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051012.086716009] [sailbot.teensy]: Wind angle: 89 +[trim_sail-4] [INFO] [1746051012.087183413] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746051012.087594466] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051012.088483199] [sailbot.teensy]: Actual tail angle: 24 +[mux-7] [INFO] [1746051012.088923671] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051012.089349952] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051012.145377321] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051012.146245361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051012.147031371] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051012.148241492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051012.148761376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051012.245249193] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051012.245927316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051012.246718688] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051012.248064804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051012.249259068] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051012.335261794] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051012.337765706] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746051012.338685605] [sailbot.teensy]: Wind angle: 89 +[mux-7] [INFO] [1746051012.339198252] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051012.339697948] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051012.340698335] [sailbot.teensy]: Actual tail angle: 24 +[teensy-2] [INFO] [1746051012.341409582] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051012.344433248] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051012.345043622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051012.345722479] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051012.346981585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051012.348069050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051012.445659717] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051012.446645292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051012.447623909] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051012.448161298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051012.448685249] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051012.457041398] [sailbot.main_algo]: Wind Direction: 89 +[main_algo-3] [INFO] [1746051012.458032310] [sailbot.main_algo]: Target Bearing: -83.10987088614935 +[main_algo-3] [INFO] [1746051012.458916570] [sailbot.main_algo]: Heading Difference: 79.61587088614931 +[main_algo-3] [INFO] [1746051012.459767948] [sailbot.main_algo]: Wind Direction: 89 +[main_algo-3] [INFO] [1746051012.460591843] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051012.461399383] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051012.462496542] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051012.462960916] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051012.503446556] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893744 Long: -76.50334165 +[main_algo-3] [INFO] [1746051012.504095610] [sailbot.main_algo]: Distance to destination: 24.065037787724624 +[main_algo-3] [INFO] [1746051012.505301562] [sailbot.main_algo]: Target Bearing: -84.32327951911364 +[vectornav-1] [INFO] [1746051012.505351570] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (350.216, 1.493, 6.763) +[main_algo-3] [INFO] [1746051012.506348271] [sailbot.main_algo]: Heading Difference: 80.82927951911358 +[main_algo-3] [INFO] [1746051012.507258079] [sailbot.main_algo]: Wind Direction: 89 +[main_algo-3] [INFO] [1746051012.508203015] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051012.509128405] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051012.510957469] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051012.545105432] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051012.545752923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051012.546587683] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051012.547744103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051012.548777364] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051012.585446781] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051012.587595818] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746051012.588209442] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051012.588377256] [sailbot.teensy]: Wind angle: 89 +[teensy-2] [INFO] [1746051012.589641031] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051012.590508814] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746051012.591364909] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051012.645302930] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051012.646105006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051012.647145137] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051012.648319847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051012.649394547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051012.745269117] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051012.745878613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051012.746756351] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051012.747955783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051012.748989486] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051012.835325851] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051012.837563067] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746051012.838022169] [sailbot.teensy]: Wind angle: 85 +[teensy-2] [INFO] [1746051012.839017704] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051012.839908836] [sailbot.teensy]: Actual tail angle: 20 +[mux-7] [INFO] [1746051012.840027249] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051012.840754878] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051012.844563542] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051012.845121615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051012.845840912] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051012.846869217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051012.847916590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051012.945293118] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051012.945944716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051012.946937210] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051012.948071390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051012.949225665] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051012.957171680] [sailbot.main_algo]: Wind Direction: 85 +[main_algo-3] [INFO] [1746051012.958266835] [sailbot.main_algo]: Target Bearing: -84.32327951911364 +[main_algo-3] [INFO] [1746051012.959259515] [sailbot.main_algo]: Heading Difference: 74.53927951911362 +[main_algo-3] [INFO] [1746051012.960130966] [sailbot.main_algo]: Wind Direction: 85 +[main_algo-3] [INFO] [1746051012.961011618] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051012.961849539] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051012.962843635] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051012.963509599] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051013.002787697] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893678 Long: -76.50333574 +[main_algo-3] [INFO] [1746051013.003823943] [sailbot.main_algo]: Distance to destination: 23.940306929846635 +[vectornav-1] [INFO] [1746051013.003907939] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (351.23900000000003, -0.575, 5.311) +[main_algo-3] [INFO] [1746051013.004972282] [sailbot.main_algo]: Target Bearing: -85.45796156124963 +[main_algo-3] [INFO] [1746051013.005937637] [sailbot.main_algo]: Heading Difference: 75.6739615612496 +[main_algo-3] [INFO] [1746051013.006859395] [sailbot.main_algo]: Wind Direction: 85 +[main_algo-3] [INFO] [1746051013.007764954] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051013.008630992] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051013.010421266] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051013.045643364] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051013.045732773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051013.047027044] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051013.047619075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051013.048784254] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051013.085323743] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051013.086973967] [sailbot.teensy]: Wind angle: 83 +[trim_sail-4] [INFO] [1746051013.087841273] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746051013.087956182] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051013.088917012] [sailbot.teensy]: Actual tail angle: 20 +[mux-7] [INFO] [1746051013.088994945] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051013.089951629] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051013.145033305] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051013.145986075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051013.146517471] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051013.148006590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051013.149044959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051013.245303275] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051013.246219611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051013.247291957] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051013.248614646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051013.249680425] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051013.335461371] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051013.337380298] [sailbot.teensy]: Wind angle: 83 +[trim_sail-4] [INFO] [1746051013.337880425] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746051013.338353344] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051013.339219564] [sailbot.teensy]: Actual tail angle: 20 +[mux-7] [INFO] [1746051013.339212990] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051013.340125124] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051013.344442204] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051013.345217102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051013.346094697] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051013.346988132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051013.348258322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051013.363250399] [sailbot.mux]: controller_app rudder angle: -6 +[mux-7] [INFO] [1746051013.445673470] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051013.445805578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051013.447066489] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051013.447884897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051013.448509451] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051013.457342203] [sailbot.main_algo]: Wind Direction: 83 +[main_algo-3] [INFO] [1746051013.458406312] [sailbot.main_algo]: Target Bearing: -85.45796156124963 +[main_algo-3] [INFO] [1746051013.459324706] [sailbot.main_algo]: Heading Difference: 76.69696156124974 +[main_algo-3] [INFO] [1746051013.460201182] [sailbot.main_algo]: Wind Direction: 83 +[main_algo-3] [INFO] [1746051013.461046502] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051013.461880246] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051013.462960786] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051013.463545274] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051013.502586419] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689362 Long: -76.50333011 +[main_algo-3] [INFO] [1746051013.503477101] [sailbot.main_algo]: Distance to destination: 23.83570102705994 +[vectornav-1] [INFO] [1746051013.503659156] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (357.33299999999997, 0.163, 11.198) +[main_algo-3] [INFO] [1746051013.504557643] [sailbot.main_algo]: Target Bearing: -86.55054030476491 +[main_algo-3] [INFO] [1746051013.505482290] [sailbot.main_algo]: Heading Difference: 77.78954030476496 +[main_algo-3] [INFO] [1746051013.506354018] [sailbot.main_algo]: Wind Direction: 83 +[main_algo-3] [INFO] [1746051013.507254812] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051013.508141070] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051013.509865077] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051013.545104608] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051013.545858720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051013.546658309] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051013.547976413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051013.549048806] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051013.585181829] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051013.587265864] [sailbot.trim_sail]: Sail Angle: "40" +[mux-7] [INFO] [1746051013.587803797] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746051013.588177453] [sailbot.teensy]: Wind angle: 82 +[teensy-2] [INFO] [1746051013.589399049] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051013.590282192] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746051013.591164061] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051013.645119391] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051013.645719297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051013.646780723] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051013.647665858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051013.648736928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051013.745311661] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051013.746179912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051013.746829133] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051013.748368098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051013.749610594] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051013.835244972] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051013.837480711] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746051013.838087179] [sailbot.teensy]: Wind angle: 82 +[mux-7] [INFO] [1746051013.838738200] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746051013.838950584] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051013.839391181] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746051013.839996719] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051013.844376712] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051013.844895303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051013.845654291] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051013.846625938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051013.847770475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051013.945019504] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051013.945748500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051013.946663248] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051013.947695185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051013.948707234] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051013.957117124] [sailbot.main_algo]: Wind Direction: 82 +[main_algo-3] [INFO] [1746051013.958124953] [sailbot.main_algo]: Target Bearing: -86.55054030476491 +[main_algo-3] [INFO] [1746051013.959021820] [sailbot.main_algo]: Heading Difference: 83.88354030476489 +[main_algo-3] [INFO] [1746051013.959860628] [sailbot.main_algo]: Wind Direction: 82 +[main_algo-3] [INFO] [1746051013.960688879] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051013.961486213] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051013.962531077] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051013.963469294] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051014.003059873] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893606 Long: -76.50332473 +[main_algo-3] [INFO] [1746051014.004146964] [sailbot.main_algo]: Distance to destination: 23.789831131013432 +[vectornav-1] [INFO] [1746051014.004554795] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (2.576999999999998, -0.243, 10.705) +[main_algo-3] [INFO] [1746051014.005357479] [sailbot.main_algo]: Target Bearing: -87.6098288196965 +[main_algo-3] [INFO] [1746051014.006807039] [sailbot.main_algo]: Heading Difference: 84.9428288196965 +[main_algo-3] [INFO] [1746051014.007812774] [sailbot.main_algo]: Wind Direction: 82 +[main_algo-3] [INFO] [1746051014.008715288] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051014.009602871] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051014.011351696] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051014.044824356] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051014.045350050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051014.045996557] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051014.047216942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051014.048272042] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051014.085189003] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051014.086894566] [sailbot.teensy]: Wind angle: 84 +[teensy-2] [INFO] [1746051014.087824468] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051014.087409928] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746051014.088601381] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051014.088848429] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746051014.089757677] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051014.141676994] [sailbot.mux]: controller_app rudder angle: -2 +[mux-7] [INFO] [1746051014.144374630] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051014.144956987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051014.145500872] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746051014.146704738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 +[teensy-2] [INFO] [1746051014.147833166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051014.245358825] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051014.246126638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051014.246963019] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746051014.248289172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 +[teensy-2] [INFO] [1746051014.249546718] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051014.335303283] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051014.337024129] [sailbot.teensy]: Wind angle: 88 +[trim_sail-4] [INFO] [1746051014.337699339] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746051014.337953718] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051014.338863589] [sailbot.teensy]: Actual tail angle: 19 +[mux-7] [INFO] [1746051014.339403610] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051014.339718649] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051014.344468859] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051014.345026008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051014.345684928] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746051014.346738881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 +[teensy-2] [INFO] [1746051014.347960646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051014.445691340] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051014.446343387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051014.447753454] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746051014.448702320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 +[teensy-2] [INFO] [1746051014.450039063] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051014.457003383] [sailbot.main_algo]: Wind Direction: 88 +[main_algo-3] [INFO] [1746051014.457954102] [sailbot.main_algo]: Target Bearing: -87.6098288196965 +[main_algo-3] [INFO] [1746051014.458824903] [sailbot.main_algo]: Heading Difference: 90.18682881969653 +[main_algo-3] [INFO] [1746051014.459610822] [sailbot.main_algo]: Wind Direction: 88 +[main_algo-3] [INFO] [1746051014.460437319] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051014.461222280] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051014.462325977] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051014.462845415] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051014.503352543] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893642 Long: -76.50331925 +[main_algo-3] [INFO] [1746051014.504056178] [sailbot.main_algo]: Distance to destination: 23.807271913587545 +[main_algo-3] [INFO] [1746051014.505261031] [sailbot.main_algo]: Target Bearing: -88.69807847846472 +[vectornav-1] [INFO] [1746051014.505277264] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (11.283000000000015, -2.18, 11.372) +[main_algo-3] [INFO] [1746051014.506291034] [sailbot.main_algo]: Heading Difference: 91.2750784784647 +[main_algo-3] [INFO] [1746051014.507221897] [sailbot.main_algo]: Wind Direction: 88 +[main_algo-3] [INFO] [1746051014.508090601] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051014.508948657] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051014.510694803] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051014.544995217] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051014.545792541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051014.546330331] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746051014.547600499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 +[teensy-2] [INFO] [1746051014.548785883] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051014.585465601] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051014.587808382] [sailbot.teensy]: Wind angle: 89 +[trim_sail-4] [INFO] [1746051014.588040574] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746051014.588776959] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051014.589705632] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746051014.589156876] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051014.590556789] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051014.645120166] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051014.645832047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051014.646454962] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746051014.647668666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 +[teensy-2] [INFO] [1746051014.648905256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051014.745420976] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051014.745948140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051014.747054150] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746051014.748406444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 +[teensy-2] [INFO] [1746051014.749636761] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051014.835292674] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051014.837970544] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746051014.838204274] [sailbot.teensy]: Wind angle: 89 +[mux-7] [INFO] [1746051014.838517616] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051014.839484563] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051014.840463028] [sailbot.teensy]: Actual tail angle: 23 +[teensy-2] [INFO] [1746051014.840990790] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051014.844464848] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051014.845050590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051014.845556172] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746051014.846758074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 +[teensy-2] [INFO] [1746051014.847770602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051014.945792773] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051014.946508646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051014.947618218] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746051014.948815442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 +[teensy-2] [INFO] [1746051014.949318768] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051014.957088748] [sailbot.main_algo]: Wind Direction: 89 +[main_algo-3] [INFO] [1746051014.958100311] [sailbot.main_algo]: Target Bearing: -88.69807847846472 +[main_algo-3] [INFO] [1746051014.958990103] [sailbot.main_algo]: Heading Difference: 99.98107847846472 +[main_algo-3] [INFO] [1746051014.959838334] [sailbot.main_algo]: Wind Direction: 89 +[main_algo-3] [INFO] [1746051014.960724508] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051014.961573316] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051014.962681387] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051014.963218834] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051015.002998934] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893727 Long: -76.5033133 +[main_algo-3] [INFO] [1746051015.003944175] [sailbot.main_algo]: Distance to destination: 23.886896288228087 +[main_algo-3] [INFO] [1746051015.005156816] [sailbot.main_algo]: Target Bearing: -89.87981977819405 +[vectornav-1] [INFO] [1746051015.005536631] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (19.495000000000005, -0.88, 12.702) +[main_algo-3] [INFO] [1746051015.006207362] [sailbot.main_algo]: Heading Difference: 101.16281977819403 +[main_algo-3] [INFO] [1746051015.007468791] [sailbot.main_algo]: Wind Direction: 89 +[main_algo-3] [INFO] [1746051015.008386753] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051015.009231478] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051015.010971946] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051015.045157729] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051015.045839567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051015.046682967] [sailbot.mux]: Published rudder angle from controller_app: -2 +[teensy-2] [INFO] [1746051015.048074255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 +[teensy-2] [INFO] [1746051015.049276782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051015.073901554] [sailbot.mux]: controller_app rudder angle: 8 +[teensy-2] [INFO] [1746051015.085216723] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051015.086943714] [sailbot.teensy]: Wind angle: 94 +[trim_sail-4] [INFO] [1746051015.087683575] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746051015.087851860] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051015.088722346] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746051015.089104316] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051015.089552913] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051015.144952215] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051015.145765835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051015.146325397] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746051015.147790882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 +[teensy-2] [INFO] [1746051015.148813594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051015.245087252] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051015.245822385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051015.246375475] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746051015.247680482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 +[teensy-2] [INFO] [1746051015.248730560] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051015.335307481] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051015.337065743] [sailbot.teensy]: Wind angle: 102 +[trim_sail-4] [INFO] [1746051015.337605148] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051015.338010926] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051015.338926803] [sailbot.teensy]: Actual tail angle: 23 +[mux-7] [INFO] [1746051015.339365516] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051015.339818509] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051015.344467233] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051015.345289146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051015.345723849] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746051015.347161984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 +[teensy-2] [INFO] [1746051015.348191343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051015.445572851] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051015.446542592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051015.447839477] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746051015.448522746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 +[teensy-2] [INFO] [1746051015.449099898] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051015.457071677] [sailbot.main_algo]: Wind Direction: 102 +[main_algo-3] [INFO] [1746051015.458016881] [sailbot.main_algo]: Target Bearing: -89.87981977819405 +[main_algo-3] [INFO] [1746051015.458892463] [sailbot.main_algo]: Heading Difference: 109.37481977819402 +[main_algo-3] [INFO] [1746051015.459671347] [sailbot.main_algo]: Wind Direction: 102 +[main_algo-3] [INFO] [1746051015.460486150] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051015.461270844] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051015.462265814] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051015.462879666] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051015.503480178] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893864 Long: -76.5033077 +[main_algo-3] [INFO] [1746051015.504136280] [sailbot.main_algo]: Distance to destination: 24.034360969335726 +[main_algo-3] [INFO] [1746051015.505327833] [sailbot.main_algo]: Target Bearing: -90.98451840854881 +[vectornav-1] [INFO] [1746051015.505352311] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (28.331000000000017, -1.212, 11.166) +[main_algo-3] [INFO] [1746051015.506374995] [sailbot.main_algo]: Heading Difference: 110.47951840854881 +[main_algo-3] [INFO] [1746051015.507288858] [sailbot.main_algo]: Wind Direction: 102 +[main_algo-3] [INFO] [1746051015.508241486] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051015.509170082] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051015.511123151] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051015.545011616] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051015.545617139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051015.546335640] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746051015.547504675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 +[teensy-2] [INFO] [1746051015.548592366] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051015.585357589] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051015.587166504] [sailbot.teensy]: Wind angle: 108 +[trim_sail-4] [INFO] [1746051015.587986274] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051015.588354361] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051015.589291044] [sailbot.teensy]: Actual tail angle: 33 +[mux-7] [INFO] [1746051015.589293061] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051015.590225731] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051015.644892635] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051015.645435667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051015.646188556] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746051015.647311706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 +[teensy-2] [INFO] [1746051015.648501824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051015.744885699] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051015.745744754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051015.746172252] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746051015.747706534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 +[teensy-2] [INFO] [1746051015.748767682] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051015.835300355] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051015.837839372] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051015.838606109] [sailbot.teensy]: Wind angle: 109 +[mux-7] [INFO] [1746051015.838795087] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051015.839889431] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051015.840921822] [sailbot.teensy]: Actual tail angle: 33 +[teensy-2] [INFO] [1746051015.841909260] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051015.844311072] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051015.845086733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051015.845772223] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746051015.846889816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 +[teensy-2] [INFO] [1746051015.847928296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051015.945556789] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051015.946491267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051015.947224253] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746051015.949166832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 +[teensy-2] [INFO] [1746051015.950271912] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051015.957204358] [sailbot.main_algo]: Wind Direction: 109 +[main_algo-3] [INFO] [1746051015.958215058] [sailbot.main_algo]: Target Bearing: -90.98451840854881 +[main_algo-3] [INFO] [1746051015.959171046] [sailbot.main_algo]: Heading Difference: 119.31551840854883 +[main_algo-3] [INFO] [1746051015.960033823] [sailbot.main_algo]: Wind Direction: 109 +[main_algo-3] [INFO] [1746051015.960918345] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051015.961770101] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051015.962940516] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051015.963464202] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051016.002801674] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894154 Long: -76.50330276 +[main_algo-3] [INFO] [1746051016.003599791] [sailbot.main_algo]: Distance to destination: 24.35960389321862 +[vectornav-1] [INFO] [1746051016.003926054] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (27.99799999999999, 0.961, 8.259) +[main_algo-3] [INFO] [1746051016.004701897] [sailbot.main_algo]: Target Bearing: -91.94033108088308 +[main_algo-3] [INFO] [1746051016.005700101] [sailbot.main_algo]: Heading Difference: 120.2713310808831 +[main_algo-3] [INFO] [1746051016.006575443] [sailbot.main_algo]: Wind Direction: 109 +[main_algo-3] [INFO] [1746051016.007630850] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051016.008557258] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051016.010209754] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051016.044339648] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051016.044887507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051016.045303435] [sailbot.mux]: Published rudder angle from controller_app: 8 +[teensy-2] [INFO] [1746051016.046489696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 +[teensy-2] [INFO] [1746051016.047444755] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051016.085544825] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051016.087903141] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051016.088401791] [sailbot.teensy]: Wind angle: 109 +[mux-7] [INFO] [1746051016.088613839] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051016.089389218] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051016.090300990] [sailbot.teensy]: Actual tail angle: 33 +[teensy-2] [INFO] [1746051016.091153724] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051016.093220725] [sailbot.mux]: controller_app rudder angle: 12 +[mux-7] [INFO] [1746051016.146492410] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051016.147895698] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051016.148790994] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051016.150692036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051016.151761991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051016.245471583] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051016.246306605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051016.247111030] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051016.248834084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051016.249930809] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051016.335355434] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051016.337521056] [sailbot.teensy]: Wind angle: 109 +[trim_sail-4] [INFO] [1746051016.337875185] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051016.338472747] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051016.339368853] [sailbot.teensy]: Actual tail angle: 33 +[mux-7] [INFO] [1746051016.339567813] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051016.340302887] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051016.344336381] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051016.344916419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051016.345436137] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051016.346591165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051016.347631756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051016.445528056] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051016.446305329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051016.448042526] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051016.448302332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051016.448892966] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051016.457078165] [sailbot.main_algo]: Wind Direction: 109 +[main_algo-3] [INFO] [1746051016.458071134] [sailbot.main_algo]: Target Bearing: -91.94033108088308 +[main_algo-3] [INFO] [1746051016.458984486] [sailbot.main_algo]: Heading Difference: 119.93833108088307 +[main_algo-3] [INFO] [1746051016.459859792] [sailbot.main_algo]: Wind Direction: 109 +[main_algo-3] [INFO] [1746051016.460700878] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051016.461498516] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051016.462511744] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051016.463256030] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051016.503556003] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894343 Long: -76.50329741 +[main_algo-3] [INFO] [1746051016.503654782] [sailbot.main_algo]: Distance to destination: 24.580455541212157 +[main_algo-3] [INFO] [1746051016.504778386] [sailbot.main_algo]: Target Bearing: -92.95770928198885 +[vectornav-1] [INFO] [1746051016.504928608] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.523000000000025, -1.086, 10.074) +[main_algo-3] [INFO] [1746051016.505795497] [sailbot.main_algo]: Heading Difference: 120.95570928198885 +[main_algo-3] [INFO] [1746051016.506735836] [sailbot.main_algo]: Wind Direction: 109 +[main_algo-3] [INFO] [1746051016.507616915] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051016.508481903] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051016.510203936] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051016.545013959] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051016.545844332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051016.546634383] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051016.547874124] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051016.548913647] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051016.585546258] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051016.587371628] [sailbot.teensy]: Wind angle: 108 +[trim_sail-4] [INFO] [1746051016.588340595] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051016.588870033] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051016.589939981] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051016.590812089] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051016.590804654] [sailbot.mux]: algo sail angle: 20 +[mux-7] [INFO] [1746051016.645145464] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051016.645901040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051016.646675453] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051016.647993784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051016.649154027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051016.745686617] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051016.746519769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051016.747590646] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051016.748891049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051016.750099300] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051016.835349604] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051016.837108894] [sailbot.teensy]: Wind angle: 105 +[trim_sail-4] [INFO] [1746051016.837891660] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051016.838031095] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051016.838946259] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051016.840260181] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051016.840287027] [sailbot.mux]: algo sail angle: 20 +[mux-7] [INFO] [1746051016.844572948] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051016.845229741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051016.845958108] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051016.847112409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051016.848351581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051016.945656278] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051016.946782619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051016.947241035] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051016.949579787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051016.950797188] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051016.957298394] [sailbot.main_algo]: Wind Direction: 105 +[main_algo-3] [INFO] [1746051016.958391853] [sailbot.main_algo]: Target Bearing: -92.95770928198885 +[main_algo-3] [INFO] [1746051016.959316959] [sailbot.main_algo]: Heading Difference: 114.48070928198888 +[main_algo-3] [INFO] [1746051016.960207167] [sailbot.main_algo]: Wind Direction: 105 +[main_algo-3] [INFO] [1746051016.961086648] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051016.961957105] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051016.963046037] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051016.963804324] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051017.002851736] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894375 Long: -76.50329116 +[main_algo-3] [INFO] [1746051017.003614068] [sailbot.main_algo]: Distance to destination: 24.63872205114452 +[vectornav-1] [INFO] [1746051017.003959526] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (12.293999999999983, -0.313, 8.868) +[main_algo-3] [INFO] [1746051017.004775686] [sailbot.main_algo]: Target Bearing: -94.14932307865814 +[main_algo-3] [INFO] [1746051017.005785643] [sailbot.main_algo]: Heading Difference: 115.67232307865817 +[main_algo-3] [INFO] [1746051017.007239653] [sailbot.main_algo]: Wind Direction: 105 +[main_algo-3] [INFO] [1746051017.008208194] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051017.009149673] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051017.011060891] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051017.045835296] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051017.045941327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051017.047239919] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051017.048022703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051017.049145263] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051017.085412799] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051017.087846106] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746051017.088024519] [sailbot.mux]: controller_app rudder angle: 3 +[teensy-2] [INFO] [1746051017.088037272] [sailbot.teensy]: Wind angle: 93 +[teensy-2] [INFO] [1746051017.089008870] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051017.089907478] [sailbot.teensy]: Actual tail angle: 37 +[mux-7] [INFO] [1746051017.090209275] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051017.090806765] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051017.145108857] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051017.145951222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051017.146568858] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746051017.148007205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 3 +[teensy-2] [INFO] [1746051017.149195445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051017.245090132] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051017.245935752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051017.246399595] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746051017.247757784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 3 +[teensy-2] [INFO] [1746051017.248811737] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051017.335217288] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051017.337174238] [sailbot.teensy]: Wind angle: 88 +[trim_sail-4] [INFO] [1746051017.337585565] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746051017.338014188] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051017.338092310] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051017.338622433] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051017.338998764] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051017.344578481] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051017.345352001] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051017.345738895] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746051017.347092141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 3 +[teensy-2] [INFO] [1746051017.348265662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051017.445253508] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051017.445990625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051017.446857673] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746051017.447614610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 3 +[teensy-2] [INFO] [1746051017.448186975] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051017.457044088] [sailbot.main_algo]: Wind Direction: 88 +[main_algo-3] [INFO] [1746051017.458004967] [sailbot.main_algo]: Target Bearing: -94.14932307865814 +[main_algo-3] [INFO] [1746051017.458837752] [sailbot.main_algo]: Heading Difference: 106.44332307865812 +[main_algo-3] [INFO] [1746051017.459629200] [sailbot.main_algo]: Wind Direction: 88 +[main_algo-3] [INFO] [1746051017.460487502] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051017.461289114] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051017.462417927] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051017.463068338] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051017.502956489] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894459 Long: -76.50328496 +[main_algo-3] [INFO] [1746051017.503842507] [sailbot.main_algo]: Distance to destination: 24.76487120886556 +[vectornav-1] [INFO] [1746051017.504309588] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (0.36000000000001364, -0.62, 4.88) +[main_algo-3] [INFO] [1746051017.505050285] [sailbot.main_algo]: Target Bearing: -95.31525614845565 +[main_algo-3] [INFO] [1746051017.506057953] [sailbot.main_algo]: Heading Difference: 107.60925614845564 +[main_algo-3] [INFO] [1746051017.507183653] [sailbot.main_algo]: Wind Direction: 88 +[main_algo-3] [INFO] [1746051017.508075502] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051017.508935606] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051017.510686721] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051017.545768107] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051017.545928168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051017.547262818] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746051017.547988379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 3 +[teensy-2] [INFO] [1746051017.549150652] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051017.585462177] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051017.588245631] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746051017.588513567] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051017.588906675] [sailbot.teensy]: Wind angle: 88 +[teensy-2] [INFO] [1746051017.589849464] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051017.590675922] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746051017.591497313] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051017.644953309] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051017.645805016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051017.646465827] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746051017.647829977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 3 +[teensy-2] [INFO] [1746051017.649012781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051017.745491857] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051017.746210004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051017.747434705] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746051017.748751144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 3 +[teensy-2] [INFO] [1746051017.749345524] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051017.835187068] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051017.837493641] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746051017.837625885] [sailbot.teensy]: Wind angle: 88 +[mux-7] [INFO] [1746051017.838411965] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051017.838599362] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051017.839542194] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746051017.840462508] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051017.844302961] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051017.844928233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051017.845567286] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746051017.846645745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 3 +[teensy-2] [INFO] [1746051017.847663540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051017.945391761] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051017.946322351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051017.946943528] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746051017.948576031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 3 +[teensy-2] [INFO] [1746051017.949704377] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051017.957053264] [sailbot.main_algo]: Wind Direction: 88 +[main_algo-3] [INFO] [1746051017.958189110] [sailbot.main_algo]: Target Bearing: -95.31525614845565 +[main_algo-3] [INFO] [1746051017.959138704] [sailbot.main_algo]: Heading Difference: 95.67525614845567 +[main_algo-3] [INFO] [1746051017.959990124] [sailbot.main_algo]: Wind Direction: 88 +[main_algo-3] [INFO] [1746051017.960898786] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051017.961697622] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051017.962964915] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051017.963256299] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051018.003158693] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894465 Long: -76.50327891 +[main_algo-3] [INFO] [1746051018.004101039] [sailbot.main_algo]: Distance to destination: 24.813763473369946 +[vectornav-1] [INFO] [1746051018.004493720] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (348.38599999999997, -0.674, 5.232) +[main_algo-3] [INFO] [1746051018.005415800] [sailbot.main_algo]: Target Bearing: -96.45956056767344 +[main_algo-3] [INFO] [1746051018.006443172] [sailbot.main_algo]: Heading Difference: 96.81956056767342 +[main_algo-3] [INFO] [1746051018.007416900] [sailbot.main_algo]: Wind Direction: 88 +[main_algo-3] [INFO] [1746051018.008353306] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051018.009229441] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051018.011026538] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051018.044543153] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051018.045184676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051018.045606223] [sailbot.mux]: Published rudder angle from controller_app: 3 +[teensy-2] [INFO] [1746051018.046893937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 3 +[teensy-2] [INFO] [1746051018.047956731] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051018.085026216] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051018.087009521] [sailbot.teensy]: Wind angle: 83 +[teensy-2] [INFO] [1746051018.088235232] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051018.087276208] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746051018.088342121] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051018.089613236] [sailbot.teensy]: Actual tail angle: 28 +[teensy-2] [INFO] [1746051018.090488945] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051018.117349857] [sailbot.mux]: controller_app rudder angle: 9 +[mux-7] [INFO] [1746051018.144764542] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051018.145527250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051018.145989729] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746051018.147382242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 +[teensy-2] [INFO] [1746051018.148434533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051018.245101000] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051018.245931896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051018.246755029] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746051018.247940151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 +[teensy-2] [INFO] [1746051018.248437612] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051018.335467966] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051018.337406828] [sailbot.teensy]: Wind angle: 84 +[trim_sail-4] [INFO] [1746051018.338101933] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746051018.338416816] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051018.339322215] [sailbot.teensy]: Actual tail angle: 28 +[mux-7] [INFO] [1746051018.339725443] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051018.340243805] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051018.344490579] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051018.345050876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051018.345717004] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746051018.346765848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 +[teensy-2] [INFO] [1746051018.347936147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051018.445379553] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051018.446165339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051018.447033567] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746051018.448527782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 +[teensy-2] [INFO] [1746051018.449732006] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051018.457076224] [sailbot.main_algo]: Wind Direction: 84 +[main_algo-3] [INFO] [1746051018.458050362] [sailbot.main_algo]: Target Bearing: -96.45956056767344 +[main_algo-3] [INFO] [1746051018.458949594] [sailbot.main_algo]: Heading Difference: 84.84556056767337 +[main_algo-3] [INFO] [1746051018.459784533] [sailbot.main_algo]: Wind Direction: 84 +[main_algo-3] [INFO] [1746051018.460598594] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051018.461423252] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051018.462465289] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051018.463174713] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051018.502941220] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894255 Long: -76.50327283 +[main_algo-3] [INFO] [1746051018.503963602] [sailbot.main_algo]: Distance to destination: 24.63450811811151 +[main_algo-3] [INFO] [1746051018.505194904] [sailbot.main_algo]: Target Bearing: -97.66858227150666 +[vectornav-1] [INFO] [1746051018.505239185] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (332.03, -2.83, 4.98) +[main_algo-3] [INFO] [1746051018.506185920] [sailbot.main_algo]: Heading Difference: 86.05458227150666 +[main_algo-3] [INFO] [1746051018.507111305] [sailbot.main_algo]: Wind Direction: 84 +[main_algo-3] [INFO] [1746051018.508000369] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051018.508893972] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051018.510571939] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051018.544991967] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051018.545807455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051018.546324820] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746051018.547624954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 +[teensy-2] [INFO] [1746051018.548689123] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051018.585405228] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051018.587624859] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746051018.588778410] [sailbot.teensy]: Wind angle: 80 +[teensy-2] [INFO] [1746051018.589765602] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051018.589777025] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746051018.590814439] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746051018.591730485] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051018.644802579] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051018.645316652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051018.646025028] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746051018.647121349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 +[teensy-2] [INFO] [1746051018.648315558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051018.744943715] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051018.745919840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051018.746404957] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746051018.747760790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 +[teensy-2] [INFO] [1746051018.748938281] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051018.835237350] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051018.837565529] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746051018.837842025] [sailbot.teensy]: Wind angle: 67 +[mux-7] [INFO] [1746051018.838537300] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746051018.838707248] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051018.839125443] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746051018.839467155] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051018.844378331] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051018.844984825] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051018.845452181] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746051018.846677194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 +[teensy-2] [INFO] [1746051018.847705847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051018.945127898] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051018.945947883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051018.946580890] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746051018.947944994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 +[teensy-2] [INFO] [1746051018.948606133] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051018.957175604] [sailbot.main_algo]: Wind Direction: 67 +[main_algo-3] [INFO] [1746051018.958268344] [sailbot.main_algo]: Target Bearing: -97.66858227150666 +[main_algo-3] [INFO] [1746051018.959292106] [sailbot.main_algo]: Heading Difference: 69.69858227150667 +[main_algo-3] [INFO] [1746051018.960188273] [sailbot.main_algo]: Wind Direction: 67 +[main_algo-3] [INFO] [1746051018.961081680] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051018.961930240] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051018.963005758] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051018.963597127] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051019.003168354] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689394 Long: -76.50326705 +[main_algo-3] [INFO] [1746051019.003921076] [sailbot.main_algo]: Distance to destination: 24.347488745014157 +[vectornav-1] [INFO] [1746051019.004360901] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (313.985, 1.034, 4.003) +[main_algo-3] [INFO] [1746051019.005160902] [sailbot.main_algo]: Target Bearing: -98.87489459219375 +[main_algo-3] [INFO] [1746051019.006179414] [sailbot.main_algo]: Heading Difference: 70.90489459219373 +[main_algo-3] [INFO] [1746051019.007080245] [sailbot.main_algo]: Wind Direction: 67 +[main_algo-3] [INFO] [1746051019.007957410] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051019.008812419] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051019.010569995] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051019.045478978] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051019.045948009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051019.046990177] [sailbot.mux]: Published rudder angle from controller_app: 9 +[teensy-2] [INFO] [1746051019.048219695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 +[teensy-2] [INFO] [1746051019.049250262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051019.076018858] [sailbot.mux]: controller_app rudder angle: -4 +[teensy-2] [INFO] [1746051019.085230803] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051019.087351396] [sailbot.teensy]: Wind angle: 52 +[teensy-2] [INFO] [1746051019.088947026] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051019.087703956] [sailbot.trim_sail]: Sail Angle: "60" +[mux-7] [INFO] [1746051019.088563390] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746051019.089997239] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746051019.090856772] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051019.145023037] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051019.145935549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051019.146522102] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746051019.147938243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -4 +[teensy-2] [INFO] [1746051019.149081524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051019.245154092] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051019.246323440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051019.246583327] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746051019.248502055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -4 +[teensy-2] [INFO] [1746051019.249540971] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051019.335532120] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051019.338214242] [sailbot.teensy]: Wind angle: 39 +[trim_sail-4] [INFO] [1746051019.338214086] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746051019.339282363] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051019.339744472] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746051019.340238313] [sailbot.teensy]: Actual tail angle: 34 +[teensy-2] [INFO] [1746051019.341205270] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051019.344439933] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051019.345174263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051019.345628165] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746051019.347005310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -4 +[teensy-2] [INFO] [1746051019.348168890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051019.445471650] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051019.446519658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051019.447133335] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746051019.448458867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -4 +[teensy-2] [INFO] [1746051019.448995173] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051019.457166923] [sailbot.main_algo]: Wind Direction: 39 +[main_algo-3] [INFO] [1746051019.458188370] [sailbot.main_algo]: Target Bearing: -98.87489459219375 +[main_algo-3] [INFO] [1746051019.459066827] [sailbot.main_algo]: Heading Difference: 52.85989459219377 +[main_algo-3] [INFO] [1746051019.459912283] [sailbot.main_algo]: Wind Direction: 39 +[main_algo-3] [INFO] [1746051019.460803498] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051019.461591259] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051019.462599935] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051019.463492794] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051019.503007482] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893526 Long: -76.50326351 +[main_algo-3] [INFO] [1746051019.503910212] [sailbot.main_algo]: Distance to destination: 23.934404527128986 +[vectornav-1] [INFO] [1746051019.504388901] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.18399999999997, 1.211, 1.805) +[main_algo-3] [INFO] [1746051019.505074387] [sailbot.main_algo]: Target Bearing: -99.7156685073404 +[main_algo-3] [INFO] [1746051019.506425096] [sailbot.main_algo]: Heading Difference: 53.700668507340424 +[main_algo-3] [INFO] [1746051019.507375695] [sailbot.main_algo]: Wind Direction: 39 +[main_algo-3] [INFO] [1746051019.508311299] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051019.509202973] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051019.510927819] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051019.545474614] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051019.545563929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051019.547019997] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746051019.547453831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -4 +[teensy-2] [INFO] [1746051019.548710041] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051019.585226388] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051019.586880214] [sailbot.teensy]: Wind angle: 24 +[trim_sail-4] [INFO] [1746051019.587313945] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746051019.587756827] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051019.588630936] [sailbot.teensy]: Actual tail angle: 21 +[teensy-2] [INFO] [1746051019.589446679] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051019.589435319] [sailbot.mux]: algo sail angle: 80 +[mux-7] [INFO] [1746051019.645330993] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051019.646010898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051019.646987245] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746051019.648403126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -4 +[teensy-2] [INFO] [1746051019.648893844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051019.745168507] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051019.745948501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051019.746656778] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746051019.748079135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -4 +[teensy-2] [INFO] [1746051019.749127380] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051019.835144896] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051019.837496948] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746051019.837797114] [sailbot.teensy]: Wind angle: 4 +[teensy-2] [INFO] [1746051019.838563887] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051019.838609075] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746051019.838969314] [sailbot.teensy]: Actual tail angle: 21 +[teensy-2] [INFO] [1746051019.839329677] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051019.844425007] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051019.844927274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051019.845551000] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746051019.846621474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -4 +[teensy-2] [INFO] [1746051019.847651169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051019.945191117] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051019.945857094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051019.946821212] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746051019.947753473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -4 +[teensy-2] [INFO] [1746051019.948226645] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051019.957161993] [sailbot.main_algo]: Wind Direction: 4 +[main_algo-3] [INFO] [1746051019.958174995] [sailbot.main_algo]: Target Bearing: -99.7156685073404 +[main_algo-3] [INFO] [1746051019.959095910] [sailbot.main_algo]: Heading Difference: 32.89966850734038 +[main_algo-3] [INFO] [1746051019.959981121] [sailbot.main_algo]: Wind Direction: 4 +[main_algo-3] [INFO] [1746051019.960803059] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051019.961584118] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051019.962586103] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051019.963322926] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051020.002779024] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893115 Long: -76.50326243 +[main_algo-3] [INFO] [1746051020.003641806] [sailbot.main_algo]: Distance to destination: 23.497161523338832 +[vectornav-1] [INFO] [1746051020.004087906] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.947, 1.32, 2.897) +[main_algo-3] [INFO] [1746051020.004804439] [sailbot.main_algo]: Target Bearing: -100.09807732579905 +[main_algo-3] [INFO] [1746051020.005768333] [sailbot.main_algo]: Heading Difference: 33.28207732579904 +[main_algo-3] [INFO] [1746051020.006677171] [sailbot.main_algo]: Wind Direction: 4 +[main_algo-3] [INFO] [1746051020.007554687] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051020.008457881] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051020.010166733] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051020.044629512] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051020.045234855] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051020.047134518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -4 +[mux-7] [INFO] [1746051020.045804988] [sailbot.mux]: Published rudder angle from controller_app: -4 +[teensy-2] [INFO] [1746051020.048299270] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051020.085124597] [sailbot.teensy]: Check telemetry callback entered +[mux-7] [INFO] [1746051020.086697612] [sailbot.mux]: controller_app rudder angle: -9 +[trim_sail-4] [INFO] [1746051020.087156298] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746051020.087615280] [sailbot.teensy]: Wind angle: 359 +[mux-7] [INFO] [1746051020.088827222] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746051020.090143855] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051020.091093165] [sailbot.teensy]: Actual tail angle: 21 +[teensy-2] [INFO] [1746051020.091921500] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051020.145105568] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051020.145882785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051020.146427727] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746051020.148034880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 +[teensy-2] [INFO] [1746051020.149249093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051020.245371265] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051020.245920072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051020.247417900] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746051020.247982962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 +[teensy-2] [INFO] [1746051020.249223562] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051020.335394868] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051020.337746259] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746051020.338690350] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746051020.339274625] [sailbot.teensy]: Wind angle: 354 +[teensy-2] [INFO] [1746051020.340305085] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051020.341152059] [sailbot.teensy]: Actual tail angle: 21 +[teensy-2] [INFO] [1746051020.341992267] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051020.344378092] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051020.344736299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051020.345567062] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746051020.346399730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 +[teensy-2] [INFO] [1746051020.347528290] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051020.445224161] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051020.446078335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051020.446944404] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746051020.448116090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 +[teensy-2] [INFO] [1746051020.449205727] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051020.456961493] [sailbot.main_algo]: Wind Direction: 354 +[main_algo-3] [INFO] [1746051020.457904125] [sailbot.main_algo]: Target Bearing: -100.09807732579905 +[main_algo-3] [INFO] [1746051020.458775354] [sailbot.main_algo]: Heading Difference: 21.04507732579907 +[main_algo-3] [INFO] [1746051020.459569956] [sailbot.main_algo]: Wind Direction: 354 +[main_algo-3] [INFO] [1746051020.460358949] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051020.461155439] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051020.462141585] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051020.462822781] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051020.502445188] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892746 Long: -76.50326247 +[main_algo-3] [INFO] [1746051020.503142144] [sailbot.main_algo]: Distance to destination: 23.09205562294245 +[vectornav-1] [INFO] [1746051020.503521756] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (276.775, -2.809, 5.448) +[main_algo-3] [INFO] [1746051020.504219509] [sailbot.main_algo]: Target Bearing: -100.25053747982032 +[main_algo-3] [INFO] [1746051020.505185809] [sailbot.main_algo]: Heading Difference: 21.197537479820312 +[main_algo-3] [INFO] [1746051020.506108468] [sailbot.main_algo]: Wind Direction: 354 +[main_algo-3] [INFO] [1746051020.507008501] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051020.507855178] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051020.509629651] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051020.545115617] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051020.546191367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051020.546567653] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746051020.548278143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 +[teensy-2] [INFO] [1746051020.549434390] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051020.585523490] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051020.587548397] [sailbot.teensy]: Wind angle: 348 +[trim_sail-4] [INFO] [1746051020.588382603] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746051020.588592235] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051020.589272067] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746051020.589512253] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746051020.590391050] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051020.645360481] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051020.646326172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051020.646930198] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746051020.648582343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 +[teensy-2] [INFO] [1746051020.649713310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051020.745273042] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051020.746223063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051020.747240770] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746051020.748074150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 +[teensy-2] [INFO] [1746051020.748761550] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051020.835572553] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051020.837599493] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746051020.838070261] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051020.838927131] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051020.839670050] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051020.839964837] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746051020.840923112] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051020.844428110] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051020.845040108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051020.845534894] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746051020.846795814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 +[teensy-2] [INFO] [1746051020.847947188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051020.945576201] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051020.946403633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051020.947421843] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746051020.948438699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 +[teensy-2] [INFO] [1746051020.948897081] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051020.957121367] [sailbot.main_algo]: Wind Direction: 346 +[main_algo-3] [INFO] [1746051020.958073946] [sailbot.main_algo]: Target Bearing: -100.25053747982032 +[main_algo-3] [INFO] [1746051020.958952596] [sailbot.main_algo]: Heading Difference: 17.025537479820287 +[main_algo-3] [INFO] [1746051020.959748939] [sailbot.main_algo]: Rudder Angle Raw: 2.364657983308373 +[main_algo-3] [INFO] [1746051020.960614851] [sailbot.main_algo]: Rudder Angle: 2 +[main_algo-3] [INFO] [1746051020.961602131] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051020.962234996] [sailbot.mux]: algo rudder angle: 2 +[vectornav-1] [INFO] [1746051021.003264169] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892333 Long: -76.50326212 +[main_algo-3] [INFO] [1746051021.004146786] [sailbot.main_algo]: Distance to destination: 22.6441766962592 +[main_algo-3] [INFO] [1746051021.005213264] [sailbot.main_algo]: Target Bearing: -100.50867056046657 +[vectornav-1] [INFO] [1746051021.005213128] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (281.11400000000003, -3.804, 5.571) +[main_algo-3] [INFO] [1746051021.006223937] [sailbot.main_algo]: Heading Difference: 17.28367056046659 +[main_algo-3] [INFO] [1746051021.007459065] [sailbot.main_algo]: Rudder Angle Raw: 2.400509800064804 +[main_algo-3] [INFO] [1746051021.008411736] [sailbot.main_algo]: Rudder Angle: 2 +[mux-7] [INFO] [1746051021.010138003] [sailbot.mux]: algo rudder angle: 2 +[mux-7] [INFO] [1746051021.045145595] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051021.045963529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051021.046708873] [sailbot.mux]: Published rudder angle from controller_app: -9 +[teensy-2] [INFO] [1746051021.048116681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 +[teensy-2] [INFO] [1746051021.049177675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051021.076135184] [sailbot.mux]: controller_app rudder angle: -10 +[teensy-2] [INFO] [1746051021.085312323] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051021.086980630] [sailbot.teensy]: Wind angle: 346 +[trim_sail-4] [INFO] [1746051021.087391172] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051021.087889122] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051021.088961213] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746051021.089883495] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051021.090050156] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746051021.145056498] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051021.145872429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051021.146398026] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746051021.147908135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 +[teensy-2] [INFO] [1746051021.148926244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051021.245305284] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051021.246044924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051021.246883606] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746051021.248079873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 +[teensy-2] [INFO] [1746051021.249291083] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051021.335073148] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051021.336878274] [sailbot.teensy]: Wind angle: 346 +[teensy-2] [INFO] [1746051021.337855553] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051021.338130388] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051021.338551951] [sailbot.teensy]: Actual tail angle: 16 +[teensy-2] [INFO] [1746051021.338929725] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051021.338991769] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746051021.344514236] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051021.345068663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051021.345743192] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746051021.346791308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 +[teensy-2] [INFO] [1746051021.347793871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051021.445328679] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051021.445897443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051021.447143467] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746051021.447910322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 +[teensy-2] [INFO] [1746051021.449010362] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051021.457033548] [sailbot.main_algo]: Wind Direction: 346 +[main_algo-3] [INFO] [1746051021.457986997] [sailbot.main_algo]: Target Bearing: -100.50867056046657 +[main_algo-3] [INFO] [1746051021.458867574] [sailbot.main_algo]: Heading Difference: 21.62267056046653 +[main_algo-3] [INFO] [1746051021.459712626] [sailbot.main_algo]: Wind Direction: 346 +[main_algo-3] [INFO] [1746051021.460576901] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051021.461376146] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051021.462474639] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051021.462998222] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051021.502920624] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689187 Long: -76.50326105 +[main_algo-3] [INFO] [1746051021.503954600] [sailbot.main_algo]: Distance to destination: 22.152192010239162 +[vectornav-1] [INFO] [1746051021.504103059] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (297.05, 2.405, 9.419) +[main_algo-3] [INFO] [1746051021.505147827] [sailbot.main_algo]: Target Bearing: -100.95246959087605 +[main_algo-3] [INFO] [1746051021.506113782] [sailbot.main_algo]: Heading Difference: 22.066469590876068 +[main_algo-3] [INFO] [1746051021.507019838] [sailbot.main_algo]: Wind Direction: 346 +[main_algo-3] [INFO] [1746051021.507894563] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051021.508810421] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051021.510650593] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051021.545088860] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051021.545670798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051021.546445563] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746051021.547666279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 +[teensy-2] [INFO] [1746051021.548865489] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051021.585087299] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051021.587117737] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051021.587322470] [sailbot.teensy]: Wind angle: 346 +[teensy-2] [INFO] [1746051021.588289197] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051021.588778547] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051021.589198918] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746051021.590105557] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051021.645261493] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051021.646023588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051021.647118747] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746051021.648235770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 +[teensy-2] [INFO] [1746051021.648823131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051021.744929623] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051021.745628689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051021.746403159] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746051021.747554851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 +[teensy-2] [INFO] [1746051021.748930153] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051021.835409729] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051021.837899282] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051021.838034450] [sailbot.teensy]: Wind angle: 346 +[mux-7] [INFO] [1746051021.838569902] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051021.838626834] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051021.839014916] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746051021.839371414] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051021.844598202] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051021.845035406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051021.845899008] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746051021.846880305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 +[teensy-2] [INFO] [1746051021.847928670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051021.945547490] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051021.946253194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051021.947423646] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746051021.948615084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 +[teensy-2] [INFO] [1746051021.949832259] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051021.957075233] [sailbot.main_algo]: Wind Direction: 346 +[main_algo-3] [INFO] [1746051021.958046662] [sailbot.main_algo]: Target Bearing: -100.95246959087605 +[main_algo-3] [INFO] [1746051021.959001905] [sailbot.main_algo]: Heading Difference: 38.00246959087599 +[main_algo-3] [INFO] [1746051021.959848216] [sailbot.main_algo]: Wind Direction: 346 +[main_algo-3] [INFO] [1746051021.960672400] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051021.961492365] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051021.962481066] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051021.963074380] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051022.003157548] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891544 Long: -76.50325829 +[main_algo-3] [INFO] [1746051022.003632847] [sailbot.main_algo]: Distance to destination: 21.836607369797857 +[vectornav-1] [INFO] [1746051022.004368063] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (315.635, 3.202, 11.721) +[main_algo-3] [INFO] [1746051022.004746469] [sailbot.main_algo]: Target Bearing: -101.70293192269169 +[main_algo-3] [INFO] [1746051022.005739618] [sailbot.main_algo]: Heading Difference: 38.75293192269169 +[main_algo-3] [INFO] [1746051022.006763802] [sailbot.main_algo]: Wind Direction: 346 +[main_algo-3] [INFO] [1746051022.007667711] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051022.008600300] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051022.010482000] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051022.045183545] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051022.046298851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051022.046455550] [sailbot.mux]: Published rudder angle from controller_app: -10 +[teensy-2] [INFO] [1746051022.048331386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 +[teensy-2] [INFO] [1746051022.049535640] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051022.085863069] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051022.087726671] [sailbot.teensy]: Wind angle: 349 +[teensy-2] [INFO] [1746051022.088810564] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051022.088344250] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746051022.089783738] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746051022.090698320] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051022.091394958] [sailbot.mux]: algo sail angle: 90 +[mux-7] [INFO] [1746051022.093492689] [sailbot.mux]: controller_app rudder angle: -5 +[mux-7] [INFO] [1746051022.144628646] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051022.145137012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051022.145850162] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051022.147209096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051022.148229527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051022.245123407] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051022.245702596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051022.246524727] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051022.247902784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051022.249123832] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051022.335219431] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051022.337325670] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746051022.337921822] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746051022.339328768] [sailbot.teensy]: Wind angle: 353 +[teensy-2] [INFO] [1746051022.339773571] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051022.340160796] [sailbot.teensy]: Actual tail angle: 15 +[teensy-2] [INFO] [1746051022.340521881] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051022.344494239] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051022.345084185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051022.345754927] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051022.346832361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051022.347937181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051022.445290063] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051022.445808714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051022.446836008] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051022.448226684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051022.449370916] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051022.457039555] [sailbot.main_algo]: Wind Direction: 353 +[main_algo-3] [INFO] [1746051022.458008544] [sailbot.main_algo]: Target Bearing: -101.70293192269169 +[main_algo-3] [INFO] [1746051022.458901863] [sailbot.main_algo]: Heading Difference: 57.33793192269172 +[main_algo-3] [INFO] [1746051022.459739959] [sailbot.main_algo]: Wind Direction: 353 +[main_algo-3] [INFO] [1746051022.460588881] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051022.461375722] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051022.462376199] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051022.463010857] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051022.502696815] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891388 Long: -76.50325551 +[vectornav-1] [INFO] [1746051022.503794527] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (335.846, -1.53, 12.744) +[main_algo-3] [INFO] [1746051022.503796527] [sailbot.main_algo]: Distance to destination: 21.7102708185569 +[main_algo-3] [INFO] [1746051022.505376581] [sailbot.main_algo]: Target Bearing: -102.38052185656709 +[main_algo-3] [INFO] [1746051022.506422000] [sailbot.main_algo]: Heading Difference: 58.01552185656715 +[main_algo-3] [INFO] [1746051022.507349760] [sailbot.main_algo]: Wind Direction: 353 +[main_algo-3] [INFO] [1746051022.508254625] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051022.509124664] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051022.510953437] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051022.544956492] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051022.545512064] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051022.546311290] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051022.547321453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051022.548541008] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051022.585068067] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051022.586602556] [sailbot.teensy]: Wind angle: 359 +[teensy-2] [INFO] [1746051022.587470596] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051022.587173385] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746051022.588360307] [sailbot.teensy]: Actual tail angle: 20 +[mux-7] [INFO] [1746051022.588949991] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746051022.589312005] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051022.645277079] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051022.645751311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051022.646843295] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051022.648030031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051022.649108442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051022.745242284] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051022.746084253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051022.747081863] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051022.748342136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051022.749356236] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051022.835209775] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051022.837501482] [sailbot.trim_sail]: Sail Angle: "90" +[mux-7] [INFO] [1746051022.838000776] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746051022.838133555] [sailbot.teensy]: Wind angle: 0 +[teensy-2] [INFO] [1746051022.839088357] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051022.839960228] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746051022.840849799] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051022.844309110] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051022.844952773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051022.845652637] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051022.846862730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051022.848067623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051022.945321678] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051022.946147994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051022.946900938] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051022.948883701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051022.949954622] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051022.957051239] [sailbot.main_algo]: Wind Direction: 0 +[main_algo-3] [INFO] [1746051022.958020649] [sailbot.main_algo]: Target Bearing: -102.38052185656709 +[main_algo-3] [INFO] [1746051022.958915514] [sailbot.main_algo]: Heading Difference: 78.22652185656716 +[main_algo-3] [INFO] [1746051022.959767944] [sailbot.main_algo]: Wind Direction: 0 +[main_algo-3] [INFO] [1746051022.960586411] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051022.961392945] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051022.962603768] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051022.962957973] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051023.003131202] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891387 Long: -76.50325167 +[main_algo-3] [INFO] [1746051023.003704281] [sailbot.main_algo]: Distance to destination: 21.773605716246124 +[main_algo-3] [INFO] [1746051023.004789972] [sailbot.main_algo]: Target Bearing: -103.19566447726089 +[vectornav-1] [INFO] [1746051023.005613983] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (358.552, -2.37, 14.617) +[main_algo-3] [INFO] [1746051023.005743988] [sailbot.main_algo]: Heading Difference: 79.04166447726084 +[main_algo-3] [INFO] [1746051023.006674156] [sailbot.main_algo]: Wind Direction: 0 +[main_algo-3] [INFO] [1746051023.007586441] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051023.008488447] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051023.010210964] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051023.044603430] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051023.045245871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051023.046042089] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051023.046908091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051023.047865495] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051023.085400015] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051023.087747332] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051023.087916440] [sailbot.teensy]: Wind angle: 18 +[teensy-2] [INFO] [1746051023.088817701] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051023.089321998] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051023.089689440] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746051023.090613556] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051023.144990723] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051023.145855991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051023.146362449] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051023.147824857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051023.148900758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051023.245067362] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051023.245702089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051023.246438835] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051023.247606259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051023.248144937] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051023.335198594] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051023.336796995] [sailbot.teensy]: Wind angle: 42 +[trim_sail-4] [INFO] [1746051023.337490526] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746051023.338812185] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746051023.339712000] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051023.340535836] [sailbot.teensy]: Actual tail angle: 20 +[teensy-2] [INFO] [1746051023.340908875] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051023.344449016] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051023.344927346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051023.345602002] [sailbot.mux]: Published rudder angle from controller_app: -5 +[teensy-2] [INFO] [1746051023.346637241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 +[teensy-2] [INFO] [1746051023.347805019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051023.363305942] [sailbot.mux]: controller_app rudder angle: 12 +[mux-7] [INFO] [1746051023.445110323] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051023.446253235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051023.446637444] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051023.448368560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051023.449618044] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051023.457158690] [sailbot.main_algo]: Wind Direction: 42 +[main_algo-3] [INFO] [1746051023.458199084] [sailbot.main_algo]: Target Bearing: -103.19566447726089 +[main_algo-3] [INFO] [1746051023.459080567] [sailbot.main_algo]: Heading Difference: 101.74766447726097 +[main_algo-3] [INFO] [1746051023.459923145] [sailbot.main_algo]: Wind Direction: 42 +[main_algo-3] [INFO] [1746051023.460792352] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051023.461608148] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051023.462608712] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051023.463234892] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051023.503053464] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891386 Long: -76.50324682 +[main_algo-3] [INFO] [1746051023.504350205] [sailbot.main_algo]: Distance to destination: 21.860139379651503 +[vectornav-1] [INFO] [1746051023.504443614] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (22.233000000000004, -0.848, 17.146) +[main_algo-3] [INFO] [1746051023.505506559] [sailbot.main_algo]: Target Bearing: -104.21800646671542 +[main_algo-3] [INFO] [1746051023.506796487] [sailbot.main_algo]: Heading Difference: 102.77000646671547 +[main_algo-3] [INFO] [1746051023.507735424] [sailbot.main_algo]: Wind Direction: 42 +[main_algo-3] [INFO] [1746051023.508650553] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051023.509527627] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051023.511376222] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051023.545148002] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051023.545904301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051023.546592842] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051023.547991948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051023.549178144] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051023.585117124] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051023.586520798] [sailbot.teensy]: Wind angle: 73 +[trim_sail-4] [INFO] [1746051023.587364561] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051023.587380997] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051023.588265781] [sailbot.teensy]: Actual tail angle: 20 +[mux-7] [INFO] [1746051023.588961115] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051023.589093334] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051023.645166018] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051023.646154051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051023.646741120] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051023.648540525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051023.649167099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051023.744986315] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051023.745843209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051023.746344948] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051023.747835547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051023.748521604] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051023.835087510] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051023.837177533] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051023.837638217] [sailbot.teensy]: Wind angle: 99 +[mux-7] [INFO] [1746051023.838383652] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051023.839137846] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051023.839527749] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051023.839885730] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051023.844347566] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051023.844803153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051023.845462247] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051023.846456859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051023.847693146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051023.945260381] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051023.946200620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051023.946721186] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051023.948570689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051023.949675639] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051023.957162240] [sailbot.main_algo]: Wind Direction: 99 +[main_algo-3] [INFO] [1746051023.958205067] [sailbot.main_algo]: Target Bearing: -104.21800646671542 +[main_algo-3] [INFO] [1746051023.959102567] [sailbot.main_algo]: Heading Difference: 126.4510064667154 +[main_algo-3] [INFO] [1746051023.960002507] [sailbot.main_algo]: Wind Direction: 99 +[main_algo-3] [INFO] [1746051023.960849880] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051023.961658235] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051023.962669564] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051023.963219107] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051024.003078747] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891493 Long: -76.50324291 +[main_algo-3] [INFO] [1746051024.003940816] [sailbot.main_algo]: Distance to destination: 22.051112249539106 +[vectornav-1] [INFO] [1746051024.004343739] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.632000000000005, -0.448, 18.12) +[main_algo-3] [INFO] [1746051024.005161636] [sailbot.main_algo]: Target Bearing: -104.9607556657808 +[main_algo-3] [INFO] [1746051024.006141755] [sailbot.main_algo]: Heading Difference: 127.19375566578083 +[main_algo-3] [INFO] [1746051024.007037725] [sailbot.main_algo]: Wind Direction: 99 +[main_algo-3] [INFO] [1746051024.007895374] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051024.008752439] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051024.010451427] [sailbot.mux]: algo rudder angle: 15 +[teensy-2] [INFO] [1746051024.045906291] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051024.048219563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[mux-7] [INFO] [1746051024.045937889] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051024.047567269] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051024.049398277] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051024.085225659] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051024.087332016] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051024.088863515] [sailbot.teensy]: Wind angle: 118 +[mux-7] [INFO] [1746051024.089509738] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051024.089886587] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051024.090844022] [sailbot.teensy]: Actual tail angle: 37 +[mux-7] [INFO] [1746051024.091342125] [sailbot.mux]: controller_app rudder angle: 0 +[teensy-2] [INFO] [1746051024.091807397] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051024.144824223] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051024.145631820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051024.146081897] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051024.147511612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051024.148561811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051024.245059700] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051024.245518473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051024.246471265] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051024.247278086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051024.248471415] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051024.335463066] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051024.337820129] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051024.338361607] [sailbot.teensy]: Wind angle: 120 +[mux-7] [INFO] [1746051024.339291513] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051024.339365702] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051024.340389705] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051024.340993306] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051024.344435048] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051024.344871377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051024.345521233] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051024.346569505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051024.347735526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051024.445194554] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051024.446029503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051024.446714778] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051024.447845271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051024.448319268] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051024.457291237] [sailbot.main_algo]: Wind Direction: 120 +[main_algo-3] [INFO] [1746051024.458326883] [sailbot.main_algo]: Target Bearing: -104.9607556657808 +[main_algo-3] [INFO] [1746051024.459209513] [sailbot.main_algo]: Heading Difference: 144.59275566578083 +[main_algo-3] [INFO] [1746051024.460086998] [sailbot.main_algo]: Wind Direction: 120 +[main_algo-3] [INFO] [1746051024.460957182] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051024.461828314] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051024.462986649] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051024.463494952] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051024.503227938] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891802 Long: -76.50324036 +[main_algo-3] [INFO] [1746051024.504591784] [sailbot.main_algo]: Distance to destination: 22.435024102756817 +[main_algo-3] [INFO] [1746051024.505778295] [sailbot.main_algo]: Target Bearing: -105.26921653792881 +[main_algo-3] [INFO] [1746051024.506811871] [sailbot.main_algo]: Heading Difference: 144.9012165379288 +[vectornav-1] [INFO] [1746051024.507331527] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.613, 0.752, 13.675) +[main_algo-3] [INFO] [1746051024.507729793] [sailbot.main_algo]: Wind Direction: 120 +[main_algo-3] [INFO] [1746051024.508719614] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051024.509610056] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051024.511409346] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051024.544968397] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051024.545502776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051024.546356407] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051024.547325090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051024.548546625] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051024.585085906] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051024.586594394] [sailbot.teensy]: Wind angle: 110 +[trim_sail-4] [INFO] [1746051024.587200372] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051024.587453816] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051024.588328086] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051024.588784171] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051024.589191168] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051024.645418366] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051024.645852221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051024.647046461] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051024.647961915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051024.648707175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051024.745499696] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051024.746072657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051024.747188459] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051024.748367026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051024.749113059] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051024.835116867] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051024.837474071] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051024.838159940] [sailbot.teensy]: Wind angle: 116 +[mux-7] [INFO] [1746051024.838648530] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051024.838786561] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051024.839171873] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051024.839523029] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051024.844445124] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051024.844975578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051024.845538357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051024.846738272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051024.847825589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051024.945235288] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051024.946617476] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051024.947581592] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051024.949108233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051024.950165599] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051024.957227830] [sailbot.main_algo]: Wind Direction: 116 +[main_algo-3] [INFO] [1746051024.958305775] [sailbot.main_algo]: Target Bearing: -105.26921653792881 +[main_algo-3] [INFO] [1746051024.959261380] [sailbot.main_algo]: Heading Difference: 151.8822165379288 +[main_algo-3] [INFO] [1746051024.960170377] [sailbot.main_algo]: Wind Direction: 116 +[main_algo-3] [INFO] [1746051024.961036218] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051024.961885371] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051024.963017673] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051024.963581728] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051025.003157777] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892068 Long: -76.50323722 +[main_algo-3] [INFO] [1746051025.004225459] [sailbot.main_algo]: Distance to destination: 22.78560631049596 +[vectornav-1] [INFO] [1746051025.004532967] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.629999999999995, -0.264, 9.612) +[main_algo-3] [INFO] [1746051025.005483794] [sailbot.main_algo]: Target Bearing: -105.71553319853462 +[main_algo-3] [INFO] [1746051025.006467039] [sailbot.main_algo]: Heading Difference: 152.32853319853461 +[main_algo-3] [INFO] [1746051025.007337826] [sailbot.main_algo]: Wind Direction: 116 +[main_algo-3] [INFO] [1746051025.008234912] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051025.009082873] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051025.010782098] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051025.045089917] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051025.045926815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051025.046411644] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051025.047921850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051025.049084095] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051025.085502635] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051025.088004837] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051025.089175605] [sailbot.teensy]: Wind angle: 125 +[mux-7] [INFO] [1746051025.089180378] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051025.090182882] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051025.091056708] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051025.091883459] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051025.145016736] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051025.145777964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051025.146296344] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051025.147875540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051025.149043429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051025.244931390] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051025.245488203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051025.246197717] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051025.247301723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051025.248412808] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051025.335374520] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051025.337942926] [sailbot.teensy]: Wind angle: 119 +[trim_sail-4] [INFO] [1746051025.337977566] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746051025.338624550] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051025.338902774] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051025.339795838] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051025.340645839] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051025.344385360] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051025.344886121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051025.345519614] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051025.346650736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051025.347765040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051025.445284174] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051025.446050423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051025.446768870] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051025.448438888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051025.448941840] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051025.457217815] [sailbot.main_algo]: Wind Direction: 119 +[main_algo-3] [INFO] [1746051025.458262424] [sailbot.main_algo]: Target Bearing: -105.71553319853462 +[main_algo-3] [INFO] [1746051025.459148481] [sailbot.main_algo]: Heading Difference: 150.3455331985346 +[main_algo-3] [INFO] [1746051025.460032543] [sailbot.main_algo]: Wind Direction: 119 +[main_algo-3] [INFO] [1746051025.460908716] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051025.461782161] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051025.462837284] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051025.463502425] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051025.503034624] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892327 Long: -76.50323381 +[main_algo-3] [INFO] [1746051025.503947923] [sailbot.main_algo]: Distance to destination: 23.13583218119143 +[vectornav-1] [INFO] [1746051025.504719063] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.38099999999997, -1.499, 6.931) +[main_algo-3] [INFO] [1746051025.505165971] [sailbot.main_algo]: Target Bearing: -106.20639622480643 +[main_algo-3] [INFO] [1746051025.506162335] [sailbot.main_algo]: Heading Difference: 150.83639622480644 +[main_algo-3] [INFO] [1746051025.507069118] [sailbot.main_algo]: Wind Direction: 119 +[main_algo-3] [INFO] [1746051025.507962917] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051025.508846821] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051025.510610839] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051025.544915157] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051025.545648556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051025.546266367] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051025.547424917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051025.548611393] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051025.585209010] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051025.587322238] [sailbot.teensy]: Wind angle: 115 +[trim_sail-4] [INFO] [1746051025.587579511] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051025.588313396] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051025.589231950] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051025.588495956] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051025.590151344] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051025.644843777] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051025.645712454] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051025.646079693] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051025.647528163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051025.648432240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051025.745245160] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051025.746248281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051025.746746661] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051025.747925737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051025.748427349] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051025.835116696] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051025.836662309] [sailbot.teensy]: Wind angle: 115 +[trim_sail-4] [INFO] [1746051025.837679226] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746051025.838508318] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051025.839471660] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051025.840397474] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051025.841293467] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051025.844360275] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051025.844877353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051025.845656529] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051025.846572041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051025.847674271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051025.945166835] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051025.946115662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051025.946689337] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051025.949089141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051025.950102189] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051025.957187853] [sailbot.main_algo]: Wind Direction: 115 +[main_algo-3] [INFO] [1746051025.958304909] [sailbot.main_algo]: Target Bearing: -106.20639622480643 +[main_algo-3] [INFO] [1746051025.959206540] [sailbot.main_algo]: Heading Difference: 148.5873962248064 +[main_algo-3] [INFO] [1746051025.960061673] [sailbot.main_algo]: Wind Direction: 115 +[main_algo-3] [INFO] [1746051025.960922289] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051025.961714904] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051025.962731996] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051025.963504622] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051026.002997482] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892579 Long: -76.50323007 +[vectornav-1] [INFO] [1746051026.004296934] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.12299999999999, 0.037, 7.329) +[main_algo-3] [INFO] [1746051026.004348606] [sailbot.main_algo]: Distance to destination: 23.487564594479412 +[main_algo-3] [INFO] [1746051026.006596496] [sailbot.main_algo]: Target Bearing: -106.75143733834086 +[main_algo-3] [INFO] [1746051026.007619395] [sailbot.main_algo]: Heading Difference: 149.13243733834082 +[main_algo-3] [INFO] [1746051026.008532263] [sailbot.main_algo]: Wind Direction: 115 +[main_algo-3] [INFO] [1746051026.009389971] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051026.010226173] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051026.011904329] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051026.045191072] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051026.046562041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051026.046610525] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051026.049152091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051026.052804642] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051026.085076487] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051026.087165883] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051026.087316476] [sailbot.teensy]: Wind angle: 115 +[mux-7] [INFO] [1746051026.087807024] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051026.088500857] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051026.089338084] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051026.090287651] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051026.144984209] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051026.145697200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051026.146289631] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051026.147593362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051026.148663044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051026.244902854] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051026.246297330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051026.246338962] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051026.247830667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051026.248356571] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051026.335300622] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051026.337153228] [sailbot.teensy]: Wind angle: 115 +[teensy-2] [INFO] [1746051026.338085211] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051026.338376620] [sailbot.mux]: algo sail angle: 15 +[trim_sail-4] [INFO] [1746051026.338482181] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051026.339013667] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051026.339953135] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051026.344569602] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051026.344962025] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051026.345901800] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051026.346701856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051026.347886470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051026.445465326] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051026.446238094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051026.447204048] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051026.448577210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051026.449739954] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051026.457062414] [sailbot.main_algo]: Wind Direction: 115 +[main_algo-3] [INFO] [1746051026.458047466] [sailbot.main_algo]: Target Bearing: -106.75143733834086 +[main_algo-3] [INFO] [1746051026.458929450] [sailbot.main_algo]: Heading Difference: 143.87443733834084 +[main_algo-3] [INFO] [1746051026.459777064] [sailbot.main_algo]: Wind Direction: 115 +[main_algo-3] [INFO] [1746051026.460610764] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051026.461399097] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051026.462372870] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051026.462976257] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051026.503101689] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892826 Long: -76.50322542 +[main_algo-3] [INFO] [1746051026.504485132] [sailbot.main_algo]: Distance to destination: 23.857098377370267 +[vectornav-1] [INFO] [1746051026.504793296] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.43099999999998, -1.181, 11.51) +[main_algo-3] [INFO] [1746051026.505835702] [sailbot.main_algo]: Target Bearing: -107.45658693378283 +[main_algo-3] [INFO] [1746051026.506885851] [sailbot.main_algo]: Heading Difference: 144.57958693378282 +[main_algo-3] [INFO] [1746051026.507827661] [sailbot.main_algo]: Wind Direction: 115 +[main_algo-3] [INFO] [1746051026.508740371] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051026.509593837] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051026.511302440] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051026.545108943] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051026.545876905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051026.546439789] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051026.548020271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051026.549142043] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051026.585105060] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051026.587068765] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746051026.587791364] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051026.588139597] [sailbot.teensy]: Wind angle: 114 +[teensy-2] [INFO] [1746051026.589059851] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051026.589962555] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051026.590860222] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051026.645155412] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051026.645840044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051026.646549987] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051026.647809499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051026.648891328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051026.745266679] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051026.746176185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051026.746863638] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051026.748344045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051026.749583111] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051026.835263821] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051026.837569681] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051026.838228460] [sailbot.teensy]: Wind angle: 107 +[mux-7] [INFO] [1746051026.838265334] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051026.839105528] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051026.839496414] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051026.839858365] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051026.844375172] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051026.845033458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051026.845474030] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051026.846773782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051026.847812800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051026.945152304] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051026.945849882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051026.946967832] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051026.948131558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051026.949400788] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051026.957047419] [sailbot.main_algo]: Wind Direction: 107 +[main_algo-3] [INFO] [1746051026.958023297] [sailbot.main_algo]: Target Bearing: -107.45658693378283 +[main_algo-3] [INFO] [1746051026.958905607] [sailbot.main_algo]: Heading Difference: 140.8875869337828 +[main_algo-3] [INFO] [1746051026.959745201] [sailbot.main_algo]: Wind Direction: 107 +[main_algo-3] [INFO] [1746051026.960583805] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051026.961387091] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051026.962371298] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051026.962846694] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051027.002825310] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893018 Long: -76.50321926 +[main_algo-3] [INFO] [1746051027.003790148] [sailbot.main_algo]: Distance to destination: 24.208705164857673 +[vectornav-1] [INFO] [1746051027.003946033] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (25.915999999999997, 0.903, 10.888) +[main_algo-3] [INFO] [1746051027.004900492] [sailbot.main_algo]: Target Bearing: -108.463511996411 +[main_algo-3] [INFO] [1746051027.005852737] [sailbot.main_algo]: Heading Difference: 141.89451199641098 +[main_algo-3] [INFO] [1746051027.006810344] [sailbot.main_algo]: Wind Direction: 107 +[main_algo-3] [INFO] [1746051027.007705765] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051027.008566731] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051027.010375776] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051027.045237172] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051027.046057575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051027.046875096] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051027.048206542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051027.049249350] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051027.085365307] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051027.087226949] [sailbot.teensy]: Wind angle: 103 +[teensy-2] [INFO] [1746051027.088191651] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051027.087780912] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051027.089085898] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051027.089410041] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051027.089971720] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051027.145495198] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051027.145858338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051027.147549905] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051027.148332644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051027.149496062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051027.245302628] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051027.245833122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051027.246734801] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051027.247727699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051027.248785959] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051027.335456607] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051027.338053175] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746051027.338475880] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051027.338787523] [sailbot.teensy]: Wind angle: 104 +[teensy-2] [INFO] [1746051027.339716311] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051027.340599387] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051027.341449338] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051027.344414019] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051027.344831002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051027.345542992] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051027.346487784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051027.347577502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051027.445251322] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051027.446121365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051027.447252261] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051027.447944582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051027.448435390] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051027.457249177] [sailbot.main_algo]: Wind Direction: 104 +[main_algo-3] [INFO] [1746051027.458282920] [sailbot.main_algo]: Target Bearing: -108.463511996411 +[main_algo-3] [INFO] [1746051027.459171568] [sailbot.main_algo]: Heading Difference: 134.379511996411 +[main_algo-3] [INFO] [1746051027.460049028] [sailbot.main_algo]: Wind Direction: 104 +[main_algo-3] [INFO] [1746051027.460925819] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051027.461783517] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051027.462879104] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051027.463544764] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051027.502815079] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893161 Long: -76.5032134 +[main_algo-3] [INFO] [1746051027.503803413] [sailbot.main_algo]: Distance to destination: 24.50814872546281 +[main_algo-3] [INFO] [1746051027.504965136] [sailbot.main_algo]: Target Bearing: -109.42681737612904 +[vectornav-1] [INFO] [1746051027.505454655] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (20.34899999999999, -1.471, 10.565) +[main_algo-3] [INFO] [1746051027.505995682] [sailbot.main_algo]: Heading Difference: 135.342817376129 +[main_algo-3] [INFO] [1746051027.506918859] [sailbot.main_algo]: Wind Direction: 104 +[main_algo-3] [INFO] [1746051027.507768192] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051027.508645305] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051027.510472615] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051027.545038377] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051027.545746470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051027.546406229] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051027.547691407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051027.548842217] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051027.585255553] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051027.587033680] [sailbot.teensy]: Wind angle: 103 +[trim_sail-4] [INFO] [1746051027.587590820] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051027.587961505] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051027.588901340] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051027.588986567] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051027.589802763] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051027.645046508] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051027.645684981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051027.646420769] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051027.647629626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051027.648650635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051027.745188830] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051027.745862249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051027.747047154] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051027.748094569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051027.748799673] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051027.835248840] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051027.836983386] [sailbot.teensy]: Wind angle: 101 +[trim_sail-4] [INFO] [1746051027.837471992] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746051027.839387726] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051027.839474298] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051027.840429233] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051027.841375914] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051027.844419806] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051027.844753372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051027.845571284] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051027.846428652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051027.847597004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051027.945396070] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051027.946069612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051027.947347154] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051027.948138618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051027.949374670] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051027.957237889] [sailbot.main_algo]: Wind Direction: 101 +[main_algo-3] [INFO] [1746051027.958320142] [sailbot.main_algo]: Target Bearing: -109.42681737612904 +[main_algo-3] [INFO] [1746051027.959413940] [sailbot.main_algo]: Heading Difference: 129.775817376129 +[main_algo-3] [INFO] [1746051027.960458370] [sailbot.main_algo]: Wind Direction: 101 +[main_algo-3] [INFO] [1746051027.961366113] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051027.962241990] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051027.963392953] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051027.964170134] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051028.003164096] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893429 Long: -76.50320748 +[main_algo-3] [INFO] [1746051028.004416764] [sailbot.main_algo]: Distance to destination: 24.947001212405663 +[vectornav-1] [INFO] [1746051028.004504649] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (20.836000000000013, -2.35, 8.79) +[main_algo-3] [INFO] [1746051028.005941570] [sailbot.main_algo]: Target Bearing: -110.27164877646855 +[main_algo-3] [INFO] [1746051028.006977487] [sailbot.main_algo]: Heading Difference: 130.62064877646856 +[main_algo-3] [INFO] [1746051028.007900835] [sailbot.main_algo]: Wind Direction: 101 +[main_algo-3] [INFO] [1746051028.008800377] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051028.009644145] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051028.011424956] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051028.045325278] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051028.046192893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051028.046788956] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051028.048553556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051028.049776913] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051028.085104221] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051028.086989313] [sailbot.teensy]: Wind angle: 98 +[trim_sail-4] [INFO] [1746051028.087035769] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051028.087917869] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051028.088851236] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051028.089126900] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051028.089732915] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051028.144844592] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051028.145535530] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051028.146121685] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051028.147428583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051028.148586150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051028.244934870] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051028.245660130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051028.246178341] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051028.247550753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051028.248680139] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051028.335468075] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051028.337392655] [sailbot.teensy]: Wind angle: 98 +[trim_sail-4] [INFO] [1746051028.337927158] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051028.338369055] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051028.339375126] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051028.340369265] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051028.340594893] [sailbot.mux]: algo sail angle: 25 +[mux-7] [INFO] [1746051028.344404635] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051028.344963405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051028.345535958] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051028.346668921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051028.347693926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051028.445386729] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051028.446223567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051028.447095597] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051028.447996900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051028.448462288] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051028.457237643] [sailbot.main_algo]: Wind Direction: 98 +[main_algo-3] [INFO] [1746051028.458297290] [sailbot.main_algo]: Target Bearing: -110.27164877646855 +[main_algo-3] [INFO] [1746051028.459192555] [sailbot.main_algo]: Heading Difference: 131.10764877646858 +[main_algo-3] [INFO] [1746051028.460043851] [sailbot.main_algo]: Wind Direction: 98 +[main_algo-3] [INFO] [1746051028.460921209] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051028.461782578] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051028.462835282] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051028.463389672] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051028.502669187] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893565 Long: -76.50320059 +[main_algo-3] [INFO] [1746051028.503503692] [sailbot.main_algo]: Distance to destination: 25.281078204496737 +[vectornav-1] [INFO] [1746051028.503721813] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (15.62299999999999, 2.307, 12.981) +[main_algo-3] [INFO] [1746051028.504617695] [sailbot.main_algo]: Target Bearing: -111.37090246720129 +[main_algo-3] [INFO] [1746051028.505603149] [sailbot.main_algo]: Heading Difference: 132.2069024672013 +[main_algo-3] [INFO] [1746051028.506529028] [sailbot.main_algo]: Wind Direction: 98 +[main_algo-3] [INFO] [1746051028.507419122] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051028.508300428] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051028.510174806] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051028.544903076] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051028.545648545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051028.546127793] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051028.547482023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051028.548676728] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051028.585372628] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051028.587527732] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051028.587888492] [sailbot.teensy]: Wind angle: 100 +[teensy-2] [INFO] [1746051028.588904969] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051028.588949666] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051028.589867593] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051028.590763519] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051028.644747519] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051028.645496009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051028.645906217] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051028.647319102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051028.648350677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051028.744935932] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051028.745603341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051028.746223884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051028.747611617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051028.748650742] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051028.835464117] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051028.837374372] [sailbot.teensy]: Wind angle: 100 +[trim_sail-4] [INFO] [1746051028.838106597] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746051028.838683429] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051028.839932376] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051028.840814198] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051028.841647400] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051028.844337310] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051028.845084617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051028.845591501] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051028.847119232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051028.848255373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051028.945470460] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051028.946220999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051028.947061086] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051028.948531411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051028.949802199] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051028.957258599] [sailbot.main_algo]: Wind Direction: 100 +[main_algo-3] [INFO] [1746051028.958331933] [sailbot.main_algo]: Target Bearing: -111.37090246720129 +[main_algo-3] [INFO] [1746051028.959238311] [sailbot.main_algo]: Heading Difference: 126.99390246720128 +[main_algo-3] [INFO] [1746051028.960087972] [sailbot.main_algo]: Wind Direction: 100 +[main_algo-3] [INFO] [1746051028.960981879] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051028.961837598] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051028.963058642] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051028.963620574] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051029.003231998] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893595 Long: -76.50319393 +[main_algo-3] [INFO] [1746051029.004395586] [sailbot.main_algo]: Distance to destination: 25.507734114233287 +[vectornav-1] [INFO] [1746051029.004640834] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (8.463999999999999, 0.767, 8.709) +[main_algo-3] [INFO] [1746051029.005659312] [sailbot.main_algo]: Target Bearing: -112.49815409638045 +[main_algo-3] [INFO] [1746051029.006693914] [sailbot.main_algo]: Heading Difference: 128.12115409638045 +[main_algo-3] [INFO] [1746051029.007582755] [sailbot.main_algo]: Wind Direction: 100 +[main_algo-3] [INFO] [1746051029.008500631] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051029.009350723] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051029.011039290] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051029.045731827] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051029.045850620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051029.047098168] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051029.047900525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051029.049049947] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051029.085153742] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051029.087285574] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051029.088245364] [sailbot.teensy]: Wind angle: 100 +[mux-7] [INFO] [1746051029.089162425] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051029.089289807] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051029.090230514] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051029.091136725] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051029.144777621] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051029.145366529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051029.145936405] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051029.147136338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051029.148285517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051029.245362831] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051029.246300151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051029.246845866] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051029.248588564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051029.249205746] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051029.335260178] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051029.337591607] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746051029.338052362] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051029.338166072] [sailbot.teensy]: Wind angle: 95 +[teensy-2] [INFO] [1746051029.339461476] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051029.340369384] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051029.341206260] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051029.344433208] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051029.344803314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051029.345561247] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051029.346407497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051029.347430473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051029.445467925] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051029.446415217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051029.447087614] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051029.448859265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051029.450142068] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051029.456997218] [sailbot.main_algo]: Wind Direction: 95 +[main_algo-3] [INFO] [1746051029.457951711] [sailbot.main_algo]: Target Bearing: -112.49815409638045 +[main_algo-3] [INFO] [1746051029.458811183] [sailbot.main_algo]: Heading Difference: 120.96215409638046 +[main_algo-3] [INFO] [1746051029.459601182] [sailbot.main_algo]: Wind Direction: 95 +[main_algo-3] [INFO] [1746051029.460401105] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051029.461196620] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051029.462185542] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051029.462780479] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051029.503642175] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689369 Long: -76.50318814 +[main_algo-3] [INFO] [1746051029.504232994] [sailbot.main_algo]: Distance to destination: 25.783429221004884 +[vectornav-1] [INFO] [1746051029.505170811] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (3.913000000000011, -1.444, 4.121) +[main_algo-3] [INFO] [1746051029.505491439] [sailbot.main_algo]: Target Bearing: -113.39674243236395 +[main_algo-3] [INFO] [1746051029.506553508] [sailbot.main_algo]: Heading Difference: 121.86074243236396 +[main_algo-3] [INFO] [1746051029.507463004] [sailbot.main_algo]: Wind Direction: 95 +[main_algo-3] [INFO] [1746051029.508399563] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051029.509240764] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051029.510948265] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051029.544896294] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051029.545560445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051029.546276386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051029.547377330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051029.548580852] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051029.585343327] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051029.587358069] [sailbot.teensy]: Wind angle: 88 +[trim_sail-4] [INFO] [1746051029.587711249] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746051029.588348029] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051029.589210512] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051029.589212044] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051029.590125201] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051029.645407298] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051029.646406291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051029.647036889] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051029.648750147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051029.650022935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051029.745573759] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051029.746633925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051029.747276979] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051029.748535423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051029.749037240] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051029.835254392] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051029.837659648] [sailbot.teensy]: Wind angle: 90 +[trim_sail-4] [INFO] [1746051029.838229417] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746051029.838708170] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051029.838783711] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051029.839357354] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051029.839696854] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051029.844503808] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051029.845194138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051029.845876598] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051029.847004192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051029.848056904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051029.945290523] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051029.945906822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051029.947168408] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051029.948093496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051029.949424919] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051029.957101746] [sailbot.main_algo]: Wind Direction: 90 +[main_algo-3] [INFO] [1746051029.958097024] [sailbot.main_algo]: Target Bearing: -113.39674243236395 +[main_algo-3] [INFO] [1746051029.958992748] [sailbot.main_algo]: Heading Difference: 117.30974243236398 +[main_algo-3] [INFO] [1746051029.959898590] [sailbot.main_algo]: Wind Direction: 90 +[main_algo-3] [INFO] [1746051029.960810027] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051029.961660214] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051029.962667635] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051029.963383979] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051030.002944549] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893763 Long: -76.50318199 +[main_algo-3] [INFO] [1746051030.004010776] [sailbot.main_algo]: Distance to destination: 26.054599958516018 +[vectornav-1] [INFO] [1746051030.004349388] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (2.3489999999999895, -2.725, 8.233) +[main_algo-3] [INFO] [1746051030.005411658] [sailbot.main_algo]: Target Bearing: -114.35712666563829 +[main_algo-3] [INFO] [1746051030.006438625] [sailbot.main_algo]: Heading Difference: 118.27012666563832 +[main_algo-3] [INFO] [1746051030.007337906] [sailbot.main_algo]: Wind Direction: 90 +[main_algo-3] [INFO] [1746051030.008220398] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051030.009078795] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051030.010823203] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051030.045101527] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051030.045835141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051030.046502936] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051030.047791403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051030.048866814] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051030.085185870] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051030.087200714] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746051030.088805663] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051030.089498886] [sailbot.teensy]: Wind angle: 92 +[teensy-2] [INFO] [1746051030.090393199] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051030.091241071] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051030.092051650] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051030.144405527] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051030.145085091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051030.145425543] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051030.146835396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051030.147761042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051030.245168819] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051030.246170865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051030.246999936] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051030.247975704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051030.248529663] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051030.335035915] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051030.337129373] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746051030.337600389] [sailbot.teensy]: Wind angle: 92 +[mux-7] [INFO] [1746051030.338298224] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051030.338517294] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051030.339025485] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051030.339390920] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051030.344405755] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051030.345029868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051030.345484102] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051030.346866863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051030.348055244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051030.445445643] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051030.446678279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051030.447177856] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051030.448402331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051030.448801693] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051030.456999700] [sailbot.main_algo]: Wind Direction: 92 +[main_algo-3] [INFO] [1746051030.458017923] [sailbot.main_algo]: Target Bearing: -114.35712666563829 +[main_algo-3] [INFO] [1746051030.458902596] [sailbot.main_algo]: Heading Difference: 116.7061266656383 +[main_algo-3] [INFO] [1746051030.459699198] [sailbot.main_algo]: Wind Direction: 92 +[main_algo-3] [INFO] [1746051030.460499332] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051030.461270499] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051030.462270534] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051030.463087298] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051030.503389895] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893679 Long: -76.50317463 +[main_algo-3] [INFO] [1746051030.504396956] [sailbot.main_algo]: Distance to destination: 26.21541887000657 +[vectornav-1] [INFO] [1746051030.504592391] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (354.877, -0.586, 10.734) +[main_algo-3] [INFO] [1746051030.505440056] [sailbot.main_algo]: Target Bearing: -115.65238782397394 +[main_algo-3] [INFO] [1746051030.506398973] [sailbot.main_algo]: Heading Difference: 118.00138782397391 +[main_algo-3] [INFO] [1746051030.507310962] [sailbot.main_algo]: Wind Direction: 92 +[main_algo-3] [INFO] [1746051030.508205051] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051030.509052384] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051030.510770312] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051030.545014720] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051030.545671163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051030.546306980] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051030.547511301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051030.548576568] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051030.585373410] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051030.587518737] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746051030.588108631] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051030.588457000] [sailbot.teensy]: Wind angle: 93 +[teensy-2] [INFO] [1746051030.589448364] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051030.590331439] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051030.591197763] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051030.645109035] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051030.646121904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051030.646700904] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051030.648424023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051030.649484463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051030.745115112] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051030.745894265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051030.746862624] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051030.747822010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051030.749065691] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051030.835339219] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051030.837609125] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746051030.838333848] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051030.838538161] [sailbot.teensy]: Wind angle: 92 +[teensy-2] [INFO] [1746051030.838926435] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051030.839309434] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051030.839665387] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051030.844491324] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051030.845194702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051030.845707751] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051030.846942357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051030.848073268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051030.945317589] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051030.946265496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051030.947035347] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051030.947688014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051030.948164486] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051030.957005791] [sailbot.main_algo]: Wind Direction: 92 +[main_algo-3] [INFO] [1746051030.957938898] [sailbot.main_algo]: Target Bearing: -115.65238782397394 +[main_algo-3] [INFO] [1746051030.958781014] [sailbot.main_algo]: Heading Difference: 110.52938782397393 +[main_algo-3] [INFO] [1746051030.959627496] [sailbot.main_algo]: Wind Direction: 92 +[main_algo-3] [INFO] [1746051030.960463134] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051030.961264965] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051030.962272249] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051030.963117466] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051031.003677833] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893539 Long: -76.50316779 +[main_algo-3] [INFO] [1746051031.004400691] [sailbot.main_algo]: Distance to destination: 26.31484553188446 +[vectornav-1] [INFO] [1746051031.005439097] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (347.831, 3.288, 8.073) +[main_algo-3] [INFO] [1746051031.005592209] [sailbot.main_algo]: Target Bearing: -116.90666281369727 +[main_algo-3] [INFO] [1746051031.006926684] [sailbot.main_algo]: Heading Difference: 111.78366281369722 +[main_algo-3] [INFO] [1746051031.008074309] [sailbot.main_algo]: Wind Direction: 92 +[main_algo-3] [INFO] [1746051031.009018696] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051031.009929585] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051031.011744257] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051031.045369205] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051031.045945487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051031.046956085] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051031.048253332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051031.049449552] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051031.085425788] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051031.087986703] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746051031.088481847] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051031.089107668] [sailbot.teensy]: Wind angle: 84 +[teensy-2] [INFO] [1746051031.090316035] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051031.091203527] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051031.092041008] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051031.144773162] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051031.145487665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051031.146363586] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051031.147267404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051031.148510486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051031.244949386] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051031.245803020] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051031.246356848] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051031.247606079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051031.248796166] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051031.335204269] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051031.338088115] [sailbot.teensy]: Wind angle: 73 +[trim_sail-4] [INFO] [1746051031.338306837] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051031.338649796] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051031.339378672] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051031.340299203] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051031.341169827] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051031.344335246] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051031.344861930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051031.345414991] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051031.346550218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051031.347702587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051031.445348216] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051031.446034414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051031.446865232] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051031.448363412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051031.449688497] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051031.457214134] [sailbot.main_algo]: Wind Direction: 73 +[main_algo-3] [INFO] [1746051031.458281347] [sailbot.main_algo]: Target Bearing: -116.90666281369727 +[main_algo-3] [INFO] [1746051031.459190757] [sailbot.main_algo]: Heading Difference: 104.73766281369728 +[main_algo-3] [INFO] [1746051031.460034523] [sailbot.main_algo]: Wind Direction: 73 +[main_algo-3] [INFO] [1746051031.460890148] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051031.461692751] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051031.462675823] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051031.463402209] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051031.503095729] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893445 Long: -76.5031619 +[vectornav-1] [INFO] [1746051031.504431944] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (343.418, -0.027, 5.201) +[main_algo-3] [INFO] [1746051031.504796524] [sailbot.main_algo]: Distance to destination: 26.436784672230072 +[main_algo-3] [INFO] [1746051031.505980399] [sailbot.main_algo]: Target Bearing: -117.94975013098637 +[main_algo-3] [INFO] [1746051031.506960087] [sailbot.main_algo]: Heading Difference: 105.78075013098646 +[main_algo-3] [INFO] [1746051031.507875963] [sailbot.main_algo]: Wind Direction: 73 +[main_algo-3] [INFO] [1746051031.508804746] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051031.509666138] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051031.511423845] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051031.545133999] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051031.545868923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051031.546582990] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051031.548201487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051031.549352137] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051031.585226247] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051031.586788407] [sailbot.teensy]: Wind angle: 72 +[trim_sail-4] [INFO] [1746051031.587753202] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051031.588643375] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051031.589110863] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051031.589690874] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051031.590630637] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051031.644675332] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051031.645273928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051031.645860625] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051031.647039409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051031.648077187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051031.745389101] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051031.746167675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051031.746875131] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051031.748283222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051031.749539313] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051031.835268725] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051031.837178265] [sailbot.teensy]: Wind angle: 73 +[trim_sail-4] [INFO] [1746051031.837707261] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051031.838129764] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051031.839042317] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051031.839559578] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051031.839927014] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051031.844447299] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051031.845238048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051031.845684289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051031.847011082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051031.848180930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051031.945333876] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051031.946120933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051031.946809976] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051031.948464531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051031.949553663] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051031.957151987] [sailbot.main_algo]: Wind Direction: 73 +[main_algo-3] [INFO] [1746051031.958156105] [sailbot.main_algo]: Target Bearing: -117.94975013098637 +[main_algo-3] [INFO] [1746051031.959043867] [sailbot.main_algo]: Heading Difference: 101.36775013098645 +[main_algo-3] [INFO] [1746051031.959896365] [sailbot.main_algo]: Wind Direction: 73 +[main_algo-3] [INFO] [1746051031.960864470] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051031.961726881] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051031.962846104] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051031.963630359] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051032.002826031] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893302 Long: -76.50315646 +[vectornav-1] [INFO] [1746051032.003954929] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (340.336, -2.604, 7.763) +[main_algo-3] [INFO] [1746051032.003945377] [sailbot.main_algo]: Distance to destination: 26.501989307868758 +[main_algo-3] [INFO] [1746051032.005130070] [sailbot.main_algo]: Target Bearing: -118.96744599751683 +[main_algo-3] [INFO] [1746051032.006120077] [sailbot.main_algo]: Heading Difference: 102.38544599751685 +[main_algo-3] [INFO] [1746051032.007061833] [sailbot.main_algo]: Wind Direction: 73 +[main_algo-3] [INFO] [1746051032.007983035] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051032.008880419] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051032.010589046] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051032.045341566] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051032.045704491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051032.046647064] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051032.047700328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051032.048813477] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051032.085107229] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051032.087268755] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051032.087273403] [sailbot.teensy]: Wind angle: 74 +[teensy-2] [INFO] [1746051032.088198735] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051032.088847753] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051032.089103297] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051032.090035825] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051032.107837496] [sailbot.mux]: controller_app rudder angle: -7 +[mux-7] [INFO] [1746051032.144977935] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051032.145902252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051032.146492273] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051032.147730633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051032.148897657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051032.245358372] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051032.246105841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051032.246978361] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051032.248278333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051032.249584416] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051032.335346581] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051032.337441887] [sailbot.teensy]: Wind angle: 70 +[trim_sail-4] [INFO] [1746051032.338173982] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051032.338431544] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051032.339289293] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051032.339317670] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051032.340221070] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051032.344592127] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051032.345211565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051032.345796737] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051032.347030515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051032.348078663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051032.445241978] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051032.445872891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051032.446896575] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051032.448057892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051032.449241239] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051032.456995695] [sailbot.main_algo]: Wind Direction: 70 +[main_algo-3] [INFO] [1746051032.457928202] [sailbot.main_algo]: Target Bearing: -118.96744599751683 +[main_algo-3] [INFO] [1746051032.458741580] [sailbot.main_algo]: Heading Difference: 99.30344599751686 +[main_algo-3] [INFO] [1746051032.459524637] [sailbot.main_algo]: Wind Direction: 70 +[main_algo-3] [INFO] [1746051032.460346158] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051032.461128309] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051032.462136735] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051032.462985466] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051032.503104112] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893092 Long: -76.50315057 +[main_algo-3] [INFO] [1746051032.503998068] [sailbot.main_algo]: Distance to destination: 26.528416789511027 +[vectornav-1] [INFO] [1746051032.504550223] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (337.712, -1.187, 6.71) +[main_algo-3] [INFO] [1746051032.505150423] [sailbot.main_algo]: Target Bearing: -120.127572248622 +[main_algo-3] [INFO] [1746051032.506145808] [sailbot.main_algo]: Heading Difference: 100.46357224862209 +[main_algo-3] [INFO] [1746051032.507059050] [sailbot.main_algo]: Wind Direction: 70 +[main_algo-3] [INFO] [1746051032.507926962] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051032.508778075] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051032.510464915] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051032.545106374] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051032.545960879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051032.546716685] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051032.548468267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051032.549512877] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051032.585376418] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051032.588114273] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051032.588503319] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051032.588894915] [sailbot.teensy]: Wind angle: 70 +[teensy-2] [INFO] [1746051032.589858761] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051032.590744504] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746051032.591597362] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051032.644822184] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051032.645694225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051032.646100159] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051032.647724400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051032.648792449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051032.745443260] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051032.746079121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051032.747062769] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051032.748239210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051032.749318072] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051032.835339693] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051032.837854794] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051032.838406212] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051032.838739204] [sailbot.teensy]: Wind angle: 70 +[teensy-2] [INFO] [1746051032.839726025] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051032.840601963] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746051032.841447105] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051032.844296038] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051032.844826075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051032.845604366] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051032.846552509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051032.847621181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051032.945008564] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051032.945774941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051032.946456369] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051032.947770049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051032.948401914] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051032.957088916] [sailbot.main_algo]: Wind Direction: 70 +[main_algo-3] [INFO] [1746051032.958091055] [sailbot.main_algo]: Target Bearing: -120.127572248622 +[main_algo-3] [INFO] [1746051032.958964520] [sailbot.main_algo]: Heading Difference: 97.83957224862206 +[main_algo-3] [INFO] [1746051032.959807369] [sailbot.main_algo]: Wind Direction: 70 +[main_algo-3] [INFO] [1746051032.960638433] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051032.961420602] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051032.962535067] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051032.963033712] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051033.003002826] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892891 Long: -76.50314427 +[vectornav-1] [INFO] [1746051033.004938445] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (339.479, 1.244, 9.014) +[main_algo-3] [INFO] [1746051033.004927282] [sailbot.main_algo]: Distance to destination: 26.59133259984256 +[main_algo-3] [INFO] [1746051033.006113470] [sailbot.main_algo]: Target Bearing: -121.33679341467014 +[main_algo-3] [INFO] [1746051033.007111641] [sailbot.main_algo]: Heading Difference: 99.04879341467017 +[main_algo-3] [INFO] [1746051033.008069279] [sailbot.main_algo]: Wind Direction: 70 +[main_algo-3] [INFO] [1746051033.008976159] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051033.009833425] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051033.011526847] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051033.045110394] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051033.045968043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051033.046521105] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051033.047949816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051033.049051844] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051033.085106340] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051033.086730533] [sailbot.teensy]: Wind angle: 70 +[teensy-2] [INFO] [1746051033.087667575] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051033.087495232] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051033.088352547] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051033.088595626] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746051033.089491840] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051033.144936507] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051033.145637192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051033.146745477] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051033.147476015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051033.148577294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051033.245256272] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051033.246276995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051033.246771507] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051033.248110762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051033.248628592] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051033.335296275] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051033.337460096] [sailbot.teensy]: Wind angle: 70 +[trim_sail-4] [INFO] [1746051033.337517977] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051033.338445356] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051033.339166706] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051033.339336462] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746051033.340235882] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051033.344356384] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051033.344858930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051033.345495229] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051033.346575663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051033.347637800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051033.363912468] [sailbot.mux]: controller_app rudder angle: -8 +[mux-7] [INFO] [1746051033.444896128] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051033.445637893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051033.446447751] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746051033.447510833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746051033.448672694] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051033.457049477] [sailbot.main_algo]: Wind Direction: 70 +[main_algo-3] [INFO] [1746051033.457994463] [sailbot.main_algo]: Target Bearing: -121.33679341467014 +[main_algo-3] [INFO] [1746051033.458865311] [sailbot.main_algo]: Heading Difference: 100.81579341467011 +[main_algo-3] [INFO] [1746051033.459692500] [sailbot.main_algo]: Wind Direction: 70 +[main_algo-3] [INFO] [1746051033.460516541] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051033.461322020] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051033.462341441] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051033.463641055] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051033.502841589] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892691 Long: -76.50313877 +[main_algo-3] [INFO] [1746051033.503526060] [sailbot.main_algo]: Distance to destination: 26.63264762783273 +[vectornav-1] [INFO] [1746051033.504099014] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (341.817, 0.957, 9.216) +[main_algo-3] [INFO] [1746051033.504589429] [sailbot.main_algo]: Target Bearing: -122.41789852002637 +[main_algo-3] [INFO] [1746051033.505568983] [sailbot.main_algo]: Heading Difference: 101.8968985200263 +[main_algo-3] [INFO] [1746051033.506483617] [sailbot.main_algo]: Wind Direction: 70 +[main_algo-3] [INFO] [1746051033.507353108] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051033.508214007] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051033.510036845] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051033.545192658] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051033.546020733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051033.546726071] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746051033.548270368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746051033.549556368] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051033.585480383] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051033.587716955] [sailbot.teensy]: Wind angle: 69 +[teensy-2] [INFO] [1746051033.588712185] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051033.588054966] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746051033.589663974] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746051033.589973269] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746051033.590605693] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051033.644886376] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051033.645400590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051033.646599582] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746051033.647308716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746051033.648422808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051033.744791691] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051033.745304032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051033.746041838] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746051033.747056243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746051033.748292900] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051033.835416019] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051033.837315438] [sailbot.teensy]: Wind angle: 70 +[trim_sail-4] [INFO] [1746051033.838048175] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051033.839159838] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051033.839477413] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051033.839554002] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746051033.839927988] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051033.844533212] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051033.845138294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051033.845751183] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746051033.846946869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746051033.847980509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051033.945303702] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051033.945940521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051033.946857046] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746051033.947887960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746051033.948820557] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051033.957097978] [sailbot.main_algo]: Wind Direction: 70 +[main_algo-3] [INFO] [1746051033.958096289] [sailbot.main_algo]: Target Bearing: -122.41789852002637 +[main_algo-3] [INFO] [1746051033.959088995] [sailbot.main_algo]: Heading Difference: 104.23489852002638 +[main_algo-3] [INFO] [1746051033.959966864] [sailbot.main_algo]: Wind Direction: 70 +[main_algo-3] [INFO] [1746051033.960783180] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051033.961583712] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051033.962719576] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051033.963244389] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051034.002873771] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892594 Long: -76.50313366 +[main_algo-3] [INFO] [1746051034.003764168] [sailbot.main_algo]: Distance to destination: 26.76283688696382 +[vectornav-1] [INFO] [1746051034.004006812] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (350.438, -1.406, 8.948) +[main_algo-3] [INFO] [1746051034.005786494] [sailbot.main_algo]: Target Bearing: -123.30584901064178 +[main_algo-3] [INFO] [1746051034.007100423] [sailbot.main_algo]: Heading Difference: 105.12284901064186 +[main_algo-3] [INFO] [1746051034.008045378] [sailbot.main_algo]: Wind Direction: 70 +[main_algo-3] [INFO] [1746051034.008924262] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051034.009753769] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051034.011289036] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051034.044935756] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051034.045679216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051034.046368004] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746051034.047647867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746051034.048686151] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051034.085334158] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051034.087108932] [sailbot.teensy]: Wind angle: 69 +[trim_sail-4] [INFO] [1746051034.087658034] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746051034.088045553] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051034.088974884] [sailbot.teensy]: Actual tail angle: 17 +[mux-7] [INFO] [1746051034.088607298] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746051034.089856570] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051034.108848008] [sailbot.mux]: controller_app rudder angle: -7 +[mux-7] [INFO] [1746051034.145202639] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051034.146140185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051034.147172042] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051034.148344658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051034.149518421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051034.245135145] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051034.245950110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051034.246416516] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051034.247646743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051034.248193805] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051034.335146728] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051034.337291597] [sailbot.teensy]: Wind angle: 70 +[trim_sail-4] [INFO] [1746051034.337330149] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051034.337898485] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051034.338441595] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051034.339564538] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746051034.340517677] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051034.344465263] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051034.344939050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051034.345644115] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051034.346655580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051034.347710862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051034.445647163] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051034.446451450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051034.447485473] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051034.448818445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051034.449985895] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051034.456944885] [sailbot.main_algo]: Wind Direction: 70 +[main_algo-3] [INFO] [1746051034.457899755] [sailbot.main_algo]: Target Bearing: -123.30584901064178 +[main_algo-3] [INFO] [1746051034.458777966] [sailbot.main_algo]: Heading Difference: 113.74384901064172 +[main_algo-3] [INFO] [1746051034.459566715] [sailbot.main_algo]: Wind Direction: 70 +[main_algo-3] [INFO] [1746051034.460354765] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051034.461160660] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051034.462120777] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051034.462746957] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051034.502893369] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892544 Long: -76.5031283 +[main_algo-3] [INFO] [1746051034.503535490] [sailbot.main_algo]: Distance to destination: 26.95433184114146 +[vectornav-1] [INFO] [1746051034.503983247] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (9.891999999999996, -1.119, 13.754) +[main_algo-3] [INFO] [1746051034.504579116] [sailbot.main_algo]: Target Bearing: -124.160861902207 +[main_algo-3] [INFO] [1746051034.505577265] [sailbot.main_algo]: Heading Difference: 114.59886190220698 +[main_algo-3] [INFO] [1746051034.506477961] [sailbot.main_algo]: Wind Direction: 70 +[main_algo-3] [INFO] [1746051034.507375518] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051034.508266474] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051034.509948551] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051034.544929574] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051034.545699127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051034.546236095] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051034.547559002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051034.548740239] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051034.585455763] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051034.587316802] [sailbot.teensy]: Wind angle: 76 +[trim_sail-4] [INFO] [1746051034.588122801] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746051034.588291667] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051034.589224086] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746051034.589325386] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746051034.590282255] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051034.645078730] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051034.645860023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051034.646954859] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051034.647909642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051034.649230750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051034.745212208] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051034.746575802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051034.746725639] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051034.748778900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051034.749907711] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051034.835573871] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051034.838073764] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746051034.838758581] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051034.839451117] [sailbot.teensy]: Wind angle: 89 +[teensy-2] [INFO] [1746051034.839877393] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051034.840532096] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746051034.841407218] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051034.844515142] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051034.844839009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051034.845814300] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051034.846540312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051034.847636219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051034.944971546] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051034.945695995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051034.946510034] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051034.947798179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051034.948840968] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051034.957036378] [sailbot.main_algo]: Wind Direction: 89 +[main_algo-3] [INFO] [1746051034.958001765] [sailbot.main_algo]: Target Bearing: -124.160861902207 +[main_algo-3] [INFO] [1746051034.958935526] [sailbot.main_algo]: Heading Difference: 134.05286190220698 +[main_algo-3] [INFO] [1746051034.959774108] [sailbot.main_algo]: Wind Direction: 89 +[main_algo-3] [INFO] [1746051034.960589005] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051034.961373074] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051034.962527891] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051034.962930468] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051035.003380012] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892642 Long: -76.50312364 +[main_algo-3] [INFO] [1746051035.003955096] [sailbot.main_algo]: Distance to destination: 27.256210953066223 +[vectornav-1] [INFO] [1746051035.005082312] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.244000000000028, 1.48, 16.68) +[main_algo-3] [INFO] [1746051035.005114087] [sailbot.main_algo]: Target Bearing: -124.71015346188176 +[main_algo-3] [INFO] [1746051035.006123513] [sailbot.main_algo]: Heading Difference: 134.60215346188176 +[main_algo-3] [INFO] [1746051035.007086965] [sailbot.main_algo]: Wind Direction: 89 +[main_algo-3] [INFO] [1746051035.007981116] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051035.008863275] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051035.010527702] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051035.045063835] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051035.045799931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051035.046931353] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051035.047822868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051035.048901242] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051035.085468210] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051035.087886386] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051035.088062416] [sailbot.teensy]: Wind angle: 101 +[teensy-2] [INFO] [1746051035.089195698] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051035.089646732] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051035.090104686] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746051035.091004958] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051035.143835438] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051035.144197601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051035.144463023] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051035.145070860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051035.145714534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051035.244866678] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051035.245569311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051035.246733519] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051035.247648742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051035.248739063] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051035.335238508] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051035.337513392] [sailbot.teensy]: Wind angle: 110 +[trim_sail-4] [INFO] [1746051035.337573478] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051035.338528513] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051035.339017048] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051035.339483113] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746051035.340429946] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051035.344363973] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051035.345061026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051035.345629493] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051035.346837453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051035.347987027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051035.444977630] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051035.445721348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051035.446257911] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051035.447690581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051035.448344876] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051035.457157817] [sailbot.main_algo]: Wind Direction: 110 +[main_algo-3] [INFO] [1746051035.458248763] [sailbot.main_algo]: Target Bearing: -124.71015346188176 +[main_algo-3] [INFO] [1746051035.459205061] [sailbot.main_algo]: Heading Difference: 154.9541534618818 +[main_algo-3] [INFO] [1746051035.460046116] [sailbot.main_algo]: Wind Direction: 110 +[main_algo-3] [INFO] [1746051035.460870826] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051035.461664893] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051035.462661782] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051035.463239225] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051035.502657512] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892872 Long: -76.50312021 +[main_algo-3] [INFO] [1746051035.503639902] [sailbot.main_algo]: Distance to destination: 27.625348358123443 +[vectornav-1] [INFO] [1746051035.503804503] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.891999999999996, -1.543, 15.15) +[main_algo-3] [INFO] [1746051035.505284574] [sailbot.main_algo]: Target Bearing: -124.9029019136671 +[main_algo-3] [INFO] [1746051035.506550986] [sailbot.main_algo]: Heading Difference: 155.14690191366714 +[main_algo-3] [INFO] [1746051035.507436963] [sailbot.main_algo]: Wind Direction: 110 +[main_algo-3] [INFO] [1746051035.508314216] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051035.509158992] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051035.510865849] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051035.545091427] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051035.545941197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051035.546500416] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051035.547957926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051035.549113156] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051035.585242576] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051035.587288955] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051035.587532104] [sailbot.teensy]: Wind angle: 117 +[teensy-2] [INFO] [1746051035.588699562] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051035.589039060] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051035.589661860] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746051035.590618359] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051035.645181395] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051035.645896413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051035.646623539] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051035.647657103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051035.648190078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051035.745162263] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051035.746035155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051035.746716847] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051035.748280547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051035.749364738] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051035.835310195] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051035.837519098] [sailbot.teensy]: Wind angle: 127 +[trim_sail-4] [INFO] [1746051035.837552423] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051035.839007275] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051035.839513613] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051035.840447943] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746051035.841291881] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051035.844555132] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051035.844898078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051035.845869353] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051035.846647453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051035.847709470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051035.945350979] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051035.946105018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051035.947089010] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051035.948087149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[mux-7] [INFO] [1746051035.949285192] [sailbot.mux]: controller_app rudder angle: 10 +[teensy-2] [INFO] [1746051035.949651816] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051035.957127205] [sailbot.main_algo]: Wind Direction: 127 +[main_algo-3] [INFO] [1746051035.958158384] [sailbot.main_algo]: Target Bearing: -124.9029019136671 +[main_algo-3] [INFO] [1746051035.959099571] [sailbot.main_algo]: Heading Difference: 174.7949019136671 +[main_algo-3] [INFO] [1746051035.959988254] [sailbot.main_algo]: Wind Direction: 127 +[main_algo-3] [INFO] [1746051035.960913928] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051035.961788371] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051035.962819804] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051035.963523053] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051036.003125486] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893134 Long: -76.50311792 +[main_algo-3] [INFO] [1746051036.004085206] [sailbot.main_algo]: Distance to destination: 27.97187960422241 +[vectornav-1] [INFO] [1746051036.004404109] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (69.55200000000002, 1.949, 13.625) +[main_algo-3] [INFO] [1746051036.005360880] [sailbot.main_algo]: Target Bearing: -124.89074714915053 +[main_algo-3] [INFO] [1746051036.006376389] [sailbot.main_algo]: Heading Difference: 174.7827471491505 +[main_algo-3] [INFO] [1746051036.007261473] [sailbot.main_algo]: Wind Direction: 127 +[main_algo-3] [INFO] [1746051036.008163127] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051036.009038444] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051036.010748919] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051036.045240581] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051036.045805154] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051036.046676492] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746051036.047771312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746051036.048960326] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051036.085226600] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051036.086798191] [sailbot.teensy]: Wind angle: 137 +[teensy-2] [INFO] [1746051036.087734682] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051036.087718344] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051036.088692781] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746051036.089254807] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051036.089670213] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051036.144995248] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051036.145457074] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051036.146376223] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746051036.147461231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746051036.148520293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051036.174339726] [sailbot.mux]: controller_app rudder angle: 11 +[mux-7] [INFO] [1746051036.244902253] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051036.245667328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051036.246285069] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746051036.247908378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746051036.249095608] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051036.335064143] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051036.336595932] [sailbot.teensy]: Wind angle: 141 +[trim_sail-4] [INFO] [1746051036.337187285] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051036.337517138] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051036.338406013] [sailbot.teensy]: Actual tail angle: 35 +[mux-7] [INFO] [1746051036.338654355] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051036.339294351] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051036.344419914] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051036.345133045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051036.346074764] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746051036.347076226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746051036.348092587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051036.445115965] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051036.445765577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051036.446921489] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746051036.447757846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746051036.448350264] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051036.456927982] [sailbot.main_algo]: Wind Direction: 141 +[main_algo-3] [INFO] [1746051036.457867227] [sailbot.main_algo]: Target Bearing: -124.89074714915053 +[main_algo-3] [INFO] [1746051036.458693699] [sailbot.main_algo]: Heading Difference: -165.55725285084947 +[main_algo-3] [INFO] [1746051036.459468096] [sailbot.main_algo]: Wind Direction: 141 +[main_algo-3] [INFO] [1746051036.460290475] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051036.461071738] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051036.462354183] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051036.462613083] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051036.503387031] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893382 Long: -76.5031176 +[main_algo-3] [INFO] [1746051036.503836939] [sailbot.main_algo]: Distance to destination: 28.21552444076011 +[vectornav-1] [INFO] [1746051036.504923406] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (83.65100000000001, -1.713, 9.776) +[main_algo-3] [INFO] [1746051036.505187268] [sailbot.main_algo]: Target Bearing: -124.62335901038999 +[main_algo-3] [INFO] [1746051036.506183545] [sailbot.main_algo]: Heading Difference: -165.82464098960997 +[main_algo-3] [INFO] [1746051036.507091208] [sailbot.main_algo]: Wind Direction: 141 +[main_algo-3] [INFO] [1746051036.507955665] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051036.508817316] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051036.510667572] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051036.545064821] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051036.545775190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051036.546511466] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746051036.547773515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746051036.548836262] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051036.585337277] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051036.587081490] [sailbot.teensy]: Wind angle: 143 +[teensy-2] [INFO] [1746051036.588012006] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051036.588054752] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051036.588885378] [sailbot.teensy]: Actual tail angle: 36 +[mux-7] [INFO] [1746051036.589383162] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051036.589784270] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051036.645351424] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051036.646065255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051036.646918180] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746051036.648630278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746051036.649945465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051036.745609106] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051036.746600181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051036.747404219] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746051036.749409655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746051036.750554955] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051036.835407409] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051036.837539835] [sailbot.teensy]: Wind angle: 147 +[trim_sail-4] [INFO] [1746051036.838051379] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051036.838588401] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051036.839157369] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051036.839539350] [sailbot.teensy]: Actual tail angle: 36 +[teensy-2] [INFO] [1746051036.840366721] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051036.844409547] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051036.845052956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051036.845607227] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746051036.846946666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746051036.847992232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051036.945140675] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051036.946166218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051036.946580601] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746051036.948387664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746051036.949476010] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051036.957110742] [sailbot.main_algo]: Wind Direction: 147 +[main_algo-3] [INFO] [1746051036.958156792] [sailbot.main_algo]: Target Bearing: -124.62335901038999 +[main_algo-3] [INFO] [1746051036.959186555] [sailbot.main_algo]: Heading Difference: -151.72564098960999 +[main_algo-3] [INFO] [1746051036.960093370] [sailbot.main_algo]: Wind Direction: 147 +[main_algo-3] [INFO] [1746051036.961000808] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051036.961858496] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051036.962965034] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051036.963897029] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051037.002906623] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689367 Long: -76.50311836 +[main_algo-3] [INFO] [1746051037.003860317] [sailbot.main_algo]: Distance to destination: 28.448242040241677 +[vectornav-1] [INFO] [1746051037.004076257] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (88.14999999999998, 0.722, 6.322) +[main_algo-3] [INFO] [1746051037.005112397] [sailbot.main_algo]: Target Bearing: -124.16197052129087 +[main_algo-3] [INFO] [1746051037.006068882] [sailbot.main_algo]: Heading Difference: -152.18702947870912 +[main_algo-3] [INFO] [1746051037.006968877] [sailbot.main_algo]: Wind Direction: 147 +[main_algo-3] [INFO] [1746051037.007864940] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051037.008729269] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051037.010464194] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051037.045085280] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051037.046158972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051037.046588678] [sailbot.mux]: Published rudder angle from controller_app: 11 +[teensy-2] [INFO] [1746051037.048308859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 +[teensy-2] [INFO] [1746051037.049494336] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051037.085213165] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051037.087089824] [sailbot.teensy]: Wind angle: 155 +[teensy-2] [INFO] [1746051037.088046200] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051037.088993081] [sailbot.teensy]: Actual tail angle: 36 +[trim_sail-4] [INFO] [1746051037.087681852] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051037.089028434] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051037.089956337] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051037.091098231] [sailbot.mux]: controller_app rudder angle: 12 +[mux-7] [INFO] [1746051037.145248882] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051037.146265394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051037.146820882] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051037.148719974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051037.149862570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051037.245236474] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051037.245996886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051037.246681444] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051037.248018680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051037.249221698] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051037.335328491] [sailbot.teensy]: Check telemetry callback entered +[mux-7] [INFO] [1746051037.338353815] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051037.338518514] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746051037.338902927] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051037.339567328] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051037.340566759] [sailbot.teensy]: Actual tail angle: 36 +[teensy-2] [INFO] [1746051037.341443924] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051037.344431189] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051037.344872630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051037.345805090] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051037.346552984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051037.347655398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051037.445380084] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051037.446494732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051037.446966969] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051037.448435533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051037.448960004] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051037.457056880] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051037.457934118] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746051037.458838578] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051037.459957634] [sailbot.main_algo]: Current Location: (42.46893670214936, -76.50311836005449) +[main_algo-3] [INFO] [1746051037.460867763] [sailbot.main_algo]: Target Bearing: -124.16197052129087 +[main_algo-3] [INFO] [1746051037.461686676] [sailbot.main_algo]: Heading Difference: -147.68802947870915 +[main_algo-3] [INFO] [1746051037.462473024] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051037.463250305] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051037.464035012] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051037.465051271] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051037.465610008] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051037.503120147] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.468939 Long: -76.50311841 +[main_algo-3] [INFO] [1746051037.503714589] [sailbot.main_algo]: Distance to destination: 28.66022000308538 +[vectornav-1] [INFO] [1746051037.504227352] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (86.37099999999998, 1.133, 7.131) +[main_algo-3] [INFO] [1746051037.504835373] [sailbot.main_algo]: Target Bearing: -123.875870183099 +[main_algo-3] [INFO] [1746051037.505786484] [sailbot.main_algo]: Heading Difference: -147.97412981690104 +[main_algo-3] [INFO] [1746051037.507005644] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051037.507943792] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051037.508849012] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051037.510561133] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051037.545043369] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051037.545855706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051037.546461554] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051037.547880181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051037.548938765] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051037.585377574] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051037.587667811] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051037.588146324] [sailbot.teensy]: Wind angle: 151 +[mux-7] [INFO] [1746051037.588471560] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051037.589170592] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051037.590087937] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051037.590898667] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051037.645229400] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051037.645979147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051037.646877270] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051037.647978919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051037.648850697] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051037.745483720] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051037.746145809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051037.747169472] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051037.748620910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051037.749830694] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051037.835131555] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051037.837248482] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051037.837683805] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051037.837958584] [sailbot.teensy]: Wind angle: 149 +[teensy-2] [INFO] [1746051037.839315721] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051037.839720564] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051037.840080323] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051037.844475740] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051037.844991284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051037.845608018] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051037.846680036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051037.847687386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051037.944766607] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051037.945471189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051037.946471539] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051037.947427139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051037.947985509] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051037.957123869] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051037.958072781] [sailbot.main_algo]: Target Bearing: -123.875870183099 +[main_algo-3] [INFO] [1746051037.958898139] [sailbot.main_algo]: Heading Difference: -149.75312981690104 +[main_algo-3] [INFO] [1746051037.959711164] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051037.960592255] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051037.961405754] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051037.962422074] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051037.963156576] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051038.003127781] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894067 Long: -76.50311889 +[main_algo-3] [INFO] [1746051038.003615816] [sailbot.main_algo]: Distance to destination: 28.794907790031218 +[vectornav-1] [INFO] [1746051038.004456111] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (84.41699999999997, -0.515, 3.738) +[main_algo-3] [INFO] [1746051038.004707927] [sailbot.main_algo]: Target Bearing: -123.60966171016804 +[main_algo-3] [INFO] [1746051038.005661294] [sailbot.main_algo]: Heading Difference: -150.01933828983198 +[main_algo-3] [INFO] [1746051038.006583100] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051038.007450108] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051038.008343266] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051038.010506378] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051038.045051856] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051038.045828526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051038.046590462] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051038.047832351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051038.049035053] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051038.085603359] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051038.087531474] [sailbot.teensy]: Wind angle: 143 +[trim_sail-4] [INFO] [1746051038.088310973] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051038.088526521] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051038.089436033] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051038.090383652] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051038.088813920] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051038.145281594] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051038.146188434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051038.146849448] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051038.148600047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051038.149757947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051038.245527863] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051038.246400487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051038.247202992] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051038.248166923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051038.248733595] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051038.335246845] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051038.337720784] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051038.338216097] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051038.338455790] [sailbot.teensy]: Wind angle: 137 +[teensy-2] [INFO] [1746051038.338950844] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051038.339342210] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051038.339813072] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051038.344485651] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051038.345056563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051038.345595494] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051038.346791617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051038.347763674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051038.445383093] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051038.446298603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051038.447063442] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051038.448560954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051038.449828517] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051038.457182329] [sailbot.main_algo]: Wind Direction: 137 +[main_algo-3] [INFO] [1746051038.458193285] [sailbot.main_algo]: Target Bearing: -123.60966171016804 +[main_algo-3] [INFO] [1746051038.459073367] [sailbot.main_algo]: Heading Difference: -151.973338289832 +[main_algo-3] [INFO] [1746051038.459922199] [sailbot.main_algo]: Wind Direction: 137 +[main_algo-3] [INFO] [1746051038.460804930] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051038.461671658] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051038.462742486] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051038.463381764] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051038.502891708] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894252 Long: -76.50311901 +[main_algo-3] [INFO] [1746051038.503943496] [sailbot.main_algo]: Distance to destination: 28.96293677174305 +[vectornav-1] [INFO] [1746051038.504093554] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (79.99700000000001, 0.024, 6.912) +[main_algo-3] [INFO] [1746051038.505113917] [sailbot.main_algo]: Target Bearing: -123.37426627056132 +[main_algo-3] [INFO] [1746051038.506052489] [sailbot.main_algo]: Heading Difference: -152.20873372943868 +[main_algo-3] [INFO] [1746051038.506951386] [sailbot.main_algo]: Wind Direction: 137 +[main_algo-3] [INFO] [1746051038.507826138] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051038.508673420] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051038.510344247] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051038.545557719] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051038.546590335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051038.547215874] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051038.549258081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051038.550338318] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051038.585415925] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051038.587349229] [sailbot.teensy]: Wind angle: 141 +[teensy-2] [INFO] [1746051038.588326531] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051038.587821787] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051038.588856575] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051038.589272197] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051038.590159879] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051038.645209643] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051038.646044291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051038.646740873] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051038.648552993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051038.649612590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051038.745570034] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051038.746309349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051038.747236655] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051038.747864015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051038.748500759] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051038.835247379] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051038.837564330] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051038.837997241] [sailbot.teensy]: Wind angle: 147 +[mux-7] [INFO] [1746051038.838109096] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051038.838674899] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051038.839052964] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051038.839416557] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051038.844895411] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051038.845206113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051038.846191040] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051038.846958903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051038.848021571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051038.945263751] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051038.945977199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051038.946802860] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051038.948278778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051038.949442824] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051038.957153506] [sailbot.main_algo]: Wind Direction: 147 +[main_algo-3] [INFO] [1746051038.958200337] [sailbot.main_algo]: Target Bearing: -123.37426627056132 +[main_algo-3] [INFO] [1746051038.959098692] [sailbot.main_algo]: Heading Difference: -156.62873372943864 +[main_algo-3] [INFO] [1746051038.959993211] [sailbot.main_algo]: Wind Direction: 147 +[main_algo-3] [INFO] [1746051038.960887474] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051038.961709014] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051038.962739594] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051038.963320718] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051039.003089137] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894379 Long: -76.50311837 +[main_algo-3] [INFO] [1746051039.004354813] [sailbot.main_algo]: Distance to destination: 29.11025983181328 +[vectornav-1] [INFO] [1746051039.004402199] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (76.04599999999999, -0.612, 6.664) +[main_algo-3] [INFO] [1746051039.005671488] [sailbot.main_algo]: Target Bearing: -123.31317160578367 +[main_algo-3] [INFO] [1746051039.006928383] [sailbot.main_algo]: Heading Difference: -156.6898283942163 +[main_algo-3] [INFO] [1746051039.007907967] [sailbot.main_algo]: Wind Direction: 147 +[main_algo-3] [INFO] [1746051039.008940903] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051039.009818322] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051039.011604147] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051039.045079758] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051039.045754572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051039.046514866] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051039.047760965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051039.048853376] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051039.085128678] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051039.086869065] [sailbot.teensy]: Wind angle: 138 +[trim_sail-4] [INFO] [1746051039.087397866] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051039.088898892] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051039.089045631] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051039.089938900] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051039.090828892] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051039.107823329] [sailbot.mux]: controller_app rudder angle: 12 +[mux-7] [INFO] [1746051039.144838802] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051039.145613561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051039.146075452] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051039.147409002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051039.148412639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051039.245384140] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051039.246486628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051039.246933960] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051039.248882001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051039.249485745] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051039.335205109] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051039.337357413] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051039.338346945] [sailbot.teensy]: Wind angle: 137 +[mux-7] [INFO] [1746051039.338387570] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051039.339305081] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051039.340197524] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051039.341185083] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051039.344373266] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051039.345041293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051039.345559016] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051039.346709752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051039.347762347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051039.445468227] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051039.446272654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051039.447164848] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051039.448601675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051039.449703661] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051039.456965927] [sailbot.main_algo]: Wind Direction: 137 +[main_algo-3] [INFO] [1746051039.457916746] [sailbot.main_algo]: Target Bearing: -123.31317160578367 +[main_algo-3] [INFO] [1746051039.458746497] [sailbot.main_algo]: Heading Difference: -160.64082839421633 +[main_algo-3] [INFO] [1746051039.459532354] [sailbot.main_algo]: Wind Direction: 137 +[main_algo-3] [INFO] [1746051039.460355537] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051039.461143351] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051039.462230693] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051039.462691349] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051039.503629916] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894559 Long: -76.50311781 +[main_algo-3] [INFO] [1746051039.504226290] [sailbot.main_algo]: Distance to destination: 29.303917459891466 +[vectornav-1] [INFO] [1746051039.504930473] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (69.40100000000001, 1.051, 4.968) +[main_algo-3] [INFO] [1746051039.505417186] [sailbot.main_algo]: Target Bearing: -123.1804227343281 +[main_algo-3] [INFO] [1746051039.506480722] [sailbot.main_algo]: Heading Difference: -160.77357726567192 +[main_algo-3] [INFO] [1746051039.507399355] [sailbot.main_algo]: Wind Direction: 137 +[main_algo-3] [INFO] [1746051039.508279934] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051039.509129231] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051039.510832706] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051039.544897956] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051039.545960666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051039.546812599] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051039.548068679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051039.549154208] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051039.585414947] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051039.587551995] [sailbot.teensy]: Wind angle: 136 +[trim_sail-4] [INFO] [1746051039.588046911] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051039.588765755] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051039.589753864] [sailbot.teensy]: Actual tail angle: 37 +[mux-7] [INFO] [1746051039.590011447] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051039.590655871] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051039.644948347] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051039.645905829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051039.646285140] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051039.647929997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051039.648941035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051039.745189019] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051039.746126967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051039.746739587] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051039.748258556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051039.749164953] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051039.835390059] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051039.837197537] [sailbot.teensy]: Wind angle: 134 +[teensy-2] [INFO] [1746051039.838127372] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051039.837714725] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051039.838997240] [sailbot.teensy]: Actual tail angle: 37 +[mux-7] [INFO] [1746051039.839066616] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051039.839891264] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051039.844516036] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051039.845103246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051039.845752519] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051039.847164537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051039.848234203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051039.945083486] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051039.945582387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051039.946889683] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051039.947439097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051039.948550728] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051039.957119617] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051039.958159516] [sailbot.main_algo]: Target Bearing: -123.1804227343281 +[main_algo-3] [INFO] [1746051039.959300053] [sailbot.main_algo]: Heading Difference: -167.4185772656719 +[main_algo-3] [INFO] [1746051039.960201810] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051039.961030340] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051039.961878093] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051039.963005343] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051039.963653405] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051040.002660979] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894686 Long: -76.50311704 +[main_algo-3] [INFO] [1746051040.003868433] [sailbot.main_algo]: Distance to destination: 29.457026373879255 +[vectornav-1] [INFO] [1746051040.004090306] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (63.136000000000024, -2.8, 6.95) +[main_algo-3] [INFO] [1746051040.005014512] [sailbot.main_algo]: Target Bearing: -123.13861649081734 +[main_algo-3] [INFO] [1746051040.005977556] [sailbot.main_algo]: Heading Difference: -167.46038350918263 +[main_algo-3] [INFO] [1746051040.006933700] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051040.007842972] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051040.008710496] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051040.010419198] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051040.045253069] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051040.045839122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051040.046820481] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051040.048189042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051040.049345671] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051040.085277613] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051040.087526514] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051040.087775843] [sailbot.teensy]: Wind angle: 130 +[mux-7] [INFO] [1746051040.088318179] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051040.088765013] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051040.089721477] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051040.090492002] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051040.107742344] [sailbot.mux]: controller_app rudder angle: 12 +[mux-7] [INFO] [1746051040.144981164] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051040.145789166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051040.146316368] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051040.147764076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051040.148799576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051040.245181193] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051040.246337987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051040.246679862] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051040.248531819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051040.249701395] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051040.335295984] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051040.337317046] [sailbot.teensy]: Wind angle: 125 +[teensy-2] [INFO] [1746051040.338261432] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051040.339129296] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051040.339976839] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051040.338437564] [sailbot.mux]: algo sail angle: 5 +[trim_sail-4] [INFO] [1746051040.338692638] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051040.344463164] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051040.345201814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051040.345592711] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051040.347029640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051040.348073736] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051040.445038019] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051040.445623205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051040.446425106] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051040.447754919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051040.448553190] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051040.457192985] [sailbot.main_algo]: Wind Direction: 125 +[main_algo-3] [INFO] [1746051040.458207229] [sailbot.main_algo]: Target Bearing: -123.13861649081734 +[main_algo-3] [INFO] [1746051040.459089084] [sailbot.main_algo]: Heading Difference: -173.72538350918262 +[main_algo-3] [INFO] [1746051040.459895760] [sailbot.main_algo]: Wind Direction: 125 +[main_algo-3] [INFO] [1746051040.460705476] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051040.461495295] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051040.462482606] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051040.463210295] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051040.502720571] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894808 Long: -76.50311556 +[vectornav-1] [INFO] [1746051040.503916378] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.40199999999999, 4.235, 8.67) +[main_algo-3] [INFO] [1746051040.503940004] [sailbot.main_algo]: Distance to destination: 29.636498748418884 +[main_algo-3] [INFO] [1746051040.505388032] [sailbot.main_algo]: Target Bearing: -123.19857013334091 +[main_algo-3] [INFO] [1746051040.506396231] [sailbot.main_algo]: Heading Difference: -173.66542986665905 +[main_algo-3] [INFO] [1746051040.507290400] [sailbot.main_algo]: Wind Direction: 125 +[main_algo-3] [INFO] [1746051040.508143273] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051040.509007631] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051040.510719497] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051040.545333173] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051040.546140437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051040.546942336] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051040.548448658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051040.549630258] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051040.585134735] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051040.587133338] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051040.587824589] [sailbot.teensy]: Wind angle: 125 +[teensy-2] [INFO] [1746051040.588809449] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051040.589035878] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051040.589834750] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051040.590701320] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051040.645107059] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051040.645986442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051040.646581196] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051040.648069015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051040.648960325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051040.745178168] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051040.745689225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051040.746554966] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051040.747586749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051040.748736784] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051040.835430711] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051040.837906124] [sailbot.teensy]: Wind angle: 114 +[trim_sail-4] [INFO] [1746051040.837943629] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746051040.838436487] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051040.839198912] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051040.840118672] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051040.840996210] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051040.844508347] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051040.844888645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051040.845642100] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051040.846540111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051040.847576304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051040.945359525] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051040.945998539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051040.947113086] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051040.948087269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051040.949327802] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051040.957092681] [sailbot.main_algo]: Wind Direction: 114 +[main_algo-3] [INFO] [1746051040.958153836] [sailbot.main_algo]: Target Bearing: -123.19857013334091 +[main_algo-3] [INFO] [1746051040.959041072] [sailbot.main_algo]: Heading Difference: 177.6005701333409 +[main_algo-3] [INFO] [1746051040.959895800] [sailbot.main_algo]: Wind Direction: 114 +[main_algo-3] [INFO] [1746051040.960830518] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051040.961694560] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051040.962831020] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051040.963337305] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051041.002918049] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894928 Long: -76.50311429 +[main_algo-3] [INFO] [1746051041.003868603] [sailbot.main_algo]: Distance to destination: 29.80491563508574 +[vectornav-1] [INFO] [1746051041.004130069] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.45999999999998, -3.641, 8.242) +[main_algo-3] [INFO] [1746051041.005200207] [sailbot.main_algo]: Target Bearing: -123.23200570145143 +[main_algo-3] [INFO] [1746051041.006161424] [sailbot.main_algo]: Heading Difference: 177.63400570145143 +[main_algo-3] [INFO] [1746051041.007060539] [sailbot.main_algo]: Wind Direction: 114 +[main_algo-3] [INFO] [1746051041.007928012] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051041.008802016] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051041.010686678] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051041.044901508] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051041.045554300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051041.046562556] [sailbot.mux]: Published rudder angle from controller_app: 12 +[teensy-2] [INFO] [1746051041.047314104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 +[teensy-2] [INFO] [1746051041.048689194] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051041.085156235] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051041.086739671] [sailbot.teensy]: Wind angle: 107 +[trim_sail-4] [INFO] [1746051041.087265275] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051041.087696867] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051041.088686490] [sailbot.teensy]: Actual tail angle: 37 +[mux-7] [INFO] [1746051041.088695930] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051041.089624274] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051041.117981628] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746051041.145164833] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051041.145920833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051041.146490455] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051041.147937695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051041.149013207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051041.245096316] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051041.245739110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051041.246432635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051041.247601043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051041.248409745] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051041.335210581] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051041.337394202] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746051041.337969416] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051041.338042911] [sailbot.teensy]: Wind angle: 114 +[teensy-2] [INFO] [1746051041.338750351] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051041.339136770] [sailbot.teensy]: Actual tail angle: 37 +[teensy-2] [INFO] [1746051041.339494319] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051041.344402664] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051041.344994577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051041.345482156] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051041.346679051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051041.347830419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051041.445531182] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051041.446554676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051041.447450318] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051041.448439113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051041.448924761] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051041.456979820] [sailbot.main_algo]: Wind Direction: 114 +[main_algo-3] [INFO] [1746051041.457885349] [sailbot.main_algo]: Target Bearing: -123.23200570145143 +[main_algo-3] [INFO] [1746051041.458705705] [sailbot.main_algo]: Heading Difference: 168.69200570145142 +[main_algo-3] [INFO] [1746051041.459486319] [sailbot.main_algo]: Wind Direction: 114 +[main_algo-3] [INFO] [1746051041.460292647] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051041.461080308] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051041.462062026] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051041.462791618] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051041.503501434] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689506 Long: -76.50311162 +[main_algo-3] [INFO] [1746051041.504093995] [sailbot.main_algo]: Distance to destination: 30.046174175768734 +[vectornav-1] [INFO] [1746051041.504871382] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.464, 1.362, 10.284) +[main_algo-3] [INFO] [1746051041.505664488] [sailbot.main_algo]: Target Bearing: -123.43714869642885 +[main_algo-3] [INFO] [1746051041.506676083] [sailbot.main_algo]: Heading Difference: 168.89714869642881 +[main_algo-3] [INFO] [1746051041.507638960] [sailbot.main_algo]: Wind Direction: 114 +[main_algo-3] [INFO] [1746051041.508552380] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051041.509407641] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051041.511388574] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051041.544967095] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051041.545518037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051041.546387882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051041.547417483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051041.548486045] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051041.585204971] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051041.587356265] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051041.587472831] [sailbot.teensy]: Wind angle: 108 +[teensy-2] [INFO] [1746051041.588426968] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051041.588938980] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051041.589686495] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051041.590635444] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051041.645076919] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051041.645771955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051041.646431119] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051041.648175155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051041.649264313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051041.745178196] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051041.745841039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051041.746815961] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051041.747612143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051041.748177968] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051041.835228681] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051041.836949529] [sailbot.teensy]: Wind angle: 108 +[teensy-2] [INFO] [1746051041.837948113] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051041.838263332] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051041.838655426] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051041.838802294] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051041.839049013] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051041.844363566] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051041.844911484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051041.845695160] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051041.846595662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051041.847826755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051041.945208298] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051041.945902106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051041.947203669] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051041.947967909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051041.948556860] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051041.957172243] [sailbot.main_algo]: Wind Direction: 108 +[main_algo-3] [INFO] [1746051041.958246786] [sailbot.main_algo]: Target Bearing: -123.43714869642885 +[main_algo-3] [INFO] [1746051041.959130184] [sailbot.main_algo]: Heading Difference: 161.90114869642883 +[main_algo-3] [INFO] [1746051041.959973468] [sailbot.main_algo]: Wind Direction: 108 +[main_algo-3] [INFO] [1746051041.960852014] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051041.961687823] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051041.962734355] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051041.963366234] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051042.002793454] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895206 Long: -76.50310877 +[main_algo-3] [INFO] [1746051042.003755700] [sailbot.main_algo]: Distance to destination: 30.30888619780325 +[vectornav-1] [INFO] [1746051042.003907162] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.877999999999986, -2.732, 11.074) +[main_algo-3] [INFO] [1746051042.005010624] [sailbot.main_algo]: Target Bearing: -123.64673853709881 +[main_algo-3] [INFO] [1746051042.005997320] [sailbot.main_algo]: Heading Difference: 162.11073853709883 +[main_algo-3] [INFO] [1746051042.006934221] [sailbot.main_algo]: Wind Direction: 108 +[main_algo-3] [INFO] [1746051042.007839075] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051042.008722569] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051042.010474323] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051042.045015054] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051042.045540053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051042.046283584] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051042.047349308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051042.048527933] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051042.085123869] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051042.087098402] [sailbot.teensy]: Wind angle: 106 +[trim_sail-4] [INFO] [1746051042.087296483] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051042.088093270] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051042.088858731] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051042.089016943] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051042.089939740] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051042.145111848] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051042.145654811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051042.146535787] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051042.147732642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051042.148520902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051042.245378638] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051042.245881996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051042.246990681] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051042.247926834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051042.249156220] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051042.335270859] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051042.336982362] [sailbot.teensy]: Wind angle: 104 +[trim_sail-4] [INFO] [1746051042.337734494] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051042.337919144] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051042.338763451] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051042.338813702] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051042.339150887] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051042.344492177] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051042.345243798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051042.345884409] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051042.346990616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051042.348179770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051042.445288140] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051042.445916972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051042.446721958] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051042.447789583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051042.448357570] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051042.456983950] [sailbot.main_algo]: Wind Direction: 104 +[main_algo-3] [INFO] [1746051042.457885463] [sailbot.main_algo]: Target Bearing: -123.64673853709881 +[main_algo-3] [INFO] [1746051042.458697691] [sailbot.main_algo]: Heading Difference: 157.5247385370988 +[main_algo-3] [INFO] [1746051042.459484591] [sailbot.main_algo]: Wind Direction: 104 +[main_algo-3] [INFO] [1746051042.460321760] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051042.461108985] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051042.462114810] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051042.462775138] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051042.503663273] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895409 Long: -76.50310533 +[main_algo-3] [INFO] [1746051042.504081455] [sailbot.main_algo]: Distance to destination: 30.65149144440145 +[vectornav-1] [INFO] [1746051042.504867800] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.766999999999996, -0.257, 11.49) +[main_algo-3] [INFO] [1746051042.505321997] [sailbot.main_algo]: Target Bearing: -123.86474746343623 +[main_algo-3] [INFO] [1746051042.506422962] [sailbot.main_algo]: Heading Difference: 157.74274746343622 +[main_algo-3] [INFO] [1746051042.507391321] [sailbot.main_algo]: Wind Direction: 104 +[main_algo-3] [INFO] [1746051042.508339674] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051042.509209713] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051042.510949973] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051042.544987212] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051042.545561856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051042.546250548] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051042.547484844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051042.548660426] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051042.585252864] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051042.587498294] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051042.587619925] [sailbot.teensy]: Wind angle: 104 +[teensy-2] [INFO] [1746051042.588557901] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051042.589303207] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051042.589467963] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051042.590352077] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051042.644876991] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051042.645624462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051042.646246163] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051042.647447378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051042.648564966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051042.745004178] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051042.746150737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051042.746808992] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051042.748068867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051042.749249619] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051042.835215642] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051042.837267487] [sailbot.teensy]: Wind angle: 103 +[trim_sail-4] [INFO] [1746051042.837668244] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051042.838225445] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051042.839130424] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051042.839262949] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051042.840014342] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051042.844483231] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051042.845225223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051042.845600598] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051042.846984776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051042.848036844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051042.945117780] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051042.945751151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051042.946471985] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051042.947769901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051042.948384188] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051042.957158162] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746051042.958215046] [sailbot.main_algo]: Target Bearing: -123.86474746343623 +[main_algo-3] [INFO] [1746051042.959180370] [sailbot.main_algo]: Heading Difference: 157.63174746343623 +[main_algo-3] [INFO] [1746051042.960097350] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746051042.960998840] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051042.961854012] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051042.963062864] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051042.963758092] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051043.003124585] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895591 Long: -76.5031012 +[vectornav-1] [INFO] [1746051043.004450190] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.136000000000024, -0.129, 11.362) +[main_algo-3] [INFO] [1746051043.004565580] [sailbot.main_algo]: Distance to destination: 31.005994834067863 +[main_algo-3] [INFO] [1746051043.006112150] [sailbot.main_algo]: Target Bearing: -124.18930690671473 +[main_algo-3] [INFO] [1746051043.007316698] [sailbot.main_algo]: Heading Difference: 157.95630690671476 +[main_algo-3] [INFO] [1746051043.008364995] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746051043.009271066] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051043.010211616] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051043.011891842] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051043.044908852] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051043.045593097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051043.046156748] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051043.047485399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051043.048595841] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051043.085064393] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051043.086635401] [sailbot.teensy]: Wind angle: 103 +[teensy-2] [INFO] [1746051043.087507519] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051043.087360910] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051043.088439100] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051043.088696039] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051043.089377056] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051043.145002800] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051043.145598278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051043.146372935] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051043.147541378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051043.148666229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051043.244980127] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051043.245828138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051043.246213583] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051043.247665880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051043.248742954] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051043.335237833] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051043.337313611] [sailbot.teensy]: Wind angle: 103 +[trim_sail-4] [INFO] [1746051043.337453198] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051043.338288601] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051043.338942181] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051043.339185528] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051043.340080041] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051043.344196656] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051043.344991312] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051043.345354978] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051043.346928325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051043.347943048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051043.445422159] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051043.446305365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051043.447053492] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051043.448575098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051043.449844719] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051043.457009129] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746051043.457990781] [sailbot.main_algo]: Target Bearing: -124.18930690671473 +[main_algo-3] [INFO] [1746051043.458833801] [sailbot.main_algo]: Heading Difference: 157.3253069067148 +[main_algo-3] [INFO] [1746051043.459625496] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746051043.460424484] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051043.461208607] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051043.462178031] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051043.462868452] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051043.503560498] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895778 Long: -76.50309702 +[main_algo-3] [INFO] [1746051043.503991232] [sailbot.main_algo]: Distance to destination: 31.368370175733844 +[vectornav-1] [INFO] [1746051043.504679453] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.66300000000001, -0.658, 10.279) +[main_algo-3] [INFO] [1746051043.505068865] [sailbot.main_algo]: Target Bearing: -124.50718415818969 +[main_algo-3] [INFO] [1746051043.506074186] [sailbot.main_algo]: Heading Difference: 157.64318415818968 +[main_algo-3] [INFO] [1746051043.507038648] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746051043.507956156] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051043.508849608] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051043.510579739] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051043.545030490] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051043.545872933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051043.546383206] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051043.547766197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051043.548927612] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051043.585453437] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051043.587799992] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051043.587969491] [sailbot.teensy]: Wind angle: 104 +[mux-7] [INFO] [1746051043.589199459] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051043.589299230] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051043.590215249] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051043.591170861] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051043.644923610] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051043.645571309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051043.646154054] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051043.647433888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051043.648645762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051043.745298476] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051043.745994025] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051043.746785691] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051043.748496961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051043.749060542] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051043.835160519] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051043.836715382] [sailbot.teensy]: Wind angle: 105 +[trim_sail-4] [INFO] [1746051043.837516208] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051043.837648493] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051043.838529089] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051043.838675399] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051043.839512451] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051043.844336231] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051043.845080346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051043.845564320] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051043.846797277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051043.847937924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051043.944935193] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051043.945622030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051043.946203873] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051043.947510283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051043.948682041] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051043.957186864] [sailbot.main_algo]: Wind Direction: 105 +[main_algo-3] [INFO] [1746051043.958236652] [sailbot.main_algo]: Target Bearing: -124.50718415818969 +[main_algo-3] [INFO] [1746051043.959142978] [sailbot.main_algo]: Heading Difference: 157.17018415818973 +[main_algo-3] [INFO] [1746051043.960003536] [sailbot.main_algo]: Wind Direction: 105 +[main_algo-3] [INFO] [1746051043.960822042] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051043.961612910] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051043.962640199] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051043.963139166] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051044.003038571] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896011 Long: -76.50309284 +[main_algo-3] [INFO] [1746051044.004109267] [sailbot.main_algo]: Distance to destination: 31.774152865806744 +[vectornav-1] [INFO] [1746051044.004283898] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.040999999999997, -1.097, 8.276) +[main_algo-3] [INFO] [1746051044.005478098] [sailbot.main_algo]: Target Bearing: -124.76654118157855 +[main_algo-3] [INFO] [1746051044.006466429] [sailbot.main_algo]: Heading Difference: 157.42954118157854 +[main_algo-3] [INFO] [1746051044.007450118] [sailbot.main_algo]: Wind Direction: 105 +[main_algo-3] [INFO] [1746051044.008425489] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051044.009320148] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051044.011144966] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051044.045297136] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051044.045953569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051044.046612295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051044.047860398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051044.049048057] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051044.085201633] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051044.086720454] [sailbot.teensy]: Wind angle: 106 +[trim_sail-4] [INFO] [1746051044.087250052] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051044.087588480] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051044.088532945] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051044.089418714] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051044.089911944] [sailbot.mux]: algo sail angle: 20 +[mux-7] [INFO] [1746051044.107430743] [sailbot.mux]: controller_app rudder angle: 7 +[mux-7] [INFO] [1746051044.145118233] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051044.145875855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051044.146446290] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746051044.147904405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746051044.149012924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051044.245113173] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051044.245928784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051044.246508873] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746051044.247956521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746051044.248898813] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051044.335363658] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051044.337738446] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051044.337955004] [sailbot.teensy]: Wind angle: 105 +[teensy-2] [INFO] [1746051044.338882480] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051044.339262726] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051044.339777944] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051044.340506855] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051044.344355904] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051044.344689146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051044.345527370] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746051044.346333514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746051044.347462558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051044.445194205] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051044.446011534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051044.446690303] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746051044.448265748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746051044.448751353] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051044.457103435] [sailbot.main_algo]: Wind Direction: 105 +[main_algo-3] [INFO] [1746051044.458086130] [sailbot.main_algo]: Target Bearing: -124.76654118157855 +[main_algo-3] [INFO] [1746051044.458971117] [sailbot.main_algo]: Heading Difference: 154.80754118157853 +[main_algo-3] [INFO] [1746051044.459784870] [sailbot.main_algo]: Wind Direction: 105 +[main_algo-3] [INFO] [1746051044.460615479] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051044.461402767] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051044.462681974] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051044.462988702] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051044.502925240] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896219 Long: -76.50308795 +[main_algo-3] [INFO] [1746051044.503996489] [sailbot.main_algo]: Distance to destination: 32.19026496343696 +[main_algo-3] [INFO] [1746051044.505205428] [sailbot.main_algo]: Target Bearing: -125.1331285394072 +[vectornav-1] [INFO] [1746051044.505876635] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (28.351999999999975, -2.103, 9.934) +[main_algo-3] [INFO] [1746051044.506163297] [sailbot.main_algo]: Heading Difference: 155.1741285394072 +[main_algo-3] [INFO] [1746051044.507109502] [sailbot.main_algo]: Wind Direction: 105 +[main_algo-3] [INFO] [1746051044.508031281] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051044.508912592] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051044.510632346] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051044.545310496] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051044.545500312] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051044.546573272] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746051044.547273355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746051044.548564307] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051044.585124480] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051044.586761253] [sailbot.teensy]: Wind angle: 105 +[teensy-2] [INFO] [1746051044.587677826] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051044.587126378] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051044.588593689] [sailbot.teensy]: Actual tail angle: 32 +[mux-7] [INFO] [1746051044.588916253] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051044.589475220] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051044.644921465] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051044.645687123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051044.646196245] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746051044.647579410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746051044.648765364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051044.745450328] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051044.746261818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051044.747472593] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746051044.748652786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746051044.749641240] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051044.835231200] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051044.837419782] [sailbot.teensy]: Wind angle: 104 +[trim_sail-4] [INFO] [1746051044.837459415] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051044.838390971] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051044.838924324] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051044.839305955] [sailbot.teensy]: Actual tail angle: 32 +[teensy-2] [INFO] [1746051044.840251604] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051044.844497138] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051044.845170267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051044.845623249] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746051044.846921526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746051044.848101570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051044.945339707] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051044.946320517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051044.946885254] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746051044.948443911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746051044.949647691] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051044.957186778] [sailbot.main_algo]: Wind Direction: 104 +[main_algo-3] [INFO] [1746051044.958280386] [sailbot.main_algo]: Target Bearing: -125.1331285394072 +[main_algo-3] [INFO] [1746051044.959199580] [sailbot.main_algo]: Heading Difference: 153.48512853940719 +[main_algo-3] [INFO] [1746051044.960069016] [sailbot.main_algo]: Wind Direction: 104 +[main_algo-3] [INFO] [1746051044.960993239] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051044.961874509] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051044.962941652] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051044.963533724] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051045.003049697] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896399 Long: -76.50308228 +[main_algo-3] [INFO] [1746051045.004012990] [sailbot.main_algo]: Distance to destination: 32.618405058056794 +[vectornav-1] [INFO] [1746051045.004465564] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (25.081000000000017, 0.002, 9.054) +[main_algo-3] [INFO] [1746051045.005300728] [sailbot.main_algo]: Target Bearing: -125.61413224187248 +[main_algo-3] [INFO] [1746051045.006613441] [sailbot.main_algo]: Heading Difference: 153.96613224187246 +[main_algo-3] [INFO] [1746051045.007535625] [sailbot.main_algo]: Wind Direction: 104 +[main_algo-3] [INFO] [1746051045.008447619] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051045.009311677] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051045.010992060] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051045.045095453] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051045.045808690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051045.046470479] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746051045.047708708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746051045.048935075] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051045.085148620] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051045.086827223] [sailbot.teensy]: Wind angle: 104 +[trim_sail-4] [INFO] [1746051045.087643482] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051045.087792290] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051045.088720036] [sailbot.teensy]: Actual tail angle: 32 +[mux-7] [INFO] [1746051045.088965042] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051045.089612201] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051045.144931399] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051045.145378903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051045.146149300] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746051045.147126263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746051045.148297307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051045.245171883] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051045.245754396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051045.247252032] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746051045.248024109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746051045.249135900] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051045.335316747] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051045.336987410] [sailbot.teensy]: Wind angle: 103 +[trim_sail-4] [INFO] [1746051045.337505907] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051045.337912081] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051045.338669977] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051045.338832314] [sailbot.teensy]: Actual tail angle: 32 +[teensy-2] [INFO] [1746051045.339716006] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051045.344386654] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051045.345044041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051045.345954866] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746051045.346751842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746051045.347901891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051045.445570175] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051045.446187811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051045.447344523] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746051045.448467582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746051045.449703034] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051045.456924453] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746051045.457898363] [sailbot.main_algo]: Target Bearing: -125.61413224187248 +[main_algo-3] [INFO] [1746051045.458761338] [sailbot.main_algo]: Heading Difference: 150.6951322418725 +[main_algo-3] [INFO] [1746051045.459556093] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746051045.460383241] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051045.461176841] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051045.462167782] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051045.462771754] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051045.503781457] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896562 Long: -76.5030765 +[main_algo-3] [INFO] [1746051045.504022986] [sailbot.main_algo]: Distance to destination: 33.038533043657544 +[vectornav-1] [INFO] [1746051045.505119831] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (18.45799999999997, 2.649, 9.645) +[main_algo-3] [INFO] [1746051045.505176336] [sailbot.main_algo]: Target Bearing: -126.11428977428407 +[main_algo-3] [INFO] [1746051045.506188820] [sailbot.main_algo]: Heading Difference: 151.1952897742841 +[main_algo-3] [INFO] [1746051045.507117954] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746051045.508031307] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051045.508904119] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051045.510647838] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051045.544909796] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051045.545608507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051045.546157870] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746051045.547502648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746051045.548535893] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051045.585405982] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051045.587756808] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051045.588004031] [sailbot.teensy]: Wind angle: 102 +[mux-7] [INFO] [1746051045.588499151] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051045.589028701] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051045.589939327] [sailbot.teensy]: Actual tail angle: 32 +[teensy-2] [INFO] [1746051045.590802706] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051045.645139311] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051045.646107202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051045.646498784] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746051045.648430893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746051045.649502333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051045.745706333] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051045.746532077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051045.747561907] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746051045.748068661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746051045.748532050] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051045.835316847] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051045.837569524] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051045.837842321] [sailbot.teensy]: Wind angle: 99 +[teensy-2] [INFO] [1746051045.838779396] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051045.838947650] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051045.839896569] [sailbot.teensy]: Actual tail angle: 32 +[teensy-2] [INFO] [1746051045.841105736] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051045.844760316] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051045.845188908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051045.845975415] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746051045.846913128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746051045.848084925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051045.945228272] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051045.945790649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051045.946744699] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746051045.948135183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746051045.949304737] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051045.957192073] [sailbot.main_algo]: Wind Direction: 99 +[main_algo-3] [INFO] [1746051045.958305560] [sailbot.main_algo]: Target Bearing: -126.11428977428407 +[main_algo-3] [INFO] [1746051045.959377475] [sailbot.main_algo]: Heading Difference: 144.57228977428406 +[main_algo-3] [INFO] [1746051045.960339369] [sailbot.main_algo]: Wind Direction: 99 +[main_algo-3] [INFO] [1746051045.961244151] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051045.962122280] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051045.963181423] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051045.963794246] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051046.003255063] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896684 Long: -76.5030712 +[main_algo-3] [INFO] [1746051046.004308774] [sailbot.main_algo]: Distance to destination: 33.40111879802084 +[vectornav-1] [INFO] [1746051046.004880769] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (12.95799999999997, -3.043, 7.536) +[main_algo-3] [INFO] [1746051046.005637423] [sailbot.main_algo]: Target Bearing: -126.59224842985928 +[main_algo-3] [INFO] [1746051046.006725805] [sailbot.main_algo]: Heading Difference: 145.05024842985927 +[main_algo-3] [INFO] [1746051046.007759653] [sailbot.main_algo]: Wind Direction: 99 +[main_algo-3] [INFO] [1746051046.008711204] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051046.009576366] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051046.011359121] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051046.045212916] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051046.045778515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051046.046617525] [sailbot.mux]: Published rudder angle from controller_app: 7 +[teensy-2] [INFO] [1746051046.047723341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 +[teensy-2] [INFO] [1746051046.048760432] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051046.085214704] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051046.087366421] [sailbot.teensy]: Wind angle: 98 +[trim_sail-4] [INFO] [1746051046.087415576] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746051046.088517752] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051046.088564982] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051046.089469168] [sailbot.teensy]: Actual tail angle: 32 +[teensy-2] [INFO] [1746051046.090380004] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051046.119833187] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746051046.144901961] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051046.144931356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051046.146039682] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051046.146708647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051046.147763294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051046.244945807] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051046.245600056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051046.246217019] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051046.247640275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051046.248897525] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051046.335285840] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051046.337609034] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051046.338395569] [sailbot.teensy]: Wind angle: 97 +[mux-7] [INFO] [1746051046.338394466] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051046.338914244] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051046.339278986] [sailbot.teensy]: Actual tail angle: 32 +[teensy-2] [INFO] [1746051046.339693340] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051046.344348796] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051046.345179598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051046.345453806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051046.346960490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051046.348105161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051046.445457454] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051046.446319228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051046.447052128] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051046.448510589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051046.449031367] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051046.457126354] [sailbot.main_algo]: Wind Direction: 97 +[main_algo-3] [INFO] [1746051046.458108584] [sailbot.main_algo]: Target Bearing: -126.59224842985928 +[main_algo-3] [INFO] [1746051046.458985953] [sailbot.main_algo]: Heading Difference: 139.55024842985927 +[main_algo-3] [INFO] [1746051046.459822339] [sailbot.main_algo]: Wind Direction: 97 +[main_algo-3] [INFO] [1746051046.460714046] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051046.461500783] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051046.462599977] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051046.463185158] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051046.503937902] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896749 Long: -76.50306517 +[main_algo-3] [INFO] [1746051046.504217936] [sailbot.main_algo]: Distance to destination: 33.75022167390484 +[vectornav-1] [INFO] [1746051046.505208780] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (7.442000000000007, -0.685, 9.946) +[main_algo-3] [INFO] [1746051046.505334277] [sailbot.main_algo]: Target Bearing: -127.20553420438878 +[main_algo-3] [INFO] [1746051046.506333158] [sailbot.main_algo]: Heading Difference: 140.16353420438872 +[main_algo-3] [INFO] [1746051046.507230148] [sailbot.main_algo]: Wind Direction: 97 +[main_algo-3] [INFO] [1746051046.508132223] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051046.509057184] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051046.510730440] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051046.545060538] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051046.545809206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051046.546443221] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051046.547728592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051046.548908012] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051046.585156270] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051046.587186486] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746051046.587848835] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051046.589022720] [sailbot.teensy]: Wind angle: 97 +[teensy-2] [INFO] [1746051046.590081274] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051046.591145320] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051046.591990188] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051046.645239570] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051046.646228997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051046.646725533] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051046.648684819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051046.649823213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051046.744975650] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051046.746180523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051046.746411805] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051046.748226179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051046.749261544] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051046.835554767] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051046.838215694] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051046.838299520] [sailbot.teensy]: Wind angle: 98 +[teensy-2] [INFO] [1746051046.839458181] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051046.840258166] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051046.840373766] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051046.840779489] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051046.844509422] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051046.845080339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051046.845734615] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051046.846804885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051046.847849780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051046.945323619] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051046.945905398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051046.947634028] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051046.948131969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051046.949399384] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051046.958035789] [sailbot.main_algo]: Wind Direction: 98 +[main_algo-3] [INFO] [1746051046.959515410] [sailbot.main_algo]: Target Bearing: -127.20553420438878 +[main_algo-3] [INFO] [1746051046.960464286] [sailbot.main_algo]: Heading Difference: 134.64753420438876 +[main_algo-3] [INFO] [1746051046.961382834] [sailbot.main_algo]: Wind Direction: 98 +[main_algo-3] [INFO] [1746051046.962287259] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051046.963167954] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051046.964349996] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051046.964865366] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051047.002953312] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896754 Long: -76.50305843 +[main_algo-3] [INFO] [1746051047.004094916] [sailbot.main_algo]: Distance to destination: 34.08482155665396 +[vectornav-1] [INFO] [1746051047.004252214] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (359.174, -0.811, 7.013) +[main_algo-3] [INFO] [1746051047.005458225] [sailbot.main_algo]: Target Bearing: -127.95186586540837 +[main_algo-3] [INFO] [1746051047.006450631] [sailbot.main_algo]: Heading Difference: 135.39386586540837 +[main_algo-3] [INFO] [1746051047.007413838] [sailbot.main_algo]: Wind Direction: 98 +[main_algo-3] [INFO] [1746051047.008661061] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051047.009619770] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051047.011376915] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051047.045169943] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051047.046054726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051047.046558786] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051047.048014392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051047.049052267] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051047.085287973] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051047.086982298] [sailbot.teensy]: Wind angle: 91 +[trim_sail-4] [INFO] [1746051047.087494648] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746051047.087947722] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051047.088896811] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051047.089215686] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051047.089782917] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051047.145224219] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051047.145960890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051047.146866641] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051047.148097407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051047.149190957] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051047.245293416] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051047.246342117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051047.247090951] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051047.248503948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051047.249514835] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051047.335425639] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051047.337205537] [sailbot.teensy]: Wind angle: 90 +[trim_sail-4] [INFO] [1746051047.337748906] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746051047.338191362] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051047.339132011] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051047.339328931] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051047.340042593] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051047.344523235] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051047.345170089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051047.345762387] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051047.346945148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051047.347957008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051047.445214273] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051047.446183374] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051047.446770924] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051047.448177718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051047.448688431] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051047.456889593] [sailbot.main_algo]: Wind Direction: 90 +[main_algo-3] [INFO] [1746051047.457816568] [sailbot.main_algo]: Target Bearing: -127.95186586540837 +[main_algo-3] [INFO] [1746051047.458642153] [sailbot.main_algo]: Heading Difference: 127.12586586540829 +[main_algo-3] [INFO] [1746051047.459433243] [sailbot.main_algo]: Wind Direction: 90 +[main_algo-3] [INFO] [1746051047.460252687] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051047.461045179] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051047.462082857] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051047.462590004] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051047.503056294] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896724 Long: -76.50305169 +[main_algo-3] [INFO] [1746051047.503813060] [sailbot.main_algo]: Distance to destination: 34.394331680729564 +[vectornav-1] [INFO] [1746051047.504345426] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (352.702, 0.007, 7.057) +[main_algo-3] [INFO] [1746051047.504913118] [sailbot.main_algo]: Target Bearing: -128.7231354239936 +[main_algo-3] [INFO] [1746051047.505891818] [sailbot.main_algo]: Heading Difference: 127.89713542399363 +[main_algo-3] [INFO] [1746051047.506796603] [sailbot.main_algo]: Wind Direction: 90 +[main_algo-3] [INFO] [1746051047.507671646] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051047.508543650] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051047.510292084] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051047.545134146] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051047.545943300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051047.546520415] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051047.548054233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051047.549111801] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051047.585400731] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051047.587288571] [sailbot.teensy]: Wind angle: 90 +[trim_sail-4] [INFO] [1746051047.587791418] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746051047.588587189] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051047.589284066] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051047.589533559] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051047.590432388] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051047.645019579] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051047.645740450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051047.646439494] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051047.647707935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051047.648800583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051047.745302387] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051047.746058064] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051047.747085060] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051047.748192687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051047.748749198] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051047.835157961] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051047.837346854] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746051047.838122605] [sailbot.teensy]: Wind angle: 90 +[mux-7] [INFO] [1746051047.838715381] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051047.839121185] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051047.840048476] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051047.840950559] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051047.844329317] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051047.844959719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051047.845444774] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051047.846676882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051047.847707499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051047.945340453] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051047.945967801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051047.946838633] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051047.947840485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051047.948330581] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051047.957304938] [sailbot.main_algo]: Wind Direction: 90 +[main_algo-3] [INFO] [1746051047.958500101] [sailbot.main_algo]: Target Bearing: -128.7231354239936 +[main_algo-3] [INFO] [1746051047.959464550] [sailbot.main_algo]: Heading Difference: 121.42513542399365 +[main_algo-3] [INFO] [1746051047.960368342] [sailbot.main_algo]: Wind Direction: 90 +[main_algo-3] [INFO] [1746051047.961228611] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051047.962094320] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051047.963136805] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051047.963759152] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051048.002965058] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896587 Long: -76.50304523 +[main_algo-3] [INFO] [1746051048.004058880] [sailbot.main_algo]: Distance to destination: 34.60264262919427 +[vectornav-1] [INFO] [1746051048.004188130] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (343.646, -0.359, 8.747) +[main_algo-3] [INFO] [1746051048.005449644] [sailbot.main_algo]: Target Bearing: -129.57306261160977 +[main_algo-3] [INFO] [1746051048.006464503] [sailbot.main_algo]: Heading Difference: 122.27506261160977 +[main_algo-3] [INFO] [1746051048.007459630] [sailbot.main_algo]: Wind Direction: 90 +[main_algo-3] [INFO] [1746051048.008419307] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051048.009317481] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051048.011035650] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051048.045318856] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051048.046496220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051048.046759772] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051048.048518077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051048.049560227] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051048.085170394] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051048.087278532] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746051048.087773651] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051048.088194395] [sailbot.teensy]: Wind angle: 86 +[teensy-2] [INFO] [1746051048.089216611] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051048.090085113] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051048.090900835] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051048.145336868] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051048.146257564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051048.147319498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051048.148058760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051048.148601453] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051048.244993372] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051048.245879889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051048.246267515] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051048.247961357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051048.249098173] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051048.335325234] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051048.337558923] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746051048.337803312] [sailbot.teensy]: Wind angle: 77 +[mux-7] [INFO] [1746051048.338938467] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746051048.338977039] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051048.339383217] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051048.339769249] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051048.344359040] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051048.345259965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051048.345663459] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051048.347162204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051048.348136065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051048.445345215] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051048.446066289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051048.447334760] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051048.448401978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051048.449277736] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051048.457019612] [sailbot.main_algo]: Wind Direction: 77 +[main_algo-3] [INFO] [1746051048.458000992] [sailbot.main_algo]: Target Bearing: -129.57306261160977 +[main_algo-3] [INFO] [1746051048.458879789] [sailbot.main_algo]: Heading Difference: 113.21906261160984 +[main_algo-3] [INFO] [1746051048.459671281] [sailbot.main_algo]: Wind Direction: 77 +[main_algo-3] [INFO] [1746051048.460484632] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051048.461291404] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051048.462297809] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051048.462870052] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051048.503591834] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896376 Long: -76.50303886 +[main_algo-3] [INFO] [1746051048.503972891] [sailbot.main_algo]: Distance to destination: 34.75030196536003 +[vectornav-1] [INFO] [1746051048.505298019] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (335.626, -2.038, 5.221) +[main_algo-3] [INFO] [1746051048.505782437] [sailbot.main_algo]: Target Bearing: -130.48921077889239 +[main_algo-3] [INFO] [1746051048.506806368] [sailbot.main_algo]: Heading Difference: 114.13521077889243 +[main_algo-3] [INFO] [1746051048.507761201] [sailbot.main_algo]: Wind Direction: 77 +[main_algo-3] [INFO] [1746051048.508730960] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051048.509616666] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051048.511472126] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051048.545592430] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051048.545750779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051048.546972472] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051048.547642205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051048.548720522] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051048.585251588] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051048.587485289] [sailbot.teensy]: Wind angle: 70 +[trim_sail-4] [INFO] [1746051048.587520090] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051048.588421144] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051048.589060486] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051048.589360945] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051048.590291908] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051048.645258117] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051048.645971383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051048.646712294] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051048.647928282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051048.649127359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051048.745292559] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051048.746124873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051048.746885774] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051048.748268182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051048.749449084] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051048.835159794] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051048.836755734] [sailbot.teensy]: Wind angle: 62 +[teensy-2] [INFO] [1746051048.837633421] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051048.837812967] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746051048.838464514] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051048.839047025] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746051048.839351300] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051048.844425654] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051048.844938310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051048.845568980] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051048.846614857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051048.847696930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051048.945004006] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051048.945642886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051048.946328419] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051048.947478006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051048.948509669] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051048.957189331] [sailbot.main_algo]: Wind Direction: 62 +[main_algo-3] [INFO] [1746051048.958296898] [sailbot.main_algo]: Target Bearing: -130.48921077889239 +[main_algo-3] [INFO] [1746051048.959314878] [sailbot.main_algo]: Heading Difference: 106.11521077889233 +[main_algo-3] [INFO] [1746051048.960278213] [sailbot.main_algo]: Wind Direction: 62 +[main_algo-3] [INFO] [1746051048.961189769] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051048.962050967] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051048.963164050] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051048.963926231] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051049.003134626] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896143 Long: -76.5030321 +[main_algo-3] [INFO] [1746051049.004440705] [sailbot.main_algo]: Distance to destination: 34.90895688725721 +[vectornav-1] [INFO] [1746051049.004763199] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (333.624, -1.131, 9.123) +[main_algo-3] [INFO] [1746051049.005831655] [sailbot.main_algo]: Target Bearing: -131.46344836410088 +[main_algo-3] [INFO] [1746051049.006889174] [sailbot.main_algo]: Heading Difference: 107.08944836410092 +[main_algo-3] [INFO] [1746051049.007811623] [sailbot.main_algo]: Wind Direction: 62 +[main_algo-3] [INFO] [1746051049.008759531] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051049.009686060] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051049.011371565] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051049.045102557] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051049.045970052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051049.046535154] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051049.048021117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051049.049043484] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051049.085130712] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051049.087297027] [sailbot.teensy]: Wind angle: 55 +[trim_sail-4] [INFO] [1746051049.087341431] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746051049.088285493] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051049.088383671] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746051049.089238880] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051049.090148210] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051049.107789643] [sailbot.mux]: controller_app rudder angle: -6 +[mux-7] [INFO] [1746051049.145050214] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051049.146211093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051049.146589085] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051049.148125134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051049.149296297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051049.245203881] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051049.245993501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051049.246602829] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051049.248027228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051049.249098405] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051049.335147128] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051049.336790959] [sailbot.teensy]: Wind angle: 48 +[trim_sail-4] [INFO] [1746051049.337564987] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746051049.338576527] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746051049.339278860] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051049.340260534] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051049.341128588] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051049.344420057] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051049.345159374] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051049.345478383] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051049.346778445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051049.347897013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051049.445591182] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051049.446236614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051049.447474540] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051049.448128341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051049.448668567] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051049.457006930] [sailbot.main_algo]: Wind Direction: 48 +[main_algo-3] [INFO] [1746051049.457958962] [sailbot.main_algo]: Target Bearing: -131.46344836410088 +[main_algo-3] [INFO] [1746051049.458824304] [sailbot.main_algo]: Heading Difference: 105.08744836410096 +[main_algo-3] [INFO] [1746051049.459613994] [sailbot.main_algo]: Wind Direction: 48 +[main_algo-3] [INFO] [1746051049.460449900] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051049.461243266] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051049.462254955] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051049.462904953] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051049.503504710] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895861 Long: -76.50302544 +[main_algo-3] [INFO] [1746051049.504255647] [sailbot.main_algo]: Distance to destination: 35.03137408178713 +[main_algo-3] [INFO] [1746051049.505333600] [sailbot.main_algo]: Target Bearing: -132.47738513775943 +[main_algo-3] [INFO] [1746051049.506359147] [sailbot.main_algo]: Heading Difference: 106.10138513775951 +[vectornav-1] [INFO] [1746051049.506128864] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (330.823, -1.087, 6.584) +[main_algo-3] [INFO] [1746051049.507295207] [sailbot.main_algo]: Wind Direction: 48 +[main_algo-3] [INFO] [1746051049.508183727] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051049.509033003] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051049.510736873] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051049.545371254] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051049.545594516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051049.546785985] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051049.547535704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051049.548639844] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051049.585440193] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051049.587849235] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746051049.588187270] [sailbot.teensy]: Wind angle: 47 +[mux-7] [INFO] [1746051049.588623362] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746051049.589190138] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051049.590127385] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746051049.590985287] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051049.645076070] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051049.646033028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051049.646692866] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051049.648120519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051049.649012105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051049.745121894] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051049.745747247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051049.746554099] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051049.747706353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051049.748839319] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051049.835190527] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051049.837379264] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746051049.837889557] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746051049.838617713] [sailbot.teensy]: Wind angle: 47 +[teensy-2] [INFO] [1746051049.839011725] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051049.839374180] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746051049.839738516] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051049.844490826] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051049.845069465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051049.845876973] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051049.846800158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051049.847906700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051049.945206939] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051049.946154992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051049.946805801] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051049.948323697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051049.948838283] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051049.957430575] [sailbot.main_algo]: Wind Direction: 47 +[main_algo-3] [INFO] [1746051049.958595817] [sailbot.main_algo]: Target Bearing: -132.47738513775943 +[main_algo-3] [INFO] [1746051049.959562585] [sailbot.main_algo]: Heading Difference: 103.30038513775935 +[main_algo-3] [INFO] [1746051049.960495785] [sailbot.main_algo]: Wind Direction: 47 +[main_algo-3] [INFO] [1746051049.961385935] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051049.962262572] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051049.963346744] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051049.964005646] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051050.002993103] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895578 Long: -76.50301888 +[main_algo-3] [INFO] [1746051050.004019050] [sailbot.main_algo]: Distance to destination: 35.158313260068724 +[vectornav-1] [INFO] [1746051050.004274064] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (334.997, -0.207, 10.373) +[main_algo-3] [INFO] [1746051050.005284597] [sailbot.main_algo]: Target Bearing: -133.4752856258387 +[main_algo-3] [INFO] [1746051050.006290315] [sailbot.main_algo]: Heading Difference: 104.29828562583862 +[main_algo-3] [INFO] [1746051050.007184839] [sailbot.main_algo]: Wind Direction: 47 +[main_algo-3] [INFO] [1746051050.008162622] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051050.009020461] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051050.010710854] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051050.044997845] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051050.045669476] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051050.046338775] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051050.047689051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051050.048844276] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051050.085156359] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051050.086732259] [sailbot.teensy]: Wind angle: 48 +[teensy-2] [INFO] [1746051050.087602557] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051050.087404864] [sailbot.trim_sail]: Sail Angle: "65" +[teensy-2] [INFO] [1746051050.088480125] [sailbot.teensy]: Actual tail angle: 19 +[mux-7] [INFO] [1746051050.089045384] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746051050.089324950] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051050.145246291] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051050.145962170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051050.147421705] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051050.147960589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051050.149055646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051050.174937580] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746051050.245070967] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051050.245802631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051050.246336958] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051050.247680860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051050.248879327] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051050.335077049] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051050.336638602] [sailbot.teensy]: Wind angle: 50 +[teensy-2] [INFO] [1746051050.337494491] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051050.337140815] [sailbot.trim_sail]: Sail Angle: "60" +[mux-7] [INFO] [1746051050.338442640] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746051050.338514823] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746051050.339453045] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051050.344558885] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051050.345747551] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051050.345786431] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051050.347573167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051050.348623483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051050.445291248] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051050.446203344] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051050.446798614] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051050.448094855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051050.448633766] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051050.457015561] [sailbot.main_algo]: Wind Direction: 50 +[main_algo-3] [INFO] [1746051050.457954384] [sailbot.main_algo]: Target Bearing: -133.4752856258387 +[main_algo-3] [INFO] [1746051050.458780917] [sailbot.main_algo]: Heading Difference: 108.47228562583871 +[main_algo-3] [INFO] [1746051050.459570622] [sailbot.main_algo]: Wind Direction: 50 +[main_algo-3] [INFO] [1746051050.460403289] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051050.461203244] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051050.462337302] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051050.462976614] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051050.502991717] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895269 Long: -76.50301265 +[main_algo-3] [INFO] [1746051050.503448322] [sailbot.main_algo]: Distance to destination: 35.25621592041169 +[vectornav-1] [INFO] [1746051050.504119114] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (338.69, 1.72, 13.596) +[main_algo-3] [INFO] [1746051050.504528632] [sailbot.main_algo]: Target Bearing: -134.46596924395288 +[main_algo-3] [INFO] [1746051050.505525281] [sailbot.main_algo]: Heading Difference: 109.4629692439529 +[main_algo-3] [INFO] [1746051050.506443649] [sailbot.main_algo]: Wind Direction: 50 +[main_algo-3] [INFO] [1746051050.507329431] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051050.508206649] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051050.510103312] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051050.545095130] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051050.545817012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051050.546516152] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051050.548087406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051050.549216732] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051050.585491900] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051050.587863620] [sailbot.trim_sail]: Sail Angle: "60" +[mux-7] [INFO] [1746051050.588870361] [sailbot.mux]: algo sail angle: 60 +[teensy-2] [INFO] [1746051050.589214072] [sailbot.teensy]: Wind angle: 54 +[teensy-2] [INFO] [1746051050.590176869] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051050.591069954] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051050.591939874] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051050.645089991] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051050.645900299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051050.646712260] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051050.648054720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051050.648592117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051050.745308496] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051050.746258353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051050.746787122] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051050.748419647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051050.749622099] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051050.835403960] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051050.837793809] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746051050.838171671] [sailbot.teensy]: Wind angle: 59 +[mux-7] [INFO] [1746051050.838802635] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746051050.839260271] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051050.840205276] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051050.841041463] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051050.844367569] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051050.844864143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051050.845515485] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051050.846538333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051050.847587555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051050.945430749] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051050.945921940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051050.947029708] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051050.948067382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051050.948984149] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051050.957404624] [sailbot.main_algo]: Wind Direction: 59 +[main_algo-3] [INFO] [1746051050.958605667] [sailbot.main_algo]: Target Bearing: -134.46596924395288 +[main_algo-3] [INFO] [1746051050.959606003] [sailbot.main_algo]: Heading Difference: 113.15596924395288 +[main_algo-3] [INFO] [1746051050.960576417] [sailbot.main_algo]: Wind Direction: 59 +[main_algo-3] [INFO] [1746051050.961446280] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051050.962284558] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051050.963373004] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051050.964108272] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051051.002963675] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895124 Long: -76.50300624 +[main_algo-3] [INFO] [1746051051.004038029] [sailbot.main_algo]: Distance to destination: 35.5052047807981 +[vectornav-1] [INFO] [1746051051.004294713] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (346.168, 0.233, 13.869) +[main_algo-3] [INFO] [1746051051.005359604] [sailbot.main_algo]: Target Bearing: -135.26215065540953 +[main_algo-3] [INFO] [1746051051.006403189] [sailbot.main_algo]: Heading Difference: 113.95215065540947 +[main_algo-3] [INFO] [1746051051.007339129] [sailbot.main_algo]: Wind Direction: 59 +[main_algo-3] [INFO] [1746051051.008246113] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051051.009134363] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051051.011102025] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051051.045201968] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051051.045739881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051051.046784703] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051051.047791899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051051.048954589] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051051.085249221] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051051.087019698] [sailbot.teensy]: Wind angle: 59 +[trim_sail-4] [INFO] [1746051051.087450990] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746051051.087958098] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051051.088942190] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051051.089797518] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746051051.089846209] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051051.145362395] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051051.146121201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051051.146998231] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051051.148627193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051051.149794139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051051.245428247] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051051.246011819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051051.247383806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051051.248208172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051051.249596210] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051051.335373393] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051051.337080162] [sailbot.teensy]: Wind angle: 60 +[teensy-2] [INFO] [1746051051.338012359] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051051.337725310] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746051051.338876189] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051051.339013352] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746051051.339724629] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051051.344268014] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051051.344820990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051051.345474844] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051051.346473850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051051.347659509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051051.445590698] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051051.446586990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051051.447241759] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051051.449085079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051051.450237591] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051051.456980140] [sailbot.main_algo]: Wind Direction: 60 +[main_algo-3] [INFO] [1746051051.457943203] [sailbot.main_algo]: Target Bearing: -135.26215065540953 +[main_algo-3] [INFO] [1746051051.458852663] [sailbot.main_algo]: Heading Difference: 121.43015065540953 +[main_algo-3] [INFO] [1746051051.459647303] [sailbot.main_algo]: Wind Direction: 60 +[main_algo-3] [INFO] [1746051051.460449665] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051051.461248230] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051051.462229939] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051051.462967024] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051051.503350973] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895082 Long: -76.50299982 +[main_algo-3] [INFO] [1746051051.503931299] [sailbot.main_algo]: Distance to destination: 35.84246619807168 +[vectornav-1] [INFO] [1746051051.504706868] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (356.275, -1.609, 12.792) +[main_algo-3] [INFO] [1746051051.505119748] [sailbot.main_algo]: Target Bearing: -135.9186496342211 +[main_algo-3] [INFO] [1746051051.506185565] [sailbot.main_algo]: Heading Difference: 122.08664963422109 +[main_algo-3] [INFO] [1746051051.507127961] [sailbot.main_algo]: Wind Direction: 60 +[main_algo-3] [INFO] [1746051051.508022743] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051051.508891351] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051051.510710219] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051051.545167871] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051051.545950302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051051.546557946] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051051.547993419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051051.549252973] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051051.585245957] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051051.587173936] [sailbot.teensy]: Wind angle: 69 +[trim_sail-4] [INFO] [1746051051.587848270] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746051051.588123103] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051051.588613786] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746051051.589171080] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051051.590115237] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051051.644945121] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051051.645922940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051051.646240302] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051051.647768595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051051.648891683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051051.744991858] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051051.745680920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051051.746303564] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051051.747736880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051051.748764799] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051051.835473209] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051051.838178210] [sailbot.teensy]: Wind angle: 79 +[trim_sail-4] [INFO] [1746051051.838365596] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746051051.839151963] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051051.839533921] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746051051.840422434] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051051.841314176] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051051.844569880] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051051.844837773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051051.845701023] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051051.846505807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051051.847572429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051051.945309498] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051051.946182511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051051.946833357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051051.948657381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051051.949821561] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051051.957138495] [sailbot.main_algo]: Wind Direction: 79 +[main_algo-3] [INFO] [1746051051.958173589] [sailbot.main_algo]: Target Bearing: -135.9186496342211 +[main_algo-3] [INFO] [1746051051.959083653] [sailbot.main_algo]: Heading Difference: 132.19364963422106 +[main_algo-3] [INFO] [1746051051.960066679] [sailbot.main_algo]: Wind Direction: 79 +[main_algo-3] [INFO] [1746051051.961012726] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051051.961853319] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051051.963017900] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051051.963523504] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051052.003730434] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895048 Long: -76.50299287 +[main_algo-3] [INFO] [1746051052.004851611] [sailbot.main_algo]: Distance to destination: 36.22168276575489 +[vectornav-1] [INFO] [1746051052.005078864] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (6.73599999999999, -3.166, 16.102) +[main_algo-3] [INFO] [1746051052.006134839] [sailbot.main_algo]: Target Bearing: -136.60106786446332 +[main_algo-3] [INFO] [1746051052.007177436] [sailbot.main_algo]: Heading Difference: 132.87606786446327 +[main_algo-3] [INFO] [1746051052.008128012] [sailbot.main_algo]: Wind Direction: 79 +[main_algo-3] [INFO] [1746051052.009023311] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051052.010015430] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051052.011791916] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051052.045043683] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051052.045709022] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051052.046336306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051052.047527190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051052.048601101] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051052.085109109] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051052.087082336] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746051052.087684301] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051052.087885724] [sailbot.teensy]: Wind angle: 88 +[teensy-2] [INFO] [1746051052.088828466] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051052.089631112] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051052.090466328] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051052.144991546] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051052.145677048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051052.146270369] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051052.147559368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051052.148581596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051052.245643864] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051052.245722731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051052.246998765] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051052.248077505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051052.249182246] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051052.335380961] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051052.337083063] [sailbot.teensy]: Wind angle: 89 +[teensy-2] [INFO] [1746051052.338031378] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051052.338518502] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746051052.338894608] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051052.339746273] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051052.339139839] [sailbot.mux]: algo sail angle: 35 +[mux-7] [INFO] [1746051052.344373621] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051052.344900492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051052.345580251] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051052.346574014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051052.347627015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051052.444921895] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051052.445790539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051052.446234700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051052.447804339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051052.449013500] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051052.457019782] [sailbot.main_algo]: Wind Direction: 89 +[main_algo-3] [INFO] [1746051052.457975649] [sailbot.main_algo]: Target Bearing: -136.60106786446332 +[main_algo-3] [INFO] [1746051052.458888644] [sailbot.main_algo]: Heading Difference: 143.33706786446328 +[main_algo-3] [INFO] [1746051052.459742561] [sailbot.main_algo]: Wind Direction: 89 +[main_algo-3] [INFO] [1746051052.460637532] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051052.461425912] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051052.462422449] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051052.463005611] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051052.503104235] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895092 Long: -76.5029856 +[main_algo-3] [INFO] [1746051052.503395018] [sailbot.main_algo]: Distance to destination: 36.68486348114401 +[main_algo-3] [INFO] [1746051052.504422985] [sailbot.main_algo]: Target Bearing: -137.19992755405985 +[vectornav-1] [INFO] [1746051052.504608663] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (11.186000000000035, 0.473, 15.611) +[main_algo-3] [INFO] [1746051052.505447715] [sailbot.main_algo]: Heading Difference: 143.93592755405984 +[main_algo-3] [INFO] [1746051052.506373803] [sailbot.main_algo]: Wind Direction: 89 +[main_algo-3] [INFO] [1746051052.507277589] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051052.508171275] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051052.509852438] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051052.545250513] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051052.546015683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051052.546888108] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051052.548232401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051052.549365422] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051052.585374766] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051052.587110740] [sailbot.teensy]: Wind angle: 89 +[trim_sail-4] [INFO] [1746051052.587667968] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746051052.588056529] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051052.588982134] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051052.589272444] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051052.589912129] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051052.645155132] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051052.646072219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051052.646584388] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051052.648270935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051052.649378009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051052.745839899] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051052.745862356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051052.747499355] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051052.747944962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051052.749150892] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051052.835529551] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051052.837402111] [sailbot.teensy]: Wind angle: 93 +[trim_sail-4] [INFO] [1746051052.837907119] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746051052.838360037] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051052.839418176] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051052.840317416] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051052.840372666] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051052.844439090] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051052.845245344] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051052.845786541] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051052.847144201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051052.848323420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051052.945635145] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051052.946253131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051052.947446660] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051052.948664850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051052.949860945] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051052.957062183] [sailbot.main_algo]: Wind Direction: 93 +[main_algo-3] [INFO] [1746051052.958181112] [sailbot.main_algo]: Target Bearing: -137.19992755405985 +[main_algo-3] [INFO] [1746051052.959129485] [sailbot.main_algo]: Heading Difference: 148.3859275540599 +[main_algo-3] [INFO] [1746051052.959986916] [sailbot.main_algo]: Wind Direction: 93 +[main_algo-3] [INFO] [1746051052.960905521] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051052.961772647] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051052.962992270] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051052.963486258] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051053.002736727] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895309 Long: -76.50297909 +[main_algo-3] [INFO] [1746051053.003625417] [sailbot.main_algo]: Distance to destination: 37.2384704846141 +[vectornav-1] [INFO] [1746051053.003808930] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (16.170000000000016, 1.399, 11.957) +[main_algo-3] [INFO] [1746051053.004765702] [sailbot.main_algo]: Target Bearing: -137.502549618637 +[main_algo-3] [INFO] [1746051053.005698451] [sailbot.main_algo]: Heading Difference: 148.688549618637 +[main_algo-3] [INFO] [1746051053.006540628] [sailbot.main_algo]: Wind Direction: 93 +[main_algo-3] [INFO] [1746051053.007403806] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051053.008240973] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051053.009822415] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051053.045623433] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051053.045650689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051053.047035025] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051053.047608904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051053.048814416] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051053.085282069] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051053.086914987] [sailbot.teensy]: Wind angle: 93 +[teensy-2] [INFO] [1746051053.087834785] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051053.087435307] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746051053.089099527] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051053.089167396] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051053.090106487] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051053.145413298] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051053.146129986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051053.146952295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051053.148132865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051053.148655337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051053.245084463] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051053.245855136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051053.246510094] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051053.248011361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051053.249211544] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051053.335481982] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051053.338004614] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746051053.338733003] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051053.338952250] [sailbot.teensy]: Wind angle: 99 +[teensy-2] [INFO] [1746051053.339909223] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051053.340790727] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051053.341625255] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051053.344455659] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051053.344974795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051053.345631983] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051053.346671710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051053.347709853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051053.445201304] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051053.446057373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051053.446752886] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051053.448200971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051053.448712888] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051053.457168419] [sailbot.main_algo]: Wind Direction: 99 +[main_algo-3] [INFO] [1746051053.458185241] [sailbot.main_algo]: Target Bearing: -137.502549618637 +[main_algo-3] [INFO] [1746051053.459085978] [sailbot.main_algo]: Heading Difference: 153.67254961863705 +[main_algo-3] [INFO] [1746051053.459952669] [sailbot.main_algo]: Wind Direction: 99 +[main_algo-3] [INFO] [1746051053.460842777] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051053.461698988] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051053.462895732] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051053.463398748] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051053.502837861] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895411 Long: -76.50297307 +[vectornav-1] [INFO] [1746051053.504196773] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (20.96199999999999, -2.165, 12.908) +[main_algo-3] [INFO] [1746051053.504730524] [sailbot.main_algo]: Distance to destination: 37.67632340557855 +[main_algo-3] [INFO] [1746051053.506099230] [sailbot.main_algo]: Target Bearing: -137.89588244189682 +[main_algo-3] [INFO] [1746051053.507039751] [sailbot.main_algo]: Heading Difference: 154.06588244189686 +[main_algo-3] [INFO] [1746051053.507908614] [sailbot.main_algo]: Wind Direction: 99 +[main_algo-3] [INFO] [1746051053.508776881] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051053.509616968] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051053.511349128] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051053.545154056] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051053.545912890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051053.546674429] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051053.547855167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051053.548912496] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051053.585405698] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051053.587327779] [sailbot.teensy]: Wind angle: 107 +[trim_sail-4] [INFO] [1746051053.587881429] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051053.588335431] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051053.589280283] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051053.590112634] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051053.590155866] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051053.644817235] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051053.645498236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051053.646141878] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051053.647364689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051053.648636173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051053.745416228] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051053.746432099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051053.746954545] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051053.748581390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051053.749103800] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051053.835211137] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051053.837268384] [sailbot.teensy]: Wind angle: 109 +[trim_sail-4] [INFO] [1746051053.837378741] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051053.838268031] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051053.838857423] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051053.839208445] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051053.840386768] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051053.844526251] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051053.845394713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051053.845725588] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051053.847118517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051053.848300377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051053.945390587] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051053.946355398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051053.946930052] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051053.948160149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051053.948633269] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051053.957174386] [sailbot.main_algo]: Wind Direction: 109 +[main_algo-3] [INFO] [1746051053.958289050] [sailbot.main_algo]: Target Bearing: -137.89588244189682 +[main_algo-3] [INFO] [1746051053.959259749] [sailbot.main_algo]: Heading Difference: 158.85788244189678 +[main_algo-3] [INFO] [1746051053.960138282] [sailbot.main_algo]: Wind Direction: 109 +[main_algo-3] [INFO] [1746051053.961001445] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051053.961788833] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051053.962879070] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051053.963486836] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051054.002697646] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895635 Long: -76.50296702 +[main_algo-3] [INFO] [1746051054.003530052] [sailbot.main_algo]: Distance to destination: 38.20979358388477 +[vectornav-1] [INFO] [1746051054.003768709] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (27.512999999999977, -1.45, 13.073) +[main_algo-3] [INFO] [1746051054.004631887] [sailbot.main_algo]: Target Bearing: -138.13344084696655 +[main_algo-3] [INFO] [1746051054.005520178] [sailbot.main_algo]: Heading Difference: 159.09544084696654 +[main_algo-3] [INFO] [1746051054.006387955] [sailbot.main_algo]: Wind Direction: 109 +[main_algo-3] [INFO] [1746051054.007290044] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051054.008170959] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051054.010094815] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051054.045110878] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051054.045949930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051054.046712769] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051054.048105557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051054.049261973] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051054.085261587] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051054.086909460] [sailbot.teensy]: Wind angle: 100 +[trim_sail-4] [INFO] [1746051054.087556514] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051054.087866117] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051054.088829978] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051054.089751930] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051054.089951389] [sailbot.mux]: algo sail angle: 25 +[mux-7] [INFO] [1746051054.120182077] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746051054.145174636] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051054.146118896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051054.146900263] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051054.148121864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051054.149300047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051054.245001655] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051054.245895524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051054.246305612] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051054.247829103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051054.248967531] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051054.335405332] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051054.337953028] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051054.338430435] [sailbot.teensy]: Wind angle: 102 +[mux-7] [INFO] [1746051054.339281826] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051054.339365151] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051054.340213785] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051054.340584632] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051054.344385735] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051054.344959605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051054.345536215] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051054.346679719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051054.347797525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051054.445385620] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051054.446395039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051054.447315769] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051054.449064915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051054.449589877] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051054.457420296] [sailbot.main_algo]: Wind Direction: 102 +[main_algo-3] [INFO] [1746051054.458543301] [sailbot.main_algo]: Target Bearing: -138.13344084696655 +[main_algo-3] [INFO] [1746051054.459491265] [sailbot.main_algo]: Heading Difference: 165.64644084696653 +[main_algo-3] [INFO] [1746051054.460422920] [sailbot.main_algo]: Wind Direction: 102 +[main_algo-3] [INFO] [1746051054.461310225] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051054.462204624] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051054.463298382] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051054.463849090] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051054.502741107] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895869 Long: -76.50296091 +[main_algo-3] [INFO] [1746051054.503621029] [sailbot.main_algo]: Distance to destination: 38.75505579354648 +[vectornav-1] [INFO] [1746051054.503946807] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.930000000000007, 0.169, 13.352) +[main_algo-3] [INFO] [1746051054.504724197] [sailbot.main_algo]: Target Bearing: -138.35731857480846 +[main_algo-3] [INFO] [1746051054.505682396] [sailbot.main_algo]: Heading Difference: 165.87031857480844 +[main_algo-3] [INFO] [1746051054.506586295] [sailbot.main_algo]: Wind Direction: 102 +[main_algo-3] [INFO] [1746051054.507500904] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051054.508368592] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051054.510086218] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051054.544974333] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051054.545770196] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051054.546256405] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051054.547692555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051054.548749571] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051054.585355309] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051054.587277835] [sailbot.teensy]: Wind angle: 111 +[trim_sail-4] [INFO] [1746051054.587601741] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051054.588252168] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051054.589118922] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051054.588972608] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051054.589987957] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051054.645220128] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051054.646147250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051054.646776464] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051054.647854026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051054.648367757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051054.745398146] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051054.746118769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051054.746935360] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051054.748325198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051054.748822835] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051054.835201590] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051054.837415984] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746051054.838140870] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051054.838235474] [sailbot.teensy]: Wind angle: 114 +[teensy-2] [INFO] [1746051054.838724404] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051054.839123671] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051054.839637916] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051054.844368527] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051054.845105620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051054.845496155] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051054.846941269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051054.847997289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051054.945317845] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051054.946148663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051054.946883787] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051054.948441155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051054.949493332] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051054.956985477] [sailbot.main_algo]: Wind Direction: 114 +[main_algo-3] [INFO] [1746051054.957943449] [sailbot.main_algo]: Target Bearing: -138.35731857480846 +[main_algo-3] [INFO] [1746051054.958829528] [sailbot.main_algo]: Heading Difference: 169.28731857480847 +[main_algo-3] [INFO] [1746051054.959684516] [sailbot.main_algo]: Wind Direction: 114 +[main_algo-3] [INFO] [1746051054.960523900] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051054.961319166] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051054.962329781] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051054.963117466] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051055.003044268] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896065 Long: -76.50295508 +[main_algo-3] [INFO] [1746051055.003932507] [sailbot.main_algo]: Distance to destination: 39.25542746476766 +[vectornav-1] [INFO] [1746051055.004438702] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.175999999999988, 1.04, 12.213) +[main_algo-3] [INFO] [1746051055.005282756] [sailbot.main_algo]: Target Bearing: -138.5977629725433 +[main_algo-3] [INFO] [1746051055.006394698] [sailbot.main_algo]: Heading Difference: 169.52776297254331 +[main_algo-3] [INFO] [1746051055.007302137] [sailbot.main_algo]: Wind Direction: 114 +[main_algo-3] [INFO] [1746051055.008250109] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051055.009141825] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051055.010873090] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051055.045002202] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051055.045697812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051055.046321945] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051055.047588766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051055.048756429] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051055.085218088] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051055.087323815] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746051055.088017118] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051055.088199159] [sailbot.teensy]: Wind angle: 112 +[teensy-2] [INFO] [1746051055.089613300] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051055.090540485] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051055.091373386] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051055.120942690] [sailbot.mux]: controller_app rudder angle: 1 +[mux-7] [INFO] [1746051055.144937831] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051055.145926254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051055.146334021] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746051055.147791164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 1 +[teensy-2] [INFO] [1746051055.148963951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051055.245252654] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051055.246190997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051055.247298384] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746051055.248229799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 1 +[teensy-2] [INFO] [1746051055.249323062] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051055.335486823] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051055.338244072] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051055.339162729] [sailbot.teensy]: Wind angle: 111 +[teensy-2] [INFO] [1746051055.340198066] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051055.340406806] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051055.341157893] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051055.342067302] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051055.344345194] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051055.344934933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051055.345537372] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746051055.346645419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 1 +[teensy-2] [INFO] [1746051055.347704602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051055.445342531] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051055.446014172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051055.446899763] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746051055.448384616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 1 +[teensy-2] [INFO] [1746051055.449341234] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051055.457168127] [sailbot.main_algo]: Wind Direction: 111 +[main_algo-3] [INFO] [1746051055.458201984] [sailbot.main_algo]: Target Bearing: -138.5977629725433 +[main_algo-3] [INFO] [1746051055.459086882] [sailbot.main_algo]: Heading Difference: 168.7737629725433 +[main_algo-3] [INFO] [1746051055.459942667] [sailbot.main_algo]: Wind Direction: 111 +[main_algo-3] [INFO] [1746051055.460770358] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051055.461564916] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051055.462579490] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051055.463283255] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051055.503088027] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896386 Long: -76.50294984 +[main_algo-3] [INFO] [1746051055.503989259] [sailbot.main_algo]: Distance to destination: 39.813976059276925 +[vectornav-1] [INFO] [1746051055.504272134] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.00599999999997, -3.907, 12.168) +[main_algo-3] [INFO] [1746051055.505160993] [sailbot.main_algo]: Target Bearing: -138.63723430670723 +[main_algo-3] [INFO] [1746051055.506135644] [sailbot.main_algo]: Heading Difference: 168.81323430670722 +[main_algo-3] [INFO] [1746051055.507019264] [sailbot.main_algo]: Wind Direction: 111 +[main_algo-3] [INFO] [1746051055.507913521] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051055.508807235] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051055.510528507] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051055.545277363] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051055.546051934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051055.546795538] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746051055.548322799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 1 +[teensy-2] [INFO] [1746051055.549521992] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051055.585263970] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051055.587031540] [sailbot.teensy]: Wind angle: 109 +[trim_sail-4] [INFO] [1746051055.587522976] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051055.587966393] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051055.588862367] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746051055.589032291] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051055.589756987] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051055.645143306] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051055.645966946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051055.646823803] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746051055.647988953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 1 +[teensy-2] [INFO] [1746051055.648485036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051055.744827863] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051055.745611212] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051055.746057848] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746051055.747569305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 1 +[teensy-2] [INFO] [1746051055.748949860] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051055.835270612] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051055.837366812] [sailbot.teensy]: Wind angle: 110 +[trim_sail-4] [INFO] [1746051055.837396761] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051055.838389134] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051055.839328633] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746051055.839432210] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051055.840267991] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051055.844419119] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051055.845056941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051055.845590247] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746051055.846819789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 1 +[teensy-2] [INFO] [1746051055.847828666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051055.945156311] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051055.945888092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051055.946635513] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746051055.947922787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 1 +[teensy-2] [INFO] [1746051055.948703024] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051055.957210835] [sailbot.main_algo]: Wind Direction: 110 +[main_algo-3] [INFO] [1746051055.958219317] [sailbot.main_algo]: Target Bearing: -138.63723430670723 +[main_algo-3] [INFO] [1746051055.959088797] [sailbot.main_algo]: Heading Difference: 171.6432343067072 +[main_algo-3] [INFO] [1746051055.959892743] [sailbot.main_algo]: Wind Direction: 110 +[main_algo-3] [INFO] [1746051055.960715521] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051055.961515763] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051055.962543752] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051055.963303404] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051056.002942833] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896643 Long: -76.50294287 +[main_algo-3] [INFO] [1746051056.004000595] [sailbot.main_algo]: Distance to destination: 40.43008568233881 +[vectornav-1] [INFO] [1746051056.004108077] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.08299999999997, 1.446, 15.111) +[main_algo-3] [INFO] [1746051056.005231322] [sailbot.main_algo]: Target Bearing: -138.88583891316156 +[main_algo-3] [INFO] [1746051056.006488709] [sailbot.main_algo]: Heading Difference: 171.89183891316156 +[main_algo-3] [INFO] [1746051056.007434903] [sailbot.main_algo]: Wind Direction: 110 +[main_algo-3] [INFO] [1746051056.008524611] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051056.009441644] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051056.011120439] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051056.045468045] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051056.046270282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051056.047127035] [sailbot.mux]: Published rudder angle from controller_app: 1 +[teensy-2] [INFO] [1746051056.048703086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 1 +[teensy-2] [INFO] [1746051056.049913844] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051056.085223967] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051056.087023679] [sailbot.teensy]: Wind angle: 111 +[teensy-2] [INFO] [1746051056.087987347] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051056.087399096] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051056.088950601] [sailbot.teensy]: Actual tail angle: 26 +[mux-7] [INFO] [1746051056.089733980] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051056.089862813] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051056.122362799] [sailbot.mux]: controller_app rudder angle: 10 +[mux-7] [INFO] [1746051056.145028159] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051056.145887227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051056.146329387] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746051056.147732030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746051056.148825813] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051056.245191748] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051056.245940050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051056.246634695] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746051056.248117265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746051056.248858811] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051056.335354429] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051056.337133072] [sailbot.teensy]: Wind angle: 107 +[trim_sail-4] [INFO] [1746051056.338064173] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746051056.339327116] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051056.339440114] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051056.339821656] [sailbot.teensy]: Actual tail angle: 26 +[teensy-2] [INFO] [1746051056.340197771] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051056.344381560] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051056.345053197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051056.345470897] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746051056.346784164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746051056.347771949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051056.445448841] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051056.446870971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051056.447169062] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746051056.449426640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746051056.450481126] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051056.457278193] [sailbot.main_algo]: Wind Direction: 107 +[main_algo-3] [INFO] [1746051056.458384241] [sailbot.main_algo]: Target Bearing: -138.88583891316156 +[main_algo-3] [INFO] [1746051056.459294656] [sailbot.main_algo]: Heading Difference: 168.96883891316156 +[main_algo-3] [INFO] [1746051056.460196014] [sailbot.main_algo]: Wind Direction: 107 +[main_algo-3] [INFO] [1746051056.461104426] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051056.461988001] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051056.463100979] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051056.463741164] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051056.502720220] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896879 Long: -76.50293637 +[main_algo-3] [INFO] [1746051056.503640554] [sailbot.main_algo]: Distance to destination: 41.00259377175728 +[vectornav-1] [INFO] [1746051056.503890902] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.688999999999965, 1.428, 11.711) +[main_algo-3] [INFO] [1746051056.504749810] [sailbot.main_algo]: Target Bearing: -139.11518266909295 +[main_algo-3] [INFO] [1746051056.505688522] [sailbot.main_algo]: Heading Difference: 169.19818266909294 +[main_algo-3] [INFO] [1746051056.506595185] [sailbot.main_algo]: Wind Direction: 107 +[main_algo-3] [INFO] [1746051056.507488818] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051056.508351883] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051056.510080130] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051056.545132748] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051056.546037030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051056.546566965] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746051056.548281809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746051056.549322371] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051056.585353590] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051056.587375101] [sailbot.teensy]: Wind angle: 105 +[trim_sail-4] [INFO] [1746051056.587971318] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051056.589017816] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051056.589992358] [sailbot.teensy]: Actual tail angle: 35 +[mux-7] [INFO] [1746051056.589981678] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051056.590853332] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051056.645155599] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051056.645901265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051056.646648556] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746051056.647913819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746051056.648890826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051056.745459473] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051056.746079501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051056.747166869] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746051056.748421209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746051056.749661929] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051056.835228986] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051056.837925197] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051056.838543284] [sailbot.teensy]: Wind angle: 104 +[mux-7] [INFO] [1746051056.838591552] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051056.839530622] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051056.840460702] [sailbot.teensy]: Actual tail angle: 35 +[teensy-2] [INFO] [1746051056.840964176] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051056.844481093] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051056.844961687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051056.845652041] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746051056.846687894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746051056.847807904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051056.945402969] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051056.946186489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051056.947187860] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746051056.948324725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746051056.948862468] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051056.957270596] [sailbot.main_algo]: Wind Direction: 104 +[main_algo-3] [INFO] [1746051056.958371371] [sailbot.main_algo]: Target Bearing: -139.11518266909295 +[main_algo-3] [INFO] [1746051056.959334172] [sailbot.main_algo]: Heading Difference: 163.80418266909294 +[main_algo-3] [INFO] [1746051056.960216711] [sailbot.main_algo]: Wind Direction: 104 +[main_algo-3] [INFO] [1746051056.961094879] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051056.961935144] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051056.962993698] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051056.963606146] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051057.003079326] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46897128 Long: -76.50293067 +[main_algo-3] [INFO] [1746051057.004101897] [sailbot.main_algo]: Distance to destination: 41.536246493304176 +[vectornav-1] [INFO] [1746051057.004406697] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (18.432999999999993, -0.976, 9.584) +[main_algo-3] [INFO] [1746051057.005347244] [sailbot.main_algo]: Target Bearing: -139.26299939906679 +[main_algo-3] [INFO] [1746051057.006370262] [sailbot.main_algo]: Heading Difference: 163.95199939906672 +[main_algo-3] [INFO] [1746051057.007260766] [sailbot.main_algo]: Wind Direction: 104 +[main_algo-3] [INFO] [1746051057.008139589] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051057.009038904] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051057.010720513] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051057.045209591] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051057.046038393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051057.046641187] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746051057.048406735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[teensy-2] [INFO] [1746051057.049525183] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051057.085245496] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051057.087184368] [sailbot.teensy]: Wind angle: 102 +[trim_sail-4] [INFO] [1746051057.087569468] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051057.088128341] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051057.089110317] [sailbot.teensy]: Actual tail angle: 35 +[teensy-2] [INFO] [1746051057.090008706] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051057.090368217] [sailbot.mux]: algo sail angle: 25 +[mux-7] [INFO] [1746051057.144820836] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051057.145578454] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051057.146052456] [sailbot.mux]: Published rudder angle from controller_app: 10 +[teensy-2] [INFO] [1746051057.147401536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 +[mux-7] [INFO] [1746051057.148048323] [sailbot.mux]: controller_app rudder angle: 0 +[teensy-2] [INFO] [1746051057.148634217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051057.245688281] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051057.246566573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051057.247352310] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051057.249396356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051057.250660330] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051057.335373268] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051057.337189230] [sailbot.teensy]: Wind angle: 99 +[trim_sail-4] [INFO] [1746051057.337807477] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051057.338215537] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051057.339196098] [sailbot.teensy]: Actual tail angle: 35 +[mux-7] [INFO] [1746051057.339646687] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051057.339702006] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051057.345038326] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051057.345173246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051057.346378655] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051057.347329525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051057.348448562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051057.445525345] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051057.446196956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051057.447200993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051057.448381889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051057.449093043] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051057.457047297] [sailbot.main_algo]: Wind Direction: 99 +[main_algo-3] [INFO] [1746051057.457927768] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746051057.458792397] [sailbot.main_algo]: Target Bearing: -139.26299939906679 +[main_algo-3] [INFO] [1746051057.459621578] [sailbot.main_algo]: Heading Difference: 157.69599939906675 +[main_algo-3] [INFO] [1746051057.460448739] [sailbot.main_algo]: Wind Direction: 99 +[main_algo-3] [INFO] [1746051057.461248738] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051057.462006739] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051057.463011857] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051057.463690759] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051057.503239014] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46897277 Long: -76.5029238 +[main_algo-3] [INFO] [1746051057.503830041] [sailbot.main_algo]: Distance to destination: 42.06860841619389 +[vectornav-1] [INFO] [1746051057.504449443] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (9.742000000000019, -3.465, 8.932) +[main_algo-3] [INFO] [1746051057.504947620] [sailbot.main_algo]: Target Bearing: -139.60716333044732 +[main_algo-3] [INFO] [1746051057.506310472] [sailbot.main_algo]: Heading Difference: 158.04016333044729 +[main_algo-3] [INFO] [1746051057.507340562] [sailbot.main_algo]: Wind Direction: 99 +[main_algo-3] [INFO] [1746051057.508300223] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051057.509176057] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051057.510885311] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051057.545144756] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051057.545786821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051057.546667511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051057.547656903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051057.548741469] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051057.585056490] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051057.587172850] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051057.587247507] [sailbot.teensy]: Wind angle: 100 +[teensy-2] [INFO] [1746051057.588233125] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051057.589060278] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051057.589156683] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051057.590043999] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051057.645008679] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051057.645808372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051057.646351400] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051057.647682231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051057.648861873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051057.745144731] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051057.745759810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051057.746857764] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051057.747541349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051057.748034108] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051057.835449970] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051057.837477661] [sailbot.teensy]: Wind angle: 98 +[trim_sail-4] [INFO] [1746051057.838192203] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051057.838483015] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051057.839373901] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051057.839667514] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051057.840342806] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051057.844458330] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051057.845049268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051057.845600075] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051057.846775452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051057.847989767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051057.945670015] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051057.946562798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051057.947507848] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051057.948813225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051057.949338155] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051057.957145206] [sailbot.main_algo]: Wind Direction: 98 +[main_algo-3] [INFO] [1746051057.958091425] [sailbot.main_algo]: Target Bearing: -139.60716333044732 +[main_algo-3] [INFO] [1746051057.958977958] [sailbot.main_algo]: Heading Difference: 149.34916333044737 +[main_algo-3] [INFO] [1746051057.960075064] [sailbot.main_algo]: Wind Direction: 98 +[main_algo-3] [INFO] [1746051057.960971551] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051057.961830732] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051057.962910953] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051057.963654392] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051058.003202204] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46897244 Long: -76.50291546 +[main_algo-3] [INFO] [1746051058.003797514] [sailbot.main_algo]: Distance to destination: 42.56140136709806 +[vectornav-1] [INFO] [1746051058.004434791] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (354.884, -1.158, 8.23) +[main_algo-3] [INFO] [1746051058.005004189] [sailbot.main_algo]: Target Bearing: -140.25474968602865 +[main_algo-3] [INFO] [1746051058.006316367] [sailbot.main_algo]: Heading Difference: 149.9967496860287 +[main_algo-3] [INFO] [1746051058.007284658] [sailbot.main_algo]: Wind Direction: 98 +[main_algo-3] [INFO] [1746051058.008164428] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051058.009017399] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051058.010800850] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051058.045136527] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051058.045959331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051058.046727707] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051058.048450010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051058.049626604] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051058.085335823] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051058.087627692] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746051058.088071228] [sailbot.teensy]: Wind angle: 90 +[mux-7] [INFO] [1746051058.088202244] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051058.089460398] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051058.090340520] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051058.091174598] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051058.145164961] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051058.146046891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051058.146594436] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051058.148065124] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051058.149246477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051058.245478136] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051058.246431217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051058.247202215] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051058.248667376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051058.249744023] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051058.335293965] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051058.337505262] [sailbot.teensy]: Wind angle: 87 +[trim_sail-4] [INFO] [1746051058.337627729] [sailbot.trim_sail]: Sail Angle: "35" +[mux-7] [INFO] [1746051058.339434647] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051058.339803754] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051058.340630302] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051058.340985832] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051058.344466559] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051058.345106285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051058.345681927] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051058.346940850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051058.348007516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051058.445233826] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051058.446194448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051058.446959149] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051058.448576973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051058.449632969] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051058.457054439] [sailbot.main_algo]: Wind Direction: 87 +[main_algo-3] [INFO] [1746051058.458046363] [sailbot.main_algo]: Target Bearing: -140.25474968602865 +[main_algo-3] [INFO] [1746051058.459016568] [sailbot.main_algo]: Heading Difference: 135.13874968602863 +[main_algo-3] [INFO] [1746051058.459871970] [sailbot.main_algo]: Wind Direction: 87 +[main_algo-3] [INFO] [1746051058.460756399] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051058.461570632] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051058.462580076] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051058.463092230] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051058.503128121] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689713 Long: -76.50290762 +[main_algo-3] [INFO] [1746051058.504265353] [sailbot.main_algo]: Distance to destination: 42.97011653684418 +[vectornav-1] [INFO] [1746051058.504410439] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (341.254, 4.07, 5.891) +[main_algo-3] [INFO] [1746051058.505335454] [sailbot.main_algo]: Target Bearing: -140.94381795419955 +[main_algo-3] [INFO] [1746051058.506338216] [sailbot.main_algo]: Heading Difference: 135.82781795419953 +[main_algo-3] [INFO] [1746051058.507236424] [sailbot.main_algo]: Wind Direction: 87 +[main_algo-3] [INFO] [1746051058.508113246] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051058.508989550] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051058.510689775] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051058.545470414] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051058.546310080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051058.547024901] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051058.548497874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051058.549568526] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051058.585146803] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051058.587186004] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746051058.588434726] [sailbot.teensy]: Wind angle: 86 +[mux-7] [INFO] [1746051058.588433355] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051058.589571153] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051058.590555090] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051058.591429417] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051058.645119553] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051058.645970341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051058.646442429] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051058.647930064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051058.648999198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051058.745069878] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051058.745664170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051058.746402464] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051058.747561375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051058.748250962] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051058.835219488] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051058.837339795] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746051058.838334090] [sailbot.teensy]: Wind angle: 84 +[mux-7] [INFO] [1746051058.838507097] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051058.839429552] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051058.840316767] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051058.840660594] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051058.844451706] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051058.844894895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051058.845687144] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051058.846569451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051058.847641852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051058.945024001] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051058.945702437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051058.946373355] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051058.947613151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051058.948714777] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051058.956931741] [sailbot.main_algo]: Wind Direction: 84 +[main_algo-3] [INFO] [1746051058.957885882] [sailbot.main_algo]: Target Bearing: -140.94381795419955 +[main_algo-3] [INFO] [1746051058.958724563] [sailbot.main_algo]: Heading Difference: 122.19781795419954 +[main_algo-3] [INFO] [1746051058.959496523] [sailbot.main_algo]: Wind Direction: 84 +[main_algo-3] [INFO] [1746051058.960288755] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051058.961084682] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051058.962078320] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051058.962677642] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051059.003303392] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896942 Long: -76.50290176 +[main_algo-3] [INFO] [1746051059.003879424] [sailbot.main_algo]: Distance to destination: 43.20697874918979 +[main_algo-3] [INFO] [1746051059.005074816] [sailbot.main_algo]: Target Bearing: -141.56701091300494 +[vectornav-1] [INFO] [1746051059.005487438] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (329.416, 2.536, 3.538) +[main_algo-3] [INFO] [1746051059.006060048] [sailbot.main_algo]: Heading Difference: 122.82101091300501 +[main_algo-3] [INFO] [1746051059.007010496] [sailbot.main_algo]: Wind Direction: 84 +[main_algo-3] [INFO] [1746051059.007892259] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051059.008801069] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051059.010528054] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051059.044994946] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051059.045638132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051059.046332455] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051059.047779416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051059.048946363] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051059.085247885] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051059.087390306] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746051059.087883834] [sailbot.teensy]: Wind angle: 79 +[mux-7] [INFO] [1746051059.088511603] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746051059.089137599] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051059.090395896] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051059.091277124] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051059.144976443] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051059.145560343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051059.146402155] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051059.147571695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051059.148641644] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051059.245257035] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051059.246347336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051059.246745782] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051059.248222556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051059.248761625] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051059.335166442] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051059.336699848] [sailbot.teensy]: Wind angle: 74 +[trim_sail-4] [INFO] [1746051059.337295862] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051059.337573349] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051059.338448421] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051059.338759433] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051059.339302782] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051059.344227237] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051059.344868510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051059.345916935] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051059.346566526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051059.347636413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051059.445014602] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051059.445879306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051059.446740123] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051059.447990678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051059.448660893] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051059.457252023] [sailbot.main_algo]: Wind Direction: 74 +[main_algo-3] [INFO] [1746051059.458281417] [sailbot.main_algo]: Target Bearing: -141.56701091300494 +[main_algo-3] [INFO] [1746051059.459175002] [sailbot.main_algo]: Heading Difference: 110.98301091300493 +[main_algo-3] [INFO] [1746051059.459987089] [sailbot.main_algo]: Wind Direction: 74 +[main_algo-3] [INFO] [1746051059.460798695] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051059.461606422] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051059.462604742] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051059.463307151] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051059.502503373] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896716 Long: -76.50289752 +[main_algo-3] [INFO] [1746051059.503560047] [sailbot.main_algo]: Distance to destination: 43.31870200395622 +[vectornav-1] [INFO] [1746051059.503576152] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (322.903, -3.568, 4.757) +[main_algo-3] [INFO] [1746051059.505001212] [sailbot.main_algo]: Target Bearing: -142.11634991593564 +[main_algo-3] [INFO] [1746051059.505984650] [sailbot.main_algo]: Heading Difference: 111.53234991593558 +[main_algo-3] [INFO] [1746051059.506860928] [sailbot.main_algo]: Wind Direction: 74 +[main_algo-3] [INFO] [1746051059.507733049] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051059.508612788] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051059.510291215] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051059.545014324] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051059.545858723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051059.546346192] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051059.547813797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051059.548952108] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051059.585153414] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051059.586689942] [sailbot.teensy]: Wind angle: 72 +[trim_sail-4] [INFO] [1746051059.587213706] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051059.587567629] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051059.588511041] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051059.588660442] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051059.589437087] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051059.644896681] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051059.645702832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051059.646146320] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051059.647604047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051059.648676171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051059.745497734] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051059.746291229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051059.746976556] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051059.747948945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051059.748466122] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051059.835278482] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051059.837536699] [sailbot.trim_sail]: Sail Angle: "50" +[teensy-2] [INFO] [1746051059.838396874] [sailbot.teensy]: Wind angle: 66 +[mux-7] [INFO] [1746051059.838970680] [sailbot.mux]: algo sail angle: 50 +[teensy-2] [INFO] [1746051059.839411764] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051059.840395673] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051059.841278995] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051059.844326893] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051059.844831505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051059.845411177] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051059.846477775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051059.847623568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051059.945330450] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051059.946358143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051059.947251984] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051059.948681348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051059.949269650] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051059.957050653] [sailbot.main_algo]: Wind Direction: 66 +[main_algo-3] [INFO] [1746051059.958027717] [sailbot.main_algo]: Target Bearing: -142.11634991593564 +[main_algo-3] [INFO] [1746051059.958939614] [sailbot.main_algo]: Heading Difference: 105.01934991593566 +[main_algo-3] [INFO] [1746051059.959821945] [sailbot.main_algo]: Wind Direction: 66 +[main_algo-3] [INFO] [1746051059.960686155] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051059.961466861] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051059.962469042] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051059.963252953] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051060.003040769] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896396 Long: -76.50289307 +[main_algo-3] [INFO] [1746051060.003525946] [sailbot.main_algo]: Distance to destination: 43.383249786295124 +[vectornav-1] [INFO] [1746051060.004327701] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (314.349, -4.042, 4.687) +[main_algo-3] [INFO] [1746051060.004647482] [sailbot.main_algo]: Target Bearing: -142.78508475427202 +[main_algo-3] [INFO] [1746051060.005640783] [sailbot.main_algo]: Heading Difference: 105.68808475427204 +[main_algo-3] [INFO] [1746051060.006879312] [sailbot.main_algo]: Wind Direction: 66 +[main_algo-3] [INFO] [1746051060.007820864] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051060.008720180] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051060.010446833] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051060.045465446] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051060.045688086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051060.046946400] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051060.047694289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051060.048944105] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051060.085429552] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051060.087914097] [sailbot.trim_sail]: Sail Angle: "55" +[teensy-2] [INFO] [1746051060.089260044] [sailbot.teensy]: Wind angle: 56 +[teensy-2] [INFO] [1746051060.090365063] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051060.090557649] [sailbot.mux]: algo sail angle: 55 +[teensy-2] [INFO] [1746051060.091456634] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051060.092388879] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051060.133040762] [sailbot.mux]: controller_app rudder angle: -11 +[mux-7] [INFO] [1746051060.144949896] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051060.145794950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051060.146284092] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051060.147911382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051060.148934580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051060.245073541] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051060.245673674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051060.247077179] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051060.247631098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051060.248996278] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051060.335242099] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051060.337609511] [sailbot.teensy]: Wind angle: 46 +[trim_sail-4] [INFO] [1746051060.337810538] [sailbot.trim_sail]: Sail Angle: "65" +[mux-7] [INFO] [1746051060.338594785] [sailbot.mux]: algo sail angle: 65 +[teensy-2] [INFO] [1746051060.339404882] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051060.340349015] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051060.341281656] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051060.344329710] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051060.345006630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051060.345496835] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051060.346724684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051060.347778932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051060.444996587] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051060.445736227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051060.446361037] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051060.447779660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051060.448910038] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051060.456997378] [sailbot.main_algo]: Wind Direction: 46 +[main_algo-3] [INFO] [1746051060.457971192] [sailbot.main_algo]: Target Bearing: -142.78508475427202 +[main_algo-3] [INFO] [1746051060.458846220] [sailbot.main_algo]: Heading Difference: 97.13408475427195 +[main_algo-3] [INFO] [1746051060.459739455] [sailbot.main_algo]: Wind Direction: 46 +[main_algo-3] [INFO] [1746051060.460563178] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051060.461372186] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051060.462324059] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051060.462962288] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051060.502718948] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895974 Long: -76.50288813 +[main_algo-3] [INFO] [1746051060.503771506] [sailbot.main_algo]: Distance to destination: 43.416716964609996 +[vectornav-1] [INFO] [1746051060.503827152] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (308.35699999999997, -0.881, 3.41) +[main_algo-3] [INFO] [1746051060.504865962] [sailbot.main_algo]: Target Bearing: -143.60265530396055 +[main_algo-3] [INFO] [1746051060.505885982] [sailbot.main_algo]: Heading Difference: 97.95165530396048 +[main_algo-3] [INFO] [1746051060.506803320] [sailbot.main_algo]: Wind Direction: 46 +[main_algo-3] [INFO] [1746051060.507687090] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051060.508552570] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051060.510250311] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051060.545264238] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051060.545929263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051060.546723195] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051060.548378156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051060.549481231] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051060.585159464] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051060.586856024] [sailbot.teensy]: Wind angle: 40 +[teensy-2] [INFO] [1746051060.587787544] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051060.587286258] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746051060.588674458] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746051060.588701538] [sailbot.teensy]: Actual tail angle: 14 +[teensy-2] [INFO] [1746051060.589569442] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051060.645030430] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051060.645735738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051060.646379576] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051060.647630683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051060.648808634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051060.745172361] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051060.746268026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051060.746672309] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051060.748305835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051060.749463393] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051060.835355885] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051060.837558820] [sailbot.trim_sail]: Sail Angle: "70" +[mux-7] [INFO] [1746051060.838104077] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746051060.838801816] [sailbot.teensy]: Wind angle: 39 +[teensy-2] [INFO] [1746051060.839647371] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051060.840033747] [sailbot.teensy]: Actual tail angle: 14 +[teensy-2] [INFO] [1746051060.840404702] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051060.844454158] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051060.845019800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051060.845566523] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051060.846698536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051060.847838465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051060.945278565] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051060.946254619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051060.946897394] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051060.948314733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051060.949482923] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051060.956981628] [sailbot.main_algo]: Wind Direction: 39 +[main_algo-3] [INFO] [1746051060.957934976] [sailbot.main_algo]: Target Bearing: -143.60265530396055 +[main_algo-3] [INFO] [1746051060.958780478] [sailbot.main_algo]: Heading Difference: 91.95965530396052 +[main_algo-3] [INFO] [1746051060.959676867] [sailbot.main_algo]: Wind Direction: 39 +[main_algo-3] [INFO] [1746051060.960528190] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051060.961332229] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051060.962328759] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051060.962969721] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051061.003614889] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895513 Long: -76.50288398 +[main_algo-3] [INFO] [1746051061.004535302] [sailbot.main_algo]: Distance to destination: 43.38103794420796 +[vectornav-1] [INFO] [1746051061.004899271] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (317.36699999999996, 1.227, 8.483) +[main_algo-3] [INFO] [1746051061.005709469] [sailbot.main_algo]: Target Bearing: -144.41358307574825 +[main_algo-3] [INFO] [1746051061.006859193] [sailbot.main_algo]: Heading Difference: 92.77058307574816 +[main_algo-3] [INFO] [1746051061.007832917] [sailbot.main_algo]: Wind Direction: 39 +[main_algo-3] [INFO] [1746051061.008783017] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051061.009660487] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051061.011500220] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051061.045138600] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051061.045860356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051061.046495337] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051061.047764745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051061.048942655] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051061.085210616] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051061.087232432] [sailbot.teensy]: Wind angle: 39 +[trim_sail-4] [INFO] [1746051061.087854002] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746051061.088178734] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051061.089038691] [sailbot.teensy]: Actual tail angle: 14 +[mux-7] [INFO] [1746051061.089256364] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746051061.089954116] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051061.140666356] [sailbot.mux]: controller_app rudder angle: -20 +[mux-7] [INFO] [1746051061.145110752] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051061.146382009] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746051061.147114433] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051061.149409130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -20 +[teensy-2] [INFO] [1746051061.150529818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051061.245233036] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051061.245881294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051061.246521548] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746051061.247997312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -20 +[teensy-2] [INFO] [1746051061.249141617] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051061.335236811] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051061.337451119] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746051061.337821137] [sailbot.teensy]: Wind angle: 39 +[teensy-2] [INFO] [1746051061.338831163] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051061.339131256] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746051061.339767583] [sailbot.teensy]: Actual tail angle: 14 +[teensy-2] [INFO] [1746051061.340725342] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051061.344517430] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051061.345087758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051061.345685612] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746051061.346794791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -20 +[teensy-2] [INFO] [1746051061.347890075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051061.445325919] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051061.446170381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051061.446991475] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746051061.448298030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -20 +[teensy-2] [INFO] [1746051061.449453518] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051061.457208498] [sailbot.main_algo]: Wind Direction: 39 +[main_algo-3] [INFO] [1746051061.458289787] [sailbot.main_algo]: Target Bearing: -144.41358307574825 +[main_algo-3] [INFO] [1746051061.459200349] [sailbot.main_algo]: Heading Difference: 101.78058307574815 +[main_algo-3] [INFO] [1746051061.460062261] [sailbot.main_algo]: Wind Direction: 39 +[main_algo-3] [INFO] [1746051061.460968653] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051061.461873700] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051061.463102807] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051061.463780970] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051061.503428358] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895161 Long: -76.50288046 +[main_algo-3] [INFO] [1746051061.504938715] [sailbot.main_algo]: Distance to destination: 43.3830266811048 +[vectornav-1] [INFO] [1746051061.505264265] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (337.48, 4.493, 13.162) +[main_algo-3] [INFO] [1746051061.506208598] [sailbot.main_algo]: Target Bearing: -145.05598793976924 +[main_algo-3] [INFO] [1746051061.507236254] [sailbot.main_algo]: Heading Difference: 102.4229879397692 +[main_algo-3] [INFO] [1746051061.508238445] [sailbot.main_algo]: Wind Direction: 39 +[main_algo-3] [INFO] [1746051061.509133367] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051061.509987465] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051061.511634431] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051061.544859889] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051061.545607468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051061.546106753] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746051061.547495693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -20 +[teensy-2] [INFO] [1746051061.548461701] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051061.585386803] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051061.587165843] [sailbot.teensy]: Wind angle: 39 +[teensy-2] [INFO] [1746051061.588107257] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051061.587739556] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746051061.589029105] [sailbot.teensy]: Actual tail angle: 5 +[mux-7] [INFO] [1746051061.589272363] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746051061.589912935] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051061.645100306] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051061.645668340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051061.646383529] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746051061.647565534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -20 +[teensy-2] [INFO] [1746051061.648656058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051061.745284594] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051061.745997901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051061.746780193] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746051061.748408501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -20 +[teensy-2] [INFO] [1746051061.749661165] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051061.835148702] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051061.836705474] [sailbot.teensy]: Wind angle: 41 +[trim_sail-4] [INFO] [1746051061.837402549] [sailbot.trim_sail]: Sail Angle: "70" +[teensy-2] [INFO] [1746051061.837565672] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051061.837944558] [sailbot.mux]: algo sail angle: 70 +[teensy-2] [INFO] [1746051061.838459802] [sailbot.teensy]: Actual tail angle: 5 +[teensy-2] [INFO] [1746051061.839341683] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051061.844468282] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051061.845020953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051061.845532716] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746051061.846757398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -20 +[teensy-2] [INFO] [1746051061.847809689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051061.945448289] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051061.946274121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051061.947241156] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746051061.949160323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -20 +[teensy-2] [INFO] [1746051061.950304115] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051061.957084595] [sailbot.main_algo]: Wind Direction: 41 +[main_algo-3] [INFO] [1746051061.958077467] [sailbot.main_algo]: Target Bearing: -145.05598793976924 +[main_algo-3] [INFO] [1746051061.958983891] [sailbot.main_algo]: Heading Difference: 122.53598793976926 +[main_algo-3] [INFO] [1746051061.959795794] [sailbot.main_algo]: Wind Direction: 41 +[main_algo-3] [INFO] [1746051061.960641613] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051061.961450083] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051061.962483782] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051061.963185617] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051062.003217956] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895127 Long: -76.502877 +[main_algo-3] [INFO] [1746051062.003680096] [sailbot.main_algo]: Distance to destination: 43.59157809453327 +[vectornav-1] [INFO] [1746051062.004739116] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (5.699999999999989, -2.579, 17.436) +[main_algo-3] [INFO] [1746051062.004777145] [sailbot.main_algo]: Target Bearing: -145.31573278771182 +[main_algo-3] [INFO] [1746051062.005734796] [sailbot.main_algo]: Heading Difference: 122.79573278771181 +[main_algo-3] [INFO] [1746051062.006668176] [sailbot.main_algo]: Wind Direction: 41 +[main_algo-3] [INFO] [1746051062.007566502] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051062.008446703] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051062.010134369] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051062.045176705] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051062.046379216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051062.046429910] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746051062.048334641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -20 +[teensy-2] [INFO] [1746051062.049397861] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051062.085417041] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051062.088411313] [sailbot.trim_sail]: Sail Angle: "60" +[teensy-2] [INFO] [1746051062.088569791] [sailbot.teensy]: Wind angle: 52 +[teensy-2] [INFO] [1746051062.089515333] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051062.090431402] [sailbot.teensy]: Actual tail angle: 5 +[teensy-2] [INFO] [1746051062.091358133] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051062.093019468] [sailbot.mux]: algo sail angle: 60 +[mux-7] [INFO] [1746051062.144938795] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051062.145580594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051062.146262832] [sailbot.mux]: Published rudder angle from controller_app: -20 +[teensy-2] [INFO] [1746051062.147738437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -20 +[mux-7] [INFO] [1746051062.148295719] [sailbot.mux]: controller_app rudder angle: 0 +[teensy-2] [INFO] [1746051062.148826818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051062.245049741] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051062.246114120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051062.246463624] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051062.248334497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051062.248847840] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051062.335220520] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051062.337398925] [sailbot.teensy]: Wind angle: 77 +[trim_sail-4] [INFO] [1746051062.337596032] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746051062.338365018] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051062.338659589] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746051062.338886286] [sailbot.teensy]: Actual tail angle: 5 +[teensy-2] [INFO] [1746051062.339270857] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051062.344408235] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051062.344960647] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051062.345573614] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051062.346781013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051062.347800013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051062.445199316] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051062.445965033] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051062.446685655] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051062.448052454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051062.449261169] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051062.457242697] [sailbot.main_algo]: Wind Direction: 77 +[main_algo-3] [INFO] [1746051062.458295681] [sailbot.main_algo]: Target Bearing: -145.31573278771182 +[main_algo-3] [INFO] [1746051062.459178513] [sailbot.main_algo]: Heading Difference: 151.01573278771184 +[main_algo-3] [INFO] [1746051062.460030212] [sailbot.main_algo]: Wind Direction: 77 +[main_algo-3] [INFO] [1746051062.461016138] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051062.461881406] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051062.462989290] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051062.464113136] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051062.502917858] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689524 Long: -76.50287363 +[main_algo-3] [INFO] [1746051062.504196682] [sailbot.main_algo]: Distance to destination: 43.88987138483324 +[vectornav-1] [INFO] [1746051062.504299883] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.565, 2.075, 19.367) +[main_algo-3] [INFO] [1746051062.505452736] [sailbot.main_algo]: Target Bearing: -145.3937652014616 +[main_algo-3] [INFO] [1746051062.506424035] [sailbot.main_algo]: Heading Difference: 151.09376520146157 +[main_algo-3] [INFO] [1746051062.507322416] [sailbot.main_algo]: Wind Direction: 77 +[main_algo-3] [INFO] [1746051062.508207063] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051062.509068515] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051062.510843663] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051062.545172946] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051062.545716574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051062.546452091] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051062.547525155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051062.548604705] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051062.585266234] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051062.587075480] [sailbot.teensy]: Wind angle: 110 +[trim_sail-4] [INFO] [1746051062.587534452] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051062.588038800] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051062.588907909] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051062.589068638] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051062.589811304] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051062.644982011] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051062.645794996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051062.646235580] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051062.647780882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051062.648795639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051062.745196993] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051062.745903767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051062.746626461] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051062.748321851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051062.748933417] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051062.835150130] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051062.836801688] [sailbot.teensy]: Wind angle: 139 +[trim_sail-4] [INFO] [1746051062.837325840] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051062.837754749] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051062.838748442] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051062.838661315] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051062.839711094] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051062.844382929] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051062.845178921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051062.845507627] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051062.847400555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051062.848588158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051062.944891352] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051062.945409090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051062.946145264] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051062.947213635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051062.948335523] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051062.957109124] [sailbot.main_algo]: Wind Direction: 139 +[main_algo-3] [INFO] [1746051062.958160436] [sailbot.main_algo]: Target Bearing: -145.3937652014616 +[main_algo-3] [INFO] [1746051062.959070457] [sailbot.main_algo]: Heading Difference: -176.04123479853843 +[main_algo-3] [INFO] [1746051062.959914504] [sailbot.main_algo]: Wind Direction: 139 +[main_algo-3] [INFO] [1746051062.960727217] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051062.961523966] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051062.962533439] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051062.963179222] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051063.002819909] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895387 Long: -76.50287121 +[main_algo-3] [INFO] [1746051063.003757722] [sailbot.main_algo]: Distance to destination: 44.14670510691399 +[vectornav-1] [INFO] [1746051063.004036909] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (65.08499999999998, -2.363, 19.989) +[main_algo-3] [INFO] [1746051063.004866547] [sailbot.main_algo]: Target Bearing: -145.37193548422974 +[main_algo-3] [INFO] [1746051063.005826772] [sailbot.main_algo]: Heading Difference: -176.0630645157703 +[main_algo-3] [INFO] [1746051063.006731876] [sailbot.main_algo]: Wind Direction: 139 +[main_algo-3] [INFO] [1746051063.007639440] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051063.008527776] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051063.010225084] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051063.044944068] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051063.045680425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051063.046208973] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051063.047900063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051063.048965061] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051063.085054735] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051063.086571739] [sailbot.teensy]: Wind angle: 140 +[trim_sail-4] [INFO] [1746051063.087081968] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051063.087418443] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051063.088238721] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051063.088719905] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051063.089117515] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051063.144838189] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051063.145268620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051063.146083803] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051063.147184560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051063.148263538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051063.245304455] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051063.245777778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051063.246715987] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051063.247688248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051063.248923885] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051063.335367007] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051063.338007748] [sailbot.teensy]: Wind angle: 132 +[trim_sail-4] [INFO] [1746051063.338133452] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051063.338990750] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051063.339373191] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051063.339768054] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051063.339810121] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051063.344387657] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051063.344878123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051063.345487700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051063.346599168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051063.347731537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051063.445390306] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051063.446334563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051063.446844941] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051063.447939598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051063.448426500] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051063.457104547] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051063.458103990] [sailbot.main_algo]: Target Bearing: -145.37193548422974 +[main_algo-3] [INFO] [1746051063.458972438] [sailbot.main_algo]: Heading Difference: -149.5430645157703 +[main_algo-3] [INFO] [1746051063.459775894] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051063.460603513] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051063.461449237] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051063.462489010] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051063.463076851] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051063.502559644] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689563 Long: -76.50287038 +[main_algo-3] [INFO] [1746051063.503424910] [sailbot.main_algo]: Distance to destination: 44.359791864002794 +[vectornav-1] [INFO] [1746051063.503626572] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (82.25, -1.296, 13.732) +[main_algo-3] [INFO] [1746051063.504494459] [sailbot.main_algo]: Target Bearing: -145.1400279871078 +[main_algo-3] [INFO] [1746051063.505448176] [sailbot.main_algo]: Heading Difference: -149.77497201289225 +[main_algo-3] [INFO] [1746051063.506349758] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051063.507218746] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051063.508053032] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051063.509820151] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051063.544958482] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051063.545609333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051063.546181022] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051063.547425809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051063.548471317] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051063.585312309] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051063.587012015] [sailbot.teensy]: Wind angle: 134 +[teensy-2] [INFO] [1746051063.587917432] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051063.587543054] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051063.588709285] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051063.588827131] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051063.589717729] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051063.645031428] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051063.646021463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051063.646442029] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051063.648011995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051063.649123752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051063.698341849] [sailbot.mux]: controller_app rudder angle: 16 +[mux-7] [INFO] [1746051063.744829068] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051063.745904687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051063.746112671] [sailbot.mux]: Published rudder angle from controller_app: 16 +[teensy-2] [INFO] [1746051063.747843430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 16 +[teensy-2] [INFO] [1746051063.748856185] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051063.835344725] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051063.837063535] [sailbot.teensy]: Wind angle: 150 +[trim_sail-4] [INFO] [1746051063.838002003] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051063.838625333] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051063.839134038] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051063.839577133] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051063.840443713] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051063.844475381] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051063.845073373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051063.845582308] [sailbot.mux]: Published rudder angle from controller_app: 16 +[teensy-2] [INFO] [1746051063.846832801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 16 +[teensy-2] [INFO] [1746051063.847878885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051063.945299312] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051063.945985905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051063.947003303] [sailbot.mux]: Published rudder angle from controller_app: 16 +[teensy-2] [INFO] [1746051063.947876484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 16 +[teensy-2] [INFO] [1746051063.948446288] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051063.957125633] [sailbot.main_algo]: Wind Direction: 150 +[main_algo-3] [INFO] [1746051063.958102773] [sailbot.main_algo]: Target Bearing: -145.1400279871078 +[main_algo-3] [INFO] [1746051063.958945825] [sailbot.main_algo]: Heading Difference: -132.60997201289217 +[main_algo-3] [INFO] [1746051063.959785749] [sailbot.main_algo]: Wind Direction: 150 +[main_algo-3] [INFO] [1746051063.960675286] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051063.961459021] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051063.962459450] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051063.963116144] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051064.003556059] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895884 Long: -76.50287226 +[main_algo-3] [INFO] [1746051064.003802226] [sailbot.main_algo]: Distance to destination: 44.40099376308653 +[main_algo-3] [INFO] [1746051064.004951286] [sailbot.main_algo]: Target Bearing: -144.7281725917837 +[vectornav-1] [INFO] [1746051064.005358487] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (95.13499999999999, 1.414, 5.075) +[main_algo-3] [INFO] [1746051064.006125798] [sailbot.main_algo]: Heading Difference: -133.02182740821627 +[main_algo-3] [INFO] [1746051064.007052165] [sailbot.main_algo]: Wind Direction: 150 +[main_algo-3] [INFO] [1746051064.007971768] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051064.008943496] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051064.010813371] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051064.045347944] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051064.046411855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051064.046658934] [sailbot.mux]: Published rudder angle from controller_app: 16 +[teensy-2] [INFO] [1746051064.048280517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 16 +[teensy-2] [INFO] [1746051064.049320861] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051064.085427949] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051064.088030191] [sailbot.teensy]: Wind angle: 158 +[teensy-2] [INFO] [1746051064.089070559] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051064.090023303] [sailbot.teensy]: Actual tail angle: 41 +[trim_sail-4] [INFO] [1746051064.089106325] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051064.090798406] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051064.090901640] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051064.121395729] [sailbot.mux]: controller_app rudder angle: 22 +[mux-7] [INFO] [1746051064.144889695] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051064.145643335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051064.146156008] [sailbot.mux]: Published rudder angle from controller_app: 22 +[teensy-2] [INFO] [1746051064.147580709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 22 +[teensy-2] [INFO] [1746051064.148770445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051064.245238379] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051064.246090608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051064.246678734] [sailbot.mux]: Published rudder angle from controller_app: 22 +[teensy-2] [INFO] [1746051064.247972825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 22 +[teensy-2] [INFO] [1746051064.249007197] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051064.335214544] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051064.337315702] [sailbot.teensy]: Wind angle: 155 +[trim_sail-4] [INFO] [1746051064.337665164] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051064.338293454] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051064.339193153] [sailbot.teensy]: Actual tail angle: 41 +[mux-7] [INFO] [1746051064.339671035] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051064.340047369] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051064.344463706] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051064.345127992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051064.345620061] [sailbot.mux]: Published rudder angle from controller_app: 22 +[teensy-2] [INFO] [1746051064.346899163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 22 +[teensy-2] [INFO] [1746051064.348126526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051064.445127964] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051064.445883755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051064.446512152] [sailbot.mux]: Published rudder angle from controller_app: 22 +[teensy-2] [INFO] [1746051064.447906826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 22 +[teensy-2] [INFO] [1746051064.448454162] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051064.457147399] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051064.458127005] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746051064.458981181] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051064.460122277] [sailbot.main_algo]: Current Location: (42.46895884214805, -76.50287226005446) +[main_algo-3] [INFO] [1746051064.461011583] [sailbot.main_algo]: Target Bearing: -144.7281725917837 +[main_algo-3] [INFO] [1746051064.461900001] [sailbot.main_algo]: Heading Difference: -120.13682740821628 +[main_algo-3] [INFO] [1746051064.462699832] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051064.463479326] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051064.464272805] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051064.465279400] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051064.465865553] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051064.503138432] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896129 Long: -76.50287386 +[main_algo-3] [INFO] [1746051064.503792621] [sailbot.main_algo]: Distance to destination: 44.45697698165412 +[vectornav-1] [INFO] [1746051064.504254031] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (99.11099999999999, 0.025, 5.187) +[main_algo-3] [INFO] [1746051064.504839888] [sailbot.main_algo]: Target Bearing: -144.34516181438278 +[main_algo-3] [INFO] [1746051064.505800753] [sailbot.main_algo]: Heading Difference: -120.51983818561723 +[main_algo-3] [INFO] [1746051064.506692886] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051064.507605008] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051064.508508742] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051064.510379816] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051064.545102757] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051064.545612681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051064.546433752] [sailbot.mux]: Published rudder angle from controller_app: 22 +[teensy-2] [INFO] [1746051064.547552398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 22 +[teensy-2] [INFO] [1746051064.548621056] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051064.585124092] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051064.586701035] [sailbot.teensy]: Wind angle: 160 +[trim_sail-4] [INFO] [1746051064.587286087] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051064.587564750] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051064.588518755] [sailbot.teensy]: Actual tail angle: 47 +[mux-7] [INFO] [1746051064.589219219] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051064.589896038] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051064.644880663] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051064.645428952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051064.646115291] [sailbot.mux]: Published rudder angle from controller_app: 22 +[teensy-2] [INFO] [1746051064.647274017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 22 +[teensy-2] [INFO] [1746051064.648479730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051064.745409953] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051064.745963341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051064.747414356] [sailbot.mux]: Published rudder angle from controller_app: 22 +[teensy-2] [INFO] [1746051064.748075698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 22 +[teensy-2] [INFO] [1746051064.749289580] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051064.835162032] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051064.837056633] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051064.837959761] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051064.837535265] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051064.838354468] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051064.838823056] [sailbot.teensy]: Actual tail angle: 47 +[teensy-2] [INFO] [1746051064.839705071] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051064.844515624] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051064.844947904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051064.845950059] [sailbot.mux]: Published rudder angle from controller_app: 22 +[teensy-2] [INFO] [1746051064.846671916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 22 +[teensy-2] [INFO] [1746051064.847867697] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051064.944775314] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051064.945421771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051064.945918314] [sailbot.mux]: Published rudder angle from controller_app: 22 +[teensy-2] [INFO] [1746051064.947317653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 22 +[teensy-2] [INFO] [1746051064.948348030] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051064.957304057] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051064.958358677] [sailbot.main_algo]: Target Bearing: -144.34516181438278 +[main_algo-3] [INFO] [1746051064.959301407] [sailbot.main_algo]: Heading Difference: -116.54383818561723 +[main_algo-3] [INFO] [1746051064.960194523] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051064.961083768] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051064.961898498] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051064.962903724] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051064.963528022] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051065.003054487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896361 Long: -76.50287377 +[main_algo-3] [INFO] [1746051065.004073606] [sailbot.main_algo]: Distance to destination: 44.617243530902165 +[vectornav-1] [INFO] [1746051065.004414026] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (91.32, -1.532, 4.213) +[main_algo-3] [INFO] [1746051065.005805157] [sailbot.main_algo]: Target Bearing: -144.08544575910474 +[main_algo-3] [INFO] [1746051065.006842160] [sailbot.main_algo]: Heading Difference: -116.80355424089527 +[main_algo-3] [INFO] [1746051065.007778239] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051065.008672553] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051065.009522101] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051065.011389342] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051065.044949058] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051065.045775713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051065.046817031] [sailbot.mux]: Published rudder angle from controller_app: 22 +[teensy-2] [INFO] [1746051065.047754943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 22 +[teensy-2] [INFO] [1746051065.048838682] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051065.085283923] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051065.087406176] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051065.088442077] [sailbot.teensy]: Wind angle: 162 +[mux-7] [INFO] [1746051065.088511425] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051065.089435595] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051065.090474048] [sailbot.teensy]: Actual tail angle: 47 +[teensy-2] [INFO] [1746051065.091331117] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051065.144651481] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051065.145119513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051065.146345734] [sailbot.mux]: Published rudder angle from controller_app: 22 +[teensy-2] [INFO] [1746051065.146925551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 22 +[teensy-2] [INFO] [1746051065.148041399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051065.148417741] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746051065.243746109] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051065.244121187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051065.244289428] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051065.245134832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051065.245677711] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051065.335409923] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051065.338030156] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051065.338554626] [sailbot.teensy]: Wind angle: 155 +[mux-7] [INFO] [1746051065.338645154] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051065.338979493] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051065.339380226] [sailbot.teensy]: Actual tail angle: 47 +[teensy-2] [INFO] [1746051065.339736209] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051065.344463326] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051065.344940613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051065.345555782] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051065.346619089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051065.347742691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051065.445321668] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051065.446124984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051065.446833849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051065.448417502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051065.449536146] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051065.457080706] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051065.458087120] [sailbot.main_algo]: Target Bearing: -144.08544575910474 +[main_algo-3] [INFO] [1746051065.458977174] [sailbot.main_algo]: Heading Difference: -124.59455424089526 +[main_algo-3] [INFO] [1746051065.459805163] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051065.460648610] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051065.461445638] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051065.462572137] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051065.463174841] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051065.502815941] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896588 Long: -76.50287424 +[main_algo-3] [INFO] [1746051065.503757248] [sailbot.main_algo]: Distance to destination: 44.738388113734665 +[vectornav-1] [INFO] [1746051065.504413907] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (78.42200000000003, 1.831, 3.676) +[main_algo-3] [INFO] [1746051065.504878816] [sailbot.main_algo]: Target Bearing: -143.79761782180614 +[main_algo-3] [INFO] [1746051065.505875022] [sailbot.main_algo]: Heading Difference: -124.8823821781939 +[main_algo-3] [INFO] [1746051065.506778950] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051065.507683238] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051065.508547780] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051065.510263396] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051065.545112378] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051065.545792158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051065.546636471] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051065.547734453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051065.548787902] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051065.585335379] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051065.587199379] [sailbot.teensy]: Wind angle: 137 +[teensy-2] [INFO] [1746051065.588195304] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051065.589155053] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051065.588240132] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051065.589577826] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051065.590028312] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051065.644905273] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051065.645503270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051065.646173581] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051065.647312670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051065.648177869] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051065.744620677] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051065.745066986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051065.745841142] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051065.746737390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051065.747834728] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051065.835271079] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051065.836968365] [sailbot.teensy]: Wind angle: 131 +[trim_sail-4] [INFO] [1746051065.837480124] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051065.837927050] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051065.838871574] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051065.839514544] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051065.839725867] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051065.844491576] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051065.845013504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051065.845967371] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051065.846703988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051065.847769586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051065.945309627] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051065.945981425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051065.946951671] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051065.948078609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051065.948792576] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051065.957058535] [sailbot.main_algo]: Wind Direction: 131 +[main_algo-3] [INFO] [1746051065.958035815] [sailbot.main_algo]: Target Bearing: -143.79761782180614 +[main_algo-3] [INFO] [1746051065.958931375] [sailbot.main_algo]: Heading Difference: -137.7803821781938 +[main_algo-3] [INFO] [1746051065.959782402] [sailbot.main_algo]: Wind Direction: 131 +[main_algo-3] [INFO] [1746051065.960597864] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051065.961387181] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051065.962379510] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051065.963142843] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051066.003689992] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896742 Long: -76.50287296 +[main_algo-3] [INFO] [1746051066.004368960] [sailbot.main_algo]: Distance to destination: 44.92570378212925 +[vectornav-1] [INFO] [1746051066.005166945] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (64.36099999999999, -2.64, 7.933) +[main_algo-3] [INFO] [1746051066.005535054] [sailbot.main_algo]: Target Bearing: -143.7050991719879 +[main_algo-3] [INFO] [1746051066.006565616] [sailbot.main_algo]: Heading Difference: -137.87290082801206 +[main_algo-3] [INFO] [1746051066.007566493] [sailbot.main_algo]: Wind Direction: 131 +[main_algo-3] [INFO] [1746051066.008484820] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051066.009354000] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051066.011049212] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051066.045442343] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051066.045685594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051066.046816021] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051066.047935375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051066.049087759] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051066.085435097] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051066.087105381] [sailbot.teensy]: Wind angle: 134 +[teensy-2] [INFO] [1746051066.087983609] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051066.088846047] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051066.087886630] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051066.088519634] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051066.089748291] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051066.145501735] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051066.145691243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051066.146809930] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051066.147593721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051066.148681997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051066.245294813] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051066.245987075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051066.246716001] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051066.247992056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051066.249083992] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051066.335227466] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051066.337349291] [sailbot.teensy]: Wind angle: 132 +[trim_sail-4] [INFO] [1746051066.337484436] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051066.338348524] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051066.339254740] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051066.339879822] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051066.340169159] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051066.344643171] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051066.345069483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051066.345859538] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051066.346871734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051066.347923060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051066.445289167] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051066.445765919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051066.446710058] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051066.447774847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051066.449038397] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051066.457018113] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051066.458014831] [sailbot.main_algo]: Target Bearing: -143.7050991719879 +[main_algo-3] [INFO] [1746051066.458908541] [sailbot.main_algo]: Heading Difference: -151.9339008280121 +[main_algo-3] [INFO] [1746051066.459811359] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051066.460667519] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051066.461458857] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051066.462466486] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051066.463156058] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051066.502894854] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896848 Long: -76.50287063 +[main_algo-3] [INFO] [1746051066.503956113] [sailbot.main_algo]: Distance to destination: 45.14943893135192 +[vectornav-1] [INFO] [1746051066.504143894] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.009000000000015, 4.141, 9.869) +[main_algo-3] [INFO] [1746051066.505506332] [sailbot.main_algo]: Target Bearing: -143.73363567812237 +[main_algo-3] [INFO] [1746051066.506919592] [sailbot.main_algo]: Heading Difference: -151.90536432187764 +[main_algo-3] [INFO] [1746051066.507828710] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051066.508701171] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051066.509538092] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051066.511227915] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051066.545334658] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051066.546252550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051066.547134195] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051066.548443036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051066.549530159] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051066.585298585] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051066.587596486] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051066.587870171] [sailbot.teensy]: Wind angle: 120 +[mux-7] [INFO] [1746051066.587896870] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051066.588854153] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051066.589777126] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051066.590716217] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051066.645048325] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051066.645962164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051066.646511283] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051066.648107328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051066.649139070] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051066.745287974] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051066.745977823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051066.746920288] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051066.748252008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051066.748961365] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051066.835168394] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051066.836756183] [sailbot.teensy]: Wind angle: 99 +[trim_sail-4] [INFO] [1746051066.837419830] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051066.838641972] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051066.838734970] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051066.839570433] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051066.840520080] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051066.844281918] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051066.844873499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051066.845390605] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051066.846584297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051066.847623094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051066.945448594] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051066.946274494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051066.947100639] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051066.948026985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051066.948493765] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051066.957290094] [sailbot.main_algo]: Wind Direction: 99 +[main_algo-3] [INFO] [1746051066.958361766] [sailbot.main_algo]: Target Bearing: -143.73363567812237 +[main_algo-3] [INFO] [1746051066.959274695] [sailbot.main_algo]: Heading Difference: -164.25736432187762 +[main_algo-3] [INFO] [1746051066.960233496] [sailbot.main_algo]: Wind Direction: 99 +[main_algo-3] [INFO] [1746051066.961093715] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051066.961908068] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051066.963083761] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051066.963526993] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051067.003608549] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896982 Long: -76.50286908 +[main_algo-3] [INFO] [1746051067.004032375] [sailbot.main_algo]: Distance to destination: 45.341005284900966 +[vectornav-1] [INFO] [1746051067.004849884] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.42099999999999, -4.493, 7.963) +[main_algo-3] [INFO] [1746051067.005238273] [sailbot.main_algo]: Target Bearing: -143.68155453273178 +[main_algo-3] [INFO] [1746051067.006427316] [sailbot.main_algo]: Heading Difference: -164.30944546726823 +[main_algo-3] [INFO] [1746051067.007347741] [sailbot.main_algo]: Wind Direction: 99 +[main_algo-3] [INFO] [1746051067.008301584] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051067.009176067] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051067.010869142] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051067.044937068] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051067.045687138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051067.046220434] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051067.047721574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051067.048853952] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051067.085487622] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051067.088273208] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746051067.088304031] [sailbot.teensy]: Wind angle: 96 +[mux-7] [INFO] [1746051067.088815063] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051067.089250919] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051067.090148061] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051067.090995436] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051067.144782418] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051067.145322645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051067.145962147] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051067.147214561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051067.148413657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051067.245333571] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051067.246255885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051067.246959406] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051067.248327086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051067.248776304] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051067.335276902] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051067.337511835] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051067.338105845] [sailbot.teensy]: Wind angle: 108 +[mux-7] [INFO] [1746051067.338197140] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051067.339071287] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051067.339958803] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051067.340517726] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051067.344419042] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051067.345048728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051067.345780774] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051067.346747836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051067.347894191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051067.445448150] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051067.446368013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051067.446909848] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051067.448473911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051067.449226438] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051067.457198438] [sailbot.main_algo]: Wind Direction: 108 +[main_algo-3] [INFO] [1746051067.458271021] [sailbot.main_algo]: Target Bearing: -143.68155453273178 +[main_algo-3] [INFO] [1746051067.459183840] [sailbot.main_algo]: Heading Difference: -173.8974454672682 +[main_algo-3] [INFO] [1746051067.460028910] [sailbot.main_algo]: Wind Direction: 108 +[main_algo-3] [INFO] [1746051067.460887992] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051067.461749370] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051067.462817966] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051067.463554736] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051067.503673294] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46897137 Long: -76.50286541 +[main_algo-3] [INFO] [1746051067.504704346] [sailbot.main_algo]: Distance to destination: 45.68535583405344 +[vectornav-1] [INFO] [1746051067.504998711] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.81, 2.317, 11.294) +[main_algo-3] [INFO] [1746051067.506129100] [sailbot.main_algo]: Target Bearing: -143.73940377126186 +[main_algo-3] [INFO] [1746051067.507186471] [sailbot.main_algo]: Heading Difference: -173.83959622873817 +[main_algo-3] [INFO] [1746051067.508082218] [sailbot.main_algo]: Wind Direction: 108 +[main_algo-3] [INFO] [1746051067.508992420] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051067.509846796] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051067.511756920] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051067.545227360] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051067.545819598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051067.547008425] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051067.548004426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051067.549208394] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051067.585117241] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051067.587042445] [sailbot.teensy]: Wind angle: 108 +[trim_sail-4] [INFO] [1746051067.587325156] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051067.587927608] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051067.587989581] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051067.588848870] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051067.589763059] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051067.645195684] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051067.645862612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051067.646680132] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051067.648095947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051067.649185392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051067.744847082] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051067.745284812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051067.746128547] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051067.747033881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051067.748075713] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051067.835076967] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051067.836654972] [sailbot.teensy]: Wind angle: 105 +[trim_sail-4] [INFO] [1746051067.837457824] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051067.837588082] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051067.838513825] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051067.838873613] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051067.838942084] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051067.844473635] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051067.845160655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051067.845689926] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051067.846931009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051067.847894627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051067.945031282] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051067.945739409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051067.946604185] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051067.947713673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051067.948200784] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051067.957258032] [sailbot.main_algo]: Wind Direction: 105 +[main_algo-3] [INFO] [1746051067.958447868] [sailbot.main_algo]: Target Bearing: -143.73940377126186 +[main_algo-3] [INFO] [1746051067.959454174] [sailbot.main_algo]: Heading Difference: 177.54940377126184 +[main_algo-3] [INFO] [1746051067.960342367] [sailbot.main_algo]: Wind Direction: 105 +[main_algo-3] [INFO] [1746051067.961178197] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051067.961959105] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051067.962938383] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051067.963571275] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051068.002757784] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46897269 Long: -76.50286245 +[main_algo-3] [INFO] [1746051068.003639329] [sailbot.main_algo]: Distance to destination: 45.967816289091694 +[vectornav-1] [INFO] [1746051068.003891244] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.002999999999986, -0.859, 11.04) +[main_algo-3] [INFO] [1746051068.004822276] [sailbot.main_algo]: Target Bearing: -143.77772965075664 +[main_algo-3] [INFO] [1746051068.005815749] [sailbot.main_algo]: Heading Difference: 177.58772965075661 +[main_algo-3] [INFO] [1746051068.006789224] [sailbot.main_algo]: Wind Direction: 105 +[main_algo-3] [INFO] [1746051068.007715841] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051068.008623228] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051068.010415425] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051068.045170408] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051068.045942180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051068.046670963] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051068.047950703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051068.049095743] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051068.085212902] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051068.086754780] [sailbot.teensy]: Wind angle: 105 +[teensy-2] [INFO] [1746051068.087597722] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051068.087461496] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746051068.088528461] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051068.088629847] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051068.089534113] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051068.144916093] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051068.145448184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051068.146271720] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051068.147311804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051068.148424928] [sailbot.mux]: controller_app rudder angle: 0 +[teensy-2] [INFO] [1746051068.148505297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051068.245339792] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051068.245862524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051068.247431371] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051068.247842835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051068.248987336] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051068.335407128] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051068.337536602] [sailbot.teensy]: Wind angle: 105 +[trim_sail-4] [INFO] [1746051068.337928343] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746051068.339490684] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051068.339635346] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051068.340976374] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051068.341878212] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051068.344397833] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051068.344985946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051068.345606693] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051068.346720237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051068.347810878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051068.444940535] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051068.445670183] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051068.446355895] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051068.447700251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051068.448722159] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051068.457144877] [sailbot.main_algo]: Wind Direction: 105 +[main_algo-3] [INFO] [1746051068.458152792] [sailbot.main_algo]: Target Bearing: -143.77772965075664 +[main_algo-3] [INFO] [1746051068.459019338] [sailbot.main_algo]: Heading Difference: 172.7807296507566 +[main_algo-3] [INFO] [1746051068.459912484] [sailbot.main_algo]: Wind Direction: 105 +[main_algo-3] [INFO] [1746051068.460746267] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051068.461548955] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051068.462543409] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051068.463140666] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051068.502774647] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46897441 Long: -76.50285933 +[main_algo-3] [INFO] [1746051068.503839798] [sailbot.main_algo]: Distance to destination: 46.28764204647326 +[vectornav-1] [INFO] [1746051068.504026312] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.07299999999998, -2.805, 10.735) +[main_algo-3] [INFO] [1746051068.505126797] [sailbot.main_algo]: Target Bearing: -143.78163232164346 +[main_algo-3] [INFO] [1746051068.506273702] [sailbot.main_algo]: Heading Difference: 172.78463232164347 +[main_algo-3] [INFO] [1746051068.507277531] [sailbot.main_algo]: Wind Direction: 105 +[main_algo-3] [INFO] [1746051068.508201293] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051068.509071388] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051068.510781076] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051068.544950641] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051068.545717204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051068.546396972] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051068.547607702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051068.548702581] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051068.585396681] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051068.587850862] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051068.588245392] [sailbot.teensy]: Wind angle: 103 +[teensy-2] [INFO] [1746051068.589214875] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051068.589385335] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051068.590102567] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051068.590997396] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051068.645201493] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051068.645949226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051068.647066817] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051068.648103214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051068.649225596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051068.745055478] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051068.745689401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051068.746325736] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051068.747496106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051068.748674759] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051068.835185083] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051068.836918933] [sailbot.teensy]: Wind angle: 107 +[trim_sail-4] [INFO] [1746051068.837282500] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051068.837843703] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051068.838689388] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051068.838805441] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051068.839064628] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051068.844600928] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051068.845038447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051068.845729217] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051068.846718389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051068.847765176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051068.945242414] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051068.945845376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051068.946778049] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051068.948080702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051068.948730387] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051068.957100589] [sailbot.main_algo]: Wind Direction: 107 +[main_algo-3] [INFO] [1746051068.958124964] [sailbot.main_algo]: Target Bearing: -143.78163232164346 +[main_algo-3] [INFO] [1746051068.959038204] [sailbot.main_algo]: Heading Difference: 172.8546323216434 +[main_algo-3] [INFO] [1746051068.959871131] [sailbot.main_algo]: Wind Direction: 107 +[main_algo-3] [INFO] [1746051068.960742186] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051068.961555336] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051068.962881682] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051068.963162194] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051069.003062552] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46897591 Long: -76.50285427 +[main_algo-3] [INFO] [1746051069.004304869] [sailbot.main_algo]: Distance to destination: 46.7198356857398 +[vectornav-1] [INFO] [1746051069.004340108] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (27.851999999999975, 1.232, 11.71) +[main_algo-3] [INFO] [1746051069.005635055] [sailbot.main_algo]: Target Bearing: -143.92769053494558 +[main_algo-3] [INFO] [1746051069.006625157] [sailbot.main_algo]: Heading Difference: 173.00069053494553 +[main_algo-3] [INFO] [1746051069.007578769] [sailbot.main_algo]: Wind Direction: 107 +[main_algo-3] [INFO] [1746051069.008541339] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051069.009424939] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051069.011158309] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051069.045817734] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051069.046099452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051069.047524214] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051069.048578233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051069.049670945] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051069.085209461] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051069.087014762] [sailbot.teensy]: Wind angle: 103 +[trim_sail-4] [INFO] [1746051069.087669391] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051069.088053195] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051069.089284601] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051069.089355176] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051069.090263294] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051069.145089924] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051069.145611799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051069.146522025] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051069.147581607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051069.148482191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051069.245185746] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051069.245746621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051069.246530931] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051069.247532601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051069.248674407] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051069.335315684] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051069.337715940] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746051069.338147323] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051069.339400224] [sailbot.teensy]: Wind angle: 103 +[teensy-2] [INFO] [1746051069.340331713] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051069.341329406] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051069.342193272] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051069.344349665] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051069.345244090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051069.345563545] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051069.347039176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051069.348070767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051069.445265897] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051069.446105235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051069.446788111] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051069.448187594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051069.448705921] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051069.457341950] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746051069.458464586] [sailbot.main_algo]: Target Bearing: -143.92769053494558 +[main_algo-3] [INFO] [1746051069.459390565] [sailbot.main_algo]: Heading Difference: 171.77969053494553 +[main_algo-3] [INFO] [1746051069.460326220] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746051069.461228666] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051069.462096357] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051069.463131850] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051069.463682863] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051069.503036417] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46897735 Long: -76.50284937 +[main_algo-3] [INFO] [1746051069.504106803] [sailbot.main_algo]: Distance to destination: 47.13780819055876 +[vectornav-1] [INFO] [1746051069.504368917] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.505999999999972, -1.284, 9.816) +[main_algo-3] [INFO] [1746051069.505997329] [sailbot.main_algo]: Target Bearing: -144.06793279370558 +[main_algo-3] [INFO] [1746051069.507046213] [sailbot.main_algo]: Heading Difference: 171.91993279370558 +[main_algo-3] [INFO] [1746051069.507960019] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746051069.508854001] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051069.509700668] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051069.511525957] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051069.545018521] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051069.545668374] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051069.546336388] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051069.547620420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051069.548693115] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051069.585386830] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051069.587531507] [sailbot.teensy]: Wind angle: 105 +[teensy-2] [INFO] [1746051069.588510302] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051069.587853097] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051069.589467183] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051069.589472033] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051069.590394657] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051069.644797843] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051069.645385269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051069.645992820] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051069.647343236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051069.648633300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051069.744938589] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051069.745828032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051069.746260196] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051069.747626936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051069.748811434] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051069.835345170] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051069.837724893] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051069.838433742] [sailbot.teensy]: Wind angle: 105 +[mux-7] [INFO] [1746051069.838520573] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051069.839344879] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051069.839724876] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051069.840092098] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051069.844363765] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051069.844893449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051069.845477362] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051069.846587586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051069.847691504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051069.945075055] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051069.945704048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051069.946349553] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051069.947551260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051069.948674482] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051069.957024529] [sailbot.main_algo]: Wind Direction: 105 +[main_algo-3] [INFO] [1746051069.957997627] [sailbot.main_algo]: Target Bearing: -144.06793279370558 +[main_algo-3] [INFO] [1746051069.958887708] [sailbot.main_algo]: Heading Difference: 165.57393279370558 +[main_algo-3] [INFO] [1746051069.959903498] [sailbot.main_algo]: Wind Direction: 105 +[main_algo-3] [INFO] [1746051069.960765958] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051069.961572216] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051069.962577037] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051069.963333649] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051070.003326021] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46897954 Long: -76.50284434 +[main_algo-3] [INFO] [1746051070.003827313] [sailbot.main_algo]: Distance to destination: 47.61455997399726 +[vectornav-1] [INFO] [1746051070.004825480] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.226, -0.004, 9.093) +[main_algo-3] [INFO] [1746051070.004919652] [sailbot.main_algo]: Target Bearing: -144.13316774655632 +[main_algo-3] [INFO] [1746051070.005907665] [sailbot.main_algo]: Heading Difference: 165.63916774655627 +[main_algo-3] [INFO] [1746051070.006796475] [sailbot.main_algo]: Wind Direction: 105 +[main_algo-3] [INFO] [1746051070.007713713] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051070.008622525] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051070.010343380] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051070.045143389] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051070.045909601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051070.046557011] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051070.048069020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051070.049246142] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051070.085630999] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051070.087704190] [sailbot.teensy]: Wind angle: 101 +[trim_sail-4] [INFO] [1746051070.088295816] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051070.088688271] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051070.089613525] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051070.090816243] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051070.088837101] [sailbot.mux]: algo sail angle: 25 +[mux-7] [INFO] [1746051070.145010370] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051070.145636642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051070.146331021] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051070.147452295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051070.148637249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051070.245310787] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051070.246297115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051070.246844890] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051070.248823380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051070.249974540] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051070.335154443] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051070.336850871] [sailbot.teensy]: Wind angle: 97 +[teensy-2] [INFO] [1746051070.337703032] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051070.337346386] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051070.338560440] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051070.338602961] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051070.339447643] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051070.344348003] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051070.344940413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051070.345492577] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051070.346621294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051070.347808990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051070.445526764] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051070.446380618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051070.447196949] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051070.448771707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051070.450041428] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051070.457106354] [sailbot.main_algo]: Wind Direction: 97 +[main_algo-3] [INFO] [1746051070.458241779] [sailbot.main_algo]: Target Bearing: -144.13316774655632 +[main_algo-3] [INFO] [1746051070.459273048] [sailbot.main_algo]: Heading Difference: 165.3591677465563 +[main_algo-3] [INFO] [1746051070.460175011] [sailbot.main_algo]: Wind Direction: 97 +[main_algo-3] [INFO] [1746051070.461160256] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051070.462026490] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051070.463117943] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051070.463657080] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051070.503392501] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689807 Long: -76.50283853 +[main_algo-3] [INFO] [1746051070.504206887] [sailbot.main_algo]: Distance to destination: 48.07433870350308 +[vectornav-1] [INFO] [1746051070.504586343] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (19.348000000000013, -2.01, 10.532) +[main_algo-3] [INFO] [1746051070.505361562] [sailbot.main_algo]: Target Bearing: -144.3520552121307 +[main_algo-3] [INFO] [1746051070.506767147] [sailbot.main_algo]: Heading Difference: 165.57805521213072 +[main_algo-3] [INFO] [1746051070.507754308] [sailbot.main_algo]: Wind Direction: 97 +[main_algo-3] [INFO] [1746051070.508671877] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051070.509546816] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051070.511370532] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051070.545889879] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051070.546025118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051070.547276894] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051070.548500165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051070.549651401] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051070.585106164] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051070.587146743] [sailbot.teensy]: Wind angle: 97 +[trim_sail-4] [INFO] [1746051070.587228509] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051070.588131308] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051070.589074450] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051070.589666152] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051070.589983130] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051070.644977864] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051070.645652014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051070.646389015] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051070.647542751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051070.648861369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051070.745127182] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051070.745836319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051070.746596716] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051070.748033610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051070.749068567] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051070.835172297] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051070.837424432] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746051070.838222466] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051070.838838449] [sailbot.teensy]: Wind angle: 90 +[teensy-2] [INFO] [1746051070.840031851] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051070.840602958] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051070.840989329] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051070.844392218] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051070.844949994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051070.845849914] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051070.846628515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051070.847854178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051070.945292801] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051070.945985285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051070.947148420] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051070.948048597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051070.948583783] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051070.957036081] [sailbot.main_algo]: Wind Direction: 90 +[main_algo-3] [INFO] [1746051070.957972260] [sailbot.main_algo]: Target Bearing: -144.3520552121307 +[main_algo-3] [INFO] [1746051070.958798364] [sailbot.main_algo]: Heading Difference: 163.70005521213068 +[main_algo-3] [INFO] [1746051070.959592580] [sailbot.main_algo]: Wind Direction: 90 +[main_algo-3] [INFO] [1746051070.960424139] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051070.961214386] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051070.962210353] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051070.963002090] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051071.003748063] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46898167 Long: -76.50283224 +[main_algo-3] [INFO] [1746051071.004051017] [sailbot.main_algo]: Distance to destination: 48.554033339845844 +[vectornav-1] [INFO] [1746051071.005239568] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (15.860000000000014, 0.366, 9.836) +[main_algo-3] [INFO] [1746051071.005269942] [sailbot.main_algo]: Target Bearing: -144.61449036295522 +[main_algo-3] [INFO] [1746051071.006334678] [sailbot.main_algo]: Heading Difference: 163.96249036295524 +[main_algo-3] [INFO] [1746051071.007288429] [sailbot.main_algo]: Wind Direction: 90 +[main_algo-3] [INFO] [1746051071.008180885] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051071.009075721] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051071.010839746] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051071.045170470] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051071.045810936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051071.046672293] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051071.047824730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051071.048897687] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051071.085307621] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051071.087201031] [sailbot.teensy]: Wind angle: 79 +[teensy-2] [INFO] [1746051071.088190753] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051071.087867029] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746051071.089086152] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051071.089394051] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746051071.089988629] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051071.133092806] [sailbot.mux]: controller_app rudder angle: -7 +[mux-7] [INFO] [1746051071.144806385] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051071.145299120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051071.146074254] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051071.147088662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051071.148281028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051071.245367037] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051071.245905830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051071.247159288] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051071.247923239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051071.248541119] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051071.335241143] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051071.337171212] [sailbot.teensy]: Wind angle: 81 +[trim_sail-4] [INFO] [1746051071.337881238] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746051071.338140660] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051071.339031123] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051071.339085128] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746051071.339941394] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051071.344622753] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051071.345324776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051071.345892298] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051071.347077198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051071.348194827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051071.445376818] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051071.445954179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051071.447060969] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051071.447898058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051071.448979925] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051071.457107852] [sailbot.main_algo]: Wind Direction: 81 +[main_algo-3] [INFO] [1746051071.458266127] [sailbot.main_algo]: Target Bearing: -144.61449036295522 +[main_algo-3] [INFO] [1746051071.459240547] [sailbot.main_algo]: Heading Difference: 160.47449036295524 +[main_algo-3] [INFO] [1746051071.460121862] [sailbot.main_algo]: Wind Direction: 81 +[main_algo-3] [INFO] [1746051071.461035277] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051071.461821774] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051071.462858763] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051071.463444840] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051071.502843129] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46898307 Long: -76.50282667 +[vectornav-1] [INFO] [1746051071.503989956] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (11.079000000000008, 0.297, 5.714) +[main_algo-3] [INFO] [1746051071.503974804] [sailbot.main_algo]: Distance to destination: 49.01514122888667 +[main_algo-3] [INFO] [1746051071.505203000] [sailbot.main_algo]: Target Bearing: -144.78589049449937 +[main_algo-3] [INFO] [1746051071.506171655] [sailbot.main_algo]: Heading Difference: 160.64589049449938 +[main_algo-3] [INFO] [1746051071.507093787] [sailbot.main_algo]: Wind Direction: 81 +[main_algo-3] [INFO] [1746051071.507945403] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051071.508824418] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051071.510720638] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051071.545674000] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051071.545790614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051071.547130097] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051071.548190104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051071.549358406] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051071.585496304] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051071.587552978] [sailbot.teensy]: Wind angle: 86 +[trim_sail-4] [INFO] [1746051071.587908008] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746051071.588525050] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051071.589397688] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746051071.589600446] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051071.590259386] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051071.644882959] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051071.645932303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051071.646205995] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051071.647803887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051071.648850424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051071.745387931] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051071.746181786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051071.747330936] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051071.748428988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051071.749731837] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051071.835341113] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051071.837273025] [sailbot.teensy]: Wind angle: 95 +[teensy-2] [INFO] [1746051071.838220137] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051071.837894533] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746051071.838657368] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051071.839105176] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746051071.839987402] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051071.844422080] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051071.845105053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051071.845504933] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051071.846836155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051071.847951206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051071.945365115] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051071.946152403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051071.947084832] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051071.948458864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051071.949049792] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051071.957177525] [sailbot.main_algo]: Wind Direction: 95 +[main_algo-3] [INFO] [1746051071.958245499] [sailbot.main_algo]: Target Bearing: -144.78589049449937 +[main_algo-3] [INFO] [1746051071.959166152] [sailbot.main_algo]: Heading Difference: 155.86489049449938 +[main_algo-3] [INFO] [1746051071.960054633] [sailbot.main_algo]: Wind Direction: 95 +[main_algo-3] [INFO] [1746051071.960959262] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051071.961772283] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051071.963087544] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051071.963461078] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051072.002775759] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46898398 Long: -76.50282115 +[main_algo-3] [INFO] [1746051072.003742065] [sailbot.main_algo]: Distance to destination: 49.44134043980509 +[vectornav-1] [INFO] [1746051072.004090115] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (12.411000000000001, -2.943, 9.695) +[main_algo-3] [INFO] [1746051072.005016918] [sailbot.main_algo]: Target Bearing: -145.00227041650936 +[main_algo-3] [INFO] [1746051072.006226242] [sailbot.main_algo]: Heading Difference: 156.08127041650937 +[main_algo-3] [INFO] [1746051072.007212703] [sailbot.main_algo]: Wind Direction: 95 +[main_algo-3] [INFO] [1746051072.008166861] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051072.009077812] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051072.010775659] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051072.045217023] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051072.046108230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051072.046674921] [sailbot.mux]: Published rudder angle from controller_app: -7 +[teensy-2] [INFO] [1746051072.048250485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 +[teensy-2] [INFO] [1746051072.049369846] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051072.085102491] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051072.086802389] [sailbot.teensy]: Wind angle: 97 +[teensy-2] [INFO] [1746051072.087705287] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051072.087772235] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051072.088612902] [sailbot.teensy]: Actual tail angle: 18 +[mux-7] [INFO] [1746051072.088677718] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051072.089529503] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051072.122069637] [sailbot.mux]: controller_app rudder angle: -8 +[mux-7] [INFO] [1746051072.145103073] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051072.145649168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051072.146445574] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746051072.147688027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746051072.148736596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051072.245064027] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051072.245599637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051072.246432311] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746051072.247431164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746051072.248594775] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051072.335162711] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051072.337596556] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051072.337826424] [sailbot.teensy]: Wind angle: 97 +[teensy-2] [INFO] [1746051072.338764599] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051072.339147786] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051072.339672727] [sailbot.teensy]: Actual tail angle: 18 +[teensy-2] [INFO] [1746051072.340398697] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051072.344448560] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051072.345084848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051072.345655645] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746051072.346784133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746051072.347869002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051072.445533354] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051072.446084489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051072.447491882] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746051072.448448255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746051072.449634900] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051072.456927438] [sailbot.main_algo]: Wind Direction: 97 +[main_algo-3] [INFO] [1746051072.457907630] [sailbot.main_algo]: Target Bearing: -145.00227041650936 +[main_algo-3] [INFO] [1746051072.458824319] [sailbot.main_algo]: Heading Difference: 157.41327041650936 +[main_algo-3] [INFO] [1746051072.459646792] [sailbot.main_algo]: Wind Direction: 97 +[main_algo-3] [INFO] [1746051072.460502033] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051072.461349784] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051072.462457849] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051072.463190165] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051072.503511832] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46898451 Long: -76.50281478 +[main_algo-3] [INFO] [1746051072.504455648] [sailbot.main_algo]: Distance to destination: 49.900287170460345 +[main_algo-3] [INFO] [1746051072.505564366] [sailbot.main_algo]: Target Bearing: -145.3011912852308 +[vectornav-1] [INFO] [1746051072.505290009] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (19.595000000000027, -0.966, 12.826) +[main_algo-3] [INFO] [1746051072.506586901] [sailbot.main_algo]: Heading Difference: 157.7121912852308 +[main_algo-3] [INFO] [1746051072.507550825] [sailbot.main_algo]: Wind Direction: 97 +[main_algo-3] [INFO] [1746051072.508506286] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051072.509412077] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051072.511162583] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051072.544957715] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051072.545675990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051072.546233489] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746051072.547751154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746051072.548903137] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051072.585347526] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051072.587192697] [sailbot.teensy]: Wind angle: 98 +[trim_sail-4] [INFO] [1746051072.587635231] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051072.588127441] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051072.589057535] [sailbot.teensy]: Actual tail angle: 17 +[mux-7] [INFO] [1746051072.589475634] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051072.589951600] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051072.645237780] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051072.646070027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051072.646801924] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746051072.648511664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746051072.649642290] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051072.745347301] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051072.746168620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051072.747031546] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746051072.748795162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746051072.749871136] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051072.835368106] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051072.837722484] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051072.837822096] [sailbot.teensy]: Wind angle: 103 +[mux-7] [INFO] [1746051072.839130893] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051072.839558450] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051072.840554540] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746051072.841452715] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051072.844494628] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051072.845125215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051072.845634798] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746051072.846887472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746051072.847914120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051072.945555828] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051072.946280959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051072.947208839] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746051072.948693635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746051072.949818864] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051072.957051122] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746051072.958045764] [sailbot.main_algo]: Target Bearing: -145.3011912852308 +[main_algo-3] [INFO] [1746051072.958934657] [sailbot.main_algo]: Heading Difference: 164.89619128523083 +[main_algo-3] [INFO] [1746051072.959765448] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746051072.960693294] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051072.961519861] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051072.962546491] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051072.963148397] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051073.003591349] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46898637 Long: -76.5028095 +[main_algo-3] [INFO] [1746051073.003977218] [sailbot.main_algo]: Distance to destination: 50.37343377547186 +[main_algo-3] [INFO] [1746051073.005088823] [sailbot.main_algo]: Target Bearing: -145.39866302922675 +[main_algo-3] [INFO] [1746051073.006161311] [sailbot.main_algo]: Heading Difference: 164.9936630292268 +[vectornav-1] [INFO] [1746051073.006666183] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (36.02999999999997, 0.978, 14.75) +[main_algo-3] [INFO] [1746051073.007173683] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746051073.008146448] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051073.009048811] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051073.010828456] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051073.045224632] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051073.045976835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051073.046889701] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746051073.047988078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746051073.049012861] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051073.085613209] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051073.088318678] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051073.088553769] [sailbot.teensy]: Wind angle: 109 +[teensy-2] [INFO] [1746051073.089498964] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051073.089766128] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051073.090456460] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746051073.091331892] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051073.144834694] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051073.146045862] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746051073.146361029] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051073.147994711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746051073.148942829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051073.245200608] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051073.246384151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051073.246685648] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746051073.247896828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746051073.248396377] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051073.335270845] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051073.337045056] [sailbot.teensy]: Wind angle: 114 +[trim_sail-4] [INFO] [1746051073.337943926] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746051073.338611987] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051073.338676133] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051073.339127724] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746051073.339530348] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051073.344382875] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051073.344944726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051073.345656742] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746051073.346627186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746051073.347692718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051073.445220866] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051073.446013322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051073.446811028] [sailbot.mux]: Published rudder angle from controller_app: -8 +[teensy-2] [INFO] [1746051073.448261108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 +[teensy-2] [INFO] [1746051073.448799274] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051073.457167046] [sailbot.main_algo]: Wind Direction: 114 +[main_algo-3] [INFO] [1746051073.458186358] [sailbot.main_algo]: Target Bearing: -145.39866302922675 +[main_algo-3] [INFO] [1746051073.459066563] [sailbot.main_algo]: Heading Difference: -178.57133697077325 +[main_algo-3] [INFO] [1746051073.459915591] [sailbot.main_algo]: Wind Direction: 114 +[main_algo-3] [INFO] [1746051073.460744417] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051073.461527306] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051073.462647517] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051073.463481311] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051073.503717273] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46898911 Long: -76.50280606 +[main_algo-3] [INFO] [1746051073.504390175] [sailbot.main_algo]: Distance to destination: 50.780645957459626 +[vectornav-1] [INFO] [1746051073.505444237] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.34300000000002, 0.382, 13.754) +[main_algo-3] [INFO] [1746051073.505637186] [sailbot.main_algo]: Target Bearing: -145.30539476376265 +[main_algo-3] [INFO] [1746051073.506658035] [sailbot.main_algo]: Heading Difference: -178.66460523623738 +[main_algo-3] [INFO] [1746051073.507561571] [sailbot.main_algo]: Wind Direction: 114 +[main_algo-3] [INFO] [1746051073.508489944] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051073.509347531] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051073.511153576] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051073.536841014] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746051073.544745421] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051073.545661829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051073.546219940] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051073.547527055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051073.548593890] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051073.585289167] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051073.587579590] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051073.587674465] [sailbot.teensy]: Wind angle: 130 +[mux-7] [INFO] [1746051073.588497006] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051073.588652860] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051073.589609970] [sailbot.teensy]: Actual tail angle: 17 +[teensy-2] [INFO] [1746051073.590533952] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051073.644825076] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051073.645764931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051073.646115945] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051073.647550134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051073.648640606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051073.745449306] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051073.746010213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051073.747108203] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051073.748246363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051073.749519381] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051073.835367869] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051073.837104331] [sailbot.teensy]: Wind angle: 147 +[trim_sail-4] [INFO] [1746051073.837727120] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051073.838015722] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051073.838904271] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051073.839309445] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051073.839777001] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051073.844557775] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051073.845082997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051073.846708324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051073.846780998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051073.847922809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051073.945180617] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051073.946002132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051073.946652918] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051073.948017369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051073.948491923] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051073.957062600] [sailbot.main_algo]: Wind Direction: 147 +[main_algo-3] [INFO] [1746051073.958025487] [sailbot.main_algo]: Target Bearing: -145.30539476376265 +[main_algo-3] [INFO] [1746051073.958923094] [sailbot.main_algo]: Heading Difference: -158.35160523623733 +[main_algo-3] [INFO] [1746051073.959741736] [sailbot.main_algo]: Wind Direction: 147 +[main_algo-3] [INFO] [1746051073.960583944] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051073.961386583] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051073.962413858] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051073.963106920] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051074.003548480] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899177 Long: -76.50280384 +[main_algo-3] [INFO] [1746051074.004113224] [sailbot.main_algo]: Distance to destination: 51.101461712003804 +[vectornav-1] [INFO] [1746051074.005162019] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (77.399, -1.64, 14.914) +[main_algo-3] [INFO] [1746051074.005270283] [sailbot.main_algo]: Target Bearing: -145.15589778360183 +[main_algo-3] [INFO] [1746051074.006316903] [sailbot.main_algo]: Heading Difference: -158.50110221639818 +[main_algo-3] [INFO] [1746051074.007294810] [sailbot.main_algo]: Wind Direction: 147 +[main_algo-3] [INFO] [1746051074.008222148] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051074.009086808] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051074.010784004] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051074.045537299] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051074.045720789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051074.047055300] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051074.047635477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051074.048889021] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051074.085271310] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051074.087228357] [sailbot.teensy]: Wind angle: 145 +[trim_sail-4] [INFO] [1746051074.087927203] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051074.088245015] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051074.089122878] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051074.089358166] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051074.089970373] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051074.131953721] [sailbot.mux]: controller_app rudder angle: 19 +[mux-7] [INFO] [1746051074.145023796] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051074.145585297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051074.146372815] [sailbot.mux]: Published rudder angle from controller_app: 19 +[teensy-2] [INFO] [1746051074.147508754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 19 +[teensy-2] [INFO] [1746051074.148673303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051074.245523242] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051074.246164540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051074.247306260] [sailbot.mux]: Published rudder angle from controller_app: 19 +[teensy-2] [INFO] [1746051074.248319285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 19 +[teensy-2] [INFO] [1746051074.249566125] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051074.335275702] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051074.336905005] [sailbot.teensy]: Wind angle: 147 +[teensy-2] [INFO] [1746051074.337927184] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051074.337575854] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051074.338559571] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051074.338764613] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051074.338938058] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051074.344527866] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051074.345202745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051074.345690360] [sailbot.mux]: Published rudder angle from controller_app: 19 +[teensy-2] [INFO] [1746051074.346922720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 19 +[teensy-2] [INFO] [1746051074.347949605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051074.445442980] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051074.445945026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051074.447150252] [sailbot.mux]: Published rudder angle from controller_app: 19 +[teensy-2] [INFO] [1746051074.448134111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 19 +[teensy-2] [INFO] [1746051074.449401760] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051074.457044900] [sailbot.main_algo]: Wind Direction: 147 +[main_algo-3] [INFO] [1746051074.458014107] [sailbot.main_algo]: Target Bearing: -145.15589778360183 +[main_algo-3] [INFO] [1746051074.458915330] [sailbot.main_algo]: Heading Difference: -137.44510221639814 +[main_algo-3] [INFO] [1746051074.459742891] [sailbot.main_algo]: Wind Direction: 147 +[main_algo-3] [INFO] [1746051074.460584654] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051074.461385782] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051074.462451883] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051074.463222620] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051074.502912074] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899508 Long: -76.50280388 +[vectornav-1] [INFO] [1746051074.504101764] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (94.096, 1.181, 10.653) +[main_algo-3] [INFO] [1746051074.504141183] [sailbot.main_algo]: Distance to destination: 51.315011931784504 +[main_algo-3] [INFO] [1746051074.505352594] [sailbot.main_algo]: Target Bearing: -144.82109138123286 +[main_algo-3] [INFO] [1746051074.506344085] [sailbot.main_algo]: Heading Difference: -137.77990861876714 +[main_algo-3] [INFO] [1746051074.507274305] [sailbot.main_algo]: Wind Direction: 147 +[main_algo-3] [INFO] [1746051074.508186530] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051074.509047427] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051074.510812562] [sailbot.mux]: algo rudder angle: -15 +[teensy-2] [INFO] [1746051074.545829556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051074.546153200] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051074.547705746] [sailbot.mux]: Published rudder angle from controller_app: 19 +[teensy-2] [INFO] [1746051074.547858169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 19 +[teensy-2] [INFO] [1746051074.549031461] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051074.585229329] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051074.587120756] [sailbot.teensy]: Wind angle: 146 +[trim_sail-4] [INFO] [1746051074.587509579] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051074.588071239] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051074.588936746] [sailbot.teensy]: Actual tail angle: 44 +[mux-7] [INFO] [1746051074.589074646] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051074.589840522] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051074.645163155] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051074.645960384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051074.646612339] [sailbot.mux]: Published rudder angle from controller_app: 19 +[teensy-2] [INFO] [1746051074.648321134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 19 +[teensy-2] [INFO] [1746051074.649331689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051074.745191428] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051074.746112091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051074.746658699] [sailbot.mux]: Published rudder angle from controller_app: 19 +[teensy-2] [INFO] [1746051074.747813412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 19 +[teensy-2] [INFO] [1746051074.748264837] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051074.835155897] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051074.836854528] [sailbot.teensy]: Wind angle: 149 +[trim_sail-4] [INFO] [1746051074.837172548] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051074.837736464] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051074.838576797] [sailbot.teensy]: Actual tail angle: 44 +[mux-7] [INFO] [1746051074.839356466] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051074.839434181] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051074.844420429] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051074.845137680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051074.845582591] [sailbot.mux]: Published rudder angle from controller_app: 19 +[teensy-2] [INFO] [1746051074.847019099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 19 +[teensy-2] [INFO] [1746051074.848212541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051074.945167896] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051074.945857780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051074.946597665] [sailbot.mux]: Published rudder angle from controller_app: 19 +[teensy-2] [INFO] [1746051074.947885339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 19 +[teensy-2] [INFO] [1746051074.949054667] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051074.957084384] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051074.958076381] [sailbot.main_algo]: Target Bearing: -144.82109138123286 +[main_algo-3] [INFO] [1746051074.958980051] [sailbot.main_algo]: Heading Difference: -121.08290861876714 +[main_algo-3] [INFO] [1746051074.959807682] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051074.960649556] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051074.961470075] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051074.962518070] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051074.963311344] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051075.002907973] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899791 Long: -76.5028054 +[main_algo-3] [INFO] [1746051075.004384850] [sailbot.main_algo]: Distance to destination: 51.400792283553685 +[vectornav-1] [INFO] [1746051075.004622750] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (95.19200000000001, -0.862, 4.531) +[main_algo-3] [INFO] [1746051075.005593367] [sailbot.main_algo]: Target Bearing: -144.456088543244 +[main_algo-3] [INFO] [1746051075.006586469] [sailbot.main_algo]: Heading Difference: -121.447911456756 +[main_algo-3] [INFO] [1746051075.007522579] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051075.008435580] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051075.009307133] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051075.011046274] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051075.045037675] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051075.045746931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051075.046438638] [sailbot.mux]: Published rudder angle from controller_app: 19 +[teensy-2] [INFO] [1746051075.047624331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 19 +[teensy-2] [INFO] [1746051075.048688990] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051075.085123322] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051075.086628223] [sailbot.teensy]: Wind angle: 149 +[trim_sail-4] [INFO] [1746051075.087153252] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051075.087514436] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051075.088390587] [sailbot.teensy]: Actual tail angle: 44 +[mux-7] [INFO] [1746051075.088438402] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051075.089339199] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051075.134005183] [sailbot.mux]: controller_app rudder angle: 23 +[mux-7] [INFO] [1746051075.144442593] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051075.145011039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051075.145612333] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746051075.146750011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746051075.147803038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051075.245257803] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051075.246019614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051075.246811739] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746051075.248324792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746051075.248903548] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051075.335391636] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051075.337292140] [sailbot.teensy]: Wind angle: 147 +[teensy-2] [INFO] [1746051075.338284761] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051075.337849436] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051075.339249606] [sailbot.teensy]: Actual tail angle: 44 +[teensy-2] [INFO] [1746051075.340130243] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051075.340356644] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051075.344660195] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051075.345099558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051075.345807691] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746051075.346817966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746051075.347868563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051075.445536922] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051075.446115978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051075.447176736] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746051075.448306050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746051075.449304022] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051075.457339085] [sailbot.main_algo]: Wind Direction: 147 +[main_algo-3] [INFO] [1746051075.458474586] [sailbot.main_algo]: Target Bearing: -144.456088543244 +[main_algo-3] [INFO] [1746051075.459436069] [sailbot.main_algo]: Heading Difference: -120.351911456756 +[main_algo-3] [INFO] [1746051075.460332048] [sailbot.main_algo]: Wind Direction: 147 +[main_algo-3] [INFO] [1746051075.461240512] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051075.462113650] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051075.463432369] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051075.463920083] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051075.503398495] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900075 Long: -76.5028066 +[main_algo-3] [INFO] [1746051075.504380964] [sailbot.main_algo]: Distance to destination: 51.510355356257904 +[main_algo-3] [INFO] [1746051075.505602868] [sailbot.main_algo]: Target Bearing: -144.1089103070068 +[vectornav-1] [INFO] [1746051075.505761924] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (85.67000000000002, 0.589, 4.093) +[main_algo-3] [INFO] [1746051075.506634970] [sailbot.main_algo]: Heading Difference: -120.6990896929932 +[main_algo-3] [INFO] [1746051075.507574321] [sailbot.main_algo]: Wind Direction: 147 +[main_algo-3] [INFO] [1746051075.508485536] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051075.509348497] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051075.511071440] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051075.545239797] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051075.546065629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051075.546809922] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746051075.548657067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746051075.549699903] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051075.585232507] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051075.587365181] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051075.588970551] [sailbot.teensy]: Wind angle: 147 +[mux-7] [INFO] [1746051075.589281467] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051075.589958103] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051075.590860349] [sailbot.teensy]: Actual tail angle: 48 +[teensy-2] [INFO] [1746051075.591680131] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051075.644933273] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051075.645670196] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051075.646339038] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746051075.647565186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746051075.648087166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051075.745038508] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051075.745670986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051075.746347096] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746051075.747704203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746051075.748874583] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051075.835317219] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051075.837107224] [sailbot.teensy]: Wind angle: 145 +[trim_sail-4] [INFO] [1746051075.837790413] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051075.838049056] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051075.838958921] [sailbot.teensy]: Actual tail angle: 48 +[teensy-2] [INFO] [1746051075.839891808] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051075.840000604] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051075.844474469] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051075.845114989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051075.845762046] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746051075.846826158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746051075.847985597] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051075.945487560] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051075.946172574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051075.947144025] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746051075.948140806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746051075.948635102] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051075.957073876] [sailbot.main_algo]: Wind Direction: 145 +[main_algo-3] [INFO] [1746051075.958076160] [sailbot.main_algo]: Target Bearing: -144.1089103070068 +[main_algo-3] [INFO] [1746051075.958915655] [sailbot.main_algo]: Heading Difference: -130.2210896929932 +[main_algo-3] [INFO] [1746051075.959832149] [sailbot.main_algo]: Wind Direction: 145 +[main_algo-3] [INFO] [1746051075.960810502] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051075.961628525] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051075.962631330] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051075.963190252] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051076.003405273] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900313 Long: -76.5028064 +[main_algo-3] [INFO] [1746051076.003933037] [sailbot.main_algo]: Distance to destination: 51.68262227080582 +[vectornav-1] [INFO] [1746051076.004837131] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (68.387, -0.531, 2.831) +[main_algo-3] [INFO] [1746051076.005111820] [sailbot.main_algo]: Target Bearing: -143.8855458178651 +[main_algo-3] [INFO] [1746051076.006140615] [sailbot.main_algo]: Heading Difference: -130.4444541821349 +[main_algo-3] [INFO] [1746051076.007316586] [sailbot.main_algo]: Wind Direction: 145 +[main_algo-3] [INFO] [1746051076.008277866] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051076.009158237] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051076.010884107] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051076.045069665] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051076.045720217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051076.046374741] [sailbot.mux]: Published rudder angle from controller_app: 23 +[teensy-2] [INFO] [1746051076.047814429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 +[teensy-2] [INFO] [1746051076.049019812] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051076.085447042] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051076.087500551] [sailbot.teensy]: Wind angle: 136 +[trim_sail-4] [INFO] [1746051076.089189009] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051076.089321884] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051076.090074225] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051076.091048840] [sailbot.teensy]: Actual tail angle: 48 +[teensy-2] [INFO] [1746051076.091967452] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051076.144009998] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746051076.145801383] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051076.146579662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051076.146769256] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051076.148477673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051076.149564821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051076.245405972] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051076.246294188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051076.247031698] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051076.248182019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051076.248682816] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051076.335276923] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051076.337418761] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051076.337783104] [sailbot.teensy]: Wind angle: 127 +[mux-7] [INFO] [1746051076.339010078] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051076.339132202] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051076.339660536] [sailbot.teensy]: Actual tail angle: 48 +[teensy-2] [INFO] [1746051076.340029981] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051076.344430523] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051076.344989198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051076.345570812] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051076.346740593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051076.347820896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051076.445184706] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051076.445844514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051076.446667635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051076.447911394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051076.448511401] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051076.457296051] [sailbot.main_algo]: Wind Direction: 127 +[main_algo-3] [INFO] [1746051076.458426677] [sailbot.main_algo]: Target Bearing: -143.8855458178651 +[main_algo-3] [INFO] [1746051076.459382639] [sailbot.main_algo]: Heading Difference: -147.72745418213492 +[main_algo-3] [INFO] [1746051076.460289605] [sailbot.main_algo]: Wind Direction: 127 +[main_algo-3] [INFO] [1746051076.461158201] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051076.461969376] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051076.462975906] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051076.463641953] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051076.502623882] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900495 Long: -76.50280549 +[vectornav-1] [INFO] [1746051076.503641371] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.59100000000001, -0.635, 5.945) +[main_algo-3] [INFO] [1746051076.504052976] [sailbot.main_algo]: Distance to destination: 51.8644128336576 +[main_algo-3] [INFO] [1746051076.505144722] [sailbot.main_algo]: Target Bearing: -143.7574120425179 +[main_algo-3] [INFO] [1746051076.506100900] [sailbot.main_algo]: Heading Difference: -147.8555879574821 +[main_algo-3] [INFO] [1746051076.507008045] [sailbot.main_algo]: Wind Direction: 127 +[main_algo-3] [INFO] [1746051076.507873861] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051076.508746909] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051076.510483378] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051076.544792649] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051076.545462577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051076.546063285] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051076.547213265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051076.548380531] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051076.585292909] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051076.587080352] [sailbot.teensy]: Wind angle: 124 +[trim_sail-4] [INFO] [1746051076.587684277] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051076.588026457] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051076.588955955] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051076.589378725] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051076.589836553] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051076.644984963] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051076.645742154] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051076.646528027] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051076.647788852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051076.648948945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051076.745322816] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051076.746691541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051076.746973503] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051076.748964873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051076.749992844] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051076.835133443] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051076.836684649] [sailbot.teensy]: Wind angle: 116 +[trim_sail-4] [INFO] [1746051076.837144951] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051076.837551241] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051076.838404302] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051076.839256084] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051076.839281039] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051076.844252700] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051076.844920895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051076.845355001] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051076.846792987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051076.847847493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051076.945369551] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051076.946158944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051076.946933571] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051076.947971715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051076.948500932] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051076.957090098] [sailbot.main_algo]: Wind Direction: 116 +[main_algo-3] [INFO] [1746051076.958079355] [sailbot.main_algo]: Target Bearing: -143.7574120425179 +[main_algo-3] [INFO] [1746051076.958910812] [sailbot.main_algo]: Heading Difference: -166.6515879574821 +[main_algo-3] [INFO] [1746051076.959756581] [sailbot.main_algo]: Wind Direction: 116 +[main_algo-3] [INFO] [1746051076.960593148] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051076.961422871] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051076.962475558] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051076.963164418] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051077.003445817] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900556 Long: -76.50280204 +[main_algo-3] [INFO] [1746051077.004115189] [sailbot.main_algo]: Distance to destination: 52.13133594376592 +[vectornav-1] [INFO] [1746051077.004794656] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.61500000000001, -0.445, 8.837) +[main_algo-3] [INFO] [1746051077.005328351] [sailbot.main_algo]: Target Bearing: -143.88689327975655 +[main_algo-3] [INFO] [1746051077.006356234] [sailbot.main_algo]: Heading Difference: -166.5221067202434 +[main_algo-3] [INFO] [1746051077.007322046] [sailbot.main_algo]: Wind Direction: 116 +[main_algo-3] [INFO] [1746051077.008241410] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051077.009118360] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051077.010839296] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051077.045637510] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051077.045929103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051077.047265247] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051077.048001207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051077.049180657] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051077.085373218] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051077.087176068] [sailbot.teensy]: Wind angle: 110 +[teensy-2] [INFO] [1746051077.088179234] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051077.087728276] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746051077.088840343] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051077.089068467] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051077.089944016] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051077.133217040] [sailbot.mux]: controller_app rudder angle: -6 +[mux-7] [INFO] [1746051077.144899673] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051077.145652108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051077.146228284] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051077.147561520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051077.148737208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051077.245229577] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051077.245931995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051077.246750473] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051077.248029167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051077.249123373] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051077.335225694] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051077.337386087] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746051077.337750281] [sailbot.teensy]: Wind angle: 96 +[mux-7] [INFO] [1746051077.338231877] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051077.339327721] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051077.340260489] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051077.340767051] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051077.344604733] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051077.345004844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051077.345911189] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051077.346691784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051077.347866138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051077.444848792] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051077.445896527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051077.446111727] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051077.447726767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051077.448751628] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051077.457129075] [sailbot.main_algo]: Wind Direction: 96 +[main_algo-3] [INFO] [1746051077.458196502] [sailbot.main_algo]: Target Bearing: -143.88689327975655 +[main_algo-3] [INFO] [1746051077.459112235] [sailbot.main_algo]: Heading Difference: 177.5018932797566 +[main_algo-3] [INFO] [1746051077.459943682] [sailbot.main_algo]: Wind Direction: 96 +[main_algo-3] [INFO] [1746051077.460783459] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051077.461601803] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051077.462607216] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051077.463126370] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051077.502724397] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900698 Long: -76.50279885 +[main_algo-3] [INFO] [1746051077.503746355] [sailbot.main_algo]: Distance to destination: 52.435655460146094 +[vectornav-1] [INFO] [1746051077.503852403] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (23.85300000000001, -0.433, 7.83) +[main_algo-3] [INFO] [1746051077.505095876] [sailbot.main_algo]: Target Bearing: -143.92249418429026 +[main_algo-3] [INFO] [1746051077.506250097] [sailbot.main_algo]: Heading Difference: 177.53749418429027 +[main_algo-3] [INFO] [1746051077.507175179] [sailbot.main_algo]: Wind Direction: 96 +[main_algo-3] [INFO] [1746051077.508046394] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051077.508923409] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051077.510826566] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051077.545171720] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051077.546223325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051077.546618128] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051077.548553780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051077.549765040] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051077.585165116] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051077.587117232] [sailbot.teensy]: Wind angle: 94 +[trim_sail-4] [INFO] [1746051077.587141578] [sailbot.trim_sail]: Sail Angle: "30" +[teensy-2] [INFO] [1746051077.588002857] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051077.588884091] [sailbot.teensy]: Actual tail angle: 19 +[mux-7] [INFO] [1746051077.589089373] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051077.589808567] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051077.645194647] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051077.646012369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051077.646682109] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051077.648093519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051077.649274727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051077.745558757] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051077.746345534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051077.747372761] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051077.748763981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051077.749240730] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051077.835183353] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051077.836757643] [sailbot.teensy]: Wind angle: 102 +[trim_sail-4] [INFO] [1746051077.837485212] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051077.837692969] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051077.838596152] [sailbot.teensy]: Actual tail angle: 19 +[mux-7] [INFO] [1746051077.838925325] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051077.839017170] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051077.844537003] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051077.845262390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051077.845702081] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051077.847075967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051077.848194959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051077.944876351] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051077.945639873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051077.946142525] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051077.947452825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051077.947916627] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051077.957008283] [sailbot.main_algo]: Wind Direction: 102 +[main_algo-3] [INFO] [1746051077.957986491] [sailbot.main_algo]: Target Bearing: -143.92249418429026 +[main_algo-3] [INFO] [1746051077.958837442] [sailbot.main_algo]: Heading Difference: 167.77549418429027 +[main_algo-3] [INFO] [1746051077.959648180] [sailbot.main_algo]: Wind Direction: 102 +[main_algo-3] [INFO] [1746051077.960461227] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051077.961264728] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051077.962267175] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051077.963050575] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051078.003062089] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900828 Long: -76.50279492 +[main_algo-3] [INFO] [1746051078.004041646] [sailbot.main_algo]: Distance to destination: 52.78054110835636 +[vectornav-1] [INFO] [1746051078.004302889] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.430000000000007, -1.917, 10.904) +[main_algo-3] [INFO] [1746051078.005224308] [sailbot.main_algo]: Target Bearing: -144.00903164335176 +[main_algo-3] [INFO] [1746051078.006185216] [sailbot.main_algo]: Heading Difference: 167.86203164335177 +[main_algo-3] [INFO] [1746051078.007091631] [sailbot.main_algo]: Wind Direction: 102 +[main_algo-3] [INFO] [1746051078.007961629] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051078.008824599] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051078.010499464] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051078.045088990] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051078.045780681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051078.046420646] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051078.047886043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051078.049035758] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051078.085365696] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051078.087598232] [sailbot.teensy]: Wind angle: 102 +[trim_sail-4] [INFO] [1746051078.087903448] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051078.088533999] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051078.088546537] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051078.089470554] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746051078.090400689] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051078.144901212] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051078.145509634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051078.146142787] [sailbot.mux]: Published rudder angle from controller_app: -6 +[teensy-2] [INFO] [1746051078.147308512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 +[teensy-2] [INFO] [1746051078.148515489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051078.161585709] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746051078.245167174] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051078.245828515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051078.246487706] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051078.247792874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051078.248283249] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051078.335352973] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051078.337900420] [sailbot.teensy]: Wind angle: 103 +[trim_sail-4] [INFO] [1746051078.338109173] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746051078.338834220] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051078.338874474] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051078.339652298] [sailbot.teensy]: Actual tail angle: 19 +[teensy-2] [INFO] [1746051078.340034544] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051078.344441778] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051078.344918950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051078.345629406] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051078.346712409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051078.347909573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051078.445166531] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051078.445825364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051078.446487495] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051078.447787719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051078.448276579] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051078.457197967] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746051078.458247763] [sailbot.main_algo]: Target Bearing: -144.00903164335176 +[main_algo-3] [INFO] [1746051078.459135395] [sailbot.main_algo]: Heading Difference: 168.43903164335177 +[main_algo-3] [INFO] [1746051078.459952618] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746051078.460762739] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051078.461559168] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051078.462547536] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051078.463133522] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051078.502515554] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900954 Long: -76.50279043 +[main_algo-3] [INFO] [1746051078.503417164] [sailbot.main_algo]: Distance to destination: 53.15969738681531 +[vectornav-1] [INFO] [1746051078.503535485] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.694999999999993, 0.334, 12.408) +[main_algo-3] [INFO] [1746051078.504499793] [sailbot.main_algo]: Target Bearing: -144.12808423853534 +[main_algo-3] [INFO] [1746051078.505501456] [sailbot.main_algo]: Heading Difference: 168.55808423853534 +[main_algo-3] [INFO] [1746051078.506409241] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746051078.507273159] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051078.508101806] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051078.509830217] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051078.545181083] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051078.545927270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051078.546629460] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051078.548050979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051078.549246559] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051078.585440528] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051078.587319932] [sailbot.teensy]: Wind angle: 107 +[teensy-2] [INFO] [1746051078.588248423] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051078.589143665] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051078.587848938] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746051078.588781907] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051078.589979353] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051078.645134465] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051078.645789935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051078.646614078] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051078.647858345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051078.648967019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051078.745194970] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051078.745982708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051078.746967086] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051078.748238774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051078.749415233] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051078.835350580] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051078.837651182] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051078.838188037] [sailbot.teensy]: Wind angle: 106 +[mux-7] [INFO] [1746051078.838553292] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051078.839148754] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051078.840044322] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051078.840909585] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051078.844515308] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051078.845089791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051078.845794251] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051078.847042795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051078.848099935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051078.944986713] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051078.945592380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051078.946230863] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051078.947511155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051078.948483384] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051078.957006717] [sailbot.main_algo]: Wind Direction: 106 +[main_algo-3] [INFO] [1746051078.958009789] [sailbot.main_algo]: Target Bearing: -144.12808423853534 +[main_algo-3] [INFO] [1746051078.958893622] [sailbot.main_algo]: Heading Difference: 170.82308423853533 +[main_algo-3] [INFO] [1746051078.959766303] [sailbot.main_algo]: Wind Direction: 106 +[main_algo-3] [INFO] [1746051078.960666306] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051078.961476460] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051078.962512956] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051078.963130393] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051079.002893595] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901132 Long: -76.50278674 +[main_algo-3] [INFO] [1746051079.003903601] [sailbot.main_algo]: Distance to destination: 53.52102631460817 +[vectornav-1] [INFO] [1746051079.004212280] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.459, -0.913, 9.531) +[main_algo-3] [INFO] [1746051079.005226113] [sailbot.main_algo]: Target Bearing: -144.1537748783975 +[main_algo-3] [INFO] [1746051079.006270951] [sailbot.main_algo]: Heading Difference: 170.84877487839753 +[main_algo-3] [INFO] [1746051079.007205298] [sailbot.main_algo]: Wind Direction: 106 +[main_algo-3] [INFO] [1746051079.008106084] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051079.009007653] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051079.010721516] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051079.045260816] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051079.045972563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051079.046728207] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051079.048072519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051079.049143868] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051079.085328813] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051079.087424170] [sailbot.trim_sail]: Sail Angle: "25" +[mux-7] [INFO] [1746051079.088409862] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051079.088853928] [sailbot.teensy]: Wind angle: 101 +[teensy-2] [INFO] [1746051079.090066341] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051079.090905289] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051079.091740714] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051079.145034584] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051079.145943603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051079.146566033] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051079.147922794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051079.148671593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051079.244997604] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051079.245683575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051079.246267258] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051079.247566156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051079.248633533] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051079.335410691] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051079.338168510] [sailbot.trim_sail]: Sail Angle: "25" +[teensy-2] [INFO] [1746051079.339069831] [sailbot.teensy]: Wind angle: 103 +[mux-7] [INFO] [1746051079.339262889] [sailbot.mux]: algo sail angle: 25 +[teensy-2] [INFO] [1746051079.340030708] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051079.340936130] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051079.341791017] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051079.344247249] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051079.344856921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051079.345379164] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051079.346623163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051079.347701433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051079.445562746] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051079.446255060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051079.447146225] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051079.448142121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051079.448697933] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051079.457339691] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746051079.458524049] [sailbot.main_algo]: Target Bearing: -144.1537748783975 +[main_algo-3] [INFO] [1746051079.459535476] [sailbot.main_algo]: Heading Difference: 177.61277487839754 +[main_algo-3] [INFO] [1746051079.460471949] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746051079.461385771] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051079.462274940] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051079.463331087] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051079.463820562] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051079.502838209] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690135 Long: -76.50278296 +[main_algo-3] [INFO] [1746051079.503843132] [sailbot.main_algo]: Distance to destination: 53.91493035999728 +[vectornav-1] [INFO] [1746051079.503947490] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.781000000000006, 0.155, 10.119) +[main_algo-3] [INFO] [1746051079.504960330] [sailbot.main_algo]: Target Bearing: -144.14605131432955 +[main_algo-3] [INFO] [1746051079.505905958] [sailbot.main_algo]: Heading Difference: 177.60505131432956 +[main_algo-3] [INFO] [1746051079.507047662] [sailbot.main_algo]: Wind Direction: 103 +[main_algo-3] [INFO] [1746051079.507940220] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051079.508816640] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051079.510651042] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051079.544929858] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051079.545741542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051079.546457876] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051079.547787816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051079.548983415] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051079.585226809] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051079.586911579] [sailbot.teensy]: Wind angle: 115 +[trim_sail-4] [INFO] [1746051079.587517438] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051079.587992680] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051079.588771740] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051079.588941695] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051079.589869330] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051079.645518653] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051079.646356053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051079.647093731] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051079.648940268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051079.650168902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051079.745265666] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051079.746042947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051079.746722136] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051079.747821158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051079.748367469] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051079.835219702] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051079.836947112] [sailbot.teensy]: Wind angle: 125 +[trim_sail-4] [INFO] [1746051079.837662931] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051079.837889563] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051079.838783748] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051079.838938531] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051079.839658055] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051079.844518470] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051079.844937429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051079.845685573] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051079.846639712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051079.847715355] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051079.945432711] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051079.946002582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051079.947150200] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051079.948079329] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051079.949441145] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051079.957070285] [sailbot.main_algo]: Wind Direction: 125 +[main_algo-3] [INFO] [1746051079.958060489] [sailbot.main_algo]: Target Bearing: -144.14605131432955 +[main_algo-3] [INFO] [1746051079.958959798] [sailbot.main_algo]: Heading Difference: -177.07294868567044 +[main_algo-3] [INFO] [1746051079.959808844] [sailbot.main_algo]: Wind Direction: 125 +[main_algo-3] [INFO] [1746051079.960648133] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051079.961447112] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051079.962414793] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051079.963092457] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051080.003018916] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901543 Long: -76.50277892 +[main_algo-3] [INFO] [1746051080.004020152] [sailbot.main_algo]: Distance to destination: 54.30928609860015 +[vectornav-1] [INFO] [1746051080.004322710] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.129999999999995, -0.95, 10.979) +[main_algo-3] [INFO] [1746051080.005354041] [sailbot.main_algo]: Target Bearing: -144.17540501872702 +[main_algo-3] [INFO] [1746051080.006409165] [sailbot.main_algo]: Heading Difference: -177.04359498127297 +[main_algo-3] [INFO] [1746051080.007348831] [sailbot.main_algo]: Wind Direction: 125 +[main_algo-3] [INFO] [1746051080.008265616] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051080.009116234] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051080.010958029] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051080.044954941] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051080.045591565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051080.046459549] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051080.047436937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051080.048526565] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051080.085310832] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051080.086962765] [sailbot.teensy]: Wind angle: 121 +[trim_sail-4] [INFO] [1746051080.087429867] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051080.087901963] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051080.088887406] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051080.089796050] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051080.090330645] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746051080.144976844] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051080.145491288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051080.146222344] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051080.147192711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051080.148252312] [sailbot.mux]: controller_app rudder angle: -11 +[teensy-2] [INFO] [1746051080.148407190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051080.245255280] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051080.245926573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051080.247023362] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051080.248314724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051080.248966817] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051080.335286590] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051080.337345595] [sailbot.teensy]: Wind angle: 120 +[trim_sail-4] [INFO] [1746051080.337552614] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746051080.338862052] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051080.339115894] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051080.340063731] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051080.340912272] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051080.344443995] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051080.345100235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051080.345571821] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051080.346825503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051080.347902395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051080.445052179] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051080.445723487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051080.446403832] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051080.447771927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051080.448948057] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051080.456960588] [sailbot.main_algo]: Wind Direction: 120 +[main_algo-3] [INFO] [1746051080.457913909] [sailbot.main_algo]: Target Bearing: -144.17540501872702 +[main_algo-3] [INFO] [1746051080.458802751] [sailbot.main_algo]: Heading Difference: -172.69459498127299 +[main_algo-3] [INFO] [1746051080.459640782] [sailbot.main_algo]: Wind Direction: 120 +[main_algo-3] [INFO] [1746051080.460476714] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051080.461276724] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051080.462280955] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051080.462860758] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051080.502479853] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901793 Long: -76.50277539 +[main_algo-3] [INFO] [1746051080.503379941] [sailbot.main_algo]: Distance to destination: 54.70806524477644 +[vectornav-1] [INFO] [1746051080.503520550] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.738999999999976, -0.944, 9.767) +[main_algo-3] [INFO] [1746051080.504453652] [sailbot.main_algo]: Target Bearing: -144.1249423669755 +[main_algo-3] [INFO] [1746051080.505512882] [sailbot.main_algo]: Heading Difference: -172.74505763302454 +[main_algo-3] [INFO] [1746051080.506410875] [sailbot.main_algo]: Wind Direction: 120 +[main_algo-3] [INFO] [1746051080.507302597] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051080.508181312] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051080.509891236] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051080.544866643] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051080.545472116] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051080.546114214] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051080.547343305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051080.548575137] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051080.585416161] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051080.587235778] [sailbot.teensy]: Wind angle: 120 +[teensy-2] [INFO] [1746051080.588171572] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051080.589048416] [sailbot.teensy]: Actual tail angle: 14 +[trim_sail-4] [INFO] [1746051080.587794762] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746051080.588398842] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051080.589908637] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051080.644940037] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051080.645646552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051080.646601588] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051080.647570446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051080.648532325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051080.745090231] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051080.745784121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051080.746468722] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051080.747709512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051080.748254329] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051080.835249810] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051080.836969131] [sailbot.teensy]: Wind angle: 121 +[teensy-2] [INFO] [1746051080.838278639] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051080.838570044] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051080.839215442] [sailbot.teensy]: Actual tail angle: 14 +[mux-7] [INFO] [1746051080.839412686] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051080.840139636] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051080.844569218] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051080.845017935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051080.845704127] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051080.846796867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051080.847888171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051080.944930592] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051080.945764849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051080.946192844] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051080.947637953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051080.948695894] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051080.956979006] [sailbot.main_algo]: Wind Direction: 121 +[main_algo-3] [INFO] [1746051080.957982710] [sailbot.main_algo]: Target Bearing: -144.1249423669755 +[main_algo-3] [INFO] [1746051080.958870483] [sailbot.main_algo]: Heading Difference: -166.1360576330245 +[main_algo-3] [INFO] [1746051080.959708930] [sailbot.main_algo]: Wind Direction: 121 +[main_algo-3] [INFO] [1746051080.960540855] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051080.961367018] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051080.962408091] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051080.963123793] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051081.003133975] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902126 Long: -76.50277263 +[main_algo-3] [INFO] [1746051081.004345984] [sailbot.main_algo]: Distance to destination: 55.111793786734424 +[vectornav-1] [INFO] [1746051081.004471419] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.827999999999975, 0.623, 8.097) +[main_algo-3] [INFO] [1746051081.005648859] [sailbot.main_algo]: Target Bearing: -143.95905863161522 +[main_algo-3] [INFO] [1746051081.006711462] [sailbot.main_algo]: Heading Difference: -166.3019413683848 +[main_algo-3] [INFO] [1746051081.007661609] [sailbot.main_algo]: Wind Direction: 121 +[main_algo-3] [INFO] [1746051081.008572300] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051081.009441494] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051081.011233831] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051081.045337850] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051081.046747976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051081.047274224] [sailbot.mux]: Published rudder angle from controller_app: -11 +[teensy-2] [INFO] [1746051081.049144136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 +[teensy-2] [INFO] [1746051081.050174575] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051081.085170733] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051081.086729909] [sailbot.teensy]: Wind angle: 123 +[trim_sail-4] [INFO] [1746051081.087236845] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051081.087637032] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051081.088545414] [sailbot.teensy]: Actual tail angle: 14 +[teensy-2] [INFO] [1746051081.089452252] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051081.089556560] [sailbot.mux]: algo sail angle: 10 +[mux-7] [INFO] [1746051081.144035922] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746051081.145882083] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051081.146579532] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051081.146860448] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051081.148437022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051081.149421968] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051081.244940355] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051081.245636921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051081.246201671] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051081.247458023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051081.248437910] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051081.335481102] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051081.337407383] [sailbot.teensy]: Wind angle: 132 +[trim_sail-4] [INFO] [1746051081.337836311] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051081.338363199] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051081.339365013] [sailbot.teensy]: Actual tail angle: 14 +[mux-7] [INFO] [1746051081.339849253] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051081.340272315] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051081.344495689] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051081.345215533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051081.345601435] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051081.346995351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051081.348177073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051081.445172838] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051081.445847057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051081.446547316] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051081.447796458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051081.448836419] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051081.457126931] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051081.458207469] [sailbot.main_algo]: Target Bearing: -143.95905863161522 +[main_algo-3] [INFO] [1746051081.459111136] [sailbot.main_algo]: Heading Difference: -156.2129413683848 +[main_algo-3] [INFO] [1746051081.459981043] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051081.460832268] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051081.461632341] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051081.462638649] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051081.463467113] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051081.502725937] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902418 Long: -76.5027707 +[main_algo-3] [INFO] [1746051081.503766263] [sailbot.main_algo]: Distance to destination: 55.43409089804536 +[vectornav-1] [INFO] [1746051081.503868397] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (75.07900000000001, -0.798, 9.006) +[main_algo-3] [INFO] [1746051081.505265219] [sailbot.main_algo]: Target Bearing: -143.79040178290404 +[main_algo-3] [INFO] [1746051081.506624992] [sailbot.main_algo]: Heading Difference: -156.38159821709598 +[main_algo-3] [INFO] [1746051081.507533780] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051081.508410557] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051081.509251888] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051081.510976919] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051081.545103574] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051081.545572149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051081.546390665] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051081.547366084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051081.548445462] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051081.585184056] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051081.586866934] [sailbot.teensy]: Wind angle: 145 +[trim_sail-4] [INFO] [1746051081.587401054] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051081.587786382] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051081.588763278] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051081.589727899] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051081.590746607] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051081.644803014] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051081.645505046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051081.646022411] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051081.647249648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051081.648291602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051081.745435323] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051081.745975710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051081.747286436] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051081.748008349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051081.749264062] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051081.835466102] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051081.837797760] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051081.838183407] [sailbot.teensy]: Wind angle: 148 +[mux-7] [INFO] [1746051081.839354211] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051081.840145174] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051081.841159669] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051081.841989157] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051081.844389557] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051081.844845946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051081.845560678] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051081.846711149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051081.847707002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051081.945234689] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051081.946165639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051081.947033343] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051081.948431942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051081.949553455] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051081.957039235] [sailbot.main_algo]: Wind Direction: 148 +[main_algo-3] [INFO] [1746051081.958047630] [sailbot.main_algo]: Target Bearing: -143.79040178290404 +[main_algo-3] [INFO] [1746051081.958963675] [sailbot.main_algo]: Heading Difference: -141.13059821709595 +[main_algo-3] [INFO] [1746051081.959843678] [sailbot.main_algo]: Wind Direction: 148 +[main_algo-3] [INFO] [1746051081.960788978] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051081.961629555] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051081.962753033] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051081.963204382] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051082.002768167] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902684 Long: -76.50277071 +[main_algo-3] [INFO] [1746051082.003774138] [sailbot.main_algo]: Distance to destination: 55.61264445838087 +[vectornav-1] [INFO] [1746051082.003898256] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (90.80399999999997, -0.399, 7.059) +[main_algo-3] [INFO] [1746051082.004933673] [sailbot.main_algo]: Target Bearing: -143.54753721027876 +[main_algo-3] [INFO] [1746051082.005963564] [sailbot.main_algo]: Heading Difference: -141.3734627897212 +[main_algo-3] [INFO] [1746051082.006885245] [sailbot.main_algo]: Wind Direction: 148 +[main_algo-3] [INFO] [1746051082.007818816] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051082.008745021] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051082.010493610] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051082.044941819] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051082.045744409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051082.046193659] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051082.047655824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051082.048684156] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051082.085353298] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051082.087078988] [sailbot.teensy]: Wind angle: 142 +[trim_sail-4] [INFO] [1746051082.087571008] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051082.088180534] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051082.089174654] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051082.090001018] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051082.090084960] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051082.144875065] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051082.145735086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051082.146485646] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051082.147778812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051082.149273264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051082.150331000] [sailbot.mux]: controller_app rudder angle: 25 +[mux-7] [INFO] [1746051082.244887455] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051082.245551258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051082.246172309] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746051082.247447942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746051082.248673740] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051082.335441642] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051082.337568536] [sailbot.teensy]: Wind angle: 134 +[trim_sail-4] [INFO] [1746051082.338008660] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051082.339034420] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051082.339673140] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051082.340081663] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051082.340441266] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051082.344277839] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051082.345051447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051082.345386059] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746051082.346873655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746051082.347918621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051082.444765156] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051082.445348872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051082.445910317] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746051082.447273714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746051082.448187832] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051082.457121472] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051082.458113969] [sailbot.main_algo]: Target Bearing: -143.54753721027876 +[main_algo-3] [INFO] [1746051082.458962377] [sailbot.main_algo]: Heading Difference: -125.6484627897213 +[main_algo-3] [INFO] [1746051082.459767275] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051082.460575713] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051082.461368062] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051082.462376123] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051082.463082478] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051082.502899933] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902961 Long: -76.50277205 +[main_algo-3] [INFO] [1746051082.504010018] [sailbot.main_algo]: Distance to destination: 55.71320097011436 +[vectornav-1] [INFO] [1746051082.504513462] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (103.87299999999999, -0.02, 6.616) +[main_algo-3] [INFO] [1746051082.505386667] [sailbot.main_algo]: Target Bearing: -143.22750537460212 +[main_algo-3] [INFO] [1746051082.506715954] [sailbot.main_algo]: Heading Difference: -125.96849462539791 +[main_algo-3] [INFO] [1746051082.507695758] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051082.508588764] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051082.509435374] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051082.511182327] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051082.544969370] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051082.545602767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051082.546292453] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746051082.547704373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746051082.548847853] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051082.585394210] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051082.587764355] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051082.588722053] [sailbot.teensy]: Wind angle: 129 +[mux-7] [INFO] [1746051082.589087840] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051082.590071408] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051082.590961266] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051082.591802785] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051082.644871601] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051082.645670542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051082.646159402] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746051082.647709464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746051082.648737881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051082.744906559] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051082.745769959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051082.746221030] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746051082.748360271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746051082.749574162] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051082.835350041] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051082.837857342] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051082.838447233] [sailbot.teensy]: Wind angle: 132 +[mux-7] [INFO] [1746051082.839301653] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051082.839496131] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051082.839971544] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051082.840350527] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051082.844512738] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051082.844917711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051082.845650640] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746051082.846590301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746051082.847620894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051082.944967518] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051082.945505107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051082.946335812] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746051082.947260169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746051082.948379649] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051082.957081191] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051082.958055859] [sailbot.main_algo]: Target Bearing: -143.22750537460212 +[main_algo-3] [INFO] [1746051082.958911335] [sailbot.main_algo]: Heading Difference: -112.89949462539789 +[main_algo-3] [INFO] [1746051082.959715251] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051082.960514419] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051082.961320271] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051082.962323028] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051082.962938534] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051083.003038911] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903209 Long: -76.50277346 +[main_algo-3] [INFO] [1746051083.004023321] [sailbot.main_algo]: Distance to destination: 55.79108915920083 +[vectornav-1] [INFO] [1746051083.004303083] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (105.54399999999998, -0.208, 5.722) +[main_algo-3] [INFO] [1746051083.005259881] [sailbot.main_algo]: Target Bearing: -142.93101518473003 +[main_algo-3] [INFO] [1746051083.006210950] [sailbot.main_algo]: Heading Difference: -113.19598481526998 +[main_algo-3] [INFO] [1746051083.007094830] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051083.007989541] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051083.008872051] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051083.010561419] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051083.045093386] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051083.045603092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051083.046368059] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746051083.047443850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746051083.048476900] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051083.085163053] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051083.086699500] [sailbot.teensy]: Wind angle: 133 +[trim_sail-4] [INFO] [1746051083.087198542] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051083.087550925] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051083.087941807] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051083.088405559] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051083.089308083] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051083.144913351] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051083.145640740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051083.146194894] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746051083.147469277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746051083.148649178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051083.244937647] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051083.245707357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051083.246238553] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746051083.247551420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746051083.248877613] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051083.335316340] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051083.337169630] [sailbot.teensy]: Wind angle: 134 +[teensy-2] [INFO] [1746051083.338127482] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051083.337957242] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051083.338997958] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051083.339187289] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051083.339865076] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051083.344588463] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051083.345016925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051083.345840275] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746051083.346710936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746051083.347910508] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051083.445442011] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051083.445951553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051083.447116268] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746051083.448427648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746051083.449572171] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051083.457169140] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051083.458171203] [sailbot.main_algo]: Target Bearing: -142.93101518473003 +[main_algo-3] [INFO] [1746051083.459055677] [sailbot.main_algo]: Heading Difference: -111.52498481526999 +[main_algo-3] [INFO] [1746051083.459912966] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051083.460824955] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051083.461663788] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051083.462779626] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051083.463615204] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051083.502908694] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903248 Long: -76.50277437 +[vectornav-1] [INFO] [1746051083.504205379] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (98.71600000000001, 0.676, 2.808) +[main_algo-3] [INFO] [1746051083.504234937] [sailbot.main_algo]: Distance to destination: 55.75896966502815 +[main_algo-3] [INFO] [1746051083.505439022] [sailbot.main_algo]: Target Bearing: -142.8485602250815 +[main_algo-3] [INFO] [1746051083.506391326] [sailbot.main_algo]: Heading Difference: -111.60743977491848 +[main_algo-3] [INFO] [1746051083.507297404] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051083.508166083] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051083.509009250] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051083.510775028] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051083.544658231] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051083.545269929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051083.545944961] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746051083.546941957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746051083.547923918] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051083.585080235] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051083.587129573] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051083.587328579] [sailbot.teensy]: Wind angle: 134 +[teensy-2] [INFO] [1746051083.588201630] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051083.588323661] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051083.589058072] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051083.589921629] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051083.645280519] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051083.646105279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051083.646909195] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746051083.648502596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746051083.649002304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051083.744914644] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051083.745493947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051083.746200492] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746051083.747301900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746051083.748495823] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051083.835320641] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051083.836989785] [sailbot.teensy]: Wind angle: 134 +[teensy-2] [INFO] [1746051083.837873839] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051083.837508731] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051083.838707079] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051083.839049634] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051083.839586830] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051083.844578199] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051083.844926096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051083.845744212] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746051083.846765430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746051083.847836680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051083.945033808] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051083.945958456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051083.946442413] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746051083.947729715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746051083.948218141] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051083.957033027] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051083.958031048] [sailbot.main_algo]: Target Bearing: -142.8485602250815 +[main_algo-3] [INFO] [1746051083.958916095] [sailbot.main_algo]: Heading Difference: -118.43543977491845 +[main_algo-3] [INFO] [1746051083.959766947] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051083.960612531] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051083.961479646] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051083.962522133] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051083.963145088] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051084.002750950] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903205 Long: -76.50277446 +[main_algo-3] [INFO] [1746051084.003886621] [sailbot.main_algo]: Distance to destination: 55.72365124167173 +[vectornav-1] [INFO] [1746051084.004545355] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (93.38, -0.92, 3.677) +[main_algo-3] [INFO] [1746051084.005220090] [sailbot.main_algo]: Target Bearing: -142.88246394545894 +[main_algo-3] [INFO] [1746051084.006936384] [sailbot.main_algo]: Heading Difference: -118.40153605454105 +[main_algo-3] [INFO] [1746051084.007900924] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051084.008817217] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051084.009676252] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051084.011334664] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051084.045188330] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051084.046263976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051084.046583301] [sailbot.mux]: Published rudder angle from controller_app: 25 +[teensy-2] [INFO] [1746051084.048286770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 +[teensy-2] [INFO] [1746051084.049355126] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051084.085206762] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051084.087240930] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051084.087431123] [sailbot.teensy]: Wind angle: 134 +[teensy-2] [INFO] [1746051084.088492049] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051084.088991686] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051084.089418640] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051084.090372833] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051084.144192478] [sailbot.mux]: controller_app rudder angle: 0 +[mux-7] [INFO] [1746051084.146131040] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051084.146905926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051084.147211167] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051084.148875932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051084.149890816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051084.245108504] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051084.245851068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051084.246513314] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051084.247834332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051084.248902608] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051084.335383954] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051084.337805252] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051084.338068076] [sailbot.teensy]: Wind angle: 134 +[teensy-2] [INFO] [1746051084.339010006] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051084.339203158] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051084.339509735] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051084.339882846] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051084.344297277] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051084.344974544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051084.345694338] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051084.346669188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051084.347720310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051084.445236705] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051084.445915050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051084.446753966] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051084.447976107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051084.448523552] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051084.457100215] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051084.458028434] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746051084.458939583] [sailbot.main_algo]: Target Bearing: -142.88246394545894 +[main_algo-3] [INFO] [1746051084.459840270] [sailbot.main_algo]: Heading Difference: -123.73753605454107 +[main_algo-3] [INFO] [1746051084.460696274] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051084.461512370] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051084.462285900] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051084.463290880] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051084.463975554] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051084.502928093] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903191 Long: -76.50277446 +[main_algo-3] [INFO] [1746051084.503964961] [sailbot.main_algo]: Distance to destination: 55.7140518625383 +[vectornav-1] [INFO] [1746051084.504148789] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (90.601, 0.826, 3.597) +[main_algo-3] [INFO] [1746051084.505256118] [sailbot.main_algo]: Target Bearing: -142.89504119536542 +[main_algo-3] [INFO] [1746051084.506302919] [sailbot.main_algo]: Heading Difference: -123.72495880463458 +[main_algo-3] [INFO] [1746051084.507309441] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051084.508220220] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051084.509090277] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051084.510760974] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051084.545046424] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051084.545807049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051084.546307728] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051084.547741936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051084.548989721] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051084.585549648] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051084.587381698] [sailbot.teensy]: Wind angle: 134 +[trim_sail-4] [INFO] [1746051084.588283929] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051084.588336210] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051084.589215993] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051084.589550673] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051084.590116455] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051084.645114798] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051084.645867782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051084.646660831] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051084.647928652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051084.648968390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051084.744954438] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051084.745639950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051084.746652345] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051084.747675756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051084.748804874] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051084.835100771] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051084.837250356] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051084.837465131] [sailbot.teensy]: Wind angle: 134 +[teensy-2] [INFO] [1746051084.838426685] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051084.838629173] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051084.839310219] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051084.840200208] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051084.844365207] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051084.845030167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051084.845472598] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051084.846867988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051084.847898341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051084.944741893] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051084.945412731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051084.945894361] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051084.947169533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051084.948196216] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051084.957055481] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051084.958147293] [sailbot.main_algo]: Target Bearing: -142.89504119536542 +[main_algo-3] [INFO] [1746051084.959080569] [sailbot.main_algo]: Heading Difference: -126.50395880463458 +[main_algo-3] [INFO] [1746051084.959972414] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051084.961055355] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051084.961860884] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051084.962878540] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051084.963539337] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051085.002907475] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903217 Long: -76.50277469 +[main_algo-3] [INFO] [1746051085.003821984] [sailbot.main_algo]: Distance to destination: 55.71700962735234 +[vectornav-1] [INFO] [1746051085.004184890] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (87.11000000000001, -0.743, 4.159) +[main_algo-3] [INFO] [1746051085.004979434] [sailbot.main_algo]: Target Bearing: -142.85967592686646 +[main_algo-3] [INFO] [1746051085.005959749] [sailbot.main_algo]: Heading Difference: -126.53932407313357 +[main_algo-3] [INFO] [1746051085.007023154] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051085.008247530] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051085.009165362] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051085.010975093] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051085.044981447] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051085.045760430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051085.046411202] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051085.047606056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051085.048668881] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051085.085288549] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051085.086965566] [sailbot.teensy]: Wind angle: 134 +[teensy-2] [INFO] [1746051085.087883765] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051085.087756637] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051085.088802332] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051085.089698567] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051085.089917593] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051085.144895300] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051085.145527246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051085.146227093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051085.147630428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051085.148841672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051085.244992324] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051085.245655454] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051085.246423666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051085.247477991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051085.248058293] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051085.335267370] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051085.337006232] [sailbot.teensy]: Wind angle: 134 +[trim_sail-4] [INFO] [1746051085.337566675] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051085.338295342] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051085.339261809] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051085.340187419] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051085.340481342] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051085.344328205] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051085.345009536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051085.345881642] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051085.346791808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051085.347880955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051085.445180047] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051085.445741747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051085.446759233] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051085.447709018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051085.448473769] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051085.457248324] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051085.458327423] [sailbot.main_algo]: Target Bearing: -142.85967592686646 +[main_algo-3] [INFO] [1746051085.459244953] [sailbot.main_algo]: Heading Difference: -130.03032407313356 +[main_algo-3] [INFO] [1746051085.460102605] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051085.460962880] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051085.461744697] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051085.462743976] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051085.463401427] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051085.503116118] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903291 Long: -76.5027747 +[main_algo-3] [INFO] [1746051085.503981192] [sailbot.main_algo]: Distance to destination: 55.76717348874847 +[vectornav-1] [INFO] [1746051085.504408768] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (83.06400000000002, -0.1, 4.832) +[main_algo-3] [INFO] [1746051085.505091059] [sailbot.main_algo]: Target Bearing: -142.79275835237812 +[main_algo-3] [INFO] [1746051085.506057451] [sailbot.main_algo]: Heading Difference: -130.0972416476219 +[main_algo-3] [INFO] [1746051085.506968585] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051085.507849454] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051085.508718240] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051085.510571598] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051085.544956374] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051085.545648832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051085.546220637] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051085.547495005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051085.548653256] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051085.585205929] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051085.586858265] [sailbot.teensy]: Wind angle: 134 +[trim_sail-4] [INFO] [1746051085.587385584] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051085.587772722] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051085.587879963] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051085.588728518] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051085.589632058] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051085.645268814] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051085.646184510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051085.646756873] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051085.648683686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051085.649922385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051085.745325678] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051085.746134336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051085.746844574] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051085.748431405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051085.749411826] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051085.835305324] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051085.837025905] [sailbot.teensy]: Wind angle: 134 +[trim_sail-4] [INFO] [1746051085.837953138] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051085.838752192] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051085.839297249] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051085.840272611] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051085.841198949] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051085.844473431] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051085.845039019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051085.845573111] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051085.846819407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051085.847838052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051085.945249716] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051085.945859196] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051085.946881034] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051085.948141598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051085.949253959] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051085.957043049] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051085.958067791] [sailbot.main_algo]: Target Bearing: -142.79275835237812 +[main_algo-3] [INFO] [1746051085.958985444] [sailbot.main_algo]: Heading Difference: -134.14324164762183 +[main_algo-3] [INFO] [1746051085.959865903] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051085.960780968] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051085.961601961] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051085.962816235] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051085.963367705] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051086.002902114] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903327 Long: -76.50277443 +[main_algo-3] [INFO] [1746051086.003969642] [sailbot.main_algo]: Distance to destination: 55.80935378170894 +[vectornav-1] [INFO] [1746051086.004268039] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (82.58699999999999, -0.111, 4.82) +[main_algo-3] [INFO] [1746051086.005183142] [sailbot.main_algo]: Target Bearing: -142.7746129862309 +[main_algo-3] [INFO] [1746051086.006161786] [sailbot.main_algo]: Heading Difference: -134.16138701376906 +[main_algo-3] [INFO] [1746051086.007075158] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051086.007943625] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051086.008806156] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051086.010521647] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051086.045608670] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051086.045874515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051086.047138874] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051086.047838556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051086.048977662] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051086.085351843] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051086.087519223] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051086.088120439] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051086.088936562] [sailbot.teensy]: Wind angle: 134 +[teensy-2] [INFO] [1746051086.089908095] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051086.090798611] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051086.091671441] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051086.144958966] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051086.145625104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051086.146439985] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051086.147471587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051086.148571297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051086.245064858] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051086.245836365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051086.246421743] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051086.247798941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051086.248837385] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051086.335390556] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051086.337677248] [sailbot.teensy]: Wind angle: 133 +[trim_sail-4] [INFO] [1746051086.338349824] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051086.338608037] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051086.338752406] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051086.339529156] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051086.340462948] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051086.344607920] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051086.345182933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051086.345986252] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051086.346906008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051086.348046603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051086.445079923] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051086.445719876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051086.446342351] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051086.447569093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051086.448795615] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051086.457012443] [sailbot.main_algo]: Wind Direction: 133 +[main_algo-3] [INFO] [1746051086.457970992] [sailbot.main_algo]: Target Bearing: -142.7746129862309 +[main_algo-3] [INFO] [1746051086.458864158] [sailbot.main_algo]: Heading Difference: -134.63838701376915 +[main_algo-3] [INFO] [1746051086.459658077] [sailbot.main_algo]: Wind Direction: 133 +[main_algo-3] [INFO] [1746051086.460485036] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051086.461264928] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051086.462263085] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051086.462837127] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051086.502677012] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903385 Long: -76.50277457 +[main_algo-3] [INFO] [1746051086.503556687] [sailbot.main_algo]: Distance to destination: 55.84021224541427 +[vectornav-1] [INFO] [1746051086.503996938] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (80.35399999999998, -0.757, 4.785) +[main_algo-3] [INFO] [1746051086.504657401] [sailbot.main_algo]: Target Bearing: -142.7153912459412 +[main_algo-3] [INFO] [1746051086.505623840] [sailbot.main_algo]: Heading Difference: -134.69760875405882 +[main_algo-3] [INFO] [1746051086.506558088] [sailbot.main_algo]: Wind Direction: 133 +[main_algo-3] [INFO] [1746051086.507883141] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051086.508837863] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051086.510601279] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051086.544786666] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051086.545306768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051086.545990627] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051086.547030332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051086.548068734] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051086.585130200] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051086.586902233] [sailbot.teensy]: Wind angle: 132 +[trim_sail-4] [INFO] [1746051086.587568892] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051086.587830528] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051086.588490598] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051086.588760665] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051086.589736238] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051086.644839670] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051086.645372877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051086.646009519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051086.647126187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051086.648190533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051086.745254356] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051086.745925589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051086.746804935] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051086.748115025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051086.749426025] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051086.835135193] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051086.836722317] [sailbot.teensy]: Wind angle: 132 +[teensy-2] [INFO] [1746051086.837559705] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051086.837514388] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051086.837799409] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051086.838424978] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051086.839283848] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051086.844379045] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051086.844929097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051086.845474733] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051086.846630084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051086.847778779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051086.944944838] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051086.945504543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051086.946277131] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051086.947477443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051086.948368667] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051086.957181648] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051086.958250784] [sailbot.main_algo]: Target Bearing: -142.7153912459412 +[main_algo-3] [INFO] [1746051086.959173337] [sailbot.main_algo]: Heading Difference: -136.93060875405882 +[main_algo-3] [INFO] [1746051086.960040753] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051086.960918887] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051086.961711620] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051086.962689622] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051086.963384030] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051087.002970871] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690338 Long: -76.50277467 +[main_algo-3] [INFO] [1746051087.003939417] [sailbot.main_algo]: Distance to destination: 55.83031805095595 +[vectornav-1] [INFO] [1746051087.004195483] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (80.38, -0.951, 4.379) +[main_algo-3] [INFO] [1746051087.005032191] [sailbot.main_algo]: Target Bearing: -142.71463384282524 +[main_algo-3] [INFO] [1746051087.006017691] [sailbot.main_algo]: Heading Difference: -136.9313661571748 +[main_algo-3] [INFO] [1746051087.006939584] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051087.007832946] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051087.008729303] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051087.010439502] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051087.045079332] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051087.045904955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051087.046648736] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051087.047886993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051087.048950658] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051087.085315276] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051087.086985333] [sailbot.teensy]: Wind angle: 132 +[trim_sail-4] [INFO] [1746051087.087704026] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051087.087906329] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051087.088793436] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051087.088861905] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051087.089686478] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051087.144900752] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051087.145669886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051087.146286496] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051087.147642045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051087.148772601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051087.245335336] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051087.246075746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051087.246879661] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051087.247879974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051087.248422148] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051087.335306362] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051087.338359728] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051087.338672264] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051087.338804317] [sailbot.teensy]: Wind angle: 132 +[teensy-2] [INFO] [1746051087.339332261] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051087.339706432] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051087.340058877] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051087.344577531] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051087.345258903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051087.345825604] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051087.347014284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051087.348227133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051087.445414749] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051087.445999326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051087.446995876] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051087.448448618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051087.449328831] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051087.457125347] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051087.458148423] [sailbot.main_algo]: Target Bearing: -142.71463384282524 +[main_algo-3] [INFO] [1746051087.459033581] [sailbot.main_algo]: Heading Difference: -136.90536615717474 +[main_algo-3] [INFO] [1746051087.459890887] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051087.460780611] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051087.461575926] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051087.462590790] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051087.463306598] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051087.502865505] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903377 Long: -76.50277496 +[main_algo-3] [INFO] [1746051087.503789369] [sailbot.main_algo]: Distance to destination: 55.80954192140182 +[vectornav-1] [INFO] [1746051087.504471779] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (79.97899999999998, -0.522, 3.392) +[main_algo-3] [INFO] [1746051087.505051460] [sailbot.main_algo]: Target Bearing: -142.70214628681526 +[main_algo-3] [INFO] [1746051087.506020759] [sailbot.main_algo]: Heading Difference: -136.91785371318474 +[main_algo-3] [INFO] [1746051087.506948214] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051087.507845865] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051087.508706874] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051087.510396866] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051087.545069994] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051087.545787234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051087.546337863] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051087.547638254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051087.548809111] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051087.585355816] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051087.587023498] [sailbot.teensy]: Wind angle: 132 +[trim_sail-4] [INFO] [1746051087.587829759] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051087.587960388] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051087.588896472] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051087.589473985] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051087.589794293] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051087.645245729] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051087.646046112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051087.646770525] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051087.648597220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051087.649813798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051087.745050722] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051087.745661306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051087.746527578] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051087.747648745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051087.748250600] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051087.835283350] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051087.837027983] [sailbot.teensy]: Wind angle: 132 +[teensy-2] [INFO] [1746051087.837961121] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051087.837540304] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051087.838847001] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051087.838823809] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051087.839726719] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051087.844456579] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051087.844896543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051087.845586649] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051087.846601055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051087.847805059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051087.945329457] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051087.945968318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051087.946808834] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051087.947912327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051087.948501575] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051087.957371736] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051087.958557127] [sailbot.main_algo]: Target Bearing: -142.70214628681526 +[main_algo-3] [INFO] [1746051087.959548443] [sailbot.main_algo]: Heading Difference: -137.31885371318475 +[main_algo-3] [INFO] [1746051087.960504222] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051087.961413213] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051087.962204377] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051087.963229509] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051087.964171522] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051088.003129346] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903413 Long: -76.50277488 +[main_algo-3] [INFO] [1746051088.004074740] [sailbot.main_algo]: Distance to destination: 55.83949618608539 +[vectornav-1] [INFO] [1746051088.004501944] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (79.82400000000001, -1.03, 4.455) +[main_algo-3] [INFO] [1746051088.005512622] [sailbot.main_algo]: Target Bearing: -142.674141578197 +[main_algo-3] [INFO] [1746051088.006564340] [sailbot.main_algo]: Heading Difference: -137.346858421803 +[main_algo-3] [INFO] [1746051088.007503704] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051088.008406830] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051088.009255302] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051088.010949677] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051088.045029241] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051088.045781388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051088.046322876] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051088.047818526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051088.048959488] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051088.085202485] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051088.087316287] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051088.087335312] [sailbot.teensy]: Wind angle: 132 +[teensy-2] [INFO] [1746051088.088466208] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051088.089376787] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051088.088839291] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051088.090496813] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051088.144969984] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051088.145720357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051088.146294269] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051088.147598888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051088.148659074] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051088.245031768] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051088.245722288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051088.246412834] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051088.247562653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051088.248100909] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051088.335388252] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051088.337922934] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051088.338632890] [sailbot.teensy]: Wind angle: 132 +[mux-7] [INFO] [1746051088.338896705] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051088.340114421] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051088.341005903] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051088.341866100] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051088.344538979] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051088.345012281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051088.346022364] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051088.346828312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051088.348006383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051088.444897298] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051088.445543133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051088.446184945] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051088.447434807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051088.448629878] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051088.457018110] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051088.457963747] [sailbot.main_algo]: Target Bearing: -142.674141578197 +[main_algo-3] [INFO] [1746051088.458840529] [sailbot.main_algo]: Heading Difference: -137.50185842180298 +[main_algo-3] [INFO] [1746051088.459648173] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051088.460461822] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051088.461255379] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051088.462267786] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051088.463022503] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051088.502589940] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690342 Long: -76.50277507 +[vectornav-1] [INFO] [1746051088.503574935] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (79.25799999999998, -1.21, 3.734) +[main_algo-3] [INFO] [1746051088.503667427] [sailbot.main_algo]: Distance to destination: 55.8320679205215 +[main_algo-3] [INFO] [1746051088.504812957] [sailbot.main_algo]: Target Bearing: -142.65793912742117 +[main_algo-3] [INFO] [1746051088.505783888] [sailbot.main_algo]: Heading Difference: -137.51806087257881 +[main_algo-3] [INFO] [1746051088.506685863] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051088.507560768] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051088.508475470] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051088.510195789] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051088.545061616] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051088.545814538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051088.546322798] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051088.547651884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051088.548699732] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051088.585353684] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051088.587274217] [sailbot.teensy]: Wind angle: 132 +[trim_sail-4] [INFO] [1746051088.587855916] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051088.588272094] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051088.589165268] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051088.590048848] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051088.590068323] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051088.645086919] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051088.645795732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051088.646559205] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051088.647826493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051088.648433729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051088.745354193] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051088.746122228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051088.746882358] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051088.748004458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051088.748529075] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051088.835065047] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051088.836693771] [sailbot.teensy]: Wind angle: 132 +[trim_sail-4] [INFO] [1746051088.837184276] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051088.837553037] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051088.838225731] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051088.838382688] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051088.839175372] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051088.844438172] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051088.845025690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051088.845663306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051088.846602808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051088.847535920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051088.945281879] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051088.945869154] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051088.946761582] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051088.947844029] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051088.948540420] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051088.957254180] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051088.958343239] [sailbot.main_algo]: Target Bearing: -142.65793912742117 +[main_algo-3] [INFO] [1746051088.959277934] [sailbot.main_algo]: Heading Difference: -138.08406087257885 +[main_algo-3] [INFO] [1746051088.960132997] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051088.961032891] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051088.961821252] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051088.962911045] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051088.963548879] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051089.003221762] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903432 Long: -76.50277498 +[main_algo-3] [INFO] [1746051089.003676943] [sailbot.main_algo]: Distance to destination: 55.84614121616749 +[vectornav-1] [INFO] [1746051089.004404544] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (79.29399999999998, -1.556, 4.675) +[main_algo-3] [INFO] [1746051089.004787755] [sailbot.main_algo]: Target Bearing: -142.6519286140491 +[main_algo-3] [INFO] [1746051089.005821120] [sailbot.main_algo]: Heading Difference: -138.09007138595092 +[main_algo-3] [INFO] [1746051089.006734965] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051089.007607352] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051089.008472880] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051089.010279219] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051089.045134056] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051089.045965016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051089.046469088] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051089.047850360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051089.048865951] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051089.085454742] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051089.087885829] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051089.088484080] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051089.088854342] [sailbot.teensy]: Wind angle: 132 +[teensy-2] [INFO] [1746051089.089789815] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051089.090697851] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051089.091559705] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051089.144995592] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051089.145627815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051089.146585724] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051089.147822348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051089.148881592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051089.245036729] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051089.245691825] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051089.246355015] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051089.247533450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051089.248574748] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051089.335215523] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051089.337374323] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051089.338186043] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051089.338606086] [sailbot.teensy]: Wind angle: 131 +[teensy-2] [INFO] [1746051089.339571085] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051089.340430461] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051089.340825194] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051089.344545971] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051089.344962268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051089.345905014] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051089.346634452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051089.347790363] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051089.445342716] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051089.446143252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051089.447433564] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051089.448360123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051089.449620323] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051089.457187974] [sailbot.main_algo]: Wind Direction: 131 +[main_algo-3] [INFO] [1746051089.458283813] [sailbot.main_algo]: Target Bearing: -142.6519286140491 +[main_algo-3] [INFO] [1746051089.459203676] [sailbot.main_algo]: Heading Difference: -138.05407138595092 +[main_algo-3] [INFO] [1746051089.460039714] [sailbot.main_algo]: Wind Direction: 131 +[main_algo-3] [INFO] [1746051089.460909815] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051089.461762407] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051089.462757614] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051089.463488873] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051089.503025198] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903449 Long: -76.50277474 +[main_algo-3] [INFO] [1746051089.504058056] [sailbot.main_algo]: Distance to destination: 55.873331754554705 +[vectornav-1] [INFO] [1746051089.504337716] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (79.327, -1.829, 4.782) +[main_algo-3] [INFO] [1746051089.505297523] [sailbot.main_algo]: Target Bearing: -142.64930707278072 +[main_algo-3] [INFO] [1746051089.506297430] [sailbot.main_algo]: Heading Difference: -138.05669292721927 +[main_algo-3] [INFO] [1746051089.507199279] [sailbot.main_algo]: Wind Direction: 131 +[main_algo-3] [INFO] [1746051089.508072078] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051089.508933526] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051089.510640500] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051089.544934151] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051089.545695000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051089.546215367] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051089.547813763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051089.548942417] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051089.585255650] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051089.586875209] [sailbot.teensy]: Wind angle: 132 +[teensy-2] [INFO] [1746051089.587791658] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051089.587416142] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051089.588099402] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051089.588697714] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051089.589660931] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051089.644756325] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051089.645308160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051089.645964179] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051089.647071177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051089.648087724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051089.745529394] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051089.746235188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051089.747210070] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051089.748574727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051089.749898380] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051089.835211316] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051089.837223498] [sailbot.teensy]: Wind angle: 132 +[trim_sail-4] [INFO] [1746051089.837300453] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051089.837775995] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051089.838111631] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051089.839101324] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051089.839451313] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051089.844513102] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051089.845060616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051089.845670198] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051089.846771031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051089.847780502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051089.945288199] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051089.945988353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051089.946837423] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051089.948021747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051089.948514451] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051089.957151038] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051089.958177842] [sailbot.main_algo]: Target Bearing: -142.64930707278072 +[main_algo-3] [INFO] [1746051089.959055743] [sailbot.main_algo]: Heading Difference: -138.02369292721926 +[main_algo-3] [INFO] [1746051089.960004793] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051089.960860648] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051089.961692699] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051089.962721186] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051089.963407982] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051090.002893422] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903445 Long: -76.50277472 +[main_algo-3] [INFO] [1746051090.004042200] [sailbot.main_algo]: Distance to destination: 55.87186403018599 +[vectornav-1] [INFO] [1746051090.004278254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (80.71100000000001, -0.709, 3.367) +[main_algo-3] [INFO] [1746051090.005285092] [sailbot.main_algo]: Target Bearing: -142.65392562103997 +[main_algo-3] [INFO] [1746051090.007062766] [sailbot.main_algo]: Heading Difference: -138.01907437896 +[main_algo-3] [INFO] [1746051090.008029025] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051090.008949275] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051090.009804301] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051090.011527087] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051090.045128226] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051090.045829265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051090.046657965] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051090.047857104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051090.049136038] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051090.085424026] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051090.087397074] [sailbot.teensy]: Wind angle: 132 +[teensy-2] [INFO] [1746051090.088377578] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051090.087668518] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051090.089198590] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051090.089286134] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051090.090205508] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051090.145026722] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051090.145679426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051090.146316107] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051090.147735095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051090.148779022] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051090.245113151] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051090.245913378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051090.246431069] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051090.247903554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051090.249171302] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051090.335627095] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051090.338186537] [sailbot.teensy]: Wind angle: 132 +[trim_sail-4] [INFO] [1746051090.338277638] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051090.339201653] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051090.340099482] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051090.340935369] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051090.341011538] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051090.344222008] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051090.344871421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051090.345421095] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051090.346553700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051090.347728197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051090.445331007] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051090.445894517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051090.446935476] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051090.448329306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051090.448858074] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051090.457148101] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051090.458186093] [sailbot.main_algo]: Target Bearing: -142.65392562103997 +[main_algo-3] [INFO] [1746051090.459070489] [sailbot.main_algo]: Heading Difference: -136.63507437895998 +[main_algo-3] [INFO] [1746051090.459943498] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051090.460866980] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051090.461696349] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051090.462758278] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051090.463408077] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051090.502780136] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690346 Long: -76.50277492 +[main_algo-3] [INFO] [1746051090.503753522] [sailbot.main_algo]: Distance to destination: 55.86931318690866 +[vectornav-1] [INFO] [1746051090.503852758] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (81.44299999999998, -1.025, 3.561) +[main_algo-3] [INFO] [1746051090.504960699] [sailbot.main_algo]: Target Bearing: -142.63006344966954 +[main_algo-3] [INFO] [1746051090.506002629] [sailbot.main_algo]: Heading Difference: -136.65893655033045 +[main_algo-3] [INFO] [1746051090.507165721] [sailbot.main_algo]: Wind Direction: 132 +[main_algo-3] [INFO] [1746051090.508078909] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051090.509000508] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051090.510803594] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051090.544972950] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051090.545739542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051090.546257818] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051090.547636759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051090.548815875] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051090.585417292] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051090.587523167] [sailbot.teensy]: Wind angle: 131 +[trim_sail-4] [INFO] [1746051090.588066963] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051090.588547961] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051090.589420181] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051090.589523934] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051090.590339543] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051090.645279550] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051090.645898688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051090.646797309] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051090.647905027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051090.649132025] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051090.745519193] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051090.746069502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051090.747313603] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051090.748406760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051090.749564214] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051090.835492958] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051090.837969913] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051090.838735412] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051090.839593097] [sailbot.teensy]: Wind angle: 131 +[teensy-2] [INFO] [1746051090.840017038] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051090.840387670] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051090.840753016] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051090.844386661] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051090.845106938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051090.845554328] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051090.846950178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051090.848081080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051090.945264869] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051090.946228640] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051090.946818996] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051090.948363891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051090.948890042] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051090.957104930] [sailbot.main_algo]: Wind Direction: 131 +[main_algo-3] [INFO] [1746051090.958062866] [sailbot.main_algo]: Target Bearing: -142.63006344966954 +[main_algo-3] [INFO] [1746051090.958945092] [sailbot.main_algo]: Heading Difference: -135.92693655033048 +[main_algo-3] [INFO] [1746051090.959746481] [sailbot.main_algo]: Wind Direction: 131 +[main_algo-3] [INFO] [1746051090.960687812] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051090.961510503] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051090.962519169] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051090.963115087] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051091.003437928] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903447 Long: -76.50277519 +[main_algo-3] [INFO] [1746051091.003959475] [sailbot.main_algo]: Distance to destination: 55.84294670153002 +[vectornav-1] [INFO] [1746051091.005064396] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (82.98000000000002, -0.633, 4.256) +[main_algo-3] [INFO] [1746051091.005159316] [sailbot.main_algo]: Target Bearing: -142.62753150551345 +[main_algo-3] [INFO] [1746051091.006137880] [sailbot.main_algo]: Heading Difference: -135.92946849448657 +[main_algo-3] [INFO] [1746051091.007045993] [sailbot.main_algo]: Wind Direction: 131 +[main_algo-3] [INFO] [1746051091.007936644] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051091.008830277] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051091.010493081] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051091.044950515] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051091.045851754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051091.046301611] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051091.047814093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051091.048849307] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051091.085385747] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051091.087710949] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051091.088493214] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051091.088800112] [sailbot.teensy]: Wind angle: 131 +[teensy-2] [INFO] [1746051091.089885966] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051091.090808747] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051091.091687375] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051091.144752790] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051091.145243371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051091.146030879] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051091.147179243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051091.148380648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051091.245348349] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051091.246150722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051091.246963759] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051091.248487552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051091.249605698] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051091.335188740] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051091.337378390] [sailbot.teensy]: Wind angle: 131 +[trim_sail-4] [INFO] [1746051091.337489076] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051091.338357595] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051091.339128144] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051091.339243059] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051091.340128712] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051091.344362960] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051091.344955723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051091.345610512] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051091.346723529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051091.347779354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051091.445408819] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051091.446199604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051091.446951659] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051091.448417746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051091.448943940] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051091.457393984] [sailbot.main_algo]: Wind Direction: 131 +[main_algo-3] [INFO] [1746051091.458536931] [sailbot.main_algo]: Target Bearing: -142.62753150551345 +[main_algo-3] [INFO] [1746051091.459488104] [sailbot.main_algo]: Heading Difference: -134.39246849448654 +[main_algo-3] [INFO] [1746051091.460454310] [sailbot.main_algo]: Wind Direction: 131 +[main_algo-3] [INFO] [1746051091.461346524] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051091.462242637] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051091.463349407] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051091.464119320] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051091.503043111] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903443 Long: -76.50277506 +[main_algo-3] [INFO] [1746051091.504040287] [sailbot.main_algo]: Distance to destination: 55.84856731052425 +[vectornav-1] [INFO] [1746051091.504507635] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (82.844, -0.015, 2.106) +[main_algo-3] [INFO] [1746051091.505174175] [sailbot.main_algo]: Target Bearing: -142.63791329807344 +[main_algo-3] [INFO] [1746051091.506139145] [sailbot.main_algo]: Heading Difference: -134.38208670192654 +[main_algo-3] [INFO] [1746051091.507044391] [sailbot.main_algo]: Wind Direction: 131 +[main_algo-3] [INFO] [1746051091.507922375] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051091.508788537] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051091.510546404] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051091.545009606] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051091.545950569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051091.546508085] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051091.547808288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051091.548859843] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051091.585257070] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051091.587012123] [sailbot.teensy]: Wind angle: 131 +[trim_sail-4] [INFO] [1746051091.587631392] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051091.587940016] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051091.588256328] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051091.588846796] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051091.589749536] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051091.645305721] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051091.646385701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051091.646855112] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051091.648741116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051091.649798104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051091.745235879] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051091.745906564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051091.746793282] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051091.747691765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051091.748193650] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051091.835446873] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051091.838050245] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051091.838766805] [sailbot.teensy]: Wind angle: 130 +[mux-7] [INFO] [1746051091.838900328] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051091.839840565] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051091.840894046] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051091.841817315] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051091.844423708] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051091.845040229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051091.845560287] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051091.846848231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051091.848008392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051091.945266013] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051091.946039600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051091.946817177] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051091.948099292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051091.948602451] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051091.957107119] [sailbot.main_algo]: Wind Direction: 130 +[main_algo-3] [INFO] [1746051091.958118492] [sailbot.main_algo]: Target Bearing: -142.63791329807344 +[main_algo-3] [INFO] [1746051091.959012327] [sailbot.main_algo]: Heading Difference: -134.51808670192656 +[main_algo-3] [INFO] [1746051091.959820803] [sailbot.main_algo]: Wind Direction: 130 +[main_algo-3] [INFO] [1746051091.960631890] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051091.961423263] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051091.962435715] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051091.963048614] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051092.003542422] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903447 Long: -76.50277523 +[main_algo-3] [INFO] [1746051092.003636909] [sailbot.main_algo]: Distance to destination: 55.8403688073006 +[vectornav-1] [INFO] [1746051092.004663005] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (82.95400000000001, -1.106, 4.685) +[main_algo-3] [INFO] [1746051092.004682238] [sailbot.main_algo]: Target Bearing: -142.62543596517992 +[main_algo-3] [INFO] [1746051092.006014476] [sailbot.main_algo]: Heading Difference: -134.5305640348201 +[main_algo-3] [INFO] [1746051092.006974705] [sailbot.main_algo]: Wind Direction: 130 +[main_algo-3] [INFO] [1746051092.008165723] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051092.009054117] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051092.010787289] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051092.044941622] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051092.045620985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051092.046251498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051092.047522722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051092.048569647] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051092.085362557] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051092.087098352] [sailbot.teensy]: Wind angle: 131 +[trim_sail-4] [INFO] [1746051092.087621263] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051092.088024270] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051092.088958309] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051092.089538797] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051092.089827420] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051092.144920434] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051092.145527752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051092.146210198] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051092.147417018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051092.148587726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051092.245190658] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051092.245930221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051092.246896846] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051092.248007663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051092.249164873] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051092.335155019] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051092.336841118] [sailbot.teensy]: Wind angle: 130 +[trim_sail-4] [INFO] [1746051092.337524583] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051092.339271562] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051092.339420831] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051092.340385281] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051092.341267343] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051092.344372505] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051092.344874288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051092.345556433] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051092.346561791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051092.347596392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051092.445245025] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051092.446464296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051092.446942333] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051092.447919610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051092.448439626] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051092.457151874] [sailbot.main_algo]: Wind Direction: 130 +[main_algo-3] [INFO] [1746051092.458190126] [sailbot.main_algo]: Target Bearing: -142.62543596517992 +[main_algo-3] [INFO] [1746051092.459078345] [sailbot.main_algo]: Heading Difference: -134.42056403482007 +[main_algo-3] [INFO] [1746051092.459890032] [sailbot.main_algo]: Wind Direction: 130 +[main_algo-3] [INFO] [1746051092.460714125] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051092.461519622] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051092.462535248] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051092.463284273] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051092.502875493] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903444 Long: -76.50277535 +[vectornav-1] [INFO] [1746051092.504069131] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (83.68799999999999, -0.057, 3.445) +[main_algo-3] [INFO] [1746051092.504089548] [sailbot.main_algo]: Distance to destination: 55.83056631536056 +[main_algo-3] [INFO] [1746051092.505202686] [sailbot.main_algo]: Target Bearing: -142.62182795035952 +[main_algo-3] [INFO] [1746051092.506160935] [sailbot.main_algo]: Heading Difference: -134.42417204964045 +[main_algo-3] [INFO] [1746051092.507063990] [sailbot.main_algo]: Wind Direction: 130 +[main_algo-3] [INFO] [1746051092.507940288] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051092.508802160] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051092.510669227] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051092.544834829] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051092.545584839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051092.546235335] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051092.548196663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051092.549310906] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051092.585265619] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051092.587294375] [sailbot.teensy]: Wind angle: 130 +[trim_sail-4] [INFO] [1746051092.587528096] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051092.588283838] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051092.589200076] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051092.589331269] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051092.590069070] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051092.644975473] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051092.645602837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051092.646260971] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051092.647500819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051092.648528462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051092.745477370] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051092.746082479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051092.747383755] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051092.748293102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051092.749507792] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051092.835256270] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051092.837444579] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051092.837763039] [sailbot.teensy]: Wind angle: 130 +[teensy-2] [INFO] [1746051092.838613461] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051092.838607789] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051092.839006553] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051092.839373401] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051092.844440479] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051092.844950130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051092.845728877] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051092.846740630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051092.847747084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051092.945336787] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051092.946270590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051092.946913245] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051092.948719630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051092.949857390] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051092.957020898] [sailbot.main_algo]: Wind Direction: 130 +[main_algo-3] [INFO] [1746051092.957977952] [sailbot.main_algo]: Target Bearing: -142.62182795035952 +[main_algo-3] [INFO] [1746051092.958882148] [sailbot.main_algo]: Heading Difference: -133.69017204964052 +[main_algo-3] [INFO] [1746051092.959739951] [sailbot.main_algo]: Wind Direction: 130 +[main_algo-3] [INFO] [1746051092.960602934] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051092.961421278] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051092.962436388] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051092.963001331] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051093.002939632] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903442 Long: -76.50277534 +[main_algo-3] [INFO] [1746051093.003945788] [sailbot.main_algo]: Distance to destination: 55.82983132781686 +[vectornav-1] [INFO] [1746051093.004116777] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (82.59899999999999, 0.07, 3.668) +[main_algo-3] [INFO] [1746051093.005128955] [sailbot.main_algo]: Target Bearing: -142.62413860510907 +[main_algo-3] [INFO] [1746051093.006068466] [sailbot.main_algo]: Heading Difference: -133.68786139489094 +[main_algo-3] [INFO] [1746051093.006972925] [sailbot.main_algo]: Wind Direction: 130 +[main_algo-3] [INFO] [1746051093.007874206] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051093.008741471] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051093.010435290] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051093.045296401] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051093.045946178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051093.047038034] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051093.048104505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051093.049402924] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051093.085215198] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051093.086828322] [sailbot.teensy]: Wind angle: 130 +[trim_sail-4] [INFO] [1746051093.087418551] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051093.087783305] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051093.088723105] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051093.089033070] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051093.089953991] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051093.145426913] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051093.146022666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051093.146933347] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051093.148286414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051093.149495002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051093.245255571] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051093.245963732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051093.246780009] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051093.248399646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051093.249655547] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051093.335433503] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051093.338005343] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051093.338202772] [sailbot.teensy]: Wind angle: 129 +[teensy-2] [INFO] [1746051093.338837683] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051093.339221349] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051093.339224941] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051093.339596172] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051093.344391096] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051093.345303461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051093.345615185] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051093.347341773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051093.348419465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051093.445177042] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051093.445972917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051093.446644534] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051093.447710147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051093.448251799] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051093.457359315] [sailbot.main_algo]: Wind Direction: 129 +[main_algo-3] [INFO] [1746051093.458476187] [sailbot.main_algo]: Target Bearing: -142.62413860510907 +[main_algo-3] [INFO] [1746051093.459416023] [sailbot.main_algo]: Heading Difference: -134.77686139489094 +[main_algo-3] [INFO] [1746051093.460335618] [sailbot.main_algo]: Wind Direction: 129 +[main_algo-3] [INFO] [1746051093.461199382] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051093.462048529] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051093.463130504] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051093.463777449] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051093.503043395] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903462 Long: -76.50277562 +[main_algo-3] [INFO] [1746051093.504659028] [sailbot.main_algo]: Distance to destination: 55.82558960723448 +[vectornav-1] [INFO] [1746051093.505275226] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (82.44299999999998, -0.457, 4.94) +[main_algo-3] [INFO] [1746051093.506240032] [sailbot.main_algo]: Target Bearing: -142.59159689022385 +[main_algo-3] [INFO] [1746051093.507241149] [sailbot.main_algo]: Heading Difference: -134.80940310977616 +[main_algo-3] [INFO] [1746051093.508179816] [sailbot.main_algo]: Wind Direction: 129 +[main_algo-3] [INFO] [1746051093.509086634] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051093.509936946] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051093.511747728] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051093.545125998] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051093.545691663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051093.546484814] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051093.547581485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051093.548835759] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051093.585411368] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051093.587678495] [sailbot.teensy]: Wind angle: 129 +[trim_sail-4] [INFO] [1746051093.588043609] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051093.588629585] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051093.588991865] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051093.589537286] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051093.590556971] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051093.645220574] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051093.645936878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051093.647225143] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051093.648289395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051093.649596266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051093.745305878] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051093.746053562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051093.746886245] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051093.748304951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051093.749565741] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051093.835256719] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051093.837639895] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051093.837850498] [sailbot.teensy]: Wind angle: 129 +[mux-7] [INFO] [1746051093.838247358] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051093.838752457] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051093.839660931] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051093.840505363] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051093.844420461] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051093.845064747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051093.845556823] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051093.846750661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051093.847906212] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051093.945625048] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051093.946480372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051093.947704526] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051093.948234892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051093.948759629] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051093.957077077] [sailbot.main_algo]: Wind Direction: 129 +[main_algo-3] [INFO] [1746051093.958037285] [sailbot.main_algo]: Target Bearing: -142.59159689022385 +[main_algo-3] [INFO] [1746051093.958928278] [sailbot.main_algo]: Heading Difference: -134.96540310977616 +[main_algo-3] [INFO] [1746051093.959741388] [sailbot.main_algo]: Wind Direction: 129 +[main_algo-3] [INFO] [1746051093.960698281] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051093.961539909] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051093.962546848] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051093.963219255] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051094.003583676] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903448 Long: -76.50277583 +[main_algo-3] [INFO] [1746051094.003975768] [sailbot.main_algo]: Distance to destination: 55.80239952909451 +[main_algo-3] [INFO] [1746051094.005092666] [sailbot.main_algo]: Target Bearing: -142.59308623591264 +[vectornav-1] [INFO] [1746051094.005172449] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (82.27999999999997, 0.909, 2.343) +[main_algo-3] [INFO] [1746051094.006109867] [sailbot.main_algo]: Heading Difference: -134.96391376408735 +[main_algo-3] [INFO] [1746051094.007057335] [sailbot.main_algo]: Wind Direction: 129 +[main_algo-3] [INFO] [1746051094.007934717] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051094.008845011] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051094.010543617] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051094.045509310] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051094.045667867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051094.047011484] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051094.047609852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051094.048806690] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051094.085427327] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051094.087481680] [sailbot.teensy]: Wind angle: 127 +[teensy-2] [INFO] [1746051094.088445589] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051094.089334205] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051094.088082017] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051094.088701685] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051094.090199501] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051094.145019002] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051094.145678822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051094.146353917] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051094.147869817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051094.149021300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051094.245041922] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051094.245827029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051094.246398313] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051094.247739540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051094.248744073] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051094.335165135] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051094.337165382] [sailbot.teensy]: Wind angle: 123 +[trim_sail-4] [INFO] [1746051094.337542681] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051094.338042678] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051094.338016964] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051094.338982019] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051094.339840110] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051094.344360106] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051094.344923473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051094.345515196] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051094.346821072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051094.348237017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051094.445499224] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051094.446251491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051094.447137730] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051094.448445923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051094.448971080] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051094.457080584] [sailbot.main_algo]: Wind Direction: 123 +[main_algo-3] [INFO] [1746051094.458031956] [sailbot.main_algo]: Target Bearing: -142.59308623591264 +[main_algo-3] [INFO] [1746051094.458927365] [sailbot.main_algo]: Heading Difference: -135.12691376408736 +[main_algo-3] [INFO] [1746051094.459780575] [sailbot.main_algo]: Wind Direction: 123 +[main_algo-3] [INFO] [1746051094.460635482] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051094.461416569] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051094.462433470] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051094.463235228] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051094.503321461] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903476 Long: -76.50277586 +[main_algo-3] [INFO] [1746051094.503971335] [sailbot.main_algo]: Distance to destination: 55.81979774185158 +[vectornav-1] [INFO] [1746051094.504578252] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (73.65499999999997, -1.268, 5.313) +[main_algo-3] [INFO] [1746051094.505139637] [sailbot.main_algo]: Target Bearing: -142.5665058263801 +[main_algo-3] [INFO] [1746051094.506513858] [sailbot.main_algo]: Heading Difference: -135.15349417361995 +[main_algo-3] [INFO] [1746051094.507464158] [sailbot.main_algo]: Wind Direction: 123 +[main_algo-3] [INFO] [1746051094.508436104] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051094.509292618] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051094.510995926] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051094.544632717] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051094.545297133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051094.546053038] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051094.547135589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051094.548291790] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051094.585120390] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051094.586639518] [sailbot.teensy]: Wind angle: 120 +[teensy-2] [INFO] [1746051094.587482255] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051094.587251523] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746051094.587904150] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051094.588355793] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051094.589216585] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051094.645236343] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051094.646223027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051094.646916317] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051094.648592527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051094.649807130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051094.745337199] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051094.746184261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051094.747141808] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051094.748539592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051094.749750151] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051094.835357366] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051094.838115217] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051094.838366433] [sailbot.teensy]: Wind angle: 120 +[teensy-2] [INFO] [1746051094.838781019] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051094.838661284] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051094.839168421] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051094.839715085] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051094.844322188] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051094.844864734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051094.845487635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051094.846596845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051094.847723616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051094.945604264] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051094.946256107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051094.947422911] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051094.948907125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051094.950209660] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051094.956941337] [sailbot.main_algo]: Wind Direction: 120 +[main_algo-3] [INFO] [1746051094.957960303] [sailbot.main_algo]: Target Bearing: -142.5665058263801 +[main_algo-3] [INFO] [1746051094.958838485] [sailbot.main_algo]: Heading Difference: -143.77849417361995 +[main_algo-3] [INFO] [1746051094.959642611] [sailbot.main_algo]: Wind Direction: 120 +[main_algo-3] [INFO] [1746051094.960432486] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051094.961211405] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051094.962197383] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051094.962818373] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051095.003372708] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903496 Long: -76.502775 +[main_algo-3] [INFO] [1746051095.003790118] [sailbot.main_algo]: Distance to destination: 55.88899423465301 +[vectornav-1] [INFO] [1746051095.004631651] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (65.548, 0.316, 3.679) +[main_algo-3] [INFO] [1746051095.005069176] [sailbot.main_algo]: Target Bearing: -142.59374778973086 +[main_algo-3] [INFO] [1746051095.006068075] [sailbot.main_algo]: Heading Difference: -143.75125221026917 +[main_algo-3] [INFO] [1746051095.006995076] [sailbot.main_algo]: Wind Direction: 120 +[main_algo-3] [INFO] [1746051095.007882967] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051095.008744428] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051095.010521073] [sailbot.mux]: algo rudder angle: -15 +[teensy-2] [INFO] [1746051095.045623227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051095.045658752] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051095.047127817] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051095.047525354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051095.048857151] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051095.085405077] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051095.087140855] [sailbot.teensy]: Wind angle: 119 +[teensy-2] [INFO] [1746051095.088050425] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051095.087710392] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051095.088957418] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051095.089477181] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051095.089882628] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051095.145289254] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051095.146407846] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051095.146854519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051095.148613231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051095.149815504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051095.245444781] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051095.246210691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051095.247004636] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051095.247958331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051095.248528822] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051095.334483195] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051095.335646897] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746051095.335912340] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051095.335991794] [sailbot.teensy]: Wind angle: 120 +[teensy-2] [INFO] [1746051095.336433252] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051095.336817491] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051095.337201118] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051095.343723403] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051095.343989386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051095.344256610] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051095.344906247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051095.345446141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051095.444456201] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051095.445008021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051095.445971401] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051095.446898710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051095.448076392] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051095.457166000] [sailbot.main_algo]: Wind Direction: 120 +[main_algo-3] [INFO] [1746051095.458238097] [sailbot.main_algo]: Target Bearing: -142.59374778973086 +[main_algo-3] [INFO] [1746051095.459155523] [sailbot.main_algo]: Heading Difference: -151.85825221026914 +[main_algo-3] [INFO] [1746051095.460019700] [sailbot.main_algo]: Wind Direction: 120 +[main_algo-3] [INFO] [1746051095.460842349] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051095.461626166] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051095.462616828] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051095.463295756] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051095.502450235] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903503 Long: -76.50277503 +[main_algo-3] [INFO] [1746051095.503232022] [sailbot.main_algo]: Distance to destination: 55.89189332408388 +[vectornav-1] [INFO] [1746051095.503460381] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (67.18200000000002, -0.629, 2.389) +[main_algo-3] [INFO] [1746051095.504293709] [sailbot.main_algo]: Target Bearing: -142.58593267718803 +[main_algo-3] [INFO] [1746051095.505256449] [sailbot.main_algo]: Heading Difference: -151.866067322812 +[main_algo-3] [INFO] [1746051095.506156441] [sailbot.main_algo]: Wind Direction: 120 +[main_algo-3] [INFO] [1746051095.507034386] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051095.507875693] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051095.509788662] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051095.545083952] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051095.546084045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051095.546540016] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051095.548121187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051095.549309476] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051095.585597255] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051095.588310870] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051095.588783812] [sailbot.teensy]: Wind angle: 119 +[teensy-2] [INFO] [1746051095.589853317] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051095.590526262] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051095.590747653] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051095.591596002] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051095.645032113] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051095.645828746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051095.646371813] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051095.647803165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051095.648852380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051095.745141402] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051095.745758727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051095.746836729] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051095.747841928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051095.749159081] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051095.835179419] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051095.836985298] [sailbot.teensy]: Wind angle: 120 +[trim_sail-4] [INFO] [1746051095.837570581] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051095.837903615] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051095.838792609] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051095.838546869] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051095.839733920] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051095.844337552] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051095.844766076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051095.845457949] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051095.846461556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051095.847592097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051095.944988913] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051095.945812607] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051095.946530912] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051095.947895163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051095.948951311] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051095.957219502] [sailbot.main_algo]: Wind Direction: 120 +[main_algo-3] [INFO] [1746051095.958261638] [sailbot.main_algo]: Target Bearing: -142.58593267718803 +[main_algo-3] [INFO] [1746051095.959155953] [sailbot.main_algo]: Heading Difference: -150.232067322812 +[main_algo-3] [INFO] [1746051095.960049252] [sailbot.main_algo]: Wind Direction: 120 +[main_algo-3] [INFO] [1746051095.960930915] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051095.961789648] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051095.962900488] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051095.963446254] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051096.002997891] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903552 Long: -76.5027751 +[main_algo-3] [INFO] [1746051096.003897748] [sailbot.main_algo]: Distance to destination: 55.92122723924398 +[vectornav-1] [INFO] [1746051096.004320268] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (65.31700000000001, 0.567, 4.144) +[main_algo-3] [INFO] [1746051096.005263283] [sailbot.main_algo]: Target Bearing: -142.538588909438 +[main_algo-3] [INFO] [1746051096.006259100] [sailbot.main_algo]: Heading Difference: -150.279411090562 +[main_algo-3] [INFO] [1746051096.007151436] [sailbot.main_algo]: Wind Direction: 120 +[main_algo-3] [INFO] [1746051096.008049970] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051096.008947696] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051096.010668013] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051096.045119355] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051096.045956202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051096.046925535] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051096.048172612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051096.049377107] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051096.085165028] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051096.086748714] [sailbot.teensy]: Wind angle: 120 +[trim_sail-4] [INFO] [1746051096.087142797] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051096.087665407] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051096.088348710] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051096.088577744] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051096.089491391] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051096.144921649] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051096.145663433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051096.146193797] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051096.147660174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051096.148758707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051096.245155183] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051096.246201158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051096.246619475] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051096.248013204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051096.248519816] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051096.335228911] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051096.336841913] [sailbot.teensy]: Wind angle: 120 +[trim_sail-4] [INFO] [1746051096.337410478] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051096.337774856] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051096.338651937] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051096.338653104] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051096.339579213] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051096.344498833] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051096.345678534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051096.345695451] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051096.347515028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051096.348695421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051096.445143723] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051096.446084553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051096.447277840] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051096.447822070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051096.448374276] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051096.457256753] [sailbot.main_algo]: Wind Direction: 120 +[main_algo-3] [INFO] [1746051096.458274328] [sailbot.main_algo]: Target Bearing: -142.538588909438 +[main_algo-3] [INFO] [1746051096.459163798] [sailbot.main_algo]: Heading Difference: -152.14441109056202 +[main_algo-3] [INFO] [1746051096.459981999] [sailbot.main_algo]: Wind Direction: 120 +[main_algo-3] [INFO] [1746051096.460792186] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051096.461591524] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051096.462585391] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051096.463260636] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051096.502969386] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903567 Long: -76.50277481 +[main_algo-3] [INFO] [1746051096.503585636] [sailbot.main_algo]: Distance to destination: 55.950259207583464 +[main_algo-3] [INFO] [1746051096.504687941] [sailbot.main_algo]: Target Bearing: -142.54042615813557 +[vectornav-1] [INFO] [1746051096.504747802] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (67.60199999999998, 0.373, 3.551) +[main_algo-3] [INFO] [1746051096.505700924] [sailbot.main_algo]: Heading Difference: -152.14257384186442 +[main_algo-3] [INFO] [1746051096.506619178] [sailbot.main_algo]: Wind Direction: 120 +[main_algo-3] [INFO] [1746051096.507521240] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051096.508409949] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051096.510082503] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051096.544838156] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051096.545551505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051096.546055643] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051096.547762680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051096.548832553] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051096.585347194] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051096.587648853] [sailbot.teensy]: Wind angle: 120 +[teensy-2] [INFO] [1746051096.588629704] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051096.587897401] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746051096.589109054] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051096.589508414] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051096.590404923] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051096.644811116] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051096.645487390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051096.646044187] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051096.647294750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051096.648361687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051096.745392233] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051096.746180811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051096.747107062] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051096.747932194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051096.748517515] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051096.835235368] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051096.836925462] [sailbot.teensy]: Wind angle: 118 +[teensy-2] [INFO] [1746051096.837868151] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051096.838750633] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051096.838096454] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746051096.838922227] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051096.839621097] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051096.844459145] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051096.845022491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051096.845537283] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051096.846734218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051096.847813285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051096.945053553] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051096.945626584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051096.946415402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051096.947873684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051096.949026289] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051096.957013376] [sailbot.main_algo]: Wind Direction: 118 +[main_algo-3] [INFO] [1746051096.957996658] [sailbot.main_algo]: Target Bearing: -142.54042615813557 +[main_algo-3] [INFO] [1746051096.958912946] [sailbot.main_algo]: Heading Difference: -149.85757384186445 +[main_algo-3] [INFO] [1746051096.959725119] [sailbot.main_algo]: Wind Direction: 118 +[main_algo-3] [INFO] [1746051096.960641622] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051096.961488421] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051096.962507126] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051096.963024730] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051097.002896485] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903583 Long: -76.50277492 +[main_algo-3] [INFO] [1746051097.003720188] [sailbot.main_algo]: Distance to destination: 55.954237348427306 +[vectornav-1] [INFO] [1746051097.004307372] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (72.88900000000001, -2.256, 5.051) +[main_algo-3] [INFO] [1746051097.004842553] [sailbot.main_algo]: Target Bearing: -142.52041914844855 +[main_algo-3] [INFO] [1746051097.005818140] [sailbot.main_algo]: Heading Difference: -149.87758085155144 +[main_algo-3] [INFO] [1746051097.006723940] [sailbot.main_algo]: Wind Direction: 118 +[main_algo-3] [INFO] [1746051097.007638927] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051097.008531486] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051097.010233099] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051097.045056919] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051097.045624862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051097.046304630] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051097.047591927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051097.048760822] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051097.085176011] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051097.087158093] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051097.087448881] [sailbot.teensy]: Wind angle: 117 +[teensy-2] [INFO] [1746051097.088436424] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051097.089177186] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051097.089413317] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051097.090334119] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051097.144789994] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051097.145648432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051097.146041666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051097.147510479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051097.148531402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051097.245052422] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051097.245973855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051097.246434328] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051097.247849278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051097.248432131] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051097.335396328] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051097.337756281] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051097.338779984] [sailbot.teensy]: Wind angle: 117 +[mux-7] [INFO] [1746051097.338976830] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051097.339511852] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051097.339890919] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051097.340274668] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051097.344270843] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051097.344876288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051097.345379208] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051097.346691471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051097.347808810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051097.445180286] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051097.446409312] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051097.446655776] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051097.448050779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051097.448644572] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051097.457193862] [sailbot.main_algo]: Wind Direction: 117 +[main_algo-3] [INFO] [1746051097.458231050] [sailbot.main_algo]: Target Bearing: -142.52041914844855 +[main_algo-3] [INFO] [1746051097.459131551] [sailbot.main_algo]: Heading Difference: -144.5905808515514 +[main_algo-3] [INFO] [1746051097.460006586] [sailbot.main_algo]: Wind Direction: 117 +[main_algo-3] [INFO] [1746051097.460922405] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051097.461735075] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051097.462914958] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051097.463338072] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051097.503373408] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903591 Long: -76.5027746 +[main_algo-3] [INFO] [1746051097.503846717] [sailbot.main_algo]: Distance to destination: 55.98036118818713 +[main_algo-3] [INFO] [1746051097.505005067] [sailbot.main_algo]: Target Bearing: -142.53006379215032 +[vectornav-1] [INFO] [1746051097.505354750] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (73.63299999999998, -0.385, 5.585) +[main_algo-3] [INFO] [1746051097.506059010] [sailbot.main_algo]: Heading Difference: -144.58093620784967 +[main_algo-3] [INFO] [1746051097.506996433] [sailbot.main_algo]: Wind Direction: 117 +[main_algo-3] [INFO] [1746051097.507900485] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051097.508758863] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051097.510464127] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051097.545451110] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051097.545562816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051097.546972025] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051097.547849289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051097.548897984] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051097.585148515] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051097.587088262] [sailbot.teensy]: Wind angle: 117 +[trim_sail-4] [INFO] [1746051097.587134912] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051097.587982501] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051097.588472912] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051097.588882394] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051097.589760198] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051097.645029582] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051097.645823919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051097.646712023] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051097.648053319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051097.649173979] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051097.745513061] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051097.746197477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051097.747016002] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051097.748318771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051097.749363369] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051097.835403218] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051097.837603247] [sailbot.teensy]: Wind angle: 117 +[trim_sail-4] [INFO] [1746051097.837808906] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051097.838591074] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051097.839540210] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051097.840198563] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051097.840553874] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051097.844336145] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051097.844914389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051097.845531084] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051097.846710829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051097.847775668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051097.945287718] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051097.945993685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051097.946754728] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051097.948192896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051097.949223671] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051097.957174314] [sailbot.main_algo]: Wind Direction: 117 +[main_algo-3] [INFO] [1746051097.958239670] [sailbot.main_algo]: Target Bearing: -142.53006379215032 +[main_algo-3] [INFO] [1746051097.959132814] [sailbot.main_algo]: Heading Difference: -143.8369362078497 +[main_algo-3] [INFO] [1746051097.960040210] [sailbot.main_algo]: Wind Direction: 117 +[main_algo-3] [INFO] [1746051097.960936830] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051097.961805502] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051097.963045664] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051097.963428679] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051098.002882754] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903588 Long: -76.50277455 +[main_algo-3] [INFO] [1746051098.003909724] [sailbot.main_algo]: Distance to destination: 55.98150611593128 +[vectornav-1] [INFO] [1746051098.004109274] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (75.418, -0.902, 5.224) +[main_algo-3] [INFO] [1746051098.005341202] [sailbot.main_algo]: Target Bearing: -142.53535146746458 +[main_algo-3] [INFO] [1746051098.006327613] [sailbot.main_algo]: Heading Difference: -143.83164853253544 +[main_algo-3] [INFO] [1746051098.007240579] [sailbot.main_algo]: Wind Direction: 117 +[main_algo-3] [INFO] [1746051098.008113690] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051098.009020764] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051098.010695472] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051098.045081174] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051098.045895735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051098.046431395] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051098.047975247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051098.049046376] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051098.085244463] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051098.087033197] [sailbot.teensy]: Wind angle: 117 +[trim_sail-4] [INFO] [1746051098.087710664] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051098.089029219] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051098.089303904] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051098.089997460] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051098.090907995] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051098.144886800] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051098.145532373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051098.146133011] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051098.147352213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051098.148392199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051098.245254849] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051098.245868495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051098.246872812] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051098.247956021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051098.248543454] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051098.335313271] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051098.337014404] [sailbot.teensy]: Wind angle: 117 +[teensy-2] [INFO] [1746051098.337958854] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051098.337592343] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051098.338939406] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051098.339071805] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051098.339843844] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051098.344401513] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051098.344960855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051098.345517713] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051098.346669838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051098.347802919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051098.445391149] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051098.446155864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051098.446991808] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051098.448139401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051098.448686451] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051098.457390747] [sailbot.main_algo]: Wind Direction: 117 +[main_algo-3] [INFO] [1746051098.458551114] [sailbot.main_algo]: Target Bearing: -142.53535146746458 +[main_algo-3] [INFO] [1746051098.459535477] [sailbot.main_algo]: Heading Difference: -142.04664853253541 +[main_algo-3] [INFO] [1746051098.460462057] [sailbot.main_algo]: Wind Direction: 117 +[main_algo-3] [INFO] [1746051098.461361258] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051098.462239426] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051098.463418444] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051098.463985700] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051098.502900133] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903616 Long: -76.50277472 +[main_algo-3] [INFO] [1746051098.503761379] [sailbot.main_algo]: Distance to destination: 55.989922907943665 +[vectornav-1] [INFO] [1746051098.504183888] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (77.32600000000002, -0.03, 3.029) +[main_algo-3] [INFO] [1746051098.504884102] [sailbot.main_algo]: Target Bearing: -142.50154012431005 +[main_algo-3] [INFO] [1746051098.505892241] [sailbot.main_algo]: Heading Difference: -142.08045987568994 +[main_algo-3] [INFO] [1746051098.507150003] [sailbot.main_algo]: Wind Direction: 117 +[main_algo-3] [INFO] [1746051098.508082343] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051098.508956870] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051098.510645151] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051098.544934666] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051098.545632052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051098.546153631] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051098.547578085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051098.548606390] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051098.585214923] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051098.587473411] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746051098.588239842] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051098.588580582] [sailbot.teensy]: Wind angle: 117 +[teensy-2] [INFO] [1746051098.589557625] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051098.590471877] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051098.591341744] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051098.644868884] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051098.645719356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051098.646154741] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051098.647540691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051098.648589776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051098.745330732] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051098.746140179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051098.746872494] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051098.748201533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051098.749352128] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051098.835010838] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051098.836497761] [sailbot.teensy]: Wind angle: 117 +[trim_sail-4] [INFO] [1746051098.837326429] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051098.837344688] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051098.838167297] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051098.838462607] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051098.839016612] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051098.844299819] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051098.844904156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051098.845322876] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051098.846546235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051098.847603550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051098.944998756] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051098.945539194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051098.946443606] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051098.947358964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051098.948454010] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051098.956969442] [sailbot.main_algo]: Wind Direction: 117 +[main_algo-3] [INFO] [1746051098.957912379] [sailbot.main_algo]: Target Bearing: -142.50154012431005 +[main_algo-3] [INFO] [1746051098.958765176] [sailbot.main_algo]: Heading Difference: -140.17245987568992 +[main_algo-3] [INFO] [1746051098.959627495] [sailbot.main_algo]: Wind Direction: 117 +[main_algo-3] [INFO] [1746051098.960438512] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051098.961244745] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051098.962236660] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051098.962851434] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051099.002986079] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903619 Long: -76.50277469 +[main_algo-3] [INFO] [1746051099.004008833] [sailbot.main_algo]: Distance to destination: 55.99392766964065 +[vectornav-1] [INFO] [1746051099.004406773] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (76.00400000000002, -0.83, 4.404) +[main_algo-3] [INFO] [1746051099.005603532] [sailbot.main_algo]: Target Bearing: -142.50044421748353 +[main_algo-3] [INFO] [1746051099.006613894] [sailbot.main_algo]: Heading Difference: -140.17355578251647 +[main_algo-3] [INFO] [1746051099.007522566] [sailbot.main_algo]: Wind Direction: 117 +[main_algo-3] [INFO] [1746051099.008416496] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051099.009266733] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051099.010990123] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051099.045245870] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051099.045857021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051099.046622971] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051099.048178490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051099.049364023] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051099.085325002] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051099.086963885] [sailbot.teensy]: Wind angle: 117 +[teensy-2] [INFO] [1746051099.087877829] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051099.087546973] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746051099.088243174] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051099.088797567] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051099.090021673] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051099.145011216] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051099.145619141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051099.146532618] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051099.147626067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051099.148700117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051099.244849478] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051099.245486007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051099.245986551] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051099.247318688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051099.248537826] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051099.335412086] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051099.337840188] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051099.338767305] [sailbot.teensy]: Wind angle: 117 +[mux-7] [INFO] [1746051099.339617591] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051099.339734839] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051099.340661070] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051099.341533623] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051099.344320044] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051099.344965566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051099.345644400] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051099.346794339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051099.347828514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051099.445142190] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051099.446051955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051099.446725275] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051099.448077982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051099.448574630] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051099.457075079] [sailbot.main_algo]: Wind Direction: 117 +[main_algo-3] [INFO] [1746051099.458069493] [sailbot.main_algo]: Target Bearing: -142.50044421748353 +[main_algo-3] [INFO] [1746051099.458954172] [sailbot.main_algo]: Heading Difference: -141.49555578251648 +[main_algo-3] [INFO] [1746051099.459809131] [sailbot.main_algo]: Wind Direction: 117 +[main_algo-3] [INFO] [1746051099.460684448] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051099.461476351] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051099.462473142] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051099.463268341] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051099.503527655] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690364 Long: -76.5027743 +[main_algo-3] [INFO] [1746051099.503720182] [sailbot.main_algo]: Distance to destination: 56.03354137411874 +[vectornav-1] [INFO] [1746051099.504695999] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (76.34699999999998, -1.937, 4.508) +[main_algo-3] [INFO] [1746051099.504807259] [sailbot.main_algo]: Target Bearing: -142.50220254789176 +[main_algo-3] [INFO] [1746051099.505749796] [sailbot.main_algo]: Heading Difference: -141.4937974521082 +[main_algo-3] [INFO] [1746051099.506595382] [sailbot.main_algo]: Wind Direction: 117 +[main_algo-3] [INFO] [1746051099.507463159] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051099.508257618] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051099.509851733] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051099.544758028] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051099.545464988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051099.546211330] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051099.547385065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051099.548489371] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051099.585156836] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051099.586741954] [sailbot.teensy]: Wind angle: 117 +[teensy-2] [INFO] [1746051099.587603883] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051099.587323471] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051099.588477897] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051099.588776564] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051099.589389328] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051099.644825470] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051099.645613589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051099.646093562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051099.647413100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051099.648547426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051099.745211031] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051099.745901956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051099.746687631] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051099.748226671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051099.749374537] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051099.835365577] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051099.837185375] [sailbot.teensy]: Wind angle: 116 +[trim_sail-4] [INFO] [1746051099.838032548] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051099.839065036] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051099.839205256] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051099.840088252] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051099.840820940] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051099.844549491] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051099.845210050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051099.845982289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051099.846961467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051099.848007144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051099.945204264] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051099.945867261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051099.946572893] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051099.947777542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051099.948827423] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051099.957172942] [sailbot.main_algo]: Wind Direction: 116 +[main_algo-3] [INFO] [1746051099.958294735] [sailbot.main_algo]: Target Bearing: -142.50220254789176 +[main_algo-3] [INFO] [1746051099.959212481] [sailbot.main_algo]: Heading Difference: -141.15079745210824 +[main_algo-3] [INFO] [1746051099.960069147] [sailbot.main_algo]: Wind Direction: 116 +[main_algo-3] [INFO] [1746051099.961005833] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051099.961859542] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051099.962930019] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051099.963574385] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051100.003000457] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903658 Long: -76.50277408 +[main_algo-3] [INFO] [1746051100.004058283] [sailbot.main_algo]: Distance to destination: 56.06014343203102 +[vectornav-1] [INFO] [1746051100.004940058] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (76.41000000000003, -0.31, 2.967) +[main_algo-3] [INFO] [1746051100.005377312] [sailbot.main_algo]: Target Bearing: -142.49772766984208 +[main_algo-3] [INFO] [1746051100.006385178] [sailbot.main_algo]: Heading Difference: -141.1552723301579 +[main_algo-3] [INFO] [1746051100.007300428] [sailbot.main_algo]: Wind Direction: 116 +[main_algo-3] [INFO] [1746051100.008185469] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051100.009044279] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051100.010813679] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051100.045262941] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051100.046017606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051100.046731491] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051100.047929883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051100.048975947] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051100.085153645] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051100.086854612] [sailbot.teensy]: Wind angle: 115 +[trim_sail-4] [INFO] [1746051100.087459510] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051100.087760514] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051100.087802790] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051100.089066575] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051100.090018963] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051100.144998430] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051100.145721009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051100.146348623] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051100.147540156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051100.148608737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051100.245334216] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051100.246439409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051100.246835253] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051100.248593586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051100.249786321] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051100.335137011] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051100.337190123] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051100.337656354] [sailbot.teensy]: Wind angle: 115 +[mux-7] [INFO] [1746051100.338031566] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051100.338627457] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051100.339489453] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051100.340363755] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051100.344443459] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051100.344830328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051100.345563487] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051100.346521148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051100.347556653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051100.444735102] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051100.445247430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051100.445887165] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051100.447197513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051100.448222136] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051100.457404237] [sailbot.main_algo]: Wind Direction: 115 +[main_algo-3] [INFO] [1746051100.458589240] [sailbot.main_algo]: Target Bearing: -142.49772766984208 +[main_algo-3] [INFO] [1746051100.459624259] [sailbot.main_algo]: Heading Difference: -141.09227233015793 +[main_algo-3] [INFO] [1746051100.460546260] [sailbot.main_algo]: Wind Direction: 115 +[main_algo-3] [INFO] [1746051100.461452745] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051100.462313035] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051100.463452759] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051100.463990762] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051100.502977080] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903691 Long: -76.50277446 +[main_algo-3] [INFO] [1746051100.503864226] [sailbot.main_algo]: Distance to destination: 56.05854110143357 +[main_algo-3] [INFO] [1746051100.504946980] [sailbot.main_algo]: Target Bearing: -142.4485326429191 +[vectornav-1] [INFO] [1746051100.505326733] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (71.54500000000002, -1.139, 3.244) +[main_algo-3] [INFO] [1746051100.505943333] [sailbot.main_algo]: Heading Difference: -141.14146735708084 +[main_algo-3] [INFO] [1746051100.506867933] [sailbot.main_algo]: Wind Direction: 115 +[main_algo-3] [INFO] [1746051100.507775957] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051100.508649719] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051100.510395605] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051100.544837602] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051100.545554165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051100.546086697] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051100.547453410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051100.548665389] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051100.585281557] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051100.586955056] [sailbot.teensy]: Wind angle: 114 +[trim_sail-4] [INFO] [1746051100.587446575] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051100.587826576] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051100.588716149] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051100.589247234] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051100.589568735] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051100.644989648] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051100.645728886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051100.646782711] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051100.647709033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051100.648887999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051100.745216106] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051100.745937656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051100.746746709] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051100.747765376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051100.748305143] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051100.835145265] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051100.836714008] [sailbot.teensy]: Wind angle: 114 +[trim_sail-4] [INFO] [1746051100.837444208] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051100.837627803] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051100.838526354] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051100.838662167] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051100.839404263] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051100.844432717] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051100.845107585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051100.845822670] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051100.847114889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051100.848270286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051100.945036585] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051100.945838269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051100.946450873] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051100.947626279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051100.948108030] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051100.957075432] [sailbot.main_algo]: Wind Direction: 114 +[main_algo-3] [INFO] [1746051100.958150409] [sailbot.main_algo]: Target Bearing: -142.4485326429191 +[main_algo-3] [INFO] [1746051100.959105380] [sailbot.main_algo]: Heading Difference: -146.00646735708085 +[main_algo-3] [INFO] [1746051100.960032129] [sailbot.main_algo]: Wind Direction: 114 +[main_algo-3] [INFO] [1746051100.960926045] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051100.961736305] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051100.962945722] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051100.963315466] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051101.002766288] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690372 Long: -76.50277409 +[main_algo-3] [INFO] [1746051101.003758996] [sailbot.main_algo]: Distance to destination: 56.10240667307193 +[vectornav-1] [INFO] [1746051101.003873295] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (62.627999999999986, -1.187, 2.878) +[main_algo-3] [INFO] [1746051101.004903919] [sailbot.main_algo]: Target Bearing: -142.44218387252104 +[main_algo-3] [INFO] [1746051101.005935308] [sailbot.main_algo]: Heading Difference: -146.0128161274789 +[main_algo-3] [INFO] [1746051101.007235629] [sailbot.main_algo]: Wind Direction: 114 +[main_algo-3] [INFO] [1746051101.008168696] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051101.009064761] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051101.010821358] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051101.045174883] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051101.046006766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051101.046602435] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051101.047969483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051101.049172034] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051101.085173565] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051101.087117187] [sailbot.teensy]: Wind angle: 114 +[trim_sail-4] [INFO] [1746051101.087211322] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051101.088342674] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051101.088705982] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051101.089265099] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051101.090149461] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051101.145047623] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051101.145872889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051101.146437597] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051101.148001136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051101.149149546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051101.244978384] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051101.245817462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051101.246250275] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051101.247681945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051101.248719550] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051101.335412615] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051101.337892048] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051101.338319881] [sailbot.teensy]: Wind angle: 113 +[teensy-2] [INFO] [1746051101.339264105] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051101.339391863] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051101.340169384] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051101.340930916] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051101.344492989] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051101.344995131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051101.345635093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051101.346652289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051101.347713825] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051101.445243045] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051101.445884051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051101.446850172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051101.448028551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051101.449302907] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051101.457109539] [sailbot.main_algo]: Wind Direction: 113 +[main_algo-3] [INFO] [1746051101.458107322] [sailbot.main_algo]: Target Bearing: -142.44218387252104 +[main_algo-3] [INFO] [1746051101.459000851] [sailbot.main_algo]: Heading Difference: -154.92981612747894 +[main_algo-3] [INFO] [1746051101.459884918] [sailbot.main_algo]: Wind Direction: 113 +[main_algo-3] [INFO] [1746051101.460772581] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051101.461600524] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051101.462650700] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051101.463350324] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051101.503290416] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903746 Long: -76.50277394 +[main_algo-3] [INFO] [1746051101.504228930] [sailbot.main_algo]: Distance to destination: 56.13005498005897 +[vectornav-1] [INFO] [1746051101.504823309] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.153999999999996, -1.236, 2.923) +[main_algo-3] [INFO] [1746051101.505362870] [sailbot.main_algo]: Target Bearing: -142.42698937938545 +[main_algo-3] [INFO] [1746051101.506436386] [sailbot.main_algo]: Heading Difference: -154.94501062061454 +[main_algo-3] [INFO] [1746051101.507369822] [sailbot.main_algo]: Wind Direction: 113 +[main_algo-3] [INFO] [1746051101.508302967] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051101.509210478] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051101.510992532] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051101.545038007] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051101.545655664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051101.546331745] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051101.547647955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051101.548904891] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051101.585251392] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051101.586922785] [sailbot.teensy]: Wind angle: 112 +[trim_sail-4] [INFO] [1746051101.587446258] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051101.587845635] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051101.588749692] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051101.589260644] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051101.589598261] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051101.644729176] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051101.645294489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051101.645868321] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051101.647339928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051101.648415343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051101.745311617] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051101.745927394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051101.746906620] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051101.747910849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051101.748407601] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051101.835382999] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051101.837673593] [sailbot.teensy]: Wind angle: 111 +[trim_sail-4] [INFO] [1746051101.837810406] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746051101.839139358] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051101.839689559] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051101.840627428] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051101.841451977] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051101.844475320] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051101.844879779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051101.845618707] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051101.846545942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051101.847571532] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051101.945330546] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051101.945861940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051101.946999241] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051101.948392855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051101.949526265] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051101.957167695] [sailbot.main_algo]: Wind Direction: 111 +[main_algo-3] [INFO] [1746051101.958253230] [sailbot.main_algo]: Target Bearing: -142.42698937938545 +[main_algo-3] [INFO] [1746051101.959177289] [sailbot.main_algo]: Heading Difference: -160.41901062061459 +[main_algo-3] [INFO] [1746051101.960059376] [sailbot.main_algo]: Wind Direction: 111 +[main_algo-3] [INFO] [1746051101.960953314] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051101.961828685] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051101.962876914] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051101.963613141] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051102.002734625] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903838 Long: -76.50277291 +[main_algo-3] [INFO] [1746051102.003693680] [sailbot.main_algo]: Distance to destination: 56.259986073645194 +[vectornav-1] [INFO] [1746051102.003874404] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.891999999999996, -0.947, 3.733) +[main_algo-3] [INFO] [1746051102.004863219] [sailbot.main_algo]: Target Bearing: -142.39944824727627 +[main_algo-3] [INFO] [1746051102.005824532] [sailbot.main_algo]: Heading Difference: -160.44655175272374 +[main_algo-3] [INFO] [1746051102.006727149] [sailbot.main_algo]: Wind Direction: 111 +[main_algo-3] [INFO] [1746051102.007578371] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051102.008448922] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051102.010339711] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051102.045079219] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051102.045646937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051102.046402193] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051102.047467952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051102.048505299] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051102.085099347] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051102.086795264] [sailbot.teensy]: Wind angle: 111 +[trim_sail-4] [INFO] [1746051102.087148104] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051102.087699905] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051102.088666591] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051102.089254628] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051102.089525764] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051102.145297812] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051102.146161706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051102.146800946] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051102.148269603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051102.149446216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051102.245462987] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051102.246112845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051102.247052000] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051102.248252876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051102.249481045] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051102.335145499] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051102.336730213] [sailbot.teensy]: Wind angle: 111 +[trim_sail-4] [INFO] [1746051102.337225794] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051102.337614316] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051102.338562434] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051102.338800096] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051102.338964031] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051102.344452520] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051102.344955718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051102.345562043] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051102.346741116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051102.347892133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051102.445301046] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051102.445759545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051102.446728922] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051102.447780193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051102.448828710] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051102.457118960] [sailbot.main_algo]: Wind Direction: 111 +[main_algo-3] [INFO] [1746051102.458252086] [sailbot.main_algo]: Target Bearing: -142.39944824727627 +[main_algo-3] [INFO] [1746051102.459191137] [sailbot.main_algo]: Heading Difference: -168.70855175272374 +[main_algo-3] [INFO] [1746051102.460039260] [sailbot.main_algo]: Wind Direction: 111 +[main_algo-3] [INFO] [1746051102.460913663] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051102.461726390] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051102.462812009] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051102.463297720] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051102.502885505] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903889 Long: -76.50277258 +[main_algo-3] [INFO] [1746051102.504046885] [sailbot.main_algo]: Distance to destination: 56.31654178397577 +[vectornav-1] [INFO] [1746051102.504636614] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.766999999999996, -0.161, 4.774) +[main_algo-3] [INFO] [1746051102.505173419] [sailbot.main_algo]: Target Bearing: -142.3716508893495 +[main_algo-3] [INFO] [1746051102.506136880] [sailbot.main_algo]: Heading Difference: -168.7363491106505 +[main_algo-3] [INFO] [1746051102.507183321] [sailbot.main_algo]: Wind Direction: 111 +[main_algo-3] [INFO] [1746051102.508143358] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051102.509042004] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051102.510787125] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051102.544947110] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051102.545579656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051102.546193979] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051102.547516709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051102.548669402] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051102.585451604] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051102.587416179] [sailbot.teensy]: Wind angle: 111 +[teensy-2] [INFO] [1746051102.588437245] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051102.587828828] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051102.589347576] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051102.589758004] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051102.590232734] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051102.645197933] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051102.645864375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051102.646569497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051102.647814416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051102.649058730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051102.745136148] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051102.746028060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051102.746521445] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051102.748109052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051102.749272250] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051102.835604367] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051102.838195032] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051102.839146800] [sailbot.teensy]: Wind angle: 111 +[mux-7] [INFO] [1746051102.839202360] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051102.839615033] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051102.839994758] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051102.840357814] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051102.844550078] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051102.844957747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051102.845705253] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051102.846611296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051102.847669099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051102.945152155] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051102.945906502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051102.946599438] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051102.947860449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051102.948965384] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051102.957176010] [sailbot.main_algo]: Wind Direction: 111 +[main_algo-3] [INFO] [1746051102.958256905] [sailbot.main_algo]: Target Bearing: -142.3716508893495 +[main_algo-3] [INFO] [1746051102.959170575] [sailbot.main_algo]: Heading Difference: -178.8613491106505 +[main_algo-3] [INFO] [1746051102.960045990] [sailbot.main_algo]: Wind Direction: 111 +[main_algo-3] [INFO] [1746051102.961203682] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051102.962049612] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051102.963093345] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051102.963857209] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051103.002958995] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904019 Long: -76.50277135 +[main_algo-3] [INFO] [1746051103.003976045] [sailbot.main_algo]: Distance to destination: 56.48571215596612 +[vectornav-1] [INFO] [1746051103.004246990] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.860000000000014, -0.535, 1.721) +[main_algo-3] [INFO] [1746051103.005294927] [sailbot.main_algo]: Target Bearing: -142.32132850170856 +[main_algo-3] [INFO] [1746051103.006279313] [sailbot.main_algo]: Heading Difference: -178.9116714982914 +[main_algo-3] [INFO] [1746051103.007188728] [sailbot.main_algo]: Wind Direction: 111 +[main_algo-3] [INFO] [1746051103.008082031] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051103.008964999] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051103.010743623] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051103.045001557] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051103.045586772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051103.046340588] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051103.047554885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051103.048708545] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051103.085180309] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051103.086923650] [sailbot.teensy]: Wind angle: 111 +[trim_sail-4] [INFO] [1746051103.087177398] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051103.087851037] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051103.088788784] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051103.089259582] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051103.089709736] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051103.145341793] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051103.145846463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051103.146998465] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051103.148172672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051103.149233313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051103.244995944] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051103.245787709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051103.246268810] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051103.247702142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051103.248379809] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051103.335267352] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051103.337117256] [sailbot.teensy]: Wind angle: 111 +[trim_sail-4] [INFO] [1746051103.337497336] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051103.338075897] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051103.339017042] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051103.339787927] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051103.340173362] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051103.344352517] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051103.344961821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051103.345832989] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051103.346733914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051103.347781702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051103.445254539] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051103.446409249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051103.446783616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051103.448568530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051103.449185306] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051103.457128498] [sailbot.main_algo]: Wind Direction: 111 +[main_algo-3] [INFO] [1746051103.458213588] [sailbot.main_algo]: Target Bearing: -142.32132850170856 +[main_algo-3] [INFO] [1746051103.459134782] [sailbot.main_algo]: Heading Difference: 178.18132850170855 +[main_algo-3] [INFO] [1746051103.459975411] [sailbot.main_algo]: Wind Direction: 111 +[main_algo-3] [INFO] [1746051103.460829889] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051103.461612899] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051103.462607709] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051103.463241827] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051103.502766025] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904114 Long: -76.50277039 +[vectornav-1] [INFO] [1746051103.503969640] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.57299999999998, -1.144, 2.753) +[main_algo-3] [INFO] [1746051103.504068531] [sailbot.main_algo]: Distance to destination: 56.61328666708207 +[main_algo-3] [INFO] [1746051103.505306380] [sailbot.main_algo]: Target Bearing: -142.2879284935944 +[main_algo-3] [INFO] [1746051103.506289620] [sailbot.main_algo]: Heading Difference: 178.1479284935944 +[main_algo-3] [INFO] [1746051103.507201915] [sailbot.main_algo]: Wind Direction: 111 +[main_algo-3] [INFO] [1746051103.508047670] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051103.508906362] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051103.510600237] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051103.544971693] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051103.545722845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051103.546210976] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051103.547661818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051103.548683383] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051103.585193790] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051103.586787996] [sailbot.teensy]: Wind angle: 111 +[teensy-2] [INFO] [1746051103.587663224] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051103.587338816] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051103.588573327] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051103.588794209] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051103.589530999] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051103.645031909] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051103.645810376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051103.646447214] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051103.648134622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051103.649351223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051103.745028256] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051103.745929698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051103.746497814] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051103.747932949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051103.748987211] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051103.835464074] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051103.837849372] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051103.837986819] [sailbot.teensy]: Wind angle: 112 +[mux-7] [INFO] [1746051103.838951017] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051103.839107428] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051103.839543170] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051103.839928505] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051103.844384639] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051103.844982642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051103.845495194] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051103.846753141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051103.847782349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051103.945274529] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051103.946031455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051103.946850151] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051103.947979157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051103.948415690] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051103.957108988] [sailbot.main_algo]: Wind Direction: 112 +[main_algo-3] [INFO] [1746051103.958102834] [sailbot.main_algo]: Target Bearing: -142.2879284935944 +[main_algo-3] [INFO] [1746051103.958965634] [sailbot.main_algo]: Heading Difference: 177.86092849359437 +[main_algo-3] [INFO] [1746051103.959779568] [sailbot.main_algo]: Wind Direction: 112 +[main_algo-3] [INFO] [1746051103.960577438] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051103.961382947] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051103.962528264] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051103.962957512] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051104.003060762] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904138 Long: -76.50277004 +[main_algo-3] [INFO] [1746051104.003621965] [sailbot.main_algo]: Distance to destination: 56.652412357749384 +[vectornav-1] [INFO] [1746051104.004549967] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.43399999999997, 1.875, 4.956) +[main_algo-3] [INFO] [1746051104.004701267] [sailbot.main_algo]: Target Bearing: -142.2851065279858 +[main_algo-3] [INFO] [1746051104.005825962] [sailbot.main_algo]: Heading Difference: 177.8581065279858 +[main_algo-3] [INFO] [1746051104.006765683] [sailbot.main_algo]: Wind Direction: 112 +[main_algo-3] [INFO] [1746051104.007695098] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051104.008618656] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051104.010354459] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051104.045158620] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051104.045760895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051104.046454503] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051104.047654215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051104.048685255] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051104.085547235] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051104.088015754] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746051104.088825725] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051104.089275562] [sailbot.teensy]: Wind angle: 112 +[teensy-2] [INFO] [1746051104.090248777] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051104.091092613] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051104.091932923] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051104.144946608] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051104.145594607] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051104.146213670] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051104.147440047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051104.148486976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051104.244802420] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051104.245356430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051104.246665655] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051104.247100339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051104.248250781] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051104.335385758] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051104.337052495] [sailbot.teensy]: Wind angle: 112 +[teensy-2] [INFO] [1746051104.337961082] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051104.337631199] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051104.338871815] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051104.339783411] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051104.340014541] [sailbot.mux]: algo sail angle: 15 +[mux-7] [INFO] [1746051104.344500019] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051104.345042429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051104.345612524] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051104.346787221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051104.347915295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051104.445269878] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051104.445987490] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051104.446737114] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051104.447874338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051104.448418428] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051104.457140970] [sailbot.main_algo]: Wind Direction: 112 +[main_algo-3] [INFO] [1746051104.458140185] [sailbot.main_algo]: Target Bearing: -142.2851065279858 +[main_algo-3] [INFO] [1746051104.458984141] [sailbot.main_algo]: Heading Difference: 171.7191065279858 +[main_algo-3] [INFO] [1746051104.459815360] [sailbot.main_algo]: Wind Direction: 112 +[main_algo-3] [INFO] [1746051104.460644122] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051104.461471077] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051104.462533195] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051104.463058974] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051104.502933107] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904165 Long: -76.50277047 +[main_algo-3] [INFO] [1746051104.503698074] [sailbot.main_algo]: Distance to destination: 56.64361016088216 +[vectornav-1] [INFO] [1746051104.504377951] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (23.293000000000006, -1.053, 4.954) +[main_algo-3] [INFO] [1746051104.504796975] [sailbot.main_algo]: Target Bearing: -142.23907027789426 +[main_algo-3] [INFO] [1746051104.505860674] [sailbot.main_algo]: Heading Difference: 171.67307027789423 +[main_algo-3] [INFO] [1746051104.506835945] [sailbot.main_algo]: Wind Direction: 112 +[main_algo-3] [INFO] [1746051104.507742050] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051104.508630623] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051104.510320610] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051104.544962094] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051104.545660303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051104.546213780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051104.547499418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051104.548611103] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051104.585351522] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051104.587190957] [sailbot.teensy]: Wind angle: 112 +[trim_sail-4] [INFO] [1746051104.587777461] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051104.588164927] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051104.589064753] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051104.589926938] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051104.590083638] [sailbot.mux]: algo sail angle: 15 +[mux-7] [INFO] [1746051104.644828229] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051104.645538950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051104.646080457] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051104.647493033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051104.648588527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051104.744924781] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051104.745610860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051104.746467049] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051104.747445289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051104.748169156] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051104.835023106] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051104.836636713] [sailbot.teensy]: Wind angle: 113 +[trim_sail-4] [INFO] [1746051104.837346708] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051104.838801425] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051104.839177856] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051104.839730830] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051104.840654982] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051104.844463621] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051104.844917413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051104.845664598] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051104.846612757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051104.847710959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051104.945191493] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051104.945731833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051104.946641037] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051104.947700014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051104.948748704] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051104.957158027] [sailbot.main_algo]: Wind Direction: 113 +[main_algo-3] [INFO] [1746051104.958221772] [sailbot.main_algo]: Target Bearing: -142.23907027789426 +[main_algo-3] [INFO] [1746051104.959139554] [sailbot.main_algo]: Heading Difference: 165.53207027789426 +[main_algo-3] [INFO] [1746051104.959958373] [sailbot.main_algo]: Wind Direction: 113 +[main_algo-3] [INFO] [1746051104.960789602] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051104.961638321] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051104.962762663] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051104.963390630] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051105.003040567] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904156 Long: -76.50277085 +[main_algo-3] [INFO] [1746051105.004102138] [sailbot.main_algo]: Distance to destination: 56.61299335804664 +[vectornav-1] [INFO] [1746051105.004570482] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (15.721000000000004, -0.59, 5.066) +[main_algo-3] [INFO] [1746051105.005442956] [sailbot.main_algo]: Target Bearing: -142.2271530923858 +[main_algo-3] [INFO] [1746051105.006468842] [sailbot.main_algo]: Heading Difference: 165.52015309238584 +[main_algo-3] [INFO] [1746051105.007701368] [sailbot.main_algo]: Wind Direction: 113 +[main_algo-3] [INFO] [1746051105.008654777] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051105.009543329] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051105.011312784] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051105.045651899] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051105.045798852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051105.047236468] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051105.047752408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051105.049004535] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051105.085299610] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051105.087450681] [sailbot.teensy]: Wind angle: 114 +[trim_sail-4] [INFO] [1746051105.087474943] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051105.088472853] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051105.089290977] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051105.089374497] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051105.090240126] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051105.145060353] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051105.145636282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051105.146483014] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051105.147711792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051105.148845798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051105.245026092] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051105.245705922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051105.246398487] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051105.247601607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051105.248696357] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051105.335331054] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051105.337531782] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051105.338994330] [sailbot.teensy]: Wind angle: 113 +[mux-7] [INFO] [1746051105.338989693] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051105.339595118] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051105.339982987] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051105.340345641] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051105.344436684] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051105.345431296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051105.345554559] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051105.347246450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051105.348296096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051105.445300139] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051105.446054871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051105.446805422] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051105.448021895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051105.448486895] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051105.457136525] [sailbot.main_algo]: Wind Direction: 113 +[main_algo-3] [INFO] [1746051105.458159239] [sailbot.main_algo]: Target Bearing: -142.2271530923858 +[main_algo-3] [INFO] [1746051105.459059214] [sailbot.main_algo]: Heading Difference: 157.94815309238584 +[main_algo-3] [INFO] [1746051105.459943846] [sailbot.main_algo]: Wind Direction: 113 +[main_algo-3] [INFO] [1746051105.460833850] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051105.461648644] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051105.462677238] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051105.463294963] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051105.503298929] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904145 Long: -76.50277094 +[main_algo-3] [INFO] [1746051105.503629608] [sailbot.main_algo]: Distance to destination: 56.599572644446475 +[vectornav-1] [INFO] [1746051105.504588176] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (13.106999999999971, 0.559, 5.152) +[main_algo-3] [INFO] [1746051105.504643522] [sailbot.main_algo]: Target Bearing: -142.2320999971891 +[main_algo-3] [INFO] [1746051105.505622601] [sailbot.main_algo]: Heading Difference: 157.9530999971891 +[main_algo-3] [INFO] [1746051105.506531668] [sailbot.main_algo]: Wind Direction: 113 +[main_algo-3] [INFO] [1746051105.507415553] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051105.508267089] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051105.509974424] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051105.544638071] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051105.545325314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051105.545882371] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051105.547183981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051105.548145711] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051105.585269934] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051105.586974976] [sailbot.teensy]: Wind angle: 115 +[trim_sail-4] [INFO] [1746051105.587517900] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051105.587972074] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051105.588973824] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051105.589313226] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051105.589878158] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051105.644924142] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051105.645653980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051105.646223582] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051105.647456597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051105.647906752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051105.744914860] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051105.745814474] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051105.746194532] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051105.747834542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051105.748947774] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051105.835413606] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051105.838159743] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051105.838189592] [sailbot.teensy]: Wind angle: 117 +[teensy-2] [INFO] [1746051105.839172895] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051105.839409130] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051105.840106431] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051105.841023403] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051105.844340497] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051105.844835132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051105.845427164] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051105.846606001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051105.847706609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051105.945361123] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051105.946302201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051105.946995222] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051105.948520035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051105.949692267] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051105.957194325] [sailbot.main_algo]: Wind Direction: 117 +[main_algo-3] [INFO] [1746051105.958293563] [sailbot.main_algo]: Target Bearing: -142.2320999971891 +[main_algo-3] [INFO] [1746051105.959219640] [sailbot.main_algo]: Heading Difference: 155.33909999718907 +[main_algo-3] [INFO] [1746051105.960064111] [sailbot.main_algo]: Wind Direction: 117 +[main_algo-3] [INFO] [1746051105.961004921] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051105.961908867] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051105.963122689] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051105.963668305] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051106.002806455] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690409 Long: -76.50277151 +[main_algo-3] [INFO] [1746051106.003741254] [sailbot.main_algo]: Distance to destination: 56.52478175414433 +[vectornav-1] [INFO] [1746051106.004002020] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (14.668000000000006, 0.408, 5.659) +[main_algo-3] [INFO] [1746051106.004877323] [sailbot.main_algo]: Target Bearing: -142.25060867144546 +[main_algo-3] [INFO] [1746051106.005847394] [sailbot.main_algo]: Heading Difference: 155.3576086714454 +[main_algo-3] [INFO] [1746051106.006747849] [sailbot.main_algo]: Wind Direction: 117 +[main_algo-3] [INFO] [1746051106.007652104] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051106.008540763] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051106.010342816] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051106.045024246] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051106.045691725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051106.046382132] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051106.047598701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051106.048686333] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051106.085124534] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051106.087308089] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746051106.087898557] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051106.089330246] [sailbot.teensy]: Wind angle: 119 +[teensy-2] [INFO] [1746051106.090317250] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051106.091189314] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051106.092113936] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051106.144410445] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051106.144773497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051106.145473826] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051106.146503900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051106.147414059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051106.245051620] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051106.245693020] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051106.246691592] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051106.247807394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051106.249118146] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051106.335096804] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051106.337384604] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051106.337493949] [sailbot.teensy]: Wind angle: 121 +[mux-7] [INFO] [1746051106.337839919] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051106.338696755] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051106.339605173] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051106.340447035] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051106.344478194] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051106.345109801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051106.345587688] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051106.346891658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051106.347889894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051106.444807232] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051106.445562012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051106.446144818] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051106.447393672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051106.448447686] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051106.457183347] [sailbot.main_algo]: Wind Direction: 121 +[main_algo-3] [INFO] [1746051106.458306043] [sailbot.main_algo]: Target Bearing: -142.25060867144546 +[main_algo-3] [INFO] [1746051106.459262593] [sailbot.main_algo]: Heading Difference: 156.91860867144544 +[main_algo-3] [INFO] [1746051106.460135427] [sailbot.main_algo]: Wind Direction: 121 +[main_algo-3] [INFO] [1746051106.461039454] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051106.461884280] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051106.462982333] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051106.463866119] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051106.502684111] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904096 Long: -76.50277177 +[vectornav-1] [INFO] [1746051106.503919030] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.976999999999975, -1.331, 6.594) +[main_algo-3] [INFO] [1746051106.504068634] [sailbot.main_algo]: Distance to destination: 56.51228809475065 +[main_algo-3] [INFO] [1746051106.505145946] [sailbot.main_algo]: Target Bearing: -142.23177035821266 +[main_algo-3] [INFO] [1746051106.506342773] [sailbot.main_algo]: Heading Difference: 156.89977035821266 +[main_algo-3] [INFO] [1746051106.507278593] [sailbot.main_algo]: Wind Direction: 121 +[main_algo-3] [INFO] [1746051106.508256347] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051106.509134607] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051106.510804992] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051106.544975194] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051106.545742999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051106.546228204] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051106.547654035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051106.548745054] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051106.585437934] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051106.587807839] [sailbot.teensy]: Wind angle: 122 +[trim_sail-4] [INFO] [1746051106.587816023] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051106.588833514] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051106.589633085] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051106.589763433] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051106.590694464] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051106.645107192] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051106.645710508] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051106.646551816] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051106.647667626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051106.648597271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051106.745626637] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051106.746620892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051106.747216779] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051106.748342568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051106.748891187] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051106.835373909] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051106.837110924] [sailbot.teensy]: Wind angle: 124 +[teensy-2] [INFO] [1746051106.838125232] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051106.837669182] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051106.839000710] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051106.839058557] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051106.839909703] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051106.844414493] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051106.845031757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051106.845529649] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051106.846712124] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051106.847723637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051106.945280525] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051106.946613645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051106.946829704] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051106.948782711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051106.949798597] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051106.957036630] [sailbot.main_algo]: Wind Direction: 124 +[main_algo-3] [INFO] [1746051106.958137090] [sailbot.main_algo]: Target Bearing: -142.23177035821266 +[main_algo-3] [INFO] [1746051106.959067201] [sailbot.main_algo]: Heading Difference: 164.20877035821263 +[main_algo-3] [INFO] [1746051106.959920595] [sailbot.main_algo]: Wind Direction: 124 +[main_algo-3] [INFO] [1746051106.960798828] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051106.961583816] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051106.962640859] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051106.963437144] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051107.002717055] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904108 Long: -76.50277184 +[main_algo-3] [INFO] [1746051107.003721218] [sailbot.main_algo]: Distance to destination: 56.51615095043252 +[vectornav-1] [INFO] [1746051107.003825151] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (18.798999999999978, -0.591, 6.415) +[main_algo-3] [INFO] [1746051107.004777730] [sailbot.main_algo]: Target Bearing: -142.21758343985812 +[main_algo-3] [INFO] [1746051107.005726612] [sailbot.main_algo]: Heading Difference: 164.1945834398581 +[main_algo-3] [INFO] [1746051107.006714823] [sailbot.main_algo]: Wind Direction: 124 +[main_algo-3] [INFO] [1746051107.007638584] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051107.008527584] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051107.010259087] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051107.045234124] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051107.045714040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051107.046524822] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051107.047560384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051107.048669368] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051107.085025102] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051107.087103941] [sailbot.teensy]: Wind angle: 131 +[trim_sail-4] [INFO] [1746051107.087241718] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051107.088145831] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051107.088962681] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051107.089133408] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051107.090013227] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051107.144946979] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051107.145765520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051107.146242266] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051107.147717429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051107.148791127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051107.245342589] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051107.246351658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051107.246896890] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051107.248548335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051107.249908776] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051107.335332329] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051107.337750784] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051107.338654825] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051107.339005734] [sailbot.teensy]: Wind angle: 133 +[teensy-2] [INFO] [1746051107.339436784] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051107.339782524] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051107.340314025] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051107.344389017] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051107.345050287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051107.345571309] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051107.346759963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051107.347809875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051107.445050528] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051107.445794966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051107.446498694] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051107.447845673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051107.448355981] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051107.457171428] [sailbot.main_algo]: Wind Direction: 133 +[main_algo-3] [INFO] [1746051107.458200835] [sailbot.main_algo]: Target Bearing: -142.21758343985812 +[main_algo-3] [INFO] [1746051107.459055628] [sailbot.main_algo]: Heading Difference: 161.0165834398581 +[main_algo-3] [INFO] [1746051107.459892148] [sailbot.main_algo]: Wind Direction: 133 +[main_algo-3] [INFO] [1746051107.460730872] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051107.461586397] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051107.462683546] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051107.463208803] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051107.503684162] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904115 Long: -76.50277167 +[main_algo-3] [INFO] [1746051107.504142196] [sailbot.main_algo]: Distance to destination: 56.53191583387628 +[main_algo-3] [INFO] [1746051107.505336245] [sailbot.main_algo]: Target Bearing: -142.22031899016056 +[main_algo-3] [INFO] [1746051107.506369842] [sailbot.main_algo]: Heading Difference: 161.0193189901605 +[main_algo-3] [INFO] [1746051107.507305281] [sailbot.main_algo]: Wind Direction: 133 +[vectornav-1] [INFO] [1746051107.506545790] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (15.836999999999989, 0.465, 7.272) +[main_algo-3] [INFO] [1746051107.508210834] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051107.509069142] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051107.510890770] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051107.544998950] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051107.545749269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051107.546267405] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051107.547659374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051107.548697708] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051107.585433695] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051107.587999737] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051107.588702040] [sailbot.teensy]: Wind angle: 133 +[teensy-2] [INFO] [1746051107.589674159] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051107.589963359] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051107.590610192] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051107.591714834] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051107.644816495] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051107.645524994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051107.645983098] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051107.647292501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051107.648335218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051107.745244252] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051107.745884611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051107.746997475] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051107.748076020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051107.748799188] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051107.835140584] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051107.836776463] [sailbot.teensy]: Wind angle: 133 +[trim_sail-4] [INFO] [1746051107.837318988] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051107.838809459] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051107.839159111] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051107.839774188] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051107.840840723] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051107.844359183] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051107.844961782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051107.845441682] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051107.846740797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051107.847776999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051107.945054654] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051107.945967160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051107.946516753] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051107.947952927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051107.949006054] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051107.957211787] [sailbot.main_algo]: Wind Direction: 133 +[main_algo-3] [INFO] [1746051107.958365882] [sailbot.main_algo]: Target Bearing: -142.22031899016056 +[main_algo-3] [INFO] [1746051107.959310562] [sailbot.main_algo]: Heading Difference: 158.05731899016052 +[main_algo-3] [INFO] [1746051107.960215303] [sailbot.main_algo]: Wind Direction: 133 +[main_algo-3] [INFO] [1746051107.961082682] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051107.961898902] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051107.962910186] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051107.963497461] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051108.002876412] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690409 Long: -76.50277171 +[main_algo-3] [INFO] [1746051108.003802530] [sailbot.main_algo]: Distance to destination: 56.51196049262157 +[vectornav-1] [INFO] [1746051108.004124332] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (13.906999999999982, -1.553, 8.009) +[main_algo-3] [INFO] [1746051108.004968682] [sailbot.main_algo]: Target Bearing: -142.24016974298044 +[main_algo-3] [INFO] [1746051108.005933843] [sailbot.main_algo]: Heading Difference: 158.07716974298046 +[main_algo-3] [INFO] [1746051108.006847854] [sailbot.main_algo]: Wind Direction: 133 +[main_algo-3] [INFO] [1746051108.007782116] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051108.008649944] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051108.010365888] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051108.045140123] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051108.045888765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051108.046677304] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051108.047895793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051108.048904220] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051108.085353549] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051108.087029796] [sailbot.teensy]: Wind angle: 133 +[teensy-2] [INFO] [1746051108.087943085] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051108.087718697] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051108.088790966] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051108.089212991] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051108.089724853] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051108.144746115] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051108.145184599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051108.145882522] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051108.146830594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051108.147785996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051108.245280083] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051108.245896205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051108.246784194] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051108.247916856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051108.248657354] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051108.335460653] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051108.337370969] [sailbot.teensy]: Wind angle: 134 +[trim_sail-4] [INFO] [1746051108.337904912] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051108.338322708] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051108.339248407] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051108.340129654] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051108.340240425] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051108.344427302] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051108.344920638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051108.345646343] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051108.346742674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051108.347918189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051108.445143357] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051108.445814269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051108.446861583] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051108.447581335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051108.448060789] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051108.457135251] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051108.458168838] [sailbot.main_algo]: Target Bearing: -142.24016974298044 +[main_algo-3] [INFO] [1746051108.459101559] [sailbot.main_algo]: Heading Difference: 156.1471697429804 +[main_algo-3] [INFO] [1746051108.459979415] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051108.460925712] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051108.461732608] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051108.462770040] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051108.463375300] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051108.503623823] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904087 Long: -76.50277174 +[main_algo-3] [INFO] [1746051108.504103408] [sailbot.main_algo]: Distance to destination: 56.50795090772613 +[main_algo-3] [INFO] [1746051108.505378142] [sailbot.main_algo]: Target Bearing: -142.24123714560818 +[vectornav-1] [INFO] [1746051108.505479040] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (15.314999999999998, 0.821, 7.352) +[main_algo-3] [INFO] [1746051108.506440214] [sailbot.main_algo]: Heading Difference: 156.14823714560816 +[main_algo-3] [INFO] [1746051108.507363612] [sailbot.main_algo]: Wind Direction: 134 +[main_algo-3] [INFO] [1746051108.508282373] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051108.509146450] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051108.510984841] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051108.545129959] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051108.545873583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051108.546544687] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051108.547857808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051108.549041514] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051108.585237383] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051108.586966839] [sailbot.teensy]: Wind angle: 135 +[trim_sail-4] [INFO] [1746051108.587875993] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051108.587960465] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051108.588893046] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051108.589782170] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051108.589864517] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051108.645088896] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051108.645922278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051108.646557245] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051108.648286524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051108.649407781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051108.745128066] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051108.746342777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051108.746551220] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051108.748052544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051108.748573352] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051108.835517363] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051108.838176810] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051108.838707829] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051108.839550538] [sailbot.teensy]: Wind angle: 135 +[teensy-2] [INFO] [1746051108.840504783] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051108.841391470] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051108.842251594] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051108.844319901] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051108.844964308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051108.845856764] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051108.846785364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051108.848005427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051108.945057075] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051108.945744204] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051108.947607090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051108.947621619] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051108.948799732] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051108.957163025] [sailbot.main_algo]: Wind Direction: 135 +[main_algo-3] [INFO] [1746051108.958194466] [sailbot.main_algo]: Target Bearing: -142.24123714560818 +[main_algo-3] [INFO] [1746051108.959121416] [sailbot.main_algo]: Heading Difference: 157.55623714560818 +[main_algo-3] [INFO] [1746051108.959965507] [sailbot.main_algo]: Wind Direction: 135 +[main_algo-3] [INFO] [1746051108.960861658] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051108.961691621] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051108.962864739] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051108.963272391] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051109.002845200] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904075 Long: -76.50277134 +[main_algo-3] [INFO] [1746051109.003730106] [sailbot.main_algo]: Distance to destination: 56.52525444244825 +[vectornav-1] [INFO] [1746051109.003963640] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (16.060000000000002, -1.267, 7.57) +[main_algo-3] [INFO] [1746051109.005062799] [sailbot.main_algo]: Target Bearing: -142.27264611751488 +[main_algo-3] [INFO] [1746051109.006022632] [sailbot.main_algo]: Heading Difference: 157.58764611751485 +[main_algo-3] [INFO] [1746051109.006944534] [sailbot.main_algo]: Wind Direction: 135 +[main_algo-3] [INFO] [1746051109.007812369] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051109.008712176] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051109.010542048] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051109.045321117] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051109.045839617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051109.046596101] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051109.048180014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051109.049388340] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051109.085162926] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051109.087245339] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051109.088284153] [sailbot.teensy]: Wind angle: 135 +[mux-7] [INFO] [1746051109.089443105] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051109.089665569] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051109.090596961] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051109.091459515] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051109.144971298] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051109.145849461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051109.146254737] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051109.147832646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051109.148888323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051109.245382661] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051109.246612673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051109.246934687] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051109.248814962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051109.250000353] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051109.335211043] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051109.336897885] [sailbot.teensy]: Wind angle: 135 +[trim_sail-4] [INFO] [1746051109.337355605] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051109.337882576] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051109.338824793] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051109.339070384] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051109.339757885] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051109.344282638] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051109.344866571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051109.345416525] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051109.346601197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051109.347661881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051109.445435625] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051109.446172679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051109.447197362] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051109.448115381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051109.448639551] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051109.457286154] [sailbot.main_algo]: Wind Direction: 135 +[main_algo-3] [INFO] [1746051109.458373403] [sailbot.main_algo]: Target Bearing: -142.27264611751488 +[main_algo-3] [INFO] [1746051109.459317364] [sailbot.main_algo]: Heading Difference: 158.33264611751486 +[main_algo-3] [INFO] [1746051109.460229248] [sailbot.main_algo]: Wind Direction: 135 +[main_algo-3] [INFO] [1746051109.461108143] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051109.461977123] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051109.463072518] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051109.463763255] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051109.503271211] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904033 Long: -76.50277111 +[main_algo-3] [INFO] [1746051109.503858492] [sailbot.main_algo]: Distance to destination: 56.51083406959949 +[vectornav-1] [INFO] [1746051109.504398499] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (16.093000000000018, 0.162, 8.299) +[main_algo-3] [INFO] [1746051109.504939857] [sailbot.main_algo]: Target Bearing: -142.3215322115951 +[main_algo-3] [INFO] [1746051109.505915075] [sailbot.main_algo]: Heading Difference: 158.38153221159507 +[main_algo-3] [INFO] [1746051109.506835831] [sailbot.main_algo]: Wind Direction: 135 +[main_algo-3] [INFO] [1746051109.507724987] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051109.508597655] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051109.510289995] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051109.544968027] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051109.545557966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051109.546247191] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051109.547597770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051109.548632421] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051109.585451794] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051109.587409102] [sailbot.teensy]: Wind angle: 136 +[trim_sail-4] [INFO] [1746051109.588137479] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051109.588427329] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051109.589374248] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051109.590045719] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051109.590232644] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051109.645229538] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051109.645768089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051109.646795570] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051109.648055941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051109.649295353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051109.745203437] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051109.745853357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051109.746909983] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051109.748049790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051109.748567106] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051109.835068455] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051109.837204188] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051109.838056636] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051109.838327493] [sailbot.teensy]: Wind angle: 136 +[teensy-2] [INFO] [1746051109.839000262] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051109.839436295] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051109.839817073] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051109.844378085] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051109.845173435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051109.845787943] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051109.846890381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051109.848027888] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051109.945075090] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051109.945906780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051109.946595588] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051109.947880874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051109.948957332] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051109.957053346] [sailbot.main_algo]: Wind Direction: 136 +[main_algo-3] [INFO] [1746051109.958041013] [sailbot.main_algo]: Target Bearing: -142.3215322115951 +[main_algo-3] [INFO] [1746051109.958916350] [sailbot.main_algo]: Heading Difference: 158.4145322115951 +[main_algo-3] [INFO] [1746051109.959755215] [sailbot.main_algo]: Wind Direction: 136 +[main_algo-3] [INFO] [1746051109.960562840] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051109.961344974] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051109.962330905] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051109.963126411] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051110.002759622] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904017 Long: -76.50277089 +[main_algo-3] [INFO] [1746051110.003703051] [sailbot.main_algo]: Distance to destination: 56.51384954615659 +[vectornav-1] [INFO] [1746051110.003938088] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (17.69100000000003, -1.213, 7.15) +[main_algo-3] [INFO] [1746051110.004845657] [sailbot.main_algo]: Target Bearing: -142.34705793191145 +[main_algo-3] [INFO] [1746051110.006637277] [sailbot.main_algo]: Heading Difference: 158.4400579319115 +[main_algo-3] [INFO] [1746051110.007613880] [sailbot.main_algo]: Wind Direction: 136 +[main_algo-3] [INFO] [1746051110.008508114] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051110.009351484] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051110.011046123] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051110.045170891] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051110.045891459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051110.046594666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051110.048278664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051110.049483344] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051110.085160623] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051110.087255913] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051110.087352264] [sailbot.teensy]: Wind angle: 136 +[teensy-2] [INFO] [1746051110.088325806] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051110.088983783] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051110.089271796] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051110.090171026] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051110.144439045] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051110.145241788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051110.145500739] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051110.146813007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051110.147778878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051110.245016737] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051110.245718131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051110.246532092] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051110.247758104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051110.248509921] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051110.335693881] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051110.337804555] [sailbot.teensy]: Wind angle: 137 +[teensy-2] [INFO] [1746051110.338804867] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051110.338340790] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051110.339308700] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051110.339690491] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051110.340622272] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051110.344554401] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051110.345123557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051110.345844066] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051110.346825051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051110.347882457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051110.445354199] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051110.445739566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051110.446873096] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051110.447735982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051110.448824080] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051110.457209606] [sailbot.main_algo]: Wind Direction: 137 +[main_algo-3] [INFO] [1746051110.458219030] [sailbot.main_algo]: Target Bearing: -142.34705793191145 +[main_algo-3] [INFO] [1746051110.459106117] [sailbot.main_algo]: Heading Difference: 160.03805793191145 +[main_algo-3] [INFO] [1746051110.459959758] [sailbot.main_algo]: Wind Direction: 137 +[main_algo-3] [INFO] [1746051110.460870610] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051110.461664053] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051110.462792426] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051110.463443289] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051110.503172913] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690398 Long: -76.50277045 +[main_algo-3] [INFO] [1746051110.503969885] [sailbot.main_algo]: Distance to destination: 56.5164486771701 +[vectornav-1] [INFO] [1746051110.504886445] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (18.706999999999994, 0.978, 6.567) +[main_algo-3] [INFO] [1746051110.505073627] [sailbot.main_algo]: Target Bearing: -142.40249973049376 +[main_algo-3] [INFO] [1746051110.506093926] [sailbot.main_algo]: Heading Difference: 160.09349973049382 +[main_algo-3] [INFO] [1746051110.506995617] [sailbot.main_algo]: Wind Direction: 137 +[main_algo-3] [INFO] [1746051110.507891071] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051110.508788719] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051110.510566461] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051110.545255586] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051110.545978070] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051110.546852838] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051110.547985320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051110.548994737] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051110.585271313] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051110.588098977] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051110.588517069] [sailbot.teensy]: Wind angle: 138 +[mux-7] [INFO] [1746051110.588883870] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051110.589557482] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051110.590495858] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051110.591304313] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051110.645005617] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051110.645663593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051110.646293085] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051110.647583763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051110.648129404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051110.744782523] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051110.745529873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051110.745982647] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051110.747407572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051110.748572522] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051110.835319622] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051110.837085355] [sailbot.teensy]: Wind angle: 138 +[teensy-2] [INFO] [1746051110.838009637] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051110.837742185] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051110.838896387] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051110.839362768] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051110.839838924] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051110.844410884] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051110.845303679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051110.845880132] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051110.847188584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051110.848234313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051110.945262965] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051110.946049547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051110.946920512] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051110.947781703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051110.948310579] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051110.957002229] [sailbot.main_algo]: Wind Direction: 138 +[main_algo-3] [INFO] [1746051110.957941113] [sailbot.main_algo]: Target Bearing: -142.40249973049376 +[main_algo-3] [INFO] [1746051110.958815470] [sailbot.main_algo]: Heading Difference: 161.10949973049378 +[main_algo-3] [INFO] [1746051110.959632146] [sailbot.main_algo]: Wind Direction: 138 +[main_algo-3] [INFO] [1746051110.960437371] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051110.961243244] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051110.962248253] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051110.963015585] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051111.002721967] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903988 Long: -76.50277007 +[main_algo-3] [INFO] [1746051111.003523783] [sailbot.main_algo]: Distance to destination: 56.54640850186838 +[vectornav-1] [INFO] [1746051111.003934209] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (19.507000000000005, -1.448, 5.722) +[main_algo-3] [INFO] [1746051111.004644266] [sailbot.main_algo]: Target Bearing: -142.41522170917142 +[main_algo-3] [INFO] [1746051111.006013382] [sailbot.main_algo]: Heading Difference: 161.1222217091714 +[main_algo-3] [INFO] [1746051111.007092950] [sailbot.main_algo]: Wind Direction: 138 +[main_algo-3] [INFO] [1746051111.008017295] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051111.008898495] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051111.010783216] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051111.045294315] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051111.045908526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051111.046769017] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051111.048325123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051111.049447894] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051111.085132972] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051111.087128063] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051111.087396500] [sailbot.teensy]: Wind angle: 138 +[mux-7] [INFO] [1746051111.088205634] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051111.088315543] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051111.089226442] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051111.090095003] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051111.145096214] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051111.146431904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051111.146567757] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051111.148673795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051111.149838880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051111.245123017] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051111.246263122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051111.246575764] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051111.248237136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051111.249277282] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051111.335426174] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051111.337329987] [sailbot.teensy]: Wind angle: 140 +[trim_sail-4] [INFO] [1746051111.337950812] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051111.338284286] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051111.338467668] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051111.339195076] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051111.340069604] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051111.344382707] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051111.344896507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051111.345484046] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051111.346766601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051111.347813918] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051111.445429619] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051111.446316801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051111.447041903] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051111.448432351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051111.448860359] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051111.457152090] [sailbot.main_algo]: Wind Direction: 140 +[main_algo-3] [INFO] [1746051111.458192887] [sailbot.main_algo]: Target Bearing: -142.41522170917142 +[main_algo-3] [INFO] [1746051111.459105815] [sailbot.main_algo]: Heading Difference: 161.92222170917142 +[main_algo-3] [INFO] [1746051111.459960414] [sailbot.main_algo]: Wind Direction: 140 +[main_algo-3] [INFO] [1746051111.460834902] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051111.461644222] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051111.462676363] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051111.463209842] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051111.502974665] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903965 Long: -76.50276968 +[main_algo-3] [INFO] [1746051111.503722820] [sailbot.main_algo]: Distance to destination: 56.555547562760324 +[vectornav-1] [INFO] [1746051111.504305414] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (20.21199999999999, 0.374, 4.551) +[main_algo-3] [INFO] [1746051111.504767741] [sailbot.main_algo]: Target Bearing: -142.45571327400995 +[main_algo-3] [INFO] [1746051111.505727377] [sailbot.main_algo]: Heading Difference: 161.96271327400996 +[main_algo-3] [INFO] [1746051111.506645092] [sailbot.main_algo]: Wind Direction: 140 +[main_algo-3] [INFO] [1746051111.507535524] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051111.508397368] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051111.510279256] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051111.544941653] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051111.545847846] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051111.546252087] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051111.547827846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051111.548887114] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051111.585498196] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051111.587938289] [sailbot.teensy]: Wind angle: 140 +[trim_sail-4] [INFO] [1746051111.587945982] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051111.588963425] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051111.589665856] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051111.589916071] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051111.590987535] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051111.645215842] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051111.646122177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051111.646790953] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051111.648352710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051111.649525666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051111.745539686] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051111.746454323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051111.747205167] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051111.749170967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051111.750399162] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051111.835156052] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051111.837519559] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051111.838157297] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051111.838488779] [sailbot.teensy]: Wind angle: 140 +[teensy-2] [INFO] [1746051111.839627037] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051111.840565140] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051111.841409725] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051111.844373305] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051111.844866818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051111.845573028] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051111.846559444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051111.847623366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051111.944890739] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051111.945768417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051111.946406243] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051111.947475152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051111.948007844] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051111.956968119] [sailbot.main_algo]: Wind Direction: 140 +[main_algo-3] [INFO] [1746051111.957989631] [sailbot.main_algo]: Target Bearing: -142.45571327400995 +[main_algo-3] [INFO] [1746051111.958872930] [sailbot.main_algo]: Heading Difference: 162.66771327400994 +[main_algo-3] [INFO] [1746051111.959696371] [sailbot.main_algo]: Wind Direction: 140 +[main_algo-3] [INFO] [1746051111.960502901] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051111.961335658] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051111.962333835] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051111.962951872] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051112.002881976] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903961 Long: -76.50276958 +[main_algo-3] [INFO] [1746051112.003634035] [sailbot.main_algo]: Distance to destination: 56.55920869211101 +[vectornav-1] [INFO] [1746051112.003978241] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.83299999999997, -0.047, 3.277) +[main_algo-3] [INFO] [1746051112.004724891] [sailbot.main_algo]: Target Bearing: -142.46442410213078 +[main_algo-3] [INFO] [1746051112.005682714] [sailbot.main_algo]: Heading Difference: 162.6764241021308 +[main_algo-3] [INFO] [1746051112.006597801] [sailbot.main_algo]: Wind Direction: 140 +[main_algo-3] [INFO] [1746051112.007494140] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051112.008375092] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051112.010055272] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051112.045316065] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051112.046018338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051112.046890866] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051112.048286608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051112.049497285] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051112.085108868] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051112.087098486] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051112.087291511] [sailbot.teensy]: Wind angle: 141 +[teensy-2] [INFO] [1746051112.088181813] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051112.088238233] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051112.089129011] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051112.090113692] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051112.144559990] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051112.144974921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051112.145726213] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051112.146696058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051112.147778624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051112.245023067] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051112.245707222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051112.246340860] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051112.247590641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051112.248781071] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051112.335486145] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051112.338005520] [sailbot.teensy]: Wind angle: 141 +[trim_sail-4] [INFO] [1746051112.338019375] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051112.338976503] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051112.339472279] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051112.339912096] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051112.340855302] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051112.344558018] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051112.345194376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051112.345985033] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051112.346883841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051112.347976816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051112.444976003] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051112.445849034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051112.446311679] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051112.447811047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051112.449076971] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051112.457226587] [sailbot.main_algo]: Wind Direction: 141 +[main_algo-3] [INFO] [1746051112.458242218] [sailbot.main_algo]: Target Bearing: -142.46442410213078 +[main_algo-3] [INFO] [1746051112.459155462] [sailbot.main_algo]: Heading Difference: 164.29742410213078 +[main_algo-3] [INFO] [1746051112.460026369] [sailbot.main_algo]: Wind Direction: 141 +[main_algo-3] [INFO] [1746051112.460912388] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051112.461777037] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051112.462858572] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051112.463793128] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051112.503036157] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903957 Long: -76.5027695 +[main_algo-3] [INFO] [1746051112.504183690] [sailbot.main_algo]: Distance to destination: 56.561584928073074 +[main_algo-3] [INFO] [1746051112.505298208] [sailbot.main_algo]: Target Bearing: -142.47209588020195 +[main_algo-3] [INFO] [1746051112.506291077] [sailbot.main_algo]: Heading Difference: 164.30509588020192 +[main_algo-3] [INFO] [1746051112.507234772] [sailbot.main_algo]: Wind Direction: 141 +[vectornav-1] [INFO] [1746051112.507288543] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (18.569000000000017, 1.166, 2.623) +[main_algo-3] [INFO] [1746051112.508140421] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051112.509014178] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051112.510751311] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051112.545396219] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051112.546226719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051112.546925958] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051112.548377369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051112.549589305] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051112.585353604] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051112.587609883] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051112.587910906] [sailbot.teensy]: Wind angle: 141 +[teensy-2] [INFO] [1746051112.588941839] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051112.589192987] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051112.589880365] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051112.590785936] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051112.644927725] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051112.645671642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051112.646229072] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051112.647742020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051112.648893857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051112.745691337] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051112.746418694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051112.747517478] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051112.748660033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051112.749193310] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051112.835100193] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051112.836885412] [sailbot.teensy]: Wind angle: 142 +[trim_sail-4] [INFO] [1746051112.837386969] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051112.837827086] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051112.838744755] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051112.839452368] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051112.839637397] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051112.844478649] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051112.845031159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051112.845629101] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051112.846727900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051112.847767570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051112.945000037] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051112.945670196] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051112.946324201] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051112.947549447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051112.948393377] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051112.957040861] [sailbot.main_algo]: Wind Direction: 142 +[main_algo-3] [INFO] [1746051112.958012706] [sailbot.main_algo]: Target Bearing: -142.47209588020195 +[main_algo-3] [INFO] [1746051112.958835817] [sailbot.main_algo]: Heading Difference: 161.04109588020196 +[main_algo-3] [INFO] [1746051112.959620195] [sailbot.main_algo]: Wind Direction: 142 +[main_algo-3] [INFO] [1746051112.960432965] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051112.961212507] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051112.962483909] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051112.962791684] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051113.002695869] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903918 Long: -76.50276985 +[main_algo-3] [INFO] [1746051113.003565646] [sailbot.main_algo]: Distance to destination: 56.5120906510514 +[vectornav-1] [INFO] [1746051113.003844777] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (18.05899999999997, -1.726, 4.806) +[main_algo-3] [INFO] [1746051113.004858876] [sailbot.main_algo]: Target Bearing: -142.48826263153464 +[main_algo-3] [INFO] [1746051113.005848595] [sailbot.main_algo]: Heading Difference: 161.05726263153463 +[main_algo-3] [INFO] [1746051113.006812378] [sailbot.main_algo]: Wind Direction: 142 +[main_algo-3] [INFO] [1746051113.007724752] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051113.008635659] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051113.010311095] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051113.045091975] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051113.045992978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051113.046572055] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051113.048239669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051113.049293298] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051113.085227705] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051113.087182505] [sailbot.teensy]: Wind angle: 143 +[trim_sail-4] [INFO] [1746051113.087646480] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051113.088199680] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051113.089175019] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051113.089520225] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051113.090042628] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051113.145017683] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051113.145982285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051113.146490012] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051113.148243313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051113.149369404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051113.244999013] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051113.245766497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051113.246482106] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051113.247701835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051113.248250511] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051113.335392654] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051113.337122604] [sailbot.teensy]: Wind angle: 143 +[trim_sail-4] [INFO] [1746051113.338346352] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051113.338975639] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051113.339122059] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051113.339526902] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051113.339917962] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051113.344548427] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051113.344926269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051113.345768690] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051113.346631689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051113.347849436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051113.445496715] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051113.446208820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051113.447133163] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051113.448415618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051113.449478104] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051113.457018155] [sailbot.main_algo]: Wind Direction: 143 +[main_algo-3] [INFO] [1746051113.457998421] [sailbot.main_algo]: Target Bearing: -142.48826263153464 +[main_algo-3] [INFO] [1746051113.458916708] [sailbot.main_algo]: Heading Difference: 160.54726263153464 +[main_algo-3] [INFO] [1746051113.459742543] [sailbot.main_algo]: Wind Direction: 143 +[main_algo-3] [INFO] [1746051113.460624220] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051113.461445234] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051113.462724484] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051113.463011615] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051113.503119691] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903887 Long: -76.50277015 +[main_algo-3] [INFO] [1746051113.503576545] [sailbot.main_algo]: Distance to destination: 56.47135008985857 +[main_algo-3] [INFO] [1746051113.504663246] [sailbot.main_algo]: Target Bearing: -142.50000115929694 +[vectornav-1] [INFO] [1746051113.504710594] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (19.12700000000001, 0.45, 4.922) +[main_algo-3] [INFO] [1746051113.505660463] [sailbot.main_algo]: Heading Difference: 160.55900115929694 +[main_algo-3] [INFO] [1746051113.506919893] [sailbot.main_algo]: Wind Direction: 143 +[main_algo-3] [INFO] [1746051113.507796226] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051113.508654490] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051113.510439940] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051113.545015385] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051113.546023382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051113.546765292] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051113.548097073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051113.549274058] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051113.585404272] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051113.587332191] [sailbot.teensy]: Wind angle: 143 +[teensy-2] [INFO] [1746051113.588311221] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051113.587875749] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051113.588413402] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051113.589209720] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051113.590074647] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051113.645021567] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051113.645844859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051113.646326110] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051113.647999704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051113.649037195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051113.745677356] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051113.746597214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051113.747442218] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051113.748527471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051113.749032967] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051113.835256719] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051113.837187221] [sailbot.teensy]: Wind angle: 143 +[trim_sail-4] [INFO] [1746051113.837660712] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051113.838144993] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051113.839046472] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051113.839208239] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051113.839951088] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051113.844629037] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051113.845017551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051113.845901188] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051113.846714953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051113.847899127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051113.945070840] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051113.945683626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051113.946537668] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051113.948021928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051113.948554161] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051113.957006527] [sailbot.main_algo]: Wind Direction: 143 +[main_algo-3] [INFO] [1746051113.957970244] [sailbot.main_algo]: Target Bearing: -142.50000115929694 +[main_algo-3] [INFO] [1746051113.958808098] [sailbot.main_algo]: Heading Difference: 161.62700115929692 +[main_algo-3] [INFO] [1746051113.959622230] [sailbot.main_algo]: Wind Direction: 143 +[main_algo-3] [INFO] [1746051113.960426266] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051113.961221963] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051113.962225325] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051113.962817449] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051114.002795781] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903881 Long: -76.50277048 +[main_algo-3] [INFO] [1746051114.003734880] [sailbot.main_algo]: Distance to destination: 56.44597143281134 +[vectornav-1] [INFO] [1746051114.004276731] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (20.096000000000004, -0.619, 5.56) +[main_algo-3] [INFO] [1746051114.004845403] [sailbot.main_algo]: Target Bearing: -142.4881427887646 +[main_algo-3] [INFO] [1746051114.006614245] [sailbot.main_algo]: Heading Difference: 161.61514278876462 +[main_algo-3] [INFO] [1746051114.007631892] [sailbot.main_algo]: Wind Direction: 143 +[main_algo-3] [INFO] [1746051114.008552425] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051114.009430179] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051114.011199736] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051114.045230778] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051114.045996167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051114.046784196] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051114.048017471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051114.049244661] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051114.085268967] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051114.086858013] [sailbot.teensy]: Wind angle: 143 +[trim_sail-4] [INFO] [1746051114.087481219] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051114.087810856] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051114.088752651] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051114.089551053] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051114.089620071] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051114.144450785] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051114.145008095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051114.145905033] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051114.146862499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051114.148010596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051114.245324301] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051114.246074866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051114.246887937] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051114.248306244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051114.248860233] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051114.335229684] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051114.337408817] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051114.338362707] [sailbot.teensy]: Wind angle: 143 +[mux-7] [INFO] [1746051114.338928922] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051114.339130556] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051114.339519887] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051114.339901818] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051114.344573435] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051114.345214145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051114.346073446] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051114.346997892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051114.348204464] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051114.445534879] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051114.446368670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051114.447247088] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051114.448572408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051114.449743371] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051114.457136896] [sailbot.main_algo]: Wind Direction: 143 +[main_algo-3] [INFO] [1746051114.458187167] [sailbot.main_algo]: Target Bearing: -142.4881427887646 +[main_algo-3] [INFO] [1746051114.459087669] [sailbot.main_algo]: Heading Difference: 162.5841427887646 +[main_algo-3] [INFO] [1746051114.459961997] [sailbot.main_algo]: Wind Direction: 143 +[main_algo-3] [INFO] [1746051114.460803919] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051114.461601623] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051114.462686556] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051114.463192429] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051114.503731478] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903851 Long: -76.5027706 +[main_algo-3] [INFO] [1746051114.503865166] [sailbot.main_algo]: Distance to destination: 56.417503236517604 +[main_algo-3] [INFO] [1746051114.504996922] [sailbot.main_algo]: Target Bearing: -142.50837217142066 +[vectornav-1] [INFO] [1746051114.505455461] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.04200000000003, -0.272, 5.17) +[main_algo-3] [INFO] [1746051114.505950633] [sailbot.main_algo]: Heading Difference: 162.60437217142066 +[main_algo-3] [INFO] [1746051114.506894553] [sailbot.main_algo]: Wind Direction: 143 +[main_algo-3] [INFO] [1746051114.507848735] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051114.508733190] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051114.510486754] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051114.545153621] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051114.545698606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051114.547071885] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051114.547583278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051114.548857645] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051114.585280637] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051114.587754101] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051114.588182168] [sailbot.teensy]: Wind angle: 143 +[mux-7] [INFO] [1746051114.588637702] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051114.589152638] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051114.590028851] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051114.590882081] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051114.645207002] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051114.645938665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051114.646671883] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051114.648016045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051114.649198784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051114.745419834] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051114.746239920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051114.746979381] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051114.748530469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051114.749592202] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051114.835245122] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051114.837786215] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051114.838076757] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051114.838428478] [sailbot.teensy]: Wind angle: 143 +[teensy-2] [INFO] [1746051114.839518451] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051114.840407978] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051114.841242902] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051114.844348776] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051114.844777848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051114.845431832] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051114.846441636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051114.847476774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051114.945152300] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051114.946079171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051114.946619616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051114.948312593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051114.948745116] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051114.957147037] [sailbot.main_algo]: Wind Direction: 143 +[main_algo-3] [INFO] [1746051114.958154506] [sailbot.main_algo]: Target Bearing: -142.50837217142066 +[main_algo-3] [INFO] [1746051114.959041138] [sailbot.main_algo]: Heading Difference: 163.5503721714207 +[main_algo-3] [INFO] [1746051114.959869552] [sailbot.main_algo]: Wind Direction: 143 +[main_algo-3] [INFO] [1746051114.960700055] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051114.961564733] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051114.962602950] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051114.963538012] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051115.002726977] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903858 Long: -76.5027708 +[main_algo-3] [INFO] [1746051115.003549146] [sailbot.main_algo]: Distance to destination: 56.40947739105242 +[vectornav-1] [INFO] [1746051115.003824136] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.278999999999996, -0.223, 5.691) +[main_algo-3] [INFO] [1746051115.004666272] [sailbot.main_algo]: Target Bearing: -142.4917938429526 +[main_algo-3] [INFO] [1746051115.005607367] [sailbot.main_algo]: Heading Difference: 163.5337938429526 +[main_algo-3] [INFO] [1746051115.006527472] [sailbot.main_algo]: Wind Direction: 143 +[main_algo-3] [INFO] [1746051115.007467991] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051115.008343243] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051115.010138131] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051115.045206168] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051115.045965940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051115.046632655] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051115.048017499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051115.049017197] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051115.085290563] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051115.087605981] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051115.088345656] [sailbot.teensy]: Wind angle: 143 +[mux-7] [INFO] [1746051115.088442427] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051115.089567913] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051115.090441898] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051115.091276934] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051115.144605367] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051115.145211163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051115.146096637] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051115.147048635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051115.148043674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051115.245029370] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051115.245735059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051115.246366716] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051115.248178410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051115.249407978] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051115.335504840] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051115.338761120] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051115.339615164] [sailbot.teensy]: Wind angle: 143 +[mux-7] [INFO] [1746051115.339869768] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051115.341145739] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051115.341559146] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051115.341916308] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051115.344394341] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051115.345114516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051115.345563834] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051115.346843132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051115.347883259] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051115.445687512] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051115.446393716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051115.447534913] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051115.447956034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051115.448432393] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051115.457183176] [sailbot.main_algo]: Wind Direction: 143 +[main_algo-3] [INFO] [1746051115.458222933] [sailbot.main_algo]: Target Bearing: -142.4917938429526 +[main_algo-3] [INFO] [1746051115.459122546] [sailbot.main_algo]: Heading Difference: 163.77079384295257 +[main_algo-3] [INFO] [1746051115.459981359] [sailbot.main_algo]: Wind Direction: 143 +[main_algo-3] [INFO] [1746051115.460863556] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051115.461743003] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051115.462778002] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051115.463386622] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051115.502955247] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903855 Long: -76.50277077 +[main_algo-3] [INFO] [1746051115.504236004] [sailbot.main_algo]: Distance to destination: 56.40933223907277 +[main_algo-3] [INFO] [1746051115.505644713] [sailbot.main_algo]: Target Bearing: -142.49600189062582 +[main_algo-3] [INFO] [1746051115.506611232] [sailbot.main_algo]: Heading Difference: 163.77500189062584 +[vectornav-1] [INFO] [1746051115.505018783] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.54000000000002, -1.013, 5.395) +[main_algo-3] [INFO] [1746051115.507497761] [sailbot.main_algo]: Wind Direction: 143 +[main_algo-3] [INFO] [1746051115.508375562] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051115.509211859] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051115.511000204] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051115.545159676] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051115.546173225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051115.546680931] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051115.548274935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051115.549316974] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051115.585680690] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051115.588334817] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051115.588525743] [sailbot.teensy]: Wind angle: 143 +[mux-7] [INFO] [1746051115.589307201] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051115.589698480] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051115.590579378] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051115.591450976] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051115.645127766] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051115.645786649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051115.646699020] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051115.647867808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051115.649072308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051115.745583026] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051115.746403580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051115.747267693] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051115.748442269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051115.748959170] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051115.835296283] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051115.836961166] [sailbot.teensy]: Wind angle: 143 +[teensy-2] [INFO] [1746051115.837872868] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051115.837744893] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051115.838076947] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051115.838751809] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051115.839589783] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051115.844377338] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051115.844988440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051115.845580866] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051115.846746912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051115.847835585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051115.944906565] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051115.945558139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051115.946264666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051115.947539685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051115.948134676] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051115.957032155] [sailbot.main_algo]: Wind Direction: 143 +[main_algo-3] [INFO] [1746051115.957987074] [sailbot.main_algo]: Target Bearing: -142.49600189062582 +[main_algo-3] [INFO] [1746051115.958825558] [sailbot.main_algo]: Heading Difference: 164.0360018906258 +[main_algo-3] [INFO] [1746051115.959619814] [sailbot.main_algo]: Wind Direction: 143 +[main_algo-3] [INFO] [1746051115.960441285] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051115.961223717] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051115.962316497] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051115.962820032] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051116.003148576] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690385 Long: -76.50277042 +[main_algo-3] [INFO] [1746051116.004233785] [sailbot.main_algo]: Distance to destination: 56.42839423627498 +[vectornav-1] [INFO] [1746051116.004468374] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.736999999999966, -0.295, 5.844) +[main_algo-3] [INFO] [1746051116.005440269] [sailbot.main_algo]: Target Bearing: -142.5186107470067 +[main_algo-3] [INFO] [1746051116.006464968] [sailbot.main_algo]: Heading Difference: 164.0586107470067 +[main_algo-3] [INFO] [1746051116.007377857] [sailbot.main_algo]: Wind Direction: 143 +[main_algo-3] [INFO] [1746051116.008278782] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051116.009126357] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051116.010825231] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051116.045297452] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051116.046091137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051116.046966699] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051116.049226900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051116.050421887] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051116.085383973] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051116.087816044] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051116.088600039] [sailbot.teensy]: Wind angle: 143 +[mux-7] [INFO] [1746051116.088865063] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051116.089600065] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051116.090459936] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051116.091321433] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051116.144635751] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051116.145397167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051116.145817755] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051116.147127740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051116.148176208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051116.245061414] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051116.245733495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051116.246562850] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051116.247864585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051116.249083803] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051116.335505682] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051116.338155373] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051116.338913585] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051116.339631093] [sailbot.teensy]: Wind angle: 143 +[teensy-2] [INFO] [1746051116.340858919] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051116.341723892] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051116.342574187] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051116.344427687] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051116.344852717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051116.345555636] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051116.346588692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051116.347595033] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051116.445331113] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051116.446032103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051116.447037382] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051116.448305798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051116.449428486] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051116.457146798] [sailbot.main_algo]: Wind Direction: 143 +[main_algo-3] [INFO] [1746051116.458180658] [sailbot.main_algo]: Target Bearing: -142.5186107470067 +[main_algo-3] [INFO] [1746051116.459069424] [sailbot.main_algo]: Heading Difference: 164.2556107470067 +[main_algo-3] [INFO] [1746051116.459920242] [sailbot.main_algo]: Wind Direction: 143 +[main_algo-3] [INFO] [1746051116.460802731] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051116.461631499] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051116.462725340] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051116.463245616] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051116.502776278] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903832 Long: -76.50276983 +[main_algo-3] [INFO] [1746051116.503390408] [sailbot.main_algo]: Distance to destination: 56.45393660952832 +[vectornav-1] [INFO] [1746051116.504035968] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.714, 0.364, 5.89) +[main_algo-3] [INFO] [1746051116.504432210] [sailbot.main_algo]: Target Bearing: -142.5651362737149 +[main_algo-3] [INFO] [1746051116.505343268] [sailbot.main_algo]: Heading Difference: 164.30213627371484 +[main_algo-3] [INFO] [1746051116.506178614] [sailbot.main_algo]: Wind Direction: 143 +[main_algo-3] [INFO] [1746051116.506990602] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051116.507770603] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051116.509353236] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051116.545004438] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051116.545971384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051116.546364896] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051116.547825104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051116.548869734] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051116.585466532] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051116.587592092] [sailbot.teensy]: Wind angle: 143 +[trim_sail-4] [INFO] [1746051116.587698331] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051116.588570997] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051116.588990631] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051116.589470552] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051116.590381121] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051116.645187181] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051116.646072538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051116.646647474] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051116.648099860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051116.649398176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051116.745395840] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051116.746288512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051116.747131272] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051116.748357629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051116.748865619] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051116.835122480] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051116.837195340] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051116.837388912] [sailbot.teensy]: Wind angle: 145 +[teensy-2] [INFO] [1746051116.838318148] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051116.838414061] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051116.839117099] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051116.839505417] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051116.844484776] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051116.844925372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051116.845827394] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051116.846591711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051116.847737624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051116.944986347] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051116.945480628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051116.946292658] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051116.947249073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051116.948308739] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051116.957013537] [sailbot.main_algo]: Wind Direction: 145 +[main_algo-3] [INFO] [1746051116.957966032] [sailbot.main_algo]: Target Bearing: -142.5651362737149 +[main_algo-3] [INFO] [1746051116.958795448] [sailbot.main_algo]: Heading Difference: 164.27913627371493 +[main_algo-3] [INFO] [1746051116.959617799] [sailbot.main_algo]: Wind Direction: 145 +[main_algo-3] [INFO] [1746051116.960418588] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051116.961216230] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051116.962213594] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051116.962855913] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051117.002727435] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903891 Long: -76.50276953 +[main_algo-3] [INFO] [1746051117.003681655] [sailbot.main_algo]: Distance to destination: 56.51401086345731 +[vectornav-1] [INFO] [1746051117.003901836] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.87900000000002, -1.179, 4.888) +[main_algo-3] [INFO] [1746051117.004863498] [sailbot.main_algo]: Target Bearing: -142.52866096006366 +[main_algo-3] [INFO] [1746051117.005865917] [sailbot.main_algo]: Heading Difference: 164.24266096006363 +[main_algo-3] [INFO] [1746051117.007053439] [sailbot.main_algo]: Wind Direction: 145 +[main_algo-3] [INFO] [1746051117.007984910] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051117.008905645] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051117.010755381] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051117.045202241] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051117.045761032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051117.046549376] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051117.047926301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051117.049075258] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051117.085262649] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051117.087365732] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051117.087647472] [sailbot.teensy]: Wind angle: 147 +[mux-7] [INFO] [1746051117.088449699] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051117.088594670] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051117.089503069] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051117.090380433] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051117.145102261] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051117.145725231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051117.146511967] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051117.147670303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051117.148713245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051117.245057889] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051117.245680337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051117.246310692] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051117.247478798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051117.248656385] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051117.335258485] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051117.337239507] [sailbot.teensy]: Wind angle: 147 +[trim_sail-4] [INFO] [1746051117.337728787] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051117.338198471] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051117.339117243] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051117.339202807] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051117.340099102] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051117.344457194] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051117.345255084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051117.345931025] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051117.347015145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051117.348109069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051117.445286182] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051117.446016614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051117.446740168] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051117.448162751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051117.448699817] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051117.457413951] [sailbot.main_algo]: Wind Direction: 147 +[main_algo-3] [INFO] [1746051117.458535267] [sailbot.main_algo]: Target Bearing: -142.52866096006366 +[main_algo-3] [INFO] [1746051117.459473862] [sailbot.main_algo]: Heading Difference: 167.4076609600637 +[main_algo-3] [INFO] [1746051117.460390003] [sailbot.main_algo]: Wind Direction: 147 +[main_algo-3] [INFO] [1746051117.461273278] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051117.462111819] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051117.463297537] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051117.463796072] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051117.502792392] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903904 Long: -76.50276898 +[main_algo-3] [INFO] [1746051117.503655785] [sailbot.main_algo]: Distance to destination: 56.55839632466556 +[vectornav-1] [INFO] [1746051117.503870707] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (27.32499999999999, -0.252, 6.374) +[main_algo-3] [INFO] [1746051117.504977089] [sailbot.main_algo]: Target Bearing: -142.54572221802155 +[main_algo-3] [INFO] [1746051117.505924347] [sailbot.main_algo]: Heading Difference: 167.42472221802154 +[main_algo-3] [INFO] [1746051117.507113777] [sailbot.main_algo]: Wind Direction: 147 +[main_algo-3] [INFO] [1746051117.507979830] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051117.508840441] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051117.510577527] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051117.545085661] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051117.545816216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051117.546839787] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051117.547952235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051117.549054223] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051117.585195135] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051117.586760469] [sailbot.teensy]: Wind angle: 148 +[teensy-2] [INFO] [1746051117.587602767] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051117.587339933] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051117.587694014] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051117.588485005] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051117.589440171] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051117.645136398] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051117.646036618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051117.646597840] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051117.648084157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051117.649169167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051117.745219821] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051117.746262402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051117.747487202] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051117.748209540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051117.748763997] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051117.835158298] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051117.837330572] [sailbot.teensy]: Wind angle: 148 +[teensy-2] [INFO] [1746051117.838232078] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051117.837334801] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051117.837691406] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051117.839061953] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051117.839912876] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051117.844279093] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051117.845003962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051117.845609316] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051117.846619501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051117.847693572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051117.945297616] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051117.946274073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051117.947024042] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051117.948058422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051117.948507135] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051117.956955709] [sailbot.main_algo]: Wind Direction: 148 +[main_algo-3] [INFO] [1746051117.957920226] [sailbot.main_algo]: Target Bearing: -142.54572221802155 +[main_algo-3] [INFO] [1746051117.958784208] [sailbot.main_algo]: Heading Difference: 169.87072221802157 +[main_algo-3] [INFO] [1746051117.959609376] [sailbot.main_algo]: Wind Direction: 148 +[main_algo-3] [INFO] [1746051117.960424886] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051117.961274505] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051117.962311075] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051117.962996734] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051118.003472913] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903908 Long: -76.50276834 +[main_algo-3] [INFO] [1746051118.003749011] [sailbot.main_algo]: Distance to destination: 56.602367639916444 +[vectornav-1] [INFO] [1746051118.004580094] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (28.86500000000001, 0.015, 5.427) +[main_algo-3] [INFO] [1746051118.004831192] [sailbot.main_algo]: Target Bearing: -142.5753383432715 +[main_algo-3] [INFO] [1746051118.005827622] [sailbot.main_algo]: Heading Difference: 169.90033834327153 +[main_algo-3] [INFO] [1746051118.007058708] [sailbot.main_algo]: Wind Direction: 148 +[main_algo-3] [INFO] [1746051118.008032710] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051118.009006359] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051118.010756254] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051118.044937922] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051118.045592198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051118.046175474] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051118.047472855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051118.048631118] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051118.085398219] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051118.087180620] [sailbot.teensy]: Wind angle: 148 +[teensy-2] [INFO] [1746051118.088115278] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051118.089035660] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051118.087740246] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051118.088814846] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051118.089912264] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051118.144690551] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051118.145276217] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051118.147196528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051118.146187997] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051118.148533195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051118.245285432] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051118.246076029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051118.246911890] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051118.248232221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051118.248772347] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051118.335140645] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051118.336664715] [sailbot.teensy]: Wind angle: 148 +[trim_sail-4] [INFO] [1746051118.337150924] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051118.337518921] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051118.338337473] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051118.338810833] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051118.339192708] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051118.344570360] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051118.345007657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051118.345723136] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051118.346651148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051118.347703676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051118.445232261] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051118.445783358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051118.446608333] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051118.447997922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051118.449170370] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051118.457189735] [sailbot.main_algo]: Wind Direction: 148 +[main_algo-3] [INFO] [1746051118.458252135] [sailbot.main_algo]: Target Bearing: -142.5753383432715 +[main_algo-3] [INFO] [1746051118.459196571] [sailbot.main_algo]: Heading Difference: 171.4403383432715 +[main_algo-3] [INFO] [1746051118.460069689] [sailbot.main_algo]: Wind Direction: 148 +[main_algo-3] [INFO] [1746051118.460978839] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051118.461831683] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051118.462913864] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051118.463707146] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051118.502797078] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903961 Long: -76.50276811 +[main_algo-3] [INFO] [1746051118.503754182] [sailbot.main_algo]: Distance to destination: 56.6537836912092 +[vectornav-1] [INFO] [1746051118.503969317] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.408999999999992, -0.841, 4.459) +[main_algo-3] [INFO] [1746051118.504881097] [sailbot.main_algo]: Target Bearing: -142.54060196114318 +[main_algo-3] [INFO] [1746051118.505856242] [sailbot.main_algo]: Heading Difference: 171.4056019611432 +[main_algo-3] [INFO] [1746051118.506759805] [sailbot.main_algo]: Wind Direction: 148 +[main_algo-3] [INFO] [1746051118.507643973] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051118.508527817] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051118.510209245] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051118.544949811] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051118.545790499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051118.546297724] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051118.547888457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051118.549034372] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051118.585128190] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051118.586904570] [sailbot.teensy]: Wind angle: 148 +[teensy-2] [INFO] [1746051118.587768178] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051118.587204156] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051118.587609194] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051118.588620531] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051118.589455613] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051118.645182482] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051118.646017227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051118.646726982] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051118.648689323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051118.649786692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051118.745051323] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051118.745746729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051118.747202629] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051118.747644337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051118.748314119] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051118.835288240] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051118.835985884] [sailbot.teensy]: Wind angle: 147 +[teensy-2] [INFO] [1746051118.836398993] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051118.836412183] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051118.836596895] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051118.836785081] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051118.837184250] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051118.844463293] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051118.845033628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051118.845559199] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051118.846733093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051118.847913348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051118.945356064] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051118.946012276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051118.946956633] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051118.948317459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051118.948946019] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051118.957088476] [sailbot.main_algo]: Wind Direction: 147 +[main_algo-3] [INFO] [1746051118.958055699] [sailbot.main_algo]: Target Bearing: -142.54060196114318 +[main_algo-3] [INFO] [1746051118.958886656] [sailbot.main_algo]: Heading Difference: 173.94960196114317 +[main_algo-3] [INFO] [1746051118.959671844] [sailbot.main_algo]: Wind Direction: 147 +[main_algo-3] [INFO] [1746051118.960483010] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051118.961264903] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051118.962264793] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051118.962956995] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051119.003208057] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903991 Long: -76.50276813 +[main_algo-3] [INFO] [1746051119.003746408] [sailbot.main_algo]: Distance to destination: 56.673231730066576 +[vectornav-1] [INFO] [1746051119.004813910] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.02999999999997, 0.412, 5.276) +[main_algo-3] [INFO] [1746051119.004891133] [sailbot.main_algo]: Target Bearing: -142.5131970764205 +[main_algo-3] [INFO] [1746051119.005884292] [sailbot.main_algo]: Heading Difference: 173.9221970764205 +[main_algo-3] [INFO] [1746051119.006801224] [sailbot.main_algo]: Wind Direction: 147 +[main_algo-3] [INFO] [1746051119.007662616] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051119.008515771] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051119.010285125] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051119.045200075] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051119.045783447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051119.046521213] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051119.047907850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051119.049062769] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051119.085394923] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051119.087268418] [sailbot.teensy]: Wind angle: 148 +[trim_sail-4] [INFO] [1746051119.087728856] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051119.088240918] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051119.089134347] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051119.089134163] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051119.090423011] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051119.145023233] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051119.145870917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051119.146615944] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051119.147783487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051119.148523210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051119.245004748] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051119.245718524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051119.246383188] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051119.247895524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051119.248906008] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051119.335421441] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051119.337201615] [sailbot.teensy]: Wind angle: 149 +[trim_sail-4] [INFO] [1746051119.337875534] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051119.338538432] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051119.338923906] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051119.339136932] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051119.339600979] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051119.344480482] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051119.345080475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051119.345555235] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051119.346776975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051119.347920720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051119.444826463] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051119.445652078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051119.446092200] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051119.447527137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051119.448635176] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051119.457211581] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051119.458246255] [sailbot.main_algo]: Target Bearing: -142.5131970764205 +[main_algo-3] [INFO] [1746051119.459133349] [sailbot.main_algo]: Heading Difference: 174.54319707642048 +[main_algo-3] [INFO] [1746051119.459998989] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051119.460833715] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051119.461618134] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051119.462583769] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051119.463162141] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051119.502887025] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903995 Long: -76.50276814 +[main_algo-3] [INFO] [1746051119.503803571] [sailbot.main_algo]: Distance to destination: 56.6753539353837 +[vectornav-1] [INFO] [1746051119.504471725] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.13799999999998, -1.545, 6.025) +[main_algo-3] [INFO] [1746051119.505009674] [sailbot.main_algo]: Target Bearing: -142.50916500991676 +[main_algo-3] [INFO] [1746051119.506051858] [sailbot.main_algo]: Heading Difference: 174.5391650099167 +[main_algo-3] [INFO] [1746051119.507010859] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051119.507898442] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051119.508764641] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051119.510478656] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051119.544844514] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051119.545625844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051119.546109177] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051119.547688975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051119.548808027] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051119.585189731] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051119.587330870] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051119.587736499] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051119.587764389] [sailbot.teensy]: Wind angle: 149 +[teensy-2] [INFO] [1746051119.589092967] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051119.590028658] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051119.590862088] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051119.645262075] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051119.646406782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051119.647025387] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051119.648565667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051119.649660619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051119.745292879] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051119.746106703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051119.746748787] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051119.748287427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051119.749409894] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051119.835458202] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051119.837306499] [sailbot.teensy]: Wind angle: 149 +[teensy-2] [INFO] [1746051119.838653216] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051119.837770982] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051119.839669923] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051119.840031640] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051119.840626542] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051119.844259223] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051119.844805608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051119.845340818] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051119.846525116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051119.847508786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051119.945336396] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051119.946288579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051119.946806537] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051119.948378918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051119.949460231] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051119.956985017] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051119.957953471] [sailbot.main_algo]: Target Bearing: -142.50916500991676 +[main_algo-3] [INFO] [1746051119.958802034] [sailbot.main_algo]: Heading Difference: 175.64716500991676 +[main_algo-3] [INFO] [1746051119.959580195] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051119.960471283] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051119.961274318] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051119.962406457] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051119.963140786] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051120.003707001] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903984 Long: -76.5027679 +[main_algo-3] [INFO] [1746051120.003839145] [sailbot.main_algo]: Distance to destination: 56.68319451481029 +[main_algo-3] [INFO] [1746051120.004873774] [sailbot.main_algo]: Target Bearing: -142.5312468500932 +[main_algo-3] [INFO] [1746051120.005850697] [sailbot.main_algo]: Heading Difference: 175.66924685009315 +[vectornav-1] [INFO] [1746051120.006498407] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.78800000000001, 0.479, 5.101) +[main_algo-3] [INFO] [1746051120.006789085] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051120.007716839] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051120.008616577] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051120.010375284] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051120.045107797] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051120.045879637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051120.046486507] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051120.048126691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051120.049147432] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051120.085426726] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051120.087308425] [sailbot.teensy]: Wind angle: 149 +[trim_sail-4] [INFO] [1746051120.087947763] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051120.088328867] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051120.089071632] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051120.089274063] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051120.090182273] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051120.144989072] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051120.146332710] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051120.147604962] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051120.149698003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051120.150959650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051120.246239085] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051120.246608474] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051120.247830222] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051120.248681202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051120.249895678] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051120.335251512] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051120.337452383] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051120.338004379] [sailbot.teensy]: Wind angle: 149 +[teensy-2] [INFO] [1746051120.339079444] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051120.338970563] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051120.339637178] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051120.340009229] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051120.344360960] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051120.344837771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051120.345564758] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051120.346638569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051120.347651486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051120.445290890] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051120.446271660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051120.446909856] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051120.448599795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051120.449592206] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051120.457243585] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051120.458302642] [sailbot.main_algo]: Target Bearing: -142.5312468500932 +[main_algo-3] [INFO] [1746051120.459198129] [sailbot.main_algo]: Heading Difference: 176.31924685009324 +[main_algo-3] [INFO] [1746051120.460064164] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051120.460950325] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051120.461817014] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051120.462922425] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051120.463851254] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051120.503128293] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903983 Long: -76.5027679 +[main_algo-3] [INFO] [1746051120.504306052] [sailbot.main_algo]: Distance to destination: 56.68250341438466 +[vectornav-1] [INFO] [1746051120.504599150] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.807000000000016, -0.418, 6.22) +[main_algo-3] [INFO] [1746051120.505576958] [sailbot.main_algo]: Target Bearing: -142.5321256093418 +[main_algo-3] [INFO] [1746051120.506671181] [sailbot.main_algo]: Heading Difference: 176.3201256093418 +[main_algo-3] [INFO] [1746051120.507651334] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051120.508636030] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051120.509511243] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051120.511261737] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051120.545163967] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051120.545977350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051120.546634739] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051120.548260781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051120.549295100] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051120.585112290] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051120.586767832] [sailbot.teensy]: Wind angle: 149 +[trim_sail-4] [INFO] [1746051120.587118892] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051120.587848307] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051120.588787903] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051120.589102334] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051120.590140018] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051120.644865211] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051120.645465348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051120.646238128] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051120.647270053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051120.648371935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051120.745319914] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051120.746303953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051120.746927505] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051120.748541203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051120.749063081] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051120.835255846] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051120.837305606] [sailbot.teensy]: Wind angle: 149 +[trim_sail-4] [INFO] [1746051120.837428060] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051120.838319666] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051120.839198048] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051120.839397816] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051120.840108990] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051120.844363082] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051120.845477525] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051120.845899534] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051120.847605916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051120.848773849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051120.945250292] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051120.946058559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051120.946812290] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051120.948183020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051120.949394686] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051120.957134641] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051120.958127959] [sailbot.main_algo]: Target Bearing: -142.5321256093418 +[main_algo-3] [INFO] [1746051120.959016715] [sailbot.main_algo]: Heading Difference: 176.3391256093418 +[main_algo-3] [INFO] [1746051120.959894334] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051120.960750972] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051120.961616229] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051120.962643921] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051120.963175385] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051121.003336360] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903987 Long: -76.5027679 +[main_algo-3] [INFO] [1746051121.003990011] [sailbot.main_algo]: Distance to destination: 56.685267898397655 +[main_algo-3] [INFO] [1746051121.005179499] [sailbot.main_algo]: Target Bearing: -142.52861069796248 +[vectornav-1] [INFO] [1746051121.005768618] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.03699999999998, -1.121, 4.426) +[main_algo-3] [INFO] [1746051121.006172743] [sailbot.main_algo]: Heading Difference: 176.33561069796247 +[main_algo-3] [INFO] [1746051121.007129795] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051121.008024731] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051121.008900056] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051121.010595170] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051121.044931320] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051121.045714248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051121.046336663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051121.047523819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051121.048569944] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051121.085426430] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051121.087231532] [sailbot.teensy]: Wind angle: 150 +[teensy-2] [INFO] [1746051121.088228936] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051121.088149086] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051121.089173798] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051121.089961152] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051121.090079866] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051121.144789301] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051121.145315990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051121.145938282] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051121.147074107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051121.148092591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051121.245168903] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051121.245991630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051121.246591603] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051121.247998916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051121.249038970] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051121.335125006] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051121.337328630] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051121.337437359] [sailbot.teensy]: Wind angle: 150 +[teensy-2] [INFO] [1746051121.337834357] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051121.337835490] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051121.338233409] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051121.338736392] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051121.344405246] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051121.344976480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051121.345534814] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051121.346821418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051121.347814445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051121.445203479] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051121.445963835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051121.447051232] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051121.448371033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051121.448914174] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051121.457222496] [sailbot.main_algo]: Wind Direction: 150 +[main_algo-3] [INFO] [1746051121.458384953] [sailbot.main_algo]: Target Bearing: -142.52861069796248 +[main_algo-3] [INFO] [1746051121.459313967] [sailbot.main_algo]: Heading Difference: 177.56561069796248 +[main_algo-3] [INFO] [1746051121.460222099] [sailbot.main_algo]: Wind Direction: 150 +[main_algo-3] [INFO] [1746051121.461129890] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051121.461981342] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051121.463364459] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051121.463730244] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051121.502529323] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904002 Long: -76.50276779 +[main_algo-3] [INFO] [1746051121.503440496] [sailbot.main_algo]: Distance to destination: 56.70271520135763 +[vectornav-1] [INFO] [1746051121.503587412] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.83499999999998, 0.541, 5.544) +[main_algo-3] [INFO] [1746051121.504581765] [sailbot.main_algo]: Target Bearing: -142.52112193058375 +[main_algo-3] [INFO] [1746051121.505507575] [sailbot.main_algo]: Heading Difference: 177.55812193058375 +[main_algo-3] [INFO] [1746051121.506411328] [sailbot.main_algo]: Wind Direction: 150 +[main_algo-3] [INFO] [1746051121.507303543] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051121.508182488] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051121.509910606] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051121.544868606] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051121.545531867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051121.546116848] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051121.547356125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051121.548545677] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051121.585043024] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051121.587061313] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051121.587107169] [sailbot.teensy]: Wind angle: 151 +[teensy-2] [INFO] [1746051121.587979442] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051121.588576712] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051121.588902649] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051121.589778701] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051121.645142186] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051121.645686974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051121.646713668] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051121.647651696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051121.648792911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051121.745247435] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051121.745784294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051121.746758264] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051121.748045023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051121.749390264] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051121.835368036] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051121.837189856] [sailbot.teensy]: Wind angle: 152 +[trim_sail-4] [INFO] [1746051121.837977341] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051121.838138364] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051121.839032104] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051121.839426999] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051121.839875195] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051121.844402032] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051121.845039544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051121.845751187] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051121.846760366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051121.847788008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051121.944985325] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051121.945609740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051121.946243554] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051121.947438148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051121.948570371] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051121.957077912] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051121.957990072] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746051121.958806345] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051121.959926491] [sailbot.main_algo]: Current Location: (42.46904002214751, -76.50276779005443) +[main_algo-3] [INFO] [1746051121.960804011] [sailbot.main_algo]: Target Bearing: -142.52112193058375 +[main_algo-3] [INFO] [1746051121.961609152] [sailbot.main_algo]: Heading Difference: 177.35612193058375 +[main_algo-3] [INFO] [1746051121.962387783] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051121.963160522] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051121.963925326] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051121.964938507] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051121.965547054] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051122.003342580] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904015 Long: -76.50276782 +[main_algo-3] [INFO] [1746051122.003799581] [sailbot.main_algo]: Distance to destination: 56.709772448992524 +[main_algo-3] [INFO] [1746051122.004915383] [sailbot.main_algo]: Target Bearing: -142.5081539629836 +[vectornav-1] [INFO] [1746051122.005160511] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.23700000000002, -1.048, 5.336) +[main_algo-3] [INFO] [1746051122.005915818] [sailbot.main_algo]: Heading Difference: 177.3431539629836 +[main_algo-3] [INFO] [1746051122.006848434] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051122.007800833] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051122.008716736] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051122.010652626] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051122.045197118] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051122.045833843] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051122.046618882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051122.047820818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051122.048986348] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051122.085370817] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051122.087146082] [sailbot.teensy]: Wind angle: 152 +[teensy-2] [INFO] [1746051122.088065495] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051122.087611333] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051122.088779140] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051122.088981707] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051122.089925592] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746051122.145701253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051122.145701686] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051122.148968518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051122.150150820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051122.151567874] [sailbot.mux]: Published rudder angle from controller_app: 0 +[mux-7] [INFO] [1746051122.245368277] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051122.245956631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051122.246821922] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051122.248173754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051122.248706211] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051122.335122212] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051122.336730393] [sailbot.teensy]: Wind angle: 153 +[trim_sail-4] [INFO] [1746051122.337671787] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051122.338630713] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051122.338911009] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051122.339950329] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051122.340842041] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051122.344419135] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051122.344897884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051122.345495946] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051122.346568217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051122.347572809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051122.445221839] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051122.445784483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051122.446620550] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051122.447715377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051122.448786156] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051122.457117817] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051122.458210728] [sailbot.main_algo]: Target Bearing: -142.5081539629836 +[main_algo-3] [INFO] [1746051122.459118026] [sailbot.main_algo]: Heading Difference: 177.74515396298364 +[main_algo-3] [INFO] [1746051122.459998577] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051122.460854493] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051122.461676549] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051122.462744732] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051122.463315243] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051122.502771434] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904005 Long: -76.50276799 +[main_algo-3] [INFO] [1746051122.503744479] [sailbot.main_algo]: Distance to destination: 56.691919770688905 +[vectornav-1] [INFO] [1746051122.503885726] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.49799999999999, 0.516, 5.738) +[main_algo-3] [INFO] [1746051122.504855766] [sailbot.main_algo]: Target Bearing: -142.50814196694623 +[main_algo-3] [INFO] [1746051122.505818316] [sailbot.main_algo]: Heading Difference: 177.74514196694622 +[main_algo-3] [INFO] [1746051122.506720473] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051122.507604338] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051122.508465334] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051122.510239552] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051122.545063222] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051122.545627628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051122.546468210] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051122.547588025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051122.548607424] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051122.585257767] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051122.587290531] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051122.587803978] [sailbot.teensy]: Wind angle: 154 +[mux-7] [INFO] [1746051122.588174040] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051122.589478178] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051122.590449698] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051122.591341599] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051122.645251561] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051122.646190178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051122.646737604] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051122.648671807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051122.649681224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051122.745116582] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051122.745824641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051122.746496290] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051122.747702977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051122.748221032] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051122.835504916] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051122.837832263] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051122.838385101] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051122.838644451] [sailbot.teensy]: Wind angle: 154 +[teensy-2] [INFO] [1746051122.839069435] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051122.839439109] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051122.840129492] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051122.844304050] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051122.844800994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051122.845390874] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051122.846467284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051122.847514549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051122.944700630] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051122.945492534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051122.945894732] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051122.947323078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051122.948354056] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051122.957105494] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051122.958116367] [sailbot.main_algo]: Target Bearing: -142.50814196694623 +[main_algo-3] [INFO] [1746051122.958976392] [sailbot.main_algo]: Heading Difference: 178.0061419669462 +[main_algo-3] [INFO] [1746051122.959769747] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051122.960582605] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051122.961376617] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051122.962365520] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051122.962927363] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051123.003601953] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903994 Long: -76.50276797 +[main_algo-3] [INFO] [1746051123.003996369] [sailbot.main_algo]: Distance to destination: 56.685601553181215 +[vectornav-1] [INFO] [1746051123.005214818] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (36.04399999999998, -1.128, 4.901) +[main_algo-3] [INFO] [1746051123.005303882] [sailbot.main_algo]: Target Bearing: -142.5188395575582 +[main_algo-3] [INFO] [1746051123.006319294] [sailbot.main_algo]: Heading Difference: 178.01683955755823 +[main_algo-3] [INFO] [1746051123.007209104] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051123.008120794] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051123.009082897] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051123.010754600] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051123.044949136] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051123.045643948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051123.046637835] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051123.047508866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051123.048555858] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051123.085138173] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051123.086688049] [sailbot.teensy]: Wind angle: 153 +[trim_sail-4] [INFO] [1746051123.087146446] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051123.087555483] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051123.088444755] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051123.088596631] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051123.089304086] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051123.144860001] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051123.145466962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051123.146104949] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051123.147370754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051123.148233471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051123.245105959] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051123.245925812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051123.246459056] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051123.247975520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051123.248445753] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051123.335137954] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051123.336999507] [sailbot.teensy]: Wind angle: 154 +[trim_sail-4] [INFO] [1746051123.337306818] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051123.339240251] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051123.339478832] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051123.340428351] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051123.341328936] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051123.344313886] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051123.344932879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051123.345425382] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051123.346692880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051123.347891473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051123.445452269] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051123.446183541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051123.446966095] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051123.448181204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051123.448700018] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051123.457146720] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051123.458124456] [sailbot.main_algo]: Target Bearing: -142.5188395575582 +[main_algo-3] [INFO] [1746051123.459004828] [sailbot.main_algo]: Heading Difference: 178.56283955755816 +[main_algo-3] [INFO] [1746051123.459872226] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051123.460717359] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051123.461515743] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051123.462588858] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051123.463181312] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051123.502562881] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904012 Long: -76.50276815 +[main_algo-3] [INFO] [1746051123.503416416] [sailbot.main_algo]: Distance to destination: 56.68646709415992 +[vectornav-1] [INFO] [1746051123.503602334] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (36.168000000000006, 0.434, 5.244) +[main_algo-3] [INFO] [1746051123.504486888] [sailbot.main_algo]: Target Bearing: -142.4937143010125 +[main_algo-3] [INFO] [1746051123.505464322] [sailbot.main_algo]: Heading Difference: 178.53771430101244 +[main_algo-3] [INFO] [1746051123.506418680] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051123.507310226] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051123.508214164] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051123.509905509] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051123.545544253] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051123.545533663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051123.546919196] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051123.547338861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051123.548534445] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051123.585325943] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051123.586964915] [sailbot.teensy]: Wind angle: 153 +[trim_sail-4] [INFO] [1746051123.587849878] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051123.587905988] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051123.588833039] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051123.589166312] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051123.589705869] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051123.644906259] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051123.645657987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051123.646166963] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051123.647565011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051123.648602508] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051123.744905029] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051123.745654527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051123.746240887] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051123.747664668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051123.748140437] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051123.835447414] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051123.837978325] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051123.838467306] [sailbot.teensy]: Wind angle: 153 +[teensy-2] [INFO] [1746051123.839490151] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051123.839569949] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051123.840482067] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051123.840878596] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051123.844530524] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051123.844949956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051123.845668560] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051123.846698878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051123.847796387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051123.945416442] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051123.946122470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051123.946968164] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051123.948273141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051123.948878695] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051123.957256343] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051123.958365836] [sailbot.main_algo]: Target Bearing: -142.4937143010125 +[main_algo-3] [INFO] [1746051123.959303655] [sailbot.main_algo]: Heading Difference: 178.66171430101247 +[main_algo-3] [INFO] [1746051123.960357272] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051123.961311479] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051123.962365922] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051123.963443837] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051123.964088507] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051124.002734132] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903999 Long: -76.50276821 +[main_algo-3] [INFO] [1746051124.003797995] [sailbot.main_algo]: Distance to destination: 56.67361615849989 +[vectornav-1] [INFO] [1746051124.003874305] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (36.08299999999997, -1.558, 5.188) +[main_algo-3] [INFO] [1746051124.005154405] [sailbot.main_algo]: Target Bearing: -142.5020278032597 +[main_algo-3] [INFO] [1746051124.006147748] [sailbot.main_algo]: Heading Difference: 178.6700278032597 +[main_algo-3] [INFO] [1746051124.007036587] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051124.007892538] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051124.008770172] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051124.010584057] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051124.044965561] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051124.045787874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051124.046228712] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051124.047674918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051124.048736889] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051124.085406433] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051124.088039863] [sailbot.teensy]: Wind angle: 153 +[trim_sail-4] [INFO] [1746051124.088009012] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051124.088402594] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051124.089036598] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051124.090190146] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051124.091076078] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051124.144967536] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051124.145764708] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051124.147575369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051124.146388561] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051124.148864932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051124.245136961] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051124.246167897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051124.246528804] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051124.248367706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051124.249404304] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051124.335111418] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051124.337286176] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051124.337365115] [sailbot.teensy]: Wind angle: 154 +[mux-7] [INFO] [1746051124.338008518] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051124.338239627] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051124.339126057] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051124.340020559] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051124.344302956] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051124.345456992] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051124.345773329] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051124.347467645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051124.348481789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051124.444928499] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051124.445654527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051124.446196222] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051124.447581677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051124.448639571] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051124.457038430] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051124.458042342] [sailbot.main_algo]: Target Bearing: -142.5020278032597 +[main_algo-3] [INFO] [1746051124.458954069] [sailbot.main_algo]: Heading Difference: 178.58502780325966 +[main_algo-3] [INFO] [1746051124.459845124] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051124.460657149] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051124.461435290] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051124.462407231] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051124.462969785] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051124.502742686] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904003 Long: -76.50276796 +[main_algo-3] [INFO] [1746051124.504189689] [sailbot.main_algo]: Distance to destination: 56.6924672026105 +[vectornav-1] [INFO] [1746051124.504416400] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.66899999999998, 1.503, 5.249) +[main_algo-3] [INFO] [1746051124.505324091] [sailbot.main_algo]: Target Bearing: -142.51145071516527 +[main_algo-3] [INFO] [1746051124.506286526] [sailbot.main_algo]: Heading Difference: 178.59445071516524 +[main_algo-3] [INFO] [1746051124.507186376] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051124.508086163] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051124.508963787] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051124.510698231] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051124.544962502] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051124.545753178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051124.546221952] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051124.547782018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051124.548819598] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051124.585108055] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051124.587171626] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051124.587375930] [sailbot.teensy]: Wind angle: 153 +[mux-7] [INFO] [1746051124.587915359] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051124.588409520] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051124.589472142] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051124.590381547] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051124.644916550] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051124.645513141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051124.646293904] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051124.647440411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051124.648586251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051124.745027678] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051124.745646864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051124.746268093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051124.747602067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051124.748741884] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051124.835290482] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051124.836970132] [sailbot.teensy]: Wind angle: 154 +[trim_sail-4] [INFO] [1746051124.837791001] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051124.837944599] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051124.838854457] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051124.839086072] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051124.839775874] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051124.844313466] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051124.844914139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051124.845713302] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051124.846639588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051124.847705621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051124.945067446] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051124.945806666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051124.946461441] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051124.947832758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051124.949050177] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051124.957090246] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051124.958098692] [sailbot.main_algo]: Target Bearing: -142.51145071516527 +[main_algo-3] [INFO] [1746051124.959004646] [sailbot.main_algo]: Heading Difference: 178.18045071516525 +[main_algo-3] [INFO] [1746051124.959883359] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051124.960696741] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051124.961477842] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051124.962493234] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051124.963148061] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051125.003212610] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904004 Long: -76.50276826 +[main_algo-3] [INFO] [1746051125.004197881] [sailbot.main_algo]: Distance to destination: 56.673857521475995 +[vectornav-1] [INFO] [1746051125.004630669] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.386000000000024, -1.959, 4.487) +[main_algo-3] [INFO] [1746051125.005556640] [sailbot.main_algo]: Target Bearing: -142.49504708479972 +[main_algo-3] [INFO] [1746051125.006916951] [sailbot.main_algo]: Heading Difference: 178.16404708479968 +[main_algo-3] [INFO] [1746051125.007851854] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051125.008759899] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051125.009599063] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051125.011525469] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051125.045345799] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051125.045757120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051125.046794061] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051125.047724949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051125.048807183] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051125.085039138] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051125.086606386] [sailbot.teensy]: Wind angle: 154 +[trim_sail-4] [INFO] [1746051125.087199487] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051125.087468749] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051125.088261350] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051125.088309916] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051125.089170119] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051125.144978643] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051125.145701211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051125.146275500] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051125.147658945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051125.148851285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051125.245170998] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051125.245947708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051125.246571277] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051125.248176182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051125.249307227] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051125.335482224] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051125.337873771] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051125.338693007] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051125.339668767] [sailbot.teensy]: Wind angle: 154 +[teensy-2] [INFO] [1746051125.340747575] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051125.341353198] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051125.341773996] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051125.344480722] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051125.345136358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051125.345703245] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051125.346991313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051125.348073210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051125.445001344] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051125.445611422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051125.446276823] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051125.447726644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051125.448449301] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051125.457061936] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051125.458158239] [sailbot.main_algo]: Target Bearing: -142.49504708479972 +[main_algo-3] [INFO] [1746051125.459085911] [sailbot.main_algo]: Heading Difference: 177.88104708479977 +[main_algo-3] [INFO] [1746051125.459925805] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051125.460739801] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051125.461528955] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051125.462519452] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051125.463284949] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051125.502766504] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904034 Long: -76.5027682 +[vectornav-1] [INFO] [1746051125.503960126] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.764999999999986, 0.206, 6.118) +[main_algo-3] [INFO] [1746051125.504378284] [sailbot.main_algo]: Distance to destination: 56.69847168941447 +[main_algo-3] [INFO] [1746051125.505652991] [sailbot.main_algo]: Target Bearing: -142.4718097148051 +[main_algo-3] [INFO] [1746051125.507537537] [sailbot.main_algo]: Heading Difference: 177.85780971480511 +[main_algo-3] [INFO] [1746051125.508551955] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051125.509460882] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051125.510325258] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051125.512119212] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051125.545611177] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051125.545735447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051125.546849983] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051125.547731810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051125.548955733] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051125.585195866] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051125.587229586] [sailbot.teensy]: Wind angle: 154 +[trim_sail-4] [INFO] [1746051125.587301873] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051125.588170987] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051125.588540415] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051125.589045898] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051125.589931783] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051125.645067823] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051125.645926100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051125.646500205] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051125.648110377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051125.649245552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051125.745169449] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051125.745907648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051125.746719683] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051125.748028492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051125.749261852] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051125.835277050] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051125.837792871] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051125.837915572] [sailbot.teensy]: Wind angle: 154 +[teensy-2] [INFO] [1746051125.838816622] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051125.839121835] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051125.839200004] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051125.839573080] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051125.844407030] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051125.844975947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051125.845528278] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051125.846688513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051125.847704726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051125.945196226] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051125.945941333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051125.946736954] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051125.947989721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051125.948458406] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051125.956899016] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051125.957782122] [sailbot.main_algo]: Target Bearing: -142.4718097148051 +[main_algo-3] [INFO] [1746051125.958616031] [sailbot.main_algo]: Heading Difference: 178.23680971480508 +[main_algo-3] [INFO] [1746051125.959400945] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051125.960212283] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051125.961014297] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051125.962010094] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051125.962718274] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051126.003436543] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904045 Long: -76.50276808 +[main_algo-3] [INFO] [1746051126.003720401] [sailbot.main_algo]: Distance to destination: 56.71380100632742 +[vectornav-1] [INFO] [1746051126.004670023] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.23399999999998, -0.219, 4.392) +[main_algo-3] [INFO] [1746051126.005046814] [sailbot.main_algo]: Target Bearing: -142.46836767533506 +[main_algo-3] [INFO] [1746051126.006548948] [sailbot.main_algo]: Heading Difference: 178.23336767533505 +[main_algo-3] [INFO] [1746051126.007466910] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051126.008376642] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051126.009248509] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051126.010993010] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051126.045347112] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051126.045618052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051126.046764690] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051126.047570734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051126.048801573] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051126.085232092] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051126.086933770] [sailbot.teensy]: Wind angle: 154 +[trim_sail-4] [INFO] [1746051126.087283240] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051126.087851981] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051126.088340959] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051126.088914994] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051126.089845628] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051126.145051104] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051126.145986641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051126.146457434] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051126.147996912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051126.149190186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051126.245151811] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051126.245977508] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051126.246696620] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051126.248009776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051126.249185070] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051126.335529853] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051126.337662914] [sailbot.teensy]: Wind angle: 155 +[trim_sail-4] [INFO] [1746051126.337985105] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051126.338679868] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051126.339459511] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051126.339851847] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051126.340797303] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051126.344366223] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051126.345083407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051126.345649713] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051126.346898695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051126.347916063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051126.445254255] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051126.446185549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051126.447183934] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051126.448354707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051126.449520491] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051126.457088945] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051126.458090945] [sailbot.main_algo]: Target Bearing: -142.46836767533506 +[main_algo-3] [INFO] [1746051126.458985099] [sailbot.main_algo]: Heading Difference: 177.70236767533504 +[main_algo-3] [INFO] [1746051126.459833477] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051126.460637375] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051126.461430942] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051126.462457288] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051126.463368122] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051126.503555069] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904043 Long: -76.50276813 +[main_algo-3] [INFO] [1746051126.503808638] [sailbot.main_algo]: Distance to destination: 56.70920157857097 +[main_algo-3] [INFO] [1746051126.504921552] [sailbot.main_algo]: Target Bearing: -142.46753450541462 +[vectornav-1] [INFO] [1746051126.504737432] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (36.14100000000002, -0.134, 5.174) +[main_algo-3] [INFO] [1746051126.505914964] [sailbot.main_algo]: Heading Difference: 177.7015345054146 +[main_algo-3] [INFO] [1746051126.506806180] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051126.507707764] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051126.508597415] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051126.510328048] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051126.544964989] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051126.545697550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051126.546237018] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051126.547804198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051126.548821590] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051126.585263249] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051126.586940747] [sailbot.teensy]: Wind angle: 155 +[trim_sail-4] [INFO] [1746051126.587838841] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051126.588295323] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051126.589257361] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051126.589912053] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051126.590152434] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051126.645189581] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051126.645678217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051126.646660041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051126.647903262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051126.649130822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051126.745713412] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051126.746192062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051126.747427466] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051126.748400090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051126.749750797] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051126.835172205] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051126.837514166] [sailbot.teensy]: Wind angle: 155 +[trim_sail-4] [INFO] [1746051126.837608752] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051126.838428042] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051126.838561630] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051126.839897469] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051126.840791810] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051126.844342231] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051126.844974978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051126.845467735] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051126.846766840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051126.847775031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051126.944937683] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051126.945791110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051126.946225423] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051126.947611393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051126.948639970] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051126.957262468] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051126.958347097] [sailbot.main_algo]: Target Bearing: -142.46753450541462 +[main_algo-3] [INFO] [1746051126.959260525] [sailbot.main_algo]: Heading Difference: 178.60853450541464 +[main_algo-3] [INFO] [1746051126.960106455] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051126.960971856] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051126.961817025] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051126.962839706] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051126.963492000] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051127.003035059] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904058 Long: -76.50276825 +[main_algo-3] [INFO] [1746051127.003919906] [sailbot.main_algo]: Distance to destination: 56.71186927626302 +[vectornav-1] [INFO] [1746051127.004345113] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (36.764999999999986, -0.793, 5.534) +[main_algo-3] [INFO] [1746051127.005177004] [sailbot.main_algo]: Target Bearing: -142.44815978031568 +[main_algo-3] [INFO] [1746051127.006186986] [sailbot.main_algo]: Heading Difference: 178.5891597803157 +[main_algo-3] [INFO] [1746051127.007088942] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051127.007980161] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051127.008852027] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051127.010543268] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051127.045185005] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051127.046089254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051127.046582026] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051127.048207665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051127.049307925] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051127.085120597] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051127.087299172] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051127.087431401] [sailbot.teensy]: Wind angle: 155 +[teensy-2] [INFO] [1746051127.088405001] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051127.088922801] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051127.089721196] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051127.090680889] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051127.145189425] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051127.145934384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051127.146664548] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051127.148183258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051127.149355548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051127.245148973] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051127.246255552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051127.246514695] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051127.248055267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051127.249115608] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051127.335200516] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051127.336941327] [sailbot.teensy]: Wind angle: 156 +[trim_sail-4] [INFO] [1746051127.337541792] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051127.337876329] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051127.338769535] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051127.338850044] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051127.339645227] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051127.344502359] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051127.345164275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051127.345650540] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051127.347224142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051127.348387501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051127.444765613] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051127.445581588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051127.446603704] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051127.447783846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051127.448716345] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051127.457178164] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051127.458345916] [sailbot.main_algo]: Target Bearing: -142.44815978031568 +[main_algo-3] [INFO] [1746051127.459291659] [sailbot.main_algo]: Heading Difference: 179.21315978031566 +[main_algo-3] [INFO] [1746051127.460116028] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051127.460964294] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051127.461755266] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051127.462761157] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051127.463870876] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051127.502738170] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904065 Long: -76.50276824 +[vectornav-1] [INFO] [1746051127.503900967] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.05500000000001, -0.22, 5.229) +[main_algo-3] [INFO] [1746051127.504057570] [sailbot.main_algo]: Distance to destination: 56.717359006293535 +[main_algo-3] [INFO] [1746051127.505336722] [sailbot.main_algo]: Target Bearing: -142.44253715397238 +[main_algo-3] [INFO] [1746051127.506378724] [sailbot.main_algo]: Heading Difference: 179.20753715397234 +[main_algo-3] [INFO] [1746051127.507368989] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051127.508313392] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051127.509197176] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051127.510923864] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051127.545376745] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051127.546224447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051127.546858086] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051127.548824936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051127.550001540] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051127.585569453] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051127.587387739] [sailbot.teensy]: Wind angle: 157 +[teensy-2] [INFO] [1746051127.588350642] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051127.589271093] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051127.588382877] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051127.589662601] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051127.590154027] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051127.645207251] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051127.645933693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051127.646720361] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051127.648551001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051127.649121665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051127.745086914] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051127.745740786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051127.746532912] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051127.747732833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051127.748820751] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051127.835314718] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051127.837049901] [sailbot.teensy]: Wind angle: 158 +[trim_sail-4] [INFO] [1746051127.837702628] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051127.837991839] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051127.838933021] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051127.839257093] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051127.839344912] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051127.844459915] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051127.845002611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051127.845560674] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051127.846729898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051127.847861533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051127.945389991] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051127.946190986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051127.946901128] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051127.947973385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051127.948558621] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051127.957093514] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051127.958095649] [sailbot.main_algo]: Target Bearing: -142.44253715397238 +[main_algo-3] [INFO] [1746051127.959002038] [sailbot.main_algo]: Heading Difference: 179.49753715397242 +[main_algo-3] [INFO] [1746051127.959844389] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051127.960678825] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051127.961474993] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051127.962506593] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051127.963150360] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051128.003020753] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904073 Long: -76.50276815 +[vectornav-1] [INFO] [1746051128.004486054] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.34800000000001, 0.221, 5.174) +[main_algo-3] [INFO] [1746051128.004509161] [sailbot.main_algo]: Distance to destination: 56.72868415391048 +[main_algo-3] [INFO] [1746051128.005795346] [sailbot.main_algo]: Target Bearing: -142.44018147361845 +[main_algo-3] [INFO] [1746051128.006762896] [sailbot.main_algo]: Heading Difference: 179.49518147361846 +[main_algo-3] [INFO] [1746051128.007672049] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051128.008584118] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051128.009433483] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051128.011159042] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051128.045147933] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051128.046018670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051128.046549022] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051128.048249899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051128.049457508] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051128.085285394] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051128.087394465] [sailbot.teensy]: Wind angle: 158 +[trim_sail-4] [INFO] [1746051128.087522783] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051128.088409407] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051128.089296451] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051128.089445149] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051128.090230616] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051128.144920405] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051128.145491379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051128.146176144] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051128.147280729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051128.148306109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051128.245261754] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051128.245868238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051128.246756584] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051128.247854469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051128.248969935] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051128.335259025] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051128.337774415] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051128.338386373] [sailbot.teensy]: Wind angle: 158 +[mux-7] [INFO] [1746051128.338855811] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051128.339336238] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051128.340270179] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051128.341088328] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051128.344501121] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051128.344918531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051128.345701227] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051128.346573218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051128.347748252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051128.445478356] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051128.446061406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051128.447151588] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051128.448198145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051128.449257700] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051128.457203437] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051128.458307869] [sailbot.main_algo]: Target Bearing: -142.44018147361845 +[main_algo-3] [INFO] [1746051128.459237053] [sailbot.main_algo]: Heading Difference: 179.78818147361847 +[main_algo-3] [INFO] [1746051128.460092796] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051128.460965403] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051128.461811958] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051128.462761401] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051128.463526908] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051128.503117116] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690408 Long: -76.50276834 +[main_algo-3] [INFO] [1746051128.504032301] [sailbot.main_algo]: Distance to destination: 56.72132039476345 +[vectornav-1] [INFO] [1746051128.504443357] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.543000000000006, -1.363, 4.881) +[main_algo-3] [INFO] [1746051128.505265280] [sailbot.main_algo]: Target Bearing: -142.42420252629452 +[main_algo-3] [INFO] [1746051128.506327364] [sailbot.main_algo]: Heading Difference: 179.77220252629456 +[main_algo-3] [INFO] [1746051128.507225156] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051128.508090533] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051128.508947919] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051128.510722205] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051128.545324025] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051128.546232531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051128.547221770] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051128.548309579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051128.549482136] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051128.585196512] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051128.586789486] [sailbot.teensy]: Wind angle: 158 +[trim_sail-4] [INFO] [1746051128.587279375] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051128.587669596] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051128.588540077] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051128.588609541] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051128.589533284] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051128.645064668] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051128.645947157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051128.646499716] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051128.648029457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051128.649136507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051128.745339775] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051128.746071026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051128.746857412] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051128.747979670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051128.748532254] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051128.835198879] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051128.836926153] [sailbot.teensy]: Wind angle: 158 +[trim_sail-4] [INFO] [1746051128.837456647] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051128.837887138] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051128.838842699] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051128.839699465] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051128.839758861] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051128.844494008] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051128.845011913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051128.845860114] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051128.846763826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051128.847943852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051128.945726013] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051128.946398185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051128.947455805] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051128.948681240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051128.949241003] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051128.957020017] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051128.957977131] [sailbot.main_algo]: Target Bearing: -142.42420252629452 +[main_algo-3] [INFO] [1746051128.958863204] [sailbot.main_algo]: Heading Difference: -179.0327974737055 +[main_algo-3] [INFO] [1746051128.959657804] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051128.960470108] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051128.961277526] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051128.962265617] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051128.962887638] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051129.003496049] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904107 Long: -76.50276829 +[main_algo-3] [INFO] [1746051129.003834739] [sailbot.main_algo]: Distance to destination: 56.74324129618259 +[vectornav-1] [INFO] [1746051129.004794781] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.09699999999998, 1.288, 5.09) +[main_algo-3] [INFO] [1746051129.004980986] [sailbot.main_algo]: Target Bearing: -142.40312592168544 +[main_algo-3] [INFO] [1746051129.005962571] [sailbot.main_algo]: Heading Difference: -179.05387407831455 +[main_algo-3] [INFO] [1746051129.006881665] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051129.007830653] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051129.008727052] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051129.010478194] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051129.045351958] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051129.045954947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051129.046812061] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051129.047942661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051129.049083425] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051129.085359848] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051129.087114192] [sailbot.teensy]: Wind angle: 159 +[trim_sail-4] [INFO] [1746051129.087944489] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051129.088058481] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051129.088951171] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051129.088811975] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051129.089910078] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051129.145272458] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051129.145823507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051129.146755280] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051129.147827917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051129.149171698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051129.245331310] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051129.245910397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051129.247101575] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051129.247828297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051129.249048037] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051129.335450865] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051129.337302176] [sailbot.teensy]: Wind angle: 160 +[trim_sail-4] [INFO] [1746051129.338425461] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051129.340385693] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051129.340390188] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051129.341404559] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051129.342321422] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051129.344266135] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051129.344713568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051129.345372141] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051129.346425914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051129.347502631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051129.445265605] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051129.445900773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051129.446811561] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051129.448068083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051129.449027474] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051129.457138417] [sailbot.main_algo]: Wind Direction: 160 +[main_algo-3] [INFO] [1746051129.458173219] [sailbot.main_algo]: Target Bearing: -142.40312592168544 +[main_algo-3] [INFO] [1746051129.459137779] [sailbot.main_algo]: Heading Difference: 179.50012592168542 +[main_algo-3] [INFO] [1746051129.460018303] [sailbot.main_algo]: Wind Direction: 160 +[main_algo-3] [INFO] [1746051129.460829807] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051129.461643687] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051129.462707733] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051129.463329181] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051129.503657100] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904113 Long: -76.50276846 +[main_algo-3] [INFO] [1746051129.504185008] [sailbot.main_algo]: Distance to destination: 56.7364791758962 +[main_algo-3] [INFO] [1746051129.505341450] [sailbot.main_algo]: Target Bearing: -142.38905910886353 +[main_algo-3] [INFO] [1746051129.506411203] [sailbot.main_algo]: Heading Difference: 179.48605910886351 +[vectornav-1] [INFO] [1746051129.506609630] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.27699999999999, -1.548, 4.968) +[main_algo-3] [INFO] [1746051129.507372121] [sailbot.main_algo]: Wind Direction: 160 +[main_algo-3] [INFO] [1746051129.508298985] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051129.509168372] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051129.510992864] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051129.545062882] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051129.545786512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051129.546313975] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051129.547787231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051129.548925407] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051129.585384483] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051129.587634906] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051129.587929571] [sailbot.teensy]: Wind angle: 162 +[mux-7] [INFO] [1746051129.588499001] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051129.588993795] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051129.589958950] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051129.590908373] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051129.645162304] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051129.646193068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051129.647110486] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051129.648264394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051129.649357506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051129.745542627] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051129.746348211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051129.747178316] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051129.748691200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051129.749949957] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051129.835251458] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051129.837017926] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051129.837356085] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051129.837930640] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051129.838790284] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051129.839117980] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051129.839196767] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051129.844401366] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051129.845106490] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051129.845546527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051129.846905260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051129.847925625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051129.945197248] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051129.946196049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051129.946741489] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051129.948306612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051129.948720455] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051129.957195131] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051129.958285461] [sailbot.main_algo]: Target Bearing: -142.38905910886353 +[main_algo-3] [INFO] [1746051129.959240691] [sailbot.main_algo]: Heading Difference: 179.66605910886352 +[main_algo-3] [INFO] [1746051129.960110679] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051129.961030029] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051129.962050330] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051129.963114331] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051129.963754054] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051130.002936236] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904127 Long: -76.50276867 +[main_algo-3] [INFO] [1746051130.003921311] [sailbot.main_algo]: Distance to destination: 56.73270009679283 +[vectornav-1] [INFO] [1746051130.004091939] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.43599999999998, 0.241, 5.251) +[main_algo-3] [INFO] [1746051130.005194228] [sailbot.main_algo]: Target Bearing: -142.36590630066667 +[main_algo-3] [INFO] [1746051130.006221930] [sailbot.main_algo]: Heading Difference: 179.64290630066665 +[main_algo-3] [INFO] [1746051130.007232385] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051130.008128807] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051130.009062217] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051130.010778041] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051130.045470212] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051130.046138085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051130.047038825] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051130.048853785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051130.050102234] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051130.085342207] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051130.087452847] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051130.088089332] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051130.088349048] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051130.089494928] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051130.090459845] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051130.091300117] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051130.144980772] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051130.145717411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051130.146304120] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051130.147631990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051130.148799410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051130.245364469] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051130.246416415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051130.246890483] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051130.249068299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051130.250117543] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051130.335207953] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051130.337272290] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051130.337384909] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051130.338263274] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051130.339542859] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051130.339749935] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051130.340520223] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051130.344408187] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051130.345000790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051130.345638727] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051130.346706498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051130.347830821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051130.445227121] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051130.446101850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051130.446784866] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051130.448427596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051130.449507379] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051130.457181753] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051130.458315402] [sailbot.main_algo]: Target Bearing: -142.36590630066667 +[main_algo-3] [INFO] [1746051130.459282124] [sailbot.main_algo]: Heading Difference: -179.19809369933336 +[main_algo-3] [INFO] [1746051130.460169802] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051130.461056442] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051130.461867529] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051130.462892265] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051130.463477269] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051130.502672234] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904138 Long: -76.50276874 +[main_algo-3] [INFO] [1746051130.503667652] [sailbot.main_algo]: Distance to destination: 56.73583635372805 +[vectornav-1] [INFO] [1746051130.503778938] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.01600000000002, -0.712, 4.833) +[main_algo-3] [INFO] [1746051130.504834255] [sailbot.main_algo]: Target Bearing: -142.35264114279616 +[main_algo-3] [INFO] [1746051130.505878400] [sailbot.main_algo]: Heading Difference: -179.2113588572039 +[main_algo-3] [INFO] [1746051130.506785935] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051130.507727008] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051130.508705424] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051130.510599614] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051130.545394748] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051130.546232152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051130.546912928] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051130.548530052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051130.549550331] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051130.585092701] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051130.587156510] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051130.587194893] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051130.588213394] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051130.589052253] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051130.589239421] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051130.590223410] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051130.644977075] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051130.645838600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051130.646299611] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051130.647954061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051130.649027400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051130.745224935] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051130.746285013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051130.747116250] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051130.748410001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051130.748956169] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051130.835340241] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051130.837839347] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051130.838009259] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051130.838983385] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051130.839358150] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051130.839871982] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051130.840517757] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051130.844488230] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051130.844959244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051130.845697351] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051130.846621385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051130.847739250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051130.945472218] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051130.946087507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051130.947428076] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051130.948284793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051130.949563238] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051130.957174919] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051130.958196503] [sailbot.main_algo]: Target Bearing: -142.35264114279616 +[main_algo-3] [INFO] [1746051130.959093048] [sailbot.main_algo]: Heading Difference: -178.63135885720385 +[main_algo-3] [INFO] [1746051130.959946979] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051130.960814929] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051130.961725703] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051130.962720393] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051130.963397988] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051131.003446580] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904144 Long: -76.50276882 +[main_algo-3] [INFO] [1746051131.004346440] [sailbot.main_algo]: Distance to destination: 56.73486379688108 +[vectornav-1] [INFO] [1746051131.004808043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.82400000000001, 0.543, 5.279) +[main_algo-3] [INFO] [1746051131.006023439] [sailbot.main_algo]: Target Bearing: -142.34323659293986 +[main_algo-3] [INFO] [1746051131.007016106] [sailbot.main_algo]: Heading Difference: -178.64076340706015 +[main_algo-3] [INFO] [1746051131.007888120] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051131.008833078] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051131.009748606] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051131.011438594] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051131.045174269] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051131.045889049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051131.046584995] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051131.047862026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051131.049046853] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051131.085230984] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051131.086811366] [sailbot.teensy]: Wind angle: 164 +[trim_sail-4] [INFO] [1746051131.087370559] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051131.087673242] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051131.088488702] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051131.088711861] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051131.089380768] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051131.145103015] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051131.145829752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051131.146431939] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051131.147681926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051131.148730849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051131.245469145] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051131.246209503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051131.247242330] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051131.248514218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051131.249111228] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051131.335283981] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051131.337582797] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051131.337937387] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051131.338934268] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051131.339300956] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051131.339456800] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051131.339801610] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051131.344495169] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051131.345165200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051131.345920269] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051131.346965206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051131.348038431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051131.445302036] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051131.446023700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051131.447071239] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051131.448220548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051131.449392405] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051131.457142436] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051131.458191928] [sailbot.main_algo]: Target Bearing: -142.34323659293986 +[main_algo-3] [INFO] [1746051131.459112154] [sailbot.main_algo]: Heading Difference: -179.83276340706016 +[main_algo-3] [INFO] [1746051131.460050008] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051131.460947344] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051131.461758410] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051131.462894903] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051131.463393594] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051131.503689955] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904135 Long: -76.50276884 +[main_algo-3] [INFO] [1746051131.504273467] [sailbot.main_algo]: Distance to destination: 56.72733470767878 +[vectornav-1] [INFO] [1746051131.505058580] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (36.76400000000001, -1.7, 4.943) +[main_algo-3] [INFO] [1746051131.505875276] [sailbot.main_algo]: Target Bearing: -142.35008069035592 +[main_algo-3] [INFO] [1746051131.506919016] [sailbot.main_algo]: Heading Difference: -179.82591930964406 +[main_algo-3] [INFO] [1746051131.507878055] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051131.508812907] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051131.509681760] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051131.511400737] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051131.545100361] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051131.545810657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051131.546373023] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051131.547938229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051131.548956113] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051131.585372466] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051131.587059394] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051131.587566236] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051131.587978195] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051131.589340725] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051131.590125355] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051131.590233559] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051131.645071136] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051131.645605667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051131.646423513] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051131.647461419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051131.648622773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051131.745672565] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051131.746100319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051131.747806456] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051131.748374150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051131.749528707] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051131.835153272] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051131.836766150] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051131.837387114] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051131.837707293] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051131.838608687] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051131.839107794] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051131.839465753] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051131.844607456] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051131.845124886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051131.846144794] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051131.846859848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051131.847994118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051131.945335723] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051131.945870081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051131.946827278] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051131.948165108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051131.949318607] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051131.957107083] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051131.958261023] [sailbot.main_algo]: Target Bearing: -142.35008069035592 +[main_algo-3] [INFO] [1746051131.959221894] [sailbot.main_algo]: Heading Difference: 179.11408069035593 +[main_algo-3] [INFO] [1746051131.960143389] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051131.961052677] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051131.961926708] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051131.962962944] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051131.963700883] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051132.003097018] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904156 Long: -76.50276884 +[main_algo-3] [INFO] [1746051132.004046033] [sailbot.main_algo]: Distance to destination: 56.74190854498853 +[vectornav-1] [INFO] [1746051132.004394392] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (36.117999999999995, 0.486, 4.663) +[main_algo-3] [INFO] [1746051132.005309037] [sailbot.main_algo]: Target Bearing: -142.33169248005768 +[main_algo-3] [INFO] [1746051132.006339017] [sailbot.main_algo]: Heading Difference: 179.09569248005766 +[main_algo-3] [INFO] [1746051132.007270682] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051132.008128237] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051132.009024143] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051132.010835937] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051132.045019184] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051132.045746890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051132.046321643] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051132.047948637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051132.049065238] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051132.085254301] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051132.087504343] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051132.088616071] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051132.089385859] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051132.090307384] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051132.091124889] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051132.091990963] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051132.145085401] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051132.145864705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051132.146565127] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051132.147952812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051132.148996055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051132.245274996] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051132.246041045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051132.246862947] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051132.248250005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051132.249655678] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051132.335307808] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051132.337241647] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051132.337855280] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051132.338341269] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051132.339305236] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051132.339893269] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051132.340222610] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051132.344512963] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051132.345027950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051132.345937983] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051132.346793135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051132.347998894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051132.445510592] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051132.446327517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051132.447107267] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051132.448328691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051132.448871789] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051132.457213002] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051132.458432200] [sailbot.main_algo]: Target Bearing: -142.33169248005768 +[main_algo-3] [INFO] [1746051132.459429465] [sailbot.main_algo]: Heading Difference: 178.4496924800577 +[main_algo-3] [INFO] [1746051132.460357238] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051132.461215205] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051132.462064691] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051132.463138145] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051132.463760692] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051132.502697421] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904171 Long: -76.50276886 +[vectornav-1] [INFO] [1746051132.503906917] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.331999999999994, -0.287, 5.267) +[main_algo-3] [INFO] [1746051132.503671768] [sailbot.main_algo]: Distance to destination: 56.751038573927296 +[main_algo-3] [INFO] [1746051132.505069576] [sailbot.main_algo]: Target Bearing: -142.31752586669785 +[main_algo-3] [INFO] [1746051132.506054450] [sailbot.main_algo]: Heading Difference: 178.43552586669784 +[main_algo-3] [INFO] [1746051132.507413871] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051132.508349766] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051132.509206018] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051132.510947678] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051132.545099210] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051132.545687112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051132.546442767] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051132.547574911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051132.548643243] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051132.585178988] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051132.586924020] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051132.587671939] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051132.587879081] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051132.588784600] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051132.588987881] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051132.589660008] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051132.644835264] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051132.645507067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051132.646019154] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051132.647287344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051132.648434160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051132.745301608] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051132.745861052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051132.746845502] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051132.747976579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051132.749143600] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051132.835141319] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051132.837354600] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051132.838082992] [sailbot.teensy]: Wind angle: 163 +[mux-7] [INFO] [1746051132.838661204] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051132.839231400] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051132.840173697] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051132.840776588] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051132.844607538] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051132.845137844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051132.845864410] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051132.846939887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051132.848062281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051132.945450854] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051132.946104932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051132.947210869] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051132.948323700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051132.948902938] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051132.956951184] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051132.957831183] [sailbot.main_algo]: Target Bearing: -142.31752586669785 +[main_algo-3] [INFO] [1746051132.958642838] [sailbot.main_algo]: Heading Difference: 177.64952586669784 +[main_algo-3] [INFO] [1746051132.959432568] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051132.960245252] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051132.961032404] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051132.962170949] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051132.963061033] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051133.003457271] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904175 Long: -76.50276884 +[main_algo-3] [INFO] [1746051133.003662333] [sailbot.main_algo]: Distance to destination: 56.75509943073406 +[vectornav-1] [INFO] [1746051133.004610834] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.238, -0.343, 4.518) +[main_algo-3] [INFO] [1746051133.004702961] [sailbot.main_algo]: Target Bearing: -142.31506366740885 +[main_algo-3] [INFO] [1746051133.005732920] [sailbot.main_algo]: Heading Difference: 177.64706366740882 +[main_algo-3] [INFO] [1746051133.006634721] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051133.007530510] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051133.008438043] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051133.010258821] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051133.045097151] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051133.045628166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051133.046436284] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051133.047491479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051133.048684479] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051133.085349358] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051133.087602665] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051133.088481854] [sailbot.teensy]: Wind angle: 163 +[mux-7] [INFO] [1746051133.088575249] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051133.090328373] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051133.091329663] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051133.092185065] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051133.145347100] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051133.145965159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051133.147167695] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051133.148527166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051133.149712302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051133.245139584] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051133.246236619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051133.246596560] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051133.248244943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051133.248773699] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051133.335268275] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051133.337855639] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051133.338792832] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051133.338901867] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051133.339320067] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051133.339689907] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051133.340059080] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051133.344434520] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051133.345051604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051133.345634069] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051133.346769277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051133.347782485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051133.445155707] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051133.445833942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051133.446601263] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051133.447953388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051133.449319951] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051133.457137742] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051133.458176257] [sailbot.main_algo]: Target Bearing: -142.31506366740885 +[main_algo-3] [INFO] [1746051133.459061995] [sailbot.main_algo]: Heading Difference: 177.55306366740888 +[main_algo-3] [INFO] [1746051133.459924743] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051133.460897801] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051133.461768524] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051133.462860162] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051133.463901831] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051133.502896088] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904192 Long: -76.50276894 +[vectornav-1] [INFO] [1746051133.504133105] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.75, -0.469, 4.388) +[main_algo-3] [INFO] [1746051133.504644319] [sailbot.main_algo]: Distance to destination: 56.76049053415017 +[main_algo-3] [INFO] [1746051133.505729025] [sailbot.main_algo]: Target Bearing: -142.2950007987612 +[main_algo-3] [INFO] [1746051133.507073622] [sailbot.main_algo]: Heading Difference: 177.53300079876124 +[main_algo-3] [INFO] [1746051133.508092304] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051133.509023787] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051133.509882608] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051133.511571809] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051133.545119583] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051133.545827496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051133.546548945] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051133.548136068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051133.549267501] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051133.585122583] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051133.586793507] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051133.587177736] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051133.587658824] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051133.588595917] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051133.589493350] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051133.589792351] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051133.644979137] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051133.645578874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051133.646351973] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051133.647705401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051133.648181674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051133.745028321] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051133.745661506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051133.746300426] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051133.747609732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051133.748673255] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051133.835206602] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051133.836831402] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051133.837376730] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051133.838463540] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051133.838869305] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051133.838948364] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051133.839259260] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051133.844555817] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051133.845058341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051133.845968599] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051133.847140118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051133.848209368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051133.944863515] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051133.945425203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051133.946065405] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051133.947262472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051133.948305258] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051133.957171757] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051133.958278610] [sailbot.main_algo]: Target Bearing: -142.2950007987612 +[main_algo-3] [INFO] [1746051133.959235623] [sailbot.main_algo]: Heading Difference: 177.04500079876118 +[main_algo-3] [INFO] [1746051133.960104240] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051133.960928077] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051133.961718424] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051133.962800343] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051133.963273904] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051134.002945117] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904188 Long: -76.50276908 +[main_algo-3] [INFO] [1746051134.003844107] [sailbot.main_algo]: Distance to destination: 56.748730789387956 +[vectornav-1] [INFO] [1746051134.004092539] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.84500000000003, -0.262, 5.309) +[main_algo-3] [INFO] [1746051134.005022491] [sailbot.main_algo]: Target Bearing: -142.29123046049386 +[main_algo-3] [INFO] [1746051134.006013905] [sailbot.main_algo]: Heading Difference: 177.04123046049386 +[main_algo-3] [INFO] [1746051134.006901436] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051134.007822747] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051134.008709882] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051134.010416403] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051134.045000125] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051134.045755378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051134.046287092] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051134.047734119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051134.048958241] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051134.085202344] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051134.087546696] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051134.088773376] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051134.088802940] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051134.089809471] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051134.090730682] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051134.091639221] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051134.144939830] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051134.145615913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051134.146599764] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051134.147476337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051134.148586456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051134.245173354] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051134.245957662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051134.246617106] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051134.248237798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051134.249128350] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051134.335160913] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051134.337335306] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051134.337694647] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051134.338702162] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051134.338998455] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051134.339630780] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051134.340566549] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051134.344336364] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051134.344858840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051134.345435193] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051134.346889274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051134.347900546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051134.444875240] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051134.445414755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051134.446207935] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051134.447283429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051134.448312426] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051134.457121699] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051134.458098987] [sailbot.main_algo]: Target Bearing: -142.29123046049386 +[main_algo-3] [INFO] [1746051134.458984180] [sailbot.main_algo]: Heading Difference: 177.1362304604939 +[main_algo-3] [INFO] [1746051134.459864861] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051134.460727271] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051134.461553339] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051134.462596448] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051134.463347775] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051134.503302994] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904184 Long: -76.50276897 +[main_algo-3] [INFO] [1746051134.503951088] [sailbot.main_algo]: Distance to destination: 56.75300877171071 +[vectornav-1] [INFO] [1746051134.504734002] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.625, -0.12, 5.13) +[main_algo-3] [INFO] [1746051134.505167244] [sailbot.main_algo]: Target Bearing: -142.30044138705395 +[main_algo-3] [INFO] [1746051134.506149210] [sailbot.main_algo]: Heading Difference: 177.145441387054 +[main_algo-3] [INFO] [1746051134.507068659] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051134.507964375] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051134.508848499] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051134.510632964] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051134.545123284] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051134.545811688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051134.546552620] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051134.548143446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051134.549385211] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051134.585351615] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051134.587586166] [sailbot.teensy]: Wind angle: 164 +[teensy-2] [INFO] [1746051134.588597174] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051134.587881067] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051134.589367230] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051134.589446352] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051134.590331532] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051134.645004344] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051134.645638699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051134.646332289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051134.647585012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051134.648541607] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051134.745332931] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051134.746062657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051134.747043391] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051134.747771402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051134.748335378] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051134.835187269] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051134.837543279] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051134.838314653] [sailbot.teensy]: Wind angle: 163 +[mux-7] [INFO] [1746051134.838541901] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051134.839251650] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051134.839640695] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051134.840131059] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051134.844479292] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051134.845092235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051134.845668241] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051134.846921784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051134.847933394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051134.944895227] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051134.945433051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051134.946299553] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051134.947243072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051134.948429093] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051134.957188096] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051134.958228160] [sailbot.main_algo]: Target Bearing: -142.30044138705395 +[main_algo-3] [INFO] [1746051134.959165908] [sailbot.main_algo]: Heading Difference: 176.92544138705398 +[main_algo-3] [INFO] [1746051134.960032305] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051134.960957208] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051134.961809522] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051134.962903154] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051134.963531845] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051135.003081686] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904189 Long: -76.50276899 +[vectornav-1] [INFO] [1746051135.004356818] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.726999999999975, -0.75, 4.525) +[main_algo-3] [INFO] [1746051135.004368220] [sailbot.main_algo]: Distance to destination: 56.75519892917563 +[main_algo-3] [INFO] [1746051135.005589523] [sailbot.main_algo]: Target Bearing: -142.29502900998398 +[main_algo-3] [INFO] [1746051135.006682680] [sailbot.main_algo]: Heading Difference: 176.92002900998398 +[main_algo-3] [INFO] [1746051135.007828602] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051135.008786337] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051135.009668436] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051135.011503131] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051135.045107433] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051135.045812719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051135.046704412] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051135.047683254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051135.048754587] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051135.085427145] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051135.087574326] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051135.088568581] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051135.088029311] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051135.089449520] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051135.089478853] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051135.090376015] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051135.144971783] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051135.145683465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051135.146588195] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051135.147556313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051135.148641705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051135.245322672] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051135.246359577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051135.246952402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051135.248639180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051135.249342111] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051135.335442228] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051135.338224444] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051135.338508965] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051135.338963605] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051135.339938348] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051135.340803597] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051135.341656942] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051135.344359538] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051135.344941143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051135.345544440] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051135.346622779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051135.347650779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051135.445152927] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051135.445758905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051135.446601818] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051135.447675233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051135.448163159] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051135.457212194] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051135.458246230] [sailbot.main_algo]: Target Bearing: -142.29502900998398 +[main_algo-3] [INFO] [1746051135.459141053] [sailbot.main_algo]: Heading Difference: 177.02202900998395 +[main_algo-3] [INFO] [1746051135.460016352] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051135.460828103] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051135.461686415] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051135.462662721] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051135.463253970] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051135.502837955] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904211 Long: -76.50276905 +[main_algo-3] [INFO] [1746051135.503872634] [sailbot.main_algo]: Distance to destination: 56.76663729061158 +[vectornav-1] [INFO] [1746051135.504036652] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.867999999999995, 0.219, 4.977) +[main_algo-3] [INFO] [1746051135.505060249] [sailbot.main_algo]: Target Bearing: -142.272673758255 +[main_algo-3] [INFO] [1746051135.506012950] [sailbot.main_algo]: Heading Difference: 176.99967375825497 +[main_algo-3] [INFO] [1746051135.506906659] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051135.507757727] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051135.508624844] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051135.510491632] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051135.544990863] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051135.545702830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051135.546319377] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051135.547701442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051135.548857744] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051135.585103102] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051135.586757185] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051135.587299695] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051135.587618973] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051135.588496813] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051135.588740695] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051135.589412495] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051135.645257356] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051135.645987689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051135.646822596] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051135.648314785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051135.649548159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051135.744836052] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051135.745412665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051135.746332093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051135.747187844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051135.748225768] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051135.835096481] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051135.837345895] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051135.837941646] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051135.838705159] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051135.839572652] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051135.840635891] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051135.841539451] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051135.844537089] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051135.844981751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051135.845717330] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051135.846771436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051135.847769091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051135.945383443] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051135.946388561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051135.946961145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051135.948074091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051135.948569820] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051135.957130655] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051135.958159659] [sailbot.main_algo]: Target Bearing: -142.272673758255 +[main_algo-3] [INFO] [1746051135.959044180] [sailbot.main_algo]: Heading Difference: 177.140673758255 +[main_algo-3] [INFO] [1746051135.959924375] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051135.960742762] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051135.961567801] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051135.962598686] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051135.963400523] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051136.003335619] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904213 Long: -76.50276902 +[main_algo-3] [INFO] [1746051136.004247364] [sailbot.main_algo]: Distance to destination: 56.76995126201212 +[vectornav-1] [INFO] [1746051136.004861280] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.584, -0.92, 5.404) +[main_algo-3] [INFO] [1746051136.005310426] [sailbot.main_algo]: Target Bearing: -142.2724832344856 +[main_algo-3] [INFO] [1746051136.006296751] [sailbot.main_algo]: Heading Difference: 177.1404832344856 +[main_algo-3] [INFO] [1746051136.007212373] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051136.008097313] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051136.008976559] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051136.010819816] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051136.045369422] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051136.045942450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051136.046873504] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051136.048079462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051136.049410860] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051136.085446777] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051136.087202172] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051136.088163384] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051136.087708068] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051136.089062257] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051136.089996502] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051136.089256058] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051136.145140629] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051136.145649812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051136.146491644] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051136.147607537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051136.148688127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051136.245284359] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051136.246005042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051136.247073755] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051136.247824179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051136.248987637] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051136.335500278] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051136.338576440] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051136.339055739] [sailbot.teensy]: Wind angle: 163 +[mux-7] [INFO] [1746051136.339461470] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051136.340056131] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051136.340942544] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051136.341351670] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051136.344613933] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051136.345130541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051136.345812562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051136.347090190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051136.348235351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051136.445283461] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051136.446061279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051136.446781099] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051136.448091666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051136.449075171] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051136.457171895] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051136.458216453] [sailbot.main_algo]: Target Bearing: -142.2724832344856 +[main_algo-3] [INFO] [1746051136.459112624] [sailbot.main_algo]: Heading Difference: 176.8564832344856 +[main_algo-3] [INFO] [1746051136.459981004] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051136.460892744] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051136.461759697] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051136.462768275] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051136.463368827] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051136.502918568] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904217 Long: -76.50276874 +[main_algo-3] [INFO] [1746051136.504306922] [sailbot.main_algo]: Distance to destination: 56.79068900741686 +[vectornav-1] [INFO] [1746051136.504575815] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.01600000000002, 0.404, 4.509) +[main_algo-3] [INFO] [1746051136.505455875] [sailbot.main_algo]: Target Bearing: -142.28352337964301 +[main_algo-3] [INFO] [1746051136.506571467] [sailbot.main_algo]: Heading Difference: 176.867523379643 +[main_algo-3] [INFO] [1746051136.507512730] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051136.508420079] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051136.509267181] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051136.510984596] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051136.545251080] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051136.545943314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051136.546735497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051136.548056121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051136.549017515] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051136.585057375] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051136.587274688] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051136.587660083] [sailbot.teensy]: Wind angle: 164 +[mux-7] [INFO] [1746051136.587893654] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051136.589097346] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051136.590112422] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051136.590942467] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051136.645124177] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051136.645619211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051136.646496198] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051136.647556731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051136.648917709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051136.745469963] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051136.746301417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051136.747176759] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051136.748624916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051136.749881881] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051136.835355864] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051136.837691213] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051136.838479136] [sailbot.teensy]: Wind angle: 164 +[mux-7] [INFO] [1746051136.839253003] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051136.839415000] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051136.840370556] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051136.840949098] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051136.844438896] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051136.845238784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051136.845846126] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051136.847281080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051136.848316202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051136.945539649] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051136.946085761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051136.947203266] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051136.948616364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051136.949443682] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051136.957283173] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051136.958362158] [sailbot.main_algo]: Target Bearing: -142.28352337964301 +[main_algo-3] [INFO] [1746051136.959267764] [sailbot.main_algo]: Heading Difference: 176.299523379643 +[main_algo-3] [INFO] [1746051136.960142982] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051136.961050712] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051136.961902931] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051136.963085065] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051136.963699086] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051137.003108756] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904232 Long: -76.50276877 +[main_algo-3] [INFO] [1746051137.004228626] [sailbot.main_algo]: Distance to destination: 56.79918955025455 +[vectornav-1] [INFO] [1746051137.004668227] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.079999999999984, -1.064, 4.17) +[main_algo-3] [INFO] [1746051137.005532976] [sailbot.main_algo]: Target Bearing: -142.26885758772212 +[main_algo-3] [INFO] [1746051137.006532563] [sailbot.main_algo]: Heading Difference: 176.28485758772217 +[main_algo-3] [INFO] [1746051137.007462830] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051137.008355698] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051137.009201183] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051137.010932874] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051137.045361708] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051137.045961183] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051137.046961163] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051137.048028937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051137.049070439] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051137.085331581] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051137.088353324] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051137.088596705] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051137.089264323] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051137.090174186] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051137.091036381] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051137.091846869] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051137.145150933] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051137.145617543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051137.146500574] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051137.147513062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051137.148617098] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051137.245367081] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051137.245892897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051137.246896939] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051137.248077435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051137.248917355] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051137.335535556] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051137.338749819] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051137.339224193] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051137.339552424] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051137.339964225] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051137.340350179] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051137.340722758] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051137.344388827] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051137.344841533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051137.345532156] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051137.346570370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051137.347642435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051137.445487847] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051137.446124854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051137.447182396] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051137.448651390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051137.449510815] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051137.457386972] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051137.458500725] [sailbot.main_algo]: Target Bearing: -142.26885758772212 +[main_algo-3] [INFO] [1746051137.459441453] [sailbot.main_algo]: Heading Difference: 175.34885758772214 +[main_algo-3] [INFO] [1746051137.460342135] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051137.461200248] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051137.462059414] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051137.463173740] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051137.463861131] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051137.503216588] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904236 Long: -76.50276871 +[main_algo-3] [INFO] [1746051137.504201270] [sailbot.main_algo]: Distance to destination: 56.80581752208662 +[vectornav-1] [INFO] [1746051137.504605924] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.093999999999994, 0.226, 6.087) +[main_algo-3] [INFO] [1746051137.505434711] [sailbot.main_algo]: Target Bearing: -142.26847722502413 +[main_algo-3] [INFO] [1746051137.506490890] [sailbot.main_algo]: Heading Difference: 175.3484772250241 +[main_algo-3] [INFO] [1746051137.507572694] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051137.508509386] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051137.509368881] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051137.511172173] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051137.545264789] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051137.545902627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051137.546857170] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051137.548267556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051137.549391719] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051137.585129122] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051137.586653238] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051137.587518300] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051137.587089572] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051137.589208247] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051137.589399201] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051137.590256433] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051137.645439671] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051137.645994094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051137.647242732] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051137.648260143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051137.649618886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051137.745258809] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051137.745723221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051137.746613900] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051137.747590882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051137.748795191] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051137.835212352] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051137.836868306] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051137.837741316] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051137.837351823] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051137.838592053] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051137.838875996] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051137.839478767] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051137.844513197] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051137.844969097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051137.845724454] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051137.846651830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051137.847825321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051137.945237518] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051137.945880506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051137.947119924] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051137.947964057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051137.948828779] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051137.957176063] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051137.958231897] [sailbot.main_algo]: Target Bearing: -142.26847722502413 +[main_algo-3] [INFO] [1746051137.959136934] [sailbot.main_algo]: Heading Difference: 174.36247722502412 +[main_algo-3] [INFO] [1746051137.959953936] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051137.960800038] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051137.961631062] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051137.962665327] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051137.963219958] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051138.002849811] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904239 Long: -76.50276865 +[main_algo-3] [INFO] [1746051138.003673578] [sailbot.main_algo]: Distance to destination: 56.811750408115856 +[vectornav-1] [INFO] [1746051138.003993319] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.701000000000022, -0.482, 5.45) +[main_algo-3] [INFO] [1746051138.004771293] [sailbot.main_algo]: Target Bearing: -142.26897050366006 +[main_algo-3] [INFO] [1746051138.005776799] [sailbot.main_algo]: Heading Difference: 174.36297050366005 +[main_algo-3] [INFO] [1746051138.006709749] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051138.007637477] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051138.008537533] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051138.010221315] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051138.045062028] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051138.045780705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051138.046394573] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051138.048003448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051138.049015514] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051138.085289427] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051138.087389787] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051138.087575262] [sailbot.teensy]: Wind angle: 164 +[mux-7] [INFO] [1746051138.088409608] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051138.088520832] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051138.089420815] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051138.090275079] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051138.145192598] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051138.145872928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051138.146770686] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051138.148178963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051138.149316449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051138.244982284] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051138.245792959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051138.246228491] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051138.247664331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051138.248692638] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051138.335337440] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051138.337525880] [sailbot.teensy]: Wind angle: 164 +[trim_sail-4] [INFO] [1746051138.337648351] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051138.338457665] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051138.338630804] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051138.339375312] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051138.340314135] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051138.344444677] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051138.344883661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051138.345534626] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051138.346535910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051138.347620821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051138.445040147] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051138.445731590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051138.446359560] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051138.447686682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051138.448224708] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051138.457049173] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051138.458007408] [sailbot.main_algo]: Target Bearing: -142.26897050366006 +[main_algo-3] [INFO] [1746051138.458904414] [sailbot.main_algo]: Heading Difference: 173.96997050366008 +[main_algo-3] [INFO] [1746051138.459752222] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051138.460560979] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051138.461357970] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051138.462357567] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051138.463077206] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051138.503382164] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904242 Long: -76.50276864 +[main_algo-3] [INFO] [1746051138.503693069] [sailbot.main_algo]: Distance to destination: 56.8144769634813 +[vectornav-1] [INFO] [1746051138.504591781] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.47399999999999, -0.205, 4.785) +[main_algo-3] [INFO] [1746051138.504743025] [sailbot.main_algo]: Target Bearing: -142.26686890598802 +[main_algo-3] [INFO] [1746051138.505742317] [sailbot.main_algo]: Heading Difference: 173.96786890598804 +[main_algo-3] [INFO] [1746051138.506654352] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051138.507632869] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051138.508495821] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051138.510188310] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051138.545002902] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051138.545664324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051138.546270959] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051138.547702331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051138.548738821] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051138.585351236] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051138.587545063] [sailbot.teensy]: Wind angle: 164 +[trim_sail-4] [INFO] [1746051138.587816149] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051138.588517328] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051138.589458911] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051138.590038092] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051138.590403855] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051138.644818429] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051138.645592552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051138.646036991] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051138.647408525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051138.648504709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051138.745375757] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051138.746042455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051138.747109677] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051138.748031799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051138.748532020] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051138.835204634] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051138.836897640] [sailbot.teensy]: Wind angle: 164 +[trim_sail-4] [INFO] [1746051138.837480591] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051138.837838790] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051138.838736481] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051138.839585475] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051138.839604174] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051138.844353356] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051138.844867927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051138.845433584] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051138.846676784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051138.847725763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051138.945033258] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051138.945853489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051138.946354627] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051138.947935076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051138.948969487] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051138.957151875] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051138.958199734] [sailbot.main_algo]: Target Bearing: -142.26686890598802 +[main_algo-3] [INFO] [1746051138.959087443] [sailbot.main_algo]: Heading Difference: 175.740868905988 +[main_algo-3] [INFO] [1746051138.959974398] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051138.960843591] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051138.962149032] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051138.963172254] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051138.963887463] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051139.002842507] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904267 Long: -76.5027685 +[main_algo-3] [INFO] [1746051139.003651662] [sailbot.main_algo]: Distance to destination: 56.8408341779331 +[vectornav-1] [INFO] [1746051139.004098520] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.827, -0.99, 5.232) +[main_algo-3] [INFO] [1746051139.005095897] [sailbot.main_algo]: Target Bearing: -142.25230409621304 +[main_algo-3] [INFO] [1746051139.006105099] [sailbot.main_algo]: Heading Difference: 175.72630409621303 +[main_algo-3] [INFO] [1746051139.007242463] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051139.008139588] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051139.009010199] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051139.010807729] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051139.044934253] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051139.045701175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051139.046598337] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051139.047490095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051139.048685691] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051139.085228141] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051139.087344339] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051139.088085011] [sailbot.teensy]: Wind angle: 164 +[mux-7] [INFO] [1746051139.088143246] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051139.089004344] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051139.090107187] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051139.090935536] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051139.145212215] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051139.145757118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051139.146618788] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051139.147683930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051139.148848105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051139.245050227] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051139.245507334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051139.246325534] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051139.247274711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051139.248361775] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051139.335226548] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051139.336884599] [sailbot.teensy]: Wind angle: 164 +[trim_sail-4] [INFO] [1746051139.337411802] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051139.337831228] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051139.338763611] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051139.339638853] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051139.339119646] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051139.344438925] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051139.344923581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051139.345591529] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051139.346644536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051139.347670346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051139.445433215] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051139.445955578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051139.447151335] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051139.448325117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051139.449437369] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051139.457152293] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051139.458223143] [sailbot.main_algo]: Target Bearing: -142.25230409621304 +[main_algo-3] [INFO] [1746051139.459118862] [sailbot.main_algo]: Heading Difference: 176.07930409621304 +[main_algo-3] [INFO] [1746051139.459980991] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051139.460887198] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051139.461748666] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051139.462803392] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051139.463448007] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051139.502792720] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904272 Long: -76.50276821 +[main_algo-3] [INFO] [1746051139.503734976] [sailbot.main_algo]: Distance to destination: 56.86290445646826 +[vectornav-1] [INFO] [1746051139.504279304] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.34000000000003, 0.718, 6.753) +[main_algo-3] [INFO] [1746051139.505084402] [sailbot.main_algo]: Target Bearing: -142.26298371177765 +[main_algo-3] [INFO] [1746051139.506069096] [sailbot.main_algo]: Heading Difference: 176.08998371177768 +[main_algo-3] [INFO] [1746051139.506984171] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051139.507852139] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051139.508742006] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051139.510448949] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051139.545053841] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051139.545663652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051139.546471095] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051139.547609626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051139.548633721] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051139.584995623] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051139.586922953] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051139.587221379] [sailbot.teensy]: Wind angle: 164 +[mux-7] [INFO] [1746051139.588071140] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051139.588438713] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051139.589393320] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051139.590271475] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051139.645019991] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051139.645889686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051139.646519280] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051139.648024472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051139.649056772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051139.745252706] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051139.746250624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051139.746751772] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051139.748486849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051139.749770369] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051139.835327240] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051139.837117590] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051139.837480143] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051139.838114030] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051139.839055174] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051139.839293441] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051139.839916519] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051139.844379696] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051139.845060545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051139.845493529] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051139.846855651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051139.848014004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051139.945494368] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051139.946313467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051139.947076065] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051139.948461956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051139.948944182] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051139.957158751] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051139.958221215] [sailbot.main_algo]: Target Bearing: -142.26298371177765 +[main_algo-3] [INFO] [1746051139.959113468] [sailbot.main_algo]: Heading Difference: 174.6029837117777 +[main_algo-3] [INFO] [1746051139.959985798] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051139.960887001] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051139.961718627] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051139.962706601] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051139.963303923] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051140.003280655] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904301 Long: -76.50276833 +[main_algo-3] [INFO] [1746051140.003730103] [sailbot.main_algo]: Distance to destination: 56.875378355933215 +[vectornav-1] [INFO] [1746051140.004428675] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.74000000000001, -1.304, 4.215) +[main_algo-3] [INFO] [1746051140.004813904] [sailbot.main_algo]: Target Bearing: -142.23145924099126 +[main_algo-3] [INFO] [1746051140.005805885] [sailbot.main_algo]: Heading Difference: 174.57145924099132 +[main_algo-3] [INFO] [1746051140.006713853] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051140.007566434] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051140.008423496] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051140.010119883] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051140.045176678] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051140.045936338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051140.046762400] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051140.047844361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051140.048864013] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051140.085244558] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051140.086852331] [sailbot.teensy]: Wind angle: 164 +[trim_sail-4] [INFO] [1746051140.087471574] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051140.087747204] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051140.088660145] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051140.089146579] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051140.089514110] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051140.145029319] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051140.145882675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051140.146432701] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051140.147675800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051140.148167785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051140.245125573] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051140.245984015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051140.246498975] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051140.247918877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051140.249109941] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051140.335294240] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051140.337073374] [sailbot.teensy]: Wind angle: 162 +[teensy-2] [INFO] [1746051140.338076069] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051140.338247994] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051140.338995193] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051140.339908236] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051140.340096469] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051140.344444323] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051140.345076948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051140.345775039] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051140.346820591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051140.347952514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051140.445294378] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051140.445944412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051140.446757155] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051140.448043976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051140.449306091] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051140.457177854] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051140.458259074] [sailbot.main_algo]: Target Bearing: -142.23145924099126 +[main_algo-3] [INFO] [1746051140.459169081] [sailbot.main_algo]: Heading Difference: 176.9714592409913 +[main_algo-3] [INFO] [1746051140.460029515] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051140.460908088] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051140.461807710] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051140.462856940] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051140.463440298] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051140.502755817] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904311 Long: -76.50276835 +[main_algo-3] [INFO] [1746051140.503698968] [sailbot.main_algo]: Distance to destination: 56.8810537728822 +[vectornav-1] [INFO] [1746051140.503804338] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.72500000000002, 0.101, 5.527) +[main_algo-3] [INFO] [1746051140.505157474] [sailbot.main_algo]: Target Bearing: -142.2217013082522 +[main_algo-3] [INFO] [1746051140.506600880] [sailbot.main_algo]: Heading Difference: 176.9617013082522 +[main_algo-3] [INFO] [1746051140.507499712] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051140.508381392] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051140.509218747] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051140.510917194] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051140.545638798] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051140.545686635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051140.547001237] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051140.547956691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051140.549010613] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051140.585047483] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051140.586929077] [sailbot.teensy]: Wind angle: 161 +[trim_sail-4] [INFO] [1746051140.587182787] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051140.587581638] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051140.587817253] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051140.588726674] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051140.589834455] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051140.644872576] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051140.645573456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051140.646116252] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051140.647721706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051140.648776565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051140.745136061] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051140.745888106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051140.746647020] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051140.748040442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051140.749060725] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051140.835295112] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051140.837177909] [sailbot.teensy]: Wind angle: 161 +[trim_sail-4] [INFO] [1746051140.837578027] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051140.838684318] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051140.839183832] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051140.840108998] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051140.840996360] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051140.844259081] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051140.844804435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051140.845634162] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051140.846636855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051140.847724841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051140.945237008] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051140.946037895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051140.946714059] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051140.948446477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051140.949487189] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051140.957164754] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051140.958130096] [sailbot.main_algo]: Target Bearing: -142.2217013082522 +[main_algo-3] [INFO] [1746051140.959018490] [sailbot.main_algo]: Heading Difference: 174.94670130825222 +[main_algo-3] [INFO] [1746051140.959852204] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051140.960676191] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051140.961463566] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051140.962480015] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051140.963308666] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051141.002867978] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904307 Long: -76.50276846 +[main_algo-3] [INFO] [1746051141.003902868] [sailbot.main_algo]: Distance to destination: 56.87122128692139 +[vectornav-1] [INFO] [1746051141.004098205] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.36200000000002, -0.285, 5.35) +[main_algo-3] [INFO] [1746051141.005103666] [sailbot.main_algo]: Target Bearing: -142.21948086158088 +[main_algo-3] [INFO] [1746051141.006046177] [sailbot.main_algo]: Heading Difference: 174.94448086158093 +[main_algo-3] [INFO] [1746051141.006956340] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051141.007845071] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051141.008704823] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051141.010438993] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051141.045387226] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051141.045631868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051141.046749910] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051141.047511824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051141.048720287] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051141.085080199] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051141.086656845] [sailbot.teensy]: Wind angle: 162 +[teensy-2] [INFO] [1746051141.087540919] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051141.087047733] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051141.088326804] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051141.088436508] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051141.089454188] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051141.145241770] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051141.145972560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051141.146709003] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051141.148026781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051141.149217147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051141.245188105] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051141.245874187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051141.246549783] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051141.247828261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051141.248885050] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051141.335411305] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051141.337779442] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051141.338474311] [sailbot.teensy]: Wind angle: 163 +[mux-7] [INFO] [1746051141.338745311] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051141.339461370] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051141.340394182] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051141.341012551] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051141.344361942] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051141.345065824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051141.345530055] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051141.347319692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051141.348353389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051141.444888841] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051141.445519090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051141.446139044] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051141.447507269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051141.448548556] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051141.457146556] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051141.458201812] [sailbot.main_algo]: Target Bearing: -142.21948086158088 +[main_algo-3] [INFO] [1746051141.459103462] [sailbot.main_algo]: Heading Difference: 175.58148086158087 +[main_algo-3] [INFO] [1746051141.459985797] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051141.460859761] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051141.461716103] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051141.462832577] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051141.463479231] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051141.502931522] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904302 Long: -76.5027686 +[vectornav-1] [INFO] [1746051141.504329333] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.50999999999999, -0.745, 4.672) +[main_algo-3] [INFO] [1746051141.504624435] [sailbot.main_algo]: Distance to destination: 56.858770597728544 +[main_algo-3] [INFO] [1746051141.505861607] [sailbot.main_algo]: Target Bearing: -142.21657443670503 +[main_algo-3] [INFO] [1746051141.506918667] [sailbot.main_algo]: Heading Difference: 175.57857443670503 +[main_algo-3] [INFO] [1746051141.507887146] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051141.508806064] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051141.509683103] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051141.511544517] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051141.545239768] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051141.545864006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051141.546609145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051141.547837037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051141.548894662] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051141.585110813] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051141.587119182] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051141.587653220] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051141.588138311] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051141.589070581] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051141.590264835] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051141.591122459] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051141.645365156] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051141.645927505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051141.646920167] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051141.647982549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051141.649063181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051141.745272179] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051141.745778588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051141.746668956] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051141.747643884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051141.748851793] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051141.835434607] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051141.837756579] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051141.838000093] [sailbot.teensy]: Wind angle: 162 +[mux-7] [INFO] [1746051141.838882267] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051141.838895919] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051141.839823111] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051141.840678742] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051141.844307151] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051141.844857319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051141.845398218] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051141.846599625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051141.847642536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051141.945310658] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051141.946288250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051141.946894166] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051141.947959479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051141.948448370] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051141.956963173] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051141.957819825] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746051141.958697194] [sailbot.main_algo]: Target Bearing: -142.21657443670503 +[main_algo-3] [INFO] [1746051141.959539693] [sailbot.main_algo]: Heading Difference: 177.72657443670505 +[main_algo-3] [INFO] [1746051141.960398086] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051141.961229037] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051141.962107636] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051141.963111838] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051141.963634666] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051142.003437415] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904308 Long: -76.50276863 +[main_algo-3] [INFO] [1746051142.004060194] [sailbot.main_algo]: Distance to destination: 56.86102381427253 +[vectornav-1] [INFO] [1746051142.004677332] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.67099999999999, 0.398, 5.339) +[main_algo-3] [INFO] [1746051142.005322324] [sailbot.main_algo]: Target Bearing: -142.20978408021452 +[main_algo-3] [INFO] [1746051142.006356303] [sailbot.main_algo]: Heading Difference: 177.71978408021448 +[main_algo-3] [INFO] [1746051142.007295737] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051142.008218385] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051142.009141423] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051142.010863622] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051142.045395247] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051142.046024425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051142.046973175] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051142.048181892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051142.049375416] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051142.085303479] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051142.087443525] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051142.087696874] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051142.088710284] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051142.088923812] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051142.089770516] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051142.090838759] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051142.145112570] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051142.146076637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051142.146823983] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051142.147854576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051142.148641390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051142.245093544] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051142.245774763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051142.246396756] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051142.247602511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051142.248663657] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051142.335474304] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051142.337737121] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051142.337908286] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051142.338714539] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051142.339591292] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051142.339611439] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051142.340573443] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051142.344332410] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051142.344771633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051142.345544138] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051142.346491052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051142.347617691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051142.445218785] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051142.445769469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051142.446585078] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051142.448103954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051142.449210761] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051142.457205676] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051142.458217161] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746051142.459088703] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051142.460350258] [sailbot.main_algo]: Current Location: (42.46904308214751, -76.50276863005445) +[main_algo-3] [INFO] [1746051142.461328955] [sailbot.main_algo]: Target Bearing: -142.20978408021452 +[main_algo-3] [INFO] [1746051142.462236860] [sailbot.main_algo]: Heading Difference: 177.88078408021454 +[main_algo-3] [INFO] [1746051142.463096188] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051142.463878297] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051142.464679980] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051142.465710584] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051142.466244031] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051142.503215738] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904304 Long: -76.50276857 +[main_algo-3] [INFO] [1746051142.504510655] [sailbot.main_algo]: Distance to destination: 56.8620847539267 +[vectornav-1] [INFO] [1746051142.504625850] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.16199999999998, -1.479, 5.266) +[main_algo-3] [INFO] [1746051142.506390637] [sailbot.main_algo]: Target Bearing: -142.21638749246986 +[main_algo-3] [INFO] [1746051142.507608720] [sailbot.main_algo]: Heading Difference: 177.88738749246988 +[main_algo-3] [INFO] [1746051142.508594254] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051142.509633647] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051142.510553565] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051142.512453191] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051142.544987027] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051142.545757670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051142.546215819] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051142.547686925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051142.548750353] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051142.585272963] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051142.587271367] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051142.587457412] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051142.588228490] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051142.589115716] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051142.588861118] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051142.590006125] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051142.644891164] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051142.645545928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051142.646143664] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051142.647316512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051142.648389956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051142.745323673] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051142.746324726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051142.747024108] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051142.748401730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051142.749497125] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051142.835484395] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051142.837891967] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051142.838028526] [sailbot.teensy]: Wind angle: 163 +[mux-7] [INFO] [1746051142.838746775] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051142.838963179] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051142.839867081] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051142.840753685] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051142.844362274] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051142.844892377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051142.845438452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051142.846587020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051142.847627361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051142.945598331] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051142.946582611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051142.947167376] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051142.948190687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051142.948753372] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051142.957108725] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051142.958119374] [sailbot.main_algo]: Target Bearing: -142.21638749246986 +[main_algo-3] [INFO] [1746051142.958954218] [sailbot.main_algo]: Heading Difference: 177.37838749246987 +[main_algo-3] [INFO] [1746051142.959765368] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051142.960609260] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051142.961425477] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051142.962584829] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051142.963031559] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051143.003296764] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904313 Long: -76.50276848 +[main_algo-3] [INFO] [1746051143.003808822] [sailbot.main_algo]: Distance to destination: 56.87411493257197 +[vectornav-1] [INFO] [1746051143.004444649] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (36.01299999999998, 0.677, 6.364) +[main_algo-3] [INFO] [1746051143.004910140] [sailbot.main_algo]: Target Bearing: -142.21321092655748 +[main_algo-3] [INFO] [1746051143.005908929] [sailbot.main_algo]: Heading Difference: 177.37521092655743 +[main_algo-3] [INFO] [1746051143.006811302] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051143.007692310] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051143.008592246] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051143.010244303] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051143.044949903] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051143.045695258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051143.046309644] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051143.047717780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051143.048761905] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051143.085166482] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051143.086928218] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051143.087206734] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051143.088440751] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051143.088678480] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051143.089583510] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051143.090453966] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051143.144918411] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051143.145449201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051143.146787731] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051143.147152783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051143.148146319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051143.245107664] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051143.245819466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051143.246461010] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051143.247685945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051143.248208714] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051143.335308618] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051143.337008404] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051143.337964011] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051143.338350475] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051143.338893519] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051143.338960371] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051143.339791999] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051143.344488663] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051143.345144387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051143.345595552] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051143.346842860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051143.347968754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051143.445019002] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051143.445944882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051143.446444548] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051143.447932720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051143.449009917] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051143.456983179] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051143.457953344] [sailbot.main_algo]: Target Bearing: -142.21321092655748 +[main_algo-3] [INFO] [1746051143.458828060] [sailbot.main_algo]: Heading Difference: 178.22621092655743 +[main_algo-3] [INFO] [1746051143.459636678] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051143.460464056] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051143.461321549] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051143.462336083] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051143.463086576] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051143.503535478] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904305 Long: -76.50276829 +[main_algo-3] [INFO] [1746051143.503825322] [sailbot.main_algo]: Distance to destination: 56.88072471261697 +[vectornav-1] [INFO] [1746051143.505057941] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.68700000000001, -1.101, 5.072) +[main_algo-3] [INFO] [1746051143.505081191] [sailbot.main_algo]: Target Bearing: -142.23004618195134 +[main_algo-3] [INFO] [1746051143.506118716] [sailbot.main_algo]: Heading Difference: 178.24304618195129 +[main_algo-3] [INFO] [1746051143.507074923] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051143.507943014] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051143.508811758] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051143.510557135] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051143.545008760] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051143.545595933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051143.546295966] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051143.547441598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051143.548473109] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051143.585429066] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051143.587340990] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051143.587956121] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051143.588311900] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051143.589277026] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051143.590189486] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051143.590425632] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051143.644655151] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051143.645728631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051143.645805455] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051143.647453480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051143.648666129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051143.745399240] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051143.746047729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051143.746957667] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051143.748192512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051143.749284683] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051143.835258420] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051143.836979045] [sailbot.teensy]: Wind angle: 162 +[trim_sail-4] [INFO] [1746051143.837588222] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051143.837924840] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051143.838820226] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051143.839666627] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051143.839706002] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051143.844855011] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051143.844884783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051143.846012265] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051143.846593014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051143.847673854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051143.945037055] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051143.945903614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051143.946422151] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051143.947937561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051143.948964099] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051143.957213619] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051143.958294148] [sailbot.main_algo]: Target Bearing: -142.23004618195134 +[main_algo-3] [INFO] [1746051143.959189113] [sailbot.main_algo]: Heading Difference: -179.08295381804862 +[main_algo-3] [INFO] [1746051143.960081477] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051143.960976150] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051143.961815268] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051143.962821800] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051143.963704789] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051144.002793393] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904319 Long: -76.50276838 +[vectornav-1] [INFO] [1746051144.004036232] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.49599999999998, 0.073, 4.759) +[main_algo-3] [INFO] [1746051144.004426972] [sailbot.main_algo]: Distance to destination: 56.88469820691225 +[main_algo-3] [INFO] [1746051144.005637306] [sailbot.main_algo]: Target Bearing: -142.21316984809883 +[main_algo-3] [INFO] [1746051144.006664860] [sailbot.main_algo]: Heading Difference: -179.0998301519012 +[main_algo-3] [INFO] [1746051144.007618037] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051144.008536190] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051144.009428409] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051144.011107900] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051144.044968340] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051144.045779652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051144.046321983] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051144.047676737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051144.048794854] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051144.085271229] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051144.087543615] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051144.087715271] [sailbot.teensy]: Wind angle: 162 +[mux-7] [INFO] [1746051144.088035559] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051144.088632637] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051144.089608171] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051144.090477094] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051144.144786827] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051144.145329786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051144.145937215] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051144.147047552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051144.148229542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051144.244995510] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051144.245571785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051144.246589037] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051144.247507413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051144.248290736] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051144.335177074] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051144.336876876] [sailbot.teensy]: Wind angle: 162 +[teensy-2] [INFO] [1746051144.337748250] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051144.337306245] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051144.338647350] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051144.339522576] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051144.339668700] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051144.344355088] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051144.344789939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051144.345517008] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051144.346446164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051144.347611054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051144.445550953] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051144.445955678] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051144.447153531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051144.448022345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051144.448761576] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051144.457072642] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051144.458065366] [sailbot.main_algo]: Target Bearing: -142.21316984809883 +[main_algo-3] [INFO] [1746051144.458956369] [sailbot.main_algo]: Heading Difference: -179.29083015190122 +[main_algo-3] [INFO] [1746051144.459782090] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051144.460590722] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051144.461376238] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051144.462358662] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051144.463181477] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051144.503226320] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690434 Long: -76.50276839 +[main_algo-3] [INFO] [1746051144.503812626] [sailbot.main_algo]: Distance to destination: 56.898674892999786 +[vectornav-1] [INFO] [1746051144.504818829] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.59000000000003, -0.227, 5.048) +[main_algo-3] [INFO] [1746051144.504922522] [sailbot.main_algo]: Target Bearing: -142.19434859516775 +[main_algo-3] [INFO] [1746051144.505897256] [sailbot.main_algo]: Heading Difference: -179.30965140483227 +[main_algo-3] [INFO] [1746051144.506810332] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051144.507700049] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051144.508568730] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051144.510349940] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051144.545023848] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051144.545598255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051144.546333486] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051144.547393022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051144.548549860] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051144.585276684] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051144.586997997] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051144.587893222] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051144.587751129] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051144.588738583] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051144.589117105] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051144.589647672] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051144.644765655] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051144.645357170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051144.645899109] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051144.647095299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051144.648190363] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051144.745468320] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051144.746159354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051144.747079239] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051144.748041036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051144.748498435] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051144.835026377] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051144.836557498] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051144.837395210] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051144.837534696] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051144.838486702] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051144.839092237] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051144.839282111] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051144.844328500] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051144.844835199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051144.845423945] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051144.846505556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051144.847556908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051144.944945611] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051144.945560859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051144.946230148] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051144.947455209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051144.948636251] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051144.957121201] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051144.958196158] [sailbot.main_algo]: Target Bearing: -142.19434859516775 +[main_algo-3] [INFO] [1746051144.959097980] [sailbot.main_algo]: Heading Difference: -179.21565140483222 +[main_algo-3] [INFO] [1746051144.959987449] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051144.960902893] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051144.962005104] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051144.963157097] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051144.963925436] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051145.003234788] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904324 Long: -76.50276871 +[main_algo-3] [INFO] [1746051145.004004369] [sailbot.main_algo]: Distance to destination: 56.867036299725555 +[main_algo-3] [INFO] [1746051145.005264457] [sailbot.main_algo]: Target Bearing: -142.19167909502872 +[main_algo-3] [INFO] [1746051145.006405969] [sailbot.main_algo]: Heading Difference: -179.21832090497128 +[vectornav-1] [INFO] [1746051145.006928163] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.411, -0.14, 5.699) +[main_algo-3] [INFO] [1746051145.007429666] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051145.008420824] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051145.009293829] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051145.011072741] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051145.045016272] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051145.045631749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051145.046326686] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051145.047772100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051145.048776523] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051145.085351710] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051145.087004900] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051145.087911935] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051145.087959317] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051145.088901812] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051145.089646678] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051145.090069477] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051145.144757240] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051145.145622452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051145.145936417] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051145.147808016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051145.148865881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051145.245125189] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051145.245883644] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051145.246434159] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051145.248024833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051145.249041686] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051145.335516551] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051145.337811414] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051145.338133867] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051145.338753740] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051145.338996576] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051145.339401832] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051145.339736843] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051145.344444082] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051145.345023376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051145.345606272] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051145.346691404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051145.347709941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051145.445248187] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051145.446093609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051145.446895929] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051145.448375478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051145.449535779] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051145.457180403] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051145.458266368] [sailbot.main_algo]: Target Bearing: -142.19167909502872 +[main_algo-3] [INFO] [1746051145.459187771] [sailbot.main_algo]: Heading Difference: -178.39732090497125 +[main_algo-3] [INFO] [1746051145.460080606] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051145.460993810] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051145.461830109] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051145.462995306] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051145.463540448] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051145.502777662] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904299 Long: -76.50276881 +[vectornav-1] [INFO] [1746051145.503912220] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (40.031000000000006, 0.169, 4.541) +[main_algo-3] [INFO] [1746051145.503873987] [sailbot.main_algo]: Distance to destination: 56.84322668929236 +[main_algo-3] [INFO] [1746051145.505103410] [sailbot.main_algo]: Target Bearing: -142.20828668978982 +[main_algo-3] [INFO] [1746051145.506050723] [sailbot.main_algo]: Heading Difference: -178.38071331021018 +[main_algo-3] [INFO] [1746051145.506951119] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051145.507881262] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051145.508759491] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051145.510459290] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051145.545073634] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051145.545650427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051145.546385638] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051145.547649272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051145.548728319] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051145.585135191] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051145.586676954] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051145.587523947] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051145.587428279] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051145.588005746] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051145.588447184] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051145.589360213] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051145.644782049] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051145.645412283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051145.645942139] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051145.647158099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051145.648211183] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051145.744952084] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051145.745626606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051145.746208265] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051145.747444975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051145.748538920] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051145.835225131] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051145.836898693] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051145.837447134] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051145.838985516] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051145.839139672] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051145.839409306] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051145.839792903] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051145.844393185] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051145.845115110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051145.845489524] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051145.846842022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051145.847871758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051145.944908444] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051145.945732090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051145.946177970] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051145.947628991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051145.948647576] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051145.957129934] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051145.958116470] [sailbot.main_algo]: Target Bearing: -142.20828668978982 +[main_algo-3] [INFO] [1746051145.959004461] [sailbot.main_algo]: Heading Difference: -177.76071331021018 +[main_algo-3] [INFO] [1746051145.959860875] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051145.960674810] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051145.961475639] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051145.962472376] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051145.963151115] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051146.003251341] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690429 Long: -76.50276905 +[main_algo-3] [INFO] [1746051146.003816510] [sailbot.main_algo]: Distance to destination: 56.821585393349 +[main_algo-3] [INFO] [1746051146.004988816] [sailbot.main_algo]: Target Bearing: -142.2036707833485 +[vectornav-1] [INFO] [1746051146.005052733] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (40.52999999999997, -1.689, 5.566) +[main_algo-3] [INFO] [1746051146.006044074] [sailbot.main_algo]: Heading Difference: -177.76532921665148 +[main_algo-3] [INFO] [1746051146.007392369] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051146.008333944] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051146.009188738] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051146.010957344] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051146.044950736] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051146.045838855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051146.046462952] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051146.047738619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051146.048787963] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051146.085468470] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051146.087645618] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051146.087688271] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051146.088678531] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051146.089444604] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051146.089614601] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051146.090602807] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051146.145129584] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051146.146049031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051146.146529301] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051146.148174008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051146.149229186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051146.244301280] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051146.244869599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051146.245248143] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051146.246462513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051146.247456947] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051146.334412422] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051146.335403946] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051146.335960305] [sailbot.teensy]: Wind angle: 163 +[mux-7] [INFO] [1746051146.336439817] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051146.336811423] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051146.337198353] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051146.337541715] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051146.343698345] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051146.344177502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051146.344281771] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051146.345074978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051146.346307811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051146.443715957] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051146.444233975] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051146.444124752] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051146.444917563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051146.445435884] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051146.456302449] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051146.456754965] [sailbot.main_algo]: Target Bearing: -142.2036707833485 +[main_algo-3] [INFO] [1746051146.457127441] [sailbot.main_algo]: Heading Difference: -177.2663292166515 +[main_algo-3] [INFO] [1746051146.457520277] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051146.457902285] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051146.458270821] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051146.458744783] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051146.459046501] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051146.502320994] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904288 Long: -76.50276897 +[main_algo-3] [INFO] [1746051146.502731560] [sailbot.main_algo]: Distance to destination: 56.82531906550431 +[vectornav-1] [INFO] [1746051146.502756072] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.11200000000002, 0.718, 4.759) +[main_algo-3] [INFO] [1746051146.503271039] [sailbot.main_algo]: Target Bearing: -142.20957266786442 +[main_algo-3] [INFO] [1746051146.503697801] [sailbot.main_algo]: Heading Difference: -177.26042733213558 +[main_algo-3] [INFO] [1746051146.504142610] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051146.504718477] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051146.505141116] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051146.505966543] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051146.543696030] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051146.544191366] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051146.545465183] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051146.546014996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051146.546589398] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051146.584421712] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051146.585403108] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051146.585812755] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051146.586211406] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051146.586550858] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051146.585538578] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051146.586515939] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051146.643720382] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051146.644121226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051146.644279980] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051146.645078107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051146.645682065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051146.743976103] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051146.744571652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051146.744733322] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051146.745842174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051146.746655285] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051146.835203331] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051146.836831301] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051146.837262105] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051146.837752199] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051146.838658189] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051146.838710812] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051146.839639650] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051146.844411578] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051146.845180737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051146.845739383] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051146.846995440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051146.847984914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051146.945193088] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051146.946095480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051146.946697469] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051146.948085282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051146.948571881] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051146.957035137] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051146.958031189] [sailbot.main_algo]: Target Bearing: -142.20957266786442 +[main_algo-3] [INFO] [1746051146.958912124] [sailbot.main_algo]: Heading Difference: -176.67842733213558 +[main_algo-3] [INFO] [1746051146.959770214] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051146.960597105] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051146.961398436] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051146.962452791] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051146.963091671] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051147.002839059] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904323 Long: -76.50276899 +[main_algo-3] [INFO] [1746051147.003742503] [sailbot.main_algo]: Distance to destination: 56.84840542403416 +[vectornav-1] [INFO] [1746051147.004080829] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.28699999999998, -0.594, 6.234) +[main_algo-3] [INFO] [1746051147.004878729] [sailbot.main_algo]: Target Bearing: -142.17800453945543 +[main_algo-3] [INFO] [1746051147.005840612] [sailbot.main_algo]: Heading Difference: -176.70999546054452 +[main_algo-3] [INFO] [1746051147.006737025] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051147.007613912] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051147.008477123] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051147.010250862] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051147.044939091] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051147.045691572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051147.046208746] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051147.047581794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051147.048729226] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051147.084983141] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051147.087013133] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051147.087409539] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051147.088303485] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051147.089312335] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051147.090159666] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051147.091329350] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051147.145103688] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051147.145836992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051147.146511624] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051147.148124141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051147.149384633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051147.245114608] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051147.245850557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051147.246710143] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051147.248111005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051147.248654051] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051147.335361836] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051147.337103916] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051147.337618034] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051147.338004189] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051147.338023532] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051147.338882666] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051147.339838003] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051147.344299178] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051147.344800755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051147.345377692] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051147.346676972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051147.347700953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051147.445118753] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051147.445816625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051147.446534684] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051147.447770049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051147.448251551] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051147.457087967] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051147.458081109] [sailbot.main_algo]: Target Bearing: -142.17800453945543 +[main_algo-3] [INFO] [1746051147.458989304] [sailbot.main_algo]: Heading Difference: -176.53499546054456 +[main_algo-3] [INFO] [1746051147.459838895] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051147.460653684] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051147.461430713] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051147.462428463] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051147.463238606] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051147.503213381] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904318 Long: -76.50276868 +[main_algo-3] [INFO] [1746051147.503908386] [sailbot.main_algo]: Distance to destination: 56.864780952181896 +[vectornav-1] [INFO] [1746051147.504523678] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.096000000000004, -0.334, 4.342) +[main_algo-3] [INFO] [1746051147.505315176] [sailbot.main_algo]: Target Bearing: -142.1984680146543 +[main_algo-3] [INFO] [1746051147.506399401] [sailbot.main_algo]: Heading Difference: -176.51453198534568 +[main_algo-3] [INFO] [1746051147.507308900] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051147.508187111] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051147.509033995] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051147.510714441] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051147.544817244] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051147.545643801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051147.546328094] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051147.547483040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051147.548497511] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051147.585384980] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051147.587770514] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051147.588265404] [sailbot.teensy]: Wind angle: 163 +[mux-7] [INFO] [1746051147.588591363] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051147.589256313] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051147.590193637] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051147.591041122] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051147.645133447] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051147.646121163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051147.646944162] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051147.648252280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051147.649475129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051147.745610743] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051147.746366463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051147.747309334] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051147.748690566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051147.749817197] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051147.835230238] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051147.837493855] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051147.837976573] [sailbot.teensy]: Wind angle: 163 +[mux-7] [INFO] [1746051147.838342544] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051147.838932926] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051147.839788187] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051147.840165992] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051147.844543404] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051147.845153095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051147.845721676] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051147.846825572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051147.847862694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051147.945352748] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051147.946122159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051147.946906152] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051147.948501036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051147.949768917] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051147.957043110] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051147.958049053] [sailbot.main_algo]: Target Bearing: -142.1984680146543 +[main_algo-3] [INFO] [1746051147.958942478] [sailbot.main_algo]: Heading Difference: -175.70553198534571 +[main_algo-3] [INFO] [1746051147.959803703] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051147.960650101] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051147.961455065] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051147.962775955] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051147.963250023] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051148.003040526] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904296 Long: -76.50276871 +[main_algo-3] [INFO] [1746051148.004122213] [sailbot.main_algo]: Distance to destination: 56.847546523572504 +[vectornav-1] [INFO] [1746051148.004374427] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.38099999999997, -0.107, 3.905) +[main_algo-3] [INFO] [1746051148.005751738] [sailbot.main_algo]: Target Bearing: -142.21609691999106 +[main_algo-3] [INFO] [1746051148.006723683] [sailbot.main_algo]: Heading Difference: -175.68790308000894 +[main_algo-3] [INFO] [1746051148.007633858] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051148.008546378] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051148.009391832] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051148.011100217] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051148.045085369] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051148.045575905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051148.046373217] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051148.047374010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051148.048435902] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051148.085057040] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051148.087047671] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051148.088189851] [sailbot.teensy]: Wind angle: 163 +[mux-7] [INFO] [1746051148.088442417] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051148.089119791] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051148.090048860] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051148.090954064] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051148.145107800] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051148.145686991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051148.146508761] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051148.147503844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051148.148669233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051148.245237709] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051148.245727396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051148.246901761] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051148.248074746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051148.249367689] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051148.335448902] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051148.337686580] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051148.337909560] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051148.338619150] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051148.339051861] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051148.338694183] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051148.339427509] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051148.344343382] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051148.344935103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051148.345563257] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051148.346677754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051148.347731708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051148.445440006] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051148.446443806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051148.447170524] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051148.448275122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051148.448781554] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051148.457129789] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051148.458151294] [sailbot.main_algo]: Target Bearing: -142.21609691999106 +[main_algo-3] [INFO] [1746051148.459053865] [sailbot.main_algo]: Heading Difference: -175.40290308000897 +[main_algo-3] [INFO] [1746051148.459918872] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051148.460818354] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051148.461643258] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051148.462827407] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051148.463485381] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051148.503174689] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904302 Long: -76.50276882 +[main_algo-3] [INFO] [1746051148.503904744] [sailbot.main_algo]: Distance to destination: 56.844674038573615 +[main_algo-3] [INFO] [1746051148.505040388] [sailbot.main_algo]: Target Bearing: -142.20515038400853 +[vectornav-1] [INFO] [1746051148.505219485] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.20799999999997, -0.788, 5.052) +[main_algo-3] [INFO] [1746051148.506044723] [sailbot.main_algo]: Heading Difference: -175.41384961599147 +[main_algo-3] [INFO] [1746051148.506967532] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051148.507952445] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051148.508829059] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051148.510449867] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051148.544948591] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051148.545728875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051148.546647718] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051148.547598610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051148.548645963] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051148.585427092] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051148.587656606] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051148.587905928] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051148.588645433] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051148.589533910] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051148.589633147] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051148.590429937] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051148.645103090] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051148.645809217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051148.646624897] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051148.647830016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051148.648571368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051148.745490230] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051148.746455060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051148.747227291] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051148.748021029] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051148.748503097] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051148.835352902] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051148.837504425] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051148.837552377] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051148.838439798] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051148.838917570] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051148.839346976] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051148.839892817] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051148.844420187] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051148.844942759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051148.845556264] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051148.846613174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051148.847650277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051148.944912235] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051148.945603714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051148.946179387] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051148.947598800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051148.948644224] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051148.957165595] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051148.958262108] [sailbot.main_algo]: Target Bearing: -142.20515038400853 +[main_algo-3] [INFO] [1746051148.959212974] [sailbot.main_algo]: Heading Difference: -174.58684961599147 +[main_algo-3] [INFO] [1746051148.960067349] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051148.960961619] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051148.961805982] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051148.962930977] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051148.963424347] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051149.003042080] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904307 Long: -76.50276857 +[main_algo-3] [INFO] [1746051149.003894436] [sailbot.main_algo]: Distance to destination: 56.86417243702563 +[vectornav-1] [INFO] [1746051149.004503935] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.32499999999999, 0.13, 5.396) +[main_algo-3] [INFO] [1746051149.005177681] [sailbot.main_algo]: Target Bearing: -142.21377115457466 +[main_algo-3] [INFO] [1746051149.006289265] [sailbot.main_algo]: Heading Difference: -174.57822884542537 +[main_algo-3] [INFO] [1746051149.007392364] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051149.008321006] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051149.009218400] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051149.010899365] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051149.044924116] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051149.045857690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051149.046225051] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051149.047790660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051149.048829350] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051149.085067937] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051149.086674308] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051149.087109010] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051149.087544849] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051149.088439925] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051149.088503845] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051149.089347846] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051149.145024523] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051149.145755930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051149.146446200] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051149.147982584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051149.149098872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051149.244925758] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051149.245730875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051149.246229816] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051149.247683450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051149.248553527] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051149.335234471] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051149.337747293] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051149.337838813] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051149.338928346] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051149.339594531] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051149.340558593] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051149.341513021] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051149.344446230] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051149.344978908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051149.345747754] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051149.346713266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051149.347888009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051149.445142756] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051149.445971024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051149.446815209] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051149.447790045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051149.448342849] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051149.457235944] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051149.458317552] [sailbot.main_algo]: Target Bearing: -142.21377115457466 +[main_algo-3] [INFO] [1746051149.459232429] [sailbot.main_algo]: Heading Difference: -174.46122884542535 +[main_algo-3] [INFO] [1746051149.460135425] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051149.461016174] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051149.461874228] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051149.463010544] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051149.463850410] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051149.502814146] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904286 Long: -76.50276817 +[main_algo-3] [INFO] [1746051149.503786000] [sailbot.main_algo]: Distance to destination: 56.87520261817845 +[vectornav-1] [INFO] [1746051149.504135363] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.38499999999999, 0.175, 4.737) +[main_algo-3] [INFO] [1746051149.504973767] [sailbot.main_algo]: Target Bearing: -142.25284241990815 +[main_algo-3] [INFO] [1746051149.505956842] [sailbot.main_algo]: Heading Difference: -174.42215758009183 +[main_algo-3] [INFO] [1746051149.506875097] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051149.507761401] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051149.508632825] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051149.510267468] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051149.544899964] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051149.545641616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051149.546175695] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051149.547475994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051149.548602436] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051149.585141024] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051149.586707442] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051149.587551246] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051149.587407790] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051149.588386221] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051149.588619902] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051149.589253159] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051149.644972520] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051149.645600790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051149.646276537] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051149.647535894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051149.648704249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051149.745037193] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051149.745983779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051149.746501893] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051149.747826560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051149.748363911] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051149.835330720] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051149.837592165] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051149.838058338] [sailbot.teensy]: Wind angle: 163 +[mux-7] [INFO] [1746051149.838689501] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051149.839024295] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051149.839577983] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051149.839945709] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051149.844500820] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051149.844955680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051149.845664474] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051149.846661510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051149.847672506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051149.945256076] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051149.946097290] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051149.946827298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051149.947958148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051149.948401411] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051149.956902066] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051149.957803840] [sailbot.main_algo]: Target Bearing: -142.25284241990815 +[main_algo-3] [INFO] [1746051149.958624946] [sailbot.main_algo]: Heading Difference: -174.3621575800919 +[main_algo-3] [INFO] [1746051149.959413328] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051149.960238306] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051149.961033268] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051149.962049298] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051149.962850023] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051150.003342871] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904278 Long: -76.5027682 +[main_algo-3] [INFO] [1746051150.004046971] [sailbot.main_algo]: Distance to destination: 56.86771689377765 +[main_algo-3] [INFO] [1746051150.005258859] [sailbot.main_algo]: Target Bearing: -142.25826648283694 +[vectornav-1] [INFO] [1746051150.006028415] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.091999999999985, -1.851, 4.289) +[main_algo-3] [INFO] [1746051150.006273641] [sailbot.main_algo]: Heading Difference: -174.3567335171631 +[main_algo-3] [INFO] [1746051150.007218170] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051150.008216503] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051150.009110522] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051150.010869034] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051150.045063041] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051150.045688527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051150.046476621] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051150.047574592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051150.048623351] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051150.085080875] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051150.087227808] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051150.088094094] [sailbot.teensy]: Wind angle: 163 +[mux-7] [INFO] [1746051150.088088841] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051150.089094021] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051150.089947726] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051150.090785676] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051150.145050947] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051150.145707824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051150.146325114] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051150.147780370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051150.148785538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051150.245340841] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051150.245893985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051150.246774383] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051150.248104105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051150.249269400] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051150.335252127] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051150.337039248] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051150.337458615] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051150.338209908] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051150.338372624] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051150.339117570] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051150.339521173] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051150.344321717] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051150.344928944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051150.345465443] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051150.346610580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051150.347645527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051150.445132258] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051150.445722075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051150.446614333] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051150.447736248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051150.448609350] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051150.457193046] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051150.458406794] [sailbot.main_algo]: Target Bearing: -142.25826648283694 +[main_algo-3] [INFO] [1746051150.459463941] [sailbot.main_algo]: Heading Difference: -172.6497335171631 +[main_algo-3] [INFO] [1746051150.460372007] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051150.461251434] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051150.462089904] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051150.463277746] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051150.463782293] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051150.503117437] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904293 Long: -76.50276792 +[main_algo-3] [INFO] [1746051150.504348781] [sailbot.main_algo]: Distance to destination: 56.89609854387576 +[vectornav-1] [INFO] [1746051150.505010216] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.766999999999996, 0.71, 5.658) +[main_algo-3] [INFO] [1746051150.506173419] [sailbot.main_algo]: Target Bearing: -142.25969786711593 +[main_algo-3] [INFO] [1746051150.507202900] [sailbot.main_algo]: Heading Difference: -172.64830213288406 +[main_algo-3] [INFO] [1746051150.508113450] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051150.509033135] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051150.509887478] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051150.511545520] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051150.545084264] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051150.545803022] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051150.546509225] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051150.547807712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051150.548948115] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051150.585114327] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051150.586830158] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051150.587789711] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051150.587683131] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051150.588708464] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051150.589624234] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051150.590113902] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051150.645112416] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051150.646200777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051150.646611523] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051150.648489812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051150.649651524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051150.745115854] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051150.745851571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051150.746644780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051150.748007394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051150.749034294] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051150.835208218] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051150.836937720] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051150.837804430] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051150.837531406] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051150.838216055] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051150.838707459] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051150.839156170] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051150.844527804] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051150.845188825] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051150.845711459] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051150.846926957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051150.847917457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051150.945183715] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051150.945806568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051150.946935702] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051150.947933345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051150.949084962] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051150.957073981] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051150.958090430] [sailbot.main_algo]: Target Bearing: -142.25969786711593 +[main_algo-3] [INFO] [1746051150.958990246] [sailbot.main_algo]: Heading Difference: -170.9733021328841 +[main_algo-3] [INFO] [1746051150.959878001] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051150.960687654] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051150.961501053] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051150.962538765] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051150.963388933] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051151.002792074] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904301 Long: -76.5027679 +[main_algo-3] [INFO] [1746051151.003678878] [sailbot.main_algo]: Distance to destination: 56.902942995226304 +[vectornav-1] [INFO] [1746051151.003958853] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.269000000000005, -0.22, 3.944) +[main_algo-3] [INFO] [1746051151.004798514] [sailbot.main_algo]: Target Bearing: -142.2537580002843 +[main_algo-3] [INFO] [1746051151.005740076] [sailbot.main_algo]: Heading Difference: -170.97924199971567 +[main_algo-3] [INFO] [1746051151.006667265] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051151.007545421] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051151.008469675] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051151.010380151] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051151.045209958] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051151.045690625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051151.046557122] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051151.047803017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051151.048980894] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051151.085163227] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051151.087246106] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051151.087421443] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051151.088339538] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051151.088582634] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051151.089513377] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051151.090655520] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051151.144791892] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051151.145410103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051151.146071557] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051151.147193282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051151.148353370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051151.245275585] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051151.245775328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051151.246871477] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051151.247881235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051151.248934039] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051151.335624776] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051151.338077528] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051151.338912393] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051151.339127161] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051151.340058825] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051151.340941699] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051151.341790645] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051151.344431198] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051151.344824086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051151.345611631] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051151.346485306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051151.347540535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051151.445283419] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051151.445820590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051151.447260844] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051151.447800143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051151.448906888] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051151.457209952] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051151.458308815] [sailbot.main_algo]: Target Bearing: -142.2537580002843 +[main_algo-3] [INFO] [1746051151.459242655] [sailbot.main_algo]: Heading Difference: -170.47724199971572 +[main_algo-3] [INFO] [1746051151.460090637] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051151.460989863] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051151.461850997] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051151.462951833] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051151.463629933] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051151.502847005] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904296 Long: -76.50276809 +[vectornav-1] [INFO] [1746051151.504192533] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.786, -0.703, 5.728) +[main_algo-3] [INFO] [1746051151.504292580] [sailbot.main_algo]: Distance to destination: 56.887285078410315 +[main_algo-3] [INFO] [1746051151.505387461] [sailbot.main_algo]: Target Bearing: -142.24826819977406 +[main_algo-3] [INFO] [1746051151.506386514] [sailbot.main_algo]: Heading Difference: -170.4827318002259 +[main_algo-3] [INFO] [1746051151.507364698] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051151.508285435] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051151.509140590] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051151.511010994] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051151.544910192] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051151.545673871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051151.546376852] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051151.547790401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051151.548948467] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051151.585227453] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051151.586843879] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051151.587773563] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051151.587366929] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051151.588718889] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051151.589077755] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051151.589895356] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051151.645301157] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051151.646062197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051151.647109874] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051151.648283945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051151.649417829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051151.745173856] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051151.746146827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051151.746593046] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051151.748254637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051151.749291264] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051151.835323404] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051151.837578738] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051151.838007300] [sailbot.teensy]: Wind angle: 163 +[mux-7] [INFO] [1746051151.838378698] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051151.839085099] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051151.840005056] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051151.840839368] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051151.844586666] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051151.845027402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051151.845898780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051151.846799434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051151.847841072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051151.945333640] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051151.946024069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051151.947086254] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051151.947993068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051151.948487192] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051151.957210306] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051151.958343986] [sailbot.main_algo]: Target Bearing: -142.24826819977406 +[main_algo-3] [INFO] [1746051151.959293498] [sailbot.main_algo]: Heading Difference: -169.96573180022597 +[main_algo-3] [INFO] [1746051151.960201015] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051151.961061707] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051151.961859528] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051151.962846645] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051151.963446447] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051152.002840711] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904278 Long: -76.5027679 +[vectornav-1] [INFO] [1746051152.004036257] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.79200000000003, -0.221, 4.92) +[main_algo-3] [INFO] [1746051152.004138912] [sailbot.main_algo]: Distance to destination: 56.88695435413807 +[main_algo-3] [INFO] [1746051152.005571808] [sailbot.main_algo]: Target Bearing: -142.2738190681446 +[main_algo-3] [INFO] [1746051152.006707581] [sailbot.main_algo]: Heading Difference: -169.94018093185537 +[main_algo-3] [INFO] [1746051152.007662679] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051152.008560835] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051152.009429157] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051152.011115839] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051152.045926058] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051152.046135341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051152.047218283] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051152.048412128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051152.049897129] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051152.085710158] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051152.087771904] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051152.088745482] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051152.088184515] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051152.089485396] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051152.089664159] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051152.090590342] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051152.145018133] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051152.146058086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051152.146699311] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051152.148050123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051152.149172199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051152.245201228] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051152.246029994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051152.246648892] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051152.247984308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051152.248478403] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051152.335345189] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051152.337088956] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051152.337794568] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051152.339171490] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051152.339211322] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051152.340191408] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051152.341124705] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051152.344407284] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051152.345029856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051152.345676045] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051152.346742400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051152.347748640] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051152.445130528] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051152.446064498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051152.446581776] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051152.447597139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051152.448146592] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051152.457141809] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051152.458261500] [sailbot.main_algo]: Target Bearing: -142.2738190681446 +[main_algo-3] [INFO] [1746051152.459196573] [sailbot.main_algo]: Heading Difference: -170.9341809318554 +[main_algo-3] [INFO] [1746051152.460071969] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051152.460937713] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051152.461736016] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051152.462744590] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051152.463498745] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051152.502703474] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904285 Long: -76.50276768 +[main_algo-3] [INFO] [1746051152.503637839] [sailbot.main_algo]: Distance to destination: 56.90592864955234 +[vectornav-1] [INFO] [1746051152.503762334] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.56400000000002, -0.299, 4.128) +[main_algo-3] [INFO] [1746051152.504711343] [sailbot.main_algo]: Target Bearing: -142.2791114144806 +[main_algo-3] [INFO] [1746051152.505643470] [sailbot.main_algo]: Heading Difference: -170.92888858551936 +[main_algo-3] [INFO] [1746051152.506551771] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051152.507434398] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051152.508289353] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051152.509973131] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051152.545105962] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051152.545934780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051152.546710384] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051152.547919722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051152.548985303] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051152.585211062] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051152.586789904] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051152.587429049] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051152.587717599] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051152.588626822] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051152.589110738] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051152.589517040] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051152.645511471] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051152.646058314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051152.647137480] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051152.648240227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051152.649425406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051152.745395379] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051152.745935949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051152.747122875] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051152.748170540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051152.749317302] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051152.835223862] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051152.837060497] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051152.837498626] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051152.838016267] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051152.838898430] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051152.838753061] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051152.839758023] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051152.844312659] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051152.844998446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051152.845596389] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051152.846724638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051152.847865333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051152.945108150] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051152.946165357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051152.946599333] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051152.948275677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051152.949315112] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051152.957172523] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051152.958181474] [sailbot.main_algo]: Target Bearing: -142.2791114144806 +[main_algo-3] [INFO] [1746051152.959091148] [sailbot.main_algo]: Heading Difference: -171.15688858551937 +[main_algo-3] [INFO] [1746051152.959932627] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051152.960824443] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051152.961627799] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051152.962623931] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051152.963362008] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051153.003491617] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904288 Long: -76.50276747 +[main_algo-3] [INFO] [1746051153.003691697] [sailbot.main_algo]: Distance to destination: 56.92148270861531 +[vectornav-1] [INFO] [1746051153.004720590] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.39699999999999, 0.481, 5.153) +[main_algo-3] [INFO] [1746051153.004944475] [sailbot.main_algo]: Target Bearing: -142.28737068510674 +[main_algo-3] [INFO] [1746051153.005943480] [sailbot.main_algo]: Heading Difference: -171.14862931489324 +[main_algo-3] [INFO] [1746051153.006878270] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051153.007783505] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051153.008666343] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051153.010378306] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051153.045442352] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051153.046028473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051153.046887986] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051153.048073063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051153.049146889] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051153.085463478] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051153.088024714] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051153.088636125] [sailbot.teensy]: Wind angle: 163 +[mux-7] [INFO] [1746051153.089191568] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051153.089623289] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051153.090550721] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051153.091385406] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051153.144859720] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051153.145472454] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051153.146070871] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051153.147227428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051153.148470417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051153.245366100] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051153.246066654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051153.246905990] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051153.248302765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051153.248859234] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051153.335304394] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051153.337572015] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051153.337884383] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051153.338567439] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051153.339454150] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051153.339521158] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051153.339845629] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051153.344502970] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051153.345152750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051153.345729082] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051153.346911391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051153.348135303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051153.445327295] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051153.446247630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051153.446968067] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051153.448164970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051153.448691649] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051153.457165206] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051153.458273699] [sailbot.main_algo]: Target Bearing: -142.28737068510674 +[main_algo-3] [INFO] [1746051153.459218147] [sailbot.main_algo]: Heading Difference: -171.31562931489327 +[main_algo-3] [INFO] [1746051153.460047274] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051153.460871506] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051153.461661939] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051153.462936479] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051153.463234360] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051153.502844010] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904265 Long: -76.50276743 +[main_algo-3] [INFO] [1746051153.503898123] [sailbot.main_algo]: Distance to destination: 56.908072273611204 +[vectornav-1] [INFO] [1746051153.503982518] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.08800000000002, -1.275, 4.773) +[main_algo-3] [INFO] [1746051153.505114338] [sailbot.main_algo]: Target Bearing: -142.30950534721887 +[main_algo-3] [INFO] [1746051153.506122158] [sailbot.main_algo]: Heading Difference: -171.29349465278113 +[main_algo-3] [INFO] [1746051153.507038394] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051153.507938579] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051153.508826679] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051153.510516421] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051153.545545543] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051153.545574206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051153.546909340] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051153.547444428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051153.548756599] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051153.585086042] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051153.587056406] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051153.587160919] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051153.587970133] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051153.588631769] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051153.588815038] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051153.589006147] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051153.645182531] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051153.645746709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051153.646783133] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051153.648062287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051153.649398949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051153.745482557] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051153.746128039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051153.747261874] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051153.748531848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051153.749424673] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051153.835442575] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051153.837341831] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051153.838238972] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051153.838293532] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051153.838783289] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051153.839005990] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051153.839185519] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051153.844246543] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051153.845051625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051153.845379870] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051153.846973114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051153.848026357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051153.945342357] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051153.946274302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051153.946884201] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051153.948445206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051153.949361802] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051153.957112403] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051153.958138491] [sailbot.main_algo]: Target Bearing: -142.30950534721887 +[main_algo-3] [INFO] [1746051153.959026869] [sailbot.main_algo]: Heading Difference: -171.6024946527811 +[main_algo-3] [INFO] [1746051153.959869078] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051153.960750432] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051153.961556351] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051153.962929480] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051153.963573925] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051154.003748466] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904258 Long: -76.50276714 +[main_algo-3] [INFO] [1746051154.004929166] [sailbot.main_algo]: Distance to destination: 56.92182239668068 +[vectornav-1] [INFO] [1746051154.005131484] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.52800000000002, -0.041, 4.933) +[main_algo-3] [INFO] [1746051154.006153945] [sailbot.main_algo]: Target Bearing: -142.33062012442565 +[main_algo-3] [INFO] [1746051154.007155070] [sailbot.main_algo]: Heading Difference: -171.58137987557433 +[main_algo-3] [INFO] [1746051154.008102623] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051154.009007351] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051154.009848693] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051154.011508477] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051154.045151486] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051154.046073917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051154.046596721] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051154.048075895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051154.049102241] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051154.085389529] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051154.087998462] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051154.088145559] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051154.088970643] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051154.089157155] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051154.090371813] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051154.091267481] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051154.144906934] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051154.145589611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051154.146232553] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051154.147608975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051154.148642741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051154.245131672] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051154.245944872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051154.246673739] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051154.247942987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051154.248590705] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051154.335161852] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051154.337449038] [sailbot.teensy]: Wind angle: 162 +[trim_sail-4] [INFO] [1746051154.337745599] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051154.338401369] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051154.339249761] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051154.338854191] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051154.339639207] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051154.344470458] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051154.345162543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051154.345614747] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051154.346914369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051154.348029232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051154.445162472] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051154.446197984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051154.446830759] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051154.448221530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051154.449279578] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051154.456922117] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051154.457962280] [sailbot.main_algo]: Target Bearing: -142.33062012442565 +[main_algo-3] [INFO] [1746051154.458853111] [sailbot.main_algo]: Heading Difference: -170.14137987557433 +[main_algo-3] [INFO] [1746051154.459703941] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051154.460568086] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051154.461395009] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051154.462432231] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051154.463053269] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051154.502847202] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904265 Long: -76.50276707 +[main_algo-3] [INFO] [1746051154.503884517] [sailbot.main_algo]: Distance to destination: 56.93117428199977 +[vectornav-1] [INFO] [1746051154.504340733] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.297000000000025, -0.197, 3.994) +[main_algo-3] [INFO] [1746051154.505061124] [sailbot.main_algo]: Target Bearing: -142.3281331700822 +[main_algo-3] [INFO] [1746051154.506364798] [sailbot.main_algo]: Heading Difference: -170.14386682991778 +[main_algo-3] [INFO] [1746051154.507278499] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051154.508201937] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051154.509079382] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051154.510786163] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051154.545418751] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051154.545604587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051154.546887950] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051154.547567193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051154.548686455] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051154.585074635] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051154.587047876] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051154.587060215] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051154.587941054] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051154.588357914] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051154.588871653] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051154.589876268] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051154.645310316] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051154.646132462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051154.646850628] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051154.648708978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051154.650020849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051154.744717799] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051154.745233444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051154.745877234] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051154.746956975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051154.748069455] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051154.835222445] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051154.837385667] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051154.837692642] [sailbot.teensy]: Wind angle: 161 +[teensy-2] [INFO] [1746051154.838636328] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051154.838699515] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051154.839542912] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051154.840406391] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051154.844592235] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051154.845080068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051154.845842606] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051154.846820153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051154.848049219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051154.945030527] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051154.945639340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051154.946281162] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051154.947421138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051154.948538089] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051154.957151158] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051154.958176716] [sailbot.main_algo]: Target Bearing: -142.3281331700822 +[main_algo-3] [INFO] [1746051154.959042235] [sailbot.main_algo]: Heading Difference: -168.37486682991778 +[main_algo-3] [INFO] [1746051154.959831801] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051154.960654707] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051154.961447231] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051154.962466805] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051154.963113617] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051155.002694519] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904283 Long: -76.50276735 +[main_algo-3] [INFO] [1746051155.003576824] [sailbot.main_algo]: Distance to destination: 56.92570695004086 +[vectornav-1] [INFO] [1746051155.003780735] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.478999999999985, -0.655, 5.656) +[main_algo-3] [INFO] [1746051155.004800983] [sailbot.main_algo]: Target Bearing: -142.2979437335886 +[main_algo-3] [INFO] [1746051155.005681082] [sailbot.main_algo]: Heading Difference: -168.4050562664114 +[main_algo-3] [INFO] [1746051155.006519979] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051155.007346086] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051155.008136537] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051155.009714562] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051155.045099076] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051155.045884868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051155.047410503] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051155.047900646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051155.048970126] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051155.085380936] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051155.087111870] [sailbot.teensy]: Wind angle: 159 +[teensy-2] [INFO] [1746051155.088025376] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051155.087625755] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051155.088957006] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051155.089772081] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051155.089892486] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051155.145184340] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051155.145734074] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051155.146612127] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051155.147811225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051155.149003388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051155.244933885] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051155.245558608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051155.246145469] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051155.247419738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051155.248703317] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051155.335403238] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051155.337342322] [sailbot.teensy]: Wind angle: 159 +[teensy-2] [INFO] [1746051155.338332996] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051155.338454122] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051155.339039694] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051155.339417973] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051155.339824849] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051155.344757809] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051155.345320091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051155.346107303] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051155.347079624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051155.348304052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051155.443830767] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051155.444662317] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051155.445684873] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051155.447080921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051155.447991968] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051155.456275935] [sailbot.main_algo]: Wind Direction: 159 +[main_algo-3] [INFO] [1746051155.456752707] [sailbot.main_algo]: Target Bearing: -142.2979437335886 +[main_algo-3] [INFO] [1746051155.457196234] [sailbot.main_algo]: Heading Difference: -170.2230562664114 +[main_algo-3] [INFO] [1746051155.457595643] [sailbot.main_algo]: Wind Direction: 159 +[main_algo-3] [INFO] [1746051155.458026942] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051155.458432162] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051155.458930711] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051155.459739572] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051155.501846923] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690428 Long: -76.50276719 +[main_algo-3] [INFO] [1746051155.502828524] [sailbot.main_algo]: Distance to destination: 56.93388861445941 +[vectornav-1] [INFO] [1746051155.502844361] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.156000000000006, 0.039, 5.958) +[main_algo-3] [INFO] [1746051155.504353010] [sailbot.main_algo]: Target Bearing: -142.30884057766016 +[main_algo-3] [INFO] [1746051155.505127270] [sailbot.main_algo]: Heading Difference: -170.21215942233982 +[main_algo-3] [INFO] [1746051155.505931427] [sailbot.main_algo]: Wind Direction: 159 +[main_algo-3] [INFO] [1746051155.506817518] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051155.507280263] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051155.508477973] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051155.544689238] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051155.545228818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051155.545806790] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051155.546953100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051155.547966466] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051155.585353705] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051155.587566755] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051155.588061407] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051155.588890554] [sailbot.teensy]: Wind angle: 159 +[teensy-2] [INFO] [1746051155.589894867] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051155.590801020] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051155.591845483] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051155.645037939] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051155.645672016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051155.646366812] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051155.647530708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051155.648830261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051155.745160255] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051155.746173002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051155.746598401] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051155.748218605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051155.749501140] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051155.835417397] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051155.837914121] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051155.837908914] [sailbot.teensy]: Wind angle: 159 +[mux-7] [INFO] [1746051155.839241721] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051155.839767544] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051155.840677791] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051155.841235521] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051155.844444330] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051155.845077706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051155.845607496] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051155.846872752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051155.847860889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051155.945134320] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051155.945794950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051155.946630702] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051155.947657728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051155.948122906] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051155.957201537] [sailbot.main_algo]: Wind Direction: 159 +[main_algo-3] [INFO] [1746051155.958269585] [sailbot.main_algo]: Target Bearing: -142.30884057766016 +[main_algo-3] [INFO] [1746051155.959190665] [sailbot.main_algo]: Heading Difference: -171.5351594223398 +[main_algo-3] [INFO] [1746051155.960068365] [sailbot.main_algo]: Wind Direction: 159 +[main_algo-3] [INFO] [1746051155.961014637] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051155.961821313] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051155.963089498] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051155.963369700] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051156.003073521] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904269 Long: -76.50276718 +[main_algo-3] [INFO] [1746051156.004129743] [sailbot.main_algo]: Distance to destination: 56.92689188891165 +[vectornav-1] [INFO] [1746051156.004418592] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.22000000000003, -0.167, 4.629) +[main_algo-3] [INFO] [1746051156.005421196] [sailbot.main_algo]: Target Bearing: -142.3189531521994 +[main_algo-3] [INFO] [1746051156.006401656] [sailbot.main_algo]: Heading Difference: -171.52504684780058 +[main_algo-3] [INFO] [1746051156.007409597] [sailbot.main_algo]: Wind Direction: 159 +[main_algo-3] [INFO] [1746051156.008445148] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051156.009334089] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051156.010963194] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051156.045008573] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051156.045868931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051156.046302145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051156.047801426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051156.048996801] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051156.085232189] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051156.087350666] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051156.087586851] [sailbot.teensy]: Wind angle: 159 +[teensy-2] [INFO] [1746051156.088593147] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051156.089106148] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051156.089471964] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051156.090367567] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051156.145118269] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051156.145977417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051156.146694732] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051156.147985298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051156.149165080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051156.245200298] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051156.246035392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051156.246651453] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051156.248318916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051156.249371030] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051156.335483517] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051156.338322213] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051156.338793014] [sailbot.teensy]: Wind angle: 159 +[mux-7] [INFO] [1746051156.339495608] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051156.339763073] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051156.340717053] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051156.341497514] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051156.344540572] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051156.345181124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051156.346060683] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051156.346971062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051156.347974509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051156.445642882] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051156.446465657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051156.447255510] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051156.448893973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051156.449413468] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051156.457257790] [sailbot.main_algo]: Wind Direction: 159 +[main_algo-3] [INFO] [1746051156.458273970] [sailbot.main_algo]: Target Bearing: -142.3189531521994 +[main_algo-3] [INFO] [1746051156.459170624] [sailbot.main_algo]: Heading Difference: -169.46104684780056 +[main_algo-3] [INFO] [1746051156.460019380] [sailbot.main_algo]: Wind Direction: 159 +[main_algo-3] [INFO] [1746051156.460908339] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051156.461709879] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051156.462758119] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051156.463485464] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051156.503730080] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904286 Long: -76.50276741 +[main_algo-3] [INFO] [1746051156.504174889] [sailbot.main_algo]: Distance to destination: 56.92394194931042 +[vectornav-1] [INFO] [1746051156.505565975] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.52999999999997, -0.955, 3.474) +[main_algo-3] [INFO] [1746051156.505883036] [sailbot.main_algo]: Target Bearing: -142.29222134162282 +[main_algo-3] [INFO] [1746051156.506886256] [sailbot.main_algo]: Heading Difference: -169.48777865837712 +[main_algo-3] [INFO] [1746051156.507827959] [sailbot.main_algo]: Wind Direction: 159 +[main_algo-3] [INFO] [1746051156.508717644] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051156.509557374] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051156.511248017] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051156.545145271] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051156.546022700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051156.546583497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051156.548068828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051156.549082790] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051156.585213554] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051156.587530593] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051156.587871492] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051156.587930356] [sailbot.teensy]: Wind angle: 158 +[teensy-2] [INFO] [1746051156.588950809] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051156.589823954] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051156.590653698] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051156.645130529] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051156.645954425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051156.646579658] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051156.648328482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051156.648955207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051156.744986000] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051156.745729129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051156.746323584] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051156.747792378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051156.748921529] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051156.835478817] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051156.837477442] [sailbot.teensy]: Wind angle: 158 +[trim_sail-4] [INFO] [1746051156.837734208] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051156.838464778] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051156.839407197] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051156.839976623] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051156.840384096] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051156.844456742] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051156.845247506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051156.845632167] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051156.847289516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051156.848360189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051156.945272797] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051156.946082052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051156.946860138] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051156.947716770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051156.948238885] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051156.957166905] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051156.958181995] [sailbot.main_algo]: Target Bearing: -142.29222134162282 +[main_algo-3] [INFO] [1746051156.959054037] [sailbot.main_algo]: Heading Difference: -169.17777865837718 +[main_algo-3] [INFO] [1746051156.959868640] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051156.960673493] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051156.961465837] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051156.962585346] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051156.963320868] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051157.002898677] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904291 Long: -76.50276743 +[main_algo-3] [INFO] [1746051157.003930726] [sailbot.main_algo]: Distance to destination: 56.92613287622673 +[vectornav-1] [INFO] [1746051157.004130225] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.250999999999976, 0.485, 6.356) +[main_algo-3] [INFO] [1746051157.005101005] [sailbot.main_algo]: Target Bearing: -142.2868255312285 +[main_algo-3] [INFO] [1746051157.006051087] [sailbot.main_algo]: Heading Difference: -169.18317446877154 +[main_algo-3] [INFO] [1746051157.006989249] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051157.007885429] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051157.008749795] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051157.010497901] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051157.045303749] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051157.046343191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051157.047183749] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051157.048883725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051157.049959569] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051157.085494392] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051157.087403175] [sailbot.teensy]: Wind angle: 159 +[trim_sail-4] [INFO] [1746051157.088008166] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051157.088400689] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051157.089225619] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051157.089307221] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051157.090520940] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051157.144905603] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051157.145610208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051157.146264133] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051157.147732911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051157.148781104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051157.244872145] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051157.245544537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051157.246102266] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051157.247457987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051157.248444206] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051157.335563444] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051157.337584400] [sailbot.teensy]: Wind angle: 161 +[trim_sail-4] [INFO] [1746051157.338455833] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051157.338596401] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051157.339530330] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051157.339561944] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051157.340515599] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051157.344512350] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051157.345183572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051157.345601763] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051157.347013222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051157.348046398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051157.445422763] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051157.446380254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051157.447015542] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051157.448023131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051157.448522595] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051157.457193695] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051157.458239471] [sailbot.main_algo]: Target Bearing: -142.2868255312285 +[main_algo-3] [INFO] [1746051157.459122657] [sailbot.main_algo]: Heading Difference: -172.46217446877154 +[main_algo-3] [INFO] [1746051157.459980929] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051157.460880233] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051157.461743292] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051157.462819480] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051157.463509042] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051157.503139833] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904256 Long: -76.50276719 +[main_algo-3] [INFO] [1746051157.504267965] [sailbot.main_algo]: Distance to destination: 56.91722496613883 +[vectornav-1] [INFO] [1746051157.505006393] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.78399999999999, -0.456, 4.659) +[main_algo-3] [INFO] [1746051157.505533840] [sailbot.main_algo]: Target Bearing: -142.3297788728915 +[main_algo-3] [INFO] [1746051157.506629735] [sailbot.main_algo]: Heading Difference: -172.41922112710853 +[main_algo-3] [INFO] [1746051157.507831191] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051157.508802164] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051157.509660196] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051157.511358214] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051157.545120992] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051157.545873665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051157.546684113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051157.548273580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051157.549398451] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051157.585463947] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051157.587933428] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051157.589413264] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051157.589670882] [sailbot.teensy]: Wind angle: 162 +[teensy-2] [INFO] [1746051157.590644346] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051157.591485875] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051157.592344790] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051157.644657962] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051157.645529579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051157.645825735] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051157.647156122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051157.648089812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051157.745168260] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051157.745866019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051157.746616328] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051157.748139329] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051157.749254711] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051157.835383142] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051157.837709737] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051157.838269636] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051157.838508773] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051157.838966679] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051157.839349403] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051157.839695691] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051157.844512637] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051157.845110189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051157.845775313] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051157.846920600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051157.848123988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051157.945422458] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051157.946275193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051157.946995880] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051157.947981357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051157.948460476] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051157.957179326] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051157.958233207] [sailbot.main_algo]: Target Bearing: -142.3297788728915 +[main_algo-3] [INFO] [1746051157.959140459] [sailbot.main_algo]: Heading Difference: -170.8862211271085 +[main_algo-3] [INFO] [1746051157.959923831] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051157.960782322] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051157.961597687] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051157.962644517] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051157.963162633] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051158.002931338] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904268 Long: -76.50276752 +[main_algo-3] [INFO] [1746051158.004024394] [sailbot.main_algo]: Distance to destination: 56.90438138296095 +[vectornav-1] [INFO] [1746051158.004446066] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.065, -0.901, 4.426) +[main_algo-3] [INFO] [1746051158.005577296] [sailbot.main_algo]: Target Bearing: -142.3022282979173 +[main_algo-3] [INFO] [1746051158.006588294] [sailbot.main_algo]: Heading Difference: -170.91377170208273 +[main_algo-3] [INFO] [1746051158.007515891] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051158.008457303] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051158.009331196] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051158.011073747] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051158.045353130] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051158.046361703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051158.047026422] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051158.048913988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051158.049984244] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051158.085611849] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051158.087556733] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051158.088420287] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051158.088597291] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051158.089535738] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051158.090096917] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051158.090424825] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051158.145074402] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051158.145785695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051158.146561673] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051158.147867375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051158.148471395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051158.245161770] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051158.245823248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051158.246634285] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051158.247893919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051158.249063144] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051158.335493891] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051158.338333117] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051158.338349751] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051158.339301965] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051158.339336225] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051158.340275011] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051158.341171879] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051158.344562728] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051158.345071293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051158.345735642] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051158.346749695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051158.347916081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051158.445350646] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051158.446042968] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051158.446933971] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051158.448313011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051158.449594642] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051158.457122678] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051158.458178820] [sailbot.main_algo]: Target Bearing: -142.3022282979173 +[main_algo-3] [INFO] [1746051158.459072698] [sailbot.main_algo]: Heading Difference: -168.63277170208266 +[main_algo-3] [INFO] [1746051158.459921983] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051158.460837265] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051158.461646020] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051158.462781654] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051158.463207641] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051158.503177603] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904287 Long: -76.50276773 +[main_algo-3] [INFO] [1746051158.504175978] [sailbot.main_algo]: Distance to destination: 56.904111835950175 +[vectornav-1] [INFO] [1746051158.504654561] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.39699999999999, -0.041, 4.231) +[main_algo-3] [INFO] [1746051158.505411032] [sailbot.main_algo]: Target Bearing: -142.27477673893705 +[main_algo-3] [INFO] [1746051158.506456763] [sailbot.main_algo]: Heading Difference: -168.66022326106292 +[main_algo-3] [INFO] [1746051158.507372003] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051158.508265003] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051158.509118807] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051158.510912154] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051158.545000853] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051158.545817989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051158.546330539] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051158.548008238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051158.549061446] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051158.585162870] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051158.586868053] [sailbot.teensy]: Wind angle: 162 +[trim_sail-4] [INFO] [1746051158.587257188] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051158.587870077] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051158.588722622] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051158.588858942] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051158.589844077] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051158.645309364] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051158.646429407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051158.647137268] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051158.648769057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051158.649818659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051158.745401928] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051158.746373831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051158.746948145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051158.749015107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051158.749613549] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051158.835241188] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051158.837070998] [sailbot.teensy]: Wind angle: 164 +[trim_sail-4] [INFO] [1746051158.837429903] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051158.838049719] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051158.838937428] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051158.839097034] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051158.839826813] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051158.844379446] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051158.844935618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051158.845531022] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051158.846625052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051158.847676775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051158.945145372] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051158.945883910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051158.946618413] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051158.947785992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051158.948325577] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051158.957108829] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051158.958138392] [sailbot.main_algo]: Target Bearing: -142.27477673893705 +[main_algo-3] [INFO] [1746051158.959020582] [sailbot.main_algo]: Heading Difference: -169.32822326106293 +[main_algo-3] [INFO] [1746051158.959876505] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051158.960718683] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051158.961506973] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051158.962673356] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051158.963093043] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051159.003259720] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904265 Long: -76.50276789 +[main_algo-3] [INFO] [1746051159.004188673] [sailbot.main_algo]: Distance to destination: 56.878561803927674 +[vectornav-1] [INFO] [1746051159.004647171] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.298, -0.362, 5.518) +[main_algo-3] [INFO] [1746051159.005413739] [sailbot.main_algo]: Target Bearing: -142.2856811141678 +[main_algo-3] [INFO] [1746051159.006482153] [sailbot.main_algo]: Heading Difference: -169.3173188858322 +[main_algo-3] [INFO] [1746051159.007723358] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051159.008667716] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051159.009527016] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051159.011229918] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051159.045861060] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051159.046026299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051159.047301153] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051159.048785200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051159.049914946] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051159.085101370] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051159.086622810] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051159.087155506] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051159.088211953] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051159.088480747] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051159.089477603] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051159.090327274] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051159.144960739] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051159.145872501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051159.146585762] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051159.147767239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051159.148840824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051159.244840851] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051159.245593994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051159.246380890] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051159.247437474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051159.248529518] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051159.335276875] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051159.337422357] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051159.337437881] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746051159.338369558] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051159.339324327] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051159.339518266] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051159.340276390] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051159.344408411] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051159.344989044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051159.345625194] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051159.346748572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051159.347916264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051159.444993904] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051159.445708232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051159.446362133] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051159.447845260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051159.448977996] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051159.457114004] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051159.458173354] [sailbot.main_algo]: Target Bearing: -142.2856811141678 +[main_algo-3] [INFO] [1746051159.459075025] [sailbot.main_algo]: Heading Difference: -172.4163188858322 +[main_algo-3] [INFO] [1746051159.459978544] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051159.460817639] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051159.461613692] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051159.462580698] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051159.463173378] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051159.503016019] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904247 Long: -76.5027679 +[main_algo-3] [INFO] [1746051159.504040937] [sailbot.main_algo]: Distance to destination: 56.86541548820025 +[vectornav-1] [INFO] [1746051159.504908054] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.98599999999999, 0.038, 4.544) +[main_algo-3] [INFO] [1746051159.505314675] [sailbot.main_algo]: Target Bearing: -142.3008757430918 +[main_algo-3] [INFO] [1746051159.506322978] [sailbot.main_algo]: Heading Difference: -172.4011242569082 +[main_algo-3] [INFO] [1746051159.507211514] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051159.508108088] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051159.509059918] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051159.510758105] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051159.545090042] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051159.545796956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051159.546405242] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051159.547791910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051159.548841566] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051159.585462143] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051159.587449662] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051159.587912643] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051159.588468578] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051159.589416592] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051159.589689271] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051159.590311222] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051159.644690725] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051159.645335990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051159.646028319] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051159.647147296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051159.648412218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051159.744750040] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051159.745342750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051159.746158575] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051159.747243557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051159.748292873] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051159.835574319] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051159.838085827] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051159.838637490] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051159.839065957] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746051159.839468363] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051159.839829071] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051159.840194716] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051159.844468736] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051159.845230439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051159.845728993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051159.847011533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051159.848044212] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051159.945139084] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051159.946032751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051159.946746163] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051159.947960274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051159.949021138] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051159.957152973] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051159.958214981] [sailbot.main_algo]: Target Bearing: -142.3008757430918 +[main_algo-3] [INFO] [1746051159.959112426] [sailbot.main_algo]: Heading Difference: -173.7131242569082 +[main_algo-3] [INFO] [1746051159.959988605] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051159.960871600] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051159.961735195] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051159.963127451] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051159.963742236] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051160.002772789] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904242 Long: -76.50276821 +[main_algo-3] [INFO] [1746051160.003688872] [sailbot.main_algo]: Distance to destination: 56.84205528055024 +[vectornav-1] [INFO] [1746051160.003922967] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.906000000000006, -0.712, 4.552) +[main_algo-3] [INFO] [1746051160.004815270] [sailbot.main_algo]: Target Bearing: -142.28917437708824 +[main_algo-3] [INFO] [1746051160.005786611] [sailbot.main_algo]: Heading Difference: -173.7248256229118 +[main_algo-3] [INFO] [1746051160.006913762] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051160.007813354] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051160.008680186] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051160.010382738] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051160.045087681] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051160.045681298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051160.046319165] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051160.047522745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051160.048619544] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051160.085189010] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051160.086760129] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051160.087676851] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051160.087120943] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051160.088377729] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051160.088618526] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051160.089524573] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051160.144690652] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051160.145264775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051160.145868327] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051160.147016622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051160.148032974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051160.244995799] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051160.246195435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051160.246449273] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051160.248174324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051160.249344632] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051160.335278116] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051160.337402023] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051160.338800241] [sailbot.teensy]: Wind angle: 165 +[mux-7] [INFO] [1746051160.338835017] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051160.339235846] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051160.339610878] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051160.339964060] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051160.344312718] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051160.344848515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051160.345505142] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051160.346637025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051160.347778930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051160.445212938] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051160.445854606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051160.446723468] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051160.447914183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051160.449123715] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051160.457096455] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051160.458066964] [sailbot.main_algo]: Target Bearing: -142.28917437708824 +[main_algo-3] [INFO] [1746051160.458953410] [sailbot.main_algo]: Heading Difference: -172.80482562291172 +[main_algo-3] [INFO] [1746051160.459778147] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051160.460577031] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051160.461383278] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051160.462354884] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051160.463040166] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051160.502986329] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904247 Long: -76.50276835 +[main_algo-3] [INFO] [1746051160.503532886] [sailbot.main_algo]: Distance to destination: 56.83654993391696 +[main_algo-3] [INFO] [1746051160.504820376] [sailbot.main_algo]: Target Bearing: -142.27754781577178 +[main_algo-3] [INFO] [1746051160.505798713] [sailbot.main_algo]: Heading Difference: -172.81645218422818 +[vectornav-1] [INFO] [1746051160.505171862] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.821000000000026, -1.152, 5.076) +[main_algo-3] [INFO] [1746051160.506721230] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051160.507597576] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051160.508465508] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051160.510453328] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051160.545142172] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051160.545857372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051160.546618984] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051160.547868155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051160.548922134] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051160.585448950] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051160.587757708] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051160.588148887] [sailbot.teensy]: Wind angle: 165 +[mux-7] [INFO] [1746051160.588633236] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051160.589105649] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051160.590249456] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051160.591134435] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051160.645278883] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051160.645816401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051160.646929951] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051160.647874564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051160.648990411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051160.745389266] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051160.745917244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051160.747234993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051160.747999069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051160.749037988] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051160.835403097] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051160.837375340] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051160.837785168] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051160.839187367] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051160.839518081] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051160.840479777] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051160.841312619] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051160.844470922] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051160.845028236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051160.845615184] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051160.846781021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051160.847847395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051160.945098840] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051160.945760645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051160.946487069] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051160.947644530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051160.948667204] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051160.957245420] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051160.958279491] [sailbot.main_algo]: Target Bearing: -142.27754781577178 +[main_algo-3] [INFO] [1746051160.959162840] [sailbot.main_algo]: Heading Difference: -171.90145218422822 +[main_algo-3] [INFO] [1746051160.959982131] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051160.960801868] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051160.961602075] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051160.962599419] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051160.963212893] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051161.002825056] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904246 Long: -76.50276847 +[main_algo-3] [INFO] [1746051161.003617229] [sailbot.main_algo]: Distance to destination: 56.82815900838876 +[vectornav-1] [INFO] [1746051161.003957365] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.968999999999994, 1.688, 4.724) +[main_algo-3] [INFO] [1746051161.004851650] [sailbot.main_algo]: Target Bearing: -142.27219637160985 +[main_algo-3] [INFO] [1746051161.005910730] [sailbot.main_algo]: Heading Difference: -171.9068036283901 +[main_algo-3] [INFO] [1746051161.006844421] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051161.007753843] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051161.008664544] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051161.010326670] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051161.045296062] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051161.046054365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051161.046886054] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051161.048186904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051161.049343853] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051161.085303317] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051161.086902666] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051161.087533115] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051161.087814317] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051161.088695426] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051161.088852400] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051161.089571298] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051161.145007112] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051161.145604461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051161.146424149] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051161.147515399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051161.148806165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051161.245136123] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051161.245967815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051161.246722052] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051161.247847360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051161.248992819] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051161.335387492] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051161.337137440] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746051161.338048383] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051161.337650452] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051161.338926639] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051161.339071682] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051161.339805303] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051161.344485270] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051161.344991479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051161.345609914] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051161.346679483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051161.347705053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051161.445273498] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051161.445796495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051161.446688295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051161.447696835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051161.448772466] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051161.457231842] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051161.458315448] [sailbot.main_algo]: Target Bearing: -142.27219637160985 +[main_algo-3] [INFO] [1746051161.459224713] [sailbot.main_algo]: Heading Difference: -171.75880362839018 +[main_algo-3] [INFO] [1746051161.460117864] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051161.460983537] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051161.461781830] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051161.462815688] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051161.463407515] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051161.502516503] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904237 Long: -76.50276885 +[main_algo-3] [INFO] [1746051161.503424101] [sailbot.main_algo]: Distance to destination: 56.79753539446554 +[vectornav-1] [INFO] [1746051161.503520133] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.06900000000002, -2.136, 3.798) +[main_algo-3] [INFO] [1746051161.504653312] [sailbot.main_algo]: Target Bearing: -142.26033576772807 +[main_algo-3] [INFO] [1746051161.506027643] [sailbot.main_algo]: Heading Difference: -171.77066423227194 +[main_algo-3] [INFO] [1746051161.507068440] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051161.507970150] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051161.508884305] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051161.510664499] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051161.545048872] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051161.545743793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051161.546392754] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051161.548050709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051161.549192444] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051161.585308430] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051161.586989072] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051161.587723349] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051161.587903456] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051161.588826919] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051161.589404879] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051161.589688965] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051161.644911080] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051161.645714655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051161.646156993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051161.647828832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051161.648960282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051161.745124484] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051161.745902071] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051161.746836890] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051161.747915826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051161.749079787] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051161.835382273] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051161.837203323] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051161.837586578] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051161.838185584] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051161.839122174] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051161.839326679] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051161.840070100] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051161.844416082] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051161.844967049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051161.845527885] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051161.846666957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051161.847781401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051161.944930081] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051161.945555533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051161.946179664] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051161.947468280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051161.948498352] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051161.956956042] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051161.957944889] [sailbot.main_algo]: Target Bearing: -142.26033576772807 +[main_algo-3] [INFO] [1746051161.958787781] [sailbot.main_algo]: Heading Difference: -171.67066423227192 +[main_algo-3] [INFO] [1746051161.959608957] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051161.960416777] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051161.961222622] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051161.962414528] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051161.962845033] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051162.002951797] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690423 Long: -76.5027688 +[main_algo-3] [INFO] [1746051162.004134077] [sailbot.main_algo]: Distance to destination: 56.7958755647337 +[vectornav-1] [INFO] [1746051162.004450876] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.44200000000001, 0.612, 5.813) +[main_algo-3] [INFO] [1746051162.005369883] [sailbot.main_algo]: Target Bearing: -142.26904780134348 +[main_algo-3] [INFO] [1746051162.006430327] [sailbot.main_algo]: Heading Difference: -171.66195219865654 +[main_algo-3] [INFO] [1746051162.007333406] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051162.008222316] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051162.009076632] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051162.010794188] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051162.045242030] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051162.046147388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051162.046685969] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051162.048350624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051162.049437231] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051162.085537895] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051162.087371358] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051162.088340542] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051162.088022862] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051162.089265627] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051162.089287964] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051162.090389920] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051162.145030752] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051162.145733228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051162.146426876] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051162.147830491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051162.149008199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051162.244939453] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051162.245628768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051162.246434966] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051162.247409842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051162.248487888] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051162.335412991] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051162.337848750] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051162.338836943] [sailbot.teensy]: Wind angle: 166 +[mux-7] [INFO] [1746051162.339112333] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051162.340209557] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051162.341150750] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051162.342134540] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051162.344433169] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051162.345108066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051162.345573437] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051162.346883775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051162.348000571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051162.444825691] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051162.445306336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051162.447102512] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051162.447464175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051162.448531040] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051162.457182795] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051162.458166529] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746051162.459122191] [sailbot.main_algo]: Target Bearing: -142.26904780134348 +[main_algo-3] [INFO] [1746051162.460012114] [sailbot.main_algo]: Heading Difference: -171.2889521986565 +[main_algo-3] [INFO] [1746051162.460921059] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051162.461747748] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051162.462521393] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051162.463811817] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051162.464084566] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051162.502757827] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904214 Long: -76.50276873 +[main_algo-3] [INFO] [1746051162.503708610] [sailbot.main_algo]: Distance to destination: 56.7892459169806 +[vectornav-1] [INFO] [1746051162.503940889] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.54200000000003, -0.761, 4.921) +[main_algo-3] [INFO] [1746051162.504955355] [sailbot.main_algo]: Target Bearing: -142.2866646597594 +[main_algo-3] [INFO] [1746051162.506002067] [sailbot.main_algo]: Heading Difference: -171.27133534024063 +[main_algo-3] [INFO] [1746051162.506902651] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051162.507797834] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051162.508696705] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051162.510406942] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051162.545062907] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051162.545863378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051162.546393796] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051162.547866174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051162.548948328] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051162.585441785] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051162.587413242] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746051162.588406636] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051162.587769999] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051162.589201452] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051162.589331229] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051162.590233803] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051162.644803103] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051162.645902310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051162.646082534] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051162.647724310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051162.648820180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051162.745055576] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051162.745780931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051162.746428670] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051162.747846539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051162.748346610] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051162.835283197] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051162.837140797] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051162.837482053] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051162.838831148] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051162.838913270] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051162.839252079] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051162.839626081] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051162.844244226] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051162.844918367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051162.845504111] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051162.846698321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051162.847717260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051162.944902695] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051162.945583227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051162.946144719] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051162.947425170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051162.948554289] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051162.957134163] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051162.958048920] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746051162.958850379] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051162.959993298] [sailbot.main_algo]: Current Location: (42.46904214214751, -76.50276873005446) +[main_algo-3] [INFO] [1746051162.960884741] [sailbot.main_algo]: Target Bearing: -142.2866646597594 +[main_algo-3] [INFO] [1746051162.961725245] [sailbot.main_algo]: Heading Difference: -172.1713353402406 +[main_algo-3] [INFO] [1746051162.962814463] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051162.963653407] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051162.964471594] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051162.965533170] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051162.966055185] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051163.003088749] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904194 Long: -76.50276884 +[main_algo-3] [INFO] [1746051163.003802348] [sailbot.main_algo]: Distance to destination: 56.76829509428481 +[vectornav-1] [INFO] [1746051163.004415964] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.41500000000002, 0.621, 5.077) +[main_algo-3] [INFO] [1746051163.005095418] [sailbot.main_algo]: Target Bearing: -142.29844258476544 +[main_algo-3] [INFO] [1746051163.006094238] [sailbot.main_algo]: Heading Difference: -172.15955741523453 +[main_algo-3] [INFO] [1746051163.007057732] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051163.007977830] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051163.008845332] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051163.010591515] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051163.045037662] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051163.045740472] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051163.046261538] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051163.047614039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051163.048745127] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051163.085410620] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051163.087780636] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051163.088279473] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051163.088512202] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051163.089521663] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051163.090576339] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051163.091495479] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051163.145025630] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051163.145693494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051163.146366344] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051163.147611512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051163.148654330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051163.244955425] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051163.245620604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051163.246165073] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051163.247441620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051163.248575130] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051163.334990818] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051163.336639562] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051163.336952566] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051163.337517659] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051163.338477047] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051163.338635430] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051163.339560133] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051163.344411928] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051163.345029091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051163.345542474] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051163.346905011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051163.347992880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051163.445089160] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051163.445734389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051163.446465127] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051163.447642669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051163.448855868] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051163.457303811] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051163.458372077] [sailbot.main_algo]: Target Bearing: -142.29844258476544 +[main_algo-3] [INFO] [1746051163.459295326] [sailbot.main_algo]: Heading Difference: -172.28655741523454 +[main_algo-3] [INFO] [1746051163.460207003] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051163.461076469] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051163.461874092] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051163.462967103] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051163.463572934] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051163.502735813] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904194 Long: -76.50276903 +[vectornav-1] [INFO] [1746051163.503934315] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.524, -2.417, 4.78) +[main_algo-3] [INFO] [1746051163.504913794] [sailbot.main_algo]: Distance to destination: 56.75610668384025 +[main_algo-3] [INFO] [1746051163.506061760] [sailbot.main_algo]: Target Bearing: -142.2885785320552 +[main_algo-3] [INFO] [1746051163.507091298] [sailbot.main_algo]: Heading Difference: -172.2964214679448 +[main_algo-3] [INFO] [1746051163.508068300] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051163.508999662] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051163.509842502] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051163.511523224] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051163.545090321] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051163.545785615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051163.546438364] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051163.547705252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051163.548738665] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051163.585132279] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051163.586668190] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746051163.587576673] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051163.587658729] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051163.588510819] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051163.589118947] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051163.589381938] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051163.645121253] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051163.645736322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051163.646484774] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051163.647633837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051163.648246759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051163.745255457] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051163.745874077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051163.746694775] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051163.747783654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051163.748855890] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051163.835375635] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051163.837742805] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051163.838185031] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051163.838545616] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746051163.839531048] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051163.840393436] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051163.841002463] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051163.844468196] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051163.844999966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051163.845542318] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051163.846745162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051163.847749397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051163.945002953] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051163.945798296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051163.946524413] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051163.947750929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051163.948390713] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051163.957101584] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051163.958091740] [sailbot.main_algo]: Target Bearing: -142.2885785320552 +[main_algo-3] [INFO] [1746051163.958949889] [sailbot.main_algo]: Heading Difference: -173.18742146794477 +[main_algo-3] [INFO] [1746051163.959745338] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051163.960571455] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051163.961355000] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051163.962320728] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051163.962910695] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051164.003012032] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904195 Long: -76.50276861 +[main_algo-3] [INFO] [1746051164.003436366] [sailbot.main_algo]: Distance to destination: 56.783746196678074 +[vectornav-1] [INFO] [1746051164.004266713] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.71300000000002, 1.552, 5.96) +[main_algo-3] [INFO] [1746051164.004454882] [sailbot.main_algo]: Target Bearing: -142.30950311220266 +[main_algo-3] [INFO] [1746051164.005382756] [sailbot.main_algo]: Heading Difference: -173.16649688779734 +[main_algo-3] [INFO] [1746051164.006601710] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051164.007512428] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051164.008409955] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051164.010042960] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051164.044974915] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051164.045728393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051164.046236118] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051164.047711011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051164.048766816] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051164.085419723] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051164.088219975] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051164.088869210] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051164.089263697] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051164.090417423] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051164.091304555] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051164.092191084] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051164.144899633] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051164.145756622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051164.146190471] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051164.147622327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051164.148775502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051164.245163752] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051164.246041073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051164.246742984] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051164.247833393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051164.248302011] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051164.335218089] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051164.337727437] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051164.337988928] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051164.338649374] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051164.338659022] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051164.339550357] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051164.340432049] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051164.344473213] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051164.345105639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051164.345568609] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051164.346864368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051164.347909774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051164.444955374] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051164.445514237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051164.446274791] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051164.447340768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051164.448229779] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051164.457207958] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051164.458403410] [sailbot.main_algo]: Target Bearing: -142.30950311220266 +[main_algo-3] [INFO] [1746051164.459370902] [sailbot.main_algo]: Heading Difference: -173.97749688779732 +[main_algo-3] [INFO] [1746051164.460277981] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051164.461083319] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051164.461853835] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051164.463020706] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051164.463399149] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051164.502776231] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904183 Long: -76.50276845 +[main_algo-3] [INFO] [1746051164.503847800] [sailbot.main_algo]: Distance to destination: 56.78568187034234 +[vectornav-1] [INFO] [1746051164.503903402] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.271000000000015, -0.7, 4.664) +[main_algo-3] [INFO] [1746051164.504944086] [sailbot.main_algo]: Target Bearing: -142.3282968530764 +[main_algo-3] [INFO] [1746051164.505941735] [sailbot.main_algo]: Heading Difference: -173.95870314692354 +[main_algo-3] [INFO] [1746051164.506860457] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051164.507725122] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051164.508584046] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051164.510326214] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051164.545008403] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051164.545676414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051164.546247358] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051164.547590149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051164.548630272] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051164.585140918] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051164.586781053] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051164.587567051] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051164.587992006] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051164.588919193] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051164.589015352] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051164.589774950] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051164.645004568] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051164.645725755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051164.646501581] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051164.647734374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051164.648830389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051164.745118737] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051164.745769144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051164.746496193] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051164.747753133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051164.748952950] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051164.835257280] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051164.837021741] [sailbot.teensy]: Wind angle: 169 +[trim_sail-4] [INFO] [1746051164.837755971] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051164.837967487] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051164.838843615] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051164.838775949] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051164.839696094] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051164.844314045] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051164.845244348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051164.845777772] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051164.847025119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051164.848087996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051164.945093229] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051164.945718962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051164.946414442] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051164.947544650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051164.948099455] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051164.957056368] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051164.958047081] [sailbot.main_algo]: Target Bearing: -142.3282968530764 +[main_algo-3] [INFO] [1746051164.958890908] [sailbot.main_algo]: Heading Difference: -175.40070314692355 +[main_algo-3] [INFO] [1746051164.959694164] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051164.960500544] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051164.961297803] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051164.962288955] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051164.962904848] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051165.002805017] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904184 Long: -76.50276851 +[main_algo-3] [INFO] [1746051165.003903412] [sailbot.main_algo]: Distance to destination: 56.78252534606342 +[vectornav-1] [INFO] [1746051165.004059286] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.906000000000006, -1.785, 5.732) +[main_algo-3] [INFO] [1746051165.005004646] [sailbot.main_algo]: Target Bearing: -142.32431062677077 +[main_algo-3] [INFO] [1746051165.006023134] [sailbot.main_algo]: Heading Difference: -175.4046893732292 +[main_algo-3] [INFO] [1746051165.006929072] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051165.007845813] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051165.008738967] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051165.010432465] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051165.045105840] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051165.045896552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051165.046452665] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051165.047917174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051165.048913232] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051165.085163566] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051165.086851888] [sailbot.teensy]: Wind angle: 170 +[trim_sail-4] [INFO] [1746051165.087273039] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051165.087706308] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051165.088367538] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051165.088555084] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051165.089454365] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051165.144594852] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051165.145373829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051165.146092267] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051165.147123912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051165.148181084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051165.244805246] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051165.245518415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051165.246031344] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051165.247310024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051165.248497808] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051165.335266569] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051165.338130715] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051165.338562621] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051165.338691374] [sailbot.teensy]: Wind angle: 170 +[teensy-2] [INFO] [1746051165.339607236] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051165.340490269] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051165.341355835] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051165.344304357] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051165.344812548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051165.345758199] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051165.346463491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051165.347551679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051165.444981775] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051165.445896237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051165.446772570] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051165.447796544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051165.448628012] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051165.457265735] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051165.458325139] [sailbot.main_algo]: Target Bearing: -142.32431062677077 +[main_algo-3] [INFO] [1746051165.459228183] [sailbot.main_algo]: Heading Difference: -173.7696893732292 +[main_algo-3] [INFO] [1746051165.460114149] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051165.461003670] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051165.461867802] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051165.462884734] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051165.464107409] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051165.502756247] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904201 Long: -76.5027681 +[main_algo-3] [INFO] [1746051165.503751375] [sailbot.main_algo]: Distance to destination: 56.820640469701644 +[vectornav-1] [INFO] [1746051165.503858743] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.293000000000006, 2.082, 3.782) +[main_algo-3] [INFO] [1746051165.504933962] [sailbot.main_algo]: Target Bearing: -142.33070034363018 +[main_algo-3] [INFO] [1746051165.505900826] [sailbot.main_algo]: Heading Difference: -173.76329965636978 +[main_algo-3] [INFO] [1746051165.506878982] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051165.507793895] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051165.508669059] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051165.510408912] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051165.545077739] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051165.545678741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051165.546356419] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051165.547494372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051165.548686681] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051165.585344365] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051165.587187357] [sailbot.teensy]: Wind angle: 170 +[trim_sail-4] [INFO] [1746051165.587630927] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051165.588149050] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051165.589086202] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051165.588993361] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051165.589987815] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051165.644798301] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051165.645665156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051165.646063354] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051165.647534345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051165.648691053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051165.744949890] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051165.745662599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051165.746401207] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051165.747656894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051165.748682058] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051165.835308622] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051165.837596437] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051165.837755451] [sailbot.teensy]: Wind angle: 171 +[teensy-2] [INFO] [1746051165.838718894] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051165.838955952] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051165.839612587] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051165.840524044] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051165.844447231] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051165.844987719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051165.845564898] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051165.846735657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051165.847855166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051165.945346775] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051165.945923477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051165.946969222] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051165.948123514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051165.949173455] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051165.957204526] [sailbot.main_algo]: Wind Direction: 171 +[main_algo-3] [INFO] [1746051165.958193526] [sailbot.main_algo]: Target Bearing: -142.33070034363018 +[main_algo-3] [INFO] [1746051165.959085195] [sailbot.main_algo]: Heading Difference: -173.37629965636984 +[main_algo-3] [INFO] [1746051165.959939281] [sailbot.main_algo]: Wind Direction: 171 +[main_algo-3] [INFO] [1746051165.960810338] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051165.961609233] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051165.962648688] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051165.963269593] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051166.003286542] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904212 Long: -76.50276814 +[main_algo-3] [INFO] [1746051166.003870402] [sailbot.main_algo]: Distance to destination: 56.82570994614407 +[vectornav-1] [INFO] [1746051166.004521096] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.71300000000002, -2.567, 5.992) +[main_algo-3] [INFO] [1746051166.005010614] [sailbot.main_algo]: Target Bearing: -142.3190125926973 +[main_algo-3] [INFO] [1746051166.006033438] [sailbot.main_algo]: Heading Difference: -173.38798740730272 +[main_algo-3] [INFO] [1746051166.006997826] [sailbot.main_algo]: Wind Direction: 171 +[main_algo-3] [INFO] [1746051166.007910700] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051166.008807987] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051166.010558901] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051166.045088994] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051166.045874162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051166.046508396] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051166.047822559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051166.049004808] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051166.085465472] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051166.087891359] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051166.088091694] [sailbot.teensy]: Wind angle: 171 +[mux-7] [INFO] [1746051166.088711674] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051166.089416095] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051166.090655977] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051166.091504710] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051166.144835406] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051166.145400667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051166.146087703] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051166.147333131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051166.148494787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051166.245224558] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051166.245750035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051166.247066640] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051166.248002114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051166.249171388] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051166.335324187] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051166.337043501] [sailbot.teensy]: Wind angle: 171 +[trim_sail-4] [INFO] [1746051166.337689981] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051166.338063325] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051166.338974042] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051166.339195059] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051166.339363628] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051166.344445221] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051166.345108751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051166.345567945] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051166.347155918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051166.348231009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051166.445272254] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051166.446186868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051166.447426657] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051166.448390059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051166.449736445] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051166.457395341] [sailbot.main_algo]: Wind Direction: 171 +[main_algo-3] [INFO] [1746051166.458447959] [sailbot.main_algo]: Target Bearing: -142.3190125926973 +[main_algo-3] [INFO] [1746051166.459379166] [sailbot.main_algo]: Heading Difference: -172.96798740730264 +[main_algo-3] [INFO] [1746051166.460280316] [sailbot.main_algo]: Wind Direction: 171 +[main_algo-3] [INFO] [1746051166.461152292] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051166.462012451] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051166.463135673] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051166.463664867] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051166.502447983] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904212 Long: -76.50276764 +[main_algo-3] [INFO] [1746051166.503291195] [sailbot.main_algo]: Distance to destination: 56.8578019631487 +[vectornav-1] [INFO] [1746051166.503497197] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.16899999999998, 1.453, 4.93) +[main_algo-3] [INFO] [1746051166.504389005] [sailbot.main_algo]: Target Bearing: -142.34491258926707 +[main_algo-3] [INFO] [1746051166.505346668] [sailbot.main_algo]: Heading Difference: -172.94208741073294 +[main_algo-3] [INFO] [1746051166.506254885] [sailbot.main_algo]: Wind Direction: 171 +[main_algo-3] [INFO] [1746051166.507152314] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051166.508027287] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051166.509789361] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051166.545068746] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051166.545825115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051166.546498056] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051166.547978740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051166.549139686] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051166.585014320] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051166.586887428] [sailbot.teensy]: Wind angle: 171 +[trim_sail-4] [INFO] [1746051166.587256794] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051166.587794377] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051166.588656306] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051166.588760578] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051166.589573820] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051166.645062467] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051166.645833488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051166.646624510] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051166.647806697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051166.649000175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051166.745153053] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051166.745753850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051166.746530551] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051166.747697729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051166.748584250] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051166.835179785] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051166.837346001] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051166.837484298] [sailbot.teensy]: Wind angle: 170 +[mux-7] [INFO] [1746051166.838291931] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051166.838337516] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051166.839211053] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051166.839580536] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051166.844462331] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051166.845003898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051166.845611498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051166.846711926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051166.847769431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051166.945440681] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051166.946056243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051166.947040284] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051166.948244271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051166.949312497] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051166.957134817] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051166.958116658] [sailbot.main_algo]: Target Bearing: -142.34491258926707 +[main_algo-3] [INFO] [1746051166.958997569] [sailbot.main_algo]: Heading Difference: -172.48608741073292 +[main_algo-3] [INFO] [1746051166.959845933] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051166.960728979] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051166.961525148] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051166.962661850] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051166.963361433] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051167.003320938] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904206 Long: -76.50276762 +[main_algo-3] [INFO] [1746051167.003822537] [sailbot.main_algo]: Distance to destination: 56.85492262931769 +[main_algo-3] [INFO] [1746051167.005211796] [sailbot.main_algo]: Target Bearing: -142.3511910084629 +[main_algo-3] [INFO] [1746051167.006188669] [sailbot.main_algo]: Heading Difference: -172.47980899153708 +[vectornav-1] [INFO] [1746051167.006333965] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.490999999999985, -1.904, 4.684) +[main_algo-3] [INFO] [1746051167.007143059] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051167.008051892] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051167.009005700] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051167.010746812] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051167.045219192] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051167.045816442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051167.046649588] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051167.047762167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051167.048920097] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051167.085370856] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051167.087770179] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051167.088329860] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051167.088779182] [sailbot.teensy]: Wind angle: 171 +[teensy-2] [INFO] [1746051167.089996719] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051167.090893180] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051167.091820540] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051167.145062036] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051167.145642731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051167.146404085] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051167.147455087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051167.148725301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051167.245104038] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051167.245611421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051167.246392781] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051167.247578614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051167.248781031] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051167.335164680] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051167.336777519] [sailbot.teensy]: Wind angle: 170 +[teensy-2] [INFO] [1746051167.337624562] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051167.337506429] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051167.338410779] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051167.338411605] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051167.339288775] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051167.344396634] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051167.344916677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051167.345819670] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051167.346664263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051167.347721129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051167.444882467] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051167.445530069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051167.446182159] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051167.447328869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051167.448568298] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051167.457035751] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051167.458121584] [sailbot.main_algo]: Target Bearing: -142.3511910084629 +[main_algo-3] [INFO] [1746051167.459032638] [sailbot.main_algo]: Heading Difference: -173.15780899153708 +[main_algo-3] [INFO] [1746051167.459862254] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051167.460691096] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051167.461486443] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051167.462495783] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051167.463245116] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051167.502978322] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904208 Long: -76.50276721 +[main_algo-3] [INFO] [1746051167.504121329] [sailbot.main_algo]: Distance to destination: 56.88263610968353 +[vectornav-1] [INFO] [1746051167.504236832] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.75400000000002, 1.351, 5.51) +[main_algo-3] [INFO] [1746051167.505493972] [sailbot.main_algo]: Target Bearing: -142.3706578937374 +[main_algo-3] [INFO] [1746051167.506519014] [sailbot.main_algo]: Heading Difference: -173.1383421062626 +[main_algo-3] [INFO] [1746051167.507415558] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051167.508336563] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051167.509183606] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051167.510852206] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051167.545017976] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051167.545851210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051167.546428808] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051167.548029228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051167.549179216] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051167.585139625] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051167.587449432] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051167.587565146] [sailbot.teensy]: Wind angle: 171 +[teensy-2] [INFO] [1746051167.588551745] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051167.588557477] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051167.589483159] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051167.590382921] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051167.645105439] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051167.645752409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051167.646490370] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051167.647709687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051167.648787420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051167.745102251] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051167.745888037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051167.746533623] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051167.747918022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051167.748935664] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051167.835144975] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051167.837217313] [sailbot.teensy]: Wind angle: 171 +[trim_sail-4] [INFO] [1746051167.837334258] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051167.837651484] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051167.838094310] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051167.838918591] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051167.839375618] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051167.844459816] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051167.845129710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051167.845703128] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051167.846853706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051167.847896696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051167.945502217] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051167.946235394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051167.948143053] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051167.948837471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051167.950042445] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051167.957104211] [sailbot.main_algo]: Wind Direction: 171 +[main_algo-3] [INFO] [1746051167.958097451] [sailbot.main_algo]: Target Bearing: -142.3706578937374 +[main_algo-3] [INFO] [1746051167.958980737] [sailbot.main_algo]: Heading Difference: -172.87534210626256 +[main_algo-3] [INFO] [1746051167.959837744] [sailbot.main_algo]: Wind Direction: 171 +[main_algo-3] [INFO] [1746051167.960722034] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051167.961516754] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051167.962644857] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051167.963225176] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051168.003489183] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904212 Long: -76.50276696 +[main_algo-3] [INFO] [1746051168.004307850] [sailbot.main_algo]: Distance to destination: 56.90146572800754 +[vectornav-1] [INFO] [1746051168.005175969] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.834, -1.978, 4.12) +[main_algo-3] [INFO] [1746051168.005643523] [sailbot.main_algo]: Target Bearing: -142.38008968978465 +[main_algo-3] [INFO] [1746051168.006998137] [sailbot.main_algo]: Heading Difference: -172.86591031021533 +[main_algo-3] [INFO] [1746051168.007875158] [sailbot.main_algo]: Wind Direction: 171 +[main_algo-3] [INFO] [1746051168.008783651] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051168.009639780] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051168.011513896] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051168.045350014] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051168.045880423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051168.046782744] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051168.047848294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051168.049024595] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051168.085305991] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051168.087152069] [sailbot.teensy]: Wind angle: 172 +[trim_sail-4] [INFO] [1746051168.088085166] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051168.088140716] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051168.089076257] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051168.089998222] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051168.090314671] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051168.145052035] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051168.145928902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051168.146485145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051168.148033797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051168.149042309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051168.245102093] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051168.245994719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051168.246491941] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051168.248132147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051168.248668191] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051168.335223573] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051168.337014533] [sailbot.teensy]: Wind angle: 169 +[trim_sail-4] [INFO] [1746051168.337582425] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051168.338003799] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051168.338908881] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051168.339314254] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051168.339801377] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051168.344410174] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051168.344961885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051168.345503780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051168.346619768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051168.347744984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051168.445017115] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051168.445684986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051168.446441733] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051168.447586482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051168.448600614] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051168.457070647] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051168.458060697] [sailbot.main_algo]: Target Bearing: -142.38008968978465 +[main_algo-3] [INFO] [1746051168.458909513] [sailbot.main_algo]: Heading Difference: -171.78591031021534 +[main_algo-3] [INFO] [1746051168.459694253] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051168.460479738] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051168.461277394] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051168.462244085] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051168.462902114] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051168.502958023] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904223 Long: -76.50276702 +[vectornav-1] [INFO] [1746051168.504282604] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.331999999999994, 1.289, 5.164) +[main_algo-3] [INFO] [1746051168.504264541] [sailbot.main_algo]: Distance to destination: 56.90524088653499 +[main_algo-3] [INFO] [1746051168.505620702] [sailbot.main_algo]: Target Bearing: -142.36738011951635 +[main_algo-3] [INFO] [1746051168.506671434] [sailbot.main_algo]: Heading Difference: -171.79861988048367 +[main_algo-3] [INFO] [1746051168.507722307] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051168.508609865] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051168.509458638] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051168.511207762] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051168.545300862] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051168.546032727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051168.546786513] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051168.548597170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051168.549735382] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051168.585165968] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051168.587261375] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051168.587407569] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746051168.588347666] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051168.589274996] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051168.589502064] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051168.590179232] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051168.645075857] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051168.645712560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051168.646503553] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051168.647764574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051168.648948714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051168.745110837] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051168.745911360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051168.746883286] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051168.747866281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051168.748909934] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051168.835320180] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051168.837413321] [sailbot.teensy]: Wind angle: 164 +[trim_sail-4] [INFO] [1746051168.837581647] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051168.838371973] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051168.839286304] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051168.839621395] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051168.840216371] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051168.844570738] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051168.845000912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051168.845731269] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051168.846714628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051168.847775265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051168.945682836] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051168.946431746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051168.947673047] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051168.948709091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051168.949234355] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051168.957355005] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051168.958451003] [sailbot.main_algo]: Target Bearing: -142.36738011951635 +[main_algo-3] [INFO] [1746051168.959421617] [sailbot.main_algo]: Heading Difference: -173.30061988048362 +[main_algo-3] [INFO] [1746051168.960322716] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051168.961234298] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051168.962099241] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051168.963412027] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051168.964111407] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051169.003474307] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904224 Long: -76.50276743 +[main_algo-3] [INFO] [1746051169.003781375] [sailbot.main_algo]: Distance to destination: 56.87961022522139 +[main_algo-3] [INFO] [1746051169.004981380] [sailbot.main_algo]: Target Bearing: -142.34529892515886 +[vectornav-1] [INFO] [1746051169.005916256] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.523000000000025, -2.174, 5.172) +[main_algo-3] [INFO] [1746051169.005991278] [sailbot.main_algo]: Heading Difference: -173.32270107484112 +[main_algo-3] [INFO] [1746051169.006907413] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051169.007809591] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051169.008678778] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051169.010299652] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051169.044954900] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051169.045616272] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051169.046354955] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051169.047541611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051169.048776357] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051169.085527563] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051169.087545195] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746051169.088512171] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051169.088007769] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051169.089353857] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051169.089378334] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051169.090354090] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051169.145330089] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051169.145703698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051169.146912826] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051169.147680157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051169.148775516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051169.245493430] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051169.246203076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051169.247085402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051169.248444409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051169.249362856] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051169.335537444] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051169.337751707] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051169.337781891] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051169.338871079] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051169.339056880] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051169.339475444] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051169.339864873] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051169.344635483] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051169.345288259] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051169.345817036] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051169.347118852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051169.348140316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051169.445140125] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051169.445619682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051169.446644542] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051169.447584491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051169.448789722] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051169.457190055] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051169.458204279] [sailbot.main_algo]: Target Bearing: -142.34529892515886 +[main_algo-3] [INFO] [1746051169.459175670] [sailbot.main_algo]: Heading Difference: -173.1317010748411 +[main_algo-3] [INFO] [1746051169.460023080] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051169.460852674] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051169.461657864] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051169.462704481] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051169.463758930] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051169.502906729] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904208 Long: -76.50276721 +[main_algo-3] [INFO] [1746051169.504203711] [sailbot.main_algo]: Distance to destination: 56.88263610968353 +[vectornav-1] [INFO] [1746051169.504603053] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.553999999999974, 1.909, 4.747) +[main_algo-3] [INFO] [1746051169.505495526] [sailbot.main_algo]: Target Bearing: -142.3706578937374 +[main_algo-3] [INFO] [1746051169.507324129] [sailbot.main_algo]: Heading Difference: -173.10634210626256 +[main_algo-3] [INFO] [1746051169.508342253] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051169.509270370] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051169.510182663] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051169.511989988] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051169.544880615] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051169.545601149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051169.546375176] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051169.547468881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051169.548709269] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051169.585168299] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051169.587239160] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051169.587579659] [sailbot.teensy]: Wind angle: 164 +[teensy-2] [INFO] [1746051169.588697058] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051169.588741396] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051169.589655151] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051169.590514092] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051169.645257120] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051169.645726669] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051169.646717033] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051169.647693920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051169.648778954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051169.745276278] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051169.745872758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051169.746845052] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051169.747839828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051169.748938587] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051169.835285188] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051169.837478598] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051169.837966855] [sailbot.teensy]: Wind angle: 164 +[mux-7] [INFO] [1746051169.838390573] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051169.839033548] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051169.840000636] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051169.840978688] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051169.844342592] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051169.844879423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051169.845536662] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051169.846633150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051169.847720792] [sailbot.teensy]: Message sent to servo +[rosbridge_websocket-8] [INFO] [1746051169.860338956] [rosbridge_websocket]: Client disconnected. 1 clients total. +[mux-7] [INFO] [1746051169.945625458] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051169.946268364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051169.947368078] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051169.948694388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051169.949925209] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051169.957013276] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051169.958021805] [sailbot.main_algo]: Target Bearing: -142.3706578937374 +[main_algo-3] [INFO] [1746051169.958905334] [sailbot.main_algo]: Heading Difference: -174.0753421062626 +[main_algo-3] [INFO] [1746051169.959751333] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051169.960642050] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051169.961431902] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051169.962527147] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051169.963240480] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051170.003048168] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904202 Long: -76.50276766 +[main_algo-3] [INFO] [1746051170.004010260] [sailbot.main_algo]: Distance to destination: 56.84957925352928 +[vectornav-1] [INFO] [1746051170.004396755] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.57900000000001, -2.82, 5.399) +[main_algo-3] [INFO] [1746051170.005664763] [sailbot.main_algo]: Target Bearing: -142.35261609840893 +[main_algo-3] [INFO] [1746051170.006648037] [sailbot.main_algo]: Heading Difference: -174.0933839015911 +[main_algo-3] [INFO] [1746051170.007564771] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051170.008478600] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051170.009330464] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051170.011031323] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051170.045343725] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051170.046265156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051170.046807703] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051170.048761553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051170.049988456] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051170.085565455] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051170.087671068] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746051170.088724735] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051170.087939310] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051170.089465680] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051170.089604251] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051170.090528517] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051170.145080846] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051170.145967740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051170.146606023] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051170.148211272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051170.149269561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051170.245185774] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051170.246003743] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051170.246691020] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051170.248018380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051170.249296355] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051170.335424786] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051170.337301682] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051170.337832605] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051170.338261551] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051170.339133530] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051170.339171445] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051170.340080292] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051170.344532739] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051170.345100108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051170.345661358] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051170.346767580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051170.347917484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051170.445080280] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051170.445799270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051170.446613492] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051170.447811689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051170.448353668] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051170.457334465] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051170.458408617] [sailbot.main_algo]: Target Bearing: -142.35261609840893 +[main_algo-3] [INFO] [1746051170.459338737] [sailbot.main_algo]: Heading Difference: -173.06838390159106 +[main_algo-3] [INFO] [1746051170.460245869] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051170.461129765] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051170.461982738] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051170.463205732] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051170.463718125] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051170.503006606] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904204 Long: -76.50276757 +[main_algo-3] [INFO] [1746051170.504103919] [sailbot.main_algo]: Distance to destination: 56.85674518361179 +[vectornav-1] [INFO] [1746051170.504335071] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.39300000000003, 1.331, 4.207) +[main_algo-3] [INFO] [1746051170.505368599] [sailbot.main_algo]: Target Bearing: -142.35552698757706 +[main_algo-3] [INFO] [1746051170.506338856] [sailbot.main_algo]: Heading Difference: -173.0654730124229 +[main_algo-3] [INFO] [1746051170.507238857] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051170.508099106] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051170.508960504] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051170.510655072] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051170.545120190] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051170.545886964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051170.546774748] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051170.547873848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051170.548904350] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051170.585077716] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051170.587024335] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051170.587285259] [sailbot.teensy]: Wind angle: 162 +[teensy-2] [INFO] [1746051170.588255213] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051170.588351937] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051170.589135688] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051170.590033428] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051170.644810607] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051170.645398093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051170.646001857] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051170.647249643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051170.648386861] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051170.745538208] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051170.746487511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051170.747167500] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051170.748222886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051170.748800843] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051170.835329310] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051170.837136732] [sailbot.teensy]: Wind angle: 161 +[trim_sail-4] [INFO] [1746051170.837464266] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051170.837665226] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051170.838063791] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051170.838309960] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051170.838458263] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051170.844729778] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051170.845272093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051170.845939343] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051170.846990286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051170.848118552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051170.945035615] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051170.945764167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051170.946477961] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051170.947770906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051170.948303062] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051170.957172229] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051170.958255425] [sailbot.main_algo]: Target Bearing: -142.35552698757706 +[main_algo-3] [INFO] [1746051170.959193457] [sailbot.main_algo]: Heading Difference: -173.25147301242293 +[main_algo-3] [INFO] [1746051170.960052965] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051170.960869891] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051170.961694329] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051170.962709997] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051170.963398243] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051171.002849158] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904204 Long: -76.50276776 +[main_algo-3] [INFO] [1746051171.003857286] [sailbot.main_algo]: Distance to destination: 56.844547041818416 +[vectornav-1] [INFO] [1746051171.003996120] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.26800000000003, -0.863, 5.621) +[main_algo-3] [INFO] [1746051171.005068991] [sailbot.main_algo]: Target Bearing: -142.34569052924354 +[main_algo-3] [INFO] [1746051171.006045873] [sailbot.main_algo]: Heading Difference: -173.26130947075643 +[main_algo-3] [INFO] [1746051171.006941074] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051171.007845464] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051171.008729707] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051171.010437106] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051171.045149412] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051171.045956832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051171.046543579] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051171.047979981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051171.049016454] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051171.085370906] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051171.087177859] [sailbot.teensy]: Wind angle: 160 +[trim_sail-4] [INFO] [1746051171.087884572] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051171.088206927] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051171.089164998] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051171.089461160] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051171.090142081] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051171.144737915] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051171.145732541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051171.145912268] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051171.147587525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051171.148657154] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051171.244960005] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051171.245650483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051171.246264263] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051171.247536682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051171.248579354] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051171.335419327] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051171.337461766] [sailbot.teensy]: Wind angle: 160 +[trim_sail-4] [INFO] [1746051171.337912839] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051171.339680020] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051171.339678871] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051171.340647623] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051171.341240132] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051171.344340994] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051171.344823324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051171.345519995] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051171.346502066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051171.347563908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051171.445199276] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051171.446080663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051171.446737517] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051171.448351358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051171.449619491] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051171.456992560] [sailbot.main_algo]: Wind Direction: 160 +[main_algo-3] [INFO] [1746051171.457956178] [sailbot.main_algo]: Target Bearing: -142.34569052924354 +[main_algo-3] [INFO] [1746051171.458858925] [sailbot.main_algo]: Heading Difference: -173.38630947075643 +[main_algo-3] [INFO] [1746051171.459720097] [sailbot.main_algo]: Wind Direction: 160 +[main_algo-3] [INFO] [1746051171.460593387] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051171.461413296] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051171.462407034] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051171.463044294] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051171.503243704] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904209 Long: -76.50276789 +[main_algo-3] [INFO] [1746051171.504557358] [sailbot.main_algo]: Distance to destination: 56.839672181856855 +[vectornav-1] [INFO] [1746051171.505109094] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.047000000000025, -0.956, 3.939) +[main_algo-3] [INFO] [1746051171.505985287] [sailbot.main_algo]: Target Bearing: -142.33458795052954 +[main_algo-3] [INFO] [1746051171.507110330] [sailbot.main_algo]: Heading Difference: -173.3974120494704 +[main_algo-3] [INFO] [1746051171.508107643] [sailbot.main_algo]: Wind Direction: 160 +[main_algo-3] [INFO] [1746051171.509053408] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051171.509972323] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051171.511700717] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051171.545308391] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051171.546143994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051171.546837502] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051171.548799783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051171.549917099] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051171.585105713] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051171.586652506] [sailbot.teensy]: Wind angle: 161 +[trim_sail-4] [INFO] [1746051171.587253685] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051171.587941648] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051171.588984470] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051171.589173042] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051171.589876643] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051171.644849981] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051171.645414854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051171.646056944] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051171.647165572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051171.648320821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051171.745171028] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051171.745890523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051171.746617904] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051171.747753833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051171.748230880] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051171.835322674] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051171.837649027] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051171.838448601] [sailbot.teensy]: Wind angle: 160 +[mux-7] [INFO] [1746051171.838469699] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051171.839527116] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051171.840462018] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051171.841350818] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051171.844450127] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051171.845651301] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051171.845743025] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051171.847876512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051171.848950107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051171.945233180] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051171.945987089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051171.946871407] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051171.948213225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051171.948762517] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051171.957083578] [sailbot.main_algo]: Wind Direction: 160 +[main_algo-3] [INFO] [1746051171.958194727] [sailbot.main_algo]: Target Bearing: -142.33458795052954 +[main_algo-3] [INFO] [1746051171.959120544] [sailbot.main_algo]: Heading Difference: -172.6184120494704 +[main_algo-3] [INFO] [1746051171.959962702] [sailbot.main_algo]: Wind Direction: 160 +[main_algo-3] [INFO] [1746051171.960795566] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051171.961575463] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051171.962604426] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051171.963713890] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051172.002974855] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904219 Long: -76.50276819 +[main_algo-3] [INFO] [1746051172.004114107] [sailbot.main_algo]: Distance to destination: 56.8273622449039 +[vectornav-1] [INFO] [1746051172.004274209] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.524, 0.477, 5.372) +[main_algo-3] [INFO] [1746051172.005419693] [sailbot.main_algo]: Target Bearing: -142.310303674692 +[main_algo-3] [INFO] [1746051172.006927309] [sailbot.main_algo]: Heading Difference: -172.64269632530795 +[main_algo-3] [INFO] [1746051172.007875096] [sailbot.main_algo]: Wind Direction: 160 +[main_algo-3] [INFO] [1746051172.008813102] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051172.009689171] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051172.011417949] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051172.045306627] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051172.046150319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051172.046844706] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051172.048409452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051172.049495218] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051172.085363696] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051172.087028044] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051172.087947913] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051172.087853785] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051172.088860977] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051172.089387202] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051172.089741433] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051172.144941558] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051172.145541140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051172.146272126] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051172.147472091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051172.148669958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051172.245487772] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051172.246094078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051172.247072755] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051172.248251024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051172.248790069] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051172.335383099] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051172.338145923] [sailbot.teensy]: Wind angle: 164 +[teensy-2] [INFO] [1746051172.338897133] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051172.338325036] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051172.339267392] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051172.339273964] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051172.339640783] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051172.344664814] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051172.345333992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051172.345909542] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051172.347074749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051172.348228728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051172.445773946] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051172.446226673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051172.447718055] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051172.448766503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051172.450022659] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051172.457234427] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051172.458282472] [sailbot.main_algo]: Target Bearing: -142.310303674692 +[main_algo-3] [INFO] [1746051172.459190231] [sailbot.main_algo]: Heading Difference: -174.16569632530798 +[main_algo-3] [INFO] [1746051172.460060416] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051172.460982293] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051172.461828781] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051172.463262164] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051172.463551983] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051172.502848327] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904214 Long: -76.5027684 +[main_algo-3] [INFO] [1746051172.503832062] [sailbot.main_algo]: Distance to destination: 56.810415770162095 +[vectornav-1] [INFO] [1746051172.504289792] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.80099999999999, -0.014, 4.932) +[main_algo-3] [INFO] [1746051172.505223110] [sailbot.main_algo]: Target Bearing: -142.30378497182608 +[main_algo-3] [INFO] [1746051172.506206930] [sailbot.main_algo]: Heading Difference: -174.17221502817392 +[main_algo-3] [INFO] [1746051172.507081864] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051172.507974639] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051172.508871961] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051172.510659017] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051172.545003974] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051172.545748974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051172.546277603] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051172.547716392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051172.548761658] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051172.585440849] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051172.587861637] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051172.588021317] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746051172.588976781] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051172.589218954] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051172.589891611] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051172.590797339] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051172.644830570] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051172.645529708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051172.646113448] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051172.648090905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051172.649281769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051172.745293573] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051172.746025928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051172.746731701] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051172.747925394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051172.748415294] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051172.835525360] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051172.837554577] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051172.838022635] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051172.838551254] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051172.839325142] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051172.839487470] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051172.840437809] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051172.844313888] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051172.844840009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051172.845418763] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051172.846690298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051172.847704372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051172.945584258] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051172.946291812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051172.947233836] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051172.948908100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051172.949976985] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051172.957145975] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051172.958151307] [sailbot.main_algo]: Target Bearing: -142.30378497182608 +[main_algo-3] [INFO] [1746051172.959036333] [sailbot.main_algo]: Heading Difference: -172.89521502817394 +[main_algo-3] [INFO] [1746051172.959871938] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051172.960750112] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051172.961544608] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051172.962594909] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051172.963145117] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051173.003665952] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469042 Long: -76.50276902 +[main_algo-3] [INFO] [1746051173.003877303] [sailbot.main_algo]: Distance to destination: 56.76091702922371 +[vectornav-1] [INFO] [1746051173.005051991] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.257000000000005, -0.939, 3.371) +[main_algo-3] [INFO] [1746051173.005192803] [sailbot.main_algo]: Target Bearing: -142.2838502586332 +[main_algo-3] [INFO] [1746051173.006174995] [sailbot.main_algo]: Heading Difference: -172.9151497413668 +[main_algo-3] [INFO] [1746051173.007071491] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051173.007962503] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051173.008873161] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051173.010538149] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051173.045726572] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051173.045814484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051173.047261767] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051173.048211229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051173.049300346] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051173.085545957] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051173.087818411] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051173.088140732] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051173.088793846] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051173.089276117] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051173.089723068] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051173.090574920] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051173.145241744] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051173.145896503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051173.146692741] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051173.147965057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051173.149128683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051173.245756679] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051173.246245622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051173.247540751] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051173.248699515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051173.249895077] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051173.335172153] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051173.337449209] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051173.338249520] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746051173.339031542] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051173.339104438] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051173.339417147] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051173.339787368] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051173.344397441] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051173.344949039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051173.345487708] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051173.346680224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051173.347761152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051173.445374131] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051173.446160309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051173.446916939] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051173.448719595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051173.449770978] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051173.457056789] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051173.458078330] [sailbot.main_algo]: Target Bearing: -142.2838502586332 +[main_algo-3] [INFO] [1746051173.458963127] [sailbot.main_algo]: Heading Difference: -171.4591497413668 +[main_algo-3] [INFO] [1746051173.459814931] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051173.460650367] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051173.461430080] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051173.462511338] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051173.462957427] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051173.502658999] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904217 Long: -76.50276934 +[main_algo-3] [INFO] [1746051173.503705753] [sailbot.main_algo]: Distance to destination: 56.75221306041886 +[vectornav-1] [INFO] [1746051173.503931258] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.64699999999999, -0.753, 5.725) +[main_algo-3] [INFO] [1746051173.504810748] [sailbot.main_algo]: Target Bearing: -142.2523614830791 +[main_algo-3] [INFO] [1746051173.505784073] [sailbot.main_algo]: Heading Difference: -171.49063851692085 +[main_algo-3] [INFO] [1746051173.506660451] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051173.507517804] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051173.508374980] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051173.510153283] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051173.545086785] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051173.545894238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051173.546488069] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051173.547972720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051173.548997771] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051173.585385714] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051173.587093731] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051173.587674495] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051173.587982057] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051173.589492202] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051173.589843382] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051173.590456695] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051173.645079221] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051173.645836601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051173.646621586] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051173.648221644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051173.648729592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051173.745100233] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051173.745750954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051173.746899316] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051173.748002647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051173.748914440] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051173.835186684] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051173.836848760] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051173.837341312] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051173.837791700] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051173.838685590] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051173.839593628] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051173.839009942] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051173.844488676] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051173.844915600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051173.845681090] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051173.846650055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051173.847734026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051173.945315671] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051173.945856485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051173.946908456] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051173.947866796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051173.949049104] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051173.957016109] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051173.957985358] [sailbot.main_algo]: Target Bearing: -142.2523614830791 +[main_algo-3] [INFO] [1746051173.958867521] [sailbot.main_algo]: Heading Difference: -171.10063851692087 +[main_algo-3] [INFO] [1746051173.959675251] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051173.960486938] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051173.961300662] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051173.962293889] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051173.963026015] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051174.002981714] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904194 Long: -76.50276958 +[main_algo-3] [INFO] [1746051174.003658856] [sailbot.main_algo]: Distance to destination: 56.72083393326291 +[vectornav-1] [INFO] [1746051174.004115964] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.721000000000004, 1.006, 4.736) +[main_algo-3] [INFO] [1746051174.004844678] [sailbot.main_algo]: Target Bearing: -142.2600008043898 +[main_algo-3] [INFO] [1746051174.005833712] [sailbot.main_algo]: Heading Difference: -171.09299919561022 +[main_algo-3] [INFO] [1746051174.006763561] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051174.007627923] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051174.008491878] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051174.010148516] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051174.045049390] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051174.045789941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051174.046330242] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051174.047682745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051174.048716913] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051174.085264946] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051174.086997198] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051174.087495635] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051174.087919895] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051174.088901481] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051174.089434907] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051174.089799893] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051174.145235034] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051174.145616732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051174.146725295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051174.147667391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051174.148432460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051174.245486598] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051174.246151764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051174.247114764] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051174.248390869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051174.248946057] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051174.335197290] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051174.337509494] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051174.337807562] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051174.338774726] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051174.339375239] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051174.339491799] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051174.339870975] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051174.344572283] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051174.345278493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051174.345813301] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051174.347042682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051174.348023082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051174.445356110] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051174.446002762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051174.447021217] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051174.448087411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051174.448558556] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051174.457057107] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051174.458183295] [sailbot.main_algo]: Target Bearing: -142.2600008043898 +[main_algo-3] [INFO] [1746051174.459157449] [sailbot.main_algo]: Heading Difference: -171.0189991956102 +[main_algo-3] [INFO] [1746051174.460031977] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051174.460854472] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051174.461664534] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051174.462714738] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051174.463272382] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051174.502885713] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904175 Long: -76.50277001 +[main_algo-3] [INFO] [1746051174.504026125] [sailbot.main_algo]: Distance to destination: 56.68005376352558 +[vectornav-1] [INFO] [1746051174.504426420] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.31299999999999, -1.03, 4.336) +[main_algo-3] [INFO] [1746051174.505181428] [sailbot.main_algo]: Target Bearing: -142.2542623723286 +[main_algo-3] [INFO] [1746051174.506232518] [sailbot.main_algo]: Heading Difference: -171.02473762767136 +[main_algo-3] [INFO] [1746051174.507279194] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051174.508224606] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051174.509145090] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051174.510865951] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051174.544974758] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051174.545643578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051174.546338100] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051174.547669023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051174.548711795] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051174.585044910] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051174.586526846] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051174.587150458] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051174.587386994] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051174.588266192] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051174.589161257] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051174.589445607] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051174.645333288] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051174.645999134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051174.646762334] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051174.647987276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051174.648556453] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051174.745358436] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051174.745999118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051174.746917212] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051174.748219583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051174.749334980] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051174.835377439] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051174.837119361] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051174.837911936] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051174.838133212] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051174.839045060] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051174.839388644] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051174.839502671] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051174.844506176] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051174.845069802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051174.845711042] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051174.846840303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051174.847980025] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051174.945373660] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051174.946093489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051174.946901936] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051174.948495018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051174.949626543] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051174.957199870] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051174.958216197] [sailbot.main_algo]: Target Bearing: -142.2542623723286 +[main_algo-3] [INFO] [1746051174.959097119] [sailbot.main_algo]: Heading Difference: -170.43273762767137 +[main_algo-3] [INFO] [1746051174.959952399] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051174.960846983] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051174.961696992] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051174.962817992] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051174.963478336] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051175.003330708] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904149 Long: -76.50277068 +[main_algo-3] [INFO] [1746051175.003600811] [sailbot.main_algo]: Distance to destination: 56.61902059985975 +[main_algo-3] [INFO] [1746051175.004671141] [sailbot.main_algo]: Target Bearing: -142.24214606538666 +[vectornav-1] [INFO] [1746051175.004866575] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.52999999999997, -0.338, 4.861) +[main_algo-3] [INFO] [1746051175.005661470] [sailbot.main_algo]: Heading Difference: -170.44485393461332 +[main_algo-3] [INFO] [1746051175.006586381] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051175.007492694] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051175.008370697] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051175.010164791] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051175.045143574] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051175.046080143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051175.046557282] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051175.048091603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051175.049329899] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051175.085463298] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051175.087794076] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051175.087862823] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051175.088797542] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051175.089426940] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051175.089680233] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051175.090560735] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051175.145142297] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051175.145776306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051175.146325658] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051175.147568610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051175.148065798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051175.245372483] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051175.246353652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051175.246919979] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051175.248541280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051175.249726481] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051175.335060092] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051175.336783432] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051175.337338136] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051175.337742109] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051175.338775489] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051175.338783863] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051175.340071039] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051175.344510561] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051175.345107767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051175.345735698] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051175.346890818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051175.348029706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051175.444975629] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051175.445647633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051175.446356126] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051175.447951247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051175.448973803] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051175.457089185] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051175.458123429] [sailbot.main_algo]: Target Bearing: -142.24214606538666 +[main_algo-3] [INFO] [1746051175.459024542] [sailbot.main_algo]: Heading Difference: -170.22785393461334 +[main_algo-3] [INFO] [1746051175.459926607] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051175.460817454] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051175.461660134] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051175.462684475] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051175.463382995] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051175.502682524] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904137 Long: -76.50277088 +[main_algo-3] [INFO] [1746051175.503655321] [sailbot.main_algo]: Distance to destination: 56.59785409278243 +[vectornav-1] [INFO] [1746051175.503753169] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.79899999999998, -0.295, 4.915) +[main_algo-3] [INFO] [1746051175.505035870] [sailbot.main_algo]: Target Bearing: -142.24223945800276 +[main_algo-3] [INFO] [1746051175.506022690] [sailbot.main_algo]: Heading Difference: -170.22776054199727 +[main_algo-3] [INFO] [1746051175.506912842] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051175.507782973] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051175.508643961] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051175.510279117] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051175.545119160] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051175.545940934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051175.546531059] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051175.548049517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051175.549181702] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051175.585338848] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051175.587350315] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051175.587440276] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051175.588316677] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051175.588443198] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051175.589252403] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051175.590774786] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051175.645353933] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051175.646187355] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051175.646997974] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051175.648469490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051175.649573840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051175.745359841] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051175.746017575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051175.746849612] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051175.748233694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051175.749414158] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051175.835384414] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051175.837780648] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051175.837839372] [sailbot.teensy]: Wind angle: 165 +[mux-7] [INFO] [1746051175.838482991] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051175.838601780] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051175.839006675] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051175.839389425] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051175.844489391] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051175.844948236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051175.845694869] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051175.846599773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051175.847661322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051175.945514152] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051175.946172963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051175.947477325] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051175.948894727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051175.950183084] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051175.957066018] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051175.958116187] [sailbot.main_algo]: Target Bearing: -142.24223945800276 +[main_algo-3] [INFO] [1746051175.959021651] [sailbot.main_algo]: Heading Difference: -169.95876054199726 +[main_algo-3] [INFO] [1746051175.959866060] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051175.960753267] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051175.961581373] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051175.962656959] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051175.963205399] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051176.003248354] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904108 Long: -76.50277088 +[main_algo-3] [INFO] [1746051176.003821975] [sailbot.main_algo]: Distance to destination: 56.5776906279969 +[main_algo-3] [INFO] [1746051176.004938434] [sailbot.main_algo]: Target Bearing: -142.26766800551255 +[vectornav-1] [INFO] [1746051176.005085818] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.923, -0.042, 3.408) +[main_algo-3] [INFO] [1746051176.006225117] [sailbot.main_algo]: Heading Difference: -169.9333319944875 +[main_algo-3] [INFO] [1746051176.007204818] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051176.008173807] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051176.009096895] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051176.011039574] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051176.045562584] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051176.045701757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051176.046981623] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051176.047965449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051176.049005899] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051176.085393896] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051176.087423887] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051176.087900593] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051176.088439719] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051176.089324420] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051176.089381632] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051176.090213336] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051176.145210585] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051176.145751023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051176.146740902] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051176.147758822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051176.148899315] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051176.245342370] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051176.245978398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051176.247053452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051176.248065132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051176.249303759] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051176.335448024] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051176.337311810] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051176.338117523] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051176.338547057] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051176.339479505] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051176.340072885] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051176.340384472] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051176.344565128] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051176.345030228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051176.345718093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051176.346776816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051176.347836651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051176.445463017] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051176.446040255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051176.447085746] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051176.448227547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051176.449352798] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051176.457008085] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051176.458070346] [sailbot.main_algo]: Target Bearing: -142.26766800551255 +[main_algo-3] [INFO] [1746051176.458974028] [sailbot.main_algo]: Heading Difference: -169.80933199448748 +[main_algo-3] [INFO] [1746051176.459831952] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051176.460678645] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051176.461488497] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051176.462523351] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051176.463223118] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051176.502726084] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904102 Long: -76.50277111 +[main_algo-3] [INFO] [1746051176.503642333] [sailbot.main_algo]: Distance to destination: 56.55877136631351 +[vectornav-1] [INFO] [1746051176.503831436] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.51800000000003, -0.984, 5.577) +[main_algo-3] [INFO] [1746051176.504726661] [sailbot.main_algo]: Target Bearing: -142.26094233675764 +[main_algo-3] [INFO] [1746051176.505703026] [sailbot.main_algo]: Heading Difference: -169.81605766324236 +[main_algo-3] [INFO] [1746051176.506582338] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051176.507436387] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051176.508285925] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051176.509923750] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051176.545131764] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051176.545869331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051176.546561315] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051176.548022604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051176.549055518] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051176.585357899] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051176.587113916] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051176.587605070] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051176.588045489] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051176.589004740] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051176.589885832] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051176.590020880] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051176.645133951] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051176.645900983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051176.646575739] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051176.647845607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051176.648389258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051176.745102865] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051176.745957001] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051176.746562663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051176.747999430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051176.749198077] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051176.835331824] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051176.837283122] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051176.837769518] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051176.838512858] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051176.838586143] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051176.839450785] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051176.840348862] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051176.844424491] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051176.844985357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051176.845615527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051176.846695458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051176.847732042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051176.945418202] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051176.946008059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051176.947356071] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051176.948374711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051176.949478003] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051176.957162642] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051176.958193374] [sailbot.main_algo]: Target Bearing: -142.26094233675764 +[main_algo-3] [INFO] [1746051176.959073997] [sailbot.main_algo]: Heading Difference: -169.22105766324233 +[main_algo-3] [INFO] [1746051176.959926081] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051176.960746527] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051176.961570256] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051176.962572263] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051176.963215158] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051177.002872690] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904083 Long: -76.50277128 +[main_algo-3] [INFO] [1746051177.003827802] [sailbot.main_algo]: Distance to destination: 56.534662616539634 +[vectornav-1] [INFO] [1746051177.003984260] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.230999999999995, 0.321, 4.206) +[main_algo-3] [INFO] [1746051177.005049446] [sailbot.main_algo]: Target Bearing: -142.2687519355567 +[main_algo-3] [INFO] [1746051177.006149910] [sailbot.main_algo]: Heading Difference: -169.2132480644433 +[main_algo-3] [INFO] [1746051177.007073870] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051177.007993140] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051177.008899095] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051177.010615791] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051177.045311146] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051177.045937269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051177.046809894] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051177.047965259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051177.049151316] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051177.085342435] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051177.087282254] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051177.088031066] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051177.088239599] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051177.088566776] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051177.089150771] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051177.090055873] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051177.144902733] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051177.146105198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051177.146303098] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051177.147964868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051177.149031796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051177.245885932] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051177.246051148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051177.247600860] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051177.248337690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051177.248833916] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051177.335462692] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051177.338113967] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051177.338320822] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051177.339080039] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051177.339311889] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051177.340013958] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051177.340875403] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051177.344584496] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051177.345087974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051177.345823154] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051177.346823126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051177.347834344] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051177.445514173] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051177.446199455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051177.447183409] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051177.448659934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051177.449164860] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051177.457378462] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051177.458492685] [sailbot.main_algo]: Target Bearing: -142.2687519355567 +[main_algo-3] [INFO] [1746051177.459418752] [sailbot.main_algo]: Heading Difference: -169.50024806444333 +[main_algo-3] [INFO] [1746051177.460290827] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051177.461160426] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051177.462003482] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051177.463223623] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051177.463886450] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051177.502854200] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904077 Long: -76.50277137 +[main_algo-3] [INFO] [1746051177.503950393] [sailbot.main_algo]: Distance to destination: 56.52472066159037 +[vectornav-1] [INFO] [1746051177.504030345] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.577999999999975, -0.609, 6.501) +[main_algo-3] [INFO] [1746051177.505131981] [sailbot.main_algo]: Target Bearing: -142.26932529705465 +[main_algo-3] [INFO] [1746051177.506069471] [sailbot.main_algo]: Heading Difference: -169.49967470294536 +[main_algo-3] [INFO] [1746051177.506972792] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051177.507853719] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051177.508722875] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051177.510500838] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051177.545119478] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051177.545897443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051177.546569907] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051177.548047579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051177.549207809] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051177.585238445] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051177.587648446] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051177.587757034] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051177.588670270] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051177.588693467] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051177.589585916] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051177.590494105] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051177.645138447] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051177.645736345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051177.646574328] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051177.648025446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051177.649064207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051177.745367722] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051177.746348871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051177.746950749] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051177.748568904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051177.749769474] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051177.835438865] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051177.838493628] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051177.838884847] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051177.839011720] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051177.839484230] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051177.839851487] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051177.840218077] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051177.844403892] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051177.844941105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051177.845554666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051177.846607728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051177.847647827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051177.945377567] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051177.946733947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051177.947185276] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051177.949158081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051177.950297507] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051177.957056340] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051177.958042517] [sailbot.main_algo]: Target Bearing: -142.26932529705465 +[main_algo-3] [INFO] [1746051177.958998282] [sailbot.main_algo]: Heading Difference: -169.15267470294538 +[main_algo-3] [INFO] [1746051177.959852536] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051177.960726606] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051177.961562507] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051177.962704955] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051177.963197255] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051178.002801701] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904066 Long: -76.50277152 +[main_algo-3] [INFO] [1746051178.003675632] [sailbot.main_algo]: Distance to destination: 56.507455699436996 +[vectornav-1] [INFO] [1746051178.003876718] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.03399999999999, -0.374, 4.585) +[main_algo-3] [INFO] [1746051178.004770745] [sailbot.main_algo]: Target Bearing: -142.27115962894612 +[main_algo-3] [INFO] [1746051178.005757625] [sailbot.main_algo]: Heading Difference: -169.1508403710539 +[main_algo-3] [INFO] [1746051178.006644268] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051178.007541948] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051178.008433326] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051178.010246608] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051178.044944953] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051178.045719848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051178.046215114] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051178.047671227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051178.048847175] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051178.085219916] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051178.087488807] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051178.087748183] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051178.088744648] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051178.088368882] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051178.089627377] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051178.090604950] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051178.145337125] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051178.146214477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051178.146895470] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051178.148538864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051178.149721443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051178.245288837] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051178.246041572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051178.246998144] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051178.248338203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051178.248878411] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051178.335138231] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051178.336871689] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051178.337428929] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051178.337835322] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051178.338736972] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051178.339144056] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051178.339620947] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051178.344442933] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051178.345017608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051178.345525747] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051178.346678802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051178.347723769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051178.445559360] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051178.446176437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051178.447483588] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051178.448691955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051178.449862550] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051178.457116498] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051178.458069024] [sailbot.main_algo]: Target Bearing: -142.27115962894612 +[main_algo-3] [INFO] [1746051178.458952330] [sailbot.main_algo]: Heading Difference: -168.69484037105389 +[main_algo-3] [INFO] [1746051178.459791698] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051178.460651976] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051178.461430626] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051178.462411193] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051178.463216935] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051178.503250880] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904073 Long: -76.50277177 +[main_algo-3] [INFO] [1746051178.503883869] [sailbot.main_algo]: Distance to destination: 56.496291832845614 +[main_algo-3] [INFO] [1746051178.505172868] [sailbot.main_algo]: Target Bearing: -142.2519639181925 +[main_algo-3] [INFO] [1746051178.506170097] [sailbot.main_algo]: Heading Difference: -168.71403608180754 +[vectornav-1] [INFO] [1746051178.506442019] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.372000000000014, -0.513, 4.678) +[main_algo-3] [INFO] [1746051178.507144141] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051178.508050661] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051178.508934961] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051178.510767363] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051178.545266053] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051178.545980908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051178.546759546] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051178.548032369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051178.549135992] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051178.585220047] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051178.587184414] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051178.587752149] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051178.588192235] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051178.589143070] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051178.590011336] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051178.590378381] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051178.645342341] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051178.646055109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051178.646999279] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051178.648104814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051178.648745854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051178.745310837] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051178.745944894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051178.746819562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051178.748356774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051178.749539817] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051178.835308886] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051178.837686065] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051178.838642975] [sailbot.teensy]: Wind angle: 166 +[mux-7] [INFO] [1746051178.838810616] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051178.839108328] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051178.839504600] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051178.839881713] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051178.844484465] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051178.844956441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051178.845594651] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051178.846612730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051178.847774793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051178.945463306] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051178.946042014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051178.947198996] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051178.948268929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051178.949413294] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051178.957147937] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051178.958184707] [sailbot.main_algo]: Target Bearing: -142.2519639181925 +[main_algo-3] [INFO] [1746051178.959083209] [sailbot.main_algo]: Heading Difference: -167.37603608180746 +[main_algo-3] [INFO] [1746051178.959937869] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051178.960775703] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051178.961582163] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051178.962581948] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051178.963262220] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051179.003160988] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690407 Long: -76.50277197 +[main_algo-3] [INFO] [1746051179.003658900] [sailbot.main_algo]: Distance to destination: 56.48138390256776 +[vectornav-1] [INFO] [1746051179.004545339] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.11099999999999, -0.19, 3.975) +[main_algo-3] [INFO] [1746051179.004722762] [sailbot.main_algo]: Target Bearing: -142.244155030759 +[main_algo-3] [INFO] [1746051179.005721998] [sailbot.main_algo]: Heading Difference: -167.38384496924095 +[main_algo-3] [INFO] [1746051179.006620777] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051179.007506801] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051179.008409657] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051179.010231477] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051179.045211900] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051179.045921901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051179.046706244] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051179.048386871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051179.049713734] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051179.085531294] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051179.088253702] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051179.088714065] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051179.088989876] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051179.089913633] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051179.090768114] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051179.091590916] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051179.144935570] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051179.145748822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051179.146449147] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051179.148117118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051179.149398570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051179.245448326] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051179.246377870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051179.247057139] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051179.248693746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051179.249897360] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051179.335315326] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051179.337041067] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051179.337511850] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051179.337937829] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051179.338815655] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051179.339028748] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051179.339731290] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051179.344403272] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051179.344819371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051179.345557221] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051179.346514525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051179.347670504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051179.445128288] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051179.445713334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051179.446565849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051179.447607378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051179.448433040] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051179.457154732] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051179.458187831] [sailbot.main_algo]: Target Bearing: -142.244155030759 +[main_algo-3] [INFO] [1746051179.459067555] [sailbot.main_algo]: Heading Difference: -166.64484496924103 +[main_algo-3] [INFO] [1746051179.459859544] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051179.460700472] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051179.461483339] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051179.462511055] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051179.463368656] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051179.502849248] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904073 Long: -76.50277204 +[main_algo-3] [INFO] [1746051179.504320036] [sailbot.main_algo]: Distance to destination: 56.47898324328884 +[vectornav-1] [INFO] [1746051179.504478547] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.946000000000026, -0.037, 5.489) +[main_algo-3] [INFO] [1746051179.505508442] [sailbot.main_algo]: Target Bearing: -142.23786355170932 +[main_algo-3] [INFO] [1746051179.506712088] [sailbot.main_algo]: Heading Difference: -166.65113644829069 +[main_algo-3] [INFO] [1746051179.507640168] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051179.508582226] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051179.509480259] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051179.511404117] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051179.545101020] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051179.545714373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051179.546474975] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051179.547956573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051179.548946009] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051179.585275747] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051179.587027708] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051179.587887541] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051179.587374625] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051179.588138089] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051179.588719616] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051179.589647677] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051179.644929413] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051179.645596756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051179.646394915] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051179.647524604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051179.648390500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051179.745541085] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051179.746276653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051179.747987102] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051179.748981996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051179.750094508] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051179.835532989] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051179.837965876] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051179.838013493] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051179.838680720] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051179.838960317] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051179.839360192] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051179.839738697] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051179.844511029] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051179.844896306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051179.845843460] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051179.846550411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051179.847681626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051179.945150166] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051179.945654383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051179.946538303] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051179.947692577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051179.948785444] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051179.957089269] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051179.958045919] [sailbot.main_algo]: Target Bearing: -142.23786355170932 +[main_algo-3] [INFO] [1746051179.958957447] [sailbot.main_algo]: Heading Difference: -165.81613644829065 +[main_algo-3] [INFO] [1746051179.959894861] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051179.960770784] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051179.961557852] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051179.962632748] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051179.963233364] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051180.003393577] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904043 Long: -76.50277203 +[main_algo-3] [INFO] [1746051180.003991333] [sailbot.main_algo]: Distance to destination: 56.45876394896666 +[vectornav-1] [INFO] [1746051180.004776924] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.533000000000015, -1.032, 5.055) +[main_algo-3] [INFO] [1746051180.005148484] [sailbot.main_algo]: Target Bearing: -142.26474532308956 +[main_algo-3] [INFO] [1746051180.006129046] [sailbot.main_algo]: Heading Difference: -165.78925467691045 +[main_algo-3] [INFO] [1746051180.007044827] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051180.007918519] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051180.008783650] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051180.010504310] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051180.045021676] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051180.045596853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051180.046477404] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051180.047499726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051180.048671292] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051180.085283230] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051180.087254196] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051180.088296071] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051180.087856344] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051180.089288800] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051180.090301190] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051180.090478663] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051180.145267052] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051180.145762414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051180.146781629] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051180.147852759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051180.149107332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051180.245363149] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051180.245948399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051180.247755687] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051180.248216178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051180.249412762] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051180.335252613] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051180.337577016] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051180.337748499] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051180.338532654] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051180.339078970] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051180.339629803] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051180.340555298] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051180.344356636] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051180.344852927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051180.345414251] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051180.346595701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051180.347649644] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051180.446110760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051180.446125739] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051180.447976817] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051180.448394927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051180.448964984] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051180.457134465] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051180.458167147] [sailbot.main_algo]: Target Bearing: -142.26474532308956 +[main_algo-3] [INFO] [1746051180.459055455] [sailbot.main_algo]: Heading Difference: -165.20225467691046 +[main_algo-3] [INFO] [1746051180.459943603] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051180.460775423] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051180.461574439] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051180.462580240] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051180.463234769] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051180.502734375] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904062 Long: -76.50277196 +[vectornav-1] [INFO] [1746051180.503848254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.178999999999974, 0.184, 3.79) +[main_algo-3] [INFO] [1746051180.503882300] [sailbot.main_algo]: Distance to destination: 56.47646180423333 +[main_algo-3] [INFO] [1746051180.504951600] [sailbot.main_algo]: Target Bearing: -142.25170491117578 +[main_algo-3] [INFO] [1746051180.505903140] [sailbot.main_algo]: Heading Difference: -165.21529508882418 +[main_algo-3] [INFO] [1746051180.506821114] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051180.507722310] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051180.508592326] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051180.510284938] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051180.545206159] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051180.546072062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051180.546983694] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051180.548057473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051180.549170862] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051180.585219720] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051180.587044232] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051180.587609242] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051180.587944040] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051180.588854129] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051180.589099105] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051180.589743009] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051180.645299219] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051180.645958605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051180.647135712] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051180.647752015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051180.648332280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051180.745181204] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051180.746674415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051180.746752795] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051180.748719930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051180.749859972] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051180.835403472] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051180.837181568] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051180.837848479] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051180.839131043] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051180.839628432] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051180.839795950] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051180.840180252] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051180.844593346] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051180.845055329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051180.845762521] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051180.846784727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051180.847944586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051180.945571337] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051180.946163648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051180.947230329] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051180.948425159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051180.948886080] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051180.957091290] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051180.958082372] [sailbot.main_algo]: Target Bearing: -142.25170491117578 +[main_algo-3] [INFO] [1746051180.959004961] [sailbot.main_algo]: Heading Difference: -163.56929508882422 +[main_algo-3] [INFO] [1746051180.959806361] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051180.960642034] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051180.961454197] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051180.962477908] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051180.963501700] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051181.003357039] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904069 Long: -76.5027721 +[main_algo-3] [INFO] [1746051181.004331340] [sailbot.main_algo]: Distance to destination: 56.47235507068657 +[main_algo-3] [INFO] [1746051181.005566647] [sailbot.main_algo]: Target Bearing: -142.2382425225007 +[main_algo-3] [INFO] [1746051181.006586284] [sailbot.main_algo]: Heading Difference: -163.58275747749929 +[vectornav-1] [INFO] [1746051181.006634999] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.110000000000014, -0.338, 4.522) +[main_algo-3] [INFO] [1746051181.007591874] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051181.008531898] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051181.009403798] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051181.011135298] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051181.045940738] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051181.046081531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051181.047723419] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051181.048733907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051181.049780174] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051181.085383821] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051181.087133147] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051181.087844469] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051181.088083996] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051181.088989358] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051181.088912117] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051181.089906029] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051181.144867593] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051181.145748262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051181.146142515] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051181.147569463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051181.148785584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051181.245514196] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051181.246303519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051181.247075180] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051181.248452637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051181.248898469] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051181.335338160] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051181.337551161] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051181.337908910] [sailbot.teensy]: Wind angle: 166 +[mux-7] [INFO] [1746051181.338094292] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051181.338962560] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051181.339947383] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051181.340608823] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051181.344375527] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051181.344986745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051181.345460560] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051181.346735441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051181.347742750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051181.445040482] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051181.445742295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051181.446687177] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051181.447736905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051181.448772598] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051181.457109061] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051181.458115111] [sailbot.main_algo]: Target Bearing: -142.2382425225007 +[main_algo-3] [INFO] [1746051181.459037101] [sailbot.main_algo]: Heading Difference: -162.65175747749925 +[main_algo-3] [INFO] [1746051181.459868815] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051181.460696316] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051181.461504965] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051181.462539164] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051181.463280832] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051181.502738166] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904062 Long: -76.50277223 +[main_algo-3] [INFO] [1746051181.503794112] [sailbot.main_algo]: Distance to destination: 56.45915327812909 +[vectornav-1] [INFO] [1746051181.503820882] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.52699999999999, -0.082, 5.138) +[main_algo-3] [INFO] [1746051181.505226820] [sailbot.main_algo]: Target Bearing: -142.2375995128555 +[main_algo-3] [INFO] [1746051181.506299437] [sailbot.main_algo]: Heading Difference: -162.65240048714452 +[main_algo-3] [INFO] [1746051181.507206819] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051181.508077402] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051181.508952445] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051181.510552207] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051181.545058094] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051181.545846874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051181.546815509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051181.547851535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051181.548966935] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051181.585331790] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051181.587648304] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051181.588065819] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051181.588605151] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746051181.589521787] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051181.590355782] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051181.591188452] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051181.645243525] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051181.646217775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051181.646722343] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051181.648347910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051181.649402629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051181.745317512] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051181.746329978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051181.746810285] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051181.747956008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051181.748423274] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051181.835258058] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051181.837687020] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051181.837790556] [sailbot.teensy]: Wind angle: 166 +[mux-7] [INFO] [1746051181.838056411] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051181.838739516] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051181.839179308] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051181.839514253] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051181.844540311] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051181.845063976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051181.845632606] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051181.846864492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051181.847860011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051181.945239003] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051181.945943369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051181.946728215] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051181.948023719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051181.948968625] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051181.957041607] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051181.958013446] [sailbot.main_algo]: Target Bearing: -142.2375995128555 +[main_algo-3] [INFO] [1746051181.958896185] [sailbot.main_algo]: Heading Difference: -161.2354004871445 +[main_algo-3] [INFO] [1746051181.959770433] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051181.960608455] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051181.961393075] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051181.962397446] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051181.962973922] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051182.003657954] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904036 Long: -76.50277232 +[main_algo-3] [INFO] [1746051182.004192101] [sailbot.main_algo]: Distance to destination: 56.435302761661184 +[vectornav-1] [INFO] [1746051182.004902533] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.002999999999986, -0.975, 4.217) +[main_algo-3] [INFO] [1746051182.005412786] [sailbot.main_algo]: Target Bearing: -142.25574832674744 +[main_algo-3] [INFO] [1746051182.006494335] [sailbot.main_algo]: Heading Difference: -161.21725167325258 +[main_algo-3] [INFO] [1746051182.007678451] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051182.008616038] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051182.009463610] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051182.011265555] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051182.044935947] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051182.045613174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051182.046395730] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051182.047627762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051182.048760884] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051182.085474158] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051182.087287127] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051182.087850412] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051182.088275193] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051182.089182371] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051182.089520413] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051182.090075750] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051182.145466317] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051182.146553223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051182.147041829] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051182.148185217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051182.148637387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051182.245472125] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051182.246505709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051182.247059620] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051182.248837002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051182.249954404] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051182.335398852] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051182.337948804] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051182.338289653] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051182.339350982] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051182.339784005] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051182.340162920] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051182.340790437] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051182.344486670] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051182.344952812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051182.345605591] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051182.346748388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051182.347756571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051182.445025757] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051182.446199462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051182.446625057] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051182.448024726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051182.449247834] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051182.457020603] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051182.457986954] [sailbot.main_algo]: Target Bearing: -142.25574832674744 +[main_algo-3] [INFO] [1746051182.458862946] [sailbot.main_algo]: Heading Difference: -160.74125167325258 +[main_algo-3] [INFO] [1746051182.459673327] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051182.460471744] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051182.461265645] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051182.462401102] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051182.462843019] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051182.502741972] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904044 Long: -76.50277246 +[main_algo-3] [INFO] [1746051182.503740152] [sailbot.main_algo]: Distance to destination: 56.431890587415815 +[vectornav-1] [INFO] [1746051182.503944112] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.148000000000025, -0.003, 4.312) +[main_algo-3] [INFO] [1746051182.504839267] [sailbot.main_algo]: Target Bearing: -142.24139729844316 +[main_algo-3] [INFO] [1746051182.505826676] [sailbot.main_algo]: Heading Difference: -160.75560270155688 +[main_algo-3] [INFO] [1746051182.506701569] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051182.507562397] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051182.508420104] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051182.510132301] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051182.545005984] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051182.545700121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051182.546220011] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051182.547501046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051182.548650189] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051182.585116308] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051182.586670814] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746051182.587557120] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051182.587133889] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051182.588474304] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051182.588563413] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051182.589338815] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051182.645007488] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051182.645517304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051182.646312622] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051182.647264363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051182.648431745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051182.745324373] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051182.746091605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051182.746875179] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051182.748212308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051182.749358981] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051182.835208980] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051182.837403303] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051182.837578226] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051182.838509677] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051182.838894589] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051182.839402056] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051182.840221719] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051182.844406135] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051182.845394738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051182.845804452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051182.847245146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051182.848481148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051182.945383461] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051182.946061156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051182.946953342] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051182.948020062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051182.948538491] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051182.957097169] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051182.958006741] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746051182.958917770] [sailbot.main_algo]: Target Bearing: -142.24139729844316 +[main_algo-3] [INFO] [1746051182.959766549] [sailbot.main_algo]: Heading Difference: -159.6106027015568 +[main_algo-3] [INFO] [1746051182.960597045] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051182.961446669] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051182.962244514] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051182.963337993] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051182.963780997] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051183.003016284] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690404 Long: -76.5027725 +[main_algo-3] [INFO] [1746051183.003947422] [sailbot.main_algo]: Distance to destination: 56.42654450582075 +[vectornav-1] [INFO] [1746051183.004547206] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.410000000000025, -0.015, 4.507) +[main_algo-3] [INFO] [1746051183.005186549] [sailbot.main_algo]: Target Bearing: -142.24282267284062 +[main_algo-3] [INFO] [1746051183.006214841] [sailbot.main_algo]: Heading Difference: -159.6091773271594 +[main_algo-3] [INFO] [1746051183.007114539] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051183.008051124] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051183.008986345] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051183.010751187] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051183.045070876] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051183.045828525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051183.046434407] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051183.047820202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051183.048856247] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051183.085516401] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051183.087738585] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051183.087829949] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051183.088755186] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051183.089361800] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051183.089759456] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051183.090659492] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051183.145070767] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051183.145803866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051183.146438228] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051183.147707804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051183.148752716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051183.245145170] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051183.246124400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051183.246639914] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051183.248049745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051183.249208693] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051183.335414003] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051183.337881396] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051183.337911651] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051183.339022998] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051183.339967512] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051183.340139660] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051183.340909523] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051183.344351447] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051183.344869970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051183.345463358] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051183.346720561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051183.347717588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051183.445037426] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051183.445739159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051183.446407830] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051183.447887689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051183.448919751] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051183.457300947] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051183.458312534] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746051183.459182227] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051183.460448100] [sailbot.main_algo]: Current Location: (42.46904040214752, -76.50277250005446) +[main_algo-3] [INFO] [1746051183.461368537] [sailbot.main_algo]: Target Bearing: -142.24282267284062 +[main_algo-3] [INFO] [1746051183.462199310] [sailbot.main_algo]: Heading Difference: -159.34717732715933 +[main_algo-3] [INFO] [1746051183.462999855] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051183.463782000] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051183.464588610] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051183.465616881] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051183.466132917] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051183.503050352] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904039 Long: -76.50277247 +[main_algo-3] [INFO] [1746051183.503917181] [sailbot.main_algo]: Distance to destination: 56.42777220296889 +[vectornav-1] [INFO] [1746051183.504298544] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.781000000000006, -0.579, 5.542) +[main_algo-3] [INFO] [1746051183.505018181] [sailbot.main_algo]: Target Bearing: -142.24527029726426 +[main_algo-3] [INFO] [1746051183.506052773] [sailbot.main_algo]: Heading Difference: -159.34472970273572 +[main_algo-3] [INFO] [1746051183.506957724] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051183.507838223] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051183.508772408] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051183.510534590] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051183.544896583] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051183.545686851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051183.546147318] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051183.547471886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051183.548501872] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051183.585113291] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051183.586694799] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051183.587116917] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051183.587564834] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051183.588415388] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051183.588984954] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051183.589199059] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051183.644800240] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051183.645451966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051183.645985153] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051183.647177278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051183.648246638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051183.744606634] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051183.745196657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051183.745694957] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051183.747018919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051183.748016945] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051183.835135489] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051183.837249082] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051183.837776459] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051183.838418261] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051183.839445567] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051183.840350356] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051183.841186911] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051183.844332353] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051183.844943587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051183.845592652] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051183.846523262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051183.847626307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051183.945261974] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051183.946303084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051183.946842410] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051183.948437436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051183.949461834] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051183.957128396] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051183.958111156] [sailbot.main_algo]: Target Bearing: -142.24527029726426 +[main_algo-3] [INFO] [1746051183.958995004] [sailbot.main_algo]: Heading Difference: -159.97372970273574 +[main_algo-3] [INFO] [1746051183.959800383] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051183.960625774] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051183.961412329] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051183.962532701] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051183.963285891] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051184.003346372] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904026 Long: -76.50277234 +[main_algo-3] [INFO] [1746051184.003782965] [sailbot.main_algo]: Distance to destination: 56.42706816807896 +[vectornav-1] [INFO] [1746051184.004821431] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.27499999999998, -0.291, 4.148) +[main_algo-3] [INFO] [1746051184.004955196] [sailbot.main_algo]: Target Bearing: -142.26349651458946 +[main_algo-3] [INFO] [1746051184.005975110] [sailbot.main_algo]: Heading Difference: -159.95550348541053 +[main_algo-3] [INFO] [1746051184.006869530] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051184.007777492] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051184.008656128] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051184.010355272] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051184.044997523] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051184.045776003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051184.046393547] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051184.047754727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051184.048806306] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051184.085402336] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051184.087269998] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051184.087780247] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051184.088268126] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051184.089210945] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051184.089615453] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051184.090141961] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051184.145221412] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051184.146074625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051184.146682751] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051184.148053673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051184.149199019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051184.245417264] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051184.246481948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051184.246890853] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051184.248568373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051184.249636903] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051184.335352702] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051184.337301633] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051184.337552461] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051184.338886346] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051184.339165014] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051184.340458325] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051184.341328740] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051184.344528372] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051184.344887123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051184.345692422] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051184.346593241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051184.347609715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051184.445211591] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051184.445835570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051184.446625177] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051184.448257355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051184.449389215] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051184.457247557] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051184.458302359] [sailbot.main_algo]: Target Bearing: -142.26349651458946 +[main_algo-3] [INFO] [1746051184.459197451] [sailbot.main_algo]: Heading Difference: -160.46150348541056 +[main_algo-3] [INFO] [1746051184.460087221] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051184.460954934] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051184.461762977] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051184.462765749] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051184.463538115] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051184.502396111] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904027 Long: -76.50277245 +[main_algo-3] [INFO] [1746051184.503290597] [sailbot.main_algo]: Distance to destination: 56.42071022522691 +[vectornav-1] [INFO] [1746051184.503734293] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.697, -0.521, 4.657) +[main_algo-3] [INFO] [1746051184.504759583] [sailbot.main_algo]: Target Bearing: -142.25686788162778 +[main_algo-3] [INFO] [1746051184.505826426] [sailbot.main_algo]: Heading Difference: -160.46813211837224 +[main_algo-3] [INFO] [1746051184.506760834] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051184.507681158] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051184.508555479] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051184.510307656] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051184.545063772] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051184.545688198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051184.546351456] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051184.547511457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051184.548680169] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051184.585059792] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051184.587240600] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051184.587240173] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051184.588133249] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051184.588192715] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051184.588971729] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051184.589821687] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051184.645251636] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051184.646030636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051184.646712618] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051184.648399878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051184.648946741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051184.744953319] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051184.745642511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051184.746489432] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051184.747496683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051184.748585720] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051184.835305983] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051184.837475263] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051184.837635185] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746051184.838528566] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051184.839207855] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051184.839393484] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051184.840306348] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051184.844498065] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051184.845102090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051184.845654752] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051184.846807875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051184.847952120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051184.945605132] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051184.946136199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051184.947336214] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051184.948402896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051184.949578054] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051184.957092587] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051184.958075887] [sailbot.main_algo]: Target Bearing: -142.25686788162778 +[main_algo-3] [INFO] [1746051184.958973762] [sailbot.main_algo]: Heading Difference: -161.0461321183722 +[main_algo-3] [INFO] [1746051184.959835306] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051184.960694577] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051184.961483664] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051184.962471502] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051184.963186287] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051185.003660695] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904024 Long: -76.50277286 +[main_algo-3] [INFO] [1746051185.004106460] [sailbot.main_algo]: Distance to destination: 56.39233965732563 +[main_algo-3] [INFO] [1746051185.005246684] [sailbot.main_algo]: Target Bearing: -142.23806532973296 +[vectornav-1] [INFO] [1746051185.005464791] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.923, 0.579, 5.635) +[main_algo-3] [INFO] [1746051185.006240508] [sailbot.main_algo]: Heading Difference: -161.064934670267 +[main_algo-3] [INFO] [1746051185.007171639] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051185.008067189] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051185.008972703] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051185.010715578] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051185.045101362] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051185.045766992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051185.046578475] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051185.047556436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051185.048654242] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051185.085331281] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051185.087742419] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051185.088700748] [sailbot.teensy]: Wind angle: 166 +[mux-7] [INFO] [1746051185.089123146] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051185.089747728] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051185.090652492] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051185.091536524] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051185.145060494] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051185.145833215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051185.146429248] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051185.148094365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051185.149301782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051185.245459163] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051185.247035950] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051185.247170954] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051185.248843929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051185.249402074] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051185.335358478] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051185.337572201] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051185.337969796] [sailbot.teensy]: Wind angle: 166 +[mux-7] [INFO] [1746051185.338721198] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051185.339311865] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051185.340367181] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051185.341234821] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051185.344541180] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051185.344920102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051185.345789019] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051185.346619771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051185.347793743] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051185.445072689] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051185.445694131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051185.446380720] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051185.447524487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051185.448552389] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051185.457189066] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051185.458282281] [sailbot.main_algo]: Target Bearing: -142.23806532973296 +[main_algo-3] [INFO] [1746051185.459211693] [sailbot.main_algo]: Heading Difference: -161.838934670267 +[main_algo-3] [INFO] [1746051185.460076959] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051185.460986814] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051185.461810815] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051185.462790387] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051185.463494987] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051185.502269712] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903995 Long: -76.5027728 +[vectornav-1] [INFO] [1746051185.503148980] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.966999999999985, -1.554, 4.401) +[main_algo-3] [INFO] [1746051185.503207186] [sailbot.main_algo]: Distance to destination: 56.376021824645505 +[main_algo-3] [INFO] [1746051185.504123745] [sailbot.main_algo]: Target Bearing: -142.26672343079267 +[main_algo-3] [INFO] [1746051185.505088529] [sailbot.main_algo]: Heading Difference: -161.8102765692073 +[main_algo-3] [INFO] [1746051185.506036246] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051185.506987554] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051185.507848362] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051185.509820286] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051185.543662597] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051185.544245640] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051185.543930515] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051185.544712295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051185.545276277] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051185.584594238] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051185.586584989] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051185.586774209] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746051185.587715923] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051185.587724046] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051185.588632840] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051185.589427258] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051185.645016020] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051185.645408643] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051185.646349211] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051185.647353437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051185.648595585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051185.745073529] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051185.745918673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051185.746475963] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051185.748061758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051185.749196406] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051185.835236679] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051185.837146281] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051185.837188762] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051185.838052932] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051185.838476622] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051185.838929420] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051185.839338625] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051185.844436298] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051185.844987335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051185.845527043] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051185.846699966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051185.847781497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051185.945237839] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051185.946192429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051185.946823886] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051185.948005698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051185.948528871] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051185.957250996] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051185.958359216] [sailbot.main_algo]: Target Bearing: -142.26672343079267 +[main_algo-3] [INFO] [1746051185.959255741] [sailbot.main_algo]: Heading Difference: -161.76627656920732 +[main_algo-3] [INFO] [1746051185.960058414] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051185.960866310] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051185.961682096] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051185.962692046] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051185.963420903] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051186.003315344] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903993 Long: -76.50277295 +[main_algo-3] [INFO] [1746051186.003766194] [sailbot.main_algo]: Distance to destination: 56.365013093241785 +[main_algo-3] [INFO] [1746051186.004865004] [sailbot.main_algo]: Target Bearing: -142.26063748695708 +[vectornav-1] [INFO] [1746051186.004495447] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.07400000000001, 0.192, 5.322) +[main_algo-3] [INFO] [1746051186.005879039] [sailbot.main_algo]: Heading Difference: -161.77236251304294 +[main_algo-3] [INFO] [1746051186.006800944] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051186.007726464] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051186.008625790] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051186.010407972] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051186.045092471] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051186.045558923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051186.046558450] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051186.047424117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051186.048775689] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051186.085558203] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051186.087706854] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051186.087823591] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051186.088684773] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051186.089460139] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051186.089592884] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051186.090494248] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051186.145317127] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051186.145720888] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051186.146765980] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051186.147632169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051186.148709898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051186.245374813] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051186.246155695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051186.246985557] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051186.248434316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051186.249517620] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051186.335279520] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051186.337589287] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051186.337650620] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746051186.338589368] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051186.339468311] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051186.338648066] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051186.339842331] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051186.344418965] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051186.344843633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051186.345563881] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051186.346559335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051186.347584426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051186.445359933] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051186.445876645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051186.447055766] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051186.448162077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051186.448681328] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051186.457342743] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051186.458491365] [sailbot.main_algo]: Target Bearing: -142.26063748695708 +[main_algo-3] [INFO] [1746051186.459519510] [sailbot.main_algo]: Heading Difference: -161.6653625130429 +[main_algo-3] [INFO] [1746051186.460438704] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051186.461292416] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051186.462121417] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051186.463282116] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051186.463833883] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051186.503197640] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903997 Long: -76.5027728 +[main_algo-3] [INFO] [1746051186.503818706] [sailbot.main_algo]: Distance to destination: 56.37741207866173 +[vectornav-1] [INFO] [1746051186.504575414] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.136000000000024, -0.285, 4.787) +[main_algo-3] [INFO] [1746051186.505002863] [sailbot.main_algo]: Target Bearing: -142.2649629048617 +[main_algo-3] [INFO] [1746051186.506016088] [sailbot.main_algo]: Heading Difference: -161.66103709513828 +[main_algo-3] [INFO] [1746051186.506909695] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051186.507760121] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051186.508650869] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051186.510546819] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051186.545191098] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051186.546543182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051186.547074412] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051186.548680754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051186.549697743] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051186.585291031] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051186.586898574] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746051186.587781228] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051186.587471143] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051186.588644037] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051186.589847816] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051186.590405799] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051186.645032577] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051186.645567499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051186.646447174] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051186.647386530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051186.648518585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051186.745048858] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051186.745741972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051186.746698991] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051186.747504957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051186.748660711] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051186.835228750] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051186.837458488] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051186.837617741] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051186.838870139] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051186.839119609] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051186.839782509] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051186.840686898] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051186.844419765] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051186.844906415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051186.845556844] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051186.846683542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051186.847800395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051186.944966362] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051186.945738806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051186.946414077] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051186.947772850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051186.948824723] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051186.957217416] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051186.958325464] [sailbot.main_algo]: Target Bearing: -142.2649629048617 +[main_algo-3] [INFO] [1746051186.959255931] [sailbot.main_algo]: Heading Difference: -161.59903709513827 +[main_algo-3] [INFO] [1746051186.960186045] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051186.961080940] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051186.961924467] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051186.963010576] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051186.964049158] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051187.002884573] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904019 Long: -76.50277295 +[main_algo-3] [INFO] [1746051187.003845021] [sailbot.main_algo]: Distance to destination: 56.38309294534931 +[vectornav-1] [INFO] [1746051187.004012383] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.769000000000005, -0.24, 4.717) +[main_algo-3] [INFO] [1746051187.005209315] [sailbot.main_algo]: Target Bearing: -142.23775489631524 +[main_algo-3] [INFO] [1746051187.006289122] [sailbot.main_algo]: Heading Difference: -161.6262451036847 +[main_algo-3] [INFO] [1746051187.007238948] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051187.008196659] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051187.009154700] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051187.010906517] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051187.044966774] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051187.045659755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051187.046214568] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051187.047505802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051187.048529282] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051187.085433695] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051187.087605920] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051187.088644107] [sailbot.teensy]: Wind angle: 165 +[mux-7] [INFO] [1746051187.089062643] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051187.089590681] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051187.090516306] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051187.091454158] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051187.145251811] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051187.145991930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051187.146731028] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051187.148254005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051187.148717862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051187.244963175] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051187.245878363] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051187.246237583] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051187.247803654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051187.248865795] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051187.335354410] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051187.337613395] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051187.337730168] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746051187.338659637] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051187.339473252] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051187.339547430] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051187.340468033] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051187.344386974] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051187.344947053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051187.345494459] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051187.346695256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051187.347747309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051187.445588292] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051187.446280414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051187.447488721] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051187.448678520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051187.449946426] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051187.457189897] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051187.458221592] [sailbot.main_algo]: Target Bearing: -142.23775489631524 +[main_algo-3] [INFO] [1746051187.459143722] [sailbot.main_algo]: Heading Difference: -161.99324510368479 +[main_algo-3] [INFO] [1746051187.460023617] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051187.460888826] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051187.461746180] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051187.462850448] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051187.463411454] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051187.503606715] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904019 Long: -76.50277295 +[main_algo-3] [INFO] [1746051187.503940627] [sailbot.main_algo]: Distance to destination: 56.38309294534931 +[main_algo-3] [INFO] [1746051187.505133361] [sailbot.main_algo]: Target Bearing: -142.23775489631524 +[vectornav-1] [INFO] [1746051187.504877924] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.59899999999999, -0.84, 5.285) +[main_algo-3] [INFO] [1746051187.506138177] [sailbot.main_algo]: Heading Difference: -161.99324510368479 +[main_algo-3] [INFO] [1746051187.507055114] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051187.507953816] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051187.508814469] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051187.510565438] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051187.545156493] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051187.546353171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051187.546949767] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051187.548518659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051187.549672146] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051187.585188975] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051187.586754057] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051187.587218153] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051187.587632839] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051187.588490287] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051187.588531252] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051187.589327173] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051187.645352524] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051187.646150692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051187.647088703] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051187.648402191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051187.649593466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051187.745070618] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051187.745581812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051187.746577398] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051187.747482912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051187.748656386] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051187.835375324] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051187.837702370] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051187.837867037] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051187.838791758] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051187.839089965] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051187.839287139] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051187.839665269] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051187.844514027] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051187.844989459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051187.845635578] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051187.846695068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051187.847834797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051187.945557835] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051187.946155457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051187.947268242] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051187.948623708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051187.949780899] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051187.957120588] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051187.958201929] [sailbot.main_algo]: Target Bearing: -142.23775489631524 +[main_algo-3] [INFO] [1746051187.959176481] [sailbot.main_algo]: Heading Difference: -162.16324510368474 +[main_algo-3] [INFO] [1746051187.960054322] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051187.960932181] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051187.961714881] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051187.962751175] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051187.963337094] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051188.003830269] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904036 Long: -76.50277302 +[main_algo-3] [INFO] [1746051188.004811308] [sailbot.main_algo]: Distance to destination: 56.390433342405686 +[vectornav-1] [INFO] [1746051188.005637606] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.85899999999998, 0.364, 4.5) +[main_algo-3] [INFO] [1746051188.006011093] [sailbot.main_algo]: Target Bearing: -142.21913742601006 +[main_algo-3] [INFO] [1746051188.007426580] [sailbot.main_algo]: Heading Difference: -162.18186257398997 +[main_algo-3] [INFO] [1746051188.008344569] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051188.009213452] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051188.010052114] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051188.011750406] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051188.045549542] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051188.045832342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051188.046916315] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051188.047783510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051188.048874533] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051188.085167098] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051188.087163242] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051188.088911808] [sailbot.teensy]: Wind angle: 165 +[mux-7] [INFO] [1746051188.089114533] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051188.089852624] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051188.090712457] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051188.091474769] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051188.144925614] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051188.145795159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051188.146213590] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051188.147795969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051188.148872505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051188.245489576] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051188.246063439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051188.247197731] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051188.248286457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051188.249483511] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051188.335406010] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051188.337701549] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051188.337980968] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051188.338738722] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051188.339778973] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051188.340723999] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051188.341570257] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051188.344365698] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051188.345064063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051188.345485122] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051188.346804617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051188.347839482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051188.445617584] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051188.446608983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051188.447603486] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051188.449373130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051188.450620557] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051188.457381836] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051188.458555859] [sailbot.main_algo]: Target Bearing: -142.21913742601006 +[main_algo-3] [INFO] [1746051188.459527499] [sailbot.main_algo]: Heading Difference: -161.92186257398998 +[main_algo-3] [INFO] [1746051188.460466715] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051188.461345297] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051188.462205601] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051188.463258193] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051188.463885511] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051188.503435873] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904034 Long: -76.50277319 +[main_algo-3] [INFO] [1746051188.504787848] [sailbot.main_algo]: Distance to destination: 56.378148053909456 +[main_algo-3] [INFO] [1746051188.506172943] [sailbot.main_algo]: Target Bearing: -142.2119965240373 +[main_algo-3] [INFO] [1746051188.507302223] [sailbot.main_algo]: Heading Difference: -161.92900347596276 +[vectornav-1] [INFO] [1746051188.507708767] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.94200000000001, -0.625, 5.059) +[main_algo-3] [INFO] [1746051188.508299714] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051188.509306450] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051188.510167743] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051188.512064851] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051188.545296281] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051188.545824882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051188.546813509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051188.547774144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051188.548947728] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051188.585347194] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051188.587012325] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051188.587944778] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051188.587642353] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051188.588930402] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051188.589345268] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051188.589816463] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051188.645129178] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051188.645868839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051188.647150903] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051188.648086104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051188.649428691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051188.745295249] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051188.745813479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051188.746759091] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051188.748031067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051188.749138343] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051188.835442326] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051188.838051604] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051188.838584145] [sailbot.teensy]: Wind angle: 165 +[mux-7] [INFO] [1746051188.838707018] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051188.839006296] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051188.839384691] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051188.839923040] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051188.844338402] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051188.845027347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051188.845849003] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051188.846771453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051188.847819189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051188.945525539] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051188.946286279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051188.947146637] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051188.948754959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051188.949981505] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051188.957173065] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051188.958162614] [sailbot.main_algo]: Target Bearing: -142.2119965240373 +[main_algo-3] [INFO] [1746051188.959040419] [sailbot.main_algo]: Heading Difference: -161.84600347596268 +[main_algo-3] [INFO] [1746051188.959882859] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051188.960798001] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051188.961652061] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051188.963021525] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051188.963267226] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051189.003791496] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904042 Long: -76.5027732 +[main_algo-3] [INFO] [1746051189.004343011] [sailbot.main_algo]: Distance to destination: 56.38307530796069 +[main_algo-3] [INFO] [1746051189.005592638] [sailbot.main_algo]: Target Bearing: -142.2044369464895 +[vectornav-1] [INFO] [1746051189.005581994] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.28399999999999, -0.298, 5.087) +[main_algo-3] [INFO] [1746051189.006677595] [sailbot.main_algo]: Heading Difference: -161.85356305351047 +[main_algo-3] [INFO] [1746051189.007602126] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051189.008550924] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051189.009401894] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051189.011070973] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051189.045133647] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051189.046078484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051189.046734803] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051189.048116704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051189.049325069] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051189.085590474] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051189.088307875] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051189.088708111] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051189.089315936] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051189.090294660] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051189.091210800] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051189.092068998] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051189.145046081] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051189.145809572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051189.146454915] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051189.147845637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051189.148850276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051189.245532608] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051189.246450803] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051189.247193350] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051189.248741897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051189.249326160] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051189.335196739] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051189.337323799] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051189.337512077] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051189.338471534] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051189.339387419] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051189.339712606] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051189.340120865] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051189.344417126] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051189.344947688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051189.345535577] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051189.346617539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051189.347672087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051189.445198833] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051189.446166194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051189.446926479] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051189.448084151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051189.448635586] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051189.457348190] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051189.458522062] [sailbot.main_algo]: Target Bearing: -142.2044369464895 +[main_algo-3] [INFO] [1746051189.459495513] [sailbot.main_algo]: Heading Difference: -161.51156305351049 +[main_algo-3] [INFO] [1746051189.460391680] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051189.461210477] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051189.462011187] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051189.463018103] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051189.463638026] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051189.502856764] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904051 Long: -76.50277298 +[main_algo-3] [INFO] [1746051189.503821739] [sailbot.main_algo]: Distance to destination: 56.40343520440942 +[vectornav-1] [INFO] [1746051189.503988321] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.24400000000003, -0.523, 5.308) +[main_algo-3] [INFO] [1746051189.504961211] [sailbot.main_algo]: Target Bearing: -142.2080416005794 +[main_algo-3] [INFO] [1746051189.505920080] [sailbot.main_algo]: Heading Difference: -161.5079583994206 +[main_algo-3] [INFO] [1746051189.506809375] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051189.507673718] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051189.508527270] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051189.510212575] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051189.544967211] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051189.545594033] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051189.546206300] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051189.547548814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051189.548704495] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051189.585135763] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051189.587282548] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051189.587945523] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051189.588061319] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051189.589076592] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051189.589994475] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051189.590811571] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051189.645051797] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051189.645629996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051189.646461452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051189.647670482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051189.648955840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051189.745325037] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051189.746321890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051189.747620236] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051189.748230687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051189.748766842] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051189.835117599] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051189.836908223] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051189.837562271] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051189.837891179] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051189.838798134] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051189.839211129] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051189.839376081] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051189.844330219] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051189.844855885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051189.845406323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051189.846553431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051189.847615260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051189.944607912] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051189.945214635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051189.945810405] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051189.946951744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051189.948074576] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051189.956998405] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051189.958002109] [sailbot.main_algo]: Target Bearing: -142.2080416005794 +[main_algo-3] [INFO] [1746051189.958881822] [sailbot.main_algo]: Heading Difference: -161.54795839942057 +[main_algo-3] [INFO] [1746051189.959751141] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051189.960609423] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051189.961415222] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051189.962424313] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051189.963599770] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051190.002831709] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904045 Long: -76.5027732 +[main_algo-3] [INFO] [1746051190.003796066] [sailbot.main_algo]: Distance to destination: 56.38516353380206 +[vectornav-1] [INFO] [1746051190.004420705] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.64499999999998, -0.311, 4.136) +[main_algo-3] [INFO] [1746051190.004979612] [sailbot.main_algo]: Target Bearing: -142.20179882389735 +[main_algo-3] [INFO] [1746051190.006065516] [sailbot.main_algo]: Heading Difference: -161.55420117610265 +[main_algo-3] [INFO] [1746051190.006986835] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051190.007920693] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051190.008824162] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051190.010801351] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051190.045214175] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051190.045903849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051190.046689392] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051190.048041844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051190.049195831] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051190.085186161] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051190.087233234] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051190.088339348] [sailbot.teensy]: Wind angle: 166 +[mux-7] [INFO] [1746051190.088563385] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051190.089630319] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051190.090583456] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051190.091450412] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051190.144932515] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051190.145818081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051190.146212468] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051190.147972379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051190.148993150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051190.245188902] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051190.245901268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051190.247106479] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051190.247829445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051190.248952400] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051190.335139640] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051190.337324323] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051190.337718977] [sailbot.teensy]: Wind angle: 166 +[mux-7] [INFO] [1746051190.338121186] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051190.338704746] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051190.339681477] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051190.340371395] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051190.344502796] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051190.345073977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051190.345821230] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051190.346782486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051190.347805035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051190.445216195] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051190.446024736] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051190.446788111] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051190.448194300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051190.449293889] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051190.457174337] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051190.458197016] [sailbot.main_algo]: Target Bearing: -142.20179882389735 +[main_algo-3] [INFO] [1746051190.459083025] [sailbot.main_algo]: Heading Difference: -162.1532011761027 +[main_algo-3] [INFO] [1746051190.459930467] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051190.460858412] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051190.461716256] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051190.462904731] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051190.463544598] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051190.502958542] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904043 Long: -76.50277336 +[main_algo-3] [INFO] [1746051190.503579579] [sailbot.main_algo]: Distance to destination: 56.37352097990614 +[vectornav-1] [INFO] [1746051190.504407464] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.48399999999998, 0.121, 5.034) +[main_algo-3] [INFO] [1746051190.504922398] [sailbot.main_algo]: Target Bearing: -142.1951773392236 +[main_algo-3] [INFO] [1746051190.505908295] [sailbot.main_algo]: Heading Difference: -162.1598226607764 +[main_algo-3] [INFO] [1746051190.506835714] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051190.507727175] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051190.508590611] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051190.510293138] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051190.545178830] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051190.545969377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051190.546712169] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051190.548096243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051190.549294873] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051190.585095577] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051190.586623538] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051190.587167519] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051190.587475763] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051190.588436739] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051190.589361596] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051190.589610957] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051190.645205480] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051190.646209591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051190.646732787] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051190.648367112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051190.649606524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051190.745028793] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051190.745811858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051190.746292137] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051190.747913254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051190.748934614] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051190.835485011] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051190.837342337] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051190.837916591] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051190.838299926] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051190.839227060] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051190.839531194] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051190.839640613] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051190.844598629] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051190.845145570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051190.845828728] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051190.846888085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051190.848132567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051190.945290958] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051190.945962527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051190.947028993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051190.948138926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051190.948679558] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051190.957121541] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051190.958121677] [sailbot.main_algo]: Target Bearing: -142.1951773392236 +[main_algo-3] [INFO] [1746051190.958998480] [sailbot.main_algo]: Heading Difference: -163.32082266077646 +[main_algo-3] [INFO] [1746051190.959842885] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051190.960723392] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051190.961508410] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051190.962524862] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051190.963220753] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051191.003046916] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904025 Long: -76.50277356 +[main_algo-3] [INFO] [1746051191.003491390] [sailbot.main_algo]: Distance to destination: 56.3481774847418 +[main_algo-3] [INFO] [1746051191.004536575] [sailbot.main_algo]: Target Bearing: -142.20053252290933 +[vectornav-1] [INFO] [1746051191.004714746] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.06400000000002, -0.651, 4.74) +[main_algo-3] [INFO] [1746051191.005434416] [sailbot.main_algo]: Heading Difference: -163.3154674770907 +[main_algo-3] [INFO] [1746051191.006352761] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051191.007227765] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051191.008059010] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051191.009883988] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051191.044945633] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051191.045673656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051191.046232270] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051191.047781212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051191.048812294] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051191.085472214] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051191.087523079] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051191.088325811] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051191.088515870] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051191.089352224] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051191.089410243] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051191.090325670] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051191.145050990] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051191.145638889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051191.146477936] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051191.147622525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051191.148699654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051191.245117473] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051191.245965051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051191.246949144] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051191.247933976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051191.248935764] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051191.335205706] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051191.336916493] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051191.337681895] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051191.337857062] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051191.338769669] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051191.338977774] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051191.339701444] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051191.344360121] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051191.344943365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051191.345541089] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051191.346714441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051191.347740251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051191.444805187] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051191.445585202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051191.446040942] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051191.447420953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051191.448597309] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051191.457082246] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051191.458197044] [sailbot.main_algo]: Target Bearing: -142.20053252290933 +[main_algo-3] [INFO] [1746051191.459144817] [sailbot.main_algo]: Heading Difference: -162.73546747709065 +[main_algo-3] [INFO] [1746051191.460030687] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051191.460854492] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051191.461641517] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051191.462646643] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051191.463406197] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051191.502765329] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904008 Long: -76.50277381 +[main_algo-3] [INFO] [1746051191.503857374] [sailbot.main_algo]: Distance to destination: 56.32032707617961 +[vectornav-1] [INFO] [1746051191.503976598] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.714, -0.003, 4.745) +[main_algo-3] [INFO] [1746051191.505134500] [sailbot.main_algo]: Target Bearing: -142.2023909640259 +[main_algo-3] [INFO] [1746051191.506111357] [sailbot.main_algo]: Heading Difference: -162.73360903597404 +[main_algo-3] [INFO] [1746051191.507051819] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051191.507960437] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051191.508845574] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051191.510622747] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051191.545011073] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051191.545735257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051191.546266339] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051191.547693133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051191.548846171] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051191.585166212] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051191.586893380] [sailbot.teensy]: Wind angle: 167 +[trim_sail-4] [INFO] [1746051191.587797088] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051191.587845874] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051191.588759332] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051191.588973883] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051191.589624250] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051191.645017759] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051191.645971640] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051191.646571915] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051191.647964285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051191.649025285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051191.745272049] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051191.746179079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051191.746776814] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051191.748675006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051191.749891072] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051191.835151670] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051191.837215615] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051191.837649515] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051191.838181015] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051191.839094147] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051191.839791537] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051191.839971657] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051191.844515362] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051191.844974970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051191.845679512] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051191.846681542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051191.847782618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051191.945434805] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051191.946017224] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051191.948188026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051191.947256221] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051191.950046977] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051191.957168654] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051191.958260334] [sailbot.main_algo]: Target Bearing: -142.2023909640259 +[main_algo-3] [INFO] [1746051191.959177107] [sailbot.main_algo]: Heading Difference: -162.08360903597406 +[main_algo-3] [INFO] [1746051191.960073983] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051191.960989332] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051191.961842576] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051191.963099014] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051191.963627991] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051192.002898917] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904 Long: -76.50277403 +[main_algo-3] [INFO] [1746051192.003774248] [sailbot.main_algo]: Distance to destination: 56.300663678742644 +[vectornav-1] [INFO] [1746051192.004044386] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.524, -1.0, 4.98) +[main_algo-3] [INFO] [1746051192.005101556] [sailbot.main_algo]: Target Bearing: -142.19789831922066 +[main_algo-3] [INFO] [1746051192.006054918] [sailbot.main_algo]: Heading Difference: -162.08810168077935 +[main_algo-3] [INFO] [1746051192.006963380] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051192.007842203] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051192.008713317] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051192.010500483] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051192.045655858] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051192.045872187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051192.047069938] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051192.048111042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051192.049255796] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051192.085428572] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051192.087332767] [sailbot.teensy]: Wind angle: 167 +[teensy-2] [INFO] [1746051192.088399458] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051192.087621109] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051192.088843094] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051192.089301717] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051192.090222421] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051192.145214236] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051192.145969180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051192.146670767] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051192.147904658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051192.149563374] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051192.244979731] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051192.245477577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051192.246582565] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051192.247268270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051192.248427860] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051192.335394917] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051192.337375944] [sailbot.teensy]: Wind angle: 167 +[teensy-2] [INFO] [1746051192.338330295] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051192.337838776] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051192.338478359] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051192.339242245] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051192.339623771] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051192.344399840] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051192.344960722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051192.345465637] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051192.346735562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051192.347989593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051192.445099255] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051192.445793238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051192.446684336] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051192.447945033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051192.449108803] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051192.457223158] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051192.458249296] [sailbot.main_algo]: Target Bearing: -142.19789831922066 +[main_algo-3] [INFO] [1746051192.459212792] [sailbot.main_algo]: Heading Difference: -162.27810168077934 +[main_algo-3] [INFO] [1746051192.460114776] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051192.461089936] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051192.461954622] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051192.463054625] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051192.463604502] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051192.503198934] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904015 Long: -76.50277407 +[main_algo-3] [INFO] [1746051192.504431916] [sailbot.main_algo]: Distance to destination: 56.30854545141616 +[vectornav-1] [INFO] [1746051192.504466521] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.947, 0.471, 5.458) +[main_algo-3] [INFO] [1746051192.505581145] [sailbot.main_algo]: Target Bearing: -142.1825932471939 +[main_algo-3] [INFO] [1746051192.506606663] [sailbot.main_algo]: Heading Difference: -162.2934067528061 +[main_algo-3] [INFO] [1746051192.507519456] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051192.508454616] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051192.509338425] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051192.511055949] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051192.544996077] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051192.545735245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051192.546261391] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051192.547563395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051192.548592981] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051192.585188114] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051192.587236266] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051192.587527374] [sailbot.teensy]: Wind angle: 167 +[teensy-2] [INFO] [1746051192.588493438] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051192.589001684] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051192.589451824] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051192.590294639] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051192.645062257] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051192.645806554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051192.646489888] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051192.647831307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051192.649003798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051192.745163814] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051192.746031340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051192.746605576] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051192.747921631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051192.748475917] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051192.835294608] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051192.837042865] [sailbot.teensy]: Wind angle: 167 +[teensy-2] [INFO] [1746051192.837956885] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051192.837644091] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051192.838413136] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051192.838838073] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051192.839701971] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051192.844406510] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051192.844958471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051192.845723916] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051192.846624211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051192.847684685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051192.945231210] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051192.946225446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051192.947391541] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051192.948376804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051192.948904485] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051192.957246283] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051192.958459990] [sailbot.main_algo]: Target Bearing: -142.1825932471939 +[main_algo-3] [INFO] [1746051192.959486664] [sailbot.main_algo]: Heading Difference: -162.8704067528061 +[main_algo-3] [INFO] [1746051192.960401366] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051192.961294579] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051192.962136147] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051192.963351304] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051192.964552026] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051193.003017751] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904009 Long: -76.50277422 +[main_algo-3] [INFO] [1746051193.004083731] [sailbot.main_algo]: Distance to destination: 56.2947597211535 +[vectornav-1] [INFO] [1746051193.004331671] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.398000000000025, -0.91, 6.356) +[main_algo-3] [INFO] [1746051193.005414429] [sailbot.main_algo]: Target Bearing: -142.1800053242482 +[main_algo-3] [INFO] [1746051193.006448139] [sailbot.main_algo]: Heading Difference: -162.87299467575178 +[main_algo-3] [INFO] [1746051193.007364871] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051193.008261007] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051193.009110977] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051193.010975448] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051193.044998872] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051193.045737267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051193.046446979] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051193.047710621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051193.048826958] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051193.085260519] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051193.087140963] [sailbot.teensy]: Wind angle: 167 +[trim_sail-4] [INFO] [1746051193.087471632] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051193.088341341] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051193.089033832] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051193.089635848] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051193.090652030] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051193.145101115] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051193.145963039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051193.146520428] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051193.148177775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051193.149299513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051193.245165445] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051193.246130361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051193.246869347] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051193.248137138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051193.249327074] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051193.335188424] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051193.337365794] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051193.337772990] [sailbot.teensy]: Wind angle: 167 +[teensy-2] [INFO] [1746051193.338743024] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051193.338811860] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051193.339491361] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051193.339868807] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051193.344436945] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051193.344862882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051193.346388848] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051193.346524097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051193.347782485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051193.445087633] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051193.445741248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051193.446722641] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051193.447758363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051193.448826427] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051193.457097962] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051193.458132631] [sailbot.main_algo]: Target Bearing: -142.1800053242482 +[main_algo-3] [INFO] [1746051193.459026833] [sailbot.main_algo]: Heading Difference: -163.42199467575176 +[main_algo-3] [INFO] [1746051193.459881559] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051193.460786643] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051193.461635575] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051193.462656993] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051193.463615357] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051193.502996397] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904019 Long: -76.50277426 +[main_algo-3] [INFO] [1746051193.504056817] [sailbot.main_algo]: Distance to destination: 56.29916308212126 +[vectornav-1] [INFO] [1746051193.504602703] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.057000000000016, -0.364, 4.358) +[main_algo-3] [INFO] [1746051193.505454098] [sailbot.main_algo]: Target Bearing: -142.16910228359413 +[main_algo-3] [INFO] [1746051193.506866864] [sailbot.main_algo]: Heading Difference: -163.43289771640582 +[main_algo-3] [INFO] [1746051193.507840322] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051193.508731849] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051193.509571629] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051193.511336171] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051193.544998705] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051193.545596193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051193.546300211] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051193.547451190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051193.548565488] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051193.585119297] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051193.586672671] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051193.587269785] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051193.587537309] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051193.588434354] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051193.588597180] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051193.589512601] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051193.645434668] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051193.645942188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051193.647066051] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051193.648141957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051193.649375305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051193.745206557] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051193.745751771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051193.746542910] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051193.747772175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051193.748806573] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051193.835226127] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051193.836915648] [sailbot.teensy]: Wind angle: 154 +[teensy-2] [INFO] [1746051193.837937692] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051193.837300958] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051193.838835621] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051193.839142312] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051193.839367685] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051193.844412096] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051193.844962963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051193.845592266] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051193.846708015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051193.847741981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051193.945086608] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051193.945869688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051193.946602543] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051193.947937455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051193.949054488] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051193.957179115] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051193.958213579] [sailbot.main_algo]: Target Bearing: -142.16910228359413 +[main_algo-3] [INFO] [1746051193.959151475] [sailbot.main_algo]: Heading Difference: -162.77389771640583 +[main_algo-3] [INFO] [1746051193.960169190] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051193.961075882] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051193.961864902] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051193.963072972] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051193.963534109] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051194.003716666] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904038 Long: -76.50277438 +[main_algo-3] [INFO] [1746051194.004077450] [sailbot.main_algo]: Distance to destination: 56.3047182905714 +[vectornav-1] [INFO] [1746051194.005019593] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.88799999999998, -0.035, 4.519) +[main_algo-3] [INFO] [1746051194.005296190] [sailbot.main_algo]: Target Bearing: -142.14608106778434 +[main_algo-3] [INFO] [1746051194.007007501] [sailbot.main_algo]: Heading Difference: -162.79691893221565 +[main_algo-3] [INFO] [1746051194.007971384] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051194.008891767] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051194.009735432] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051194.011531190] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051194.045814793] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051194.046471260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051194.047164389] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051194.048722620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051194.049749774] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051194.085737498] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051194.088085509] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051194.088078421] [sailbot.teensy]: Wind angle: 153 +[teensy-2] [INFO] [1746051194.089352176] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051194.090370574] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051194.090489770] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051194.091485774] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051194.145240055] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051194.146392167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051194.147030482] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051194.148011217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051194.148528079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051194.245404608] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051194.246180481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051194.246960310] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051194.248571684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051194.249740755] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051194.335172373] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051194.336929891] [sailbot.teensy]: Wind angle: 152 +[trim_sail-4] [INFO] [1746051194.337318754] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051194.337884736] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051194.338804372] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051194.339193049] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051194.339659876] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051194.344442318] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051194.344928769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051194.345579176] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051194.346671054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051194.347694558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051194.445375689] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051194.446331824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051194.447058278] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051194.448634947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051194.449905101] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051194.457159864] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051194.458178980] [sailbot.main_algo]: Target Bearing: -142.14608106778434 +[main_algo-3] [INFO] [1746051194.459066744] [sailbot.main_algo]: Heading Difference: -164.9659189322157 +[main_algo-3] [INFO] [1746051194.459916087] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051194.460829599] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051194.461686471] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051194.462787974] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051194.463485401] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051194.503529981] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904013 Long: -76.50277445 +[main_algo-3] [INFO] [1746051194.503818948] [sailbot.main_algo]: Distance to destination: 56.2828165755571 +[vectornav-1] [INFO] [1746051194.504879634] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.84000000000003, -0.148, 5.305) +[main_algo-3] [INFO] [1746051194.504930249] [sailbot.main_algo]: Target Bearing: -142.1644105108559 +[main_algo-3] [INFO] [1746051194.505904825] [sailbot.main_algo]: Heading Difference: -164.9475894891441 +[main_algo-3] [INFO] [1746051194.506829971] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051194.507685459] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051194.508531445] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051194.510273041] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051194.544987476] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051194.545553661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051194.546333618] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051194.547437674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051194.548594602] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051194.585304825] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051194.586977147] [sailbot.teensy]: Wind angle: 153 +[trim_sail-4] [INFO] [1746051194.587682417] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051194.587903868] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051194.588834212] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051194.589497418] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051194.589729549] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051194.644934314] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051194.645858759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051194.646253136] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051194.647761694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051194.648813297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051194.745080306] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051194.746377610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051194.746501908] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051194.748505428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051194.749553527] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051194.835624524] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051194.838391422] [sailbot.teensy]: Wind angle: 153 +[trim_sail-4] [INFO] [1746051194.838772257] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051194.839830309] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051194.840789290] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051194.841713598] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051194.842538143] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051194.844256992] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051194.844702621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051194.845365312] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051194.846372951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051194.847464907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051194.945226904] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051194.945978351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051194.946650764] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051194.948077345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051194.949088068] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051194.957195512] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051194.958316851] [sailbot.main_algo]: Target Bearing: -142.1644105108559 +[main_algo-3] [INFO] [1746051194.959253836] [sailbot.main_algo]: Heading Difference: -165.9955894891441 +[main_algo-3] [INFO] [1746051194.960173368] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051194.961048739] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051194.961923256] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051194.963079127] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051194.963490558] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051195.003227952] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904001 Long: -76.50277444 +[main_algo-3] [INFO] [1746051195.004328679] [sailbot.main_algo]: Distance to destination: 56.27509804951524 +[vectornav-1] [INFO] [1746051195.004551132] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.952, -0.814, 3.964) +[main_algo-3] [INFO] [1746051195.005599231] [sailbot.main_algo]: Target Bearing: -142.17550281829048 +[main_algo-3] [INFO] [1746051195.006606772] [sailbot.main_algo]: Heading Difference: -165.98449718170946 +[main_algo-3] [INFO] [1746051195.007543031] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051195.008570088] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051195.009460044] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051195.011262857] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051195.045084984] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051195.046152076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051195.046753476] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051195.048252743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051195.049465737] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051195.085075199] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051195.086748277] [sailbot.teensy]: Wind angle: 153 +[trim_sail-4] [INFO] [1746051195.087228560] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051195.087619647] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051195.087959982] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051195.088536985] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051195.089420429] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051195.144984981] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051195.145689421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051195.146271596] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051195.147596926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051195.148631494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051195.245022773] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051195.245905252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051195.246343578] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051195.247756382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051195.248813717] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051195.335292214] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051195.337075836] [sailbot.teensy]: Wind angle: 153 +[trim_sail-4] [INFO] [1746051195.337842575] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051195.338009834] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051195.338912364] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051195.339357531] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051195.339810423] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051195.344396700] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051195.345112510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051195.345579227] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051195.346857266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051195.347914152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051195.445355062] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051195.445948917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051195.447072851] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051195.448106712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051195.449343821] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051195.457226790] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051195.458377484] [sailbot.main_algo]: Target Bearing: -142.17550281829048 +[main_algo-3] [INFO] [1746051195.459343624] [sailbot.main_algo]: Heading Difference: -163.8724971817095 +[main_algo-3] [INFO] [1746051195.460253042] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051195.461148507] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051195.462030817] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051195.463117335] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051195.463774454] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051195.503080105] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904007 Long: -76.5027747 +[main_algo-3] [INFO] [1746051195.504070947] [sailbot.main_algo]: Distance to destination: 56.26262877675588 +[vectornav-1] [INFO] [1746051195.504657879] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.42599999999999, 0.006, 5.483) +[main_algo-3] [INFO] [1746051195.505665352] [sailbot.main_algo]: Target Bearing: -142.15656424549974 +[main_algo-3] [INFO] [1746051195.506662227] [sailbot.main_algo]: Heading Difference: -163.89143575450026 +[main_algo-3] [INFO] [1746051195.507564685] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051195.508465197] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051195.509313592] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051195.511098675] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051195.545112356] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051195.545861234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051195.546521692] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051195.547882151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051195.548869984] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051195.585285420] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051195.587130973] [sailbot.teensy]: Wind angle: 152 +[trim_sail-4] [INFO] [1746051195.587682001] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051195.588042361] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051195.588978668] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051195.589728011] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051195.589827250] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051195.644783632] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051195.645546588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051195.646293965] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051195.647393319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051195.648600789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051195.745690197] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051195.746458025] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051195.747429788] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051195.748765223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051195.749982292] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051195.835560052] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051195.837966436] [sailbot.teensy]: Wind angle: 152 +[trim_sail-4] [INFO] [1746051195.837996841] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051195.839031661] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051195.839307122] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051195.839966401] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051195.840858454] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051195.844420633] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051195.845149285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051195.845604893] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051195.846959064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051195.848118336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051195.945443602] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051195.946191483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051195.947085648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051195.948673877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051195.949849673] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051195.957126069] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051195.958167632] [sailbot.main_algo]: Target Bearing: -142.15656424549974 +[main_algo-3] [INFO] [1746051195.959067394] [sailbot.main_algo]: Heading Difference: -164.41743575450027 +[main_algo-3] [INFO] [1746051195.959943909] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051195.960786247] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051195.961687309] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051195.962780910] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051195.963287016] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051196.002112549] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690401 Long: -76.50277473 +[main_algo-3] [INFO] [1746051196.002801276] [sailbot.main_algo]: Distance to destination: 56.26279847176269 +[vectornav-1] [INFO] [1746051196.002928033] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.125999999999976, -0.558, 5.227) +[main_algo-3] [INFO] [1746051196.003972684] [sailbot.main_algo]: Target Bearing: -142.15234617834264 +[main_algo-3] [INFO] [1746051196.004869724] [sailbot.main_algo]: Heading Difference: -164.4216538216574 +[main_algo-3] [INFO] [1746051196.005769521] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051196.006629608] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051196.007551259] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051196.009285369] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051196.044083261] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051196.044185555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051196.044644169] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051196.045531489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051196.046100823] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051196.085385398] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051196.087207401] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746051196.088619618] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051196.090418163] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051196.091115159] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051196.093669386] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051196.094827352] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746051196.145545463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051196.146510763] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051196.147701430] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051196.149365405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051196.151126927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051196.245047587] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051196.245891723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051196.246354714] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051196.247736973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051196.248802235] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051196.335395950] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051196.337897737] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051196.338607364] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051196.338683026] [sailbot.teensy]: Wind angle: 151 +[teensy-2] [INFO] [1746051196.339206320] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051196.339704883] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051196.340595053] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051196.344357225] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051196.344903153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051196.345497512] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051196.346583442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051196.347757258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051196.444930623] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051196.445342432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051196.446306168] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051196.447098441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051196.448283268] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051196.457156990] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051196.458209140] [sailbot.main_algo]: Target Bearing: -142.15234617834264 +[main_algo-3] [INFO] [1746051196.459153342] [sailbot.main_algo]: Heading Difference: -165.72165382165736 +[main_algo-3] [INFO] [1746051196.460020858] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051196.460972147] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051196.462517204] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051196.463951735] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051196.465162979] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051196.503367704] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904003 Long: -76.50277482 +[main_algo-3] [INFO] [1746051196.504561341] [sailbot.main_algo]: Distance to destination: 56.25215856049896 +[vectornav-1] [INFO] [1746051196.505422779] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.33299999999997, -0.189, 5.25) +[main_algo-3] [INFO] [1746051196.505812372] [sailbot.main_algo]: Target Bearing: -142.15378254855685 +[main_algo-3] [INFO] [1746051196.507177207] [sailbot.main_algo]: Heading Difference: -165.7202174514432 +[main_algo-3] [INFO] [1746051196.508122328] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051196.509052094] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051196.509890415] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051196.511600043] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051196.545186712] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051196.545797360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051196.547205732] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051196.547816817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051196.548998211] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051196.585409606] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051196.587288201] [sailbot.teensy]: Wind angle: 152 +[teensy-2] [INFO] [1746051196.588297713] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051196.588002939] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051196.589179987] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051196.589245261] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051196.590091947] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051196.645070146] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051196.645749137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051196.646510251] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051196.647769791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051196.648956453] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051196.745490672] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051196.745939164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051196.747371910] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051196.748265779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051196.749218990] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051196.835228997] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051196.836856243] [sailbot.teensy]: Wind angle: 150 +[teensy-2] [INFO] [1746051196.837791577] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051196.837461552] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051196.838649448] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051196.838666460] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051196.839594975] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051196.844338404] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051196.844977572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051196.845640093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051196.846694840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051196.847722169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051196.945771129] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051196.946215113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051196.947407910] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051196.948361895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051196.949483835] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051196.957024218] [sailbot.main_algo]: Wind Direction: 150 +[main_algo-3] [INFO] [1746051196.957980074] [sailbot.main_algo]: Target Bearing: -142.15378254855685 +[main_algo-3] [INFO] [1746051196.958857832] [sailbot.main_algo]: Heading Difference: -163.5132174514432 +[main_algo-3] [INFO] [1746051196.959657036] [sailbot.main_algo]: Wind Direction: 150 +[main_algo-3] [INFO] [1746051196.960457423] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051196.961256069] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051196.962219771] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051196.962814972] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051197.001794689] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904003 Long: -76.5027747 +[main_algo-3] [INFO] [1746051197.002492575] [sailbot.main_algo]: Distance to destination: 56.259841771048556 +[vectornav-1] [INFO] [1746051197.003261776] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.44999999999999, -0.827, 4.938) +[main_algo-3] [INFO] [1746051197.003322856] [sailbot.main_algo]: Target Bearing: -142.1600872062567 +[main_algo-3] [INFO] [1746051197.004125719] [sailbot.main_algo]: Heading Difference: -163.50691279374337 +[main_algo-3] [INFO] [1746051197.004984134] [sailbot.main_algo]: Wind Direction: 150 +[main_algo-3] [INFO] [1746051197.005833805] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051197.006632873] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051197.008393530] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051197.044743205] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051197.045502140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051197.045984467] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051197.047367060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051197.048457509] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051197.085032966] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051197.087216622] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051197.087482328] [sailbot.teensy]: Wind angle: 149 +[mux-7] [INFO] [1746051197.087857791] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051197.088480172] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051197.089704606] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051197.090564422] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051197.145171988] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051197.145719207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051197.146530982] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051197.147572192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051197.148794276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051197.245200564] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051197.245868064] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051197.247390963] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051197.247863999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051197.248783983] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051197.335317193] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051197.338142790] [sailbot.teensy]: Wind angle: 150 +[trim_sail-4] [INFO] [1746051197.338188800] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051197.338926535] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051197.339103297] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051197.340069968] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051197.340978189] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051197.344444282] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051197.345038035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051197.345625466] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051197.346708354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051197.347879876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051197.445409515] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051197.446164640] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051197.446969633] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051197.448371454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051197.449631671] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051197.457202473] [sailbot.main_algo]: Wind Direction: 150 +[main_algo-3] [INFO] [1746051197.458240805] [sailbot.main_algo]: Target Bearing: -142.1600872062567 +[main_algo-3] [INFO] [1746051197.459131678] [sailbot.main_algo]: Heading Difference: -165.3899127937433 +[main_algo-3] [INFO] [1746051197.459982911] [sailbot.main_algo]: Wind Direction: 150 +[main_algo-3] [INFO] [1746051197.460858102] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051197.461739785] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051197.462929210] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051197.463401401] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051197.503500798] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904015 Long: -76.50277474 +[main_algo-3] [INFO] [1746051197.503952598] [sailbot.main_algo]: Distance to destination: 56.2656426604157 +[main_algo-3] [INFO] [1746051197.505097140] [sailbot.main_algo]: Target Bearing: -142.14741784186347 +[vectornav-1] [INFO] [1746051197.505123366] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.827, 0.477, 5.296) +[main_algo-3] [INFO] [1746051197.506102467] [sailbot.main_algo]: Heading Difference: -165.4025821581365 +[main_algo-3] [INFO] [1746051197.507031759] [sailbot.main_algo]: Wind Direction: 150 +[main_algo-3] [INFO] [1746051197.507928057] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051197.508790654] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051197.510482998] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051197.544927236] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051197.545684477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051197.546204284] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051197.549151906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051197.550293961] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051197.585414656] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051197.588261002] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746051197.588259991] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051197.588590360] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051197.589273570] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051197.590189500] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051197.591013558] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051197.644959025] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051197.645658632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051197.646446326] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051197.647942567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051197.649085140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051197.745581197] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051197.746501390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051197.747223146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051197.748084245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051197.748540342] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051197.835354039] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051197.837676721] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051197.838161318] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051197.838608636] [sailbot.teensy]: Wind angle: 151 +[teensy-2] [INFO] [1746051197.839208750] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051197.839587964] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051197.839947055] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051197.844420136] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051197.845134818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051197.845914493] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051197.846947590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051197.847980200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051197.945333648] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051197.946266906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051197.946902454] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051197.948533184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051197.949619640] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051197.957026877] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051197.957978696] [sailbot.main_algo]: Target Bearing: -142.14741784186347 +[main_algo-3] [INFO] [1746051197.958858270] [sailbot.main_algo]: Heading Difference: -166.02558215813656 +[main_algo-3] [INFO] [1746051197.959655732] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051197.960453956] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051197.961231832] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051197.962291174] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051197.962867503] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051198.002922097] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904016 Long: -76.50277467 +[main_algo-3] [INFO] [1746051198.003880294] [sailbot.main_algo]: Distance to destination: 56.27082091703238 +[vectornav-1] [INFO] [1746051198.004218203] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.403999999999996, -1.111, 5.426) +[main_algo-3] [INFO] [1746051198.005111923] [sailbot.main_algo]: Target Bearing: -142.15021489322862 +[main_algo-3] [INFO] [1746051198.006079637] [sailbot.main_algo]: Heading Difference: -166.02278510677138 +[main_algo-3] [INFO] [1746051198.007105060] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051198.008197051] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051198.009076163] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051198.010779176] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051198.045037865] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051198.045646341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051198.046350863] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051198.047514816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051198.048554172] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051198.085145189] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051198.086827872] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746051198.087638156] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051198.087783511] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051198.088691000] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051198.088659856] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051198.089610644] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051198.145092719] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051198.145786406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051198.146565662] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051198.147942950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051198.148976632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051198.245024977] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051198.245693090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051198.246352762] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051198.247817306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051198.248918692] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051198.335247415] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051198.337040795] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746051198.337603015] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051198.339171808] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051198.339483203] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051198.340177440] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051198.341121671] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051198.344348594] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051198.344910338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051198.345992136] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051198.346993655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051198.348303635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051198.444844514] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051198.445556094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051198.446062580] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051198.447456254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051198.448516632] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051198.457123991] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051198.458178466] [sailbot.main_algo]: Target Bearing: -142.15021489322862 +[main_algo-3] [INFO] [1746051198.459072512] [sailbot.main_algo]: Heading Difference: -164.44578510677138 +[main_algo-3] [INFO] [1746051198.459883820] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051198.460695391] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051198.461491922] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051198.462485313] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051198.463306886] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051198.502768399] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904023 Long: -76.50277462 +[main_algo-3] [INFO] [1746051198.503669235] [sailbot.main_algo]: Distance to destination: 56.278900175235094 +[vectornav-1] [INFO] [1746051198.503958690] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.077999999999975, 0.538, 5.274) +[main_algo-3] [INFO] [1746051198.504803153] [sailbot.main_algo]: Target Bearing: -142.14667860106383 +[main_algo-3] [INFO] [1746051198.505788972] [sailbot.main_algo]: Heading Difference: -164.44932139893615 +[main_algo-3] [INFO] [1746051198.506717521] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051198.507601819] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051198.508469071] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051198.510331484] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051198.545033395] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051198.545623380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051198.546376518] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051198.547779819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051198.548926512] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051198.585120553] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051198.587265875] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051198.587838924] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051198.588215886] [sailbot.teensy]: Wind angle: 151 +[teensy-2] [INFO] [1746051198.589752403] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051198.590612033] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051198.591445226] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051198.645326280] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051198.646083288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051198.647211232] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051198.648635110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051198.649848052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051198.745159908] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051198.745891206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051198.746521191] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051198.747975892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051198.749139060] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051198.835222965] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051198.837246052] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746051198.837493059] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051198.838221516] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051198.839017601] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051198.839131143] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051198.839987628] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051198.844422870] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051198.844991788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051198.845546961] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051198.846775522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051198.847825537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051198.945110065] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051198.945808536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051198.946770127] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051198.947510788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051198.948045627] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051198.956926607] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051198.957820788] [sailbot.main_algo]: Target Bearing: -142.14667860106383 +[main_algo-3] [INFO] [1746051198.958649715] [sailbot.main_algo]: Heading Difference: -164.77532139893617 +[main_algo-3] [INFO] [1746051198.959474567] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051198.960266211] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051198.961007963] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051198.962019900] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051198.962885309] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051199.003159629] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904044 Long: -76.50277451 +[main_algo-3] [INFO] [1746051199.003678654] [sailbot.main_algo]: Distance to destination: 56.30057895834468 +[main_algo-3] [INFO] [1746051199.004781952] [sailbot.main_algo]: Target Bearing: -142.13397498586377 +[vectornav-1] [INFO] [1746051199.005218467] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.50799999999998, -0.945, 5.187) +[main_algo-3] [INFO] [1746051199.005988023] [sailbot.main_algo]: Heading Difference: -164.78802501413622 +[main_algo-3] [INFO] [1746051199.006990188] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051199.007919664] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051199.008824674] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051199.010701910] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051199.044684103] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051199.045343065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051199.045992786] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051199.047258412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051199.048246741] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051199.085153361] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051199.086920323] [sailbot.teensy]: Wind angle: 152 +[trim_sail-4] [INFO] [1746051199.087692017] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051199.087867887] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051199.088755478] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051199.089176596] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051199.089563882] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051199.144691308] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051199.145370334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051199.146134618] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051199.147249165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051199.148403096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051199.244746204] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051199.245557922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051199.245853845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051199.247340372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051199.248306302] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051199.335068207] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051199.337394855] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051199.337837525] [sailbot.teensy]: Wind angle: 151 +[mux-7] [INFO] [1746051199.338132004] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051199.338870963] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051199.339605754] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051199.339973547] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051199.344420010] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051199.344832894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051199.345544263] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051199.346444839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051199.347514803] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051199.444970708] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051199.445291799] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051199.447328793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051199.447363706] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051199.448482759] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051199.457031722] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051199.457983710] [sailbot.main_algo]: Target Bearing: -142.13397498586377 +[main_algo-3] [INFO] [1746051199.458824787] [sailbot.main_algo]: Heading Difference: -165.35802501413627 +[main_algo-3] [INFO] [1746051199.459655814] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051199.460474147] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051199.461291875] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051199.462540588] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051199.463015707] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051199.503003295] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904063 Long: -76.5027744 +[main_algo-3] [INFO] [1746051199.503612083] [sailbot.main_algo]: Distance to destination: 56.32086591044531 +[vectornav-1] [INFO] [1746051199.504062699] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.37299999999999, -0.522, 6.116) +[main_algo-3] [INFO] [1746051199.505012803] [sailbot.main_algo]: Target Bearing: -142.12303984855689 +[main_algo-3] [INFO] [1746051199.505979010] [sailbot.main_algo]: Heading Difference: -165.36896015144316 +[main_algo-3] [INFO] [1746051199.507159521] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051199.507970749] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051199.508770226] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051199.510344454] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051199.544617839] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051199.545196292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051199.545875345] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051199.547007579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051199.548053150] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051199.584999355] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051199.586893665] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051199.587358202] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051199.588200126] [sailbot.teensy]: Wind angle: 151 +[teensy-2] [INFO] [1746051199.589566644] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051199.590500997] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051199.591339409] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051199.644701199] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051199.645481130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051199.645958178] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051199.647343857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051199.648315078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051199.744759837] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051199.745560521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051199.746016760] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051199.747486733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051199.748463332] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051199.835007623] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051199.836970864] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746051199.836997899] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051199.837810182] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051199.838292080] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051199.839457662] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051199.840546897] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051199.844222195] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051199.844943863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051199.845251534] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051199.846624436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051199.847664041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051199.944764030] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051199.945375886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051199.946003450] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051199.947180131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051199.948110942] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051199.956937635] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051199.957840836] [sailbot.main_algo]: Target Bearing: -142.12303984855689 +[main_algo-3] [INFO] [1746051199.958664128] [sailbot.main_algo]: Heading Difference: -165.50396015144315 +[main_algo-3] [INFO] [1746051199.959447535] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051199.960201219] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051199.960940614] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051199.961865182] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051199.962517770] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051200.002963465] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904043 Long: -76.50277455 +[main_algo-3] [INFO] [1746051200.003327252] [sailbot.main_algo]: Distance to destination: 56.2973216085488 +[vectornav-1] [INFO] [1746051200.004070001] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.50200000000001, 0.17, 4.122) +[main_algo-3] [INFO] [1746051200.004345599] [sailbot.main_algo]: Target Bearing: -142.1327538064394 +[main_algo-3] [INFO] [1746051200.005260155] [sailbot.main_algo]: Heading Difference: -165.49424619356057 +[main_algo-3] [INFO] [1746051200.006098919] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051200.006965745] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051200.007784107] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051200.009565480] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051200.044714424] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051200.045597444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051200.045998330] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051200.047370839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051200.048330876] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051200.085114994] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051200.087076703] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746051200.087264956] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051200.087954963] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051200.088791075] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051200.088426392] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051200.089623864] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051200.144668035] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051200.145431322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051200.145933958] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051200.147214945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051200.148295818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051200.244797446] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051200.245414595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051200.246140195] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051200.247330728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051200.248458908] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051200.335023493] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051200.336518174] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746051200.337094256] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051200.337340179] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051200.338098542] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051200.338169909] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051200.338940902] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051200.344420417] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051200.344965029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051200.345480604] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051200.346575925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051200.347626883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051200.444689156] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051200.445386394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051200.445881630] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051200.447080343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051200.448035285] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051200.457089493] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051200.458068162] [sailbot.main_algo]: Target Bearing: -142.1327538064394 +[main_algo-3] [INFO] [1746051200.458909986] [sailbot.main_algo]: Heading Difference: -165.36524619356055 +[main_algo-3] [INFO] [1746051200.459721319] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051200.460568564] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051200.461370885] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051200.462352266] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051200.463167740] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051200.503159891] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904052 Long: -76.50277514 +[main_algo-3] [INFO] [1746051200.504071688] [sailbot.main_algo]: Distance to destination: 56.265845902249545 +[vectornav-1] [INFO] [1746051200.504550860] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.315, -0.477, 4.513) +[main_algo-3] [INFO] [1746051200.505090817] [sailbot.main_algo]: Target Bearing: -142.09382193725975 +[main_algo-3] [INFO] [1746051200.506050603] [sailbot.main_algo]: Heading Difference: -165.40417806274024 +[main_algo-3] [INFO] [1746051200.507340780] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051200.508243937] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051200.509047367] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051200.510641136] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051200.545218264] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051200.545655846] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051200.546602154] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051200.547519992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051200.548585942] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051200.585080876] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051200.586601214] [sailbot.teensy]: Wind angle: 151 +[teensy-2] [INFO] [1746051200.587463558] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051200.587312512] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051200.588275675] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051200.588473565] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051200.589136915] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746051200.645338511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051200.645402420] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051200.646721614] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051200.647147306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051200.648229793] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051200.745319237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051200.745320703] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051200.746619726] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051200.747144988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051200.748264173] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051200.835022426] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051200.837453878] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051200.837965640] [sailbot.teensy]: Wind angle: 151 +[mux-7] [INFO] [1746051200.838464033] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051200.838893909] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051200.839732092] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051200.840532498] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051200.844343569] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051200.844900249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051200.845451830] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051200.846476361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051200.847463416] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051200.944767967] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051200.945314844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051200.946324563] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051200.947006468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051200.948079152] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051200.956958554] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051200.957880506] [sailbot.main_algo]: Target Bearing: -142.09382193725975 +[main_algo-3] [INFO] [1746051200.958700821] [sailbot.main_algo]: Heading Difference: -166.59117806274025 +[main_algo-3] [INFO] [1746051200.959449609] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051200.960227326] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051200.960960088] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051200.962051005] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051200.962752149] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051201.002999010] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904052 Long: -76.50277573 +[main_algo-3] [INFO] [1746051201.003341406] [sailbot.main_algo]: Distance to destination: 56.2281119286537 +[main_algo-3] [INFO] [1746051201.004371560] [sailbot.main_algo]: Target Bearing: -142.06276628049224 +[vectornav-1] [INFO] [1746051201.004536439] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.44499999999999, 0.281, 5.741) +[main_algo-3] [INFO] [1746051201.005297646] [sailbot.main_algo]: Heading Difference: -166.6222337195078 +[main_algo-3] [INFO] [1746051201.006157997] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051201.007011203] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051201.007866900] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051201.009557130] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051201.045364190] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051201.045710055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051201.047408950] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051201.047655915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051201.048763721] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051201.085345758] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051201.087184915] [sailbot.teensy]: Wind angle: 151 +[teensy-2] [INFO] [1746051201.088111165] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051201.087763492] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051201.088485290] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051201.089007015] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051201.089905404] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051201.145043520] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051201.145517293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051201.146316975] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051201.147313181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051201.148418682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051201.244756771] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051201.245321090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051201.246790192] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051201.246992918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051201.248217016] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051201.335177853] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051201.337612384] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051201.337708344] [sailbot.teensy]: Wind angle: 151 +[mux-7] [INFO] [1746051201.338413425] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051201.338908555] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051201.339859276] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051201.340669904] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051201.344351345] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051201.344962977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051201.345464641] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051201.346653136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051201.347703395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051201.444659545] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051201.445496254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051201.445891874] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051201.447192362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051201.447842320] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051201.457180044] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051201.458280207] [sailbot.main_algo]: Target Bearing: -142.06276628049224 +[main_algo-3] [INFO] [1746051201.459176231] [sailbot.main_algo]: Heading Difference: -167.4922337195078 +[main_algo-3] [INFO] [1746051201.459981632] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051201.460788559] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051201.461578628] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051201.462792583] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051201.463170319] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051201.502629857] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904019 Long: -76.50277606 +[main_algo-3] [INFO] [1746051201.503375817] [sailbot.main_algo]: Distance to destination: 56.18397190911189 +[vectornav-1] [INFO] [1746051201.503709903] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.33499999999998, -0.929, 4.713) +[main_algo-3] [INFO] [1746051201.504427426] [sailbot.main_algo]: Target Bearing: -142.07443610448723 +[main_algo-3] [INFO] [1746051201.505329541] [sailbot.main_algo]: Heading Difference: -167.48056389551277 +[main_algo-3] [INFO] [1746051201.506150089] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051201.507223491] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051201.508048440] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051201.509762890] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051201.544598659] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051201.545252151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051201.545793882] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051201.546953845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051201.547984387] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051201.585012360] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051201.586455995] [sailbot.teensy]: Wind angle: 151 +[teensy-2] [INFO] [1746051201.587261929] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051201.587085337] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051201.588025225] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051201.588618358] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051201.588859583] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051201.644661236] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051201.645350739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051201.645919113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051201.647162149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051201.648297867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051201.744669250] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051201.745480226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051201.745813268] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051201.747233831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051201.748175280] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051201.835318011] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051201.837315997] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051201.837667595] [sailbot.teensy]: Wind angle: 151 +[mux-7] [INFO] [1746051201.838301026] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051201.838527175] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051201.839596938] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051201.840409271] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051201.844300893] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051201.844925587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051201.845729531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051201.846650844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051201.847793392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051201.945100529] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051201.946555298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051201.948428020] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051201.950267984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051201.951281782] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051201.957021537] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051201.957987322] [sailbot.main_algo]: Target Bearing: -142.07443610448723 +[main_algo-3] [INFO] [1746051201.958854099] [sailbot.main_algo]: Heading Difference: -166.5905638955128 +[main_algo-3] [INFO] [1746051201.959724295] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051201.960639466] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051201.961461014] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051201.962692862] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051201.963141857] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051202.001527973] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904037 Long: -76.50277637 +[vectornav-1] [INFO] [1746051202.001989231] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.44799999999998, -0.353, 4.315) +[main_algo-3] [INFO] [1746051202.001953471] [sailbot.main_algo]: Distance to destination: 56.176719840639834 +[main_algo-3] [INFO] [1746051202.002503224] [sailbot.main_algo]: Target Bearing: -142.0422385263634 +[main_algo-3] [INFO] [1746051202.002904379] [sailbot.main_algo]: Heading Difference: -166.62276147363661 +[main_algo-3] [INFO] [1746051202.003279972] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051202.003674814] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051202.004077487] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051202.005015349] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051202.043739923] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051202.044095794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051202.044235319] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051202.044891611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051202.045425337] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051202.084454251] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051202.085160231] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746051202.085445090] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051202.085553423] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051202.085935434] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051202.086294438] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051202.087461781] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051202.143698187] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051202.143989323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051202.144229650] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051202.144802928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051202.145341211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051202.244985909] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051202.245556552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051202.246207869] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051202.247348677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051202.248482280] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051202.335408320] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051202.337250568] [sailbot.teensy]: Wind angle: 149 +[trim_sail-4] [INFO] [1746051202.337788461] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051202.338942813] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051202.339603432] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051202.340005572] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051202.340381502] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051202.344339235] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051202.344951909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051202.345416746] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051202.346553415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051202.347547651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051202.445236136] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051202.446891927] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051202.448411156] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051202.449524762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051202.450753777] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051202.457061614] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051202.458208116] [sailbot.main_algo]: Target Bearing: -142.0422385263634 +[main_algo-3] [INFO] [1746051202.459247098] [sailbot.main_algo]: Heading Difference: -163.50976147363662 +[main_algo-3] [INFO] [1746051202.460241430] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051202.461275559] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051202.462235920] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051202.463807532] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051202.465203387] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051202.501485216] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690407 Long: -76.50277697 +[main_algo-3] [INFO] [1746051202.502245888] [sailbot.main_algo]: Distance to destination: 56.16144794435875 +[vectornav-1] [INFO] [1746051202.502321690] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.18099999999998, 0.611, 5.796) +[main_algo-3] [INFO] [1746051202.503390370] [sailbot.main_algo]: Target Bearing: -141.98151528296574 +[main_algo-3] [INFO] [1746051202.504260318] [sailbot.main_algo]: Heading Difference: -163.57048471703428 +[main_algo-3] [INFO] [1746051202.504867336] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051202.505417530] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051202.506237283] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051202.507714598] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051202.544806008] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051202.545473154] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051202.546069766] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051202.547253820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051202.548457297] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051202.585000933] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051202.586526295] [sailbot.teensy]: Wind angle: 148 +[trim_sail-4] [INFO] [1746051202.587047258] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051202.587386394] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051202.587951639] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051202.588252383] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051202.589135819] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051202.644982434] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051202.645678446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051202.646328509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051202.647729766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051202.648880381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051202.745039398] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051202.745700685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051202.746877403] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051202.747612714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051202.748495877] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051202.835118207] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051202.836645696] [sailbot.teensy]: Wind angle: 149 +[trim_sail-4] [INFO] [1746051202.837108182] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051202.837500135] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051202.838343755] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051202.838891166] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051202.839134636] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051202.844387570] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051202.844891418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051202.845648345] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051202.846657381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051202.847801716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051202.945095817] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051202.945741929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051202.946484302] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051202.947708461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051202.948816542] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051202.956963668] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051202.957856389] [sailbot.main_algo]: Target Bearing: -141.98151528296574 +[main_algo-3] [INFO] [1746051202.958696986] [sailbot.main_algo]: Heading Difference: -165.83748471703427 +[main_algo-3] [INFO] [1746051202.959498519] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051202.960329848] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051202.961141611] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051202.962195362] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051202.962924495] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051203.003458169] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904033 Long: -76.502777 +[main_algo-3] [INFO] [1746051203.004075685] [sailbot.main_algo]: Distance to destination: 56.13366167536803 +[main_algo-3] [INFO] [1746051203.005417787] [sailbot.main_algo]: Target Bearing: -142.01250978160323 +[main_algo-3] [INFO] [1746051203.006447785] [sailbot.main_algo]: Heading Difference: -165.8064902183968 +[vectornav-1] [INFO] [1746051203.006735121] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.71500000000003, -1.38, 5.217) +[main_algo-3] [INFO] [1746051203.007457036] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051203.008430851] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051203.009308448] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051203.011027200] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051203.045547819] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051203.045746416] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051203.046880902] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051203.047655220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051203.048723093] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051203.085402753] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051203.087515326] [sailbot.teensy]: Wind angle: 150 +[trim_sail-4] [INFO] [1746051203.087830864] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051203.088510654] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051203.088990982] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051203.089422331] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051203.090270027] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051203.145030861] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051203.146017964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051203.146409261] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051203.148120979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051203.149166162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051203.245038049] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051203.245704500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051203.246264650] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051203.247554402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051203.248639649] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051203.335259705] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051203.337854302] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051203.338277911] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051203.338759052] [sailbot.teensy]: Wind angle: 151 +[teensy-2] [INFO] [1746051203.339782025] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051203.340669487] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051203.341527904] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051203.344454029] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051203.344837161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051203.345594226] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051203.346512779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051203.347535763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051203.445239854] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051203.446025306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051203.446504522] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051203.448173816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051203.449389968] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051203.456841308] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051203.457683982] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746051203.458590744] [sailbot.main_algo]: Target Bearing: -142.01250978160323 +[main_algo-3] [INFO] [1746051203.459442207] [sailbot.main_algo]: Heading Difference: -167.27249021839674 +[main_algo-3] [INFO] [1746051203.460316978] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051203.461098805] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051203.461820735] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051203.462832208] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051203.463382388] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051203.501416258] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690403 Long: -76.50277735 +[vectornav-1] [INFO] [1746051203.502067447] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.447, -0.398, 4.812) +[main_algo-3] [INFO] [1746051203.502057927] [sailbot.main_algo]: Distance to destination: 56.10920319208645 +[main_algo-3] [INFO] [1746051203.502923754] [sailbot.main_algo]: Target Bearing: -141.99665940267562 +[main_algo-3] [INFO] [1746051203.503429894] [sailbot.main_algo]: Heading Difference: -167.28834059732435 +[main_algo-3] [INFO] [1746051203.503781137] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051203.504180531] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051203.504759356] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051203.506021967] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051203.544083334] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051203.544984983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051203.545245715] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051203.546791771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051203.547764390] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051203.585196337] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051203.587109148] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746051203.587158471] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051203.587956386] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051203.588488424] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051203.588748266] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051203.589112973] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051203.645310278] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051203.645791108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051203.647180200] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051203.647823140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051203.649089511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051203.745082505] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051203.745809725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051203.746679731] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051203.747795214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051203.748893032] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051203.835424348] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051203.837950746] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051203.837977255] [sailbot.teensy]: Wind angle: 151 +[teensy-2] [INFO] [1746051203.838676419] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051203.839078363] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051203.839324983] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051203.839554883] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051203.844605814] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051203.844944645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051203.845903516] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051203.846698671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051203.847734665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051203.945481722] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051203.946230560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051203.947185296] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051203.948598507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051203.949844547] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051203.957147990] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051203.958042732] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746051203.958866347] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051203.960016993] [sailbot.main_algo]: Current Location: (42.469040302147555, -76.50277735005446) +[main_algo-3] [INFO] [1746051203.960899775] [sailbot.main_algo]: Target Bearing: -141.99665940267562 +[main_algo-3] [INFO] [1746051203.961728573] [sailbot.main_algo]: Heading Difference: -164.55634059732438 +[main_algo-3] [INFO] [1746051203.962517230] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051203.963365829] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051203.964170849] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051203.965180158] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051203.965756732] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051204.003132562] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904057 Long: -76.50277748 +[main_algo-3] [INFO] [1746051204.003715554] [sailbot.main_algo]: Distance to destination: 56.11978464046364 +[vectornav-1] [INFO] [1746051204.004453887] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.07499999999999, -0.174, 4.705) +[main_algo-3] [INFO] [1746051204.004843897] [sailbot.main_algo]: Target Bearing: -141.96600339794279 +[main_algo-3] [INFO] [1746051204.005921993] [sailbot.main_algo]: Heading Difference: -164.58699660205718 +[main_algo-3] [INFO] [1746051204.006885550] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051204.007752008] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051204.008638793] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051204.010334708] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051204.045200813] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051204.045714669] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051204.046825055] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051204.047740167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051204.048854056] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051204.085322130] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051204.087571227] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051204.088146896] [sailbot.teensy]: Wind angle: 151 +[mux-7] [INFO] [1746051204.088213719] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051204.089111523] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051204.089996928] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051204.090854546] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051204.144827234] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051204.145486211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051204.146507213] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051204.147320929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051204.148363149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051204.245051402] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051204.245678390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051204.246332883] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051204.247459020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051204.248533489] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051204.335297770] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051204.337240645] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746051204.337554869] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051204.338159588] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051204.339048151] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051204.339174370] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051204.339830866] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051204.344342383] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051204.344842450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051204.345459660] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051204.346616074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051204.347782039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051204.445127666] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051204.445781143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051204.446480791] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051204.447880038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051204.448887239] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051204.456986260] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051204.457965077] [sailbot.main_algo]: Target Bearing: -141.96600339794279 +[main_algo-3] [INFO] [1746051204.458806419] [sailbot.main_algo]: Heading Difference: -162.95899660205725 +[main_algo-3] [INFO] [1746051204.459587332] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051204.460429203] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051204.461224080] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051204.462234084] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051204.463036651] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051204.502706881] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690407 Long: -76.50277772 +[main_algo-3] [INFO] [1746051204.503703176] [sailbot.main_algo]: Distance to destination: 56.113560002891965 +[vectornav-1] [INFO] [1746051204.504185342] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.99400000000003, 0.593, 5.339) +[main_algo-3] [INFO] [1746051204.504916068] [sailbot.main_algo]: Target Bearing: -141.9418612153158 +[main_algo-3] [INFO] [1746051204.505908608] [sailbot.main_algo]: Heading Difference: -162.98313878468423 +[main_algo-3] [INFO] [1746051204.506785187] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051204.507675039] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051204.508564835] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051204.510567680] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051204.545044811] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051204.545597905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051204.546397215] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051204.547405980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051204.548504126] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051204.585143174] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051204.586678156] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746051204.587305473] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051204.587546651] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051204.588384691] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051204.588439732] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051204.589262600] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051204.645071957] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051204.645815881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051204.646649705] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051204.648001022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051204.648742388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051204.744796268] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051204.745271189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051204.746060884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051204.746884612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051204.747850307] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051204.835284726] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051204.836965809] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746051204.837724960] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051204.837871752] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051204.838681722] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051204.838714742] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051204.839485163] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051204.844462310] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051204.844977626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051204.845526367] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051204.846639979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051204.847585562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051204.944901356] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051204.945591415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051204.946164638] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051204.948149083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051204.949220537] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051204.957095681] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051204.958152102] [sailbot.main_algo]: Target Bearing: -141.9418612153158 +[main_algo-3] [INFO] [1746051204.959082371] [sailbot.main_algo]: Heading Difference: -162.06413878468413 +[main_algo-3] [INFO] [1746051204.959975400] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051204.960828178] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051204.961651044] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051204.962728366] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051204.963247467] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051205.002722715] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904059 Long: -76.5027777 +[main_algo-3] [INFO] [1746051205.003724727] [sailbot.main_algo]: Distance to destination: 56.10713748854788 +[vectornav-1] [INFO] [1746051205.003882588] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.90199999999999, -1.615, 5.726) +[main_algo-3] [INFO] [1746051205.004908575] [sailbot.main_algo]: Target Bearing: -141.95260479300165 +[main_algo-3] [INFO] [1746051205.005828882] [sailbot.main_algo]: Heading Difference: -162.0533952069983 +[main_algo-3] [INFO] [1746051205.006655858] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051205.007470840] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051205.008278526] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051205.009878044] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051205.044712283] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051205.045394379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051205.045852806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051205.047182707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051205.048146261] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051205.085161538] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051205.087447306] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051205.087676755] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051205.087776978] [sailbot.teensy]: Wind angle: 151 +[teensy-2] [INFO] [1746051205.088673281] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051205.089567883] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051205.090377312] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051205.144727224] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051205.145252171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051205.146094339] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051205.147037111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051205.147988000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051205.244689659] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051205.245276055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051205.246071140] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051205.247348591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051205.248359737] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051205.335115848] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051205.336697721] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746051205.337217485] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051205.337567781] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051205.338371413] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051205.338352345] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051205.339173319] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051205.344269517] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051205.344734610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051205.345469421] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051205.346282353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051205.347364152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051205.444715463] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051205.445286373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051205.445937702] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051205.447063675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051205.448013678] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051205.457011700] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051205.458083347] [sailbot.main_algo]: Target Bearing: -141.95260479300165 +[main_algo-3] [INFO] [1746051205.458950832] [sailbot.main_algo]: Heading Difference: -162.1453952069984 +[main_algo-3] [INFO] [1746051205.459740115] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051205.460707541] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051205.461527613] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051205.462522933] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051205.463357022] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051205.503175138] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904048 Long: -76.50277743 +[main_algo-3] [INFO] [1746051205.503945320] [sailbot.main_algo]: Distance to destination: 56.116681466340715 +[main_algo-3] [INFO] [1746051205.505164244] [sailbot.main_algo]: Target Bearing: -141.97657328440715 +[main_algo-3] [INFO] [1746051205.506122459] [sailbot.main_algo]: Heading Difference: -162.12142671559286 +[vectornav-1] [INFO] [1746051205.506769691] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.91199999999998, 0.187, 5.037) +[main_algo-3] [INFO] [1746051205.507215839] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051205.508105328] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051205.508974011] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051205.510805470] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051205.544693746] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051205.545271033] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051205.545856278] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051205.547046306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051205.548252038] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051205.585143271] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051205.587180240] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051205.588699463] [sailbot.teensy]: Wind angle: 151 +[mux-7] [INFO] [1746051205.588762226] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051205.589706436] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051205.591107204] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051205.592139094] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051205.644770098] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051205.645996795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051205.646317097] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051205.648050013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051205.649221432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051205.744817063] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051205.745653852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051205.746014014] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051205.747461224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051205.748597552] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051205.834979416] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051205.836844238] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051205.837873030] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051205.838095141] [sailbot.teensy]: Wind angle: 151 +[teensy-2] [INFO] [1746051205.839035202] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051205.839682489] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051205.840055616] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051205.844358391] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051205.844800162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051205.845374591] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051205.846366841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051205.847369874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051205.944817240] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051205.945262768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051205.946100050] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051205.946987215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051205.947927823] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051205.956977859] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051205.957894926] [sailbot.main_algo]: Target Bearing: -141.97657328440715 +[main_algo-3] [INFO] [1746051205.958695303] [sailbot.main_algo]: Heading Difference: -162.11142671559287 +[main_algo-3] [INFO] [1746051205.959455586] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051205.960215324] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051205.961012938] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051205.961989428] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051205.962508203] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051206.003643910] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904066 Long: -76.5027772 +[main_algo-3] [INFO] [1746051206.003783854] [sailbot.main_algo]: Distance to destination: 56.1439611574564 +[main_algo-3] [INFO] [1746051206.004832839] [sailbot.main_algo]: Target Bearing: -141.9728828152943 +[vectornav-1] [INFO] [1746051206.005198635] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.411, -0.766, 4.92) +[main_algo-3] [INFO] [1746051206.005771405] [sailbot.main_algo]: Heading Difference: -162.1151171847057 +[main_algo-3] [INFO] [1746051206.006658690] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051206.007565264] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051206.008481856] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051206.010409785] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051206.045079798] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051206.045431367] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051206.047402889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051206.046776950] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051206.049131550] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051206.085898034] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051206.087539998] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746051206.088020902] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051206.088438869] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051206.089351791] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051206.089570566] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051206.091324637] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051206.144509633] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051206.145504877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051206.145567291] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051206.147168994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051206.148261182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051206.244733553] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051206.245459397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051206.245910818] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051206.247938600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051206.248947916] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051206.335456024] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051206.337554875] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051206.337556367] [sailbot.teensy]: Wind angle: 151 +[teensy-2] [INFO] [1746051206.338454009] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051206.339347757] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051206.339551711] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051206.340220399] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051206.344232211] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051206.344745130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051206.345251876] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051206.346336076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051206.347340135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051206.444718098] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051206.445308960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051206.445882110] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051206.447026915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051206.448076283] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051206.457046212] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051206.457995860] [sailbot.main_algo]: Target Bearing: -141.9728828152943 +[main_algo-3] [INFO] [1746051206.458845515] [sailbot.main_algo]: Heading Difference: -162.61611718470567 +[main_algo-3] [INFO] [1746051206.459668033] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051206.460658000] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051206.461640198] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051206.462925784] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051206.463229928] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051206.503295873] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904082 Long: -76.50277699 +[main_algo-3] [INFO] [1746051206.503581648] [sailbot.main_algo]: Distance to destination: 56.16856473180302 +[main_algo-3] [INFO] [1746051206.504575807] [sailbot.main_algo]: Target Bearing: -141.96989892877036 +[main_algo-3] [INFO] [1746051206.505533387] [sailbot.main_algo]: Heading Difference: -162.61910107122964 +[vectornav-1] [INFO] [1746051206.505755375] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.97000000000003, 0.416, 5.743) +[main_algo-3] [INFO] [1746051206.506511678] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051206.507345271] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051206.508127353] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051206.509718425] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051206.544644338] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051206.545241026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051206.545806925] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051206.546934714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051206.548059945] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051206.585113698] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051206.586670153] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746051206.587205934] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051206.587538442] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051206.588382530] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051206.588581370] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051206.589219964] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051206.644689386] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051206.645258601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051206.645933685] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051206.647040564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051206.648171433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051206.744775441] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051206.745394609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051206.746121659] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051206.747043157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051206.748108364] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051206.835142732] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051206.836758346] [sailbot.teensy]: Wind angle: 151 +[teensy-2] [INFO] [1746051206.837667718] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051206.837366080] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051206.838521397] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051206.838787940] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051206.839337495] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051206.844893193] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051206.845829583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051206.846046599] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051206.848033550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051206.849113848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051206.944928643] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051206.945917052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051206.946297459] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051206.947614501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051206.948592801] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051206.956973265] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051206.957970070] [sailbot.main_algo]: Target Bearing: -141.96989892877036 +[main_algo-3] [INFO] [1746051206.958852366] [sailbot.main_algo]: Heading Difference: -164.0601010712296 +[main_algo-3] [INFO] [1746051206.959655052] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051206.960478195] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051206.961209588] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051206.962304012] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051206.963110249] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051207.002630148] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904069 Long: -76.50277647 +[vectornav-1] [INFO] [1746051207.003695974] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.15899999999999, -0.639, 5.571) +[main_algo-3] [INFO] [1746051207.003752357] [sailbot.main_algo]: Distance to destination: 56.192689150871956 +[main_algo-3] [INFO] [1746051207.005383209] [sailbot.main_algo]: Target Bearing: -142.00879372017818 +[main_algo-3] [INFO] [1746051207.006359024] [sailbot.main_algo]: Heading Difference: -164.0212062798218 +[main_algo-3] [INFO] [1746051207.007218514] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051207.008043738] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051207.008851186] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051207.010418658] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051207.044509511] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051207.045151003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051207.045588039] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051207.046894055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051207.048500049] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051207.085260054] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051207.087030350] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746051207.087431417] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051207.087957877] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051207.088856136] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051207.088913511] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051207.089763002] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051207.144819400] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051207.146455480] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051207.146993837] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051207.150168851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051207.151715321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051207.244727534] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051207.245413948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051207.245895760] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051207.247161998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051207.248285085] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051207.335157926] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051207.337221117] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051207.337236161] [sailbot.teensy]: Wind angle: 151 +[mux-7] [INFO] [1746051207.338629267] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051207.338897249] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051207.339804615] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051207.340656438] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051207.344525296] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051207.344772936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051207.345568531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051207.346335971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051207.347496504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051207.444736204] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051207.445402515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051207.445923329] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051207.447107243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051207.448063325] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051207.456961566] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051207.457898673] [sailbot.main_algo]: Target Bearing: -142.00879372017818 +[main_algo-3] [INFO] [1746051207.458720976] [sailbot.main_algo]: Heading Difference: -165.83220627982183 +[main_algo-3] [INFO] [1746051207.459537343] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051207.460296703] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051207.461038938] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051207.462108264] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051207.462657145] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051207.502512450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904085 Long: -76.50277632 +[main_algo-3] [INFO] [1746051207.503382332] [sailbot.main_algo]: Distance to destination: 56.213457549962406 +[vectornav-1] [INFO] [1746051207.503542473] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.15699999999998, -1.185, 4.802) +[main_algo-3] [INFO] [1746051207.504430433] [sailbot.main_algo]: Target Bearing: -142.00263167190812 +[main_algo-3] [INFO] [1746051207.505303951] [sailbot.main_algo]: Heading Difference: -165.83836832809186 +[main_algo-3] [INFO] [1746051207.506118474] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051207.506947564] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051207.507942124] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051207.509555705] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051207.544714717] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051207.545250792] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051207.545949617] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051207.547002334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051207.548053187] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051207.585000135] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051207.586485330] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746051207.586947970] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051207.587338871] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051207.588203459] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051207.588659593] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051207.589015884] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051207.644911770] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051207.645533863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051207.646367577] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051207.647278079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051207.648441406] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051207.745445629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051207.745483806] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051207.746717284] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051207.747233520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051207.748461435] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051207.835267244] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051207.837500933] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051207.838841104] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051207.839167801] [sailbot.teensy]: Wind angle: 151 +[teensy-2] [INFO] [1746051207.839656112] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051207.840036263] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051207.840464684] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051207.844671988] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051207.844832701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051207.846120394] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051207.846567293] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051207.847587576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051207.944821123] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051207.945248208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051207.945978952] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051207.946845233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051207.947732565] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051207.957060081] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051207.958132102] [sailbot.main_algo]: Target Bearing: -142.00263167190812 +[main_algo-3] [INFO] [1746051207.959059235] [sailbot.main_algo]: Heading Difference: -163.84036832809193 +[main_algo-3] [INFO] [1746051207.959858310] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051207.960656489] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051207.961467523] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051207.962471649] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051207.963697216] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051208.002556858] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904098 Long: -76.50277579 +[main_algo-3] [INFO] [1746051208.003521751] [sailbot.main_algo]: Distance to destination: 56.25640859307099 +[vectornav-1] [INFO] [1746051208.003645932] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.197, 0.954, 4.651) +[main_algo-3] [INFO] [1746051208.004753427] [sailbot.main_algo]: Target Bearing: -142.01914451888996 +[main_algo-3] [INFO] [1746051208.005687006] [sailbot.main_algo]: Heading Difference: -163.82385548111006 +[main_algo-3] [INFO] [1746051208.006789062] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051208.007684529] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051208.008526759] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051208.010197182] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051208.044687239] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051208.045241943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051208.045897899] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051208.047003991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051208.048031231] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051208.085119203] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051208.087226776] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051208.087485507] [sailbot.teensy]: Wind angle: 151 +[mux-7] [INFO] [1746051208.087767214] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051208.089115231] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051208.089961818] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051208.090745244] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051208.144680788] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051208.145275116] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051208.145864870] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051208.147000209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051208.147974188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051208.244767470] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051208.245295881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051208.245938529] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051208.247168482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051208.248229522] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051208.335043899] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051208.337127159] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051208.338356994] [sailbot.teensy]: Wind angle: 155 +[mux-7] [INFO] [1746051208.338520950] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051208.339445884] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051208.340343460] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051208.341178093] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051208.344393930] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051208.344796754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051208.345499762] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051208.346461261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051208.347652709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051208.444911694] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051208.444994442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051208.446007439] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051208.446887114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051208.447785313] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051208.456983118] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051208.457974380] [sailbot.main_algo]: Target Bearing: -142.01914451888996 +[main_algo-3] [INFO] [1746051208.458832132] [sailbot.main_algo]: Heading Difference: -164.78385548111004 +[main_algo-3] [INFO] [1746051208.459648109] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051208.460465504] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051208.461192733] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051208.462325266] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051208.463660840] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051208.502985748] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904101 Long: -76.50277555 +[main_algo-3] [INFO] [1746051208.503725096] [sailbot.main_algo]: Distance to destination: 56.27384260236777 +[main_algo-3] [INFO] [1746051208.505217546] [sailbot.main_algo]: Target Bearing: -142.02915097385957 +[vectornav-1] [INFO] [1746051208.505692313] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.334, -1.147, 6.306) +[main_algo-3] [INFO] [1746051208.506272795] [sailbot.main_algo]: Heading Difference: -164.7738490261404 +[main_algo-3] [INFO] [1746051208.507211300] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051208.508082066] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051208.508923000] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051208.510477403] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051208.544952028] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051208.545642673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051208.546445772] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051208.547781182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051208.548822560] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051208.585435683] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051208.587783713] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051208.588453842] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051208.588503099] [sailbot.teensy]: Wind angle: 157 +[teensy-2] [INFO] [1746051208.589515375] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051208.590505600] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051208.591335637] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051208.644705885] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051208.645461377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051208.646162514] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051208.647215270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051208.648507922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051208.744797167] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051208.745403084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051208.746046545] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051208.747193125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051208.748222417] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051208.835174832] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051208.836863799] [sailbot.teensy]: Wind angle: 158 +[teensy-2] [INFO] [1746051208.837777952] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051208.837335738] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051208.838634695] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051208.839693941] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051208.839986796] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051208.844390680] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051208.845424427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051208.845664113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051208.847214625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051208.848349995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051208.944891086] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051208.946244312] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051208.946401606] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051208.948046865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051208.948521893] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051208.957026755] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051208.958218198] [sailbot.main_algo]: Target Bearing: -142.02915097385957 +[main_algo-3] [INFO] [1746051208.959092729] [sailbot.main_algo]: Heading Difference: -166.63684902614045 +[main_algo-3] [INFO] [1746051208.959934385] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051208.961291901] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051208.962132045] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051208.963186145] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051208.963793057] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051209.002711487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469041 Long: -76.50277524 +[vectornav-1] [INFO] [1746051209.003980293] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.80200000000002, -0.098, 4.863) +[main_algo-3] [INFO] [1746051209.004491388] [sailbot.main_algo]: Distance to destination: 56.292959016999944 +[main_algo-3] [INFO] [1746051209.005855120] [sailbot.main_algo]: Target Bearing: -142.0463509701365 +[main_algo-3] [INFO] [1746051209.006823862] [sailbot.main_algo]: Heading Difference: -166.61964902986347 +[main_algo-3] [INFO] [1746051209.007761270] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051209.008601895] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051209.009428375] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051209.011023330] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051209.044808446] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051209.045619190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051209.046194512] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051209.047372227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051209.048380370] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051209.085255426] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051209.087530999] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051209.088305302] [sailbot.teensy]: Wind angle: 158 +[mux-7] [INFO] [1746051209.088468642] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051209.090414213] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051209.091337236] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051209.092187421] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051209.145197274] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051209.146155893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051209.146563652] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051209.148343969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051209.149509006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051209.244721046] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051209.245300540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051209.246031251] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051209.247125094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051209.248148607] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051209.335139756] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051209.337182392] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051209.337594961] [sailbot.teensy]: Wind angle: 158 +[mux-7] [INFO] [1746051209.338141872] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051209.339078355] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051209.339962595] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051209.340797711] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051209.344358005] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051209.344710477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051209.346177311] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051209.346586455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051209.347716169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051209.444829781] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051209.445316237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051209.446112970] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051209.447041976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051209.448128191] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051209.457027461] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051209.458051664] [sailbot.main_algo]: Target Bearing: -142.0463509701365 +[main_algo-3] [INFO] [1746051209.458973125] [sailbot.main_algo]: Heading Difference: -166.1516490298635 +[main_algo-3] [INFO] [1746051209.459777638] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051209.460583476] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051209.461351924] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051209.462343738] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051209.462996600] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051209.502523396] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904104 Long: -76.50277488 +[vectornav-1] [INFO] [1746051209.503557154] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.521000000000015, -0.729, 5.021) +[main_algo-3] [INFO] [1746051209.503639695] [sailbot.main_algo]: Distance to destination: 56.31876856193544 +[main_algo-3] [INFO] [1746051209.504707730] [sailbot.main_algo]: Target Bearing: -142.06177526941275 +[main_algo-3] [INFO] [1746051209.505647465] [sailbot.main_algo]: Heading Difference: -166.13622473058723 +[main_algo-3] [INFO] [1746051209.506535969] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051209.507374486] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051209.508199702] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051209.509742399] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051209.544986476] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051209.545560616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051209.546278227] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051209.547487177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051209.548607191] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051209.585129993] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051209.586701444] [sailbot.teensy]: Wind angle: 158 +[trim_sail-4] [INFO] [1746051209.587318003] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051209.587584599] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051209.588485275] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051209.589085569] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051209.589305835] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051209.644848477] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051209.645500917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051209.646114734] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051209.647433396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051209.648084765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051209.744488531] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051209.745001100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051209.745636297] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051209.746622852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051209.748083962] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051209.835070090] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051209.836563066] [sailbot.teensy]: Wind angle: 156 +[trim_sail-4] [INFO] [1746051209.837107853] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051209.837362764] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051209.838109773] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051209.838478127] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051209.838951882] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051209.844895529] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051209.845519716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051209.846020347] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051209.847356810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051209.849031791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051209.944719540] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051209.945480448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051209.946387675] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051209.947209982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051209.947932671] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051209.956895761] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051209.957789095] [sailbot.main_algo]: Target Bearing: -142.06177526941275 +[main_algo-3] [INFO] [1746051209.958630381] [sailbot.main_algo]: Heading Difference: -165.41722473058724 +[main_algo-3] [INFO] [1746051209.959393509] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051209.960126227] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051209.960861830] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051209.961842635] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051209.962515263] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051210.003162711] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904126 Long: -76.50277462 +[main_algo-3] [INFO] [1746051210.003405421] [sailbot.main_algo]: Distance to destination: 56.35075406297975 +[vectornav-1] [INFO] [1746051210.004300706] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.85699999999997, 0.273, 4.846) +[main_algo-3] [INFO] [1746051210.004472168] [sailbot.main_algo]: Target Bearing: -142.0561212701411 +[main_algo-3] [INFO] [1746051210.005428386] [sailbot.main_algo]: Heading Difference: -165.4228787298589 +[main_algo-3] [INFO] [1746051210.006246834] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051210.007089692] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051210.007880056] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051210.009514605] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051210.044663027] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051210.045274489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051210.045895633] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051210.046968662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051210.048030609] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051210.085024718] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051210.086493997] [sailbot.teensy]: Wind angle: 156 +[teensy-2] [INFO] [1746051210.087378363] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051210.087495894] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051210.088245599] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051210.089114519] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051210.089889009] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051210.144994766] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051210.145524625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051210.146762093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051210.147420664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051210.148421866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051210.244671430] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051210.245448316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051210.245779371] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051210.247424512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051210.248394934] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051210.335711729] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051210.337471733] [sailbot.teensy]: Wind angle: 157 +[teensy-2] [INFO] [1746051210.338398803] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051210.338423880] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051210.339678267] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051210.339693105] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051210.341214196] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051210.344694659] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051210.345032521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051210.345836075] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051210.346712055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051210.347817007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051210.444836370] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051210.445449114] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051210.446217910] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051210.447643018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051210.448736581] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051210.457143043] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051210.458145102] [sailbot.main_algo]: Target Bearing: -142.0561212701411 +[main_algo-3] [INFO] [1746051210.459041163] [sailbot.main_algo]: Heading Difference: -166.08687872985894 +[main_algo-3] [INFO] [1746051210.459927567] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051210.460801418] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051210.461601779] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051210.462723817] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051210.463312299] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051210.502582248] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904141 Long: -76.50277468 +[vectornav-1] [INFO] [1746051210.503547441] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.19200000000001, -0.645, 5.658) +[main_algo-3] [INFO] [1746051210.503620330] [sailbot.main_algo]: Distance to destination: 56.35739459482743 +[main_algo-3] [INFO] [1746051210.505549299] [sailbot.main_algo]: Target Bearing: -142.03979816001907 +[main_algo-3] [INFO] [1746051210.506531179] [sailbot.main_algo]: Heading Difference: -166.10320183998095 +[main_algo-3] [INFO] [1746051210.507376506] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051210.508204191] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051210.508998331] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051210.510593418] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051210.544656435] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051210.545228099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051210.545843454] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051210.546953314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051210.548014519] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051210.585123184] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051210.586906376] [sailbot.teensy]: Wind angle: 156 +[trim_sail-4] [INFO] [1746051210.587743497] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051210.587810240] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051210.588350719] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051210.588646976] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051210.589452746] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051210.644697970] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051210.645336858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051210.645908790] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051210.647082119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051210.648170799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051210.744714382] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051210.745295123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051210.745914768] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051210.747108075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051210.748043975] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051210.835196965] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051210.836806961] [sailbot.teensy]: Wind angle: 157 +[trim_sail-4] [INFO] [1746051210.837385719] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051210.838695177] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051210.838715907] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051210.839127737] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051210.839507339] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051210.844301731] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051210.844878634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051210.845446445] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051210.846492045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051210.847603804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051210.944752210] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051210.945323615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051210.945926183] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051210.947034294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051210.947991608] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051210.957278610] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051210.958409334] [sailbot.main_algo]: Target Bearing: -142.03979816001907 +[main_algo-3] [INFO] [1746051210.959549576] [sailbot.main_algo]: Heading Difference: -166.76820183998092 +[main_algo-3] [INFO] [1746051210.960469384] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051210.961313148] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051210.962128228] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051210.963373292] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051210.963661550] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051211.002763133] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904128 Long: -76.50277459 +[vectornav-1] [INFO] [1746051211.003926653] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.56299999999999, -0.336, 5.231) +[main_algo-3] [INFO] [1746051211.004072129] [sailbot.main_algo]: Distance to destination: 56.35406872651942 +[main_algo-3] [INFO] [1746051211.005234283] [sailbot.main_algo]: Target Bearing: -142.05594207699312 +[main_algo-3] [INFO] [1746051211.006182170] [sailbot.main_algo]: Heading Difference: -166.75205792300687 +[main_algo-3] [INFO] [1746051211.007129239] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051211.008045952] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051211.008907658] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051211.010624254] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051211.044667018] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051211.045287301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051211.045880783] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051211.047340725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051211.048410938] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051211.085253590] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051211.087429479] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051211.088422581] [sailbot.teensy]: Wind angle: 156 +[mux-7] [INFO] [1746051211.088810529] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051211.089364998] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051211.090540540] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051211.091617894] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051211.144721528] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051211.145496101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051211.145927324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051211.147382477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051211.148349802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051211.245092081] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051211.246250564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051211.246426082] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051211.248195050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051211.249351187] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051211.335117469] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051211.337150118] [sailbot.teensy]: Wind angle: 157 +[trim_sail-4] [INFO] [1746051211.337186956] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051211.337918077] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051211.338038411] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051211.338700869] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051211.339040686] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051211.344296410] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051211.344836955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051211.345888888] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051211.347011328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051211.347963587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051211.444989981] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051211.445834411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051211.446285865] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051211.448084635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051211.449140925] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051211.457402794] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051211.458547748] [sailbot.main_algo]: Target Bearing: -142.05594207699312 +[main_algo-3] [INFO] [1746051211.459499747] [sailbot.main_algo]: Heading Difference: -167.3810579230069 +[main_algo-3] [INFO] [1746051211.460412223] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051211.461267863] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051211.462067998] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051211.463089610] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051211.463699028] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051211.502367978] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904137 Long: -76.50277473 +[vectornav-1] [INFO] [1746051211.503480776] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.40499999999997, -0.383, 4.78) +[main_algo-3] [INFO] [1746051211.503563109] [sailbot.main_algo]: Distance to destination: 56.3514043869388 +[main_algo-3] [INFO] [1746051211.504664325] [sailbot.main_algo]: Target Bearing: -142.0406804733347 +[main_algo-3] [INFO] [1746051211.506591299] [sailbot.main_algo]: Heading Difference: -167.3963195266653 +[main_algo-3] [INFO] [1746051211.507580393] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051211.508491962] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051211.509342457] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051211.510984528] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051211.544664255] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051211.545357032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051211.545943743] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051211.547349821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051211.548437292] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051211.585254238] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051211.586712237] [sailbot.teensy]: Wind angle: 157 +[trim_sail-4] [INFO] [1746051211.587140325] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051211.587607244] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051211.588484606] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051211.589267987] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051211.589335796] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051211.644720958] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051211.645481610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051211.645916153] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051211.647274982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051211.648552549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051211.744711258] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051211.745321125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051211.745905584] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051211.747339681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051211.748431231] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051211.835371874] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051211.837340243] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051211.837670101] [sailbot.teensy]: Wind angle: 154 +[mux-7] [INFO] [1746051211.838455503] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051211.839264592] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051211.840473552] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051211.841274337] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051211.844216255] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051211.844728610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051211.845562803] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051211.846270283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051211.847190599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051211.944745273] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051211.945316399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051211.945934119] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051211.947364168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051211.948350272] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051211.956999341] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051211.958039358] [sailbot.main_algo]: Target Bearing: -142.0406804733347 +[main_algo-3] [INFO] [1746051211.958919604] [sailbot.main_algo]: Heading Difference: -166.55431952666532 +[main_algo-3] [INFO] [1746051211.959730445] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051211.960553805] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051211.961354354] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051211.962356254] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051211.962928800] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051212.002553210] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904147 Long: -76.50277477 +[vectornav-1] [INFO] [1746051212.003619003] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.58499999999998, -0.239, 5.076) +[main_algo-3] [INFO] [1746051212.003645403] [sailbot.main_algo]: Distance to destination: 56.35583378248118 +[main_algo-3] [INFO] [1746051212.004786507] [sailbot.main_algo]: Target Bearing: -142.02979930699067 +[main_algo-3] [INFO] [1746051212.006297690] [sailbot.main_algo]: Heading Difference: -166.5652006930094 +[main_algo-3] [INFO] [1746051212.007317031] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051212.008169301] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051212.008986296] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051212.010622870] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051212.045034371] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051212.045662906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051212.046347271] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051212.047506079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051212.048634904] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051212.085145191] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051212.086710016] [sailbot.teensy]: Wind angle: 152 +[teensy-2] [INFO] [1746051212.087524581] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051212.087152207] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051212.087752454] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051212.088354929] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051212.089125427] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051212.144967604] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051212.145844568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051212.146263229] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051212.147735646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051212.148811264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051212.244793594] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051212.245951192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051212.246009294] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051212.247656935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051212.248629133] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051212.335167497] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051212.337605820] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051212.338097250] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051212.338311917] [sailbot.teensy]: Wind angle: 152 +[teensy-2] [INFO] [1746051212.339499247] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051212.340345403] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051212.341113726] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051212.344376444] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051212.344710428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051212.345430432] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051212.346249338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051212.347222125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051212.444810700] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051212.445331139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051212.446135017] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051212.447162358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051212.448174636] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051212.457057897] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051212.458227234] [sailbot.main_algo]: Target Bearing: -142.02979930699067 +[main_algo-3] [INFO] [1746051212.459269197] [sailbot.main_algo]: Heading Difference: -169.38520069300932 +[main_algo-3] [INFO] [1746051212.460297978] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051212.461093313] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051212.461838769] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051212.462800924] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051212.463408198] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051212.503011059] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904147 Long: -76.50277489 +[main_algo-3] [INFO] [1746051212.504083938] [sailbot.main_algo]: Distance to destination: 56.348164670320344 +[vectornav-1] [INFO] [1746051212.504119125] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.18299999999999, -0.321, 5.244) +[main_algo-3] [INFO] [1746051212.505174990] [sailbot.main_algo]: Target Bearing: -142.02348764306063 +[main_algo-3] [INFO] [1746051212.506111320] [sailbot.main_algo]: Heading Difference: -169.39151235693942 +[main_algo-3] [INFO] [1746051212.506985437] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051212.507783392] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051212.508596511] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051212.510351079] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051212.544691452] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051212.545274339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051212.545915716] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051212.547205620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051212.548293769] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051212.585290433] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051212.587805817] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051212.588103457] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051212.588538877] [sailbot.teensy]: Wind angle: 153 +[teensy-2] [INFO] [1746051212.589506007] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051212.590312329] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051212.591099825] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051212.645315358] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051212.645546026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051212.646702823] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051212.647589911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051212.648958125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051212.745103337] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051212.745579643] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051212.746496482] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051212.747544385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051212.748609183] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051212.835148599] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051212.836764096] [sailbot.teensy]: Wind angle: 153 +[trim_sail-4] [INFO] [1746051212.837571813] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051212.837817876] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051212.838924430] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051212.839827991] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051212.840027019] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051212.844362791] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051212.844833013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051212.845660084] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051212.846545491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051212.847625989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051212.944894333] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051212.945539142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051212.946128721] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051212.947308027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051212.948398369] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051212.957230881] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051212.958501533] [sailbot.main_algo]: Target Bearing: -142.02348764306063 +[main_algo-3] [INFO] [1746051212.959440737] [sailbot.main_algo]: Heading Difference: -169.79351235693935 +[main_algo-3] [INFO] [1746051212.960373709] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051212.961315629] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051212.962148149] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051212.963240131] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051212.963757943] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051213.002780819] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904154 Long: -76.50277479 +[vectornav-1] [INFO] [1746051213.003932322] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.18099999999998, -0.458, 4.917) +[main_algo-3] [INFO] [1746051213.003931810] [sailbot.main_algo]: Distance to destination: 56.359446813135385 +[main_algo-3] [INFO] [1746051213.005149525] [sailbot.main_algo]: Target Bearing: -142.02260427365442 +[main_algo-3] [INFO] [1746051213.006115717] [sailbot.main_algo]: Heading Difference: -169.79439572634556 +[main_algo-3] [INFO] [1746051213.007134462] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051213.008065572] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051213.008948338] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051213.010496024] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051213.044627703] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051213.045220215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051213.045883398] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051213.047113249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051213.048134913] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051213.085123907] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051213.087383789] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051213.087762198] [sailbot.teensy]: Wind angle: 153 +[mux-7] [INFO] [1746051213.088126260] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051213.088757670] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051213.089698175] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051213.090556645] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051213.145160317] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051213.146439505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051213.146671361] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051213.148585688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051213.149727085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051213.244678433] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051213.245227574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051213.245902136] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051213.247105878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051213.248275505] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051213.335389149] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051213.338601823] [sailbot.teensy]: Wind angle: 153 +[trim_sail-4] [INFO] [1746051213.338765576] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051213.339343819] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051213.339642209] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051213.340632892] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051213.341630060] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051213.344446753] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051213.345070338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051213.345563112] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051213.346802015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051213.347953833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051213.445304995] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051213.446063522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051213.446930751] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051213.448320414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051213.449403034] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051213.456979091] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051213.457935610] [sailbot.main_algo]: Target Bearing: -142.02260427365442 +[main_algo-3] [INFO] [1746051213.458820834] [sailbot.main_algo]: Heading Difference: -168.79639572634562 +[main_algo-3] [INFO] [1746051213.459673894] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051213.460489367] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051213.461301662] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051213.462243623] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051213.462824553] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051213.503708713] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904173 Long: -76.50277467 +[main_algo-3] [INFO] [1746051213.503809449] [sailbot.main_algo]: Distance to destination: 56.38039357304918 +[vectornav-1] [INFO] [1746051213.505168141] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.798, -0.238, 4.839) +[main_algo-3] [INFO] [1746051213.505207334] [sailbot.main_algo]: Target Bearing: -142.01224652904338 +[main_algo-3] [INFO] [1746051213.506224334] [sailbot.main_algo]: Heading Difference: -168.80675347095666 +[main_algo-3] [INFO] [1746051213.507146972] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051213.508028788] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051213.508899523] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051213.510686075] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051213.545167753] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051213.545917512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051213.546667466] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051213.548127583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051213.549322544] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051213.585349012] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051213.587599810] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051213.588629763] [sailbot.teensy]: Wind angle: 154 +[mux-7] [INFO] [1746051213.588808076] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051213.589838811] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051213.590740247] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051213.591642088] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051213.644740259] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051213.645360673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051213.645928732] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051213.647174444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051213.648253279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051213.744734078] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051213.745589096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051213.746104449] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051213.747401101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051213.748419626] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051213.835563341] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051213.837469292] [sailbot.teensy]: Wind angle: 155 +[trim_sail-4] [INFO] [1746051213.838094361] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051213.838461809] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051213.839288487] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051213.839374964] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051213.840311711] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051213.844405545] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051213.845071838] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051213.845545413] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051213.846822508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051213.847890102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051213.944796849] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051213.945760127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051213.946100653] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051213.947546364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051213.948404595] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051213.957128195] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051213.958142523] [sailbot.main_algo]: Target Bearing: -142.01224652904338 +[main_algo-3] [INFO] [1746051213.959039577] [sailbot.main_algo]: Heading Difference: -168.1897534709566 +[main_algo-3] [INFO] [1746051213.959839601] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051213.960664587] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051213.961478155] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051213.962491135] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051213.963302995] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051214.002782404] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904184 Long: -76.50277452 +[main_algo-3] [INFO] [1746051214.003274641] [sailbot.main_algo]: Distance to destination: 56.39766653547398 +[vectornav-1] [INFO] [1746051214.003880109] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.72300000000001, -1.192, 5.923) +[main_algo-3] [INFO] [1746051214.004336144] [sailbot.main_algo]: Target Bearing: -142.01048734259274 +[main_algo-3] [INFO] [1746051214.005265062] [sailbot.main_algo]: Heading Difference: -168.19151265740726 +[main_algo-3] [INFO] [1746051214.006219644] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051214.007084280] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051214.007866011] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051214.009502466] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051214.045399126] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051214.045671720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051214.046753249] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051214.048953902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051214.050013726] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051214.085289401] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051214.087324410] [sailbot.teensy]: Wind angle: 155 +[trim_sail-4] [INFO] [1746051214.087680487] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051214.088345112] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051214.088958402] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051214.089990642] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051214.090823847] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051214.144909133] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051214.145658992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051214.146215146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051214.147767604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051214.148940684] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051214.244963740] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051214.245930470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051214.246751895] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051214.247901884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051214.248995337] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051214.335084890] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051214.337061039] [sailbot.teensy]: Wind angle: 155 +[trim_sail-4] [INFO] [1746051214.337605506] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051214.338459079] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051214.339022874] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051214.340168768] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051214.340945222] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051214.344328541] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051214.344833513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051214.345464003] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051214.346524331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051214.347560536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051214.444864319] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051214.445486575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051214.446079674] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051214.447447074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051214.448532415] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051214.456988036] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051214.458060390] [sailbot.main_algo]: Target Bearing: -142.01048734259274 +[main_algo-3] [INFO] [1746051214.458963917] [sailbot.main_algo]: Heading Difference: -168.26651265740725 +[main_algo-3] [INFO] [1746051214.459783674] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051214.460590861] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051214.461390753] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051214.462361917] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051214.462903162] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051214.502513800] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904193 Long: -76.50277414 +[vectornav-1] [INFO] [1746051214.503598090] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.860000000000014, 1.069, 4.468) +[main_algo-3] [INFO] [1746051214.503582120] [sailbot.main_algo]: Distance to destination: 56.42823859529987 +[main_algo-3] [INFO] [1746051214.504758409] [sailbot.main_algo]: Target Bearing: -142.02256748236812 +[main_algo-3] [INFO] [1746051214.506346030] [sailbot.main_algo]: Heading Difference: -168.25443251763187 +[main_algo-3] [INFO] [1746051214.507239531] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051214.508070746] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051214.508890900] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051214.510478109] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051214.544933048] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051214.545796572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051214.546392949] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051214.547805809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051214.548924339] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051214.585109641] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051214.586705731] [sailbot.teensy]: Wind angle: 155 +[teensy-2] [INFO] [1746051214.587646170] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051214.587189001] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051214.588498992] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051214.588561943] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051214.590017477] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051214.644902734] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051214.645481365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051214.646206341] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051214.647466316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051214.648522577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051214.745088957] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051214.746127399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051214.746442606] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051214.748014993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051214.749052531] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051214.835340397] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051214.837053036] [sailbot.teensy]: Wind angle: 155 +[trim_sail-4] [INFO] [1746051214.837529676] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051214.838016454] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051214.838956821] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051214.839062778] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051214.839810788] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051214.844356196] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051214.845160676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051214.845844884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051214.847127579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051214.848211209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051214.944711800] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051214.945306168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051214.946094426] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051214.947048468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051214.947982703] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051214.957081340] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051214.958219655] [sailbot.main_algo]: Target Bearing: -142.02256748236812 +[main_algo-3] [INFO] [1746051214.959190620] [sailbot.main_algo]: Heading Difference: -169.11743251763187 +[main_algo-3] [INFO] [1746051214.960057295] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051214.960883884] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051214.961659667] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051214.962673135] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051214.963528287] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051215.002497007] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904197 Long: -76.50277405 +[vectornav-1] [INFO] [1746051215.003544157] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.94499999999999, -1.482, 6.495) +[main_algo-3] [INFO] [1746051215.003807641] [sailbot.main_algo]: Distance to destination: 56.43678530727846 +[main_algo-3] [INFO] [1746051215.004900089] [sailbot.main_algo]: Target Bearing: -142.02378924855864 +[main_algo-3] [INFO] [1746051215.006129253] [sailbot.main_algo]: Heading Difference: -169.11621075144137 +[main_algo-3] [INFO] [1746051215.007022543] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051215.007913584] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051215.008757856] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051215.010420170] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051215.045062802] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051215.045651949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051215.047020697] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051215.048302560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051215.049334362] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051215.085424473] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051215.087661087] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051215.088272039] [sailbot.teensy]: Wind angle: 155 +[teensy-2] [INFO] [1746051215.089250856] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051215.089675424] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051215.090131424] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051215.091015874] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051215.145230797] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051215.145804783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051215.147635502] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051215.148059048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051215.149490852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051215.245255469] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051215.246781193] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051215.249014808] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051215.250518019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051215.251594368] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051215.335276128] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051215.337026145] [sailbot.teensy]: Wind angle: 155 +[trim_sail-4] [INFO] [1746051215.337558574] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051215.338726055] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051215.339332917] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051215.339814112] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051215.340210776] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051215.344357772] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051215.345232320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051215.345419609] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051215.346977734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051215.348008706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051215.444754034] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051215.445687790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051215.446000509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051215.447654957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051215.448619045] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051215.457089884] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051215.458455447] [sailbot.main_algo]: Target Bearing: -142.02378924855864 +[main_algo-3] [INFO] [1746051215.459353915] [sailbot.main_algo]: Heading Difference: -169.03121075144134 +[main_algo-3] [INFO] [1746051215.460190812] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051215.461035711] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051215.461813994] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051215.462817163] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051215.463391506] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051215.502713503] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904209 Long: -76.50277362 +[main_algo-3] [INFO] [1746051215.503718235] [sailbot.main_algo]: Distance to destination: 56.4726518022184 +[vectornav-1] [INFO] [1746051215.503770091] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.55899999999997, -0.507, 4.476) +[main_algo-3] [INFO] [1746051215.505283239] [sailbot.main_algo]: Target Bearing: -142.035849745612 +[main_algo-3] [INFO] [1746051215.506556076] [sailbot.main_algo]: Heading Difference: -169.01915025438802 +[main_algo-3] [INFO] [1746051215.507536821] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051215.508444081] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051215.509305599] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051215.511297484] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051215.544968612] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051215.545691369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051215.546251403] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051215.547535840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051215.548617374] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051215.585144348] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051215.587272879] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051215.588476966] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051215.588902351] [sailbot.teensy]: Wind angle: 155 +[teensy-2] [INFO] [1746051215.589866593] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051215.590763795] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051215.591660244] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051215.643635437] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051215.644139815] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051215.644800512] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051215.645615606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051215.646176059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051215.744749129] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051215.745566099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051215.745959113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051215.747861756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051215.748835603] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051215.835358518] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051215.837743607] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051215.838442888] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051215.840072869] [sailbot.teensy]: Wind angle: 153 +[teensy-2] [INFO] [1746051215.840997462] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051215.841819223] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051215.842653477] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051215.844324291] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051215.844840580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051215.845422386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051215.846476810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051215.847517779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051215.945128576] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051215.946534990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051215.946772802] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051215.948506075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051215.949511756] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051215.957112036] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051215.958256959] [sailbot.main_algo]: Target Bearing: -142.035849745612 +[main_algo-3] [INFO] [1746051215.959413234] [sailbot.main_algo]: Heading Difference: -168.405150254388 +[main_algo-3] [INFO] [1746051215.960636493] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051215.961548872] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051215.962399768] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051215.963440639] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051215.964004937] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051216.002744044] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904225 Long: -76.50277331 +[main_algo-3] [INFO] [1746051216.003682857] [sailbot.main_algo]: Distance to destination: 56.50364387222409 +[vectornav-1] [INFO] [1746051216.003855431] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.17700000000002, 0.687, 4.813) +[main_algo-3] [INFO] [1746051216.004782311] [sailbot.main_algo]: Target Bearing: -142.0381007000132 +[main_algo-3] [INFO] [1746051216.006146091] [sailbot.main_algo]: Heading Difference: -168.40289929998687 +[main_algo-3] [INFO] [1746051216.007102988] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051216.008026194] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051216.008831187] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051216.010457353] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051216.045171689] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051216.045656197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051216.047427511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051216.047766293] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051216.049040463] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051216.085188837] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051216.086900397] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746051216.087413590] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051216.087933406] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051216.088987728] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051216.089291949] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051216.089896491] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051216.145114902] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051216.145818271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051216.146556062] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051216.147895026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051216.148943476] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051216.244824222] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051216.245377481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051216.246096628] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051216.247671730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051216.248813129] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051216.335279611] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051216.337025132] [sailbot.teensy]: Wind angle: 150 +[trim_sail-4] [INFO] [1746051216.337542477] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051216.337948703] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051216.338848707] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051216.339692584] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051216.339755003] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051216.344335060] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051216.345117638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051216.345509885] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051216.346815618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051216.348031218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051216.444862460] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051216.445411745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051216.446068700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051216.447173968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051216.448207460] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051216.457035164] [sailbot.main_algo]: Wind Direction: 150 +[main_algo-3] [INFO] [1746051216.458179186] [sailbot.main_algo]: Target Bearing: -142.0381007000132 +[main_algo-3] [INFO] [1746051216.459214416] [sailbot.main_algo]: Heading Difference: -168.78489929998682 +[main_algo-3] [INFO] [1746051216.460033488] [sailbot.main_algo]: Wind Direction: 150 +[main_algo-3] [INFO] [1746051216.460881608] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051216.461668672] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051216.462655646] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051216.463218619] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051216.502214533] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904232 Long: -76.50277337 +[vectornav-1] [INFO] [1746051216.503106043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.036, -0.917, 5.291) +[main_algo-3] [INFO] [1746051216.502892358] [sailbot.main_algo]: Distance to destination: 56.50469938831685 +[main_algo-3] [INFO] [1746051216.504895507] [sailbot.main_algo]: Target Bearing: -142.02882594731034 +[main_algo-3] [INFO] [1746051216.505967443] [sailbot.main_algo]: Heading Difference: -168.79417405268964 +[main_algo-3] [INFO] [1746051216.506817086] [sailbot.main_algo]: Wind Direction: 150 +[main_algo-3] [INFO] [1746051216.507633006] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051216.508507009] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051216.510103088] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051216.544733024] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051216.545492769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051216.546414694] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051216.547398416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051216.548461855] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051216.585242092] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051216.587517097] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051216.587804598] [sailbot.teensy]: Wind angle: 150 +[mux-7] [INFO] [1746051216.588618398] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051216.589144283] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051216.590087756] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051216.590956449] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051216.645111896] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051216.645707044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051216.646508143] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051216.647795147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051216.649056599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051216.745261051] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051216.745628886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051216.746634807] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051216.747676175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051216.748789550] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051216.835456535] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051216.837358872] [sailbot.teensy]: Wind angle: 151 +[teensy-2] [INFO] [1746051216.838339224] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051216.837855549] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051216.839228650] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051216.839359914] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051216.840473259] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051216.844402360] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051216.845137361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051216.845762972] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051216.847126908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051216.848190595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051216.945020082] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051216.945748231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051216.946908272] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051216.947801597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051216.948597651] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051216.957135641] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051216.958157882] [sailbot.main_algo]: Target Bearing: -142.02882594731034 +[main_algo-3] [INFO] [1746051216.959029812] [sailbot.main_algo]: Heading Difference: -168.93517405268966 +[main_algo-3] [INFO] [1746051216.959812806] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051216.960657930] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051216.961449083] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051216.962634991] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051216.964542322] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051217.003644198] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904244 Long: -76.50277344 +[main_algo-3] [INFO] [1746051217.003772123] [sailbot.main_algo]: Distance to destination: 56.50861178157615 +[vectornav-1] [INFO] [1746051217.004782295] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.942999999999984, -0.898, 5.034) +[main_algo-3] [INFO] [1746051217.004840063] [sailbot.main_algo]: Target Bearing: -142.0146510916553 +[main_algo-3] [INFO] [1746051217.005755545] [sailbot.main_algo]: Heading Difference: -168.9493489083447 +[main_algo-3] [INFO] [1746051217.006618489] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051217.007743735] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051217.008666299] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051217.010991951] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051217.045539008] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051217.046130196] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051217.047386123] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051217.047980074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051217.049061235] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051217.085353118] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051217.087672834] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051217.088278685] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051217.088405005] [sailbot.teensy]: Wind angle: 152 +[teensy-2] [INFO] [1746051217.089366700] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051217.090294928] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051217.091100947] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051217.144735499] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051217.145371222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051217.146153806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051217.147038628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051217.148308595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051217.245391174] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051217.246876228] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051217.246900487] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051217.248794640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051217.249783509] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051217.335068141] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051217.337533168] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051217.338320065] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051217.338689415] [sailbot.teensy]: Wind angle: 152 +[teensy-2] [INFO] [1746051217.339647385] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051217.340541561] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051217.341303772] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051217.344349870] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051217.344740807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051217.345406874] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051217.346362609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051217.347330315] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051217.445021345] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051217.445915979] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051217.446493305] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051217.447893312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051217.448947769] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051217.457073273] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051217.458311182] [sailbot.main_algo]: Target Bearing: -142.0146510916553 +[main_algo-3] [INFO] [1746051217.459202693] [sailbot.main_algo]: Heading Difference: -169.0423489083447 +[main_algo-3] [INFO] [1746051217.460050872] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051217.460922409] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051217.461847323] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051217.463111733] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051217.463452685] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051217.502745167] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904245 Long: -76.50277315 +[main_algo-3] [INFO] [1746051217.503969459] [sailbot.main_algo]: Distance to destination: 56.52784301799499 +[vectornav-1] [INFO] [1746051217.504267461] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.153999999999996, 1.071, 5.264) +[main_algo-3] [INFO] [1746051217.505423939] [sailbot.main_algo]: Target Bearing: -142.0289859505327 +[main_algo-3] [INFO] [1746051217.506427695] [sailbot.main_algo]: Heading Difference: -169.0280140494673 +[main_algo-3] [INFO] [1746051217.507340952] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051217.508242816] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051217.509084464] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051217.510832531] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051217.544895031] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051217.545366537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051217.546095906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051217.547139154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051217.548321177] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051217.585281426] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051217.586854771] [sailbot.teensy]: Wind angle: 152 +[teensy-2] [INFO] [1746051217.587737745] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051217.588617595] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051217.589462759] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051217.587356454] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051217.590646566] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051217.643856666] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051217.644457202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051217.644729765] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051217.646175147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051217.647182250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051217.744737261] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051217.746054637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051217.746172008] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051217.748108908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051217.749287393] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051217.835392718] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051217.837935080] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051217.837984243] [sailbot.teensy]: Wind angle: 152 +[mux-7] [INFO] [1746051217.838191423] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051217.839080458] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051217.840065688] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051217.840953827] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051217.844368830] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051217.844889860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051217.845731839] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051217.846710133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051217.847789173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051217.944981980] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051217.945533770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051217.946216336] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051217.947379484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051217.948521714] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051217.957239207] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051217.958475819] [sailbot.main_algo]: Target Bearing: -142.0289859505327 +[main_algo-3] [INFO] [1746051217.959378904] [sailbot.main_algo]: Heading Difference: -169.81701404946728 +[main_algo-3] [INFO] [1746051217.960282497] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051217.961090997] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051217.962000726] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051217.963091939] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051217.963872637] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051218.003263906] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904242 Long: -76.50277303 +[main_algo-3] [INFO] [1746051218.003707123] [sailbot.main_algo]: Distance to destination: 56.53341696307659 +[vectornav-1] [INFO] [1746051218.004430387] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.86900000000003, -1.84, 5.134) +[main_algo-3] [INFO] [1746051218.004761866] [sailbot.main_algo]: Target Bearing: -142.03790175220544 +[main_algo-3] [INFO] [1746051218.005750860] [sailbot.main_algo]: Heading Difference: -169.80809824779453 +[main_algo-3] [INFO] [1746051218.006610255] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051218.007420394] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051218.008223392] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051218.009737409] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051218.044727689] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051218.045566291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051218.046123466] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051218.047502273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051218.048560998] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051218.085281087] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051218.087537420] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051218.087537431] [sailbot.teensy]: Wind angle: 152 +[teensy-2] [INFO] [1746051218.088775240] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051218.089340175] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051218.089871335] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051218.090925332] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051218.144711755] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051218.145461791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051218.146052705] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051218.147906907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051218.148971090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051218.244800766] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051218.245534111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051218.246332452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051218.247723705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051218.248858535] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051218.335143172] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051218.337366100] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051218.338299735] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051218.339040014] [sailbot.teensy]: Wind angle: 153 +[teensy-2] [INFO] [1746051218.339979638] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051218.340889908] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051218.341782808] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051218.344381803] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051218.344954747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051218.345488628] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051218.346648810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051218.347678521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051218.445295063] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051218.446136619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051218.446890699] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051218.448452150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051218.449024003] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051218.457085123] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051218.458101332] [sailbot.main_algo]: Target Bearing: -142.03790175220544 +[main_algo-3] [INFO] [1746051218.458994424] [sailbot.main_algo]: Heading Difference: -168.0930982477945 +[main_algo-3] [INFO] [1746051218.459807776] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051218.460662801] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051218.461461546] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051218.462462582] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051218.463017517] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051218.502678251] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904247 Long: -76.50277308 +[main_algo-3] [INFO] [1746051218.503617976] [sailbot.main_algo]: Distance to destination: 56.5337142523833 +[vectornav-1] [INFO] [1746051218.503764152] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.887, 0.445, 5.689) +[main_algo-3] [INFO] [1746051218.504773080] [sailbot.main_algo]: Target Bearing: -142.03090593695163 +[main_algo-3] [INFO] [1746051218.505767231] [sailbot.main_algo]: Heading Difference: -168.10009406304835 +[main_algo-3] [INFO] [1746051218.506631553] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051218.507430185] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051218.508258213] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051218.509783346] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051218.544403277] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051218.544966828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051218.545429149] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051218.546619027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051218.547569266] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051218.585008095] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051218.586434237] [sailbot.teensy]: Wind angle: 155 +[trim_sail-4] [INFO] [1746051218.587012632] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051218.588227712] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051218.588983452] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051218.589399841] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051218.590261789] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051218.644701299] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051218.645333636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051218.646062932] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051218.647216844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051218.648183596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051218.745093205] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051218.745767355] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051218.747857466] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051218.748484533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051218.750678397] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051218.835276768] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051218.837112960] [sailbot.teensy]: Wind angle: 156 +[trim_sail-4] [INFO] [1746051218.838058448] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051218.838125545] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051218.838887381] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051218.839058736] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051218.839965197] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051218.844402495] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051218.845101632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051218.845580838] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051218.846779120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051218.847843624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051218.944769751] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051218.945743017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051218.946035934] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051218.947817695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051218.949151533] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051218.956890979] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051218.957778629] [sailbot.main_algo]: Target Bearing: -142.03090593695163 +[main_algo-3] [INFO] [1746051218.958568982] [sailbot.main_algo]: Heading Difference: -169.08209406304837 +[main_algo-3] [INFO] [1746051218.959331393] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051218.960086704] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051218.960845978] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051218.961782673] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051218.962555878] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051219.002945316] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904247 Long: -76.50277291 +[main_algo-3] [INFO] [1746051219.003631844] [sailbot.main_algo]: Distance to destination: 56.54458016583621 +[vectornav-1] [INFO] [1746051219.004240904] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.30000000000001, -0.683, 6.235) +[main_algo-3] [INFO] [1746051219.004699692] [sailbot.main_algo]: Target Bearing: -142.03981618885908 +[main_algo-3] [INFO] [1746051219.005601864] [sailbot.main_algo]: Heading Difference: -169.0731838111409 +[main_algo-3] [INFO] [1746051219.006457840] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051219.007274324] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051219.008043208] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051219.009891943] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051219.045061205] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051219.045590113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051219.046427784] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051219.047854756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051219.049037116] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051219.085234779] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051219.087013881] [sailbot.teensy]: Wind angle: 157 +[trim_sail-4] [INFO] [1746051219.087486901] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051219.087951556] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051219.088821054] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051219.089061605] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051219.089653037] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051219.144716064] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051219.145180186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051219.145952968] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051219.146922468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051219.147876824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051219.244728725] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051219.245209188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051219.245949109] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051219.246881940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051219.247811532] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051219.335148837] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051219.337194998] [sailbot.teensy]: Wind angle: 158 +[trim_sail-4] [INFO] [1746051219.338622046] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051219.339153907] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051219.339319739] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051219.340351254] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051219.341306592] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051219.344252893] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051219.345082972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051219.345365199] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051219.346798010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051219.347850150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051219.444954167] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051219.445184451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051219.446141277] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051219.446812893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051219.447829449] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051219.456948515] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051219.457831020] [sailbot.main_algo]: Target Bearing: -142.03981618885908 +[main_algo-3] [INFO] [1746051219.458675616] [sailbot.main_algo]: Heading Difference: -168.66018381114088 +[main_algo-3] [INFO] [1746051219.459434629] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051219.460192207] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051219.460917419] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051219.461955868] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051219.462734439] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051219.502494312] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904244 Long: -76.50277289 +[main_algo-3] [INFO] [1746051219.503318315] [sailbot.main_algo]: Distance to destination: 56.54376308985856 +[vectornav-1] [INFO] [1746051219.503512449] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.922000000000025, 0.652, 5.039) +[main_algo-3] [INFO] [1746051219.504362771] [sailbot.main_algo]: Target Bearing: -142.04348890060473 +[main_algo-3] [INFO] [1746051219.505217336] [sailbot.main_algo]: Heading Difference: -168.6565110993953 +[main_algo-3] [INFO] [1746051219.506690679] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051219.507539401] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051219.508348383] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051219.509979243] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051219.544622306] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051219.545324284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051219.546094790] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051219.546971104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051219.548092689] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051219.585073160] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051219.586983887] [sailbot.teensy]: Wind angle: 158 +[teensy-2] [INFO] [1746051219.588044469] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051219.587388141] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051219.588059600] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051219.588988093] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051219.589818740] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051219.644881821] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051219.645399297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051219.646129661] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051219.647220085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051219.648409401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051219.744766734] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051219.745314820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051219.746145748] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051219.747120441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051219.748184784] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051219.835282826] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051219.837459546] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051219.838531101] [sailbot.teensy]: Wind angle: 158 +[mux-7] [INFO] [1746051219.838742939] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051219.838970520] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051219.839327899] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051219.839658449] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051219.844657602] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051219.845151300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051219.846034249] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051219.847013361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051219.848282803] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051219.944896119] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051219.945503073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051219.946218131] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051219.947357918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051219.948403721] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051219.957029973] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051219.958000653] [sailbot.main_algo]: Target Bearing: -142.04348890060473 +[main_algo-3] [INFO] [1746051219.958834708] [sailbot.main_algo]: Heading Difference: -168.03451109939522 +[main_algo-3] [INFO] [1746051219.959637245] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051219.960448174] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051219.961253922] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051219.962243149] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051219.963022145] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051220.003391471] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904256 Long: -76.50277282 +[main_algo-3] [INFO] [1746051220.004316597] [sailbot.main_algo]: Distance to destination: 56.55662000465287 +[vectornav-1] [INFO] [1746051220.004561536] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.31999999999999, -1.888, 5.481) +[main_algo-3] [INFO] [1746051220.005400388] [sailbot.main_algo]: Target Bearing: -142.03665936628187 +[main_algo-3] [INFO] [1746051220.006620942] [sailbot.main_algo]: Heading Difference: -168.0413406337181 +[main_algo-3] [INFO] [1746051220.007654122] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051220.008552874] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051220.009367725] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051220.010994526] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051220.045266034] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051220.045817394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051220.046848419] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051220.047714403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051220.049010621] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051220.085570728] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051220.088248169] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051220.088277155] [sailbot.teensy]: Wind angle: 158 +[mux-7] [INFO] [1746051220.089377162] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051220.089525137] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051220.090459476] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051220.091697563] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051220.144732001] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051220.145770087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051220.146047186] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051220.148333396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051220.149342827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051220.244584897] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051220.245141962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051220.245819555] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051220.246915187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051220.247776370] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051220.335172845] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051220.337454625] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051220.338003983] [sailbot.teensy]: Wind angle: 158 +[mux-7] [INFO] [1746051220.338012641] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051220.339330617] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051220.340096612] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051220.340499165] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051220.344374904] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051220.344965977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051220.345395358] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051220.346572599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051220.347621618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051220.444708301] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051220.445260348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051220.446257026] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051220.446965496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051220.448040211] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051220.456971874] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051220.458009905] [sailbot.main_algo]: Target Bearing: -142.03665936628187 +[main_algo-3] [INFO] [1746051220.458879560] [sailbot.main_algo]: Heading Difference: -168.64334063371814 +[main_algo-3] [INFO] [1746051220.459684734] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051220.460518543] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051220.461314591] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051220.462411915] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051220.462939920] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051220.502798318] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904274 Long: -76.50277232 +[main_algo-3] [INFO] [1746051220.503824185] [sailbot.main_algo]: Distance to destination: 56.60115465737113 +[vectornav-1] [INFO] [1746051220.503902426] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.533000000000015, 0.582, 5.25) +[main_algo-3] [INFO] [1746051220.505600867] [sailbot.main_algo]: Target Bearing: -142.04710542362778 +[main_algo-3] [INFO] [1746051220.506634993] [sailbot.main_algo]: Heading Difference: -168.63289457637222 +[main_algo-3] [INFO] [1746051220.507526182] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051220.508382848] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051220.509190481] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051220.510772092] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051220.545015312] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051220.545691948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051220.546361419] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051220.547649294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051220.548716964] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051220.585277860] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051220.587056009] [sailbot.teensy]: Wind angle: 157 +[teensy-2] [INFO] [1746051220.588015836] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051220.588305238] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051220.588956819] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051220.589728172] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051220.589828588] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051220.645007348] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051220.646229732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051220.646738739] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051220.648426060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051220.649426994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051220.744735797] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051220.745381853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051220.746092686] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051220.747316824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051220.747996064] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051220.834975412] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051220.836942413] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051220.837853559] [sailbot.teensy]: Wind angle: 157 +[mux-7] [INFO] [1746051220.837892776] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051220.838759387] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051220.839602709] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051220.840407000] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051220.844367522] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051220.844733302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051220.845466903] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051220.846260157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051220.847337017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051220.944926421] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051220.945506032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051220.946169819] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051220.947407582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051220.948453601] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051220.956938821] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051220.957859011] [sailbot.main_algo]: Target Bearing: -142.04710542362778 +[main_algo-3] [INFO] [1746051220.958685108] [sailbot.main_algo]: Heading Difference: -169.4198945763722 +[main_algo-3] [INFO] [1746051220.959493319] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051220.960309856] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051220.961068249] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051220.962160018] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051220.962793758] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051221.003144851] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904261 Long: -76.50277217 +[main_algo-3] [INFO] [1746051221.003894364] [sailbot.main_algo]: Distance to destination: 56.60166742621628 +[main_algo-3] [INFO] [1746051221.004967103] [sailbot.main_algo]: Target Bearing: -142.06631967647274 +[vectornav-1] [INFO] [1746051221.005522357] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.88900000000001, 0.2, 4.941) +[main_algo-3] [INFO] [1746051221.005938043] [sailbot.main_algo]: Heading Difference: -169.40068032352724 +[main_algo-3] [INFO] [1746051221.006879396] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051221.007786797] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051221.008690424] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051221.010409913] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051221.044726623] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051221.045519296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051221.045977003] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051221.047407522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051221.048438732] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051221.085240970] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051221.087385591] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051221.088510492] [sailbot.teensy]: Wind angle: 157 +[mux-7] [INFO] [1746051221.088882378] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051221.089712482] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051221.090540574] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051221.091313664] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051221.145066319] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051221.145714835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051221.146360593] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051221.147821268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051221.148897090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051221.244721689] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051221.245431700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051221.245854908] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051221.247195764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051221.248132094] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051221.335176828] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051221.337371745] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051221.337734332] [sailbot.teensy]: Wind angle: 157 +[teensy-2] [INFO] [1746051221.339043750] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051221.339269857] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051221.339933516] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051221.340591048] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051221.344384674] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051221.344873083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051221.345480096] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051221.346487469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051221.347481433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051221.445473194] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051221.446509442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051221.447164668] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051221.448668121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051221.449202311] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051221.457372977] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051221.458518970] [sailbot.main_algo]: Target Bearing: -142.06631967647274 +[main_algo-3] [INFO] [1746051221.459484628] [sailbot.main_algo]: Heading Difference: -169.04468032352725 +[main_algo-3] [INFO] [1746051221.460404136] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051221.461291525] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051221.462164758] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051221.463271488] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051221.464993634] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051221.502756265] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904257 Long: -76.50277238 +[vectornav-1] [INFO] [1746051221.503935899] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.903999999999996, -1.085, 5.23) +[main_algo-3] [INFO] [1746051221.504217015] [sailbot.main_algo]: Distance to destination: 56.585446887733234 +[main_algo-3] [INFO] [1746051221.505309557] [sailbot.main_algo]: Target Bearing: -142.05882748729704 +[main_algo-3] [INFO] [1746051221.506677743] [sailbot.main_algo]: Heading Difference: -169.05217251270295 +[main_algo-3] [INFO] [1746051221.507637067] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051221.508524200] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051221.509368464] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051221.511082055] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051221.544750199] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051221.545441267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051221.546279619] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051221.547293803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051221.548426170] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051221.585246073] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051221.586880538] [sailbot.teensy]: Wind angle: 157 +[teensy-2] [INFO] [1746051221.587771988] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051221.587617078] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051221.588616250] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051221.588809431] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051221.589433834] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051221.644828326] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051221.645426555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051221.646988446] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051221.647259186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051221.648286014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051221.744940293] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051221.745385409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051221.746299695] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051221.747224503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051221.748470842] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051221.835292220] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051221.837137011] [sailbot.teensy]: Wind angle: 157 +[teensy-2] [INFO] [1746051221.838042003] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051221.837741609] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051221.838905453] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051221.839275159] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051221.839718347] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051221.844304076] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051221.844997329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051221.845335053] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051221.846609078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051221.847567978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051221.944919020] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051221.945548970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051221.946146482] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051221.947454902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051221.948928413] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051221.957289480] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051221.958366613] [sailbot.main_algo]: Target Bearing: -142.05882748729704 +[main_algo-3] [INFO] [1746051221.959308500] [sailbot.main_algo]: Heading Difference: -169.03717251270297 +[main_algo-3] [INFO] [1746051221.960211572] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051221.961284874] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051221.962099788] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051221.963117673] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051221.963601309] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051222.002825588] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904253 Long: -76.50277241 +[main_algo-3] [INFO] [1746051222.003747985] [sailbot.main_algo]: Distance to destination: 56.58073576110021 +[vectornav-1] [INFO] [1746051222.003941017] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.685, -0.371, 5.379) +[main_algo-3] [INFO] [1746051222.004834573] [sailbot.main_algo]: Target Bearing: -142.06075520100313 +[main_algo-3] [INFO] [1746051222.005789310] [sailbot.main_algo]: Heading Difference: -169.03524479899687 +[main_algo-3] [INFO] [1746051222.006671140] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051222.007608723] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051222.008488945] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051222.010161445] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051222.045500203] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051222.045755873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051222.046872984] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051222.047556512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051222.048736863] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051222.085100099] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051222.087126092] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051222.088094555] [sailbot.teensy]: Wind angle: 157 +[mux-7] [INFO] [1746051222.088671256] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051222.089116491] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051222.089981803] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051222.090868031] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051222.145156970] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051222.145548224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051222.146562987] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051222.147614389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051222.148746916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051222.244540386] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051222.245086639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051222.245705802] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051222.246815243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051222.247800285] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051222.335036281] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051222.336995261] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051222.337711111] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051222.337842922] [sailbot.teensy]: Wind angle: 158 +[teensy-2] [INFO] [1746051222.338699224] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051222.339531639] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051222.340315247] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051222.344403676] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051222.344801417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051222.345554378] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051222.346370833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051222.347452819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051222.444989259] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051222.445699014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051222.446334392] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051222.447514097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051222.448540228] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051222.457059537] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051222.458067336] [sailbot.main_algo]: Target Bearing: -142.06075520100313 +[main_algo-3] [INFO] [1746051222.458918591] [sailbot.main_algo]: Heading Difference: -170.25424479899687 +[main_algo-3] [INFO] [1746051222.459737273] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051222.460553732] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051222.461352250] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051222.462355131] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051222.462956343] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051222.503045832] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904263 Long: -76.50277247 +[main_algo-3] [INFO] [1746051222.503788680] [sailbot.main_algo]: Distance to destination: 56.58388280496763 +[main_algo-3] [INFO] [1746051222.505031370] [sailbot.main_algo]: Target Bearing: -142.04886945895706 +[vectornav-1] [INFO] [1746051222.504583141] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.615999999999985, -0.533, 5.087) +[main_algo-3] [INFO] [1746051222.506121915] [sailbot.main_algo]: Heading Difference: -170.2661305410429 +[main_algo-3] [INFO] [1746051222.507080787] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051222.508024661] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051222.508943406] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051222.511029256] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051222.544637760] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051222.545337369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051222.545861605] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051222.547337202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051222.548469786] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051222.585450693] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051222.587566016] [sailbot.teensy]: Wind angle: 157 +[trim_sail-4] [INFO] [1746051222.587805624] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051222.588722928] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051222.589674349] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051222.589772334] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051222.591631011] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051222.645192114] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051222.645987121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051222.646505785] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051222.648602826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051222.649681847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051222.744681181] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051222.745783180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051222.745969920] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051222.747509750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051222.748490929] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051222.835328102] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051222.837522238] [sailbot.teensy]: Wind angle: 157 +[trim_sail-4] [INFO] [1746051222.837591450] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051222.838467990] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051222.838837507] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051222.839378461] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051222.840374501] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051222.844357634] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051222.844910246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051222.845445658] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051222.846669303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051222.847961008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051222.945410588] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051222.946260101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051222.946892063] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051222.948315155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051222.949459906] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051222.957176180] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051222.958232055] [sailbot.main_algo]: Target Bearing: -142.04886945895706 +[main_algo-3] [INFO] [1746051222.959120585] [sailbot.main_algo]: Heading Difference: -169.335130541043 +[main_algo-3] [INFO] [1746051222.959987213] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051222.960873655] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051222.961735856] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051222.962782526] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051222.963360973] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051223.002773994] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904261 Long: -76.50277243 +[main_algo-3] [INFO] [1746051223.003755198] [sailbot.main_algo]: Distance to destination: 56.58504330303823 +[vectornav-1] [INFO] [1746051223.003874388] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.761000000000024, 0.146, 5.026) +[main_algo-3] [INFO] [1746051223.004951760] [sailbot.main_algo]: Target Bearing: -142.052712381162 +[main_algo-3] [INFO] [1746051223.005867412] [sailbot.main_algo]: Heading Difference: -169.33128761883802 +[main_algo-3] [INFO] [1746051223.006919118] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051223.007829991] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051223.008705171] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051223.010359701] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051223.044587918] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051223.045203859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051223.045761631] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051223.046875999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051223.047812230] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051223.085202490] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051223.086846531] [sailbot.teensy]: Wind angle: 158 +[trim_sail-4] [INFO] [1746051223.087170822] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051223.088024753] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051223.088740986] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051223.088919110] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051223.089746230] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051223.144949601] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051223.145638382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051223.146272729] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051223.147470670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051223.148624871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051223.244917251] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051223.245587115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051223.246196977] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051223.247443608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051223.248712418] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051223.335467381] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051223.337850163] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051223.338475744] [sailbot.teensy]: Wind angle: 158 +[mux-7] [INFO] [1746051223.339367572] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051223.340035294] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051223.341121126] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051223.341970446] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051223.344543700] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051223.345200359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051223.345619865] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051223.346931849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051223.347951297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051223.445067500] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051223.445715862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051223.446653355] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051223.447621243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051223.448711989] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051223.457333483] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051223.458585395] [sailbot.main_algo]: Target Bearing: -142.052712381162 +[main_algo-3] [INFO] [1746051223.459535197] [sailbot.main_algo]: Heading Difference: -169.18628761883798 +[main_algo-3] [INFO] [1746051223.460476947] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051223.461472956] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051223.462386290] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051223.463406584] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051223.463938641] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051223.502750232] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904256 Long: -76.50277243 +[main_algo-3] [INFO] [1746051223.503723207] [sailbot.main_algo]: Distance to destination: 56.58155174473239 +[vectornav-1] [INFO] [1746051223.503960340] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.70400000000001, -0.586, 5.488) +[main_algo-3] [INFO] [1746051223.504844639] [sailbot.main_algo]: Target Bearing: -142.05708464355823 +[main_algo-3] [INFO] [1746051223.505831801] [sailbot.main_algo]: Heading Difference: -169.18191535644178 +[main_algo-3] [INFO] [1746051223.506719089] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051223.507616319] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051223.508514102] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051223.510059359] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051223.544904064] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051223.545593722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051223.546159210] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051223.547401565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051223.548395537] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051223.585489525] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051223.587661429] [sailbot.teensy]: Wind angle: 158 +[trim_sail-4] [INFO] [1746051223.588094048] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051223.588639468] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051223.588661485] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051223.589543408] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051223.590446624] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051223.644799245] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051223.645247501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051223.646054495] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051223.647016779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051223.648050415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051223.745606249] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051223.747811141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051223.748478301] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051223.749040479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051223.749620382] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051223.835305944] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051223.837503597] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051223.837802911] [sailbot.teensy]: Wind angle: 158 +[teensy-2] [INFO] [1746051223.838664422] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051223.839014621] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051223.839515348] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051223.840376398] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051223.844386250] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051223.845017307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051223.845447742] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051223.846901129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051223.847839730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051223.944693440] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051223.945417897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051223.945854452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051223.947312463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051223.948702499] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051223.957070893] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051223.958025681] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746051223.958939235] [sailbot.main_algo]: Target Bearing: -142.05708464355823 +[main_algo-3] [INFO] [1746051223.959766976] [sailbot.main_algo]: Heading Difference: -169.2389153564418 +[main_algo-3] [INFO] [1746051223.960615165] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051223.961434994] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051223.962233575] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051223.963327976] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051223.963894803] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051224.002766541] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690426 Long: -76.50277232 +[main_algo-3] [INFO] [1746051224.004088492] [sailbot.main_algo]: Distance to destination: 56.59137794422838 +[vectornav-1] [INFO] [1746051224.004353195] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.81700000000001, -0.643, 5.993) +[main_algo-3] [INFO] [1746051224.005684173] [sailbot.main_algo]: Target Bearing: -142.05934465989833 +[main_algo-3] [INFO] [1746051224.006884967] [sailbot.main_algo]: Heading Difference: -169.23665534010166 +[main_algo-3] [INFO] [1746051224.007791703] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051224.008788082] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051224.009633237] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051224.011204219] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051224.044716417] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051224.045308891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051224.045854805] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051224.047342669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051224.048438881] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051224.085091621] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051224.086613276] [sailbot.teensy]: Wind angle: 158 +[trim_sail-4] [INFO] [1746051224.087158331] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051224.087486128] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051224.088368318] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051224.089156219] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051224.089199101] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051224.144966989] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051224.145762657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051224.146224810] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051224.147765763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051224.148901833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051224.244664565] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051224.245654282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051224.245791604] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051224.247553775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051224.248641171] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051224.335467839] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051224.337735567] [sailbot.teensy]: Wind angle: 158 +[trim_sail-4] [INFO] [1746051224.337763963] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051224.338754795] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051224.339124803] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051224.339731389] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051224.340890466] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051224.344478028] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051224.344938640] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051224.345545038] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051224.346611836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051224.347744024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051224.445077332] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051224.445757173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051224.446430096] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051224.447670902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051224.448843936] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051224.457145557] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051224.458041273] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746051224.458827880] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051224.459928558] [sailbot.main_algo]: Current Location: (42.469042602147525, -76.50277232005445) +[main_algo-3] [INFO] [1746051224.460810293] [sailbot.main_algo]: Target Bearing: -142.05934465989833 +[main_algo-3] [INFO] [1746051224.461645479] [sailbot.main_algo]: Heading Difference: -169.12365534010166 +[main_algo-3] [INFO] [1746051224.462439958] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051224.463213862] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051224.463989697] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051224.465004595] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051224.465584651] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051224.503087844] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904257 Long: -76.5027723 +[main_algo-3] [INFO] [1746051224.503590967] [sailbot.main_algo]: Distance to destination: 56.59056210406351 +[vectornav-1] [INFO] [1746051224.504255822] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.66899999999998, -0.056, 4.947) +[main_algo-3] [INFO] [1746051224.504838828] [sailbot.main_algo]: Target Bearing: -142.06301461537123 +[main_algo-3] [INFO] [1746051224.505810426] [sailbot.main_algo]: Heading Difference: -169.11998538462876 +[main_algo-3] [INFO] [1746051224.506791657] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051224.507719826] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051224.508612747] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051224.510236558] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051224.545073301] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051224.545764845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051224.546407279] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051224.547817454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051224.548906583] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051224.585290945] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051224.586937668] [sailbot.teensy]: Wind angle: 154 +[trim_sail-4] [INFO] [1746051224.587466172] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051224.587818724] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051224.588715720] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051224.589580569] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051224.589602226] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051224.644930161] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051224.645541585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051224.646195901] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051224.647460195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051224.648462675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051224.744655738] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051224.745223503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051224.746048709] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051224.747103909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051224.748091699] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051224.835274301] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051224.837064710] [sailbot.teensy]: Wind angle: 150 +[trim_sail-4] [INFO] [1746051224.837598436] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051224.837962649] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051224.838770583] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051224.839046522] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051224.839577246] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051224.844292057] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051224.844821806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051224.845506943] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051224.846602351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051224.847754744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051224.944954041] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051224.946231965] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051224.946733010] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051224.948784541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051224.949838327] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051224.957254617] [sailbot.main_algo]: Wind Direction: 150 +[main_algo-3] [INFO] [1746051224.958345588] [sailbot.main_algo]: Target Bearing: -142.06301461537123 +[main_algo-3] [INFO] [1746051224.959287205] [sailbot.main_algo]: Heading Difference: -169.2679853846288 +[main_algo-3] [INFO] [1746051224.960225662] [sailbot.main_algo]: Wind Direction: 150 +[main_algo-3] [INFO] [1746051224.961160765] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051224.962064080] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051224.963141236] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051224.963667095] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051225.002755635] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904257 Long: -76.50277229 +[main_algo-3] [INFO] [1746051225.003733114] [sailbot.main_algo]: Distance to destination: 56.59120152696026 +[vectornav-1] [INFO] [1746051225.004058354] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.27999999999997, -0.612, 6.153) +[main_algo-3] [INFO] [1746051225.004935790] [sailbot.main_algo]: Target Bearing: -142.06353795329602 +[main_algo-3] [INFO] [1746051225.006154909] [sailbot.main_algo]: Heading Difference: -169.267462046704 +[main_algo-3] [INFO] [1746051225.007079508] [sailbot.main_algo]: Wind Direction: 150 +[main_algo-3] [INFO] [1746051225.008095221] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051225.009006861] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051225.010762421] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051225.044890763] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051225.045395329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051225.046026718] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051225.047128206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051225.048132336] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051225.085124945] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051225.086679398] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746051225.087150801] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051225.088862563] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051225.088954633] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051225.089809339] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051225.090683105] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051225.144945108] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051225.145777940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051225.146370315] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051225.147620138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051225.148642583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051225.244887276] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051225.245598469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051225.246151532] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051225.247408722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051225.248367961] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051225.335342964] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051225.337087347] [sailbot.teensy]: Wind angle: 152 +[teensy-2] [INFO] [1746051225.338051030] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051225.338053341] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051225.338985176] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051225.339199329] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051225.339868151] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051225.344287089] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051225.344801124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051225.345370375] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051225.346491279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051225.347515112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051225.445143975] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051225.445756746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051225.446510419] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051225.447689017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051225.448856382] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051225.457208220] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051225.458307083] [sailbot.main_algo]: Target Bearing: -142.06353795329602 +[main_algo-3] [INFO] [1746051225.459212740] [sailbot.main_algo]: Heading Difference: -169.656462046704 +[main_algo-3] [INFO] [1746051225.460107823] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051225.460961080] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051225.461746809] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051225.462740883] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051225.463490961] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051225.502690905] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904245 Long: -76.50277194 +[main_algo-3] [INFO] [1746051225.503707320] [sailbot.main_algo]: Distance to destination: 56.60521040457416 +[vectornav-1] [INFO] [1746051225.503807822] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.89300000000003, -0.489, 4.149) +[main_algo-3] [INFO] [1746051225.504818922] [sailbot.main_algo]: Target Bearing: -142.09234068635055 +[main_algo-3] [INFO] [1746051225.505746450] [sailbot.main_algo]: Heading Difference: -169.62765931364947 +[main_algo-3] [INFO] [1746051225.506633169] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051225.507514529] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051225.508386081] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051225.510090363] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051225.544630863] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051225.545214263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051225.545997007] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051225.546941543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051225.547853576] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051225.585200681] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051225.586827285] [sailbot.teensy]: Wind angle: 153 +[teensy-2] [INFO] [1746051225.587731349] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051225.587711422] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051225.588569128] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051225.589379604] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051225.589388693] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051225.644918988] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051225.645514016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051225.646183246] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051225.647443615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051225.648487556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051225.744580011] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051225.745103187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051225.745644218] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051225.746717643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051225.747721425] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051225.835194652] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051225.836952227] [sailbot.teensy]: Wind angle: 153 +[trim_sail-4] [INFO] [1746051225.837617907] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051225.837898997] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051225.838808468] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051225.839278410] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051225.839671434] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051225.844289720] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051225.844851203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051225.845629030] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051225.846642060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051225.847705864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051225.944981504] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051225.945711079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051225.946326287] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051225.947767962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051225.948885104] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051225.956974820] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051225.957975278] [sailbot.main_algo]: Target Bearing: -142.09234068635055 +[main_algo-3] [INFO] [1746051225.958844643] [sailbot.main_algo]: Heading Difference: -169.01465931364942 +[main_algo-3] [INFO] [1746051225.959662131] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051225.960465399] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051225.961243282] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051225.962233481] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051225.962950511] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051226.002812748] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904267 Long: -76.50277203 +[main_algo-3] [INFO] [1746051226.003712250] [sailbot.main_algo]: Distance to destination: 56.6148086124247 +[vectornav-1] [INFO] [1746051226.003987976] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.956999999999994, 0.381, 6.009) +[main_algo-3] [INFO] [1746051226.004926132] [sailbot.main_algo]: Target Bearing: -142.06839819359044 +[main_algo-3] [INFO] [1746051226.005975781] [sailbot.main_algo]: Heading Difference: -169.03860180640953 +[main_algo-3] [INFO] [1746051226.006956976] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051226.007919883] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051226.008840722] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051226.010552145] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051226.044656396] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051226.045254024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051226.045816012] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051226.046960847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051226.047878766] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051226.085179424] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051226.087208514] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051226.087482897] [sailbot.teensy]: Wind angle: 153 +[teensy-2] [INFO] [1746051226.088445564] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051226.088701133] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051226.089367292] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051226.090303864] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051226.144770542] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051226.145273717] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051226.145939670] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051226.147010974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051226.148069702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051226.245133815] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051226.245938585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051226.246514460] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051226.248447615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051226.249940107] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051226.335443604] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051226.337862182] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051226.338181968] [sailbot.teensy]: Wind angle: 153 +[mux-7] [INFO] [1746051226.338877116] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051226.339184527] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051226.339747525] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051226.340177500] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051226.344323645] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051226.344897358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051226.345419449] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051226.346614678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051226.347642769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051226.445326404] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051226.446064318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051226.446814412] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051226.447893133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051226.448453421] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051226.457272308] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051226.458511410] [sailbot.main_algo]: Target Bearing: -142.06839819359044 +[main_algo-3] [INFO] [1746051226.459473646] [sailbot.main_algo]: Heading Difference: -169.97460180640957 +[main_algo-3] [INFO] [1746051226.460391302] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051226.461248253] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051226.462119401] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051226.463330122] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051226.463847441] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051226.502828566] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904254 Long: -76.50277205 +[main_algo-3] [INFO] [1746051226.503853657] [sailbot.main_algo]: Distance to destination: 56.6044551870557 +[vectornav-1] [INFO] [1746051226.504310252] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.78399999999999, -1.261, 5.854) +[main_algo-3] [INFO] [1746051226.504979187] [sailbot.main_algo]: Target Bearing: -142.07871767808282 +[main_algo-3] [INFO] [1746051226.506151781] [sailbot.main_algo]: Heading Difference: -169.96428232191715 +[main_algo-3] [INFO] [1746051226.507064091] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051226.507932776] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051226.508805089] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051226.510483483] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051226.544917137] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051226.545654868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051226.546168894] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051226.547899537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051226.548979482] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051226.585082885] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051226.586909418] [sailbot.teensy]: Wind angle: 153 +[trim_sail-4] [INFO] [1746051226.586955732] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051226.587807589] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051226.588928760] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051226.588966426] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051226.589818124] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051226.645078814] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051226.645731742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051226.646462421] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051226.647897000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051226.648904220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051226.744907072] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051226.745598058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051226.746328169] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051226.747406341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051226.748688607] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051226.835452955] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051226.837964056] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051226.838160036] [sailbot.teensy]: Wind angle: 154 +[mux-7] [INFO] [1746051226.839328177] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051226.839350660] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051226.840388077] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051226.841327336] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051226.844412998] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051226.844975927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051226.845945541] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051226.846982659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051226.848088090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051226.945425224] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051226.946142074] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051226.947100834] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051226.948239268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051226.949444025] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051226.957330365] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051226.958419973] [sailbot.main_algo]: Target Bearing: -142.07871767808282 +[main_algo-3] [INFO] [1746051226.959348406] [sailbot.main_algo]: Heading Difference: -169.13728232191716 +[main_algo-3] [INFO] [1746051226.960244352] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051226.961124173] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051226.961995130] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051226.963093187] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051226.963817204] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051227.002900060] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904237 Long: -76.50277213 +[main_algo-3] [INFO] [1746051227.003824977] [sailbot.main_algo]: Distance to destination: 56.58747448027121 +[vectornav-1] [INFO] [1746051227.004052130] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.75599999999997, -0.077, 5.319) +[main_algo-3] [INFO] [1746051227.005032119] [sailbot.main_algo]: Target Bearing: -142.08940170532614 +[main_algo-3] [INFO] [1746051227.006004289] [sailbot.main_algo]: Heading Difference: -169.12659829467384 +[main_algo-3] [INFO] [1746051227.006919039] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051227.007790711] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051227.008651474] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051227.010298829] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051227.045110233] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051227.045650537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051227.046429059] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051227.047433071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051227.048518962] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051227.085224464] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051227.086921231] [sailbot.teensy]: Wind angle: 153 +[teensy-2] [INFO] [1746051227.087831507] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051227.087602315] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051227.088210439] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051227.088782212] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051227.089833909] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051227.144704135] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051227.145258806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051227.145877513] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051227.146961256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051227.147892353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051227.244601919] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051227.245105346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051227.245671343] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051227.246739895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051227.247674315] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051227.335046468] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051227.336877140] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746051227.337414288] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051227.337601359] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051227.337957190] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051227.338832547] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051227.339634859] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051227.344377584] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051227.344802810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051227.345437952] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051227.346352653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051227.347298667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051227.444896134] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051227.445561678] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051227.446540885] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051227.447392918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051227.448035970] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051227.457128679] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051227.458196936] [sailbot.main_algo]: Target Bearing: -142.08940170532614 +[main_algo-3] [INFO] [1746051227.459111441] [sailbot.main_algo]: Heading Difference: -167.15459829467386 +[main_algo-3] [INFO] [1746051227.459946192] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051227.460785717] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051227.461590685] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051227.462602560] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051227.463212806] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051227.503261204] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904233 Long: -76.5027722 +[main_algo-3] [INFO] [1746051227.504084390] [sailbot.main_algo]: Distance to destination: 56.58020570273348 +[vectornav-1] [INFO] [1746051227.504559670] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.620000000000005, -0.066, 5.563) +[main_algo-3] [INFO] [1746051227.505203602] [sailbot.main_algo]: Target Bearing: -142.08923941590416 +[main_algo-3] [INFO] [1746051227.506200447] [sailbot.main_algo]: Heading Difference: -167.15476058409587 +[main_algo-3] [INFO] [1746051227.507119412] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051227.508049798] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051227.509017681] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051227.510738001] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051227.544961524] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051227.545592776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051227.546203807] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051227.547488911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051227.548544230] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051227.585061340] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051227.586594063] [sailbot.teensy]: Wind angle: 151 +[teensy-2] [INFO] [1746051227.587463724] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051227.587534696] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051227.588230772] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051227.588301951] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051227.589206924] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051227.645102471] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051227.646368316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051227.646470693] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051227.648314350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051227.649295965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051227.744836701] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051227.745621675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051227.746145896] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051227.747462467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051227.748497283] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051227.835272311] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051227.837420829] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051227.838208580] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051227.838338677] [sailbot.teensy]: Wind angle: 152 +[teensy-2] [INFO] [1746051227.839284859] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051227.840204435] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051227.840744499] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051227.844341929] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051227.845034562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051227.845478930] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051227.846887836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051227.848038816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051227.945331567] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051227.946997157] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051227.947066254] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051227.949027920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051227.949534392] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051227.957175017] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051227.958212927] [sailbot.main_algo]: Target Bearing: -142.08923941590416 +[main_algo-3] [INFO] [1746051227.959145988] [sailbot.main_algo]: Heading Difference: -168.29076058409584 +[main_algo-3] [INFO] [1746051227.960055649] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051227.960944569] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051227.961929877] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051227.963197347] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051227.963529306] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051228.003948022] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904218 Long: -76.50277228 +[main_algo-3] [INFO] [1746051228.004342978] [sailbot.main_algo]: Distance to destination: 56.56462222457852 +[main_algo-3] [INFO] [1746051228.005456902] [sailbot.main_algo]: Target Bearing: -142.09818059096318 +[vectornav-1] [INFO] [1746051228.005455962] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.50200000000001, -1.0, 5.518) +[main_algo-3] [INFO] [1746051228.006536650] [sailbot.main_algo]: Heading Difference: -168.2818194090368 +[main_algo-3] [INFO] [1746051228.007438706] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051228.008360173] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051228.009261034] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051228.010954181] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051228.044982634] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051228.045791963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051228.046242063] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051228.047712926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051228.048751226] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051228.085349148] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051228.087752949] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051228.087911694] [sailbot.teensy]: Wind angle: 151 +[mux-7] [INFO] [1746051228.088309062] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051228.088844247] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051228.089858062] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051228.090719288] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051228.145048737] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051228.145911341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051228.146431290] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051228.147994931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051228.149137146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051228.245400702] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051228.246977976] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051228.247894169] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051228.248783761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051228.249956211] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051228.335195080] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051228.337642918] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051228.337678198] [sailbot.teensy]: Wind angle: 151 +[mux-7] [INFO] [1746051228.338613545] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051228.338635043] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051228.339559596] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051228.340449432] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051228.344453414] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051228.344930916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051228.345588497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051228.346679605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051228.347768621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051228.445257086] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051228.446072177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051228.447126538] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051228.448568982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051228.449787355] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051228.457141111] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051228.458222226] [sailbot.main_algo]: Target Bearing: -142.09818059096318 +[main_algo-3] [INFO] [1746051228.459127952] [sailbot.main_algo]: Heading Difference: -168.3998194090368 +[main_algo-3] [INFO] [1746051228.460004216] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051228.460882521] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051228.462040924] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051228.463179682] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051228.463784107] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051228.503766662] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904212 Long: -76.50277221 +[main_algo-3] [INFO] [1746051228.504028242] [sailbot.main_algo]: Distance to destination: 56.56491512279612 +[vectornav-1] [INFO] [1746051228.505000805] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.202, 0.239, 5.701) +[main_algo-3] [INFO] [1746051228.505185813] [sailbot.main_algo]: Target Bearing: -142.1070944971197 +[main_algo-3] [INFO] [1746051228.506170749] [sailbot.main_algo]: Heading Difference: -168.3909055028803 +[main_algo-3] [INFO] [1746051228.507060753] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051228.507916758] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051228.508778740] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051228.510476468] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051228.545102315] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051228.545885361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051228.546474863] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051228.547858125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051228.548899184] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051228.585330022] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051228.587768067] [sailbot.teensy]: Wind angle: 152 +[trim_sail-4] [INFO] [1746051228.587783648] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051228.588771990] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051228.588990868] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051228.589687879] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051228.590548170] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051228.644602565] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051228.645159953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051228.645878519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051228.646849754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051228.648001896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051228.745089638] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051228.745805179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051228.746591973] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051228.747628773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051228.748193173] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051228.835305914] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051228.837674589] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051228.837947460] [sailbot.teensy]: Wind angle: 152 +[mux-7] [INFO] [1746051228.838549839] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051228.838909201] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051228.839812765] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051228.840696080] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051228.844229764] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051228.844758178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051228.845213857] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051228.846330942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051228.847293788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051228.945244189] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051228.946016234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051228.946809027] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051228.948390050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051228.949799490] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051228.957010484] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051228.957999511] [sailbot.main_algo]: Target Bearing: -142.1070944971197 +[main_algo-3] [INFO] [1746051228.958883003] [sailbot.main_algo]: Heading Difference: -167.6909055028803 +[main_algo-3] [INFO] [1746051228.959736119] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051228.960610971] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051228.961431100] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051228.962412186] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051228.963026742] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051229.002955864] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904215 Long: -76.50277222 +[main_algo-3] [INFO] [1746051229.004360341] [sailbot.main_algo]: Distance to destination: 56.56636796127039 +[vectornav-1] [INFO] [1746051229.004457002] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.44799999999998, -0.042, 4.838) +[main_algo-3] [INFO] [1746051229.005557484] [sailbot.main_algo]: Target Bearing: -142.1039453536339 +[main_algo-3] [INFO] [1746051229.007390107] [sailbot.main_algo]: Heading Difference: -167.6940546463661 +[main_algo-3] [INFO] [1746051229.008389710] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051229.009277388] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051229.010132479] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051229.011871009] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051229.044777110] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051229.045436560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051229.045964706] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051229.047237755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051229.048379406] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051229.085223866] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051229.086930639] [sailbot.teensy]: Wind angle: 152 +[trim_sail-4] [INFO] [1746051229.087642863] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051229.087875235] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051229.088477688] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051229.088799338] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051229.089673556] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051229.145043731] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051229.145778343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051229.146451408] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051229.147866666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051229.148905753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051229.244918404] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051229.245625410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051229.246424225] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051229.247460504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051229.248586228] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051229.335275385] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051229.337176860] [sailbot.teensy]: Wind angle: 152 +[trim_sail-4] [INFO] [1746051229.337626683] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051229.338083045] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051229.338818801] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051229.338959238] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051229.339823530] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051229.344386383] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051229.344931068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051229.345459364] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051229.346610910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051229.347731962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051229.444404529] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051229.444879741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051229.445467767] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051229.446598731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051229.447561389] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051229.456991135] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051229.457976052] [sailbot.main_algo]: Target Bearing: -142.1039453536339 +[main_algo-3] [INFO] [1746051229.458834609] [sailbot.main_algo]: Heading Difference: -166.44805464636613 +[main_algo-3] [INFO] [1746051229.459635818] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051229.460470934] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051229.461254897] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051229.462278521] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051229.462873844] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051229.502648465] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690421 Long: -76.50277244 +[main_algo-3] [INFO] [1746051229.503444115] [sailbot.main_algo]: Distance to destination: 56.54880515915096 +[vectornav-1] [INFO] [1746051229.503887090] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.877999999999986, -0.645, 4.435) +[main_algo-3] [INFO] [1746051229.504517329] [sailbot.main_algo]: Target Bearing: -142.09681142585677 +[main_algo-3] [INFO] [1746051229.505445840] [sailbot.main_algo]: Heading Difference: -166.45518857414322 +[main_algo-3] [INFO] [1746051229.506345623] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051229.507169204] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051229.507951825] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051229.509501401] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051229.544640507] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051229.545342792] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051229.545828531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051229.547268090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051229.548412302] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051229.585371830] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051229.587846445] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051229.588264624] [sailbot.teensy]: Wind angle: 152 +[mux-7] [INFO] [1746051229.588747473] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051229.589492131] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051229.590519376] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051229.591347646] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051229.645104104] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051229.645919904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051229.646583467] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051229.647906224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051229.648804358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051229.745335088] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051229.746026090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051229.746954380] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051229.748507026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051229.749342966] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051229.835293504] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051229.838215797] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051229.838345207] [sailbot.teensy]: Wind angle: 153 +[mux-7] [INFO] [1746051229.838966866] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051229.839306287] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051229.840240374] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051229.841066703] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051229.844332293] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051229.844876934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051229.845466262] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051229.846604075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051229.847654659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051229.945259853] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051229.945898125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051229.947532954] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051229.948375006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051229.949671537] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051229.957067004] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051229.958056917] [sailbot.main_algo]: Target Bearing: -142.09681142585677 +[main_algo-3] [INFO] [1746051229.958983065] [sailbot.main_algo]: Heading Difference: -167.02518857414327 +[main_algo-3] [INFO] [1746051229.959854859] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051229.960753144] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051229.961545203] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051229.962776528] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051229.963214562] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051230.003032297] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904202 Long: -76.50277265 +[main_algo-3] [INFO] [1746051230.003997663] [sailbot.main_algo]: Distance to destination: 56.529789619663646 +[vectornav-1] [INFO] [1746051230.004286193] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.81600000000003, 0.123, 5.481) +[main_algo-3] [INFO] [1746051230.005199308] [sailbot.main_algo]: Target Bearing: -142.0928237974806 +[main_algo-3] [INFO] [1746051230.006177543] [sailbot.main_algo]: Heading Difference: -167.0291762025194 +[main_algo-3] [INFO] [1746051230.007116867] [sailbot.main_algo]: Wind Direction: 153 +[main_algo-3] [INFO] [1746051230.008062246] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051230.009011609] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051230.010729219] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051230.044897785] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051230.045603514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051230.046170091] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051230.047535815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051230.048740869] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051230.085204402] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051230.086836494] [sailbot.teensy]: Wind angle: 153 +[teensy-2] [INFO] [1746051230.087709604] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051230.087328013] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051230.088213970] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051230.088645331] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051230.089499037] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051230.144901336] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051230.145649066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051230.146247785] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051230.147594501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051230.148697614] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051230.246012992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051230.247675515] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051230.248290555] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051230.248953426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051230.249480897] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051230.335412768] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051230.337809301] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051230.338074731] [sailbot.teensy]: Wind angle: 152 +[teensy-2] [INFO] [1746051230.338854739] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051230.338877803] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051230.339269342] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051230.339660731] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051230.344622802] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051230.345099716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051230.345750498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051230.346791952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051230.347842333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051230.445207695] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051230.446090285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051230.446805650] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051230.448320968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051230.449436557] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051230.456984713] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051230.457940223] [sailbot.main_algo]: Target Bearing: -142.0928237974806 +[main_algo-3] [INFO] [1746051230.458834490] [sailbot.main_algo]: Heading Difference: -168.09117620251936 +[main_algo-3] [INFO] [1746051230.459678925] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051230.460493050] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051230.461299378] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051230.462306981] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051230.463397377] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051230.502629027] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904181 Long: -76.50277268 +[main_algo-3] [INFO] [1746051230.503315141] [sailbot.main_algo]: Distance to destination: 56.51322045199323 +[vectornav-1] [INFO] [1746051230.503676476] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.53699999999998, -1.108, 5.509) +[main_algo-3] [INFO] [1746051230.504360890] [sailbot.main_algo]: Target Bearing: -142.10964873447318 +[main_algo-3] [INFO] [1746051230.505270113] [sailbot.main_algo]: Heading Difference: -168.0743512655268 +[main_algo-3] [INFO] [1746051230.506127313] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051230.506953314] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051230.507752314] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051230.509329414] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051230.544881071] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051230.545652311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051230.546471337] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051230.547446145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051230.548623217] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051230.585344540] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051230.587122920] [sailbot.teensy]: Wind angle: 153 +[teensy-2] [INFO] [1746051230.588020169] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051230.587610839] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051230.588888760] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051230.589337506] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051230.589734772] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051230.644617618] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051230.645107566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051230.645714084] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051230.646824389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051230.647838252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051230.745079139] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051230.745797565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051230.746485710] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051230.747784637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051230.748868737] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051230.835387668] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051230.837985132] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051230.838636161] [sailbot.teensy]: Wind angle: 154 +[mux-7] [INFO] [1746051230.838893879] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051230.839912799] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051230.840791617] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051230.841623017] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051230.844419888] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051230.845012970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051230.845496133] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051230.846718526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051230.847759470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051230.945330180] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051230.946104290] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051230.946853843] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051230.948090404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051230.948511907] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051230.957084682] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051230.958131799] [sailbot.main_algo]: Target Bearing: -142.10964873447318 +[main_algo-3] [INFO] [1746051230.959016944] [sailbot.main_algo]: Heading Difference: -166.35335126552684 +[main_algo-3] [INFO] [1746051230.959864556] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051230.960675686] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051230.961492755] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051230.962472852] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051230.963076721] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051231.003218277] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904176 Long: -76.50277257 +[main_algo-3] [INFO] [1746051231.004482359] [sailbot.main_algo]: Distance to destination: 56.516772163670986 +[vectornav-1] [INFO] [1746051231.004574426] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.33800000000002, 0.325, 5.175) +[main_algo-3] [INFO] [1746051231.005620521] [sailbot.main_algo]: Target Bearing: -142.11978801541784 +[main_algo-3] [INFO] [1746051231.006681268] [sailbot.main_algo]: Heading Difference: -166.34321198458218 +[main_algo-3] [INFO] [1746051231.007636149] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051231.008556350] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051231.009413924] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051231.011187363] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051231.044701940] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051231.045704732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051231.046070839] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051231.047489358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051231.048492350] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051231.085009271] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051231.086468858] [sailbot.teensy]: Wind angle: 153 +[trim_sail-4] [INFO] [1746051231.087035192] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051231.087335624] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051231.088229826] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051231.088220969] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051231.089046566] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051231.145297559] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051231.146064386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051231.146794443] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051231.148682852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051231.149872845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051231.244622660] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051231.245214767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051231.245699287] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051231.247027601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051231.248177996] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051231.335067234] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051231.336618594] [sailbot.teensy]: Wind angle: 154 +[trim_sail-4] [INFO] [1746051231.337169558] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051231.337478830] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051231.338301235] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051231.338963962] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051231.339106615] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051231.344407700] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051231.345070252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051231.345535611] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051231.346757712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051231.347777563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051231.444450483] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051231.445154563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051231.445528386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051231.446823386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051231.447732136] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051231.457225572] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051231.458374829] [sailbot.main_algo]: Target Bearing: -142.11978801541784 +[main_algo-3] [INFO] [1746051231.459318835] [sailbot.main_algo]: Heading Difference: -165.54221198458214 +[main_algo-3] [INFO] [1746051231.460252645] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051231.461088753] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051231.461874847] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051231.462902238] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051231.463606410] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051231.503565597] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904184 Long: -76.50277264 +[main_algo-3] [INFO] [1746051231.504593590] [sailbot.main_algo]: Distance to destination: 56.51787227901813 +[vectornav-1] [INFO] [1746051231.504952341] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.08600000000001, -0.992, 4.925) +[main_algo-3] [INFO] [1746051231.506142961] [sailbot.main_algo]: Target Bearing: -142.1091142692749 +[main_algo-3] [INFO] [1746051231.507172756] [sailbot.main_algo]: Heading Difference: -165.55288573072505 +[main_algo-3] [INFO] [1746051231.508079897] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051231.508959156] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051231.509795011] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051231.511545325] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051231.544883033] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051231.545942779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051231.546351197] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051231.547809086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051231.548858728] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051231.585105204] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051231.586758151] [sailbot.teensy]: Wind angle: 154 +[trim_sail-4] [INFO] [1746051231.587078019] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051231.587678118] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051231.588418695] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051231.588533240] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051231.589392050] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051231.644933714] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051231.645749133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051231.646195020] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051231.647637662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051231.648679411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051231.745109507] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051231.746254659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051231.746550270] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051231.748195855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051231.749237465] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051231.835419636] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051231.837340062] [sailbot.teensy]: Wind angle: 154 +[trim_sail-4] [INFO] [1746051231.837644092] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051231.838320335] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051231.839603392] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051231.839142436] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051231.840385574] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051231.844739556] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051231.845294072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051231.846038978] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051231.847074106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051231.848147968] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051231.945111171] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051231.945887407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051231.946537140] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051231.947888550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051231.948917828] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051231.957158760] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051231.958176752] [sailbot.main_algo]: Target Bearing: -142.1091142692749 +[main_algo-3] [INFO] [1746051231.959077903] [sailbot.main_algo]: Heading Difference: -165.80488573072512 +[main_algo-3] [INFO] [1746051231.959961995] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051231.960786957] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051231.961605597] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051231.962623418] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051231.963311180] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051232.003406979] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904179 Long: -76.50277275 +[main_algo-3] [INFO] [1746051232.003834869] [sailbot.main_algo]: Distance to destination: 56.50734662010648 +[vectornav-1] [INFO] [1746051232.004663376] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.37900000000002, 0.312, 5.342) +[main_algo-3] [INFO] [1746051232.004946498] [sailbot.main_algo]: Target Bearing: -142.10773623425433 +[main_algo-3] [INFO] [1746051232.005982367] [sailbot.main_algo]: Heading Difference: -165.80626376574565 +[main_algo-3] [INFO] [1746051232.006882952] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051232.007855290] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051232.008754625] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051232.010353883] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051232.045321280] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051232.046782184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051232.046931673] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051232.048871415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051232.050048803] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051232.085531111] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051232.087251318] [sailbot.teensy]: Wind angle: 154 +[trim_sail-4] [INFO] [1746051232.087538164] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051232.088202230] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051232.089138019] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051232.089584760] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051232.090149785] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051232.144738913] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051232.145786706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051232.145980390] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051232.147608805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051232.148706605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051232.245011727] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051232.245668760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051232.246283514] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051232.247598784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051232.248547663] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051232.335221158] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051232.336868847] [sailbot.teensy]: Wind angle: 154 +[trim_sail-4] [INFO] [1746051232.337352767] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051232.337731561] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051232.338567021] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051232.339091566] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051232.339455868] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051232.344371583] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051232.344931993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051232.345520469] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051232.346611780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051232.347758340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051232.445313399] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051232.445706554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051232.446772433] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051232.447640744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051232.448913086] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051232.457129227] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051232.458275611] [sailbot.main_algo]: Target Bearing: -142.10773623425433 +[main_algo-3] [INFO] [1746051232.459215883] [sailbot.main_algo]: Heading Difference: -165.51326376574565 +[main_algo-3] [INFO] [1746051232.460074010] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051232.461012306] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051232.461846335] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051232.463020215] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051232.463847542] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051232.502622929] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904167 Long: -76.50277285 +[main_algo-3] [INFO] [1746051232.503399364] [sailbot.main_algo]: Distance to destination: 56.492578440202784 +[vectornav-1] [INFO] [1746051232.503720731] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.851999999999975, -0.858, 5.111) +[main_algo-3] [INFO] [1746051232.504498361] [sailbot.main_algo]: Target Bearing: -142.1130168922855 +[main_algo-3] [INFO] [1746051232.505420792] [sailbot.main_algo]: Heading Difference: -165.5079831077145 +[main_algo-3] [INFO] [1746051232.506446345] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051232.507306333] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051232.508111429] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051232.509706227] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051232.544634150] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051232.545223478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051232.545876404] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051232.547199858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051232.548302424] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051232.585086594] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051232.586633583] [sailbot.teensy]: Wind angle: 154 +[teensy-2] [INFO] [1746051232.587484239] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051232.587155267] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051232.588399007] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051232.588660767] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051232.589272271] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051232.644490584] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051232.645062835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051232.646558033] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051232.646862844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051232.647994426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051232.744973409] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051232.745797069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051232.746275477] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051232.747698674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051232.748851260] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051232.835197045] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051232.836958607] [sailbot.teensy]: Wind angle: 154 +[trim_sail-4] [INFO] [1746051232.837702012] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051232.837951882] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051232.838696267] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051232.838866475] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051232.840011481] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051232.844539695] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051232.844950004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051232.845853563] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051232.846878041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051232.847910828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051232.944770082] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051232.945354263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051232.945947428] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051232.947138527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051232.948050170] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051232.957129256] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051232.958074341] [sailbot.main_algo]: Target Bearing: -142.1130168922855 +[main_algo-3] [INFO] [1746051232.958894256] [sailbot.main_algo]: Heading Difference: -165.03498310771454 +[main_algo-3] [INFO] [1746051232.959698161] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051232.960510397] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051232.961306799] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051232.962316835] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051232.963019385] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051233.003264068] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904177 Long: -76.50277317 +[main_algo-3] [INFO] [1746051233.003946895] [sailbot.main_algo]: Distance to destination: 56.47908249938604 +[vectornav-1] [INFO] [1746051233.004669873] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.843999999999994, -0.45, 4.996) +[main_algo-3] [INFO] [1746051233.005200157] [sailbot.main_algo]: Target Bearing: -142.0874871146465 +[main_algo-3] [INFO] [1746051233.006303496] [sailbot.main_algo]: Heading Difference: -165.06051288535355 +[main_algo-3] [INFO] [1746051233.007258442] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051233.008186320] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051233.009089543] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051233.010879341] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051233.045584249] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051233.046192102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051233.047742388] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051233.048339801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051233.049430173] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051233.085338573] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051233.087081112] [sailbot.teensy]: Wind angle: 155 +[trim_sail-4] [INFO] [1746051233.088364822] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051233.088749150] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051233.089826002] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051233.090710883] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051233.091565414] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051233.145175364] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051233.146288496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051233.146833356] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051233.148528099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051233.149601268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051233.245084881] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051233.245842476] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051233.246645457] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051233.247955528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051233.248501438] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051233.335198919] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051233.337569070] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051233.338593587] [sailbot.teensy]: Wind angle: 160 +[mux-7] [INFO] [1746051233.338638873] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051233.339163270] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051233.339529075] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051233.339869257] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051233.344603244] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051233.344995313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051233.345753155] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051233.346661073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051233.347745813] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051233.445047320] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051233.445547810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051233.446408299] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051233.447462088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051233.448679314] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051233.457375613] [sailbot.main_algo]: Wind Direction: 160 +[main_algo-3] [INFO] [1746051233.458464331] [sailbot.main_algo]: Target Bearing: -142.0874871146465 +[main_algo-3] [INFO] [1746051233.459373258] [sailbot.main_algo]: Heading Difference: -165.06851288535347 +[main_algo-3] [INFO] [1746051233.460258819] [sailbot.main_algo]: Wind Direction: 160 +[main_algo-3] [INFO] [1746051233.461142266] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051233.462003295] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051233.463107059] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051233.464080787] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051233.503463561] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904177 Long: -76.50277325 +[main_algo-3] [INFO] [1746051233.504103470] [sailbot.main_algo]: Distance to destination: 56.47396551627635 +[vectornav-1] [INFO] [1746051233.505096179] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.69499999999999, 0.282, 5.537) +[main_algo-3] [INFO] [1746051233.505323438] [sailbot.main_algo]: Target Bearing: -142.0832939360451 +[main_algo-3] [INFO] [1746051233.506320650] [sailbot.main_algo]: Heading Difference: -165.0727060639549 +[main_algo-3] [INFO] [1746051233.507230642] [sailbot.main_algo]: Wind Direction: 160 +[main_algo-3] [INFO] [1746051233.508107695] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051233.508965132] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051233.510904826] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051233.545022364] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051233.545580446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051233.546356239] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051233.547449544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051233.548572184] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051233.585261571] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051233.586817538] [sailbot.teensy]: Wind angle: 164 +[trim_sail-4] [INFO] [1746051233.587430300] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051233.587691601] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051233.588590079] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051233.588653368] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051233.589490393] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051233.645250455] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051233.646038031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051233.646812398] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051233.648265127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051233.649361565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051233.744934707] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051233.745886649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051233.746274899] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051233.747687762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051233.748844823] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051233.835333985] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051233.837113302] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051233.837746573] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051233.838059844] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051233.838926203] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051233.839275580] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051233.839836109] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051233.844410615] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051233.845082678] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051233.845569308] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051233.846819768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051233.847858240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051233.945105712] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051233.945831411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051233.946504629] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051233.947899759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051233.948791367] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051233.957148345] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051233.958182738] [sailbot.main_algo]: Target Bearing: -142.0832939360451 +[main_algo-3] [INFO] [1746051233.959082064] [sailbot.main_algo]: Heading Difference: -165.2217060639549 +[main_algo-3] [INFO] [1746051233.959940955] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051233.960778024] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051233.961588878] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051233.962591273] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051233.963194766] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051234.003489220] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904166 Long: -76.50277294 +[main_algo-3] [INFO] [1746051234.004113266] [sailbot.main_algo]: Distance to destination: 56.48612228661776 +[vectornav-1] [INFO] [1746051234.005190735] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.20799999999997, -1.008, 6.226) +[main_algo-3] [INFO] [1746051234.005572226] [sailbot.main_algo]: Target Bearing: -142.10917985995707 +[main_algo-3] [INFO] [1746051234.006601048] [sailbot.main_algo]: Heading Difference: -165.19582014004294 +[main_algo-3] [INFO] [1746051234.007684549] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051234.008642230] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051234.009574818] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051234.011297807] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051234.045037552] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051234.045744609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051234.046337791] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051234.047568489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051234.048737374] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051234.085380895] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051234.087328534] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051234.088103761] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051234.088264120] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051234.088292054] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051234.089178574] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051234.090047686] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051234.144751118] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051234.145341152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051234.146566164] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051234.147157350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051234.148258682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051234.245241413] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051234.246206509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051234.246869434] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051234.248704665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051234.249394409] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051234.335198299] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051234.337653865] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051234.337811280] [sailbot.teensy]: Wind angle: 165 +[mux-7] [INFO] [1746051234.338618918] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051234.338784803] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051234.339879981] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051234.340798989] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051234.344490053] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051234.344973491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051234.345616078] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051234.346670100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051234.347684503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051234.445071355] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051234.445615153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051234.446428330] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051234.447571097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051234.448825605] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051234.457236883] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051234.458380371] [sailbot.main_algo]: Target Bearing: -142.10917985995707 +[main_algo-3] [INFO] [1746051234.459311551] [sailbot.main_algo]: Heading Difference: -164.68282014004296 +[main_algo-3] [INFO] [1746051234.460336197] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051234.461230459] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051234.462090006] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051234.463370959] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051234.464170341] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051234.502654222] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904164 Long: -76.50277276 +[main_algo-3] [INFO] [1746051234.503633095] [sailbot.main_algo]: Distance to destination: 56.4962454478289 +[vectornav-1] [INFO] [1746051234.503718383] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.476, -0.529, 5.044) +[main_algo-3] [INFO] [1746051234.504701198] [sailbot.main_algo]: Target Bearing: -142.12035930890877 +[main_algo-3] [INFO] [1746051234.505611777] [sailbot.main_algo]: Heading Difference: -164.67164069109128 +[main_algo-3] [INFO] [1746051234.506457185] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051234.507273553] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051234.508050801] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051234.509626572] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051234.544896517] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051234.545571365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051234.546201038] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051234.547414675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051234.548722373] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051234.585176382] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051234.587409671] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051234.588597660] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051234.588642447] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051234.589632695] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051234.590586942] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051234.591430896] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051234.644642095] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051234.645159790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051234.645762509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051234.646808227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051234.647864465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051234.744727194] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051234.745280163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051234.745925298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051234.747045232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051234.748227541] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051234.835060779] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051234.837228185] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051234.837783982] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051234.838414284] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051234.838856216] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051234.839224560] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051234.839585970] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051234.844308860] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051234.844820840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051234.845585560] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051234.846501764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051234.847675488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051234.944611964] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051234.945142401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051234.945717359] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051234.947141680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051234.948224272] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051234.956917810] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051234.957799312] [sailbot.main_algo]: Target Bearing: -142.12035930890877 +[main_algo-3] [INFO] [1746051234.958616776] [sailbot.main_algo]: Heading Difference: -164.40364069109125 +[main_algo-3] [INFO] [1746051234.959380533] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051234.960304384] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051234.961067473] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051234.962029882] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051234.962515347] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051235.003217036] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690419 Long: -76.50277299 +[main_algo-3] [INFO] [1746051235.003631550] [sailbot.main_algo]: Distance to destination: 56.49966774595012 +[vectornav-1] [INFO] [1746051235.004350404] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.35000000000002, 0.66, 5.383) +[main_algo-3] [INFO] [1746051235.004728195] [sailbot.main_algo]: Target Bearing: -142.08552753438488 +[main_algo-3] [INFO] [1746051235.005754586] [sailbot.main_algo]: Heading Difference: -164.43847246561512 +[main_algo-3] [INFO] [1746051235.006719940] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051235.007683666] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051235.008558704] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051235.010388831] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051235.045110403] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051235.045691342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051235.046427021] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051235.047565723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051235.048742963] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051235.085388563] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051235.087339384] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051235.087852600] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051235.088471452] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051235.089007283] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051235.089664253] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051235.091225115] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051235.145043098] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051235.146020365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051235.146387843] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051235.147860874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051235.148908135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051235.244966047] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051235.245735891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051235.246223237] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051235.247645515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051235.248698222] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051235.335570449] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051235.337658602] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051235.338147827] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051235.338577579] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051235.339527347] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051235.339799394] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051235.340763435] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051235.344232039] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051235.344942601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051235.345376592] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051235.347622125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051235.348716131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051235.444768217] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051235.445557403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051235.445968195] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051235.447544857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051235.448284898] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051235.457071141] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051235.458157088] [sailbot.main_algo]: Target Bearing: -142.08552753438488 +[main_algo-3] [INFO] [1746051235.459122701] [sailbot.main_algo]: Heading Difference: -165.5644724656151 +[main_algo-3] [INFO] [1746051235.459923160] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051235.460753464] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051235.461538040] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051235.462553199] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051235.463075506] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051235.502525011] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904167 Long: -76.50277313 +[main_algo-3] [INFO] [1746051235.503406701] [sailbot.main_algo]: Distance to destination: 56.47466388004825 +[vectornav-1] [INFO] [1746051235.503502546] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.334, -1.338, 5.592) +[main_algo-3] [INFO] [1746051235.504605675] [sailbot.main_algo]: Target Bearing: -142.09834904887998 +[main_algo-3] [INFO] [1746051235.506196515] [sailbot.main_algo]: Heading Difference: -165.55165095112 +[main_algo-3] [INFO] [1746051235.507327591] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051235.508220420] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051235.509105803] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051235.510861619] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051235.545153927] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051235.545945591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051235.546586666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051235.548009519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051235.549139719] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051235.585293024] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051235.587314775] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051235.587418163] [sailbot.teensy]: Wind angle: 167 +[teensy-2] [INFO] [1746051235.588361572] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051235.589005063] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051235.589259838] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051235.590099606] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051235.644787497] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051235.645371952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051235.645975494] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051235.647259939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051235.648332510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051235.744808612] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051235.745413823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051235.746036493] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051235.747154389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051235.748084022] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051235.835081591] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051235.836846776] [sailbot.teensy]: Wind angle: 170 +[trim_sail-4] [INFO] [1746051235.837196988] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051235.837704528] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051235.838637616] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051235.839106568] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051235.839744689] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051235.844377383] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051235.844962044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051235.845514946] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051235.846672004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051235.847794388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051235.945523872] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051235.946877690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051235.947185875] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051235.948378438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051235.948866082] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051235.957151597] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051235.958165553] [sailbot.main_algo]: Target Bearing: -142.09834904887998 +[main_algo-3] [INFO] [1746051235.959056140] [sailbot.main_algo]: Heading Difference: -165.56765095112002 +[main_algo-3] [INFO] [1746051235.960118046] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051235.960963103] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051235.961768967] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051235.962908564] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051235.963325863] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051236.003207078] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904168 Long: -76.50277288 +[main_algo-3] [INFO] [1746051236.004073455] [sailbot.main_algo]: Distance to destination: 56.49135631159048 +[main_algo-3] [INFO] [1746051236.005130285] [sailbot.main_algo]: Target Bearing: -142.11056921031386 +[vectornav-1] [INFO] [1746051236.005857287] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.769000000000005, -0.21, 4.681) +[main_algo-3] [INFO] [1746051236.006048109] [sailbot.main_algo]: Heading Difference: -165.55543078968617 +[main_algo-3] [INFO] [1746051236.006985534] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051236.007849126] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051236.008924610] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051236.010528380] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051236.044859874] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051236.046133942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051236.046330957] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051236.048059947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051236.049404761] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051236.085286854] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051236.087183439] [sailbot.teensy]: Wind angle: 170 +[trim_sail-4] [INFO] [1746051236.087670123] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051236.088121646] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051236.089012923] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051236.089162094] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051236.089906154] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051236.145054622] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051236.145597704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051236.146327546] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051236.147596623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051236.148842277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051236.244764408] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051236.245595808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051236.245975772] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051236.247887035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051236.248897749] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051236.335143731] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051236.337359913] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051236.337666729] [sailbot.teensy]: Wind angle: 170 +[teensy-2] [INFO] [1746051236.338797585] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051236.339692170] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051236.339814752] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051236.340578744] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051236.344230307] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051236.344829939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051236.345348504] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051236.346533828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051236.347600416] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051236.444545009] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051236.445183332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051236.445592642] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051236.446916934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051236.448080785] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051236.457031291] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051236.458120408] [sailbot.main_algo]: Target Bearing: -142.11056921031386 +[main_algo-3] [INFO] [1746051236.459040835] [sailbot.main_algo]: Heading Difference: -164.1204307896861 +[main_algo-3] [INFO] [1746051236.459911533] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051236.460799444] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051236.461598115] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051236.462781688] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051236.463328814] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051236.502448674] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904176 Long: -76.50277307 +[main_algo-3] [INFO] [1746051236.503344676] [sailbot.main_algo]: Distance to destination: 56.484781418557105 +[vectornav-1] [INFO] [1746051236.503590623] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.68700000000001, -0.686, 5.718) +[main_algo-3] [INFO] [1746051236.504332157] [sailbot.main_algo]: Target Bearing: -142.0936039633131 +[main_algo-3] [INFO] [1746051236.505219027] [sailbot.main_algo]: Heading Difference: -164.13739603668694 +[main_algo-3] [INFO] [1746051236.506078816] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051236.506901642] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051236.507720640] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051236.509353800] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051236.544674305] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051236.545267394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051236.546045215] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051236.547079195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051236.548142286] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051236.585211458] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051236.586815221] [sailbot.teensy]: Wind angle: 169 +[trim_sail-4] [INFO] [1746051236.587399481] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051236.587748841] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051236.588694169] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051236.589482538] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051236.589540280] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051236.645172710] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051236.645911808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051236.647444650] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051236.648367403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051236.649624768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051236.744914595] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051236.745438871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051236.746284240] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051236.747353229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051236.748476451] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051236.835333446] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051236.837240395] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051236.838218200] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051236.837921976] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051236.839251053] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051236.839329520] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051236.840265970] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051236.844307967] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051236.844867038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051236.845453435] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051236.847307446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051236.848372838] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051236.944966538] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051236.945630963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051236.946363356] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051236.947544585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051236.948083845] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051236.957160416] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051236.958185377] [sailbot.main_algo]: Target Bearing: -142.0936039633131 +[main_algo-3] [INFO] [1746051236.959087231] [sailbot.main_algo]: Heading Difference: -164.21939603668693 +[main_algo-3] [INFO] [1746051236.959962664] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051236.960859036] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051236.961653795] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051236.962654357] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051236.963419608] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051237.002697838] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904207 Long: -76.50277257 +[main_algo-3] [INFO] [1746051237.003556566] [sailbot.main_algo]: Distance to destination: 56.538395835234674 +[vectornav-1] [INFO] [1746051237.003786757] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.29000000000002, -0.337, 6.002) +[main_algo-3] [INFO] [1746051237.004730335] [sailbot.main_algo]: Target Bearing: -142.09263363952664 +[main_algo-3] [INFO] [1746051237.005669381] [sailbot.main_algo]: Heading Difference: -164.22036636047335 +[main_algo-3] [INFO] [1746051237.006530467] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051237.007344912] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051237.008144922] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051237.009902896] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051237.045052342] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051237.045728112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051237.046496368] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051237.047658917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051237.048865621] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051237.085094573] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051237.087036858] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051237.087204572] [sailbot.teensy]: Wind angle: 169 +[teensy-2] [INFO] [1746051237.088072182] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051237.088117282] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051237.088996640] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051237.089882884] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051237.145116303] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051237.145597053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051237.146493679] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051237.147480701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051237.148669883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051237.245170963] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051237.245470696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051237.246569986] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051237.247547706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051237.248798172] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051237.335296667] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051237.338127407] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051237.338855129] [sailbot.teensy]: Wind angle: 175 +[teensy-2] [INFO] [1746051237.339428323] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051237.339469021] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051237.339805430] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051237.340182102] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051237.344399951] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051237.345025434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051237.345590862] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051237.347084573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051237.348106748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051237.445660570] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051237.446493220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051237.447278649] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051237.448920402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051237.450305860] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051237.457156765] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051237.458199375] [sailbot.main_algo]: Target Bearing: -142.09263363952664 +[main_algo-3] [INFO] [1746051237.459090336] [sailbot.main_algo]: Heading Difference: -163.61736636047334 +[main_algo-3] [INFO] [1746051237.459988166] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051237.460889728] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051237.461742759] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051237.462914068] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051237.463541355] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051237.502494184] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904176 Long: -76.50277233 +[vectornav-1] [INFO] [1746051237.503582611] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.96600000000001, 0.533, 5.479) +[main_algo-3] [INFO] [1746051237.503712232] [sailbot.main_algo]: Distance to destination: 56.53213191219479 +[main_algo-3] [INFO] [1746051237.504936843] [sailbot.main_algo]: Target Bearing: -142.13234583475432 +[main_algo-3] [INFO] [1746051237.505845374] [sailbot.main_algo]: Heading Difference: -163.5776541652457 +[main_algo-3] [INFO] [1746051237.506691543] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051237.507523406] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051237.508342278] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051237.510177074] [sailbot.mux]: algo rudder angle: -25 +[teensy-2] [INFO] [1746051237.545716162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051237.545717762] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051237.547084891] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051237.547566318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051237.548797647] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051237.585151823] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051237.587228147] [sailbot.teensy]: Wind angle: 177 +[teensy-2] [INFO] [1746051237.588304374] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051237.588434536] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051237.589044069] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051237.589223095] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051237.590125205] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051237.644803669] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051237.645811140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051237.646122209] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051237.647726233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051237.648676552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051237.745119530] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051237.746157667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051237.746569415] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051237.748388886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051237.749413087] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051237.835366092] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051237.837714651] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051237.838304869] [sailbot.teensy]: Wind angle: 177 +[teensy-2] [INFO] [1746051237.839631812] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051237.839935495] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051237.840958483] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051237.841850516] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051237.844358192] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051237.844818440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051237.845682047] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051237.846520703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051237.847565418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051237.945268160] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051237.945802571] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051237.947833252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051237.947808118] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051237.948902913] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051237.957097663] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051237.958088422] [sailbot.main_algo]: Target Bearing: -142.13234583475432 +[main_algo-3] [INFO] [1746051237.958921879] [sailbot.main_algo]: Heading Difference: -162.90165416524565 +[main_algo-3] [INFO] [1746051237.959782442] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051237.960606367] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051237.961447868] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051237.962452720] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051237.963103178] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051238.003133784] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904194 Long: -76.50277253 +[main_algo-3] [INFO] [1746051238.003693324] [sailbot.main_algo]: Distance to destination: 56.531885498326545 +[vectornav-1] [INFO] [1746051238.004283655] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.52800000000002, -1.279, 4.048) +[main_algo-3] [INFO] [1746051238.004820895] [sailbot.main_algo]: Target Bearing: -142.1061121233203 +[main_algo-3] [INFO] [1746051238.005751153] [sailbot.main_algo]: Heading Difference: -162.92788787667973 +[main_algo-3] [INFO] [1746051238.006726679] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051238.007562970] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051238.008434733] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051238.010253439] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051238.045006566] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051238.045592888] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051238.046379062] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051238.047481045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051238.048701426] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051238.085263534] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051238.087425871] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051238.087534477] [sailbot.teensy]: Wind angle: 177 +[teensy-2] [INFO] [1746051238.088502446] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051238.089351092] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051238.089446263] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051238.090379321] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051238.145273971] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051238.145802000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051238.146928846] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051238.148147913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051238.149367837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051238.244960626] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051238.245362851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051238.246530808] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051238.247254484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051238.248262395] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051238.335094160] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051238.336646751] [sailbot.teensy]: Wind angle: 177 +[trim_sail-4] [INFO] [1746051238.337312353] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051238.338185786] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051238.339582003] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051238.340806024] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051238.341629594] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051238.344222345] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051238.344938487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051238.345226743] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051238.346481032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051238.347520232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051238.444743827] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051238.445318565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051238.446158486] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051238.447110345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051238.448401270] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051238.457062107] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051238.458076929] [sailbot.main_algo]: Target Bearing: -142.1061121233203 +[main_algo-3] [INFO] [1746051238.458952769] [sailbot.main_algo]: Heading Difference: -163.36588787667972 +[main_algo-3] [INFO] [1746051238.459751963] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051238.460584560] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051238.461370044] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051238.462398014] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051238.462982570] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051238.502831749] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904221 Long: -76.50277248 +[main_algo-3] [INFO] [1746051238.503351222] [sailbot.main_algo]: Distance to destination: 56.55392191411464 +[main_algo-3] [INFO] [1746051238.504365391] [sailbot.main_algo]: Target Bearing: -142.08508856188539 +[vectornav-1] [INFO] [1746051238.504681078] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.47500000000002, -0.275, 5.822) +[main_algo-3] [INFO] [1746051238.505259282] [sailbot.main_algo]: Heading Difference: -163.38691143811457 +[main_algo-3] [INFO] [1746051238.506366646] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051238.507266461] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051238.508078294] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051238.509667645] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051238.545196418] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051238.545269453] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051238.546445031] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051238.547039365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051238.548418530] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051238.585252794] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051238.586996993] [sailbot.teensy]: Wind angle: 177 +[trim_sail-4] [INFO] [1746051238.587618898] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051238.587877677] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051238.588812917] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051238.589023118] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051238.589682577] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051238.644763723] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051238.645499478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051238.645999017] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051238.647418513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051238.648501056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051238.744714718] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051238.745282101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051238.745936993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051238.747055360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051238.747999075] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051238.835050031] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051238.837338689] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051238.837417565] [sailbot.teensy]: Wind angle: 177 +[mux-7] [INFO] [1746051238.837616898] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051238.838981495] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051238.839830260] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051238.840733166] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051238.844293162] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051238.844788672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051238.845466979] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051238.846972508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051238.848082238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051238.945403072] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051238.946212098] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051238.946951812] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051238.947880679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051238.948341830] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051238.957084681] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051238.958047452] [sailbot.main_algo]: Target Bearing: -142.08508856188539 +[main_algo-3] [INFO] [1746051238.958929702] [sailbot.main_algo]: Heading Difference: -164.43991143811456 +[main_algo-3] [INFO] [1746051238.959737686] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051238.960545914] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051238.961351128] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051238.962340108] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051238.962944811] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051239.003764571] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904225 Long: -76.50277221 +[main_algo-3] [INFO] [1746051239.004640636] [sailbot.main_algo]: Distance to destination: 56.57398405580878 +[vectornav-1] [INFO] [1746051239.005053987] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.408000000000015, -0.09, 5.881) +[main_algo-3] [INFO] [1746051239.005772360] [sailbot.main_algo]: Target Bearing: -142.09571637635153 +[main_algo-3] [INFO] [1746051239.006827253] [sailbot.main_algo]: Heading Difference: -164.42928362364842 +[main_algo-3] [INFO] [1746051239.007755456] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051239.008684961] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051239.009541002] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051239.011300202] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051239.044989282] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051239.045640322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051239.046377586] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051239.047620300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051239.048845818] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051239.085227961] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051239.086983749] [sailbot.teensy]: Wind angle: 177 +[trim_sail-4] [INFO] [1746051239.087556677] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051239.087890322] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051239.087913287] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051239.088879055] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051239.089869445] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051239.145160716] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051239.145844705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051239.146646637] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051239.147912373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051239.149123671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051239.244982440] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051239.245658554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051239.246617426] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051239.247502297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051239.248708840] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051239.335195858] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051239.337013092] [sailbot.teensy]: Wind angle: 176 +[trim_sail-4] [INFO] [1746051239.337371906] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051239.337932459] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051239.338901003] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051239.339817300] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051239.339943656] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051239.344454010] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051239.345196112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051239.345592144] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051239.346958103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051239.348103789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051239.445450636] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051239.446498434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051239.447374960] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051239.448719076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051239.449807628] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051239.457148357] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051239.458179368] [sailbot.main_algo]: Target Bearing: -142.09571637635153 +[main_algo-3] [INFO] [1746051239.459059715] [sailbot.main_algo]: Heading Difference: -162.49628362364842 +[main_algo-3] [INFO] [1746051239.459910100] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051239.460718681] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051239.461488062] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051239.462452138] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051239.463072986] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051239.502795934] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904229 Long: -76.50277227 +[main_algo-3] [INFO] [1746051239.503715007] [sailbot.main_algo]: Distance to destination: 56.57293692496819 +[vectornav-1] [INFO] [1746051239.503917556] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.512, -0.664, 4.815) +[main_algo-3] [INFO] [1746051239.504815923] [sailbot.main_algo]: Target Bearing: -142.0890770890231 +[main_algo-3] [INFO] [1746051239.505681431] [sailbot.main_algo]: Heading Difference: -162.50292291097685 +[main_algo-3] [INFO] [1746051239.506537324] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051239.507378607] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051239.508186003] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051239.509769278] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051239.544659878] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051239.545270662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051239.545923118] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051239.547137072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051239.548216344] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051239.585131729] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051239.586627862] [sailbot.teensy]: Wind angle: 175 +[teensy-2] [INFO] [1746051239.587503602] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051239.587089463] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051239.587748596] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051239.588342213] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051239.589137915] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051239.644819706] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051239.645369889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051239.646060327] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051239.647488550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051239.648516943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051239.744682959] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051239.745191791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051239.745829168] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051239.746892803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051239.747890336] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051239.835154641] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051239.837190725] [sailbot.teensy]: Wind angle: 175 +[teensy-2] [INFO] [1746051239.838151719] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051239.837227838] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051239.837925602] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051239.838993739] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051239.839356739] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051239.844316165] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051239.845015541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051239.845422466] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051239.846661693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051239.847591779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051239.944695080] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051239.945301625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051239.945935900] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051239.947072674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051239.948025106] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051239.957068557] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051239.958067481] [sailbot.main_algo]: Target Bearing: -142.0890770890231 +[main_algo-3] [INFO] [1746051239.958952185] [sailbot.main_algo]: Heading Difference: -162.39892291097692 +[main_algo-3] [INFO] [1746051239.959753642] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051239.960608596] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051239.961378983] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051239.962370566] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051239.962845793] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051240.002923283] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904257 Long: -76.50277251 +[main_algo-3] [INFO] [1746051240.004074266] [sailbot.main_algo]: Distance to destination: 56.57713530415094 +[vectornav-1] [INFO] [1746051240.004345120] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.11099999999999, -0.339, 5.809) +[main_algo-3] [INFO] [1746051240.005266206] [sailbot.main_algo]: Target Bearing: -142.0520217870187 +[main_algo-3] [INFO] [1746051240.006271437] [sailbot.main_algo]: Heading Difference: -162.4359782129813 +[main_algo-3] [INFO] [1746051240.007227424] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051240.008137749] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051240.009025399] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051240.010706775] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051240.044908670] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051240.045797567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051240.046570211] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051240.047678687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051240.048870672] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051240.085018385] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051240.086665012] [sailbot.teensy]: Wind angle: 175 +[trim_sail-4] [INFO] [1746051240.087602227] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051240.088324511] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051240.088437921] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051240.089291504] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051240.090134310] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051240.144966147] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051240.145592111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051240.146299475] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051240.147676554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051240.148701123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051240.244718632] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051240.245359369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051240.246277906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051240.247149318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051240.248140186] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051240.335413077] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051240.337711472] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051240.338197026] [sailbot.teensy]: Wind angle: 175 +[teensy-2] [INFO] [1746051240.339136120] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051240.339342898] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051240.340041085] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051240.340779829] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051240.344544517] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051240.345255549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051240.345777139] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051240.347154365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051240.348230730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051240.444815476] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051240.445543414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051240.446169909] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051240.447368069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051240.448482654] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051240.457117451] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051240.458149501] [sailbot.main_algo]: Target Bearing: -142.0520217870187 +[main_algo-3] [INFO] [1746051240.459221185] [sailbot.main_algo]: Heading Difference: -163.8369782129813 +[main_algo-3] [INFO] [1746051240.460073783] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051240.460904824] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051240.461687644] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051240.462673670] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051240.463301498] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051240.502747938] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904277 Long: -76.5027725 +[vectornav-1] [INFO] [1746051240.503931522] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.27199999999999, -0.301, 5.267) +[main_algo-3] [INFO] [1746051240.504243377] [sailbot.main_algo]: Distance to destination: 56.59174419951377 +[main_algo-3] [INFO] [1746051240.505645559] [sailbot.main_algo]: Target Bearing: -142.03505951918243 +[main_algo-3] [INFO] [1746051240.506707145] [sailbot.main_algo]: Heading Difference: -163.85394048081758 +[main_algo-3] [INFO] [1746051240.507628191] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051240.508534009] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051240.509396405] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051240.511101386] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051240.545429146] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051240.546382227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051240.547264270] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051240.548413258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051240.549468537] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051240.585158939] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051240.587153612] [sailbot.teensy]: Wind angle: 175 +[trim_sail-4] [INFO] [1746051240.587253861] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051240.588148868] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051240.589067327] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051240.589369534] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051240.589952175] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051240.645229684] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051240.645989557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051240.646924755] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051240.648302869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051240.649482923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051240.745270818] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051240.745651069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051240.746622884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051240.747680102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051240.748921540] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051240.835301723] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051240.837649105] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051240.837984905] [sailbot.teensy]: Wind angle: 175 +[mux-7] [INFO] [1746051240.838184100] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051240.838789032] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051240.839151043] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051240.839486715] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051240.844297086] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051240.845000735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051240.845380905] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051240.846864524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051240.848048399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051240.945349939] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051240.946180509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051240.946899346] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051240.948212893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051240.949380823] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051240.957158000] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051240.958220978] [sailbot.main_algo]: Target Bearing: -142.03505951918243 +[main_algo-3] [INFO] [1746051240.959125561] [sailbot.main_algo]: Heading Difference: -163.69294048081758 +[main_algo-3] [INFO] [1746051240.959987551] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051240.960894865] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051240.961753209] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051240.962794933] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051240.963617999] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051241.003149693] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904298 Long: -76.50277226 +[main_algo-3] [INFO] [1746051241.004344455] [sailbot.main_algo]: Distance to destination: 56.62175535847953 +[vectornav-1] [INFO] [1746051241.004446881] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.53800000000001, -0.162, 5.677) +[main_algo-3] [INFO] [1746051241.005713106] [sailbot.main_algo]: Target Bearing: -142.029274544047 +[main_algo-3] [INFO] [1746051241.006759063] [sailbot.main_algo]: Heading Difference: -163.69872545595297 +[main_algo-3] [INFO] [1746051241.007733575] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051241.008677542] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051241.009558084] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051241.011275246] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051241.044901578] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051241.046076548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051241.046293765] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051241.048438476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051241.049502897] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051241.085475394] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051241.087461980] [sailbot.teensy]: Wind angle: 175 +[trim_sail-4] [INFO] [1746051241.088241202] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051241.088518393] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051241.088705566] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051241.089472518] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051241.090441379] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051241.144749113] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051241.145506463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051241.146014357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051241.147483827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051241.148538417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051241.244728227] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051241.245257180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051241.245869689] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051241.246927782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051241.247879383] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051241.335050231] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051241.337027214] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051241.337303038] [sailbot.teensy]: Wind angle: 175 +[mux-7] [INFO] [1746051241.337731936] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051241.338688982] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051241.339708657] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051241.340576567] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051241.344304456] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051241.344895894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051241.345429669] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051241.346559802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051241.347572305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051241.445181456] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051241.445906977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051241.446669443] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051241.447961695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051241.449206742] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051241.457159850] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051241.458236517] [sailbot.main_algo]: Target Bearing: -142.029274544047 +[main_algo-3] [INFO] [1746051241.459129883] [sailbot.main_algo]: Heading Difference: -162.432725455953 +[main_algo-3] [INFO] [1746051241.460011061] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051241.460907396] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051241.461748765] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051241.462943595] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051241.463575794] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051241.502980231] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904322 Long: -76.50277212 +[main_algo-3] [INFO] [1746051241.503551959] [sailbot.main_algo]: Distance to destination: 56.6474733333444 +[main_algo-3] [INFO] [1746051241.504663791] [sailbot.main_algo]: Target Bearing: -142.01564383246557 +[vectornav-1] [INFO] [1746051241.504994745] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.85500000000002, -0.7, 4.71) +[main_algo-3] [INFO] [1746051241.505616122] [sailbot.main_algo]: Heading Difference: -162.44635616753442 +[main_algo-3] [INFO] [1746051241.506719785] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051241.507557890] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051241.508387514] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051241.510059999] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051241.544632529] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051241.545244388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051241.545882551] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051241.547061212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051241.548003422] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051241.585290522] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051241.586965548] [sailbot.teensy]: Wind angle: 174 +[teensy-2] [INFO] [1746051241.587903200] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051241.587627895] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051241.588862773] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051241.589554963] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051241.589787823] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051241.644755558] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051241.645334328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051241.646112636] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051241.647914653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051241.649077546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051241.744951064] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051241.745787461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051241.746320323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051241.747916807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051241.748962523] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051241.835097096] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051241.836960484] [sailbot.teensy]: Wind angle: 172 +[trim_sail-4] [INFO] [1746051241.837080133] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051241.837875318] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051241.838731252] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051241.839263458] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051241.839597385] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051241.844184767] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051241.845096938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051241.845265056] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051241.847079491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051241.848274445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051241.945140008] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051241.945924942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051241.946633480] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051241.947734365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051241.948269556] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051241.957134340] [sailbot.main_algo]: Wind Direction: 172 +[main_algo-3] [INFO] [1746051241.958180854] [sailbot.main_algo]: Target Bearing: -142.01564383246557 +[main_algo-3] [INFO] [1746051241.959086244] [sailbot.main_algo]: Heading Difference: -162.1293561675344 +[main_algo-3] [INFO] [1746051241.959925574] [sailbot.main_algo]: Wind Direction: 172 +[main_algo-3] [INFO] [1746051241.960742809] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051241.961542220] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051241.962550486] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051241.963148687] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051242.002926417] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904368 Long: -76.50277214 +[main_algo-3] [INFO] [1746051242.004123968] [sailbot.main_algo]: Distance to destination: 56.67835952110634 +[vectornav-1] [INFO] [1746051242.004338332] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.603999999999985, -0.27, 5.704) +[main_algo-3] [INFO] [1746051242.005497048] [sailbot.main_algo]: Target Bearing: -141.9744626169966 +[main_algo-3] [INFO] [1746051242.006474749] [sailbot.main_algo]: Heading Difference: -162.17053738300342 +[main_algo-3] [INFO] [1746051242.007651623] [sailbot.main_algo]: Wind Direction: 172 +[main_algo-3] [INFO] [1746051242.008624007] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051242.009547804] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051242.011261588] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051242.045058101] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051242.046019615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051242.046398495] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051242.047961052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051242.049016856] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051242.086446609] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051242.088018969] [sailbot.teensy]: Wind angle: 170 +[trim_sail-4] [INFO] [1746051242.088488219] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051242.088953642] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051242.089894292] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051242.090550533] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051242.090735317] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051242.144737592] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051242.145408320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051242.146004708] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051242.147287770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051242.148226115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051242.244576826] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051242.245148349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051242.245745351] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051242.246983516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051242.248213659] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051242.335229400] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051242.336786263] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051242.336887703] [sailbot.teensy]: Wind angle: 170 +[teensy-2] [INFO] [1746051242.337307316] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051242.337438092] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051242.337679955] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051242.338094708] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051242.344424544] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051242.344950787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051242.345500404] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051242.346541083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051242.347621164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051242.444703806] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051242.445295686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051242.446031676] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051242.446956931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051242.447991603] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051242.457048710] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051242.458039058] [sailbot.main_algo]: Target Bearing: -141.9744626169966 +[main_algo-3] [INFO] [1746051242.458992336] [sailbot.main_algo]: Heading Difference: -163.4215373830034 +[main_algo-3] [INFO] [1746051242.459809313] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051242.460615675] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051242.461359234] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051242.462427813] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051242.462798513] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051242.502968529] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904377 Long: -76.50277207 +[main_algo-3] [INFO] [1746051242.503511678] [sailbot.main_algo]: Distance to destination: 56.689125729195844 +[vectornav-1] [INFO] [1746051242.504054198] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.76800000000003, 0.025, 6.043) +[main_algo-3] [INFO] [1746051242.504506983] [sailbot.main_algo]: Target Bearing: -141.97028018806643 +[main_algo-3] [INFO] [1746051242.505415296] [sailbot.main_algo]: Heading Difference: -163.42571981193362 +[main_algo-3] [INFO] [1746051242.506277895] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051242.507147636] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051242.507933740] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051242.509535871] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051242.544614169] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051242.545598240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051242.546039653] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051242.547469266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051242.548475998] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051242.585399900] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051242.587357810] [sailbot.teensy]: Wind angle: 170 +[teensy-2] [INFO] [1746051242.588356379] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051242.589238404] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051242.587798084] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051242.589076987] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051242.590177337] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051242.644788154] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051242.645361866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051242.646085064] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051242.647278626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051242.648405525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051242.744724620] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051242.745234252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051242.745892641] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051242.746996243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051242.747943889] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051242.835071295] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051242.837119774] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051242.837417335] [sailbot.teensy]: Wind angle: 170 +[mux-7] [INFO] [1746051242.838172561] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051242.838507526] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051242.839359338] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051242.840204051] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051242.844358396] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051242.844856480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051242.845423685] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051242.846426771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051242.847399323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051242.944777059] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051242.945386230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051242.946195916] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051242.947249245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051242.948460086] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051242.956976723] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051242.957964269] [sailbot.main_algo]: Target Bearing: -141.97028018806643 +[main_algo-3] [INFO] [1746051242.958811962] [sailbot.main_algo]: Heading Difference: -163.26171981193352 +[main_algo-3] [INFO] [1746051242.959640009] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051242.960453394] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051242.961262311] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051242.962271173] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051242.963149067] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051243.002801134] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904374 Long: -76.50277192 +[main_algo-3] [INFO] [1746051243.003758993] [sailbot.main_algo]: Distance to destination: 56.69660667146823 +[vectornav-1] [INFO] [1746051243.003882725] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.75999999999999, -0.425, 4.29) +[main_algo-3] [INFO] [1746051243.004958188] [sailbot.main_algo]: Target Bearing: -141.9807463264036 +[main_algo-3] [INFO] [1746051243.005861198] [sailbot.main_algo]: Heading Difference: -163.25125367359635 +[main_algo-3] [INFO] [1746051243.006745963] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051243.007625768] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051243.008464762] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051243.010062716] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051243.045216391] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051243.045285206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051243.046710796] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051243.048146297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051243.049255726] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051243.085230174] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051243.087326521] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051243.087683746] [sailbot.teensy]: Wind angle: 170 +[mux-7] [INFO] [1746051243.088409683] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051243.088921518] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051243.089770830] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051243.090571043] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051243.144993042] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051243.145661790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051243.146342140] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051243.147566408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051243.148721431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051243.245096485] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051243.245833034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051243.246413005] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051243.247729178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051243.248905013] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051243.335224124] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051243.337526200] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051243.338067993] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051243.338825007] [sailbot.teensy]: Wind angle: 170 +[teensy-2] [INFO] [1746051243.339750214] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051243.340513043] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051243.340888425] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051243.344540454] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051243.344892356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051243.345740070] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051243.346615951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051243.347660431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051243.445021051] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051243.445596270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051243.446293551] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051243.447483356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051243.448031341] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051243.457187682] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051243.458268683] [sailbot.main_algo]: Target Bearing: -141.9807463264036 +[main_algo-3] [INFO] [1746051243.459177198] [sailbot.main_algo]: Heading Difference: -162.2592536735964 +[main_algo-3] [INFO] [1746051243.459998100] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051243.460819582] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051243.461601667] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051243.462601630] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051243.463275046] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051243.503579009] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904376 Long: -76.50277191 +[main_algo-3] [INFO] [1746051243.503891229] [sailbot.main_algo]: Distance to destination: 56.698644218904356 +[vectornav-1] [INFO] [1746051243.505026892] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.706999999999994, -1.21, 4.815) +[main_algo-3] [INFO] [1746051243.505125315] [sailbot.main_algo]: Target Bearing: -141.97952608137595 +[main_algo-3] [INFO] [1746051243.506090339] [sailbot.main_algo]: Heading Difference: -162.26047391862403 +[main_algo-3] [INFO] [1746051243.506977804] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051243.507845455] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051243.508702747] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051243.510571117] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051243.544873639] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051243.545660559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051243.546135139] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051243.547500257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051243.548733793] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051243.585387139] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051243.587684225] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051243.589184329] [sailbot.teensy]: Wind angle: 172 +[mux-7] [INFO] [1746051243.589287930] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051243.590148840] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051243.591065464] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051243.591944616] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051243.644872761] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051243.645682722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051243.646130926] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051243.647548198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051243.648580204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051243.745043171] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051243.745960276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051243.746496849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051243.748062941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051243.749277323] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051243.835304502] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051243.837611142] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051243.839093194] [sailbot.teensy]: Wind angle: 175 +[mux-7] [INFO] [1746051243.839337664] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051243.840070793] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051243.840989000] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051243.841885465] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051243.844342816] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051243.844998377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051243.845444088] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051243.846596168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051243.847649006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051243.944687439] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051243.945341465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051243.946078693] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051243.947152204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051243.948216899] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051243.957062678] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051243.958071328] [sailbot.main_algo]: Target Bearing: -141.97952608137595 +[main_algo-3] [INFO] [1746051243.958965004] [sailbot.main_algo]: Heading Difference: -162.31347391862403 +[main_algo-3] [INFO] [1746051243.959842297] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051243.960703951] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051243.961495521] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051243.962534819] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051243.964029513] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051244.002773940] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904414 Long: -76.50277201 +[main_algo-3] [INFO] [1746051244.003728539] [sailbot.main_algo]: Distance to destination: 56.718849231665395 +[vectornav-1] [INFO] [1746051244.003854253] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.315, 0.852, 5.936) +[main_algo-3] [INFO] [1746051244.005038068] [sailbot.main_algo]: Target Bearing: -141.9411805915859 +[main_algo-3] [INFO] [1746051244.006000368] [sailbot.main_algo]: Heading Difference: -162.35181940841414 +[main_algo-3] [INFO] [1746051244.006954375] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051244.007814057] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051244.008686102] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051244.010444623] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051244.044962806] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051244.045654138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051244.046309600] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051244.047480772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051244.048622543] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051244.085365347] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051244.087263093] [sailbot.teensy]: Wind angle: 179 +[teensy-2] [INFO] [1746051244.088218243] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051244.087725917] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051244.088556660] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051244.089089035] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051244.089990751] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051244.145029894] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051244.145688189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051244.146806335] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051244.147577523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051244.148193159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051244.244713410] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051244.245310111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051244.246252282] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051244.247114270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051244.248079902] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051244.335200159] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051244.337271897] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051244.337730329] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051244.338337309] [sailbot.teensy]: Wind angle: 181 +[teensy-2] [INFO] [1746051244.339793700] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051244.340738806] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051244.341547697] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051244.344258466] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051244.344879277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051244.345410041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051244.346487934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051244.347552298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051244.444764443] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051244.445510791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051244.445992171] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051244.447195187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051244.448342905] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051244.457082418] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051244.458072668] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746051244.459008030] [sailbot.main_algo]: Target Bearing: -141.9411805915859 +[main_algo-3] [INFO] [1746051244.459917665] [sailbot.main_algo]: Heading Difference: -162.74381940841408 +[main_algo-3] [INFO] [1746051244.460783434] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051244.461613140] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051244.462425455] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051244.463513522] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051244.463947626] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051244.502763983] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904402 Long: -76.50277223 +[main_algo-3] [INFO] [1746051244.503780909] [sailbot.main_algo]: Distance to destination: 56.69640590231734 +[vectornav-1] [INFO] [1746051244.503863409] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.726999999999975, -0.715, 5.631) +[main_algo-3] [INFO] [1746051244.504967729] [sailbot.main_algo]: Target Bearing: -141.94011398243205 +[main_algo-3] [INFO] [1746051244.505961877] [sailbot.main_algo]: Heading Difference: -162.74488601756798 +[main_algo-3] [INFO] [1746051244.506880155] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051244.507706083] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051244.508523711] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051244.510139332] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051244.545091501] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051244.545118849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051244.546446972] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051244.546893532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051244.547913615] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051244.585098739] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051244.586546860] [sailbot.teensy]: Wind angle: 181 +[teensy-2] [INFO] [1746051244.587393568] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051244.587050813] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051244.588243054] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051244.588551439] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051244.589058985] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051244.644898446] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051244.645792036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051244.646318147] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051244.647660288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051244.648785143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051244.744717135] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051244.745561248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051244.745891444] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051244.747460698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051244.748562681] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051244.835363812] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051244.837630542] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051244.838945456] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051244.839273877] [sailbot.teensy]: Wind angle: 181 +[teensy-2] [INFO] [1746051244.840219448] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051244.841098667] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051244.841922038] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051244.844298934] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051244.844969449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051244.845319568] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051244.846628292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051244.847641710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051244.945215422] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051244.945801442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051244.946459599] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051244.947590527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051244.948639708] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051244.957209345] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051244.958214088] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746051244.959069444] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051244.960284672] [sailbot.main_algo]: Current Location: (42.4690440221475, -76.50277223005445) +[main_algo-3] [INFO] [1746051244.961139321] [sailbot.main_algo]: Target Bearing: -141.94011398243205 +[main_algo-3] [INFO] [1746051244.961954819] [sailbot.main_algo]: Heading Difference: -162.33288601756794 +[main_algo-3] [INFO] [1746051244.962732450] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051244.963507701] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051244.964282293] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051244.965269855] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051244.966187918] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051245.002527475] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904399 Long: -76.50277209 +[vectornav-1] [INFO] [1746051245.003620137] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.64699999999999, -0.841, 5.439) +[main_algo-3] [INFO] [1746051245.003655066] [sailbot.main_algo]: Distance to destination: 56.703242987091045 +[main_algo-3] [INFO] [1746051245.005097749] [sailbot.main_algo]: Target Bearing: -141.95005918391212 +[main_algo-3] [INFO] [1746051245.006223717] [sailbot.main_algo]: Heading Difference: -162.3229408160879 +[main_algo-3] [INFO] [1746051245.007209067] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051245.008138126] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051245.008993980] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051245.010628113] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051245.044628988] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051245.045268102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051245.045791367] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051245.046962492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051245.048008211] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051245.085044727] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051245.086920575] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051245.087098359] [sailbot.teensy]: Wind angle: 181 +[teensy-2] [INFO] [1746051245.087916365] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051245.088737697] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051245.088855364] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051245.089556640] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051245.144701500] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051245.145238924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051245.145876128] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051245.146912826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051245.148052796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051245.244666477] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051245.245281124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051245.245837263] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051245.247191096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051245.248279222] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051245.335074543] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051245.337206652] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051245.337593277] [sailbot.teensy]: Wind angle: 181 +[mux-7] [INFO] [1746051245.338173040] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051245.339246522] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051245.340143854] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051245.341179123] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051245.344201682] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051245.344672744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051245.345226346] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051245.346252376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051245.347224824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051245.444666779] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051245.445291473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051245.445903252] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051245.447044144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051245.447774112] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051245.456987458] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051245.457905615] [sailbot.main_algo]: Target Bearing: -141.95005918391212 +[main_algo-3] [INFO] [1746051245.458742581] [sailbot.main_algo]: Heading Difference: -161.4029408160879 +[main_algo-3] [INFO] [1746051245.459565488] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051245.460331821] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051245.461082847] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051245.462167338] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051245.462540067] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051245.502872191] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904414 Long: -76.50277222 +[main_algo-3] [INFO] [1746051245.503532436] [sailbot.main_algo]: Distance to destination: 56.70544554646558 +[vectornav-1] [INFO] [1746051245.504366748] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.178, 0.16, 4.897) +[main_algo-3] [INFO] [1746051245.504571656] [sailbot.main_algo]: Target Bearing: -141.93018381000118 +[main_algo-3] [INFO] [1746051245.505433284] [sailbot.main_algo]: Heading Difference: -161.4228161899988 +[main_algo-3] [INFO] [1746051245.506266684] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051245.507092292] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051245.507926002] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051245.509720016] [sailbot.mux]: algo rudder angle: -25 +[teensy-2] [INFO] [1746051245.545311884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051245.545870992] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051245.547033726] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051245.547522458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051245.548564573] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051245.585311863] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051245.587392956] [sailbot.teensy]: Wind angle: 180 +[trim_sail-4] [INFO] [1746051245.587438008] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051245.588309854] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051245.589225716] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051245.589461749] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051245.590128677] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051245.644879519] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051245.645416359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051245.646098556] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051245.647514146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051245.648593490] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051245.744488042] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051245.745235837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051245.746173692] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051245.746960939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051245.747905091] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051245.835110643] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051245.836643100] [sailbot.teensy]: Wind angle: 182 +[teensy-2] [INFO] [1746051245.837445180] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051245.837272924] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051245.837794325] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051245.838251480] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051245.839032888] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051245.844421642] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051245.844885724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051245.845474601] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051245.846443079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051245.847442682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051245.944797755] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051245.945379857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051245.946035251] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051245.947078241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051245.948205535] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051245.956999134] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051245.957989230] [sailbot.main_algo]: Target Bearing: -141.93018381000118 +[main_algo-3] [INFO] [1746051245.958857861] [sailbot.main_algo]: Heading Difference: -161.89181618999885 +[main_algo-3] [INFO] [1746051245.959652003] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051245.960484580] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051245.961276046] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051245.962243932] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051245.962999374] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051246.002754599] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904432 Long: -76.50277218 +[main_algo-3] [INFO] [1746051246.003674580] [sailbot.main_algo]: Distance to destination: 56.72060343620898 +[vectornav-1] [INFO] [1746051246.003856933] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.113999999999976, -1.324, 6.084) +[main_algo-3] [INFO] [1746051246.004824285] [sailbot.main_algo]: Target Bearing: -141.91660400969752 +[main_algo-3] [INFO] [1746051246.005815174] [sailbot.main_algo]: Heading Difference: -161.9053959903025 +[main_algo-3] [INFO] [1746051246.006921978] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051246.007844570] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051246.009006046] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051246.010834876] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051246.044813190] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051246.045294458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051246.046123186] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051246.047142119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051246.048172163] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051246.085209988] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051246.086864226] [sailbot.teensy]: Wind angle: 184 +[trim_sail-4] [INFO] [1746051246.087316311] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051246.087728165] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051246.088424386] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051246.088583907] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051246.089490220] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051246.144685846] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051246.145604606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051246.145886849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051246.147276581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051246.148226043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051246.244703778] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051246.245291703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051246.245937036] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051246.247125318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051246.248201717] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051246.335235706] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051246.337374836] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051246.337787494] [sailbot.teensy]: Wind angle: 184 +[mux-7] [INFO] [1746051246.338425380] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051246.338674599] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051246.339558351] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051246.340432078] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051246.344338044] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051246.344839778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051246.345488273] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051246.346575302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051246.347652133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051246.445020520] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051246.445493408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051246.446333171] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051246.447386664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051246.448425371] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051246.457105622] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051246.458077530] [sailbot.main_algo]: Target Bearing: -141.91660400969752 +[main_algo-3] [INFO] [1746051246.458940801] [sailbot.main_algo]: Heading Difference: -161.96939599030247 +[main_algo-3] [INFO] [1746051246.459754515] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051246.460615031] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051246.461473486] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051246.462502492] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051246.463219901] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051246.502859272] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904464 Long: -76.50277192 +[main_algo-3] [INFO] [1746051246.503404357] [sailbot.main_algo]: Distance to destination: 56.759608338169336 +[vectornav-1] [INFO] [1746051246.503978467] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.80099999999999, 1.151, 5.349) +[main_algo-3] [INFO] [1746051246.504747737] [sailbot.main_algo]: Target Bearing: -141.90237224049747 +[main_algo-3] [INFO] [1746051246.505762140] [sailbot.main_algo]: Heading Difference: -161.98362775950255 +[main_algo-3] [INFO] [1746051246.506619609] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051246.507442816] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051246.508237514] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051246.509851316] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051246.544653039] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051246.545200951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051246.545906267] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051246.546911961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051246.547966029] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051246.585279432] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051246.587423225] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051246.588180958] [sailbot.teensy]: Wind angle: 184 +[mux-7] [INFO] [1746051246.589067987] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051246.589116602] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051246.589966539] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051246.590764611] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051246.644747242] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051246.645347658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051246.645910967] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051246.647206197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051246.648202886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051246.744953509] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051246.746716585] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051246.746926650] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051246.748250524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051246.748759757] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051246.835065298] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051246.837312825] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051246.837618398] [sailbot.teensy]: Wind angle: 182 +[teensy-2] [INFO] [1746051246.838768324] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051246.839195323] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051246.839746996] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051246.840610335] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051246.844322029] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051246.845098295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051246.845355482] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051246.846689615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051246.847648362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051246.944692551] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051246.945264908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051246.946165555] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051246.947317747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051246.948288826] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051246.957045895] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051246.958064387] [sailbot.main_algo]: Target Bearing: -141.90237224049747 +[main_algo-3] [INFO] [1746051246.958928527] [sailbot.main_algo]: Heading Difference: -161.29662775950254 +[main_algo-3] [INFO] [1746051246.959728459] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051246.960548354] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051246.961337924] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051246.962342871] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051246.963104282] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051247.002991008] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904475 Long: -76.50277204 +[vectornav-1] [INFO] [1746051247.004098280] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.894000000000005, -0.837, 4.345) +[main_algo-3] [INFO] [1746051247.004261801] [sailbot.main_algo]: Distance to destination: 56.75966156510822 +[main_algo-3] [INFO] [1746051247.005351210] [sailbot.main_algo]: Target Bearing: -141.88652072165934 +[main_algo-3] [INFO] [1746051247.006285796] [sailbot.main_algo]: Heading Difference: -161.31247927834067 +[main_algo-3] [INFO] [1746051247.007224087] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051247.008094554] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051247.009512156] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051247.011193157] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051247.044604160] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051247.045191263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051247.045768782] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051247.046919965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051247.047937962] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051247.085150746] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051247.087156360] [sailbot.teensy]: Wind angle: 180 +[trim_sail-4] [INFO] [1746051247.087905852] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051247.088805802] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051247.089628232] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051247.090558025] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051247.091535117] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051247.145190771] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051247.145801698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051247.146576906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051247.147733904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051247.148869589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051247.245256419] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051247.245887517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051247.246763367] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051247.247892911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051247.248959476] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051247.335593265] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051247.337640924] [sailbot.teensy]: Wind angle: 176 +[teensy-2] [INFO] [1746051247.338663325] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051247.338720718] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051247.339283632] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051247.339555669] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051247.339660809] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051247.344577772] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051247.345173480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051247.345751811] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051247.346939624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051247.348094586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051247.445512379] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051247.446218986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051247.447094750] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051247.448553647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051247.449842846] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051247.457111588] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051247.458199050] [sailbot.main_algo]: Target Bearing: -141.88652072165934 +[main_algo-3] [INFO] [1746051247.459144981] [sailbot.main_algo]: Heading Difference: -161.21947927834066 +[main_algo-3] [INFO] [1746051247.460026376] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051247.460938421] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051247.461843136] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051247.462988307] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051247.463563548] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051247.502880911] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904493 Long: -76.5027723 +[main_algo-3] [INFO] [1746051247.503991840] [sailbot.main_algo]: Distance to destination: 56.75570074010408 +[vectornav-1] [INFO] [1746051247.504323301] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.372000000000014, -0.766, 5.979) +[main_algo-3] [INFO] [1746051247.505122772] [sailbot.main_algo]: Target Bearing: -141.85724676671802 +[main_algo-3] [INFO] [1746051247.506655670] [sailbot.main_algo]: Heading Difference: -161.24875323328195 +[main_algo-3] [INFO] [1746051247.507654573] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051247.508591214] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051247.509463423] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051247.511150247] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051247.544907389] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051247.545729723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051247.546165948] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051247.547538236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051247.548614517] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051247.585449332] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051247.587720498] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051247.588144432] [sailbot.teensy]: Wind angle: 172 +[teensy-2] [INFO] [1746051247.589358168] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051247.590160697] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051247.590244730] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051247.591111783] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051247.645010860] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051247.645961091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051247.646305722] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051247.647742037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051247.648787400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051247.745210797] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051247.746459806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051247.747306777] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051247.748143745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051247.748615702] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051247.835166355] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051247.836915377] [sailbot.teensy]: Wind angle: 168 +[trim_sail-4] [INFO] [1746051247.837470923] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051247.838606610] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051247.838718884] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051247.839129969] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051247.839497189] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051247.844384787] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051247.844907059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051247.845511368] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051247.846570456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051247.847758235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051247.945002175] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051247.945675492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051247.946460222] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051247.947809367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051247.948996735] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051247.957254745] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051247.958382141] [sailbot.main_algo]: Target Bearing: -141.85724676671802 +[main_algo-3] [INFO] [1746051247.959319082] [sailbot.main_algo]: Heading Difference: -161.770753233282 +[main_algo-3] [INFO] [1746051247.960232452] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051247.961160920] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051247.962122521] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051247.963376379] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051247.963780362] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051248.002904004] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904499 Long: -76.50277192 +[main_algo-3] [INFO] [1746051248.003804173] [sailbot.main_algo]: Distance to destination: 56.78413762296992 +[vectornav-1] [INFO] [1746051248.004037421] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.728999999999985, 1.08, 4.951) +[main_algo-3] [INFO] [1746051248.004942181] [sailbot.main_algo]: Target Bearing: -141.87194042035705 +[main_algo-3] [INFO] [1746051248.005894915] [sailbot.main_algo]: Heading Difference: -161.75605957964297 +[main_algo-3] [INFO] [1746051248.006806488] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051248.007710407] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051248.008577838] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051248.010339951] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051248.044745159] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051248.045646055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051248.045921265] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051248.047526734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051248.048577095] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051248.085400496] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051248.087627271] [sailbot.teensy]: Wind angle: 169 +[trim_sail-4] [INFO] [1746051248.087725609] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051248.088714201] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051248.089318601] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051248.089644140] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051248.090601301] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051248.145067075] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051248.145864036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051248.146543325] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051248.147834357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051248.148306624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051248.244944825] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051248.246130580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051248.246252887] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051248.248118433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051248.249704945] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051248.335354239] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051248.337568688] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051248.337597738] [sailbot.teensy]: Wind angle: 171 +[teensy-2] [INFO] [1746051248.338523752] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051248.339161413] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051248.339639940] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051248.341047572] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051248.344325050] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051248.345003813] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051248.345665931] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051248.346632048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051248.347757967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051248.444920783] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051248.445541360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051248.446183747] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051248.447312289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051248.448518486] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051248.457317956] [sailbot.main_algo]: Wind Direction: 171 +[main_algo-3] [INFO] [1746051248.458386119] [sailbot.main_algo]: Target Bearing: -141.87194042035705 +[main_algo-3] [INFO] [1746051248.459284879] [sailbot.main_algo]: Heading Difference: -162.399059579643 +[main_algo-3] [INFO] [1746051248.460173850] [sailbot.main_algo]: Wind Direction: 171 +[main_algo-3] [INFO] [1746051248.461046650] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051248.461874529] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051248.462881392] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051248.463811513] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051248.502668360] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690449 Long: -76.50277229 +[vectornav-1] [INFO] [1746051248.503722673] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.012, -1.597, 4.632) +[main_algo-3] [INFO] [1746051248.503782392] [sailbot.main_algo]: Distance to destination: 56.75423452530685 +[main_algo-3] [INFO] [1746051248.504817672] [sailbot.main_algo]: Target Bearing: -141.8603790608415 +[main_algo-3] [INFO] [1746051248.505748848] [sailbot.main_algo]: Heading Difference: -162.41062093915855 +[main_algo-3] [INFO] [1746051248.506658015] [sailbot.main_algo]: Wind Direction: 171 +[main_algo-3] [INFO] [1746051248.507600603] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051248.508484867] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051248.510142043] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051248.544940535] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051248.545620028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051248.546182899] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051248.547512078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051248.548569192] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051248.585188686] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051248.586712979] [sailbot.teensy]: Wind angle: 172 +[teensy-2] [INFO] [1746051248.587614313] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051248.587597400] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051248.588579880] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051248.589258472] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051248.589495508] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051248.645129975] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051248.645763205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051248.646613050] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051248.647746320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051248.648844134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051248.745017266] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051248.746575893] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051248.748743515] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051248.750295432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051248.751155114] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051248.835349934] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051248.837567435] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051248.838660910] [sailbot.teensy]: Wind angle: 172 +[mux-7] [INFO] [1746051248.839164488] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051248.839676985] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051248.840641210] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051248.841457488] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051248.844260105] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051248.844918464] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051248.845428164] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051248.847094443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051248.848298218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051248.945243266] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051248.945788858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051248.946670172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051248.947730538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051248.948776120] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051248.957155469] [sailbot.main_algo]: Wind Direction: 172 +[main_algo-3] [INFO] [1746051248.958161038] [sailbot.main_algo]: Target Bearing: -141.8603790608415 +[main_algo-3] [INFO] [1746051248.959053405] [sailbot.main_algo]: Heading Difference: -160.12762093915853 +[main_algo-3] [INFO] [1746051248.959883059] [sailbot.main_algo]: Wind Direction: 172 +[main_algo-3] [INFO] [1746051248.960702133] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051248.961522556] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051248.962559229] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051248.963169597] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051249.003160969] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904517 Long: -76.50277239 +[main_algo-3] [INFO] [1746051249.003966503] [sailbot.main_algo]: Distance to destination: 56.76679922248223 +[vectornav-1] [INFO] [1746051249.005054205] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.84500000000003, 0.158, 6.445) +[main_algo-3] [INFO] [1746051249.005994352] [sailbot.main_algo]: Target Bearing: -141.83166993184932 +[main_algo-3] [INFO] [1746051249.007223802] [sailbot.main_algo]: Heading Difference: -160.15633006815068 +[main_algo-3] [INFO] [1746051249.008628066] [sailbot.main_algo]: Wind Direction: 172 +[main_algo-3] [INFO] [1746051249.009646605] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051249.010480779] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051249.012080541] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051249.045153893] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051249.045215942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051249.046372176] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051249.047088192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051249.048198734] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051249.085119479] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051249.086651318] [sailbot.teensy]: Wind angle: 173 +[trim_sail-4] [INFO] [1746051249.087190545] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051249.087511962] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051249.088393173] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051249.088875649] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051249.089246674] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051249.144880240] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051249.145576696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051249.146176839] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051249.147496253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051249.148443778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051249.244703231] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051249.245503665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051249.245908919] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051249.247417914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051249.248599626] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051249.335355060] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051249.338307722] [sailbot.teensy]: Wind angle: 174 +[trim_sail-4] [INFO] [1746051249.338600833] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051249.339124043] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051249.339713842] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051249.340104081] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051249.340475569] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051249.344347594] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051249.344887384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051249.345488756] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051249.346785469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051249.347844687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051249.444765256] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051249.445279362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051249.445941595] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051249.446996612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051249.448075397] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051249.457038223] [sailbot.main_algo]: Wind Direction: 174 +[main_algo-3] [INFO] [1746051249.457997121] [sailbot.main_algo]: Target Bearing: -141.83166993184932 +[main_algo-3] [INFO] [1746051249.458907192] [sailbot.main_algo]: Heading Difference: -162.32333006815065 +[main_algo-3] [INFO] [1746051249.459733074] [sailbot.main_algo]: Wind Direction: 174 +[main_algo-3] [INFO] [1746051249.460571969] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051249.461385938] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051249.462399864] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051249.462937782] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051249.503185086] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690453 Long: -76.50277215 +[main_algo-3] [INFO] [1746051249.503506920] [sailbot.main_algo]: Distance to destination: 56.79121684266855 +[main_algo-3] [INFO] [1746051249.504791875] [sailbot.main_algo]: Target Bearing: -141.8329577290233 +[vectornav-1] [INFO] [1746051249.504813525] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.418000000000006, -0.592, 5.113) +[main_algo-3] [INFO] [1746051249.505736207] [sailbot.main_algo]: Heading Difference: -162.32204227097668 +[main_algo-3] [INFO] [1746051249.506604875] [sailbot.main_algo]: Wind Direction: 174 +[main_algo-3] [INFO] [1746051249.507433946] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051249.508220396] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051249.509911564] [sailbot.mux]: algo rudder angle: -25 +[teensy-2] [INFO] [1746051249.545176093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051249.545231554] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051249.546529416] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051249.546867785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051249.548201261] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051249.585299949] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051249.587663593] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051249.589120713] [sailbot.teensy]: Wind angle: 175 +[mux-7] [INFO] [1746051249.589342906] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051249.590021012] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051249.590857941] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051249.591632286] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051249.644770023] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051249.645301673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051249.646005147] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051249.647212315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051249.648194368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051249.744764620] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051249.745264446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051249.746025280] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051249.746995447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051249.747955501] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051249.835134046] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051249.836824875] [sailbot.teensy]: Wind angle: 175 +[trim_sail-4] [INFO] [1746051249.837524115] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051249.837721291] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051249.838563202] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051249.838729408] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051249.839393659] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051249.844249765] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051249.844856759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051249.845268867] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051249.846444372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051249.847355685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051249.944946574] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051249.945716221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051249.946224691] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051249.947688136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051249.948752636] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051249.957241932] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051249.958357263] [sailbot.main_algo]: Target Bearing: -141.8329577290233 +[main_algo-3] [INFO] [1746051249.959323749] [sailbot.main_algo]: Heading Difference: -161.7490422709767 +[main_algo-3] [INFO] [1746051249.960216999] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051249.961066744] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051249.961890015] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051249.962938350] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051249.963658755] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051250.002832765] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904537 Long: -76.50277238 +[main_algo-3] [INFO] [1746051250.003885434] [sailbot.main_algo]: Distance to destination: 56.78147242105793 +[vectornav-1] [INFO] [1746051250.004030991] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.045000000000016, 0.296, 5.437) +[main_algo-3] [INFO] [1746051250.005028130] [sailbot.main_algo]: Target Bearing: -141.81482115189831 +[main_algo-3] [INFO] [1746051250.005990253] [sailbot.main_algo]: Heading Difference: -161.7671788481017 +[main_algo-3] [INFO] [1746051250.006902583] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051250.007799479] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051250.008728412] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051250.010445138] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051250.045252976] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051250.045725251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051250.046942293] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051250.047954558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051250.049155569] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051250.085747387] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051250.088292014] [sailbot.teensy]: Wind angle: 175 +[trim_sail-4] [INFO] [1746051250.088689460] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051250.089318108] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051250.090241830] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051250.091039066] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051250.091110215] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051250.145062349] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051250.145742192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051250.146408589] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051250.147638802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051250.148840156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051250.244875038] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051250.245389620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051250.246133110] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051250.247172546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051250.248116240] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051250.335184658] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051250.337307586] [sailbot.teensy]: Wind angle: 175 +[trim_sail-4] [INFO] [1746051250.337413131] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051250.338608246] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051250.338884647] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051250.339754015] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051250.340263988] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051250.344307761] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051250.344930187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051250.345452217] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051250.346533379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051250.347525411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051250.444693367] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051250.445302795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051250.446125054] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051250.447048273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051250.448140882] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051250.457128577] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051250.458356756] [sailbot.main_algo]: Target Bearing: -141.81482115189831 +[main_algo-3] [INFO] [1746051250.459526219] [sailbot.main_algo]: Heading Difference: -160.14017884810164 +[main_algo-3] [INFO] [1746051250.460450819] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051250.461251801] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051250.462020171] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051250.463047654] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051250.463936489] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051250.502630930] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904544 Long: -76.50277246 +[main_algo-3] [INFO] [1746051250.503495138] [sailbot.main_algo]: Distance to destination: 56.78128939311711 +[vectornav-1] [INFO] [1746051250.503704516] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.281000000000006, -1.314, 5.063) +[main_algo-3] [INFO] [1746051250.504721776] [sailbot.main_algo]: Target Bearing: -141.80454704327843 +[main_algo-3] [INFO] [1746051250.505653001] [sailbot.main_algo]: Heading Difference: -160.15045295672155 +[main_algo-3] [INFO] [1746051250.506562126] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051250.507434908] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051250.508462224] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051250.510486367] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051250.544779041] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051250.545286503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051250.546012697] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051250.547032234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051250.548051716] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051250.585058721] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051250.587217093] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051250.587264356] [sailbot.teensy]: Wind angle: 176 +[mux-7] [INFO] [1746051250.587934505] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051250.588117744] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051250.589431308] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051250.590390727] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051250.644753376] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051250.645268216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051250.645984362] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051250.647057743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051250.648037593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051250.744851247] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051250.745482862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051250.746694100] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051250.747489756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051250.748517848] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051250.835332358] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051250.837553941] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051250.839118143] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051250.839421811] [sailbot.teensy]: Wind angle: 176 +[teensy-2] [INFO] [1746051250.840433989] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051250.841324570] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051250.842841502] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051250.844436651] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051250.845594934] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051250.845681230] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051250.847349574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051250.848423973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051250.944741768] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051250.945306068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051250.945943215] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051250.946992211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051250.948079306] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051250.957022577] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051250.958028017] [sailbot.main_algo]: Target Bearing: -141.80454704327843 +[main_algo-3] [INFO] [1746051250.958889042] [sailbot.main_algo]: Heading Difference: -160.91445295672156 +[main_algo-3] [INFO] [1746051250.959703212] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051250.960528369] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051250.961628607] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051250.962649566] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051250.963516945] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051251.002242004] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904574 Long: -76.50277256 +[main_algo-3] [INFO] [1746051251.003197379] [sailbot.main_algo]: Distance to destination: 56.79598937736153 +[vectornav-1] [INFO] [1746051251.003243274] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.666, 0.406, 5.736) +[main_algo-3] [INFO] [1746051251.004675984] [sailbot.main_algo]: Target Bearing: -141.77326075374063 +[main_algo-3] [INFO] [1746051251.005637255] [sailbot.main_algo]: Heading Difference: -160.94573924625934 +[main_algo-3] [INFO] [1746051251.006477359] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051251.007324186] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051251.008144388] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051251.009759467] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051251.045087774] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051251.045642802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051251.046404956] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051251.047479126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051251.048569278] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051251.085140292] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051251.086850993] [sailbot.teensy]: Wind angle: 175 +[teensy-2] [INFO] [1746051251.087794912] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051251.087441087] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051251.088517892] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051251.088722949] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051251.089625519] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051251.144714631] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051251.145409748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051251.146035233] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051251.147218669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051251.148319178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051251.244797468] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051251.245976126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051251.246009528] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051251.247681862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051251.248628577] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051251.335458773] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051251.337708838] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051251.337728334] [sailbot.teensy]: Wind angle: 177 +[teensy-2] [INFO] [1746051251.338591501] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051251.338773627] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051251.339632864] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051251.340530850] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051251.344298164] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051251.344802949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051251.345335994] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051251.346354363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051251.347427251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051251.444606584] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051251.445645403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051251.445727745] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051251.447362601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051251.448347756] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051251.457064779] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051251.458071802] [sailbot.main_algo]: Target Bearing: -141.77326075374063 +[main_algo-3] [INFO] [1746051251.458981591] [sailbot.main_algo]: Heading Difference: -163.56073924625935 +[main_algo-3] [INFO] [1746051251.459849244] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051251.460687450] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051251.461465542] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051251.462449314] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051251.463160634] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051251.502537165] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904582 Long: -76.50277267 +[main_algo-3] [INFO] [1746051251.503558628] [sailbot.main_algo]: Distance to destination: 56.79460637251811 +[vectornav-1] [INFO] [1746051251.503582562] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.726, -0.492, 3.905) +[main_algo-3] [INFO] [1746051251.504684988] [sailbot.main_algo]: Target Bearing: -141.760547037584 +[main_algo-3] [INFO] [1746051251.505607966] [sailbot.main_algo]: Heading Difference: -163.573452962416 +[main_algo-3] [INFO] [1746051251.506442402] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051251.507318527] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051251.508168441] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051251.509737080] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051251.544654230] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051251.545363289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051251.545962584] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051251.547130392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051251.548189428] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051251.585106521] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051251.586730376] [sailbot.teensy]: Wind angle: 177 +[trim_sail-4] [INFO] [1746051251.587551210] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051251.588257408] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051251.588629083] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051251.589372744] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051251.590185992] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051251.645033392] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051251.646089395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051251.646466817] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051251.649459245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051251.650491423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051251.745016020] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051251.745807216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051251.746304462] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051251.747704165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051251.749057810] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051251.835050605] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051251.837114938] [sailbot.teensy]: Wind angle: 177 +[trim_sail-4] [INFO] [1746051251.837225162] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051251.838122120] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051251.838868726] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051251.838994892] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051251.839838794] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051251.844596635] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051251.845058218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051251.845713690] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051251.846701686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051251.847758415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051251.944767619] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051251.945751420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051251.946362780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051251.947639464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051251.948409611] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051251.956964426] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051251.957936755] [sailbot.main_algo]: Target Bearing: -141.760547037584 +[main_algo-3] [INFO] [1746051251.958758584] [sailbot.main_algo]: Heading Difference: -162.513452962416 +[main_algo-3] [INFO] [1746051251.959574567] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051251.960580599] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051251.961350885] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051251.962275271] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051251.963195141] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051252.003025731] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904596 Long: -76.50277289 +[main_algo-3] [INFO] [1746051252.004146228] [sailbot.main_algo]: Distance to destination: 56.7904425391686 +[vectornav-1] [INFO] [1746051252.004266890] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.071000000000026, -0.348, 4.767) +[main_algo-3] [INFO] [1746051252.005439068] [sailbot.main_algo]: Target Bearing: -141.73685239024394 +[main_algo-3] [INFO] [1746051252.006767044] [sailbot.main_algo]: Heading Difference: -162.53714760975606 +[main_algo-3] [INFO] [1746051252.007693039] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051252.008575994] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051252.009421816] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051252.011106166] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051252.045240781] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051252.045344232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051252.046456398] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051252.047857333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051252.048868934] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051252.085358014] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051252.087547936] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051252.087936527] [sailbot.teensy]: Wind angle: 176 +[teensy-2] [INFO] [1746051252.088890373] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051252.089701220] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051252.089740694] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051252.090565069] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051252.144880936] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051252.145689046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051252.146154813] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051252.147668074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051252.148672792] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051252.244734454] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051252.245485345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051252.245924921] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051252.247309707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051252.248111349] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051252.335297664] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051252.337484948] [sailbot.teensy]: Wind angle: 175 +[trim_sail-4] [INFO] [1746051252.337636653] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051252.338907801] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051252.339241033] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051252.340266247] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051252.341312301] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051252.344363926] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051252.344842283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051252.345452576] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051252.346591855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051252.347629931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051252.444762355] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051252.445407953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051252.445950164] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051252.447156325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051252.448084628] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051252.456989293] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051252.457929980] [sailbot.main_algo]: Target Bearing: -141.73685239024394 +[main_algo-3] [INFO] [1746051252.458830034] [sailbot.main_algo]: Heading Difference: -162.19214760975603 +[main_algo-3] [INFO] [1746051252.459863436] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051252.460700596] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051252.461508672] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051252.462509659] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051252.463203952] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051252.502985898] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904606 Long: -76.50277298 +[main_algo-3] [INFO] [1746051252.503479299] [sailbot.main_algo]: Distance to destination: 56.791746821582194 +[vectornav-1] [INFO] [1746051252.504227604] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.51600000000002, -0.222, 5.186) +[main_algo-3] [INFO] [1746051252.504538377] [sailbot.main_algo]: Target Bearing: -141.7234528193284 +[main_algo-3] [INFO] [1746051252.505524081] [sailbot.main_algo]: Heading Difference: -162.2055471806716 +[main_algo-3] [INFO] [1746051252.506392778] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051252.507215370] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051252.507991144] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051252.509627781] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051252.544769060] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051252.545355570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051252.546043047] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051252.547096257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051252.548124153] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051252.585232773] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051252.587427840] [sailbot.teensy]: Wind angle: 174 +[trim_sail-4] [INFO] [1746051252.587773441] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051252.588325231] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051252.589060026] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051252.589579779] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051252.590662587] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051252.644498826] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051252.644936201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051252.645566348] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051252.646549258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051252.647894228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051252.744983987] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051252.745456783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051252.746197244] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051252.747193657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051252.748277019] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051252.835019501] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051252.836489831] [sailbot.teensy]: Wind angle: 174 +[trim_sail-4] [INFO] [1746051252.836959101] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051252.837296091] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051252.838112918] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051252.838907425] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051252.838966267] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051252.844461161] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051252.845060876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051252.845577998] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051252.846678525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051252.847754369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051252.944618519] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051252.945116865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051252.945703399] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051252.946750815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051252.947804210] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051252.957006035] [sailbot.main_algo]: Wind Direction: 174 +[main_algo-3] [INFO] [1746051252.957961608] [sailbot.main_algo]: Target Bearing: -141.7234528193284 +[main_algo-3] [INFO] [1746051252.958809061] [sailbot.main_algo]: Heading Difference: -163.76054718067155 +[main_algo-3] [INFO] [1746051252.959633493] [sailbot.main_algo]: Wind Direction: 174 +[main_algo-3] [INFO] [1746051252.960444245] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051252.961221740] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051252.962212664] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051252.962642619] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051253.003096421] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690461 Long: -76.50277309 +[main_algo-3] [INFO] [1746051253.003972010] [sailbot.main_algo]: Distance to destination: 56.787560934405015 +[vectornav-1] [INFO] [1746051253.004667184] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.28699999999998, -0.626, 5.019) +[main_algo-3] [INFO] [1746051253.005343996] [sailbot.main_algo]: Target Bearing: -141.71420518727876 +[main_algo-3] [INFO] [1746051253.006537908] [sailbot.main_algo]: Heading Difference: -163.76979481272122 +[main_algo-3] [INFO] [1746051253.007524710] [sailbot.main_algo]: Wind Direction: 174 +[main_algo-3] [INFO] [1746051253.008455712] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051253.009325211] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051253.011392356] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051253.044705354] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051253.045427591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051253.046107807] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051253.047672951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051253.048714093] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051253.085296616] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051253.086969540] [sailbot.teensy]: Wind angle: 174 +[teensy-2] [INFO] [1746051253.087877024] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051253.087506622] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051253.088729688] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051253.088974015] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051253.089584131] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051253.144706219] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051253.145151932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051253.146030464] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051253.147162487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051253.148056705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051253.245623265] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051253.246391610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051253.247504141] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051253.248961683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051253.250137432] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051253.335498377] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051253.337842203] [sailbot.teensy]: Wind angle: 174 +[trim_sail-4] [INFO] [1746051253.337893134] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051253.338834435] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051253.339520524] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051253.339734841] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051253.340619275] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051253.344488466] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051253.345003996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051253.345948337] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051253.346768163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051253.347873847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051253.445020807] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051253.445610047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051253.446363713] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051253.447441301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051253.448317601] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051253.457180315] [sailbot.main_algo]: Wind Direction: 174 +[main_algo-3] [INFO] [1746051253.458419281] [sailbot.main_algo]: Target Bearing: -141.71420518727876 +[main_algo-3] [INFO] [1746051253.459376253] [sailbot.main_algo]: Heading Difference: -162.99879481272126 +[main_algo-3] [INFO] [1746051253.460237943] [sailbot.main_algo]: Wind Direction: 174 +[main_algo-3] [INFO] [1746051253.461052163] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051253.461865352] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051253.462920358] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051253.463630413] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051253.503269111] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904617 Long: -76.50277335 +[main_algo-3] [INFO] [1746051253.504289401] [sailbot.main_algo]: Distance to destination: 56.77594552085862 +[vectornav-1] [INFO] [1746051253.504394528] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.87900000000002, 0.362, 4.819) +[main_algo-3] [INFO] [1746051253.505364260] [sailbot.main_algo]: Target Bearing: -141.69446983355334 +[main_algo-3] [INFO] [1746051253.506360861] [sailbot.main_algo]: Heading Difference: -163.01853016644668 +[main_algo-3] [INFO] [1746051253.507227175] [sailbot.main_algo]: Wind Direction: 174 +[main_algo-3] [INFO] [1746051253.508026307] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051253.508841357] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051253.510472137] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051253.545496833] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051253.545562690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051253.546803630] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051253.547346504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051253.548636245] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051253.585142897] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051253.586766869] [sailbot.teensy]: Wind angle: 174 +[trim_sail-4] [INFO] [1746051253.587318020] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051253.587686307] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051253.588506402] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051253.588548573] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051253.589506356] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051253.644994797] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051253.645707362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051253.646290615] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051253.648008656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051253.649104426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051253.744820559] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051253.745612463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051253.746191449] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051253.747432677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051253.748549725] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051253.835185979] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051253.837298191] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051253.838012456] [sailbot.teensy]: Wind angle: 174 +[mux-7] [INFO] [1746051253.838757874] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051253.838957908] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051253.840046769] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051253.841048210] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051253.844289199] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051253.844945723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051253.845567402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051253.846581522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051253.847553100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051253.944706884] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051253.945267545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051253.945960305] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051253.947021223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051253.948082278] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051253.956943313] [sailbot.main_algo]: Wind Direction: 174 +[main_algo-3] [INFO] [1746051253.957894439] [sailbot.main_algo]: Target Bearing: -141.69446983355334 +[main_algo-3] [INFO] [1746051253.958720049] [sailbot.main_algo]: Heading Difference: -162.42653016644664 +[main_algo-3] [INFO] [1746051253.959522634] [sailbot.main_algo]: Wind Direction: 174 +[main_algo-3] [INFO] [1746051253.960324809] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051253.961082992] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051253.961999521] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051253.962654912] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051254.002732383] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690462 Long: -76.50277356 +[main_algo-3] [INFO] [1746051254.003607670] [sailbot.main_algo]: Distance to destination: 56.764700581276294 +[vectornav-1] [INFO] [1746051254.003891483] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.072, -1.055, 5.624) +[main_algo-3] [INFO] [1746051254.004880706] [sailbot.main_algo]: Target Bearing: -141.6808247548428 +[main_algo-3] [INFO] [1746051254.005769744] [sailbot.main_algo]: Heading Difference: -162.4401752451572 +[main_algo-3] [INFO] [1746051254.006637351] [sailbot.main_algo]: Wind Direction: 174 +[main_algo-3] [INFO] [1746051254.007497589] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051254.008443997] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051254.010032178] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051254.044743292] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051254.045449410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051254.046192195] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051254.047414406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051254.048719355] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051254.085252099] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051254.087512482] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051254.088183088] [sailbot.teensy]: Wind angle: 174 +[mux-7] [INFO] [1746051254.088852147] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051254.089101374] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051254.089912417] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051254.090692862] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051254.144826347] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051254.145445196] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051254.146004561] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051254.147272860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051254.148233052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051254.244982477] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051254.245779391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051254.246621578] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051254.247632111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051254.248398432] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051254.335266601] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051254.337275610] [sailbot.teensy]: Wind angle: 174 +[trim_sail-4] [INFO] [1746051254.337628778] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051254.338194099] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051254.339044844] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051254.339591316] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051254.339940617] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051254.344301918] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051254.344789150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051254.345412358] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051254.346459434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051254.347635773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051254.444759041] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051254.445281828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051254.446002441] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051254.447151192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051254.448261751] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051254.457038046] [sailbot.main_algo]: Wind Direction: 174 +[main_algo-3] [INFO] [1746051254.458083331] [sailbot.main_algo]: Target Bearing: -141.6808247548428 +[main_algo-3] [INFO] [1746051254.458992641] [sailbot.main_algo]: Heading Difference: -162.24717524515722 +[main_algo-3] [INFO] [1746051254.459874955] [sailbot.main_algo]: Wind Direction: 174 +[main_algo-3] [INFO] [1746051254.460711456] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051254.461525257] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051254.462563367] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051254.463439691] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051254.502834420] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904633 Long: -76.50277354 +[vectornav-1] [INFO] [1746051254.504029560] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.46800000000002, 0.149, 5.41) +[main_algo-3] [INFO] [1746051254.504581810] [sailbot.main_algo]: Distance to destination: 56.775124551827176 +[main_algo-3] [INFO] [1746051254.505910398] [sailbot.main_algo]: Target Bearing: -141.67060720858169 +[main_algo-3] [INFO] [1746051254.507147553] [sailbot.main_algo]: Heading Difference: -162.25739279141828 +[main_algo-3] [INFO] [1746051254.508078868] [sailbot.main_algo]: Wind Direction: 174 +[main_algo-3] [INFO] [1746051254.508975405] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051254.509828918] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051254.511703582] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051254.544929882] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051254.546079001] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051254.546328376] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051254.548141397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051254.549381853] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051254.585232582] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051254.587200071] [sailbot.teensy]: Wind angle: 174 +[teensy-2] [INFO] [1746051254.588105208] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051254.587476443] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051254.589031238] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051254.589229867] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051254.589947355] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051254.645235245] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051254.646256521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051254.646765160] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051254.649195525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051254.650316638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051254.745397244] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051254.746179652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051254.747281651] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051254.748585769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051254.749631458] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051254.835083418] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051254.837166916] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051254.837423013] [sailbot.teensy]: Wind angle: 176 +[mux-7] [INFO] [1746051254.838130666] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051254.838883684] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051254.839336352] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051254.839678642] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051254.844274796] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051254.844775698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051254.845441529] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051254.846494774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051254.847532415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051254.944742860] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051254.945422588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051254.945999281] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051254.947221843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051254.948191788] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051254.956986504] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051254.958010446] [sailbot.main_algo]: Target Bearing: -141.67060720858169 +[main_algo-3] [INFO] [1746051254.958904237] [sailbot.main_algo]: Heading Difference: -162.86139279141833 +[main_algo-3] [INFO] [1746051254.959696318] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051254.960517185] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051254.961360037] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051254.962621902] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051254.963450711] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051255.002101787] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904648 Long: -76.50277353 +[main_algo-3] [INFO] [1746051255.002894316] [sailbot.main_algo]: Distance to destination: 56.78632308023962 +[vectornav-1] [INFO] [1746051255.002959395] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.24400000000003, -0.904, 5.47) +[main_algo-3] [INFO] [1746051255.003762699] [sailbot.main_algo]: Target Bearing: -141.65813444653656 +[main_algo-3] [INFO] [1746051255.004613967] [sailbot.main_algo]: Heading Difference: -162.87386555346342 +[main_algo-3] [INFO] [1746051255.005461240] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051255.006260279] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051255.007069136] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051255.008736038] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051255.044683275] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051255.045270354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051255.045890216] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051255.047301149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051255.048302573] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051255.085228375] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051255.087002967] [sailbot.teensy]: Wind angle: 175 +[teensy-2] [INFO] [1746051255.087916719] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051255.087973147] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051255.088247791] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051255.088774749] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051255.089632623] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051255.144977985] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051255.145634923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051255.146715359] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051255.147532042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051255.148689260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051255.244836755] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051255.245431115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051255.246027029] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051255.247182147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051255.248293666] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051255.335051954] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051255.337198030] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051255.337279002] [sailbot.teensy]: Wind angle: 175 +[teensy-2] [INFO] [1746051255.338140000] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051255.338599184] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051255.338965585] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051255.339764769] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051255.344625548] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051255.344857733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051255.346135942] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051255.346646060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051255.347835178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051255.445657373] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051255.445775178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051255.447753905] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051255.448014357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051255.449107926] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051255.457135140] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051255.458176777] [sailbot.main_algo]: Target Bearing: -141.65813444653656 +[main_algo-3] [INFO] [1746051255.459091116] [sailbot.main_algo]: Heading Difference: -164.0978655534634 +[main_algo-3] [INFO] [1746051255.460001150] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051255.460910712] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051255.461722692] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051255.462915013] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051255.463871698] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051255.502749053] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904671 Long: -76.50277344 +[main_algo-3] [INFO] [1746051255.503822384] [sailbot.main_algo]: Distance to destination: 56.80824516825072 +[vectornav-1] [INFO] [1746051255.503917964] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.124000000000024, -0.087, 3.84) +[main_algo-3] [INFO] [1746051255.504994728] [sailbot.main_algo]: Target Bearing: -141.64294728451006 +[main_algo-3] [INFO] [1746051255.505935122] [sailbot.main_algo]: Heading Difference: -164.1130527154899 +[main_algo-3] [INFO] [1746051255.506828397] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051255.507686802] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051255.508536267] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051255.510123905] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051255.544671534] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051255.545361972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051255.545942619] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051255.547538194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051255.548580344] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051255.585322760] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051255.587199830] [sailbot.teensy]: Wind angle: 174 +[trim_sail-4] [INFO] [1746051255.587574903] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051255.588311684] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051255.589309623] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051255.589643720] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051255.590243473] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051255.644772691] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051255.645555437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051255.645988128] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051255.647373745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051255.648663112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051255.744856097] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051255.745585693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051255.746047657] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051255.747666935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051255.748888499] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051255.835090917] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051255.837237073] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051255.837759028] [sailbot.teensy]: Wind angle: 170 +[mux-7] [INFO] [1746051255.838597532] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051255.838741000] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051255.839676957] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051255.840560473] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051255.844447713] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051255.844981425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051255.845576264] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051255.846647006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051255.848090795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051255.945129959] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051255.946000051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051255.946880671] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051255.948178852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051255.948714411] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051255.957328100] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051255.958580333] [sailbot.main_algo]: Target Bearing: -141.64294728451006 +[main_algo-3] [INFO] [1746051255.959643689] [sailbot.main_algo]: Heading Difference: -163.23305271548992 +[main_algo-3] [INFO] [1746051255.960553505] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051255.961413463] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051255.962273573] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051255.963379476] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051255.964263282] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051256.002700489] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904675 Long: -76.50277363 +[main_algo-3] [INFO] [1746051256.003721270] [sailbot.main_algo]: Distance to destination: 56.79898807541036 +[vectornav-1] [INFO] [1746051256.003840904] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.846000000000004, 0.158, 5.11) +[main_algo-3] [INFO] [1746051256.005398227] [sailbot.main_algo]: Target Bearing: -141.62948648105743 +[main_algo-3] [INFO] [1746051256.006407419] [sailbot.main_algo]: Heading Difference: -163.24651351894255 +[main_algo-3] [INFO] [1746051256.007311201] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051256.008195543] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051256.009053495] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051256.010728366] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051256.044781342] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051256.045266092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051256.046074082] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051256.047042298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051256.048121515] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051256.084980330] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051256.086426957] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746051256.087244435] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051256.086898494] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051256.088045430] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051256.088388723] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051256.088872975] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051256.144562310] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051256.144998297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051256.146086634] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051256.146958492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051256.148026245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051256.244964725] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051256.245908938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051256.246578473] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051256.247820109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051256.248480412] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051256.335028826] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051256.337046198] [sailbot.teensy]: Wind angle: 156 +[trim_sail-4] [INFO] [1746051256.337226493] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051256.337904912] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051256.338383701] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051256.338743773] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051256.339592752] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051256.344390540] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051256.345009922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051256.345544524] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051256.346680993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051256.347690327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051256.445127702] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051256.445684133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051256.447184491] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051256.447548343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051256.448783731] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051256.457190165] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051256.458335624] [sailbot.main_algo]: Target Bearing: -141.62948648105743 +[main_algo-3] [INFO] [1746051256.459318806] [sailbot.main_algo]: Heading Difference: -165.52451351894257 +[main_algo-3] [INFO] [1746051256.460317895] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051256.461233646] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051256.462351968] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051256.463455806] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051256.464046141] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051256.503113611] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904702 Long: -76.50277388 +[main_algo-3] [INFO] [1746051256.503400638] [sailbot.main_algo]: Distance to destination: 56.80213934613992 +[vectornav-1] [INFO] [1746051256.504102331] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.40699999999998, -0.871, 4.572) +[main_algo-3] [INFO] [1746051256.504520443] [sailbot.main_algo]: Target Bearing: -141.59295259158785 +[main_algo-3] [INFO] [1746051256.505502165] [sailbot.main_algo]: Heading Difference: -165.56104740841215 +[main_algo-3] [INFO] [1746051256.506953694] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051256.507846003] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051256.508674055] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051256.510291495] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051256.545373117] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051256.545387570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051256.546872906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051256.547410624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051256.548566234] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051256.585337385] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051256.587698997] [sailbot.teensy]: Wind angle: 154 +[trim_sail-4] [INFO] [1746051256.587761269] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051256.588787553] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051256.589782060] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051256.589981577] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051256.590715704] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051256.644923644] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051256.645491317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051256.646137125] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051256.647237746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051256.648485463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051256.745390880] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051256.746061297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051256.747002278] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051256.748475373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051256.749757215] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051256.835074306] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051256.836703713] [sailbot.teensy]: Wind angle: 154 +[trim_sail-4] [INFO] [1746051256.837180956] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051256.837582926] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051256.838477104] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051256.839186327] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051256.839225789] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051256.844342075] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051256.845279689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051256.845483527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051256.847071055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051256.848282383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051256.945011329] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051256.945628688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051256.946278261] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051256.947624560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051256.948813695] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051256.957241243] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051256.958660157] [sailbot.main_algo]: Target Bearing: -141.59295259158785 +[main_algo-3] [INFO] [1746051256.959685548] [sailbot.main_algo]: Heading Difference: -165.00004740841217 +[main_algo-3] [INFO] [1746051256.960602430] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051256.961482273] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051256.962304461] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051256.963369042] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051256.963900635] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051257.002488451] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904672 Long: -76.502774 +[main_algo-3] [INFO] [1746051257.003319763] [sailbot.main_algo]: Distance to destination: 56.77336324258943 +[vectornav-1] [INFO] [1746051257.003507717] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.250999999999976, 0.544, 5.347) +[main_algo-3] [INFO] [1746051257.004528054] [sailbot.main_algo]: Target Bearing: -141.61260380489912 +[main_algo-3] [INFO] [1746051257.005957410] [sailbot.main_algo]: Heading Difference: -164.98039619510087 +[main_algo-3] [INFO] [1746051257.006933788] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051257.007867526] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051257.008693764] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051257.010362377] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051257.045023461] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051257.045736017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051257.046300460] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051257.047605644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051257.048691308] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051257.085025252] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051257.086573366] [sailbot.teensy]: Wind angle: 153 +[trim_sail-4] [INFO] [1746051257.087191073] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051257.087529577] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051257.088411774] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051257.088658661] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051257.089535863] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051257.144936580] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051257.145554688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051257.146254029] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051257.147463297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051257.148052822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051257.244657252] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051257.245202700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051257.245899060] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051257.247000733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051257.247949620] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051257.335202852] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051257.337775285] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051257.337848090] [sailbot.teensy]: Wind angle: 154 +[teensy-2] [INFO] [1746051257.339082403] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051257.339557702] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051257.340003812] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051257.340892189] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051257.344257780] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051257.344802083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051257.345384465] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051257.346452264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051257.347437096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051257.444962948] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051257.445768628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051257.446267207] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051257.447727703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051257.448890987] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051257.457044050] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051257.458024543] [sailbot.main_algo]: Target Bearing: -141.61260380489912 +[main_algo-3] [INFO] [1746051257.458870183] [sailbot.main_algo]: Heading Difference: -165.13639619510093 +[main_algo-3] [INFO] [1746051257.459653034] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051257.460496328] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051257.461274150] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051257.462331290] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051257.462780523] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051257.502539642] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904677 Long: -76.50277421 +[main_algo-3] [INFO] [1746051257.503202199] [sailbot.main_algo]: Distance to destination: 56.763547981204354 +[vectornav-1] [INFO] [1746051257.503916736] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.476999999999975, -1.826, 4.24) +[main_algo-3] [INFO] [1746051257.504174301] [sailbot.main_algo]: Target Bearing: -141.5972098258451 +[main_algo-3] [INFO] [1746051257.505113092] [sailbot.main_algo]: Heading Difference: -165.15179017415494 +[main_algo-3] [INFO] [1746051257.505950464] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051257.506786909] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051257.507613550] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051257.509265365] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051257.545040974] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051257.545743849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051257.546315700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051257.547663680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051257.548834812] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051257.585208434] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051257.587309496] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051257.588426702] [sailbot.teensy]: Wind angle: 154 +[mux-7] [INFO] [1746051257.588764767] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051257.589348752] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051257.590175771] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051257.590965466] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051257.645003366] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051257.645741608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051257.646445799] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051257.648040515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051257.649212108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051257.744750754] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051257.745295080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051257.746208756] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051257.747253443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051257.748478821] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051257.835040903] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051257.836589489] [sailbot.teensy]: Wind angle: 152 +[trim_sail-4] [INFO] [1746051257.837248389] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051257.837468499] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051257.838303885] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051257.838952268] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051257.839025597] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051257.844328606] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051257.844958353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051257.845490996] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051257.846727959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051257.847898783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051257.944727091] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051257.945517556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051257.946037211] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051257.947729773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051257.948825446] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051257.956973964] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051257.957940211] [sailbot.main_algo]: Target Bearing: -141.5972098258451 +[main_algo-3] [INFO] [1746051257.958769246] [sailbot.main_algo]: Heading Difference: -163.92579017415494 +[main_algo-3] [INFO] [1746051257.959593654] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051257.960422355] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051257.961275454] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051257.962279630] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051257.963052528] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051258.002640427] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904715 Long: -76.50277436 +[main_algo-3] [INFO] [1746051258.003492940] [sailbot.main_algo]: Distance to destination: 56.78083154205683 +[vectornav-1] [INFO] [1746051258.003848830] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.363999999999976, 1.232, 5.827) +[main_algo-3] [INFO] [1746051258.004574777] [sailbot.main_algo]: Target Bearing: -141.55640891214452 +[main_algo-3] [INFO] [1746051258.005692656] [sailbot.main_algo]: Heading Difference: -163.96659108785548 +[main_algo-3] [INFO] [1746051258.006581864] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051258.007426147] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051258.008244953] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051258.009831376] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051258.044889004] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051258.045528740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051258.046158127] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051258.047292945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051258.048425924] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051258.085295192] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051258.087214807] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746051258.087924742] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051258.088146058] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051258.088679563] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051258.089026460] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051258.089919377] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051258.144761140] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051258.145363036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051258.145952109] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051258.147203003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051258.148343901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051258.244963081] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051258.245654412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051258.246297021] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051258.247844904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051258.248916071] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051258.335077487] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051258.337348394] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051258.338188335] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051258.338735975] [sailbot.teensy]: Wind angle: 152 +[teensy-2] [INFO] [1746051258.339433405] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051258.339779943] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051258.340137781] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051258.344315329] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051258.345163242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051258.345417197] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051258.346942167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051258.347951899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051258.445514350] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051258.446371892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051258.447191570] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051258.449560328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051258.450780602] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051258.457269785] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051258.458376612] [sailbot.main_algo]: Target Bearing: -141.55640891214452 +[main_algo-3] [INFO] [1746051258.459314349] [sailbot.main_algo]: Heading Difference: -167.07959108785553 +[main_algo-3] [INFO] [1746051258.460178768] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051258.461393400] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051258.462284762] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051258.463391943] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051258.464113359] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051258.502697420] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904715 Long: -76.50277433 +[main_algo-3] [INFO] [1746051258.503757199] [sailbot.main_algo]: Distance to destination: 56.78273604123601 +[vectornav-1] [INFO] [1746051258.503825618] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.03399999999999, -0.89, 4.896) +[main_algo-3] [INFO] [1746051258.505037102] [sailbot.main_algo]: Target Bearing: -141.55799068349248 +[main_algo-3] [INFO] [1746051258.506353585] [sailbot.main_algo]: Heading Difference: -167.07800931650752 +[main_algo-3] [INFO] [1746051258.507312080] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051258.508221296] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051258.509074515] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051258.510828372] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051258.544986511] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051258.545752809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051258.546278486] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051258.548518871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051258.549571534] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051258.585471762] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051258.587767199] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051258.589180370] [sailbot.teensy]: Wind angle: 151 +[mux-7] [INFO] [1746051258.589448109] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051258.590247404] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051258.591129113] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051258.591981876] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051258.645105100] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051258.645936083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051258.646541050] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051258.647994236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051258.649072148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051258.745110071] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051258.745977696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051258.747174250] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051258.748343648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051258.748869693] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051258.835088848] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051258.836761510] [sailbot.teensy]: Wind angle: 151 +[trim_sail-4] [INFO] [1746051258.837388613] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051258.837680880] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051258.838329672] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051258.838495894] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051258.839327330] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051258.844372024] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051258.845127537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051258.845681903] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051258.846788908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051258.847789511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051258.944972835] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051258.945808688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051258.946269674] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051258.947682771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051258.948900867] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051258.957093444] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051258.958039217] [sailbot.main_algo]: Target Bearing: -141.55799068349248 +[main_algo-3] [INFO] [1746051258.958863993] [sailbot.main_algo]: Heading Difference: -166.40800931650756 +[main_algo-3] [INFO] [1746051258.959657386] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051258.960484872] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051258.961262708] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051258.962306893] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051258.963195348] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051259.002459857] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904701 Long: -76.5027745 +[vectornav-1] [INFO] [1746051259.003518443] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.45100000000002, 0.01, 4.67) +[main_algo-3] [INFO] [1746051259.003586581] [sailbot.main_algo]: Distance to destination: 56.76206300022933 +[main_algo-3] [INFO] [1746051259.004632283] [sailbot.main_algo]: Target Bearing: -141.56114208344889 +[main_algo-3] [INFO] [1746051259.005562073] [sailbot.main_algo]: Heading Difference: -166.40485791655112 +[main_algo-3] [INFO] [1746051259.007709730] [sailbot.main_algo]: Wind Direction: 151 +[main_algo-3] [INFO] [1746051259.008709466] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051259.009683097] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051259.011772077] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051259.044668495] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051259.045396417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051259.046177078] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051259.047141995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051259.048131296] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051259.085198169] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051259.087289459] [sailbot.teensy]: Wind angle: 150 +[trim_sail-4] [INFO] [1746051259.087326796] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051259.087993469] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051259.088262473] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051259.089164129] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051259.090022749] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051259.145128614] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051259.145672617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051259.146638719] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051259.147833576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051259.149040955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051259.244972410] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051259.245422541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051259.246236664] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051259.247247671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051259.248816047] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051259.335359556] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051259.337420672] [sailbot.teensy]: Wind angle: 152 +[trim_sail-4] [INFO] [1746051259.337903289] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051259.338461137] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051259.339422406] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051259.339641645] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051259.340748306] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051259.344358953] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051259.345647013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051259.345698958] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051259.347653689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051259.348708124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051259.444852043] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051259.445677914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051259.446092687] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051259.447656462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051259.448732104] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051259.457159005] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051259.458226800] [sailbot.main_algo]: Target Bearing: -141.56114208344889 +[main_algo-3] [INFO] [1746051259.459137266] [sailbot.main_algo]: Heading Difference: -163.9878579165511 +[main_algo-3] [INFO] [1746051259.460004803] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051259.460892823] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051259.461749529] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051259.462861570] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051259.463678321] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051259.502725830] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904712 Long: -76.50277463 +[vectornav-1] [INFO] [1746051259.503931397] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.24000000000001, -0.753, 3.448) +[main_algo-3] [INFO] [1746051259.503972581] [sailbot.main_algo]: Distance to destination: 56.76157502824037 +[main_algo-3] [INFO] [1746051259.505591043] [sailbot.main_algo]: Target Bearing: -141.54476428467476 +[main_algo-3] [INFO] [1746051259.507296254] [sailbot.main_algo]: Heading Difference: -164.0042357153252 +[main_algo-3] [INFO] [1746051259.508255907] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051259.509121384] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051259.509918777] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051259.511509577] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051259.544730848] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051259.545622022] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051259.546123006] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051259.547525388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051259.548695198] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051259.585004782] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051259.586450128] [sailbot.teensy]: Wind angle: 159 +[trim_sail-4] [INFO] [1746051259.586935073] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051259.587301568] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051259.587635893] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051259.588146128] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051259.589309078] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051259.644740213] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051259.645347228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051259.645975925] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051259.647136979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051259.648126566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051259.744851319] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051259.745456591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051259.746075639] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051259.747221046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051259.748254011] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051259.835182752] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051259.837111541] [sailbot.teensy]: Wind angle: 170 +[teensy-2] [INFO] [1746051259.838042349] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051259.838370808] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051259.839014408] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051259.839693550] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051259.839907816] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051259.844374528] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051259.844956950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051259.845458672] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051259.846662017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051259.847795488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051259.944985192] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051259.945730798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051259.946354631] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051259.948346999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051259.949573268] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051259.957159637] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051259.958254748] [sailbot.main_algo]: Target Bearing: -141.54476428467476 +[main_algo-3] [INFO] [1746051259.959211868] [sailbot.main_algo]: Heading Difference: -163.2152357153252 +[main_algo-3] [INFO] [1746051259.960049300] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051259.960871251] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051259.961758088] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051259.962790141] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051259.963377675] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051260.002891334] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904725 Long: -76.50277496 +[vectornav-1] [INFO] [1746051260.003964324] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.92700000000002, 0.678, 5.515) +[main_algo-3] [INFO] [1746051260.004063344] [sailbot.main_algo]: Distance to destination: 56.74981403583573 +[main_algo-3] [INFO] [1746051260.005111335] [sailbot.main_algo]: Target Bearing: -141.51609794174948 +[main_algo-3] [INFO] [1746051260.006104252] [sailbot.main_algo]: Heading Difference: -163.2439020582505 +[main_algo-3] [INFO] [1746051260.007443828] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051260.008627058] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051260.009541946] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051260.011296696] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051260.045138529] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051260.045830566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051260.046456840] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051260.047716565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051260.048807035] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051260.085102862] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051260.086748213] [sailbot.teensy]: Wind angle: 177 +[trim_sail-4] [INFO] [1746051260.087301839] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051260.087723664] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051260.088692935] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051260.089555219] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051260.089580604] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051260.145038163] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051260.145651845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051260.146438894] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051260.147573296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051260.148665589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051260.244989025] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051260.245472018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051260.246249506] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051260.247324738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051260.248566648] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051260.335318686] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051260.337125225] [sailbot.teensy]: Wind angle: 179 +[teensy-2] [INFO] [1746051260.338086649] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051260.338260066] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051260.339066166] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051260.339941583] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051260.339994011] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051260.344362523] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051260.345018118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051260.345920922] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051260.346782780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051260.347811562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051260.445700723] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051260.445930469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051260.447361398] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051260.448027749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051260.449293088] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051260.457343393] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051260.458517685] [sailbot.main_algo]: Target Bearing: -141.51609794174948 +[main_algo-3] [INFO] [1746051260.459502337] [sailbot.main_algo]: Heading Difference: -164.5569020582505 +[main_algo-3] [INFO] [1746051260.460428262] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051260.461310113] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051260.462322251] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051260.463372916] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051260.464070961] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051260.502758171] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904704 Long: -76.50277504 +[main_algo-3] [INFO] [1746051260.503640889] [sailbot.main_algo]: Distance to destination: 56.72990562534591 +[vectornav-1] [INFO] [1746051260.503850118] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.666, -1.333, 5.421) +[main_algo-3] [INFO] [1746051260.504782703] [sailbot.main_algo]: Target Bearing: -141.53004830072038 +[main_algo-3] [INFO] [1746051260.505916561] [sailbot.main_algo]: Heading Difference: -164.54295169927957 +[main_algo-3] [INFO] [1746051260.506744229] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051260.507575113] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051260.508390822] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051260.509994012] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051260.544642956] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051260.545400119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051260.545880855] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051260.547278211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051260.548468304] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051260.585247518] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051260.587084011] [sailbot.teensy]: Wind angle: 180 +[trim_sail-4] [INFO] [1746051260.587410912] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051260.588739487] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051260.588940375] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051260.589903763] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051260.590687095] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051260.645090609] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051260.646090768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051260.646612359] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051260.647951949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051260.649021059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051260.745657296] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051260.745893039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051260.747212780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051260.748326030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051260.749529341] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051260.835421246] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051260.837815446] [sailbot.teensy]: Wind angle: 180 +[trim_sail-4] [INFO] [1746051260.837916690] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051260.838928117] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051260.839337443] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051260.839567651] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051260.839975405] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051260.844332795] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051260.844821551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051260.845429346] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051260.846532169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051260.847595071] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051260.945021267] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051260.945857314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051260.946348776] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051260.947887726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051260.948667655] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051260.957191839] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051260.958221225] [sailbot.main_algo]: Target Bearing: -141.53004830072038 +[main_algo-3] [INFO] [1746051260.959128601] [sailbot.main_algo]: Heading Difference: -166.80395169927965 +[main_algo-3] [INFO] [1746051260.959930567] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051260.960754377] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051260.961546768] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051260.962571794] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051260.963459702] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051261.003061299] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904704 Long: -76.50277508 +[main_algo-3] [INFO] [1746051261.003651739] [sailbot.main_algo]: Distance to destination: 56.727367321523054 +[vectornav-1] [INFO] [1746051261.004294403] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.52999999999997, 0.307, 4.728) +[main_algo-3] [INFO] [1746051261.004785294] [sailbot.main_algo]: Target Bearing: -141.52793603286474 +[main_algo-3] [INFO] [1746051261.005944481] [sailbot.main_algo]: Heading Difference: -166.8060639671353 +[main_algo-3] [INFO] [1746051261.006912458] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051261.007791277] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051261.008695021] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051261.010300631] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051261.043639266] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051261.043977280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051261.044123646] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051261.044748930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051261.045313820] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051261.084457215] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051261.085246925] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051261.085638829] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051261.086009530] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051261.085486385] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051261.086375232] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051261.086569731] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051261.143616144] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051261.144007681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051261.144101587] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051261.144788076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051261.145311127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051261.243609693] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051261.243955864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051261.244127369] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051261.244715031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051261.245236163] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051261.334419795] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051261.335373409] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051261.336402540] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051261.337403428] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051261.337789944] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051261.338195485] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051261.338590214] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051261.343548029] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051261.343997359] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051261.345187287] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051261.345681423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051261.346190333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051261.443645725] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051261.444113594] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051261.445345709] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051261.445845372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051261.446289225] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051261.456207971] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051261.456660688] [sailbot.main_algo]: Target Bearing: -141.52793603286474 +[main_algo-3] [INFO] [1746051261.457086189] [sailbot.main_algo]: Heading Difference: -166.94206396713525 +[main_algo-3] [INFO] [1746051261.457468624] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051261.457870858] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051261.458257433] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051261.458721131] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051261.459099026] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051261.501286007] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904715 Long: -76.50277521 +[vectornav-1] [INFO] [1746051261.501696567] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.58800000000002, -0.825, 3.921) +[main_algo-3] [INFO] [1746051261.501743975] [sailbot.main_algo]: Distance to destination: 56.72688875608234 +[main_algo-3] [INFO] [1746051261.502326603] [sailbot.main_algo]: Target Bearing: -141.51154794037552 +[main_algo-3] [INFO] [1746051261.502761356] [sailbot.main_algo]: Heading Difference: -166.9584520596245 +[main_algo-3] [INFO] [1746051261.503175378] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051261.503557506] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051261.504055380] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051261.504844519] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051261.543618587] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051261.544089962] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051261.543983591] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051261.544681964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051261.545249328] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051261.584385457] [sailbot.teensy]: Check telemetry callback entered +[mux-7] [INFO] [1746051261.585652118] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051261.585904115] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051261.586294524] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051261.585990504] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051261.586672850] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051261.587068822] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051261.643646860] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051261.643989014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051261.644118093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051261.644733163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051261.645202698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051261.743645081] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051261.744068168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051261.744124267] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051261.744899409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051261.745372536] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051261.834381286] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051261.835709476] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051261.835892688] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051261.836295323] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051261.836201117] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051261.836676029] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051261.837083439] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051261.843542791] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051261.844007071] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051261.843927703] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051261.844640673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051261.845136681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051261.943682220] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051261.944010598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051261.944184536] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051261.944772883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051261.945297284] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051261.956302156] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051261.956765697] [sailbot.main_algo]: Target Bearing: -141.51154794037552 +[main_algo-3] [INFO] [1746051261.957203765] [sailbot.main_algo]: Heading Difference: -166.90045205962446 +[main_algo-3] [INFO] [1746051261.957588708] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051261.957983981] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051261.958382397] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051261.958875589] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051261.959205380] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051262.001347072] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904721 Long: -76.50277527 +[vectornav-1] [INFO] [1746051262.001767701] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.146000000000015, 0.468, 5.076) +[main_algo-3] [INFO] [1746051262.001767074] [sailbot.main_algo]: Distance to destination: 56.727321678009346 +[main_algo-3] [INFO] [1746051262.002245866] [sailbot.main_algo]: Target Bearing: -141.50318527043996 +[main_algo-3] [INFO] [1746051262.002663259] [sailbot.main_algo]: Heading Difference: -166.90881472956005 +[main_algo-3] [INFO] [1746051262.003072625] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051262.003458764] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051262.003878565] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051262.004700669] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051262.043650717] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051262.044071424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051262.044135601] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051262.044899012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051262.045481185] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051262.084483336] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051262.085199076] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051262.085586531] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051262.085580197] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051262.086528530] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051262.088043156] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051262.088473950] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051262.143602683] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051262.143965605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051262.144171993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051262.144721449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051262.145258007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051262.243707381] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051262.244113475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051262.244212031] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051262.245066436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051262.245605392] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051262.334428192] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051262.335130530] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051262.335513314] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051262.335508607] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051262.336551593] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051262.337115357] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051262.337528088] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051262.343564086] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051262.344059834] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051262.345263946] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051262.345779127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051262.346219691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051262.443639847] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051262.444068337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051262.444121223] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051262.444867675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051262.445356246] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051262.456278420] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051262.456742855] [sailbot.main_algo]: Target Bearing: -141.50318527043996 +[main_algo-3] [INFO] [1746051262.457147791] [sailbot.main_algo]: Heading Difference: -167.35081472956006 +[main_algo-3] [INFO] [1746051262.457538427] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051262.457959346] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051262.458357496] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051262.458856700] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051262.459152686] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051262.501363212] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904709 Long: -76.50277511 +[vectornav-1] [INFO] [1746051262.501789921] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.245000000000005, -0.825, 5.935) +[main_algo-3] [INFO] [1746051262.501798575] [sailbot.main_algo]: Distance to destination: 56.72899504965007 +[main_algo-3] [INFO] [1746051262.502267681] [sailbot.main_algo]: Target Bearing: -141.52202339669992 +[main_algo-3] [INFO] [1746051262.502694908] [sailbot.main_algo]: Heading Difference: -167.33197660330006 +[main_algo-3] [INFO] [1746051262.503120033] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051262.503686259] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051262.504079382] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051262.505745192] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051262.543671687] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051262.544057399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051262.544179666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051262.544833872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051262.545300275] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051262.584472895] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051262.585924140] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051262.586692004] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051262.587137277] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051262.587696597] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051262.588339873] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051262.588867073] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051262.643702626] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051262.644063965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051262.644227966] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051262.645291065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051262.645834646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051262.743645119] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051262.744108149] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051262.744001095] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051262.744710690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051262.745262315] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051262.834434024] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051262.835715995] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051262.836071561] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051262.837354259] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051262.837783186] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051262.838172805] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051262.838568277] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051262.843880841] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051262.844075614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051262.845413364] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051262.845687843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051262.846198665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051262.944730864] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051262.945316275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051262.946132013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051262.947132590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051262.948264893] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051262.956887450] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051262.957794296] [sailbot.main_algo]: Target Bearing: -141.52202339669992 +[main_algo-3] [INFO] [1746051262.958627379] [sailbot.main_algo]: Heading Difference: -168.23297660330007 +[main_algo-3] [INFO] [1746051262.959559307] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051262.960396689] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051262.961195762] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051262.962404336] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051262.962823143] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051263.002639681] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904706 Long: -76.50277494 +[main_algo-3] [INFO] [1746051263.003252051] [sailbot.main_algo]: Distance to destination: 56.73766396980798 +[main_algo-3] [INFO] [1746051263.004265076] [sailbot.main_algo]: Target Bearing: -141.53359685555938 +[vectornav-1] [INFO] [1746051263.004287232] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.730999999999995, -0.427, 5.413) +[main_algo-3] [INFO] [1746051263.005258637] [sailbot.main_algo]: Heading Difference: -168.22140314444061 +[main_algo-3] [INFO] [1746051263.006126258] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051263.007001083] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051263.007855144] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051263.009470214] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051263.044869152] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051263.045560055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051263.046107772] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051263.047515069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051263.048553957] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051263.085278649] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051263.087023021] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051263.087922049] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051263.087506916] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051263.088190775] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051263.088781132] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051263.089699073] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051263.145025376] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051263.145781689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051263.146340345] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051263.147900418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051263.149035548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051263.245289966] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051263.246201976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051263.246905203] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051263.247824865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051263.248324201] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051263.335192451] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051263.336793754] [sailbot.teensy]: Wind angle: 180 +[trim_sail-4] [INFO] [1746051263.337567884] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051263.337797282] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051263.338567052] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051263.338734795] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051263.339637489] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051263.344454310] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051263.345020440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051263.345584822] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051263.346729551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051263.347978352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051263.445159390] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051263.446010161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051263.446607755] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051263.448063531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051263.449147186] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051263.457360650] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051263.458466113] [sailbot.main_algo]: Target Bearing: -141.53359685555938 +[main_algo-3] [INFO] [1746051263.459402226] [sailbot.main_algo]: Heading Difference: -167.73540314444062 +[main_algo-3] [INFO] [1746051263.460275117] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051263.461154687] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051263.462009875] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051263.463100146] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051263.463688883] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051263.502573047] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904744 Long: -76.50277486 +[main_algo-3] [INFO] [1746051263.503521820] [sailbot.main_algo]: Distance to destination: 56.76958131619759 +[vectornav-1] [INFO] [1746051263.503563414] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.05099999999999, -0.073, 4.025) +[main_algo-3] [INFO] [1746051263.504609139] [sailbot.main_algo]: Target Bearing: -141.50494282460278 +[main_algo-3] [INFO] [1746051263.505558266] [sailbot.main_algo]: Heading Difference: -167.76405717539723 +[main_algo-3] [INFO] [1746051263.506461639] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051263.507341145] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051263.508197107] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051263.509877679] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051263.544698066] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051263.545355507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051263.546137740] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051263.547138732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051263.548189569] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051263.585303124] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051263.587421357] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051263.587777087] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051263.588837269] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051263.589245435] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051263.589827703] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051263.590694843] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051263.645075993] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051263.645966647] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051263.646591771] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051263.647997048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051263.649131220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051263.744524834] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051263.745046576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051263.745618983] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051263.746765575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051263.747813751] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051263.835250209] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051263.837047527] [sailbot.teensy]: Wind angle: 181 +[trim_sail-4] [INFO] [1746051263.838109746] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051263.838636623] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051263.839113139] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051263.839507973] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051263.839889086] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051263.844525544] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051263.845211955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051263.845663422] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051263.846993953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051263.848108721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051263.945169383] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051263.945938267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051263.946632296] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051263.948131088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051263.949278071] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051263.956931947] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051263.957949757] [sailbot.main_algo]: Target Bearing: -141.50494282460278 +[main_algo-3] [INFO] [1746051263.958842137] [sailbot.main_algo]: Heading Difference: -165.44405717539723 +[main_algo-3] [INFO] [1746051263.959751671] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051263.960734490] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051263.961707532] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051263.963066030] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051263.965861625] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051264.001442014] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904747 Long: -76.50277497 +[main_algo-3] [INFO] [1746051264.001821024] [sailbot.main_algo]: Distance to destination: 56.764723715020885 +[main_algo-3] [INFO] [1746051264.002378557] [sailbot.main_algo]: Target Bearing: -141.49654027130984 +[main_algo-3] [INFO] [1746051264.002848476] [sailbot.main_algo]: Heading Difference: -165.4524597286902 +[vectornav-1] [INFO] [1746051264.003035925] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.531000000000006, -0.24, 5.238) +[main_algo-3] [INFO] [1746051264.003269385] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051264.003683821] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051264.004167673] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051264.004989265] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051264.043662511] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051264.044049890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051264.044166986] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051264.044859226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051264.045437536] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051264.084410713] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051264.085452133] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051264.085506883] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051264.085915288] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051264.086300209] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051264.086683446] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051264.087008993] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051264.143874589] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051264.144324019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051264.144589152] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051264.145423474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051264.146156390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051264.243669302] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051264.243991916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051264.244202830] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051264.244999523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051264.245508556] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051264.334447108] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051264.335478711] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051264.336097025] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051264.337912699] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051264.337438267] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051264.338561757] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051264.339245510] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051264.343950536] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051264.344565415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051264.344807796] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051264.345867405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051264.346772367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051264.443756349] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051264.444032667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051264.444276220] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051264.445449332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051264.445967274] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051264.456314793] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051264.456819288] [sailbot.main_algo]: Target Bearing: -141.49654027130984 +[main_algo-3] [INFO] [1746051264.457247180] [sailbot.main_algo]: Heading Difference: -164.97245972869018 +[main_algo-3] [INFO] [1746051264.457670461] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051264.458090062] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051264.458473562] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051264.458985358] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051264.459381276] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051264.501347898] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904734 Long: -76.50277472 +[vectornav-1] [INFO] [1746051264.501791949] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.32299999999998, -0.993, 6.142) +[main_algo-3] [INFO] [1746051264.501791778] [sailbot.main_algo]: Distance to destination: 56.771398841474074 +[main_algo-3] [INFO] [1746051264.502317920] [sailbot.main_algo]: Target Bearing: -141.5209814491166 +[main_algo-3] [INFO] [1746051264.502755884] [sailbot.main_algo]: Heading Difference: -164.94801855088338 +[main_algo-3] [INFO] [1746051264.503163573] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051264.503563726] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051264.503956479] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051264.504859805] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051264.543675751] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051264.544625487] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051264.545229316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051264.545752787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051264.546270085] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051264.584428954] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051264.585273714] [sailbot.teensy]: Wind angle: 181 +[teensy-2] [INFO] [1746051264.585694681] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051264.585951573] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051264.586095439] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051264.586478912] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051264.587544101] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051264.643947922] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051264.644374513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051264.644715519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051264.645518304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051264.646231698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051264.744769649] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051264.745425055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051264.745929809] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051264.747092927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051264.748049033] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051264.835473189] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051264.837273914] [sailbot.teensy]: Wind angle: 182 +[trim_sail-4] [INFO] [1746051264.837893018] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051264.838406540] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051264.839037657] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051264.840079913] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051264.840987575] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051264.844279282] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051264.844827841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051264.845284837] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051264.846386696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051264.847541786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051264.944953667] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051264.945608555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051264.946194011] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051264.947504232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051264.948539045] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051264.957122014] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051264.958824818] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746051264.959998363] [sailbot.main_algo]: Target Bearing: -141.5209814491166 +[main_algo-3] [INFO] [1746051264.960967771] [sailbot.main_algo]: Heading Difference: -167.15601855088346 +[main_algo-3] [INFO] [1746051264.961787413] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051264.962583231] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051264.963366995] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051264.964382947] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051264.965358330] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051265.002852281] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904738 Long: -76.50277442 +[main_algo-3] [INFO] [1746051265.003760193] [sailbot.main_algo]: Distance to destination: 56.79326054912238 +[vectornav-1] [INFO] [1746051265.003980214] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.807000000000016, 0.785, 4.829) +[main_algo-3] [INFO] [1746051265.004915338] [sailbot.main_algo]: Target Bearing: -141.53334964124136 +[main_algo-3] [INFO] [1746051265.005957485] [sailbot.main_algo]: Heading Difference: -167.1436503587587 +[main_algo-3] [INFO] [1746051265.006872936] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051265.007767453] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051265.008687822] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051265.011595362] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051265.045045077] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051265.045591154] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051265.046256428] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051265.047379204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051265.048394241] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051265.085116045] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051265.086573627] [sailbot.teensy]: Wind angle: 183 +[teensy-2] [INFO] [1746051265.087500906] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051265.087156741] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051265.087702742] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051265.088360118] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051265.089219896] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051265.145054807] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051265.145569226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051265.146406766] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051265.147358363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051265.148355906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051265.244485431] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051265.245541951] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051265.247506484] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051265.249001557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051265.249991189] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051265.335087145] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051265.336601249] [sailbot.teensy]: Wind angle: 184 +[trim_sail-4] [INFO] [1746051265.337284882] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051265.337463817] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051265.338441923] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051265.338478414] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051265.339408481] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051265.344326241] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051265.344978383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051265.345441657] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051265.346732231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051265.347750596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051265.445122882] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051265.445828383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051265.446471513] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051265.447893583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051265.448911828] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051265.456984943] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051265.457925117] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746051265.458840774] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051265.459949920] [sailbot.main_algo]: Current Location: (42.46904738214753, -76.50277442005444) +[main_algo-3] [INFO] [1746051265.460879371] [sailbot.main_algo]: Target Bearing: -141.53334964124136 +[main_algo-3] [INFO] [1746051265.461852439] [sailbot.main_algo]: Heading Difference: -168.65965035875865 +[main_algo-3] [INFO] [1746051265.462662192] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051265.463465731] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051265.464240845] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051265.465243793] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051265.465928694] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051265.502796099] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904759 Long: -76.50277444 +[main_algo-3] [INFO] [1746051265.503736188] [sailbot.main_algo]: Distance to destination: 56.80682352112263 +[vectornav-1] [INFO] [1746051265.503924123] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.920000000000016, -1.473, 4.821) +[main_algo-3] [INFO] [1746051265.504951756] [sailbot.main_algo]: Target Bearing: -141.51413921199412 +[main_algo-3] [INFO] [1746051265.505990018] [sailbot.main_algo]: Heading Difference: -168.67886078800586 +[main_algo-3] [INFO] [1746051265.507054510] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051265.508005807] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051265.508927123] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051265.510608217] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051265.544902056] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051265.545572532] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051265.546133364] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051265.547467695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051265.548616920] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051265.585184322] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051265.586813405] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051265.587758664] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051265.587881842] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051265.588627256] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051265.589485849] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051265.590033700] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051265.645297347] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051265.645679825] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051265.646829766] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051265.647587691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051265.648707239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051265.745008407] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051265.745698657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051265.746300291] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051265.747530973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051265.748685969] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051265.835457995] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051265.838003171] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051265.838385891] [sailbot.teensy]: Wind angle: 184 +[mux-7] [INFO] [1746051265.838537523] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051265.838982106] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051265.839359184] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051265.839694838] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051265.844365282] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051265.845015415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051265.845661289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051265.846733976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051265.847734965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051265.945184599] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051265.946042211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051265.946742561] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051265.947871150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051265.948325081] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051265.957200616] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051265.958265278] [sailbot.main_algo]: Target Bearing: -141.51413921199412 +[main_algo-3] [INFO] [1746051265.959164042] [sailbot.main_algo]: Heading Difference: -168.56586078800586 +[main_algo-3] [INFO] [1746051265.960030421] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051265.960904320] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051265.961758654] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051265.962825846] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051265.963514940] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051266.002772632] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904757 Long: -76.502774 +[main_algo-3] [INFO] [1746051266.003719649] [sailbot.main_algo]: Distance to destination: 56.833331396710285 +[vectornav-1] [INFO] [1746051266.003903434] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.639999999999986, 0.968, 5.287) +[main_algo-3] [INFO] [1746051266.004840698] [sailbot.main_algo]: Target Bearing: -141.5390664810525 +[main_algo-3] [INFO] [1746051266.005795022] [sailbot.main_algo]: Heading Difference: -168.5409335189475 +[main_algo-3] [INFO] [1746051266.006673789] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051266.007556230] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051266.008463860] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051266.010035772] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051266.044969868] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051266.045639119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051266.046315234] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051266.047516086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051266.048690970] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051266.085173516] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051266.087318313] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051266.088644341] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051266.087516810] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051266.087777755] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051266.089644130] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051266.090494515] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051266.145146641] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051266.146136786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051266.146613010] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051266.148435298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051266.149560373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051266.245236851] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051266.246025645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051266.246563851] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051266.248174562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051266.248926393] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051266.335495955] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051266.337740014] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051266.338092652] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051266.338280047] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051266.338685327] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051266.339591968] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051266.340501035] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051266.344464445] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051266.344918933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051266.345895294] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051266.346613066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051266.347726979] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051266.445105955] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051266.445700606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051266.446480835] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051266.447703709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051266.448720348] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051266.457165576] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051266.458230320] [sailbot.main_algo]: Target Bearing: -141.5390664810525 +[main_algo-3] [INFO] [1746051266.459133219] [sailbot.main_algo]: Heading Difference: -169.82093351894753 +[main_algo-3] [INFO] [1746051266.460073441] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051266.460954451] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051266.461815431] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051266.462816047] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051266.463348188] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051266.502676609] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904752 Long: -76.5027739 +[vectornav-1] [INFO] [1746051266.504087301] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.80200000000002, -1.484, 4.75) +[main_algo-3] [INFO] [1746051266.505413751] [sailbot.main_algo]: Distance to destination: 56.836148576869604 +[main_algo-3] [INFO] [1746051266.506411964] [sailbot.main_algo]: Target Bearing: -141.54865697912786 +[main_algo-3] [INFO] [1746051266.507321389] [sailbot.main_algo]: Heading Difference: -169.8113430208722 +[main_algo-3] [INFO] [1746051266.508199022] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051266.509057817] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051266.509845212] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051266.511472727] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051266.545174671] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051266.545793506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051266.546643346] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051266.547744323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051266.548786931] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051266.585422917] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051266.587203714] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051266.588129807] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051266.587760294] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051266.588535313] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051266.589056302] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051266.589906964] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051266.644551507] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051266.645138884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051266.645635549] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051266.646852330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051266.647964096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051266.744863016] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051266.745622003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051266.746450562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051266.747430818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051266.748491717] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051266.835308069] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051266.837580384] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051266.838340613] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051266.838387005] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051266.839347436] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051266.840224879] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051266.841060126] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051266.844283377] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051266.844851543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051266.845334075] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051266.846690839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051266.847663011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051266.944569543] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051266.945188840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051266.945725906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051266.946896533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051266.947929474] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051266.957176811] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051266.958234743] [sailbot.main_algo]: Target Bearing: -141.54865697912786 +[main_algo-3] [INFO] [1746051266.959141394] [sailbot.main_algo]: Heading Difference: -167.64934302087215 +[main_algo-3] [INFO] [1746051266.959992603] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051266.960881266] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051266.961701488] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051266.962694742] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051266.963296428] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051267.001411218] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904751 Long: -76.50277341 +[main_algo-3] [INFO] [1746051267.001846783] [sailbot.main_algo]: Distance to destination: 56.866551809639816 +[vectornav-1] [INFO] [1746051267.001855605] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.58100000000002, -0.201, 5.32) +[main_algo-3] [INFO] [1746051267.002323416] [sailbot.main_algo]: Target Bearing: -141.57532257771564 +[main_algo-3] [INFO] [1746051267.002756083] [sailbot.main_algo]: Heading Difference: -167.62267742228437 +[main_algo-3] [INFO] [1746051267.003169218] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051267.003570526] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051267.003959540] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051267.004902375] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051267.043786005] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051267.044126090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051267.044400734] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051267.045038575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051267.045584106] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051267.085097605] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051267.086562153] [sailbot.teensy]: Wind angle: 181 +[teensy-2] [INFO] [1746051267.087440014] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051267.087322795] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051267.088091510] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051267.088288251] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051267.089235191] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051267.145128934] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051267.145802864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051267.146548933] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051267.147729649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051267.148787982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051267.245481075] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051267.245820249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051267.246899877] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051267.247884686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051267.249076960] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051267.335179578] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051267.337344339] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051267.337547524] [sailbot.teensy]: Wind angle: 181 +[teensy-2] [INFO] [1746051267.338419993] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051267.338441251] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051267.339347799] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051267.340239516] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051267.344384645] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051267.344978437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051267.345584540] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051267.346725918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051267.347777746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051267.445171059] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051267.445781122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051267.447114634] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051267.447894635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051267.449000157] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051267.457176454] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051267.458222535] [sailbot.main_algo]: Target Bearing: -141.57532257771564 +[main_algo-3] [INFO] [1746051267.459145419] [sailbot.main_algo]: Heading Difference: -167.84367742228437 +[main_algo-3] [INFO] [1746051267.460021408] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051267.460863168] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051267.461648448] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051267.462606348] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051267.463201824] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051267.502676152] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904751 Long: -76.5027728 +[main_algo-3] [INFO] [1746051267.503665069] [sailbot.main_algo]: Distance to destination: 56.9052956107063 +[vectornav-1] [INFO] [1746051267.503776189] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.93700000000001, 0.671, 4.664) +[main_algo-3] [INFO] [1746051267.504948778] [sailbot.main_algo]: Target Bearing: -141.60740311466836 +[main_algo-3] [INFO] [1746051267.506698084] [sailbot.main_algo]: Heading Difference: -167.8115968853316 +[main_algo-3] [INFO] [1746051267.507638094] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051267.508538837] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051267.509389875] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051267.510998894] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051267.544995929] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051267.545488588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051267.546299901] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051267.547300104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051267.548473677] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051267.585313027] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051267.587434867] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051267.588392810] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051267.587484498] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051267.588686749] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051267.589423556] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051267.590319850] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051267.644432615] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051267.644990111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051267.645522804] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051267.646751502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051267.647791331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051267.745020956] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051267.745498465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051267.746294474] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051267.747338212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051267.748513638] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051267.835471417] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051267.837447641] [sailbot.teensy]: Wind angle: 179 +[trim_sail-4] [INFO] [1746051267.838063804] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051267.839353219] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051267.839531222] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051267.840542384] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051267.841391280] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051267.844309857] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051267.844760038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051267.845391866] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051267.846371541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051267.847387052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051267.945323188] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051267.946215961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051267.946778306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051267.948282416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051267.949450525] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051267.956983178] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051267.957937640] [sailbot.main_algo]: Target Bearing: -141.60740311466836 +[main_algo-3] [INFO] [1746051267.958823848] [sailbot.main_algo]: Heading Difference: -167.4555968853316 +[main_algo-3] [INFO] [1746051267.959673509] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051267.960481195] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051267.961286919] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051267.962266342] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051267.962916530] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051268.003352608] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904746 Long: -76.50277299 +[main_algo-3] [INFO] [1746051268.003874855] [sailbot.main_algo]: Distance to destination: 56.88970019852277 +[vectornav-1] [INFO] [1746051268.004518016] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.87299999999999, -1.621, 4.771) +[main_algo-3] [INFO] [1746051268.005031045] [sailbot.main_algo]: Target Bearing: -141.6017359995464 +[main_algo-3] [INFO] [1746051268.006086779] [sailbot.main_algo]: Heading Difference: -167.46126400045358 +[main_algo-3] [INFO] [1746051268.007037647] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051268.007944158] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051268.008853692] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051268.010585531] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051268.045076529] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051268.045830162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051268.046736802] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051268.047645068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051268.048776127] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051268.085491694] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051268.087600597] [sailbot.teensy]: Wind angle: 178 +[trim_sail-4] [INFO] [1746051268.088105259] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051268.088621530] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051268.089866266] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051268.090186307] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051268.090764944] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051268.144929962] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051268.145833354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051268.146364651] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051268.147762591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051268.148845137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051268.244902073] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051268.245592460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051268.246169889] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051268.247504111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051268.248563796] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051268.335209262] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051268.336958530] [sailbot.teensy]: Wind angle: 177 +[teensy-2] [INFO] [1746051268.337850541] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051268.337297931] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051268.338525851] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051268.338674291] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051268.339586775] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051268.344291396] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051268.345067225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051268.345394395] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051268.346850640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051268.347997254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051268.443741862] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051268.444748751] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051268.444124629] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051268.444987432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051268.446604583] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051268.456374788] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051268.456889894] [sailbot.main_algo]: Target Bearing: -141.6017359995464 +[main_algo-3] [INFO] [1746051268.457370008] [sailbot.main_algo]: Heading Difference: -168.5252640004536 +[main_algo-3] [INFO] [1746051268.457811350] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051268.458310349] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051268.458739617] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051268.459243639] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051268.459605297] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051268.501443289] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690475 Long: -76.50277276 +[vectornav-1] [INFO] [1746051268.501907533] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.55200000000002, 0.878, 5.804) +[main_algo-3] [INFO] [1746051268.502547193] [sailbot.main_algo]: Distance to destination: 56.907131815622236 +[main_algo-3] [INFO] [1746051268.503971221] [sailbot.main_algo]: Target Bearing: -141.61036921604557 +[main_algo-3] [INFO] [1746051268.505421832] [sailbot.main_algo]: Heading Difference: -168.51663078395444 +[main_algo-3] [INFO] [1746051268.506533694] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051268.507016019] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051268.508213211] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051268.509607633] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051268.543699091] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051268.544076063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051268.544221354] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051268.544918505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051268.546019228] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051268.585207884] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051268.587826971] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051268.587908659] [sailbot.teensy]: Wind angle: 178 +[mux-7] [INFO] [1746051268.588341061] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051268.588992004] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051268.589997496] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051268.590783183] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051268.643634205] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051268.644013085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051268.644141912] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051268.644878205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051268.645361841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051268.743962428] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051268.744180047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051268.744541871] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051268.745303423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051268.745907849] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051268.835171302] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051268.837307841] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051268.837917665] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051268.838124514] [sailbot.teensy]: Wind angle: 178 +[teensy-2] [INFO] [1746051268.838983155] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051268.839768790] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051268.841179364] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051268.844327841] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051268.844961205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051268.845741504] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051268.846683984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051268.847744737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051268.944678539] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051268.945376838] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051268.946333369] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051268.947072830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051268.948173900] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051268.957004106] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051268.958003584] [sailbot.main_algo]: Target Bearing: -141.61036921604557 +[main_algo-3] [INFO] [1746051268.958870076] [sailbot.main_algo]: Heading Difference: -169.8376307839544 +[main_algo-3] [INFO] [1746051268.959676699] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051268.960475514] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051268.961253925] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051268.962240465] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051268.962832643] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051269.002798490] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904725 Long: -76.50277254 +[main_algo-3] [INFO] [1746051269.003757538] [sailbot.main_algo]: Distance to destination: 56.90349356958932 +[vectornav-1] [INFO] [1746051269.003932170] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.25799999999998, -1.237, 5.402) +[main_algo-3] [INFO] [1746051269.004893053] [sailbot.main_algo]: Target Bearing: -141.6435322639872 +[main_algo-3] [INFO] [1746051269.005857854] [sailbot.main_algo]: Heading Difference: -169.80446773601278 +[main_algo-3] [INFO] [1746051269.006850983] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051269.007773845] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051269.008682871] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051269.010376512] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051269.044858951] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051269.045585265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051269.046164278] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051269.047491853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051269.048565061] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051269.085067762] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051269.087016745] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051269.087882396] [sailbot.teensy]: Wind angle: 178 +[mux-7] [INFO] [1746051269.088536613] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051269.089249750] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051269.090133266] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051269.090971584] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051269.145161080] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051269.145845453] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051269.146674433] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051269.147978465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051269.149142851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051269.244905675] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051269.245623369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051269.246109291] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051269.247414743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051269.248565768] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051269.335424276] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051269.336159565] [sailbot.teensy]: Wind angle: 178 +[trim_sail-4] [INFO] [1746051269.336445282] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051269.336574351] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051269.336962083] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051269.337018208] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051269.337378971] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051269.344480504] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051269.345083377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051269.345661736] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051269.346772986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051269.347946060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051269.444916780] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051269.445659553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051269.446250723] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051269.447432630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051269.448661736] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051269.457078381] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051269.458263764] [sailbot.main_algo]: Target Bearing: -141.6435322639872 +[main_algo-3] [INFO] [1746051269.459223287] [sailbot.main_algo]: Heading Difference: -168.09846773601282 +[main_algo-3] [INFO] [1746051269.460075214] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051269.460912809] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051269.461726355] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051269.462734311] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051269.463303169] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051269.502770628] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904708 Long: -76.5027724 +[main_algo-3] [INFO] [1746051269.503744757] [sailbot.main_algo]: Distance to destination: 56.90042006343154 +[vectornav-1] [INFO] [1746051269.503919046] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.49200000000002, -0.275, 4.995) +[main_algo-3] [INFO] [1746051269.504854553] [sailbot.main_algo]: Target Bearing: -141.6655816110698 +[main_algo-3] [INFO] [1746051269.505819108] [sailbot.main_algo]: Heading Difference: -168.07641838893022 +[main_algo-3] [INFO] [1746051269.506730717] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051269.507601955] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051269.508470480] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051269.510173107] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051269.544923359] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051269.545625698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051269.546177616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051269.547442954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051269.548546891] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051269.585492213] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051269.587648155] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051269.588119234] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051269.589168314] [sailbot.teensy]: Wind angle: 177 +[teensy-2] [INFO] [1746051269.590115378] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051269.590986664] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051269.592076295] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051269.645212710] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051269.645969554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051269.646747146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051269.648061865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051269.649345083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051269.744945287] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051269.745675292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051269.746226761] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051269.747649219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051269.748743877] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051269.835172612] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051269.837342436] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051269.837603368] [sailbot.teensy]: Wind angle: 177 +[teensy-2] [INFO] [1746051269.838578711] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051269.839385568] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051269.839821814] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051269.840783331] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051269.844296886] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051269.844927786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051269.845401445] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051269.846594392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051269.847748758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051269.944462072] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051269.945348687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051269.945564503] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051269.947111011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051269.948165527] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051269.956985875] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051269.957908167] [sailbot.main_algo]: Target Bearing: -141.6655816110698 +[main_algo-3] [INFO] [1746051269.958719003] [sailbot.main_algo]: Heading Difference: -167.84241838893018 +[main_algo-3] [INFO] [1746051269.959535432] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051269.960345197] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051269.961159055] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051269.962156654] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051269.962730051] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051270.003293327] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904703 Long: -76.50277231 +[main_algo-3] [INFO] [1746051270.003773400] [sailbot.main_algo]: Distance to destination: 56.902622338048026 +[main_algo-3] [INFO] [1746051270.004857674] [sailbot.main_algo]: Target Bearing: -141.67462969251838 +[vectornav-1] [INFO] [1746051270.005558130] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.185, 0.267, 4.474) +[main_algo-3] [INFO] [1746051270.005837661] [sailbot.main_algo]: Heading Difference: -167.83337030748157 +[main_algo-3] [INFO] [1746051270.006786992] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051270.007699613] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051270.008592486] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051270.010251029] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051270.044918512] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051270.045563480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051270.046176878] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051270.047368033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051270.048538154] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051270.085471285] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051270.087365042] [sailbot.teensy]: Wind angle: 178 +[trim_sail-4] [INFO] [1746051270.087902471] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051270.088343719] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051270.089244789] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051270.090023343] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051270.090084687] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051270.145040025] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051270.145630118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051270.146522808] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051270.147413591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051270.148590232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051270.245217339] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051270.245750191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051270.246629041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051270.247672175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051270.248775383] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051270.335559347] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051270.337526001] [sailbot.teensy]: Wind angle: 179 +[trim_sail-4] [INFO] [1746051270.337570166] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051270.338424971] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051270.339301803] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051270.339275081] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051270.340229098] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051270.344309984] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051270.344882702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051270.345655275] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051270.346840598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051270.348008797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051270.445194247] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051270.445719611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051270.446847424] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051270.447670550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051270.448732571] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051270.457171090] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051270.458450898] [sailbot.main_algo]: Target Bearing: -141.67462969251838 +[main_algo-3] [INFO] [1746051270.459378625] [sailbot.main_algo]: Heading Difference: -169.1403703074816 +[main_algo-3] [INFO] [1746051270.460294209] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051270.461196702] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051270.462298368] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051270.463675328] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051270.464016329] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051270.502919590] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904687 Long: -76.50277233 +[main_algo-3] [INFO] [1746051270.503894262] [sailbot.main_algo]: Distance to destination: 56.8900875102629 +[vectornav-1] [INFO] [1746051270.505116007] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.452, -0.218, 6.381) +[main_algo-3] [INFO] [1746051270.505188656] [sailbot.main_algo]: Target Bearing: -141.6874206062659 +[main_algo-3] [INFO] [1746051270.506284158] [sailbot.main_algo]: Heading Difference: -169.1275793937341 +[main_algo-3] [INFO] [1746051270.507178402] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051270.508050733] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051270.508939357] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051270.510664515] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051270.545255665] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051270.546093525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051270.546752218] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051270.548398325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051270.549633729] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051270.585349520] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051270.587121763] [sailbot.teensy]: Wind angle: 180 +[trim_sail-4] [INFO] [1746051270.587612922] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051270.588978732] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051270.589236150] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051270.589929393] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051270.590818045] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051270.645002272] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051270.645662817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051270.646283207] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051270.647480516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051270.648116765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051270.744901826] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051270.745703503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051270.746252298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051270.747555412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051270.748820653] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051270.835476960] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051270.837858329] [sailbot.teensy]: Wind angle: 180 +[trim_sail-4] [INFO] [1746051270.837964844] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051270.838839309] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051270.839046100] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051270.839774634] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051270.840737816] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051270.844352879] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051270.844859109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051270.845442127] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051270.846699261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051270.847720327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051270.944973382] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051270.945566247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051270.946287440] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051270.947563180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051270.948336046] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051270.957178818] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051270.958262865] [sailbot.main_algo]: Target Bearing: -141.6874206062659 +[main_algo-3] [INFO] [1746051270.959227592] [sailbot.main_algo]: Heading Difference: -169.8605793937341 +[main_algo-3] [INFO] [1746051270.960096483] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051270.960997499] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051270.961816398] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051270.962815806] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051270.963400486] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051271.002863773] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904648 Long: -76.50277221 +[main_algo-3] [INFO] [1746051271.003715159] [sailbot.main_algo]: Distance to destination: 56.87028403740433 +[vectornav-1] [INFO] [1746051271.004105013] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.64100000000002, -0.535, 4.99) +[main_algo-3] [INFO] [1746051271.004864936] [sailbot.main_algo]: Target Bearing: -141.72747524804421 +[main_algo-3] [INFO] [1746051271.005910563] [sailbot.main_algo]: Heading Difference: -169.82052475195576 +[main_algo-3] [INFO] [1746051271.007018901] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051271.008883847] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051271.010132365] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051271.012983094] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051271.044119163] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051271.044591745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051271.045044137] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051271.045882784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051271.046705028] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051271.085132292] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051271.086677283] [sailbot.teensy]: Wind angle: 180 +[trim_sail-4] [INFO] [1746051271.087079241] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051271.087765962] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051271.088407201] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051271.088669733] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051271.089502906] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051271.144484039] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051271.145155676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051271.145591164] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051271.146955975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051271.148014001] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051271.245237636] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051271.246690572] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051271.248148976] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051271.250094576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051271.251188119] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051271.335223493] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051271.337280637] [sailbot.teensy]: Wind angle: 180 +[trim_sail-4] [INFO] [1746051271.337480988] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051271.338307802] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051271.339190614] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051271.340105214] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051271.340986663] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051271.344299690] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051271.344722123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051271.345413986] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051271.346333979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051271.347367725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051271.444911519] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051271.445610384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051271.446196511] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051271.447455810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051271.448552879] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051271.457241924] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051271.458662236] [sailbot.main_algo]: Target Bearing: -141.72747524804421 +[main_algo-3] [INFO] [1746051271.459692124] [sailbot.main_algo]: Heading Difference: -170.6315247519558 +[main_algo-3] [INFO] [1746051271.460528007] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051271.461525147] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051271.462394694] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051271.463397528] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051271.464407196] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051271.502146325] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904648 Long: -76.50277219 +[vectornav-1] [INFO] [1746051271.503157968] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.170000000000016, -0.877, 4.249) +[main_algo-3] [INFO] [1746051271.503364749] [sailbot.main_algo]: Distance to destination: 56.87155681178692 +[main_algo-3] [INFO] [1746051271.504390206] [sailbot.main_algo]: Target Bearing: -141.72852429130077 +[main_algo-3] [INFO] [1746051271.505299568] [sailbot.main_algo]: Heading Difference: -170.63047570869924 +[main_algo-3] [INFO] [1746051271.506157591] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051271.507175927] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051271.507955700] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051271.509591259] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051271.544872598] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051271.545553899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051271.546152507] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051271.547407178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051271.548431814] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051271.585031516] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051271.586435468] [sailbot.teensy]: Wind angle: 180 +[trim_sail-4] [INFO] [1746051271.586866056] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051271.587247916] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051271.588139671] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051271.589095603] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051271.589108783] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051271.644969214] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051271.645631059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051271.646227182] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051271.647440421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051271.648499442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051271.744928993] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051271.745632496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051271.746208336] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051271.747418400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051271.748506856] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051271.835241916] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051271.836994577] [sailbot.teensy]: Wind angle: 180 +[trim_sail-4] [INFO] [1746051271.837455635] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051271.837965606] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051271.838956899] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051271.839853086] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051271.839869666] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051271.844463132] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051271.845736528] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051271.847916280] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051271.851317530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051271.855114034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051271.943697642] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051271.944061993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051271.944219716] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051271.945144892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051271.945648451] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051271.956817685] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051271.957316425] [sailbot.main_algo]: Target Bearing: -141.72852429130077 +[main_algo-3] [INFO] [1746051271.957724529] [sailbot.main_algo]: Heading Difference: -168.10147570869924 +[main_algo-3] [INFO] [1746051271.958124799] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051271.958528389] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051271.958932491] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051271.959411215] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051271.968669965] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051272.001375649] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904651 Long: -76.50277248 +[vectornav-1] [INFO] [1746051272.001829648] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.49200000000002, 0.224, 6.158) +[main_algo-3] [INFO] [1746051272.004291599] [sailbot.main_algo]: Distance to destination: 56.85521383760802 +[main_algo-3] [INFO] [1746051272.004762278] [sailbot.main_algo]: Target Bearing: -141.71071038783285 +[main_algo-3] [INFO] [1746051272.005177710] [sailbot.main_algo]: Heading Difference: -168.1192896121671 +[main_algo-3] [INFO] [1746051272.005580360] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051272.005982421] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051272.006374220] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051272.007209280] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051272.044677240] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051272.045289371] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051272.047035136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051272.048022864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051272.045754249] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051272.085399556] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051272.087497307] [sailbot.teensy]: Wind angle: 177 +[teensy-2] [INFO] [1746051272.088547736] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051272.087933370] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051272.089580352] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051272.090380133] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051272.090541631] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051272.145050119] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051272.145844301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051272.146499833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051272.147775516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051272.148950912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051272.245244004] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051272.246219847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051272.247118992] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051272.247965650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051272.248432057] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051272.335324502] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051272.337619524] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051272.338312477] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051272.338589985] [sailbot.teensy]: Wind angle: 175 +[teensy-2] [INFO] [1746051272.339579807] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051272.340495086] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051272.341323012] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051272.344299986] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051272.344864571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051272.345490369] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051272.346626151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051272.347697108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051272.444740508] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051272.445418521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051272.445932825] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051272.447303069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051272.448329341] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051272.457057476] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051272.458105056] [sailbot.main_algo]: Target Bearing: -141.71071038783285 +[main_algo-3] [INFO] [1746051272.459021989] [sailbot.main_algo]: Heading Difference: -169.7972896121671 +[main_algo-3] [INFO] [1746051272.459830619] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051272.460670353] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051272.461464854] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051272.462517749] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051272.463012482] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051272.502504214] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904636 Long: -76.50277237 +[main_algo-3] [INFO] [1746051272.503548655] [sailbot.main_algo]: Distance to destination: 56.85166312458115 +[vectornav-1] [INFO] [1746051272.503786317] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.442999999999984, 0.071, 5.381) +[main_algo-3] [INFO] [1746051272.504731439] [sailbot.main_algo]: Target Bearing: -141.72947542452772 +[main_algo-3] [INFO] [1746051272.505720368] [sailbot.main_algo]: Heading Difference: -169.77852457547226 +[main_algo-3] [INFO] [1746051272.506609768] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051272.507432360] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051272.508248971] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051272.509927712] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051272.544936134] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051272.545708691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051272.546204600] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051272.547658637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051272.548775929] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051272.586096321] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051272.588381476] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051272.588924355] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051272.588962302] [sailbot.teensy]: Wind angle: 177 +[teensy-2] [INFO] [1746051272.590867223] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051272.591960744] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051272.593114461] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051272.643719688] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051272.644058434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051272.644264590] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051272.645040523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051272.645631539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051272.744490485] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051272.745527936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051272.745615324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051272.747719234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051272.749057716] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051272.835296075] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051272.837300439] [sailbot.teensy]: Wind angle: 179 +[trim_sail-4] [INFO] [1746051272.837472848] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051272.838201681] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051272.839644792] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051272.840634050] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051272.841439415] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051272.844356891] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051272.844907985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051272.845467011] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051272.846501330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051272.847479181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051272.944745052] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051272.945499175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051272.946000144] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051272.947557900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051272.948735219] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051272.957087029] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051272.958216102] [sailbot.main_algo]: Target Bearing: -141.72947542452772 +[main_algo-3] [INFO] [1746051272.959176890] [sailbot.main_algo]: Heading Difference: -170.8275245754723 +[main_algo-3] [INFO] [1746051272.960132768] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051272.961072489] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051272.961926250] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051272.963382203] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051272.963571843] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051273.002406411] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904614 Long: -76.5027723 +[vectornav-1] [INFO] [1746051273.002905430] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.39300000000003, -1.48, 6.057) +[main_algo-3] [INFO] [1746051273.002539010] [sailbot.main_algo]: Distance to destination: 56.84065189820057 +[main_algo-3] [INFO] [1746051273.003193744] [sailbot.main_algo]: Target Bearing: -141.75221149904144 +[main_algo-3] [INFO] [1746051273.004060320] [sailbot.main_algo]: Heading Difference: -170.80478850095858 +[main_algo-3] [INFO] [1746051273.004573558] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051273.005252810] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051273.005689761] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051273.006882971] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051273.045001103] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051273.046288619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051273.046350715] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051273.048476533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051273.049620595] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051273.085175565] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051273.087266335] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051273.087400887] [sailbot.teensy]: Wind angle: 179 +[mux-7] [INFO] [1746051273.088970197] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051273.089645048] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051273.090805545] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051273.091910230] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051273.144833005] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051273.145774903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051273.146187574] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051273.147641177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051273.148728442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051273.244827098] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051273.245525373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051273.246114169] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051273.247479766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051273.248578327] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051273.334990891] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051273.337041567] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051273.338570629] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051273.338598851] [sailbot.teensy]: Wind angle: 179 +[teensy-2] [INFO] [1746051273.339701679] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051273.340766838] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051273.341647702] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051273.344550361] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051273.344957760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051273.345904946] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051273.346596618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051273.347853951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051273.444917697] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051273.445208627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051273.446042473] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051273.446830757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051273.447794781] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051273.457005689] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051273.457967407] [sailbot.main_algo]: Target Bearing: -141.75221149904144 +[main_algo-3] [INFO] [1746051273.458810895] [sailbot.main_algo]: Heading Difference: -168.85478850095853 +[main_algo-3] [INFO] [1746051273.459597648] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051273.460346077] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051273.461075770] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051273.462001080] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051273.462497472] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051273.503388078] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904631 Long: -76.50277199 +[main_algo-3] [INFO] [1746051273.503946659] [sailbot.main_algo]: Distance to destination: 56.87233543823573 +[vectornav-1] [INFO] [1746051273.504656343] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.78699999999998, -0.29, 5.006) +[main_algo-3] [INFO] [1746051273.505163248] [sailbot.main_algo]: Target Bearing: -141.7537361182993 +[main_algo-3] [INFO] [1746051273.506139259] [sailbot.main_algo]: Heading Difference: -168.85326388170068 +[main_algo-3] [INFO] [1746051273.507044116] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051273.507930738] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051273.508801496] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051273.510895914] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051273.545141356] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051273.545830390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051273.546580573] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051273.547639534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051273.548739558] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051273.585404184] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051273.587303644] [sailbot.teensy]: Wind angle: 179 +[trim_sail-4] [INFO] [1746051273.587578757] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051273.588415292] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051273.589223985] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051273.589479108] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051273.590489509] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051273.645092629] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051273.646375476] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051273.646657973] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051273.648590655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051273.649815903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051273.745147028] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051273.745480652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051273.746407989] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051273.747231583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051273.748831571] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051273.835276488] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051273.837644848] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051273.838359612] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051273.839837930] [sailbot.teensy]: Wind angle: 178 +[teensy-2] [INFO] [1746051273.840822553] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051273.841660875] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051273.842445542] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746051273.844995503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051273.845055084] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051273.846647388] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051273.846761977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051273.848261298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051273.944760063] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051273.945368928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051273.945945180] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051273.947102413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051273.948031433] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051273.956963080] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051273.958029344] [sailbot.main_algo]: Target Bearing: -141.7537361182993 +[main_algo-3] [INFO] [1746051273.958963824] [sailbot.main_algo]: Heading Difference: -167.45926388170074 +[main_algo-3] [INFO] [1746051273.959759817] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051273.960671098] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051273.962252925] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051273.963559740] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051273.964103552] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051274.002706344] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904629 Long: -76.50277174 +[main_algo-3] [INFO] [1746051274.003662869] [sailbot.main_algo]: Distance to destination: 56.886847199904025 +[vectornav-1] [INFO] [1746051274.004499103] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.72199999999998, 1.256, 6.109) +[main_algo-3] [INFO] [1746051274.004761900] [sailbot.main_algo]: Target Bearing: -141.76857044336643 +[main_algo-3] [INFO] [1746051274.005724741] [sailbot.main_algo]: Heading Difference: -167.44442955663362 +[main_algo-3] [INFO] [1746051274.006715920] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051274.007654226] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051274.008543086] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051274.010189054] [sailbot.mux]: algo rudder angle: -25 +[teensy-2] [INFO] [1746051274.045458926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051274.045490395] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051274.047080462] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051274.047237766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051274.048330849] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051274.085102196] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051274.087234374] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051274.087842254] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051274.087966324] [sailbot.teensy]: Wind angle: 179 +[teensy-2] [INFO] [1746051274.088875441] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051274.089658709] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051274.090442731] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051274.144712960] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051274.145202243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051274.145920185] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051274.146836212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051274.147807683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051274.244968033] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051274.245394647] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051274.247205507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051274.247205699] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051274.248721115] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051274.335050330] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051274.337320292] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051274.337753116] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051274.338068428] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051274.339462071] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051274.340806156] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051274.341792272] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051274.344365801] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051274.344846890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051274.345461282] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051274.347123002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051274.348470187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051274.444847570] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051274.445405230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051274.446078141] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051274.447309942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051274.448308488] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051274.457048702] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051274.458086982] [sailbot.main_algo]: Target Bearing: -141.76857044336643 +[main_algo-3] [INFO] [1746051274.459011727] [sailbot.main_algo]: Heading Difference: -170.50942955663356 +[main_algo-3] [INFO] [1746051274.460051362] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051274.460970305] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051274.461840803] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051274.463134834] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051274.463437661] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051274.503205809] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904634 Long: -76.50277198 +[main_algo-3] [INFO] [1746051274.503508591] [sailbot.main_algo]: Distance to destination: 56.875080621002915 +[main_algo-3] [INFO] [1746051274.504569216] [sailbot.main_algo]: Target Bearing: -141.75166154572366 +[vectornav-1] [INFO] [1746051274.504871572] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.673, -2.607, 6.154) +[main_algo-3] [INFO] [1746051274.505536095] [sailbot.main_algo]: Heading Difference: -170.52633845427636 +[main_algo-3] [INFO] [1746051274.506378453] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051274.507277398] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051274.508092942] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051274.509663916] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051274.544764359] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051274.545459708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051274.545949313] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051274.547175422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051274.548290358] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051274.585147970] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051274.587499103] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051274.588422794] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051274.589336201] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051274.589519330] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051274.590245087] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051274.591098022] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051274.643744478] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051274.644034249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051274.644457515] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051274.644883734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051274.645382570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051274.743696554] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051274.744075412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051274.744223069] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051274.744924362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051274.745413183] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051274.835086358] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051274.836820810] [sailbot.teensy]: Wind angle: 182 +[trim_sail-4] [INFO] [1746051274.837266967] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051274.837716309] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051274.838207440] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051274.838781671] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051274.839658589] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051274.844380284] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051274.844903010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051274.845478181] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051274.846647012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051274.847693493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051274.945039552] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051274.945509260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051274.946313562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051274.947170779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051274.948273872] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051274.957040647] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051274.958006723] [sailbot.main_algo]: Target Bearing: -141.75166154572366 +[main_algo-3] [INFO] [1746051274.958873180] [sailbot.main_algo]: Heading Difference: -168.57533845427633 +[main_algo-3] [INFO] [1746051274.959675503] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051274.960518795] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051274.961318593] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051274.962622980] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051274.963482809] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051275.003408334] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904621 Long: -76.50277148 +[main_algo-3] [INFO] [1746051275.004068241] [sailbot.main_algo]: Distance to destination: 56.89778557426747 +[vectornav-1] [INFO] [1746051275.004732530] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.62900000000002, 1.21, 5.264) +[main_algo-3] [INFO] [1746051275.005265428] [sailbot.main_algo]: Target Bearing: -141.78911851817494 +[main_algo-3] [INFO] [1746051275.006259437] [sailbot.main_algo]: Heading Difference: -168.53788148182502 +[main_algo-3] [INFO] [1746051275.007182642] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051275.008104267] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051275.009076325] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051275.010821516] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051275.045007601] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051275.045699414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051275.046547878] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051275.047605606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051275.048796506] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051275.085363567] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051275.087112848] [sailbot.teensy]: Wind angle: 182 +[trim_sail-4] [INFO] [1746051275.087719402] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051275.088049702] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051275.088999178] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051275.088558906] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051275.089881987] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051275.145046082] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051275.145482284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051275.146368116] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051275.147704616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051275.148764540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051275.244919578] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051275.245538520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051275.246163863] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051275.247346170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051275.248374693] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051275.335146252] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051275.337264237] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051275.338319663] [sailbot.teensy]: Wind angle: 182 +[mux-7] [INFO] [1746051275.338840256] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051275.339546794] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051275.340437738] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051275.341257534] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051275.344313129] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051275.344976326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051275.345438953] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051275.346615533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051275.347656270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051275.444742179] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051275.445408542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051275.446120392] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051275.447304205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051275.447915547] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051275.457288089] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051275.458347606] [sailbot.main_algo]: Target Bearing: -141.78911851817494 +[main_algo-3] [INFO] [1746051275.459269306] [sailbot.main_algo]: Heading Difference: -167.581881481825 +[main_algo-3] [INFO] [1746051275.460087116] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051275.461024690] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051275.461853246] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051275.462904773] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051275.463326719] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051275.502576775] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904641 Long: -76.50277144 +[main_algo-3] [INFO] [1746051275.503506906] [sailbot.main_algo]: Distance to destination: 56.91438154864354 +[vectornav-1] [INFO] [1746051275.503723906] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.71300000000002, -1.417, 3.84) +[main_algo-3] [INFO] [1746051275.504605077] [sailbot.main_algo]: Target Bearing: -141.77389036880172 +[main_algo-3] [INFO] [1746051275.505526004] [sailbot.main_algo]: Heading Difference: -167.59710963119824 +[main_algo-3] [INFO] [1746051275.506365900] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051275.507225732] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051275.508055884] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051275.509649305] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051275.544716778] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051275.545787562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051275.545954482] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051275.547871201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051275.549067625] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051275.585152660] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051275.586906212] [sailbot.teensy]: Wind angle: 187 +[trim_sail-4] [INFO] [1746051275.587350218] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051275.587805587] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051275.588669491] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051275.588842862] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051275.589512123] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051275.644660501] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051275.645468305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051275.645722719] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051275.647500337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051275.648650226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051275.744333771] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051275.745363379] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051275.745411734] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051275.747706651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051275.749036638] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051275.835259721] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051275.837129036] [sailbot.teensy]: Wind angle: 190 +[trim_sail-4] [INFO] [1746051275.837307172] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051275.838034937] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051275.838354094] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051275.839011505] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051275.840024686] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051275.844421540] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051275.845003735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051275.845512093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051275.846641760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051275.848034352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051275.944788651] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051275.945530010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051275.946015217] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051275.947312077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051275.948501354] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051275.956907765] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051275.957998787] [sailbot.main_algo]: Target Bearing: -141.77389036880172 +[main_algo-3] [INFO] [1746051275.958929843] [sailbot.main_algo]: Heading Difference: -168.5131096311983 +[main_algo-3] [INFO] [1746051275.959819053] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051275.960668858] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051275.961480380] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051275.962604813] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051275.963525902] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051276.001687781] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904642 Long: -76.50277178 +[vectornav-1] [INFO] [1746051276.002507939] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.69499999999999, 1.23, 4.91) +[main_algo-3] [INFO] [1746051276.003812115] [sailbot.main_algo]: Distance to destination: 56.893435759641754 +[main_algo-3] [INFO] [1746051276.004673630] [sailbot.main_algo]: Target Bearing: -141.7552149227475 +[main_algo-3] [INFO] [1746051276.005577717] [sailbot.main_algo]: Heading Difference: -168.5317850772525 +[main_algo-3] [INFO] [1746051276.006547085] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051276.007494014] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051276.008552581] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051276.010039286] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051276.043766637] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051276.044098490] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051276.044411396] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051276.045078053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051276.045663740] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051276.085049160] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051276.087147318] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051276.088199606] [sailbot.teensy]: Wind angle: 190 +[teensy-2] [INFO] [1746051276.089178398] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051276.089294480] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051276.090083456] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051276.091068775] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051276.144714253] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051276.145357424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051276.146098450] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051276.147208859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051276.148193131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051276.245323237] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051276.245521142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051276.247037327] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051276.247519237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051276.248648862] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051276.335297783] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051276.337203113] [sailbot.teensy]: Wind angle: 190 +[trim_sail-4] [INFO] [1746051276.338000363] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051276.338218795] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051276.339154445] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051276.340047942] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051276.340239751] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051276.344366653] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051276.345512457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051276.345572576] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051276.347851864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051276.349118012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051276.444710033] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051276.446296879] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051276.446243442] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051276.448744030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051276.450026203] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051276.456823520] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051276.457643453] [sailbot.main_algo]: Target Bearing: -141.7552149227475 +[main_algo-3] [INFO] [1746051276.458487401] [sailbot.main_algo]: Heading Difference: -170.54978507725252 +[main_algo-3] [INFO] [1746051276.459283073] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051276.460064613] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051276.460903584] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051276.461921534] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051276.462503546] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051276.502790262] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904605 Long: -76.50277184 +[main_algo-3] [INFO] [1746051276.503787100] [sailbot.main_algo]: Distance to destination: 56.8636188962399 +[vectornav-1] [INFO] [1746051276.504077054] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.89100000000002, -1.529, 6.981) +[main_algo-3] [INFO] [1746051276.504899889] [sailbot.main_algo]: Target Bearing: -141.78412784051497 +[main_algo-3] [INFO] [1746051276.506452374] [sailbot.main_algo]: Heading Difference: -170.52087215948507 +[main_algo-3] [INFO] [1746051276.507396894] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051276.508284078] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051276.509132088] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051276.510764192] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051276.545051981] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051276.545413359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051276.546359675] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051276.547216350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051276.548436701] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051276.585131770] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051276.586962819] [sailbot.teensy]: Wind angle: 190 +[trim_sail-4] [INFO] [1746051276.587182702] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051276.587893489] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051276.588819482] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051276.589395571] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051276.589712450] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051276.644911165] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051276.645397583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051276.646155115] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051276.647226312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051276.648344633] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051276.744105277] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051276.744945817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051276.744232771] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051276.744774164] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051276.745490583] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051276.835033405] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051276.836886177] [sailbot.teensy]: Wind angle: 190 +[teensy-2] [INFO] [1746051276.837920531] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051276.838502837] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051276.838784096] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051276.839620207] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051276.840147801] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051276.844405171] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051276.844858518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051276.845510316] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051276.846404268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051276.847479378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051276.944670841] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051276.945653442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051276.945919355] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051276.947529220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051276.948743044] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051276.957348977] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051276.958558136] [sailbot.main_algo]: Target Bearing: -141.78412784051497 +[main_algo-3] [INFO] [1746051276.959632056] [sailbot.main_algo]: Heading Difference: -170.32487215948504 +[main_algo-3] [INFO] [1746051276.960692060] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051276.961641907] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051276.962568103] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051276.963832850] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051276.964221544] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051277.002583402] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904563 Long: -76.5027718 +[main_algo-3] [INFO] [1746051277.003403447] [sailbot.main_algo]: Distance to destination: 56.83667916938214 +[vectornav-1] [INFO] [1746051277.003621040] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.601, -0.176, 5.346) +[main_algo-3] [INFO] [1746051277.004451732] [sailbot.main_algo]: Target Bearing: -141.82264780774761 +[main_algo-3] [INFO] [1746051277.005298538] [sailbot.main_algo]: Heading Difference: -170.28635219225237 +[main_algo-3] [INFO] [1746051277.006140908] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051277.006963312] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051277.007787132] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051277.009418943] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051277.044708201] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051277.045579936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051277.045951067] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051277.047354878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051277.048355963] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051277.085051918] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051277.086713900] [sailbot.teensy]: Wind angle: 190 +[teensy-2] [INFO] [1746051277.087638678] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051277.088540985] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051277.087653897] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051277.088300718] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051277.089474002] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051277.144768894] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051277.145477848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051277.146008075] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051277.147347236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051277.148346502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051277.244729158] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051277.245447250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051277.246002684] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051277.247334264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051277.248561402] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051277.335518778] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051277.337927784] [sailbot.teensy]: Wind angle: 190 +[trim_sail-4] [INFO] [1746051277.337943783] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051277.339203170] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051277.339203485] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051277.340244618] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051277.340644740] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051277.344346260] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051277.344832034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051277.345414042] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051277.346518869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051277.347574885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051277.444862199] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051277.445324940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051277.446091033] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051277.447046311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051277.448004191] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051277.457102114] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051277.458166645] [sailbot.main_algo]: Target Bearing: -141.82264780774761 +[main_algo-3] [INFO] [1746051277.459150547] [sailbot.main_algo]: Heading Difference: -167.5763521922524 +[main_algo-3] [INFO] [1746051277.459955155] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051277.460807095] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051277.461605723] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051277.462813913] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051277.463209820] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051277.502542906] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904596 Long: -76.50277201 +[main_algo-3] [INFO] [1746051277.503520929] [sailbot.main_algo]: Distance to destination: 56.84647018762874 +[vectornav-1] [INFO] [1746051277.503570181] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.023000000000025, -0.44, 3.536) +[main_algo-3] [INFO] [1746051277.504903504] [sailbot.main_algo]: Target Bearing: -141.78302143434007 +[main_algo-3] [INFO] [1746051277.506157197] [sailbot.main_algo]: Heading Difference: -167.61597856565993 +[main_algo-3] [INFO] [1746051277.507602271] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051277.508646100] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051277.509668281] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051277.511295543] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051277.544786633] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051277.545294441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051277.546163135] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051277.547029539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051277.548114431] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051277.585028399] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051277.586845983] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051277.587997649] [sailbot.teensy]: Wind angle: 188 +[mux-7] [INFO] [1746051277.588123238] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051277.588953359] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051277.589827848] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051277.590593610] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051277.644857015] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051277.645414137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051277.646137686] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051277.647208347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051277.648394158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051277.745251443] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051277.746004090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051277.746895399] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051277.748265291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051277.749009422] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051277.835029857] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051277.836618979] [sailbot.teensy]: Wind angle: 190 +[teensy-2] [INFO] [1746051277.837543058] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051277.838286211] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051277.838404279] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051277.838498463] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051277.839320665] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051277.844296407] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051277.844829092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051277.845715643] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051277.846538944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051277.847656566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051277.945119187] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051277.945642743] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051277.946448184] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051277.947522281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051277.948577410] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051277.957074955] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051277.958141930] [sailbot.main_algo]: Target Bearing: -141.78302143434007 +[main_algo-3] [INFO] [1746051277.959040587] [sailbot.main_algo]: Heading Difference: -168.1939785656599 +[main_algo-3] [INFO] [1746051277.959859931] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051277.960667930] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051277.961506635] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051277.962542456] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051277.963237142] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051278.002976918] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904567 Long: -76.50277178 +[main_algo-3] [INFO] [1746051278.004470012] [sailbot.main_algo]: Distance to destination: 56.84076094007034 +[vectornav-1] [INFO] [1746051278.004507313] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.238999999999976, 0.135, 6.253) +[main_algo-3] [INFO] [1746051278.005706754] [sailbot.main_algo]: Target Bearing: -141.8202247639242 +[main_algo-3] [INFO] [1746051278.006787661] [sailbot.main_algo]: Heading Difference: -168.15677523607576 +[main_algo-3] [INFO] [1746051278.007663777] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051278.008539651] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051278.009400787] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051278.011257568] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051278.045194750] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051278.045838576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051278.046670111] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051278.047950158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051278.048968055] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051278.085239757] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051278.087316400] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051278.087525184] [sailbot.teensy]: Wind angle: 192 +[teensy-2] [INFO] [1746051278.088478012] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051278.088204129] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051278.089355651] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051278.090215188] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051278.145000343] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051278.145721667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051278.146381741] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051278.147684753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051278.148734979] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051278.245207826] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051278.246102249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051278.246610014] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051278.248024291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051278.248518498] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051278.335310181] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051278.337082282] [sailbot.teensy]: Wind angle: 192 +[teensy-2] [INFO] [1746051278.338041808] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051278.338029945] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051278.338980758] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051278.339803923] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051278.339838242] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051278.344291054] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051278.344923017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051278.345399996] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051278.346611642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051278.347606982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051278.445279510] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051278.446374391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051278.446854145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051278.448666071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051278.449682624] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051278.457185648] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051278.458280191] [sailbot.main_algo]: Target Bearing: -141.8202247639242 +[main_algo-3] [INFO] [1746051278.459190884] [sailbot.main_algo]: Heading Difference: -170.94077523607586 +[main_algo-3] [INFO] [1746051278.460043098] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051278.460934772] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051278.461782348] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051278.462907806] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051278.463423139] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051278.502937576] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904539 Long: -76.50277187 +[main_algo-3] [INFO] [1746051278.503914363] [sailbot.main_algo]: Distance to destination: 56.81537764172307 +[vectornav-1] [INFO] [1746051278.504148547] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.372000000000014, -0.632, 5.898) +[main_algo-3] [INFO] [1746051278.505122484] [sailbot.main_algo]: Target Bearing: -141.83981243831263 +[main_algo-3] [INFO] [1746051278.506138720] [sailbot.main_algo]: Heading Difference: -170.92118756168736 +[main_algo-3] [INFO] [1746051278.507079505] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051278.508017358] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051278.508915163] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051278.510556230] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051278.545511602] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051278.546002629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051278.546832909] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051278.547932057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051278.549020298] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051278.585237640] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051278.587110782] [sailbot.teensy]: Wind angle: 193 +[trim_sail-4] [INFO] [1746051278.587356262] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051278.588022663] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051278.588523203] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051278.588922217] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051278.589738275] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051278.644713895] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051278.645378457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051278.645956255] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051278.647362824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051278.648328825] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051278.744708018] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051278.745376605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051278.745826075] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051278.747134975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051278.748257059] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051278.834469504] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051278.835552675] [sailbot.teensy]: Wind angle: 195 +[trim_sail-4] [INFO] [1746051278.836119128] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051278.836407736] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051278.837210703] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051278.836770479] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051278.838011247] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051278.843927147] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051278.844188160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051278.844922540] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051278.845833717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051278.846903499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051278.945016977] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051278.945655939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051278.946389091] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051278.947559432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051278.948570349] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051278.956991608] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051278.957933579] [sailbot.main_algo]: Target Bearing: -141.83981243831263 +[main_algo-3] [INFO] [1746051278.958754721] [sailbot.main_algo]: Heading Difference: -169.78818756168732 +[main_algo-3] [INFO] [1746051278.959570042] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051278.960356317] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051278.961099771] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051278.962036053] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051278.962580398] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051279.002282435] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904544 Long: -76.5027717 +[main_algo-3] [INFO] [1746051279.002996202] [sailbot.main_algo]: Distance to destination: 56.82972140605523 +[vectornav-1] [INFO] [1746051279.003192547] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.168000000000006, -2.062, 6.023) +[main_algo-3] [INFO] [1746051279.003951713] [sailbot.main_algo]: Target Bearing: -141.8443744131073 +[main_algo-3] [INFO] [1746051279.004863434] [sailbot.main_algo]: Heading Difference: -169.7836255868927 +[main_algo-3] [INFO] [1746051279.005672807] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051279.006511830] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051279.007320513] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051279.008971226] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051279.044746552] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051279.045422589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051279.046061165] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051279.047171193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051279.048454094] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051279.085254636] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051279.087526362] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051279.087854524] [sailbot.teensy]: Wind angle: 195 +[mux-7] [INFO] [1746051279.088464100] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051279.088829702] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051279.089761922] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051279.090594603] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051279.144612495] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051279.145135482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051279.145850209] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051279.146971789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051279.148022987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051279.244901105] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051279.245498706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051279.246200326] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051279.247334309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051279.248493983] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051279.335275327] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051279.337094390] [sailbot.teensy]: Wind angle: 195 +[trim_sail-4] [INFO] [1746051279.337749476] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051279.338057176] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051279.338907478] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051279.339317991] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051279.339358793] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051279.344355903] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051279.344924558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051279.345515428] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051279.346769435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051279.347816632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051279.445067569] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051279.445966747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051279.446387113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051279.447867309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051279.449015146] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051279.457128052] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051279.458152526] [sailbot.main_algo]: Target Bearing: -141.8443744131073 +[main_algo-3] [INFO] [1746051279.459042080] [sailbot.main_algo]: Heading Difference: -167.9876255868927 +[main_algo-3] [INFO] [1746051279.459993765] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051279.461270450] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051279.462227047] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051279.463370269] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051279.463836276] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051279.502763971] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904561 Long: -76.50277146 +[main_algo-3] [INFO] [1746051279.503670928] [sailbot.main_algo]: Distance to destination: 56.85694525488135 +[vectornav-1] [INFO] [1746051279.503981476] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.74200000000002, 2.46, 5.037) +[main_algo-3] [INFO] [1746051279.504825362] [sailbot.main_algo]: Target Bearing: -141.8421846537583 +[main_algo-3] [INFO] [1746051279.505795164] [sailbot.main_algo]: Heading Difference: -167.9898153462417 +[main_algo-3] [INFO] [1746051279.506717167] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051279.507738949] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051279.509062947] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051279.510913928] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051279.544997701] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051279.545456518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051279.546377468] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051279.547300889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051279.548408391] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051279.585296403] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051279.586833640] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746051279.587731759] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051279.587478304] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051279.588658007] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051279.589525081] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051279.589818123] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051279.645466395] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051279.645568155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051279.647178573] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051279.647673623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051279.648930882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051279.744058533] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051279.744523887] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051279.746717573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051279.747193938] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051279.747692753] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051279.835322814] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051279.837260249] [sailbot.teensy]: Wind angle: 191 +[trim_sail-4] [INFO] [1746051279.838040261] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051279.838495682] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051279.839197298] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051279.839419314] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051279.840401214] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051279.844409381] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051279.845274363] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051279.845740115] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051279.847464619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051279.849538862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051279.943924336] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051279.944134690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051279.944500319] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051279.945175717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051279.945790510] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051279.956262339] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051279.956741182] [sailbot.main_algo]: Target Bearing: -141.8421846537583 +[main_algo-3] [INFO] [1746051279.957179129] [sailbot.main_algo]: Heading Difference: -168.4158153462417 +[main_algo-3] [INFO] [1746051279.957590686] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051279.958102854] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051279.958563866] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051279.959330753] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051279.959455460] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051280.001431465] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904563 Long: -76.50277169 +[main_algo-3] [INFO] [1746051280.001860721] [sailbot.main_algo]: Distance to destination: 56.843689171612574 +[vectornav-1] [INFO] [1746051280.001887013] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.59300000000002, -2.496, 6.558) +[main_algo-3] [INFO] [1746051280.002333725] [sailbot.main_algo]: Target Bearing: -141.8284086462704 +[main_algo-3] [INFO] [1746051280.002780162] [sailbot.main_algo]: Heading Difference: -168.42959135372962 +[main_algo-3] [INFO] [1746051280.003190635] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051280.003586526] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051280.003995854] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051280.004962615] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051280.043627620] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051280.044008410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051280.044128661] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051280.044839076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051280.045344199] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051280.084411896] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051280.085313772] [sailbot.teensy]: Wind angle: 193 +[trim_sail-4] [INFO] [1746051280.085499697] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051280.085721335] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051280.085729261] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051280.086123345] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051280.086531306] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051280.143603659] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051280.144021344] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051280.144104774] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051280.144875161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051280.145425290] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051280.243645441] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051280.244009755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051280.244178971] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051280.245126844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051280.245713966] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051280.334445020] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051280.335246958] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051280.335508320] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051280.335661249] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051280.336083822] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051280.336502429] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051280.337581492] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051280.343621984] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051280.344128615] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051280.345426950] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051280.345961674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051280.346457391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051280.443711351] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051280.444107954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051280.444240660] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051280.445036196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051280.445644329] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051280.456295228] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051280.456762488] [sailbot.main_algo]: Target Bearing: -141.8284086462704 +[main_algo-3] [INFO] [1746051280.457198307] [sailbot.main_algo]: Heading Difference: -168.57859135372962 +[main_algo-3] [INFO] [1746051280.457601045] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051280.457968428] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051280.458358256] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051280.458851275] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051280.459168502] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051280.501341843] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904568 Long: -76.50277121 +[main_algo-3] [INFO] [1746051280.501748428] [sailbot.main_algo]: Distance to destination: 56.87779186784111 +[vectornav-1] [INFO] [1746051280.501775652] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.39699999999999, 0.141, 4.849) +[main_algo-3] [INFO] [1746051280.502213712] [sailbot.main_algo]: Target Bearing: -141.84919299756217 +[main_algo-3] [INFO] [1746051280.502660372] [sailbot.main_algo]: Heading Difference: -168.5578070024378 +[main_algo-3] [INFO] [1746051280.503069764] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051280.503464078] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051280.503853016] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051280.505134920] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051280.543735587] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051280.544055472] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051280.544311748] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051280.544881275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051280.545378423] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051280.584442995] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051280.585401706] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051280.585981025] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051280.586649197] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746051280.587051104] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051280.587450410] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051280.588031230] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051280.643680218] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051280.644034923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051280.644197417] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051280.644841985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051280.645387061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051280.743648099] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051280.744088076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051280.744142259] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051280.744890199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051280.745449705] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051280.834666237] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051280.836271550] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051280.836868989] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051280.837940979] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746051280.838349235] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051280.839109976] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051280.839574260] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051280.843690013] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051280.844246645] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051280.844639648] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051280.845878856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051280.846365798] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051280.944667832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051280.944883932] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051280.945750834] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051280.946416033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051280.947235695] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051280.956586123] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051280.957591290] [sailbot.main_algo]: Target Bearing: -141.84919299756217 +[main_algo-3] [INFO] [1746051280.958573593] [sailbot.main_algo]: Heading Difference: -168.75380700243784 +[main_algo-3] [INFO] [1746051280.959456905] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051280.960350990] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051280.961199149] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051280.962373769] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051280.963241925] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051281.001451331] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904567 Long: -76.50277112 +[vectornav-1] [INFO] [1746051281.001893113] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.59000000000003, 0.536, 4.769) +[main_algo-3] [INFO] [1746051281.001919414] [sailbot.main_algo]: Distance to destination: 56.88282812001715 +[main_algo-3] [INFO] [1746051281.002379900] [sailbot.main_algo]: Target Bearing: -141.85476780811132 +[main_algo-3] [INFO] [1746051281.002837699] [sailbot.main_algo]: Heading Difference: -168.7482321918887 +[main_algo-3] [INFO] [1746051281.003276371] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051281.003708583] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051281.004114626] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051281.005527984] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051281.044103968] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051281.044831469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051281.045094514] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051281.046670716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051281.048086332] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051281.084634112] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051281.086071633] [sailbot.teensy]: Wind angle: 195 +[trim_sail-4] [INFO] [1746051281.086584885] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051281.087355103] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051281.090561898] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051281.093110395] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051281.095139000] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051281.144325449] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051281.145350832] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051281.145272603] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051281.147404194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051281.149059371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051281.244951435] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051281.245489401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051281.246401217] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051281.247249511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051281.248303372] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051281.335132395] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051281.337269697] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051281.337692966] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051281.338075252] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746051281.338597229] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051281.338942972] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051281.339272692] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051281.344328718] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051281.344998025] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051281.345452484] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051281.346845266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051281.347902552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051281.444611236] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051281.445558051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051281.445910326] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051281.447545371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051281.448509183] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051281.456965720] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051281.457880127] [sailbot.main_algo]: Target Bearing: -141.85476780811132 +[main_algo-3] [INFO] [1746051281.458819994] [sailbot.main_algo]: Heading Difference: -168.55523219188865 +[main_algo-3] [INFO] [1746051281.459618629] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051281.460439034] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051281.461283153] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051281.462261185] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051281.463357986] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051281.502635882] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904556 Long: -76.50277155 +[vectornav-1] [INFO] [1746051281.503714094] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.82400000000001, -0.776, 5.197) +[main_algo-3] [INFO] [1746051281.504144295] [sailbot.main_algo]: Distance to destination: 56.847700877950786 +[main_algo-3] [INFO] [1746051281.505436582] [sailbot.main_algo]: Target Bearing: -141.8418123760597 +[main_algo-3] [INFO] [1746051281.506614898] [sailbot.main_algo]: Heading Difference: -168.56818762394028 +[main_algo-3] [INFO] [1746051281.507771212] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051281.508875196] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051281.509848556] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051281.511819132] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051281.544908907] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051281.545366515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051281.546243823] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051281.547293070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051281.548644819] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051281.585076893] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051281.586538250] [sailbot.teensy]: Wind angle: 197 +[teensy-2] [INFO] [1746051281.587325573] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051281.588091962] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051281.586924137] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051281.587766165] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051281.588950317] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051281.644802130] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051281.645604338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051281.646119520] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051281.647766327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051281.648847076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051281.744976583] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051281.745778687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051281.746433183] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051281.747909320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051281.749083915] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051281.835082239] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051281.836559776] [sailbot.teensy]: Wind angle: 197 +[teensy-2] [INFO] [1746051281.837364031] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051281.838171273] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051281.837401939] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051281.838435943] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051281.839036403] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051281.844321807] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051281.844920800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051281.845324984] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051281.846562712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051281.847447526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051281.944762799] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051281.945487432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051281.945919750] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051281.947354344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051281.948375135] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051281.957027816] [sailbot.main_algo]: Wind Direction: 197 +[main_algo-3] [INFO] [1746051281.958038779] [sailbot.main_algo]: Target Bearing: -141.8418123760597 +[main_algo-3] [INFO] [1746051281.958911197] [sailbot.main_algo]: Heading Difference: -169.3341876239403 +[main_algo-3] [INFO] [1746051281.959769139] [sailbot.main_algo]: Wind Direction: 197 +[main_algo-3] [INFO] [1746051281.960639021] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051281.961483989] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051281.962734106] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051281.963736748] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051282.002837500] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904543 Long: -76.5027716 +[vectornav-1] [INFO] [1746051282.003928715] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.870000000000005, -0.017, 5.107) +[main_algo-3] [INFO] [1746051282.004732627] [sailbot.main_algo]: Distance to destination: 56.83539468708737 +[main_algo-3] [INFO] [1746051282.006059585] [sailbot.main_algo]: Target Bearing: -141.85047784798752 +[main_algo-3] [INFO] [1746051282.007094704] [sailbot.main_algo]: Heading Difference: -169.32552215201247 +[main_algo-3] [INFO] [1746051282.008185473] [sailbot.main_algo]: Wind Direction: 197 +[main_algo-3] [INFO] [1746051282.009263321] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051282.010256341] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051282.012105762] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051282.044906710] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051282.045437338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051282.046256081] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051282.047487829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051282.048601574] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051282.085366474] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051282.087943929] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051282.087981019] [sailbot.teensy]: Wind angle: 197 +[mux-7] [INFO] [1746051282.088824993] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051282.089389041] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051282.090551458] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051282.091807603] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051282.144822423] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051282.145733686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051282.146421178] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051282.147627932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051282.148686763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051282.244485982] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051282.245201517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051282.245562832] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051282.248101125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051282.250427003] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051282.335118109] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051282.336742801] [sailbot.teensy]: Wind angle: 198 +[teensy-2] [INFO] [1746051282.337640373] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051282.337312507] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051282.338516153] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051282.338524749] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051282.339773363] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051282.344284168] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051282.344706779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051282.345345204] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051282.346271713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051282.347249131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051282.445123405] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051282.445272537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051282.446474411] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051282.446877994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051282.447915450] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051282.457274922] [sailbot.main_algo]: Wind Direction: 198 +[main_algo-3] [INFO] [1746051282.458438810] [sailbot.main_algo]: Target Bearing: -141.85047784798752 +[main_algo-3] [INFO] [1746051282.459575772] [sailbot.main_algo]: Heading Difference: -171.27952215201248 +[main_algo-3] [INFO] [1746051282.460431489] [sailbot.main_algo]: Wind Direction: 198 +[main_algo-3] [INFO] [1746051282.461231580] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051282.462035414] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051282.463169373] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051282.463546095] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051282.502690287] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690454 Long: -76.50277191 +[main_algo-3] [INFO] [1746051282.503724168] [sailbot.main_algo]: Distance to destination: 56.813529655939206 +[vectornav-1] [INFO] [1746051282.503755811] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.178, -0.942, 5.879) +[main_algo-3] [INFO] [1746051282.504802044] [sailbot.main_algo]: Target Bearing: -141.83684898696333 +[main_algo-3] [INFO] [1746051282.505739478] [sailbot.main_algo]: Heading Difference: -171.29315101303666 +[main_algo-3] [INFO] [1746051282.506583983] [sailbot.main_algo]: Wind Direction: 198 +[main_algo-3] [INFO] [1746051282.507404705] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051282.508195635] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051282.509718551] [sailbot.mux]: algo rudder angle: -25 +[teensy-2] [INFO] [1746051282.545229595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051282.547238358] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051282.549141241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051282.550132528] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051282.550985919] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051282.584456752] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051282.585368520] [sailbot.teensy]: Wind angle: 197 +[teensy-2] [INFO] [1746051282.585802164] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051282.586188582] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051282.586577335] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051282.585835854] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051282.585968829] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051282.643750398] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051282.644216157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051282.644292103] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051282.645063311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051282.645632976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051282.743693625] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051282.744067659] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051282.744206251] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051282.744899132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051282.745445130] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051282.834406481] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051282.835578833] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051282.835835187] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051282.836426691] [sailbot.teensy]: Wind angle: 197 +[teensy-2] [INFO] [1746051282.836879080] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051282.837285524] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051282.837667907] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051282.843691854] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051282.844268297] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051282.846287840] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051282.847161097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051282.847914858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051282.943685443] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051282.944276305] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051282.946314952] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051282.947507450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051282.949273518] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051282.956379786] [sailbot.main_algo]: Wind Direction: 197 +[main_algo-3] [INFO] [1746051282.956887410] [sailbot.main_algo]: Target Bearing: -141.83684898696333 +[main_algo-3] [INFO] [1746051282.957343848] [sailbot.main_algo]: Heading Difference: -170.98515101303667 +[main_algo-3] [INFO] [1746051282.957758448] [sailbot.main_algo]: Wind Direction: 197 +[main_algo-3] [INFO] [1746051282.958168270] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051282.958575568] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051282.959068533] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051282.959554435] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051283.001703437] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904525 Long: -76.50277177 +[vectornav-1] [INFO] [1746051283.002213436] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.423, -0.125, 5.586) +[main_algo-3] [INFO] [1746051283.003631744] [sailbot.main_algo]: Distance to destination: 56.81193260789634 +[main_algo-3] [INFO] [1746051283.004115611] [sailbot.main_algo]: Target Bearing: -141.85720653034335 +[main_algo-3] [INFO] [1746051283.005416981] [sailbot.main_algo]: Heading Difference: -170.96479346965668 +[main_algo-3] [INFO] [1746051283.006557051] [sailbot.main_algo]: Wind Direction: 197 +[main_algo-3] [INFO] [1746051283.007029314] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051283.007418627] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051283.009009447] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051283.043663721] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051283.044196677] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051283.045506775] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051283.046183425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051283.046690818] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051283.084456485] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051283.085235222] [sailbot.teensy]: Wind angle: 197 +[teensy-2] [INFO] [1746051283.085647997] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051283.085467687] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051283.086069828] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051283.086454162] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051283.087693356] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051283.143845612] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051283.144487487] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051283.144199455] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051283.145403719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051283.146065252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051283.243751798] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051283.244035915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051283.244286645] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051283.244991063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051283.245464339] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051283.334930909] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051283.336537037] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746051283.337684223] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051283.338764264] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051283.339050614] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051283.339208239] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051283.339642373] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051283.343620166] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051283.344372284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051283.344498930] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051283.346186607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051283.346662375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051283.444903505] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051283.445517138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051283.446166171] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051283.447413166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051283.448456045] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051283.457034820] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051283.458017186] [sailbot.main_algo]: Target Bearing: -141.85720653034335 +[main_algo-3] [INFO] [1746051283.459012819] [sailbot.main_algo]: Heading Difference: -170.71979346965668 +[main_algo-3] [INFO] [1746051283.459854563] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051283.460682468] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051283.461497259] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051283.462651244] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051283.463112957] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051283.502482101] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904532 Long: -76.50277168 +[main_algo-3] [INFO] [1746051283.503430514] [sailbot.main_algo]: Distance to destination: 56.82257967420348 +[vectornav-1] [INFO] [1746051283.503525329] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.920000000000016, -0.623, 5.078) +[main_algo-3] [INFO] [1746051283.504527144] [sailbot.main_algo]: Target Bearing: -141.85583985970655 +[main_algo-3] [INFO] [1746051283.505393661] [sailbot.main_algo]: Heading Difference: -170.72116014029348 +[main_algo-3] [INFO] [1746051283.506324305] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051283.507418187] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051283.508306626] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051283.509921281] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051283.544767036] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051283.545345702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051283.546121470] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051283.547230190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051283.548381864] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051283.585019209] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051283.586803539] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746051283.587615213] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051283.587346060] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051283.587461797] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051283.588487413] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051283.589340014] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051283.644718617] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051283.645192313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051283.645947877] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051283.646883167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051283.647842714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051283.743832615] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051283.744047602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051283.744462087] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051283.745120585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051283.745635087] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051283.835088559] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051283.837158557] [sailbot.teensy]: Wind angle: 196 +[trim_sail-4] [INFO] [1746051283.837257500] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051283.837604717] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051283.838690168] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051283.839107419] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051283.839481578] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051283.844232315] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051283.844640823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051283.845935270] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051283.846290759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051283.847414538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051283.944822434] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051283.945218670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051283.945947577] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051283.946890925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051283.947954013] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051283.957005387] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051283.957985743] [sailbot.main_algo]: Target Bearing: -141.85583985970655 +[main_algo-3] [INFO] [1746051283.958827245] [sailbot.main_algo]: Heading Difference: -170.2241601402934 +[main_algo-3] [INFO] [1746051283.959635735] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051283.960462401] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051283.961259169] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051283.962167821] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051283.962725631] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051284.002860055] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904543 Long: -76.50277178 +[main_algo-3] [INFO] [1746051284.003780870] [sailbot.main_algo]: Distance to destination: 56.82392047062883 +[vectornav-1] [INFO] [1746051284.004406620] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.02699999999999, 0.61, 5.594) +[main_algo-3] [INFO] [1746051284.005714515] [sailbot.main_algo]: Target Bearing: -141.84105335973956 +[main_algo-3] [INFO] [1746051284.006841413] [sailbot.main_algo]: Heading Difference: -170.23894664026045 +[main_algo-3] [INFO] [1746051284.009112225] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051284.010339426] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051284.011272220] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051284.013156190] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051284.043977701] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051284.044744633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051284.044903225] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051284.046394931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051284.047274222] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051284.084841430] [sailbot.teensy]: Check telemetry callback entered +[mux-7] [INFO] [1746051284.087530888] [sailbot.mux]: algo sail angle: 0 +[trim_sail-4] [INFO] [1746051284.087768925] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051284.087984785] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746051284.088891023] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051284.089663066] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051284.090445096] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051284.144704340] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051284.145484829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051284.145976616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051284.147230397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051284.148975407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051284.244991579] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051284.245592626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051284.246236848] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051284.247376713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051284.248494362] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051284.335060891] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051284.336565030] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746051284.337581319] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051284.337932545] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051284.338948097] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051284.339284700] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051284.341905605] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051284.344833329] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051284.346083724] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051284.346092020] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051284.347677598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051284.348686062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051284.445305808] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051284.445387994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051284.446486776] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051284.447170652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051284.448328992] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051284.457134701] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051284.458203287] [sailbot.main_algo]: Target Bearing: -141.84105335973956 +[main_algo-3] [INFO] [1746051284.459195032] [sailbot.main_algo]: Heading Difference: -170.13194664026048 +[main_algo-3] [INFO] [1746051284.460101120] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051284.461042152] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051284.461792703] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051284.462729405] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051284.463253243] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051284.502549292] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690454 Long: -76.50277165 +[vectornav-1] [INFO] [1746051284.503864266] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.97800000000001, -1.868, 6.163) +[main_algo-3] [INFO] [1746051284.503948342] [sailbot.main_algo]: Distance to destination: 56.830103027448004 +[main_algo-3] [INFO] [1746051284.505001832] [sailbot.main_algo]: Target Bearing: -141.8504646307577 +[main_algo-3] [INFO] [1746051284.505883615] [sailbot.main_algo]: Heading Difference: -170.1225353692423 +[main_algo-3] [INFO] [1746051284.506799329] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051284.507685922] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051284.508584825] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051284.510155931] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051284.544590629] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051284.544994689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051284.545636671] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051284.546636423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051284.547738039] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051284.584586138] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051284.586474360] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051284.587853290] [sailbot.teensy]: Wind angle: 196 +[mux-7] [INFO] [1746051284.587960167] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051284.589221099] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051284.589653310] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051284.590054494] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051284.643672608] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051284.644733769] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051284.644779074] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051284.645518734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051284.646220108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051284.743698604] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051284.744127104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051284.745096198] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051284.745278098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051284.745898822] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051284.834479144] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051284.836336777] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051284.836560293] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051284.838590213] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746051284.839148839] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051284.839562977] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051284.840355620] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051284.843667687] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051284.844158434] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051284.843942085] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051284.844947767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051284.845454553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051284.943739049] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051284.944292485] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051284.945239607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051284.945393873] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051284.945818969] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051284.956254770] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051284.957062953] [sailbot.main_algo]: Target Bearing: -141.8504646307577 +[main_algo-3] [INFO] [1746051284.957534129] [sailbot.main_algo]: Heading Difference: -170.1715353692423 +[main_algo-3] [INFO] [1746051284.957895098] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051284.958350449] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051284.959000269] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051284.959810081] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051284.960195784] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051285.003034303] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904535 Long: -76.50277164 +[main_algo-3] [INFO] [1746051285.003514301] [sailbot.main_algo]: Distance to destination: 56.82723378844727 +[vectornav-1] [INFO] [1746051285.004314773] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.53800000000001, 0.536, 5.149) +[main_algo-3] [INFO] [1746051285.004607607] [sailbot.main_algo]: Target Bearing: -141.85532908511178 +[main_algo-3] [INFO] [1746051285.005551198] [sailbot.main_algo]: Heading Difference: -170.1666709148882 +[main_algo-3] [INFO] [1746051285.006598469] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051285.007555130] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051285.008407805] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051285.010002296] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051285.045218114] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051285.045421015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051285.046731678] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051285.047246714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051285.048335812] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051285.085510718] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051285.087658378] [sailbot.teensy]: Wind angle: 196 +[trim_sail-4] [INFO] [1746051285.087758706] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051285.089023906] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051285.090349847] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051285.090629909] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051285.092119667] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051285.144437931] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051285.145497349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051285.145566646] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051285.148120274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051285.149192232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051285.244767472] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051285.245903570] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051285.246125211] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051285.248180767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051285.249456208] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051285.335002310] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051285.336845142] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051285.337189972] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746051285.338037185] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051285.338957568] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051285.337846053] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051285.341053042] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051285.344608807] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051285.345779998] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051285.347262438] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051285.349356783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051285.350514923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051285.444468966] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051285.445513454] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051285.445535375] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051285.447604205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051285.448873703] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051285.456939514] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051285.457842484] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746051285.458791357] [sailbot.main_algo]: Target Bearing: -141.85532908511178 +[main_algo-3] [INFO] [1746051285.459645575] [sailbot.main_algo]: Heading Difference: -169.60667091488824 +[main_algo-3] [INFO] [1746051285.460485851] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051285.461301655] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051285.462090021] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051285.463097828] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051285.463959504] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051285.502788790] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904564 Long: -76.50277183 +[main_algo-3] [INFO] [1746051285.503821972] [sailbot.main_algo]: Distance to destination: 56.83546928751585 +[vectornav-1] [INFO] [1746051285.504939941] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.947, -1.052, 4.368) +[main_algo-3] [INFO] [1746051285.505032531] [sailbot.main_algo]: Target Bearing: -141.8202087319725 +[main_algo-3] [INFO] [1746051285.506114928] [sailbot.main_algo]: Heading Difference: -169.64179126802748 +[main_algo-3] [INFO] [1746051285.507094034] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051285.508100541] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051285.509028146] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051285.510649824] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051285.545534378] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051285.545681253] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051285.547456965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051285.547418109] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051285.548592412] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051285.585306795] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051285.587203605] [sailbot.teensy]: Wind angle: 196 +[trim_sail-4] [INFO] [1746051285.587454003] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051285.588302375] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051285.589147956] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051285.589170157] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051285.589962370] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051285.644118113] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051285.644735094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051285.645238400] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051285.646477955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051285.647455829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051285.744970820] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051285.746319422] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051285.746864309] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051285.748815534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051285.750360603] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051285.835357414] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051285.837541699] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051285.837816923] [sailbot.teensy]: Wind angle: 195 +[mux-7] [INFO] [1746051285.838988635] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051285.839106099] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051285.840420392] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051285.841496775] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051285.844516805] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051285.844878137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051285.845614600] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051285.846496009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051285.847549342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051285.944776347] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051285.945373907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051285.946065785] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051285.947425927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051285.948454510] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051285.957154942] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051285.958304420] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746051285.959268630] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051285.960667972] [sailbot.main_algo]: Current Location: (42.46904564214752, -76.50277183005443) +[main_algo-3] [INFO] [1746051285.961988501] [sailbot.main_algo]: Target Bearing: -141.8202087319725 +[main_algo-3] [INFO] [1746051285.962905852] [sailbot.main_algo]: Heading Difference: -168.23279126802748 +[main_algo-3] [INFO] [1746051285.963839470] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051285.964731845] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051285.965861840] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051285.966996091] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051285.967401690] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051286.003431545] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904565 Long: -76.50277175 +[main_algo-3] [INFO] [1746051286.003509213] [sailbot.main_algo]: Distance to destination: 56.84126902421981 +[vectornav-1] [INFO] [1746051286.004522041] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.35899999999998, 0.89, 6.095) +[main_algo-3] [INFO] [1746051286.004521713] [sailbot.main_algo]: Target Bearing: -141.82353123765722 +[main_algo-3] [INFO] [1746051286.005479249] [sailbot.main_algo]: Heading Difference: -168.22946876234278 +[main_algo-3] [INFO] [1746051286.006375806] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051286.007266949] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051286.008132069] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051286.009900894] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051286.044936997] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051286.045487313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051286.046169775] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051286.047238772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051286.048263398] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051286.085168551] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051286.087140495] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051286.087619086] [sailbot.teensy]: Wind angle: 194 +[mux-7] [INFO] [1746051286.088073017] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051286.088679172] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051286.089727554] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051286.090512697] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051286.145184101] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051286.145483405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051286.146785695] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051286.147218881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051286.148536578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051286.245406906] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051286.245491683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051286.246910313] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051286.247406846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051286.248788108] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051286.335081394] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051286.337010506] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051286.337837391] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051286.337875825] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051286.338808295] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051286.339366156] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051286.339696375] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051286.344450987] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051286.344933979] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051286.346318761] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051286.346624124] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051286.347957715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051286.445087215] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051286.445905662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051286.446551832] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051286.447834976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051286.449044324] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051286.457047798] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051286.458052615] [sailbot.main_algo]: Target Bearing: -141.82353123765722 +[main_algo-3] [INFO] [1746051286.459071095] [sailbot.main_algo]: Heading Difference: -170.8174687623428 +[main_algo-3] [INFO] [1746051286.459936112] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051286.460845234] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051286.461659540] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051286.462670224] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051286.463350899] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051286.502548488] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904549 Long: -76.50277177 +[main_algo-3] [INFO] [1746051286.503360773] [sailbot.main_algo]: Distance to destination: 56.82876725307713 +[vectornav-1] [INFO] [1746051286.503613778] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.53499999999997, -1.477, 5.344) +[main_algo-3] [INFO] [1746051286.504405512] [sailbot.main_algo]: Target Bearing: -141.83636875447607 +[main_algo-3] [INFO] [1746051286.505317054] [sailbot.main_algo]: Heading Difference: -170.80463124552398 +[main_algo-3] [INFO] [1746051286.506189312] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051286.507021181] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051286.507896548] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051286.509643970] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051286.544493608] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051286.545046406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051286.545570132] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051286.546664202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051286.547721894] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051286.584417436] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051286.585210930] [sailbot.teensy]: Wind angle: 195 +[trim_sail-4] [INFO] [1746051286.585505762] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051286.585634551] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051286.586034995] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051286.586427727] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051286.586770166] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051286.643760505] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051286.644038779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051286.644445816] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051286.645197922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051286.645879587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051286.743707288] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051286.744010919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051286.744282230] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051286.745094078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051286.745631229] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051286.834490604] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051286.835891438] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051286.836086281] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746051286.836542128] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051286.836939211] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051286.836139849] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051286.837323087] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051286.843667478] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051286.843933640] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051286.844204588] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051286.844711814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051286.845234465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051286.943674372] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051286.944041601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051286.944249267] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051286.944907083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051286.945468275] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051286.956280864] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051286.956734771] [sailbot.main_algo]: Target Bearing: -141.83636875447607 +[main_algo-3] [INFO] [1746051286.957147485] [sailbot.main_algo]: Heading Difference: -168.62863124552393 +[main_algo-3] [INFO] [1746051286.957577144] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051286.957978830] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051286.958370488] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051286.958884512] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051286.959351715] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051287.001414265] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904544 Long: -76.50277171 +[main_algo-3] [INFO] [1746051287.001797152] [sailbot.main_algo]: Distance to destination: 56.82908396343582 +[vectornav-1] [INFO] [1746051287.001912004] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.06299999999999, -0.509, 5.222) +[main_algo-3] [INFO] [1746051287.002284991] [sailbot.main_algo]: Target Bearing: -141.84385080830725 +[main_algo-3] [INFO] [1746051287.002719662] [sailbot.main_algo]: Heading Difference: -168.62114919169278 +[main_algo-3] [INFO] [1746051287.003127040] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051287.003520852] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051287.003911390] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051287.004832207] [sailbot.mux]: algo rudder angle: -25 +[teensy-2] [INFO] [1746051287.044076377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051287.044573096] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051287.045149294] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051287.046507760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051287.047111984] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051287.084424596] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051287.085237110] [sailbot.teensy]: Wind angle: 192 +[teensy-2] [INFO] [1746051287.085663040] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051287.086264938] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051287.085515595] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051287.085767381] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051287.086691531] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051287.143662850] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051287.144035240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051287.144194756] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051287.145030623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051287.145546067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051287.243680704] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051287.244176306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051287.244170581] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051287.244985166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051287.245577473] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051287.334419473] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051287.335129761] [sailbot.teensy]: Wind angle: 191 +[trim_sail-4] [INFO] [1746051287.335454048] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051287.336329661] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051287.337044516] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051287.337495645] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051287.337883170] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051287.343615573] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051287.344088157] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051287.345352219] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051287.345882334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051287.346405291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051287.443711366] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051287.444136874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051287.444258708] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051287.445506769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051287.446052937] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051287.456379368] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051287.456924525] [sailbot.main_algo]: Target Bearing: -141.84385080830725 +[main_algo-3] [INFO] [1746051287.457372443] [sailbot.main_algo]: Heading Difference: -168.09314919169276 +[main_algo-3] [INFO] [1746051287.457788535] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051287.458272672] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051287.458678908] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051287.459267864] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051287.459706418] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051287.501707295] [sailbot.main_algo]: Distance to destination: 56.8351466155879 +[main_algo-3] [INFO] [1746051287.502191736] [sailbot.main_algo]: Target Bearing: -141.82716625793105 +[main_algo-3] [INFO] [1746051287.502615903] [sailbot.main_algo]: Heading Difference: -168.109833742069 +[main_algo-3] [INFO] [1746051287.503069062] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051287.503464936] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051287.503870967] [sailbot.main_algo]: Rudder Angle: -25 +[vectornav-1] [INFO] [1746051287.504653474] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904559 Long: -76.50277178 +[vectornav-1] [INFO] [1746051287.505141306] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.32600000000002, 0.569, 6.28) +[mux-7] [INFO] [1746051287.504724936] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051287.544208141] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051287.545433290] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051287.545005211] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051287.546750647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051287.547843127] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051287.584518561] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051287.585541529] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051287.586020573] [sailbot.teensy]: Wind angle: 192 +[mux-7] [INFO] [1746051287.586193181] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051287.586445925] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051287.586834676] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051287.587210416] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051287.644134065] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051287.644518002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051287.645197067] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051287.646322520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051287.647093100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051287.744436024] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051287.744851638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051287.745499037] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051287.746620452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051287.747600711] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051287.834466903] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051287.835215088] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746051287.835622269] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051287.836022971] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051287.835619722] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051287.836329965] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051287.836431703] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051287.843842254] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051287.844357897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051287.844684663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051287.845915663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051287.847037023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051287.945096478] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051287.945621605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051287.946354468] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051287.947652888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051287.948723131] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051287.957030504] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051287.958001271] [sailbot.main_algo]: Target Bearing: -141.82716625793105 +[main_algo-3] [INFO] [1746051287.958836736] [sailbot.main_algo]: Heading Difference: -168.84683374206895 +[main_algo-3] [INFO] [1746051287.959622075] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051287.960453543] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051287.961250714] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051287.962258345] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051287.962981193] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051288.002220725] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904558 Long: -76.50277191 +[vectornav-1] [INFO] [1746051288.003265081] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.668000000000006, -1.064, 4.198) +[main_algo-3] [INFO] [1746051288.003560427] [sailbot.main_algo]: Distance to destination: 56.82616044036322 +[main_algo-3] [INFO] [1746051288.004651626] [sailbot.main_algo]: Target Bearing: -141.82122446198193 +[main_algo-3] [INFO] [1746051288.005606245] [sailbot.main_algo]: Heading Difference: -168.85277553801802 +[main_algo-3] [INFO] [1746051288.006498566] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051288.007368928] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051288.008294594] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051288.009953136] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051288.043795643] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051288.044255853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051288.044534627] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051288.045606453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051288.046243708] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051288.084432322] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051288.085461215] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051288.085747558] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051288.086533141] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746051288.086985502] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051288.088319932] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051288.088758477] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051288.143667285] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051288.144104077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051288.144193402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051288.144974031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051288.146001584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051288.244081017] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051288.244499215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051288.244989000] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051288.245901959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051288.246914048] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051288.335112952] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051288.336685545] [sailbot.teensy]: Wind angle: 198 +[teensy-2] [INFO] [1746051288.337581073] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051288.338406309] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051288.338763261] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051288.339016558] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051288.339246965] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051288.344690272] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051288.345285850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051288.346106835] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051288.348190706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051288.349375450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051288.444010495] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051288.444501280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051288.444844128] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051288.445918863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051288.446910067] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051288.458526763] [sailbot.main_algo]: Wind Direction: 198 +[main_algo-3] [INFO] [1746051288.459529797] [sailbot.main_algo]: Target Bearing: -141.82122446198193 +[main_algo-3] [INFO] [1746051288.460478196] [sailbot.main_algo]: Heading Difference: -168.51077553801804 +[main_algo-3] [INFO] [1746051288.461356059] [sailbot.main_algo]: Wind Direction: 198 +[main_algo-3] [INFO] [1746051288.462348936] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051288.463197456] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051288.464802153] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051288.467140699] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051288.501911744] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904555 Long: -76.50277193 +[main_algo-3] [INFO] [1746051288.502502302] [sailbot.main_algo]: Distance to destination: 56.82278051102901 +[vectornav-1] [INFO] [1746051288.502662295] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.96500000000003, -0.636, 6.997) +[main_algo-3] [INFO] [1746051288.503376551] [sailbot.main_algo]: Target Bearing: -141.82278028378343 +[main_algo-3] [INFO] [1746051288.504244369] [sailbot.main_algo]: Heading Difference: -168.50921971621653 +[main_algo-3] [INFO] [1746051288.505043034] [sailbot.main_algo]: Wind Direction: 198 +[main_algo-3] [INFO] [1746051288.505889729] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051288.507380458] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051288.508955885] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051288.544316690] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051288.545307173] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051288.548220291] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051288.549429373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051288.551417226] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051288.585086660] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051288.587200159] [sailbot.teensy]: Wind angle: 200 +[teensy-2] [INFO] [1746051288.587981888] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051288.587412660] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051288.588697564] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051288.589100761] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051288.589420940] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051288.643686396] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051288.644039827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051288.644205763] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051288.644885692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051288.645518006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051288.745126731] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051288.745968351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051288.746370283] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051288.747849991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051288.748885999] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051288.835002307] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051288.836930941] [sailbot.teensy]: Wind angle: 200 +[trim_sail-4] [INFO] [1746051288.836973068] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051288.838307410] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051288.838573100] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051288.839383926] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051288.839729958] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051288.844368082] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051288.844983758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051288.845434382] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051288.846640673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051288.847830854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051288.944301141] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051288.944774162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051288.945293119] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051288.946359331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051288.947418839] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051288.957135512] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051288.958234179] [sailbot.main_algo]: Target Bearing: -141.82278028378343 +[main_algo-3] [INFO] [1746051288.959447096] [sailbot.main_algo]: Heading Difference: -169.2122197162165 +[main_algo-3] [INFO] [1746051288.960328262] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051288.961166468] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051288.961965626] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051288.962956930] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051288.964127123] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051289.002535026] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904541 Long: -76.50277193 +[main_algo-3] [INFO] [1746051289.003721717] [sailbot.main_algo]: Distance to destination: 56.81295653034562 +[vectornav-1] [INFO] [1746051289.003866352] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.351999999999975, -0.201, 4.229) +[main_algo-3] [INFO] [1746051289.004781928] [sailbot.main_algo]: Target Bearing: -141.83493308297832 +[main_algo-3] [INFO] [1746051289.005816695] [sailbot.main_algo]: Heading Difference: -169.20006691702167 +[main_algo-3] [INFO] [1746051289.006665758] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051289.007484042] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051289.008332993] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051289.009893107] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051289.044958718] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051289.045712124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051289.046214613] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051289.047511817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051289.048696513] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051289.085302878] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051289.086993821] [sailbot.teensy]: Wind angle: 200 +[trim_sail-4] [INFO] [1746051289.087790458] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051289.087895227] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051289.088776866] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051289.089442659] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051289.089673238] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051289.143690003] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051289.144061122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051289.144572134] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051289.145764373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051289.146766321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051289.243676742] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051289.244073999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051289.244261542] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051289.244944953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051289.245912816] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051289.334492380] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051289.335421241] [sailbot.teensy]: Wind angle: 201 +[teensy-2] [INFO] [1746051289.336038370] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051289.336572071] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051289.336241907] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051289.337221877] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051289.337622849] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051289.343637135] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051289.344187695] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051289.344271040] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051289.345758424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051289.346259024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051289.443665949] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051289.444000809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051289.444176102] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051289.444844667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051289.445400925] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051289.456315097] [sailbot.main_algo]: Wind Direction: 201 +[main_algo-3] [INFO] [1746051289.456807004] [sailbot.main_algo]: Target Bearing: -141.83493308297832 +[main_algo-3] [INFO] [1746051289.457222610] [sailbot.main_algo]: Heading Difference: -168.81306691702173 +[main_algo-3] [INFO] [1746051289.457625820] [sailbot.main_algo]: Wind Direction: 201 +[main_algo-3] [INFO] [1746051289.458027311] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051289.458429433] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051289.458922106] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051289.459519375] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051289.501422460] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904541 Long: -76.50277191 +[main_algo-3] [INFO] [1746051289.501876272] [sailbot.main_algo]: Distance to destination: 56.81423125526894 +[main_algo-3] [INFO] [1746051289.502336539] [sailbot.main_algo]: Target Bearing: -141.83598077550755 +[vectornav-1] [INFO] [1746051289.502359076] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.067999999999984, -0.051, 5.884) +[main_algo-3] [INFO] [1746051289.502773970] [sailbot.main_algo]: Heading Difference: -168.81201922449247 +[main_algo-3] [INFO] [1746051289.503199237] [sailbot.main_algo]: Wind Direction: 201 +[main_algo-3] [INFO] [1746051289.503595992] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051289.503987849] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051289.504855743] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051289.543714278] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051289.544295499] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051289.543965054] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051289.544691530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051289.545316156] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051289.584432865] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051289.585186235] [sailbot.teensy]: Wind angle: 200 +[teensy-2] [INFO] [1746051289.585571432] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051289.585933824] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051289.586310054] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051289.585605503] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051289.586611360] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051289.643722228] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051289.644038243] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051289.644276263] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051289.644821735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051289.645319470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051289.743677832] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051289.744019006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051289.744187779] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051289.744826227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051289.745324518] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051289.834444568] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051289.835514763] [sailbot.teensy]: Wind angle: 200 +[teensy-2] [INFO] [1746051289.836289798] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051289.835678992] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051289.836855131] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051289.837322761] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051289.838678337] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051289.844049469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051289.844770648] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051289.845352124] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051289.847064180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051289.848087762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051289.943785579] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051289.944551500] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051289.944431562] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051289.945785391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051289.946638517] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051289.956379112] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051289.956943833] [sailbot.main_algo]: Target Bearing: -141.83598077550755 +[main_algo-3] [INFO] [1746051289.957434792] [sailbot.main_algo]: Heading Difference: -169.09601922449247 +[main_algo-3] [INFO] [1746051289.957891684] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051289.958314009] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051289.958724358] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051289.960718232] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051289.960806349] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051290.001427053] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904531 Long: -76.50277198 +[main_algo-3] [INFO] [1746051290.001816395] [sailbot.main_algo]: Distance to destination: 56.80275384100482 +[vectornav-1] [INFO] [1746051290.001916403] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.358000000000004, -1.123, 4.612) +[main_algo-3] [INFO] [1746051290.002285022] [sailbot.main_algo]: Target Bearing: -141.84099695348095 +[main_algo-3] [INFO] [1746051290.002709517] [sailbot.main_algo]: Heading Difference: -169.09100304651906 +[main_algo-3] [INFO] [1746051290.003110607] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051290.003528068] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051290.003945406] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051290.005096189] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051290.043701468] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051290.044257968] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051290.045133257] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051290.046574202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051290.047732545] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051290.084584394] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051290.086611873] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051290.087644843] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051290.089559831] [sailbot.teensy]: Wind angle: 201 +[teensy-2] [INFO] [1746051290.091020047] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051290.091522756] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051290.093100708] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051290.143759534] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051290.144264819] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051290.144111800] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051290.144942764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051290.145447297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051290.243617409] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051290.244176762] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051290.245421228] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051290.245953994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051290.246474358] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051290.334549498] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051290.336515203] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051290.336950998] [sailbot.teensy]: Wind angle: 201 +[mux-7] [INFO] [1746051290.337388359] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051290.337841011] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051290.338671521] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051290.339595958] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051290.344064127] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051290.344469391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051290.344919463] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051290.346066304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051290.347179288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051290.444260386] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051290.445164531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051290.444770851] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051290.446294217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051290.447425427] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051290.457032503] [sailbot.main_algo]: Wind Direction: 201 +[main_algo-3] [INFO] [1746051290.458040069] [sailbot.main_algo]: Target Bearing: -141.84099695348095 +[main_algo-3] [INFO] [1746051290.458925747] [sailbot.main_algo]: Heading Difference: -168.80100304651904 +[main_algo-3] [INFO] [1746051290.459766828] [sailbot.main_algo]: Wind Direction: 201 +[main_algo-3] [INFO] [1746051290.460583423] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051290.461378204] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051290.462370469] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051290.462928676] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051290.503384024] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904537 Long: -76.50277192 +[main_algo-3] [INFO] [1746051290.504539508] [sailbot.main_algo]: Distance to destination: 56.810787539676866 +[main_algo-3] [INFO] [1746051290.505584635] [sailbot.main_algo]: Target Bearing: -141.8389299225116 +[main_algo-3] [INFO] [1746051290.506558248] [sailbot.main_algo]: Heading Difference: -168.80307007748843 +[vectornav-1] [INFO] [1746051290.506707417] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.089, 0.054, 5.701) +[main_algo-3] [INFO] [1746051290.507535004] [sailbot.main_algo]: Wind Direction: 201 +[main_algo-3] [INFO] [1746051290.508476342] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051290.509433155] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051290.511317752] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051290.544090184] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051290.544579262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051290.544906847] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051290.545841199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051290.546647359] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051290.584424933] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051290.585168211] [sailbot.teensy]: Wind angle: 201 +[trim_sail-4] [INFO] [1746051290.585438870] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051290.586532065] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051290.587096639] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051290.587538365] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051290.587926951] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051290.643690377] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051290.644014779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051290.644188439] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051290.644803779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051290.645292779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051290.743660355] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051290.744134856] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051290.744099488] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051290.744858031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051290.745467185] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051290.835104191] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051290.837738527] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051290.838368456] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051290.838878301] [sailbot.teensy]: Wind angle: 200 +[teensy-2] [INFO] [1746051290.840073876] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051290.841014536] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051290.842290297] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051290.844387268] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051290.845281725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051290.845496429] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051290.847575367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051290.848623963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051290.944927752] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051290.945615078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051290.946214338] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051290.947499446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051290.948568469] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051290.956949840] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051290.957893939] [sailbot.main_algo]: Target Bearing: -141.8389299225116 +[main_algo-3] [INFO] [1746051290.958749455] [sailbot.main_algo]: Heading Difference: -169.07207007748843 +[main_algo-3] [INFO] [1746051290.959545531] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051290.960344111] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051290.961150809] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051290.962129124] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051290.963166279] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051291.002869895] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904521 Long: -76.50277178 +[main_algo-3] [INFO] [1746051291.003623444] [sailbot.main_algo]: Distance to destination: 56.80848997527925 +[vectornav-1] [INFO] [1746051291.004091019] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.120000000000005, -0.475, 5.626) +[main_algo-3] [INFO] [1746051291.004775207] [sailbot.main_algo]: Target Bearing: -141.8601570838506 +[main_algo-3] [INFO] [1746051291.005742070] [sailbot.main_algo]: Heading Difference: -169.0508429161494 +[main_algo-3] [INFO] [1746051291.006673572] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051291.007569641] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051291.008396666] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051291.009999609] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051291.044217964] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051291.044868712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051291.045230608] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051291.046511936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051291.047619647] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051291.085255557] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051291.087414077] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051291.087895611] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051291.088205424] [sailbot.teensy]: Wind angle: 201 +[teensy-2] [INFO] [1746051291.089148217] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051291.090004580] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051291.090838983] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051291.145398976] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051291.145925702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051291.146869978] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051291.147935992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051291.149001250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051291.243741051] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051291.244063515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051291.245136818] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051291.245650700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051291.246110526] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051291.335484774] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051291.337383371] [sailbot.teensy]: Wind angle: 200 +[teensy-2] [INFO] [1746051291.338368967] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051291.338519524] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051291.339260649] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051291.339378157] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051291.340224131] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051291.344379708] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051291.344988101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051291.345586145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051291.346882894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051291.347913332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051291.443688028] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051291.444071541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051291.444218341] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051291.444907704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051291.445481878] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051291.456262455] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051291.456726834] [sailbot.main_algo]: Target Bearing: -141.8601570838506 +[main_algo-3] [INFO] [1746051291.457151628] [sailbot.main_algo]: Heading Difference: -169.0198429161494 +[main_algo-3] [INFO] [1746051291.457555670] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051291.457943860] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051291.458348940] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051291.458823339] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051291.459156151] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051291.502073913] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904529 Long: -76.5027718 +[main_algo-3] [INFO] [1746051291.503047201] [sailbot.main_algo]: Distance to destination: 56.81282529469449 +[vectornav-1] [INFO] [1746051291.503319797] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.65999999999997, -0.422, 5.952) +[main_algo-3] [INFO] [1746051291.504191976] [sailbot.main_algo]: Target Bearing: -141.8521617647597 +[main_algo-3] [INFO] [1746051291.505117237] [sailbot.main_algo]: Heading Difference: -169.02783823524032 +[main_algo-3] [INFO] [1746051291.505945596] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051291.506783886] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051291.507548299] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051291.508880388] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051291.545027275] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051291.545607973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051291.546373003] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051291.547446201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051291.548702404] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051291.585160017] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051291.586717301] [sailbot.teensy]: Wind angle: 201 +[trim_sail-4] [INFO] [1746051291.587302898] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051291.587587298] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051291.588411882] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051291.588562890] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051291.589188705] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051291.644733813] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051291.645270303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051291.645909564] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051291.646979804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051291.648031494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051291.744514863] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051291.745041803] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051291.745595354] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051291.746750428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051291.747815797] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051291.835480700] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051291.837279948] [sailbot.teensy]: Wind angle: 200 +[teensy-2] [INFO] [1746051291.838210415] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051291.839260457] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051291.838029633] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051291.839243636] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051291.840327822] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051291.844632000] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051291.845825868] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051291.846565417] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051291.848579654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051291.849727604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051291.944044159] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051291.944630044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051291.945089090] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051291.946139030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051291.947249499] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051291.956417892] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051291.957217588] [sailbot.main_algo]: Target Bearing: -141.8521617647597 +[main_algo-3] [INFO] [1746051291.958017718] [sailbot.main_algo]: Heading Difference: -168.48783823524036 +[main_algo-3] [INFO] [1746051291.958695021] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051291.959497116] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051291.960341601] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051291.961511958] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051291.962095619] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051292.001472329] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904514 Long: -76.50277189 +[main_algo-3] [INFO] [1746051292.001866268] [sailbot.main_algo]: Distance to destination: 56.796567821434515 +[vectornav-1] [INFO] [1746051292.002006710] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.394000000000005, -0.538, 5.398) +[main_algo-3] [INFO] [1746051292.002317285] [sailbot.main_algo]: Target Bearing: -141.8604774799892 +[main_algo-3] [INFO] [1746051292.002740977] [sailbot.main_algo]: Heading Difference: -168.47952252001085 +[main_algo-3] [INFO] [1746051292.003150214] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051292.003539764] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051292.003917110] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051292.004850993] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051292.043760566] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051292.044093892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051292.045162266] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051292.045224499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051292.045763143] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051292.084448691] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051292.085530594] [sailbot.teensy]: Wind angle: 201 +[trim_sail-4] [INFO] [1746051292.086160589] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051292.086206809] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051292.086887533] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051292.087578369] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051292.089411284] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051292.143645228] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051292.144115009] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051292.143964514] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051292.144935959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051292.145493285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051292.244978249] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051292.246300930] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051292.246311096] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051292.248206076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051292.249285262] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051292.335394175] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051292.337835243] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051292.338344754] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051292.338702929] [sailbot.teensy]: Wind angle: 201 +[teensy-2] [INFO] [1746051292.339732407] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051292.340652496] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051292.341506952] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051292.344365614] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051292.344954012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051292.345461295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051292.347538204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051292.348673129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051292.445371060] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051292.446320358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051292.446894331] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051292.448625392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051292.449255801] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051292.457340772] [sailbot.main_algo]: Wind Direction: 201 +[main_algo-3] [INFO] [1746051292.458554035] [sailbot.main_algo]: Target Bearing: -141.8604774799892 +[main_algo-3] [INFO] [1746051292.459624553] [sailbot.main_algo]: Heading Difference: -168.7455225200108 +[main_algo-3] [INFO] [1746051292.460552692] [sailbot.main_algo]: Wind Direction: 201 +[main_algo-3] [INFO] [1746051292.461434275] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051292.462281122] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051292.463339694] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051292.464037015] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051292.502869108] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904505 Long: -76.50277191 +[main_algo-3] [INFO] [1746051292.503741251] [sailbot.main_algo]: Distance to destination: 56.78898189968879 +[vectornav-1] [INFO] [1746051292.504119054] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.79899999999998, 0.001, 5.529) +[main_algo-3] [INFO] [1746051292.505059684] [sailbot.main_algo]: Target Bearing: -141.8672498985408 +[main_algo-3] [INFO] [1746051292.506107537] [sailbot.main_algo]: Heading Difference: -168.73875010145923 +[main_algo-3] [INFO] [1746051292.507126739] [sailbot.main_algo]: Wind Direction: 201 +[main_algo-3] [INFO] [1746051292.508135395] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051292.509057563] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051292.510819644] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051292.544581808] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051292.545064050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051292.545692907] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051292.546751273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051292.547767060] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051292.585153707] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051292.586735323] [sailbot.teensy]: Wind angle: 200 +[trim_sail-4] [INFO] [1746051292.587565357] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051292.587717100] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051292.588641397] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051292.588712580] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051292.589592938] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051292.645206175] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051292.646264693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051292.646739541] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051292.648583401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051292.649712261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051292.745098964] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051292.745881799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051292.746377641] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051292.747693657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051292.748731478] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051292.835333495] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051292.837412428] [sailbot.teensy]: Wind angle: 200 +[trim_sail-4] [INFO] [1746051292.837718238] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051292.838363259] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051292.838777556] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051292.839269371] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051292.840182945] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051292.844389494] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051292.844985348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051292.845472287] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051292.846746388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051292.847741866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051292.945009723] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051292.946021474] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051292.946739777] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051292.947922387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051292.948367367] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051292.957177244] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051292.958261529] [sailbot.main_algo]: Target Bearing: -141.8672498985408 +[main_algo-3] [INFO] [1746051292.959175915] [sailbot.main_algo]: Heading Difference: -169.33375010145926 +[main_algo-3] [INFO] [1746051292.960059871] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051292.960935892] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051292.961787658] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051292.962791364] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051292.963839799] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051293.002887641] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904483 Long: -76.50277181 +[main_algo-3] [INFO] [1746051293.003866676] [sailbot.main_algo]: Distance to destination: 56.779938550434615 +[vectornav-1] [INFO] [1746051293.004046299] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.47199999999998, -0.373, 5.694) +[main_algo-3] [INFO] [1746051293.005033902] [sailbot.main_algo]: Target Bearing: -141.8916083473045 +[main_algo-3] [INFO] [1746051293.006001409] [sailbot.main_algo]: Heading Difference: -169.30939165269552 +[main_algo-3] [INFO] [1746051293.006886730] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051293.007795609] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051293.008675870] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051293.010334955] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051293.044971885] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051293.045685931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051293.046236873] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051293.047464980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051293.048524277] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051293.085094211] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051293.086605126] [sailbot.teensy]: Wind angle: 201 +[trim_sail-4] [INFO] [1746051293.087229618] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051293.087542162] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051293.088548988] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051293.089441828] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051293.090091634] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051293.144828392] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051293.145585501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051293.146095003] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051293.147421470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051293.148310579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051293.245090744] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051293.245746892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051293.246507774] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051293.247682634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051293.248217558] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051293.335263485] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051293.337748989] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051293.337748844] [sailbot.teensy]: Wind angle: 211 +[teensy-2] [INFO] [1746051293.338707396] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051293.338697885] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051293.339620092] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051293.340509818] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051293.344338582] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051293.344897776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051293.345427078] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051293.346642052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051293.347700682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051293.445624741] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051293.446291881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051293.447309509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051293.448729486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051293.449867062] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051293.457063659] [sailbot.main_algo]: Wind Direction: 211 +[main_algo-3] [INFO] [1746051293.458062948] [sailbot.main_algo]: Target Bearing: -141.8916083473045 +[main_algo-3] [INFO] [1746051293.458941949] [sailbot.main_algo]: Heading Difference: -168.63639165269552 +[main_algo-3] [INFO] [1746051293.459768714] [sailbot.main_algo]: Wind Direction: 211 +[main_algo-3] [INFO] [1746051293.460583631] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051293.461361950] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051293.462450283] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051293.463084804] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051293.504001884] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690446 Long: -76.5027717 +[vectornav-1] [INFO] [1746051293.505726552] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.86700000000002, -0.399, 4.258) +[main_algo-3] [INFO] [1746051293.504082787] [sailbot.main_algo]: Distance to destination: 56.770843173909 +[main_algo-3] [INFO] [1746051293.505233151] [sailbot.main_algo]: Target Bearing: -141.9173677416775 +[main_algo-3] [INFO] [1746051293.506249388] [sailbot.main_algo]: Heading Difference: -168.61063225832254 +[main_algo-3] [INFO] [1746051293.507159009] [sailbot.main_algo]: Wind Direction: 211 +[main_algo-3] [INFO] [1746051293.508030591] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051293.508889362] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051293.510633283] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051293.545117936] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051293.545865615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051293.546540624] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051293.547815514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051293.548851708] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051293.585345128] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051293.587191298] [sailbot.teensy]: Wind angle: 216 +[teensy-2] [INFO] [1746051293.588428088] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051293.588004400] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051293.588979810] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051293.589340820] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051293.590252654] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051293.645204964] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051293.645924700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051293.646733489] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051293.648064577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051293.648914165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051293.744950163] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051293.745650619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051293.746267361] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051293.747563239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051293.748645889] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051293.835292863] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051293.837825011] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051293.838069041] [sailbot.teensy]: Wind angle: 217 +[mux-7] [INFO] [1746051293.838587402] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051293.838977445] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051293.839888526] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051293.840756933] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051293.844449227] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051293.844845198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051293.845586333] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051293.846497862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051293.847528837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051293.944959917] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051293.945627639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051293.946251042] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051293.947413759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051293.948592851] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051293.957173020] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051293.958307586] [sailbot.main_algo]: Target Bearing: -141.9173677416775 +[main_algo-3] [INFO] [1746051293.959279405] [sailbot.main_algo]: Heading Difference: -168.21563225832244 +[main_algo-3] [INFO] [1746051293.960184980] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051293.961074808] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051293.961924918] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051293.963044632] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051293.963528788] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051294.002895928] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904429 Long: -76.50277149 +[main_algo-3] [INFO] [1746051294.003669857] [sailbot.main_algo]: Distance to destination: 56.76254398374382 +[vectornav-1] [INFO] [1746051294.004068874] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.62299999999999, -0.878, 6.273) +[main_algo-3] [INFO] [1746051294.004856316] [sailbot.main_algo]: Target Bearing: -141.95532897325992 +[main_algo-3] [INFO] [1746051294.005901886] [sailbot.main_algo]: Heading Difference: -168.1776710267401 +[main_algo-3] [INFO] [1746051294.006774902] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051294.007679484] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051294.008564334] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051294.010327877] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051294.044982983] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051294.045635148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051294.046234998] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051294.047546750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051294.048600193] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051294.085365156] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051294.087193899] [sailbot.teensy]: Wind angle: 216 +[trim_sail-4] [INFO] [1746051294.087605094] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051294.088173292] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051294.089108660] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051294.089246474] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051294.089988185] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051294.144897901] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051294.145610285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051294.146179799] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051294.147431381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051294.148521441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051294.244981903] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051294.245750407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051294.246624799] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051294.247726562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051294.248845174] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051294.334613840] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051294.335518259] [sailbot.teensy]: Wind angle: 215 +[teensy-2] [INFO] [1746051294.336043666] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051294.336093579] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051294.336541870] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051294.336655394] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051294.337016101] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051294.344108490] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051294.345039004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051294.345100681] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051294.346701906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051294.347689199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051294.445101646] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051294.446014462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051294.446627102] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051294.448131483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051294.449152132] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051294.457033856] [sailbot.main_algo]: Wind Direction: 215 +[main_algo-3] [INFO] [1746051294.458002061] [sailbot.main_algo]: Target Bearing: -141.95532897325992 +[main_algo-3] [INFO] [1746051294.458882999] [sailbot.main_algo]: Heading Difference: -168.4216710267401 +[main_algo-3] [INFO] [1746051294.459670994] [sailbot.main_algo]: Wind Direction: 215 +[main_algo-3] [INFO] [1746051294.460527538] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051294.461344365] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051294.462393520] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051294.463056142] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051294.503353487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904407 Long: -76.50277127 +[main_algo-3] [INFO] [1746051294.503676399] [sailbot.main_algo]: Distance to destination: 56.76120212952208 +[vectornav-1] [INFO] [1746051294.504622057] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.68799999999999, 0.304, 4.951) +[main_algo-3] [INFO] [1746051294.504806421] [sailbot.main_algo]: Target Bearing: -141.9859852676136 +[main_algo-3] [INFO] [1746051294.505809295] [sailbot.main_algo]: Heading Difference: -168.39101473238645 +[main_algo-3] [INFO] [1746051294.506796221] [sailbot.main_algo]: Wind Direction: 215 +[main_algo-3] [INFO] [1746051294.507706951] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051294.508615792] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051294.510308863] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051294.544839455] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051294.545634072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051294.546180785] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051294.547592769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051294.548650016] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051294.585349478] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051294.587167658] [sailbot.teensy]: Wind angle: 214 +[trim_sail-4] [INFO] [1746051294.587790379] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051294.588147821] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051294.589100979] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051294.589448408] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051294.589990298] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051294.645143308] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051294.645826121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051294.646535337] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051294.647818598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051294.648861999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051294.745096880] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051294.745875679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051294.746493589] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051294.748406842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051294.749454186] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051294.835376268] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051294.837172744] [sailbot.teensy]: Wind angle: 214 +[teensy-2] [INFO] [1746051294.838232898] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051294.839374246] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051294.837758229] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051294.838600317] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051294.840292620] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051294.844340913] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051294.844902802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051294.845511991] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051294.846669141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051294.847674136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051294.945141787] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051294.945872455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051294.946571415] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051294.947796920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051294.948334823] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051294.957181570] [sailbot.main_algo]: Wind Direction: 214 +[main_algo-3] [INFO] [1746051294.958269105] [sailbot.main_algo]: Target Bearing: -141.9859852676136 +[main_algo-3] [INFO] [1746051294.959199080] [sailbot.main_algo]: Heading Difference: -168.3260147323864 +[main_algo-3] [INFO] [1746051294.960089183] [sailbot.main_algo]: Wind Direction: 214 +[main_algo-3] [INFO] [1746051294.960975952] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051294.961819029] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051294.962810171] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051294.963388332] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051295.002903245] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904367 Long: -76.50277099 +[main_algo-3] [INFO] [1746051295.004136432] [sailbot.main_algo]: Distance to destination: 56.75113361740861 +[vectornav-1] [INFO] [1746051295.004285306] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.992999999999995, -0.246, 5.943) +[main_algo-3] [INFO] [1746051295.005407575] [sailbot.main_algo]: Target Bearing: -142.0354624282115 +[main_algo-3] [INFO] [1746051295.006367971] [sailbot.main_algo]: Heading Difference: -168.27653757178848 +[main_algo-3] [INFO] [1746051295.007265387] [sailbot.main_algo]: Wind Direction: 214 +[main_algo-3] [INFO] [1746051295.008115156] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051295.008966612] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051295.010834769] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051295.045047459] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051295.045578698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051295.046357234] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051295.047739919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051295.048731329] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051295.085310068] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051295.087506509] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051295.087898965] [sailbot.teensy]: Wind angle: 216 +[mux-7] [INFO] [1746051295.088790541] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051295.088975443] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051295.090114859] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051295.091050303] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051295.144488244] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051295.145003435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051295.145634836] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051295.146806191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051295.147788380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051295.245131069] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051295.245653194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051295.246754828] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051295.247745795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051295.248887280] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051295.335183416] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051295.337254244] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051295.338185379] [sailbot.teensy]: Wind angle: 217 +[mux-7] [INFO] [1746051295.338818689] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051295.339162833] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051295.340143108] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051295.341080503] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051295.344407383] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051295.344816991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051295.345508666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051295.346469454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051295.347544003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051295.445040560] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051295.445602944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051295.446383532] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051295.447467257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051295.448406397] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051295.457170352] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051295.458168131] [sailbot.main_algo]: Target Bearing: -142.0354624282115 +[main_algo-3] [INFO] [1746051295.459141207] [sailbot.main_algo]: Heading Difference: -167.97153757178853 +[main_algo-3] [INFO] [1746051295.460018933] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051295.460934454] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051295.461786423] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051295.462800786] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051295.463811825] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051295.503321478] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904329 Long: -76.50277075 +[main_algo-3] [INFO] [1746051295.503986677] [sailbot.main_algo]: Distance to destination: 56.73994480852172 +[vectornav-1] [INFO] [1746051295.504649432] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.480999999999995, -0.915, 4.98) +[main_algo-3] [INFO] [1746051295.505213553] [sailbot.main_algo]: Target Bearing: -142.08112542240696 +[main_algo-3] [INFO] [1746051295.506241345] [sailbot.main_algo]: Heading Difference: -167.92587457759305 +[main_algo-3] [INFO] [1746051295.507174478] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051295.508095338] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051295.508993486] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051295.510747812] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051295.544173510] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051295.544625844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051295.544998544] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051295.546298424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051295.547278973] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051295.584472435] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051295.585424855] [sailbot.teensy]: Wind angle: 218 +[teensy-2] [INFO] [1746051295.585869168] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051295.585572755] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051295.586267896] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051295.586648996] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051295.586674919] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051295.643732342] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051295.644066043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051295.644256777] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051295.645165917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051295.645701654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051295.743656861] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051295.743989358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051295.744574863] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051295.744875255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051295.745422552] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051295.834505033] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051295.835406664] [sailbot.teensy]: Wind angle: 218 +[teensy-2] [INFO] [1746051295.835881367] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051295.837260860] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051295.837394116] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051295.837879583] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051295.838542592] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051295.843946149] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051295.844501469] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051295.844427832] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051295.845375665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051295.846051917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051295.943721303] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051295.944040957] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051295.944241902] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051295.945527453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051295.946057923] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051295.956338260] [sailbot.main_algo]: Wind Direction: 218 +[main_algo-3] [INFO] [1746051295.956834546] [sailbot.main_algo]: Target Bearing: -142.08112542240696 +[main_algo-3] [INFO] [1746051295.957258627] [sailbot.main_algo]: Heading Difference: -167.43787457759305 +[main_algo-3] [INFO] [1746051295.957668486] [sailbot.main_algo]: Wind Direction: 218 +[main_algo-3] [INFO] [1746051295.958080523] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051295.958534393] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051295.959132211] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051295.959508226] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051296.001420929] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904304 Long: -76.50277036 +[vectornav-1] [INFO] [1746051296.001864758] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.34800000000001, -0.014, 4.809) +[main_algo-3] [INFO] [1746051296.001867089] [sailbot.main_algo]: Distance to destination: 56.7474560563448 +[main_algo-3] [INFO] [1746051296.002336712] [sailbot.main_algo]: Target Bearing: -142.1232775793457 +[main_algo-3] [INFO] [1746051296.002751614] [sailbot.main_algo]: Heading Difference: -167.3957224206543 +[main_algo-3] [INFO] [1746051296.003157035] [sailbot.main_algo]: Wind Direction: 218 +[main_algo-3] [INFO] [1746051296.003558427] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051296.003967974] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051296.005053454] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051296.043630895] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051296.044116932] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051296.045725254] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051296.046441549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051296.047165655] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051296.084635314] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051296.085425781] [sailbot.teensy]: Wind angle: 217 +[trim_sail-4] [INFO] [1746051296.085759060] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051296.085831187] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051296.086228659] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051296.086534195] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051296.086594435] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051296.143616997] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051296.144101857] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051296.143938677] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051296.144673731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051296.145187405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051296.243687808] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051296.243983485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051296.244244793] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051296.245074249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051296.245588377] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051296.334419336] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051296.335119191] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746051296.335465177] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051296.335507139] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051296.335892854] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051296.336282840] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051296.336523682] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051296.343656636] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051296.344194325] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051296.343979126] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051296.344774842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051296.345356307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051296.443668761] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051296.444173041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051296.444128796] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051296.444926344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051296.445393179] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051296.456251693] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051296.456732326] [sailbot.main_algo]: Target Bearing: -142.1232775793457 +[main_algo-3] [INFO] [1746051296.457140951] [sailbot.main_algo]: Heading Difference: -167.52872242065428 +[main_algo-3] [INFO] [1746051296.457539866] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051296.457938704] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051296.458317738] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051296.458780940] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051296.459134822] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051296.501344087] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904283 Long: -76.50277007 +[vectornav-1] [INFO] [1746051296.501847378] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.08299999999997, -0.412, 4.996) +[main_algo-3] [INFO] [1746051296.501858087] [sailbot.main_algo]: Distance to destination: 56.75138180042746 +[main_algo-3] [INFO] [1746051296.502303601] [sailbot.main_algo]: Target Bearing: -142.1567186095077 +[main_algo-3] [INFO] [1746051296.502729396] [sailbot.main_algo]: Heading Difference: -167.49528139049232 +[main_algo-3] [INFO] [1746051296.503906487] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051296.504348853] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051296.504780168] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051296.506257252] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051296.543660088] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051296.543955399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051296.544141473] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051296.544702438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051296.545200635] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051296.584392460] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051296.585143422] [sailbot.teensy]: Wind angle: 219 +[trim_sail-4] [INFO] [1746051296.585394453] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051296.585538412] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051296.585916165] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051296.586276475] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051296.587839145] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051296.643954429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051296.644745788] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051296.645482082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051296.646000202] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051296.646067436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051296.744685472] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051296.745369594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051296.745922077] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051296.747102639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051296.748069469] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051296.835207730] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051296.836858710] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746051296.837551306] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051296.837816668] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051296.838654194] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051296.838690836] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051296.839578221] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051296.844338252] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051296.844914432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051296.845447929] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051296.846603944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051296.847709314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051296.945130282] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051296.946032572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051296.946591859] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051296.948293967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051296.949405316] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051296.956962680] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051296.957970596] [sailbot.main_algo]: Target Bearing: -142.1567186095077 +[main_algo-3] [INFO] [1746051296.958864651] [sailbot.main_algo]: Heading Difference: -168.7602813904923 +[main_algo-3] [INFO] [1746051296.959719044] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051296.960613091] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051296.961408557] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051296.962417571] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051296.962994508] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051297.002895900] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904261 Long: -76.50276984 +[main_algo-3] [INFO] [1746051297.003924369] [sailbot.main_algo]: Distance to destination: 56.75078725063793 +[vectornav-1] [INFO] [1746051297.004146120] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.446000000000026, -0.354, 4.381) +[main_algo-3] [INFO] [1746051297.005136072] [sailbot.main_algo]: Target Bearing: -142.18790594222278 +[main_algo-3] [INFO] [1746051297.006088940] [sailbot.main_algo]: Heading Difference: -168.72909405777727 +[main_algo-3] [INFO] [1746051297.007017821] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051297.007883690] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051297.008741481] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051297.010434429] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051297.045155613] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051297.045875216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051297.046546851] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051297.047962558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051297.049025215] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051297.085393980] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051297.087828522] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051297.088314525] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051297.088512059] [sailbot.teensy]: Wind angle: 220 +[teensy-2] [INFO] [1746051297.089509060] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051297.090379783] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051297.091238339] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051297.145120143] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051297.146182314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051297.146573505] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051297.148207634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051297.149249797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051297.244964981] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051297.245821911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051297.246242302] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051297.247815593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051297.248879502] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051297.335527782] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051297.338053516] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051297.338196478] [sailbot.teensy]: Wind angle: 220 +[teensy-2] [INFO] [1746051297.339187530] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051297.339391120] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051297.340571221] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051297.341749104] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051297.344303654] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051297.344764960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051297.345444557] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051297.346457801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051297.347494111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051297.445195383] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051297.445893547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051297.446776429] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051297.448070452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051297.449392092] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051297.457250922] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051297.458347402] [sailbot.main_algo]: Target Bearing: -142.18790594222278 +[main_algo-3] [INFO] [1746051297.459273373] [sailbot.main_algo]: Heading Difference: -167.36609405777722 +[main_algo-3] [INFO] [1746051297.460148669] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051297.461046860] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051297.461879555] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051297.462910401] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051297.463559037] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051297.502679854] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904241 Long: -76.50276986 +[main_algo-3] [INFO] [1746051297.503669210] [sailbot.main_algo]: Distance to destination: 56.73558239640942 +[vectornav-1] [INFO] [1746051297.503738420] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.896000000000015, -0.195, 4.117) +[main_algo-3] [INFO] [1746051297.504964901] [sailbot.main_algo]: Target Bearing: -142.20433954456306 +[main_algo-3] [INFO] [1746051297.506058385] [sailbot.main_algo]: Heading Difference: -167.34966045543695 +[main_algo-3] [INFO] [1746051297.507021526] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051297.507915034] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051297.508803984] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051297.510562143] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051297.545074061] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051297.545840771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051297.546507848] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051297.548022509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051297.549137202] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051297.585238370] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051297.587471968] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051297.587498466] [sailbot.teensy]: Wind angle: 220 +[teensy-2] [INFO] [1746051297.588516378] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051297.588886867] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051297.589437399] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051297.590301861] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051297.645420425] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051297.646414502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051297.647063321] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051297.648941119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051297.650223945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051297.745321763] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051297.746276462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051297.746839397] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051297.748360780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051297.748868615] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051297.835350889] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051297.837088555] [sailbot.teensy]: Wind angle: 219 +[trim_sail-4] [INFO] [1746051297.837569624] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051297.838039889] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051297.838968112] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051297.839272933] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051297.839810914] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051297.844430670] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051297.845023981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051297.845742498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051297.846773700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051297.847816095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051297.944923791] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051297.945340712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051297.946459101] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051297.947043147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051297.948264728] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051297.957062597] [sailbot.main_algo]: Wind Direction: 219 +[main_algo-3] [INFO] [1746051297.958128918] [sailbot.main_algo]: Target Bearing: -142.20433954456306 +[main_algo-3] [INFO] [1746051297.959054257] [sailbot.main_algo]: Heading Difference: -165.8996604554369 +[main_algo-3] [INFO] [1746051297.959905651] [sailbot.main_algo]: Wind Direction: 219 +[main_algo-3] [INFO] [1746051297.960730871] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051297.961537862] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051297.962571034] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051297.963104798] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051298.002754816] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904214 Long: -76.50276987 +[vectornav-1] [INFO] [1746051298.003880160] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.757000000000005, -0.658, 4.914) +[main_algo-3] [INFO] [1746051298.004133836] [sailbot.main_algo]: Distance to destination: 56.7161527769156 +[main_algo-3] [INFO] [1746051298.005241089] [sailbot.main_algo]: Target Bearing: -142.2274234586839 +[main_algo-3] [INFO] [1746051298.006217226] [sailbot.main_algo]: Heading Difference: -165.87657654131613 +[main_algo-3] [INFO] [1746051298.007170777] [sailbot.main_algo]: Wind Direction: 219 +[main_algo-3] [INFO] [1746051298.008095177] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051298.008941719] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051298.010584664] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051298.044967911] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051298.045667101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051298.046340943] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051298.047536594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051298.048722532] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051298.085251848] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051298.087284820] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051298.087624654] [sailbot.teensy]: Wind angle: 217 +[mux-7] [INFO] [1746051298.088026258] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051298.088594082] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051298.089465096] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051298.090310587] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051298.144907869] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051298.145987261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051298.146264671] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051298.147820739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051298.148858793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051298.244857932] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051298.245426372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051298.246076690] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051298.247175084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051298.248327802] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051298.335503959] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051298.337919859] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051298.338706595] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051298.339043749] [sailbot.teensy]: Wind angle: 217 +[teensy-2] [INFO] [1746051298.339969709] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051298.340850814] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051298.341705437] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051298.344372360] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051298.344796488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051298.345618664] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051298.346430378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051298.347596251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051298.444691207] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051298.445440349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051298.445924118] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051298.447249766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051298.448408433] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051298.457325989] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051298.458469243] [sailbot.main_algo]: Target Bearing: -142.2274234586839 +[main_algo-3] [INFO] [1746051298.459546574] [sailbot.main_algo]: Heading Difference: -166.01557654131614 +[main_algo-3] [INFO] [1746051298.460455039] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051298.461363600] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051298.462216930] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051298.463247491] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051298.463939916] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051298.502869307] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690418 Long: -76.50276965 +[main_algo-3] [INFO] [1746051298.503936503] [sailbot.main_algo]: Distance to destination: 56.70661319470754 +[vectornav-1] [INFO] [1746051298.504033933] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.283000000000015, 0.75, 5.013) +[main_algo-3] [INFO] [1746051298.505144526] [sailbot.main_algo]: Target Bearing: -142.2686114533229 +[main_algo-3] [INFO] [1746051298.506164678] [sailbot.main_algo]: Heading Difference: -165.97438854667712 +[main_algo-3] [INFO] [1746051298.507277069] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051298.508276725] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051298.509221326] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051298.510966951] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051298.545156018] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051298.545732479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051298.546504657] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051298.547555550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051298.548642168] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051298.585169012] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051298.587260985] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051298.588891922] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051298.588948727] [sailbot.teensy]: Wind angle: 217 +[teensy-2] [INFO] [1746051298.589850571] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051298.590720332] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051298.591529607] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051298.645139393] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051298.645660510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051298.646509072] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051298.647548189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051298.648613051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051298.744139970] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051298.744625952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051298.745058338] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051298.746116896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051298.747159741] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051298.835083207] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051298.836604116] [sailbot.teensy]: Wind angle: 217 +[trim_sail-4] [INFO] [1746051298.837096946] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051298.837464720] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051298.837956077] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051298.838286356] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051298.839132659] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051298.844303972] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051298.844767895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051298.845345848] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051298.846339025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051298.847237394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051298.945061046] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051298.945716854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051298.946426980] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051298.947762387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051298.948806613] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051298.956917357] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051298.957869779] [sailbot.main_algo]: Target Bearing: -142.2686114533229 +[main_algo-3] [INFO] [1746051298.958762926] [sailbot.main_algo]: Heading Difference: -167.44838854667705 +[main_algo-3] [INFO] [1746051298.959576191] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051298.960416685] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051298.961210843] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051298.962352218] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051298.962993353] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051299.002881779] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904149 Long: -76.50276952 +[vectornav-1] [INFO] [1746051299.004120712] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.76800000000003, -1.514, 5.66) +[main_algo-3] [INFO] [1746051299.004759840] [sailbot.main_algo]: Distance to destination: 56.693412002736586 +[main_algo-3] [INFO] [1746051299.005776604] [sailbot.main_algo]: Target Bearing: -142.3025091763632 +[main_algo-3] [INFO] [1746051299.006727896] [sailbot.main_algo]: Heading Difference: -167.4144908236368 +[main_algo-3] [INFO] [1746051299.007621976] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051299.008546087] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051299.009405177] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051299.011073666] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051299.045536604] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051299.046313172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051299.047264474] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051299.049114416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051299.050373611] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051299.085505631] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051299.087681647] [sailbot.teensy]: Wind angle: 217 +[trim_sail-4] [INFO] [1746051299.087848345] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051299.089286174] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051299.089653195] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051299.090577415] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051299.091390293] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051299.144823532] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051299.145430458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051299.146014206] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051299.147209012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051299.148362621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051299.244744688] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051299.245420524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051299.245959700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051299.247254535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051299.248332360] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051299.335221859] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051299.337284614] [sailbot.teensy]: Wind angle: 217 +[trim_sail-4] [INFO] [1746051299.337820474] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051299.338276806] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051299.338286522] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051299.339235168] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051299.340101526] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051299.344394823] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051299.345536223] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051299.345954291] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051299.347622243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051299.348646223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051299.445333830] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051299.446219249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051299.446885899] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051299.448490285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051299.449018081] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051299.457102835] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051299.458124155] [sailbot.main_algo]: Target Bearing: -142.3025091763632 +[main_algo-3] [INFO] [1746051299.459008785] [sailbot.main_algo]: Heading Difference: -167.9294908236368 +[main_algo-3] [INFO] [1746051299.459879463] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051299.460755022] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051299.461562728] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051299.462555834] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051299.463094072] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051299.502505998] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904122 Long: -76.50276933 +[main_algo-3] [INFO] [1746051299.503277880] [sailbot.main_algo]: Distance to destination: 56.68685818449938 +[vectornav-1] [INFO] [1746051299.503495677] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.281000000000006, 0.347, 5.238) +[main_algo-3] [INFO] [1746051299.504340851] [sailbot.main_algo]: Target Bearing: -142.3360336201736 +[main_algo-3] [INFO] [1746051299.505331643] [sailbot.main_algo]: Heading Difference: -167.8959663798264 +[main_algo-3] [INFO] [1746051299.506212641] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051299.507104941] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051299.507973561] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051299.509642902] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051299.544923040] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051299.545612749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051299.546227624] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051299.547935307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051299.549111352] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051299.585467809] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051299.587940759] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051299.588510358] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051299.588525941] [sailbot.teensy]: Wind angle: 217 +[teensy-2] [INFO] [1746051299.589535437] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051299.590403086] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051299.591260019] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051299.644653301] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051299.645338219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051299.645893242] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051299.647190244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051299.648220151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051299.745012232] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051299.745698511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051299.746275386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051299.747639171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051299.748659701] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051299.835494445] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051299.837649749] [sailbot.teensy]: Wind angle: 217 +[trim_sail-4] [INFO] [1746051299.838274915] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051299.838666302] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051299.839372956] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051299.839619247] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051299.840548464] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051299.844322859] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051299.845359032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051299.845434440] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051299.847187495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051299.848252901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051299.945096092] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051299.945777042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051299.946391601] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051299.947633050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051299.948699990] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051299.957113342] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051299.958230320] [sailbot.main_algo]: Target Bearing: -142.3360336201736 +[main_algo-3] [INFO] [1746051299.959205415] [sailbot.main_algo]: Heading Difference: -168.38296637982637 +[main_algo-3] [INFO] [1746051299.960073103] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051299.960954045] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051299.961797003] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051299.962964975] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051299.963443879] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051300.002787960] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469041 Long: -76.50276898 +[main_algo-3] [INFO] [1746051300.003637031] [sailbot.main_algo]: Distance to destination: 56.69406653976325 +[vectornav-1] [INFO] [1746051300.003882746] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.14300000000003, -0.313, 4.674) +[main_algo-3] [INFO] [1746051300.004799830] [sailbot.main_algo]: Target Bearing: -142.37348555044235 +[main_algo-3] [INFO] [1746051300.005846949] [sailbot.main_algo]: Heading Difference: -168.34551444955764 +[main_algo-3] [INFO] [1746051300.006786462] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051300.007686920] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051300.008587251] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051300.010347819] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051300.045170936] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051300.046152878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051300.046623391] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051300.048233254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051300.049381743] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051300.085455919] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051300.087551325] [sailbot.teensy]: Wind angle: 217 +[trim_sail-4] [INFO] [1746051300.087639748] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051300.088442981] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051300.088534536] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051300.089429433] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051300.090324963] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051300.145154689] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051300.146053986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051300.146615644] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051300.148092504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051300.149285849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051300.244904121] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051300.245539467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051300.246112718] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051300.247375026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051300.248474588] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051300.335462353] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051300.337899101] [sailbot.teensy]: Wind angle: 217 +[trim_sail-4] [INFO] [1746051300.338454853] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051300.338881152] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051300.339804939] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051300.339967148] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051300.340709183] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051300.344313873] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051300.344988888] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051300.345380886] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051300.346705045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051300.347873332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051300.445069117] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051300.445727725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051300.446641669] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051300.447893561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051300.448442887] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051300.457268483] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051300.458277143] [sailbot.main_algo]: Target Bearing: -142.37348555044235 +[main_algo-3] [INFO] [1746051300.459160717] [sailbot.main_algo]: Heading Difference: -168.48351444955762 +[main_algo-3] [INFO] [1746051300.460021793] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051300.460928931] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051300.461736333] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051300.462812191] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051300.463543340] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051300.502813936] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904091 Long: -76.50276888 +[vectornav-1] [INFO] [1746051300.504091226] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.79399999999998, -0.658, 4.872) +[main_algo-3] [INFO] [1746051300.504372161] [sailbot.main_algo]: Distance to destination: 56.694248654095475 +[main_algo-3] [INFO] [1746051300.505464772] [sailbot.main_algo]: Target Bearing: -142.38656418771717 +[main_algo-3] [INFO] [1746051300.506398686] [sailbot.main_algo]: Heading Difference: -168.4704358122828 +[main_algo-3] [INFO] [1746051300.507424247] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051300.508333586] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051300.509186609] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051300.510912437] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051300.545050408] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051300.545552774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051300.546378703] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051300.547418439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051300.548560962] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051300.585164463] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051300.587370947] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051300.588054701] [sailbot.teensy]: Wind angle: 217 +[mux-7] [INFO] [1746051300.588742033] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051300.589107269] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051300.590209577] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051300.591376287] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051300.645186332] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051300.646380820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051300.646738612] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051300.648567785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051300.649615147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051300.745001222] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051300.745665869] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051300.746328326] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051300.747516867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051300.748449280] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051300.834867194] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051300.836328810] [sailbot.teensy]: Wind angle: 217 +[teensy-2] [INFO] [1746051300.837227093] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051300.837463615] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051300.838109977] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051300.838659403] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051300.839200744] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051300.844260947] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051300.845334755] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051300.844888014] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051300.846655726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051300.847841612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051300.944979507] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051300.945659128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051300.946324453] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051300.947560501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051300.948532926] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051300.957212867] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051300.958246983] [sailbot.main_algo]: Target Bearing: -142.38656418771717 +[main_algo-3] [INFO] [1746051300.959147080] [sailbot.main_algo]: Heading Difference: -166.81943581228285 +[main_algo-3] [INFO] [1746051300.959999170] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051300.960901101] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051300.961754728] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051300.962985068] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051300.963551021] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051301.002722878] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904079 Long: -76.50276877 +[main_algo-3] [INFO] [1746051301.003592080] [sailbot.main_algo]: Distance to destination: 56.69299694760995 +[vectornav-1] [INFO] [1746051301.003815200] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.238, -0.068, 4.503) +[main_algo-3] [INFO] [1746051301.004696332] [sailbot.main_algo]: Target Bearing: -142.40279230704127 +[main_algo-3] [INFO] [1746051301.005627179] [sailbot.main_algo]: Heading Difference: -166.80320769295872 +[main_algo-3] [INFO] [1746051301.006538883] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051301.007432764] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051301.008298538] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051301.009926316] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051301.045007836] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051301.046018816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051301.046322423] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051301.047927682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051301.048959292] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051301.085440249] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051301.087477274] [sailbot.teensy]: Wind angle: 217 +[trim_sail-4] [INFO] [1746051301.087939979] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051301.088455035] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051301.089156406] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051301.089386288] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051301.090344304] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051301.145508168] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051301.146398412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051301.147165294] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051301.148909278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051301.150259144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051301.245126161] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051301.245911398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051301.246552115] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051301.247768969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051301.248786670] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051301.335687720] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051301.338528374] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051301.339065550] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051301.339285371] [sailbot.teensy]: Wind angle: 217 +[teensy-2] [INFO] [1746051301.340305102] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051301.341164676] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051301.341500833] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051301.344418227] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051301.344980591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051301.345623998] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051301.346737907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051301.347898855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051301.445239736] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051301.446240840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051301.446966339] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051301.448682065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051301.449803917] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051301.457068816] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051301.458029900] [sailbot.main_algo]: Target Bearing: -142.40279230704127 +[main_algo-3] [INFO] [1746051301.458994901] [sailbot.main_algo]: Heading Difference: -166.35920769295876 +[main_algo-3] [INFO] [1746051301.459902568] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051301.460798255] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051301.461685469] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051301.462787273] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051301.463281615] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051301.503139740] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904066 Long: -76.50276879 +[main_algo-3] [INFO] [1746051301.503695878] [sailbot.main_algo]: Distance to destination: 56.68270320890583 +[vectornav-1] [INFO] [1746051301.504346149] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.454999999999984, -0.725, 5.226) +[main_algo-3] [INFO] [1746051301.504768956] [sailbot.main_algo]: Target Bearing: -142.4131584548095 +[main_algo-3] [INFO] [1746051301.505844637] [sailbot.main_algo]: Heading Difference: -166.3488415451905 +[main_algo-3] [INFO] [1746051301.506793259] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051301.508050066] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051301.508945865] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051301.510674565] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051301.544978495] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051301.545778483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051301.546418296] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051301.547685880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051301.548738392] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051301.585412408] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051301.587275710] [sailbot.teensy]: Wind angle: 217 +[trim_sail-4] [INFO] [1746051301.587780434] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051301.588254988] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051301.589179062] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051301.589573861] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051301.590034904] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051301.645081401] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051301.646579767] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051301.647263040] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051301.649135194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051301.650145000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051301.745191666] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051301.745845211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051301.746623472] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051301.747782958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051301.748264450] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051301.835443941] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051301.837341328] [sailbot.teensy]: Wind angle: 217 +[trim_sail-4] [INFO] [1746051301.837930995] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051301.838431877] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051301.838974213] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051301.839344600] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051301.839414790] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051301.844460297] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051301.845422714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051301.845592680] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051301.847410954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051301.848489537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051301.945163854] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051301.946022050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051301.946704664] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051301.948109336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051301.949146518] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051301.957163929] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051301.958212066] [sailbot.main_algo]: Target Bearing: -142.4131584548095 +[main_algo-3] [INFO] [1746051301.959116413] [sailbot.main_algo]: Heading Difference: -166.13184154519053 +[main_algo-3] [INFO] [1746051301.960003227] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051301.960891431] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051301.961767276] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051301.962865002] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051301.963394781] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051302.002965538] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904037 Long: -76.5027684 +[main_algo-3] [INFO] [1746051302.004060356] [sailbot.main_algo]: Distance to destination: 56.6876873198339 +[vectornav-1] [INFO] [1746051302.004100519] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.327999999999975, 0.207, 5.104) +[main_algo-3] [INFO] [1746051302.005223571] [sailbot.main_algo]: Target Bearing: -142.45881939333887 +[main_algo-3] [INFO] [1746051302.006206576] [sailbot.main_algo]: Heading Difference: -166.08618060666117 +[main_algo-3] [INFO] [1746051302.007156778] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051302.008077327] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051302.008961886] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051302.011034199] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051302.045198727] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051302.046012689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051302.046637666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051302.048109261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051302.049122314] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051302.085393800] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051302.087134359] [sailbot.teensy]: Wind angle: 217 +[trim_sail-4] [INFO] [1746051302.087640400] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051302.088072812] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051302.089001814] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051302.089115577] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051302.090000319] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051302.144903067] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051302.145728410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051302.146137870] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051302.147546312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051302.148708716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051302.245013357] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051302.245897994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051302.246400251] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051302.247913434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051302.248972222] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051302.335316723] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051302.337766964] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051302.337916705] [sailbot.teensy]: Wind angle: 217 +[mux-7] [INFO] [1746051302.338325637] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051302.338946577] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051302.339854215] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051302.340586222] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051302.344455525] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051302.345054828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051302.345771660] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051302.346726928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051302.347752610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051302.445353466] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051302.446326154] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051302.446921590] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051302.447914542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051302.448354994] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051302.457324574] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051302.458486152] [sailbot.main_algo]: Target Bearing: -142.45881939333887 +[main_algo-3] [INFO] [1746051302.459458023] [sailbot.main_algo]: Heading Difference: -166.21318060666113 +[main_algo-3] [INFO] [1746051302.460341733] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051302.461214085] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051302.462025535] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051302.463070758] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051302.463633885] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051302.502708945] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904018 Long: -76.50276805 +[vectornav-1] [INFO] [1746051302.503794383] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.28499999999997, -1.363, 5.256) +[main_algo-3] [INFO] [1746051302.503835805] [sailbot.main_algo]: Distance to destination: 56.69705004177734 +[main_algo-3] [INFO] [1746051302.504940739] [sailbot.main_algo]: Target Bearing: -142.49362072849848 +[main_algo-3] [INFO] [1746051302.505913808] [sailbot.main_algo]: Heading Difference: -166.1783792715015 +[main_algo-3] [INFO] [1746051302.506883640] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051302.507770730] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051302.508663370] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051302.510388753] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051302.545151985] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051302.545954986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051302.546591371] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051302.548212425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051302.549234248] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051302.585046056] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051302.586904067] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051302.587203776] [sailbot.teensy]: Wind angle: 217 +[mux-7] [INFO] [1746051302.587702548] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051302.588047840] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051302.588909360] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051302.589755268] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051302.645290300] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051302.646473431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051302.647321988] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051302.648405075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051302.648944315] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051302.745049925] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051302.745680770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051302.746498838] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051302.747444427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051302.747973007] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051302.835411659] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051302.837211696] [sailbot.teensy]: Wind angle: 216 +[trim_sail-4] [INFO] [1746051302.837945648] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051302.839156133] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051302.839331045] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051302.840752560] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051302.841612498] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051302.844454560] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051302.845114617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051302.845767319] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051302.846886821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051302.847955723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051302.944082251] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051302.944560731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051302.945030118] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051302.946198546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051302.947069422] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051302.957131119] [sailbot.main_algo]: Wind Direction: 216 +[main_algo-3] [INFO] [1746051302.958205093] [sailbot.main_algo]: Target Bearing: -142.49362072849848 +[main_algo-3] [INFO] [1746051302.959110999] [sailbot.main_algo]: Heading Difference: -166.22137927150152 +[main_algo-3] [INFO] [1746051302.959920519] [sailbot.main_algo]: Wind Direction: 216 +[main_algo-3] [INFO] [1746051302.960769366] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051302.961547329] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051302.962556211] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051302.963117198] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051303.002776153] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904029 Long: -76.50276813 +[main_algo-3] [INFO] [1746051303.003766863] [sailbot.main_algo]: Distance to destination: 56.699513847097435 +[vectornav-1] [INFO] [1746051303.003858648] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.77699999999999, 0.603, 4.858) +[main_algo-3] [INFO] [1746051303.005100033] [sailbot.main_algo]: Target Bearing: -142.47982257453663 +[main_algo-3] [INFO] [1746051303.006353269] [sailbot.main_algo]: Heading Difference: -166.2351774254634 +[main_algo-3] [INFO] [1746051303.007382702] [sailbot.main_algo]: Wind Direction: 216 +[main_algo-3] [INFO] [1746051303.008333684] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051303.009237377] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051303.010922900] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051303.045152729] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051303.045854277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051303.046608869] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051303.047920801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051303.048966467] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051303.085492385] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051303.087325403] [sailbot.teensy]: Wind angle: 217 +[teensy-2] [INFO] [1746051303.088249516] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051303.088054459] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051303.089125203] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051303.089589178] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051303.090032116] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051303.145045368] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051303.145817313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051303.146382615] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051303.147714258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051303.148720635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051303.245185422] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051303.246216366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051303.246674336] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051303.248268605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051303.248766044] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051303.335634361] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051303.338295984] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051303.338824517] [sailbot.teensy]: Wind angle: 217 +[mux-7] [INFO] [1746051303.339107587] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051303.339789339] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051303.340759238] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051303.341727049] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051303.344319354] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051303.344963313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051303.345485807] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051303.346625546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051303.347682811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051303.445172424] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051303.445979372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051303.446679871] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051303.448278054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051303.449471852] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051303.456964594] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051303.457939517] [sailbot.main_algo]: Target Bearing: -142.47982257453663 +[main_algo-3] [INFO] [1746051303.458776769] [sailbot.main_algo]: Heading Difference: -165.7431774254634 +[main_algo-3] [INFO] [1746051303.459584887] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051303.460401688] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051303.461224312] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051303.462193354] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051303.462726071] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051303.502871586] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904028 Long: -76.50276793 +[main_algo-3] [INFO] [1746051303.503923050] [sailbot.main_algo]: Distance to destination: 56.71168633751338 +[vectornav-1] [INFO] [1746051303.504079467] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.666, -0.327, 5.215) +[main_algo-3] [INFO] [1746051303.505151358] [sailbot.main_algo]: Target Bearing: -142.49105051377308 +[main_algo-3] [INFO] [1746051303.506158251] [sailbot.main_algo]: Heading Difference: -165.73194948622694 +[main_algo-3] [INFO] [1746051303.507086839] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051303.508014736] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051303.508909507] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051303.510652673] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051303.545115076] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051303.545871736] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051303.546554077] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051303.548204892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051303.549326408] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051303.585218940] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051303.586948066] [sailbot.teensy]: Wind angle: 218 +[teensy-2] [INFO] [1746051303.587803908] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051303.587328843] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051303.588108526] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051303.588690688] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051303.589599082] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051303.644824805] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051303.645575301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051303.646089943] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051303.647359355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051303.648491302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051303.744953946] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051303.745671359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051303.746608475] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051303.747535272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051303.748745055] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051303.835269265] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051303.836918497] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746051303.837517286] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051303.837852608] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051303.838786259] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051303.839345721] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051303.839671982] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051303.844586599] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051303.845078506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051303.845868249] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051303.846770306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051303.847809448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051303.944906213] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051303.945574397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051303.946128911] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051303.947557411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051303.948563467] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051303.957337271] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051303.958402516] [sailbot.main_algo]: Target Bearing: -142.49105051377308 +[main_algo-3] [INFO] [1746051303.959346312] [sailbot.main_algo]: Heading Difference: -167.84294948622693 +[main_algo-3] [INFO] [1746051303.960275368] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051303.961188351] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051303.962001275] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051303.963027845] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051303.963588832] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051304.002916425] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904005 Long: -76.50276775 +[main_algo-3] [INFO] [1746051304.004072627] [sailbot.main_algo]: Distance to destination: 56.707363120264844 +[vectornav-1] [INFO] [1746051304.004124021] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.56099999999998, -0.823, 4.691) +[main_algo-3] [INFO] [1746051304.005257454] [sailbot.main_algo]: Target Bearing: -142.52055551073053 +[main_algo-3] [INFO] [1746051304.006294385] [sailbot.main_algo]: Heading Difference: -167.8134444892695 +[main_algo-3] [INFO] [1746051304.007256828] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051304.008172166] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051304.009040881] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051304.010764927] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051304.045154561] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051304.045840513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051304.046489480] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051304.047848818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051304.048879624] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051304.085314845] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051304.087390839] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051304.087993805] [sailbot.teensy]: Wind angle: 220 +[mux-7] [INFO] [1746051304.088077407] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051304.089015572] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051304.089905642] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051304.090809000] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051304.145164665] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051304.145997714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051304.146610590] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051304.148146047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051304.149246280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051304.244960792] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051304.245761324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051304.246191859] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051304.247765121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051304.248818194] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051304.335351322] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051304.337867782] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051304.338000203] [sailbot.teensy]: Wind angle: 219 +[teensy-2] [INFO] [1746051304.338937903] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051304.339148740] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051304.339823972] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051304.340749268] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051304.344354823] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051304.344824429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051304.345507832] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051304.346483129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051304.347719004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051304.445276683] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051304.445828256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051304.447080626] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051304.447891691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051304.449192390] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051304.456983683] [sailbot.main_algo]: Wind Direction: 219 +[main_algo-3] [INFO] [1746051304.457971172] [sailbot.main_algo]: Target Bearing: -142.52055551073053 +[main_algo-3] [INFO] [1746051304.458879865] [sailbot.main_algo]: Heading Difference: -165.91844448926952 +[main_algo-3] [INFO] [1746051304.459676394] [sailbot.main_algo]: Wind Direction: 219 +[main_algo-3] [INFO] [1746051304.460519342] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051304.461341005] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051304.462332652] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051304.462928908] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051304.503432838] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904007 Long: -76.50276779 +[main_algo-3] [INFO] [1746051304.504104817] [sailbot.main_algo]: Distance to destination: 56.706171674895174 +[main_algo-3] [INFO] [1746051304.505267281] [sailbot.main_algo]: Target Bearing: -142.51673058084944 +[main_algo-3] [INFO] [1746051304.506251227] [sailbot.main_algo]: Heading Difference: -165.92226941915055 +[vectornav-1] [INFO] [1746051304.506412824] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.644000000000005, -0.651, 3.79) +[main_algo-3] [INFO] [1746051304.507223315] [sailbot.main_algo]: Wind Direction: 219 +[main_algo-3] [INFO] [1746051304.508141974] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051304.509011322] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051304.510807392] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051304.545370066] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051304.545484715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051304.546735901] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051304.547216162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051304.548384941] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051304.585479675] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051304.587195762] [sailbot.teensy]: Wind angle: 214 +[trim_sail-4] [INFO] [1746051304.587675080] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051304.588095970] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051304.589047794] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051304.589927771] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051304.590357042] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051304.644644793] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051304.645193135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051304.645783047] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051304.646920325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051304.647961313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051304.745096230] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051304.746003081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051304.746701323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051304.748565994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051304.749593731] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051304.835479518] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051304.837358711] [sailbot.teensy]: Wind angle: 205 +[teensy-2] [INFO] [1746051304.838321536] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051304.838063474] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051304.838590493] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051304.839230852] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051304.840146626] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051304.844342929] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051304.845090653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051304.845468699] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051304.848367425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051304.849434904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051304.944558802] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051304.945208173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051304.945622365] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051304.947233132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051304.948695240] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051304.956933986] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051304.957964847] [sailbot.main_algo]: Target Bearing: -142.51673058084944 +[main_algo-3] [INFO] [1746051304.958837627] [sailbot.main_algo]: Heading Difference: -165.83926941915058 +[main_algo-3] [INFO] [1746051304.959649953] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051304.960514243] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051304.961340031] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051304.962478832] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051304.963941013] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051305.001759493] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904008 Long: -76.50276776 +[main_algo-3] [INFO] [1746051305.002382183] [sailbot.main_algo]: Distance to destination: 56.70879348954347 +[vectornav-1] [INFO] [1746051305.002441100] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.990999999999985, 0.8, 5.084) +[main_algo-3] [INFO] [1746051305.003127972] [sailbot.main_algo]: Target Bearing: -142.51740376808397 +[main_algo-3] [INFO] [1746051305.003792330] [sailbot.main_algo]: Heading Difference: -165.83859623191603 +[main_algo-3] [INFO] [1746051305.004420922] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051305.004967719] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051305.005546349] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051305.007002211] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051305.044931764] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051305.045677035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051305.046262110] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051305.047518064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051305.048531076] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051305.085244760] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051305.086959757] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746051305.087945631] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051305.088045975] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051305.088916671] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051305.089253435] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051305.089859446] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051305.144945941] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051305.145663215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051305.146217844] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051305.147651465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051305.148657460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051305.244961288] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051305.245848137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051305.246324918] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051305.247620095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051305.248145277] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051305.335181205] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051305.337296028] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051305.338251738] [sailbot.teensy]: Wind angle: 190 +[mux-7] [INFO] [1746051305.338607184] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051305.339247729] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051305.340170244] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051305.341086141] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051305.344442884] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051305.344870199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051305.345664182] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051305.346543037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051305.347600696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051305.445081859] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051305.445994167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051305.446428031] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051305.447944610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051305.448446864] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051305.457089392] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051305.458156680] [sailbot.main_algo]: Target Bearing: -142.51740376808397 +[main_algo-3] [INFO] [1746051305.459055529] [sailbot.main_algo]: Heading Difference: -167.49159623191605 +[main_algo-3] [INFO] [1746051305.459937464] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051305.460779589] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051305.461588552] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051305.462555964] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051305.463109993] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051305.502686280] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690399 Long: -76.50276778 +[main_algo-3] [INFO] [1746051305.503665270] [sailbot.main_algo]: Distance to destination: 56.69506465429187 +[vectornav-1] [INFO] [1746051305.503775188] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.942999999999984, -1.624, 5.853) +[main_algo-3] [INFO] [1746051305.504785993] [sailbot.main_algo]: Target Bearing: -142.53218042956328 +[main_algo-3] [INFO] [1746051305.505720383] [sailbot.main_algo]: Heading Difference: -167.47681957043676 +[main_algo-3] [INFO] [1746051305.506606959] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051305.507472292] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051305.508336050] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051305.509973668] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051305.545014848] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051305.545731953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051305.546378506] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051305.547902794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051305.549082144] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051305.585158578] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051305.586705131] [sailbot.teensy]: Wind angle: 188 +[trim_sail-4] [INFO] [1746051305.587127886] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051305.587562621] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051305.588437224] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051305.589120848] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051305.589316757] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051305.645146746] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051305.645942180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051305.646622435] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051305.648056876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051305.648739415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051305.745045621] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051305.745727260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051305.746418636] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051305.747634734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051305.748514968] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051305.834800826] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051305.836048143] [sailbot.teensy]: Wind angle: 188 +[trim_sail-4] [INFO] [1746051305.836978033] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051305.837504065] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051305.837701075] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051305.838496820] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051305.839352936] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051305.844724373] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051305.845810320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051305.845981000] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051305.848067145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051305.849186026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051305.944946920] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051305.945596000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051305.946184003] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051305.947508214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051305.948557003] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051305.957254164] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051305.958268191] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746051305.959257368] [sailbot.main_algo]: Target Bearing: -142.53218042956328 +[main_algo-3] [INFO] [1746051305.960125397] [sailbot.main_algo]: Heading Difference: -168.52481957043676 +[main_algo-3] [INFO] [1746051305.960992707] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051305.961811547] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051305.962605066] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051305.963618202] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051305.964137514] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051306.001937933] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903979 Long: -76.50276765 +[vectornav-1] [INFO] [1746051306.002727060] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.012, 0.792, 3.923) +[main_algo-3] [INFO] [1746051306.002609610] [sailbot.main_algo]: Distance to destination: 56.695832164242056 +[main_algo-3] [INFO] [1746051306.003601857] [sailbot.main_algo]: Target Bearing: -142.54856646629256 +[main_algo-3] [INFO] [1746051306.004507540] [sailbot.main_algo]: Heading Difference: -168.5084335337075 +[main_algo-3] [INFO] [1746051306.005409361] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051306.006289945] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051306.007124353] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051306.008732696] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051306.044834330] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051306.045597672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051306.046091021] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051306.047526766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051306.048652838] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051306.085325665] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051306.087088555] [sailbot.teensy]: Wind angle: 186 +[teensy-2] [INFO] [1746051306.087999030] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051306.087477106] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051306.088907579] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051306.088908157] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051306.089776140] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051306.144986990] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051306.145547695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051306.146263519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051306.147361313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051306.148551424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051306.245180226] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051306.245880771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051306.246544671] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051306.247774758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051306.248832943] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051306.335055593] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051306.337003385] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051306.337035290] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051306.337921449] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051306.338386216] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051306.338742140] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051306.339540582] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051306.344392199] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051306.345150633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051306.345398497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051306.346746901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051306.347685188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051306.445042322] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051306.445864780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051306.446425873] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051306.447806056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051306.448855910] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051306.457003717] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051306.457918276] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746051306.458729785] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051306.459848436] [sailbot.main_algo]: Current Location: (42.46903979214749, -76.50276765005444) +[main_algo-3] [INFO] [1746051306.460755285] [sailbot.main_algo]: Target Bearing: -142.54856646629256 +[main_algo-3] [INFO] [1746051306.461596988] [sailbot.main_algo]: Heading Difference: -168.43943353370742 +[main_algo-3] [INFO] [1746051306.462414974] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051306.463213534] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051306.463995821] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051306.465028749] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051306.465525416] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051306.503836239] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903988 Long: -76.50276787 +[main_algo-3] [INFO] [1746051306.503832154] [sailbot.main_algo]: Distance to destination: 56.687889849428785 +[main_algo-3] [INFO] [1746051306.504965863] [sailbot.main_algo]: Target Bearing: -142.52928358264123 +[vectornav-1] [INFO] [1746051306.505099928] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.79899999999998, -1.524, 4.532) +[main_algo-3] [INFO] [1746051306.505964405] [sailbot.main_algo]: Heading Difference: -168.4587164173588 +[main_algo-3] [INFO] [1746051306.507069045] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051306.508209378] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051306.509102543] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051306.510775480] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051306.544912411] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051306.545633562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051306.546158730] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051306.547514488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051306.548587263] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051306.585458700] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051306.587307107] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051306.588268797] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051306.587772315] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051306.588368625] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051306.589221573] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051306.590178087] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051306.645218613] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051306.646570046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051306.646758607] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051306.648383615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051306.648917534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051306.744992294] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051306.745686388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051306.746230108] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051306.747628163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051306.748829709] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051306.835430753] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051306.837761936] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051306.838486084] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051306.838847212] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051306.839829159] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051306.840703736] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051306.841349390] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051306.844303947] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051306.844897390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051306.845581020] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051306.846845812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051306.847976230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051306.944857391] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051306.945551656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051306.946163137] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051306.947339990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051306.948530384] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051306.957168931] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051306.958266047] [sailbot.main_algo]: Target Bearing: -142.52928358264123 +[main_algo-3] [INFO] [1746051306.959187173] [sailbot.main_algo]: Heading Difference: -167.67171641735877 +[main_algo-3] [INFO] [1746051306.960019321] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051306.960829903] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051306.961618973] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051306.962598517] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051306.963349279] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051307.002661330] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903989 Long: -76.50276773 +[main_algo-3] [INFO] [1746051307.003836494] [sailbot.main_algo]: Distance to destination: 56.69759182565782 +[vectornav-1] [INFO] [1746051307.003912464] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.91500000000002, 0.819, 5.27) +[main_algo-3] [INFO] [1746051307.004946731] [sailbot.main_algo]: Target Bearing: -142.53564420346555 +[main_algo-3] [INFO] [1746051307.005993019] [sailbot.main_algo]: Heading Difference: -167.66535579653447 +[main_algo-3] [INFO] [1746051307.006839131] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051307.007661925] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051307.008462499] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051307.010043511] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051307.044036241] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051307.044415624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051307.044779545] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051307.046005656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051307.047047427] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051307.084456970] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051307.085444514] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051307.086029950] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051307.086588524] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051307.085798031] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051307.086368463] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051307.087148488] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051307.144898201] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051307.145531886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051307.146156824] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051307.147345140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051307.148390374] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051307.244923929] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051307.245547135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051307.246202399] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051307.247478894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051307.248548130] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051307.334393140] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051307.335504278] [sailbot.teensy]: Wind angle: 184 +[teensy-2] [INFO] [1746051307.336321743] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051307.336975260] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051307.337588595] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051307.337126801] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051307.337283220] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051307.343614369] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051307.343966519] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051307.344775122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051307.344248368] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051307.346054531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051307.445092812] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051307.446336410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051307.446625945] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051307.448449103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051307.449462929] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051307.457175135] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051307.458164856] [sailbot.main_algo]: Target Bearing: -142.53564420346555 +[main_algo-3] [INFO] [1746051307.459148675] [sailbot.main_algo]: Heading Difference: -168.54935579653443 +[main_algo-3] [INFO] [1746051307.460077500] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051307.460938743] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051307.461725927] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051307.462726242] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051307.463261723] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051307.503558338] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903973 Long: -76.50276769 +[main_algo-3] [INFO] [1746051307.503848364] [sailbot.main_algo]: Distance to destination: 56.68911206853485 +[main_algo-3] [INFO] [1746051307.504897395] [sailbot.main_algo]: Target Bearing: -142.55177192475475 +[vectornav-1] [INFO] [1746051307.504897469] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.048, -1.047, 4.591) +[main_algo-3] [INFO] [1746051307.505903444] [sailbot.main_algo]: Heading Difference: -168.53322807524523 +[main_algo-3] [INFO] [1746051307.506835763] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051307.507934925] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051307.508819814] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051307.510546434] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051307.544545995] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051307.545153663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051307.545893079] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051307.546846595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051307.547890704] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051307.585302384] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051307.587142300] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051307.587396529] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051307.588144464] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051307.588688626] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051307.589270492] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051307.590141250] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051307.644082832] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051307.644600775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051307.644959308] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051307.645999521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051307.647784751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051307.744708192] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051307.745459830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051307.745862916] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051307.747139828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051307.748265042] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051307.835457059] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051307.837856118] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051307.838501433] [sailbot.teensy]: Wind angle: 185 +[mux-7] [INFO] [1746051307.838771889] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051307.839518658] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051307.839963875] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051307.840333329] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051307.844483239] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051307.844943829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051307.845698094] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051307.846626786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051307.847699124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051307.945400405] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051307.946196592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051307.947034993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051307.948368991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051307.949387010] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051307.957210423] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051307.958277178] [sailbot.main_algo]: Target Bearing: -142.55177192475475 +[main_algo-3] [INFO] [1746051307.959179299] [sailbot.main_algo]: Heading Difference: -169.40022807524525 +[main_algo-3] [INFO] [1746051307.960052172] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051307.960930132] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051307.961790016] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051307.962894133] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051307.963607712] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051308.003108162] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903984 Long: -76.5027676 +[main_algo-3] [INFO] [1746051308.004183265] [sailbot.main_algo]: Distance to destination: 56.70250530840149 +[vectornav-1] [INFO] [1746051308.005097685] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.84500000000003, -0.558, 4.724) +[main_algo-3] [INFO] [1746051308.005291163] [sailbot.main_algo]: Target Bearing: -142.54675724477787 +[main_algo-3] [INFO] [1746051308.006344480] [sailbot.main_algo]: Heading Difference: -169.40524275522216 +[main_algo-3] [INFO] [1746051308.007322513] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051308.008293710] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051308.009179741] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051308.010854469] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051308.045074908] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051308.045841222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051308.046422427] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051308.047763632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051308.048891401] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051308.085358785] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051308.087029756] [sailbot.teensy]: Wind angle: 184 +[trim_sail-4] [INFO] [1746051308.087489461] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051308.087929630] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051308.088780058] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051308.089421619] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051308.089604990] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051308.144860334] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051308.145507922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051308.146117972] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051308.147494220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051308.148539454] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051308.245055883] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051308.245837999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051308.246432810] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051308.247755591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051308.248937678] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051308.335124838] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051308.337160772] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051308.337526638] [sailbot.teensy]: Wind angle: 185 +[mux-7] [INFO] [1746051308.338003154] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051308.338403669] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051308.339308986] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051308.340194591] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051308.344359920] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051308.344879891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051308.345426513] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051308.346541692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051308.347569147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051308.445014160] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051308.445868182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051308.446392812] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051308.447742775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051308.448355391] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051308.457157513] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051308.458253533] [sailbot.main_algo]: Target Bearing: -142.54675724477787 +[main_algo-3] [INFO] [1746051308.459176587] [sailbot.main_algo]: Heading Difference: -169.60824275522214 +[main_algo-3] [INFO] [1746051308.460009782] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051308.460860412] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051308.461660796] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051308.462686908] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051308.463407812] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051308.502743584] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903977 Long: -76.50276768 +[main_algo-3] [INFO] [1746051308.503658478] [sailbot.main_algo]: Distance to destination: 56.692519138142366 +[vectornav-1] [INFO] [1746051308.503881906] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.521000000000015, 0.551, 5.472) +[main_algo-3] [INFO] [1746051308.504789633] [sailbot.main_algo]: Target Bearing: -142.54877337557312 +[main_algo-3] [INFO] [1746051308.505781940] [sailbot.main_algo]: Heading Difference: -169.60622662442688 +[main_algo-3] [INFO] [1746051308.506742657] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051308.507664317] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051308.508610212] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051308.510306190] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051308.545043128] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051308.545841920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051308.546537694] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051308.547821247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051308.548899469] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051308.585298098] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051308.587163997] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051308.587399139] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051308.588116431] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051308.588659464] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051308.589116239] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051308.590034534] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051308.644969858] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051308.645732500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051308.646494751] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051308.647875861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051308.648963722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051308.745042632] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051308.745739899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051308.746436990] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051308.747716902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051308.748869876] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051308.835720450] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051308.838267334] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051308.839369914] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051308.839795393] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051308.839901073] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051308.840216727] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051308.840561939] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051308.844577122] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051308.845100345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051308.845774336] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051308.846810263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051308.847973592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051308.945026534] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051308.945894191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051308.946443458] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051308.947787209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051308.948583709] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051308.957270264] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051308.958337826] [sailbot.main_algo]: Target Bearing: -142.54877337557312 +[main_algo-3] [INFO] [1746051308.959232771] [sailbot.main_algo]: Heading Difference: -169.93022662442684 +[main_algo-3] [INFO] [1746051308.960079868] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051308.960968233] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051308.961816277] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051308.962894455] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051308.963681205] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051309.002822400] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903993 Long: -76.50276751 +[vectornav-1] [INFO] [1746051309.003995535] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.82400000000001, -0.699, 4.44) +[main_algo-3] [INFO] [1746051309.004067581] [sailbot.main_algo]: Distance to destination: 56.71451711344499 +[main_algo-3] [INFO] [1746051309.005270648] [sailbot.main_algo]: Target Bearing: -142.54350171545124 +[main_algo-3] [INFO] [1746051309.006263279] [sailbot.main_algo]: Heading Difference: -169.93549828454877 +[main_algo-3] [INFO] [1746051309.007176537] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051309.008088739] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051309.009017054] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051309.010698318] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051309.045093740] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051309.045875742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051309.046801694] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051309.048092942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051309.049116856] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051309.085317013] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051309.087025030] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051309.087519361] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051309.087958448] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051309.088962756] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051309.089091509] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051309.089897982] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051309.145199399] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051309.145988358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051309.146699324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051309.147950411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051309.148373900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051309.244884559] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051309.245561988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051309.246175456] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051309.247452417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051309.248570455] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051309.335379041] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051309.337171599] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051309.337589484] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051309.338091412] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051309.339039459] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051309.339381988] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051309.339933300] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051309.344525398] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051309.345273136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051309.345664590] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051309.347099885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051309.348145889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051309.445428637] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051309.446512401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051309.447014795] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051309.448103393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051309.448603301] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051309.457067849] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051309.458058229] [sailbot.main_algo]: Target Bearing: -142.54350171545124 +[main_algo-3] [INFO] [1746051309.458943627] [sailbot.main_algo]: Heading Difference: -169.63249828454877 +[main_algo-3] [INFO] [1746051309.459802683] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051309.460665043] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051309.461467609] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051309.462467022] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051309.463226685] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051309.503916686] [sailbot.main_algo]: Distance to destination: 56.70355783906154 +[vectornav-1] [INFO] [1746051309.503920350] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903979 Long: -76.50276753 +[main_algo-3] [INFO] [1746051309.505094968] [sailbot.main_algo]: Target Bearing: -142.55476815078438 +[vectornav-1] [INFO] [1746051309.505403181] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.42500000000001, -0.468, 4.86) +[main_algo-3] [INFO] [1746051309.506136681] [sailbot.main_algo]: Heading Difference: -169.62123184921563 +[main_algo-3] [INFO] [1746051309.507079634] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051309.507993119] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051309.508870968] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051309.510590573] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051309.545295776] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051309.545503240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051309.546666399] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051309.547392250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051309.548478574] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051309.585267120] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051309.587116984] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051309.587501069] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051309.588179065] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051309.589130232] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051309.589585596] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051309.590038932] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051309.645008739] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051309.645871081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051309.646419893] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051309.647856948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051309.648922123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051309.745158091] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051309.745929332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051309.746959883] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051309.747728361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051309.748269293] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051309.835247170] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051309.837426293] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051309.838644617] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051309.838867096] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051309.839845387] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051309.840740045] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051309.841633553] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051309.844267464] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051309.844880080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051309.845343218] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051309.846578542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051309.847711067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051309.945084776] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051309.945741019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051309.946522321] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051309.947900100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051309.948494355] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051309.957170655] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051309.958232159] [sailbot.main_algo]: Target Bearing: -142.55476815078438 +[main_algo-3] [INFO] [1746051309.959135357] [sailbot.main_algo]: Heading Difference: -170.02023184921563 +[main_algo-3] [INFO] [1746051309.959974475] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051309.960801846] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051309.961602555] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051309.962593349] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051309.963268851] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051310.002838378] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903999 Long: -76.50276739 +[main_algo-3] [INFO] [1746051310.003747496] [sailbot.main_algo]: Distance to destination: 56.726387449584685 +[vectornav-1] [INFO] [1746051310.004000326] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.76299999999998, -0.812, 5.139) +[main_algo-3] [INFO] [1746051310.004973217] [sailbot.main_algo]: Target Bearing: -142.5444322157535 +[main_algo-3] [INFO] [1746051310.006036124] [sailbot.main_algo]: Heading Difference: -170.0305677842465 +[main_algo-3] [INFO] [1746051310.006953203] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051310.007847303] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051310.008736828] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051310.010560973] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051310.045271507] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051310.047302525] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051310.051038652] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051310.052411905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051310.053528051] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051310.085452440] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051310.087927404] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051310.088352961] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051310.088368702] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051310.089438593] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051310.090337395] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051310.091173168] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051310.145015733] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051310.145654247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051310.146312722] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051310.147619862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051310.148715219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051310.244815512] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051310.245264654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051310.246089155] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051310.246979838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051310.248226795] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051310.335328525] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051310.336999625] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051310.337628141] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051310.337896924] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051310.338668629] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051310.338984546] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051310.339039301] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051310.344353517] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051310.344905146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051310.345486868] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051310.346718657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051310.347716066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051310.445000855] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051310.445707307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051310.446437033] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051310.447683658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051310.448699955] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051310.457196992] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051310.458292046] [sailbot.main_algo]: Target Bearing: -142.5444322157535 +[main_algo-3] [INFO] [1746051310.459350650] [sailbot.main_algo]: Heading Difference: -169.69256778424653 +[main_algo-3] [INFO] [1746051310.460264784] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051310.461147945] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051310.462004401] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051310.463179170] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051310.463834697] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051310.502799640] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904007 Long: -76.50276714 +[main_algo-3] [INFO] [1746051310.503697041] [sailbot.main_algo]: Distance to destination: 56.74800855113252 +[vectornav-1] [INFO] [1746051310.503929758] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.89300000000003, 0.832, 4.678) +[main_algo-3] [INFO] [1746051310.504843063] [sailbot.main_algo]: Target Bearing: -142.55032019004085 +[main_algo-3] [INFO] [1746051310.505804447] [sailbot.main_algo]: Heading Difference: -169.68667980995917 +[main_algo-3] [INFO] [1746051310.506975755] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051310.508000897] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051310.509000619] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051310.510748376] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051310.545032995] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051310.545623039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051310.546338053] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051310.547401575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051310.548609907] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051310.585395576] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051310.587232039] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051310.588240844] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051310.588840760] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051310.589193670] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051310.589993454] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051310.590093069] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051310.645019362] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051310.645766102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051310.646474627] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051310.647917343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051310.649028771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051310.745302165] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051310.746070626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051310.746820255] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051310.748163253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051310.748696028] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051310.835305805] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051310.837868205] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051310.838217381] [sailbot.teensy]: Wind angle: 185 +[mux-7] [INFO] [1746051310.838337866] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051310.839190770] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051310.840057008] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051310.840917176] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051310.844313201] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051310.844828562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051310.845392233] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051310.846549032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051310.847539217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051310.945138844] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051310.946026267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051310.946531322] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051310.948056171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051310.948824277] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051310.957198445] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051310.958289432] [sailbot.main_algo]: Target Bearing: -142.55032019004085 +[main_algo-3] [INFO] [1746051310.959202625] [sailbot.main_algo]: Heading Difference: -170.55667980995912 +[main_algo-3] [INFO] [1746051310.960083729] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051310.960970074] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051310.961827151] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051310.962927770] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051310.963626367] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051311.002999247] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904017 Long: -76.50276702 +[main_algo-3] [INFO] [1746051311.004083516] [sailbot.main_algo]: Distance to destination: 56.762642323158616 +[vectornav-1] [INFO] [1746051311.004478112] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.798, -0.815, 5.192) +[main_algo-3] [INFO] [1746051311.005587249] [sailbot.main_algo]: Target Bearing: -142.54773766658832 +[main_algo-3] [INFO] [1746051311.006570465] [sailbot.main_algo]: Heading Difference: -170.55926233341165 +[main_algo-3] [INFO] [1746051311.007812555] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051311.008727543] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051311.009578598] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051311.011402979] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051311.045060762] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051311.045855256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051311.046477976] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051311.047905514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051311.048930516] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051311.085361088] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051311.087127898] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051311.087544079] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051311.088092705] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051311.089041364] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051311.089682471] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051311.089961779] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051311.145357022] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051311.145845385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051311.147176926] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051311.147808692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051311.148948003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051311.245347571] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051311.246293828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051311.246854305] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051311.248560055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051311.249648135] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051311.335116397] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051311.337193252] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051311.337195487] [sailbot.teensy]: Wind angle: 185 +[mux-7] [INFO] [1746051311.337625833] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051311.338169617] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051311.339215094] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051311.340127611] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051311.344432552] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051311.345190316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051311.345633690] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051311.346989011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051311.347995679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051311.445174339] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051311.445772054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051311.446461510] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051311.447582612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051311.448687408] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051311.456958741] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051311.457910653] [sailbot.main_algo]: Target Bearing: -142.54773766658832 +[main_algo-3] [INFO] [1746051311.458766232] [sailbot.main_algo]: Heading Difference: -169.65426233341168 +[main_algo-3] [INFO] [1746051311.459548426] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051311.460349966] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051311.461155546] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051311.462135516] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051311.462764343] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051311.502641568] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904037 Long: -76.50276698 +[main_algo-3] [INFO] [1746051311.503551280] [sailbot.main_algo]: Distance to destination: 56.77903662805306 +[vectornav-1] [INFO] [1746051311.503676534] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.476999999999975, -1.005, 4.235) +[main_algo-3] [INFO] [1746051311.504613185] [sailbot.main_algo]: Target Bearing: -142.5322528497625 +[main_algo-3] [INFO] [1746051311.505529800] [sailbot.main_algo]: Heading Difference: -169.66974715023753 +[main_algo-3] [INFO] [1746051311.506437387] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051311.507487361] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051311.508386939] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051311.510026376] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051311.545495335] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051311.546640131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051311.547125094] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051311.548904777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051311.550078154] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051311.585155725] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051311.587038348] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051311.587189394] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051311.587957739] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051311.588457761] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051311.588818417] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051311.589680434] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051311.644738250] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051311.645303817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051311.645904538] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051311.647072087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051311.648317813] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051311.744929861] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051311.745560929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051311.746475607] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051311.747426964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051311.747984880] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051311.835227041] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051311.837465566] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051311.837828527] [sailbot.teensy]: Wind angle: 185 +[mux-7] [INFO] [1746051311.838315074] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051311.838778811] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051311.839429806] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051311.839756814] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051311.844481441] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051311.844889764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051311.845649087] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051311.846589855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051311.847734173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051311.945384684] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051311.945879948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051311.947327467] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051311.947980544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051311.949182075] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051311.957095447] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051311.958208338] [sailbot.main_algo]: Target Bearing: -142.5322528497625 +[main_algo-3] [INFO] [1746051311.959146572] [sailbot.main_algo]: Heading Difference: -168.99074715023755 +[main_algo-3] [INFO] [1746051311.960004374] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051311.960902893] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051311.961741572] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051311.962815086] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051311.963345254] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051312.002944592] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904058 Long: -76.50276693 +[main_algo-3] [INFO] [1746051312.003806192] [sailbot.main_algo]: Distance to destination: 56.79676990237452 +[vectornav-1] [INFO] [1746051312.004092835] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.49799999999999, 0.772, 5.46) +[main_algo-3] [INFO] [1746051312.004977325] [sailbot.main_algo]: Target Bearing: -142.51641647715326 +[main_algo-3] [INFO] [1746051312.005974803] [sailbot.main_algo]: Heading Difference: -169.00658352284677 +[main_algo-3] [INFO] [1746051312.007013502] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051312.007929168] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051312.008828732] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051312.010652996] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051312.045295568] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051312.045757562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051312.047002051] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051312.047694152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051312.048778715] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051312.085617032] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051312.087645932] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051312.088094818] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051312.088629121] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051312.089514868] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051312.089708732] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051312.090385760] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051312.145100271] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051312.146306372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051312.146733815] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051312.148438066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051312.149479117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051312.245266734] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051312.246156014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051312.246950160] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051312.248512383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051312.249545705] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051312.335068340] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051312.337168666] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051312.337568750] [sailbot.teensy]: Wind angle: 185 +[mux-7] [INFO] [1746051312.337898911] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051312.338615852] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051312.339556257] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051312.340410247] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051312.344405291] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051312.345042638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051312.345550869] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051312.346769085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051312.347786372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051312.445026998] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051312.445696887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051312.446536486] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051312.447667720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051312.448353978] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051312.457119824] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051312.458208464] [sailbot.main_algo]: Target Bearing: -142.51641647715326 +[main_algo-3] [INFO] [1746051312.459129598] [sailbot.main_algo]: Heading Difference: -168.98558352284675 +[main_algo-3] [INFO] [1746051312.459956538] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051312.460783508] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051312.461577222] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051312.462596920] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051312.463501699] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051312.502868867] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904059 Long: -76.5027668 +[main_algo-3] [INFO] [1746051312.503984732] [sailbot.main_algo]: Distance to destination: 56.805826918479134 +[vectornav-1] [INFO] [1746051312.504128611] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.110000000000014, -0.951, 5.153) +[main_algo-3] [INFO] [1746051312.505208284] [sailbot.main_algo]: Target Bearing: -142.5222509360619 +[main_algo-3] [INFO] [1746051312.506178188] [sailbot.main_algo]: Heading Difference: -168.97974906393813 +[main_algo-3] [INFO] [1746051312.507183796] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051312.508071437] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051312.508930002] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051312.510663061] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051312.545089067] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051312.545774242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051312.546593033] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051312.547766207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051312.548795734] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051312.585332572] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051312.587191819] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051312.587488225] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051312.588174001] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051312.589096809] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051312.589532529] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051312.589957097] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051312.645106080] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051312.645831658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051312.646362179] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051312.647729929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051312.648424999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051312.745234195] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051312.746034848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051312.746736256] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051312.748307328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051312.748741581] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051312.835346191] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051312.837205085] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051312.838133144] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051312.838950375] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051312.839359239] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051312.840063031] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051312.840858078] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051312.844349316] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051312.844989483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051312.845726772] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051312.846689195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051312.847777644] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051312.945215022] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051312.946042135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051312.946634103] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051312.948171801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051312.949321381] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051312.957194809] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051312.958279290] [sailbot.main_algo]: Target Bearing: -142.5222509360619 +[main_algo-3] [INFO] [1746051312.959231344] [sailbot.main_algo]: Heading Difference: -169.36774906393805 +[main_algo-3] [INFO] [1746051312.960110237] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051312.961008909] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051312.961865788] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051312.962934773] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051312.963518765] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051313.002844584] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904079 Long: -76.5027665 +[main_algo-3] [INFO] [1746051313.003950391] [sailbot.main_algo]: Distance to destination: 56.83895814419559 +[vectornav-1] [INFO] [1746051313.004009831] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.84899999999999, -0.446, 5.064) +[main_algo-3] [INFO] [1746051313.005106173] [sailbot.main_algo]: Target Bearing: -142.52020251431378 +[main_algo-3] [INFO] [1746051313.006384219] [sailbot.main_algo]: Heading Difference: -169.3697974856862 +[main_algo-3] [INFO] [1746051313.007373785] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051313.008310944] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051313.009176997] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051313.010804873] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051313.043943854] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051313.044528219] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051313.044394923] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051313.045653120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051313.046184889] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051313.084500244] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051313.086245811] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051313.086548504] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051313.087432139] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051313.087458601] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051313.088324841] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051313.089152176] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051313.144717254] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051313.146254348] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051313.146640735] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051313.149029006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051313.150422496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051313.244972638] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051313.245631885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051313.246271133] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051313.247425687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051313.248528354] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051313.335383118] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051313.337794961] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051313.338447470] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051313.339044418] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051313.339481495] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051313.340105747] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051313.340973616] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051313.344367844] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051313.344820334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051313.345480011] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051313.346494190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051313.347474994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051313.445191090] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051313.446115823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051313.446821611] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051313.448483596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051313.449500704] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051313.457093852] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051313.458094344] [sailbot.main_algo]: Target Bearing: -142.52020251431378 +[main_algo-3] [INFO] [1746051313.459005202] [sailbot.main_algo]: Heading Difference: -169.63079748568623 +[main_algo-3] [INFO] [1746051313.459923084] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051313.460776510] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051313.461646510] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051313.462717794] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051313.463459765] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051313.503089735] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904094 Long: -76.50276638 +[main_algo-3] [INFO] [1746051313.503609316] [sailbot.main_algo]: Distance to destination: 56.85704999294087 +[vectornav-1] [INFO] [1746051313.504279541] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.44200000000001, 0.438, 4.395) +[main_algo-3] [INFO] [1746051313.505102673] [sailbot.main_algo]: Target Bearing: -142.5132523874538 +[main_algo-3] [INFO] [1746051313.506589766] [sailbot.main_algo]: Heading Difference: -169.6377476125462 +[main_algo-3] [INFO] [1746051313.507647077] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051313.508577338] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051313.509425905] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051313.511127632] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051313.545092486] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051313.545596008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051313.546349676] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051313.547420689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051313.548484763] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051313.585520078] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051313.587323420] [sailbot.teensy]: Wind angle: 184 +[trim_sail-4] [INFO] [1746051313.587791464] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051313.588302924] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051313.589214328] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051313.588623153] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051313.590111664] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051313.644765579] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051313.645447100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051313.645962429] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051313.647297267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051313.648389062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051313.744960922] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051313.745647065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051313.746369785] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051313.747512853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051313.748678538] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051313.835290077] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051313.837027514] [sailbot.teensy]: Wind angle: 184 +[trim_sail-4] [INFO] [1746051313.837520353] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051313.839235011] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051313.840019397] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051313.840241519] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051313.841110729] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051313.844458592] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051313.844877334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051313.845560376] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051313.846517197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051313.847640780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051313.945084430] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051313.945761156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051313.946493510] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051313.947846801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051313.948414944] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051313.957166847] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051313.958242591] [sailbot.main_algo]: Target Bearing: -142.5132523874538 +[main_algo-3] [INFO] [1746051313.959171011] [sailbot.main_algo]: Heading Difference: -170.0447476125462 +[main_algo-3] [INFO] [1746051313.960050548] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051313.960929322] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051313.961777188] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051313.962778646] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051313.963453294] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051314.003191842] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904112 Long: -76.5027665 +[vectornav-1] [INFO] [1746051314.004613469] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.59000000000003, -1.156, 4.868) +[main_algo-3] [INFO] [1746051314.004725102] [sailbot.main_algo]: Distance to destination: 56.86177746205396 +[main_algo-3] [INFO] [1746051314.006053800] [sailbot.main_algo]: Target Bearing: -142.49129929115045 +[main_algo-3] [INFO] [1746051314.007060452] [sailbot.main_algo]: Heading Difference: -170.06670070884957 +[main_algo-3] [INFO] [1746051314.008148391] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051314.009077803] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051314.009950677] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051314.011640792] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051314.044850461] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051314.045554786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051314.046332471] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051314.047436552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051314.048674654] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051314.085319034] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051314.087129386] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051314.087934317] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051314.088079968] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051314.089050630] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051314.089664822] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051314.089950994] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051314.145058173] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051314.146033366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051314.146894086] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051314.148177123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051314.149348824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051314.244388442] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051314.245048540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051314.245672399] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051314.246820735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051314.247804851] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051314.335165027] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051314.337130621] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051314.337227235] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051314.338070973] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051314.338775897] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051314.339094203] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051314.339686109] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051314.344421569] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051314.344938265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051314.345553467] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051314.346565801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051314.347763699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051314.445212563] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051314.446153935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051314.446755691] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051314.448415974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051314.449415275] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051314.457075944] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051314.458097729] [sailbot.main_algo]: Target Bearing: -142.49129929115045 +[main_algo-3] [INFO] [1746051314.459015887] [sailbot.main_algo]: Heading Difference: -169.91870070884954 +[main_algo-3] [INFO] [1746051314.459902443] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051314.460815040] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051314.461610397] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051314.462636141] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051314.463214165] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051314.503054539] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904126 Long: -76.50276636 +[main_algo-3] [INFO] [1746051314.504311758] [sailbot.main_algo]: Distance to destination: 56.88046741013036 +[vectornav-1] [INFO] [1746051314.504567798] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.86099999999999, 0.574, 4.746) +[main_algo-3] [INFO] [1746051314.505729832] [sailbot.main_algo]: Target Bearing: -142.48626813084775 +[main_algo-3] [INFO] [1746051314.507053678] [sailbot.main_algo]: Heading Difference: -169.92373186915222 +[main_algo-3] [INFO] [1746051314.508015431] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051314.509058107] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051314.509948428] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051314.511642248] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051314.543991452] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051314.544458553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051314.544978053] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051314.545908979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051314.546817959] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051314.584679848] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051314.586505059] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051314.588367242] [sailbot.teensy]: Wind angle: 185 +[mux-7] [INFO] [1746051314.588389636] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051314.589235277] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051314.590049328] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051314.590814479] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051314.645037952] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051314.645913436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051314.646451699] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051314.647870522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051314.649003653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051314.745084685] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051314.745900915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051314.746516589] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051314.747496247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051314.747990815] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051314.835342709] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051314.837164276] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051314.837736239] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051314.838162287] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051314.839076828] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051314.839175415] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051314.840041580] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051314.844485928] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051314.845005924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051314.845626406] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051314.846893713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051314.847988187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051314.945200675] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051314.945946704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051314.946599774] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051314.948000501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051314.949040155] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051314.957200559] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051314.958506246] [sailbot.main_algo]: Target Bearing: -142.48626813084775 +[main_algo-3] [INFO] [1746051314.959528571] [sailbot.main_algo]: Heading Difference: -170.65273186915226 +[main_algo-3] [INFO] [1746051314.960434758] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051314.961323700] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051314.962169003] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051314.963212861] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051314.963811977] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051315.002584414] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904137 Long: -76.50276623 +[main_algo-3] [INFO] [1746051315.003440121] [sailbot.main_algo]: Distance to destination: 56.89643905780733 +[vectornav-1] [INFO] [1746051315.003642954] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.375999999999976, -1.153, 4.894) +[main_algo-3] [INFO] [1746051315.004536608] [sailbot.main_algo]: Target Bearing: -142.48334900300458 +[main_algo-3] [INFO] [1746051315.005517916] [sailbot.main_algo]: Heading Difference: -170.6556509969954 +[main_algo-3] [INFO] [1746051315.006436465] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051315.007351437] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051315.008274936] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051315.009977585] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051315.044699115] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051315.045278589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051315.045886863] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051315.047046942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051315.048407095] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051315.084986034] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051315.086349468] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051315.087106979] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051315.086872044] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051315.087326777] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051315.087833760] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051315.088603251] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051315.144932665] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051315.145572718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051315.146237614] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051315.147594331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051315.148686111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051315.245120476] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051315.245997227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051315.246758465] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051315.248237380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051315.248661049] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051315.335172385] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051315.337322832] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051315.337742957] [sailbot.teensy]: Wind angle: 185 +[mux-7] [INFO] [1746051315.338210030] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051315.338844202] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051315.339778044] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051315.340325949] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051315.344363641] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051315.344943998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051315.345492181] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051315.346652603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051315.347680503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051315.444952912] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051315.445839591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051315.446226058] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051315.447583753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051315.448007495] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051315.457128425] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051315.458161104] [sailbot.main_algo]: Target Bearing: -142.48334900300458 +[main_algo-3] [INFO] [1746051315.459102859] [sailbot.main_algo]: Heading Difference: -171.14065099699542 +[main_algo-3] [INFO] [1746051315.459933421] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051315.460801073] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051315.461591237] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051315.462630572] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051315.463186371] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051315.503693887] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904154 Long: -76.50276606 +[main_algo-3] [INFO] [1746051315.504199646] [sailbot.main_algo]: Distance to destination: 56.91913489365477 +[vectornav-1] [INFO] [1746051315.504966832] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.365999999999985, -0.526, 3.879) +[main_algo-3] [INFO] [1746051315.505387192] [sailbot.main_algo]: Target Bearing: -142.47724705687904 +[main_algo-3] [INFO] [1746051315.506447429] [sailbot.main_algo]: Heading Difference: -171.146752943121 +[main_algo-3] [INFO] [1746051315.507416087] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051315.508348013] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051315.509255558] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051315.510953678] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051315.545096744] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051315.545877145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051315.546642581] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051315.547870736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051315.549062526] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051315.585419662] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051315.587230864] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051315.588179637] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051315.588181479] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051315.589098719] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051315.589364947] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051315.589958624] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051315.644951533] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051315.645911617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051315.646258644] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051315.647769055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051315.648849299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051315.745470611] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051315.746180239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051315.747139844] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051315.748163470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051315.748708085] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051315.835366790] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051315.837674816] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051315.837965474] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051315.839145653] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051315.839752539] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051315.840199013] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051315.841160994] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051315.844549104] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051315.845126606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051315.845833172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051315.847143870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051315.848484592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051315.943692366] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051315.944304203] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051315.945009019] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051315.945798820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051315.946322925] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051315.956336407] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051315.956813152] [sailbot.main_algo]: Target Bearing: -142.47724705687904 +[main_algo-3] [INFO] [1746051315.957223975] [sailbot.main_algo]: Heading Difference: -171.15675294312098 +[main_algo-3] [INFO] [1746051315.957630934] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051315.958026543] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051315.958427941] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051315.958919473] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051315.960213276] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051316.001403854] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904167 Long: -76.50276602 +[vectornav-1] [INFO] [1746051316.001861332] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.83800000000002, 0.802, 6.183) +[main_algo-3] [INFO] [1746051316.001870575] [sailbot.main_algo]: Distance to destination: 56.93070325726042 +[main_algo-3] [INFO] [1746051316.002341909] [sailbot.main_algo]: Target Bearing: -142.46794371203717 +[main_algo-3] [INFO] [1746051316.002798236] [sailbot.main_algo]: Heading Difference: -171.16605628796287 +[main_algo-3] [INFO] [1746051316.003183679] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051316.003563477] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051316.003955057] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051316.004858085] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051316.043707433] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051316.044211336] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051316.044040245] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051316.044823729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051316.045405810] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051316.084449368] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051316.085243102] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051316.085583450] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051316.085663258] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051316.086067753] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051316.086519673] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051316.087129190] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051316.144877096] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051316.145990837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051316.146211210] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051316.147918854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051316.149112376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051316.244807453] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051316.245574581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051316.246161902] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051316.247415314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051316.249312938] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051316.334467624] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051316.335595714] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051316.336009604] [sailbot.teensy]: Wind angle: 185 +[mux-7] [INFO] [1746051316.336259041] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051316.336443438] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051316.336885458] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051316.337282204] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051316.344222235] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051316.345602798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051316.346242553] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051316.347233993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051316.348214374] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051316.444995200] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051316.445495459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051316.446176766] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051316.447301364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051316.448254612] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051316.457067193] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051316.458106409] [sailbot.main_algo]: Target Bearing: -142.46794371203717 +[main_algo-3] [INFO] [1746051316.459267731] [sailbot.main_algo]: Heading Difference: -171.69405628796278 +[main_algo-3] [INFO] [1746051316.460120273] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051316.460987723] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051316.461778669] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051316.462784463] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051316.463504202] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051316.502657135] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904159 Long: -76.50276592 +[main_algo-3] [INFO] [1746051316.503556399] [sailbot.main_algo]: Distance to destination: 56.93159857623872 +[vectornav-1] [INFO] [1746051316.503723613] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.709, -1.236, 4.807) +[main_algo-3] [INFO] [1746051316.504750393] [sailbot.main_algo]: Target Bearing: -142.4800933620634 +[main_algo-3] [INFO] [1746051316.505708726] [sailbot.main_algo]: Heading Difference: -171.68190663793655 +[main_algo-3] [INFO] [1746051316.506636979] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051316.507669267] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051316.508609222] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051316.510249961] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051316.545169451] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051316.545860122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051316.546584272] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051316.548129609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051316.549278932] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051316.585405120] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051316.587553134] [sailbot.teensy]: Wind angle: 184 +[trim_sail-4] [INFO] [1746051316.587857405] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051316.588512682] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051316.588920324] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051316.589414276] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051316.590262336] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051316.644936475] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051316.645636288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051316.646247490] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051316.647517152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051316.648698901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051316.744910052] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051316.745622080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051316.746383127] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051316.747518309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051316.748589261] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051316.835361867] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051316.837956539] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051316.838085317] [sailbot.teensy]: Wind angle: 185 +[mux-7] [INFO] [1746051316.838373896] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051316.839935713] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051316.840904199] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051316.841932637] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051316.844280758] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051316.844715312] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051316.845699048] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051316.846357399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051316.847682797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051316.945204191] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051316.946163536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051316.946724542] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051316.947739024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051316.948272717] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051316.957262035] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051316.958387384] [sailbot.main_algo]: Target Bearing: -142.4800933620634 +[main_algo-3] [INFO] [1746051316.959415065] [sailbot.main_algo]: Heading Difference: -171.81090663793657 +[main_algo-3] [INFO] [1746051316.960339398] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051316.961238296] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051316.962110160] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051316.963211043] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051316.964041807] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051317.002880747] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904162 Long: -76.50276573 +[main_algo-3] [INFO] [1746051317.003965332] [sailbot.main_algo]: Distance to destination: 56.94589484206658 +[vectornav-1] [INFO] [1746051317.004445845] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.14699999999999, -0.137, 4.698) +[main_algo-3] [INFO] [1746051317.005216111] [sailbot.main_algo]: Target Bearing: -142.48726338473193 +[main_algo-3] [INFO] [1746051317.006351538] [sailbot.main_algo]: Heading Difference: -171.80373661526806 +[main_algo-3] [INFO] [1746051317.007390935] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051317.008340352] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051317.009267914] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051317.010997325] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051317.045583991] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051317.045635227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051317.046972767] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051317.047540875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051317.048623285] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051317.085225523] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051317.087362365] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051317.087868204] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051317.088480484] [sailbot.teensy]: Wind angle: 184 +[teensy-2] [INFO] [1746051317.089430114] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051317.090256944] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051317.091281036] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051317.143702742] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051317.144235614] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051317.144624480] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051317.145204944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051317.145884969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051317.243725046] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051317.244051641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051317.244291715] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051317.245146872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051317.245747025] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051317.334930962] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051317.336929850] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051317.337295191] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051317.338409244] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051317.339393425] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051317.340335954] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051317.342823376] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051317.344511519] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051317.345407848] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051317.347303001] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051317.349559342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051317.350790770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051317.444939013] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051317.445595960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051317.446256139] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051317.447477528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051317.448511661] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051317.457179351] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051317.458300469] [sailbot.main_algo]: Target Bearing: -142.48726338473193 +[main_algo-3] [INFO] [1746051317.459274644] [sailbot.main_algo]: Heading Difference: -171.36573661526808 +[main_algo-3] [INFO] [1746051317.460141211] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051317.461003436] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051317.461822284] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051317.462924822] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051317.463365758] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051317.502688787] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904185 Long: -76.50276556 +[main_algo-3] [INFO] [1746051317.503614825] [sailbot.main_algo]: Distance to destination: 56.97274170612457 +[vectornav-1] [INFO] [1746051317.503748342] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.182000000000016, -0.424, 6.136) +[main_algo-3] [INFO] [1746051317.504734066] [sailbot.main_algo]: Target Bearing: -142.47592312277027 +[main_algo-3] [INFO] [1746051317.505740053] [sailbot.main_algo]: Heading Difference: -171.37707687722974 +[main_algo-3] [INFO] [1746051317.506710385] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051317.507614563] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051317.508506925] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051317.510176890] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051317.545099167] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051317.545856514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051317.546515174] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051317.547853519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051317.548992297] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051317.585318230] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051317.587520356] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051317.587767111] [sailbot.teensy]: Wind angle: 184 +[mux-7] [INFO] [1746051317.588341450] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051317.589399491] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051317.590318442] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051317.591130934] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051317.645162885] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051317.645910479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051317.646707514] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051317.648328502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051317.648820712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051317.744993409] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051317.745869016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051317.746422150] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051317.748137975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051317.749176135] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051317.835229616] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051317.837168921] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051317.837483951] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051317.838109308] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051317.839002079] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051317.839270732] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051317.839859928] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051317.844422267] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051317.844980510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051317.845570390] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051317.846707965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051317.847832445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051317.945435427] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051317.946179941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051317.947149838] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051317.948700958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051317.949867678] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051317.957193064] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051317.958339001] [sailbot.main_algo]: Target Bearing: -142.47592312277027 +[main_algo-3] [INFO] [1746051317.959564133] [sailbot.main_algo]: Heading Difference: -171.34207687722972 +[main_algo-3] [INFO] [1746051317.960499831] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051317.961410507] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051317.962317015] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051317.963442909] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051317.964268485] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051318.002644209] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904178 Long: -76.50276559 +[main_algo-3] [INFO] [1746051318.003500660] [sailbot.main_algo]: Distance to destination: 56.96596887088377 +[vectornav-1] [INFO] [1746051318.003728267] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.331999999999994, 0.052, 3.932) +[main_algo-3] [INFO] [1746051318.004592849] [sailbot.main_algo]: Target Bearing: -142.48049339154423 +[main_algo-3] [INFO] [1746051318.005545229] [sailbot.main_algo]: Heading Difference: -171.33750660845578 +[main_algo-3] [INFO] [1746051318.006455430] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051318.007333792] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051318.008198746] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051318.009883085] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051318.044984666] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051318.045631752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051318.046245524] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051318.047561626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051318.048710707] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051318.085354530] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051318.087802078] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051318.088219026] [sailbot.teensy]: Wind angle: 184 +[mux-7] [INFO] [1746051318.089005507] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051318.089563121] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051318.090499139] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051318.091308502] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051318.145355179] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051318.145904534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051318.146983066] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051318.148062612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051318.149195892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051318.245077048] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051318.245659063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051318.246458869] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051318.248344582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051318.249427302] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051318.335133611] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051318.337235713] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051318.337699905] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051318.338115482] [sailbot.teensy]: Wind angle: 184 +[teensy-2] [INFO] [1746051318.339428066] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051318.340505061] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051318.341385220] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051318.344429102] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051318.345070506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051318.345590292] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051318.346972313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051318.348068368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051318.445280925] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051318.446056352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051318.447111899] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051318.448036999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051318.449005422] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051318.457075801] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051318.458186019] [sailbot.main_algo]: Target Bearing: -142.48049339154423 +[main_algo-3] [INFO] [1746051318.459136101] [sailbot.main_algo]: Heading Difference: -171.1875066084558 +[main_algo-3] [INFO] [1746051318.460046312] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051318.460937539] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051318.461811804] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051318.462842312] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051318.463618575] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051318.502833742] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904159 Long: -76.50276553 +[vectornav-1] [INFO] [1746051318.504263448] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.49000000000001, -1.328, 5.669) +[main_algo-3] [INFO] [1746051318.504338122] [sailbot.main_algo]: Distance to destination: 56.956685585200745 +[main_algo-3] [INFO] [1746051318.505498736] [sailbot.main_algo]: Target Bearing: -142.50018942626156 +[main_algo-3] [INFO] [1746051318.506596826] [sailbot.main_algo]: Heading Difference: -171.16781057373845 +[main_algo-3] [INFO] [1746051318.507579725] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051318.508879844] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051318.509746243] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051318.511462651] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051318.545173550] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051318.545949301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051318.546662674] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051318.548276100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051318.549370798] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051318.585329308] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051318.587101011] [sailbot.teensy]: Wind angle: 182 +[trim_sail-4] [INFO] [1746051318.587751668] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051318.588040737] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051318.588938789] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051318.589021657] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051318.589826808] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051318.645139055] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051318.645790772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051318.646727349] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051318.647834183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051318.648600765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051318.745278710] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051318.745882785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051318.746918059] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051318.747785692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051318.748303326] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051318.835279002] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051318.835964971] [sailbot.teensy]: Wind angle: 181 +[trim_sail-4] [INFO] [1746051318.836256712] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051318.836382268] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051318.836756950] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051318.836900249] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051318.837114999] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051318.844584601] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051318.845176823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051318.845683813] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051318.846877337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051318.847915883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051318.945161673] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051318.946092517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051318.946597779] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051318.948062479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051318.948605264] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051318.957112627] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051318.958246769] [sailbot.main_algo]: Target Bearing: -142.50018942626156 +[main_algo-3] [INFO] [1746051318.959264070] [sailbot.main_algo]: Heading Difference: -171.00981057373843 +[main_algo-3] [INFO] [1746051318.960123036] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051318.961032565] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051318.961891452] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051318.962891296] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051318.963440859] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051319.002841760] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904172 Long: -76.50276538 +[main_algo-3] [INFO] [1746051319.003761242] [sailbot.main_algo]: Distance to destination: 56.97532642163402 +[vectornav-1] [INFO] [1746051319.004048621] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.13799999999998, 0.646, 3.56) +[main_algo-3] [INFO] [1746051319.004950380] [sailbot.main_algo]: Target Bearing: -142.49655247958927 +[main_algo-3] [INFO] [1746051319.005926821] [sailbot.main_algo]: Heading Difference: -171.01344752041075 +[main_algo-3] [INFO] [1746051319.006804271] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051319.007704204] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051319.008591237] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051319.010349577] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051319.044717322] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051319.045465496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051319.046169470] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051319.047424052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051319.048518374] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051319.085194624] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051319.087102284] [sailbot.teensy]: Wind angle: 181 +[trim_sail-4] [INFO] [1746051319.087496614] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051319.088036620] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051319.089081487] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051319.089219280] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051319.090176840] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051319.144885707] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051319.145730141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051319.146075731] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051319.147559787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051319.148581205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051319.244198419] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051319.245118242] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051319.246132002] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051319.247904199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051319.249335851] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051319.335137938] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051319.336693281] [sailbot.teensy]: Wind angle: 181 +[teensy-2] [INFO] [1746051319.337582874] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051319.338011651] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051319.338417618] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051319.338803039] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051319.339272229] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051319.344325913] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051319.344988537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051319.345485659] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051319.346813305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051319.347874840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051319.444664700] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051319.445428402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051319.445798077] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051319.447324457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051319.448458069] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051319.457172837] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051319.458267717] [sailbot.main_algo]: Target Bearing: -142.49655247958927 +[main_algo-3] [INFO] [1746051319.459278032] [sailbot.main_algo]: Heading Difference: -171.36544752041073 +[main_algo-3] [INFO] [1746051319.460144099] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051319.460975088] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051319.461752269] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051319.462746160] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051319.463348700] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051319.502766271] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904167 Long: -76.50276568 +[main_algo-3] [INFO] [1746051319.503687649] [sailbot.main_algo]: Distance to destination: 56.952569899290204 +[vectornav-1] [INFO] [1746051319.504104824] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.33600000000001, -0.494, 5.606) +[main_algo-3] [INFO] [1746051319.505127964] [sailbot.main_algo]: Target Bearing: -142.4854692885811 +[main_algo-3] [INFO] [1746051319.506079310] [sailbot.main_algo]: Heading Difference: -171.37653071141892 +[main_algo-3] [INFO] [1746051319.506980213] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051319.508033953] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051319.508931772] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051319.510634416] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051319.544497834] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051319.545173568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051319.546264122] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051319.546962354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051319.548076493] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051319.585145838] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051319.587215507] [sailbot.teensy]: Wind angle: 181 +[trim_sail-4] [INFO] [1746051319.587783882] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051319.588469440] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051319.588505720] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051319.590144364] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051319.591039635] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051319.644967463] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051319.645817870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051319.646389622] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051319.647749386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051319.648818489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051319.744833806] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051319.745408246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051319.746350319] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051319.747313592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051319.748447372] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051319.835103576] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051319.843514284] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051319.843624526] [sailbot.teensy]: Wind angle: 181 +[mux-7] [INFO] [1746051319.844532618] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051319.845698176] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051319.846603213] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051319.847638863] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051319.849544151] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051319.852715049] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746051319.857159632] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051319.858533027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051319.859741618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051319.943671561] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051319.943949448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051319.944191652] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051319.944966011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051319.945461209] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051319.956328365] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051319.956842424] [sailbot.main_algo]: Target Bearing: -142.4854692885811 +[main_algo-3] [INFO] [1746051319.957301861] [sailbot.main_algo]: Heading Difference: -172.1785307114189 +[main_algo-3] [INFO] [1746051319.957717769] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051319.958139213] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051319.958556402] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051319.959112304] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051319.959421412] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051320.002428749] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904157 Long: -76.50276567 +[main_algo-3] [INFO] [1746051320.003339777] [sailbot.main_algo]: Distance to destination: 56.94629583662805 +[vectornav-1] [INFO] [1746051320.003467893] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.56, -0.645, 4.898) +[main_algo-3] [INFO] [1746051320.004400457] [sailbot.main_algo]: Target Bearing: -142.49472594036453 +[main_algo-3] [INFO] [1746051320.005255471] [sailbot.main_algo]: Heading Difference: -172.16927405963543 +[main_algo-3] [INFO] [1746051320.006192273] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051320.007034500] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051320.007864051] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051320.009898281] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051320.045121158] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051320.045607560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051320.046457967] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051320.047446880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051320.048548338] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051320.085396910] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051320.087643167] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051320.088088546] [sailbot.teensy]: Wind angle: 181 +[mux-7] [INFO] [1746051320.088866780] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051320.089061222] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051320.089927908] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051320.090803950] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051320.144772615] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051320.145324009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051320.146304662] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051320.147133432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051320.148257334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051320.244844670] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051320.245510006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051320.246124481] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051320.247285697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051320.248343039] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051320.335100753] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051320.337143245] [sailbot.teensy]: Wind angle: 182 +[trim_sail-4] [INFO] [1746051320.337245338] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051320.338049599] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051320.338947548] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051320.339388405] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051320.339498814] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051320.344329863] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051320.344791959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051320.345469561] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051320.346488634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051320.347513909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051320.444737603] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051320.445313714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051320.445947183] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051320.446961709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051320.448115197] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051320.457025526] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051320.458019041] [sailbot.main_algo]: Target Bearing: -142.49472594036453 +[main_algo-3] [INFO] [1746051320.458846926] [sailbot.main_algo]: Heading Difference: -172.9452740596355 +[main_algo-3] [INFO] [1746051320.459659367] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051320.460473228] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051320.461288917] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051320.462265731] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051320.462925341] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051320.502945148] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904137 Long: -76.50276561 +[main_algo-3] [INFO] [1746051320.504176412] [sailbot.main_algo]: Distance to destination: 56.93632606290893 +[vectornav-1] [INFO] [1746051320.504383105] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.432000000000016, -0.243, 5.167) +[main_algo-3] [INFO] [1746051320.505767582] [sailbot.main_algo]: Target Bearing: -142.51530573846748 +[main_algo-3] [INFO] [1746051320.506830140] [sailbot.main_algo]: Heading Difference: -172.92469426153252 +[main_algo-3] [INFO] [1746051320.507730960] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051320.508691906] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051320.509591147] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051320.511285694] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051320.545199732] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051320.545990108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051320.546756507] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051320.547975623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051320.549149820] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051320.585414009] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051320.587941759] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051320.588444878] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051320.588789033] [sailbot.teensy]: Wind angle: 181 +[teensy-2] [INFO] [1746051320.589704344] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051320.590621975] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051320.591441870] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051320.645432306] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051320.646308219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051320.646984426] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051320.648510263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051320.649682144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051320.744971483] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051320.745689139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051320.746315896] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051320.747547082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051320.748749699] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051320.835145862] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051320.837400343] [sailbot.teensy]: Wind angle: 181 +[trim_sail-4] [INFO] [1746051320.837589728] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051320.838161253] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051320.838599619] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051320.839537084] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051320.840407671] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051320.844413641] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051320.844958817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051320.845580386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051320.846734656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051320.847897826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051320.944518928] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051320.944990565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051320.945556361] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051320.946577628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051320.947506059] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051320.957048045] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051320.958068704] [sailbot.main_algo]: Target Bearing: -142.51530573846748 +[main_algo-3] [INFO] [1746051320.958935162] [sailbot.main_algo]: Heading Difference: -172.0526942615325 +[main_algo-3] [INFO] [1746051320.959786149] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051320.960629188] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051320.961415553] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051320.962459549] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051320.963139023] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051321.002760784] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904124 Long: -76.50276582 +[main_algo-3] [INFO] [1746051321.003602703] [sailbot.main_algo]: Distance to destination: 56.91382541017868 +[vectornav-1] [INFO] [1746051321.003863239] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.88299999999998, -0.334, 4.591) +[main_algo-3] [INFO] [1746051321.004781772] [sailbot.main_algo]: Target Bearing: -142.51585992056556 +[main_algo-3] [INFO] [1746051321.005676780] [sailbot.main_algo]: Heading Difference: -172.05214007943442 +[main_algo-3] [INFO] [1746051321.006585114] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051321.007650477] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051321.008535089] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051321.010391031] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051321.045101824] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051321.045848480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051321.046717508] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051321.047991349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051321.049012189] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051321.085155247] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051321.087905883] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051321.088540758] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051321.088837432] [sailbot.teensy]: Wind angle: 181 +[teensy-2] [INFO] [1746051321.089697224] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051321.090524173] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051321.091368330] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051321.144665691] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051321.145309852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051321.145923248] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051321.147100881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051321.148087331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051321.244662681] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051321.245591235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051321.245796312] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051321.247341623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051321.248383285] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051321.335406542] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051321.337716072] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051321.338151948] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051321.338527438] [sailbot.teensy]: Wind angle: 181 +[teensy-2] [INFO] [1746051321.338941933] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051321.339297502] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051321.339803080] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051321.344566886] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051321.344959645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051321.345936879] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051321.346663906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051321.348263613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051321.444914313] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051321.445788892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051321.446272849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051321.447666629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051321.448225173] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051321.457193747] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051321.458255745] [sailbot.main_algo]: Target Bearing: -142.51585992056556 +[main_algo-3] [INFO] [1746051321.459166115] [sailbot.main_algo]: Heading Difference: -171.60114007943446 +[main_algo-3] [INFO] [1746051321.460007894] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051321.460851769] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051321.461650736] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051321.462686615] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051321.463408375] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051321.503573662] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690413 Long: -76.50276603 +[main_algo-3] [INFO] [1746051321.504223966] [sailbot.main_algo]: Distance to destination: 56.90446247989003 +[vectornav-1] [INFO] [1746051321.505174882] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.278999999999996, -0.725, 5.798) +[main_algo-3] [INFO] [1746051321.505347805] [sailbot.main_algo]: Target Bearing: -142.499786649265 +[main_algo-3] [INFO] [1746051321.506349581] [sailbot.main_algo]: Heading Difference: -171.61721335073503 +[main_algo-3] [INFO] [1746051321.507264351] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051321.508186071] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051321.509049600] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051321.510757969] [sailbot.mux]: algo rudder angle: -25 +[teensy-2] [INFO] [1746051321.545963649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051321.546016410] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051321.547361876] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051321.548123147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051321.549225264] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051321.585450426] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051321.587892153] [sailbot.teensy]: Wind angle: 181 +[teensy-2] [INFO] [1746051321.588859165] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051321.588185027] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051321.588614433] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051321.589711826] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051321.590594429] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051321.645215100] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051321.645767419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051321.647159652] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051321.648492601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051321.649639906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051321.745049854] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051321.745687664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051321.746468463] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051321.747812915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051321.748851547] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051321.835175249] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051321.837523274] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051321.838184018] [sailbot.teensy]: Wind angle: 181 +[mux-7] [INFO] [1746051321.838983190] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051321.839148651] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051321.840022754] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051321.840456128] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051321.844425098] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051321.845003373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051321.846170251] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051321.848232929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051321.849484208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051321.945093577] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051321.945705024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051321.946423452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051321.947555709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051321.948644942] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051321.957214656] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051321.958186454] [sailbot.main_algo]: Target Bearing: -142.499786649265 +[main_algo-3] [INFO] [1746051321.959088200] [sailbot.main_algo]: Heading Difference: -171.221213350735 +[main_algo-3] [INFO] [1746051321.959882056] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051321.960726153] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051321.961513510] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051321.962582313] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051321.963072422] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051322.002757013] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904132 Long: -76.50276618 +[main_algo-3] [INFO] [1746051322.003575590] [sailbot.main_algo]: Distance to destination: 56.89619628511608 +[vectornav-1] [INFO] [1746051322.003767953] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.742999999999995, 0.944, 4.508) +[main_algo-3] [INFO] [1746051322.004643218] [sailbot.main_algo]: Target Bearing: -142.49030236408726 +[main_algo-3] [INFO] [1746051322.005621084] [sailbot.main_algo]: Heading Difference: -171.23069763591275 +[main_algo-3] [INFO] [1746051322.006531750] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051322.007551976] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051322.008913685] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051322.012013115] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051322.043710691] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051322.044041425] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051322.044310008] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051322.044879852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051322.045384626] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051322.085013402] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051322.086940249] [sailbot.teensy]: Wind angle: 181 +[trim_sail-4] [INFO] [1746051322.087350322] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051322.088020563] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051322.088955141] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051322.089014527] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051322.089839172] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051322.145033770] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051322.146287121] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051322.149329603] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051322.151334343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051322.152561804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051322.245029933] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051322.245662936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051322.246361192] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051322.247562186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051322.248759428] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051322.334458772] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051322.335428368] [sailbot.teensy]: Wind angle: 182 +[trim_sail-4] [INFO] [1746051322.335557527] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051322.335880678] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051322.336292672] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051322.336757354] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051322.337173695] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051322.343626530] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051322.343986060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051322.344145095] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051322.344955236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051322.345462584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051322.444449920] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051322.445241160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051322.445791533] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051322.447197214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051322.448242576] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051322.456911146] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051322.457920878] [sailbot.main_algo]: Target Bearing: -142.49030236408726 +[main_algo-3] [INFO] [1746051322.458786229] [sailbot.main_algo]: Heading Difference: -171.76669763591275 +[main_algo-3] [INFO] [1746051322.459815897] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051322.460651788] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051322.461426523] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051322.462427598] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051322.462934155] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051322.503102783] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904121 Long: -76.50276614 +[main_algo-3] [INFO] [1746051322.503591088] [sailbot.main_algo]: Distance to destination: 56.89116148586414 +[main_algo-3] [INFO] [1746051322.504646815] [sailbot.main_algo]: Target Bearing: -142.50199084410508 +[vectornav-1] [INFO] [1746051322.504721615] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.81999999999999, -1.934, 5.359) +[main_algo-3] [INFO] [1746051322.505566384] [sailbot.main_algo]: Heading Difference: -171.75500915589492 +[main_algo-3] [INFO] [1746051322.506420908] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051322.507368238] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051322.508265991] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051322.510031467] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051322.544885370] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051322.545545569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051322.546197644] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051322.547649309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051322.548933115] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051322.585401506] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051322.587804288] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051322.590435647] [sailbot.teensy]: Wind angle: 182 +[teensy-2] [INFO] [1746051322.591410795] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051322.592462823] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051322.594506005] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051322.596564021] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051322.643669190] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051322.644202067] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051322.643990899] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051322.644927598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051322.645418266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051322.743712710] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051322.744041179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051322.744215169] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051322.745040298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051322.745579138] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051322.834400938] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051322.835212614] [sailbot.teensy]: Wind angle: 182 +[trim_sail-4] [INFO] [1746051322.835432591] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051322.836381879] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051322.836784418] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051322.837128670] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051322.837164249] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051322.843622600] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051322.843896856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051322.844114153] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051322.844661657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051322.845141962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051322.943653524] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051322.944008487] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051322.944829676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051322.945461604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051322.945058541] [sailbot.mux]: Published rudder angle from controller_app: 0 +[main_algo-3] [INFO] [1746051322.956275203] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051322.956779280] [sailbot.main_algo]: Target Bearing: -142.50199084410508 +[main_algo-3] [INFO] [1746051322.957220077] [sailbot.main_algo]: Heading Difference: -171.67800915589493 +[main_algo-3] [INFO] [1746051322.957611114] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051322.958033017] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051322.958415638] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051322.959059917] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051322.960195202] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051323.001441669] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904132 Long: -76.50276579 +[main_algo-3] [INFO] [1746051323.001841695] [sailbot.main_algo]: Distance to destination: 56.921286855584015 +[vectornav-1] [INFO] [1746051323.001895670] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.08600000000001, 0.097, 4.578) +[main_algo-3] [INFO] [1746051323.002311087] [sailbot.main_algo]: Target Bearing: -142.51040642804472 +[main_algo-3] [INFO] [1746051323.002749801] [sailbot.main_algo]: Heading Difference: -171.66959357195526 +[main_algo-3] [INFO] [1746051323.003163465] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051323.003561439] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051323.003955474] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051323.004865299] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051323.043761771] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051323.044287079] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051323.044073477] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051323.045214807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051323.045765204] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051323.084384356] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051323.085109405] [sailbot.teensy]: Wind angle: 182 +[teensy-2] [INFO] [1746051323.085512917] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051323.085387434] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051323.085972930] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051323.086347808] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051323.086356839] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051323.143674504] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051323.144058094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051323.144146661] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051323.145376653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051323.145911542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051323.245366383] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051323.245986978] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051323.251640026] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051323.252242271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051323.252788094] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051323.334462765] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051323.335401351] [sailbot.teensy]: Wind angle: 182 +[trim_sail-4] [INFO] [1746051323.335690233] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051323.335885688] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051323.336698456] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051323.337611416] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051323.338116501] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051323.343852096] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051323.344656791] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051323.344543092] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051323.345816492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051323.346677136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051323.443764750] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051323.444130321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051323.444338739] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051323.444995847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051323.445568324] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051323.456318028] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051323.456803534] [sailbot.main_algo]: Target Bearing: -142.51040642804472 +[main_algo-3] [INFO] [1746051323.457247397] [sailbot.main_algo]: Heading Difference: -172.4035935719553 +[main_algo-3] [INFO] [1746051323.457669998] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051323.458071235] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051323.458450038] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051323.458955698] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051323.460394147] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051323.501570999] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904134 Long: -76.50276558 +[vectornav-1] [INFO] [1746051323.502870196] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.31700000000001, -0.086, 6.411) +[main_algo-3] [INFO] [1746051323.502923587] [sailbot.main_algo]: Distance to destination: 56.93618260863232 +[main_algo-3] [INFO] [1746051323.503400201] [sailbot.main_algo]: Target Bearing: -142.51947490530375 +[main_algo-3] [INFO] [1746051323.503804672] [sailbot.main_algo]: Heading Difference: -172.39452509469623 +[main_algo-3] [INFO] [1746051323.504243607] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051323.504673510] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051323.505088791] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051323.505970035] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051323.543682876] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051323.544108124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051323.544236969] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051323.545063347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051323.545588466] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051323.584504254] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051323.585717392] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051323.586294563] [sailbot.teensy]: Wind angle: 182 +[mux-7] [INFO] [1746051323.586388860] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051323.586763417] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051323.587234995] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051323.587676791] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051323.643689547] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051323.644053141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051323.644203947] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051323.645090955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051323.645682263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051323.743750483] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051323.744285174] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051323.744063827] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051323.744944437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051323.745443098] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051323.835039044] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051323.836558797] [sailbot.teensy]: Wind angle: 182 +[teensy-2] [INFO] [1746051323.837410381] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051323.837205110] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051323.837617493] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051323.838215866] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051323.839010423] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051323.844319090] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051323.844785623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051323.845402851] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051323.846382223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051323.847366913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051323.945133232] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051323.945877634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051323.946778320] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051323.948022281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051323.949209645] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051323.957014185] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051323.958060188] [sailbot.main_algo]: Target Bearing: -142.51947490530375 +[main_algo-3] [INFO] [1746051323.958974848] [sailbot.main_algo]: Heading Difference: -173.16352509469624 +[main_algo-3] [INFO] [1746051323.959782349] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051323.960601787] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051323.961402172] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051323.962609867] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051323.962992684] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051324.002799741] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904122 Long: -76.50276544 +[vectornav-1] [INFO] [1746051324.003942458] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.81099999999998, -0.538, 5.044) +[main_algo-3] [INFO] [1746051324.004768481] [sailbot.main_algo]: Distance to destination: 56.93689915523053 +[main_algo-3] [INFO] [1746051324.005872590] [sailbot.main_algo]: Target Bearing: -142.53718144364302 +[main_algo-3] [INFO] [1746051324.006924374] [sailbot.main_algo]: Heading Difference: -173.14581855635697 +[main_algo-3] [INFO] [1746051324.007753001] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051324.008619724] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051324.009432048] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051324.010953904] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051324.044981278] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051324.045704676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051324.046405877] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051324.047691136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051324.049793423] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051324.085644395] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051324.088106032] [sailbot.teensy]: Wind angle: 182 +[trim_sail-4] [INFO] [1746051324.088425335] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051324.089419360] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051324.090011533] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051324.091024333] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051324.092033453] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051324.144858388] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051324.145449439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051324.146101112] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051324.147413668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051324.148429914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051324.245244362] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051324.245814580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051324.246844501] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051324.247764033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051324.248897704] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051324.335245647] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051324.337431289] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051324.339707017] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051324.341588029] [sailbot.teensy]: Wind angle: 182 +[teensy-2] [INFO] [1746051324.342533466] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051324.343407135] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051324.344404674] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051324.345196443] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051324.345521763] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051324.346954300] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051324.348080388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051324.349050858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051324.444930637] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051324.445824334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051324.446171250] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051324.447610822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051324.448659436] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051324.457161714] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051324.458307542] [sailbot.main_algo]: Target Bearing: -142.53718144364302 +[main_algo-3] [INFO] [1746051324.459383446] [sailbot.main_algo]: Heading Difference: -171.651818556357 +[main_algo-3] [INFO] [1746051324.460556525] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051324.461718515] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051324.462809402] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051324.464198271] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051324.464728661] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051324.502227243] [sailbot.main_algo]: Distance to destination: 56.942598041867626 +[vectornav-1] [INFO] [1746051324.502412555] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690412 Long: -76.50276533 +[main_algo-3] [INFO] [1746051324.502767252] [sailbot.main_algo]: Target Bearing: -142.54459350654733 +[vectornav-1] [INFO] [1746051324.503086466] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.45799999999997, -0.033, 4.606) +[main_algo-3] [INFO] [1746051324.503244400] [sailbot.main_algo]: Heading Difference: -171.64440649345272 +[main_algo-3] [INFO] [1746051324.503715502] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051324.504339765] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051324.504856869] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051324.505738764] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051324.543658791] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051324.544074207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051324.544222574] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051324.545010767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051324.545581391] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051324.584435411] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051324.585477806] [sailbot.teensy]: Wind angle: 181 +[trim_sail-4] [INFO] [1746051324.585492935] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051324.585943426] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051324.586363222] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051324.586676029] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051324.586761367] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051324.643658486] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051324.643996364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051324.644142030] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051324.644815335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051324.645345569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051324.743834351] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051324.744222744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051324.744469884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051324.745564366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051324.746295430] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051324.835225355] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051324.836876293] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051324.837825661] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051324.837363566] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051324.838253485] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051324.838682185] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051324.839478095] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051324.844339513] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051324.844924443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051324.845477371] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051324.846562891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051324.847623391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051324.945009110] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051324.945945218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051324.946345085] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051324.948002659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051324.949162399] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051324.957053649] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051324.958111564] [sailbot.main_algo]: Target Bearing: -142.54459350654733 +[main_algo-3] [INFO] [1746051324.959096279] [sailbot.main_algo]: Heading Difference: -170.99740649345267 +[main_algo-3] [INFO] [1746051324.959926862] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051324.960788562] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051324.961684236] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051324.962681288] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051324.963365200] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051325.002429915] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904123 Long: -76.50276538 +[vectornav-1] [INFO] [1746051325.003452352] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.86500000000001, -1.231, 5.488) +[main_algo-3] [INFO] [1746051325.003497542] [sailbot.main_algo]: Distance to destination: 56.94145227618996 +[main_algo-3] [INFO] [1746051325.004849384] [sailbot.main_algo]: Target Bearing: -142.5393952663864 +[main_algo-3] [INFO] [1746051325.005743664] [sailbot.main_algo]: Heading Difference: -171.00260473361362 +[main_algo-3] [INFO] [1746051325.006617933] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051325.007456293] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051325.008332774] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051325.010164560] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051325.045445991] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051325.046738742] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051325.047205867] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051325.049604202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051325.052544404] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051325.084461570] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051325.085567059] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051325.086335894] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051325.085968108] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051325.086358615] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051325.087138596] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051325.087989349] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051325.143671869] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051325.144044729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051325.144204713] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051325.144932619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051325.145423716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051325.243705074] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051325.244242041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051325.244528052] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051325.245317271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051325.245817687] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051325.334429072] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051325.335125738] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051325.335503095] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051325.335869517] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051325.336230709] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051325.335442828] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051325.336045116] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051325.343641328] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051325.344090181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051325.344310942] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051325.344891096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051325.345364328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051325.444991912] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051325.445688199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051325.446300302] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051325.447510656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051325.448533139] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051325.457068677] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051325.458063017] [sailbot.main_algo]: Target Bearing: -142.5393952663864 +[main_algo-3] [INFO] [1746051325.458939928] [sailbot.main_algo]: Heading Difference: -171.59560473361358 +[main_algo-3] [INFO] [1746051325.459827264] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051325.460672433] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051325.461479054] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051325.462646828] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051325.463025180] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051325.503394330] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904129 Long: -76.50276543 +[main_algo-3] [INFO] [1746051325.504120801] [sailbot.main_algo]: Distance to destination: 56.94238022927467 +[vectornav-1] [INFO] [1746051325.505044625] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.603999999999985, 0.975, 5.286) +[main_algo-3] [INFO] [1746051325.505237566] [sailbot.main_algo]: Target Bearing: -142.53157246252113 +[main_algo-3] [INFO] [1746051325.506215534] [sailbot.main_algo]: Heading Difference: -171.60342753747886 +[main_algo-3] [INFO] [1746051325.507363511] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051325.508401820] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051325.509227816] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051325.510787621] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051325.544864234] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051325.545826765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051325.546117106] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051325.548104493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051325.549504930] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051325.584549943] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051325.585424890] [sailbot.teensy]: Wind angle: 180 +[trim_sail-4] [INFO] [1746051325.586551240] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051325.586949428] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051325.587121833] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051325.587602865] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051325.588103100] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051325.643840277] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051325.644169115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051325.644424947] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051325.645056194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051325.645587230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051325.743637655] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051325.743987107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051325.744246883] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051325.745010242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051325.745572216] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051325.836780175] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051325.837578925] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051325.838044109] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051325.838049242] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051325.838465336] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051325.838904561] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051325.839197630] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051325.844636015] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051325.845082896] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051325.846656195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051325.848395922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051325.847081837] [sailbot.mux]: Published rudder angle from controller_app: 0 +[mux-7] [INFO] [1746051325.948382745] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051325.949012016] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051325.950666397] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051325.951447269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051325.953090728] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051325.956289671] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051325.956756719] [sailbot.main_algo]: Target Bearing: -142.53157246252113 +[main_algo-3] [INFO] [1746051325.957182962] [sailbot.main_algo]: Heading Difference: -171.8644275374789 +[main_algo-3] [INFO] [1746051325.957578062] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051325.957991817] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051325.958385698] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051325.958903399] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051325.960063177] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051326.002639684] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904104 Long: -76.50276559 +[main_algo-3] [INFO] [1746051326.003489551] [sailbot.main_algo]: Distance to destination: 56.91480624382909 +[vectornav-1] [INFO] [1746051326.003955838] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.31200000000001, -1.815, 4.361) +[main_algo-3] [INFO] [1746051326.004555146] [sailbot.main_algo]: Target Bearing: -142.5452105983714 +[main_algo-3] [INFO] [1746051326.005455178] [sailbot.main_algo]: Heading Difference: -171.85078940162862 +[main_algo-3] [INFO] [1746051326.006306389] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051326.007098506] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051326.007923066] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051326.009583395] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051326.044626384] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051326.045128210] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051326.045984460] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051326.046776332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051326.047771838] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051326.085313204] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051326.087724599] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051326.088035536] [sailbot.teensy]: Wind angle: 181 +[teensy-2] [INFO] [1746051326.088923502] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051326.088998983] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051326.089806114] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051326.090613005] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051326.144087362] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051326.144618476] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051326.145052020] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051326.146227043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051326.147068650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051326.244732265] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051326.245261723] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051326.245881835] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051326.246947831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051326.247943648] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051326.334397626] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051326.335189653] [sailbot.teensy]: Wind angle: 181 +[trim_sail-4] [INFO] [1746051326.335465403] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051326.336376089] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051326.337262140] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051326.337726536] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051326.338135988] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051326.343622998] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051326.344038342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051326.344115741] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051326.344876841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051326.345373053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051326.444719728] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051326.445522296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051326.445975628] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051326.447461921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051326.448637841] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051326.457033093] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051326.458017996] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746051326.458961153] [sailbot.main_algo]: Target Bearing: -142.5452105983714 +[main_algo-3] [INFO] [1746051326.459865336] [sailbot.main_algo]: Heading Difference: -171.1427894016286 +[main_algo-3] [INFO] [1746051326.460626860] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051326.461468162] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051326.462271434] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051326.463286486] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051326.463945965] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051326.502372180] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904109 Long: -76.50276561 +[vectornav-1] [INFO] [1746051326.503418786] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.27699999999999, 0.676, 6.147) +[main_algo-3] [INFO] [1746051326.503850211] [sailbot.main_algo]: Distance to destination: 56.91697348047218 +[main_algo-3] [INFO] [1746051326.505014066] [sailbot.main_algo]: Target Bearing: -142.53980423617855 +[main_algo-3] [INFO] [1746051326.506229379] [sailbot.main_algo]: Heading Difference: -171.14819576382143 +[main_algo-3] [INFO] [1746051326.507179696] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051326.508028450] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051326.508857128] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051326.510443544] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051326.545105210] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051326.545907054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051326.546413126] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051326.547843785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051326.549261226] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051326.585153705] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051326.586708444] [sailbot.teensy]: Wind angle: 181 +[teensy-2] [INFO] [1746051326.587570202] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051326.587178060] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051326.587734250] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051326.588880410] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051326.589831442] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051326.644901151] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051326.645591849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051326.646167235] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051326.647465356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051326.648515488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051326.744565682] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051326.745124468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051326.745713672] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051326.746893819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051326.747923050] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051326.834668480] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051326.836061437] [sailbot.teensy]: Wind angle: 181 +[trim_sail-4] [INFO] [1746051326.836479119] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051326.837812565] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051326.838111439] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051326.839029951] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051326.839897207] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051326.844456986] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051326.845539144] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051326.848676982] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051326.850313240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051326.851359904] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051326.944120887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051326.945092805] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051326.945643744] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051326.946139865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051326.947359665] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051326.956641810] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051326.957182159] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746051326.957637274] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051326.958125388] [sailbot.main_algo]: Current Location: (42.469041092147506, -76.50276561005442) +[main_algo-3] [INFO] [1746051326.958476319] [sailbot.main_algo]: Target Bearing: -142.53980423617855 +[main_algo-3] [INFO] [1746051326.958913844] [sailbot.main_algo]: Heading Difference: -171.18319576382146 +[main_algo-3] [INFO] [1746051326.959309726] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051326.959705120] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051326.960098541] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051326.960999489] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051326.961976988] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051327.001392466] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904105 Long: -76.50276572 +[vectornav-1] [INFO] [1746051327.002041888] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.105999999999995, -0.826, 4.705) +[main_algo-3] [INFO] [1746051327.002845498] [sailbot.main_algo]: Distance to destination: 56.90712890414183 +[main_algo-3] [INFO] [1746051327.003324949] [sailbot.main_algo]: Target Bearing: -142.5376401878767 +[main_algo-3] [INFO] [1746051327.003765610] [sailbot.main_algo]: Heading Difference: -171.18535981212335 +[main_algo-3] [INFO] [1746051327.004181359] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051327.004559612] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051327.004924086] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051327.006040329] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051327.043714113] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051327.044073519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051327.044263619] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051327.045146051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051327.045699928] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051327.084483629] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051327.085247425] [sailbot.teensy]: Wind angle: 182 +[teensy-2] [INFO] [1746051327.085673693] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051327.086453215] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051327.086714243] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051327.087133578] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051327.087603040] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051327.144792227] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051327.145290356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051327.146002920] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051327.147429842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051327.148476037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051327.245074624] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051327.245720671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051327.246685542] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051327.247553156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051327.248749769] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051327.335039889] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051327.336579548] [sailbot.teensy]: Wind angle: 182 +[trim_sail-4] [INFO] [1746051327.337122867] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051327.337446929] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051327.338296430] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051327.338420895] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051327.339097785] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051327.344274138] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051327.344976787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051327.345314666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051327.346523757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051327.347537699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051327.444677549] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051327.445238420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051327.446045377] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051327.446933558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051327.447993975] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051327.456913278] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051327.457831411] [sailbot.main_algo]: Target Bearing: -142.5376401878767 +[main_algo-3] [INFO] [1746051327.458680975] [sailbot.main_algo]: Heading Difference: -170.3563598121233 +[main_algo-3] [INFO] [1746051327.459482116] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051327.460262287] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051327.461003166] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051327.461952280] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051327.462660742] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051327.502475422] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904107 Long: -76.50276588 +[main_algo-3] [INFO] [1746051327.503404632] [sailbot.main_algo]: Distance to destination: 56.89821289666697 +[vectornav-1] [INFO] [1746051327.503526664] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.87099999999998, -0.242, 5.125) +[main_algo-3] [INFO] [1746051327.504457468] [sailbot.main_algo]: Target Bearing: -142.52764657531847 +[main_algo-3] [INFO] [1746051327.505364018] [sailbot.main_algo]: Heading Difference: -170.3663534246815 +[main_algo-3] [INFO] [1746051327.507106125] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051327.508027403] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051327.508839576] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051327.510468053] [sailbot.mux]: algo rudder angle: -25 +[teensy-2] [INFO] [1746051327.545213541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051327.545847896] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051327.547068745] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051327.547294790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051327.548423229] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051327.584956029] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051327.586344826] [sailbot.teensy]: Wind angle: 182 +[trim_sail-4] [INFO] [1746051327.586844300] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051327.587158657] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051327.587996866] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051327.588846358] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051327.589168349] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051327.643726378] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051327.644102543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051327.644722685] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051327.645043189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051327.645572308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051327.745033120] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051327.745596408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051327.746321906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051327.747293346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051327.748243698] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051327.835010176] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051327.836472716] [sailbot.teensy]: Wind angle: 181 +[trim_sail-4] [INFO] [1746051327.837296205] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051327.838005320] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051327.838396739] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051327.839109070] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051327.839998589] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051327.844661052] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051327.845356070] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051327.846221726] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051327.847067346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051327.848139209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051327.944436842] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051327.944984118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051327.945466164] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051327.946567159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051327.947663688] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051327.956970352] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051327.957964876] [sailbot.main_algo]: Target Bearing: -142.52764657531847 +[main_algo-3] [INFO] [1746051327.958809201] [sailbot.main_algo]: Heading Difference: -170.60135342468152 +[main_algo-3] [INFO] [1746051327.959616747] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051327.960428959] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051327.961235462] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051327.962215198] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051327.963120707] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051328.002890874] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904118 Long: -76.50276592 +[vectornav-1] [INFO] [1746051328.004056903] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.29200000000003, 0.002, 6.334) +[main_algo-3] [INFO] [1746051328.003977636] [sailbot.main_algo]: Distance to destination: 56.90324249891668 +[main_algo-3] [INFO] [1746051328.005117187] [sailbot.main_algo]: Target Bearing: -142.51595727356792 +[main_algo-3] [INFO] [1746051328.006056396] [sailbot.main_algo]: Heading Difference: -170.61304272643213 +[main_algo-3] [INFO] [1746051328.006986897] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051328.007882369] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051328.008731257] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051328.010369964] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051328.045411556] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051328.045918141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051328.046663633] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051328.047938326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051328.049085021] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051328.085188763] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051328.086751254] [sailbot.teensy]: Wind angle: 181 +[teensy-2] [INFO] [1746051328.087627319] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051328.087231428] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051328.088211022] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051328.088480246] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051328.089302691] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051328.143986189] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051328.144650558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051328.144945054] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051328.146389024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051328.147658809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051328.244651424] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051328.245211957] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051328.245951591] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051328.246890563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051328.247814015] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051328.335174983] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051328.336933411] [sailbot.teensy]: Wind angle: 181 +[teensy-2] [INFO] [1746051328.337826987] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051328.337212414] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051328.338449471] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051328.338679073] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051328.340346878] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051328.344819070] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051328.345863269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051328.346084641] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051328.347785819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051328.348864144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051328.443714993] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051328.444011068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051328.444252137] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051328.444860865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051328.445424580] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051328.456307698] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051328.456798418] [sailbot.main_algo]: Target Bearing: -142.51595727356792 +[main_algo-3] [INFO] [1746051328.457237805] [sailbot.main_algo]: Heading Difference: -171.19204272643208 +[main_algo-3] [INFO] [1746051328.457635785] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051328.458031945] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051328.458430173] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051328.458935884] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051328.459309274] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051328.502046696] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904107 Long: -76.50276599 +[main_algo-3] [INFO] [1746051328.503120431] [sailbot.main_algo]: Distance to destination: 56.89113366633459 +[vectornav-1] [INFO] [1746051328.503600737] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.384000000000015, -1.027, 5.441) +[main_algo-3] [INFO] [1746051328.504461561] [sailbot.main_algo]: Target Bearing: -142.52197783981316 +[main_algo-3] [INFO] [1746051328.505439258] [sailbot.main_algo]: Heading Difference: -171.18602216018678 +[main_algo-3] [INFO] [1746051328.506308589] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051328.506938035] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051328.507500703] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051328.509024722] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051328.544962049] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051328.545480199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051328.546440403] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051328.547224559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051328.548433450] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051328.585289960] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051328.586950852] [sailbot.teensy]: Wind angle: 181 +[trim_sail-4] [INFO] [1746051328.587442421] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051328.587841716] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051328.588843233] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051328.589667375] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051328.589741405] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051328.644954820] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051328.645633955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051328.646222208] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051328.647582614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051328.648630369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051328.744938169] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051328.745633784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051328.746201939] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051328.747469372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051328.748502155] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051328.835132225] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051328.836721674] [sailbot.teensy]: Wind angle: 180 +[trim_sail-4] [INFO] [1746051328.837316986] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051328.837645063] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051328.838616143] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051328.838883288] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051328.839506910] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051328.844459326] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051328.845028521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051328.845655827] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051328.846840277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051328.848173663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051328.945054494] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051328.945758083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051328.946473130] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051328.948067381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051328.949185462] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051328.957093276] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051328.958231275] [sailbot.main_algo]: Target Bearing: -142.52197783981316 +[main_algo-3] [INFO] [1746051328.959213374] [sailbot.main_algo]: Heading Difference: -170.0940221601868 +[main_algo-3] [INFO] [1746051328.960094641] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051328.960927901] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051328.961700645] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051328.962674810] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051328.963288093] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051329.003270110] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904117 Long: -76.50276598 +[main_algo-3] [INFO] [1746051329.003755493] [sailbot.main_algo]: Distance to destination: 56.89869027614561 +[vectornav-1] [INFO] [1746051329.004456627] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.466999999999985, -0.056, 4.873) +[main_algo-3] [INFO] [1746051329.004880508] [sailbot.main_algo]: Target Bearing: -142.5137400882714 +[main_algo-3] [INFO] [1746051329.005833310] [sailbot.main_algo]: Heading Difference: -170.1022599117286 +[main_algo-3] [INFO] [1746051329.006681128] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051329.007521946] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051329.008446857] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051329.010066720] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051329.044670057] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051329.045270230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051329.045834180] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051329.046956888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051329.047994979] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051329.084822697] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051329.086298004] [sailbot.teensy]: Wind angle: 180 +[trim_sail-4] [INFO] [1746051329.086966993] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051329.087199682] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051329.088068830] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051329.088912973] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051329.089259980] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051329.143660804] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051329.143989566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051329.144170467] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051329.144804168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051329.145294564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051329.244967252] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051329.245649558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051329.246200944] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051329.247469829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051329.248520094] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051329.335136502] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051329.337248655] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051329.337662981] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051329.337670421] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051329.338772781] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051329.339160241] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051329.339524144] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051329.344285919] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051329.344812289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051329.345323296] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051329.346319369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051329.347339896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051329.444302052] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051329.445270303] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051329.445267029] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051329.447018530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051329.448083435] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051329.457038264] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051329.458033426] [sailbot.main_algo]: Target Bearing: -142.5137400882714 +[main_algo-3] [INFO] [1746051329.458930910] [sailbot.main_algo]: Heading Difference: -171.01925991172862 +[main_algo-3] [INFO] [1746051329.459757241] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051329.460554804] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051329.461351591] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051329.462364110] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051329.462908204] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051329.502909305] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904114 Long: -76.50276602 +[main_algo-3] [INFO] [1746051329.503762300] [sailbot.main_algo]: Distance to destination: 56.894042290669766 +[vectornav-1] [INFO] [1746051329.504336220] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.31200000000001, -0.064, 4.577) +[main_algo-3] [INFO] [1746051329.505007850] [sailbot.main_algo]: Target Bearing: -142.514304046616 +[main_algo-3] [INFO] [1746051329.506025251] [sailbot.main_algo]: Heading Difference: -171.01869595338405 +[main_algo-3] [INFO] [1746051329.507038604] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051329.507968302] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051329.508861171] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051329.510537859] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051329.544836354] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051329.545499126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051329.546096484] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051329.547313391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051329.548387433] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051329.585013821] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051329.586513046] [sailbot.teensy]: Wind angle: 181 +[trim_sail-4] [INFO] [1746051329.587064448] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051329.587410952] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051329.588296832] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051329.588764410] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051329.589092953] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051329.645246882] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051329.645555068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051329.646717564] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051329.647335866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051329.648549201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051329.743743220] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051329.744195633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051329.744319692] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051329.745172721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051329.745735957] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051329.834661013] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051329.835445258] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051329.835864803] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051329.836256457] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051329.836635187] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051329.837951640] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051329.838108890] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051329.843707486] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051329.844322981] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051329.844076364] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051329.844966004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051329.845563357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051329.943845060] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051329.944179050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051329.944903410] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051329.945142314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051329.945724411] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051329.956364402] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051329.957072018] [sailbot.main_algo]: Target Bearing: -142.514304046616 +[main_algo-3] [INFO] [1746051329.957701992] [sailbot.main_algo]: Heading Difference: -171.17369595338403 +[main_algo-3] [INFO] [1746051329.958305770] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051329.958929262] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051329.959568757] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051329.962064548] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051329.962327691] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051330.001487000] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904119 Long: -76.50276614 +[vectornav-1] [INFO] [1746051330.002042936] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.411, -0.559, 5.897) +[main_algo-3] [INFO] [1746051330.002483184] [sailbot.main_algo]: Distance to destination: 56.889778408899886 +[main_algo-3] [INFO] [1746051330.002963990] [sailbot.main_algo]: Target Bearing: -142.5037412503638 +[main_algo-3] [INFO] [1746051330.003423588] [sailbot.main_algo]: Heading Difference: -171.18425874963623 +[main_algo-3] [INFO] [1746051330.003846812] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051330.005150218] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051330.005604873] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051330.006733752] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051330.043775371] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051330.044353455] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051330.044168003] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051330.045350929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051330.045949044] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051330.084510178] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051330.085315128] [sailbot.teensy]: Wind angle: 179 +[teensy-2] [INFO] [1746051330.085747271] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051330.086191772] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051330.086599770] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051330.087948857] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051330.090329642] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051330.143715954] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051330.145631863] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051330.146253433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051330.146588440] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051330.147696629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051330.243617705] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051330.244106472] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051330.245468467] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051330.246355016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051330.246872042] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051330.334480170] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051330.335805951] [sailbot.teensy]: Wind angle: 177 +[teensy-2] [INFO] [1746051330.336950872] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051330.335833525] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051330.336585172] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051330.337464898] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051330.337936371] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051330.343742618] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051330.344287740] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051330.344046707] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051330.344831446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051330.345320567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051330.443708594] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051330.443983777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051330.444249577] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051330.444815592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051330.445343592] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051330.456398828] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051330.456923510] [sailbot.main_algo]: Target Bearing: -142.5037412503638 +[main_algo-3] [INFO] [1746051330.457376137] [sailbot.main_algo]: Heading Difference: -172.08525874963618 +[main_algo-3] [INFO] [1746051330.457786266] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051330.458212772] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051330.458618685] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051330.459133828] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051330.460340166] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051330.501429705] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904112 Long: -76.50276612 +[vectornav-1] [INFO] [1746051330.502090280] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.870000000000005, -0.482, 4.891) +[main_algo-3] [INFO] [1746051330.502840731] [sailbot.main_algo]: Distance to destination: 56.88622493651067 +[main_algo-3] [INFO] [1746051330.503427424] [sailbot.main_algo]: Target Bearing: -142.5108995101615 +[main_algo-3] [INFO] [1746051330.503939288] [sailbot.main_algo]: Heading Difference: -172.0781004898385 +[main_algo-3] [INFO] [1746051330.504455623] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051330.504980805] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051330.505491273] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051330.506594279] [sailbot.mux]: algo rudder angle: -25 +[teensy-2] [INFO] [1746051330.544274258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051330.545146692] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051330.545755832] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051330.547373649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051330.548524684] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051330.584394224] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051330.585542957] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051330.586352450] [sailbot.teensy]: Wind angle: 176 +[mux-7] [INFO] [1746051330.586569701] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051330.586794701] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051330.587185551] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051330.587561637] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051330.643765746] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051330.644107144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051330.645515921] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051330.646363773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051330.646974028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051330.743748063] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051330.744208469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051330.745448699] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051330.745646512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051330.746252643] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051330.834485365] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051330.835365132] [sailbot.teensy]: Wind angle: 175 +[teensy-2] [INFO] [1746051330.835757874] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051330.836125415] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051330.836459156] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051330.837658960] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051330.837887435] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051330.843763924] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051330.844409338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051330.844648734] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051330.845770213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051330.846658406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051330.943700114] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051330.944232058] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051330.944046241] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051330.944835665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051330.945344826] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051330.956334160] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051330.956835721] [sailbot.main_algo]: Target Bearing: -142.5108995101615 +[main_algo-3] [INFO] [1746051330.957279556] [sailbot.main_algo]: Heading Difference: -170.6191004898385 +[main_algo-3] [INFO] [1746051330.957729207] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051330.958141607] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051330.958551426] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051330.959122035] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051330.960298802] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051331.001360612] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904129 Long: -76.50276625 +[vectornav-1] [INFO] [1746051331.001787326] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.02699999999999, -0.245, 5.898) +[main_algo-3] [INFO] [1746051331.001818902] [sailbot.main_algo]: Distance to destination: 56.889618302312414 +[main_algo-3] [INFO] [1746051331.002266512] [sailbot.main_algo]: Target Bearing: -142.48931712289684 +[main_algo-3] [INFO] [1746051331.002675287] [sailbot.main_algo]: Heading Difference: -170.64068287710313 +[main_algo-3] [INFO] [1746051331.003075148] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051331.003489792] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051331.003907190] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051331.004700867] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051331.043713938] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051331.044228061] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051331.044075907] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051331.044839874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051331.045327621] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051331.084435501] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051331.085250831] [sailbot.teensy]: Wind angle: 173 +[trim_sail-4] [INFO] [1746051331.085443317] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051331.085668399] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051331.086067957] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051331.086445192] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051331.088086097] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051331.143884589] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051331.143894970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051331.144402092] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051331.144650453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051331.145155962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051331.243740969] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051331.244313130] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051331.244060857] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051331.244878630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051331.245440624] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051331.334389648] [sailbot.teensy]: Check telemetry callback entered +[mux-7] [INFO] [1746051331.335718120] [sailbot.mux]: algo sail angle: 0 +[trim_sail-4] [INFO] [1746051331.335863158] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051331.336807346] [sailbot.teensy]: Wind angle: 173 +[teensy-2] [INFO] [1746051331.337219223] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051331.337613797] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051331.337989576] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051331.343682238] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051331.344046262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051331.344277054] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051331.344890736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051331.345423809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051331.444199683] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051331.444645676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051331.446501054] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051331.446913809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051331.448224461] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051331.456516437] [sailbot.main_algo]: Wind Direction: 173 +[main_algo-3] [INFO] [1746051331.457848526] [sailbot.main_algo]: Target Bearing: -142.48931712289684 +[main_algo-3] [INFO] [1746051331.458380214] [sailbot.main_algo]: Heading Difference: -170.4836828771032 +[main_algo-3] [INFO] [1746051331.458876055] [sailbot.main_algo]: Wind Direction: 173 +[main_algo-3] [INFO] [1746051331.459339882] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051331.459790239] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051331.461386718] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051331.462080130] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051331.501459167] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904126 Long: -76.50276636 +[vectornav-1] [INFO] [1746051331.501946007] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.327, -0.627, 6.637) +[main_algo-3] [INFO] [1746051331.505699737] [sailbot.main_algo]: Distance to destination: 56.88046741013036 +[main_algo-3] [INFO] [1746051331.508280042] [sailbot.main_algo]: Target Bearing: -142.48626813084775 +[main_algo-3] [INFO] [1746051331.509401666] [sailbot.main_algo]: Heading Difference: -170.48673186915227 +[main_algo-3] [INFO] [1746051331.509825663] [sailbot.main_algo]: Wind Direction: 173 +[main_algo-3] [INFO] [1746051331.510226337] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051331.510626427] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051331.511949008] [sailbot.mux]: algo rudder angle: -25 +[teensy-2] [INFO] [1746051331.544858810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051331.545585516] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051331.547575029] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051331.549402496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051331.550586173] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051331.584372404] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051331.585290854] [sailbot.teensy]: Wind angle: 184 +[trim_sail-4] [INFO] [1746051331.585413172] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051331.586388527] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051331.585763375] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051331.587038146] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051331.587380481] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051331.644932774] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051331.645563954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051331.646595828] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051331.647415608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051331.648531502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051331.745025177] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051331.745614307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051331.746441710] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051331.747563878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051331.748707992] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051331.835161151] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051331.836744509] [sailbot.teensy]: Wind angle: 205 +[trim_sail-4] [INFO] [1746051331.837407321] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051331.837635504] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051331.838479012] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051331.839144834] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051331.839367863] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051331.844340631] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051331.844934470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051331.845443884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051331.846693130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051331.847668207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051331.945256425] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051331.946053430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051331.946769924] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051331.948684273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051331.949872279] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051331.957167504] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051331.958266602] [sailbot.main_algo]: Target Bearing: -142.48626813084775 +[main_algo-3] [INFO] [1746051331.959188966] [sailbot.main_algo]: Heading Difference: -170.18673186915225 +[main_algo-3] [INFO] [1746051331.960083575] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051331.960991727] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051331.961826485] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051331.962922714] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051331.963596843] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051332.003006036] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904109 Long: -76.50276643 +[main_algo-3] [INFO] [1746051332.003927675] [sailbot.main_algo]: Distance to destination: 56.86420552733545 +[vectornav-1] [INFO] [1746051332.004405227] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.903999999999996, -0.57, 4.273) +[main_algo-3] [INFO] [1746051332.005163580] [sailbot.main_algo]: Target Bearing: -142.49753765297464 +[main_algo-3] [INFO] [1746051332.006255059] [sailbot.main_algo]: Heading Difference: -170.17546234702536 +[main_algo-3] [INFO] [1746051332.008202117] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051332.009234944] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051332.010138442] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051332.012120868] [sailbot.mux]: algo rudder angle: -25 +[teensy-2] [INFO] [1746051332.043995303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051332.044230853] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051332.044802238] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051332.045009829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051332.045510690] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051332.084370832] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051332.085621820] [sailbot.teensy]: Wind angle: 224 +[trim_sail-4] [INFO] [1746051332.086115794] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051332.086642685] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051332.087619812] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051332.087853981] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051332.088506785] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051332.144957580] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051332.145845477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051332.146314811] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051332.147879993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051332.149025630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051332.244977898] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051332.245718580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051332.246524404] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051332.247607510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051332.249020094] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051332.335309320] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051332.337519541] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051332.337997945] [sailbot.teensy]: Wind angle: 229 +[teensy-2] [INFO] [1746051332.338904615] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051332.338981377] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051332.339754979] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051332.340611080] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051332.345978328] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051332.346609817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051332.350711508] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051332.351402785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051332.353070690] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051332.445110532] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051332.445800010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051332.446543947] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051332.448018728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051332.448619584] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051332.457149054] [sailbot.main_algo]: Wind Direction: 229 +[main_algo-3] [INFO] [1746051332.458235835] [sailbot.main_algo]: Target Bearing: -142.49753765297464 +[main_algo-3] [INFO] [1746051332.459162651] [sailbot.main_algo]: Heading Difference: -169.59846234702536 +[main_algo-3] [INFO] [1746051332.460034391] [sailbot.main_algo]: Wind Direction: 229 +[main_algo-3] [INFO] [1746051332.460915317] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051332.461772648] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051332.462953147] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051332.463665052] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051332.502887321] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690414 Long: -76.5027669 +[main_algo-3] [INFO] [1746051332.503943000] [sailbot.main_algo]: Distance to destination: 56.8554324256115 +[vectornav-1] [INFO] [1746051332.504147450] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.127999999999986, 0.34, 5.121) +[main_algo-3] [INFO] [1746051332.505188032] [sailbot.main_algo]: Target Bearing: -142.4461394634505 +[main_algo-3] [INFO] [1746051332.506159029] [sailbot.main_algo]: Heading Difference: -169.6498605365495 +[main_algo-3] [INFO] [1746051332.507058571] [sailbot.main_algo]: Wind Direction: 229 +[main_algo-3] [INFO] [1746051332.507937344] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051332.508800538] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051332.510515805] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051332.544480150] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051332.544831872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051332.545447038] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051332.546340617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051332.547343393] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051332.585429860] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051332.587751036] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051332.588116982] [sailbot.teensy]: Wind angle: 228 +[mux-7] [INFO] [1746051332.589073559] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051332.589127816] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051332.590082432] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051332.590960262] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051332.645060261] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051332.645548833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051332.646420025] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051332.647370219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051332.648546873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051332.744848519] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051332.745288155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051332.746167275] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051332.747038355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051332.748201066] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051332.835321515] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051332.837485079] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051332.837887914] [sailbot.teensy]: Wind angle: 226 +[mux-7] [INFO] [1746051332.838481737] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051332.838848357] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051332.839759077] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051332.840614167] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051332.844391705] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051332.845011471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051332.845861582] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051332.846766972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051332.847771097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051332.945122244] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051332.945960002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051332.946499065] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051332.947862312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051332.948392352] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051332.957218863] [sailbot.main_algo]: Wind Direction: 226 +[main_algo-3] [INFO] [1746051332.958405193] [sailbot.main_algo]: Target Bearing: -142.4461394634505 +[main_algo-3] [INFO] [1746051332.959429652] [sailbot.main_algo]: Heading Difference: -171.42586053654952 +[main_algo-3] [INFO] [1746051332.960326905] [sailbot.main_algo]: Wind Direction: 226 +[main_algo-3] [INFO] [1746051332.961255342] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051332.962052375] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051332.963070676] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051332.963544831] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051333.002836085] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904129 Long: -76.50276734 +[main_algo-3] [INFO] [1746051333.003781432] [sailbot.main_algo]: Distance to destination: 56.81953155273555 +[vectornav-1] [INFO] [1746051333.004012308] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.81200000000001, -1.208, 5.953) +[main_algo-3] [INFO] [1746051333.005021447] [sailbot.main_algo]: Target Bearing: -142.43302699556529 +[main_algo-3] [INFO] [1746051333.006068881] [sailbot.main_algo]: Heading Difference: -171.43897300443473 +[main_algo-3] [INFO] [1746051333.007077728] [sailbot.main_algo]: Wind Direction: 226 +[main_algo-3] [INFO] [1746051333.008026525] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051333.009069905] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051333.010849918] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051333.045254238] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051333.045574774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051333.046591370] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051333.047426549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051333.048491415] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051333.085362836] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051333.087548171] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051333.087960186] [sailbot.teensy]: Wind angle: 225 +[mux-7] [INFO] [1746051333.088877333] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051333.088928479] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051333.089854205] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051333.090703255] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051333.145356106] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051333.146452900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051333.147018752] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051333.148328954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051333.148881347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051333.245189448] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051333.245723201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051333.246652859] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051333.247836710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051333.248557384] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051333.339985747] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051333.342946853] [sailbot.teensy]: Wind angle: 225 +[trim_sail-4] [INFO] [1746051333.343203494] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051333.345974949] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051333.346149924] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051333.347404249] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051333.349593050] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051333.349594387] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051333.352518429] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746051333.354332143] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051333.355497644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051333.356524335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051333.445085138] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051333.445710560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051333.446414509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051333.447531683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051333.448561974] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051333.457169972] [sailbot.main_algo]: Wind Direction: 225 +[main_algo-3] [INFO] [1746051333.458260987] [sailbot.main_algo]: Target Bearing: -142.43302699556529 +[main_algo-3] [INFO] [1746051333.459223863] [sailbot.main_algo]: Heading Difference: -171.7549730044347 +[main_algo-3] [INFO] [1746051333.460098128] [sailbot.main_algo]: Wind Direction: 225 +[main_algo-3] [INFO] [1746051333.461029013] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051333.461910645] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051333.462977198] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051333.463599786] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051333.502832650] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904122 Long: -76.50276727 +[main_algo-3] [INFO] [1746051333.503769972] [sailbot.main_algo]: Distance to destination: 56.819183416132965 +[vectornav-1] [INFO] [1746051333.504006286] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.88499999999999, 0.019, 4.949) +[main_algo-3] [INFO] [1746051333.504924835] [sailbot.main_algo]: Target Bearing: -142.44277458919825 +[main_algo-3] [INFO] [1746051333.505895534] [sailbot.main_algo]: Heading Difference: -171.7452254108017 +[main_algo-3] [INFO] [1746051333.506827552] [sailbot.main_algo]: Wind Direction: 225 +[main_algo-3] [INFO] [1746051333.507722216] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051333.508602452] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051333.510312321] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051333.545026324] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051333.545638175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051333.546353926] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051333.547471690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051333.548488394] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051333.585244763] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051333.587086599] [sailbot.teensy]: Wind angle: 225 +[trim_sail-4] [INFO] [1746051333.587691319] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051333.588043097] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051333.588863143] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051333.588976110] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051333.589864898] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051333.645214068] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051333.645807277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051333.646872682] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051333.647793186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051333.648837385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051333.745265406] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051333.745762568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051333.746689445] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051333.747800721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051333.748882092] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051333.835656632] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051333.838472131] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051333.838711961] [sailbot.teensy]: Wind angle: 225 +[mux-7] [INFO] [1746051333.839318916] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051333.839647088] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051333.840625590] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051333.841477813] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051333.844316974] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051333.844865697] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051333.845418729] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051333.846566778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051333.847601356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051333.945294456] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051333.946108545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051333.946933764] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051333.948376025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051333.949392068] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051333.957325624] [sailbot.main_algo]: Wind Direction: 225 +[main_algo-3] [INFO] [1746051333.958391911] [sailbot.main_algo]: Target Bearing: -142.44277458919825 +[main_algo-3] [INFO] [1746051333.959302695] [sailbot.main_algo]: Heading Difference: -170.67222541080173 +[main_algo-3] [INFO] [1746051333.960175552] [sailbot.main_algo]: Wind Direction: 225 +[main_algo-3] [INFO] [1746051333.961076049] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051333.961932318] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051333.963307894] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051333.963684470] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051334.003186140] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904156 Long: -76.50276755 +[main_algo-3] [INFO] [1746051334.003822080] [sailbot.main_algo]: Distance to destination: 56.82474430617443 +[main_algo-3] [INFO] [1746051334.004914575] [sailbot.main_algo]: Target Bearing: -142.3985348862946 +[main_algo-3] [INFO] [1746051334.005863057] [sailbot.main_algo]: Heading Difference: -170.7164651137054 +[vectornav-1] [INFO] [1746051334.005995928] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.44499999999999, -0.755, 4.373) +[main_algo-3] [INFO] [1746051334.006808152] [sailbot.main_algo]: Wind Direction: 225 +[main_algo-3] [INFO] [1746051334.007727032] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051334.008711914] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051334.010471899] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051334.045008539] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051334.045593250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051334.046325290] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051334.047547478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051334.048599962] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051334.085245228] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051334.086982876] [sailbot.teensy]: Wind angle: 225 +[teensy-2] [INFO] [1746051334.087901864] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051334.087531308] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051334.088108068] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051334.088845279] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051334.089801473] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051334.145035691] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051334.145923431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051334.146323489] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051334.147997289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051334.148981429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051334.244856481] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051334.245739169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051334.246441477] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051334.248031333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051334.249166951] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051334.335037304] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051334.336487650] [sailbot.teensy]: Wind angle: 224 +[trim_sail-4] [INFO] [1746051334.337223466] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051334.337371941] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051334.338203214] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051334.338315761] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051334.339057636] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051334.344285372] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051334.345003954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051334.345413082] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051334.346697229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051334.348212091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051334.445109339] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051334.446411665] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051334.446412694] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051334.448327702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051334.449094575] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051334.456962626] [sailbot.main_algo]: Wind Direction: 224 +[main_algo-3] [INFO] [1746051334.457983703] [sailbot.main_algo]: Target Bearing: -142.3985348862946 +[main_algo-3] [INFO] [1746051334.458868885] [sailbot.main_algo]: Heading Difference: -170.1564651137054 +[main_algo-3] [INFO] [1746051334.459748473] [sailbot.main_algo]: Wind Direction: 224 +[main_algo-3] [INFO] [1746051334.460609469] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051334.461417819] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051334.462413955] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051334.463090258] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051334.502757843] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904155 Long: -76.50276779 +[main_algo-3] [INFO] [1746051334.503762188] [sailbot.main_algo]: Distance to destination: 56.80863385124768 +[vectornav-1] [INFO] [1746051334.504337971] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.06900000000002, 0.216, 6.538) +[main_algo-3] [INFO] [1746051334.505158886] [sailbot.main_algo]: Target Bearing: -142.38698889226276 +[main_algo-3] [INFO] [1746051334.506899546] [sailbot.main_algo]: Heading Difference: -170.16801110773724 +[main_algo-3] [INFO] [1746051334.508445701] [sailbot.main_algo]: Wind Direction: 224 +[main_algo-3] [INFO] [1746051334.509383206] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051334.510227641] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051334.511978908] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051334.544812212] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051334.545513857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051334.546099610] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051334.547458200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051334.548579428] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051334.585858113] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051334.588468906] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051334.589427889] [sailbot.teensy]: Wind angle: 226 +[mux-7] [INFO] [1746051334.589729727] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051334.590470418] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051334.591397688] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051334.592323851] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051334.645241512] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051334.646118835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051334.646653419] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051334.648005902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051334.649182581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051334.744924234] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051334.745668544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051334.746228913] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051334.747532233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051334.748586876] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051334.835388462] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051334.837339340] [sailbot.teensy]: Wind angle: 227 +[trim_sail-4] [INFO] [1746051334.837708890] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051334.838333072] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051334.839255763] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051334.839316239] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051334.840208480] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051334.844474369] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051334.844923951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051334.845691547] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051334.846653587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051334.847691511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051334.944879654] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051334.945617162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051334.946300536] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051334.947648238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051334.948832350] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051334.957075823] [sailbot.main_algo]: Wind Direction: 227 +[main_algo-3] [INFO] [1746051334.958079781] [sailbot.main_algo]: Target Bearing: -142.38698889226276 +[main_algo-3] [INFO] [1746051334.958982910] [sailbot.main_algo]: Heading Difference: -171.54401110773722 +[main_algo-3] [INFO] [1746051334.959837632] [sailbot.main_algo]: Wind Direction: 227 +[main_algo-3] [INFO] [1746051334.960719749] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051334.961554946] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051334.962560587] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051334.963309937] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051335.002848955] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904154 Long: -76.5027677 +[main_algo-3] [INFO] [1746051335.003800773] [sailbot.main_algo]: Distance to destination: 56.813721823912296 +[vectornav-1] [INFO] [1746051335.004004034] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.06299999999999, -0.926, 4.417) +[main_algo-3] [INFO] [1746051335.004961231] [sailbot.main_algo]: Target Bearing: -142.3925225652448 +[main_algo-3] [INFO] [1746051335.005915102] [sailbot.main_algo]: Heading Difference: -171.53847743475518 +[main_algo-3] [INFO] [1746051335.006818700] [sailbot.main_algo]: Wind Direction: 227 +[main_algo-3] [INFO] [1746051335.007726143] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051335.008627677] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051335.010275777] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051335.045164771] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051335.046047835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051335.046674538] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051335.048211092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051335.049378860] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051335.085210543] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051335.086804036] [sailbot.teensy]: Wind angle: 227 +[teensy-2] [INFO] [1746051335.087659339] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051335.087127568] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051335.088510648] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051335.088612629] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051335.089417225] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051335.144804777] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051335.145465908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051335.145972834] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051335.147300679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051335.148321860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051335.244771560] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051335.245434301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051335.245937364] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051335.247285325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051335.248400649] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051335.335465385] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051335.337518788] [sailbot.teensy]: Wind angle: 227 +[trim_sail-4] [INFO] [1746051335.337933887] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051335.338880424] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051335.339868246] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051335.340801285] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051335.341642056] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051335.344299404] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051335.344862711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051335.345400953] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051335.346544409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051335.347540412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051335.445163242] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051335.445884293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051335.446727460] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051335.447571853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051335.448110334] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051335.457151434] [sailbot.main_algo]: Wind Direction: 227 +[main_algo-3] [INFO] [1746051335.458270252] [sailbot.main_algo]: Target Bearing: -142.3925225652448 +[main_algo-3] [INFO] [1746051335.459219210] [sailbot.main_algo]: Heading Difference: -170.5444774347552 +[main_algo-3] [INFO] [1746051335.460116188] [sailbot.main_algo]: Wind Direction: 227 +[main_algo-3] [INFO] [1746051335.461019876] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051335.461874046] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051335.462958001] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051335.463407318] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051335.502653123] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904152 Long: -76.50276799 +[main_algo-3] [INFO] [1746051335.503556717] [sailbot.main_algo]: Distance to destination: 56.79370781393503 +[vectornav-1] [INFO] [1746051335.503704191] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.07900000000001, 0.236, 5.207) +[main_algo-3] [INFO] [1746051335.504769846] [sailbot.main_algo]: Target Bearing: -142.37925841406332 +[main_algo-3] [INFO] [1746051335.505776544] [sailbot.main_algo]: Heading Difference: -170.5577415859367 +[main_algo-3] [INFO] [1746051335.506670477] [sailbot.main_algo]: Wind Direction: 227 +[main_algo-3] [INFO] [1746051335.507525939] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051335.508378330] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051335.510048671] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051335.545077400] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051335.545896855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051335.546467435] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051335.547878580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051335.548882836] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051335.585252429] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051335.587428151] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051335.588213967] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051335.588310070] [sailbot.teensy]: Wind angle: 225 +[teensy-2] [INFO] [1746051335.589362833] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051335.590230353] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051335.591059082] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051335.645027103] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051335.645606711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051335.646352373] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051335.647469831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051335.648532552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051335.744932475] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051335.745610016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051335.746230693] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051335.747600704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051335.748805349] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051335.835337301] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051335.837067147] [sailbot.teensy]: Wind angle: 225 +[trim_sail-4] [INFO] [1746051335.837587629] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051335.838007134] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051335.839563669] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051335.839829644] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051335.840470488] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051335.844500777] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051335.844954770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051335.845667803] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051335.846729918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051335.847785753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051335.943691948] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051335.944045038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051335.944215013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051335.944842878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051335.945305280] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051335.956288571] [sailbot.main_algo]: Wind Direction: 225 +[main_algo-3] [INFO] [1746051335.956766100] [sailbot.main_algo]: Target Bearing: -142.37925841406332 +[main_algo-3] [INFO] [1746051335.957185066] [sailbot.main_algo]: Heading Difference: -170.54174158593668 +[main_algo-3] [INFO] [1746051335.957579018] [sailbot.main_algo]: Wind Direction: 225 +[main_algo-3] [INFO] [1746051335.957966144] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051335.958363114] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051335.958848896] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051335.959195872] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051336.002812452] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690416 Long: -76.5027682 +[main_algo-3] [INFO] [1746051336.003880824] [sailbot.main_algo]: Distance to destination: 56.78577031897683 +[vectornav-1] [INFO] [1746051336.003973819] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.908000000000015, -0.976, 5.906) +[main_algo-3] [INFO] [1746051336.005059554] [sailbot.main_algo]: Target Bearing: -142.36137844536765 +[main_algo-3] [INFO] [1746051336.006062256] [sailbot.main_algo]: Heading Difference: -170.55962155463237 +[main_algo-3] [INFO] [1746051336.007070627] [sailbot.main_algo]: Wind Direction: 225 +[main_algo-3] [INFO] [1746051336.007951007] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051336.009588627] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051336.011275292] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051336.045163168] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051336.045540778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051336.046508725] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051336.047498542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051336.048615103] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051336.084895687] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051336.086806792] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051336.087112916] [sailbot.teensy]: Wind angle: 224 +[mux-7] [INFO] [1746051336.087999880] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051336.088032045] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051336.088911118] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051336.089720366] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051336.144921006] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051336.145549458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051336.146205037] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051336.147571878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051336.148573621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051336.245096811] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051336.245819616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051336.246531842] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051336.247965832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051336.248434915] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051336.335508389] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051336.337915326] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051336.337944703] [sailbot.teensy]: Wind angle: 224 +[teensy-2] [INFO] [1746051336.338954104] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051336.339352421] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051336.339842560] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051336.340769809] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051336.344534639] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051336.345004251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051336.345712276] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051336.346751927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051336.347875084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051336.443952639] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051336.444171090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051336.444702657] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051336.445703121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051336.446702330] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051336.456840929] [sailbot.main_algo]: Wind Direction: 224 +[main_algo-3] [INFO] [1746051336.457944307] [sailbot.main_algo]: Target Bearing: -142.36137844536765 +[main_algo-3] [INFO] [1746051336.458903948] [sailbot.main_algo]: Heading Difference: -171.7306215546323 +[main_algo-3] [INFO] [1746051336.459523884] [sailbot.main_algo]: Wind Direction: 224 +[main_algo-3] [INFO] [1746051336.460166394] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051336.460731664] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051336.461822036] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051336.462132932] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051336.502626913] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904169 Long: -76.50276801 +[main_algo-3] [INFO] [1746051336.503575861] [sailbot.main_algo]: Distance to destination: 56.8042134699621 +[vectornav-1] [INFO] [1746051336.503730452] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.89100000000002, -0.143, 4.486) +[main_algo-3] [INFO] [1746051336.504654644] [sailbot.main_algo]: Target Bearing: -142.36334737545138 +[main_algo-3] [INFO] [1746051336.505536295] [sailbot.main_algo]: Heading Difference: -171.7286526245486 +[main_algo-3] [INFO] [1746051336.506380383] [sailbot.main_algo]: Wind Direction: 224 +[main_algo-3] [INFO] [1746051336.507192968] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051336.507973166] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051336.509558536] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051336.544998824] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051336.545606901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051336.546325383] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051336.547493514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051336.548541910] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051336.585233592] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051336.586741625] [sailbot.teensy]: Wind angle: 224 +[trim_sail-4] [INFO] [1746051336.587119586] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051336.587721380] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051336.588719353] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051336.589684329] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051336.590030202] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051336.645127628] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051336.645595966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051336.646621008] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051336.647626889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051336.648836660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051336.745240649] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051336.745738058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051336.746738917] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051336.747703731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051336.748790842] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051336.835372532] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051336.837065315] [sailbot.teensy]: Wind angle: 224 +[teensy-2] [INFO] [1746051336.838025252] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051336.837561846] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051336.838937008] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051336.839712977] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051336.839824195] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051336.844314893] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051336.845085382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051336.845466010] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051336.846748324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051336.847718288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051336.945141634] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051336.945920748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051336.946674030] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051336.947885158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051336.949076100] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051336.957258301] [sailbot.main_algo]: Wind Direction: 224 +[main_algo-3] [INFO] [1746051336.958377630] [sailbot.main_algo]: Target Bearing: -142.36334737545138 +[main_algo-3] [INFO] [1746051336.959351646] [sailbot.main_algo]: Heading Difference: -171.7456526245486 +[main_algo-3] [INFO] [1746051336.960267525] [sailbot.main_algo]: Wind Direction: 224 +[main_algo-3] [INFO] [1746051336.961162929] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051336.962087480] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051336.963127186] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051336.963628130] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051337.002952391] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904167 Long: -76.50276817 +[main_algo-3] [INFO] [1746051337.003795464] [sailbot.main_algo]: Distance to destination: 56.79255258703665 +[vectornav-1] [INFO] [1746051337.004088716] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.822, -0.368, 5.318) +[main_algo-3] [INFO] [1746051337.004950826] [sailbot.main_algo]: Target Bearing: -142.35680789106155 +[main_algo-3] [INFO] [1746051337.006014262] [sailbot.main_algo]: Heading Difference: -171.7521921089384 +[main_algo-3] [INFO] [1746051337.006904874] [sailbot.main_algo]: Wind Direction: 224 +[main_algo-3] [INFO] [1746051337.007801267] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051337.008750130] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051337.010511460] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051337.045240258] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051337.045678405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051337.046600955] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051337.047545302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051337.048567869] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051337.085076623] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051337.086728138] [sailbot.teensy]: Wind angle: 224 +[trim_sail-4] [INFO] [1746051337.087221383] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051337.087926704] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051337.088325144] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051337.088799962] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051337.089703772] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051337.145327991] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051337.146170549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051337.146957682] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051337.148738419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051337.149779119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051337.245161906] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051337.245937392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051337.246603691] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051337.248100676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051337.249137070] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051337.335195119] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051337.337344442] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051337.337358068] [sailbot.teensy]: Wind angle: 224 +[mux-7] [INFO] [1746051337.338016770] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051337.338630755] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051337.339824287] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051337.340687150] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051337.344322458] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051337.344760808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051337.345695445] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051337.346426482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051337.347621194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051337.445351085] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051337.446235671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051337.447293389] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051337.448438316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051337.449348560] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051337.457064042] [sailbot.main_algo]: Wind Direction: 224 +[main_algo-3] [INFO] [1746051337.458009656] [sailbot.main_algo]: Target Bearing: -142.35680789106155 +[main_algo-3] [INFO] [1746051337.458885039] [sailbot.main_algo]: Heading Difference: -170.82119210893848 +[main_algo-3] [INFO] [1746051337.459714967] [sailbot.main_algo]: Wind Direction: 224 +[main_algo-3] [INFO] [1746051337.460576080] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051337.461379699] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051337.462337590] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051337.463074142] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051337.503393992] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904166 Long: -76.50276823 +[main_algo-3] [INFO] [1746051337.504020559] [sailbot.main_algo]: Distance to destination: 56.78800649891281 +[vectornav-1] [INFO] [1746051337.504833256] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.615999999999985, -0.084, 4.64) +[main_algo-3] [INFO] [1746051337.505085939] [sailbot.main_algo]: Target Bearing: -142.35457363435555 +[main_algo-3] [INFO] [1746051337.506245830] [sailbot.main_algo]: Heading Difference: -170.82342636564442 +[main_algo-3] [INFO] [1746051337.507190437] [sailbot.main_algo]: Wind Direction: 224 +[main_algo-3] [INFO] [1746051337.508361615] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051337.509239251] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051337.510949045] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051337.544954006] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051337.545803230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051337.546257570] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051337.547792443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051337.548785459] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051337.585446148] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051337.587905077] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051337.588557974] [sailbot.teensy]: Wind angle: 224 +[mux-7] [INFO] [1746051337.588743132] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051337.589615013] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051337.590501691] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051337.591336599] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051337.645219464] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051337.645880828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051337.646680167] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051337.647961416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051337.649022825] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051337.745220191] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051337.745874973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051337.746716703] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051337.747858684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051337.748512630] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051337.835055029] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051337.836669467] [sailbot.teensy]: Wind angle: 223 +[trim_sail-4] [INFO] [1746051337.837178541] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051337.837605336] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051337.838630273] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051337.839178690] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051337.839592534] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051337.844526029] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051337.845227606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051337.845742435] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051337.846977260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051337.848031344] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051337.945088555] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051337.945736241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051337.946435099] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051337.948022922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051337.949081008] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051337.956997282] [sailbot.main_algo]: Wind Direction: 223 +[main_algo-3] [INFO] [1746051337.958033935] [sailbot.main_algo]: Target Bearing: -142.35457363435555 +[main_algo-3] [INFO] [1746051337.958911453] [sailbot.main_algo]: Heading Difference: -171.02942636564444 +[main_algo-3] [INFO] [1746051337.959695356] [sailbot.main_algo]: Wind Direction: 223 +[main_algo-3] [INFO] [1746051337.960518714] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051337.961304678] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051337.962394154] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051337.963007291] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051338.002734279] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904172 Long: -76.50276858 +[main_algo-3] [INFO] [1746051338.003813543] [sailbot.main_algo]: Distance to destination: 56.76970243430311 +[vectornav-1] [INFO] [1746051338.003922348] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.52699999999999, -0.359, 4.872) +[main_algo-3] [INFO] [1746051338.004904435] [sailbot.main_algo]: Target Bearing: -142.33117804242775 +[main_algo-3] [INFO] [1746051338.005819158] [sailbot.main_algo]: Heading Difference: -171.0528219575723 +[main_algo-3] [INFO] [1746051338.007426772] [sailbot.main_algo]: Wind Direction: 223 +[main_algo-3] [INFO] [1746051338.008424325] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051338.009325289] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051338.011015364] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051338.045105457] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051338.045640408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051338.046422393] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051338.047665462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051338.048717853] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051338.085343984] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051338.087139101] [sailbot.teensy]: Wind angle: 222 +[teensy-2] [INFO] [1746051338.088134004] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051338.087521976] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051338.089099751] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051338.089940378] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051338.089958067] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051338.145263506] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051338.145880322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051338.146745438] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051338.148102371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051338.149293898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051338.245128455] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051338.245769743] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051338.246641698] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051338.247781423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051338.248834158] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051338.335546166] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051338.337412558] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746051338.338054048] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051338.338380921] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051338.339292957] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051338.339723137] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051338.340189204] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051338.344227121] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051338.345032333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051338.345408365] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051338.346786398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051338.347761624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051338.444840528] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051338.445454209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051338.445986513] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051338.447301134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051338.448544086] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051338.457093764] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051338.458091021] [sailbot.main_algo]: Target Bearing: -142.33117804242775 +[main_algo-3] [INFO] [1746051338.459009635] [sailbot.main_algo]: Heading Difference: -171.14182195757223 +[main_algo-3] [INFO] [1746051338.459855107] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051338.460729442] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051338.461588517] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051338.462781000] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051338.463276045] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051338.501560636] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904184 Long: -76.50276844 +[vectornav-1] [INFO] [1746051338.502109381] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.887, -0.871, 5.385) +[main_algo-3] [INFO] [1746051338.502145871] [sailbot.main_algo]: Distance to destination: 56.787017862750005 +[main_algo-3] [INFO] [1746051338.502769425] [sailbot.main_algo]: Target Bearing: -142.32794072780086 +[main_algo-3] [INFO] [1746051338.503315248] [sailbot.main_algo]: Heading Difference: -171.14505927219915 +[main_algo-3] [INFO] [1746051338.503798101] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051338.504290912] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051338.504801565] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051338.505813610] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051338.545142851] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051338.545732211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051338.546651025] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051338.547617994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051338.548645400] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051338.585169112] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051338.587628918] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051338.587846012] [sailbot.teensy]: Wind angle: 220 +[mux-7] [INFO] [1746051338.588373408] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051338.588854232] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051338.589764395] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051338.590661483] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051338.645097649] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051338.645781509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051338.646549592] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051338.647824504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051338.648998672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051338.745052485] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051338.745768708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051338.746501375] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051338.747758286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051338.748380616] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051338.835302553] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051338.837510861] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051338.838253122] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051338.838269784] [sailbot.teensy]: Wind angle: 220 +[teensy-2] [INFO] [1746051338.839322397] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051338.840092573] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051338.840455171] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051338.844400126] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051338.844940764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051338.845542484] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051338.846637325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051338.847752523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051338.944885068] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051338.945513724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051338.946193476] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051338.947337325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051338.948596387] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051338.957072355] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051338.958174621] [sailbot.main_algo]: Target Bearing: -142.32794072780086 +[main_algo-3] [INFO] [1746051338.959115607] [sailbot.main_algo]: Heading Difference: -171.78505927219913 +[main_algo-3] [INFO] [1746051338.960002337] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051338.960891933] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051338.961753603] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051338.962813300] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051338.963438940] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051339.002717045] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904201 Long: -76.50276843 +[main_algo-3] [INFO] [1746051339.003716363] [sailbot.main_algo]: Distance to destination: 56.79946264344548 +[vectornav-1] [INFO] [1746051339.004313448] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.90199999999999, 0.197, 4.864) +[main_algo-3] [INFO] [1746051339.004789449] [sailbot.main_algo]: Target Bearing: -142.31359314654208 +[main_algo-3] [INFO] [1746051339.005831154] [sailbot.main_algo]: Heading Difference: -171.79940685345792 +[main_algo-3] [INFO] [1746051339.006775698] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051339.007670764] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051339.008728653] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051339.010388008] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051339.044997565] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051339.045730835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051339.046318701] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051339.047736515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051339.048803886] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051339.085341185] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051339.087046107] [sailbot.teensy]: Wind angle: 219 +[trim_sail-4] [INFO] [1746051339.087508350] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051339.087935014] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051339.088791643] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051339.089694479] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051339.089324847] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051339.145084340] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051339.146017951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051339.146534784] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051339.148189324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051339.148680961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051339.245196355] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051339.245973560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051339.246643898] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051339.248147356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051339.249204778] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051339.335372080] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051339.337328752] [sailbot.teensy]: Wind angle: 219 +[trim_sail-4] [INFO] [1746051339.337962683] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051339.339168003] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051339.339415847] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051339.340071087] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051339.340910303] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051339.344494781] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051339.345026177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051339.345625886] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051339.346686630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051339.347715514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051339.445288364] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051339.446132641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051339.446859209] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051339.448366836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051339.449526929] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051339.457276879] [sailbot.main_algo]: Wind Direction: 219 +[main_algo-3] [INFO] [1746051339.458390352] [sailbot.main_algo]: Target Bearing: -142.31359314654208 +[main_algo-3] [INFO] [1746051339.459325861] [sailbot.main_algo]: Heading Difference: -172.78440685345794 +[main_algo-3] [INFO] [1746051339.460199790] [sailbot.main_algo]: Wind Direction: 219 +[main_algo-3] [INFO] [1746051339.461087149] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051339.461934329] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051339.463136056] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051339.463689203] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051339.502798413] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904205 Long: -76.5027685 +[main_algo-3] [INFO] [1746051339.503620047] [sailbot.main_algo]: Distance to destination: 56.79774897618489 +[vectornav-1] [INFO] [1746051339.503948337] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.577999999999975, -0.703, 5.752) +[main_algo-3] [INFO] [1746051339.504707849] [sailbot.main_algo]: Target Bearing: -142.30646559536711 +[main_algo-3] [INFO] [1746051339.505663527] [sailbot.main_algo]: Heading Difference: -172.7915344046329 +[main_algo-3] [INFO] [1746051339.506590083] [sailbot.main_algo]: Wind Direction: 219 +[main_algo-3] [INFO] [1746051339.507488701] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051339.508348229] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051339.510004519] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051339.546625522] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051339.549539434] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051339.547144237] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051339.550701476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051339.551761535] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051339.585198702] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051339.587089205] [sailbot.teensy]: Wind angle: 219 +[teensy-2] [INFO] [1746051339.588020459] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051339.587467286] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051339.588425537] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051339.588943097] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051339.589841267] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051339.645191531] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051339.645719138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051339.646719587] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051339.647733407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051339.648859279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051339.745808829] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051339.745992235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051339.747484064] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051339.748353543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051339.749362345] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051339.835106764] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051339.837248737] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051339.837869596] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051339.838434702] [sailbot.teensy]: Wind angle: 219 +[teensy-2] [INFO] [1746051339.839376577] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051339.840235860] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051339.841073105] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051339.844287368] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051339.844769927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051339.845391949] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051339.846297276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051339.847358669] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051339.944727294] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051339.945229530] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051339.946409222] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051339.947022195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051339.948065955] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051339.957185379] [sailbot.main_algo]: Wind Direction: 219 +[main_algo-3] [INFO] [1746051339.958232424] [sailbot.main_algo]: Target Bearing: -142.30646559536711 +[main_algo-3] [INFO] [1746051339.959186757] [sailbot.main_algo]: Heading Difference: -172.1155344046329 +[main_algo-3] [INFO] [1746051339.960072718] [sailbot.main_algo]: Wind Direction: 219 +[main_algo-3] [INFO] [1746051339.960963452] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051339.961807750] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051339.962831897] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051339.963448298] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051340.003067397] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904221 Long: -76.50276855 +[main_algo-3] [INFO] [1746051340.003969127] [sailbot.main_algo]: Distance to destination: 56.80565550378395 +[vectornav-1] [INFO] [1746051340.004909882] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.25200000000001, -0.298, 5.276) +[main_algo-3] [INFO] [1746051340.005310925] [sailbot.main_algo]: Target Bearing: -142.2898866952406 +[main_algo-3] [INFO] [1746051340.006516121] [sailbot.main_algo]: Heading Difference: -172.1321133047594 +[main_algo-3] [INFO] [1746051340.007458659] [sailbot.main_algo]: Wind Direction: 219 +[main_algo-3] [INFO] [1746051340.008374182] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051340.009225813] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051340.011026035] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051340.045156724] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051340.045647009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051340.046530881] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051340.047568688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051340.048728602] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051340.085266156] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051340.086853011] [sailbot.teensy]: Wind angle: 219 +[trim_sail-4] [INFO] [1746051340.087377545] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051340.087713376] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051340.088656209] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051340.089528063] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051340.089668556] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051340.145279273] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051340.146185902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051340.146868060] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051340.148740288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051340.153569482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051340.245050905] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051340.245950808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051340.246338102] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051340.247926226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051340.248944761] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051340.335652761] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051340.338900728] [sailbot.teensy]: Wind angle: 219 +[trim_sail-4] [INFO] [1746051340.338939991] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051340.339933914] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051340.339997887] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051340.340931334] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051340.341886691] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051340.344380207] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051340.344924392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051340.345516533] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051340.346656725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051340.347622343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051340.444899639] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051340.445693163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051340.446104454] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051340.447542072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051340.448565572] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051340.457189625] [sailbot.main_algo]: Wind Direction: 219 +[main_algo-3] [INFO] [1746051340.458224133] [sailbot.main_algo]: Target Bearing: -142.2898866952406 +[main_algo-3] [INFO] [1746051340.459148212] [sailbot.main_algo]: Heading Difference: -171.45811330475942 +[main_algo-3] [INFO] [1746051340.460015924] [sailbot.main_algo]: Wind Direction: 219 +[main_algo-3] [INFO] [1746051340.461007479] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051340.461853996] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051340.462942656] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051340.463964809] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051340.503620346] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904245 Long: -76.50276848 +[main_algo-3] [INFO] [1746051340.503903000] [sailbot.main_algo]: Distance to destination: 56.826822673206976 +[vectornav-1] [INFO] [1746051340.504909780] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.995000000000005, -0.113, 4.933) +[main_algo-3] [INFO] [1746051340.505410049] [sailbot.main_algo]: Target Bearing: -142.2725509283491 +[main_algo-3] [INFO] [1746051340.506402163] [sailbot.main_algo]: Heading Difference: -171.47544907165093 +[main_algo-3] [INFO] [1746051340.507334695] [sailbot.main_algo]: Wind Direction: 219 +[main_algo-3] [INFO] [1746051340.508457270] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051340.509335159] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051340.511050808] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051340.544264211] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051340.544732769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051340.545103604] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051340.546466658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051340.547633893] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051340.584523305] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051340.585690340] [sailbot.teensy]: Wind angle: 219 +[trim_sail-4] [INFO] [1746051340.585735123] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051340.586203448] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051340.586269879] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051340.586805616] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051340.587223200] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051340.645058678] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051340.646035301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051340.646440728] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051340.648034117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051340.649104822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051340.744762788] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051340.745485528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051340.745994139] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051340.747366538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051340.748421921] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051340.835070356] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051340.837106286] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051340.837296522] [sailbot.teensy]: Wind angle: 219 +[teensy-2] [INFO] [1746051340.838187441] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051340.838353538] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051340.839080345] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051340.839450439] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051340.844685890] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051340.845056120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051340.846010249] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051340.846752161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051340.847806602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051340.945424006] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051340.946073564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051340.947066457] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051340.948430990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051340.949662938] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051340.957121178] [sailbot.main_algo]: Wind Direction: 219 +[main_algo-3] [INFO] [1746051340.958153983] [sailbot.main_algo]: Target Bearing: -142.2725509283491 +[main_algo-3] [INFO] [1746051340.959041937] [sailbot.main_algo]: Heading Difference: -172.73244907165088 +[main_algo-3] [INFO] [1746051340.959916280] [sailbot.main_algo]: Wind Direction: 219 +[main_algo-3] [INFO] [1746051340.960793376] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051340.961611480] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051340.962600315] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051340.963225247] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051341.002884254] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904251 Long: -76.50276854 +[main_algo-3] [INFO] [1746051341.003727795] [sailbot.main_algo]: Distance to destination: 56.82714558983093 +[vectornav-1] [INFO] [1746051341.004422145] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.91300000000001, -0.399, 6.04) +[main_algo-3] [INFO] [1746051341.004891892] [sailbot.main_algo]: Target Bearing: -142.2641978963327 +[main_algo-3] [INFO] [1746051341.005792609] [sailbot.main_algo]: Heading Difference: -172.7408021036673 +[main_algo-3] [INFO] [1746051341.006637715] [sailbot.main_algo]: Wind Direction: 219 +[main_algo-3] [INFO] [1746051341.007449474] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051341.008242212] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051341.009879884] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051341.045106892] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051341.045856749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051341.046551217] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051341.048213459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051341.049222610] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051341.085393334] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051341.087837225] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051341.088330365] [sailbot.teensy]: Wind angle: 219 +[teensy-2] [INFO] [1746051341.089295715] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051341.089476745] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051341.090222894] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051341.091069956] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051341.145137778] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051341.145712008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051341.146505031] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051341.147611146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051341.148683688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051341.245133371] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051341.245607966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051341.246590330] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051341.247607898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051341.248814445] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051341.335207413] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051341.336893880] [sailbot.teensy]: Wind angle: 220 +[teensy-2] [INFO] [1746051341.337795832] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051341.337392746] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051341.337930442] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051341.338713534] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051341.339568659] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051341.344606784] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051341.345103744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051341.345810212] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051341.346777531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051341.347821385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051341.445149527] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051341.445622558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051341.446498805] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051341.447543477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051341.448766452] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051341.457038472] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051341.457974496] [sailbot.main_algo]: Target Bearing: -142.2641978963327 +[main_algo-3] [INFO] [1746051341.458782541] [sailbot.main_algo]: Heading Difference: -171.8228021036673 +[main_algo-3] [INFO] [1746051341.459618127] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051341.460432568] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051341.461236855] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051341.462343224] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051341.462830128] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051341.502748633] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690426 Long: -76.50276854 +[vectornav-1] [INFO] [1746051341.503896003] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.46500000000003, -0.575, 4.562) +[main_algo-3] [INFO] [1746051341.503994831] [sailbot.main_algo]: Distance to destination: 56.833402494020945 +[main_algo-3] [INFO] [1746051341.505188395] [sailbot.main_algo]: Target Bearing: -142.25633936658662 +[main_algo-3] [INFO] [1746051341.506161838] [sailbot.main_algo]: Heading Difference: -171.83066063341334 +[main_algo-3] [INFO] [1746051341.507070491] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051341.507932447] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051341.508793794] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051341.510459713] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051341.545091305] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051341.545842270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051341.546548160] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051341.547902788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051341.549053145] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051341.585074610] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051341.587089669] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051341.588126458] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051341.588246647] [sailbot.teensy]: Wind angle: 221 +[teensy-2] [INFO] [1746051341.589149597] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051341.590033410] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051341.590913849] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051341.644850123] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051341.645379735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051341.646219584] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051341.647308119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051341.648454679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051341.745228969] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051341.746127350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051341.746701563] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051341.747752440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051341.748305732] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051341.835351482] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051341.837151912] [sailbot.teensy]: Wind angle: 221 +[trim_sail-4] [INFO] [1746051341.837710623] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051341.838083264] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051341.839038187] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051341.839893504] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051341.839907610] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051341.844354273] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051341.844939181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051341.845528736] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051341.846650722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051341.847822532] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051341.945577224] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051341.946646114] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051341.947442867] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051341.949138938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051341.950328873] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051341.957147063] [sailbot.main_algo]: Wind Direction: 221 +[main_algo-3] [INFO] [1746051341.958183994] [sailbot.main_algo]: Target Bearing: -142.25633936658662 +[main_algo-3] [INFO] [1746051341.959092221] [sailbot.main_algo]: Heading Difference: -172.27866063341332 +[main_algo-3] [INFO] [1746051341.959964023] [sailbot.main_algo]: Wind Direction: 221 +[main_algo-3] [INFO] [1746051341.960865290] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051341.961714856] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051341.962933416] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051341.963436412] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051342.002814412] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904282 Long: -76.50276868 +[main_algo-3] [INFO] [1746051342.003676640] [sailbot.main_algo]: Distance to destination: 56.83972825816632 +[vectornav-1] [INFO] [1746051342.003936669] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.47000000000003, -0.655, 5.04) +[main_algo-3] [INFO] [1746051342.004810014] [sailbot.main_algo]: Target Bearing: -142.22986967422025 +[main_algo-3] [INFO] [1746051342.005737959] [sailbot.main_algo]: Heading Difference: -172.30513032577971 +[main_algo-3] [INFO] [1746051342.006667437] [sailbot.main_algo]: Wind Direction: 221 +[main_algo-3] [INFO] [1746051342.007535639] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051342.008434184] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051342.010129506] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051342.045076504] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051342.045760681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051342.046364355] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051342.047661150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051342.048809913] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051342.085286213] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051342.087072072] [sailbot.teensy]: Wind angle: 222 +[trim_sail-4] [INFO] [1746051342.087555432] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051342.088017509] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051342.088914734] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051342.089056017] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051342.089747434] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051342.145101386] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051342.145919510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051342.146467427] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051342.147798333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051342.148953093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051342.245481858] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051342.246312741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051342.247127247] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051342.248533784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051342.249685788] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051342.335405102] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051342.337284594] [sailbot.teensy]: Wind angle: 222 +[teensy-2] [INFO] [1746051342.338227623] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051342.338228714] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051342.339045140] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051342.339129332] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051342.340052487] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051342.344440690] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051342.345126489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051342.345749049] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051342.347118435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051342.348300168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051342.444770594] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051342.445484786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051342.446015002] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051342.447345935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051342.448382589] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051342.457000401] [sailbot.main_algo]: Wind Direction: 222 +[main_algo-3] [INFO] [1746051342.457974749] [sailbot.main_algo]: Target Bearing: -142.22986967422025 +[main_algo-3] [INFO] [1746051342.458818611] [sailbot.main_algo]: Heading Difference: -172.30013032577972 +[main_algo-3] [INFO] [1746051342.459649355] [sailbot.main_algo]: Wind Direction: 222 +[main_algo-3] [INFO] [1746051342.460467821] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051342.461273581] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051342.462416516] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051342.462840501] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051342.502853590] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904304 Long: -76.50276876 +[main_algo-3] [INFO] [1746051342.503920333] [sailbot.main_algo]: Distance to destination: 56.84991035076541 +[vectornav-1] [INFO] [1746051342.504086326] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.464, 0.175, 4.257) +[main_algo-3] [INFO] [1746051342.505151062] [sailbot.main_algo]: Target Bearing: -142.20652213314293 +[main_algo-3] [INFO] [1746051342.506201294] [sailbot.main_algo]: Heading Difference: -172.32347786685705 +[main_algo-3] [INFO] [1746051342.507130045] [sailbot.main_algo]: Wind Direction: 222 +[main_algo-3] [INFO] [1746051342.508137934] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051342.509026046] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051342.510853767] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051342.545132125] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051342.545929754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051342.546595154] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051342.548077022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051342.549245275] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051342.585291269] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051342.587116600] [sailbot.teensy]: Wind angle: 221 +[teensy-2] [INFO] [1746051342.587996596] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051342.587427133] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051342.588896134] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051342.589206609] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051342.590155491] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051342.644121907] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051342.644710030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051342.645249929] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051342.646318484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051342.647438791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051342.744894391] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051342.745493003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051342.746109076] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051342.747268993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051342.748547989] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051342.835496403] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051342.838022726] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051342.838987154] [sailbot.teensy]: Wind angle: 221 +[teensy-2] [INFO] [1746051342.839929342] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051342.840285346] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051342.840858841] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051342.841697667] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051342.844272469] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051342.844885705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051342.845436348] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051342.846619442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051342.847734824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051342.945139797] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051342.945782610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051342.946734751] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051342.947619191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051342.948175554] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051342.957142165] [sailbot.main_algo]: Wind Direction: 221 +[main_algo-3] [INFO] [1746051342.958176570] [sailbot.main_algo]: Target Bearing: -142.20652213314293 +[main_algo-3] [INFO] [1746051342.959061489] [sailbot.main_algo]: Heading Difference: -173.32947786685708 +[main_algo-3] [INFO] [1746051342.959923856] [sailbot.main_algo]: Wind Direction: 221 +[main_algo-3] [INFO] [1746051342.960734992] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051342.961538693] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051342.962526370] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051342.963205438] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051343.002979114] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904324 Long: -76.50276888 +[main_algo-3] [INFO] [1746051343.003670055] [sailbot.main_algo]: Distance to destination: 56.856147111476986 +[vectornav-1] [INFO] [1746051343.004387572] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.622000000000014, -0.515, 5.819) +[main_algo-3] [INFO] [1746051343.004847393] [sailbot.main_algo]: Target Bearing: -142.18284842876747 +[main_algo-3] [INFO] [1746051343.005830514] [sailbot.main_algo]: Heading Difference: -173.3531515712325 +[main_algo-3] [INFO] [1746051343.006710824] [sailbot.main_algo]: Wind Direction: 221 +[main_algo-3] [INFO] [1746051343.007592352] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051343.008483055] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051343.010257463] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051343.044890100] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051343.045725884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051343.046411035] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051343.047602345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051343.048650874] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051343.085329037] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051343.087468880] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051343.087528266] [sailbot.teensy]: Wind angle: 222 +[mux-7] [INFO] [1746051343.088230855] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051343.088682261] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051343.089748973] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051343.090587249] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051343.145079697] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051343.145976666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051343.146550726] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051343.148139269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051343.149243235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051343.245334071] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051343.246038773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051343.246903018] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051343.248282514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051343.249486852] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051343.335437492] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051343.337683989] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051343.338014057] [sailbot.teensy]: Wind angle: 221 +[teensy-2] [INFO] [1746051343.338939605] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051343.339113075] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051343.339796468] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051343.340722702] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051343.344378921] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051343.344889149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051343.345441815] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051343.346600981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051343.347670480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051343.445100117] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051343.446014675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051343.446409405] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051343.447861712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051343.448881763] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051343.457327171] [sailbot.main_algo]: Wind Direction: 221 +[main_algo-3] [INFO] [1746051343.458345906] [sailbot.main_algo]: Target Bearing: -142.18284842876747 +[main_algo-3] [INFO] [1746051343.459243294] [sailbot.main_algo]: Heading Difference: -174.1951515712325 +[main_algo-3] [INFO] [1746051343.460137065] [sailbot.main_algo]: Wind Direction: 221 +[main_algo-3] [INFO] [1746051343.461034344] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051343.461893434] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051343.462955492] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051343.463567738] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051343.502664822] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904319 Long: -76.50276909 +[main_algo-3] [INFO] [1746051343.503711955] [sailbot.main_algo]: Distance to destination: 56.83921506332459 +[vectornav-1] [INFO] [1746051343.503782604] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.918000000000006, -0.818, 5.076) +[main_algo-3] [INFO] [1746051343.504922333] [sailbot.main_algo]: Target Bearing: -142.17629504438463 +[main_algo-3] [INFO] [1746051343.505894644] [sailbot.main_algo]: Heading Difference: -174.20170495561536 +[main_algo-3] [INFO] [1746051343.507456857] [sailbot.main_algo]: Wind Direction: 221 +[main_algo-3] [INFO] [1746051343.508588301] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051343.509466993] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051343.511128162] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051343.544967971] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051343.545639117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051343.546290911] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051343.547796099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051343.548836281] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051343.585369974] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051343.587902709] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051343.588034892] [sailbot.teensy]: Wind angle: 221 +[mux-7] [INFO] [1746051343.588287269] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051343.589239960] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051343.590129560] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051343.590957826] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051343.645178618] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051343.645705095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051343.646498591] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051343.647647564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051343.648114718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051343.744898963] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051343.745547274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051343.746223307] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051343.747437294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051343.748515333] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051343.835222538] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051343.837594316] [sailbot.teensy]: Wind angle: 221 +[trim_sail-4] [INFO] [1746051343.837727740] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051343.839411582] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051343.840030639] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051343.840828804] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051343.841529984] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051343.844389798] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051343.844964472] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051343.845532402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051343.846659518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051343.847755948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051343.945447281] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051343.946583896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051343.947487781] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051343.948725257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051343.949279714] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051343.957423878] [sailbot.main_algo]: Wind Direction: 221 +[main_algo-3] [INFO] [1746051343.958553908] [sailbot.main_algo]: Target Bearing: -142.17629504438463 +[main_algo-3] [INFO] [1746051343.959526315] [sailbot.main_algo]: Heading Difference: -172.90570495561536 +[main_algo-3] [INFO] [1746051343.960403840] [sailbot.main_algo]: Wind Direction: 221 +[main_algo-3] [INFO] [1746051343.961293787] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051343.962132624] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051343.963222830] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051343.963915375] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051344.002890778] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904338 Long: -76.50276938 +[vectornav-1] [INFO] [1746051344.004073167] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.52999999999997, 0.176, 4.7) +[main_algo-3] [INFO] [1746051344.004293431] [sailbot.main_algo]: Distance to destination: 56.833884044172905 +[main_algo-3] [INFO] [1746051344.005887859] [sailbot.main_algo]: Target Bearing: -142.14465039667462 +[main_algo-3] [INFO] [1746051344.006866933] [sailbot.main_algo]: Heading Difference: -172.9373496033254 +[main_algo-3] [INFO] [1746051344.007769156] [sailbot.main_algo]: Wind Direction: 221 +[main_algo-3] [INFO] [1746051344.008675053] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051344.009528600] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051344.011183310] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051344.045091865] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051344.045767334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051344.046516550] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051344.047652343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051344.048817217] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051344.085384744] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051344.087303978] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746051344.087850833] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051344.088300862] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051344.089191596] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051344.089429871] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051344.090063376] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051344.145157847] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051344.145913793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051344.146636561] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051344.147998506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051344.149243426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051344.245084886] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051344.245848058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051344.246563089] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051344.247978174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051344.248433102] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051344.335368785] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051344.337154553] [sailbot.teensy]: Wind angle: 220 +[teensy-2] [INFO] [1746051344.338075607] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051344.337659979] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051344.338963971] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051344.339145144] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051344.339855487] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051344.344399724] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051344.345155169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051344.345518094] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051344.347002616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051344.348053017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051344.444894529] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051344.445545470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051344.446125897] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051344.447457073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051344.448018465] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051344.457175507] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051344.458273705] [sailbot.main_algo]: Target Bearing: -142.14465039667462 +[main_algo-3] [INFO] [1746051344.459181625] [sailbot.main_algo]: Heading Difference: -173.32534960332544 +[main_algo-3] [INFO] [1746051344.460070433] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051344.460899674] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051344.461689995] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051344.462704764] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051344.463454023] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051344.502887928] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904343 Long: -76.50276976 +[main_algo-3] [INFO] [1746051344.503928420] [sailbot.main_algo]: Distance to destination: 56.81304791227772 +[vectornav-1] [INFO] [1746051344.504089082] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.44499999999999, -0.93, 6.348) +[main_algo-3] [INFO] [1746051344.505129461] [sailbot.main_algo]: Target Bearing: -142.12051605366892 +[main_algo-3] [INFO] [1746051344.506077626] [sailbot.main_algo]: Heading Difference: -173.34948394633113 +[main_algo-3] [INFO] [1746051344.506986231] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051344.507866600] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051344.508724557] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051344.510400216] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051344.544809205] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051344.545522193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051344.546059284] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051344.547430666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051344.548457258] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051344.585426517] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051344.587600423] [sailbot.teensy]: Wind angle: 221 +[trim_sail-4] [INFO] [1746051344.587679570] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051344.588542719] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051344.588575436] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051344.589445746] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051344.590351145] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051344.645256721] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051344.646036352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051344.646824502] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051344.648190865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051344.649424830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051344.743755685] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051344.744319268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051344.744606324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051344.745552528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051344.746414469] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051344.835289361] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051344.837534177] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051344.837985973] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051344.838783737] [sailbot.teensy]: Wind angle: 221 +[teensy-2] [INFO] [1746051344.839225673] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051344.839658841] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051344.840024559] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051344.844329021] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051344.844761689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051344.845393861] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051344.846256034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051344.847365902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051344.945005646] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051344.945556327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051344.946774484] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051344.947456875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051344.948698682] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051344.957169272] [sailbot.main_algo]: Wind Direction: 221 +[main_algo-3] [INFO] [1746051344.958217848] [sailbot.main_algo]: Target Bearing: -142.12051605366892 +[main_algo-3] [INFO] [1746051344.959160575] [sailbot.main_algo]: Heading Difference: -174.43448394633106 +[main_algo-3] [INFO] [1746051344.960056866] [sailbot.main_algo]: Wind Direction: 221 +[main_algo-3] [INFO] [1746051344.960936433] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051344.961775228] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051344.962927387] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051344.963851378] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051345.002754726] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690435 Long: -76.50276974 +[main_algo-3] [INFO] [1746051345.003600291] [sailbot.main_algo]: Distance to destination: 56.81920926646571 +[vectornav-1] [INFO] [1746051345.003862356] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.89100000000002, 0.313, 4.224) +[main_algo-3] [INFO] [1746051345.004778132] [sailbot.main_algo]: Target Bearing: -142.11545584145995 +[main_algo-3] [INFO] [1746051345.005811938] [sailbot.main_algo]: Heading Difference: -174.43954415854006 +[main_algo-3] [INFO] [1746051345.006700886] [sailbot.main_algo]: Wind Direction: 221 +[main_algo-3] [INFO] [1746051345.007557089] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051345.008415867] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051345.010156813] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051345.044973741] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051345.045591120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051345.046438657] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051345.047993254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051345.049065820] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051345.085413384] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051345.087665124] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051345.088419906] [sailbot.teensy]: Wind angle: 220 +[mux-7] [INFO] [1746051345.089057214] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051345.089408391] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051345.090344536] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051345.091207266] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051345.144951123] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051345.145596273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051345.146206457] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051345.147636133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051345.148806355] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051345.244941199] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051345.245598917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051345.246179303] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051345.247486409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051345.248591283] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051345.335342358] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051345.337592717] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051345.338004683] [sailbot.teensy]: Wind angle: 220 +[mux-7] [INFO] [1746051345.338868433] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051345.339046257] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051345.339991240] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051345.340579674] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051345.344394809] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051345.344964681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051345.345639542] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051345.346744829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051345.347766888] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051345.444962900] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051345.445545417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051345.446218859] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051345.447293051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051345.448416351] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051345.457283788] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051345.458301483] [sailbot.main_algo]: Target Bearing: -142.11545584145995 +[main_algo-3] [INFO] [1746051345.459204579] [sailbot.main_algo]: Heading Difference: -175.99354415854003 +[main_algo-3] [INFO] [1746051345.460025319] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051345.460834530] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051345.461641031] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051345.462639937] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051345.463217710] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051345.502936612] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904373 Long: -76.50277015 +[main_algo-3] [INFO] [1746051345.503925184] [sailbot.main_algo]: Distance to destination: 56.80902860840516 +[vectornav-1] [INFO] [1746051345.504574027] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.65199999999999, -0.296, 4.88) +[main_algo-3] [INFO] [1746051345.505202181] [sailbot.main_algo]: Target Bearing: -142.0740558709884 +[main_algo-3] [INFO] [1746051345.506199727] [sailbot.main_algo]: Heading Difference: -176.0349441290116 +[main_algo-3] [INFO] [1746051345.507170291] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051345.508053957] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051345.508968595] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051345.510724812] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051345.545091035] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051345.545841536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051345.546522382] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051345.547844285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051345.549012691] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051345.585290427] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051345.587429887] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051345.588562244] [sailbot.teensy]: Wind angle: 220 +[mux-7] [INFO] [1746051345.589012326] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051345.589572614] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051345.590548352] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051345.591399457] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051345.645012652] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051345.646083244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051345.646380158] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051345.648051188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051345.649144460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051345.744955396] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051345.745545537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051345.746432617] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051345.747306754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051345.748481021] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051345.835232100] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051345.837401377] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051345.837977299] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051345.838326431] [sailbot.teensy]: Wind angle: 220 +[teensy-2] [INFO] [1746051345.839261141] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051345.840213423] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051345.841074245] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051345.844324386] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051345.844831108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051345.845503697] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051345.846538222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051345.847480746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051345.945058155] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051345.945720037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051345.946401998] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051345.947611520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051345.948636981] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051345.957057343] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051345.958122316] [sailbot.main_algo]: Target Bearing: -142.0740558709884 +[main_algo-3] [INFO] [1746051345.959016532] [sailbot.main_algo]: Heading Difference: -174.27394412901162 +[main_algo-3] [INFO] [1746051345.959862897] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051345.960744904] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051345.961562943] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051345.962573279] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051345.963206048] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051346.003002885] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904366 Long: -76.5027701 +[main_algo-3] [INFO] [1746051346.003731951] [sailbot.main_algo]: Distance to destination: 56.80734070837151 +[vectornav-1] [INFO] [1746051346.004402143] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.20999999999998, -1.106, 5.679) +[main_algo-3] [INFO] [1746051346.004912161] [sailbot.main_algo]: Target Bearing: -142.08276065588166 +[main_algo-3] [INFO] [1746051346.005963807] [sailbot.main_algo]: Heading Difference: -174.26523934411836 +[main_algo-3] [INFO] [1746051346.006910892] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051346.007803418] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051346.008657523] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051346.010404201] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051346.045007200] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051346.045679182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051346.046277838] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051346.047491603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051346.048726042] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051346.085373340] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051346.087375857] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746051346.087851136] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051346.088336665] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051346.089241880] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051346.089269448] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051346.090219321] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051346.145592469] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051346.147481659] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051346.148636918] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051346.150388984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051346.157952939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051346.244792115] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051346.245221614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051346.246011991] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051346.246985439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051346.247943661] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051346.335367898] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051346.337337760] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746051346.337810062] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051346.338316260] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051346.339194530] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051346.339184875] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051346.340282286] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051346.344464528] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051346.345030422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051346.345924909] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051346.346825592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051346.347958930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051346.445243106] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051346.445965314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051346.446576013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051346.448634936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051346.450509868] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051346.456902455] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051346.457832319] [sailbot.main_algo]: Target Bearing: -142.08276065588166 +[main_algo-3] [INFO] [1746051346.458695189] [sailbot.main_algo]: Heading Difference: -175.70723934411836 +[main_algo-3] [INFO] [1746051346.459535865] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051346.460487238] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051346.461370357] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051346.462364169] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051346.463078587] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051346.502331419] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904397 Long: -76.50277018 +[main_algo-3] [INFO] [1746051346.503193585] [sailbot.main_algo]: Distance to destination: 56.82386695954306 +[vectornav-1] [INFO] [1746051346.503285803] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.43099999999998, -0.026, 4.787) +[main_algo-3] [INFO] [1746051346.504173553] [sailbot.main_algo]: Target Bearing: -142.05158900586648 +[main_algo-3] [INFO] [1746051346.505066870] [sailbot.main_algo]: Heading Difference: -175.73841099413357 +[main_algo-3] [INFO] [1746051346.505919465] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051346.506774878] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051346.507590306] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051346.509484947] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051346.544853753] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051346.545527442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051346.546133527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051346.547333472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051346.548517989] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051346.585073640] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051346.587135201] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051346.587133160] [sailbot.teensy]: Wind angle: 220 +[teensy-2] [INFO] [1746051346.588232232] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051346.588478502] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051346.589225748] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051346.590103237] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051346.645010340] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051346.645851050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051346.646375919] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051346.647876364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051346.649046193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051346.745367402] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051346.746819214] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051346.747803622] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051346.750300658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051346.751561080] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051346.835092242] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051346.836585068] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746051346.837172429] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051346.838378687] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051346.838477376] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051346.839420535] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051346.840348203] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051346.844253182] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051346.844750119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051346.845474078] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051346.846413649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051346.847391832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051346.945124766] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051346.945640454] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051346.946555137] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051346.947757806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051346.948814046] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051346.957166265] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051346.958134862] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746051346.959052457] [sailbot.main_algo]: Target Bearing: -142.05158900586648 +[main_algo-3] [INFO] [1746051346.959958635] [sailbot.main_algo]: Heading Difference: -174.51741099413357 +[main_algo-3] [INFO] [1746051346.960838053] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051346.961673923] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051346.962445405] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051346.963446741] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051346.964098982] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051347.002761068] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904425 Long: -76.50277055 +[vectornav-1] [INFO] [1746051347.003929095] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.047000000000025, -0.055, 5.542) +[main_algo-3] [INFO] [1746051347.003940752] [sailbot.main_algo]: Distance to destination: 56.81978281788387 +[main_algo-3] [INFO] [1746051347.005266290] [sailbot.main_algo]: Target Bearing: -142.00791702133205 +[main_algo-3] [INFO] [1746051347.006344525] [sailbot.main_algo]: Heading Difference: -174.56108297866797 +[main_algo-3] [INFO] [1746051347.007237174] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051347.008147935] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051347.009042048] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051347.010900468] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051347.045015532] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051347.045573318] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051347.048142284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051347.049447257] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051347.050379393] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051347.085292612] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051347.087419703] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051347.087903518] [sailbot.teensy]: Wind angle: 216 +[mux-7] [INFO] [1746051347.088570203] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051347.089850154] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051347.090721203] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051347.091561365] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051347.145177199] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051347.145997000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051347.146730386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051347.148182838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051347.149389875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051347.245058938] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051347.245681879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051347.246496785] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051347.247704880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051347.248263580] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051347.335425081] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051347.337775021] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051347.338173307] [sailbot.teensy]: Wind angle: 214 +[mux-7] [INFO] [1746051347.338306837] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051347.339347332] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051347.340538023] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051347.341433264] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051347.344420279] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051347.345005260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051347.345552497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051347.346802234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051347.347848320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051347.444982295] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051347.445731704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051347.446470236] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051347.447555949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051347.448597712] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051347.457084054] [sailbot.main_algo]: Wind Direction: 214 +[main_algo-3] [INFO] [1746051347.458071030] [sailbot.main_algo]: Target Bearing: -142.00791702133205 +[main_algo-3] [INFO] [1746051347.458928509] [sailbot.main_algo]: Heading Difference: -175.94508297866793 +[main_algo-3] [INFO] [1746051347.459741040] [sailbot.main_algo]: Wind Direction: 214 +[main_algo-3] [INFO] [1746051347.460560550] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051347.461352668] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051347.462354778] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051347.462872941] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051347.503236511] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904429 Long: -76.5027706 +[main_algo-3] [INFO] [1746051347.503984462] [sailbot.main_algo]: Distance to destination: 56.8193845982179 +[vectornav-1] [INFO] [1746051347.504796896] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (40.70600000000002, -0.612, 5.975) +[main_algo-3] [INFO] [1746051347.505222838] [sailbot.main_algo]: Target Bearing: -142.0018267763137 +[main_algo-3] [INFO] [1746051347.506218532] [sailbot.main_algo]: Heading Difference: -175.95117322368628 +[main_algo-3] [INFO] [1746051347.507157764] [sailbot.main_algo]: Wind Direction: 214 +[main_algo-3] [INFO] [1746051347.508041992] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051347.508912203] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051347.510554034] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051347.544862011] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051347.545610965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051347.546195295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051347.547418672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051347.548497791] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051347.585419782] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051347.587740164] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051347.588118583] [sailbot.teensy]: Wind angle: 213 +[mux-7] [INFO] [1746051347.588419008] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051347.589124866] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051347.590042455] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051347.590932966] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051347.645234337] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051347.645867275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051347.646574278] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051347.647934227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051347.648998470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051347.744913384] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051347.745652635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051347.746470678] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051347.747561092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051347.748758974] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051347.835439725] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051347.837738655] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051347.838177223] [sailbot.teensy]: Wind angle: 214 +[mux-7] [INFO] [1746051347.838981707] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051347.839062616] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051347.839467141] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051347.839821491] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051347.844448937] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051347.844991055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051347.845574696] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051347.846918617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051347.847978227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051347.945142285] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051347.945696325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051347.946648562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051347.947770936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051347.948922772] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051347.957116735] [sailbot.main_algo]: Wind Direction: 214 +[main_algo-3] [INFO] [1746051347.958182257] [sailbot.main_algo]: Target Bearing: -142.0018267763137 +[main_algo-3] [INFO] [1746051347.959105355] [sailbot.main_algo]: Heading Difference: -177.2921732236863 +[main_algo-3] [INFO] [1746051347.959980739] [sailbot.main_algo]: Wind Direction: 214 +[main_algo-3] [INFO] [1746051347.960877578] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051347.961728930] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051347.962787353] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051347.963443686] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051348.003042789] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904436 Long: -76.5027704 +[main_algo-3] [INFO] [1746051348.003831600] [sailbot.main_algo]: Distance to destination: 56.83705591106837 +[vectornav-1] [INFO] [1746051348.004292243] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.56, -0.691, 4.022) +[main_algo-3] [INFO] [1746051348.005023287] [sailbot.main_algo]: Target Bearing: -142.0061727517058 +[main_algo-3] [INFO] [1746051348.006002382] [sailbot.main_algo]: Heading Difference: -177.2878272482942 +[main_algo-3] [INFO] [1746051348.006876033] [sailbot.main_algo]: Wind Direction: 214 +[main_algo-3] [INFO] [1746051348.007756899] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051348.008635342] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051348.010337898] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051348.045134729] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051348.045620447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051348.046417039] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051348.047428475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051348.048606884] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051348.085255970] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051348.086922222] [sailbot.teensy]: Wind angle: 214 +[trim_sail-4] [INFO] [1746051348.087397390] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051348.087879088] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051348.088249461] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051348.088772979] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051348.089664091] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051348.145183171] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051348.145628496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051348.146700005] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051348.147539732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051348.148780523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051348.245034543] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051348.245530799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051348.246333670] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051348.247333467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051348.248426985] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051348.335128012] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051348.336695442] [sailbot.teensy]: Wind angle: 214 +[teensy-2] [INFO] [1746051348.337739476] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051348.338663652] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051348.337870562] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051348.338487325] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051348.339562779] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051348.344657789] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051348.345124495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051348.345910758] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051348.346891674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051348.348053765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051348.444985016] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051348.445534506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051348.446329126] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051348.447298200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051348.448428213] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051348.456978805] [sailbot.main_algo]: Wind Direction: 214 +[main_algo-3] [INFO] [1746051348.457965321] [sailbot.main_algo]: Target Bearing: -142.0061727517058 +[main_algo-3] [INFO] [1746051348.458837486] [sailbot.main_algo]: Heading Difference: -176.43382724829416 +[main_algo-3] [INFO] [1746051348.459635331] [sailbot.main_algo]: Wind Direction: 214 +[main_algo-3] [INFO] [1746051348.460466395] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051348.461253435] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051348.462252677] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051348.463009199] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051348.502760833] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904455 Long: -76.50277042 +[main_algo-3] [INFO] [1746051348.503780928] [sailbot.main_algo]: Distance to destination: 56.84906263343389 +[vectornav-1] [INFO] [1746051348.504074133] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.65199999999999, 0.194, 4.867) +[main_algo-3] [INFO] [1746051348.504933428] [sailbot.main_algo]: Target Bearing: -141.98860400472182 +[main_algo-3] [INFO] [1746051348.505970821] [sailbot.main_algo]: Heading Difference: -176.45139599527818 +[main_algo-3] [INFO] [1746051348.506887309] [sailbot.main_algo]: Wind Direction: 214 +[main_algo-3] [INFO] [1746051348.507786086] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051348.508686701] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051348.510435049] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051348.545153270] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051348.545774277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051348.546642859] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051348.548003286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051348.549021424] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051348.585456595] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051348.587200942] [sailbot.teensy]: Wind angle: 214 +[trim_sail-4] [INFO] [1746051348.587685107] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051348.588133981] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051348.589056100] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051348.589213810] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051348.589939761] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051348.645132986] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051348.645843886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051348.646561138] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051348.647965122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051348.649056502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051348.745232756] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051348.745898493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051348.746640682] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051348.747826984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051348.748870814] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051348.835036731] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051348.837709539] [sailbot.teensy]: Wind angle: 213 +[trim_sail-4] [INFO] [1746051348.838164145] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051348.838344310] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051348.840423220] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051348.841348240] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051348.842202319] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051348.844506414] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051348.845012153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051348.845805888] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051348.846627843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051348.848464975] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051348.945114116] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051348.945796951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051348.946492957] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051348.947752955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051348.948329004] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051348.957079312] [sailbot.main_algo]: Wind Direction: 213 +[main_algo-3] [INFO] [1746051348.958058030] [sailbot.main_algo]: Target Bearing: -141.98860400472182 +[main_algo-3] [INFO] [1746051348.958899542] [sailbot.main_algo]: Heading Difference: -174.3593959952782 +[main_algo-3] [INFO] [1746051348.959680940] [sailbot.main_algo]: Wind Direction: 213 +[main_algo-3] [INFO] [1746051348.960514052] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051348.961304113] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051348.962325082] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051348.963004548] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051349.002785845] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904472 Long: -76.50277037 +[main_algo-3] [INFO] [1746051349.003865013] [sailbot.main_algo]: Distance to destination: 56.8641459353559 +[vectornav-1] [INFO] [1746051349.003899904] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.416, -0.87, 4.753) +[main_algo-3] [INFO] [1746051349.005016518] [sailbot.main_algo]: Target Bearing: -141.97643389784832 +[main_algo-3] [INFO] [1746051349.006013297] [sailbot.main_algo]: Heading Difference: -174.3715661021517 +[main_algo-3] [INFO] [1746051349.007000958] [sailbot.main_algo]: Wind Direction: 213 +[main_algo-3] [INFO] [1746051349.007925895] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051349.008821858] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051349.010545931] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051349.045285855] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051349.046137493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051349.046751901] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051349.048448721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051349.049579992] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051349.085472151] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051349.087942300] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051349.088700239] [sailbot.teensy]: Wind angle: 213 +[mux-7] [INFO] [1746051349.089549716] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051349.089655667] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051349.090566754] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051349.091404751] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051349.145283761] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051349.146223151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051349.146864978] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051349.148489069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051349.149608716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051349.244888400] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051349.245599487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051349.246174691] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051349.247400952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051349.248478964] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051349.335426889] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051349.337817583] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051349.337898015] [sailbot.teensy]: Wind angle: 210 +[teensy-2] [INFO] [1746051349.338896223] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051349.339470589] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051349.339655207] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051349.340032092] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051349.344396170] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051349.345174287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051349.345513352] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051349.346979412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051349.348101094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051349.445125218] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051349.446125031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051349.446763621] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051349.448028345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051349.449006613] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051349.457285674] [sailbot.main_algo]: Wind Direction: 210 +[main_algo-3] [INFO] [1746051349.458381257] [sailbot.main_algo]: Target Bearing: -141.97643389784832 +[main_algo-3] [INFO] [1746051349.459317686] [sailbot.main_algo]: Heading Difference: -175.60756610215168 +[main_algo-3] [INFO] [1746051349.460317095] [sailbot.main_algo]: Wind Direction: 210 +[main_algo-3] [INFO] [1746051349.461341996] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051349.462232611] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051349.463475542] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051349.463913377] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051349.502903751] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904482 Long: -76.50277035 +[main_algo-3] [INFO] [1746051349.504208483] [sailbot.main_algo]: Distance to destination: 56.87241865367847 +[vectornav-1] [INFO] [1746051349.504346523] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (40.887, 0.357, 5.888) +[main_algo-3] [INFO] [1746051349.505529744] [sailbot.main_algo]: Target Bearing: -141.96878691783178 +[main_algo-3] [INFO] [1746051349.506708461] [sailbot.main_algo]: Heading Difference: -175.61521308216822 +[main_algo-3] [INFO] [1746051349.507682015] [sailbot.main_algo]: Wind Direction: 210 +[main_algo-3] [INFO] [1746051349.509191262] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051349.510119287] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051349.511773458] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051349.544934172] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051349.545669197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051349.546219297] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051349.547685086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051349.548797878] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051349.585162580] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051349.587018137] [sailbot.teensy]: Wind angle: 209 +[trim_sail-4] [INFO] [1746051349.587319730] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051349.588045555] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051349.589288804] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051349.589238469] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051349.590232818] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051349.645207129] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051349.646001984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051349.646689658] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051349.648196241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051349.649353072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051349.745154559] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051349.745983634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051349.746668611] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051349.748185848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051349.749397298] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051349.835374796] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051349.836785228] [sailbot.teensy]: Wind angle: 209 +[trim_sail-4] [INFO] [1746051349.837047576] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051349.837194466] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051349.837573038] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051349.837947476] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051349.838149572] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051349.844642924] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051349.845365353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051349.845844921] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051349.847138915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051349.848187241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051349.945357652] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051349.946305791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051349.946861227] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051349.948402679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051349.949684040] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051349.957203602] [sailbot.main_algo]: Wind Direction: 209 +[main_algo-3] [INFO] [1746051349.958186119] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746051349.959057236] [sailbot.main_algo]: Wind Direction: 209 +[main_algo-3] [INFO] [1746051349.960247235] [sailbot.main_algo]: Current Location: (42.46904482214751, -76.50277035005446) +[main_algo-3] [INFO] [1746051349.961224300] [sailbot.main_algo]: Target Bearing: -141.96878691783178 +[main_algo-3] [INFO] [1746051349.962125995] [sailbot.main_algo]: Heading Difference: -177.14421308216822 +[main_algo-3] [INFO] [1746051349.962996069] [sailbot.main_algo]: Wind Direction: 209 +[main_algo-3] [INFO] [1746051349.963842020] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051349.964695292] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051349.965782484] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051349.966401932] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051350.002711854] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904467 Long: -76.50277034 +[vectornav-1] [INFO] [1746051350.003859783] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.33699999999999, -1.336, 4.793) +[main_algo-3] [INFO] [1746051350.004322938] [sailbot.main_algo]: Distance to destination: 56.86256468978277 +[main_algo-3] [INFO] [1746051350.005373561] [sailbot.main_algo]: Target Bearing: -141.98234530341597 +[main_algo-3] [INFO] [1746051350.006307040] [sailbot.main_algo]: Heading Difference: -177.13065469658403 +[main_algo-3] [INFO] [1746051350.007147811] [sailbot.main_algo]: Wind Direction: 209 +[main_algo-3] [INFO] [1746051350.008005122] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051350.008841239] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051350.010437053] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051350.045023389] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051350.045588912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051350.046312497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051350.047522125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051350.048602908] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051350.085215269] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051350.086856997] [sailbot.teensy]: Wind angle: 208 +[teensy-2] [INFO] [1746051350.087725227] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051350.087445682] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051350.088111955] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051350.088621748] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051350.089499303] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051350.144885445] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051350.145598988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051350.146222158] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051350.147681812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051350.148717905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051350.244983219] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051350.245913459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051350.246402662] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051350.247856146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051350.248342986] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051350.335407390] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051350.337252181] [sailbot.teensy]: Wind angle: 209 +[trim_sail-4] [INFO] [1746051350.338088629] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051350.338195239] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051350.339081548] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051350.339302791] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051350.339998581] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051350.344355410] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051350.344976153] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051350.345467250] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051350.346676203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051350.347732938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051350.444704171] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051350.445299708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051350.445887332] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051350.447209574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051350.448162405] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051350.457014901] [sailbot.main_algo]: Wind Direction: 209 +[main_algo-3] [INFO] [1746051350.457931987] [sailbot.main_algo]: Target Bearing: -141.98234530341597 +[main_algo-3] [INFO] [1746051350.458748514] [sailbot.main_algo]: Heading Difference: -175.68065469658404 +[main_algo-3] [INFO] [1746051350.459568011] [sailbot.main_algo]: Wind Direction: 209 +[main_algo-3] [INFO] [1746051350.460381820] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051350.461183203] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051350.462225036] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051350.462772960] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051350.502638878] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904493 Long: -76.50277017 +[main_algo-3] [INFO] [1746051350.503097903] [sailbot.main_algo]: Distance to destination: 56.89160860967005 +[main_algo-3] [INFO] [1746051350.504130539] [sailbot.main_algo]: Target Bearing: -141.96862109977954 +[vectornav-1] [INFO] [1746051350.503625664] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.55799999999999, -0.231, 4.304) +[main_algo-3] [INFO] [1746051350.505134124] [sailbot.main_algo]: Heading Difference: -175.6943789002205 +[main_algo-3] [INFO] [1746051350.506025835] [sailbot.main_algo]: Wind Direction: 209 +[main_algo-3] [INFO] [1746051350.506922989] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051350.507777283] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051350.509580427] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051350.545010583] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051350.545797641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051350.546419664] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051350.547745565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051350.548808424] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051350.585489863] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051350.588007218] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051350.588066255] [sailbot.teensy]: Wind angle: 209 +[teensy-2] [INFO] [1746051350.589054366] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051350.589368653] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051350.589959948] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051350.590880522] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051350.644924148] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051350.645728831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051350.646185974] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051350.647552349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051350.648608884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051350.745559287] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051350.746548321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051350.747140948] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051350.748632713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051350.749157031] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051350.835309376] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051350.837603819] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051350.838624075] [sailbot.teensy]: Wind angle: 205 +[mux-7] [INFO] [1746051350.838957732] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051350.839645309] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051350.840599824] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051350.841522819] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051350.844505162] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051350.845070837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051350.845625575] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051350.846874132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051350.847920536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051350.944195845] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051350.944711027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051350.945124601] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051350.946580391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051350.947559524] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051350.956438339] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051350.957011211] [sailbot.main_algo]: Target Bearing: -141.96862109977954 +[main_algo-3] [INFO] [1746051350.957470765] [sailbot.main_algo]: Heading Difference: -173.4733789002205 +[main_algo-3] [INFO] [1746051350.957893275] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051350.958299543] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051350.958728894] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051350.959258987] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051350.960359271] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051351.002507527] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904522 Long: -76.50277017 +[main_algo-3] [INFO] [1746051351.003427073] [sailbot.main_algo]: Distance to destination: 56.91190282459736 +[vectornav-1] [INFO] [1746051351.003720807] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.97800000000001, 0.504, 6.588) +[main_algo-3] [INFO] [1746051351.004630159] [sailbot.main_algo]: Target Bearing: -141.94343913707723 +[main_algo-3] [INFO] [1746051351.005568053] [sailbot.main_algo]: Heading Difference: -173.49856086292277 +[main_algo-3] [INFO] [1746051351.006455635] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051351.007370091] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051351.008209897] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051351.009849164] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051351.044951654] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051351.045722233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051351.046208992] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051351.047597046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051351.048676731] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051351.085223973] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051351.087116177] [sailbot.teensy]: Wind angle: 199 +[trim_sail-4] [INFO] [1746051351.087604708] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051351.087892075] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051351.088032738] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051351.089027019] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051351.090114800] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051351.145166828] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051351.145867342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051351.146520656] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051351.147853894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051351.149086887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051351.245301867] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051351.246252285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051351.246785468] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051351.248605918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051351.249696389] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051351.335464329] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051351.337390618] [sailbot.teensy]: Wind angle: 196 +[trim_sail-4] [INFO] [1746051351.338235309] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051351.338353244] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051351.339182052] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051351.339253724] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051351.340185265] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051351.344387210] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051351.345043557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051351.345505599] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051351.346767378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051351.347805986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051351.445347135] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051351.445866027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051351.446749962] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051351.447768628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051351.448898770] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051351.457112002] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051351.458094747] [sailbot.main_algo]: Target Bearing: -141.94343913707723 +[main_algo-3] [INFO] [1746051351.458975027] [sailbot.main_algo]: Heading Difference: -176.07856086292276 +[main_algo-3] [INFO] [1746051351.459796813] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051351.460603798] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051351.461408347] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051351.462391038] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051351.463030575] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051351.502847034] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904512 Long: -76.50277013 +[main_algo-3] [INFO] [1746051351.503773851] [sailbot.main_algo]: Distance to destination: 56.90745729282321 +[vectornav-1] [INFO] [1746051351.503964194] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.02499999999998, -1.197, 5.785) +[main_algo-3] [INFO] [1746051351.505020850] [sailbot.main_algo]: Target Bearing: -141.95420724274967 +[main_algo-3] [INFO] [1746051351.505972995] [sailbot.main_algo]: Heading Difference: -176.06779275725034 +[main_algo-3] [INFO] [1746051351.506871482] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051351.508034623] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051351.508916255] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051351.510642425] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051351.545059974] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051351.545818605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051351.546475570] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051351.547814005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051351.548838453] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051351.585349711] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051351.587069742] [sailbot.teensy]: Wind angle: 197 +[trim_sail-4] [INFO] [1746051351.587492524] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051351.587948124] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051351.588821314] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051351.589685794] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051351.589690053] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051351.645118762] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051351.645837785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051351.646497079] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051351.647827562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051351.648987487] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051351.744923062] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051351.745731573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051351.746179601] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051351.747545536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051351.748575725] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051351.835441276] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051351.837816827] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051351.838184388] [sailbot.teensy]: Wind angle: 198 +[teensy-2] [INFO] [1746051351.839140210] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051351.839300969] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051351.840011444] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051351.840916930] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051351.844435069] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051351.845092143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051351.845737750] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051351.847081413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051351.848117856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051351.945205122] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051351.945975101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051351.946683174] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051351.948079624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051351.949224023] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051351.957108066] [sailbot.main_algo]: Wind Direction: 198 +[main_algo-3] [INFO] [1746051351.958205424] [sailbot.main_algo]: Target Bearing: -141.95420724274967 +[main_algo-3] [INFO] [1746051351.959134339] [sailbot.main_algo]: Heading Difference: -176.02079275725032 +[main_algo-3] [INFO] [1746051351.960011329] [sailbot.main_algo]: Wind Direction: 198 +[main_algo-3] [INFO] [1746051351.960858710] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051351.961663291] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051351.962664893] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051351.963268832] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051352.002873017] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904531 Long: -76.50277032 +[main_algo-3] [INFO] [1746051352.003813985] [sailbot.main_algo]: Distance to destination: 56.90862974399396 +[vectornav-1] [INFO] [1746051352.004056876] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.12299999999999, -0.259, 4.866) +[main_algo-3] [INFO] [1746051352.004957224] [sailbot.main_algo]: Target Bearing: -141.9277999621545 +[main_algo-3] [INFO] [1746051352.005899546] [sailbot.main_algo]: Heading Difference: -176.04720003784553 +[main_algo-3] [INFO] [1746051352.006802241] [sailbot.main_algo]: Wind Direction: 198 +[main_algo-3] [INFO] [1746051352.007707755] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051352.008568950] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051352.010328495] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051352.044975694] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051352.045737463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051352.046244455] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051352.047785204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051352.048816364] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051352.085305334] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051352.087041444] [sailbot.teensy]: Wind angle: 198 +[teensy-2] [INFO] [1746051352.087977170] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051352.087546610] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051352.088700727] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051352.088895456] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051352.089829869] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051352.145017667] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051352.145699301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051352.146352845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051352.147583683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051352.148724194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051352.245078523] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051352.245666784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051352.246628469] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051352.247649916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051352.248714280] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051352.335411828] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051352.337293497] [sailbot.teensy]: Wind angle: 199 +[trim_sail-4] [INFO] [1746051352.337925226] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051352.339015940] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051352.339392162] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051352.339876975] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051352.340251734] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051352.344335655] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051352.344999329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051352.345520202] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051352.346797004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051352.347950937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051352.444942490] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051352.445649305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051352.446213927] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051352.447497001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051352.448738988] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051352.457004220] [sailbot.main_algo]: Wind Direction: 199 +[main_algo-3] [INFO] [1746051352.458021272] [sailbot.main_algo]: Target Bearing: -141.9277999621545 +[main_algo-3] [INFO] [1746051352.458968461] [sailbot.main_algo]: Heading Difference: -173.94920003784551 +[main_algo-3] [INFO] [1746051352.459822517] [sailbot.main_algo]: Wind Direction: 199 +[main_algo-3] [INFO] [1746051352.460925233] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051352.461729554] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051352.462860246] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051352.463325308] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051352.502938835] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904566 Long: -76.50277037 +[vectornav-1] [INFO] [1746051352.504413359] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.839, -0.713, 4.343) +[main_algo-3] [INFO] [1746051352.504458046] [sailbot.main_algo]: Distance to destination: 56.9299560623884 +[main_algo-3] [INFO] [1746051352.505706414] [sailbot.main_algo]: Target Bearing: -141.89482643289637 +[main_algo-3] [INFO] [1746051352.506695339] [sailbot.main_algo]: Heading Difference: -173.98217356710364 +[main_algo-3] [INFO] [1746051352.507596593] [sailbot.main_algo]: Wind Direction: 199 +[main_algo-3] [INFO] [1746051352.508618173] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051352.509513504] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051352.511306580] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051352.545095006] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051352.546444550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051352.546599850] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051352.548875000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051352.549910362] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051352.585224668] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051352.586994164] [sailbot.teensy]: Wind angle: 195 +[teensy-2] [INFO] [1746051352.587924459] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051352.587291381] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051352.588534104] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051352.588988127] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051352.590380436] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051352.644432131] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051352.645062875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051352.645454772] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051352.646693233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051352.647638058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051352.744967517] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051352.745659436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051352.746246326] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051352.747584686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051352.748588523] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051352.835536629] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051352.837923346] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051352.838472431] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051352.838600314] [sailbot.teensy]: Wind angle: 190 +[teensy-2] [INFO] [1746051352.839091240] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051352.839441872] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051352.839814662] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051352.844512649] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051352.844941854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051352.845790660] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051352.846702359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051352.847699835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051352.945245045] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051352.946245246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051352.946734336] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051352.947960282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051352.948439483] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051352.957344654] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051352.958578181] [sailbot.main_algo]: Target Bearing: -141.89482643289637 +[main_algo-3] [INFO] [1746051352.959624811] [sailbot.main_algo]: Heading Difference: -174.26617356710364 +[main_algo-3] [INFO] [1746051352.960550532] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051352.961432617] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051352.962290734] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051352.963462599] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051352.963975728] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051353.001835894] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904586 Long: -76.50277012 +[main_algo-3] [INFO] [1746051353.002486942] [sailbot.main_algo]: Distance to destination: 56.9599181703999 +[vectornav-1] [INFO] [1746051353.002632108] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.09699999999998, 0.826, 5.949) +[main_algo-3] [INFO] [1746051353.003437182] [sailbot.main_algo]: Target Bearing: -141.8905382440562 +[main_algo-3] [INFO] [1746051353.004342980] [sailbot.main_algo]: Heading Difference: -174.2704617559438 +[main_algo-3] [INFO] [1746051353.005240681] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051353.006111534] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051353.007003347] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051353.008809201] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051353.043892208] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051353.044422119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051353.044818006] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051353.046129869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051353.046616687] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051353.085235883] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051353.086990476] [sailbot.teensy]: Wind angle: 188 +[teensy-2] [INFO] [1746051353.087923028] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051353.087397881] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051353.088221842] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051353.088860718] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051353.089897704] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051353.144898915] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051353.145586587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051353.146440646] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051353.147587922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051353.148605963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051353.245480357] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051353.246461704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051353.247074824] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051353.248115853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051353.248653011] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051353.335298813] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051353.337442898] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051353.338612520] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051353.338951150] [sailbot.teensy]: Wind angle: 188 +[teensy-2] [INFO] [1746051353.339956308] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051353.340912613] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051353.341731790] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051353.344333648] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051353.344853788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051353.345626020] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051353.346536355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051353.347639133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051353.444940534] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051353.445682834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051353.446245230] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051353.447503167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051353.448630666] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051353.457012542] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051353.458023348] [sailbot.main_algo]: Target Bearing: -141.8905382440562 +[main_algo-3] [INFO] [1746051353.458894008] [sailbot.main_algo]: Heading Difference: -176.01246175594383 +[main_algo-3] [INFO] [1746051353.459690668] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051353.460507497] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051353.461310619] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051353.462309703] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051353.463108438] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051353.502803192] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904588 Long: -76.50277024 +[main_algo-3] [INFO] [1746051353.503893102] [sailbot.main_algo]: Distance to destination: 56.953665953656085 +[vectornav-1] [INFO] [1746051353.504045942] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.68799999999999, -1.636, 6.286) +[main_algo-3] [INFO] [1746051353.505114936] [sailbot.main_algo]: Target Bearing: -141.8825414537699 +[main_algo-3] [INFO] [1746051353.506094073] [sailbot.main_algo]: Heading Difference: -176.0204585462301 +[main_algo-3] [INFO] [1746051353.507012843] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051353.507897722] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051353.508759943] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051353.510579245] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051353.545040168] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051353.546006714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051353.546452437] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051353.549142011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051353.550262892] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051353.585421580] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051353.587990562] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051353.588330402] [sailbot.teensy]: Wind angle: 190 +[mux-7] [INFO] [1746051353.588616518] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051353.589251086] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051353.590124151] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051353.590973628] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051353.645250321] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051353.646027592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051353.646733856] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051353.647927857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051353.648986325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051353.743857427] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051353.744126529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051353.744424880] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051353.745203860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051353.745795917] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051353.834400710] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051353.835133038] [sailbot.teensy]: Wind angle: 190 +[teensy-2] [INFO] [1746051353.835551023] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051353.835947707] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051353.836324665] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051353.837449288] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051353.837713977] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051353.843523156] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051353.843992761] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051353.843884680] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051353.844611915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051353.845087993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051353.943760787] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051353.944308622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051353.944692454] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051353.945893050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051353.946823562] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051353.956636722] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051353.957728304] [sailbot.main_algo]: Target Bearing: -141.8825414537699 +[main_algo-3] [INFO] [1746051353.958747616] [sailbot.main_algo]: Heading Difference: -175.42945854623008 +[main_algo-3] [INFO] [1746051353.959595903] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051353.960388022] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051353.961066074] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051353.961958190] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051353.962732809] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051354.002814721] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904599 Long: -76.50277015 +[main_algo-3] [INFO] [1746051354.003764900] [sailbot.main_algo]: Distance to destination: 56.96711622743885 +[vectornav-1] [INFO] [1746051354.003959508] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.778999999999996, -0.111, 4.529) +[main_algo-3] [INFO] [1746051354.005152654] [sailbot.main_algo]: Target Bearing: -141.87770774043798 +[main_algo-3] [INFO] [1746051354.006364068] [sailbot.main_algo]: Heading Difference: -175.43429225956203 +[main_algo-3] [INFO] [1746051354.007390384] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051354.008336241] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051354.009213712] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051354.010879183] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051354.045085069] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051354.045731067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051354.046350359] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051354.047668294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051354.048732465] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051354.085336977] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051354.087205292] [sailbot.teensy]: Wind angle: 190 +[trim_sail-4] [INFO] [1746051354.087692710] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051354.088257050] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051354.089112830] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051354.089216892] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051354.090033999] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051354.145200758] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051354.145809029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051354.146681942] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051354.147740587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051354.148959596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051354.244562235] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051354.245088895] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051354.246822957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051354.245713631] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051354.248204389] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051354.335186873] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051354.337310440] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051354.337594903] [sailbot.teensy]: Wind angle: 188 +[teensy-2] [INFO] [1746051354.338522163] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051354.338702410] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051354.339503569] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051354.340388394] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051354.344331841] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051354.344878450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051354.345440865] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051354.346557407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051354.347709551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051354.444964457] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051354.445606256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051354.446180113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051354.447369089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051354.448529938] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051354.457062812] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051354.458195588] [sailbot.main_algo]: Target Bearing: -141.87770774043798 +[main_algo-3] [INFO] [1746051354.459234902] [sailbot.main_algo]: Heading Difference: -173.34329225956202 +[main_algo-3] [INFO] [1746051354.460289691] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051354.461269074] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051354.462179450] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051354.463577049] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051354.464347964] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051354.501720690] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904623 Long: -76.50277018 +[main_algo-3] [INFO] [1746051354.502329233] [sailbot.main_algo]: Distance to destination: 56.98203081746637 +[vectornav-1] [INFO] [1746051354.502448026] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.26299999999998, 0.067, 5.365) +[main_algo-3] [INFO] [1746051354.503430161] [sailbot.main_algo]: Target Bearing: -141.85535448250005 +[main_algo-3] [INFO] [1746051354.504355816] [sailbot.main_algo]: Heading Difference: -173.36564551749996 +[main_algo-3] [INFO] [1746051354.504969381] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051354.505974472] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051354.508185401] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051354.509795898] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051354.544939303] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051354.545664335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051354.546216438] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051354.547469131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051354.548497890] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051354.585167516] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051354.587168756] [sailbot.teensy]: Wind angle: 186 +[trim_sail-4] [INFO] [1746051354.587225103] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051354.588053271] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051354.588630014] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051354.588931933] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051354.589770203] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051354.645070073] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051354.645978648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051354.646498194] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051354.648011415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051354.649158483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051354.745380011] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051354.746256185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051354.746943248] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051354.748351677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051354.749472400] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051354.835169496] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051354.836831147] [sailbot.teensy]: Wind angle: 183 +[teensy-2] [INFO] [1746051354.837776438] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051354.839564914] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051354.839590863] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051354.840011272] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051354.840710303] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051354.844376755] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051354.845172389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051354.845616324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051354.846935981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051354.848564305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051354.944874527] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051354.945412645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051354.946135428] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051354.947235080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051354.948399703] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051354.957248387] [sailbot.main_algo]: Wind Direction: 183 +[main_algo-3] [INFO] [1746051354.958367807] [sailbot.main_algo]: Target Bearing: -141.85535448250005 +[main_algo-3] [INFO] [1746051354.959342337] [sailbot.main_algo]: Heading Difference: -173.88164551749998 +[main_algo-3] [INFO] [1746051354.960249062] [sailbot.main_algo]: Wind Direction: 183 +[main_algo-3] [INFO] [1746051354.961148717] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051354.962021604] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051354.963081382] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051354.963624534] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051355.002326689] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904629 Long: -76.50277042 +[main_algo-3] [INFO] [1746051355.003193493] [sailbot.main_algo]: Distance to destination: 56.970940393469526 +[vectornav-1] [INFO] [1746051355.003293539] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.47500000000002, -0.056, 5.163) +[main_algo-3] [INFO] [1746051355.004354660] [sailbot.main_algo]: Target Bearing: -141.8376259291325 +[main_algo-3] [INFO] [1746051355.005472104] [sailbot.main_algo]: Heading Difference: -173.8993740708675 +[main_algo-3] [INFO] [1746051355.006397249] [sailbot.main_algo]: Wind Direction: 183 +[main_algo-3] [INFO] [1746051355.007333928] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051355.008211402] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051355.009878370] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051355.044392921] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051355.044994648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051355.045380402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051355.046647389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051355.047915570] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051355.084864587] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051355.086143315] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051355.086910773] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051355.087719035] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051355.086918273] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051355.088586451] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051355.089445584] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051355.144502226] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051355.145137331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051355.145557834] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051355.146759277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051355.147744927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051355.245212694] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051355.245971962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051355.246729763] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051355.248394554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051355.249396146] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051355.335337685] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051355.337665624] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051355.338295332] [sailbot.teensy]: Wind angle: 203 +[teensy-2] [INFO] [1746051355.339235632] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051355.339642413] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051355.340180393] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051355.340936730] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051355.344866869] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051355.345921754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051355.346165270] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051355.347927058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051355.349105866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051355.445129659] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051355.445644221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051355.446469778] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051355.447711760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051355.448833440] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051355.457195175] [sailbot.main_algo]: Wind Direction: 203 +[main_algo-3] [INFO] [1746051355.458181906] [sailbot.main_algo]: Target Bearing: -141.8376259291325 +[main_algo-3] [INFO] [1746051355.459075376] [sailbot.main_algo]: Heading Difference: -173.68737407086746 +[main_algo-3] [INFO] [1746051355.459935812] [sailbot.main_algo]: Wind Direction: 203 +[main_algo-3] [INFO] [1746051355.460821697] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051355.461622115] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051355.462584605] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051355.463186760] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051355.502749027] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904606 Long: -76.50277063 +[main_algo-3] [INFO] [1746051355.503875222] [sailbot.main_algo]: Distance to destination: 56.9414196835928 +[vectornav-1] [INFO] [1746051355.504369387] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.78800000000001, -0.776, 4.909) +[main_algo-3] [INFO] [1746051355.505427002] [sailbot.main_algo]: Target Bearing: -141.846574839971 +[main_algo-3] [INFO] [1746051355.506450801] [sailbot.main_algo]: Heading Difference: -173.67842516002895 +[main_algo-3] [INFO] [1746051355.507353158] [sailbot.main_algo]: Wind Direction: 203 +[main_algo-3] [INFO] [1746051355.508244594] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051355.509159842] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051355.510895340] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051355.544216742] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051355.544685813] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051355.545104255] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051355.546214902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051355.547300151] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051355.585224585] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051355.587409798] [sailbot.teensy]: Wind angle: 214 +[teensy-2] [INFO] [1746051355.588420116] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051355.587691210] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051355.589249324] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051355.590051656] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051355.590940604] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051355.645019187] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051355.645968979] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051355.646664782] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051355.647894325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051355.649042854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051355.744517007] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051355.745033634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051355.745666700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051355.746981416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051355.748064128] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051355.835309897] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051355.837676153] [sailbot.teensy]: Wind angle: 215 +[teensy-2] [INFO] [1746051355.838881594] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051355.838075689] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051355.838735464] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051355.839893185] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051355.840567698] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051355.844393644] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051355.844980062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051355.845580500] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051355.846655646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051355.847690833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051355.945191250] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051355.946005101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051355.946616564] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051355.948258255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051355.949255846] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051355.957257532] [sailbot.main_algo]: Wind Direction: 215 +[main_algo-3] [INFO] [1746051355.958352764] [sailbot.main_algo]: Target Bearing: -141.846574839971 +[main_algo-3] [INFO] [1746051355.959284427] [sailbot.main_algo]: Heading Difference: -173.36542516002896 +[main_algo-3] [INFO] [1746051355.960208575] [sailbot.main_algo]: Wind Direction: 215 +[main_algo-3] [INFO] [1746051355.961087377] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051355.961949597] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051355.963036458] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051355.963785788] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051356.002822536] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904591 Long: -76.50277066 +[main_algo-3] [INFO] [1746051356.003822747] [sailbot.main_algo]: Distance to destination: 56.928986727269276 +[vectornav-1] [INFO] [1746051356.003977456] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.521000000000015, -0.539, 5.444) +[main_algo-3] [INFO] [1746051356.004949882] [sailbot.main_algo]: Target Bearing: -141.85800557952444 +[main_algo-3] [INFO] [1746051356.005897898] [sailbot.main_algo]: Heading Difference: -173.35399442047554 +[main_algo-3] [INFO] [1746051356.006810150] [sailbot.main_algo]: Wind Direction: 215 +[main_algo-3] [INFO] [1746051356.007682154] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051356.008547663] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051356.010279724] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051356.044873893] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051356.045565447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051356.046162229] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051356.047566079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051356.048608750] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051356.085302352] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051356.086989900] [sailbot.teensy]: Wind angle: 214 +[teensy-2] [INFO] [1746051356.087891950] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051356.088787807] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051356.087534208] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051356.088772033] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051356.089656743] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051356.144986226] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051356.145556522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051356.146203451] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051356.147433470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051356.148597187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051356.244973182] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051356.245645997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051356.246399363] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051356.247639651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051356.248803613] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051356.335385175] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051356.337713723] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051356.338065054] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051356.338474554] [sailbot.teensy]: Wind angle: 213 +[teensy-2] [INFO] [1746051356.339061004] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051356.339421189] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051356.339725732] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051356.344342276] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051356.344946774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051356.345608333] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051356.346605133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051356.347825483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051356.445155691] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051356.445984295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051356.446596716] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051356.448333747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051356.449316921] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051356.457110875] [sailbot.main_algo]: Wind Direction: 213 +[main_algo-3] [INFO] [1746051356.458127789] [sailbot.main_algo]: Target Bearing: -141.85800557952444 +[main_algo-3] [INFO] [1746051356.459019129] [sailbot.main_algo]: Heading Difference: -173.62099442047554 +[main_algo-3] [INFO] [1746051356.459905811] [sailbot.main_algo]: Wind Direction: 213 +[main_algo-3] [INFO] [1746051356.460728366] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051356.461540492] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051356.462548848] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051356.463207391] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051356.503487692] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904592 Long: -76.50277036 +[main_algo-3] [INFO] [1746051356.503927029] [sailbot.main_algo]: Distance to destination: 56.94881692353255 +[main_algo-3] [INFO] [1746051356.505089230] [sailbot.main_algo]: Target Bearing: -141.87280966231322 +[vectornav-1] [INFO] [1746051356.505241996] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.32900000000001, -0.158, 5.16) +[main_algo-3] [INFO] [1746051356.506533599] [sailbot.main_algo]: Heading Difference: -173.60619033768677 +[main_algo-3] [INFO] [1746051356.507829068] [sailbot.main_algo]: Wind Direction: 213 +[main_algo-3] [INFO] [1746051356.508771696] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051356.509626163] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051356.511327205] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051356.545129064] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051356.545853092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051356.546600205] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051356.547836654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051356.548904775] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051356.585578809] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051356.588000883] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051356.588137469] [sailbot.teensy]: Wind angle: 208 +[teensy-2] [INFO] [1746051356.589164466] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051356.589528255] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051356.590099274] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051356.590991711] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051356.644815827] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051356.645700951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051356.646145546] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051356.647690125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051356.648728721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051356.745557264] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051356.746740008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051356.747536906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051356.748567872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051356.749033744] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051356.835304280] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051356.837043382] [sailbot.teensy]: Wind angle: 207 +[trim_sail-4] [INFO] [1746051356.837550338] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051356.837994579] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051356.838951480] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051356.839785270] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051356.839797380] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051356.844305953] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051356.844990992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051356.845465946] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051356.846699690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051356.847837132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051356.945126354] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051356.945876411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051356.946640939] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051356.948084180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051356.948633064] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051356.957178705] [sailbot.main_algo]: Wind Direction: 207 +[main_algo-3] [INFO] [1746051356.958289809] [sailbot.main_algo]: Target Bearing: -141.87280966231322 +[main_algo-3] [INFO] [1746051356.959235044] [sailbot.main_algo]: Heading Difference: -173.79819033768678 +[main_algo-3] [INFO] [1746051356.960110598] [sailbot.main_algo]: Wind Direction: 207 +[main_algo-3] [INFO] [1746051356.960995337] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051356.961847685] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051356.963045060] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051356.963466232] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051357.003072734] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904609 Long: -76.50277043 +[main_algo-3] [INFO] [1746051357.004026755] [sailbot.main_algo]: Distance to destination: 56.956273835298745 +[vectornav-1] [INFO] [1746051357.004282203] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.773000000000025, -0.008, 5.497) +[main_algo-3] [INFO] [1746051357.005157934] [sailbot.main_algo]: Target Bearing: -141.85442453581857 +[main_algo-3] [INFO] [1746051357.006170652] [sailbot.main_algo]: Heading Difference: -173.81657546418143 +[main_algo-3] [INFO] [1746051357.007076678] [sailbot.main_algo]: Wind Direction: 207 +[main_algo-3] [INFO] [1746051357.007975947] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051357.008837717] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051357.010593953] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051357.044942073] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051357.045656161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051357.046238658] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051357.047695664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051357.048841479] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051357.085358678] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051357.087064365] [sailbot.teensy]: Wind angle: 207 +[trim_sail-4] [INFO] [1746051357.087611129] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051357.088028939] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051357.088971545] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051357.089513480] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051357.089862744] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051357.144025923] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051357.144949230] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051357.144511765] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051357.146364118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051357.147597524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051357.244993310] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051357.245582757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051357.246289175] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051357.247565683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051357.248618508] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051357.335454957] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051357.338067273] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051357.338069882] [sailbot.teensy]: Wind angle: 207 +[mux-7] [INFO] [1746051357.338845288] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051357.338870639] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051357.339287003] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051357.339625736] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051357.344485971] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051357.345691262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051357.345738387] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051357.347436545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051357.348644441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051357.444985780] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051357.445706571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051357.446282355] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051357.447662588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051357.448763573] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051357.457041735] [sailbot.main_algo]: Wind Direction: 207 +[main_algo-3] [INFO] [1746051357.458012461] [sailbot.main_algo]: Target Bearing: -141.85442453581857 +[main_algo-3] [INFO] [1746051357.458907600] [sailbot.main_algo]: Heading Difference: -172.3725754641814 +[main_algo-3] [INFO] [1746051357.459708828] [sailbot.main_algo]: Wind Direction: 207 +[main_algo-3] [INFO] [1746051357.460563899] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051357.461370457] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051357.462379172] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051357.463125445] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051357.502584673] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904596 Long: -76.50277018 +[main_algo-3] [INFO] [1746051357.503411584] [sailbot.main_algo]: Distance to destination: 56.96310006444982 +[vectornav-1] [INFO] [1746051357.503992544] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.73199999999997, -0.981, 5.041) +[main_algo-3] [INFO] [1746051357.504630681] [sailbot.main_algo]: Target Bearing: -141.87874108126147 +[main_algo-3] [INFO] [1746051357.505651227] [sailbot.main_algo]: Heading Difference: -172.3482589187385 +[main_algo-3] [INFO] [1746051357.506599234] [sailbot.main_algo]: Wind Direction: 207 +[main_algo-3] [INFO] [1746051357.507483612] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051357.508358259] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051357.510042055] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051357.545118147] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051357.545984984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051357.546529065] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051357.548101884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051357.549104932] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051357.585198982] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051357.586890170] [sailbot.teensy]: Wind angle: 208 +[teensy-2] [INFO] [1746051357.587828673] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051357.587605241] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051357.588792251] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051357.589152284] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051357.589689673] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051357.645163677] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051357.645736492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051357.646778274] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051357.648055434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051357.649110805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051357.744950482] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051357.745655661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051357.746610164] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051357.747471062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051357.748591451] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051357.835337639] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051357.837078521] [sailbot.teensy]: Wind angle: 207 +[trim_sail-4] [INFO] [1746051357.837705257] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051357.838005965] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051357.838641483] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051357.838665336] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051357.839037701] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051357.844298744] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051357.845040545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051357.845512019] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051357.846805185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051357.847972097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051357.945119310] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051357.945893447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051357.946559692] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051357.948200896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051357.949196924] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051357.957208452] [sailbot.main_algo]: Wind Direction: 207 +[main_algo-3] [INFO] [1746051357.958310257] [sailbot.main_algo]: Target Bearing: -141.87874108126147 +[main_algo-3] [INFO] [1746051357.959256128] [sailbot.main_algo]: Heading Difference: -173.38925891873856 +[main_algo-3] [INFO] [1746051357.960139934] [sailbot.main_algo]: Wind Direction: 207 +[main_algo-3] [INFO] [1746051357.961019408] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051357.961879299] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051357.962964786] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051357.963584971] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051358.002929323] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904601 Long: -76.50277004 +[vectornav-1] [INFO] [1746051358.004082629] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.658000000000015, -0.009, 5.218) +[main_algo-3] [INFO] [1746051358.004176040] [sailbot.main_algo]: Distance to destination: 56.97553352990813 +[main_algo-3] [INFO] [1746051358.005370238] [sailbot.main_algo]: Target Bearing: -141.88171595990005 +[main_algo-3] [INFO] [1746051358.006650463] [sailbot.main_algo]: Heading Difference: -173.3862840401 +[main_algo-3] [INFO] [1746051358.007703287] [sailbot.main_algo]: Wind Direction: 207 +[main_algo-3] [INFO] [1746051358.008669879] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051358.009566179] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051358.011289911] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051358.045395389] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051358.045624226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051358.046957965] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051358.047563526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051358.048657836] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051358.085251316] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051358.086961772] [sailbot.teensy]: Wind angle: 207 +[teensy-2] [INFO] [1746051358.087929661] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051358.087334722] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051358.088596712] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051358.088859093] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051358.089802866] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051358.145321150] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051358.145868318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051358.146783577] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051358.147913193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051358.148989693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051358.244929856] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051358.245644429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051358.246591582] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051358.247655091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051358.248734863] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051358.335458796] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051358.337282361] [sailbot.teensy]: Wind angle: 207 +[teensy-2] [INFO] [1746051358.339210122] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051358.339648899] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051358.339211921] [sailbot.mux]: algo sail angle: 0 +[trim_sail-4] [INFO] [1746051358.339227680] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051358.340037262] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051358.344427757] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051358.345168263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051358.345530734] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051358.347174415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051358.348346831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051358.445394513] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051358.446106533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051358.446928985] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051358.448312301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051358.448806290] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051358.457093380] [sailbot.main_algo]: Wind Direction: 207 +[main_algo-3] [INFO] [1746051358.458125908] [sailbot.main_algo]: Target Bearing: -141.88171595990005 +[main_algo-3] [INFO] [1746051358.459015193] [sailbot.main_algo]: Heading Difference: -173.46028404009996 +[main_algo-3] [INFO] [1746051358.459873564] [sailbot.main_algo]: Wind Direction: 207 +[main_algo-3] [INFO] [1746051358.460742618] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051358.461561715] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051358.462539171] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051358.463116486] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051358.503012282] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904614 Long: -76.50277018 +[main_algo-3] [INFO] [1746051358.503557501] [sailbot.main_algo]: Distance to destination: 56.975719513025645 +[vectornav-1] [INFO] [1746051358.504481446] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.01400000000001, -0.755, 4.827) +[main_algo-3] [INFO] [1746051358.504653525] [sailbot.main_algo]: Target Bearing: -141.86314828714865 +[main_algo-3] [INFO] [1746051358.505642333] [sailbot.main_algo]: Heading Difference: -173.47885171285134 +[main_algo-3] [INFO] [1746051358.506527051] [sailbot.main_algo]: Wind Direction: 207 +[main_algo-3] [INFO] [1746051358.507380881] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051358.508253254] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051358.509936418] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051358.544353976] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051358.545150846] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051358.545371234] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051358.547291732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051358.548421772] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051358.585395414] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051358.587696293] [sailbot.teensy]: Wind angle: 204 +[trim_sail-4] [INFO] [1746051358.587791885] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051358.588177681] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051358.588678402] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051358.589587806] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051358.590444208] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051358.645156650] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051358.645706821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051358.646613069] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051358.647735069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051358.648925671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051358.745337220] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051358.746118168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051358.746906262] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051358.748325890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051358.749503631] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051358.835350588] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051358.837585923] [sailbot.teensy]: Wind angle: 198 +[trim_sail-4] [INFO] [1746051358.837627193] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051358.838393934] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051358.838751875] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051358.839249066] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051358.839623418] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051358.844628999] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051358.845381518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051358.845860552] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051358.847220581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051358.848373383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051358.945256971] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051358.945999780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051358.946784444] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051358.947984373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051358.949156974] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051358.957032504] [sailbot.main_algo]: Wind Direction: 198 +[main_algo-3] [INFO] [1746051358.958033499] [sailbot.main_algo]: Target Bearing: -141.86314828714865 +[main_algo-3] [INFO] [1746051358.958938909] [sailbot.main_algo]: Heading Difference: -172.12285171285134 +[main_algo-3] [INFO] [1746051358.959719907] [sailbot.main_algo]: Wind Direction: 198 +[main_algo-3] [INFO] [1746051358.960554519] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051358.961404010] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051358.962421235] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051358.962992406] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051359.002816915] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904599 Long: -76.50277011 +[main_algo-3] [INFO] [1746051359.003726033] [sailbot.main_algo]: Distance to destination: 56.96966725058817 +[vectornav-1] [INFO] [1746051359.004438488] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.21199999999999, 0.385, 6.756) +[main_algo-3] [INFO] [1746051359.004808129] [sailbot.main_algo]: Target Bearing: -141.87979549564665 +[main_algo-3] [INFO] [1746051359.005830904] [sailbot.main_algo]: Heading Difference: -172.10620450435334 +[main_algo-3] [INFO] [1746051359.006812552] [sailbot.main_algo]: Wind Direction: 198 +[main_algo-3] [INFO] [1746051359.007704873] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051359.008573943] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051359.010283280] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051359.045033592] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051359.045758574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051359.046921489] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051359.047691388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051359.048911042] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051359.085312234] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051359.087533152] [sailbot.teensy]: Wind angle: 196 +[trim_sail-4] [INFO] [1746051359.087848866] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051359.088419446] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051359.088485905] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051359.089406795] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051359.090262598] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051359.144999760] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051359.145615437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051359.146656398] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051359.147460642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051359.148261960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051359.243932046] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051359.244873022] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051359.245150412] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051359.247156173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051359.248357949] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051359.335098506] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051359.336661998] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746051359.337589252] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051359.338469564] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051359.337973980] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051359.338408808] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051359.339351754] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051359.344285988] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051359.344905349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051359.345377940] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051359.346601213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051359.347634600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051359.445290202] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051359.446091075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051359.446863611] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051359.448362501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051359.449485435] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051359.457088291] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051359.458111008] [sailbot.main_algo]: Target Bearing: -141.87979549564665 +[main_algo-3] [INFO] [1746051359.458984524] [sailbot.main_algo]: Heading Difference: -172.90820450435336 +[main_algo-3] [INFO] [1746051359.459768946] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051359.460588179] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051359.461380873] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051359.462390154] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051359.463305841] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051359.502943179] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904598 Long: -76.50277019 +[main_algo-3] [INFO] [1746051359.503946849] [sailbot.main_algo]: Distance to destination: 56.963864279659525 +[vectornav-1] [INFO] [1746051359.504411615] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.74000000000001, -0.97, 4.302) +[main_algo-3] [INFO] [1746051359.505216899] [sailbot.main_algo]: Target Bearing: -141.87648620899748 +[main_algo-3] [INFO] [1746051359.506236465] [sailbot.main_algo]: Heading Difference: -172.91151379100256 +[main_algo-3] [INFO] [1746051359.507170450] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051359.508035759] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051359.508892239] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051359.510599786] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051359.544891711] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051359.545580948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051359.546247031] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051359.547494258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051359.548484208] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051359.585411970] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051359.587382577] [sailbot.teensy]: Wind angle: 196 +[trim_sail-4] [INFO] [1746051359.587844601] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051359.588349323] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051359.589258185] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051359.589552477] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051359.590653946] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051359.645115878] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051359.645865949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051359.646567656] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051359.648261616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051359.649299802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051359.745132811] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051359.745875743] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051359.746942283] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051359.747875097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051359.748935274] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051359.835373954] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051359.837458154] [sailbot.teensy]: Wind angle: 197 +[trim_sail-4] [INFO] [1746051359.838383344] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051359.838440203] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051359.839351624] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051359.839841083] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051359.840263346] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051359.844343646] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051359.845000604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051359.845738964] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051359.846784597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051359.847822578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051359.945087123] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051359.945884098] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051359.946589953] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051359.948214056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051359.949387808] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051359.957287701] [sailbot.main_algo]: Wind Direction: 197 +[main_algo-3] [INFO] [1746051359.958312025] [sailbot.main_algo]: Target Bearing: -141.87648620899748 +[main_algo-3] [INFO] [1746051359.959211024] [sailbot.main_algo]: Heading Difference: -171.38351379100254 +[main_algo-3] [INFO] [1746051359.960090847] [sailbot.main_algo]: Wind Direction: 197 +[main_algo-3] [INFO] [1746051359.960986143] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051359.961845246] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051359.962833764] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051359.963390529] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051360.002821008] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904598 Long: -76.50277031 +[main_algo-3] [INFO] [1746051360.003696687] [sailbot.main_algo]: Distance to destination: 56.956211803038954 +[vectornav-1] [INFO] [1746051360.004012462] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.24400000000003, -0.189, 4.577) +[main_algo-3] [INFO] [1746051360.004905644] [sailbot.main_algo]: Target Bearing: -141.87022130559868 +[main_algo-3] [INFO] [1746051360.005911684] [sailbot.main_algo]: Heading Difference: -171.38977869440134 +[main_algo-3] [INFO] [1746051360.006853679] [sailbot.main_algo]: Wind Direction: 197 +[main_algo-3] [INFO] [1746051360.007725668] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051360.008611563] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051360.010200853] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051360.045267382] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051360.046027879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051360.046749230] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051360.048175458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051360.049352280] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051360.085235105] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051360.087247179] [sailbot.teensy]: Wind angle: 198 +[trim_sail-4] [INFO] [1746051360.087463568] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051360.088143826] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051360.088706594] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051360.089062755] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051360.089943815] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051360.144978692] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051360.146305902] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051360.146682863] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051360.148434810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051360.149471335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051360.244939570] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051360.246397929] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051360.246575175] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051360.248447996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051360.249427945] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051360.335257243] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051360.337504306] [sailbot.teensy]: Wind angle: 196 +[trim_sail-4] [INFO] [1746051360.337551588] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051360.339056052] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051360.339205479] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051360.339611044] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051360.340011180] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051360.344566884] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051360.345154678] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051360.345727034] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051360.346872333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051360.347957815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051360.445095608] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051360.445959297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051360.446409322] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051360.447837395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051360.448923169] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051360.457209520] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051360.458256329] [sailbot.main_algo]: Target Bearing: -141.87022130559868 +[main_algo-3] [INFO] [1746051360.459141168] [sailbot.main_algo]: Heading Difference: -171.88577869440132 +[main_algo-3] [INFO] [1746051360.459986546] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051360.460823989] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051360.461640523] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051360.462663552] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051360.463326479] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051360.502840201] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690459 Long: -76.50277044 +[vectornav-1] [INFO] [1746051360.503930004] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.161, -0.156, 5.251) +[main_algo-3] [INFO] [1746051360.504262457] [sailbot.main_algo]: Distance to destination: 56.94231325880712 +[main_algo-3] [INFO] [1746051360.505372304] [sailbot.main_algo]: Target Bearing: -141.870365111979 +[main_algo-3] [INFO] [1746051360.506441399] [sailbot.main_algo]: Heading Difference: -171.88563488802095 +[main_algo-3] [INFO] [1746051360.507372475] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051360.508427087] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051360.509337045] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051360.511019840] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051360.544982485] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051360.545637792] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051360.546417802] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051360.547621781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051360.548784102] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051360.585269672] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051360.587207964] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051360.587707019] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051360.588208454] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051360.589178404] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051360.590199965] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051360.590256327] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051360.645165780] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051360.645711999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051360.646679733] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051360.648046126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051360.649170943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051360.745497296] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051360.746138485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051360.747142249] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051360.748336754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051360.749516436] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051360.835447495] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051360.837231401] [sailbot.teensy]: Wind angle: 192 +[trim_sail-4] [INFO] [1746051360.837859514] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051360.839442837] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051360.840029066] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051360.841002605] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051360.841846245] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051360.844438959] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051360.844854836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051360.845561859] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051360.846516719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051360.847651324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051360.944878451] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051360.945412214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051360.946126179] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051360.947295556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051360.948445087] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051360.957259498] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051360.958324066] [sailbot.main_algo]: Target Bearing: -141.870365111979 +[main_algo-3] [INFO] [1746051360.959260973] [sailbot.main_algo]: Heading Difference: -171.96863488802103 +[main_algo-3] [INFO] [1746051360.960189528] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051360.961082559] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051360.961972669] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051360.963012361] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051360.963556458] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051361.002953408] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690458 Long: -76.50277035 +[vectornav-1] [INFO] [1746051361.004103653] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.129999999999995, -0.68, 6.377) +[main_algo-3] [INFO] [1746051361.004100123] [sailbot.main_algo]: Distance to destination: 56.9410430291429 +[main_algo-3] [INFO] [1746051361.005367106] [sailbot.main_algo]: Target Bearing: -141.88373256587923 +[main_algo-3] [INFO] [1746051361.006396772] [sailbot.main_algo]: Heading Difference: -171.95526743412074 +[main_algo-3] [INFO] [1746051361.007360190] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051361.008399909] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051361.009285872] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051361.011012135] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051361.045175526] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051361.046192390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051361.046560653] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051361.048416079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051361.049548032] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051361.085178720] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051361.087273555] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051361.087468938] [sailbot.teensy]: Wind angle: 189 +[mux-7] [INFO] [1746051361.088310900] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051361.088349349] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051361.089266543] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051361.090135631] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051361.145036141] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051361.145784725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051361.146418606] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051361.147716919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051361.148968353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051361.245123311] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051361.245870982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051361.246743562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051361.248211630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051361.249331707] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051361.334560680] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051361.335438423] [sailbot.teensy]: Wind angle: 190 +[teensy-2] [INFO] [1746051361.335875409] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051361.336285364] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051361.336144047] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051361.336681243] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051361.337565910] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051361.343714506] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051361.344125459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051361.344317909] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051361.345052206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051361.346216756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051361.445147642] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051361.446033707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051361.446720739] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051361.448109215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051361.449182029] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051361.456997122] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051361.457967863] [sailbot.main_algo]: Target Bearing: -141.88373256587923 +[main_algo-3] [INFO] [1746051361.458850805] [sailbot.main_algo]: Heading Difference: -172.9862674341208 +[main_algo-3] [INFO] [1746051361.459710711] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051361.460597672] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051361.461405410] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051361.462416184] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051361.463232717] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051361.503138981] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904577 Long: -76.50277037 +[main_algo-3] [INFO] [1746051361.503923927] [sailbot.main_algo]: Distance to destination: 56.937664784740306 +[vectornav-1] [INFO] [1746051361.504291879] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.375999999999976, -0.188, 4.832) +[main_algo-3] [INFO] [1746051361.505070694] [sailbot.main_algo]: Target Bearing: -141.88528895897693 +[main_algo-3] [INFO] [1746051361.506015038] [sailbot.main_algo]: Heading Difference: -172.98471104102305 +[main_algo-3] [INFO] [1746051361.506932124] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051361.507818989] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051361.508852123] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051361.510575029] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051361.545014682] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051361.545791484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051361.546358390] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051361.547689764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051361.548732138] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051361.585434852] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051361.587570810] [sailbot.teensy]: Wind angle: 190 +[teensy-2] [INFO] [1746051361.588540241] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051361.587982624] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051361.588764817] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051361.589438918] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051361.590283956] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051361.645053395] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051361.645633369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051361.646400148] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051361.647507163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051361.648650449] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051361.745323585] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051361.745892032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051361.746836184] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051361.748423986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051361.749595633] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051361.835271389] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051361.837578924] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051361.838198848] [sailbot.teensy]: Wind angle: 190 +[mux-7] [INFO] [1746051361.838894541] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051361.839264060] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051361.840661625] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051361.841610323] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051361.844423293] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051361.845091579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051361.845621302] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051361.846915931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051361.847979091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051361.945211799] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051361.945921740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051361.946675057] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051361.948225931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051361.949659912] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051361.957268029] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051361.958293020] [sailbot.main_algo]: Target Bearing: -141.88528895897693 +[main_algo-3] [INFO] [1746051361.959186867] [sailbot.main_algo]: Heading Difference: -171.73871104102307 +[main_algo-3] [INFO] [1746051361.960063840] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051361.960963552] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051361.961811617] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051361.962903607] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051361.963772096] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051362.002933820] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904577 Long: -76.5027704 +[main_algo-3] [INFO] [1746051362.003923541] [sailbot.main_algo]: Distance to destination: 56.93575136168127 +[vectornav-1] [INFO] [1746051362.004335978] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.06400000000002, -0.433, 4.231) +[main_algo-3] [INFO] [1746051362.005162402] [sailbot.main_algo]: Target Bearing: -141.88372246541107 +[main_algo-3] [INFO] [1746051362.006197050] [sailbot.main_algo]: Heading Difference: -171.74027753458893 +[main_algo-3] [INFO] [1746051362.007116531] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051362.007982952] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051362.008849461] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051362.010560445] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051362.045149720] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051362.046021018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051362.047041199] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051362.048047508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051362.049118933] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051362.085387170] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051362.087671209] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051362.088328043] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051362.089062268] [sailbot.teensy]: Wind angle: 188 +[teensy-2] [INFO] [1746051362.090014205] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051362.090863447] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051362.091696128] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051362.145436360] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051362.146004367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051362.147443953] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051362.148374431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051362.149652735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051362.245455442] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051362.246037908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051362.247126096] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051362.248328919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051362.249448215] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051362.335543088] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051362.338144366] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051362.338477643] [sailbot.teensy]: Wind angle: 185 +[mux-7] [INFO] [1746051362.338571765] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051362.338895344] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051362.339296366] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051362.339671955] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051362.344470978] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051362.344995510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051362.345609163] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051362.346734886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051362.347893381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051362.445172180] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051362.446638614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051362.446672626] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051362.448737680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051362.449736982] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051362.457141964] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051362.458178950] [sailbot.main_algo]: Target Bearing: -141.88372246541107 +[main_algo-3] [INFO] [1746051362.459071034] [sailbot.main_algo]: Heading Difference: -172.05227753458894 +[main_algo-3] [INFO] [1746051362.459919910] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051362.460745756] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051362.461541509] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051362.462605362] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051362.463206679] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051362.503266775] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690459 Long: -76.50277055 +[main_algo-3] [INFO] [1746051362.503708904] [sailbot.main_algo]: Distance to destination: 56.935299071151526 +[vectornav-1] [INFO] [1746051362.504765782] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.26800000000003, -0.06, 5.577) +[main_algo-3] [INFO] [1746051362.504781107] [sailbot.main_algo]: Target Bearing: -141.8646194183324 +[main_algo-3] [INFO] [1746051362.505766661] [sailbot.main_algo]: Heading Difference: -172.07138058166754 +[main_algo-3] [INFO] [1746051362.506661606] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051362.507540930] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051362.508399948] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051362.510106399] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051362.544553548] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051362.545215906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051362.545682847] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051362.547257801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051362.548278891] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051362.585259040] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051362.587400515] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051362.587499446] [sailbot.teensy]: Wind angle: 184 +[teensy-2] [INFO] [1746051362.588450677] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051362.588701246] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051362.589379095] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051362.590302287] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051362.645305311] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051362.645999364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051362.646892726] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051362.648389009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051362.649490173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051362.745406976] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051362.746329863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051362.746999627] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051362.748235841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051362.748796811] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051362.835126692] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051362.836637904] [sailbot.teensy]: Wind angle: 184 +[trim_sail-4] [INFO] [1746051362.837160972] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051362.837448702] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051362.837829225] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051362.837894882] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051362.838197518] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051362.844419552] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051362.845007524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051362.845516648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051362.846741386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051362.847842306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051362.945085772] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051362.945791149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051362.946605014] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051362.948108191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051362.949325763] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051362.957148500] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051362.958193516] [sailbot.main_algo]: Target Bearing: -141.8646194183324 +[main_algo-3] [INFO] [1746051362.959082805] [sailbot.main_algo]: Heading Difference: -172.8673805816676 +[main_algo-3] [INFO] [1746051362.959950450] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051362.960823970] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051362.961685047] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051362.962973989] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051362.963355583] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051363.002914044] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904593 Long: -76.50277055 +[main_algo-3] [INFO] [1746051363.004057848] [sailbot.main_algo]: Distance to destination: 56.93740265679804 +[vectornav-1] [INFO] [1746051363.004102090] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.63499999999999, -0.818, 5.498) +[main_algo-3] [INFO] [1746051363.005348394] [sailbot.main_algo]: Target Bearing: -141.86201939157505 +[main_algo-3] [INFO] [1746051363.006518880] [sailbot.main_algo]: Heading Difference: -172.86998060842495 +[main_algo-3] [INFO] [1746051363.007536535] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051363.008576452] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051363.009484015] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051363.011220928] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051363.045556245] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051363.045742121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051363.047367702] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051363.047650289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051363.048761285] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051363.085228665] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051363.087349330] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051363.087647636] [sailbot.teensy]: Wind angle: 184 +[mux-7] [INFO] [1746051363.087810437] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051363.088779680] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051363.089651869] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051363.090502852] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051363.145160601] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051363.145894700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051363.146616443] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051363.147999055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051363.149059984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051363.244380066] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051363.244908168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051363.245436354] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051363.246597706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051363.247768285] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051363.335244539] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051363.337124690] [sailbot.teensy]: Wind angle: 184 +[trim_sail-4] [INFO] [1746051363.337405665] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051363.338783414] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051363.338798083] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051363.339189512] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051363.339542881] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051363.344412291] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051363.345426750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051363.345563147] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051363.347150964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051363.348193362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051363.445096787] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051363.445661370] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051363.446494110] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051363.447595699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051363.448650340] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051363.457200824] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051363.458261924] [sailbot.main_algo]: Target Bearing: -141.86201939157505 +[main_algo-3] [INFO] [1746051363.459193744] [sailbot.main_algo]: Heading Difference: -173.502980608425 +[main_algo-3] [INFO] [1746051363.460014786] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051363.460867227] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051363.461645095] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051363.463078738] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051363.463354470] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051363.503214892] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904592 Long: -76.50277046 +[main_algo-3] [INFO] [1746051363.503775696] [sailbot.main_algo]: Distance to destination: 56.94244014515413 +[vectornav-1] [INFO] [1746051363.504603032] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.96800000000002, 0.118, 4.652) +[main_algo-3] [INFO] [1746051363.504993331] [sailbot.main_algo]: Target Bearing: -141.8675872343983 +[main_algo-3] [INFO] [1746051363.506047155] [sailbot.main_algo]: Heading Difference: -173.49741276560172 +[main_algo-3] [INFO] [1746051363.506980012] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051363.507878851] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051363.508745429] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051363.510441740] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051363.545049167] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051363.545823377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051363.546610287] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051363.547875998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051363.548936400] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051363.585444659] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051363.587293228] [sailbot.teensy]: Wind angle: 184 +[teensy-2] [INFO] [1746051363.588264764] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051363.589203833] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051363.587724419] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051363.588481217] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051363.590159923] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051363.644613623] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051363.645725895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051363.645853773] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051363.647515437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051363.648679156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051363.745252550] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051363.746191451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051363.746797244] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051363.748273677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051363.748799378] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051363.835269018] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051363.837383233] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051363.838010902] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051363.838643379] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051363.839576910] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051363.840492964] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051363.841202228] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051363.844414136] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051363.844948907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051363.845493212] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051363.846669346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051363.847703683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051363.945182721] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051363.946076831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051363.946642101] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051363.948201028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051363.949361780] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051363.957251237] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051363.958284761] [sailbot.main_algo]: Target Bearing: -141.8675872343983 +[main_algo-3] [INFO] [1746051363.959181295] [sailbot.main_algo]: Heading Difference: -172.1644127656017 +[main_algo-3] [INFO] [1746051363.960034347] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051363.960936404] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051363.961781612] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051363.962859140] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051363.963422338] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051364.002780737] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904612 Long: -76.50277059 +[main_algo-3] [INFO] [1746051364.003729080] [sailbot.main_algo]: Distance to destination: 56.94817830510257 +[vectornav-1] [INFO] [1746051364.003977568] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.82900000000001, -0.585, 5.086) +[main_algo-3] [INFO] [1746051364.004936524] [sailbot.main_algo]: Target Bearing: -141.84346704177068 +[main_algo-3] [INFO] [1746051364.005934238] [sailbot.main_algo]: Heading Difference: -172.1885329582293 +[main_algo-3] [INFO] [1746051364.006849497] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051364.007735521] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051364.008648059] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051364.010349641] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051364.044923148] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051364.045650759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051364.046135927] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051364.047529171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051364.048682585] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051364.085216999] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051364.086897221] [sailbot.teensy]: Wind angle: 184 +[teensy-2] [INFO] [1746051364.087762585] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051364.087329792] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051364.088447497] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051364.088879249] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051364.089904982] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051364.144830314] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051364.145869713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051364.146169597] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051364.147866216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051364.148889928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051364.245168177] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051364.245915259] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051364.246676114] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051364.248007835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051364.249046105] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051364.335283537] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051364.337492504] [sailbot.teensy]: Wind angle: 184 +[trim_sail-4] [INFO] [1746051364.337890038] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051364.338369387] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051364.339751670] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051364.340641113] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051364.341486103] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051364.344316937] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051364.344932749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051364.345554426] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051364.346607770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051364.347765614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051364.444917936] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051364.445524455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051364.446182540] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051364.447302662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051364.448358248] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051364.457093940] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051364.458055522] [sailbot.main_algo]: Target Bearing: -141.84346704177068 +[main_algo-3] [INFO] [1746051364.458892818] [sailbot.main_algo]: Heading Difference: -171.3275329582293 +[main_algo-3] [INFO] [1746051364.459683215] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051364.460540383] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051364.461379587] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051364.462400335] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051364.463231725] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051364.502701903] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904622 Long: -76.50277057 +[main_algo-3] [INFO] [1746051364.503716963] [sailbot.main_algo]: Distance to destination: 56.95646861254232 +[vectornav-1] [INFO] [1746051364.504205864] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.94, -0.56, 5.634) +[main_algo-3] [INFO] [1746051364.504811577] [sailbot.main_algo]: Target Bearing: -141.83585067935564 +[main_algo-3] [INFO] [1746051364.505773578] [sailbot.main_algo]: Heading Difference: -171.33514932064435 +[main_algo-3] [INFO] [1746051364.506720144] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051364.507601899] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051364.508523505] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051364.510307896] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051364.545432422] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051364.545484325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051364.546686769] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051364.548006582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051364.549115612] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051364.585288504] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051364.587429698] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051364.587721481] [sailbot.teensy]: Wind angle: 183 +[teensy-2] [INFO] [1746051364.588660202] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051364.588927713] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051364.589583233] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051364.590485525] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051364.645441988] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051364.645836797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051364.647208854] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051364.647990167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051364.649139985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051364.745448977] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051364.746275110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051364.747659975] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051364.748704241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051364.749876194] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051364.835435576] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051364.837420247] [sailbot.teensy]: Wind angle: 184 +[trim_sail-4] [INFO] [1746051364.837710474] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051364.838368428] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051364.839257524] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051364.839801203] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051364.840180498] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051364.844345023] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051364.844896616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051364.845423025] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051364.846607746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051364.847664054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051364.945205571] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051364.945965854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051364.946709946] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051364.948338863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051364.949490913] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051364.957223911] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051364.958300724] [sailbot.main_algo]: Target Bearing: -141.83585067935564 +[main_algo-3] [INFO] [1746051364.959224840] [sailbot.main_algo]: Heading Difference: -172.22414932064436 +[main_algo-3] [INFO] [1746051364.960147917] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051364.961079326] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051364.961973225] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051364.962995932] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051364.963907474] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051365.002690775] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904623 Long: -76.50277054 +[main_algo-3] [INFO] [1746051365.003742069] [sailbot.main_algo]: Distance to destination: 56.95908232445199 +[vectornav-1] [INFO] [1746051365.004060187] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.226999999999975, 0.461, 5.924) +[main_algo-3] [INFO] [1746051365.004912623] [sailbot.main_algo]: Target Bearing: -141.8365522009497 +[main_algo-3] [INFO] [1746051365.005914308] [sailbot.main_algo]: Heading Difference: -172.2234477990503 +[main_algo-3] [INFO] [1746051365.006842782] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051365.007739199] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051365.008697562] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051365.010397257] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051365.044945954] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051365.045663733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051365.046162367] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051365.047467524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051365.048705072] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051365.085322986] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051365.087081535] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051365.087584776] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051365.088036200] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051365.088967113] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051365.089530962] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051365.089829753] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051365.145103948] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051365.145762231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051365.146972935] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051365.147667594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051365.148331713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051365.244855494] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051365.245545596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051365.246071634] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051365.247447711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051365.248457257] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051365.335210663] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051365.336854344] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051365.337373643] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051365.337791537] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051365.338693186] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051365.339624355] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051365.338953130] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051365.344467030] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051365.345095113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051365.345995046] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051365.346852782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051365.347969405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051365.444032316] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051365.444509855] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051365.446315605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051365.447631491] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051365.448373556] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051365.456955827] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051365.458014296] [sailbot.main_algo]: Target Bearing: -141.8365522009497 +[main_algo-3] [INFO] [1746051365.459020687] [sailbot.main_algo]: Heading Difference: -172.9364477990503 +[main_algo-3] [INFO] [1746051365.459926759] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051365.460881923] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051365.461768374] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051365.462991082] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051365.464709472] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051365.501938228] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904621 Long: -76.50277058 +[main_algo-3] [INFO] [1746051365.502691151] [sailbot.main_algo]: Distance to destination: 56.95512963860956 +[vectornav-1] [INFO] [1746051365.502832026] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.66500000000002, -1.333, 5.207) +[main_algo-3] [INFO] [1746051365.503765111] [sailbot.main_algo]: Target Bearing: -141.83619418853485 +[main_algo-3] [INFO] [1746051365.504644939] [sailbot.main_algo]: Heading Difference: -172.9368058114652 +[main_algo-3] [INFO] [1746051365.505192222] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051365.506053871] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051365.506892984] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051365.508353390] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051365.544651215] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051365.545299327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051365.545835078] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051365.547022583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051365.548003182] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051365.585315096] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051365.587428395] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051365.587611763] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051365.588547789] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051365.589022279] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051365.589422486] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051365.590313111] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051365.644725082] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051365.645488326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051365.645871056] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051365.647389931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051365.648455015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051365.745221154] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051365.746186996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051365.746744658] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051365.748328999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051365.749471909] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051365.835427427] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051365.837231471] [sailbot.teensy]: Wind angle: 184 +[trim_sail-4] [INFO] [1746051365.837766829] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051365.838168485] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051365.839065154] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051365.839374300] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051365.839949914] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051365.844527811] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051365.844852119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051365.845832038] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051365.846525195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051365.847570195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051365.945157348] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051365.945686098] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051365.946748990] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051365.947607182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051365.948610714] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051365.957062386] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051365.958075958] [sailbot.main_algo]: Target Bearing: -141.83619418853485 +[main_algo-3] [INFO] [1746051365.958939254] [sailbot.main_algo]: Heading Difference: -171.4988058114651 +[main_algo-3] [INFO] [1746051365.959754148] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051365.960598096] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051365.961437159] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051365.962484472] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051365.963165142] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051366.001645164] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904639 Long: -76.50277057 +[vectornav-1] [INFO] [1746051366.002594547] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.84899999999999, -0.026, 4.276) +[main_algo-3] [INFO] [1746051366.002324576] [sailbot.main_algo]: Distance to destination: 56.96839782535078 +[main_algo-3] [INFO] [1746051366.003383318] [sailbot.main_algo]: Target Bearing: -141.82113123684843 +[main_algo-3] [INFO] [1746051366.004178958] [sailbot.main_algo]: Heading Difference: -171.51386876315155 +[main_algo-3] [INFO] [1746051366.004991482] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051366.005845478] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051366.006676410] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051366.009132543] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051366.043583073] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051366.043960829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051366.044077840] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051366.044879229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051366.045425855] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051366.085223738] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051366.086885420] [sailbot.teensy]: Wind angle: 181 +[trim_sail-4] [INFO] [1746051366.087133891] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051366.087742049] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051366.088599907] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051366.088656797] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051366.089139029] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051366.144892020] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051366.145524109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051366.146166151] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051366.147330926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051366.148549400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051366.245060908] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051366.245757758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051366.246876165] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051366.247577625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051366.248066965] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051366.335167228] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051366.337212603] [sailbot.teensy]: Wind angle: 181 +[trim_sail-4] [INFO] [1746051366.337288269] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051366.338698357] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051366.339164230] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051366.340010158] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051366.340367098] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051366.344384337] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051366.344993576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051366.345456867] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051366.346714740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051366.347877559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051366.444984551] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051366.445745266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051366.446233101] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051366.447626194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051366.448705703] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051366.457237458] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051366.458374752] [sailbot.main_algo]: Target Bearing: -141.82113123684843 +[main_algo-3] [INFO] [1746051366.459343725] [sailbot.main_algo]: Heading Difference: -172.32986876315158 +[main_algo-3] [INFO] [1746051366.460254450] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051366.461125574] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051366.461925292] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051366.462929061] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051366.463581523] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051366.502710211] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904661 Long: -76.50277072 +[main_algo-3] [INFO] [1746051366.503734735] [sailbot.main_algo]: Distance to destination: 56.974285837964764 +[vectornav-1] [INFO] [1746051366.503997721] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.009000000000015, 0.311, 6.243) +[main_algo-3] [INFO] [1746051366.504906356] [sailbot.main_algo]: Target Bearing: -141.7942505642769 +[main_algo-3] [INFO] [1746051366.505914425] [sailbot.main_algo]: Heading Difference: -172.35674943572315 +[main_algo-3] [INFO] [1746051366.506855985] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051366.507738691] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051366.508634715] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051366.510375750] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051366.544939467] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051366.545715598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051366.546177039] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051366.547662809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051366.548812854] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051366.585280542] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051366.587425117] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051366.587560166] [sailbot.teensy]: Wind angle: 181 +[teensy-2] [INFO] [1746051366.588759736] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051366.588935831] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051366.589751992] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051366.590725501] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051366.645290786] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051366.645809674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051366.646872987] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051366.648315078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051366.649337333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051366.745133155] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051366.745755640] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051366.746608789] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051366.747715594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051366.748790135] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051366.835290288] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051366.837470037] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051366.837835980] [sailbot.teensy]: Wind angle: 181 +[mux-7] [INFO] [1746051366.838392789] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051366.838727299] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051366.839169310] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051366.839516887] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051366.844313286] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051366.844989194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051366.845645720] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051366.846846623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051366.847860390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051366.945068495] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051366.945753057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051366.946414937] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051366.947901249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051366.948646616] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051366.957201444] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051366.958286057] [sailbot.main_algo]: Target Bearing: -141.7942505642769 +[main_algo-3] [INFO] [1746051366.959218062] [sailbot.main_algo]: Heading Difference: -173.19674943572306 +[main_algo-3] [INFO] [1746051366.960129713] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051366.961025309] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051366.961876788] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051366.962872445] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051366.963434878] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051367.002879487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690465 Long: -76.50277075 +[main_algo-3] [INFO] [1746051367.003981791] [sailbot.main_algo]: Distance to destination: 56.96465085793636 +[vectornav-1] [INFO] [1746051367.004204412] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.216999999999985, -1.623, 5.29) +[main_algo-3] [INFO] [1746051367.005468850] [sailbot.main_algo]: Target Bearing: -141.80220114296495 +[main_algo-3] [INFO] [1746051367.006823233] [sailbot.main_algo]: Heading Difference: -173.18879885703507 +[main_algo-3] [INFO] [1746051367.007770371] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051367.008699603] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051367.009577741] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051367.011348706] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051367.045003947] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051367.045703315] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051367.046474913] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051367.047953688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051367.049074351] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051367.085452423] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051367.087732054] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051367.087846466] [sailbot.teensy]: Wind angle: 181 +[teensy-2] [INFO] [1746051367.088839816] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051367.089564214] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051367.089736384] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051367.090638549] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051367.144694530] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051367.145339894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051367.145838260] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051367.147153773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051367.148237224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051367.244917511] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051367.246072836] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051367.245605165] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051367.248634462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051367.249839833] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051367.335392897] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051367.337770136] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051367.338669243] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051367.339252040] [sailbot.teensy]: Wind angle: 184 +[teensy-2] [INFO] [1746051367.340233960] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051367.341122342] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051367.341999780] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051367.344318608] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051367.344803786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051367.345382704] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051367.346533217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051367.347590116] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051367.444998489] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051367.445767476] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051367.446547952] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051367.447705117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051367.448746671] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051367.457244086] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051367.458350967] [sailbot.main_algo]: Target Bearing: -141.80220114296495 +[main_algo-3] [INFO] [1746051367.459308345] [sailbot.main_algo]: Heading Difference: -171.9807988570351 +[main_algo-3] [INFO] [1746051367.460235412] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051367.461348463] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051367.462161503] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051367.463264163] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051367.463643338] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051367.502606958] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904651 Long: -76.50277065 +[main_algo-3] [INFO] [1746051367.503522298] [sailbot.main_algo]: Distance to destination: 56.97172375020617 +[vectornav-1] [INFO] [1746051367.503611289] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.58100000000002, 0.949, 5.195) +[main_algo-3] [INFO] [1746051367.504673510] [sailbot.main_algo]: Target Bearing: -141.80656340142036 +[main_algo-3] [INFO] [1746051367.505763520] [sailbot.main_algo]: Heading Difference: -171.97643659857965 +[main_algo-3] [INFO] [1746051367.506758449] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051367.507759434] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051367.509188279] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051367.511981508] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051367.543831712] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051367.544368461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051367.544726711] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051367.545782018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051367.546736889] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051367.584948403] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051367.586369665] [sailbot.teensy]: Wind angle: 184 +[trim_sail-4] [INFO] [1746051367.586861109] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051367.587169854] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051367.588025469] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051367.588345928] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051367.588884156] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051367.645001742] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051367.645687925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051367.646324931] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051367.647514865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051367.648683185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051367.744988508] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051367.745555705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051367.746276153] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051367.747431179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051367.748525567] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051367.835488698] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051367.837750807] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051367.838739980] [sailbot.teensy]: Wind angle: 184 +[mux-7] [INFO] [1746051367.839668727] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051367.839773903] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051367.840751307] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051367.841606740] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051367.844389811] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051367.844845345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051367.845543812] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051367.846535552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051367.847538906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051367.945031967] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051367.945731741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051367.946339433] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051367.947603868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051367.948650889] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051367.957021456] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051367.958043271] [sailbot.main_algo]: Target Bearing: -141.80656340142036 +[main_algo-3] [INFO] [1746051367.958921161] [sailbot.main_algo]: Heading Difference: -171.61243659857962 +[main_algo-3] [INFO] [1746051367.959754263] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051367.960610248] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051367.961445839] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051367.962489615] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051367.963008404] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051368.002762137] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904656 Long: -76.50277074 +[vectornav-1] [INFO] [1746051368.003860202] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.298, -1.361, 5.473) +[main_algo-3] [INFO] [1746051368.003846084] [sailbot.main_algo]: Distance to destination: 56.96950079024638 +[main_algo-3] [INFO] [1746051368.004965929] [sailbot.main_algo]: Target Bearing: -141.79753141856173 +[main_algo-3] [INFO] [1746051368.005953486] [sailbot.main_algo]: Heading Difference: -171.62146858143825 +[main_algo-3] [INFO] [1746051368.006887737] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051368.007743930] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051368.008641264] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051368.010543169] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051368.044788248] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051368.045369444] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051368.045913240] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051368.047202065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051368.048246586] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051368.085305220] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051368.087024450] [sailbot.teensy]: Wind angle: 184 +[trim_sail-4] [INFO] [1746051368.087510521] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051368.089297214] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051368.089417835] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051368.090376456] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051368.091321444] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051368.145136585] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051368.145831170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051368.146489172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051368.147737665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051368.148765918] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051368.245200382] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051368.245897008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051368.246714163] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051368.248704720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051368.249910979] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051368.335443275] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051368.337765756] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051368.338291030] [sailbot.teensy]: Wind angle: 184 +[mux-7] [INFO] [1746051368.338970769] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051368.339195697] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051368.339582532] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051368.340045529] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051368.344460060] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051368.344921215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051368.345584908] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051368.346583962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051368.347774800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051368.444998778] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051368.445659942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051368.446640590] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051368.447440126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051368.448507087] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051368.457222374] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051368.458293088] [sailbot.main_algo]: Target Bearing: -141.79753141856173 +[main_algo-3] [INFO] [1746051368.459197572] [sailbot.main_algo]: Heading Difference: -171.90446858143827 +[main_algo-3] [INFO] [1746051368.460061081] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051368.460940676] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051368.461730784] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051368.462748505] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051368.463502068] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051368.503738263] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904661 Long: -76.50277071 +[main_algo-3] [INFO] [1746051368.504023521] [sailbot.main_algo]: Distance to destination: 56.97492283070753 +[vectornav-1] [INFO] [1746051368.505017477] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.245000000000005, 0.036, 5.754) +[main_algo-3] [INFO] [1746051368.505302939] [sailbot.main_algo]: Target Bearing: -141.79477338936218 +[main_algo-3] [INFO] [1746051368.506642100] [sailbot.main_algo]: Heading Difference: -171.90722661063785 +[main_algo-3] [INFO] [1746051368.507586152] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051368.508521088] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051368.509383365] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051368.511095708] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051368.545641345] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051368.545818907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051368.547235198] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051368.547727959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051368.548944208] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051368.585370549] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051368.587175656] [sailbot.teensy]: Wind angle: 187 +[teensy-2] [INFO] [1746051368.588125152] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051368.587916370] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051368.589050660] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051368.589198084] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051368.589964991] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051368.644959739] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051368.645592799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051368.646304491] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051368.647532405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051368.648589099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051368.745570110] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051368.746149475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051368.747465991] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051368.748412785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051368.749734925] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051368.835227495] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051368.837273076] [sailbot.teensy]: Wind angle: 191 +[trim_sail-4] [INFO] [1746051368.837473378] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051368.838303052] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051368.839215122] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051368.839726410] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051368.840171792] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051368.844468770] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051368.845186017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051368.845689044] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051368.846901396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051368.847914108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051368.945182943] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051368.945697635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051368.946578756] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051368.947836932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051368.948893529] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051368.957269286] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051368.958333097] [sailbot.main_algo]: Target Bearing: -141.79477338936218 +[main_algo-3] [INFO] [1746051368.959221983] [sailbot.main_algo]: Heading Difference: -172.96022661063785 +[main_algo-3] [INFO] [1746051368.960094245] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051368.960973430] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051368.961841390] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051368.962936348] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051368.964060454] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051369.003251013] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904672 Long: -76.50277071 +[main_algo-3] [INFO] [1746051369.003934513] [sailbot.main_algo]: Distance to destination: 56.98264809097471 +[main_algo-3] [INFO] [1746051369.005156840] [sailbot.main_algo]: Target Bearing: -141.7852569908618 +[vectornav-1] [INFO] [1746051369.006223292] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.043000000000006, 0.163, 5.42) +[main_algo-3] [INFO] [1746051369.006320203] [sailbot.main_algo]: Heading Difference: -172.9697430091382 +[main_algo-3] [INFO] [1746051369.007337910] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051369.008265159] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051369.009139440] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051369.010912959] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051369.045497282] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051369.045722825] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051369.046712648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051369.048027226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051369.048996830] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051369.085241012] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051369.086910463] [sailbot.teensy]: Wind angle: 195 +[teensy-2] [INFO] [1746051369.087825601] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051369.087640896] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051369.088369869] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051369.088721020] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051369.089642665] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051369.145071867] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051369.145813135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051369.146658559] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051369.147709849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051369.148662227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051369.245503193] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051369.246250997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051369.247084054] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051369.248869178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051369.249500446] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051369.335386195] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051369.337964118] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051369.338381301] [sailbot.teensy]: Wind angle: 198 +[mux-7] [INFO] [1746051369.338831406] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051369.339666183] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051369.340608405] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051369.341488009] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051369.344302451] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051369.344835191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051369.345511048] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051369.346661364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051369.347842251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051369.444969542] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051369.445656336] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051369.446215558] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051369.447619914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051369.448675709] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051369.457183046] [sailbot.main_algo]: Wind Direction: 198 +[main_algo-3] [INFO] [1746051369.458301419] [sailbot.main_algo]: Target Bearing: -141.7852569908618 +[main_algo-3] [INFO] [1746051369.459220541] [sailbot.main_algo]: Heading Difference: -171.1717430091382 +[main_algo-3] [INFO] [1746051369.460088993] [sailbot.main_algo]: Wind Direction: 198 +[main_algo-3] [INFO] [1746051369.460931491] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051369.461711798] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051369.462694986] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051369.463397026] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051369.502720717] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904664 Long: -76.50277073 +[vectornav-1] [INFO] [1746051369.503856792] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.264999999999986, -1.093, 4.779) +[main_algo-3] [INFO] [1746051369.504056015] [sailbot.main_algo]: Distance to destination: 56.97575563241059 +[main_algo-3] [INFO] [1746051369.505136344] [sailbot.main_algo]: Target Bearing: -141.79113207156655 +[main_algo-3] [INFO] [1746051369.506134635] [sailbot.main_algo]: Heading Difference: -171.16586792843344 +[main_algo-3] [INFO] [1746051369.507222661] [sailbot.main_algo]: Wind Direction: 198 +[main_algo-3] [INFO] [1746051369.508173693] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051369.509051973] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051369.510652770] [sailbot.mux]: algo rudder angle: -25 +[teensy-2] [INFO] [1746051369.545465373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051369.546042611] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051369.547286061] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051369.547590589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051369.548642329] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051369.585081519] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051369.586780838] [sailbot.teensy]: Wind angle: 200 +[teensy-2] [INFO] [1746051369.587661616] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051369.588555964] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051369.587093349] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051369.587532449] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051369.589437268] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051369.644123647] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051369.644333650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051369.644857760] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051369.645544043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051369.646379158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051369.744519429] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051369.745192586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051369.745933982] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051369.746951056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051369.748903048] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051369.835256463] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051369.837149899] [sailbot.teensy]: Wind angle: 191 +[trim_sail-4] [INFO] [1746051369.837491111] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051369.839039588] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051369.839319898] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051369.840329991] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051369.841177669] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051369.844477042] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051369.844898735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051369.845619513] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051369.846587684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051369.847828769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051369.945047909] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051369.945538737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051369.946441416] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051369.947462337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051369.948617993] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051369.957259451] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051369.958296790] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746051369.959268503] [sailbot.main_algo]: Target Bearing: -141.79113207156655 +[main_algo-3] [INFO] [1746051369.960168709] [sailbot.main_algo]: Heading Difference: -170.94386792843346 +[main_algo-3] [INFO] [1746051369.961026086] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051369.961870919] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051369.962702781] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051369.963813704] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051369.964424084] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051370.002733534] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904662 Long: -76.50277059 +[vectornav-1] [INFO] [1746051370.003943384] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.75599999999997, -0.007, 5.131) +[main_algo-3] [INFO] [1746051370.004058215] [sailbot.main_algo]: Distance to destination: 56.98326923742054 +[main_algo-3] [INFO] [1746051370.005190724] [sailbot.main_algo]: Target Bearing: -141.80018116714973 +[main_algo-3] [INFO] [1746051370.006177208] [sailbot.main_algo]: Heading Difference: -170.93481883285028 +[main_algo-3] [INFO] [1746051370.007156815] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051370.008054261] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051370.008939122] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051370.010624876] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051370.044964899] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051370.045765145] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051370.047894262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051370.047999414] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051370.049929728] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051370.085224719] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051370.087865317] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051370.088431009] [sailbot.teensy]: Wind angle: 175 +[mux-7] [INFO] [1746051370.088860684] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051370.089361600] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051370.090245003] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051370.091117398] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051370.144858353] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051370.145880552] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051370.146232034] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051370.148247489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051370.149358657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051370.245036228] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051370.245947474] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051370.246443138] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051370.248117892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051370.249354844] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051370.335513894] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051370.337593184] [sailbot.teensy]: Wind angle: 168 +[trim_sail-4] [INFO] [1746051370.337631162] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051370.338597208] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051370.339288490] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051370.339297230] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051370.339683793] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051370.344847495] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051370.345200342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051370.346037971] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051370.347020494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051370.348069375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051370.444969046] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051370.445611252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051370.446440476] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051370.447419710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051370.448505911] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051370.457165385] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051370.458131204] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746051370.458982314] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051370.460114434] [sailbot.main_algo]: Current Location: (42.469046622147516, -76.50277059005442) +[main_algo-3] [INFO] [1746051370.461164515] [sailbot.main_algo]: Target Bearing: -141.80018116714973 +[main_algo-3] [INFO] [1746051370.462000171] [sailbot.main_algo]: Heading Difference: -172.4438188328503 +[main_algo-3] [INFO] [1746051370.462776720] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051370.463548030] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051370.464330048] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051370.465290015] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051370.465823542] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051370.502565896] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904676 Long: -76.50277075 +[main_algo-3] [INFO] [1746051370.503512806] [sailbot.main_algo]: Distance to destination: 56.98291019716375 +[vectornav-1] [INFO] [1746051370.503633674] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.82900000000001, -0.381, 6.166) +[main_algo-3] [INFO] [1746051370.504554415] [sailbot.main_algo]: Target Bearing: -141.77970556160685 +[main_algo-3] [INFO] [1746051370.505478068] [sailbot.main_algo]: Heading Difference: -172.46429443839315 +[main_algo-3] [INFO] [1746051370.506377436] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051370.507271921] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051370.508143649] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051370.509912967] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051370.544498327] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051370.545081062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051370.546006639] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051370.546807302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051370.547840760] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051370.585143304] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051370.587177695] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051370.587584555] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051370.588196292] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746051370.589337534] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051370.590336720] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051370.591219785] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051370.644908770] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051370.645645223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051370.646228141] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051370.647708429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051370.648780564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051370.744643016] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051370.745284060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051370.747425465] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051370.747894804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051370.748413025] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051370.834349707] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051370.835645022] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051370.835783472] [sailbot.teensy]: Wind angle: 164 +[mux-7] [INFO] [1746051370.835968439] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051370.836211225] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051370.836603198] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051370.837008020] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051370.843661908] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051370.844038419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051370.844193538] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051370.844905225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051370.845838519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051370.943632164] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051370.944069475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051370.944129087] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051370.944903908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051370.945461618] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051370.956314647] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051370.956808686] [sailbot.main_algo]: Target Bearing: -141.77970556160685 +[main_algo-3] [INFO] [1746051370.957238001] [sailbot.main_algo]: Heading Difference: -172.39129443839317 +[main_algo-3] [INFO] [1746051370.957649027] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051370.958043365] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051370.958427485] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051370.958919742] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051370.959249011] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051371.001435924] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904673 Long: -76.50277068 +[vectornav-1] [INFO] [1746051371.001892905] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.11700000000002, -0.328, 5.239) +[main_algo-3] [INFO] [1746051371.001989595] [sailbot.main_algo]: Distance to destination: 56.98526118499962 +[main_algo-3] [INFO] [1746051371.002453035] [sailbot.main_algo]: Target Bearing: -141.78596050841549 +[main_algo-3] [INFO] [1746051371.002905153] [sailbot.main_algo]: Heading Difference: -172.3850394915845 +[main_algo-3] [INFO] [1746051371.003305696] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051371.003733494] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051371.004171881] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051371.005797303] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051371.043617571] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051371.043963560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051371.044133878] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051371.044994687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051371.045507777] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051371.084405820] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051371.085730874] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746051371.086624965] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051371.086172542] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051371.086796545] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051371.087525219] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051371.088613670] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051371.145053718] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051371.145890184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051371.146312819] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051371.147710218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051371.148753784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051371.245257988] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051371.245972627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051371.246757005] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051371.248393373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051371.249555554] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051371.335341542] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051371.337108805] [sailbot.teensy]: Wind angle: 176 +[trim_sail-4] [INFO] [1746051371.337849864] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051371.338211857] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051371.339115522] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051371.339972243] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051371.340023378] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051371.344386727] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051371.345147275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051371.345548897] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051371.347084213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051371.348224896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051371.445019183] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051371.445773949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051371.446592266] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051371.447757812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051371.448834897] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051371.456988127] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051371.458000564] [sailbot.main_algo]: Target Bearing: -141.78596050841549 +[main_algo-3] [INFO] [1746051371.458892718] [sailbot.main_algo]: Heading Difference: -172.0970394915845 +[main_algo-3] [INFO] [1746051371.459764516] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051371.460639238] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051371.461440522] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051371.462451073] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051371.463187547] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051371.502886773] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904669 Long: -76.50277043 +[main_algo-3] [INFO] [1746051371.503974247] [sailbot.main_algo]: Distance to destination: 56.99837697740301 +[vectornav-1] [INFO] [1746051371.504221152] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.478999999999985, -0.748, 4.888) +[main_algo-3] [INFO] [1746051371.505703977] [sailbot.main_algo]: Target Bearing: -141.8024871615595 +[main_algo-3] [INFO] [1746051371.506686249] [sailbot.main_algo]: Heading Difference: -172.08051283844048 +[main_algo-3] [INFO] [1746051371.507602267] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051371.508538425] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051371.509404024] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051371.511046614] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051371.545807619] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051371.545887789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051371.547515328] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051371.548407122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051371.549481693] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051371.585152034] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051371.587103032] [sailbot.teensy]: Wind angle: 187 +[trim_sail-4] [INFO] [1746051371.587140091] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051371.588066337] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051371.588923279] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051371.588959758] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051371.589868667] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051371.645505494] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051371.646788485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051371.647237094] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051371.649391193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051371.649885307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051371.744809581] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051371.745321273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051371.746031537] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051371.747053510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051371.747999842] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051371.835530402] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051371.837369043] [sailbot.teensy]: Wind angle: 182 +[trim_sail-4] [INFO] [1746051371.837968554] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051371.839191845] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051371.839391618] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051371.840356640] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051371.841276496] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051371.844565520] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051371.844892972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051371.845746155] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051371.846653544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051371.847699495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051371.945039765] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051371.945504795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051371.946362831] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051371.947278814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051371.948408662] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051371.957075400] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051371.958100925] [sailbot.main_algo]: Target Bearing: -141.8024871615595 +[main_algo-3] [INFO] [1746051371.958984994] [sailbot.main_algo]: Heading Difference: -170.71851283844052 +[main_algo-3] [INFO] [1746051371.959812902] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051371.960715499] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051371.961562331] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051371.962602201] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051371.963162189] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051372.002722630] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904693 Long: -76.50277065 +[main_algo-3] [INFO] [1746051372.003682332] [sailbot.main_algo]: Distance to destination: 57.00122121762958 +[vectornav-1] [INFO] [1746051372.003863625] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.59699999999998, 0.222, 4.976) +[main_algo-3] [INFO] [1746051372.004829348] [sailbot.main_algo]: Target Bearing: -141.7702338012066 +[main_algo-3] [INFO] [1746051372.005762772] [sailbot.main_algo]: Heading Difference: -170.75076619879343 +[main_algo-3] [INFO] [1746051372.006678284] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051372.007562929] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051372.008430006] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051372.010142786] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051372.044920714] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051372.045876738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051372.046172229] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051372.047895175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051372.048917856] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051372.084842512] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051372.086162237] [sailbot.teensy]: Wind angle: 172 +[trim_sail-4] [INFO] [1746051372.086507993] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051372.088015628] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051372.088238416] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051372.089113465] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051372.089980701] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051372.145064620] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051372.145588126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051372.146409995] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051372.147535866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051372.148599880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051372.245285779] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051372.245850940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051372.246909017] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051372.248190271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051372.249378349] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051372.335417980] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051372.337228449] [sailbot.teensy]: Wind angle: 172 +[teensy-2] [INFO] [1746051372.338160701] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051372.337760351] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051372.338893660] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051372.339058290] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051372.339946848] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051372.344481924] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051372.345111029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051372.345632474] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051372.346846568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051372.347883206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051372.444948344] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051372.445449884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051372.446334410] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051372.447340028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051372.448508470] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051372.457023578] [sailbot.main_algo]: Wind Direction: 172 +[main_algo-3] [INFO] [1746051372.458053974] [sailbot.main_algo]: Target Bearing: -141.7702338012066 +[main_algo-3] [INFO] [1746051372.458956753] [sailbot.main_algo]: Heading Difference: -172.63276619879343 +[main_algo-3] [INFO] [1746051372.459833271] [sailbot.main_algo]: Wind Direction: 172 +[main_algo-3] [INFO] [1746051372.460705523] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051372.461510082] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051372.462512897] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051372.463091778] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051372.502753534] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904702 Long: -76.50277082 +[main_algo-3] [INFO] [1746051372.503725204] [sailbot.main_algo]: Distance to destination: 56.99672185993453 +[vectornav-1] [INFO] [1746051372.503906245] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.956999999999994, -0.473, 5.458) +[main_algo-3] [INFO] [1746051372.504861256] [sailbot.main_algo]: Target Bearing: -141.7535631333524 +[main_algo-3] [INFO] [1746051372.505815397] [sailbot.main_algo]: Heading Difference: -172.64943686664765 +[main_algo-3] [INFO] [1746051372.506979623] [sailbot.main_algo]: Wind Direction: 172 +[main_algo-3] [INFO] [1746051372.507883715] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051372.508748302] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051372.510406507] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051372.544955831] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051372.545656280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051372.546199636] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051372.547669355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051372.548699674] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051372.591737152] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051372.597215994] [sailbot.teensy]: Wind angle: 172 +[teensy-2] [INFO] [1746051372.598130010] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051372.598969818] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051372.599802575] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051372.593778472] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051372.596109324] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051372.644290256] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051372.645176946] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051372.645000853] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051372.648003944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051372.650093508] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051372.743696051] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051372.744213786] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051372.744306496] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051372.745206534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051372.745719466] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051372.835406452] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051372.837222530] [sailbot.teensy]: Wind angle: 173 +[trim_sail-4] [INFO] [1746051372.837618032] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051372.838310843] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051372.838545943] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051372.839547167] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051372.840426904] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051372.844384821] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051372.845040851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051372.845506075] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051372.846782465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051372.847899768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051372.944924423] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051372.945650160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051372.946217520] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051372.947432856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051372.948613436] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051372.957163461] [sailbot.main_algo]: Wind Direction: 173 +[main_algo-3] [INFO] [1746051372.958268015] [sailbot.main_algo]: Target Bearing: -141.7535631333524 +[main_algo-3] [INFO] [1746051372.959217077] [sailbot.main_algo]: Heading Difference: -173.28943686664763 +[main_algo-3] [INFO] [1746051372.960095829] [sailbot.main_algo]: Wind Direction: 173 +[main_algo-3] [INFO] [1746051372.960972604] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051372.961835145] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051372.962917824] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051372.963534941] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051373.003182972] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904688 Long: -76.50277074 +[main_algo-3] [INFO] [1746051373.004266389] [sailbot.main_algo]: Distance to destination: 56.99197731208684 +[vectornav-1] [INFO] [1746051373.004626344] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.90999999999997, -1.071, 5.68) +[main_algo-3] [INFO] [1746051373.005620016] [sailbot.main_algo]: Target Bearing: -141.76985079559674 +[main_algo-3] [INFO] [1746051373.006682218] [sailbot.main_algo]: Heading Difference: -173.27314920440324 +[main_algo-3] [INFO] [1746051373.007693162] [sailbot.main_algo]: Wind Direction: 173 +[main_algo-3] [INFO] [1746051373.008720604] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051373.009613007] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051373.011552149] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051373.044949125] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051373.045706094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051373.046370905] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051373.047723934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051373.048765137] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051373.085197323] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051373.086726955] [sailbot.teensy]: Wind angle: 173 +[trim_sail-4] [INFO] [1746051373.087290077] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051373.087556113] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051373.087982189] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051373.088421065] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051373.089312873] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051373.145147051] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051373.145858741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051373.146576303] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051373.147808059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051373.148976560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051373.245269748] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051373.246028692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051373.246824118] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051373.248240441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051373.249281364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051373.344660093] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051373.345108191] [sailbot.teensy]: Check telemetry callback entered +[mux-7] [INFO] [1746051373.346043278] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051373.346934461] [sailbot.teensy]: Wind angle: 173 +[teensy-2] [INFO] [1746051373.347914087] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051373.348924790] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051373.349928107] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051373.351004930] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051373.351475907] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051373.352769651] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051373.365389475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051373.371479442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051373.443725035] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051373.444018024] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051373.444944361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051373.445459148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051373.445712775] [sailbot.mux]: Published rudder angle from controller_app: 0 +[main_algo-3] [INFO] [1746051373.456361964] [sailbot.main_algo]: Wind Direction: 173 +[main_algo-3] [INFO] [1746051373.456893744] [sailbot.main_algo]: Target Bearing: -141.76985079559674 +[main_algo-3] [INFO] [1746051373.457323101] [sailbot.main_algo]: Heading Difference: -172.32014920440326 +[main_algo-3] [INFO] [1746051373.457735835] [sailbot.main_algo]: Wind Direction: 173 +[main_algo-3] [INFO] [1746051373.458139820] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051373.458532695] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051373.459007704] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051373.460517514] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051373.502043421] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904674 Long: -76.50277073 +[main_algo-3] [INFO] [1746051373.505088857] [sailbot.main_algo]: Distance to destination: 56.98277907748936 +[main_algo-3] [INFO] [1746051373.505582869] [sailbot.main_algo]: Target Bearing: -141.78248126948267 +[main_algo-3] [INFO] [1746051373.506027849] [sailbot.main_algo]: Heading Difference: -172.30751873051736 +[main_algo-3] [INFO] [1746051373.506437157] [sailbot.main_algo]: Wind Direction: 173 +[main_algo-3] [INFO] [1746051373.506839460] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051373.507230035] [sailbot.main_algo]: Rudder Angle: -25 +[vectornav-1] [INFO] [1746051373.508982959] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.56299999999999, 0.545, 4.719) +[mux-7] [INFO] [1746051373.511702313] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051373.544540897] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051373.545779053] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051373.545221720] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051373.546653797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051373.547645844] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051373.585454269] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051373.588296658] [sailbot.teensy]: Wind angle: 173 +[trim_sail-4] [INFO] [1746051373.588298211] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051373.588656723] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051373.589252970] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051373.590110174] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051373.590973308] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051373.644985600] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051373.645641165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051373.646332163] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051373.647506765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051373.648904849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051373.744108914] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051373.744579738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051373.745029278] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051373.746068340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051373.747076596] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051373.835253780] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051373.836930924] [sailbot.teensy]: Wind angle: 172 +[trim_sail-4] [INFO] [1746051373.837590225] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051373.837810413] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051373.838035963] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051373.838938349] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051373.839793356] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051373.844506834] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051373.845272604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051373.845632318] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051373.847115373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051373.848283989] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051373.945245859] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051373.946208369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051373.946806117] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051373.948851956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051373.950034098] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051373.957238040] [sailbot.main_algo]: Wind Direction: 172 +[main_algo-3] [INFO] [1746051373.958329051] [sailbot.main_algo]: Target Bearing: -141.78248126948267 +[main_algo-3] [INFO] [1746051373.959257978] [sailbot.main_algo]: Heading Difference: -170.65451873051734 +[main_algo-3] [INFO] [1746051373.960103483] [sailbot.main_algo]: Wind Direction: 172 +[main_algo-3] [INFO] [1746051373.961010687] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051373.961861175] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051373.962913488] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051373.963522053] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051374.003118991] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904687 Long: -76.50277104 +[main_algo-3] [INFO] [1746051374.004267197] [sailbot.main_algo]: Distance to destination: 56.97217358647716 +[vectornav-1] [INFO] [1746051374.004535718] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.894000000000005, -1.088, 5.114) +[main_algo-3] [INFO] [1746051374.005568010] [sailbot.main_algo]: Target Bearing: -141.75502211753016 +[main_algo-3] [INFO] [1746051374.006634110] [sailbot.main_algo]: Heading Difference: -170.68197788246982 +[main_algo-3] [INFO] [1746051374.007539806] [sailbot.main_algo]: Wind Direction: 172 +[main_algo-3] [INFO] [1746051374.008448019] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051374.009291144] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051374.010944263] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051374.044457441] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051374.045184136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051374.045806795] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051374.047061113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051374.048505709] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051374.085338595] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051374.087436051] [sailbot.teensy]: Wind angle: 170 +[trim_sail-4] [INFO] [1746051374.087511498] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051374.087940686] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051374.088431549] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051374.089325570] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051374.090197421] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051374.144950491] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051374.145747541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051374.146231415] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051374.147603832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051374.148072546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051374.244956767] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051374.245631311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051374.246339635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051374.247473167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051374.248035861] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051374.335377735] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051374.337079229] [sailbot.teensy]: Wind angle: 172 +[trim_sail-4] [INFO] [1746051374.337603995] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051374.338010508] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051374.338905852] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051374.339217612] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051374.339755767] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051374.344673136] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051374.345253182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051374.345819521] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051374.346958452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051374.348091692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051374.445071410] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051374.445861842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051374.446686241] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051374.447686514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051374.448790182] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051374.457042913] [sailbot.main_algo]: Wind Direction: 172 +[main_algo-3] [INFO] [1746051374.458003501] [sailbot.main_algo]: Target Bearing: -141.75502211753016 +[main_algo-3] [INFO] [1746051374.458899218] [sailbot.main_algo]: Heading Difference: -172.3509778824698 +[main_algo-3] [INFO] [1746051374.459747127] [sailbot.main_algo]: Wind Direction: 172 +[main_algo-3] [INFO] [1746051374.460598378] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051374.461408972] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051374.463119072] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051374.463352232] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051374.503795652] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904701 Long: -76.502771 +[main_algo-3] [INFO] [1746051374.504079828] [sailbot.main_algo]: Distance to destination: 56.98456049230619 +[vectornav-1] [INFO] [1746051374.505087954] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.28699999999998, 0.354, 6.422) +[main_algo-3] [INFO] [1746051374.505311192] [sailbot.main_algo]: Target Bearing: -141.74501030152808 +[main_algo-3] [INFO] [1746051374.506349116] [sailbot.main_algo]: Heading Difference: -172.36098969847194 +[main_algo-3] [INFO] [1746051374.507248747] [sailbot.main_algo]: Wind Direction: 172 +[main_algo-3] [INFO] [1746051374.508113726] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051374.508977162] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051374.510671846] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051374.545325769] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051374.545376278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051374.546644407] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051374.547829592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051374.548953986] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051374.585463732] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051374.587423882] [sailbot.teensy]: Wind angle: 173 +[trim_sail-4] [INFO] [1746051374.587855609] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051374.588423400] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051374.589512403] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051374.589953621] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051374.590556614] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051374.644965443] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051374.645608506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051374.646283441] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051374.647680321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051374.648836663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051374.744957898] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051374.745889976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051374.746287953] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051374.747475008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051374.747961853] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051374.835403885] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051374.837645586] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051374.838345827] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051374.838646479] [sailbot.teensy]: Wind angle: 173 +[teensy-2] [INFO] [1746051374.839603934] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051374.840516154] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051374.841358048] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051374.844534308] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051374.845206436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051374.845712331] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051374.847026259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051374.848233642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051374.945037463] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051374.946224906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051374.946459027] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051374.948555910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051374.949763549] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051374.957104726] [sailbot.main_algo]: Wind Direction: 173 +[main_algo-3] [INFO] [1746051374.958109527] [sailbot.main_algo]: Target Bearing: -141.74501030152808 +[main_algo-3] [INFO] [1746051374.959008119] [sailbot.main_algo]: Heading Difference: -172.9679896984719 +[main_algo-3] [INFO] [1746051374.959850101] [sailbot.main_algo]: Wind Direction: 173 +[main_algo-3] [INFO] [1746051374.960732567] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051374.961582477] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051374.962567748] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051374.963237700] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051375.003102280] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904688 Long: -76.50277111 +[main_algo-3] [INFO] [1746051375.004110692] [sailbot.main_algo]: Distance to destination: 56.968420154804086 +[vectornav-1] [INFO] [1746051375.004512684] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.101999999999975, -0.71, 4.624) +[main_algo-3] [INFO] [1746051375.005491782] [sailbot.main_algo]: Target Bearing: -141.75049401091934 +[main_algo-3] [INFO] [1746051375.006561774] [sailbot.main_algo]: Heading Difference: -172.96250598908068 +[main_algo-3] [INFO] [1746051375.007448130] [sailbot.main_algo]: Wind Direction: 173 +[main_algo-3] [INFO] [1746051375.008386089] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051375.009442048] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051375.011247219] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051375.045088607] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051375.045817102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051375.046503325] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051375.047806953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051375.048831510] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051375.085098051] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051375.086609396] [sailbot.teensy]: Wind angle: 173 +[teensy-2] [INFO] [1746051375.087466089] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051375.087032765] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051375.087890144] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051375.088302695] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051375.089186594] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051375.144849663] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051375.145541929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051375.146134295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051375.147532786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051375.148582701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051375.244995773] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051375.245681085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051375.246278496] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051375.247554254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051375.248579264] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051375.335073158] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051375.336593708] [sailbot.teensy]: Wind angle: 173 +[trim_sail-4] [INFO] [1746051375.337353421] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051375.337480436] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051375.338255810] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051375.338283281] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051375.339129328] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051375.344311843] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051375.344892048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051375.345421567] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051375.346595454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051375.347724928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051375.444991869] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051375.445693637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051375.446294153] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051375.447538413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051375.448608530] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051375.456943348] [sailbot.main_algo]: Wind Direction: 173 +[main_algo-3] [INFO] [1746051375.457963149] [sailbot.main_algo]: Target Bearing: -141.75049401091934 +[main_algo-3] [INFO] [1746051375.458876963] [sailbot.main_algo]: Heading Difference: -171.14750598908068 +[main_algo-3] [INFO] [1746051375.459688192] [sailbot.main_algo]: Wind Direction: 173 +[main_algo-3] [INFO] [1746051375.460532770] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051375.461328997] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051375.462361987] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051375.463286705] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051375.502830852] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904688 Long: -76.50277102 +[main_algo-3] [INFO] [1746051375.503806107] [sailbot.main_algo]: Distance to destination: 56.97414967592211 +[vectornav-1] [INFO] [1746051375.503955606] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.68000000000001, -0.318, 5.641) +[main_algo-3] [INFO] [1746051375.504933394] [sailbot.main_algo]: Target Bearing: -141.75520389086162 +[main_algo-3] [INFO] [1746051375.505872061] [sailbot.main_algo]: Heading Difference: -171.14279610913843 +[main_algo-3] [INFO] [1746051375.506779446] [sailbot.main_algo]: Wind Direction: 173 +[main_algo-3] [INFO] [1746051375.507640093] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051375.508508301] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051375.511217968] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051375.545779888] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051375.546023864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051375.547190355] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051375.548259250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051375.549287703] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051375.585414350] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051375.587722786] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051375.587722645] [sailbot.teensy]: Wind angle: 172 +[teensy-2] [INFO] [1746051375.588678990] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051375.589086472] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051375.589648283] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051375.590633770] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051375.644473408] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051375.645061707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051375.645592060] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051375.646672453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051375.647775917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051375.744479347] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051375.745025321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051375.745496304] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051375.746678013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051375.747667635] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051375.834589488] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051375.835733944] [sailbot.teensy]: Wind angle: 172 +[trim_sail-4] [INFO] [1746051375.836428429] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051375.837028262] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051375.837744675] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051375.838450091] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051375.839228112] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051375.843737548] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051375.844378676] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051375.844610014] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051375.845792620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051375.846474849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051375.944726755] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051375.945306901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051375.945911978] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051375.947064941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051375.948044339] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051375.956779569] [sailbot.main_algo]: Wind Direction: 172 +[main_algo-3] [INFO] [1746051375.957599401] [sailbot.main_algo]: Target Bearing: -141.75520389086162 +[main_algo-3] [INFO] [1746051375.958357078] [sailbot.main_algo]: Heading Difference: -171.56479610913834 +[main_algo-3] [INFO] [1746051375.959076762] [sailbot.main_algo]: Wind Direction: 172 +[main_algo-3] [INFO] [1746051375.959832959] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051375.960607063] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051375.961623752] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051375.962193968] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051376.002948004] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904702 Long: -76.50277125 +[main_algo-3] [INFO] [1746051376.004336448] [sailbot.main_algo]: Distance to destination: 56.96935159859229 +[vectornav-1] [INFO] [1746051376.004475919] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.21199999999999, -1.036, 3.855) +[main_algo-3] [INFO] [1746051376.005748086] [sailbot.main_algo]: Target Bearing: -141.73105995159491 +[main_algo-3] [INFO] [1746051376.006779196] [sailbot.main_algo]: Heading Difference: -171.5889400484051 +[main_algo-3] [INFO] [1746051376.007688450] [sailbot.main_algo]: Wind Direction: 172 +[main_algo-3] [INFO] [1746051376.008609761] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051376.009477331] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051376.011062183] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051376.045115226] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051376.045937431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051376.046615808] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051376.048053792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051376.049201155] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051376.085182782] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051376.086777981] [sailbot.teensy]: Wind angle: 175 +[trim_sail-4] [INFO] [1746051376.087266132] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051376.087634660] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051376.088480388] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051376.088574986] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051376.089392875] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051376.145175686] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051376.145876737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051376.146669972] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051376.148017438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051376.149155710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051376.245058525] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051376.245764790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051376.246387969] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051376.247879516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051376.248867956] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051376.335481693] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051376.337897144] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051376.338147840] [sailbot.teensy]: Wind angle: 177 +[teensy-2] [INFO] [1746051376.339111234] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051376.339509324] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051376.340044486] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051376.340969179] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051376.344416848] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051376.344992068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051376.345544986] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051376.346845293] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051376.347854385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051376.445092132] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051376.445870644] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051376.446529500] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051376.448005803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051376.449071257] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051376.456992175] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051376.457964522] [sailbot.main_algo]: Target Bearing: -141.73105995159491 +[main_algo-3] [INFO] [1746051376.458856342] [sailbot.main_algo]: Heading Difference: -172.05694004840507 +[main_algo-3] [INFO] [1746051376.459660400] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051376.460519370] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051376.461389898] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051376.462421622] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051376.463257886] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051376.503251618] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904706 Long: -76.50277116 +[main_algo-3] [INFO] [1746051376.503942723] [sailbot.main_algo]: Distance to destination: 56.97789207626281 +[vectornav-1] [INFO] [1746051376.504653831] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.11900000000003, 1.42, 7.216) +[main_algo-3] [INFO] [1746051376.505261465] [sailbot.main_algo]: Target Bearing: -141.73231382278016 +[main_algo-3] [INFO] [1746051376.506303499] [sailbot.main_algo]: Heading Difference: -172.05568617721985 +[main_algo-3] [INFO] [1746051376.507230989] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051376.508108251] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051376.509190694] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051376.511058045] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051376.545072685] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051376.545623001] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051376.546424601] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051376.547496087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051376.548675361] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051376.585264973] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051376.587949556] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051376.588069413] [sailbot.teensy]: Wind angle: 177 +[mux-7] [INFO] [1746051376.588515297] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051376.589030820] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051376.589938867] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051376.590843333] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051376.645070706] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051376.645950446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051376.646939871] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051376.647899697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051376.649017466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051376.745110658] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051376.746057098] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051376.746810620] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051376.748000873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051376.748995867] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051376.835294280] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051376.837069798] [sailbot.teensy]: Wind angle: 176 +[trim_sail-4] [INFO] [1746051376.837909520] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051376.838018528] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051376.838926009] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051376.839955473] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051376.839984033] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051376.844459522] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051376.845059900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051376.845932908] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051376.846874700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051376.847926590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051376.944328424] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051376.944948798] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051376.946498012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051376.945431789] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051376.947616281] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051376.957091660] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051376.958119719] [sailbot.main_algo]: Target Bearing: -141.73231382278016 +[main_algo-3] [INFO] [1746051376.959041252] [sailbot.main_algo]: Heading Difference: -173.14868617721982 +[main_algo-3] [INFO] [1746051376.959904621] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051376.960829890] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051376.961684890] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051376.962685236] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051376.963356046] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051377.002757677] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904689 Long: -76.50277151 +[main_algo-3] [INFO] [1746051377.003630574] [sailbot.main_algo]: Distance to destination: 56.943663487971065 +[vectornav-1] [INFO] [1746051377.003734947] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.735000000000014, -1.892, 4.384) +[main_algo-3] [INFO] [1746051377.004750701] [sailbot.main_algo]: Target Bearing: -141.7286848288242 +[main_algo-3] [INFO] [1746051377.005780265] [sailbot.main_algo]: Heading Difference: -173.15231517117576 +[main_algo-3] [INFO] [1746051377.006795081] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051377.007837628] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051377.008910516] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051377.010868833] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051377.044966288] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051377.045636637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051377.046225989] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051377.047506306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051377.048554713] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051377.085208323] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051377.086948765] [sailbot.teensy]: Wind angle: 176 +[trim_sail-4] [INFO] [1746051377.087768279] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051377.087895953] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051377.088827874] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051377.089480227] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051377.089725464] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051377.144906228] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051377.145410357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051377.146091691] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051377.147142373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051377.148313450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051377.244813280] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051377.245430221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051377.246043481] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051377.247673582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051377.248844542] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051377.335409455] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051377.338087342] [sailbot.teensy]: Wind angle: 176 +[trim_sail-4] [INFO] [1746051377.338290125] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051377.339004649] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051377.339126350] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051377.340099896] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051377.340999678] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051377.344524428] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051377.345173559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051377.345663148] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051377.346931616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051377.347985923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051377.444517954] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051377.445034542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051377.445620227] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051377.446781694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051377.447824981] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051377.457137488] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051377.458177559] [sailbot.main_algo]: Target Bearing: -141.7286848288242 +[main_algo-3] [INFO] [1746051377.459120622] [sailbot.main_algo]: Heading Difference: -170.53631517117577 +[main_algo-3] [INFO] [1746051377.460001721] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051377.460898048] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051377.461687178] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051377.462689931] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051377.463385755] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051377.503207855] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904699 Long: -76.50277202 +[main_algo-3] [INFO] [1746051377.503574493] [sailbot.main_algo]: Distance to destination: 56.91825042139731 +[vectornav-1] [INFO] [1746051377.504311727] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.47399999999999, 0.289, 5.266) +[main_algo-3] [INFO] [1746051377.504672225] [sailbot.main_algo]: Target Bearing: -141.69330395756057 +[main_algo-3] [INFO] [1746051377.505682449] [sailbot.main_algo]: Heading Difference: -170.57169604243938 +[main_algo-3] [INFO] [1746051377.506596590] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051377.507487035] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051377.508378431] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051377.510223904] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051377.545271090] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051377.545820021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051377.546752445] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051377.547795636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051377.548848345] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051377.585284365] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051377.587093263] [sailbot.teensy]: Wind angle: 178 +[trim_sail-4] [INFO] [1746051377.587655567] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051377.588034151] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051377.588957302] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051377.589320240] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051377.589852319] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051377.645071113] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051377.645763588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051377.646517952] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051377.647777113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051377.648955589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051377.745566508] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051377.747015428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051377.747585184] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051377.748157263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051377.748673688] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051377.835352613] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051377.837215288] [sailbot.teensy]: Wind angle: 178 +[teensy-2] [INFO] [1746051377.838197105] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051377.837607860] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051377.838338708] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051377.839106749] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051377.840131374] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051377.844243029] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051377.844761748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051377.845506890] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051377.846437020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051377.847614014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051377.943889447] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051377.944215195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051377.944700433] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051377.945795634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051377.946475916] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051377.956762762] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051377.957848503] [sailbot.main_algo]: Target Bearing: -141.69330395756057 +[main_algo-3] [INFO] [1746051377.958851423] [sailbot.main_algo]: Heading Difference: -171.83269604243947 +[main_algo-3] [INFO] [1746051377.959736397] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051377.960344269] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051377.960885561] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051377.961780562] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051377.962890775] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051378.002707519] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904704 Long: -76.50277224 +[main_algo-3] [INFO] [1746051378.003591176] [sailbot.main_algo]: Distance to destination: 56.90777775081204 +[vectornav-1] [INFO] [1746051378.003785060] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.749000000000024, -0.963, 5.686) +[main_algo-3] [INFO] [1746051378.004707151] [sailbot.main_algo]: Target Bearing: -141.67743836022865 +[main_algo-3] [INFO] [1746051378.005631002] [sailbot.main_algo]: Heading Difference: -171.84856163977133 +[main_algo-3] [INFO] [1746051378.006561098] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051378.007445941] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051378.008305612] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051378.010238529] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051378.045064806] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051378.045587393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051378.046424303] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051378.047950362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051378.049013791] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051378.085249778] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051378.086960513] [sailbot.teensy]: Wind angle: 178 +[trim_sail-4] [INFO] [1746051378.087595291] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051378.087893054] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051378.088810634] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051378.088780358] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051378.089697390] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051378.145217049] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051378.145713696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051378.146747418] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051378.147750437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051378.148809437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051378.245091600] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051378.245617955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051378.246456877] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051378.247615931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051378.248704849] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051378.335207401] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051378.336841740] [sailbot.teensy]: Wind angle: 178 +[trim_sail-4] [INFO] [1746051378.337319022] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051378.337709797] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051378.338623106] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051378.339490480] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051378.339581463] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051378.344550105] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051378.345872958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051378.346115945] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051378.347633919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051378.348773945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051378.445358163] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051378.445882207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051378.446886616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051378.447935542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051378.449114869] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051378.457011231] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051378.457991140] [sailbot.main_algo]: Target Bearing: -141.67743836022865 +[main_algo-3] [INFO] [1746051378.458899604] [sailbot.main_algo]: Heading Difference: -173.57356163977136 +[main_algo-3] [INFO] [1746051378.459705601] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051378.460560789] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051378.461374314] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051378.462421968] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051378.463062162] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051378.501803567] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904708 Long: -76.50277228 +[main_algo-3] [INFO] [1746051378.502483479] [sailbot.main_algo]: Distance to destination: 56.908050249215634 +[main_algo-3] [INFO] [1746051378.503304528] [sailbot.main_algo]: Target Bearing: -141.6718801376705 +[vectornav-1] [INFO] [1746051378.503717790] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.416, 0.536, 4.466) +[main_algo-3] [INFO] [1746051378.504218605] [sailbot.main_algo]: Heading Difference: -173.57911986232943 +[main_algo-3] [INFO] [1746051378.505090273] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051378.505969913] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051378.506836734] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051378.509247916] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051378.544822819] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051378.545546946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051378.546059459] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051378.547302219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051378.548391795] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051378.585292178] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051378.587266980] [sailbot.teensy]: Wind angle: 178 +[trim_sail-4] [INFO] [1746051378.587758526] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051378.589467717] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051378.589686883] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051378.590623596] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051378.591515092] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051378.645189536] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051378.645777618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051378.646891719] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051378.647875874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051378.649049363] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051378.745358794] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051378.746510463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051378.747644905] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051378.748459740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051378.749004182] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051378.835079381] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051378.836985883] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051378.837236025] [sailbot.teensy]: Wind angle: 178 +[teensy-2] [INFO] [1746051378.838099294] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051378.838918203] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051378.839653927] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051378.839756633] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051378.844224375] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051378.844926421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051378.845401494] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051378.846729698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051378.847781938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051378.945209666] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051378.945792702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051378.946868399] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051378.947899931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051378.949070797] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051378.957051777] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051378.958061666] [sailbot.main_algo]: Target Bearing: -141.6718801376705 +[main_algo-3] [INFO] [1746051378.958948583] [sailbot.main_algo]: Heading Difference: -170.91211986232952 +[main_algo-3] [INFO] [1746051378.959826381] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051378.960705366] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051378.961511745] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051378.962505613] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051378.963443326] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051379.002690321] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904709 Long: -76.50277257 +[vectornav-1] [INFO] [1746051379.003786335] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.428999999999974, -0.884, 5.396) +[main_algo-3] [INFO] [1746051379.004086655] [sailbot.main_algo]: Distance to destination: 56.89031611501321 +[main_algo-3] [INFO] [1746051379.005162223] [sailbot.main_algo]: Target Bearing: -141.6557909827554 +[main_algo-3] [INFO] [1746051379.006050904] [sailbot.main_algo]: Heading Difference: -170.92820901724463 +[main_algo-3] [INFO] [1746051379.006913982] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051379.007756169] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051379.008670962] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051379.010254524] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051379.045220036] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051379.045829950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051379.046932185] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051379.048191357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051379.049331733] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051379.085435096] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051379.087988543] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051379.089075073] [sailbot.teensy]: Wind angle: 181 +[mux-7] [INFO] [1746051379.089811724] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051379.090028991] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051379.090893601] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051379.091734420] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051379.144975737] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051379.145585594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051379.146294512] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051379.147655585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051379.149048600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051379.245125976] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051379.245608732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051379.246506841] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051379.247565803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051379.248616307] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051379.335368769] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051379.337689245] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051379.338098729] [sailbot.teensy]: Wind angle: 182 +[mux-7] [INFO] [1746051379.338972672] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051379.339655203] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051379.341877739] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051379.342940126] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746051379.345553134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051379.345639850] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051379.346970047] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051379.347377164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051379.348625004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051379.445084108] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051379.445769170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051379.446388223] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051379.447621245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051379.448836881] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051379.457284771] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051379.458460315] [sailbot.main_algo]: Target Bearing: -141.6557909827554 +[main_algo-3] [INFO] [1746051379.459398146] [sailbot.main_algo]: Heading Difference: -171.9152090172446 +[main_algo-3] [INFO] [1746051379.460307733] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051379.461244636] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051379.462108097] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051379.463202276] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051379.464027669] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051379.502528659] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904698 Long: -76.50277271 +[main_algo-3] [INFO] [1746051379.503622006] [sailbot.main_algo]: Distance to destination: 56.873668513774646 +[vectornav-1] [INFO] [1746051379.503964457] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.73599999999999, -0.181, 6.508) +[main_algo-3] [INFO] [1746051379.505989468] [sailbot.main_algo]: Target Bearing: -141.65795245780345 +[main_algo-3] [INFO] [1746051379.507059079] [sailbot.main_algo]: Heading Difference: -171.91304754219658 +[main_algo-3] [INFO] [1746051379.507963244] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051379.508869760] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051379.509787390] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051379.511703656] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051379.545171627] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051379.545701760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051379.546378519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051379.547511564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051379.548611011] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051379.585207785] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051379.587436254] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051379.588650458] [sailbot.teensy]: Wind angle: 184 +[mux-7] [INFO] [1746051379.588895731] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051379.589651057] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051379.590590622] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051379.591460010] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051379.645109782] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051379.645896081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051379.646532142] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051379.648064534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051379.649176288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051379.745004831] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051379.745712649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051379.746386790] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051379.747574262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051379.748664584] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051379.835401770] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051379.837734020] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051379.838265049] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051379.838627883] [sailbot.teensy]: Wind angle: 184 +[teensy-2] [INFO] [1746051379.839078664] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051379.839437588] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051379.839770943] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051379.844416581] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051379.845178037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051379.845685036] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051379.847019938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051379.848030073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051379.944363560] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051379.945224207] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051379.945413001] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051379.947145442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051379.948434819] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051379.956916390] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051379.957895850] [sailbot.main_algo]: Target Bearing: -141.65795245780345 +[main_algo-3] [INFO] [1746051379.958787057] [sailbot.main_algo]: Heading Difference: -172.60604754219656 +[main_algo-3] [INFO] [1746051379.959657202] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051379.960642337] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051379.961460657] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051379.962483969] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051379.963083241] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051380.001582855] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690468 Long: -76.50277258 +[vectornav-1] [INFO] [1746051380.002144001] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.44999999999999, -1.183, 5.448) +[main_algo-3] [INFO] [1746051380.002147980] [sailbot.main_algo]: Distance to destination: 56.869260622363434 +[main_algo-3] [INFO] [1746051380.002753135] [sailbot.main_algo]: Target Bearing: -141.6803545048238 +[main_algo-3] [INFO] [1746051380.003316901] [sailbot.main_algo]: Heading Difference: -172.5836454951762 +[main_algo-3] [INFO] [1746051380.003826140] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051380.004355452] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051380.004830012] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051380.005787173] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051380.044738902] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051380.045476272] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051380.045973563] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051380.047297636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051380.048269609] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051380.085113842] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051380.086745747] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051380.087207375] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051380.088286726] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051380.088928979] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051380.089875097] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051380.090696179] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051380.144976512] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051380.145669376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051380.146288019] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051380.147579171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051380.148740801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051380.245201397] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051380.246140949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051380.246691289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051380.248134512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051380.249273814] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051380.335428238] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051380.337378554] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051380.337843695] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051380.338990695] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051380.339177041] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051380.339583259] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051380.339947539] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051380.344382373] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051380.345067772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051380.345549242] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051380.346771189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051380.347806188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051380.444762147] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051380.445336367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051380.446008692] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051380.447119313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051380.448203413] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051380.457003955] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051380.457968610] [sailbot.main_algo]: Target Bearing: -141.6803545048238 +[main_algo-3] [INFO] [1746051380.458860484] [sailbot.main_algo]: Heading Difference: -170.8696454951762 +[main_algo-3] [INFO] [1746051380.459680618] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051380.460491525] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051380.461288939] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051380.462922525] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051380.462943833] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051380.503594147] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904678 Long: -76.50277243 +[main_algo-3] [INFO] [1746051380.503805462] [sailbot.main_algo]: Distance to destination: 56.87739285713613 +[main_algo-3] [INFO] [1746051380.504825076] [sailbot.main_algo]: Target Bearing: -141.68996005682607 +[vectornav-1] [INFO] [1746051380.504899213] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.99599999999998, 0.601, 4.477) +[main_algo-3] [INFO] [1746051380.505842536] [sailbot.main_algo]: Heading Difference: -170.86003994317394 +[main_algo-3] [INFO] [1746051380.506787305] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051380.507693579] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051380.508604836] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051380.510358648] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051380.544888976] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051380.545596826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051380.546272229] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051380.547499353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051380.548582747] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051380.585407022] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051380.587899884] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051380.588332205] [sailbot.teensy]: Wind angle: 184 +[mux-7] [INFO] [1746051380.588823134] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051380.589291915] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051380.590410070] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051380.591317225] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051380.645141619] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051380.645826638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051380.647202194] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051380.648104702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051380.649302822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051380.744976314] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051380.745665273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051380.746284737] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051380.747587572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051380.748608478] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051380.835251902] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051380.837371378] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051380.837830300] [sailbot.teensy]: Wind angle: 185 +[mux-7] [INFO] [1746051380.838380887] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051380.838776318] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051380.839238972] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051380.839577364] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051380.844429461] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051380.844936317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051380.845578643] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051380.847001520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051380.847995724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051380.945221657] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051380.946048592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051380.946782569] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051380.948118495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051380.949170278] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051380.957084067] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051380.958174690] [sailbot.main_algo]: Target Bearing: -141.68996005682607 +[main_algo-3] [INFO] [1746051380.959101744] [sailbot.main_algo]: Heading Difference: -172.31403994317395 +[main_algo-3] [INFO] [1746051380.959996791] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051380.960850103] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051380.961648036] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051380.962722565] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051380.963246696] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051381.002919019] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904672 Long: -76.50277263 +[main_algo-3] [INFO] [1746051381.004053901] [sailbot.main_algo]: Distance to destination: 56.860449475915914 +[vectornav-1] [INFO] [1746051381.004079913] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.99599999999998, -0.69, 5.521) +[main_algo-3] [INFO] [1746051381.005283629] [sailbot.main_algo]: Target Bearing: -141.68465332059066 +[main_algo-3] [INFO] [1746051381.006273896] [sailbot.main_algo]: Heading Difference: -172.31934667940936 +[main_algo-3] [INFO] [1746051381.007252210] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051381.008164715] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051381.009041596] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051381.010789418] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051381.045503201] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051381.046093407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051381.047069305] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051381.048797861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051381.049823201] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051381.085141444] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051381.087119853] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051381.088012074] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051381.088021039] [sailbot.teensy]: Wind angle: 186 +[teensy-2] [INFO] [1746051381.089005359] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051381.089853816] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051381.090695198] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051381.144971942] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051381.145540221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051381.146280050] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051381.147859156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051381.148893284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051381.245055202] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051381.245624931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051381.246524692] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051381.247618098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051381.248753575] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051381.335366555] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051381.337894250] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051381.338270342] [sailbot.teensy]: Wind angle: 186 +[mux-7] [INFO] [1746051381.338411308] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051381.339237646] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051381.340331579] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051381.341306304] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051381.344292193] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051381.344747321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051381.345518932] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051381.346410750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051381.348075315] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051381.445120212] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051381.445971505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051381.446931946] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051381.448084030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051381.449318103] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051381.457241312] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051381.458308851] [sailbot.main_algo]: Target Bearing: -141.68465332059066 +[main_algo-3] [INFO] [1746051381.459325328] [sailbot.main_algo]: Heading Difference: -172.31934667940936 +[main_algo-3] [INFO] [1746051381.460235984] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051381.461137542] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051381.461935887] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051381.462972243] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051381.463613015] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051381.502719918] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904658 Long: -76.5027725 +[main_algo-3] [INFO] [1746051381.503822667] [sailbot.main_algo]: Distance to destination: 56.85886621817807 +[vectornav-1] [INFO] [1746051381.504052194] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.490999999999985, -0.13, 5.746) +[main_algo-3] [INFO] [1746051381.505214357] [sailbot.main_algo]: Target Bearing: -141.70359893627898 +[main_algo-3] [INFO] [1746051381.506165515] [sailbot.main_algo]: Heading Difference: -172.30040106372104 +[main_algo-3] [INFO] [1746051381.507094742] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051381.507979076] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051381.508845283] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051381.510644980] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051381.545076425] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051381.545890745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051381.546528084] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051381.547972893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051381.549038915] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051381.585257727] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051381.587366236] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051381.587703719] [sailbot.teensy]: Wind angle: 186 +[mux-7] [INFO] [1746051381.587949640] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051381.588655960] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051381.589561692] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051381.590429778] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051381.645168371] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051381.646027563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051381.646597528] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051381.648206068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051381.649275139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051381.745233811] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051381.746012930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051381.746683766] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051381.748011577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051381.749151560] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051381.835558519] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051381.837557835] [sailbot.teensy]: Wind angle: 186 +[trim_sail-4] [INFO] [1746051381.838461980] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051381.838889419] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051381.839267958] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051381.839601891] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051381.839996430] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051381.844438204] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051381.845068363] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051381.845557803] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051381.846897934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051381.848019340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051381.944705755] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051381.945577089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051381.946045289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051381.948005092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051381.949074232] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051381.957068245] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051381.958043310] [sailbot.main_algo]: Target Bearing: -141.70359893627898 +[main_algo-3] [INFO] [1746051381.958968771] [sailbot.main_algo]: Heading Difference: -171.80540106372104 +[main_algo-3] [INFO] [1746051381.959815654] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051381.960631620] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051381.961446975] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051381.962496752] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051381.963247066] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051382.002931461] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904647 Long: -76.50277258 +[vectornav-1] [INFO] [1746051382.004088536] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.374000000000024, -0.814, 4.854) +[main_algo-3] [INFO] [1746051382.004083087] [sailbot.main_algo]: Distance to destination: 56.846037613836245 +[main_algo-3] [INFO] [1746051382.005372279] [sailbot.main_algo]: Target Bearing: -141.7089256069939 +[main_algo-3] [INFO] [1746051382.006374723] [sailbot.main_algo]: Heading Difference: -171.80007439300613 +[main_algo-3] [INFO] [1746051382.007971579] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051382.008911538] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051382.009775339] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051382.011535773] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051382.044406872] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051382.045358416] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051382.044998566] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051382.046589479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051382.047663534] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051382.085209733] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051382.086856118] [sailbot.teensy]: Wind angle: 186 +[teensy-2] [INFO] [1746051382.087776268] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051382.088459181] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051382.088631185] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051382.089558105] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051382.090547611] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051382.144367453] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051382.144787451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051382.145447198] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051382.146647511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051382.147746808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051382.245013894] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051382.245686202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051382.246372761] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051382.247561209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051382.248685302] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051382.335419897] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051382.337248320] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051382.338192669] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051382.338466047] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051382.339120085] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051382.340382349] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051382.340887302] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051382.344268299] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051382.344851144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051382.345427339] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051382.346655984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051382.347724097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051382.444992547] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051382.446337764] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051382.446414451] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051382.448235579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051382.449215771] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051382.457162308] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051382.458226384] [sailbot.main_algo]: Target Bearing: -141.7089256069939 +[main_algo-3] [INFO] [1746051382.459125413] [sailbot.main_algo]: Heading Difference: -170.9170743930061 +[main_algo-3] [INFO] [1746051382.459952234] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051382.461038020] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051382.461873799] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051382.463157393] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051382.463408701] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051382.502887702] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904641 Long: -76.50277274 +[main_algo-3] [INFO] [1746051382.503941276] [sailbot.main_algo]: Distance to destination: 56.83163719425709 +[vectornav-1] [INFO] [1746051382.504100768] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.134000000000015, -0.196, 4.59) +[main_algo-3] [INFO] [1746051382.505300131] [sailbot.main_algo]: Target Bearing: -141.70572222772878 +[main_algo-3] [INFO] [1746051382.506236815] [sailbot.main_algo]: Heading Difference: -170.92027777227122 +[main_algo-3] [INFO] [1746051382.507138462] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051382.508025488] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051382.508888422] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051382.510607744] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051382.544954171] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051382.545758173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051382.546343350] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051382.547894673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051382.548898080] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051382.585269266] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051382.587299850] [sailbot.teensy]: Wind angle: 186 +[trim_sail-4] [INFO] [1746051382.587533901] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051382.588322726] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051382.588980632] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051382.589270382] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051382.590179121] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051382.644958127] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051382.645690792] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051382.646294137] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051382.647684235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051382.648841783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051382.744994707] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051382.745684955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051382.746339524] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051382.747604507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051382.748746001] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051382.835093340] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051382.837157696] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051382.837709106] [sailbot.teensy]: Wind angle: 190 +[mux-7] [INFO] [1746051382.837792905] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051382.838740893] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051382.839150569] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051382.839485751] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051382.844301502] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051382.845072614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051382.845795243] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051382.846865079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051382.847946763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051382.945026039] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051382.946134664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051382.947025673] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051382.947786452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051382.948320570] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051382.957511000] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051382.958703271] [sailbot.main_algo]: Target Bearing: -141.70572222772878 +[main_algo-3] [INFO] [1746051382.959664309] [sailbot.main_algo]: Heading Difference: -172.16027777227123 +[main_algo-3] [INFO] [1746051382.960541012] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051382.961387317] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051382.962212715] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051382.963356061] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051382.963927684] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051383.002886961] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904643 Long: -76.50277301 +[main_algo-3] [INFO] [1746051383.003902559] [sailbot.main_algo]: Distance to destination: 56.815869508402955 +[vectornav-1] [INFO] [1746051383.004083352] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.72399999999999, -0.174, 6.115) +[main_algo-3] [INFO] [1746051383.005107075] [sailbot.main_algo]: Target Bearing: -141.6898065533032 +[main_algo-3] [INFO] [1746051383.006078916] [sailbot.main_algo]: Heading Difference: -172.17619344669674 +[main_algo-3] [INFO] [1746051383.006958572] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051383.007824813] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051383.008684590] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051383.010354598] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051383.045027111] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051383.046060844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051383.046422382] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051383.048250565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051383.049407214] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051383.085383427] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051383.087973645] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051383.088904690] [sailbot.teensy]: Wind angle: 195 +[mux-7] [INFO] [1746051383.089708805] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051383.089857753] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051383.090716564] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051383.091568832] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051383.145459654] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051383.146077087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051383.147109615] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051383.148814375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051383.149967985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051383.245269101] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051383.245776653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051383.246842063] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051383.247928542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051383.249100077] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051383.335358819] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051383.337334887] [sailbot.teensy]: Wind angle: 196 +[trim_sail-4] [INFO] [1746051383.337919918] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051383.338562995] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051383.338766161] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051383.339149769] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051383.339486001] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051383.344467658] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051383.344856438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051383.345622940] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051383.346516877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051383.347551242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051383.443632476] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051383.443980869] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051383.444138874] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051383.444762868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051383.445343754] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051383.456263409] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051383.456739707] [sailbot.main_algo]: Target Bearing: -141.6898065533032 +[main_algo-3] [INFO] [1746051383.457234322] [sailbot.main_algo]: Heading Difference: -172.58619344669683 +[main_algo-3] [INFO] [1746051383.457660451] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051383.458078920] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051383.458472908] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051383.458964875] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051383.459387496] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051383.501344629] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904623 Long: -76.50277289 +[main_algo-3] [INFO] [1746051383.501767395] [sailbot.main_algo]: Distance to destination: 56.8094308286816 +[vectornav-1] [INFO] [1746051383.501782665] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.34000000000003, -0.675, 5.09) +[main_algo-3] [INFO] [1746051383.502300057] [sailbot.main_algo]: Target Bearing: -141.71344207950918 +[main_algo-3] [INFO] [1746051383.502733423] [sailbot.main_algo]: Heading Difference: -172.5625579204908 +[main_algo-3] [INFO] [1746051383.503123976] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051383.503489948] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051383.503902961] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051383.504678833] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051383.543616247] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051383.544022007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051383.544137721] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051383.544934380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051383.545470983] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051383.584424166] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051383.585378681] [sailbot.teensy]: Wind angle: 196 +[trim_sail-4] [INFO] [1746051383.585470080] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051383.585793735] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051383.586203000] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051383.586593197] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051383.586611425] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051383.643686933] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051383.643942514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051383.644260515] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051383.644767060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051383.645243548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051383.743704310] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051383.743971919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051383.744384825] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051383.744767503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051383.745338540] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051383.834392192] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051383.835137436] [sailbot.teensy]: Wind angle: 195 +[teensy-2] [INFO] [1746051383.835549907] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051383.835921662] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051383.835535432] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051383.836056895] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051383.836328190] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051383.843655079] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051383.844192504] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051383.844380579] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051383.845227173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051383.845822688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051383.943704227] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051383.944231912] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051383.944299974] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051383.946473755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051383.947228461] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051383.956343982] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051383.956841803] [sailbot.main_algo]: Target Bearing: -141.71344207950918 +[main_algo-3] [INFO] [1746051383.957277664] [sailbot.main_algo]: Heading Difference: -171.94655792049082 +[main_algo-3] [INFO] [1746051383.957683470] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051383.958086994] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051383.958491251] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051383.958975111] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051383.959325952] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051384.001458440] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904612 Long: -76.50277284 +[vectornav-1] [INFO] [1746051384.001916411] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.514999999999986, -0.328, 4.974) +[main_algo-3] [INFO] [1746051384.001884698] [sailbot.main_algo]: Distance to destination: 56.804875484637854 +[main_algo-3] [INFO] [1746051384.002342145] [sailbot.main_algo]: Target Bearing: -141.72560366222402 +[main_algo-3] [INFO] [1746051384.002762665] [sailbot.main_algo]: Heading Difference: -171.93439633777598 +[main_algo-3] [INFO] [1746051384.003167442] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051384.003574822] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051384.003965459] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051384.004842713] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051384.043678428] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051384.044267986] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051384.044504993] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051384.045352350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051384.047173189] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051384.084484535] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051384.086509821] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051384.087530024] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051384.088964096] [sailbot.teensy]: Wind angle: 195 +[teensy-2] [INFO] [1746051384.089403136] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051384.089774140] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051384.091262290] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051384.143755215] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051384.144255484] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051384.145007723] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051384.145768876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051384.146750831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051384.243663506] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051384.244231594] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051384.245095718] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051384.246717909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051384.248083830] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051384.334330747] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051384.335536407] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051384.336254792] [sailbot.teensy]: Wind angle: 194 +[mux-7] [INFO] [1746051384.336614919] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051384.336684975] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051384.337086217] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051384.337462329] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051384.343569594] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051384.343895306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051384.344066510] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051384.344720918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051384.345224409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051384.443634018] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051384.443993491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051384.444126402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051384.445043695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051384.445523246] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051384.456252544] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051384.456723495] [sailbot.main_algo]: Target Bearing: -141.72560366222402 +[main_algo-3] [INFO] [1746051384.457133890] [sailbot.main_algo]: Heading Difference: -170.75939633777602 +[main_algo-3] [INFO] [1746051384.457528913] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051384.457937218] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051384.458328292] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051384.458797565] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051384.459911619] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051384.501473487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904624 Long: -76.5027731 +[main_algo-3] [INFO] [1746051384.501913906] [sailbot.main_algo]: Distance to destination: 56.79677413641295 +[vectornav-1] [INFO] [1746051384.501934982] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.889999999999986, 0.274, 4.173) +[main_algo-3] [INFO] [1746051384.502412085] [sailbot.main_algo]: Target Bearing: -141.70154236545707 +[main_algo-3] [INFO] [1746051384.502887890] [sailbot.main_algo]: Heading Difference: -170.78345763454297 +[main_algo-3] [INFO] [1746051384.503326034] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051384.503774650] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051384.504219881] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051384.505109954] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051384.543659323] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051384.544037327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051384.544185712] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051384.544889812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051384.545496457] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051384.584482713] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051384.585483824] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051384.586432257] [sailbot.teensy]: Wind angle: 194 +[mux-7] [INFO] [1746051384.586551535] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051384.586862582] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051384.587277769] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051384.587709080] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051384.643621781] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051384.644058214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051384.644135497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051384.645035294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051384.645543435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051384.743626879] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051384.744044887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051384.744103060] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051384.744913032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051384.745417227] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051384.834510428] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051384.835278232] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746051384.835689564] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051384.836123437] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051384.836530868] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051384.835547717] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051384.839054591] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051384.843683134] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051384.844199986] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051384.844093084] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051384.844976850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051384.845908384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051384.943652540] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051384.944136880] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051384.945446338] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051384.946323174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051384.948536217] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051384.956310656] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051384.956783777] [sailbot.main_algo]: Target Bearing: -141.70154236545707 +[main_algo-3] [INFO] [1746051384.958165240] [sailbot.main_algo]: Heading Difference: -172.40845763454297 +[main_algo-3] [INFO] [1746051384.958578554] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051384.959616887] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051384.960618353] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051384.961915915] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051384.963647491] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051385.001381658] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904616 Long: -76.50277326 +[vectornav-1] [INFO] [1746051385.001831536] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.387, -0.991, 6.26) +[main_algo-3] [INFO] [1746051385.002584562] [sailbot.main_algo]: Distance to destination: 56.78096680773314 +[main_algo-3] [INFO] [1746051385.003539427] [sailbot.main_algo]: Target Bearing: -141.70006834726954 +[main_algo-3] [INFO] [1746051385.004506684] [sailbot.main_algo]: Heading Difference: -172.4099316527305 +[main_algo-3] [INFO] [1746051385.004947128] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051385.005362504] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051385.005761546] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051385.007271130] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051385.043651089] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051385.044041061] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051385.044837604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051385.045142338] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051385.046063632] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051385.084490604] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051385.085277454] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746051385.085681729] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051385.086106719] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051385.086541381] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051385.085528549] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051385.086388715] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051385.143661928] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051385.144285439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051385.144998799] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051385.145179622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051385.145658289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051385.243811021] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051385.244432086] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051385.244722137] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051385.246674537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051385.247511258] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051385.334505062] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051385.335317439] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051385.336272557] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051385.336553139] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051385.337332912] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051385.337847901] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051385.338288262] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051385.343723251] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051385.344295298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051385.344096372] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051385.345861606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051385.346426707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051385.443620990] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051385.443928608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051385.444113440] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051385.444925132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051385.445423592] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051385.456263206] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051385.456723997] [sailbot.main_algo]: Target Bearing: -141.70006834726954 +[main_algo-3] [INFO] [1746051385.457124355] [sailbot.main_algo]: Heading Difference: -172.91293165273044 +[main_algo-3] [INFO] [1746051385.457550508] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051385.457936321] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051385.458314199] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051385.458789900] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051385.459966986] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051385.501311068] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904586 Long: -76.50277312 +[vectornav-1] [INFO] [1746051385.501748919] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.954999999999984, 0.104, 4.976) +[main_algo-3] [INFO] [1746051385.501777649] [sailbot.main_algo]: Distance to destination: 56.768772929564186 +[main_algo-3] [INFO] [1746051385.502225937] [sailbot.main_algo]: Target Bearing: -141.73344566094156 +[main_algo-3] [INFO] [1746051385.502658804] [sailbot.main_algo]: Heading Difference: -172.87955433905847 +[main_algo-3] [INFO] [1746051385.503202910] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051385.503618655] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051385.503999643] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051385.504842844] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051385.543710063] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051385.544035963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051385.544288758] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051385.545188431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051385.545705309] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051385.584503191] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051385.585275975] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746051385.585700933] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051385.585557978] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051385.586100782] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051385.586505781] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051385.586735454] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051385.643686200] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051385.643960459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051385.644306158] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051385.644810868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051385.645301778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051385.743686986] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051385.744008255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051385.744223007] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051385.745445689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051385.745981578] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051385.834469472] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051385.835247130] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746051385.835665619] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051385.836065367] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051385.835527967] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051385.836640822] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051385.837856361] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051385.843697000] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051385.843962830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051385.845347567] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051385.846037472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051385.846588333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051385.943756929] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051385.944071308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051385.945388575] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051385.946297362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051385.946892287] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051385.957001104] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051385.957632389] [sailbot.main_algo]: Target Bearing: -141.73344566094156 +[main_algo-3] [INFO] [1746051385.958193250] [sailbot.main_algo]: Heading Difference: -171.3115543390585 +[main_algo-3] [INFO] [1746051385.958921186] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051385.959404210] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051385.968608643] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051385.970234834] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051385.972044961] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051386.001447634] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904602 Long: -76.50277336 +[vectornav-1] [INFO] [1746051386.001934568] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.483000000000004, -1.04, 3.919) +[main_algo-3] [INFO] [1746051386.003401193] [sailbot.main_algo]: Distance to destination: 56.7647548328452 +[main_algo-3] [INFO] [1746051386.003889445] [sailbot.main_algo]: Target Bearing: -141.70695203938004 +[main_algo-3] [INFO] [1746051386.004344903] [sailbot.main_algo]: Heading Difference: -171.33804796061997 +[main_algo-3] [INFO] [1746051386.004988079] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051386.005416027] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051386.005856023] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051386.007151043] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051386.043631538] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051386.043978658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051386.044171868] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051386.044843727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051386.045411417] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051386.084391572] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051386.085149557] [sailbot.teensy]: Wind angle: 193 +[teensy-2] [INFO] [1746051386.085567904] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051386.085431428] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051386.085998217] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051386.086394333] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051386.086498732] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051386.143610676] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051386.144041386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051386.144114290] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051386.145758954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051386.146296733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051386.243640528] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051386.244072236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051386.244129847] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051386.244875844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051386.245351673] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051386.334355441] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051386.335135594] [sailbot.teensy]: Wind angle: 193 +[teensy-2] [INFO] [1746051386.335537234] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051386.335937209] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051386.336308226] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051386.335356926] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051386.336352322] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051386.343616043] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051386.343982064] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051386.344121332] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051386.345215798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051386.345710393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051386.443798543] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051386.444128864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051386.444434283] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051386.445191395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051386.445809373] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051386.456722277] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051386.457327482] [sailbot.main_algo]: Target Bearing: -141.70695203938004 +[main_algo-3] [INFO] [1746051386.457869887] [sailbot.main_algo]: Heading Difference: -171.81004796061995 +[main_algo-3] [INFO] [1746051386.458521631] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051386.458967736] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051386.459369247] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051386.460246342] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051386.460299795] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051386.502314949] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904607 Long: -76.50277345 +[vectornav-1] [INFO] [1746051386.503444080] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.091999999999985, 0.897, 5.449) +[main_algo-3] [INFO] [1746051386.503256371] [sailbot.main_algo]: Distance to destination: 56.762547492042195 +[main_algo-3] [INFO] [1746051386.504341805] [sailbot.main_algo]: Target Bearing: -141.6978832386268 +[main_algo-3] [INFO] [1746051386.505658512] [sailbot.main_algo]: Heading Difference: -171.8191167613732 +[main_algo-3] [INFO] [1746051386.507096041] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051386.508023555] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051386.509086942] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051386.510621149] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051386.543845689] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051386.544144600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051386.544565028] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051386.545534451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051386.546286361] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051386.584466274] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051386.585611023] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051386.586734381] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051386.587352354] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051386.588884929] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051386.589328930] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051386.589751800] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051386.644873214] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051386.645470900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051386.646123765] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051386.647436956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051386.648441178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051386.745030053] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051386.745681648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051386.746362865] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051386.747540259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051386.748183634] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051386.835442221] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051386.837255885] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051386.837719591] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051386.839051256] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051386.839430504] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051386.840022172] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051386.840994408] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051386.844430938] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051386.844954216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051386.845527493] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051386.846617105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051386.847654545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051386.945238776] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051386.945917617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051386.946855131] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051386.947990919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051386.949071257] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051386.957650165] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051386.958680503] [sailbot.main_algo]: Target Bearing: -141.6978832386268 +[main_algo-3] [INFO] [1746051386.959602080] [sailbot.main_algo]: Heading Difference: -173.21011676137323 +[main_algo-3] [INFO] [1746051386.961097085] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051386.961982535] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051386.962775518] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051386.964312340] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051386.964373862] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051387.003578524] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904597 Long: -76.50277357 +[main_algo-3] [INFO] [1746051387.003648674] [sailbot.main_algo]: Distance to destination: 56.74787738656195 +[main_algo-3] [INFO] [1746051387.004766697] [sailbot.main_algo]: Target Bearing: -141.7002463374075 +[vectornav-1] [INFO] [1746051387.005028183] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.42599999999999, -0.913, 5.82) +[main_algo-3] [INFO] [1746051387.005803828] [sailbot.main_algo]: Heading Difference: -173.2077536625925 +[main_algo-3] [INFO] [1746051387.007317241] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051387.008245267] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051387.009093726] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051387.010765755] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051387.044916506] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051387.045526521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051387.046147052] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051387.047420551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051387.048564673] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051387.084630031] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051387.085785220] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746051387.086575399] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051387.087328716] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051387.088113609] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051387.087473690] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051387.087741573] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051387.144948841] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051387.145692990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051387.146274400] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051387.147556823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051387.148650471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051387.245017423] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051387.245775975] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051387.246426149] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051387.247783821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051387.248903134] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051387.335158155] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051387.337275714] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051387.338217535] [sailbot.teensy]: Wind angle: 194 +[mux-7] [INFO] [1746051387.338572259] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051387.339206327] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051387.339941017] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051387.340302452] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051387.344291301] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051387.344753045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051387.345365342] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051387.346542683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051387.347660762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051387.445002313] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051387.445834909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051387.446508537] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051387.447715769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051387.448544756] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051387.457606161] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051387.458612030] [sailbot.main_algo]: Target Bearing: -141.7002463374075 +[main_algo-3] [INFO] [1746051387.459490370] [sailbot.main_algo]: Heading Difference: -172.87375366259255 +[main_algo-3] [INFO] [1746051387.460710169] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051387.461591739] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051387.462380682] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051387.463918566] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051387.463936464] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051387.504038357] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904599 Long: -76.50277363 +[main_algo-3] [INFO] [1746051387.504994279] [sailbot.main_algo]: Distance to destination: 56.74546806513229 +[vectornav-1] [INFO] [1746051387.505382503] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.56099999999998, -0.942, 4.529) +[main_algo-3] [INFO] [1746051387.506397704] [sailbot.main_algo]: Target Bearing: -141.69535523910795 +[main_algo-3] [INFO] [1746051387.507348064] [sailbot.main_algo]: Heading Difference: -172.87864476089203 +[main_algo-3] [INFO] [1746051387.508727806] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051387.509594974] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051387.510435717] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051387.512184739] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051387.544966531] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051387.545570541] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051387.546244446] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051387.547484558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051387.548584382] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051387.585351139] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051387.586973997] [sailbot.teensy]: Wind angle: 193 +[trim_sail-4] [INFO] [1746051387.587473308] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051387.587893445] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051387.588783362] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051387.589457752] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051387.589683568] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051387.645275937] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051387.645865011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051387.647184525] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051387.647984388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051387.649101051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051387.745335596] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051387.746046941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051387.746900200] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051387.748137574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051387.749213998] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051387.835557799] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051387.838307463] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051387.838360726] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051387.839285249] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051387.839423975] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051387.840231771] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051387.841116576] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051387.844212056] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051387.844754592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051387.845333537] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051387.846425131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051387.847565032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051387.945173571] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051387.946001572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051387.946667081] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051387.948176703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051387.949276404] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051387.957647788] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051387.958669367] [sailbot.main_algo]: Target Bearing: -141.69535523910795 +[main_algo-3] [INFO] [1746051387.959569637] [sailbot.main_algo]: Heading Difference: -171.74364476089204 +[main_algo-3] [INFO] [1746051387.960873372] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051387.961683725] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051387.962484572] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051387.963994823] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051387.964171339] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051388.003593159] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904612 Long: -76.50277357 +[main_algo-3] [INFO] [1746051388.004001278] [sailbot.main_algo]: Distance to destination: 56.758433501003076 +[main_algo-3] [INFO] [1746051388.005177303] [sailbot.main_algo]: Target Bearing: -141.6872357295613 +[vectornav-1] [INFO] [1746051388.005571378] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.21500000000003, -0.122, 6.212) +[main_algo-3] [INFO] [1746051388.006194889] [sailbot.main_algo]: Heading Difference: -171.75176427043868 +[main_algo-3] [INFO] [1746051388.007959561] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051388.008852017] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051388.009696680] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051388.011368568] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051388.044963823] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051388.045668707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051388.046208947] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051388.047844185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051388.048901856] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051388.085342772] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051388.087856073] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051388.087954601] [sailbot.teensy]: Wind angle: 193 +[mux-7] [INFO] [1746051388.089207190] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051388.089497856] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051388.090432486] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051388.091269557] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051388.145057885] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051388.145746828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051388.146487483] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051388.147984992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051388.149135476] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051388.245093718] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051388.245717406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051388.246445199] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051388.247808776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051388.249021391] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051388.335163169] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051388.336860846] [sailbot.teensy]: Wind angle: 195 +[trim_sail-4] [INFO] [1746051388.337218028] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051388.337800889] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051388.338703017] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051388.339182255] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051388.339547151] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051388.344310590] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051388.344958187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051388.345396095] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051388.346673605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051388.347751038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051388.444917176] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051388.445780354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051388.446215627] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051388.447585490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051388.448133157] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051388.457486801] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051388.458457658] [sailbot.main_algo]: Target Bearing: -141.6872357295613 +[main_algo-3] [INFO] [1746051388.459298159] [sailbot.main_algo]: Heading Difference: -172.0977642704387 +[main_algo-3] [INFO] [1746051388.460548906] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051388.461418218] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051388.462202562] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051388.463719174] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051388.463719856] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051388.502690652] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904603 Long: -76.50277344 +[main_algo-3] [INFO] [1746051388.503681344] [sailbot.main_algo]: Distance to destination: 56.76036902848031 +[vectornav-1] [INFO] [1746051388.503807299] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.56700000000001, 0.399, 4.554) +[main_algo-3] [INFO] [1746051388.504946694] [sailbot.main_algo]: Target Bearing: -141.70187837878223 +[main_algo-3] [INFO] [1746051388.505879698] [sailbot.main_algo]: Heading Difference: -172.08312162121774 +[main_algo-3] [INFO] [1746051388.507276286] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051388.508144954] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051388.509009557] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051388.510851939] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051388.544905275] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051388.545568535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051388.546138641] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051388.547484742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051388.548660094] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051388.585035237] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051388.587243611] [sailbot.teensy]: Wind angle: 195 +[trim_sail-4] [INFO] [1746051388.587317329] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051388.588382025] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051388.589370879] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051388.590294561] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051388.590318505] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051388.643746196] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051388.644393412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051388.645344013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051388.645412977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051388.645917354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051388.745067827] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051388.745737278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051388.746457597] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051388.747826804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051388.748348073] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051388.835257218] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051388.836934870] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051388.837413000] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051388.837882784] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051388.838779498] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051388.839327759] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051388.839674375] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051388.844439962] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051388.844911007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051388.845545862] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051388.846625382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051388.847743968] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051388.945279829] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051388.945981543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051388.946767557] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051388.948078320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051388.949349877] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051388.957438903] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051388.958400081] [sailbot.main_algo]: Target Bearing: -141.70187837878223 +[main_algo-3] [INFO] [1746051388.959291631] [sailbot.main_algo]: Heading Difference: -170.73112162121777 +[main_algo-3] [INFO] [1746051388.960544920] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051388.961361941] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051388.962161181] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051388.963713160] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051388.963899739] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051389.002959808] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469046 Long: -76.5027735 +[main_algo-3] [INFO] [1746051389.003971010] [sailbot.main_algo]: Distance to destination: 56.7544412735141 +[vectornav-1] [INFO] [1746051389.004244354] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.696000000000026, -1.142, 5.275) +[main_algo-3] [INFO] [1746051389.005307608] [sailbot.main_algo]: Target Bearing: -141.70132539793642 +[main_algo-3] [INFO] [1746051389.006314898] [sailbot.main_algo]: Heading Difference: -170.73167460206355 +[main_algo-3] [INFO] [1746051389.008362452] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051389.009300345] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051389.010172538] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051389.011859114] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051389.045273357] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051389.046041141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051389.046736907] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051389.048440056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051389.049569542] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051389.085457695] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051389.087335774] [sailbot.teensy]: Wind angle: 195 +[trim_sail-4] [INFO] [1746051389.087800000] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051389.088300922] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051389.089235505] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051389.089604493] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051389.090109156] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051389.144753705] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051389.145324538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051389.146177789] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051389.147047750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051389.148170142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051389.245175105] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051389.245719710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051389.246794308] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051389.247839509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051389.248432657] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051389.335232289] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051389.336903649] [sailbot.teensy]: Wind angle: 195 +[trim_sail-4] [INFO] [1746051389.337506653] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051389.337831206] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051389.338732233] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051389.338891028] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051389.339674424] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051389.344396830] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051389.344881661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051389.345612112] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051389.346950026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051389.347937325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051389.445057312] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051389.445528682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051389.446347708] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051389.447408441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051389.448775415] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051389.457989514] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051389.459093478] [sailbot.main_algo]: Target Bearing: -141.70132539793642 +[main_algo-3] [INFO] [1746051389.460032812] [sailbot.main_algo]: Heading Difference: -170.60267460206353 +[main_algo-3] [INFO] [1746051389.461370702] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051389.462224987] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051389.463056438] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051389.464585996] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051389.464674100] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051389.502902499] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904608 Long: -76.50277363 +[main_algo-3] [INFO] [1746051389.503909315] [sailbot.main_algo]: Distance to destination: 56.751802043103865 +[vectornav-1] [INFO] [1746051389.504146074] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.21600000000001, -0.292, 5.122) +[main_algo-3] [INFO] [1746051389.505117362] [sailbot.main_algo]: Target Bearing: -141.6875485076829 +[main_algo-3] [INFO] [1746051389.506017774] [sailbot.main_algo]: Heading Difference: -170.61645149231708 +[main_algo-3] [INFO] [1746051389.507422411] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051389.508318065] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051389.509155820] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051389.511012508] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051389.544813236] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051389.545533106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051389.546083102] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051389.547355872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051389.548495004] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051389.585122606] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051389.587476959] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051389.588137167] [sailbot.teensy]: Wind angle: 195 +[teensy-2] [INFO] [1746051389.589089483] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051389.589331389] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051389.590006026] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051389.590849778] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051389.644967172] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051389.646402724] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051389.646398853] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051389.648289888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051389.649390644] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051389.745378575] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051389.746414510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051389.747074001] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051389.748685087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051389.749832251] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051389.835561119] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051389.838470947] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051389.838765815] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051389.839009196] [sailbot.teensy]: Wind angle: 195 +[teensy-2] [INFO] [1746051389.839944774] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051389.840814235] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051389.841656874] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051389.844330758] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051389.844881608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051389.845803462] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051389.846633493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051389.847820777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051389.945038409] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051389.945661524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051389.946416510] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051389.947471708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051389.949148305] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051389.957612866] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051389.958620947] [sailbot.main_algo]: Target Bearing: -141.6875485076829 +[main_algo-3] [INFO] [1746051389.959522576] [sailbot.main_algo]: Heading Difference: -171.0964514923171 +[main_algo-3] [INFO] [1746051389.960750938] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051389.961572882] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051389.962341453] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051389.963929623] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051389.964254182] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051390.002784116] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690462 Long: -76.50277357 +[main_algo-3] [INFO] [1746051390.003706238] [sailbot.main_algo]: Distance to destination: 56.76406462540613 +[vectornav-1] [INFO] [1746051390.003940088] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.34300000000002, 0.183, 4.951) +[main_algo-3] [INFO] [1746051390.004858941] [sailbot.main_algo]: Target Bearing: -141.68029871715729 +[main_algo-3] [INFO] [1746051390.005795106] [sailbot.main_algo]: Heading Difference: -171.10370128284274 +[main_algo-3] [INFO] [1746051390.007134425] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051390.008011452] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051390.008884024] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051390.010558119] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051390.044980353] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051390.045588037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051390.046229452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051390.047528926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051390.048549220] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051390.085605916] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051390.087541194] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746051390.088557852] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051390.088196287] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051390.088768425] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051390.089465208] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051390.090335014] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051390.145093092] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051390.145910373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051390.146488321] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051390.147945171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051390.148660189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051390.245027118] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051390.245859498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051390.246719632] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051390.247886733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051390.248958177] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051390.334499107] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051390.335413840] [sailbot.teensy]: Wind angle: 195 +[trim_sail-4] [INFO] [1746051390.335974844] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051390.336269734] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051390.336370596] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051390.336778064] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051390.337176108] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051390.343661494] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051390.343959350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051390.344183242] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051390.344765245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051390.345271019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051390.443590401] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051390.444077806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051390.444292041] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051390.445044555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051390.445532241] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051390.456387703] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051390.457703428] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746051390.458157833] [sailbot.main_algo]: Target Bearing: -141.68029871715729 +[main_algo-3] [INFO] [1746051390.458523509] [sailbot.main_algo]: Heading Difference: -170.97670128284267 +[main_algo-3] [INFO] [1746051390.459074832] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051390.459445684] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051390.459809305] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051390.460840005] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051390.460891414] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051390.502794135] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904627 Long: -76.50277358 +[vectornav-1] [INFO] [1746051390.504005199] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.70400000000001, -1.36, 5.625) +[main_algo-3] [INFO] [1746051390.504422728] [sailbot.main_algo]: Distance to destination: 56.76835664354599 +[main_algo-3] [INFO] [1746051390.505758498] [sailbot.main_algo]: Target Bearing: -141.67370388789274 +[main_algo-3] [INFO] [1746051390.506771260] [sailbot.main_algo]: Heading Difference: -170.98329611210727 +[main_algo-3] [INFO] [1746051390.508189669] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051390.509094324] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051390.509920537] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051390.511480187] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051390.545009785] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051390.545589204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051390.546355684] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051390.547404837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051390.548701593] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051390.585132108] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051390.586663125] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746051390.587603743] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051390.587990475] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051390.588901429] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051390.589104310] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051390.590088513] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051390.644989976] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051390.645501848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051390.646292638] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051390.647379279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051390.648515081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051390.744739692] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051390.745210479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051390.746139301] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051390.746907689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051390.747870224] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051390.835254460] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051390.837369798] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051390.837458597] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051390.838451653] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051390.840003725] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051390.840953983] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051390.841017618] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051390.844327117] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051390.844782400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051390.845483360] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051390.846500567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051390.847517433] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051390.945065526] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051390.945693781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051390.946376331] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051390.947502981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051390.948397331] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051390.957998835] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051390.959653084] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746051390.961102649] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051390.962539747] [sailbot.main_algo]: Current Location: (42.46904627214753, -76.50277358005445) +[main_algo-3] [INFO] [1746051390.963430005] [sailbot.main_algo]: Target Bearing: -141.67370388789274 +[main_algo-3] [INFO] [1746051390.964279454] [sailbot.main_algo]: Heading Difference: -170.62229611210728 +[main_algo-3] [INFO] [1746051390.965489706] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051390.966285503] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051390.967055112] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051390.968925497] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051390.969402684] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051391.002557307] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904633 Long: -76.50277347 +[main_algo-3] [INFO] [1746051391.003460704] [sailbot.main_algo]: Distance to destination: 56.779575730856685 +[vectornav-1] [INFO] [1746051391.003605331] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.15300000000002, 0.831, 5.102) +[main_algo-3] [INFO] [1746051391.004547082] [sailbot.main_algo]: Target Bearing: -141.67428926874663 +[main_algo-3] [INFO] [1746051391.005491467] [sailbot.main_algo]: Heading Difference: -170.62171073125336 +[main_algo-3] [INFO] [1746051391.006908096] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051391.007805172] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051391.008669586] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051391.010445937] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051391.045375104] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051391.046327678] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051391.046627362] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051391.048141060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051391.049247887] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051391.085340914] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051391.087503504] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051391.087860712] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051391.088507955] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051391.089906435] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051391.090196949] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051391.090893757] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051391.145012818] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051391.145708549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051391.146332754] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051391.147523780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051391.148706115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051391.244843144] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051391.245449580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051391.246405886] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051391.247186706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051391.248384981] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051391.335064322] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051391.336930598] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051391.337406166] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051391.337883768] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051391.338801906] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051391.339102324] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051391.339689721] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051391.344319024] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051391.344966574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051391.345688629] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051391.346673960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051391.347857503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051391.444494728] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051391.444995176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051391.445880962] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051391.446639561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051391.447693650] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051391.457415769] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051391.458365858] [sailbot.main_algo]: Target Bearing: -141.67428926874663 +[main_algo-3] [INFO] [1746051391.459207007] [sailbot.main_algo]: Heading Difference: -171.17271073125335 +[main_algo-3] [INFO] [1746051391.460456221] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051391.461274751] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051391.462045697] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051391.463612413] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051391.463658564] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051391.502513767] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904619 Long: -76.50277379 +[main_algo-3] [INFO] [1746051391.503087870] [sailbot.main_algo]: Distance to destination: 56.74937068306706 +[vectornav-1] [INFO] [1746051391.503837858] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.882000000000005, -1.051, 6.039) +[main_algo-3] [INFO] [1746051391.504253307] [sailbot.main_algo]: Target Bearing: -141.66959002367665 +[main_algo-3] [INFO] [1746051391.505182054] [sailbot.main_algo]: Heading Difference: -171.17740997632336 +[main_algo-3] [INFO] [1746051391.506447508] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051391.507253934] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051391.508024520] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051391.509976687] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051391.544529729] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051391.544901500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051391.545608392] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051391.546556911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051391.547545263] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051391.585172044] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051391.586705985] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051391.587283637] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051391.587580834] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051391.588424996] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051391.587923939] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051391.589320922] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051391.644308142] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051391.644772420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051391.645212839] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051391.646197018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051391.647243022] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051391.744656325] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051391.745172343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051391.745752327] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051391.746786395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051391.747738628] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051391.835528393] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051391.837946467] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051391.837962197] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746051391.839006161] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051391.839198848] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051391.840282624] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051391.841223973] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051391.844284770] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051391.844853590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051391.845367746] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051391.846563519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051391.847692321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051391.945344696] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051391.945962144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051391.946906585] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051391.948308017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051391.949464733] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051391.957632977] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051391.958655964] [sailbot.main_algo]: Target Bearing: -141.66959002367665 +[main_algo-3] [INFO] [1746051391.959542344] [sailbot.main_algo]: Heading Difference: -171.44840997632332 +[main_algo-3] [INFO] [1746051391.960896477] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051391.961772652] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051391.962609707] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051391.964123000] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051391.964134218] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051392.003414528] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904618 Long: -76.50277388 +[main_algo-3] [INFO] [1746051392.005063700] [sailbot.main_algo]: Distance to destination: 56.742944002452326 +[main_algo-3] [INFO] [1746051392.006187457] [sailbot.main_algo]: Target Bearing: -141.66572001881346 +[vectornav-1] [INFO] [1746051392.006329763] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.372000000000014, -0.313, 4.774) +[main_algo-3] [INFO] [1746051392.007261273] [sailbot.main_algo]: Heading Difference: -171.4522799811865 +[main_algo-3] [INFO] [1746051392.008858953] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051392.009815790] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051392.010673663] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051392.012550901] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051392.045374717] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051392.045492640] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051392.046656127] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051392.047179477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051392.048345226] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051392.085384657] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051392.087734126] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051392.088072529] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746051392.089021978] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051392.089010428] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051392.089885612] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051392.090754932] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051392.144979496] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051392.145782429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051392.146229970] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051392.147582598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051392.148774387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051392.245475980] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051392.245765159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051392.246619913] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051392.247029472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051392.247552762] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051392.335144762] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051392.336717657] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746051392.337558150] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051392.337130112] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051392.337663746] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051392.338397856] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051392.339280757] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051392.344350918] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051392.344924246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051392.345472643] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051392.346670972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051392.347823869] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051392.445024942] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051392.445612318] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051392.446293571] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051392.447680535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051392.448862091] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051392.457419099] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051392.458410496] [sailbot.main_algo]: Target Bearing: -141.66572001881346 +[main_algo-3] [INFO] [1746051392.459293926] [sailbot.main_algo]: Heading Difference: -172.9622799811865 +[main_algo-3] [INFO] [1746051392.460550812] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051392.461380795] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051392.462171206] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051392.463726544] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051392.463728550] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051392.502759046] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904629 Long: -76.50277393 +[main_algo-3] [INFO] [1746051392.503753944] [sailbot.main_algo]: Distance to destination: 56.74751194809179 +[vectornav-1] [INFO] [1746051392.503884765] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.88299999999998, -0.598, 6.224) +[main_algo-3] [INFO] [1746051392.505089115] [sailbot.main_algo]: Target Bearing: -141.65354997800137 +[main_algo-3] [INFO] [1746051392.506094819] [sailbot.main_algo]: Heading Difference: -172.97445002199862 +[main_algo-3] [INFO] [1746051392.507533847] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051392.508509467] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051392.509400329] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051392.510952974] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051392.544865617] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051392.545713203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051392.546021648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051392.547481390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051392.548716885] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051392.585446567] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051392.587161924] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051392.587644597] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051392.588028717] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051392.588897227] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051392.589749697] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051392.589820864] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051392.644881329] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051392.645603222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051392.646250778] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051392.647502898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051392.648609285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051392.744404823] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051392.745054384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051392.745803065] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051392.746962865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051392.748225793] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051392.835182592] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051392.836845204] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051392.837471596] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051392.838122308] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051392.838624654] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051392.839032712] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051392.840027271] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051392.844478291] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051392.845017677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051392.845540089] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051392.846625366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051392.847568858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051392.945069401] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051392.945826454] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051392.946454770] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051392.948016020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051392.949169188] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051392.957447069] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051392.958428257] [sailbot.main_algo]: Target Bearing: -141.65354997800137 +[main_algo-3] [INFO] [1746051392.959265797] [sailbot.main_algo]: Heading Difference: -173.46345002199865 +[main_algo-3] [INFO] [1746051392.960494973] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051392.961306716] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051392.962114476] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051392.963671525] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051392.963828931] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051393.002754959] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904632 Long: -76.50277386 +[main_algo-3] [INFO] [1746051393.003652300] [sailbot.main_algo]: Distance to destination: 56.754074961256435 +[vectornav-1] [INFO] [1746051393.003882510] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.55099999999999, -0.38, 4.933) +[main_algo-3] [INFO] [1746051393.004837871] [sailbot.main_algo]: Target Bearing: -141.65463444652792 +[main_algo-3] [INFO] [1746051393.005774040] [sailbot.main_algo]: Heading Difference: -173.46236555347207 +[main_algo-3] [INFO] [1746051393.007151942] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051393.008041885] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051393.008916289] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051393.010607889] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051393.044898983] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051393.045590942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051393.046154001] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051393.047507955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051393.048540096] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051393.085575074] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051393.088066245] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051393.088437533] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051393.088447388] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746051393.089450076] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051393.090396902] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051393.091288611] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051393.145155811] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051393.146100045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051393.146671108] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051393.148371004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051393.149396891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051393.245134404] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051393.246056347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051393.246645574] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051393.248198656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051393.249331828] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051393.335349985] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051393.337711288] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051393.337736057] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051393.338690714] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051393.339039422] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051393.339580082] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051393.340477617] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051393.344389624] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051393.345007374] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051393.345554427] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051393.346877584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051393.347908748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051393.445330356] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051393.446122067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051393.446845122] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051393.448272837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051393.449585184] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051393.457690724] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051393.458739808] [sailbot.main_algo]: Target Bearing: -141.65463444652792 +[main_algo-3] [INFO] [1746051393.459687763] [sailbot.main_algo]: Heading Difference: -171.79436555347206 +[main_algo-3] [INFO] [1746051393.461034195] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051393.461921922] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051393.462774784] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051393.464346317] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051393.464376678] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051393.502809320] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904644 Long: -76.50277369 +[vectornav-1] [INFO] [1746051393.504093875] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.39499999999998, 0.15, 5.819) +[main_algo-3] [INFO] [1746051393.504371815] [sailbot.main_algo]: Distance to destination: 56.773334155839606 +[main_algo-3] [INFO] [1746051393.505496080] [sailbot.main_algo]: Target Bearing: -141.6531816474968 +[main_algo-3] [INFO] [1746051393.506692617] [sailbot.main_algo]: Heading Difference: -171.7958183525032 +[main_algo-3] [INFO] [1746051393.508134439] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051393.509064151] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051393.509936006] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051393.511526482] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051393.544886813] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051393.545656227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051393.546162030] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051393.547533701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051393.548566982] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051393.585314027] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051393.587173155] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746051393.588133653] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051393.587915040] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051393.588726409] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051393.589071984] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051393.589992364] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051393.644649952] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051393.645317313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051393.646264405] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051393.647138954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051393.648482719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051393.745093893] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051393.745763718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051393.746429202] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051393.747553090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051393.748595546] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051393.835383879] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051393.837626161] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051393.837854732] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746051393.838744212] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051393.838956847] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051393.839664448] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051393.840550110] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051393.844361995] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051393.844696280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051393.845527811] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051393.846341560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051393.847391201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051393.945125881] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051393.945814755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051393.946447673] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051393.947644146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051393.948697538] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051393.957683784] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051393.958752249] [sailbot.main_algo]: Target Bearing: -141.6531816474968 +[main_algo-3] [INFO] [1746051393.959690992] [sailbot.main_algo]: Heading Difference: -170.9518183525032 +[main_algo-3] [INFO] [1746051393.960977954] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051393.961781739] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051393.962574563] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051393.964063760] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051393.964168362] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051394.003029700] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904652 Long: -76.50277355 +[main_algo-3] [INFO] [1746051394.004221922] [sailbot.main_algo]: Distance to destination: 56.787868852266676 +[vectornav-1] [INFO] [1746051394.004488576] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.432000000000016, -1.299, 6.426) +[main_algo-3] [INFO] [1746051394.005342010] [sailbot.main_algo]: Target Bearing: -141.65361669494206 +[main_algo-3] [INFO] [1746051394.006321634] [sailbot.main_algo]: Heading Difference: -170.95138330505796 +[main_algo-3] [INFO] [1746051394.007644288] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051394.008518873] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051394.009356022] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051394.011028691] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051394.044899040] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051394.045637661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051394.046168961] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051394.047667754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051394.048693626] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051394.085482481] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051394.087851580] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051394.088050084] [sailbot.teensy]: Wind angle: 195 +[teensy-2] [INFO] [1746051394.089286027] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051394.089350552] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051394.090442972] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051394.091512666] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051394.145018648] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051394.145878452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051394.146421479] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051394.148042821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051394.148990702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051394.245645952] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051394.246528105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051394.247261217] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051394.248099687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051394.248559571] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051394.335182874] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051394.337240189] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051394.337580987] [sailbot.teensy]: Wind angle: 195 +[mux-7] [INFO] [1746051394.337878353] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051394.338589275] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051394.339549102] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051394.340353944] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051394.344425920] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051394.345058615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051394.345762068] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051394.346964235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051394.348109798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051394.445153809] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051394.446159445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051394.446932294] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051394.448630109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051394.449969155] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051394.457507482] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051394.458478632] [sailbot.main_algo]: Target Bearing: -141.65361669494206 +[main_algo-3] [INFO] [1746051394.459378424] [sailbot.main_algo]: Heading Difference: -170.91438330505792 +[main_algo-3] [INFO] [1746051394.460637746] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051394.461526709] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051394.462309293] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051394.463809681] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051394.463836290] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051394.502641944] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904663 Long: -76.50277348 +[main_algo-3] [INFO] [1746051394.503549115] [sailbot.main_algo]: Distance to destination: 56.80006689320216 +[vectornav-1] [INFO] [1746051394.503696066] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.65199999999999, 0.741, 4.767) +[main_algo-3] [INFO] [1746051394.504626788] [sailbot.main_algo]: Target Bearing: -141.64777099459195 +[main_algo-3] [INFO] [1746051394.505545821] [sailbot.main_algo]: Heading Difference: -170.92022900540803 +[main_algo-3] [INFO] [1746051394.506898481] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051394.507772084] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051394.508645662] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051394.511045631] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051394.545346306] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051394.546211009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051394.546877055] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051394.548590439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051394.549631066] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051394.585530942] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051394.587914860] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051394.587936634] [sailbot.teensy]: Wind angle: 194 +[mux-7] [INFO] [1746051394.588670638] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051394.588961432] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051394.589919726] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051394.590748078] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051394.645008277] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051394.645752833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051394.646451201] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051394.647734157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051394.648247531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051394.744453990] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051394.744940353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051394.745554500] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051394.747178364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051394.748615376] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051394.834419028] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051394.835436157] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746051394.836166119] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051394.836885399] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051394.837625366] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051394.835965679] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051394.837302347] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051394.844205520] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051394.845230399] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051394.845796722] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051394.847201405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051394.847765533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051394.944969880] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051394.945659547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051394.946270942] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051394.947690675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051394.948723935] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051394.957741821] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051394.958803127] [sailbot.main_algo]: Target Bearing: -141.64777099459195 +[main_algo-3] [INFO] [1746051394.959711175] [sailbot.main_algo]: Heading Difference: -170.70022900540806 +[main_algo-3] [INFO] [1746051394.960950217] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051394.961772612] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051394.962570014] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051394.964075121] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051394.964295635] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051395.002827419] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690466 Long: -76.50277355 +[main_algo-3] [INFO] [1746051395.003854348] [sailbot.main_algo]: Distance to destination: 56.793504007068414 +[vectornav-1] [INFO] [1746051395.004104993] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.12700000000001, -1.64, 5.861) +[main_algo-3] [INFO] [1746051395.005072065] [sailbot.main_algo]: Target Bearing: -141.64668661339925 +[main_algo-3] [INFO] [1746051395.006094579] [sailbot.main_algo]: Heading Difference: -170.70131338660076 +[main_algo-3] [INFO] [1746051395.007507974] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051395.008413363] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051395.009259577] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051395.010928300] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051395.045592246] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051395.046203328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051395.047237765] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051395.049097854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051395.050383799] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051395.085551315] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051395.087749279] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051395.087899234] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051395.088276038] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051395.088648001] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051395.089555449] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051395.090382263] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051395.145157144] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051395.146515034] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051395.145599157] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051395.147526089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051395.148612774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051395.245083695] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051395.245932371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051395.246562199] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051395.247917259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051395.249175349] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051395.335340418] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051395.337229765] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051395.338059482] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051395.338185566] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051395.339089861] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051395.339388720] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051395.339969647] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051395.344453535] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051395.345099339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051395.345667469] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051395.347047030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051395.348204651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051395.445164614] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051395.445860503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051395.446583492] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051395.448121737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051395.448584518] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051395.457729386] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051395.458775426] [sailbot.main_algo]: Target Bearing: -141.64668661339925 +[main_algo-3] [INFO] [1746051395.459684601] [sailbot.main_algo]: Heading Difference: -171.22631338660074 +[main_algo-3] [INFO] [1746051395.461059720] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051395.461897435] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051395.462677656] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051395.464209689] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051395.464209673] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051395.502741318] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904659 Long: -76.50277333 +[main_algo-3] [INFO] [1746051395.503502982] [sailbot.main_algo]: Distance to destination: 56.806785158332225 +[vectornav-1] [INFO] [1746051395.503813420] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.32400000000001, 0.734, 4.462) +[main_algo-3] [INFO] [1746051395.504583250] [sailbot.main_algo]: Target Bearing: -141.65912511760962 +[main_algo-3] [INFO] [1746051395.505570532] [sailbot.main_algo]: Heading Difference: -171.21387488239037 +[main_algo-3] [INFO] [1746051395.506944704] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051395.507812045] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051395.508671245] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051395.510332474] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051395.545162861] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051395.545723308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051395.546744099] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051395.547702963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051395.548747280] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051395.585347488] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051395.587043320] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746051395.587947489] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051395.587562041] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051395.588139355] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051395.588848922] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051395.589689274] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051395.645093452] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051395.645890423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051395.646996739] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051395.648458169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051395.649480973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051395.745218060] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051395.746136866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051395.746733737] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051395.748456291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051395.749790730] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051395.835253501] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051395.837017665] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051395.837728019] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051395.837981618] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051395.838736587] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051395.838747460] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051395.839118172] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051395.844283611] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051395.844960020] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051395.845605406] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051395.846635034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051395.847687326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051395.945096297] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051395.946140385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051395.946551845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051395.948139577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051395.949177903] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051395.957545288] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051395.958617987] [sailbot.main_algo]: Target Bearing: -141.65912511760962 +[main_algo-3] [INFO] [1746051395.959523617] [sailbot.main_algo]: Heading Difference: -171.01687488239037 +[main_algo-3] [INFO] [1746051395.960784052] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051395.961604583] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051395.962392052] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051395.963997583] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051395.964043146] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051396.002715796] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904659 Long: -76.50277351 +[main_algo-3] [INFO] [1746051396.003710858] [sailbot.main_algo]: Distance to destination: 56.79534223046042 +[vectornav-1] [INFO] [1746051396.003872805] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.093999999999994, -0.265, 6.065) +[main_algo-3] [INFO] [1746051396.004912992] [sailbot.main_algo]: Target Bearing: -141.64965728021667 +[main_algo-3] [INFO] [1746051396.005863165] [sailbot.main_algo]: Heading Difference: -171.02634271978332 +[main_algo-3] [INFO] [1746051396.007201076] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051396.008073968] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051396.008913790] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051396.010504471] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051396.045208302] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051396.045668445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051396.046558521] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051396.047546973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051396.048717080] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051396.084437190] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051396.085927762] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051396.086019706] [sailbot.teensy]: Wind angle: 194 +[mux-7] [INFO] [1746051396.086743191] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051396.087952509] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051396.088584733] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051396.089158630] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051396.144141402] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051396.144907584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051396.145511092] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051396.146689930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051396.147327555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051396.244749892] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051396.245330428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051396.245919711] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051396.247102768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051396.248088906] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051396.335240427] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051396.336977882] [sailbot.teensy]: Wind angle: 195 +[teensy-2] [INFO] [1746051396.337880833] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051396.337735179] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051396.337946260] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051396.338760887] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051396.339225174] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051396.344416748] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051396.344946178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051396.345523579] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051396.346631791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051396.347665726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051396.444727669] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051396.445340896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051396.445820259] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051396.447097057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051396.448094351] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051396.457719494] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051396.458798320] [sailbot.main_algo]: Target Bearing: -141.64965728021667 +[main_algo-3] [INFO] [1746051396.459714339] [sailbot.main_algo]: Heading Difference: -170.25634271978333 +[main_algo-3] [INFO] [1746051396.461079232] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051396.461882733] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051396.462654020] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051396.464176057] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051396.464178687] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051396.502902754] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904664 Long: -76.5027736 +[main_algo-3] [INFO] [1746051396.503829665] [sailbot.main_algo]: Distance to destination: 56.79314387336851 +[vectornav-1] [INFO] [1746051396.504084245] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.89300000000003, -0.713, 5.181) +[main_algo-3] [INFO] [1746051396.505071331] [sailbot.main_algo]: Target Bearing: -141.640591140835 +[main_algo-3] [INFO] [1746051396.506075370] [sailbot.main_algo]: Heading Difference: -170.265408859165 +[main_algo-3] [INFO] [1746051396.507531601] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051396.508454249] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051396.509314574] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051396.511011331] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051396.544764685] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051396.545371798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051396.545947591] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051396.547136630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051396.548122864] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051396.585328660] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051396.587230555] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746051396.588169873] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051396.587562901] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051396.588193144] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051396.589122473] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051396.590086911] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051396.644334509] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051396.645055264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051396.645373773] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051396.646659827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051396.647685238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051396.745007320] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051396.746021059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051396.746787302] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051396.747999376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051396.749061286] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051396.835462856] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051396.838100029] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051396.838400492] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746051396.839491550] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051396.839618491] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051396.840471128] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051396.841026336] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051396.844343555] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051396.844888694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051396.845417499] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051396.846615216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051396.847760105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051396.944139299] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051396.944705421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051396.945188464] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051396.947129002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051396.948269380] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051396.956999418] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051396.957731666] [sailbot.main_algo]: Target Bearing: -141.640591140835 +[main_algo-3] [INFO] [1746051396.958574992] [sailbot.main_algo]: Heading Difference: -169.46640885916497 +[main_algo-3] [INFO] [1746051396.959890876] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051396.960682681] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051396.961562289] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051396.963209408] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051396.963382653] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051397.002434880] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904673 Long: -76.50277357 +[main_algo-3] [INFO] [1746051397.003334162] [sailbot.main_algo]: Distance to destination: 56.80139182607804 +[vectornav-1] [INFO] [1746051397.004004655] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.74000000000001, -0.177, 5.387) +[main_algo-3] [INFO] [1746051397.004515190] [sailbot.main_algo]: Target Bearing: -141.63437576171637 +[main_algo-3] [INFO] [1746051397.005676517] [sailbot.main_algo]: Heading Difference: -169.47262423828363 +[main_algo-3] [INFO] [1746051397.006942443] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051397.007752444] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051397.008521814] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051397.010028424] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051397.044957193] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051397.045638392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051397.046343485] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051397.047494625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051397.048580129] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051397.084791394] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051397.086034390] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746051397.086798761] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051397.086801712] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051397.087622024] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051397.088538258] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051397.089982176] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051397.144665294] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051397.145270411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051397.145778709] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051397.147034122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051397.148128945] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051397.245145802] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051397.245859178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051397.246726800] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051397.248178970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051397.249336882] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051397.335232331] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051397.336999449] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746051397.337913064] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051397.337474865] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051397.338192502] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051397.338800207] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051397.339673629] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051397.344411299] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051397.345164163] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051397.345543489] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051397.346931103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051397.348044938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051397.445725283] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051397.447128726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051397.448088081] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051397.448592412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051397.449236337] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051397.457505245] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051397.458514289] [sailbot.main_algo]: Target Bearing: -141.63437576171637 +[main_algo-3] [INFO] [1746051397.459440806] [sailbot.main_algo]: Heading Difference: -169.62562423828365 +[main_algo-3] [INFO] [1746051397.460990501] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051397.461962790] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051397.462743314] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051397.464327550] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051397.464334824] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051397.502871381] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904684 Long: -76.50277359 +[main_algo-3] [INFO] [1746051397.503951113] [sailbot.main_algo]: Distance to destination: 56.80787265826238 +[vectornav-1] [INFO] [1746051397.503986042] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.28199999999998, -0.565, 5.843) +[main_algo-3] [INFO] [1746051397.505090874] [sailbot.main_algo]: Target Bearing: -141.6237996306309 +[main_algo-3] [INFO] [1746051397.506126689] [sailbot.main_algo]: Heading Difference: -169.63620036936908 +[main_algo-3] [INFO] [1746051397.507528860] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051397.508447649] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051397.509346481] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051397.511287756] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051397.545326416] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051397.546181222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051397.546863698] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051397.548459375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051397.549643300] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051397.585570271] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051397.587982175] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051397.589175575] [sailbot.teensy]: Wind angle: 196 +[mux-7] [INFO] [1746051397.589356515] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051397.590144840] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051397.591094419] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051397.592070714] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051397.645129682] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051397.645882987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051397.646546221] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051397.647917810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051397.648985950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051397.745096041] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051397.746098641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051397.747098463] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051397.748421561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051397.749643637] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051397.835368939] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051397.837598113] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051397.837888383] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746051397.838822552] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051397.839142126] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051397.839576320] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051397.840002839] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051397.844454435] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051397.845064192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051397.845539580] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051397.846793331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051397.847788829] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051397.944873194] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051397.945581795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051397.946339479] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051397.947411001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051397.948528425] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051397.957627545] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051397.958719107] [sailbot.main_algo]: Target Bearing: -141.6237996306309 +[main_algo-3] [INFO] [1746051397.959657133] [sailbot.main_algo]: Heading Difference: -170.0942003693691 +[main_algo-3] [INFO] [1746051397.960950313] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051397.961767453] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051397.962610284] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051397.964341228] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051397.964447744] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051398.002661543] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904677 Long: -76.50277351 +[vectornav-1] [INFO] [1746051398.003789649] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.76400000000001, 0.347, 5.679) +[main_algo-3] [INFO] [1746051398.003833720] [sailbot.main_algo]: Distance to destination: 56.80802356521291 +[main_algo-3] [INFO] [1746051398.005116764] [sailbot.main_algo]: Target Bearing: -141.6340694647213 +[main_algo-3] [INFO] [1746051398.006115746] [sailbot.main_algo]: Heading Difference: -170.08393053527868 +[main_algo-3] [INFO] [1746051398.007455769] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051398.008365033] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051398.009200459] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051398.010765824] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051398.045137097] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051398.045816108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051398.046574683] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051398.048087384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051398.049214342] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051398.085182193] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051398.086747370] [sailbot.teensy]: Wind angle: 196 +[trim_sail-4] [INFO] [1746051398.087112941] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051398.087756215] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051398.088727493] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051398.088940452] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051398.089631257] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051398.144968825] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051398.145744802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051398.146261854] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051398.147605622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051398.148753151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051398.244908522] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051398.245666798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051398.246305941] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051398.248762596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051398.249994041] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051398.335445025] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051398.337912537] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051398.338601450] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051398.338847972] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746051398.339785902] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051398.340706800] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051398.341572916] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051398.344270045] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051398.344931688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051398.345345088] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051398.346556289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051398.347572908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051398.445349806] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051398.445926624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051398.446686803] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051398.447637546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051398.448204083] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051398.457684724] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051398.458773713] [sailbot.main_algo]: Target Bearing: -141.6340694647213 +[main_algo-3] [INFO] [1746051398.459705003] [sailbot.main_algo]: Heading Difference: -169.6019305352787 +[main_algo-3] [INFO] [1746051398.461022628] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051398.461846277] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051398.462621980] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051398.464133054] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051398.464177475] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051398.502657502] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904669 Long: -76.50277351 +[main_algo-3] [INFO] [1746051398.503689111] [sailbot.main_algo]: Distance to destination: 56.80238689774113 +[vectornav-1] [INFO] [1746051398.503984728] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.40899999999999, -1.11, 4.978) +[main_algo-3] [INFO] [1746051398.504859035] [sailbot.main_algo]: Target Bearing: -141.64099652305296 +[main_algo-3] [INFO] [1746051398.505873537] [sailbot.main_algo]: Heading Difference: -169.595003476947 +[main_algo-3] [INFO] [1746051398.507263171] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051398.508400721] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051398.509355235] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051398.511509450] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051398.545044485] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051398.545780317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051398.546719557] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051398.547997941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051398.549140387] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051398.585660529] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051398.588276750] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051398.588802446] [sailbot.teensy]: Wind angle: 195 +[mux-7] [INFO] [1746051398.589078419] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051398.589874806] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051398.590800681] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051398.591630413] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051398.645020560] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051398.645849511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051398.646325743] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051398.647686701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051398.648751610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051398.744921671] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051398.745698055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051398.746256319] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051398.747549308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051398.748064911] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051398.835523009] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051398.838181277] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051398.839042386] [sailbot.teensy]: Wind angle: 196 +[mux-7] [INFO] [1746051398.839443739] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051398.839963161] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051398.840900971] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051398.841775459] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051398.844408192] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051398.844930732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051398.845870909] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051398.846838301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051398.847845485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051398.945154995] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051398.945712724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051398.946511928] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051398.947841891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051398.948827833] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051398.957549790] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051398.958492948] [sailbot.main_algo]: Target Bearing: -141.64099652305296 +[main_algo-3] [INFO] [1746051398.959340649] [sailbot.main_algo]: Heading Difference: -168.95000347694702 +[main_algo-3] [INFO] [1746051398.960592607] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051398.961457979] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051398.962264229] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051398.963806993] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051398.963851859] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051399.001871145] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904665 Long: -76.50277363 +[main_algo-3] [INFO] [1746051399.002453938] [sailbot.main_algo]: Distance to destination: 56.79194168460569 +[vectornav-1] [INFO] [1746051399.002556062] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.02600000000001, 0.368, 5.113) +[main_algo-3] [INFO] [1746051399.003200900] [sailbot.main_algo]: Target Bearing: -141.6381463272789 +[main_algo-3] [INFO] [1746051399.003894100] [sailbot.main_algo]: Heading Difference: -168.95285367272112 +[main_algo-3] [INFO] [1746051399.005800548] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051399.006994609] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051399.007861464] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051399.009623920] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051399.043946570] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051399.044408608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051399.046050428] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051399.046091289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051399.046965718] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051399.085092838] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051399.086496836] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746051399.087375126] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051399.088230126] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051399.087734226] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051399.088397327] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051399.089117032] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051399.143698938] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051399.144048927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051399.144240866] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051399.144873161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051399.145403714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051399.245076911] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051399.245941965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051399.246660913] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051399.248170850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051399.249297118] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051399.335293948] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051399.336980027] [sailbot.teensy]: Wind angle: 196 +[trim_sail-4] [INFO] [1746051399.337469081] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051399.338005280] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051399.338947616] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051399.339678295] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051399.340107059] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051399.343604202] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051399.343987643] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051399.344146107] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051399.344858960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051399.345577903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051399.445432052] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051399.446283465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051399.446622007] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051399.448050182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051399.449358115] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051399.457709047] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051399.458811673] [sailbot.main_algo]: Target Bearing: -141.6381463272789 +[main_algo-3] [INFO] [1746051399.459724302] [sailbot.main_algo]: Heading Difference: -169.3358536727211 +[main_algo-3] [INFO] [1746051399.461045502] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051399.462000558] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051399.462892231] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051399.464437776] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051399.464453264] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051399.503041643] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904665 Long: -76.50277368 +[main_algo-3] [INFO] [1746051399.504507131] [sailbot.main_algo]: Distance to destination: 56.78876389216781 +[vectornav-1] [INFO] [1746051399.504689550] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.22800000000001, -1.073, 5.463) +[main_algo-3] [INFO] [1746051399.505730841] [sailbot.main_algo]: Target Bearing: -141.63551489391568 +[main_algo-3] [INFO] [1746051399.506707125] [sailbot.main_algo]: Heading Difference: -169.3384851060843 +[main_algo-3] [INFO] [1746051399.508089972] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051399.508985955] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051399.509826728] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051399.511491637] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051399.544943711] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051399.545654182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051399.546245497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051399.547642932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051399.548763288] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051399.585552511] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051399.587773908] [sailbot.teensy]: Wind angle: 195 +[trim_sail-4] [INFO] [1746051399.587955094] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051399.588789674] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051399.589348599] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051399.589661818] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051399.590549549] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051399.645946918] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051399.647261643] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051399.647503547] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051399.649273319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051399.650252251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051399.745141992] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051399.746368841] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051399.746232167] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051399.748417389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051399.749018189] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051399.835224856] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051399.836876824] [sailbot.teensy]: Wind angle: 191 +[teensy-2] [INFO] [1746051399.837724633] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051399.837360650] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051399.838116472] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051399.838624565] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051399.839514016] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051399.844357706] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051399.844872753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051399.845423741] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051399.846561697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051399.847589654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051399.944701479] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051399.945396893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051399.946116414] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051399.947110616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051399.948217982] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051399.957590635] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051399.958708559] [sailbot.main_algo]: Target Bearing: -141.63551489391568 +[main_algo-3] [INFO] [1746051399.959644838] [sailbot.main_algo]: Heading Difference: -169.1364851060843 +[main_algo-3] [INFO] [1746051399.960969505] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051399.961781421] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051399.962555900] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051399.964084766] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051399.964112208] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051400.002715419] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690467 Long: -76.50277386 +[main_algo-3] [INFO] [1746051400.003684516] [sailbot.main_algo]: Distance to destination: 56.7808487728543 +[vectornav-1] [INFO] [1746051400.003821206] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.132000000000005, 0.232, 5.496) +[main_algo-3] [INFO] [1746051400.004821363] [sailbot.main_algo]: Target Bearing: -141.6217087370568 +[main_algo-3] [INFO] [1746051400.005709937] [sailbot.main_algo]: Heading Difference: -169.1502912629432 +[main_algo-3] [INFO] [1746051400.006981175] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051400.007793896] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051400.008598572] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051400.010456341] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051400.045099964] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051400.045629159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051400.046543377] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051400.047524619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051400.048636539] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051400.085271359] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051400.087031894] [sailbot.teensy]: Wind angle: 186 +[trim_sail-4] [INFO] [1746051400.087399581] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051400.087921842] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051400.088753977] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051400.088826244] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051400.089761400] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051400.144779581] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051400.145221752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051400.146018954] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051400.146821546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051400.147940138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051400.245114912] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051400.245662156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051400.247059700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051400.248688373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051400.249997790] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051400.335122687] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051400.336822955] [sailbot.teensy]: Wind angle: 186 +[trim_sail-4] [INFO] [1746051400.337191236] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051400.337774244] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051400.338637233] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051400.338666378] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051400.339578591] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051400.344467703] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051400.345050973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051400.345672293] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051400.346684110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051400.347725711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051400.445205919] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051400.446377046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051400.446767987] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051400.448190996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051400.449449172] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051400.457777721] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051400.458769190] [sailbot.main_algo]: Target Bearing: -141.6217087370568 +[main_algo-3] [INFO] [1746051400.459685055] [sailbot.main_algo]: Heading Difference: -169.2462912629432 +[main_algo-3] [INFO] [1746051400.461037190] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051400.461948187] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051400.462753245] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051400.464300945] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051400.464373459] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051400.502692489] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690466 Long: -76.50277378 +[main_algo-3] [INFO] [1746051400.503746806] [sailbot.main_algo]: Distance to destination: 56.77888536645375 +[vectornav-1] [INFO] [1746051400.503787513] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.15100000000001, -0.942, 5.533) +[main_algo-3] [INFO] [1746051400.505026963] [sailbot.main_algo]: Target Bearing: -141.63458210983512 +[main_algo-3] [INFO] [1746051400.505962623] [sailbot.main_algo]: Heading Difference: -169.2334178901649 +[main_algo-3] [INFO] [1746051400.507382496] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051400.508290474] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051400.509143463] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051400.510910075] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051400.544912888] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051400.545589073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051400.546208273] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051400.547474324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051400.548575617] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051400.585542555] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051400.587999346] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051400.588669157] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051400.588981973] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051400.589952363] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051400.590845632] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051400.591658980] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051400.644746295] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051400.645367300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051400.645982430] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051400.647177478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051400.648386793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051400.745077088] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051400.746048341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051400.746239445] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051400.747827508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051400.748845417] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051400.835403272] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051400.837796956] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051400.841003802] [sailbot.teensy]: Wind angle: 185 +[mux-7] [INFO] [1746051400.841101591] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051400.842125114] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051400.843172520] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051400.844189257] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051400.844489566] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051400.845661177] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051400.847019806] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051400.848340213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051400.849374390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051400.943674464] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051400.943983441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051400.944184497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051400.944770147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051400.945394691] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051400.956517329] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051400.956985842] [sailbot.main_algo]: Target Bearing: -141.63458210983512 +[main_algo-3] [INFO] [1746051400.957395519] [sailbot.main_algo]: Heading Difference: -168.2144178901649 +[main_algo-3] [INFO] [1746051400.957996294] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051400.958412289] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051400.958798400] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051400.959563337] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051400.960780013] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051401.001330534] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904655 Long: -76.50277382 +[vectornav-1] [INFO] [1746051401.001775963] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.584, 0.009, 5.263) +[main_algo-3] [INFO] [1746051401.001912798] [sailbot.main_algo]: Distance to destination: 56.77282011977614 +[main_algo-3] [INFO] [1746051401.002474587] [sailbot.main_algo]: Target Bearing: -141.6368079085746 +[main_algo-3] [INFO] [1746051401.002933767] [sailbot.main_algo]: Heading Difference: -168.21219209142538 +[main_algo-3] [INFO] [1746051401.003572898] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051401.003999887] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051401.004450319] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051401.005375105] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051401.043603475] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051401.044074936] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051401.045372486] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051401.046434854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051401.047297194] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051401.084459974] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051401.085445234] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051401.086476628] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051401.086954725] [sailbot.teensy]: Wind angle: 182 +[teensy-2] [INFO] [1746051401.087380653] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051401.087768144] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051401.088214684] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051401.143688831] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051401.144222546] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051401.144142727] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051401.144962368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051401.145456779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051401.243636940] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051401.244119435] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051401.244083842] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051401.245176968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051401.245785597] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051401.334417518] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051401.335414805] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051401.336464300] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051401.337224856] [sailbot.teensy]: Wind angle: 179 +[teensy-2] [INFO] [1746051401.337613751] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051401.338499025] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051401.339285153] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051401.343571006] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051401.344006919] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051401.344634227] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051401.345730173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051401.346509305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051401.443699917] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051401.444300118] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051401.445169350] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051401.446753601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051401.447905261] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051401.457700558] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051401.458936451] [sailbot.main_algo]: Target Bearing: -141.6368079085746 +[main_algo-3] [INFO] [1746051401.459368263] [sailbot.main_algo]: Heading Difference: -168.7791920914254 +[main_algo-3] [INFO] [1746051401.460501624] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051401.461309104] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051401.461733426] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051401.463133436] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051401.463305471] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051401.501300115] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904651 Long: -76.50277396 +[vectornav-1] [INFO] [1746051401.501701063] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.18099999999998, -0.263, 5.663) +[main_algo-3] [INFO] [1746051401.501700393] [sailbot.main_algo]: Distance to destination: 56.76110405819829 +[main_algo-3] [INFO] [1746051401.502171123] [sailbot.main_algo]: Target Bearing: -141.63290227869527 +[main_algo-3] [INFO] [1746051401.502596615] [sailbot.main_algo]: Heading Difference: -168.78309772130473 +[main_algo-3] [INFO] [1746051401.503858038] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051401.504258548] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051401.504619501] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051401.505400613] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051401.543628347] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051401.544091238] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051401.543983592] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051401.544705219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051401.545197330] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051401.584374247] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051401.585037702] [sailbot.teensy]: Wind angle: 179 +[teensy-2] [INFO] [1746051401.585422201] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051401.585779696] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051401.585789340] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051401.586842085] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051401.586818777] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051401.643525181] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051401.643928261] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051401.643784433] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051401.644476619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051401.644940561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051401.745167287] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051401.746473605] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051401.748368584] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051401.750616884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051401.751863405] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051401.835376624] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051401.837845996] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051401.838280752] [sailbot.teensy]: Wind angle: 179 +[mux-7] [INFO] [1746051401.838926274] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051401.839236639] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051401.839765658] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051401.840128103] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051401.844329387] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051401.844896066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051401.845574448] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051401.846601557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051401.847723931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051401.944239625] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051401.944827855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051401.945289490] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051401.946574620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051401.947590137] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051401.957730548] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051401.958792751] [sailbot.main_algo]: Target Bearing: -141.63290227869527 +[main_algo-3] [INFO] [1746051401.959733032] [sailbot.main_algo]: Heading Difference: -170.18609772130475 +[main_algo-3] [INFO] [1746051401.961298807] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051401.962236840] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051401.963161843] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051401.964743474] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051401.965011256] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051402.002430996] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904646 Long: -76.50277387 +[vectornav-1] [INFO] [1746051402.003501114] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.02199999999999, -1.079, 5.107) +[main_algo-3] [INFO] [1746051402.003696384] [sailbot.main_algo]: Distance to destination: 56.7633012101929 +[main_algo-3] [INFO] [1746051402.004912314] [sailbot.main_algo]: Target Bearing: -141.64197383600208 +[main_algo-3] [INFO] [1746051402.006136657] [sailbot.main_algo]: Heading Difference: -170.17702616399794 +[main_algo-3] [INFO] [1746051402.007496491] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051402.008382241] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051402.009229006] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051402.010773580] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051402.045040970] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051402.045719994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051402.046358229] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051402.047618487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051402.048646055] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051402.084850979] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051402.086156743] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051402.087008330] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051402.087948904] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051402.088974255] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051402.088279613] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051402.088415313] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051402.145016271] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051402.145740488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051402.146365233] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051402.147608217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051402.148727815] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051402.245145388] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051402.246009592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051402.246579283] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051402.248412407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051402.249549732] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051402.335643532] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051402.337617041] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051402.338743160] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051402.338079692] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051402.340054229] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051402.340450350] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051402.341146023] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051402.344538741] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051402.345255524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051402.345621617] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051402.347045789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051402.348123758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051402.445079751] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051402.446391970] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051402.447142320] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051402.449045986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051402.450205012] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051402.457499480] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051402.458512885] [sailbot.main_algo]: Target Bearing: -141.64197383600208 +[main_algo-3] [INFO] [1746051402.459482575] [sailbot.main_algo]: Heading Difference: -168.33602616399793 +[main_algo-3] [INFO] [1746051402.460835822] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051402.461729854] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051402.462550631] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051402.464433361] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051402.465042128] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051402.502879317] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904653 Long: -76.50277391 +[main_algo-3] [INFO] [1746051402.503878693] [sailbot.main_algo]: Distance to destination: 56.76569098462035 +[vectornav-1] [INFO] [1746051402.504051603] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.27999999999997, 0.353, 4.816) +[main_algo-3] [INFO] [1746051402.505044700] [sailbot.main_algo]: Target Bearing: -141.6338022199469 +[main_algo-3] [INFO] [1746051402.505971087] [sailbot.main_algo]: Heading Difference: -168.34419778005315 +[main_algo-3] [INFO] [1746051402.507370087] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051402.508287930] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051402.509144442] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051402.510775865] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051402.544721842] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051402.545275660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051402.546427113] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051402.547007416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051402.548090312] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051402.585192360] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051402.587462836] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051402.587862799] [sailbot.teensy]: Wind angle: 180 +[mux-7] [INFO] [1746051402.588534436] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051402.588831253] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051402.589951759] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051402.590790755] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051402.644914812] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051402.645386051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051402.646184462] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051402.647246419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051402.648399883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051402.745509761] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051402.746150655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051402.747145732] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051402.748381091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051402.749488813] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051402.835288852] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051402.837480983] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051402.837963447] [sailbot.teensy]: Wind angle: 180 +[mux-7] [INFO] [1746051402.838522405] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051402.839466281] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051402.840512388] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051402.841357113] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051402.844461319] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051402.844859922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051402.845694214] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051402.846539030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051402.847691792] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051402.945102719] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051402.945630194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051402.946686859] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051402.948012907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051402.949153704] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051402.957487220] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051402.958451909] [sailbot.main_algo]: Target Bearing: -141.6338022199469 +[main_algo-3] [INFO] [1746051402.959325117] [sailbot.main_algo]: Heading Difference: -168.0861977800531 +[main_algo-3] [INFO] [1746051402.960554979] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051402.961369874] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051402.962152989] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051402.963668219] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051402.963675524] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051403.002701999] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904637 Long: -76.50277393 +[main_algo-3] [INFO] [1746051403.003551019] [sailbot.main_algo]: Distance to destination: 56.75314711123265 +[vectornav-1] [INFO] [1746051403.003820451] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.71300000000002, -0.622, 5.849) +[main_algo-3] [INFO] [1746051403.004820009] [sailbot.main_algo]: Target Bearing: -141.64661497517062 +[main_algo-3] [INFO] [1746051403.005861468] [sailbot.main_algo]: Heading Difference: -168.0733850248294 +[main_algo-3] [INFO] [1746051403.007315364] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051403.008266595] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051403.009132856] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051403.010917590] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051403.045054319] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051403.045609688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051403.046567189] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051403.047703106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051403.048761196] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051403.085240968] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051403.087289261] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051403.087459947] [sailbot.teensy]: Wind angle: 181 +[mux-7] [INFO] [1746051403.088110297] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051403.088645827] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051403.089548177] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051403.090406402] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051403.144942878] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051403.145682118] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051403.146258986] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051403.147624937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051403.148774347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051403.243938105] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051403.244894106] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051403.245180110] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051403.246893746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051403.248290268] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051403.335503260] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051403.337367758] [sailbot.teensy]: Wind angle: 183 +[trim_sail-4] [INFO] [1746051403.338084676] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051403.338336325] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051403.338390513] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051403.339274556] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051403.340237316] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051403.344286929] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051403.344907117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051403.345570488] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051403.346987584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051403.348040530] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051403.445241843] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051403.446088628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051403.447091697] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051403.448269062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051403.449339125] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051403.457616472] [sailbot.main_algo]: Wind Direction: 183 +[main_algo-3] [INFO] [1746051403.458627541] [sailbot.main_algo]: Target Bearing: -141.64661497517062 +[main_algo-3] [INFO] [1746051403.459533777] [sailbot.main_algo]: Heading Difference: -168.64038502482936 +[main_algo-3] [INFO] [1746051403.460835857] [sailbot.main_algo]: Wind Direction: 183 +[main_algo-3] [INFO] [1746051403.461835306] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051403.462657054] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051403.464217145] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051403.464269231] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051403.502684770] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690463 Long: -76.50277424 +[main_algo-3] [INFO] [1746051403.503650324] [sailbot.main_algo]: Distance to destination: 56.72851181760909 +[vectornav-1] [INFO] [1746051403.503772359] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.61200000000002, -0.096, 4.521) +[main_algo-3] [INFO] [1746051403.504922000] [sailbot.main_algo]: Target Bearing: -141.6363558581632 +[main_algo-3] [INFO] [1746051403.505850929] [sailbot.main_algo]: Heading Difference: -168.65064414183678 +[main_algo-3] [INFO] [1746051403.507204037] [sailbot.main_algo]: Wind Direction: 183 +[main_algo-3] [INFO] [1746051403.508080526] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051403.508951182] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051403.510835993] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051403.545205586] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051403.546012082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051403.546660378] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051403.548069213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051403.549264623] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051403.585474020] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051403.587390108] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051403.588209965] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051403.588523902] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051403.589495991] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051403.589752917] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051403.590438743] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051403.644773464] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051403.645509699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051403.646197931] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051403.647539108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051403.648440182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051403.745013990] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051403.745710465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051403.746340255] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051403.747624318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051403.748683422] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051403.835200019] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051403.837368527] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051403.838092454] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051403.838669324] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051403.839829348] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051403.840690491] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051403.841532454] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051403.844302594] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051403.844812427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051403.845411806] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051403.846519045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051403.847621809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051403.945158428] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051403.945870511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051403.946642831] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051403.947983195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051403.949126193] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051403.957914909] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051403.958989526] [sailbot.main_algo]: Target Bearing: -141.6363558581632 +[main_algo-3] [INFO] [1746051403.959903293] [sailbot.main_algo]: Heading Difference: -168.75164414183678 +[main_algo-3] [INFO] [1746051403.961240113] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051403.962128400] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051403.962973338] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051403.964612463] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051403.964838372] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051404.002768284] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904617 Long: -76.50277422 +[main_algo-3] [INFO] [1746051404.003612798] [sailbot.main_algo]: Distance to destination: 56.7206244209141 +[vectornav-1] [INFO] [1746051404.003856650] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.84500000000003, -0.728, 6.348) +[main_algo-3] [INFO] [1746051404.004749411] [sailbot.main_algo]: Target Bearing: -141.64868280117304 +[main_algo-3] [INFO] [1746051404.005687181] [sailbot.main_algo]: Heading Difference: -168.73931719882694 +[main_algo-3] [INFO] [1746051404.007070695] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051404.007956859] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051404.008824472] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051404.010506226] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051404.045081676] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051404.046066788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051404.046764722] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051404.047880291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051404.048932761] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051404.085342845] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051404.087157801] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051404.087435273] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051404.088523043] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051404.088678450] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051404.089652321] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051404.090495091] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051404.145043039] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051404.145509357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051404.146307132] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051404.147318182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051404.148376907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051404.244927996] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051404.245664591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051404.246295495] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051404.247481628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051404.248713175] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051404.335605447] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051404.338092769] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051404.338642865] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051404.339173616] [sailbot.teensy]: Wind angle: 186 +[teensy-2] [INFO] [1746051404.340136930] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051404.341098668] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051404.341815679] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051404.344505796] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051404.344992714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051404.345770497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051404.346818663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051404.347926844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051404.445325116] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051404.446193123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051404.446920779] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051404.448423319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051404.449733645] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051404.457624821] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051404.458646639] [sailbot.main_algo]: Target Bearing: -141.64868280117304 +[main_algo-3] [INFO] [1746051404.459549764] [sailbot.main_algo]: Heading Difference: -168.50631719882693 +[main_algo-3] [INFO] [1746051404.460899428] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051404.461782218] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051404.462617833] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051404.464170951] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051404.464189717] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051404.502895937] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904601 Long: -76.50277423 +[main_algo-3] [INFO] [1746051404.503923502] [sailbot.main_algo]: Distance to destination: 56.70871963253043 +[vectornav-1] [INFO] [1746051404.504698965] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.911, -0.711, 4.113) +[main_algo-3] [INFO] [1746051404.505209116] [sailbot.main_algo]: Target Bearing: -141.66203579860348 +[main_algo-3] [INFO] [1746051404.506243772] [sailbot.main_algo]: Heading Difference: -168.4929642013965 +[main_algo-3] [INFO] [1746051404.507638970] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051404.508533507] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051404.509378701] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051404.511171339] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051404.545089231] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051404.545601601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051404.546505508] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051404.547536862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051404.548708649] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051404.585277373] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051404.587251764] [sailbot.teensy]: Wind angle: 186 +[teensy-2] [INFO] [1746051404.588114180] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051404.587441435] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051404.587939178] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051404.589084397] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051404.590014626] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051404.644974856] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051404.645535853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051404.646377858] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051404.647378351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051404.648570459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051404.745338609] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051404.746040427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051404.746949981] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051404.748112191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051404.749253139] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051404.835435045] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051404.837598083] [sailbot.teensy]: Wind angle: 187 +[trim_sail-4] [INFO] [1746051404.837653279] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051404.838585612] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051404.839496578] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051404.840004080] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051404.840401927] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051404.844297022] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051404.844918667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051404.845369982] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051404.846667803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051404.847856842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051404.944858037] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051404.945583017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051404.946926787] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051404.947621351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051404.948505115] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051404.957588925] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051404.958695367] [sailbot.main_algo]: Target Bearing: -141.66203579860348 +[main_algo-3] [INFO] [1746051404.959647082] [sailbot.main_algo]: Heading Difference: -168.42696420139652 +[main_algo-3] [INFO] [1746051404.961086391] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051404.962096270] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051404.963040411] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051404.965351942] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051404.965416984] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051405.002840809] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904589 Long: -76.50277438 +[main_algo-3] [INFO] [1746051405.003665312] [sailbot.main_algo]: Distance to destination: 56.69073227470869 +[vectornav-1] [INFO] [1746051405.004009490] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.48599999999999, 0.239, 5.96) +[main_algo-3] [INFO] [1746051405.004816732] [sailbot.main_algo]: Target Bearing: -141.66454708565752 +[main_algo-3] [INFO] [1746051405.005762282] [sailbot.main_algo]: Heading Difference: -168.4244529143425 +[main_algo-3] [INFO] [1746051405.007131169] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051405.008020844] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051405.008895465] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051405.010517066] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051405.045424004] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051405.045945014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051405.047168768] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051405.048223262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051405.049368164] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051405.085283283] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051405.087210869] [sailbot.teensy]: Wind angle: 187 +[trim_sail-4] [INFO] [1746051405.087383849] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051405.087831770] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051405.088111560] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051405.089004602] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051405.090032651] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051405.144926846] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051405.145765624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051405.146680336] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051405.147602096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051405.148669637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051405.244909287] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051405.245506811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051405.246155892] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051405.247283563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051405.248370211] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051405.335541668] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051405.338081392] [sailbot.teensy]: Wind angle: 187 +[trim_sail-4] [INFO] [1746051405.338280139] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051405.339150626] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051405.339970703] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051405.340059038] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051405.340924795] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051405.344360209] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051405.344985721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051405.345478772] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051405.346705170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051405.347829115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051405.445221128] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051405.445900050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051405.446884872] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051405.447769947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051405.448822119] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051405.457493441] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051405.458466321] [sailbot.main_algo]: Target Bearing: -141.66454708565752 +[main_algo-3] [INFO] [1746051405.459345026] [sailbot.main_algo]: Heading Difference: -168.84945291434246 +[main_algo-3] [INFO] [1746051405.460599014] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051405.461410144] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051405.462211692] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051405.463719596] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051405.463735990] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051405.502384280] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904575 Long: -76.50277454 +[main_algo-3] [INFO] [1746051405.503172234] [sailbot.main_algo]: Distance to destination: 56.670700918861726 +[vectornav-1] [INFO] [1746051405.503376846] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.608000000000004, -0.057, 4.667) +[main_algo-3] [INFO] [1746051405.504173834] [sailbot.main_algo]: Target Bearing: -141.66826951937327 +[main_algo-3] [INFO] [1746051405.505030703] [sailbot.main_algo]: Heading Difference: -168.84573048062674 +[main_algo-3] [INFO] [1746051405.506278387] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051405.507092919] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051405.507890087] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051405.509638560] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051405.545117246] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051405.545869233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051405.546590708] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051405.548295307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051405.549412870] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051405.585268628] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051405.586879372] [sailbot.teensy]: Wind angle: 187 +[trim_sail-4] [INFO] [1746051405.587534218] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051405.587754501] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051405.588692816] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051405.589579728] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051405.590247886] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051405.645056819] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051405.645814891] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051405.646399780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051405.647757026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051405.648828373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051405.744331096] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051405.745253436] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051405.744909882] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051405.746556352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051405.747614711] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051405.835366960] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051405.837041017] [sailbot.teensy]: Wind angle: 187 +[teensy-2] [INFO] [1746051405.837903612] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051405.837530596] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051405.838186410] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051405.838732530] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051405.839686998] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051405.844385985] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051405.844901102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051405.845464907] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051405.846745031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051405.847767824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051405.945159960] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051405.946550749] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051405.946635112] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051405.948997483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051405.950114783] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051405.957563410] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051405.958578615] [sailbot.main_algo]: Target Bearing: -141.66826951937327 +[main_algo-3] [INFO] [1746051405.959499716] [sailbot.main_algo]: Heading Difference: -168.72373048062673 +[main_algo-3] [INFO] [1746051405.960827726] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051405.961834841] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051405.962641046] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051405.964223863] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051405.964281517] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051406.002767419] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904585 Long: -76.50277493 +[main_algo-3] [INFO] [1746051406.004074242] [sailbot.main_algo]: Distance to destination: 56.65295159267424 +[vectornav-1] [INFO] [1746051406.004141511] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.091999999999985, -1.116, 5.809) +[main_algo-3] [INFO] [1746051406.005167761] [sailbot.main_algo]: Target Bearing: -141.63902239368306 +[main_algo-3] [INFO] [1746051406.006164624] [sailbot.main_algo]: Heading Difference: -168.7529776063169 +[main_algo-3] [INFO] [1746051406.007601301] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051406.008534061] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051406.009396873] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051406.011063230] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051406.045066591] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051406.045877307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051406.046501625] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051406.047983381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051406.049024458] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051406.085204146] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051406.087197553] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051406.087376020] [sailbot.teensy]: Wind angle: 187 +[teensy-2] [INFO] [1746051406.088290464] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051406.088553668] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051406.089185852] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051406.090066445] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051406.144987173] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051406.145642979] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051406.146291019] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051406.147467014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051406.148675023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051406.245012624] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051406.245492763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051406.246729917] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051406.247444877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051406.248524275] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051406.335399566] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051406.337226450] [sailbot.teensy]: Wind angle: 187 +[trim_sail-4] [INFO] [1746051406.337752708] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051406.338166245] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051406.339086883] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051406.339356427] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051406.339659694] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051406.344514207] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051406.344981473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051406.345748421] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051406.346688487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051406.347819041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051406.444899245] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051406.445396598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051406.446063811] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051406.447061153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051406.448238791] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051406.457642725] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051406.458663618] [sailbot.main_algo]: Target Bearing: -141.63902239368306 +[main_algo-3] [INFO] [1746051406.459568926] [sailbot.main_algo]: Heading Difference: -168.26897760631698 +[main_algo-3] [INFO] [1746051406.460793790] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051406.461898395] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051406.462688258] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051406.464247017] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051406.464345876] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051406.502822382] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904583 Long: -76.50277486 +[main_algo-3] [INFO] [1746051406.503711238] [sailbot.main_algo]: Distance to destination: 56.65599177362971 +[vectornav-1] [INFO] [1746051406.504024604] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.858000000000004, 0.139, 5.291) +[main_algo-3] [INFO] [1746051406.504936451] [sailbot.main_algo]: Target Bearing: -141.6444513298001 +[main_algo-3] [INFO] [1746051406.505872317] [sailbot.main_algo]: Heading Difference: -168.26354867019995 +[main_algo-3] [INFO] [1746051406.507237523] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051406.508059575] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051406.508864816] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051406.511043480] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051406.545001254] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051406.545555964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051406.546394795] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051406.547399620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051406.548789534] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051406.585435492] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051406.587190340] [sailbot.teensy]: Wind angle: 187 +[trim_sail-4] [INFO] [1746051406.587740197] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051406.588353095] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051406.589277204] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051406.589386987] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051406.590175180] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051406.644965952] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051406.645794241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051406.646319445] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051406.647766718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051406.648872811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051406.745068220] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051406.745733432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051406.746402034] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051406.747661811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051406.748831701] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051406.835180161] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051406.836760329] [sailbot.teensy]: Wind angle: 187 +[trim_sail-4] [INFO] [1746051406.837334292] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051406.837637553] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051406.838455964] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051406.838520280] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051406.839387298] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051406.844499870] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051406.845268734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051406.845654178] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051406.847029487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051406.848214125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051406.945050209] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051406.945789373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051406.946387964] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051406.947895991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051406.949051074] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051406.957637692] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051406.958640918] [sailbot.main_algo]: Target Bearing: -141.6444513298001 +[main_algo-3] [INFO] [1746051406.959559008] [sailbot.main_algo]: Heading Difference: -168.49754867019988 +[main_algo-3] [INFO] [1746051406.960789094] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051406.961608780] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051406.962396891] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051406.963964048] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051406.964187913] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051407.002952554] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904575 Long: -76.50277492 +[main_algo-3] [INFO] [1746051407.004215688] [sailbot.main_algo]: Distance to destination: 56.6465422892898 +[vectornav-1] [INFO] [1746051407.004312117] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.02499999999998, -0.86, 5.916) +[main_algo-3] [INFO] [1746051407.005284979] [sailbot.main_algo]: Target Bearing: -141.64823325508738 +[main_algo-3] [INFO] [1746051407.006242584] [sailbot.main_algo]: Heading Difference: -168.4937667449126 +[main_algo-3] [INFO] [1746051407.007907204] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051407.008889931] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051407.009792981] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051407.011610568] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051407.046065408] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051407.046926251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051407.047346403] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051407.049702732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051407.050819177] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051407.085291976] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051407.087509978] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051407.087926945] [sailbot.teensy]: Wind angle: 187 +[mux-7] [INFO] [1746051407.088542054] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051407.088878436] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051407.089731656] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051407.090586636] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051407.144928498] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051407.145604763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051407.146173175] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051407.147437134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051407.148389840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051407.244385814] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051407.244970117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051407.245480413] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051407.246884836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051407.248563574] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051407.335225027] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051407.337714937] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051407.337962478] [sailbot.teensy]: Wind angle: 186 +[mux-7] [INFO] [1746051407.338401023] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051407.338701705] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051407.339103967] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051407.339472476] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051407.344401955] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051407.344973132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051407.345994929] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051407.346750236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051407.347918510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051407.445067198] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051407.446235116] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051407.446499252] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051407.448132272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051407.449412099] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051407.457671205] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051407.458713992] [sailbot.main_algo]: Target Bearing: -141.64823325508738 +[main_algo-3] [INFO] [1746051407.459619283] [sailbot.main_algo]: Heading Difference: -168.32676674491267 +[main_algo-3] [INFO] [1746051407.460956295] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051407.461802580] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051407.462626182] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051407.464182866] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051407.464225109] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051407.502901060] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904558 Long: -76.50277477 +[main_algo-3] [INFO] [1746051407.503723752] [sailbot.main_algo]: Distance to destination: 56.64410646561431 +[vectornav-1] [INFO] [1746051407.504087841] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.02499999999998, 0.125, 4.481) +[main_algo-3] [INFO] [1746051407.505043494] [sailbot.main_algo]: Target Bearing: -141.67091014638564 +[main_algo-3] [INFO] [1746051407.506018626] [sailbot.main_algo]: Heading Difference: -168.3040898536144 +[main_algo-3] [INFO] [1746051407.507399778] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051407.508318544] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051407.509174405] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051407.510801862] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051407.544929925] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051407.545603212] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051407.546180686] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051407.547570105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051407.548959564] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051407.585284555] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051407.586883005] [sailbot.teensy]: Wind angle: 186 +[trim_sail-4] [INFO] [1746051407.587737056] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051407.587840764] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051407.588771142] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051407.589175585] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051407.589667026] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051407.644894655] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051407.645698631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051407.646155326] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051407.647600792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051407.648628929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051407.745059252] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051407.745755402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051407.746452497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051407.747650157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051407.748202593] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051407.834751532] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051407.836059674] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051407.836852057] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051407.836881518] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051407.837177301] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051407.837672899] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051407.838539971] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051407.844119018] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051407.845214432] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051407.845060932] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051407.847084599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051407.848308956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051407.945186541] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051407.946006603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051407.946524433] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051407.948213339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051407.949268454] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051407.957561928] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051407.958545907] [sailbot.main_algo]: Target Bearing: -141.67091014638564 +[main_algo-3] [INFO] [1746051407.959438149] [sailbot.main_algo]: Heading Difference: -168.3040898536144 +[main_algo-3] [INFO] [1746051407.960733814] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051407.961571306] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051407.962518026] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051407.964126607] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051407.964143983] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051408.003195245] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904572 Long: -76.50277505 +[main_algo-3] [INFO] [1746051408.003786676] [sailbot.main_algo]: Distance to destination: 56.6361655664626 +[main_algo-3] [INFO] [1746051408.004915316] [sailbot.main_algo]: Target Bearing: -141.64398036313764 +[vectornav-1] [INFO] [1746051408.005032895] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.13900000000001, -0.27, 6.268) +[main_algo-3] [INFO] [1746051408.005921481] [sailbot.main_algo]: Heading Difference: -168.33101963686238 +[main_algo-3] [INFO] [1746051408.007331493] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051408.008257586] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051408.009164609] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051408.010849258] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051408.045011835] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051408.045558406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051408.046289813] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051408.047398648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051408.048598914] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051408.085470439] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051408.087306258] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051408.088253475] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051408.088078958] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051408.088587854] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051408.089121703] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051408.089998411] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051408.144992497] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051408.145684575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051408.146271829] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051408.147581304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051408.148636760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051408.244209263] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051408.244745167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051408.245092992] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051408.246789836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051408.247923492] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051408.335222480] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051408.336839100] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051408.337780033] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051408.337682888] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051408.338648134] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051408.338716560] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051408.339565261] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051408.344290349] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051408.344963814] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051408.345602802] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051408.346706418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051408.347716876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051408.445245163] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051408.446261069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051408.446675103] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051408.448395656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051408.449574197] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051408.457678202] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051408.458712767] [sailbot.main_algo]: Target Bearing: -141.64398036313764 +[main_algo-3] [INFO] [1746051408.459614354] [sailbot.main_algo]: Heading Difference: -169.21701963686235 +[main_algo-3] [INFO] [1746051408.460944744] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051408.461813290] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051408.462620245] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051408.464330128] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051408.464626489] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051408.503059789] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904569 Long: -76.50277504 +[main_algo-3] [INFO] [1746051408.504017269] [sailbot.main_algo]: Distance to destination: 56.63468781623012 +[vectornav-1] [INFO] [1746051408.504400418] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.87900000000002, -1.129, 5.328) +[main_algo-3] [INFO] [1746051408.505357961] [sailbot.main_algo]: Target Bearing: -141.6471137247897 +[main_algo-3] [INFO] [1746051408.506377419] [sailbot.main_algo]: Heading Difference: -169.21388627521026 +[main_algo-3] [INFO] [1746051408.507745095] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051408.508634182] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051408.509477529] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051408.511179906] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051408.544926047] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051408.545600159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051408.546233115] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051408.547395404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051408.548421973] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051408.585413281] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051408.587334005] [sailbot.teensy]: Wind angle: 186 +[trim_sail-4] [INFO] [1746051408.587774123] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051408.588320601] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051408.589236569] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051408.589486470] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051408.590113234] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051408.644878501] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051408.645623599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051408.646315902] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051408.647491773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051408.648897790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051408.745253092] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051408.746091304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051408.746708279] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051408.748063044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051408.748536224] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051408.835416769] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051408.837890924] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051408.837957999] [sailbot.teensy]: Wind angle: 188 +[mux-7] [INFO] [1746051408.838390485] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051408.838876709] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051408.839862477] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051408.840853509] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051408.844377392] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051408.844947378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051408.845526323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051408.847146078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051408.848252273] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051408.945223069] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051408.945855234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051408.946563092] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051408.947994162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051408.949014263] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051408.957597182] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051408.958623702] [sailbot.main_algo]: Target Bearing: -141.6471137247897 +[main_algo-3] [INFO] [1746051408.959536278] [sailbot.main_algo]: Heading Difference: -168.47388627521025 +[main_algo-3] [INFO] [1746051408.960769790] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051408.961598553] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051408.962386700] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051408.963916615] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051408.963973588] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051409.002935192] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690456 Long: -76.50277494 +[main_algo-3] [INFO] [1746051409.003922751] [sailbot.main_algo]: Distance to destination: 56.634705854769074 +[vectornav-1] [INFO] [1746051409.004113421] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.79200000000003, 0.319, 5.757) +[main_algo-3] [INFO] [1746051409.005030073] [sailbot.main_algo]: Target Bearing: -141.6602073782591 +[main_algo-3] [INFO] [1746051409.005981231] [sailbot.main_algo]: Heading Difference: -168.4607926217409 +[main_algo-3] [INFO] [1746051409.007349768] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051409.008275305] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051409.009100393] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051409.010640765] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051409.045004479] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051409.045714861] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051409.046262365] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051409.047508811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051409.048601433] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051409.085154919] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051409.086612715] [sailbot.teensy]: Wind angle: 189 +[trim_sail-4] [INFO] [1746051409.087115794] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051409.087433623] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051409.088299380] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051409.089164325] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051409.089322982] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051409.145461572] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051409.146577404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051409.146720208] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051409.148548361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051409.149616143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051409.244781493] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051409.245535044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051409.245951567] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051409.247366152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051409.248437997] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051409.335500714] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051409.337842369] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051409.338459884] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051409.339441228] [sailbot.teensy]: Wind angle: 189 +[teensy-2] [INFO] [1746051409.340443331] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051409.341337353] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051409.342181001] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051409.344258533] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051409.344845224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051409.345372035] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051409.346577776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051409.347610638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051409.445022551] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051409.445847022] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051409.446331637] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051409.447640714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051409.448738748] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051409.457449974] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051409.458437596] [sailbot.main_algo]: Target Bearing: -141.6602073782591 +[main_algo-3] [INFO] [1746051409.459289126] [sailbot.main_algo]: Heading Difference: -168.54779262174088 +[main_algo-3] [INFO] [1746051409.460568415] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051409.461917347] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051409.462898009] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051409.465277548] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051409.465635139] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051409.503017298] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904541 Long: -76.5027751 +[main_algo-3] [INFO] [1746051409.504039797] [sailbot.main_algo]: Distance to destination: 56.61115344664584 +[vectornav-1] [INFO] [1746051409.504507294] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.08299999999997, -0.756, 4.518) +[main_algo-3] [INFO] [1746051409.505466178] [sailbot.main_algo]: Target Bearing: -141.66827785378598 +[main_algo-3] [INFO] [1746051409.506696230] [sailbot.main_algo]: Heading Difference: -168.539722146214 +[main_algo-3] [INFO] [1746051409.508101056] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051409.509048833] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051409.510199414] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051409.511941356] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051409.544767423] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051409.545476474] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051409.546033939] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051409.547309595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051409.548527876] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051409.585274567] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051409.586897255] [sailbot.teensy]: Wind angle: 192 +[teensy-2] [INFO] [1746051409.587741557] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051409.587312899] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051409.587766975] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051409.589242165] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051409.590123746] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051409.644836272] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051409.645613514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051409.646106490] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051409.647438580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051409.648675656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051409.745110175] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051409.745858789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051409.746822501] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051409.747616352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051409.748706743] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051409.835335237] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051409.837600990] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051409.838548715] [sailbot.teensy]: Wind angle: 192 +[mux-7] [INFO] [1746051409.838880046] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051409.839932573] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051409.840885356] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051409.841801500] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051409.844406506] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051409.844884205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051409.845508342] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051409.846658232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051409.847699032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051409.944229971] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051409.945155818] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051409.944739589] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051409.946765686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051409.947792975] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051409.957070504] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051409.957835929] [sailbot.main_algo]: Target Bearing: -141.66827785378598 +[main_algo-3] [INFO] [1746051409.958536711] [sailbot.main_algo]: Heading Difference: -168.24872214621405 +[main_algo-3] [INFO] [1746051409.959623604] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051409.960298201] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051409.960754476] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051409.961856776] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051409.961906764] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051410.002889986] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904528 Long: -76.50277556 +[main_algo-3] [INFO] [1746051410.003797211] [sailbot.main_algo]: Distance to destination: 56.572752448653794 +[vectornav-1] [INFO] [1746051410.004264003] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.235000000000014, -0.171, 5.707) +[main_algo-3] [INFO] [1746051410.004920460] [sailbot.main_algo]: Target Bearing: -141.65529949506893 +[main_algo-3] [INFO] [1746051410.005922073] [sailbot.main_algo]: Heading Difference: -168.26170050493113 +[main_algo-3] [INFO] [1746051410.007305289] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051410.008245625] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051410.009100382] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051410.010687473] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051410.045137520] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051410.045964851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051410.046676183] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051410.048001713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051410.049061279] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051410.085179007] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051410.086916402] [sailbot.teensy]: Wind angle: 191 +[teensy-2] [INFO] [1746051410.087834110] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051410.087407232] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051410.088707568] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051410.088760371] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051410.089667363] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051410.144767707] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051410.145460211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051410.145966143] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051410.147309609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051410.148479012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051410.244904804] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051410.245757032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051410.246546766] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051410.247529508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051410.248590669] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051410.335363818] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051410.337397857] [sailbot.teensy]: Wind angle: 192 +[trim_sail-4] [INFO] [1746051410.337594804] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051410.338434647] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051410.338750334] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051410.339579938] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051410.340523825] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051410.344446283] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051410.345112300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051410.345609797] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051410.346984690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051410.348000980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051410.444972955] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051410.445650120] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051410.446275814] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051410.447757086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051410.448892857] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051410.457569468] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051410.458617211] [sailbot.main_algo]: Target Bearing: -141.65529949506893 +[main_algo-3] [INFO] [1746051410.459511064] [sailbot.main_algo]: Heading Difference: -169.10970050493108 +[main_algo-3] [INFO] [1746051410.460775086] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051410.461611459] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051410.462400855] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051410.463922490] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051410.464617618] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051410.502895438] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904545 Long: -76.5027758 +[main_algo-3] [INFO] [1746051410.503788898] [sailbot.main_algo]: Distance to destination: 56.56947490277048 +[vectornav-1] [INFO] [1746051410.504092392] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.97500000000002, -0.349, 5.294) +[main_algo-3] [INFO] [1746051410.504979759] [sailbot.main_algo]: Target Bearing: -141.62783917256098 +[main_algo-3] [INFO] [1746051410.505949782] [sailbot.main_algo]: Heading Difference: -169.137160827439 +[main_algo-3] [INFO] [1746051410.507306808] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051410.508199798] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051410.509056609] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051410.510977518] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051410.544870539] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051410.545628127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051410.546143664] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051410.547475197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051410.548477201] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051410.585536408] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051410.587543480] [sailbot.teensy]: Wind angle: 192 +[trim_sail-4] [INFO] [1746051410.587801129] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051410.588524126] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051410.589422601] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051410.589629713] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051410.590356028] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051410.644952474] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051410.645697323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051410.646219103] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051410.647516811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051410.648353385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051410.745078721] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051410.745973036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051410.746527819] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051410.747957865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051410.748989623] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051410.835244550] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051410.837504761] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051410.837762237] [sailbot.teensy]: Wind angle: 193 +[mux-7] [INFO] [1746051410.838263929] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051410.838711004] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051410.839598087] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051410.840462254] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051410.844381224] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051410.844922496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051410.845462156] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051410.846746596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051410.847772301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051410.945115337] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051410.945708472] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051410.946496663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051410.947670709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051410.948840820] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051410.957590731] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051410.959082677] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746051410.959957617] [sailbot.main_algo]: Target Bearing: -141.62783917256098 +[main_algo-3] [INFO] [1746051410.960817906] [sailbot.main_algo]: Heading Difference: -169.397160827439 +[main_algo-3] [INFO] [1746051410.962034625] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051410.962844452] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051410.963616958] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051410.965160434] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051410.965177503] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051411.002790855] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904533 Long: -76.50277596 +[vectornav-1] [INFO] [1746051411.004257335] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.928999999999974, -0.494, 6.255) +[main_algo-3] [INFO] [1746051411.004257559] [sailbot.main_algo]: Distance to destination: 56.550850566864284 +[main_algo-3] [INFO] [1746051411.005287738] [sailbot.main_algo]: Target Bearing: -141.6298171784605 +[main_algo-3] [INFO] [1746051411.006280869] [sailbot.main_algo]: Heading Difference: -169.3951828215395 +[main_algo-3] [INFO] [1746051411.007665945] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051411.008516850] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051411.009357378] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051411.010979952] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051411.045153001] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051411.045871132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051411.046533199] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051411.047839765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051411.048868139] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051411.085495755] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051411.087931771] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051411.088526566] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051411.088637418] [sailbot.teensy]: Wind angle: 193 +[teensy-2] [INFO] [1746051411.089613009] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051411.090520651] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051411.091382307] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051411.144848841] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051411.145567971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051411.146148139] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051411.147540011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051411.148661209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051411.245115166] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051411.245915373] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051411.246544369] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051411.247837842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051411.248863040] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051411.335167335] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051411.337502740] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051411.337707788] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051411.338240483] [sailbot.teensy]: Wind angle: 193 +[teensy-2] [INFO] [1746051411.338932959] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051411.339314052] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051411.339674097] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051411.344268881] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051411.344818556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051411.345595585] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051411.346477276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051411.347518966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051411.445255267] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051411.446139613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051411.446836608] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051411.448357713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051411.449206001] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051411.457701931] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051411.459211700] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746051411.460519727] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051411.461798201] [sailbot.main_algo]: Current Location: (42.469045332147545, -76.50277596005444) +[main_algo-3] [INFO] [1746051411.462675205] [sailbot.main_algo]: Target Bearing: -141.6298171784605 +[main_algo-3] [INFO] [1746051411.463510469] [sailbot.main_algo]: Heading Difference: -169.44118282153954 +[main_algo-3] [INFO] [1746051411.464710978] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051411.465489263] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051411.466306149] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051411.467839890] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051411.467851339] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051411.503243603] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904529 Long: -76.50277591 +[main_algo-3] [INFO] [1746051411.504067116] [sailbot.main_algo]: Distance to destination: 56.55120956574497 +[vectornav-1] [INFO] [1746051411.504615323] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.71300000000002, -0.303, 4.252) +[main_algo-3] [INFO] [1746051411.505245384] [sailbot.main_algo]: Target Bearing: -141.63593883556706 +[main_algo-3] [INFO] [1746051411.506231204] [sailbot.main_algo]: Heading Difference: -169.43506116443297 +[main_algo-3] [INFO] [1746051411.507581978] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051411.508477444] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051411.509316901] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051411.511053755] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051411.545001933] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051411.545735121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051411.546246792] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051411.547620330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051411.548645838] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051411.585456340] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051411.587313814] [sailbot.teensy]: Wind angle: 192 +[teensy-2] [INFO] [1746051411.588272164] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051411.588086632] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051411.588420815] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051411.589164785] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051411.590021033] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051411.644960427] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051411.645543081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051411.646235364] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051411.647383997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051411.648483432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051411.745021423] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051411.745670199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051411.746447198] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051411.747876792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051411.749113147] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051411.835272488] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051411.836967526] [sailbot.teensy]: Wind angle: 190 +[teensy-2] [INFO] [1746051411.837923043] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051411.837913324] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051411.838859106] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051411.839736328] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051411.839752998] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051411.844322913] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051411.845144254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051411.845766452] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051411.846953730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051411.848101010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051411.945080328] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051411.945781071] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051411.946595076] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051411.947697688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051411.948245284] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051411.957681333] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051411.958721153] [sailbot.main_algo]: Target Bearing: -141.63593883556706 +[main_algo-3] [INFO] [1746051411.959637572] [sailbot.main_algo]: Heading Difference: -168.65106116443292 +[main_algo-3] [INFO] [1746051411.960872010] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051411.961754817] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051411.962638655] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051411.964511109] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051411.964569292] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051412.002043062] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904541 Long: -76.50277645 +[main_algo-3] [INFO] [1746051412.002681206] [sailbot.main_algo]: Distance to destination: 56.525358230764546 +[main_algo-3] [INFO] [1746051412.003584528] [sailbot.main_algo]: Target Bearing: -141.59694377860293 +[vectornav-1] [INFO] [1746051412.004285987] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.65300000000002, -0.293, 5.569) +[main_algo-3] [INFO] [1746051412.004799657] [sailbot.main_algo]: Heading Difference: -168.69005622139707 +[main_algo-3] [INFO] [1746051412.006730559] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051412.008187351] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051412.010797116] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051412.012645419] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051412.043942007] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051412.044263143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051412.044743096] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051412.045730237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051412.046599656] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051412.084517803] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051412.085723064] [sailbot.teensy]: Wind angle: 189 +[teensy-2] [INFO] [1746051412.086550382] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051412.086814749] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051412.087369967] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051412.087457105] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051412.088406780] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051412.145043773] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051412.145752831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051412.146483816] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051412.147934270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051412.148932999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051412.244976231] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051412.245870220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051412.246268602] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051412.247868089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051412.248910407] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051412.335449921] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051412.337401084] [sailbot.teensy]: Wind angle: 189 +[trim_sail-4] [INFO] [1746051412.337857011] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051412.339258065] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051412.339261375] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051412.340372423] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051412.341257153] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051412.344893345] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051412.345297113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051412.346351548] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051412.347102011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051412.348190625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051412.445326575] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051412.446194394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051412.446804198] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051412.448560006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051412.449582360] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051412.457732097] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051412.458760937] [sailbot.main_algo]: Target Bearing: -141.59694377860293 +[main_algo-3] [INFO] [1746051412.459661354] [sailbot.main_algo]: Heading Difference: -169.75005622139702 +[main_algo-3] [INFO] [1746051412.461074635] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051412.462204165] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051412.463034384] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051412.464565150] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051412.464595429] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051412.502791145] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904524 Long: -76.50277682 +[vectornav-1] [INFO] [1746051412.504003721] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.66700000000003, 0.025, 5.889) +[main_algo-3] [INFO] [1746051412.504068548] [sailbot.main_algo]: Distance to destination: 56.48986795307367 +[main_algo-3] [INFO] [1746051412.505523338] [sailbot.main_algo]: Target Bearing: -141.5921445465502 +[main_algo-3] [INFO] [1746051412.506653222] [sailbot.main_algo]: Heading Difference: -169.75485545344975 +[main_algo-3] [INFO] [1746051412.507974425] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051412.508849467] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051412.509856077] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051412.511602056] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051412.544958525] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051412.545868986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051412.546588018] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051412.547700222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051412.548725087] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051412.585413140] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051412.587589596] [sailbot.teensy]: Wind angle: 190 +[trim_sail-4] [INFO] [1746051412.587778242] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051412.588723378] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051412.589492396] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051412.589670267] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051412.590645376] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051412.644726823] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051412.645535889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051412.645918135] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051412.647229899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051412.648569386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051412.745493015] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051412.746506222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051412.747107065] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051412.748763682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051412.750077972] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051412.835268587] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051412.836147602] [sailbot.teensy]: Wind angle: 191 +[trim_sail-4] [INFO] [1746051412.836447440] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051412.836583752] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051412.836955631] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051412.836963323] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051412.837342650] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051412.844659675] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051412.845217198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051412.845841855] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051412.847112140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051412.848116144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051412.945027874] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051412.945984012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051412.946440866] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051412.948134834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051412.949176793] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051412.957544251] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051412.958505824] [sailbot.main_algo]: Target Bearing: -141.5921445465502 +[main_algo-3] [INFO] [1746051412.959353677] [sailbot.main_algo]: Heading Difference: -171.74085545344974 +[main_algo-3] [INFO] [1746051412.960613802] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051412.961454590] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051412.962266232] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051412.963798042] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051412.963878929] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051413.002781450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904498 Long: -76.50277695 +[main_algo-3] [INFO] [1746051413.003803909] [sailbot.main_algo]: Distance to destination: 56.46327626906831 +[vectornav-1] [INFO] [1746051413.003932836] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.172000000000025, -1.057, 5.678) +[main_algo-3] [INFO] [1746051413.005065687] [sailbot.main_algo]: Target Bearing: -141.6078911899951 +[main_algo-3] [INFO] [1746051413.006037779] [sailbot.main_algo]: Heading Difference: -171.72510881000488 +[main_algo-3] [INFO] [1746051413.007498521] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051413.008393009] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051413.009203735] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051413.010760688] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051413.045128730] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051413.045951810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051413.046536562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051413.048148831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051413.049188128] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051413.085208497] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051413.086872302] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051413.087242977] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051413.087736346] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051413.087950586] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051413.088674133] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051413.089641303] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051413.144945218] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051413.145704330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051413.146203615] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051413.147693013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051413.148717167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051413.245070868] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051413.245722944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051413.246489346] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051413.247669122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051413.248839770] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051413.335206023] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051413.337476520] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051413.337768613] [sailbot.teensy]: Wind angle: 194 +[mux-7] [INFO] [1746051413.338699869] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051413.338961038] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051413.339883454] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051413.340743367] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051413.344523782] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051413.344891819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051413.345790953] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051413.346518794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051413.347715338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051413.445249168] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051413.445728114] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051413.446738144] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051413.447685595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051413.448809770] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051413.457697470] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051413.458749727] [sailbot.main_algo]: Target Bearing: -141.6078911899951 +[main_algo-3] [INFO] [1746051413.459662560] [sailbot.main_algo]: Heading Difference: -170.2201088100049 +[main_algo-3] [INFO] [1746051413.461003906] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051413.461906771] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051413.462753000] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051413.464423421] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051413.464419961] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051413.502849402] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904494 Long: -76.50277712 +[main_algo-3] [INFO] [1746051413.503914485] [sailbot.main_algo]: Distance to destination: 56.44965640807633 +[vectornav-1] [INFO] [1746051413.504010010] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.815, -0.355, 4.999) +[main_algo-3] [INFO] [1746051413.505124738] [sailbot.main_algo]: Target Bearing: -141.60236864095393 +[main_algo-3] [INFO] [1746051413.506574376] [sailbot.main_algo]: Heading Difference: -170.22563135904602 +[main_algo-3] [INFO] [1746051413.507981814] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051413.508889407] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051413.509745338] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051413.511407563] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051413.545063140] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051413.545657644] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051413.546587234] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051413.547492914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051413.548675588] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051413.585458507] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051413.587311549] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051413.587794117] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051413.588277043] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051413.589168071] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051413.589431450] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051413.590147931] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051413.645140768] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051413.646079065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051413.646869566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051413.648219317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051413.649376655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051413.745299261] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051413.745975309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051413.746978218] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051413.747919115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051413.749012776] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051413.835307851] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051413.837581320] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051413.839313457] [sailbot.teensy]: Wind angle: 190 +[mux-7] [INFO] [1746051413.839377858] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051413.840112120] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051413.840501498] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051413.840858605] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051413.844278374] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051413.844781248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051413.845599755] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051413.846456221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051413.847701679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051413.945526515] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051413.946128075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051413.947382752] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051413.948236931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051413.949564586] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051413.957643708] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051413.958677804] [sailbot.main_algo]: Target Bearing: -141.60236864095393 +[main_algo-3] [INFO] [1746051413.959564304] [sailbot.main_algo]: Heading Difference: -168.5826313590461 +[main_algo-3] [INFO] [1746051413.960999062] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051413.962002782] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051413.963033338] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051413.964996875] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051413.965452607] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051414.002932867] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904504 Long: -76.50277705 +[main_algo-3] [INFO] [1746051414.004009276] [sailbot.main_algo]: Distance to destination: 56.4611544359623 +[vectornav-1] [INFO] [1746051414.004234827] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.33600000000001, -0.221, 6.515) +[main_algo-3] [INFO] [1746051414.005246455] [sailbot.main_algo]: Target Bearing: -141.5973696468379 +[main_algo-3] [INFO] [1746051414.006209631] [sailbot.main_algo]: Heading Difference: -168.58763035316213 +[main_algo-3] [INFO] [1746051414.007582675] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051414.008514084] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051414.009375898] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051414.011119521] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051414.045996098] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051414.046191019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051414.047799764] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051414.048579095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051414.049766629] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051414.084932419] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051414.086255923] [sailbot.teensy]: Wind angle: 187 +[teensy-2] [INFO] [1746051414.087032118] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051414.087728808] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051414.087172762] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051414.087654867] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051414.088720595] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051414.145389099] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051414.145682253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051414.146735459] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051414.147663620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051414.148861187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051414.245154012] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051414.245754068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051414.246673599] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051414.247729183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051414.248773629] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051414.335304235] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051414.336975184] [sailbot.teensy]: Wind angle: 189 +[teensy-2] [INFO] [1746051414.337933062] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051414.338228830] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051414.338815964] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051414.338816406] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051414.339733055] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051414.344377473] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051414.344951628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051414.345470398] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051414.346700789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051414.347712959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051414.445224836] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051414.445906453] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051414.446612640] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051414.448087118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051414.449168447] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051414.457690378] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051414.458733158] [sailbot.main_algo]: Target Bearing: -141.5973696468379 +[main_algo-3] [INFO] [1746051414.459638456] [sailbot.main_algo]: Heading Difference: -171.06663035316205 +[main_algo-3] [INFO] [1746051414.460988259] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051414.461875295] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051414.462733245] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051414.464262874] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051414.464283873] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051414.503164501] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904503 Long: -76.50277713 +[main_algo-3] [INFO] [1746051414.504302947] [sailbot.main_algo]: Distance to destination: 56.45536775898308 +[vectornav-1] [INFO] [1746051414.504579839] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.35000000000002, -0.046, 4.294) +[main_algo-3] [INFO] [1746051414.505793951] [sailbot.main_algo]: Target Bearing: -141.59400156583564 +[main_algo-3] [INFO] [1746051414.506882704] [sailbot.main_algo]: Heading Difference: -171.06999843416435 +[main_algo-3] [INFO] [1746051414.508634433] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051414.509656597] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051414.510524010] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051414.512214770] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051414.544756282] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051414.545478274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051414.546489570] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051414.547406936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051414.548593594] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051414.585514067] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051414.587804244] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051414.588569761] [sailbot.teensy]: Wind angle: 191 +[mux-7] [INFO] [1746051414.588942628] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051414.589489258] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051414.590411409] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051414.591281614] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051414.645645576] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051414.646388374] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051414.647478848] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051414.649115434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051414.650305733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051414.745089297] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051414.745606958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051414.746431524] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051414.747437785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051414.748482605] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051414.835501447] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051414.837528677] [sailbot.teensy]: Wind angle: 191 +[trim_sail-4] [INFO] [1746051414.838142802] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051414.838495594] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051414.838930766] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051414.839052343] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051414.839504199] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051414.844339591] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051414.844875933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051414.845431115] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051414.846667313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051414.847699539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051414.945187094] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051414.945901887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051414.946739907] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051414.948308493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051414.949285491] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051414.957596433] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051414.958558570] [sailbot.main_algo]: Target Bearing: -141.59400156583564 +[main_algo-3] [INFO] [1746051414.959443769] [sailbot.main_algo]: Heading Difference: -170.05599843416434 +[main_algo-3] [INFO] [1746051414.960701341] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051414.961513730] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051414.962303962] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051414.963845564] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051414.963900911] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051415.003053206] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904504 Long: -76.50277717 +[main_algo-3] [INFO] [1746051415.003782994] [sailbot.main_algo]: Distance to destination: 56.45353239628366 +[vectornav-1] [INFO] [1746051415.004276210] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.754999999999995, -0.651, 5.839) +[main_algo-3] [INFO] [1746051415.004929900] [sailbot.main_algo]: Target Bearing: -141.59101119624654 +[main_algo-3] [INFO] [1746051415.005909598] [sailbot.main_algo]: Heading Difference: -170.05898880375344 +[main_algo-3] [INFO] [1746051415.007284727] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051415.008206411] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051415.009074179] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051415.010904165] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051415.045078619] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051415.045592543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051415.046688926] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051415.047444025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051415.048498937] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051415.085339302] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051415.087549684] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051415.088429219] [sailbot.teensy]: Wind angle: 192 +[mux-7] [INFO] [1746051415.088999655] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051415.089363244] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051415.090268467] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051415.091101923] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051415.144915462] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051415.145614706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051415.146219611] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051415.147457863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051415.148655119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051415.245129549] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051415.245815635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051415.246537099] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051415.248053235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051415.249136927] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051415.335210219] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051415.336813792] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746051415.337715637] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051415.337714333] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051415.338541742] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051415.338550263] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051415.339430558] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051415.344351718] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051415.344854674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051415.345598358] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051415.346615303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051415.347669963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051415.445571980] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051415.446585239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051415.447444840] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051415.448874226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051415.449516168] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051415.457749583] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051415.458804563] [sailbot.main_algo]: Target Bearing: -141.59101119624654 +[main_algo-3] [INFO] [1746051415.459719368] [sailbot.main_algo]: Heading Difference: -169.65398880375346 +[main_algo-3] [INFO] [1746051415.461061826] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051415.462095208] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051415.462989486] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051415.464667385] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051415.464842707] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051415.502746039] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690451 Long: -76.50277695 +[main_algo-3] [INFO] [1746051415.503772008] [sailbot.main_algo]: Distance to destination: 56.471737538783934 +[vectornav-1] [INFO] [1746051415.503910512] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.99400000000003, -0.916, 4.909) +[main_algo-3] [INFO] [1746051415.505046241] [sailbot.main_algo]: Target Bearing: -141.5974436842966 +[main_algo-3] [INFO] [1746051415.505982062] [sailbot.main_algo]: Heading Difference: -169.6475563157034 +[main_algo-3] [INFO] [1746051415.507365934] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051415.508249345] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051415.509097461] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051415.511003604] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051415.544990804] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051415.545698087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051415.546257587] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051415.547724533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051415.548899222] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051415.585145236] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051415.586966597] [sailbot.teensy]: Wind angle: 195 +[trim_sail-4] [INFO] [1746051415.587382362] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051415.588429709] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051415.589210640] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051415.590562340] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051415.591445945] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051415.645072699] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051415.645974983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051415.646490905] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051415.647956221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051415.649047050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051415.745022068] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051415.745772514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051415.746370529] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051415.747674772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051415.748727171] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051415.835556084] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051415.837964832] [sailbot.teensy]: Wind angle: 195 +[trim_sail-4] [INFO] [1746051415.838127467] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051415.839262218] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051415.840069510] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051415.840175576] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051415.841348828] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051415.844326184] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051415.844927816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051415.845609949] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051415.847074987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051415.848228769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051415.945673502] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051415.946252421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051415.947405183] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051415.948913214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051415.949564870] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051415.957872117] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051415.958907591] [sailbot.main_algo]: Target Bearing: -141.5974436842966 +[main_algo-3] [INFO] [1746051415.959788571] [sailbot.main_algo]: Heading Difference: -169.40855631570338 +[main_algo-3] [INFO] [1746051415.961107827] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051415.961985577] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051415.962852241] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051415.964576042] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051415.964591222] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051416.003375341] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904515 Long: -76.5027772 +[main_algo-3] [INFO] [1746051416.004408284] [sailbot.main_algo]: Distance to destination: 56.45938613059867 +[vectornav-1] [INFO] [1746051416.004634594] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.24400000000003, 0.277, 5.2) +[main_algo-3] [INFO] [1746051416.005536961] [sailbot.main_algo]: Target Bearing: -141.57984487763 +[main_algo-3] [INFO] [1746051416.006851187] [sailbot.main_algo]: Heading Difference: -169.42615512237 +[main_algo-3] [INFO] [1746051416.008432794] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051416.009338881] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051416.010183166] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051416.011994966] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051416.045276148] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051416.045885087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051416.046755132] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051416.048098770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051416.049274699] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051416.085288908] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051416.087655112] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051416.087775132] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051416.088633464] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051416.089099340] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051416.089562793] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051416.090466442] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051416.144217690] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051416.144617850] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051416.146086161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051416.145141394] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051416.146975173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051416.244736092] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051416.245229239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051416.246134219] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051416.247058589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051416.248298670] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051416.335152041] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051416.336795306] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051416.337579538] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051416.338628859] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051416.338751167] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051416.339777876] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051416.340677239] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051416.344379952] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051416.344984245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051416.345481518] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051416.346668219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051416.347798111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051416.444767986] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051416.445790474] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051416.445987489] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051416.447523049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051416.448722065] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051416.457797391] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051416.458907462] [sailbot.main_algo]: Target Bearing: -141.57984487763 +[main_algo-3] [INFO] [1746051416.459848148] [sailbot.main_algo]: Heading Difference: -170.17615512237 +[main_algo-3] [INFO] [1746051416.461096088] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051416.461890107] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051416.462658307] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051416.464228890] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051416.464226556] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051416.502846898] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904497 Long: -76.50277726 +[main_algo-3] [INFO] [1746051416.503650174] [sailbot.main_algo]: Distance to destination: 56.44287918143214 +[vectornav-1] [INFO] [1746051416.504173994] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.12099999999998, -0.412, 5.961) +[main_algo-3] [INFO] [1746051416.504731134] [sailbot.main_algo]: Target Bearing: -141.59233683199508 +[main_algo-3] [INFO] [1746051416.505696961] [sailbot.main_algo]: Heading Difference: -170.16366316800486 +[main_algo-3] [INFO] [1746051416.507078151] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051416.507978129] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051416.508860301] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051416.510483699] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051416.544976624] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051416.545723186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051416.546314663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051416.547580955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051416.548749075] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051416.585202004] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051416.587190646] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051416.587492976] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051416.588026034] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051416.588888137] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051416.588369817] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051416.589765937] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051416.645255186] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051416.646193584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051416.646892838] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051416.648435274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051416.648882205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051416.744947828] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051416.745679664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051416.746305914] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051416.748289202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051416.749365631] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051416.835489082] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051416.837493191] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051416.838878715] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051416.838984160] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051416.840130774] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051416.841099897] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051416.841937553] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051416.844375682] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051416.845160514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051416.845539850] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051416.846954539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051416.847967377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051416.945704888] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051416.946476721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051416.947462182] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051416.948415387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051416.948957917] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051416.957855904] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051416.958912063] [sailbot.main_algo]: Target Bearing: -141.59233683199508 +[main_algo-3] [INFO] [1746051416.959801462] [sailbot.main_algo]: Heading Difference: -170.2866631680049 +[main_algo-3] [INFO] [1746051416.961130551] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051416.961986910] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051416.962809949] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051416.964480254] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051416.964528575] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051417.003085320] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904488 Long: -76.50277737 +[main_algo-3] [INFO] [1746051417.003745865] [sailbot.main_algo]: Distance to destination: 56.429545185537975 +[vectornav-1] [INFO] [1746051417.004308492] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.90899999999999, -0.608, 4.356) +[main_algo-3] [INFO] [1746051417.004870174] [sailbot.main_algo]: Target Bearing: -141.5943448887241 +[main_algo-3] [INFO] [1746051417.005895915] [sailbot.main_algo]: Heading Difference: -170.28465511127592 +[main_algo-3] [INFO] [1746051417.007260839] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051417.008144811] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051417.009016292] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051417.010726530] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051417.045233014] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051417.045882116] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051417.046703289] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051417.048242874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051417.049462605] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051417.085439639] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051417.087283006] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051417.087831263] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051417.088251997] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051417.089152087] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051417.089152440] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051417.090024457] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051417.145248631] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051417.145843184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051417.147124351] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051417.148020568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051417.148950179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051417.245154182] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051417.245747933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051417.246709398] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051417.247783595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051417.248939563] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051417.335308165] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051417.337135339] [sailbot.teensy]: Wind angle: 193 +[teensy-2] [INFO] [1746051417.338059024] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051417.338136788] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051417.338627000] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051417.338960751] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051417.339843384] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051417.344478504] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051417.344886558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051417.345697573] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051417.346560041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051417.347648258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051417.445290304] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051417.445890689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051417.446922512] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051417.447900019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051417.449138368] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051417.457645352] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051417.458740473] [sailbot.main_algo]: Target Bearing: -141.5943448887241 +[main_algo-3] [INFO] [1746051417.459656477] [sailbot.main_algo]: Heading Difference: -169.4966551112759 +[main_algo-3] [INFO] [1746051417.460979578] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051417.461852458] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051417.462648408] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051417.464248321] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051417.464336758] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051417.502864120] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904496 Long: -76.50277745 +[main_algo-3] [INFO] [1746051417.503724223] [sailbot.main_algo]: Distance to destination: 56.430106737491435 +[vectornav-1] [INFO] [1746051417.504025525] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.033000000000015, -0.891, 6.092) +[main_algo-3] [INFO] [1746051417.505015033] [sailbot.main_algo]: Target Bearing: -141.5831350999303 +[main_algo-3] [INFO] [1746051417.506068940] [sailbot.main_algo]: Heading Difference: -169.5078649000697 +[main_algo-3] [INFO] [1746051417.507417496] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051417.508338475] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051417.509233238] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051417.510977678] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051417.544910454] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051417.545338662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051417.546235445] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051417.547226719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051417.548389858] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051417.585234281] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051417.587028361] [sailbot.teensy]: Wind angle: 193 +[trim_sail-4] [INFO] [1746051417.587479926] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051417.587901337] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051417.588587057] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051417.588821376] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051417.590873151] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051417.645105449] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051417.645588880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051417.646944269] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051417.647438421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051417.648538972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051417.745076437] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051417.745810721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051417.746430476] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051417.747836104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051417.748828137] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051417.835169907] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051417.836836577] [sailbot.teensy]: Wind angle: 193 +[trim_sail-4] [INFO] [1746051417.837691005] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051417.837724950] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051417.838653666] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051417.838675381] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051417.839526705] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051417.844477325] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051417.845220303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051417.845669568] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051417.847284993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051417.848341050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051417.945330023] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051417.946353520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051417.947043528] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051417.948520797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051417.949020629] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051417.957651606] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051417.958731661] [sailbot.main_algo]: Target Bearing: -141.5831350999303 +[main_algo-3] [INFO] [1746051417.959636006] [sailbot.main_algo]: Heading Difference: -170.38386490006968 +[main_algo-3] [INFO] [1746051417.960980972] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051417.961872199] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051417.962730373] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051417.964278318] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051417.964299512] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051418.002895017] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904484 Long: -76.50277731 +[main_algo-3] [INFO] [1746051418.003674102] [sailbot.main_algo]: Distance to destination: 56.430535676440286 +[vectornav-1] [INFO] [1746051418.004036062] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.242999999999995, 0.503, 4.83) +[main_algo-3] [INFO] [1746051418.004779238] [sailbot.main_algo]: Target Bearing: -141.60100998165774 +[main_algo-3] [INFO] [1746051418.005671260] [sailbot.main_algo]: Heading Difference: -170.36599001834225 +[main_algo-3] [INFO] [1746051418.006953918] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051418.007769650] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051418.008580182] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051418.010223450] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051418.044904951] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051418.045846327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051418.046222364] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051418.048023169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051418.049062249] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051418.085392879] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051418.087701425] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051418.087744495] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746051418.088861375] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051418.089003913] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051418.089761778] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051418.090693115] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051418.146183531] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051418.146465757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051418.148092701] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051418.148668616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051418.149783933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051418.244703280] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051418.245679358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051418.245821761] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051418.248428478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051418.249534675] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051418.335594947] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051418.337495023] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051418.338264721] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051418.338606964] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051418.338677145] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051418.339658246] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051418.340564914] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051418.344395270] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051418.345021874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051418.345591926] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051418.346763860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051418.347749223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051418.445220913] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051418.446180445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051418.446971441] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051418.448269088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051418.449349285] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051418.457675273] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051418.458748833] [sailbot.main_algo]: Target Bearing: -141.60100998165774 +[main_algo-3] [INFO] [1746051418.459671212] [sailbot.main_algo]: Heading Difference: -169.15599001834227 +[main_algo-3] [INFO] [1746051418.461007830] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051418.461958539] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051418.462742444] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051418.464382146] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051418.464486753] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051418.502807836] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904477 Long: -76.50277747 +[main_algo-3] [INFO] [1746051418.503595644] [sailbot.main_algo]: Distance to destination: 56.41543609474135 +[vectornav-1] [INFO] [1746051418.503961486] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.009000000000015, -0.787, 5.148) +[main_algo-3] [INFO] [1746051418.504658086] [sailbot.main_algo]: Target Bearing: -141.59862683486563 +[main_algo-3] [INFO] [1746051418.505631515] [sailbot.main_algo]: Heading Difference: -169.15837316513438 +[main_algo-3] [INFO] [1746051418.507262926] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051418.508140905] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051418.509019355] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051418.510900576] [sailbot.mux]: algo rudder angle: -25 +[teensy-2] [INFO] [1746051418.546332726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051418.546435666] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051418.547674514] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051418.548179653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051418.549403574] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051418.585512885] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051418.587448426] [sailbot.teensy]: Wind angle: 195 +[teensy-2] [INFO] [1746051418.588613120] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051418.588180653] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051418.588537381] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051418.589550149] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051418.590386188] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051418.644946834] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051418.645548391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051418.646245592] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051418.647384134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051418.647925223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051418.745124309] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051418.745764997] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051418.746796169] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051418.747773984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051418.748862178] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051418.835634609] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051418.838185276] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051418.838784176] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051418.839066418] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746051418.839982747] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051418.840868699] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051418.841698423] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051418.844222005] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051418.844724705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051418.845431108] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051418.846413525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051418.847437705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051418.944955821] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051418.945576850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051418.946671835] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051418.947403525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051418.948020489] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051418.957705642] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051418.958788945] [sailbot.main_algo]: Target Bearing: -141.59862683486563 +[main_algo-3] [INFO] [1746051418.959715550] [sailbot.main_algo]: Heading Difference: -169.39237316513436 +[main_algo-3] [INFO] [1746051418.961028012] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051418.961903037] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051418.962671521] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051418.964189993] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051418.964222492] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051419.002753737] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904473 Long: -76.50277761 +[main_algo-3] [INFO] [1746051419.003628804] [sailbot.main_algo]: Distance to destination: 56.403722617313804 +[vectornav-1] [INFO] [1746051419.004395060] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.35899999999998, 0.135, 5.27) +[main_algo-3] [INFO] [1746051419.004737762] [sailbot.main_algo]: Target Bearing: -141.59468852854175 +[main_algo-3] [INFO] [1746051419.005725241] [sailbot.main_algo]: Heading Difference: -169.39631147145826 +[main_algo-3] [INFO] [1746051419.007194813] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051419.008147736] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051419.009030859] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051419.010699292] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051419.045362896] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051419.046117437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051419.046889145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051419.048869564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051419.050185727] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051419.085374993] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051419.087185538] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746051419.088264379] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051419.089265757] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051419.087637235] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051419.088061835] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051419.090145861] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051419.145137473] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051419.145992578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051419.146584647] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051419.148196970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051419.149172002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051419.244959875] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051419.245628112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051419.246246912] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051419.247519599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051419.248742559] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051419.335335276] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051419.337463318] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051419.337913417] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051419.338585094] [sailbot.teensy]: Wind angle: 197 +[teensy-2] [INFO] [1746051419.339009344] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051419.339363326] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051419.339736542] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051419.344395106] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051419.345334762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051419.345550857] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051419.347055451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051419.348095493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051419.445073552] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051419.445830096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051419.446352224] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051419.447878947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051419.448871127] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051419.457622022] [sailbot.main_algo]: Wind Direction: 197 +[main_algo-3] [INFO] [1746051419.458620507] [sailbot.main_algo]: Target Bearing: -141.59468852854175 +[main_algo-3] [INFO] [1746051419.459516130] [sailbot.main_algo]: Heading Difference: -170.04631147145824 +[main_algo-3] [INFO] [1746051419.460743386] [sailbot.main_algo]: Wind Direction: 197 +[main_algo-3] [INFO] [1746051419.461559209] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051419.462345385] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051419.463843933] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051419.463881583] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051419.502847371] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904442 Long: -76.5027777 +[vectornav-1] [INFO] [1746051419.503997422] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.192999999999984, -0.8, 6.036) +[main_algo-3] [INFO] [1746051419.504139400] [sailbot.main_algo]: Distance to destination: 56.37614831210737 +[main_algo-3] [INFO] [1746051419.505555174] [sailbot.main_algo]: Target Bearing: -141.61694290434934 +[main_algo-3] [INFO] [1746051419.508111293] [sailbot.main_algo]: Heading Difference: -170.02405709565068 +[main_algo-3] [INFO] [1746051419.509608666] [sailbot.main_algo]: Wind Direction: 197 +[main_algo-3] [INFO] [1746051419.510509115] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051419.511401231] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051419.513103626] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051419.544851524] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051419.545492397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051419.546198673] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051419.547409755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051419.548574981] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051419.585408947] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051419.588126241] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051419.588614708] [sailbot.teensy]: Wind angle: 197 +[teensy-2] [INFO] [1746051419.589570918] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051419.589879728] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051419.590491878] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051419.591370876] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051419.644992443] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051419.645839236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051419.646324706] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051419.647865050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051419.649028345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051419.745480266] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051419.746543341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051419.747318163] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051419.749266613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051419.750394649] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051419.835549763] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051419.837779850] [sailbot.teensy]: Wind angle: 197 +[trim_sail-4] [INFO] [1746051419.838389237] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051419.838594439] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051419.838927899] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051419.839019177] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051419.839401507] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051419.844427818] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051419.845020635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051419.845775732] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051419.846814428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051419.847851582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051419.945148727] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051419.945887106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051419.946637524] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051419.948117620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051419.948730297] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051419.957723841] [sailbot.main_algo]: Wind Direction: 197 +[main_algo-3] [INFO] [1746051419.958813996] [sailbot.main_algo]: Target Bearing: -141.61694290434934 +[main_algo-3] [INFO] [1746051419.959739059] [sailbot.main_algo]: Heading Difference: -170.19005709565067 +[main_algo-3] [INFO] [1746051419.961091691] [sailbot.main_algo]: Wind Direction: 197 +[main_algo-3] [INFO] [1746051419.961962694] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051419.962803067] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051419.964350042] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051419.964355669] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051420.003263861] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904443 Long: -76.5027776 +[vectornav-1] [INFO] [1746051420.004475857] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.04399999999998, -0.928, 5.121) +[main_algo-3] [INFO] [1746051420.003910411] [sailbot.main_algo]: Distance to destination: 56.38320714507407 +[main_algo-3] [INFO] [1746051420.005071663] [sailbot.main_algo]: Target Bearing: -141.6213739126943 +[main_algo-3] [INFO] [1746051420.006088277] [sailbot.main_algo]: Heading Difference: -170.1856260873057 +[main_algo-3] [INFO] [1746051420.007517736] [sailbot.main_algo]: Wind Direction: 197 +[main_algo-3] [INFO] [1746051420.008500783] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051420.009444420] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051420.011181063] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051420.045011946] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051420.045671157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051420.046315889] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051420.047760306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051420.048789303] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051420.085174214] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051420.086756573] [sailbot.teensy]: Wind angle: 197 +[teensy-2] [INFO] [1746051420.087608970] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051420.087394055] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051420.088094211] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051420.088592301] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051420.089551149] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051420.145141800] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051420.145784990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051420.146503093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051420.147820022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051420.148915629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051420.245120228] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051420.245954361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051420.246482153] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051420.247898293] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051420.249072925] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051420.334660658] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051420.335546830] [sailbot.teensy]: Wind angle: 195 +[teensy-2] [INFO] [1746051420.336041618] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051420.336483377] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051420.336430733] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051420.336735585] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051420.336886135] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051420.344209088] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051420.345084797] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051420.344701939] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051420.346072458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051420.346945379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051420.444921615] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051420.445464569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051420.446093344] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051420.447246709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051420.448272795] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051420.457641399] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051420.458639243] [sailbot.main_algo]: Target Bearing: -141.6213739126943 +[main_algo-3] [INFO] [1746051420.459562904] [sailbot.main_algo]: Heading Difference: -168.3346260873057 +[main_algo-3] [INFO] [1746051420.460941390] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051420.461749913] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051420.462522526] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051420.464007689] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051420.464063147] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051420.504061803] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904442 Long: -76.50277762 +[main_algo-3] [INFO] [1746051420.504989723] [sailbot.main_algo]: Distance to destination: 56.38123148592855 +[vectornav-1] [INFO] [1746051420.505396091] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.661, 0.679, 4.278) +[main_algo-3] [INFO] [1746051420.506199341] [sailbot.main_algo]: Target Bearing: -141.6211855438643 +[main_algo-3] [INFO] [1746051420.507178241] [sailbot.main_algo]: Heading Difference: -168.33481445613575 +[main_algo-3] [INFO] [1746051420.508610895] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051420.509492846] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051420.510333601] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051420.512029586] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051420.544975122] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051420.545623293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051420.546287345] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051420.547516363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051420.548688024] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051420.585358011] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051420.587343746] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051420.588164135] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051420.588318090] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051420.589205644] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051420.590094391] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051420.590558700] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051420.645104651] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051420.645690916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051420.646526487] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051420.647751199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051420.648846361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051420.745288014] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051420.745969252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051420.747327987] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051420.748287330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051420.748812413] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051420.835267445] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051420.837101710] [sailbot.teensy]: Wind angle: 193 +[trim_sail-4] [INFO] [1746051420.837464863] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051420.838056304] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051420.838776477] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051420.838943096] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051420.839784457] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051420.844325642] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051420.845020909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051420.845651299] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051420.846736115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051420.847840979] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051420.945211243] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051420.945849530] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051420.946618996] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051420.947711473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051420.948774293] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051420.957738407] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051420.958784762] [sailbot.main_algo]: Target Bearing: -141.6211855438643 +[main_algo-3] [INFO] [1746051420.959707158] [sailbot.main_algo]: Heading Difference: -169.71781445613567 +[main_algo-3] [INFO] [1746051420.961026109] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051420.961865368] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051420.962745111] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051420.964449561] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051420.964941709] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051421.002745939] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690441 Long: -76.50277802 +[main_algo-3] [INFO] [1746051421.003636161] [sailbot.main_algo]: Distance to destination: 56.333260722398 +[vectornav-1] [INFO] [1746051421.003937881] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.668000000000006, -0.871, 5.919) +[main_algo-3] [INFO] [1746051421.004904992] [sailbot.main_algo]: Target Bearing: -141.6278900220326 +[main_algo-3] [INFO] [1746051421.005879998] [sailbot.main_algo]: Heading Difference: -169.7111099779674 +[main_algo-3] [INFO] [1746051421.007099343] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051421.007912296] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051421.008746848] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051421.010361636] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051421.045082121] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051421.045654061] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051421.046432994] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051421.047504559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051421.048596375] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051421.085154865] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051421.087049916] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051421.087574183] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051421.088310800] [sailbot.teensy]: Wind angle: 193 +[teensy-2] [INFO] [1746051421.089231269] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051421.090111503] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051421.091025179] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051421.145095974] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051421.145636040] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051421.147607895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051421.148116614] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051421.148809912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051421.245083192] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051421.245722767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051421.246458254] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051421.247781969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051421.248712990] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051421.335280668] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051421.337201065] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051421.337367269] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051421.337939358] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051421.338341511] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051421.339167713] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051421.339589532] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051421.344435465] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051421.344789316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051421.345643762] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051421.346483326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051421.347710531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051421.445439008] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051421.446236511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051421.447128155] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051421.448519832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051421.449102739] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051421.457627805] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051421.458628158] [sailbot.main_algo]: Target Bearing: -141.6278900220326 +[main_algo-3] [INFO] [1746051421.459514135] [sailbot.main_algo]: Heading Difference: -171.7041099779674 +[main_algo-3] [INFO] [1746051421.460848577] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051421.461734398] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051421.462532868] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051421.464062938] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051421.464090286] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051421.502687871] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904391 Long: -76.50277811 +[main_algo-3] [INFO] [1746051421.503975696] [sailbot.main_algo]: Distance to destination: 56.314152795081824 +[vectornav-1] [INFO] [1746051421.504399504] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.85000000000002, -1.315, 5.187) +[main_algo-3] [INFO] [1746051421.505082838] [sailbot.main_algo]: Target Bearing: -141.63970540700493 +[main_algo-3] [INFO] [1746051421.506167386] [sailbot.main_algo]: Heading Difference: -171.69229459299504 +[main_algo-3] [INFO] [1746051421.507694876] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051421.508624160] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051421.509442239] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051421.511155725] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051421.545141476] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051421.545588739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051421.546536229] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051421.547667034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051421.548793543] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051421.585134830] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051421.587453960] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051421.587991951] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051421.588395047] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746051421.589913729] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051421.590826850] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051421.591696454] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051421.645076885] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051421.645833919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051421.646452494] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051421.647874019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051421.648909167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051421.745308874] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051421.746633881] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051421.746700824] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051421.749501541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051421.750724582] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051421.835101014] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051421.836550903] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051421.837210480] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051421.837602146] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051421.838425656] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051421.839327485] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051421.840115837] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051421.844494442] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051421.844949040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051421.845892054] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051421.846690698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051421.847724032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051421.945282883] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051421.946058381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051421.946910194] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051421.947914415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051421.949073465] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051421.957457641] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051421.958392248] [sailbot.main_algo]: Target Bearing: -141.63970540700493 +[main_algo-3] [INFO] [1746051421.959245153] [sailbot.main_algo]: Heading Difference: -168.51029459299502 +[main_algo-3] [INFO] [1746051421.960491224] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051421.961312907] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051421.962096355] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051421.963618705] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051421.963844451] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051422.002761272] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904382 Long: -76.50277814 +[main_algo-3] [INFO] [1746051422.003750214] [sailbot.main_algo]: Distance to destination: 56.305905417385304 +[vectornav-1] [INFO] [1746051422.003848787] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.14499999999998, 0.475, 5.444) +[main_algo-3] [INFO] [1746051422.004857484] [sailbot.main_algo]: Target Bearing: -141.6459753514432 +[main_algo-3] [INFO] [1746051422.005724054] [sailbot.main_algo]: Heading Difference: -168.50402464855676 +[main_algo-3] [INFO] [1746051422.007034224] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051422.007896783] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051422.008737375] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051422.010391552] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051422.045074842] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051422.045914329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051422.046370644] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051422.048148127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051422.049188886] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051422.085277108] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051422.087157251] [sailbot.teensy]: Wind angle: 192 +[trim_sail-4] [INFO] [1746051422.087738924] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051422.088138609] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051422.089094826] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051422.089942250] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051422.089423095] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051422.144970485] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051422.145669128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051422.146302694] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051422.147568549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051422.148656774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051422.244061071] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051422.244900723] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051422.244626643] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051422.246402648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051422.247509381] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051422.334399732] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051422.335628000] [sailbot.teensy]: Wind angle: 190 +[trim_sail-4] [INFO] [1746051422.336279486] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051422.336653741] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051422.337568086] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051422.338281096] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051422.338379366] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051422.343829771] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051422.344634719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051422.345007672] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051422.346402461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051422.346910432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051422.444745665] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051422.445284109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051422.446076488] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051422.447095552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051422.448206416] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051422.457703977] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051422.458719270] [sailbot.main_algo]: Target Bearing: -141.6459753514432 +[main_algo-3] [INFO] [1746051422.459634626] [sailbot.main_algo]: Heading Difference: -169.2090246485568 +[main_algo-3] [INFO] [1746051422.460898961] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051422.461731969] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051422.462544387] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051422.464050823] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051422.464114410] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051422.502553208] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904386 Long: -76.50277837 +[main_algo-3] [INFO] [1746051422.503513051] [sailbot.main_algo]: Distance to destination: 56.29410560296841 +[vectornav-1] [INFO] [1746051422.503845125] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.31099999999998, -0.348, 5.413) +[main_algo-3] [INFO] [1746051422.504590626] [sailbot.main_algo]: Target Bearing: -141.63027102679888 +[main_algo-3] [INFO] [1746051422.505529999] [sailbot.main_algo]: Heading Difference: -169.22472897320114 +[main_algo-3] [INFO] [1746051422.506807256] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051422.507646002] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051422.508474123] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051422.509986011] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051422.544756583] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051422.545406512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051422.545993959] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051422.547133675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051422.548185694] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051422.585381629] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051422.588118709] [sailbot.teensy]: Wind angle: 189 +[trim_sail-4] [INFO] [1746051422.588213529] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051422.588592728] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051422.589118970] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051422.589976771] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051422.590879111] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051422.644562195] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051422.645354025] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051422.645834144] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051422.647245106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051422.648361511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051422.745400259] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051422.746184837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051422.747134469] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051422.748433336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051422.749623534] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051422.835717603] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051422.838117047] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051422.838739410] [sailbot.teensy]: Wind angle: 189 +[mux-7] [INFO] [1746051422.839243782] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051422.839697394] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051422.840646251] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051422.841497812] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051422.844430287] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051422.845042903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051422.845659254] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051422.846853823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051422.847872372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051422.944967522] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051422.945625824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051422.946436141] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051422.947495124] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051422.948693318] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051422.957472806] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051422.958423270] [sailbot.main_algo]: Target Bearing: -141.63027102679888 +[main_algo-3] [INFO] [1746051422.959289632] [sailbot.main_algo]: Heading Difference: -169.05872897320114 +[main_algo-3] [INFO] [1746051422.960500740] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051422.961339866] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051422.962136413] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051422.963633867] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051422.963661282] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051423.002719349] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904388 Long: -76.50277825 +[main_algo-3] [INFO] [1746051423.003591971] [sailbot.main_algo]: Distance to destination: 56.30314115542329 +[vectornav-1] [INFO] [1746051423.003898159] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.73599999999999, -0.995, 5.922) +[main_algo-3] [INFO] [1746051423.004998314] [sailbot.main_algo]: Target Bearing: -141.63489498020854 +[main_algo-3] [INFO] [1746051423.006003011] [sailbot.main_algo]: Heading Difference: -169.05410501979145 +[main_algo-3] [INFO] [1746051423.007350779] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051423.008253416] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051423.009118946] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051423.010938390] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051423.044823749] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051423.045397900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051423.046292140] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051423.047144142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051423.048304446] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051423.085207052] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051423.086957278] [sailbot.teensy]: Wind angle: 189 +[trim_sail-4] [INFO] [1746051423.087497575] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051423.088339536] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051423.089232272] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051423.089235409] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051423.090135843] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051423.145331817] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051423.145675432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051423.147056679] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051423.147861769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051423.149003548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051423.244143981] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051423.244603437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051423.245197141] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051423.246685265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051423.247953421] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051423.335187579] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051423.336805899] [sailbot.teensy]: Wind angle: 190 +[teensy-2] [INFO] [1746051423.337739510] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051423.337511551] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051423.337981973] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051423.338622982] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051423.339469827] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051423.344620539] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051423.345119845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051423.345747509] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051423.346888772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051423.347949133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051423.445156463] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051423.445717377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051423.446504422] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051423.447616687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051423.448703911] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051423.457452748] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051423.458410370] [sailbot.main_algo]: Target Bearing: -141.63489498020854 +[main_algo-3] [INFO] [1746051423.459245076] [sailbot.main_algo]: Heading Difference: -168.6291050197915 +[main_algo-3] [INFO] [1746051423.460486206] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051423.461310334] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051423.462128277] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051423.463662363] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051423.463841747] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051423.502915036] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904382 Long: -76.50277792 +[main_algo-3] [INFO] [1746051423.503835544] [sailbot.main_algo]: Distance to destination: 56.319890703236425 +[vectornav-1] [INFO] [1746051423.504185782] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.52699999999999, 0.305, 5.062) +[main_algo-3] [INFO] [1746051423.505009787] [sailbot.main_algo]: Target Bearing: -141.65764811085765 +[main_algo-3] [INFO] [1746051423.505962487] [sailbot.main_algo]: Heading Difference: -168.6063518891424 +[main_algo-3] [INFO] [1746051423.507402843] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051423.508294701] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051423.509139809] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051423.510878069] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051423.544955364] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051423.545488159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051423.546289619] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051423.547282570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051423.548389628] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051423.585390310] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051423.587333952] [sailbot.teensy]: Wind angle: 190 +[teensy-2] [INFO] [1746051423.588299377] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051423.587761189] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051423.589195891] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051423.590098497] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051423.589894591] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051423.645013473] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051423.645796405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051423.646482763] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051423.647781884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051423.648954242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051423.744885364] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051423.745493650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051423.746128606] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051423.747275336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051423.748356576] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051423.835211494] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051423.836745861] [sailbot.teensy]: Wind angle: 190 +[trim_sail-4] [INFO] [1746051423.837433187] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051423.837635080] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051423.838500978] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051423.838519166] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051423.839622079] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051423.844309748] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051423.844811518] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051423.845416427] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051423.846515008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051423.847650782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051423.945967035] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051423.946412450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051423.947135167] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051423.948133084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051423.949200458] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051423.957451195] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051423.958432295] [sailbot.main_algo]: Target Bearing: -141.65764811085765 +[main_algo-3] [INFO] [1746051423.959340400] [sailbot.main_algo]: Heading Difference: -168.81535188914233 +[main_algo-3] [INFO] [1746051423.960618121] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051423.961444039] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051423.962236524] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051423.963779976] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051423.963781164] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051424.003185221] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904387 Long: -76.5027778 +[main_algo-3] [INFO] [1746051424.003981314] [sailbot.main_algo]: Distance to destination: 56.33104112304905 +[vectornav-1] [INFO] [1746051424.004383503] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.17599999999999, -0.474, 5.514) +[main_algo-3] [INFO] [1746051424.005240781] [sailbot.main_algo]: Target Bearing: -141.65964511509947 +[main_algo-3] [INFO] [1746051424.006316347] [sailbot.main_algo]: Heading Difference: -168.81335488490055 +[main_algo-3] [INFO] [1746051424.007722093] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051424.008624988] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051424.009491612] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051424.011172367] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051424.044906591] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051424.045681353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051424.046203612] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051424.047905994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051424.049012795] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051424.085412265] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051424.087919845] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051424.088215743] [sailbot.teensy]: Wind angle: 188 +[mux-7] [INFO] [1746051424.088917870] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051424.089161465] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051424.090072986] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051424.090897400] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051424.145087289] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051424.145750641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051424.146636936] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051424.148098306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051424.149363578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051424.245200975] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051424.246689963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051424.246711617] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051424.248538314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051424.249632861] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051424.335196129] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051424.336843266] [sailbot.teensy]: Wind angle: 187 +[teensy-2] [INFO] [1746051424.337821201] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051424.337992036] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051424.339022609] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051424.339195920] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051424.340339626] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051424.344378604] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051424.345102426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051424.346018997] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051424.346854529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051424.348506726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051424.445165524] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051424.446333180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051424.448018574] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051424.449918619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051424.451214639] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051424.457117521] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051424.458122876] [sailbot.main_algo]: Target Bearing: -141.65964511509947 +[main_algo-3] [INFO] [1746051424.459073365] [sailbot.main_algo]: Heading Difference: -169.16435488490055 +[main_algo-3] [INFO] [1746051424.460492840] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051424.461534543] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051424.462756751] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051424.464446058] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051424.464696764] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051424.501603649] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904389 Long: -76.50277781 +[main_algo-3] [INFO] [1746051424.502273687] [sailbot.main_algo]: Distance to destination: 56.33181390683514 +[vectornav-1] [INFO] [1746051424.502291169] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.928, -0.687, 5.806) +[main_algo-3] [INFO] [1746051424.503205910] [sailbot.main_algo]: Target Bearing: -141.6573679302765 +[main_algo-3] [INFO] [1746051424.503880047] [sailbot.main_algo]: Heading Difference: -169.1666320697235 +[main_algo-3] [INFO] [1746051424.504473282] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051424.504999246] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051424.505684755] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051424.506595284] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051424.544719581] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051424.545218188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051424.546275202] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051424.546902250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051424.547884485] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051424.585058308] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051424.586709332] [sailbot.teensy]: Wind angle: 186 +[trim_sail-4] [INFO] [1746051424.587198683] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051424.587567355] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051424.587723391] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051424.588472559] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051424.589375934] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051424.645356643] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051424.646065887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051424.647204794] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051424.647881633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051424.648467439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051424.745016950] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051424.745684988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051424.746595631] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051424.747540132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051424.748017682] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051424.835179079] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051424.837179800] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051424.837362842] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051424.837888654] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051424.838425973] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051424.839423162] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051424.840260813] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051424.844394514] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051424.844853845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051424.845504757] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051424.846507887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051424.847562927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051424.945044277] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051424.945725574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051424.946609264] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051424.947625600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051424.948700055] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051424.957596517] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051424.958627820] [sailbot.main_algo]: Target Bearing: -141.6573679302765 +[main_algo-3] [INFO] [1746051424.959510737] [sailbot.main_algo]: Heading Difference: -169.4146320697235 +[main_algo-3] [INFO] [1746051424.960743065] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051424.961591962] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051424.962409243] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051424.963864649] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051424.963991383] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051425.002684073] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904392 Long: -76.50277783 +[vectornav-1] [INFO] [1746051425.003747079] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.46500000000003, -0.054, 4.883) +[main_algo-3] [INFO] [1746051425.003917776] [sailbot.main_algo]: Distance to destination: 56.33265539005304 +[main_algo-3] [INFO] [1746051425.005196549] [sailbot.main_algo]: Target Bearing: -141.65368708602404 +[main_algo-3] [INFO] [1746051425.006286505] [sailbot.main_algo]: Heading Difference: -169.41831291397597 +[main_algo-3] [INFO] [1746051425.007748321] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051425.008688690] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051425.009614582] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051425.011371953] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051425.045177644] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051425.046017256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051425.047016637] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051425.048046819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051425.049222139] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051425.085464149] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051425.087402596] [sailbot.teensy]: Wind angle: 186 +[trim_sail-4] [INFO] [1746051425.087789711] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051425.088229023] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051425.088350850] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051425.089676636] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051425.090937084] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051425.144631529] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051425.145153057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051425.145785243] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051425.146894916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051425.147927565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051425.244047315] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051425.244584660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051425.244963742] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051425.245981499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051425.246907041] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051425.334469506] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051425.335429857] [sailbot.teensy]: Wind angle: 190 +[trim_sail-4] [INFO] [1746051425.335498783] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051425.336576962] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051425.336602515] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051425.337526468] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051425.337950872] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051425.343643864] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051425.344140068] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051425.343854218] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051425.344597463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051425.345133835] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051425.445085377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051425.446371237] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051425.447959848] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051425.449028072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051425.449892320] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051425.456524092] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051425.458346384] [sailbot.main_algo]: Target Bearing: -141.65368708602404 +[main_algo-3] [INFO] [1746051425.458792623] [sailbot.main_algo]: Heading Difference: -168.88131291397593 +[main_algo-3] [INFO] [1746051425.459891301] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051425.460315880] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051425.460701410] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051425.461500590] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051425.463672927] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051425.501352647] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904382 Long: -76.502778 +[vectornav-1] [INFO] [1746051425.501794184] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.274, -0.423, 5.7) +[main_algo-3] [INFO] [1746051425.503250063] [sailbot.main_algo]: Distance to destination: 56.31480487426062 +[main_algo-3] [INFO] [1746051425.503717598] [sailbot.main_algo]: Target Bearing: -141.65340414127695 +[main_algo-3] [INFO] [1746051425.504849362] [sailbot.main_algo]: Heading Difference: -168.88159585872302 +[main_algo-3] [INFO] [1746051425.505484634] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051425.507393795] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051425.507804673] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051425.509111995] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051425.543743973] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051425.545375722] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051425.547636800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051425.549062713] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051425.550764470] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051425.584502309] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051425.585610662] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051425.586732025] [sailbot.teensy]: Wind angle: 191 +[teensy-2] [INFO] [1746051425.587194638] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051425.587358068] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051425.587601086] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051425.588009746] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051425.643664269] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051425.644089671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051425.644249864] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051425.644887693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051425.645444865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051425.743788115] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051425.744313456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051425.744537215] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051425.745715998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051425.746456242] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051425.834484849] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051425.835556741] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051425.835777706] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051425.835952014] [sailbot.teensy]: Wind angle: 192 +[teensy-2] [INFO] [1746051425.836386711] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051425.836774108] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051425.837148504] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051425.843572884] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051425.843848284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051425.844094201] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051425.844691118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051425.845201477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051425.943787738] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051425.944170285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051425.944530718] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051425.945473955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051425.946249648] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051425.956454520] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051425.956898751] [sailbot.main_algo]: Target Bearing: -141.65340414127695 +[main_algo-3] [INFO] [1746051425.957270054] [sailbot.main_algo]: Heading Difference: -169.07259585872305 +[main_algo-3] [INFO] [1746051425.957889593] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051425.958248658] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051425.958593543] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051425.959556146] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051425.959569942] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051426.002177522] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904378 Long: -76.50277815 +[main_algo-3] [INFO] [1746051426.002940887] [sailbot.main_algo]: Distance to destination: 56.30245202327835 +[vectornav-1] [INFO] [1746051426.003134055] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.615999999999985, -0.283, 4.931) +[main_algo-3] [INFO] [1746051426.004363880] [sailbot.main_algo]: Target Bearing: -141.64893948682953 +[main_algo-3] [INFO] [1746051426.005432817] [sailbot.main_algo]: Heading Difference: -169.07706051317047 +[main_algo-3] [INFO] [1746051426.006842813] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051426.007776835] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051426.008668778] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051426.010321530] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051426.043911792] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051426.044479531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051426.044776590] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051426.046113949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051426.047081886] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051426.084996260] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051426.086437093] [sailbot.teensy]: Wind angle: 192 +[teensy-2] [INFO] [1746051426.087256567] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051426.088088598] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051426.088935496] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051426.087683972] [sailbot.mux]: algo sail angle: 0 +[trim_sail-4] [INFO] [1746051426.088511869] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051426.144539409] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051426.145110141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051426.145629016] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051426.146798505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051426.147941326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051426.244563647] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051426.245101411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051426.245637658] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051426.246695827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051426.247754595] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051426.335250568] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051426.337294362] [sailbot.teensy]: Wind angle: 193 +[trim_sail-4] [INFO] [1746051426.337665299] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051426.338344735] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051426.339244333] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051426.338751732] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051426.339726459] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051426.344312311] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051426.345022768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051426.345408482] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051426.346746499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051426.347754386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051426.444317383] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051426.445085658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051426.445367209] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051426.446648741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051426.447753468] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051426.457669371] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051426.458713124] [sailbot.main_algo]: Target Bearing: -141.64893948682953 +[main_algo-3] [INFO] [1746051426.459658589] [sailbot.main_algo]: Heading Difference: -169.73506051317048 +[main_algo-3] [INFO] [1746051426.460937087] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051426.461742152] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051426.462519723] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051426.464040868] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051426.464066253] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051426.502887532] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904383 Long: -76.50277821 +[vectornav-1] [INFO] [1746051426.503991134] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.77499999999998, -0.5, 6.986) +[main_algo-3] [INFO] [1746051426.504366883] [sailbot.main_algo]: Distance to destination: 56.302160562746785 +[main_algo-3] [INFO] [1746051426.505442044] [sailbot.main_algo]: Target Bearing: -141.6413863969265 +[main_algo-3] [INFO] [1746051426.506497624] [sailbot.main_algo]: Heading Difference: -169.74261360307355 +[main_algo-3] [INFO] [1746051426.508048538] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051426.509127817] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051426.510153962] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051426.512526954] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051426.543992333] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051426.544489953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051426.545780402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051426.546287685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051426.547344882] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051426.584519790] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051426.585647707] [sailbot.teensy]: Wind angle: 192 +[trim_sail-4] [INFO] [1746051426.586266569] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051426.586457175] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051426.587218693] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051426.587360286] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051426.588035968] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051426.644832697] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051426.645512330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051426.646073286] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051426.647492472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051426.648527607] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051426.744992897] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051426.745794719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051426.746377967] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051426.747690775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051426.748911322] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051426.835408208] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051426.837661977] [sailbot.teensy]: Wind angle: 192 +[trim_sail-4] [INFO] [1746051426.837800062] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051426.838643601] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051426.839027842] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051426.839135411] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051426.839504293] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051426.844378991] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051426.844997199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051426.845464582] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051426.846716549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051426.847718241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051426.944890248] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051426.945433442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051426.946144236] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051426.947232359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051426.948419921] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051426.957450651] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051426.958397064] [sailbot.main_algo]: Target Bearing: -141.6413863969265 +[main_algo-3] [INFO] [1746051426.959224069] [sailbot.main_algo]: Heading Difference: -169.58361360307356 +[main_algo-3] [INFO] [1746051426.960472302] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051426.961278735] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051426.962061632] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051426.963593068] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051426.963782914] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051427.003056171] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904403 Long: -76.50277817 +[main_algo-3] [INFO] [1746051427.003693630] [sailbot.main_algo]: Distance to destination: 56.31879550124108 +[vectornav-1] [INFO] [1746051427.004437639] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.67700000000002, -0.876, 5.353) +[main_algo-3] [INFO] [1746051427.004814665] [sailbot.main_algo]: Target Bearing: -141.62604078687545 +[main_algo-3] [INFO] [1746051427.005825869] [sailbot.main_algo]: Heading Difference: -169.59895921312454 +[main_algo-3] [INFO] [1746051427.007204599] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051427.008076047] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051427.008942432] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051427.010638070] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051427.044633651] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051427.045142261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051427.045864849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051427.046831172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051427.047773237] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051427.084799967] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051427.085960078] [sailbot.teensy]: Wind angle: 192 +[trim_sail-4] [INFO] [1746051427.086460168] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051427.086704133] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051427.087493196] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051427.088287403] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051427.088316345] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051427.145023531] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051427.145481455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051427.146323041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051427.147250802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051427.148421265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051427.245023062] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051427.245827577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051427.246475180] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051427.247744426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051427.248929625] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051427.335287406] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051427.337641517] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051427.337946775] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051427.338956891] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051427.339345237] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051427.339777833] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051427.340146152] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051427.344594012] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051427.345032151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051427.345822121] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051427.346717846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051427.347760852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051427.444727899] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051427.445576380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051427.445899272] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051427.447280357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051427.448311615] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051427.457764835] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051427.458793012] [sailbot.main_algo]: Target Bearing: -141.62604078687545 +[main_algo-3] [INFO] [1746051427.459736795] [sailbot.main_algo]: Heading Difference: -168.6969592131245 +[main_algo-3] [INFO] [1746051427.461062921] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051427.462003529] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051427.462809898] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051427.464403116] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051427.464615176] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051427.502741063] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904418 Long: -76.5027782 +[main_algo-3] [INFO] [1746051427.503731004] [sailbot.main_algo]: Distance to destination: 56.32746230617481 +[vectornav-1] [INFO] [1746051427.503898321] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.011000000000024, 0.455, 5.732) +[main_algo-3] [INFO] [1746051427.505046797] [sailbot.main_algo]: Target Bearing: -141.61135234795694 +[main_algo-3] [INFO] [1746051427.506038675] [sailbot.main_algo]: Heading Difference: -168.71164765204304 +[main_algo-3] [INFO] [1746051427.507603809] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051427.508546867] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051427.509454397] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051427.511494448] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051427.544852208] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051427.545522935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051427.546165998] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051427.547403118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051427.548547198] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051427.585308775] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051427.586898665] [sailbot.teensy]: Wind angle: 199 +[trim_sail-4] [INFO] [1746051427.587515426] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051427.587776132] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051427.589017846] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051427.588076413] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051427.589948634] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051427.645067001] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051427.645766720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051427.646452545] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051427.648042808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051427.649061687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051427.744963986] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051427.745602718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051427.746198402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051427.747547694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051427.748624173] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051427.835436569] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051427.837243275] [sailbot.teensy]: Wind angle: 200 +[teensy-2] [INFO] [1746051427.838198417] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051427.838353141] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051427.839117779] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051427.839954046] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051427.839964764] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051427.844545241] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051427.844995371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051427.846172291] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051427.846682478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051427.847842543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051427.945436609] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051427.945977095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051427.947532442] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051427.947985556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051427.949139434] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051427.957669218] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051427.958719203] [sailbot.main_algo]: Target Bearing: -141.61135234795694 +[main_algo-3] [INFO] [1746051427.959656369] [sailbot.main_algo]: Heading Difference: -169.37764765204304 +[main_algo-3] [INFO] [1746051427.961007162] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051427.961840444] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051427.962630755] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051427.964121502] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051427.964244813] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051428.003056479] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904412 Long: -76.50277835 +[main_algo-3] [INFO] [1746051428.003634552] [sailbot.main_algo]: Distance to destination: 56.3137026205283 +[vectornav-1] [INFO] [1746051428.004498938] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.632000000000005, -0.555, 4.93) +[main_algo-3] [INFO] [1746051428.004734589] [sailbot.main_algo]: Target Bearing: -141.60862558561476 +[main_algo-3] [INFO] [1746051428.005727281] [sailbot.main_algo]: Heading Difference: -169.3803744143852 +[main_algo-3] [INFO] [1746051428.007115898] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051428.007983817] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051428.008840550] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051428.010419638] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051428.044964125] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051428.045591026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051428.046238580] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051428.047466418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051428.048658505] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051428.085235972] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051428.087069331] [sailbot.teensy]: Wind angle: 200 +[trim_sail-4] [INFO] [1746051428.087491694] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051428.087956019] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051428.088832912] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051428.088577199] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051428.089708128] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051428.144913415] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051428.145628420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051428.146187284] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051428.147521052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051428.148555868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051428.244853996] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051428.245574682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051428.246541780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051428.247853810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051428.248884860] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051428.335116808] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051428.336672796] [sailbot.teensy]: Wind angle: 200 +[teensy-2] [INFO] [1746051428.337555994] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051428.337274015] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051428.338439841] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051428.338484696] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051428.339340227] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051428.344448809] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051428.344937844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051428.345589108] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051428.346712402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051428.347791183] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051428.443899344] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051428.444263084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051428.444420381] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051428.445012973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051428.445728715] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051428.457771182] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051428.458849848] [sailbot.main_algo]: Target Bearing: -141.60862558561476 +[main_algo-3] [INFO] [1746051428.459755371] [sailbot.main_algo]: Heading Difference: -169.7593744143852 +[main_algo-3] [INFO] [1746051428.461087505] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051428.461943070] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051428.462745394] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051428.464228727] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051428.464327477] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051428.502896344] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904414 Long: -76.50277849 +[vectornav-1] [INFO] [1746051428.504042666] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.028999999999996, 0.049, 5.873) +[main_algo-3] [INFO] [1746051428.504206415] [sailbot.main_algo]: Distance to destination: 56.306219154864486 +[main_algo-3] [INFO] [1746051428.505304401] [sailbot.main_algo]: Target Bearing: -141.59944337367264 +[main_algo-3] [INFO] [1746051428.506287214] [sailbot.main_algo]: Heading Difference: -169.76855662632738 +[main_algo-3] [INFO] [1746051428.507647228] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051428.508531013] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051428.509377560] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051428.511085524] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051428.544967618] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051428.545709684] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051428.546205233] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051428.547637438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051428.548645247] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051428.585357260] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051428.588262452] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051428.588435159] [sailbot.teensy]: Wind angle: 200 +[mux-7] [INFO] [1746051428.589589240] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051428.589771707] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051428.590937970] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051428.591913834] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051428.643877520] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051428.644375113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051428.644574181] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051428.645425999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051428.646103862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051428.744960982] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051428.745757952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051428.746257866] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051428.747598161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051428.748632911] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051428.835398471] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051428.837236000] [sailbot.teensy]: Wind angle: 200 +[trim_sail-4] [INFO] [1746051428.837959150] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051428.838888643] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051428.838961131] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051428.839298700] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051428.839669159] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051428.844383630] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051428.844812435] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051428.845534966] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051428.846529725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051428.847736736] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051428.944768311] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051428.945332006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051428.946130406] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051428.947132206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051428.948369613] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051428.957816979] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051428.958883823] [sailbot.main_algo]: Target Bearing: -141.59944337367264 +[main_algo-3] [INFO] [1746051428.959789482] [sailbot.main_algo]: Heading Difference: -170.37155662632733 +[main_algo-3] [INFO] [1746051428.961130355] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051428.961988505] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051428.962787366] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051428.964328381] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051428.964333176] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051429.002814867] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904412 Long: -76.50277833 +[main_algo-3] [INFO] [1746051429.003751900] [sailbot.main_algo]: Distance to destination: 56.31497323295805 +[vectornav-1] [INFO] [1746051429.003993385] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.627999999999986, -1.437, 5.743) +[main_algo-3] [INFO] [1746051429.004922007] [sailbot.main_algo]: Target Bearing: -141.60968768006524 +[main_algo-3] [INFO] [1746051429.005923540] [sailbot.main_algo]: Heading Difference: -170.36131231993477 +[main_algo-3] [INFO] [1746051429.007270776] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051429.008204348] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051429.009056918] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051429.010945896] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051429.044769155] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051429.045317000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051429.046000837] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051429.047006858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051429.047967251] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051429.085169938] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051429.086749270] [sailbot.teensy]: Wind angle: 202 +[trim_sail-4] [INFO] [1746051429.087262814] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051429.087685503] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051429.088687769] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051429.089803084] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051429.089899204] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051429.145124763] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051429.145877986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051429.146563162] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051429.147900602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051429.148715949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051429.245009731] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051429.245725386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051429.246423245] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051429.247592744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051429.248642977] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051429.335245251] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051429.337230621] [sailbot.teensy]: Wind angle: 203 +[trim_sail-4] [INFO] [1746051429.337268201] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051429.338479014] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051429.339071257] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051429.340041831] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051429.340956333] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051429.344368427] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051429.345005782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051429.345956830] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051429.346812295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051429.347863567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051429.445079407] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051429.445519516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051429.446513149] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051429.447565117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051429.448517668] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051429.457807846] [sailbot.main_algo]: Wind Direction: 203 +[main_algo-3] [INFO] [1746051429.458900542] [sailbot.main_algo]: Target Bearing: -141.60968768006524 +[main_algo-3] [INFO] [1746051429.459855286] [sailbot.main_algo]: Heading Difference: -169.76231231993478 +[main_algo-3] [INFO] [1746051429.461238119] [sailbot.main_algo]: Wind Direction: 203 +[main_algo-3] [INFO] [1746051429.462161056] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051429.462990848] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051429.464515956] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051429.464718469] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051429.502931301] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690442 Long: -76.50277828 +[main_algo-3] [INFO] [1746051429.504034321] [sailbot.main_algo]: Distance to destination: 56.32378995399514 +[vectornav-1] [INFO] [1746051429.504490841] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.13900000000001, -0.081, 4.432) +[main_algo-3] [INFO] [1746051429.505429437] [sailbot.main_algo]: Target Bearing: -141.60535896575368 +[main_algo-3] [INFO] [1746051429.506408984] [sailbot.main_algo]: Heading Difference: -169.76664103424633 +[main_algo-3] [INFO] [1746051429.507792875] [sailbot.main_algo]: Wind Direction: 203 +[main_algo-3] [INFO] [1746051429.508687170] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051429.509579502] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051429.511433836] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051429.544924134] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051429.545673560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051429.546305212] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051429.547934791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051429.549107385] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051429.585349221] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051429.587129222] [sailbot.teensy]: Wind angle: 202 +[trim_sail-4] [INFO] [1746051429.587506648] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051429.588235319] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051429.589215115] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051429.590068202] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051429.590147122] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051429.644922808] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051429.645592779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051429.646191502] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051429.647405611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051429.648613823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051429.744816314] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051429.745375587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051429.745942304] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051429.747138510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051429.748242067] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051429.835339431] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051429.837241177] [sailbot.teensy]: Wind angle: 196 +[trim_sail-4] [INFO] [1746051429.837684855] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051429.838193344] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051429.838857854] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051429.839059176] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051429.839946269] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051429.844339920] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051429.845321264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051429.845534307] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051429.846980119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051429.848146897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051429.944967579] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051429.945851161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051429.946324523] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051429.947692923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051429.948896377] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051429.957689653] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051429.958719255] [sailbot.main_algo]: Target Bearing: -141.60535896575368 +[main_algo-3] [INFO] [1746051429.959635277] [sailbot.main_algo]: Heading Difference: -169.2556410342463 +[main_algo-3] [INFO] [1746051429.960925662] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051429.961755552] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051429.962547404] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051429.964112516] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051429.964166941] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051430.002037649] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904435 Long: -76.50277804 +[main_algo-3] [INFO] [1746051430.002770236] [sailbot.main_algo]: Distance to destination: 56.34961246286325 +[vectornav-1] [INFO] [1746051430.003027775] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.31, 0.746, 6.625) +[main_algo-3] [INFO] [1746051430.003775412] [sailbot.main_algo]: Target Bearing: -141.60500995077675 +[main_algo-3] [INFO] [1746051430.004630846] [sailbot.main_algo]: Heading Difference: -169.25599004922321 +[main_algo-3] [INFO] [1746051430.006022129] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051430.006877850] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051430.007706748] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051430.009297428] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051430.045437928] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051430.045820172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051430.046767477] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051430.047681266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051430.048845229] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051430.084552488] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051430.085454484] [sailbot.teensy]: Wind angle: 195 +[teensy-2] [INFO] [1746051430.085980465] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051430.086476667] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051430.086782901] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051430.086953914] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051430.087731775] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051430.143709149] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051430.144020298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051430.144252786] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051430.145016303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051430.145529845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051430.243618759] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051430.244112206] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051430.243940193] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051430.244685250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051430.245209084] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051430.334444233] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051430.335216240] [sailbot.teensy]: Wind angle: 195 +[trim_sail-4] [INFO] [1746051430.335517472] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051430.335628874] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051430.336021750] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051430.336475844] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051430.337519141] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051430.343695357] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051430.343903964] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051430.344843304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051430.345321747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051430.345390225] [sailbot.mux]: Published rudder angle from controller_app: 0 +[mux-7] [INFO] [1746051430.444356853] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051430.444871479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051430.445424980] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051430.446444588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051430.447230313] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051430.457387915] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051430.458404058] [sailbot.main_algo]: Target Bearing: -141.60500995077675 +[main_algo-3] [INFO] [1746051430.459283103] [sailbot.main_algo]: Heading Difference: -171.08499004922328 +[main_algo-3] [INFO] [1746051430.460581796] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051430.461683456] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051430.462500318] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051430.464029098] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051430.464115987] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051430.502805557] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904437 Long: -76.50277797 +[main_algo-3] [INFO] [1746051430.503508923] [sailbot.main_algo]: Distance to destination: 56.35546951690856 +[vectornav-1] [INFO] [1746051430.503904051] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.245000000000005, -1.7, 4.763) +[main_algo-3] [INFO] [1746051430.504551471] [sailbot.main_algo]: Target Bearing: -141.60698012737467 +[main_algo-3] [INFO] [1746051430.505449184] [sailbot.main_algo]: Heading Difference: -171.0830198726253 +[main_algo-3] [INFO] [1746051430.506731493] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051430.507545945] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051430.508340666] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051430.509895494] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051430.544851706] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051430.545588145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051430.546186026] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051430.547383698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051430.548520188] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051430.585304539] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051430.587283673] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746051430.588361681] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051430.587745051] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051430.589040604] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051430.589573912] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051430.590679468] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051430.645032627] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051430.645549614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051430.646359465] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051430.647407513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051430.648598073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051430.744833990] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051430.745523205] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051430.746070073] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051430.747211785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051430.748201421] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051430.835285265] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051430.836949932] [sailbot.teensy]: Wind angle: 203 +[trim_sail-4] [INFO] [1746051430.837468346] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051430.837904630] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051430.838774321] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051430.839516112] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051430.839658705] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051430.844465758] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051430.844971124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051430.845687833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051430.846667606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051430.847719316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051430.945275901] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051430.945879064] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051430.947929491] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051430.948465279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051430.949707323] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051430.957689094] [sailbot.main_algo]: Wind Direction: 203 +[main_algo-3] [INFO] [1746051430.958751856] [sailbot.main_algo]: Target Bearing: -141.60698012737467 +[main_algo-3] [INFO] [1746051430.959659683] [sailbot.main_algo]: Heading Difference: -169.14801987262535 +[main_algo-3] [INFO] [1746051430.960981026] [sailbot.main_algo]: Wind Direction: 203 +[main_algo-3] [INFO] [1746051430.961860524] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051430.962715366] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051430.964303578] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051430.964327607] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051431.002986360] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904451 Long: -76.50277781 +[main_algo-3] [INFO] [1746051431.003827536] [sailbot.main_algo]: Distance to destination: 56.37550479834261 +[vectornav-1] [INFO] [1746051431.004357513] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.136000000000024, 0.087, 6.618) +[main_algo-3] [INFO] [1746051431.004985498] [sailbot.main_algo]: Target Bearing: -141.60325865953274 +[main_algo-3] [INFO] [1746051431.005964115] [sailbot.main_algo]: Heading Difference: -169.15174134046725 +[main_algo-3] [INFO] [1746051431.007465090] [sailbot.main_algo]: Wind Direction: 203 +[main_algo-3] [INFO] [1746051431.008440449] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051431.009303943] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051431.011165170] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051431.044993367] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051431.045643701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051431.046246255] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051431.047463689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051431.048647286] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051431.084789633] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051431.086231451] [sailbot.teensy]: Wind angle: 205 +[trim_sail-4] [INFO] [1746051431.086466167] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051431.087015137] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051431.087848418] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051431.088664603] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051431.088461850] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051431.145044670] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051431.145814014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051431.146451043] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051431.147773678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051431.148936606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051431.244904307] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051431.245592087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051431.246164704] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051431.247345869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051431.248399692] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051431.335259199] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051431.336986309] [sailbot.teensy]: Wind angle: 208 +[teensy-2] [INFO] [1746051431.337950074] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051431.338209290] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051431.338857409] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051431.339189718] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051431.339742710] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051431.344659833] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051431.344960244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051431.345980634] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051431.346696305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051431.347728285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051431.445406755] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051431.445936842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051431.446996114] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051431.448059652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051431.449401142] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051431.457910075] [sailbot.main_algo]: Wind Direction: 208 +[main_algo-3] [INFO] [1746051431.459590473] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746051431.460584766] [sailbot.main_algo]: Target Bearing: -141.60325865953274 +[main_algo-3] [INFO] [1746051431.461552213] [sailbot.main_algo]: Heading Difference: -169.26074134046723 +[main_algo-3] [INFO] [1746051431.462871584] [sailbot.main_algo]: Wind Direction: 208 +[main_algo-3] [INFO] [1746051431.463712999] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051431.464582689] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051431.466074814] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051431.466152076] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051431.503304004] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904461 Long: -76.50277771 +[main_algo-3] [INFO] [1746051431.504242814] [sailbot.main_algo]: Distance to destination: 56.38890839381779 +[vectornav-1] [INFO] [1746051431.504754686] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.55200000000002, -0.712, 4.873) +[main_algo-3] [INFO] [1746051431.505618423] [sailbot.main_algo]: Target Bearing: -141.59984431514508 +[main_algo-3] [INFO] [1746051431.506694829] [sailbot.main_algo]: Heading Difference: -169.26415568485493 +[main_algo-3] [INFO] [1746051431.508094585] [sailbot.main_algo]: Wind Direction: 208 +[main_algo-3] [INFO] [1746051431.508989851] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051431.509899518] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051431.511567799] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051431.545028902] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051431.545618241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051431.546416492] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051431.547567016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051431.548730323] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051431.585281745] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051431.586989944] [sailbot.teensy]: Wind angle: 208 +[trim_sail-4] [INFO] [1746051431.587458841] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051431.587948513] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051431.588982785] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051431.589189449] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051431.589864640] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051431.645133903] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051431.645684629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051431.646605736] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051431.648067562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051431.649230506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051431.745031691] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051431.745491943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051431.746343153] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051431.747593241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051431.748607814] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051431.835594568] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051431.838051380] [sailbot.teensy]: Wind angle: 204 +[trim_sail-4] [INFO] [1746051431.838155144] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051431.839088443] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051431.839995470] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051431.840549801] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051431.840927667] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051431.844416190] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051431.845067782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051431.845627706] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051431.846791716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051431.847988235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051431.945413468] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051431.946166975] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051431.947013762] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051431.948324141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051431.949503903] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051431.957724073] [sailbot.main_algo]: Wind Direction: 204 +[main_algo-3] [INFO] [1746051431.959252965] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746051431.960589944] [sailbot.main_algo]: Wind Direction: 204 +[main_algo-3] [INFO] [1746051431.961806850] [sailbot.main_algo]: Current Location: (42.46904461214755, -76.50277771005445) +[main_algo-3] [INFO] [1746051431.962733954] [sailbot.main_algo]: Target Bearing: -141.59984431514508 +[main_algo-3] [INFO] [1746051431.963574283] [sailbot.main_algo]: Heading Difference: -168.84815568485487 +[main_algo-3] [INFO] [1746051431.964787420] [sailbot.main_algo]: Wind Direction: 204 +[main_algo-3] [INFO] [1746051431.965598036] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051431.966340297] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051431.967848025] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051431.968979017] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051432.002930319] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904496 Long: -76.50277818 +[main_algo-3] [INFO] [1746051432.004054689] [sailbot.main_algo]: Distance to destination: 56.38375956962325 +[vectornav-1] [INFO] [1746051432.004544052] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.38900000000001, 0.327, 5.181) +[main_algo-3] [INFO] [1746051432.005318742] [sailbot.main_algo]: Target Bearing: -141.54439494612907 +[main_algo-3] [INFO] [1746051432.006280967] [sailbot.main_algo]: Heading Difference: -168.90360505387093 +[main_algo-3] [INFO] [1746051432.007668994] [sailbot.main_algo]: Wind Direction: 204 +[main_algo-3] [INFO] [1746051432.008579120] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051432.009435916] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051432.011169027] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051432.045262594] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051432.045828394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051432.046684607] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051432.047984219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051432.049397039] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051432.084900721] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051432.086198094] [sailbot.teensy]: Wind angle: 192 +[teensy-2] [INFO] [1746051432.086989493] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051432.087768775] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051432.087171773] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051432.088692051] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051432.089363009] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051432.144929936] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051432.145633019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051432.146231072] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051432.147555346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051432.148718684] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051432.244931916] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051432.245744990] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051432.246218816] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051432.247933000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051432.248716946] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051432.335380356] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051432.337767586] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051432.338237751] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051432.339627098] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051432.340551252] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051432.341379942] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051432.342276870] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051432.344484086] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051432.344896708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051432.345678505] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051432.346587390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051432.347620021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051432.445781948] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051432.447122932] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051432.447906052] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051432.451005179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051432.452280011] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051432.457565367] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051432.458725696] [sailbot.main_algo]: Target Bearing: -141.54439494612907 +[main_algo-3] [INFO] [1746051432.459629553] [sailbot.main_algo]: Heading Difference: -170.06660505387094 +[main_algo-3] [INFO] [1746051432.460995481] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051432.461889573] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051432.462753752] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051432.464360242] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051432.464416435] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051432.502706941] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904495 Long: -76.50277817 +[main_algo-3] [INFO] [1746051432.503542048] [sailbot.main_algo]: Distance to destination: 56.38368832556933 +[vectornav-1] [INFO] [1746051432.504554540] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.120000000000005, -0.78, 5.403) +[main_algo-3] [INFO] [1746051432.504636640] [sailbot.main_algo]: Target Bearing: -141.54579726176456 +[main_algo-3] [INFO] [1746051432.505650611] [sailbot.main_algo]: Heading Difference: -170.06520273823543 +[main_algo-3] [INFO] [1746051432.507044463] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051432.507921283] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051432.508784721] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051432.510484170] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051432.545064934] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051432.545683405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051432.546471177] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051432.547654149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051432.548699256] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051432.585260010] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051432.587471289] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051432.588702152] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051432.588919175] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051432.589883930] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051432.590764877] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051432.591694592] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051432.645246253] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051432.646118081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051432.646839226] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051432.648611293] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051432.649748260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051432.744400038] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051432.745148667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051432.747194114] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051432.747566022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051432.748961592] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051432.835160565] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051432.836872449] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051432.837741979] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051432.837198613] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051432.837998062] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051432.839426643] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051432.840780505] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051432.844277177] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051432.844931507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051432.845709794] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051432.846617809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051432.847664008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051432.945250715] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051432.946145052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051432.946805251] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051432.948343726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051432.949440849] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051432.957664390] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051432.958721981] [sailbot.main_algo]: Target Bearing: -141.54579726176456 +[main_algo-3] [INFO] [1746051432.959621828] [sailbot.main_algo]: Heading Difference: -170.33420273823543 +[main_algo-3] [INFO] [1746051432.960985760] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051432.961851278] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051432.962669170] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051432.964197407] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051432.964231187] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051433.002961398] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904497 Long: -76.50277796 +[main_algo-3] [INFO] [1746051433.003835465] [sailbot.main_algo]: Distance to destination: 56.39843030479405 +[vectornav-1] [INFO] [1746051433.004385280] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.93700000000001, 0.07, 5.151) +[main_algo-3] [INFO] [1746051433.005082439] [sailbot.main_algo]: Target Bearing: -141.5552056552117 +[main_algo-3] [INFO] [1746051433.006075654] [sailbot.main_algo]: Heading Difference: -170.3247943447883 +[main_algo-3] [INFO] [1746051433.007432718] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051433.008343113] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051433.009238409] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051433.010772407] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051433.045090645] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051433.045570987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051433.046267957] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051433.047449223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051433.048601515] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051433.085120102] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051433.086680808] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051433.087541107] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051433.087290910] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051433.088404496] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051433.088433931] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051433.089299392] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051433.145032202] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051433.145753263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051433.146374413] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051433.147633280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051433.148879874] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051433.245014182] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051433.245544521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051433.246400905] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051433.247487369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051433.248662932] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051433.335481567] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051433.337398348] [sailbot.teensy]: Wind angle: 187 +[trim_sail-4] [INFO] [1746051433.338005395] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051433.339352161] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051433.339543999] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051433.340321379] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051433.341209192] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051433.344276040] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051433.345075467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051433.345381500] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051433.346822398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051433.347937499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051433.445177254] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051433.445766580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051433.446696741] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051433.447802652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051433.448853035] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051433.457589767] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051433.458564553] [sailbot.main_algo]: Target Bearing: -141.5552056552117 +[main_algo-3] [INFO] [1746051433.459564218] [sailbot.main_algo]: Heading Difference: -169.5077943447883 +[main_algo-3] [INFO] [1746051433.460849622] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051433.461954483] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051433.462813091] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051433.464340145] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051433.464379491] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051433.502904864] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904516 Long: -76.50277806 +[main_algo-3] [INFO] [1746051433.503755295] [sailbot.main_algo]: Distance to destination: 56.40549677347111 +[vectornav-1] [INFO] [1746051433.504081560] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.58100000000002, -1.51, 5.391) +[main_algo-3] [INFO] [1746051433.504956202] [sailbot.main_algo]: Target Bearing: -141.533348894894 +[main_algo-3] [INFO] [1746051433.507048128] [sailbot.main_algo]: Heading Difference: -169.52965110510598 +[main_algo-3] [INFO] [1746051433.508859186] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051433.509779405] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051433.510828980] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051433.512557529] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051433.545005433] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051433.545585124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051433.546327531] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051433.547421808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051433.548627589] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051433.585311955] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051433.587084834] [sailbot.teensy]: Wind angle: 188 +[trim_sail-4] [INFO] [1746051433.587891992] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051433.588016974] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051433.588543681] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051433.589111303] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051433.590135808] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051433.645083507] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051433.645591958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051433.646408931] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051433.647658916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051433.648827595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051433.745052905] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051433.745558011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051433.746360450] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051433.747571892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051433.748664393] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051433.835386111] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051433.837263847] [sailbot.teensy]: Wind angle: 188 +[trim_sail-4] [INFO] [1746051433.838269720] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051433.839036225] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051433.839356797] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051433.840483147] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051433.841359161] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051433.844361709] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051433.844922820] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051433.845506946] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051433.846546244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051433.847516498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051433.945100330] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051433.945842461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051433.946521224] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051433.947879811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051433.948395020] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051433.957653762] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051433.958687848] [sailbot.main_algo]: Target Bearing: -141.533348894894 +[main_algo-3] [INFO] [1746051433.959598794] [sailbot.main_algo]: Heading Difference: -168.88565110510598 +[main_algo-3] [INFO] [1746051433.960911438] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051433.961734761] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051433.962528035] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051433.964038372] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051433.964060722] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051434.003395076] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904522 Long: -76.502778 +[vectornav-1] [INFO] [1746051434.005015874] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.93799999999999, 0.886, 5.354) +[main_algo-3] [INFO] [1746051434.004052008] [sailbot.main_algo]: Distance to destination: 56.41354136031455 +[main_algo-3] [INFO] [1746051434.005337171] [sailbot.main_algo]: Target Bearing: -141.53131114979894 +[main_algo-3] [INFO] [1746051434.006344736] [sailbot.main_algo]: Heading Difference: -168.88768885020102 +[main_algo-3] [INFO] [1746051434.007772036] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051434.008784585] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051434.009696932] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051434.011503231] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051434.044989507] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051434.045694392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051434.046255965] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051434.047605486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051434.048633091] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051434.085645564] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051434.087781641] [sailbot.teensy]: Wind angle: 186 +[trim_sail-4] [INFO] [1746051434.088032351] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051434.088872852] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051434.089908441] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051434.090669089] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051434.090762519] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051434.143677802] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051434.144030577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051434.144200571] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051434.144843953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051434.145315715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051434.243605177] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051434.243998475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051434.244113689] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051434.244804865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051434.245774815] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051434.334379221] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051434.335414459] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051434.335906544] [sailbot.teensy]: Wind angle: 186 +[mux-7] [INFO] [1746051434.336478148] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051434.337441483] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051434.337909346] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051434.338304503] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051434.343602636] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051434.343897042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051434.345001825] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051434.345235870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051434.345744789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051434.443597086] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051434.444125643] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051434.444900587] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051434.446282651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051434.446811063] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051434.456555122] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051434.457056543] [sailbot.main_algo]: Target Bearing: -141.53131114979894 +[main_algo-3] [INFO] [1746051434.457474858] [sailbot.main_algo]: Heading Difference: -169.53068885020105 +[main_algo-3] [INFO] [1746051434.458091380] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051434.458498236] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051434.458945584] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051434.459702771] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051434.459796515] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051434.501305816] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904512 Long: -76.50277822 +[vectornav-1] [INFO] [1746051434.501695629] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.37900000000002, -0.559, 5.171) +[main_algo-3] [INFO] [1746051434.502974137] [sailbot.main_algo]: Distance to destination: 56.392518571794355 +[main_algo-3] [INFO] [1746051434.503430154] [sailbot.main_algo]: Target Bearing: -141.52833391898693 +[main_algo-3] [INFO] [1746051434.503876339] [sailbot.main_algo]: Heading Difference: -169.53366608101305 +[main_algo-3] [INFO] [1746051434.504502306] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051434.504923644] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051434.505321052] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051434.506144016] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051434.543749412] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051434.544126924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051434.544334661] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051434.544952867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051434.545450439] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051434.584453312] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051434.585801159] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051434.586015671] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051434.586458461] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051434.586909488] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051434.586916893] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051434.587319960] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051434.643705073] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051434.644068034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051434.644264243] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051434.645395352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051434.646991742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051434.743695363] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051434.744562952] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051434.744674342] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051434.746274494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051434.747766173] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051434.834445347] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051434.835193296] [sailbot.teensy]: Wind angle: 184 +[teensy-2] [INFO] [1746051434.835598856] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051434.836044211] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051434.837664536] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051434.838342372] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051434.838372775] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051434.843801685] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051434.844514148] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051434.847257717] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051434.848666408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051434.850192404] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051434.943664791] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051434.944626806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051434.945316219] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051434.947150338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051434.948204649] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051434.956521786] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051434.957044326] [sailbot.main_algo]: Target Bearing: -141.52833391898693 +[main_algo-3] [INFO] [1746051434.957798885] [sailbot.main_algo]: Heading Difference: -169.09266608101302 +[main_algo-3] [INFO] [1746051434.958492753] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051434.958937195] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051434.959352398] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051434.960905618] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051434.962358478] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051435.001443902] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904477 Long: -76.50277825 +[vectornav-1] [INFO] [1746051435.001997462] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.15699999999998, -0.355, 5.285) +[main_algo-3] [INFO] [1746051435.004034197] [sailbot.main_algo]: Distance to destination: 56.36590438934793 +[main_algo-3] [INFO] [1746051435.005469966] [sailbot.main_algo]: Target Bearing: -141.55723374882203 +[main_algo-3] [INFO] [1746051435.006055971] [sailbot.main_algo]: Heading Difference: -169.06376625117798 +[main_algo-3] [INFO] [1746051435.007778265] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051435.008362032] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051435.008825349] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051435.009795370] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051435.043560593] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051435.044046823] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051435.045257928] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051435.045773046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051435.046310799] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051435.084446971] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051435.085159362] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051435.085554349] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051435.085927080] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051435.085507192] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051435.086321980] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051435.086622930] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051435.143642451] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051435.143935000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051435.144138252] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051435.144925062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051435.145512582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051435.243846224] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051435.244300291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051435.244604831] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051435.245476099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051435.246245613] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051435.334440887] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051435.335246657] [sailbot.teensy]: Wind angle: 177 +[trim_sail-4] [INFO] [1746051435.335460666] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051435.335656962] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051435.336059887] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051435.336475734] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051435.337219133] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051435.343560748] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051435.344016685] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051435.345224229] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051435.345728855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051435.346178077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051435.443611712] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051435.444088832] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051435.445431004] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051435.445970094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051435.446493988] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051435.456571137] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051435.457089845] [sailbot.main_algo]: Target Bearing: -141.55723374882203 +[main_algo-3] [INFO] [1746051435.457517059] [sailbot.main_algo]: Heading Difference: -169.28576625117796 +[main_algo-3] [INFO] [1746051435.458134832] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051435.458543735] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051435.458952264] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051435.459945364] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051435.460211537] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051435.501493557] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904466 Long: -76.50277846 +[vectornav-1] [INFO] [1746051435.501995653] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.56999999999999, -0.822, 5.219) +[main_algo-3] [INFO] [1746051435.503509802] [sailbot.main_algo]: Distance to destination: 56.34480926821865 +[main_algo-3] [INFO] [1746051435.504073972] [sailbot.main_algo]: Target Bearing: -141.55566696464305 +[main_algo-3] [INFO] [1746051435.504614871] [sailbot.main_algo]: Heading Difference: -169.28733303535694 +[main_algo-3] [INFO] [1746051435.505296145] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051435.505774654] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051435.506217345] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051435.507157106] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051435.543703044] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051435.545844563] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051435.547001605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051435.547593688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051435.547774995] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051435.584528789] [sailbot.teensy]: Check telemetry callback entered +[mux-7] [INFO] [1746051435.586375057] [sailbot.mux]: algo sail angle: 0 +[trim_sail-4] [INFO] [1746051435.586874652] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051435.587927998] [sailbot.teensy]: Wind angle: 177 +[teensy-2] [INFO] [1746051435.588382830] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051435.588776457] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051435.589960592] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051435.643670000] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051435.644104814] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051435.644949641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051435.645661986] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051435.647291029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051435.743713306] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051435.744408556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051435.745180011] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051435.745293900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051435.745813858] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051435.834515973] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051435.835859406] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051435.836468913] [sailbot.teensy]: Wind angle: 178 +[teensy-2] [INFO] [1746051435.836950313] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051435.837341846] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051435.836862584] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051435.837727658] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051435.843672528] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051435.844200214] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051435.844021364] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051435.844856544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051435.845341569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051435.943700627] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051435.944056279] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051435.944947257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051435.945434128] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051435.945465736] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051435.956699659] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051435.957340558] [sailbot.main_algo]: Target Bearing: -141.55566696464305 +[main_algo-3] [INFO] [1746051435.957822235] [sailbot.main_algo]: Heading Difference: -168.87433303535693 +[main_algo-3] [INFO] [1746051435.958567050] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051435.959184022] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051435.959766031] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051435.960609469] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051435.960868298] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051436.001705459] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904454 Long: -76.50277839 +[main_algo-3] [INFO] [1746051436.003106900] [sailbot.main_algo]: Distance to destination: 56.340785011852894 +[main_algo-3] [INFO] [1746051436.003713327] [sailbot.main_algo]: Target Bearing: -141.56985071957624 +[vectornav-1] [INFO] [1746051436.004488893] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.476, 0.251, 4.969) +[main_algo-3] [INFO] [1746051436.005394654] [sailbot.main_algo]: Heading Difference: -168.8601492804238 +[main_algo-3] [INFO] [1746051436.007815444] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051436.008656460] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051436.009258384] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051436.010491847] [sailbot.mux]: algo rudder angle: -25 +[teensy-2] [INFO] [1746051436.044269105] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051436.045048166] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051436.045679961] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051436.045922637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051436.046512659] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051436.084432604] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051436.085654538] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051436.085892404] [sailbot.teensy]: Wind angle: 178 +[teensy-2] [INFO] [1746051436.086310732] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051436.086727584] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051436.086767190] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051436.087141610] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051436.143721197] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051436.143978909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051436.144293544] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051436.145809809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051436.146322970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051436.243700687] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051436.245057162] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051436.245140970] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051436.245774935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051436.246368309] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051436.334498885] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051436.335867710] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051436.336120226] [sailbot.teensy]: Wind angle: 177 +[teensy-2] [INFO] [1746051436.336579884] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051436.337568676] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051436.339015702] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051436.339444438] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051436.343649959] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051436.344145168] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051436.344063914] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051436.344806035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051436.346588303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051436.443671882] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051436.444529522] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051436.445379682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051436.444778850] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051436.450356200] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051436.456562871] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051436.457648941] [sailbot.main_algo]: Target Bearing: -141.56985071957624 +[main_algo-3] [INFO] [1746051436.458626186] [sailbot.main_algo]: Heading Difference: -168.95414928042374 +[main_algo-3] [INFO] [1746051436.461108127] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051436.461588078] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051436.462875972] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051436.464282303] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051436.464860017] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051436.501428292] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904434 Long: -76.50277853 +[vectornav-1] [INFO] [1746051436.501920085] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.04399999999998, -0.376, 4.922) +[main_algo-3] [INFO] [1746051436.503385245] [sailbot.main_algo]: Distance to destination: 56.31778465491253 +[main_algo-3] [INFO] [1746051436.503879849] [sailbot.main_algo]: Target Bearing: -141.57986087986677 +[main_algo-3] [INFO] [1746051436.504359508] [sailbot.main_algo]: Heading Difference: -168.94413912013323 +[main_algo-3] [INFO] [1746051436.505055955] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051436.505500412] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051436.505958735] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051436.507056455] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051436.543667551] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051436.544183263] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051436.544504245] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051436.545333035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051436.546801609] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051436.584549200] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051436.585344688] [sailbot.teensy]: Wind angle: 178 +[trim_sail-4] [INFO] [1746051436.585603681] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051436.585770242] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051436.586202428] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051436.586601711] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051436.587275958] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051436.643713817] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051436.644241005] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051436.644037420] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051436.644947049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051436.646685445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051436.743622455] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051436.743939043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051436.744121673] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051436.744758161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051436.745619722] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051436.834362866] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051436.835584168] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051436.835853850] [sailbot.teensy]: Wind angle: 178 +[teensy-2] [INFO] [1746051436.836262067] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051436.836640223] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051436.837021644] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051436.836617397] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051436.843571528] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051436.844048184] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051436.843858638] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051436.844598280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051436.845194591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051436.943674729] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051436.944035685] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051436.944235635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051436.945613812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051436.946226975] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051436.956490925] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051436.956981085] [sailbot.main_algo]: Target Bearing: -141.57986087986677 +[main_algo-3] [INFO] [1746051436.957397679] [sailbot.main_algo]: Heading Difference: -169.37613912013325 +[main_algo-3] [INFO] [1746051436.958542260] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051436.959424154] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051436.960402326] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051436.961665212] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051436.961739938] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051437.001430527] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904419 Long: -76.50277841 +[vectornav-1] [INFO] [1746051437.001878307] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.613999999999976, -0.311, 5.286) +[main_algo-3] [INFO] [1746051437.003161282] [sailbot.main_algo]: Distance to destination: 56.31482666714829 +[main_algo-3] [INFO] [1746051437.003680148] [sailbot.main_algo]: Target Bearing: -141.59932786709103 +[main_algo-3] [INFO] [1746051437.004117353] [sailbot.main_algo]: Heading Difference: -169.356672132909 +[main_algo-3] [INFO] [1746051437.004816581] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051437.005322677] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051437.005738943] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051437.006591960] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051437.043669315] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051437.044205009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051437.044404162] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051437.045314779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051437.046095902] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051437.084943690] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051437.086810131] [sailbot.teensy]: Wind angle: 178 +[teensy-2] [INFO] [1746051437.087503102] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051437.088032547] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051437.088162098] [sailbot.mux]: algo sail angle: 0 +[trim_sail-4] [INFO] [1746051437.088146111] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051437.089771021] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051437.144100110] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051437.144884426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051437.145203549] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051437.146770300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051437.147607409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051437.245089086] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051437.245616482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051437.246754793] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051437.247431233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051437.248548745] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051437.335305110] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051437.337081723] [sailbot.teensy]: Wind angle: 178 +[trim_sail-4] [INFO] [1746051437.338366975] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051437.339374836] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051437.339628561] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051437.340044669] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051437.340738317] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051437.344395284] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051437.344767706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051437.345575451] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051437.346399882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051437.347503053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051437.444985841] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051437.445470103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051437.446236332] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051437.447197955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051437.448419677] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051437.457613298] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051437.458694866] [sailbot.main_algo]: Target Bearing: -141.59932786709103 +[main_algo-3] [INFO] [1746051437.459637383] [sailbot.main_algo]: Heading Difference: -169.78667213290896 +[main_algo-3] [INFO] [1746051437.461033769] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051437.461844708] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051437.462620453] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051437.464177379] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051437.464192181] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051437.502748587] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904404 Long: -76.50277834 +[main_algo-3] [INFO] [1746051437.503582583] [sailbot.main_algo]: Distance to destination: 56.308698272801216 +[vectornav-1] [INFO] [1746051437.504179730] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.807000000000016, -0.46, 4.506) +[main_algo-3] [INFO] [1746051437.504650776] [sailbot.main_algo]: Target Bearing: -141.61614193720402 +[main_algo-3] [INFO] [1746051437.505558824] [sailbot.main_algo]: Heading Difference: -169.769858062796 +[main_algo-3] [INFO] [1746051437.506895909] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051437.507758542] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051437.508627938] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051437.510476612] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051437.545002792] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051437.545765244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051437.546280414] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051437.548015822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051437.549111382] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051437.585283446] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051437.587468047] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051437.587684326] [sailbot.teensy]: Wind angle: 178 +[mux-7] [INFO] [1746051437.588592685] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051437.588729856] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051437.589646929] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051437.590493289] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051437.645202270] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051437.645987040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051437.646646621] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051437.648240087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051437.649259995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051437.744919384] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051437.745905033] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051437.746284856] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051437.747800660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051437.748492203] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051437.835324940] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051437.837086486] [sailbot.teensy]: Wind angle: 178 +[trim_sail-4] [INFO] [1746051437.837808463] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051437.838920946] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051437.839772505] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051437.840760711] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051437.841611984] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051437.844364302] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051437.844827725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051437.845495094] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051437.846514250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051437.847562881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051437.945448339] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051437.945954348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051437.947273649] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051437.948145498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051437.948857373] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051437.957653943] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051437.958636503] [sailbot.main_algo]: Target Bearing: -141.61614193720402 +[main_algo-3] [INFO] [1746051437.959527189] [sailbot.main_algo]: Heading Difference: -169.57685806279596 +[main_algo-3] [INFO] [1746051437.960781948] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051437.961604091] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051437.962404262] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051437.963939326] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051437.963955008] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051438.003022864] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904413 Long: -76.50277826 +[main_algo-3] [INFO] [1746051438.003757766] [sailbot.main_algo]: Distance to destination: 56.32012547997583 +[vectornav-1] [INFO] [1746051438.004661784] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.057000000000016, -0.429, 5.946) +[main_algo-3] [INFO] [1746051438.005173880] [sailbot.main_algo]: Target Bearing: -141.6125315989662 +[main_algo-3] [INFO] [1746051438.006427440] [sailbot.main_algo]: Heading Difference: -169.58046840103378 +[main_algo-3] [INFO] [1746051438.007762818] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051438.008652522] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051438.009501245] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051438.011227015] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051438.045279248] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051438.045714736] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051438.046616644] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051438.047545203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051438.048593450] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051438.085544304] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051438.087608052] [sailbot.teensy]: Wind angle: 177 +[teensy-2] [INFO] [1746051438.088584619] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051438.088197655] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051438.088498438] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051438.089470961] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051438.090325806] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051438.144957594] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051438.145376396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051438.146239025] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051438.147121278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051438.148357615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051438.245285670] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051438.245914743] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051438.246911601] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051438.248049893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051438.249271658] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051438.335137012] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051438.337298910] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051438.337744331] [sailbot.teensy]: Wind angle: 176 +[teensy-2] [INFO] [1746051438.338685288] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051438.338430848] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051438.339541008] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051438.340124014] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051438.344329910] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051438.344788485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051438.345482909] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051438.346465182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051438.347586418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051438.444878654] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051438.445567868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051438.446145387] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051438.447277874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051438.448261330] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051438.457619442] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051438.458761940] [sailbot.main_algo]: Target Bearing: -141.6125315989662 +[main_algo-3] [INFO] [1746051438.459765176] [sailbot.main_algo]: Heading Difference: -169.33046840103378 +[main_algo-3] [INFO] [1746051438.461116094] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051438.461939791] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051438.462737507] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051438.464297891] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051438.464332879] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051438.502825410] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904407 Long: -76.50277804 +[main_algo-3] [INFO] [1746051438.503633610] [sailbot.main_algo]: Distance to destination: 56.32987560665626 +[vectornav-1] [INFO] [1746051438.503992107] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.33499999999998, -0.552, 4.858) +[main_algo-3] [INFO] [1746051438.504732161] [sailbot.main_algo]: Target Bearing: -141.62944784663264 +[main_algo-3] [INFO] [1746051438.505614500] [sailbot.main_algo]: Heading Difference: -169.31355215336737 +[main_algo-3] [INFO] [1746051438.506884720] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051438.507704127] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051438.508512571] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051438.510118002] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051438.545028106] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051438.545615889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051438.546377766] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051438.547750437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051438.548887455] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051438.585412958] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051438.587199396] [sailbot.teensy]: Wind angle: 176 +[trim_sail-4] [INFO] [1746051438.587611845] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051438.588112105] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051438.589098666] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051438.589797258] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051438.589999197] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051438.644999276] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051438.645662797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051438.646313687] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051438.647573266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051438.648775866] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051438.745273100] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051438.746034092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051438.746767233] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051438.748016752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051438.749102908] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051438.835486107] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051438.837676139] [sailbot.teensy]: Wind angle: 175 +[trim_sail-4] [INFO] [1746051438.837959059] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051438.838840128] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051438.839614668] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051438.839806162] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051438.840681716] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051438.844259613] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051438.844857141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051438.845418423] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051438.846576664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051438.847807226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051438.945299079] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051438.945876000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051438.946924642] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051438.947907871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051438.948650838] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051438.957638580] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051438.958649786] [sailbot.main_algo]: Target Bearing: -141.62944784663264 +[main_algo-3] [INFO] [1746051438.959578673] [sailbot.main_algo]: Heading Difference: -169.03555215336735 +[main_algo-3] [INFO] [1746051438.960879473] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051438.961722186] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051438.962532313] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051438.964399090] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051438.965213068] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051439.001817423] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690442 Long: -76.50277822 +[main_algo-3] [INFO] [1746051439.002555513] [sailbot.main_algo]: Distance to destination: 56.32760167347966 +[vectornav-1] [INFO] [1746051439.002756088] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.85699999999997, 0.569, 5.814) +[main_algo-3] [INFO] [1746051439.003470353] [sailbot.main_algo]: Target Bearing: -141.60854475919763 +[main_algo-3] [INFO] [1746051439.004435793] [sailbot.main_algo]: Heading Difference: -169.0564552408024 +[main_algo-3] [INFO] [1746051439.005828655] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051439.006784365] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051439.007686358] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051439.009433122] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051439.043986746] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051439.044395422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051439.044985298] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051439.046037117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051439.046754424] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051439.085222387] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051439.087255056] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051439.088280899] [sailbot.teensy]: Wind angle: 174 +[mux-7] [INFO] [1746051439.088282139] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051439.089319350] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051439.090206721] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051439.091041370] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051439.144787234] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051439.145771092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051439.146069844] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051439.147626769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051439.148657361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051439.245265111] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051439.245884090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051439.247230799] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051439.247915647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051439.249032728] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051439.335285767] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051439.337579188] [sailbot.teensy]: Wind angle: 175 +[trim_sail-4] [INFO] [1746051439.337684743] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051439.338376328] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051439.338524351] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051439.339217180] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051439.339566218] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051439.344513323] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051439.345148149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051439.345754254] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051439.347015989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051439.348116280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051439.444992283] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051439.445860187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051439.446306512] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051439.447692449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051439.448718561] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051439.457595834] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051439.458604720] [sailbot.main_algo]: Target Bearing: -141.60854475919763 +[main_algo-3] [INFO] [1746051439.459657061] [sailbot.main_algo]: Heading Difference: -169.5344552408024 +[main_algo-3] [INFO] [1746051439.462404572] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051439.463475105] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051439.464442907] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051439.466152522] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051439.466286654] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051439.502889522] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904427 Long: -76.50277834 +[main_algo-3] [INFO] [1746051439.503834260] [sailbot.main_algo]: Distance to destination: 56.32491452433262 +[vectornav-1] [INFO] [1746051439.504085479] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.077999999999975, -1.311, 3.382) +[main_algo-3] [INFO] [1746051439.505031022] [sailbot.main_algo]: Target Bearing: -141.59606297750003 +[main_algo-3] [INFO] [1746051439.506027577] [sailbot.main_algo]: Heading Difference: -169.5469370225 +[main_algo-3] [INFO] [1746051439.507478846] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051439.508413661] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051439.509327374] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051439.511070697] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051439.545023509] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051439.545699359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051439.546314395] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051439.547773370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051439.548813587] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051439.585683297] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051439.587284727] [sailbot.teensy]: Wind angle: 176 +[trim_sail-4] [INFO] [1746051439.588097109] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051439.590241460] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051439.592148120] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051439.593215632] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051439.593927324] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051439.644685598] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051439.645283049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051439.646093749] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051439.647192364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051439.648584588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051439.745026510] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051439.745643899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051439.746333359] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051439.747526978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051439.748556385] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051439.835247761] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051439.836998574] [sailbot.teensy]: Wind angle: 176 +[trim_sail-4] [INFO] [1746051439.837921742] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051439.838390027] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051439.838947406] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051439.839822359] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051439.840710178] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051439.844370920] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051439.845044020] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051439.845525922] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051439.846733319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051439.847895935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051439.944996342] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051439.946013898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051439.946353120] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051439.947946394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051439.948482359] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051439.957469536] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051439.958422962] [sailbot.main_algo]: Target Bearing: -141.59606297750003 +[main_algo-3] [INFO] [1746051439.959267733] [sailbot.main_algo]: Heading Difference: -169.3259370225 +[main_algo-3] [INFO] [1746051439.960532030] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051439.961380994] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051439.962193004] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051439.963738197] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051439.963738388] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051440.002705282] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904412 Long: -76.50277842 +[main_algo-3] [INFO] [1746051440.003613161] [sailbot.main_algo]: Distance to destination: 56.30925562860555 +[vectornav-1] [INFO] [1746051440.003789217] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.77800000000002, 0.338, 6.329) +[main_algo-3] [INFO] [1746051440.004683631] [sailbot.main_algo]: Target Bearing: -141.6049078751053 +[main_algo-3] [INFO] [1746051440.005631056] [sailbot.main_algo]: Heading Difference: -169.3170921248947 +[main_algo-3] [INFO] [1746051440.006994186] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051440.007909244] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051440.008725439] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051440.010381345] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051440.044980115] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051440.045570578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051440.046285515] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051440.047557654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051440.048616985] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051440.085232255] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051440.087295901] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051440.087676370] [sailbot.teensy]: Wind angle: 176 +[teensy-2] [INFO] [1746051440.088699990] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051440.089597171] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051440.089595366] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051440.090494378] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051440.144961639] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051440.145617501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051440.146313244] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051440.147919879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051440.149048776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051440.244917831] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051440.245529877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051440.246118652] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051440.247318916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051440.248360654] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051440.335368645] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051440.337272555] [sailbot.teensy]: Wind angle: 176 +[trim_sail-4] [INFO] [1746051440.337643502] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051440.338383400] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051440.338884253] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051440.339303719] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051440.339268017] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051440.344487736] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051440.345050527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051440.345855315] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051440.346908834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051440.348052200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051440.445272975] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051440.445931316] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051440.448121462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051440.446742640] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051440.449276860] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051440.457450537] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051440.458442111] [sailbot.main_algo]: Target Bearing: -141.6049078751053 +[main_algo-3] [INFO] [1746051440.459327135] [sailbot.main_algo]: Heading Difference: -169.61709212489467 +[main_algo-3] [INFO] [1746051440.460639865] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051440.461500117] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051440.462296679] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051440.463877967] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051440.463907203] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051440.502877922] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904418 Long: -76.50277871 +[main_algo-3] [INFO] [1746051440.503814845] [sailbot.main_algo]: Distance to destination: 56.295066953129016 +[main_algo-3] [INFO] [1746051440.505083692] [sailbot.main_algo]: Target Bearing: -141.58426090499827 +[vectornav-1] [INFO] [1746051440.505350692] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.829999999999984, -1.208, 4.718) +[main_algo-3] [INFO] [1746051440.506086160] [sailbot.main_algo]: Heading Difference: -169.63773909500173 +[main_algo-3] [INFO] [1746051440.507493368] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051440.508386359] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051440.509221721] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051440.511012606] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051440.545039956] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051440.545655204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051440.546366388] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051440.547561134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051440.548623737] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051440.585427293] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051440.587667159] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051440.588076588] [sailbot.teensy]: Wind angle: 176 +[teensy-2] [INFO] [1746051440.588972585] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051440.589052885] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051440.590006233] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051440.590975800] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051440.645035317] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051440.645585772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051440.646306663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051440.647401906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051440.648674908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051440.745460220] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051440.746057347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051440.747109884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051440.748253180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051440.749420058] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051440.835213962] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051440.837371734] [sailbot.teensy]: Wind angle: 175 +[trim_sail-4] [INFO] [1746051440.837416808] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051440.838373386] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051440.838779716] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051440.838810311] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051440.839185207] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051440.844418292] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051440.845153159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051440.845576717] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051440.846851740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051440.847879940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051440.945288530] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051440.946161013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051440.946976741] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051440.948443958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051440.949685706] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051440.957589098] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051440.958574820] [sailbot.main_algo]: Target Bearing: -141.58426090499827 +[main_algo-3] [INFO] [1746051440.959656541] [sailbot.main_algo]: Heading Difference: -168.5857390950017 +[main_algo-3] [INFO] [1746051440.960939670] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051440.961748811] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051440.962692045] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051440.965447929] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051440.965763198] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051441.002664706] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904421 Long: -76.50277855 +[vectornav-1] [INFO] [1746051441.003839157] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.514999999999986, 0.987, 5.476) +[main_algo-3] [INFO] [1746051441.003808675] [sailbot.main_algo]: Distance to destination: 56.307344668299784 +[main_algo-3] [INFO] [1746051441.005286397] [sailbot.main_algo]: Target Bearing: -141.59014460357008 +[main_algo-3] [INFO] [1746051441.006305208] [sailbot.main_algo]: Heading Difference: -168.57985539642993 +[main_algo-3] [INFO] [1746051441.007722580] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051441.008641108] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051441.009507621] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051441.011220621] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051441.044439165] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051441.044834889] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051441.046404614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051441.045405555] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051441.047441645] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051441.084533781] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051441.085526215] [sailbot.teensy]: Wind angle: 170 +[trim_sail-4] [INFO] [1746051441.086079136] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051441.086275987] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051441.087078299] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051441.087919204] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051441.089379855] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051441.145102183] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051441.145659605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051441.146540477] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051441.148148254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051441.149377119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051441.245068916] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051441.245630379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051441.246668131] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051441.247671030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051441.248768223] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051441.335513838] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051441.338119922] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051441.338727708] [sailbot.teensy]: Wind angle: 169 +[teensy-2] [INFO] [1746051441.339663613] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051441.340403695] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051441.340513720] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051441.340862156] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051441.344410549] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051441.345106779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051441.345497211] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051441.346867730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051441.347861955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051441.445160399] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051441.445984979] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051441.446556561] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051441.448008074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051441.449161607] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051441.457802789] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051441.458820873] [sailbot.main_algo]: Target Bearing: -141.59014460357008 +[main_algo-3] [INFO] [1746051441.459748404] [sailbot.main_algo]: Heading Difference: -169.89485539642993 +[main_algo-3] [INFO] [1746051441.461242209] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051441.462131288] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051441.462936407] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051441.464469829] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051441.464653911] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051441.502774586] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690442 Long: -76.50277872 +[main_algo-3] [INFO] [1746051441.503737590] [sailbot.main_algo]: Distance to destination: 56.295842682453994 +[vectornav-1] [INFO] [1746051441.504393989] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.49200000000002, -0.933, 5.374) +[main_algo-3] [INFO] [1746051441.504907631] [sailbot.main_algo]: Target Bearing: -141.58198330470094 +[main_algo-3] [INFO] [1746051441.505938322] [sailbot.main_algo]: Heading Difference: -169.90301669529907 +[main_algo-3] [INFO] [1746051441.507310016] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051441.508244407] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051441.509118615] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051441.510823155] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051441.545665774] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051441.545798148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051441.547152989] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051441.548515248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051441.549543433] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051441.585539477] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051441.587548248] [sailbot.teensy]: Wind angle: 170 +[teensy-2] [INFO] [1746051441.588528835] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051441.588254666] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051441.589526818] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051441.589527219] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051441.590414209] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051441.645017087] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051441.645752115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051441.646337007] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051441.647657803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051441.648891369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051441.745154716] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051441.745905017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051441.746791762] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051441.747896641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051441.749029051] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051441.835465990] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051441.837414070] [sailbot.teensy]: Wind angle: 170 +[teensy-2] [INFO] [1746051441.838392026] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051441.837927171] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051441.839282902] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051441.839595827] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051441.840128010] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051441.844363983] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051441.844995804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051441.845441780] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051441.846689275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051441.847828934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051441.945014711] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051441.945692613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051441.946537734] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051441.947530031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051441.948642290] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051441.957449956] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051441.958417015] [sailbot.main_algo]: Target Bearing: -141.58198330470094 +[main_algo-3] [INFO] [1746051441.959291288] [sailbot.main_algo]: Heading Difference: -169.92601669529904 +[main_algo-3] [INFO] [1746051441.960547363] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051441.961404752] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051441.962213242] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051441.963700189] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051441.963771513] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051442.002753560] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904424 Long: -76.50277884 +[main_algo-3] [INFO] [1746051442.003798547] [sailbot.main_algo]: Distance to destination: 56.29104447319496 +[vectornav-1] [INFO] [1746051442.004012551] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.83299999999997, -0.925, 5.617) +[main_algo-3] [INFO] [1746051442.005041202] [sailbot.main_algo]: Target Bearing: -141.57211203025838 +[main_algo-3] [INFO] [1746051442.005989231] [sailbot.main_algo]: Heading Difference: -169.9358879697416 +[main_algo-3] [INFO] [1746051442.007453415] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051442.008506622] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051442.009430580] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051442.011183607] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051442.045105223] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051442.045841950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051442.046398385] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051442.047738057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051442.048781754] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051442.085394373] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051442.087267664] [sailbot.teensy]: Wind angle: 170 +[trim_sail-4] [INFO] [1746051442.087593112] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051442.088227097] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051442.089150782] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051442.089799501] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051442.090039840] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051442.145018755] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051442.145630410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051442.146344089] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051442.147531407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051442.148062780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051442.244855925] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051442.245519954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051442.246105270] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051442.247263315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051442.248451332] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051442.335388074] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051442.337181542] [sailbot.teensy]: Wind angle: 171 +[trim_sail-4] [INFO] [1746051442.337732091] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051442.338217248] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051442.339116500] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051442.339439495] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051442.339990702] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051442.344326781] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051442.344833331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051442.345520007] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051442.346483237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051442.347620184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051442.445072117] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051442.445735976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051442.446405920] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051442.447684593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051442.448776026] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051442.457475908] [sailbot.main_algo]: Wind Direction: 171 +[main_algo-3] [INFO] [1746051442.458550095] [sailbot.main_algo]: Target Bearing: -141.57211203025838 +[main_algo-3] [INFO] [1746051442.459565683] [sailbot.main_algo]: Heading Difference: -169.59488796974165 +[main_algo-3] [INFO] [1746051442.461056048] [sailbot.main_algo]: Wind Direction: 171 +[main_algo-3] [INFO] [1746051442.461977832] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051442.463135916] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051442.464817498] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051442.464940726] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051442.502847412] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904437 Long: -76.50277873 +[vectornav-1] [INFO] [1746051442.503923633] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.81900000000002, 1.262, 4.795) +[main_algo-3] [INFO] [1746051442.503982320] [sailbot.main_algo]: Distance to destination: 56.30720171315677 +[main_algo-3] [INFO] [1746051442.505132729] [sailbot.main_algo]: Target Bearing: -141.5666135154526 +[main_algo-3] [INFO] [1746051442.506206114] [sailbot.main_algo]: Heading Difference: -169.60038648454747 +[main_algo-3] [INFO] [1746051442.507613851] [sailbot.main_algo]: Wind Direction: 171 +[main_algo-3] [INFO] [1746051442.508524585] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051442.509373024] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051442.511263180] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051442.544998550] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051442.545682974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051442.546332640] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051442.547552972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051442.548785674] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051442.585290236] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051442.586874239] [sailbot.teensy]: Wind angle: 171 +[trim_sail-4] [INFO] [1746051442.587325583] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051442.587752103] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051442.588692404] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051442.589841368] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051442.589094316] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051442.644996157] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051442.645571233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051442.646283833] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051442.647329989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051442.648591865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051442.745253295] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051442.745822562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051442.746930159] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051442.748030223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051442.748764004] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051442.835199429] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051442.837266127] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051442.838320221] [sailbot.teensy]: Wind angle: 171 +[mux-7] [INFO] [1746051442.838647110] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051442.839559682] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051442.840571017] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051442.841573807] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051442.845049921] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051442.846283935] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051442.845919262] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051442.847821061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051442.849415845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051442.945192955] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051442.945740193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051442.946549386] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051442.947796311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051442.948893947] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051442.957561656] [sailbot.main_algo]: Wind Direction: 171 +[main_algo-3] [INFO] [1746051442.958566717] [sailbot.main_algo]: Target Bearing: -141.5666135154526 +[main_algo-3] [INFO] [1746051442.959455540] [sailbot.main_algo]: Heading Difference: -170.61438648454737 +[main_algo-3] [INFO] [1746051442.960726550] [sailbot.main_algo]: Wind Direction: 171 +[main_algo-3] [INFO] [1746051442.961552858] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051442.962362217] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051442.963961917] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051442.964035543] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051443.002790467] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904437 Long: -76.50277869 +[main_algo-3] [INFO] [1746051443.003751544] [sailbot.main_algo]: Distance to destination: 56.309741426298636 +[vectornav-1] [INFO] [1746051443.003976420] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.75200000000001, -2.159, 5.801) +[main_algo-3] [INFO] [1746051443.004877560] [sailbot.main_algo]: Target Bearing: -141.5687397998819 +[main_algo-3] [INFO] [1746051443.005806058] [sailbot.main_algo]: Heading Difference: -170.61226020011804 +[main_algo-3] [INFO] [1746051443.007221423] [sailbot.main_algo]: Wind Direction: 171 +[main_algo-3] [INFO] [1746051443.008116696] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051443.009004847] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051443.010659562] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051443.045473408] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051443.045680931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051443.046905508] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051443.047551114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051443.048694412] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051443.085560193] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051443.087505315] [sailbot.teensy]: Wind angle: 171 +[teensy-2] [INFO] [1746051443.088447426] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051443.087903927] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051443.088637717] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051443.089292269] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051443.090192717] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051443.144540013] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051443.144844614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051443.145645447] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051443.147097908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051443.148401396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051443.244911492] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051443.245568408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051443.246158260] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051443.247470291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051443.248539761] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051443.335439554] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051443.337571225] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051443.337981009] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051443.338848440] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051443.339136262] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051443.339515753] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051443.340206906] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051443.344473411] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051443.344872124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051443.345742116] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051443.346579810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051443.347741246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051443.445197595] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051443.445924072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051443.446547981] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051443.448124004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051443.449268048] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051443.457613280] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051443.458668086] [sailbot.main_algo]: Target Bearing: -141.5687397998819 +[main_algo-3] [INFO] [1746051443.459581408] [sailbot.main_algo]: Heading Difference: -170.67926020011805 +[main_algo-3] [INFO] [1746051443.460931248] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051443.461787033] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051443.462589332] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051443.464260653] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051443.464275123] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051443.502879153] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904443 Long: -76.5027783 +[main_algo-3] [INFO] [1746051443.503897530] [sailbot.main_algo]: Distance to destination: 56.338739750266974 +[main_algo-3] [INFO] [1746051443.505105546] [sailbot.main_algo]: Target Bearing: -141.58422631658357 +[vectornav-1] [INFO] [1746051443.505959669] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.48700000000002, 0.863, 4.085) +[main_algo-3] [INFO] [1746051443.506087478] [sailbot.main_algo]: Heading Difference: -170.66377368341642 +[main_algo-3] [INFO] [1746051443.507514987] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051443.508429638] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051443.509278345] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051443.510958566] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051443.544946168] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051443.545484978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051443.546210169] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051443.547317863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051443.548448287] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051443.585214371] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051443.587282453] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051443.587736087] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051443.588192402] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051443.589085739] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051443.589949059] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051443.590764687] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051443.644942645] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051443.645548583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051443.646214991] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051443.647342320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051443.648519222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051443.744738738] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051443.745255530] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051443.746426469] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051443.747165726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051443.748342944] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051443.835159853] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051443.836684738] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051443.837248294] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051443.837556766] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051443.838406213] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051443.838433339] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051443.838960426] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051443.844325111] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051443.844866732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051443.845726467] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051443.846535183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051443.847673542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051443.945177461] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051443.945858931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051443.946685618] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051443.947967598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051443.948685207] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051443.957437077] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051443.958462775] [sailbot.main_algo]: Target Bearing: -141.58422631658357 +[main_algo-3] [INFO] [1746051443.959340528] [sailbot.main_algo]: Heading Difference: -170.9287736834164 +[main_algo-3] [INFO] [1746051443.960570867] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051443.961390791] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051443.962184506] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051443.963794949] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051443.963805844] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051444.002898868] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904458 Long: -76.50277822 +[main_algo-3] [INFO] [1746051444.003820977] [sailbot.main_algo]: Distance to destination: 56.35440178386791 +[vectornav-1] [INFO] [1746051444.004129579] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.22800000000001, -0.13, 5.662) +[main_algo-3] [INFO] [1746051444.005142807] [sailbot.main_algo]: Target Bearing: -141.57539179529624 +[main_algo-3] [INFO] [1746051444.006187488] [sailbot.main_algo]: Heading Difference: -170.93760820470374 +[main_algo-3] [INFO] [1746051444.007573313] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051444.008517755] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051444.009396041] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051444.011090091] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051444.045637273] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051444.045876996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051444.047355899] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051444.048093212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051444.049320523] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051444.085482507] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051444.087423718] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051444.088220378] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051444.089588184] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051444.089928283] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051444.090912815] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051444.091797419] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051444.145055166] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051444.145980519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051444.146612239] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051444.147945986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051444.148763559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051444.244964309] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051444.245729241] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051444.246172974] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051444.247560086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051444.248596972] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051444.335282700] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051444.337087263] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051444.338015899] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051444.338967273] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051444.338153916] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051444.338755042] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051444.339934496] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051444.344545272] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051444.344844253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051444.345660094] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051444.346516020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051444.347520285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051444.445262639] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051444.446039142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051444.446698722] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051444.448312001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051444.449446803] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051444.457764478] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051444.458888806] [sailbot.main_algo]: Target Bearing: -141.57539179529624 +[main_algo-3] [INFO] [1746051444.460054516] [sailbot.main_algo]: Heading Difference: -170.19660820470375 +[main_algo-3] [INFO] [1746051444.461662306] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051444.462603675] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051444.463446795] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051444.465160807] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051444.465266434] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051444.502887322] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690444 Long: -76.50277808 +[main_algo-3] [INFO] [1746051444.503831058] [sailbot.main_algo]: Distance to destination: 56.35059710107604 +[vectornav-1] [INFO] [1746051444.504145828] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.81400000000002, -1.347, 6.02) +[main_algo-3] [INFO] [1746051444.504991966] [sailbot.main_algo]: Target Bearing: -141.59852463305478 +[main_algo-3] [INFO] [1746051444.506008322] [sailbot.main_algo]: Heading Difference: -170.17347536694524 +[main_algo-3] [INFO] [1746051444.507462899] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051444.508371442] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051444.509222576] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051444.510890616] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051444.544795946] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051444.545458799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051444.546114315] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051444.547255958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051444.548391898] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051444.585393275] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051444.587259222] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051444.588214221] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051444.587780681] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051444.588595303] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051444.589186604] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051444.590023263] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051444.645051202] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051444.645834599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051444.646368527] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051444.647746717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051444.648790819] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051444.745094689] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051444.745815859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051444.746426666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051444.747856606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051444.748896971] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051444.835271071] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051444.837446778] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051444.837834397] [sailbot.teensy]: Wind angle: 163 +[mux-7] [INFO] [1746051444.838768665] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051444.838800357] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051444.839715942] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051444.840173822] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051444.844255709] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051444.844858599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051444.845364008] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051444.846559620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051444.847611684] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051444.945329261] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051444.946244542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051444.947098101] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051444.948641010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051444.949767223] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051444.957829071] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051444.959076177] [sailbot.main_algo]: Target Bearing: -141.59852463305478 +[main_algo-3] [INFO] [1746051444.960107797] [sailbot.main_algo]: Heading Difference: -170.58747536694523 +[main_algo-3] [INFO] [1746051444.961477153] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051444.962364516] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051444.963218736] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051444.964809622] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051444.964907472] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051445.002654581] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690445 Long: -76.50277803 +[main_algo-3] [INFO] [1746051445.003647839] [sailbot.main_algo]: Distance to destination: 56.360825143891006 +[vectornav-1] [INFO] [1746051445.003770421] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.15699999999998, 0.065, 5.038) +[main_algo-3] [INFO] [1746051445.004807293] [sailbot.main_algo]: Target Bearing: -141.5924560641334 +[main_algo-3] [INFO] [1746051445.005749331] [sailbot.main_algo]: Heading Difference: -170.5935439358666 +[main_algo-3] [INFO] [1746051445.007112760] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051445.007937712] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051445.008781125] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051445.010368081] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051445.044923967] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051445.045648607] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051445.046158616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051445.047461616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051445.048611401] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051445.085216014] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051445.087088143] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051445.087354497] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051445.088044444] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051445.089108607] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051445.089659043] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051445.090539947] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051445.143907285] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051445.144565413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051445.144674499] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051445.145783026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051445.146573249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051445.243860072] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051445.244407971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051445.244685443] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051445.245681381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051445.246462789] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051445.335141483] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051445.337235784] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051445.337992875] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051445.338081530] [sailbot.teensy]: Wind angle: 162 +[teensy-2] [INFO] [1746051445.338959660] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051445.339491268] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051445.339822540] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051445.344386472] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051445.344783454] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051445.345831161] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051445.347628244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051445.349947864] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051445.445090348] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051445.445578029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051445.446380686] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051445.447377784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051445.448424866] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051445.457617382] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051445.458638358] [sailbot.main_algo]: Target Bearing: -141.5924560641334 +[main_algo-3] [INFO] [1746051445.459560305] [sailbot.main_algo]: Heading Difference: -169.25054393586663 +[main_algo-3] [INFO] [1746051445.460806827] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051445.461642812] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051445.462576323] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051445.464134429] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051445.464136491] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051445.502696437] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904476 Long: -76.50277862 +[main_algo-3] [INFO] [1746051445.503673739] [sailbot.main_algo]: Distance to destination: 56.341712806259665 +[vectornav-1] [INFO] [1746051445.504448861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.40300000000002, -0.106, 5.003) +[main_algo-3] [INFO] [1746051445.504867021] [sailbot.main_algo]: Target Bearing: -141.53844487625184 +[main_algo-3] [INFO] [1746051445.505850032] [sailbot.main_algo]: Heading Difference: -169.30455512374817 +[main_algo-3] [INFO] [1746051445.507204869] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051445.508080833] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051445.508895929] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051445.510743040] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051445.544970818] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051445.545506905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051445.546258736] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051445.547308623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051445.548530773] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051445.585117324] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051445.587143966] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051445.587198251] [sailbot.teensy]: Wind angle: 164 +[teensy-2] [INFO] [1746051445.588630057] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051445.589628038] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051445.589756823] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051445.590552943] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051445.644947561] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051445.645884991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051445.646189634] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051445.647964036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051445.649025835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051445.744516567] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051445.745049673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051445.745611418] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051445.746873510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051445.747852714] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051445.835162768] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051445.836755331] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746051445.837574313] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051445.837184762] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051445.838412178] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051445.839249820] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051445.839250434] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051445.844310569] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051445.844932353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051445.845562221] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051445.846688952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051445.847728602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051445.944956693] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051445.945616432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051445.946205892] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051445.947532381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051445.948576588] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051445.957653860] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051445.958695497] [sailbot.main_algo]: Target Bearing: -141.53844487625184 +[main_algo-3] [INFO] [1746051445.959701004] [sailbot.main_algo]: Heading Difference: -171.05855512374814 +[main_algo-3] [INFO] [1746051445.960996270] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051445.961808420] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051445.962591127] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051445.964096055] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051445.964096313] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051446.002993947] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904456 Long: -76.50277876 +[vectornav-1] [INFO] [1746051446.004615542] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.942999999999984, 0.439, 5.52) +[main_algo-3] [INFO] [1746051446.006111998] [sailbot.main_algo]: Distance to destination: 56.31870705599897 +[main_algo-3] [INFO] [1746051446.007598868] [sailbot.main_algo]: Target Bearing: -141.54844204595108 +[main_algo-3] [INFO] [1746051446.008715608] [sailbot.main_algo]: Heading Difference: -171.04855795404887 +[main_algo-3] [INFO] [1746051446.010607162] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051446.011750668] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051446.012823634] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051446.014688655] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051446.044918419] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051446.045287971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051446.046016006] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051446.047000834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051446.048269772] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051446.085329337] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051446.087328032] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051446.087527998] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051446.088007030] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051446.088245238] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051446.089143312] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051446.089999960] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051446.144840648] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051446.145481689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051446.146113510] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051446.147319005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051446.148634919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051446.244941251] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051446.245575976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051446.246538945] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051446.247588083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051446.248775207] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051446.335148595] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051446.337275887] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051446.337530061] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051446.338150275] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051446.338612062] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051446.339081911] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051446.339565972] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051446.344359560] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051446.344750584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051446.345500357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051446.346420114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051446.347498247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051446.445033260] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051446.445699563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051446.446336624] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051446.447486511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051446.448575835] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051446.457722465] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051446.458954976] [sailbot.main_algo]: Target Bearing: -141.54844204595108 +[main_algo-3] [INFO] [1746051446.460200685] [sailbot.main_algo]: Heading Difference: -172.5085579540489 +[main_algo-3] [INFO] [1746051446.461731172] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051446.462748624] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051446.463627849] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051446.465440307] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051446.465473620] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051446.502531981] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904432 Long: -76.50277895 +[vectornav-1] [INFO] [1746051446.503608302] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.649, -2.355, 4.22) +[main_algo-3] [INFO] [1746051446.503654572] [sailbot.main_algo]: Distance to destination: 56.28970573554987 +[main_algo-3] [INFO] [1746051446.504954388] [sailbot.main_algo]: Target Bearing: -141.5592794104592 +[main_algo-3] [INFO] [1746051446.505950795] [sailbot.main_algo]: Heading Difference: -172.4977205895408 +[main_algo-3] [INFO] [1746051446.507337804] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051446.508279114] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051446.509161888] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051446.510956101] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051446.544884748] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051446.545355751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051446.546091790] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051446.547002272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051446.548077966] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051446.585267164] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051446.587204674] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051446.587543202] [sailbot.teensy]: Wind angle: 165 +[mux-7] [INFO] [1746051446.589233108] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051446.589492809] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051446.590444512] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051446.591213784] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051446.645039455] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051446.645531147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051446.646247237] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051446.647279110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051446.648492143] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051446.745024492] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051446.745578615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051446.746338540] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051446.747433646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051446.748555437] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051446.835325111] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051446.837513235] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051446.837938666] [sailbot.teensy]: Wind angle: 165 +[mux-7] [INFO] [1746051446.838395735] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051446.838944497] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051446.839868029] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051446.840731510] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051446.844321429] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051446.844990459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051446.845397906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051446.846688419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051446.847668691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051446.944877178] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051446.946184661] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051446.946257987] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051446.948143373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051446.949229977] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051446.957361976] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051446.958337075] [sailbot.main_algo]: Target Bearing: -141.5592794104592 +[main_algo-3] [INFO] [1746051446.959232582] [sailbot.main_algo]: Heading Difference: -170.79172058954077 +[main_algo-3] [INFO] [1746051446.960656364] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051446.961596187] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051446.962546822] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051446.964366342] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051446.964493697] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051447.002737939] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904439 Long: -76.50277912 +[main_algo-3] [INFO] [1746051447.003700809] [sailbot.main_algo]: Distance to destination: 56.28385551198094 +[vectornav-1] [INFO] [1746051447.003890996] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.209, 1.847, 4.785) +[main_algo-3] [INFO] [1746051447.004826723] [sailbot.main_algo]: Target Bearing: -141.54412668617772 +[main_algo-3] [INFO] [1746051447.005795624] [sailbot.main_algo]: Heading Difference: -170.80687331382228 +[main_algo-3] [INFO] [1746051447.007144983] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051447.008007257] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051447.008878366] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051447.010737556] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051447.045060842] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051447.045502753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051447.046384592] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051447.047502061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051447.048538227] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051447.085350469] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051447.086965797] [sailbot.teensy]: Wind angle: 164 +[teensy-2] [INFO] [1746051447.087903118] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051447.087583118] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051447.089593360] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051447.091041369] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051447.091086160] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051447.145263145] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051447.146019576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051447.146877487] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051447.147909471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051447.149051401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051447.245460863] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051447.246153424] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051447.247975077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051447.246688885] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051447.250311218] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051447.334998917] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051447.336649860] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051447.337944874] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051447.338353850] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051447.338647522] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051447.339593747] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051447.340430837] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051447.344375519] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051447.344820901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051447.345372873] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051447.346430568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051447.347464473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051447.445116267] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051447.445810346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051447.446835857] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051447.447671053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051447.448813476] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051447.457489103] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051447.458442828] [sailbot.main_algo]: Target Bearing: -141.54412668617772 +[main_algo-3] [INFO] [1746051447.459265297] [sailbot.main_algo]: Heading Difference: -170.24687331382228 +[main_algo-3] [INFO] [1746051447.460501602] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051447.461320709] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051447.462158476] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051447.463764547] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051447.463908111] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051447.502311620] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904426 Long: -76.50277945 +[main_algo-3] [INFO] [1746051447.503128435] [sailbot.main_algo]: Distance to destination: 56.25373252487934 +[vectornav-1] [INFO] [1746051447.503260455] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.21199999999999, -1.964, 4.611) +[main_algo-3] [INFO] [1746051447.504491739] [sailbot.main_algo]: Target Bearing: -141.53791060295552 +[main_algo-3] [INFO] [1746051447.505493479] [sailbot.main_algo]: Heading Difference: -170.2530893970445 +[main_algo-3] [INFO] [1746051447.506848806] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051447.507727577] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051447.508581694] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051447.510120586] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051447.544874488] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051447.545599713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051447.546099941] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051447.547431629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051447.548607829] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051447.585227245] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051447.586757065] [sailbot.teensy]: Wind angle: 167 +[teensy-2] [INFO] [1746051447.587623646] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051447.587625382] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051447.588602161] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051447.589418233] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051447.589463869] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051447.644621148] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051447.645203386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051447.645781302] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051447.646945757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051447.647940571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051447.744877056] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051447.745471310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051447.746151012] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051447.747245736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051447.748251313] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051447.835661360] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051447.837768896] [sailbot.teensy]: Wind angle: 167 +[trim_sail-4] [INFO] [1746051447.839012844] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051447.839342406] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051447.839374832] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051447.839745952] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051447.840135955] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051447.844361470] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051447.844959389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051447.845697128] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051447.846646698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051447.847687524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051447.944906286] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051447.945658335] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051447.946151589] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051447.947523650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051447.948489528] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051447.957601136] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051447.958633778] [sailbot.main_algo]: Target Bearing: -141.53791060295552 +[main_algo-3] [INFO] [1746051447.959593377] [sailbot.main_algo]: Heading Difference: -172.25008939704446 +[main_algo-3] [INFO] [1746051447.960835459] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051447.961640503] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051447.962409716] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051447.963958006] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051447.964060126] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051448.002756060] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904407 Long: -76.50277959 +[main_algo-3] [INFO] [1746051448.003718746] [sailbot.main_algo]: Distance to destination: 56.2314326187884 +[main_algo-3] [INFO] [1746051448.004839503] [sailbot.main_algo]: Target Bearing: -141.54704960193334 +[vectornav-1] [INFO] [1746051448.004477260] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.446000000000026, 1.266, 6.39) +[main_algo-3] [INFO] [1746051448.005853596] [sailbot.main_algo]: Heading Difference: -172.24095039806667 +[main_algo-3] [INFO] [1746051448.007273704] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051448.008168002] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051448.009063672] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051448.010632794] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051448.044948874] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051448.045655702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051448.046218574] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051448.047446053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051448.048492466] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051448.085377960] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051448.087658137] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051448.087671703] [sailbot.teensy]: Wind angle: 167 +[teensy-2] [INFO] [1746051448.088876118] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051448.089643763] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051448.089727475] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051448.090615151] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051448.145017633] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051448.145732584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051448.146348571] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051448.147500252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051448.148520862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051448.245150618] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051448.245771805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051448.247052159] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051448.247822051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051448.248708630] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051448.335490912] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051448.337626075] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051448.337939123] [sailbot.teensy]: Wind angle: 168 +[mux-7] [INFO] [1746051448.338505686] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051448.339015937] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051448.339437956] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051448.339809718] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051448.344585254] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051448.344983766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051448.345725662] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051448.346679612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051448.347726827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051448.445085313] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051448.445729396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051448.446398675] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051448.447533678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051448.448553976] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051448.457705811] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051448.458851630] [sailbot.main_algo]: Target Bearing: -141.54704960193334 +[main_algo-3] [INFO] [1746051448.459904472] [sailbot.main_algo]: Heading Difference: -171.00695039806664 +[main_algo-3] [INFO] [1746051448.461382210] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051448.463191980] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051448.464224413] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051448.465932273] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051448.465928395] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051448.502582289] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904374 Long: -76.50277963 +[main_algo-3] [INFO] [1746051448.503488476] [sailbot.main_algo]: Distance to destination: 56.20560379672437 +[vectornav-1] [INFO] [1746051448.504031070] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.452, -1.697, 5.204) +[main_algo-3] [INFO] [1746051448.504542592] [sailbot.main_algo]: Target Bearing: -141.5737599746798 +[main_algo-3] [INFO] [1746051448.505609173] [sailbot.main_algo]: Heading Difference: -170.9802400253202 +[main_algo-3] [INFO] [1746051448.506989133] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051448.507992567] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051448.508834725] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051448.510431488] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051448.545007850] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051448.545614289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051448.546608589] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051448.547407417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051448.548652431] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051448.585708689] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051448.588185287] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051448.589187287] [sailbot.teensy]: Wind angle: 168 +[mux-7] [INFO] [1746051448.589536675] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051448.590351096] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051448.591252562] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051448.592250880] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051448.645070291] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051448.645556462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051448.646478964] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051448.647463533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051448.648555707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051448.745011132] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051448.745665497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051448.746261375] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051448.747632586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051448.748715776] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051448.835481764] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051448.837374892] [sailbot.teensy]: Wind angle: 168 +[trim_sail-4] [INFO] [1746051448.838418207] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051448.839031991] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051448.839509345] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051448.840527059] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051448.841389663] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051448.844346409] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051448.844794015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051448.845471269] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051448.846456631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051448.847468977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051448.944940114] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051448.945715641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051448.946281308] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051448.947571501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051448.948604584] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051448.957678753] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051448.958710964] [sailbot.main_algo]: Target Bearing: -141.5737599746798 +[main_algo-3] [INFO] [1746051448.959649859] [sailbot.main_algo]: Heading Difference: -170.97424002532023 +[main_algo-3] [INFO] [1746051448.960939628] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051448.961745301] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051448.962526418] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051448.964059773] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051448.964097395] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051449.002915552] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690437 Long: -76.50277966 +[main_algo-3] [INFO] [1746051449.003867801] [sailbot.main_algo]: Distance to destination: 56.20087672242744 +[vectornav-1] [INFO] [1746051449.004147477] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.17599999999999, 0.096, 5.036) +[main_algo-3] [INFO] [1746051449.005339548] [sailbot.main_algo]: Target Bearing: -141.57565998871254 +[main_algo-3] [INFO] [1746051449.006294870] [sailbot.main_algo]: Heading Difference: -170.97234001128743 +[main_algo-3] [INFO] [1746051449.007672940] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051449.008612479] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051449.009470108] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051449.011109606] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051449.045107256] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051449.045608905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051449.046416221] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051449.047418999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051449.048555033] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051449.085221220] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051449.087090147] [sailbot.teensy]: Wind angle: 168 +[teensy-2] [INFO] [1746051449.088038585] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051449.087320228] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051449.088115753] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051449.088973520] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051449.089887204] [sailbot.teensy]: Dropped packets: 3 +[teensy-2] [INFO] [1746051449.146535802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051449.146535635] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051449.147851721] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051449.149087246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051449.149636199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051449.245107713] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051449.245625049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051449.246592158] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051449.247539873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051449.248932647] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051449.335104027] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051449.337166876] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051449.338732575] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051449.340404824] [sailbot.teensy]: Wind angle: 168 +[teensy-2] [INFO] [1746051449.341382208] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051449.342296965] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051449.343164405] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051449.344949922] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051449.346406848] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051449.347667323] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051449.349638361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051449.350776240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051449.444912428] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051449.445964671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051449.446413551] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051449.448052243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051449.449221608] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051449.457375893] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051449.458332030] [sailbot.main_algo]: Target Bearing: -141.57565998871254 +[main_algo-3] [INFO] [1746051449.459187215] [sailbot.main_algo]: Heading Difference: -170.2483400112875 +[main_algo-3] [INFO] [1746051449.460414522] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051449.461235493] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051449.462015603] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051449.463594191] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051449.463607402] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051449.502631230] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904375 Long: -76.50277961 +[main_algo-3] [INFO] [1746051449.503578143] [sailbot.main_algo]: Distance to destination: 56.207579303451105 +[vectornav-1] [INFO] [1746051449.504062126] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.24799999999999, -0.563, 5.807) +[main_algo-3] [INFO] [1746051449.504781225] [sailbot.main_algo]: Target Bearing: -141.57395060036913 +[main_algo-3] [INFO] [1746051449.505683239] [sailbot.main_algo]: Heading Difference: -170.25004939963088 +[main_algo-3] [INFO] [1746051449.507006064] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051449.507851069] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051449.508685650] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051449.510264177] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051449.544826346] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051449.545590916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051449.546095065] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051449.547493597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051449.548461670] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051449.585439378] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051449.587278955] [sailbot.teensy]: Wind angle: 168 +[trim_sail-4] [INFO] [1746051449.587522426] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051449.588253650] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051449.589418248] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051449.589963927] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051449.590368317] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051449.644894454] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051449.645669073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051449.646186579] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051449.647652677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051449.648695270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051449.745038988] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051449.745917699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051449.746523665] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051449.748004097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051449.749007108] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051449.835299050] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051449.836988286] [sailbot.teensy]: Wind angle: 167 +[teensy-2] [INFO] [1746051449.837940371] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051449.838309135] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051449.838840345] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051449.839238776] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051449.839727905] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051449.844219872] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051449.844765634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051449.845561222] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051449.846463116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051449.847626170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051449.944945898] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051449.945569800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051449.946207707] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051449.947516963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051449.948330773] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051449.957680232] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051449.958769289] [sailbot.main_algo]: Target Bearing: -141.57395060036913 +[main_algo-3] [INFO] [1746051449.959709630] [sailbot.main_algo]: Heading Difference: -171.17804939963088 +[main_algo-3] [INFO] [1746051449.961104822] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051449.961974270] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051449.962787723] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051449.964425024] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051449.964450531] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051450.002719768] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690437 Long: -76.50277944 +[main_algo-3] [INFO] [1746051450.003816936] [sailbot.main_algo]: Distance to destination: 56.21484792120112 +[vectornav-1] [INFO] [1746051450.003898675] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.19900000000001, 0.642, 5.564) +[main_algo-3] [INFO] [1746051450.004964755] [sailbot.main_algo]: Target Bearing: -141.58737204073114 +[main_algo-3] [INFO] [1746051450.005915485] [sailbot.main_algo]: Heading Difference: -171.16462795926884 +[main_algo-3] [INFO] [1746051450.007243393] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051450.008109761] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051450.008964735] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051450.010604161] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051450.044702343] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051450.045093059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051450.045903824] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051450.047438557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051450.049170896] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051450.085168369] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051450.086693919] [sailbot.teensy]: Wind angle: 167 +[trim_sail-4] [INFO] [1746051450.087282024] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051450.087546974] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051450.088408961] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051450.089172234] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051450.089287604] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051450.144931786] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051450.145576009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051450.146334618] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051450.147549581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051450.148587137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051450.244916064] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051450.245709532] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051450.246216602] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051450.247586356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051450.248696312] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051450.335385293] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051450.337117738] [sailbot.teensy]: Wind angle: 167 +[trim_sail-4] [INFO] [1746051450.337675704] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051450.338020917] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051450.338844753] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051450.338867244] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051450.339772104] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051450.344740810] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051450.345579944] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051450.345991475] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051450.347354260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051450.348462166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051450.445242898] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051450.446683849] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051450.446688104] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051450.449618155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051450.450768772] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051450.457505135] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051450.458511124] [sailbot.main_algo]: Target Bearing: -141.58737204073114 +[main_algo-3] [INFO] [1746051450.459397219] [sailbot.main_algo]: Heading Difference: -172.21362795926882 +[main_algo-3] [INFO] [1746051450.460812608] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051450.462105380] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051450.463442088] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051450.465433252] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051450.465735515] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051450.503149256] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904381 Long: -76.5027791 +[main_algo-3] [INFO] [1746051450.504456785] [sailbot.main_algo]: Distance to destination: 56.24420088963417 +[vectornav-1] [INFO] [1746051450.504492651] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.718999999999994, -1.749, 5.638) +[main_algo-3] [INFO] [1746051450.506044738] [sailbot.main_algo]: Target Bearing: -141.59584575163768 +[main_algo-3] [INFO] [1746051450.507089667] [sailbot.main_algo]: Heading Difference: -172.2051542483623 +[main_algo-3] [INFO] [1746051450.508555270] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051450.509466104] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051450.510330583] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051450.512044249] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051450.544938059] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051450.545730064] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051450.546191532] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051450.547629449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051450.548706936] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051450.585301380] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051450.587871838] [sailbot.teensy]: Wind angle: 167 +[teensy-2] [INFO] [1746051450.588929079] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051450.588519687] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051450.589901169] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051450.590697966] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051450.590825861] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051450.646396615] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051450.646467730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051450.647950499] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051450.648409197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051450.649504783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051450.745053735] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051450.745685637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051450.746324843] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051450.747712458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051450.748847476] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051450.835413867] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051450.837872677] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051450.838498573] [sailbot.teensy]: Wind angle: 167 +[mux-7] [INFO] [1746051450.838792723] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051450.839676771] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051450.840668952] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051450.841558187] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051450.844327471] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051450.844810779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051450.845406762] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051450.846513743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051450.847556296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051450.944639984] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051450.945604783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051450.945871692] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051450.947357518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051450.948505235] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051450.957689863] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051450.958731451] [sailbot.main_algo]: Target Bearing: -141.59584575163768 +[main_algo-3] [INFO] [1746051450.959642602] [sailbot.main_algo]: Heading Difference: -172.68515424836232 +[main_algo-3] [INFO] [1746051450.960883097] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051450.961698220] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051450.962479067] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051450.964006856] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051450.964017986] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051451.002917918] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904403 Long: -76.50277905 +[main_algo-3] [INFO] [1746051451.003948673] [sailbot.main_algo]: Distance to destination: 56.26289373996471 +[vectornav-1] [INFO] [1746051451.004137175] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.841999999999985, 0.655, 4.02) +[main_algo-3] [INFO] [1746051451.005249270] [sailbot.main_algo]: Target Bearing: -141.5792826317155 +[main_algo-3] [INFO] [1746051451.006238610] [sailbot.main_algo]: Heading Difference: -172.7017173682845 +[main_algo-3] [INFO] [1746051451.007604122] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051451.008536866] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051451.009431269] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051451.011232574] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051451.044961829] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051451.045621102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051451.046221481] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051451.047448712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051451.048512863] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051451.085271272] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051451.087557581] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051451.087631567] [sailbot.teensy]: Wind angle: 167 +[mux-7] [INFO] [1746051451.088668064] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051451.088672425] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051451.089680462] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051451.090556607] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051451.144884060] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051451.145560344] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051451.146095233] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051451.147420394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051451.148385204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051451.244880515] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051451.245352991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051451.246090590] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051451.247072690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051451.248133204] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051451.335429581] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051451.337382935] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051451.337720294] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051451.337784893] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051451.337797130] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051451.338186947] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051451.338569657] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051451.344727355] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051451.345393503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051451.345947378] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051451.347522513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051451.348767974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051451.443747572] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051451.444083054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051451.444372962] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051451.444997356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051451.445490733] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051451.456710053] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051451.457597596] [sailbot.main_algo]: Target Bearing: -141.5792826317155 +[main_algo-3] [INFO] [1746051451.458414845] [sailbot.main_algo]: Heading Difference: -170.57871736828452 +[main_algo-3] [INFO] [1746051451.459631402] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051451.460581591] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051451.461476103] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051451.463353026] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051451.465469938] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051451.503055805] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904406 Long: -76.502779 +[vectornav-1] [INFO] [1746051451.504314418] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.067999999999984, -0.787, 5.765) +[main_algo-3] [INFO] [1746051451.505996378] [sailbot.main_algo]: Distance to destination: 56.26818527856427 +[main_algo-3] [INFO] [1746051451.506990387] [sailbot.main_algo]: Target Bearing: -141.57932148507402 +[main_algo-3] [INFO] [1746051451.507956413] [sailbot.main_algo]: Heading Difference: -170.57867851492597 +[main_algo-3] [INFO] [1746051451.509350281] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051451.510254199] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051451.511857127] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051451.513547374] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051451.545527408] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051451.546602785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051451.547144133] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051451.548676952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051451.549884178] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051451.585374879] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051451.587748186] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051451.588124638] [sailbot.teensy]: Wind angle: 161 +[mux-7] [INFO] [1746051451.588242593] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051451.589387692] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051451.590368315] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051451.591375743] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051451.644749228] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051451.645423833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051451.646179025] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051451.647355178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051451.648501137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051451.745106104] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051451.746015824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051451.746682704] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051451.748020166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051451.748448893] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051451.835392165] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051451.837811388] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051451.838167131] [sailbot.teensy]: Wind angle: 156 +[mux-7] [INFO] [1746051451.838797890] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051451.839554062] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051451.840816264] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051451.841703506] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051451.844312012] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051451.844836312] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051451.846307111] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051451.846693802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051451.847921065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051451.945262267] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051451.946072045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051451.946794459] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051451.948130294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051451.948672637] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051451.957721008] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051451.959272050] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746051451.960239941] [sailbot.main_algo]: Target Bearing: -141.57932148507402 +[main_algo-3] [INFO] [1746051451.961115801] [sailbot.main_algo]: Heading Difference: -173.35267851492597 +[main_algo-3] [INFO] [1746051451.962355410] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051451.963172989] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051451.963964203] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051451.965467294] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051451.965535162] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051452.002738100] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904401 Long: -76.50277877 +[main_algo-3] [INFO] [1746051452.003798151] [sailbot.main_algo]: Distance to destination: 56.27926615665342 +[vectornav-1] [INFO] [1746051452.004120521] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.072, 0.375, 4.496) +[main_algo-3] [INFO] [1746051452.004959501] [sailbot.main_algo]: Target Bearing: -141.59591716364466 +[main_algo-3] [INFO] [1746051452.005896431] [sailbot.main_algo]: Heading Difference: -173.33608283635533 +[main_algo-3] [INFO] [1746051452.007258308] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051452.008175578] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051452.009053108] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051452.010888829] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051452.045447240] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051452.045547162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051452.046774823] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051452.047321172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051452.048468628] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051452.085195280] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051452.086762159] [sailbot.teensy]: Wind angle: 156 +[teensy-2] [INFO] [1746051452.087623974] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051452.087261065] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051452.088453048] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051452.088511962] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051452.089326190] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051452.145155583] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051452.146114310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051452.146567012] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051452.147983831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051452.148420628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051452.244971032] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051452.245826049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051452.246223136] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051452.247158627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051452.247673939] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051452.335623362] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051452.337847424] [sailbot.teensy]: Wind angle: 161 +[trim_sail-4] [INFO] [1746051452.338225615] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051452.338804369] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051452.339696800] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051452.340758142] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051452.339196907] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051452.344340152] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051452.344916052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051452.345457526] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051452.346782451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051452.348321641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051452.445523255] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051452.446644219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051452.447152388] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051452.448891885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051452.450127305] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051452.457692766] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051452.459213357] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746051452.460533111] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051452.461915648] [sailbot.main_algo]: Current Location: (42.469044012147556, -76.50277877005445) +[main_algo-3] [INFO] [1746051452.463082455] [sailbot.main_algo]: Target Bearing: -141.59591716364466 +[main_algo-3] [INFO] [1746051452.464278932] [sailbot.main_algo]: Heading Difference: -174.3320828363553 +[main_algo-3] [INFO] [1746051452.465824976] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051452.466798683] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051452.467673045] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051452.469389674] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051452.469489619] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051452.502791282] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904397 Long: -76.50277886 +[main_algo-3] [INFO] [1746051452.503854596] [sailbot.main_algo]: Distance to destination: 56.27072867113377 +[vectornav-1] [INFO] [1746051452.504254660] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.92700000000002, -1.23, 5.076) +[main_algo-3] [INFO] [1746051452.505063892] [sailbot.main_algo]: Target Bearing: -141.59462702669367 +[main_algo-3] [INFO] [1746051452.506056721] [sailbot.main_algo]: Heading Difference: -174.33337297330633 +[main_algo-3] [INFO] [1746051452.507420727] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051452.508313671] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051452.509165747] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051452.510819496] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051452.545067569] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051452.545828525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051452.546416678] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051452.548092622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051452.549283484] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051452.585368948] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051452.587299504] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051452.587791417] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051452.588869488] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051452.588888708] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051452.590111748] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051452.590990325] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051452.644962363] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051452.646020341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051452.646654608] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051452.647920499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051452.648956745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051452.745101515] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051452.746572340] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051452.746667672] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051452.748298810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051452.748738407] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051452.835304028] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051452.837010741] [sailbot.teensy]: Wind angle: 164 +[teensy-2] [INFO] [1746051452.837967693] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051452.837864471] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051452.838881840] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051452.839682379] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051452.839758480] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051452.844507881] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051452.845183978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051452.845738074] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051452.846908753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051452.848090514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051452.944882020] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051452.945351767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051452.946083985] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051452.947163150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051452.948238521] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051452.957636456] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051452.958696758] [sailbot.main_algo]: Target Bearing: -141.59462702669367 +[main_algo-3] [INFO] [1746051452.959606176] [sailbot.main_algo]: Heading Difference: -172.4783729733063 +[main_algo-3] [INFO] [1746051452.960892957] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051452.961724448] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051452.962529835] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051452.964029685] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051452.964107524] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051453.003051112] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904409 Long: -76.50277857 +[main_algo-3] [INFO] [1746051453.004284084] [sailbot.main_algo]: Distance to destination: 56.29761164054328 +[vectornav-1] [INFO] [1746051453.004397399] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.94900000000001, 0.459, 4.753) +[main_algo-3] [INFO] [1746051453.005508114] [sailbot.main_algo]: Target Bearing: -141.5995589149559 +[main_algo-3] [INFO] [1746051453.006584662] [sailbot.main_algo]: Heading Difference: -172.4734410850441 +[main_algo-3] [INFO] [1746051453.008145881] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051453.009151500] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051453.010050608] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051453.011736837] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051453.045327305] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051453.046618065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051453.046919906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051453.048783284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051453.049891682] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051453.085312706] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051453.087644957] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051453.088038772] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051453.089144783] [sailbot.teensy]: Wind angle: 164 +[teensy-2] [INFO] [1746051453.090104853] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051453.091040686] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051453.091886912] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051453.144609179] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051453.145240628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051453.145812517] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051453.147069093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051453.148119881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051453.244941730] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051453.245769980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051453.246379149] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051453.247681627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051453.248718338] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051453.335558633] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051453.338082316] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051453.338195728] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746051453.339146193] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051453.339832038] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051453.340037324] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051453.340976052] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051453.344381344] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051453.344772924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051453.345572623] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051453.346450254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051453.347465899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051453.445543645] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051453.446095543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051453.447309310] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051453.448206953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051453.449372546] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051453.457653875] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051453.458728714] [sailbot.main_algo]: Target Bearing: -141.5995589149559 +[main_algo-3] [INFO] [1746051453.459644953] [sailbot.main_algo]: Heading Difference: -171.45144108504405 +[main_algo-3] [INFO] [1746051453.460992745] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051453.461868084] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051453.462704493] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051453.464398840] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051453.465059343] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051453.501829130] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904406 Long: -76.50277846 +[main_algo-3] [INFO] [1746051453.502540414] [sailbot.main_algo]: Distance to destination: 56.30248420542758 +[vectornav-1] [INFO] [1746051453.502567063] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.83100000000002, -0.495, 4.872) +[main_algo-3] [INFO] [1746051453.503410429] [sailbot.main_algo]: Target Bearing: -141.60802227577648 +[main_algo-3] [INFO] [1746051453.504273134] [sailbot.main_algo]: Heading Difference: -171.4429777242235 +[main_algo-3] [INFO] [1746051453.505568219] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051453.506770193] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051453.508368148] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051453.510125562] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051453.544040649] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051453.546095041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051453.547936472] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051453.549882663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051453.550505376] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051453.584392163] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051453.585499227] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051453.585496487] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051453.585704073] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051453.585909112] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051453.586290486] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051453.586635306] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051453.643640418] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051453.644066960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051453.644135071] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051453.644873071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051453.645553908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051453.743614179] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051453.744013617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051453.744101379] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051453.744933413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051453.745482389] [sailbot.teensy]: Message sent to servo +Package 'sailboat_launch' not found: "package 'sailboat_launch' not found, searching: ['/opt/ros/humble']" +[teensy-2] [INFO] [1746051453.835162748] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051453.837208278] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051453.837797537] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051453.838124382] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051453.838123780] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051453.838991976] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051453.839815387] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051453.844276796] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051453.845101510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051453.845753733] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051453.846825618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051453.847838094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051453.945185256] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051453.946130476] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051453.946577928] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051453.948094724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051453.948667189] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051453.957684368] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051453.958791349] [sailbot.main_algo]: Target Bearing: -141.60802227577648 +[main_algo-3] [INFO] [1746051453.959728873] [sailbot.main_algo]: Heading Difference: -172.5609777242235 +[main_algo-3] [INFO] [1746051453.960987782] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051453.961823901] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051453.962616970] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051453.964096477] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051453.964183839] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051454.002736584] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904394 Long: -76.50277808 +[main_algo-3] [INFO] [1746051454.003764714] [sailbot.main_algo]: Distance to destination: 56.31817320897911 +[vectornav-1] [INFO] [1746051454.003870938] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.468999999999994, -0.264, 5.681) +[main_algo-3] [INFO] [1746051454.004930862] [sailbot.main_algo]: Target Bearing: -141.63867721532816 +[main_algo-3] [INFO] [1746051454.005890319] [sailbot.main_algo]: Heading Difference: -172.53032278467185 +[main_algo-3] [INFO] [1746051454.007213858] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051454.008049718] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051454.008845085] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051454.010364750] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051454.045409005] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051454.045927966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051454.046717462] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051454.047963548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051454.049039053] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051454.085550443] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051454.087587275] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051454.088376508] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051454.088529615] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051454.088913494] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051454.089421145] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051454.090314846] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051454.145025254] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051454.145542311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051454.146430093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051454.147465287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051454.148650071] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051454.244911077] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051454.245531549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051454.246232863] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051454.247410792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051454.248461109] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051454.335494548] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051454.337872657] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051454.338018897] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051454.339205952] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051454.339193633] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051454.339623200] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051454.339992158] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051454.344210360] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051454.344978693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051454.345349107] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051454.346668454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051454.347654178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051454.445248861] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051454.445948042] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051454.446774402] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051454.448202228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051454.448655331] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051454.457999869] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051454.459106641] [sailbot.main_algo]: Target Bearing: -141.63867721532816 +[main_algo-3] [INFO] [1746051454.460035451] [sailbot.main_algo]: Heading Difference: -172.89232278467182 +[main_algo-3] [INFO] [1746051454.461405453] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051454.462283732] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051454.463139832] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051454.466100496] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051454.466251399] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051454.502827487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904394 Long: -76.50277779 +[main_algo-3] [INFO] [1746051454.503875320] [sailbot.main_algo]: Distance to destination: 56.336606923096184 +[vectornav-1] [INFO] [1746051454.504017470] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.261000000000024, -0.609, 4.803) +[main_algo-3] [INFO] [1746051454.505111645] [sailbot.main_algo]: Target Bearing: -141.65406185686476 +[main_algo-3] [INFO] [1746051454.506148997] [sailbot.main_algo]: Heading Difference: -172.87693814313525 +[main_algo-3] [INFO] [1746051454.507566575] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051454.508496180] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051454.509355989] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051454.511422432] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051454.545673232] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051454.545768310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051454.547264819] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051454.547672847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051454.549242533] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051454.585506748] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051454.587404368] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051454.587931535] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051454.588390611] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051454.589348335] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051454.589899895] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051454.590210339] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051454.644807299] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051454.645446596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051454.646037324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051454.647979702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051454.649132862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051454.745337803] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051454.746360807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051454.747376031] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051454.748529210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051454.749592704] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051454.835497910] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051454.837431919] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051454.838199439] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051454.839727958] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051454.839791369] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051454.840755078] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051454.841618104] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051454.844316353] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051454.844848169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051454.845405958] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051454.846553943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051454.847568984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051454.945362555] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051454.946294863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051454.946907344] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051454.948741498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051454.949946973] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051454.957699283] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051454.958740200] [sailbot.main_algo]: Target Bearing: -141.65406185686476 +[main_algo-3] [INFO] [1746051454.959625216] [sailbot.main_algo]: Heading Difference: -173.08493814313522 +[main_algo-3] [INFO] [1746051454.960963535] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051454.961844152] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051454.962710666] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051454.964269183] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051454.965446568] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051455.002942564] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904398 Long: -76.50277771 +[main_algo-3] [INFO] [1746051455.004178327] [sailbot.main_algo]: Distance to destination: 56.3445099932606 +[vectornav-1] [INFO] [1746051455.004228140] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.367999999999995, 0.459, 4.639) +[main_algo-3] [INFO] [1746051455.005397627] [sailbot.main_algo]: Target Bearing: -141.6548112346889 +[main_algo-3] [INFO] [1746051455.006403635] [sailbot.main_algo]: Heading Difference: -173.08418876531107 +[main_algo-3] [INFO] [1746051455.007888528] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051455.008796838] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051455.009684192] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051455.011468120] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051455.044985555] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051455.045996674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051455.046629093] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051455.048038736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051455.049232956] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051455.085673151] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051455.088079924] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051455.088835845] [sailbot.teensy]: Wind angle: 161 +[mux-7] [INFO] [1746051455.089457940] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051455.089835235] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051455.090814146] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051455.091713109] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051455.145227030] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051455.145703655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051455.146791666] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051455.147915263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051455.148981569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051455.245369458] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051455.246022115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051455.246992753] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051455.248354091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051455.249471494] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051455.335274134] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051455.337019320] [sailbot.teensy]: Wind angle: 159 +[teensy-2] [INFO] [1746051455.337968667] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051455.338175424] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051455.338841075] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051455.338887932] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051455.339776365] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051455.344385013] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051455.344985007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051455.345602483] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051455.346783142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051455.347844441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051455.445219452] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051455.445768623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051455.446750673] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051455.447968817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051455.449047075] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051455.457791409] [sailbot.main_algo]: Wind Direction: 159 +[main_algo-3] [INFO] [1746051455.458864175] [sailbot.main_algo]: Target Bearing: -141.6548112346889 +[main_algo-3] [INFO] [1746051455.459759196] [sailbot.main_algo]: Heading Difference: -173.9771887653111 +[main_algo-3] [INFO] [1746051455.461089981] [sailbot.main_algo]: Wind Direction: 159 +[main_algo-3] [INFO] [1746051455.461921224] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051455.462719271] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051455.464283583] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051455.464322942] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051455.502754710] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904381 Long: -76.50277772 +[main_algo-3] [INFO] [1746051455.503885302] [sailbot.main_algo]: Distance to destination: 56.33190251086791 +[vectornav-1] [INFO] [1746051455.504656043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.024, -1.399, 4.992) +[main_algo-3] [INFO] [1746051455.505082771] [sailbot.main_algo]: Target Bearing: -141.6691282196974 +[main_algo-3] [INFO] [1746051455.506119585] [sailbot.main_algo]: Heading Difference: -173.96287178030263 +[main_algo-3] [INFO] [1746051455.507517358] [sailbot.main_algo]: Wind Direction: 159 +[main_algo-3] [INFO] [1746051455.508423920] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051455.509298939] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051455.510950742] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051455.545094625] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051455.545827008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051455.546492157] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051455.547973829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051455.549123861] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051455.584795764] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051455.586133098] [sailbot.teensy]: Wind angle: 159 +[teensy-2] [INFO] [1746051455.586909915] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051455.586619912] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051455.587719324] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051455.589387847] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051455.589550215] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051455.644139596] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051455.644686812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051455.645245863] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051455.646391314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051455.647513059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051455.745330518] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051455.746311093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051455.746966330] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051455.748452010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051455.748970178] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051455.835358957] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051455.837155989] [sailbot.teensy]: Wind angle: 160 +[trim_sail-4] [INFO] [1746051455.837566184] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051455.838142536] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051455.839093792] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051455.839104179] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051455.840131297] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051455.844469053] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051455.845090434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051455.845699720] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051455.846900465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051455.847944349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051455.945241261] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051455.945715790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051455.946746313] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051455.947707555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051455.948926976] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051455.957683062] [sailbot.main_algo]: Wind Direction: 160 +[main_algo-3] [INFO] [1746051455.958803827] [sailbot.main_algo]: Target Bearing: -141.6691282196974 +[main_algo-3] [INFO] [1746051455.959809650] [sailbot.main_algo]: Heading Difference: -175.30687178030257 +[main_algo-3] [INFO] [1746051455.961133730] [sailbot.main_algo]: Wind Direction: 160 +[main_algo-3] [INFO] [1746051455.961946445] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051455.962732686] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051455.964347684] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051455.964369245] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051456.002926166] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904365 Long: -76.50277757 +[main_algo-3] [INFO] [1746051456.003924699] [sailbot.main_algo]: Distance to destination: 56.330178661187674 +[vectornav-1] [INFO] [1746051456.004127258] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.25599999999997, 0.391, 3.524) +[main_algo-3] [INFO] [1746051456.005121683] [sailbot.main_algo]: Target Bearing: -141.6910588155994 +[main_algo-3] [INFO] [1746051456.006074761] [sailbot.main_algo]: Heading Difference: -175.28494118440062 +[main_algo-3] [INFO] [1746051456.007565868] [sailbot.main_algo]: Wind Direction: 160 +[main_algo-3] [INFO] [1746051456.008584428] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051456.009484809] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051456.011430943] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051456.045304093] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051456.045682191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051456.046666269] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051456.047552286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051456.048737451] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051456.085199361] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051456.087203635] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051456.087436769] [sailbot.teensy]: Wind angle: 161 +[mux-7] [INFO] [1746051456.087781699] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051456.088445355] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051456.089354572] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051456.090229942] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051456.145118323] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051456.145911673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051456.146570436] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051456.147932969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051456.149008933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051456.243805709] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051456.244288885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051456.244488268] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051456.245308799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051456.246344195] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051456.335358827] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051456.337737761] [sailbot.teensy]: Wind angle: 160 +[trim_sail-4] [INFO] [1746051456.337906805] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051456.338805020] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051456.339497524] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051456.340453657] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051456.341338657] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051456.344294731] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051456.345385750] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051456.345442597] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051456.347118055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051456.348147841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051456.445012880] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051456.445728736] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051456.446283007] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051456.447887341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051456.448975378] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051456.457668495] [sailbot.main_algo]: Wind Direction: 160 +[main_algo-3] [INFO] [1746051456.458734103] [sailbot.main_algo]: Target Bearing: -141.6910588155994 +[main_algo-3] [INFO] [1746051456.459633628] [sailbot.main_algo]: Heading Difference: -174.05294118440065 +[main_algo-3] [INFO] [1746051456.460964253] [sailbot.main_algo]: Wind Direction: 160 +[main_algo-3] [INFO] [1746051456.461836878] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051456.462611469] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051456.464108119] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051456.464175012] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051456.502715477] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904368 Long: -76.5027778 +[main_algo-3] [INFO] [1746051456.503626914] [sailbot.main_algo]: Distance to destination: 56.317662694298505 +[vectornav-1] [INFO] [1746051456.504203917] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.867999999999995, -0.199, 5.885) +[main_algo-3] [INFO] [1746051456.504708081] [sailbot.main_algo]: Target Bearing: -141.67624455864978 +[main_algo-3] [INFO] [1746051456.505705384] [sailbot.main_algo]: Heading Difference: -174.06775544135024 +[main_algo-3] [INFO] [1746051456.507079134] [sailbot.main_algo]: Wind Direction: 160 +[main_algo-3] [INFO] [1746051456.507955561] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051456.508819452] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051456.510437544] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051456.544995850] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051456.545726894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051456.546262994] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051456.547825436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051456.548934219] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051456.585237906] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051456.586903999] [sailbot.teensy]: Wind angle: 160 +[teensy-2] [INFO] [1746051456.587767128] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051456.587322621] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051456.588538261] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051456.588848907] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051456.589791229] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051456.645068804] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051456.645645257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051456.646572018] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051456.647584567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051456.648402104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051456.745266907] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051456.746208835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051456.746933916] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051456.748149210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051456.748669542] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051456.835152906] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051456.835977643] [sailbot.teensy]: Wind angle: 159 +[teensy-2] [INFO] [1746051456.836392370] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051456.836344048] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051456.836752482] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051456.837115467] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051456.836816977] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051456.844505897] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051456.845064326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051456.845737532] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051456.846761259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051456.847795773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051456.945214740] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051456.945801846] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051456.946794497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051456.947802851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051456.948850245] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051456.957567753] [sailbot.main_algo]: Wind Direction: 159 +[main_algo-3] [INFO] [1746051456.958629790] [sailbot.main_algo]: Target Bearing: -141.67624455864978 +[main_algo-3] [INFO] [1746051456.959535257] [sailbot.main_algo]: Heading Difference: -174.45575544135022 +[main_algo-3] [INFO] [1746051456.960843508] [sailbot.main_algo]: Wind Direction: 159 +[main_algo-3] [INFO] [1746051456.961657766] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051456.962454726] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051456.963971672] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051456.964017777] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051457.002924056] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904341 Long: -76.5027776 +[main_algo-3] [INFO] [1746051457.003859727] [sailbot.main_algo]: Distance to destination: 56.311382978264476 +[vectornav-1] [INFO] [1746051457.004104491] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.51299999999998, -0.858, 5.263) +[main_algo-3] [INFO] [1746051457.005244528] [sailbot.main_algo]: Target Bearing: -141.7104478444912 +[main_algo-3] [INFO] [1746051457.006195520] [sailbot.main_algo]: Heading Difference: -174.42155215550883 +[main_algo-3] [INFO] [1746051457.007557195] [sailbot.main_algo]: Wind Direction: 159 +[main_algo-3] [INFO] [1746051457.008479730] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051457.009333012] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051457.011143665] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051457.045235436] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051457.045894624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051457.046735231] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051457.048321138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051457.049455980] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051457.084911584] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051457.087144124] [sailbot.teensy]: Wind angle: 160 +[trim_sail-4] [INFO] [1746051457.087140466] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051457.087325637] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051457.090158333] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051457.091111499] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051457.092033217] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051457.145092636] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051457.145607769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051457.146483748] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051457.147475598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051457.148579753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051457.245044730] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051457.245717941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051457.246386145] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051457.247601889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051457.248756966] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051457.335493237] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051457.337913159] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051457.338375741] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051457.338843566] [sailbot.teensy]: Wind angle: 162 +[teensy-2] [INFO] [1746051457.339252316] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051457.339587117] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051457.339923072] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051457.344431958] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051457.344910185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051457.345665108] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051457.346724480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051457.347785976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051457.445365664] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051457.446137868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051457.447022394] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051457.448301405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051457.448727999] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051457.457977042] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051457.459117590] [sailbot.main_algo]: Target Bearing: -141.7104478444912 +[main_algo-3] [INFO] [1746051457.460102332] [sailbot.main_algo]: Heading Difference: -176.77655215550885 +[main_algo-3] [INFO] [1746051457.461443567] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051457.462328378] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051457.463169702] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051457.464905824] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051457.465200844] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051457.502645915] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904334 Long: -76.50277763 +[main_algo-3] [INFO] [1746051457.503718612] [sailbot.main_algo]: Distance to destination: 56.304550036739954 +[vectornav-1] [INFO] [1746051457.503744307] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.96300000000002, 0.0, 4.853) +[main_algo-3] [INFO] [1746051457.504893594] [sailbot.main_algo]: Target Bearing: -141.71497931145737 +[main_algo-3] [INFO] [1746051457.506026147] [sailbot.main_algo]: Heading Difference: -176.77202068854263 +[main_algo-3] [INFO] [1746051457.507419970] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051457.508337355] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051457.509207232] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051457.511012624] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051457.545046113] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051457.545729733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051457.546321815] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051457.547608182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051457.548758144] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051457.585286306] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051457.587706852] [sailbot.teensy]: Wind angle: 167 +[trim_sail-4] [INFO] [1746051457.587757998] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051457.588673772] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051457.588756356] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051457.589576128] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051457.590508162] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051457.644338467] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051457.645181961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051457.645395062] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051457.647317202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051457.649147478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051457.744960737] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051457.745410655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051457.746192364] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051457.747184084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051457.748239815] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051457.835210103] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051457.837327083] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051457.838576032] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051457.838725696] [sailbot.teensy]: Wind angle: 167 +[teensy-2] [INFO] [1746051457.839699869] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051457.840606198] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051457.841452304] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051457.844370566] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051457.844782827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051457.845559708] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051457.846478017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051457.847543170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051457.944870606] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051457.945604622] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051457.946066893] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051457.947546083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051457.948552261] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051457.957412001] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051457.958402954] [sailbot.main_algo]: Target Bearing: -141.71497931145737 +[main_algo-3] [INFO] [1746051457.959373585] [sailbot.main_algo]: Heading Difference: -176.32202068854258 +[main_algo-3] [INFO] [1746051457.960609885] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051457.961423084] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051457.962193613] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051457.963663754] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051457.963704777] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051458.002325216] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904331 Long: -76.50277762 +[vectornav-1] [INFO] [1746051458.003270400] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.985000000000014, -0.915, 4.309) +[main_algo-3] [INFO] [1746051458.003358706] [sailbot.main_algo]: Distance to destination: 56.30307612503456 +[main_algo-3] [INFO] [1746051458.004603459] [sailbot.main_algo]: Target Bearing: -141.7181329868735 +[main_algo-3] [INFO] [1746051458.005884431] [sailbot.main_algo]: Heading Difference: -176.31886701312646 +[main_algo-3] [INFO] [1746051458.007319340] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051458.008282746] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051458.009107348] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051458.010669993] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051458.044996258] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051458.045725533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051458.046332428] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051458.047618014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051458.048688352] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051458.085222411] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051458.086975933] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051458.087430109] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051458.087869230] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051458.088675180] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051458.088799906] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051458.089669661] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051458.145206446] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051458.145681008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051458.146715512] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051458.147649624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051458.148867801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051458.245263562] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051458.245818046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051458.247062371] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051458.247858248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051458.249063858] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051458.335436789] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051458.337833627] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051458.337983930] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051458.338959759] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051458.338965995] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051458.339917187] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051458.340816001] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051458.344356032] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051458.344919660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051458.345455262] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051458.346701349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051458.347878759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051458.444991040] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051458.445656538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051458.446280124] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051458.447686794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051458.448712367] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051458.457788190] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051458.458948708] [sailbot.main_algo]: Target Bearing: -141.7181329868735 +[main_algo-3] [INFO] [1746051458.459902848] [sailbot.main_algo]: Heading Difference: -176.29686701312647 +[main_algo-3] [INFO] [1746051458.461228587] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051458.462047814] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051458.462908907] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051458.464572455] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051458.466144633] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051458.502924400] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690433 Long: -76.5027777 +[main_algo-3] [INFO] [1746051458.504081670] [sailbot.main_algo]: Distance to destination: 56.29728246167473 +[vectornav-1] [INFO] [1746051458.504112804] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.40999999999997, 1.111, 5.399) +[main_algo-3] [INFO] [1746051458.505960734] [sailbot.main_algo]: Target Bearing: -141.71476786688388 +[main_algo-3] [INFO] [1746051458.506989422] [sailbot.main_algo]: Heading Difference: -176.30023213311608 +[main_algo-3] [INFO] [1746051458.509440523] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051458.510553410] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051458.511446859] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051458.513170327] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051458.545207907] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051458.546009087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051458.546649829] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051458.548006113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051458.549168637] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051458.585354842] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051458.587562066] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051458.588178364] [sailbot.teensy]: Wind angle: 157 +[teensy-2] [INFO] [1746051458.589129606] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051458.589407842] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051458.590041084] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051458.590897927] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051458.644985840] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051458.645918129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051458.646398112] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051458.647757608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051458.648935624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051458.745469293] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051458.746406384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051458.747120840] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051458.749241531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051458.750326017] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051458.835623067] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051458.837590890] [sailbot.teensy]: Wind angle: 156 +[trim_sail-4] [INFO] [1746051458.838036135] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051458.838630170] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051458.839577270] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051458.840324495] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051458.840604346] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051458.844349008] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051458.845192657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051458.845866137] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051458.846993223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051458.848010892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051458.945089286] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051458.945701341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051458.946444415] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051458.947547807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051458.948761332] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051458.957428263] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051458.958384608] [sailbot.main_algo]: Target Bearing: -141.71476786688388 +[main_algo-3] [INFO] [1746051458.959248048] [sailbot.main_algo]: Heading Difference: -176.87523213311613 +[main_algo-3] [INFO] [1746051458.960471662] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051458.961278237] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051458.962110732] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051458.963732323] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051458.963919517] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051459.002764864] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904331 Long: -76.50277782 +[main_algo-3] [INFO] [1746051459.003586096] [sailbot.main_algo]: Distance to destination: 56.29035112845734 +[vectornav-1] [INFO] [1746051459.003827966] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (40.78499999999997, -1.958, 4.648) +[main_algo-3] [INFO] [1746051459.004685202] [sailbot.main_algo]: Target Bearing: -141.70753212522754 +[main_algo-3] [INFO] [1746051459.005603176] [sailbot.main_algo]: Heading Difference: -176.8824678747725 +[main_algo-3] [INFO] [1746051459.006971602] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051459.007865717] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051459.008747557] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051459.010472959] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051459.045353819] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051459.046060624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051459.046825933] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051459.048049274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051459.049063722] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051459.085470168] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051459.087677157] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051459.087992939] [sailbot.teensy]: Wind angle: 157 +[teensy-2] [INFO] [1746051459.088972577] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051459.089785032] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051459.089880852] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051459.090740351] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051459.144809682] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051459.146010280] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051459.148396924] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051459.150107543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051459.151181066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051459.244974553] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051459.245666674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051459.246310672] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051459.247431263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051459.248476915] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051459.335298941] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051459.337157970] [sailbot.teensy]: Wind angle: 157 +[trim_sail-4] [INFO] [1746051459.337756495] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051459.338122889] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051459.339029611] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051459.339180859] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051459.339998385] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051459.344410122] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051459.344894900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051459.345556612] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051459.346622488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051459.347664475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051459.445408229] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051459.446263547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051459.447714686] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051459.448444712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051459.448966054] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051459.457990831] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051459.459077139] [sailbot.main_algo]: Target Bearing: -141.70753212522754 +[main_algo-3] [INFO] [1746051459.460007056] [sailbot.main_algo]: Heading Difference: -177.5074678747725 +[main_algo-3] [INFO] [1746051459.461357591] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051459.462222856] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051459.463031559] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051459.464588556] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051459.464806232] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051459.501354583] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904346 Long: -76.50277766 +[vectornav-1] [INFO] [1746051459.501791040] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.34899999999999, 0.828, 5.768) +[main_algo-3] [INFO] [1746051459.501833057] [sailbot.main_algo]: Distance to destination: 56.3110835520651 +[main_algo-3] [INFO] [1746051459.502330869] [sailbot.main_algo]: Target Bearing: -141.7028962751564 +[main_algo-3] [INFO] [1746051459.502774615] [sailbot.main_algo]: Heading Difference: -177.51210372484366 +[main_algo-3] [INFO] [1746051459.503443020] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051459.503870433] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051459.504345431] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051459.505339554] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051459.543701232] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051459.544036417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051459.544249378] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051459.545114365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051459.545710406] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051459.585189081] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051459.587139461] [sailbot.teensy]: Wind angle: 157 +[teensy-2] [INFO] [1746051459.588042521] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051459.587344055] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051459.588085208] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051459.588950441] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051459.589787963] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051459.645008626] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051459.645767460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051459.646335867] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051459.647615524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051459.648823082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051459.744049399] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051459.744576650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051459.744939799] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051459.746436216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051459.747932821] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051459.835416241] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051459.837277204] [sailbot.teensy]: Wind angle: 157 +[teensy-2] [INFO] [1746051459.838230486] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051459.838268644] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051459.838333470] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051459.840094250] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051459.841144652] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051459.844383681] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051459.844927806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051459.845534646] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051459.846733961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051459.847804478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051459.944694489] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051459.945185892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051459.946044057] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051459.946936294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051459.948125682] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051459.957623034] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051459.958619452] [sailbot.main_algo]: Target Bearing: -141.7028962751564 +[main_algo-3] [INFO] [1746051459.959499393] [sailbot.main_algo]: Heading Difference: -178.94810372484358 +[main_algo-3] [INFO] [1746051459.960789052] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051459.961606810] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051459.962377948] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051459.963901534] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051459.964007908] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051460.002969601] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904328 Long: -76.5027774 +[vectornav-1] [INFO] [1746051460.004225564] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (40.83100000000002, -1.01, 5.521) +[main_algo-3] [INFO] [1746051460.004603132] [sailbot.main_algo]: Distance to destination: 56.31496630287661 +[main_algo-3] [INFO] [1746051460.005665985] [sailbot.main_algo]: Target Bearing: -141.73241212148696 +[main_algo-3] [INFO] [1746051460.006890602] [sailbot.main_algo]: Heading Difference: -178.91858787851305 +[main_algo-3] [INFO] [1746051460.008322745] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051460.009223245] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051460.010068832] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051460.011790461] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051460.045139600] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051460.045617738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051460.046494127] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051460.047521315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051460.048637484] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051460.085265588] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051460.087280709] [sailbot.teensy]: Wind angle: 157 +[trim_sail-4] [INFO] [1746051460.087313095] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051460.088232164] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051460.088783525] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051460.089121459] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051460.089981479] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051460.145086837] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051460.145797422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051460.146486377] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051460.148385839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051460.149508877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051460.245133249] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051460.245578676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051460.246481878] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051460.247718430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051460.248587904] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051460.335564804] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051460.338011367] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051460.338710516] [sailbot.teensy]: Wind angle: 157 +[mux-7] [INFO] [1746051460.338733497] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051460.339148299] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051460.339536682] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051460.339893045] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051460.344528704] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051460.344965372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051460.345738723] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051460.346728078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051460.347791948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051460.445204569] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051460.445824223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051460.446712550] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051460.447819583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051460.449028149] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051460.457551142] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051460.458560823] [sailbot.main_algo]: Target Bearing: -141.73241212148696 +[main_algo-3] [INFO] [1746051460.459468914] [sailbot.main_algo]: Heading Difference: -177.43658787851302 +[main_algo-3] [INFO] [1746051460.460752899] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051460.461598170] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051460.462417395] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051460.464041168] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051460.464262465] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051460.502320914] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904334 Long: -76.50277726 +[main_algo-3] [INFO] [1746051460.503253678] [sailbot.main_algo]: Distance to destination: 56.32809529896339 +[vectornav-1] [INFO] [1746051460.503294588] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.303999999999974, -0.138, 4.758) +[main_algo-3] [INFO] [1746051460.504408849] [sailbot.main_algo]: Target Bearing: -141.73457908364216 +[main_algo-3] [INFO] [1746051460.505350350] [sailbot.main_algo]: Heading Difference: -177.4344209163578 +[main_algo-3] [INFO] [1746051460.506552559] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051460.507258558] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051460.507880408] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051460.509521637] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051460.544893590] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051460.545467593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051460.546108134] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051460.547256885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051460.548406052] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051460.585313185] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051460.587762963] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051460.588863858] [sailbot.teensy]: Wind angle: 157 +[teensy-2] [INFO] [1746051460.590038821] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051460.590042537] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051460.590971561] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051460.591853210] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051460.644804021] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051460.645550488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051460.646080731] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051460.647337459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051460.648412863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051460.745010774] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051460.745871308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051460.746399408] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051460.747934453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051460.749068639] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051460.835214896] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051460.836442648] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051460.836752344] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051460.836900198] [sailbot.teensy]: Wind angle: 157 +[teensy-2] [INFO] [1746051460.837314711] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051460.837677865] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051460.838036938] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051460.844342404] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051460.845030384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051460.845387757] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051460.846787372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051460.847941898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051460.945023914] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051460.945707254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051460.946358206] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051460.947569861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051460.948770523] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051460.957425057] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051460.958385927] [sailbot.main_algo]: Target Bearing: -141.73457908364216 +[main_algo-3] [INFO] [1746051460.959261966] [sailbot.main_algo]: Heading Difference: -174.96142091635784 +[main_algo-3] [INFO] [1746051460.960492351] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051460.961301674] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051460.962108775] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051460.963633396] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051460.963736374] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051461.002811027] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904358 Long: -76.50277703 +[main_algo-3] [INFO] [1746051461.003682632] [sailbot.main_algo]: Distance to destination: 56.3596093382672 +[vectornav-1] [INFO] [1746051461.003903448] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.903999999999996, -0.415, 5.882) +[main_algo-3] [INFO] [1746051461.004790565] [sailbot.main_algo]: Target Bearing: -141.7257762553488 +[main_algo-3] [INFO] [1746051461.005759534] [sailbot.main_algo]: Heading Difference: -174.9702237446512 +[main_algo-3] [INFO] [1746051461.007096073] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051461.008008287] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051461.008836258] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051461.010528103] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051461.045220542] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051461.045776549] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051461.046931399] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051461.048169791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051461.049323254] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051461.085440351] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051461.087198171] [sailbot.teensy]: Wind angle: 155 +[teensy-2] [INFO] [1746051461.088121508] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051461.087783835] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051461.088971786] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051461.089049542] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051461.089899679] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051461.144814755] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051461.145306913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051461.146231659] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051461.147120424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051461.148277358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051461.245172036] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051461.245934885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051461.246637981] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051461.247779727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051461.248846534] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051461.335477246] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051461.337898910] [sailbot.teensy]: Wind angle: 155 +[teensy-2] [INFO] [1746051461.338857458] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051461.338209241] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051461.339323758] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051461.339751518] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051461.340597816] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051461.344428706] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051461.344966926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051461.345569542] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051461.346686492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051461.347869126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051461.445182869] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051461.445931492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051461.446570707] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051461.447758306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051461.448818258] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051461.457669423] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051461.458709543] [sailbot.main_algo]: Target Bearing: -141.7257762553488 +[main_algo-3] [INFO] [1746051461.459623140] [sailbot.main_algo]: Heading Difference: -176.37022374465118 +[main_algo-3] [INFO] [1746051461.460930669] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051461.461737902] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051461.462518896] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051461.464035840] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051461.464064670] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051461.502177367] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904349 Long: -76.5027767 +[vectornav-1] [INFO] [1746051461.503185465] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.81200000000001, 0.267, 5.795) +[main_algo-3] [INFO] [1746051461.503511140] [sailbot.main_algo]: Distance to destination: 56.37428562814337 +[main_algo-3] [INFO] [1746051461.504527004] [sailbot.main_algo]: Target Bearing: -141.7511012173322 +[main_algo-3] [INFO] [1746051461.505761070] [sailbot.main_algo]: Heading Difference: -176.34489878266777 +[main_algo-3] [INFO] [1746051461.507166579] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051461.508105848] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051461.508937481] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051461.510620780] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051461.544963442] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051461.545705876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051461.546272698] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051461.547716894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051461.548875620] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051461.585961238] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051461.588033702] [sailbot.teensy]: Wind angle: 155 +[trim_sail-4] [INFO] [1746051461.589289590] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051461.589708837] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051461.590800672] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051461.591669774] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051461.591928995] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051461.645012831] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051461.645747100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051461.646355220] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051461.647885128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051461.648947018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051461.745140813] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051461.745893387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051461.746907566] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051461.747902401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051461.749083957] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051461.834514662] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051461.835407908] [sailbot.teensy]: Wind angle: 156 +[teensy-2] [INFO] [1746051461.835974831] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051461.836757094] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051461.836957658] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051461.837262742] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051461.837348485] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051461.843686871] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051461.844025870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051461.844245148] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051461.844871842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051461.845397121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051461.945502855] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051461.946064508] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051461.946697090] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051461.947600024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051461.948065188] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051461.957459219] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051461.958414843] [sailbot.main_algo]: Target Bearing: -141.7511012173322 +[main_algo-3] [INFO] [1746051461.959255664] [sailbot.main_algo]: Heading Difference: -176.43689878266775 +[main_algo-3] [INFO] [1746051461.960513709] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051461.961409562] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051461.962205403] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051461.963722177] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051461.963976920] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051462.002642218] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690436 Long: -76.50277659 +[vectornav-1] [INFO] [1746051462.003632927] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.58800000000002, -1.832, 5.271) +[main_algo-3] [INFO] [1746051462.003686424] [sailbot.main_algo]: Distance to destination: 56.38902000892188 +[main_algo-3] [INFO] [1746051462.004789626] [sailbot.main_algo]: Target Bearing: -141.7473067995873 +[main_algo-3] [INFO] [1746051462.005679161] [sailbot.main_algo]: Heading Difference: -176.44069320041268 +[main_algo-3] [INFO] [1746051462.006937293] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051462.007854013] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051462.008698362] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051462.010329064] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051462.045104315] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051462.045656308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051462.046545047] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051462.047560463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051462.048694680] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051462.085203830] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051462.086737767] [sailbot.teensy]: Wind angle: 155 +[teensy-2] [INFO] [1746051462.087551793] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051462.087301947] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051462.087652512] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051462.088351724] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051462.089125160] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051462.145140809] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051462.145974531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051462.147311073] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051462.147979537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051462.149184599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051462.245120623] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051462.245663343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051462.246550190] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051462.247680948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051462.248819777] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051462.335316183] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051462.337699588] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051462.338204723] [sailbot.teensy]: Wind angle: 156 +[teensy-2] [INFO] [1746051462.339173629] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051462.339375895] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051462.340116878] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051462.341081219] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051462.344431147] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051462.344958770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051462.345631257] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051462.346633092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051462.347718280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051462.445510382] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051462.446312826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051462.447223237] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051462.448620482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051462.449895302] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051462.457799866] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051462.458784846] [sailbot.main_algo]: Target Bearing: -141.7473067995873 +[main_algo-3] [INFO] [1746051462.459679512] [sailbot.main_algo]: Heading Difference: -174.66469320041267 +[main_algo-3] [INFO] [1746051462.461001610] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051462.461877290] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051462.462742365] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051462.464366609] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051462.464425320] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051462.502666951] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904387 Long: -76.50277633 +[main_algo-3] [INFO] [1746051462.503682456] [sailbot.main_algo]: Distance to destination: 56.42455079377032 +[main_algo-3] [INFO] [1746051462.504796206] [sailbot.main_algo]: Target Bearing: -141.73747307722934 +[vectornav-1] [INFO] [1746051462.504822938] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.79000000000002, 1.106, 4.952) +[main_algo-3] [INFO] [1746051462.505807273] [sailbot.main_algo]: Heading Difference: -174.6745269227706 +[main_algo-3] [INFO] [1746051462.507361713] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051462.508270708] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051462.509135668] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051462.511037549] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051462.545101233] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051462.545141730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051462.546276581] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051462.546823006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051462.548809798] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051462.585231030] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051462.586997224] [sailbot.teensy]: Wind angle: 159 +[trim_sail-4] [INFO] [1746051462.587581436] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051462.587894438] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051462.588837713] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051462.589414143] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051462.589786149] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051462.645136468] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051462.646063396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051462.646617979] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051462.648138469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051462.648676993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051462.744932213] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051462.745701064] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051462.746239126] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051462.747635962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051462.748767736] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051462.835331817] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051462.837437909] [sailbot.teensy]: Wind angle: 161 +[trim_sail-4] [INFO] [1746051462.837478997] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051462.838413159] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051462.838702258] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051462.839297857] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051462.840233880] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051462.844531288] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051462.845149587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051462.845669952] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051462.846863431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051462.847918534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051462.944900384] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051462.945719533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051462.946125397] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051462.947651022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051462.948742388] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051462.957421175] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051462.958376631] [sailbot.main_algo]: Target Bearing: -141.73747307722934 +[main_algo-3] [INFO] [1746051462.959200805] [sailbot.main_algo]: Heading Difference: -175.4725269227706 +[main_algo-3] [INFO] [1746051462.960435370] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051462.961228057] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051462.962005002] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051462.963523316] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051462.963583588] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051463.001411127] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904371 Long: -76.50277645 +[main_algo-3] [INFO] [1746051463.001828816] [sailbot.main_algo]: Distance to destination: 56.40566424843895 +[vectornav-1] [INFO] [1746051463.001856358] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.742999999999995, -0.687, 6.084) +[main_algo-3] [INFO] [1746051463.002303272] [sailbot.main_algo]: Target Bearing: -141.7451003865941 +[main_algo-3] [INFO] [1746051463.002740733] [sailbot.main_algo]: Heading Difference: -175.46489961340592 +[main_algo-3] [INFO] [1746051463.003365166] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051463.003769250] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051463.004175541] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051463.005037621] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051463.043663895] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051463.043989624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051463.044195560] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051463.044850875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051463.045403785] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051463.084406044] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051463.085376105] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051463.085652771] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051463.086254677] [sailbot.teensy]: Wind angle: 161 +[teensy-2] [INFO] [1746051463.086668306] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051463.087033898] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051463.087388875] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051463.143619315] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051463.144023418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051463.144112027] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051463.144845523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051463.145364627] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051463.243629552] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051463.243955749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051463.244131872] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051463.244981074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051463.245472321] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051463.334468237] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051463.335797689] [sailbot.teensy]: Wind angle: 161 +[teensy-2] [INFO] [1746051463.336778236] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051463.336521881] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051463.337127264] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051463.337624870] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051463.338418814] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051463.343917669] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051463.344679466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051463.345082851] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051463.346307895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051463.346784328] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051463.445328315] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051463.446204775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051463.446802786] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051463.447880535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051463.448343629] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051463.458075083] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051463.459335668] [sailbot.main_algo]: Target Bearing: -141.7451003865941 +[main_algo-3] [INFO] [1746051463.460314882] [sailbot.main_algo]: Heading Difference: -175.51189961340594 +[main_algo-3] [INFO] [1746051463.461669771] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051463.462567855] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051463.463431909] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051463.465103896] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051463.465271089] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051463.502553921] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690435 Long: -76.50277632 +[main_algo-3] [INFO] [1746051463.503477534] [sailbot.main_algo]: Distance to destination: 56.39918238762353 +[vectornav-1] [INFO] [1746051463.503680216] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.339, -0.796, 5.626) +[main_algo-3] [INFO] [1746051463.504654508] [sailbot.main_algo]: Target Bearing: -141.77031631799827 +[main_algo-3] [INFO] [1746051463.505618698] [sailbot.main_algo]: Heading Difference: -175.48668368200174 +[main_algo-3] [INFO] [1746051463.507068443] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051463.508045685] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051463.508912691] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051463.510485466] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051463.545021513] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051463.545747114] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051463.546358146] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051463.547628507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051463.548798734] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051463.585163547] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051463.586676507] [sailbot.teensy]: Wind angle: 161 +[trim_sail-4] [INFO] [1746051463.587498057] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051463.587548985] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051463.588465043] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051463.589239458] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051463.589340731] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051463.644855174] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051463.645770798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051463.645992263] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051463.647694626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051463.648712725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051463.745012067] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051463.745883440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051463.746379317] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051463.747755439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051463.748311397] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051463.835517895] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051463.837455654] [sailbot.teensy]: Wind angle: 162 +[trim_sail-4] [INFO] [1746051463.838088404] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051463.838471626] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051463.839360408] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051463.839383259] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051463.840339028] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051463.844425100] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051463.844944528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051463.845487530] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051463.846629192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051463.847600583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051463.945023475] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051463.945759364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051463.946369729] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051463.947759070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051463.948908931] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051463.957460908] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051463.958417993] [sailbot.main_algo]: Target Bearing: -141.77031631799827 +[main_algo-3] [INFO] [1746051463.959239660] [sailbot.main_algo]: Heading Difference: -175.89068368200174 +[main_algo-3] [INFO] [1746051463.960478337] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051463.961295006] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051463.962146696] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051463.963750618] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051463.963820916] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051464.001807545] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904351 Long: -76.50277602 +[main_algo-3] [INFO] [1746051464.002478306] [sailbot.main_algo]: Distance to destination: 56.41899006612212 +[vectornav-1] [INFO] [1746051464.002518974] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.182000000000016, -0.445, 5.803) +[main_algo-3] [INFO] [1746051464.003338381] [sailbot.main_algo]: Target Bearing: -141.78529022765417 +[main_algo-3] [INFO] [1746051464.004108394] [sailbot.main_algo]: Heading Difference: -175.87570977234583 +[main_algo-3] [INFO] [1746051464.005315224] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051464.006037072] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051464.006682683] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051464.008181340] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051464.044569492] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051464.045028124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051464.045661435] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051464.046650913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051464.047677996] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051464.085411308] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051464.087408352] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051464.087963299] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051464.088438202] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051464.089331708] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051464.089706589] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051464.090237796] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051464.145017678] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051464.145881297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051464.146371952] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051464.147792343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051464.148786844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051464.244752176] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051464.245259139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051464.245914901] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051464.246990050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051464.248028567] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051464.335293402] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051464.336954577] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051464.337472085] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051464.338313586] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051464.339189795] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051464.340176179] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051464.341058099] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051464.344375057] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051464.345017505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051464.345452579] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051464.346800415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051464.347917002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051464.445142521] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051464.445813985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051464.446468758] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051464.447784473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051464.448797166] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051464.457702567] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051464.458795151] [sailbot.main_algo]: Target Bearing: -141.78529022765417 +[main_algo-3] [INFO] [1746051464.459756590] [sailbot.main_algo]: Heading Difference: -174.0327097723458 +[main_algo-3] [INFO] [1746051464.461145937] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051464.461994269] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051464.462778356] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051464.464299283] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051464.464465874] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051464.502734650] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904365 Long: -76.50277564 +[main_algo-3] [INFO] [1746051464.503624328] [sailbot.main_algo]: Distance to destination: 56.45302623854235 +[vectornav-1] [INFO] [1746051464.503829350] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.567999999999984, 0.066, 5.834) +[main_algo-3] [INFO] [1746051464.504752427] [sailbot.main_algo]: Target Bearing: -141.79312129184336 +[main_algo-3] [INFO] [1746051464.505747695] [sailbot.main_algo]: Heading Difference: -174.02487870815662 +[main_algo-3] [INFO] [1746051464.507180505] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051464.508081138] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051464.508968098] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051464.510649191] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051464.545667559] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051464.545671588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051464.547062294] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051464.547503755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051464.548710486] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051464.585403572] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051464.587648758] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051464.588309532] [sailbot.teensy]: Wind angle: 162 +[mux-7] [INFO] [1746051464.588975289] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051464.589279050] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051464.590167108] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051464.591038673] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051464.644962082] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051464.645728283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051464.646541149] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051464.647563506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051464.648038169] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051464.744968747] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051464.745657353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051464.746534843] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051464.747601848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051464.748689440] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051464.835130743] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051464.836913711] [sailbot.teensy]: Wind angle: 162 +[trim_sail-4] [INFO] [1746051464.837255560] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051464.837864690] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051464.838754401] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051464.838845565] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051464.839646144] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051464.844357351] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051464.845042334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051464.845514939] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051464.846760010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051464.847905615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051464.945180022] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051464.946072650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051464.946966980] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051464.948647833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051464.949162596] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051464.957686411] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051464.958734501] [sailbot.main_algo]: Target Bearing: -141.79312129184336 +[main_algo-3] [INFO] [1746051464.959686167] [sailbot.main_algo]: Heading Difference: -173.63887870815665 +[main_algo-3] [INFO] [1746051464.961098342] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051464.962028757] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051464.962839758] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051464.964487948] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051464.964510524] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051465.003023450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904361 Long: -76.50277539 +[vectornav-1] [INFO] [1746051465.004513084] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.08699999999999, 0.117, 5.222) +[main_algo-3] [INFO] [1746051465.004004216] [sailbot.main_algo]: Distance to destination: 56.46614410688054 +[main_algo-3] [INFO] [1746051465.005232031] [sailbot.main_algo]: Target Bearing: -141.8098020590554 +[main_algo-3] [INFO] [1746051465.007086646] [sailbot.main_algo]: Heading Difference: -173.6221979409446 +[main_algo-3] [INFO] [1746051465.008752810] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051465.010700532] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051465.011617378] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051465.013354833] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051465.044978719] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051465.045636033] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051465.046232748] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051465.047428382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051465.048604161] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051465.085278801] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051465.087343591] [sailbot.teensy]: Wind angle: 163 +[teensy-2] [INFO] [1746051465.088294421] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051465.087805837] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051465.088674701] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051465.089532874] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051465.090485735] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051465.144944802] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051465.145669993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051465.146198306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051465.147648190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051465.148689584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051465.245165048] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051465.245722044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051465.246599201] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051465.247629321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051465.248713725] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051465.335725385] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051465.337893206] [sailbot.teensy]: Wind angle: 163 +[trim_sail-4] [INFO] [1746051465.338994173] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051465.339441919] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051465.339661590] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051465.339829444] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051465.340254648] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051465.344499542] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051465.345059224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051465.345637907] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051465.346831424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051465.347952679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051465.445381323] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051465.446134489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051465.447550368] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051465.448211704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051465.449418273] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051465.457782037] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051465.458871554] [sailbot.main_algo]: Target Bearing: -141.8098020590554 +[main_algo-3] [INFO] [1746051465.459815209] [sailbot.main_algo]: Heading Difference: -173.1031979409446 +[main_algo-3] [INFO] [1746051465.461227404] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051465.462145645] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051465.462959457] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051465.464488978] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051465.464537660] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051465.502726110] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904359 Long: -76.5027756 +[main_algo-3] [INFO] [1746051465.503870527] [sailbot.main_algo]: Distance to destination: 56.451361119302526 +[vectornav-1] [INFO] [1746051465.503932892] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.091999999999985, -1.073, 6.184) +[main_algo-3] [INFO] [1746051465.505039587] [sailbot.main_algo]: Target Bearing: -141.80047152447682 +[main_algo-3] [INFO] [1746051465.506085064] [sailbot.main_algo]: Heading Difference: -173.11252847552316 +[main_algo-3] [INFO] [1746051465.507513567] [sailbot.main_algo]: Wind Direction: 163 +[main_algo-3] [INFO] [1746051465.508404013] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051465.509261174] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051465.510917881] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051465.545029935] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051465.545760524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051465.546526620] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051465.547700360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051465.548762885] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051465.585202667] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051465.587324564] [sailbot.teensy]: Wind angle: 164 +[trim_sail-4] [INFO] [1746051465.587687248] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051465.587854219] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051465.588297700] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051465.589201986] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051465.590057047] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051465.644986716] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051465.645686637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051465.646281621] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051465.647497675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051465.648545853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051465.745358490] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051465.745939641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051465.747457072] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051465.747986900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051465.749211170] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051465.835545695] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051465.838285762] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051465.838685173] [sailbot.teensy]: Wind angle: 164 +[mux-7] [INFO] [1746051465.839124648] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051465.839606895] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051465.840585205] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051465.841548190] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051465.844465292] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051465.844968582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051465.845673016] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051465.846703404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051465.847904635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051465.944132835] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051465.944514295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051465.946205175] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051465.948020450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051465.949028816] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051465.956765402] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051465.957473090] [sailbot.main_algo]: Target Bearing: -141.80047152447682 +[main_algo-3] [INFO] [1746051465.958341304] [sailbot.main_algo]: Heading Difference: -173.10752847552317 +[main_algo-3] [INFO] [1746051465.959594296] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051465.960547929] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051465.961521392] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051465.963239927] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051465.963431867] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051466.001689758] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904352 Long: -76.5027753 +[main_algo-3] [INFO] [1746051466.002299652] [sailbot.main_algo]: Distance to destination: 56.465561652575566 +[vectornav-1] [INFO] [1746051466.002406776] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.678999999999974, 0.031, 4.664) +[main_algo-3] [INFO] [1746051466.003048521] [sailbot.main_algo]: Target Bearing: -141.8224074669977 +[main_algo-3] [INFO] [1746051466.003791627] [sailbot.main_algo]: Heading Difference: -173.08559253300234 +[main_algo-3] [INFO] [1746051466.005010259] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051466.005903732] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051466.006780141] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051466.008173968] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051466.044673402] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051466.045336557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051466.046174111] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051466.047065622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051466.048099925] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051466.085319064] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051466.086953991] [sailbot.teensy]: Wind angle: 164 +[teensy-2] [INFO] [1746051466.087845024] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051466.088745531] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051466.087910647] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051466.089155187] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051466.089764473] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051466.144597361] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051466.145225485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051466.145707886] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051466.146946913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051466.148091104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051466.245062696] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051466.245875049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051466.246552256] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051466.247734990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051466.248804805] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051466.335273518] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051466.336927779] [sailbot.teensy]: Wind angle: 164 +[trim_sail-4] [INFO] [1746051466.337473185] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051466.338004727] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051466.338862417] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051466.339135670] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051466.339237797] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051466.344371422] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051466.344796342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051466.345749627] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051466.346489859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051466.347641946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051466.444945885] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051466.445757875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051466.446208634] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051466.447539497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051466.448583511] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051466.457675190] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051466.458722327] [sailbot.main_algo]: Target Bearing: -141.8224074669977 +[main_algo-3] [INFO] [1746051466.459661218] [sailbot.main_algo]: Heading Difference: -172.49859253300235 +[main_algo-3] [INFO] [1746051466.460999252] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051466.461867742] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051466.462687247] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051466.464333344] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051466.464453626] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051466.502819054] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904342 Long: -76.50277506 +[main_algo-3] [INFO] [1746051466.503763255] [sailbot.main_algo]: Distance to destination: 56.47384135775129 +[vectornav-1] [INFO] [1746051466.504096887] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.0, -0.327, 6.022) +[main_algo-3] [INFO] [1746051466.505454250] [sailbot.main_algo]: Target Bearing: -141.8437916037651 +[main_algo-3] [INFO] [1746051466.506424367] [sailbot.main_algo]: Heading Difference: -172.47720839623491 +[main_algo-3] [INFO] [1746051466.507750953] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051466.508639956] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051466.509490948] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051466.511115426] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051466.544946654] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051466.545627043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051466.546809153] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051466.547425449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051466.548683707] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051466.585241101] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051466.587397626] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051466.587655592] [sailbot.teensy]: Wind angle: 166 +[mux-7] [INFO] [1746051466.588188413] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051466.588605619] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051466.589555373] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051466.590410516] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051466.645054009] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051466.645610178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051466.646549843] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051466.647490852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051466.648616130] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051466.745305819] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051466.746226639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051466.746777464] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051466.748301417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051466.749360442] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051466.835167452] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051466.837031869] [sailbot.teensy]: Wind angle: 167 +[trim_sail-4] [INFO] [1746051466.837155420] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051466.837977188] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051466.838487621] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051466.838892618] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051466.839781819] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051466.844361862] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051466.844857366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051466.845478958] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051466.846511472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051466.847621072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051466.945057953] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051466.945837086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051466.946409636] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051466.947724234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051466.948818186] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051466.957485108] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051466.958469021] [sailbot.main_algo]: Target Bearing: -141.8437916037651 +[main_algo-3] [INFO] [1746051466.959367316] [sailbot.main_algo]: Heading Difference: -172.1562083962349 +[main_algo-3] [INFO] [1746051466.960601471] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051466.961501212] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051466.962323043] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051466.963926497] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051466.963946216] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051467.002888217] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904323 Long: -76.50277499 +[main_algo-3] [INFO] [1746051467.003717908] [sailbot.main_algo]: Distance to destination: 56.464978685305255 +[vectornav-1] [INFO] [1746051467.004078806] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.358000000000004, -0.283, 5.671) +[main_algo-3] [INFO] [1746051467.004962350] [sailbot.main_algo]: Target Bearing: -141.86408019921572 +[main_algo-3] [INFO] [1746051467.005935844] [sailbot.main_algo]: Heading Difference: -172.13591980078428 +[main_algo-3] [INFO] [1746051467.007303914] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051467.008230810] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051467.009100617] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051467.010832879] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051467.044913009] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051467.045630633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051467.047313801] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051467.047939821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051467.049135656] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051467.084899363] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051467.087044115] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051467.087725118] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051467.089689508] [sailbot.teensy]: Wind angle: 168 +[teensy-2] [INFO] [1746051467.090746699] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051467.091803777] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051467.092980172] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051467.145010312] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051467.145733617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051467.146270815] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051467.147612017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051467.148656161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051467.244938105] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051467.245516107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051467.246215540] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051467.247387460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051467.248477554] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051467.335386311] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051467.337201672] [sailbot.teensy]: Wind angle: 168 +[teensy-2] [INFO] [1746051467.338307142] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051467.337978747] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051467.339220743] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051467.339372537] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051467.340273021] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051467.344502202] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051467.344961080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051467.345597563] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051467.346617859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051467.347748414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051467.445173308] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051467.445908561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051467.446613173] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051467.447966853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051467.449059596] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051467.457645568] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051467.458694082] [sailbot.main_algo]: Target Bearing: -141.86408019921572 +[main_algo-3] [INFO] [1746051467.459625025] [sailbot.main_algo]: Heading Difference: -171.77791980078428 +[main_algo-3] [INFO] [1746051467.461001257] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051467.461885539] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051467.462682505] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051467.464246281] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051467.464280828] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051467.503115180] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904309 Long: -76.50277512 +[main_algo-3] [INFO] [1746051467.504110439] [sailbot.main_algo]: Distance to destination: 56.44687327330706 +[vectornav-1] [INFO] [1746051467.504667926] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.63499999999999, 0.056, 5.205) +[main_algo-3] [INFO] [1746051467.505385795] [sailbot.main_algo]: Target Bearing: -141.86946895499906 +[main_algo-3] [INFO] [1746051467.506424375] [sailbot.main_algo]: Heading Difference: -171.77253104500096 +[main_algo-3] [INFO] [1746051467.507832254] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051467.508735021] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051467.509578038] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051467.511302841] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051467.544988818] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051467.546303108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051467.546404153] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051467.548272195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051467.549430828] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051467.585494472] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051467.587305103] [sailbot.teensy]: Wind angle: 168 +[trim_sail-4] [INFO] [1746051467.588010710] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051467.588260621] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051467.589374300] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051467.589382127] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051467.590265188] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051467.645260041] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051467.645753779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051467.646674581] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051467.647760184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051467.648839783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051467.745335512] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051467.745855833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051467.746979724] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051467.747986030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051467.748818262] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051467.835556263] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051467.837994306] [sailbot.teensy]: Wind angle: 168 +[trim_sail-4] [INFO] [1746051467.838586412] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051467.838744102] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051467.839121080] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051467.839133106] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051467.839529494] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051467.844394057] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051467.845039995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051467.845727679] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051467.846722696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051467.847784419] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051467.945432718] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051467.946185505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051467.947215302] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051467.948072505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051467.948625913] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051467.957656272] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051467.958682588] [sailbot.main_algo]: Target Bearing: -141.86946895499906 +[main_algo-3] [INFO] [1746051467.959570242] [sailbot.main_algo]: Heading Difference: -171.49553104500092 +[main_algo-3] [INFO] [1746051467.960908459] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051467.961783459] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051467.962620248] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051467.964191566] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051467.964332573] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051468.003058269] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690429 Long: -76.5027751 +[main_algo-3] [INFO] [1746051468.003788947] [sailbot.main_algo]: Distance to destination: 56.43483034910746 +[vectornav-1] [INFO] [1746051468.004490248] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.39100000000002, -1.088, 7.165) +[main_algo-3] [INFO] [1746051468.004903843] [sailbot.main_algo]: Target Bearing: -141.88713753151728 +[main_algo-3] [INFO] [1746051468.005900331] [sailbot.main_algo]: Heading Difference: -171.47786246848273 +[main_algo-3] [INFO] [1746051468.007337198] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051468.008368120] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051468.009319606] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051468.011141022] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051468.044053451] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051468.044662613] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051468.046027268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051468.044963346] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051468.047132673] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051468.084528384] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051468.085683139] [sailbot.teensy]: Wind angle: 168 +[teensy-2] [INFO] [1746051468.086497782] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051468.086743748] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051468.087267129] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051468.088070785] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051468.087548938] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051468.144999063] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051468.145675125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051468.146279272] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051468.147470505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051468.148402601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051468.244870329] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051468.245457180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051468.246152172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051468.247241188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051468.248408682] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051468.335073486] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051468.337322715] [sailbot.teensy]: Wind angle: 168 +[trim_sail-4] [INFO] [1746051468.337382185] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051468.338297102] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051468.338978742] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051468.339045059] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051468.339374555] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051468.344396943] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051468.344891656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051468.345501796] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051468.346711818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051468.347755900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051468.444680015] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051468.445321828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051468.445854159] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051468.447148202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051468.448363595] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051468.457672710] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051468.458698147] [sailbot.main_algo]: Target Bearing: -141.88713753151728 +[main_algo-3] [INFO] [1746051468.459640773] [sailbot.main_algo]: Heading Difference: -171.7218624684827 +[main_algo-3] [INFO] [1746051468.460978980] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051468.461816139] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051468.462625676] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051468.464163115] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051468.464220593] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051468.502899427] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690427 Long: -76.50277475 +[main_algo-3] [INFO] [1746051468.503794923] [sailbot.main_algo]: Distance to destination: 56.44314879888789 +[vectornav-1] [INFO] [1746051468.504096609] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.92599999999999, -0.702, 5.195) +[main_algo-3] [INFO] [1746051468.504897479] [sailbot.main_algo]: Target Bearing: -141.92306294028668 +[main_algo-3] [INFO] [1746051468.505845145] [sailbot.main_algo]: Heading Difference: -171.6859370597133 +[main_algo-3] [INFO] [1746051468.507297516] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051468.508205692] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051468.509059933] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051468.510754723] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051468.545447714] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051468.545541213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051468.546687895] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051468.547935244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051468.548963688] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051468.585352885] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051468.586960018] [sailbot.teensy]: Wind angle: 170 +[trim_sail-4] [INFO] [1746051468.587491293] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051468.587847113] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051468.588696370] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051468.589016321] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051468.589666692] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051468.645216152] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051468.646321284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051468.646945362] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051468.648045335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051468.648480769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051468.744894518] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051468.745699182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051468.746301308] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051468.747523147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051468.748464533] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051468.835508993] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051468.837767014] [sailbot.teensy]: Wind angle: 176 +[trim_sail-4] [INFO] [1746051468.838074462] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051468.838799199] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051468.839284292] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051468.839672218] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051468.840439491] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051468.844540327] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051468.845020537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051468.845837321] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051468.846690914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051468.847860242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051468.945195796] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051468.946041391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051468.946694260] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051468.948496544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051468.949654871] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051468.957528512] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051468.958491623] [sailbot.main_algo]: Target Bearing: -141.92306294028668 +[main_algo-3] [INFO] [1746051468.959381682] [sailbot.main_algo]: Heading Difference: -170.15093705971333 +[main_algo-3] [INFO] [1746051468.960707317] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051468.961587953] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051468.962372767] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051468.963876428] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051468.963912514] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051469.003950725] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904285 Long: -76.5027746 +[main_algo-3] [INFO] [1746051469.003993975] [sailbot.main_algo]: Distance to destination: 56.46322583119941 +[main_algo-3] [INFO] [1746051469.005205675] [sailbot.main_algo]: Target Bearing: -141.91783436803868 +[vectornav-1] [INFO] [1746051469.005424269] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.846000000000004, 0.947, 4.451) +[main_algo-3] [INFO] [1746051469.006275406] [sailbot.main_algo]: Heading Difference: -170.15616563196136 +[main_algo-3] [INFO] [1746051469.007720943] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051469.008635438] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051469.009478189] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051469.011202136] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051469.045003477] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051469.045661003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051469.046250309] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051469.047466624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051469.048590535] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051469.085461372] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051469.087804429] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051469.088814884] [sailbot.teensy]: Wind angle: 181 +[mux-7] [INFO] [1746051469.089234468] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051469.089882082] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051469.090860829] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051469.091722053] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051469.145093970] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051469.145913913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051469.146480223] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051469.147867124] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051469.148763568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051469.244925938] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051469.245598053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051469.246217884] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051469.247639368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051469.248745776] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051469.335336046] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051469.337115201] [sailbot.teensy]: Wind angle: 182 +[teensy-2] [INFO] [1746051469.338073027] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051469.337594518] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051469.338112510] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051469.339020689] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051469.339886410] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051469.344422053] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051469.345021733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051469.345487725] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051469.346706355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051469.347828695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051469.445208255] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051469.446241362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051469.446740580] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051469.448461351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051469.449695437] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051469.457643112] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051469.458682389] [sailbot.main_algo]: Target Bearing: -141.91783436803868 +[main_algo-3] [INFO] [1746051469.459572377] [sailbot.main_algo]: Heading Difference: -171.23616563196128 +[main_algo-3] [INFO] [1746051469.460904374] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051469.461789045] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051469.462650901] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051469.464480557] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051469.464501008] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051469.502904475] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904256 Long: -76.50277461 +[main_algo-3] [INFO] [1746051469.503777235] [sailbot.main_algo]: Distance to destination: 56.44228214383122 +[main_algo-3] [INFO] [1746051469.505074775] [sailbot.main_algo]: Target Bearing: -141.94268122919803 +[vectornav-1] [INFO] [1746051469.505904149] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.63799999999998, -1.193, 6.702) +[main_algo-3] [INFO] [1746051469.506057211] [sailbot.main_algo]: Heading Difference: -171.211318770802 +[main_algo-3] [INFO] [1746051469.507512217] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051469.508436184] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051469.509295916] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051469.510982176] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051469.544948111] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051469.545580878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051469.546203347] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051469.547555445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051469.548567080] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051469.585240196] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051469.586951405] [sailbot.teensy]: Wind angle: 182 +[trim_sail-4] [INFO] [1746051469.587468067] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051469.587890276] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051469.588849518] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051469.589743231] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051469.589845308] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051469.645102945] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051469.646317507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051469.646606736] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051469.648231191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051469.649268150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051469.745267358] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051469.746517765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051469.746900313] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051469.748627125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051469.749735763] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051469.835497733] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051469.837772743] [sailbot.teensy]: Wind angle: 183 +[trim_sail-4] [INFO] [1746051469.837915116] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051469.838747742] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051469.839029157] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051469.839136975] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051469.839499296] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051469.844621463] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051469.845180952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051469.845792913] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051469.847022825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051469.848036171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051469.945188638] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051469.945974280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051469.946723267] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051469.948089353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051469.949265999] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051469.957477657] [sailbot.main_algo]: Wind Direction: 183 +[main_algo-3] [INFO] [1746051469.958431000] [sailbot.main_algo]: Target Bearing: -141.94268122919803 +[main_algo-3] [INFO] [1746051469.959320379] [sailbot.main_algo]: Heading Difference: -171.41931877080197 +[main_algo-3] [INFO] [1746051469.960563908] [sailbot.main_algo]: Wind Direction: 183 +[main_algo-3] [INFO] [1746051469.961377574] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051469.962171321] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051469.963702091] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051469.963722504] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051470.002774347] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904219 Long: -76.50277424 +[main_algo-3] [INFO] [1746051470.003699507] [sailbot.main_algo]: Distance to destination: 56.44002355893609 +[vectornav-1] [INFO] [1746051470.003901262] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.35899999999998, -1.072, 5.634) +[main_algo-3] [INFO] [1746051470.004981424] [sailbot.main_algo]: Target Bearing: -141.99453243604498 +[main_algo-3] [INFO] [1746051470.006044826] [sailbot.main_algo]: Heading Difference: -171.36746756395507 +[main_algo-3] [INFO] [1746051470.007421534] [sailbot.main_algo]: Wind Direction: 183 +[main_algo-3] [INFO] [1746051470.008361717] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051470.009231403] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051470.010969549] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051470.045007069] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051470.045661415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051470.046344866] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051470.047703766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051470.048737186] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051470.085706893] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051470.088520055] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051470.089448921] [sailbot.teensy]: Wind angle: 184 +[teensy-2] [INFO] [1746051470.090398301] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051470.090403898] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051470.091410248] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051470.092384042] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051470.144250787] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051470.144716329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051470.145153838] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051470.148077919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051470.149224366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051470.245342940] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051470.246083558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051470.246816633] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051470.248219162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051470.249417280] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051470.335518518] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051470.337390741] [sailbot.teensy]: Wind angle: 184 +[trim_sail-4] [INFO] [1746051470.337952252] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051470.338353022] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051470.339261360] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051470.339801010] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051470.340114878] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051470.344347635] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051470.344804961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051470.345532307] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051470.346529287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051470.347676349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051470.445432335] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051470.446006244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051470.447031642] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051470.448089468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051470.449407599] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051470.457690634] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051470.458736284] [sailbot.main_algo]: Target Bearing: -141.99453243604498 +[main_algo-3] [INFO] [1746051470.459623647] [sailbot.main_algo]: Heading Difference: -168.64646756395507 +[main_algo-3] [INFO] [1746051470.460968592] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051470.461853616] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051470.462693612] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051470.464267122] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051470.464385066] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051470.502540562] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904215 Long: -76.5027741 +[vectornav-1] [INFO] [1746051470.503563666] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.20600000000002, 0.584, 4.942) +[main_algo-3] [INFO] [1746051470.503609413] [sailbot.main_algo]: Distance to destination: 56.44617092647417 +[main_algo-3] [INFO] [1746051470.504639239] [sailbot.main_algo]: Target Bearing: -142.00539216648667 +[main_algo-3] [INFO] [1746051470.505601733] [sailbot.main_algo]: Heading Difference: -168.63560783351335 +[main_algo-3] [INFO] [1746051470.506969210] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051470.507862276] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051470.508763433] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051470.510633427] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051470.545044509] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051470.545611905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051470.546392301] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051470.547411264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051470.548531709] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051470.585169438] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051470.587061910] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051470.587322887] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051470.587943418] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051470.588449166] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051470.588809002] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051470.589711235] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051470.644942973] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051470.645740899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051470.646304534] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051470.649218472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051470.650237319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051470.745157423] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051470.745881017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051470.746551587] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051470.748135444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051470.749325078] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051470.835341379] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051470.837726592] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051470.838338389] [sailbot.teensy]: Wind angle: 189 +[mux-7] [INFO] [1746051470.838424372] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051470.839327838] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051470.839804427] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051470.840142906] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051470.844442526] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051470.844929793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051470.845687914] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051470.846623400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051470.847689670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051470.945152758] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051470.945829389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051470.946572542] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051470.947864727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051470.948702970] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051470.957632597] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051470.958680257] [sailbot.main_algo]: Target Bearing: -142.00539216648667 +[main_algo-3] [INFO] [1746051470.959562870] [sailbot.main_algo]: Heading Difference: -169.7886078335133 +[main_algo-3] [INFO] [1746051470.960783411] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051470.961596587] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051470.962396050] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051470.963916440] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051470.963940634] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051471.003192001] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904187 Long: -76.50277424 +[main_algo-3] [INFO] [1746051471.004312788] [sailbot.main_algo]: Distance to destination: 56.41765524495916 +[vectornav-1] [INFO] [1746051471.004546742] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.894000000000005, -0.348, 5.726) +[main_algo-3] [INFO] [1746051471.005910956] [sailbot.main_algo]: Target Bearing: -142.02257313917707 +[main_algo-3] [INFO] [1746051471.006925728] [sailbot.main_algo]: Heading Difference: -169.77142686082288 +[main_algo-3] [INFO] [1746051471.008348353] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051471.009244237] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051471.010090483] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051471.011798612] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051471.045072088] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051471.045835438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051471.046480499] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051471.048008248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051471.049001672] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051471.085611537] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051471.087571005] [sailbot.teensy]: Wind angle: 189 +[teensy-2] [INFO] [1746051471.088568412] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051471.088433537] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051471.089435847] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051471.089471781] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051471.090318199] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051471.145217194] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051471.145945221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051471.146750394] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051471.148265014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051471.148786225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051471.245167618] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051471.246053695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051471.246702496] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051471.247994272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051471.248616697] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051471.335630376] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051471.337671772] [sailbot.teensy]: Wind angle: 189 +[trim_sail-4] [INFO] [1746051471.338687967] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051471.339725535] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051471.339725655] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051471.340679987] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051471.341547853] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051471.344453172] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051471.345102721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051471.346101262] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051471.346913323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051471.347979797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051471.445444160] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051471.446040721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051471.447065070] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051471.448447687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051471.449649699] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051471.457825606] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051471.458850665] [sailbot.main_algo]: Target Bearing: -142.02257313917707 +[main_algo-3] [INFO] [1746051471.459750091] [sailbot.main_algo]: Heading Difference: -170.0834268608229 +[main_algo-3] [INFO] [1746051471.461110172] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051471.461992364] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051471.462838160] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051471.464524892] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051471.464642875] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051471.502825810] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904161 Long: -76.50277421 +[vectornav-1] [INFO] [1746051471.504295330] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.922000000000025, -0.074, 5.881) +[main_algo-3] [INFO] [1746051471.504592064] [sailbot.main_algo]: Distance to destination: 56.40140875380687 +[main_algo-3] [INFO] [1746051471.505816444] [sailbot.main_algo]: Target Bearing: -142.04694847860296 +[main_algo-3] [INFO] [1746051471.506832909] [sailbot.main_algo]: Heading Difference: -170.059051521397 +[main_algo-3] [INFO] [1746051471.508265491] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051471.509166804] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051471.510100412] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051471.511944933] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051471.545040966] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051471.545626582] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051471.546359357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051471.547540253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051471.548766664] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051471.585174720] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051471.586910469] [sailbot.teensy]: Wind angle: 188 +[trim_sail-4] [INFO] [1746051471.587411989] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051471.587848017] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051471.588818626] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051471.589608542] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051471.589689515] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051471.645090794] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051471.645569253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051471.646997089] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051471.647663547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051471.648731546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051471.745454858] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051471.747127139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051471.747166907] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051471.749240684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051471.750271260] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051471.835131357] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051471.837305794] [sailbot.teensy]: Wind angle: 189 +[trim_sail-4] [INFO] [1746051471.837792808] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051471.838255595] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051471.838465142] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051471.839013782] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051471.839392343] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051471.844592220] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051471.845582270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051471.846539673] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051471.847397884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051471.848595757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051471.945374426] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051471.946169770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051471.946863111] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051471.948569966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051471.949709373] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051471.957529412] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051471.958560004] [sailbot.main_algo]: Target Bearing: -142.04694847860296 +[main_algo-3] [INFO] [1746051471.959472340] [sailbot.main_algo]: Heading Difference: -170.031051521397 +[main_algo-3] [INFO] [1746051471.960722682] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051471.961589434] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051471.962414197] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051471.963951940] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051471.964035243] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051472.002763209] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904141 Long: -76.50277414 +[main_algo-3] [INFO] [1746051472.003720636] [sailbot.main_algo]: Distance to destination: 56.39191892919381 +[vectornav-1] [INFO] [1746051472.003909317] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.24200000000002, -1.329, 4.894) +[main_algo-3] [INFO] [1746051472.004991032] [sailbot.main_algo]: Target Bearing: -142.06817249257156 +[main_algo-3] [INFO] [1746051472.005945059] [sailbot.main_algo]: Heading Difference: -170.00982750742844 +[main_algo-3] [INFO] [1746051472.007307686] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051472.008209222] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051472.009078684] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051472.010764473] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051472.044988189] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051472.045775670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051472.046276940] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051472.047648317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051472.048730349] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051472.085227638] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051472.086822650] [sailbot.teensy]: Wind angle: 188 +[trim_sail-4] [INFO] [1746051472.087342741] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051472.087824297] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051472.088742047] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051472.089159849] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051472.089630420] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051472.144944609] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051472.145677168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051472.146224589] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051472.147576540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051472.148651140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051472.244737364] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051472.245339612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051472.245938788] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051472.247175015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051472.248092205] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051472.335262983] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051472.336967793] [sailbot.teensy]: Wind angle: 188 +[trim_sail-4] [INFO] [1746051472.337506545] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051472.337921902] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051472.338741247] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051472.338804645] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051472.339674507] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051472.344405158] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051472.344868981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051472.345496205] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051472.346538977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051472.347689173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051472.445311229] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051472.445932853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051472.446813048] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051472.448258252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051472.449430125] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051472.457661422] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051472.459206039] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746051472.460168700] [sailbot.main_algo]: Target Bearing: -142.06817249257156 +[main_algo-3] [INFO] [1746051472.461075760] [sailbot.main_algo]: Heading Difference: -169.6898275074284 +[main_algo-3] [INFO] [1746051472.462330766] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051472.463124778] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051472.463895049] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051472.465635643] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051472.465853542] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051472.502640563] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904147 Long: -76.50277388 +[main_algo-3] [INFO] [1746051472.503642364] [sailbot.main_algo]: Distance to destination: 56.41273435852845 +[vectornav-1] [INFO] [1746051472.503722780] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.50999999999999, 0.118, 5.481) +[main_algo-3] [INFO] [1746051472.505083927] [sailbot.main_algo]: Target Bearing: -142.07655724503292 +[main_algo-3] [INFO] [1746051472.506294808] [sailbot.main_algo]: Heading Difference: -169.68144275496707 +[main_algo-3] [INFO] [1746051472.507720792] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051472.508634529] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051472.509502881] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051472.511088561] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051472.544951669] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051472.545654593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051472.546201280] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051472.547548454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051472.548583038] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051472.585292924] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051472.587192503] [sailbot.teensy]: Wind angle: 187 +[trim_sail-4] [INFO] [1746051472.587925086] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051472.588171151] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051472.588495775] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051472.589149497] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051472.590089481] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051472.645056920] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051472.645804887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051472.646536042] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051472.647749171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051472.649036701] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051472.745383801] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051472.746209151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051472.747634314] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051472.748443564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051472.749744344] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051472.835338839] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051472.837598352] [sailbot.teensy]: Wind angle: 182 +[trim_sail-4] [INFO] [1746051472.837712437] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051472.838523395] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051472.839772044] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051472.840181192] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051472.840545380] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051472.844288949] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051472.844893234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051472.845420025] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051472.846608864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051472.847724311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051472.944824781] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051472.945436987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051472.946126537] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051472.947266117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051472.948347726] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051472.957696958] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051472.959211131] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746051472.960477534] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051472.961691114] [sailbot.main_algo]: Current Location: (42.46904147214754, -76.50277388005443) +[main_algo-3] [INFO] [1746051472.962546531] [sailbot.main_algo]: Target Bearing: -142.07655724503292 +[main_algo-3] [INFO] [1746051472.963353410] [sailbot.main_algo]: Heading Difference: -168.4134427549671 +[main_algo-3] [INFO] [1746051472.964572977] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051472.965358734] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051472.966123202] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051472.967669967] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051472.967731092] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051473.002774948] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904127 Long: -76.50277367 +[main_algo-3] [INFO] [1746051473.003785671] [sailbot.main_algo]: Distance to destination: 56.412212079834376 +[vectornav-1] [INFO] [1746051473.003900637] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.35699999999997, 0.247, 6.643) +[main_algo-3] [INFO] [1746051473.005003342] [sailbot.main_algo]: Target Bearing: -142.10512643628323 +[main_algo-3] [INFO] [1746051473.005994799] [sailbot.main_algo]: Heading Difference: -168.38487356371678 +[main_algo-3] [INFO] [1746051473.007413080] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051473.008319484] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051473.009131881] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051473.010681700] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051473.045270783] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051473.045881631] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051473.046768529] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051473.047856895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051473.049011404] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051473.085472012] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051473.087328568] [sailbot.teensy]: Wind angle: 181 +[trim_sail-4] [INFO] [1746051473.088270884] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051473.088311462] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051473.089194241] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051473.089216122] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051473.090104365] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051473.145196658] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051473.145894688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051473.146672230] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051473.148049421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051473.149075939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051473.245226217] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051473.245830360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051473.246791605] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051473.247862350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051473.248940542] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051473.335284751] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051473.337666518] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051473.337765513] [sailbot.teensy]: Wind angle: 183 +[teensy-2] [INFO] [1746051473.338734437] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051473.338959261] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051473.339636699] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051473.340515406] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051473.344245041] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051473.344966041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051473.345310989] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051473.346646723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051473.347799121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051473.444954288] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051473.445736875] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051473.446506491] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051473.447601667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051473.448820577] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051473.457700020] [sailbot.main_algo]: Wind Direction: 183 +[main_algo-3] [INFO] [1746051473.458760537] [sailbot.main_algo]: Target Bearing: -142.10512643628323 +[main_algo-3] [INFO] [1746051473.459660315] [sailbot.main_algo]: Heading Difference: -168.5378735637168 +[main_algo-3] [INFO] [1746051473.460988781] [sailbot.main_algo]: Wind Direction: 183 +[main_algo-3] [INFO] [1746051473.461834199] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051473.462609876] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051473.464132323] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051473.464203349] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051473.502641549] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904102 Long: -76.50277359 +[main_algo-3] [INFO] [1746051473.503571871] [sailbot.main_algo]: Distance to destination: 56.399897501883764 +[vectornav-1] [INFO] [1746051473.504145747] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.952999999999975, -1.303, 5.324) +[main_algo-3] [INFO] [1746051473.504634625] [sailbot.main_algo]: Target Bearing: -142.1312714543118 +[main_algo-3] [INFO] [1746051473.505613391] [sailbot.main_algo]: Heading Difference: -168.51172854568824 +[main_algo-3] [INFO] [1746051473.507049491] [sailbot.main_algo]: Wind Direction: 183 +[main_algo-3] [INFO] [1746051473.507933596] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051473.508800749] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051473.510472107] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051473.545021645] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051473.545756159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051473.546274699] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051473.547722014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051473.548763260] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051473.585626819] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051473.588001075] [sailbot.teensy]: Wind angle: 184 +[teensy-2] [INFO] [1746051473.589028748] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051473.588643073] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051473.589695492] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051473.589908384] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051473.590829300] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051473.645090368] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051473.646055097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051473.646779371] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051473.647816741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051473.648381096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051473.744942231] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051473.745741626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051473.746680966] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051473.747648311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051473.748932185] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051473.835501201] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051473.837526699] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051473.838019864] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051473.838486322] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051473.839242170] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051473.839350767] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051473.840137824] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051473.844525929] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051473.845149472] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051473.845720292] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051473.846967687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051473.848022900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051473.945207278] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051473.945844683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051473.946602440] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051473.948722090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051473.949762929] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051473.957730146] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051473.958805617] [sailbot.main_algo]: Target Bearing: -142.1312714543118 +[main_algo-3] [INFO] [1746051473.959739024] [sailbot.main_algo]: Heading Difference: -166.91572854568824 +[main_algo-3] [INFO] [1746051473.961075982] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051473.962011311] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051473.962839599] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051473.964420353] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051473.964601988] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051474.003205767] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904118 Long: -76.50277355 +[main_algo-3] [INFO] [1746051474.004538888] [sailbot.main_algo]: Distance to destination: 56.413613431860384 +[vectornav-1] [INFO] [1746051474.004699529] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.182000000000016, -0.429, 5.464) +[main_algo-3] [INFO] [1746051474.006090189] [sailbot.main_algo]: Target Bearing: -142.11931986588817 +[main_algo-3] [INFO] [1746051474.007162514] [sailbot.main_algo]: Heading Difference: -166.92768013411182 +[main_algo-3] [INFO] [1746051474.008618619] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051474.009522898] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051474.010380631] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051474.012243429] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051474.045494088] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051474.045756880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051474.046797587] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051474.047610118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051474.048711849] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051474.085601654] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051474.087781489] [sailbot.teensy]: Wind angle: 182 +[trim_sail-4] [INFO] [1746051474.088107659] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051474.089651256] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051474.090099804] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051474.090732220] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051474.091640157] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051474.144997345] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051474.145664010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051474.146285928] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051474.147452086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051474.148586123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051474.244506924] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051474.245109276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051474.245551344] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051474.246840874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051474.248829587] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051474.335166947] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051474.336710578] [sailbot.teensy]: Wind angle: 182 +[trim_sail-4] [INFO] [1746051474.337194532] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051474.337632078] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051474.338428741] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051474.338485312] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051474.339396619] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051474.344416418] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051474.345126624] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051474.345534635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051474.346942964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051474.347971264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051474.445476366] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051474.446147071] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051474.447026106] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051474.448677322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051474.449386497] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051474.457670778] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051474.458646742] [sailbot.main_algo]: Target Bearing: -142.11931986588817 +[main_algo-3] [INFO] [1746051474.459537796] [sailbot.main_algo]: Heading Difference: -167.69868013411178 +[main_algo-3] [INFO] [1746051474.460851433] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051474.461668659] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051474.462462495] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051474.464007417] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051474.464065190] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051474.502991657] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904111 Long: -76.50277337 +[main_algo-3] [INFO] [1746051474.503755784] [sailbot.main_algo]: Distance to destination: 56.42025285414447 +[vectornav-1] [INFO] [1746051474.504143966] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.608000000000004, 0.105, 5.367) +[main_algo-3] [INFO] [1746051474.504857429] [sailbot.main_algo]: Target Bearing: -142.13490143397453 +[main_algo-3] [INFO] [1746051474.505911762] [sailbot.main_algo]: Heading Difference: -167.68309856602548 +[main_algo-3] [INFO] [1746051474.507289149] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051474.508202294] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051474.509076216] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051474.510696383] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051474.544844041] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051474.545529601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051474.546133304] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051474.547352843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051474.548535799] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051474.585438975] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051474.588025458] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051474.588557053] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051474.589052221] [sailbot.teensy]: Wind angle: 181 +[teensy-2] [INFO] [1746051474.590022218] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051474.590887349] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051474.591733543] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051474.645014051] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051474.645810699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051474.646639321] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051474.648132913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051474.649300488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051474.745039008] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051474.745744252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051474.746493845] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051474.747779766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051474.748490815] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051474.835318317] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051474.837515567] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051474.838593948] [sailbot.teensy]: Wind angle: 181 +[mux-7] [INFO] [1746051474.838636377] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051474.839145885] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051474.839580106] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051474.839939639] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051474.844382425] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051474.844978391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051474.845508611] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051474.846705188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051474.847739774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051474.945241974] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051474.946169155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051474.946906866] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051474.948116217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051474.948648463] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051474.957748908] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051474.958813077] [sailbot.main_algo]: Target Bearing: -142.13490143397453 +[main_algo-3] [INFO] [1746051474.959744695] [sailbot.main_algo]: Heading Difference: -167.25709856602543 +[main_algo-3] [INFO] [1746051474.961344458] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051474.962240971] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051474.963047296] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051474.964560261] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051474.964604342] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051475.002760425] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904115 Long: -76.50277336 +[main_algo-3] [INFO] [1746051475.003759184] [sailbot.main_algo]: Distance to destination: 56.42368141748237 +[vectornav-1] [INFO] [1746051475.003949196] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.435, -0.504, 5.443) +[main_algo-3] [INFO] [1746051475.004970415] [sailbot.main_algo]: Target Bearing: -142.13191384857416 +[main_algo-3] [INFO] [1746051475.006006299] [sailbot.main_algo]: Heading Difference: -167.26008615142587 +[main_algo-3] [INFO] [1746051475.007399656] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051475.008316268] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051475.009191817] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051475.010856642] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051475.044963598] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051475.045729295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051475.046256320] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051475.047633106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051475.048692592] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051475.085355946] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051475.087186979] [sailbot.teensy]: Wind angle: 181 +[teensy-2] [INFO] [1746051475.088112846] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051475.087591776] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051475.089034154] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051475.089026981] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051475.089938458] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051475.145158721] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051475.146113862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051475.146588157] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051475.148455153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051475.149502889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051475.244989309] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051475.245766721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051475.246285237] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051475.247708571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051475.248760793] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051475.335376658] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051475.337218952] [sailbot.teensy]: Wind angle: 183 +[trim_sail-4] [INFO] [1746051475.337602324] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051475.338149612] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051475.338406103] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051475.339052213] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051475.339955069] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051475.344417830] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051475.344926054] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051475.345617972] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051475.346659528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051475.347845569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051475.445049479] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051475.445690468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051475.446529862] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051475.447530673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051475.448719443] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051475.457429485] [sailbot.main_algo]: Wind Direction: 183 +[main_algo-3] [INFO] [1746051475.458426963] [sailbot.main_algo]: Target Bearing: -142.13191384857416 +[main_algo-3] [INFO] [1746051475.459317558] [sailbot.main_algo]: Heading Difference: -166.43308615142587 +[main_algo-3] [INFO] [1746051475.460576321] [sailbot.main_algo]: Wind Direction: 183 +[main_algo-3] [INFO] [1746051475.461394237] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051475.462183465] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051475.463778859] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051475.463842503] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051475.502683007] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904105 Long: -76.50277337 +[main_algo-3] [INFO] [1746051475.503729800] [sailbot.main_algo]: Distance to destination: 56.41607046247841 +[vectornav-1] [INFO] [1746051475.503778882] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.97300000000001, -0.172, 5.046) +[main_algo-3] [INFO] [1746051475.505004252] [sailbot.main_algo]: Target Bearing: -142.14016963643616 +[main_algo-3] [INFO] [1746051475.506027958] [sailbot.main_algo]: Heading Difference: -166.42483036356384 +[main_algo-3] [INFO] [1746051475.507441912] [sailbot.main_algo]: Wind Direction: 183 +[main_algo-3] [INFO] [1746051475.508380229] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051475.509250330] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051475.510972265] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051475.545074834] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051475.545597520] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051475.547530715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051475.547568030] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051475.548654061] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051475.585196705] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051475.586856861] [sailbot.teensy]: Wind angle: 186 +[trim_sail-4] [INFO] [1746051475.587277275] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051475.587919659] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051475.588636194] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051475.588856849] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051475.589726554] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051475.645069350] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051475.645552515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051475.646461020] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051475.647668709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051475.648904285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051475.745256185] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051475.745859119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051475.746864243] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051475.747911862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051475.749004828] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051475.835107764] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051475.836601484] [sailbot.teensy]: Wind angle: 186 +[trim_sail-4] [INFO] [1746051475.837234958] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051475.837452373] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051475.838293289] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051475.838318297] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051475.839122117] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051475.844620665] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051475.845052981] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051475.846072507] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051475.846845956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051475.847915706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051475.945230084] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051475.945903452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051475.946774448] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051475.947985715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051475.948472231] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051475.957849861] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051475.959007773] [sailbot.main_algo]: Target Bearing: -142.14016963643616 +[main_algo-3] [INFO] [1746051475.959971568] [sailbot.main_algo]: Heading Difference: -165.88683036356383 +[main_algo-3] [INFO] [1746051475.961317379] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051475.962179722] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051475.963055642] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051475.964620169] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051475.964624345] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051476.003347827] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904133 Long: -76.5027737 +[main_algo-3] [INFO] [1746051476.004129491] [sailbot.main_algo]: Distance to destination: 56.414478404052765 +[vectornav-1] [INFO] [1746051476.004856932] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.273000000000025, -0.746, 6.228) +[main_algo-3] [INFO] [1746051476.005361169] [sailbot.main_algo]: Target Bearing: -142.09828679325585 +[main_algo-3] [INFO] [1746051476.006400204] [sailbot.main_algo]: Heading Difference: -165.92871320674413 +[main_algo-3] [INFO] [1746051476.007797996] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051476.008692195] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051476.009537189] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051476.011182190] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051476.045030767] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051476.045698008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051476.046463059] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051476.047642286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051476.048697082] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051476.085195865] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051476.086868302] [sailbot.teensy]: Wind angle: 186 +[trim_sail-4] [INFO] [1746051476.087415658] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051476.087754710] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051476.088662493] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051476.088747064] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051476.089582166] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051476.145317515] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051476.146126777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051476.146785334] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051476.147695378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051476.148233635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051476.244826970] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051476.245333828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051476.246021186] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051476.247326193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051476.248387776] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051476.334525583] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051476.335798942] [sailbot.teensy]: Wind angle: 186 +[trim_sail-4] [INFO] [1746051476.336240699] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051476.337081146] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051476.337659844] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051476.338481839] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051476.339196615] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051476.343770752] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051476.344330789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051476.344505245] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051476.345592968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051476.346274821] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051476.445089417] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051476.445815001] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051476.446351507] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051476.447921425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051476.449017179] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051476.457742442] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051476.458842326] [sailbot.main_algo]: Target Bearing: -142.09828679325585 +[main_algo-3] [INFO] [1746051476.459790267] [sailbot.main_algo]: Heading Difference: -166.62871320674412 +[main_algo-3] [INFO] [1746051476.461142550] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051476.461981737] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051476.462758657] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051476.464434877] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051476.464447792] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051476.502692060] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904136 Long: -76.50277352 +[vectornav-1] [INFO] [1746051476.503821193] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.97000000000003, 0.335, 4.833) +[main_algo-3] [INFO] [1746051476.504042030] [sailbot.main_algo]: Distance to destination: 56.42808707812537 +[main_algo-3] [INFO] [1746051476.505136933] [sailbot.main_algo]: Target Bearing: -142.10509472959774 +[main_algo-3] [INFO] [1746051476.506147525] [sailbot.main_algo]: Heading Difference: -166.62190527040224 +[main_algo-3] [INFO] [1746051476.507530419] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051476.508451028] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051476.509279068] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051476.510859481] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051476.545076034] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051476.545847982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051476.546343523] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051476.547690112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051476.548791307] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051476.585551869] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051476.587999270] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051476.588577933] [sailbot.teensy]: Wind angle: 186 +[mux-7] [INFO] [1746051476.588920311] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051476.589571469] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051476.590449801] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051476.591315918] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051476.645059893] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051476.645697749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051476.646393818] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051476.647738181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051476.648841615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051476.745409368] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051476.746238684] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051476.747317037] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051476.748504236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051476.749711025] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051476.835537682] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051476.837864254] [sailbot.teensy]: Wind angle: 186 +[trim_sail-4] [INFO] [1746051476.838013541] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051476.838913230] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051476.839653486] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051476.839837439] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051476.841283624] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051476.844442806] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051476.844994746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051476.845592990] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051476.846704080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051476.847745887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051476.945190277] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051476.946208897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051476.947036304] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051476.947986201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051476.948452780] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051476.957881544] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051476.959027152] [sailbot.main_algo]: Target Bearing: -142.10509472959774 +[main_algo-3] [INFO] [1746051476.960007228] [sailbot.main_algo]: Heading Difference: -166.92490527040223 +[main_algo-3] [INFO] [1746051476.961346697] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051476.962183980] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051476.962957696] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051476.964624037] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051476.964634904] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051477.002782681] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904146 Long: -76.50277367 +[main_algo-3] [INFO] [1746051477.003541254] [sailbot.main_algo]: Distance to destination: 56.42546799660589 +[vectornav-1] [INFO] [1746051477.003860442] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.85500000000002, -0.876, 5.394) +[main_algo-3] [INFO] [1746051477.004665256] [sailbot.main_algo]: Target Bearing: -142.08845356802973 +[main_algo-3] [INFO] [1746051477.005670281] [sailbot.main_algo]: Heading Difference: -166.9415464319702 +[main_algo-3] [INFO] [1746051477.007124277] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051477.008035269] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051477.008919298] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051477.010647474] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051477.045132199] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051477.045833956] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051477.046551293] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051477.048117490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051477.049268747] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051477.085300995] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051477.087343079] [sailbot.teensy]: Wind angle: 186 +[trim_sail-4] [INFO] [1746051477.087513260] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051477.088347675] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051477.088680322] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051477.089303825] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051477.090217555] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051477.145208167] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051477.145679620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051477.146574163] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051477.147655906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051477.148733925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051477.245139469] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051477.245621590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051477.246469256] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051477.247538704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051477.248755450] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051477.335251620] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051477.336986131] [sailbot.teensy]: Wind angle: 186 +[trim_sail-4] [INFO] [1746051477.337609279] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051477.337912769] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051477.338861106] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051477.339752430] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051477.340131999] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051477.344528341] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051477.344949184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051477.345803835] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051477.346690937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051477.347748434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051477.445177696] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051477.445555978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051477.446551701] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051477.447413278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051477.448871850] [sailbot.teensy]: Message sent to servo +[rosbridge_websocket-8] [INFO] [1746051477.448959385] [rosbridge_websocket]: Calling services in existing thread +[rosbridge_websocket-8] [INFO] [1746051477.450060736] [rosbridge_websocket]: Sending action goals in existing thread +[rosbridge_websocket-8] [INFO] [1746051477.451624337] [rosbridge_websocket]: Client connected. 2 clients total. +[main_algo-3] [INFO] [1746051477.457371591] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051477.458280885] [sailbot.main_algo]: Target Bearing: -142.08845356802973 +[main_algo-3] [INFO] [1746051477.459114490] [sailbot.main_algo]: Heading Difference: -166.05654643197022 +[main_algo-3] [INFO] [1746051477.460329818] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051477.461124404] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051477.461902457] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051477.463450401] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051477.463469207] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051477.502290645] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904144 Long: -76.50277357 +[main_algo-3] [INFO] [1746051477.503101874] [sailbot.main_algo]: Distance to destination: 56.43046931057265 +[vectornav-1] [INFO] [1746051477.503204841] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.95600000000002, 0.537, 4.824) +[main_algo-3] [INFO] [1746051477.504110191] [sailbot.main_algo]: Target Bearing: -142.09545344256202 +[main_algo-3] [INFO] [1746051477.505130313] [sailbot.main_algo]: Heading Difference: -166.04954655743796 +[main_algo-3] [INFO] [1746051477.506496375] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051477.507367371] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051477.508203079] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051477.510090223] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051477.544996769] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051477.545747375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051477.546275004] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051477.547693388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051477.548815562] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051477.585281331] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051477.587001166] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051477.587524011] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051477.587948431] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051477.588896232] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051477.589723089] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051477.589754239] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051477.644970889] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051477.645703616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051477.646281021] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051477.647696463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051477.648796516] [sailbot.teensy]: Message sent to servo +[rosbridge_websocket-8] [INFO] [1746051477.689999840] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/algo_rudder +[rosbridge_websocket-8] [INFO] [1746051477.693573592] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/algo_sail +[rosbridge_websocket-8] [INFO] [1746051477.697111919] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/control_mode +[rosbridge_websocket-8] [INFO] [1746051477.700212870] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/radio_rudder +[rosbridge_websocket-8] [INFO] [1746051477.704356988] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/radio_sail +[rosbridge_websocket-8] [INFO] [1746051477.708080670] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/rudder_angle +[rosbridge_websocket-8] [INFO] [1746051477.711851498] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/sail +[rosbridge_websocket-8] [INFO] [1746051477.715110342] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /gps +[rosbridge_websocket-8] [INFO] [1746051477.718820652] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /imu +[rosbridge_websocket-8] [INFO] [1746051477.721785400] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/actual_rudder_angle +[rosbridge_websocket-8] [INFO] [1746051477.724699669] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/wind +[rosbridge_websocket-8] [INFO] [1746051477.727570708] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/actual_sail_angle +[rosbridge_websocket-8] [INFO] [1746051477.731035851] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/tacking_point +[rosbridge_websocket-8] [INFO] [1746051477.733407933] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/main_algo_debug +[rosbridge_websocket-8] [INFO] [1746051477.735921424] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/dropped_packets +[rosbridge_websocket-8] [INFO] [1746051477.738155381] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to sailbot/current_waypoint +[waypoint_service-5] [INFO] [1746051477.741009863] [sailbot.waypoint_service]: Received request: command=get, argument= +[mux-7] [INFO] [1746051477.744075697] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051477.744781737] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051477.745312853] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051477.746532931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051477.747547183] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051477.835283484] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051477.837312780] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051477.837372515] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051477.838259667] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051477.839184409] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051477.839927979] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051477.840955130] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051477.844267471] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051477.845088830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051477.845481283] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051477.846844688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051477.847979220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051477.945279576] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051477.946683441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051477.946963162] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051477.948867556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051477.949971206] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051477.957630962] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051477.958709263] [sailbot.main_algo]: Target Bearing: -142.09545344256202 +[main_algo-3] [INFO] [1746051477.959626168] [sailbot.main_algo]: Heading Difference: -165.94854655743796 +[main_algo-3] [INFO] [1746051477.960883559] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051477.961705156] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051477.962497228] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051477.964068793] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051477.964113578] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051478.002623873] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904144 Long: -76.50277349 +[main_algo-3] [INFO] [1746051478.003866533] [sailbot.main_algo]: Distance to destination: 56.435587170856245 +[vectornav-1] [INFO] [1746051478.003973174] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.327999999999975, -1.067, 6.247) +[main_algo-3] [INFO] [1746051478.005076112] [sailbot.main_algo]: Target Bearing: -142.09964875035627 +[main_algo-3] [INFO] [1746051478.006049123] [sailbot.main_algo]: Heading Difference: -165.94435124964372 +[main_algo-3] [INFO] [1746051478.008232516] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051478.009236672] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051478.010128533] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051478.011876702] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051478.045086979] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051478.045824213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051478.046344846] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051478.047975869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051478.049010469] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051478.085455705] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051478.088002063] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051478.088354733] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051478.089345008] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051478.090165379] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051478.090238231] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051478.091150207] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051478.144608885] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051478.145191360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051478.145731781] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051478.146923073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051478.147938111] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051478.244964517] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051478.245696317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051478.246290351] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051478.247617957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051478.248659956] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051478.335370033] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051478.337413981] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051478.337661752] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051478.338408331] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051478.339418937] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051478.340301414] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051478.340445256] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051478.344406465] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051478.345243401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051478.345502519] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051478.347067180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051478.348068633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051478.444014015] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051478.444477919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051478.444872584] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051478.446326967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051478.447704490] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051478.456726096] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051478.457577035] [sailbot.main_algo]: Target Bearing: -142.09964875035627 +[main_algo-3] [INFO] [1746051478.458313201] [sailbot.main_algo]: Heading Difference: -166.57235124964376 +[main_algo-3] [INFO] [1746051478.459116009] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051478.459600816] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051478.460147643] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051478.461616525] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051478.461758064] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051478.502445113] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904148 Long: -76.50277358 +[vectornav-1] [INFO] [1746051478.503709075] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.033000000000015, -0.201, 5.651) +[main_algo-3] [INFO] [1746051478.503724968] [sailbot.main_algo]: Distance to destination: 56.432620536318474 +[main_algo-3] [INFO] [1746051478.504932568] [sailbot.main_algo]: Target Bearing: -142.09141984517942 +[main_algo-3] [INFO] [1746051478.505825572] [sailbot.main_algo]: Heading Difference: -166.5805801548206 +[main_algo-3] [INFO] [1746051478.507221179] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051478.508061610] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051478.508861714] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051478.510527434] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051478.545527389] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051478.545590275] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051478.546983361] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051478.547775426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051478.548868096] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051478.585599689] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051478.587678285] [sailbot.teensy]: Wind angle: 183 +[trim_sail-4] [INFO] [1746051478.587838691] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051478.588189177] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051478.588586799] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051478.589578382] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051478.590451480] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051478.645053891] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051478.645761437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051478.646860227] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051478.647868493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051478.649049160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051478.745106870] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051478.745841920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051478.746786778] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051478.747710729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051478.748802710] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051478.835388557] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051478.837886892] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051478.838154190] [sailbot.teensy]: Wind angle: 182 +[mux-7] [INFO] [1746051478.838566320] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051478.839345388] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051478.840292462] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051478.840684527] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051478.844347164] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051478.844957809] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051478.845554719] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051478.846629153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051478.847836845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051478.945401898] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051478.946465959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051478.947807542] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051478.948657462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051478.949965547] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051478.957672482] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051478.958785498] [sailbot.main_algo]: Target Bearing: -142.09141984517942 +[main_algo-3] [INFO] [1746051478.959724592] [sailbot.main_algo]: Heading Difference: -166.87558015482057 +[main_algo-3] [INFO] [1746051478.961063770] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051478.961955541] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051478.962811293] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051478.964377159] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051478.964539283] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051479.002703688] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904157 Long: -76.50277331 +[main_algo-3] [INFO] [1746051479.003523836] [sailbot.main_algo]: Distance to destination: 56.4561720065522 +[vectornav-1] [INFO] [1746051479.003771844] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.398000000000025, -0.375, 5.441) +[main_algo-3] [INFO] [1746051479.004641896] [sailbot.main_algo]: Target Bearing: -142.09768322327568 +[main_algo-3] [INFO] [1746051479.005611092] [sailbot.main_algo]: Heading Difference: -166.8693167767243 +[main_algo-3] [INFO] [1746051479.006973591] [sailbot.main_algo]: Wind Direction: 182 +[main_algo-3] [INFO] [1746051479.007886140] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051479.008786600] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051479.010507693] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051479.045090033] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051479.045775438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051479.046363709] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051479.047805065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051479.048825400] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051479.085235652] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051479.087659916] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051479.089253794] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051479.089283689] [sailbot.teensy]: Wind angle: 183 +[teensy-2] [INFO] [1746051479.090446154] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051479.091527512] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051479.092481253] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051479.145015941] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051479.145735746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051479.146311630] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051479.147933221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051479.149101282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051479.244688655] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051479.245347157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051479.245823543] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051479.247083521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051479.248078719] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051479.335360642] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051479.337593525] [sailbot.teensy]: Wind angle: 183 +[trim_sail-4] [INFO] [1746051479.337634586] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051479.338802609] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051479.338888672] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051479.339460031] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051479.339815438] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051479.344589467] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051479.345370388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051479.345846652] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051479.347134175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051479.348225908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051479.445459614] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051479.446426781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051479.447116571] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051479.448429604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051479.448880072] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051479.457670284] [sailbot.main_algo]: Wind Direction: 183 +[main_algo-3] [INFO] [1746051479.458688818] [sailbot.main_algo]: Target Bearing: -142.09768322327568 +[main_algo-3] [INFO] [1746051479.459646263] [sailbot.main_algo]: Heading Difference: -166.5043167767243 +[main_algo-3] [INFO] [1746051479.460933729] [sailbot.main_algo]: Wind Direction: 183 +[main_algo-3] [INFO] [1746051479.461736851] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051479.462524540] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051479.464072012] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051479.464097958] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051479.502942123] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904164 Long: -76.50277342 +[main_algo-3] [INFO] [1746051479.503751690] [sailbot.main_algo]: Distance to destination: 56.45401981945842 +[vectornav-1] [INFO] [1746051479.504604864] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.92399999999998, -0.608, 5.938) +[main_algo-3] [INFO] [1746051479.505305769] [sailbot.main_algo]: Target Bearing: -142.08577795293496 +[main_algo-3] [INFO] [1746051479.506680058] [sailbot.main_algo]: Heading Difference: -166.516222047065 +[main_algo-3] [INFO] [1746051479.508178908] [sailbot.main_algo]: Wind Direction: 183 +[main_algo-3] [INFO] [1746051479.509140228] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051479.510024930] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051479.511812255] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051479.544999295] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051479.545759914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051479.546284753] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051479.547689604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051479.548729172] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051479.585596332] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051479.588088529] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051479.589020231] [sailbot.teensy]: Wind angle: 186 +[mux-7] [INFO] [1746051479.589173153] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051479.590367573] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051479.591285089] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051479.592277722] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051479.644813440] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051479.645556102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051479.646050971] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051479.647446459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051479.648685316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051479.745066513] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051479.745734146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051479.746376851] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051479.747777299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051479.748889098] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051479.835360971] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051479.837141117] [sailbot.teensy]: Wind angle: 186 +[trim_sail-4] [INFO] [1746051479.837774789] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051479.838086074] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051479.839030594] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051479.839465855] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051479.839903737] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051479.844522751] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051479.845033528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051479.845710694] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051479.846857618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051479.847928515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051479.945037300] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051479.945840338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051479.946505398] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051479.947843194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051479.948951650] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051479.957669826] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051479.958738155] [sailbot.main_algo]: Target Bearing: -142.08577795293496 +[main_algo-3] [INFO] [1746051479.959632098] [sailbot.main_algo]: Heading Difference: -166.99022204706506 +[main_algo-3] [INFO] [1746051479.960903642] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051479.961718428] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051479.962510003] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051479.964033679] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051479.964161545] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051480.002707783] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904166 Long: -76.50277345 +[main_algo-3] [INFO] [1746051480.003713418] [sailbot.main_algo]: Distance to destination: 56.45349672733498 +[vectornav-1] [INFO] [1746051480.003802787] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.636000000000024, 0.481, 4.511) +[main_algo-3] [INFO] [1746051480.004827912] [sailbot.main_algo]: Target Bearing: -142.08245119265274 +[main_algo-3] [INFO] [1746051480.005841920] [sailbot.main_algo]: Heading Difference: -166.99354880734728 +[main_algo-3] [INFO] [1746051480.007262289] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051480.008280794] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051480.009129655] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051480.010785073] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051480.045133503] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051480.045879525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051480.046923261] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051480.048062306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051480.049220310] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051480.085299685] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051480.087257681] [sailbot.teensy]: Wind angle: 186 +[trim_sail-4] [INFO] [1746051480.087386763] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051480.087903560] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051480.088131004] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051480.089037548] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051480.089888823] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051480.144880046] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051480.145657768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051480.146099281] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051480.147450010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051480.148626079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051480.244875860] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051480.245726526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051480.246189408] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051480.247698890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051480.248726757] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051480.335403969] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051480.337221351] [sailbot.teensy]: Wind angle: 186 +[teensy-2] [INFO] [1746051480.338175955] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051480.338389200] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051480.339128693] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051480.340101160] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051480.341823171] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051480.344273002] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051480.344948623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051480.345371483] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051480.346696915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051480.347751896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051480.445050910] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051480.445780727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051480.446400614] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051480.447637230] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051480.448768968] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051480.457414440] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051480.458456977] [sailbot.main_algo]: Target Bearing: -142.08245119265274 +[main_algo-3] [INFO] [1746051480.459396679] [sailbot.main_algo]: Heading Difference: -167.28154880734724 +[main_algo-3] [INFO] [1746051480.460788456] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051480.461752940] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051480.462678644] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051480.464861232] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051480.464991280] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051480.501435163] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904163 Long: -76.50277344 +[vectornav-1] [INFO] [1746051480.501865336] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.94400000000002, -1.429, 6.958) +[main_algo-3] [INFO] [1746051480.501916830] [sailbot.main_algo]: Distance to destination: 56.45204272052019 +[main_algo-3] [INFO] [1746051480.502425625] [sailbot.main_algo]: Target Bearing: -142.08560607863654 +[main_algo-3] [INFO] [1746051480.502859980] [sailbot.main_algo]: Heading Difference: -167.27839392136343 +[main_algo-3] [INFO] [1746051480.503540483] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051480.504015568] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051480.504438498] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051480.505427260] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051480.545145516] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051480.545266996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051480.546293152] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051480.546908991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051480.548017632] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051480.585455998] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051480.587776527] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051480.588169128] [sailbot.teensy]: Wind angle: 186 +[teensy-2] [INFO] [1746051480.589165179] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051480.590002819] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051480.590017808] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051480.590909442] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051480.645118337] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051480.645803340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051480.646596071] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051480.648013390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051480.649049206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051480.745263952] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051480.745806052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051480.747316536] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051480.747924824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051480.749085066] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051480.835411696] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051480.837341906] [sailbot.teensy]: Wind angle: 186 +[teensy-2] [INFO] [1746051480.838295639] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051480.837690522] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051480.839044531] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051480.839154998] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051480.839597658] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051480.844445789] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051480.844950412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051480.845598973] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051480.846817858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051480.847885313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051480.945431698] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051480.946003526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051480.947211476] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051480.948242698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051480.949383211] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051480.957734321] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051480.958731116] [sailbot.main_algo]: Target Bearing: -142.08560607863654 +[main_algo-3] [INFO] [1746051480.959679834] [sailbot.main_algo]: Heading Difference: -166.97039392136344 +[main_algo-3] [INFO] [1746051480.961137958] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051480.961966880] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051480.962747904] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051480.964378592] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051480.964420424] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051481.002966678] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904173 Long: -76.50277319 +[main_algo-3] [INFO] [1746051481.003970528] [sailbot.main_algo]: Distance to destination: 56.47501198779403 +[vectornav-1] [INFO] [1746051481.004394277] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.14499999999998, 0.075, 4.966) +[main_algo-3] [INFO] [1746051481.005722504] [sailbot.main_algo]: Target Bearing: -142.08994496717693 +[main_algo-3] [INFO] [1746051481.007052983] [sailbot.main_algo]: Heading Difference: -166.96605503282308 +[main_algo-3] [INFO] [1746051481.008430777] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051481.009335233] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051481.010186101] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051481.012050050] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051481.045170928] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051481.046075602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051481.046602365] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051481.048575204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051481.049590609] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051481.085209790] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051481.087378260] [sailbot.teensy]: Wind angle: 186 +[trim_sail-4] [INFO] [1746051481.087445547] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051481.088407498] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051481.088764953] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051481.089335850] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051481.090328064] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051481.144941839] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051481.145683267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051481.146330810] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051481.147468566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051481.148552364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051481.245190213] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051481.246033893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051481.246920458] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051481.248149254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051481.249369499] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051481.335550710] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051481.337564495] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051481.337935472] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051481.339198352] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051481.339602138] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051481.340211159] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051481.341431212] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051481.344740699] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051481.345263648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051481.345980224] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051481.347049771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051481.348259491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051481.445276521] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051481.445853128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051481.446919750] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051481.447874187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051481.448834231] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051481.457453803] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051481.458424822] [sailbot.main_algo]: Target Bearing: -142.08994496717693 +[main_algo-3] [INFO] [1746051481.459297836] [sailbot.main_algo]: Heading Difference: -166.76505503282306 +[main_algo-3] [INFO] [1746051481.460535182] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051481.461352503] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051481.462155172] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051481.463729757] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051481.463989359] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051481.502532211] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904184 Long: -76.50277338 +[main_algo-3] [INFO] [1746051481.503415947] [sailbot.main_algo]: Distance to destination: 56.47053729116079 +[vectornav-1] [INFO] [1746051481.503538155] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.091999999999985, -0.306, 5.782) +[main_algo-3] [INFO] [1746051481.504497181] [sailbot.main_algo]: Target Bearing: -142.07034314455188 +[main_algo-3] [INFO] [1746051481.505429380] [sailbot.main_algo]: Heading Difference: -166.78465685544813 +[main_algo-3] [INFO] [1746051481.506775352] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051481.507659426] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051481.508536135] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051481.510304519] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051481.545286453] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051481.545868571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051481.546813420] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051481.548252182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051481.549422031] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051481.585373073] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051481.587297098] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051481.587459874] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051481.589118612] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051481.589251908] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051481.590297318] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051481.591275988] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051481.645207762] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051481.645661670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051481.647018248] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051481.647527119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051481.648627897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051481.745057404] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051481.745803432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051481.746529852] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051481.747871798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051481.748933677] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051481.835233728] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051481.836416104] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051481.836565434] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051481.836825890] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051481.836954668] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051481.837203092] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051481.837589142] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051481.844752597] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051481.845267322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051481.846104588] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051481.847111811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051481.848243854] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051481.945227149] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051481.945956249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051481.946730424] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051481.947975949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051481.949050675] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051481.957477616] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051481.958431865] [sailbot.main_algo]: Target Bearing: -142.07034314455188 +[main_algo-3] [INFO] [1746051481.959309246] [sailbot.main_algo]: Heading Difference: -167.83765685544813 +[main_algo-3] [INFO] [1746051481.960518461] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051481.961325930] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051481.962125621] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051481.963654168] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051481.963690478] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051482.002904039] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904185 Long: -76.50277348 +[main_algo-3] [INFO] [1746051482.003812363] [sailbot.main_algo]: Distance to destination: 56.464840820787444 +[vectornav-1] [INFO] [1746051482.004209395] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.471000000000004, 0.023, 5.926) +[main_algo-3] [INFO] [1746051482.005123952] [sailbot.main_algo]: Target Bearing: -142.0642224058428 +[main_algo-3] [INFO] [1746051482.006166169] [sailbot.main_algo]: Heading Difference: -167.84377759415725 +[main_algo-3] [INFO] [1746051482.007603380] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051482.008627729] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051482.009508738] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051482.011522027] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051482.045227332] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051482.045893902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051482.046970353] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051482.048037350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051482.049236802] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051482.085550135] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051482.088058825] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051482.088718413] [sailbot.teensy]: Wind angle: 185 +[mux-7] [INFO] [1746051482.089143292] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051482.090050683] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051482.090948150] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051482.091839737] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051482.145167556] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051482.145766855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051482.147465514] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051482.147739838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051482.148823250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051482.245221444] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051482.245985749] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051482.246586660] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051482.248000716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051482.249090176] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051482.335225189] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051482.337482065] [sailbot.teensy]: Wind angle: 186 +[trim_sail-4] [INFO] [1746051482.337528997] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051482.338455039] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051482.339092541] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051482.339380548] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051482.340321007] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051482.344608492] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051482.345165213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051482.346129903] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051482.346891175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051482.347948402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051482.445136535] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051482.445862835] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051482.446515072] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051482.447812087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051482.448680554] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051482.457655715] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051482.458675374] [sailbot.main_algo]: Target Bearing: -142.0642224058428 +[main_algo-3] [INFO] [1746051482.459573748] [sailbot.main_algo]: Heading Difference: -168.46477759415723 +[main_algo-3] [INFO] [1746051482.460827879] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051482.461656125] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051482.462444770] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051482.464097229] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051482.464094194] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051482.502368943] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904155 Long: -76.50277327 +[main_algo-3] [INFO] [1746051482.503232719] [sailbot.main_algo]: Distance to destination: 56.457335735031265 +[vectornav-1] [INFO] [1746051482.503301929] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.238, -1.509, 4.928) +[main_algo-3] [INFO] [1746051482.504225733] [sailbot.main_algo]: Target Bearing: -142.10153383375922 +[main_algo-3] [INFO] [1746051482.505085178] [sailbot.main_algo]: Heading Difference: -168.42746616624078 +[main_algo-3] [INFO] [1746051482.506344776] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051482.507173175] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051482.507952288] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051482.509604701] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051482.544256413] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051482.545142161] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051482.544793890] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051482.546299652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051482.547296753] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051482.584536890] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051482.585392577] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051482.586270090] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051482.586709397] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051482.587227965] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051482.587617152] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051482.587468141] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051482.645214206] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051482.646045515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051482.646696368] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051482.648190480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051482.649243295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051482.745183265] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051482.745783030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051482.746747171] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051482.747671619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051482.748777142] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051482.835270518] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051482.837389125] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051482.838672824] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051482.838717352] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051482.839135131] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051482.839530466] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051482.839965434] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051482.844391706] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051482.844838115] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051482.845747037] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051482.846501023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051482.847705085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051482.945131824] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051482.945630472] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051482.946556862] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051482.947594865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051482.948671590] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051482.957659955] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051482.958667982] [sailbot.main_algo]: Target Bearing: -142.10153383375922 +[main_algo-3] [INFO] [1746051482.959582413] [sailbot.main_algo]: Heading Difference: -166.66046616624078 +[main_algo-3] [INFO] [1746051482.960821153] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051482.961638056] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051482.962427115] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051482.964014323] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051482.964207247] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051483.002766791] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904166 Long: -76.50277292 +[main_algo-3] [INFO] [1746051483.003703360] [sailbot.main_algo]: Distance to destination: 56.48740197021509 +[vectornav-1] [INFO] [1746051483.003862277] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.516999999999996, 0.608, 5.325) +[main_algo-3] [INFO] [1746051483.004884522] [sailbot.main_algo]: Target Bearing: -142.1102274128712 +[main_algo-3] [INFO] [1746051483.005825390] [sailbot.main_algo]: Heading Difference: -166.6517725871288 +[main_algo-3] [INFO] [1746051483.007176336] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051483.008003033] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051483.008821434] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051483.010447493] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051483.044833999] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051483.045518313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051483.046177305] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051483.047377735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051483.048478518] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051483.085510807] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051483.087752187] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051483.088668555] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051483.089070685] [sailbot.teensy]: Wind angle: 186 +[teensy-2] [INFO] [1746051483.090055750] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051483.090965988] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051483.091781662] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051483.145100861] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051483.145914641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051483.146578418] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051483.147705936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051483.148218663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051483.245130163] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051483.245816832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051483.246632892] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051483.247608865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051483.248697503] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051483.335230388] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051483.337483065] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051483.338327301] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051483.339507650] [sailbot.teensy]: Wind angle: 190 +[teensy-2] [INFO] [1746051483.340459474] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051483.341458417] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051483.342330409] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051483.344331456] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051483.344832695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051483.345421056] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051483.346514810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051483.347528346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051483.445184603] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051483.446078008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051483.446498185] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051483.448076143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051483.449114402] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051483.457663419] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051483.458677702] [sailbot.main_algo]: Target Bearing: -142.1102274128712 +[main_algo-3] [INFO] [1746051483.459571369] [sailbot.main_algo]: Heading Difference: -167.3727725871288 +[main_algo-3] [INFO] [1746051483.460877994] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051483.461773179] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051483.462601203] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051483.464194089] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051483.464405360] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051483.502907771] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904158 Long: -76.50277292 +[main_algo-3] [INFO] [1746051483.504013596] [sailbot.main_algo]: Distance to destination: 56.48182257601543 +[vectornav-1] [INFO] [1746051483.504320018] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.257000000000005, -0.628, 6.077) +[main_algo-3] [INFO] [1746051483.505431808] [sailbot.main_algo]: Target Bearing: -142.1172410678283 +[main_algo-3] [INFO] [1746051483.506516804] [sailbot.main_algo]: Heading Difference: -167.36575893217173 +[main_algo-3] [INFO] [1746051483.507867170] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051483.508817057] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051483.509696954] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051483.511439496] [sailbot.mux]: algo rudder angle: -25 +[teensy-2] [INFO] [1746051483.545639208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051483.546748832] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051483.548498734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051483.548529483] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051483.549604158] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051483.585293068] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051483.586911195] [sailbot.teensy]: Wind angle: 197 +[trim_sail-4] [INFO] [1746051483.587639019] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051483.587812095] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051483.588705112] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051483.589611758] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051483.588910852] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051483.644900062] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051483.645626380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051483.646433791] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051483.647731480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051483.648835947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051483.745068921] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051483.745756430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051483.746740588] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051483.747751787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051483.748934980] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051483.835426422] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051483.837364646] [sailbot.teensy]: Wind angle: 203 +[trim_sail-4] [INFO] [1746051483.837889087] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051483.838303064] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051483.839248755] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051483.840223209] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051483.840271417] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051483.844421749] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051483.844914909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051483.846024679] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051483.846773301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051483.847957971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051483.944937961] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051483.945745781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051483.946172491] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051483.947775132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051483.948879426] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051483.957697698] [sailbot.main_algo]: Wind Direction: 203 +[main_algo-3] [INFO] [1746051483.958785793] [sailbot.main_algo]: Target Bearing: -142.1172410678283 +[main_algo-3] [INFO] [1746051483.959798951] [sailbot.main_algo]: Heading Difference: -167.62575893217172 +[main_algo-3] [INFO] [1746051483.961136764] [sailbot.main_algo]: Wind Direction: 203 +[main_algo-3] [INFO] [1746051483.962028203] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051483.962977926] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051483.964557023] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051483.964589456] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051484.002808533] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904164 Long: -76.50277299 +[main_algo-3] [INFO] [1746051484.003742831] [sailbot.main_algo]: Distance to destination: 56.481528120326665 +[vectornav-1] [INFO] [1746051484.003898745] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.92599999999999, 0.007, 4.862) +[main_algo-3] [INFO] [1746051484.004947161] [sailbot.main_algo]: Target Bearing: -142.10831410061692 +[main_algo-3] [INFO] [1746051484.005801849] [sailbot.main_algo]: Heading Difference: -167.63468589938304 +[main_algo-3] [INFO] [1746051484.007085918] [sailbot.main_algo]: Wind Direction: 203 +[main_algo-3] [INFO] [1746051484.007918213] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051484.008717081] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051484.010301728] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051484.044719350] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051484.045574662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051484.046143834] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051484.047480514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051484.048651542] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051484.085165118] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051484.086662398] [sailbot.teensy]: Wind angle: 204 +[teensy-2] [INFO] [1746051484.087611321] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051484.087869662] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051484.088585426] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051484.089494381] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051484.089791805] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051484.145752701] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051484.147234751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051484.147320498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051484.149263197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051484.150333633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051484.245118641] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051484.245691190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051484.246707015] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051484.247522322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051484.248610273] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051484.335400800] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051484.338074545] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051484.338344692] [sailbot.teensy]: Wind angle: 204 +[mux-7] [INFO] [1746051484.339210453] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051484.339606077] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051484.340431799] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051484.340773440] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051484.344723786] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051484.345001423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051484.346079900] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051484.346697944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051484.347919702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051484.445287321] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051484.445838012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051484.446626726] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051484.447995231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051484.449043503] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051484.457677239] [sailbot.main_algo]: Wind Direction: 204 +[main_algo-3] [INFO] [1746051484.458719750] [sailbot.main_algo]: Target Bearing: -142.10831410061692 +[main_algo-3] [INFO] [1746051484.459631565] [sailbot.main_algo]: Heading Difference: -167.96568589938306 +[main_algo-3] [INFO] [1746051484.460904818] [sailbot.main_algo]: Wind Direction: 204 +[main_algo-3] [INFO] [1746051484.461750972] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051484.462549670] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051484.464404801] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051484.464752326] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051484.503114025] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904154 Long: -76.50277278 +[main_algo-3] [INFO] [1746051484.503762639] [sailbot.main_algo]: Distance to destination: 56.48799284059557 +[vectornav-1] [INFO] [1746051484.504386153] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.161, -0.935, 5.216) +[main_algo-3] [INFO] [1746051484.504858127] [sailbot.main_algo]: Target Bearing: -142.12807938014913 +[main_algo-3] [INFO] [1746051484.505855146] [sailbot.main_algo]: Heading Difference: -167.94592061985088 +[main_algo-3] [INFO] [1746051484.507240155] [sailbot.main_algo]: Wind Direction: 204 +[main_algo-3] [INFO] [1746051484.508180791] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051484.509044898] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051484.510700102] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051484.545372746] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051484.545516942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051484.546766343] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051484.547486822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051484.548539613] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051484.585318486] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051484.587138037] [sailbot.teensy]: Wind angle: 203 +[trim_sail-4] [INFO] [1746051484.587574480] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051484.588006732] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051484.589122994] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051484.590102438] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051484.590289301] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051484.643835056] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051484.644256797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051484.644465097] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051484.645277211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051484.645921711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051484.744913541] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051484.745547553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051484.746169155] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051484.747353590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051484.748529952] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051484.835331978] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051484.837539003] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051484.837836617] [sailbot.teensy]: Wind angle: 203 +[mux-7] [INFO] [1746051484.838643668] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051484.838823401] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051484.839694498] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051484.840432420] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051484.844426322] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051484.844783551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051484.845713683] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051484.846437269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051484.847607691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051484.945005816] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051484.945585687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051484.946383922] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051484.947799150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051484.949016324] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051484.957616530] [sailbot.main_algo]: Wind Direction: 203 +[main_algo-3] [INFO] [1746051484.958634232] [sailbot.main_algo]: Target Bearing: -142.12807938014913 +[main_algo-3] [INFO] [1746051484.959547974] [sailbot.main_algo]: Heading Difference: -166.71092061985087 +[main_algo-3] [INFO] [1746051484.960871589] [sailbot.main_algo]: Wind Direction: 203 +[main_algo-3] [INFO] [1746051484.961777021] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051484.962591271] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051484.964105570] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051484.964126602] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051485.002731659] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904178 Long: -76.50277284 +[vectornav-1] [INFO] [1746051485.003888733] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.25, -0.113, 5.648) +[main_algo-3] [INFO] [1746051485.004325867] [sailbot.main_algo]: Distance to destination: 56.50089081519784 +[main_algo-3] [INFO] [1746051485.005462906] [sailbot.main_algo]: Target Bearing: -142.10389960147424 +[main_algo-3] [INFO] [1746051485.006712852] [sailbot.main_algo]: Heading Difference: -166.7351003985258 +[main_algo-3] [INFO] [1746051485.008142808] [sailbot.main_algo]: Wind Direction: 203 +[main_algo-3] [INFO] [1746051485.009077300] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051485.009947504] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051485.011625030] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051485.044769890] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051485.046029107] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051485.046270719] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051485.048557085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051485.049860079] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051485.085225695] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051485.086815148] [sailbot.teensy]: Wind angle: 200 +[teensy-2] [INFO] [1746051485.087775242] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051485.087224875] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051485.088698774] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051485.089029788] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051485.089642845] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051485.144910584] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051485.145708662] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051485.146383282] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051485.147895879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051485.149022882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051485.244911636] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051485.245492669] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051485.246362676] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051485.247254064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051485.248399934] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051485.335260485] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051485.337413124] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051485.338490475] [sailbot.teensy]: Wind angle: 196 +[mux-7] [INFO] [1746051485.338615354] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051485.338943423] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051485.339347110] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051485.339944138] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051485.344390743] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051485.344912796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051485.345484640] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051485.346573646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051485.347736187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051485.445021770] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051485.445583515] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051485.446399734] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051485.447902386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051485.449013378] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051485.457563208] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051485.458582809] [sailbot.main_algo]: Target Bearing: -142.10389960147424 +[main_algo-3] [INFO] [1746051485.459469485] [sailbot.main_algo]: Heading Difference: -167.64610039852573 +[main_algo-3] [INFO] [1746051485.460818501] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051485.461678400] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051485.462477232] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051485.463987676] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051485.464034223] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051485.502771019] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904184 Long: -76.50277279 +[main_algo-3] [INFO] [1746051485.503711866] [sailbot.main_algo]: Distance to destination: 56.5082752596533 +[vectornav-1] [INFO] [1746051485.504330990] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.536, 0.153, 6.61) +[main_algo-3] [INFO] [1746051485.504845519] [sailbot.main_algo]: Target Bearing: -142.10126050687444 +[main_algo-3] [INFO] [1746051485.505836397] [sailbot.main_algo]: Heading Difference: -167.64873949312556 +[main_algo-3] [INFO] [1746051485.507196628] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051485.508066195] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051485.508932963] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051485.510828138] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051485.545049746] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051485.545721923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051485.546283471] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051485.547663684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051485.548780441] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051485.585367146] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051485.587175301] [sailbot.teensy]: Wind angle: 195 +[teensy-2] [INFO] [1746051485.588106093] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051485.587647734] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051485.589008447] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051485.589197853] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051485.589932067] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051485.644782718] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051485.645466963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051485.646078481] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051485.647245756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051485.648353230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051485.744925334] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051485.745455686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051485.746173221] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051485.747217166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051485.748421629] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051485.835391589] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051485.837798558] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051485.838794154] [sailbot.teensy]: Wind angle: 191 +[mux-7] [INFO] [1746051485.839034268] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051485.839753180] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051485.840755194] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051485.841637585] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051485.844441760] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051485.845052705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051485.845571855] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051485.846813715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051485.847896017] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051485.944976626] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051485.945696358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051485.946686005] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051485.947633887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051485.948694141] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051485.957708673] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051485.958724639] [sailbot.main_algo]: Target Bearing: -142.10126050687444 +[main_algo-3] [INFO] [1746051485.959630382] [sailbot.main_algo]: Heading Difference: -168.36273949312556 +[main_algo-3] [INFO] [1746051485.960958101] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051485.961807136] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051485.962588182] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051485.964125143] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051485.964209803] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051486.002883138] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904158 Long: -76.50277276 +[vectornav-1] [INFO] [1746051486.004032623] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.523000000000025, -1.357, 5.227) +[main_algo-3] [INFO] [1746051486.004046088] [sailbot.main_algo]: Distance to destination: 56.492061739960995 +[main_algo-3] [INFO] [1746051486.005204063] [sailbot.main_algo]: Target Bearing: -142.12561934722575 +[main_algo-3] [INFO] [1746051486.006949124] [sailbot.main_algo]: Heading Difference: -168.33838065277428 +[main_algo-3] [INFO] [1746051486.008384695] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051486.009303153] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051486.010188598] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051486.011861842] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051486.044901853] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051486.045708500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051486.046150421] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051486.047961811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051486.050224824] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051486.085255057] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051486.087530532] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051486.087903640] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051486.088043813] [sailbot.teensy]: Wind angle: 190 +[teensy-2] [INFO] [1746051486.089048477] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051486.089952180] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051486.090775018] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051486.144734509] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051486.145384199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051486.145946245] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051486.147233462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051486.148277908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051486.244867619] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051486.245703132] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051486.246209041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051486.248595996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051486.251022772] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051486.334465335] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051486.335322246] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051486.335729803] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051486.336111610] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051486.336499622] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051486.335668270] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051486.336488592] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051486.343625694] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051486.344122727] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051486.344136408] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051486.345038086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051486.345600096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051486.443669952] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051486.444270694] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051486.444734843] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051486.445552554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051486.446064494] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051486.456515286] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051486.456966869] [sailbot.main_algo]: Target Bearing: -142.12561934722575 +[main_algo-3] [INFO] [1746051486.457384135] [sailbot.main_algo]: Heading Difference: -166.3513806527742 +[main_algo-3] [INFO] [1746051486.457983689] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051486.458380959] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051486.458780709] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051486.459696139] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051486.460912890] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051486.501328152] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904149 Long: -76.50277258 +[vectornav-1] [INFO] [1746051486.501762566] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.92099999999999, 0.15, 4.019) +[main_algo-3] [INFO] [1746051486.501829300] [sailbot.main_algo]: Distance to destination: 56.49730885103913 +[main_algo-3] [INFO] [1746051486.502297181] [sailbot.main_algo]: Target Bearing: -142.14293223473763 +[main_algo-3] [INFO] [1746051486.502729263] [sailbot.main_algo]: Heading Difference: -166.33406776526238 +[main_algo-3] [INFO] [1746051486.503372179] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051486.503928155] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051486.504367079] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051486.505858793] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051486.543720581] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051486.544247411] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051486.544201083] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051486.545019254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051486.545558860] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051486.584428452] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051486.585203734] [sailbot.teensy]: Wind angle: 182 +[teensy-2] [INFO] [1746051486.585602892] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051486.585972286] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051486.586344985] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051486.587529175] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051486.588087095] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051486.643609485] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051486.644118272] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051486.645417392] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051486.646403827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051486.647206177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051486.743721398] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051486.744259105] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051486.744076929] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051486.745003482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051486.745520787] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051486.835365723] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051486.837028766] [sailbot.teensy]: Wind angle: 181 +[trim_sail-4] [INFO] [1746051486.837530935] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051486.837947806] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051486.838805875] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051486.839688389] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051486.840573041] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051486.844306495] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051486.844745355] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051486.845387213] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051486.846295486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051486.847368880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051486.945136638] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051486.945650124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051486.946414257] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051486.947554719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051486.948757150] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051486.957653274] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051486.958698720] [sailbot.main_algo]: Target Bearing: -142.14293223473763 +[main_algo-3] [INFO] [1746051486.959597803] [sailbot.main_algo]: Heading Difference: -167.93606776526235 +[main_algo-3] [INFO] [1746051486.960901513] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051486.961724365] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051486.962540872] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051486.964140082] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051486.964495910] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051487.002610615] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904143 Long: -76.50277263 +[vectornav-1] [INFO] [1746051487.003782517] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.96600000000001, -0.221, 5.476) +[main_algo-3] [INFO] [1746051487.004226368] [sailbot.main_algo]: Distance to destination: 56.489926301603624 +[main_algo-3] [INFO] [1746051487.005223826] [sailbot.main_algo]: Target Bearing: -142.14557728831105 +[main_algo-3] [INFO] [1746051487.006151032] [sailbot.main_algo]: Heading Difference: -167.933422711689 +[main_algo-3] [INFO] [1746051487.007490280] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051487.008320810] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051487.009112588] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051487.010770537] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051487.045372487] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051487.045541828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051487.046934319] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051487.047516247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051487.048606118] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051487.085473627] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051487.087274007] [sailbot.teensy]: Wind angle: 180 +[trim_sail-4] [INFO] [1746051487.087762967] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051487.088238340] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051487.089232946] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051487.089455913] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051487.090951323] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051487.145090252] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051487.145652575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051487.146452866] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051487.147454535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051487.148602302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051487.244851234] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051487.245450883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051487.246148196] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051487.247121307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051487.248213214] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051487.335332844] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051487.337071245] [sailbot.teensy]: Wind angle: 180 +[trim_sail-4] [INFO] [1746051487.337466455] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051487.338005155] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051487.338826509] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051487.339141710] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051487.339197687] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051487.344480192] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051487.345190256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051487.345688685] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051487.347063449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051487.348189470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051487.444935367] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051487.445539753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051487.446230653] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051487.447346046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051487.448452547] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051487.457463182] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051487.458432182] [sailbot.main_algo]: Target Bearing: -142.14557728831105 +[main_algo-3] [INFO] [1746051487.459260693] [sailbot.main_algo]: Heading Difference: -168.88842271168892 +[main_algo-3] [INFO] [1746051487.460487023] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051487.461309480] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051487.462097393] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051487.463619231] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051487.463718814] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051487.502799144] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690414 Long: -76.50277266 +[main_algo-3] [INFO] [1746051487.503796283] [sailbot.main_algo]: Distance to destination: 56.48591498348549 +[vectornav-1] [INFO] [1746051487.503949345] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.12700000000001, -0.222, 5.542) +[main_algo-3] [INFO] [1746051487.505231396] [sailbot.main_algo]: Target Bearing: -142.14663839209246 +[main_algo-3] [INFO] [1746051487.506323926] [sailbot.main_algo]: Heading Difference: -168.88736160790756 +[main_algo-3] [INFO] [1746051487.507864045] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051487.508837231] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051487.509730803] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051487.511409191] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051487.544977585] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051487.545711000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051487.546654405] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051487.547570634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051487.548804640] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051487.585211573] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051487.587062686] [sailbot.teensy]: Wind angle: 180 +[trim_sail-4] [INFO] [1746051487.587296757] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051487.588595399] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051487.589010357] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051487.589987452] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051487.591151141] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051487.645113609] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051487.645953460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051487.646526186] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051487.648222764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051487.649287830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051487.744808713] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051487.745464079] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051487.746043099] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051487.747138655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051487.748203388] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051487.835325389] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051487.837701203] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051487.838564110] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051487.837945752] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051487.838379616] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051487.839182626] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051487.839554262] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051487.844419655] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051487.845081427] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051487.845504897] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051487.846852973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051487.847891755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051487.945032039] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051487.945720485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051487.947535292] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051487.947785213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051487.949031706] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051487.957695414] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051487.958724275] [sailbot.main_algo]: Target Bearing: -142.14663839209246 +[main_algo-3] [INFO] [1746051487.959638657] [sailbot.main_algo]: Heading Difference: -167.7263616079075 +[main_algo-3] [INFO] [1746051487.960972519] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051487.961799837] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051487.962605769] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051487.964130120] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051487.964191543] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051488.002792819] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904111 Long: -76.50277241 +[main_algo-3] [INFO] [1746051488.003753178] [sailbot.main_algo]: Distance to destination: 56.48172121401271 +[vectornav-1] [INFO] [1746051488.004277748] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.81700000000001, -1.172, 5.274) +[main_algo-3] [INFO] [1746051488.004854345] [sailbot.main_algo]: Target Bearing: -142.18516110317705 +[main_algo-3] [INFO] [1746051488.005863984] [sailbot.main_algo]: Heading Difference: -167.68783889682294 +[main_algo-3] [INFO] [1746051488.007246719] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051488.008148353] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051488.009045032] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051488.010993924] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051488.045118610] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051488.045768190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051488.046467319] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051488.047799880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051488.048838571] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051488.085156703] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051488.086691140] [sailbot.teensy]: Wind angle: 180 +[trim_sail-4] [INFO] [1746051488.087164232] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051488.087543819] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051488.088415923] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051488.089116816] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051488.089386187] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051488.145019539] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051488.145593691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051488.146332075] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051488.147512001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051488.148711403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051488.245157480] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051488.245660465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051488.246677075] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051488.247587265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051488.248724057] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051488.335290532] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051488.336310097] [sailbot.teensy]: Wind angle: 179 +[teensy-2] [INFO] [1746051488.336705688] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051488.336589853] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051488.336948299] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051488.337082075] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051488.337459711] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051488.344538463] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051488.344916329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051488.345807635] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051488.346598181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051488.347795075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051488.444834832] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051488.445486285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051488.445979526] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051488.447326444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051488.448526784] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051488.457437183] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051488.458408101] [sailbot.main_algo]: Target Bearing: -142.18516110317705 +[main_algo-3] [INFO] [1746051488.459295481] [sailbot.main_algo]: Heading Difference: -166.99783889682294 +[main_algo-3] [INFO] [1746051488.460535692] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051488.461348418] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051488.462155265] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051488.463684583] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051488.463720314] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051488.502543039] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904133 Long: -76.50277254 +[main_algo-3] [INFO] [1746051488.503377831] [sailbot.main_algo]: Distance to destination: 56.48871991429452 +[vectornav-1] [INFO] [1746051488.503579479] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.908000000000015, 0.297, 4.662) +[main_algo-3] [INFO] [1746051488.504603660] [sailbot.main_algo]: Target Bearing: -142.15905782024083 +[main_algo-3] [INFO] [1746051488.505555110] [sailbot.main_algo]: Heading Difference: -167.02394217975916 +[main_algo-3] [INFO] [1746051488.506868101] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051488.507693323] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051488.508499731] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051488.510023275] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051488.544935867] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051488.545667469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051488.546199751] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051488.547554925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051488.548614718] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051488.585314133] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051488.586950304] [sailbot.teensy]: Wind angle: 179 +[trim_sail-4] [INFO] [1746051488.587781134] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051488.587856341] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051488.588485517] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051488.589818446] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051488.590793134] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051488.645026803] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051488.645614615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051488.646375456] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051488.647451730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051488.648560833] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051488.744574359] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051488.745710390] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051488.745906190] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051488.748238270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051488.749523734] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051488.834541392] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051488.835311557] [sailbot.teensy]: Wind angle: 179 +[teensy-2] [INFO] [1746051488.835745840] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051488.836167257] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051488.836574041] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051488.837796536] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051488.838216039] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051488.843942315] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051488.844470627] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051488.845076525] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051488.845199203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051488.845700011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051488.943666794] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051488.943896824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051488.944169760] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051488.944668822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051488.945401461] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051488.956516250] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051488.957500423] [sailbot.main_algo]: Target Bearing: -142.15905782024083 +[main_algo-3] [INFO] [1746051488.958428574] [sailbot.main_algo]: Heading Difference: -168.93294217975915 +[main_algo-3] [INFO] [1746051488.959314919] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051488.959692396] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051488.960063262] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051488.961007334] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051488.961035398] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051489.002800086] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904123 Long: -76.5027724 +[main_algo-3] [INFO] [1746051489.003888254] [sailbot.main_algo]: Distance to destination: 56.49071875187462 +[vectornav-1] [INFO] [1746051489.004108437] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.954999999999984, 0.289, 6.038) +[main_algo-3] [INFO] [1746051489.005158850] [sailbot.main_algo]: Target Bearing: -142.1751540692141 +[main_algo-3] [INFO] [1746051489.006279179] [sailbot.main_algo]: Heading Difference: -168.91684593078588 +[main_algo-3] [INFO] [1746051489.007753706] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051489.008688533] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051489.009538259] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051489.011188230] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051489.044927843] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051489.045594127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051489.046205765] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051489.047598405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051489.048640139] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051489.085003990] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051489.086523070] [sailbot.teensy]: Wind angle: 179 +[trim_sail-4] [INFO] [1746051489.087370715] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051489.087465463] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051489.088354406] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051489.089098596] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051489.089263424] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051489.144852343] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051489.145553569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051489.146332752] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051489.147339980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051489.148568337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051489.244986272] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051489.245832771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051489.246429781] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051489.247706461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051489.248783312] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051489.335400471] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051489.337277083] [sailbot.teensy]: Wind angle: 178 +[teensy-2] [INFO] [1746051489.338238775] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051489.337745072] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051489.339163395] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051489.339789688] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051489.340762899] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051489.344419817] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051489.344768293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051489.345585906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051489.346429881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051489.347597795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051489.445288829] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051489.445961705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051489.446910655] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051489.447978813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051489.448952938] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051489.457756382] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051489.458879776] [sailbot.main_algo]: Target Bearing: -142.1751540692141 +[main_algo-3] [INFO] [1746051489.459837017] [sailbot.main_algo]: Heading Difference: -169.8698459307859 +[main_algo-3] [INFO] [1746051489.461186115] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051489.462062381] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051489.462855896] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051489.464393521] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051489.464562319] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051489.502603838] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904098 Long: -76.50277221 +[main_algo-3] [INFO] [1746051489.503586066] [sailbot.main_algo]: Distance to destination: 56.48548325585649 +[vectornav-1] [INFO] [1746051489.503620765] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.56200000000001, -1.686, 5.232) +[main_algo-3] [INFO] [1746051489.504730267] [sailbot.main_algo]: Target Bearing: -142.2070282453181 +[main_algo-3] [INFO] [1746051489.505694017] [sailbot.main_algo]: Heading Difference: -169.83797175468192 +[main_algo-3] [INFO] [1746051489.507166282] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051489.508079402] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051489.508965017] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051489.510531616] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051489.544572355] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051489.545206505] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051489.545749522] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051489.546906766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051489.548000224] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051489.585122623] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051489.586665368] [sailbot.teensy]: Wind angle: 179 +[trim_sail-4] [INFO] [1746051489.587096628] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051489.587531973] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051489.588499657] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051489.588918073] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051489.589358006] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051489.645219546] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051489.646301940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051489.646638754] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051489.648638692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051489.649768323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051489.745512114] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051489.745598206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051489.746962080] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051489.747628570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051489.748824299] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051489.835502483] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051489.837367602] [sailbot.teensy]: Wind angle: 179 +[trim_sail-4] [INFO] [1746051489.837804645] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051489.838358806] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051489.839332645] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051489.840265886] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051489.840261682] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051489.844512827] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051489.845382765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051489.846083362] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051489.847267852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051489.848410479] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051489.945111306] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051489.945762808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051489.946607841] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051489.947711405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051489.948928892] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051489.957460960] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051489.958434037] [sailbot.main_algo]: Target Bearing: -142.2070282453181 +[main_algo-3] [INFO] [1746051489.959321102] [sailbot.main_algo]: Heading Difference: -167.2309717546819 +[main_algo-3] [INFO] [1746051489.960584068] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051489.961398277] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051489.962200759] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051489.963752548] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051489.963770494] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051490.002470059] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904102 Long: -76.50277208 +[main_algo-3] [INFO] [1746051490.003587568] [sailbot.main_algo]: Distance to destination: 56.496596749954435 +[vectornav-1] [INFO] [1746051490.004063204] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.273000000000025, 0.268, 5.003) +[main_algo-3] [INFO] [1746051490.004769352] [sailbot.main_algo]: Target Bearing: -142.21031113608004 +[main_algo-3] [INFO] [1746051490.005685266] [sailbot.main_algo]: Heading Difference: -167.22768886391998 +[main_algo-3] [INFO] [1746051490.006991620] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051490.007796325] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051490.008599345] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051490.010146098] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051490.045603447] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051490.045763754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051490.046917816] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051490.047680040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051490.048818005] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051490.085634412] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051490.087636168] [sailbot.teensy]: Wind angle: 178 +[trim_sail-4] [INFO] [1746051490.088137529] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051490.088671195] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051490.089566132] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051490.090004815] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051490.090490556] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051490.145165993] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051490.145701993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051490.146624792] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051490.147767411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051490.148852126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051490.244793753] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051490.245099547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051490.246226578] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051490.246922958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051490.248246541] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051490.335340604] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051490.337125733] [sailbot.teensy]: Wind angle: 177 +[trim_sail-4] [INFO] [1746051490.338407087] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051490.338668563] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051490.340352148] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051490.341467565] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051490.342418144] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051490.344561321] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051490.345065904] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051490.345754595] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051490.346817936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051490.347872164] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051490.445461142] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051490.446309649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051490.447177987] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051490.448409602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051490.449671149] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051490.457615945] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051490.458688618] [sailbot.main_algo]: Target Bearing: -142.21031113608004 +[main_algo-3] [INFO] [1746051490.459596003] [sailbot.main_algo]: Heading Difference: -167.51668886391997 +[main_algo-3] [INFO] [1746051490.460926284] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051490.461812857] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051490.462614131] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051490.464488720] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051490.464750932] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051490.502349237] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904116 Long: -76.50277192 +[main_algo-3] [INFO] [1746051490.503196714] [sailbot.main_algo]: Distance to destination: 56.516592377322475 +[vectornav-1] [INFO] [1746051490.503512382] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.56, -0.866, 6.94) +[main_algo-3] [INFO] [1746051490.504367827] [sailbot.main_algo]: Target Bearing: -142.20638528610925 +[main_algo-3] [INFO] [1746051490.505583089] [sailbot.main_algo]: Heading Difference: -167.52061471389072 +[main_algo-3] [INFO] [1746051490.507192851] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051490.508110458] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051490.508992644] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051490.510681754] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051490.544709980] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051490.545401049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051490.545866383] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051490.547281333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051490.548568484] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051490.585214249] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051490.587138071] [sailbot.teensy]: Wind angle: 177 +[trim_sail-4] [INFO] [1746051490.588288338] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051490.588587946] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051490.589578638] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051490.589823145] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051490.590530538] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051490.645611986] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051490.646352269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051490.646896307] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051490.647907593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051490.648420112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051490.745329312] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051490.746043674] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051490.746884230] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051490.748502240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051490.749224722] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051490.835444167] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051490.837864182] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051490.838357106] [sailbot.teensy]: Wind angle: 175 +[mux-7] [INFO] [1746051490.839173285] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051490.839298719] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051490.840178623] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051490.840578297] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051490.844562888] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051490.845036512] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051490.845693861] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051490.846771595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051490.847844145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051490.944081874] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051490.944651645] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051490.945097259] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051490.946146839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051490.947160476] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051490.956522616] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051490.957218939] [sailbot.main_algo]: Target Bearing: -142.20638528610925 +[main_algo-3] [INFO] [1746051490.957878318] [sailbot.main_algo]: Heading Difference: -168.23361471389074 +[main_algo-3] [INFO] [1746051490.958878309] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051490.959563743] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051490.960214561] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051490.961390277] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051490.961485954] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051491.002214312] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904096 Long: -76.5027718 +[vectornav-1] [INFO] [1746051491.003364177] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.202999999999975, 0.503, 4.846) +[main_algo-3] [INFO] [1746051491.003392426] [sailbot.main_algo]: Distance to destination: 56.5103652930458 +[main_algo-3] [INFO] [1746051491.004638747] [sailbot.main_algo]: Target Bearing: -142.2302038333427 +[main_algo-3] [INFO] [1746051491.005497671] [sailbot.main_algo]: Heading Difference: -168.20979616665727 +[main_algo-3] [INFO] [1746051491.006791547] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051491.007707519] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051491.008420576] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051491.009878388] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051491.044917317] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051491.045565917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051491.046184403] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051491.047376864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051491.048447632] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051491.085124232] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051491.087030863] [sailbot.teensy]: Wind angle: 177 +[trim_sail-4] [INFO] [1746051491.087407114] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051491.087711043] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051491.088242693] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051491.089155740] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051491.090003250] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051491.145070486] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051491.145754396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051491.146616544] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051491.147632518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051491.148742955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051491.244999845] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051491.245698565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051491.246544441] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051491.247535211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051491.248569050] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051491.335434681] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051491.337479944] [sailbot.teensy]: Wind angle: 181 +[trim_sail-4] [INFO] [1746051491.337908373] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051491.338479935] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051491.339377059] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051491.339418564] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051491.340297700] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051491.344495391] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051491.344983396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051491.345650982] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051491.346657710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051491.347819715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051491.444993372] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051491.445808325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051491.446338751] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051491.447641383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051491.448637577] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051491.457725469] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051491.458797302] [sailbot.main_algo]: Target Bearing: -142.2302038333427 +[main_algo-3] [INFO] [1746051491.459741447] [sailbot.main_algo]: Heading Difference: -167.56679616665735 +[main_algo-3] [INFO] [1746051491.461152279] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051491.462050555] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051491.462862677] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051491.464570719] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051491.464568548] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051491.502772373] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904074 Long: -76.50277186 +[main_algo-3] [INFO] [1746051491.503811968] [sailbot.main_algo]: Distance to destination: 56.491217336848315 +[vectornav-1] [INFO] [1746051491.503906740] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.261000000000024, -1.381, 5.2) +[main_algo-3] [INFO] [1746051491.504982558] [sailbot.main_algo]: Target Bearing: -142.24638650658665 +[main_algo-3] [INFO] [1746051491.505980219] [sailbot.main_algo]: Heading Difference: -167.55061349341338 +[main_algo-3] [INFO] [1746051491.507453039] [sailbot.main_algo]: Wind Direction: 181 +[main_algo-3] [INFO] [1746051491.508397903] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051491.509273033] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051491.511037134] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051491.544942834] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051491.545700768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051491.546217026] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051491.548255953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051491.549352387] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051491.585415175] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051491.587428872] [sailbot.teensy]: Wind angle: 192 +[trim_sail-4] [INFO] [1746051491.587569137] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051491.588667316] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051491.589021392] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051491.590109345] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051491.591056342] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051491.645185202] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051491.646006156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051491.647046964] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051491.648945501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051491.649990531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051491.745012964] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051491.745618495] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051491.746514697] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051491.747580814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051491.748674906] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051491.835349744] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051491.837058310] [sailbot.teensy]: Wind angle: 208 +[trim_sail-4] [INFO] [1746051491.838000902] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051491.838741568] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051491.839052282] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051491.839707498] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051491.840608737] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051491.844485382] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051491.845245499] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051491.846012668] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051491.847172798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051491.848197361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051491.945463727] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051491.945944124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051491.947073329] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051491.948415296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051491.949107340] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051491.957687946] [sailbot.main_algo]: Wind Direction: 208 +[main_algo-3] [INFO] [1746051491.958749200] [sailbot.main_algo]: Target Bearing: -142.24638650658665 +[main_algo-3] [INFO] [1746051491.959663864] [sailbot.main_algo]: Heading Difference: -167.49261349341333 +[main_algo-3] [INFO] [1746051491.961052614] [sailbot.main_algo]: Wind Direction: 208 +[main_algo-3] [INFO] [1746051491.961971841] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051491.962799401] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051491.964392770] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051491.964547144] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051492.003327206] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904063 Long: -76.50277176 +[main_algo-3] [INFO] [1746051492.004205966] [sailbot.main_algo]: Distance to destination: 56.48998032826275 +[vectornav-1] [INFO] [1746051492.004989767] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.94999999999999, 0.353, 5.518) +[main_algo-3] [INFO] [1746051492.005429901] [sailbot.main_algo]: Target Bearing: -142.261269328977 +[main_algo-3] [INFO] [1746051492.006470176] [sailbot.main_algo]: Heading Difference: -167.47773067102298 +[main_algo-3] [INFO] [1746051492.007823532] [sailbot.main_algo]: Wind Direction: 208 +[main_algo-3] [INFO] [1746051492.008794657] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051492.009672949] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051492.011368079] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051492.045000755] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051492.045793155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051492.046366213] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051492.047670430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051492.048896535] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051492.085368567] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051492.087578096] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051492.087787549] [sailbot.teensy]: Wind angle: 210 +[teensy-2] [INFO] [1746051492.088769318] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051492.089136222] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051492.089649217] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051492.090544594] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051492.145197063] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051492.145967991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051492.146674886] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051492.148111079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051492.149246830] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051492.244973773] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051492.245632284] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051492.246258391] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051492.247537803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051492.248708689] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051492.335658001] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051492.338432916] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051492.338580957] [sailbot.teensy]: Wind angle: 210 +[teensy-2] [INFO] [1746051492.339544209] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051492.340180813] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051492.340479565] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051492.341403094] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051492.344389281] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051492.345054653] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051492.345632185] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051492.346863605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051492.348016455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051492.445098966] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051492.445836983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051492.446394435] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051492.447699641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051492.448261773] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051492.457836140] [sailbot.main_algo]: Wind Direction: 210 +[main_algo-3] [INFO] [1746051492.459075363] [sailbot.main_algo]: Target Bearing: -142.261269328977 +[main_algo-3] [INFO] [1746051492.460076162] [sailbot.main_algo]: Heading Difference: -167.78873067102302 +[main_algo-3] [INFO] [1746051492.461433061] [sailbot.main_algo]: Wind Direction: 210 +[main_algo-3] [INFO] [1746051492.462312020] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051492.463122861] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051492.464793773] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051492.464954049] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051492.502039792] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904051 Long: -76.50277186 +[vectornav-1] [INFO] [1746051492.503063229] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.649, -1.034, 5.325) +[main_algo-3] [INFO] [1746051492.503258929] [sailbot.main_algo]: Distance to destination: 56.475226157090226 +[main_algo-3] [INFO] [1746051492.504275919] [sailbot.main_algo]: Target Bearing: -142.26659173980994 +[main_algo-3] [INFO] [1746051492.505184863] [sailbot.main_algo]: Heading Difference: -167.78340826019007 +[main_algo-3] [INFO] [1746051492.506432370] [sailbot.main_algo]: Wind Direction: 210 +[main_algo-3] [INFO] [1746051492.507308413] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051492.508127308] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051492.509690393] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051492.545187690] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051492.545971795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051492.547077755] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051492.547925746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051492.549043590] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051492.585549545] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051492.587859671] [sailbot.teensy]: Wind angle: 207 +[trim_sail-4] [INFO] [1746051492.588003663] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051492.588829554] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051492.589134595] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051492.589724318] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051492.590582938] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051492.644597345] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051492.645211413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051492.645707816] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051492.647029461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051492.648086857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051492.745625255] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051492.746132151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051492.747301680] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051492.748355843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051492.749541401] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051492.835204335] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051492.836947421] [sailbot.teensy]: Wind angle: 205 +[trim_sail-4] [INFO] [1746051492.837473681] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051492.837889991] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051492.838823807] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051492.839382231] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051492.839699136] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051492.844350912] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051492.845031033] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051492.845852265] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051492.846807436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051492.847872696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051492.945240398] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051492.945980519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051492.946657299] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051492.947933359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051492.949001062] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051492.957611360] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051492.959115191] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746051492.960001932] [sailbot.main_algo]: Target Bearing: -142.26659173980994 +[main_algo-3] [INFO] [1746051492.960852321] [sailbot.main_algo]: Heading Difference: -168.08440826019006 +[main_algo-3] [INFO] [1746051492.962067040] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051492.962871328] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051492.963649785] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051492.965221465] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051492.965301067] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051493.002169921] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904036 Long: -76.50277182 +[vectornav-1] [INFO] [1746051493.003137575] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.411, 0.766, 5.633) +[main_algo-3] [INFO] [1746051493.003795970] [sailbot.main_algo]: Distance to destination: 56.46736643585179 +[main_algo-3] [INFO] [1746051493.004892787] [sailbot.main_algo]: Target Bearing: -142.28186333988387 +[main_algo-3] [INFO] [1746051493.005911284] [sailbot.main_algo]: Heading Difference: -168.0691366601161 +[main_algo-3] [INFO] [1746051493.007270241] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051493.009528479] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051493.010425750] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051493.012197676] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051493.043760055] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051493.044169228] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051493.045255991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051493.045300361] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051493.045832682] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051493.085093297] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051493.086594110] [sailbot.teensy]: Wind angle: 205 +[teensy-2] [INFO] [1746051493.087466085] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051493.087245178] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051493.088414954] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051493.089004702] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051493.089936724] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051493.145182845] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051493.145918777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051493.146754653] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051493.147937205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051493.148986629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051493.244846296] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051493.245544272] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051493.246075028] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051493.247583266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051493.248729266] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051493.335621318] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051493.337666735] [sailbot.teensy]: Wind angle: 205 +[teensy-2] [INFO] [1746051493.338712741] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051493.339229753] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051493.339688899] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051493.340787134] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051493.341688212] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051493.344465504] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051493.344849996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051493.345654654] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051493.346506625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051493.347696699] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051493.445416459] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051493.445941053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051493.447032567] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051493.448365055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051493.449527901] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051493.457686445] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051493.459203604] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746051493.460517720] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051493.461840342] [sailbot.main_algo]: Current Location: (42.46904036214751, -76.50277182005446) +[main_algo-3] [INFO] [1746051493.462735669] [sailbot.main_algo]: Target Bearing: -142.28186333988387 +[main_algo-3] [INFO] [1746051493.463537851] [sailbot.main_algo]: Heading Difference: -168.30713666011616 +[main_algo-3] [INFO] [1746051493.464844176] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051493.465671408] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051493.466442862] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051493.467987805] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051493.468136045] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051493.502886798] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904037 Long: -76.50277191 +[main_algo-3] [INFO] [1746051493.503814100] [sailbot.main_algo]: Distance to destination: 56.46228907412708 +[vectornav-1] [INFO] [1746051493.504036391] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.93399999999997, -1.775, 6.271) +[main_algo-3] [INFO] [1746051493.504985869] [sailbot.main_algo]: Target Bearing: -142.2762857578525 +[main_algo-3] [INFO] [1746051493.505912453] [sailbot.main_algo]: Heading Difference: -168.31271424214754 +[main_algo-3] [INFO] [1746051493.507253840] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051493.508139754] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051493.509009939] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051493.510669720] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051493.545134141] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051493.545725280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051493.546755966] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051493.547539673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051493.548644645] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051493.585252781] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051493.587067808] [sailbot.teensy]: Wind angle: 205 +[trim_sail-4] [INFO] [1746051493.587623147] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051493.589391904] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051493.589680422] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051493.590405997] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051493.591545936] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051493.645048203] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051493.646093366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051493.646389618] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051493.647924410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051493.648403312] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051493.745263729] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051493.746042928] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051493.746651257] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051493.748111137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051493.749200320] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051493.835228402] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051493.836965882] [sailbot.teensy]: Wind angle: 205 +[teensy-2] [INFO] [1746051493.837929319] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051493.837883027] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051493.838858801] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051493.839787525] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051493.840249253] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051493.844346467] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051493.845003886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051493.846112898] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051493.846726010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051493.847875583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051493.945341415] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051493.946360858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051493.946975459] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051493.948593875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051493.949794317] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051493.957698990] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051493.958733842] [sailbot.main_algo]: Target Bearing: -142.2762857578525 +[main_algo-3] [INFO] [1746051493.959611692] [sailbot.main_algo]: Heading Difference: -168.7897142421475 +[main_algo-3] [INFO] [1746051493.960918750] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051493.961724352] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051493.962514707] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051493.964047033] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051493.964210705] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051494.003077260] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904005 Long: -76.50277174 +[main_algo-3] [INFO] [1746051494.004007649] [sailbot.main_algo]: Distance to destination: 56.45096462208124 +[vectornav-1] [INFO] [1746051494.004410055] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.577999999999975, 0.293, 5.719) +[main_algo-3] [INFO] [1746051494.005597502] [sailbot.main_algo]: Target Bearing: -142.31329897133844 +[main_algo-3] [INFO] [1746051494.006648610] [sailbot.main_algo]: Heading Difference: -168.7527010286616 +[main_algo-3] [INFO] [1746051494.008258713] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051494.009192896] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051494.010078179] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051494.011848073] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051494.045426236] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051494.046080429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051494.047080712] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051494.048458212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051494.049623670] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051494.085059217] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051494.086537326] [sailbot.teensy]: Wind angle: 209 +[teensy-2] [INFO] [1746051494.087404089] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051494.087385203] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051494.088244174] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051494.088532987] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051494.089127989] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051494.144794120] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051494.145210379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051494.145926212] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051494.146924699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051494.147940580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051494.244725387] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051494.245332114] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051494.246165776] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051494.247073161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051494.248319831] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051494.335503006] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051494.338092785] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051494.338554118] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051494.338901781] [sailbot.teensy]: Wind angle: 212 +[teensy-2] [INFO] [1746051494.339894644] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051494.340790165] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051494.341608775] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051494.344284331] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051494.344815767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051494.345383798] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051494.346489287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051494.347525522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051494.445373177] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051494.446380513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051494.448322227] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051494.448779292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051494.450022618] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051494.457734804] [sailbot.main_algo]: Wind Direction: 212 +[main_algo-3] [INFO] [1746051494.458776498] [sailbot.main_algo]: Target Bearing: -142.31329897133844 +[main_algo-3] [INFO] [1746051494.459717138] [sailbot.main_algo]: Heading Difference: -168.10870102866159 +[main_algo-3] [INFO] [1746051494.461048492] [sailbot.main_algo]: Wind Direction: 212 +[main_algo-3] [INFO] [1746051494.461939022] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051494.462771356] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051494.464347396] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051494.464366860] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051494.502401873] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904 Long: -76.50277152 +[main_algo-3] [INFO] [1746051494.503316631] [sailbot.main_algo]: Distance to destination: 56.46161154783594 +[vectornav-1] [INFO] [1746051494.503777334] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.920000000000016, -0.324, 5.542) +[main_algo-3] [INFO] [1746051494.504679158] [sailbot.main_algo]: Target Bearing: -142.32917398509252 +[main_algo-3] [INFO] [1746051494.505676993] [sailbot.main_algo]: Heading Difference: -168.09282601490747 +[main_algo-3] [INFO] [1746051494.507006050] [sailbot.main_algo]: Wind Direction: 212 +[main_algo-3] [INFO] [1746051494.507868022] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051494.508725097] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051494.510489656] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051494.544772863] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051494.545799710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051494.546072447] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051494.547744381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051494.548878372] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051494.585475619] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051494.588098094] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051494.588864403] [sailbot.teensy]: Wind angle: 213 +[mux-7] [INFO] [1746051494.588908328] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051494.589795530] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051494.590711100] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051494.591619040] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051494.645056432] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051494.645857058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051494.646376717] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051494.647842741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051494.649007412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051494.745231098] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051494.746121378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051494.746644156] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051494.747995743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051494.748540628] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051494.835308726] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051494.837396015] [sailbot.teensy]: Wind angle: 212 +[trim_sail-4] [INFO] [1746051494.837664037] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051494.838348749] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051494.839239602] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051494.839242766] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051494.840250020] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051494.844463702] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051494.845007602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051494.845731657] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051494.846685775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051494.847836047] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051494.945189326] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051494.945800377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051494.946598728] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051494.947804543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051494.948831982] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051494.957514171] [sailbot.main_algo]: Wind Direction: 212 +[main_algo-3] [INFO] [1746051494.958513267] [sailbot.main_algo]: Target Bearing: -142.32917398509252 +[main_algo-3] [INFO] [1746051494.959422237] [sailbot.main_algo]: Heading Difference: -168.7508260149075 +[main_algo-3] [INFO] [1746051494.960702676] [sailbot.main_algo]: Wind Direction: 212 +[main_algo-3] [INFO] [1746051494.961526145] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051494.962327710] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051494.963849050] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051494.963906733] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051495.002702886] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903992 Long: -76.50277144 +[main_algo-3] [INFO] [1746051495.003529241] [sailbot.main_algo]: Distance to destination: 56.46119379184203 +[vectornav-1] [INFO] [1746051495.003765892] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.053, -0.763, 5.124) +[main_algo-3] [INFO] [1746051495.004633550] [sailbot.main_algo]: Target Bearing: -142.34038397280128 +[main_algo-3] [INFO] [1746051495.005494055] [sailbot.main_algo]: Heading Difference: -168.73961602719874 +[main_algo-3] [INFO] [1746051495.006731759] [sailbot.main_algo]: Wind Direction: 212 +[main_algo-3] [INFO] [1746051495.007555918] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051495.008363147] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051495.009945488] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051495.045059300] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051495.045786609] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051495.046446931] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051495.048003311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051495.049143936] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051495.084870469] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051495.086179664] [sailbot.teensy]: Wind angle: 212 +[teensy-2] [INFO] [1746051495.086962498] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051495.087676115] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051495.087502526] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051495.088474938] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051495.089613212] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051495.144456249] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051495.145009407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051495.145664658] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051495.146690413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051495.147559230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051495.245115169] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051495.246002651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051495.246828050] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051495.247975273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051495.248452381] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051495.335489690] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051495.337884573] [sailbot.teensy]: Wind angle: 212 +[trim_sail-4] [INFO] [1746051495.338197458] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051495.338852528] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051495.339513335] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051495.339901210] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051495.340601521] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051495.344377770] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051495.344928887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051495.345514213] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051495.346638944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051495.347681558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051495.445260299] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051495.446052639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051495.446681736] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051495.448369953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051495.449388065] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051495.457639925] [sailbot.main_algo]: Wind Direction: 212 +[main_algo-3] [INFO] [1746051495.458764428] [sailbot.main_algo]: Target Bearing: -142.34038397280128 +[main_algo-3] [INFO] [1746051495.459694313] [sailbot.main_algo]: Heading Difference: -169.6066160271987 +[main_algo-3] [INFO] [1746051495.461057389] [sailbot.main_algo]: Wind Direction: 212 +[main_algo-3] [INFO] [1746051495.461873652] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051495.462700691] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051495.464228491] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051495.464328718] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051495.502714571] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903989 Long: -76.50277147 +[main_algo-3] [INFO] [1746051495.504296977] [sailbot.main_algo]: Distance to destination: 56.457186056687625 +[vectornav-1] [INFO] [1746051495.504362549] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.03699999999998, 0.255, 7.061) +[main_algo-3] [INFO] [1746051495.505853034] [sailbot.main_algo]: Target Bearing: -142.3414594548914 +[main_algo-3] [INFO] [1746051495.506870263] [sailbot.main_algo]: Heading Difference: -169.60554054510862 +[main_algo-3] [INFO] [1746051495.508310009] [sailbot.main_algo]: Wind Direction: 212 +[main_algo-3] [INFO] [1746051495.509227594] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051495.510069476] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051495.511666142] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051495.544990184] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051495.545713947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051495.546278427] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051495.547697396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051495.548852803] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051495.585440988] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051495.587333559] [sailbot.teensy]: Wind angle: 212 +[trim_sail-4] [INFO] [1746051495.588075794] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051495.588400725] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051495.589311539] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051495.589869990] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051495.590280173] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051495.644990549] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051495.645598721] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051495.646222094] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051495.647380383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051495.648525363] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051495.745524371] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051495.746328389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051495.747440003] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051495.748609381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051495.749809952] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051495.835387593] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051495.837067514] [sailbot.teensy]: Wind angle: 212 +[trim_sail-4] [INFO] [1746051495.837684473] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051495.839213593] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051495.839446400] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051495.840388432] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051495.841266100] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051495.844395814] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051495.845260197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051495.845561211] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051495.847014469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051495.848019199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051495.944828246] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051495.945423849] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051495.946025405] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051495.947194108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051495.948296285] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051495.957447769] [sailbot.main_algo]: Wind Direction: 212 +[main_algo-3] [INFO] [1746051495.958436374] [sailbot.main_algo]: Target Bearing: -142.3414594548914 +[main_algo-3] [INFO] [1746051495.959287714] [sailbot.main_algo]: Heading Difference: -169.6215405451086 +[main_algo-3] [INFO] [1746051495.960504467] [sailbot.main_algo]: Wind Direction: 212 +[main_algo-3] [INFO] [1746051495.961313047] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051495.962120977] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051495.963644182] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051495.963861732] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051496.002797227] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903972 Long: -76.50277107 +[main_algo-3] [INFO] [1746051496.003726941] [sailbot.main_algo]: Distance to destination: 56.47107638339198 +[vectornav-1] [INFO] [1746051496.003858892] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.613, -0.818, 4.083) +[main_algo-3] [INFO] [1746051496.004962647] [sailbot.main_algo]: Target Bearing: -142.37726642873733 +[main_algo-3] [INFO] [1746051496.006024295] [sailbot.main_algo]: Heading Difference: -169.58573357126272 +[main_algo-3] [INFO] [1746051496.007480750] [sailbot.main_algo]: Wind Direction: 212 +[main_algo-3] [INFO] [1746051496.008448411] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051496.009276591] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051496.010982606] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051496.045198918] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051496.045671712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051496.046558585] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051496.047469470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051496.048687553] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051496.085185599] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051496.086814288] [sailbot.teensy]: Wind angle: 212 +[trim_sail-4] [INFO] [1746051496.087412297] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051496.087685475] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051496.088531949] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051496.088953347] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051496.089438174] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051496.144114210] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051496.144694720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051496.145152975] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051496.146503508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051496.147338933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051496.244995580] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051496.245698926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051496.246303704] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051496.247580941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051496.248671929] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051496.335429578] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051496.337779899] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051496.338095673] [sailbot.teensy]: Wind angle: 212 +[teensy-2] [INFO] [1746051496.339029958] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051496.340042794] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051496.340098721] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051496.341039699] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051496.344328795] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051496.344885857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051496.345460045] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051496.346534887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051496.347548597] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051496.445070878] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051496.445868698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051496.446359371] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051496.447697890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051496.448744501] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051496.457503034] [sailbot.main_algo]: Wind Direction: 212 +[main_algo-3] [INFO] [1746051496.458576640] [sailbot.main_algo]: Target Bearing: -142.37726642873733 +[main_algo-3] [INFO] [1746051496.459458849] [sailbot.main_algo]: Heading Difference: -169.0097335712627 +[main_algo-3] [INFO] [1746051496.460719817] [sailbot.main_algo]: Wind Direction: 212 +[main_algo-3] [INFO] [1746051496.461541531] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051496.462343132] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051496.463866442] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051496.463926731] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051496.502441438] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903958 Long: -76.50277107 +[main_algo-3] [INFO] [1746051496.503383093] [sailbot.main_algo]: Distance to destination: 56.46136950828527 +[vectornav-1] [INFO] [1746051496.503447671] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.25, -0.089, 5.546) +[main_algo-3] [INFO] [1746051496.504550786] [sailbot.main_algo]: Target Bearing: -142.38959082005044 +[main_algo-3] [INFO] [1746051496.505775197] [sailbot.main_algo]: Heading Difference: -168.99740917994956 +[main_algo-3] [INFO] [1746051496.507294139] [sailbot.main_algo]: Wind Direction: 212 +[main_algo-3] [INFO] [1746051496.508298303] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051496.509187093] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051496.511002433] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051496.545184018] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051496.545667400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051496.546507041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051496.547523442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051496.548707906] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051496.585599177] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051496.587850377] [sailbot.teensy]: Wind angle: 212 +[teensy-2] [INFO] [1746051496.588885433] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051496.588480009] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051496.589442499] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051496.589872514] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051496.590745151] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051496.644870936] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051496.645580058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051496.646111413] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051496.647524701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051496.648608921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051496.745091283] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051496.745795747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051496.746382081] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051496.747629595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051496.748541424] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051496.835047107] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051496.836700307] [sailbot.teensy]: Wind angle: 211 +[trim_sail-4] [INFO] [1746051496.837549537] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051496.837635414] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051496.838510198] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051496.838662058] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051496.839431410] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051496.844279014] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051496.844848257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051496.845347925] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051496.846451329] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051496.847826729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051496.945141520] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051496.945856448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051496.946423574] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051496.947762600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051496.948806930] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051496.957672568] [sailbot.main_algo]: Wind Direction: 211 +[main_algo-3] [INFO] [1746051496.958750782] [sailbot.main_algo]: Target Bearing: -142.38959082005044 +[main_algo-3] [INFO] [1746051496.959682694] [sailbot.main_algo]: Heading Difference: -170.36040917994956 +[main_algo-3] [INFO] [1746051496.961003915] [sailbot.main_algo]: Wind Direction: 211 +[main_algo-3] [INFO] [1746051496.961887255] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051496.962660844] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051496.964407685] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051496.964427845] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051497.002783306] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903933 Long: -76.50277128 +[vectornav-1] [INFO] [1746051497.003907308] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.959, -0.837, 5.957) +[main_algo-3] [INFO] [1746051497.003901588] [sailbot.main_algo]: Distance to destination: 56.430549692658964 +[main_algo-3] [INFO] [1746051497.005412101] [sailbot.main_algo]: Target Bearing: -142.4006709720788 +[main_algo-3] [INFO] [1746051497.006634633] [sailbot.main_algo]: Heading Difference: -170.34932902792116 +[main_algo-3] [INFO] [1746051497.007981170] [sailbot.main_algo]: Wind Direction: 211 +[main_algo-3] [INFO] [1746051497.008885643] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051497.009734599] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051497.011469856] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051497.045299973] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051497.046859415] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051497.047326042] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051497.049490419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051497.050660424] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051497.085419791] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051497.087590475] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051497.087970503] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051497.088844630] [sailbot.teensy]: Wind angle: 207 +[teensy-2] [INFO] [1746051497.089758857] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051497.090621297] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051497.091396862] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051497.144270446] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051497.144872965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051497.145260248] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051497.146598312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051497.148638683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051497.244750446] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051497.245422553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051497.245964357] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051497.247248694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051497.248226196] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051497.335578919] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051497.338376746] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051497.338481591] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051497.339677944] [sailbot.teensy]: Wind angle: 206 +[teensy-2] [INFO] [1746051497.340700340] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051497.341196154] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051497.341559572] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051497.344480491] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051497.344878665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051497.345642921] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051497.346538340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051497.347568152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051497.445542923] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051497.446397725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051497.447162785] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051497.448536248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051497.449483444] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051497.457675322] [sailbot.main_algo]: Wind Direction: 206 +[main_algo-3] [INFO] [1746051497.458742033] [sailbot.main_algo]: Target Bearing: -142.4006709720788 +[main_algo-3] [INFO] [1746051497.459670921] [sailbot.main_algo]: Heading Difference: -170.6403290279212 +[main_algo-3] [INFO] [1746051497.461002607] [sailbot.main_algo]: Wind Direction: 206 +[main_algo-3] [INFO] [1746051497.461880522] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051497.462723182] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051497.464271194] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051497.464429517] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051497.502730099] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903924 Long: -76.50277104 +[main_algo-3] [INFO] [1746051497.503601008] [sailbot.main_algo]: Distance to destination: 56.439734444457294 +[vectornav-1] [INFO] [1746051497.504121548] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.04399999999998, -0.023, 5.963) +[main_algo-3] [INFO] [1746051497.504717523] [sailbot.main_algo]: Target Bearing: -142.42110121089718 +[main_algo-3] [INFO] [1746051497.505725034] [sailbot.main_algo]: Heading Difference: -170.61989878910282 +[main_algo-3] [INFO] [1746051497.507517815] [sailbot.main_algo]: Wind Direction: 206 +[main_algo-3] [INFO] [1746051497.508508348] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051497.509369025] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051497.511156322] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051497.545090819] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051497.545622046] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051497.546596362] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051497.547585410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051497.548689034] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051497.585245706] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051497.587180522] [sailbot.teensy]: Wind angle: 205 +[trim_sail-4] [INFO] [1746051497.587867132] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051497.588195451] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051497.589077677] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051497.589424662] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051497.589943481] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051497.644763398] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051497.645549212] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051497.646012339] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051497.647462575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051497.648497015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051497.744896201] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051497.745650319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051497.746112601] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051497.747654628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051497.748725516] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051497.835237315] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051497.837385727] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051497.837439816] [sailbot.teensy]: Wind angle: 205 +[teensy-2] [INFO] [1746051497.838391633] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051497.838460863] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051497.839344859] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051497.840220648] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051497.844400201] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051497.845114369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051497.845533512] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051497.846841851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051497.848115341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051497.944899697] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051497.945662330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051497.946107427] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051497.947517998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051497.948664124] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051497.957611889] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051497.958631850] [sailbot.main_algo]: Target Bearing: -142.42110121089718 +[main_algo-3] [INFO] [1746051497.959580602] [sailbot.main_algo]: Heading Difference: -170.53489878910284 +[main_algo-3] [INFO] [1746051497.960920881] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051497.961789119] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051497.962628635] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051497.964194742] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051497.964899295] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051498.002807316] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903901 Long: -76.50277106 +[main_algo-3] [INFO] [1746051498.003674030] [sailbot.main_algo]: Distance to destination: 56.42251845874229 +[vectornav-1] [INFO] [1746051498.003930168] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.81999999999999, -0.235, 5.727) +[main_algo-3] [INFO] [1746051498.004815021] [sailbot.main_algo]: Target Bearing: -142.440333085663 +[main_algo-3] [INFO] [1746051498.005832078] [sailbot.main_algo]: Heading Difference: -170.51566691433698 +[main_algo-3] [INFO] [1746051498.007270769] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051498.008177622] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051498.009086573] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051498.010765293] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051498.045001952] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051498.045650214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051498.046278587] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051498.047642537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051498.048710331] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051498.085229079] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051498.087134697] [sailbot.teensy]: Wind angle: 207 +[teensy-2] [INFO] [1746051498.088134027] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051498.087725271] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051498.089024898] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051498.089089526] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051498.089936700] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051498.144717453] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051498.145339886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051498.146131533] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051498.147161700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051498.148226357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051498.244876652] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051498.245417982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051498.246076870] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051498.247780873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051498.248336238] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051498.335540007] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051498.338203893] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051498.338640210] [sailbot.teensy]: Wind angle: 207 +[mux-7] [INFO] [1746051498.338970553] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051498.339571049] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051498.340474940] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051498.341309558] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051498.344558394] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051498.345061377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051498.345879042] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051498.346981611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051498.348033977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051498.445363352] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051498.446000174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051498.446884114] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051498.448099396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051498.449308859] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051498.457654014] [sailbot.main_algo]: Wind Direction: 207 +[main_algo-3] [INFO] [1746051498.458637289] [sailbot.main_algo]: Target Bearing: -142.440333085663 +[main_algo-3] [INFO] [1746051498.459528204] [sailbot.main_algo]: Heading Difference: -169.73966691433702 +[main_algo-3] [INFO] [1746051498.460837750] [sailbot.main_algo]: Wind Direction: 207 +[main_algo-3] [INFO] [1746051498.461732161] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051498.462595192] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051498.464277663] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051498.464312508] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051498.502575243] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903899 Long: -76.50277104 +[main_algo-3] [INFO] [1746051498.503649751] [sailbot.main_algo]: Distance to destination: 56.42241917514572 +[vectornav-1] [INFO] [1746051498.503696863] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.286, -0.816, 5.269) +[main_algo-3] [INFO] [1746051498.504942793] [sailbot.main_algo]: Target Bearing: -142.4431377097138 +[main_algo-3] [INFO] [1746051498.505919396] [sailbot.main_algo]: Heading Difference: -169.73686229028624 +[main_algo-3] [INFO] [1746051498.507343261] [sailbot.main_algo]: Wind Direction: 207 +[main_algo-3] [INFO] [1746051498.508552106] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051498.509466749] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051498.511146713] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051498.544993007] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051498.545683668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051498.546281224] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051498.547713144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051498.548878016] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051498.585268944] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051498.587509293] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051498.589058041] [sailbot.teensy]: Wind angle: 207 +[mux-7] [INFO] [1746051498.589807176] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051498.590036265] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051498.590981788] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051498.591877667] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051498.644997346] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051498.645745247] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051498.646370565] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051498.647655761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051498.648712716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051498.745282355] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051498.746276985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051498.746838822] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051498.748447356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051498.748939363] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051498.835485790] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051498.838220658] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051498.838217833] [sailbot.teensy]: Wind angle: 207 +[teensy-2] [INFO] [1746051498.839198508] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051498.839385575] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051498.840127772] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051498.841039237] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051498.844379226] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051498.844985502] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051498.845475590] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051498.846739145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051498.847803991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051498.944878197] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051498.945607734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051498.946097015] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051498.947415895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051498.948579027] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051498.957418883] [sailbot.main_algo]: Wind Direction: 207 +[main_algo-3] [INFO] [1746051498.958352681] [sailbot.main_algo]: Target Bearing: -142.4431377097138 +[main_algo-3] [INFO] [1746051498.959229255] [sailbot.main_algo]: Heading Difference: -170.27086229028623 +[main_algo-3] [INFO] [1746051498.960461451] [sailbot.main_algo]: Wind Direction: 207 +[main_algo-3] [INFO] [1746051498.961265148] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051498.962036709] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051498.963516792] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051498.963537352] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051499.002736083] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903881 Long: -76.502771 +[main_algo-3] [INFO] [1746051499.003635358] [sailbot.main_algo]: Distance to destination: 56.412529302448334 +[vectornav-1] [INFO] [1746051499.003800674] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.06, 0.047, 5.579) +[main_algo-3] [INFO] [1746051499.004749220] [sailbot.main_algo]: Target Bearing: -142.46109434250226 +[main_algo-3] [INFO] [1746051499.005666857] [sailbot.main_algo]: Heading Difference: -170.25290565749776 +[main_algo-3] [INFO] [1746051499.007032078] [sailbot.main_algo]: Wind Direction: 207 +[main_algo-3] [INFO] [1746051499.007926747] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051499.008797270] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051499.010534880] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051499.045224229] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051499.045794341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051499.046685358] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051499.048164782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051499.049236939] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051499.085347999] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051499.087675336] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051499.087933532] [sailbot.teensy]: Wind angle: 207 +[mux-7] [INFO] [1746051499.088601967] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051499.088844185] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051499.089749960] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051499.090576742] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051499.145256413] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051499.146677069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051499.146794231] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051499.148399619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051499.148928724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051499.243953984] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051499.244515097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051499.244916538] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051499.246097619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051499.247269989] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051499.335346862] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051499.337080872] [sailbot.teensy]: Wind angle: 207 +[teensy-2] [INFO] [1746051499.337961607] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051499.337517228] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051499.338253471] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051499.338768505] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051499.339612713] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051499.344323969] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051499.345051405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051499.345426753] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051499.346838658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051499.347961679] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051499.445149437] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051499.445939052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051499.446686855] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051499.448019175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051499.449055876] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051499.457625750] [sailbot.main_algo]: Wind Direction: 207 +[main_algo-3] [INFO] [1746051499.458651649] [sailbot.main_algo]: Target Bearing: -142.46109434250226 +[main_algo-3] [INFO] [1746051499.459571417] [sailbot.main_algo]: Heading Difference: -170.47890565749776 +[main_algo-3] [INFO] [1746051499.460951641] [sailbot.main_algo]: Wind Direction: 207 +[main_algo-3] [INFO] [1746051499.461780468] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051499.462567607] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051499.464107285] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051499.464239312] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051499.502681944] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903868 Long: -76.50277084 +[main_algo-3] [INFO] [1746051499.503813797] [sailbot.main_algo]: Distance to destination: 56.413822390285034 +[vectornav-1] [INFO] [1746051499.504103866] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.478999999999985, -0.449, 5.756) +[main_algo-3] [INFO] [1746051499.505125829] [sailbot.main_algo]: Target Bearing: -142.4808887916248 +[main_algo-3] [INFO] [1746051499.506118493] [sailbot.main_algo]: Heading Difference: -170.4591112083752 +[main_algo-3] [INFO] [1746051499.507557269] [sailbot.main_algo]: Wind Direction: 207 +[main_algo-3] [INFO] [1746051499.508524433] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051499.509413792] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051499.511080702] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051499.544958480] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051499.545767589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051499.546395718] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051499.547644816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051499.548713425] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051499.585330502] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051499.587410601] [sailbot.teensy]: Wind angle: 207 +[trim_sail-4] [INFO] [1746051499.587676351] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051499.588374367] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051499.589258359] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051499.589380835] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051499.590104205] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051499.644873578] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051499.645716604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051499.646109777] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051499.647570516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051499.648655577] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051499.744971561] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051499.746266218] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051499.746270948] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051499.748043887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051499.749071391] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051499.835376417] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051499.837656174] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051499.837877910] [sailbot.teensy]: Wind angle: 207 +[teensy-2] [INFO] [1746051499.838885750] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051499.838884613] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051499.839813519] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051499.840814185] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051499.844540452] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051499.845100310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051499.845780224] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051499.846943816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051499.847954038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051499.945137681] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051499.945849451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051499.946580260] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051499.947957635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051499.948812600] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051499.957718700] [sailbot.main_algo]: Wind Direction: 207 +[main_algo-3] [INFO] [1746051499.958746560] [sailbot.main_algo]: Target Bearing: -142.4808887916248 +[main_algo-3] [INFO] [1746051499.959710189] [sailbot.main_algo]: Heading Difference: -170.0401112083752 +[main_algo-3] [INFO] [1746051499.961175853] [sailbot.main_algo]: Wind Direction: 207 +[main_algo-3] [INFO] [1746051499.962085577] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051499.962949566] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051499.964511225] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051499.964727147] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051500.002918511] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690386 Long: -76.50277086 +[main_algo-3] [INFO] [1746051500.004377994] [sailbot.main_algo]: Distance to destination: 56.407001379133774 +[vectornav-1] [INFO] [1746051500.004632765] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.90499999999997, -0.581, 5.15) +[main_algo-3] [INFO] [1746051500.005563071] [sailbot.main_algo]: Target Bearing: -142.48690767769082 +[main_algo-3] [INFO] [1746051500.006481162] [sailbot.main_algo]: Heading Difference: -170.03409232230922 +[main_algo-3] [INFO] [1746051500.007886336] [sailbot.main_algo]: Wind Direction: 207 +[main_algo-3] [INFO] [1746051500.008796647] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051500.009638365] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051500.011302078] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051500.044909840] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051500.045700333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051500.046434088] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051500.047612666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051500.048761466] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051500.085570890] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051500.087665297] [sailbot.teensy]: Wind angle: 206 +[trim_sail-4] [INFO] [1746051500.088229755] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051500.088779116] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051500.089382636] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051500.089669433] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051500.090577617] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051500.145267755] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051500.146905798] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051500.147608329] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051500.150133044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051500.151267648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051500.245221690] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051500.246198201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051500.246690515] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051500.248257395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051500.249272463] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051500.335549079] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051500.337587309] [sailbot.teensy]: Wind angle: 202 +[trim_sail-4] [INFO] [1746051500.338080108] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051500.338623832] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051500.339597343] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051500.339852597] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051500.340511404] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051500.344444073] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051500.345096062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051500.345584345] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051500.346789537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051500.347844933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051500.445378155] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051500.445816667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051500.446971830] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051500.447652917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051500.448228766] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051500.457741712] [sailbot.main_algo]: Wind Direction: 202 +[main_algo-3] [INFO] [1746051500.458722875] [sailbot.main_algo]: Target Bearing: -142.48690767769082 +[main_algo-3] [INFO] [1746051500.459598448] [sailbot.main_algo]: Heading Difference: -169.60809232230918 +[main_algo-3] [INFO] [1746051500.460842349] [sailbot.main_algo]: Wind Direction: 202 +[main_algo-3] [INFO] [1746051500.461666101] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051500.462448547] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051500.463975409] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051500.464046732] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051500.502947464] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903853 Long: -76.50277094 +[vectornav-1] [INFO] [1746051500.504088519] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.44, 0.039, 4.762) +[main_algo-3] [INFO] [1746051500.505983562] [sailbot.main_algo]: Distance to destination: 56.39701312999577 +[main_algo-3] [INFO] [1746051500.507031584] [sailbot.main_algo]: Target Bearing: -142.48892377359468 +[main_algo-3] [INFO] [1746051500.508088193] [sailbot.main_algo]: Heading Difference: -169.60607622640532 +[main_algo-3] [INFO] [1746051500.509614237] [sailbot.main_algo]: Wind Direction: 202 +[main_algo-3] [INFO] [1746051500.510533797] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051500.511422426] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051500.513200718] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051500.545080833] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051500.545785334] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051500.546344818] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051500.547809012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051500.548961088] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051500.585074284] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051500.586732761] [sailbot.teensy]: Wind angle: 196 +[trim_sail-4] [INFO] [1746051500.587319181] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051500.587626860] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051500.588550241] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051500.589056713] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051500.589441122] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051500.645110439] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051500.645605722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051500.646385353] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051500.647681227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051500.648740263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051500.745179873] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051500.745739043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051500.746731297] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051500.747623699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051500.748717274] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051500.835655399] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051500.838421874] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051500.839075899] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051500.839396009] [sailbot.teensy]: Wind angle: 190 +[teensy-2] [INFO] [1746051500.839811848] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051500.840190357] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051500.840542828] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051500.844597072] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051500.844993171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051500.845812655] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051500.846690981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051500.847833548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051500.945220174] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051500.945948836] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051500.946680777] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051500.948213346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051500.948809134] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051500.957645664] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051500.958648663] [sailbot.main_algo]: Target Bearing: -142.48892377359468 +[main_algo-3] [INFO] [1746051500.959548858] [sailbot.main_algo]: Heading Difference: -170.07107622640535 +[main_algo-3] [INFO] [1746051500.960897416] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051500.961739514] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051500.962525483] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051500.964041576] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051500.964044197] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051501.003727625] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903846 Long: -76.50277088 +[main_algo-3] [INFO] [1746051501.003971967] [sailbot.main_algo]: Distance to destination: 56.396031099524755 +[vectornav-1] [INFO] [1746051501.004979587] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.19499999999999, -0.964, 6.196) +[main_algo-3] [INFO] [1746051501.005132228] [sailbot.main_algo]: Target Bearing: -142.4982245411987 +[main_algo-3] [INFO] [1746051501.006312725] [sailbot.main_algo]: Heading Difference: -170.06177545880132 +[main_algo-3] [INFO] [1746051501.007765149] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051501.008718060] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051501.009593044] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051501.011366294] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051501.045091828] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051501.046047812] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051501.046463742] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051501.048146487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051501.049435952] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051501.085769361] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051501.088283403] [sailbot.teensy]: Wind angle: 189 +[teensy-2] [INFO] [1746051501.089290007] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051501.088726432] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051501.089849466] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051501.090196278] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051501.091039235] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051501.144900134] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051501.145526855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051501.146140442] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051501.147328643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051501.148473863] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051501.245305086] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051501.245957964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051501.246890610] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051501.248082991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051501.249266219] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051501.334478756] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051501.335261822] [sailbot.teensy]: Wind angle: 189 +[teensy-2] [INFO] [1746051501.335687927] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051501.336078731] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051501.336503203] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051501.336976154] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051501.337508561] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051501.344047144] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051501.344555910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051501.344862412] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051501.346382589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051501.347154964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051501.445023689] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051501.445545903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051501.446291639] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051501.447348870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051501.448408083] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051501.457823373] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051501.458947209] [sailbot.main_algo]: Target Bearing: -142.4982245411987 +[main_algo-3] [INFO] [1746051501.459852263] [sailbot.main_algo]: Heading Difference: -170.30677545880133 +[main_algo-3] [INFO] [1746051501.461179810] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051501.462036867] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051501.462868177] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051501.464438058] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051501.464456686] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051501.502564750] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903851 Long: -76.5027707 +[main_algo-3] [INFO] [1746051501.503425749] [sailbot.main_algo]: Distance to destination: 56.41106927329428 +[main_algo-3] [INFO] [1746051501.504440897] [sailbot.main_algo]: Target Bearing: -142.50317271994464 +[vectornav-1] [INFO] [1746051501.505241111] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.795000000000016, -0.149, 4.709) +[main_algo-3] [INFO] [1746051501.505358757] [sailbot.main_algo]: Heading Difference: -170.30182728005536 +[main_algo-3] [INFO] [1746051501.506764363] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051501.507685469] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051501.508562095] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051501.510638601] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051501.545111952] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051501.545707203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051501.546481634] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051501.547639893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051501.548735056] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051501.585227747] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051501.587373917] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051501.587445131] [sailbot.teensy]: Wind angle: 189 +[teensy-2] [INFO] [1746051501.588366714] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051501.588632194] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051501.589275025] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051501.590137269] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051501.645104591] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051501.645777021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051501.646400725] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051501.647653130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051501.648856101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051501.745415351] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051501.746098736] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051501.746993680] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051501.748547741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051501.749788026] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051501.835393890] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051501.837722239] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051501.838563496] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051501.838862938] [sailbot.teensy]: Wind angle: 188 +[teensy-2] [INFO] [1746051501.839895967] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051501.840858372] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051501.841717280] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051501.844423057] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051501.845288149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051501.845854728] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051501.847125147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051501.848233931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051501.945056282] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051501.946172771] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051501.946767596] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051501.947798833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051501.948285472] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051501.957692381] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051501.958731151] [sailbot.main_algo]: Target Bearing: -142.50317271994464 +[main_algo-3] [INFO] [1746051501.959632892] [sailbot.main_algo]: Heading Difference: -169.70182728005534 +[main_algo-3] [INFO] [1746051501.960908697] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051501.961742141] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051501.962554492] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051501.964192224] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051501.964253636] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051502.002827249] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903821 Long: -76.50277049 +[main_algo-3] [INFO] [1746051502.004461750] [sailbot.main_algo]: Distance to destination: 56.403846121024706 +[vectornav-1] [INFO] [1746051502.004816953] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.26299999999998, 0.015, 5.029) +[main_algo-3] [INFO] [1746051502.005663027] [sailbot.main_algo]: Target Bearing: -142.54057693457088 +[main_algo-3] [INFO] [1746051502.006956693] [sailbot.main_algo]: Heading Difference: -169.6644230654291 +[main_algo-3] [INFO] [1746051502.008393630] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051502.009356648] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051502.010212042] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051502.011903138] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051502.044991323] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051502.045793036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051502.046340931] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051502.047740948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051502.048900640] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051502.085326044] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051502.087364151] [sailbot.teensy]: Wind angle: 187 +[trim_sail-4] [INFO] [1746051502.087911978] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051502.088663441] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051502.088849850] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051502.089824319] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051502.090704215] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051502.144726705] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051502.145855110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051502.146264953] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051502.147594425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051502.148647952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051502.244870943] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051502.245636224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051502.246133858] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051502.247439710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051502.248508814] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051502.335385244] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051502.337963740] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051502.338492481] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051502.338695685] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051502.339624482] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051502.340550584] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051502.341486364] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051502.344290193] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051502.344823651] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051502.345441769] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051502.346495318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051502.347684150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051502.445158428] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051502.445745395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051502.446635320] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051502.447734726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051502.448845483] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051502.457485160] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051502.458423831] [sailbot.main_algo]: Target Bearing: -142.54057693457088 +[main_algo-3] [INFO] [1746051502.459239445] [sailbot.main_algo]: Heading Difference: -170.19642306542914 +[main_algo-3] [INFO] [1746051502.460475467] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051502.461283094] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051502.462084963] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051502.463613995] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051502.463791856] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051502.502832151] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690381 Long: -76.50277044 +[main_algo-3] [INFO] [1746051502.503723854] [sailbot.main_algo]: Distance to destination: 56.39946533258005 +[vectornav-1] [INFO] [1746051502.504368879] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.103999999999985, -0.643, 5.71) +[main_algo-3] [INFO] [1746051502.504901750] [sailbot.main_algo]: Target Bearing: -142.55289148479017 +[main_algo-3] [INFO] [1746051502.505963007] [sailbot.main_algo]: Heading Difference: -170.18410851520986 +[main_algo-3] [INFO] [1746051502.507472400] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051502.508458547] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051502.509809892] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051502.511763650] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051502.545074200] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051502.545850166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051502.546590762] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051502.547886795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051502.548884729] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051502.585309419] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051502.587449000] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051502.587684921] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051502.588777149] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051502.588796631] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051502.589711790] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051502.590579660] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051502.645206233] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051502.645886362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051502.646753713] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051502.648037107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051502.649286031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051502.745378467] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051502.746024859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051502.746867801] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051502.748266354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051502.749490823] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051502.835263705] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051502.837891136] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051502.838353008] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051502.839318410] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051502.839553683] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051502.840237254] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051502.841158095] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051502.844448789] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051502.845061181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051502.845957438] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051502.846901035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051502.847964705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051502.945113325] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051502.945803709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051502.946725691] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051502.947966296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051502.949155743] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051502.957739353] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051502.958756884] [sailbot.main_algo]: Target Bearing: -142.55289148479017 +[main_algo-3] [INFO] [1746051502.959681891] [sailbot.main_algo]: Heading Difference: -170.34310851520985 +[main_algo-3] [INFO] [1746051502.961050860] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051502.961881514] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051502.962705569] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051502.964281199] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051502.964366307] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051503.003004945] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903803 Long: -76.50277033 +[main_algo-3] [INFO] [1746051503.003909348] [sailbot.main_algo]: Distance to destination: 56.40171308265401 +[main_algo-3] [INFO] [1746051503.005091136] [sailbot.main_algo]: Target Bearing: -142.56479004087836 +[main_algo-3] [INFO] [1746051503.006304010] [sailbot.main_algo]: Heading Difference: -170.33120995912168 +[vectornav-1] [INFO] [1746051503.006322073] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.24599999999998, -0.534, 5.333) +[main_algo-3] [INFO] [1746051503.007756050] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051503.008704524] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051503.009584993] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051503.011294757] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051503.045120764] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051503.045853530] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051503.046431132] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051503.047966672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051503.049050454] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051503.085272392] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051503.086939921] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051503.087605556] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051503.088056116] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051503.089090253] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051503.089206519] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051503.090081289] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051503.145162893] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051503.145692000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051503.146579827] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051503.148618899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051503.149234915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051503.245214028] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051503.245739548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051503.246631896] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051503.247601472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051503.248628628] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051503.335553630] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051503.338388494] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051503.338939870] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051503.338837466] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051503.338955652] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051503.339331040] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051503.339710226] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051503.344420695] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051503.344869276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051503.345530969] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051503.346551516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051503.347734428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051503.444597446] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051503.445602591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051503.445833853] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051503.447308069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051503.448358052] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051503.457388703] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051503.458318843] [sailbot.main_algo]: Target Bearing: -142.56479004087836 +[main_algo-3] [INFO] [1746051503.459146996] [sailbot.main_algo]: Heading Difference: -170.18920995912163 +[main_algo-3] [INFO] [1746051503.460308161] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051503.461059893] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051503.461756684] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051503.463186557] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051503.463363282] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051503.502573415] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903792 Long: -76.5027702 +[main_algo-3] [INFO] [1746051503.503476842] [sailbot.main_algo]: Distance to destination: 56.40248982994894 +[vectornav-1] [INFO] [1746051503.503994018] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.38299999999998, 0.081, 5.673) +[main_algo-3] [INFO] [1746051503.504597224] [sailbot.main_algo]: Target Bearing: -142.58126085445141 +[main_algo-3] [INFO] [1746051503.505511193] [sailbot.main_algo]: Heading Difference: -170.17273914554858 +[main_algo-3] [INFO] [1746051503.506746860] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051503.507561993] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051503.508371712] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051503.509928377] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051503.545231975] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051503.545875976] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051503.546900183] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051503.547930170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051503.549141143] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051503.585473811] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051503.587212689] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051503.588132797] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051503.587785528] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051503.589037782] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051503.589193434] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051503.589957677] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051503.644836447] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051503.645428752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051503.646446814] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051503.647171864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051503.647990467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051503.744899784] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051503.745539978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051503.746492920] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051503.747279530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051503.747848450] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051503.835247197] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051503.837481900] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051503.837703372] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051503.838698048] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051503.838792951] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051503.839661735] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051503.840380855] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051503.844380534] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051503.845080890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051503.845483179] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051503.846802138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051503.847809313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051503.945020125] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051503.945915940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051503.946512010] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051503.947956880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051503.949090832] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051503.957665633] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051503.958682891] [sailbot.main_algo]: Target Bearing: -142.58126085445141 +[main_algo-3] [INFO] [1746051503.959604854] [sailbot.main_algo]: Heading Difference: -170.03573914554863 +[main_algo-3] [INFO] [1746051503.960933251] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051503.961794315] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051503.962580423] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051503.964101171] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051503.964127630] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051504.002835055] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903754 Long: -76.50277024 +[main_algo-3] [INFO] [1746051504.003698232] [sailbot.main_algo]: Distance to destination: 56.37368883489147 +[vectornav-1] [INFO] [1746051504.004677191] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.32900000000001, -0.44, 5.391) +[main_algo-3] [INFO] [1746051504.004811393] [sailbot.main_algo]: Target Bearing: -142.61278211936028 +[main_algo-3] [INFO] [1746051504.005808098] [sailbot.main_algo]: Heading Difference: -170.00421788063977 +[main_algo-3] [INFO] [1746051504.007190203] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051504.008061739] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051504.009001551] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051504.010943807] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051504.045045717] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051504.045727828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051504.046639497] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051504.047928303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051504.049069116] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051504.085271797] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051504.086882655] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051504.087635188] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051504.087925361] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051504.088879596] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051504.089667540] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051504.089739668] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051504.144924552] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051504.145524620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051504.146164575] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051504.147399181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051504.148645952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051504.244910298] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051504.245729080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051504.246378913] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051504.247854939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051504.248949378] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051504.335293180] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051504.337566919] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051504.338311874] [sailbot.teensy]: Wind angle: 186 +[mux-7] [INFO] [1746051504.338334712] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051504.339444589] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051504.340350698] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051504.341211336] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051504.344572003] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051504.345100110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051504.345678327] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051504.346805875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051504.347843482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051504.445205235] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051504.446401234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051504.446938459] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051504.448324171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051504.448746141] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051504.457892588] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051504.458985650] [sailbot.main_algo]: Target Bearing: -142.61278211936028 +[main_algo-3] [INFO] [1746051504.459919301] [sailbot.main_algo]: Heading Difference: -170.05821788063975 +[main_algo-3] [INFO] [1746051504.461256417] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051504.462148821] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051504.462989598] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051504.464607747] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051504.464620128] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051504.502597434] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903733 Long: -76.50277039 +[main_algo-3] [INFO] [1746051504.503431600] [sailbot.main_algo]: Distance to destination: 56.34953729671075 +[vectornav-1] [INFO] [1746051504.503717065] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.58100000000002, 0.024, 6.0) +[main_algo-3] [INFO] [1746051504.504531969] [sailbot.main_algo]: Target Bearing: -142.62357630646537 +[main_algo-3] [INFO] [1746051504.505598795] [sailbot.main_algo]: Heading Difference: -170.0474236935346 +[main_algo-3] [INFO] [1746051504.507314487] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051504.509003096] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051504.510089745] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051504.511980351] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051504.544813212] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051504.545537983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051504.546061877] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051504.547419619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051504.548461732] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051504.585162925] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051504.587491664] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051504.588105150] [sailbot.teensy]: Wind angle: 191 +[mux-7] [INFO] [1746051504.588351019] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051504.589191722] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051504.590159099] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051504.591192611] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051504.645026474] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051504.645691616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051504.646479382] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051504.647862794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051504.648999109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051504.745114269] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051504.745916452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051504.746462993] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051504.747961711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051504.748473442] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051504.835407300] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051504.838075074] [sailbot.teensy]: Wind angle: 192 +[trim_sail-4] [INFO] [1746051504.838367201] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051504.838627361] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051504.838662221] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051504.839042957] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051504.839407683] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051504.844431430] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051504.845025198] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051504.845546240] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051504.846730976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051504.847894059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051504.944913710] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051504.945394139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051504.946140938] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051504.947229008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051504.948320062] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051504.957742873] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051504.958887869] [sailbot.main_algo]: Target Bearing: -142.62357630646537 +[main_algo-3] [INFO] [1746051504.959839061] [sailbot.main_algo]: Heading Difference: -170.79542369353464 +[main_algo-3] [INFO] [1746051504.961130302] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051504.961947382] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051504.962717036] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051504.964229824] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051504.964341219] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051505.002735443] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903709 Long: -76.50277031 +[main_algo-3] [INFO] [1746051505.003706186] [sailbot.main_algo]: Distance to destination: 56.338145472981395 +[vectornav-1] [INFO] [1746051505.003847318] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.61500000000001, -1.434, 5.183) +[main_algo-3] [INFO] [1746051505.004841507] [sailbot.main_algo]: Target Bearing: -142.6489770246245 +[main_algo-3] [INFO] [1746051505.005777812] [sailbot.main_algo]: Heading Difference: -170.77002297537547 +[main_algo-3] [INFO] [1746051505.007113261] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051505.007956739] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051505.008768546] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051505.010425089] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051505.045060570] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051505.045637581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051505.046313844] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051505.047565945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051505.048553384] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051505.085469958] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051505.088145706] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051505.088320035] [sailbot.teensy]: Wind angle: 192 +[mux-7] [INFO] [1746051505.088676890] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051505.089285281] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051505.090192522] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051505.091039888] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051505.145237569] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051505.145777349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051505.146498912] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051505.147850949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051505.148997005] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051505.245172026] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051505.246011155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051505.246554905] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051505.247904344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051505.248964640] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051505.335436265] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051505.338058167] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051505.338483083] [sailbot.teensy]: Wind angle: 192 +[mux-7] [INFO] [1746051505.338502078] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051505.339119209] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051505.339515307] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051505.339854338] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051505.344319061] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051505.344939015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051505.345422138] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051505.346658918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051505.347701912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051505.444311473] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051505.444875739] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051505.447245077] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051505.447456355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051505.448955051] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051505.457312586] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051505.458260895] [sailbot.main_algo]: Target Bearing: -142.6489770246245 +[main_algo-3] [INFO] [1746051505.459126737] [sailbot.main_algo]: Heading Difference: -170.73602297537548 +[main_algo-3] [INFO] [1746051505.460368501] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051505.461184454] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051505.462028670] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051505.463692351] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051505.463904391] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051505.501554471] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903712 Long: -76.5027701 +[vectornav-1] [INFO] [1746051505.502044045] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.728999999999985, 0.396, 5.858) +[main_algo-3] [INFO] [1746051505.502142761] [sailbot.main_algo]: Distance to destination: 56.353752165341966 +[main_algo-3] [INFO] [1746051505.502640330] [sailbot.main_algo]: Target Bearing: -142.65721724599086 +[main_algo-3] [INFO] [1746051505.503161734] [sailbot.main_algo]: Heading Difference: -170.72778275400913 +[main_algo-3] [INFO] [1746051505.504244562] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051505.504693770] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051505.505136367] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051505.506051761] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051505.545157879] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051505.545717496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051505.546514948] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051505.547807139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051505.548849261] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051505.585232203] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051505.587308452] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051505.587502089] [sailbot.teensy]: Wind angle: 192 +[mux-7] [INFO] [1746051505.587932930] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051505.588639695] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051505.589600928] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051505.590643912] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051505.645054754] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051505.645842391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051505.646512591] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051505.648137255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051505.649195773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051505.745167448] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051505.746058837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051505.746516660] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051505.747936392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051505.749098495] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051505.835435169] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051505.837830624] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051505.838444379] [sailbot.teensy]: Wind angle: 192 +[mux-7] [INFO] [1746051505.838560557] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051505.839020982] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051505.839463430] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051505.839911499] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051505.844824469] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051505.845614388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051505.846237311] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051505.847826535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051505.849029029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051505.945089395] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051505.945883451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051505.946534383] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051505.947774030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051505.948815268] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051505.957485425] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051505.958485704] [sailbot.main_algo]: Target Bearing: -142.65721724599086 +[main_algo-3] [INFO] [1746051505.959317140] [sailbot.main_algo]: Heading Difference: -169.61378275400915 +[main_algo-3] [INFO] [1746051505.960570308] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051505.961377360] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051505.962160619] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051505.963711526] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051505.963703875] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051506.002875196] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903711 Long: -76.50276979 +[main_algo-3] [INFO] [1746051506.003450853] [sailbot.main_algo]: Distance to destination: 56.373052608011115 +[vectornav-1] [INFO] [1746051506.004082805] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.745000000000005, -0.159, 6.571) +[main_algo-3] [INFO] [1746051506.004586803] [sailbot.main_algo]: Target Bearing: -142.67417882356 +[main_algo-3] [INFO] [1746051506.005565563] [sailbot.main_algo]: Heading Difference: -169.59682117644002 +[main_algo-3] [INFO] [1746051506.006953127] [sailbot.main_algo]: Wind Direction: 192 +[main_algo-3] [INFO] [1746051506.007838227] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051506.008713407] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051506.010495577] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051506.044952669] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051506.045722954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051506.046203779] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051506.047795256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051506.049070590] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051506.085378400] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051506.087293027] [sailbot.teensy]: Wind angle: 196 +[trim_sail-4] [INFO] [1746051506.087685672] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051506.088290005] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051506.089087124] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051506.089203478] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051506.090168763] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051506.144477540] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051506.145137032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051506.145513503] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051506.146997479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051506.148053390] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051506.244946555] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051506.245628027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051506.246265419] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051506.247638849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051506.248713347] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051506.335338096] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051506.337740137] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051506.338224454] [sailbot.teensy]: Wind angle: 212 +[mux-7] [INFO] [1746051506.338412164] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051506.339230175] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051506.340126647] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051506.341213175] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051506.344336361] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051506.344911359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051506.345701793] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051506.346712691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051506.347763146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051506.445229614] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051506.446275446] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051506.446483743] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051506.448218482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051506.448686762] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051506.457669907] [sailbot.main_algo]: Wind Direction: 212 +[main_algo-3] [INFO] [1746051506.458749147] [sailbot.main_algo]: Target Bearing: -142.67417882356 +[main_algo-3] [INFO] [1746051506.459632750] [sailbot.main_algo]: Heading Difference: -168.58082117644 +[main_algo-3] [INFO] [1746051506.460874481] [sailbot.main_algo]: Wind Direction: 212 +[main_algo-3] [INFO] [1746051506.461676698] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051506.462447936] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051506.464107578] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051506.464230043] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051506.502625361] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903705 Long: -76.50276968 +[main_algo-3] [INFO] [1746051506.503462340] [sailbot.main_algo]: Distance to destination: 56.37601391159632 +[vectornav-1] [INFO] [1746051506.503703719] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.011000000000024, -0.899, 5.224) +[main_algo-3] [INFO] [1746051506.504510933] [sailbot.main_algo]: Target Bearing: -142.68519265832902 +[main_algo-3] [INFO] [1746051506.505457234] [sailbot.main_algo]: Heading Difference: -168.56980734167098 +[main_algo-3] [INFO] [1746051506.507878912] [sailbot.main_algo]: Wind Direction: 212 +[main_algo-3] [INFO] [1746051506.509007501] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051506.509968782] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051506.511873768] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051506.545076368] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051506.546017733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051506.546665212] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051506.548053751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051506.549125247] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051506.585343896] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051506.587139567] [sailbot.teensy]: Wind angle: 226 +[teensy-2] [INFO] [1746051506.588031657] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051506.587456023] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051506.588889172] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051506.588892375] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051506.589785598] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051506.645170254] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051506.646459976] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051506.646969608] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051506.648800367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051506.649806405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051506.745066736] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051506.745799482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051506.746447057] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051506.747614890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051506.748750774] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051506.835165569] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051506.837216952] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051506.837489310] [sailbot.teensy]: Wind angle: 228 +[teensy-2] [INFO] [1746051506.838380101] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051506.838498192] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051506.839084036] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051506.839464026] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051506.844392732] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051506.845143338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051506.845704354] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051506.847034005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051506.848097424] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051506.945076754] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051506.946002826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051506.946486710] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051506.947972556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051506.949051553] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051506.957530906] [sailbot.main_algo]: Wind Direction: 228 +[main_algo-3] [INFO] [1746051506.958502833] [sailbot.main_algo]: Target Bearing: -142.68519265832902 +[main_algo-3] [INFO] [1746051506.959393468] [sailbot.main_algo]: Heading Difference: -168.30380734167096 +[main_algo-3] [INFO] [1746051506.960679012] [sailbot.main_algo]: Wind Direction: 228 +[main_algo-3] [INFO] [1746051506.961533208] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051506.962320982] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051506.963860212] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051506.963951631] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051507.002847564] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903702 Long: -76.50276947 +[main_algo-3] [INFO] [1746051507.003728291] [sailbot.main_algo]: Distance to destination: 56.387494098469254 +[vectornav-1] [INFO] [1746051507.004202967] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.92399999999998, -0.281, 5.459) +[main_algo-3] [INFO] [1746051507.004875954] [sailbot.main_algo]: Target Bearing: -142.69872937430657 +[main_algo-3] [INFO] [1746051507.005919644] [sailbot.main_algo]: Heading Difference: -168.29027062569344 +[main_algo-3] [INFO] [1746051507.007306983] [sailbot.main_algo]: Wind Direction: 228 +[main_algo-3] [INFO] [1746051507.008240309] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051507.009108817] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051507.010702972] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051507.045183645] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051507.045992077] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051507.046506350] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051507.047928942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051507.048921130] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051507.085333718] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051507.087587472] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051507.087728374] [sailbot.teensy]: Wind angle: 226 +[teensy-2] [INFO] [1746051507.088773084] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051507.088817287] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051507.089780477] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051507.090663648] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051507.144615508] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051507.145159101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051507.145687194] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051507.146897974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051507.147910886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051507.245042123] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051507.245798371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051507.246288088] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051507.247728688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051507.248757808] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051507.335331146] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051507.337300233] [sailbot.teensy]: Wind angle: 219 +[trim_sail-4] [INFO] [1746051507.337697939] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051507.338253258] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051507.339188260] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051507.339723045] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051507.340097174] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051507.344431545] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051507.345123127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051507.346077155] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051507.347077110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051507.348179927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051507.445068678] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051507.445707310] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051507.446453436] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051507.447620778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051507.448702341] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051507.457626804] [sailbot.main_algo]: Wind Direction: 219 +[main_algo-3] [INFO] [1746051507.458653109] [sailbot.main_algo]: Target Bearing: -142.69872937430657 +[main_algo-3] [INFO] [1746051507.459541795] [sailbot.main_algo]: Heading Difference: -169.37727062569343 +[main_algo-3] [INFO] [1746051507.460856527] [sailbot.main_algo]: Wind Direction: 219 +[main_algo-3] [INFO] [1746051507.461669945] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051507.462454751] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051507.464041143] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051507.464258508] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051507.502837014] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903698 Long: -76.5027695 +[vectornav-1] [INFO] [1746051507.503982348] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.408000000000015, -0.344, 5.376) +[main_algo-3] [INFO] [1746051507.504002995] [sailbot.main_algo]: Distance to destination: 56.38280452952252 +[main_algo-3] [INFO] [1746051507.505606988] [sailbot.main_algo]: Target Bearing: -142.70071720279094 +[main_algo-3] [INFO] [1746051507.506626756] [sailbot.main_algo]: Heading Difference: -169.37528279720908 +[main_algo-3] [INFO] [1746051507.508006424] [sailbot.main_algo]: Wind Direction: 219 +[main_algo-3] [INFO] [1746051507.508932948] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051507.509804521] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051507.511506270] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051507.544026733] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051507.544516482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051507.544966672] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051507.546010325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051507.547071546] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051507.584485057] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051507.585464567] [sailbot.teensy]: Wind angle: 210 +[teensy-2] [INFO] [1746051507.586124984] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051507.585929503] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051507.586612332] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051507.586761705] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051507.587432298] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051507.645138688] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051507.645416202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051507.646413881] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051507.647186596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051507.648275698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051507.745043904] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051507.745519166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051507.746386606] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051507.747331548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051507.748428325] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051507.835461029] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051507.837389441] [sailbot.teensy]: Wind angle: 202 +[trim_sail-4] [INFO] [1746051507.838209347] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051507.839716299] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051507.840997676] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051507.841904221] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051507.842739772] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051507.844413514] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051507.845471626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051507.845712792] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051507.847286393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051507.848312156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051507.945043725] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051507.945619672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051507.946349293] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051507.947487496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051507.948261497] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051507.957663349] [sailbot.main_algo]: Wind Direction: 202 +[main_algo-3] [INFO] [1746051507.958707728] [sailbot.main_algo]: Target Bearing: -142.70071720279094 +[main_algo-3] [INFO] [1746051507.959612310] [sailbot.main_algo]: Heading Difference: -169.89128279720904 +[main_algo-3] [INFO] [1746051507.960890993] [sailbot.main_algo]: Wind Direction: 202 +[main_algo-3] [INFO] [1746051507.961732885] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051507.962547334] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051507.964089907] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051507.964132404] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051508.002785432] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903679 Long: -76.5027694 +[main_algo-3] [INFO] [1746051508.003723024] [sailbot.main_algo]: Distance to destination: 56.376177898943595 +[vectornav-1] [INFO] [1746051508.003934898] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.05799999999999, -0.299, 5.793) +[main_algo-3] [INFO] [1746051508.004864242] [sailbot.main_algo]: Target Bearing: -142.72272445059318 +[main_algo-3] [INFO] [1746051508.005799056] [sailbot.main_algo]: Heading Difference: -169.86927554940678 +[main_algo-3] [INFO] [1746051508.007170040] [sailbot.main_algo]: Wind Direction: 202 +[main_algo-3] [INFO] [1746051508.008067466] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051508.008937342] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051508.010694556] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051508.044928259] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051508.045848590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051508.046193047] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051508.047655188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051508.048673849] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051508.085326233] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051508.087660245] [sailbot.teensy]: Wind angle: 199 +[trim_sail-4] [INFO] [1746051508.087805764] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051508.087988929] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051508.088794686] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051508.089793728] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051508.090649000] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051508.145113974] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051508.145871224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051508.146483331] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051508.147865365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051508.148887519] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051508.244917826] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051508.245583647] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051508.246362306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051508.247404711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051508.248607317] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051508.335314198] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051508.337273026] [sailbot.teensy]: Wind angle: 199 +[trim_sail-4] [INFO] [1746051508.337807727] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051508.338159040] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051508.338444632] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051508.339000838] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051508.339393603] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051508.344405792] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051508.344971183] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051508.345578998] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051508.346637062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051508.347809534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051508.445220990] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051508.445835759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051508.446775189] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051508.448705117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051508.449265802] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051508.457690244] [sailbot.main_algo]: Wind Direction: 199 +[main_algo-3] [INFO] [1746051508.458737803] [sailbot.main_algo]: Target Bearing: -142.72272445059318 +[main_algo-3] [INFO] [1746051508.459635455] [sailbot.main_algo]: Heading Difference: -170.2192755494068 +[main_algo-3] [INFO] [1746051508.460959190] [sailbot.main_algo]: Wind Direction: 199 +[main_algo-3] [INFO] [1746051508.461812752] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051508.462618374] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051508.464252411] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051508.464486679] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051508.502513266] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903668 Long: -76.50276919 +[vectornav-1] [INFO] [1746051508.503560950] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.101, -0.901, 4.882) +[main_algo-3] [INFO] [1746051508.503717845] [sailbot.main_algo]: Distance to destination: 56.38216330048914 +[main_algo-3] [INFO] [1746051508.505214185] [sailbot.main_algo]: Target Bearing: -142.74334106846243 +[main_algo-3] [INFO] [1746051508.506385185] [sailbot.main_algo]: Heading Difference: -170.19865893153758 +[main_algo-3] [INFO] [1746051508.507732350] [sailbot.main_algo]: Wind Direction: 199 +[main_algo-3] [INFO] [1746051508.508665385] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051508.509600810] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051508.511784774] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051508.544999354] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051508.545706747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051508.546261159] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051508.547734518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051508.548836481] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051508.585069157] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051508.586653541] [sailbot.teensy]: Wind angle: 199 +[teensy-2] [INFO] [1746051508.587529550] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051508.587599926] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051508.588471753] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051508.588916414] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051508.589399419] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051508.644820377] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051508.645661000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051508.646046027] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051508.647769293] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051508.648971407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051508.745473996] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051508.746169946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051508.747061872] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051508.748520579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051508.749355158] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051508.835427163] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051508.837915186] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051508.838536683] [sailbot.teensy]: Wind angle: 199 +[mux-7] [INFO] [1746051508.838596899] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051508.839540608] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051508.840434797] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051508.841289649] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051508.844452503] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051508.845218418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051508.845537004] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051508.846958181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051508.848121902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051508.944659222] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051508.945321803] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051508.945836505] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051508.947156549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051508.948223155] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051508.957739580] [sailbot.main_algo]: Wind Direction: 199 +[main_algo-3] [INFO] [1746051508.958767502] [sailbot.main_algo]: Target Bearing: -142.74334106846243 +[main_algo-3] [INFO] [1746051508.959679547] [sailbot.main_algo]: Heading Difference: -170.15565893153757 +[main_algo-3] [INFO] [1746051508.960916473] [sailbot.main_algo]: Wind Direction: 199 +[main_algo-3] [INFO] [1746051508.961743903] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051508.962514211] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051508.964040338] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051508.964048322] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051509.002764442] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903663 Long: -76.50276892 +[main_algo-3] [INFO] [1746051509.003715968] [sailbot.main_algo]: Distance to destination: 56.396155650515205 +[vectornav-1] [INFO] [1746051509.004424809] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.72199999999998, 0.125, 5.503) +[main_algo-3] [INFO] [1746051509.004960435] [sailbot.main_algo]: Target Bearing: -142.76173987717348 +[main_algo-3] [INFO] [1746051509.005954272] [sailbot.main_algo]: Heading Difference: -170.13726012282655 +[main_algo-3] [INFO] [1746051509.007954279] [sailbot.main_algo]: Wind Direction: 199 +[main_algo-3] [INFO] [1746051509.008847546] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051509.009647243] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051509.011249368] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051509.045242433] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051509.046015442] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051509.047883303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051509.046554163] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051509.049091078] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051509.085424664] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051509.087522264] [sailbot.teensy]: Wind angle: 199 +[trim_sail-4] [INFO] [1746051509.087775277] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051509.089050593] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051509.089723713] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051509.090999322] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051509.091855725] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051509.144922891] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051509.145578730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051509.146182000] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051509.147435411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051509.148489128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051509.245095336] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051509.245759156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051509.246528310] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051509.247693315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051509.248562065] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051509.335408285] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051509.337438129] [sailbot.teensy]: Wind angle: 199 +[trim_sail-4] [INFO] [1746051509.338149536] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051509.338371166] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051509.339247474] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051509.339091263] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051509.340087114] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051509.344383972] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051509.344956142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051509.345523119] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051509.346623386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051509.347783037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051509.445195908] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051509.445970650] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051509.446481043] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051509.447780681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051509.448832037] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051509.457500606] [sailbot.main_algo]: Wind Direction: 199 +[main_algo-3] [INFO] [1746051509.458504256] [sailbot.main_algo]: Target Bearing: -142.76173987717348 +[main_algo-3] [INFO] [1746051509.459342258] [sailbot.main_algo]: Heading Difference: -169.51626012282657 +[main_algo-3] [INFO] [1746051509.460579055] [sailbot.main_algo]: Wind Direction: 199 +[main_algo-3] [INFO] [1746051509.461386868] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051509.462169575] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051509.463707404] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051509.463729196] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051509.502461432] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903658 Long: -76.50276865 +[main_algo-3] [INFO] [1746051509.503284097] [sailbot.main_algo]: Distance to destination: 56.410153810878164 +[vectornav-1] [INFO] [1746051509.503522828] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.77199999999999, -0.644, 7.201) +[main_algo-3] [INFO] [1746051509.504378493] [sailbot.main_algo]: Target Bearing: -142.78012955592828 +[main_algo-3] [INFO] [1746051509.505371482] [sailbot.main_algo]: Heading Difference: -169.49787044407174 +[main_algo-3] [INFO] [1746051509.506782901] [sailbot.main_algo]: Wind Direction: 199 +[main_algo-3] [INFO] [1746051509.507712313] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051509.508600054] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051509.510347755] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051509.544932666] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051509.545639069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051509.546225235] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051509.547527387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051509.548988305] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051509.585663859] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051509.587822190] [sailbot.teensy]: Wind angle: 199 +[teensy-2] [INFO] [1746051509.588847498] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051509.589449893] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051509.589767263] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051509.589759185] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051509.590663675] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051509.644054776] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051509.644622137] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051509.644484292] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051509.645447454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051509.646007365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051509.744936332] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051509.745668844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051509.746093082] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051509.747613508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051509.748619942] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051509.835341091] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051509.837499095] [sailbot.teensy]: Wind angle: 198 +[trim_sail-4] [INFO] [1746051509.837559780] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051509.839003164] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051509.839574012] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051509.840599957] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051509.841468124] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051509.844333331] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051509.844997539] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051509.845419835] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051509.846841832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051509.847935297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051509.945462333] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051509.946225741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051509.946944184] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051509.948841086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051509.950050182] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051509.957725164] [sailbot.main_algo]: Wind Direction: 198 +[main_algo-3] [INFO] [1746051509.958770509] [sailbot.main_algo]: Target Bearing: -142.78012955592828 +[main_algo-3] [INFO] [1746051509.959665923] [sailbot.main_algo]: Heading Difference: -169.44787044407173 +[main_algo-3] [INFO] [1746051509.960985466] [sailbot.main_algo]: Wind Direction: 198 +[main_algo-3] [INFO] [1746051509.961855574] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051509.962731468] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051509.964423099] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051509.964448688] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051510.002800061] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903641 Long: -76.50276817 +[main_algo-3] [INFO] [1746051510.003857417] [sailbot.main_algo]: Distance to destination: 56.429483281535035 +[main_algo-3] [INFO] [1746051510.005329119] [sailbot.main_algo]: Target Bearing: -142.81998734862677 +[vectornav-1] [INFO] [1746051510.005909954] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.62900000000002, -0.085, 5.861) +[main_algo-3] [INFO] [1746051510.006360178] [sailbot.main_algo]: Heading Difference: -169.40801265137327 +[main_algo-3] [INFO] [1746051510.007729852] [sailbot.main_algo]: Wind Direction: 198 +[main_algo-3] [INFO] [1746051510.008629172] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051510.009478609] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051510.011217413] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051510.044922353] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051510.045695760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051510.046179811] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051510.047649402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051510.048679009] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051510.085640500] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051510.087871390] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746051510.088883719] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051510.088409079] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051510.088859340] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051510.089761011] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051510.090605586] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051510.144109810] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051510.145048197] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051510.144640337] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051510.146197983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051510.147313211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051510.243764387] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051510.244360684] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051510.244526218] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051510.245537963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051510.246335814] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051510.334409527] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051510.335217118] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051510.336000219] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051510.336415891] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051510.336945525] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051510.337725528] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051510.338116227] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051510.343630080] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051510.344001775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051510.344138182] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051510.345018235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051510.345519128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051510.443653553] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051510.443980934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051510.444141700] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051510.444808664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051510.445382766] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051510.456803240] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051510.457552184] [sailbot.main_algo]: Target Bearing: -142.81998734862677 +[main_algo-3] [INFO] [1746051510.458223952] [sailbot.main_algo]: Heading Difference: -168.55101265137318 +[main_algo-3] [INFO] [1746051510.459097422] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051510.459494955] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051510.460131687] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051510.461269435] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051510.461360606] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051510.501336434] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903652 Long: -76.5027683 +[vectornav-1] [INFO] [1746051510.501749031] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.411, -0.558, 3.967) +[main_algo-3] [INFO] [1746051510.501754778] [sailbot.main_algo]: Distance to destination: 56.42863898065496 +[main_algo-3] [INFO] [1746051510.502202291] [sailbot.main_algo]: Target Bearing: -142.8035278323832 +[main_algo-3] [INFO] [1746051510.502640113] [sailbot.main_algo]: Heading Difference: -168.56747216761676 +[main_algo-3] [INFO] [1746051510.503249577] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051510.503662301] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051510.504075379] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051510.504874454] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051510.543676363] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051510.544022437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051510.544198574] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051510.544837885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051510.545300615] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051510.584450904] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051510.585217185] [sailbot.teensy]: Wind angle: 195 +[trim_sail-4] [INFO] [1746051510.585432105] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051510.585624174] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051510.586017916] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051510.586386422] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051510.586590052] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051510.643708819] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051510.644229608] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051510.644351545] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051510.645134514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051510.645639827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051510.743816801] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051510.744332644] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051510.745704990] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051510.745993633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051510.746795249] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051510.835334762] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051510.837002856] [sailbot.teensy]: Wind angle: 195 +[teensy-2] [INFO] [1746051510.837862507] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051510.838215653] [sailbot.mux]: algo sail angle: 0 +[trim_sail-4] [INFO] [1746051510.838709868] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051510.840344304] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051510.841363260] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051510.844340233] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051510.844938969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051510.845453129] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051510.846643789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051510.847678610] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051510.945263300] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051510.945909030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051510.946936127] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051510.947824033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051510.949033818] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051510.957470076] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051510.958445773] [sailbot.main_algo]: Target Bearing: -142.8035278323832 +[main_algo-3] [INFO] [1746051510.959277716] [sailbot.main_algo]: Heading Difference: -169.78547216761683 +[main_algo-3] [INFO] [1746051510.960498684] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051510.961318394] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051510.962122223] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051510.963745690] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051510.963766865] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051511.002732913] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903646 Long: -76.50276817 +[main_algo-3] [INFO] [1746051511.003752850] [sailbot.main_algo]: Distance to destination: 56.43291703945396 +[vectornav-1] [INFO] [1746051511.003875406] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.916, 0.076, 5.391) +[main_algo-3] [INFO] [1746051511.004953816] [sailbot.main_algo]: Target Bearing: -142.81555649197838 +[main_algo-3] [INFO] [1746051511.005952129] [sailbot.main_algo]: Heading Difference: -169.77344350802161 +[main_algo-3] [INFO] [1746051511.007324484] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051511.008227234] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051511.009086082] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051511.010888995] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051511.045204754] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051511.045883774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051511.046587934] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051511.048020068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051511.049035763] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051511.085479233] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051511.087735922] [sailbot.teensy]: Wind angle: 195 +[teensy-2] [INFO] [1746051511.088761394] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051511.087762415] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051511.088706912] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051511.089666911] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051511.090753421] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051511.145273008] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051511.146221712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051511.146879848] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051511.148096472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051511.148528776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051511.245625103] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051511.245634951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051511.246943049] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051511.247560773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051511.248632662] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051511.335486175] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051511.338673862] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051511.338874374] [sailbot.teensy]: Wind angle: 195 +[mux-7] [INFO] [1746051511.339420918] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051511.339662329] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051511.340109094] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051511.340525313] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051511.344429162] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051511.345074406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051511.345534685] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051511.346790843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051511.347938634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051511.444907608] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051511.445682361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051511.446235954] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051511.447466543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051511.448561608] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051511.457529690] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051511.458505040] [sailbot.main_algo]: Target Bearing: -142.81555649197838 +[main_algo-3] [INFO] [1746051511.459388046] [sailbot.main_algo]: Heading Difference: -171.26844350802162 +[main_algo-3] [INFO] [1746051511.460695209] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051511.461504344] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051511.462306821] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051511.463841321] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051511.463951555] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051511.502612718] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903633 Long: -76.50276814 +[main_algo-3] [INFO] [1746051511.503565457] [sailbot.main_algo]: Distance to destination: 56.42592876310052 +[vectornav-1] [INFO] [1746051511.503696602] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.488, -0.654, 5.651) +[main_algo-3] [INFO] [1746051511.504694591] [sailbot.main_algo]: Target Bearing: -142.82862634028356 +[main_algo-3] [INFO] [1746051511.506078987] [sailbot.main_algo]: Heading Difference: -171.25537365971644 +[main_algo-3] [INFO] [1746051511.507432087] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051511.508290957] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051511.509079370] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051511.510649375] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051511.544938508] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051511.545708323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051511.546214795] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051511.547550061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051511.548720020] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051511.585335035] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051511.587687127] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051511.587826012] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746051511.589150457] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051511.589319444] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051511.590068962] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051511.590980173] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051511.644940151] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051511.645608566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051511.646270188] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051511.647513103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051511.648689166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051511.744869579] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051511.745557850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051511.746974786] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051511.747261358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051511.748471485] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051511.835433715] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051511.837439753] [sailbot.teensy]: Wind angle: 196 +[trim_sail-4] [INFO] [1746051511.837843183] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051511.839119021] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051511.839216428] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051511.839615130] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051511.839980094] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051511.844492438] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051511.845094088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051511.846102487] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051511.846854444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051511.847956295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051511.945085976] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051511.945597051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051511.946695689] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051511.947365968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051511.948468342] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051511.957896354] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051511.959029977] [sailbot.main_algo]: Target Bearing: -142.82862634028356 +[main_algo-3] [INFO] [1746051511.959993912] [sailbot.main_algo]: Heading Difference: -169.68337365971644 +[main_algo-3] [INFO] [1746051511.961337603] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051511.962225889] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051511.963042399] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051511.964776321] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051511.964973371] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051512.002721361] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903626 Long: -76.5027678 +[main_algo-3] [INFO] [1746051512.003685915] [sailbot.main_algo]: Distance to destination: 56.44310071577256 +[vectornav-1] [INFO] [1746051512.003895491] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.125999999999976, -1.204, 5.443) +[main_algo-3] [INFO] [1746051512.004824674] [sailbot.main_algo]: Target Bearing: -142.85237285878242 +[main_algo-3] [INFO] [1746051512.005752285] [sailbot.main_algo]: Heading Difference: -169.65962714121758 +[main_algo-3] [INFO] [1746051512.007036566] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051512.007886412] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051512.008697592] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051512.010320313] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051512.045167022] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051512.045888527] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051512.046589665] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051512.047711457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051512.048823865] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051512.085225026] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051512.087141987] [sailbot.teensy]: Wind angle: 195 +[trim_sail-4] [INFO] [1746051512.087555839] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051512.088108270] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051512.089055580] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051512.089295551] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051512.089929549] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051512.144887719] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051512.145271914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051512.146113209] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051512.147448668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051512.148470023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051512.245454691] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051512.246240984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051512.247034960] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051512.248561143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051512.249409915] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051512.335336907] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051512.337652893] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051512.337724532] [sailbot.teensy]: Wind angle: 191 +[teensy-2] [INFO] [1746051512.338683407] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051512.339246549] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051512.339590795] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051512.340560733] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051512.344432532] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051512.344937173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051512.345698116] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051512.346636753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051512.347689406] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051512.445406531] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051512.445908497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051512.447069877] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051512.448058651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051512.449319615] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051512.457629291] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051512.458680647] [sailbot.main_algo]: Target Bearing: -142.85237285878242 +[main_algo-3] [INFO] [1746051512.459628222] [sailbot.main_algo]: Heading Difference: -169.0216271412176 +[main_algo-3] [INFO] [1746051512.460924238] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051512.461752479] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051512.462539879] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051512.464093240] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051512.464110571] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051512.502717259] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903632 Long: -76.50276764 +[main_algo-3] [INFO] [1746051512.503744622] [sailbot.main_algo]: Distance to destination: 56.45756184040044 +[vectornav-1] [INFO] [1746051512.503945210] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.394000000000005, 1.168, 5.571) +[main_algo-3] [INFO] [1746051512.505280364] [sailbot.main_algo]: Target Bearing: -142.85530518658186 +[main_algo-3] [INFO] [1746051512.506269665] [sailbot.main_algo]: Heading Difference: -169.01869481341816 +[main_algo-3] [INFO] [1746051512.507810989] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051512.508805272] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051512.509683121] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051512.511416010] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051512.545308714] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051512.545900497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051512.546745306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051512.547858433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051512.548937525] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051512.585325766] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051512.586984802] [sailbot.teensy]: Wind angle: 189 +[trim_sail-4] [INFO] [1746051512.587818957] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051512.588004346] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051512.588929324] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051512.589036592] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051512.589857653] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051512.644986342] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051512.645929044] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051512.646728998] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051512.647915555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051512.649151975] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051512.745006159] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051512.746025283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051512.746492144] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051512.747902148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051512.749042013] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051512.835341379] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051512.837692904] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051512.838189731] [sailbot.teensy]: Wind angle: 188 +[mux-7] [INFO] [1746051512.838973573] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051512.839226136] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051512.840352469] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051512.841192531] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051512.844361633] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051512.844865023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051512.845505466] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051512.846545022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051512.847582432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051512.945420501] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051512.946145002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051512.947203512] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051512.948173114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051512.948677511] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051512.957750081] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051512.958803681] [sailbot.main_algo]: Target Bearing: -142.85530518658186 +[main_algo-3] [INFO] [1746051512.959736446] [sailbot.main_algo]: Heading Difference: -169.75069481341814 +[main_algo-3] [INFO] [1746051512.961062253] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051512.961929642] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051512.962757588] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051512.964295196] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051512.964303967] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051513.002795539] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903619 Long: -76.50276761 +[main_algo-3] [INFO] [1746051513.004004389] [sailbot.main_algo]: Distance to destination: 56.45058249634163 +[vectornav-1] [INFO] [1746051513.004384714] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.94900000000001, -1.481, 5.165) +[main_algo-3] [INFO] [1746051513.005174165] [sailbot.main_algo]: Target Bearing: -142.8683742447564 +[main_algo-3] [INFO] [1746051513.006144730] [sailbot.main_algo]: Heading Difference: -169.73762575524358 +[main_algo-3] [INFO] [1746051513.007502144] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051513.008389550] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051513.009231258] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051513.010919485] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051513.044952486] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051513.045647600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051513.046281577] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051513.047574756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051513.048710434] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051513.085337466] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051513.087027315] [sailbot.teensy]: Wind angle: 193 +[teensy-2] [INFO] [1746051513.087948597] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051513.087730625] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051513.088561449] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051513.088849362] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051513.089761283] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051513.144960613] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051513.145630715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051513.146338171] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051513.147635638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051513.148781978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051513.244913010] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051513.245542019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051513.246201648] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051513.247361940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051513.248378192] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051513.335607938] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051513.337607465] [sailbot.teensy]: Wind angle: 196 +[teensy-2] [INFO] [1746051513.338737293] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051513.338945650] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051513.339309008] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051513.339317052] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051513.339713393] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051513.344668391] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051513.345313509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051513.346387597] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051513.347150847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051513.348234307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051513.444771295] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051513.445355899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051513.445950982] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051513.447073009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051513.448260562] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051513.457784600] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051513.459375879] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746051513.460461271] [sailbot.main_algo]: Target Bearing: -142.8683742447564 +[main_algo-3] [INFO] [1746051513.461393454] [sailbot.main_algo]: Heading Difference: -169.18262575524358 +[main_algo-3] [INFO] [1746051513.462769545] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051513.463626290] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051513.464473000] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051513.466019722] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051513.466042575] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051513.502950141] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690362 Long: -76.50276742 +[main_algo-3] [INFO] [1746051513.503965247] [sailbot.main_algo]: Distance to destination: 56.46355500052094 +[vectornav-1] [INFO] [1746051513.504184274] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.03699999999998, -0.241, 6.499) +[main_algo-3] [INFO] [1746051513.505166367] [sailbot.main_algo]: Target Bearing: -142.87727960213127 +[main_algo-3] [INFO] [1746051513.506556284] [sailbot.main_algo]: Heading Difference: -169.1737203978687 +[main_algo-3] [INFO] [1746051513.508208157] [sailbot.main_algo]: Wind Direction: 196 +[main_algo-3] [INFO] [1746051513.509140875] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051513.509997450] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051513.511662275] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051513.544381757] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051513.544773498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051513.545440905] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051513.546274875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051513.547318184] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051513.585221439] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051513.587124369] [sailbot.teensy]: Wind angle: 195 +[trim_sail-4] [INFO] [1746051513.587480996] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051513.588550580] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051513.589450756] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051513.589460288] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051513.590390099] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051513.645145486] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051513.646023882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051513.646567074] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051513.648114088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051513.648624478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051513.744278396] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051513.744850469] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051513.745218157] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051513.747849721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051513.748967915] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051513.835053025] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051513.836634765] [sailbot.teensy]: Wind angle: 195 +[trim_sail-4] [INFO] [1746051513.837389421] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051513.838216286] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051513.838409965] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051513.839223688] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051513.840145487] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051513.844316141] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051513.844834876] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051513.845421058] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051513.846429265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051513.847497448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051513.944815787] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051513.945517676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051513.946076347] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051513.947346399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051513.948399498] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051513.957572507] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051513.959103789] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746051513.960370630] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051513.961570931] [sailbot.main_algo]: Current Location: (42.46903620214748, -76.50276742005445) +[main_algo-3] [INFO] [1746051513.962414040] [sailbot.main_algo]: Target Bearing: -142.87727960213127 +[main_algo-3] [INFO] [1746051513.963208939] [sailbot.main_algo]: Heading Difference: -169.08572039786873 +[main_algo-3] [INFO] [1746051513.964401391] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051513.965152026] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051513.965860773] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051513.967225635] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051513.967267757] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051514.002467579] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903621 Long: -76.50276717 +[main_algo-3] [INFO] [1746051514.003421820] [sailbot.main_algo]: Distance to destination: 56.48040964198266 +[vectornav-1] [INFO] [1746051514.003560192] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.543000000000006, -0.547, 5.627) +[main_algo-3] [INFO] [1746051514.004526788] [sailbot.main_algo]: Target Bearing: -142.88927081786466 +[main_algo-3] [INFO] [1746051514.005391603] [sailbot.main_algo]: Heading Difference: -169.07372918213537 +[main_algo-3] [INFO] [1746051514.006657275] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051514.007496815] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051514.008359518] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051514.010033287] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051514.045101220] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051514.045731522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051514.046403483] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051514.047676150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051514.048712096] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051514.085134918] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051514.086811043] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051514.087328262] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051514.087767277] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051514.088603124] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051514.088749872] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051514.089666574] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051514.144914564] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051514.145766528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051514.146196467] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051514.147646643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051514.148744285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051514.245220546] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051514.246130301] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051514.246757466] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051514.248178323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051514.249214775] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051514.335070015] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051514.336769183] [sailbot.teensy]: Wind angle: 187 +[trim_sail-4] [INFO] [1746051514.337097209] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051514.337700860] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051514.338177843] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051514.338545626] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051514.339459182] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051514.344380580] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051514.345177927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051514.345542489] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051514.347009140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051514.347977900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051514.445252428] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051514.446239939] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051514.446712676] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051514.448350630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051514.449431499] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051514.457369664] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051514.458369168] [sailbot.main_algo]: Target Bearing: -142.88927081786466 +[main_algo-3] [INFO] [1746051514.459207948] [sailbot.main_algo]: Heading Difference: -168.56772918213534 +[main_algo-3] [INFO] [1746051514.460417760] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051514.461236724] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051514.462027929] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051514.463591803] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051514.463858075] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051514.502692252] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903616 Long: -76.50276691 +[main_algo-3] [INFO] [1746051514.503399651] [sailbot.main_algo]: Distance to destination: 56.49380108511946 +[vectornav-1] [INFO] [1746051514.503707257] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.47000000000003, 0.319, 4.601) +[main_algo-3] [INFO] [1746051514.504453209] [sailbot.main_algo]: Target Bearing: -142.9070867952346 +[main_algo-3] [INFO] [1746051514.505397197] [sailbot.main_algo]: Heading Difference: -168.5499132047654 +[main_algo-3] [INFO] [1746051514.506721515] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051514.507606266] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051514.508479644] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051514.510080851] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051514.544873173] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051514.545593491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051514.546194533] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051514.547565355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051514.548776931] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051514.585352001] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051514.587189057] [sailbot.teensy]: Wind angle: 184 +[trim_sail-4] [INFO] [1746051514.587558575] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051514.588107791] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051514.589002191] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051514.589477849] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051514.589860900] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051514.644834751] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051514.645405660] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051514.646138794] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051514.647181584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051514.648318857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051514.745295605] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051514.745969908] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051514.746772337] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051514.747998564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051514.749276776] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051514.835243480] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051514.837484738] [sailbot.teensy]: Wind angle: 184 +[trim_sail-4] [INFO] [1746051514.837669120] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051514.838487972] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051514.839470709] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051514.840064449] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051514.840354987] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051514.844382540] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051514.844880248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051514.845564736] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051514.846553713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051514.847619344] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051514.945282726] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051514.946052682] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051514.946766474] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051514.948015017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051514.949164844] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051514.957651147] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051514.958753037] [sailbot.main_algo]: Target Bearing: -142.9070867952346 +[main_algo-3] [INFO] [1746051514.959680457] [sailbot.main_algo]: Heading Difference: -169.62291320476538 +[main_algo-3] [INFO] [1746051514.961040672] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051514.961870728] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051514.962683791] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051514.964216244] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051514.964268458] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051515.002720459] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903618 Long: -76.50276701 +[main_algo-3] [INFO] [1746051515.003881524] [sailbot.main_algo]: Distance to destination: 56.48870261403561 +[vectornav-1] [INFO] [1746051515.004113926] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.31299999999999, -0.828, 5.625) +[main_algo-3] [INFO] [1746051515.005446176] [sailbot.main_algo]: Target Bearing: -142.90016732106324 +[main_algo-3] [INFO] [1746051515.006538941] [sailbot.main_algo]: Heading Difference: -169.62983267893674 +[main_algo-3] [INFO] [1746051515.007903563] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051515.008835301] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051515.009684379] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051515.011340695] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051515.044900492] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051515.045549677] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051515.046207997] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051515.047527932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051515.048624464] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051515.085204188] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051515.086794272] [sailbot.teensy]: Wind angle: 184 +[trim_sail-4] [INFO] [1746051515.087496129] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051515.087666012] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051515.088496555] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051515.088486275] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051515.089395237] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051515.144876836] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051515.145524911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051515.146061219] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051515.147238628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051515.148424353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051515.244851725] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051515.245623451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051515.246050888] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051515.247406762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051515.248559290] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051515.335509035] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051515.337981023] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051515.338305353] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051515.338984034] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051515.339089674] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051515.339373967] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051515.339751159] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051515.344446616] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051515.345165983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051515.345654923] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051515.346983850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051515.348039162] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051515.445362150] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051515.446583695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051515.446906148] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051515.448775593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051515.449797726] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051515.457800980] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051515.458861515] [sailbot.main_algo]: Target Bearing: -142.90016732106324 +[main_algo-3] [INFO] [1746051515.459755323] [sailbot.main_algo]: Heading Difference: -170.78683267893678 +[main_algo-3] [INFO] [1746051515.461090233] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051515.461964713] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051515.462819780] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051515.464435184] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051515.464597915] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051515.502901644] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903605 Long: -76.50276668 +[main_algo-3] [INFO] [1746051515.504411740] [sailbot.main_algo]: Distance to destination: 56.501146028810076 +[vectornav-1] [INFO] [1746051515.504704409] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.88499999999999, -0.439, 6.046) +[main_algo-3] [INFO] [1746051515.505421934] [sailbot.main_algo]: Target Bearing: -142.92866949744857 +[main_algo-3] [INFO] [1746051515.506387961] [sailbot.main_algo]: Heading Difference: -170.75833050255142 +[main_algo-3] [INFO] [1746051515.507735561] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051515.508623325] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051515.509465957] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051515.511131896] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051515.545175771] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051515.545879031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051515.546602790] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051515.547809140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051515.548873536] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051515.585236495] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051515.586955816] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051515.587521724] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051515.587901525] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051515.588878261] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051515.589805852] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051515.589886533] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051515.645212529] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051515.645881159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051515.646787172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051515.647892093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051515.648981222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051515.745324308] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051515.746124409] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051515.746874267] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051515.748616688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051515.749782292] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051515.834981143] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051515.836503850] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051515.836901223] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051515.837436695] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051515.838359257] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051515.838807620] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051515.839286941] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051515.844523257] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051515.845008014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051515.845650512] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051515.846741683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051515.847867535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051515.945150219] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051515.945723899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051515.946532829] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051515.947758621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051515.948864547] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051515.957408598] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051515.958364318] [sailbot.main_algo]: Target Bearing: -142.92866949744857 +[main_algo-3] [INFO] [1746051515.959212690] [sailbot.main_algo]: Heading Difference: -170.1863305025514 +[main_algo-3] [INFO] [1746051515.960427239] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051515.961265480] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051515.962061285] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051515.963584145] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051515.963616679] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051516.002594723] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903625 Long: -76.50276642 +[main_algo-3] [INFO] [1746051516.003510739] [sailbot.main_algo]: Distance to destination: 56.531673506282985 +[vectornav-1] [INFO] [1746051516.004061439] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.476, -0.387, 3.899) +[main_algo-3] [INFO] [1746051516.004550717] [sailbot.main_algo]: Target Bearing: -142.92431565696853 +[main_algo-3] [INFO] [1746051516.005555805] [sailbot.main_algo]: Heading Difference: -170.19068434303148 +[main_algo-3] [INFO] [1746051516.007012213] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051516.007905091] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051516.008852836] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051516.010488945] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051516.045114241] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051516.045658465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051516.046462581] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051516.047869255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051516.049128144] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051516.085288053] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051516.087159084] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051516.087504672] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051516.088064338] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051516.088695886] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051516.088952637] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051516.089865941] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051516.145156440] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051516.146013117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051516.146428312] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051516.147885413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051516.148965603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051516.244990843] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051516.245744296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051516.246281574] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051516.247775668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051516.248848302] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051516.335369301] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051516.337663062] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051516.337874146] [sailbot.teensy]: Wind angle: 184 +[mux-7] [INFO] [1746051516.338739962] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051516.338798943] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051516.339200717] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051516.339553185] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051516.344331938] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051516.344906715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051516.345465275] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051516.346648297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051516.347701421] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051516.444188337] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051516.444705842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051516.445189426] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051516.446486838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051516.447251553] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051516.456810871] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051516.457685533] [sailbot.main_algo]: Target Bearing: -142.92431565696853 +[main_algo-3] [INFO] [1746051516.458640929] [sailbot.main_algo]: Heading Difference: -168.59968434303147 +[main_algo-3] [INFO] [1746051516.459710843] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051516.460477872] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051516.461199044] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051516.462583813] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051516.462760817] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051516.503019172] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903646 Long: -76.50276641 +[main_algo-3] [INFO] [1746051516.503874321] [sailbot.main_algo]: Distance to destination: 56.546711115148945 +[vectornav-1] [INFO] [1746051516.504198923] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.10000000000002, -0.048, 5.887) +[main_algo-3] [INFO] [1746051516.504997165] [sailbot.main_algo]: Target Bearing: -142.90623088162175 +[main_algo-3] [INFO] [1746051516.505968956] [sailbot.main_algo]: Heading Difference: -168.61776911837825 +[main_algo-3] [INFO] [1746051516.507320874] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051516.508277776] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051516.509214048] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051516.511384661] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051516.544439329] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051516.544870535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051516.545476252] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051516.546478465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051516.547561645] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051516.585133959] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051516.587251708] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051516.587330360] [sailbot.teensy]: Wind angle: 184 +[mux-7] [INFO] [1746051516.587753106] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051516.588280321] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051516.589219403] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051516.590144422] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051516.645284042] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051516.646145667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051516.646989025] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051516.648126001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051516.649317262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051516.745292490] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051516.745844960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051516.746799613] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051516.747922603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051516.748976110] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051516.835378457] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051516.837136137] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051516.837988756] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051516.838593084] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051516.838705787] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051516.839113050] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051516.839492476] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051516.844644613] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051516.844964197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051516.845782440] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051516.846636187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051516.847692311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051516.945774231] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051516.946590006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051516.947560243] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051516.948949621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051516.949531542] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051516.957584733] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051516.958561760] [sailbot.main_algo]: Target Bearing: -142.90623088162175 +[main_algo-3] [INFO] [1746051516.959460776] [sailbot.main_algo]: Heading Difference: -169.99376911837822 +[main_algo-3] [INFO] [1746051516.960792369] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051516.961622212] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051516.962403945] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051516.963918923] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051516.963955779] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051517.003191670] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903642 Long: -76.50276625 +[main_algo-3] [INFO] [1746051517.003917171] [sailbot.main_algo]: Distance to destination: 56.554322036365726 +[vectornav-1] [INFO] [1746051517.004603445] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.16500000000002, -0.595, 5.903) +[main_algo-3] [INFO] [1746051517.005060074] [sailbot.main_algo]: Target Bearing: -142.91799757108672 +[main_algo-3] [INFO] [1746051517.006037813] [sailbot.main_algo]: Heading Difference: -169.98200242891323 +[main_algo-3] [INFO] [1746051517.007426552] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051517.008329008] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051517.009183424] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051517.010960677] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051517.045138813] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051517.045697633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051517.046583026] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051517.047557245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051517.048745310] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051517.085397421] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051517.087053680] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051517.087967456] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051517.087620535] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051517.088253593] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051517.088872453] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051517.089767527] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051517.145194254] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051517.145692520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051517.146603578] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051517.147562105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051517.148781746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051517.245174802] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051517.245681909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051517.246521481] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051517.247529598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051517.248577741] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051517.335335482] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051517.337618791] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051517.338024278] [sailbot.teensy]: Wind angle: 186 +[teensy-2] [INFO] [1746051517.339046800] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051517.339570861] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051517.340047637] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051517.340987913] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051517.344415766] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051517.344931534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051517.345703496] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051517.346595812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051517.347640955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051517.445389869] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051517.445950276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051517.446532775] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051517.447677284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051517.448828954] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051517.457521826] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051517.458536833] [sailbot.main_algo]: Target Bearing: -142.91799757108672 +[main_algo-3] [INFO] [1746051517.459428411] [sailbot.main_algo]: Heading Difference: -169.9170024289133 +[main_algo-3] [INFO] [1746051517.460727173] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051517.461529236] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051517.462330733] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051517.463902874] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051517.463933063] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051517.502759712] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903636 Long: -76.50276616 +[vectornav-1] [INFO] [1746051517.503934071] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.92599999999999, -0.437, 5.731) +[main_algo-3] [INFO] [1746051517.504435891] [sailbot.main_algo]: Distance to destination: 56.55603511167624 +[main_algo-3] [INFO] [1746051517.505992675] [sailbot.main_algo]: Target Bearing: -142.92793560847826 +[main_algo-3] [INFO] [1746051517.507070673] [sailbot.main_algo]: Heading Difference: -169.90706439152171 +[main_algo-3] [INFO] [1746051517.508407260] [sailbot.main_algo]: Wind Direction: 186 +[main_algo-3] [INFO] [1746051517.509280313] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051517.510124788] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051517.512122098] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051517.545170925] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051517.545697220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051517.546515165] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051517.547548729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051517.548628469] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051517.585328155] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051517.588571511] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051517.589682733] [sailbot.teensy]: Wind angle: 186 +[mux-7] [INFO] [1746051517.590794701] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051517.591226367] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051517.592188593] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051517.593102255] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051517.645119361] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051517.645803537] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051517.646475742] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051517.647644218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051517.648783594] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051517.744544722] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051517.745059930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051517.745553443] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051517.746633673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051517.747627183] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051517.835235908] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051517.837176403] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051517.838127325] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051517.838261545] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051517.839176230] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051517.839248187] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051517.839731027] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051517.844379085] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051517.844950268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051517.845511880] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051517.846582977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051517.847652276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051517.943887838] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051517.944719130] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051517.944520725] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051517.945848956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051517.946679325] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051517.957038505] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051517.958008602] [sailbot.main_algo]: Target Bearing: -142.92793560847826 +[main_algo-3] [INFO] [1746051517.958733053] [sailbot.main_algo]: Heading Difference: -168.14606439152175 +[main_algo-3] [INFO] [1746051517.959858816] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051517.960597635] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051517.961291316] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051517.962798787] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051517.962826833] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051518.002482589] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903659 Long: -76.50276619 +[vectornav-1] [INFO] [1746051518.003481557] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.34500000000003, -0.561, 4.404) +[main_algo-3] [INFO] [1746051518.003481559] [sailbot.main_algo]: Distance to destination: 56.56985445123126 +[main_algo-3] [INFO] [1746051518.004633351] [sailbot.main_algo]: Target Bearing: -142.90603180176447 +[main_algo-3] [INFO] [1746051518.005679462] [sailbot.main_algo]: Heading Difference: -168.16796819823554 +[main_algo-3] [INFO] [1746051518.007058788] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051518.007906819] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051518.008758276] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051518.010406137] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051518.045033279] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051518.045941693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051518.046777155] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051518.047800041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051518.048976759] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051518.085233847] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051518.086847635] [sailbot.teensy]: Wind angle: 182 +[trim_sail-4] [INFO] [1746051518.087628525] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051518.088565935] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051518.088867795] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051518.090032169] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051518.090891825] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051518.144966186] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051518.145656634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051518.146274885] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051518.147653301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051518.148694193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051518.245203592] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051518.245852022] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051518.246648231] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051518.247862007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051518.248892776] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051518.335304381] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051518.337469149] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051518.338577691] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051518.338798201] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051518.339761398] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051518.340651418] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051518.341508438] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051518.344391770] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051518.345175666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051518.345496927] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051518.346861070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051518.347875852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051518.445383166] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051518.446087996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051518.446941906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051518.448233688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051518.448765535] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051518.457657418] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051518.458678836] [sailbot.main_algo]: Target Bearing: -142.90603180176447 +[main_algo-3] [INFO] [1746051518.459589184] [sailbot.main_algo]: Heading Difference: -168.7489681982355 +[main_algo-3] [INFO] [1746051518.460964963] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051518.461775653] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051518.462585869] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051518.464167935] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051518.464602211] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051518.503340871] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903655 Long: -76.5027664 +[main_algo-3] [INFO] [1746051518.504419056] [sailbot.main_algo]: Distance to destination: 56.55352718213398 +[vectornav-1] [INFO] [1746051518.504642625] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.22199999999998, 0.703, 6.1) +[main_algo-3] [INFO] [1746051518.505492392] [sailbot.main_algo]: Target Bearing: -142.89877703104128 +[main_algo-3] [INFO] [1746051518.506448319] [sailbot.main_algo]: Heading Difference: -168.7562229689587 +[main_algo-3] [INFO] [1746051518.507791398] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051518.508687618] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051518.509556885] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051518.511250024] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051518.545383174] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051518.545404346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051518.546720448] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051518.547421776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051518.548477255] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051518.585139683] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051518.586915705] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051518.587870870] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051518.587580483] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051518.589184133] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051518.589612207] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051518.590453081] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051518.645288516] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051518.645734633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051518.646857724] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051518.647739073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051518.649020962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051518.745085909] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051518.746014901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051518.746390916] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051518.748280271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051518.749357118] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051518.835297123] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051518.837175948] [sailbot.teensy]: Wind angle: 180 +[trim_sail-4] [INFO] [1746051518.837413028] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051518.838332279] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051518.838830913] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051518.839402365] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051518.840486597] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051518.844403123] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051518.844992896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051518.845780507] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051518.846697289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051518.847729442] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051518.945098696] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051518.945768795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051518.946837285] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051518.947644657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051518.948827478] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051518.957427795] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051518.958389615] [sailbot.main_algo]: Target Bearing: -142.89877703104128 +[main_algo-3] [INFO] [1746051518.959276389] [sailbot.main_algo]: Heading Difference: -169.87922296895874 +[main_algo-3] [INFO] [1746051518.960509898] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051518.961331727] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051518.962126960] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051518.963702443] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051518.963863718] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051519.002804668] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903631 Long: -76.50276634 +[main_algo-3] [INFO] [1746051519.003775556] [sailbot.main_algo]: Distance to destination: 56.54096123449344 +[vectornav-1] [INFO] [1746051519.004069061] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.18299999999999, -1.71, 5.742) +[main_algo-3] [INFO] [1746051519.005353528] [sailbot.main_algo]: Target Bearing: -142.92311322609316 +[main_algo-3] [INFO] [1746051519.006381581] [sailbot.main_algo]: Heading Difference: -169.85488677390686 +[main_algo-3] [INFO] [1746051519.007743221] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051519.008650770] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051519.009500662] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051519.011177905] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051519.045226294] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051519.045924106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051519.047013284] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051519.048441355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051519.049484668] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051519.085157458] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051519.086854844] [sailbot.teensy]: Wind angle: 180 +[trim_sail-4] [INFO] [1746051519.087284455] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051519.087727261] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051519.088616435] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051519.088820056] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051519.089512509] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051519.144745505] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051519.145510251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051519.145988739] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051519.147306756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051519.148459171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051519.244997418] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051519.245896296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051519.246308913] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051519.247889676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051519.248605430] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051519.335378178] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051519.337144490] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051519.338058097] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051519.338195742] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051519.338925691] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051519.339318536] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051519.339849481] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051519.344386268] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051519.345080314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051519.345418777] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051519.346705098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051519.347685398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051519.445500104] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051519.447089246] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051519.447194483] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051519.448243159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051519.449077094] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051519.457611547] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051519.458613358] [sailbot.main_algo]: Target Bearing: -142.92311322609316 +[main_algo-3] [INFO] [1746051519.459510251] [sailbot.main_algo]: Heading Difference: -168.89388677390684 +[main_algo-3] [INFO] [1746051519.460773501] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051519.461600549] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051519.462382971] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051519.463943745] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051519.463984441] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051519.502676865] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690364 Long: -76.50276611 +[main_algo-3] [INFO] [1746051519.503841097] [sailbot.main_algo]: Distance to destination: 56.56201116278728 +[vectornav-1] [INFO] [1746051519.504232503] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.06299999999999, -0.127, 5.195) +[main_algo-3] [INFO] [1746051519.504935406] [sailbot.main_algo]: Target Bearing: -142.92696263276767 +[main_algo-3] [INFO] [1746051519.505898858] [sailbot.main_algo]: Heading Difference: -168.89003736723237 +[main_algo-3] [INFO] [1746051519.507265784] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051519.508139887] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051519.509011258] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051519.510906353] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051519.545119307] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051519.545657481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051519.546483176] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051519.547581788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051519.548666193] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051519.585221889] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051519.587030031] [sailbot.teensy]: Wind angle: 180 +[trim_sail-4] [INFO] [1746051519.587668763] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051519.587952261] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051519.588430890] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051519.588898891] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051519.589786334] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051519.645426051] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051519.646059458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051519.646915363] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051519.648087573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051519.649273683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051519.745026065] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051519.745728246] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051519.746259281] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051519.747494863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051519.748575096] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051519.835133560] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051519.836821365] [sailbot.teensy]: Wind angle: 180 +[teensy-2] [INFO] [1746051519.837734417] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051519.838976863] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051519.837291706] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051519.837872908] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051519.839941525] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051519.844672844] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051519.846000927] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051519.848565923] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051519.850714933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051519.851791858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051519.945189188] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051519.945811422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051519.946543839] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051519.947733971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051519.948826042] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051519.957388778] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051519.958411458] [sailbot.main_algo]: Target Bearing: -142.92696263276767 +[main_algo-3] [INFO] [1746051519.959352898] [sailbot.main_algo]: Heading Difference: -168.01003736723237 +[main_algo-3] [INFO] [1746051519.960731603] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051519.961664904] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051519.962582016] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051519.964607868] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051519.964635450] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051520.001596509] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690364 Long: -76.50276582 +[vectornav-1] [INFO] [1746051520.002189763] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.636000000000024, 0.686, 6.986) +[main_algo-3] [INFO] [1746051520.002314687] [sailbot.main_algo]: Distance to destination: 56.58078020364584 +[main_algo-3] [INFO] [1746051520.002927160] [sailbot.main_algo]: Target Bearing: -142.94185737202858 +[main_algo-3] [INFO] [1746051520.003436963] [sailbot.main_algo]: Heading Difference: -167.9951426279714 +[main_algo-3] [INFO] [1746051520.004176115] [sailbot.main_algo]: Wind Direction: 180 +[main_algo-3] [INFO] [1746051520.004644462] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051520.005095457] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051520.006103165] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051520.044990955] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051520.045547603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051520.046307755] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051520.047311488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051520.048419665] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051520.085309080] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051520.087560160] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051520.088411943] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051520.088646525] [sailbot.teensy]: Wind angle: 179 +[teensy-2] [INFO] [1746051520.089635472] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051520.090512079] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051520.091356891] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051520.145186191] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051520.145742714] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051520.147811591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051520.149097408] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051520.149849912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051520.245135000] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051520.245645119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051520.246505343] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051520.247809663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051520.248849208] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051520.335376690] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051520.337968571] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051520.338541853] [sailbot.teensy]: Wind angle: 179 +[mux-7] [INFO] [1746051520.338535087] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051520.338923033] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051520.339296698] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051520.340034065] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051520.344473926] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051520.345035975] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051520.345666922] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051520.346724377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051520.347854639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051520.445239274] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051520.446007305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051520.446579137] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051520.447866315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051520.448941430] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051520.457447527] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051520.458442941] [sailbot.main_algo]: Target Bearing: -142.94185737202858 +[main_algo-3] [INFO] [1746051520.459283229] [sailbot.main_algo]: Heading Difference: -168.42214262797143 +[main_algo-3] [INFO] [1746051520.460567060] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051520.461386990] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051520.462180554] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051520.463686392] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051520.463710055] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051520.502911677] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903622 Long: -76.50276575 +[main_algo-3] [INFO] [1746051520.503840702] [sailbot.main_algo]: Distance to destination: 56.57298693380794 +[vectornav-1] [INFO] [1746051520.504283289] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.613999999999976, -1.754, 5.648) +[main_algo-3] [INFO] [1746051520.505071559] [sailbot.main_algo]: Target Bearing: -142.96139014014125 +[main_algo-3] [INFO] [1746051520.506145458] [sailbot.main_algo]: Heading Difference: -168.40260985985873 +[main_algo-3] [INFO] [1746051520.507567399] [sailbot.main_algo]: Wind Direction: 179 +[main_algo-3] [INFO] [1746051520.508486617] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051520.509336138] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051520.511094133] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051520.545200278] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051520.545712716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051520.546673380] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051520.547965514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051520.549112008] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051520.585220031] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051520.586841929] [sailbot.teensy]: Wind angle: 177 +[teensy-2] [INFO] [1746051520.587764258] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051520.587335924] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051520.588665436] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051520.589002413] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051520.589521010] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051520.644782446] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051520.645667761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051520.646035077] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051520.647482783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051520.648518338] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051520.744910657] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051520.745536080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051520.746150254] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051520.747338599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051520.748524503] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051520.834921869] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051520.836264500] [sailbot.teensy]: Wind angle: 175 +[teensy-2] [INFO] [1746051520.837251416] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051520.837933139] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051520.838322068] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051520.837794001] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051520.838059473] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051520.844338262] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051520.845353170] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051520.845086631] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051520.846738942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051520.847734895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051520.944996732] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051520.945749726] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051520.946352119] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051520.947762838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051520.948833277] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051520.957634974] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051520.958640187] [sailbot.main_algo]: Target Bearing: -142.96139014014125 +[main_algo-3] [INFO] [1746051520.959496559] [sailbot.main_algo]: Heading Difference: -167.42460985985878 +[main_algo-3] [INFO] [1746051520.960736118] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051520.961547944] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051520.962351823] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051520.963869321] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051520.963960505] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051521.003403782] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903635 Long: -76.50276561 +[main_algo-3] [INFO] [1746051521.003647931] [sailbot.main_algo]: Distance to destination: 56.5909506564117 +[vectornav-1] [INFO] [1746051521.004727460] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.024, 0.089, 5.288) +[main_algo-3] [INFO] [1746051521.004738749] [sailbot.main_algo]: Target Bearing: -142.95706357200996 +[main_algo-3] [INFO] [1746051521.005741153] [sailbot.main_algo]: Heading Difference: -167.42893642799004 +[main_algo-3] [INFO] [1746051521.007146690] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051521.008036262] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051521.008898890] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051521.010573797] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051521.045072967] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051521.045821388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051521.046870801] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051521.047753157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051521.049095835] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051521.085284268] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051521.086969380] [sailbot.teensy]: Wind angle: 176 +[teensy-2] [INFO] [1746051521.087979977] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051521.088870145] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051521.089721946] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051521.087432449] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051521.089659889] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051521.145107153] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051521.145918984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051521.146390646] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051521.148572406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051521.149877182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051521.245086079] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051521.245816893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051521.246540450] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051521.247687408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051521.248788852] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051521.335083020] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051521.337059121] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051521.337347045] [sailbot.teensy]: Wind angle: 176 +[mux-7] [INFO] [1746051521.338424122] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051521.338489143] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051521.339322355] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051521.340132503] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051521.344345011] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051521.344949848] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051521.345531729] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051521.346623677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051521.347774865] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051521.445211769] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051521.445793666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051521.446871841] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051521.448141323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051521.449305018] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051521.457556345] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051521.458520798] [sailbot.main_algo]: Target Bearing: -142.95706357200996 +[main_algo-3] [INFO] [1746051521.459418598] [sailbot.main_algo]: Heading Difference: -168.01893642799007 +[main_algo-3] [INFO] [1746051521.460704067] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051521.461508750] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051521.462301368] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051521.463818061] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051521.463959750] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051521.502670264] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690363 Long: -76.50276559 +[main_algo-3] [INFO] [1746051521.503474232] [sailbot.main_algo]: Distance to destination: 56.58882259019672 +[main_algo-3] [INFO] [1746051521.504737087] [sailbot.main_algo]: Target Bearing: -142.96251691566505 +[vectornav-1] [INFO] [1746051521.503993811] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.103999999999985, -0.306, 6.299) +[main_algo-3] [INFO] [1746051521.505739234] [sailbot.main_algo]: Heading Difference: -168.01348308433495 +[main_algo-3] [INFO] [1746051521.507127792] [sailbot.main_algo]: Wind Direction: 176 +[main_algo-3] [INFO] [1746051521.507998514] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051521.508860735] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051521.510761552] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051521.545118678] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051521.545663720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051521.546457866] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051521.547751535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051521.548819237] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051521.585072756] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051521.586551561] [sailbot.teensy]: Wind angle: 175 +[teensy-2] [INFO] [1746051521.587378445] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051521.587075006] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051521.587604141] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051521.588207500] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051521.589023654] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051521.645076339] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051521.645568800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051521.646411968] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051521.647455884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051521.648624154] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051521.745330488] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051521.745918504] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051521.746841641] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051521.748331369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051521.749502092] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051521.835131596] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051521.836747122] [sailbot.teensy]: Wind angle: 175 +[trim_sail-4] [INFO] [1746051521.837174326] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051521.837639641] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051521.838449173] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051521.838473817] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051521.839246911] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051521.844318396] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051521.844917349] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051521.845473919] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051521.846649344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051521.847694668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051521.944740758] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051521.945238933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051521.945909003] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051521.946908154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051521.948104746] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051521.957451167] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051521.958397350] [sailbot.main_algo]: Target Bearing: -142.96251691566505 +[main_algo-3] [INFO] [1746051521.959241146] [sailbot.main_algo]: Heading Difference: -167.93348308433497 +[main_algo-3] [INFO] [1746051521.960462206] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051521.961280595] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051521.962056278] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051521.963547252] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051521.963696659] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051522.002858975] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690363 Long: -76.50276526 +[main_algo-3] [INFO] [1746051522.003703961] [sailbot.main_algo]: Distance to destination: 56.61019114086271 +[vectornav-1] [INFO] [1746051522.004253521] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.75200000000001, -0.927, 5.931) +[main_algo-3] [INFO] [1746051522.004845400] [sailbot.main_algo]: Target Bearing: -142.97944388165044 +[main_algo-3] [INFO] [1746051522.005904065] [sailbot.main_algo]: Heading Difference: -167.9165561183496 +[main_algo-3] [INFO] [1746051522.007273548] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051522.008191282] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051522.009051561] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051522.010753843] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051522.044033102] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051522.044496277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051522.044833792] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051522.046098216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051522.046976620] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051522.084847833] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051522.086273589] [sailbot.teensy]: Wind angle: 176 +[teensy-2] [INFO] [1746051522.087096939] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051522.087971163] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051522.087617356] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051522.088673936] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051522.089055060] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051522.144949286] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051522.145646888] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051522.146392815] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051522.147818417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051522.148989548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051522.245203658] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051522.246400240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051522.246833742] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051522.248484397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051522.249036045] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051522.335265909] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051522.336858230] [sailbot.teensy]: Wind angle: 175 +[trim_sail-4] [INFO] [1746051522.337283118] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051522.337724397] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051522.338564909] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051522.339334458] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051522.339384219] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051522.344439114] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051522.344908125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051522.345505015] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051522.346496562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051522.347517185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051522.445280561] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051522.446198283] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051522.446556575] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051522.448404867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051522.449586724] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051522.457624299] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051522.458638572] [sailbot.main_algo]: Target Bearing: -142.97944388165044 +[main_algo-3] [INFO] [1746051522.459587694] [sailbot.main_algo]: Heading Difference: -167.26855611834958 +[main_algo-3] [INFO] [1746051522.460846933] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051522.461678427] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051522.462480262] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051522.464079251] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051522.464178053] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051522.503390735] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903639 Long: -76.50276505 +[vectornav-1] [INFO] [1746051522.504734122] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.02999999999997, 0.228, 5.634) +[main_algo-3] [INFO] [1746051522.506986717] [sailbot.main_algo]: Distance to destination: 56.629949524842 +[main_algo-3] [INFO] [1746051522.508141251] [sailbot.main_algo]: Target Bearing: -142.98224259862172 +[main_algo-3] [INFO] [1746051522.509256945] [sailbot.main_algo]: Heading Difference: -167.26575740137827 +[main_algo-3] [INFO] [1746051522.510580714] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051522.511454767] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051522.512299388] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051522.513997390] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051522.545292507] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051522.545523879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051522.546647890] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051522.547898873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051522.548985371] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051522.585252211] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051522.586778299] [sailbot.teensy]: Wind angle: 176 +[teensy-2] [INFO] [1746051522.587670470] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051522.587226330] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051522.588344250] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051522.588540744] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051522.589431649] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051522.644910922] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051522.645579366] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051522.646305257] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051522.647616361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051522.648766193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051522.744854475] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051522.745436567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051522.746513914] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051522.747160060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051522.748533346] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051522.835291253] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051522.837630737] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051522.838098374] [sailbot.teensy]: Wind angle: 177 +[mux-7] [INFO] [1746051522.838547469] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051522.839397528] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051522.840376185] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051522.841259346] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051522.844398329] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051522.845184271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051522.845482252] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051522.846973529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051522.847988331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051522.945042743] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051522.945932494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051522.946712183] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051522.947676914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051522.948118698] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051522.957609709] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051522.958625824] [sailbot.main_algo]: Target Bearing: -142.98224259862172 +[main_algo-3] [INFO] [1746051522.959495011] [sailbot.main_algo]: Heading Difference: -166.9877574013783 +[main_algo-3] [INFO] [1746051522.960716499] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051522.961524472] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051522.962324664] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051522.963840175] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051522.963933864] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051523.002696824] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903639 Long: -76.50276506 +[main_algo-3] [INFO] [1746051523.003659006] [sailbot.main_algo]: Distance to destination: 56.629301894033 +[vectornav-1] [INFO] [1746051523.003856457] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.97800000000001, -0.635, 5.205) +[main_algo-3] [INFO] [1746051523.004895174] [sailbot.main_algo]: Target Bearing: -142.98173005844967 +[main_algo-3] [INFO] [1746051523.005820606] [sailbot.main_algo]: Heading Difference: -166.98826994155036 +[main_algo-3] [INFO] [1746051523.007082188] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051523.007890265] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051523.008691593] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051523.010385784] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051523.044590398] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051523.045241307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051523.045825139] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051523.047015569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051523.047991205] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051523.085019886] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051523.086544930] [sailbot.teensy]: Wind angle: 181 +[trim_sail-4] [INFO] [1746051523.086904522] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051523.088069366] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051523.088999376] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051523.089053600] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051523.089858931] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051523.144906337] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051523.145751912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051523.146147375] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051523.147528774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051523.148603934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051523.244853135] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051523.245497564] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051523.246891023] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051523.247638221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051523.248840842] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051523.335308492] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051523.336998689] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051523.337818710] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051523.338779155] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051523.339288390] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051523.340304808] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051523.341203430] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051523.344333695] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051523.344994817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051523.345412819] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051523.346713302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051523.347880578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051523.445444558] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051523.446520113] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051523.446988624] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051523.448987065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051523.450463636] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051523.457412800] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051523.458447872] [sailbot.main_algo]: Target Bearing: -142.98173005844967 +[main_algo-3] [INFO] [1746051523.459374139] [sailbot.main_algo]: Heading Difference: -167.04026994155032 +[main_algo-3] [INFO] [1746051523.460713553] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051523.461609120] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051523.462473881] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051523.464249380] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051523.465226308] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051523.502778466] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903644 Long: -76.502765 +[main_algo-3] [INFO] [1746051523.503739154] [sailbot.main_algo]: Distance to destination: 56.63660892673746 +[vectornav-1] [INFO] [1746051523.504061468] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.86200000000002, -0.463, 6.936) +[main_algo-3] [INFO] [1746051523.504850554] [sailbot.main_algo]: Target Bearing: -142.98038022449933 +[main_algo-3] [INFO] [1746051523.505835165] [sailbot.main_algo]: Heading Difference: -167.04161977550064 +[main_algo-3] [INFO] [1746051523.507302290] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051523.508167553] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051523.509003935] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051523.510548316] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051523.544735096] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051523.545407313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051523.545863172] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051523.547210267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051523.548381658] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051523.585241644] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051523.587272148] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051523.588429700] [sailbot.teensy]: Wind angle: 185 +[mux-7] [INFO] [1746051523.588816967] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051523.590068968] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051523.591064024] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051523.591897591] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051523.645163218] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051523.645953560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051523.646625585] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051523.648279674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051523.649409727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051523.745219542] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051523.745745686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051523.746751793] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051523.747697538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051523.748869390] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051523.835271636] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051523.837363848] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051523.837382377] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051523.838369975] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051523.839074423] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051523.839480699] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051523.839845545] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051523.844593583] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051523.845066632] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051523.847208804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051523.847228306] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051523.848988361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051523.945262276] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051523.945757926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051523.946634768] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051523.947837527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051523.948871439] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051523.957659035] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051523.958670089] [sailbot.main_algo]: Target Bearing: -142.98038022449933 +[main_algo-3] [INFO] [1746051523.959563968] [sailbot.main_algo]: Heading Difference: -167.15761977550062 +[main_algo-3] [INFO] [1746051523.960881452] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051523.961728811] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051523.962533298] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051523.964070120] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051523.964272197] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051524.003242004] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903643 Long: -76.50276454 +[main_algo-3] [INFO] [1746051524.003942428] [sailbot.main_algo]: Distance to destination: 56.66572010061122 +[vectornav-1] [INFO] [1746051524.004589265] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.09500000000003, -0.266, 5.042) +[main_algo-3] [INFO] [1746051524.005613683] [sailbot.main_algo]: Target Bearing: -143.00482734651513 +[main_algo-3] [INFO] [1746051524.006571247] [sailbot.main_algo]: Heading Difference: -167.13317265348485 +[main_algo-3] [INFO] [1746051524.008054045] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051524.009009992] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051524.009874177] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051524.011580780] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051524.045127994] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051524.045765225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051524.046459870] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051524.047773056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051524.048837955] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051524.085439115] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051524.087167300] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051524.088109335] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051524.089075483] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051524.089911977] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051524.087787800] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051524.092532002] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051524.144072290] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051524.144438434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051524.145011740] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051524.145942282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051524.147103188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051524.246613512] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051524.247243886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051524.247929671] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051524.249065838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051524.250264657] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051524.335456503] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051524.337318395] [sailbot.teensy]: Wind angle: 187 +[trim_sail-4] [INFO] [1746051524.337748500] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051524.338304871] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051524.339369615] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051524.339558448] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051524.340542704] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051524.344477742] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051524.344979239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051524.345678742] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051524.346715168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051524.347781759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051524.444796359] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051524.445462935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051524.445959992] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051524.447098189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051524.448184015] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051524.457488316] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051524.458443715] [sailbot.main_algo]: Target Bearing: -143.00482734651513 +[main_algo-3] [INFO] [1746051524.459328711] [sailbot.main_algo]: Heading Difference: -165.90017265348484 +[main_algo-3] [INFO] [1746051524.460561052] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051524.461387915] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051524.462179609] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051524.463710120] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051524.463733708] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051524.502269383] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903633 Long: -76.5027646 +[main_algo-3] [INFO] [1746051524.503246969] [sailbot.main_algo]: Distance to destination: 56.654994417921536 +[vectornav-1] [INFO] [1746051524.503674275] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.954999999999984, -0.429, 5.146) +[main_algo-3] [INFO] [1746051524.504354716] [sailbot.main_algo]: Target Bearing: -143.01060438918014 +[main_algo-3] [INFO] [1746051524.505256331] [sailbot.main_algo]: Heading Difference: -165.89439561081986 +[main_algo-3] [INFO] [1746051524.506515165] [sailbot.main_algo]: Wind Direction: 187 +[main_algo-3] [INFO] [1746051524.507334991] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051524.508123879] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051524.509751103] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051524.544869972] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051524.545537300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051524.546149788] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051524.547475472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051524.548562393] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051524.585161743] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051524.587393706] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051524.587484469] [sailbot.teensy]: Wind angle: 198 +[mux-7] [INFO] [1746051524.587732500] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051524.588581879] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051524.589645403] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051524.590506543] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051524.644987392] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051524.645668080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051524.646265632] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051524.647713872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051524.648771331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051524.744873120] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051524.745683410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051524.746054740] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051524.747629206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051524.748717321] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051524.835260060] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051524.836956053] [sailbot.teensy]: Wind angle: 211 +[trim_sail-4] [INFO] [1746051524.837409777] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051524.837846064] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051524.838733969] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051524.839175594] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051524.839614351] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051524.844363769] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051524.844874171] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051524.845571792] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051524.846767492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051524.847855103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051524.945153096] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051524.945673038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051524.946427773] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051524.947541517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051524.948695501] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051524.957656688] [sailbot.main_algo]: Wind Direction: 211 +[main_algo-3] [INFO] [1746051524.958706445] [sailbot.main_algo]: Target Bearing: -143.01060438918014 +[main_algo-3] [INFO] [1746051524.959602298] [sailbot.main_algo]: Heading Difference: -166.03439561081984 +[main_algo-3] [INFO] [1746051524.960845055] [sailbot.main_algo]: Wind Direction: 211 +[main_algo-3] [INFO] [1746051524.961697007] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051524.962509575] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051524.964065999] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051524.964114101] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051525.002631954] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903641 Long: -76.5027646 +[main_algo-3] [INFO] [1746051525.003462498] [sailbot.main_algo]: Distance to destination: 56.66046533201112 +[vectornav-1] [INFO] [1746051525.003791389] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.55200000000002, -0.221, 6.162) +[main_algo-3] [INFO] [1746051525.004632011] [sailbot.main_algo]: Target Bearing: -143.00352504624234 +[main_algo-3] [INFO] [1746051525.005668878] [sailbot.main_algo]: Heading Difference: -166.04147495375764 +[main_algo-3] [INFO] [1746051525.007084858] [sailbot.main_algo]: Wind Direction: 211 +[main_algo-3] [INFO] [1746051525.007980779] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051525.008844200] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051525.010442874] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051525.044636043] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051525.045245426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051525.045795193] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051525.046929438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051525.047880943] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051525.085351741] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051525.087051268] [sailbot.teensy]: Wind angle: 220 +[trim_sail-4] [INFO] [1746051525.087503011] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051525.087987309] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051525.088887938] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051525.089678308] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051525.089761759] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051525.144587451] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051525.145066367] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051525.145686489] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051525.146798262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051525.147861948] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051525.244765362] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051525.245359053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051525.246043891] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051525.247118675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051525.248329360] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051525.335293916] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051525.336935649] [sailbot.teensy]: Wind angle: 220 +[teensy-2] [INFO] [1746051525.337847008] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051525.337446564] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051525.338770261] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051525.339717815] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051525.340052145] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051525.344635998] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051525.345112595] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051525.345932223] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051525.347149484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051525.348414393] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051525.445089431] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051525.445638226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051525.446520920] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051525.447574557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051525.448810119] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051525.457441734] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051525.458396072] [sailbot.main_algo]: Target Bearing: -143.00352504624234 +[main_algo-3] [INFO] [1746051525.459221864] [sailbot.main_algo]: Heading Difference: -167.44447495375766 +[main_algo-3] [INFO] [1746051525.460467186] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051525.461282212] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051525.462082063] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051525.463612582] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051525.463605397] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051525.502578168] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903643 Long: -76.50276432 +[main_algo-3] [INFO] [1746051525.503418224] [sailbot.main_algo]: Distance to destination: 56.67997348083689 +[vectornav-1] [INFO] [1746051525.503902015] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.75200000000001, -0.916, 6.363) +[main_algo-3] [INFO] [1746051525.504534545] [sailbot.main_algo]: Target Bearing: -143.01608746237753 +[main_algo-3] [INFO] [1746051525.505521184] [sailbot.main_algo]: Heading Difference: -167.43191253762245 +[main_algo-3] [INFO] [1746051525.506781102] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051525.507711796] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051525.508549964] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051525.510167498] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051525.544705717] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051525.545337312] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051525.545850368] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051525.547073535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051525.548267716] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051525.585114012] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051525.587025606] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051525.588010032] [sailbot.teensy]: Wind angle: 219 +[mux-7] [INFO] [1746051525.588497887] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051525.589373187] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051525.590308066] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051525.591244286] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051525.644895384] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051525.645748993] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051525.646197080] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051525.647764726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051525.648923223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051525.745842555] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051525.746087844] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051525.748275914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051525.747479712] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051525.748912199] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051525.835284035] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051525.837397639] [sailbot.teensy]: Wind angle: 218 +[trim_sail-4] [INFO] [1746051525.837437047] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051525.837868833] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051525.838275445] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051525.839090786] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051525.839888288] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051525.844313963] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051525.844820026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051525.845392255] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051525.846465113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051525.847551599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051525.945066919] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051525.945823374] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051525.946303437] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051525.947644374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051525.948546132] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051525.957548458] [sailbot.main_algo]: Wind Direction: 218 +[main_algo-3] [INFO] [1746051525.958539879] [sailbot.main_algo]: Target Bearing: -143.01608746237753 +[main_algo-3] [INFO] [1746051525.959404168] [sailbot.main_algo]: Heading Difference: -166.23191253762246 +[main_algo-3] [INFO] [1746051525.960673803] [sailbot.main_algo]: Wind Direction: 218 +[main_algo-3] [INFO] [1746051525.961517578] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051525.962352098] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051525.963859220] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051525.963951545] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051526.002904768] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903645 Long: -76.50276414 +[main_algo-3] [INFO] [1746051526.003933341] [sailbot.main_algo]: Distance to destination: 56.693004160000214 +[vectornav-1] [INFO] [1746051526.004137272] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.52800000000002, 0.063, 5.056) +[main_algo-3] [INFO] [1746051526.005155501] [sailbot.main_algo]: Target Bearing: -143.02352689642484 +[main_algo-3] [INFO] [1746051526.006135585] [sailbot.main_algo]: Heading Difference: -166.22447310357518 +[main_algo-3] [INFO] [1746051526.007528071] [sailbot.main_algo]: Wind Direction: 218 +[main_algo-3] [INFO] [1746051526.008511318] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051526.009407110] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051526.011582624] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051526.044977700] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051526.045719004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051526.046239765] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051526.047524357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051526.048547899] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051526.085122883] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051526.087082737] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051526.087386223] [sailbot.teensy]: Wind angle: 219 +[teensy-2] [INFO] [1746051526.088349828] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051526.088978043] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051526.089247713] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051526.090157916] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051526.145093452] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051526.146218796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051526.146481450] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051526.148068082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051526.149267732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051526.243939055] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051526.244590357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051526.244789383] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051526.246022719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051526.246869937] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051526.335212995] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051526.336797352] [sailbot.teensy]: Wind angle: 218 +[trim_sail-4] [INFO] [1746051526.337261374] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051526.337806762] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051526.339073350] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051526.339991299] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051526.340909950] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051526.344357975] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051526.344855238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051526.345867574] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051526.346651947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051526.347797399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051526.445477456] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051526.445696587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051526.446972053] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051526.447572999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051526.448669774] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051526.457403686] [sailbot.main_algo]: Wind Direction: 218 +[main_algo-3] [INFO] [1746051526.458365581] [sailbot.main_algo]: Target Bearing: -143.02352689642484 +[main_algo-3] [INFO] [1746051526.459185658] [sailbot.main_algo]: Heading Difference: -165.4484731035751 +[main_algo-3] [INFO] [1746051526.460443396] [sailbot.main_algo]: Wind Direction: 218 +[main_algo-3] [INFO] [1746051526.461254427] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051526.462044470] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051526.463616274] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051526.463615979] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051526.502732898] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903654 Long: -76.50276435 +[vectornav-1] [INFO] [1746051526.504057523] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.00599999999997, -0.85, 6.388) +[main_algo-3] [INFO] [1746051526.504695160] [sailbot.main_algo]: Distance to destination: 56.685551774118835 +[main_algo-3] [INFO] [1746051526.505828758] [sailbot.main_algo]: Target Bearing: -143.00482201417202 +[main_algo-3] [INFO] [1746051526.506793466] [sailbot.main_algo]: Heading Difference: -165.46717798582796 +[main_algo-3] [INFO] [1746051526.508191642] [sailbot.main_algo]: Wind Direction: 218 +[main_algo-3] [INFO] [1746051526.509077555] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051526.509912036] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051526.511570190] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051526.544891007] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051526.545449544] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051526.546089826] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051526.547183177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051526.548497510] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051526.585436478] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051526.587756756] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051526.588226737] [sailbot.teensy]: Wind angle: 217 +[mux-7] [INFO] [1746051526.588740279] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051526.589636447] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051526.590724328] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051526.591587841] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051526.645262149] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051526.645888791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051526.646511693] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051526.647991345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051526.649430837] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051526.744752241] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051526.745593859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051526.745937167] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051526.747438269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051526.748455608] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051526.835452837] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051526.837756757] [sailbot.teensy]: Wind angle: 217 +[teensy-2] [INFO] [1746051526.839185429] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051526.838066134] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051526.839345766] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051526.840179136] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051526.841108880] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051526.844450934] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051526.845375260] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051526.845532294] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051526.847209828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051526.848353734] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051526.945040353] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051526.945879764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051526.946690417] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051526.947706678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051526.948750344] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051526.957512007] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051526.958487836] [sailbot.main_algo]: Target Bearing: -143.00482201417202 +[main_algo-3] [INFO] [1746051526.959320511] [sailbot.main_algo]: Heading Difference: -165.989177985828 +[main_algo-3] [INFO] [1746051526.960567846] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051526.961398814] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051526.962217914] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051526.963761381] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051526.963793473] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051527.002779943] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903655 Long: -76.50276406 +[main_algo-3] [INFO] [1746051527.004040861] [sailbot.main_algo]: Distance to destination: 56.7050244515995 +[vectornav-1] [INFO] [1746051527.004115907] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.129999999999995, -0.361, 5.465) +[main_algo-3] [INFO] [1746051527.005218902] [sailbot.main_algo]: Target Bearing: -143.01877418184299 +[main_algo-3] [INFO] [1746051527.006163739] [sailbot.main_algo]: Heading Difference: -165.975225818157 +[main_algo-3] [INFO] [1746051527.007577475] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051527.008516901] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051527.009324899] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051527.010866155] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051527.044934873] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051527.045673119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051527.046205956] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051527.047546723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051527.048591048] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051527.085223023] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051527.086958238] [sailbot.teensy]: Wind angle: 216 +[trim_sail-4] [INFO] [1746051527.087925134] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051527.090035711] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051527.090630971] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051527.091071695] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051527.091994979] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051527.145128373] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051527.145866031] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051527.146594241] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051527.147844208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051527.148964453] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051527.244983888] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051527.245859702] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051527.246279880] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051527.247796634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051527.248844155] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051527.335139675] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051527.337213465] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051527.337828525] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051527.338732527] [sailbot.teensy]: Wind angle: 217 +[teensy-2] [INFO] [1746051527.339796948] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051527.340623053] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051527.341472559] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051527.344397818] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051527.344858339] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051527.345439143] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051527.346412057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051527.347512202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051527.444935904] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051527.445758501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051527.446219479] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051527.447563253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051527.448296301] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051527.457700026] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051527.458729392] [sailbot.main_algo]: Target Bearing: -143.01877418184299 +[main_algo-3] [INFO] [1746051527.459806416] [sailbot.main_algo]: Heading Difference: -165.851225818157 +[main_algo-3] [INFO] [1746051527.461231708] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051527.462144523] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051527.463018370] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051527.464594946] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051527.464728638] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051527.502755957] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903657 Long: -76.50276376 +[main_algo-3] [INFO] [1746051527.503693682] [sailbot.main_algo]: Distance to destination: 56.725832043747026 +[vectornav-1] [INFO] [1746051527.504301233] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.678, -0.381, 6.236) +[main_algo-3] [INFO] [1746051527.506098014] [sailbot.main_algo]: Target Bearing: -143.032343697791 +[main_algo-3] [INFO] [1746051527.507066181] [sailbot.main_algo]: Heading Difference: -165.83765630220898 +[main_algo-3] [INFO] [1746051527.508447924] [sailbot.main_algo]: Wind Direction: 217 +[main_algo-3] [INFO] [1746051527.509275656] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051527.510057339] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051527.511681532] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051527.544985359] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051527.545701289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051527.546320997] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051527.547507884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051527.548656091] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051527.585341004] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051527.587460091] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051527.587686631] [sailbot.teensy]: Wind angle: 222 +[teensy-2] [INFO] [1746051527.588669630] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051527.589241858] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051527.589601670] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051527.590534507] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051527.644951598] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051527.645788735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051527.646563244] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051527.647595977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051527.648772995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051527.744648519] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051527.745149362] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051527.746963669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051527.748531268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051527.748533729] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051527.835368281] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051527.837210419] [sailbot.teensy]: Wind angle: 229 +[trim_sail-4] [INFO] [1746051527.838046944] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051527.839011405] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051527.839227640] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051527.839965933] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051527.840852964] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051527.844442604] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051527.844904057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051527.845591619] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051527.846606413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051527.847622041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051527.945201589] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051527.945885973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051527.946519347] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051527.947657040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051527.948725835] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051527.957843617] [sailbot.main_algo]: Wind Direction: 229 +[main_algo-3] [INFO] [1746051527.959094610] [sailbot.main_algo]: Target Bearing: -143.032343697791 +[main_algo-3] [INFO] [1746051527.960062522] [sailbot.main_algo]: Heading Difference: -165.28965630220898 +[main_algo-3] [INFO] [1746051527.961408714] [sailbot.main_algo]: Wind Direction: 229 +[main_algo-3] [INFO] [1746051527.962295401] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051527.963108653] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051527.964633739] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051527.964655006] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051528.001923762] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903641 Long: -76.50276377 +[main_algo-3] [INFO] [1746051528.002787002] [sailbot.main_algo]: Distance to destination: 56.71424992603286 +[vectornav-1] [INFO] [1746051528.002851342] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.17700000000002, -0.494, 5.574) +[main_algo-3] [INFO] [1746051528.003943288] [sailbot.main_algo]: Target Bearing: -143.04598195118626 +[main_algo-3] [INFO] [1746051528.005015904] [sailbot.main_algo]: Heading Difference: -165.27601804881374 +[main_algo-3] [INFO] [1746051528.006079034] [sailbot.main_algo]: Wind Direction: 229 +[main_algo-3] [INFO] [1746051528.006979293] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051528.007818380] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051528.009191649] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051528.044985364] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051528.045656220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051528.046464424] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051528.047528918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051528.048607605] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051528.085195014] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051528.086710366] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746051528.087184166] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051528.087594808] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051528.088474813] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051528.089405467] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051528.089781369] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746051528.144995651] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051528.145622076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051528.146264593] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051528.147422017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051528.148662897] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051528.244715529] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051528.245362146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051528.245894162] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051528.247117856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051528.248125105] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051528.334882311] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051528.336271781] [sailbot.teensy]: Wind angle: 236 +[trim_sail-4] [INFO] [1746051528.336768042] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051528.337083490] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051528.337353721] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051528.337893110] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051528.338719064] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051528.344330107] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051528.345215877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051528.345738763] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051528.346900862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051528.347949410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051528.444963293] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051528.445642987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051528.446456722] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051528.447705976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051528.448486607] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051528.457359389] [sailbot.main_algo]: Wind Direction: 236 +[main_algo-3] [INFO] [1746051528.458338756] [sailbot.main_algo]: Target Bearing: -143.04598195118626 +[main_algo-3] [INFO] [1746051528.459218624] [sailbot.main_algo]: Heading Difference: -164.77701804881372 +[main_algo-3] [INFO] [1746051528.460523958] [sailbot.main_algo]: Wind Direction: 236 +[main_algo-3] [INFO] [1746051528.461457300] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051528.462367365] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051528.463983826] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051528.464194014] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051528.502534721] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903657 Long: -76.50276377 +[main_algo-3] [INFO] [1746051528.503395130] [sailbot.main_algo]: Distance to destination: 56.72518397244436 +[vectornav-1] [INFO] [1746051528.503570980] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.13799999999998, -0.268, 5.537) +[main_algo-3] [INFO] [1746051528.504550369] [sailbot.main_algo]: Target Bearing: -143.03183259668353 +[main_algo-3] [INFO] [1746051528.505492290] [sailbot.main_algo]: Heading Difference: -164.79116740331642 +[main_algo-3] [INFO] [1746051528.506847685] [sailbot.main_algo]: Wind Direction: 236 +[main_algo-3] [INFO] [1746051528.507707494] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051528.508521238] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051528.510094805] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051528.544980106] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051528.546131126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051528.546273795] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051528.548801595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051528.550076116] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051528.585406176] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051528.587049995] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746051528.588147140] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051528.587459693] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051528.589268291] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051528.589574976] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051528.590191320] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051528.645081697] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051528.645893718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051528.646468510] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051528.647805503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051528.648873886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051528.744916756] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051528.745796825] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051528.746211950] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051528.748006084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051528.749053832] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051528.835346120] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051528.837773930] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051528.838583152] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051528.838765475] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746051528.839697138] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051528.840598336] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051528.841430680] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051528.844350669] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051528.844892712] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051528.845679089] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051528.846545167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051528.847594172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051528.944622587] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051528.945218676] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051528.945766887] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051528.947304063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051528.948541783] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051528.957472952] [sailbot.main_algo]: Wind Direction: 235 +[main_algo-3] [INFO] [1746051528.958456497] [sailbot.main_algo]: Target Bearing: -143.03183259668353 +[main_algo-3] [INFO] [1746051528.959292577] [sailbot.main_algo]: Heading Difference: -165.83016740331652 +[main_algo-3] [INFO] [1746051528.960535131] [sailbot.main_algo]: Wind Direction: 235 +[main_algo-3] [INFO] [1746051528.961362636] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051528.962152425] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051528.963693866] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051528.963795551] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051529.002744874] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903649 Long: -76.50276361 +[main_algo-3] [INFO] [1746051529.003733593] [sailbot.main_algo]: Distance to destination: 56.73008720811106 +[vectornav-1] [INFO] [1746051529.003958315] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.97800000000001, -0.571, 6.588) +[main_algo-3] [INFO] [1746051529.004975465] [sailbot.main_algo]: Target Bearing: -143.0470823022978 +[main_algo-3] [INFO] [1746051529.005963500] [sailbot.main_algo]: Heading Difference: -165.81491769770219 +[main_algo-3] [INFO] [1746051529.007977645] [sailbot.main_algo]: Wind Direction: 235 +[main_algo-3] [INFO] [1746051529.008931790] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051529.009833409] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051529.011577656] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051529.045023552] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051529.045645240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051529.046252558] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051529.047473938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051529.048647270] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051529.085212733] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051529.088178623] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051529.088211470] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746051529.089199779] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051529.089583028] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051529.090168717] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051529.091046095] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051529.145067217] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051529.145853188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051529.146478268] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051529.148216761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051529.149259289] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051529.244962318] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051529.245592804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051529.246240378] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051529.247388427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051529.248452399] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051529.335221193] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051529.336823397] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746051529.337283666] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051529.337727408] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051529.338754140] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051529.338770596] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051529.339703298] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051529.344524202] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051529.345368842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051529.345678139] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051529.347231479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051529.348257194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051529.444932960] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051529.445848722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051529.446189488] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051529.447923239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051529.449048453] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051529.457577386] [sailbot.main_algo]: Wind Direction: 235 +[main_algo-3] [INFO] [1746051529.458678188] [sailbot.main_algo]: Target Bearing: -143.0470823022978 +[main_algo-3] [INFO] [1746051529.459585995] [sailbot.main_algo]: Heading Difference: -165.97491769770215 +[main_algo-3] [INFO] [1746051529.460844979] [sailbot.main_algo]: Wind Direction: 235 +[main_algo-3] [INFO] [1746051529.461656234] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051529.462440199] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051529.463943276] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051529.463987190] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051529.502630882] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903632 Long: -76.50276366 +[main_algo-3] [INFO] [1746051529.503717862] [sailbot.main_algo]: Distance to destination: 56.71523223125963 +[main_algo-3] [INFO] [1746051529.504959085] [sailbot.main_algo]: Target Bearing: -143.059563743706 +[vectornav-1] [INFO] [1746051529.505461131] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.63499999999999, -0.508, 4.537) +[main_algo-3] [INFO] [1746051529.505948261] [sailbot.main_algo]: Heading Difference: -165.96243625629398 +[main_algo-3] [INFO] [1746051529.507438989] [sailbot.main_algo]: Wind Direction: 235 +[main_algo-3] [INFO] [1746051529.508361964] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051529.509252999] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051529.510830945] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051529.544572325] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051529.545237828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051529.545732236] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051529.546954973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051529.547914218] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051529.585304869] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051529.586974327] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746051529.587921327] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051529.588781304] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051529.587565707] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051529.588709758] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051529.589643434] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051529.644957679] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051529.645773082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051529.646302100] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051529.647796734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051529.648967858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051529.744838113] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051529.745614415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051529.746430934] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051529.748229483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051529.749574254] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051529.835142974] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051529.836769492] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746051529.837433162] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051529.838493813] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051529.839543533] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051529.839753852] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051529.840709029] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051529.844388423] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051529.845072191] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051529.845489201] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051529.846734796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051529.847766352] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051529.944873534] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051529.945607156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051529.946164514] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051529.947436208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051529.948622561] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051529.957547105] [sailbot.main_algo]: Wind Direction: 235 +[main_algo-3] [INFO] [1746051529.958527150] [sailbot.main_algo]: Target Bearing: -143.059563743706 +[main_algo-3] [INFO] [1746051529.959379263] [sailbot.main_algo]: Heading Difference: -165.305436256294 +[main_algo-3] [INFO] [1746051529.960631941] [sailbot.main_algo]: Wind Direction: 235 +[main_algo-3] [INFO] [1746051529.961466759] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051529.962291243] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051529.963877174] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051529.963869558] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051530.002918786] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903641 Long: -76.5027638 +[main_algo-3] [INFO] [1746051530.003756121] [sailbot.main_algo]: Distance to destination: 56.71230536260491 +[vectornav-1] [INFO] [1746051530.004163556] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.40199999999999, -0.369, 5.967) +[main_algo-3] [INFO] [1746051530.004890763] [sailbot.main_algo]: Target Bearing: -143.0444487659199 +[main_algo-3] [INFO] [1746051530.005867955] [sailbot.main_algo]: Heading Difference: -165.32055123408009 +[main_algo-3] [INFO] [1746051530.007449887] [sailbot.main_algo]: Wind Direction: 235 +[main_algo-3] [INFO] [1746051530.008403241] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051530.009293420] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051530.011023295] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051530.045059980] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051530.045129663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051530.046178938] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051530.046773107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051530.047794922] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051530.085351377] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051530.087494526] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051530.087714616] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746051530.088037523] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051530.088635856] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051530.089580514] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051530.090462176] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051530.144667429] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051530.147010761] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051530.150723800] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051530.152220581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051530.153437508] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051530.245054486] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051530.245667255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051530.246302186] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051530.247678049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051530.248717547] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051530.334946372] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051530.336384972] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746051530.337229098] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051530.337062486] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051530.337379934] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051530.338047755] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051530.338844893] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051530.344270137] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051530.344912890] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051530.345283489] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051530.346553718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051530.347740500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051530.444907783] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051530.445566578] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051530.446034683] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051530.447228764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051530.448299648] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051530.457402184] [sailbot.main_algo]: Wind Direction: 235 +[main_algo-3] [INFO] [1746051530.458345384] [sailbot.main_algo]: Target Bearing: -143.0444487659199 +[main_algo-3] [INFO] [1746051530.459230470] [sailbot.main_algo]: Heading Difference: -165.55355123408015 +[main_algo-3] [INFO] [1746051530.460517773] [sailbot.main_algo]: Wind Direction: 235 +[main_algo-3] [INFO] [1746051530.461389709] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051530.462208678] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051530.463645539] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051530.463663375] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051530.502473754] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903633 Long: -76.50276385 +[main_algo-3] [INFO] [1746051530.503299809] [sailbot.main_algo]: Distance to destination: 56.70359828819609 +[vectornav-1] [INFO] [1746051530.503690329] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.656000000000006, -0.08, 5.539) +[main_algo-3] [INFO] [1746051530.504748772] [sailbot.main_algo]: Target Bearing: -143.04897020204095 +[main_algo-3] [INFO] [1746051530.505690427] [sailbot.main_algo]: Heading Difference: -165.54902979795907 +[main_algo-3] [INFO] [1746051530.506913526] [sailbot.main_algo]: Wind Direction: 235 +[main_algo-3] [INFO] [1746051530.507790014] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051530.508618989] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051530.510214954] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051530.544836489] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051530.545483934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051530.545994908] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051530.547288113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051530.548480447] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051530.585354567] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051530.587551204] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051530.587776618] [sailbot.teensy]: Wind angle: 235 +[mux-7] [INFO] [1746051530.589461638] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051530.589570993] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051530.590493043] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051530.591493336] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051530.644957051] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051530.645763686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051530.646261259] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051530.647844941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051530.648867955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051530.745040975] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051530.745706538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051530.746445226] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051530.747775053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051530.749091742] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051530.835315537] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051530.837557183] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051530.837693521] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746051530.838627416] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051530.838772447] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051530.839548268] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051530.839942334] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051530.844344087] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051530.845254766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051530.845466814] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051530.847024583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051530.848060384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051530.944742048] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051530.945401218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051530.945975693] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051530.947285965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051530.948242202] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051530.957485940] [sailbot.main_algo]: Wind Direction: 235 +[main_algo-3] [INFO] [1746051530.958485390] [sailbot.main_algo]: Target Bearing: -143.04897020204095 +[main_algo-3] [INFO] [1746051530.959377616] [sailbot.main_algo]: Heading Difference: -165.29502979795905 +[main_algo-3] [INFO] [1746051530.960682894] [sailbot.main_algo]: Wind Direction: 235 +[main_algo-3] [INFO] [1746051530.961487743] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051530.962267781] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051530.963776339] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051530.963875009] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051531.002887474] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903652 Long: -76.50276392 +[main_algo-3] [INFO] [1746051531.003798051] [sailbot.main_algo]: Distance to destination: 56.712045588801516 +[vectornav-1] [INFO] [1746051531.004501894] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.589, -0.927, 5.577) +[main_algo-3] [INFO] [1746051531.004914697] [sailbot.main_algo]: Target Bearing: -143.02858606209082 +[main_algo-3] [INFO] [1746051531.005915934] [sailbot.main_algo]: Heading Difference: -165.31541393790917 +[main_algo-3] [INFO] [1746051531.007299546] [sailbot.main_algo]: Wind Direction: 235 +[main_algo-3] [INFO] [1746051531.008498251] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051531.009391766] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051531.011410060] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051531.044957566] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051531.045683811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051531.046321282] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051531.047615167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051531.048762660] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051531.085241792] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051531.086821729] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746051531.087397293] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051531.087740988] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051531.088749782] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051531.089696026] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051531.090247359] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051531.144508909] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051531.145124753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051531.145586744] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051531.146822807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051531.147822924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051531.245233042] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051531.246023455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051531.246759546] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051531.248349794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051531.249500028] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051531.335391384] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051531.337091739] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746051531.337618955] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051531.338043755] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051531.338806070] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051531.338965391] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051531.339189787] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051531.344252965] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051531.344956585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051531.345360675] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051531.346638887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051531.347779810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051531.445100982] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051531.445804280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051531.446557848] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051531.447810536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051531.449396958] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051531.457669478] [sailbot.main_algo]: Wind Direction: 235 +[main_algo-3] [INFO] [1746051531.458624084] [sailbot.main_algo]: Target Bearing: -143.02858606209082 +[main_algo-3] [INFO] [1746051531.459555965] [sailbot.main_algo]: Heading Difference: -165.38241393790918 +[main_algo-3] [INFO] [1746051531.460881937] [sailbot.main_algo]: Wind Direction: 235 +[main_algo-3] [INFO] [1746051531.461743620] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051531.462511965] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051531.464026422] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051531.464034109] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051531.502424651] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690367 Long: -76.50276388 +[vectornav-1] [INFO] [1746051531.503467330] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.93099999999998, -0.217, 6.311) +[main_algo-3] [INFO] [1746051531.503279260] [sailbot.main_algo]: Distance to destination: 56.72694305271462 +[main_algo-3] [INFO] [1746051531.505164974] [sailbot.main_algo]: Target Bearing: -143.01471681719195 +[main_algo-3] [INFO] [1746051531.506078365] [sailbot.main_algo]: Heading Difference: -165.39628318280802 +[main_algo-3] [INFO] [1746051531.507458085] [sailbot.main_algo]: Wind Direction: 235 +[main_algo-3] [INFO] [1746051531.508341197] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051531.509142804] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051531.510694991] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051531.545050293] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051531.545741110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051531.546537640] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051531.547681472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051531.548874839] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051531.585469692] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051531.588206068] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051531.590561334] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746051531.591564461] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051531.592129433] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051531.592539821] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051531.593506828] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051531.645374974] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051531.646190268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051531.646846240] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051531.648320651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051531.649517879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051531.745107931] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051531.745604086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051531.746639558] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051531.747422528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051531.748830645] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051531.834648144] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051531.836619124] [sailbot.teensy]: Wind angle: 237 +[trim_sail-4] [INFO] [1746051531.837058015] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051531.840068350] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051531.840354574] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051531.841055176] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051531.843707115] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051531.844407237] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051531.845604785] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051531.847018871] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051531.847703112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051531.848512365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051531.944841964] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051531.945616642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051531.945992201] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051531.947469769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051531.948528333] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051531.957623940] [sailbot.main_algo]: Wind Direction: 237 +[main_algo-3] [INFO] [1746051531.958688075] [sailbot.main_algo]: Target Bearing: -143.01471681719195 +[main_algo-3] [INFO] [1746051531.959651226] [sailbot.main_algo]: Heading Difference: -165.05428318280804 +[main_algo-3] [INFO] [1746051531.960886933] [sailbot.main_algo]: Wind Direction: 237 +[main_algo-3] [INFO] [1746051531.961707683] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051531.962479692] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051531.964080574] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051531.964135199] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051532.002892338] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903655 Long: -76.50276403 +[main_algo-3] [INFO] [1746051532.003864391] [sailbot.main_algo]: Distance to destination: 56.70696833540842 +[vectornav-1] [INFO] [1746051532.004472779] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.209, -0.254, 4.647) +[main_algo-3] [INFO] [1746051532.005439888] [sailbot.main_algo]: Target Bearing: -143.02030844352046 +[main_algo-3] [INFO] [1746051532.006434208] [sailbot.main_algo]: Heading Difference: -165.04869155647953 +[main_algo-3] [INFO] [1746051532.007783149] [sailbot.main_algo]: Wind Direction: 237 +[main_algo-3] [INFO] [1746051532.008686443] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051532.009533909] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051532.011143423] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051532.045020014] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051532.045795156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051532.046310847] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051532.047651286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051532.048892628] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051532.088403400] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051532.090304130] [sailbot.teensy]: Wind angle: 237 +[trim_sail-4] [INFO] [1746051532.090517134] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746051532.092889787] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051532.094579397] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051532.096188300] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051532.097157267] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051532.145142886] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051532.145822493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051532.146393095] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051532.147799929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051532.148854194] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051532.244904094] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051532.245541258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051532.246198013] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051532.247348965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051532.248283409] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051532.335226183] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051532.337511269] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051532.338144739] [sailbot.teensy]: Wind angle: 237 +[mux-7] [INFO] [1746051532.338534379] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051532.339111882] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051532.339992079] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051532.340852888] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051532.344490732] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051532.345055071] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051532.345678036] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051532.346747304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051532.347901754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051532.443875693] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051532.444539743] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051532.444317283] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051532.445318879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051532.445907891] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051532.456509483] [sailbot.main_algo]: Wind Direction: 237 +[main_algo-3] [INFO] [1746051532.457014378] [sailbot.main_algo]: Target Bearing: -143.02030844352046 +[main_algo-3] [INFO] [1746051532.457453094] [sailbot.main_algo]: Heading Difference: -164.7706915564795 +[main_algo-3] [INFO] [1746051532.458090707] [sailbot.main_algo]: Wind Direction: 237 +[main_algo-3] [INFO] [1746051532.458508870] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051532.458958891] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051532.459763568] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051532.459771580] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051532.502925743] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903648 Long: -76.50276426 +[main_algo-3] [INFO] [1746051532.503832813] [sailbot.main_algo]: Distance to destination: 56.687279709407036 +[vectornav-1] [INFO] [1746051532.504214137] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.27999999999997, -0.461, 5.567) +[main_algo-3] [INFO] [1746051532.505020481] [sailbot.main_algo]: Target Bearing: -143.01473440678365 +[main_algo-3] [INFO] [1746051532.506136038] [sailbot.main_algo]: Heading Difference: -164.77626559321635 +[main_algo-3] [INFO] [1746051532.507574114] [sailbot.main_algo]: Wind Direction: 237 +[main_algo-3] [INFO] [1746051532.508516413] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051532.509371796] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051532.511001452] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051532.544830654] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051532.545423999] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051532.546417717] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051532.547212796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051532.548433877] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051532.585350466] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051532.587599736] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051532.587969033] [sailbot.teensy]: Wind angle: 236 +[mux-7] [INFO] [1746051532.588740763] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051532.588890967] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051532.589758888] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051532.590716586] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051532.645432674] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051532.645867586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051532.647161989] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051532.647812087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051532.649054253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051532.745013163] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051532.745428543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051532.746240411] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051532.747175753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051532.748273934] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051532.835532949] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051532.838128168] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051532.838714078] [sailbot.teensy]: Wind angle: 232 +[mux-7] [INFO] [1746051532.838740093] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051532.839878492] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051532.840758243] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051532.841615298] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051532.844440164] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051532.845036020] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051532.845610610] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051532.847050092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051532.848326443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051532.945317501] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051532.945862485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051532.946766721] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051532.947791724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051532.948960331] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051532.957540789] [sailbot.main_algo]: Wind Direction: 232 +[main_algo-3] [INFO] [1746051532.958533048] [sailbot.main_algo]: Target Bearing: -143.01473440678365 +[main_algo-3] [INFO] [1746051532.959420507] [sailbot.main_algo]: Heading Difference: -165.70526559321638 +[main_algo-3] [INFO] [1746051532.960717136] [sailbot.main_algo]: Wind Direction: 232 +[main_algo-3] [INFO] [1746051532.961543807] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051532.962333400] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051532.963922440] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051532.963981729] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051533.002627696] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903657 Long: -76.50276423 +[main_algo-3] [INFO] [1746051533.003395261] [sailbot.main_algo]: Distance to destination: 56.69537754683178 +[vectornav-1] [INFO] [1746051533.004102341] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.26800000000003, -0.569, 6.035) +[main_algo-3] [INFO] [1746051533.004482633] [sailbot.main_algo]: Target Bearing: -143.0083093150125 +[main_algo-3] [INFO] [1746051533.005434473] [sailbot.main_algo]: Heading Difference: -165.7116906849875 +[main_algo-3] [INFO] [1746051533.006734704] [sailbot.main_algo]: Wind Direction: 232 +[main_algo-3] [INFO] [1746051533.007581857] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051533.008403446] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051533.009967579] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051533.044746155] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051533.045242167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051533.045892590] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051533.047035366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051533.048336001] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051533.085555363] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051533.087953754] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051533.088679835] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051533.089882252] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746051533.090808578] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051533.091638035] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051533.092521122] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051533.145089754] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051533.145650574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051533.146423725] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051533.147465550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051533.148703062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051533.245122390] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051533.245649337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051533.246479214] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051533.247466175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051533.248530496] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051533.335326422] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051533.337461081] [sailbot.teensy]: Wind angle: 231 +[trim_sail-4] [INFO] [1746051533.337839595] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051533.338414263] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051533.338557918] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051533.339178405] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051533.339572658] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051533.344611151] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051533.345239155] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051533.345848909] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051533.346994428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051533.348145372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051533.444898839] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051533.445520331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051533.446188048] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051533.447695509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051533.448979028] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051533.457321999] [sailbot.main_algo]: Wind Direction: 231 +[main_algo-3] [INFO] [1746051533.458284356] [sailbot.main_algo]: Target Bearing: -143.0083093150125 +[main_algo-3] [INFO] [1746051533.459128977] [sailbot.main_algo]: Heading Difference: -165.72369068498745 +[main_algo-3] [INFO] [1746051533.460368187] [sailbot.main_algo]: Wind Direction: 231 +[main_algo-3] [INFO] [1746051533.461231260] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051533.462048271] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051533.463717278] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051533.463850306] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051533.502897030] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903646 Long: -76.50276414 +[main_algo-3] [INFO] [1746051533.503890137] [sailbot.main_algo]: Distance to destination: 56.693687779542415 +[vectornav-1] [INFO] [1746051533.504226187] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.64999999999998, 0.113, 4.272) +[main_algo-3] [INFO] [1746051533.505134157] [sailbot.main_algo]: Target Bearing: -143.02264234126102 +[main_algo-3] [INFO] [1746051533.506171928] [sailbot.main_algo]: Heading Difference: -165.70935765873895 +[main_algo-3] [INFO] [1746051533.508533883] [sailbot.main_algo]: Wind Direction: 231 +[main_algo-3] [INFO] [1746051533.509585888] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051533.510496924] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051533.512193850] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051533.545320815] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051533.545944083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051533.547408782] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051533.547963086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051533.549053140] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051533.585193365] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051533.587222907] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051533.587533181] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746051533.588674250] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051533.588864328] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051533.589505218] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051533.590360907] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051533.645074235] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051533.645630745] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051533.646622885] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051533.647759238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051533.648903655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051533.745022470] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051533.745571530] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051533.746588438] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051533.747425960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051533.748490982] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051533.835192923] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051533.836797998] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746051533.837573629] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051533.837673803] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051533.838551536] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051533.838713213] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051533.839337073] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051533.844368015] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051533.845118952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051533.845472132] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051533.846919201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051533.848087319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051533.944919521] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051533.945616124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051533.946610644] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051533.947408474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051533.948474354] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051533.957503759] [sailbot.main_algo]: Wind Direction: 230 +[main_algo-3] [INFO] [1746051533.959015376] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746051533.960026873] [sailbot.main_algo]: Target Bearing: -143.02264234126102 +[main_algo-3] [INFO] [1746051533.961047337] [sailbot.main_algo]: Heading Difference: -165.327357658739 +[main_algo-3] [INFO] [1746051533.962490815] [sailbot.main_algo]: Wind Direction: 230 +[main_algo-3] [INFO] [1746051533.964021274] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051533.965188504] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051533.967567990] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051533.967589093] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051534.002435482] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903621 Long: -76.5027643 +[main_algo-3] [INFO] [1746051534.003331418] [sailbot.main_algo]: Distance to destination: 56.66623098246167 +[vectornav-1] [INFO] [1746051534.003654190] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.58499999999998, -0.935, 6.322) +[main_algo-3] [INFO] [1746051534.004459005] [sailbot.main_algo]: Target Bearing: -143.0365787688868 +[main_algo-3] [INFO] [1746051534.005425891] [sailbot.main_algo]: Heading Difference: -165.31342123111324 +[main_algo-3] [INFO] [1746051534.006765541] [sailbot.main_algo]: Wind Direction: 230 +[main_algo-3] [INFO] [1746051534.007682465] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051534.008579891] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051534.010212967] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051534.044771589] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051534.045346633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051534.045976639] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051534.047140828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051534.048181127] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051534.085156574] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051534.087086782] [sailbot.teensy]: Wind angle: 230 +[teensy-2] [INFO] [1746051534.087967157] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051534.087204736] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051534.088861947] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051534.089035237] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051534.089738645] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051534.145291959] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051534.145947073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051534.146766680] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051534.147903254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051534.148950140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051534.245135061] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051534.245756257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051534.246504963] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051534.247761353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051534.249515312] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051534.335356378] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051534.337498373] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746051534.338740875] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051534.337948779] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051534.339089392] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051534.339344573] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051534.339731511] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051534.344565692] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051534.345002722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051534.345741467] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051534.346713818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051534.347756542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051534.444911633] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051534.445382439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051534.446212877] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051534.447083859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051534.448296362] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051534.457444210] [sailbot.main_algo]: Wind Direction: 231 +[main_algo-3] [INFO] [1746051534.458376303] [sailbot.main_algo]: Target Bearing: -143.0365787688868 +[main_algo-3] [INFO] [1746051534.459208872] [sailbot.main_algo]: Heading Difference: -165.37842123111318 +[main_algo-3] [INFO] [1746051534.460455709] [sailbot.main_algo]: Wind Direction: 231 +[main_algo-3] [INFO] [1746051534.461289919] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051534.462137605] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051534.463629218] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051534.463659243] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051534.501937130] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903623 Long: -76.50276447 +[main_algo-3] [INFO] [1746051534.502686975] [sailbot.main_algo]: Distance to destination: 56.65658085694559 +[main_algo-3] [INFO] [1746051534.503550478] [sailbot.main_algo]: Target Bearing: -143.02610976933514 +[vectornav-1] [INFO] [1746051534.503902085] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.80099999999999, -0.094, 4.806) +[main_algo-3] [INFO] [1746051534.504588699] [sailbot.main_algo]: Heading Difference: -165.38889023066486 +[main_algo-3] [INFO] [1746051534.505915389] [sailbot.main_algo]: Wind Direction: 231 +[main_algo-3] [INFO] [1746051534.506741072] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051534.507565145] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051534.511104698] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051534.543732699] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051534.544177454] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051534.544487556] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051534.545299667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051534.546008264] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051534.585182553] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051534.586652389] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746051534.587343937] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051534.587535888] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051534.588593880] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051534.588708697] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051534.589489968] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051534.645160384] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051534.645860987] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051534.646644150] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051534.647893813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051534.648932778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051534.744885850] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051534.745440204] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051534.746162593] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051534.747182811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051534.748211673] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051534.835190866] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051534.837520691] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051534.837863305] [sailbot.teensy]: Wind angle: 230 +[mux-7] [INFO] [1746051534.838680913] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051534.838845418] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051534.839844785] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051534.840581677] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051534.844572642] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051534.845186970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051534.845842238] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051534.846846617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051534.847935423] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051534.950361583] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051534.952621311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051534.950816207] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051534.952091617] [sailbot.mux]: Published rudder angle from controller_app: 0 +[main_algo-3] [INFO] [1746051534.957852897] [sailbot.main_algo]: Wind Direction: 230 +[main_algo-3] [INFO] [1746051534.959405709] [sailbot.main_algo]: Target Bearing: -143.02610976933514 +[main_algo-3] [INFO] [1746051534.960829707] [sailbot.main_algo]: Heading Difference: -165.17289023066485 +[teensy-2] [INFO] [1746051534.961480813] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051534.963051175] [sailbot.main_algo]: Wind Direction: 230 +[main_algo-3] [INFO] [1746051534.964067118] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051534.964922448] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051534.966574784] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051534.966626729] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051535.003225394] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903604 Long: -76.50276454 +[vectornav-1] [INFO] [1746051535.004473486] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.884000000000015, -0.368, 5.634) +[main_algo-3] [INFO] [1746051535.003799173] [sailbot.main_algo]: Distance to destination: 56.63905834174728 +[main_algo-3] [INFO] [1746051535.005088419] [sailbot.main_algo]: Target Bearing: -143.03934947044536 +[main_algo-3] [INFO] [1746051535.006307200] [sailbot.main_algo]: Heading Difference: -165.15965052955465 +[main_algo-3] [INFO] [1746051535.007690777] [sailbot.main_algo]: Wind Direction: 230 +[main_algo-3] [INFO] [1746051535.008583070] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051535.009435915] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051535.011189654] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051535.044958379] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051535.045722346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051535.046238403] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051535.047701087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051535.048886178] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051535.085276482] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051535.086985192] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746051535.087921829] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051535.087939999] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051535.088530056] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051535.088826034] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051535.089697180] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051535.145049815] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051535.146003372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051535.146353901] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051535.147980496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051535.148649482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051535.244655977] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051535.245237669] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051535.245762482] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051535.246918476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051535.247901883] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051535.335246065] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051535.337292337] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746051535.337392704] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051535.338636355] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051535.339183767] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051535.340117949] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051535.340638168] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051535.344509834] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051535.345080441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051535.345627254] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051535.346763953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051535.347755823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051535.444996394] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051535.445795590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051535.446295857] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051535.447633606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051535.448678282] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051535.457413132] [sailbot.main_algo]: Wind Direction: 230 +[main_algo-3] [INFO] [1746051535.458373849] [sailbot.main_algo]: Target Bearing: -143.03934947044536 +[main_algo-3] [INFO] [1746051535.459220551] [sailbot.main_algo]: Heading Difference: -165.07665052955463 +[main_algo-3] [INFO] [1746051535.460449031] [sailbot.main_algo]: Wind Direction: 230 +[main_algo-3] [INFO] [1746051535.461262158] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051535.462063195] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051535.463568030] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051535.463624838] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051535.502356365] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690361 Long: -76.50276467 +[main_algo-3] [INFO] [1746051535.503200848] [sailbot.main_algo]: Distance to destination: 56.634734036535 +[vectornav-1] [INFO] [1746051535.503582467] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.85000000000002, -0.436, 5.472) +[main_algo-3] [INFO] [1746051535.504192975] [sailbot.main_algo]: Target Bearing: -143.0273815863306 +[main_algo-3] [INFO] [1746051535.505186951] [sailbot.main_algo]: Heading Difference: -165.0886184136694 +[main_algo-3] [INFO] [1746051535.506607476] [sailbot.main_algo]: Wind Direction: 230 +[main_algo-3] [INFO] [1746051535.507561117] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051535.508420728] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051535.510085246] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051535.544695694] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051535.545058822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051535.546234352] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051535.546707985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051535.549055236] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051535.585510703] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051535.587713392] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746051535.588212547] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051535.589314092] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051535.589837616] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051535.591074755] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051535.591921253] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051535.644817130] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051535.645407142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051535.646146245] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051535.647413099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051535.648574383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051535.744896222] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051535.745525058] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051535.746196023] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051535.747546152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051535.748578336] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051535.835575840] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051535.837481409] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746051535.838028461] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051535.838476089] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051535.839373900] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051535.839765632] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051535.840322007] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051535.844350399] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051535.844877053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051535.845479634] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051535.846627209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051535.847789750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051535.944262031] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051535.944722152] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051535.945154840] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051535.946275447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051535.947331133] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051535.956846429] [sailbot.main_algo]: Wind Direction: 230 +[main_algo-3] [INFO] [1746051535.957695340] [sailbot.main_algo]: Target Bearing: -143.0273815863306 +[main_algo-3] [INFO] [1746051535.958532732] [sailbot.main_algo]: Heading Difference: -165.1226184136694 +[main_algo-3] [INFO] [1746051535.959805368] [sailbot.main_algo]: Wind Direction: 230 +[main_algo-3] [INFO] [1746051535.960565938] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051535.961468889] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051535.963129886] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051535.963354670] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051536.002367083] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903615 Long: -76.50276469 +[main_algo-3] [INFO] [1746051536.003238725] [sailbot.main_algo]: Distance to destination: 56.63685600124024 +[vectornav-1] [INFO] [1746051536.003298965] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.14499999999998, -0.299, 5.745) +[main_algo-3] [INFO] [1746051536.004271220] [sailbot.main_algo]: Target Bearing: -143.02193022866376 +[main_algo-3] [INFO] [1746051536.005146544] [sailbot.main_algo]: Heading Difference: -165.1280697713362 +[main_algo-3] [INFO] [1746051536.006469592] [sailbot.main_algo]: Wind Direction: 230 +[main_algo-3] [INFO] [1746051536.007334529] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051536.008171399] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051536.009750235] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051536.045339712] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051536.045939995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051536.046876753] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051536.048894612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051536.050059320] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051536.085255811] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051536.087290942] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746051536.087329436] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051536.087825404] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051536.088208617] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051536.089108978] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051536.089957230] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051536.145004016] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051536.145801218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051536.146313002] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051536.147820929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051536.148975824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051536.245166365] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051536.245870428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051536.246530091] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051536.247726343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051536.248870353] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051536.335333441] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051536.337541895] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051536.338022029] [sailbot.teensy]: Wind angle: 230 +[mux-7] [INFO] [1746051536.338530428] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051536.338958645] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051536.339855535] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051536.340706104] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051536.344635786] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051536.345167305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051536.345921732] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051536.346944191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051536.348054517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051536.445126757] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051536.445350078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051536.446290382] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051536.446992876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051536.448074520] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051536.457447620] [sailbot.main_algo]: Wind Direction: 230 +[main_algo-3] [INFO] [1746051536.458405440] [sailbot.main_algo]: Target Bearing: -143.02193022866376 +[main_algo-3] [INFO] [1746051536.459280443] [sailbot.main_algo]: Heading Difference: -164.83306977133623 +[main_algo-3] [INFO] [1746051536.460552899] [sailbot.main_algo]: Wind Direction: 230 +[main_algo-3] [INFO] [1746051536.461415446] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051536.462227308] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051536.464063721] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051536.464191216] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051536.502821804] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903615 Long: -76.50276488 +[main_algo-3] [INFO] [1746051536.503730291] [sailbot.main_algo]: Distance to destination: 56.62454515816628 +[vectornav-1] [INFO] [1746051536.504235914] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.185, -0.319, 4.812) +[main_algo-3] [INFO] [1746051536.504981364] [sailbot.main_algo]: Target Bearing: -143.01219978498153 +[main_algo-3] [INFO] [1746051536.505901002] [sailbot.main_algo]: Heading Difference: -164.84280021501849 +[main_algo-3] [INFO] [1746051536.507291253] [sailbot.main_algo]: Wind Direction: 230 +[main_algo-3] [INFO] [1746051536.508167184] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051536.509007078] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051536.510781971] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051536.544900675] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051536.544941091] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051536.545986072] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051536.546544205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051536.547594822] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051536.584650535] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051536.585929987] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746051536.586382326] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051536.588064302] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051536.588369391] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051536.589464492] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051536.590383550] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051536.644196009] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051536.644777576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051536.645265617] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051536.646395330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051536.647198491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051536.744592634] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051536.745956597] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051536.746161870] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051536.747826178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051536.748781261] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051536.835424532] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051536.837438472] [sailbot.teensy]: Wind angle: 230 +[teensy-2] [INFO] [1746051536.838427030] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051536.837913389] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051536.838579976] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051536.839500724] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051536.840421936] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051536.844409196] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051536.844988313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051536.845700233] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051536.846721936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051536.847749028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051536.944899259] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051536.945526831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051536.946097438] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051536.947358746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051536.948610943] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051536.957697606] [sailbot.main_algo]: Wind Direction: 230 +[main_algo-3] [INFO] [1746051536.958797647] [sailbot.main_algo]: Target Bearing: -143.01219978498153 +[main_algo-3] [INFO] [1746051536.959729939] [sailbot.main_algo]: Heading Difference: -165.80280021501846 +[main_algo-3] [INFO] [1746051536.961051934] [sailbot.main_algo]: Wind Direction: 230 +[main_algo-3] [INFO] [1746051536.961950900] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051536.962734766] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051536.964296071] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051536.964387461] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051537.002662279] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903624 Long: -76.50276489 +[main_algo-3] [INFO] [1746051537.003342472] [sailbot.main_algo]: Distance to destination: 56.630051954265156 +[vectornav-1] [INFO] [1746051537.003825243] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.322, -0.189, 6.613) +[main_algo-3] [INFO] [1746051537.004499868] [sailbot.main_algo]: Target Bearing: -143.0037188813133 +[main_algo-3] [INFO] [1746051537.005390870] [sailbot.main_algo]: Heading Difference: -165.81128111868668 +[main_algo-3] [INFO] [1746051537.006651646] [sailbot.main_algo]: Wind Direction: 230 +[main_algo-3] [INFO] [1746051537.007490254] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051537.008329561] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051537.009850782] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051537.045145348] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051537.045869362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051537.046452887] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051537.047790572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051537.049024678] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051537.085265723] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051537.087257888] [sailbot.teensy]: Wind angle: 230 +[trim_sail-4] [INFO] [1746051537.087674341] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051537.088460453] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051537.088657462] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051537.089385930] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051537.090276376] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051537.144785320] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051537.145564790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051537.146005032] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051537.147449605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051537.148483417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051537.244870003] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051537.245411744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051537.246069963] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051537.247161256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051537.248229389] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051537.335509170] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051537.338209804] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051537.338669835] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051537.339050818] [sailbot.teensy]: Wind angle: 230 +[teensy-2] [INFO] [1746051537.339485244] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051537.339846600] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051537.340215653] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051537.344432929] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051537.344962190] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051537.345504117] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051537.346648650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051537.347716910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051537.445243902] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051537.445965407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051537.446576890] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051537.447977303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051537.449021956] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051537.457389681] [sailbot.main_algo]: Wind Direction: 230 +[main_algo-3] [INFO] [1746051537.458310254] [sailbot.main_algo]: Target Bearing: -143.0037188813133 +[main_algo-3] [INFO] [1746051537.459129986] [sailbot.main_algo]: Heading Difference: -166.67428111868674 +[main_algo-3] [INFO] [1746051537.460357601] [sailbot.main_algo]: Wind Direction: 230 +[main_algo-3] [INFO] [1746051537.461168041] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051537.461975033] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051537.463482298] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051537.463509733] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051537.502937089] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903618 Long: -76.50276465 +[main_algo-3] [INFO] [1746051537.503927091] [sailbot.main_algo]: Distance to destination: 56.64149884642812 +[vectornav-1] [INFO] [1746051537.504460129] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.91300000000001, -1.32, 4.339) +[main_algo-3] [INFO] [1746051537.505466241] [sailbot.main_algo]: Target Bearing: -143.0213220793936 +[main_algo-3] [INFO] [1746051537.506442492] [sailbot.main_algo]: Heading Difference: -166.6566779206064 +[main_algo-3] [INFO] [1746051537.507777622] [sailbot.main_algo]: Wind Direction: 230 +[main_algo-3] [INFO] [1746051537.508676305] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051537.509530170] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051537.511293059] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051537.544997720] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051537.545721763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051537.546288079] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051537.547673407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051537.548783598] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051537.585167806] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051537.587220446] [sailbot.teensy]: Wind angle: 230 +[teensy-2] [INFO] [1746051537.588368302] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051537.587511951] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051537.589296534] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051537.590243117] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051537.591401948] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051537.645732251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051537.645983512] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051537.647219854] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051537.647518854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051537.648624599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051537.745057525] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051537.745881804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051537.746817022] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051537.747991955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051537.748515023] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051537.835297870] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051537.837221534] [sailbot.teensy]: Wind angle: 228 +[trim_sail-4] [INFO] [1746051537.838175714] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051537.839528559] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051537.839584551] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051537.840625095] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051537.841713060] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051537.844762292] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051537.845725828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051537.845932873] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051537.847888216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051537.848911101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051537.945170212] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051537.945928916] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051537.946814409] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051537.947963460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051537.949121827] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051537.957489701] [sailbot.main_algo]: Wind Direction: 228 +[main_algo-3] [INFO] [1746051537.958464478] [sailbot.main_algo]: Target Bearing: -143.0213220793936 +[main_algo-3] [INFO] [1746051537.959324258] [sailbot.main_algo]: Heading Difference: -165.0656779206064 +[main_algo-3] [INFO] [1746051537.960551295] [sailbot.main_algo]: Wind Direction: 228 +[main_algo-3] [INFO] [1746051537.961361749] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051537.962161821] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051537.963681277] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051537.963793785] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051538.002819162] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903621 Long: -76.50276449 +[main_algo-3] [INFO] [1746051538.003665223] [sailbot.main_algo]: Distance to destination: 56.653917676892355 +[vectornav-1] [INFO] [1746051538.004026956] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.259000000000015, 0.857, 5.395) +[main_algo-3] [INFO] [1746051538.004778590] [sailbot.main_algo]: Target Bearing: -143.02685655109832 +[main_algo-3] [INFO] [1746051538.005770420] [sailbot.main_algo]: Heading Difference: -165.06014344890167 +[main_algo-3] [INFO] [1746051538.007330587] [sailbot.main_algo]: Wind Direction: 228 +[main_algo-3] [INFO] [1746051538.008225138] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051538.009064923] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051538.010793697] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051538.044691390] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051538.045156109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051538.045951616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051538.046791939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051538.047876374] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051538.085357207] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051538.087535613] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051538.087952365] [sailbot.teensy]: Wind angle: 228 +[mux-7] [INFO] [1746051538.088713896] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051538.089840050] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051538.090772449] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051538.091586749] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051538.145082711] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051538.145648732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051538.146317431] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051538.147625641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051538.148747571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051538.245182205] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051538.245737905] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051538.246558271] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051538.247569483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051538.248709954] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051538.335164314] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051538.337149572] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051538.337499314] [sailbot.teensy]: Wind angle: 229 +[teensy-2] [INFO] [1746051538.338337505] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051538.338766083] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051538.339175207] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051538.339954500] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051538.344318954] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051538.344814706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051538.345753632] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051538.346542186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051538.347550200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051538.445374023] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051538.445976320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051538.446916553] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051538.447976073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051538.449192163] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051538.457468599] [sailbot.main_algo]: Wind Direction: 229 +[main_algo-3] [INFO] [1746051538.458559371] [sailbot.main_algo]: Target Bearing: -143.02685655109832 +[main_algo-3] [INFO] [1746051538.459574684] [sailbot.main_algo]: Heading Difference: -166.71414344890167 +[main_algo-3] [INFO] [1746051538.460957948] [sailbot.main_algo]: Wind Direction: 229 +[main_algo-3] [INFO] [1746051538.461874866] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051538.462759374] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051538.464630389] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051538.464958833] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051538.502885512] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903625 Long: -76.50276454 +[main_algo-3] [INFO] [1746051538.503659810] [sailbot.main_algo]: Distance to destination: 56.65341211779059 +[vectornav-1] [INFO] [1746051538.504050820] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.773000000000025, -0.833, 5.353) +[main_algo-3] [INFO] [1746051538.504782500] [sailbot.main_algo]: Target Bearing: -143.0207565968972 +[main_algo-3] [INFO] [1746051538.505782176] [sailbot.main_algo]: Heading Difference: -166.7202434031028 +[main_algo-3] [INFO] [1746051538.507265699] [sailbot.main_algo]: Wind Direction: 229 +[main_algo-3] [INFO] [1746051538.508197080] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051538.509089538] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051538.510855479] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051538.544600563] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051538.545024877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051538.545732033] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051538.546768987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051538.547760186] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051538.585148470] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051538.587219754] [sailbot.teensy]: Wind angle: 237 +[trim_sail-4] [INFO] [1746051538.587258347] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051538.588237857] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051538.588887658] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051538.589140984] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051538.590192714] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051538.644490913] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051538.644936493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051538.645593634] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051538.646697000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051538.648007023] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051538.744714918] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051538.745169088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051538.746199651] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051538.746885695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051538.747947790] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051538.835361153] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051538.837105277] [sailbot.teensy]: Wind angle: 249 +[trim_sail-4] [INFO] [1746051538.837786048] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051538.837998288] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051538.838996272] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051538.840122423] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051538.840354607] [sailbot.mux]: algo sail angle: 15 +[mux-7] [INFO] [1746051538.844691364] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051538.845165926] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051538.846178827] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051538.846954184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051538.848047576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051538.945222930] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051538.946001666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051538.946670249] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051538.947993424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051538.949106192] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051538.957692981] [sailbot.main_algo]: Wind Direction: 249 +[main_algo-3] [INFO] [1746051538.958685586] [sailbot.main_algo]: Target Bearing: -143.0207565968972 +[main_algo-3] [INFO] [1746051538.959605821] [sailbot.main_algo]: Heading Difference: -167.2062434031028 +[main_algo-3] [INFO] [1746051538.960922287] [sailbot.main_algo]: Wind Direction: 249 +[main_algo-3] [INFO] [1746051538.961806128] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051538.962648709] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051538.964231189] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051538.964531166] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051539.002874854] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903622 Long: -76.50276458 +[main_algo-3] [INFO] [1746051539.003687205] [sailbot.main_algo]: Distance to destination: 56.64876926950292 +[vectornav-1] [INFO] [1746051539.004211466] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.511000000000024, -0.65, 5.167) +[main_algo-3] [INFO] [1746051539.004783520] [sailbot.main_algo]: Target Bearing: -143.0213645752647 +[main_algo-3] [INFO] [1746051539.005736232] [sailbot.main_algo]: Heading Difference: -167.2056354247353 +[main_algo-3] [INFO] [1746051539.007354086] [sailbot.main_algo]: Wind Direction: 249 +[main_algo-3] [INFO] [1746051539.008358221] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051539.009232938] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051539.010932385] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051539.044999871] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051539.045654136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051539.046299685] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051539.047558151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051539.048610929] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051539.085207043] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051539.086850030] [sailbot.teensy]: Wind angle: 254 +[teensy-2] [INFO] [1746051539.087698598] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051539.087343124] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746051539.088311085] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051539.088547923] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051539.089352396] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051539.144721099] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051539.145305605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051539.145851043] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051539.147153039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051539.148090478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051539.245274791] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051539.245909762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051539.246727408] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051539.248380768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051539.249434240] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051539.335305369] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051539.337506485] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051539.337682432] [sailbot.teensy]: Wind angle: 254 +[teensy-2] [INFO] [1746051539.338738204] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051539.339315442] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051539.339762927] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051539.340755428] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051539.344214018] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051539.344730086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051539.345294095] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051539.346385140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051539.347399161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051539.445113720] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051539.446121389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051539.446592582] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051539.448350246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051539.449530304] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051539.457639065] [sailbot.main_algo]: Wind Direction: 254 +[main_algo-3] [INFO] [1746051539.458662295] [sailbot.main_algo]: Target Bearing: -143.0213645752647 +[main_algo-3] [INFO] [1746051539.459559143] [sailbot.main_algo]: Heading Difference: -166.46763542473525 +[main_algo-3] [INFO] [1746051539.460919226] [sailbot.main_algo]: Wind Direction: 254 +[main_algo-3] [INFO] [1746051539.461806293] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051539.462634315] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051539.464135332] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051539.464287118] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051539.502372999] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903632 Long: -76.50276437 +[main_algo-3] [INFO] [1746051539.503219519] [sailbot.main_algo]: Distance to destination: 56.66921328024947 +[vectornav-1] [INFO] [1746051539.503358028] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.09100000000001, -0.373, 4.655) +[main_algo-3] [INFO] [1746051539.504279576] [sailbot.main_algo]: Target Bearing: -143.02326182664817 +[main_algo-3] [INFO] [1746051539.505145839] [sailbot.main_algo]: Heading Difference: -166.46573817335184 +[main_algo-3] [INFO] [1746051539.506420804] [sailbot.main_algo]: Wind Direction: 254 +[main_algo-3] [INFO] [1746051539.507334564] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051539.508317308] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051539.509975307] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051539.544735846] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051539.545479166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051539.545981986] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051539.547314268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051539.548305804] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051539.585337057] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051539.586973391] [sailbot.teensy]: Wind angle: 254 +[teensy-2] [INFO] [1746051539.587908775] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051539.587503285] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746051539.588716715] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051539.588850609] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051539.589758445] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051539.645286194] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051539.645878765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051539.646841900] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051539.648015127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051539.649172788] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051539.745258823] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051539.746336616] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051539.749212769] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051539.750580145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051539.752454960] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051539.835380041] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051539.837086540] [sailbot.teensy]: Wind angle: 249 +[trim_sail-4] [INFO] [1746051539.837514119] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051539.838071112] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051539.839028472] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051539.839028963] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051539.839910168] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051539.844257650] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051539.844783551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051539.845580853] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051539.846498970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051539.847600324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051539.945096018] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051539.946075969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051539.946802967] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051539.948249794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051539.949356860] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051539.957501977] [sailbot.main_algo]: Wind Direction: 249 +[main_algo-3] [INFO] [1746051539.958521264] [sailbot.main_algo]: Target Bearing: -143.02326182664817 +[main_algo-3] [INFO] [1746051539.960509097] [sailbot.main_algo]: Heading Difference: -166.8857381733518 +[main_algo-3] [INFO] [1746051539.962563838] [sailbot.main_algo]: Wind Direction: 249 +[main_algo-3] [INFO] [1746051539.963690248] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051539.964733019] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051539.966489518] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051539.966506257] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051540.002836358] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903634 Long: -76.50276443 +[main_algo-3] [INFO] [1746051540.003746850] [sailbot.main_algo]: Distance to destination: 56.66669275201708 +[vectornav-1] [INFO] [1746051540.004108486] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.62900000000002, 0.315, 4.565) +[main_algo-3] [INFO] [1746051540.005183293] [sailbot.main_algo]: Target Bearing: -143.01842148289063 +[main_algo-3] [INFO] [1746051540.006435665] [sailbot.main_algo]: Heading Difference: -166.89057851710936 +[main_algo-3] [INFO] [1746051540.007819335] [sailbot.main_algo]: Wind Direction: 249 +[main_algo-3] [INFO] [1746051540.008726944] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051540.009584663] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051540.011219553] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051540.045002969] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051540.045723311] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051540.046333792] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051540.047742963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051540.048779411] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051540.085255216] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051540.086925752] [sailbot.teensy]: Wind angle: 242 +[teensy-2] [INFO] [1746051540.087885177] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051540.088933249] [sailbot.teensy]: Actual tail angle: 25 +[trim_sail-4] [INFO] [1746051540.087384135] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746051540.088934608] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051540.089975725] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051540.144913858] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051540.145581556] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051540.146270922] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051540.147421495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051540.148515733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051540.244685294] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051540.245231839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051540.245801680] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051540.246875358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051540.247957093] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051540.335386384] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051540.337296487] [sailbot.teensy]: Wind angle: 239 +[trim_sail-4] [INFO] [1746051540.337806436] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746051540.338855078] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051540.338956911] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051540.339388837] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051540.339756848] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051540.344452142] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051540.345053689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051540.346404243] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051540.346670218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051540.347716602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051540.445158563] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051540.446128982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051540.446609156] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051540.448125569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051540.449409599] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051540.457628696] [sailbot.main_algo]: Wind Direction: 239 +[main_algo-3] [INFO] [1746051540.458618430] [sailbot.main_algo]: Target Bearing: -143.01842148289063 +[main_algo-3] [INFO] [1746051540.459482417] [sailbot.main_algo]: Heading Difference: -167.35257851710935 +[main_algo-3] [INFO] [1746051540.460719783] [sailbot.main_algo]: Wind Direction: 239 +[main_algo-3] [INFO] [1746051540.461534067] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051540.462325259] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051540.463839835] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051540.463847731] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051540.502497015] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903636 Long: -76.50276455 +[main_algo-3] [INFO] [1746051540.503455499] [sailbot.main_algo]: Distance to destination: 56.66028526082936 +[vectornav-1] [INFO] [1746051540.503708811] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.168000000000006, -0.481, 5.839) +[main_algo-3] [INFO] [1746051540.504628046] [sailbot.main_algo]: Target Bearing: -143.01050930400555 +[main_algo-3] [INFO] [1746051540.505583919] [sailbot.main_algo]: Heading Difference: -167.36049069599443 +[main_algo-3] [INFO] [1746051540.507101343] [sailbot.main_algo]: Wind Direction: 239 +[main_algo-3] [INFO] [1746051540.508025404] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051540.508871692] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051540.510453067] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051540.544874841] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051540.545926384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051540.546361826] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051540.549635138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051540.550859685] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051540.585284155] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051540.586868080] [sailbot.teensy]: Wind angle: 236 +[trim_sail-4] [INFO] [1746051540.587369536] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051540.587739906] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051540.588628405] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051540.588650029] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051540.589491314] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051540.645069053] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051540.645588963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051540.646397028] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051540.647486218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051540.648617380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051540.743981154] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051540.744439004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051540.744897392] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051540.745906373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051540.746848503] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051540.835311630] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051540.836977081] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746051540.837869546] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051540.838057790] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051540.838715967] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051540.838859668] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051540.839506122] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051540.844347320] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051540.844858280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051540.845415702] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051540.846415413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051540.847446961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051540.944762649] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051540.945542010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051540.946056854] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051540.947351696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051540.948383466] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051540.957613991] [sailbot.main_algo]: Wind Direction: 235 +[main_algo-3] [INFO] [1746051540.958648330] [sailbot.main_algo]: Target Bearing: -143.01050930400555 +[main_algo-3] [INFO] [1746051540.959515554] [sailbot.main_algo]: Heading Difference: -167.82149069599444 +[main_algo-3] [INFO] [1746051540.960731916] [sailbot.main_algo]: Wind Direction: 235 +[main_algo-3] [INFO] [1746051540.961521408] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051540.962289781] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051540.963790840] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051540.963834597] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051541.002510943] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903616 Long: -76.50276473 +[main_algo-3] [INFO] [1746051541.003447028] [sailbot.main_algo]: Distance to destination: 56.63494778455135 +[vectornav-1] [INFO] [1746051541.004061429] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.69499999999999, -1.063, 5.959) +[main_algo-3] [INFO] [1746051541.004617304] [sailbot.main_algo]: Target Bearing: -143.0189966391451 +[main_algo-3] [INFO] [1746051541.005532614] [sailbot.main_algo]: Heading Difference: -167.8130033608549 +[main_algo-3] [INFO] [1746051541.006800091] [sailbot.main_algo]: Wind Direction: 235 +[main_algo-3] [INFO] [1746051541.007670914] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051541.008538313] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051541.010175241] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051541.044878723] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051541.045752534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051541.046766925] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051541.048113695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051541.049279866] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051541.085252381] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051541.087058195] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746051541.087702179] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051541.088433708] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051541.089494920] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051541.089781997] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051541.090591731] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051541.144432152] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051541.144886963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051541.145603624] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051541.146630802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051541.147657430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051541.245489062] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051541.246056015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051541.246820089] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051541.248084524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051541.249747128] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051541.335266144] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051541.337503409] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051541.337974189] [sailbot.teensy]: Wind angle: 235 +[teensy-2] [INFO] [1746051541.339221537] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051541.339448505] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051541.339750483] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051541.340108984] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051541.344557833] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051541.345238590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051541.345724734] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051541.347014223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051541.348110547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051541.444532912] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051541.445216986] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051541.445629738] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051541.447051942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051541.448118127] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051541.457347446] [sailbot.main_algo]: Wind Direction: 235 +[main_algo-3] [INFO] [1746051541.458280244] [sailbot.main_algo]: Target Bearing: -143.0189966391451 +[main_algo-3] [INFO] [1746051541.459114558] [sailbot.main_algo]: Heading Difference: -168.28600336085492 +[main_algo-3] [INFO] [1746051541.460348710] [sailbot.main_algo]: Wind Direction: 235 +[main_algo-3] [INFO] [1746051541.461145678] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051541.461875439] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051541.463332140] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051541.464136812] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051541.502531555] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903636 Long: -76.50276461 +[vectornav-1] [INFO] [1746051541.503653701] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.76299999999998, 0.277, 4.901) +[main_algo-3] [INFO] [1746051541.503643987] [sailbot.main_algo]: Distance to destination: 56.65639805295722 +[main_algo-3] [INFO] [1746051541.505050819] [sailbot.main_algo]: Target Bearing: -143.00743747547574 +[main_algo-3] [INFO] [1746051541.506002837] [sailbot.main_algo]: Heading Difference: -168.29756252452427 +[main_algo-3] [INFO] [1746051541.507288547] [sailbot.main_algo]: Wind Direction: 235 +[main_algo-3] [INFO] [1746051541.508239499] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051541.509083884] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051541.510674041] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051541.545012114] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051541.545805341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051541.546431500] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051541.547848541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051541.549269613] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051541.585385251] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051541.587709689] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746051541.587731666] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051541.588829790] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051541.589075810] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051541.590010194] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051541.590940165] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051541.644972210] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051541.645687202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051541.646327118] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051541.647592337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051541.648708751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051541.745192509] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051541.745820096] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051541.746681422] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051541.747697864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051541.748762057] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051541.835357324] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051541.837303598] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746051541.837871966] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051541.838242897] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051541.838587243] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051541.839163237] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051541.839575502] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051541.844483958] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051541.844922012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051541.845663105] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051541.846622993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051541.847646494] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051541.945084485] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051541.945937331] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051541.946559646] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051541.947814141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051541.948862057] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051541.957603539] [sailbot.main_algo]: Wind Direction: 233 +[main_algo-3] [INFO] [1746051541.958646791] [sailbot.main_algo]: Target Bearing: -143.00743747547574 +[main_algo-3] [INFO] [1746051541.959519814] [sailbot.main_algo]: Heading Difference: -166.22956252452428 +[main_algo-3] [INFO] [1746051541.960771863] [sailbot.main_algo]: Wind Direction: 233 +[main_algo-3] [INFO] [1746051541.961596455] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051541.962388063] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051541.963929430] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051541.963926442] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051542.002666023] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903652 Long: -76.50276476 +[main_algo-3] [INFO] [1746051542.003605689] [sailbot.main_algo]: Distance to destination: 56.65762609482916 +[vectornav-1] [INFO] [1746051542.003766062] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.35699999999997, -0.713, 5.405) +[main_algo-3] [INFO] [1746051542.004773530] [sailbot.main_algo]: Target Bearing: -142.985598759287 +[main_algo-3] [INFO] [1746051542.006043697] [sailbot.main_algo]: Heading Difference: -166.251401240713 +[main_algo-3] [INFO] [1746051542.007435139] [sailbot.main_algo]: Wind Direction: 233 +[main_algo-3] [INFO] [1746051542.008355435] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051542.009216376] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051542.010861857] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051542.045139609] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051542.045985804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051542.047009617] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051542.047846491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051542.049396651] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051542.085323075] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051542.087467878] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051542.087548647] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746051542.088436380] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051542.087971581] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051542.089323431] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051542.090160540] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051542.144854852] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051542.145588921] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051542.146157573] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051542.147416283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051542.148495643] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051542.244626929] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051542.245998866] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051542.245416052] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051542.247144975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051542.248280088] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051542.335365672] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051542.336992925] [sailbot.teensy]: Wind angle: 234 +[trim_sail-4] [INFO] [1746051542.337693432] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051542.337875785] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051542.338839918] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051542.339554387] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051542.339742368] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051542.344339835] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051542.344824154] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051542.345629757] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051542.346516092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051542.347627369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051542.445053576] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051542.445932710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051542.446571816] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051542.448639162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051542.449334406] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051542.457484344] [sailbot.main_algo]: Wind Direction: 234 +[main_algo-3] [INFO] [1746051542.458508608] [sailbot.main_algo]: Target Bearing: -142.985598759287 +[main_algo-3] [INFO] [1746051542.459357752] [sailbot.main_algo]: Heading Difference: -167.65740124071306 +[main_algo-3] [INFO] [1746051542.460789511] [sailbot.main_algo]: Wind Direction: 234 +[main_algo-3] [INFO] [1746051542.461788069] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051542.462733404] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051542.464445526] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051542.464603839] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051542.502710605] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903647 Long: -76.50276476 +[main_algo-3] [INFO] [1746051542.503722980] [sailbot.main_algo]: Distance to destination: 56.65420530281673 +[vectornav-1] [INFO] [1746051542.503879013] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.297000000000025, 0.054, 5.955) +[main_algo-3] [INFO] [1746051542.505297895] [sailbot.main_algo]: Target Bearing: -142.99002232874957 +[main_algo-3] [INFO] [1746051542.506328997] [sailbot.main_algo]: Heading Difference: -167.65297767125048 +[main_algo-3] [INFO] [1746051542.507675502] [sailbot.main_algo]: Wind Direction: 234 +[main_algo-3] [INFO] [1746051542.508582522] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051542.509431384] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051542.511044209] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051542.545110949] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051542.545862513] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051542.548173877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051542.546500562] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051542.549401649] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051542.585309810] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051542.587413961] [sailbot.teensy]: Wind angle: 233 +[trim_sail-4] [INFO] [1746051542.587556258] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051542.588409593] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051542.588836133] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051542.589342203] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051542.590250159] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051542.645063834] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051542.645920078] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051542.646398457] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051542.648002253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051542.649033286] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051542.744875071] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051542.745595037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051542.746159475] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051542.747459347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051542.748991119] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051542.834541496] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051542.835839143] [sailbot.teensy]: Wind angle: 233 +[teensy-2] [INFO] [1746051542.836701011] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051542.837221020] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051542.837500050] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051542.838368807] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051542.838885657] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746051542.844329774] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051542.845812900] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051542.844881229] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051542.846582255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051542.847685063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051542.945245497] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051542.945767035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051542.946669906] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051542.947656931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051542.948737649] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051542.957652405] [sailbot.main_algo]: Wind Direction: 233 +[main_algo-3] [INFO] [1746051542.958684473] [sailbot.main_algo]: Target Bearing: -142.99002232874957 +[main_algo-3] [INFO] [1746051542.959602757] [sailbot.main_algo]: Heading Difference: -168.71297767125043 +[main_algo-3] [INFO] [1746051542.961004470] [sailbot.main_algo]: Wind Direction: 233 +[main_algo-3] [INFO] [1746051542.961918960] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051542.962737765] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051542.964269801] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051542.964330199] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051543.002271046] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903625 Long: -76.50276442 +[main_algo-3] [INFO] [1746051543.003040633] [sailbot.main_algo]: Distance to destination: 56.661188105618855 +[vectornav-1] [INFO] [1746051543.003208519] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.55899999999997, -1.397, 5.304) +[main_algo-3] [INFO] [1746051543.005031960] [sailbot.main_algo]: Target Bearing: -143.02689832874395 +[main_algo-3] [INFO] [1746051543.007968314] [sailbot.main_algo]: Heading Difference: -168.676101671256 +[main_algo-3] [INFO] [1746051543.009566292] [sailbot.main_algo]: Wind Direction: 233 +[main_algo-3] [INFO] [1746051543.010503049] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051543.011362994] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051543.013035568] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051543.045201420] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051543.045269063] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051543.046372349] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051543.046924542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051543.047966075] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051543.085023916] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051543.086950822] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051543.087412624] [sailbot.teensy]: Wind angle: 233 +[mux-7] [INFO] [1746051543.087590893] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051543.088448783] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051543.089322963] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051543.090194742] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051543.145066155] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051543.145793629] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051543.146561218] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051543.147744368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051543.148841186] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051543.244874544] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051543.245467766] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051543.246152003] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051543.247234803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051543.248323716] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051543.335419580] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051543.337793419] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051543.338234136] [sailbot.teensy]: Wind angle: 233 +[mux-7] [INFO] [1746051543.339121241] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051543.339218675] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051543.340256378] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051543.341278166] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051543.344736518] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051543.345048847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051543.345948242] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051543.346841405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051543.347930099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051543.444992291] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051543.445426343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051543.446257698] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051543.447075642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051543.448511281] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051543.457301538] [sailbot.main_algo]: Wind Direction: 233 +[main_algo-3] [INFO] [1746051543.458195841] [sailbot.main_algo]: Target Bearing: -143.02689832874395 +[main_algo-3] [INFO] [1746051543.458992591] [sailbot.main_algo]: Heading Difference: -167.41410167125605 +[main_algo-3] [INFO] [1746051543.460239348] [sailbot.main_algo]: Wind Direction: 233 +[main_algo-3] [INFO] [1746051543.461082952] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051543.461957403] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051543.463607597] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051543.463754670] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051543.502357945] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903656 Long: -76.50276432 +[main_algo-3] [INFO] [1746051543.503199072] [sailbot.main_algo]: Distance to destination: 56.688863065730246 +[vectornav-1] [INFO] [1746051543.503293506] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.34899999999999, 0.391, 5.062) +[main_algo-3] [INFO] [1746051543.504177075] [sailbot.main_algo]: Target Bearing: -143.0045884337746 +[main_algo-3] [INFO] [1746051543.505026437] [sailbot.main_algo]: Heading Difference: -167.43641156622544 +[main_algo-3] [INFO] [1746051543.506262510] [sailbot.main_algo]: Wind Direction: 233 +[main_algo-3] [INFO] [1746051543.507067861] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051543.507856348] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051543.509509128] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051543.545142365] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051543.545745149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051543.546532446] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051543.547642278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051543.548765098] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051543.585420903] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051543.587169759] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746051543.588100872] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051543.587643565] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051543.588460927] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051543.589049532] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051543.589993887] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051543.645120739] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051543.645815327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051543.646546930] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051543.647696215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051543.648790665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051543.745116403] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051543.745593791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051543.746402872] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051543.747464378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051543.748616307] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051543.835199012] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051543.836759011] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746051543.837627649] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051543.837535601] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051543.838403162] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051543.838421146] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051543.839242585] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051543.844322627] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051543.844905022] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051543.845321069] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051543.846479786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051543.847404016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051543.945060574] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051543.945811671] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051543.946338921] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051543.947573303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051543.948617557] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051543.957484980] [sailbot.main_algo]: Wind Direction: 231 +[main_algo-3] [INFO] [1746051543.958466767] [sailbot.main_algo]: Target Bearing: -143.0045884337746 +[main_algo-3] [INFO] [1746051543.959379783] [sailbot.main_algo]: Heading Difference: -167.64641156622542 +[main_algo-3] [INFO] [1746051543.960626439] [sailbot.main_algo]: Wind Direction: 231 +[main_algo-3] [INFO] [1746051543.961454882] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051543.962242785] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051543.963760585] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051543.963773416] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051544.002746505] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903664 Long: -76.50276455 +[vectornav-1] [INFO] [1746051544.003935821] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.898000000000025, -0.116, 5.323) +[main_algo-3] [INFO] [1746051544.005102246] [sailbot.main_algo]: Distance to destination: 56.67943728399613 +[main_algo-3] [INFO] [1746051544.006146987] [sailbot.main_algo]: Target Bearing: -142.98573992806723 +[main_algo-3] [INFO] [1746051544.007144012] [sailbot.main_algo]: Heading Difference: -167.66526007193278 +[main_algo-3] [INFO] [1746051544.009271611] [sailbot.main_algo]: Wind Direction: 231 +[main_algo-3] [INFO] [1746051544.010793349] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051544.011783386] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051544.013657820] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051544.044672117] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051544.045145322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051544.045724339] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051544.046889164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051544.047988703] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051544.085217508] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051544.086966412] [sailbot.teensy]: Wind angle: 230 +[teensy-2] [INFO] [1746051544.087922434] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051544.088887997] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051544.089768725] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051544.087507022] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051544.089934481] [sailbot.mux]: algo sail angle: 5 +[mux-7] [INFO] [1746051544.145101706] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051544.145644244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051544.146377617] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051544.147546353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051544.148615097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051544.245064467] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051544.245730398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051544.246601398] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051544.247523971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051544.248725797] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051544.335220018] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051544.337395008] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051544.337761624] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051544.338016813] [sailbot.teensy]: Wind angle: 229 +[teensy-2] [INFO] [1746051544.338957524] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051544.339517680] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051544.339882633] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051544.344342043] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051544.344910638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051544.345805365] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051544.346592302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051544.347629374] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051544.445071703] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051544.445596476] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051544.446317453] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051544.447518685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051544.448640973] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051544.457656004] [sailbot.main_algo]: Wind Direction: 229 +[main_algo-3] [INFO] [1746051544.458662391] [sailbot.main_algo]: Target Bearing: -142.98573992806723 +[main_algo-3] [INFO] [1746051544.459533056] [sailbot.main_algo]: Heading Difference: -168.11626007193274 +[main_algo-3] [INFO] [1746051544.460776008] [sailbot.main_algo]: Wind Direction: 229 +[main_algo-3] [INFO] [1746051544.461611819] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051544.462391137] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051544.463890046] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051544.463912482] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051544.502569736] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690366 Long: -76.50276452 +[vectornav-1] [INFO] [1746051544.503617298] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.999000000000024, -0.991, 5.893) +[main_algo-3] [INFO] [1746051544.503891367] [sailbot.main_algo]: Distance to destination: 56.678643732539236 +[main_algo-3] [INFO] [1746051544.505257687] [sailbot.main_algo]: Target Bearing: -142.99081342379665 +[main_algo-3] [INFO] [1746051544.506340579] [sailbot.main_algo]: Heading Difference: -168.1111865762033 +[main_algo-3] [INFO] [1746051544.508132851] [sailbot.main_algo]: Wind Direction: 229 +[main_algo-3] [INFO] [1746051544.509091713] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051544.509892330] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051544.511578614] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051544.544974764] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051544.546064074] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051544.546246130] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051544.548327373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051544.550001505] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051544.585476143] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051544.587236638] [sailbot.teensy]: Wind angle: 229 +[teensy-2] [INFO] [1746051544.588192871] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051544.589151134] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051544.588275946] [sailbot.mux]: algo sail angle: 5 +[trim_sail-4] [INFO] [1746051544.588296721] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051544.590043556] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051544.644910755] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051544.645559392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051544.646164830] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051544.647650146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051544.648696145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051544.744925264] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051544.745561789] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051544.746432594] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051544.747324843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051544.747973092] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051544.835324150] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051544.837179892] [sailbot.teensy]: Wind angle: 229 +[trim_sail-4] [INFO] [1746051544.837731618] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051544.839542217] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051544.840037110] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051544.840500536] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051544.841475295] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051544.844244654] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051544.844785161] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051544.845419809] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051544.846682975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051544.847715233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051544.944745118] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051544.945368526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051544.945892646] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051544.947072186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051544.948019373] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051544.957460073] [sailbot.main_algo]: Wind Direction: 229 +[main_algo-3] [INFO] [1746051544.958454108] [sailbot.main_algo]: Target Bearing: -142.99081342379665 +[main_algo-3] [INFO] [1746051544.959318440] [sailbot.main_algo]: Heading Difference: -169.0101865762033 +[main_algo-3] [INFO] [1746051544.960555173] [sailbot.main_algo]: Wind Direction: 229 +[main_algo-3] [INFO] [1746051544.961380180] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051544.962169842] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051544.963647688] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051544.963697934] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051545.002989968] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903653 Long: -76.50276422 +[main_algo-3] [INFO] [1746051545.004205814] [sailbot.main_algo]: Distance to destination: 56.693290168130034 +[vectornav-1] [INFO] [1746051545.004141993] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.62900000000002, -0.459, 3.984) +[main_algo-3] [INFO] [1746051545.005470591] [sailbot.main_algo]: Target Bearing: -143.01235849043132 +[main_algo-3] [INFO] [1746051545.006478283] [sailbot.main_algo]: Heading Difference: -168.98864150956865 +[main_algo-3] [INFO] [1746051545.007897401] [sailbot.main_algo]: Wind Direction: 229 +[main_algo-3] [INFO] [1746051545.008813703] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051545.009686188] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051545.011618944] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051545.044728861] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051545.045252451] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051545.045951796] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051545.047797042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051545.049288840] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051545.085150311] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051545.086849005] [sailbot.teensy]: Wind angle: 228 +[trim_sail-4] [INFO] [1746051545.087076374] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051545.087749439] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051545.088754429] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051545.088814116] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051545.089710861] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051545.145051517] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051545.145553765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051545.146418035] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051545.147344655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051545.148478303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051545.245131486] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051545.246439074] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051545.246545022] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051545.248422041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051545.249425978] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051545.335392098] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051545.337116090] [sailbot.teensy]: Wind angle: 227 +[trim_sail-4] [INFO] [1746051545.337667629] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051545.338201776] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051545.338290021] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051545.339095577] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051545.339470336] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051545.344583215] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051545.345180735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051545.346088662] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051545.346884619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051545.348056938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051545.445092935] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051545.445571418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051545.446416363] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051545.447431996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051545.448617757] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051545.457547413] [sailbot.main_algo]: Wind Direction: 227 +[main_algo-3] [INFO] [1746051545.458590922] [sailbot.main_algo]: Target Bearing: -143.01235849043132 +[main_algo-3] [INFO] [1746051545.459485286] [sailbot.main_algo]: Heading Difference: -167.35864150956866 +[main_algo-3] [INFO] [1746051545.460714339] [sailbot.main_algo]: Wind Direction: 227 +[main_algo-3] [INFO] [1746051545.461582134] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051545.462366367] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051545.463869382] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051545.464027179] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051545.502567525] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903661 Long: -76.5027642 +[main_algo-3] [INFO] [1746051545.503366943] [sailbot.main_algo]: Distance to destination: 56.7000565479506 +[vectornav-1] [INFO] [1746051545.503595504] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.110000000000014, 0.279, 5.972) +[main_algo-3] [INFO] [1746051545.504438249] [sailbot.main_algo]: Target Bearing: -143.00630703403706 +[main_algo-3] [INFO] [1746051545.505411677] [sailbot.main_algo]: Heading Difference: -167.36469296596294 +[main_algo-3] [INFO] [1746051545.506851467] [sailbot.main_algo]: Wind Direction: 227 +[main_algo-3] [INFO] [1746051545.507770608] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051545.508663982] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051545.510448561] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051545.545049794] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051545.545636022] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051545.546349421] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051545.547666248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051545.548875306] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051545.585213864] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051545.586828207] [sailbot.teensy]: Wind angle: 223 +[trim_sail-4] [INFO] [1746051545.587507708] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051545.587739236] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051545.588729219] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051545.588991472] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051545.589637323] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051545.645343785] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051545.645971408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051545.647040930] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051545.648184426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051545.649381188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051545.745086835] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051545.745881566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051545.746476293] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051545.747889808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051545.749055216] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051545.835432449] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051545.838267213] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051545.838751930] [sailbot.teensy]: Wind angle: 220 +[mux-7] [INFO] [1746051545.839450525] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051545.839943658] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051545.840888686] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051545.841768369] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051545.844333437] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051545.844891936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051545.845414667] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051545.846635088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051545.847704146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051545.945150756] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051545.945981251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051545.946504412] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051545.948108768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051545.949127893] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051545.957662531] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051545.958681932] [sailbot.main_algo]: Target Bearing: -143.00630703403706 +[main_algo-3] [INFO] [1746051545.959569233] [sailbot.main_algo]: Heading Difference: -167.88369296596295 +[main_algo-3] [INFO] [1746051545.960910417] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051545.961800093] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051545.962639287] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051545.964199372] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051545.964334490] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051546.002798366] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903652 Long: -76.50276411 +[main_algo-3] [INFO] [1746051546.003722102] [sailbot.main_algo]: Distance to destination: 56.69973362463767 +[vectornav-1] [INFO] [1746051546.003928862] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.488, -0.242, 5.749) +[main_algo-3] [INFO] [1746051546.004862359] [sailbot.main_algo]: Target Bearing: -143.01886996380546 +[main_algo-3] [INFO] [1746051546.005832698] [sailbot.main_algo]: Heading Difference: -167.87113003619453 +[main_algo-3] [INFO] [1746051546.007448000] [sailbot.main_algo]: Wind Direction: 220 +[main_algo-3] [INFO] [1746051546.008386282] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051546.009275274] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051546.010945409] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051546.044260631] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051546.044709927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051546.045149104] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051546.046203377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051546.047284391] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051546.085255747] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051546.086878390] [sailbot.teensy]: Wind angle: 215 +[teensy-2] [INFO] [1746051546.087768495] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051546.087769594] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051546.088651557] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051546.089445795] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051546.089488696] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051546.144926767] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051546.145760432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051546.146210705] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051546.147723520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051546.148749878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051546.244988967] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051546.245703881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051546.246342303] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051546.247524453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051546.248577616] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051546.335507205] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051546.338115409] [sailbot.teensy]: Wind angle: 216 +[trim_sail-4] [INFO] [1746051546.338145552] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051546.338789109] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051546.339079337] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051546.339976985] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051546.340567150] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051546.344350619] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051546.345062445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051546.345740203] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051546.346879955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051546.348047758] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051546.444428904] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051546.444999181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051546.445549475] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051546.446717048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051546.447735753] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051546.457127449] [sailbot.main_algo]: Wind Direction: 216 +[main_algo-3] [INFO] [1746051546.458030022] [sailbot.main_algo]: Target Bearing: -143.01886996380546 +[main_algo-3] [INFO] [1746051546.458861461] [sailbot.main_algo]: Heading Difference: -168.49313003619454 +[main_algo-3] [INFO] [1746051546.460100649] [sailbot.main_algo]: Wind Direction: 216 +[main_algo-3] [INFO] [1746051546.460971491] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051546.461741122] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051546.463307057] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051546.463352465] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051546.501308460] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903657 Long: -76.50276404 +[vectornav-1] [INFO] [1746051546.501741128] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.637, -1.65, 5.221) +[main_algo-3] [INFO] [1746051546.501756004] [sailbot.main_algo]: Distance to destination: 56.707687737513005 +[main_algo-3] [INFO] [1746051546.502201384] [sailbot.main_algo]: Target Bearing: -143.0180284504665 +[main_algo-3] [INFO] [1746051546.502685888] [sailbot.main_algo]: Heading Difference: -168.4939715495335 +[main_algo-3] [INFO] [1746051546.503323511] [sailbot.main_algo]: Wind Direction: 216 +[main_algo-3] [INFO] [1746051546.503730127] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051546.504132611] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051546.505230309] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051546.544792397] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051546.545709800] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051546.546098547] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051546.547959952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051546.548478544] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051546.585438683] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051546.587316661] [sailbot.teensy]: Wind angle: 215 +[trim_sail-4] [INFO] [1746051546.587535422] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051546.588327375] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051546.588803844] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051546.589303024] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051546.590268929] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051546.644980565] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051546.645626517] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051546.646252659] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051546.647411947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051546.648557501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051546.744730059] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051546.745383760] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051546.745868169] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051546.747095142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051546.748142725] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051546.835295052] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051546.837036295] [sailbot.teensy]: Wind angle: 215 +[trim_sail-4] [INFO] [1746051546.837545789] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051546.839422530] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051546.840097078] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051546.840881048] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051546.841307031] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051546.844483111] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051546.845056628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051546.845573469] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051546.846713028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051546.847864678] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051546.944337132] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051546.944807046] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051546.946312466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[mux-7] [INFO] [1746051546.945241235] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051546.947381681] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051546.956898808] [sailbot.main_algo]: Wind Direction: 215 +[main_algo-3] [INFO] [1746051546.957741836] [sailbot.main_algo]: Target Bearing: -143.0180284504665 +[main_algo-3] [INFO] [1746051546.958619741] [sailbot.main_algo]: Heading Difference: -167.3449715495335 +[main_algo-3] [INFO] [1746051546.959908950] [sailbot.main_algo]: Wind Direction: 215 +[main_algo-3] [INFO] [1746051546.960762195] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051546.961540820] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051546.963092031] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051546.963282105] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051547.001734332] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903688 Long: -76.50276387 +[main_algo-3] [INFO] [1746051547.002382366] [sailbot.main_algo]: Distance to destination: 56.73990047409977 +[vectornav-1] [INFO] [1746051547.002504624] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.49400000000003, 0.585, 5.583) +[main_algo-3] [INFO] [1746051547.003175084] [sailbot.main_algo]: Target Bearing: -142.99932087340028 +[main_algo-3] [INFO] [1746051547.003962751] [sailbot.main_algo]: Heading Difference: -167.36367912659972 +[main_algo-3] [INFO] [1746051547.005187955] [sailbot.main_algo]: Wind Direction: 215 +[main_algo-3] [INFO] [1746051547.006064888] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051547.006889137] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051547.009135367] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051547.044817172] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051547.045515796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051547.045972148] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051547.047296925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051547.048320514] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051547.085119078] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051547.087173639] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051547.088027985] [sailbot.teensy]: Wind angle: 213 +[mux-7] [INFO] [1746051547.088190718] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051547.089216687] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051547.090168988] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051547.091024640] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051547.145041612] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051547.145660648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051547.146282451] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051547.147442699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051547.148710530] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051547.244865188] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051547.245530816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051547.246136871] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051547.247388527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051547.248438688] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051547.335360894] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051547.337062146] [sailbot.teensy]: Wind angle: 215 +[trim_sail-4] [INFO] [1746051547.337881045] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051547.339176516] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051547.339354535] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051547.340085567] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051547.340994693] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051547.344208665] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051547.344788521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051547.346233412] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051547.346438621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051547.347660929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051547.444965267] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051547.445745555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051547.446443523] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051547.447749432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051547.448891155] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051547.457745710] [sailbot.main_algo]: Wind Direction: 215 +[main_algo-3] [INFO] [1746051547.458818125] [sailbot.main_algo]: Target Bearing: -142.99932087340028 +[main_algo-3] [INFO] [1746051547.459727552] [sailbot.main_algo]: Heading Difference: -167.5066791265997 +[main_algo-3] [INFO] [1746051547.461062500] [sailbot.main_algo]: Wind Direction: 215 +[main_algo-3] [INFO] [1746051547.461924185] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051547.462730780] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051547.464273719] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051547.464367377] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051547.502753905] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903695 Long: -76.50276363 +[main_algo-3] [INFO] [1746051547.503730897] [sailbot.main_algo]: Distance to destination: 56.7602354471177 +[vectornav-1] [INFO] [1746051547.503959969] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.93399999999997, 0.104, 5.511) +[main_algo-3] [INFO] [1746051547.505447788] [sailbot.main_algo]: Target Bearing: -143.00540618651365 +[main_algo-3] [INFO] [1746051547.506416507] [sailbot.main_algo]: Heading Difference: -167.50059381348632 +[main_algo-3] [INFO] [1746051547.507802975] [sailbot.main_algo]: Wind Direction: 215 +[main_algo-3] [INFO] [1746051547.508720382] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051547.509568935] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051547.511347071] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051547.544888151] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051547.545664772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051547.546156876] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051547.547668370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051547.548715039] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051547.585292179] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051547.586967803] [sailbot.teensy]: Wind angle: 216 +[trim_sail-4] [INFO] [1746051547.587626711] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051547.587954980] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051547.588909011] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051547.589200579] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051547.589797563] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051547.644687646] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051547.645418122] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051547.645923945] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051547.647233307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051547.648023881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051547.744733553] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051547.745294666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051547.745881097] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051547.747155292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051547.748226988] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051547.835252419] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051547.837483599] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051547.838133421] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051547.838541151] [sailbot.teensy]: Wind angle: 215 +[teensy-2] [INFO] [1746051547.839747023] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051547.840656340] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051547.841569907] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051547.844393065] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051547.845050688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051547.845920839] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051547.846797751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051547.847811683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051547.944934150] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051547.945709576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051547.946323524] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051547.947590530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051547.948693097] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051547.957315120] [sailbot.main_algo]: Wind Direction: 215 +[main_algo-3] [INFO] [1746051547.958275757] [sailbot.main_algo]: Target Bearing: -143.00540618651365 +[main_algo-3] [INFO] [1746051547.959121491] [sailbot.main_algo]: Heading Difference: -167.06059381348638 +[main_algo-3] [INFO] [1746051547.960374884] [sailbot.main_algo]: Wind Direction: 215 +[main_algo-3] [INFO] [1746051547.961194707] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051547.961990603] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051547.963479919] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051547.963579892] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051548.002528611] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903686 Long: -76.50276361 +[main_algo-3] [INFO] [1746051548.003422262] [sailbot.main_algo]: Distance to destination: 56.75537681088357 +[vectornav-1] [INFO] [1746051548.003605029] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.235000000000014, -1.439, 5.459) +[main_algo-3] [INFO] [1746051548.004537540] [sailbot.main_algo]: Target Bearing: -143.01437883846256 +[main_algo-3] [INFO] [1746051548.005391336] [sailbot.main_algo]: Heading Difference: -167.05162116153747 +[main_algo-3] [INFO] [1746051548.006673895] [sailbot.main_algo]: Wind Direction: 215 +[main_algo-3] [INFO] [1746051548.007521046] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051548.008354981] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051548.010046964] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051548.044939966] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051548.045717983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051548.046194597] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051548.047608323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051548.048817872] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051548.085411834] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051548.087175612] [sailbot.teensy]: Wind angle: 214 +[trim_sail-4] [INFO] [1746051548.087810052] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051548.088188745] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051548.089159089] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051548.089418473] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051548.090200544] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051548.144662821] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051548.145230670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051548.145750924] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051548.147033474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051548.148055641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051548.244771543] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051548.245466529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051548.245977864] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051548.247255039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051548.248329518] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051548.335464039] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051548.337271749] [sailbot.teensy]: Wind angle: 208 +[trim_sail-4] [INFO] [1746051548.337926079] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051548.338228434] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051548.339182931] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051548.339264955] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051548.340164088] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051548.344358265] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051548.344832654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051548.345482896] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051548.346496378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051548.347672801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051548.444950488] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051548.445530861] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051548.446882318] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051548.447463640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051548.449750401] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051548.457405746] [sailbot.main_algo]: Wind Direction: 208 +[main_algo-3] [INFO] [1746051548.458958144] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746051548.460301093] [sailbot.main_algo]: Wind Direction: 208 +[main_algo-3] [INFO] [1746051548.461682378] [sailbot.main_algo]: Current Location: (42.469036862147476, -76.50276361005444) +[main_algo-3] [INFO] [1746051548.462736724] [sailbot.main_algo]: Target Bearing: -143.01437883846256 +[main_algo-3] [INFO] [1746051548.463692429] [sailbot.main_algo]: Heading Difference: -166.75062116153742 +[main_algo-3] [INFO] [1746051548.465075245] [sailbot.main_algo]: Wind Direction: 208 +[main_algo-3] [INFO] [1746051548.465960648] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051548.466851150] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051548.468635085] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051548.468704873] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051548.502863516] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903701 Long: -76.50276353 +[main_algo-3] [INFO] [1746051548.503747219] [sailbot.main_algo]: Distance to destination: 56.770817148897855 +[vectornav-1] [INFO] [1746051548.503986715] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.733000000000004, 0.762, 5.847) +[main_algo-3] [INFO] [1746051548.504944390] [sailbot.main_algo]: Target Bearing: -143.00521735323878 +[main_algo-3] [INFO] [1746051548.505880066] [sailbot.main_algo]: Heading Difference: -166.7597826467612 +[main_algo-3] [INFO] [1746051548.507245063] [sailbot.main_algo]: Wind Direction: 208 +[main_algo-3] [INFO] [1746051548.508077431] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051548.508908185] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051548.510513429] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051548.544948344] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051548.545630182] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051548.546290572] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051548.547456610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051548.548680409] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051548.585502987] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051548.587550395] [sailbot.teensy]: Wind angle: 197 +[teensy-2] [INFO] [1746051548.588494355] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051548.588095525] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051548.588601477] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051548.589394053] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051548.590249346] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051548.644902958] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051548.645664016] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051548.646186834] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051548.647624044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051548.648743211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051548.744177740] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051548.744747104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051548.745038149] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051548.746240148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051548.747184587] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051548.835341111] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051548.837614069] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051548.838062542] [sailbot.teensy]: Wind angle: 189 +[mux-7] [INFO] [1746051548.838538345] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051548.838980022] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051548.839889051] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051548.840739566] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051548.844474537] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051548.845191915] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051548.845578303] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051548.846934853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051548.847934958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051548.944497427] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051548.945174941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051548.945603557] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051548.946905062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051548.947963041] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051548.957441079] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051548.958444227] [sailbot.main_algo]: Target Bearing: -143.00521735323878 +[main_algo-3] [INFO] [1746051548.959314621] [sailbot.main_algo]: Heading Difference: -167.26178264676122 +[main_algo-3] [INFO] [1746051548.960555795] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051548.961395673] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051548.962189172] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051548.963709305] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051548.963787419] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051549.002757696] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690371 Long: -76.50276361 +[main_algo-3] [INFO] [1746051549.003881717] [sailbot.main_algo]: Distance to destination: 56.77179075710436 +[vectornav-1] [INFO] [1746051549.003949192] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.85699999999997, -1.326, 5.54) +[main_algo-3] [INFO] [1746051549.005551126] [sailbot.main_algo]: Target Bearing: -142.99318136423764 +[main_algo-3] [INFO] [1746051549.006520638] [sailbot.main_algo]: Heading Difference: -167.27381863576238 +[main_algo-3] [INFO] [1746051549.007952722] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051549.008929257] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051549.009807255] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051549.011467799] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051549.044061643] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051549.044973191] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051549.044583408] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051549.045981498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051549.046747222] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051549.084457547] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051549.085450285] [sailbot.teensy]: Wind angle: 187 +[teensy-2] [INFO] [1746051549.086135901] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051549.085935068] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051549.086372376] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051549.086798011] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051549.087492976] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051549.145133357] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051549.145862220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051549.146397653] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051549.147674078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051549.148745447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051549.244571775] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051549.245174860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051549.245677587] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051549.246917302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051549.247944884] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051549.335685227] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051549.337765769] [sailbot.teensy]: Wind angle: 193 +[trim_sail-4] [INFO] [1746051549.338615725] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051549.339696023] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051549.340045371] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051549.341297139] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051549.342189956] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051549.344361235] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051549.344927639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051549.345476802] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051549.346855111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051549.347859902] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051549.445126011] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051549.445848475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051549.446525084] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051549.447961143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051549.448422573] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051549.457780288] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051549.458939384] [sailbot.main_algo]: Target Bearing: -142.99318136423764 +[main_algo-3] [INFO] [1746051549.459920038] [sailbot.main_algo]: Heading Difference: -167.14981863576236 +[main_algo-3] [INFO] [1746051549.461267618] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051549.462134587] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051549.462933184] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051549.464440188] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051549.464464976] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051549.502612862] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903705 Long: -76.50276361 +[main_algo-3] [INFO] [1746051549.503549991] [sailbot.main_algo]: Distance to destination: 56.76837054429036 +[vectornav-1] [INFO] [1746051549.503648391] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.053, 0.142, 6.195) +[main_algo-3] [INFO] [1746051549.504759964] [sailbot.main_algo]: Target Bearing: -142.99759649377364 +[main_algo-3] [INFO] [1746051549.506053974] [sailbot.main_algo]: Heading Difference: -167.1454035062264 +[main_algo-3] [INFO] [1746051549.507478607] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051549.508412031] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051549.509296139] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051549.510937882] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051549.545068832] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051549.546191392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051549.546407734] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051549.548049077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051549.549187500] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051549.585256893] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051549.586956156] [sailbot.teensy]: Wind angle: 205 +[trim_sail-4] [INFO] [1746051549.587824300] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051549.587883967] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051549.589105173] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051549.588681768] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051549.590011001] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051549.644964542] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051549.645580157] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051549.646255335] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051549.647450956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051549.648509443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051549.744780352] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051549.745275538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051549.745938394] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051549.747030941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051549.748178504] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051549.835356600] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051549.837479849] [sailbot.teensy]: Wind angle: 211 +[trim_sail-4] [INFO] [1746051549.837531040] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051549.837975115] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051549.838342545] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051549.838923979] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051549.839291870] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051549.844737872] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051549.845115972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051549.845899184] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051549.846822954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051549.848018635] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051549.945206399] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051549.946252251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051549.946612825] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051549.948212371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051549.949270801] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051549.957405693] [sailbot.main_algo]: Wind Direction: 211 +[main_algo-3] [INFO] [1746051549.958405110] [sailbot.main_algo]: Target Bearing: -142.99759649377364 +[main_algo-3] [INFO] [1746051549.959262824] [sailbot.main_algo]: Heading Difference: -166.94940350622636 +[main_algo-3] [INFO] [1746051549.960512833] [sailbot.main_algo]: Wind Direction: 211 +[main_algo-3] [INFO] [1746051549.961341078] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051549.962160749] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051549.963692577] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051549.963725478] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051550.002208761] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903717 Long: -76.50276345 +[main_algo-3] [INFO] [1746051550.003035832] [sailbot.main_algo]: Distance to destination: 56.78694297434771 +[vectornav-1] [INFO] [1746051550.003148965] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.132000000000005, -0.59, 5.739) +[main_algo-3] [INFO] [1746051550.004049781] [sailbot.main_algo]: Target Bearing: -142.99517807794803 +[main_algo-3] [INFO] [1746051550.005025685] [sailbot.main_algo]: Heading Difference: -166.95182192205198 +[main_algo-3] [INFO] [1746051550.006415059] [sailbot.main_algo]: Wind Direction: 211 +[main_algo-3] [INFO] [1746051550.007406871] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051550.008338853] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051550.010114919] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051550.044979311] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051550.045678606] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051550.046260705] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051550.047735757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051550.048797367] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051550.085343516] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051550.087003532] [sailbot.teensy]: Wind angle: 210 +[teensy-2] [INFO] [1746051550.087908096] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051550.087646388] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051550.088851450] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051550.089741640] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051550.090069344] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051550.144630836] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051550.145160276] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051550.145737917] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051550.146883142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051550.147936587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051550.244931136] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051550.245529938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051550.247403287] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051550.247620730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051550.248386246] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051550.335304465] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051550.337194781] [sailbot.teensy]: Wind angle: 200 +[trim_sail-4] [INFO] [1746051550.338096924] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051550.338167055] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051550.339042929] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051550.338891118] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051550.339916440] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051550.344348736] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051550.345070534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051550.345422917] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051550.346745959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051550.347882288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051550.445278407] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051550.445968975] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051550.446649120] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051550.448004411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051550.449050704] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051550.457608162] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051550.458689046] [sailbot.main_algo]: Target Bearing: -142.99517807794803 +[main_algo-3] [INFO] [1746051550.459598572] [sailbot.main_algo]: Heading Difference: -166.87282192205197 +[main_algo-3] [INFO] [1746051550.460933776] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051550.461763381] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051550.462583213] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051550.464084559] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051550.464176641] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051550.502660089] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903736 Long: -76.50276342 +[vectornav-1] [INFO] [1746051550.503751436] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.490999999999985, 0.326, 5.702) +[main_algo-3] [INFO] [1746051550.503891628] [sailbot.main_algo]: Distance to destination: 56.801885090128536 +[main_algo-3] [INFO] [1746051550.505535427] [sailbot.main_algo]: Target Bearing: -142.97994253292617 +[main_algo-3] [INFO] [1746051550.506676514] [sailbot.main_algo]: Heading Difference: -166.88805746707385 +[main_algo-3] [INFO] [1746051550.508028170] [sailbot.main_algo]: Wind Direction: 200 +[main_algo-3] [INFO] [1746051550.508972894] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051550.509848441] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051550.511560120] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051550.544981159] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051550.545651686] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051550.546239370] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051550.547469805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051550.548661062] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051550.585344831] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051550.587124386] [sailbot.teensy]: Wind angle: 188 +[trim_sail-4] [INFO] [1746051550.587519250] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051550.588061357] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051550.588984790] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051550.589003135] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051550.589900334] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051550.644922164] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051550.646015608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051550.646287119] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051550.648750072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051550.649784039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051550.745137429] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051550.745905920] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051550.746553742] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051550.748279688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051550.749320457] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051550.835109386] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051550.836631176] [sailbot.teensy]: Wind angle: 178 +[trim_sail-4] [INFO] [1746051550.837081019] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051550.838539918] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051550.838913072] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051550.839522992] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051550.840454190] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051550.844353387] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051550.844815454] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051550.845486278] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051550.846504523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051550.847582041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051550.945043073] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051550.945801672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051550.946297026] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051550.947620175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051550.948688743] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051550.957552333] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051550.958532004] [sailbot.main_algo]: Target Bearing: -142.97994253292617 +[main_algo-3] [INFO] [1746051550.959449319] [sailbot.main_algo]: Heading Difference: -167.5290574670738 +[main_algo-3] [INFO] [1746051550.960707410] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051550.961552292] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051550.962341382] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051550.963878870] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051550.963898217] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051551.002774279] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903758 Long: -76.50276349 +[main_algo-3] [INFO] [1746051551.003768982] [sailbot.main_algo]: Distance to destination: 56.8124105103264 +[vectornav-1] [INFO] [1746051551.003931807] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.014999999999986, -1.742, 5.672) +[main_algo-3] [INFO] [1746051551.004925720] [sailbot.main_algo]: Target Bearing: -142.95695813075173 +[main_algo-3] [INFO] [1746051551.005875567] [sailbot.main_algo]: Heading Difference: -167.55204186924828 +[main_algo-3] [INFO] [1746051551.007228178] [sailbot.main_algo]: Wind Direction: 178 +[main_algo-3] [INFO] [1746051551.008115013] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051551.009004978] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051551.010549881] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051551.045205614] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051551.045959639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051551.046599588] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051551.047930662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051551.048966149] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051551.085644498] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051551.088292168] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051551.088379308] [sailbot.teensy]: Wind angle: 179 +[mux-7] [INFO] [1746051551.089734759] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051551.089945144] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051551.090904123] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051551.091831246] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051551.143884962] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051551.144271187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051551.144528248] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051551.145406819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051551.145945319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051551.244987548] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051551.245722860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051551.246282972] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051551.247574542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051551.248614823] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051551.335331018] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051551.338017272] [sailbot.teensy]: Wind angle: 177 +[trim_sail-4] [INFO] [1746051551.338095581] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051551.338761295] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051551.338987128] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051551.339889979] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051551.340774159] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051551.344449756] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051551.345042065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051551.345654498] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051551.346814581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051551.347852298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051551.445335391] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051551.446171147] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051551.446839752] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051551.448136840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051551.448658991] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051551.457822884] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051551.458857952] [sailbot.main_algo]: Target Bearing: -142.95695813075173 +[main_algo-3] [INFO] [1746051551.459761306] [sailbot.main_algo]: Heading Difference: -167.02804186924828 +[main_algo-3] [INFO] [1746051551.461097482] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051551.462014689] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051551.462850814] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051551.464600284] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051551.464612069] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051551.502563131] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903775 Long: -76.50276314 +[main_algo-3] [INFO] [1746051551.503448994] [sailbot.main_algo]: Distance to destination: 56.8467085523228 +[vectornav-1] [INFO] [1746051551.503759621] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.63799999999998, 1.035, 5.045) +[main_algo-3] [INFO] [1746051551.504542983] [sailbot.main_algo]: Target Bearing: -142.95985515233184 +[main_algo-3] [INFO] [1746051551.505501870] [sailbot.main_algo]: Heading Difference: -167.02514484766817 +[main_algo-3] [INFO] [1746051551.506855036] [sailbot.main_algo]: Wind Direction: 177 +[main_algo-3] [INFO] [1746051551.507754098] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051551.508622284] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051551.510448560] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051551.545169150] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051551.545714632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051551.546572728] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051551.547536547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051551.548746345] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051551.585169859] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051551.586931387] [sailbot.teensy]: Wind angle: 175 +[trim_sail-4] [INFO] [1746051551.587635710] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051551.587869141] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051551.588048148] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051551.588803109] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051551.589700355] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051551.645142537] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051551.645628417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051551.646486503] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051551.647454460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051551.648608172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051551.745375345] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051551.746051081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051551.746955372] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051551.748001800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051551.749056011] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051551.835477278] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051551.837841030] [sailbot.teensy]: Wind angle: 174 +[trim_sail-4] [INFO] [1746051551.837921695] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051551.839272794] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051551.839726965] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051551.840709954] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051551.841581502] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051551.844349675] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051551.844917290] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051551.845430354] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051551.846603651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051551.847764513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051551.945035464] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051551.945766536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051551.946309798] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051551.947676774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051551.948826824] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051551.957447562] [sailbot.main_algo]: Wind Direction: 174 +[main_algo-3] [INFO] [1746051551.958479725] [sailbot.main_algo]: Target Bearing: -142.95985515233184 +[main_algo-3] [INFO] [1746051551.959400438] [sailbot.main_algo]: Heading Difference: -167.40214484766818 +[main_algo-3] [INFO] [1746051551.960672270] [sailbot.main_algo]: Wind Direction: 174 +[main_algo-3] [INFO] [1746051551.961522392] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051551.962357261] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051551.964035043] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051551.964075601] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051552.003010412] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903782 Long: -76.50276311 +[main_algo-3] [INFO] [1746051552.004237433] [sailbot.main_algo]: Distance to destination: 56.8534431351124 +[vectornav-1] [INFO] [1746051552.004327177] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.19400000000002, -1.228, 5.713) +[main_algo-3] [INFO] [1746051552.005826909] [sailbot.main_algo]: Target Bearing: -142.95521834982694 +[main_algo-3] [INFO] [1746051552.006960985] [sailbot.main_algo]: Heading Difference: -167.40678165017312 +[main_algo-3] [INFO] [1746051552.008382493] [sailbot.main_algo]: Wind Direction: 174 +[main_algo-3] [INFO] [1746051552.009344431] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051552.010232242] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051552.012077934] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051552.045022268] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051552.045752900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051552.046548074] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051552.047597811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051552.048704451] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051552.085353825] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051552.087034792] [sailbot.teensy]: Wind angle: 175 +[trim_sail-4] [INFO] [1746051552.087528779] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051552.087962177] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051552.088873841] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051552.089044496] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051552.089736661] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051552.144954402] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051552.145527859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051552.146351389] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051552.147538827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051552.148753177] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051552.244982714] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051552.245674263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051552.246250350] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051552.247614181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051552.248697148] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051552.335420442] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051552.337722566] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051552.338445335] [sailbot.teensy]: Wind angle: 175 +[mux-7] [INFO] [1746051552.339393907] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051552.339438766] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051552.340169051] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051552.340571257] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051552.344340769] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051552.344841569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051552.345462730] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051552.346569840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051552.347611638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051552.444742948] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051552.445227201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051552.445976295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051552.446960572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051552.448044714] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051552.457409953] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051552.458393626] [sailbot.main_algo]: Target Bearing: -142.95521834982694 +[main_algo-3] [INFO] [1746051552.459260780] [sailbot.main_algo]: Heading Difference: -167.85078165017308 +[main_algo-3] [INFO] [1746051552.460472000] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051552.461301350] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051552.462094433] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051552.463620309] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051552.463644214] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051552.502910531] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690379 Long: -76.50276296 +[vectornav-1] [INFO] [1746051552.504511874] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.617999999999995, 0.051, 5.968) +[main_algo-3] [INFO] [1746051552.505043506] [sailbot.main_algo]: Distance to destination: 56.86863127093997 +[main_algo-3] [INFO] [1746051552.506230371] [sailbot.main_algo]: Target Bearing: -142.9558306064044 +[waypoint_service-5] [INFO] [1746051552.507033441] [sailbot.waypoint_service]: Received request: command=pop, argument= +[main_algo-3] [INFO] [1746051552.507454622] [sailbot.main_algo]: Heading Difference: -167.8501693935956 +[waypoint_service-5] [INFO] [1746051552.508101892] [sailbot.waypoint_service]: Popped waypoint: (42.468722228966215, -76.50330754375084) +[main_algo-3] [INFO] [1746051552.509094013] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051552.510156376] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051552.511182253] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051552.513381907] [sailbot.mux]: algo rudder angle: -25 +[waypoint_service-5] [INFO] [1746051552.518202842] [sailbot.waypoint_service]: Received request: command=get, argument= +[mux-7] [INFO] [1746051552.545021008] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051552.545705826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051552.546292419] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051552.547933207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051552.548936516] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051552.585733032] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051552.587783614] [sailbot.teensy]: Wind angle: 175 +[trim_sail-4] [INFO] [1746051552.588338569] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051552.588812976] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051552.589712068] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051552.590145473] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051552.590582489] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051552.645078039] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051552.645913099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051552.646414237] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051552.647705256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051552.648995867] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051552.745217773] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051552.745660134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051552.746672933] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051552.748054166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051552.748501559] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051552.835207101] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051552.837499220] [sailbot.teensy]: Wind angle: 175 +[trim_sail-4] [INFO] [1746051552.837576000] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051552.838475717] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051552.839621261] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051552.840176665] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051552.840403887] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051552.844541272] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051552.845063214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051552.845728854] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051552.846747212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051552.847797227] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051552.945498974] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051552.946070795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051552.947121155] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051552.948229110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051552.949504166] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051552.957884001] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051552.958929136] [sailbot.main_algo]: Target Bearing: -142.9558306064044 +[main_algo-3] [INFO] [1746051552.959819319] [sailbot.main_algo]: Heading Difference: -167.42616939359561 +[main_algo-3] [INFO] [1746051552.961140609] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051552.962017103] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051552.962880121] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051552.964618362] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051552.964933875] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051553.002783846] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903819 Long: -76.50276271 +[vectornav-1] [INFO] [1746051553.003940512] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.23700000000002, -1.3, 4.394) +[main_algo-3] [INFO] [1746051553.004080873] [sailbot.main_algo]: Distance to destination: 56.9046723775899 +[main_algo-3] [INFO] [1746051553.005246951] [sailbot.main_algo]: Target Bearing: -142.94305621702216 +[main_algo-3] [INFO] [1746051553.006232838] [sailbot.main_algo]: Heading Difference: -167.43894378297784 +[main_algo-3] [INFO] [1746051553.007601781] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051553.008518240] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051553.009388765] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051553.011013039] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051553.045248650] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051553.045702533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051553.046555207] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051553.047730552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051553.048946182] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051553.085285672] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051553.087634582] [sailbot.teensy]: Wind angle: 175 +[trim_sail-4] [INFO] [1746051553.088086572] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051553.088621072] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051553.089567948] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051553.090206850] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051553.090418981] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051553.144872678] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051553.145478094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051553.146044696] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051553.147329320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051553.148449236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051553.244666992] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051553.245245254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051553.245878653] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051553.247068207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051553.248032791] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051553.335585325] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051553.338326232] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051553.339334963] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051553.339708290] [sailbot.teensy]: Wind angle: 170 +[teensy-2] [INFO] [1746051553.340549896] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051553.340925874] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051553.341299719] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051553.344743729] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051553.345059621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051553.345944364] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051553.346746813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051553.348047794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051553.445744181] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051553.446381754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051553.447743533] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051553.448917614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051553.450120791] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051553.458086647] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051553.459202631] [sailbot.main_algo]: Target Bearing: -142.94305621702216 +[main_algo-3] [INFO] [1746051553.460165644] [sailbot.main_algo]: Heading Difference: -166.81994378297782 +[main_algo-3] [INFO] [1746051553.461493978] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051553.462395281] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051553.463235899] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051553.464993659] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051553.465419402] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051553.502932853] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903835 Long: -76.50276259 +[vectornav-1] [INFO] [1746051553.504106848] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.139999999999986, 0.823, 7.55) +[main_algo-3] [INFO] [1746051553.504571333] [sailbot.main_algo]: Distance to destination: 56.92339780581252 +[main_algo-3] [INFO] [1746051553.505777356] [sailbot.main_algo]: Target Bearing: -142.93509997030822 +[main_algo-3] [INFO] [1746051553.506810034] [sailbot.main_algo]: Heading Difference: -166.82790002969176 +[main_algo-3] [INFO] [1746051553.508665594] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051553.509613865] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051553.510496605] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051553.512121671] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051553.545029949] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051553.545595832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051553.546381616] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051553.547475335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051553.548531211] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051553.585269332] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051553.586957201] [sailbot.teensy]: Wind angle: 161 +[trim_sail-4] [INFO] [1746051553.587467755] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051553.587864932] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051553.588812817] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051553.589687498] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051553.589781018] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051553.644524927] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051553.645321329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051553.645650541] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051553.647116163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051553.648193648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051553.745326893] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051553.746770871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051553.746925545] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051553.748956106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051553.750009475] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051553.835439190] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051553.837675631] [sailbot.teensy]: Wind angle: 160 +[trim_sail-4] [INFO] [1746051553.837826211] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051553.839343764] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051553.839469835] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051553.840418142] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051553.841278139] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051553.844344678] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051553.844784511] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051553.846390979] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051553.846886381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051553.847944496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051553.945260833] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051553.946042025] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051553.946751307] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051553.948066247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051553.949275762] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051553.957565653] [sailbot.main_algo]: Wind Direction: 160 +[main_algo-3] [INFO] [1746051553.958558871] [sailbot.main_algo]: Target Bearing: -142.93509997030822 +[main_algo-3] [INFO] [1746051553.959466798] [sailbot.main_algo]: Heading Difference: -167.9249000296918 +[main_algo-3] [INFO] [1746051553.960767714] [sailbot.main_algo]: Wind Direction: 160 +[main_algo-3] [INFO] [1746051553.961641564] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051553.962453405] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051553.964009004] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051553.964031510] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051554.002673560] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903822 Long: -76.50276216 +[vectornav-1] [INFO] [1746051554.003764333] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.298, -1.244, 5.481) +[main_algo-3] [INFO] [1746051554.004258679] [sailbot.main_algo]: Distance to destination: 56.94233316935932 +[main_algo-3] [INFO] [1746051554.005284554] [sailbot.main_algo]: Target Bearing: -142.9684762581626 +[main_algo-3] [INFO] [1746051554.006297779] [sailbot.main_algo]: Heading Difference: -167.89152374183743 +[main_algo-3] [INFO] [1746051554.007690284] [sailbot.main_algo]: Wind Direction: 160 +[main_algo-3] [INFO] [1746051554.008603705] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051554.009474959] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051554.011178380] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051554.044868805] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051554.045473566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051554.046106142] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051554.047244798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051554.048584219] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051554.085434294] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051554.087396974] [sailbot.teensy]: Wind angle: 160 +[teensy-2] [INFO] [1746051554.088388790] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051554.087789892] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051554.088962187] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051554.089708014] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051554.090688721] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051554.144931751] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051554.145753861] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051554.146213127] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051554.147609813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051554.148803378] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051554.245031579] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051554.245625501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051554.246399187] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051554.247554673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051554.248770550] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051554.335190783] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051554.336800248] [sailbot.teensy]: Wind angle: 161 +[trim_sail-4] [INFO] [1746051554.337573659] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051554.338941435] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051554.339098719] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051554.339615443] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051554.340011803] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051554.344468435] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051554.344960727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051554.345625717] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051554.346668302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051554.347726966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051554.445483485] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051554.446053643] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051554.447129540] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051554.448276471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051554.448788156] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051554.457702976] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051554.458807321] [sailbot.main_algo]: Target Bearing: -142.9684762581626 +[main_algo-3] [INFO] [1746051554.459758397] [sailbot.main_algo]: Heading Difference: -165.73352374183742 +[main_algo-3] [INFO] [1746051554.461107378] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051554.461987442] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051554.462787723] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051554.464417121] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051554.464512757] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051554.502635617] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903836 Long: -76.50276213 +[main_algo-3] [INFO] [1746051554.503672610] [sailbot.main_algo]: Distance to destination: 56.95385905664763 +[vectornav-1] [INFO] [1746051554.503775475] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.093999999999994, -0.353, 5.131) +[main_algo-3] [INFO] [1746051554.505100564] [sailbot.main_algo]: Target Bearing: -142.95768763940762 +[main_algo-3] [INFO] [1746051554.506063611] [sailbot.main_algo]: Heading Difference: -165.7443123605924 +[main_algo-3] [INFO] [1746051554.507551850] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051554.508533897] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051554.509414662] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051554.511061695] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051554.544673311] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051554.545389554] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051554.545863680] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051554.547238751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051554.548304928] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051554.585129974] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051554.586629332] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051554.587109160] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051554.587546653] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051554.588475055] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051554.589453950] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051554.589444280] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051554.645303273] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051554.646128329] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051554.646923752] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051554.648632748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051554.649655313] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051554.745330311] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051554.746317909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051554.746962544] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051554.748553884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051554.749734598] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051554.835474874] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051554.837502239] [sailbot.teensy]: Wind angle: 169 +[trim_sail-4] [INFO] [1746051554.838405733] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051554.838468534] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051554.839164555] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051554.839200125] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051554.839573684] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051554.844457274] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051554.845072731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051554.845735147] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051554.846790650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051554.847928844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051554.945491380] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051554.946071038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051554.947307719] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051554.948230014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051554.949482443] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051554.957762229] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051554.958857773] [sailbot.main_algo]: Target Bearing: -142.95768763940762 +[main_algo-3] [INFO] [1746051554.959779627] [sailbot.main_algo]: Heading Difference: -165.94831236059235 +[main_algo-3] [INFO] [1746051554.961157018] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051554.962062430] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051554.962912714] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051554.964613744] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051554.964641426] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051555.002837357] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903829 Long: -76.50276208 +[main_algo-3] [INFO] [1746051555.003675291] [sailbot.main_algo]: Distance to destination: 56.95230445949329 +[vectornav-1] [INFO] [1746051555.003941491] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.44100000000003, -0.278, 5.459) +[main_algo-3] [INFO] [1746051555.005004445] [sailbot.main_algo]: Target Bearing: -142.9663954315723 +[main_algo-3] [INFO] [1746051555.006566861] [sailbot.main_algo]: Heading Difference: -165.93960456842774 +[main_algo-3] [INFO] [1746051555.007949576] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051555.008867475] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051555.009722363] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051555.011986887] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051555.044862468] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051555.045750282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051555.046155295] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051555.047744975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051555.048778897] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051555.085525615] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051555.087540360] [sailbot.teensy]: Wind angle: 169 +[teensy-2] [INFO] [1746051555.088575187] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051555.087948170] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051555.089476293] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051555.090061514] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051555.090439730] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051555.144448745] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051555.145248971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051555.145563317] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051555.146966814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051555.148013074] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051555.244485952] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051555.245235080] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051555.247297702] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051555.248063843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051555.249461178] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051555.334492667] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051555.335526128] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051555.336359734] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051555.336456096] [sailbot.teensy]: Wind angle: 170 +[teensy-2] [INFO] [1746051555.336888476] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051555.338291282] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051555.338702030] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051555.343636833] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051555.344112663] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051555.343883495] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051555.344700339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051555.345220785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051555.443921974] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051555.444265713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051555.444648796] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051555.446271430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051555.446711001] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051555.456682076] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051555.457263143] [sailbot.main_algo]: Target Bearing: -142.9663954315723 +[main_algo-3] [INFO] [1746051555.458034563] [sailbot.main_algo]: Heading Difference: -166.59260456842765 +[main_algo-3] [INFO] [1746051555.458644583] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051555.459237322] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051555.459646921] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051555.460559057] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051555.460568388] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051555.502744152] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903835 Long: -76.50276214 +[main_algo-3] [INFO] [1746051555.503623274] [sailbot.main_algo]: Distance to destination: 56.952527024375655 +[vectornav-1] [INFO] [1746051555.503787665] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.56099999999998, 0.052, 6.446) +[main_algo-3] [INFO] [1746051555.504799696] [sailbot.main_algo]: Target Bearing: -142.95805747230276 +[main_algo-3] [INFO] [1746051555.505733463] [sailbot.main_algo]: Heading Difference: -166.6009425276972 +[main_algo-3] [INFO] [1746051555.507066667] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051555.507955216] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051555.508773211] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051555.510396735] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051555.545023211] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051555.545681618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051555.546397314] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051555.547730203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051555.548917150] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051555.585336261] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051555.587541486] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051555.587875045] [sailbot.teensy]: Wind angle: 170 +[teensy-2] [INFO] [1746051555.588932920] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051555.589900801] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051555.590174248] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051555.590786100] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051555.644937708] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051555.645795399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051555.646666867] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051555.647722563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051555.648765763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051555.745072119] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051555.746217368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051555.746638646] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051555.748301382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051555.748831509] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051555.835257486] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051555.836904293] [sailbot.teensy]: Wind angle: 172 +[trim_sail-4] [INFO] [1746051555.837405423] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051555.838708386] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051555.839048872] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051555.839964653] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051555.840840449] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051555.844246521] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051555.844836400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051555.845545220] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051555.846540373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051555.847582212] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051555.944959324] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051555.945584655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051555.946267250] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051555.947441635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051555.947969523] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051555.957677076] [sailbot.main_algo]: Wind Direction: 172 +[main_algo-3] [INFO] [1746051555.958781543] [sailbot.main_algo]: Target Bearing: -142.95805747230276 +[main_algo-3] [INFO] [1746051555.959783513] [sailbot.main_algo]: Heading Difference: -167.48094252769727 +[main_algo-3] [INFO] [1746051555.961112183] [sailbot.main_algo]: Wind Direction: 172 +[main_algo-3] [INFO] [1746051555.961935059] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051555.962723861] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051555.964233941] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051555.964270653] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051556.002643097] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903803 Long: -76.50276175 +[main_algo-3] [INFO] [1746051556.003603728] [sailbot.main_algo]: Distance to destination: 56.95588872735326 +[vectornav-1] [INFO] [1746051556.003731635] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.399, -0.506, 5.562) +[main_algo-3] [INFO] [1746051556.004840632] [sailbot.main_algo]: Target Bearing: -143.00609292400395 +[main_algo-3] [INFO] [1746051556.005793531] [sailbot.main_algo]: Heading Difference: -167.43290707599607 +[main_algo-3] [INFO] [1746051556.007146485] [sailbot.main_algo]: Wind Direction: 172 +[main_algo-3] [INFO] [1746051556.008048853] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051556.008902972] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051556.010485559] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051556.045007536] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051556.045673165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051556.046274315] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051556.047539679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051556.048769863] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051556.085385177] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051556.087583564] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051556.088119974] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051556.088997223] [sailbot.teensy]: Wind angle: 179 +[teensy-2] [INFO] [1746051556.090155496] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051556.091023874] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051556.091845687] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051556.144906927] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051556.145699032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051556.146203487] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051556.147732712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051556.148950001] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051556.244985001] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051556.245638176] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051556.246292397] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051556.247625533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051556.248709446] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051556.335171895] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051556.337218151] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051556.338155599] [sailbot.teensy]: Wind angle: 194 +[mux-7] [INFO] [1746051556.339151356] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051556.339261460] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051556.340207507] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051556.341105423] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051556.344245696] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051556.344748998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051556.345358405] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051556.346440151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051556.347612927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051556.444566692] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051556.445044346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051556.445616173] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051556.446735019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051556.447753673] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051556.457364313] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051556.458358533] [sailbot.main_algo]: Target Bearing: -143.00609292400395 +[main_algo-3] [INFO] [1746051556.459283979] [sailbot.main_algo]: Heading Difference: -166.59490707599605 +[main_algo-3] [INFO] [1746051556.460553834] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051556.461406422] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051556.462209369] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051556.463870953] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051556.463992405] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051556.502678779] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903823 Long: -76.50276154 +[main_algo-3] [INFO] [1746051556.503621478] [sailbot.main_algo]: Distance to destination: 56.98317141121347 +[vectornav-1] [INFO] [1746051556.503742042] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.06600000000003, -1.077, 5.015) +[main_algo-3] [INFO] [1746051556.504743753] [sailbot.main_algo]: Target Bearing: -142.9991866761329 +[main_algo-3] [INFO] [1746051556.505648852] [sailbot.main_algo]: Heading Difference: -166.60181332386708 +[main_algo-3] [INFO] [1746051556.506981610] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051556.507942574] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051556.508821859] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051556.510478244] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051556.545052770] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051556.545808319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051556.546342242] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051556.547676616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051556.548850452] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051556.585609134] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051556.588012844] [sailbot.teensy]: Wind angle: 204 +[trim_sail-4] [INFO] [1746051556.588009127] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051556.589342097] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051556.589440079] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051556.590306831] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051556.591487588] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051556.645016671] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051556.645619923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051556.646328607] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051556.647478581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051556.648560861] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051556.744650648] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051556.745335615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051556.745782279] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051556.747155373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051556.748223058] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051556.835297646] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051556.837590686] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051556.837935090] [sailbot.teensy]: Wind angle: 205 +[mux-7] [INFO] [1746051556.838789910] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051556.838934773] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051556.839840260] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051556.840754904] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051556.844376497] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051556.844916471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051556.845577324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051556.846687012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051556.847832796] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051556.945346098] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051556.946057033] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051556.946869708] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051556.948363168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051556.948880432] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051556.957703946] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051556.958694451] [sailbot.main_algo]: Target Bearing: -142.9991866761329 +[main_algo-3] [INFO] [1746051556.959581651] [sailbot.main_algo]: Heading Difference: -164.93481332386705 +[main_algo-3] [INFO] [1746051556.960922936] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051556.961800971] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051556.962666882] [sailbot.main_algo]: Rudder Angle: -25 +[main_algo-3] [INFO] [1746051556.964380729] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051556.964381336] [sailbot.mux]: algo rudder angle: -25 +[vectornav-1] [INFO] [1746051557.002813178] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903836 Long: -76.50276133 +[main_algo-3] [INFO] [1746051557.003710115] [sailbot.main_algo]: Distance to destination: 57.00566661737476 +[vectornav-1] [INFO] [1746051557.003901195] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.523000000000025, 0.526, 6.645) +[main_algo-3] [INFO] [1746051557.004826303] [sailbot.main_algo]: Target Bearing: -142.99844241348632 +[main_algo-3] [INFO] [1746051557.005804738] [sailbot.main_algo]: Heading Difference: -164.93555758651365 +[main_algo-3] [INFO] [1746051557.007210038] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051557.008101009] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051557.008999751] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051557.010662730] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051557.045034459] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051557.045796600] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051557.046318109] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051557.047912146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051557.049157138] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051557.085440547] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051557.087237217] [sailbot.teensy]: Wind angle: 208 +[trim_sail-4] [INFO] [1746051557.087621222] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051557.088218948] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051557.089061819] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051557.089642834] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051557.089897785] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051557.144985200] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051557.145721083] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051557.146321609] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051557.147702085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051557.148731274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051557.244956590] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051557.245696463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051557.247286257] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051557.247693879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051557.249109047] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051557.335380855] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051557.337670739] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051557.337963129] [sailbot.teensy]: Wind angle: 209 +[mux-7] [INFO] [1746051557.338170383] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051557.338955087] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051557.339548376] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051557.339917607] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051557.344488898] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051557.345029127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051557.345759464] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051557.346714065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051557.347892004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051557.444576822] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051557.445113746] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051557.445699742] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051557.447584943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051557.449110285] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051557.457432374] [sailbot.main_algo]: Wind Direction: 209 +[main_algo-3] [INFO] [1746051557.458423940] [sailbot.main_algo]: Target Bearing: -142.99844241348632 +[main_algo-3] [INFO] [1746051557.459298306] [sailbot.main_algo]: Heading Difference: -166.47855758651366 +[main_algo-3] [INFO] [1746051557.460551428] [sailbot.main_algo]: Wind Direction: 209 +[main_algo-3] [INFO] [1746051557.461440242] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051557.462463614] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051557.464263297] [sailbot.mux]: algo rudder angle: -25 +[main_algo-3] [INFO] [1746051557.465175951] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051557.501428610] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903836 Long: -76.50276102 +[vectornav-1] [INFO] [1746051557.501901263] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.62099999999998, -0.967, 5.773) +[main_algo-3] [INFO] [1746051557.501934105] [sailbot.main_algo]: Distance to destination: 57.02574979235492 +[main_algo-3] [INFO] [1746051557.502413711] [sailbot.main_algo]: Target Bearing: -143.01421497922817 +[main_algo-3] [INFO] [1746051557.502865679] [sailbot.main_algo]: Heading Difference: -166.46278502077178 +[main_algo-3] [INFO] [1746051557.503711124] [sailbot.main_algo]: Wind Direction: 209 +[main_algo-3] [INFO] [1746051557.504196440] [sailbot.main_algo]: Rudder Angle Raw: -25.0 +[main_algo-3] [INFO] [1746051557.504989218] [sailbot.main_algo]: Rudder Angle: -25 +[mux-7] [INFO] [1746051557.505844667] [sailbot.mux]: algo rudder angle: -25 +[mux-7] [INFO] [1746051557.544923339] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051557.545614219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051557.546218673] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051557.547495639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051557.548591115] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051557.585121021] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051557.586610649] [sailbot.teensy]: Wind angle: 209 +[teensy-2] [INFO] [1746051557.587456590] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051557.587203206] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051557.587964857] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051557.588333233] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051557.589227022] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051557.645160922] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051557.645786203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051557.646385118] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051557.647843998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051557.648680893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051557.745349144] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051557.746097521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051557.746848753] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051557.748199294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051557.749357344] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051557.835271837] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051557.836938137] [sailbot.teensy]: Wind angle: 211 +[trim_sail-4] [INFO] [1746051557.837399859] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051557.838239838] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051557.839207514] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051557.839873450] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051557.840087045] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051557.844544582] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051557.845077195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051557.845665181] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051557.846777905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051557.847759693] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051557.945177046] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051557.945933668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051557.946616287] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051557.948209083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051557.949317096] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051557.957660055] [sailbot.main_algo]: Wind Direction: 211 +[main_algo-3] [INFO] [1746051557.958672498] [sailbot.main_algo]: Target Bearing: -143.01421497922817 +[main_algo-3] [INFO] [1746051557.959572036] [sailbot.main_algo]: Heading Difference: -165.36478502077182 +[main_algo-3] [INFO] [1746051557.960887501] [sailbot.main_algo]: Wind Direction: 211 +[main_algo-3] [INFO] [1746051557.961770288] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051557.962582416] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051557.964117977] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051557.964242851] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051558.002768123] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903819 Long: -76.50276084 +[main_algo-3] [INFO] [1746051558.003551708] [sailbot.main_algo]: Distance to destination: 57.025793454955746 +[vectornav-1] [INFO] [1746051558.003863166] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.851, 0.034, 4.82) +[main_algo-3] [INFO] [1746051558.004665082] [sailbot.main_algo]: Target Bearing: -143.0383179774655 +[main_algo-3] [INFO] [1746051558.005635116] [sailbot.main_algo]: Heading Difference: -165.3406820225345 +[main_algo-3] [INFO] [1746051558.007016709] [sailbot.main_algo]: Wind Direction: 211 +[main_algo-3] [INFO] [1746051558.007938781] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051558.008824002] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051558.010559463] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051558.045264652] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051558.045789302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051558.046715743] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051558.047869251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051558.049035013] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051558.085405095] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051558.087183866] [sailbot.teensy]: Wind angle: 215 +[teensy-2] [INFO] [1746051558.088131119] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051558.087860468] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051558.088428818] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051558.089042696] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051558.089962522] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051558.145167017] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051558.145655470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051558.146544861] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051558.147486382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051558.148628946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051558.244998830] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051558.245533385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051558.246263377] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051558.247341716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051558.248425852] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051558.335494349] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051558.337448630] [sailbot.teensy]: Wind angle: 216 +[trim_sail-4] [INFO] [1746051558.337998262] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051558.338445562] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051558.339402611] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051558.340295928] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051558.340401352] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051558.344444749] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051558.344965752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051558.345565212] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051558.346658308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051558.347698175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051558.445270510] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051558.445840369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051558.446786438] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051558.448113618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051558.448942371] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051558.457552126] [sailbot.main_algo]: Wind Direction: 216 +[main_algo-3] [INFO] [1746051558.458551285] [sailbot.main_algo]: Target Bearing: -143.0383179774655 +[main_algo-3] [INFO] [1746051558.459439328] [sailbot.main_algo]: Heading Difference: -165.1106820225345 +[main_algo-3] [INFO] [1746051558.460687871] [sailbot.main_algo]: Wind Direction: 216 +[main_algo-3] [INFO] [1746051558.461516261] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051558.462342890] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051558.463886042] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051558.464037636] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051558.502530348] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903828 Long: -76.50276098 +[main_algo-3] [INFO] [1746051558.503531231] [sailbot.main_algo]: Distance to destination: 57.022872120885076 +[vectornav-1] [INFO] [1746051558.503562977] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.178, -0.78, 5.906) +[main_algo-3] [INFO] [1746051558.504974613] [sailbot.main_algo]: Target Bearing: -143.0232842311941 +[main_algo-3] [INFO] [1746051558.506209872] [sailbot.main_algo]: Heading Difference: -165.1257157688059 +[main_algo-3] [INFO] [1746051558.507622531] [sailbot.main_algo]: Wind Direction: 216 +[main_algo-3] [INFO] [1746051558.508629519] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051558.509566033] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051558.511292619] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051558.545034291] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051558.545773068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051558.546352868] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051558.547878963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051558.549034872] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051558.585615865] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051558.588861667] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051558.588919019] [sailbot.teensy]: Wind angle: 215 +[teensy-2] [INFO] [1746051558.589918558] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051558.590156090] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051558.590844824] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051558.591768356] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051558.645149042] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051558.646084351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051558.646621685] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051558.648070746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051558.649253719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051558.745408742] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051558.746239859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051558.746879100] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051558.748286222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051558.748732997] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051558.835220962] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051558.837275089] [sailbot.teensy]: Wind angle: 216 +[trim_sail-4] [INFO] [1746051558.837632576] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051558.838267642] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051558.839338557] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051558.840322587] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051558.841196013] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051558.844297506] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051558.844923885] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051558.845850041] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051558.846965154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051558.848284019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051558.945397925] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051558.946118741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051558.946989486] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051558.948312586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051558.949581034] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051558.957725743] [sailbot.main_algo]: Wind Direction: 216 +[main_algo-3] [INFO] [1746051558.958757258] [sailbot.main_algo]: Target Bearing: -143.0232842311941 +[main_algo-3] [INFO] [1746051558.959691012] [sailbot.main_algo]: Heading Difference: -165.7987157688059 +[main_algo-3] [INFO] [1746051558.961061093] [sailbot.main_algo]: Wind Direction: 216 +[main_algo-3] [INFO] [1746051558.961943203] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051558.962772189] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051558.964379554] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051558.964432528] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051559.002682026] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903815 Long: -76.50276041 +[main_algo-3] [INFO] [1746051559.003714482] [sailbot.main_algo]: Distance to destination: 57.05093495609304 +[vectornav-1] [INFO] [1746051559.003757263] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.952, -0.431, 6.02) +[main_algo-3] [INFO] [1746051559.004872054] [sailbot.main_algo]: Target Bearing: -143.06368369265655 +[main_algo-3] [INFO] [1746051559.005899020] [sailbot.main_algo]: Heading Difference: -165.75831630734342 +[main_algo-3] [INFO] [1746051559.007267988] [sailbot.main_algo]: Wind Direction: 216 +[main_algo-3] [INFO] [1746051559.008185028] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051559.009052125] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051559.010726435] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051559.045029055] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051559.045734185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051559.046958324] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051559.047695976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051559.048804112] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051559.085545783] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051559.088027556] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051559.088027301] [sailbot.teensy]: Wind angle: 217 +[teensy-2] [INFO] [1746051559.089000458] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051559.089102046] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051559.089905116] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051559.090772748] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051559.145326400] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051559.146162930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051559.146917883] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051559.148508574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051559.149726324] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051559.245125299] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051559.245755055] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051559.246578053] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051559.247913576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051559.248949053] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051559.335531231] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051559.337956221] [sailbot.teensy]: Wind angle: 219 +[trim_sail-4] [INFO] [1746051559.338157977] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051559.338903979] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051559.338948424] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051559.339940860] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051559.340862994] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051559.344422519] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051559.345078871] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051559.345568755] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051559.346767609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051559.347815850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051559.445094333] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051559.445628295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051559.446604385] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051559.447525529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051559.448459726] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051559.457686892] [sailbot.main_algo]: Wind Direction: 219 +[main_algo-3] [INFO] [1746051559.458730425] [sailbot.main_algo]: Target Bearing: -143.06368369265655 +[main_algo-3] [INFO] [1746051559.459669133] [sailbot.main_algo]: Heading Difference: -165.98431630734342 +[main_algo-3] [INFO] [1746051559.460925994] [sailbot.main_algo]: Wind Direction: 219 +[main_algo-3] [INFO] [1746051559.461785100] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051559.462595947] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051559.464116989] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051559.464232785] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051559.502809310] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903819 Long: -76.50276018 +[main_algo-3] [INFO] [1746051559.503822094] [sailbot.main_algo]: Distance to destination: 57.06857960022789 +[vectornav-1] [INFO] [1746051559.504054439] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.90300000000002, -0.041, 5.77) +[main_algo-3] [INFO] [1746051559.505616908] [sailbot.main_algo]: Target Bearing: -143.0718431957968 +[main_algo-3] [INFO] [1746051559.506882596] [sailbot.main_algo]: Heading Difference: -165.97615680420324 +[main_algo-3] [INFO] [1746051559.508356669] [sailbot.main_algo]: Wind Direction: 219 +[main_algo-3] [INFO] [1746051559.509270219] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051559.510156482] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051559.511956535] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051559.544075568] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051559.544619104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051559.544900040] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051559.546537089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051559.547503060] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051559.584499525] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051559.585527333] [sailbot.teensy]: Wind angle: 221 +[trim_sail-4] [INFO] [1746051559.586121041] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051559.586267707] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051559.586975881] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051559.587533041] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051559.587688557] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051559.645178353] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051559.645728850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051559.646557898] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051559.647727203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051559.648662006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051559.745406543] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051559.745928067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051559.746906159] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051559.747928224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051559.749028106] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051559.835249775] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051559.836909688] [sailbot.teensy]: Wind angle: 224 +[teensy-2] [INFO] [1746051559.837810511] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051559.837412331] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051559.838716339] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051559.838977238] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051559.839571180] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051559.844647692] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051559.845207858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051559.845796546] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051559.846913618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051559.847934447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051559.945581025] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051559.946224506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051559.947555644] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051559.948533138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051559.949764652] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051559.957681662] [sailbot.main_algo]: Wind Direction: 224 +[main_algo-3] [INFO] [1746051559.958720752] [sailbot.main_algo]: Target Bearing: -143.0718431957968 +[main_algo-3] [INFO] [1746051559.959670649] [sailbot.main_algo]: Heading Difference: -165.02515680420322 +[main_algo-3] [INFO] [1746051559.961056888] [sailbot.main_algo]: Wind Direction: 224 +[main_algo-3] [INFO] [1746051559.961878824] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051559.962685202] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051559.964240256] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051559.964357619] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051560.002892713] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903819 Long: -76.50276029 +[main_algo-3] [INFO] [1746051560.003837551] [sailbot.main_algo]: Distance to destination: 57.06144721853732 +[vectornav-1] [INFO] [1746051560.004382300] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.113, -0.87, 5.392) +[main_algo-3] [INFO] [1746051560.004964460] [sailbot.main_algo]: Target Bearing: -143.06625915065152 +[main_algo-3] [INFO] [1746051560.006037735] [sailbot.main_algo]: Heading Difference: -165.0307408493485 +[main_algo-3] [INFO] [1746051560.007403565] [sailbot.main_algo]: Wind Direction: 224 +[main_algo-3] [INFO] [1746051560.008392622] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051560.009293814] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051560.011049209] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051560.045018078] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051560.045924851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051560.046340062] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051560.047982083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051560.049083144] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051560.085470662] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051560.087327562] [sailbot.teensy]: Wind angle: 225 +[trim_sail-4] [INFO] [1746051560.088075132] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051560.088296291] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051560.089266514] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051560.090174847] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051560.090489491] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051560.144828902] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051560.145539062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051560.146391507] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051560.147974190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051560.149172440] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051560.244435820] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051560.245116670] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051560.245432323] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051560.246867963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051560.248493094] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051560.335292901] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051560.336927668] [sailbot.teensy]: Wind angle: 224 +[teensy-2] [INFO] [1746051560.338071484] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051560.338167117] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051560.338940972] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051560.339314763] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051560.340280679] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051560.344269617] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051560.344828300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051560.345372997] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051560.346488654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051560.347575048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051560.444776091] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051560.445441140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051560.446022670] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051560.447353601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051560.448365523] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051560.457628282] [sailbot.main_algo]: Wind Direction: 224 +[main_algo-3] [INFO] [1746051560.458667237] [sailbot.main_algo]: Target Bearing: -143.06625915065152 +[main_algo-3] [INFO] [1746051560.459579550] [sailbot.main_algo]: Heading Difference: -165.82074084934845 +[main_algo-3] [INFO] [1746051560.460823510] [sailbot.main_algo]: Wind Direction: 224 +[main_algo-3] [INFO] [1746051560.461651680] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051560.462449409] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051560.463994659] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051560.464018065] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051560.502988450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903798 Long: -76.50276017 +[vectornav-1] [INFO] [1746051560.504357776] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.803999999999974, -0.159, 6.845) +[main_algo-3] [INFO] [1746051560.504395869] [sailbot.main_algo]: Distance to destination: 57.05489078809788 +[main_algo-3] [INFO] [1746051560.505739331] [sailbot.main_algo]: Target Bearing: -143.0908211035407 +[main_algo-3] [INFO] [1746051560.506895904] [sailbot.main_algo]: Heading Difference: -165.7961788964593 +[main_algo-3] [INFO] [1746051560.508318319] [sailbot.main_algo]: Wind Direction: 224 +[main_algo-3] [INFO] [1746051560.509278910] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051560.510237908] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051560.512193568] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051560.544998034] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051560.545795668] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051560.546359702] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051560.548086797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051560.549097875] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051560.585283611] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051560.586853524] [sailbot.teensy]: Wind angle: 223 +[teensy-2] [INFO] [1746051560.587739266] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051560.587397271] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051560.588011903] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051560.588613430] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051560.589529583] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051560.645082394] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051560.645767757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051560.646427213] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051560.647989732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051560.648828677] [sailbot.teensy]: Message sent to servo +[waypoint_service-5] [INFO] [1746051560.689668856] [sailbot.waypoint_service]: Received request: command=set, argument=42.468570155967555,-76.50269544545851 +[waypoint_service-5] [INFO] [1746051560.690660775] [sailbot.waypoint_service]: New waypoint queue: [(42.468570155967555, -76.50269544545851)] +[waypoint_service-5] [INFO] [1746051560.692099183] [sailbot.waypoint_service]: Published current waypoint: Lat=42.468570155967555, Lon=-76.50269544545851 +[main_algo-3] [INFO] [1746051560.693527803] [sailbot.main_algo]: Updated current waypoint to: (42.468570155967555, -76.50269544545851) +[waypoint_service-5] [INFO] [1746051560.705862341] [sailbot.waypoint_service]: Received request: command=get, argument= +[mux-7] [INFO] [1746051560.744875359] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051560.745523231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051560.746126485] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051560.747475927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051560.748570789] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051560.835560527] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051560.837742609] [sailbot.teensy]: Wind angle: 224 +[trim_sail-4] [INFO] [1746051560.838300182] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051560.838703635] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051560.838733293] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051560.839366625] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051560.839759713] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051560.844578933] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051560.845298340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051560.845934769] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051560.847061639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051560.848217329] [sailbot.teensy]: Message sent to servo +[waypoint_service-5] [INFO] [1746051560.904345806] [sailbot.waypoint_service]: Received request: command=get, argument= +[waypoint_service-5] [INFO] [1746051560.912759063] [sailbot.waypoint_service]: Received request: command=get, argument= +[mux-7] [INFO] [1746051560.945192636] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051560.946077362] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051560.946500216] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051560.948293566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051560.949292157] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051560.957672462] [sailbot.main_algo]: Wind Direction: 224 +[main_algo-3] [INFO] [1746051560.958707806] [sailbot.main_algo]: Target Bearing: -143.0908211035407 +[main_algo-3] [INFO] [1746051560.959664615] [sailbot.main_algo]: Heading Difference: -166.10517889645934 +[main_algo-3] [INFO] [1746051560.960958807] [sailbot.main_algo]: Wind Direction: 224 +[main_algo-3] [INFO] [1746051560.961805523] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051560.962607951] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051560.964172686] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051560.964288585] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051561.002717856] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903809 Long: -76.50275993 +[main_algo-3] [INFO] [1746051561.003792633] [sailbot.main_algo]: Distance to destination: 52.2379740458845 +[vectornav-1] [INFO] [1746051561.003915782] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.00999999999999, -0.395, 5.571) +[main_algo-3] [INFO] [1746051561.004958629] [sailbot.main_algo]: Target Bearing: -143.0933223167561 +[main_algo-3] [INFO] [1746051561.005904149] [sailbot.main_algo]: Heading Difference: -166.10267768324394 +[main_algo-3] [INFO] [1746051561.007233813] [sailbot.main_algo]: Wind Direction: 224 +[main_algo-3] [INFO] [1746051561.008087574] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051561.008899644] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051561.010517839] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051561.045087723] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051561.045926488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051561.046426139] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051561.048189662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051561.049234786] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051561.085274973] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051561.087616297] [sailbot.teensy]: Wind angle: 223 +[trim_sail-4] [INFO] [1746051561.087626390] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051561.088612810] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051561.089482466] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051561.089060839] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051561.090361479] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051561.145068386] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051561.145570282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051561.146431259] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051561.147498983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051561.148674807] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051561.245438533] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051561.246171011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051561.247007109] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051561.248668309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051561.249820551] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051561.335026324] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051561.336533026] [sailbot.teensy]: Wind angle: 222 +[trim_sail-4] [INFO] [1746051561.337114304] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051561.338200435] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051561.339101049] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051561.339931678] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051561.340347585] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051561.344451534] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051561.344992666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051561.345535307] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051561.346823974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051561.347877050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051561.445161945] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051561.445811716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051561.446921011] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051561.447968715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051561.449266653] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051561.457640816] [sailbot.main_algo]: Wind Direction: 222 +[main_algo-3] [INFO] [1746051561.458697564] [sailbot.main_algo]: Target Bearing: -143.0933223167561 +[main_algo-3] [INFO] [1746051561.459631578] [sailbot.main_algo]: Heading Difference: -164.89667768324392 +[main_algo-3] [INFO] [1746051561.460954271] [sailbot.main_algo]: Wind Direction: 222 +[main_algo-3] [INFO] [1746051561.461819652] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051561.462626870] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051561.464160732] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051561.464222631] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051561.502953490] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903823 Long: -76.50275993 +[main_algo-3] [INFO] [1746051561.503958656] [sailbot.main_algo]: Distance to destination: 52.253442009290445 +[vectornav-1] [INFO] [1746051561.504208638] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.11700000000002, -0.949, 5.638) +[main_algo-3] [INFO] [1746051561.505110578] [sailbot.main_algo]: Target Bearing: -143.08101228444127 +[main_algo-3] [INFO] [1746051561.506065358] [sailbot.main_algo]: Heading Difference: -164.90898771555874 +[main_algo-3] [INFO] [1746051561.507433745] [sailbot.main_algo]: Wind Direction: 222 +[main_algo-3] [INFO] [1746051561.508325074] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051561.509175459] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051561.510877657] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051561.544994129] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051561.545674253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051561.546318689] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051561.547577042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051561.548640698] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051561.585593276] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051561.588620926] [sailbot.teensy]: Wind angle: 222 +[trim_sail-4] [INFO] [1746051561.589056194] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051561.589516402] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051561.589563509] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051561.590481670] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051561.591371881] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051561.643935746] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051561.644447009] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051561.644810989] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051561.646406395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051561.647344971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051561.744881499] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051561.745493811] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051561.746155514] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051561.747443997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051561.748625783] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051561.835407183] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051561.837177267] [sailbot.teensy]: Wind angle: 223 +[trim_sail-4] [INFO] [1746051561.838124886] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051561.838887336] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051561.838891782] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051561.839300963] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051561.839699525] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051561.844404789] [sailbot.mux]: Published sail angle from controller_app: 22 +[mux-7] [INFO] [1746051561.845587888] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051561.845673427] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051561.847414188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051561.848429481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051561.945040384] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051561.945454269] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051561.946337409] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051561.947190412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051561.948505930] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051561.957531242] [sailbot.main_algo]: Wind Direction: 223 +[main_algo-3] [INFO] [1746051561.958479418] [sailbot.main_algo]: Target Bearing: -143.08101228444127 +[main_algo-3] [INFO] [1746051561.959314651] [sailbot.main_algo]: Heading Difference: -165.8019877155587 +[main_algo-3] [INFO] [1746051561.960535504] [sailbot.main_algo]: Wind Direction: 223 +[main_algo-3] [INFO] [1746051561.961365438] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051561.962146821] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051561.963719244] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051561.963838216] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051562.002799368] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903836 Long: -76.50275999 +[main_algo-3] [INFO] [1746051562.003775003] [sailbot.main_algo]: Distance to destination: 52.26830583143174 +[vectornav-1] [INFO] [1746051562.003971338] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.18099999999998, 0.143, 5.915) +[main_algo-3] [INFO] [1746051562.004931489] [sailbot.main_algo]: Target Bearing: -143.0665408914722 +[main_algo-3] [INFO] [1746051562.006304714] [sailbot.main_algo]: Heading Difference: -165.8164591085278 +[main_algo-3] [INFO] [1746051562.007725016] [sailbot.main_algo]: Wind Direction: 223 +[main_algo-3] [INFO] [1746051562.008640650] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051562.009540402] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051562.011314840] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051562.045092199] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051562.045651730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051562.046340139] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051562.047471150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051562.048667549] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051562.085298429] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051562.086925976] [sailbot.teensy]: Wind angle: 223 +[teensy-2] [INFO] [1746051562.087812741] [sailbot.teensy]: Actual sail angle: 22 +[trim_sail-4] [INFO] [1746051562.087678971] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051562.088674663] [sailbot.teensy]: Actual tail angle: 25 +[mux-7] [INFO] [1746051562.088667327] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051562.089586958] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051562.144886384] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051562.145536202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051562.146132230] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051562.147346204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051562.148516562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051562.245265508] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051562.245943959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051562.246860851] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051562.248021739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051562.249035129] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051562.335181039] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051562.336902331] [sailbot.teensy]: Wind angle: 223 +[trim_sail-4] [INFO] [1746051562.337533047] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051562.337895732] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051562.338565933] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051562.338794043] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051562.339247059] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051562.344318890] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051562.344769477] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051562.345550325] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051562.346533746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051562.348025357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051562.445063423] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051562.445848133] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051562.446432329] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051562.447678542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051562.448122969] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051562.457758198] [sailbot.main_algo]: Wind Direction: 223 +[main_algo-3] [INFO] [1746051562.458768871] [sailbot.main_algo]: Target Bearing: -143.0665408914722 +[main_algo-3] [INFO] [1746051562.459685149] [sailbot.main_algo]: Heading Difference: -165.75245910852783 +[main_algo-3] [INFO] [1746051562.461010478] [sailbot.main_algo]: Wind Direction: 223 +[main_algo-3] [INFO] [1746051562.461908971] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051562.462718017] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051562.464403568] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051562.464449367] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051562.502801635] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903825 Long: -76.50276002 +[main_algo-3] [INFO] [1746051562.503711559] [sailbot.main_algo]: Distance to destination: 52.256403077123096 +[vectornav-1] [INFO] [1746051562.503918913] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.25200000000001, -0.243, 5.802) +[main_algo-3] [INFO] [1746051562.504845563] [sailbot.main_algo]: Target Bearing: -143.07468776809407 +[main_algo-3] [INFO] [1746051562.505812337] [sailbot.main_algo]: Heading Difference: -165.74431223190595 +[main_algo-3] [INFO] [1746051562.507172883] [sailbot.main_algo]: Wind Direction: 223 +[main_algo-3] [INFO] [1746051562.508084822] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051562.509041647] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051562.510788463] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051562.544950192] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051562.545610035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051562.546225987] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051562.547512170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051562.548731926] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051562.585269823] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051562.587411478] [sailbot.teensy]: Wind angle: 223 +[trim_sail-4] [INFO] [1746051562.587720471] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051562.588312181] [sailbot.teensy]: Actual sail angle: 22 +[mux-7] [INFO] [1746051562.588569805] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051562.589143495] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051562.590024073] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051562.644933667] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051562.645522213] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051562.646451907] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051562.647290815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051562.648425868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051562.745069320] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051562.745776724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051562.746426073] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051562.747860399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051562.748381749] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051562.835142447] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051562.837290802] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051562.837851526] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051562.838217286] [sailbot.teensy]: Wind angle: 223 +[teensy-2] [INFO] [1746051562.839181249] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051562.840069537] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051562.840989236] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051562.844361063] [sailbot.mux]: Published sail angle from controller_app: 22 +[teensy-2] [INFO] [1746051562.844828619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051562.845493005] [sailbot.mux]: Published rudder angle from controller_app: 0 +[teensy-2] [INFO] [1746051562.846482394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 +[teensy-2] [INFO] [1746051562.847669261] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051562.937737308] [sailbot.mux]: Switched control mode to algo +[mux-7] [INFO] [1746051562.944538014] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051562.945136248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051562.945666481] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051562.946999403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746051562.948043600] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051562.957629959] [sailbot.main_algo]: Wind Direction: 223 +[main_algo-3] [INFO] [1746051562.958672918] [sailbot.main_algo]: Target Bearing: -143.07468776809407 +[main_algo-3] [INFO] [1746051562.959582397] [sailbot.main_algo]: Heading Difference: -164.67331223190592 +[main_algo-3] [INFO] [1746051562.960807934] [sailbot.main_algo]: Wind Direction: 223 +[main_algo-3] [INFO] [1746051562.961609852] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051562.962390167] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051562.964031161] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051562.964110691] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051563.002738207] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903824 Long: -76.50275997 +[main_algo-3] [INFO] [1746051563.003642179] [sailbot.main_algo]: Distance to destination: 52.25488068090133 +[vectornav-1] [INFO] [1746051563.003838394] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.43399999999997, -0.981, 5.394) +[main_algo-3] [INFO] [1746051563.004765305] [sailbot.main_algo]: Target Bearing: -143.07810382801733 +[main_algo-3] [INFO] [1746051563.005695159] [sailbot.main_algo]: Heading Difference: -164.66989617198266 +[main_algo-3] [INFO] [1746051563.007029527] [sailbot.main_algo]: Wind Direction: 223 +[main_algo-3] [INFO] [1746051563.007864296] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051563.008675362] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051563.010327252] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051563.044886530] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051563.045486748] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051563.046199214] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051563.047636351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 +[teensy-2] [INFO] [1746051563.048767297] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051563.085585865] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051563.087962598] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051563.088780185] [sailbot.teensy]: Wind angle: 231 +[mux-7] [INFO] [1746051563.089457599] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051563.089718493] [sailbot.teensy]: Actual sail angle: 22 +[teensy-2] [INFO] [1746051563.090594330] [sailbot.teensy]: Actual tail angle: 25 +[teensy-2] [INFO] [1746051563.091444835] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051563.144648206] [sailbot.mux]: Published sail angle from algo: 5 +[teensy-2] [INFO] [1746051563.145271405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051563.145798918] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051563.147165492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:5, rudder: -15 +[teensy-2] [INFO] [1746051563.148221901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051563.244915707] [sailbot.mux]: Published sail angle from algo: 5 +[teensy-2] [INFO] [1746051563.245805952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051563.246171463] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051563.247817230] [sailbot.teensy]: Rudder callback-sent to Teensy sail:5, rudder: -15 +[teensy-2] [INFO] [1746051563.248837314] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051563.335491306] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051563.337344243] [sailbot.teensy]: Wind angle: 245 +[teensy-2] [INFO] [1746051563.338260453] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051563.339115618] [sailbot.teensy]: Actual tail angle: 10 +[trim_sail-4] [INFO] [1746051563.338357579] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051563.340031217] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051563.340449531] [sailbot.mux]: algo sail angle: 15 +[mux-7] [INFO] [1746051563.344275889] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051563.344880082] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051563.345353279] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051563.346664924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051563.347957381] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051563.445062551] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051563.445659262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051563.446304097] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051563.447428986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051563.447933644] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051563.457616306] [sailbot.main_algo]: Wind Direction: 245 +[main_algo-3] [INFO] [1746051563.458650182] [sailbot.main_algo]: Target Bearing: -143.07810382801733 +[main_algo-3] [INFO] [1746051563.459546919] [sailbot.main_algo]: Heading Difference: -163.4878961719827 +[main_algo-3] [INFO] [1746051563.460773021] [sailbot.main_algo]: Wind Direction: 245 +[main_algo-3] [INFO] [1746051563.461595337] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051563.462368252] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051563.463901772] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051563.464097281] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051563.502740603] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903842 Long: -76.50276 +[main_algo-3] [INFO] [1746051563.503726383] [sailbot.main_algo]: Distance to destination: 52.275018407932635 +[vectornav-1] [INFO] [1746051563.504019562] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.90499999999997, -0.277, 5.812) +[main_algo-3] [INFO] [1746051563.505397128] [sailbot.main_algo]: Target Bearing: -143.06076047213986 +[main_algo-3] [INFO] [1746051563.506789760] [sailbot.main_algo]: Heading Difference: -163.50523952786017 +[main_algo-3] [INFO] [1746051563.508187144] [sailbot.main_algo]: Wind Direction: 245 +[main_algo-3] [INFO] [1746051563.509066330] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051563.509901868] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051563.511601279] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051563.544916920] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051563.545558372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051563.546126940] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051563.547430930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051563.548574493] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051563.585254139] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051563.586950786] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746051563.587538186] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051563.589267845] [sailbot.teensy]: Actual sail angle: 5 +[mux-7] [INFO] [1746051563.590113814] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051563.590203272] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746051563.591194820] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051563.644912028] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746051563.645632648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051563.646136570] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051563.647488916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746051563.648592991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051563.744527792] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746051563.745010179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051563.745611065] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051563.746837970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746051563.747738753] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051563.835168157] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051563.837351983] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051563.837662811] [sailbot.teensy]: Wind angle: 252 +[mux-7] [INFO] [1746051563.838101285] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051563.838621408] [sailbot.teensy]: Actual sail angle: 15 +[teensy-2] [INFO] [1746051563.839564420] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746051563.840496330] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051563.844365212] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746051563.844942964] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051563.845459430] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051563.846584268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746051563.847521738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051563.944895376] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746051563.945522347] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051563.946139410] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051563.947416061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746051563.948582411] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051563.957581062] [sailbot.main_algo]: Wind Direction: 252 +[main_algo-3] [INFO] [1746051563.958621471] [sailbot.main_algo]: Target Bearing: -143.06076047213986 +[main_algo-3] [INFO] [1746051563.959529664] [sailbot.main_algo]: Heading Difference: -164.03423952786017 +[main_algo-3] [INFO] [1746051563.960752539] [sailbot.main_algo]: Wind Direction: 252 +[main_algo-3] [INFO] [1746051563.961580381] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051563.962360575] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051563.963881906] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051563.963886461] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051564.003002471] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690385 Long: -76.5027599 +[main_algo-3] [INFO] [1746051564.003990749] [sailbot.main_algo]: Distance to destination: 52.2830231258088 +[vectornav-1] [INFO] [1746051564.004253028] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.77499999999998, 0.497, 6.416) +[main_algo-3] [INFO] [1746051564.005202497] [sailbot.main_algo]: Target Bearing: -143.05880532566704 +[main_algo-3] [INFO] [1746051564.006143935] [sailbot.main_algo]: Heading Difference: -164.036194674333 +[main_algo-3] [INFO] [1746051564.007487448] [sailbot.main_algo]: Wind Direction: 252 +[main_algo-3] [INFO] [1746051564.008421098] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051564.009326675] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051564.011083740] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051564.044907644] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746051564.045646463] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051564.046165425] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051564.047449632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746051564.048637037] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051564.085313155] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051564.087452139] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051564.087451662] [sailbot.teensy]: Wind angle: 252 +[mux-7] [INFO] [1746051564.087934886] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051564.088515248] [sailbot.teensy]: Actual sail angle: 20 +[teensy-2] [INFO] [1746051564.089422191] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746051564.090300458] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051564.144929603] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746051564.145536486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051564.146189891] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051564.147584928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746051564.148729591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051564.244920193] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746051564.245629592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051564.246624900] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051564.248341494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746051564.248877012] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051564.335597377] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051564.337845850] [sailbot.teensy]: Wind angle: 252 +[trim_sail-4] [INFO] [1746051564.338562679] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746051564.338943047] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051564.339273197] [sailbot.teensy]: Actual sail angle: 20 +[teensy-2] [INFO] [1746051564.339670080] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746051564.340471923] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051564.344395914] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746051564.344992573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051564.345477393] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051564.346699404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746051564.347693648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051564.445034252] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746051564.445712980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051564.446348737] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051564.447659163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746051564.448862561] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051564.457658711] [sailbot.main_algo]: Wind Direction: 252 +[main_algo-3] [INFO] [1746051564.458731856] [sailbot.main_algo]: Target Bearing: -143.05880532566704 +[main_algo-3] [INFO] [1746051564.459641384] [sailbot.main_algo]: Heading Difference: -164.16619467433298 +[main_algo-3] [INFO] [1746051564.460929495] [sailbot.main_algo]: Wind Direction: 252 +[main_algo-3] [INFO] [1746051564.461767507] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051564.462674626] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051564.464229879] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051564.464305565] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051564.502788433] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903848 Long: -76.50275992 +[main_algo-3] [INFO] [1746051564.503851838] [sailbot.main_algo]: Distance to destination: 52.280980109604826 +[vectornav-1] [INFO] [1746051564.503873075] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.33499999999998, -0.968, 4.549) +[main_algo-3] [INFO] [1746051564.504988748] [sailbot.main_algo]: Target Bearing: -143.05954773230926 +[main_algo-3] [INFO] [1746051564.506080239] [sailbot.main_algo]: Heading Difference: -164.16545226769074 +[main_algo-3] [INFO] [1746051564.507590017] [sailbot.main_algo]: Wind Direction: 252 +[main_algo-3] [INFO] [1746051564.508518855] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051564.509428154] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051564.511131151] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051564.544955581] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746051564.545594236] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051564.546196376] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051564.547412514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746051564.548504433] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051564.585352159] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051564.587177561] [sailbot.teensy]: Wind angle: 252 +[teensy-2] [INFO] [1746051564.588379811] [sailbot.teensy]: Actual sail angle: 20 +[trim_sail-4] [INFO] [1746051564.587651742] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051564.589319144] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746051564.589502333] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051564.590278332] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051564.645069188] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746051564.645671035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051564.646502671] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051564.647486749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746051564.648544200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051564.745078573] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746051564.745950385] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051564.746453594] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051564.747877006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746051564.749072262] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051564.835444855] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051564.837639943] [sailbot.teensy]: Wind angle: 250 +[trim_sail-4] [INFO] [1746051564.837764379] [sailbot.trim_sail]: Sail Angle: "20" +[mux-7] [INFO] [1746051564.839211680] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051564.839632733] [sailbot.teensy]: Actual sail angle: 20 +[teensy-2] [INFO] [1746051564.840046140] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746051564.840398028] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051564.844440434] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746051564.845088394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051564.845811386] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051564.846832355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746051564.847859788] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051564.944797640] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746051564.945418510] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051564.945963072] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051564.947247183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746051564.948313610] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051564.957385618] [sailbot.main_algo]: Wind Direction: 250 +[main_algo-3] [INFO] [1746051564.958485298] [sailbot.main_algo]: Target Bearing: -143.05954773230926 +[main_algo-3] [INFO] [1746051564.959509902] [sailbot.main_algo]: Heading Difference: -162.6054522676908 +[main_algo-3] [INFO] [1746051564.960774405] [sailbot.main_algo]: Wind Direction: 250 +[main_algo-3] [INFO] [1746051564.961622579] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051564.962433850] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051564.963949981] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051564.964064138] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051565.002777236] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903853 Long: -76.50275984 +[main_algo-3] [INFO] [1746051565.003890520] [sailbot.main_algo]: Distance to destination: 52.285837928644895 +[vectornav-1] [INFO] [1746051565.003920803] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.52800000000002, -0.182, 6.445) +[main_algo-3] [INFO] [1746051565.005331537] [sailbot.main_algo]: Target Bearing: -143.05921385245847 +[main_algo-3] [INFO] [1746051565.006387993] [sailbot.main_algo]: Heading Difference: -162.60578614754155 +[main_algo-3] [INFO] [1746051565.007786300] [sailbot.main_algo]: Wind Direction: 250 +[main_algo-3] [INFO] [1746051565.008720187] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051565.009598419] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051565.011358427] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051565.045014718] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746051565.045703738] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051565.046248104] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051565.047780056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746051565.048815097] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051565.085504211] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051565.087743172] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051565.087768869] [sailbot.teensy]: Wind angle: 250 +[mux-7] [INFO] [1746051565.088372421] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051565.088968476] [sailbot.teensy]: Actual sail angle: 20 +[teensy-2] [INFO] [1746051565.089903251] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746051565.090763436] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051565.144929365] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746051565.145559066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051565.146201173] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051565.147345946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746051565.148556052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051565.245023919] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746051565.246040680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051565.246466295] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051565.247880962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 +[teensy-2] [INFO] [1746051565.249084298] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051565.335219938] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051565.336954935] [sailbot.teensy]: Wind angle: 249 +[trim_sail-4] [INFO] [1746051565.337439515] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051565.337918361] [sailbot.teensy]: Actual sail angle: 20 +[teensy-2] [INFO] [1746051565.338816049] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746051565.339542209] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051565.339669351] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051565.344607025] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051565.345172604] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051565.345728859] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051565.346879916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051565.347955724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051565.445284393] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051565.445944363] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051565.446756680] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051565.447911795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051565.449045717] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051565.457797790] [sailbot.main_algo]: Wind Direction: 249 +[main_algo-3] [INFO] [1746051565.458842764] [sailbot.main_algo]: Target Bearing: -143.05921385245847 +[main_algo-3] [INFO] [1746051565.459779533] [sailbot.main_algo]: Heading Difference: -162.4127861475415 +[main_algo-3] [INFO] [1746051565.461124030] [sailbot.main_algo]: Wind Direction: 249 +[main_algo-3] [INFO] [1746051565.461994741] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051565.462834639] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051565.464493417] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051565.464538916] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051565.502828242] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903847 Long: -76.50275962 +[main_algo-3] [INFO] [1746051565.503773353] [sailbot.main_algo]: Distance to destination: 52.27737976447275 +[vectornav-1] [INFO] [1746051565.504069938] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.05799999999999, -1.1, 5.395) +[main_algo-3] [INFO] [1746051565.504901372] [sailbot.main_algo]: Target Bearing: -143.0756427737963 +[main_algo-3] [INFO] [1746051565.505841220] [sailbot.main_algo]: Heading Difference: -162.3963572262037 +[main_algo-3] [INFO] [1746051565.507202602] [sailbot.main_algo]: Wind Direction: 249 +[main_algo-3] [INFO] [1746051565.508082729] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051565.508948063] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051565.510678316] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051565.545115685] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051565.545634538] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051565.546501872] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051565.547553500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051565.548723383] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051565.585266969] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051565.587674042] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051565.587680839] [sailbot.teensy]: Wind angle: 248 +[mux-7] [INFO] [1746051565.588345204] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051565.588669344] [sailbot.teensy]: Actual sail angle: 20 +[teensy-2] [INFO] [1746051565.589615923] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746051565.590467676] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051565.644939490] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051565.645672098] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051565.646196114] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051565.647561333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051565.648691898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051565.744435299] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051565.744964140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051565.745466924] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051565.747309832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051565.748651819] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051565.835109570] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051565.836623812] [sailbot.teensy]: Wind angle: 246 +[trim_sail-4] [INFO] [1746051565.837106145] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051565.837481799] [sailbot.teensy]: Actual sail angle: 15 +[mux-7] [INFO] [1746051565.838175776] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051565.838611614] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746051565.839627755] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051565.844412290] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051565.844858984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051565.845606165] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051565.846520306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051565.847600551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051565.944992415] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051565.945502363] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051565.946274799] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051565.947277642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051565.948364803] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051565.957682406] [sailbot.main_algo]: Wind Direction: 246 +[main_algo-3] [INFO] [1746051565.958704802] [sailbot.main_algo]: Target Bearing: -143.0756427737963 +[main_algo-3] [INFO] [1746051565.959597573] [sailbot.main_algo]: Heading Difference: -161.86635722620372 +[main_algo-3] [INFO] [1746051565.960818896] [sailbot.main_algo]: Wind Direction: 246 +[main_algo-3] [INFO] [1746051565.961650494] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051565.962430497] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051565.963948314] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051565.964046932] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051566.002834457] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903838 Long: -76.5027596 +[vectornav-1] [INFO] [1746051566.004241911] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.899, 0.586, 4.739) +[main_algo-3] [INFO] [1746051566.004351763] [sailbot.main_algo]: Distance to destination: 52.267269537431496 +[main_algo-3] [INFO] [1746051566.005591860] [sailbot.main_algo]: Target Bearing: -143.08456424996766 +[main_algo-3] [INFO] [1746051566.006602319] [sailbot.main_algo]: Heading Difference: -161.85743575003232 +[main_algo-3] [INFO] [1746051566.007979543] [sailbot.main_algo]: Wind Direction: 246 +[main_algo-3] [INFO] [1746051566.008947393] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051566.009823428] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051566.011533268] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051566.045087422] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051566.045674580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051566.046380424] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051566.047663651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051566.048860758] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051566.085328440] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051566.086947949] [sailbot.teensy]: Wind angle: 244 +[teensy-2] [INFO] [1746051566.087832511] [sailbot.teensy]: Actual sail angle: 15 +[trim_sail-4] [INFO] [1746051566.087529896] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051566.088712481] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746051566.089142261] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051566.089597610] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051566.144866685] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051566.145547413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051566.146105778] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051566.147313358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051566.148490317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051566.245078316] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051566.245662828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051566.246493582] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051566.247523492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051566.248587948] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051566.335765166] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051566.338528398] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051566.338856628] [sailbot.teensy]: Wind angle: 244 +[teensy-2] [INFO] [1746051566.339286281] [sailbot.teensy]: Actual sail angle: 15 +[mux-7] [INFO] [1746051566.339578692] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051566.339680897] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746051566.340279897] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051566.344705681] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051566.345214634] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051566.345940086] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051566.346900789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051566.348068750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051566.445182525] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051566.445809967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051566.446744227] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051566.448234330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051566.449498030] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051566.457527140] [sailbot.main_algo]: Wind Direction: 244 +[main_algo-3] [INFO] [1746051566.458490490] [sailbot.main_algo]: Target Bearing: -143.08456424996766 +[main_algo-3] [INFO] [1746051566.459310185] [sailbot.main_algo]: Heading Difference: -162.01643575003231 +[main_algo-3] [INFO] [1746051566.460543189] [sailbot.main_algo]: Wind Direction: 244 +[main_algo-3] [INFO] [1746051566.461361513] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051566.462153440] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051566.463726433] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051566.463724430] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051566.502661624] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903823 Long: -76.50275983 +[main_algo-3] [INFO] [1746051566.503553662] [sailbot.main_algo]: Distance to destination: 52.25260835207712 +[vectornav-1] [INFO] [1746051566.504055669] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.32499999999999, -0.25, 6.152) +[main_algo-3] [INFO] [1746051566.504676951] [sailbot.main_algo]: Target Bearing: -143.08608475141048 +[main_algo-3] [INFO] [1746051566.505660243] [sailbot.main_algo]: Heading Difference: -162.01491524858955 +[main_algo-3] [INFO] [1746051566.506987743] [sailbot.main_algo]: Wind Direction: 244 +[main_algo-3] [INFO] [1746051566.507907890] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051566.508870963] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051566.510715449] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051566.545102267] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051566.545732048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051566.546503646] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051566.547597537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051566.548799242] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051566.585444579] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051566.587188331] [sailbot.teensy]: Wind angle: 244 +[trim_sail-4] [INFO] [1746051566.587818707] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051566.588182826] [sailbot.teensy]: Actual sail angle: 15 +[teensy-2] [INFO] [1746051566.589084355] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746051566.589336267] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051566.589978274] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051566.645096896] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051566.645796104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051566.646421221] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051566.647797188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051566.648852159] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051566.745116337] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051566.745741963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051566.746515165] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051566.747593587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051566.748827131] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051566.835230043] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051566.837343900] [sailbot.teensy]: Wind angle: 243 +[trim_sail-4] [INFO] [1746051566.837584735] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746051566.839046610] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051566.839210746] [sailbot.teensy]: Actual sail angle: 15 +[teensy-2] [INFO] [1746051566.839615038] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746051566.839978186] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051566.844682404] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051566.845245906] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051566.845809103] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051566.847048717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051566.848215264] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051566.945256338] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051566.945793516] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051566.946686851] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051566.947824000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051566.948872882] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051566.957436706] [sailbot.main_algo]: Wind Direction: 243 +[main_algo-3] [INFO] [1746051566.958416233] [sailbot.main_algo]: Target Bearing: -143.08608475141048 +[main_algo-3] [INFO] [1746051566.959268952] [sailbot.main_algo]: Heading Difference: -161.5889152485895 +[main_algo-3] [INFO] [1746051566.960516365] [sailbot.main_algo]: Wind Direction: 243 +[main_algo-3] [INFO] [1746051566.961334314] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051566.962142616] [sailbot.main_algo]: Rudder Angle: -15 +[main_algo-3] [INFO] [1746051566.963700363] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051566.963894618] [sailbot.mux]: algo rudder angle: -15 +[vectornav-1] [INFO] [1746051567.002820958] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903834 Long: -76.50276008 +[main_algo-3] [INFO] [1746051567.003767476] [sailbot.main_algo]: Distance to destination: 52.26684803852904 +[vectornav-1] [INFO] [1746051567.003951246] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.45799999999997, -1.338, 5.277) +[main_algo-3] [INFO] [1746051567.004949748] [sailbot.main_algo]: Target Bearing: -143.0637314994395 +[main_algo-3] [INFO] [1746051567.005963058] [sailbot.main_algo]: Heading Difference: -161.61126850056053 +[main_algo-3] [INFO] [1746051567.007337222] [sailbot.main_algo]: Wind Direction: 243 +[main_algo-3] [INFO] [1746051567.008331923] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051567.009185814] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051567.010902709] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051567.046141808] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051567.046845551] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051567.047250215] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051567.048797811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051567.049922346] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051567.085442390] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051567.087434102] [sailbot.teensy]: Wind angle: 243 +[trim_sail-4] [INFO] [1746051567.087535026] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051567.088392065] [sailbot.teensy]: Actual sail angle: 15 +[teensy-2] [INFO] [1746051567.089306470] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746051567.089605956] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051567.090240718] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051567.145007367] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051567.145890448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051567.146440578] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051567.147906951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051567.149013326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051567.245168964] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051567.246103049] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051567.246571896] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051567.247921637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051567.248378607] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051567.334970376] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051567.336876189] [sailbot.teensy]: Wind angle: 244 +[trim_sail-4] [INFO] [1746051567.336964662] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051567.337835547] [sailbot.teensy]: Actual sail angle: 15 +[teensy-2] [INFO] [1746051567.338716156] [sailbot.teensy]: Actual tail angle: 10 +[mux-7] [INFO] [1746051567.338991708] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051567.339656541] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051567.344425092] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051567.345106590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051567.345539381] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051567.346918661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051567.347927501] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051567.444902461] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051567.445725287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051567.446218634] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051567.447736918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051567.449070218] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051567.457738444] [sailbot.main_algo]: Wind Direction: 244 +[main_algo-3] [INFO] [1746051567.458788814] [sailbot.main_algo]: Target Bearing: -143.0637314994395 +[main_algo-3] [INFO] [1746051567.459742590] [sailbot.main_algo]: Heading Difference: -160.4782685005605 +[main_algo-3] [INFO] [1746051567.461070914] [sailbot.main_algo]: Wind Direction: 244 +[main_algo-3] [INFO] [1746051567.461934542] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051567.462746472] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051567.464501416] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051567.464675291] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051567.502925433] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903812 Long: -76.50275965 +[main_algo-3] [INFO] [1746051567.504033030] [sailbot.main_algo]: Distance to destination: 52.238957046862566 +[vectornav-1] [INFO] [1746051567.504223000] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.959, -0.008, 5.513) +[main_algo-3] [INFO] [1746051567.505679157] [sailbot.main_algo]: Target Bearing: -143.10488290354473 +[main_algo-3] [INFO] [1746051567.506619744] [sailbot.main_algo]: Heading Difference: -160.43711709645527 +[main_algo-3] [INFO] [1746051567.507999701] [sailbot.main_algo]: Wind Direction: 244 +[main_algo-3] [INFO] [1746051567.508931528] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051567.509782850] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051567.511501400] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051567.545006481] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051567.545684985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051567.546339800] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051567.547663920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051567.548886887] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051567.585475593] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051567.587812441] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051567.588078494] [sailbot.teensy]: Wind angle: 244 +[mux-7] [INFO] [1746051567.588702674] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051567.589066112] [sailbot.teensy]: Actual sail angle: 15 +[teensy-2] [INFO] [1746051567.590209122] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746051567.591190506] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051567.645190262] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051567.646108938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051567.646674667] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051567.648080068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051567.649277396] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051567.745239793] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051567.745884711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051567.746544594] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051567.747923491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051567.749073438] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051567.834660794] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051567.835826568] [sailbot.teensy]: Wind angle: 243 +[teensy-2] [INFO] [1746051567.836656028] [sailbot.teensy]: Actual sail angle: 15 +[teensy-2] [INFO] [1746051567.837415548] [sailbot.teensy]: Actual tail angle: 10 +[trim_sail-4] [INFO] [1746051567.836367114] [sailbot.trim_sail]: Sail Angle: "15" +[teensy-2] [INFO] [1746051567.838232414] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051567.838757988] [sailbot.mux]: algo sail angle: 15 +[mux-7] [INFO] [1746051567.844413230] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051567.844933466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051567.845484666] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051567.846688213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051567.847854694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051567.945049689] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051567.945709936] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051567.946317392] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051567.947525972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051567.948698632] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051567.957569232] [sailbot.main_algo]: Wind Direction: 243 +[main_algo-3] [INFO] [1746051567.958583087] [sailbot.main_algo]: Target Bearing: -143.10488290354473 +[main_algo-3] [INFO] [1746051567.959527063] [sailbot.main_algo]: Heading Difference: -159.9361170964553 +[main_algo-3] [INFO] [1746051567.960769985] [sailbot.main_algo]: Wind Direction: 243 +[main_algo-3] [INFO] [1746051567.961627769] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051567.962432348] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051567.963937485] [sailbot.mux]: algo rudder angle: -15 +[main_algo-3] [INFO] [1746051567.963989990] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051568.002821571] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903819 Long: -76.5027596 +[vectornav-1] [INFO] [1746051568.004313161] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.56900000000002, 0.177, 4.592) +[main_algo-3] [INFO] [1746051568.004366463] [sailbot.main_algo]: Distance to destination: 52.246276140922 +[main_algo-3] [INFO] [1746051568.005440435] [sailbot.main_algo]: Target Bearing: -143.1012632703137 +[main_algo-3] [INFO] [1746051568.006431543] [sailbot.main_algo]: Heading Difference: -159.93973672968627 +[main_algo-3] [INFO] [1746051568.007797093] [sailbot.main_algo]: Wind Direction: 243 +[main_algo-3] [INFO] [1746051568.008706354] [sailbot.main_algo]: Rudder Angle Raw: -15.0 +[main_algo-3] [INFO] [1746051568.009567710] [sailbot.main_algo]: Rudder Angle: -15 +[mux-7] [INFO] [1746051568.011157840] [sailbot.mux]: algo rudder angle: -15 +[mux-7] [INFO] [1746051568.044800667] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051568.045347214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051568.045993385] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051568.047075589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 +[teensy-2] [INFO] [1746051568.048036891] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051568.085264923] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051568.087392936] [sailbot.teensy]: Wind angle: 242 +[trim_sail-4] [INFO] [1746051568.087779810] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051568.089287761] [sailbot.teensy]: Actual sail angle: 15 +[mux-7] [INFO] [1746051568.089505564] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051568.090255051] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746051568.091176315] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051568.144955868] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051568.145646695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051568.146202997] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051568.147535746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: -15 +[teensy-2] [INFO] [1746051568.148634938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051568.245148879] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051568.245798649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051568.246539521] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051568.247686021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: -15 +[teensy-2] [INFO] [1746051568.248146024] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051568.335177658] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051568.336781417] [sailbot.teensy]: Wind angle: 242 +[trim_sail-4] [INFO] [1746051568.337352285] [sailbot.trim_sail]: Sail Angle: "10" +[mux-7] [INFO] [1746051568.338719640] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051568.338826715] [sailbot.teensy]: Actual sail angle: 15 +[teensy-2] [INFO] [1746051568.339772768] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746051568.340690438] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051568.344379524] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051568.344913218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051568.345505015] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051568.346712468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: -15 +[teensy-2] [INFO] [1746051568.347906360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051568.445193602] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051568.445722467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051568.446681728] [sailbot.mux]: Published rudder angle from algo: -15 +[teensy-2] [INFO] [1746051568.447642242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: -15 +[teensy-2] [INFO] [1746051568.448885124] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051568.457737883] [sailbot.main_algo]: Wind Direction: 242 +[main_algo-3] [INFO] [1746051568.459328043] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746051568.460366279] [sailbot.main_algo]: Target Bearing: -85.22012564456503 +[main_algo-3] [INFO] [1746051568.461319966] [sailbot.main_algo]: Heading Difference: 141.78912564456505 +[main_algo-3] [INFO] [1746051568.462572216] [sailbot.main_algo]: Wind Direction: 242 +[main_algo-3] [INFO] [1746051568.463390187] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051568.464208631] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051568.465798394] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051568.465947417] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051568.502667996] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903836 Long: -76.50275981 +[vectornav-1] [INFO] [1746051568.503701269] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.47199999999998, 0.027, 4.992) +[main_algo-3] [INFO] [1746051568.503702959] [sailbot.main_algo]: Distance to destination: 52.26680519804244 +[main_algo-3] [INFO] [1746051568.504855535] [sailbot.main_algo]: Target Bearing: -85.20338396928273 +[main_algo-3] [INFO] [1746051568.506136577] [sailbot.main_algo]: Heading Difference: 141.7723839692827 +[main_algo-3] [INFO] [1746051568.507550351] [sailbot.main_algo]: Wind Direction: 242 +[main_algo-3] [INFO] [1746051568.508674224] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051568.509627219] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051568.511279890] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051568.544965516] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051568.545827942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051568.546207489] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051568.547813703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 +[teensy-2] [INFO] [1746051568.549033719] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051568.585568115] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051568.587971203] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051568.588041475] [sailbot.teensy]: Wind angle: 242 +[mux-7] [INFO] [1746051568.588543180] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051568.588982375] [sailbot.teensy]: Actual sail angle: 10 +[teensy-2] [INFO] [1746051568.589889666] [sailbot.teensy]: Actual tail angle: 10 +[teensy-2] [INFO] [1746051568.590725897] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051568.644880311] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051568.645725391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051568.646236456] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051568.647535929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 +[teensy-2] [INFO] [1746051568.648877802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051568.745275026] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051568.746228000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051568.746880458] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051568.748603862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 +[teensy-2] [INFO] [1746051568.749094291] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051568.835175696] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051568.837278625] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051568.837604136] [sailbot.teensy]: Wind angle: 242 +[mux-7] [INFO] [1746051568.838379675] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051568.838557727] [sailbot.teensy]: Actual sail angle: 10 +[teensy-2] [INFO] [1746051568.839473333] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051568.839953398] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051568.844395746] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051568.844951412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051568.845516062] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051568.846625650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 +[teensy-2] [INFO] [1746051568.847764898] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051568.945345490] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051568.946147461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051568.947367253] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051568.948141260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 +[teensy-2] [INFO] [1746051568.948683480] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051568.957509860] [sailbot.main_algo]: Wind Direction: 242 +[main_algo-3] [INFO] [1746051568.958492398] [sailbot.main_algo]: Target Bearing: -85.20338396928273 +[main_algo-3] [INFO] [1746051568.959409423] [sailbot.main_algo]: Heading Difference: 140.67538396928273 +[main_algo-3] [INFO] [1746051568.960705575] [sailbot.main_algo]: Wind Direction: 242 +[main_algo-3] [INFO] [1746051568.961550611] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051568.962372388] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051568.963917092] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051568.963963673] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051569.002846235] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903807 Long: -76.50275974 +[main_algo-3] [INFO] [1746051569.003745927] [sailbot.main_algo]: Distance to destination: 52.23418095098039 +[vectornav-1] [INFO] [1746051569.003943562] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.942999999999984, -1.003, 6.055) +[main_algo-3] [INFO] [1746051569.004999064] [sailbot.main_algo]: Target Bearing: -85.2060876874062 +[main_algo-3] [INFO] [1746051569.005939402] [sailbot.main_algo]: Heading Difference: 140.67808768740616 +[main_algo-3] [INFO] [1746051569.007310377] [sailbot.main_algo]: Wind Direction: 242 +[main_algo-3] [INFO] [1746051569.008260009] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051569.009127708] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051569.010781056] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051569.045027199] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051569.045790763] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051569.046323058] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051569.047651171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 +[teensy-2] [INFO] [1746051569.048849771] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051569.085579283] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051569.087698960] [sailbot.teensy]: Wind angle: 242 +[teensy-2] [INFO] [1746051569.088661573] [sailbot.teensy]: Actual sail angle: 10 +[trim_sail-4] [INFO] [1746051569.087865095] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051569.089621460] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051569.089767541] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051569.090576861] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051569.144885512] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051569.145600401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051569.146132079] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051569.147349827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 +[teensy-2] [INFO] [1746051569.148550949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051569.245173790] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051569.245714483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051569.246494114] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051569.247561867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 +[teensy-2] [INFO] [1746051569.248800313] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051569.335347277] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051569.337150521] [sailbot.teensy]: Wind angle: 241 +[trim_sail-4] [INFO] [1746051569.337705274] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051569.338104409] [sailbot.teensy]: Actual sail angle: 10 +[teensy-2] [INFO] [1746051569.338999299] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051569.339416967] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051569.339888859] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051569.344377598] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051569.344914478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051569.345453669] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051569.346591421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 +[teensy-2] [INFO] [1746051569.347601580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051569.445166113] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051569.445714144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051569.446549155] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051569.447642723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 +[teensy-2] [INFO] [1746051569.448690999] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051569.457570118] [sailbot.main_algo]: Wind Direction: 241 +[main_algo-3] [INFO] [1746051569.458651563] [sailbot.main_algo]: Target Bearing: -85.2060876874062 +[main_algo-3] [INFO] [1746051569.459568821] [sailbot.main_algo]: Heading Difference: 142.14908768740617 +[main_algo-3] [INFO] [1746051569.460827793] [sailbot.main_algo]: Wind Direction: 241 +[main_algo-3] [INFO] [1746051569.461707519] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051569.462488052] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051569.464017460] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051569.464181215] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051569.502725190] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903801 Long: -76.50275967 +[main_algo-3] [INFO] [1746051569.503757730] [sailbot.main_algo]: Distance to destination: 52.22696937699161 +[vectornav-1] [INFO] [1746051569.503870783] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.875, -0.601, 4.738) +[main_algo-3] [INFO] [1746051569.504894680] [sailbot.main_algo]: Target Bearing: -85.21162956098469 +[main_algo-3] [INFO] [1746051569.505817365] [sailbot.main_algo]: Heading Difference: 142.1546295609847 +[main_algo-3] [INFO] [1746051569.507172980] [sailbot.main_algo]: Wind Direction: 241 +[main_algo-3] [INFO] [1746051569.508055798] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051569.508932579] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051569.510664399] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051569.544798661] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051569.545909923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051569.546190549] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051569.547637830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 +[teensy-2] [INFO] [1746051569.548812978] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051569.585315592] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051569.586991343] [sailbot.teensy]: Wind angle: 235 +[trim_sail-4] [INFO] [1746051569.587544614] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051569.588195308] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051569.589380362] [sailbot.teensy]: Actual sail angle: 10 +[teensy-2] [INFO] [1746051569.590319591] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051569.591142096] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051569.644855943] [sailbot.mux]: Published sail angle from algo: 5 +[teensy-2] [INFO] [1746051569.645502946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051569.646043927] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051569.647625389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:5, rudder: 15 +[teensy-2] [INFO] [1746051569.648845003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051569.744636404] [sailbot.mux]: Published sail angle from algo: 5 +[teensy-2] [INFO] [1746051569.745218470] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051569.745723249] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051569.747157138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:5, rudder: 15 +[teensy-2] [INFO] [1746051569.748336240] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051569.835249296] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051569.837004462] [sailbot.teensy]: Wind angle: 231 +[teensy-2] [INFO] [1746051569.837934320] [sailbot.teensy]: Actual sail angle: 10 +[trim_sail-4] [INFO] [1746051569.837321335] [sailbot.trim_sail]: Sail Angle: "5" +[mux-7] [INFO] [1746051569.837799077] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051569.838836671] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051569.839718139] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051569.844351412] [sailbot.mux]: Published sail angle from algo: 5 +[teensy-2] [INFO] [1746051569.844902277] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051569.845431734] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051569.846631432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:5, rudder: 15 +[teensy-2] [INFO] [1746051569.847721649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051569.943889604] [sailbot.mux]: Published sail angle from algo: 5 +[teensy-2] [INFO] [1746051569.944396327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051569.944475591] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051569.945336947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:5, rudder: 15 +[teensy-2] [INFO] [1746051569.945884908] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051569.956776472] [sailbot.main_algo]: Wind Direction: 231 +[main_algo-3] [INFO] [1746051569.957566624] [sailbot.main_algo]: Target Bearing: -85.21162956098469 +[main_algo-3] [INFO] [1746051569.958360934] [sailbot.main_algo]: Heading Difference: 144.0866295609847 +[main_algo-3] [INFO] [1746051569.959509675] [sailbot.main_algo]: Wind Direction: 231 +[main_algo-3] [INFO] [1746051569.960016110] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051569.960425754] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051569.961485423] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051569.961995442] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051570.002647082] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903822 Long: -76.50275987 +[main_algo-3] [INFO] [1746051570.003689128] [sailbot.main_algo]: Distance to destination: 52.251836793788954 +[vectornav-1] [INFO] [1746051570.003730204] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.14300000000003, 0.39, 4.26) +[main_algo-3] [INFO] [1746051570.004870455] [sailbot.main_algo]: Target Bearing: -85.19627592972668 +[main_algo-3] [INFO] [1746051570.006405875] [sailbot.main_algo]: Heading Difference: 144.07127592972665 +[main_algo-3] [INFO] [1746051570.007831380] [sailbot.main_algo]: Wind Direction: 231 +[main_algo-3] [INFO] [1746051570.008758088] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051570.009660552] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051570.011304892] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051570.044930524] [sailbot.mux]: Published sail angle from algo: 5 +[teensy-2] [INFO] [1746051570.045622432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051570.046329609] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051570.047719894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:5, rudder: 15 +[teensy-2] [INFO] [1746051570.048736961] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051570.085154280] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051570.086887539] [sailbot.teensy]: Wind angle: 219 +[trim_sail-4] [INFO] [1746051570.087517598] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051570.087822251] [sailbot.teensy]: Actual sail angle: 5 +[mux-7] [INFO] [1746051570.088251714] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051570.088735356] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051570.089625157] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051570.145106107] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051570.145735306] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051570.146388108] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051570.147524216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051570.148699045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051570.245293865] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051570.246206716] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051570.246772618] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051570.248461799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051570.249635990] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051570.335161708] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051570.336748220] [sailbot.teensy]: Wind angle: 209 +[teensy-2] [INFO] [1746051570.337597011] [sailbot.teensy]: Actual sail angle: 5 +[trim_sail-4] [INFO] [1746051570.337205514] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051570.338249459] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051570.338467096] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051570.339346055] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051570.344505405] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051570.345079377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051570.345673742] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051570.346764209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051570.347916543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051570.444974177] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051570.445549694] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051570.446231953] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051570.447296785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051570.448472231] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051570.457593622] [sailbot.main_algo]: Wind Direction: 209 +[main_algo-3] [INFO] [1746051570.459171253] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746051570.460453876] [sailbot.main_algo]: Wind Direction: 209 +[main_algo-3] [INFO] [1746051570.461680877] [sailbot.main_algo]: Current Location: (42.46903822214745, -76.50275987005445) +[main_algo-3] [INFO] [1746051570.462548118] [sailbot.main_algo]: Target Bearing: -85.19627592972668 +[main_algo-3] [INFO] [1746051570.463370313] [sailbot.main_algo]: Heading Difference: 142.33927592972668 +[main_algo-3] [INFO] [1746051570.464579736] [sailbot.main_algo]: Wind Direction: 209 +[main_algo-3] [INFO] [1746051570.465376437] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051570.466150468] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051570.467634125] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051570.467658944] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051570.502482732] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903822 Long: -76.5027602 +[vectornav-1] [INFO] [1746051570.503568816] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.56999999999999, -0.344, 5.632) +[main_algo-3] [INFO] [1746051570.503606610] [sailbot.main_algo]: Distance to destination: 52.25459447252118 +[main_algo-3] [INFO] [1746051570.504760216] [sailbot.main_algo]: Target Bearing: -85.16667826894405 +[main_algo-3] [INFO] [1746051570.505676972] [sailbot.main_algo]: Heading Difference: 142.30967826894408 +[main_algo-3] [INFO] [1746051570.506924524] [sailbot.main_algo]: Wind Direction: 209 +[main_algo-3] [INFO] [1746051570.507843545] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051570.508694957] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051570.510302959] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051570.545005844] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051570.545641991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051570.547169498] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051570.547502439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051570.548696881] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051570.585477348] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051570.587877034] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051570.588768505] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051570.589095090] [sailbot.teensy]: Wind angle: 206 +[teensy-2] [INFO] [1746051570.590083117] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051570.591022853] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051570.591892685] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051570.645087217] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051570.645688500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051570.646416280] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051570.647534475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051570.648805656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051570.745291202] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051570.745817271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051570.746932736] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051570.748116040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051570.749303393] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051570.835187455] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051570.836825118] [sailbot.teensy]: Wind angle: 205 +[trim_sail-4] [INFO] [1746051570.837459847] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051570.837686254] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051570.838533968] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051570.838846453] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051570.839409224] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051570.844542552] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051570.845118991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051570.845680443] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051570.846739517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051570.847957256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051570.945047477] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051570.945848912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051570.946775537] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051570.947767954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051570.948838334] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051570.957372271] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051570.958328765] [sailbot.main_algo]: Target Bearing: -85.16667826894405 +[main_algo-3] [INFO] [1746051570.959180710] [sailbot.main_algo]: Heading Difference: 141.73667826894405 +[main_algo-3] [INFO] [1746051570.960407992] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051570.961225373] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051570.962004305] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051570.963527615] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051570.963574805] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051571.002815657] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903786 Long: -76.50276017 +[main_algo-3] [INFO] [1746051571.003815865] [sailbot.main_algo]: Distance to destination: 52.21457007271963 +[vectornav-1] [INFO] [1746051571.003951192] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.55599999999998, -0.44, 5.198) +[main_algo-3] [INFO] [1746051571.005021659] [sailbot.main_algo]: Target Bearing: -85.16490070884586 +[main_algo-3] [INFO] [1746051571.006044617] [sailbot.main_algo]: Heading Difference: 141.73490070884588 +[main_algo-3] [INFO] [1746051571.007434283] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051571.008371051] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051571.009335760] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051571.011258944] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051571.045109304] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051571.045698681] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051571.046546667] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051571.047560379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051571.048587429] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051571.085218974] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051571.086786837] [sailbot.teensy]: Wind angle: 205 +[teensy-2] [INFO] [1746051571.087641925] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746051571.087267986] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051571.088431590] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051571.088477724] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051571.089327737] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051571.145537554] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051571.145888754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051571.146835337] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051571.147702784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051571.148756903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051571.244935715] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051571.245531839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051571.246172041] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051571.247537748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051571.248605376] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051571.335423831] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051571.338347990] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051571.338569517] [sailbot.teensy]: Wind angle: 205 +[mux-7] [INFO] [1746051571.338838067] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051571.339252847] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051571.339628958] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051571.340051736] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051571.344546313] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051571.344968392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051571.345707935] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051571.346679202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051571.347831589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051571.444971993] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051571.445869847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051571.446263953] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051571.447757436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051571.448796784] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051571.457700542] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051571.458775761] [sailbot.main_algo]: Target Bearing: -85.16490070884586 +[main_algo-3] [INFO] [1746051571.459706339] [sailbot.main_algo]: Heading Difference: 143.72090070884587 +[main_algo-3] [INFO] [1746051571.461017806] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051571.461850745] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051571.462636445] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051571.464180510] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051571.464352346] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051571.502659421] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903785 Long: -76.50276026 +[main_algo-3] [INFO] [1746051571.503659471] [sailbot.main_algo]: Distance to destination: 52.21422002673803 +[vectornav-1] [INFO] [1746051571.503941107] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (60.117999999999995, -1.086, 4.227) +[main_algo-3] [INFO] [1746051571.504704104] [sailbot.main_algo]: Target Bearing: -85.15669862162305 +[main_algo-3] [INFO] [1746051571.505679523] [sailbot.main_algo]: Heading Difference: 143.71269862162302 +[main_algo-3] [INFO] [1746051571.507040093] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051571.507907669] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051571.508770950] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051571.510499204] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051571.545131045] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051571.545912040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051571.546751256] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051571.547792577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051571.548865289] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051571.585343285] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051571.587819658] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051571.588898370] [sailbot.teensy]: Wind angle: 205 +[mux-7] [INFO] [1746051571.589907359] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051571.590004826] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051571.591172959] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051571.592105082] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051571.644874553] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051571.645551008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051571.646096181] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051571.647302239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051571.648429531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051571.745310276] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051571.746159757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051571.746951842] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051571.748615707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051571.749674638] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051571.835413330] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051571.837364835] [sailbot.teensy]: Wind angle: 205 +[trim_sail-4] [INFO] [1746051571.837660160] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051571.838306299] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051571.838941247] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051571.839228884] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051571.840105012] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051571.844278499] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051571.845028747] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051571.845791982] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051571.846806343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051571.847956900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051571.945154665] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051571.945788952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051571.946583938] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051571.947877171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051571.949026176] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051571.957388595] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051571.958346971] [sailbot.main_algo]: Target Bearing: -85.15669862162305 +[main_algo-3] [INFO] [1746051571.959205733] [sailbot.main_algo]: Heading Difference: 145.27469862162303 +[main_algo-3] [INFO] [1746051571.960441315] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051571.961357759] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051571.962549123] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051571.964319222] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051571.966443964] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051572.001786089] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903791 Long: -76.50276041 +[main_algo-3] [INFO] [1746051572.002407658] [sailbot.main_algo]: Distance to destination: 52.22210883822703 +[vectornav-1] [INFO] [1746051572.002537135] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.12900000000002, 0.908, 4.048) +[main_algo-3] [INFO] [1746051572.003261954] [sailbot.main_algo]: Target Bearing: -85.1439839089606 +[main_algo-3] [INFO] [1746051572.004213290] [sailbot.main_algo]: Heading Difference: 145.2619839089606 +[main_algo-3] [INFO] [1746051572.005561701] [sailbot.main_algo]: Wind Direction: 205 +[main_algo-3] [INFO] [1746051572.006484251] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051572.007375933] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051572.009806642] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051572.043845100] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051572.044443722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051572.044875531] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051572.046045948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051572.046726241] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051572.085200616] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051572.087254212] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051572.087718533] [sailbot.teensy]: Wind angle: 203 +[teensy-2] [INFO] [1746051572.088672262] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051572.088786223] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051572.089683351] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051572.090575808] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051572.144613968] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051572.145322795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051572.145856956] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051572.147149028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051572.148322307] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051572.245279605] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051572.245961117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051572.246714727] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051572.247963929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051572.249139268] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051572.335418267] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051572.338124378] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051572.338622292] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051572.338893900] [sailbot.teensy]: Wind angle: 203 +[teensy-2] [INFO] [1746051572.339866192] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051572.340764202] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051572.341630864] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051572.344764508] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051572.344998010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051572.345906426] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051572.346708207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051572.347812398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051572.445415551] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051572.446027839] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051572.446975687] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051572.448198508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051572.448832296] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051572.457702877] [sailbot.main_algo]: Wind Direction: 203 +[main_algo-3] [INFO] [1746051572.458781771] [sailbot.main_algo]: Target Bearing: -85.1439839089606 +[main_algo-3] [INFO] [1746051572.459690587] [sailbot.main_algo]: Heading Difference: 144.2729839089606 +[main_algo-3] [INFO] [1746051572.461027997] [sailbot.main_algo]: Wind Direction: 203 +[main_algo-3] [INFO] [1746051572.461911056] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051572.462734645] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051572.464296329] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051572.464296416] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051572.503006827] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903775 Long: -76.50276068 +[main_algo-3] [INFO] [1746051572.504225653] [sailbot.main_algo]: Distance to destination: 52.20670883130067 +[vectornav-1] [INFO] [1746051572.504280937] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.153999999999996, -0.633, 6.402) +[main_algo-3] [INFO] [1746051572.505560935] [sailbot.main_algo]: Target Bearing: -85.11775296626922 +[main_algo-3] [INFO] [1746051572.506560101] [sailbot.main_algo]: Heading Difference: 144.24675296626924 +[main_algo-3] [INFO] [1746051572.508139280] [sailbot.main_algo]: Wind Direction: 203 +[main_algo-3] [INFO] [1746051572.509100545] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051572.510069780] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051572.511805926] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051572.545027299] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051572.545825434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051572.546300409] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051572.547718209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051572.548790928] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051572.585409098] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051572.587293397] [sailbot.teensy]: Wind angle: 203 +[trim_sail-4] [INFO] [1746051572.587696143] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051572.588313725] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051572.589041526] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051572.589300208] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051572.590346862] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051572.644951821] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051572.645850625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051572.646804894] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051572.648253598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051572.649283962] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051572.745100711] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051572.745784356] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051572.746534350] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051572.747809968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051572.749091313] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051572.835381921] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051572.837524915] [sailbot.teensy]: Wind angle: 204 +[trim_sail-4] [INFO] [1746051572.837726123] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051572.838504583] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051572.838928151] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051572.839228753] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051572.839598569] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051572.844396372] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051572.844951937] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051572.845532470] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051572.846637303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051572.847803214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051572.945243597] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051572.945989684] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051572.946796907] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051572.948424864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051572.949415196] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051572.957352377] [sailbot.main_algo]: Wind Direction: 204 +[main_algo-3] [INFO] [1746051572.958312940] [sailbot.main_algo]: Target Bearing: -85.11775296626922 +[main_algo-3] [INFO] [1746051572.959159221] [sailbot.main_algo]: Heading Difference: 142.27175296626922 +[main_algo-3] [INFO] [1746051572.960374302] [sailbot.main_algo]: Wind Direction: 204 +[main_algo-3] [INFO] [1746051572.961190511] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051572.961995138] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051572.963522186] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051572.963652266] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051573.002915731] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690375 Long: -76.50276048 +[main_algo-3] [INFO] [1746051573.003924500] [sailbot.main_algo]: Distance to destination: 52.17740328553664 +[vectornav-1] [INFO] [1746051573.004077124] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (60.38299999999998, -0.902, 4.803) +[main_algo-3] [INFO] [1746051573.005082885] [sailbot.main_algo]: Target Bearing: -85.13258255619002 +[main_algo-3] [INFO] [1746051573.006010712] [sailbot.main_algo]: Heading Difference: 142.28658255619 +[main_algo-3] [INFO] [1746051573.007333645] [sailbot.main_algo]: Wind Direction: 204 +[main_algo-3] [INFO] [1746051573.008241236] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051573.009095358] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051573.010881373] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051573.045038185] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051573.045701581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051573.046284378] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051573.047793034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051573.048929903] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051573.085642418] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051573.087691324] [sailbot.teensy]: Wind angle: 205 +[teensy-2] [INFO] [1746051573.088709799] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746051573.088472365] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051573.089149993] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051573.089692613] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051573.090580960] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051573.144938368] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051573.145801346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051573.146248313] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051573.147670763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051573.148218785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051573.244815868] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051573.245754041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051573.246010111] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051573.247487328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051573.248536994] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051573.335456092] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051573.337683624] [sailbot.teensy]: Wind angle: 206 +[trim_sail-4] [INFO] [1746051573.337802598] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051573.338127276] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051573.338404177] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051573.338509831] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051573.339147658] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051573.344303461] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051573.344916768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051573.345418399] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051573.346617445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051573.347634522] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051573.444856958] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051573.445539223] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051573.446031509] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051573.447315622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051573.448347358] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051573.457751659] [sailbot.main_algo]: Wind Direction: 206 +[main_algo-3] [INFO] [1746051573.458839078] [sailbot.main_algo]: Target Bearing: -85.13258255619002 +[main_algo-3] [INFO] [1746051573.459821563] [sailbot.main_algo]: Heading Difference: 145.51558255619 +[main_algo-3] [INFO] [1746051573.461202036] [sailbot.main_algo]: Wind Direction: 206 +[main_algo-3] [INFO] [1746051573.462081667] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051573.462859179] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051573.464436617] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051573.464527682] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051573.502860979] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903756 Long: -76.50276073 +[main_algo-3] [INFO] [1746051573.504084657] [sailbot.main_algo]: Distance to destination: 52.186142075045 +[vectornav-1] [INFO] [1746051573.504456721] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (63.15499999999997, -0.074, 3.06) +[main_algo-3] [INFO] [1746051573.505244345] [sailbot.main_algo]: Target Bearing: -85.11088299667242 +[main_algo-3] [INFO] [1746051573.506246615] [sailbot.main_algo]: Heading Difference: 145.49388299667237 +[main_algo-3] [INFO] [1746051573.507642675] [sailbot.main_algo]: Wind Direction: 206 +[main_algo-3] [INFO] [1746051573.508560087] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051573.509429163] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051573.511049916] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051573.544904305] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051573.545715534] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051573.546194848] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051573.547706913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051573.548776450] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051573.585427604] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051573.587808141] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051573.588263203] [sailbot.teensy]: Wind angle: 206 +[mux-7] [INFO] [1746051573.588686104] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051573.589217506] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051573.590122061] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051573.590946507] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051573.644963098] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051573.645686931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051573.646370332] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051573.647946368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051573.649141858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051573.745497240] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051573.746221967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051573.747064162] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051573.748284699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051573.748840464] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051573.835388236] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051573.837304006] [sailbot.teensy]: Wind angle: 202 +[trim_sail-4] [INFO] [1746051573.837699814] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051573.838236664] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051573.838408707] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051573.839163748] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051573.840130437] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051573.844379326] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051573.844957027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051573.845541411] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051573.846853692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051573.848023762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051573.944940933] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051573.945789893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051573.946230557] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051573.947642844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051573.948412851] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051573.957425068] [sailbot.main_algo]: Wind Direction: 202 +[main_algo-3] [INFO] [1746051573.958446336] [sailbot.main_algo]: Target Bearing: -85.11088299667242 +[main_algo-3] [INFO] [1746051573.959315114] [sailbot.main_algo]: Heading Difference: 148.26588299667242 +[main_algo-3] [INFO] [1746051573.960574522] [sailbot.main_algo]: Wind Direction: 202 +[main_algo-3] [INFO] [1746051573.961426059] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051573.962246955] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051573.963803010] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051573.963850273] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051574.002783284] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903759 Long: -76.50276091 +[vectornav-1] [INFO] [1746051574.003902266] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (60.43000000000001, -0.169, 5.75) +[main_algo-3] [INFO] [1746051574.004201586] [sailbot.main_algo]: Distance to destination: 52.190980475787136 +[main_algo-3] [INFO] [1746051574.005462196] [sailbot.main_algo]: Target Bearing: -85.09509783789694 +[main_algo-3] [INFO] [1746051574.006467743] [sailbot.main_algo]: Heading Difference: 148.25009783789693 +[main_algo-3] [INFO] [1746051574.007862372] [sailbot.main_algo]: Wind Direction: 202 +[main_algo-3] [INFO] [1746051574.008779896] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051574.009644164] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051574.011389882] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051574.044511057] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051574.045070431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051574.045522679] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051574.046729991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051574.047847589] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051574.084484030] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051574.085648643] [sailbot.teensy]: Wind angle: 197 +[trim_sail-4] [INFO] [1746051574.086189511] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051574.086375089] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051574.087142605] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051574.087952043] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051574.088718522] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051574.145014862] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051574.145580947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051574.146431586] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051574.147507827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051574.148532070] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051574.245105917] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051574.245655316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051574.246446098] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051574.247531074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051574.248569437] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051574.335341861] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051574.337152999] [sailbot.teensy]: Wind angle: 195 +[teensy-2] [INFO] [1746051574.338132510] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746051574.338164228] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051574.338740626] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051574.338932088] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051574.339131442] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051574.344401668] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051574.344956028] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051574.345561181] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051574.346652764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051574.347677791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051574.444951062] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051574.445481642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051574.446323753] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051574.447710645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051574.448878591] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051574.457703740] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051574.458851664] [sailbot.main_algo]: Target Bearing: -85.09509783789694 +[main_algo-3] [INFO] [1746051574.459769673] [sailbot.main_algo]: Heading Difference: 145.52509783789696 +[main_algo-3] [INFO] [1746051574.461061966] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051574.461865322] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051574.462656267] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051574.464180354] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051574.464328958] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051574.502763211] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903712 Long: -76.50276095 +[main_algo-3] [INFO] [1746051574.503632780] [sailbot.main_algo]: Distance to destination: 52.1394010892553 +[vectornav-1] [INFO] [1746051574.504193505] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.79599999999999, -0.062, 5.176) +[main_algo-3] [INFO] [1746051574.504790494] [sailbot.main_algo]: Target Bearing: -85.08558721142325 +[main_algo-3] [INFO] [1746051574.505746538] [sailbot.main_algo]: Heading Difference: 145.51558721142328 +[main_algo-3] [INFO] [1746051574.507091711] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051574.507962949] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051574.508829910] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051574.510390836] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051574.544717528] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051574.545406149] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051574.546226535] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051574.547280988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051574.548361583] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051574.584989536] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051574.586413546] [sailbot.teensy]: Wind angle: 195 +[teensy-2] [INFO] [1746051574.587260153] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746051574.586975140] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051574.587404566] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051574.588088934] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051574.589010454] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051574.644860531] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051574.645452507] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051574.646169312] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051574.647437425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051574.648640817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051574.744923019] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051574.745554035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051574.746235602] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051574.747422645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051574.748457504] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051574.835246361] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051574.837013330] [sailbot.teensy]: Wind angle: 195 +[trim_sail-4] [INFO] [1746051574.837566588] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051574.837966180] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051574.838877845] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051574.839310211] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051574.840168571] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051574.844529784] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051574.845516426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051574.845712655] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051574.847676618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051574.848747220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051574.945351827] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051574.946001569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051574.946903454] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051574.948198359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051574.949465180] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051574.957825829] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051574.959121247] [sailbot.main_algo]: Target Bearing: -85.08558721142325 +[main_algo-3] [INFO] [1746051574.960176597] [sailbot.main_algo]: Heading Difference: 144.88158721142327 +[main_algo-3] [INFO] [1746051574.961518350] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051574.962400826] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051574.963254385] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051574.964942145] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051574.965119140] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051575.002829540] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903727 Long: -76.50276161 +[main_algo-3] [INFO] [1746051575.003731112] [sailbot.main_algo]: Distance to destination: 52.16160267043939 +[vectornav-1] [INFO] [1746051575.003955259] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (63.084, -0.925, 5.361) +[main_algo-3] [INFO] [1746051575.004825517] [sailbot.main_algo]: Target Bearing: -85.0281883586076 +[main_algo-3] [INFO] [1746051575.005800219] [sailbot.main_algo]: Heading Difference: 144.82418835860756 +[main_algo-3] [INFO] [1746051575.007942856] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051575.008971508] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051575.009865359] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051575.011848433] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051575.045005508] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051575.045695192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051575.046289549] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051575.047584405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051575.048629615] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051575.085527857] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051575.087972288] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051575.088340382] [sailbot.teensy]: Wind angle: 195 +[mux-7] [INFO] [1746051575.088798235] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051575.089399400] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051575.090305268] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051575.091154938] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051575.144548548] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051575.145105970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051575.145747850] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051575.146839159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051575.148008782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051575.245044755] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051575.245777460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051575.246353748] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051575.247835767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051575.248924954] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051575.335651145] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051575.338238007] [sailbot.teensy]: Wind angle: 195 +[trim_sail-4] [INFO] [1746051575.338286316] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051575.339617030] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051575.340246326] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051575.341048292] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051575.341392131] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051575.344390350] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051575.345083014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051575.345537389] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051575.346802037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051575.347929093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051575.445065252] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051575.445722112] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051575.446349699] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051575.447677095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051575.448980100] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051575.457706197] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051575.458843053] [sailbot.main_algo]: Target Bearing: -85.0281883586076 +[main_algo-3] [INFO] [1746051575.459803988] [sailbot.main_algo]: Heading Difference: 148.11218835860757 +[main_algo-3] [INFO] [1746051575.461121528] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051575.462015144] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051575.462826058] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051575.464384150] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051575.464539622] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051575.502843580] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690371 Long: -76.50276175 +[main_algo-3] [INFO] [1746051575.503629800] [sailbot.main_algo]: Distance to destination: 52.144027920360195 +[vectornav-1] [INFO] [1746051575.503947965] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (65.19200000000001, 0.254, 3.805) +[main_algo-3] [INFO] [1746051575.504815778] [sailbot.main_algo]: Target Bearing: -85.01344531755754 +[main_algo-3] [INFO] [1746051575.505819798] [sailbot.main_algo]: Heading Difference: 148.09744531755757 +[main_algo-3] [INFO] [1746051575.507193078] [sailbot.main_algo]: Wind Direction: 195 +[main_algo-3] [INFO] [1746051575.508074059] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051575.508945212] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051575.510596082] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051575.545590965] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051575.545654034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051575.547002293] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051575.547814898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051575.548921461] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051575.585739694] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051575.588398032] [sailbot.teensy]: Wind angle: 194 +[trim_sail-4] [INFO] [1746051575.588655600] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051575.589490747] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051575.590415964] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051575.590660162] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051575.591297356] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051575.644966089] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051575.645646358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051575.646282639] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051575.647481137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051575.648561540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051575.745114525] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051575.745768856] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051575.746565386] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051575.747970476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051575.748503621] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051575.835465488] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051575.838056497] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051575.838944467] [sailbot.teensy]: Wind angle: 194 +[mux-7] [INFO] [1746051575.838989946] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051575.839931500] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051575.840857012] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051575.841746875] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051575.844535339] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051575.844979216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051575.845792861] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051575.846776380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051575.847845386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051575.945179552] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051575.945834125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051575.946582760] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051575.947862254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051575.949047829] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051575.957551948] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051575.958543162] [sailbot.main_algo]: Target Bearing: -85.01344531755754 +[main_algo-3] [INFO] [1746051575.959453076] [sailbot.main_algo]: Heading Difference: 150.20544531755752 +[main_algo-3] [INFO] [1746051575.960796360] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051575.961676842] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051575.962501969] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051575.964052390] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051575.964071258] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051576.002934194] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903725 Long: -76.50276196 +[main_algo-3] [INFO] [1746051576.003891959] [sailbot.main_algo]: Distance to destination: 52.16240298233432 +[vectornav-1] [INFO] [1746051576.004259535] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (65.37299999999999, -0.881, 4.046) +[main_algo-3] [INFO] [1746051576.005035960] [sailbot.main_algo]: Target Bearing: -84.99649649408387 +[main_algo-3] [INFO] [1746051576.005988959] [sailbot.main_algo]: Heading Difference: 150.1884964940839 +[main_algo-3] [INFO] [1746051576.007370719] [sailbot.main_algo]: Wind Direction: 194 +[main_algo-3] [INFO] [1746051576.008269860] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051576.009126282] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051576.011004166] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051576.044974759] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051576.045672222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051576.046255630] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051576.047729810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051576.048764161] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051576.085356740] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051576.087079339] [sailbot.teensy]: Wind angle: 194 +[teensy-2] [INFO] [1746051576.088021843] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051576.088969567] [sailbot.teensy]: Actual tail angle: 50 +[trim_sail-4] [INFO] [1746051576.087935441] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051576.089870619] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051576.089932914] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051576.144082975] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051576.144647583] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051576.144901615] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051576.145976410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051576.147171794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051576.245087968] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051576.245646020] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051576.246405478] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051576.247528417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051576.248733318] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051576.335160531] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051576.337150691] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051576.337344324] [sailbot.teensy]: Wind angle: 193 +[teensy-2] [INFO] [1746051576.338240956] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051576.338506235] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051576.338856355] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051576.339236922] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051576.344445299] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051576.345020076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051576.345668163] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051576.346744472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051576.347770166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051576.445196699] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051576.445650715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051576.446561225] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051576.447675645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051576.448695927] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051576.457570622] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051576.458622476] [sailbot.main_algo]: Target Bearing: -84.99649649408387 +[main_algo-3] [INFO] [1746051576.459537121] [sailbot.main_algo]: Heading Difference: 150.36949649408388 +[main_algo-3] [INFO] [1746051576.460778255] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051576.461623895] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051576.462426674] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051576.464179676] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051576.464233595] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051576.502837676] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690373 Long: -76.50276234 +[main_algo-3] [INFO] [1746051576.503939650] [sailbot.main_algo]: Distance to destination: 52.17121007108419 +[vectornav-1] [INFO] [1746051576.504138934] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (63.53199999999998, 0.65, 6.347) +[main_algo-3] [INFO] [1746051576.505486984] [sailbot.main_algo]: Target Bearing: -84.96301158976334 +[main_algo-3] [INFO] [1746051576.506632065] [sailbot.main_algo]: Heading Difference: 150.3360115897633 +[main_algo-3] [INFO] [1746051576.507999898] [sailbot.main_algo]: Wind Direction: 193 +[main_algo-3] [INFO] [1746051576.508930742] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051576.509780480] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051576.511496332] [sailbot.mux]: algo rudder angle: 25 +[teensy-2] [INFO] [1746051576.544371633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051576.545651881] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051576.546887005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[mux-7] [INFO] [1746051576.547300691] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051576.548105929] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051576.584376046] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051576.585202541] [sailbot.teensy]: Wind angle: 193 +[teensy-2] [INFO] [1746051576.585601972] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051576.585983895] [sailbot.teensy]: Actual tail angle: 50 +[trim_sail-4] [INFO] [1746051576.585379478] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051576.586359367] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051576.586371248] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051576.644961866] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051576.645656509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051576.646278142] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051576.647778956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051576.648588770] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051576.745123325] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051576.745792346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051576.746570011] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051576.747983274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051576.748584747] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051576.835484918] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051576.837470626] [sailbot.teensy]: Wind angle: 191 +[teensy-2] [INFO] [1746051576.838403210] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051576.838608200] [sailbot.mux]: algo sail angle: 0 +[trim_sail-4] [INFO] [1746051576.839020006] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051576.839294793] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051576.840221799] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051576.844438272] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051576.844893250] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051576.845651185] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051576.847121088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051576.848147673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051576.945246663] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051576.945824818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051576.947190868] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051576.947686403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051576.948884802] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051576.957460691] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051576.958413594] [sailbot.main_algo]: Target Bearing: -84.96301158976334 +[main_algo-3] [INFO] [1746051576.959319071] [sailbot.main_algo]: Heading Difference: 148.4950115897633 +[main_algo-3] [INFO] [1746051576.960557244] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051576.961412812] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051576.962234653] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051576.963763025] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051576.963796074] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051577.002791990] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903704 Long: -76.50276254 +[main_algo-3] [INFO] [1746051577.003594828] [sailbot.main_algo]: Distance to destination: 52.14423299305111 +[vectornav-1] [INFO] [1746051577.003925856] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (61.71600000000001, -1.504, 5.675) +[main_algo-3] [INFO] [1746051577.004716579] [sailbot.main_algo]: Target Bearing: -84.9416982657543 +[main_algo-3] [INFO] [1746051577.005627066] [sailbot.main_algo]: Heading Difference: 148.47369826575425 +[main_algo-3] [INFO] [1746051577.006904223] [sailbot.main_algo]: Wind Direction: 191 +[main_algo-3] [INFO] [1746051577.007771304] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051577.008597126] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051577.010201178] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051577.045292374] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051577.045725938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051577.047115999] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051577.047787232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051577.048973107] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051577.085328276] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051577.087237167] [sailbot.teensy]: Wind angle: 190 +[teensy-2] [INFO] [1746051577.088195836] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746051577.087610850] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051577.089089323] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051577.089205688] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051577.090001896] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051577.145073613] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051577.145972136] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051577.146386194] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051577.147946772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051577.149007233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051577.244988406] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051577.245841585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051577.246294822] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051577.247966555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051577.248995925] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051577.335846311] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051577.338667565] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051577.339117909] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051577.339119516] [sailbot.teensy]: Wind angle: 190 +[teensy-2] [INFO] [1746051577.339552104] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051577.339944447] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051577.340320307] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051577.344436448] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051577.344946013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051577.345555422] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051577.346722831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051577.347923125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051577.445200834] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051577.446156922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051577.446639145] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051577.448231173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051577.449397291] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051577.457611698] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051577.458599787] [sailbot.main_algo]: Target Bearing: -84.9416982657543 +[main_algo-3] [INFO] [1746051577.459441336] [sailbot.main_algo]: Heading Difference: 146.65769826575433 +[main_algo-3] [INFO] [1746051577.460671464] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051577.461481892] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051577.462292239] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051577.463819967] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051577.463893174] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051577.502916664] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903713 Long: -76.50276282 +[main_algo-3] [INFO] [1746051577.503960872] [sailbot.main_algo]: Distance to destination: 52.156612437980776 +[vectornav-1] [INFO] [1746051577.504209804] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (60.668000000000006, 0.177, 4.296) +[main_algo-3] [INFO] [1746051577.505145178] [sailbot.main_algo]: Target Bearing: -84.91771122683997 +[main_algo-3] [INFO] [1746051577.506122452] [sailbot.main_algo]: Heading Difference: 146.63371122683998 +[main_algo-3] [INFO] [1746051577.507448029] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051577.508346675] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051577.509210068] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051577.510896416] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051577.545090688] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051577.545759053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051577.546527291] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051577.547857568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051577.549067833] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051577.585529450] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051577.587979428] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051577.588183455] [sailbot.teensy]: Wind angle: 190 +[mux-7] [INFO] [1746051577.589340262] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051577.589414885] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051577.590323424] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051577.591426239] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051577.644987566] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051577.645602303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051577.646266274] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051577.647478962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051577.648735325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051577.745181255] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051577.745920882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051577.746664632] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051577.747766686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051577.748821842] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051577.835348421] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051577.837559210] [sailbot.teensy]: Wind angle: 190 +[trim_sail-4] [INFO] [1746051577.837654317] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051577.838709916] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051577.838870833] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051577.839266624] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051577.839607082] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051577.844441660] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051577.844999030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051577.845596277] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051577.846804595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051577.847793081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051577.945061737] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051577.945830621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051577.946577250] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051577.948003199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051577.949104348] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051577.957634413] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051577.958636077] [sailbot.main_algo]: Target Bearing: -84.91771122683997 +[main_algo-3] [INFO] [1746051577.959526670] [sailbot.main_algo]: Heading Difference: 145.58571122683998 +[main_algo-3] [INFO] [1746051577.960754610] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051577.961581677] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051577.962372980] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051577.963849671] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051577.963936482] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051578.002740769] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903735 Long: -76.50276286 +[main_algo-3] [INFO] [1746051578.003662304] [sailbot.main_algo]: Distance to destination: 52.18125649776433 +[vectornav-1] [INFO] [1746051578.004065207] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.791, 0.25, 5.843) +[main_algo-3] [INFO] [1746051578.005233174] [sailbot.main_algo]: Target Bearing: -84.91696987253982 +[main_algo-3] [INFO] [1746051578.006279201] [sailbot.main_algo]: Heading Difference: 145.58496987253983 +[main_algo-3] [INFO] [1746051578.007656216] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051578.008554716] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051578.009402436] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051578.011051074] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051578.045218564] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051578.045739392] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051578.046514422] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051578.047726836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051578.048771005] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051578.085605070] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051578.088317223] [sailbot.teensy]: Wind angle: 190 +[trim_sail-4] [INFO] [1746051578.088357804] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051578.088771836] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051578.089436909] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051578.090453576] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051578.091401578] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051578.145325671] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051578.146215070] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051578.146902539] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051578.148919926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051578.149973233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051578.243807875] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051578.244194718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051578.244466336] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051578.245160042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051578.245727245] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051578.335133302] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051578.336744448] [sailbot.teensy]: Wind angle: 190 +[trim_sail-4] [INFO] [1746051578.337287620] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051578.337673852] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051578.338578444] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051578.338749343] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051578.339447132] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051578.344280164] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051578.344922960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051578.345454854] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051578.347064596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051578.348144759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051578.445226438] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051578.445873471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051578.446680052] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051578.447913480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051578.448499419] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051578.457703409] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051578.458697021] [sailbot.main_algo]: Target Bearing: -84.91696987253982 +[main_algo-3] [INFO] [1746051578.459552387] [sailbot.main_algo]: Heading Difference: 144.70796987253982 +[main_algo-3] [INFO] [1746051578.460858194] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051578.461728450] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051578.462559647] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051578.464108542] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051578.464298201] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051578.502531565] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903733 Long: -76.50276303 +[main_algo-3] [INFO] [1746051578.503284096] [sailbot.main_algo]: Distance to destination: 52.180534605665294 +[vectornav-1] [INFO] [1746051578.503587297] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (62.88299999999998, -1.782, 4.125) +[main_algo-3] [INFO] [1746051578.504345503] [sailbot.main_algo]: Target Bearing: -84.9014496425318 +[main_algo-3] [INFO] [1746051578.505272858] [sailbot.main_algo]: Heading Difference: 144.6924496425318 +[main_algo-3] [INFO] [1746051578.506604257] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051578.507501358] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051578.508380513] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051578.510064360] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051578.545068214] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051578.545789931] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051578.546376275] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051578.547783844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051578.548995102] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051578.585072776] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051578.586577422] [sailbot.teensy]: Wind angle: 190 +[trim_sail-4] [INFO] [1746051578.587279748] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051578.587443980] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051578.588338406] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051578.588981338] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051578.589230081] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051578.644994315] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051578.645612131] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051578.646325788] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051578.647578483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051578.648617291] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051578.745205230] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051578.746118755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051578.746901462] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051578.748478622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051578.749578075] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051578.835537125] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051578.837682225] [sailbot.teensy]: Wind angle: 190 +[trim_sail-4] [INFO] [1746051578.838267433] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051578.838673683] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051578.839318860] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051578.839508835] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051578.839714549] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051578.844447357] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051578.845121959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051578.845631929] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051578.846832585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051578.847930073] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051578.945111530] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051578.945883242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051578.946641365] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051578.947989875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051578.949122512] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051578.957667789] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051578.958679091] [sailbot.main_algo]: Target Bearing: -84.9014496425318 +[main_algo-3] [INFO] [1746051578.959587107] [sailbot.main_algo]: Heading Difference: 147.7844496425318 +[main_algo-3] [INFO] [1746051578.961008749] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051578.961906881] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051578.962759292] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051578.964456984] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051578.964684041] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051579.002814311] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903761 Long: -76.50276325 +[main_algo-3] [INFO] [1746051579.003666980] [sailbot.main_algo]: Distance to destination: 52.213382682735435 +[main_algo-3] [INFO] [1746051579.004775977] [sailbot.main_algo]: Target Bearing: -84.8853468896721 +[vectornav-1] [INFO] [1746051579.005174355] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (64.38400000000001, 1.67, 5.325) +[main_algo-3] [INFO] [1746051579.005792530] [sailbot.main_algo]: Heading Difference: 147.7683468896721 +[main_algo-3] [INFO] [1746051579.007233162] [sailbot.main_algo]: Wind Direction: 190 +[main_algo-3] [INFO] [1746051579.008132185] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051579.009000949] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051579.010730835] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051579.045012915] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051579.046376503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051579.046406917] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051579.048487690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051579.049513119] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051579.085342406] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051579.087843918] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051579.087873498] [sailbot.teensy]: Wind angle: 190 +[teensy-2] [INFO] [1746051579.088913093] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051579.089211025] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051579.089875988] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051579.090797977] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051579.144848999] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051579.145473596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051579.146145485] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051579.147323330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051579.148391221] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051579.245159935] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051579.246095769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051579.246889918] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051579.248204266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051579.248710438] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051579.335105568] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051579.336716672] [sailbot.teensy]: Wind angle: 189 +[teensy-2] [INFO] [1746051579.337681473] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746051579.337532959] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051579.338578513] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051579.339083563] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051579.339460157] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051579.344309081] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051579.344939178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051579.345377433] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051579.346647241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051579.347684117] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051579.445127030] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051579.445755858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051579.446577025] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051579.447595833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051579.448140036] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051579.457762396] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051579.458851199] [sailbot.main_algo]: Target Bearing: -84.8853468896721 +[main_algo-3] [INFO] [1746051579.459791172] [sailbot.main_algo]: Heading Difference: 149.26934688967214 +[main_algo-3] [INFO] [1746051579.461036659] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051579.461941158] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051579.462743631] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051579.464261545] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051579.464324537] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051579.502807383] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903764 Long: -76.50276327 +[main_algo-3] [INFO] [1746051579.503639755] [sailbot.main_algo]: Distance to destination: 52.21687100089403 +[vectornav-1] [INFO] [1746051579.503943015] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (63.738, -2.147, 6.212) +[main_algo-3] [INFO] [1746051579.504744292] [sailbot.main_algo]: Target Bearing: -84.883943167047 +[main_algo-3] [INFO] [1746051579.505723756] [sailbot.main_algo]: Heading Difference: 149.267943167047 +[main_algo-3] [INFO] [1746051579.507043907] [sailbot.main_algo]: Wind Direction: 189 +[main_algo-3] [INFO] [1746051579.507955033] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051579.508839042] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051579.510525905] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051579.545563391] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051579.545649646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051579.547030077] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051579.547668050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051579.548759710] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051579.585523949] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051579.588129643] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051579.588506786] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051579.589091487] [sailbot.teensy]: Wind angle: 188 +[teensy-2] [INFO] [1746051579.590116361] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051579.591014252] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051579.591870177] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051579.645074252] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051579.646047181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051579.646711574] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051579.648089307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051579.649260941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051579.745247100] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051579.745993828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051579.746701385] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051579.748255943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051579.749314132] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051579.835795774] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051579.838276558] [sailbot.teensy]: Wind angle: 188 +[teensy-2] [INFO] [1746051579.839331836] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746051579.838518406] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051579.839217924] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051579.840290938] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051579.841205418] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051579.844236338] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051579.844762041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051579.845323665] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051579.846461984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051579.847488134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051579.945046517] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051579.945703741] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051579.946371237] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051579.947607942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051579.948648250] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051579.957646833] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051579.958659617] [sailbot.main_algo]: Target Bearing: -84.883943167047 +[main_algo-3] [INFO] [1746051579.959548981] [sailbot.main_algo]: Heading Difference: 148.621943167047 +[main_algo-3] [INFO] [1746051579.960765349] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051579.961585128] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051579.962364226] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051579.963871419] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051579.963874745] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051580.002916681] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903777 Long: -76.50276314 +[main_algo-3] [INFO] [1746051580.003782291] [sailbot.main_algo]: Distance to destination: 52.23008592776844 +[vectornav-1] [INFO] [1746051580.004637094] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (61.44200000000001, 1.056, 6.636) +[main_algo-3] [INFO] [1746051580.004920527] [sailbot.main_algo]: Target Bearing: -84.89729314900838 +[main_algo-3] [INFO] [1746051580.005881493] [sailbot.main_algo]: Heading Difference: 148.63529314900836 +[main_algo-3] [INFO] [1746051580.007240380] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051580.008196040] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051580.009188149] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051580.011193076] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051580.045133693] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051580.046064655] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051580.046542412] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051580.048000677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051580.049095449] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051580.085258053] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051580.086867847] [sailbot.teensy]: Wind angle: 188 +[trim_sail-4] [INFO] [1746051580.087377257] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051580.087743068] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051580.088760639] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051580.089364943] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051580.089643054] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051580.144868132] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051580.145478158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051580.146103888] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051580.147285525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051580.147950455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051580.244863683] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051580.245465678] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051580.246324336] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051580.247599054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051580.248599754] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051580.334449206] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051580.335515392] [sailbot.teensy]: Wind angle: 188 +[teensy-2] [INFO] [1746051580.336222503] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051580.336950682] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051580.337743126] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051580.335962232] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051580.338301086] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051580.343597008] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051580.344355850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051580.344507878] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051580.345997710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051580.346682128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051580.445014752] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051580.445661847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051580.446439264] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051580.447572690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051580.448455252] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051580.457932094] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051580.459003745] [sailbot.main_algo]: Target Bearing: -84.89729314900838 +[main_algo-3] [INFO] [1746051580.459958605] [sailbot.main_algo]: Heading Difference: 146.33929314900837 +[main_algo-3] [INFO] [1746051580.461304542] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051580.462189157] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051580.463029948] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051580.464671823] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051580.464689529] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051580.502876157] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903789 Long: -76.50276311 +[main_algo-3] [INFO] [1746051580.504632321] [sailbot.main_algo]: Distance to destination: 52.243074373134455 +[vectornav-1] [INFO] [1746051580.504663330] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (61.02600000000001, -1.443, 6.783) +[main_algo-3] [INFO] [1746051580.505702249] [sailbot.main_algo]: Target Bearing: -84.90154056243966 +[main_algo-3] [INFO] [1746051580.506660582] [sailbot.main_algo]: Heading Difference: 146.34354056243967 +[main_algo-3] [INFO] [1746051580.508013355] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051580.508893502] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051580.509731348] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051580.511304763] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051580.544884922] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051580.545593713] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051580.546129157] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051580.547517819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051580.548547784] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051580.585213401] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051580.587010107] [sailbot.teensy]: Wind angle: 188 +[trim_sail-4] [INFO] [1746051580.587305996] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051580.588025745] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051580.588831612] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051580.588987354] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051580.589920533] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051580.644625135] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051580.645244831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051580.645820596] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051580.646912316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051580.647920353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051580.745049429] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051580.745736761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051580.746393384] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051580.747653707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051580.748107402] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051580.835548058] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051580.837985417] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051580.838388594] [sailbot.teensy]: Wind angle: 188 +[teensy-2] [INFO] [1746051580.838950805] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051580.839112682] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051580.839364141] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051580.839758740] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051580.844648949] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051580.845224963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051580.845909220] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051580.846942538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051580.848025400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051580.944844531] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051580.945443323] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051580.946480849] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051580.947549364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051580.949263081] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051580.957624941] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051580.958605582] [sailbot.main_algo]: Target Bearing: -84.90154056243966 +[main_algo-3] [INFO] [1746051580.959485476] [sailbot.main_algo]: Heading Difference: 145.92754056243967 +[main_algo-3] [INFO] [1746051580.960702987] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051580.961590291] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051580.962368160] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051580.963901461] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051580.963931236] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051581.002724497] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903801 Long: -76.50276319 +[main_algo-3] [INFO] [1746051581.003645883] [sailbot.main_algo]: Distance to destination: 52.25702638848396 +[vectornav-1] [INFO] [1746051581.003872127] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (60.69400000000002, 0.68, 4.859) +[main_algo-3] [INFO] [1746051581.004749336] [sailbot.main_algo]: Target Bearing: -84.89592565831249 +[main_algo-3] [INFO] [1746051581.005657158] [sailbot.main_algo]: Heading Difference: 145.9219256583125 +[main_algo-3] [INFO] [1746051581.006892585] [sailbot.main_algo]: Wind Direction: 188 +[main_algo-3] [INFO] [1746051581.007705427] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051581.008513161] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051581.010257663] [sailbot.mux]: algo rudder angle: 25 +[teensy-2] [INFO] [1746051581.045848974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051581.046258321] [sailbot.mux]: Published sail angle from algo: 0 +[mux-7] [INFO] [1746051581.048574313] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051581.051441649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051581.052561455] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051581.085581990] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051581.087652928] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051581.088093104] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051581.089520780] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051581.089916220] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051581.090797111] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051581.091644269] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051581.144661590] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051581.145254878] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051581.145770911] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051581.146958472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051581.148001282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051581.244748554] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051581.245364491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051581.245901545] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051581.247122596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051581.248132221] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051581.335262104] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051581.337267611] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051581.337381651] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051581.338193357] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051581.339090063] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051581.339156840] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051581.340012272] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051581.344324295] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051581.344881388] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051581.345422687] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051581.346639339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051581.347672927] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051581.445121805] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051581.445805994] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051581.446442314] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051581.447859575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051581.448938605] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051581.457630692] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051581.458656599] [sailbot.main_algo]: Target Bearing: -84.89592565831249 +[main_algo-3] [INFO] [1746051581.459561613] [sailbot.main_algo]: Heading Difference: 145.5899256583125 +[main_algo-3] [INFO] [1746051581.460841353] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051581.461670792] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051581.462464877] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051581.464055522] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051581.464204576] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051581.502854281] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903807 Long: -76.50276338 +[main_algo-3] [INFO] [1746051581.503893666] [sailbot.main_algo]: Distance to destination: 52.26531924677296 +[main_algo-3] [INFO] [1746051581.505130966] [sailbot.main_algo]: Target Bearing: -84.87967604699706 +[vectornav-1] [INFO] [1746051581.505148374] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.56999999999999, -0.956, 5.324) +[main_algo-3] [INFO] [1746051581.506210994] [sailbot.main_algo]: Heading Difference: 145.5736760469971 +[main_algo-3] [INFO] [1746051581.507603743] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051581.508537271] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051581.509407702] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051581.511241895] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051581.545119483] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051581.545698857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051581.546498702] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051581.547630787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051581.548674841] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051581.585245613] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051581.587364243] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051581.588143635] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051581.588621756] [sailbot.teensy]: Wind angle: 185 +[teensy-2] [INFO] [1746051581.589609544] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051581.590584292] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051581.591514453] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051581.645093622] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051581.645616842] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051581.646435548] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051581.647523084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051581.648623222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051581.745242041] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051581.745750587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051581.746614645] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051581.747658823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051581.748570478] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051581.835454010] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051581.837400673] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051581.837878632] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051581.838334671] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051581.839234937] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051581.839405519] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051581.840641710] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051581.844641615] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051581.845089401] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051581.845737268] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051581.846787557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051581.847802240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051581.945049360] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051581.945729002] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051581.946400069] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051581.947636132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051581.948829122] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051581.957656907] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051581.958614738] [sailbot.main_algo]: Target Bearing: -84.87967604699706 +[main_algo-3] [INFO] [1746051581.959479449] [sailbot.main_algo]: Heading Difference: 144.44967604699707 +[main_algo-3] [INFO] [1746051581.960700601] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051581.961516690] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051581.962313275] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051581.963836216] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051581.963860327] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051582.003014700] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903799 Long: -76.50276356 +[main_algo-3] [INFO] [1746051582.004035288] [sailbot.main_algo]: Distance to destination: 52.25806949630351 +[vectornav-1] [INFO] [1746051582.004323700] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.93299999999999, 0.149, 4.299) +[main_algo-3] [INFO] [1746051582.005262444] [sailbot.main_algo]: Target Bearing: -84.8625012055795 +[main_algo-3] [INFO] [1746051582.006211215] [sailbot.main_algo]: Heading Difference: 144.4325012055795 +[main_algo-3] [INFO] [1746051582.007532091] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051582.008463813] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051582.009365490] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051582.011052697] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051582.044876193] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051582.045519912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051582.046111127] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051582.047318640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051582.048490405] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051582.085723085] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051582.088378564] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051582.088404372] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051582.089426558] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051582.089792186] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051582.090316328] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051582.091170875] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051582.145088435] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051582.146370069] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051582.146537223] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051582.148113063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051582.148631222] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051582.244887954] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051582.245997841] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051582.246191243] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051582.247850904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051582.248900654] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051582.335817954] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051582.338617485] [sailbot.teensy]: Wind angle: 185 +[trim_sail-4] [INFO] [1746051582.339053528] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051582.339692262] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051582.340742566] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051582.341824903] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051582.342514074] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051582.343833380] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051582.344186187] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051582.344565907] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051582.345250351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051582.345765039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051582.445002947] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051582.445719251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051582.446224151] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051582.447545640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051582.448747667] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051582.457366956] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051582.458348489] [sailbot.main_algo]: Target Bearing: -84.8625012055795 +[main_algo-3] [INFO] [1746051582.459177248] [sailbot.main_algo]: Heading Difference: 144.7955012055795 +[main_algo-3] [INFO] [1746051582.460408913] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051582.461248314] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051582.462039972] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051582.463551405] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051582.463711498] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051582.502841199] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690381 Long: -76.50276381 +[main_algo-3] [INFO] [1746051582.503752213] [sailbot.main_algo]: Distance to destination: 52.27242207052298 +[vectornav-1] [INFO] [1746051582.504017750] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.65699999999998, -0.691, 4.52) +[main_algo-3] [INFO] [1746051582.504887359] [sailbot.main_algo]: Target Bearing: -84.84153514048263 +[main_algo-3] [INFO] [1746051582.505894146] [sailbot.main_algo]: Heading Difference: 144.7745351404826 +[main_algo-3] [INFO] [1746051582.507375398] [sailbot.main_algo]: Wind Direction: 185 +[main_algo-3] [INFO] [1746051582.508287746] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051582.509161380] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051582.510882123] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051582.545042228] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051582.545678678] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051582.546271932] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051582.547495593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051582.548680859] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051582.585691288] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051582.588586904] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051582.589836074] [sailbot.teensy]: Wind angle: 185 +[mux-7] [INFO] [1746051582.591055486] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051582.592659527] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051582.593584982] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051582.594432632] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051582.645012376] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051582.645637664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051582.646348304] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051582.647425136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051582.648554439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051582.745045108] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051582.745616971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051582.746360301] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051582.747573039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051582.748665048] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051582.835335789] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051582.837626667] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051582.838097348] [sailbot.teensy]: Wind angle: 184 +[mux-7] [INFO] [1746051582.838436381] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051582.839082425] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051582.839759145] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051582.840135323] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051582.844469347] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051582.844981648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051582.845623957] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051582.846694431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051582.847865559] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051582.945242133] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051582.945913636] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051582.946700689] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051582.948259357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051582.948751862] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051582.957664850] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051582.958702973] [sailbot.main_algo]: Target Bearing: -84.84153514048263 +[main_algo-3] [INFO] [1746051582.959705586] [sailbot.main_algo]: Heading Difference: 144.4985351404826 +[main_algo-3] [INFO] [1746051582.960958051] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051582.961792058] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051582.962577958] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051582.964162533] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051582.964266397] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051583.002807254] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903817 Long: -76.50276423 +[main_algo-3] [INFO] [1746051583.003645233] [sailbot.main_algo]: Distance to destination: 52.283875378881255 +[vectornav-1] [INFO] [1746051583.003945853] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.34800000000001, 0.538, 5.802) +[main_algo-3] [INFO] [1746051583.004785615] [sailbot.main_algo]: Target Bearing: -84.80482708838274 +[main_algo-3] [INFO] [1746051583.005721062] [sailbot.main_algo]: Heading Difference: 144.46182708838273 +[main_algo-3] [INFO] [1746051583.007079486] [sailbot.main_algo]: Wind Direction: 184 +[main_algo-3] [INFO] [1746051583.007977688] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051583.008865030] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051583.010565885] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051583.044852351] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051583.045572391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051583.046130568] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051583.047503496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051583.048671460] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051583.085448399] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051583.087390555] [sailbot.teensy]: Wind angle: 182 +[teensy-2] [INFO] [1746051583.088357935] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746051583.087767553] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051583.088910816] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051583.089238411] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051583.090125834] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051583.145152609] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051583.145830724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051583.146812254] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051583.147694485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051583.148783548] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051583.245335750] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051583.245942455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051583.246762912] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051583.248111506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051583.249022391] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051583.335318443] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051583.337016534] [sailbot.teensy]: Wind angle: 174 +[trim_sail-4] [INFO] [1746051583.337656871] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051583.338805408] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051583.339255426] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051583.340216892] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051583.341063174] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051583.344607797] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051583.345113607] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051583.345856254] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051583.346806390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051583.347947775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051583.444971005] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051583.445528586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051583.446558238] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051583.447286026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051583.448476734] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051583.457714277] [sailbot.main_algo]: Wind Direction: 174 +[main_algo-3] [INFO] [1746051583.458752787] [sailbot.main_algo]: Target Bearing: -84.80482708838274 +[main_algo-3] [INFO] [1746051583.459679321] [sailbot.main_algo]: Heading Difference: 144.15282708838276 +[main_algo-3] [INFO] [1746051583.461013364] [sailbot.main_algo]: Wind Direction: 174 +[main_algo-3] [INFO] [1746051583.461912614] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051583.462750352] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051583.464408696] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051583.464407767] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051583.502996487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903891 Long: -76.50276437 +[main_algo-3] [INFO] [1746051583.503998869] [sailbot.main_algo]: Distance to destination: 52.36682191292478 +[vectornav-1] [INFO] [1746051583.504342747] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.435, 0.086, 5.797) +[main_algo-3] [INFO] [1746051583.505269097] [sailbot.main_algo]: Target Bearing: -84.80203315238063 +[main_algo-3] [INFO] [1746051583.506271211] [sailbot.main_algo]: Heading Difference: 144.15003315238062 +[main_algo-3] [INFO] [1746051583.507627309] [sailbot.main_algo]: Wind Direction: 174 +[main_algo-3] [INFO] [1746051583.508523715] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051583.509375692] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051583.511110873] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051583.545055772] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051583.545751862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051583.546374675] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051583.547588801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051583.548628589] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051583.585092064] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051583.586611486] [sailbot.teensy]: Wind angle: 156 +[trim_sail-4] [INFO] [1746051583.587162186] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051583.587480010] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051583.588415460] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051583.589289386] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051583.589468079] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051583.644903455] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051583.645568266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051583.646202487] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051583.647469310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051583.648595532] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051583.745119291] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051583.745850735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051583.746491641] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051583.747831763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051583.748971538] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051583.835476572] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051583.837941380] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051583.838656935] [sailbot.teensy]: Wind angle: 149 +[mux-7] [INFO] [1746051583.838819451] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051583.840140438] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051583.841072778] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051583.841956887] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051583.844291053] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051583.844862300] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051583.845415378] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051583.846582642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051583.847705193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051583.945013727] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051583.945705489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051583.946276894] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051583.947661843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051583.948811361] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051583.957573608] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051583.958601966] [sailbot.main_algo]: Target Bearing: -84.80203315238063 +[main_algo-3] [INFO] [1746051583.959498253] [sailbot.main_algo]: Heading Difference: 138.2370331523806 +[main_algo-3] [INFO] [1746051583.960725809] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051583.961550926] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051583.962332550] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051583.963869180] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051583.963894616] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051584.003093659] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690396 Long: -76.50276499 +[main_algo-3] [INFO] [1746051584.004027817] [sailbot.main_algo]: Distance to destination: 52.44853640606814 +[vectornav-1] [INFO] [1746051584.004469064] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.084, -0.993, 4.392) +[main_algo-3] [INFO] [1746051584.005973248] [sailbot.main_algo]: Target Bearing: -84.75573063751072 +[main_algo-3] [INFO] [1746051584.007010361] [sailbot.main_algo]: Heading Difference: 138.19073063751074 +[main_algo-3] [INFO] [1746051584.008420219] [sailbot.main_algo]: Wind Direction: 149 +[main_algo-3] [INFO] [1746051584.009323075] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051584.010172807] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051584.011933797] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051584.045127472] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051584.045664137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051584.046398131] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051584.047482935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051584.048655761] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051584.085592144] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051584.087633718] [sailbot.teensy]: Wind angle: 149 +[trim_sail-4] [INFO] [1746051584.088429197] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051584.088633213] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051584.089552458] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051584.090291980] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051584.090420749] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051584.144882661] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051584.145732081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051584.146498772] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051584.147871431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051584.148902743] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051584.244871114] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051584.245582794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051584.246613368] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051584.247453354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051584.247982892] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051584.335540852] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051584.338085570] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051584.338350875] [sailbot.teensy]: Wind angle: 148 +[mux-7] [INFO] [1746051584.339027546] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051584.339491067] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051584.340431006] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051584.341252796] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051584.344622551] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051584.345310759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051584.345863350] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051584.347131470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051584.348315214] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051584.443954368] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051584.444593917] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051584.444863252] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051584.446341866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051584.447526288] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051584.456873647] [sailbot.main_algo]: Wind Direction: 148 +[main_algo-3] [INFO] [1746051584.457794606] [sailbot.main_algo]: Target Bearing: -84.75573063751072 +[main_algo-3] [INFO] [1746051584.458740510] [sailbot.main_algo]: Heading Difference: 132.83973063751074 +[main_algo-3] [INFO] [1746051584.460141131] [sailbot.main_algo]: Wind Direction: 148 +[main_algo-3] [INFO] [1746051584.461148308] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051584.462077378] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051584.463733645] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051584.464007206] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051584.502573316] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903978 Long: -76.50276516 +[main_algo-3] [INFO] [1746051584.503454663] [sailbot.main_algo]: Distance to destination: 52.46993305115881 +[vectornav-1] [INFO] [1746051584.503643259] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.238999999999976, 0.83, 4.841) +[main_algo-3] [INFO] [1746051584.504641429] [sailbot.main_algo]: Target Bearing: -84.74293818501329 +[main_algo-3] [INFO] [1746051584.505537250] [sailbot.main_algo]: Heading Difference: 132.82693818501332 +[main_algo-3] [INFO] [1746051584.506788339] [sailbot.main_algo]: Wind Direction: 148 +[main_algo-3] [INFO] [1746051584.507571186] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051584.508398638] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051584.509987004] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051584.544630077] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051584.545332348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051584.545772960] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051584.547171451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051584.548188439] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051584.585216805] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051584.587427715] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051584.589359449] [sailbot.teensy]: Wind angle: 148 +[mux-7] [INFO] [1746051584.589712121] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051584.590378836] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051584.591320360] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051584.592181759] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051584.644870764] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051584.645545922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051584.646173999] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051584.647400830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051584.648545173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051584.745044375] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051584.745685626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051584.746448421] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051584.747658627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051584.748855337] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051584.835425986] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051584.837239004] [sailbot.teensy]: Wind angle: 148 +[trim_sail-4] [INFO] [1746051584.837794358] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051584.839272221] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051584.839504739] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051584.840513975] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051584.841469528] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051584.844399841] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051584.844801799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051584.845517785] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051584.846512107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051584.847559268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051584.945254634] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051584.945736524] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051584.946745786] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051584.947937737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051584.948970681] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051584.957818718] [sailbot.main_algo]: Wind Direction: 148 +[main_algo-3] [INFO] [1746051584.958825656] [sailbot.main_algo]: Target Bearing: -84.74293818501329 +[main_algo-3] [INFO] [1746051584.959753094] [sailbot.main_algo]: Heading Difference: 128.9819381850133 +[main_algo-3] [INFO] [1746051584.961039388] [sailbot.main_algo]: Wind Direction: 148 +[main_algo-3] [INFO] [1746051584.961867459] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051584.962647937] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051584.964236147] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051584.964722776] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051585.002791537] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903994 Long: -76.50276578 +[main_algo-3] [INFO] [1746051585.003664837] [sailbot.main_algo]: Distance to destination: 52.4931878313694 +[vectornav-1] [INFO] [1746051585.003944217] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.113999999999976, -1.339, 5.975) +[main_algo-3] [INFO] [1746051585.004822712] [sailbot.main_algo]: Target Bearing: -84.6897484003988 +[main_algo-3] [INFO] [1746051585.005813997] [sailbot.main_algo]: Heading Difference: 128.92874840039877 +[main_algo-3] [INFO] [1746051585.007269001] [sailbot.main_algo]: Wind Direction: 148 +[main_algo-3] [INFO] [1746051585.008175530] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051585.009010268] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051585.010709989] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051585.044936129] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051585.045603638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051585.046206276] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051585.047446082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051585.048674044] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051585.085181409] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051585.086717499] [sailbot.teensy]: Wind angle: 148 +[trim_sail-4] [INFO] [1746051585.087202514] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051585.087578997] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051585.088398409] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051585.087839093] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051585.089202450] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051585.145020836] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051585.145706348] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051585.146677982] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051585.147960252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051585.148991482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051585.244877626] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051585.245522590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051585.246139836] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051585.247316318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051585.248559848] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051585.335242463] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051585.336919404] [sailbot.teensy]: Wind angle: 148 +[trim_sail-4] [INFO] [1746051585.337527882] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051585.337840825] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051585.338728121] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051585.339650729] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051585.339884707] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051585.344457405] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051585.344961520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051585.345598888] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051585.346674126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051585.347764613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051585.445222874] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051585.445682015] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051585.446522275] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051585.447493844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051585.448587606] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051585.457726895] [sailbot.main_algo]: Wind Direction: 148 +[main_algo-3] [INFO] [1746051585.458772267] [sailbot.main_algo]: Target Bearing: -84.6897484003988 +[main_algo-3] [INFO] [1746051585.459724262] [sailbot.main_algo]: Heading Difference: 126.80374840039877 +[main_algo-3] [INFO] [1746051585.461030241] [sailbot.main_algo]: Wind Direction: 148 +[main_algo-3] [INFO] [1746051585.461877070] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051585.462689716] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051585.464289193] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051585.464304340] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051585.502678040] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904023 Long: -76.50276613 +[main_algo-3] [INFO] [1746051585.503566746] [sailbot.main_algo]: Distance to destination: 52.52837522220632 +[vectornav-1] [INFO] [1746051585.504376681] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.567999999999984, 0.026, 5.947) +[main_algo-3] [INFO] [1746051585.504704610] [sailbot.main_algo]: Target Bearing: -84.66242014565998 +[main_algo-3] [INFO] [1746051585.505701611] [sailbot.main_algo]: Heading Difference: 126.77642014565993 +[main_algo-3] [INFO] [1746051585.507076504] [sailbot.main_algo]: Wind Direction: 148 +[main_algo-3] [INFO] [1746051585.507984652] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051585.508854350] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051585.510506285] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051585.544902549] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051585.545510450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051585.546055377] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051585.547243646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051585.548298607] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051585.585364023] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051585.587228035] [sailbot.teensy]: Wind angle: 149 +[teensy-2] [INFO] [1746051585.588185838] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746051585.587759396] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051585.588684515] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051585.589094004] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051585.590030899] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051585.645136277] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051585.645618240] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051585.646518344] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051585.647563710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051585.648732377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051585.745239776] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051585.745836325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051585.746717925] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051585.747923656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051585.749040397] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051585.835449954] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051585.837488738] [sailbot.teensy]: Wind angle: 148 +[teensy-2] [INFO] [1746051585.838425597] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746051585.837890478] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051585.839180014] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051585.839309940] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051585.839706997] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051585.844554113] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051585.845020006] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051585.845718480] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051585.846751223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051585.847787228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051585.945037044] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051585.945726840] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051585.946374743] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051585.947534090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051585.948645647] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051585.957526394] [sailbot.main_algo]: Wind Direction: 148 +[main_algo-3] [INFO] [1746051585.958502424] [sailbot.main_algo]: Target Bearing: -84.66242014565998 +[main_algo-3] [INFO] [1746051585.959348699] [sailbot.main_algo]: Heading Difference: 126.23042014565999 +[main_algo-3] [INFO] [1746051585.960602786] [sailbot.main_algo]: Wind Direction: 148 +[main_algo-3] [INFO] [1746051585.961468908] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051585.962269536] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051585.963821856] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051585.963823403] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051586.002905378] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904031 Long: -76.50276651 +[main_algo-3] [INFO] [1746051586.003830295] [sailbot.main_algo]: Distance to destination: 52.540670944594346 +[vectornav-1] [INFO] [1746051586.004192092] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.646000000000015, -0.279, 6.89) +[main_algo-3] [INFO] [1746051586.004964779] [sailbot.main_algo]: Target Bearing: -84.62962921167947 +[main_algo-3] [INFO] [1746051586.005949621] [sailbot.main_algo]: Heading Difference: 126.19762921167944 +[main_algo-3] [INFO] [1746051586.007274728] [sailbot.main_algo]: Wind Direction: 148 +[main_algo-3] [INFO] [1746051586.008215752] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051586.009046773] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051586.010636763] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051586.044787902] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051586.045448067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051586.046072796] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051586.047240542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051586.048421194] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051586.085456543] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051586.087785538] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051586.088567662] [sailbot.teensy]: Wind angle: 147 +[mux-7] [INFO] [1746051586.089083566] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051586.089572616] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051586.090615731] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051586.091460971] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051586.144891937] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051586.146288028] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051586.148203092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[mux-7] [INFO] [1746051586.148473807] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051586.149413226] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051586.244948762] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051586.246045589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051586.246255779] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051586.247985723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051586.249089838] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051586.335293919] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051586.336982896] [sailbot.teensy]: Wind angle: 146 +[trim_sail-4] [INFO] [1746051586.337549244] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051586.338927258] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051586.339577732] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051586.340571690] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051586.341431289] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051586.344295626] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051586.344840791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051586.345356622] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051586.346560611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051586.347633412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051586.444999229] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051586.445794229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051586.446270087] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051586.447089687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051586.447546266] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051586.457698523] [sailbot.main_algo]: Wind Direction: 146 +[main_algo-3] [INFO] [1746051586.458755225] [sailbot.main_algo]: Target Bearing: -84.62962921167947 +[main_algo-3] [INFO] [1746051586.459652405] [sailbot.main_algo]: Heading Difference: 123.27562921167947 +[main_algo-3] [INFO] [1746051586.460890243] [sailbot.main_algo]: Wind Direction: 146 +[main_algo-3] [INFO] [1746051586.461714699] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051586.462512489] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051586.464058078] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051586.464071002] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051586.502189583] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904072 Long: -76.50276689 +[main_algo-3] [INFO] [1746051586.502836903] [sailbot.main_algo]: Distance to destination: 52.589403759591484 +[vectornav-1] [INFO] [1746051586.503087382] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.798, 0.18, 4.534) +[main_algo-3] [INFO] [1746051586.503777148] [sailbot.main_algo]: Target Bearing: -84.60131692358105 +[main_algo-3] [INFO] [1746051586.504708915] [sailbot.main_algo]: Heading Difference: 123.24731692358108 +[main_algo-3] [INFO] [1746051586.506062825] [sailbot.main_algo]: Wind Direction: 146 +[main_algo-3] [INFO] [1746051586.507024193] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051586.507953669] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051586.509789081] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051586.543760046] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051586.544088868] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051586.544301246] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051586.545008768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051586.545536724] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051586.585275042] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051586.587013754] [sailbot.teensy]: Wind angle: 146 +[teensy-2] [INFO] [1746051586.587899468] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746051586.587570689] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051586.589570499] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051586.589799270] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051586.590744455] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051586.645029385] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051586.645615638] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051586.646349352] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051586.647432225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051586.648627178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051586.744926268] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051586.745625010] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051586.746202188] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051586.747467533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051586.748620327] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051586.835296317] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051586.837478044] [sailbot.teensy]: Wind angle: 146 +[trim_sail-4] [INFO] [1746051586.837732738] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051586.838471239] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051586.838709314] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051586.839709519] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051586.840631809] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051586.844367860] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051586.844917589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051586.846345236] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051586.846608638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051586.847937173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051586.945253443] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051586.945738411] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051586.946811064] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051586.947841619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051586.948901783] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051586.957667006] [sailbot.main_algo]: Wind Direction: 146 +[main_algo-3] [INFO] [1746051586.958704711] [sailbot.main_algo]: Target Bearing: -84.60131692358105 +[main_algo-3] [INFO] [1746051586.959601518] [sailbot.main_algo]: Heading Difference: 117.39931692358107 +[main_algo-3] [INFO] [1746051586.960930027] [sailbot.main_algo]: Wind Direction: 146 +[main_algo-3] [INFO] [1746051586.961819372] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051586.962616783] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051586.964146027] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051586.964146321] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051587.002880948] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904087 Long: -76.50276742 +[main_algo-3] [INFO] [1746051587.003792903] [sailbot.main_algo]: Distance to destination: 52.61084239151679 +[vectornav-1] [INFO] [1746051587.004572676] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.00999999999999, -0.67, 3.699) +[main_algo-3] [INFO] [1746051587.005011328] [sailbot.main_algo]: Target Bearing: -84.55618220668718 +[main_algo-3] [INFO] [1746051587.006076506] [sailbot.main_algo]: Heading Difference: 117.3541822066872 +[main_algo-3] [INFO] [1746051587.007488738] [sailbot.main_algo]: Wind Direction: 146 +[main_algo-3] [INFO] [1746051587.008412752] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051587.009295871] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051587.011043623] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051587.044953916] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051587.045841173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051587.046722464] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051587.047932061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051587.048981372] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051587.085269201] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051587.087242969] [sailbot.teensy]: Wind angle: 146 +[trim_sail-4] [INFO] [1746051587.087305058] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051587.088254806] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051587.089044042] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051587.089176991] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051587.090108235] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051587.144900324] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051587.145659158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051587.146134995] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051587.147449615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051587.148634952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051587.244955669] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051587.245540299] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051587.246657435] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051587.247407198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051587.248270583] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051587.335319425] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051587.337617589] [sailbot.trim_sail]: Sail Angle: "15" +[mux-7] [INFO] [1746051587.338256030] [sailbot.mux]: algo sail angle: 15 +[teensy-2] [INFO] [1746051587.338675018] [sailbot.teensy]: Wind angle: 116 +[teensy-2] [INFO] [1746051587.339769367] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051587.340741260] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051587.341237661] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051587.344423306] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051587.344937345] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051587.345850066] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051587.346656431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 15 +[teensy-2] [INFO] [1746051587.347766197] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051587.445040407] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051587.446070067] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051587.446544680] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051587.447936205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 15 +[teensy-2] [INFO] [1746051587.448970454] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051587.457707112] [sailbot.main_algo]: Wind Direction: 116 +[main_algo-3] [INFO] [1746051587.458785827] [sailbot.main_algo]: Target Bearing: -84.55618220668718 +[main_algo-3] [INFO] [1746051587.459735114] [sailbot.main_algo]: Heading Difference: 113.56618220668719 +[main_algo-3] [INFO] [1746051587.461058086] [sailbot.main_algo]: Wind Direction: 116 +[main_algo-3] [INFO] [1746051587.461920808] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051587.462739808] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051587.464283750] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051587.464317478] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051587.502875115] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904079 Long: -76.50276737 +[main_algo-3] [INFO] [1746051587.503780565] [sailbot.main_algo]: Distance to destination: 52.601551724555605 +[main_algo-3] [INFO] [1746051587.504902941] [sailbot.main_algo]: Target Bearing: -84.55954318508662 +[vectornav-1] [INFO] [1746051587.505075148] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.918999999999983, -1.209, 5.416) +[main_algo-3] [INFO] [1746051587.505886123] [sailbot.main_algo]: Heading Difference: 113.56954318508662 +[main_algo-3] [INFO] [1746051587.507292401] [sailbot.main_algo]: Wind Direction: 116 +[main_algo-3] [INFO] [1746051587.508200171] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051587.509050612] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051587.510722636] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051587.544968788] [sailbot.mux]: Published sail angle from algo: 15 +[teensy-2] [INFO] [1746051587.545563844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051587.546254216] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051587.547543540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 15 +[teensy-2] [INFO] [1746051587.548568884] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051587.585623112] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051587.588138202] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051587.588532441] [sailbot.teensy]: Wind angle: 71 +[teensy-2] [INFO] [1746051587.589878264] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051587.590237364] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051587.590784615] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051587.591682387] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051587.644773592] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051587.645343439] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051587.645926907] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051587.647156525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051587.648325320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051587.744961160] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051587.745827278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051587.746384510] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051587.747676125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051587.748836760] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051587.835259491] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051587.837383347] [sailbot.teensy]: Wind angle: 73 +[trim_sail-4] [INFO] [1746051587.837449401] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051587.839062830] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051587.839304971] [sailbot.teensy]: Actual sail angle: 15 +[teensy-2] [INFO] [1746051587.840273761] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051587.841200356] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051587.844353682] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051587.844987754] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051587.845477603] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051587.846704453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051587.847731201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051587.945101897] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051587.945804687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051587.946665745] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051587.947761668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051587.948345701] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051587.957851246] [sailbot.main_algo]: Wind Direction: 73 +[main_algo-3] [INFO] [1746051587.958885873] [sailbot.main_algo]: Target Bearing: -84.55954318508662 +[main_algo-3] [INFO] [1746051587.959799243] [sailbot.main_algo]: Heading Difference: 115.47854318508661 +[main_algo-3] [INFO] [1746051587.961127611] [sailbot.main_algo]: Wind Direction: 73 +[main_algo-3] [INFO] [1746051587.962018969] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051587.962835629] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051587.964359820] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051587.964449559] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051588.002762339] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904084 Long: -76.50276763 +[main_algo-3] [INFO] [1746051588.003685926] [sailbot.main_algo]: Distance to destination: 52.60947693515152 +[vectornav-1] [INFO] [1746051588.003931550] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.273000000000025, 1.36, 3.837) +[main_algo-3] [INFO] [1746051588.004826185] [sailbot.main_algo]: Target Bearing: -84.53708869346745 +[main_algo-3] [INFO] [1746051588.005812348] [sailbot.main_algo]: Heading Difference: 115.45608869346745 +[main_algo-3] [INFO] [1746051588.007403806] [sailbot.main_algo]: Wind Direction: 73 +[main_algo-3] [INFO] [1746051588.008303233] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051588.009098082] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051588.010725671] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051588.045082553] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051588.045729218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051588.046405489] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051588.047819935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051588.048840161] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051588.085076292] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051588.086596272] [sailbot.teensy]: Wind angle: 73 +[teensy-2] [INFO] [1746051588.087438953] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746051588.087247222] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051588.087777036] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051588.088277304] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051588.089115785] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051588.144915864] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051588.145788084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051588.146205962] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051588.147786919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051588.148858029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051588.244835383] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051588.245480727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051588.245990568] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051588.247331207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051588.248339815] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051588.335205743] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051588.337447268] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051588.337940898] [sailbot.teensy]: Wind angle: 72 +[mux-7] [INFO] [1746051588.338106013] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051588.338859110] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051588.339700328] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051588.340604866] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051588.344606436] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051588.345213056] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051588.345706227] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051588.347001279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051588.348029913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051588.445070168] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051588.445697057] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051588.446333752] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051588.447713603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051588.448872979] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051588.457697229] [sailbot.main_algo]: Wind Direction: 72 +[main_algo-3] [INFO] [1746051588.458759175] [sailbot.main_algo]: Target Bearing: -84.53708869346745 +[main_algo-3] [INFO] [1746051588.459734808] [sailbot.main_algo]: Heading Difference: 115.81008869346749 +[main_algo-3] [INFO] [1746051588.461114025] [sailbot.main_algo]: Wind Direction: 72 +[main_algo-3] [INFO] [1746051588.461975274] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051588.462764054] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051588.464543438] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051588.464711494] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051588.503012077] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904083 Long: -76.50276794 +[main_algo-3] [INFO] [1746051588.504096634] [sailbot.main_algo]: Distance to destination: 52.611255155111394 +[main_algo-3] [INFO] [1746051588.505488517] [sailbot.main_algo]: Target Bearing: -84.50937107022132 +[vectornav-1] [INFO] [1746051588.504366354] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.105000000000018, -1.536, 5.176) +[main_algo-3] [INFO] [1746051588.506413847] [sailbot.main_algo]: Heading Difference: 115.78237107022136 +[main_algo-3] [INFO] [1746051588.507817936] [sailbot.main_algo]: Wind Direction: 72 +[main_algo-3] [INFO] [1746051588.508729863] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051588.509574394] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051588.511286076] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051588.544924119] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051588.545438372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051588.546352310] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051588.547235583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051588.548453291] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051588.584969257] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051588.586306292] [sailbot.teensy]: Wind angle: 72 +[teensy-2] [INFO] [1746051588.587087355] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051588.587877649] [sailbot.teensy]: Actual tail angle: 40 +[trim_sail-4] [INFO] [1746051588.587235911] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051588.589304416] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051588.592106062] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051588.643757090] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051588.644208035] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051588.644604649] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051588.645704537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051588.646325555] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051588.744962209] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051588.745927491] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051588.746370118] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051588.747736608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051588.748240160] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051588.835372355] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051588.837666396] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051588.838041770] [sailbot.teensy]: Wind angle: 73 +[mux-7] [INFO] [1746051588.838777334] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051588.838918078] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051588.840058395] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051588.840957361] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051588.844514241] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051588.844969719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051588.845758700] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051588.846660063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051588.847833862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051588.944919662] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051588.945509612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051588.946223092] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051588.947322987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051588.948589611] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051588.957372218] [sailbot.main_algo]: Wind Direction: 73 +[main_algo-3] [INFO] [1746051588.958362577] [sailbot.main_algo]: Target Bearing: -84.50937107022132 +[main_algo-3] [INFO] [1746051588.959241881] [sailbot.main_algo]: Heading Difference: 115.61437107022135 +[main_algo-3] [INFO] [1746051588.960502829] [sailbot.main_algo]: Wind Direction: 73 +[main_algo-3] [INFO] [1746051588.961366194] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051588.962167679] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051588.963697498] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051588.963737578] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051589.002849956] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904075 Long: -76.50276801 +[main_algo-3] [INFO] [1746051589.003832561] [sailbot.main_algo]: Distance to destination: 52.60308017227214 +[vectornav-1] [INFO] [1746051589.003991293] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.89699999999999, 0.116, 5.036) +[main_algo-3] [INFO] [1746051589.004977279] [sailbot.main_algo]: Target Bearing: -84.50204602875785 +[main_algo-3] [INFO] [1746051589.005992108] [sailbot.main_algo]: Heading Difference: 115.60704602875785 +[main_algo-3] [INFO] [1746051589.007338169] [sailbot.main_algo]: Wind Direction: 73 +[main_algo-3] [INFO] [1746051589.008240486] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051589.009110174] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051589.010708665] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051589.045217540] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051589.045675321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051589.046511630] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051589.047611466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051589.048737086] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051589.085323373] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051589.087452439] [sailbot.teensy]: Wind angle: 73 +[trim_sail-4] [INFO] [1746051589.087526646] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051589.088430961] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746051589.088830477] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051589.089345785] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051589.090235678] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051589.145399089] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051589.145987971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051589.146804559] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051589.148097994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051589.149287735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051589.245222747] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051589.245691573] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051589.246748342] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051589.247542666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051589.248658545] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051589.335134031] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051589.337430466] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051589.337843757] [sailbot.teensy]: Wind angle: 73 +[mux-7] [INFO] [1746051589.338026087] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051589.338488755] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051589.338877066] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051589.339251967] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051589.344344759] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051589.344965971] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051589.346017256] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051589.346716376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051589.347840768] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051589.444908674] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051589.445567718] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051589.446209880] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051589.447334891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051589.448563277] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051589.457748308] [sailbot.main_algo]: Wind Direction: 73 +[main_algo-3] [INFO] [1746051589.458858412] [sailbot.main_algo]: Target Bearing: -84.50204602875785 +[main_algo-3] [INFO] [1746051589.459789904] [sailbot.main_algo]: Heading Difference: 115.39904602875782 +[main_algo-3] [INFO] [1746051589.461143239] [sailbot.main_algo]: Wind Direction: 73 +[main_algo-3] [INFO] [1746051589.461986304] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051589.462780753] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051589.464378026] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051589.464411758] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051589.502750596] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904032 Long: -76.50276823 +[main_algo-3] [INFO] [1746051589.503793051] [sailbot.main_algo]: Distance to destination: 52.557689975852504 +[vectornav-1] [INFO] [1746051589.503905411] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.15699999999998, -0.38, 4.841) +[main_algo-3] [INFO] [1746051589.505009059] [sailbot.main_algo]: Target Bearing: -84.476548794764 +[main_algo-3] [INFO] [1746051589.506333342] [sailbot.main_algo]: Heading Difference: 115.37354879476402 +[main_algo-3] [INFO] [1746051589.507712658] [sailbot.main_algo]: Wind Direction: 73 +[main_algo-3] [INFO] [1746051589.508601308] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051589.509456870] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051589.511155917] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051589.544678316] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051589.545265966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051589.545841871] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051589.547008765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051589.548030907] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051589.585288589] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051589.586942230] [sailbot.teensy]: Wind angle: 73 +[teensy-2] [INFO] [1746051589.587851570] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051589.589037412] [sailbot.teensy]: Actual tail angle: 40 +[trim_sail-4] [INFO] [1746051589.587669294] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051589.588075902] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051589.589907782] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051589.645039870] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051589.646051828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051589.646446013] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051589.648041538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051589.649215297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051589.745211100] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051589.745939341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051589.746600981] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051589.747716008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051589.748219008] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051589.835432958] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051589.837450333] [sailbot.teensy]: Wind angle: 73 +[trim_sail-4] [INFO] [1746051589.837961140] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051589.839466284] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051589.839990907] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051589.841011172] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051589.841874420] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051589.844251279] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051589.844778200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051589.845657491] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051589.846478203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051589.847494271] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051589.944872907] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051589.945557666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051589.946038748] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051589.947327494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051589.948288797] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051589.957468345] [sailbot.main_algo]: Wind Direction: 73 +[main_algo-3] [INFO] [1746051589.958458121] [sailbot.main_algo]: Target Bearing: -84.476548794764 +[main_algo-3] [INFO] [1746051589.959315185] [sailbot.main_algo]: Heading Difference: 116.63354879476401 +[main_algo-3] [INFO] [1746051589.960542552] [sailbot.main_algo]: Wind Direction: 73 +[main_algo-3] [INFO] [1746051589.961370320] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051589.962145187] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051589.963678806] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051589.963695192] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051590.002879923] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690405 Long: -76.50276828 +[main_algo-3] [INFO] [1746051590.003884720] [sailbot.main_algo]: Distance to destination: 52.57801869537199 +[vectornav-1] [INFO] [1746051590.004058731] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.90100000000001, -0.463, 5.08) +[main_algo-3] [INFO] [1746051590.005552442] [sailbot.main_algo]: Target Bearing: -84.47457844392409 +[main_algo-3] [INFO] [1746051590.006500660] [sailbot.main_algo]: Heading Difference: 116.63157844392407 +[main_algo-3] [INFO] [1746051590.007850946] [sailbot.main_algo]: Wind Direction: 73 +[main_algo-3] [INFO] [1746051590.008779150] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051590.009638525] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051590.011354980] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051590.044999849] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051590.045670141] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051590.046266885] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051590.047521637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051590.048624724] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051590.085313331] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051590.087028831] [sailbot.teensy]: Wind angle: 73 +[trim_sail-4] [INFO] [1746051590.087824232] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051590.087950739] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051590.088873068] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051590.088099507] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051590.089871301] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051590.144961119] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051590.145671298] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051590.146254268] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051590.147660634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051590.148840613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051590.245087611] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051590.245750217] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051590.246375961] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051590.247556600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051590.248603936] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051590.335415527] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051590.337761385] [sailbot.teensy]: Wind angle: 73 +[trim_sail-4] [INFO] [1746051590.338059227] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051590.338722969] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746051590.339205648] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051590.339630864] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051590.340325753] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051590.344409951] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051590.345130218] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051590.345534174] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051590.346869388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051590.347871483] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051590.445118986] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051590.446100756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051590.447051498] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051590.447915783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051590.448530734] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051590.458073905] [sailbot.main_algo]: Wind Direction: 73 +[main_algo-3] [INFO] [1746051590.459750229] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746051590.460722389] [sailbot.main_algo]: Target Bearing: -84.47457844392409 +[main_algo-3] [INFO] [1746051590.461614639] [sailbot.main_algo]: Heading Difference: 117.3755784439241 +[main_algo-3] [INFO] [1746051590.462895835] [sailbot.main_algo]: Wind Direction: 73 +[main_algo-3] [INFO] [1746051590.463732732] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051590.464519685] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051590.466096380] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051590.466123784] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051590.502981152] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690404 Long: -76.50276834 +[vectornav-1] [INFO] [1746051590.504284574] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.27499999999998, 0.203, 5.604) +[main_algo-3] [INFO] [1746051590.504387041] [sailbot.main_algo]: Distance to destination: 52.5675473566103 +[main_algo-3] [INFO] [1746051590.505483139] [sailbot.main_algo]: Target Bearing: -84.46785763656341 +[main_algo-3] [INFO] [1746051590.506912767] [sailbot.main_algo]: Heading Difference: 117.3688576365634 +[main_algo-3] [INFO] [1746051590.508374499] [sailbot.main_algo]: Wind Direction: 73 +[main_algo-3] [INFO] [1746051590.509273838] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051590.510131934] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051590.511795877] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051590.545095823] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051590.545716615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051590.546366490] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051590.547554812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051590.548661929] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051590.585251825] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051590.587157198] [sailbot.teensy]: Wind angle: 74 +[teensy-2] [INFO] [1746051590.588073342] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051590.588981556] [sailbot.teensy]: Actual tail angle: 40 +[trim_sail-4] [INFO] [1746051590.587771079] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051590.589774406] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051590.589869495] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051590.644636510] [sailbot.mux]: Published sail angle from algo: 45 +[mux-7] [INFO] [1746051590.645690502] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051590.645430055] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051590.647154363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051590.648744263] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051590.744895468] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051590.745557965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051590.746199665] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051590.747540381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051590.748550730] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051590.835242304] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051590.836832337] [sailbot.teensy]: Wind angle: 74 +[trim_sail-4] [INFO] [1746051590.837717730] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051590.838617490] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051590.839332173] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051590.839740686] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051590.840125815] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051590.844423575] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051590.844948420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051590.845522264] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051590.846825850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051590.847836970] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051590.945199803] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051590.945911935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051590.946759793] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051590.947910985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051590.948636333] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051590.957721574] [sailbot.main_algo]: Wind Direction: 74 +[main_algo-3] [INFO] [1746051590.958706577] [sailbot.main_algo]: Target Bearing: -84.46785763656341 +[main_algo-3] [INFO] [1746051590.959592513] [sailbot.main_algo]: Heading Difference: 116.74285763656337 +[main_algo-3] [INFO] [1746051590.960921634] [sailbot.main_algo]: Wind Direction: 74 +[main_algo-3] [INFO] [1746051590.961791979] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051590.962594724] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051590.964124610] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051590.964200562] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051591.002862354] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904017 Long: -76.50276862 +[main_algo-3] [INFO] [1746051591.003847070] [sailbot.main_algo]: Distance to destination: 52.544801646334975 +[vectornav-1] [INFO] [1746051591.004002730] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.18799999999999, -0.846, 6.189) +[main_algo-3] [INFO] [1746051591.005010831] [sailbot.main_algo]: Target Bearing: -84.43974181493688 +[main_algo-3] [INFO] [1746051591.005959804] [sailbot.main_algo]: Heading Difference: 116.71474181493687 +[main_algo-3] [INFO] [1746051591.007372263] [sailbot.main_algo]: Wind Direction: 74 +[main_algo-3] [INFO] [1746051591.008237995] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051591.009043789] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051591.010609452] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051591.045011678] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051591.045756398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051591.046293734] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051591.047634796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051591.048668743] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051591.085550883] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051591.087514522] [sailbot.teensy]: Wind angle: 74 +[teensy-2] [INFO] [1746051591.088485348] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746051591.087953951] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051591.088584468] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051591.089380726] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051591.090262777] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051591.144955818] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051591.145500870] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051591.146277675] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051591.147346910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051591.147914369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051591.244987266] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051591.245669351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051591.246584098] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051591.247493865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051591.248633198] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051591.335202198] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051591.337085277] [sailbot.teensy]: Wind angle: 74 +[trim_sail-4] [INFO] [1746051591.337550848] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051591.338010651] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051591.338904173] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051591.339059645] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051591.339786084] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051591.344564634] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051591.345097068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051591.345763774] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051591.346808103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051591.347978592] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051591.445310620] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051591.446437957] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051591.446778297] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051591.448234010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051591.448723013] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051591.457661925] [sailbot.main_algo]: Wind Direction: 74 +[main_algo-3] [INFO] [1746051591.458745210] [sailbot.main_algo]: Target Bearing: -84.43974181493688 +[main_algo-3] [INFO] [1746051591.459640217] [sailbot.main_algo]: Heading Difference: 117.62774181493688 +[main_algo-3] [INFO] [1746051591.460849860] [sailbot.main_algo]: Wind Direction: 74 +[main_algo-3] [INFO] [1746051591.461684750] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051591.462470669] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051591.464036242] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051591.464127275] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051591.502577222] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690402 Long: -76.50276857 +[main_algo-3] [INFO] [1746051591.503441464] [sailbot.main_algo]: Distance to destination: 52.54764094751163 +[vectornav-1] [INFO] [1746051591.503682909] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.511000000000024, -0.625, 4.818) +[main_algo-3] [INFO] [1746051591.504617150] [sailbot.main_algo]: Target Bearing: -84.44461088485708 +[main_algo-3] [INFO] [1746051591.505648243] [sailbot.main_algo]: Heading Difference: 117.63261088485706 +[main_algo-3] [INFO] [1746051591.507116733] [sailbot.main_algo]: Wind Direction: 74 +[main_algo-3] [INFO] [1746051591.508029507] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051591.508916589] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051591.510611931] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051591.545095092] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051591.545848587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051591.546378841] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051591.547910978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051591.549059050] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051591.585237132] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051591.587001523] [sailbot.teensy]: Wind angle: 74 +[teensy-2] [INFO] [1746051591.587902244] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746051591.587535789] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051591.588903544] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051591.589320481] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051591.589860291] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051591.644560092] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051591.645240982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051591.645905893] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051591.646899391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051591.647946174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051591.745084843] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051591.745753851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051591.746835837] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051591.747884558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051591.749099233] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051591.835389670] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051591.837358941] [sailbot.teensy]: Wind angle: 74 +[trim_sail-4] [INFO] [1746051591.838243477] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051591.839766002] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746051591.840555055] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051591.840897721] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051591.841939874] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051591.844254244] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051591.845164575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051591.845372346] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051591.846879127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051591.847996242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051591.945046112] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051591.945727598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051591.946324530] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051591.947758883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051591.948454143] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051591.957806776] [sailbot.main_algo]: Wind Direction: 74 +[main_algo-3] [INFO] [1746051591.958850492] [sailbot.main_algo]: Target Bearing: -84.44461088485708 +[main_algo-3] [INFO] [1746051591.959761510] [sailbot.main_algo]: Heading Difference: 117.9556108848571 +[main_algo-3] [INFO] [1746051591.961099361] [sailbot.main_algo]: Wind Direction: 74 +[main_algo-3] [INFO] [1746051591.961978121] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051591.962826711] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051591.964383717] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051591.964404660] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051592.002686965] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690404 Long: -76.50276864 +[main_algo-3] [INFO] [1746051592.003653821] [sailbot.main_algo]: Distance to destination: 52.570365481331635 +[vectornav-1] [INFO] [1746051592.003753286] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.46300000000002, 0.421, 4.968) +[main_algo-3] [INFO] [1746051592.004791491] [sailbot.main_algo]: Target Bearing: -84.4411491021673 +[main_algo-3] [INFO] [1746051592.005719471] [sailbot.main_algo]: Heading Difference: 117.95214910216731 +[main_algo-3] [INFO] [1746051592.007023096] [sailbot.main_algo]: Wind Direction: 74 +[main_algo-3] [INFO] [1746051592.007870823] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051592.008710019] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051592.010453693] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051592.045024373] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051592.045843895] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051592.046307747] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051592.047877204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051592.048885705] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051592.085389508] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051592.087769913] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051592.088239539] [sailbot.teensy]: Wind angle: 75 +[mux-7] [INFO] [1746051592.088238278] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051592.089183762] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051592.090049872] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051592.090901544] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051592.144821368] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051592.145300380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051592.145942528] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051592.146923212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051592.148023029] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051592.245364035] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051592.245882708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051592.247035582] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051592.247818135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051592.249048457] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051592.335179951] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051592.337410884] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051592.337445123] [sailbot.teensy]: Wind angle: 75 +[teensy-2] [INFO] [1746051592.338349168] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746051592.338582706] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051592.339264319] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051592.340143073] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051592.344655026] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051592.345172188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051592.345881980] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051592.346881191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051592.348063861] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051592.444878873] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051592.446114960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051592.446165492] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051592.447974294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051592.449093611] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051592.457672417] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051592.458756608] [sailbot.main_algo]: Target Bearing: -84.4411491021673 +[main_algo-3] [INFO] [1746051592.459709751] [sailbot.main_algo]: Heading Difference: 116.90414910216731 +[main_algo-3] [INFO] [1746051592.461024372] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051592.461901938] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051592.462681877] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051592.464224812] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051592.464252456] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051592.502381550] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904011 Long: -76.50276906 +[main_algo-3] [INFO] [1746051592.503217921] [sailbot.main_algo]: Distance to destination: 52.54233727659147 +[vectornav-1] [INFO] [1746051592.503394180] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.076999999999998, -0.717, 5.725) +[main_algo-3] [INFO] [1746051592.504262637] [sailbot.main_algo]: Target Bearing: -84.39971857749742 +[main_algo-3] [INFO] [1746051592.505168647] [sailbot.main_algo]: Heading Difference: 116.86271857749745 +[main_algo-3] [INFO] [1746051592.506441529] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051592.507344685] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051592.508203006] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051592.509750849] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051592.544833100] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051592.545586166] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051592.546199335] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051592.547477299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051592.548582261] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051592.585206907] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051592.586939351] [sailbot.teensy]: Wind angle: 75 +[trim_sail-4] [INFO] [1746051592.587421891] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051592.587813365] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746051592.588213914] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051592.588772584] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051592.589627370] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051592.644995174] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051592.645721533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051592.646313711] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051592.647587930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051592.648638279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051592.744244821] [sailbot.mux]: Published sail angle from algo: 45 +[mux-7] [INFO] [1746051592.745252257] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051592.745843550] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051592.748028122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051592.749328704] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051592.835399428] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051592.837142052] [sailbot.teensy]: Wind angle: 75 +[teensy-2] [INFO] [1746051592.838031187] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746051592.837672231] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051592.838881015] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051592.838873012] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051592.839759330] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051592.844356780] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051592.844900189] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051592.845495250] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051592.846598290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051592.847747341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051592.945295147] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051592.945812106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051592.946812527] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051592.947757017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051592.948853897] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051592.957375906] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051592.958338672] [sailbot.main_algo]: Target Bearing: -84.39971857749742 +[main_algo-3] [INFO] [1746051592.959196292] [sailbot.main_algo]: Heading Difference: 115.47671857749742 +[main_algo-3] [INFO] [1746051592.960435629] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051592.961265526] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051592.962045971] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051592.963620669] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051592.963804043] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051593.002819673] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903991 Long: -76.50276907 +[vectornav-1] [INFO] [1746051593.004029116] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.841999999999985, -0.456, 4.477) +[main_algo-3] [INFO] [1746051593.004902402] [sailbot.main_algo]: Distance to destination: 52.520368211840136 +[main_algo-3] [INFO] [1746051593.006192656] [sailbot.main_algo]: Target Bearing: -84.39603615624192 +[main_algo-3] [INFO] [1746051593.007150080] [sailbot.main_algo]: Heading Difference: 115.4730361562419 +[main_algo-3] [INFO] [1746051593.008639282] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051593.009657997] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051593.010535083] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051593.012241902] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051593.045110577] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051593.045780724] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051593.046342162] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051593.047637857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051593.048797308] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051593.085800531] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051593.088529738] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051593.089059986] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051593.089342069] [sailbot.teensy]: Wind angle: 75 +[teensy-2] [INFO] [1746051593.090568667] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051593.091455735] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051593.092371023] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051593.145240115] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051593.145694293] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051593.146869162] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051593.147747986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051593.148844667] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051593.245296291] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051593.245861846] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051593.247142394] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051593.247955702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051593.249213241] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051593.335568014] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051593.337497082] [sailbot.teensy]: Wind angle: 75 +[trim_sail-4] [INFO] [1746051593.338181504] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051593.339000660] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746051593.339566517] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051593.339953601] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051593.340862122] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051593.344335888] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051593.344912116] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051593.345520081] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051593.346650021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051593.347664930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051593.445057363] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051593.445939052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051593.446359865] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051593.447920712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051593.448943147] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051593.457701951] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051593.458774971] [sailbot.main_algo]: Target Bearing: -84.39603615624192 +[main_algo-3] [INFO] [1746051593.459732608] [sailbot.main_algo]: Heading Difference: 116.23803615624189 +[main_algo-3] [INFO] [1746051593.461055283] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051593.461953353] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051593.462727984] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051593.464321104] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051593.464355303] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051593.502723756] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903984 Long: -76.50276919 +[main_algo-3] [INFO] [1746051593.503675941] [sailbot.main_algo]: Distance to destination: 52.51378424740752 +[vectornav-1] [INFO] [1746051593.503820764] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.670000000000016, -0.501, 4.993) +[main_algo-3] [INFO] [1746051593.504855822] [sailbot.main_algo]: Target Bearing: -84.38436511838522 +[main_algo-3] [INFO] [1746051593.505836934] [sailbot.main_algo]: Heading Difference: 116.22636511838522 +[main_algo-3] [INFO] [1746051593.507205189] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051593.508089519] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051593.508959953] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051593.510769142] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051593.544999181] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051593.545729591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051593.546507837] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051593.547772134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051593.548841195] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051593.585329524] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051593.588002905] [sailbot.teensy]: Wind angle: 75 +[trim_sail-4] [INFO] [1746051593.588052429] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051593.588974880] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746051593.589125433] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051593.589883846] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051593.590768330] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051593.645003835] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051593.645948292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051593.646763762] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051593.647786815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051593.648940753] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051593.744966448] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051593.745526649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051593.746337839] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051593.747337977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051593.748331448] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051593.835496350] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051593.837376654] [sailbot.teensy]: Wind angle: 75 +[trim_sail-4] [INFO] [1746051593.838157025] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051593.838309557] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051593.839233523] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051593.839814900] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051593.840122444] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051593.844465553] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051593.845059691] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051593.845663870] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051593.846776826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051593.847833003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051593.945097620] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051593.945736309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051593.946387374] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051593.947801702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051593.948825647] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051593.957453240] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051593.958435769] [sailbot.main_algo]: Target Bearing: -84.38436511838522 +[main_algo-3] [INFO] [1746051593.959305276] [sailbot.main_algo]: Heading Difference: 117.05436511838525 +[main_algo-3] [INFO] [1746051593.960534465] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051593.961358640] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051593.962154859] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051593.963837273] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051593.964041505] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051594.002785062] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903967 Long: -76.50276934 +[main_algo-3] [INFO] [1746051594.003739733] [sailbot.main_algo]: Distance to destination: 52.49645656921018 +[vectornav-1] [INFO] [1746051594.004270326] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.87700000000001, 0.093, 5.506) +[main_algo-3] [INFO] [1746051594.004854805] [sailbot.main_algo]: Target Bearing: -84.36861503092899 +[main_algo-3] [INFO] [1746051594.005830983] [sailbot.main_algo]: Heading Difference: 117.03861503092901 +[main_algo-3] [INFO] [1746051594.007284479] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051594.008227115] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051594.009115770] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051594.010853053] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051594.045100686] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051594.045813402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051594.046386867] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051594.047677634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051594.048826171] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051594.085383056] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051594.087982203] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051594.088108093] [sailbot.teensy]: Wind angle: 75 +[mux-7] [INFO] [1746051594.088963596] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051594.089058255] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051594.089940685] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051594.090828830] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051594.145334561] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051594.145813722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051594.146870326] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051594.148190704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051594.149319224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051594.245045898] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051594.245796625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051594.246419298] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051594.247836317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051594.249005906] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051594.335265851] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051594.337307084] [sailbot.teensy]: Wind angle: 75 +[trim_sail-4] [INFO] [1746051594.337665353] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051594.338319723] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746051594.339097811] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051594.339253248] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051594.339650193] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051594.344461586] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051594.344957208] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051594.345749337] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051594.346636095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051594.347713127] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051594.445803492] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051594.446295216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051594.447804611] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051594.448657245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051594.449891213] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051594.457557073] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051594.458640362] [sailbot.main_algo]: Target Bearing: -84.36861503092899 +[main_algo-3] [INFO] [1746051594.459566540] [sailbot.main_algo]: Heading Difference: 117.245615030929 +[main_algo-3] [INFO] [1746051594.460863143] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051594.461772482] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051594.462576055] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051594.464174143] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051594.464182748] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051594.502681463] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903923 Long: -76.50276931 +[main_algo-3] [INFO] [1746051594.503696698] [sailbot.main_algo]: Distance to destination: 52.44763368676061 +[vectornav-1] [INFO] [1746051594.504290843] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.596000000000004, -0.803, 5.267) +[main_algo-3] [INFO] [1746051594.504848047] [sailbot.main_algo]: Target Bearing: -84.36511318601313 +[main_algo-3] [INFO] [1746051594.505845114] [sailbot.main_algo]: Heading Difference: 117.24211318601317 +[main_algo-3] [INFO] [1746051594.507190001] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051594.508088502] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051594.508959226] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051594.510533153] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051594.545742318] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051594.545816389] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051594.547277611] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051594.547717328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051594.548828659] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051594.585223423] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051594.587108540] [sailbot.teensy]: Wind angle: 75 +[trim_sail-4] [INFO] [1746051594.587861336] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051594.588111544] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746051594.588896859] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051594.589043379] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051594.590059406] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051594.644660530] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051594.645414540] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051594.646080123] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051594.647267792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051594.648281066] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051594.745358931] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051594.746041560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051594.746892453] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051594.748028249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051594.749365598] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051594.834478230] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051594.835719799] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051594.836029901] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051594.836403057] [sailbot.teensy]: Wind angle: 75 +[teensy-2] [INFO] [1746051594.837482050] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051594.838025852] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051594.838433685] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051594.844385962] [sailbot.mux]: Published sail angle from algo: 45 +[mux-7] [INFO] [1746051594.845405439] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051594.846606830] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051594.849230398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051594.850030005] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051594.944932630] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051594.945987395] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051594.946321942] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051594.947772936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051594.948236918] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051594.957339276] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051594.958297466] [sailbot.main_algo]: Target Bearing: -84.36511318601313 +[main_algo-3] [INFO] [1746051594.959173214] [sailbot.main_algo]: Heading Difference: 116.96111318601311 +[main_algo-3] [INFO] [1746051594.960402390] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051594.961221519] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051594.962000056] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051594.963542681] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051594.963668679] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051595.002888682] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903895 Long: -76.50276915 +[main_algo-3] [INFO] [1746051595.003791011] [sailbot.main_algo]: Distance to destination: 52.41522387431713 +[vectornav-1] [INFO] [1746051595.004083166] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.011000000000024, -0.556, 5.458) +[main_algo-3] [INFO] [1746051595.005057251] [sailbot.main_algo]: Target Bearing: -84.3754607256603 +[main_algo-3] [INFO] [1746051595.006104753] [sailbot.main_algo]: Heading Difference: 116.97146072566034 +[main_algo-3] [INFO] [1746051595.007524223] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051595.008441228] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051595.009355539] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051595.011260494] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051595.045144152] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051595.045821467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051595.046590264] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051595.047869383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051595.048917156] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051595.085532360] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051595.088036226] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051595.089516704] [sailbot.teensy]: Wind angle: 75 +[mux-7] [INFO] [1746051595.089717248] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051595.090664232] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051595.091583736] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051595.092458583] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051595.144980143] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051595.145944123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051595.146272786] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051595.148142269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051595.149208224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051595.245001841] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051595.245797140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051595.246388307] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051595.247790304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051595.248876426] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051595.335473245] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051595.338115510] [sailbot.teensy]: Wind angle: 75 +[trim_sail-4] [INFO] [1746051595.338495092] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051595.339529406] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051595.341023322] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051595.341877223] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051595.342746487] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051595.344618527] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051595.345276571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051595.345782418] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051595.346968339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051595.348092081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051595.445080675] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051595.445761179] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051595.446535774] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051595.447902381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051595.449209248] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051595.457829042] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051595.459032222] [sailbot.main_algo]: Target Bearing: -84.3754607256603 +[main_algo-3] [INFO] [1746051595.460051899] [sailbot.main_algo]: Heading Difference: 116.3864607256603 +[main_algo-3] [INFO] [1746051595.461410418] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051595.462309549] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051595.463158414] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051595.464824395] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051595.464938129] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051595.502846644] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903873 Long: -76.50276901 +[main_algo-3] [INFO] [1746051595.503871846] [sailbot.main_algo]: Distance to destination: 52.389624597239404 +[vectornav-1] [INFO] [1746051595.504129199] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.284999999999968, 0.421, 4.549) +[main_algo-3] [INFO] [1746051595.504941284] [sailbot.main_algo]: Target Bearing: -84.38487591963086 +[main_algo-3] [INFO] [1746051595.505890552] [sailbot.main_algo]: Heading Difference: 116.3958759196309 +[main_algo-3] [INFO] [1746051595.507241250] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051595.508138924] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051595.509057388] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051595.510742525] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051595.544765681] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051595.545343521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051595.545988049] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051595.547212305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051595.548260245] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051595.585385650] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051595.587291600] [sailbot.teensy]: Wind angle: 75 +[trim_sail-4] [INFO] [1746051595.587711697] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051595.588243730] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051595.589151959] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051595.589930235] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051595.590027814] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051595.644934847] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051595.645471759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051595.646202476] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051595.647485382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051595.648647317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051595.745289571] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051595.745785769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051595.747427900] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051595.747824145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051595.749006360] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051595.835216701] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051595.836900838] [sailbot.teensy]: Wind angle: 75 +[teensy-2] [INFO] [1746051595.837760539] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746051595.837467492] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051595.838573958] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051595.838598757] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051595.839377276] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051595.844408084] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051595.844915566] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051595.845887078] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051595.847079342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051595.848220024] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051595.945386702] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051595.946041137] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051595.947077112] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051595.948593857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051595.949783966] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051595.957720576] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051595.958706140] [sailbot.main_algo]: Target Bearing: -84.38487591963086 +[main_algo-3] [INFO] [1746051595.959598355] [sailbot.main_algo]: Heading Difference: 115.66987591963084 +[main_algo-3] [INFO] [1746051595.960914893] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051595.961798559] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051595.962583157] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051595.964113064] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051595.964170473] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051596.002829501] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690385 Long: -76.50276899 +[main_algo-3] [INFO] [1746051596.003703742] [sailbot.main_algo]: Distance to destination: 52.364062042812364 +[main_algo-3] [INFO] [1746051596.004762476] [sailbot.main_algo]: Target Bearing: -84.38343630343626 +[vectornav-1] [INFO] [1746051596.004957242] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.735000000000014, -1.341, 5.283) +[main_algo-3] [INFO] [1746051596.005650926] [sailbot.main_algo]: Heading Difference: 115.66843630343624 +[main_algo-3] [INFO] [1746051596.007015824] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051596.007922299] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051596.008826489] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051596.010425456] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051596.044944712] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051596.045680173] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051596.046234407] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051596.047785001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051596.048846980] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051596.085322492] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051596.087513381] [sailbot.teensy]: Wind angle: 75 +[trim_sail-4] [INFO] [1746051596.087717894] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051596.089245495] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051596.090074162] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051596.091108576] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051596.091991129] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051596.144868745] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051596.145288894] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051596.146150061] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051596.147046684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051596.148124988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051596.245162939] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051596.245641225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051596.246519370] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051596.247497482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051596.248607345] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051596.335411678] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051596.338033260] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051596.338045083] [sailbot.teensy]: Wind angle: 75 +[teensy-2] [INFO] [1746051596.339029600] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746051596.339203448] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051596.339431060] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051596.339819626] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051596.344449135] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051596.345170601] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051596.345712432] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051596.346953339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051596.347958879] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051596.445468601] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051596.446151305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051596.446776013] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051596.447780551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051596.448268793] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051596.457728877] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051596.458733125] [sailbot.main_algo]: Target Bearing: -84.38343630343626 +[main_algo-3] [INFO] [1746051596.459607543] [sailbot.main_algo]: Heading Difference: 115.11843630343628 +[main_algo-3] [INFO] [1746051596.460917251] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051596.461816547] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051596.462674563] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051596.464557130] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051596.465015936] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051596.503088879] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903844 Long: -76.50276889 +[main_algo-3] [INFO] [1746051596.504227370] [sailbot.main_algo]: Distance to destination: 52.356494110505 +[vectornav-1] [INFO] [1746051596.504413731] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.91300000000001, 0.702, 4.756) +[main_algo-3] [INFO] [1746051596.505720292] [sailbot.main_algo]: Target Bearing: -84.39153189263978 +[main_algo-3] [INFO] [1746051596.506899688] [sailbot.main_algo]: Heading Difference: 115.12653189263978 +[main_algo-3] [INFO] [1746051596.508356433] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051596.509261754] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051596.510105797] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051596.511776804] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051596.545118311] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051596.545981666] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051596.546569566] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051596.548107716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051596.549164785] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051596.585417381] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051596.587992723] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051596.588444384] [sailbot.teensy]: Wind angle: 75 +[mux-7] [INFO] [1746051596.589327384] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051596.589394024] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051596.590292368] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051596.591206862] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051596.644863947] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051596.645561391] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051596.646288802] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051596.647471542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051596.648575092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051596.745242047] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051596.746104333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051596.746682129] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051596.748109347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051596.748626519] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051596.835556391] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051596.838116450] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051596.838314997] [sailbot.teensy]: Wind angle: 75 +[mux-7] [INFO] [1746051596.839433896] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051596.839480818] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051596.840434232] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051596.841297254] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051596.844437018] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051596.844975416] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051596.845539148] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051596.846797762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051596.847806778] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051596.944341591] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051596.944866228] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051596.945405805] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051596.946466602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051596.947492090] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051596.958018908] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051596.958957020] [sailbot.main_algo]: Target Bearing: -84.39153189263978 +[main_algo-3] [INFO] [1746051596.959839030] [sailbot.main_algo]: Heading Difference: 114.30453189263977 +[main_algo-3] [INFO] [1746051596.961065352] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051596.961854947] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051596.962568190] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051596.963929726] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051596.964598165] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051597.002813691] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903831 Long: -76.50276926 +[main_algo-3] [INFO] [1746051597.003811416] [sailbot.main_algo]: Distance to destination: 52.345671433687876 +[vectornav-1] [INFO] [1746051597.003981661] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.817000000000007, -0.799, 6.2) +[main_algo-3] [INFO] [1746051597.004947753] [sailbot.main_algo]: Target Bearing: -84.35663233586374 +[main_algo-3] [INFO] [1746051597.005980921] [sailbot.main_algo]: Heading Difference: 114.26963233586378 +[main_algo-3] [INFO] [1746051597.007380140] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051597.008342963] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051597.009244061] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051597.010888426] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051597.045170926] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051597.045978436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051597.046616733] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051597.048057533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051597.049290871] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051597.085483892] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051597.087357200] [sailbot.teensy]: Wind angle: 74 +[trim_sail-4] [INFO] [1746051597.088108836] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051597.088352104] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051597.089260413] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051597.089544981] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051597.090118102] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051597.145106847] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051597.145661342] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051597.146582520] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051597.147543924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051597.148610403] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051597.244985888] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051597.245728174] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051597.246429124] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051597.247667595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051597.248726593] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051597.335159889] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051597.337137563] [sailbot.teensy]: Wind angle: 75 +[trim_sail-4] [INFO] [1746051597.337206996] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051597.338048174] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746051597.338600177] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051597.338971408] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051597.339822115] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051597.344477508] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051597.345196728] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051597.345677560] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051597.346936904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051597.348081317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051597.444961123] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051597.445380464] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051597.446343678] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051597.447546321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051597.448697204] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051597.457636501] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051597.458745293] [sailbot.main_algo]: Target Bearing: -84.35663233586374 +[main_algo-3] [INFO] [1746051597.459666453] [sailbot.main_algo]: Heading Difference: 114.17363233586377 +[main_algo-3] [INFO] [1746051597.460926632] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051597.461759556] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051597.462554782] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051597.464105343] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051597.464230241] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051597.502795329] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903822 Long: -76.50276913 +[main_algo-3] [INFO] [1746051597.503683015] [sailbot.main_algo]: Distance to destination: 52.33450508073498 +[vectornav-1] [INFO] [1746051597.503919075] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.92500000000001, -0.795, 3.749) +[main_algo-3] [INFO] [1746051597.504795468] [sailbot.main_algo]: Target Bearing: -84.36698681182206 +[main_algo-3] [INFO] [1746051597.505756354] [sailbot.main_algo]: Heading Difference: 114.18398681182208 +[main_algo-3] [INFO] [1746051597.507091181] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051597.507960987] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051597.508778761] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051597.510340412] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051597.545087681] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051597.545658966] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051597.546667645] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051597.547661633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051597.548770180] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051597.585428754] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051597.587137531] [sailbot.teensy]: Wind angle: 75 +[teensy-2] [INFO] [1746051597.588045803] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746051597.587707137] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051597.588928576] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051597.588923568] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051597.589830140] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051597.645154461] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051597.646090062] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051597.646634848] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051597.648128506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051597.649146953] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051597.744913973] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051597.745625968] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051597.746151443] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051597.747465330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051597.748439254] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051597.835373137] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051597.837543779] [sailbot.teensy]: Wind angle: 75 +[trim_sail-4] [INFO] [1746051597.837646758] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051597.838521563] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051597.838883977] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051597.839275782] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051597.839990601] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051597.844401819] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051597.844935808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051597.845607550] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051597.846688307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051597.847682893] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051597.945519928] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051597.946175632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051597.947203663] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051597.949117587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051597.950234416] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051597.957754810] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051597.958750428] [sailbot.main_algo]: Target Bearing: -84.36698681182206 +[main_algo-3] [INFO] [1746051597.959648050] [sailbot.main_algo]: Heading Difference: 114.29198681182208 +[main_algo-3] [INFO] [1746051597.960986620] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051597.961882763] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051597.962728635] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051597.964283041] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051597.964386760] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051598.002852010] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903821 Long: -76.50276894 +[main_algo-3] [INFO] [1746051598.003820298] [sailbot.main_algo]: Distance to destination: 52.331595705588875 +[vectornav-1] [INFO] [1746051598.004568839] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.742999999999995, 0.595, 5.58) +[main_algo-3] [INFO] [1746051598.005464802] [sailbot.main_algo]: Target Bearing: -84.38383517250024 +[main_algo-3] [INFO] [1746051598.006443306] [sailbot.main_algo]: Heading Difference: 114.30883517250027 +[main_algo-3] [INFO] [1746051598.007811633] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051598.008706914] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051598.009517491] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051598.011167981] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051598.045135444] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051598.045751641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051598.046507265] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051598.047710038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051598.048735361] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051598.085278327] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051598.087815099] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051598.088605218] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051598.089815947] [sailbot.teensy]: Wind angle: 75 +[teensy-2] [INFO] [1746051598.090794587] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051598.091651798] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051598.092496186] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051598.144886628] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051598.145793399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051598.146673361] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051598.147739414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051598.148438929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051598.245093762] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051598.245838266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051598.246568289] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051598.248038899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051598.249054704] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051598.335607156] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051598.338353541] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051598.338838863] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051598.339673106] [sailbot.teensy]: Wind angle: 75 +[teensy-2] [INFO] [1746051598.340118292] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051598.340504408] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051598.340858452] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051598.344544498] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051598.345102128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051598.346031358] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051598.346938301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051598.348213431] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051598.445354525] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051598.445876751] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051598.446859458] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051598.447892725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051598.449063173] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051598.457701572] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051598.458708371] [sailbot.main_algo]: Target Bearing: -84.38383517250024 +[main_algo-3] [INFO] [1746051598.459563160] [sailbot.main_algo]: Heading Difference: 115.12683517250025 +[main_algo-3] [INFO] [1746051598.460855831] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051598.461726286] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051598.462583190] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051598.464185748] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051598.464229207] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051598.502848902] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903818 Long: -76.50276893 +[main_algo-3] [INFO] [1746051598.503859605] [sailbot.main_algo]: Distance to destination: 52.328191285240344 +[vectornav-1] [INFO] [1746051598.503971762] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.117999999999995, -1.237, 4.583) +[main_algo-3] [INFO] [1746051598.504966472] [sailbot.main_algo]: Target Bearing: -84.38430817084974 +[main_algo-3] [INFO] [1746051598.505925863] [sailbot.main_algo]: Heading Difference: 115.12730817084974 +[main_algo-3] [INFO] [1746051598.507304226] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051598.508199627] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051598.509042838] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051598.510755312] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051598.545108433] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051598.545701229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051598.546290624] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051598.547508870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051598.548673276] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051598.585263225] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051598.586900148] [sailbot.teensy]: Wind angle: 75 +[teensy-2] [INFO] [1746051598.587819066] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746051598.587628092] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051598.588680558] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051598.588801335] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051598.589697525] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051598.644923606] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051598.645570211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051598.646152741] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051598.647484615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051598.648417772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051598.745352143] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051598.746281696] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051598.747033592] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051598.748433511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051598.748934240] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051598.835399737] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051598.837166374] [sailbot.teensy]: Wind angle: 75 +[trim_sail-4] [INFO] [1746051598.837806807] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051598.839093212] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051598.839414289] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051598.840478099] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051598.841377213] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051598.844319932] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051598.844830882] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051598.845515822] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051598.846584437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051598.847620402] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051598.944516326] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051598.945368579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051598.945906666] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051598.947431626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051598.948577697] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051598.956522870] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051598.957002505] [sailbot.main_algo]: Target Bearing: -84.38430817084974 +[main_algo-3] [INFO] [1746051598.957418338] [sailbot.main_algo]: Heading Difference: 115.50230817084974 +[main_algo-3] [INFO] [1746051598.958004098] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051598.958405439] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051598.958786837] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051598.959635314] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051598.959637556] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051599.001384407] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903814 Long: -76.50276883 +[main_algo-3] [INFO] [1746051599.002079047] [sailbot.main_algo]: Distance to destination: 52.32282982210574 +[vectornav-1] [INFO] [1746051599.002156431] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.312999999999988, -0.159, 5.856) +[main_algo-3] [INFO] [1746051599.003026614] [sailbot.main_algo]: Target Bearing: -84.39268993767064 +[main_algo-3] [INFO] [1746051599.003876591] [sailbot.main_algo]: Heading Difference: 115.51068993767063 +[main_algo-3] [INFO] [1746051599.004784211] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051599.005164670] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051599.005833721] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051599.007071376] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051599.044735331] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051599.045513267] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051599.046002535] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051599.047371879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051599.048481976] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051599.085560920] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051599.088062847] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051599.088773939] [sailbot.teensy]: Wind angle: 75 +[mux-7] [INFO] [1746051599.089048294] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051599.089729690] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051599.090735137] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051599.091603485] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051599.145160201] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051599.145703688] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051599.146530585] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051599.147630270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051599.148916192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051599.245190845] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051599.246014817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051599.246674989] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051599.247986586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051599.249155191] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051599.335293666] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051599.337553403] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051599.337553443] [sailbot.teensy]: Wind angle: 75 +[teensy-2] [INFO] [1746051599.338762260] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746051599.338897921] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051599.339707445] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051599.340471797] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051599.344473169] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051599.345073708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051599.345634790] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051599.346770202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051599.347754621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051599.445154192] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051599.445645588] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051599.446546388] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051599.447562696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051599.448657156] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051599.457650521] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051599.458681679] [sailbot.main_algo]: Target Bearing: -84.39268993767064 +[main_algo-3] [INFO] [1746051599.459638429] [sailbot.main_algo]: Heading Difference: 115.70568993767063 +[main_algo-3] [INFO] [1746051599.460898840] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051599.461745624] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051599.462539493] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051599.464116336] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051599.464163008] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051599.503221349] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903812 Long: -76.50276862 +[main_algo-3] [INFO] [1746051599.504149015] [sailbot.main_algo]: Distance to destination: 52.31863500009577 +[vectornav-1] [INFO] [1746051599.504571927] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.03800000000001, -0.125, 4.684) +[main_algo-3] [INFO] [1746051599.505397816] [sailbot.main_algo]: Target Bearing: -84.41119251055991 +[main_algo-3] [INFO] [1746051599.506425674] [sailbot.main_algo]: Heading Difference: 115.72419251055987 +[main_algo-3] [INFO] [1746051599.507787975] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051599.508721265] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051599.509578252] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051599.511496664] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051599.545517786] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051599.545889426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051599.546885636] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051599.547903902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051599.548985769] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051599.585507976] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051599.587523834] [sailbot.teensy]: Wind angle: 75 +[trim_sail-4] [INFO] [1746051599.588247173] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051599.589254366] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051599.590204404] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051599.591099652] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051599.591919272] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051599.644846467] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051599.645496492] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051599.646095110] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051599.647458405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051599.648663683] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051599.745061305] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051599.745999960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051599.746540556] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051599.748358385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051599.749468928] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051599.835163030] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051599.836648956] [sailbot.teensy]: Wind angle: 75 +[teensy-2] [INFO] [1746051599.837531570] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051599.838381015] [sailbot.teensy]: Actual tail angle: 40 +[trim_sail-4] [INFO] [1746051599.837720889] [sailbot.trim_sail]: Sail Angle: "45" +[mux-7] [INFO] [1746051599.838557701] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051599.838872140] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051599.844451473] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051599.845008924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051599.845536053] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051599.846765101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051599.847876068] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051599.945065241] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051599.945766375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051599.946399454] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051599.947742612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051599.948905198] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051599.957709090] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051599.958733763] [sailbot.main_algo]: Target Bearing: -84.41119251055991 +[main_algo-3] [INFO] [1746051599.959643208] [sailbot.main_algo]: Heading Difference: 115.4491925105599 +[main_algo-3] [INFO] [1746051599.960973590] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051599.961811321] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051599.962612735] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051599.964129798] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051599.964230721] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051600.003129927] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903818 Long: -76.50276839 +[main_algo-3] [INFO] [1746051600.003973484] [sailbot.main_algo]: Distance to destination: 52.32308320974288 +[vectornav-1] [INFO] [1746051600.004483721] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.363999999999976, -1.011, 6.034) +[main_algo-3] [INFO] [1746051600.005191348] [sailbot.main_algo]: Target Bearing: -84.43260261328957 +[main_algo-3] [INFO] [1746051600.006193126] [sailbot.main_algo]: Heading Difference: 115.4706026132896 +[main_algo-3] [INFO] [1746051600.007898330] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051600.008862802] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051600.009723759] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051600.011463013] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051600.045016973] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051600.045854467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051600.046584843] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051600.047997142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051600.049111203] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051600.085277294] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051600.087135968] [sailbot.teensy]: Wind angle: 75 +[trim_sail-4] [INFO] [1746051600.087517503] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051600.088014058] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051600.088986116] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051600.089703482] [sailbot.mux]: algo sail angle: 45 +[teensy-2] [INFO] [1746051600.090013355] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051600.144727877] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051600.145350732] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051600.145868608] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051600.147189454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051600.148296317] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051600.244922100] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051600.245589014] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051600.246924100] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051600.247412804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051600.248058872] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051600.335393189] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051600.337074609] [sailbot.teensy]: Wind angle: 75 +[teensy-2] [INFO] [1746051600.337988942] [sailbot.teensy]: Actual sail angle: 45 +[trim_sail-4] [INFO] [1746051600.338212377] [sailbot.trim_sail]: Sail Angle: "45" +[teensy-2] [INFO] [1746051600.338936544] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051600.339821760] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051600.340530492] [sailbot.mux]: algo sail angle: 45 +[mux-7] [INFO] [1746051600.344451145] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051600.345012386] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051600.345623584] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051600.347163461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051600.348364237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051600.445330384] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051600.446096880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051600.447052567] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051600.448494660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051600.449209710] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051600.457973428] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051600.459055279] [sailbot.main_algo]: Target Bearing: -84.43260261328957 +[main_algo-3] [INFO] [1746051600.460027860] [sailbot.main_algo]: Heading Difference: 115.79660261328956 +[main_algo-3] [INFO] [1746051600.461351983] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051600.462236300] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051600.463077466] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051600.464778576] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051600.464793214] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051600.502858211] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903836 Long: -76.50276828 +[main_algo-3] [INFO] [1746051600.503729840] [sailbot.main_algo]: Distance to destination: 52.34190649637441 +[vectornav-1] [INFO] [1746051600.504324818] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.225000000000023, 0.519, 4.706) +[main_algo-3] [INFO] [1746051600.505104111] [sailbot.main_algo]: Target Bearing: -84.44494615230614 +[main_algo-3] [INFO] [1746051600.506104821] [sailbot.main_algo]: Heading Difference: 115.80894615230613 +[main_algo-3] [INFO] [1746051600.507456871] [sailbot.main_algo]: Wind Direction: 75 +[main_algo-3] [INFO] [1746051600.508400740] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051600.509311903] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051600.511029215] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051600.546032829] [sailbot.mux]: Published sail angle from algo: 45 +[teensy-2] [INFO] [1746051600.546121206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051600.547411453] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051600.548532859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 +[teensy-2] [INFO] [1746051600.549603358] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051600.585470079] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051600.587926464] [sailbot.trim_sail]: Sail Angle: "40" +[teensy-2] [INFO] [1746051600.588000866] [sailbot.teensy]: Wind angle: 76 +[teensy-2] [INFO] [1746051600.588973140] [sailbot.teensy]: Actual sail angle: 45 +[mux-7] [INFO] [1746051600.589315977] [sailbot.mux]: algo sail angle: 40 +[teensy-2] [INFO] [1746051600.589886792] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051600.590759174] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051600.644898083] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746051600.645735972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051600.646201657] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051600.647637115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 +[teensy-2] [INFO] [1746051600.648670007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051600.745455200] [sailbot.mux]: Published sail angle from algo: 40 +[teensy-2] [INFO] [1746051600.746392782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051600.747146066] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051600.748729497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 +[teensy-2] [INFO] [1746051600.750019481] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051600.835673777] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051600.838633900] [sailbot.trim_sail]: Sail Angle: "35" +[teensy-2] [INFO] [1746051600.838784949] [sailbot.teensy]: Wind angle: 83 +[mux-7] [INFO] [1746051600.839172688] [sailbot.mux]: algo sail angle: 35 +[teensy-2] [INFO] [1746051600.839242817] [sailbot.teensy]: Actual sail angle: 45 +[teensy-2] [INFO] [1746051600.839639066] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051600.840051653] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051600.844535954] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746051600.845036193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051600.845664901] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051600.846731893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 +[teensy-2] [INFO] [1746051600.847916632] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051600.945086323] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746051600.945755475] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051600.946432440] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051600.947768903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 +[teensy-2] [INFO] [1746051600.948972514] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051600.957762810] [sailbot.main_algo]: Wind Direction: 83 +[main_algo-3] [INFO] [1746051600.958894504] [sailbot.main_algo]: Target Bearing: -84.44494615230614 +[main_algo-3] [INFO] [1746051600.959837065] [sailbot.main_algo]: Heading Difference: 114.66994615230618 +[main_algo-3] [INFO] [1746051600.961170195] [sailbot.main_algo]: Wind Direction: 83 +[main_algo-3] [INFO] [1746051600.962043079] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051600.962881033] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051600.964474702] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051600.964496360] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051601.002929880] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903836 Long: -76.5027682 +[vectornav-1] [INFO] [1746051601.004309882] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.939999999999998, -1.425, 5.971) +[main_algo-3] [INFO] [1746051601.004252688] [sailbot.main_algo]: Distance to destination: 52.341154314773 +[main_algo-3] [INFO] [1746051601.005244848] [sailbot.main_algo]: Target Bearing: -84.45209928768533 +[main_algo-3] [INFO] [1746051601.006150693] [sailbot.main_algo]: Heading Difference: 114.67709928768534 +[main_algo-3] [INFO] [1746051601.007808354] [sailbot.main_algo]: Wind Direction: 83 +[main_algo-3] [INFO] [1746051601.008884696] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051601.009858409] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051601.011740207] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051601.043955020] [sailbot.mux]: Published sail angle from algo: 35 +[teensy-2] [INFO] [1746051601.044479372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051601.045165575] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051601.045874921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 +[teensy-2] [INFO] [1746051601.047019436] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051601.085144681] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051601.086680211] [sailbot.teensy]: Wind angle: 94 +[teensy-2] [INFO] [1746051601.087592207] [sailbot.teensy]: Actual sail angle: 40 +[trim_sail-4] [INFO] [1746051601.087704549] [sailbot.trim_sail]: Sail Angle: "30" +[mux-7] [INFO] [1746051601.088764997] [sailbot.mux]: algo sail angle: 30 +[teensy-2] [INFO] [1746051601.088820932] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051601.089752340] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051601.144685634] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746051601.145287761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051601.145843178] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051601.147047033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 +[teensy-2] [INFO] [1746051601.148243288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051601.244917293] [sailbot.mux]: Published sail angle from algo: 30 +[teensy-2] [INFO] [1746051601.245518591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051601.246229548] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051601.247315744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 +[teensy-2] [INFO] [1746051601.248436696] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051601.335200892] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051601.337240269] [sailbot.trim_sail]: Sail Angle: "20" +[teensy-2] [INFO] [1746051601.337920667] [sailbot.teensy]: Wind angle: 108 +[mux-7] [INFO] [1746051601.338034328] [sailbot.mux]: algo sail angle: 20 +[teensy-2] [INFO] [1746051601.338839147] [sailbot.teensy]: Actual sail angle: 35 +[teensy-2] [INFO] [1746051601.339255694] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051601.339622706] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051601.344406157] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746051601.344939802] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051601.345675025] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051601.346699205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 15 +[teensy-2] [INFO] [1746051601.347913238] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051601.444814285] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746051601.445502376] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051601.446541705] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051601.447360003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 15 +[teensy-2] [INFO] [1746051601.448468933] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051601.457624046] [sailbot.main_algo]: Wind Direction: 108 +[main_algo-3] [INFO] [1746051601.458646836] [sailbot.main_algo]: Target Bearing: -84.45209928768533 +[main_algo-3] [INFO] [1746051601.459556680] [sailbot.main_algo]: Heading Difference: 115.39209928768531 +[main_algo-3] [INFO] [1746051601.460851511] [sailbot.main_algo]: Wind Direction: 108 +[main_algo-3] [INFO] [1746051601.461694380] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051601.462482447] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051601.464018287] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051601.464197742] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051601.502681317] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903846 Long: -76.50276807 +[main_algo-3] [INFO] [1746051601.503632033] [sailbot.main_algo]: Distance to destination: 52.350967141253285 +[vectornav-1] [INFO] [1746051601.503823411] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.03399999999999, 0.246, 5.509) +[main_algo-3] [INFO] [1746051601.504806685] [sailbot.main_algo]: Target Bearing: -84.46511030828879 +[main_algo-3] [INFO] [1746051601.505799581] [sailbot.main_algo]: Heading Difference: 115.40511030828878 +[main_algo-3] [INFO] [1746051601.507028900] [sailbot.main_algo]: Wind Direction: 108 +[main_algo-3] [INFO] [1746051601.507883246] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051601.508700796] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051601.510287381] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051601.544845233] [sailbot.mux]: Published sail angle from algo: 20 +[teensy-2] [INFO] [1746051601.545767088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051601.547395053] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051601.547916790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 15 +[teensy-2] [INFO] [1746051601.549190362] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051601.585450530] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051601.587858236] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051601.588613145] [sailbot.teensy]: Wind angle: 119 +[mux-7] [INFO] [1746051601.589191543] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051601.589610218] [sailbot.teensy]: Actual sail angle: 30 +[teensy-2] [INFO] [1746051601.590524818] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051601.591415840] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051601.645034227] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051601.645900598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051601.646635188] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051601.647803362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 +[teensy-2] [INFO] [1746051601.648860626] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051601.745244963] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051601.745755735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051601.746559080] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051601.747653362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 +[teensy-2] [INFO] [1746051601.748658528] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051601.835632401] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051601.838257499] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051601.838704926] [sailbot.teensy]: Wind angle: 123 +[mux-7] [INFO] [1746051601.839381576] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051601.839714715] [sailbot.teensy]: Actual sail angle: 20 +[teensy-2] [INFO] [1746051601.841103471] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051601.842112226] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051601.844290716] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051601.844809019] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051601.845395860] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051601.846463925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 +[teensy-2] [INFO] [1746051601.847626295] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051601.945308361] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051601.946120923] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051601.946751951] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051601.947804708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 +[teensy-2] [INFO] [1746051601.948293121] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051601.957805819] [sailbot.main_algo]: Wind Direction: 123 +[main_algo-3] [INFO] [1746051601.958916812] [sailbot.main_algo]: Target Bearing: -84.46511030828879 +[main_algo-3] [INFO] [1746051601.959852837] [sailbot.main_algo]: Heading Difference: 116.49911030828878 +[main_algo-3] [INFO] [1746051601.961191972] [sailbot.main_algo]: Wind Direction: 123 +[main_algo-3] [INFO] [1746051601.962086974] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051601.962890164] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051601.964400368] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051601.964475926] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051602.002840659] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903854 Long: -76.50276779 +[main_algo-3] [INFO] [1746051602.003664437] [sailbot.main_algo]: Distance to destination: 52.35717329281075 +[vectornav-1] [INFO] [1746051602.005112533] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.80000000000001, -0.518, 4.968) +[main_algo-3] [INFO] [1746051602.005216817] [sailbot.main_algo]: Target Bearing: -84.49124866375602 +[main_algo-3] [INFO] [1746051602.006253310] [sailbot.main_algo]: Heading Difference: 116.52524866375603 +[main_algo-3] [INFO] [1746051602.007660956] [sailbot.main_algo]: Wind Direction: 123 +[main_algo-3] [INFO] [1746051602.008570376] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051602.009421608] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051602.011130999] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051602.044966314] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051602.045670465] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051602.046518468] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051602.047531495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 +[teensy-2] [INFO] [1746051602.048634177] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051602.085230412] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051602.087364917] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051602.088436418] [sailbot.teensy]: Wind angle: 123 +[mux-7] [INFO] [1746051602.088565031] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051602.089328967] [sailbot.teensy]: Actual sail angle: 10 +[teensy-2] [INFO] [1746051602.090162737] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051602.090964898] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051602.144922944] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051602.145762558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051602.146214756] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051602.147595364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 +[teensy-2] [INFO] [1746051602.148711500] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051602.245285316] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051602.245899955] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051602.246975702] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051602.247970785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 +[teensy-2] [INFO] [1746051602.248727794] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051602.335289261] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051602.337627650] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051602.337727419] [sailbot.teensy]: Wind angle: 123 +[teensy-2] [INFO] [1746051602.338711569] [sailbot.teensy]: Actual sail angle: 10 +[teensy-2] [INFO] [1746051602.339768447] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051602.339855180] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051602.340744190] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051602.344372472] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051602.344881827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051602.345468795] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051602.346576845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 +[teensy-2] [INFO] [1746051602.347728175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051602.444977288] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051602.445763251] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051602.446311431] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051602.447580294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 +[teensy-2] [INFO] [1746051602.448112941] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051602.457591360] [sailbot.main_algo]: Wind Direction: 123 +[main_algo-3] [INFO] [1746051602.458646818] [sailbot.main_algo]: Target Bearing: -84.49124866375602 +[main_algo-3] [INFO] [1746051602.459569428] [sailbot.main_algo]: Heading Difference: 116.29124866375605 +[main_algo-3] [INFO] [1746051602.460822900] [sailbot.main_algo]: Wind Direction: 123 +[main_algo-3] [INFO] [1746051602.461670413] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051602.462460988] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051602.463970021] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051602.464052229] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051602.503090027] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903846 Long: -76.50276789 +[main_algo-3] [INFO] [1746051602.504271275] [sailbot.main_algo]: Distance to destination: 52.3492810531659 +[vectornav-1] [INFO] [1746051602.504445375] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.716999999999985, -0.041, 7.6) +[main_algo-3] [INFO] [1746051602.505532471] [sailbot.main_algo]: Target Bearing: -84.48120301958946 +[main_algo-3] [INFO] [1746051602.506619322] [sailbot.main_algo]: Heading Difference: 116.2812030195895 +[main_algo-3] [INFO] [1746051602.508027384] [sailbot.main_algo]: Wind Direction: 123 +[main_algo-3] [INFO] [1746051602.508945994] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051602.509795098] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051602.511488742] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051602.544973371] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051602.545574252] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051602.546304163] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051602.547404877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 +[teensy-2] [INFO] [1746051602.548624744] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051602.585311029] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051602.586963659] [sailbot.teensy]: Wind angle: 123 +[teensy-2] [INFO] [1746051602.587841816] [sailbot.teensy]: Actual sail angle: 10 +[trim_sail-4] [INFO] [1746051602.587510068] [sailbot.trim_sail]: Sail Angle: "10" +[teensy-2] [INFO] [1746051602.588720682] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051602.589333936] [sailbot.mux]: algo sail angle: 10 +[teensy-2] [INFO] [1746051602.589663279] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051602.644889072] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051602.645548974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051602.646236277] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051602.647424035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 +[teensy-2] [INFO] [1746051602.648697460] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051602.744990563] [sailbot.mux]: Published sail angle from algo: 10 +[teensy-2] [INFO] [1746051602.745662257] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051602.746426322] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051602.747493621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 +[teensy-2] [INFO] [1746051602.748622400] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051602.835580836] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051602.837599808] [sailbot.teensy]: Wind angle: 125 +[trim_sail-4] [INFO] [1746051602.838190612] [sailbot.trim_sail]: Sail Angle: "5" +[teensy-2] [INFO] [1746051602.838640818] [sailbot.teensy]: Actual sail angle: 10 +[teensy-2] [INFO] [1746051602.839552048] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051602.839874361] [sailbot.mux]: algo sail angle: 5 +[teensy-2] [INFO] [1746051602.840568351] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051602.844319943] [sailbot.mux]: Published sail angle from algo: 5 +[teensy-2] [INFO] [1746051602.844886355] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051602.845480952] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051602.846806359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:5, rudder: 15 +[teensy-2] [INFO] [1746051602.848005203] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051602.945287310] [sailbot.mux]: Published sail angle from algo: 5 +[teensy-2] [INFO] [1746051602.946304896] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051602.946751516] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051602.948428186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:5, rudder: 15 +[teensy-2] [INFO] [1746051602.949417975] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051602.958054801] [sailbot.main_algo]: Wind Direction: 125 +[main_algo-3] [INFO] [1746051602.959084407] [sailbot.main_algo]: Target Bearing: -84.48120301958946 +[main_algo-3] [INFO] [1746051602.959993021] [sailbot.main_algo]: Heading Difference: 116.19820301958941 +[main_algo-3] [INFO] [1746051602.961337317] [sailbot.main_algo]: Wind Direction: 125 +[main_algo-3] [INFO] [1746051602.962228952] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051602.963070254] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051602.964694372] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051602.964862709] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051603.002737449] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903831 Long: -76.50276772 +[main_algo-3] [INFO] [1746051603.003900988] [sailbot.main_algo]: Distance to destination: 52.331141331240474 +[vectornav-1] [INFO] [1746051603.004265168] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.43700000000001, -1.056, 5.547) +[main_algo-3] [INFO] [1746051603.005071572] [sailbot.main_algo]: Target Bearing: -84.49433208591134 +[main_algo-3] [INFO] [1746051603.006048274] [sailbot.main_algo]: Heading Difference: 116.2113320859113 +[main_algo-3] [INFO] [1746051603.007383518] [sailbot.main_algo]: Wind Direction: 125 +[main_algo-3] [INFO] [1746051603.008227869] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051603.009017072] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051603.010610566] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051603.044862563] [sailbot.mux]: Published sail angle from algo: 5 +[teensy-2] [INFO] [1746051603.045639869] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051603.046113763] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051603.047528984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:5, rudder: 15 +[teensy-2] [INFO] [1746051603.048585310] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051603.085025335] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051603.086836718] [sailbot.teensy]: Wind angle: 132 +[teensy-2] [INFO] [1746051603.087756633] [sailbot.teensy]: Actual sail angle: 10 +[teensy-2] [INFO] [1746051603.088782996] [sailbot.teensy]: Actual tail angle: 40 +[trim_sail-4] [INFO] [1746051603.087082044] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051603.087558068] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051603.089728116] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051603.144004416] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051603.144530656] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051603.144830396] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051603.146182292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051603.147660960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051603.245057368] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051603.245819572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051603.246446378] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051603.247769264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051603.248953328] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051603.335417965] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051603.337526325] [sailbot.teensy]: Wind angle: 142 +[trim_sail-4] [INFO] [1746051603.337797139] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051603.339398500] [sailbot.teensy]: Actual sail angle: 5 +[mux-7] [INFO] [1746051603.339543755] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051603.340529932] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051603.341618817] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051603.344307669] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051603.344965943] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051603.345493746] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051603.346740749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051603.347784498] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051603.445108302] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051603.446137235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051603.446745591] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051603.448055467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051603.448711905] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051603.457662257] [sailbot.main_algo]: Wind Direction: 142 +[main_algo-3] [INFO] [1746051603.458750426] [sailbot.main_algo]: Target Bearing: -84.49433208591134 +[main_algo-3] [INFO] [1746051603.459677042] [sailbot.main_algo]: Heading Difference: 117.93133208591132 +[main_algo-3] [INFO] [1746051603.460948764] [sailbot.main_algo]: Wind Direction: 142 +[main_algo-3] [INFO] [1746051603.461858637] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051603.462691597] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051603.464502943] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051603.464537770] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051603.502786347] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903843 Long: -76.50276751 +[main_algo-3] [INFO] [1746051603.504056872] [sailbot.main_algo]: Distance to destination: 52.34242474680657 +[vectornav-1] [INFO] [1746051603.504274553] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.14699999999999, -0.228, 5.813) +[main_algo-3] [INFO] [1746051603.505572123] [sailbot.main_algo]: Target Bearing: -84.51476708315248 +[main_algo-3] [INFO] [1746051603.506549122] [sailbot.main_algo]: Heading Difference: 117.9517670831525 +[main_algo-3] [INFO] [1746051603.507905734] [sailbot.main_algo]: Wind Direction: 142 +[main_algo-3] [INFO] [1746051603.508796689] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051603.509638828] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051603.511357215] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051603.544916663] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051603.545587473] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051603.546147440] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051603.547575308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051603.548762938] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051603.585315034] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051603.587495152] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051603.587852766] [sailbot.teensy]: Wind angle: 150 +[mux-7] [INFO] [1746051603.588742284] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051603.588812965] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051603.589717799] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051603.590629096] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051603.644874180] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051603.645276767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051603.646054137] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051603.646995683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051603.648080279] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051603.745077943] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051603.746609358] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051603.746623270] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051603.748034802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051603.748502196] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051603.835580940] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051603.838417226] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051603.838886133] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051603.839346931] [sailbot.teensy]: Wind angle: 155 +[teensy-2] [INFO] [1746051603.840312104] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051603.841168941] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051603.841989750] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051603.844441010] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051603.844906232] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051603.845531215] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051603.846620144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051603.847917615] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051603.945362781] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051603.946084220] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051603.946924365] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051603.948213539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 +[teensy-2] [INFO] [1746051603.948762366] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051603.957845315] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051603.959479589] [sailbot.main_algo]: Beginning Tacking +[main_algo-3] [INFO] [1746051603.960847093] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051603.962156510] [sailbot.main_algo]: Current Location: (42.469038432147485, -76.50276751005444) +[main_algo-3] [INFO] [1746051603.963031402] [sailbot.main_algo]: Target Bearing: -84.51476708315248 +[main_algo-3] [INFO] [1746051603.963867260] [sailbot.main_algo]: Heading Difference: 119.66176708315248 +[main_algo-3] [INFO] [1746051603.965106806] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051603.965895345] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051603.966683383] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051603.968204251] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051603.968253407] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051604.002753844] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903828 Long: -76.50276719 +[main_algo-3] [INFO] [1746051604.003846033] [sailbot.main_algo]: Distance to destination: 52.32290012675481 +[vectornav-1] [INFO] [1746051604.004837885] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.273000000000025, -0.513, 6.389) +[main_algo-3] [INFO] [1746051604.005268897] [sailbot.main_algo]: Target Bearing: -84.54132853672498 +[main_algo-3] [INFO] [1746051604.006311842] [sailbot.main_algo]: Heading Difference: 119.68832853672495 +[main_algo-3] [INFO] [1746051604.007731821] [sailbot.main_algo]: Wind Direction: 155 +[main_algo-3] [INFO] [1746051604.008671070] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051604.009545739] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051604.011210487] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051604.044973838] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051604.045713801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051604.046238896] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051604.047555387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051604.048689902] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051604.085262552] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051604.087261073] [sailbot.teensy]: Wind angle: 155 +[trim_sail-4] [INFO] [1746051604.087553013] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051604.088243298] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051604.089451185] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051604.089799364] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051604.090154216] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051604.144654178] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051604.145351145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051604.146176132] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051604.147019361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051604.148120910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051604.244914014] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051604.245702824] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051604.246167319] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051604.247627754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051604.248775417] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051604.335524342] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051604.337413736] [sailbot.teensy]: Wind angle: 156 +[trim_sail-4] [INFO] [1746051604.337895092] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051604.338378088] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051604.339490201] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051604.340121890] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051604.340938560] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051604.344320911] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051604.344826913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051604.345387948] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051604.346526224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051604.347532138] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051604.445131522] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051604.446352620] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051604.446926517] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051604.448572868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051604.449707716] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051604.457450826] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051604.458397599] [sailbot.main_algo]: Target Bearing: -84.54132853672498 +[main_algo-3] [INFO] [1746051604.459226164] [sailbot.main_algo]: Heading Difference: 121.81432853672499 +[main_algo-3] [INFO] [1746051604.460457559] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051604.461283622] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051604.462075240] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051604.463633533] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051604.463712357] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051604.502609593] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903825 Long: -76.50276693 +[main_algo-3] [INFO] [1746051604.503543025] [sailbot.main_algo]: Distance to destination: 52.3171835773167 +[vectornav-1] [INFO] [1746051604.503636930] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.72800000000001, -0.126, 6.612) +[main_algo-3] [INFO] [1746051604.504607840] [sailbot.main_algo]: Target Bearing: -84.56417997942481 +[main_algo-3] [INFO] [1746051604.505518416] [sailbot.main_algo]: Heading Difference: 121.83717997942483 +[main_algo-3] [INFO] [1746051604.506845846] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051604.507712879] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051604.508574840] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051604.510283538] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051604.544969433] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051604.545561933] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051604.546357000] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051604.547505523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051604.549139851] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051604.585686881] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051604.588120189] [sailbot.teensy]: Wind angle: 160 +[trim_sail-4] [INFO] [1746051604.588563921] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051604.589098561] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051604.589702993] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051604.590029885] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051604.590899888] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051604.644953559] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051604.645621719] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051604.646226464] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051604.647421445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051604.648613041] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051604.744899817] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051604.745505630] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051604.746597462] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051604.747326510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051604.748439230] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051604.835150315] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051604.836818877] [sailbot.teensy]: Wind angle: 164 +[teensy-2] [INFO] [1746051604.837662633] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746051604.837243060] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051604.837883812] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051604.838479837] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051604.838947856] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051604.844445689] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051604.844992085] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051604.845557361] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051604.846678217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051604.847713794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051604.944637271] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051604.945397884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051604.945808463] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051604.947142967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051604.948367304] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051604.957772113] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051604.958797630] [sailbot.main_algo]: Target Bearing: -84.56417997942481 +[main_algo-3] [INFO] [1746051604.959706344] [sailbot.main_algo]: Heading Difference: 124.29217997942482 +[main_algo-3] [INFO] [1746051604.960930868] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051604.961732998] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051604.962511457] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051604.964032326] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051604.964083321] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051605.002863287] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903827 Long: -76.50276691 +[main_algo-3] [INFO] [1746051605.003803643] [sailbot.main_algo]: Distance to destination: 52.31920597855102 +[vectornav-1] [INFO] [1746051605.004041921] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.28199999999998, -0.327, 5.896) +[main_algo-3] [INFO] [1746051605.005021879] [sailbot.main_algo]: Target Bearing: -84.5662427156882 +[main_algo-3] [INFO] [1746051605.005946172] [sailbot.main_algo]: Heading Difference: 124.2942427156882 +[main_algo-3] [INFO] [1746051605.007362268] [sailbot.main_algo]: Wind Direction: 164 +[main_algo-3] [INFO] [1746051605.008357974] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051605.009281545] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051605.010971097] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051605.044985508] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051605.045776102] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051605.046238589] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051605.047587162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051605.048756605] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051605.085044203] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051605.086510978] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051605.087025744] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051605.087363092] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051605.088213147] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051605.088569201] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051605.089036786] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051605.145362057] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051605.145900853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051605.146965458] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051605.147691631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051605.148789004] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051605.245039968] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051605.245683361] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051605.246533178] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051605.247741298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051605.248815627] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051605.335122620] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051605.337304163] [sailbot.teensy]: Wind angle: 167 +[trim_sail-4] [INFO] [1746051605.337354582] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051605.338222921] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051605.338510525] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051605.339120572] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051605.340007717] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051605.344338267] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051605.344798359] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051605.345442564] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051605.346489278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051605.347641168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051605.445128996] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051605.445920360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051605.446516913] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051605.447870961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051605.448941731] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051605.457643183] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051605.458690683] [sailbot.main_algo]: Target Bearing: -84.5662427156882 +[main_algo-3] [INFO] [1746051605.459582711] [sailbot.main_algo]: Heading Difference: 125.84824271568817 +[main_algo-3] [INFO] [1746051605.460977273] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051605.461858276] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051605.462694598] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051605.464219431] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051605.464364935] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051605.502961580] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903806 Long: -76.50276687 +[main_algo-3] [INFO] [1746051605.503986676] [sailbot.main_algo]: Distance to destination: 52.29566181072208 +[vectornav-1] [INFO] [1746051605.504213430] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.18799999999999, 0.127, 5.371) +[main_algo-3] [INFO] [1746051605.505191376] [sailbot.main_algo]: Target Bearing: -84.56695346545281 +[main_algo-3] [INFO] [1746051605.506157051] [sailbot.main_algo]: Heading Difference: 125.84895346545278 +[main_algo-3] [INFO] [1746051605.507525737] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051605.508428867] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051605.509283547] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051605.511111788] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051605.544985620] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051605.545865533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051605.546294209] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051605.547734431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051605.549334218] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051605.585091849] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051605.586520469] [sailbot.teensy]: Wind angle: 167 +[trim_sail-4] [INFO] [1746051605.587188741] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051605.588379368] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051605.588520720] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051605.589710463] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051605.590702697] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051605.645120804] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051605.646045777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051605.646542253] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051605.648040581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051605.649113941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051605.745115086] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051605.746002051] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051605.746670102] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051605.748071025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051605.749198591] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051605.835319017] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051605.837088505] [sailbot.teensy]: Wind angle: 167 +[trim_sail-4] [INFO] [1746051605.837795279] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051605.838030074] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051605.838800073] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051605.838900477] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051605.839333918] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051605.844304237] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051605.845104090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051605.845469985] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051605.846895374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051605.847955104] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051605.945431186] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051605.946424873] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051605.946905950] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051605.948219359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051605.948659604] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051605.957988799] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051605.959043972] [sailbot.main_algo]: Target Bearing: -84.56695346545281 +[main_algo-3] [INFO] [1746051605.959994698] [sailbot.main_algo]: Heading Difference: 127.75495346545279 +[main_algo-3] [INFO] [1746051605.961347437] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051605.962251456] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051605.963061086] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051605.964636175] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051605.964726682] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051606.002771458] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903794 Long: -76.50276694 +[main_algo-3] [INFO] [1746051606.003719640] [sailbot.main_algo]: Distance to destination: 52.283065888629054 +[vectornav-1] [INFO] [1746051606.004239243] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.96300000000002, -0.884, 5.654) +[main_algo-3] [INFO] [1746051606.004883424] [sailbot.main_algo]: Target Bearing: -84.5590458948955 +[main_algo-3] [INFO] [1746051606.005874473] [sailbot.main_algo]: Heading Difference: 127.7470458948955 +[main_algo-3] [INFO] [1746051606.007216085] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051606.008080273] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051606.008946976] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051606.010611136] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051606.045117772] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051606.045728043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051606.046491518] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051606.047576025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051606.048670446] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051606.085180876] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051606.086961703] [sailbot.teensy]: Wind angle: 166 +[trim_sail-4] [INFO] [1746051606.087680915] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051606.088823896] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051606.088997644] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051606.090012078] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051606.090883222] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051606.144891214] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051606.145536664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051606.146387011] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051606.147425787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051606.148674100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051606.244983385] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051606.245858529] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051606.246239816] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051606.247867149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051606.248919120] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051606.335592637] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051606.338507169] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051606.339030746] [sailbot.teensy]: Wind angle: 166 +[mux-7] [INFO] [1746051606.339058174] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051606.340042347] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051606.340948882] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051606.341858466] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051606.344290328] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051606.345262996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051606.345700529] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051606.347052902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051606.348198776] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051606.445132537] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051606.446128775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051606.446933608] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051606.448011655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051606.448504540] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051606.457986900] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051606.459078108] [sailbot.main_algo]: Target Bearing: -84.5590458948955 +[main_algo-3] [INFO] [1746051606.460033160] [sailbot.main_algo]: Heading Difference: 129.52204589489554 +[main_algo-3] [INFO] [1746051606.461391788] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051606.462253101] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051606.463101948] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051606.464752059] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051606.464869156] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051606.502789847] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903779 Long: -76.50276676 +[main_algo-3] [INFO] [1746051606.503806662] [sailbot.main_algo]: Distance to destination: 52.26485022846518 +[vectornav-1] [INFO] [1746051606.503978643] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.803999999999974, -0.241, 5.6) +[main_algo-3] [INFO] [1746051606.505496487] [sailbot.main_algo]: Target Bearing: -84.57311427389405 +[main_algo-3] [INFO] [1746051606.506847892] [sailbot.main_algo]: Heading Difference: 129.5361142738941 +[main_algo-3] [INFO] [1746051606.508232150] [sailbot.main_algo]: Wind Direction: 166 +[main_algo-3] [INFO] [1746051606.509158928] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051606.510013946] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051606.511737334] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051606.545017402] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051606.545739258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051606.546845125] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051606.547561344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051606.549039968] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051606.585286639] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051606.587064870] [sailbot.teensy]: Wind angle: 166 +[teensy-2] [INFO] [1746051606.588034180] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746051606.587653017] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051606.588953153] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051606.589530910] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051606.589812400] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051606.643770266] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051606.644099124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051606.644349165] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051606.644907286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051606.645375344] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051606.744959286] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051606.745672900] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051606.746228111] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051606.747856809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051606.748998014] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051606.835319159] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051606.836998804] [sailbot.teensy]: Wind angle: 169 +[trim_sail-4] [INFO] [1746051606.837687457] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051606.837918032] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051606.838789129] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051606.839271982] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051606.839795253] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051606.844511585] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051606.844899910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051606.845694222] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051606.846543454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051606.847623408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051606.945142606] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051606.945704426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051606.946454356] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051606.947573497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051606.948779219] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051606.957357422] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051606.958343476] [sailbot.main_algo]: Target Bearing: -84.57311427389405 +[main_algo-3] [INFO] [1746051606.959197700] [sailbot.main_algo]: Heading Difference: 131.377114273894 +[main_algo-3] [INFO] [1746051606.960426805] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051606.961268318] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051606.962058041] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051606.963629798] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051606.963718176] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051607.002830925] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903781 Long: -76.50276653 +[main_algo-3] [INFO] [1746051607.003835323] [sailbot.main_algo]: Distance to destination: 52.264939184215 +[vectornav-1] [INFO] [1746051607.003959262] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.372000000000014, -0.095, 5.582) +[main_algo-3] [INFO] [1746051607.005033487] [sailbot.main_algo]: Target Bearing: -84.59398797126336 +[main_algo-3] [INFO] [1746051607.006038052] [sailbot.main_algo]: Heading Difference: 131.39798797126332 +[main_algo-3] [INFO] [1746051607.007447358] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051607.008370791] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051607.009253370] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051607.010897088] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051607.044843086] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051607.045570996] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051607.046098352] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051607.047380450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051607.048531483] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051607.085329090] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051607.086975892] [sailbot.teensy]: Wind angle: 169 +[trim_sail-4] [INFO] [1746051607.087593827] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051607.087971818] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051607.088901584] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051607.089706656] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051607.089774980] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051607.145041548] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051607.145804481] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051607.146413480] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051607.147779716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051607.148930316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051607.244323336] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051607.244713830] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051607.246628612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[mux-7] [INFO] [1746051607.246982873] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051607.248712511] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051607.335206684] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051607.336818640] [sailbot.teensy]: Wind angle: 169 +[trim_sail-4] [INFO] [1746051607.337361781] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051607.337671099] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051607.338557367] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051607.339343553] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051607.339463723] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051607.344274030] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051607.344892036] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051607.345277721] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051607.346468376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051607.347432452] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051607.444906622] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051607.445556330] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051607.446105859] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051607.447349095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051607.448449431] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051607.457553815] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051607.458554547] [sailbot.main_algo]: Target Bearing: -84.59398797126336 +[main_algo-3] [INFO] [1746051607.459427035] [sailbot.main_algo]: Heading Difference: 132.96598797126336 +[main_algo-3] [INFO] [1746051607.460696801] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051607.461602747] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051607.462409205] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051607.463944741] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051607.463970188] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051607.502719800] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903773 Long: -76.50276643 +[main_algo-3] [INFO] [1746051607.503812333] [sailbot.main_algo]: Distance to destination: 52.25519121466102 +[vectornav-1] [INFO] [1746051607.503843133] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.47199999999998, -0.694, 5.806) +[main_algo-3] [INFO] [1746051607.505013450] [sailbot.main_algo]: Target Bearing: -84.6018573398903 +[main_algo-3] [INFO] [1746051607.505952577] [sailbot.main_algo]: Heading Difference: 132.9738573398903 +[main_algo-3] [INFO] [1746051607.507210815] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051607.508038924] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051607.508860072] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051607.510410858] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051607.544918247] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051607.545852715] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051607.546181312] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051607.547782619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051607.549053917] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051607.585336942] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051607.587589510] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051607.588236085] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051607.589778759] [sailbot.teensy]: Wind angle: 170 +[teensy-2] [INFO] [1746051607.590703114] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051607.591607279] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051607.592715803] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051607.644798997] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051607.645752206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051607.646580684] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051607.647818949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051607.648898669] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051607.744913914] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051607.745628665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051607.746260966] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051607.747532609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051607.748589779] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051607.835293106] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051607.837651114] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051607.838553230] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051607.838839684] [sailbot.teensy]: Wind angle: 170 +[teensy-2] [INFO] [1746051607.839819162] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051607.840697235] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051607.841524268] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051607.844294307] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051607.844656816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051607.845322892] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051607.846149167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051607.847134580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051607.945142093] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051607.945580740] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051607.946447987] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051607.947468113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051607.948578464] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051607.957679344] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051607.958740638] [sailbot.main_algo]: Target Bearing: -84.6018573398903 +[main_algo-3] [INFO] [1746051607.959663763] [sailbot.main_algo]: Heading Difference: 134.0738573398903 +[main_algo-3] [INFO] [1746051607.960979778] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051607.961822168] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051607.962595317] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051607.964077224] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051607.964165824] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051608.002733566] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903772 Long: -76.50276623 +[vectornav-1] [INFO] [1746051608.003886924] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.29599999999999, 0.021, 5.45) +[main_algo-3] [INFO] [1746051608.004198811] [sailbot.main_algo]: Distance to destination: 52.25225336497312 +[main_algo-3] [INFO] [1746051608.005364338] [sailbot.main_algo]: Target Bearing: -84.61964017222371 +[main_algo-3] [INFO] [1746051608.006687574] [sailbot.main_algo]: Heading Difference: 134.09164017222372 +[main_algo-3] [INFO] [1746051608.008213330] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051608.009122172] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051608.009964614] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051608.011765020] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051608.045002262] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051608.045860168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051608.046349254] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051608.047690313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051608.048858515] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051608.085060239] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051608.086668697] [sailbot.teensy]: Wind angle: 170 +[teensy-2] [INFO] [1746051608.087552366] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051608.088390142] [sailbot.teensy]: Actual tail angle: 50 +[trim_sail-4] [INFO] [1746051608.087009306] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051608.087369716] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051608.089248608] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051608.145032872] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051608.145709957] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051608.146333015] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051608.147572583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051608.148790493] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051608.244898321] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051608.245790899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051608.246183487] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051608.247650170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051608.248296435] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051608.335430632] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051608.337811859] [sailbot.teensy]: Wind angle: 170 +[trim_sail-4] [INFO] [1746051608.337829050] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051608.338796324] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051608.339391048] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051608.339702940] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051608.340603957] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051608.344510881] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051608.344989698] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051608.345947795] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051608.346726044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051608.347962287] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051608.444973246] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051608.445683526] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051608.446316769] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051608.447559026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051608.448589416] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051608.457654098] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051608.458718057] [sailbot.main_algo]: Target Bearing: -84.61964017222371 +[main_algo-3] [INFO] [1746051608.459617765] [sailbot.main_algo]: Heading Difference: 136.91564017222368 +[main_algo-3] [INFO] [1746051608.460879940] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051608.461720025] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051608.462539513] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051608.464033301] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051608.464113202] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051608.502639555] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903777 Long: -76.50276612 +[main_algo-3] [INFO] [1746051608.503629577] [sailbot.main_algo]: Distance to destination: 52.25676522421717 +[vectornav-1] [INFO] [1746051608.503680341] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.42599999999999, -0.506, 5.274) +[main_algo-3] [INFO] [1746051608.504741279] [sailbot.main_algo]: Target Bearing: -84.63017318864843 +[main_algo-3] [INFO] [1746051608.505688085] [sailbot.main_algo]: Heading Difference: 136.92617318864842 +[main_algo-3] [INFO] [1746051608.507063717] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051608.508002765] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051608.508897255] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051608.510450721] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051608.544996896] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051608.545717769] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051608.546341345] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051608.547618839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051608.548681470] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051608.585527082] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051608.587486356] [sailbot.teensy]: Wind angle: 165 +[teensy-2] [INFO] [1746051608.588489848] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746051608.587959211] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051608.589328891] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051608.589410971] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051608.590316250] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051608.644997893] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051608.645711612] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051608.646294127] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051608.648008805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051608.649249525] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051608.744986118] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051608.745884199] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051608.746699782] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051608.747713563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051608.748917357] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051608.835237940] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051608.837800901] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051608.837879192] [sailbot.teensy]: Wind angle: 154 +[mux-7] [INFO] [1746051608.838131928] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051608.838875746] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051608.839424665] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051608.839793236] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051608.844443866] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051608.844991574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051608.845563135] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051608.846710557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051608.847817762] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051608.945088504] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051608.945905447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051608.946628719] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051608.947778078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051608.948251318] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051608.957940261] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051608.959082389] [sailbot.main_algo]: Target Bearing: -84.63017318864843 +[main_algo-3] [INFO] [1746051608.960059995] [sailbot.main_algo]: Heading Difference: 138.05617318864842 +[main_algo-3] [INFO] [1746051608.961391272] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051608.962289843] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051608.963090704] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051608.964588147] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051608.964647754] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051609.002785453] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903797 Long: -76.50276594 +[main_algo-3] [INFO] [1746051609.003710028] [sailbot.main_algo]: Distance to destination: 52.27719626270823 +[vectornav-1] [INFO] [1746051609.004023476] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.478999999999985, -0.306, 5.318) +[main_algo-3] [INFO] [1746051609.004903171] [sailbot.main_algo]: Target Bearing: -84.649000464301 +[main_algo-3] [INFO] [1746051609.005866948] [sailbot.main_algo]: Heading Difference: 138.07500046430096 +[main_algo-3] [INFO] [1746051609.007213387] [sailbot.main_algo]: Wind Direction: 154 +[main_algo-3] [INFO] [1746051609.008137661] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051609.009032482] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051609.010723294] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051609.045190514] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051609.046289938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051609.046514304] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051609.048492700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051609.049701029] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051609.085161494] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051609.087128633] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051609.087130513] [sailbot.teensy]: Wind angle: 150 +[mux-7] [INFO] [1746051609.087599154] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051609.088008709] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051609.088908796] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051609.089790802] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051609.145073586] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051609.145772810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051609.146344386] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051609.147583224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051609.148755059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051609.244979982] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051609.245728167] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051609.246334842] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051609.247732064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051609.248790019] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051609.334858975] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051609.336503321] [sailbot.teensy]: Wind angle: 152 +[teensy-2] [INFO] [1746051609.337316319] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051609.338150534] [sailbot.teensy]: Actual tail angle: 50 +[trim_sail-4] [INFO] [1746051609.336902164] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051609.337320343] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051609.339009204] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051609.344018230] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051609.344512088] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051609.345109107] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051609.346470409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051609.347583209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051609.444978989] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051609.445703193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051609.446242663] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051609.447602070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051609.448680623] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051609.457872119] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051609.458943964] [sailbot.main_algo]: Target Bearing: -84.649000464301 +[main_algo-3] [INFO] [1746051609.459873643] [sailbot.main_algo]: Heading Difference: 139.12800046430095 +[main_algo-3] [INFO] [1746051609.461228239] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051609.462122431] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051609.463024715] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051609.464570352] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051609.464699068] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051609.502681903] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903799 Long: -76.50276591 +[main_algo-3] [INFO] [1746051609.503887866] [sailbot.main_algo]: Distance to destination: 52.27913032035994 +[vectornav-1] [INFO] [1746051609.504168105] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.454999999999984, -0.173, 5.014) +[main_algo-3] [INFO] [1746051609.505121353] [sailbot.main_algo]: Target Bearing: -84.65195706442417 +[main_algo-3] [INFO] [1746051609.506166941] [sailbot.main_algo]: Heading Difference: 139.13095706442414 +[main_algo-3] [INFO] [1746051609.507676619] [sailbot.main_algo]: Wind Direction: 152 +[main_algo-3] [INFO] [1746051609.508728876] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051609.509611883] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051609.511297186] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051609.544973192] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051609.545678468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051609.547180981] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051609.547500338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051609.548629939] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051609.585553125] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051609.587718533] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051609.587845523] [sailbot.teensy]: Wind angle: 159 +[mux-7] [INFO] [1746051609.588265292] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051609.588796388] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051609.589690148] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051609.590527448] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051609.644834367] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051609.645658855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051609.646033971] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051609.647603037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051609.649055224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051609.744852923] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051609.745930039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051609.746438870] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051609.747679520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051609.748302985] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051609.835178864] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051609.836793226] [sailbot.teensy]: Wind angle: 165 +[trim_sail-4] [INFO] [1746051609.837501346] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051609.837658131] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051609.838509106] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051609.839293314] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051609.839658145] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051609.844333352] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051609.844894026] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051609.845550405] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051609.846561444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051609.847605365] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051609.945086639] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051609.945729482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051609.946548140] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051609.947734490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051609.948699196] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051609.957738111] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051609.958855489] [sailbot.main_algo]: Target Bearing: -84.65195706442417 +[main_algo-3] [INFO] [1746051609.959794307] [sailbot.main_algo]: Heading Difference: 140.10695706442414 +[main_algo-3] [INFO] [1746051609.961045150] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051609.961894679] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051609.962700918] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051609.964269039] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051609.964285672] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051610.002855033] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903794 Long: -76.50276582 +[main_algo-3] [INFO] [1746051610.003958270] [sailbot.main_algo]: Distance to destination: 52.272791923172505 +[vectornav-1] [INFO] [1746051610.004062914] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.33499999999998, -0.161, 5.787) +[main_algo-3] [INFO] [1746051610.005186347] [sailbot.main_algo]: Target Bearing: -84.65934363122335 +[main_algo-3] [INFO] [1746051610.006175497] [sailbot.main_algo]: Heading Difference: 140.11434363122333 +[main_algo-3] [INFO] [1746051610.007554168] [sailbot.main_algo]: Wind Direction: 165 +[main_algo-3] [INFO] [1746051610.008493461] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051610.009367703] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051610.011075054] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051610.044978020] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051610.045934720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051610.046259841] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051610.047988941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051610.049042788] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051610.085297656] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051610.087569199] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051610.088555169] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051610.088643665] [sailbot.teensy]: Wind angle: 168 +[teensy-2] [INFO] [1746051610.089607888] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051610.090492603] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051610.091344309] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051610.144915254] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051610.145623736] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051610.146214389] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051610.147574817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051610.148589687] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051610.245242855] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051610.245812140] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051610.246801113] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051610.248409382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051610.249462176] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051610.335216697] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051610.337454503] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051610.337959928] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051610.338363277] [sailbot.teensy]: Wind angle: 169 +[teensy-2] [INFO] [1746051610.339343839] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051610.340524423] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051610.341409505] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051610.344379439] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051610.345034798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051610.345449853] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051610.346774644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051610.347827506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051610.445141278] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051610.446521158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051610.446984241] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051610.448631859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051610.449675178] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051610.457690680] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051610.458803496] [sailbot.main_algo]: Target Bearing: -84.65934363122335 +[main_algo-3] [INFO] [1746051610.459801124] [sailbot.main_algo]: Heading Difference: 140.99434363122333 +[main_algo-3] [INFO] [1746051610.461079573] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051610.461983062] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051610.462789821] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051610.464330904] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051610.464383542] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051610.502984683] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903785 Long: -76.50276574 +[vectornav-1] [INFO] [1746051610.504326046] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.26800000000003, -1.041, 5.538) +[main_algo-3] [INFO] [1746051610.504936518] [sailbot.main_algo]: Distance to destination: 52.26213020582653 +[main_algo-3] [INFO] [1746051610.506080281] [sailbot.main_algo]: Target Bearing: -84.66529761567418 +[main_algo-3] [INFO] [1746051610.507129369] [sailbot.main_algo]: Heading Difference: 141.00029761567419 +[main_algo-3] [INFO] [1746051610.508556623] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051610.509472268] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051610.510344560] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051610.512086440] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051610.544972448] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051610.545686587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051610.546276846] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051610.547548368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051610.548603480] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051610.585109677] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051610.586569856] [sailbot.teensy]: Wind angle: 167 +[teensy-2] [INFO] [1746051610.587427867] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746051610.587072893] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051610.588272607] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051610.588700882] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051610.589112237] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051610.645012831] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051610.645677603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051610.646332989] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051610.647500216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051610.648539535] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051610.745276438] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051610.746069978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051610.746649031] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051610.747938627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051610.748966817] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051610.835477710] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051610.837754003] [sailbot.teensy]: Wind angle: 167 +[trim_sail-4] [INFO] [1746051610.838024113] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051610.838722480] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051610.839086126] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051610.839179970] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051610.839569100] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051610.844517464] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051610.845157817] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051610.845951392] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051610.847410294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051610.848455135] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051610.945198805] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051610.946036255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051610.946716553] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051610.948285363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051610.948793085] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051610.957830641] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051610.958874320] [sailbot.main_algo]: Target Bearing: -84.66529761567418 +[main_algo-3] [INFO] [1746051610.959771798] [sailbot.main_algo]: Heading Difference: 142.93329761567418 +[main_algo-3] [INFO] [1746051610.961092875] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051610.961983059] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051610.962840651] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051610.964408121] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051610.964410462] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051611.002706236] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903807 Long: -76.50276569 +[main_algo-3] [INFO] [1746051611.003578281] [sailbot.main_algo]: Distance to destination: 52.28595905309983 +[vectornav-1] [INFO] [1746051611.003915363] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.610000000000014, 0.321, 5.849) +[main_algo-3] [INFO] [1746051611.004666427] [sailbot.main_algo]: Target Bearing: -84.672736005055 +[main_algo-3] [INFO] [1746051611.005655009] [sailbot.main_algo]: Heading Difference: 142.94073600505504 +[main_algo-3] [INFO] [1746051611.007199206] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051611.008141262] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051611.009014730] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051611.010932785] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051611.045042050] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051611.045805764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051611.046303595] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051611.047703673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051611.048737404] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051611.085282665] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051611.087229676] [sailbot.teensy]: Wind angle: 167 +[trim_sail-4] [INFO] [1746051611.087767304] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051611.088218063] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051611.088974346] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051611.089112994] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051611.089982615] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051611.144895888] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051611.145389919] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051611.146143825] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051611.147121634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051611.148266255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051611.245304520] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051611.245888410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051611.246791444] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051611.247845225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051611.249044965] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051611.335320797] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051611.337770130] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051611.338470607] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051611.339091219] [sailbot.teensy]: Wind angle: 167 +[teensy-2] [INFO] [1746051611.339544785] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051611.339897452] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051611.340640412] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051611.344323560] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051611.344883076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051611.345629258] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051611.346596881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051611.347740857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051611.444061591] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051611.444562799] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051611.444935733] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051611.446216668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051611.447129253] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051611.456740979] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051611.457566408] [sailbot.main_algo]: Target Bearing: -84.672736005055 +[main_algo-3] [INFO] [1746051611.458406887] [sailbot.main_algo]: Heading Difference: 143.28273600505503 +[main_algo-3] [INFO] [1746051611.459361736] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051611.459899097] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051611.460495821] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051611.461953745] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051611.461965183] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051611.502659392] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903795 Long: -76.5027652 +[main_algo-3] [INFO] [1746051611.503588208] [sailbot.main_algo]: Distance to destination: 52.26827733082808 +[vectornav-1] [INFO] [1746051611.503709431] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.966999999999985, -0.033, 4.851) +[main_algo-3] [INFO] [1746051611.504685888] [sailbot.main_algo]: Target Bearing: -84.71501604387768 +[main_algo-3] [INFO] [1746051611.505565418] [sailbot.main_algo]: Heading Difference: 143.32501604387767 +[main_algo-3] [INFO] [1746051611.506885877] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051611.507701866] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051611.508511073] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051611.510094567] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051611.544861984] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051611.546150003] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051611.546263143] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051611.548171502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051611.549201717] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051611.585205425] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051611.587622989] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051611.587994488] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051611.588695194] [sailbot.teensy]: Wind angle: 168 +[teensy-2] [INFO] [1746051611.589688665] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051611.590534696] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051611.591364057] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051611.644890710] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051611.645593426] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051611.646479971] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051611.647478640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051611.648654253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051611.745274040] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051611.745994884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051611.746798413] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051611.748238850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051611.749401228] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051611.835471324] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051611.837949346] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051611.838289527] [sailbot.teensy]: Wind angle: 170 +[teensy-2] [INFO] [1746051611.839344303] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051611.839848230] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051611.840237902] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051611.840255872] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051611.844397602] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051611.844949215] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051611.845535479] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051611.846656207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051611.847782458] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051611.945141325] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051611.946082428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051611.946596200] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051611.948023092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051611.948521224] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051611.957542256] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051611.958558282] [sailbot.main_algo]: Target Bearing: -84.71501604387768 +[main_algo-3] [INFO] [1746051611.959453855] [sailbot.main_algo]: Heading Difference: 144.68201604387764 +[main_algo-3] [INFO] [1746051611.960772642] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051611.961576573] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051611.962373210] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051611.963898953] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051611.963897537] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051612.002894305] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903799 Long: -76.50276555 +[main_algo-3] [INFO] [1746051612.004045058] [sailbot.main_algo]: Distance to destination: 52.27585820794967 +[vectornav-1] [INFO] [1746051612.004100746] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (60.12700000000001, -0.459, 4.636) +[main_algo-3] [INFO] [1746051612.005352440] [sailbot.main_algo]: Target Bearing: -84.68419958555363 +[main_algo-3] [INFO] [1746051612.006498204] [sailbot.main_algo]: Heading Difference: 144.65119958555363 +[main_algo-3] [INFO] [1746051612.007876192] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051612.008791141] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051612.009655057] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051612.011318876] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051612.045499382] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051612.045648590] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051612.046916371] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051612.047502024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051612.048589815] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051612.085511871] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051612.087504737] [sailbot.teensy]: Wind angle: 170 +[trim_sail-4] [INFO] [1746051612.088078100] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051612.088494965] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051612.089379381] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051612.088790346] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051612.090286764] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051612.144861968] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051612.145389664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051612.146130776] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051612.147133036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051612.148199930] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051612.244781295] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051612.245310793] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051612.246197224] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051612.247095503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051612.248191697] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051612.335178925] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051612.337104420] [sailbot.teensy]: Wind angle: 169 +[trim_sail-4] [INFO] [1746051612.337632243] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051612.338339302] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051612.339063939] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051612.339116172] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051612.339488213] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051612.344338695] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051612.344906781] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051612.345622114] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051612.346677973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051612.347912053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051612.445243229] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051612.446131884] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051612.446830790] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051612.448377701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051612.449175524] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051612.457764609] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051612.458826213] [sailbot.main_algo]: Target Bearing: -84.68419958555363 +[main_algo-3] [INFO] [1746051612.459726856] [sailbot.main_algo]: Heading Difference: 144.81119958555365 +[main_algo-3] [INFO] [1746051612.461043261] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051612.461930315] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051612.462803422] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051612.464567436] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051612.464652365] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051612.502737593] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903788 Long: -76.50276565 +[main_algo-3] [INFO] [1746051612.503679579] [sailbot.main_algo]: Distance to destination: 52.26462371853213 +[vectornav-1] [INFO] [1746051612.503797106] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (60.58699999999999, 0.437, 5.745) +[main_algo-3] [INFO] [1746051612.504788123] [sailbot.main_algo]: Target Bearing: -84.67376412516982 +[main_algo-3] [INFO] [1746051612.505731546] [sailbot.main_algo]: Heading Difference: 144.80076412516985 +[main_algo-3] [INFO] [1746051612.507076737] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051612.507945548] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051612.508808475] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051612.510542049] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051612.545562833] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051612.545658377] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051612.546866198] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051612.547639223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051612.548742754] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051612.585227848] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051612.586904204] [sailbot.teensy]: Wind angle: 169 +[teensy-2] [INFO] [1746051612.587756230] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746051612.587329876] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051612.588697451] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051612.589612293] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051612.589995635] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051612.645049783] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051612.646017372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051612.646571505] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051612.647863414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051612.648442150] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051612.745082949] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051612.745751603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051612.746519672] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051612.747853816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051612.749078020] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051612.835433090] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051612.837760823] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051612.838074911] [sailbot.teensy]: Wind angle: 173 +[mux-7] [INFO] [1746051612.838307664] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051612.839020528] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051612.839907379] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051612.841072886] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051612.844329234] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051612.844856181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051612.845544605] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051612.846612400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051612.847629700] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051612.945018575] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051612.945794852] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051612.946494639] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051612.947738762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051612.948796968] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051612.957445902] [sailbot.main_algo]: Wind Direction: 173 +[main_algo-3] [INFO] [1746051612.958469888] [sailbot.main_algo]: Target Bearing: -84.67376412516982 +[main_algo-3] [INFO] [1746051612.959359309] [sailbot.main_algo]: Heading Difference: 145.26076412516983 +[main_algo-3] [INFO] [1746051612.960608036] [sailbot.main_algo]: Wind Direction: 173 +[main_algo-3] [INFO] [1746051612.961458644] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051612.962253363] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051612.963883646] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051612.963972560] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051613.002671079] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903773 Long: -76.50276567 +[main_algo-3] [INFO] [1746051613.003669318] [sailbot.main_algo]: Distance to destination: 52.24824854747772 +[vectornav-1] [INFO] [1746051613.003827231] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (63.673, -1.852, 4.81) +[main_algo-3] [INFO] [1746051613.004772295] [sailbot.main_algo]: Target Bearing: -84.66995420744365 +[main_algo-3] [INFO] [1746051613.005748200] [sailbot.main_algo]: Heading Difference: 145.25695420744364 +[main_algo-3] [INFO] [1746051613.007146689] [sailbot.main_algo]: Wind Direction: 173 +[main_algo-3] [INFO] [1746051613.008059072] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051613.008965021] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051613.010580432] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051613.045195141] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051613.045984520] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051613.046751524] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051613.048137645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051613.049211881] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051613.085515471] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051613.087385005] [sailbot.teensy]: Wind angle: 175 +[trim_sail-4] [INFO] [1746051613.088266036] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051613.088360835] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051613.089270531] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051613.090160767] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051613.090681935] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051613.144807402] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051613.145483060] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051613.146038870] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051613.147346003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051613.148558563] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051613.244961551] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051613.245737742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051613.246250604] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051613.247698915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051613.248742826] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051613.335337652] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051613.337152375] [sailbot.teensy]: Wind angle: 175 +[teensy-2] [INFO] [1746051613.338408034] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746051613.337931368] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051613.339352863] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051613.339567860] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051613.340449111] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051613.344457558] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051613.345016398] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051613.345612343] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051613.346742784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051613.347769432] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051613.445281087] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051613.446019757] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051613.446769922] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051613.448015739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051613.448745560] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051613.457661071] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051613.458765329] [sailbot.main_algo]: Target Bearing: -84.66995420744365 +[main_algo-3] [INFO] [1746051613.459830556] [sailbot.main_algo]: Heading Difference: 148.34295420744365 +[main_algo-3] [INFO] [1746051613.461287528] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051613.462268668] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051613.463186254] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051613.464991035] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051613.465355229] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051613.501855527] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903786 Long: -76.5027658 +[vectornav-1] [INFO] [1746051613.502614207] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (64.55599999999998, 0.9, 5.25) +[main_algo-3] [INFO] [1746051613.502624168] [sailbot.main_algo]: Distance to destination: 52.2637797912357 +[main_algo-3] [INFO] [1746051613.503668050] [sailbot.main_algo]: Target Bearing: -84.66005712737761 +[main_algo-3] [INFO] [1746051613.504975026] [sailbot.main_algo]: Heading Difference: 148.33305712737763 +[main_algo-3] [INFO] [1746051613.506496104] [sailbot.main_algo]: Wind Direction: 175 +[main_algo-3] [INFO] [1746051613.507488310] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051613.508459246] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051613.510254141] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051613.544350897] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051613.544838910] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051613.545469984] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051613.546531675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051613.547276216] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051613.585157084] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051613.586634889] [sailbot.teensy]: Wind angle: 174 +[trim_sail-4] [INFO] [1746051613.587122829] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051613.587496200] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051613.588381033] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051613.588819697] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051613.589613891] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051613.644941509] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051613.645617597] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051613.646175010] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051613.647418394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051613.648802960] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051613.745240143] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051613.746330084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051613.746812091] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051613.748661791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051613.749769072] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051613.835379438] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051613.837755596] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051613.837899169] [sailbot.teensy]: Wind angle: 173 +[mux-7] [INFO] [1746051613.838558928] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051613.838847393] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051613.839758951] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051613.840745986] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051613.844579784] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051613.845095752] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051613.845742853] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051613.846779472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051613.847938765] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051613.944997189] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051613.945597268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051613.946434991] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051613.947499116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051613.947985163] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051613.957520418] [sailbot.main_algo]: Wind Direction: 173 +[main_algo-3] [INFO] [1746051613.958538065] [sailbot.main_algo]: Target Bearing: -84.66005712737761 +[main_algo-3] [INFO] [1746051613.959425848] [sailbot.main_algo]: Heading Difference: 149.2160571273776 +[main_algo-3] [INFO] [1746051613.960684330] [sailbot.main_algo]: Wind Direction: 173 +[main_algo-3] [INFO] [1746051613.961520384] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051613.962321215] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051613.964031469] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051613.964034583] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051614.002701762] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903788 Long: -76.50276603 +[main_algo-3] [INFO] [1746051614.003613396] [sailbot.main_algo]: Distance to destination: 52.268083757870265 +[vectornav-1] [INFO] [1746051614.003771205] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (65.08600000000001, -0.734, 6.183) +[main_algo-3] [INFO] [1746051614.004740654] [sailbot.main_algo]: Target Bearing: -84.63972384429118 +[main_algo-3] [INFO] [1746051614.005638132] [sailbot.main_algo]: Heading Difference: 149.19572384429114 +[main_algo-3] [INFO] [1746051614.006871380] [sailbot.main_algo]: Wind Direction: 173 +[main_algo-3] [INFO] [1746051614.007764817] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051614.008619689] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051614.010224528] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051614.045044343] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051614.045771618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051614.046473830] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051614.047679274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051614.048851653] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051614.085304606] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051614.087605137] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051614.088003212] [sailbot.teensy]: Wind angle: 171 +[mux-7] [INFO] [1746051614.088663130] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051614.088986472] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051614.089869008] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051614.090741853] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051614.145323547] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051614.145984672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051614.146937661] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051614.148341543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051614.149505434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051614.245149851] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051614.245984759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051614.246674399] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051614.248084236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051614.249238330] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051614.335402496] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051614.337674961] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051614.338940412] [sailbot.teensy]: Wind angle: 170 +[mux-7] [INFO] [1746051614.338966709] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051614.339363337] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051614.339747441] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051614.340114908] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051614.344546128] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051614.345033255] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051614.345672176] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051614.346779523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051614.347954231] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051614.445247196] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051614.445962806] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051614.447266728] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051614.447896988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051614.448985565] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051614.457594523] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051614.458674812] [sailbot.main_algo]: Target Bearing: -84.63972384429118 +[main_algo-3] [INFO] [1746051614.459588442] [sailbot.main_algo]: Heading Difference: 149.72572384429122 +[main_algo-3] [INFO] [1746051614.460913990] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051614.461721772] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051614.462512516] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051614.464182918] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051614.464200137] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051614.502698798] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903782 Long: -76.50276566 +[main_algo-3] [INFO] [1746051614.503647740] [sailbot.main_algo]: Distance to destination: 52.25809178885 +[vectornav-1] [INFO] [1746051614.503782906] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (66.70799999999997, -0.116, 5.259) +[main_algo-3] [INFO] [1746051614.504762301] [sailbot.main_algo]: Target Bearing: -84.67206125381361 +[main_algo-3] [INFO] [1746051614.505706059] [sailbot.main_algo]: Heading Difference: 149.7580612538136 +[main_algo-3] [INFO] [1746051614.507051404] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051614.507934847] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051614.508802624] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051614.510895571] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051614.545059729] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051614.545638603] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051614.546457359] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051614.547506669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051614.548769037] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051614.585231857] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051614.587313822] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051614.587764509] [sailbot.teensy]: Wind angle: 170 +[mux-7] [INFO] [1746051614.588705303] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051614.588861866] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051614.589826197] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051614.590706823] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051614.645156974] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051614.645643360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051614.646396250] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051614.647489202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051614.648550484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051614.745225776] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051614.745826547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051614.746731633] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051614.747822416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051614.748936870] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051614.834998122] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051614.836672113] [sailbot.teensy]: Wind angle: 170 +[trim_sail-4] [INFO] [1746051614.837235799] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051614.837583684] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051614.838444357] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051614.838493145] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051614.839308831] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051614.844481621] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051614.845334639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051614.845715013] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051614.847450937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051614.848490613] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051614.945033984] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051614.945658727] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051614.946324434] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051614.947513805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051614.948044195] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051614.957463482] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051614.958378660] [sailbot.main_algo]: Target Bearing: -84.67206125381361 +[main_algo-3] [INFO] [1746051614.959334714] [sailbot.main_algo]: Heading Difference: 151.38006125381355 +[main_algo-3] [INFO] [1746051614.960570370] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051614.961390074] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051614.962172304] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051614.963689714] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051614.963765888] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051615.002760081] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903811 Long: -76.50276563 +[main_algo-3] [INFO] [1746051615.003551049] [sailbot.main_algo]: Distance to destination: 52.2898295442584 +[vectornav-1] [INFO] [1746051615.003867824] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (68.07100000000003, -0.512, 4.956) +[main_algo-3] [INFO] [1746051615.004747744] [sailbot.main_algo]: Target Bearing: -84.67864623689334 +[main_algo-3] [INFO] [1746051615.005791669] [sailbot.main_algo]: Heading Difference: 151.38664623689328 +[main_algo-3] [INFO] [1746051615.007218563] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051615.008106601] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051615.009028681] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051615.010895976] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051615.044977258] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051615.045639652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051615.046382042] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051615.047561419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051615.048765724] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051615.085545885] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051615.087451216] [sailbot.teensy]: Wind angle: 170 +[trim_sail-4] [INFO] [1746051615.088351940] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051615.088413248] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051615.088796435] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051615.088905107] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051615.089195610] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051615.145023220] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051615.145656654] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051615.146302642] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051615.147505112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051615.148705844] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051615.244960042] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051615.245726818] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051615.246293913] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051615.247838722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051615.249022471] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051615.335475622] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051615.337582855] [sailbot.teensy]: Wind angle: 170 +[trim_sail-4] [INFO] [1746051615.338434641] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051615.338568943] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051615.339473088] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051615.340187758] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051615.340405720] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051615.344421028] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051615.345185899] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051615.345571644] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051615.346937255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051615.347948422] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051615.445221422] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051615.446176368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051615.446673165] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051615.447916237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051615.448390285] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051615.457731104] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051615.458728943] [sailbot.main_algo]: Target Bearing: -84.67864623689334 +[main_algo-3] [INFO] [1746051615.459592672] [sailbot.main_algo]: Heading Difference: 152.74964623689334 +[main_algo-3] [INFO] [1746051615.460902754] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051615.461803941] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051615.462599649] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051615.464118418] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051615.464135166] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051615.502767315] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903823 Long: -76.50276558 +[main_algo-3] [INFO] [1746051615.503738881] [sailbot.main_algo]: Distance to destination: 52.30262178528586 +[vectornav-1] [INFO] [1746051615.503835853] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (68.20799999999997, -0.567, 5.062) +[main_algo-3] [INFO] [1746051615.504827425] [sailbot.main_algo]: Target Bearing: -84.68473350706559 +[main_algo-3] [INFO] [1746051615.505756559] [sailbot.main_algo]: Heading Difference: 152.7557335070656 +[main_algo-3] [INFO] [1746051615.507096481] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051615.507982326] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051615.508775162] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051615.510334344] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051615.544424682] [sailbot.mux]: Published sail angle from algo: 0 +[mux-7] [INFO] [1746051615.545656368] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051615.544971356] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051615.547172176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051615.548451707] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051615.584571634] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051615.585838054] [sailbot.teensy]: Wind angle: 169 +[teensy-2] [INFO] [1746051615.586696788] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746051615.587567815] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051615.587589783] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051615.589431373] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051615.589896367] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051615.645000690] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051615.645629619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051615.646208279] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051615.647394288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051615.648585256] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051615.745064002] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051615.745688084] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051615.746508326] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051615.747784846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051615.748831624] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051615.835406253] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051615.837177489] [sailbot.teensy]: Wind angle: 169 +[trim_sail-4] [INFO] [1746051615.837889469] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051615.839336607] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051615.839337544] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051615.839734395] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051615.840101532] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051615.844218751] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051615.844753959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051615.845519835] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051615.846412589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051615.847623108] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051615.945000343] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051615.945836201] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051615.946541986] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051615.947749881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051615.949220328] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051615.957433706] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051615.958372556] [sailbot.main_algo]: Target Bearing: -84.68473350706559 +[main_algo-3] [INFO] [1746051615.959219748] [sailbot.main_algo]: Heading Difference: 152.89273350706554 +[main_algo-3] [INFO] [1746051615.960447018] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051615.961261907] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051615.962037242] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051615.963632496] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051615.964007271] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051616.002693574] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903831 Long: -76.50276566 +[main_algo-3] [INFO] [1746051616.003659324] [sailbot.main_algo]: Distance to destination: 52.31217785307694 +[vectornav-1] [INFO] [1746051616.003817104] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (67.55799999999999, 0.052, 5.824) +[main_algo-3] [INFO] [1746051616.004936133] [sailbot.main_algo]: Target Bearing: -84.67864593293746 +[main_algo-3] [INFO] [1746051616.005875282] [sailbot.main_algo]: Heading Difference: 152.88664593293743 +[main_algo-3] [INFO] [1746051616.007230399] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051616.008145582] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051616.009049613] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051616.010650571] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051616.045344363] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051616.046012170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051616.046774698] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051616.047856592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051616.049043424] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051616.085383658] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051616.087511203] [sailbot.teensy]: Wind angle: 168 +[teensy-2] [INFO] [1746051616.088499367] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746051616.087738254] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051616.088960729] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051616.089434803] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051616.090495390] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051616.144748959] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051616.145489382] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051616.145977955] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051616.147551809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051616.148603089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051616.244682504] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051616.245258506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051616.245848776] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051616.247008718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051616.248004023] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051616.335007709] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051616.336651005] [sailbot.teensy]: Wind angle: 168 +[trim_sail-4] [INFO] [1746051616.337421214] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051616.337598570] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051616.338506693] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051616.338936382] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051616.339404828] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051616.344320029] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051616.344972657] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051616.345420922] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051616.346832569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051616.347981450] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051616.445306239] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051616.446381565] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051616.446810022] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051616.448762069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051616.449786071] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051616.457698362] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051616.458701346] [sailbot.main_algo]: Target Bearing: -84.67864593293746 +[main_algo-3] [INFO] [1746051616.459604422] [sailbot.main_algo]: Heading Difference: 152.23664593293745 +[main_algo-3] [INFO] [1746051616.460917972] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051616.461790244] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051616.462663318] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051616.464325410] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051616.464495392] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051616.502848965] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903839 Long: -76.50276552 +[main_algo-3] [INFO] [1746051616.503932495] [sailbot.main_algo]: Distance to destination: 52.319739383968674 +[main_algo-3] [INFO] [1746051616.505090777] [sailbot.main_algo]: Target Bearing: -84.6922486056571 +[vectornav-1] [INFO] [1746051616.505632595] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (69.13299999999998, 0.201, 4.944) +[main_algo-3] [INFO] [1746051616.506909596] [sailbot.main_algo]: Heading Difference: 152.25024860565708 +[main_algo-3] [INFO] [1746051616.508317309] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051616.509210660] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051616.510057773] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051616.511790896] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051616.545148928] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051616.545983984] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051616.546495596] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051616.548002917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051616.549144706] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051616.585499677] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051616.588279431] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051616.588448661] [sailbot.teensy]: Wind angle: 168 +[mux-7] [INFO] [1746051616.589557622] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051616.589692700] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051616.590601007] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051616.591455505] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051616.645005730] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051616.645996805] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051616.646373830] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051616.648048791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051616.649102922] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051616.744683103] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051616.745406810] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051616.745808927] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051616.747217185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051616.748220328] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051616.835184033] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051616.836957818] [sailbot.teensy]: Wind angle: 167 +[teensy-2] [INFO] [1746051616.837906945] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746051616.837499927] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051616.838605068] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051616.838771254] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051616.839652024] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051616.844543803] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051616.845096859] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051616.845771497] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051616.846810760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051616.847939086] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051616.945112948] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051616.945933407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051616.946426662] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051616.947588870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051616.948129750] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051616.957755738] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051616.958766125] [sailbot.main_algo]: Target Bearing: -84.6922486056571 +[main_algo-3] [INFO] [1746051616.959671923] [sailbot.main_algo]: Heading Difference: 153.82524860565707 +[main_algo-3] [INFO] [1746051616.960900104] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051616.961707781] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051616.962481663] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051616.964065053] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051616.964065030] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051617.002694629] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903838 Long: -76.50276569 +[main_algo-3] [INFO] [1746051617.003553778] [sailbot.main_algo]: Distance to destination: 52.32017673107503 +[vectornav-1] [INFO] [1746051617.003787548] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (70.60500000000002, -0.942, 4.974) +[main_algo-3] [INFO] [1746051617.004709892] [sailbot.main_algo]: Target Bearing: -84.67690074415589 +[main_algo-3] [INFO] [1746051617.005643397] [sailbot.main_algo]: Heading Difference: 153.80990074415587 +[main_algo-3] [INFO] [1746051617.006995975] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051617.007885147] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051617.008709132] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051617.010267408] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051617.045146223] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051617.045885558] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051617.046477047] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051617.047752959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051617.048971197] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051617.085445263] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051617.087772543] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051617.088747553] [sailbot.teensy]: Wind angle: 167 +[mux-7] [INFO] [1746051617.088825020] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051617.089735888] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051617.090598502] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051617.091434625] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051617.144945658] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051617.145412827] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051617.146259744] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051617.147266723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051617.148356193] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051617.245215250] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051617.245646316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051617.246554681] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051617.247522711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051617.248707616] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051617.334973611] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051617.336472802] [sailbot.teensy]: Wind angle: 167 +[trim_sail-4] [INFO] [1746051617.337105554] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051617.338227498] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051617.338392591] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051617.339288822] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051617.340222868] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051617.344657572] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051617.345157375] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051617.345868432] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051617.346878805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051617.348029075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051617.444658648] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051617.445271914] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051617.446026310] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051617.447053420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051617.448256666] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051617.457557564] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051617.458552740] [sailbot.main_algo]: Target Bearing: -84.67690074415589 +[main_algo-3] [INFO] [1746051617.459427894] [sailbot.main_algo]: Heading Difference: 155.2819007441559 +[main_algo-3] [INFO] [1746051617.460689318] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051617.461515801] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051617.462315774] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051617.463880493] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051617.463919098] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051617.502693880] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690384 Long: -76.50276588 +[main_algo-3] [INFO] [1746051617.503719800] [sailbot.main_algo]: Distance to destination: 52.32411112053352 +[vectornav-1] [INFO] [1746051617.503783158] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (70.43099999999998, -0.259, 5.908) +[main_algo-3] [INFO] [1746051617.504888277] [sailbot.main_algo]: Target Bearing: -84.66016722282667 +[main_algo-3] [INFO] [1746051617.505857162] [sailbot.main_algo]: Heading Difference: 155.26516722282668 +[main_algo-3] [INFO] [1746051617.507412612] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051617.508350679] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051617.509235072] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051617.510939152] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051617.544985021] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051617.545731092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051617.546336173] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051617.547859661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051617.548918672] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051617.585436891] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051617.587721088] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051617.587885829] [sailbot.teensy]: Wind angle: 167 +[mux-7] [INFO] [1746051617.588685703] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051617.588827801] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051617.589683312] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051617.590558233] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051617.644015460] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051617.644574907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051617.644951134] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051617.646139806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051617.647093506] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051617.744684100] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051617.745363195] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051617.745808749] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051617.747077724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051617.748176760] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051617.835535971] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051617.837484319] [sailbot.teensy]: Wind angle: 167 +[teensy-2] [INFO] [1746051617.838398810] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746051617.838123749] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051617.838790273] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051617.839162048] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051617.839313683] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051617.844453924] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051617.845176151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051617.845627589] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051617.846939145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051617.847961434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051617.945444789] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051617.946381488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051617.947004117] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051617.948521069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051617.949045916] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051617.957794539] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051617.958855562] [sailbot.main_algo]: Target Bearing: -84.66016722282667 +[main_algo-3] [INFO] [1746051617.959798550] [sailbot.main_algo]: Heading Difference: 155.09116722282664 +[main_algo-3] [INFO] [1746051617.961164160] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051617.962008356] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051617.962841250] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051617.964571765] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051617.964650530] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051618.002726281] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903858 Long: -76.5027661 +[main_algo-3] [INFO] [1746051618.003710677] [sailbot.main_algo]: Distance to destination: 52.34598336739788 +[vectornav-1] [INFO] [1746051618.003923091] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (70.928, -0.088, 5.22) +[main_algo-3] [INFO] [1746051618.004885478] [sailbot.main_algo]: Target Bearing: -84.64291135394743 +[main_algo-3] [INFO] [1746051618.005890354] [sailbot.main_algo]: Heading Difference: 155.07391135394744 +[main_algo-3] [INFO] [1746051618.007474334] [sailbot.main_algo]: Wind Direction: 167 +[main_algo-3] [INFO] [1746051618.008429064] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051618.009291057] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051618.011066324] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051618.044936311] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051618.045639148] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051618.046281283] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051618.047546397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051618.048712966] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051618.085231806] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051618.087060253] [sailbot.teensy]: Wind angle: 168 +[trim_sail-4] [INFO] [1746051618.088104771] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051618.089133652] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051618.090050383] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051618.090155050] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051618.090959786] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051618.145298439] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051618.145794980] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051618.146862801] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051618.147863736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051618.149067913] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051618.245309202] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051618.245850413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051618.246852736] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051618.248394738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051618.249343818] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051618.335133283] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051618.336639021] [sailbot.teensy]: Wind angle: 169 +[trim_sail-4] [INFO] [1746051618.337334734] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051618.338349958] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051618.338833408] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051618.339270503] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051618.340181518] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051618.344499286] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051618.345015951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051618.345914451] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051618.346751036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051618.347762443] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051618.445185713] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051618.445703245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051618.446574395] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051618.447579545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051618.448752761] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051618.457663377] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051618.458675513] [sailbot.main_algo]: Target Bearing: -84.64291135394743 +[main_algo-3] [INFO] [1746051618.459587894] [sailbot.main_algo]: Heading Difference: 155.5709113539474 +[main_algo-3] [INFO] [1746051618.460920492] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051618.461849825] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051618.462657458] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051618.464283745] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051618.464357820] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051618.502882064] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903878 Long: -76.50276618 +[main_algo-3] [INFO] [1746051618.504029643] [sailbot.main_algo]: Distance to destination: 52.36878808498384 +[vectornav-1] [INFO] [1746051618.504327745] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (71.92399999999998, -0.074, 5.458) +[main_algo-3] [INFO] [1746051618.505195928] [sailbot.main_algo]: Target Bearing: -84.6384561951649 +[main_algo-3] [INFO] [1746051618.506131395] [sailbot.main_algo]: Heading Difference: 155.5664561951649 +[main_algo-3] [INFO] [1746051618.507479005] [sailbot.main_algo]: Wind Direction: 169 +[main_algo-3] [INFO] [1746051618.508363651] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051618.509231847] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051618.510938392] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051618.545164007] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051618.545718593] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051618.546538175] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051618.547624817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051618.548739757] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051618.585256176] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051618.586922991] [sailbot.teensy]: Wind angle: 169 +[trim_sail-4] [INFO] [1746051618.587523107] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051618.587811614] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051618.588694797] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051618.589571442] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051618.590179789] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051618.644454598] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051618.645194575] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051618.645621745] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051618.646991879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051618.647995725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051618.745110073] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051618.745824011] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051618.746519863] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051618.747727166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051618.748788393] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051618.835442720] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051618.837805502] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051618.837805727] [sailbot.teensy]: Wind angle: 170 +[teensy-2] [INFO] [1746051618.839007205] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051618.839409785] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051618.840009355] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051618.840785752] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051618.844419002] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051618.845213160] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051618.845555451] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051618.846935851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051618.847960675] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051618.945180844] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051618.945891254] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051618.946634964] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051618.947979211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051618.949229105] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051618.957416567] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051618.958359845] [sailbot.main_algo]: Target Bearing: -84.6384561951649 +[main_algo-3] [INFO] [1746051618.959184187] [sailbot.main_algo]: Heading Difference: 156.56245619516488 +[main_algo-3] [INFO] [1746051618.960386106] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051618.961208005] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051618.962000425] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051618.963554448] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051618.963749333] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051619.003002555] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903877 Long: -76.50276626 +[main_algo-3] [INFO] [1746051619.003949326] [sailbot.main_algo]: Distance to destination: 52.36841530506587 +[vectornav-1] [INFO] [1746051619.004288906] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (73.30200000000002, -0.559, 4.666) +[main_algo-3] [INFO] [1746051619.005628926] [sailbot.main_algo]: Target Bearing: -84.6311690981081 +[main_algo-3] [INFO] [1746051619.006627321] [sailbot.main_algo]: Heading Difference: 156.55516909810808 +[main_algo-3] [INFO] [1746051619.008070665] [sailbot.main_algo]: Wind Direction: 170 +[main_algo-3] [INFO] [1746051619.009017081] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051619.009886131] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051619.011653702] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051619.045818263] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051619.045992708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051619.047444169] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051619.048564977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051619.049728059] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051619.085419178] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051619.087687406] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051619.087873613] [sailbot.teensy]: Wind angle: 169 +[teensy-2] [INFO] [1746051619.089046213] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051619.089362617] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051619.089970086] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051619.090835399] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051619.145017358] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051619.145576039] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051619.146329216] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051619.147399525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051619.148516437] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051619.244929437] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051619.245620576] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051619.246172824] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051619.247552403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051619.248755443] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051619.335335712] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051619.337122940] [sailbot.teensy]: Wind angle: 168 +[trim_sail-4] [INFO] [1746051619.337633632] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051619.338061365] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051619.338964552] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051619.339648993] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051619.339843262] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051619.344540602] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051619.344956561] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051619.346264630] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051619.346674164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051619.347701941] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051619.445328501] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051619.446011297] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051619.446888172] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051619.448189906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051619.449368597] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051619.457737126] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051619.458738547] [sailbot.main_algo]: Target Bearing: -84.6311690981081 +[main_algo-3] [INFO] [1746051619.459636759] [sailbot.main_algo]: Heading Difference: 157.93316909810812 +[main_algo-3] [INFO] [1746051619.460970943] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051619.461849244] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051619.462677414] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051619.464241047] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051619.464437909] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051619.502934175] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903895 Long: -76.50276671 +[main_algo-3] [INFO] [1746051619.503880896] [sailbot.main_algo]: Distance to destination: 52.3924071669247 +[vectornav-1] [INFO] [1746051619.504138355] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (70.50999999999999, -0.053, 5.43) +[main_algo-3] [INFO] [1746051619.505147628] [sailbot.main_algo]: Target Bearing: -84.5933878908643 +[main_algo-3] [INFO] [1746051619.506112960] [sailbot.main_algo]: Heading Difference: 157.8953878908643 +[main_algo-3] [INFO] [1746051619.507545155] [sailbot.main_algo]: Wind Direction: 168 +[main_algo-3] [INFO] [1746051619.508516434] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051619.509370755] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051619.511182586] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051619.544729571] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051619.545256546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051619.546316453] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051619.546935635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051619.548061929] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051619.585138953] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051619.586654869] [sailbot.teensy]: Wind angle: 161 +[trim_sail-4] [INFO] [1746051619.587138207] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051619.587522666] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051619.588432888] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051619.589006256] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051619.589307759] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051619.644892940] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051619.645468942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051619.646136036] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051619.647260432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051619.648432158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051619.743915458] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051619.744309093] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051619.744522849] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051619.745252071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051619.745839483] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051619.835364121] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051619.837501160] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051619.837895070] [sailbot.teensy]: Wind angle: 156 +[mux-7] [INFO] [1746051619.838372940] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051619.838856658] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051619.839786086] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051619.840525619] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051619.844499242] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051619.845196714] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051619.845761404] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051619.846968520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051619.848128975] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051619.944914649] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051619.945570560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051619.946238594] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051619.947383547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051619.948558619] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051619.957399956] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051619.958386169] [sailbot.main_algo]: Target Bearing: -84.5933878908643 +[main_algo-3] [INFO] [1746051619.959239573] [sailbot.main_algo]: Heading Difference: 155.10338789086427 +[main_algo-3] [INFO] [1746051619.960500019] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051619.961353715] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051619.962146935] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051619.963623890] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051619.963714321] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051620.002780687] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903971 Long: -76.50276715 +[main_algo-3] [INFO] [1746051620.003762022] [sailbot.main_algo]: Distance to destination: 52.48033514988386 +[vectornav-1] [INFO] [1746051620.003894917] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (63.32900000000001, 0.179, 3.612) +[main_algo-3] [INFO] [1746051620.004887210] [sailbot.main_algo]: Target Bearing: -84.56444439777623 +[main_algo-3] [INFO] [1746051620.005873140] [sailbot.main_algo]: Heading Difference: 155.07444439777623 +[main_algo-3] [INFO] [1746051620.007257478] [sailbot.main_algo]: Wind Direction: 156 +[main_algo-3] [INFO] [1746051620.008801157] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051620.009669623] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051620.011255755] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051620.045274186] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051620.046138774] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051620.046953506] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051620.048560202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051620.049786819] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051620.085607248] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051620.087819165] [sailbot.teensy]: Wind angle: 158 +[teensy-2] [INFO] [1746051620.088916515] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746051620.088109902] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051620.089371776] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051620.089779754] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051620.090692588] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051620.145329744] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051620.145956777] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051620.146901422] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051620.148015357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051620.149088043] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051620.245085040] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051620.245677521] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051620.246745454] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051620.247856056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051620.249313768] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051620.335325602] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051620.337552862] [sailbot.teensy]: Wind angle: 159 +[trim_sail-4] [INFO] [1746051620.337980595] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051620.338481242] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051620.339420588] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051620.339808943] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051620.339856559] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051620.344431269] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051620.345253988] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051620.345627210] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051620.346983956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051620.348006209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051620.445387651] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051620.445867387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051620.447339403] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051620.447901485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051620.449040317] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051620.457588624] [sailbot.main_algo]: Wind Direction: 159 +[main_algo-3] [INFO] [1746051620.458612977] [sailbot.main_algo]: Target Bearing: -84.56444439777623 +[main_algo-3] [INFO] [1746051620.459520011] [sailbot.main_algo]: Heading Difference: 147.89344439777625 +[main_algo-3] [INFO] [1746051620.460873748] [sailbot.main_algo]: Wind Direction: 159 +[main_algo-3] [INFO] [1746051620.461732116] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051620.462508312] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051620.464112034] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051620.464123928] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051620.503061371] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904016 Long: -76.50276728 +[main_algo-3] [INFO] [1746051620.504257620] [sailbot.main_algo]: Distance to destination: 52.53119630016862 +[vectornav-1] [INFO] [1746051620.504474361] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.94200000000001, -0.521, 4.729) +[main_algo-3] [INFO] [1746051620.506130925] [sailbot.main_algo]: Target Bearing: -84.55898353370614 +[main_algo-3] [INFO] [1746051620.507256031] [sailbot.main_algo]: Heading Difference: 147.88798353370612 +[main_algo-3] [INFO] [1746051620.508665863] [sailbot.main_algo]: Wind Direction: 159 +[main_algo-3] [INFO] [1746051620.509556979] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051620.510404594] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051620.512282007] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051620.545016381] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051620.545552357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051620.546343017] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051620.547354291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051620.548551349] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051620.585163334] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051620.586826910] [sailbot.teensy]: Wind angle: 161 +[trim_sail-4] [INFO] [1746051620.587442589] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051620.587722160] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051620.588637525] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051620.589377077] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051620.589485522] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051620.644929360] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051620.645389791] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051620.646180243] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051620.647064817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051620.648132553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051620.745383961] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051620.745968883] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051620.747458944] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051620.748227091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051620.748847962] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051620.835243705] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051620.836995827] [sailbot.teensy]: Wind angle: 162 +[trim_sail-4] [INFO] [1746051620.837451498] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051620.837875039] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051620.838737123] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051620.839357754] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051620.839637482] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051620.844374559] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051620.845235628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051620.845743243] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051620.847000017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051620.848045266] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051620.945308243] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051620.945976949] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051620.946780895] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051620.948026311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051620.948753383] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051620.957574386] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051620.958598197] [sailbot.main_algo]: Target Bearing: -84.55898353370614 +[main_algo-3] [INFO] [1746051620.959434274] [sailbot.main_algo]: Heading Difference: 143.50098353370618 +[main_algo-3] [INFO] [1746051620.960662388] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051620.961481207] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051620.962284405] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051620.963819430] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051620.963952298] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051621.002814925] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904061 Long: -76.50276755 +[main_algo-3] [INFO] [1746051621.003707109] [sailbot.main_algo]: Distance to destination: 52.58335452599104 +[vectornav-1] [INFO] [1746051621.003896916] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.641999999999996, -0.451, 4.636) +[main_algo-3] [INFO] [1746051621.004949681] [sailbot.main_algo]: Target Bearing: -84.54107020548777 +[main_algo-3] [INFO] [1746051621.005900882] [sailbot.main_algo]: Heading Difference: 143.48307020548776 +[main_algo-3] [INFO] [1746051621.007209835] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051621.008138957] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051621.009012807] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051621.010671437] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051621.045133652] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051621.045914248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051621.046485545] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051621.047930201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051621.048979766] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051621.085586365] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051621.088500524] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051621.088848768] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051621.088845239] [sailbot.teensy]: Wind angle: 161 +[teensy-2] [INFO] [1746051621.090014147] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051621.090960049] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051621.091782045] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051621.144982410] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051621.145883489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051621.146613070] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051621.148091603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051621.149090684] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051621.244911581] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051621.245589569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051621.246154135] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051621.247577847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051621.248820503] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051621.335446080] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051621.336989289] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051621.337541658] [sailbot.teensy]: Wind angle: 162 +[mux-7] [INFO] [1746051621.337942315] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051621.337968006] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051621.338395497] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051621.338777858] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051621.344381085] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051621.344988119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051621.345496458] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051621.346683305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051621.347827202] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051621.444979811] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051621.445600052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051621.446214961] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051621.447484561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051621.448487934] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051621.457713393] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051621.458785688] [sailbot.main_algo]: Target Bearing: -84.54107020548777 +[main_algo-3] [INFO] [1746051621.459752403] [sailbot.main_algo]: Heading Difference: 139.18307020548775 +[main_algo-3] [INFO] [1746051621.461149038] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051621.462058309] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051621.462919713] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051621.464609744] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051621.464751593] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051621.503127425] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904135 Long: -76.50276801 +[main_algo-3] [INFO] [1746051621.504475083] [sailbot.main_algo]: Distance to destination: 52.669285989236684 +[vectornav-1] [INFO] [1746051621.504508765] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.90499999999997, 0.326, 4.33) +[main_algo-3] [INFO] [1746051621.505924722] [sailbot.main_algo]: Target Bearing: -84.51026798016542 +[main_algo-3] [INFO] [1746051621.506964848] [sailbot.main_algo]: Heading Difference: 139.15226798016545 +[main_algo-3] [INFO] [1746051621.508571529] [sailbot.main_algo]: Wind Direction: 162 +[main_algo-3] [INFO] [1746051621.509524446] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051621.510457653] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051621.512190092] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051621.545021584] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051621.545765586] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051621.546235233] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051621.547587484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051621.548734760] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051621.585260920] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051621.586904050] [sailbot.teensy]: Wind angle: 161 +[trim_sail-4] [INFO] [1746051621.587522441] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051621.587801757] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051621.588683387] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051621.589002167] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051621.589575412] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051621.644857079] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051621.645610532] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051621.646131077] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051621.647416476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051621.648617661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051621.745238978] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051621.746281158] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051621.746721930] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051621.748332939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051621.748774134] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051621.834671162] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051621.835814969] [sailbot.teensy]: Wind angle: 161 +[teensy-2] [INFO] [1746051621.836666683] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051621.837464683] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051621.837613876] [sailbot.mux]: algo sail angle: 0 +[trim_sail-4] [INFO] [1746051621.837643010] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051621.838295577] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051621.844067011] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051621.844710229] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051621.845557680] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051621.846283134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051621.847162925] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051621.944911635] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051621.945616170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051621.946200514] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051621.947397475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051621.948399523] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051621.957500267] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051621.958467064] [sailbot.main_algo]: Target Bearing: -84.51026798016542 +[main_algo-3] [INFO] [1746051621.959288782] [sailbot.main_algo]: Heading Difference: 131.41526798016537 +[main_algo-3] [INFO] [1746051621.960520416] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051621.961337459] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051621.962133607] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051621.963664387] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051621.963700418] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051622.002722198] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904145 Long: -76.50276806 +[main_algo-3] [INFO] [1746051622.003803329] [sailbot.main_algo]: Distance to destination: 52.680786171716434 +[vectornav-1] [INFO] [1746051622.003841103] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.29899999999998, -0.915, 5.908) +[main_algo-3] [INFO] [1746051622.004916130] [sailbot.main_algo]: Target Bearing: -84.50719381636475 +[main_algo-3] [INFO] [1746051622.005904163] [sailbot.main_algo]: Heading Difference: 131.41219381636472 +[main_algo-3] [INFO] [1746051622.007324123] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051622.008243074] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051622.009051694] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051622.010650577] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051622.044869017] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051622.045520983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051622.046133389] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051622.047443362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051622.048556747] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051622.085533687] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051622.087467624] [sailbot.teensy]: Wind angle: 161 +[teensy-2] [INFO] [1746051622.088527361] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746051622.088745287] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051622.090057014] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051622.090502157] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051622.091468598] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051622.144588086] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051622.145381309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051622.145685690] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051622.147004727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051622.147959969] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051622.244972604] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051622.245690639] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051622.246605363] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051622.247502074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051622.248577825] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051622.335267128] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051622.336962273] [sailbot.teensy]: Wind angle: 161 +[trim_sail-4] [INFO] [1746051622.337418300] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051622.337910485] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051622.338847918] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051622.339600015] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051622.339684692] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051622.344244371] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051622.344909322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051622.345403624] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051622.346673784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051622.347739053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051622.445071644] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051622.445744783] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051622.447066402] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051622.447683999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051622.448906498] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051622.457740947] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051622.458800598] [sailbot.main_algo]: Target Bearing: -84.50719381636475 +[main_algo-3] [INFO] [1746051622.459783435] [sailbot.main_algo]: Heading Difference: 128.80619381636473 +[main_algo-3] [INFO] [1746051622.461175685] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051622.462065729] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051622.462894728] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051622.464426211] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051622.464550645] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051622.502900034] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904205 Long: -76.50276822 +[main_algo-3] [INFO] [1746051622.504113107] [sailbot.main_algo]: Distance to destination: 52.74848339456979 +[vectornav-1] [INFO] [1746051622.504252953] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.786, 0.042, 4.713) +[main_algo-3] [INFO] [1746051622.505430561] [sailbot.main_algo]: Target Bearing: -84.50119939459215 +[main_algo-3] [INFO] [1746051622.506576014] [sailbot.main_algo]: Heading Difference: 128.80019939459214 +[main_algo-3] [INFO] [1746051622.507939475] [sailbot.main_algo]: Wind Direction: 161 +[main_algo-3] [INFO] [1746051622.508852681] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051622.509727655] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051622.511434709] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051622.544997514] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051622.545641951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051622.546245849] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051622.547437482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051622.548496565] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051622.585387748] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051622.587210272] [sailbot.teensy]: Wind angle: 159 +[teensy-2] [INFO] [1746051622.588181643] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746051622.587708929] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051622.589096788] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051622.590033667] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051622.590369439] [sailbot.mux]: algo sail angle: 0 +[mux-7] [INFO] [1746051622.645049816] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051622.645631574] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051622.646641542] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051622.647542287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051622.648614567] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051622.745028383] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051622.745522265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051622.746362249] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051622.747328793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051622.748515174] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051622.835424985] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051622.837403833] [sailbot.teensy]: Wind angle: 157 +[trim_sail-4] [INFO] [1746051622.837846614] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051622.839583778] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051622.839843046] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051622.840757971] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051622.841627322] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051622.844460188] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051622.844985343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051622.845598929] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051622.846818964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051622.847865722] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051622.945023082] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051622.945540982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051622.946380114] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051622.947295052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051622.948492583] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051622.957429639] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051622.958403802] [sailbot.main_algo]: Target Bearing: -84.50119939459215 +[main_algo-3] [INFO] [1746051622.959248630] [sailbot.main_algo]: Heading Difference: 122.28719939459216 +[main_algo-3] [INFO] [1746051622.960512903] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051622.961351838] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051622.962177632] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051622.963719488] [sailbot.mux]: algo rudder angle: 25 +[main_algo-3] [INFO] [1746051622.963742835] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051623.002779307] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690424 Long: -76.50276846 +[main_algo-3] [INFO] [1746051623.003884724] [sailbot.main_algo]: Distance to destination: 52.78934378321876 +[vectornav-1] [INFO] [1746051623.003982096] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.951000000000022, -0.332, 5.366) +[main_algo-3] [INFO] [1746051623.005544396] [sailbot.main_algo]: Target Bearing: -84.48470563341051 +[main_algo-3] [INFO] [1746051623.006549104] [sailbot.main_algo]: Heading Difference: 122.2707056334105 +[main_algo-3] [INFO] [1746051623.007946604] [sailbot.main_algo]: Wind Direction: 157 +[main_algo-3] [INFO] [1746051623.008873374] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051623.009730798] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051623.011333403] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051623.045567788] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051623.045978591] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051623.046998545] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051623.047864989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051623.049005746] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051623.085849608] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051623.088460662] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051623.089072704] [sailbot.teensy]: Wind angle: 158 +[mux-7] [INFO] [1746051623.089309362] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051623.090023282] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051623.090916716] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051623.091731379] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051623.144974394] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051623.145570761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051623.146215094] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051623.147484189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051623.148570341] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051623.245274370] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051623.246154285] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051623.246851394] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051623.248433794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051623.248937485] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051623.335404633] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051623.337645785] [sailbot.teensy]: Wind angle: 158 +[trim_sail-4] [INFO] [1746051623.338273931] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051623.338611463] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051623.339113037] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051623.339123099] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051623.339493072] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051623.344438866] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051623.345009400] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051623.345492031] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051623.346696010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051623.347859172] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051623.445247048] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051623.445984664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051623.446892680] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051623.447930791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051623.448515312] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051623.457837151] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051623.458993367] [sailbot.main_algo]: Target Bearing: -84.48470563341051 +[main_algo-3] [INFO] [1746051623.459998776] [sailbot.main_algo]: Heading Difference: 116.43570563341052 +[main_algo-3] [INFO] [1746051623.461390455] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051623.462291434] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051623.463154282] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051623.464755333] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051623.464760087] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051623.502944935] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690425 Long: -76.50276849 +[main_algo-3] [INFO] [1746051623.504016624] [sailbot.main_algo]: Distance to destination: 52.80065814674601 +[vectornav-1] [INFO] [1746051623.504286255] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (28.59699999999998, 0.342, 5.891) +[main_algo-3] [INFO] [1746051623.505207756] [sailbot.main_algo]: Target Bearing: -84.48341688043968 +[main_algo-3] [INFO] [1746051623.506169328] [sailbot.main_algo]: Heading Difference: 116.4344168804397 +[main_algo-3] [INFO] [1746051623.507615260] [sailbot.main_algo]: Wind Direction: 158 +[main_algo-3] [INFO] [1746051623.508493170] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051623.509328354] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051623.511113788] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051623.545035662] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051623.545732303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051623.546282138] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051623.547658703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051623.548756069] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051623.585359181] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051623.587215928] [sailbot.teensy]: Wind angle: 158 +[teensy-2] [INFO] [1746051623.588180566] [sailbot.teensy]: Actual sail angle: 0 +[trim_sail-4] [INFO] [1746051623.588200792] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051623.589235820] [sailbot.teensy]: Actual tail angle: 50 +[mux-7] [INFO] [1746051623.589342904] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051623.590292296] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051623.644967890] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051623.645725523] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051623.646477765] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051623.647756615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051623.648981581] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051623.744880282] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051623.745868886] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051623.746191214] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051623.747982787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051623.749140660] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051623.835379762] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051623.837261728] [sailbot.teensy]: Wind angle: 159 +[trim_sail-4] [INFO] [1746051623.837677741] [sailbot.trim_sail]: Sail Angle: "0" +[teensy-2] [INFO] [1746051623.839880247] [sailbot.teensy]: Actual sail angle: 0 +[mux-7] [INFO] [1746051623.840083416] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051623.840995267] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051623.842062798] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051623.844796651] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051623.846030072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051623.846201213] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051623.848411938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051623.849585139] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051623.945030078] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051623.945767633] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051623.946271826] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051623.947605780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051623.948742667] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051623.957552803] [sailbot.main_algo]: Wind Direction: 159 +[main_algo-3] [INFO] [1746051623.959070875] [sailbot.main_algo]: End Tack +[main_algo-3] [INFO] [1746051623.959965919] [sailbot.main_algo]: Target Bearing: -84.48341688043968 +[main_algo-3] [INFO] [1746051623.960857727] [sailbot.main_algo]: Heading Difference: 113.08041688043966 +[main_algo-3] [INFO] [1746051623.962080210] [sailbot.main_algo]: Wind Direction: 159 +[main_algo-3] [INFO] [1746051623.962901749] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051623.963697896] [sailbot.main_algo]: Rudder Angle: 25 +[main_algo-3] [INFO] [1746051623.965298793] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051623.965345271] [sailbot.mux]: algo rudder angle: 25 +[vectornav-1] [INFO] [1746051624.002749770] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904257 Long: -76.50276879 +[main_algo-3] [INFO] [1746051624.003711141] [sailbot.main_algo]: Distance to destination: 52.811192851405046 +[vectornav-1] [INFO] [1746051624.003902827] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (27.081999999999994, -1.039, 6.039) +[main_algo-3] [INFO] [1746051624.004852869] [sailbot.main_algo]: Target Bearing: -84.45778868732592 +[main_algo-3] [INFO] [1746051624.005850952] [sailbot.main_algo]: Heading Difference: 113.05478868732587 +[main_algo-3] [INFO] [1746051624.007229188] [sailbot.main_algo]: Wind Direction: 159 +[main_algo-3] [INFO] [1746051624.008125537] [sailbot.main_algo]: Rudder Angle Raw: 25.0 +[main_algo-3] [INFO] [1746051624.009008414] [sailbot.main_algo]: Rudder Angle: 25 +[mux-7] [INFO] [1746051624.010615494] [sailbot.mux]: algo rudder angle: 25 +[mux-7] [INFO] [1746051624.045028911] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051624.045791021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051624.046289171] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051624.047674288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051624.048735419] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051624.085360149] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051624.087283881] [sailbot.teensy]: Wind angle: 133 +[trim_sail-4] [INFO] [1746051624.087894623] [sailbot.trim_sail]: Sail Angle: "0" +[mux-7] [INFO] [1746051624.088864320] [sailbot.mux]: algo sail angle: 0 +[teensy-2] [INFO] [1746051624.089967098] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051624.090929336] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051624.091769076] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051624.144742869] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051624.145286978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051624.145896574] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051624.147008039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051624.148174503] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051624.245054314] [sailbot.mux]: Published sail angle from algo: 0 +[teensy-2] [INFO] [1746051624.245853514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051624.246493933] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051624.248113958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 +[teensy-2] [INFO] [1746051624.248643863] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051624.335470729] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051624.337896011] [sailbot.trim_sail]: Sail Angle: "90" +[teensy-2] [INFO] [1746051624.338234560] [sailbot.teensy]: Wind angle: 10 +[mux-7] [INFO] [1746051624.338383373] [sailbot.mux]: algo sail angle: 90 +[teensy-2] [INFO] [1746051624.339259889] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051624.340138071] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051624.341013866] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051624.344334223] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746051624.344886513] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051624.346365003] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051624.346546409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 25 +[teensy-2] [INFO] [1746051624.347651225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051624.445508063] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746051624.446405705] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051624.447075605] [sailbot.mux]: Published rudder angle from algo: 25 +[teensy-2] [INFO] [1746051624.448683307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 25 +[teensy-2] [INFO] [1746051624.449230134] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051624.457841809] [sailbot.main_algo]: Wind Direction: 10 +[main_algo-3] [INFO] [1746051624.458985707] [sailbot.main_algo]: Target Bearing: -84.45778868732592 +[main_algo-3] [INFO] [1746051624.459973282] [sailbot.main_algo]: Heading Difference: 111.53978868732588 +[main_algo-3] [INFO] [1746051624.461374136] [sailbot.main_algo]: Wind Direction: 10 +[main_algo-3] [INFO] [1746051624.462261883] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051624.463096687] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051624.464707817] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051624.464804557] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051624.502774103] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904247 Long: -76.50276884 +[main_algo-3] [INFO] [1746051624.503833281] [sailbot.main_algo]: Distance to destination: 52.80062934058402 +[vectornav-1] [INFO] [1746051624.504342542] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.283999999999992, 0.07, 6.663) +[main_algo-3] [INFO] [1746051624.505478645] [sailbot.main_algo]: Target Bearing: -84.45198060235606 +[main_algo-3] [INFO] [1746051624.506499905] [sailbot.main_algo]: Heading Difference: 111.53398060235605 +[main_algo-3] [INFO] [1746051624.507934968] [sailbot.main_algo]: Wind Direction: 10 +[main_algo-3] [INFO] [1746051624.508894649] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051624.509771574] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051624.511410816] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051624.544870089] [sailbot.mux]: Published sail angle from algo: 90 +[teensy-2] [INFO] [1746051624.545666110] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051624.546145238] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051624.547993710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 +[teensy-2] [INFO] [1746051624.548996514] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051624.585463653] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051624.587591593] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746051624.587112103] [sailbot.teensy]: Wind angle: 338 +[mux-7] [INFO] [1746051624.588504836] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051624.589414465] [sailbot.teensy]: Actual sail angle: 0 +[teensy-2] [INFO] [1746051624.590360537] [sailbot.teensy]: Actual tail angle: 50 +[teensy-2] [INFO] [1746051624.591372881] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051624.644953967] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051624.645685497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051624.646282622] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051624.647755113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051624.648999972] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051624.745028793] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051624.745786364] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051624.746354058] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051624.747819809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051624.748890325] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051624.835222462] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051624.836892604] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746051624.837919118] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746051624.838638530] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051624.839291794] [sailbot.teensy]: Actual sail angle: 90 +[teensy-2] [INFO] [1746051624.840217173] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051624.841075230] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051624.844424042] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051624.845037710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051624.845505687] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051624.846712933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051624.847736090] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051624.945129019] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051624.945812447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051624.946488938] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051624.947866569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051624.948903676] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051624.957558840] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051624.958584894] [sailbot.main_algo]: Target Bearing: -84.45198060235606 +[main_algo-3] [INFO] [1746051624.959535067] [sailbot.main_algo]: Heading Difference: 110.73598060235605 +[main_algo-3] [INFO] [1746051624.960904073] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051624.961788508] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051624.962645946] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051624.964219163] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051624.964332263] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051625.002819034] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904226 Long: -76.50276878 +[main_algo-3] [INFO] [1746051625.003705760] [sailbot.main_algo]: Distance to destination: 52.77689601995356 +[vectornav-1] [INFO] [1746051625.003943499] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.773000000000025, 0.903, 7.203) +[main_algo-3] [INFO] [1746051625.004918625] [sailbot.main_algo]: Target Bearing: -84.45440743929184 +[main_algo-3] [INFO] [1746051625.005881684] [sailbot.main_algo]: Heading Difference: 110.73840743929185 +[main_algo-3] [INFO] [1746051625.007212636] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051625.008074527] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051625.008958390] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051625.010653637] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051625.045141303] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051625.045626973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051625.046624763] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051625.047442305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051625.048693875] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051625.085345075] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051625.087007777] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746051625.087653802] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051625.087956240] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746051625.088906865] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051625.089476248] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051625.089751736] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051625.145398175] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051625.145889268] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051625.146733935] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051625.147784036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051625.149173087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051625.245102943] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051625.245821978] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051625.246354761] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051625.247928083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051625.248469090] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051625.335624569] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051625.338520551] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746051625.338731924] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051625.339180231] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746051625.339669652] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746051625.340062595] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051625.340771536] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051625.344611980] [sailbot.mux]: Published sail angle from algo: 80 +[mux-7] [INFO] [1746051625.345763858] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051625.345920678] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051625.347850904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051625.348924468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051625.445079069] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051625.445771845] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051625.446410154] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051625.447859925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051625.448886139] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051625.457363701] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051625.458325918] [sailbot.main_algo]: Target Bearing: -84.45440743929184 +[main_algo-3] [INFO] [1746051625.459166113] [sailbot.main_algo]: Heading Difference: 109.22740743929188 +[main_algo-3] [INFO] [1746051625.460398310] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051625.461224746] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051625.462022841] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051625.463579894] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051625.463597544] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051625.502613103] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904236 Long: -76.50276887 +[vectornav-1] [INFO] [1746051625.503635141] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (25.41500000000002, -2.152, 7.067) +[main_algo-3] [INFO] [1746051625.503625515] [sailbot.main_algo]: Distance to destination: 52.78877498195316 +[main_algo-3] [INFO] [1746051625.504766861] [sailbot.main_algo]: Target Bearing: -84.44780542871801 +[main_algo-3] [INFO] [1746051625.505792574] [sailbot.main_algo]: Heading Difference: 109.22080542871805 +[main_algo-3] [INFO] [1746051625.507074362] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051625.507924898] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051625.508806938] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051625.510436615] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051625.545141187] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051625.545886744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051625.546567715] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051625.547737202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051625.548816386] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051625.585176188] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051625.587385169] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051625.587392587] [sailbot.teensy]: Wind angle: 340 +[mux-7] [INFO] [1746051625.588254369] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051625.588286683] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051625.589114104] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051625.589916802] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051625.644843596] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051625.645709761] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051625.646118191] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051625.647529839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051625.648532327] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051625.744910834] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051625.745609265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051625.746181824] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051625.747536616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051625.748593866] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051625.835372178] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051625.837786202] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746051625.838439010] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051625.838513485] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746051625.839087017] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746051625.839477418] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051625.839929191] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051625.844232540] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051625.844885764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051625.845302096] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051625.846569402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051625.847600585] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051625.944361761] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051625.944703833] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051625.946940681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[mux-7] [INFO] [1746051625.947204494] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051625.947971425] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051625.957202394] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051625.958195183] [sailbot.main_algo]: Target Bearing: -84.44780542871801 +[main_algo-3] [INFO] [1746051625.959086079] [sailbot.main_algo]: Heading Difference: 109.86280542871805 +[main_algo-3] [INFO] [1746051625.960409168] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051625.961332327] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051625.962249118] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051625.964064302] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051625.964085357] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051626.001855795] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690421 Long: -76.50276853 +[main_algo-3] [INFO] [1746051626.002796115] [sailbot.main_algo]: Distance to destination: 52.75689769506616 +[vectornav-1] [INFO] [1746051626.002837857] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.375, 0.618, 6.263) +[main_algo-3] [INFO] [1746051626.003956251] [sailbot.main_algo]: Target Bearing: -84.47438043700839 +[main_algo-3] [INFO] [1746051626.004651990] [sailbot.main_algo]: Heading Difference: 109.88938043700841 +[main_algo-3] [INFO] [1746051626.005232617] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051626.005797203] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051626.006664791] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051626.008119959] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051626.044926938] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051626.045675560] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051626.046193061] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051626.047576509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051626.048597028] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051626.085365293] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051626.087304918] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746051626.087591587] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746051626.088325179] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746051626.089279374] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051626.089293428] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051626.090200933] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051626.145138340] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051626.145809239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051626.146554955] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051626.148069388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051626.149070881] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051626.244860805] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051626.245599967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051626.246143273] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051626.247507081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051626.247983332] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051626.335437274] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051626.337776218] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051626.338437693] [sailbot.teensy]: Wind angle: 340 +[mux-7] [INFO] [1746051626.338480625] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051626.339697061] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051626.340205491] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051626.340567444] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051626.344468645] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051626.345015415] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051626.345593552] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051626.346773687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051626.347882075] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051626.445070606] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051626.445940414] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051626.446727460] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051626.448072677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051626.448583638] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051626.457804618] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051626.458950206] [sailbot.main_algo]: Target Bearing: -84.47438043700839 +[main_algo-3] [INFO] [1746051626.459953064] [sailbot.main_algo]: Heading Difference: 110.84938043700839 +[main_algo-3] [INFO] [1746051626.461289909] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051626.462170606] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051626.463014856] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051626.464637412] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051626.464892395] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051626.502781238] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904201 Long: -76.50276838 +[main_algo-3] [INFO] [1746051626.503714360] [sailbot.main_algo]: Distance to destination: 52.74556381114215 +[vectornav-1] [INFO] [1746051626.503911933] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (27.829000000000008, 0.046, 6.529) +[main_algo-3] [INFO] [1746051626.504850828] [sailbot.main_algo]: Target Bearing: -84.48645380206713 +[main_algo-3] [INFO] [1746051626.505835994] [sailbot.main_algo]: Heading Difference: 110.8614538020671 +[main_algo-3] [INFO] [1746051626.507495711] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051626.508445528] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051626.509301476] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051626.511003521] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051626.544888816] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051626.545580985] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051626.546137181] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051626.547400801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051626.548497839] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051626.585239018] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051626.587414820] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746051626.588220421] [sailbot.teensy]: Wind angle: 339 +[mux-7] [INFO] [1746051626.589073239] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051626.589223811] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746051626.590235670] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051626.591301005] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051626.644968344] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051626.645813846] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051626.646431813] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051626.647595296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051626.648656351] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051626.744824421] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051626.745455237] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051626.745997979] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051626.747243338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051626.748404503] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051626.835362873] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051626.837098600] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746051626.837560863] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746051626.838076634] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051626.839025434] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051626.838854345] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051626.840176647] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051626.844486004] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051626.845065831] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051626.845587004] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051626.846739308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051626.847768282] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051626.944894115] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051626.945754183] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051626.946203369] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051626.947543640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051626.948605644] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051626.957940909] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051626.958979937] [sailbot.main_algo]: Target Bearing: -84.48645380206713 +[main_algo-3] [INFO] [1746051626.959868087] [sailbot.main_algo]: Heading Difference: 112.31545380206717 +[main_algo-3] [INFO] [1746051626.961181547] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051626.961997568] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051626.962790919] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051626.964346305] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051626.964418972] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051627.002841656] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904184 Long: -76.50276837 +[main_algo-3] [INFO] [1746051627.003803773] [sailbot.main_algo]: Distance to destination: 52.72671276896759 +[vectornav-1] [INFO] [1746051627.004049134] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.488, -0.098, 5.656) +[main_algo-3] [INFO] [1746051627.005103921] [sailbot.main_algo]: Target Bearing: -84.48500891868737 +[main_algo-3] [INFO] [1746051627.006066216] [sailbot.main_algo]: Heading Difference: 112.31400891868736 +[main_algo-3] [INFO] [1746051627.007457775] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051627.008370183] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051627.009276311] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051627.011030404] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051627.044974186] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051627.045798280] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051627.046302254] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051627.047635087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051627.048787801] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051627.085459658] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051627.087936065] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746051627.088057928] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746051627.089271583] [sailbot.teensy]: Actual sail angle: 80 +[mux-7] [INFO] [1746051627.089482778] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051627.090215829] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051627.091086042] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051627.144783457] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051627.145405225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051627.145941406] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051627.147144213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051627.148294405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051627.244973617] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051627.245680413] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051627.246256814] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051627.247616866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051627.248786415] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051627.335408672] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051627.337385178] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746051627.338335103] [sailbot.teensy]: Actual sail angle: 80 +[trim_sail-4] [INFO] [1746051627.338887030] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746051627.339216131] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051627.339282008] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051627.340108956] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051627.344567993] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051627.345027605] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051627.345787585] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051627.346737155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051627.347869032] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051627.445002697] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051627.445536037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051627.446270543] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051627.447353600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051627.448459056] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051627.457703889] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051627.458737823] [sailbot.main_algo]: Target Bearing: -84.48500891868737 +[main_algo-3] [INFO] [1746051627.459657828] [sailbot.main_algo]: Heading Difference: 110.97300891868736 +[main_algo-3] [INFO] [1746051627.460891453] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051627.461719069] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051627.462495828] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051627.464054127] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051627.464118105] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051627.502819017] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904172 Long: -76.50276849 +[main_algo-3] [INFO] [1746051627.503740575] [sailbot.main_algo]: Distance to destination: 52.71459541011003 +[vectornav-1] [INFO] [1746051627.503956057] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (25.976999999999975, -1.055, 4.8) +[main_algo-3] [INFO] [1746051627.504870272] [sailbot.main_algo]: Target Bearing: -84.47270711488333 +[main_algo-3] [INFO] [1746051627.505846182] [sailbot.main_algo]: Heading Difference: 110.96070711488335 +[main_algo-3] [INFO] [1746051627.507307482] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051627.508244744] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051627.509108045] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051627.510895333] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051627.545077844] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051627.545782258] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051627.546545811] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051627.547580285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051627.548863109] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051627.585191857] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051627.586888865] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746051627.587457053] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746051627.587791048] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746051627.588665071] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051627.589065434] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051627.589481669] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051627.644945393] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051627.645664782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051627.646353810] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051627.647522892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051627.648598909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051627.745058931] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051627.745832292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051627.746499619] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051627.747760168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051627.748346853] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051627.835377345] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051627.837311218] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746051627.837629579] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746051627.838715654] [sailbot.teensy]: Actual sail angle: 80 +[mux-7] [INFO] [1746051627.839396926] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051627.839679514] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051627.840595224] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051627.844378876] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051627.844949599] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051627.845463453] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051627.846619610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051627.847755637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051627.944990057] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051627.945680320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051627.946281080] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051627.947687268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051627.948749219] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051627.957603928] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051627.958572584] [sailbot.main_algo]: Target Bearing: -84.47270711488333 +[main_algo-3] [INFO] [1746051627.959498651] [sailbot.main_algo]: Heading Difference: 110.44970711488332 +[main_algo-3] [INFO] [1746051627.960744674] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051627.961570371] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051627.962352019] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051627.963921324] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051627.963923388] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051628.002125105] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690415 Long: -76.50276842 +[main_algo-3] [INFO] [1746051628.002868659] [sailbot.main_algo]: Distance to destination: 52.68966590109197 +[vectornav-1] [INFO] [1746051628.003004322] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.845000000000027, -0.052, 4.169) +[main_algo-3] [INFO] [1746051628.003863159] [sailbot.main_algo]: Target Bearing: -84.47589798855445 +[main_algo-3] [INFO] [1746051628.005615698] [sailbot.main_algo]: Heading Difference: 110.45289798855441 +[main_algo-3] [INFO] [1746051628.007796567] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051628.008853166] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051628.010434887] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051628.012369696] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051628.043817044] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051628.044123786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051628.044428042] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051628.045242970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051628.045825227] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051628.085401949] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051628.086957223] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746051628.087809943] [sailbot.teensy]: Actual sail angle: 80 +[trim_sail-4] [INFO] [1746051628.087534801] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746051628.088055129] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051628.088670921] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051628.089462896] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051628.145116155] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051628.145670059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051628.146446789] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051628.147653936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051628.148859597] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051628.245207204] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051628.245865040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051628.246504876] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051628.247668855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051628.248789067] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051628.335324052] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051628.337416401] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746051628.337562383] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746051628.338385655] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746051628.339254062] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051628.339252168] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051628.340249627] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051628.344464052] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051628.345051892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051628.345502577] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051628.346908229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051628.348001343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051628.445016170] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051628.445935744] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051628.446353969] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051628.447685788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051628.448146818] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051628.457748274] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051628.458834416] [sailbot.main_algo]: Target Bearing: -84.47589798855445 +[main_algo-3] [INFO] [1746051628.459773603] [sailbot.main_algo]: Heading Difference: 109.32089798855446 +[main_algo-3] [INFO] [1746051628.461081360] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051628.461913459] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051628.462719303] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051628.464296940] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051628.464313015] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051628.502752097] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904129 Long: -76.50276856 +[vectornav-1] [INFO] [1746051628.503965068] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.057000000000016, 0.404, 5.852) +[main_algo-3] [INFO] [1746051628.503949245] [sailbot.main_algo]: Distance to destination: 52.667808004717386 +[main_algo-3] [INFO] [1746051628.505388158] [sailbot.main_algo]: Target Bearing: -84.46056759563773 +[main_algo-3] [INFO] [1746051628.506405664] [sailbot.main_algo]: Heading Difference: 109.30556759563774 +[main_algo-3] [INFO] [1746051628.507786742] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051628.508719155] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051628.509590375] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051628.511273457] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051628.544941161] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051628.545623353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051628.546218850] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051628.547492190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051628.548719300] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051628.585428271] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051628.587621439] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746051628.588227344] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051628.588363654] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746051628.589280749] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746051628.590170734] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051628.591039030] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051628.645000327] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051628.645727034] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051628.646660062] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051628.647859780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051628.648972813] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051628.744851407] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051628.745457350] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051628.746021304] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051628.747212772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051628.748323536] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051628.835840168] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051628.838446674] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746051628.838621008] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746051628.839538019] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051628.839693195] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746051628.840125157] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051628.840521535] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051628.844461687] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051628.845154123] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051628.845786533] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051628.846821125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051628.847880775] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051628.945237451] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051628.946050012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051628.946771669] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051628.948218315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051628.949274974] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051628.957691428] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051628.958786837] [sailbot.main_algo]: Target Bearing: -84.46056759563773 +[main_algo-3] [INFO] [1746051628.959725977] [sailbot.main_algo]: Heading Difference: 108.51756759563773 +[main_algo-3] [INFO] [1746051628.961047159] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051628.961890058] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051628.962723963] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051628.964359992] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051628.964443711] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051629.002762847] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904092 Long: -76.5027687 +[vectornav-1] [INFO] [1746051629.003912260] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (25.60899999999998, -1.394, 6.562) +[main_algo-3] [INFO] [1746051629.003947415] [sailbot.main_algo]: Distance to destination: 52.628301187817655 +[main_algo-3] [INFO] [1746051629.005294721] [sailbot.main_algo]: Target Bearing: -84.44301118985001 +[main_algo-3] [INFO] [1746051629.006408993] [sailbot.main_algo]: Heading Difference: 108.50001118985006 +[main_algo-3] [INFO] [1746051629.007835102] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051629.008768965] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051629.009645956] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051629.011343540] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051629.044918257] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051629.045769030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051629.046181064] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051629.047739029] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051629.048833575] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051629.085211600] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051629.086990917] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746051629.087459654] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746051629.087947297] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746051629.088952316] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051629.089266317] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051629.089875056] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051629.145064188] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051629.145961938] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051629.146484861] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051629.148072207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051629.149270860] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051629.245277314] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051629.245790309] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051629.246848049] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051629.247996620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051629.248647525] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051629.335349507] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051629.337584567] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746051629.337812294] [sailbot.teensy]: Wind angle: 339 +[teensy-2] [INFO] [1746051629.338811610] [sailbot.teensy]: Actual sail angle: 80 +[mux-7] [INFO] [1746051629.339007820] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051629.339967880] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051629.340902971] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051629.344426256] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051629.344840707] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051629.345563346] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051629.346544150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051629.348280259] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051629.444974324] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051629.445934889] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051629.446899074] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051629.447893773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051629.448430441] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051629.457448165] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051629.458416146] [sailbot.main_algo]: Target Bearing: -84.44301118985001 +[main_algo-3] [INFO] [1746051629.459273281] [sailbot.main_algo]: Heading Difference: 110.05201118984996 +[main_algo-3] [INFO] [1746051629.460505531] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051629.461333417] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051629.462115039] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051629.463634171] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051629.463809043] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051629.502722831] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904055 Long: -76.50276816 +[main_algo-3] [INFO] [1746051629.503670342] [sailbot.main_algo]: Distance to destination: 52.582412718104194 +[vectornav-1] [INFO] [1746051629.503776826] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.412000000000035, 0.337, 4.145) +[main_algo-3] [INFO] [1746051629.504743762] [sailbot.main_algo]: Target Bearing: -84.48594872891242 +[main_algo-3] [INFO] [1746051629.505737391] [sailbot.main_algo]: Heading Difference: 110.09494872891241 +[main_algo-3] [INFO] [1746051629.507091105] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051629.508020344] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051629.508901812] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051629.510510216] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051629.545385722] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051629.545633144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051629.546826271] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051629.547467335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051629.548656695] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051629.585273333] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051629.587138037] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746051629.587356085] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746051629.588001822] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746051629.588876989] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051629.589623093] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051629.589697188] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051629.645113085] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051629.645756184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051629.646379420] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051629.647792453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051629.648956368] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051629.744858121] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051629.745752533] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051629.746130151] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051629.747480907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051629.748531511] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051629.835451397] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051629.837949774] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051629.838130903] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746051629.839359650] [sailbot.teensy]: Actual sail angle: 80 +[mux-7] [INFO] [1746051629.839718590] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051629.840307102] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051629.841227349] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051629.844440774] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051629.845277975] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051629.845554500] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051629.847190711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051629.848252459] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051629.944889938] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051629.945533991] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051629.946067447] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051629.947382249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051629.948561219] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051629.957617996] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051629.958699355] [sailbot.main_algo]: Target Bearing: -84.48594872891242 +[main_algo-3] [INFO] [1746051629.959615646] [sailbot.main_algo]: Heading Difference: 108.89794872891247 +[main_algo-3] [INFO] [1746051629.960920210] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051629.961746692] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051629.962534481] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051629.964119093] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051629.964269157] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051630.002842041] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904015 Long: -76.50276778 +[main_algo-3] [INFO] [1746051630.003889330] [sailbot.main_algo]: Distance to destination: 52.53473112439524 +[vectornav-1] [INFO] [1746051630.004653831] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (23.66500000000002, -0.767, 5.86) +[main_algo-3] [INFO] [1746051630.005748354] [sailbot.main_algo]: Target Bearing: -84.51429484851619 +[main_algo-3] [INFO] [1746051630.006758417] [sailbot.main_algo]: Heading Difference: 108.92629484851625 +[main_algo-3] [INFO] [1746051630.008103311] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051630.009020475] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051630.009887132] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051630.011690854] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051630.045109495] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051630.045734546] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051630.046464222] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051630.047605073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051630.048755383] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051630.084867641] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051630.086181525] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746051630.087006715] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746051630.087833614] [sailbot.teensy]: Actual tail angle: 40 +[trim_sail-4] [INFO] [1746051630.086798433] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051630.088743283] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051630.090614845] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746051630.144664512] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051630.144712692] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051630.145771968] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051630.146301683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051630.147279580] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051630.245098224] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051630.245815967] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051630.246686612] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051630.247672643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051630.248873281] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051630.335375244] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051630.337371903] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746051630.337872625] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051630.338361741] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051630.339315655] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051630.340303145] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051630.340505504] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746051630.344676315] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051630.345172596] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051630.345978641] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051630.346915979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051630.348053053] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051630.445152254] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051630.445712977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051630.446511942] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051630.447570479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051630.448425013] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051630.457742001] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051630.458826316] [sailbot.main_algo]: Target Bearing: -84.51429484851619 +[main_algo-3] [INFO] [1746051630.459767708] [sailbot.main_algo]: Heading Difference: 108.17929484851618 +[main_algo-3] [INFO] [1746051630.461019375] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051630.461872564] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051630.462680740] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051630.464256520] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051630.464318688] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051630.503195131] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903977 Long: -76.50276767 +[main_algo-3] [INFO] [1746051630.504081048] [sailbot.main_algo]: Distance to destination: 52.4917763282095 +[vectornav-1] [INFO] [1746051630.504569570] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.29000000000002, -0.248, 5.1) +[main_algo-3] [INFO] [1746051630.505364609] [sailbot.main_algo]: Target Bearing: -84.51888848762428 +[main_algo-3] [INFO] [1746051630.506384577] [sailbot.main_algo]: Heading Difference: 108.1838884876243 +[main_algo-3] [INFO] [1746051630.507691683] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051630.508590545] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051630.509453773] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051630.511275599] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051630.545036275] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051630.545878584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051630.546371524] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051630.547810948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051630.548989626] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051630.585223631] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051630.587467581] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051630.587792072] [sailbot.teensy]: Wind angle: 343 +[mux-7] [INFO] [1746051630.588199184] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051630.588825232] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051630.589738379] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051630.590622172] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051630.644654875] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051630.645422709] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051630.645819742] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051630.647300025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051630.648477089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051630.744938067] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051630.745823012] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051630.746380437] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051630.748070108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051630.749297812] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051630.835428351] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051630.837838171] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746051630.837838991] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051630.838856336] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746051630.839678757] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051630.839793262] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051630.840762017] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051630.844776923] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051630.845236095] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051630.846469649] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051630.847223874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051630.848384156] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051630.945166736] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051630.946101720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051630.946582827] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051630.948291702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051630.949325705] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051630.957713132] [sailbot.main_algo]: Wind Direction: 343 +[main_algo-3] [INFO] [1746051630.958776746] [sailbot.main_algo]: Target Bearing: -84.51888848762428 +[main_algo-3] [INFO] [1746051630.959688624] [sailbot.main_algo]: Heading Difference: 110.8088884876243 +[main_algo-3] [INFO] [1746051630.961022298] [sailbot.main_algo]: Wind Direction: 343 +[main_algo-3] [INFO] [1746051630.961910771] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051630.962756011] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051630.964339273] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051630.964533883] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051631.002821251] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903951 Long: -76.50276705 +[main_algo-3] [INFO] [1746051631.003810329] [sailbot.main_algo]: Distance to destination: 52.45734060464956 +[vectornav-1] [INFO] [1746051631.004027223] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.024, -0.075, 5.741) +[main_algo-3] [INFO] [1746051631.004975971] [sailbot.main_algo]: Target Bearing: -84.57064266700068 +[main_algo-3] [INFO] [1746051631.005938047] [sailbot.main_algo]: Heading Difference: 110.86064266700072 +[main_algo-3] [INFO] [1746051631.007263353] [sailbot.main_algo]: Wind Direction: 343 +[main_algo-3] [INFO] [1746051631.008134942] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051631.009036966] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051631.010591050] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051631.044968591] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051631.045790584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051631.046399366] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051631.047853055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051631.048940669] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051631.085769684] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051631.088062228] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746051631.089114296] [sailbot.teensy]: Actual sail angle: 85 +[trim_sail-4] [INFO] [1746051631.088568130] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746051631.089095376] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051631.090032013] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051631.090961215] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051631.144953035] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051631.145716872] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051631.146240136] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051631.147636563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051631.148817568] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051631.245306946] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051631.245966441] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051631.246601140] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051631.247856402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051631.248969237] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051631.335348263] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051631.337764540] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746051631.338352520] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051631.338658447] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746051631.339513030] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051631.339891508] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051631.340276356] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051631.344459465] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051631.345555397] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051631.345624598] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051631.347304757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051631.348372708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051631.445435480] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051631.446003642] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051631.447018555] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051631.448187590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051631.449296528] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051631.457707253] [sailbot.main_algo]: Wind Direction: 343 +[main_algo-3] [INFO] [1746051631.458783843] [sailbot.main_algo]: Target Bearing: -84.57064266700068 +[main_algo-3] [INFO] [1746051631.459695342] [sailbot.main_algo]: Heading Difference: 110.5946426670007 +[main_algo-3] [INFO] [1746051631.461011630] [sailbot.main_algo]: Wind Direction: 343 +[main_algo-3] [INFO] [1746051631.461904981] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051631.462699668] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051631.464261299] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051631.464369776] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051631.502829059] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903927 Long: -76.50276683 +[main_algo-3] [INFO] [1746051631.503709299] [sailbot.main_algo]: Distance to destination: 52.42882684101123 +[vectornav-1] [INFO] [1746051631.504014563] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.76400000000001, -0.83, 3.828) +[main_algo-3] [INFO] [1746051631.504864743] [sailbot.main_algo]: Target Bearing: -84.58701659902951 +[main_algo-3] [INFO] [1746051631.505899752] [sailbot.main_algo]: Heading Difference: 110.61101659902954 +[main_algo-3] [INFO] [1746051631.507378884] [sailbot.main_algo]: Wind Direction: 343 +[main_algo-3] [INFO] [1746051631.508321597] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051631.509175761] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051631.511087295] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051631.545197357] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051631.545738200] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051631.546535418] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051631.547732900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051631.548861480] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051631.585374827] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051631.587523249] [sailbot.teensy]: Wind angle: 343 +[teensy-2] [INFO] [1746051631.588490416] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051631.589397115] [sailbot.teensy]: Actual tail angle: 40 +[trim_sail-4] [INFO] [1746051631.587606742] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746051631.588291953] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051631.590278567] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051631.644999521] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051631.645708858] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051631.646358011] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051631.647579568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051631.648825249] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051631.744821343] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051631.745549934] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051631.746222126] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051631.747323980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051631.748556521] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051631.835848609] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051631.838767894] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051631.839238953] [sailbot.teensy]: Wind angle: 342 +[mux-7] [INFO] [1746051631.839358789] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051631.839657045] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051631.840050401] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051631.840437525] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051631.844515568] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051631.845088468] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051631.845739275] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051631.846861945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051631.848023973] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051631.944957306] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051631.945653206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051631.946327932] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051631.947493363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051631.948001267] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051631.957881596] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051631.959016272] [sailbot.main_algo]: Target Bearing: -84.58701659902951 +[main_algo-3] [INFO] [1746051631.960039763] [sailbot.main_algo]: Heading Difference: 111.35101659902955 +[main_algo-3] [INFO] [1746051631.961376578] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051631.962310580] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051631.963156246] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051631.964793204] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051631.964789357] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051632.003000793] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903905 Long: -76.50276638 +[main_algo-3] [INFO] [1746051632.003924471] [sailbot.main_algo]: Distance to destination: 52.400416376311135 +[main_algo-3] [INFO] [1746051632.005032810] [sailbot.main_algo]: Target Bearing: -84.62422802682326 +[vectornav-1] [INFO] [1746051632.005425075] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.60699999999997, 0.352, 6.21) +[main_algo-3] [INFO] [1746051632.006046811] [sailbot.main_algo]: Heading Difference: 111.3882280268233 +[main_algo-3] [INFO] [1746051632.007431172] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051632.008357815] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051632.009214479] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051632.010920313] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051632.045611596] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051632.045697616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051632.046970615] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051632.047581490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051632.048766871] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051632.085207832] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051632.086980682] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746051632.087871970] [sailbot.teensy]: Actual sail angle: 85 +[trim_sail-4] [INFO] [1746051632.087315110] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746051632.088846206] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051632.089331067] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051632.090266055] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051632.144469937] [sailbot.mux]: Published sail angle from algo: 85 +[mux-7] [INFO] [1746051632.145554589] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051632.147342779] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051632.149188659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051632.150267509] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051632.244996143] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051632.245750466] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051632.246316680] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051632.247634660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051632.248710914] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051632.335479982] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051632.337924973] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051632.338488691] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746051632.339904752] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746051632.339993040] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051632.340888201] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051632.341537891] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051632.344447806] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051632.344979292] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051632.345605011] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051632.346627877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051632.347766703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051632.445161819] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051632.446048826] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051632.446608943] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051632.448104674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051632.448625413] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051632.457516545] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051632.458515858] [sailbot.main_algo]: Target Bearing: -84.62422802682326 +[main_algo-3] [INFO] [1746051632.459363866] [sailbot.main_algo]: Heading Difference: 111.23122802682326 +[main_algo-3] [INFO] [1746051632.460632495] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051632.461441908] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051632.462242101] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051632.463760972] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051632.463764235] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051632.502712289] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903879 Long: -76.5027663 +[main_algo-3] [INFO] [1746051632.503698688] [sailbot.main_algo]: Distance to destination: 52.370988471785545 +[vectornav-1] [INFO] [1746051632.503783567] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.658999999999992, -0.631, 6.591) +[main_algo-3] [INFO] [1746051632.504832215] [sailbot.main_algo]: Target Bearing: -84.62786343197075 +[main_algo-3] [INFO] [1746051632.505801725] [sailbot.main_algo]: Heading Difference: 111.23486343197072 +[main_algo-3] [INFO] [1746051632.507220195] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051632.508116593] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051632.509011782] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051632.510756163] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051632.544898866] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051632.545699887] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051632.546205788] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051632.547876195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051632.548921922] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051632.585464810] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051632.587189851] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746051632.587662492] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051632.588226121] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051632.589096195] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051632.589706430] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051632.590049940] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051632.644749748] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051632.645429614] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051632.645951115] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051632.647216158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051632.648267178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051632.745034168] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051632.745735165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051632.746331120] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051632.747570206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051632.748778454] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051632.835947834] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051632.838724091] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746051632.839469973] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051632.839912767] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051632.840704998] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051632.840953374] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051632.841095581] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051632.844591907] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051632.845130680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051632.845854561] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051632.846953202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051632.847992094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051632.945157972] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051632.946071394] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051632.946630149] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051632.948144335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051632.949275806] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051632.957830527] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051632.959001586] [sailbot.main_algo]: Target Bearing: -84.62786343197075 +[main_algo-3] [INFO] [1746051632.959928347] [sailbot.main_algo]: Heading Difference: 111.28686343197074 +[main_algo-3] [INFO] [1746051632.961275550] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051632.962118965] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051632.962892622] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051632.964454200] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051632.964485577] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051633.002762744] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903834 Long: -76.50276599 +[main_algo-3] [INFO] [1746051633.003594518] [sailbot.main_algo]: Distance to destination: 52.31849049051615 +[main_algo-3] [INFO] [1746051633.004769426] [sailbot.main_algo]: Target Bearing: -84.64951551673806 +[vectornav-1] [INFO] [1746051633.005399636] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.295999999999992, -0.383, 4.364) +[main_algo-3] [INFO] [1746051633.005735612] [sailbot.main_algo]: Heading Difference: 111.30851551673805 +[main_algo-3] [INFO] [1746051633.007338948] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051633.008298341] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051633.009253731] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051633.011306400] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051633.045206338] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051633.045684954] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051633.046588740] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051633.047544819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051633.048729100] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051633.085096226] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051633.086605804] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746051633.087449487] [sailbot.teensy]: Actual sail angle: 85 +[trim_sail-4] [INFO] [1746051633.087380889] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746051633.087685327] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051633.088324861] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051633.089242809] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051633.145033073] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051633.145774325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051633.146311955] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051633.147882148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051633.149022484] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051633.245132189] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051633.246156861] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051633.246600037] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051633.247676015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051633.248214884] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051633.335228999] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051633.337410802] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746051633.337967331] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051633.338582015] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746051633.339547033] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051633.340595898] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051633.341679733] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051633.344521972] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051633.344980543] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051633.345624378] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051633.346668209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051633.347735816] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051633.444953185] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051633.445869099] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051633.446245504] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051633.447711586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051633.448554093] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051633.457374996] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051633.458321743] [sailbot.main_algo]: Target Bearing: -84.64951551673806 +[main_algo-3] [INFO] [1746051633.459139225] [sailbot.main_algo]: Heading Difference: 110.94551551673806 +[main_algo-3] [INFO] [1746051633.460406263] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051633.461248690] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051633.462052343] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051633.463623201] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051633.463767061] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051633.502887283] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903813 Long: -76.50276585 +[main_algo-3] [INFO] [1746051633.503862507] [sailbot.main_algo]: Distance to destination: 52.294036467319245 +[vectornav-1] [INFO] [1746051633.504046600] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.99799999999999, -0.389, 5.463) +[main_algo-3] [INFO] [1746051633.505269343] [sailbot.main_algo]: Target Bearing: -84.65921687758362 +[main_algo-3] [INFO] [1746051633.506258655] [sailbot.main_algo]: Heading Difference: 110.95521687758361 +[main_algo-3] [INFO] [1746051633.507657202] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051633.508625172] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051633.509512100] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051633.511218051] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051633.545207940] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051633.545763951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051633.546507067] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051633.547655165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051633.548872435] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051633.585257441] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051633.587308630] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051633.587553182] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746051633.588460781] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746051633.589144552] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051633.589336065] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051633.590235475] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051633.644849400] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051633.645513230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051633.646112343] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051633.647466457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051633.648566673] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051633.744686177] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051633.745302305] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051633.746143734] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051633.747034685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051633.748112806] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051633.835373615] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051633.837148065] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746051633.837785890] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746051633.838948844] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051633.839135124] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051633.840106289] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051633.840973909] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051633.844389992] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051633.845092294] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051633.845538791] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051633.846768231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051633.847799641] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051633.945364954] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051633.946514704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051633.947596818] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051633.949280847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051633.950511370] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051633.957829376] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051633.958888624] [sailbot.main_algo]: Target Bearing: -84.65921687758362 +[main_algo-3] [INFO] [1746051633.959835945] [sailbot.main_algo]: Heading Difference: 109.65721687758361 +[main_algo-3] [INFO] [1746051633.961177580] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051633.962056972] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051633.962961930] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051633.964672675] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051633.964868399] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051634.002661195] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903779 Long: -76.50276551 +[vectornav-1] [INFO] [1746051634.003795391] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (25.798999999999978, -0.427, 7.125) +[main_algo-3] [INFO] [1746051634.003942401] [sailbot.main_algo]: Distance to destination: 52.253419243870525 +[main_algo-3] [INFO] [1746051634.004997589] [sailbot.main_algo]: Target Bearing: -84.68509833555771 +[main_algo-3] [INFO] [1746051634.005920077] [sailbot.main_algo]: Heading Difference: 109.6830983355577 +[main_algo-3] [INFO] [1746051634.007246618] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051634.008105610] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051634.008938984] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051634.010566110] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051634.045102476] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051634.045734225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051634.046510198] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051634.047637535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051634.048672501] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051634.085456996] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051634.087950813] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051634.088422272] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746051634.089375718] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746051634.089879804] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051634.090299263] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051634.091188083] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051634.144787037] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051634.145537181] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051634.146265494] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051634.147359708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051634.148481303] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051634.244336796] [sailbot.mux]: Published sail angle from algo: 85 +[mux-7] [INFO] [1746051634.245372305] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051634.246488413] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051634.248165286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051634.249357432] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051634.335108450] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051634.336624633] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746051634.337500907] [sailbot.teensy]: Actual sail angle: 85 +[trim_sail-4] [INFO] [1746051634.337699724] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051634.338370628] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051634.338728376] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051634.339177190] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051634.344228097] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051634.344883230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051634.345200783] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051634.346537879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051634.347486353] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051634.444859688] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051634.445693184] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051634.446170654] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051634.447569753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051634.448618240] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051634.457343004] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051634.458277589] [sailbot.main_algo]: Target Bearing: -84.68509833555771 +[main_algo-3] [INFO] [1746051634.459112173] [sailbot.main_algo]: Heading Difference: 110.48409833555769 +[main_algo-3] [INFO] [1746051634.460347114] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051634.461177030] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051634.461969426] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051634.463545830] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051634.463583564] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051634.503089427] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903759 Long: -76.50276515 +[main_algo-3] [INFO] [1746051634.504258299] [sailbot.main_algo]: Distance to destination: 52.22808647239684 +[vectornav-1] [INFO] [1746051634.504488399] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.090000000000032, -0.834, 4.424) +[main_algo-3] [INFO] [1746051634.505911269] [sailbot.main_algo]: Target Bearing: -84.71468598559879 +[main_algo-3] [INFO] [1746051634.506932610] [sailbot.main_algo]: Heading Difference: 110.51368598559878 +[main_algo-3] [INFO] [1746051634.508334759] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051634.509228989] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051634.510069956] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051634.511853584] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051634.545034642] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051634.545765230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051634.546295804] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051634.547794218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051634.548811943] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051634.585255746] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051634.587347618] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051634.587568356] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746051634.588544972] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746051634.589288320] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051634.589580440] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051634.590526649] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051634.644400455] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051634.644983233] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051634.645415563] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051634.646724831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051634.647813621] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051634.744931783] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051634.745747119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051634.746254217] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051634.747705898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051634.748716547] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051634.835399819] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051634.837996752] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051634.838691119] [sailbot.teensy]: Wind angle: 340 +[mux-7] [INFO] [1746051634.839025535] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051634.839658696] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051634.840633335] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051634.841541512] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051634.844447947] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051634.844878729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051634.845574444] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051634.846510727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051634.847566206] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051634.945357454] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051634.946254050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051634.946939258] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051634.948577092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051634.949186293] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051634.957875689] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051634.958957998] [sailbot.main_algo]: Target Bearing: -84.71468598559879 +[main_algo-3] [INFO] [1746051634.959854297] [sailbot.main_algo]: Heading Difference: 110.80468598559884 +[main_algo-3] [INFO] [1746051634.961158649] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051634.962035695] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051634.962897602] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051634.964559889] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051634.964583440] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051635.002906992] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690372 Long: -76.50276485 +[main_algo-3] [INFO] [1746051635.003901077] [sailbot.main_algo]: Distance to destination: 52.182332034032946 +[vectornav-1] [INFO] [1746051635.004103861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.148000000000025, 0.261, 7.273) +[main_algo-3] [INFO] [1746051635.005100525] [sailbot.main_algo]: Target Bearing: -84.73638743891527 +[main_algo-3] [INFO] [1746051635.006023138] [sailbot.main_algo]: Heading Difference: 110.82638743891528 +[main_algo-3] [INFO] [1746051635.007364518] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051635.008299295] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051635.009200361] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051635.010884214] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051635.044889460] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051635.045638992] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051635.046299019] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051635.047650470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051635.049026645] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051635.085197550] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051635.087063289] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746051635.087188686] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051635.087993119] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746051635.089563028] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051635.089744259] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051635.090703718] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051635.145124716] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051635.145966619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051635.146434075] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051635.147869208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051635.148882097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051635.244869922] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051635.245515145] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051635.246102351] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051635.247361929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051635.248570740] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051635.335254888] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051635.337434858] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051635.338029408] [sailbot.teensy]: Wind angle: 340 +[mux-7] [INFO] [1746051635.338770829] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051635.338798802] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051635.339271120] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051635.339655411] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051635.344634723] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051635.345124795] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051635.345803367] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051635.346866086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051635.347888755] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051635.445466103] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051635.446295107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051635.447072700] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051635.448405438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051635.448925467] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051635.457653983] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051635.458637862] [sailbot.main_algo]: Target Bearing: -84.73638743891527 +[main_algo-3] [INFO] [1746051635.459500670] [sailbot.main_algo]: Heading Difference: 110.88438743891527 +[main_algo-3] [INFO] [1746051635.460730687] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051635.461549529] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051635.462326442] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051635.463918900] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051635.464128786] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051635.502871548] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903704 Long: -76.50276478 +[main_algo-3] [INFO] [1746051635.503845148] [sailbot.main_algo]: Distance to destination: 52.16403991207699 +[vectornav-1] [INFO] [1746051635.504081424] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (27.327999999999975, -1.502, 5.01) +[main_algo-3] [INFO] [1746051635.505091921] [sailbot.main_algo]: Target Bearing: -84.7405368589824 +[main_algo-3] [INFO] [1746051635.506053648] [sailbot.main_algo]: Heading Difference: 110.88853685898243 +[main_algo-3] [INFO] [1746051635.507548544] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051635.508536130] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051635.509389418] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051635.511234332] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051635.545248449] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051635.545779672] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051635.546571455] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051635.547759470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051635.548880323] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051635.585148563] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051635.586954542] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746051635.587873615] [sailbot.teensy]: Actual sail angle: 85 +[trim_sail-4] [INFO] [1746051635.587563712] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051635.588775225] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051635.588801227] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051635.589655367] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051635.645250286] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051635.645878832] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051635.646562703] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051635.647817667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051635.648854106] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051635.745004753] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051635.745863625] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051635.746331023] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051635.747737473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051635.748767495] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051635.835405897] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051635.837589505] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746051635.838052181] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746051635.839264454] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051635.839670727] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051635.840049240] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051635.840412847] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051635.844409956] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051635.844987711] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051635.845562514] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051635.846667369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051635.847751764] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051635.945343509] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051635.945853059] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051635.946963562] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051635.947881047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051635.948926705] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051635.957842745] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051635.958932892] [sailbot.main_algo]: Target Bearing: -84.7405368589824 +[main_algo-3] [INFO] [1746051635.959900080] [sailbot.main_algo]: Heading Difference: 112.06853685898238 +[main_algo-3] [INFO] [1746051635.961309898] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051635.962222940] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051635.963057713] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051635.964722358] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051635.964759135] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051636.002727044] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903701 Long: -76.50276417 +[vectornav-1] [INFO] [1746051636.003817882] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (27.454000000000008, 0.547, 6.324) +[main_algo-3] [INFO] [1746051636.003809047] [sailbot.main_algo]: Distance to destination: 52.15527021743828 +[main_algo-3] [INFO] [1746051636.004925658] [sailbot.main_algo]: Target Bearing: -84.79490571359428 +[main_algo-3] [INFO] [1746051636.005929602] [sailbot.main_algo]: Heading Difference: 112.12290571359426 +[main_algo-3] [INFO] [1746051636.007351446] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051636.008251584] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051636.009083713] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051636.010659647] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051636.045077043] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051636.046154211] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051636.046834210] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051636.048043478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051636.049201370] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051636.085226183] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051636.087000227] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746051636.087507853] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051636.087938902] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051636.088881964] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051636.089323317] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051636.089783287] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051636.144996597] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051636.145703628] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051636.146294269] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051636.147674877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051636.148867405] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051636.245210024] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051636.246125952] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051636.246684618] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051636.248491073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051636.249560454] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051636.334444339] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051636.335220428] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746051636.335634065] [sailbot.teensy]: Actual sail angle: 85 +[trim_sail-4] [INFO] [1746051636.335834667] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051636.336013033] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051636.336246121] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051636.336431211] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051636.344004035] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051636.344573797] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051636.345023062] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051636.346464108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051636.347537730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051636.444785780] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051636.445439618] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051636.446103101] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051636.447230731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051636.448242181] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051636.457393593] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051636.458350058] [sailbot.main_algo]: Target Bearing: -84.79490571359428 +[main_algo-3] [INFO] [1746051636.459202312] [sailbot.main_algo]: Heading Difference: 112.2489057135943 +[main_algo-3] [INFO] [1746051636.460357412] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051636.461144646] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051636.461932210] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051636.463427106] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051636.463463689] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051636.502782983] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903689 Long: -76.50276407 +[main_algo-3] [INFO] [1746051636.503646249] [sailbot.main_algo]: Distance to destination: 52.141131212963444 +[vectornav-1] [INFO] [1746051636.503899778] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (28.245000000000005, -0.984, 7.07) +[main_algo-3] [INFO] [1746051636.504767196] [sailbot.main_algo]: Target Bearing: -84.80230093019017 +[main_algo-3] [INFO] [1746051636.505669534] [sailbot.main_algo]: Heading Difference: 112.25630093019015 +[main_algo-3] [INFO] [1746051636.506903927] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051636.507754409] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051636.508599218] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051636.510214526] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051636.545113556] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051636.545795225] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051636.546439155] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051636.548026802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051636.549047201] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051636.585161055] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051636.587509785] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051636.587645533] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746051636.588814870] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051636.589794015] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051636.589939031] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051636.590917719] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051636.644615943] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051636.645246855] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051636.645786358] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051636.647083181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051636.648120274] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051636.743701425] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051636.743962637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051636.744181865] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051636.744708975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051636.745164582] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051636.835212930] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051636.836837090] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746051636.837518363] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051636.837688188] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051636.838109653] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051636.838130860] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051636.838513666] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051636.844713364] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051636.845401478] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051636.845890999] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051636.847119510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051636.848265410] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051636.945394659] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051636.945915514] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051636.946905317] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051636.948182235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051636.949211652] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051636.957762781] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051636.958795123] [sailbot.main_algo]: Target Bearing: -84.80230093019017 +[main_algo-3] [INFO] [1746051636.959722969] [sailbot.main_algo]: Heading Difference: 113.0473009301902 +[main_algo-3] [INFO] [1746051636.961093133] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051636.961946589] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051636.962752616] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051636.964300199] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051636.964347085] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051637.002634356] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903684 Long: -76.50276373 +[main_algo-3] [INFO] [1746051637.003762043] [sailbot.main_algo]: Distance to destination: 52.13259274316063 +[vectornav-1] [INFO] [1746051637.004055467] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (28.511000000000024, -0.549, 6.667) +[main_algo-3] [INFO] [1746051637.005747648] [sailbot.main_algo]: Target Bearing: -84.83218428304104 +[main_algo-3] [INFO] [1746051637.006799214] [sailbot.main_algo]: Heading Difference: 113.07718428304105 +[main_algo-3] [INFO] [1746051637.008212759] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051637.009096928] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051637.009975273] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051637.011553472] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051637.045048875] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051637.045982430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051637.046408006] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051637.048365712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051637.049393052] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051637.085246444] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051637.087419226] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746051637.088064823] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051637.088409516] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746051637.089393319] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051637.090263957] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051637.091094879] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051637.145020435] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051637.145850843] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051637.146788082] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051637.148440590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051637.149627418] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051637.245431458] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051637.246355399] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051637.246963006] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051637.248763767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051637.249963428] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051637.335417018] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051637.337251780] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746051637.337668837] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051637.338303714] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051637.338909542] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051637.339304628] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051637.339461997] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746051637.344500513] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051637.344994302] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051637.345712746] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051637.346685470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051637.347719710] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051637.445107206] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051637.445670436] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051637.446526089] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051637.447688254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051637.448736129] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051637.457524037] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051637.458490768] [sailbot.main_algo]: Target Bearing: -84.83218428304104 +[main_algo-3] [INFO] [1746051637.459352626] [sailbot.main_algo]: Heading Difference: 113.34318428304107 +[main_algo-3] [INFO] [1746051637.460613722] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051637.461474100] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051637.462279569] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051637.463815115] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051637.463838630] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051637.502909127] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903678 Long: -76.50276341 +[main_algo-3] [INFO] [1746051637.503960610] [sailbot.main_algo]: Distance to destination: 52.12314054385927 +[vectornav-1] [INFO] [1746051637.504186178] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (27.16300000000001, 0.349, 6.529) +[main_algo-3] [INFO] [1746051637.505247242] [sailbot.main_algo]: Target Bearing: -84.8601493550301 +[main_algo-3] [INFO] [1746051637.506239718] [sailbot.main_algo]: Heading Difference: 113.37114935503013 +[main_algo-3] [INFO] [1746051637.507591509] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051637.508510695] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051637.509397398] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051637.511169712] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051637.545039276] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051637.545838780] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051637.546423015] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051637.547963846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051637.548980764] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051637.585436590] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051637.587295186] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746051637.587732398] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051637.588259189] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051637.589168049] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051637.589558704] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051637.590055297] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051637.644753335] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051637.645263357] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051637.646017483] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051637.646915991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051637.647900935] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051637.745202354] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051637.745706052] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051637.746543856] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051637.747657047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051637.748846010] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051637.835673906] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051637.838299582] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746051637.838330857] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051637.839344724] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051637.840330873] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051637.840838540] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051637.841266775] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051637.844435228] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051637.845254125] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051637.845630566] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051637.847462669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051637.848533553] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051637.945120572] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051637.945976658] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051637.946585136] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051637.948050978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051637.949215697] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051637.957607465] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051637.958639882] [sailbot.main_algo]: Target Bearing: -84.8601493550301 +[main_algo-3] [INFO] [1746051637.959551075] [sailbot.main_algo]: Heading Difference: 112.02314935503011 +[main_algo-3] [INFO] [1746051637.960830467] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051637.961649556] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051637.962449791] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051637.963973562] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051637.964020823] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051638.002734394] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903655 Long: -76.50276335 +[main_algo-3] [INFO] [1746051638.003654259] [sailbot.main_algo]: Distance to destination: 52.097215375713084 +[vectornav-1] [INFO] [1746051638.004137128] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.072000000000003, -1.662, 5.989) +[main_algo-3] [INFO] [1746051638.004818650] [sailbot.main_algo]: Target Bearing: -84.86253183706798 +[main_algo-3] [INFO] [1746051638.005797774] [sailbot.main_algo]: Heading Difference: 112.025531837068 +[main_algo-3] [INFO] [1746051638.007109695] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051638.007926156] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051638.008718153] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051638.010282800] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051638.045228317] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051638.045770958] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051638.046603930] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051638.047934937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051638.048991771] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051638.085240513] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051638.086882266] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746051638.087350437] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746051638.089059782] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051638.089082958] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051638.090052740] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051638.090899724] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051638.144661770] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051638.145523278] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051638.145950097] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051638.147400452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051638.148475531] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051638.244845998] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051638.245605423] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051638.246891396] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051638.247580594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051638.248508358] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051638.335542830] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051638.338004401] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746051638.338036377] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051638.339001476] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746051638.339714486] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051638.339912065] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051638.340805373] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051638.344335768] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051638.344946847] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051638.345534424] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051638.346613072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051638.347636239] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051638.444491601] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051638.444977571] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051638.445544635] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051638.446609188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051638.447510056] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051638.457458902] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051638.458439381] [sailbot.main_algo]: Target Bearing: -84.86253183706798 +[main_algo-3] [INFO] [1746051638.459261981] [sailbot.main_algo]: Heading Difference: 110.934531837068 +[main_algo-3] [INFO] [1746051638.460413634] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051638.461152373] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051638.461862976] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051638.463217218] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051638.463334383] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051638.502691555] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903642 Long: -76.50276313 +[main_algo-3] [INFO] [1746051638.503669288] [sailbot.main_algo]: Distance to destination: 52.08092487673006 +[vectornav-1] [INFO] [1746051638.503832784] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (23.04200000000003, 0.031, 6.982) +[main_algo-3] [INFO] [1746051638.504840508] [sailbot.main_algo]: Target Bearing: -84.88061509941188 +[main_algo-3] [INFO] [1746051638.505812085] [sailbot.main_algo]: Heading Difference: 110.9526150994119 +[main_algo-3] [INFO] [1746051638.507259040] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051638.508198037] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051638.509064551] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051638.510639185] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051638.545018558] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051638.545659951] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051638.546344276] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051638.547893062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051638.548917829] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051638.585189204] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051638.586714643] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746051638.587372973] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051638.587590114] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051638.588471074] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051638.589247950] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051638.589290983] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051638.644625871] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051638.645390786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051638.645780286] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051638.647121197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051638.648309547] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051638.745005719] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051638.745673665] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051638.746348155] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051638.747577144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051638.748627627] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051638.835486055] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051638.837421862] [sailbot.teensy]: Wind angle: 340 +[trim_sail-4] [INFO] [1746051638.838806661] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051638.838846848] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746051638.839400851] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051638.839780267] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051638.840676975] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051638.844303995] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051638.844771482] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051638.845430378] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051638.846604151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051638.847709372] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051638.945235153] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051638.945921857] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051638.946709860] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051638.948048282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051638.948719498] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051638.957371564] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051638.958567600] [sailbot.main_algo]: Target Bearing: -84.88061509941188 +[main_algo-3] [INFO] [1746051638.959409235] [sailbot.main_algo]: Heading Difference: 107.92261509941193 +[main_algo-3] [INFO] [1746051638.960642708] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051638.961451389] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051638.962251928] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051638.963813967] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051638.963960511] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051639.002978095] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903608 Long: -76.50276305 +[main_algo-3] [INFO] [1746051639.003934922] [sailbot.main_algo]: Distance to destination: 52.042678254473515 +[vectornav-1] [INFO] [1746051639.004202739] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.52199999999999, 0.273, 4.869) +[main_algo-3] [INFO] [1746051639.005139935] [sailbot.main_algo]: Target Bearing: -84.88337315625296 +[main_algo-3] [INFO] [1746051639.006061342] [sailbot.main_algo]: Heading Difference: 107.92537315625299 +[main_algo-3] [INFO] [1746051639.007400430] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051639.008334101] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051639.009223710] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051639.010951180] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051639.045650227] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051639.045768862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051639.047000416] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051639.048037224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051639.049196364] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051639.085765351] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051639.088050281] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746051639.089210091] [sailbot.teensy]: Actual sail angle: 85 +[trim_sail-4] [INFO] [1746051639.089473420] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051639.090232123] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051639.090899861] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051639.091148435] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051639.144827216] [sailbot.mux]: Published sail angle from algo: 85 +[mux-7] [INFO] [1746051639.146085786] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051639.148228437] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051639.149842497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051639.150893784] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051639.245179096] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051639.245676270] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051639.246907553] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051639.248013413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051639.249167730] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051639.335250686] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051639.336896097] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746051639.337437370] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051639.338666681] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051639.339396641] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051639.339469069] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051639.339776017] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051639.344443469] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051639.344865903] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051639.345563466] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051639.346586370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051639.347731808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051639.444828147] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051639.445630790] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051639.446072120] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051639.447549122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051639.448590760] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051639.457643356] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051639.458663310] [sailbot.main_algo]: Target Bearing: -84.88337315625296 +[main_algo-3] [INFO] [1746051639.459556829] [sailbot.main_algo]: Heading Difference: 106.40537315625295 +[main_algo-3] [INFO] [1746051639.460780359] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051639.461605643] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051639.462389465] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051639.463873889] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051639.463999508] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051639.502767155] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903601 Long: -76.50276319 +[main_algo-3] [INFO] [1746051639.503661134] [sailbot.main_algo]: Distance to destination: 52.036179546357026 +[vectornav-1] [INFO] [1746051639.504237954] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.259000000000015, -2.482, 4.632) +[main_algo-3] [INFO] [1746051639.504860808] [sailbot.main_algo]: Target Bearing: -84.86985679786102 +[main_algo-3] [INFO] [1746051639.505824933] [sailbot.main_algo]: Heading Difference: 106.39185679786101 +[main_algo-3] [INFO] [1746051639.507235439] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051639.508164113] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051639.509032666] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051639.511051735] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051639.544890809] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051639.545467175] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051639.546164193] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051639.547273176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051639.548335306] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051639.585424537] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051639.587245142] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746051639.587832530] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051639.588190882] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051639.589073578] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051639.588573156] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051639.589955604] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051639.644842036] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051639.645534786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051639.646125132] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051639.647483327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051639.648621767] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051639.745258132] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051639.746087081] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051639.746719150] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051639.748234864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051639.749367480] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051639.835376270] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051639.837150345] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746051639.837710154] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746051639.839156676] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051639.839150693] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051639.840145284] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051639.841103118] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051639.844281468] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051639.844856407] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051639.845355621] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051639.846521025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051639.847523637] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051639.944928766] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051639.945508455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051639.946197205] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051639.947417685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051639.948450007] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051639.957523058] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051639.958482592] [sailbot.main_algo]: Target Bearing: -84.86985679786102 +[main_algo-3] [INFO] [1746051639.959359435] [sailbot.main_algo]: Heading Difference: 106.12885679786103 +[main_algo-3] [INFO] [1746051639.960587965] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051639.961402039] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051639.962195357] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051639.963716009] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051639.963786479] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051640.002831477] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903598 Long: -76.50276286 +[main_algo-3] [INFO] [1746051640.003793934] [sailbot.main_algo]: Distance to destination: 52.02996928650614 +[vectornav-1] [INFO] [1746051640.003940059] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (19.947000000000003, 1.208, 5.92) +[main_algo-3] [INFO] [1746051640.004904274] [sailbot.main_algo]: Target Bearing: -84.8991717628173 +[main_algo-3] [INFO] [1746051640.005890720] [sailbot.main_algo]: Heading Difference: 106.15817176281735 +[main_algo-3] [INFO] [1746051640.007236270] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051640.008122053] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051640.009026272] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051640.010805685] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051640.044837561] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051640.045497343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051640.046091275] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051640.047391726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051640.048429486] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051640.085496484] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051640.087388705] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746051640.088396414] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051640.088873464] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746051640.089431267] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051640.089801796] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051640.090650232] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051640.144870605] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051640.145721262] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051640.146123695] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051640.147572182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051640.148697759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051640.245145824] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051640.245833296] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051640.246440636] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051640.247666422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051640.248775500] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051640.335220334] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051640.336923214] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746051640.337781597] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051640.337847306] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051640.338742145] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051640.339059540] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051640.339598003] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051640.344744791] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051640.345300013] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051640.345873079] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051640.347115613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051640.348389572] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051640.444496991] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051640.444999587] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051640.447003772] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051640.447635410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051640.450898944] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051640.457335007] [sailbot.main_algo]: Wind Direction: 345 +[main_algo-3] [INFO] [1746051640.458277490] [sailbot.main_algo]: Target Bearing: -84.8991717628173 +[main_algo-3] [INFO] [1746051640.459129160] [sailbot.main_algo]: Heading Difference: 104.84617176281733 +[main_algo-3] [INFO] [1746051640.460451023] [sailbot.main_algo]: Wind Direction: 345 +[main_algo-3] [INFO] [1746051640.461366820] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051640.462252792] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051640.463983509] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051640.464865058] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051640.501768988] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903572 Long: -76.50276277 +[main_algo-3] [INFO] [1746051640.502437280] [sailbot.main_algo]: Distance to destination: 52.000470142624884 +[vectornav-1] [INFO] [1746051640.502732426] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (22.711000000000013, -0.808, 6.729) +[main_algo-3] [INFO] [1746051640.503258171] [sailbot.main_algo]: Target Bearing: -84.90388941686379 +[main_algo-3] [INFO] [1746051640.504072686] [sailbot.main_algo]: Heading Difference: 104.85088941686377 +[main_algo-3] [INFO] [1746051640.505339061] [sailbot.main_algo]: Wind Direction: 345 +[main_algo-3] [INFO] [1746051640.506117321] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051640.506809930] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051640.508913875] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051640.544734283] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051640.545419027] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051640.545880472] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051640.547137353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051640.548223126] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051640.585212023] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051640.586742475] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746051640.587599489] [sailbot.teensy]: Actual sail angle: 85 +[trim_sail-4] [INFO] [1746051640.587268399] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746051640.588293107] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051640.588428259] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051640.589235637] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051640.644553969] [sailbot.mux]: Published sail angle from algo: 85 +[mux-7] [INFO] [1746051640.645791159] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051640.646142722] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051640.648039987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051640.648777412] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051640.744924503] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051640.745599759] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051640.746296382] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051640.747386488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051640.748453483] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051640.835170803] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051640.836737353] [sailbot.teensy]: Wind angle: 345 +[trim_sail-4] [INFO] [1746051640.837251852] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051640.837678517] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051640.838608558] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051640.839460764] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051640.839527444] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746051640.844417582] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051640.844903623] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051640.845532158] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051640.846562645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051640.847739562] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051640.945279094] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051640.946169321] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051640.946865536] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051640.948285923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051640.949459000] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051640.957649240] [sailbot.main_algo]: Wind Direction: 345 +[main_algo-3] [INFO] [1746051640.958723759] [sailbot.main_algo]: Target Bearing: -84.90388941686379 +[main_algo-3] [INFO] [1746051640.959648606] [sailbot.main_algo]: Heading Difference: 107.61488941686378 +[main_algo-3] [INFO] [1746051640.960939921] [sailbot.main_algo]: Wind Direction: 345 +[main_algo-3] [INFO] [1746051640.961859237] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051640.962701815] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051640.964286880] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051640.964614766] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051641.002969113] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690358 Long: -76.50276278 +[main_algo-3] [INFO] [1746051641.004219197] [sailbot.main_algo]: Distance to destination: 52.00939189043245 +[vectornav-1] [INFO] [1746051641.004245932] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (27.033000000000015, -1.274, 5.423) +[main_algo-3] [INFO] [1746051641.005835840] [sailbot.main_algo]: Target Bearing: -84.9040307112505 +[main_algo-3] [INFO] [1746051641.006976907] [sailbot.main_algo]: Heading Difference: 107.61503071125048 +[main_algo-3] [INFO] [1746051641.008459151] [sailbot.main_algo]: Wind Direction: 345 +[main_algo-3] [INFO] [1746051641.009389694] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051641.010256096] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051641.011989760] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051641.044848735] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051641.045510979] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051641.046124981] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051641.047324309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051641.048479010] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051641.085496664] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051641.087946203] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051641.088513555] [sailbot.teensy]: Wind angle: 344 +[mux-7] [INFO] [1746051641.088706438] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051641.090223415] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051641.091115952] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051641.091963366] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051641.144550080] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051641.145125982] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051641.145634712] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051641.146877696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051641.147959773] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051641.244914467] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051641.245755589] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051641.246187467] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051641.247540265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051641.248707061] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051641.335469427] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051641.337275435] [sailbot.teensy]: Wind angle: 344 +[teensy-2] [INFO] [1746051641.338207708] [sailbot.teensy]: Actual sail angle: 85 +[trim_sail-4] [INFO] [1746051641.338018933] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746051641.338577754] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051641.339098686] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051641.340026212] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051641.344563594] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051641.345060602] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051641.345867242] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051641.346853761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051641.347956652] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051641.445266541] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051641.446032785] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051641.447195524] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051641.448304687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051641.449338211] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051641.457681335] [sailbot.main_algo]: Wind Direction: 344 +[main_algo-3] [INFO] [1746051641.458694494] [sailbot.main_algo]: Target Bearing: -84.9040307112505 +[main_algo-3] [INFO] [1746051641.459598593] [sailbot.main_algo]: Heading Difference: 111.93703071125049 +[main_algo-3] [INFO] [1746051641.460913121] [sailbot.main_algo]: Wind Direction: 344 +[main_algo-3] [INFO] [1746051641.461803295] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051641.462614858] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051641.464162847] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051641.464165658] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051641.502902068] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903574 Long: -76.50276246 +[main_algo-3] [INFO] [1746051641.504362527] [sailbot.main_algo]: Distance to destination: 51.99997162220871 +[vectornav-1] [INFO] [1746051641.504406753] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.668000000000006, -0.018, 3.989) +[main_algo-3] [INFO] [1746051641.505614712] [sailbot.main_algo]: Target Bearing: -84.93207506702423 +[main_algo-3] [INFO] [1746051641.506688453] [sailbot.main_algo]: Heading Difference: 111.96507506702426 +[main_algo-3] [INFO] [1746051641.508037672] [sailbot.main_algo]: Wind Direction: 344 +[main_algo-3] [INFO] [1746051641.508953143] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051641.509818957] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051641.511512682] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051641.545014162] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051641.545735438] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051641.546263072] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051641.547612465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051641.548789302] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051641.585561103] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051641.588135617] [sailbot.teensy]: Wind angle: 344 +[trim_sail-4] [INFO] [1746051641.588136380] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746051641.588822088] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051641.589200271] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051641.590112927] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051641.591000914] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051641.645095802] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051641.645845528] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051641.646810714] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051641.647769852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051641.648858344] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051641.744990508] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051641.745664456] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051641.746201574] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051641.747531021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051641.748618916] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051641.835396846] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051641.837217115] [sailbot.teensy]: Wind angle: 343 +[trim_sail-4] [INFO] [1746051641.837827726] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051641.838276871] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746051641.838705127] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051641.839211243] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051641.840097640] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051641.844495907] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051641.844972192] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051641.845639557] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051641.846714543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051641.847928387] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051641.945006526] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051641.945757862] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051641.946380430] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051641.947830847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051641.948882790] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051641.957457461] [sailbot.main_algo]: Wind Direction: 343 +[main_algo-3] [INFO] [1746051641.958527478] [sailbot.main_algo]: Target Bearing: -84.93207506702423 +[main_algo-3] [INFO] [1746051641.959367085] [sailbot.main_algo]: Heading Difference: 115.60007506702425 +[main_algo-3] [INFO] [1746051641.960612420] [sailbot.main_algo]: Wind Direction: 343 +[main_algo-3] [INFO] [1746051641.961439089] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051641.962257856] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051641.963800133] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051641.963937367] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051642.002764822] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903539 Long: -76.50276218 +[main_algo-3] [INFO] [1746051642.003770286] [sailbot.main_algo]: Distance to destination: 51.95888374524269 +[vectornav-1] [INFO] [1746051642.003868038] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.071000000000026, -0.087, 6.564) +[main_algo-3] [INFO] [1746051642.004909038] [sailbot.main_algo]: Target Bearing: -84.95277707894317 +[main_algo-3] [INFO] [1746051642.005905502] [sailbot.main_algo]: Heading Difference: 115.6207770789432 +[main_algo-3] [INFO] [1746051642.007345082] [sailbot.main_algo]: Wind Direction: 343 +[main_algo-3] [INFO] [1746051642.008305345] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051642.009110872] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051642.010718987] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051642.045073221] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051642.045653735] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051642.046319476] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051642.047652192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051642.048694218] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051642.085441196] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051642.087757106] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051642.088394705] [sailbot.teensy]: Wind angle: 343 +[mux-7] [INFO] [1746051642.089257307] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051642.089740822] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051642.091102974] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051642.092055234] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051642.144934318] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051642.145621445] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051642.146160106] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051642.147600051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051642.148637180] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051642.244847773] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051642.245671608] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051642.246117898] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051642.247633700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051642.248694659] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051642.335165571] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051642.337424272] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051642.337737590] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746051642.338762151] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746051642.339080829] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051642.340129220] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051642.341165779] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051642.344363428] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051642.344885497] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051642.345528736] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051642.346538067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051642.347732853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051642.445224074] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051642.445980704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051642.446700394] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051642.448452119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051642.449604813] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051642.457642326] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051642.458687915] [sailbot.main_algo]: Target Bearing: -84.95277707894317 +[main_algo-3] [INFO] [1746051642.459607277] [sailbot.main_algo]: Heading Difference: 114.02377707894323 +[main_algo-3] [INFO] [1746051642.460947465] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051642.461842149] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051642.462660959] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051642.464266530] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051642.464283891] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051642.502630790] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903505 Long: -76.50276187 +[vectornav-1] [INFO] [1746051642.503723619] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (27.327999999999975, -1.172, 6.322) +[main_algo-3] [INFO] [1746051642.504198204] [sailbot.main_algo]: Distance to destination: 51.91864754457947 +[main_algo-3] [INFO] [1746051642.505220925] [sailbot.main_algo]: Target Bearing: -84.97634785935898 +[main_algo-3] [INFO] [1746051642.506218352] [sailbot.main_algo]: Heading Difference: 114.04734785935898 +[main_algo-3] [INFO] [1746051642.507662807] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051642.508613901] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051642.509481481] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051642.511270810] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051642.543997161] [sailbot.mux]: Published sail angle from algo: 85 +[mux-7] [INFO] [1746051642.544892535] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051642.545051345] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051642.546495781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051642.547567667] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051642.584613070] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051642.585805896] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746051642.586546485] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051642.587272853] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051642.588042065] [sailbot.teensy]: Dropped packets: 3 +[trim_sail-4] [INFO] [1746051642.587676717] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746051642.589318134] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746051642.644847944] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051642.645702007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051642.646150174] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051642.647698809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051642.649039853] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051642.745226966] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051642.746145489] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051642.746646160] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051642.748265393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051642.749437595] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051642.835409276] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051642.837925377] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051642.837959305] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746051642.838875463] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746051642.839236175] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051642.839266957] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051642.839631419] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051642.844504890] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051642.845074828] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051642.845740319] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051642.846825977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051642.847895168] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051642.944899677] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051642.945783584] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051642.946181283] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051642.947647659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051642.948679232] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051642.957342658] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051642.958230505] [sailbot.main_algo]: Target Bearing: -84.97634785935898 +[main_algo-3] [INFO] [1746051642.959065631] [sailbot.main_algo]: Heading Difference: 112.30434785935893 +[main_algo-3] [INFO] [1746051642.960301377] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051642.961130227] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051642.961917883] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051642.963453929] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051642.963636679] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051643.002764915] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903516 Long: -76.50276143 +[vectornav-1] [INFO] [1746051643.003880530] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.617999999999995, -0.23, 4.987) +[main_algo-3] [INFO] [1746051643.003873879] [sailbot.main_algo]: Distance to destination: 51.92700386728637 +[main_algo-3] [INFO] [1746051643.004960977] [sailbot.main_algo]: Target Bearing: -85.0174625349216 +[main_algo-3] [INFO] [1746051643.005918475] [sailbot.main_algo]: Heading Difference: 112.34546253492158 +[main_algo-3] [INFO] [1746051643.007254586] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051643.008124369] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051643.008964792] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051643.010531414] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051643.044931018] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051643.045684617] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051643.046313191] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051643.047894161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051643.048962634] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051643.085616854] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051643.088083682] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746051643.088122742] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051643.089148773] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746051643.090017502] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051643.090079542] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051643.091009223] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051643.144392725] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051643.144910188] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051643.145376117] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051643.146692308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051643.147674880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051643.245437385] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051643.245919129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051643.246680096] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051643.247724545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051643.248384831] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051643.335179346] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051643.337421041] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746051643.337957605] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051643.338091474] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746051643.339630935] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051643.340296808] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051643.340658472] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051643.344402233] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051643.345058772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051643.345710416] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051643.346743418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051643.347833308] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051643.445265827] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051643.445748965] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051643.446803114] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051643.447695741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051643.449100551] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051643.457772855] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051643.458786114] [sailbot.main_algo]: Target Bearing: -85.0174625349216 +[main_algo-3] [INFO] [1746051643.459701951] [sailbot.main_algo]: Heading Difference: 111.6354625349216 +[main_algo-3] [INFO] [1746051643.461028692] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051643.461922423] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051643.462757899] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051643.464493298] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051643.464883513] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051643.503186363] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903526 Long: -76.50276116 +[main_algo-3] [INFO] [1746051643.504393341] [sailbot.main_algo]: Distance to destination: 51.935734668609484 +[vectornav-1] [INFO] [1746051643.504590828] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (28.019999999999982, -0.599, 5.052) +[main_algo-3] [INFO] [1746051643.506091801] [sailbot.main_algo]: Target Bearing: -85.04309973423335 +[main_algo-3] [INFO] [1746051643.507118732] [sailbot.main_algo]: Heading Difference: 111.66109973423335 +[main_algo-3] [INFO] [1746051643.508492837] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051643.509359497] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051643.510195770] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051643.511991408] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051643.544955580] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051643.545604536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051643.546361575] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051643.547895679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051643.548998587] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051643.585290671] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051643.586931882] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746051643.587697807] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051643.587919386] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051643.588849645] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051643.588892997] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051643.589777023] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051643.645062823] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051643.645853909] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051643.646541161] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051643.648104123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051643.649208995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051643.744866730] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051643.745576959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051643.746152162] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051643.747660084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051643.748738461] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051643.835240343] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051643.837001218] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746051643.837482589] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051643.838005291] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051643.838973324] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051643.839177394] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051643.840147979] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051643.844653718] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051643.845525619] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051643.845808047] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051643.847244497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051643.848301089] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051643.944889224] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051643.945534942] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051643.946132087] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051643.947360927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051643.948415390] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051643.957616651] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051643.958650903] [sailbot.main_algo]: Target Bearing: -85.04309973423335 +[main_algo-3] [INFO] [1746051643.959579555] [sailbot.main_algo]: Heading Difference: 113.06309973423333 +[main_algo-3] [INFO] [1746051643.960807270] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051643.961622670] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051643.962389706] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051643.963941595] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051643.964043386] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051644.002644864] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690354 Long: -76.50276082 +[main_algo-3] [INFO] [1746051644.003620436] [sailbot.main_algo]: Distance to destination: 51.94829845806923 +[vectornav-1] [INFO] [1746051644.003772496] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.394999999999982, 0.108, 4.765) +[main_algo-3] [INFO] [1746051644.004762139] [sailbot.main_algo]: Target Bearing: -85.07554973457302 +[main_algo-3] [INFO] [1746051644.005723590] [sailbot.main_algo]: Heading Difference: 113.09554973457301 +[main_algo-3] [INFO] [1746051644.007005917] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051644.007911500] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051644.008978478] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051644.010571415] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051644.044995440] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051644.045822929] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051644.046360043] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051644.047715538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051644.048797412] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051644.085344030] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051644.087264445] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746051644.087510750] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051644.088221891] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051644.089026504] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051644.089317732] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051644.089953681] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051644.145259087] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051644.146114877] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051644.146748476] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051644.148365099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051644.149397786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051644.245018956] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051644.245663008] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051644.246283533] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051644.247550763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051644.248663151] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051644.335607422] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051644.338692718] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051644.338848164] [sailbot.teensy]: Wind angle: 342 +[mux-7] [INFO] [1746051644.339167321] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051644.339255716] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051644.339649136] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051644.340013501] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051644.344377421] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051644.344977146] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051644.345487270] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051644.346692347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051644.347843467] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051644.444826995] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051644.445479448] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051644.446021404] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051644.447218801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051644.448415326] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051644.457688218] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051644.458729773] [sailbot.main_algo]: Target Bearing: -85.07554973457302 +[main_algo-3] [INFO] [1746051644.459653591] [sailbot.main_algo]: Heading Difference: 114.47054973457301 +[main_algo-3] [INFO] [1746051644.460985174] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051644.461838487] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051644.462604201] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051644.464123577] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051644.464309600] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051644.502803905] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903558 Long: -76.5027604 +[main_algo-3] [INFO] [1746051644.503488016] [sailbot.main_algo]: Distance to destination: 51.96462121820037 +[vectornav-1] [INFO] [1746051644.503857229] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.312000000000012, -1.147, 5.476) +[main_algo-3] [INFO] [1746051644.504538406] [sailbot.main_algo]: Target Bearing: -85.11570218741113 +[main_algo-3] [INFO] [1746051644.505436644] [sailbot.main_algo]: Heading Difference: 114.51070218741108 +[main_algo-3] [INFO] [1746051644.506673326] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051644.507497386] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051644.508325178] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051644.510350861] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051644.545025047] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051644.545677030] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051644.546585242] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051644.547535567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051644.548720389] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051644.585649302] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051644.587769465] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746051644.588775874] [sailbot.teensy]: Actual sail angle: 85 +[trim_sail-4] [INFO] [1746051644.588465048] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746051644.588983185] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051644.589665861] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051644.590559615] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051644.643950732] [sailbot.mux]: Published sail angle from algo: 85 +[mux-7] [INFO] [1746051644.644803959] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051644.644440136] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051644.645606142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051644.646373720] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051644.745057564] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051644.745702947] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051644.746502078] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051644.747638449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051644.748408307] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051644.835389545] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051644.837746296] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051644.837988567] [sailbot.teensy]: Wind angle: 342 +[teensy-2] [INFO] [1746051644.838946325] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746051644.839241563] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051644.839823618] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051644.840741022] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051644.844286762] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051644.844847648] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051644.846174563] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051644.846623461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051644.847821050] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051644.944881830] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051644.945572434] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051644.946183148] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051644.947375507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051644.948442672] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051644.957727174] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051644.958852465] [sailbot.main_algo]: Target Bearing: -85.11570218741113 +[main_algo-3] [INFO] [1746051644.959781375] [sailbot.main_algo]: Heading Difference: 116.42770218741111 +[main_algo-3] [INFO] [1746051644.961163478] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051644.962070383] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051644.962922068] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051644.964477925] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051644.964620545] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051645.002893844] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903573 Long: -76.50275982 +[vectornav-1] [INFO] [1746051645.004214727] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.03899999999999, -0.056, 5.339) +[main_algo-3] [INFO] [1746051645.004467920] [sailbot.main_algo]: Distance to destination: 51.976313770808446 +[main_algo-3] [INFO] [1746051645.005613048] [sailbot.main_algo]: Target Bearing: -85.1698806635846 +[main_algo-3] [INFO] [1746051645.006616446] [sailbot.main_algo]: Heading Difference: 116.4818806635846 +[main_algo-3] [INFO] [1746051645.008005821] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051645.008922741] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051645.009784921] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051645.011448743] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051645.044614127] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051645.045430360] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051645.045768872] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051645.047331826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051645.048392709] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051645.085264782] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051645.087601656] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746051645.088348291] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746051645.089143789] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051645.090479354] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051645.091388885] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051645.092258251] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051645.145080247] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051645.145563946] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051645.146632715] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051645.147550975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051645.148695346] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051645.245335889] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051645.245812461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051645.247156823] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051645.247919424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051645.248823818] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051645.335560623] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051645.337654376] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746051645.338881919] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746051645.340034564] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051645.340297937] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051645.341296145] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051645.342193979] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051645.344479533] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051645.344974786] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051645.346663170] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051645.346783732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051645.347883253] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051645.445067591] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051645.445641647] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051645.446417967] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051645.447592269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051645.448675297] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051645.457631938] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051645.458679374] [sailbot.main_algo]: Target Bearing: -85.1698806635846 +[main_algo-3] [INFO] [1746051645.459595149] [sailbot.main_algo]: Heading Difference: 117.20888066358458 +[main_algo-3] [INFO] [1746051645.460833026] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051645.461681979] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051645.462498816] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051645.464049072] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051645.464228745] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051645.502686124] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903579 Long: -76.50275946 +[main_algo-3] [INFO] [1746051645.503579769] [sailbot.main_algo]: Distance to destination: 51.97993705023333 +[vectornav-1] [INFO] [1746051645.503720907] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.173, 0.222, 5.815) +[main_algo-3] [INFO] [1746051645.504669686] [sailbot.main_algo]: Target Bearing: -85.20308608858711 +[main_algo-3] [INFO] [1746051645.505611532] [sailbot.main_algo]: Heading Difference: 117.24208608858709 +[main_algo-3] [INFO] [1746051645.507056380] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051645.507999234] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051645.508883748] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051645.510698203] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051645.545055037] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051645.545921462] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051645.546322731] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051645.547798774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051645.548808516] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051645.585361365] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051645.587574755] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051645.587792114] [sailbot.teensy]: Wind angle: 342 +[mux-7] [INFO] [1746051645.588428270] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051645.588770665] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051645.589674654] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051645.590527210] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051645.644991035] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051645.645702343] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051645.646510304] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051645.647552773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051645.648695557] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051645.745258205] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051645.745756072] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051645.746564447] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051645.747587128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051645.748665854] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051645.835086821] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051645.836901171] [sailbot.teensy]: Wind angle: 342 +[trim_sail-4] [INFO] [1746051645.837379905] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051645.837828987] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051645.838244136] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051645.838269393] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051645.838647381] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051645.844461117] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051645.845026772] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051645.845910688] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051645.846728272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051645.847826316] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051645.945322301] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051645.945845124] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051645.946794006] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051645.947915627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051645.949053177] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051645.957645932] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051645.958716987] [sailbot.main_algo]: Target Bearing: -85.20308608858711 +[main_algo-3] [INFO] [1746051645.959630543] [sailbot.main_algo]: Heading Difference: 118.3760860885871 +[main_algo-3] [INFO] [1746051645.960891404] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051645.961731718] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051645.962538957] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051645.964252401] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051645.964344247] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051646.002702915] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903582 Long: -76.50275952 +[main_algo-3] [INFO] [1746051646.003706867] [sailbot.main_algo]: Distance to destination: 51.98375143549285 +[vectornav-1] [INFO] [1746051646.004003251] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.11200000000002, -1.518, 5.66) +[main_algo-3] [INFO] [1746051646.004986387] [sailbot.main_algo]: Target Bearing: -85.19804843965014 +[main_algo-3] [INFO] [1746051646.006453515] [sailbot.main_algo]: Heading Difference: 118.37104843965017 +[main_algo-3] [INFO] [1746051646.007854093] [sailbot.main_algo]: Wind Direction: 342 +[main_algo-3] [INFO] [1746051646.008815415] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051646.009689064] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051646.011354307] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051646.044961407] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051646.045642219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051646.046237349] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051646.047502451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051646.048667028] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051646.085267060] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051646.087464412] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051646.087923937] [sailbot.teensy]: Wind angle: 341 +[mux-7] [INFO] [1746051646.088841968] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051646.088917216] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051646.089797505] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051646.090669295] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051646.145059932] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051646.145763134] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051646.146348783] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051646.147670634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051646.148683983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051646.245007856] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051646.245855447] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051646.246473167] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051646.247762831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051646.248830773] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051646.335119220] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051646.337440693] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746051646.337637599] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051646.338346787] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746051646.338408824] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051646.339220757] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051646.340050064] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051646.344433037] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051646.344900128] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051646.345500074] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051646.346582469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051646.347548569] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051646.445214996] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051646.445874689] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051646.446610444] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051646.447831515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051646.448342175] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051646.457523909] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051646.458501205] [sailbot.main_algo]: Target Bearing: -85.19804843965014 +[main_algo-3] [INFO] [1746051646.459389272] [sailbot.main_algo]: Heading Difference: 118.31004843965013 +[main_algo-3] [INFO] [1746051646.460638260] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051646.461452974] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051646.462242885] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051646.463778611] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051646.463778808] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051646.502698371] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903595 Long: -76.50275948 +[main_algo-3] [INFO] [1746051646.503638915] [sailbot.main_algo]: Distance to destination: 51.99778164445847 +[vectornav-1] [INFO] [1746051646.503729110] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.363999999999976, 0.42, 4.928) +[main_algo-3] [INFO] [1746051646.504720182] [sailbot.main_algo]: Target Bearing: -85.20326605754406 +[main_algo-3] [INFO] [1746051646.505689328] [sailbot.main_algo]: Heading Difference: 118.31526605754408 +[main_algo-3] [INFO] [1746051646.506988826] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051646.507859434] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051646.508753215] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051646.510317727] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051646.544846215] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051646.545474488] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051646.546045922] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051646.547226910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051646.548292325] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051646.585089574] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051646.587064810] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051646.587344829] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746051646.588411919] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746051646.588789784] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051646.589288394] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051646.590105681] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051646.644714315] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051646.645486822] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051646.645912633] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051646.647287569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051646.648642100] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051646.744336816] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051646.744883663] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051646.745394033] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051646.746609713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051646.747469529] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051646.835191718] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051646.836878608] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746051646.837541226] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746051646.838665141] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051646.839023765] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051646.839955487] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051646.840759777] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051646.844327127] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051646.844786977] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051646.845374273] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051646.846362916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051646.847277018] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051646.944920952] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051646.945845428] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051646.946578643] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051646.947801733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051646.948589594] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051646.957372784] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051646.958351746] [sailbot.main_algo]: Target Bearing: -85.20326605754406 +[main_algo-3] [INFO] [1746051646.959226962] [sailbot.main_algo]: Heading Difference: 117.56726605754403 +[main_algo-3] [INFO] [1746051646.960468591] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051646.961301104] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051646.962088532] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051646.963685426] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051646.963843903] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051647.002504235] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903609 Long: -76.50275951 +[main_algo-3] [INFO] [1746051647.003433753] [sailbot.main_algo]: Distance to destination: 52.01349974029889 +[vectornav-1] [INFO] [1746051647.003586357] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.839, -0.419, 5.601) +[main_algo-3] [INFO] [1746051647.004576447] [sailbot.main_algo]: Target Bearing: -85.2022970948839 +[main_algo-3] [INFO] [1746051647.005532416] [sailbot.main_algo]: Heading Difference: 117.56629709488391 +[main_algo-3] [INFO] [1746051647.006783170] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051647.007582838] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051647.008394777] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051647.009961762] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051647.044964078] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051647.045746661] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051647.046224485] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051647.047565597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051647.048574054] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051647.085290847] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051647.087077774] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746051647.087728680] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051647.087998959] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051647.088874350] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051647.089102877] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051647.089808786] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051647.144777241] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051647.145478611] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051647.146040895] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051647.147193435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051647.148334265] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051647.244906859] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051647.245560649] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051647.246168693] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051647.247581465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051647.248637705] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051647.335155811] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051647.337307015] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051647.338607695] [sailbot.teensy]: Wind angle: 341 +[mux-7] [INFO] [1746051647.338789363] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051647.339588202] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051647.340236110] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051647.340594355] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051647.344550096] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051647.345567974] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051647.345646989] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051647.347430017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051647.348479103] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051647.444807094] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051647.445872371] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051647.446002411] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051647.447598734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051647.448801747] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051647.457662843] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051647.458753670] [sailbot.main_algo]: Target Bearing: -85.2022970948839 +[main_algo-3] [INFO] [1746051647.459684498] [sailbot.main_algo]: Heading Difference: 117.04129709488393 +[main_algo-3] [INFO] [1746051647.460943962] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051647.461776055] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051647.462592048] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051647.464179024] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051647.464264893] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051647.502805514] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903609 Long: -76.50275982 +[main_algo-3] [INFO] [1746051647.503830776] [sailbot.main_algo]: Distance to destination: 52.01608725460465 +[vectornav-1] [INFO] [1746051647.504225671] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.973000000000013, -0.745, 5.686) +[main_algo-3] [INFO] [1746051647.505067210] [sailbot.main_algo]: Target Bearing: -85.17436544556112 +[main_algo-3] [INFO] [1746051647.506063303] [sailbot.main_algo]: Heading Difference: 117.01336544556113 +[main_algo-3] [INFO] [1746051647.507444194] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051647.508387209] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051647.509268062] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051647.511013270] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051647.544942266] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051647.545802708] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051647.546188273] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051647.547829163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051647.548869577] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051647.585098412] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051647.587074446] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051647.587383735] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746051647.588356411] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746051647.589115615] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051647.589338089] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051647.590262394] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051647.644779614] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051647.645393363] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051647.647419199] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051647.647580532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051647.648710730] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051647.745272006] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051647.745752750] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051647.746905763] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051647.748002096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051647.748467717] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051647.835314325] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051647.837018377] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746051647.837885949] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051647.838155276] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746051647.838489147] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051647.838559203] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051647.839118156] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051647.844501466] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051647.845477119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051647.845713021] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051647.847234770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051647.848248045] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051647.944796869] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051647.945446107] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051647.946272249] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051647.947413388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051647.948804635] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051647.957464005] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051647.958762645] [sailbot.main_algo]: Target Bearing: -85.17436544556112 +[main_algo-3] [INFO] [1746051647.959644275] [sailbot.main_algo]: Heading Difference: 117.14736544556115 +[main_algo-3] [INFO] [1746051647.960880865] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051647.961694874] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051647.962468948] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051647.964036915] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051647.964215156] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051648.002889938] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903606 Long: -76.50275982 +[vectornav-1] [INFO] [1746051648.004020677] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.82499999999999, -0.306, 5.024) +[main_algo-3] [INFO] [1746051648.004013937] [sailbot.main_algo]: Distance to destination: 52.012772785611645 +[main_algo-3] [INFO] [1746051648.005351395] [sailbot.main_algo]: Target Bearing: -85.17399197572725 +[main_algo-3] [INFO] [1746051648.006409637] [sailbot.main_algo]: Heading Difference: 117.14699197572725 +[main_algo-3] [INFO] [1746051648.007793868] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051648.008722511] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051648.009603291] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051648.011250746] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051648.044932841] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051648.045733340] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051648.046180882] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051648.047625392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051648.048747458] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051648.085506466] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051648.087360909] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746051648.088345260] [sailbot.teensy]: Actual sail angle: 85 +[trim_sail-4] [INFO] [1746051648.087700030] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746051648.088525405] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051648.089310200] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051648.090430944] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051648.144956142] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051648.145853779] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051648.146250816] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051648.147748775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051648.148845235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051648.244926942] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051648.245657325] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051648.246206634] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051648.247612143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051648.248493470] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051648.335129286] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051648.336823255] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746051648.337712213] [sailbot.teensy]: Actual sail angle: 85 +[trim_sail-4] [INFO] [1746051648.337843886] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051648.338657251] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051648.339540107] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051648.339755859] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746051648.344392649] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051648.345097892] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051648.345542174] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051648.346819474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051648.348089384] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051648.445319855] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051648.445967496] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051648.446829215] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051648.448430059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051648.449601488] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051648.457582217] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051648.458649394] [sailbot.main_algo]: Target Bearing: -85.17399197572725 +[main_algo-3] [INFO] [1746051648.459552246] [sailbot.main_algo]: Heading Difference: 116.99899197572722 +[main_algo-3] [INFO] [1746051648.460874529] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051648.461747169] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051648.462621401] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051648.464148871] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051648.464306924] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051648.502768941] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903637 Long: -76.50275993 +[main_algo-3] [INFO] [1746051648.503621573] [sailbot.main_algo]: Distance to destination: 52.04794297860349 +[vectornav-1] [INFO] [1746051648.503851211] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.23399999999998, -0.188, 5.195) +[main_algo-3] [INFO] [1746051648.504686162] [sailbot.main_algo]: Target Bearing: -85.16794413478962 +[main_algo-3] [INFO] [1746051648.505628179] [sailbot.main_algo]: Heading Difference: 116.99294413478958 +[main_algo-3] [INFO] [1746051648.506989509] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051648.507861463] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051648.508715925] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051648.510424594] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051648.544897383] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051648.545686304] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051648.546282010] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051648.547757728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051648.548947604] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051648.585388699] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051648.587860617] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051648.588458844] [sailbot.teensy]: Wind angle: 341 +[mux-7] [INFO] [1746051648.588644036] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051648.589464612] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051648.590360125] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051648.591174525] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051648.645165696] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051648.645724968] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051648.646821140] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051648.647810590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051648.648925880] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051648.744475667] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051648.745308065] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051648.745587552] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051648.747223023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051648.748463296] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051648.835397784] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051648.837106933] [sailbot.teensy]: Wind angle: 341 +[mux-7] [INFO] [1746051648.838681758] [sailbot.mux]: algo sail angle: 85 +[trim_sail-4] [INFO] [1746051648.838709036] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051648.838758949] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051648.839713135] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051648.840582745] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051648.844309452] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051648.844824242] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051648.845499111] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051648.846433829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051648.847481471] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051648.945195077] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051648.945887109] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051648.946739208] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051648.948050584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051648.949171821] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051648.957716926] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051648.958751142] [sailbot.main_algo]: Target Bearing: -85.16794413478962 +[main_algo-3] [INFO] [1746051648.959654082] [sailbot.main_algo]: Heading Difference: 117.40194413478957 +[main_algo-3] [INFO] [1746051648.960987052] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051648.961860315] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051648.962635189] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051648.964248564] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051648.964535949] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051649.002762137] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903639 Long: -76.50275982 +[vectornav-1] [INFO] [1746051649.003982575] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.634000000000015, -1.099, 5.94) +[main_algo-3] [INFO] [1746051649.004088646] [sailbot.main_algo]: Distance to destination: 52.04923206598312 +[main_algo-3] [INFO] [1746051649.005539761] [sailbot.main_algo]: Target Bearing: -85.17809752808836 +[main_algo-3] [INFO] [1746051649.006683045] [sailbot.main_algo]: Heading Difference: 117.41209752808834 +[main_algo-3] [INFO] [1746051649.008112294] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051649.009052397] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051649.009910164] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051649.011529457] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051649.045021083] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051649.046191092] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051649.046912493] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051649.048238573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051649.049363280] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051649.085145940] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051649.086769418] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746051649.087595458] [sailbot.teensy]: Actual sail angle: 85 +[trim_sail-4] [INFO] [1746051649.087175322] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746051649.087627429] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051649.088432114] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051649.089205908] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051649.144940508] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051649.145636808] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051649.146238876] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051649.147572824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051649.148658851] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051649.245172281] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051649.245865121] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051649.246497373] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051649.247599597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051649.248086185] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051649.335301901] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051649.337037979] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746051649.337579732] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051649.337978015] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746051649.338809066] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051649.338894638] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051649.339804017] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051649.344412916] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051649.345078924] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051649.345550293] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051649.346788030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051649.347908224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051649.445418160] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051649.446126798] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051649.446916283] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051649.448321775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051649.449515124] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051649.457516125] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051649.458521268] [sailbot.main_algo]: Target Bearing: -85.17809752808836 +[main_algo-3] [INFO] [1746051649.459432126] [sailbot.main_algo]: Heading Difference: 116.81209752808837 +[main_algo-3] [INFO] [1746051649.460670008] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051649.461515300] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051649.462330608] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051649.463955776] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051649.464047065] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051649.502956038] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903642 Long: -76.5027596 +[main_algo-3] [INFO] [1746051649.504049601] [sailbot.main_algo]: Distance to destination: 52.050710272833655 +[vectornav-1] [INFO] [1746051649.504272686] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.836000000000013, 0.553, 4.941) +[main_algo-3] [INFO] [1746051649.505326058] [sailbot.main_algo]: Target Bearing: -85.19827891046995 +[main_algo-3] [INFO] [1746051649.506347991] [sailbot.main_algo]: Heading Difference: 116.83227891047 +[main_algo-3] [INFO] [1746051649.507720060] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051649.508638501] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051649.509514131] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051649.511209601] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051649.544911059] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051649.545568244] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051649.546232859] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051649.547479155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051649.548630766] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051649.585222460] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051649.587361210] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746051649.587949620] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051649.588658257] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746051649.589793180] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051649.590651913] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051649.591476638] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051649.644858568] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051649.645510998] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051649.646339081] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051649.647322941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051649.648502224] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051649.744925681] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051649.745708669] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051649.746439102] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051649.747657132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051649.748849946] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051649.835636813] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051649.838345113] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051649.839103135] [sailbot.teensy]: Wind angle: 341 +[mux-7] [INFO] [1746051649.839862168] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051649.840051220] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051649.841417448] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051649.842364415] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051649.844637069] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051649.845223959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051649.845834790] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051649.847103276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051649.848316480] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051649.945391914] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051649.945895782] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051649.947085639] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051649.948039254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051649.949222692] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051649.957643082] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051649.958751596] [sailbot.main_algo]: Target Bearing: -85.19827891046995 +[main_algo-3] [INFO] [1746051649.959674108] [sailbot.main_algo]: Heading Difference: 116.03427891047 +[main_algo-3] [INFO] [1746051649.961023613] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051649.961927084] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051649.962765053] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051649.964494818] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051649.964628994] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051650.002751982] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903667 Long: -76.5027595 +[vectornav-1] [INFO] [1746051650.003867459] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.12900000000002, -1.319, 5.713) +[main_algo-3] [INFO] [1746051650.003827843] [sailbot.main_algo]: Distance to destination: 52.077499933289594 +[main_algo-3] [INFO] [1746051650.005129498] [sailbot.main_algo]: Target Bearing: -85.21037412804868 +[main_algo-3] [INFO] [1746051650.006108284] [sailbot.main_algo]: Heading Difference: 116.04637412804868 +[main_algo-3] [INFO] [1746051650.007516118] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051650.008443437] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051650.009277032] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051650.010817069] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051650.044915211] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051650.045606320] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051650.046213628] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051650.047568576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051650.048602445] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051650.085253733] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051650.087124316] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746051650.087727214] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051650.088099653] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051650.089070053] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051650.089990301] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051650.090123108] [sailbot.mux]: algo sail angle: 85 +[mux-7] [INFO] [1746051650.144903040] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051650.145651616] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051650.146686894] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051650.147869885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051650.149041319] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051650.244992751] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051650.245762995] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051650.246488945] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051650.247635172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051650.248694048] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051650.335430417] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051650.337678982] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051650.337838242] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746051650.338528484] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051650.338913656] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051650.339008088] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051650.339311814] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051650.344471794] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051650.345020461] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051650.345946234] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051650.346698321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051650.347743369] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051650.444939097] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051650.445646332] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051650.446241309] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051650.447564768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051650.448615495] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051650.457397935] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051650.458384291] [sailbot.main_algo]: Target Bearing: -85.21037412804868 +[main_algo-3] [INFO] [1746051650.459335731] [sailbot.main_algo]: Heading Difference: 116.33937412804869 +[main_algo-3] [INFO] [1746051650.460591849] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051650.461442060] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051650.462238396] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051650.463760426] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051650.463786815] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051650.502918460] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903682 Long: -76.50275925 +[vectornav-1] [INFO] [1746051650.504292451] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.055000000000007, -0.079, 4.618) +[main_algo-3] [INFO] [1746051650.504334834] [sailbot.main_algo]: Distance to destination: 52.09199921119137 +[main_algo-3] [INFO] [1746051650.505431880] [sailbot.main_algo]: Target Bearing: -85.23472020353178 +[main_algo-3] [INFO] [1746051650.506431526] [sailbot.main_algo]: Heading Difference: 116.36372020353178 +[main_algo-3] [INFO] [1746051650.507931518] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051650.508940337] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051650.509849139] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051650.511543222] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051650.544940493] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051650.545793007] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051650.546224879] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051650.547745102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051650.548800824] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051650.585260766] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051650.586912376] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746051650.587806607] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051650.588857353] [sailbot.teensy]: Actual tail angle: 40 +[trim_sail-4] [INFO] [1746051650.587492092] [sailbot.trim_sail]: Sail Angle: "85" +[mux-7] [INFO] [1746051650.587959553] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051650.589740557] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051650.645105755] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051650.645800706] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051650.646416904] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051650.648293623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051650.649468064] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051650.745175260] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051650.745930536] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051650.746608760] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051650.747625016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051650.748099350] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051650.834833852] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051650.836170370] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746051650.837089900] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051650.837943309] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051650.838473235] [sailbot.mux]: algo sail angle: 85 +[trim_sail-4] [INFO] [1746051650.838517081] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051650.838772178] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051650.844343643] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051650.844858733] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051650.845437719] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051650.846807071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051650.847866165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051650.944744987] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051650.945351288] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051650.945963230] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051650.947098541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051650.948203859] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051650.957495925] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051650.958836790] [sailbot.main_algo]: Target Bearing: -85.23472020353178 +[main_algo-3] [INFO] [1746051650.959720378] [sailbot.main_algo]: Heading Difference: 116.28972020353177 +[main_algo-3] [INFO] [1746051650.960955161] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051650.961809517] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051650.962590600] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051650.964174462] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051650.964239568] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051651.002734414] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903721 Long: -76.50275893 +[main_algo-3] [INFO] [1746051651.003856562] [sailbot.main_algo]: Distance to destination: 52.13245109861024 +[vectornav-1] [INFO] [1746051651.004221828] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.06099999999998, 0.162, 5.356) +[main_algo-3] [INFO] [1746051651.004947606] [sailbot.main_algo]: Target Bearing: -85.26828424725518 +[main_algo-3] [INFO] [1746051651.005916789] [sailbot.main_algo]: Heading Difference: 116.32328424725517 +[main_algo-3] [INFO] [1746051651.007241335] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051651.008104431] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051651.008968570] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051651.010595330] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051651.044987652] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051651.045743142] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051651.046264245] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051651.047610320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051651.048790291] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051651.085360351] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051651.087161911] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746051651.087895830] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051651.088127042] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051651.089039848] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051651.089148606] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051651.089879410] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051651.145038754] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051651.145654579] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051651.146333691] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051651.147734413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051651.148769430] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051651.244911004] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051651.245687607] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051651.246225877] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051651.247688902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051651.248956867] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051651.335502107] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051651.338202849] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051651.338437741] [sailbot.teensy]: Wind angle: 341 +[teensy-2] [INFO] [1746051651.338846635] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746051651.338917667] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051651.339197052] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051651.339584858] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051651.344634526] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051651.345580940] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051651.345889724] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051651.347352179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051651.348495087] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051651.445280460] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051651.446002185] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051651.446730642] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051651.448066062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051651.449245702] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051651.457749328] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051651.458852255] [sailbot.main_algo]: Target Bearing: -85.26828424725518 +[main_algo-3] [INFO] [1746051651.459796601] [sailbot.main_algo]: Heading Difference: 116.32928424725515 +[main_algo-3] [INFO] [1746051651.461148215] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051651.462065936] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051651.462932013] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051651.464510074] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051651.464549489] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051651.502903110] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903739 Long: -76.50275889 +[main_algo-3] [INFO] [1746051651.503935328] [sailbot.main_algo]: Distance to destination: 52.15201218705198 +[vectornav-1] [INFO] [1746051651.504114214] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.406999999999982, -1.015, 5.784) +[main_algo-3] [INFO] [1746051651.505292765] [sailbot.main_algo]: Target Bearing: -85.27407837936236 +[main_algo-3] [INFO] [1746051651.506225384] [sailbot.main_algo]: Heading Difference: 116.33507837936236 +[main_algo-3] [INFO] [1746051651.507638640] [sailbot.main_algo]: Wind Direction: 341 +[main_algo-3] [INFO] [1746051651.508571150] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051651.509416301] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051651.511132854] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051651.544980684] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051651.545797151] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051651.546269899] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051651.547766805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051651.548801108] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051651.585127913] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051651.586756707] [sailbot.teensy]: Wind angle: 341 +[trim_sail-4] [INFO] [1746051651.587073879] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051651.587602659] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746051651.587715240] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051651.588499956] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051651.589360574] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051651.645244664] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051651.645669021] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051651.646575423] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051651.647582395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051651.648679680] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051651.744948276] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051651.746365076] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051651.746402401] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051651.748220978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051651.749357699] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051651.835085198] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051651.837225994] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051651.837784568] [sailbot.teensy]: Wind angle: 340 +[mux-7] [INFO] [1746051651.838053665] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051651.838754962] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051651.839398357] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051651.839759192] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051651.844559623] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051651.844985486] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051651.845743584] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051651.846695812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051651.847729126] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051651.944884639] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051651.945404230] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051651.946138054] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051651.947208083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051651.948440002] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051651.957595596] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051651.958671095] [sailbot.main_algo]: Target Bearing: -85.27407837936236 +[main_algo-3] [INFO] [1746051651.959589656] [sailbot.main_algo]: Heading Difference: 116.68107837936236 +[main_algo-3] [INFO] [1746051651.960853819] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051651.961675677] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051651.962454339] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051651.963968670] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051651.964010080] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051652.002446491] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903753 Long: -76.50275873 +[main_algo-3] [INFO] [1746051652.003303356] [sailbot.main_algo]: Distance to destination: 52.1661685982269 +[vectornav-1] [INFO] [1746051652.003447133] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.21199999999999, -0.792, 4.678) +[main_algo-3] [INFO] [1746051652.004425745] [sailbot.main_algo]: Target Bearing: -85.29016322746757 +[main_algo-3] [INFO] [1746051652.005442095] [sailbot.main_algo]: Heading Difference: 116.69716322746757 +[main_algo-3] [INFO] [1746051652.006779709] [sailbot.main_algo]: Wind Direction: 340 +[main_algo-3] [INFO] [1746051652.007665977] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051652.008542046] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051652.010216302] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051652.044770221] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051652.045319485] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051652.046030954] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051652.047179151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051652.048310761] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051652.085215439] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051652.087281811] [sailbot.trim_sail]: Sail Angle: "85" +[teensy-2] [INFO] [1746051652.087415854] [sailbot.teensy]: Wind angle: 340 +[teensy-2] [INFO] [1746051652.088350711] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746051652.089060195] [sailbot.mux]: algo sail angle: 85 +[teensy-2] [INFO] [1746051652.089172597] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051652.090077722] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051652.144849462] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051652.145649322] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051652.146045981] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051652.147428676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051652.148446234] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051652.245359599] [sailbot.mux]: Published sail angle from algo: 85 +[teensy-2] [INFO] [1746051652.245792983] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051652.246758980] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051652.247628377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 +[teensy-2] [INFO] [1746051652.248714360] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051652.335673091] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051652.338230714] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746051652.338465547] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746051652.338727495] [sailbot.teensy]: Actual sail angle: 85 +[mux-7] [INFO] [1746051652.339056184] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051652.339158799] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051652.339533170] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051652.344486186] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051652.344951542] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051652.345969521] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051652.346720235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051652.347787646] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051652.445055047] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051652.445875725] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051652.446701980] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051652.447732739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051652.448782979] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051652.457541983] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051652.458560085] [sailbot.main_algo]: Target Bearing: -85.29016322746757 +[main_algo-3] [INFO] [1746051652.459481207] [sailbot.main_algo]: Heading Difference: 117.50216322746758 +[main_algo-3] [INFO] [1746051652.460868464] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051652.461686335] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051652.462464920] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051652.464190926] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051652.464449529] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051652.502925041] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903793 Long: -76.50275855 +[main_algo-3] [INFO] [1746051652.503960100] [sailbot.main_algo]: Distance to destination: 52.208897835457044 +[vectornav-1] [INFO] [1746051652.504194172] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.403999999999996, 0.36, 4.669) +[main_algo-3] [INFO] [1746051652.505269262] [sailbot.main_algo]: Target Bearing: -85.31118707473975 +[main_algo-3] [INFO] [1746051652.506367269] [sailbot.main_algo]: Heading Difference: 117.52318707473972 +[main_algo-3] [INFO] [1746051652.507747365] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051652.508635164] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051652.509473562] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051652.511278448] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051652.545048183] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051652.545624038] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051652.546438568] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051652.547536628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051652.548621289] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051652.585194614] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051652.587329096] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746051652.588459179] [sailbot.teensy]: Wind angle: 339 +[mux-7] [INFO] [1746051652.588741985] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051652.589433185] [sailbot.teensy]: Actual sail angle: 85 +[teensy-2] [INFO] [1746051652.590385574] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051652.591344428] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051652.645059596] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051652.645787901] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051652.646460449] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051652.647769901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051652.648828000] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051652.744729886] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051652.745498532] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051652.746035787] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051652.747331165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051652.748456764] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051652.835373137] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051652.837815222] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746051652.837828364] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746051652.838687320] [sailbot.teensy]: Actual sail angle: 80 +[mux-7] [INFO] [1746051652.838957188] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051652.839076647] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051652.839454103] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051652.844461583] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051652.845021420] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051652.845655087] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051652.846801897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051652.847842950] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051652.943792827] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051652.944095704] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051652.944386884] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051652.945109296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051652.945655093] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051652.956572559] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051652.957149988] [sailbot.main_algo]: Target Bearing: -85.31118707473975 +[main_algo-3] [INFO] [1746051652.957857475] [sailbot.main_algo]: Heading Difference: 116.71518707473973 +[main_algo-3] [INFO] [1746051652.958913875] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051652.959672795] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051652.960448350] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051652.962031638] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051652.963018318] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051653.002439839] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903779 Long: -76.50275897 +[main_algo-3] [INFO] [1746051653.003356101] [sailbot.main_algo]: Distance to destination: 52.19687091686478 +[vectornav-1] [INFO] [1746051653.003481271] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.564999999999998, -0.595, 5.452) +[main_algo-3] [INFO] [1746051653.004496118] [sailbot.main_algo]: Target Bearing: -85.27177186990266 +[main_algo-3] [INFO] [1746051653.005747147] [sailbot.main_algo]: Heading Difference: 116.67577186990263 +[main_algo-3] [INFO] [1746051653.007057276] [sailbot.main_algo]: Wind Direction: 339 +[main_algo-3] [INFO] [1746051653.007901565] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051653.008746560] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051653.010325540] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051653.045065706] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051653.045702664] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051653.046313699] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051653.048024754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051653.049303420] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051653.085284580] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051653.086981349] [sailbot.teensy]: Wind angle: 339 +[trim_sail-4] [INFO] [1746051653.087516199] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746051653.087865455] [sailbot.teensy]: Actual sail angle: 80 +[mux-7] [INFO] [1746051653.088648711] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051653.088688917] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051653.089500407] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051653.145083541] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051653.145707787] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051653.146546126] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051653.147829898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051653.149039144] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051653.244934591] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051653.245562333] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051653.246241035] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051653.247471885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051653.247992463] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051653.335730487] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051653.338707168] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746051653.338881298] [sailbot.teensy]: Wind angle: 338 +[mux-7] [INFO] [1746051653.339724716] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051653.339806134] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746051653.340739702] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051653.341614812] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051653.344416386] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051653.345011850] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051653.345573936] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051653.346785296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051653.347983429] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051653.445057641] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051653.445861097] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051653.446584385] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051653.447683761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051653.448781055] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051653.457439923] [sailbot.main_algo]: Wind Direction: 338 +[main_algo-3] [INFO] [1746051653.458483804] [sailbot.main_algo]: Target Bearing: -85.27177186990266 +[main_algo-3] [INFO] [1746051653.459361943] [sailbot.main_algo]: Heading Difference: 115.83677186990269 +[main_algo-3] [INFO] [1746051653.460606850] [sailbot.main_algo]: Wind Direction: 338 +[main_algo-3] [INFO] [1746051653.461439265] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051653.462260949] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051653.463780473] [sailbot.mux]: algo rudder angle: 15 +[main_algo-3] [INFO] [1746051653.463812408] [sailbot.main_algo]: Sailing +[vectornav-1] [INFO] [1746051653.502689748] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903783 Long: -76.50275925 +[main_algo-3] [INFO] [1746051653.503699401] [sailbot.main_algo]: Distance to destination: 52.203599557834046 +[vectornav-1] [INFO] [1746051653.503749110] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.668000000000006, -0.69, 6.017) +[main_algo-3] [INFO] [1746051653.505069557] [sailbot.main_algo]: Target Bearing: -85.24711870902989 +[main_algo-3] [INFO] [1746051653.505988521] [sailbot.main_algo]: Heading Difference: 115.8121187090299 +[main_algo-3] [INFO] [1746051653.507242981] [sailbot.main_algo]: Wind Direction: 338 +[main_algo-3] [INFO] [1746051653.508076219] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051653.508906096] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051653.510696572] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051653.545035125] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051653.545810040] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051653.546332565] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051653.547718643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051653.548784478] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051653.585144817] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051653.586869095] [sailbot.teensy]: Wind angle: 336 +[teensy-2] [INFO] [1746051653.587722967] [sailbot.teensy]: Actual sail angle: 80 +[trim_sail-4] [INFO] [1746051653.587108042] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746051653.588251893] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051653.588601051] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051653.589513954] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051653.645026715] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051653.645929129] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051653.646429546] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051653.647925290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051653.648986794] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051653.745006863] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051653.745898959] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051653.746361337] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051653.747701102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051653.748162973] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051653.835321558] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051653.837665170] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746051653.837887601] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746051653.838629470] [sailbot.teensy]: Actual sail angle: 80 +[mux-7] [INFO] [1746051653.839366393] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051653.839494364] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051653.840397896] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051653.844395074] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051653.845032245] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051653.845537701] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051653.846788793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051653.847782756] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051653.945080725] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051653.945714961] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051653.946452419] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051653.947534788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051653.947977275] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051653.957486359] [sailbot.main_algo]: Wind Direction: 334 +[main_algo-3] [INFO] [1746051653.958513986] [sailbot.main_algo]: Target Bearing: -85.24711870902989 +[main_algo-3] [INFO] [1746051653.959401833] [sailbot.main_algo]: Heading Difference: 115.91511870902991 +[main_algo-3] [INFO] [1746051653.960649734] [sailbot.main_algo]: Wind Direction: 334 +[main_algo-3] [INFO] [1746051653.961495301] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051653.962296400] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051653.963843859] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051653.963848864] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051654.002619441] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903779 Long: -76.50275929 +[vectornav-1] [INFO] [1746051654.003773384] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.500999999999976, -0.421, 6.189) +[main_algo-3] [INFO] [1746051654.004330195] [sailbot.main_algo]: Distance to destination: 52.199510341575376 +[main_algo-3] [INFO] [1746051654.005363374] [sailbot.main_algo]: Target Bearing: -85.24303698555251 +[main_algo-3] [INFO] [1746051654.006292948] [sailbot.main_algo]: Heading Difference: 115.91103698555253 +[main_algo-3] [INFO] [1746051654.007713301] [sailbot.main_algo]: Wind Direction: 334 +[main_algo-3] [INFO] [1746051654.008629291] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051654.009456001] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051654.011102259] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051654.044957911] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051654.045689742] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051654.046245259] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051654.047574606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051654.048741911] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051654.085415412] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051654.087667462] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746051654.087905043] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746051654.088822953] [sailbot.teensy]: Actual sail angle: 80 +[mux-7] [INFO] [1746051654.088865053] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051654.090038322] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051654.090943876] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051654.145098063] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051654.145839804] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051654.146568850] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051654.147949256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051654.149046912] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051654.245012668] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051654.245723695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051654.246353127] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051654.247965216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051654.248592621] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051654.335578904] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051654.338089473] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746051654.338583230] [sailbot.teensy]: Wind angle: 334 +[teensy-2] [INFO] [1746051654.339537853] [sailbot.teensy]: Actual sail angle: 80 +[mux-7] [INFO] [1746051654.339949632] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051654.340472008] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051654.341372170] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051654.344370345] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051654.344798695] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051654.345500208] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051654.346561405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051654.347611550] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051654.445306846] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051654.445879326] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051654.447651427] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051654.447930123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051654.449137840] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051654.457645526] [sailbot.main_algo]: Wind Direction: 334 +[main_algo-3] [INFO] [1746051654.458676880] [sailbot.main_algo]: Target Bearing: -85.24303698555251 +[main_algo-3] [INFO] [1746051654.459620929] [sailbot.main_algo]: Heading Difference: 115.7440369855525 +[main_algo-3] [INFO] [1746051654.460967479] [sailbot.main_algo]: Wind Direction: 334 +[main_algo-3] [INFO] [1746051654.461927643] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051654.462729287] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051654.464290278] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051654.464316364] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051654.502872634] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903792 Long: -76.50275953 +[main_algo-3] [INFO] [1746051654.503928444] [sailbot.main_algo]: Distance to destination: 52.21586245359276 +[vectornav-1] [INFO] [1746051654.504056039] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.624000000000024, -0.328, 4.176) +[main_algo-3] [INFO] [1746051654.505105776] [sailbot.main_algo]: Target Bearing: -85.22308684635526 +[main_algo-3] [INFO] [1746051654.506027212] [sailbot.main_algo]: Heading Difference: 115.72408684635525 +[main_algo-3] [INFO] [1746051654.507400352] [sailbot.main_algo]: Wind Direction: 334 +[main_algo-3] [INFO] [1746051654.508351865] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051654.509213605] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051654.511007657] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051654.545126513] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051654.545696337] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051654.546525687] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051654.547570961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051654.548617422] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051654.585574555] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051654.587505052] [sailbot.teensy]: Wind angle: 334 +[teensy-2] [INFO] [1746051654.588490040] [sailbot.teensy]: Actual sail angle: 80 +[trim_sail-4] [INFO] [1746051654.588357398] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746051654.589319463] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051654.589355593] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051654.590319060] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051654.644831218] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051654.645351731] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051654.646118014] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051654.647087809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051654.648170457] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051654.745345500] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051654.745835729] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051654.746884451] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051654.747844355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051654.748948472] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051654.835632693] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051654.838653207] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746051654.839251207] [sailbot.teensy]: Wind angle: 334 +[mux-7] [INFO] [1746051654.839545817] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051654.840266096] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746051654.841152257] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051654.842071962] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051654.844450468] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051654.845061037] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051654.845646917] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051654.846799823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051654.847940314] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051654.945036521] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051654.945878281] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051654.946340962] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051654.947648665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051654.948060554] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051654.957605394] [sailbot.main_algo]: Wind Direction: 334 +[main_algo-3] [INFO] [1746051654.958598657] [sailbot.main_algo]: Target Bearing: -85.22308684635526 +[main_algo-3] [INFO] [1746051654.959451289] [sailbot.main_algo]: Heading Difference: 115.8470868463553 +[main_algo-3] [INFO] [1746051654.960681046] [sailbot.main_algo]: Wind Direction: 334 +[main_algo-3] [INFO] [1746051654.961496232] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051654.962307882] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051654.963974104] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051654.964783000] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051655.001511921] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903802 Long: -76.50275977 +[vectornav-1] [INFO] [1746051655.002049307] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.87900000000002, 0.165, 5.504) +[main_algo-3] [INFO] [1746051655.002153515] [sailbot.main_algo]: Distance to destination: 52.22890625153487 +[main_algo-3] [INFO] [1746051655.002762703] [sailbot.main_algo]: Target Bearing: -85.2027791032073 +[main_algo-3] [INFO] [1746051655.003297959] [sailbot.main_algo]: Heading Difference: 115.82677910320734 +[main_algo-3] [INFO] [1746051655.004072818] [sailbot.main_algo]: Wind Direction: 334 +[main_algo-3] [INFO] [1746051655.004589483] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051655.005062833] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051655.006171573] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051655.044546091] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051655.045120598] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051655.045781414] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051655.046962397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051655.047870486] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051655.085505905] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051655.088249056] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746051655.088260836] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746051655.089224763] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051655.089274323] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746051655.090199312] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051655.091056672] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051655.144788036] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051655.145514907] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051655.146019209] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051655.147295947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051655.148404703] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051655.245374131] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051655.245921219] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051655.246825293] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051655.247894999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051655.248979897] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051655.335256190] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051655.337560402] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746051655.338190319] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746051655.338635189] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746051655.339051086] [sailbot.teensy]: Actual tail angle: 40 +[mux-7] [INFO] [1746051655.339299615] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051655.339429150] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051655.344673364] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051655.345841170] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051655.345986737] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051655.347730053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051655.348776165] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051655.445082223] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051655.445794235] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051655.446934919] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051655.447702483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051655.448270491] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051655.457935350] [sailbot.main_algo]: Wind Direction: 334 +[main_algo-3] [INFO] [1746051655.459009753] [sailbot.main_algo]: Target Bearing: -85.2027791032073 +[main_algo-3] [INFO] [1746051655.459965847] [sailbot.main_algo]: Heading Difference: 116.08177910320734 +[main_algo-3] [INFO] [1746051655.461300836] [sailbot.main_algo]: Wind Direction: 334 +[main_algo-3] [INFO] [1746051655.462187205] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051655.463026174] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051655.464651803] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051655.464758197] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051655.502480437] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903794 Long: -76.50275975 +[main_algo-3] [INFO] [1746051655.503649288] [sailbot.main_algo]: Distance to destination: 52.219900699691365 +[vectornav-1] [INFO] [1746051655.503979516] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.44799999999998, -1.292, 5.278) +[main_algo-3] [INFO] [1746051655.505123643] [sailbot.main_algo]: Target Bearing: -85.20358695480473 +[main_algo-3] [INFO] [1746051655.506102109] [sailbot.main_algo]: Heading Difference: 116.08258695480475 +[main_algo-3] [INFO] [1746051655.507532176] [sailbot.main_algo]: Wind Direction: 334 +[main_algo-3] [INFO] [1746051655.508412553] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051655.509208717] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051655.510815118] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051655.545499771] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051655.545615216] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051655.547024691] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051655.547484926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051655.548585762] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051655.585565137] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051655.587822130] [sailbot.teensy]: Wind angle: 334 +[trim_sail-4] [INFO] [1746051655.588419649] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746051655.588910072] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051655.589146491] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746051655.590232235] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051655.591085399] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051655.644955268] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051655.645707094] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051655.646469464] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051655.647707161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051655.648799417] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051655.744807806] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051655.745443209] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051655.746371461] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051655.747493777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051655.748082071] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051655.835567854] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051655.838027495] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746051655.838501336] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051655.838579046] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746051655.839629627] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746051655.840663684] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051655.841527119] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051655.844502329] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051655.845096834] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051655.845595594] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051655.846877633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051655.847961963] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051655.945132621] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051655.945806248] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051655.946598079] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051655.948424580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051655.949424398] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051655.957587670] [sailbot.main_algo]: Wind Direction: 333 +[main_algo-3] [INFO] [1746051655.958565905] [sailbot.main_algo]: Target Bearing: -85.20358695480473 +[main_algo-3] [INFO] [1746051655.959429696] [sailbot.main_algo]: Heading Difference: 115.65158695480471 +[main_algo-3] [INFO] [1746051655.960662840] [sailbot.main_algo]: Wind Direction: 333 +[main_algo-3] [INFO] [1746051655.961485348] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051655.962274913] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051655.963856019] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051655.964039032] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051656.002525229] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903799 Long: -76.50275964 +[main_algo-3] [INFO] [1746051656.003333798] [sailbot.main_algo]: Distance to destination: 52.224510224341394 +[vectornav-1] [INFO] [1746051656.003583615] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.05000000000001, -0.035, 4.846) +[main_algo-3] [INFO] [1746051656.004371094] [sailbot.main_algo]: Target Bearing: -85.21407548799961 +[main_algo-3] [INFO] [1746051656.005260648] [sailbot.main_algo]: Heading Difference: 115.66207548799957 +[main_algo-3] [INFO] [1746051656.006471930] [sailbot.main_algo]: Wind Direction: 333 +[main_algo-3] [INFO] [1746051656.007299770] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051656.008093416] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051656.009994723] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051656.044857326] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051656.045615178] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051656.046187674] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051656.047582002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051656.048809230] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051656.085599982] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051656.087592274] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746051656.088568106] [sailbot.teensy]: Actual sail angle: 80 +[trim_sail-4] [INFO] [1746051656.088177878] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746051656.088613835] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051656.089485376] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051656.090381084] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051656.145070326] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051656.145767379] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051656.146829935] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051656.147892015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051656.148502354] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051656.244642799] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051656.245279801] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051656.245761472] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051656.247073465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051656.248072127] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051656.335270400] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051656.337783292] [sailbot.trim_sail]: Sail Angle: "80" +[teensy-2] [INFO] [1746051656.338067531] [sailbot.teensy]: Wind angle: 333 +[mux-7] [INFO] [1746051656.338467515] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051656.339026964] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746051656.339942045] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051656.340817519] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051656.344631494] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051656.345079119] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051656.345787325] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051656.346809011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051656.347879048] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051656.445262819] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051656.446184380] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051656.447058628] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051656.448291232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051656.449440797] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051656.457645460] [sailbot.main_algo]: Wind Direction: 333 +[main_algo-3] [INFO] [1746051656.458669808] [sailbot.main_algo]: Target Bearing: -85.21407548799961 +[main_algo-3] [INFO] [1746051656.459626501] [sailbot.main_algo]: Heading Difference: 115.2640754879996 +[main_algo-3] [INFO] [1746051656.460965086] [sailbot.main_algo]: Wind Direction: 333 +[main_algo-3] [INFO] [1746051656.461847937] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051656.462759561] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051656.464411085] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051656.464639227] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051656.502919713] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903822 Long: -76.50275974 +[main_algo-3] [INFO] [1746051656.503942665] [sailbot.main_algo]: Distance to destination: 52.25075426373654 +[vectornav-1] [INFO] [1746051656.504174836] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.745000000000005, -0.019, 6.435) +[main_algo-3] [INFO] [1746051656.505644027] [sailbot.main_algo]: Target Bearing: -85.20793646996744 +[main_algo-3] [INFO] [1746051656.506610422] [sailbot.main_algo]: Heading Difference: 115.25793646996743 +[main_algo-3] [INFO] [1746051656.508276883] [sailbot.main_algo]: Wind Direction: 333 +[main_algo-3] [INFO] [1746051656.509228824] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051656.510090145] [sailbot.main_algo]: Rudder Angle: 15 +[mux-7] [INFO] [1746051656.511826267] [sailbot.mux]: algo rudder angle: 15 +[mux-7] [INFO] [1746051656.545106649] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051656.545700383] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051656.546477304] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051656.547680039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051656.548825779] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051656.585167786] [sailbot.teensy]: Check telemetry callback entered +[teensy-2] [INFO] [1746051656.586733784] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746051656.587589828] [sailbot.teensy]: Actual sail angle: 80 +[trim_sail-4] [INFO] [1746051656.587352429] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746051656.588147650] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051656.588417346] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051656.589227927] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051656.645110444] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051656.645828455] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051656.646454009] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051656.647875528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051656.648640911] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051656.744909386] [sailbot.mux]: Published sail angle from algo: 80 +[mux-7] [INFO] [1746051656.746234882] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051656.746281499] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051656.747991797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051656.749006522] [sailbot.teensy]: Message sent to servo +[teensy-2] [INFO] [1746051656.835470836] [sailbot.teensy]: Check telemetry callback entered +[trim_sail-4] [INFO] [1746051656.838365982] [sailbot.trim_sail]: Sail Angle: "80" +[mux-7] [INFO] [1746051656.838970380] [sailbot.mux]: algo sail angle: 80 +[teensy-2] [INFO] [1746051656.839060602] [sailbot.teensy]: Wind angle: 333 +[teensy-2] [INFO] [1746051656.839496741] [sailbot.teensy]: Actual sail angle: 80 +[teensy-2] [INFO] [1746051656.839881533] [sailbot.teensy]: Actual tail angle: 40 +[teensy-2] [INFO] [1746051656.840266383] [sailbot.teensy]: Dropped packets: 3 +[mux-7] [INFO] [1746051656.844636663] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051656.845199408] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051656.845897010] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051656.846962142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051656.848118545] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051656.945050247] [sailbot.mux]: Published sail angle from algo: 80 +[teensy-2] [INFO] [1746051656.945782101] [sailbot.teensy]: Message sent to servo +[mux-7] [INFO] [1746051656.946468322] [sailbot.mux]: Published rudder angle from algo: 15 +[teensy-2] [INFO] [1746051656.947848674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 +[teensy-2] [INFO] [1746051656.948508538] [sailbot.teensy]: Message sent to servo +[main_algo-3] [INFO] [1746051656.957479532] [sailbot.main_algo]: Wind Direction: 333 +[main_algo-3] [INFO] [1746051656.958598978] [sailbot.main_algo]: Target Bearing: -85.20793646996744 +[main_algo-3] [INFO] [1746051656.959728142] [sailbot.main_algo]: Heading Difference: 114.95293646996743 +[main_algo-3] [INFO] [1746051656.960986437] [sailbot.main_algo]: Wind Direction: 333 +[main_algo-3] [INFO] [1746051656.961826412] [sailbot.main_algo]: Rudder Angle Raw: 15.0 +[main_algo-3] [INFO] [1746051656.962610847] [sailbot.main_algo]: Rudder Angle: 15 +[main_algo-3] [INFO] [1746051656.964270470] [sailbot.main_algo]: Sailing +[mux-7] [INFO] [1746051656.964295970] [sailbot.mux]: algo rudder angle: 15 +[vectornav-1] [INFO] [1746051657.002735452] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903803 Long: -76.50275951 +[main_algo-3] [INFO] [1746051657.003633802] [sailbot.main_algo]: Distance to destination: 52.22785069836483 + \ No newline at end of file diff --git a/src/sailboat_main/sailboat_main/main_algo/main_algo.py b/src/sailboat_main/sailboat_main/main_algo/main_algo.py index 712ccc1..771cd6d 100644 --- a/src/sailboat_main/sailboat_main/main_algo/main_algo.py +++ b/src/sailboat_main/sailboat_main/main_algo/main_algo.py @@ -309,7 +309,9 @@ def calculate_rudder_angle(self): elif(self.in_nogo()): rudder_angle = np.sign(diff) * 25 # max rudder angle if we are in nogo zone else: - rudder_angle = np.sign(diff) * 15 # medium rudder angle otherwise (this will help maintain speed pre tack) + rudder_angle = (diff / 180.0) * 25 + + # rudder_angle = np.sign(diff) * 15 # medium rudder angle otherwise (this will help maintain speed pre tack) self.get_logger().info(f'Rudder Angle Raw: {rudder_angle}') From f9cb852c4635971d77274777bc4075cb4ac66287 Mon Sep 17 00:00:00 2001 From: Sean Zhang Date: Thu, 1 May 2025 16:19:42 -0400 Subject: [PATCH 4/4] Remove log file --- nohup.out | 226974 --------------------------------------------------- 1 file changed, 226974 deletions(-) delete mode 100644 nohup.out diff --git a/nohup.out b/nohup.out deleted file mode 100644 index 3ee4ec4..0000000 --- a/nohup.out +++ /dev/null @@ -1,226974 +0,0 @@ -[INFO] [launch]: All log files can be found below /home/cusail/.ros/log/2025-04-30-14-05-35-366855-cusail-WI-6-5602 -[INFO] [launch]: Default logging verbosity is set to INFO -[INFO] [vectornav-1]: process started with pid [5603] -[INFO] [teensy-2]: process started with pid [5605] -[INFO] [main_algo-3]: process started with pid [5607] -[INFO] [trim_sail-4]: process started with pid [5609] -[INFO] [waypoint_service-5]: process started with pid [5611] -[INFO] [radio-6]: process started with pid [5613] -[INFO] [mux-7]: process started with pid [5621] -[INFO] [rosbridge_websocket-8]: process started with pid [5623] -[teensy-2] [INFO] [1746036335.897584297] [sailbot.teensy]: Real mode enabled. Serial communication on /dev/serial/by-id/usb-Teensyduino_USB_Serial_15675220-if00. -[vectornav-1] [INFO] [1746036336.226826623] [sailbot.vectornav]: Launching Vectornav with real data -[waypoint_service-5] [WARN] [1746036336.326340806] [sailbot.waypoint_service]: No waypoints to publish -[waypoint_service-5] [INFO] [1746036336.326979921] [sailbot.waypoint_service]: Navigate service started -[rosbridge_websocket-8] [INFO] [1746036336.369518792] [rosbridge_websocket]: Rosbridge WebSocket server started on port 9090 -[main_algo-3] [INFO] [1746036336.396157473] [sailbot.main_algo]: Main-algo started successfully -[teensy-2] [INFO] [1746036336.413235406] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036336.414393088] [sailbot.teensy]: Wind angle: 89 -[teensy-2] [INFO] [1746036336.415100997] [sailbot.teensy]: Actual sail angle: 60 -[teensy-2] [INFO] [1746036336.416045803] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036336.416851377] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036336.431255165] [sailbot.mux]: algo sail angle: 45 -[trim_sail-4] [INFO] [1746036336.431326536] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746036336.468476845] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036336.469051956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036336.568433184] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036336.569167072] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036336.643676305] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036336.644944108] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (317.94, -1.328, 5.556) -[mux-7] [INFO] [1746036336.668481919] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036336.669002340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036336.768999395] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036336.769807352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036336.868866728] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036336.869586374] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036336.914396214] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036336.916324571] [sailbot.teensy]: Wind angle: 90 -[trim_sail-4] [INFO] [1746036336.916956974] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746036336.917340321] [sailbot.teensy]: Actual sail angle: 60 -[mux-7] [INFO] [1746036336.917532394] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036336.917802401] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036336.918156243] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036336.968772460] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036336.969327502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036337.068856557] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036337.069493247] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036337.142292982] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036337.143341589] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (317.961, -1.329, 5.54) -[mux-7] [INFO] [1746036337.168722264] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036337.169247062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036337.269002350] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036337.269556072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036337.368852619] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036337.369396522] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036337.414230836] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036337.415945410] [sailbot.teensy]: Wind angle: 89 -[trim_sail-4] [INFO] [1746036337.416645369] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746036337.416898809] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746036337.417100002] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036337.417776197] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036337.418625824] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036337.468856040] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036337.469546895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036337.568891752] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036337.569563082] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036337.642414089] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036337.643475375] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (317.985, -1.33, 5.56) -[mux-7] [INFO] [1746036337.668689549] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036337.669445581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036337.768916977] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036337.769608220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036337.868972869] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036337.869783656] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036337.914766250] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036337.917062128] [sailbot.teensy]: Wind angle: 90 -[trim_sail-4] [INFO] [1746036337.917795350] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746036337.918009315] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746036337.918041749] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036337.918404744] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036337.918757492] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036337.968854323] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036337.969538302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036338.068774224] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036338.069044678] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036338.143433227] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036338.144814716] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.01099999999997, -1.325, 5.559) -[mux-7] [INFO] [1746036338.168907249] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036338.169629090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036338.268634072] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036338.269296981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036338.368669857] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036338.368933161] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036338.414672877] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036338.416943499] [sailbot.teensy]: Wind angle: 90 -[trim_sail-4] [INFO] [1746036338.417599341] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746036338.418114610] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746036338.418234874] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036338.418611420] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036338.418963806] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036338.468981884] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036338.469631422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036338.568945630] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036338.569665490] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036338.643551450] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036338.644979012] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.029, -1.327, 5.624) -[mux-7] [INFO] [1746036338.668818204] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036338.669378645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036338.768861914] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036338.769462942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036338.869069313] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036338.869705534] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036338.914397766] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036338.916317545] [sailbot.teensy]: Wind angle: 89 -[trim_sail-4] [INFO] [1746036338.916899031] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746036338.917309346] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746036338.917506287] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036338.918058791] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036338.918404205] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036338.969014945] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036338.969634292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036339.068707324] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036339.069247318] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036339.142600451] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036339.143749233] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.06, -1.337, 5.593) -[mux-7] [INFO] [1746036339.168588966] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036339.169144323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036339.268636722] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036339.269186179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036339.368770587] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036339.369362342] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036339.414630383] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036339.416858800] [sailbot.teensy]: Wind angle: 90 -[trim_sail-4] [INFO] [1746036339.417411408] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746036339.417794851] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746036339.417842416] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036339.418201786] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036339.418613651] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036339.468640640] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036339.469120771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036339.568935031] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036339.569532261] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036339.643652140] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036339.644914528] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.082, -1.335, 5.613) -[mux-7] [INFO] [1746036339.669037452] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036339.669642963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036339.768817096] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036339.769485843] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036339.868799644] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036339.869421164] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036339.914505673] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036339.916570281] [sailbot.teensy]: Wind angle: 90 -[trim_sail-4] [INFO] [1746036339.917176785] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746036339.917605163] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746036339.917654525] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036339.918571185] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036339.919502358] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036339.968774145] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036339.969482386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036340.068798518] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036340.069456478] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036340.143139954] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036340.144804591] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.13800000000003, -1.33, 6.033) -[mux-7] [INFO] [1746036340.168547787] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036340.169290753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036340.269026574] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036340.269660235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036340.368654234] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036340.369306985] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036340.414242310] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036340.416071447] [sailbot.teensy]: Wind angle: 89 -[trim_sail-4] [INFO] [1746036340.416747129] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746036340.417014178] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746036340.417215505] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036340.417745000] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036340.418086248] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036340.468699096] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036340.469310819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036340.568863375] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036340.569338506] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036340.642389963] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036340.643437838] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.15, -1.316, 6.052) -[mux-7] [INFO] [1746036340.668657322] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036340.669147068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036340.768913882] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036340.769439312] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036340.869083951] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036340.869685383] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036340.914771659] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746036340.917783897] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746036340.918372375] [sailbot.teensy]: Wind angle: 89 -[mux-7] [INFO] [1746036340.918490470] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036340.919502598] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746036340.920370964] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036340.921216522] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036340.968904759] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036340.969480198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036341.068990492] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036341.069741302] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036341.143239577] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036341.144850722] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.156, -1.341, 5.997) -[mux-7] [INFO] [1746036341.168664203] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036341.169405546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036341.268856804] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036341.269577690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036341.368968487] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036341.369690584] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036341.414716221] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746036341.417618244] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746036341.417714246] [sailbot.teensy]: Wind angle: 89 -[mux-7] [INFO] [1746036341.418168652] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036341.418434346] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746036341.418804744] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036341.419123780] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036341.468778568] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036341.469498271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036341.568683880] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036341.569331551] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036341.643034022] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036341.644623648] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.149, -1.329, 6.016) -[mux-7] [INFO] [1746036341.668554826] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036341.669226664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036341.768911244] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036341.769565187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036341.868715100] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036341.871640890] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036341.913687526] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746036341.915568399] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746036341.916023513] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036341.916707547] [sailbot.teensy]: Wind angle: 89 -[teensy-2] [INFO] [1746036341.917905902] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746036341.918834367] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036341.919701836] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036341.968146853] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036341.968617195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036342.068736612] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036342.069405708] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036342.143532542] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036342.145215718] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.151, -1.332, 6.024) -[mux-7] [INFO] [1746036342.168721697] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036342.169414433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036342.269128506] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036342.269915362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036342.368804859] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036342.369518351] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036342.414717968] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746036342.417661371] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746036342.418361048] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036342.418672884] [sailbot.teensy]: Wind angle: 90 -[teensy-2] [INFO] [1746036342.419739345] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746036342.420596373] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036342.421414832] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036342.468433876] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036342.469054604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036342.568883034] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036342.569619099] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036342.643582157] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036342.645009038] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.147, -1.301, 6.061) -[mux-7] [INFO] [1746036342.668932104] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036342.669684969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036342.768898347] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036342.769615375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036342.868966545] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036342.869744107] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036342.914814689] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746036342.917836433] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746036342.918394742] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036342.918438066] [sailbot.teensy]: Wind angle: 89 -[teensy-2] [INFO] [1746036342.919547162] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746036342.920469744] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036342.921414440] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036342.968768979] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036342.969466304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036343.068644341] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036343.069344566] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036343.143142080] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036343.144431042] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.15999999999997, -1.275, 6.058) -[mux-7] [INFO] [1746036343.168495946] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036343.169162440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036343.268997563] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036343.269644473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036343.368703003] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036343.369363398] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036343.414205122] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036343.415979787] [sailbot.teensy]: Wind angle: 89 -[trim_sail-4] [INFO] [1746036343.416493443] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746036343.416968652] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746036343.417018518] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036343.417947762] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036343.418863526] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036343.468789794] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036343.469509908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036343.569021146] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036343.569781218] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036343.644163954] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036343.645924044] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.15700000000004, -1.289, 6.054) -[mux-7] [INFO] [1746036343.668975938] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036343.669683321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036343.768807547] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036343.769427262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036343.868911528] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036343.869655033] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036343.914838969] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036343.917293280] [sailbot.teensy]: Wind angle: 88 -[trim_sail-4] [INFO] [1746036343.917798830] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746036343.918409973] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746036343.918410863] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036343.919446607] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036343.920329936] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036343.968859314] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036343.969493413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036344.068706015] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036344.069414617] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036344.143297080] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036344.144467463] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.148, -1.258, 6.045) -[mux-7] [INFO] [1746036344.168599278] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036344.169233178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036344.268827520] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036344.269568704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036344.368875680] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036344.369556883] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036344.414197112] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036344.416165860] [sailbot.teensy]: Wind angle: 89 -[trim_sail-4] [INFO] [1746036344.416471083] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746036344.417100728] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746036344.417918061] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036344.417975120] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036344.418850324] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036344.468704379] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036344.469250666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036344.569015963] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036344.569487774] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036344.643328572] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036344.644891818] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.163, -1.249, 6.037) -[mux-7] [INFO] [1746036344.668810666] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036344.669318121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036344.769110336] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036344.769873997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036344.869117937] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036344.869987555] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036344.914729760] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746036344.917682517] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746036344.918289601] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036344.918381783] [sailbot.teensy]: Wind angle: 89 -[teensy-2] [INFO] [1746036344.919484482] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746036344.920388199] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036344.921339504] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036344.968658860] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036344.969236227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036345.068950405] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036345.069694939] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036345.143580847] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036345.145004760] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.082, -1.323, 5.871) -[mux-7] [INFO] [1746036345.168577583] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036345.169195806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036345.268978793] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036345.269701863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036345.368874512] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036345.369605434] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036345.414288816] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036345.416133071] [sailbot.teensy]: Wind angle: 89 -[trim_sail-4] [INFO] [1746036345.416527648] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746036345.417067498] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036345.417144759] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746036345.418116148] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036345.418987405] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036345.468785230] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036345.469483458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036345.568919067] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036345.569633611] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036345.642685236] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036345.643856795] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.07, -1.33, 5.741) -[mux-7] [INFO] [1746036345.668693912] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036345.669451219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036345.769046438] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036345.769873214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036345.869101213] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036345.869924753] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036345.914768323] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746036345.917659490] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746036345.917796098] [sailbot.teensy]: Wind angle: 89 -[mux-7] [INFO] [1746036345.917877068] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036345.918226320] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746036345.918798846] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036345.919761565] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036345.968974197] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036345.969474515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036346.069209582] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036346.069803039] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036346.143468712] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036346.145125342] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.06, -1.324, 5.555) -[mux-7] [INFO] [1746036346.168896477] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036346.169523792] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036346.268986432] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036346.269517441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036346.369134755] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036346.369741651] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036346.414974585] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036346.417635701] [sailbot.teensy]: Wind angle: 89 -[trim_sail-4] [INFO] [1746036346.417833889] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746036346.418053938] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746036346.418102529] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036346.418450509] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036346.418812473] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036346.468915260] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036346.469653288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036346.568737031] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036346.569298957] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036346.643302817] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036346.644625082] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.072, -1.327, 5.569) -[mux-7] [INFO] [1746036346.668789033] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036346.669402051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036346.769036512] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036346.769782148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036346.868615277] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036346.869227525] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036346.914059111] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036346.916010827] [sailbot.teensy]: Wind angle: 89 -[trim_sail-4] [INFO] [1746036346.916454261] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746036346.917138585] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036346.917314974] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746036346.918189340] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036346.919014939] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036346.968707025] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036346.969287580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036347.068939152] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036347.069609862] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036347.143201150] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036347.144860129] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.105, -1.321, 5.576) -[mux-7] [INFO] [1746036347.168586062] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036347.169191204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036347.269037611] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036347.269875380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036347.369066343] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036347.369861596] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036347.414849905] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746036347.418168188] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746036347.418225974] [sailbot.teensy]: Wind angle: 89 -[mux-7] [INFO] [1746036347.418971072] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036347.419383209] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746036347.420273951] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036347.421097067] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036347.468867166] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036347.469402087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036347.568933025] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036347.569640843] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036347.643292411] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036347.644838138] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.135, -1.315, 5.681) -[mux-7] [INFO] [1746036347.668690735] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036347.669376289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036347.768914796] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036347.769471131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036347.868806678] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036347.869354362] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036347.914119686] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036347.915851618] [sailbot.teensy]: Wind angle: 89 -[trim_sail-4] [INFO] [1746036347.916533115] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746036347.916781723] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746036347.917046463] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036347.917684071] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036347.918532114] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036347.968940641] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036347.969593583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036348.068703465] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036348.069342342] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036348.142415960] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036348.143518117] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.171, -1.295, 6.013) -[mux-7] [INFO] [1746036348.168847745] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036348.169538229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036348.268770387] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036348.269358180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036348.369139886] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036348.369852926] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036348.414536410] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746036348.417408619] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746036348.417432542] [sailbot.teensy]: Wind angle: 89 -[teensy-2] [INFO] [1746036348.418384278] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746036348.418503091] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036348.419176371] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036348.419570031] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036348.468899029] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036348.469624544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036348.568981762] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036348.569671786] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036348.643270289] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036348.644908822] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.216, -1.307, 5.809) -[mux-7] [INFO] [1746036348.668725819] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036348.669427864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036348.768859471] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036348.769541539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036348.868659702] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036348.869344543] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036348.914886507] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746036348.917848405] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746036348.918035495] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036348.918078927] [sailbot.teensy]: Wind angle: 89 -[teensy-2] [INFO] [1746036348.918495974] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746036348.919105909] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036348.919823157] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036348.968961467] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036348.969578817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036349.068833777] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036349.069449844] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036349.143502769] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036349.144830351] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.275, -1.31, 5.582) -[mux-7] [INFO] [1746036349.168852193] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036349.169495577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036349.268947537] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036349.269639443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036349.368984289] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036349.369657058] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036349.414057205] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036349.415846539] [sailbot.teensy]: Wind angle: 93 -[trim_sail-4] [INFO] [1746036349.416460575] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746036349.416798327] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746036349.417701812] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746036349.418206429] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746036349.418549972] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036349.468766534] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036349.469398249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036349.569223267] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036349.570036932] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036349.643378752] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036349.644894362] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.38, -1.305, 5.583) -[mux-7] [INFO] [1746036349.669022317] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036349.669820021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036349.768880061] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036349.769515969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036349.868309939] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746036349.868782633] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036349.913150337] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036349.913861800] [sailbot.teensy]: Wind angle: 170 -[teensy-2] [INFO] [1746036349.914265484] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746036349.914330265] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746036349.914658195] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036349.915056233] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036349.915523016] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746036349.968689931] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746036349.969183583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036350.069022746] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746036350.069603520] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036350.143351338] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036350.145033446] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.514, -1.305, 5.571) -[mux-7] [INFO] [1746036350.169077201] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746036350.169609652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036350.269032747] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746036350.269475693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036350.369238619] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746036350.369815175] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036350.414773459] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036350.417089519] [sailbot.teensy]: Wind angle: 203 -[trim_sail-4] [INFO] [1746036350.417588635] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746036350.417799339] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746036350.418260662] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746036350.418634916] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036350.418944989] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036350.468930019] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746036350.469530315] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036350.569034487] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746036350.569508087] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036350.643031564] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036350.644656734] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.522, -1.31, 5.569) -[mux-7] [INFO] [1746036350.668874590] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746036350.669436869] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036350.769488481] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746036350.770100647] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036350.869180556] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746036350.869868098] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036350.914658065] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036350.916874493] [sailbot.teensy]: Wind angle: 242 -[trim_sail-4] [INFO] [1746036350.917856523] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746036350.918017963] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746036350.918409270] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746036350.918451090] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746036350.918789852] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036350.968746649] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746036350.969379677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036351.068994403] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746036351.069706907] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036351.142582385] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036351.143615117] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.525, -1.311, 5.568) -[mux-7] [INFO] [1746036351.168484048] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746036351.169136345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036351.269031562] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746036351.269682117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036351.369012705] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746036351.369761990] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036351.414686791] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036351.417009840] [sailbot.teensy]: Wind angle: 141 -[trim_sail-4] [INFO] [1746036351.417767283] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746036351.418026893] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746036351.418320378] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746036351.418419569] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036351.418807506] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036351.468698992] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746036351.469430655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036351.568931370] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746036351.569598673] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036351.641367895] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036351.641833450] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.531, -1.309, 5.569) -[mux-7] [INFO] [1746036351.668990566] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746036351.669769356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036351.768878200] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746036351.769592648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036351.869049214] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746036351.869827287] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036351.914512620] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036351.917382684] [sailbot.teensy]: Wind angle: 107 -[trim_sail-4] [INFO] [1746036351.917493076] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746036351.917601338] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746036351.917845100] [sailbot.teensy]: Actual sail angle: 35 -[teensy-2] [INFO] [1746036351.918224150] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036351.918558091] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036351.969024414] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746036351.969628023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036352.068553629] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746036352.069248969] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036352.143503098] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036352.145261192] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.533, -1.309, 5.569) -[mux-7] [INFO] [1746036352.168748397] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746036352.169492415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036352.268934944] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746036352.269671995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036352.369046808] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746036352.369808323] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036352.414644708] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746036352.417608800] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746036352.418228259] [sailbot.teensy]: Wind angle: 112 -[teensy-2] [INFO] [1746036352.419156643] [sailbot.teensy]: Actual sail angle: 20 -[mux-7] [INFO] [1746036352.419290628] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746036352.419667815] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036352.420032320] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036352.468621275] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746036352.469235677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036352.569073652] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746036352.569828108] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036352.643844768] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036352.645367682] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.533, -1.312, 5.569) -[mux-7] [INFO] [1746036352.668882327] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746036352.669624930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036352.768947126] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746036352.769564267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036352.869248874] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746036352.870061160] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036352.914544485] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036352.916781398] [sailbot.teensy]: Wind angle: 112 -[trim_sail-4] [INFO] [1746036352.917384913] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746036352.917931276] [sailbot.teensy]: Actual sail angle: 40 -[mux-7] [INFO] [1746036352.918301156] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746036352.918483226] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036352.918859977] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036352.968919533] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746036352.969575604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036353.068841477] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746036353.069517101] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036353.143522291] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036353.144854290] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.53700000000003, -1.315, 5.565) -[mux-7] [INFO] [1746036353.168700120] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746036353.169354136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036353.268487992] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746036353.269107097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036353.368976346] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746036353.369689927] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036353.414507317] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036353.416938137] [sailbot.teensy]: Wind angle: 84 -[trim_sail-4] [INFO] [1746036353.417511447] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746036353.418059090] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746036353.418163209] [sailbot.teensy]: Actual sail angle: 35 -[teensy-2] [INFO] [1746036353.418557502] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036353.418916822] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036353.469021830] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746036353.469686440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036353.568813079] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746036353.569514059] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036353.642454917] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036353.643543611] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.54200000000003, -1.316, 5.566) -[mux-7] [INFO] [1746036353.668599109] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746036353.669276531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036353.768636848] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746036353.769312863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036353.869277609] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746036353.870098888] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036353.914557078] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036353.916847952] [sailbot.teensy]: Wind angle: 59 -[trim_sail-4] [INFO] [1746036353.917556955] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746036353.918226227] [sailbot.teensy]: Actual sail angle: 35 -[mux-7] [INFO] [1746036353.918312035] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746036353.918634663] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036353.919544984] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036353.968885766] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746036353.969586737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036354.069042437] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746036354.069789006] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036354.143639011] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036354.145420754] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.546, -1.317, 5.565) -[mux-7] [INFO] [1746036354.168810874] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746036354.169509037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036354.268691218] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746036354.269337417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036354.368750940] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746036354.369407172] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036354.414808421] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746036354.417814121] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746036354.418092180] [sailbot.teensy]: Wind angle: 351 -[teensy-2] [INFO] [1746036354.419136667] [sailbot.teensy]: Actual sail angle: 50 -[mux-7] [INFO] [1746036354.418481209] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746036354.420126513] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746036354.421020169] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036354.468900631] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746036354.469549945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036354.568850027] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746036354.569573612] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036354.642589294] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036354.643814327] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.54499999999996, -1.317, 5.563) -[mux-7] [INFO] [1746036354.668500863] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746036354.669061623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036354.768950537] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746036354.769625203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036354.868861046] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746036354.869591311] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036354.914726432] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036354.917032761] [sailbot.teensy]: Wind angle: 328 -[teensy-2] [INFO] [1746036354.918177603] [sailbot.teensy]: Actual sail angle: 60 -[trim_sail-4] [INFO] [1746036354.918560914] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746036354.919238562] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746036354.919656617] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746036354.920143619] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036354.968714866] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746036354.969321976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036355.068867278] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746036355.069519401] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036355.143447352] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036355.145223976] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.553, -1.314, 5.573) -[mux-7] [INFO] [1746036355.169007785] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746036355.169623158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036355.268548622] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746036355.269199924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036355.368853165] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746036355.369591399] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746036355.414819322] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746036355.417303700] [sailbot.teensy]: Wind angle: 286 -[teensy-2] [INFO] [1746036355.418476312] [sailbot.teensy]: Actual sail angle: 90 -[trim_sail-4] [INFO] [1746036355.417990838] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746036355.419449238] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746036355.419493176] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746036355.420400254] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746036355.468753444] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746036355.469394227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746036355.568412522] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746036355.568801762] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746036355.642433484] [sailbot.vectornav]: Publishing GPS Data: Lat: 0.0 Long: 0.0 -[vectornav-1] [INFO] [1746036355.643582437] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (318.558,[INFO] [launch]: All log files can be found below /home/cusail/.ros/log/2025-04-30-17-39-38-960820-cusail-WI-6-4345 -[INFO] [launch]: Default logging verbosity is set to INFO -[INFO] [vectornav-1]: process started with pid [4363] -[INFO] [teensy-2]: process started with pid [4365] -[INFO] [main_algo-3]: process started with pid [4367] -[INFO] [trim_sail-4]: process started with pid [4370] -[INFO] [waypoint_service-5]: process started with pid [4372] -[INFO] [radio-6]: process started with pid [4374] -[INFO] [mux-7]: process started with pid [4376] -[INFO] [rosbridge_websocket-8]: process started with pid [4378] -[teensy-2] [INFO] [1746049179.572384548] [sailbot.teensy]: Real mode enabled. Serial communication on /dev/serial/by-id/usb-Teensyduino_USB_Serial_15675220-if00. -[teensy-2] [INFO] [1746049179.834570977] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049179.835293261] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049179.836514745] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049179.836917475] [sailbot.teensy]: Actual tail angle: 0 -[teensy-2] [INFO] [1746049179.837298077] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746049179.858944274] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049179.861269937] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049179.863028319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049179.863235561] [sailbot.mux]: Published sail angle from algo: 90 -[mux-7] [INFO] [1746049179.943686695] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049179.945172258] [sailbot.teensy]: Message sent to servo -[waypoint_service-5] [WARN] [1746049179.978868391] [sailbot.waypoint_service]: No waypoints to publish -[waypoint_service-5] [INFO] [1746049179.980207664] [sailbot.waypoint_service]: Navigate service started -[main_algo-3] [INFO] [1746049179.997671679] [sailbot.main_algo]: Main-algo started successfully -[vectornav-1] [INFO] [1746049180.026788031] [sailbot.vectornav]: Launching Vectornav with real data -[mux-7] [INFO] [1746049180.043629008] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049180.044934013] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049180.084473318] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049180.085168889] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049180.085582857] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049180.085972837] [sailbot.teensy]: Actual tail angle: 0 -[trim_sail-4] [INFO] [1746049180.085823849] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049180.086359605] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049180.086904985] [sailbot.mux]: algo sail angle: 90 -[rosbridge_websocket-8] [INFO] [1746049180.087899749] [rosbridge_websocket]: Rosbridge WebSocket server started on port 9090 -[mux-7] [INFO] [1746049180.143672828] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049180.144300879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049180.243682062] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049180.243963609] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049180.334392908] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049180.335217941] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049180.335751049] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049180.335791010] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049180.336391329] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049180.336951202] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049180.336795610] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049180.343732170] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049180.344171421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049180.443702837] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049180.444074686] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049180.501471294] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973943 Long: -76.50298545 -[vectornav-1] [INFO] [1746049180.501994327] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.91100000000006, -3.312, 9.63) -[mux-7] [INFO] [1746049180.543735314] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049180.544280066] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049180.584392316] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049180.585467751] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049180.585762328] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049180.585958248] [sailbot.teensy]: Wind angle: 0 -[teensy-2] [INFO] [1746049180.586391977] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049180.586751684] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049180.587152577] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049180.643882272] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049180.644050262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049180.743801968] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049180.744293798] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049180.834513972] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049180.835424960] [sailbot.teensy]: Wind angle: 2 -[trim_sail-4] [INFO] [1746049180.835901819] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049180.836039560] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049180.836716653] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049180.837346966] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049180.837599227] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049180.843806637] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049180.844324567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049180.943633854] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049180.944753438] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049181.001369616] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973936 Long: -76.50298547 -[vectornav-1] [INFO] [1746049181.001883466] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.924, -3.312, 9.63) -[mux-7] [INFO] [1746049181.043728082] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049181.044289412] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049181.084453810] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049181.085194149] [sailbot.teensy]: Wind angle: 2 -[teensy-2] [INFO] [1746049181.085610558] [sailbot.teensy]: Actual sail angle: 90 -[trim_sail-4] [INFO] [1746049181.085710993] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049181.086012112] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049181.086402518] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049181.086801296] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049181.143735051] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049181.144049103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049181.243674612] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049181.243982972] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049181.334371210] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049181.335282272] [sailbot.teensy]: Wind angle: 2 -[trim_sail-4] [INFO] [1746049181.335655409] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049181.335850138] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746049181.336128247] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049181.336430084] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049181.337010946] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049181.343661100] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049181.343972452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049181.443737788] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049181.444109268] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049181.501319334] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973915 Long: -76.50298562 -[vectornav-1] [INFO] [1746049181.501777751] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.943, -3.315, 9.637) -[mux-7] [INFO] [1746049181.543821267] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049181.544208128] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049181.584431492] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049181.585376981] [sailbot.teensy]: Wind angle: 1 -[teensy-2] [INFO] [1746049181.586057200] [sailbot.teensy]: Actual sail angle: 90 -[trim_sail-4] [INFO] [1746049181.585823491] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049181.586266128] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049181.586689693] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049181.587320792] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049181.643714080] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049181.644246143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049181.743705888] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049181.744081134] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049181.834374601] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049181.835318625] [sailbot.teensy]: Wind angle: 2 -[trim_sail-4] [INFO] [1746049181.835877910] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049181.835921324] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049181.836572099] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049181.837202949] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049181.837515459] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049181.843830162] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049181.844393981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049181.943669411] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049181.944030642] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049182.001306669] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973932 Long: -76.50298533 -[vectornav-1] [INFO] [1746049182.001797240] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.962, -3.319, 9.631) -[mux-7] [INFO] [1746049182.043730834] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049182.044115502] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049182.084391577] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049182.085230676] [sailbot.teensy]: Wind angle: 0 -[teensy-2] [INFO] [1746049182.085740867] [sailbot.teensy]: Actual sail angle: 90 -[trim_sail-4] [INFO] [1746049182.085624353] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049182.085979408] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049182.086203622] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049182.086693175] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049182.143862223] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049182.144275128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049182.243700697] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049182.244050208] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049182.334402935] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049182.335209165] [sailbot.teensy]: Wind angle: 0 -[teensy-2] [INFO] [1746049182.335843543] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049182.336475541] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049182.337001226] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746049182.335959353] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049182.336843221] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049182.343893151] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049182.344330793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049182.443664282] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049182.443967384] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049182.501332563] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973934 Long: -76.50298551 -[vectornav-1] [INFO] [1746049182.501783692] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.98699999999997, -3.307, 9.634) -[mux-7] [INFO] [1746049182.543761555] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049182.544195816] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049182.584475558] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049182.585344378] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049182.585905777] [sailbot.teensy]: Actual sail angle: 90 -[trim_sail-4] [INFO] [1746049182.585833190] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049182.586149554] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049182.586459920] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049182.587042026] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049182.643838592] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049182.644249481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049182.743687658] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049182.744047511] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049182.834447858] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049182.835148199] [sailbot.teensy]: Wind angle: 356 -[teensy-2] [INFO] [1746049182.835556423] [sailbot.teensy]: Actual sail angle: 90 -[trim_sail-4] [INFO] [1746049182.835464355] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049182.835697481] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049182.835938598] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049182.836350406] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049182.843670942] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049182.843968071] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049182.943686384] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049182.943999572] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049183.001469354] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973946 Long: -76.50298569 -[vectornav-1] [INFO] [1746049183.002092768] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.001, -3.312, 9.635) -[mux-7] [INFO] [1746049183.043684197] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049183.084508092] [sailbot.teensy]: Check telemetry callback entered -[mux-7] [INFO] [1746049183.143605068] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049183.226057362] [sailbot.teensy]: Wind angle: 353 -[trim_sail-4] [INFO] [1746049183.226601242] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049183.226659417] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049183.227308265] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049183.227987304] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049183.228287085] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049183.229758150] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049183.231462811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049183.243606914] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049183.244033801] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049183.334399696] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049183.335148639] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049183.335438447] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049183.335582951] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049183.336005921] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049183.336431064] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049183.336486325] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049183.343647699] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049183.344026721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049183.443658258] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049183.444147731] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049183.501379449] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697395 Long: -76.50298586 -[vectornav-1] [INFO] [1746049183.501841365] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.024, -3.31, 9.647) -[mux-7] [INFO] [1746049183.543660527] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049183.544071934] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049183.584388417] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049183.585413114] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049183.585716810] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049183.586225551] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049183.587205416] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049183.587866425] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049183.588534259] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049183.643768341] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049183.644184897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049183.743739937] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049183.744103331] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049183.834380375] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049183.835098324] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049183.835444659] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049183.835512080] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746049183.835757724] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049183.835903640] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049183.836415184] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049183.843677159] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049183.844000249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049183.943685775] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049183.944005810] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049184.001461281] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973969 Long: -76.5029858 -[vectornav-1] [INFO] [1746049184.002086898] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.034, -3.315, 9.628) -[mux-7] [INFO] [1746049184.043667867] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049184.044001103] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049184.084442243] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049184.085355447] [sailbot.teensy]: Wind angle: 351 -[teensy-2] [INFO] [1746049184.085860203] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049184.086336995] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049184.086830333] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746049184.085805152] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049184.087088351] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049184.143654953] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049184.144716356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049184.243661939] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049184.244056384] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049184.334440261] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049184.335419904] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049184.335962459] [sailbot.teensy]: Actual sail angle: 90 -[trim_sail-4] [INFO] [1746049184.335832019] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049184.336606340] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049184.337166581] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049184.337379183] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049184.343657276] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049184.344074945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049184.443647786] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049184.444015403] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049184.501436314] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974002 Long: -76.5029856 -[vectornav-1] [INFO] [1746049184.502027473] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.66700000000003, -3.31, 9.634) -[mux-7] [INFO] [1746049184.543790468] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049184.544227236] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049184.584530129] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049184.585304347] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049184.585770479] [sailbot.teensy]: Actual sail angle: 90 -[trim_sail-4] [INFO] [1746049184.586092045] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049184.586172299] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049184.586566626] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049184.587437811] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746049184.643661510] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049184.643981191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049184.743634738] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049184.743984646] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049184.834410547] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049184.835293505] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049184.835888743] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049184.836490936] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049184.836046878] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049184.837053948] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049184.837294535] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746049184.843862195] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049184.844436268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049184.943691314] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049184.944023777] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049185.001433237] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973982 Long: -76.50298582 -[vectornav-1] [INFO] [1746049185.001913101] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.59400000000005, -3.307, 9.64) -[mux-7] [INFO] [1746049185.043782477] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049185.044272949] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049185.084507446] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049185.085260798] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746049185.085866177] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049185.086189789] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049185.086197218] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746049185.086650188] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049185.087082276] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049185.143724144] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049185.144131246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049185.243631954] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049185.243976077] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049185.334413824] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049185.335395891] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049185.335961217] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746049185.336629169] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049185.337230998] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746049185.337257254] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049185.337563417] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746049185.343852780] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049185.344298581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049185.443676171] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049185.444064050] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049185.501397162] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973973 Long: -76.5029858 -[vectornav-1] [INFO] [1746049185.501872703] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.60900000000004, -3.303, 9.635) -[mux-7] [INFO] [1746049185.543639001] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049185.544033536] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049185.584420798] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049185.585137818] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049185.585532856] [sailbot.teensy]: Actual sail angle: 85 -[trim_sail-4] [INFO] [1746049185.585527716] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049185.585910894] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049185.586112378] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049185.586321717] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049185.643738581] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049185.644172106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049185.743628197] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049185.744010303] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049185.834421508] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049185.835192232] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049185.835672610] [sailbot.teensy]: Actual sail angle: 85 -[trim_sail-4] [INFO] [1746049185.835601324] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049185.836132666] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049185.836606231] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049185.836805308] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746049185.843555174] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049185.843878152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049185.943631361] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049185.944034397] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049186.003071145] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973976 Long: -76.50298584 -[vectornav-1] [INFO] [1746049186.004328435] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.624, -3.298, 9.636) -[mux-7] [INFO] [1746049186.044936118] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049186.045695207] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049186.085783087] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049186.087969282] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049186.088709705] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049186.089123087] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746049186.090019851] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049186.090038061] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049186.090805146] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049186.147026856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049186.148342337] [sailbot.mux]: Published sail angle from algo: 85 -[mux-7] [INFO] [1746049186.244661331] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049186.245279307] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049186.335523697] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049186.337401055] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049186.337914533] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049186.338493479] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049186.339227992] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746049186.339549197] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049186.339882953] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049186.344450313] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049186.345017161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049186.444776103] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049186.445408547] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049186.503211000] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697399 Long: -76.50298563 -[vectornav-1] [INFO] [1746049186.504638551] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.631, -3.302, 9.623) -[mux-7] [INFO] [1746049186.544887164] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049186.545517334] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049186.585831248] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049186.588573024] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049186.588657974] [sailbot.teensy]: Wind angle: 341 -[mux-7] [INFO] [1746049186.589217424] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049186.589648560] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746049186.590528662] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049186.591334500] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049186.645241853] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049186.645850642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049186.745024007] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049186.745562003] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049186.835924225] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049186.838178037] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049186.838832105] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049186.839772097] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049186.840800728] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746049186.841812987] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049186.842713437] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049186.844306660] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049186.844819367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049186.945470267] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049186.945987870] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049187.002985632] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973962 Long: -76.50298565 -[vectornav-1] [INFO] [1746049187.004329128] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.631, -3.27, 9.555) -[mux-7] [INFO] [1746049187.045198388] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049187.045990791] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049187.084400178] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049187.085140743] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049187.085565576] [sailbot.teensy]: Actual sail angle: 85 -[trim_sail-4] [INFO] [1746049187.085842833] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049187.085958321] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049187.086351459] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049187.086943611] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746049187.143676151] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049187.144064766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049187.243905449] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049187.244403271] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049187.335714202] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049187.337810633] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049187.338621337] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049187.338833597] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746049187.339213421] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049187.339263213] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049187.339568391] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049187.344761432] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049187.345468225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049187.445090735] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049187.445841213] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049187.503431331] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973965 Long: -76.50298561 -[vectornav-1] [INFO] [1746049187.504817630] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.648, -3.268, 9.582) -[mux-7] [INFO] [1746049187.545290838] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049187.546030151] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049187.585622527] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049187.587424613] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049187.588132341] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049187.588435475] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746049187.588669564] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049187.589572432] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049187.590483401] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049187.645093771] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049187.645805567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049187.745045824] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049187.745734700] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049187.835310320] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049187.837082038] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049187.838086601] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746049187.838168075] [sailbot.mux]: algo sail angle: 85 -[trim_sail-4] [INFO] [1746049187.838544889] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049187.838994139] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049187.839483200] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049187.844791346] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049187.845398977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049187.944853340] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049187.945548828] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049188.003072452] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973981 Long: -76.50298554 -[vectornav-1] [INFO] [1746049188.004370437] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.62200000000007, -3.236, 9.53) -[mux-7] [INFO] [1746049188.045318044] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049188.045835588] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049188.085258472] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049188.086916278] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049188.087847595] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746049188.087979666] [sailbot.mux]: algo sail angle: 85 -[trim_sail-4] [INFO] [1746049188.088422152] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049188.088690771] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049188.089055979] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049188.144837930] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049188.145383061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049188.245128434] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049188.245716239] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049188.335888960] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049188.338160433] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049188.338717546] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049188.339035502] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049188.339278428] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746049188.339629724] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049188.340103366] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049188.344496554] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049188.344893457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049188.444950262] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049188.445571363] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049188.503000854] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973971 Long: -76.50298561 -[vectornav-1] [INFO] [1746049188.504343914] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.65200000000004, -3.204, 9.626) -[mux-7] [INFO] [1746049188.545267974] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049188.545933875] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049188.586108290] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049188.588443414] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049188.589284376] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049188.589597563] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746049188.589950393] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049188.590591908] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049188.591512945] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049188.644289108] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049188.644714272] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049188.744926108] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049188.745483243] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049188.835410981] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049188.837319760] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049188.838200479] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049188.838932508] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049188.839430094] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746049188.840341225] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049188.841192605] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049188.844374454] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049188.844931936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049188.945174476] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049188.945852806] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049189.003330319] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973968 Long: -76.50298564 -[vectornav-1] [INFO] [1746049189.004855099] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.65200000000004, -3.2, 9.628) -[mux-7] [INFO] [1746049189.044976690] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049189.045601477] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049189.085360882] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049189.087203373] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049189.087676864] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049189.088108679] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746049189.088716821] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049189.088876208] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049189.089226213] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049189.144374565] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049189.144949767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049189.245336633] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049189.246127968] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049189.336008345] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049189.338441768] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049189.339229817] [sailbot.teensy]: Actual sail angle: 85 -[trim_sail-4] [INFO] [1746049189.339248421] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049189.339493079] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049189.339627435] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049189.340002505] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049189.344520735] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049189.345041336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049189.445500979] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049189.446081336] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049189.503336562] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973976 Long: -76.50298564 -[vectornav-1] [INFO] [1746049189.504901623] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.65599999999995, -3.23, 9.469) -[mux-7] [INFO] [1746049189.544953620] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049189.545547868] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049189.585575052] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049189.587491907] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746049189.587992651] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049189.588443274] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746049189.588473205] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049189.589038462] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049189.589384672] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049189.645147116] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049189.645858212] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049189.745487934] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049189.746174000] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049189.835728848] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049189.837724756] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049189.838759833] [sailbot.teensy]: Actual sail angle: 85 -[trim_sail-4] [INFO] [1746049189.838901876] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049189.839149489] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049189.839223130] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049189.839523097] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049189.844504197] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049189.845056051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049189.944899912] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049189.945526395] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049190.003075163] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973981 Long: -76.50298561 -[vectornav-1] [INFO] [1746049190.004418943] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.688, -3.233, 9.53) -[mux-7] [INFO] [1746049190.045123596] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049190.045715900] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049190.085317542] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049190.086980705] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049190.087548307] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049190.087921989] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746049190.088848080] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049190.089363352] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049190.090291420] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049190.145061878] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049190.145608873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049190.244898141] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049190.245567129] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049190.335524379] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049190.337665537] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049190.338400982] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049190.338818362] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049190.339010208] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746049190.339406945] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049190.339764282] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049190.344263980] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049190.344846788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049190.445321781] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049190.446004813] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049190.502894056] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973986 Long: -76.50298557 -[vectornav-1] [INFO] [1746049190.504183738] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.693, -3.224, 9.53) -[mux-7] [INFO] [1746049190.544817582] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049190.545541027] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049190.585329217] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049190.586972170] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049190.587884199] [sailbot.teensy]: Actual sail angle: 85 -[trim_sail-4] [INFO] [1746049190.588653685] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049190.588772383] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049190.589687344] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049190.590325134] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746049190.644929879] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049190.645507744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049190.745329233] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049190.745893729] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049190.835396311] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049190.837157717] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049190.837793126] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049190.838119954] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746049190.838886124] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049190.838986156] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049190.839816445] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049190.844322994] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049190.844928654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049190.945043718] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049190.945626753] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049191.003211573] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973967 Long: -76.50298534 -[vectornav-1] [INFO] [1746049191.004673547] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.679, -3.201, 9.533) -[mux-7] [INFO] [1746049191.045126215] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049191.045873263] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049191.085341597] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049191.087059117] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049191.087800390] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049191.087971317] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746049191.088192755] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049191.088885328] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049191.089740646] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049191.144891468] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049191.145480602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049191.245074614] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049191.245705053] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049191.335341618] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049191.337849053] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049191.338523750] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049191.339609284] [sailbot.teensy]: Wind angle: 346 -[teensy-2] [INFO] [1746049191.340729055] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746049191.341651872] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049191.342542814] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049191.345278640] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049191.345795425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049191.444059044] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049191.444496456] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049191.502620027] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973975 Long: -76.50298531 -[vectornav-1] [INFO] [1746049191.503727239] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.698, -3.199, 9.549) -[mux-7] [INFO] [1746049191.545040194] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049191.545774210] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049191.585230684] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049191.586697831] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049191.587195659] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049191.587577305] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746049191.588474630] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049191.588511221] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049191.589333628] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049191.645478845] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049191.646242964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049191.745317749] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049191.745743043] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049191.835860953] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049191.838042507] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049191.838542384] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049191.839105592] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746049191.839879399] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049191.840015069] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049191.840919465] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049191.844329940] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049191.844920929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049191.944963293] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049191.945645504] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049192.003137654] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973964 Long: -76.50298515 -[vectornav-1] [INFO] [1746049192.004513578] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.696, -3.227, 9.444) -[mux-7] [INFO] [1746049192.045010421] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049192.045715905] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049192.085413461] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049192.087304809] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049192.087927672] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049192.088279212] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746049192.088623455] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049192.089152599] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049192.089980861] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049192.144704333] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049192.145291103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049192.245177199] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049192.245909441] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049192.335414742] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049192.337333396] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049192.338164434] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049192.338315553] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746049192.339117389] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049192.339128655] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049192.339492251] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049192.344313608] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049192.344947950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049192.445098049] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049192.445831604] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049192.502468303] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973964 Long: -76.50298508 -[vectornav-1] [INFO] [1746049192.503455311] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.722, -3.292, 9.564) -[mux-7] [INFO] [1746049192.544986900] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049192.545647688] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049192.585482934] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049192.587364605] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049192.587931739] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049192.588379386] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746049192.588496302] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049192.589311510] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049192.590173152] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049192.645098689] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049192.645893186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049192.745202808] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049192.745813215] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049192.835460997] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049192.837799382] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049192.837999794] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049192.838251410] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049192.839023106] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049192.839602467] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049192.839998635] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049192.844420061] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049192.844899072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049192.945080159] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049192.945701885] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049193.003034651] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973962 Long: -76.50298494 -[vectornav-1] [INFO] [1746049193.004570548] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.736, -3.294, 9.553) -[mux-7] [INFO] [1746049193.045043589] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049193.045759097] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049193.085548193] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049193.087864996] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049193.087918236] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049193.088569075] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049193.088884312] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049193.089751235] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049193.090571640] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049193.144948422] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049193.145544068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049193.245080819] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049193.245741381] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049193.335911890] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049193.338718862] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049193.338744605] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049193.339003828] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049193.339144067] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049193.339535580] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049193.339896635] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049193.344405064] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049193.344815437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049193.445172767] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049193.445804681] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049193.503106990] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973947 Long: -76.50298499 -[vectornav-1] [INFO] [1746049193.504512038] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.74800000000005, -3.286, 9.571) -[mux-7] [INFO] [1746049193.545158039] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049193.545727010] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049193.585658474] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049193.588060717] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049193.588333582] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049193.588809809] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049193.589221697] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049193.589727155] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049193.590030002] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049193.645059153] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049193.645701911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049193.745202175] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049193.745934408] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049193.835428220] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049193.837315629] [sailbot.teensy]: Wind angle: 358 -[trim_sail-4] [INFO] [1746049193.837829194] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049193.838298611] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746049193.838502869] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049193.839183917] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049193.840089477] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049193.844299969] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049193.844825922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049193.944716791] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049193.945366508] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049194.003018794] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973944 Long: -76.50298486 -[vectornav-1] [INFO] [1746049194.004504278] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.76800000000003, -3.287, 9.572) -[mux-7] [INFO] [1746049194.044896938] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746049194.045500673] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049194.085452644] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049194.087365197] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049194.087800400] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049194.088340937] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746049194.088733657] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049194.088847178] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049194.089217252] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049194.145049350] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049194.145587228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049194.245022328] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049194.245678875] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049194.335473022] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049194.337220903] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049194.338126263] [sailbot.teensy]: Actual sail angle: 90 -[trim_sail-4] [INFO] [1746049194.337801108] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049194.338315055] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049194.338953123] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049194.339752218] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049194.344227293] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049194.344719853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049194.444943257] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049194.445528943] [sailbot.teensy]: Message sent to servo -[rosbridge_websocket-8] [INFO] [1746049194.496082806] [rosbridge_websocket]: Calling services in existing thread -[rosbridge_websocket-8] [INFO] [1746049194.497304872] [rosbridge_websocket]: Sending action goals in existing thread -[rosbridge_websocket-8] [INFO] [1746049194.499167823] [rosbridge_websocket]: Client connected. 1 clients total. -[vectornav-1] [INFO] [1746049194.502046626] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973944 Long: -76.50298476 -[vectornav-1] [INFO] [1746049194.502924202] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.769, -3.283, 9.567) -[mux-7] [INFO] [1746049194.544823018] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049194.545581444] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049194.585259770] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049194.587404298] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049194.587619043] [sailbot.teensy]: Wind angle: 340 -[mux-7] [INFO] [1746049194.587860689] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049194.588507738] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746049194.589447174] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049194.590034873] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049194.644812244] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049194.645429311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049194.745210811] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049194.745826522] [sailbot.teensy]: Message sent to servo -[rosbridge_websocket-8] [INFO] [1746049194.787087485] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/algo_rudder -[rosbridge_websocket-8] [INFO] [1746049194.790313019] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/algo_sail -[rosbridge_websocket-8] [INFO] [1746049194.794468587] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/control_mode -[rosbridge_websocket-8] [INFO] [1746049194.798022829] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/radio_rudder -[rosbridge_websocket-8] [INFO] [1746049194.801445739] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/radio_sail -[rosbridge_websocket-8] [INFO] [1746049194.804767096] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/rudder_angle -[rosbridge_websocket-8] [INFO] [1746049194.808039866] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/sail -[teensy-2] [INFO] [1746049194.834497208] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049194.835216106] [sailbot.teensy]: Wind angle: 338 -[teensy-2] [INFO] [1746049194.835611236] [sailbot.teensy]: Actual sail angle: 85 -[trim_sail-4] [INFO] [1746049194.835593922] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049194.835995757] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049194.836400886] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049194.836795751] [sailbot.mux]: algo sail angle: 80 -[mux-7] [INFO] [1746049194.843633904] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049194.844071954] [sailbot.teensy]: Message sent to servo -[rosbridge_websocket-8] [INFO] [1746049194.853474784] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /gps -[rosbridge_websocket-8] [INFO] [1746049194.898323011] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /imu -[rosbridge_websocket-8] [INFO] [1746049194.900253039] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/actual_rudder_angle -[rosbridge_websocket-8] [INFO] [1746049194.902122111] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/wind -[rosbridge_websocket-8] [INFO] [1746049194.903876370] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/actual_sail_angle -[rosbridge_websocket-8] [INFO] [1746049194.905865812] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/tacking_point -[rosbridge_websocket-8] [INFO] [1746049194.909798140] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/main_algo_debug -[rosbridge_websocket-8] [INFO] [1746049194.911661896] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to /sailbot/dropped_packets -[rosbridge_websocket-8] [INFO] [1746049194.913612526] [rosbridge_websocket]: [Client 68dc7323-97ac-4b54-8852-2395b8b9436b] Subscribed to sailbot/current_waypoint -[waypoint_service-5] [INFO] [1746049194.916482263] [sailbot.waypoint_service]: Received request: command=get, argument= -[mux-7] [INFO] [1746049194.944525251] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049194.945164223] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049195.002843869] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973931 Long: -76.50298466 -[vectornav-1] [INFO] [1746049195.004059720] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.57400000000007, -3.282, 9.582) -[mux-7] [INFO] [1746049195.044920765] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049195.045605977] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049195.085126558] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049195.086754609] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049195.087259292] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049195.087659230] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746049195.088564465] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049195.088885474] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049195.089506952] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049195.145013933] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049195.145761186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049195.245007665] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049195.245718496] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049195.335196939] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049195.337347742] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049195.337789002] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049195.338304152] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049195.339184115] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746049195.340038011] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049195.340913500] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049195.344332929] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049195.344671662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049195.444940828] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049195.445402227] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049195.503136896] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973927 Long: -76.50298448 -[vectornav-1] [INFO] [1746049195.504500834] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.538, -3.281, 9.589) -[mux-7] [INFO] [1746049195.545130723] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049195.545825935] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049195.585497447] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049195.588060051] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049195.588237306] [sailbot.teensy]: Wind angle: 339 -[mux-7] [INFO] [1746049195.588849953] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049195.589179987] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746049195.590083589] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049195.590922720] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049195.645215359] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049195.645848572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049195.745357787] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049195.746009545] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049195.835294900] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049195.837788436] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049195.837857084] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049195.838742492] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746049195.838814449] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049195.839316327] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049195.839671360] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049195.844436985] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049195.844926745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049195.945041754] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049195.945753738] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049196.003353922] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973916 Long: -76.50298431 -[vectornav-1] [INFO] [1746049196.004939011] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.533, -3.286, 9.582) -[mux-7] [INFO] [1746049196.045435055] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049196.045886331] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049196.085429208] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049196.087206454] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049196.088167674] [sailbot.teensy]: Actual sail angle: 80 -[trim_sail-4] [INFO] [1746049196.087906270] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049196.089033496] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049196.089223948] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049196.089924622] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049196.145398445] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049196.146049156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049196.245002300] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049196.245734273] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049196.335545721] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049196.338189034] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049196.339163829] [sailbot.teensy]: Actual sail angle: 85 -[trim_sail-4] [INFO] [1746049196.338220803] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049196.340123629] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049196.341024320] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049196.341071147] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049196.344454557] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049196.345157312] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049196.444804575] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049196.445364708] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049196.503643319] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697392 Long: -76.50298427 -[vectornav-1] [INFO] [1746049196.505030854] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.48900000000003, -3.291, 9.578) -[mux-7] [INFO] [1746049196.544626287] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049196.545070370] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049196.585268361] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049196.587804264] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049196.588120031] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049196.588849440] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049196.590099584] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746049196.590980963] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049196.591866727] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049196.645159043] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049196.645870479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049196.745186009] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049196.745831543] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049196.835700564] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049196.837872966] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049196.838548116] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049196.839891390] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746049196.840597349] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049196.840855055] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049196.841780618] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049196.844277129] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049196.844717403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049196.945036551] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049196.945996823] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049197.003126954] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973925 Long: -76.50298416 -[vectornav-1] [INFO] [1746049197.004673213] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.5, -3.289, 9.581) -[mux-7] [INFO] [1746049197.044983137] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049197.045648402] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049197.085196203] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049197.086794834] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049197.087762490] [sailbot.teensy]: Actual sail angle: 85 -[trim_sail-4] [INFO] [1746049197.088101165] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049197.088681389] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049197.088734191] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049197.089612813] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049197.145299330] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049197.146004391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049197.245327116] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049197.245769139] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049197.335257479] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049197.337480919] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049197.338751684] [sailbot.teensy]: Wind angle: 336 -[mux-7] [INFO] [1746049197.338954354] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049197.339501613] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746049197.339925486] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049197.340311661] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049197.344553770] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049197.345070023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049197.445176222] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049197.445766113] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049197.503571529] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973923 Long: -76.50298408 -[vectornav-1] [INFO] [1746049197.505290683] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.5, -3.29, 9.569) -[mux-7] [INFO] [1746049197.545047538] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049197.545606699] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049197.585567447] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049197.587405346] [sailbot.teensy]: Wind angle: 333 -[trim_sail-4] [INFO] [1746049197.588029139] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049197.588381979] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746049197.589314305] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049197.589675144] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049197.590219440] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049197.645166327] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049197.645806641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049197.745052495] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049197.745680449] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049197.835227060] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049197.837173088] [sailbot.teensy]: Wind angle: 333 -[trim_sail-4] [INFO] [1746049197.837456958] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049197.838073399] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746049197.838927145] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049197.838619512] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049197.839666544] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049197.844352177] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049197.844891739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049197.945004664] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049197.945866702] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049198.002923198] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973928 Long: -76.50298411 -[vectornav-1] [INFO] [1746049198.004338938] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.52, -3.288, 9.565) -[mux-7] [INFO] [1746049198.045241114] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049198.046081965] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049198.085162868] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049198.086753946] [sailbot.teensy]: Wind angle: 333 -[trim_sail-4] [INFO] [1746049198.087306919] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049198.088664444] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049198.089447186] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746049198.090434991] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049198.091301138] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049198.144850555] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049198.145584872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049198.245115286] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049198.245749278] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049198.335389976] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049198.337230265] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049198.338366124] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049198.339148919] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049198.339400467] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746049198.339810237] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049198.340193350] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049198.344597299] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049198.345006913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049198.445076974] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049198.445673644] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049198.502849771] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973922 Long: -76.5029841 -[vectornav-1] [INFO] [1746049198.504032620] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.528, -3.28, 9.575) -[mux-7] [INFO] [1746049198.545102493] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049198.545663437] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049198.585266853] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049198.587536762] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049198.587698600] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049198.588679852] [sailbot.teensy]: Actual sail angle: 80 -[mux-7] [INFO] [1746049198.589189537] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049198.589604697] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049198.590509210] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049198.644761439] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049198.645396690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049198.745431494] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049198.746046254] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049198.835226673] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049198.836935333] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049198.837854689] [sailbot.teensy]: Actual sail angle: 80 -[trim_sail-4] [INFO] [1746049198.837579080] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049198.838721535] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049198.838736075] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049198.839616209] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049198.844403466] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049198.844917121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049198.945045237] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049198.945601437] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049199.002774625] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973923 Long: -76.50298409 -[vectornav-1] [INFO] [1746049199.004380464] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.53700000000003, -3.287, 9.56) -[mux-7] [INFO] [1746049199.045381010] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049199.045945205] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049199.085466898] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049199.087426110] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049199.087996602] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049199.088404096] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746049199.089324028] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049199.089853104] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049199.090177022] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049199.144921956] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049199.145513000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049199.245158206] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049199.245839844] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049199.335435524] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049199.337810520] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049199.338055548] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049199.338762148] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746049199.339680648] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049199.339705367] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049199.340699069] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049199.344481685] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049199.344917050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049199.444986855] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049199.445615861] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049199.502967791] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973925 Long: -76.50298406 -[vectornav-1] [INFO] [1746049199.504255823] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.57899999999995, -3.274, 9.574) -[mux-7] [INFO] [1746049199.544811609] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049199.545401445] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049199.585360850] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049199.586999870] [sailbot.teensy]: Wind angle: 331 -[trim_sail-4] [INFO] [1746049199.587537996] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049199.587872960] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746049199.588651626] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049199.588628105] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049199.589042200] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049199.644829132] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049199.645468069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049199.745162618] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049199.745955633] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049199.835635395] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049199.837718848] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049199.838736320] [sailbot.teensy]: Actual sail angle: 80 -[trim_sail-4] [INFO] [1746049199.838883032] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049199.839631607] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049199.839924538] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049199.840630019] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049199.844479845] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049199.845095643] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049199.945159738] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049199.946213486] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049200.003034384] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973924 Long: -76.50298409 -[vectornav-1] [INFO] [1746049200.005328079] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.576, -3.286, 9.576) -[mux-7] [INFO] [1746049200.044893133] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049200.045774215] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049200.085494426] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049200.087257577] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049200.088306291] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746049200.089173866] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049200.089199245] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049200.089289589] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049200.090095273] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049200.144666763] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049200.145303070] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049200.245022256] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049200.245771333] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049200.334752099] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049200.335974193] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049200.336705970] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746049200.337392720] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049200.338153045] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746049200.336375860] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049200.337488934] [sailbot.mux]: algo sail angle: 80 -[mux-7] [INFO] [1746049200.343980399] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049200.344356577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049200.445384124] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049200.446036905] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049200.503388608] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973935 Long: -76.50298397 -[vectornav-1] [INFO] [1746049200.504750135] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.571, -3.286, 9.582) -[mux-7] [INFO] [1746049200.545250467] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049200.546053216] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049200.585299242] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049200.586999099] [sailbot.teensy]: Wind angle: 331 -[trim_sail-4] [INFO] [1746049200.587708495] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049200.587948183] [sailbot.teensy]: Actual sail angle: 80 -[mux-7] [INFO] [1746049200.588811725] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049200.588986215] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049200.590177289] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049200.645202835] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049200.645878011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049200.744967626] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049200.745678647] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049200.835437169] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049200.837570874] [sailbot.teensy]: Wind angle: 331 -[trim_sail-4] [INFO] [1746049200.838106358] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049200.838579139] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746049200.839498818] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049200.839953903] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049200.840411707] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049200.844635362] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049200.845425073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049200.945298585] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049200.946167072] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049201.002987482] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973935 Long: -76.50298385 -[vectornav-1] [INFO] [1746049201.004096391] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.56600000000003, -3.282, 9.573) -[mux-7] [INFO] [1746049201.044965414] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049201.045625421] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049201.085218207] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049201.087423946] [sailbot.teensy]: Wind angle: 328 -[trim_sail-4] [INFO] [1746049201.087502217] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049201.088661337] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049201.088767333] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049201.089625607] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049201.090576380] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049201.145161658] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049201.146007700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049201.244884545] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049201.245466182] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049201.335222206] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049201.337053663] [sailbot.teensy]: Wind angle: 328 -[trim_sail-4] [INFO] [1746049201.337684911] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049201.338031515] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049201.338919061] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049201.338780681] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049201.339782565] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049201.344458000] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049201.344963091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049201.444896397] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049201.445581683] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049201.502856764] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973946 Long: -76.5029838 -[vectornav-1] [INFO] [1746049201.504146597] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.58000000000004, -3.284, 9.575) -[mux-7] [INFO] [1746049201.544850468] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049201.545557882] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049201.585261816] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049201.586982131] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049201.587919838] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746049201.587924806] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049201.588862108] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049201.589014947] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049201.589751012] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049201.644977611] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049201.645570829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049201.745001633] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746049201.745753252] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049201.835310098] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049201.837637011] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049201.838560104] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746049201.838364816] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049201.838725143] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049201.839019206] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049201.839384821] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049201.844499967] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049201.844946910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049201.945258991] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049201.945869630] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049202.003367649] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697395 Long: -76.50298363 -[vectornav-1] [INFO] [1746049202.004852424] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.57899999999995, -3.283, 9.57) -[mux-7] [INFO] [1746049202.045106336] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746049202.046759298] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049202.085777783] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049202.087786951] [sailbot.teensy]: Wind angle: 326 -[trim_sail-4] [INFO] [1746049202.088540242] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049202.088802962] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746049202.089721506] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049202.090394275] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049202.090608459] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049202.144440439] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049202.146566852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049202.244941645] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049202.245562522] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049202.335559958] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049202.337327414] [sailbot.teensy]: Wind angle: 326 -[trim_sail-4] [INFO] [1746049202.338026255] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049202.339168603] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746049202.339610644] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049202.339788840] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049202.339997962] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049202.344519064] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049202.344843981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049202.445397749] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049202.445930289] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049202.503743700] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973952 Long: -76.5029836 -[vectornav-1] [INFO] [1746049202.505750472] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.58500000000004, -3.284, 9.569) -[mux-7] [INFO] [1746049202.545285755] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049202.545937921] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049202.585549095] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049202.587924923] [sailbot.teensy]: Wind angle: 327 -[trim_sail-4] [INFO] [1746049202.588257077] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049202.588899969] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049202.589103541] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049202.589815505] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049202.590659187] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049202.645039886] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049202.645750025] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049202.744975926] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049202.745583184] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049202.835319943] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049202.837982701] [sailbot.teensy]: Wind angle: 327 -[trim_sail-4] [INFO] [1746049202.838131721] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049202.839017813] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049202.840215655] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049202.841185526] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049202.842034660] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049202.844431511] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049202.844861428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049202.945655304] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049202.946457039] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049203.002886192] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973949 Long: -76.50298366 -[vectornav-1] [INFO] [1746049203.004075430] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.58000000000004, -3.288, 9.57) -[mux-7] [INFO] [1746049203.045220490] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049203.045892892] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049203.085260287] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049203.086990673] [sailbot.teensy]: Wind angle: 330 -[trim_sail-4] [INFO] [1746049203.087662060] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049203.089289353] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049203.089492660] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049203.090499805] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049203.091386440] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049203.145488642] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049203.146266222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049203.245191109] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049203.246082800] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049203.335398122] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049203.337184982] [sailbot.teensy]: Wind angle: 331 -[trim_sail-4] [INFO] [1746049203.338203758] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049203.339546216] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049203.339811734] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049203.340776445] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049203.342034253] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049203.344546320] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049203.345094451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049203.445359760] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746049203.446136793] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049203.502991598] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974023 Long: -76.50298272 -[vectornav-1] [INFO] [1746049203.504739997] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.577, -3.283, 9.564) -[mux-7] [INFO] [1746049203.533675781] [sailbot.mux]: Switched control mode to controller_app -[teensy-2] [INFO] [1746049203.585538559] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049203.587408800] [sailbot.teensy]: Wind angle: 331 -[trim_sail-4] [INFO] [1746049203.587914914] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049203.588428083] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049203.589351041] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049203.590173410] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049203.590294223] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049203.835514170] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049203.837477614] [sailbot.teensy]: Wind angle: 330 -[trim_sail-4] [INFO] [1746049203.837992554] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049203.838488989] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049203.839486117] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049203.840344444] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049203.840412400] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049204.002938249] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697404 Long: -76.50298264 -[vectornav-1] [INFO] [1746049204.004356268] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.581, -3.289, 9.557) -[teensy-2] [INFO] [1746049204.085212834] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049204.087356603] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049204.087953992] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049204.088412171] [sailbot.teensy]: Wind angle: 330 -[teensy-2] [INFO] [1746049204.089636448] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049204.090556730] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049204.091068889] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049204.335446436] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049204.337107405] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049204.337656153] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049204.338024907] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049204.338916149] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049204.339241787] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049204.339760495] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049204.503054942] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974039 Long: -76.50298255 -[vectornav-1] [INFO] [1746049204.505163879] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.60900000000004, -3.305, 9.549) -[teensy-2] [INFO] [1746049204.585263862] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049204.586868999] [sailbot.teensy]: Wind angle: 330 -[trim_sail-4] [INFO] [1746049204.587488395] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049204.588274748] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049204.588955714] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049204.589171894] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049204.590021322] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049204.835543702] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049204.837482927] [sailbot.teensy]: Wind angle: 330 -[trim_sail-4] [INFO] [1746049204.838100195] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049204.838447193] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049204.839370079] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049204.840146086] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049204.840260447] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049205.003095824] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974031 Long: -76.50298255 -[vectornav-1] [INFO] [1746049205.005099607] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.60300000000007, -3.32, 9.562) -[teensy-2] [INFO] [1746049205.085406439] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049205.087067641] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049205.087751216] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049205.087955288] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049205.088809445] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049205.088967041] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049205.089451146] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049205.335320428] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049205.337253190] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049205.337683055] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049205.338500283] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049205.338715196] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049205.339645393] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049205.340530626] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049205.503247429] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974021 Long: -76.50298229 -[vectornav-1] [INFO] [1746049205.504865451] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.621, -3.311, 9.587) -[teensy-2] [INFO] [1746049205.585164173] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049205.587259000] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049205.587347766] [sailbot.teensy]: Wind angle: 338 -[mux-7] [INFO] [1746049205.587742343] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049205.588407238] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049205.589359492] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049205.590191896] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049205.835242068] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049205.837084075] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049205.837588148] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049205.838786310] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049205.838968766] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049205.839368789] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049205.839725508] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049206.004706089] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697401 Long: -76.50298245 -[vectornav-1] [INFO] [1746049206.006261061] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.653, -3.287, 9.6) -[teensy-2] [INFO] [1746049206.085578804] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049206.087920966] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049206.088289660] [sailbot.teensy]: Wind angle: 336 -[mux-7] [INFO] [1746049206.088859384] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049206.089605494] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049206.090655174] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049206.091499249] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049206.335278858] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049206.337031236] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049206.337837895] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049206.337974297] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049206.338879292] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049206.339679741] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049206.340126653] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049206.503721876] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974021 Long: -76.50298161 -[vectornav-1] [INFO] [1746049206.505377584] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.69499999999994, -3.284, 9.595) -[teensy-2] [INFO] [1746049206.585238024] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049206.586774265] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049206.587335591] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049206.587651854] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049206.587884514] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049206.588530499] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049206.589378496] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049206.835538288] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049206.837512280] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049206.838061551] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049206.838485470] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049206.839447387] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049206.839444744] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049206.840468085] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049207.002826192] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974015 Long: -76.50298193 -[vectornav-1] [INFO] [1746049207.004596032] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.736, -3.283, 9.579) -[teensy-2] [INFO] [1746049207.085370243] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049207.087205602] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049207.088131921] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746049207.087901244] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049207.088357934] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049207.089036622] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049207.089966354] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049207.335296112] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049207.337588382] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049207.337718355] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049207.338475556] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049207.338861261] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049207.339250194] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049207.338585035] [sailbot.mux]: algo sail angle: 80 -[vectornav-1] [INFO] [1746049207.502905661] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974015 Long: -76.50298192 -[vectornav-1] [INFO] [1746049207.504241170] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.82400000000007, -3.289, 9.584) -[teensy-2] [INFO] [1746049207.585368239] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049207.587193579] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049207.588115700] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746049207.587740193] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049207.588722096] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049207.589045332] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049207.590292659] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049207.835537535] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049207.838732504] [sailbot.teensy]: Wind angle: 336 -[mux-7] [INFO] [1746049207.838951281] [sailbot.mux]: algo sail angle: 80 -[trim_sail-4] [INFO] [1746049207.839079168] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049207.839363187] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049207.839752339] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049207.840088110] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049208.003542236] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974028 Long: -76.50298193 -[vectornav-1] [INFO] [1746049208.005334076] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (261.924, -3.279, 9.595) -[teensy-2] [INFO] [1746049208.085442321] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049208.087244721] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049208.087789005] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049208.088187121] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049208.088779048] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049208.089337990] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049208.090229907] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049208.335307623] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049208.337020747] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049208.337525020] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049208.337940385] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049208.337999684] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049208.338862266] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049208.339749170] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049208.503285089] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974028 Long: -76.50298184 -[vectornav-1] [INFO] [1746049208.504658888] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.006, -3.277, 9.59) -[teensy-2] [INFO] [1746049208.585631248] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049208.587908515] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049208.588324464] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049208.588896190] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049208.589155641] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049208.589564342] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049208.589914188] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049208.835199728] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049208.838322413] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049208.838403635] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049208.838414670] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049208.838905968] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049208.839261939] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049208.840039344] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049209.002987657] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974016 Long: -76.50298169 -[vectornav-1] [INFO] [1746049209.004718956] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.086, -3.275, 9.598) -[teensy-2] [INFO] [1746049209.085354050] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049209.087694567] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049209.087902718] [sailbot.teensy]: Wind angle: 342 -[mux-7] [INFO] [1746049209.088438878] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049209.089095476] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049209.090041544] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049209.090866086] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049209.335385911] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049209.337190520] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746049209.337739458] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049209.338105920] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049209.339018246] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049209.339700693] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049209.339885804] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049209.503279488] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974009 Long: -76.50298161 -[vectornav-1] [INFO] [1746049209.505165238] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.16499999999996, -3.281, 9.605) -[teensy-2] [INFO] [1746049209.585402332] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049209.587229353] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049209.588208948] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746049209.587720514] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049209.589115124] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049209.589308995] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049209.590073039] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049209.835326454] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049209.837156818] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049209.837911000] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049209.838943806] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049209.839180049] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049209.839915811] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049209.840959206] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049210.003827183] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46974002 Long: -76.50298136 -[vectornav-1] [INFO] [1746049210.005324432] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.27199999999993, -3.29, 9.605) -[teensy-2] [INFO] [1746049210.085744571] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049210.087938984] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049210.088880995] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746049210.088894987] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049210.089142395] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049210.089353000] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049210.089714956] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049210.335456374] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049210.338063111] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049210.338217808] [sailbot.teensy]: Wind angle: 342 -[mux-7] [INFO] [1746049210.338567992] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049210.338900857] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049210.339259452] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049210.339591687] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049210.503814295] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697399 Long: -76.50298121 -[vectornav-1] [INFO] [1746049210.505515319] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.376, -3.302, 9.594) -[teensy-2] [INFO] [1746049210.585394389] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049210.587600633] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049210.587927356] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049210.588213508] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049210.588692656] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049210.589120176] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049210.589456353] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049210.835493961] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049210.837406121] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049210.838310058] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049210.838401384] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049210.839305811] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049210.839802615] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049210.840220152] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049211.003389950] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973953 Long: -76.5029813 -[vectornav-1] [INFO] [1746049211.004759979] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.46500000000003, -3.323, 9.589) -[teensy-2] [INFO] [1746049211.085326614] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049211.087013828] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049211.087901382] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049211.087971815] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049211.088890659] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049211.088976661] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049211.089487502] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049211.335503429] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049211.337431689] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049211.338069460] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049211.338400766] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049211.339323062] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049211.339692833] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049211.340219425] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049211.503305253] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973962 Long: -76.50298153 -[vectornav-1] [INFO] [1746049211.505715805] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.58000000000004, -3.323, 9.603) -[teensy-2] [INFO] [1746049211.585317616] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049211.587077547] [sailbot.teensy]: Wind angle: 334 -[teensy-2] [INFO] [1746049211.587959554] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746049211.587658072] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049211.588069088] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049211.588798743] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049211.589176553] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049211.835455360] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049211.837595584] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049211.838231883] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049211.838974459] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049211.839166024] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049211.839560894] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049211.839876670] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049212.003800871] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697397 Long: -76.50298215 -[vectornav-1] [INFO] [1746049212.005758677] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.683, -3.304, 9.592) -[teensy-2] [INFO] [1746049212.085711267] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049212.087905392] [sailbot.teensy]: Wind angle: 333 -[trim_sail-4] [INFO] [1746049212.088462292] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049212.089690042] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049212.090950214] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049212.091933119] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049212.092782269] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049212.335317597] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049212.337061730] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746049212.338023626] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746049212.338531298] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049212.338917897] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049212.338937622] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049212.339841506] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049212.504008106] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973969 Long: -76.50298218 -[vectornav-1] [INFO] [1746049212.505669348] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.808, -3.309, 9.65) -[teensy-2] [INFO] [1746049212.585612488] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049212.587469188] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746049212.588408177] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746049212.588053169] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049212.588894248] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049212.589651152] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049212.590511348] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049212.835383473] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049212.837054238] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049212.837672991] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049212.838084358] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049212.839234709] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049212.839755969] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049212.840179212] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049213.003229578] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973968 Long: -76.50298201 -[vectornav-1] [INFO] [1746049213.004752126] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.91700000000003, -3.311, 9.63) -[teensy-2] [INFO] [1746049213.085374145] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049213.087060897] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049213.087696228] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049213.087972888] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049213.088879426] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049213.089086581] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049213.089809333] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049213.335186535] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049213.336882187] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049213.337380047] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049213.337920869] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049213.338929869] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049213.339302942] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049213.339639393] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049213.503385649] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973948 Long: -76.50298217 -[vectornav-1] [INFO] [1746049213.504736046] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (263.03600000000006, -3.319, 9.641) -[teensy-2] [INFO] [1746049213.585676863] [sailbot.teensy]: Check telemetry callback entered -[mux-7] [INFO] [1746049213.588807726] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049213.589029990] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746049213.589960740] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746049213.589175477] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049213.590701094] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049213.591056304] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049213.835278333] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049213.837045250] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746049213.837943502] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746049213.837962011] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049213.838881526] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049213.839802485] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049213.840129802] [sailbot.mux]: algo sail angle: 80 -[vectornav-1] [INFO] [1746049214.003825256] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973952 Long: -76.50298215 -[vectornav-1] [INFO] [1746049214.005894378] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (263.182, -3.31, 9.64) -[teensy-2] [INFO] [1746049214.085706890] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049214.087772925] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049214.088497726] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049214.088830981] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049214.089712140] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049214.089777362] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049214.090639540] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049214.335885624] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049214.338817156] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049214.339319194] [sailbot.teensy]: Wind angle: 334 -[teensy-2] [INFO] [1746049214.340498824] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049214.340750836] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049214.341421826] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049214.342329225] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049214.503534664] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697395 Long: -76.50298217 -[vectornav-1] [INFO] [1746049214.505262552] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (263.312, -3.289, 9.649) -[teensy-2] [INFO] [1746049214.585401014] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049214.587392780] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049214.587560224] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049214.588022158] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049214.588432358] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049214.589404877] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049214.590050229] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049214.835490603] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049214.837934676] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049214.837950719] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049214.839189690] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049214.839263410] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049214.840144936] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049214.841060179] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049215.003703811] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973948 Long: -76.50298205 -[vectornav-1] [INFO] [1746049215.005551827] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (263.457, -3.289, 9.622) -[teensy-2] [INFO] [1746049215.085757169] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049215.087792376] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049215.088389505] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049215.088827976] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049215.089797534] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049215.090527790] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049215.090541182] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049215.335365200] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049215.337588270] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049215.337619482] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049215.338583962] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049215.339007636] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049215.339559455] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049215.340930204] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049215.503989869] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973939 Long: -76.50298194 -[vectornav-1] [INFO] [1746049215.505608589] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (263.606, -3.326, 9.613) -[teensy-2] [INFO] [1746049215.585619058] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049215.587492026] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049215.588566877] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049215.588592888] [sailbot.mux]: algo sail angle: 80 -[trim_sail-4] [INFO] [1746049215.588870863] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049215.589699274] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049215.590639670] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049215.835332862] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049215.837081618] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049215.837577823] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049215.838096532] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049215.839069689] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049215.839559897] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049215.840038278] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049216.003798986] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973937 Long: -76.50298203 -[vectornav-1] [INFO] [1746049216.005320789] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (263.72, -3.297, 9.626) -[teensy-2] [INFO] [1746049216.085772989] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049216.088408308] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049216.089013646] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049216.089701752] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049216.090678708] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049216.091067762] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049216.091428126] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049216.335633195] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049216.337491824] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049216.337984014] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049216.338467715] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049216.339449232] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049216.340255568] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049216.340434258] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049216.504004990] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973916 Long: -76.50298224 -[vectornav-1] [INFO] [1746049216.505597638] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (263.881, -3.312, 9.618) -[teensy-2] [INFO] [1746049216.585208323] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049216.586901480] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049216.587879900] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746049216.588245380] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049216.588761894] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049216.588822243] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049216.589751371] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049216.835368802] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049216.838068718] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049216.838086863] [sailbot.teensy]: Wind angle: 337 -[mux-7] [INFO] [1746049216.838679745] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049216.839264173] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049216.840226617] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049216.841082456] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049217.003243403] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973913 Long: -76.50298225 -[vectornav-1] [INFO] [1746049217.005168608] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (264.03499999999997, -3.311, 9.644) -[teensy-2] [INFO] [1746049217.085367986] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049217.087078308] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049217.087679743] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049217.087992139] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049217.088990648] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049217.089477049] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049217.089889333] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049217.335508806] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049217.337581135] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049217.338167008] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049217.338555955] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049217.339490527] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049217.338912511] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049217.340422699] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049217.503836954] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973905 Long: -76.50298235 -[vectornav-1] [INFO] [1746049217.505262880] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (264.183, -3.313, 9.677) -[teensy-2] [INFO] [1746049217.585358529] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049217.587711301] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049217.587727735] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049217.588322641] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049217.588918537] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049217.589850884] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049217.590961570] [sailbot.teensy]: Dropped packets: 3 -[rosbridge_websocket-8] [INFO] [1746049217.621007504] [rosbridge_websocket]: Calling services in existing thread -[rosbridge_websocket-8] [INFO] [1746049217.621984079] [rosbridge_websocket]: Sending action goals in existing thread -[rosbridge_websocket-8] [INFO] [1746049217.623549700] [rosbridge_websocket]: Client connected. 2 clients total. -[teensy-2] [INFO] [1746049217.835508541] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049217.837527306] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049217.838040103] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049217.838521596] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049217.838786728] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049217.839484642] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049217.840559427] [sailbot.teensy]: Dropped packets: 3 -[vectornav-1] [INFO] [1746049218.003587566] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973894 Long: -76.5029823 -[vectornav-1] [INFO] [1746049218.005228278] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (264.337, -3.349, 9.681) -[teensy-2] [INFO] [1746049218.085494061] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049218.087520654] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049218.088561100] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746049218.088625184] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049218.089523517] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049218.089702073] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049218.090447519] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049218.335401136] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049218.337977061] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049218.338223141] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049218.339269937] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049218.339354506] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049218.340376659] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049218.341266577] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049218.373504123] [sailbot.mux]: controller_app rudder angle: 5 -[mux-7] [INFO] [1746049218.445401582] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746049218.446241944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 5 -[teensy-2] [INFO] [1746049218.448029525] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049218.502878096] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973894 Long: -76.50298221 -[vectornav-1] [INFO] [1746049218.504010525] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (264.50700000000006, -3.371, 9.755) -[mux-7] [INFO] [1746049218.545139670] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746049218.545582750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 5 -[teensy-2] [INFO] [1746049218.546760756] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049218.585377265] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049218.587182261] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049218.587688137] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049218.588284959] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049218.589610669] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049218.590390626] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049218.590740611] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049218.645200656] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746049218.645852712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 5 -[teensy-2] [INFO] [1746049218.647444905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049218.745133848] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746049218.745628858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 5 -[teensy-2] [INFO] [1746049218.747007046] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049218.835533444] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049218.838168531] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049218.838644730] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049218.839210276] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049218.840124239] [sailbot.teensy]: Actual tail angle: 30 -[mux-7] [INFO] [1746049218.840623876] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049218.841154649] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049218.844374864] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746049218.844918640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 5 -[teensy-2] [INFO] [1746049218.846062999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049218.945612213] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746049218.946278405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 5 -[teensy-2] [INFO] [1746049218.948007449] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049219.003155432] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697387 Long: -76.50298226 -[vectornav-1] [INFO] [1746049219.004862921] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (264.66499999999996, -3.31, 9.694) -[mux-7] [INFO] [1746049219.045008408] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746049219.045522374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 5 -[teensy-2] [INFO] [1746049219.046847601] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049219.085319327] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049219.087919452] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049219.088361362] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049219.089323085] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049219.089455324] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049219.090230949] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746049219.091065481] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049219.144882702] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746049219.145237785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 5 -[teensy-2] [INFO] [1746049219.146496304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049219.245087880] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746049219.245601745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 5 -[teensy-2] [INFO] [1746049219.247097745] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049219.335571824] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049219.338253832] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049219.338754776] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049219.339013610] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049219.339764294] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049219.340782901] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746049219.341674357] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049219.344425195] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746049219.344701430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 5 -[teensy-2] [INFO] [1746049219.345865234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049219.373695433] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746049219.444985804] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049219.445474266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746049219.447212396] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049219.502325107] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973862 Long: -76.50298236 -[vectornav-1] [INFO] [1746049219.503348321] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (264.876, -3.304, 9.699) -[mux-7] [INFO] [1746049219.545188573] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049219.545769785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746049219.547127781] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049219.585686295] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049219.587828097] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049219.588641414] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049219.589008501] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049219.590168235] [sailbot.teensy]: Actual tail angle: 30 -[mux-7] [INFO] [1746049219.591026031] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049219.591265090] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049219.644962482] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049219.645460596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746049219.646771820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049219.745039380] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049219.745576487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746049219.746930782] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049219.835445734] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049219.837348496] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049219.838311721] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049219.839118893] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049219.839251692] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049219.840501532] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049219.840929154] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049219.844406167] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049219.844805882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746049219.846085873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049219.945248392] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049219.945806841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746049219.947424121] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049220.003277761] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973845 Long: -76.50298247 -[vectornav-1] [INFO] [1746049220.004784229] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (265.09000000000003, -3.316, 9.724) -[mux-7] [INFO] [1746049220.045000230] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049220.045649227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746049220.046947586] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049220.085264055] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049220.088029536] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049220.088046184] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049220.088994680] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049220.089070345] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049220.089926819] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049220.090866245] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049220.145092982] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049220.145734018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746049220.147119671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049220.245104410] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049220.245662277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746049220.247043451] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049220.335296658] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049220.337913234] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049220.338000879] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049220.338501786] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049220.338937109] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049220.339849122] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049220.340402371] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049220.344484481] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049220.344941062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746049220.346059475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049220.372793250] [sailbot.mux]: controller_app rudder angle: 9 -[mux-7] [INFO] [1746049220.445641042] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049220.446268225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 -[teensy-2] [INFO] [1746049220.448011416] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049220.503733617] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697383 Long: -76.50298257 -[vectornav-1] [INFO] [1746049220.505649873] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (265.246, -3.299, 9.706) -[mux-7] [INFO] [1746049220.544899744] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049220.545629487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 -[teensy-2] [INFO] [1746049220.546743544] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049220.585296240] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049220.587475215] [sailbot.teensy]: Wind angle: 358 -[teensy-2] [INFO] [1746049220.588572859] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746049220.588123497] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049220.588848325] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049220.589596035] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049220.590508314] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049220.644992390] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049220.645494840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 -[teensy-2] [INFO] [1746049220.646852649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049220.744990373] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049220.745453024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 -[teensy-2] [INFO] [1746049220.746693025] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049220.835323468] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049220.837081642] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049220.837992377] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746049220.837710927] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049220.838197185] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049220.838862642] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746049220.839703282] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049220.844435993] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049220.844846285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 -[teensy-2] [INFO] [1746049220.845945735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049220.945000119] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049220.945530550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 -[teensy-2] [INFO] [1746049220.946874185] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049221.003221324] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973826 Long: -76.50298245 -[vectornav-1] [INFO] [1746049221.004950011] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (265.20799999999997, -3.295, 9.673) -[mux-7] [INFO] [1746049221.045035039] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049221.045576983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 -[teensy-2] [INFO] [1746049221.046940381] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049221.085218024] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049221.087541415] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049221.087705203] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049221.088651672] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049221.088774267] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049221.089559320] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746049221.090485919] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049221.145173693] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049221.145631888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 -[teensy-2] [INFO] [1746049221.146984405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049221.244973397] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049221.245377722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 -[teensy-2] [INFO] [1746049221.246603907] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049221.335356774] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049221.337145125] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049221.337783595] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049221.338092323] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049221.338979811] [sailbot.teensy]: Actual tail angle: 34 -[mux-7] [INFO] [1746049221.339385865] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049221.339886115] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049221.344376680] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049221.344734639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 -[teensy-2] [INFO] [1746049221.345919698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049221.444864340] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049221.445262288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 -[teensy-2] [INFO] [1746049221.446418517] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049221.503107406] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973837 Long: -76.50298244 -[vectornav-1] [INFO] [1746049221.504465689] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (265.249, -3.302, 9.648) -[mux-7] [INFO] [1746049221.545199560] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049221.545748541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 -[teensy-2] [INFO] [1746049221.547094349] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049221.585238683] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049221.587586045] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049221.588432055] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049221.588670544] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049221.589651051] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049221.590486713] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746049221.591323788] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049221.645096803] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049221.645556929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 -[teensy-2] [INFO] [1746049221.647008783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049221.745088280] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049221.745533285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 -[teensy-2] [INFO] [1746049221.746979655] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049221.835574199] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049221.838524864] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049221.839490603] [sailbot.teensy]: Wind angle: 337 -[mux-7] [INFO] [1746049221.839521570] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049221.840506599] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049221.841403425] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746049221.842247002] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049221.844531061] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049221.844714295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 -[teensy-2] [INFO] [1746049221.845781710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049221.945221428] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049221.945933595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 -[teensy-2] [INFO] [1746049221.947275634] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049222.003280803] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973838 Long: -76.50298234 -[vectornav-1] [INFO] [1746049222.004562218] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (265.48199999999997, -3.304, 9.645) -[mux-7] [INFO] [1746049222.045078552] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049222.045561490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 -[teensy-2] [INFO] [1746049222.046921156] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049222.085372236] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049222.087168369] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049222.087671415] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049222.088114540] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049222.089078108] [sailbot.teensy]: Actual tail angle: 34 -[mux-7] [INFO] [1746049222.089469547] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049222.089994095] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049222.144939237] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049222.145442041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 -[teensy-2] [INFO] [1746049222.146838304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049222.244968841] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049222.245476278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 -[teensy-2] [INFO] [1746049222.247973581] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049222.335437642] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049222.337482124] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049222.338429597] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746049222.338006615] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049222.339325709] [sailbot.teensy]: Actual tail angle: 34 -[mux-7] [INFO] [1746049222.339692140] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049222.340232582] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049222.344395391] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049222.344765183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 9 -[teensy-2] [INFO] [1746049222.345869795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049222.375528000] [sailbot.mux]: controller_app rudder angle: -5 -[mux-7] [INFO] [1746049222.444904854] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746049222.445464058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 -[teensy-2] [INFO] [1746049222.446773431] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049222.503730510] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973827 Long: -76.50298241 -[vectornav-1] [INFO] [1746049222.505409605] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (265.696, -3.291, 9.659) -[mux-7] [INFO] [1746049222.545184465] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746049222.545896870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 -[teensy-2] [INFO] [1746049222.547301417] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049222.585445368] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049222.587708667] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049222.587888981] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049222.589105820] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049222.589312637] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049222.590271970] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746049222.591111606] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049222.645365618] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746049222.645844811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 -[teensy-2] [INFO] [1746049222.647282741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049222.745067899] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746049222.745556686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 -[teensy-2] [INFO] [1746049222.747013136] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049222.835196874] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049222.837574186] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049222.837747771] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049222.838675255] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049222.838804822] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049222.839245435] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746049222.839617930] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049222.844434379] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746049222.844924650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 -[teensy-2] [INFO] [1746049222.846079541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049222.945049632] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746049222.945564972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 -[teensy-2] [INFO] [1746049222.946928796] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049223.002629688] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973825 Long: -76.50298252 -[vectornav-1] [INFO] [1746049223.003769879] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (265.975, -3.285, 9.669) -[mux-7] [INFO] [1746049223.045442248] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746049223.046121242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 -[teensy-2] [INFO] [1746049223.047605762] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049223.085628040] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049223.088406600] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049223.088468688] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049223.089387423] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049223.089382811] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049223.090335378] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746049223.091277765] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049223.145104240] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746049223.145573505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 -[teensy-2] [INFO] [1746049223.146909558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049223.245243242] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746049223.245792670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 -[teensy-2] [INFO] [1746049223.247383930] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049223.335384256] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049223.338021007] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049223.338529045] [sailbot.teensy]: Wind angle: 343 -[mux-7] [INFO] [1746049223.338760451] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049223.339362349] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049223.339765773] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746049223.340133458] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049223.344453351] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746049223.344850553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 -[teensy-2] [INFO] [1746049223.346046073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049223.445186287] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746049223.445558081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 -[teensy-2] [INFO] [1746049223.447027476] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049223.504228061] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973828 Long: -76.50298256 -[vectornav-1] [INFO] [1746049223.505790476] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (266.17499999999995, -3.292, 9.655) -[mux-7] [INFO] [1746049223.545265545] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746049223.545730727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 -[teensy-2] [INFO] [1746049223.547222330] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049223.585357601] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049223.587356716] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746049223.587781259] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049223.588514877] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049223.589613190] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049223.590523928] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746049223.591354488] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049223.645146208] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746049223.645700905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 -[teensy-2] [INFO] [1746049223.647047059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049223.745094357] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746049223.745957396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 -[teensy-2] [INFO] [1746049223.747303773] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049223.835246886] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049223.837711000] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049223.838075893] [sailbot.teensy]: Wind angle: 343 -[mux-7] [INFO] [1746049223.838457110] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049223.839005695] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049223.839874156] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746049223.840339618] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049223.844513005] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746049223.844967826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 -[teensy-2] [INFO] [1746049223.846093652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049223.945502601] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746049223.946099831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 -[teensy-2] [INFO] [1746049223.947653542] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049224.002685123] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973824 Long: -76.50298268 -[vectornav-1] [INFO] [1746049224.003787933] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (266.44000000000005, -3.286, 9.654) -[mux-7] [INFO] [1746049224.045452198] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746049224.046160722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 -[teensy-2] [INFO] [1746049224.047700676] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049224.085607153] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049224.088352481] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049224.088360954] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049224.089357352] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049224.089569653] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049224.090263409] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746049224.091112984] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049224.145215371] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746049224.145750698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 -[teensy-2] [INFO] [1746049224.147225848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049224.245214761] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746049224.245748338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -5 -[teensy-2] [INFO] [1746049224.247191537] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049224.335507920] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049224.337881240] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049224.338626585] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049224.339054156] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049224.339393697] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049224.339841134] [sailbot.teensy]: Actual tail angle: 20 -[mux-7] [INFO] [1746049224.340170775] [sailbot.mux]: controller_app rudder angle: 8 -[teensy-2] [INFO] [1746049224.340325008] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049224.344339012] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746049224.344748875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 -[teensy-2] [INFO] [1746049224.345864236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049224.445297688] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746049224.446009551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 -[teensy-2] [INFO] [1746049224.447414318] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049224.503722206] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697382 Long: -76.50298268 -[vectornav-1] [INFO] [1746049224.505467070] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (266.68000000000006, -3.285, 9.7) -[mux-7] [INFO] [1746049224.545118090] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746049224.545698272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 -[teensy-2] [INFO] [1746049224.547060865] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049224.585361606] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049224.587759118] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049224.587780810] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049224.588662289] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049224.588666550] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049224.589588783] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746049224.590243425] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049224.645406207] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746049224.645847751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 -[teensy-2] [INFO] [1746049224.647315151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049224.745110206] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746049224.745594743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 -[teensy-2] [INFO] [1746049224.747046216] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049224.835510278] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049224.838028083] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049224.838795816] [sailbot.teensy]: Wind angle: 354 -[mux-7] [INFO] [1746049224.838913861] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049224.839459495] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049224.839864450] [sailbot.teensy]: Actual tail angle: 33 -[teensy-2] [INFO] [1746049224.840281734] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049224.844604795] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746049224.845043098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 -[teensy-2] [INFO] [1746049224.846063533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049224.945472986] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746049224.946078677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 -[teensy-2] [INFO] [1746049224.947721688] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049225.002787191] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973819 Long: -76.50298284 -[vectornav-1] [INFO] [1746049225.004135508] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (266.914, -3.277, 9.723) -[mux-7] [INFO] [1746049225.044754453] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746049225.045512874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 -[teensy-2] [INFO] [1746049225.046739992] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049225.085670625] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049225.088195294] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049225.088327173] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049225.089204533] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049225.090116556] [sailbot.teensy]: Actual tail angle: 33 -[mux-7] [INFO] [1746049225.090604734] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049225.091118595] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049225.144980549] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746049225.145522844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 -[teensy-2] [INFO] [1746049225.146850833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049225.245322697] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746049225.245781641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 -[teensy-2] [INFO] [1746049225.247304668] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049225.335574720] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049225.337959807] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049225.338167661] [sailbot.teensy]: Wind angle: 354 -[mux-7] [INFO] [1746049225.338630340] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049225.338973183] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049225.339364968] [sailbot.teensy]: Actual tail angle: 33 -[teensy-2] [INFO] [1746049225.339734400] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049225.344383518] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746049225.344768245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 -[teensy-2] [INFO] [1746049225.345838670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049225.445019580] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746049225.445437803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 -[teensy-2] [INFO] [1746049225.446785327] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049225.504083980] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973825 Long: -76.50298319 -[vectornav-1] [INFO] [1746049225.505710962] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (267.07899999999995, -3.285, 9.768) -[mux-7] [INFO] [1746049225.545062533] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746049225.545482017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 -[teensy-2] [INFO] [1746049225.546816843] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049225.585409518] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049225.587817746] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049225.588515944] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049225.588965659] [sailbot.teensy]: Wind angle: 354 -[teensy-2] [INFO] [1746049225.589905101] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049225.590815304] [sailbot.teensy]: Actual tail angle: 33 -[teensy-2] [INFO] [1746049225.591693756] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049225.645040854] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746049225.645440778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 -[teensy-2] [INFO] [1746049225.646849693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049225.745545880] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746049225.745960770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 -[teensy-2] [INFO] [1746049225.747692697] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049225.835505557] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049225.837971413] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049225.838605325] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049225.838670682] [sailbot.teensy]: Wind angle: 352 -[teensy-2] [INFO] [1746049225.839289610] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049225.839686811] [sailbot.teensy]: Actual tail angle: 33 -[teensy-2] [INFO] [1746049225.840293609] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049225.844719429] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746049225.845038636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 -[teensy-2] [INFO] [1746049225.846325411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049225.945499913] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746049225.945953690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 -[teensy-2] [INFO] [1746049225.947631521] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049226.003693977] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973812 Long: -76.50298307 -[vectornav-1] [INFO] [1746049226.006172048] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (267.283, -3.289, 9.878) -[mux-7] [INFO] [1746049226.045100717] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746049226.045551944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 -[teensy-2] [INFO] [1746049226.046895759] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049226.085332342] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049226.087048220] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049226.087972337] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746049226.087695362] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049226.088339060] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049226.089096424] [sailbot.teensy]: Actual tail angle: 33 -[teensy-2] [INFO] [1746049226.089982213] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049226.145371043] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746049226.145696728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 -[teensy-2] [INFO] [1746049226.147344016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049226.245459241] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746049226.246069732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 -[teensy-2] [INFO] [1746049226.247623487] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049226.335724437] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049226.338338549] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049226.338891395] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049226.339332955] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049226.339409262] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049226.340294925] [sailbot.teensy]: Actual tail angle: 33 -[teensy-2] [INFO] [1746049226.340996777] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049226.344412364] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746049226.344913625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 -[teensy-2] [INFO] [1746049226.346032892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049226.445701722] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746049226.446275898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 -[teensy-2] [INFO] [1746049226.447997138] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049226.504138357] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973786 Long: -76.50298286 -[vectornav-1] [INFO] [1746049226.506447569] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (267.506, -3.293, 9.701) -[mux-7] [INFO] [1746049226.544918278] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746049226.545281782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 -[teensy-2] [INFO] [1746049226.546525886] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049226.585320989] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049226.587175726] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049226.587650245] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049226.588128885] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049226.589101873] [sailbot.teensy]: Actual tail angle: 33 -[mux-7] [INFO] [1746049226.589190337] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049226.589489217] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049226.645504407] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746049226.645931022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 8 -[teensy-2] [INFO] [1746049226.647602547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049226.708334229] [sailbot.mux]: controller_app rudder angle: -8 -[mux-7] [INFO] [1746049226.745312354] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746049226.745830808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746049226.747452501] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049226.835454590] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049226.838207218] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049226.838350471] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049226.839652144] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049226.840184224] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049226.840652191] [sailbot.teensy]: Actual tail angle: 33 -[teensy-2] [INFO] [1746049226.841020074] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049226.844382907] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746049226.844838335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746049226.845948146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049226.945489231] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746049226.946078182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746049226.947625545] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049227.002538446] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973783 Long: -76.50298302 -[vectornav-1] [INFO] [1746049227.003661941] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (267.81399999999996, -3.305, 9.688) -[mux-7] [INFO] [1746049227.045656935] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746049227.046012604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746049227.047478050] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049227.085581368] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049227.088506685] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049227.088730376] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049227.089662715] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049227.090367571] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049227.090581696] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746049227.091440832] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049227.145537571] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746049227.146181140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746049227.148615672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049227.245528418] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746049227.246039408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746049227.247600093] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049227.335498577] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049227.338061018] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049227.338383923] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049227.339353695] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049227.339416011] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049227.340298930] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746049227.340698018] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049227.344618651] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746049227.344979963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746049227.346132055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049227.445602021] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746049227.446155977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746049227.447944676] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049227.502507335] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973776 Long: -76.50298337 -[vectornav-1] [INFO] [1746049227.504051098] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (268.06999999999994, -3.296, 9.71) -[mux-7] [INFO] [1746049227.545155188] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746049227.545658243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746049227.547180089] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049227.585721899] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049227.588509634] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049227.589191053] [sailbot.teensy]: Wind angle: 347 -[mux-7] [INFO] [1746049227.589247088] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049227.590170255] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049227.591382716] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746049227.592290075] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049227.644930536] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746049227.645336440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746049227.646557899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049227.745413683] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746049227.745979845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746049227.747677820] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049227.835203373] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049227.837583525] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049227.837975876] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049227.838981354] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049227.838408008] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049227.840040400] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746049227.840968085] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049227.844653804] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746049227.844936543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746049227.846087207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049227.945588687] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746049227.946130208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746049227.947808406] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049228.004102088] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973776 Long: -76.50298342 -[vectornav-1] [INFO] [1746049228.005920640] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (268.23299999999995, -3.3, 9.688) -[mux-7] [INFO] [1746049228.045535911] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746049228.046056199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746049228.047699867] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049228.085306279] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049228.087987015] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049228.088287156] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049228.088539483] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049228.089909193] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049228.090833825] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746049228.091734652] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049228.145028852] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746049228.145582357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746049228.146945384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049228.245239774] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746049228.245868221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746049228.247332051] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049228.335409150] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049228.337791547] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746049228.337896135] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049228.338760704] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049228.339055232] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049228.340002127] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746049228.340897274] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049228.344265068] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746049228.344780379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746049228.345914565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049228.372258193] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746049228.445214566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049228.445912347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746049228.447420349] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049228.503709632] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973762 Long: -76.50298351 -[vectornav-1] [INFO] [1746049228.505163135] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (268.48400000000004, -3.302, 9.682) -[mux-7] [INFO] [1746049228.545037977] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049228.545625092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746049228.546978897] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049228.585221864] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049228.587292261] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049228.587442234] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049228.588327312] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049228.589022778] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049228.589210093] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746049228.590093134] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049228.645508017] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049228.646146096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746049228.647831487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049228.745098057] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049228.745655321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746049228.747009402] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049228.835505366] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049228.838260960] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049228.838277792] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049228.839269681] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049228.839372180] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049228.840253326] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049228.841156501] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049228.844518130] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049228.844833079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746049228.845940207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049228.945609517] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049228.946239972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746049228.947702011] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049229.003457486] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973756 Long: -76.50298348 -[vectornav-1] [INFO] [1746049229.005198006] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (268.721, -3.309, 9.695) -[mux-7] [INFO] [1746049229.044981850] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049229.045543759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746049229.046742684] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049229.085410770] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049229.087230662] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049229.088257139] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746049229.088245558] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049229.089232290] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049229.090141797] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049229.090501102] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049229.145011459] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049229.145591230] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746049229.147030368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049229.245261212] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049229.245723144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746049229.246998989] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049229.335315850] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049229.337593758] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049229.339513195] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049229.339729654] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049229.340013160] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746049229.340445811] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049229.340842312] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049229.343637829] [sailbot.mux]: controller_app sail angle: 56 -[mux-7] [INFO] [1746049229.345601290] [sailbot.mux]: Published sail angle from controller_app: 56 -[teensy-2] [INFO] [1746049229.346267673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049229.346652068] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049229.347929311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:56, rudder: 0 -[teensy-2] [INFO] [1746049229.349058030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049229.445457014] [sailbot.mux]: Published sail angle from controller_app: 56 -[teensy-2] [INFO] [1746049229.446280168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049229.447155534] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049229.448251069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:56, rudder: 0 -[teensy-2] [INFO] [1746049229.448790579] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049229.502675735] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973762 Long: -76.50298363 -[vectornav-1] [INFO] [1746049229.503738309] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (268.976, -3.31, 9.673) -[mux-7] [INFO] [1746049229.544764202] [sailbot.mux]: Published sail angle from controller_app: 56 -[teensy-2] [INFO] [1746049229.545638117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049229.545969065] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049229.547384798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:56, rudder: 0 -[teensy-2] [INFO] [1746049229.548448734] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049229.585331978] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049229.587483673] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049229.588011484] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049229.588458264] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746049229.589308667] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049229.589387709] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049229.590296066] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049229.645027043] [sailbot.mux]: Published sail angle from controller_app: 56 -[teensy-2] [INFO] [1746049229.645738964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049229.646303326] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049229.647549393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:56, rudder: 0 -[teensy-2] [INFO] [1746049229.648679208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049229.745756422] [sailbot.mux]: Published sail angle from controller_app: 56 -[teensy-2] [INFO] [1746049229.746797216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049229.747474317] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049229.749466889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:56, rudder: 0 -[teensy-2] [INFO] [1746049229.750625437] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049229.835545525] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049229.838421113] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049229.838492762] [sailbot.teensy]: Wind angle: 356 -[mux-7] [INFO] [1746049229.838965647] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049229.839410944] [sailbot.teensy]: Actual sail angle: 56 -[teensy-2] [INFO] [1746049229.840330070] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049229.841177950] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049229.844471910] [sailbot.mux]: Published sail angle from controller_app: 56 -[teensy-2] [INFO] [1746049229.845156135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049229.845565990] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049229.846966483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:56, rudder: 0 -[teensy-2] [INFO] [1746049229.848064999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049229.945598685] [sailbot.mux]: Published sail angle from controller_app: 56 -[teensy-2] [INFO] [1746049229.946263811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049229.947181013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049229.948706058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:56, rudder: 0 -[teensy-2] [INFO] [1746049229.950300826] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049230.003789213] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973753 Long: -76.50298391 -[vectornav-1] [INFO] [1746049230.005312787] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (269.20500000000004, -3.324, 9.686) -[mux-7] [INFO] [1746049230.045264300] [sailbot.mux]: Published sail angle from controller_app: 56 -[teensy-2] [INFO] [1746049230.046107934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049230.046755018] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049230.048477913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:56, rudder: 0 -[teensy-2] [INFO] [1746049230.049659480] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049230.085499776] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049230.088133281] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049230.088478110] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049230.088863566] [sailbot.teensy]: Wind angle: 358 -[teensy-2] [INFO] [1746049230.090156412] [sailbot.teensy]: Actual sail angle: 56 -[teensy-2] [INFO] [1746049230.091112814] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049230.091912793] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049230.144922686] [sailbot.mux]: Published sail angle from controller_app: 56 -[teensy-2] [INFO] [1746049230.145576061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049230.146182864] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049230.147877234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:56, rudder: 0 -[teensy-2] [INFO] [1746049230.148953931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049230.245156889] [sailbot.mux]: Published sail angle from controller_app: 56 -[teensy-2] [INFO] [1746049230.245929660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049230.246630867] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049230.247795375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:56, rudder: 0 -[teensy-2] [INFO] [1746049230.248312034] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049230.335281782] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049230.337653499] [sailbot.teensy]: Wind angle: 358 -[trim_sail-4] [INFO] [1746049230.338280581] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049230.339357119] [sailbot.teensy]: Actual sail angle: 56 -[teensy-2] [INFO] [1746049230.340542681] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049230.340612359] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049230.340962423] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049230.344384038] [sailbot.mux]: Published sail angle from controller_app: 56 -[teensy-2] [INFO] [1746049230.344933173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049230.345516667] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049230.346595658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:56, rudder: 0 -[teensy-2] [INFO] [1746049230.347656699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049230.397587839] [sailbot.mux]: controller_app sail angle: 58 -[mux-7] [INFO] [1746049230.443655570] [sailbot.mux]: Published sail angle from controller_app: 58 -[teensy-2] [INFO] [1746049230.444229299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049230.444240314] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049230.445124616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:58, rudder: 0 -[teensy-2] [INFO] [1746049230.445716696] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049230.502312912] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973753 Long: -76.50298412 -[vectornav-1] [INFO] [1746049230.503331348] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (269.44900000000007, -3.3, 9.702) -[mux-7] [INFO] [1746049230.544830145] [sailbot.mux]: Published sail angle from controller_app: 58 -[teensy-2] [INFO] [1746049230.545323821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049230.546135493] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049230.547014395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:58, rudder: 0 -[teensy-2] [INFO] [1746049230.548184428] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049230.585251040] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049230.587085663] [sailbot.teensy]: Wind angle: 357 -[teensy-2] [INFO] [1746049230.587994155] [sailbot.teensy]: Actual sail angle: 56 -[mux-7] [INFO] [1746049230.588520124] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049230.588856138] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049230.589001258] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049230.589723154] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049230.644747190] [sailbot.mux]: Published sail angle from controller_app: 58 -[teensy-2] [INFO] [1746049230.645529793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049230.645926309] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049230.647270605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:58, rudder: 0 -[teensy-2] [INFO] [1746049230.648626721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049230.744793257] [sailbot.mux]: Published sail angle from controller_app: 58 -[teensy-2] [INFO] [1746049230.745318216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049230.745958096] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049230.747085282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:58, rudder: 0 -[teensy-2] [INFO] [1746049230.748285336] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049230.835343129] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049230.837202669] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049230.837881387] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049230.838171028] [sailbot.teensy]: Actual sail angle: 58 -[mux-7] [INFO] [1746049230.839010903] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049230.839054436] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049230.839994178] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049230.844412832] [sailbot.mux]: Published sail angle from controller_app: 58 -[teensy-2] [INFO] [1746049230.844953029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049230.845504240] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049230.846680692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:58, rudder: 0 -[teensy-2] [INFO] [1746049230.847703694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049230.945246916] [sailbot.mux]: Published sail angle from controller_app: 58 -[teensy-2] [INFO] [1746049230.945981184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049230.946726792] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049230.948080259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:58, rudder: 0 -[teensy-2] [INFO] [1746049230.948522842] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049231.003508285] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697375 Long: -76.50298433 -[vectornav-1] [INFO] [1746049231.004938900] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (269.68499999999995, -3.312, 9.692) -[mux-7] [INFO] [1746049231.045029858] [sailbot.mux]: Published sail angle from controller_app: 58 -[teensy-2] [INFO] [1746049231.045916502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049231.046299018] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049231.047699487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:58, rudder: 0 -[teensy-2] [INFO] [1746049231.048810864] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049231.085444421] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049231.087900977] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049231.088042026] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049231.089156659] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049231.089359340] [sailbot.teensy]: Actual sail angle: 58 -[teensy-2] [INFO] [1746049231.090746312] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049231.091624145] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049231.144788876] [sailbot.mux]: Published sail angle from controller_app: 58 -[mux-7] [INFO] [1746049231.145942157] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049231.146457517] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049231.148107608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:58, rudder: 0 -[teensy-2] [INFO] [1746049231.149194466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049231.245164811] [sailbot.mux]: Published sail angle from controller_app: 58 -[teensy-2] [INFO] [1746049231.245824802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049231.246626586] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049231.247834635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:58, rudder: 0 -[teensy-2] [INFO] [1746049231.248839504] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049231.335494993] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049231.338172426] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049231.338687524] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049231.338738742] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049231.339184299] [sailbot.teensy]: Actual sail angle: 58 -[teensy-2] [INFO] [1746049231.339730053] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049231.340118278] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049231.344534659] [sailbot.mux]: Published sail angle from controller_app: 58 -[teensy-2] [INFO] [1746049231.344918279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049231.345720526] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049231.346625164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:58, rudder: 0 -[teensy-2] [INFO] [1746049231.347627366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049231.360726090] [sailbot.mux]: controller_app sail angle: 44 -[mux-7] [INFO] [1746049231.445320520] [sailbot.mux]: Published sail angle from controller_app: 44 -[teensy-2] [INFO] [1746049231.445882469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049231.447453278] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049231.448344036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:44, rudder: 0 -[teensy-2] [INFO] [1746049231.449559893] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049231.503534190] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697376 Long: -76.50298428 -[vectornav-1] [INFO] [1746049231.505146813] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (269.93399999999997, -3.32, 9.701) -[mux-7] [INFO] [1746049231.544975031] [sailbot.mux]: Published sail angle from controller_app: 44 -[teensy-2] [INFO] [1746049231.545661894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049231.546287666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049231.547494180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:44, rudder: 0 -[teensy-2] [INFO] [1746049231.549271517] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049231.585478389] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049231.587688427] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049231.587975169] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049231.588789873] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049231.589642693] [sailbot.teensy]: Actual sail angle: 58 -[teensy-2] [INFO] [1746049231.590590297] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049231.591430110] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049231.645324940] [sailbot.mux]: Published sail angle from controller_app: 44 -[teensy-2] [INFO] [1746049231.645862412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049231.647160707] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049231.648069827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:44, rudder: 0 -[teensy-2] [INFO] [1746049231.649290319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049231.745233008] [sailbot.mux]: Published sail angle from controller_app: 44 -[teensy-2] [INFO] [1746049231.745824042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049231.746675758] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049231.747758656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:44, rudder: 0 -[teensy-2] [INFO] [1746049231.748787216] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049231.835476900] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049231.837862150] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049231.838718087] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049231.838741387] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049231.839836908] [sailbot.teensy]: Actual sail angle: 44 -[teensy-2] [INFO] [1746049231.840738531] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049231.841593696] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049231.844333789] [sailbot.mux]: Published sail angle from controller_app: 44 -[teensy-2] [INFO] [1746049231.844867958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049231.845543047] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049231.846534630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:44, rudder: 0 -[teensy-2] [INFO] [1746049231.847558831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049231.945139198] [sailbot.mux]: Published sail angle from controller_app: 44 -[teensy-2] [INFO] [1746049231.945705550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049231.946612563] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049231.947855094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:44, rudder: 0 -[teensy-2] [INFO] [1746049231.948442584] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049232.003761363] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973732 Long: -76.5029841 -[vectornav-1] [INFO] [1746049232.005658285] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (270.176, -3.313, 9.706) -[mux-7] [INFO] [1746049232.045799888] [sailbot.mux]: Published sail angle from controller_app: 44 -[teensy-2] [INFO] [1746049232.046207028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049232.047564816] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049232.048654678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:44, rudder: 0 -[teensy-2] [INFO] [1746049232.049774259] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049232.085358485] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049232.087279766] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049232.087753056] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049232.088286322] [sailbot.teensy]: Actual sail angle: 44 -[teensy-2] [INFO] [1746049232.089184864] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049232.089390833] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049232.090050798] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049232.145314887] [sailbot.mux]: Published sail angle from controller_app: 44 -[teensy-2] [INFO] [1746049232.145864882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049232.147112819] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049232.148002375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:44, rudder: 0 -[teensy-2] [INFO] [1746049232.149171556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049232.245544771] [sailbot.mux]: Published sail angle from controller_app: 44 -[teensy-2] [INFO] [1746049232.246109667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049232.247451770] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049232.248549781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:44, rudder: 0 -[teensy-2] [INFO] [1746049232.249805943] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049232.335196122] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049232.336805891] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049232.337730998] [sailbot.teensy]: Actual sail angle: 44 -[trim_sail-4] [INFO] [1746049232.337403816] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049232.338440517] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049232.338557775] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049232.339442348] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049232.344575462] [sailbot.mux]: Published sail angle from controller_app: 44 -[teensy-2] [INFO] [1746049232.345021322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049232.345913421] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049232.346778508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:44, rudder: 0 -[teensy-2] [INFO] [1746049232.347820929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049232.383733609] [sailbot.mux]: controller_app sail angle: 46 -[mux-7] [INFO] [1746049232.445580428] [sailbot.mux]: Published sail angle from controller_app: 46 -[teensy-2] [INFO] [1746049232.446579424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049232.447250361] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049232.449009416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:46, rudder: 0 -[teensy-2] [INFO] [1746049232.449770020] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049232.502769639] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973718 Long: -76.50298412 -[vectornav-1] [INFO] [1746049232.503921269] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (270.442, -3.306, 9.71) -[mux-7] [INFO] [1746049232.545695624] [sailbot.mux]: Published sail angle from controller_app: 46 -[teensy-2] [INFO] [1746049232.546467382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049232.547465057] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049232.548696623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:46, rudder: 0 -[teensy-2] [INFO] [1746049232.549933945] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049232.585746345] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049232.587876472] [sailbot.teensy]: Wind angle: 353 -[teensy-2] [INFO] [1746049232.589040488] [sailbot.teensy]: Actual sail angle: 44 -[trim_sail-4] [INFO] [1746049232.589299710] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049232.589996288] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049232.590910939] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049232.591011456] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049232.645447276] [sailbot.mux]: Published sail angle from controller_app: 46 -[teensy-2] [INFO] [1746049232.646165531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049232.647114012] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049232.648269142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:46, rudder: 0 -[teensy-2] [INFO] [1746049232.649331296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049232.745409328] [sailbot.mux]: Published sail angle from controller_app: 46 -[teensy-2] [INFO] [1746049232.746212103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049232.746959762] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049232.748589520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:46, rudder: 0 -[teensy-2] [INFO] [1746049232.749727260] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049232.835346537] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049232.837023078] [sailbot.teensy]: Wind angle: 353 -[trim_sail-4] [INFO] [1746049232.837568316] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049232.838463668] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049232.839055060] [sailbot.teensy]: Actual sail angle: 46 -[teensy-2] [INFO] [1746049232.839418685] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049232.839761415] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049232.844444467] [sailbot.mux]: Published sail angle from controller_app: 46 -[teensy-2] [INFO] [1746049232.844932668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049232.845535787] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049232.846606493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:46, rudder: 0 -[teensy-2] [INFO] [1746049232.847745372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049232.945217757] [sailbot.mux]: Published sail angle from controller_app: 46 -[teensy-2] [INFO] [1746049232.945822077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049232.946874479] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049232.948082613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:46, rudder: 0 -[teensy-2] [INFO] [1746049232.949268764] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049233.004592491] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973701 Long: -76.50298442 -[vectornav-1] [INFO] [1746049233.006284562] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (270.69100000000003, -3.309, 9.702) -[mux-7] [INFO] [1746049233.044783218] [sailbot.mux]: Published sail angle from controller_app: 46 -[teensy-2] [INFO] [1746049233.045565779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049233.045975485] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049233.047360249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:46, rudder: 0 -[teensy-2] [INFO] [1746049233.048461731] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049233.085350884] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049233.087073125] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049233.087603942] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049233.088001844] [sailbot.teensy]: Actual sail angle: 46 -[teensy-2] [INFO] [1746049233.089011064] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049233.089132836] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049233.089898111] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049233.144965794] [sailbot.mux]: Published sail angle from controller_app: 46 -[teensy-2] [INFO] [1746049233.145948778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049233.146224373] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049233.147866474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:46, rudder: 0 -[teensy-2] [INFO] [1746049233.149017611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049233.245287213] [sailbot.mux]: Published sail angle from controller_app: 46 -[teensy-2] [INFO] [1746049233.246038264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049233.246805671] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049233.248353452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:46, rudder: 0 -[teensy-2] [INFO] [1746049233.248879198] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049233.335269885] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049233.337225369] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049233.337642625] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049233.338215344] [sailbot.teensy]: Actual sail angle: 46 -[teensy-2] [INFO] [1746049233.339102985] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049233.339102808] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049233.339976455] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049233.344439123] [sailbot.mux]: Published sail angle from controller_app: 46 -[teensy-2] [INFO] [1746049233.345033098] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049233.345553391] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049233.346726347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:46, rudder: 0 -[teensy-2] [INFO] [1746049233.347713286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049233.399550618] [sailbot.mux]: controller_app sail angle: 45 -[mux-7] [INFO] [1746049233.445338199] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049233.446111016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049233.446806859] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049233.448372163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049233.449409287] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049233.502349078] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973701 Long: -76.50298451 -[vectornav-1] [INFO] [1746049233.503334794] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (270.96500000000003, -3.305, 9.706) -[mux-7] [INFO] [1746049233.544741279] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049233.545705387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049233.546362370] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049233.547524485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049233.548708388] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049233.585756286] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049233.588085190] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049233.588992977] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049233.589374753] [sailbot.teensy]: Actual sail angle: 46 -[mux-7] [INFO] [1746049233.589496172] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049233.590288207] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049233.591188655] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049233.645029088] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049233.645531752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049233.646524350] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049233.647358570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049233.648483419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049233.745407290] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049233.745967791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049233.746927622] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049233.748233089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049233.749304116] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049233.835423278] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049233.837806704] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049233.838812187] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049233.838967637] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049233.840087790] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049233.841102133] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049233.842060697] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049233.844457045] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049233.844811714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049233.845615661] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049233.846514527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049233.847671877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049233.945457144] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049233.946069382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049233.947140195] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049233.948195852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049233.949214581] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049234.003403995] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973702 Long: -76.50298454 -[vectornav-1] [INFO] [1746049234.005084786] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (271.217, -3.318, 9.706) -[mux-7] [INFO] [1746049234.045090658] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049234.045605831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049234.046440881] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049234.047604365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049234.048839715] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049234.085563084] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049234.088408609] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049234.089135780] [sailbot.teensy]: Wind angle: 348 -[mux-7] [INFO] [1746049234.089959684] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049234.090048019] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049234.090455787] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049234.090839567] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049234.144678309] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049234.145444360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049234.145841083] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049234.147228426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049234.148340183] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049234.245572833] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049234.246394746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049234.247144882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049234.248626979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049234.249152818] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049234.335623753] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049234.337768883] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049234.338213567] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049234.339090601] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049234.339525967] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049234.339556425] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049234.339904729] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049234.344432273] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049234.344924080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049234.345625608] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049234.346605402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049234.347625922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049234.445076492] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049234.445817793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049234.446678180] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049234.447806824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049234.448453686] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049234.503426282] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973699 Long: -76.50298446 -[vectornav-1] [INFO] [1746049234.504658817] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (271.476, -3.32, 9.718) -[mux-7] [INFO] [1746049234.544952410] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049234.545685834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049234.546233415] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049234.547563815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049234.548744767] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049234.585379823] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049234.587275974] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049234.587738074] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049234.588347504] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049234.589250669] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049234.589611303] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049234.590146746] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049234.645046468] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049234.646268297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049234.646591555] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049234.648460412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049234.649618977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049234.745206941] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049234.746031674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049234.746741985] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049234.748187955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049234.748797304] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049234.835460435] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049234.837719065] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049234.838115863] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049234.838723881] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049234.839491346] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049234.839647173] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049234.840548949] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049234.844702599] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049234.844972133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049234.845863776] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049234.846701489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049234.847769776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049234.945196853] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049234.945803519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049234.946749794] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049234.947919832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049234.949021395] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049235.003089081] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973717 Long: -76.50298395 -[vectornav-1] [INFO] [1746049235.004869768] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (271.741, -3.318, 9.697) -[mux-7] [INFO] [1746049235.044693220] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049235.045526004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049235.045858589] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049235.047354099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049235.048515420] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049235.085576698] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049235.087565744] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049235.088447010] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049235.088601332] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049235.089479865] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049235.089590155] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049235.090373735] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049235.144486171] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049235.145061980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049235.145836248] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049235.146813907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049235.147741841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049235.245390312] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049235.246426006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049235.246927884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049235.247944764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049235.248518011] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049235.335352063] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049235.337182599] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746049235.338185157] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049235.338304328] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049235.339005816] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049235.339065756] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049235.339977287] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049235.344458045] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049235.344959784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049235.345588478] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049235.346637379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049235.347686862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049235.444955285] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049235.445618929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049235.446243137] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049235.447424524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049235.448431642] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049235.503836033] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697371 Long: -76.50298403 -[vectornav-1] [INFO] [1746049235.505592003] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (272.0, -3.315, 9.707) -[mux-7] [INFO] [1746049235.544891094] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049235.545590231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049235.546173170] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049235.547494048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049235.548541216] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049235.585384424] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049235.587860224] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049235.588120833] [sailbot.teensy]: Wind angle: 343 -[mux-7] [INFO] [1746049235.589104390] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049235.589298364] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049235.590188958] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049235.591052881] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049235.645221658] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049235.646128332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049235.646761446] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049235.648347689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049235.649418176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049235.745426288] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049235.746252169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049235.747106192] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049235.748011142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049235.748528155] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049235.835145330] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049235.837574350] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049235.837854887] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049235.838367733] [sailbot.teensy]: Wind angle: 325 -[teensy-2] [INFO] [1746049235.838910230] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049235.839275108] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049235.839675486] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049235.844553870] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049235.845182948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049235.845944929] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049235.846905353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049235.848095327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049235.945188937] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049235.945867107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049235.946664928] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049235.948012790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049235.949135760] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049236.003827455] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973706 Long: -76.50298396 -[vectornav-1] [INFO] [1746049236.005407030] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (272.267, -3.316, 9.706) -[mux-7] [INFO] [1746049236.045381244] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049236.046392968] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049236.046806948] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049236.048449622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049236.049542206] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049236.085579409] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049236.087414380] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049236.087919313] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049236.088442864] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049236.088469624] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049236.089369163] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049236.090236996] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049236.145334898] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049236.146301259] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049236.146823520] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049236.148477306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049236.148900419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049236.244991155] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049236.245937788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049236.246438655] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049236.247913002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049236.248950452] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049236.335516387] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049236.338105509] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049236.338614791] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049236.339531111] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049236.340544269] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049236.341369844] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049236.342236306] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049236.344501822] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049236.344834735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049236.345727032] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049236.346492479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049236.347633458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049236.445383298] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049236.446046509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049236.446785886] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049236.447989703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049236.448969968] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049236.502582064] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973685 Long: -76.50298426 -[vectornav-1] [INFO] [1746049236.503622567] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (272.546, -3.314, 9.691) -[mux-7] [INFO] [1746049236.545062081] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049236.545665860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049236.546712287] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049236.547710086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049236.548746494] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049236.585686221] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049236.588749881] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049236.588917130] [sailbot.teensy]: Wind angle: 344 -[mux-7] [INFO] [1746049236.590650817] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049236.590733225] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049236.591732923] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049236.592712795] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049236.645200304] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049236.645814319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049236.646615091] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049236.647757358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049236.648835216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049236.745124498] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049236.745930701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049236.746741609] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049236.747868755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049236.748946598] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049236.835776464] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049236.838542836] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049236.838599190] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049236.839735013] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049236.840070999] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049236.840666980] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049236.841057350] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049236.844261463] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049236.844931012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049236.845527542] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049236.846781553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049236.847910072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049236.945253180] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049236.946073839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049236.946772066] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049236.948237243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049236.949263037] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049237.003015242] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973672 Long: -76.50298416 -[vectornav-1] [INFO] [1746049237.004854045] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (272.808, -3.318, 9.713) -[mux-7] [INFO] [1746049237.044988913] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049237.045699613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049237.046336133] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049237.047801636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049237.048976328] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049237.085267974] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049237.087033861] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049237.087464256] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049237.087944857] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049237.088853372] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049237.089602406] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049237.089756224] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049237.145192045] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049237.145908896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049237.146704810] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049237.148002918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049237.149040774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049237.245428637] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049237.246000281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049237.247226519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049237.248561344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049237.249702000] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049237.335298130] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049237.337371134] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049237.338315155] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049237.337817509] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049237.338580285] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049237.339300708] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049237.340314197] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049237.344331273] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049237.345045934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049237.345430359] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049237.346814311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049237.347973731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049237.445369251] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049237.446398803] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049237.447048591] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049237.448462050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049237.448978639] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049237.502596069] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973662 Long: -76.50298419 -[vectornav-1] [INFO] [1746049237.503686807] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (273.09299999999996, -3.311, 9.712) -[mux-7] [INFO] [1746049237.545068636] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049237.545817396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049237.546409457] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049237.547630538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049237.548655649] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049237.585050991] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049237.586570549] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049237.587462630] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049237.587773723] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049237.588376403] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049237.588556024] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049237.589292751] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049237.645021494] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049237.645718379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049237.647774995] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049237.648090560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049237.649212713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049237.745533533] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049237.746048211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049237.747421707] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049237.748307717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049237.748901372] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049237.835396144] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049237.837248974] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049237.837908875] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049237.838204897] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049237.839117129] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049237.839721189] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049237.840002675] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049237.844459138] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049237.844882687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049237.845593276] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049237.846584778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049237.847606689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049237.945429952] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049237.946294048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049237.947038789] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049237.948313276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049237.948828565] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049238.003715483] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973648 Long: -76.50298375 -[vectornav-1] [INFO] [1746049238.006103096] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (273.344, -3.317, 9.724) -[mux-7] [INFO] [1746049238.045285868] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049238.045985426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049238.046793956] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049238.048064432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049238.049273890] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049238.085500730] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049238.087311923] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049238.088291595] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049238.088101148] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049238.089186547] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049238.089243716] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049238.090096698] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049238.145069539] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049238.145564490] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049238.146383439] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049238.147386837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049238.148537732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049238.245451317] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049238.246071498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049238.246928129] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049238.248062941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049238.248550565] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049238.335161264] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049238.336763696] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049238.337638442] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049238.337279341] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049238.338494949] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049238.338954333] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049238.339375180] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049238.344588029] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049238.345110050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049238.345734059] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049238.346827217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049238.347903927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049238.445621959] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049238.446288351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049238.447494335] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049238.448599037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049238.449774936] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049238.503222947] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973629 Long: -76.50298371 -[vectornav-1] [INFO] [1746049238.504678540] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (273.61, -3.323, 9.696) -[mux-7] [INFO] [1746049238.545101435] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049238.545805735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049238.546487585] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049238.547622548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049238.548899855] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049238.585421947] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049238.587964200] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049238.588972727] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049238.588501687] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049238.589124792] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049238.589911547] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049238.590815723] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049238.645239856] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049238.645899028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049238.646731587] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049238.648031378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049238.648673234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049238.744724804] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049238.745260889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049238.745897671] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049238.746958548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049238.748112995] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049238.835412277] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049238.837236956] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049238.838207901] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049238.838722988] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049238.838726334] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049238.838916001] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049238.839306465] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049238.844532235] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049238.845173952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049238.845680162] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049238.846877381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049238.847931578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049238.945115178] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049238.945971017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049238.946520129] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049238.947910358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049238.948389625] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049239.003505225] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973619 Long: -76.50298382 -[vectornav-1] [INFO] [1746049239.004869500] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (273.889, -3.326, 9.765) -[mux-7] [INFO] [1746049239.045111296] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049239.045968933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049239.046477112] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049239.048207962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049239.049244264] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049239.085367871] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049239.087845323] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049239.087925382] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049239.088886774] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049239.089364193] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049239.089806363] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049239.090719963] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049239.144935696] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049239.145807964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049239.146193141] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049239.147629851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049239.148655383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049239.245097449] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049239.245827004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049239.246357777] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049239.248562875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049239.249712786] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049239.335515837] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049239.338580635] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049239.338699789] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049239.338949420] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049239.339405870] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049239.339773606] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049239.340558119] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049239.344411033] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049239.344916120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049239.345603659] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049239.346679220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049239.347716636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049239.445386608] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049239.445996762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049239.446883682] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049239.448410300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049239.449131579] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049239.503584962] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973626 Long: -76.50298373 -[vectornav-1] [INFO] [1746049239.505153963] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (274.164, -3.288, 9.749) -[mux-7] [INFO] [1746049239.544824819] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049239.545389600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049239.545987251] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049239.547129034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049239.548277961] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049239.585385129] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049239.587214952] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049239.587993043] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049239.588167066] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049239.589062837] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049239.589281643] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049239.589949904] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049239.645242682] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049239.646021451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049239.646740386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049239.648023368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049239.648479054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049239.745559612] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049239.746281402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049239.747245026] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049239.748680556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049239.749761950] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049239.835458516] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049239.837884377] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049239.839647854] [sailbot.teensy]: Wind angle: 352 -[mux-7] [INFO] [1746049239.839657796] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049239.840690979] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049239.841599932] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049239.842492795] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049239.844337420] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049239.844674015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049239.845650569] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049239.846419507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049239.847558030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049239.945292814] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049239.946234951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049239.947023772] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049239.948185598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049239.948706211] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049240.003580785] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973613 Long: -76.5029837 -[vectornav-1] [INFO] [1746049240.005344065] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (274.442, -3.285, 9.873) -[mux-7] [INFO] [1746049240.044943034] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049240.045586585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049240.046212245] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049240.047523240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049240.048821991] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049240.085294248] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049240.087109117] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049240.087492013] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049240.088015920] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049240.088743378] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049240.088715823] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049240.089211276] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049240.144861952] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049240.145554710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049240.146150670] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049240.147464352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049240.148518034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049240.245490548] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049240.246272814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049240.247296318] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049240.248941779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049240.250091682] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049240.335818098] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049240.338184955] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049240.338613504] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049240.339244659] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049240.339937119] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049240.340198525] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049240.341093509] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049240.344439844] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049240.345036356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049240.345608935] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049240.346797601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049240.347986541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049240.445121424] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049240.446024178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049240.446483241] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049240.448179054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049240.449241083] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049240.503295352] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973603 Long: -76.50298358 -[vectornav-1] [INFO] [1746049240.504696353] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (274.722, -3.276, 9.932) -[mux-7] [INFO] [1746049240.545152626] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049240.545815320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049240.546373891] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049240.547925265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049240.549436317] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049240.585361029] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049240.587176479] [sailbot.teensy]: Wind angle: 351 -[teensy-2] [INFO] [1746049240.588146342] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049240.588488971] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049240.589067384] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049240.590043099] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049240.589476778] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049240.645254071] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049240.645761025] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049240.646679336] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049240.647929506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049240.648957559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049240.745465448] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049240.745967305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049240.747074474] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049240.748096395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049240.748984927] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049240.835336635] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049240.837579038] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049240.838209941] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049240.838730658] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049240.839398555] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049240.839755492] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049240.840109265] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049240.844567836] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049240.845078673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049240.845716200] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049240.846818902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049240.847830618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049240.945651072] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049240.946581467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049240.947999861] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049240.948863492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049240.950131732] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049241.003480474] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973596 Long: -76.50298345 -[vectornav-1] [INFO] [1746049241.005581371] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (274.996, -3.242, 9.901) -[mux-7] [INFO] [1746049241.045017056] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049241.045708570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049241.046290458] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049241.047554229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049241.048661116] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049241.085265662] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049241.086958073] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049241.087517939] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049241.087887859] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049241.088815066] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049241.089060617] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049241.089680706] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049241.145127943] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049241.145855236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049241.146503071] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049241.147878403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049241.148934659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049241.244844162] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049241.245515363] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049241.246015789] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049241.247384940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049241.248466225] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049241.335274401] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049241.337590648] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049241.337745097] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049241.338558869] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049241.339455138] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049241.340365411] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049241.341208731] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049241.344507067] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049241.344959815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049241.345852417] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049241.346555915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049241.347559267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049241.445399189] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049241.446182799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049241.447038309] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049241.448148796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049241.448696066] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049241.502512277] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973589 Long: -76.50298328 -[vectornav-1] [INFO] [1746049241.503605324] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (275.269, -3.241, 9.853) -[mux-7] [INFO] [1746049241.545253366] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049241.546590947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049241.546755998] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049241.548989877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049241.550034613] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049241.585818245] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049241.588029980] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049241.589227601] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049241.589196588] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049241.590292451] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049241.591041280] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049241.591209103] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049241.645068540] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049241.645679749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049241.646458297] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049241.648835378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049241.649996091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049241.745508382] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049241.746239964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049241.747133919] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049241.748047935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049241.748598924] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049241.835338530] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049241.837185071] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049241.837973463] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049241.838137801] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049241.839068872] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049241.839749828] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049241.839905317] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049241.844443216] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049241.845290660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049241.845586697] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049241.847017344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049241.848124474] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049241.945063873] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049241.945749409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049241.946459536] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049241.947718363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049241.948879420] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049242.003363548] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973576 Long: -76.50298305 -[vectornav-1] [INFO] [1746049242.004967843] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (275.52099999999996, -3.263, 9.757) -[mux-7] [INFO] [1746049242.044994533] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049242.046150655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049242.046358502] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049242.048136573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049242.049155471] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049242.085566639] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049242.088517853] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049242.089578158] [sailbot.teensy]: Wind angle: 346 -[mux-7] [INFO] [1746049242.089846562] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049242.090532969] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049242.091378987] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049242.092223549] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049242.145264764] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049242.146201053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049242.146786791] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049242.148275625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049242.149583232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049242.245380197] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049242.246104996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049242.246886955] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049242.248486689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049242.249123588] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049242.335414772] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049242.337902848] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049242.338586002] [sailbot.teensy]: Wind angle: 346 -[mux-7] [INFO] [1746049242.339087303] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049242.339538929] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049242.340456285] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049242.341300726] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049242.344372881] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049242.344802081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049242.345500368] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049242.346487227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049242.347597386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049242.445514089] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049242.446337540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049242.447241672] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049242.448803838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049242.449425540] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049242.502711428] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973562 Long: -76.50298306 -[vectornav-1] [INFO] [1746049242.504254498] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (275.78499999999997, -3.274, 9.818) -[mux-7] [INFO] [1746049242.545550968] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049242.546091589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049242.547275478] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049242.548424079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049242.549282047] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049242.585544054] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049242.587820670] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049242.587995686] [sailbot.teensy]: Wind angle: 346 -[teensy-2] [INFO] [1746049242.588981369] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049242.589599304] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049242.589894926] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049242.590783282] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049242.645633355] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049242.646256610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049242.647671541] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049242.648600876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049242.649849924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049242.745810361] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049242.746396180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049242.747702084] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049242.748678044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049242.749786558] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049242.835408719] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049242.837690316] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049242.838064799] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049242.838469001] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049242.838618177] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049242.839522940] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049242.839992476] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049242.844627678] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049242.845229442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049242.846236443] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049242.846946674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049242.848098755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049242.945644219] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049242.946305185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049242.947540945] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049242.948643348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049242.949801772] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049243.003621611] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973549 Long: -76.50298289 -[vectornav-1] [INFO] [1746049243.005469681] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (276.06100000000004, -3.268, 9.858) -[mux-7] [INFO] [1746049243.045242180] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049243.045821864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049243.046662773] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049243.048621308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049243.049771261] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049243.085440000] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049243.087297737] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049243.088258041] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049243.088421989] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049243.089239572] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049243.089419493] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049243.090178374] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049243.144473460] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049243.145000402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049243.145494195] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049243.146629465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049243.147570696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049243.245556237] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049243.246225709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049243.247375153] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049243.248819966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049243.249400234] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049243.335382804] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049243.337343426] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049243.338076426] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049243.338287014] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049243.339007212] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049243.339149664] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049243.340048206] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049243.344581077] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049243.345210460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049243.345717271] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049243.346955111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049243.348112436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049243.445544604] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049243.446562704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049243.447236013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049243.448872125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049243.449707648] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049243.502907286] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973535 Long: -76.5029827 -[vectornav-1] [INFO] [1746049243.504143422] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (276.36, -3.252, 9.893) -[mux-7] [INFO] [1746049243.545299313] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049243.546046408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049243.546779862] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049243.548183758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049243.549253595] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049243.585634389] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049243.588372313] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049243.588721943] [sailbot.teensy]: Wind angle: 343 -[mux-7] [INFO] [1746049243.589341737] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049243.589800821] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049243.590732750] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049243.591586412] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049243.645286783] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049243.646057520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049243.646918046] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049243.648823605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049243.650095856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049243.745693977] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049243.746872102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049243.747597807] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049243.748348512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049243.748916697] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049243.835832821] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049243.838666383] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049243.838796288] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049243.840093750] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049243.840732902] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049243.841694772] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049243.842621160] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049243.844461091] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049243.845111372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049243.845594127] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049243.846788918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049243.847994241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049243.945508539] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049243.946517083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049243.947107388] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049243.949059171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049243.949591613] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049244.004114181] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973517 Long: -76.5029826 -[vectornav-1] [INFO] [1746049244.005672691] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (276.61199999999997, -3.234, 9.816) -[mux-7] [INFO] [1746049244.045285274] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049244.046174601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049244.046893614] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049244.048330156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049244.049400118] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049244.085583139] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049244.087428881] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049244.088074731] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049244.088402304] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049244.089302122] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049244.089458781] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049244.090198870] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049244.145801172] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049244.146413905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049244.147873994] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049244.148862015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049244.150039967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049244.245617616] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049244.246253914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049244.247463860] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049244.248831625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049244.249630176] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049244.335354119] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049244.337212192] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049244.338091515] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049244.338154742] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049244.339025331] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049244.339062139] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049244.339954072] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049244.344327239] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049244.344840397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049244.345454813] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049244.346494771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049244.347660885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049244.445525109] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049244.446289389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049244.447105325] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049244.447987948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049244.448513739] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049244.502580261] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973502 Long: -76.5029825 -[vectornav-1] [INFO] [1746049244.503808590] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (276.884, -3.307, 9.869) -[mux-7] [INFO] [1746049244.544748330] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049244.545439966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049244.545925377] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049244.547184625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049244.548244258] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049244.585257727] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049244.587593389] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049244.587789394] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049244.588757228] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049244.588087350] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049244.589686148] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049244.590598818] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049244.645303975] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049244.646170051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049244.647040822] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049244.648328086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049244.649941878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049244.745538470] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049244.746342279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049244.747166937] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049244.748870549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049244.750044821] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049244.836029795] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049244.838825538] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049244.839187321] [sailbot.teensy]: Wind angle: 351 -[mux-7] [INFO] [1746049244.839289596] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049244.839591887] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049244.839966459] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049244.840342561] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049244.844440163] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049244.844970341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049244.845569797] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049244.846656394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049244.847830275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049244.945351043] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049244.946040002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049244.947117135] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049244.948368364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049244.949543478] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049245.003649185] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973499 Long: -76.50298222 -[vectornav-1] [INFO] [1746049245.005235283] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (277.129, -3.309, 9.859) -[mux-7] [INFO] [1746049245.045251349] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049245.046234340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049245.046733541] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049245.048666996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049245.049695698] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049245.085450638] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049245.087474224] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049245.087988106] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049245.088459390] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049245.089383030] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049245.089802178] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049245.090265235] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049245.145088938] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049245.145943144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049245.146496146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049245.147955569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049245.149124816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049245.245332314] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049245.246288801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049245.246912601] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049245.248580115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049245.249712227] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049245.335289859] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049245.337463878] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049245.337926596] [sailbot.teensy]: Wind angle: 354 -[teensy-2] [INFO] [1746049245.338962253] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049245.339744799] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049245.339868684] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049245.340818221] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049245.344288709] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049245.344942809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049245.345362236] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049245.346695774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049245.347787216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049245.445502224] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049245.446866302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049245.447244377] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049245.448826617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049245.449293112] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049245.502620822] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973488 Long: -76.50298217 -[vectornav-1] [INFO] [1746049245.504214503] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (277.392, -3.295, 9.676) -[mux-7] [INFO] [1746049245.545264942] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049245.546091268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049245.546781552] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049245.548528588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049245.549582489] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049245.585427974] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049245.587363264] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049245.587853252] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049245.588387779] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049245.589298972] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049245.589330391] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049245.590256756] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049245.645054231] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049245.646010161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049245.646450904] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049245.648055300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049245.649217010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049245.745512746] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049245.746419585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049245.747155733] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049245.748186324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049245.748749562] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049245.835505020] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049245.838008132] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049245.838292063] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049245.839027435] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049245.839501179] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049245.839956113] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049245.840921975] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049245.844270931] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049245.844735219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049245.845504150] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049245.846541530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049245.847578151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049245.945364197] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049245.946300853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049245.946834471] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049245.949287867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049245.950408826] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049246.003557703] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973467 Long: -76.50298219 -[vectornav-1] [INFO] [1746049246.006138129] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (277.65, -3.3, 9.731) -[mux-7] [INFO] [1746049246.045164624] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049246.046102329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049246.046494389] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049246.048427462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049246.049723591] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049246.085645629] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049246.087631755] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049246.088618107] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049246.088434643] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049246.089500223] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049246.090378232] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049246.089614020] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746049246.145021192] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049246.145954967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049246.146411760] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049246.147960840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049246.149010871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049246.245324392] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049246.246338940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049246.247204666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049246.248236788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049246.248845802] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049246.335607096] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049246.337481782] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746049246.338002556] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049246.338424418] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049246.339295116] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049246.339802204] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049246.340167922] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049246.344348599] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049246.344932684] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049246.345444912] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049246.346659365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049246.347675623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049246.445490439] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049246.446040305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049246.447183561] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049246.448141405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049246.449287840] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049246.502714697] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973458 Long: -76.5029823 -[vectornav-1] [INFO] [1746049246.503944171] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (277.913, -3.303, 9.772) -[mux-7] [INFO] [1746049246.545170135] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049246.545795665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049246.546913702] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049246.547764244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049246.548971940] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049246.585814727] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049246.588747378] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049246.589827612] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049246.589210842] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049246.589744165] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049246.590758874] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049246.591628047] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049246.645280266] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049246.646003416] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049246.646785372] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049246.648133016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049246.648639867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049246.745338915] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049246.746085951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049246.747141319] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049246.747918993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049246.748393570] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049246.835290376] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049246.837774988] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049246.837838893] [sailbot.teensy]: Wind angle: 346 -[teensy-2] [INFO] [1746049246.838811967] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049246.838822901] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049246.839213537] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049246.839598445] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049246.844592585] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049246.845127382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049246.845844310] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049246.846869515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049246.848117012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049246.945387421] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049246.946009890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049246.947022761] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049246.948392141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049246.949213513] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049247.003562137] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973453 Long: -76.50298221 -[vectornav-1] [INFO] [1746049247.005173021] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (278.171, -3.292, 9.697) -[mux-7] [INFO] [1746049247.045231873] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049247.045767712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049247.046680288] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049247.047984341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049247.049009674] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049247.085442147] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049247.087396146] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049247.087817463] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049247.088367739] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049247.089240909] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049247.089209689] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049247.090134831] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049247.145357970] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049247.145939655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049247.146960584] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049247.148054768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049247.149160435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049247.245153264] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049247.245689340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049247.246624961] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049247.247625355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049247.248673389] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049247.335558148] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049247.338131756] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049247.338167337] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049247.339283587] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049247.339356393] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049247.339667818] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049247.340067332] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049247.344502587] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049247.345081566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049247.346035857] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049247.346874004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049247.348060679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049247.445407285] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049247.446068062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049247.447072515] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049247.448350794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049247.449502711] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049247.503992536] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973439 Long: -76.50298226 -[vectornav-1] [INFO] [1746049247.505601369] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (278.432, -3.297, 9.724) -[mux-7] [INFO] [1746049247.544818441] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049247.545343420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049247.546047789] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049247.547096788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049247.548218923] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049247.585327818] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049247.586978375] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049247.587887284] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049247.588799296] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049247.587629959] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049247.588229990] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049247.589682970] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049247.645346761] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049247.646009450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049247.646931969] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049247.648510619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049247.649706806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049247.745640991] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049247.746185201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049247.747497566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049247.748594839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049247.749721099] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049247.835372942] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049247.837831049] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049247.838198620] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049247.839126082] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049247.839194742] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049247.840063226] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049247.840885464] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049247.844404456] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049247.844988588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049247.845538474] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049247.846645401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049247.847698033] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049247.945710485] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049247.946618349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049247.947432924] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049247.949407095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049247.950782131] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049248.003360394] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973434 Long: -76.50298208 -[vectornav-1] [INFO] [1746049248.005005340] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (278.69399999999996, -3.3, 9.757) -[mux-7] [INFO] [1746049248.045334677] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049248.046145781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049248.046857312] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049248.048373334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049248.048877876] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049248.085283723] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049248.087260577] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049248.088226768] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049248.088039862] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049248.088713685] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049248.089111879] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049248.089974492] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049248.144805925] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049248.145403535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049248.146126984] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049248.147325347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049248.148528714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049248.245058206] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049248.246003866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049248.246481509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049248.247890442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049248.248375617] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049248.335479092] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049248.338169986] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049248.338268466] [sailbot.teensy]: Wind angle: 349 -[teensy-2] [INFO] [1746049248.339163145] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049248.339201815] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049248.340086714] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049248.340948497] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049248.344358425] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049248.344861223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049248.345472193] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049248.346901615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049248.347987105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049248.445177604] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049248.446149147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049248.446553016] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049248.448131531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049248.449152465] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049248.503770663] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973438 Long: -76.50298219 -[vectornav-1] [INFO] [1746049248.505438735] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (278.952, -3.291, 9.691) -[mux-7] [INFO] [1746049248.545529532] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049248.546367056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049248.547114234] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049248.548811517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049248.549894789] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049248.585471095] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049248.587336534] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049248.588125250] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049248.588381239] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049248.589236063] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049248.589306839] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049248.590226739] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049248.645495914] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049248.646616387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049248.647127159] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049248.649153264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049248.650272630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049248.745539133] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049248.746425564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049248.747166597] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049248.748003175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049248.748450496] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049248.835308146] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049248.837253678] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049248.837933868] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049248.838232956] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049248.839044412] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049248.839160771] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049248.840114511] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049248.844420944] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049248.845303485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049248.845804616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049248.847038159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049248.848073250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049248.945560633] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049248.946246289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049248.947748966] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049248.948032829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049248.948527130] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049249.003217592] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973414 Long: -76.50298223 -[vectornav-1] [INFO] [1746049249.004845146] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (279.20799999999997, -3.289, 9.71) -[mux-7] [INFO] [1746049249.044718654] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049249.045511912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049249.045893361] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049249.047433852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049249.048543467] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049249.085338943] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049249.087790641] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049249.087835949] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049249.088873792] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049249.089271325] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049249.089820448] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049249.090754936] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049249.144717705] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049249.145599021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049249.145966104] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049249.147514815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049249.148611729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049249.245069700] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049249.245790639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049249.246568866] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049249.247805297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049249.249012888] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049249.335160704] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049249.336908156] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049249.337766484] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049249.337852478] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049249.338736247] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049249.338737192] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049249.339660062] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049249.344300418] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049249.344805710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049249.345446029] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049249.346601639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049249.347597840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049249.445612191] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049249.446254216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049249.447747284] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049249.449045027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049249.450199143] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049249.504373665] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973404 Long: -76.50298214 -[vectornav-1] [INFO] [1746049249.506128066] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (279.466, -3.294, 9.733) -[mux-7] [INFO] [1746049249.544923183] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049249.545759922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049249.546192430] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049249.548745106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049249.549883341] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049249.585177729] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049249.586763294] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049249.588379992] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049249.588548400] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049249.589280509] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049249.590307033] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049249.591166663] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049249.645112187] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049249.646000415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049249.646532328] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049249.648229810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049249.649367789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049249.745558522] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049249.746268313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049249.747167566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049249.748560975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049249.749833610] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049249.835392154] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049249.837678715] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049249.837890408] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049249.838608167] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049249.838849858] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049249.839341809] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049249.839742195] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049249.844381791] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049249.845004720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049249.845604868] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049249.846727999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049249.847859690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049249.945655532] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049249.946424279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049249.947591623] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049249.948898451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049249.950069252] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049250.003405577] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973391 Long: -76.50298212 -[vectornav-1] [INFO] [1746049250.005259840] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (279.72900000000004, -3.308, 9.698) -[mux-7] [INFO] [1746049250.045049883] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049250.045797138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049250.046460888] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049250.047973359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049250.049104899] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049250.085196494] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049250.087212276] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049250.087513247] [sailbot.teensy]: Wind angle: 349 -[teensy-2] [INFO] [1746049250.088418607] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049250.089044552] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049250.089451729] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049250.090349755] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049250.145279569] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049250.145955486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049250.146846168] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049250.148082106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049250.149311804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049250.245300725] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049250.245963018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049250.246843283] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049250.248363060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049250.248968793] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049250.335477894] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049250.337908665] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049250.338265171] [sailbot.teensy]: Wind angle: 349 -[mux-7] [INFO] [1746049250.339196243] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049250.339258833] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049250.340202438] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049250.341137731] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049250.344413363] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049250.344873600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049250.345523633] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049250.346561548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049250.347588911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049250.445477630] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049250.446270271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049250.447188290] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049250.448117519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049250.448762244] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049250.503027367] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973378 Long: -76.50298215 -[vectornav-1] [INFO] [1746049250.504457560] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (279.97, -3.295, 9.71) -[mux-7] [INFO] [1746049250.545157598] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049250.546081862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049250.546558548] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049250.548257664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049250.549314779] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049250.585854576] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049250.588359033] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049250.588380499] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049250.589386823] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049250.590332311] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049250.590902605] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049250.591223774] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049250.645175224] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049250.645968566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049250.646426707] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049250.647773091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049250.648819006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049250.745236725] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049250.746144938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049250.746893838] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049250.748285114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049250.748779315] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049250.835275833] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049250.837618829] [sailbot.teensy]: Wind angle: 356 -[trim_sail-4] [INFO] [1746049250.837694888] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049250.838590575] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049250.839116034] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049250.839507753] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049250.840403956] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049250.844455417] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049250.844900890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049250.845593503] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049250.846543085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049250.847592061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049250.945244199] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049250.945946412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049250.946818660] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049250.948214300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049250.948647665] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049251.002549676] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973364 Long: -76.50298216 -[vectornav-1] [INFO] [1746049251.003997670] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.226, -3.3, 9.716) -[mux-7] [INFO] [1746049251.045139210] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049251.045901249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049251.046572025] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049251.047844735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049251.048973977] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049251.085649659] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049251.087861577] [sailbot.teensy]: Wind angle: 358 -[trim_sail-4] [INFO] [1746049251.088372232] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049251.088896377] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049251.089801732] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049251.090322361] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049251.090710267] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049251.145449546] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049251.145894517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049251.146943222] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049251.149080037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049251.150261817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049251.245645072] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049251.246280638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049251.247199416] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049251.248400450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049251.249551002] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049251.335382094] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049251.337460181] [sailbot.teensy]: Wind angle: 358 -[trim_sail-4] [INFO] [1746049251.338068034] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049251.338864531] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049251.339166950] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049251.339567948] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049251.340494471] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049251.344411016] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049251.344909634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049251.345547785] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049251.346617673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049251.347653572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049251.445174828] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049251.446352103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049251.446698154] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049251.448326910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049251.449534441] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049251.502947972] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973367 Long: -76.50298217 -[vectornav-1] [INFO] [1746049251.504109560] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.46299999999997, -3.3, 9.716) -[mux-7] [INFO] [1746049251.544904926] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049251.546001710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049251.547138174] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049251.548111278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049251.549279987] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049251.585201853] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049251.586748697] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049251.587310874] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049251.587614843] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049251.588574045] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049251.589177628] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049251.589470609] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049251.645368864] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049251.645985915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049251.646966168] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049251.648601106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049251.649322241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049251.745701015] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049251.746375742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049251.747370635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049251.748767519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049251.749995982] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049251.835372422] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049251.837248556] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049251.837809819] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049251.838780077] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049251.839206746] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049251.839596442] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049251.839613447] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049251.844685344] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049251.845391410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049251.845990411] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049251.847285157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049251.848413796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049251.945790558] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049251.946731288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049251.947743506] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049251.948956130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049251.949484305] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049252.002530809] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973353 Long: -76.50298216 -[vectornav-1] [INFO] [1746049252.003680359] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.72900000000004, -3.291, 9.711) -[mux-7] [INFO] [1746049252.045443312] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049252.046101625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049252.046931691] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049252.047898948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049252.048427739] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049252.085463318] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049252.087517660] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049252.088072390] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049252.088500329] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049252.089683311] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049252.089823637] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049252.091141179] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049252.145109493] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049252.145645018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049252.146815461] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049252.147444244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049252.149271240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049252.245433147] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049252.246215660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049252.247048867] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049252.248618212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049252.249230256] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049252.335435430] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049252.338209170] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049252.338372840] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049252.339946816] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049252.340118676] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049252.341105045] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049252.341953336] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049252.344311772] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049252.344908965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049252.345442588] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049252.346621325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049252.347593997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049252.445053434] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049252.445829170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049252.446418226] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049252.447643207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049252.448685028] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049252.502882477] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973348 Long: -76.5029823 -[vectornav-1] [INFO] [1746049252.504475111] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.96500000000003, -3.295, 9.742) -[mux-7] [INFO] [1746049252.545032028] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049252.545738526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049252.546701844] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049252.547516298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049252.548606483] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049252.585531764] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049252.587992387] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049252.588477675] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049252.589017831] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049252.589887271] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049252.590197235] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049252.590751536] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049252.645667754] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049252.646170850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049252.648303368] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049252.648496638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049252.649763040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049252.745307611] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049252.746251281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049252.747239522] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049252.748230522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049252.748764462] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049252.835739218] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049252.837932454] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049252.838735666] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049252.839600445] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049252.839677320] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049252.840069600] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049252.840772935] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049252.844514490] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049252.844940903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049252.845700618] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049252.846660430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049252.847791194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049252.945671748] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049252.946428868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049252.947469511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049252.948729604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049252.949248429] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049253.003485467] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973341 Long: -76.5029823 -[vectornav-1] [INFO] [1746049253.005280916] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (281.20500000000004, -3.293, 9.738) -[mux-7] [INFO] [1746049253.045050094] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049253.045568303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049253.046488692] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049253.047483861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049253.048719020] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049253.085407235] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049253.087653290] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049253.087931728] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049253.088673196] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049253.089573615] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049253.089660549] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049253.090428333] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049253.145262601] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049253.146212293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049253.146795611] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049253.148084323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049253.148661005] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049253.245246293] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049253.246104934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049253.246793390] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049253.247983353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049253.248448940] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049253.335215745] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049253.336991322] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049253.337729020] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049253.338875442] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049253.338899837] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049253.339868879] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049253.340805562] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049253.344355207] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049253.344802820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049253.345447428] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049253.346500225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049253.347519082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049253.445273280] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049253.446089662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049253.447216097] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049253.448361404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049253.449029730] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049253.502542498] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697333 Long: -76.50298239 -[vectornav-1] [INFO] [1746049253.503643604] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (281.461, -3.297, 9.751) -[mux-7] [INFO] [1746049253.545342718] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049253.545978910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049253.546952216] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049253.548195012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049253.548703100] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049253.585375094] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049253.587607860] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049253.587772394] [sailbot.teensy]: Wind angle: 349 -[teensy-2] [INFO] [1746049253.588776198] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049253.589218030] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049253.589705304] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049253.590609531] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049253.645482351] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049253.646498696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049253.647851724] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049253.648842991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049253.650172203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049253.745280370] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049253.746096354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049253.746809027] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049253.748559223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049253.749622636] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049253.835569439] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049253.837753001] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049253.838231440] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049253.838813119] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049253.839728832] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049253.839465582] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049253.840465646] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049253.844451152] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049253.845023700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049253.845592280] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049253.846830633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049253.847900514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049253.945648459] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049253.946717654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049253.947423329] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049253.948610280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049253.949152929] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049254.004028199] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973323 Long: -76.50298248 -[vectornav-1] [INFO] [1746049254.005791617] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (281.674, -3.302, 9.743) -[mux-7] [INFO] [1746049254.044973087] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049254.045871894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049254.046598485] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049254.047943534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049254.049097477] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049254.085475554] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049254.087757604] [sailbot.teensy]: Wind angle: 354 -[teensy-2] [INFO] [1746049254.088788622] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049254.089670412] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049254.088857812] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049254.089226680] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049254.090550350] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049254.145098081] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049254.145870074] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049254.146743963] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049254.148022349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049254.149016068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049254.245511641] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049254.246558675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049254.247356765] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049254.248229215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049254.248986947] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049254.335472554] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049254.338053668] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049254.338165838] [sailbot.teensy]: Wind angle: 355 -[teensy-2] [INFO] [1746049254.339106699] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049254.340025820] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049254.340205068] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049254.340999234] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049254.344549038] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049254.345001195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049254.345712413] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049254.346725978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049254.347780513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049254.445349405] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049254.446026882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049254.447108979] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049254.448195600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049254.448951416] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049254.502542353] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973303 Long: -76.5029825 -[vectornav-1] [INFO] [1746049254.503644049] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (281.942, -3.294, 9.762) -[mux-7] [INFO] [1746049254.545373935] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049254.546145011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049254.546990876] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049254.548579987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049254.549801277] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049254.585487574] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049254.587816108] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049254.588069743] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049254.588821187] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049254.589521414] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049254.589759407] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049254.590644807] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049254.644753170] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049254.645381109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049254.645948151] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049254.647125270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049254.648279884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049254.745295338] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049254.746892067] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049254.747778637] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049254.749704229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049254.750876916] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049254.835299115] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049254.837024600] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049254.837836808] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049254.837978804] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049254.838874031] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049254.838896769] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049254.839803082] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049254.844423774] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049254.844990800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049254.845753094] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049254.846858080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049254.848080155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049254.945916557] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049254.946438735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049254.948248364] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049254.949204269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049254.950405602] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049255.003599843] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973287 Long: -76.50298246 -[vectornav-1] [INFO] [1746049255.005586313] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.159, -3.298, 9.746) -[mux-7] [INFO] [1746049255.044942751] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049255.045488998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049255.046188501] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049255.047255743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049255.048686832] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049255.085396850] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049255.087892593] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049255.087943827] [sailbot.teensy]: Wind angle: 355 -[teensy-2] [INFO] [1746049255.088898598] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049255.089081628] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049255.089814084] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049255.090697008] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049255.144997219] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049255.145754494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049255.146297630] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049255.147764986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049255.148842942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049255.245320787] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049255.246269692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049255.247028058] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049255.248178830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049255.248682607] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049255.335385196] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049255.337794194] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049255.337897218] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049255.338769056] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049255.339176239] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049255.339728781] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049255.340659242] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049255.344435920] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049255.344878410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049255.345713148] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049255.346608859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049255.347856700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049255.445335321] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049255.446251133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049255.446968274] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049255.448418952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049255.450063167] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049255.503360939] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973283 Long: -76.50298254 -[vectornav-1] [INFO] [1746049255.504610848] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.372, -3.293, 9.676) -[mux-7] [INFO] [1746049255.544993072] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049255.545865791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049255.546311364] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049255.548071077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049255.549263577] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049255.585443041] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049255.587907801] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049255.588291056] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049255.589245768] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049255.590374006] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049255.591284375] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049255.592144586] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049255.645244085] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049255.645929603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049255.646779840] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049255.648132094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049255.649377052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049255.745609721] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049255.746310897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049255.748065618] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049255.748664281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049255.749239199] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049255.835501572] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049255.838166588] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049255.838426909] [sailbot.teensy]: Wind angle: 355 -[teensy-2] [INFO] [1746049255.839416489] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049255.840356591] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049255.840806835] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049255.841213676] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049255.844367410] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049255.845010794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049255.845583711] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049255.846867658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049255.847933645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049255.945289800] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049255.946014460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049255.946833214] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049255.947940408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049255.948489319] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049256.002558030] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973267 Long: -76.50298243 -[vectornav-1] [INFO] [1746049256.003544949] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.628, -3.289, 9.699) -[mux-7] [INFO] [1746049256.045066825] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049256.045956004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049256.046309374] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049256.047783184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049256.049087548] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049256.086039637] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049256.089208076] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049256.089297253] [sailbot.teensy]: Wind angle: 355 -[teensy-2] [INFO] [1746049256.090387430] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049256.090478761] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049256.091338671] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049256.092245703] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049256.145087193] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049256.145964868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049256.146558584] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049256.148190826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049256.149364486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049256.245304605] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049256.246036487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049256.246823522] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049256.248320134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049256.248862049] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049256.335419461] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049256.337946942] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049256.338217455] [sailbot.teensy]: Wind angle: 355 -[teensy-2] [INFO] [1746049256.339206692] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049256.339369555] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049256.340190469] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049256.341045816] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049256.344377781] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049256.345002879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049256.345547028] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049256.346825383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049256.347848139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049256.445375292] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049256.445979411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049256.447038007] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049256.448211352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049256.448774783] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049256.503203564] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973261 Long: -76.50298249 -[vectornav-1] [INFO] [1746049256.504982174] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.839, -3.306, 9.753) -[mux-7] [INFO] [1746049256.545175864] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049256.545850921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049256.547900188] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049256.548060040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049256.549141344] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049256.585754136] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049256.588684986] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049256.588682777] [sailbot.teensy]: Wind angle: 354 -[teensy-2] [INFO] [1746049256.589964460] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049256.590078992] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049256.590875965] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049256.591789365] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049256.644909146] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049256.645377397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049256.646342678] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049256.647147174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049256.648340628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049256.745431219] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049256.746381679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049256.747448938] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049256.748534364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049256.749695232] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049256.835481300] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049256.837357242] [sailbot.teensy]: Wind angle: 354 -[teensy-2] [INFO] [1746049256.838322363] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049256.838007466] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049256.839183480] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049256.839204075] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049256.840080734] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049256.844379578] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049256.844978242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049256.845520403] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049256.846765628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049256.847831296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049256.945849911] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049256.946452964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049256.947729211] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049256.948169878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049256.948687099] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049257.004007177] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973268 Long: -76.50298248 -[vectornav-1] [INFO] [1746049257.005804276] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.06600000000003, -3.301, 9.771) -[mux-7] [INFO] [1746049257.045111073] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049257.045927942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049257.046526918] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049257.047935371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049257.049094986] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049257.085622204] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049257.087895312] [sailbot.teensy]: Wind angle: 355 -[teensy-2] [INFO] [1746049257.088904292] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049257.089094603] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049257.089665116] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049257.089775248] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049257.090654818] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049257.145156853] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049257.145888944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049257.146591246] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049257.148110173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049257.149253891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049257.245700413] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049257.246782467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049257.247576859] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049257.248621956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049257.249343784] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049257.335418283] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049257.337388501] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049257.337908591] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049257.338405493] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049257.339374288] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049257.339668106] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049257.340034092] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049257.344505592] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049257.345459712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049257.345726810] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049257.347355109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049257.348486134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049257.445886078] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049257.446595960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049257.447942962] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049257.448610327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049257.449114419] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049257.503325286] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973267 Long: -76.50298241 -[vectornav-1] [INFO] [1746049257.505192509] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.296, -3.296, 9.736) -[mux-7] [INFO] [1746049257.545176205] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049257.546004511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049257.546622380] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049257.548306049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049257.549416220] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049257.585715561] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049257.587920833] [sailbot.teensy]: Wind angle: 353 -[teensy-2] [INFO] [1746049257.589113720] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049257.588729662] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049257.590039603] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049257.590158750] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049257.590981006] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049257.645323925] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049257.645961039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049257.646879239] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049257.648135400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049257.649393436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049257.745541858] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049257.746592194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049257.747183832] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049257.749080831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049257.750219072] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049257.835738422] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049257.838405820] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049257.838621878] [sailbot.teensy]: Wind angle: 348 -[mux-7] [INFO] [1746049257.839715510] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049257.839906452] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049257.840961655] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049257.841347780] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049257.844388336] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049257.844970056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049257.845708858] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049257.846883018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049257.848205881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049257.945490554] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049257.946303261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049257.947861615] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049257.948696937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049257.950023242] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049258.003044980] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973264 Long: -76.50298241 -[vectornav-1] [INFO] [1746049258.004413824] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.526, -3.302, 9.828) -[mux-7] [INFO] [1746049258.045004886] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049258.045665124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049258.046289569] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049258.047627656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049258.048787954] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049258.085417271] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049258.087870416] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049258.088438390] [sailbot.teensy]: Wind angle: 348 -[mux-7] [INFO] [1746049258.089005690] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049258.089456595] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049258.090364402] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049258.091250188] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049258.145165749] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049258.146031899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049258.146581427] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049258.148410230] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049258.149457937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049258.245556309] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049258.246397276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049258.247154411] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049258.248213933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049258.248697289] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049258.335315036] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049258.337154265] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049258.337843071] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049258.338143727] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049258.339070385] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049258.339050006] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049258.339981231] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049258.344518068] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049258.345049999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049258.345652837] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049258.346758534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049258.347892494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049258.445110300] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049258.445800143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049258.446591784] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049258.447854123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049258.449024949] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049258.502336928] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973266 Long: -76.50298232 -[vectornav-1] [INFO] [1746049258.503315758] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.743, -3.29, 9.71) -[mux-7] [INFO] [1746049258.545062087] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049258.545838034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049258.546488732] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049258.548170757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049258.549194693] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049258.585666169] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049258.588331776] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049258.588692734] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049258.589809641] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049258.590032084] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049258.590740606] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049258.591643332] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049258.645571896] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049258.646598104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049258.647315118] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049258.648625081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049258.649266630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049258.745388292] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049258.746018912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049258.746962408] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049258.748342510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049258.748961447] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049258.835469621] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049258.838176048] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049258.838933576] [sailbot.teensy]: Wind angle: 349 -[mux-7] [INFO] [1746049258.839348852] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049258.839437736] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049258.839835412] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049258.840242863] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049258.844456008] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049258.844837595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049258.845636335] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049258.846506902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049258.847563658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049258.945190722] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049258.946582341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049258.946874092] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049258.948744620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049258.949267608] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049259.003730906] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973246 Long: -76.5029822 -[vectornav-1] [INFO] [1746049259.005356089] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.952, -3.305, 9.78) -[mux-7] [INFO] [1746049259.045220269] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049259.045963016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049259.046739398] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049259.048273946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049259.049416585] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049259.085315488] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049259.087592665] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049259.087659344] [sailbot.teensy]: Wind angle: 349 -[teensy-2] [INFO] [1746049259.088638176] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049259.089525695] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049259.088434122] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049259.090368421] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049259.145400879] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049259.145880232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049259.146921068] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049259.147821562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049259.148933470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049259.245659207] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049259.246350578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049259.247591768] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049259.248673289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049259.249878774] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049259.335435674] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049259.337934450] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049259.338329421] [sailbot.teensy]: Wind angle: 350 -[mux-7] [INFO] [1746049259.338663634] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049259.339261441] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049259.340232108] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049259.341089950] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049259.344475209] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049259.344884358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049259.345745308] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049259.346566665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049259.347699012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049259.445396673] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049259.445969415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049259.447050136] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049259.448118912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049259.449395323] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049259.503445078] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973243 Long: -76.50298222 -[vectornav-1] [INFO] [1746049259.505113590] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.16700000000003, -3.303, 9.812) -[mux-7] [INFO] [1746049259.545072774] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049259.546104379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049259.546507885] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049259.549174576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049259.550308275] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049259.585118822] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049259.587036018] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049259.587339668] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049259.588681041] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049259.589291591] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049259.590224197] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049259.591051498] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049259.645136745] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049259.646026977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049259.646632767] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049259.648505285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049259.649501636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049259.745283999] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049259.746067140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049259.747339465] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049259.748304007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049259.749272651] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049259.835335350] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049259.837820816] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049259.838268149] [sailbot.teensy]: Wind angle: 346 -[mux-7] [INFO] [1746049259.839169296] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049259.839561986] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049259.840537469] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049259.841399653] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049259.844474991] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049259.845070418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049259.845634978] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049259.846820696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049259.847884553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049259.945572561] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049259.946785544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049259.947233107] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049259.948709551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049259.949325600] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049260.002519649] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973209 Long: -76.50298214 -[vectornav-1] [INFO] [1746049260.003538087] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.382, -3.281, 9.714) -[mux-7] [INFO] [1746049260.045166954] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049260.045847911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049260.046455883] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049260.047934200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049260.049068951] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049260.085438225] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049260.087975760] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049260.088339826] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049260.089298909] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049260.090344183] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049260.089326172] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049260.090793155] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049260.145315500] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049260.146018807] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049260.148378222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[mux-7] [INFO] [1746049260.146980816] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049260.149541823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049260.245437032] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049260.246074101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049260.247150624] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049260.248426456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049260.248988249] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049260.335434445] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049260.337399379] [sailbot.teensy]: Wind angle: 334 -[teensy-2] [INFO] [1746049260.338373587] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049260.338192124] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049260.339254572] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049260.339496462] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049260.340179646] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049260.344319144] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049260.345121437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049260.345463052] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049260.346880847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049260.347934867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049260.445264601] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049260.446063530] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049260.446811253] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049260.448418828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049260.449585309] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049260.501585362] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973244 Long: -76.50298212 -[vectornav-1] [INFO] [1746049260.502387176] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.579, -3.282, 9.7) -[mux-7] [INFO] [1746049260.543716854] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049260.544093671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049260.544204192] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049260.544863346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049260.546612361] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049260.585408086] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049260.587886404] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049260.588125992] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049260.588864292] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049260.589148105] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049260.589316566] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049260.589699451] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049260.644922948] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049260.645489361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049260.645756567] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049260.646622258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049260.647176249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049260.745233392] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049260.746186676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049260.746834879] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049260.748743482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049260.749752572] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049260.835446256] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049260.837718875] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049260.838383556] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049260.838742150] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049260.839646239] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049260.839447156] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049260.840617648] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049260.844346117] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049260.845655867] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049260.845886160] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049260.848778102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049260.849801981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049260.945083718] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049260.946012461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049260.946571923] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049260.948200395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049260.949303824] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049261.002461005] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973246 Long: -76.50298217 -[vectornav-1] [INFO] [1746049261.003492937] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.794, -3.279, 9.706) -[mux-7] [INFO] [1746049261.045040416] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049261.045704371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049261.046560718] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049261.047597775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049261.048739249] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049261.085253103] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049261.086887048] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049261.087806125] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049261.088642893] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049261.088147873] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049261.088640769] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049261.089535842] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049261.145107788] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049261.145879633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049261.146484329] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049261.147721573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049261.148770257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049261.245529720] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049261.246200271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049261.247523682] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049261.248651257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049261.249651402] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049261.335411235] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049261.337941723] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049261.338910996] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049261.338147542] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049261.338913619] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049261.339885889] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049261.340779633] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049261.344412873] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049261.345022507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049261.345660961] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049261.346824517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049261.347872721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049261.445352624] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049261.446015355] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049261.446947323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049261.448189028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049261.449515252] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049261.502447323] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973235 Long: -76.50298229 -[vectornav-1] [INFO] [1746049261.503639722] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.996, -3.277, 9.705) -[mux-7] [INFO] [1746049261.545615367] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049261.546312536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049261.547297311] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049261.548795375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049261.550179546] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049261.585801471] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049261.588674355] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049261.588736793] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049261.589799337] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049261.590396322] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049261.590678912] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049261.591552580] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049261.645127832] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049261.646165282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049261.646754881] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049261.648820933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049261.649905972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049261.744979529] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049261.745850653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049261.746295226] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049261.747794788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049261.748863075] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049261.835370742] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049261.838054902] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049261.838304593] [sailbot.teensy]: Wind angle: 341 -[mux-7] [INFO] [1746049261.838854047] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049261.839209611] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049261.840088239] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049261.840973192] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049261.844285682] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049261.844898035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049261.845435524] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049261.846605569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049261.847593308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049261.944975468] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049261.945566604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049261.946292293] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049261.947412560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049261.948250076] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049262.003739577] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697324 Long: -76.50298218 -[vectornav-1] [INFO] [1746049262.005190351] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.197, -3.276, 9.762) -[mux-7] [INFO] [1746049262.045006525] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049262.045810112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049262.046541049] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049262.047750732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049262.048854012] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049262.085371113] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049262.087856005] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049262.088943462] [sailbot.teensy]: Wind angle: 340 -[mux-7] [INFO] [1746049262.088944254] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049262.089932907] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049262.090850192] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049262.091801795] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049262.145100773] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049262.145829062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049262.146646531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049262.147964136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049262.149011337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049262.245611984] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049262.246363862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049262.247294141] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049262.249033293] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049262.250236083] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049262.335348965] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049262.337505122] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049262.337949654] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049262.338867348] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049262.338868361] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049262.339296270] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049262.339674640] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049262.344344265] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049262.344946004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049262.345451999] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049262.346742401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049262.347755386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049262.445567152] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049262.446266444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049262.447505049] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049262.448337277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049262.448886173] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049262.503762612] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973223 Long: -76.50298239 -[vectornav-1] [INFO] [1746049262.505679071] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.334, -3.253, 9.764) -[mux-7] [INFO] [1746049262.545314164] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049262.546126808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049262.546882837] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049262.548352366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049262.549559318] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049262.585398531] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049262.587581637] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049262.587877832] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049262.589008700] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049262.589929409] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049262.589927267] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049262.590805250] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049262.645141205] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049262.646219456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049262.646939830] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049262.648881008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049262.650032662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049262.745119641] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049262.745794573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049262.746921228] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049262.747761939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049262.748525295] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049262.835857610] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049262.839044688] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049262.839264577] [sailbot.teensy]: Wind angle: 350 -[mux-7] [INFO] [1746049262.839464846] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049262.839681079] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049262.840072942] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049262.840516200] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049262.844753494] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049262.845303017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049262.846043358] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049262.847049089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049262.848134072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049262.945544407] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049262.946201174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049262.947219155] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049262.948313222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049262.948871988] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049263.003179757] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697323 Long: -76.50298234 -[vectornav-1] [INFO] [1746049263.004522059] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.52, -3.257, 9.759) -[mux-7] [INFO] [1746049263.045214463] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049263.046540424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049263.046783565] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049263.048397546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049263.048897167] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049263.085741762] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049263.088402200] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049263.088434767] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049263.089436988] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049263.089934770] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049263.090361553] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049263.091203132] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049263.145357752] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049263.146057219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049263.146922003] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049263.148573367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049263.149641184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049263.245559385] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049263.246273068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049263.247322728] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049263.248742669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049263.249977294] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049263.335743150] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049263.338349343] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746049263.338944693] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049263.339556555] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049263.340642909] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049263.341641919] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049263.341851638] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049263.344334139] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049263.345225973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049263.345616962] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049263.347034202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049263.348206341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049263.445518480] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049263.446217779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049263.447168014] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049263.448604260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049263.449311460] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049263.503963107] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973237 Long: -76.5029823 -[vectornav-1] [INFO] [1746049263.505757307] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.676, -3.253, 9.756) -[mux-7] [INFO] [1746049263.545269579] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049263.546057530] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049263.546904700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049263.548101953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049263.549302685] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049263.585412141] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049263.587800512] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746049263.588233026] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049263.588780388] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049263.589127244] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049263.589662726] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049263.590518187] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049263.645648352] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049263.646193440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049263.647367608] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049263.649273631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049263.651227477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049263.745722572] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049263.746450400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049263.747573888] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049263.748944518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049263.749552373] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049263.835358038] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049263.837314465] [sailbot.teensy]: Wind angle: 1 -[trim_sail-4] [INFO] [1746049263.837886151] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049263.838324222] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049263.839228915] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049263.839715786] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049263.840089337] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049263.844604540] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049263.845322242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049263.846210616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049263.847149220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049263.848690778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049263.945080820] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049263.945725906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049263.946460678] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049263.948410877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049263.949444288] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049264.003493929] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973241 Long: -76.50298233 -[vectornav-1] [INFO] [1746049264.005666094] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.716, -3.254, 9.758) -[mux-7] [INFO] [1746049264.045129481] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049264.045835083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049264.047514327] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049264.047849123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049264.049020762] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049264.085417539] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049264.087315694] [sailbot.teensy]: Wind angle: 2 -[trim_sail-4] [INFO] [1746049264.088059766] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049264.088331573] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049264.089329839] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049264.089931821] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049264.090213830] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049264.145497653] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049264.146270166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049264.147217104] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049264.148496307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049264.149601244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049264.245467970] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049264.246316469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049264.247614798] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049264.249583307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049264.250637953] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049264.335880441] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049264.338788747] [sailbot.teensy]: Wind angle: 4 -[trim_sail-4] [INFO] [1746049264.338955843] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049264.339875318] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049264.340549944] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049264.340942754] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049264.341296584] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049264.344395100] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049264.344926779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049264.345645930] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049264.346710239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049264.347883818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049264.445352234] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049264.446141176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049264.446942988] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049264.448602840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049264.449823918] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049264.503010682] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973253 Long: -76.50298234 -[vectornav-1] [INFO] [1746049264.504344143] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.75, -3.247, 9.776) -[mux-7] [INFO] [1746049264.544967636] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049264.545933148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049264.546480784] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049264.547998218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049264.549098517] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049264.585470364] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049264.588169710] [sailbot.teensy]: Wind angle: 7 -[trim_sail-4] [INFO] [1746049264.588696154] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049264.589170464] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049264.589466195] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049264.590101656] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049264.591041923] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049264.645166495] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049264.645902569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049264.646596509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049264.647950310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049264.649223034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049264.745325020] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049264.746071384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049264.746858336] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049264.748379737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049264.748942279] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049264.835348749] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049264.837121481] [sailbot.teensy]: Wind angle: 8 -[trim_sail-4] [INFO] [1746049264.837649878] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049264.838814667] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049264.838902425] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049264.839884326] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049264.840806143] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049264.844372161] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049264.844880269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049264.845461644] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049264.846543333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049264.847551316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049264.945512890] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049264.946406430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049264.947488486] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049264.948821181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049264.950177121] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049265.003753199] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973244 Long: -76.50298219 -[vectornav-1] [INFO] [1746049265.005664670] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.786, -3.247, 9.781) -[mux-7] [INFO] [1746049265.045110559] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049265.045803268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049265.046519063] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049265.047712576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049265.048905552] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049265.085719793] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049265.087865328] [sailbot.teensy]: Wind angle: 9 -[trim_sail-4] [INFO] [1746049265.088461819] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049265.090275928] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049265.090679064] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049265.091188358] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049265.092125119] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049265.145202775] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049265.145864919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049265.146564548] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049265.147711030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049265.148835547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049265.245314989] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049265.246240523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049265.246895272] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049265.248100134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049265.248628887] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049265.335322714] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049265.337018349] [sailbot.teensy]: Wind angle: 11 -[trim_sail-4] [INFO] [1746049265.337520702] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049265.337970131] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049265.338840211] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049265.338952481] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049265.339239700] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049265.344411891] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049265.345156977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049265.345583427] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049265.346843802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049265.347915353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049265.445325624] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049265.446159093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049265.446990830] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049265.447892891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049265.448401527] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049265.503676704] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973239 Long: -76.50298213 -[vectornav-1] [INFO] [1746049265.505167395] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.81600000000003, -3.246, 9.785) -[mux-7] [INFO] [1746049265.545115057] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049265.545860164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049265.546481525] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049265.547986444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049265.549013167] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049265.585453943] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049265.587378643] [sailbot.teensy]: Wind angle: 13 -[teensy-2] [INFO] [1746049265.588442015] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049265.589394446] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049265.588672129] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049265.590275924] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049265.590765211] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049265.644848958] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049265.645955933] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049265.646268902] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049265.649148190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049265.650435787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049265.745164197] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049265.746163641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049265.747134323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049265.748272473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049265.749391264] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049265.835364996] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049265.838102667] [sailbot.teensy]: Wind angle: 15 -[trim_sail-4] [INFO] [1746049265.838155043] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049265.838766395] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049265.839057542] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049265.839934305] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049265.840845701] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049265.844270321] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049265.844856819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049265.845444061] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049265.846548955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049265.847540985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049265.945581889] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049265.946341761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049265.947279164] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049265.948904825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049265.950165746] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049266.002779936] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973239 Long: -76.5029821 -[vectornav-1] [INFO] [1746049266.003920557] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.852, -3.244, 9.762) -[mux-7] [INFO] [1746049266.045313062] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049266.045934703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049266.046893943] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049266.048300628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049266.048945256] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049266.085711322] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049266.088477050] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049266.088904005] [sailbot.teensy]: Wind angle: 16 -[mux-7] [INFO] [1746049266.089523551] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049266.090068067] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049266.091051294] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049266.091907660] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049266.145468582] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049266.146052284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049266.147764937] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049266.148660071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049266.150465632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049266.245522973] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049266.246245360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049266.247086860] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049266.247999164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049266.248534068] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049266.335404395] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049266.337777607] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049266.338191322] [sailbot.teensy]: Wind angle: 16 -[mux-7] [INFO] [1746049266.339119450] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049266.339132384] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049266.340013292] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049266.340921904] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049266.344447906] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049266.344736298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049266.345574893] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049266.346502187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049266.347593188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049266.445166750] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049266.445951505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049266.446594111] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049266.447881426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049266.449343304] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049266.503748286] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973237 Long: -76.50298208 -[vectornav-1] [INFO] [1746049266.505732388] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.884, -3.243, 9.772) -[mux-7] [INFO] [1746049266.545512547] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049266.546354807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049266.547333957] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049266.548824027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049266.549916400] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049266.585264720] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049266.587315747] [sailbot.teensy]: Wind angle: 16 -[trim_sail-4] [INFO] [1746049266.587378112] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049266.588314328] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049266.588956439] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049266.589216550] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049266.590154953] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049266.645045803] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049266.645763525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049266.646318759] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049266.647555252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049266.648636676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049266.745553489] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049266.746165121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049266.747242362] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049266.748429966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049266.749550638] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049266.835935474] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049266.838946843] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049266.839031750] [sailbot.teensy]: Wind angle: 16 -[teensy-2] [INFO] [1746049266.839518082] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049266.839854871] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049266.839924271] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049266.840309352] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049266.844590639] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049266.845013177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049266.845929964] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049266.846747507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049266.847780298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049266.945119078] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049266.945977312] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049266.946476648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049266.948579786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049266.949060954] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049267.002846433] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973247 Long: -76.50298223 -[vectornav-1] [INFO] [1746049267.004022891] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.911, -3.233, 9.724) -[mux-7] [INFO] [1746049267.045275599] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049267.046057535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049267.046727306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049267.048277333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049267.049372458] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049267.085873963] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049267.087958507] [sailbot.teensy]: Wind angle: 16 -[teensy-2] [INFO] [1746049267.089010968] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049267.088581982] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049267.089992877] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049267.090151288] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049267.090914399] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049267.145281381] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049267.145953749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049267.146884491] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049267.148297154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049267.150278848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049267.245254951] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049267.246273163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049267.246973986] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049267.248725942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049267.249542643] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049267.335308529] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049267.337701905] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049267.338572450] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049267.339176411] [sailbot.teensy]: Wind angle: 16 -[teensy-2] [INFO] [1746049267.340127672] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049267.340801489] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049267.341162716] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049267.344384711] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049267.344701267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049267.345538930] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049267.346314125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049267.347353711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049267.445368107] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049267.446193378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049267.446999531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049267.449494342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049267.450170335] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049267.503785039] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973254 Long: -76.50298228 -[vectornav-1] [INFO] [1746049267.506319040] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.951, -3.229, 9.767) -[mux-7] [INFO] [1746049267.544973829] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049267.545609609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049267.546583908] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049267.547386386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049267.548446816] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049267.585321434] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049267.587097031] [sailbot.teensy]: Wind angle: 15 -[trim_sail-4] [INFO] [1746049267.587881344] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049267.588013663] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049267.588960937] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049267.589333481] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049267.589821447] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049267.645070024] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049267.646640470] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049267.646750258] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049267.648814068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049267.649945251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049267.745346195] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049267.746039072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049267.747125983] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049267.748518885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049267.749065398] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049267.835623560] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049267.837864960] [sailbot.teensy]: Wind angle: 15 -[trim_sail-4] [INFO] [1746049267.838635815] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049267.838986691] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049267.839211639] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049267.840315441] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049267.841242660] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049267.844836122] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049267.844970960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049267.846093940] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049267.846834129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049267.847932465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049267.945284697] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049267.946111258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049267.946986741] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049267.948035090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049267.948495295] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049268.003204319] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973253 Long: -76.5029823 -[vectornav-1] [INFO] [1746049268.004447039] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.981, -3.232, 9.781) -[mux-7] [INFO] [1746049268.045010205] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049268.045728514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049268.046368919] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049268.047924167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049268.049065875] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049268.085228155] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049268.086911517] [sailbot.teensy]: Wind angle: 14 -[trim_sail-4] [INFO] [1746049268.087512999] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049268.087902020] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049268.088717623] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049268.088799239] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049268.089661689] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049268.144927206] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049268.145706199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049268.146204645] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049268.147570352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049268.148631052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049268.245056070] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049268.245906672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049268.246416962] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049268.248033022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049268.248834175] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049268.335410815] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049268.337618767] [sailbot.teensy]: Wind angle: 17 -[teensy-2] [INFO] [1746049268.338510416] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049268.338013033] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049268.338973549] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049268.339325493] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049268.340209025] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049268.344365662] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049268.344885379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049268.345446024] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049268.346632242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049268.347642695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049268.445727055] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049268.446436174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049268.447659122] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049268.448840244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049268.450029210] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049268.502524888] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697326 Long: -76.50298227 -[vectornav-1] [INFO] [1746049268.503571859] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.012, -3.224, 9.804) -[mux-7] [INFO] [1746049268.545198570] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049268.545887090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049268.546674648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049268.548373893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049268.549490048] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049268.585677721] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049268.587814861] [sailbot.teensy]: Wind angle: 17 -[trim_sail-4] [INFO] [1746049268.588520411] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049268.588895919] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049268.589881706] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049268.590366479] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049268.590783857] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049268.645101048] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049268.646193982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049268.646602160] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049268.648279468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049268.649426635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049268.745738517] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049268.746726489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049268.747528597] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049268.748808824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049268.749305337] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049268.835456089] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049268.837753939] [sailbot.teensy]: Wind angle: 17 -[trim_sail-4] [INFO] [1746049268.837807722] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049268.838755335] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049268.839672654] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049268.840037885] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049268.840465390] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049268.844451082] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049268.845007472] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049268.845609884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049268.846722581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049268.847742946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049268.945236204] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049268.945831345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049268.946714025] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049268.947925149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049268.949104825] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049269.004009578] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973274 Long: -76.50298227 -[vectornav-1] [INFO] [1746049269.005600452] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.051, -3.211, 9.806) -[mux-7] [INFO] [1746049269.045437997] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049269.046102174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049269.047042865] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049269.048396547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049269.049503060] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049269.085496044] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049269.087309081] [sailbot.teensy]: Wind angle: 18 -[teensy-2] [INFO] [1746049269.088251072] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049269.087804324] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049269.089124865] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049269.089627455] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049269.090061130] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049269.145383724] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049269.146231334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049269.146833017] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049269.148552870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049269.149562022] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049269.245090954] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049269.245989643] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049269.246473340] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049269.248191414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049269.249213874] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049269.335430367] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049269.337872302] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049269.337923558] [sailbot.teensy]: Wind angle: 19 -[teensy-2] [INFO] [1746049269.338955934] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049269.339221452] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049269.339841410] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049269.340774310] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049269.344365328] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049269.344906481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049269.346142154] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049269.346655294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049269.347739055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049269.446169472] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049269.446379737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049269.448041476] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049269.448782182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049269.450159299] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049269.502935051] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973257 Long: -76.50298233 -[vectornav-1] [INFO] [1746049269.504241311] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.05, -3.223, 9.735) -[mux-7] [INFO] [1746049269.545192564] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049269.545851613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049269.546628969] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049269.548079770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049269.549141158] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049269.585248659] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049269.587276629] [sailbot.teensy]: Wind angle: 19 -[trim_sail-4] [INFO] [1746049269.587365656] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049269.588976124] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049269.589193173] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049269.590128749] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049269.590976434] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049269.645328425] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049269.646029277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049269.646890117] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049269.648498286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049269.649140300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049269.745030691] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049269.745896491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049269.746438567] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049269.747821831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049269.748913643] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049269.835415687] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049269.837735841] [sailbot.teensy]: Wind angle: 18 -[trim_sail-4] [INFO] [1746049269.838394177] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049269.838673019] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049269.839209520] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049269.839580874] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049269.840531770] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049269.844333864] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049269.845029424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049269.845769070] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049269.846928916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049269.848219041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049269.945475808] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049269.946217968] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049269.947020735] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049269.948504814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049269.949101750] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049270.002492027] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973263 Long: -76.50298246 -[vectornav-1] [INFO] [1746049270.003532256] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.079, -3.232, 9.735) -[mux-7] [INFO] [1746049270.045247919] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049270.046192039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049270.046769142] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049270.048399689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049270.049401852] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049270.085716379] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049270.088987544] [sailbot.teensy]: Wind angle: 18 -[teensy-2] [INFO] [1746049270.089950663] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049270.089153121] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049270.089255571] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049270.090843140] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049270.091713861] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049270.145260242] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049270.146121600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049270.146902215] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049270.148058214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049270.149357104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049270.245494939] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049270.246332493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049270.247503831] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049270.248706559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049270.249817135] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049270.335385203] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049270.337240670] [sailbot.teensy]: Wind angle: 17 -[trim_sail-4] [INFO] [1746049270.337724019] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049270.338125584] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049270.338951114] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049270.339322266] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049270.339376208] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746049270.344516704] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049270.344900513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049270.345692534] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049270.346558250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049270.347656795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049270.444965494] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049270.445750115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049270.446266088] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049270.447645767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049270.448698518] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049270.503101044] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973266 Long: -76.50298252 -[vectornav-1] [INFO] [1746049270.505000342] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.113, -3.235, 9.758) -[mux-7] [INFO] [1746049270.545055866] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049270.546053158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049270.546479955] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049270.547914267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049270.549098476] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049270.585709800] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049270.587923586] [sailbot.teensy]: Wind angle: 19 -[trim_sail-4] [INFO] [1746049270.588700405] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049270.589668089] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049270.590566630] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049270.590599866] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049270.591467419] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049270.645249409] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049270.645908026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049270.646747323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049270.648110616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049270.649187891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049270.745415478] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049270.746477686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049270.746996187] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049270.748673344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049270.749218205] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049270.835966791] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049270.839084731] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049270.839685496] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049270.840123242] [sailbot.teensy]: Wind angle: 20 -[teensy-2] [INFO] [1746049270.841134233] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049270.842057951] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049270.842947873] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049270.844426463] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049270.844841185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049270.845538465] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049270.846443934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049270.847444470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049270.945281728] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049270.946049285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049270.946762977] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049270.948276277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049270.949492424] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049271.003815328] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973277 Long: -76.50298238 -[vectornav-1] [INFO] [1746049271.005229291] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.137, -3.235, 9.727) -[mux-7] [INFO] [1746049271.045024181] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049271.045815185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049271.046433709] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049271.048198977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049271.049353207] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049271.085434097] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049271.087236821] [sailbot.teensy]: Wind angle: 23 -[teensy-2] [INFO] [1746049271.088200792] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049271.088052618] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049271.088755211] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049271.089089760] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049271.089996790] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049271.145361506] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049271.146125133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049271.147000965] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049271.148452286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049271.148955578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049271.245489802] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049271.246155851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049271.247081995] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049271.248536892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049271.249759710] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049271.335609674] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049271.337641977] [sailbot.teensy]: Wind angle: 26 -[trim_sail-4] [INFO] [1746049271.338313848] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049271.339617917] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049271.339722780] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049271.340753822] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049271.341610855] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049271.344498580] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049271.344994645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049271.345612593] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049271.346801532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049271.347873662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049271.445480344] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049271.446272968] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049271.447428870] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049271.448628737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049271.449838101] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049271.503160028] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973289 Long: -76.50298235 -[vectornav-1] [INFO] [1746049271.504396699] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.174, -3.235, 9.723) -[mux-7] [INFO] [1746049271.545220500] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049271.546027766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049271.546735823] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049271.548500300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049271.549553297] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049271.585834138] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049271.588890400] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049271.589724361] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049271.590672376] [sailbot.teensy]: Wind angle: 28 -[teensy-2] [INFO] [1746049271.591050799] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049271.591413843] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049271.591928333] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049271.645406676] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049271.646516288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049271.647438121] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049271.649123051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049271.650301041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049271.745466999] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049271.746097055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049271.747096096] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049271.748423551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049271.749550099] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049271.835504675] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049271.837369918] [sailbot.teensy]: Wind angle: 27 -[trim_sail-4] [INFO] [1746049271.837975142] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049271.838327632] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049271.839244540] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049271.839551980] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049271.840139846] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049271.844588373] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049271.844948404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049271.845777298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049271.846945587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049271.848676395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049271.944573010] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049271.945453948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049271.945916990] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049271.947443099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049271.948547776] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049272.003370990] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973293 Long: -76.50298227 -[vectornav-1] [INFO] [1746049272.005123707] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.201, -3.24, 9.728) -[mux-7] [INFO] [1746049272.045270981] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049272.046064659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049272.046770143] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049272.048354044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049272.049645830] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049272.085269420] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049272.087016014] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049272.087545890] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049272.087965202] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049272.088915673] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049272.089267583] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049272.089772332] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049272.145449597] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049272.145842317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049272.146841111] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049272.147802177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049272.148731808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049272.245407339] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049272.245913750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049272.246972023] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049272.248084384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049272.249183456] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049272.335437552] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049272.337477189] [sailbot.teensy]: Wind angle: 307 -[trim_sail-4] [INFO] [1746049272.338122613] [sailbot.trim_sail]: Sail Angle: "60" -[mux-7] [INFO] [1746049272.339081137] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049272.339174879] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049272.339583635] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049272.339959034] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049272.344625232] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049272.345203106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049272.345749162] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049272.346919250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049272.347961393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049272.445365432] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049272.446219715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049272.447024221] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049272.448358015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049272.449533317] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049272.503110424] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973299 Long: -76.50298243 -[vectornav-1] [INFO] [1746049272.504305313] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.226, -3.241, 9.734) -[mux-7] [INFO] [1746049272.545586451] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049272.546173408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049272.547503762] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049272.548551373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049272.550472822] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049272.585482010] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049272.587409064] [sailbot.teensy]: Wind angle: 304 -[trim_sail-4] [INFO] [1746049272.588268553] [sailbot.trim_sail]: Sail Angle: "55" -[mux-7] [INFO] [1746049272.589410600] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049272.590462734] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049272.591406172] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049272.592320881] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049272.645266575] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049272.645925116] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049272.646767772] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049272.648209633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049272.648901463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049272.745480851] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049272.746320644] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049272.747160204] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049272.748857281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049272.749380925] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049272.835499573] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049272.837504175] [sailbot.teensy]: Wind angle: 304 -[trim_sail-4] [INFO] [1746049272.838693536] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049272.839666584] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049272.839675313] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049272.840824436] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049272.841689559] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049272.844335387] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049272.844925349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049272.845555784] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049272.846728232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049272.847950104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049272.944995403] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049272.946381675] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049272.948587337] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049272.950096542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049272.951031443] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049273.002599262] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973301 Long: -76.50298243 -[vectornav-1] [INFO] [1746049273.003670788] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.251, -3.242, 9.736) -[mux-7] [INFO] [1746049273.045383331] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049273.045979773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049273.047538556] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049273.048432945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049273.049587250] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049273.085475825] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049273.088009917] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049273.088035588] [sailbot.teensy]: Wind angle: 302 -[teensy-2] [INFO] [1746049273.088994691] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049273.089604215] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049273.089903275] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049273.090762732] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049273.145048869] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049273.146497920] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049273.146531797] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049273.148141084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049273.149265604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049273.245252000] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049273.245962133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049273.246791187] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049273.248063858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049273.249303383] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049273.335395338] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049273.337263228] [sailbot.teensy]: Wind angle: 304 -[trim_sail-4] [INFO] [1746049273.338203486] [sailbot.trim_sail]: Sail Angle: "55" -[mux-7] [INFO] [1746049273.338494473] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049273.338924262] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049273.339322623] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049273.339656107] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049273.344442409] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049273.344959413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049273.345640558] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049273.346678561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049273.347823663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049273.445028127] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049273.445598306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049273.446452480] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049273.447472574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049273.448218238] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049273.503311791] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973306 Long: -76.5029824 -[vectornav-1] [INFO] [1746049273.505359500] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.26800000000003, -3.235, 9.739) -[mux-7] [INFO] [1746049273.544983423] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049273.545740172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049273.546639529] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049273.547708224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049273.549450998] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049273.585470512] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049273.588205900] [sailbot.teensy]: Wind angle: 311 -[trim_sail-4] [INFO] [1746049273.588241375] [sailbot.trim_sail]: Sail Angle: "60" -[mux-7] [INFO] [1746049273.588732455] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049273.589259223] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049273.590214886] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049273.591138730] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049273.645247898] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049273.646066478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049273.646934145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049273.647934676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049273.648476303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049273.745194181] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049273.746195348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049273.746908751] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049273.748821276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049273.749829308] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049273.835143064] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049273.837570031] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049273.837685695] [sailbot.teensy]: Wind angle: 315 -[teensy-2] [INFO] [1746049273.838600523] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049273.838609612] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049273.839507126] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049273.840532971] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049273.844462622] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049273.845137985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049273.845695080] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049273.846920876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049273.847978823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049273.945459792] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049273.946371320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049273.947245856] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049273.948994938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049273.950115724] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049274.002467459] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973337 Long: -76.50298229 -[vectornav-1] [INFO] [1746049274.003601844] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.29200000000003, -3.231, 9.729) -[mux-7] [INFO] [1746049274.045287412] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049274.046129579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049274.046797904] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049274.048567280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049274.049694557] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049274.085941770] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049274.088485509] [sailbot.teensy]: Wind angle: 316 -[trim_sail-4] [INFO] [1746049274.089252525] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049274.089611881] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049274.089778247] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049274.090767014] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049274.091647078] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049274.145442276] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049274.146577694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049274.147098422] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049274.149000392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049274.150143322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049274.245560706] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049274.246294701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049274.247272673] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049274.248594851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049274.249227448] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049274.335079045] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049274.336714182] [sailbot.teensy]: Wind angle: 319 -[trim_sail-4] [INFO] [1746049274.337395509] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049274.337569836] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049274.338398997] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049274.339002060] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049274.339272167] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049274.344338349] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049274.344838717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049274.345358575] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049274.346388819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049274.347319592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049274.445202338] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049274.446020373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049274.446742670] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049274.448503448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049274.449539358] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049274.504449158] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973344 Long: -76.50298236 -[vectornav-1] [INFO] [1746049274.506540646] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.313, -3.223, 9.716) -[mux-7] [INFO] [1746049274.545488363] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049274.546392765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049274.547090998] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049274.548871418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049274.550011623] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049274.585471034] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049274.588210290] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049274.588693378] [sailbot.teensy]: Wind angle: 321 -[mux-7] [INFO] [1746049274.588875575] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049274.589844888] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049274.590749875] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049274.591571645] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049274.645116689] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049274.646003468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049274.646536531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049274.648115979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049274.649213606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049274.745286051] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049274.746092659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049274.746832059] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049274.749622225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049274.750778371] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049274.835288117] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049274.837179062] [sailbot.teensy]: Wind angle: 322 -[trim_sail-4] [INFO] [1746049274.837931207] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049274.838156356] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049274.838937591] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049274.839190988] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049274.839474585] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049274.844543216] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049274.845105968] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049274.845735426] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049274.846845145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049274.847999317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049274.945567365] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049274.946375530] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049274.947959784] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049274.948657970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049274.949953866] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049275.003406823] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973366 Long: -76.50298245 -[vectornav-1] [INFO] [1746049275.004870490] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.346, -3.223, 9.722) -[mux-7] [INFO] [1746049275.045378145] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049275.046181566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049275.046851626] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049275.048473566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049275.048885922] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049275.085581544] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049275.088016908] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049275.088644070] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049275.089021924] [sailbot.teensy]: Wind angle: 325 -[teensy-2] [INFO] [1746049275.089961436] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049275.090819496] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049275.091667956] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049275.144691803] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049275.145468012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049275.145785769] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049275.147297887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049275.148356138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049275.245493116] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049275.246403095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049275.247123503] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049275.248925256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049275.250099812] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049275.335450431] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049275.337825930] [sailbot.teensy]: Wind angle: 323 -[teensy-2] [INFO] [1746049275.338740783] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049275.338159336] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049275.339025065] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049275.339124953] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049275.339491501] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049275.344513076] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049275.345095527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049275.345926947] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049275.347048474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049275.348227432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049275.445528605] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049275.446573915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049275.448660757] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049275.448920602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049275.449473207] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049275.504277633] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973371 Long: -76.50298254 -[vectornav-1] [INFO] [1746049275.505925673] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.382, -3.236, 9.723) -[mux-7] [INFO] [1746049275.545343939] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049275.546357048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049275.546847913] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049275.548620407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049275.549611396] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049275.585466145] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049275.587378932] [sailbot.teensy]: Wind angle: 312 -[teensy-2] [INFO] [1746049275.588352013] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049275.587869969] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746049275.588412899] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049275.589386847] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049275.590269190] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049275.645237322] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049275.645974292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049275.646994834] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049275.648192027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049275.649443530] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049275.745338046] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049275.746171847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049275.747276855] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049275.748457388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049275.749926434] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049275.835912066] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049275.838266425] [sailbot.teensy]: Wind angle: 297 -[trim_sail-4] [INFO] [1746049275.838947532] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746049275.839455966] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049275.840626611] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049275.841590118] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049275.841598226] [sailbot.mux]: algo sail angle: 50 -[mux-7] [INFO] [1746049275.844287601] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049275.844889886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049275.845390270] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049275.846568913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049275.847640463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049275.945517740] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049275.946361762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049275.947363036] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049275.948369288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049275.948901244] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049276.002546214] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973379 Long: -76.50298254 -[vectornav-1] [INFO] [1746049276.003689359] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.408, -3.235, 9.718) -[mux-7] [INFO] [1746049276.044828509] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049276.045834249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049276.046110940] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049276.047949190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049276.049020504] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049276.085415778] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049276.087590309] [sailbot.teensy]: Wind angle: 297 -[teensy-2] [INFO] [1746049276.088680124] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049276.088708178] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746049276.089659655] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049276.089946439] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049276.090919729] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049276.144876748] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049276.145517309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049276.146446326] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049276.147374299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049276.148416628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049276.245122316] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049276.245844807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049276.246575539] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049276.247893977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049276.249004119] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049276.335617817] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049276.337992538] [sailbot.teensy]: Wind angle: 297 -[trim_sail-4] [INFO] [1746049276.338484118] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746049276.339064309] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049276.339600276] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049276.340022046] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049276.340767303] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049276.344428718] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049276.345038613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049276.345571843] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049276.346877501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049276.347920483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049276.445038713] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049276.446120389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049276.446514604] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049276.448056862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049276.449253382] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049276.503881513] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973389 Long: -76.50298257 -[vectornav-1] [INFO] [1746049276.505807090] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.43399999999997, -3.237, 9.716) -[mux-7] [INFO] [1746049276.544999523] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049276.545836967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049276.546279200] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049276.547608396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049276.548859626] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049276.585515247] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049276.587393407] [sailbot.teensy]: Wind angle: 297 -[trim_sail-4] [INFO] [1746049276.588179302] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746049276.588401978] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049276.589200126] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049276.589277266] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049276.590214833] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049276.645387232] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049276.646269590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049276.647321351] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049276.648884565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049276.650075563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049276.745288385] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049276.746096595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049276.746816667] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049276.748644678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049276.749770798] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049276.835392119] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049276.837913838] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746049276.838140465] [sailbot.teensy]: Wind angle: 296 -[mux-7] [INFO] [1746049276.839105300] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049276.839299792] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049276.839709260] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049276.840070962] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049276.844510365] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049276.845143617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049276.845735470] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049276.846866177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049276.848032751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049276.945485727] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049276.946148026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049276.947391097] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049276.948465417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049276.949742583] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049277.003263210] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973405 Long: -76.50298251 -[vectornav-1] [INFO] [1746049277.004706420] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.459, -3.229, 9.706) -[mux-7] [INFO] [1746049277.045498702] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049277.046217997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049277.047196492] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049277.048745804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049277.049895929] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049277.085804458] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049277.088413171] [sailbot.teensy]: Wind angle: 288 -[teensy-2] [INFO] [1746049277.089460712] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049277.089074162] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746049277.089505516] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746049277.090356746] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049277.091228761] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049277.145779796] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049277.146144577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049277.147678108] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049277.148231027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049277.149684055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049277.245163091] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049277.245813793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049277.246711544] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049277.247992328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049277.249107165] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049277.335411736] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049277.337930949] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746049277.338286013] [sailbot.teensy]: Wind angle: 282 -[mux-7] [INFO] [1746049277.338626969] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746049277.339120411] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049277.339503771] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049277.339836401] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049277.344475712] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049277.345053971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049277.345594264] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049277.346801646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049277.347945446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049277.445394810] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049277.446756678] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049277.447112955] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049277.448818303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049277.449909455] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049277.504109570] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973422 Long: -76.50298261 -[vectornav-1] [INFO] [1746049277.505863407] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.486, -3.229, 9.677) -[mux-7] [INFO] [1746049277.545621949] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049277.546188061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049277.547404447] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049277.548788286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049277.549932493] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049277.585575092] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049277.588000495] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746049277.588945105] [sailbot.teensy]: Wind angle: 283 -[mux-7] [INFO] [1746049277.589518036] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746049277.589887939] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049277.590748120] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049277.591578322] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049277.645186988] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049277.646036256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049277.646849237] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049277.648518882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049277.649673987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049277.745442170] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049277.746165335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049277.747476616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049277.748689512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049277.749248199] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049277.835520576] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049277.837877573] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746049277.838406876] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746049277.839401193] [sailbot.teensy]: Wind angle: 283 -[teensy-2] [INFO] [1746049277.840471403] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049277.841358082] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049277.842218000] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049277.844300609] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049277.845090380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049277.845754039] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049277.846883156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049277.848167519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049277.945620214] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049277.946301024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049277.947309373] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049277.948626428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049277.950542288] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049278.003466392] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973426 Long: -76.50298257 -[vectornav-1] [INFO] [1746049278.005022278] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.51800000000003, -3.231, 9.669) -[mux-7] [INFO] [1746049278.045447226] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049278.046120782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049278.046964395] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049278.048442273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049278.049621423] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049278.085479974] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049278.087983839] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746049278.088241763] [sailbot.teensy]: Wind angle: 284 -[mux-7] [INFO] [1746049278.089720575] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746049278.089962170] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049278.090993954] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049278.091859808] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049278.144860150] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049278.145621042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049278.146188038] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049278.147536498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049278.148601570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049278.245303523] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049278.246025078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049278.246854658] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049278.247813704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049278.248270485] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049278.335444854] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049278.337327833] [sailbot.teensy]: Wind angle: 284 -[teensy-2] [INFO] [1746049278.338273358] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049278.338070690] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746049278.339030816] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746049278.339152071] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049278.340565055] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049278.344364542] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049278.344958073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049278.345471996] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049278.346651533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049278.347681110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049278.445125168] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049278.446209669] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049278.446648067] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049278.448272288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049278.449321284] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049278.503312344] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973445 Long: -76.50298252 -[vectornav-1] [INFO] [1746049278.504857931] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.543, -3.235, 9.693) -[mux-7] [INFO] [1746049278.545330207] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049278.546112652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049278.546955103] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049278.548083099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049278.548558770] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049278.585499388] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049278.588116465] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746049278.588306496] [sailbot.teensy]: Wind angle: 284 -[teensy-2] [INFO] [1746049278.589236887] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049278.589254040] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746049278.590160833] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049278.591000459] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049278.645516435] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049278.646413398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049278.647255177] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049278.648461130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049278.648946936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049278.745399827] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049278.746339885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049278.747347931] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049278.748735650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049278.749965248] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049278.835379887] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049278.837237019] [sailbot.teensy]: Wind angle: 284 -[trim_sail-4] [INFO] [1746049278.837750788] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746049278.838177259] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049278.839064333] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049278.839392663] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746049278.839986156] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049278.844260149] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049278.845029750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049278.845525895] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049278.846844790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049278.847991418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049278.945492750] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049278.946178554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049278.947254765] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049278.948366674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049278.949427596] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049279.002358895] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697345 Long: -76.50298267 -[vectornav-1] [INFO] [1746049279.003429672] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.578, -3.231, 9.726) -[mux-7] [INFO] [1746049279.044977257] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049279.045743577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049279.046400989] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049279.047609154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049279.048658056] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049279.085698478] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049279.088233661] [sailbot.teensy]: Wind angle: 284 -[teensy-2] [INFO] [1746049279.089218462] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049279.088382917] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746049279.089582398] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746049279.090103453] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049279.090992751] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049279.145312949] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049279.146190080] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049279.148543899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[mux-7] [INFO] [1746049279.147600843] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049279.149748011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049279.244843696] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049279.245828815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049279.246370421] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049279.247643100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049279.248558294] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049279.335478438] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049279.338182392] [sailbot.teensy]: Wind angle: 284 -[trim_sail-4] [INFO] [1746049279.338217762] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746049279.339570112] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746049279.340031947] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049279.340938924] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049279.341304747] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049279.344505513] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049279.345139296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049279.345644370] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049279.346863054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049279.347987808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049279.445070856] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049279.445991180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049279.446620528] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049279.449276531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049279.450421820] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049279.503647703] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973447 Long: -76.50298266 -[vectornav-1] [INFO] [1746049279.505556661] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.589, -3.217, 9.702) -[mux-7] [INFO] [1746049279.544888157] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049279.545659472] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049279.546064531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049279.547440169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049279.548436603] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049279.585392596] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049279.587925865] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746049279.588050592] [sailbot.teensy]: Wind angle: 282 -[teensy-2] [INFO] [1746049279.589025384] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049279.589206400] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746049279.589947916] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049279.590798481] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049279.645224418] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049279.646273739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049279.646944717] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049279.648555418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049279.649617864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049279.745086309] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049279.746009243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049279.746557951] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049279.747902470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049279.748478274] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049279.835301559] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049279.837844907] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746049279.838153100] [sailbot.teensy]: Wind angle: 284 -[mux-7] [INFO] [1746049279.838381917] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746049279.838767122] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049279.839155679] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049279.839582452] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049279.844483625] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049279.845161528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049279.845822368] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049279.846992400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049279.848105751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049279.945329311] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049279.946031094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049279.946909792] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049279.948253500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049279.949513058] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049280.002575768] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697345 Long: -76.50298286 -[vectornav-1] [INFO] [1746049280.003618493] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.623, -3.231, 9.686) -[mux-7] [INFO] [1746049280.045093755] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049280.045808791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049280.046378845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049280.047677701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049280.048694211] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049280.085492603] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049280.087981749] [sailbot.teensy]: Wind angle: 288 -[trim_sail-4] [INFO] [1746049280.088531979] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746049280.089165182] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049280.089830377] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746049280.090451212] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049280.091592989] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049280.145347176] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049280.146178111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049280.147987510] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049280.148729942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049280.149937904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049280.245390712] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049280.246021535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049280.247032066] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049280.248200538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049280.249336667] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049280.335501720] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049280.337528354] [sailbot.teensy]: Wind angle: 292 -[trim_sail-4] [INFO] [1746049280.337993852] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746049280.339489279] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049280.340057198] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049280.340486906] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049280.341460645] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049280.344386797] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049280.344869997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049280.345583393] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049280.346502459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049280.347642534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049280.445281173] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049280.445817816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049280.447108286] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049280.447862198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049280.448984720] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049280.503081007] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973479 Long: -76.5029828 -[vectornav-1] [INFO] [1746049280.504402885] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.64099999999996, -3.236, 9.739) -[mux-7] [INFO] [1746049280.545518965] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049280.546131120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049280.547702941] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049280.548440275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049280.549515567] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049280.585381904] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049280.587277456] [sailbot.teensy]: Wind angle: 304 -[trim_sail-4] [INFO] [1746049280.587876757] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049280.588305553] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049280.589242294] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049280.589633210] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049280.590169434] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049280.645382168] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049280.646007246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049280.647134141] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049280.648743453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049280.649847376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049280.745007081] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049280.745706018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049280.746329925] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049280.748688476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049280.749774203] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049280.835272934] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049280.837244345] [sailbot.teensy]: Wind angle: 312 -[trim_sail-4] [INFO] [1746049280.837816807] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049280.838229537] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049280.839107027] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049280.839299254] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049280.839970954] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049280.844553177] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049280.845115659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049280.845712523] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049280.846880198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049280.847981431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049280.945700046] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049280.946199215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049280.947397947] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049280.948646700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049280.949110444] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049281.002635669] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973469 Long: -76.50298267 -[vectornav-1] [INFO] [1746049281.003937038] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.656, -3.235, 9.778) -[mux-7] [INFO] [1746049281.045204522] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049281.045997485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049281.046713348] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049281.047676472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049281.048159742] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049281.085518316] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049281.087579040] [sailbot.teensy]: Wind angle: 312 -[trim_sail-4] [INFO] [1746049281.088341298] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049281.088607246] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049281.089576508] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049281.090433094] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049281.090575303] [sailbot.mux]: algo sail angle: 65 -[mux-7] [INFO] [1746049281.145333644] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049281.146160286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049281.146881537] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049281.148603531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049281.149687833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049281.245167562] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049281.245836882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049281.246675117] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049281.247716328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049281.248132238] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049281.335421535] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049281.337395551] [sailbot.teensy]: Wind angle: 313 -[trim_sail-4] [INFO] [1746049281.338238796] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049281.338391263] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049281.339270822] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049281.339349056] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049281.340165763] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049281.344430022] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049281.345115495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049281.345592665] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049281.346972832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049281.347977234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049281.445686494] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049281.446384516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049281.447553725] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049281.448113424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049281.448755422] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049281.503247671] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973456 Long: -76.50298302 -[vectornav-1] [INFO] [1746049281.504748974] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.676, -3.238, 9.731) -[mux-7] [INFO] [1746049281.545245804] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049281.546083860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049281.547145790] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049281.548671499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049281.549678324] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049281.585205561] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049281.586915572] [sailbot.teensy]: Wind angle: 308 -[trim_sail-4] [INFO] [1746049281.587879133] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746049281.587903325] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049281.588846102] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049281.589141116] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049281.589771419] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049281.645183566] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049281.645866549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049281.646713411] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049281.647929271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049281.649087286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049281.745672871] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049281.746531306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049281.747378707] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049281.749188845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049281.750422130] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049281.835401889] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049281.838200808] [sailbot.teensy]: Wind angle: 306 -[trim_sail-4] [INFO] [1746049281.838277898] [sailbot.trim_sail]: Sail Angle: "60" -[mux-7] [INFO] [1746049281.838618127] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049281.840347911] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049281.841233249] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049281.841617228] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049281.844656763] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049281.845221751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049281.846003200] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049281.847112453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049281.848238698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049281.945173839] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049281.945939051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049281.946628432] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049281.947966718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049281.948465680] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049282.003758584] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973462 Long: -76.50298296 -[vectornav-1] [INFO] [1746049282.005901911] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.697, -3.238, 9.719) -[mux-7] [INFO] [1746049282.045417692] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049282.046595608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049282.046973041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049282.049142505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049282.050431945] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049282.085480908] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049282.087485131] [sailbot.teensy]: Wind angle: 304 -[trim_sail-4] [INFO] [1746049282.088063801] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049282.088473797] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049282.089559224] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049282.090357193] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049282.090415905] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049282.144915587] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049282.145585377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049282.146253288] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049282.147612251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049282.148622701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049282.245199068] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049282.246163279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049282.246858575] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049282.248359286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049282.249613720] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049282.335493531] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049282.338132191] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049282.338765687] [sailbot.teensy]: Wind angle: 303 -[teensy-2] [INFO] [1746049282.339817713] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049282.339936622] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049282.340757565] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049282.341090707] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049282.344462640] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049282.345044547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049282.345634063] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049282.347092600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049282.348248054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049282.445201768] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049282.446068353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049282.446656122] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049282.447809948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049282.448255490] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049282.503619486] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973453 Long: -76.50298293 -[vectornav-1] [INFO] [1746049282.505255333] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.71500000000003, -3.24, 9.746) -[mux-7] [INFO] [1746049282.545296910] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049282.545945571] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049282.547971385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[mux-7] [INFO] [1746049282.546875959] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049282.549102384] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049282.585410043] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049282.587408242] [sailbot.teensy]: Wind angle: 303 -[trim_sail-4] [INFO] [1746049282.587769747] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049282.588756022] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049282.589687528] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049282.590089595] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049282.590569694] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049282.645047750] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049282.645936953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049282.646629731] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049282.648263323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049282.648757232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049282.745781857] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049282.746580880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049282.747523467] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049282.747959671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049282.748803465] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049282.835409923] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049282.837220891] [sailbot.teensy]: Wind angle: 298 -[trim_sail-4] [INFO] [1746049282.837827201] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049282.838740234] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049282.838965688] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049282.839161017] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049282.839565330] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049282.844375686] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049282.845131381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049282.845683087] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049282.846833373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049282.847947934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049282.945342245] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049282.946125866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049282.946888549] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049282.948382098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049282.949194544] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049283.003713551] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973457 Long: -76.50298307 -[vectornav-1] [INFO] [1746049283.005347780] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.731, -3.235, 9.862) -[mux-7] [INFO] [1746049283.045277551] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049283.046205677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049283.046860565] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049283.048573583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049283.049878133] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049283.085248945] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049283.087024900] [sailbot.teensy]: Wind angle: 298 -[trim_sail-4] [INFO] [1746049283.087381905] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049283.087934029] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049283.088855006] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049283.089173283] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049283.089725120] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049283.145314920] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049283.146034295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049283.146919113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049283.148495545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049283.149308522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049283.245169406] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049283.245812027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049283.246628697] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049283.248170652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049283.248990105] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049283.335728320] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049283.337864221] [sailbot.teensy]: Wind angle: 298 -[teensy-2] [INFO] [1746049283.338881224] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049283.338581797] [sailbot.trim_sail]: Sail Angle: "55" -[mux-7] [INFO] [1746049283.339251834] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049283.339791357] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049283.340702536] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049283.344474875] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049283.345043695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049283.345680074] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049283.346937498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049283.348015618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049283.445573976] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049283.446372943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049283.447435900] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049283.448754773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049283.449972270] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049283.503572529] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697346 Long: -76.50298309 -[vectornav-1] [INFO] [1746049283.505034280] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.751, -3.251, 9.741) -[mux-7] [INFO] [1746049283.545304254] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049283.546234215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049283.546844130] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049283.548775250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049283.549949249] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049283.585377294] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049283.587386638] [sailbot.teensy]: Wind angle: 297 -[trim_sail-4] [INFO] [1746049283.587764664] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746049283.588353795] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049283.589162473] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049283.589219093] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049283.590120557] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049283.644326427] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049283.645259238] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049283.647224928] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049283.649514750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049283.650410738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049283.745654923] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049283.746242432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049283.747649289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049283.748612316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049283.750070160] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049283.835395022] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049283.837239133] [sailbot.teensy]: Wind angle: 295 -[trim_sail-4] [INFO] [1746049283.837757845] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746049283.838181050] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049283.839083741] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049283.839669249] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049283.839926834] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049283.844327328] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049283.844883283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049283.845544566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049283.846594765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049283.847713400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049283.945728276] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049283.946591827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049283.947863765] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049283.948915507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049283.949898362] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049284.003442433] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973458 Long: -76.50298307 -[vectornav-1] [INFO] [1746049284.004687474] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.745, -3.259, 9.59) -[mux-7] [INFO] [1746049284.045361167] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049284.046291283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049284.047111291] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049284.048492392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049284.049612138] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049284.085371400] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049284.087712690] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746049284.088129665] [sailbot.teensy]: Wind angle: 293 -[mux-7] [INFO] [1746049284.088258710] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049284.090036377] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049284.090958689] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049284.091813397] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049284.145364628] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049284.146251689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049284.147105099] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049284.148258663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049284.148783484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049284.245307682] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049284.246051845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049284.246998905] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049284.248556553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049284.249767249] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049284.335501082] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049284.337517359] [sailbot.teensy]: Wind angle: 292 -[teensy-2] [INFO] [1746049284.338524524] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049284.339552709] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049284.338685708] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746049284.340427636] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049284.340434767] [sailbot.mux]: algo sail angle: 50 -[mux-7] [INFO] [1746049284.344727762] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049284.345125234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049284.346113949] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049284.346848609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049284.348036500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049284.445601303] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049284.446313578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049284.447351517] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049284.448502533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049284.449772861] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049284.502281190] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973459 Long: -76.50298303 -[vectornav-1] [INFO] [1746049284.503260530] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.741, -3.237, 9.315) -[mux-7] [INFO] [1746049284.545242708] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049284.545843705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049284.546810461] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049284.547893604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049284.548993147] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049284.585391012] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049284.587901142] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746049284.587960378] [sailbot.teensy]: Wind angle: 292 -[mux-7] [INFO] [1746049284.588651945] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049284.588925647] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049284.589816520] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049284.590683421] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049284.645101313] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049284.646084692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049284.646700269] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049284.648276254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049284.649480701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049284.745143912] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049284.745930238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049284.747062475] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049284.747649413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049284.748225631] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049284.835325164] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049284.837145802] [sailbot.teensy]: Wind angle: 292 -[trim_sail-4] [INFO] [1746049284.837951838] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746049284.838086304] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049284.839001051] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049284.839713130] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049284.839874695] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049284.844378211] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049284.844935323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049284.845524270] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049284.846611644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049284.847689756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049284.945576308] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049284.946318426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049284.947270004] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049284.948734201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049284.950043121] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049285.002543487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697346 Long: -76.50298298 -[vectornav-1] [INFO] [1746049285.004081151] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.63800000000003, -3.191, 8.21) -[mux-7] [INFO] [1746049285.045028500] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049285.045749041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049285.046367013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049285.047637457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049285.048732677] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049285.085677702] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049285.088196484] [sailbot.teensy]: Wind angle: 289 -[trim_sail-4] [INFO] [1746049285.088661993] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746049285.089083186] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746049285.089662208] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049285.090788062] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049285.091656649] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049285.145382089] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049285.146253144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049285.147003556] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049285.148709722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049285.149779493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049285.245051018] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049285.245764955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049285.246352847] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049285.247726918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049285.248880746] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049285.335377464] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049285.337778941] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746049285.337887742] [sailbot.teensy]: Wind angle: 289 -[teensy-2] [INFO] [1746049285.338814103] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049285.339070808] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746049285.339724077] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049285.340641763] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049285.344424031] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049285.345105166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049285.345575323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049285.346846278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049285.347984259] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049285.445282110] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049285.446195407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049285.446879527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049285.448515441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049285.449653633] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049285.502250321] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973466 Long: -76.502983 -[vectornav-1] [INFO] [1746049285.503224402] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.71500000000003, -3.184, 8.695) -[mux-7] [INFO] [1746049285.544911001] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049285.546091156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049285.546881073] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049285.547972439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049285.549065074] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049285.585259204] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049285.587332395] [sailbot.teensy]: Wind angle: 290 -[trim_sail-4] [INFO] [1746049285.587892874] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746049285.588383198] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049285.588947657] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746049285.589352788] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049285.590296650] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049285.645138040] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049285.646127650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049285.646609275] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049285.648336476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049285.649499531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049285.745231632] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049285.746242382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049285.747086962] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049285.748439921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049285.749569374] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049285.835650783] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049285.838022659] [sailbot.teensy]: Wind angle: 292 -[trim_sail-4] [INFO] [1746049285.838513832] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746049285.839110209] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049285.839783143] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049285.840075950] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049285.840997577] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049285.844378211] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049285.845041390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049285.845481443] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049285.846787379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049285.847815953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049285.945236966] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049285.945981009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049285.946705568] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049285.948581309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049285.949776512] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049286.002929308] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973462 Long: -76.50298295 -[vectornav-1] [INFO] [1746049286.004554689] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.813, -3.223, 9.338) -[mux-7] [INFO] [1746049286.045333797] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049286.046220272] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049286.046770311] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049286.048380858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049286.049480133] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049286.085369526] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049286.087680972] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746049286.088040842] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049286.088549844] [sailbot.teensy]: Wind angle: 291 -[teensy-2] [INFO] [1746049286.089531886] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049286.090583129] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049286.091437810] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049286.145426173] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049286.146318664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049286.147013363] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049286.148595690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049286.150605776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049286.245007600] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049286.245740505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049286.246382435] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049286.247771455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049286.248831278] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049286.335341098] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049286.337654045] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746049286.338130683] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746049286.338720469] [sailbot.teensy]: Wind angle: 287 -[teensy-2] [INFO] [1746049286.339786592] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049286.340697742] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049286.341579631] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049286.344332862] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049286.344851363] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049286.345528657] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049286.346503035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049286.347642563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049286.445569520] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049286.446437711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049286.447175019] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049286.448674095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049286.449173654] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049286.502745222] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973469 Long: -76.50298289 -[vectornav-1] [INFO] [1746049286.504143214] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.83500000000004, -3.23, 9.371) -[mux-7] [INFO] [1746049286.545375383] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049286.546137087] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049286.548175883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[mux-7] [INFO] [1746049286.548288885] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049286.549401333] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049286.585536574] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049286.587641647] [sailbot.teensy]: Wind angle: 285 -[trim_sail-4] [INFO] [1746049286.588570394] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746049286.588682629] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049286.589588070] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049286.590175196] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746049286.590477457] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049286.645003299] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049286.645649347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049286.646233116] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049286.647697469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049286.648764253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049286.744819705] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049286.745533126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049286.746104941] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049286.747404614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049286.748565435] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049286.835646965] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049286.837811970] [sailbot.teensy]: Wind angle: 287 -[teensy-2] [INFO] [1746049286.838857802] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049286.838866530] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746049286.839134478] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746049286.839330503] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049286.839717165] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049286.844525082] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049286.845053207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049286.845616500] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049286.846746788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049286.847796454] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049286.945497586] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049286.946116151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049286.947343336] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049286.947913508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049286.948472749] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049287.003003836] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973461 Long: -76.50298311 -[vectornav-1] [INFO] [1746049287.004269966] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.852, -3.231, 9.376) -[mux-7] [INFO] [1746049287.045092592] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049287.045732471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049287.046562001] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049287.047601742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049287.049460002] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049287.085418389] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049287.087238196] [sailbot.teensy]: Wind angle: 287 -[trim_sail-4] [INFO] [1746049287.087761872] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746049287.089036266] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049287.089399144] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746049287.089998603] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049287.090914788] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049287.144985297] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049287.145588123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049287.146313345] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049287.147511985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049287.148581490] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049287.245246905] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049287.245962536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049287.246722246] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049287.247873582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049287.248363678] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049287.335457799] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049287.337850131] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746049287.338419919] [sailbot.teensy]: Wind angle: 287 -[teensy-2] [INFO] [1746049287.339440883] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049287.339477635] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746049287.340393054] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049287.340874304] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049287.344531643] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049287.345125470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049287.345632260] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049287.346937566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049287.347936430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049287.445480615] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049287.446160819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049287.447111940] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049287.448566944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049287.449826011] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049287.503162866] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697345 Long: -76.50298332 -[vectornav-1] [INFO] [1746049287.504424917] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.871, -3.234, 9.374) -[mux-7] [INFO] [1746049287.545109379] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049287.545894670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049287.546639026] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049287.548183100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049287.549294739] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049287.585421123] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049287.587728083] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746049287.587888640] [sailbot.teensy]: Wind angle: 288 -[teensy-2] [INFO] [1746049287.588845376] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049287.589070070] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746049287.589775842] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049287.590654441] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049287.645446580] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049287.646100875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049287.647873631] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049287.648431215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049287.649294362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049287.745218560] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049287.745990270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049287.746815493] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049287.748106828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049287.749864858] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049287.835319782] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049287.837764239] [sailbot.trim_sail]: Sail Angle: "55" -[mux-7] [INFO] [1746049287.838879824] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049287.838904269] [sailbot.teensy]: Wind angle: 302 -[teensy-2] [INFO] [1746049287.839899802] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049287.840859046] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049287.841748257] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049287.844732435] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049287.845088685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049287.845971642] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049287.847111043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049287.848177041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049287.945410955] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049287.946112837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049287.947204451] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049287.948438881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049287.949445562] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049288.003054815] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697346 Long: -76.50298334 -[vectornav-1] [INFO] [1746049288.004331430] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.887, -3.237, 9.38) -[mux-7] [INFO] [1746049288.045102209] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049288.045854136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049288.046495189] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049288.047798390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049288.048852388] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049288.085352919] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049288.087126159] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049288.088014626] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049288.088083655] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049288.088982859] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049288.089011858] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049288.089923019] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049288.145232062] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049288.145907499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049288.146747729] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049288.148046308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049288.149258692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049288.245521704] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049288.246532797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049288.247101442] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049288.248811773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049288.250058585] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049288.335470142] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049288.337902760] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049288.338516568] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049288.339149735] [sailbot.teensy]: Wind angle: 358 -[teensy-2] [INFO] [1746049288.339538300] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049288.339902670] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049288.340309042] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049288.344584480] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049288.344918459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049288.345980855] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049288.346561450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049288.347749661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049288.445361625] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049288.445985729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049288.447377233] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049288.448099106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049288.449317791] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049288.503026830] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973451 Long: -76.50298348 -[vectornav-1] [INFO] [1746049288.504401896] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.906, -3.239, 9.384) -[mux-7] [INFO] [1746049288.545319686] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049288.546164322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049288.547345120] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049288.548512619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049288.549675744] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049288.585541230] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049288.587674303] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049288.588387868] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049288.588705368] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049288.589610395] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049288.590362432] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049288.590505966] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049288.645122035] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049288.646212152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049288.646724619] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049288.648602113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049288.649662474] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049288.745508700] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049288.746495311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049288.747408267] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049288.748105885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049288.748659386] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049288.835370505] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049288.837298063] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049288.838269878] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049288.838275319] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049288.839260571] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049288.840342565] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049288.840574249] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746049288.844342973] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049288.844897864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049288.845511254] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049288.846622779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049288.847740051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049288.944925591] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049288.945540741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049288.946281342] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049288.947369448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049288.948449638] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049289.003618715] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973449 Long: -76.50298339 -[vectornav-1] [INFO] [1746049289.005629463] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.91999999999996, -3.237, 9.385) -[mux-7] [INFO] [1746049289.045282686] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049289.046112139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049289.046784733] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049289.048343688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049289.049483153] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049289.085578229] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049289.087377409] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049289.088324445] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049289.088147967] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049289.089116465] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049289.089188202] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049289.090025487] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049289.145283223] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049289.146343075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049289.147076319] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049289.148765435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049289.149785487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049289.245197694] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049289.246240077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049289.246841823] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049289.247986395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049289.248443182] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049289.335399551] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049289.337758412] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049289.337883954] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049289.338767017] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049289.339669507] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049289.339695857] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049289.340605794] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049289.344437230] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049289.344955176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049289.345542207] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049289.346753954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049289.347976439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049289.445441970] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049289.446175667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049289.447047052] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049289.448618685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049289.449323982] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049289.503411262] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973443 Long: -76.50298342 -[vectornav-1] [INFO] [1746049289.504787136] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.938, -3.234, 9.39) -[mux-7] [INFO] [1746049289.545219319] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049289.546326853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049289.546735780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049289.548695062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049289.549701091] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049289.585446034] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049289.587809544] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049289.587948665] [sailbot.teensy]: Wind angle: 358 -[teensy-2] [INFO] [1746049289.588919384] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049289.589279951] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049289.589835391] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049289.590718086] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049289.644951160] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049289.645486384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049289.646517418] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049289.647306472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049289.648519546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049289.745216964] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049289.745830564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049289.747130276] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049289.747809345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049289.748935815] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049289.835405099] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049289.837256918] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049289.837875874] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049289.838211163] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049289.839082144] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049289.839286081] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049289.839954824] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049289.844679016] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049289.845161012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049289.845972603] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049289.846902447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049289.847959009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049289.945469340] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049289.946422388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049289.947051056] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049289.948697914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049289.949372378] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049290.002744764] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973457 Long: -76.50298339 -[vectornav-1] [INFO] [1746049290.003942472] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.923, -3.255, 9.027) -[mux-7] [INFO] [1746049290.044840634] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049290.045525161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049290.046002312] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049290.047362390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049290.048328467] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049290.085669946] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049290.088552294] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049290.088769605] [sailbot.teensy]: Wind angle: 334 -[mux-7] [INFO] [1746049290.089854708] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049290.089978885] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049290.090862440] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049290.091726588] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049290.145118813] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049290.145817721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049290.146546229] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049290.149272979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049290.150368067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049290.245517157] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049290.246438874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049290.247256300] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049290.248355565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049290.248903490] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049290.335259548] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049290.337764432] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049290.338347222] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049290.338597142] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049290.339531378] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049290.340443284] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049290.341396112] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049290.344397263] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049290.344887497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049290.346267099] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049290.346672125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049290.347835368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049290.445189704] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049290.445824145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049290.446750420] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049290.448255171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049290.448937267] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049290.502331379] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973464 Long: -76.50298338 -[vectornav-1] [INFO] [1746049290.503330723] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.81100000000004, -3.287, 7.965) -[mux-7] [INFO] [1746049290.544747968] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049290.545398970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049290.545894780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049290.547744374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049290.549097724] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049290.584384381] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049290.585218183] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049290.585646835] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049290.585461920] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049290.586035256] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049290.586337371] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049290.586415226] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049290.644764500] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049290.645735348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049290.646506910] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049290.647650136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049290.648283524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049290.744981631] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049290.745687552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049290.746244810] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049290.747767411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049290.748983736] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049290.835388667] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049290.837285468] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049290.837799555] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049290.838256137] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049290.839194894] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049290.839970119] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049290.840127030] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049290.844620721] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049290.845093021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049290.845711753] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049290.847010307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049290.848058977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049290.945648880] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049290.946534728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049290.948806853] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049290.949281586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049290.950475015] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049291.003501511] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973474 Long: -76.50298331 -[vectornav-1] [INFO] [1746049291.006232425] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.922, -3.238, 8.767) -[mux-7] [INFO] [1746049291.044961905] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049291.046055862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049291.046237679] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049291.047857423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049291.049003305] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049291.085149038] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049291.086835057] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049291.087237001] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049291.087704826] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049291.088613292] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049291.089156524] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049291.089448879] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049291.145191426] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049291.146067245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049291.146714071] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049291.148547968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049291.149690499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049291.245334099] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049291.245962778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049291.246811064] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049291.248495690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049291.249120928] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049291.335623703] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049291.337822426] [sailbot.teensy]: Wind angle: 331 -[trim_sail-4] [INFO] [1746049291.338289399] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049291.338838118] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049291.339526751] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049291.339730094] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049291.340686864] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049291.344472361] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049291.344980336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049291.345586045] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049291.346666857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049291.347710405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049291.445281455] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049291.446252780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049291.446822577] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049291.448380933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049291.449728043] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049291.503851166] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973484 Long: -76.5029833 -[vectornav-1] [INFO] [1746049291.506229657] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.868, -3.255, 8.233) -[mux-7] [INFO] [1746049291.544619584] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049291.545175599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049291.545706267] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049291.546875769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049291.548003835] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049291.585235168] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049291.587501716] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049291.588040488] [sailbot.teensy]: Wind angle: 334 -[mux-7] [INFO] [1746049291.588356510] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049291.589263218] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049291.590156660] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049291.591014465] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049291.645135478] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049291.645681124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049291.646649618] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049291.647997808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049291.649054768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049291.744879976] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049291.745360417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049291.746196698] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049291.747073307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049291.748354447] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049291.835324259] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049291.837003812] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049291.837508872] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049291.837908311] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049291.838736406] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049291.839588880] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049291.839626940] [sailbot.mux]: algo sail angle: 80 -[mux-7] [INFO] [1746049291.844439318] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049291.845081914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049291.845652523] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049291.846892770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049291.847918053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049291.945000966] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049291.945649116] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049291.947038311] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049291.947469568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049291.948758785] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049292.004123173] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973497 Long: -76.50298316 -[vectornav-1] [INFO] [1746049292.005641997] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.953, -3.201, 8.842) -[mux-7] [INFO] [1746049292.045423899] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049292.045993791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049292.047046629] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049292.048108920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049292.049801436] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049292.085494824] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049292.087344533] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049292.087886371] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049292.089147167] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049292.089288258] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049292.090481779] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049292.091492173] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049292.145535375] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049292.146390804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049292.147394491] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049292.148771369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049292.149885231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049292.245371491] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049292.246030769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049292.246971302] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049292.248261882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049292.248811406] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049292.335143654] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049292.337279212] [sailbot.teensy]: Wind angle: 353 -[trim_sail-4] [INFO] [1746049292.337878605] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049292.338219457] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049292.338423588] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049292.339143952] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049292.340051301] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049292.344316192] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049292.345020953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049292.345400947] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049292.346800689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049292.347843988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049292.445475184] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049292.446161980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049292.447118310] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049292.448010995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049292.448534087] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049292.503281097] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973511 Long: -76.50298325 -[vectornav-1] [INFO] [1746049292.505092283] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.957, -3.203, 8.648) -[mux-7] [INFO] [1746049292.544841397] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049292.545505021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049292.546007421] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049292.547327051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049292.548344950] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049292.585417469] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049292.587442612] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049292.587876244] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049292.588488554] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049292.588790167] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049292.589522787] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049292.590404129] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049292.645488156] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049292.646274999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049292.647398811] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049292.648409143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049292.648949420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049292.745491809] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049292.746381408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049292.747706136] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049292.748514362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049292.750044354] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049292.835376084] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049292.837778330] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049292.837949377] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049292.839189909] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049292.839269412] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049292.839592151] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049292.839985426] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049292.844335073] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049292.844908252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049292.845468257] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049292.846650400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049292.847836529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049292.945282420] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049292.945907971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049292.946980993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049292.948091833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049292.949245690] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049293.003676162] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973507 Long: -76.50298335 -[vectornav-1] [INFO] [1746049293.005010987] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.96299999999997, -3.196, 8.631) -[mux-7] [INFO] [1746049293.045456050] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049293.046035809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049293.047002981] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049293.047972499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049293.049146502] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049293.085428662] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049293.087090128] [sailbot.teensy]: Wind angle: 357 -[teensy-2] [INFO] [1746049293.088019582] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049293.088339053] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049293.088964752] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049293.089864055] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049293.090619179] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049293.145345777] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049293.146133641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049293.146947188] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049293.148475565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049293.149529276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049293.245368718] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049293.246123720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049293.246984064] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049293.248301735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049293.249499693] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049293.335362246] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049293.337349729] [sailbot.teensy]: Wind angle: 358 -[teensy-2] [INFO] [1746049293.338336957] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049293.337970764] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049293.339250003] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049293.339445273] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049293.340096829] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049293.344405478] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049293.344936953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049293.345534830] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049293.346630747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049293.347823895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049293.445442811] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049293.446059126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049293.447132683] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049293.448223804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049293.449472618] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049293.502452501] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973503 Long: -76.50298361 -[vectornav-1] [INFO] [1746049293.503499550] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.977, -3.194, 8.626) -[mux-7] [INFO] [1746049293.545407900] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049293.546040693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049293.547259025] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049293.548707314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049293.549311258] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049293.585704416] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049293.588472386] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049293.589589122] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049293.589640037] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049293.590626147] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049293.591475056] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049293.592329825] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049293.645235553] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049293.646273020] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049293.646763618] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049293.648722324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049293.649735377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049293.745555672] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049293.746225635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049293.747309916] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049293.748663309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049293.749216812] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049293.835484330] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049293.837890127] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049293.838619558] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049293.838689684] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049293.839689471] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049293.841139252] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049293.842070522] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049293.844595915] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049293.845061991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049293.846104035] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049293.846825337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049293.847866474] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049293.945553854] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049293.946938899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049293.947161382] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049293.948305327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049293.948729163] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049294.003572900] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973488 Long: -76.50298387 -[vectornav-1] [INFO] [1746049294.005313964] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.10900000000004, -3.234, 9.499) -[mux-7] [INFO] [1746049294.044823857] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049294.045596335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049294.046013754] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049294.047459497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049294.048499078] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049294.085404488] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049294.087875219] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049294.088080978] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049294.089071399] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049294.089685277] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049294.089957258] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049294.090857837] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049294.145328042] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049294.146222882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049294.147966634] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049294.148802328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049294.149966418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049294.245347586] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049294.245965670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049294.247009907] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049294.248138390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049294.248838542] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049294.335076569] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049294.337205103] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049294.337776882] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049294.338387031] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049294.338705342] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049294.339629302] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049294.340486390] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049294.344599903] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049294.345154406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049294.345800328] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049294.346939977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049294.348045593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049294.445539316] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049294.446413073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049294.447345886] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049294.448946116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049294.450084933] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049294.503966832] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973496 Long: -76.50298378 -[vectornav-1] [INFO] [1746049294.505429437] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.122, -3.239, 9.49) -[mux-7] [INFO] [1746049294.545049294] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049294.545971229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049294.546470292] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049294.548164662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049294.549257533] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049294.585459568] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049294.587929293] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049294.587927432] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746049294.588945628] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049294.589269505] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049294.589863164] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049294.590787296] [sailbot.teensy]: Dropped packets: 3 -[rosbridge_websocket-8] [INFO] [1746049294.607548489] [rosbridge_websocket]: Client disconnected. 1 clients total. -[mux-7] [INFO] [1746049294.645328723] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049294.646294661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049294.646907956] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049294.648791956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049294.649807329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049294.745080922] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049294.746293842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049294.746877405] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049294.748292748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049294.748811956] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049294.835332899] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049294.837868241] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049294.838809864] [sailbot.teensy]: Wind angle: 340 -[mux-7] [INFO] [1746049294.839071183] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049294.840130726] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049294.841067185] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049294.841952261] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049294.844343010] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049294.845014076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049294.845457119] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049294.846817826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049294.847880145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049294.945283911] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049294.946250966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049294.946851639] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049294.948428612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049294.949668365] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049295.003210047] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469735 Long: -76.50298383 -[vectornav-1] [INFO] [1746049295.004542740] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.14, -3.235, 9.492) -[mux-7] [INFO] [1746049295.045013102] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049295.045842404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049295.046305541] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049295.047689540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049295.048895259] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049295.085341862] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049295.087599988] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049295.087912454] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049295.088952595] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049295.089226214] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049295.089908095] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049295.090806705] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049295.145277768] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049295.146086178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049295.146815953] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049295.148665466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049295.149738961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049295.245138291] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049295.246334641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049295.247357076] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049295.248345573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049295.249407176] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049295.335298722] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049295.337116352] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049295.337840583] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049295.339142640] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049295.339563948] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049295.340544312] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049295.341387278] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049295.344471800] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049295.345186891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049295.345700521] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049295.346937221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049295.348054680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049295.445488055] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049295.446192483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049295.447271147] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049295.448571902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049295.449745430] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049295.503579526] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973511 Long: -76.5029838 -[vectornav-1] [INFO] [1746049295.505722104] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.154, -3.232, 9.503) -[mux-7] [INFO] [1746049295.545163808] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049295.545959130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049295.546630937] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049295.548080130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049295.549264997] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049295.585463526] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049295.587275709] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049295.588483945] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049295.588775607] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049295.589449643] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049295.589842569] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049295.590370508] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049295.645075604] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049295.646546943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049295.646595267] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049295.648536239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049295.649613679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049295.745523002] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049295.746750590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049295.747191701] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049295.749168049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049295.750301389] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049295.835585384] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049295.838407779] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049295.838404654] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049295.839439880] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049295.839548091] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049295.840287834] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049295.840662581] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049295.844407390] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049295.844874155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049295.845515907] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049295.846594869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049295.847730755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049295.945596121] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049295.946281231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049295.947379392] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049295.948944398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049295.950206275] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049296.004028287] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697349 Long: -76.50298377 -[vectornav-1] [INFO] [1746049296.005782806] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.169, -3.234, 9.502) -[mux-7] [INFO] [1746049296.045405418] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049296.046246004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049296.047260000] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049296.048477413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049296.049627822] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049296.085595066] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049296.088298093] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049296.088482501] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049296.089475393] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049296.089985665] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049296.090385777] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049296.091244851] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049296.144970808] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049296.146051515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049296.146310363] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049296.147950421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049296.148962898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049296.245165907] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049296.245890983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049296.246666744] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049296.247639880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049296.248102382] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049296.335421768] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049296.337772984] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049296.338277309] [sailbot.teensy]: Wind angle: 354 -[teensy-2] [INFO] [1746049296.339323654] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049296.340076289] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049296.340298379] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049296.341216508] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049296.344297041] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049296.344790843] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049296.345404397] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049296.346450607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049296.347500041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049296.445583451] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049296.446479409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049296.447249500] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049296.448988281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049296.450413500] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049296.503703086] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973495 Long: -76.50298367 -[vectornav-1] [INFO] [1746049296.505467245] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.182, -3.235, 9.491) -[mux-7] [INFO] [1746049296.545329380] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049296.546062275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049296.546871469] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049296.548255273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049296.548734807] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049296.585526818] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049296.587416375] [sailbot.teensy]: Wind angle: 358 -[teensy-2] [INFO] [1746049296.588408133] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049296.588449286] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049296.589349757] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049296.589953252] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049296.590682944] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049296.645085110] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049296.645856214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049296.646552651] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049296.647939379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049296.649080262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049296.744944546] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049296.745684691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049296.746254444] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049296.747610698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049296.748661991] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049296.835419245] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049296.837382637] [sailbot.teensy]: Wind angle: 358 -[trim_sail-4] [INFO] [1746049296.838197645] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049296.838372495] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049296.839253287] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049296.839446666] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049296.840229647] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049296.844518901] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049296.845176813] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049296.845656217] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049296.847009471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049296.848050396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049296.945548607] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049296.946374750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049296.947200742] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049296.948369276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049296.948810358] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049297.002287874] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973494 Long: -76.50298372 -[vectornav-1] [INFO] [1746049297.003324562] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.199, -3.24, 9.476) -[mux-7] [INFO] [1746049297.045426083] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049297.046334942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049297.047123602] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049297.048286404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049297.048846652] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049297.085685653] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049297.088517032] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049297.088759566] [sailbot.teensy]: Wind angle: 358 -[mux-7] [INFO] [1746049297.089390460] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049297.089709823] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049297.090613496] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049297.091471441] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049297.145291240] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049297.146006775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049297.146833253] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049297.148508034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049297.149703896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049297.245649700] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049297.246612222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049297.247436396] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049297.247920300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049297.248437580] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049297.335205923] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049297.337077910] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049297.337400336] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049297.338383598] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049297.339191594] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049297.340118599] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049297.341043051] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049297.344305206] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049297.344878387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049297.345561631] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049297.346526406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049297.347632497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049297.445590915] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049297.446608543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049297.447420822] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049297.449114942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049297.450378955] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049297.502471879] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973492 Long: -76.50298374 -[vectornav-1] [INFO] [1746049297.503553975] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.216, -3.235, 9.485) -[mux-7] [INFO] [1746049297.544859868] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049297.545634943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049297.546300617] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049297.547748588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049297.549009190] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049297.586020589] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049297.588716430] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049297.589202000] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049297.589928508] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049297.590973876] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049297.591564577] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049297.591823286] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049297.645543175] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049297.646144778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049297.647811778] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049297.648459290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049297.650192358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049297.745296380] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049297.746109211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049297.746834955] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049297.748086915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049297.749314718] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049297.835573733] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049297.837535157] [sailbot.teensy]: Wind angle: 358 -[teensy-2] [INFO] [1746049297.838512786] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049297.839127767] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049297.838648889] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049297.839297854] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049297.839691625] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049297.844634999] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049297.845144876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049297.846151750] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049297.847090950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049297.848320982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049297.945399788] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049297.946123877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049297.947064332] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049297.948286181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049297.949533787] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049298.004085455] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973489 Long: -76.50298386 -[vectornav-1] [INFO] [1746049298.005535656] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.23, -3.24, 9.475) -[mux-7] [INFO] [1746049298.045450226] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049298.046149075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049298.047222851] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049298.048390422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049298.049619256] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049298.085560131] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049298.088056719] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049298.088549124] [sailbot.teensy]: Wind angle: 358 -[teensy-2] [INFO] [1746049298.089496940] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049298.088957894] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049298.090424999] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049298.091280035] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049298.144996021] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049298.145882752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049298.146296073] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049298.147833287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049298.148858801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049298.245358163] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049298.246224869] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049298.246946321] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049298.247883907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049298.248358964] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049298.335309406] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049298.337953738] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049298.338720953] [sailbot.teensy]: Wind angle: 357 -[mux-7] [INFO] [1746049298.339016066] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049298.339148437] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049298.339561504] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049298.340262699] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049298.344379308] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049298.344842130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049298.345559564] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049298.346546035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049298.347596782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049298.445160515] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049298.446065549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049298.446614607] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049298.448278634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049298.449430798] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049298.502360475] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973481 Long: -76.5029838 -[vectornav-1] [INFO] [1746049298.503333894] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.238, -3.24, 9.453) -[mux-7] [INFO] [1746049298.545089772] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049298.545842567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049298.546455133] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049298.547720345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049298.548757552] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049298.585673146] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049298.588410890] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049298.588765805] [sailbot.teensy]: Wind angle: 357 -[mux-7] [INFO] [1746049298.589379290] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049298.589699836] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049298.590585282] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049298.591411106] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049298.645350609] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049298.646201866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049298.647022495] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049298.648382742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049298.649657419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049298.745599992] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049298.746460802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049298.747283854] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049298.748996931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049298.749509816] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049298.835344097] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049298.837972814] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049298.838010960] [sailbot.teensy]: Wind angle: 348 -[mux-7] [INFO] [1746049298.838577664] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049298.838950066] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049298.839895832] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049298.840782112] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049298.844533500] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049298.845062150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049298.845597357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049298.846727852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049298.847855104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049298.945632855] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049298.946389049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049298.947414977] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049298.948589484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049298.949160012] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049299.004311925] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973481 Long: -76.50298385 -[vectornav-1] [INFO] [1746049299.006086215] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.26099999999997, -3.245, 9.468) -[mux-7] [INFO] [1746049299.045055477] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049299.045991316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049299.046359804] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049299.048145298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049299.049224724] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049299.085396591] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049299.087747070] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049299.087775151] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049299.088845659] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049299.089813337] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049299.090422966] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049299.090820239] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049299.144987871] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049299.145887272] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049299.146314767] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049299.147585880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049299.148136293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049299.245373660] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049299.246387307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049299.247059741] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049299.248756386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049299.249880237] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049299.335397940] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049299.337734832] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049299.337856952] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049299.338715664] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049299.339547349] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049299.339701086] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049299.339939459] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049299.344581426] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049299.345315847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049299.345884612] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049299.347251330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049299.348378661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049299.445647746] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049299.446635151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049299.447414673] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049299.449323299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049299.450496841] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049299.502551472] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973481 Long: -76.50298395 -[vectornav-1] [INFO] [1746049299.503753141] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.26800000000003, -3.251, 9.46) -[mux-7] [INFO] [1746049299.544900349] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049299.545542290] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049299.546119955] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049299.547406537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049299.548551436] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049299.585395059] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049299.587658309] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049299.587953817] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049299.588674092] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049299.589577578] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049299.589647012] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049299.590508393] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049299.645380939] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049299.646368723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049299.647173644] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049299.649154523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049299.650374644] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049299.745786412] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049299.746606986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049299.747477840] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049299.749334244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049299.749917822] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049299.835668113] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049299.838005325] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049299.838127538] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049299.838669653] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049299.839076438] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049299.839218015] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049299.839452137] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049299.844660288] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049299.845385684] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049299.846007009] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049299.847359289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049299.848425868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049299.945231578] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049299.946087620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049299.946718553] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049299.948117663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049299.948866390] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049300.003880945] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973473 Long: -76.5029839 -[vectornav-1] [INFO] [1746049300.005613942] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.291, -3.253, 9.46) -[mux-7] [INFO] [1746049300.044998314] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049300.045741899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049300.046337923] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049300.047854719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049300.049063069] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049300.085196811] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049300.087310989] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049300.087347470] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049300.088349187] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049300.088953359] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049300.089290974] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049300.090317260] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049300.145199492] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049300.145891892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049300.146693970] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049300.147960053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049300.149015002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049300.245213180] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049300.246088097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049300.246697676] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049300.247959795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049300.248443680] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049300.335291599] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049300.337751411] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049300.339406621] [sailbot.teensy]: Wind angle: 339 -[mux-7] [INFO] [1746049300.340341708] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049300.340573232] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049300.341654479] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049300.342638790] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049300.344824890] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049300.345247042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049300.345951706] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049300.346943853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049300.348009702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049300.445205784] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049300.446031031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049300.446679738] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049300.448171299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049300.449268757] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049300.502341031] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973477 Long: -76.50298383 -[vectornav-1] [INFO] [1746049300.503727890] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.307, -3.263, 9.441) -[mux-7] [INFO] [1746049300.545316640] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049300.546251097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049300.546771758] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049300.548274535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049300.549436721] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049300.585685624] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049300.588427665] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049300.589135908] [sailbot.teensy]: Wind angle: 339 -[mux-7] [INFO] [1746049300.589136159] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049300.590103986] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049300.591004362] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049300.591883012] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049300.645334681] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049300.646256673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049300.646902117] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049300.647888468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049300.648405063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049300.745260967] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049300.745928394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049300.746698880] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049300.747949083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049300.749137778] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049300.835499280] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049300.838067084] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049300.838364818] [sailbot.teensy]: Wind angle: 337 -[mux-7] [INFO] [1746049300.839048632] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049300.839058674] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049300.839548308] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049300.839943721] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049300.844351196] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049300.844899885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049300.845625354] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049300.846686922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049300.847811321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049300.945198287] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049300.945697570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049300.946578920] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049300.947609060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049300.948675448] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049301.003448417] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973477 Long: -76.50298391 -[vectornav-1] [INFO] [1746049301.004867049] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.334, -3.247, 9.489) -[mux-7] [INFO] [1746049301.045203255] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049301.045791760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049301.046790984] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049301.047896888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049301.048730796] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049301.085349276] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049301.087494679] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049301.087608786] [sailbot.teensy]: Wind angle: 335 -[teensy-2] [INFO] [1746049301.088608448] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049301.088894752] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049301.089863023] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049301.090731521] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049301.145345463] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049301.146187555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049301.147005882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049301.148552372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049301.149776816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049301.245449331] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049301.246286078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049301.247086547] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049301.248578359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049301.249124905] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049301.335445373] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049301.337331774] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049301.337696850] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049301.338502305] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049301.338841551] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049301.339247634] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049301.339669345] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049301.344399764] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049301.344797493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049301.345526416] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049301.346364752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049301.347840900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049301.445274539] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049301.446086303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049301.447021263] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049301.448208952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049301.449353831] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049301.502972099] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973477 Long: -76.50298387 -[vectornav-1] [INFO] [1746049301.504662091] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.341, -3.256, 9.466) -[mux-7] [INFO] [1746049301.545229100] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049301.545914445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049301.546746283] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049301.547949448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049301.549102657] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049301.585623160] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049301.588134898] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049301.588874282] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049301.589108857] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049301.589345944] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049301.590019112] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049301.590899542] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049301.645404384] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049301.646345580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049301.647109676] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049301.648728266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049301.650687228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049301.745213943] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049301.746082295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049301.746675931] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049301.748438339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049301.749591489] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049301.835438174] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049301.837594980] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049301.837729076] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049301.838255519] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049301.838537999] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049301.839474989] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049301.840323303] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049301.844373306] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049301.845011801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049301.845501972] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049301.847336971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049301.848523533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049301.945534773] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049301.946294841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049301.947203154] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049301.947967351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049301.948447941] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049302.002605352] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973478 Long: -76.50298382 -[vectornav-1] [INFO] [1746049302.003727036] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.36, -3.257, 9.52) -[mux-7] [INFO] [1746049302.045017892] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049302.045897755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049302.046344497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049302.047775912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049302.048966498] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049302.085201352] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049302.087331527] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049302.087959319] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049302.088186733] [sailbot.teensy]: Wind angle: 335 -[teensy-2] [INFO] [1746049302.089420478] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049302.090312460] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049302.091131816] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049302.145236912] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049302.145992452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049302.146935555] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049302.148578152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049302.149748876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049302.245253270] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049302.246024392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049302.246918400] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049302.248245846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049302.248831306] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049302.335798858] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049302.339380228] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049302.340243788] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049302.340560582] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049302.343138884] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049302.344363350] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049302.345441661] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049302.345453517] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049302.346696123] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049302.347614641] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049302.348874950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049302.349887383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049302.445612740] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049302.446657740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049302.447376597] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049302.449160854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049302.450396417] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049302.503905368] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697347 Long: -76.50298381 -[vectornav-1] [INFO] [1746049302.505690682] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.369, -3.257, 9.504) -[mux-7] [INFO] [1746049302.545107415] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049302.546131882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049302.546566809] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049302.548270314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049302.549200371] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049302.585373909] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049302.587649731] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049302.587837825] [sailbot.teensy]: Wind angle: 334 -[teensy-2] [INFO] [1746049302.588825670] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049302.589716912] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049302.589812392] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049302.590603615] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049302.645408453] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049302.646210626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049302.647056286] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049302.648903087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049302.650094722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049302.745697102] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049302.746798029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049302.747537974] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049302.749501605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049302.750615088] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049302.835413255] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049302.837936907] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049302.838271707] [sailbot.teensy]: Wind angle: 333 -[mux-7] [INFO] [1746049302.838711537] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049302.839213377] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049302.840135076] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049302.840574323] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049302.844752270] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049302.845324685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049302.846007755] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049302.847095634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049302.848862949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049302.945468688] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049302.946319511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049302.947176933] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049302.948762703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049302.949996609] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049303.003194165] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973469 Long: -76.5029838 -[vectornav-1] [INFO] [1746049303.004693508] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.39099999999996, -3.252, 9.515) -[mux-7] [INFO] [1746049303.045137426] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049303.045772026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049303.046535531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049303.048386810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049303.049459789] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049303.085458698] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049303.088005201] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049303.088254545] [sailbot.teensy]: Wind angle: 333 -[mux-7] [INFO] [1746049303.088971774] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049303.089188947] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049303.090074447] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049303.090924514] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049303.145299482] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049303.145951126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049303.146819272] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049303.148148929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049303.149434126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049303.245573803] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049303.246123144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049303.247192205] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049303.248555126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049303.249687350] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049303.335207932] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049303.336903438] [sailbot.teensy]: Wind angle: 331 -[trim_sail-4] [INFO] [1746049303.337676063] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049303.337858136] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049303.338743294] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049303.338826627] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049303.339656114] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049303.344585501] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049303.345082005] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049303.345922275] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049303.346840485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049303.348437306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049303.445077995] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049303.445734666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049303.446657930] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049303.447600646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049303.448859773] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049303.502372854] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973471 Long: -76.50298369 -[vectornav-1] [INFO] [1746049303.503419691] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.402, -3.254, 9.496) -[mux-7] [INFO] [1746049303.545356233] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049303.546034221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049303.547649174] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049303.548286085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049303.549394491] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049303.585665130] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049303.587831214] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049303.588890744] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049303.588415737] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049303.589343259] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049303.589780410] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049303.590677939] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049303.645373926] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049303.646066386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049303.647058531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049303.648593305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049303.649784565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049303.745163468] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049303.745807772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049303.746932412] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049303.747720525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049303.748938793] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049303.835507576] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049303.838039780] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049303.838319795] [sailbot.teensy]: Wind angle: 343 -[mux-7] [INFO] [1746049303.838597197] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049303.839404446] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049303.840328793] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049303.841185862] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049303.844371092] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049303.844867488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049303.845506118] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049303.846608901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049303.847657744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049303.945513069] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049303.946445106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049303.947468306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049303.948834982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049303.950074976] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049304.003321519] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973479 Long: -76.50298372 -[vectornav-1] [INFO] [1746049304.004700216] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.411, -3.251, 9.467) -[mux-7] [INFO] [1746049304.045437754] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049304.046179899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049304.047048021] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049304.048226590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049304.049458127] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049304.085849640] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049304.088501544] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049304.088932608] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049304.089596324] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049304.090527113] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049304.091107543] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049304.091430674] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049304.145122920] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049304.145810198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049304.146822421] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049304.148909284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049304.150049812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049304.245357755] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049304.246127583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049304.246905441] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049304.248482783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049304.249650037] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049304.335467577] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049304.337712119] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049304.338750643] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049304.339649674] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049304.340586352] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746049304.338372331] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049304.340061569] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049304.344543687] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049304.345132320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049304.345668588] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049304.346962730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049304.348006619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049304.445285380] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049304.446011744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049304.447034944] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049304.448523651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049304.448955809] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049304.503637260] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973485 Long: -76.50298379 -[vectornav-1] [INFO] [1746049304.504901283] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.418, -3.246, 9.493) -[mux-7] [INFO] [1746049304.545060589] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049304.545983613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049304.546592932] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049304.548375433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049304.549459848] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049304.585373473] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049304.587903828] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049304.588110114] [sailbot.teensy]: Wind angle: 0 -[teensy-2] [INFO] [1746049304.589085178] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049304.589242267] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049304.590043033] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049304.590957986] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049304.645024848] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049304.645575709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049304.646399507] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049304.647690879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049304.648712437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049304.745035225] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049304.745831493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049304.746686045] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049304.747695194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049304.748617832] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049304.835468420] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049304.837916361] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746049304.838068290] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049304.838885679] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049304.839839058] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049304.839996638] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049304.840730360] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049304.844492891] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049304.844933812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049304.845641472] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049304.846680239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049304.847743460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049304.945406616] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049304.946204250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049304.947331950] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049304.948137777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049304.948678878] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049305.003318124] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973497 Long: -76.50298387 -[vectornav-1] [INFO] [1746049305.004520942] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.433, -3.245, 9.498) -[mux-7] [INFO] [1746049305.045361825] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049305.045955795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049305.046870290] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049305.048393225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049305.049548959] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049305.085405316] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049305.087168852] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049305.088013856] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049305.088114788] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049305.089028970] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049305.089068488] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049305.089969138] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049305.144997518] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049305.145880310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049305.146364837] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049305.147939636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049305.149003966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049305.245110131] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049305.245608302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049305.246522781] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049305.247565960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049305.248630439] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049305.335400931] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049305.338078369] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049305.338075429] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049305.339037059] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049305.339153305] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049305.339968441] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049305.340941473] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049305.344316601] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049305.345031331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049305.345459786] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049305.347587251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049305.348814718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049305.445089027] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049305.445830928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049305.446788650] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049305.447843014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049305.448370317] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049305.502458867] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973506 Long: -76.50298387 -[vectornav-1] [INFO] [1746049305.503878444] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.45500000000004, -3.243, 9.499) -[mux-7] [INFO] [1746049305.545310480] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049305.546110410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049305.547005580] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049305.548357312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049305.549453168] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049305.585483560] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049305.587487599] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049305.588138817] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049305.588490601] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049305.589359548] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049305.589411980] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049305.590252862] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049305.645161858] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049305.646094057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049305.646597871] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049305.649327487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049305.650464986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049305.745462390] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049305.746218616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049305.747112370] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049305.749352130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049305.750516380] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049305.835498809] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049305.838533007] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049305.838539803] [sailbot.teensy]: Wind angle: 347 -[mux-7] [INFO] [1746049305.838947221] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049305.839753844] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049305.840895134] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049305.841783133] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049305.844419698] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049305.844866736] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049305.845655565] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049305.846583272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049305.847662216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049305.944865857] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049305.945599070] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049305.946103237] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049305.947987732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049305.949093224] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049306.003438829] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973495 Long: -76.50298402 -[vectornav-1] [INFO] [1746049306.005157831] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.459, -3.241, 9.515) -[mux-7] [INFO] [1746049306.045039478] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049306.045611968] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049306.046336436] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049306.047502012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049306.049147450] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049306.085193133] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049306.087373539] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049306.087947771] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049306.089284174] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049306.090446397] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049306.091345834] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049306.092222188] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049306.145038205] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049306.145724542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049306.146404129] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049306.147769970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049306.148822316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049306.245605769] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049306.246627832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049306.247243835] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049306.248116682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049306.248673573] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049306.335613059] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049306.338469477] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049306.338696151] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049306.340091892] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049306.341582238] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049306.342539839] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049306.342564715] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049306.345206500] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049306.346037632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049306.346738660] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049306.347907423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049306.349203132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049306.445393485] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049306.446374439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049306.446953265] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049306.448635566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049306.449786731] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049306.502592346] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973499 Long: -76.50298404 -[vectornav-1] [INFO] [1746049306.504038201] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.473, -3.24, 9.508) -[mux-7] [INFO] [1746049306.545102557] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049306.546035855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049306.546753780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049306.547921284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049306.549055629] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049306.585523610] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049306.588014543] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049306.588336862] [sailbot.teensy]: Wind angle: 349 -[mux-7] [INFO] [1746049306.589120962] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049306.589258668] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049306.590263613] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049306.591120151] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049306.645141775] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049306.646083929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049306.646593973] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049306.648205794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049306.649266936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049306.745309120] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049306.746051135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049306.746875142] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049306.748262519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049306.749489563] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049306.835196104] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049306.837664581] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049306.837857943] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049306.838369685] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049306.838606926] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049306.839533543] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049306.840160923] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049306.844384031] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049306.845080488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049306.845515399] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049306.846859551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049306.847894345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049306.945301031] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049306.946656870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049306.946918330] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049306.949311639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049306.950137114] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049307.002645906] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973502 Long: -76.50298397 -[vectornav-1] [INFO] [1746049307.003896676] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.49199999999996, -3.24, 9.512) -[mux-7] [INFO] [1746049307.045140974] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049307.046259044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049307.046592378] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049307.048492011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049307.049616256] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049307.085364093] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049307.087479967] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049307.088054127] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049307.088435166] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049307.088735481] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049307.089345625] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049307.090244474] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049307.144976547] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049307.145600003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049307.146543628] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049307.147400163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049307.148253491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049307.245059452] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049307.245627440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049307.246331876] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049307.247472489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049307.248534946] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049307.335395930] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049307.337965842] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049307.338544842] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049307.339202167] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049307.340219822] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049307.341044005] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049307.341885376] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049307.344251951] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049307.344768048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049307.345345252] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049307.346436360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049307.347587575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049307.444476346] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049307.445501488] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049307.447547423] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049307.449225824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049307.450272475] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049307.503725282] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973505 Long: -76.50298398 -[vectornav-1] [INFO] [1746049307.505378206] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.501, -3.239, 9.512) -[mux-7] [INFO] [1746049307.545670759] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049307.546289071] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049307.547462650] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049307.548930744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049307.551082715] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049307.585486279] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049307.587981228] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049307.588294056] [sailbot.teensy]: Wind angle: 333 -[mux-7] [INFO] [1746049307.589024445] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049307.589265365] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049307.590207021] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049307.591142429] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049307.645073622] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049307.645836141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049307.646360680] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049307.647683587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049307.648710770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049307.745128409] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049307.745802725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049307.747051039] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049307.747749298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049307.748370529] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049307.835294892] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049307.837681166] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049307.838361325] [sailbot.teensy]: Wind angle: 0 -[mux-7] [INFO] [1746049307.838550976] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049307.839341038] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049307.840203769] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049307.840572209] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049307.844494152] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049307.845070737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049307.845662748] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049307.847440504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049307.848579584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049307.945657399] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049307.946278028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049307.947457706] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049307.949077130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049307.950363193] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049308.002404878] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973505 Long: -76.50298396 -[vectornav-1] [INFO] [1746049308.003427944] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.51300000000003, -3.239, 9.524) -[mux-7] [INFO] [1746049308.045604341] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049308.046345205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049308.047206421] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049308.048719009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049308.049869212] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049308.085708045] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049308.088370223] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049308.088491511] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049308.089458475] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049308.089885313] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049308.090361681] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049308.091221129] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049308.145346162] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049308.145876168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049308.146857620] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049308.149458309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049308.150469520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049308.245124298] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049308.245583696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049308.246722053] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049308.247644819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049308.248790942] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049308.335373946] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049308.337892705] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049308.338505947] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049308.338506085] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049308.339453740] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049308.340393214] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049308.341410162] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049308.344549631] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049308.345125719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049308.345722040] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049308.346902817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049308.348568546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049308.445350157] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049308.446190104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049308.446890916] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049308.448747912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049308.449887864] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049308.502997025] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973492 Long: -76.50298394 -[vectornav-1] [INFO] [1746049308.504351317] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.52, -3.241, 9.49) -[mux-7] [INFO] [1746049308.544877837] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049308.545752574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049308.546037515] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049308.547702853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049308.548800386] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049308.585625222] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049308.588308070] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049308.588357720] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049308.588862297] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049308.589385116] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049308.590306466] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049308.591175664] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049308.645295625] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049308.645900618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049308.646857998] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049308.648276207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049308.649476823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049308.745319338] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049308.745980250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049308.747345195] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049308.747906065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049308.748414634] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049308.835286555] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049308.837764761] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049308.838486057] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049308.839239178] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049308.839296686] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049308.840536122] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049308.841436892] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049308.844270916] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049308.844691058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049308.845488816] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049308.846338395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049308.847549022] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049308.945606198] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049308.946809908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049308.947228892] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049308.948518623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049308.949069166] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049309.002417091] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973498 Long: -76.50298377 -[vectornav-1] [INFO] [1746049309.003747026] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.541, -3.237, 9.504) -[mux-7] [INFO] [1746049309.045115602] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049309.045901515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049309.046587240] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049309.048384371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049309.049651634] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049309.085810128] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049309.088961943] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049309.089401844] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049309.089517489] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049309.090552092] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049309.091490148] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049309.092345210] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049309.145208520] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049309.146101051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049309.146647538] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049309.148193024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049309.149354510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049309.245543227] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049309.246503421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049309.247173085] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049309.248840694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049309.250081259] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049309.335401842] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049309.337205583] [sailbot.teensy]: Wind angle: 333 -[trim_sail-4] [INFO] [1746049309.337830246] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049309.338144111] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049309.338810452] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049309.338869872] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049309.339258615] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049309.344350001] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049309.344930072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049309.345454436] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049309.346606142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049309.347661388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049309.445022387] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049309.445856416] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049309.446359210] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049309.447846621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049309.448892359] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049309.503514728] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973477 Long: -76.50298383 -[vectornav-1] [INFO] [1746049309.505551234] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.553, -3.241, 9.511) -[mux-7] [INFO] [1746049309.544845975] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049309.545534103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049309.546020315] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049309.547505153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049309.548571977] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049309.585275954] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049309.587705456] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049309.587767011] [sailbot.teensy]: Wind angle: 0 -[mux-7] [INFO] [1746049309.588289466] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049309.588786776] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049309.589692342] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049309.590236950] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049309.645082491] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049309.645984473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049309.646601920] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049309.647960085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049309.648544384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049309.745349449] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049309.746148101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049309.746859078] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049309.748418560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049309.749041445] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049309.835669240] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049309.838427421] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049309.839091861] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049309.839821523] [sailbot.teensy]: Wind angle: 0 -[teensy-2] [INFO] [1746049309.840834268] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049309.841845945] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049309.842685661] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049309.844482830] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049309.845165837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049309.846369078] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049309.846988092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049309.848032700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049309.945415859] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049309.946493436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049309.947024561] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049309.947873154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049309.948557952] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049310.003447000] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973469 Long: -76.50298376 -[vectornav-1] [INFO] [1746049310.004946973] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.558, -3.241, 9.508) -[mux-7] [INFO] [1746049310.045162905] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049310.046189194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049310.048137213] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049310.048364140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049310.049527027] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049310.085497428] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049310.087905564] [sailbot.teensy]: Wind angle: 333 -[trim_sail-4] [INFO] [1746049310.087938883] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049310.088937122] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049310.089232134] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049310.089827644] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049310.090749023] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049310.145285697] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049310.146001026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049310.146851798] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049310.148575020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049310.149711507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049310.245618547] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049310.246588531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049310.247222044] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049310.248894513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049310.249359544] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049310.335705667] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049310.337984976] [sailbot.teensy]: Wind angle: 356 -[teensy-2] [INFO] [1746049310.339171299] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049310.340043017] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049310.340212871] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049310.341200076] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049310.341628623] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049310.344686414] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049310.345484927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049310.346008391] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049310.347561354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049310.349265246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049310.445714303] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049310.446900932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049310.447470072] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049310.449678095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049310.450828573] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049310.502642526] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973478 Long: -76.50298412 -[vectornav-1] [INFO] [1746049310.504069098] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.56899999999996, -3.245, 9.509) -[mux-7] [INFO] [1746049310.545241944] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049310.546020410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049310.546831066] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049310.548475334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049310.549636883] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049310.585393852] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049310.587543242] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049310.587739482] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049310.588522699] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049310.589382744] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049310.589299494] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049310.590302276] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049310.645531637] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049310.646476481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049310.647447800] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049310.648849423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049310.649942726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049310.745953828] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049310.746580412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049310.747704609] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049310.749377854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049310.750641693] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049310.835859228] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049310.838437489] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049310.838956479] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049310.839192206] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049310.839526066] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049310.839569450] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049310.839944658] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049310.844573009] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049310.845655235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049310.845850762] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049310.847386547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049310.848549926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049310.945307517] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049310.945969536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049310.946882769] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049310.948139026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049310.949103856] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049311.003177806] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697348 Long: -76.50298393 -[vectornav-1] [INFO] [1746049311.004476117] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.587, -3.229, 9.496) -[mux-7] [INFO] [1746049311.045343491] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049311.046911295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049311.046628524] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049311.049589138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049311.050587772] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049311.085548094] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049311.087986283] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049311.088524039] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049311.088936592] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049311.089050838] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049311.089868982] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049311.090712279] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049311.145374719] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049311.145946419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049311.147868054] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049311.148083235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049311.149261358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049311.245337294] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049311.245836356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049311.246944209] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049311.247823542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049311.248528918] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049311.335385244] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049311.337862621] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049311.338521360] [sailbot.teensy]: Wind angle: 356 -[mux-7] [INFO] [1746049311.338731698] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049311.339463164] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049311.340371149] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049311.341189665] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049311.344365053] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049311.344821413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049311.345465832] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049311.346485032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049311.347595110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049311.445020649] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049311.445642376] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049311.447631950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[mux-7] [INFO] [1746049311.446434619] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049311.448862438] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049311.502772951] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697348 Long: -76.50298383 -[vectornav-1] [INFO] [1746049311.504020840] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.599, -3.23, 9.496) -[mux-7] [INFO] [1746049311.544967001] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049311.545534967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049311.546418004] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049311.547395963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049311.548575690] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049311.585366998] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049311.587086167] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049311.587580959] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049311.588018717] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049311.588985290] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049311.589885075] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049311.590097256] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049311.645595813] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049311.646163909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049311.647340521] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049311.648612493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049311.649732492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049311.745642801] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049311.746284717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049311.747502790] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049311.749224420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049311.749761739] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049311.835967302] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049311.838311115] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049311.839441477] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049311.838927559] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049311.840450078] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049311.841370430] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049311.840688639] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049311.844497922] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049311.845044436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049311.845632970] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049311.846919650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049311.848106517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049311.945222394] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049311.945804373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049311.947123102] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049311.947801821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049311.948857109] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049312.003132680] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973474 Long: -76.50298373 -[vectornav-1] [INFO] [1746049312.004527336] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.602, -3.23, 9.487) -[mux-7] [INFO] [1746049312.044876429] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049312.045322703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049312.046142301] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049312.047495144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049312.048690130] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049312.085422034] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049312.087286740] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049312.087848202] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049312.088597512] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049312.089500139] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049312.090182398] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049312.090382869] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049312.145204696] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049312.146197401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049312.146723121] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049312.148318407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049312.149483910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049312.245104330] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049312.245702960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049312.246433708] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049312.247709593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049312.248745742] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049312.335348774] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049312.338011850] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049312.338269460] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049312.338612672] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049312.339231216] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049312.339618753] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049312.339980351] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049312.344385556] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049312.345094351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049312.345556509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049312.349337899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049312.350458509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049312.445558829] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049312.446317900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049312.447172840] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049312.448932801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049312.450647473] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049312.504061971] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973476 Long: -76.50298371 -[vectornav-1] [INFO] [1746049312.507197639] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.625, -3.24, 9.49) -[mux-7] [INFO] [1746049312.545279592] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049312.546025348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049312.546796041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049312.548217967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049312.549420325] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049312.585539917] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049312.587443176] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049312.588443282] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049312.588344966] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049312.589345351] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049312.590241105] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049312.590306562] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746049312.644731491] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049312.645413202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049312.646015553] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049312.647177321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049312.648231983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049312.745537261] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049312.746226032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049312.748077649] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049312.748754219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049312.750312208] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049312.835716599] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049312.837983912] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049312.839050974] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049312.838672156] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049312.839586802] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049312.839722331] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049312.839959170] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049312.844497318] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049312.845158037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049312.845717382] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049312.846970374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049312.848073751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049312.945562970] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049312.946418129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049312.947770788] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049312.949364162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049312.950637774] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049313.003282854] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973461 Long: -76.5029837 -[vectornav-1] [INFO] [1746049313.004731085] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.64, -3.238, 9.505) -[mux-7] [INFO] [1746049313.045073795] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049313.045997594] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049313.047872325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[mux-7] [INFO] [1746049313.046491878] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049313.048764703] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049313.085431253] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049313.087886086] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049313.088009314] [sailbot.teensy]: Wind angle: 338 -[mux-7] [INFO] [1746049313.088713418] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049313.088972247] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049313.089885588] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049313.090748150] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049313.145428796] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049313.146026437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049313.147237713] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049313.148733302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049313.149797734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049313.245348302] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049313.246390570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049313.247368936] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049313.247821880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049313.248386264] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049313.335238446] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049313.337568386] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049313.337770301] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049313.338734145] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049313.339311777] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049313.339628682] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049313.340594911] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049313.344438620] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049313.345133209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049313.345919842] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049313.346976467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049313.348012653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049313.445617803] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049313.446422539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049313.447293755] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049313.449007396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049313.450199793] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049313.503342295] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973456 Long: -76.50298364 -[vectornav-1] [INFO] [1746049313.504856641] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.649, -3.229, 9.511) -[mux-7] [INFO] [1746049313.545086888] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049313.545790993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049313.546622633] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049313.547898236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049313.548478304] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049313.585709423] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049313.588009289] [sailbot.teensy]: Wind angle: 352 -[teensy-2] [INFO] [1746049313.589147470] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049313.588950949] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049313.590759520] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049313.590802608] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049313.591739201] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049313.644826335] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049313.645400115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049313.646114214] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049313.647265195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049313.648428425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049313.745482401] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049313.746184709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049313.747085914] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049313.748019105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049313.748579967] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049313.835518702] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049313.837636375] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049313.838506785] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049313.838672771] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049313.839554477] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049313.839924113] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049313.840521444] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049313.844428235] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049313.844971935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049313.845556675] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049313.846651554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049313.847659296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049313.945227144] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049313.946132548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049313.946768287] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049313.948131449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049313.948618653] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049314.004065205] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973461 Long: -76.50298365 -[vectornav-1] [INFO] [1746049314.006316715] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.656, -3.24, 9.466) -[mux-7] [INFO] [1746049314.045299788] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049314.046200115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049314.046813970] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049314.048309259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049314.048853994] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049314.085616891] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049314.087838080] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049314.088882479] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049314.088397574] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049314.089757028] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049314.089779004] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049314.090657048] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049314.145000107] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049314.145581895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049314.146164949] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049314.147338631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049314.148545250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049314.245255605] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049314.246075339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049314.247419245] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049314.249475297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049314.250645231] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049314.335701321] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049314.337895096] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049314.338724931] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049314.339314247] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049314.339382558] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049314.339758549] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049314.340161591] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049314.344592339] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049314.345080441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049314.345728561] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049314.347439553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049314.348768119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049314.445312596] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049314.446030587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049314.446806174] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049314.448140569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049314.448674551] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049314.502443381] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973458 Long: -76.50298366 -[vectornav-1] [INFO] [1746049314.503578332] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.664, -3.222, 9.31) -[mux-7] [INFO] [1746049314.545230665] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049314.546065903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049314.546752198] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049314.548326480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049314.549499338] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049314.585583061] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049314.587805804] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049314.588356161] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049314.589212812] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049314.590670068] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049314.591615373] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049314.592468134] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049314.645357600] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049314.646121360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049314.646884131] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049314.648276657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049314.649425880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049314.745635384] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049314.746347266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049314.747204250] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049314.748641756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049314.749179796] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049314.835808493] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049314.838655622] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049314.839395381] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049314.839578915] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049314.839831456] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049314.840327467] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049314.840723059] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049314.844592767] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049314.845209656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049314.845985661] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049314.847164333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049314.848478809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049314.945296187] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049314.945965530] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049314.946837920] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049314.948388969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049314.949040789] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049315.003258484] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973463 Long: -76.50298357 -[vectornav-1] [INFO] [1746049315.005053541] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.64300000000003, -3.211, 9.074) -[mux-7] [INFO] [1746049315.045183816] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049315.045857677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049315.046743165] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049315.047716521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049315.048237319] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049315.085424464] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049315.087307392] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049315.087901922] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049315.088318692] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049315.089204421] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049315.089212289] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049315.090098120] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049315.145420480] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049315.146123059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049315.147011512] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049315.148313155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049315.149496826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049315.245399990] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049315.246017564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049315.247102698] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049315.248144287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049315.249374741] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049315.335676948] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049315.338217244] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049315.338591876] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049315.339921500] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049315.340351881] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049315.340613556] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049315.340991655] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049315.344419421] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049315.345049679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049315.345624083] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049315.347952246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049315.349078030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049315.445676362] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049315.446349914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049315.447335718] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049315.448874947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049315.450121776] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049315.502565294] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973475 Long: -76.50298357 -[vectornav-1] [INFO] [1746049315.503855739] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.712, -3.228, 9.496) -[mux-7] [INFO] [1746049315.545020463] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049315.545600902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049315.546327391] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049315.547565867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049315.548607677] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049315.585880038] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049315.588939333] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049315.589084207] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049315.589900824] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049315.590224048] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049315.591178847] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049315.592058027] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049315.645124148] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049315.645829983] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049315.647809704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[mux-7] [INFO] [1746049315.646497835] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049315.648996109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049315.745199265] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049315.746161386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049315.746719574] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049315.748373710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049315.749467316] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049315.835760528] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049315.838877580] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049315.839234761] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049315.839448314] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049315.840552636] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049315.841512058] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049315.842416661] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049315.844409537] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049315.844812721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049315.845518816] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049315.846459217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049315.847441980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049315.945030931] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049315.945663182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049315.946446213] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049315.947668378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049315.948908485] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049316.003791315] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973477 Long: -76.50298362 -[vectornav-1] [INFO] [1746049316.005255871] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.71799999999996, -3.236, 9.489) -[mux-7] [INFO] [1746049316.045170581] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049316.045944866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049316.046577556] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049316.047986080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049316.049044844] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049316.085454584] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049316.087970670] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049316.088368409] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049316.088820673] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746049316.089801258] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049316.090672013] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049316.091484001] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049316.145231948] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049316.145991151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049316.147078862] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049316.148095216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049316.149371739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049316.245507634] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049316.246256134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049316.247097584] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049316.248020313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049316.248562917] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049316.335372199] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049316.337430618] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049316.337927850] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049316.339076518] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049316.339324801] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049316.339696447] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049316.340051102] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049316.344272820] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049316.345027317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049316.345379920] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049316.346841908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049316.347845236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049316.445228676] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049316.445976837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049316.447254161] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049316.448206366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049316.449336680] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049316.503669855] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973481 Long: -76.50298362 -[vectornav-1] [INFO] [1746049316.505694970] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.73900000000003, -3.236, 9.494) -[mux-7] [INFO] [1746049316.544836384] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049316.545498662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049316.546003765] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049316.547247497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049316.548341229] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049316.585335341] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049316.587779953] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049316.588338678] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049316.588755641] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049316.589318503] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049316.590179964] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049316.591031521] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049316.645240674] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049316.646030488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049316.646735227] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049316.648095600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049316.648692202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049316.745572078] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049316.746562619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049316.747151286] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049316.748814579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049316.750084429] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049316.835382136] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049316.837730322] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049316.838107361] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049316.839378546] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049316.839819337] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049316.840221525] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049316.840650526] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049316.844455428] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049316.844966639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049316.845583406] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049316.846673743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049316.847856603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049316.945559073] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049316.946330621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049316.947252365] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049316.948681681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049316.949278176] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049317.002531987] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973486 Long: -76.50298354 -[vectornav-1] [INFO] [1746049317.003614070] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.75, -3.233, 9.484) -[mux-7] [INFO] [1746049317.045124810] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049317.045797623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049317.046754627] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049317.047747117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049317.048868615] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049317.085456158] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049317.087305754] [sailbot.teensy]: Wind angle: 357 -[teensy-2] [INFO] [1746049317.088278187] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049317.087918533] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049317.088865831] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049317.089174669] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049317.090012036] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049317.145275357] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049317.145935843] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049317.146742501] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049317.147991541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049317.148841008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049317.245686911] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049317.246478142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049317.247543084] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049317.249306210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049317.250551771] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049317.335454181] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049317.337884238] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049317.338560676] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049317.338715490] [sailbot.teensy]: Wind angle: 354 -[teensy-2] [INFO] [1746049317.339268151] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049317.339662927] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049317.340019855] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049317.344587493] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049317.345510564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049317.345788250] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049317.347328117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049317.348370490] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049317.445261580] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049317.445906230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049317.446810601] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049317.448071984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049317.448908066] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049317.503988831] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973471 Long: -76.50298355 -[vectornav-1] [INFO] [1746049317.505548047] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.772, -3.236, 9.467) -[mux-7] [INFO] [1746049317.545189875] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049317.546217849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049317.546841964] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049317.548631853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049317.549775633] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049317.585410884] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049317.587224984] [sailbot.teensy]: Wind angle: 352 -[teensy-2] [INFO] [1746049317.588235733] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049317.589445330] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049317.588466221] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049317.589444741] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049317.590906466] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049317.644984577] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049317.645676863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049317.646421897] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049317.648011667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049317.649039042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049317.745058229] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049317.745811786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049317.746485198] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049317.747845225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049317.748967596] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049317.835401269] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049317.837869551] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049317.838136573] [sailbot.teensy]: Wind angle: 351 -[teensy-2] [INFO] [1746049317.839061271] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049317.839206641] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049317.839965445] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049317.840885854] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049317.844470569] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049317.845036422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049317.845669787] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049317.846777704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049317.848030729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049317.945199832] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049317.945806988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049317.946606273] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049317.947734314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049317.948280064] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049318.002622524] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973454 Long: -76.50298365 -[vectornav-1] [INFO] [1746049318.003857554] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.741, -3.206, 9.089) -[mux-7] [INFO] [1746049318.045132809] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049318.046035679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049318.046748716] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049318.048269131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049318.048798979] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049318.085598976] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049318.088215567] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049318.088853518] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049318.089049882] [sailbot.teensy]: Wind angle: 351 -[teensy-2] [INFO] [1746049318.090114935] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049318.091015444] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049318.091836939] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049318.144779545] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049318.145412689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049318.145940906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049318.147143672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049318.148446034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049318.245561673] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049318.246383436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049318.247152861] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049318.249068302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049318.249698928] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049318.335501441] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049318.337489288] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049318.337887734] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049318.339198696] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049318.339576410] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049318.340186379] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049318.341110668] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049318.344369350] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049318.344876613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049318.345754916] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049318.346620340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049318.348370438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049318.445380730] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049318.446511206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049318.446933680] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049318.448660174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049318.449787256] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049318.502435347] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973448 Long: -76.5029836 -[vectornav-1] [INFO] [1746049318.503677738] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.773, -3.236, 9.443) -[mux-7] [INFO] [1746049318.544717774] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049318.545375882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049318.545888718] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049318.547133684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049318.548303891] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049318.585597040] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049318.588279657] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049318.588295646] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049318.589323854] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049318.589445009] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049318.590257942] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049318.591154451] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049318.645502982] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049318.646200231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049318.647515161] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049318.649387171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049318.650576439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049318.744905911] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049318.745783024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049318.746474137] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049318.747731568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049318.748882271] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049318.835394410] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049318.837837323] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049318.838371427] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049318.839068294] [sailbot.teensy]: Wind angle: 354 -[teensy-2] [INFO] [1746049318.839542561] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049318.839918695] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049318.840287107] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049318.844489932] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049318.844894605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049318.845609073] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049318.846504520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049318.847507560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049318.945670161] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049318.946635659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049318.947403097] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049318.949525934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049318.950760438] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049319.003148529] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973431 Long: -76.50298358 -[vectornav-1] [INFO] [1746049319.004608763] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.788, -3.236, 9.453) -[mux-7] [INFO] [1746049319.045157214] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049319.046003782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049319.046556489] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049319.047829290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049319.048304805] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049319.085451866] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049319.087483172] [sailbot.teensy]: Wind angle: 354 -[teensy-2] [INFO] [1746049319.088471198] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049319.087733391] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049319.088472480] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049319.089392914] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049319.090316885] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049319.144999370] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049319.145663057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049319.146851362] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049319.147767380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049319.148987423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049319.245275051] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049319.246091149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049319.246814681] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049319.248477755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049319.249310331] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049319.335393669] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049319.337881965] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049319.338583558] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049319.338730364] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746049319.339364435] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049319.339712075] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049319.340052131] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049319.344437592] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049319.344922531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049319.345577278] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049319.346693317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049319.347870266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049319.445437595] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049319.446553631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049319.447114071] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049319.448446904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049319.448988608] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049319.503221917] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697343 Long: -76.50298366 -[vectornav-1] [INFO] [1746049319.505032127] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.807, -3.236, 9.463) -[mux-7] [INFO] [1746049319.544799640] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049319.545381132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049319.545961297] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049319.547147698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049319.548296162] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049319.585471541] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049319.587483198] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746049319.587851634] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049319.588452003] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049319.589067631] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049319.589326848] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049319.590227476] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049319.645082872] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049319.645827924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049319.646482770] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049319.647888231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049319.648906066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049319.745261416] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049319.745953229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049319.746758840] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049319.748070697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049319.748586563] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049319.835683519] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049319.837889347] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049319.838867166] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049319.839008127] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049319.839251953] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049319.839246776] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049319.839642642] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049319.844367039] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049319.844881637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049319.845424864] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049319.846579773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049319.847681316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049319.945381805] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049319.946335418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049319.947191168] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049319.948779727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049319.949920850] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049320.002711818] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697342 Long: -76.50298373 -[vectornav-1] [INFO] [1746049320.003815868] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.821, -3.239, 9.497) -[mux-7] [INFO] [1746049320.044737779] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049320.045357289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049320.045916108] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049320.047229371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049320.048263498] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049320.085182945] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049320.087425938] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049320.087536806] [sailbot.teensy]: Wind angle: 335 -[teensy-2] [INFO] [1746049320.088494442] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049320.088792763] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049320.089426679] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049320.090346987] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049320.145224584] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049320.146031037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049320.146960519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049320.148517372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049320.149574954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049320.245330197] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049320.246319956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049320.246932955] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049320.247961888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049320.248432690] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049320.335387353] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049320.337824896] [sailbot.teensy]: Wind angle: 332 -[teensy-2] [INFO] [1746049320.338774787] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049320.338406629] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049320.338715155] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049320.339714779] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049320.340362971] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049320.344322465] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049320.345063560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049320.345462811] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049320.347684762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049320.348877501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049320.445128887] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049320.445903517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049320.446560580] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049320.448270844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049320.449336920] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049320.502625667] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697342 Long: -76.50298364 -[vectornav-1] [INFO] [1746049320.503682095] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.831, -3.237, 9.548) -[mux-7] [INFO] [1746049320.545107452] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049320.545749210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049320.546500161] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049320.547979882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049320.548696628] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049320.585574155] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049320.588170589] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049320.588534960] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049320.589469407] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049320.589577009] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049320.590384040] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049320.591260964] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049320.644391625] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049320.645065426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049320.645433759] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049320.647781345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049320.648939010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049320.745293631] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049320.746324616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049320.746638747] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049320.748515227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049320.749001954] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049320.835381284] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049320.837250792] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049320.837891352] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049320.838559055] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049320.839528214] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049320.840100097] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049320.840465951] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049320.844375702] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049320.845149461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049320.845596665] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049320.846923469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049320.847955213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049320.945004351] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049320.945601404] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049320.947444115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[mux-7] [INFO] [1746049320.946592227] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049320.948525651] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049321.002784851] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973401 Long: -76.50298358 -[vectornav-1] [INFO] [1746049321.004076693] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.85, -3.247, 9.5) -[mux-7] [INFO] [1746049321.045177249] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049321.045975971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049321.046613454] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049321.047858142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049321.049101873] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049321.085562064] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049321.087778380] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049321.087887698] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049321.088765174] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049321.089020149] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049321.089666979] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049321.090542643] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049321.144784815] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049321.145536288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049321.145935367] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049321.147459905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049321.148517149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049321.245495588] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049321.246270967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049321.247153780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049321.248276070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049321.248794322] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049321.335483561] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049321.337625539] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049321.338202096] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049321.338625845] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049321.339530683] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049321.339821580] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049321.340397818] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049321.344497226] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049321.344869395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049321.346068653] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049321.346725175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049321.348341337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049321.445080678] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049321.445535489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049321.446509723] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049321.447432932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049321.448501841] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049321.502549933] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973389 Long: -76.50298353 -[vectornav-1] [INFO] [1746049321.503629590] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.874, -3.256, 9.453) -[mux-7] [INFO] [1746049321.545344862] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049321.545954650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049321.546769858] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049321.547967584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049321.549019877] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049321.585571715] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049321.588180426] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049321.588767858] [sailbot.teensy]: Wind angle: 335 -[mux-7] [INFO] [1746049321.588998760] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049321.589719106] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049321.590616455] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049321.591436088] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049321.645016219] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049321.645841689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049321.646480192] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049321.647751436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049321.648914449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049321.745216216] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049321.745949120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049321.747044610] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049321.748082727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049321.749318258] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049321.835195056] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049321.836805163] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049321.837450098] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049321.837763510] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049321.838655358] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049321.839203148] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049321.839550522] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049321.844544983] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049321.845023821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049321.845780726] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049321.846805531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049321.847868245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049321.945673949] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049321.945829717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049321.947498523] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049321.947687896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049321.948749179] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049322.002976466] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973381 Long: -76.50298343 -[vectornav-1] [INFO] [1746049322.004091162] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.899, -3.255, 9.485) -[mux-7] [INFO] [1746049322.045320440] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049322.045787106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049322.046896213] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049322.047706550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049322.049610613] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049322.085569448] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049322.087961475] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049322.088707379] [sailbot.teensy]: Wind angle: 343 -[mux-7] [INFO] [1746049322.088707173] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049322.089666933] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049322.090562204] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049322.091374534] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049322.145415023] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049322.146129694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049322.147004494] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049322.148269200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049322.149437089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049322.245667876] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049322.246227076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049322.247387180] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049322.248507764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049322.249784025] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049322.335381817] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049322.337258148] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049322.337813974] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049322.338228279] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049322.338861361] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049322.339017968] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049322.339292992] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049322.344679767] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049322.345140994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049322.345921689] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049322.346798592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049322.347853732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049322.445640849] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049322.446359296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049322.447388867] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049322.449825673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049322.450384456] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049322.502639322] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697338 Long: -76.50298343 -[vectornav-1] [INFO] [1746049322.503790772] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.892, -3.252, 9.494) -[mux-7] [INFO] [1746049322.545234969] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049322.545895035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049322.546661519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049322.547855193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049322.548880974] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049322.585477583] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049322.588041573] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049322.588047255] [sailbot.teensy]: Wind angle: 342 -[mux-7] [INFO] [1746049322.588780878] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049322.589173073] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049322.590073714] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049322.590917049] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049322.645238235] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049322.645920380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049322.646689382] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049322.648130449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049322.648950435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049322.744851554] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049322.745258502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049322.746107980] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049322.747066446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049322.748236313] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049322.835591323] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049322.837412814] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049322.837990549] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049322.838344106] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049322.839261786] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049322.839464951] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049322.840171298] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049322.844549091] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049322.844962080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049322.845765707] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049322.846642495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049322.847694504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049322.945849583] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049322.945977240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049322.947417657] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049322.948593135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049322.949731818] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049323.002682773] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973398 Long: -76.50298349 -[vectornav-1] [INFO] [1746049323.003861014] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.889, -3.254, 9.495) -[mux-7] [INFO] [1746049323.045417044] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049323.046207948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049323.047309137] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049323.048410068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049323.049207757] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049323.085326935] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049323.087807538] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049323.088512444] [sailbot.teensy]: Wind angle: 344 -[mux-7] [INFO] [1746049323.089387071] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049323.089529699] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049323.090482883] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049323.091365228] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049323.145274103] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049323.146311848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049323.146818760] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049323.148519513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049323.149641629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049323.245151359] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049323.245833817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049323.246538462] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049323.248031808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049323.249146361] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049323.335410828] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049323.337358890] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049323.337788174] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049323.338315982] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049323.339227345] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049323.339560946] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049323.339761076] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049323.344337425] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049323.344860541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049323.345422799] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049323.346569956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049323.347666746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049323.445106147] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049323.446107942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049323.446502592] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049323.447825559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049323.448276040] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049323.502568891] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973396 Long: -76.50298354 -[vectornav-1] [INFO] [1746049323.503778331] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.866, -3.243, 9.528) -[mux-7] [INFO] [1746049323.545428825] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049323.546169095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049323.547126514] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049323.548293121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049323.549449851] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049323.585783828] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049323.588537426] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049323.589513722] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049323.588939430] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049323.589808650] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049323.590399148] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049323.591234731] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049323.645445709] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049323.646061681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049323.647005874] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049323.648419599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049323.649555290] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049323.745622054] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049323.746398572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049323.747400961] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049323.748665039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049323.749258828] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049323.835322540] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049323.837002255] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049323.837960891] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049323.838281596] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049323.839178666] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049323.839146051] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049323.840045530] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049323.844546909] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049323.845070051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049323.846029012] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049323.846837953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049323.847914077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049323.945679035] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049323.946911311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049323.947411047] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049323.949212623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049323.949705173] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049324.002787150] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973398 Long: -76.50298357 -[vectornav-1] [INFO] [1746049324.003957159] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.86, -3.21, 9.202) -[mux-7] [INFO] [1746049324.045280983] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049324.046044677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049324.046712459] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049324.048070649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049324.049131832] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049324.085449752] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049324.088060932] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049324.088510813] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049324.089025298] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049324.089495445] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049324.090398959] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049324.091423106] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049324.145134554] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049324.145777572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049324.146561183] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049324.147698367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049324.148929606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049324.245939854] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049324.246403400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049324.247494320] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049324.248772519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049324.249898022] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049324.335680475] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049324.338497073] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049324.339141121] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049324.339385036] [sailbot.teensy]: Wind angle: 346 -[teensy-2] [INFO] [1746049324.339809806] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049324.340553027] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049324.341401727] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049324.344450511] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049324.344900154] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049324.345599203] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049324.346584825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049324.347749137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049324.445243004] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049324.445813456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049324.446683376] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049324.447706984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049324.448849502] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049324.502513700] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973405 Long: -76.50298383 -[vectornav-1] [INFO] [1746049324.503435957] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (288.77099999999996, -3.111, 5.004) -[mux-7] [INFO] [1746049324.544788389] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049324.545450339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049324.546050329] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049324.547408035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049324.548289395] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049324.585684851] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049324.588621430] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049324.589173210] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049324.589539411] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049324.590454888] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049324.591294785] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049324.592131659] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049324.645507781] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049324.646123591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049324.647609222] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049324.648426907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049324.650563351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049324.745354595] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049324.745925826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049324.747037897] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049324.748135688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049324.749360563] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049324.835506079] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049324.837880862] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049324.838710819] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049324.838742573] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049324.840148771] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049324.841030326] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049324.841868030] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049324.844327442] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049324.844905439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049324.845510546] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049324.846511108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049324.847677678] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049324.945588202] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049324.947114174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049324.947688785] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049324.949342170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049324.949879421] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049325.002842660] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973425 Long: -76.50298386 -[vectornav-1] [INFO] [1746049325.004017373] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.324, -3.114, 3.712) -[mux-7] [INFO] [1746049325.045359037] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049325.046109024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049325.046844795] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049325.048245122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049325.048761260] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049325.085496219] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049325.087798830] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049325.088317724] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049325.089005833] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049325.089985899] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049325.090961363] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049325.091774164] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049325.145189628] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049325.146364557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049325.146933858] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049325.148505279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049325.149626366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049325.245344036] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049325.246028690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049325.246834645] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049325.248107395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049325.249306327] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049325.335425233] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049325.337796032] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049325.338576482] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049325.338773671] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049325.339771699] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049325.340682506] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049325.341519747] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049325.344436299] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049325.345044899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049325.345582696] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049325.346734590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049325.347919187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049325.445515259] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049325.446278795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049325.447104857] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049325.449469343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049325.450715573] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049325.502747157] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973421 Long: -76.50298387 -[vectornav-1] [INFO] [1746049325.503897612] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.317, -3.113, 4.49) -[mux-7] [INFO] [1746049325.545312046] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049325.546104981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049325.546824010] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049325.548226797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049325.549460566] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049325.585341905] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049325.587013778] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049325.587517831] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049325.587957483] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049325.588919606] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049325.589274951] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049325.589801855] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049325.644975995] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049325.645494259] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049325.646320709] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049325.647230983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049325.648408713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049325.745429625] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049325.745979335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049325.747222431] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049325.748084042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049325.749418907] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049325.835409429] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049325.837912566] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049325.839200681] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049325.839304799] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049325.840299536] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049325.841159431] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049325.842003432] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049325.844274902] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049325.845130505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049325.845748254] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049325.846947028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049325.847952867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049325.945420919] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049325.947209452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049325.947238971] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049325.949415582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049325.950633994] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049326.002836951] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973399 Long: -76.5029841 -[vectornav-1] [INFO] [1746049326.003976826] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.327, -3.126, 4.563) -[mux-7] [INFO] [1746049326.044943803] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049326.045639703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049326.046180534] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049326.047426479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049326.048440157] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049326.085273313] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049326.087354885] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049326.088255523] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049326.087617331] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049326.089107403] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049326.089176028] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049326.090030153] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049326.145195186] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049326.146148670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049326.146803169] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049326.148267304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049326.150099868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049326.245124430] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049326.245933514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049326.246537168] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049326.247934525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049326.248740837] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049326.335423064] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049326.337831681] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049326.338875858] [sailbot.teensy]: Wind angle: 346 -[mux-7] [INFO] [1746049326.339085477] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049326.340268802] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049326.341127466] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049326.342017752] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049326.344563039] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049326.344989347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049326.345668091] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049326.346779167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049326.347968285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049326.445254071] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049326.445981234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049326.446847836] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049326.448359906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049326.449547441] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049326.502717125] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973416 Long: -76.50298406 -[vectornav-1] [INFO] [1746049326.504394450] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.201, -3.15, 5.34) -[mux-7] [INFO] [1746049326.545506758] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049326.546583038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049326.547100877] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049326.548902168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049326.550126576] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049326.586065680] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049326.589131444] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049326.589705582] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049326.590495184] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746049326.591555167] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049326.592441589] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049326.593328068] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049326.645299817] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049326.646238016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049326.646711463] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049326.648580658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049326.649810256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049326.745519091] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049326.746319467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049326.747405537] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049326.748219621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049326.748758931] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049326.835578409] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049326.838331292] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049326.838886170] [sailbot.teensy]: Wind angle: 349 -[teensy-2] [INFO] [1746049326.839819957] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049326.839808227] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049326.840776589] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049326.841734885] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049326.844266084] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049326.844814555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049326.845541196] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049326.846620781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049326.847701555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049326.945463611] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049326.946270455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049326.947247000] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049326.948738480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049326.950131709] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049327.002583170] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973401 Long: -76.50298421 -[vectornav-1] [INFO] [1746049327.003642463] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.015, -3.153, 6.349) -[mux-7] [INFO] [1746049327.045212617] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049327.046071301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049327.046732257] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049327.048351134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049327.049530881] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049327.085270058] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049327.087936288] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049327.087958136] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049327.088905553] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049327.088955638] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049327.089904556] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049327.090790314] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049327.145479851] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049327.145914566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049327.147342578] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049327.148295636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049327.149446299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049327.245630078] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049327.246425986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049327.247307963] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049327.249024343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049327.250239313] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049327.335580799] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049327.338112792] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049327.338485672] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049327.339093802] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049327.339403982] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049327.340027040] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049327.340960061] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049327.344511244] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049327.344963226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049327.346351155] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049327.346700167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049327.347912980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049327.445631333] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049327.446404544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049327.447426340] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049327.448631508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049327.449254562] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049327.502278553] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973399 Long: -76.50298428 -[vectornav-1] [INFO] [1746049327.503250025] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.025, -3.152, 6.386) -[mux-7] [INFO] [1746049327.545009113] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049327.545721738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049327.546507645] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049327.547500090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049327.548777443] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049327.585422655] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049327.587802267] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049327.589033784] [sailbot.teensy]: Wind angle: 323 -[mux-7] [INFO] [1746049327.589047406] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049327.590021198] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049327.590923097] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049327.591742662] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049327.645561328] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049327.646126979] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049327.647278459] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049327.648500246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049327.649524095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049327.745804078] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049327.746597135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049327.747722355] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049327.749100334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049327.750656178] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049327.835367648] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049327.837660464] [sailbot.teensy]: Wind angle: 318 -[trim_sail-4] [INFO] [1746049327.837692750] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049327.838639871] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049327.839137150] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049327.839528397] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049327.840428950] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049327.844351761] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049327.844750429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049327.845512061] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049327.846382992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049327.847414871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049327.945199740] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049327.945917255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049327.946704355] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049327.947908994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049327.948466800] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049328.003414009] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973383 Long: -76.50298402 -[vectornav-1] [INFO] [1746049328.004712439] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.039, -3.15, 6.384) -[mux-7] [INFO] [1746049328.045562626] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049328.047174579] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049328.046524698] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049328.048773783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049328.049864500] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049328.085433285] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049328.087617588] [sailbot.teensy]: Wind angle: 316 -[trim_sail-4] [INFO] [1746049328.088513438] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049328.088581172] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049328.088796270] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049328.089495268] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049328.090384228] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049328.145315324] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049328.146245050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049328.146830150] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049328.148448082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049328.149530195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049328.245434854] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049328.246318796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049328.247049523] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049328.248562018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049328.249114161] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049328.335324648] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049328.337838422] [sailbot.teensy]: Wind angle: 315 -[trim_sail-4] [INFO] [1746049328.337917979] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746049328.338388648] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049328.338807750] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049328.339321180] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049328.339698533] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049328.344480112] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049328.344920758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049328.345572079] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049328.346636033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049328.347781097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049328.444934657] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049328.445849324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049328.446249260] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049328.447722899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049328.448791731] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049328.502765347] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697339 Long: -76.50298403 -[vectornav-1] [INFO] [1746049328.503911642] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.04499999999996, -3.149, 6.38) -[mux-7] [INFO] [1746049328.545227609] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049328.545967942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049328.546694775] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049328.548456134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049328.549612743] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049328.586006170] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049328.588656946] [sailbot.teensy]: Wind angle: 316 -[trim_sail-4] [INFO] [1746049328.589309716] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049328.589775506] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049328.590607394] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049328.590730975] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049328.591610424] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049328.645551798] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049328.646277600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049328.647099791] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049328.648551505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049328.649681180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049328.745662715] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049328.746405013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049328.747394396] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049328.749121448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049328.750499777] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049328.835758536] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049328.837994401] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049328.838951622] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049328.839437119] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049328.840881093] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049328.841682090] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049328.841988508] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049328.844425308] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049328.844976063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049328.845544705] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049328.846613255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049328.847633657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049328.945504402] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049328.946380474] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049328.947274180] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049328.948928390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049328.949992317] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049329.002504398] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973388 Long: -76.50298379 -[vectornav-1] [INFO] [1746049329.003574316] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.057, -3.15, 6.386) -[mux-7] [INFO] [1746049329.045224785] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049329.046016502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049329.046852487] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049329.048781793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049329.049905841] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049329.085553607] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049329.087635419] [sailbot.teensy]: Wind angle: 346 -[teensy-2] [INFO] [1746049329.088669842] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049329.088313509] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049329.089377492] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049329.089554574] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049329.090447507] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049329.145418656] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049329.146241136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049329.146960634] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049329.149000480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049329.150090372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049329.245461576] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049329.246633717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049329.247235911] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049329.248957757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049329.250865464] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049329.336048712] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049329.339049067] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049329.339355978] [sailbot.teensy]: Wind angle: 358 -[mux-7] [INFO] [1746049329.339580937] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049329.339782084] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049329.340188080] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049329.340561130] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049329.344699776] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049329.345335314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049329.346272196] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049329.347263954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049329.348549934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049329.445250796] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049329.446178126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049329.446676674] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049329.448418973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049329.449094352] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049329.503083526] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973381 Long: -76.50298385 -[vectornav-1] [INFO] [1746049329.504462128] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.054, -3.137, 6.356) -[mux-7] [INFO] [1746049329.545670538] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049329.546296827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049329.547445198] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049329.548793849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049329.549925577] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049329.585653218] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049329.587646589] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746049329.588219701] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049329.588676127] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049329.589592797] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049329.590773243] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049329.590801056] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049329.645724478] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049329.646212901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049329.647383486] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049329.648801355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049329.649946509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049329.745591587] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049329.746185890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049329.747375902] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049329.748518424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049329.748966260] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049329.835282184] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049329.837557535] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049329.837721173] [sailbot.teensy]: Wind angle: 14 -[teensy-2] [INFO] [1746049329.838661464] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049329.838878106] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049329.839121623] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049329.839525801] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049329.844702608] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049329.845117701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049329.846215089] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049329.847298262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049329.848432868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049329.945629144] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049329.946410468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049329.947531126] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049329.949080071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049329.950241467] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049330.003224386] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973376 Long: -76.50298376 -[vectornav-1] [INFO] [1746049330.004582177] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.051, -3.118, 6.334) -[mux-7] [INFO] [1746049330.045297819] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049330.046016516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049330.047316252] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049330.048425195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049330.049474241] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049330.085644266] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049330.088229231] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049330.088684719] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049330.088892041] [sailbot.teensy]: Wind angle: 19 -[teensy-2] [INFO] [1746049330.089965762] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049330.090850735] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049330.091728059] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049330.145432073] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049330.146465251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049330.147032504] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049330.148800235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049330.150014836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049330.245323792] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049330.245965117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049330.247207151] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049330.247960488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049330.248847026] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049330.335643187] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049330.338485143] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049330.338964271] [sailbot.teensy]: Wind angle: 21 -[mux-7] [INFO] [1746049330.339218012] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049330.340008579] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049330.340969501] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049330.341857726] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049330.344379005] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049330.344979561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049330.345506104] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049330.346716168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049330.347877881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049330.445583626] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049330.446271912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049330.447194390] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049330.448867982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049330.450072153] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049330.502443847] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973378 Long: -76.50298376 -[vectornav-1] [INFO] [1746049330.503424051] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.04200000000003, -3.082, 6.254) -[mux-7] [INFO] [1746049330.545079451] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049330.545855442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049330.546423969] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049330.547748019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049330.548577165] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049330.585561223] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049330.588315622] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049330.588787391] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049330.589212629] [sailbot.teensy]: Wind angle: 23 -[teensy-2] [INFO] [1746049330.590197059] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049330.591080687] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049330.591895137] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049330.645435890] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049330.646338997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049330.647041527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049330.649486438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049330.650595202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049330.745544321] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049330.746317182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049330.747252850] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049330.748899249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049330.749409725] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049330.835535767] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049330.837521485] [sailbot.teensy]: Wind angle: 26 -[teensy-2] [INFO] [1746049330.838546298] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049330.838593284] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049330.839481308] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049330.840073916] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049330.840419313] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049330.844268087] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049330.845114400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049330.845381989] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049330.846852382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049330.847924714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049330.945170007] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049330.946124546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049330.946641691] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049330.948054007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049330.948563674] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049331.002907160] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973359 Long: -76.50298374 -[vectornav-1] [INFO] [1746049331.004215229] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.028, -3.127, 6.323) -[mux-7] [INFO] [1746049331.045182407] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049331.046308021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049331.046709889] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049331.048514221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049331.049643715] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049331.085668106] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049331.088424320] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049331.088929905] [sailbot.teensy]: Wind angle: 35 -[mux-7] [INFO] [1746049331.089498665] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049331.089881219] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049331.090742190] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049331.091584288] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049331.145165504] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049331.145832829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049331.146705543] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049331.147977069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049331.149246105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049331.245593141] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049331.246219831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049331.247212207] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049331.248488406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049331.249679428] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049331.335781051] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049331.338028557] [sailbot.teensy]: Wind angle: 41 -[trim_sail-4] [INFO] [1746049331.338656761] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049331.339099423] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049331.340089938] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049331.341038301] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049331.341035067] [sailbot.mux]: algo sail angle: 70 -[mux-7] [INFO] [1746049331.344326559] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049331.344810812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049331.345525627] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049331.346434562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049331.347776192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049331.445617986] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049331.446292515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049331.447276015] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049331.448778390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049331.449314938] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049331.502211462] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973362 Long: -76.50298361 -[vectornav-1] [INFO] [1746049331.503310071] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.027, -3.141, 6.468) -[mux-7] [INFO] [1746049331.544836948] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049331.545450959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049331.546034206] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049331.547407816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049331.548558836] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049331.585489653] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049331.587803367] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746049331.588389979] [sailbot.teensy]: Wind angle: 89 -[mux-7] [INFO] [1746049331.589191909] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746049331.589713412] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049331.590725474] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049331.591573023] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049331.645558948] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049331.646313425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049331.647205650] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049331.649582564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049331.650718682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049331.745798379] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049331.746376594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049331.747652219] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049331.748756752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049331.750180970] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049331.835558048] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049331.838188000] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049331.838747493] [sailbot.teensy]: Wind angle: 99 -[mux-7] [INFO] [1746049331.839107965] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049331.839147707] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049331.839527382] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049331.839914933] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049331.844964898] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049331.845144902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049331.846200614] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049331.846822217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049331.847955812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049331.945686115] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049331.946335436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049331.947290060] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049331.948683337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049331.949997076] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049332.003209834] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973355 Long: -76.50298355 -[vectornav-1] [INFO] [1746049332.004801562] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.03700000000003, -3.143, 6.573) -[mux-7] [INFO] [1746049332.045760822] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049332.046298865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049332.047437491] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049332.048769120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049332.049853836] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049332.085419301] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049332.087339209] [sailbot.teensy]: Wind angle: 26 -[trim_sail-4] [INFO] [1746049332.087973822] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049332.088400231] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049332.088671352] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049332.089333051] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049332.090210747] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049332.145323348] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049332.145893391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049332.146940751] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049332.147981553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049332.148791199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049332.245707828] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049332.247430269] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049332.248279794] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049332.249237853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049332.249783690] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049332.335770220] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049332.338531515] [sailbot.teensy]: Wind angle: 323 -[trim_sail-4] [INFO] [1746049332.338563947] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049332.339535997] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049332.339880376] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049332.340417628] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049332.341005111] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049332.344611144] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049332.345334065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049332.345778357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049332.347046253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049332.348061665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049332.445535896] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049332.446350027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049332.447130769] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049332.448753906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049332.449264113] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049332.502825360] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973359 Long: -76.50298351 -[vectornav-1] [INFO] [1746049332.503959872] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.03499999999997, -3.147, 6.577) -[mux-7] [INFO] [1746049332.545446150] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049332.546219580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049332.547044503] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049332.548512470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049332.549737725] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049332.585969894] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049332.588855202] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746049332.590054660] [sailbot.teensy]: Wind angle: 273 -[mux-7] [INFO] [1746049332.590586635] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746049332.591099595] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049332.592034420] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049332.592939741] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049332.645623179] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049332.646212379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049332.647460649] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049332.648467641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049332.649623600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049332.745569261] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049332.746060039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049332.747304549] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049332.748439390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049332.748946975] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049332.835699943] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049332.838610730] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746049332.839062338] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746049332.839494199] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049332.839754034] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746049332.839869410] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049332.840245942] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049332.844482950] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049332.845317620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049332.845605836] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049332.847241897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049332.848303555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049332.945356652] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049332.946183366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049332.946840847] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049332.948561592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049332.949744981] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049333.002437908] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973364 Long: -76.50298323 -[vectornav-1] [INFO] [1746049333.003611906] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.03999999999996, -3.146, 6.566) -[mux-7] [INFO] [1746049333.045484543] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049333.046526971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049333.047167652] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049333.049283645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049333.051422025] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049333.086085927] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049333.089022637] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746049333.089674625] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049333.090985408] [sailbot.teensy]: Wind angle: 222 -[teensy-2] [INFO] [1746049333.092006047] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049333.092917683] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049333.093743263] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049333.144739669] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049333.145659382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049333.146138699] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049333.147712118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049333.148798870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049333.245475511] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049333.246535377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049333.247204595] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049333.248884058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049333.250020048] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049333.335419929] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049333.337708751] [sailbot.teensy]: Wind angle: 215 -[trim_sail-4] [INFO] [1746049333.337969701] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049333.338686588] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049333.339050283] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049333.339621152] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049333.340513875] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049333.344382276] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049333.345056624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049333.345536335] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049333.346882765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049333.347932731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049333.445096523] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049333.445820269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049333.446711092] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049333.448834276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049333.449930048] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049333.503533742] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973358 Long: -76.50298324 -[vectornav-1] [INFO] [1746049333.505153493] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.044, -3.145, 6.567) -[mux-7] [INFO] [1746049333.544944459] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049333.545700862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049333.546197653] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049333.547489557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049333.548662498] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049333.585454380] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049333.587752684] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049333.588264743] [sailbot.teensy]: Wind angle: 234 -[mux-7] [INFO] [1746049333.588378628] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049333.589663995] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049333.590560511] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049333.591453979] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049333.645369491] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049333.645913451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049333.646926161] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049333.648067089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049333.648876752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049333.745627200] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049333.746247192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049333.747466807] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049333.748751213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049333.750000442] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049333.835576806] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049333.837978295] [sailbot.teensy]: Wind angle: 325 -[trim_sail-4] [INFO] [1746049333.838244471] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049333.839331927] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049333.839546683] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049333.840318737] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049333.841193598] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049333.844232379] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049333.844852118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049333.845488917] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049333.846667496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049333.847861948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049333.945059054] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049333.946061416] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049333.946427742] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049333.948227978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049333.949372974] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049334.002950383] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973345 Long: -76.50298339 -[vectornav-1] [INFO] [1746049334.004009494] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.062, -3.145, 6.562) -[mux-7] [INFO] [1746049334.045057941] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049334.045780906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049334.046692377] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049334.047865483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049334.049545663] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049334.085441997] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049334.087602121] [sailbot.teensy]: Wind angle: 2 -[trim_sail-4] [INFO] [1746049334.087808634] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049334.088590480] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049334.089482305] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049334.089665534] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049334.090370196] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049334.145076353] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049334.145712462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049334.146556733] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049334.147662120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049334.148331029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049334.245270376] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049334.246325826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049334.246830070] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049334.248742349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049334.249254345] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049334.335528574] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049334.337527198] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049334.338491575] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049334.339044319] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049334.339117398] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049334.339554569] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049334.339967613] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049334.344343088] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049334.344874981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049334.345423854] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049334.346433236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049334.347573925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049334.445542777] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049334.446456996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049334.447250401] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049334.448394242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049334.448936586] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049334.502945270] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973346 Long: -76.50298338 -[vectornav-1] [INFO] [1746049334.504086860] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.05899999999997, -3.151, 6.567) -[mux-7] [INFO] [1746049334.545214042] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049334.546017669] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049334.546639395] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049334.548343483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049334.549376352] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049334.585424218] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049334.587396710] [sailbot.teensy]: Wind angle: 319 -[trim_sail-4] [INFO] [1746049334.588090922] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049334.588416511] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049334.589242039] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049334.589345438] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049334.590216479] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049334.645102502] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049334.646606498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049334.646657514] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049334.648616544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049334.649824006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049334.745273402] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049334.745973239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049334.746964654] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049334.747962483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049334.748518661] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049334.835524529] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049334.838128546] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049334.838773166] [sailbot.teensy]: Wind angle: 344 -[mux-7] [INFO] [1746049334.838904009] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049334.839225166] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049334.839586584] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049334.839919998] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049334.844497702] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049334.845055957] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049334.845668275] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049334.846774574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049334.847784430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049334.945357563] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049334.945982599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049334.946876769] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049334.948495710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049334.949697455] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049335.002987441] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697336 Long: -76.50298325 -[vectornav-1] [INFO] [1746049335.004192386] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.065, -3.148, 6.563) -[mux-7] [INFO] [1746049335.045006381] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049335.045526414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049335.046560396] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049335.047335972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049335.048528999] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049335.085400398] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049335.088043575] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049335.088066470] [sailbot.teensy]: Wind angle: 351 -[mux-7] [INFO] [1746049335.088882744] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049335.089213990] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049335.090141867] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049335.091000305] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049335.145060518] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049335.145964920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049335.146581777] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049335.147907676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049335.149103778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049335.245559772] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049335.246456821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049335.247198137] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049335.248767149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049335.249900795] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049335.335714323] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049335.338698822] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049335.339592828] [sailbot.teensy]: Wind angle: 342 -[mux-7] [INFO] [1746049335.339844003] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049335.340599305] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049335.341552357] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049335.342600932] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049335.344408769] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049335.344878611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049335.345726400] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049335.346510064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049335.347551347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049335.445391532] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049335.446000971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049335.446990184] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049335.448130966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049335.449223696] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049335.502459834] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973352 Long: -76.50298325 -[vectornav-1] [INFO] [1746049335.503628886] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.07, -3.15, 6.556) -[mux-7] [INFO] [1746049335.545196854] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049335.546029252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049335.546539722] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049335.547928668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049335.548432866] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049335.585669732] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049335.588191155] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049335.588490525] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049335.589286401] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049335.590150787] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049335.590603043] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049335.591039980] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049335.645405052] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049335.646169107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049335.646902718] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049335.648275955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049335.649425977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049335.745327672] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049335.746102641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049335.747035509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049335.747862680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049335.748349468] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049335.835350569] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049335.837209207] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049335.838172131] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049335.838434875] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049335.838931333] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049335.839059458] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049335.839975680] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049335.844397483] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049335.845078258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049335.845498397] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049335.847251086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049335.848305748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049335.945019476] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049335.945654235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049335.946436812] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049335.947597489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049335.948674290] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049336.002561617] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973351 Long: -76.5029832 -[vectornav-1] [INFO] [1746049336.003752066] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.078, -3.15, 6.559) -[mux-7] [INFO] [1746049336.044970022] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049336.045702652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049336.046224182] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049336.047838266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049336.048917520] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049336.085450768] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049336.088069454] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049336.088749807] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049336.089061581] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049336.090023700] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049336.090895649] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049336.091726127] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049336.144971842] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049336.145637260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049336.146279534] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049336.147599263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049336.148680030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049336.245052769] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049336.245937938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049336.246541244] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049336.248314426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049336.248782247] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049336.335241262] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049336.337530815] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049336.337646047] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049336.338014629] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049336.338584135] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049336.339496206] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049336.340388766] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049336.344411978] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049336.344951887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049336.345569769] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049336.346915704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049336.347980283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049336.445117854] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049336.445969009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049336.446573960] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049336.447952036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049336.448987845] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049336.502634514] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973361 Long: -76.50298317 -[vectornav-1] [INFO] [1746049336.503870413] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.08299999999997, -3.148, 6.556) -[mux-7] [INFO] [1746049336.545083816] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049336.545858080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049336.546455386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049336.547840169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049336.548894020] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049336.585585510] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049336.588391142] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049336.588511040] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049336.588908635] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049336.589434019] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049336.590381583] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049336.591276386] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049336.645457237] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049336.646426269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049336.647159307] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049336.648140909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049336.648672837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049336.745138390] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049336.746081598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049336.747069774] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049336.748439703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049336.749457162] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049336.835367455] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049336.837955386] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049336.838042569] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049336.838940761] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049336.839186055] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049336.839854934] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049336.840771394] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049336.844352017] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049336.845087732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049336.845433185] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049336.846765263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049336.847853918] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049336.945716356] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049336.946358169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049336.947736497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049336.950199969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049336.951310711] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049337.002625681] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973359 Long: -76.50298315 -[vectornav-1] [INFO] [1746049337.003786675] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.091, -3.146, 6.557) -[mux-7] [INFO] [1746049337.045069739] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049337.045723649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049337.046448083] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049337.047546284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049337.048641609] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049337.085462394] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049337.087886816] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049337.088004955] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049337.089012601] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049337.089237480] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049337.090206360] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049337.091073770] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049337.145039423] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049337.145823748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049337.146353465] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049337.148041688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049337.149204477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049337.245535266] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049337.246111000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049337.247482837] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049337.248684541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049337.249648218] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049337.335413695] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049337.337778513] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049337.338036934] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049337.338875417] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049337.338651675] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049337.339264447] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049337.339637526] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049337.344519039] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049337.345088605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049337.345681540] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049337.346957319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049337.348191435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049337.445425201] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049337.446041339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049337.446947529] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049337.448413933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049337.449106024] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049337.503077670] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973345 Long: -76.50298324 -[vectornav-1] [INFO] [1746049337.504406859] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.094, -3.148, 6.56) -[mux-7] [INFO] [1746049337.545715738] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049337.546550603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049337.547477969] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049337.549075238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049337.550167544] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049337.585713023] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049337.587980650] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049337.588780119] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049337.589087641] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049337.590002146] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049337.589821687] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049337.590888437] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049337.645653711] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049337.646396721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049337.647621628] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049337.649002434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049337.650688636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049337.745227345] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049337.746236756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049337.746837932] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049337.748138643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049337.748888143] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049337.835388987] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049337.838044028] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049337.838289234] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049337.839675081] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049337.840123418] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049337.840837051] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049337.841204460] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049337.844550857] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049337.845662480] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049337.845663366] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049337.847583274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049337.848632797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049337.945551736] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049337.946359749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049337.947225626] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049337.948651408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049337.949881758] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049338.002813030] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973358 Long: -76.50298313 -[vectornav-1] [INFO] [1746049338.003984530] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.099, -3.146, 6.558) -[mux-7] [INFO] [1746049338.045788156] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049338.046281015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049338.047506566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049338.049143549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049338.050265537] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049338.085308837] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049338.086969028] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049338.087535482] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049338.087911216] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049338.088803462] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049338.088842328] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049338.089719483] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049338.145224348] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049338.145788793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049338.146614398] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049338.147661862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049338.148745147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049338.245392301] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049338.245974763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049338.247168981] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049338.248732417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049338.249874889] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049338.335490493] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049338.337903355] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049338.339139831] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049338.339460400] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049338.339494298] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049338.339900722] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049338.340319385] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049338.344599285] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049338.345026558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049338.345786274] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049338.346857892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049338.347877477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049338.445638434] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049338.446435007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049338.447298203] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049338.449006792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049338.450174831] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049338.502706248] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973362 Long: -76.50298312 -[vectornav-1] [INFO] [1746049338.503858122] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.099, -3.148, 6.561) -[mux-7] [INFO] [1746049338.545257174] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049338.545891081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049338.546707772] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049338.548023228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049338.549188280] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049338.585369421] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049338.587290191] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049338.587760904] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049338.588240453] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049338.589138892] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049338.589331518] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049338.590196961] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049338.645382940] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049338.645968650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049338.647010280] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049338.648065779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049338.649219166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049338.745255272] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049338.745926198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049338.747011909] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049338.747811727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049338.748932411] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049338.835697307] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049338.838582080] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049338.838727458] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049338.839635761] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049338.839727698] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049338.840043362] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049338.840461287] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049338.844442614] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049338.844980705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049338.845650814] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049338.847316241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049338.848497334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049338.945418231] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049338.946271051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049338.947128495] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049338.948553203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049338.949123853] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049339.002657763] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973365 Long: -76.50298299 -[vectornav-1] [INFO] [1746049339.003827119] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.10400000000004, -3.15, 6.562) -[mux-7] [INFO] [1746049339.045093488] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049339.045688212] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049339.046509641] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049339.047610898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049339.048803299] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049339.085326957] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049339.087473645] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049339.087492795] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049339.088696368] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049339.088729922] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049339.089911855] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049339.090904047] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049339.145203478] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049339.145818980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049339.146598810] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049339.148639248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049339.149784663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049339.245666807] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049339.246369287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049339.247443362] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049339.249038978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049339.249642916] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049339.335260829] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049339.337550962] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049339.338011189] [sailbot.teensy]: Wind angle: 343 -[mux-7] [INFO] [1746049339.338358911] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049339.340165964] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049339.341053270] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049339.342035761] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049339.344295933] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049339.344904876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049339.345388910] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049339.346588016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049339.347729815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049339.445218215] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049339.446276598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049339.446719409] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049339.448593066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049339.449657052] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049339.502311643] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973369 Long: -76.50298305 -[vectornav-1] [INFO] [1746049339.503339799] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.108, -3.147, 6.563) -[mux-7] [INFO] [1746049339.544723928] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049339.545413674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049339.545854731] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049339.547126429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049339.548281546] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049339.585523761] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049339.588089575] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049339.588367081] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049339.589307424] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049339.589343127] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049339.590184850] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049339.591058930] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049339.645398532] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049339.647363974] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049339.647715995] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049339.649192791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049339.649720476] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049339.745380109] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049339.746217290] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049339.747204818] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049339.748522436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049339.749738757] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049339.835609849] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049339.838325624] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049339.839077935] [sailbot.teensy]: Wind angle: 341 -[mux-7] [INFO] [1746049339.839441408] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049339.840082762] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049339.841319970] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049339.842185078] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049339.844323914] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049339.844953951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049339.845402112] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049339.846626779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049339.847737870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049339.945493963] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049339.946133749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049339.947746983] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049339.948380075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049339.949549465] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049340.003243117] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973385 Long: -76.50298299 -[vectornav-1] [INFO] [1746049340.004506172] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.11199999999997, -3.144, 6.562) -[mux-7] [INFO] [1746049340.045458852] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049340.045947222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049340.047208841] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049340.048055894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049340.049252018] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049340.085386599] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049340.087333231] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049340.088280150] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049340.088142160] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049340.088749811] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049340.089167967] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049340.090036118] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049340.145281040] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049340.146191872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049340.146770615] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049340.148718045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049340.149802329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049340.244950616] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049340.245666128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049340.246209465] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049340.247593417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049340.248820156] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049340.335348909] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049340.337217274] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049340.337778511] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049340.338179218] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049340.338876973] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049340.338902643] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049340.339436273] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049340.344396802] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049340.344890730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049340.345518874] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049340.346567005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049340.347732071] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049340.445113734] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049340.445837847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049340.446806577] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049340.447797525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049340.448570724] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049340.502299833] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973386 Long: -76.50298312 -[vectornav-1] [INFO] [1746049340.503206853] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.11699999999996, -3.142, 6.561) -[mux-7] [INFO] [1746049340.544713692] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049340.545260338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049340.546224988] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049340.546954625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049340.548057423] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049340.585459840] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049340.587791903] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049340.588029454] [sailbot.teensy]: Wind angle: 341 -[mux-7] [INFO] [1746049340.588815539] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049340.588842276] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049340.589228156] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049340.589609043] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049340.645067770] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049340.645762193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049340.646449053] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049340.649472464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049340.650661623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049340.745028612] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049340.746112162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049340.746844236] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049340.748148002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049340.749214215] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049340.835377378] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049340.837913489] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049340.838441085] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049340.838705909] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049340.839601193] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049340.840486818] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049340.840857567] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049340.844328378] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049340.844951587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049340.845408930] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049340.846836240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049340.847869959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049340.944926388] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049340.945625576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049340.946181677] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049340.947644876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049340.948705540] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049341.002540220] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697338 Long: -76.50298312 -[vectornav-1] [INFO] [1746049341.003601405] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.124, -3.141, 6.567) -[mux-7] [INFO] [1746049341.045396093] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049341.046238059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049341.046879839] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049341.047839605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049341.048366370] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049341.085203531] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049341.086936188] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049341.087259378] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049341.088772468] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049341.088888565] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049341.089810626] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049341.090695534] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049341.145290867] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049341.146395463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049341.146735972] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049341.148222726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049341.148675612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049341.246129003] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049341.247213365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049341.247598060] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049341.248950488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049341.249389592] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049341.335462573] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049341.337446355] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049341.338127720] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049341.339195251] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049341.339208940] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049341.340142944] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049341.341074084] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049341.344402801] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049341.344835093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049341.345554259] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049341.346618120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049341.347778637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049341.445542344] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049341.446502019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049341.447177513] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049341.448914276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049341.449496991] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049341.502533931] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973368 Long: -76.50298327 -[vectornav-1] [INFO] [1746049341.503996750] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.125, -3.139, 6.565) -[mux-7] [INFO] [1746049341.544961157] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049341.545638879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049341.546093271] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049341.547396293] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049341.548587414] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049341.585622640] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049341.587793584] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049341.588791683] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049341.588520324] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049341.588838290] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049341.589712992] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049341.590561663] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049341.644760975] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049341.645490258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049341.646061296] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049341.647182814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049341.648233995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049341.745335487] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049341.746280791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049341.746819192] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049341.748501364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049341.749078392] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049341.835434100] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049341.837683201] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049341.837818298] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049341.838646301] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049341.839094971] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049341.839579455] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049341.840446677] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049341.844522009] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049341.845163847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049341.845604887] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049341.847026482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049341.848201249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049341.945526742] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049341.946672830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049341.947075498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049341.949012906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049341.950070877] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049342.003202450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697336 Long: -76.50298298 -[vectornav-1] [INFO] [1746049342.004696054] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.129, -3.139, 6.567) -[mux-7] [INFO] [1746049342.044934479] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049342.045743628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049342.046272595] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049342.047671713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049342.048875161] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049342.085416276] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049342.087701902] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049342.087816370] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049342.088351300] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049342.088730326] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049342.089602520] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049342.090474235] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049342.145238294] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049342.145908919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049342.146673588] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049342.148094476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049342.149244107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049342.245474552] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049342.246239354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049342.247072362] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049342.248337421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049342.249444155] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049342.335281066] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049342.337220624] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049342.337824840] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049342.338297848] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049342.338737753] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049342.339573280] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049342.340604147] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049342.344602259] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049342.345071585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049342.345861930] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049342.346841892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049342.347958908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049342.445112234] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049342.445982361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049342.446711855] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049342.447955865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049342.449042331] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049342.503614253] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973348 Long: -76.50298279 -[vectornav-1] [INFO] [1746049342.504856845] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.137, -3.141, 6.564) -[mux-7] [INFO] [1746049342.545069365] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049342.546025470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049342.546540211] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049342.548059631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049342.549222113] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049342.585603135] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049342.588188400] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049342.588329348] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049342.589318697] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049342.589852640] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049342.590276529] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049342.591204304] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049342.645216205] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049342.646016856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049342.646928321] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049342.648235818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049342.649361250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049342.745401011] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049342.746358172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049342.746886535] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049342.748843914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049342.749831947] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049342.835751475] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049342.838569027] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049342.838969043] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049342.839307813] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049342.839391280] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049342.839766587] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049342.840285019] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049342.844634336] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049342.845157782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049342.845928817] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049342.846834297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049342.848566526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049342.945269625] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049342.946173731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049342.946759172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049342.948298262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049342.949424148] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049343.002453908] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973348 Long: -76.50298251 -[vectornav-1] [INFO] [1746049343.003525531] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.145, -3.14, 6.56) -[mux-7] [INFO] [1746049343.045112028] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049343.045842838] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049343.046914305] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049343.047776159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049343.048259691] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049343.085485491] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049343.087839173] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049343.088072016] [sailbot.teensy]: Wind angle: 348 -[mux-7] [INFO] [1746049343.088595275] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049343.089035935] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049343.089944808] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049343.090793716] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049343.145021749] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049343.145529750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049343.146344619] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049343.147355416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049343.148546145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049343.244942187] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049343.245829946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049343.246219546] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049343.247676753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049343.248591823] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049343.335400153] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049343.337316205] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049343.338139100] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049343.338264617] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049343.338835874] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049343.338815424] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049343.339232852] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049343.344449524] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049343.344969646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049343.345611604] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049343.346641323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049343.347802368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049343.444926439] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049343.445602263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049343.446179534] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049343.447579678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049343.448638397] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049343.503512063] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973347 Long: -76.50298247 -[vectornav-1] [INFO] [1746049343.505280333] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.148, -3.139, 6.569) -[mux-7] [INFO] [1746049343.544862029] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049343.545412858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049343.546010968] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049343.547147143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049343.548345374] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049343.585345048] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049343.587555808] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049343.588885515] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049343.588979526] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746049343.590036931] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049343.590896750] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049343.591729023] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049343.645417738] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049343.646134003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049343.647020724] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049343.648462902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049343.649704198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049343.745446837] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049343.746600260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049343.747364125] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049343.749270125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049343.750428473] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049343.835412166] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049343.837263223] [sailbot.teensy]: Wind angle: 331 -[teensy-2] [INFO] [1746049343.838226616] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049343.837949348] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049343.839117930] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049343.839583026] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049343.840499213] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049343.844346064] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049343.844964715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049343.845442615] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049343.846698553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049343.847742875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049343.945331912] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049343.946123543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049343.946899690] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049343.948148952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049343.948688189] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049344.002483330] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973326 Long: -76.50298226 -[vectornav-1] [INFO] [1746049344.003471747] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.151, -3.141, 6.573) -[mux-7] [INFO] [1746049344.045426969] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049344.046121703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049344.047009824] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049344.048485336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049344.049084698] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049344.085621650] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049344.087660402] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746049344.088776949] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049344.089027211] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049344.089701296] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049344.090599521] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049344.091247792] [sailbot.mux]: algo sail angle: 80 -[mux-7] [INFO] [1746049344.144947959] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049344.145765201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049344.146220710] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049344.147574131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049344.148610021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049344.245596884] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049344.246662138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049344.247246026] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049344.248108439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049344.248723091] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049344.336011369] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049344.339086398] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049344.339693902] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049344.340310067] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049344.341314740] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049344.342247991] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049344.343148897] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049344.344664784] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049344.345140771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049344.345778949] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049344.346820532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049344.348746041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049344.445336503] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049344.446229899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049344.446847859] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049344.448597813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049344.449624778] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049344.502449255] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973317 Long: -76.50298208 -[vectornav-1] [INFO] [1746049344.503443003] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.154, -3.146, 6.573) -[mux-7] [INFO] [1746049344.545278970] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049344.546430095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049344.546769467] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049344.548410862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049344.549551871] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049344.585343730] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049344.587120290] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049344.587562479] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049344.588105185] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049344.589272767] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049344.589510155] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049344.590172573] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049344.645650858] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049344.646704713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049344.647382745] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049344.648236010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049344.649152761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049344.745048998] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049344.745512238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049344.746383452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049344.747342094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049344.748566049] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049344.835565408] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049344.838180372] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049344.838769528] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049344.839515394] [sailbot.teensy]: Wind angle: 338 -[teensy-2] [INFO] [1746049344.839944502] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049344.840345329] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049344.840683533] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049344.844482273] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049344.844972970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049344.845748846] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049344.846677951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049344.847729771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049344.945464713] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049344.946320320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049344.947655170] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049344.948560725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049344.949650630] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049345.002704785] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973295 Long: -76.50298201 -[vectornav-1] [INFO] [1746049345.004447436] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.15700000000004, -3.146, 6.575) -[mux-7] [INFO] [1746049345.045193552] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049345.046234670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049345.046661434] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049345.048882679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049345.050079408] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049345.085964547] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049345.088782044] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049345.089295506] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049345.090276370] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049345.090468758] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049345.091188384] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049345.092060760] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049345.145080042] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049345.145657538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049345.146328851] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049345.147453550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049345.148634203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049345.245407753] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049345.246682544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049345.247125437] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049345.248927837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049345.249412290] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049345.335757727] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049345.337989754] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049345.338657571] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049345.339064950] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049345.340118828] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049345.340701796] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049345.341077496] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049345.344396378] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049345.344905412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049345.345634418] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049345.346622744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049345.347711293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049345.445010346] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049345.445636446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049345.446719717] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049345.447586640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049345.448687430] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049345.502363395] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973288 Long: -76.50298183 -[vectornav-1] [INFO] [1746049345.503362004] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.163, -3.148, 6.577) -[mux-7] [INFO] [1746049345.545429419] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049345.545898732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049345.546961016] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049345.548179210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049345.549431248] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049345.585821825] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049345.587939666] [sailbot.teensy]: Wind angle: 357 -[teensy-2] [INFO] [1746049345.588997487] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049345.588568115] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049345.589962243] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049345.590888995] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049345.591096044] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049345.645356294] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049345.646140237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049345.646971443] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049345.649655779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049345.650796280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049345.745346053] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049345.746330169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049345.746824878] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049345.749257930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049345.750418874] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049345.835556166] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049345.837607989] [sailbot.teensy]: Wind angle: 357 -[teensy-2] [INFO] [1746049345.838590417] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049345.838080626] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049345.839472267] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049345.839925628] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049345.839601979] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049345.844467901] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049345.845222925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049345.845575125] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049345.846967381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049345.848067115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049345.945066289] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049345.945789485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049345.946473344] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049345.947654672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049345.948218148] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049346.002461212] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973253 Long: -76.50298154 -[vectornav-1] [INFO] [1746049346.003525087] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.164, -3.145, 6.573) -[mux-7] [INFO] [1746049346.045224680] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049346.045920917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049346.048668085] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049346.048934587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049346.049973937] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049346.085539808] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049346.087372163] [sailbot.teensy]: Wind angle: 357 -[teensy-2] [INFO] [1746049346.088344578] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049346.088624951] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049346.089267768] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049346.089918504] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049346.090163235] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049346.143950623] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049346.144480334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049346.144871695] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049346.145727131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049346.146368224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049346.244929748] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049346.245906729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049346.246201871] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049346.247815003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049346.248858431] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049346.335374907] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049346.338016676] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049346.338031047] [sailbot.teensy]: Wind angle: 353 -[teensy-2] [INFO] [1746049346.338920109] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049346.339029899] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049346.339833715] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049346.340701326] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049346.344326427] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049346.344946772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049346.345408699] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049346.346654952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049346.347715781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049346.445413996] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049346.446369049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049346.447077020] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049346.449176633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049346.450371867] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049346.502530672] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697324 Long: -76.50298135 -[vectornav-1] [INFO] [1746049346.503604502] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.16999999999996, -3.146, 6.58) -[mux-7] [INFO] [1746049346.544939531] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049346.545774511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049346.546257978] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049346.547558821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049346.548617689] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049346.585800261] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049346.588041717] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049346.589135677] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049346.589178519] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049346.590092513] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049346.590860744] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049346.591035864] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049346.645263826] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049346.646070143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049346.646701568] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049346.648436305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049346.649627321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049346.743694726] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049346.744226573] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049346.745184519] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049346.745916558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049346.746575822] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049346.835467605] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049346.837363120] [sailbot.teensy]: Wind angle: 338 -[teensy-2] [INFO] [1746049346.838286531] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049346.838219038] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049346.839143985] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049346.839175499] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049346.839521306] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049346.844485824] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049346.844951941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049346.845628613] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049346.846590198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049346.847679857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049346.945340581] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049346.946222856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049346.947028054] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049346.948345469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049346.949416228] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049347.002409820] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973242 Long: -76.50298154 -[vectornav-1] [INFO] [1746049347.003463822] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.173, -3.151, 6.579) -[mux-7] [INFO] [1746049347.045537436] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049347.045970003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049347.047482234] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049347.048085499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049347.049324284] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049347.085889196] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049347.088253153] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049347.088691377] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049347.089343405] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049347.090287075] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049347.090812821] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049347.091175244] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049347.145542644] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049347.147624207] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049347.147637439] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049347.148523109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049347.149373587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049347.245497327] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049347.246440027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049347.247093631] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049347.248973629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049347.250073202] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049347.335618627] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049347.338586157] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049347.338635518] [sailbot.teensy]: Wind angle: 354 -[teensy-2] [INFO] [1746049347.339662889] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049347.339783335] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049347.340662080] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049347.341571135] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049347.344324547] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049347.344836418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049347.345440589] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049347.346489218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049347.347525342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049347.445399374] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049347.446842361] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049347.446357905] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049347.448530873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[rosbridge_websocket-8] [INFO] [1746049347.449755388] [rosbridge_websocket]: Calling services in existing thread -[teensy-2] [INFO] [1746049347.449854400] [sailbot.teensy]: Message sent to servo -[rosbridge_websocket-8] [INFO] [1746049347.450976960] [rosbridge_websocket]: Sending action goals in existing thread -[rosbridge_websocket-8] [INFO] [1746049347.452706227] [rosbridge_websocket]: Client connected. 2 clients total. -[vectornav-1] [INFO] [1746049347.503044477] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973231 Long: -76.50298143 -[vectornav-1] [INFO] [1746049347.504559772] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.174, -3.155, 6.578) -[mux-7] [INFO] [1746049347.545235635] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049347.546201814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049347.546837777] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049347.548737536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049347.549773751] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049347.585662805] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049347.587714633] [sailbot.teensy]: Wind angle: 333 -[trim_sail-4] [INFO] [1746049347.588325572] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049347.588797929] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049347.588987650] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049347.589741363] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049347.590684498] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049347.645354839] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049347.645931307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049347.646909276] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049347.648401499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049347.649568267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049347.745611946] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049347.746428771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049347.747338550] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049347.748932208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049347.749430279] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049347.835628620] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049347.838167512] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049347.838982034] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049347.838966904] [sailbot.teensy]: Wind angle: 334 -[teensy-2] [INFO] [1746049347.840101763] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049347.840801722] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049347.841212458] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049347.844390669] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049347.845122503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049347.845657026] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049347.847028926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049347.848079862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049347.945485799] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049347.946616341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049347.947118164] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049347.948013139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049347.948428239] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049348.002452253] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973216 Long: -76.50298121 -[vectornav-1] [INFO] [1746049348.003544333] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.176, -3.155, 6.578) -[mux-7] [INFO] [1746049348.045277754] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049348.046032234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049348.046715854] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049348.048396789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049348.049581023] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049348.085649177] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049348.088200319] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049348.089533710] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049348.089981923] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746049348.090980006] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049348.091934984] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049348.092839037] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049348.144541301] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049348.145725762] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049348.145748201] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049348.147548327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049348.148661534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049348.245418010] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049348.246224107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049348.247006889] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049348.248369105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049348.249499355] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049348.335252305] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049348.337452567] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049348.338022259] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049348.338125370] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049348.339141221] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049348.340048484] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049348.340502365] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049348.344818280] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049348.345205079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049348.346030085] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049348.347332324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049348.348464729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049348.445399708] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049348.446009690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049348.446998118] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049348.448396959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049348.449760555] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049348.502763422] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973209 Long: -76.50298095 -[vectornav-1] [INFO] [1746049348.504463742] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.177, -3.156, 6.577) -[mux-7] [INFO] [1746049348.545380434] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049348.546159564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049348.546966385] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049348.548308697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049348.549489201] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049348.585634646] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049348.587690656] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049348.588216985] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049348.588761133] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049348.589687927] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049348.590116529] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049348.590536699] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049348.645360388] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049348.646064826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049348.647046455] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049348.649166730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049348.650164336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049348.745185466] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049348.745856213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049348.746805262] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049348.748002232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049348.749087806] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049348.835537210] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049348.837561050] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049348.838148227] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049348.838561234] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049348.839453435] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049348.839650242] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049348.840385590] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049348.844470074] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049348.844894557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049348.845721325] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049348.846565020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049348.847695438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049348.945408758] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049348.945987369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049348.947102522] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049348.948375738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049348.949742642] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049349.002558138] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973187 Long: -76.50298073 -[vectornav-1] [INFO] [1746049349.003702927] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.182, -3.158, 6.576) -[mux-7] [INFO] [1746049349.045580048] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049349.045978889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049349.047175084] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049349.048576470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049349.049620952] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049349.085455782] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049349.087990836] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049349.088511656] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049349.088906242] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049349.089862202] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049349.090738664] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049349.091550683] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049349.145437980] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049349.146041175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049349.147083357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049349.148086587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049349.149378347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049349.245240556] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049349.245889220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049349.247145933] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049349.247864554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049349.249164639] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049349.335529510] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049349.338564063] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049349.338595045] [sailbot.teensy]: Wind angle: 349 -[mux-7] [INFO] [1746049349.339358878] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049349.339624036] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049349.340607626] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049349.341479841] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049349.344516738] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049349.344917219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049349.345807088] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049349.346685370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049349.347912215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049349.445081166] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049349.446211950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049349.446418721] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049349.448273667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049349.448797835] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049349.503242485] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973174 Long: -76.50298055 -[vectornav-1] [INFO] [1746049349.504826566] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.18600000000004, -3.162, 6.58) -[mux-7] [INFO] [1746049349.545057172] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049349.545904293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049349.546393861] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049349.547833102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049349.548958341] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049349.585765324] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049349.588410033] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049349.589405335] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049349.589445428] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049349.590315897] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049349.589874366] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049349.591173966] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049349.645542818] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049349.647185664] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049349.646416851] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049349.648804703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049349.650081216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049349.745058153] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049349.745818308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049349.746785823] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049349.747884341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049349.748911372] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049349.835819558] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049349.837994734] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049349.839056036] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049349.838658316] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049349.839887397] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049349.839950669] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049349.840858551] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049349.844444180] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049349.845005627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049349.845554134] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049349.846710157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049349.847719917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049349.945684450] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049349.946362475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049349.947365081] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049349.948315570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049349.948860918] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049350.003239966] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973149 Long: -76.50298061 -[vectornav-1] [INFO] [1746049350.004913552] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.188, -3.164, 6.58) -[mux-7] [INFO] [1746049350.045246845] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049350.046140170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049350.046844644] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049350.049163496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049350.051017080] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049350.085534932] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049350.087868239] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049350.088057811] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049350.088612127] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049350.089114855] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049350.090157038] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049350.091060517] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049350.145463637] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049350.146214424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049350.147087157] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049350.148971665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049350.150816798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049350.245148173] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049350.247056999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049350.247860481] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049350.248992940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049350.250049764] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049350.335937809] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049350.339009384] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049350.339489320] [sailbot.teensy]: Wind angle: 336 -[mux-7] [INFO] [1746049350.340538939] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049350.340667807] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049350.341811045] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049350.342903620] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049350.344816946] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049350.345054272] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049350.346181679] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049350.346812943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049350.348579468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049350.445178369] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049350.445974627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049350.446553237] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049350.448030473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049350.449207716] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049350.502367507] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973123 Long: -76.50298048 -[vectornav-1] [INFO] [1746049350.503402685] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.19100000000003, -3.166, 6.579) -[mux-7] [INFO] [1746049350.544986633] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049350.545796007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049350.546250268] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049350.547744644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049350.548771414] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049350.585764812] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049350.588592557] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049350.589686006] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049350.589370023] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049350.590117633] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049350.590513654] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049350.591383397] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049350.645469889] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049350.646193127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049350.647072817] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049350.648527171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049350.650801262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049350.743726135] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049350.744141326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049350.744343810] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049350.745185390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049350.745737897] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049350.835557349] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049350.837494168] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049350.838300669] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049350.838847177] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049350.839250031] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049350.839828841] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049350.840800550] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049350.844356509] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049350.844925331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049350.845630620] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049350.846964353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049350.848250524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049350.945368819] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049350.946035397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049350.946768637] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049350.948026794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049350.949070384] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049351.003432387] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973111 Long: -76.50298057 -[vectornav-1] [INFO] [1746049351.005376262] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.193, -3.169, 6.585) -[mux-7] [INFO] [1746049351.045081017] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049351.045787311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049351.046483566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049351.047841200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049351.049047917] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049351.085520932] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049351.087595163] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746049351.088280538] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049351.088535804] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049351.088815087] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049351.088929558] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049351.089310733] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049351.144708759] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049351.145444497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049351.145876769] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049351.147173788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049351.148205350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049351.245463192] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049351.246547065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049351.247195007] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049351.248359090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049351.248865823] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049351.335370936] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049351.337914742] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049351.338323714] [sailbot.teensy]: Wind angle: 343 -[mux-7] [INFO] [1746049351.338630709] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049351.339252733] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049351.340035799] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049351.340425990] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049351.344542715] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049351.345237772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049351.345700092] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049351.346988931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049351.348031407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049351.444927807] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049351.445748463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049351.446219405] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049351.447634532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049351.448693604] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049351.502395995] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469731 Long: -76.50298036 -[vectornav-1] [INFO] [1746049351.503385998] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.199, -3.171, 6.588) -[mux-7] [INFO] [1746049351.545002066] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049351.545767734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049351.546393517] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049351.547604359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049351.548621568] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049351.585439286] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049351.588049842] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049351.588260387] [sailbot.teensy]: Wind angle: 352 -[mux-7] [INFO] [1746049351.588337230] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049351.589639103] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049351.590631779] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049351.591627874] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049351.645618349] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049351.646314101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049351.647306707] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049351.649239629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049351.650448380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049351.745155027] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049351.745792891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049351.746612780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049351.747849645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049351.748794185] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049351.835405794] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049351.837759926] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049351.837939657] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049351.838517999] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049351.838710722] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049351.839618297] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049351.840507701] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049351.844421839] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049351.845080906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049351.845855876] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049351.846745706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049351.847842585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049351.945507913] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049351.946518327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049351.947417571] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049351.948007651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049351.948493993] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049352.002828295] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973089 Long: -76.50298026 -[vectornav-1] [INFO] [1746049352.004190665] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.20500000000004, -3.171, 6.585) -[mux-7] [INFO] [1746049352.045231860] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049352.045957004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049352.046756715] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049352.049002619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049352.050167561] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049352.085770732] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049352.088702717] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049352.089291935] [sailbot.teensy]: Wind angle: 352 -[mux-7] [INFO] [1746049352.089596564] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049352.090301854] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049352.091192457] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049352.092007753] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049352.145356418] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049352.146090309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049352.146899661] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049352.148302672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049352.148986438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049352.245690048] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049352.246174868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049352.247686963] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049352.248538068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049352.249494820] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049352.335524943] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049352.337732328] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049352.338283655] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049352.339026669] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049352.339823828] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049352.340801509] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049352.341722868] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049352.344304668] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049352.344849517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049352.345363964] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049352.346583808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049352.347668017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049352.445659975] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049352.447177850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049352.447408535] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049352.449611370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049352.450694912] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049352.503289462] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973099 Long: -76.50298063 -[vectornav-1] [INFO] [1746049352.505198107] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.20799999999997, -3.173, 6.586) -[mux-7] [INFO] [1746049352.545493913] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049352.546577066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049352.547137513] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049352.548989673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049352.550086392] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049352.585245130] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049352.586913685] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049352.587708295] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049352.587813403] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049352.588117496] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049352.588733758] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049352.589679189] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049352.644955612] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049352.645657160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049352.646480368] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049352.647817131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049352.648961654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049352.745417166] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049352.746127328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049352.747176428] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049352.748502204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049352.750331255] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049352.835416744] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049352.837809392] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049352.838369422] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049352.839152095] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049352.840218094] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049352.840823054] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049352.841193533] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049352.844598300] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049352.844975343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049352.845722810] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049352.846630577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049352.847754061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049352.945656207] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049352.946241673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049352.947401694] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049352.948988882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049352.950203612] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049353.002707501] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973089 Long: -76.50298035 -[vectornav-1] [INFO] [1746049353.004174254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.209, -3.178, 6.589) -[mux-7] [INFO] [1746049353.045164604] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049353.046069535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049353.046574017] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049353.048361137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049353.049486119] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049353.085724643] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049353.088192339] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049353.088833027] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049353.089162670] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049353.089502363] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049353.090439456] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049353.091332317] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049353.145606189] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049353.146604903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049353.147186433] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049353.149095250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049353.150189440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049353.245527973] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049353.246321569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049353.247304390] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049353.248338403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049353.248896431] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049353.335908727] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049353.339025196] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049353.339106920] [sailbot.teensy]: Wind angle: 341 -[mux-7] [INFO] [1746049353.339139141] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049353.339535234] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049353.339985168] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049353.340907350] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049353.344525133] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049353.345152068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049353.345735720] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049353.346980150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049353.348059339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049353.445034984] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049353.445749178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049353.446459884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049353.447715011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049353.448804811] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049353.502431193] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973078 Long: -76.50298003 -[vectornav-1] [INFO] [1746049353.503432451] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.20799999999997, -3.18, 6.587) -[mux-7] [INFO] [1746049353.545112334] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049353.546032643] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049353.546528627] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049353.548037420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049353.549034585] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049353.585620288] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049353.587945554] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049353.588990059] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049353.588253965] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049353.589499848] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049353.589916912] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049353.590841346] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049353.645233300] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049353.646067171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049353.647019617] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049353.648000249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049353.648457697] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049353.745468613] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049353.746092301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049353.747324704] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049353.748391492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049353.750233626] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049353.835632629] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049353.838536672] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049353.839145797] [sailbot.teensy]: Wind angle: 342 -[mux-7] [INFO] [1746049353.839824156] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049353.840128760] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049353.841025465] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049353.841889748] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049353.844341829] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049353.844668266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049353.845624551] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049353.846290715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049353.847449479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049353.945348881] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049353.946053668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049353.946849088] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049353.948196373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049353.949417140] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049354.002460572] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973055 Long: -76.50298008 -[vectornav-1] [INFO] [1746049354.003592913] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.20799999999997, -3.181, 6.594) -[mux-7] [INFO] [1746049354.045253220] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049354.046023806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049354.046756815] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049354.048222116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049354.049274046] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049354.085331741] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049354.086982873] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049354.087582909] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049354.087900980] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049354.088854285] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049354.089350018] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049354.089710045] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049354.145627270] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049354.146760321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049354.147189112] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049354.149228514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049354.150382125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049354.245238010] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049354.246637033] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049354.249003707] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049354.250776765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049354.251762577] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049354.335530402] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049354.338224810] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049354.338618811] [sailbot.teensy]: Wind angle: 358 -[mux-7] [INFO] [1746049354.339507220] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049354.339692015] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049354.340609065] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049354.341484407] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049354.344625741] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049354.344911809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049354.345908550] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049354.346576234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049354.347782014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049354.445187374] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049354.445864769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049354.447430324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049354.447833123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049354.449086545] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049354.502663995] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973052 Long: -76.50298007 -[vectornav-1] [INFO] [1746049354.503838911] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.183, -3.184, 6.629) -[mux-7] [INFO] [1746049354.545052704] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049354.545599906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049354.546856493] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049354.547422328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049354.548478036] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049354.585659289] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049354.588377340] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049354.588787970] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049354.589654035] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049354.589878249] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049354.590802620] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049354.591661886] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049354.645132170] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049354.645971418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049354.646540493] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049354.647920433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049354.649142556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049354.745579137] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049354.747176578] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049354.747438182] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049354.749505646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049354.750643194] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049354.835854987] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049354.839100850] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049354.839247822] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049354.839599007] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049354.839702537] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049354.840422510] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049354.841079925] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049354.844459407] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049354.845015261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049354.845561812] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049354.846819414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049354.848038536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049354.945714868] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049354.946975969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049354.947453650] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049354.950195908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049354.951388625] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049355.002458865] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973049 Long: -76.50297984 -[vectornav-1] [INFO] [1746049355.003456114] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.212, -3.182, 6.598) -[mux-7] [INFO] [1746049355.044920935] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049355.045609899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049355.046082580] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049355.047499665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049355.048581739] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049355.085576667] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049355.087563551] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049355.088696535] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049355.089327439] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049355.089672510] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049355.089960464] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049355.090581214] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049355.144967976] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049355.145600999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049355.146349237] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049355.147420328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049355.149255327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049355.245010893] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049355.245948213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049355.246442279] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049355.248240912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049355.249324755] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049355.335732074] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049355.338128374] [sailbot.teensy]: Wind angle: 346 -[teensy-2] [INFO] [1746049355.339228290] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049355.339231683] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049355.340132962] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049355.340234201] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049355.341167330] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049355.344449825] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049355.345535040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049355.345609018] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049355.347372378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049355.348412162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049355.445759491] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049355.446804335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049355.447797800] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049355.448803810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049355.449277551] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049355.503442901] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973045 Long: -76.50297972 -[vectornav-1] [INFO] [1746049355.504622977] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.21299999999997, -3.189, 6.612) -[mux-7] [INFO] [1746049355.544854684] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049355.545478935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049355.545990717] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049355.547514146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049355.548562519] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049355.585528233] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049355.587655572] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049355.588303050] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049355.588753409] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049355.588900085] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049355.589685544] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049355.590563526] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049355.645314407] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049355.646155414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049355.646822293] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049355.648213862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049355.649293720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049355.745707981] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049355.746606219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049355.747426811] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049355.749928641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049355.751094594] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049355.835442756] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049355.837382965] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049355.838364612] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049355.838492346] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049355.839411732] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049355.840252614] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049355.840314033] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049355.844456962] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049355.845822453] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049355.845131668] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049355.846848657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049355.847936790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049355.945650222] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049355.946566674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049355.947365463] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049355.948541343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049355.949163311] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049356.002546557] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973022 Long: -76.50297971 -[vectornav-1] [INFO] [1746049356.003660772] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.19399999999996, -3.209, 6.601) -[mux-7] [INFO] [1746049356.045480896] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049356.046208300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049356.046997091] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049356.048548481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049356.049625710] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049356.085673309] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049356.088587962] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049356.088930267] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049356.089970573] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049356.089962573] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049356.090886248] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049356.091794250] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049356.145544643] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049356.146313677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049356.147245794] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049356.148715248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049356.149977438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049356.245476205] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049356.246150978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049356.247307936] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049356.248226036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049356.248703814] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049356.335437340] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049356.337928727] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049356.338483664] [sailbot.teensy]: Wind angle: 338 -[mux-7] [INFO] [1746049356.339047384] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049356.339258809] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049356.339652879] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049356.340176977] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049356.344713139] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049356.345120569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049356.345853710] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049356.346783808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049356.347849471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049356.445546082] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049356.446639999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049356.447190907] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049356.448847377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049356.449405903] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049356.502614341] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972995 Long: -76.50297974 -[vectornav-1] [INFO] [1746049356.503802829] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.171, -3.265, 6.559) -[mux-7] [INFO] [1746049356.545332206] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049356.546271158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049356.547411529] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049356.548481189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049356.549712142] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049356.585840559] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049356.588112445] [sailbot.teensy]: Wind angle: 352 -[teensy-2] [INFO] [1746049356.589315095] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049356.589728895] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049356.590235834] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049356.591158533] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049356.590363872] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049356.644816539] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049356.645582748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049356.645982490] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049356.647331320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049356.648377920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049356.745359570] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049356.746896070] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049356.747470862] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049356.749257132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049356.750022791] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049356.835899750] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049356.838754446] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049356.838971590] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049356.839928204] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049356.840751254] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049356.841036691] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049356.841454475] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049356.844453931] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049356.845180266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049356.845760511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049356.847062425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049356.848535944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049356.945357272] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049356.946380118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049356.946872139] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049356.948993365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049356.950063424] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049357.002346565] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972987 Long: -76.50297963 -[vectornav-1] [INFO] [1746049357.003424464] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.079, -3.219, 6.689) -[mux-7] [INFO] [1746049357.045018944] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049357.046423106] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049357.047695212] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049357.050314076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049357.051593215] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049357.085771544] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049357.088103964] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049357.088636078] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049357.089144424] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049357.089747485] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049357.090061475] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049357.091029707] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049357.145629740] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049357.146465179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049357.147239181] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049357.148119697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049357.148693656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049357.245554850] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049357.246553380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049357.247270461] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049357.249668220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049357.250725601] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049357.335647849] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049357.338331033] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049357.338784474] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049357.339320896] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049357.339818062] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049357.340762164] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049357.341648253] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049357.344392790] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049357.344954605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049357.345545455] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049357.346790047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049357.347936218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049357.445071630] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049357.445820832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049357.446633790] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049357.448100149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049357.448640701] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049357.502474072] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972976 Long: -76.50297941 -[vectornav-1] [INFO] [1746049357.503469686] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.076, -3.294, 6.582) -[mux-7] [INFO] [1746049357.545225012] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049357.546000086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049357.547075305] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049357.548519301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049357.549647620] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049357.585480773] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049357.587922931] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049357.588362405] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049357.588599287] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049357.589825778] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049357.590669346] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049357.591540889] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049357.645046367] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049357.646429969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049357.646733477] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049357.648659428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049357.649239289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049357.745054934] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049357.745989704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049357.746315679] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049357.748193087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049357.749337772] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049357.835818602] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049357.838051897] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049357.839013767] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049357.839953707] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049357.840340857] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049357.841058715] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049357.841738273] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049357.844519972] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049357.845114845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049357.845877995] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049357.846824464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049357.847965834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049357.945226075] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049357.946013647] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049357.946735498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049357.948318197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049357.948857343] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049358.002387822] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697296 Long: -76.50297925 -[vectornav-1] [INFO] [1746049358.003397330] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.007, -3.229, 5.959) -[mux-7] [INFO] [1746049358.045507382] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049358.046271582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049358.047088815] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049358.048630666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049358.049907048] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049358.086064846] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049358.088366891] [sailbot.teensy]: Wind angle: 346 -[teensy-2] [INFO] [1746049358.089589992] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049358.089621060] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049358.090560875] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049358.091572549] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049358.090589316] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746049358.145575247] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049358.146221043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049358.147205161] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049358.150567617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049358.151736817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049358.245361829] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049358.246089521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049358.246885823] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049358.248332847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049358.249591146] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049358.335371772] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049358.337893008] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049358.338792663] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049358.338940293] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049358.339743294] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049358.340370293] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049358.340730899] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049358.344526027] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049358.344997065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049358.345647789] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049358.346730899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049358.347904818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049358.445487151] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049358.446043019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049358.447195579] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049358.448874735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049358.450022411] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049358.502783634] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972953 Long: -76.50297913 -[vectornav-1] [INFO] [1746049358.504699896] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (288.993, -3.241, 6.143) -[mux-7] [INFO] [1746049358.544909518] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049358.545472884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049358.546132542] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049358.547319262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049358.548504156] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049358.585428028] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049358.587288745] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049358.588108946] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049358.588292984] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049358.589183744] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049358.589201290] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049358.590082681] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049358.645289113] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049358.646433378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049358.647007367] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049358.648722424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049358.649892718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049358.745554537] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049358.746449885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049358.747092989] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049358.748339410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049358.748850242] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049358.835933713] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049358.838455087] [sailbot.teensy]: Wind angle: 335 -[teensy-2] [INFO] [1746049358.839648730] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049358.839301903] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049358.840422680] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049358.840632022] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049358.841467001] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049358.844355022] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049358.844961852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049358.845478759] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049358.846657854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049358.847671324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049358.945648077] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049358.946584884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049358.947230765] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049358.948898318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049358.950034154] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049359.002805319] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972938 Long: -76.50297912 -[vectornav-1] [INFO] [1746049359.003910177] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.01300000000003, -3.276, 6.148) -[mux-7] [INFO] [1746049359.044988414] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049359.045763658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049359.046327871] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049359.047732948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049359.048775105] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049359.085564080] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049359.088305938] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049359.089117242] [sailbot.teensy]: Wind angle: 335 -[mux-7] [INFO] [1746049359.089241770] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049359.090077350] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049359.090970427] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049359.091826901] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049359.144805726] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049359.145382717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049359.146017595] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049359.147840997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049359.148926208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049359.244821820] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049359.245284052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049359.246391621] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049359.247131645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049359.248502305] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049359.335606282] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049359.338337955] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049359.339103693] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049359.339109653] [sailbot.teensy]: Wind angle: 335 -[teensy-2] [INFO] [1746049359.339698746] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049359.340098088] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049359.340467900] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049359.344486894] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049359.345154038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049359.345564882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049359.347047965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049359.348102304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049359.445619753] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049359.446462604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049359.447573145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049359.449166441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049359.450513125] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049359.502882646] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972928 Long: -76.50297899 -[vectornav-1] [INFO] [1746049359.504236739] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.051, -3.093, 6.493) -[mux-7] [INFO] [1746049359.545313324] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049359.545899087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049359.546793340] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049359.548033342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049359.549291680] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049359.585523169] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049359.588181635] [sailbot.teensy]: Wind angle: 323 -[trim_sail-4] [INFO] [1746049359.588655827] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049359.589141741] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049359.589177330] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049359.590174663] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049359.590564988] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049359.645480810] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049359.646174509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049359.647198079] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049359.648882166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049359.650099128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049359.745507023] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049359.746206546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049359.747030833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049359.748417472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049359.749599863] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049359.835478218] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049359.837959091] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049359.838513330] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049359.838877502] [sailbot.teensy]: Wind angle: 321 -[teensy-2] [INFO] [1746049359.839820979] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049359.840679265] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049359.841509474] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049359.844369843] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049359.844989377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049359.845784780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049359.846705760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049359.847770237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049359.945269492] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049359.946014870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049359.946729769] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049359.948063781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049359.948699170] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049360.002343803] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697294 Long: -76.50297892 -[vectornav-1] [INFO] [1746049360.003619936] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.006, -3.199, 5.9) -[mux-7] [INFO] [1746049360.044924921] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049360.045291635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049360.046185023] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049360.047037505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049360.048252909] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049360.085291249] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049360.086963417] [sailbot.teensy]: Wind angle: 330 -[trim_sail-4] [INFO] [1746049360.087623757] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049360.087892942] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049360.088764733] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049360.089130188] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049360.089624870] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049360.144841620] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049360.145346652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049360.145915172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049360.147088933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049360.148082169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049360.244926317] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049360.245711086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049360.246339984] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049360.247573204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049360.248755042] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049360.335399260] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049360.337256149] [sailbot.teensy]: Wind angle: 333 -[trim_sail-4] [INFO] [1746049360.337922087] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049360.338590365] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049360.339225930] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049360.339443703] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049360.339755501] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049360.344610022] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049360.344963091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049360.345862420] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049360.346923476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049360.348000246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049360.444812772] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049360.445597265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049360.446293340] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049360.447496590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049360.448691922] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049360.502289555] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972929 Long: -76.50297905 -[vectornav-1] [INFO] [1746049360.503407011] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.009, -3.204, 6.083) -[mux-7] [INFO] [1746049360.545164563] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049360.545956945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049360.546873027] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049360.548096147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049360.549139106] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049360.585439743] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049360.587390183] [sailbot.teensy]: Wind angle: 333 -[trim_sail-4] [INFO] [1746049360.587855685] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049360.588515282] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049360.589413833] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049360.589477855] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049360.590379367] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049360.645077868] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049360.646020473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049360.646521996] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049360.648766479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049360.649911953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049360.745303230] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049360.746673632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049360.746910702] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049360.748702613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049360.749270807] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049360.835432085] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049360.837803258] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049360.837861777] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049360.838788396] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049360.839170659] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049360.839702215] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049360.840592807] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049360.844362499] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049360.845540324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049360.844952958] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049360.846990425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049360.848004538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049360.945120970] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049360.945774693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049360.946572817] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049360.947765008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049360.949293294] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049361.002796747] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972922 Long: -76.50297905 -[vectornav-1] [INFO] [1746049361.004557621] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.044, -3.204, 6.286) -[mux-7] [INFO] [1746049361.045224329] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049361.045943105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049361.046643118] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049361.047900231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049361.049010618] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049361.085398231] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049361.087256798] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049361.088063503] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049361.088258499] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049361.089173282] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049361.089914553] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049361.090014087] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049361.144963525] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049361.145804330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049361.146233693] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049361.147827014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049361.148908913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049361.245603556] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049361.246462263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049361.247223397] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049361.248102926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049361.248653670] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049361.335407522] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049361.337886430] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049361.338163826] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049361.339152943] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049361.339282366] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049361.340091268] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049361.341052935] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049361.344398614] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049361.344843558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049361.345996860] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049361.346545659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049361.347565954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049361.445118892] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049361.445837460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049361.446557298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049361.448621417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049361.449701105] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049361.502578426] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972932 Long: -76.50297835 -[vectornav-1] [INFO] [1746049361.503769791] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (288.985, -3.215, 5.886) -[mux-7] [INFO] [1746049361.545158012] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049361.545875647] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049361.546575110] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049361.547644284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049361.548174518] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049361.585574408] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049361.587653348] [sailbot.teensy]: Wind angle: 327 -[trim_sail-4] [INFO] [1746049361.588288875] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049361.588686680] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049361.589545436] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049361.589998347] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049361.590474821] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049361.645269844] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049361.647145385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049361.647207462] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049361.649150403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049361.650300793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049361.745530749] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049361.746456272] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049361.747189479] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049361.749138657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049361.749791435] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049361.835458418] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049361.837810605] [sailbot.teensy]: Wind angle: 314 -[trim_sail-4] [INFO] [1746049361.837867723] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049361.838804070] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049361.839389324] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049361.839576603] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049361.839778786] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049361.844669738] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049361.845217103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049361.845906020] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049361.846956066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049361.848075909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049361.945238418] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049361.945766405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049361.946753363] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049361.948004291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049361.949171113] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049362.002991325] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972909 Long: -76.50297808 -[vectornav-1] [INFO] [1746049362.004405584] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.02, -3.213, 6.039) -[mux-7] [INFO] [1746049362.045346275] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049362.045896722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049362.046958803] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049362.047807212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049362.049587558] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049362.085456322] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049362.087943966] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049362.088137770] [sailbot.teensy]: Wind angle: 326 -[mux-7] [INFO] [1746049362.088551267] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049362.089509759] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049362.090429666] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049362.091312826] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049362.144665701] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049362.145127704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049362.145835270] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049362.146870142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049362.147900516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049362.244971518] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049362.245767815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049362.246277635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049362.247722099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049362.248765802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049362.263637075] [sailbot.mux]: controller_app sail angle: 0 -[teensy-2] [INFO] [1746049362.335667179] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049362.338368326] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049362.338905078] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049362.339627879] [sailbot.teensy]: Wind angle: 331 -[teensy-2] [INFO] [1746049362.340734568] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049362.341587582] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049362.342451143] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049362.344490730] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049362.344944481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049362.346028272] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049362.346630648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049362.347831707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049362.445077772] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049362.445773639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049362.446415242] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049362.447778784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049362.448992806] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049362.502297742] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972922 Long: -76.50297848 -[vectornav-1] [INFO] [1746049362.503327846] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.043, -3.211, 6.221) -[mux-7] [INFO] [1746049362.545070469] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049362.545760083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049362.546350032] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049362.547767767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049362.548820879] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049362.585831942] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049362.588217387] [sailbot.teensy]: Wind angle: 328 -[trim_sail-4] [INFO] [1746049362.588607255] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049362.589306675] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049362.590256670] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049362.591110546] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049362.591109697] [sailbot.mux]: algo sail angle: 75 -[mux-7] [INFO] [1746049362.645005500] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049362.645665027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049362.646389014] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049362.647609645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049362.648499215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049362.745324223] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049362.746266126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049362.747132268] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049362.748443391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049362.749500727] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049362.835666336] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049362.837998427] [sailbot.teensy]: Wind angle: 328 -[trim_sail-4] [INFO] [1746049362.839012912] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049362.839063394] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049362.839320671] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049362.840002194] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049362.840905303] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049362.844447320] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049362.844989645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049362.845627243] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049362.847372254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049362.848519017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049362.945446541] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049362.946575890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049362.947046551] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049362.948654129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049362.949796595] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049363.002639958] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972913 Long: -76.50297855 -[vectornav-1] [INFO] [1746049363.003802446] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.033, -3.161, 6.05) -[mux-7] [INFO] [1746049363.044953069] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049363.045616503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049363.046264305] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049363.047741844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049363.048796096] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049363.085458097] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049363.088019132] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049363.088836014] [sailbot.teensy]: Wind angle: 327 -[mux-7] [INFO] [1746049363.089142557] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049363.090045682] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049363.090630260] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049363.090963857] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049363.145148064] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049363.145747588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049363.146450881] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049363.147682301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049363.148945595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049363.245646911] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049363.246470225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049363.247359118] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049363.248894664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049363.250073611] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049363.335532154] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049363.337546104] [sailbot.teensy]: Wind angle: 327 -[trim_sail-4] [INFO] [1746049363.338280981] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049363.338531771] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049363.339463420] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049363.339277205] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049363.340385268] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049363.344397527] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049363.345077139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049363.345547994] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049363.346832821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049363.347811406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049363.445685358] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049363.446552710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049363.447303071] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049363.449247261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049363.450362467] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049363.502583684] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972916 Long: -76.50297836 -[vectornav-1] [INFO] [1746049363.503927207] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.024, -3.079, 5.99) -[mux-7] [INFO] [1746049363.544899975] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049363.545706824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049363.546086994] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049363.547487850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049363.548633317] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049363.585521700] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049363.588241511] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049363.589206566] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049363.589696980] [sailbot.teensy]: Wind angle: 328 -[teensy-2] [INFO] [1746049363.590786762] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049363.591641220] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049363.592489966] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049363.645562047] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049363.646409350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049363.647623464] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049363.648408071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049363.648943175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049363.745066174] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049363.745861907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049363.746528073] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049363.748278806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049363.749394281] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049363.835373108] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049363.837980628] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049363.838858428] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049363.839106931] [sailbot.teensy]: Wind angle: 331 -[teensy-2] [INFO] [1746049363.840138465] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049363.841062542] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049363.841935541] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049363.844429331] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049363.845667925] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049363.845936296] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049363.847659492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049363.848859504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049363.944942547] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049363.945838561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049363.946973275] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049363.947827666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049363.949158703] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049364.002648360] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972904 Long: -76.50297848 -[vectornav-1] [INFO] [1746049364.003836051] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.152, -3.1, 6.238) -[mux-7] [INFO] [1746049364.044853094] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049364.045550792] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049364.046056320] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049364.047316346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049364.048512679] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049364.085562200] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049364.088617394] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049364.088713774] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746049364.090026847] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049364.091086778] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049364.091277395] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049364.092196646] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049364.145127520] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049364.146129685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049364.146555390] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049364.148427742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049364.148871886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049364.245090527] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049364.245960079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049364.246573456] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049364.248187382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049364.249248124] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049364.335288522] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049364.337015135] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049364.337876579] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049364.338790724] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049364.339383865] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049364.339796110] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049364.340171271] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049364.344405811] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049364.344883422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049364.345515499] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049364.346625041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049364.347680238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049364.445157999] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049364.445836851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049364.446609431] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049364.447804890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049364.448378102] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049364.502613410] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697288 Long: -76.50297835 -[vectornav-1] [INFO] [1746049364.503793875] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.187, -3.279, 5.85) -[mux-7] [INFO] [1746049364.544720735] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049364.545390046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049364.545893121] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049364.547127790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049364.548361596] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049364.585582761] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049364.587748240] [sailbot.teensy]: Wind angle: 346 -[teensy-2] [INFO] [1746049364.588840548] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049364.588984772] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049364.589757182] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049364.590010583] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049364.590695668] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049364.645134624] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049364.645786306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049364.646571822] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049364.647756439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049364.649659242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049364.744938028] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049364.745680517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049364.746251474] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049364.747508579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049364.748408126] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049364.835367914] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049364.837301818] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049364.837871787] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049364.838295505] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049364.839069124] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049364.839481671] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049364.839563715] [sailbot.mux]: algo sail angle: 80 -[mux-7] [INFO] [1746049364.844428347] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049364.844990852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049364.845625450] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049364.846638652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049364.847678409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049364.945047398] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049364.945566539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049364.946512113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049364.947392097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049364.948349313] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049365.002566533] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972876 Long: -76.50297817 -[vectornav-1] [INFO] [1746049365.003967719] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.14, -3.24, 5.456) -[mux-7] [INFO] [1746049365.044902184] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049365.045701943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049365.046664412] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049365.047452520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049365.048691138] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049365.085439774] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049365.087298691] [sailbot.teensy]: Wind angle: 331 -[teensy-2] [INFO] [1746049365.088321972] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049365.088652675] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049365.089201751] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049365.089420945] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049365.090094263] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049365.144440037] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049365.145088860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049365.145481709] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049365.146784501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049365.147861421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049365.245307469] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049365.246037918] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049365.246926131] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049365.247870529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049365.248382588] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049365.335441862] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049365.337647841] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049365.338153590] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049365.338737373] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049365.339644320] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049365.339532004] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049365.340579397] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049365.344392600] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049365.344887862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049365.345524797] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049365.346584381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049365.347601929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049365.444881665] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049365.445601666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049365.446079076] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049365.447820091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049365.448872932] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049365.502444240] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972846 Long: -76.50297819 -[vectornav-1] [INFO] [1746049365.503505638] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.14599999999996, -3.244, 5.526) -[mux-7] [INFO] [1746049365.545004725] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049365.545734884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049365.546294819] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049365.547845633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049365.548966994] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049365.585559277] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049365.587542593] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049365.588773384] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049365.588786322] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049365.589791318] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049365.590713163] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049365.590986217] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746049365.645094998] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049365.645769477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049365.646526498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049365.647782216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049365.648512823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049365.745706314] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049365.747273525] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049365.747265373] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049365.749155567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049365.749608701] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049365.835636628] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049365.838286843] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049365.838606697] [sailbot.teensy]: Wind angle: 342 -[mux-7] [INFO] [1746049365.838880671] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049365.839600776] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049365.840530432] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049365.841401164] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049365.844382375] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049365.844761409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049365.845487194] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049365.846408670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049365.847505087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049365.945197725] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049365.945892702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049365.946627166] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049365.947890774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049365.948990799] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049366.002343479] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972848 Long: -76.50297832 -[vectornav-1] [INFO] [1746049366.003400416] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.19100000000003, -3.24, 5.799) -[mux-7] [INFO] [1746049366.045074573] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049366.046055069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049366.046570024] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049366.048210753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049366.049011987] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049366.085468505] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049366.087930269] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049366.088467816] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049366.088899060] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049366.089932393] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049366.090860960] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049366.091710807] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049366.145596377] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049366.146316234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049366.147406574] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049366.148707322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049366.149841271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049366.244858057] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049366.245512761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049366.246021278] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049366.247397279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049366.248455527] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049366.335376799] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049366.337248883] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049366.337849927] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049366.338212782] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049366.339139899] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049366.340127653] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049366.340481381] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746049366.344420988] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049366.345111117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049366.345495264] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049366.346820463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049366.347948735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049366.445265196] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049366.446049562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049366.446657299] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049366.448135807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049366.449188928] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049366.503303592] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972847 Long: -76.50297818 -[vectornav-1] [INFO] [1746049366.504735392] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.224, -3.233, 5.967) -[mux-7] [INFO] [1746049366.545305623] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049366.546242843] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049366.546856221] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049366.548423538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049366.549689708] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049366.585700988] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049366.588415814] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049366.588910126] [sailbot.teensy]: Wind angle: 343 -[mux-7] [INFO] [1746049366.589836938] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049366.590816830] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049366.591685920] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049366.592584843] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049366.645385524] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049366.646201461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049366.647050746] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049366.648934309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049366.650204817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049366.745638379] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049366.746708539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049366.747741742] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049366.749227156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049366.750517238] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049366.835762905] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049366.838739047] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049366.838871350] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049366.839435005] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049366.839523338] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049366.839823243] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049366.840224698] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049366.844470974] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049366.844894566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049366.845689758] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049366.846585540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049366.847762232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049366.945489562] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049366.946824242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049366.947288993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049366.948668342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049366.949254644] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049367.002561010] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972824 Long: -76.50297821 -[vectornav-1] [INFO] [1746049367.003886928] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.177, -3.253, 5.488) -[mux-7] [INFO] [1746049367.045160441] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049367.046180027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049367.046662200] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049367.048189730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049367.049248025] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049367.085608984] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049367.088250576] [sailbot.teensy]: Wind angle: 350 -[mux-7] [INFO] [1746049367.088959719] [sailbot.mux]: algo sail angle: 90 -[trim_sail-4] [INFO] [1746049367.089152427] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049367.089247086] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049367.090129022] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049367.090995654] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049367.145427704] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049367.146189150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049367.147185696] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049367.148753438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049367.149991294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049367.245543181] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049367.246255741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049367.247304073] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049367.248617059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049367.250259618] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049367.335458908] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049367.338185690] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049367.338921862] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049367.339542453] [sailbot.teensy]: Wind angle: 351 -[teensy-2] [INFO] [1746049367.340174340] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049367.340572515] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049367.340919153] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049367.344333812] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049367.345092061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049367.345805269] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049367.346926506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049367.347991018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049367.445383501] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049367.446553349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049367.446994418] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049367.448282599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049367.448809406] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049367.502519961] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972815 Long: -76.50297811 -[vectornav-1] [INFO] [1746049367.503538338] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.247, -3.256, 5.884) -[mux-7] [INFO] [1746049367.544693566] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049367.545432763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049367.545886722] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049367.547378787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049367.548432431] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049367.585228923] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049367.587687132] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049367.588032008] [sailbot.teensy]: Wind angle: 349 -[mux-7] [INFO] [1746049367.588659201] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049367.588996818] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049367.589850763] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049367.590700824] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049367.644973713] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049367.645790510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049367.646759060] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049367.647898694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049367.648701593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049367.745544879] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049367.746367402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049367.747144990] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049367.748838490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049367.750076922] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049367.835513588] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049367.837410801] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049367.838115040] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049367.839200631] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049367.839234404] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049367.839664543] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049367.840060980] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049367.844526523] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049367.845297874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049367.845773909] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049367.847863194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049367.848970828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049367.945582715] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049367.946423770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049367.947378477] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049367.948352919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049367.948912387] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049368.002560397] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972807 Long: -76.50297819 -[vectornav-1] [INFO] [1746049368.003715346] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.257, -3.348, 5.782) -[mux-7] [INFO] [1746049368.045252836] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049368.045963232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049368.046618639] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049368.047878107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049368.048935613] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049368.085226875] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049368.087153327] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049368.088079000] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049368.087638488] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049368.088327988] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049368.089043947] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049368.089979451] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049368.145519788] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049368.146327185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049368.147168366] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049368.149027589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049368.150186068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049368.245594168] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049368.246744546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049368.247242163] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049368.249183253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049368.250310160] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049368.335412890] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049368.337435681] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049368.338462942] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049368.338669916] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049368.339369135] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049368.339381848] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049368.340490068] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049368.344471298] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049368.345170942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049368.345564587] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049368.346873729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049368.347926780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049368.445587820] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049368.446420344] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049368.447269464] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049368.448980045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049368.450381480] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049368.502564720] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972815 Long: -76.50297829 -[vectornav-1] [INFO] [1746049368.503607444] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.589, -3.244, 5.374) -[mux-7] [INFO] [1746049368.544874445] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049368.545604675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049368.546052870] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049368.547355270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049368.548387359] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049368.585507278] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049368.588204274] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049368.588455168] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049368.589484196] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049368.589726217] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049368.590428767] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049368.591336504] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049368.645482298] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049368.646586767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049368.647124367] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049368.648684685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049368.649264364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049368.744716161] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049368.745929412] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049368.745960630] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049368.748391482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049368.749440798] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049368.835310745] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049368.837027902] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049368.837596648] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049368.837959225] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049368.838853199] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049368.839047324] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049368.839740322] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049368.844387007] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049368.844979937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049368.845778606] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049368.846691682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049368.847838405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049368.945720576] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049368.946632952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049368.947610230] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049368.948448417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049368.948969553] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049369.002571755] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972831 Long: -76.50297841 -[vectornav-1] [INFO] [1746049369.003715306] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.78200000000004, -3.187, 5.837) -[mux-7] [INFO] [1746049369.045243635] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049369.046881969] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049369.048851078] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049369.050796949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049369.051925443] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049369.085972240] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049369.088914642] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049369.089327012] [sailbot.teensy]: Wind angle: 347 -[mux-7] [INFO] [1746049369.089448714] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049369.090360983] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049369.091378726] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049369.092335638] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049369.145139874] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049369.145727213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049369.146301403] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049369.147615500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049369.148714921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049369.245716332] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049369.247000041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049369.247397257] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049369.248215415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049369.248986709] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049369.335681108] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049369.338022750] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049369.338386649] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049369.339595851] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049369.340290805] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049369.341165224] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049369.342001541] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049369.344365797] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049369.344852766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049369.345452270] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049369.346507912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049369.347573826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049369.445445169] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049369.446334629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049369.447005618] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049369.448622110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049369.449331889] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049369.502800081] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972836 Long: -76.50297892 -[vectornav-1] [INFO] [1746049369.504001738] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.882, -3.334, 6.055) -[mux-7] [INFO] [1746049369.545008478] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049369.545759482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049369.546308557] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049369.547623772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049369.548705681] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049369.585649149] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049369.588321102] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049369.588912418] [sailbot.teensy]: Wind angle: 353 -[mux-7] [INFO] [1746049369.589708832] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049369.589889368] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049369.590952024] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049369.591979990] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049369.645511501] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049369.646366155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049369.647234772] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049369.648547270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049369.648966339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049369.745310978] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049369.746196373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049369.746879711] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049369.747851913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049369.748400818] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049369.835385662] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049369.837679711] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049369.837780006] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049369.838743037] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049369.839150943] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049369.839199036] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049369.839546647] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049369.844643169] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049369.845263184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049369.845860913] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049369.846986078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049369.848026599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049369.945130953] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049369.946592382] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049369.947190665] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049369.949006064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049369.949574075] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049370.002463884] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697284 Long: -76.50297959 -[vectornav-1] [INFO] [1746049370.003576654] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.91499999999996, -3.087, 6.4) -[mux-7] [INFO] [1746049370.045423478] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049370.045860111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049370.046977214] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049370.047587484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049370.048121227] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049370.085329057] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049370.087045352] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049370.088050138] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049370.088924151] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049370.089744908] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049370.089944875] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049370.090803959] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049370.144940817] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049370.145519810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049370.146280409] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049370.147929112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049370.149168996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049370.244400716] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049370.244813407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049370.244937906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049370.245731178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049370.246273377] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049370.335569255] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049370.338565311] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049370.339113934] [sailbot.teensy]: Wind angle: 337 -[mux-7] [INFO] [1746049370.339981119] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049370.340240050] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049370.341166982] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049370.341982384] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049370.344392583] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049370.345232291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049370.345538720] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049370.347075055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049370.348107792] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049370.445224982] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049370.446078455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049370.446825033] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049370.447785718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049370.448328059] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049370.502555879] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972832 Long: -76.5029794 -[vectornav-1] [INFO] [1746049370.503604152] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.831, -3.248, 5.549) -[mux-7] [INFO] [1746049370.545305224] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049370.546341773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049370.546844635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049370.548643967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049370.549700426] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049370.585540129] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049370.587490918] [sailbot.teensy]: Wind angle: 330 -[trim_sail-4] [INFO] [1746049370.588001091] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049370.588488732] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049370.588561971] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049370.589453105] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049370.590329382] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049370.645659876] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049370.647001968] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049370.647380970] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049370.648760120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049370.649280127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049370.745650749] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049370.746495812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049370.748474896] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049370.748877324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049370.750814162] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049370.835816502] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049370.838790084] [sailbot.teensy]: Wind angle: 333 -[trim_sail-4] [INFO] [1746049370.839169445] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049370.840022800] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049370.840013107] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049370.841033772] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049370.841370749] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049370.844446347] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049370.845139462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049370.845611386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049370.847207959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049370.848325268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049370.945483851] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049370.946197832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049370.947152346] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049370.948001020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049370.948497546] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049371.002533064] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972846 Long: -76.5029794 -[vectornav-1] [INFO] [1746049371.003827989] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.919, -3.147, 6.586) -[mux-7] [INFO] [1746049371.045667747] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049371.046441732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049371.047331594] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049371.048846615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049371.050024761] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049371.085650110] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049371.087902207] [sailbot.teensy]: Wind angle: 346 -[teensy-2] [INFO] [1746049371.088944102] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049371.088742084] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049371.089182456] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049371.089829508] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049371.090674453] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049371.145610352] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049371.146306919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049371.147328875] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049371.149879245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049371.151163706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049371.245618128] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049371.246706352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049371.247275118] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049371.249198702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049371.249743762] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049371.335521488] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049371.337238224] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049371.338009547] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049371.338850475] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049371.339068514] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049371.339474437] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049371.340240795] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049371.344474557] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049371.345034463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049371.345567250] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049371.346710776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049371.348378750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049371.445335670] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049371.446225966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049371.446977668] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049371.448270320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049371.448740828] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049371.502578992] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972834 Long: -76.50297962 -[vectornav-1] [INFO] [1746049371.503613936] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.868, -3.086, 6.309) -[mux-7] [INFO] [1746049371.545325407] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049371.546218176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049371.546872281] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049371.548413415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049371.549584164] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049371.585524751] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049371.588016928] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049371.588179594] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049371.589173843] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049371.589213766] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049371.590092202] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049371.590937557] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049371.645297790] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049371.646192415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049371.646870213] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049371.649129287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049371.649631321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049371.745755632] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049371.746892827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049371.747844255] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049371.749729218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049371.750851949] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049371.835774373] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049371.838433491] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049371.839585529] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049371.838704202] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049371.840029172] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049371.840569817] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049371.841184475] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049371.844380031] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049371.845085595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049371.845507156] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049371.847060061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049371.848774075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049371.945285871] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049371.946204899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049371.946840824] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049371.948379273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049371.948887714] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049372.002408980] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697281 Long: -76.50297982 -[vectornav-1] [INFO] [1746049372.003404878] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.86199999999997, -3.259, 5.882) -[mux-7] [INFO] [1746049372.045295308] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049372.046619359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049372.047516705] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049372.048791372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049372.049834605] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049372.085381011] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049372.087272675] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049372.087649352] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049372.088268958] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049372.089100348] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049372.089815760] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049372.089996140] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049372.145552289] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049372.146142045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049372.146968771] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049372.149446221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049372.150596543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049372.245113852] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049372.245971599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049372.246753486] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049372.247620197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049372.248096134] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049372.335249428] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049372.337614241] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049372.337961446] [sailbot.teensy]: Wind angle: 339 -[mux-7] [INFO] [1746049372.338223487] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049372.338692852] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049372.339104734] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049372.339484894] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049372.344618798] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049372.345390141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049372.345855956] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049372.347183221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049372.348265590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049372.445153933] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049372.445822852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049372.446461892] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049372.447946069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049372.449031364] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049372.502788884] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972797 Long: -76.5029799 -[vectornav-1] [INFO] [1746049372.504399247] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.829, -3.321, 5.503) -[mux-7] [INFO] [1746049372.545027576] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049372.546356194] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049372.546455316] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049372.548406328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049372.549474565] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049372.585825882] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049372.588765825] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049372.588849404] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049372.589897391] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049372.590194092] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049372.590811496] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049372.591732429] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049372.645497871] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049372.646258146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049372.647149388] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049372.648627683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049372.649407213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049372.745711348] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049372.746623865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049372.747483721] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049372.749149532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049372.750449178] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049372.835663886] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049372.838348970] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049372.838574291] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049372.838982495] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049372.839061318] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049372.839448313] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049372.839824214] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049372.844641998] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049372.845252878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049372.845915423] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049372.847479431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049372.848563999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049372.945470294] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049372.946205302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049372.947163217] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049372.948373442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049372.948923656] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049373.002515649] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469728 Long: -76.50298 -[vectornav-1] [INFO] [1746049373.003583033] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.123, -3.368, 5.836) -[mux-7] [INFO] [1746049373.045333591] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049373.045728032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049373.046787507] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049373.047540686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049373.048803293] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049373.085183524] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049373.087105111] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746049373.087525561] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049373.088530557] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049373.088803015] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049373.088945032] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049373.089321843] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049373.145109692] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049373.145903749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049373.146568498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049373.149149144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049373.150263178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049373.245368671] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049373.246386689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049373.247081257] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049373.248014763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049373.248550271] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049373.335491972] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049373.337916752] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746049373.338086434] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049373.338885239] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049373.339181791] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049373.339482160] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049373.339858600] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049373.344542862] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049373.345285087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049373.345889229] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049373.347016374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049373.348058357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049373.445444070] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049373.446457514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049373.447475252] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049373.449768160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049373.450240941] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049373.502747789] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972816 Long: -76.50298014 -[vectornav-1] [INFO] [1746049373.504384222] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.159, -3.359, 5.256) -[mux-7] [INFO] [1746049373.545098781] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049373.545749802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049373.546389006] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049373.547653775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049373.548826460] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049373.585641255] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049373.588519063] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049373.588519220] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049373.589505280] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049373.589603356] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049373.590415439] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049373.591258453] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049373.645121741] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049373.645741569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049373.646480620] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049373.647615613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049373.648705335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049373.745776984] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049373.746622167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049373.747500100] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049373.749050067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049373.750311512] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049373.835372821] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049373.837464855] [sailbot.teensy]: Wind angle: 325 -[trim_sail-4] [INFO] [1746049373.837945484] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049373.838607870] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049373.839519512] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049373.839921306] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049373.840295562] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049373.844353275] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049373.845629633] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049373.846096901] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049373.847767255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049373.848931242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049373.945561028] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049373.946147545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049373.947406064] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049373.948340578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049373.949496484] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049374.002408182] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972841 Long: -76.50298009 -[vectornav-1] [INFO] [1746049374.003435619] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.249, -3.188, 5.88) -[mux-7] [INFO] [1746049374.045525348] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049374.046130458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049374.047208914] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049374.048361410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049374.050017730] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049374.085800889] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049374.088762405] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049374.089406444] [sailbot.teensy]: Wind angle: 313 -[mux-7] [INFO] [1746049374.089718880] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049374.090630801] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049374.091550170] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049374.092424076] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049374.145945540] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049374.146242251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049374.147739551] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049374.148515637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049374.149734262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049374.245787539] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049374.246627739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049374.247573916] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049374.249696948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049374.251657935] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049374.335557107] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049374.338045858] [sailbot.teensy]: Wind angle: 326 -[trim_sail-4] [INFO] [1746049374.338242348] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049374.338752540] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049374.339152472] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049374.340106611] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049374.341019074] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049374.344542353] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049374.345277297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049374.345710226] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049374.346990579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049374.348216806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049374.445900106] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049374.446390180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049374.448627697] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049374.449440052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049374.450633028] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049374.503493880] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697284 Long: -76.50298003 -[vectornav-1] [INFO] [1746049374.505025491] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.29200000000003, -3.245, 6.422) -[mux-7] [INFO] [1746049374.545192248] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049374.545968201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049374.546657083] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049374.548391733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049374.549528338] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049374.585753477] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049374.588683632] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049374.588687384] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049374.589701595] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049374.590166341] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049374.590704624] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049374.591608875] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049374.645576402] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049374.647218968] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049374.647246535] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049374.649483353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049374.650695764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049374.745855937] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049374.746437338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049374.747529086] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049374.748146078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049374.748697178] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049374.835486030] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049374.837603759] [sailbot.teensy]: Wind angle: 357 -[teensy-2] [INFO] [1746049374.838465065] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049374.838316264] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049374.838593609] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049374.838850621] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049374.839302145] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049374.844635803] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049374.845232436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049374.846110384] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049374.846992632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049374.848317437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049374.945515282] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049374.946038725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049374.947220573] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049374.948387147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049374.949263662] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049375.002614128] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972835 Long: -76.50298022 -[vectornav-1] [INFO] [1746049375.003640994] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.336, -3.231, 6.876) -[mux-7] [INFO] [1746049375.045371786] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049375.046303483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049375.046975726] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049375.048539457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049375.049734998] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049375.085858280] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049375.088786553] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746049375.088858191] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049375.089871617] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049375.090349906] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049375.090753107] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049375.091646036] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049375.145584407] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049375.146117372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049375.147181409] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049375.147782729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049375.148229144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049375.244751350] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049375.245637205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049375.246073300] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049375.247620975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049375.248613036] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049375.335188419] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049375.337394942] [sailbot.teensy]: Wind angle: 3 -[mux-7] [INFO] [1746049375.337917622] [sailbot.mux]: algo sail angle: 90 -[trim_sail-4] [INFO] [1746049375.338028074] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049375.338340721] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049375.339349366] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049375.340297483] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049375.344373991] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049375.345249699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049375.345535892] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049375.347101392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049375.348081065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049375.444739261] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049375.445395422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049375.445973358] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049375.447198675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049375.448328122] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049375.502450354] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972826 Long: -76.50298031 -[vectornav-1] [INFO] [1746049375.503485260] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.38, -3.235, 7.196) -[mux-7] [INFO] [1746049375.545048659] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049375.545915136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049375.546387221] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049375.548032046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049375.549090421] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049375.585826826] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049375.588716071] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049375.588711835] [sailbot.teensy]: Wind angle: 6 -[teensy-2] [INFO] [1746049375.589848554] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049375.590231740] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049375.590812435] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049375.591752020] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049375.645501741] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049375.646433085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049375.647170672] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049375.648145360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049375.648713820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049375.745739762] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049375.746702083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049375.747531668] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049375.749204174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049375.750550043] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049375.835670143] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049375.838717115] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049375.839098220] [sailbot.teensy]: Wind angle: 6 -[mux-7] [INFO] [1746049375.839137484] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049375.839544939] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049375.840419195] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049375.840978824] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049375.844421152] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049375.845355732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049375.845581203] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049375.847189460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049375.848242171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049375.945215992] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049375.945998049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049375.946750484] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049375.949048866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049375.950216709] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049376.002560313] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972811 Long: -76.50298033 -[vectornav-1] [INFO] [1746049376.003641674] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.351, -3.232, 7.014) -[mux-7] [INFO] [1746049376.044922085] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049376.045864547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049376.046131563] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049376.047746441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049376.048815896] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049376.085738280] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049376.088890155] [sailbot.teensy]: Wind angle: 6 -[trim_sail-4] [INFO] [1746049376.088896865] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049376.089249196] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049376.089956154] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049376.090858667] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049376.091701364] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049376.145366205] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049376.146777719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049376.147383616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049376.149094005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049376.150221156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049376.245162950] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049376.245883571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049376.246629804] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049376.248046694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049376.249100235] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049376.335665512] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049376.338327673] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049376.338487860] [sailbot.teensy]: Wind angle: 1 -[teensy-2] [INFO] [1746049376.339533996] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049376.339757920] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049376.340506526] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049376.340925352] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049376.344506365] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049376.345166967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049376.345765563] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049376.346983920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049376.348029274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049376.445694559] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049376.446287917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049376.447484507] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049376.448776753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049376.449508867] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049376.502562344] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972815 Long: -76.50298024 -[vectornav-1] [INFO] [1746049376.503602859] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.363, -3.233, 7.109) -[mux-7] [INFO] [1746049376.545342823] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049376.545885579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049376.547050267] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049376.547961701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049376.549042687] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049376.585734882] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049376.588197656] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049376.588903014] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049376.589339186] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049376.590313164] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049376.590419240] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049376.591181287] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049376.645224112] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049376.646000215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049376.646766697] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049376.647907442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049376.648530859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049376.744893663] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049376.745704230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049376.746118800] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049376.747624429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049376.748728307] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049376.835430352] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049376.837921897] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049376.838061387] [sailbot.teensy]: Wind angle: 335 -[mux-7] [INFO] [1746049376.838658645] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049376.839011322] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049376.839912462] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049376.840827661] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049376.844256574] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049376.844815734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049376.845454153] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049376.846545832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049376.847631838] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049376.945371560] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049376.946418421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049376.947096475] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049376.948848123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049376.950014342] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049377.002577132] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972786 Long: -76.50298055 -[vectornav-1] [INFO] [1746049377.003709675] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.374, -3.193, 7.218) -[mux-7] [INFO] [1746049377.045615281] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049377.047285702] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049377.047548741] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049377.049693976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049377.050905581] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049377.085570104] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049377.088067699] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049377.088296274] [sailbot.teensy]: Wind angle: 326 -[teensy-2] [INFO] [1746049377.089501946] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049377.089991657] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049377.090408423] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049377.091276104] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049377.145580437] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049377.146871612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049377.147232064] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049377.148504788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049377.149030701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049377.245360183] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049377.246120692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049377.247212632] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049377.249230283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049377.250348548] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049377.335845845] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049377.338817970] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049377.338833319] [sailbot.teensy]: Wind angle: 323 -[mux-7] [INFO] [1746049377.339369489] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049377.339799890] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049377.340700976] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049377.341556373] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049377.344377763] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049377.344924449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049377.345474209] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049377.346640922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049377.347694328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049377.445246182] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049377.446323786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049377.446695120] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049377.448465748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049377.448951340] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049377.503794627] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972788 Long: -76.50298064 -[vectornav-1] [INFO] [1746049377.505329332] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.378, -3.143, 7.227) -[mux-7] [INFO] [1746049377.545195699] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049377.546087758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049377.546464422] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049377.548014073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049377.549082167] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049377.585702150] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049377.588592543] [sailbot.teensy]: Wind angle: 328 -[trim_sail-4] [INFO] [1746049377.588839293] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049377.589448637] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049377.589564190] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049377.590490393] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049377.591367416] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049377.645193396] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049377.645891508] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049377.646917095] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049377.647950357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049377.649214875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049377.745742494] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049377.746825976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049377.747966129] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049377.749186745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049377.749648062] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049377.835354891] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049377.837639500] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049377.837685347] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049377.839032840] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049377.839360902] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049377.839750502] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049377.840120655] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049377.844482667] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049377.844805586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049377.846106496] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049377.846480206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049377.847731568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049377.945508567] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049377.946245765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049377.947297553] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049377.948663051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049377.949761911] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049378.002377569] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972764 Long: -76.50298061 -[vectornav-1] [INFO] [1746049378.003602699] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.33000000000004, -3.184, 7.095) -[mux-7] [INFO] [1746049378.045217950] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049378.045802177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049378.046574128] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049378.048341255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049378.049488937] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049378.085155294] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049378.086821678] [sailbot.teensy]: Wind angle: 335 -[teensy-2] [INFO] [1746049378.087691752] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049378.087305214] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049378.088541235] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049378.088686538] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049378.089432120] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049378.145677128] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049378.146455661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049378.148744934] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049378.148775915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049378.149311812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049378.245591998] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049378.246357588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049378.247415062] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049378.247887284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049378.248436186] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049378.335906659] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049378.338109307] [sailbot.teensy]: Wind angle: 318 -[trim_sail-4] [INFO] [1746049378.339619865] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049378.339803866] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049378.340076765] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049378.341035042] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049378.342074329] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049378.344363211] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049378.344978539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049378.345449981] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049378.346681723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049378.347810177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049378.445505235] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049378.447099466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049378.447098486] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049378.449808856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049378.450923134] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049378.502648282] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972755 Long: -76.50298068 -[vectornav-1] [INFO] [1746049378.503802431] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.387, -3.387, 7.436) -[mux-7] [INFO] [1746049378.545147056] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049378.546215414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049378.546471144] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049378.548401854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049378.549273615] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049378.585499203] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049378.587909569] [sailbot.teensy]: Wind angle: 321 -[trim_sail-4] [INFO] [1746049378.588182372] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049378.589311035] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049378.590222749] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049378.591171149] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049378.592131908] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049378.645250506] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049378.645907424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049378.646699393] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049378.648433205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049378.649567069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049378.744933414] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049378.745693248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049378.746293981] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049378.747761626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049378.748943453] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049378.835560658] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049378.837936290] [sailbot.teensy]: Wind angle: 331 -[trim_sail-4] [INFO] [1746049378.838532729] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049378.838705555] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049378.839126938] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049378.839554433] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049378.839944995] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049378.844649406] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049378.845300528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049378.845931710] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049378.847525509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049378.848558046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049378.945529368] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049378.946134125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049378.947347421] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049378.948346260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049378.949576905] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049379.002823955] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972758 Long: -76.50298086 -[vectornav-1] [INFO] [1746049379.004055814] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.426, -3.452, 7.419) -[mux-7] [INFO] [1746049379.045543814] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049379.046323677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049379.047191195] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049379.048523757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049379.049089329] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049379.085978926] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049379.088528519] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049379.089074154] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049379.089611671] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049379.090330589] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049379.090561014] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049379.091411417] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049379.145184152] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049379.145778913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049379.146582661] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049379.147755232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049379.148815660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049379.245373825] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049379.246330481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049379.246960351] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049379.248477139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049379.249414626] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049379.336035970] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049379.338980609] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049379.339269650] [sailbot.teensy]: Wind angle: 335 -[mux-7] [INFO] [1746049379.339712119] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049379.340431614] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049379.341462484] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049379.342244765] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049379.344297057] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049379.345033122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049379.345697293] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049379.347055668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049379.348348560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049379.445938441] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049379.446549327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049379.448108132] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049379.449056423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049379.451055557] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049379.502613808] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972759 Long: -76.50298089 -[vectornav-1] [INFO] [1746049379.504094218] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.807, -3.314, 7.919) -[mux-7] [INFO] [1746049379.545434124] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049379.546270292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049379.547127043] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049379.548566152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049379.549443430] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049379.585260080] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049379.587452000] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049379.588393257] [sailbot.teensy]: Wind angle: 332 -[mux-7] [INFO] [1746049379.588409654] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049379.589363737] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049379.590393270] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049379.591218703] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049379.645274266] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049379.645798316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049379.646903711] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049379.649296028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049379.650345058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049379.745566617] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049379.746168279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049379.747755518] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049379.748408584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049379.749654791] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049379.835411495] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049379.837173467] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049379.837744487] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049379.838098319] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049379.838976963] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049379.839160276] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049379.839909645] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049379.844498711] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049379.845142913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049379.845730269] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049379.847007125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049379.848172265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049379.945363399] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049379.945891400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049379.946985824] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049379.947951234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049379.948931659] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049380.002868932] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972782 Long: -76.50298116 -[vectornav-1] [INFO] [1746049380.004074897] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.76800000000003, -3.284, 8.269) -[mux-7] [INFO] [1746049380.045582382] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049380.046132091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049380.047501613] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049380.048390441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049380.049688247] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049380.085807617] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049380.088233741] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049380.088623796] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049380.090207631] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049380.090482539] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049380.091355794] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049380.092225181] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049380.145195457] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049380.146061607] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049380.146629634] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049380.148279509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049380.149312036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049380.245098598] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049380.245417439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049380.246310823] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049380.247152688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049380.248344628] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049380.335532133] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049380.338161719] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049380.339124118] [sailbot.teensy]: Wind angle: 340 -[mux-7] [INFO] [1746049380.339267584] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049380.339613957] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049380.339983573] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049380.340392718] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049380.344369458] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049380.344979862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049380.345464243] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049380.346717816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049380.347766089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049380.445679447] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049380.447153109] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049380.447163912] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049380.449167706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049380.450306531] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049380.502279742] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972796 Long: -76.5029812 -[vectornav-1] [INFO] [1746049380.503293496] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.828, -3.377, 8.561) -[mux-7] [INFO] [1746049380.545159909] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049380.546110675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049380.546835576] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049380.548031952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049380.548656232] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049380.585397837] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049380.587656716] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049380.588834155] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049380.587683974] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049380.589755599] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049380.590002305] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049380.590614337] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049380.645264161] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049380.646157888] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049380.648081358] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049380.648479446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049380.649667941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049380.745561737] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049380.746583909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049380.747387783] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049380.748821826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049380.749282949] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049380.834400563] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049380.835226494] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049380.835628051] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049380.835453786] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049380.836574791] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049380.836792746] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049380.837297270] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049380.843592040] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049380.844104354] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049380.843880197] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049380.845269702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049380.845762765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049380.944803536] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049380.945374050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049380.945936704] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049380.947193123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049380.948526349] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049381.002888406] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972807 Long: -76.50298133 -[vectornav-1] [INFO] [1746049381.004140424] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.821, -3.378, 8.644) -[mux-7] [INFO] [1746049381.045474186] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049381.046874902] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049381.046516181] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049381.048651198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049381.049824115] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049381.085888115] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049381.088351687] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049381.088512760] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049381.089177287] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049381.089704386] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049381.090883592] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049381.091785497] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049381.145664367] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049381.146755289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049381.147237933] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049381.148801172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049381.150069798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049381.245120490] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049381.245604027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049381.246457729] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049381.247493626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049381.247996564] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049381.335509883] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049381.337523150] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049381.337854346] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049381.338545247] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049381.339508850] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049381.339627554] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049381.340437967] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049381.344423507] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049381.345059489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049381.345515112] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049381.346791972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049381.347860992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049381.445422197] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049381.446281835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049381.447046847] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049381.448619345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049381.449827649] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049381.502535339] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972802 Long: -76.50298144 -[vectornav-1] [INFO] [1746049381.503610980] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.738, -3.25, 8.127) -[mux-7] [INFO] [1746049381.544679298] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049381.545263166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049381.545784845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049381.546963345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049381.547994324] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049381.585477135] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049381.588012226] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049381.588224629] [sailbot.teensy]: Wind angle: 338 -[teensy-2] [INFO] [1746049381.589176238] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049381.589403982] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049381.590097701] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049381.591024406] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049381.644858757] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049381.645395175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049381.646388096] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049381.647145179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049381.648375260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049381.745261067] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049381.745803614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049381.747097641] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049381.747952850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049381.748858278] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049381.835438254] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049381.837771232] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049381.838191468] [sailbot.teensy]: Wind angle: 342 -[mux-7] [INFO] [1746049381.838674032] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049381.838818556] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049381.839194956] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049381.839554291] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049381.844391509] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049381.844933127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049381.845517354] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049381.846646170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049381.847840083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049381.945487945] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049381.946248413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049381.947128676] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049381.948374726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049381.949348812] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049382.002590472] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972805 Long: -76.50298156 -[vectornav-1] [INFO] [1746049382.003681497] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.622, -3.259, 7.317) -[mux-7] [INFO] [1746049382.045076008] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049382.045739002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049382.046351525] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049382.047504108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049382.048676877] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049382.085540237] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049382.088146096] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049382.089184888] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049382.090095935] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049382.091038918] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049382.091934749] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049382.092777406] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049382.145326317] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049382.145901651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049382.146882075] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049382.147925564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049382.148664393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049382.245231162] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049382.246036256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049382.246684734] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049382.248110602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049382.249362192] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049382.335491474] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049382.337486341] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049382.337883480] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049382.338447071] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049382.339342992] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049382.340056821] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049382.340233249] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049382.344386428] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049382.345538142] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049382.345116223] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049382.346928902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049382.347919394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049382.445143793] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049382.445774898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049382.446592457] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049382.447963964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049382.448623520] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049382.502628710] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972831 Long: -76.50298149 -[vectornav-1] [INFO] [1746049382.504164402] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.73199999999997, -3.311, 9.457) -[mux-7] [INFO] [1746049382.545078788] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049382.545734317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049382.546445383] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049382.547689399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049382.548793220] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049382.585531476] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049382.588413169] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049382.588745041] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049382.589394462] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049382.589452016] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049382.590921261] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049382.591771907] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049382.645422070] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049382.646560344] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049382.646965972] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049382.648303424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049382.648879088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049382.745382891] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049382.745999651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049382.746978896] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049382.749531828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049382.750713105] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049382.835348667] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049382.837581754] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049382.837847937] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049382.838783682] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049382.838625395] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049382.839660742] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049382.840527566] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049382.844538848] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049382.844922335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049382.845676030] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049382.846613410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049382.847661896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049382.945559391] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049382.946229326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049382.948258217] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049382.948555205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049382.949135179] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049383.002757649] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972858 Long: -76.50298144 -[vectornav-1] [INFO] [1746049383.004105070] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.61199999999997, -3.291, 8.63) -[mux-7] [INFO] [1746049383.045426014] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049383.046298271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049383.046998644] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049383.048697175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049383.049283920] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049383.086037067] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049383.089372989] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049383.089734519] [sailbot.teensy]: Wind angle: 340 -[mux-7] [INFO] [1746049383.089745645] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049383.090758107] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049383.091631477] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049383.092473189] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049383.145172642] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049383.145956008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049383.146519696] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049383.147827015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049383.149011133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049383.245272377] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049383.246587208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049383.246698110] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049383.248623241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049383.249146369] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049383.335511090] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049383.338343646] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049383.338748850] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049383.339032910] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049383.339962840] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049383.340830575] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049383.341680143] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049383.344303545] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049383.345158426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049383.345743121] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049383.347804913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049383.348903036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049383.445195328] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049383.446164921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049383.446686077] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049383.448210090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049383.449363037] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049383.502466177] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972858 Long: -76.50298131 -[vectornav-1] [INFO] [1746049383.503483327] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.578, -3.288, 8.059) -[mux-7] [INFO] [1746049383.545232981] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049383.546153844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049383.546796446] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049383.548464673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049383.548962148] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049383.585819854] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049383.588694612] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049383.588888049] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049383.589566888] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049383.590109867] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049383.591049731] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049383.591880879] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049383.645438954] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049383.646361055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049383.647119686] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049383.648705669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049383.649774441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049383.745513770] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049383.746682477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049383.747172785] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049383.749309428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049383.750457005] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049383.835495165] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049383.838231857] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049383.839529470] [sailbot.teensy]: Wind angle: 336 -[mux-7] [INFO] [1746049383.839811480] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049383.840581488] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049383.841589476] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049383.842010232] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049383.844402723] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049383.845006616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049383.845575865] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049383.846878066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049383.848020800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049383.945449471] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049383.946355227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049383.947030823] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049383.948599253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049383.949108993] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049384.002415756] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972849 Long: -76.50298127 -[vectornav-1] [INFO] [1746049384.003587783] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.582, -3.303, 8.161) -[mux-7] [INFO] [1746049384.045192524] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049384.046102103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049384.047055832] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049384.048348588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049384.049482155] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049384.085504789] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049384.087938670] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049384.088558064] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049384.088922265] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049384.090072215] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049384.090967478] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049384.091793189] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049384.145174874] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049384.146507124] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049384.147516143] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049384.149284600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049384.150431205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049384.245488478] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049384.246463248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049384.247557265] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049384.248530608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049384.249079377] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049384.335712504] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049384.338628805] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049384.339156295] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049384.339592880] [sailbot.teensy]: Wind angle: 335 -[teensy-2] [INFO] [1746049384.340566240] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049384.341352733] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049384.341736371] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049384.344423530] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049384.345145315] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049384.345712903] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049384.347315200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049384.348488257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049384.445164962] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049384.446089317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049384.446527121] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049384.448088551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049384.449197242] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049384.502487928] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972856 Long: -76.5029813 -[vectornav-1] [INFO] [1746049384.503505970] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.619, -3.327, 8.231) -[mux-7] [INFO] [1746049384.545241204] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049384.546095931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049384.546867997] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049384.549011621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049384.550051821] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049384.585637489] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049384.588304452] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049384.588527483] [sailbot.teensy]: Wind angle: 336 -[mux-7] [INFO] [1746049384.589042647] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049384.589450578] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049384.590320472] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049384.591163556] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049384.645109521] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049384.646097839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049384.646683190] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049384.648732177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049384.649910102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049384.745745698] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049384.747141738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049384.747463705] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049384.748910666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049384.749716692] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049384.835595740] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049384.838127572] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049384.838253334] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049384.839520303] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049384.839951916] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049384.840995698] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049384.841932233] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049384.844364676] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049384.845108921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049384.845436782] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049384.847025266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049384.848029095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049384.945244692] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049384.946144948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049384.946711206] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049384.948247625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049384.949350403] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049385.002619466] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972848 Long: -76.50298134 -[vectornav-1] [INFO] [1746049385.003848841] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.622, -3.274, 8.464) -[mux-7] [INFO] [1746049385.045127435] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049385.045947297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049385.046488043] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049385.048306580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049385.049401294] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049385.085575303] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049385.087637473] [sailbot.teensy]: Wind angle: 335 -[teensy-2] [INFO] [1746049385.088747181] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049385.088577612] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049385.089516500] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049385.089823435] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049385.090749637] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049385.145313148] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049385.145951946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049385.146646850] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049385.148050290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049385.149243277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049385.245678197] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049385.246238628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049385.247696338] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049385.248822200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049385.249423769] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049385.335536647] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049385.338126004] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049385.338491654] [sailbot.teensy]: Wind angle: 335 -[teensy-2] [INFO] [1746049385.338945640] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049385.338748645] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049385.339332239] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049385.339885609] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049385.344436233] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049385.345074001] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049385.345634779] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049385.346795265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049385.347820652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049385.445606345] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049385.446683997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049385.447278620] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049385.449004796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049385.449491677] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049385.502698070] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972849 Long: -76.50298127 -[vectornav-1] [INFO] [1746049385.503832838] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.618, -3.277, 8.656) -[mux-7] [INFO] [1746049385.545408995] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049385.546213496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049385.547105877] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049385.550201299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049385.551239501] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049385.585668039] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049385.588307657] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049385.588543663] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049385.589280079] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049385.590193070] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049385.590370180] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049385.591257587] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049385.645394629] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049385.646228470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049385.647785351] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049385.648554516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049385.649665623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049385.745403408] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049385.746230721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049385.747230553] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049385.749281859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049385.750457299] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049385.835644961] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049385.837943755] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049385.839250155] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049385.838484917] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049385.839023861] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049385.839867364] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049385.840237580] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049385.844474519] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049385.845074662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049385.845577466] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049385.846806085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049385.847831822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049385.945649502] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049385.946544410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049385.947480911] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049385.949029028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049385.950909729] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049386.002474692] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972852 Long: -76.5029812 -[vectornav-1] [INFO] [1746049386.003493717] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.625, -3.262, 8.506) -[mux-7] [INFO] [1746049386.045144453] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049386.045977897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049386.046811357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049386.048003326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049386.049068948] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049386.085648579] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049386.087943435] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049386.089066477] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049386.088562456] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049386.089888493] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049386.089996049] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049386.090969277] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049386.145788957] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049386.146559314] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049386.148174107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049386.147740651] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049386.148732462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049386.245294778] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049386.246202526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049386.246800210] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049386.248694519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049386.249751187] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049386.335427227] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049386.337349394] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049386.338197731] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049386.338318966] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049386.338522329] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049386.339270991] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049386.340130783] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049386.344535431] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049386.344952174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049386.345646143] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049386.346651091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049386.347756104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049386.445277024] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049386.445778172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049386.446877700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049386.447703376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049386.448863529] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049386.502912549] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972846 Long: -76.50298099 -[vectornav-1] [INFO] [1746049386.504342598] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.621, -3.262, 8.474) -[mux-7] [INFO] [1746049386.545555157] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049386.546372481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049386.547371776] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049386.548506416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049386.549069371] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049386.586004087] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049386.589186047] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049386.589490447] [sailbot.teensy]: Wind angle: 337 -[mux-7] [INFO] [1746049386.589816713] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049386.591143747] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049386.592046637] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049386.592933327] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049386.645970928] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049386.646947689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049386.648006370] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049386.649304063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049386.650471169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049386.745660960] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049386.746182436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049386.747495024] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049386.748494020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049386.749686392] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049386.835724086] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049386.838416741] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049386.838670640] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049386.839234564] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049386.839476812] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049386.839898898] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049386.840266388] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049386.844723614] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049386.845315943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049386.847198429] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049386.847435791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049386.848656353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049386.945273506] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049386.946254071] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049386.946775146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049386.948549202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049386.949744150] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049387.002961281] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972857 Long: -76.50298081 -[vectornav-1] [INFO] [1746049387.004331986] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.66700000000003, -3.279, 8.801) -[mux-7] [INFO] [1746049387.045509617] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049387.046510862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049387.047086419] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049387.048927655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049387.050084225] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049387.085970681] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049387.088890399] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049387.089945320] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049387.089110385] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049387.090112646] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049387.090893685] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049387.091786556] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049387.145724155] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049387.147527611] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049387.147891603] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049387.149904707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049387.151001978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049387.245145974] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049387.246091822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049387.246545503] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049387.248491479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049387.248986018] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049387.335450538] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049387.337257367] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049387.337777434] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049387.338184113] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049387.338642252] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049387.339111416] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049387.340015781] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049387.344485034] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049387.345025413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049387.345574422] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049387.346707973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049387.347861682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049387.445552138] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049387.447152321] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049387.447187017] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049387.448966159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049387.449442530] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049387.502651789] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972871 Long: -76.50298076 -[vectornav-1] [INFO] [1746049387.503747552] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.7, -3.29, 8.941) -[mux-7] [INFO] [1746049387.544866911] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049387.545448677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049387.546014626] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049387.547400200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049387.548527923] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049387.585587136] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049387.587352782] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049387.587981339] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049387.588287829] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049387.589230389] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049387.590038629] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049387.590090019] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049387.645609985] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049387.646124952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049387.647513828] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049387.648490420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049387.650274307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049387.745404831] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049387.745975306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049387.747475100] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049387.748101277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049387.749197174] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049387.835439159] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049387.838032829] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049387.838307406] [sailbot.teensy]: Wind angle: 336 -[mux-7] [INFO] [1746049387.838424806] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049387.839331287] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049387.840233657] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049387.841083827] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049387.844368674] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049387.844851993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049387.845724168] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049387.846663505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049387.847671465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049387.945671808] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049387.946323048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049387.948681210] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049387.948811255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049387.950005969] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049388.002712910] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972878 Long: -76.50298096 -[vectornav-1] [INFO] [1746049388.003956078] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.634, -3.31, 8.344) -[mux-7] [INFO] [1746049388.045306416] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049388.046266442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049388.046876834] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049388.048483175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049388.049673242] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049388.085782523] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049388.088633505] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049388.089037913] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049388.090066427] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049388.090773744] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049388.091294500] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049388.092212428] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049388.145387783] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049388.146417573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049388.148453606] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049388.148858928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049388.150141962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049388.245524015] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049388.246322456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049388.247114317] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049388.249156220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049388.250383357] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049388.335910701] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049388.338158835] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049388.339323423] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049388.338997677] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049388.340099164] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049388.340307150] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049388.340773401] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049388.344958775] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049388.345435017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049388.346307619] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049388.347230210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049388.348305034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049388.445034833] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049388.445767030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049388.446413725] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049388.447827001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049388.448976056] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049388.502853733] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972882 Long: -76.50298083 -[vectornav-1] [INFO] [1746049388.504067764] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.642, -3.289, 8.275) -[mux-7] [INFO] [1746049388.544860217] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049388.545427179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049388.546069246] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049388.547360841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049388.548273618] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049388.585554032] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049388.587638225] [sailbot.teensy]: Wind angle: 331 -[trim_sail-4] [INFO] [1746049388.588144608] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049388.588649212] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049388.589536226] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049388.589761951] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049388.590411490] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049388.645059493] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049388.645973393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049388.646575311] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049388.648389963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049388.649018038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049388.745709572] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049388.746819191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049388.747440125] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049388.749661542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049388.750842355] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049388.835638517] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049388.838238898] [sailbot.teensy]: Wind angle: 332 -[teensy-2] [INFO] [1746049388.839252420] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049388.838401295] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049388.839551217] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049388.840291015] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049388.841268045] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049388.844364278] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049388.844892299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049388.845450037] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049388.846617525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049388.847767561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049388.945325530] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049388.946219333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049388.946801299] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049388.948433984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049388.949173379] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049389.002496472] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972888 Long: -76.50298083 -[vectornav-1] [INFO] [1746049389.003621260] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.605, -3.271, 8.086) -[mux-7] [INFO] [1746049389.045503389] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049389.046757496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049389.047751332] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049389.049235350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049389.050503728] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049389.085477056] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049389.088048772] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049389.089017450] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049389.089474379] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049389.090427193] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049389.091289334] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049389.092209785] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049389.145280484] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049389.146191841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049389.146827274] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049389.149157502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049389.150201471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049389.245532243] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049389.246633942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049389.247309154] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049389.249209309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049389.250337767] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049389.335646714] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049389.338262223] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049389.338289529] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049389.339314413] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049389.339615461] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049389.340251734] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049389.340634219] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049389.344771849] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049389.345456046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049389.345957452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049389.347191757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049389.348218172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049389.445645690] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049389.446908227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049389.447978882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049389.449919425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049389.450902853] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049389.502519012] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972894 Long: -76.50298081 -[vectornav-1] [INFO] [1746049389.503605717] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.704, -3.265, 8.985) -[mux-7] [INFO] [1746049389.545227650] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049389.546400035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049389.546743023] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049389.548714250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049389.549724887] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049389.585456884] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049389.587383812] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049389.587960888] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049389.588426985] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049389.589304995] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049389.589363613] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049389.590498658] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049389.645376572] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049389.646704232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049389.646876100] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049389.648852767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049389.650187879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049389.745284681] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049389.746026500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049389.747840518] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049389.748555239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049389.749769896] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049389.835871994] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049389.838582467] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049389.838919046] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049389.840347776] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049389.840952656] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049389.841856752] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049389.842336410] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049389.844122738] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049389.844840060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049389.845303814] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049389.846671009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049389.848410707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049389.945847213] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049389.946464915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049389.947837539] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049389.949209897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049389.951153844] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049390.002420735] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972895 Long: -76.502981 -[vectornav-1] [INFO] [1746049390.003427972] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.685, -3.274, 8.832) -[mux-7] [INFO] [1746049390.045396694] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049390.046194521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049390.048331169] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049390.048457907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049390.049655278] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049390.085958428] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049390.088977849] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049390.088993846] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049390.090126275] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049390.090654471] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049390.091270581] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049390.092302551] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049390.145904903] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049390.146840714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049390.147448700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049390.149200383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049390.150575176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049390.245564692] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049390.246453665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049390.247151306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049390.248794435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049390.250030138] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049390.335647506] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049390.337874583] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049390.338428640] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049390.338910229] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049390.339555232] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049390.339833858] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049390.340798685] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049390.344447482] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049390.345070246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049390.345616664] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049390.346911433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049390.348036163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049390.444938803] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049390.445643874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049390.446250592] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049390.447578870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049390.448806179] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049390.502912445] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972908 Long: -76.50298112 -[vectornav-1] [INFO] [1746049390.504580141] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.622, -3.289, 8.308) -[mux-7] [INFO] [1746049390.544928562] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049390.545593251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049390.546211720] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049390.547481321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049390.548696453] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049390.585890616] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049390.588720570] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049390.589126963] [sailbot.teensy]: Wind angle: 331 -[teensy-2] [INFO] [1746049390.590151494] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049390.590151942] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049390.591145190] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049390.592145175] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049390.645115314] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049390.645905554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049390.646537783] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049390.648041743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049390.649334026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049390.745684347] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049390.746650772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049390.747543123] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049390.751482601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049390.752665423] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049390.835650995] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049390.838371858] [sailbot.teensy]: Wind angle: 332 -[teensy-2] [INFO] [1746049390.839345162] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049390.838804348] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049390.839313718] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049390.840285465] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049390.841161669] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049390.844311441] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049390.845087109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049390.845428504] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049390.846871418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049390.847884174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049390.945664340] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049390.946539352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049390.947479551] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049390.949206496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049390.950419604] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049391.003312822] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972901 Long: -76.50298124 -[vectornav-1] [INFO] [1746049391.004994097] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.623, -3.273, 8.412) -[mux-7] [INFO] [1746049391.045265650] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049391.046134534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049391.046793634] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049391.048497597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049391.049650162] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049391.085590420] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049391.087680770] [sailbot.teensy]: Wind angle: 332 -[trim_sail-4] [INFO] [1746049391.088395097] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049391.088797965] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049391.089495484] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049391.089756675] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049391.090614305] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049391.145381471] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049391.146182704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049391.147076082] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049391.148499313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049391.149032314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049391.244617085] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049391.245911399] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049391.246740691] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049391.248199030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049391.248708156] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049391.335931816] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049391.339031720] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049391.339356927] [sailbot.teensy]: Wind angle: 333 -[mux-7] [INFO] [1746049391.339495296] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049391.339789029] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049391.340201584] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049391.340543337] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049391.344635597] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049391.345871548] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049391.346074837] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049391.347845985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049391.348998783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049391.445688624] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049391.446790327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049391.447518897] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049391.449650755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049391.450821761] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049391.502681022] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972906 Long: -76.50298127 -[vectornav-1] [INFO] [1746049391.503834878] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.719, -3.28, 9.017) -[mux-7] [INFO] [1746049391.544973268] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049391.545641927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049391.546144159] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049391.547609558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049391.548684819] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049391.585639643] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049391.587801454] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746049391.588836821] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049391.588479104] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049391.589271591] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049391.589746574] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049391.590608154] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049391.645501921] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049391.646411582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049391.647068621] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049391.648988997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049391.649522286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049391.745711269] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049391.746689437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049391.747435837] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049391.749105726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049391.749658220] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049391.835615245] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049391.838261159] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049391.838832902] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049391.839237839] [sailbot.teensy]: Wind angle: 332 -[teensy-2] [INFO] [1746049391.839655024] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049391.840032934] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049391.840383200] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049391.844539112] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049391.845086227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049391.845983106] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049391.846874906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049391.848067728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049391.945625190] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049391.947347596] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049391.947460683] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049391.949761596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049391.950838639] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049392.002830468] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972889 Long: -76.50298125 -[vectornav-1] [INFO] [1746049392.004475619] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.60699999999997, -3.265, 8.327) -[mux-7] [INFO] [1746049392.045503540] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049392.046347017] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049392.048589834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049392.047226603] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049392.049117052] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049392.085821652] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049392.087989206] [sailbot.teensy]: Wind angle: 332 -[trim_sail-4] [INFO] [1746049392.088700976] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049392.089098218] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049392.090126129] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049392.090829078] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049392.091052225] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049392.145205046] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049392.146318879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049392.146777967] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049392.148573705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049392.149745401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049392.245456585] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049392.247212095] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049392.247218810] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049392.248320949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049392.248840198] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049392.335706933] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049392.338588904] [sailbot.teensy]: Wind angle: 332 -[trim_sail-4] [INFO] [1746049392.338842915] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049392.339616344] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049392.340019262] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049392.340480409] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049392.341083099] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049392.344413937] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049392.344918672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049392.345651688] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049392.346678622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049392.348439955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049392.444917638] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049392.445821257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049392.446218872] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049392.448487271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049392.449624507] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049392.502608682] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972891 Long: -76.50298119 -[vectornav-1] [INFO] [1746049392.503773930] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.547, -3.258, 7.874) -[mux-7] [INFO] [1746049392.545416051] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049392.546387968] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049392.546935078] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049392.548307593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049392.548774103] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049392.585727364] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049392.588768509] [sailbot.teensy]: Wind angle: 332 -[teensy-2] [INFO] [1746049392.589780633] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049392.589176446] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049392.590197628] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049392.590667944] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049392.591508415] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049392.645233478] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049392.646282069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049392.646789990] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049392.648880734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049392.649915053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049392.745593235] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049392.746525559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049392.747337429] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049392.748435705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049392.748951876] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049392.835462738] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049392.837351247] [sailbot.teensy]: Wind angle: 332 -[trim_sail-4] [INFO] [1746049392.838186135] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049392.838671500] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049392.839618674] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049392.840280148] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049392.840545322] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049392.844329193] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049392.844930711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049392.845406849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049392.846774305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049392.847817663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049392.945581542] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049392.946311247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049392.947189442] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049392.949109418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049392.950277568] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049393.002879454] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972877 Long: -76.50298133 -[vectornav-1] [INFO] [1746049393.004539771] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.557, -3.289, 7.922) -[mux-7] [INFO] [1746049393.045190814] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049393.046718757] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049393.047060518] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049393.050022135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049393.050521712] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049393.086151524] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049393.089173203] [sailbot.teensy]: Wind angle: 332 -[teensy-2] [INFO] [1746049393.090288353] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049393.091249145] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049393.090213134] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049393.090638296] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049393.092148562] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049393.146152351] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049393.146855515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049393.148417943] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049393.149148091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049393.150345497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049393.245588417] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049393.246856891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049393.247291015] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049393.249468184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049393.250635476] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049393.335941712] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049393.339052139] [sailbot.teensy]: Wind angle: 332 -[trim_sail-4] [INFO] [1746049393.339046706] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049393.340517831] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049393.341260602] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049393.341624350] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049393.342635947] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049393.344407619] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049393.345406061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049393.345561460] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049393.347294962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049393.348702923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049393.445562505] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049393.446281848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049393.447178701] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049393.448940565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049393.450100802] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049393.502532227] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972857 Long: -76.50298142 -[vectornav-1] [INFO] [1746049393.503862089] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.677, -3.272, 8.778) -[mux-7] [INFO] [1746049393.545294516] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049393.546085328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049393.546816426] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049393.548524904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049393.549604917] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049393.585800555] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049393.588677294] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049393.589173509] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049393.590367511] [sailbot.teensy]: Wind angle: 331 -[teensy-2] [INFO] [1746049393.591312252] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049393.592181385] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049393.593112655] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049393.645579279] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049393.646563231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049393.647181323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049393.649134755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049393.650334504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049393.745319957] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049393.746264517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049393.746887546] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049393.748484935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049393.748911663] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049393.835951181] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049393.838380622] [sailbot.teensy]: Wind angle: 328 -[trim_sail-4] [INFO] [1746049393.839482693] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049393.839947098] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049393.840982818] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049393.841520028] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049393.841638257] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049393.844402578] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049393.845026575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049393.845638698] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049393.847655088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049393.848975077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049393.945241969] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049393.945958656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049393.946782305] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049393.948175009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049393.948641561] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049394.002582146] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972848 Long: -76.5029815 -[vectornav-1] [INFO] [1746049394.003786143] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.699, -3.333, 8.952) -[mux-7] [INFO] [1746049394.045612727] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049394.046543907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049394.047224933] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049394.049052332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049394.050257903] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049394.085656400] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049394.088359430] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049394.088623713] [sailbot.teensy]: Wind angle: 326 -[teensy-2] [INFO] [1746049394.089552947] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049394.089572066] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049394.090478689] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049394.091394311] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049394.145042909] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049394.145735168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049394.146424748] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049394.148643475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049394.149658877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049394.245609243] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049394.246372336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049394.247959417] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049394.248694988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049394.250616040] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049394.335919187] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049394.338522739] [sailbot.teensy]: Wind angle: 322 -[teensy-2] [INFO] [1746049394.339723561] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049394.338934518] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049394.340695074] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049394.340762550] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049394.341692075] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049394.344613416] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049394.345191267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049394.345786723] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049394.346940961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049394.348235623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049394.444806763] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049394.445319255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049394.446076070] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049394.447084870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049394.448137305] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049394.502882879] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972816 Long: -76.50298165 -[vectornav-1] [INFO] [1746049394.504447935] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.741, -3.372, 9.318) -[mux-7] [INFO] [1746049394.545229194] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049394.545807579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049394.546741566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049394.547795216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049394.548892957] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049394.585467773] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049394.587932995] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049394.588464354] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049394.588519968] [sailbot.teensy]: Wind angle: 321 -[teensy-2] [INFO] [1746049394.589449697] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049394.590327840] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049394.591148769] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049394.645453405] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049394.646077786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049394.647104526] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049394.648350720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049394.648894398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049394.745637594] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049394.746496824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049394.747745000] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049394.748926131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049394.750218120] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049394.835912906] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049394.839043015] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049394.839761533] [sailbot.teensy]: Wind angle: 323 -[mux-7] [INFO] [1746049394.840637694] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049394.840827356] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049394.841695463] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049394.842555063] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049394.844364144] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049394.844891842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049394.846008334] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049394.846737922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049394.847913965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049394.945295489] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049394.945851967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049394.946809621] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049394.948043038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049394.949296353] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049395.002509564] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972806 Long: -76.50298183 -[vectornav-1] [INFO] [1746049395.003734061] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.738, -3.346, 9.34) -[mux-7] [INFO] [1746049395.045284466] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049395.046069945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049395.047389205] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049395.048017689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049395.049116284] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049395.085698131] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049395.088489616] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049395.089395365] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049395.089539449] [sailbot.teensy]: Wind angle: 326 -[teensy-2] [INFO] [1746049395.090511880] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049395.091403488] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049395.092246301] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049395.145439835] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049395.146183846] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049395.147313261] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049395.148318258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049395.150165742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049395.244967001] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049395.245240854] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049395.246126116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049395.246183560] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049395.246642677] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049395.335734363] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049395.337996505] [sailbot.teensy]: Wind angle: 326 -[trim_sail-4] [INFO] [1746049395.338617940] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049395.339090466] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049395.339977359] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049395.340045066] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049395.341028187] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049395.344334821] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049395.345369638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049395.345438967] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049395.347167512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049395.348303933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049395.445526805] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049395.446371827] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049395.448142727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049395.447766291] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049395.448683127] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049395.502780511] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972803 Long: -76.5029819 -[vectornav-1] [INFO] [1746049395.503911239] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.733, -3.362, 9.377) -[mux-7] [INFO] [1746049395.545302960] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049395.546148944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049395.547332147] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049395.548080136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049395.548535139] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049395.585646223] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049395.587748710] [sailbot.teensy]: Wind angle: 327 -[teensy-2] [INFO] [1746049395.588899937] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049395.589317699] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049395.589802558] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049395.589893028] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049395.590714769] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049395.645538608] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049395.646469683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049395.647099841] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049395.649180762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049395.650334930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049395.745775163] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049395.746882068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049395.747471167] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049395.749450588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049395.750792941] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049395.835573295] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049395.837626764] [sailbot.teensy]: Wind angle: 327 -[trim_sail-4] [INFO] [1746049395.839123428] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049395.839498494] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049395.839719708] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049395.840534944] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049395.841331920] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049395.844327614] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049395.844820967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049395.845479381] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049395.846480579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049395.847865737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049395.945498862] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049395.946360646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049395.947173552] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049395.949190530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049395.950440856] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049396.002475801] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972815 Long: -76.50298192 -[vectornav-1] [INFO] [1746049396.003767724] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.71799999999996, -3.401, 9.264) -[mux-7] [INFO] [1746049396.045048734] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049396.045808840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049396.046442913] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049396.047801139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049396.048856392] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049396.085431197] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049396.087489654] [sailbot.teensy]: Wind angle: 327 -[teensy-2] [INFO] [1746049396.088521464] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049396.088632245] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049396.088933642] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049396.089010118] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049396.089340282] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049396.145480385] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049396.146130320] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049396.148144429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049396.148252315] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049396.148680831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049396.245495045] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049396.246323452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049396.247155649] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049396.248875125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049396.250029248] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049396.335679193] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049396.337831899] [sailbot.teensy]: Wind angle: 322 -[trim_sail-4] [INFO] [1746049396.338540055] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049396.338885672] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049396.339671537] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049396.339796253] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049396.340453240] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049396.344516266] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049396.345149440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049396.345591739] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049396.346923101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049396.347954679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049396.444478647] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049396.445506311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049396.445572739] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049396.447729899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049396.448747941] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049396.502586666] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972802 Long: -76.50298199 -[vectornav-1] [INFO] [1746049396.503699904] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.66999999999996, -3.313, 8.909) -[mux-7] [INFO] [1746049396.545193090] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049396.545981228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049396.546702320] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049396.548005728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049396.548726835] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049396.585685579] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049396.588300964] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049396.588538997] [sailbot.teensy]: Wind angle: 319 -[teensy-2] [INFO] [1746049396.589528604] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049396.589955308] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049396.590430837] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049396.591500680] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049396.644791315] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049396.645357053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049396.646050629] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049396.647160770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049396.648344266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049396.745896304] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049396.746668668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049396.748193783] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049396.748888006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049396.749352066] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049396.835979883] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049396.839098505] [sailbot.teensy]: Wind angle: 318 -[trim_sail-4] [INFO] [1746049396.839446927] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049396.840320918] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049396.840342870] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049396.841270201] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049396.841637504] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049396.844186794] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049396.844888782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049396.845638098] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049396.846804105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049396.847908931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049396.945571791] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049396.946485265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049396.947215344] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049396.948007914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049396.948511075] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049397.002392662] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972828 Long: -76.50298233 -[vectornav-1] [INFO] [1746049397.003419253] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.70500000000004, -3.306, 9.049) -[mux-7] [INFO] [1746049397.045340170] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049397.046883789] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049397.047044681] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049397.048980628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049397.049475231] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049397.085902881] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049397.088449340] [sailbot.teensy]: Wind angle: 318 -[trim_sail-4] [INFO] [1746049397.088756066] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049397.089562005] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049397.090463414] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049397.090241318] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049397.091403123] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049397.145223677] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049397.146499119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049397.148448221] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049397.148781198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049397.149865842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049397.245548786] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049397.246546862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049397.247444153] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049397.248574660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049397.249195386] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049397.335653590] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049397.338302905] [sailbot.teensy]: Wind angle: 317 -[teensy-2] [INFO] [1746049397.339315879] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049397.338837927] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746049397.339325300] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049397.340266252] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049397.341166138] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049397.344434657] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049397.345123702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049397.345668805] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049397.346933702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049397.347986864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049397.445713614] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049397.447061107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049397.447517517] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049397.449641367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049397.450740937] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049397.502592394] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972823 Long: -76.50298258 -[vectornav-1] [INFO] [1746049397.503764972] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.71000000000004, -3.247, 9.327) -[mux-7] [INFO] [1746049397.545428043] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049397.546181842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049397.546944815] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049397.548351958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049397.549471870] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049397.586113299] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049397.588687813] [sailbot.teensy]: Wind angle: 317 -[trim_sail-4] [INFO] [1746049397.589178722] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049397.589850168] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049397.590826803] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049397.591219142] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049397.591683643] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049397.645382543] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049397.647010834] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049397.647200718] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049397.649138563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049397.650265864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049397.745630682] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049397.746320178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049397.747446156] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049397.748343226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049397.748895175] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049397.835515326] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049397.837466973] [sailbot.teensy]: Wind angle: 317 -[trim_sail-4] [INFO] [1746049397.838005547] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049397.838445285] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049397.839334392] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049397.839589197] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049397.840253843] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049397.844227294] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049397.844713335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049397.845300196] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049397.846453265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049397.848435598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049397.945759214] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049397.946574145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049397.947524671] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049397.949253325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049397.949803641] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049398.002860798] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972829 Long: -76.50298266 -[vectornav-1] [INFO] [1746049398.004085727] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.71799999999996, -3.242, 9.328) -[mux-7] [INFO] [1746049398.045593011] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049398.046824876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049398.047318281] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049398.049429013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049398.050675065] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049398.085993390] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049398.088788385] [sailbot.teensy]: Wind angle: 315 -[trim_sail-4] [INFO] [1746049398.089090679] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049398.090008506] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049398.091050274] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049398.091538096] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049398.092075535] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049398.145604951] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049398.146579254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049398.147363635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049398.148473934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049398.149403680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049398.245099506] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049398.246312320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049398.246747825] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049398.248356681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049398.248876695] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049398.335513550] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049398.337744942] [sailbot.teensy]: Wind angle: 314 -[trim_sail-4] [INFO] [1746049398.338250988] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049398.338610240] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049398.338979468] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049398.338998183] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049398.339373830] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049398.344444966] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049398.344993110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049398.345619845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049398.346713225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049398.347876108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049398.444018654] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049398.444404248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049398.444618882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049398.446339753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049398.447349794] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049398.502543661] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972828 Long: -76.50298275 -[vectornav-1] [INFO] [1746049398.503587180] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.72900000000004, -3.297, 9.297) -[mux-7] [INFO] [1746049398.545393851] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049398.546160991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049398.546944591] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049398.548547431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049398.549614607] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049398.586038903] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049398.588716457] [sailbot.teensy]: Wind angle: 311 -[teensy-2] [INFO] [1746049398.589950692] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049398.590850260] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746049398.590908223] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049398.590920932] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049398.591804642] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049398.645353817] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049398.645441459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049398.646709159] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049398.647407049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049398.648644367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049398.745533457] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049398.746597688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049398.748000193] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049398.748609327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049398.749922705] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049398.836046606] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049398.839672003] [sailbot.teensy]: Wind angle: 317 -[trim_sail-4] [INFO] [1746049398.839915872] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049398.840817393] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049398.841059555] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049398.841596237] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049398.841990295] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049398.843696918] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049398.844282598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049398.845337503] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049398.846189168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049398.847472187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049398.945984796] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049398.947399188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049398.947844568] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049398.949232179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049398.949806445] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049399.002571244] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972831 Long: -76.50298308 -[vectornav-1] [INFO] [1746049399.004140043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.731, -3.281, 9.372) -[mux-7] [INFO] [1746049399.045619054] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049399.046288201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049399.047347712] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049399.048793105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049399.050031981] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049399.085812085] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049399.087973793] [sailbot.teensy]: Wind angle: 321 -[teensy-2] [INFO] [1746049399.089162274] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049399.089392371] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049399.089798919] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049399.090133402] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049399.091059911] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049399.145481881] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049399.146226849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049399.147135267] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049399.148522350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049399.149601956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049399.245795870] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049399.247041768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049399.248105155] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049399.250143167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049399.251513974] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049399.335769651] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049399.338490165] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049399.338700700] [sailbot.teensy]: Wind angle: 321 -[teensy-2] [INFO] [1746049399.339678068] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049399.339689889] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049399.340595260] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049399.341458529] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049399.344374737] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049399.345025446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049399.345455783] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049399.346675888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049399.347861147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049399.445665032] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049399.446652916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049399.447413285] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049399.449373637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049399.449905385] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049399.502812912] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972823 Long: -76.50298328 -[vectornav-1] [INFO] [1746049399.503967324] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.711, -3.306, 9.314) -[mux-7] [INFO] [1746049399.544773339] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049399.545955460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049399.546091557] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049399.547812581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049399.549008726] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049399.585992165] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049399.589753068] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049399.589815073] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049399.589935449] [sailbot.teensy]: Wind angle: 322 -[teensy-2] [INFO] [1746049399.590987455] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049399.591872512] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049399.592776437] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049399.645561022] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049399.646998433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049399.647551210] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049399.649342078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049399.650396537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049399.745438692] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049399.746121493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049399.747075189] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049399.748298853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049399.748859241] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049399.835576651] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049399.837467173] [sailbot.teensy]: Wind angle: 321 -[trim_sail-4] [INFO] [1746049399.838665998] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049399.839165547] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049399.839955332] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049399.840888461] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049399.841259028] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049399.844440630] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049399.845141118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049399.845583463] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049399.846895827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049399.847996387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049399.945719750] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049399.946730111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049399.947492807] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049399.949334779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049399.950563914] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049400.002649878] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972832 Long: -76.50298342 -[vectornav-1] [INFO] [1746049400.003822352] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.69399999999996, -3.3, 9.622) -[mux-7] [INFO] [1746049400.045125649] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049400.045964192] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049400.047997281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049400.046870726] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049400.049320896] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049400.085575175] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049400.088386582] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049400.088810899] [sailbot.teensy]: Wind angle: 320 -[mux-7] [INFO] [1746049400.089479091] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049400.089772645] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049400.090691357] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049400.091540760] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049400.145707126] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049400.146294197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049400.147514053] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049400.148915636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049400.150683190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049400.245670101] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049400.246329893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049400.247402134] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049400.249760640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049400.250921119] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049400.335656586] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049400.338265832] [sailbot.teensy]: Wind angle: 321 -[trim_sail-4] [INFO] [1746049400.338552703] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049400.338955100] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049400.339063643] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049400.339520456] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049400.339889718] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049400.344493698] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049400.345197454] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049400.345949076] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049400.347290368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049400.348472716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049400.445044817] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049400.445715560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049400.446930728] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049400.447936334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049400.449823987] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049400.502306363] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972805 Long: -76.50298363 -[vectornav-1] [INFO] [1746049400.503328145] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.683, -3.359, 9.508) -[mux-7] [INFO] [1746049400.545299045] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049400.546432871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049400.547006431] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049400.548652160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049400.549392607] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049400.585860026] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049400.589022286] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049400.589546717] [sailbot.teensy]: Wind angle: 322 -[mux-7] [INFO] [1746049400.590041680] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049400.590505449] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049400.591412284] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049400.592252949] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049400.645722378] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049400.646446892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049400.647688758] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049400.650282154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049400.651409925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049400.745254085] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049400.745848539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049400.746853086] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049400.747820701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049400.748966482] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049400.835345949] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049400.838054631] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049400.838092961] [sailbot.teensy]: Wind angle: 322 -[mux-7] [INFO] [1746049400.838959867] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049400.839018142] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049400.839894906] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049400.840493414] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049400.844459315] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049400.845251391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049400.845542563] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049400.847075589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049400.848200693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049400.945502704] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049400.946343697] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049400.947161637] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049400.948884213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049400.950776158] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049401.002832282] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972812 Long: -76.50298397 -[vectornav-1] [INFO] [1746049401.004111184] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.698, -3.286, 9.531) -[mux-7] [INFO] [1746049401.045635305] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049401.046401763] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049401.047944807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049401.048185497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049401.048489871] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049401.085654472] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049401.088004395] [sailbot.teensy]: Wind angle: 325 -[trim_sail-4] [INFO] [1746049401.088871574] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049401.089547459] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049401.090210235] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049401.091178462] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049401.092088953] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049401.145217734] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049401.146051261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049401.146686178] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049401.148093424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049401.149243789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049401.245415855] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049401.246184382] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049401.248752108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049401.247013049] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049401.249266135] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049401.335332372] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049401.337324760] [sailbot.teensy]: Wind angle: 325 -[trim_sail-4] [INFO] [1746049401.337854108] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049401.339004624] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049401.340032826] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049401.340963653] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049401.341848041] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049401.344338822] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049401.344893832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049401.345425604] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049401.346620810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049401.347586700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049401.445153524] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049401.445946422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049401.446616663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049401.448434965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049401.449450391] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049401.502290662] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972813 Long: -76.50298411 -[vectornav-1] [INFO] [1746049401.503305842] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.71000000000004, -3.282, 9.562) -[mux-7] [INFO] [1746049401.546016845] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049401.547025516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049401.548178594] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049401.548392499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049401.548923566] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049401.585405576] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049401.587644827] [sailbot.teensy]: Wind angle: 325 -[trim_sail-4] [INFO] [1746049401.587739735] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049401.588635628] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049401.589538432] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049401.589643423] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049401.590434649] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049401.645084662] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049401.645999351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049401.646511589] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049401.648018680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049401.648494098] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049401.745246212] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049401.745973435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049401.746683405] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049401.748721724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049401.750018538] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049401.835413036] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049401.837386559] [sailbot.teensy]: Wind angle: 324 -[trim_sail-4] [INFO] [1746049401.838328390] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049401.838805226] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049401.838827423] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049401.839288572] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049401.839867531] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049401.844365263] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049401.844862552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049401.845886164] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049401.846555861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049401.847602306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049401.945545511] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049401.946381273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049401.947406105] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049401.948812170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049401.949324421] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049402.002750280] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972786 Long: -76.50298367 -[vectornav-1] [INFO] [1746049402.003925677] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.71799999999996, -3.302, 9.73) -[mux-7] [INFO] [1746049402.045030884] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049402.045801277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049402.046621450] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049402.047814777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049402.048887999] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049402.085856382] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049402.088903421] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049402.089827127] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049402.090044413] [sailbot.teensy]: Wind angle: 321 -[teensy-2] [INFO] [1746049402.091095302] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049402.091988775] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049402.092951664] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049402.145342123] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049402.146388417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049402.146926778] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049402.148661804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049402.149235857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049402.244868508] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049402.245902521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049402.246089513] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049402.247705362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049402.248777319] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049402.335503293] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049402.337467579] [sailbot.teensy]: Wind angle: 324 -[trim_sail-4] [INFO] [1746049402.338268662] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049402.338455227] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049402.339257261] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049402.339474442] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049402.340748472] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049402.344508900] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049402.345500897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049402.345649232] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049402.347312332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049402.348436605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049402.445713032] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049402.447284706] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049402.447582782] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049402.448420908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049402.449004468] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049402.502847931] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972797 Long: -76.50298391 -[vectornav-1] [INFO] [1746049402.504219374] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.701, -3.311, 9.506) -[mux-7] [INFO] [1746049402.545128756] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049402.545688815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049402.546486081] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049402.547714990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049402.548756053] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049402.585576864] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049402.587651858] [sailbot.teensy]: Wind angle: 325 -[teensy-2] [INFO] [1746049402.588751443] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049402.588709545] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049402.589126347] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049402.589663141] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049402.590559658] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049402.645295918] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049402.646092355] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049402.647213029] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049402.648120208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049402.649407655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049402.745440569] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049402.746007752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049402.747327795] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049402.748138620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049402.750090402] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049402.835548613] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049402.838128484] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049402.838686778] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049402.839602710] [sailbot.teensy]: Wind angle: 324 -[teensy-2] [INFO] [1746049402.840564336] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049402.841471778] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049402.842341407] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049402.844385311] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049402.845116706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049402.845766113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049402.846810908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049402.848009716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049402.945290743] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049402.946428253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049402.947221806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049402.948238882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049402.948755275] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049403.002579692] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972778 Long: -76.50298378 -[vectornav-1] [INFO] [1746049403.003720256] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.70799999999997, -3.313, 9.34) -[mux-7] [INFO] [1746049403.045426220] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049403.046919050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049403.047222723] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049403.049632961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049403.050692858] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049403.085502905] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049403.087989547] [sailbot.teensy]: Wind angle: 325 -[teensy-2] [INFO] [1746049403.089095102] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049403.088207259] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049403.089430344] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049403.090004850] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049403.090942830] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049403.145112370] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049403.146021971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049403.146814916] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049403.148095318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049403.149171496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049403.245026786] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049403.245986133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049403.246408810] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049403.248079542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049403.248651306] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049403.335535335] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049403.337331386] [sailbot.teensy]: Wind angle: 323 -[teensy-2] [INFO] [1746049403.338571578] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049403.337919415] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049403.339415189] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049403.339447524] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049403.340377183] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049403.344300708] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049403.344894575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049403.345386726] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049403.346549458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049403.347576272] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049403.445360324] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049403.447060139] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049403.447994798] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049403.448979477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049403.450176768] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049403.502557712] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972755 Long: -76.50298401 -[vectornav-1] [INFO] [1746049403.503796185] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.709, -3.308, 9.368) -[mux-7] [INFO] [1746049403.544980377] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049403.545749070] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049403.546453183] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049403.547722079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049403.548785524] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049403.585148925] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049403.586806848] [sailbot.teensy]: Wind angle: 323 -[trim_sail-4] [INFO] [1746049403.587662810] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049403.587714725] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049403.588678651] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049403.589271938] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049403.589694752] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049403.645147673] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049403.645957317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049403.646544517] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049403.648096613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049403.649212340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049403.745341575] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049403.746834711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049403.747336894] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049403.749234433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049403.750402068] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049403.835671335] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049403.837785184] [sailbot.teensy]: Wind angle: 323 -[teensy-2] [INFO] [1746049403.838840043] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049403.838887229] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049403.839072089] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049403.839351744] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049403.839736034] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049403.844514186] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049403.845271133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049403.845749101] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049403.847036298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049403.848167122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049403.945667510] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049403.946663385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049403.947430704] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049403.949133932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049403.950269709] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049404.002380176] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972725 Long: -76.50298383 -[vectornav-1] [INFO] [1746049404.003488312] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.724, -3.364, 9.252) -[mux-7] [INFO] [1746049404.045221747] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049404.046033646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049404.046676195] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049404.048211346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049404.049301463] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049404.085792834] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049404.088287742] [sailbot.teensy]: Wind angle: 323 -[teensy-2] [INFO] [1746049404.089361939] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049404.088839226] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049404.089875000] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049404.090346796] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049404.090930040] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049404.145538194] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049404.146458053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049404.147204170] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049404.149261157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049404.150397666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049404.245033220] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049404.245992383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049404.246357536] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049404.248311284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049404.248766668] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049404.335860147] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049404.339054968] [sailbot.teensy]: Wind angle: 323 -[trim_sail-4] [INFO] [1746049404.339339116] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049404.340559196] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049404.341222430] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049404.342115640] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049404.343020653] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049404.344753945] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049404.344879137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049404.346169289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049404.346566306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049404.348549450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049404.445782859] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049404.447528670] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049404.446640263] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049404.450030900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049404.450958601] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049404.502568549] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972718 Long: -76.50298361 -[vectornav-1] [INFO] [1746049404.503702654] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.70799999999997, -3.417, 9.215) -[mux-7] [INFO] [1746049404.544834845] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049404.545295712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049404.546003752] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049404.547118912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049404.548148531] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049404.585537125] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049404.588182039] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049404.588215814] [sailbot.teensy]: Wind angle: 323 -[teensy-2] [INFO] [1746049404.589176307] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049404.589834207] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049404.590032416] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049404.590930608] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049404.645281717] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049404.645987867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049404.646902208] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049404.648518102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049404.649054916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049404.745398100] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049404.746283448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049404.747789355] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049404.748626019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049404.749141129] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049404.835695904] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049404.838780798] [sailbot.teensy]: Wind angle: 323 -[trim_sail-4] [INFO] [1746049404.838780832] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049404.839234611] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049404.840220252] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049404.841126564] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049404.841594118] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049404.844469602] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049404.845052451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049404.845735584] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049404.847079787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049404.848402864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049404.945665657] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049404.947310374] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049404.947415674] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049404.949683667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049404.950746456] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049405.002444226] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972726 Long: -76.50298352 -[vectornav-1] [INFO] [1746049405.003651095] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.703, -3.543, 9.156) -[mux-7] [INFO] [1746049405.045106650] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049405.046746093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049405.047187800] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049405.049063174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049405.050212705] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049405.085738621] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049405.088088275] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049405.088115321] [sailbot.teensy]: Wind angle: 322 -[mux-7] [INFO] [1746049405.088850910] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049405.089134852] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049405.090083311] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049405.091181455] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049405.144869358] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049405.145807665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049405.146730887] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049405.147648124] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049405.148733457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049405.245437131] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049405.246349821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049405.247002982] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049405.248940026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049405.250034917] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049405.335387197] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049405.337289627] [sailbot.teensy]: Wind angle: 324 -[trim_sail-4] [INFO] [1746049405.337750468] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049405.338286493] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049405.339127435] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049405.339239992] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049405.340183617] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049405.344487710] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049405.345289000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049405.345755241] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049405.347169422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049405.348231991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049405.445309292] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049405.446006015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049405.446781064] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049405.447768801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049405.448280251] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049405.502311441] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972727 Long: -76.50298345 -[vectornav-1] [INFO] [1746049405.503321842] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.707, -3.546, 9.15) -[mux-7] [INFO] [1746049405.545185504] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049405.546129304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049405.546660551] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049405.548263664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049405.549303562] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049405.585726503] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049405.588550518] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049405.588711761] [sailbot.teensy]: Wind angle: 325 -[mux-7] [INFO] [1746049405.589580892] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049405.589724058] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049405.590825401] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049405.591771732] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049405.645201475] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049405.645773851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049405.646966333] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049405.649034348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049405.650071424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049405.745279130] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049405.745997963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049405.746605113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049405.748231199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049405.748883665] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049405.835490433] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049405.838086009] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049405.838515175] [sailbot.teensy]: Wind angle: 327 -[mux-7] [INFO] [1746049405.839414722] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049405.839873416] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049405.840849458] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049405.841793308] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049405.844442937] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049405.845002892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049405.845760654] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049405.846936943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049405.848031701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049405.945745166] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049405.946564103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049405.947374155] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049405.948971862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049405.949442796] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049406.002614042] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972721 Long: -76.50298348 -[vectornav-1] [INFO] [1746049406.003925197] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.707, -3.608, 9.106) -[mux-7] [INFO] [1746049406.045395392] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049406.046228589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049406.046959639] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049406.048924307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049406.050010047] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049406.085288782] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049406.087011138] [sailbot.teensy]: Wind angle: 328 -[trim_sail-4] [INFO] [1746049406.087541401] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049406.087956208] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049406.088900143] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049406.088929943] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049406.089849524] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049406.145222153] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049406.146006203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049406.146796289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049406.148298936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049406.149441886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049406.245548211] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049406.246201599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049406.247251999] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049406.248019532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049406.248589520] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049406.335473209] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049406.337411699] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049406.337859614] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049406.338372827] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049406.339327962] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049406.339966563] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049406.340226025] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049406.344280611] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049406.344848742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049406.345398785] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049406.346522477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049406.347574405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049406.445410189] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049406.446181167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049406.446942325] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049406.448958333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049406.450135296] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049406.502681978] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972719 Long: -76.50298348 -[vectornav-1] [INFO] [1746049406.503738787] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.728, -3.607, 9.256) -[mux-7] [INFO] [1746049406.545263454] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049406.546304661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049406.546783041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049406.548450327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049406.549038019] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049406.585612180] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049406.588250599] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049406.588714479] [sailbot.teensy]: Wind angle: 329 -[teensy-2] [INFO] [1746049406.589668015] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049406.590311764] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049406.590739886] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049406.591613286] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049406.645690315] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049406.646471887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049406.647399726] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049406.649076181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049406.650463381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049406.745201922] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049406.746433370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049406.746720437] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049406.748752445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049406.749843162] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049406.835539451] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049406.838201872] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049406.838650575] [sailbot.teensy]: Wind angle: 329 -[mux-7] [INFO] [1746049406.839036726] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049406.839691169] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049406.840611349] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049406.841472376] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049406.844382142] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049406.844884531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049406.845531273] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049406.846595994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049406.847795921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049406.945098340] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049406.945769264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049406.946741702] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049406.947798701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049406.949455281] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049407.002591334] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972718 Long: -76.50298333 -[vectornav-1] [INFO] [1746049407.003822408] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.70799999999997, -3.62, 9.207) -[mux-7] [INFO] [1746049407.045395391] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049407.046149462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049407.047041996] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049407.048520491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049407.049068304] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049407.085472709] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049407.088177817] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049407.089445107] [sailbot.teensy]: Wind angle: 329 -[mux-7] [INFO] [1746049407.089490867] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049407.090506395] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049407.091454019] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049407.092353591] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049407.145416588] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049407.146156253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049407.147123152] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049407.148445579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049407.149778106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049407.245693590] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049407.246597379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049407.247477423] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049407.248957360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049407.250236431] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049407.335773874] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049407.337931129] [sailbot.teensy]: Wind angle: 329 -[teensy-2] [INFO] [1746049407.338989888] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049407.339916635] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049407.339343414] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049407.340809223] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049407.340795845] [sailbot.mux]: algo sail angle: 75 -[mux-7] [INFO] [1746049407.344242485] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049407.345104577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049407.345591093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049407.346895022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049407.347954443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049407.445261147] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049407.445832659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049407.446751461] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049407.448215074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049407.448766109] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049407.502420168] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972718 Long: -76.5029832 -[vectornav-1] [INFO] [1746049407.503444052] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.69, -3.61, 9.162) -[mux-7] [INFO] [1746049407.545277755] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049407.545989887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049407.546694121] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049407.548588972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049407.549770216] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049407.585667897] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049407.587885348] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049407.588643397] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049407.588881347] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049407.589460637] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049407.589788139] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049407.590710341] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049407.644839319] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049407.645680986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049407.646072071] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049407.647793510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049407.649043054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049407.745457633] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049407.746323725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049407.747185050] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049407.748785783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049407.749761245] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049407.835671114] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049407.838591057] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049407.839166600] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049407.839460973] [sailbot.teensy]: Wind angle: 328 -[teensy-2] [INFO] [1746049407.840598337] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049407.841615705] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049407.842446592] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049407.844715498] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049407.845130722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049407.845857622] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049407.846809038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049407.847899801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049407.945514024] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049407.946435418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049407.947273153] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049407.948162858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049407.948715382] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049408.002786816] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972686 Long: -76.50298406 -[vectornav-1] [INFO] [1746049408.004003619] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.673, -3.516, 9.068) -[mux-7] [INFO] [1746049408.044824093] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049408.045971440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049408.046058363] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049408.047959382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049408.049129874] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049408.085375267] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049408.087698326] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049408.088246420] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049408.089251058] [sailbot.teensy]: Wind angle: 327 -[teensy-2] [INFO] [1746049408.090178662] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049408.091072283] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049408.091951401] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049408.145501334] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049408.146224752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049408.147117674] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049408.149033885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049408.150105820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049408.245573542] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049408.246805310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049408.247148123] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049408.249235476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049408.250219011] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049408.335765286] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049408.338049402] [sailbot.teensy]: Wind angle: 327 -[trim_sail-4] [INFO] [1746049408.338995689] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049408.340176852] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049408.340784678] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049408.341466068] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049408.341849920] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049408.344290190] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049408.344786180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049408.345962630] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049408.346503339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049408.348343690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049408.444773157] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049408.445468052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049408.445912936] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049408.447202401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049408.448319273] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049408.502586734] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697269 Long: -76.50298388 -[vectornav-1] [INFO] [1746049408.503676765] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.672, -3.546, 9.08) -[mux-7] [INFO] [1746049408.545099026] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049408.546126935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049408.546475824] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049408.548240341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049408.549092264] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049408.585545235] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049408.588228510] [sailbot.teensy]: Wind angle: 322 -[trim_sail-4] [INFO] [1746049408.588439964] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049408.589228863] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049408.589368154] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049408.590219670] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049408.591131072] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049408.645596004] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049408.647400299] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049408.646301512] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049408.650829424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049408.651878562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049408.745380331] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049408.746184320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049408.746977022] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049408.748514441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049408.749604591] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049408.835701540] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049408.837939841] [sailbot.teensy]: Wind angle: 324 -[trim_sail-4] [INFO] [1746049408.838619828] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049408.839016330] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049408.839972840] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049408.840504155] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049408.840871660] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049408.844331711] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049408.844899368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049408.845417388] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049408.846569184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049408.847726126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049408.945433503] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049408.946190236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049408.947126959] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049408.948336680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049408.948906796] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049409.002808037] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972682 Long: -76.50298392 -[vectornav-1] [INFO] [1746049409.004592043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.66200000000003, -3.579, 9.063) -[mux-7] [INFO] [1746049409.045403953] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049409.046185195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049409.047415828] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049409.048731115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049409.050011657] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049409.085448768] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049409.087274446] [sailbot.teensy]: Wind angle: 331 -[trim_sail-4] [INFO] [1746049409.087781873] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049409.088232082] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049409.089158941] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049409.089592786] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049409.090175511] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049409.145181215] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049409.146032422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049409.146681890] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049409.148470930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049409.149625104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049409.245349824] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049409.246105636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049409.246825635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049409.248409467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049409.248983983] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049409.335735895] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049409.337921297] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049409.338546553] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049409.338988369] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049409.339927476] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049409.340783084] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049409.340821323] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049409.344364956] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049409.344981700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049409.345495515] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049409.346782837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049409.348396463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049409.445456360] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049409.446383427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049409.447070247] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049409.449379651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049409.450476970] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049409.502629702] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972666 Long: -76.5029841 -[vectornav-1] [INFO] [1746049409.504063051] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.656, -3.564, 9.131) -[mux-7] [INFO] [1746049409.545096017] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049409.545815789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049409.546458114] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049409.547891262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049409.549065481] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049409.585596332] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049409.588191080] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049409.588514783] [sailbot.teensy]: Wind angle: 334 -[mux-7] [INFO] [1746049409.588662984] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049409.590308955] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049409.591154787] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049409.592054191] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049409.645551814] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049409.646399724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049409.648736418] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049409.648905209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049409.650246563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049409.745330206] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049409.745985658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049409.746944569] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049409.748074351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049409.749307046] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049409.835609530] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049409.838213118] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049409.838680173] [sailbot.teensy]: Wind angle: 333 -[mux-7] [INFO] [1746049409.839088848] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049409.839178104] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049409.839571124] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049409.840001502] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049409.844386814] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049409.845075164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049409.845456520] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049409.846780805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049409.847860579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049409.945198426] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049409.945834077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049409.946695542] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049409.948217208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049409.949356209] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049410.002333582] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972661 Long: -76.5029842 -[vectornav-1] [INFO] [1746049410.003363495] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.663, -3.581, 9.153) -[mux-7] [INFO] [1746049410.045217933] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049410.045888806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049410.046570931] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049410.047812372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049410.048938508] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049410.086013809] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049410.089306447] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049410.090059449] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049410.090542109] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049410.091579663] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049410.092772638] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049410.093694367] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049410.144970035] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049410.145821489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049410.146436657] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049410.147676999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049410.148773185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049410.245229909] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049410.246143201] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049410.248118964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049410.246843220] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049410.249378745] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049410.335528386] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049410.338018628] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049410.338086029] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049410.339021507] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049410.339423366] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049410.340001384] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049410.340724989] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049410.344372920] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049410.344942891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049410.345428385] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049410.346645501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049410.347714965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049410.445122101] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049410.445956319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049410.446499295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049410.447829437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049410.448303896] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049410.502426902] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972668 Long: -76.50298425 -[vectornav-1] [INFO] [1746049410.503962043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.659, -3.579, 9.114) -[mux-7] [INFO] [1746049410.545270446] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049410.546748962] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049410.547707643] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049410.548494956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049410.549391575] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049410.585421738] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049410.587181822] [sailbot.teensy]: Wind angle: 327 -[teensy-2] [INFO] [1746049410.588117676] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049410.588875991] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049410.589015213] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049410.589415588] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049410.589891898] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049410.645078037] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049410.646102364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049410.646710235] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049410.648896163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049410.650108904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049410.745246712] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049410.746336010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049410.746750810] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049410.748580991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049410.749165053] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049410.835581381] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049410.837639056] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049410.838200315] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049410.838641692] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049410.839012388] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049410.839058598] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049410.839455943] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049410.844540397] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049410.845086466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049410.845695753] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049410.846793860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049410.848604260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049410.943937157] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049410.944264240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049410.944534539] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049410.945779549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049410.946782638] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049411.002304216] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972691 Long: -76.50298412 -[vectornav-1] [INFO] [1746049411.003335942] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.648, -3.547, 9.121) -[mux-7] [INFO] [1746049411.044238834] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049411.044925813] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049411.045208456] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049411.046584403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049411.047507396] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049411.085392155] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049411.087710270] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049411.087710301] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049411.088209039] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049411.088699652] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049411.089528580] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049411.090398213] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049411.146109715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049411.146151727] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049411.147608900] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049411.147770089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049411.148319322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049411.245260294] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049411.246013487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049411.246738866] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049411.248423295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049411.249349071] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049411.335442105] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049411.337293350] [sailbot.teensy]: Wind angle: 332 -[trim_sail-4] [INFO] [1746049411.337789568] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049411.338483148] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049411.339514317] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049411.339764091] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049411.340468457] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049411.344399422] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049411.345149396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049411.345558174] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049411.346866670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049411.347875658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049411.445231912] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049411.445885592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049411.446728599] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049411.449549225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049411.450665153] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049411.502600249] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697271 Long: -76.50298443 -[vectornav-1] [INFO] [1746049411.504143654] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.56899999999996, -3.456, 8.431) -[mux-7] [INFO] [1746049411.545312946] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049411.546098742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049411.546923368] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049411.548305763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049411.549394263] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049411.585829392] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049411.588598532] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049411.589891501] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049411.590243385] [sailbot.teensy]: Wind angle: 330 -[teensy-2] [INFO] [1746049411.591270768] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049411.592188558] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049411.593161871] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049411.645207217] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049411.645961371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049411.646709503] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049411.648226451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049411.649411234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049411.745236544] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049411.745876990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049411.746865081] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049411.748084708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049411.748822806] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049411.835247581] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049411.837460422] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049411.837793084] [sailbot.teensy]: Wind angle: 331 -[mux-7] [INFO] [1746049411.837995365] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049411.838652495] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049411.839043750] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049411.839395982] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049411.844412530] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049411.844957495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049411.845519027] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049411.846640434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049411.847674481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049411.945401119] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049411.946087076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049411.947150322] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049411.948395316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049411.949392652] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049412.002421458] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972713 Long: -76.50298409 -[vectornav-1] [INFO] [1746049412.003423003] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.562, -3.42, 8.294) -[mux-7] [INFO] [1746049412.045902247] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049412.046274775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049412.048120133] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049412.049069991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049412.050230622] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049412.085582922] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049412.088262528] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049412.088256691] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049412.089307054] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049412.089854151] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049412.090225536] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049412.091140480] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049412.145323953] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049412.145941263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049412.147033088] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049412.148096190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049412.149292023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049412.245161549] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049412.245824538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049412.246645355] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049412.247988531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049412.248895619] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049412.335699589] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049412.337893719] [sailbot.teensy]: Wind angle: 325 -[trim_sail-4] [INFO] [1746049412.338646207] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049412.338916466] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049412.339389553] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049412.339769523] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049412.340144597] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049412.344821610] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049412.345636991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049412.346098353] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049412.347353281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049412.348470254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049412.445607771] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049412.446341221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049412.447581452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049412.448753443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049412.450206454] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049412.502608726] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972688 Long: -76.50298434 -[vectornav-1] [INFO] [1746049412.503913975] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.58500000000004, -3.474, 8.437) -[mux-7] [INFO] [1746049412.545029397] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049412.545790088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049412.546380300] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049412.547761531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049412.548933775] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049412.585554826] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049412.588128751] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049412.588754594] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049412.589217370] [sailbot.teensy]: Wind angle: 325 -[teensy-2] [INFO] [1746049412.590186268] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049412.591022994] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049412.591848564] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049412.645337249] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049412.645940080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049412.647325710] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049412.649206929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049412.650015041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049412.745186761] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049412.745891767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049412.746679144] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049412.748014883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049412.749075083] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049412.835774053] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049412.838463055] [sailbot.teensy]: Wind angle: 324 -[trim_sail-4] [INFO] [1746049412.838518595] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049412.839532017] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049412.840045988] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049412.840578842] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049412.841493033] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049412.844303648] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049412.844878927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049412.845504729] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049412.846710177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049412.847743576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049412.945452353] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049412.947066007] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049412.947479002] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049412.948879797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049412.949406620] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049413.002390667] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972699 Long: -76.5029843 -[vectornav-1] [INFO] [1746049413.003427516] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.616, -3.405, 8.994) -[mux-7] [INFO] [1746049413.044975643] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049413.045697117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049413.046239055] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049413.047729657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049413.048917810] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049413.085457698] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049413.087523235] [sailbot.teensy]: Wind angle: 323 -[trim_sail-4] [INFO] [1746049413.087830595] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049413.088903128] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049413.089171970] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049413.089853783] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049413.090790914] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049413.145445132] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049413.146534940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049413.147075468] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049413.148902504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049413.150194896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049413.245247959] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049413.247129678] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049413.247231005] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049413.248858954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049413.249372449] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049413.335807079] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049413.338716136] [sailbot.teensy]: Wind angle: 319 -[trim_sail-4] [INFO] [1746049413.339735768] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049413.339786992] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049413.340265271] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049413.340752519] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049413.341659594] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049413.344633219] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049413.344962933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049413.345815140] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049413.347761935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049413.348842963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049413.445339004] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049413.446046577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049413.446920937] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049413.448071058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049413.448575098] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049413.476628512] [sailbot.mux]: controller_app rudder angle: 9 -[vectornav-1] [INFO] [1746049413.502317057] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972698 Long: -76.50298423 -[vectornav-1] [INFO] [1746049413.503350799] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.639, -3.443, 9.077) -[mux-7] [INFO] [1746049413.544943477] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049413.545541661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049413.546478003] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049413.547289531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746049413.548583611] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049413.585717052] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049413.588022979] [sailbot.teensy]: Wind angle: 317 -[trim_sail-4] [INFO] [1746049413.588697103] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049413.589422006] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049413.590348911] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049413.590724970] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049413.591224953] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049413.645425207] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049413.646299014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049413.646995754] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049413.648222792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746049413.648757788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049413.745398012] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049413.746377593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049413.747291178] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049413.748825097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746049413.750004864] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049413.835689084] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049413.838670887] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746049413.839124879] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049413.839653879] [sailbot.teensy]: Wind angle: 313 -[teensy-2] [INFO] [1746049413.840603848] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049413.841452431] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746049413.842298977] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049413.844402262] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049413.844905840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049413.845720845] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049413.846700091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746049413.847899883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049413.945687747] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049413.946516537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049413.947650987] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049413.949588071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746049413.950126576] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049414.002554723] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697271 Long: -76.50298394 -[vectornav-1] [INFO] [1746049414.004145751] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.658, -3.454, 9.15) -[mux-7] [INFO] [1746049414.045329903] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049414.046242463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049414.046811419] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049414.048555173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746049414.049679990] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049414.085806518] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049414.087898853] [sailbot.teensy]: Wind angle: 309 -[teensy-2] [INFO] [1746049414.089007253] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049414.088722055] [sailbot.trim_sail]: Sail Angle: "60" -[mux-7] [INFO] [1746049414.089803454] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049414.089917118] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746049414.090825461] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049414.145615018] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049414.146516527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049414.148916838] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049414.149095838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746049414.150275322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049414.245750767] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049414.246789664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049414.247650490] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746049414.249055222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746049414.250280652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049414.314830329] [sailbot.mux]: controller_app rudder angle: 1 -[teensy-2] [INFO] [1746049414.335457215] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049414.337317285] [sailbot.teensy]: Wind angle: 310 -[trim_sail-4] [INFO] [1746049414.337992451] [sailbot.trim_sail]: Sail Angle: "60" -[mux-7] [INFO] [1746049414.339247985] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049414.340176419] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049414.341119119] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746049414.341947935] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049414.344486655] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049414.345770625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049414.345867554] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746049414.347513129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746049414.348545844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049414.445676730] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049414.446317938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049414.447516345] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746049414.448767976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746049414.449417823] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049414.502852510] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972704 Long: -76.50298396 -[vectornav-1] [INFO] [1746049414.504108268] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.618, -3.502, 8.827) -[mux-7] [INFO] [1746049414.545357199] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049414.546017760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049414.547323335] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746049414.548349622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746049414.549445641] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049414.585776051] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049414.588901987] [sailbot.trim_sail]: Sail Angle: "60" -[mux-7] [INFO] [1746049414.589379976] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049414.589657986] [sailbot.teensy]: Wind angle: 310 -[teensy-2] [INFO] [1746049414.590674504] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049414.591597823] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746049414.592507523] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049414.645354707] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049414.645993621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049414.647155072] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746049414.648059255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746049414.649185978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049414.745376094] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049414.746146778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049414.747344789] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746049414.748570364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746049414.750296871] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049414.835322642] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049414.837122401] [sailbot.teensy]: Wind angle: 311 -[trim_sail-4] [INFO] [1746049414.837589292] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746049414.838956843] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049414.839012147] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049414.839943494] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746049414.840839403] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049414.844473999] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049414.844884001] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049414.845730610] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746049414.846553627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746049414.847610314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049414.945416742] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049414.946592282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049414.946981433] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746049414.948705252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746049414.949352517] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049415.002746416] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697271 Long: -76.50298389 -[vectornav-1] [INFO] [1746049415.004199060] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.606, -3.466, 8.85) -[mux-7] [INFO] [1746049415.045075044] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049415.045740820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049415.046505337] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746049415.047641735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746049415.048778004] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049415.085535560] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049415.087939868] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049415.088093222] [sailbot.teensy]: Wind angle: 313 -[mux-7] [INFO] [1746049415.088672470] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049415.089237376] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049415.090157098] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746049415.091056522] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049415.145672034] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049415.146166625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049415.147485032] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746049415.148451264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746049415.150063403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049415.245206966] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049415.245693626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049415.246517249] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746049415.248047560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746049415.249010406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049415.298511406] [sailbot.mux]: controller_app rudder angle: -6 -[teensy-2] [INFO] [1746049415.335722302] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049415.337889919] [sailbot.teensy]: Wind angle: 314 -[trim_sail-4] [INFO] [1746049415.338584923] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746049415.340304180] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049415.340458499] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049415.341415595] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746049415.342257845] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049415.344288939] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049415.344837450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049415.345410393] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746049415.346517186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746049415.347612234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049415.445708997] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049415.446493696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049415.447452901] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746049415.448763227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746049415.449833188] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049415.502506746] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972702 Long: -76.50298374 -[vectornav-1] [INFO] [1746049415.503508875] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.642, -3.498, 9.109) -[mux-7] [INFO] [1746049415.545440721] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049415.546191173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049415.547057810] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746049415.548412335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746049415.549463103] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049415.585656147] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049415.588233148] [sailbot.teensy]: Wind angle: 314 -[trim_sail-4] [INFO] [1746049415.588273659] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049415.589246163] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049415.590116099] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746049415.590143673] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049415.591024542] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049415.645168018] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049415.645961073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049415.646720772] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746049415.647913976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746049415.648862332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049415.745676039] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049415.746415972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049415.747398717] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746049415.748848091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746049415.750082090] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049415.835942494] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049415.838685802] [sailbot.teensy]: Wind angle: 312 -[trim_sail-4] [INFO] [1746049415.838937249] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049415.839657902] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049415.839910788] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049415.840056758] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746049415.840442631] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049415.844684696] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049415.845124446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049415.846047926] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746049415.846946144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746049415.847948664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049415.945654050] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049415.946632202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049415.947322806] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746049415.949163563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746049415.950353126] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049416.002439031] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972717 Long: -76.50298342 -[vectornav-1] [INFO] [1746049416.003444885] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.647, -3.564, 9.151) -[mux-7] [INFO] [1746049416.045740774] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049416.046629533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049416.047377344] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746049416.048912636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746049416.050242297] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049416.085561961] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049416.087613256] [sailbot.teensy]: Wind angle: 312 -[teensy-2] [INFO] [1746049416.088573288] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049416.088230415] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746049416.089100072] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049416.089460278] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746049416.090301704] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049416.145274602] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049416.145933194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049416.146801177] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746049416.148123949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746049416.149394339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049416.245384460] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049416.246080536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049416.246910073] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746049416.248249947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746049416.249344956] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049416.335532106] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049416.339009002] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746049416.339108108] [sailbot.teensy]: Wind angle: 311 -[teensy-2] [INFO] [1746049416.340056196] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049416.339633115] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049416.340765680] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746049416.341101067] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049416.344396233] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049416.345538620] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746049416.346678827] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049416.348332161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746049416.349434764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049416.445542244] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049416.446389278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049416.447133830] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746049416.448694580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746049416.450605726] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049416.502501509] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972723 Long: -76.50298329 -[vectornav-1] [INFO] [1746049416.503623130] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.645, -3.543, 9.642) -[mux-7] [INFO] [1746049416.545466283] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049416.546491586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049416.547246159] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746049416.550317748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746049416.551564766] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049416.586077010] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049416.588909092] [sailbot.teensy]: Wind angle: 311 -[trim_sail-4] [INFO] [1746049416.589410694] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746049416.590030563] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049416.590962643] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049416.591212944] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746049416.592094619] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049416.645462740] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049416.646480381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049416.647090009] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746049416.649000399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746049416.650151262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049416.745565531] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049416.746519931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049416.747205929] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746049416.749356505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746049416.750517868] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049416.835447717] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049416.838112216] [sailbot.trim_sail]: Sail Angle: "60" -[mux-7] [INFO] [1746049416.838473511] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049416.838958988] [sailbot.teensy]: Wind angle: 311 -[teensy-2] [INFO] [1746049416.839894535] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049416.840774960] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746049416.841620473] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049416.844260945] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049416.844912567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049416.845331999] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746049416.846625354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746049416.847869334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049416.945638110] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049416.946869414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049416.947471488] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746049416.948975836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746049416.949510401] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049417.002451850] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972717 Long: -76.5029831 -[vectornav-1] [INFO] [1746049417.003468132] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.634, -3.554, 9.852) -[mux-7] [INFO] [1746049417.045148722] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049417.046025541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049417.047170573] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746049417.048556109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746049417.049796344] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049417.085744184] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049417.088487392] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746049417.088527097] [sailbot.teensy]: Wind angle: 311 -[mux-7] [INFO] [1746049417.089480525] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049417.089826822] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049417.090794114] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746049417.091686968] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049417.145532519] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049417.146866487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049417.147164460] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746049417.149743988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746049417.150839080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049417.245330914] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049417.246780465] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746049417.246997421] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049417.248893009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746049417.249920635] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049417.335932356] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049417.338376038] [sailbot.teensy]: Wind angle: 311 -[trim_sail-4] [INFO] [1746049417.339008811] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746049417.339646899] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049417.340770053] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746049417.341773745] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049417.341806706] [sailbot.mux]: algo sail angle: 60 -[mux-7] [INFO] [1746049417.344240196] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049417.344794341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049417.345549539] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746049417.346450341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746049417.347549111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049417.377216902] [sailbot.mux]: controller_app rudder angle: -9 -[mux-7] [INFO] [1746049417.445555290] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049417.446209572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049417.447180511] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746049417.448331617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746049417.448858716] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049417.502609250] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697273 Long: -76.50298287 -[vectornav-1] [INFO] [1746049417.503693756] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.63, -3.546, 9.903) -[mux-7] [INFO] [1746049417.544975781] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049417.545783691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049417.546846167] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746049417.547592987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746049417.548721872] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049417.585961269] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049417.589097326] [sailbot.trim_sail]: Sail Angle: "60" -[mux-7] [INFO] [1746049417.590096972] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049417.590155446] [sailbot.teensy]: Wind angle: 311 -[teensy-2] [INFO] [1746049417.591137561] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049417.592035081] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746049417.592883424] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049417.645340064] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049417.646275649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049417.646884043] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746049417.648597047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746049417.649652009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049417.745465159] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049417.746433357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049417.747197914] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746049417.749259258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746049417.750479005] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049417.835297043] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049417.837643819] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746049417.837645034] [sailbot.teensy]: Wind angle: 311 -[teensy-2] [INFO] [1746049417.838670214] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049417.839614978] [sailbot.teensy]: Actual tail angle: 16 -[mux-7] [INFO] [1746049417.839953524] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049417.840687134] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049417.844413696] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049417.845165512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049417.845519255] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746049417.846957125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746049417.848048412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049417.945398136] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049417.946084011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049417.946911683] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746049417.948692245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746049417.949923445] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049418.002760811] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972737 Long: -76.50298262 -[vectornav-1] [INFO] [1746049418.003894598] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.625, -3.544, 9.914) -[mux-7] [INFO] [1746049418.045135489] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049418.045827642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049418.046406169] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746049418.047889571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746049418.048974646] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049418.085771250] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049418.088341197] [sailbot.teensy]: Wind angle: 310 -[trim_sail-4] [INFO] [1746049418.088780129] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746049418.089473393] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049418.089556768] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049418.090549102] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746049418.091389979] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049418.145586783] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049418.147006390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049418.147728742] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746049418.148756379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746049418.149477576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049418.245190113] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049418.246306539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049418.246987697] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746049418.248955161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746049418.250087201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049418.287390239] [sailbot.mux]: controller_app rudder angle: 0 -[teensy-2] [INFO] [1746049418.335499483] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049418.337942558] [sailbot.teensy]: Wind angle: 311 -[trim_sail-4] [INFO] [1746049418.338056209] [sailbot.trim_sail]: Sail Angle: "60" -[mux-7] [INFO] [1746049418.338731874] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049418.338934083] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049418.340105501] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746049418.341057961] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049418.344301673] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049418.345041580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049418.345400425] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049418.346875851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049418.348130038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049418.445639793] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049418.446371601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049418.447250402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049418.448818027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049418.449955180] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049418.502703569] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972734 Long: -76.50298237 -[vectornav-1] [INFO] [1746049418.503790442] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.624, -3.525, 9.977) -[mux-7] [INFO] [1746049418.544972070] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049418.545641784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049418.547056154] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049418.547446584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049418.548502346] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049418.585567871] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049418.588576262] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746049418.588792158] [sailbot.teensy]: Wind angle: 311 -[teensy-2] [INFO] [1746049418.590037458] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049418.590442927] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049418.590931789] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746049418.591826299] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049418.645216107] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049418.646100002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049418.646907618] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049418.648739251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049418.649280540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049418.745545998] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049418.746400054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049418.747373745] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049418.748073094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049418.748536332] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049418.835471117] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049418.837551806] [sailbot.teensy]: Wind angle: 311 -[trim_sail-4] [INFO] [1746049418.838327420] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746049418.839805676] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049418.839877216] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049418.840222727] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049418.840647518] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049418.844403527] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049418.845024140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049418.845684918] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049418.846868664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049418.847963255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049418.945501029] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049418.946293360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049418.947134030] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049418.948898561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049418.949498094] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049419.002165937] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697275 Long: -76.50298186 -[vectornav-1] [INFO] [1746049419.003059312] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.547, -3.513, 9.732) -[mux-7] [INFO] [1746049419.045002158] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049419.045606937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049419.046377145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049419.047355003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049419.048983760] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049419.085672753] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049419.088912650] [sailbot.trim_sail]: Sail Angle: "60" -[mux-7] [INFO] [1746049419.089185256] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049419.089828174] [sailbot.teensy]: Wind angle: 311 -[teensy-2] [INFO] [1746049419.090835490] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049419.091672988] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049419.092526742] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049419.145031032] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049419.145766911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049419.146413881] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049419.147616139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049419.148804535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049419.245773145] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049419.246298231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049419.247394854] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049419.248745149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049419.249987577] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049419.335744745] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049419.338340517] [sailbot.teensy]: Wind angle: 311 -[trim_sail-4] [INFO] [1746049419.338618714] [sailbot.trim_sail]: Sail Angle: "60" -[mux-7] [INFO] [1746049419.339298339] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049419.339544797] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049419.339933729] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049419.340323799] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049419.344506835] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049419.344899465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049419.345694956] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049419.346526451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049419.347682995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049419.445697774] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049419.446224397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049419.447467881] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049419.449382400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049419.450527938] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049419.502497367] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972753 Long: -76.50298169 -[vectornav-1] [INFO] [1746049419.503583786] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.39300000000003, -3.397, 8.617) -[mux-7] [INFO] [1746049419.544909780] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049419.545454043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049419.546168975] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049419.547345157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049419.548469706] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049419.585545026] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049419.587756706] [sailbot.teensy]: Wind angle: 309 -[teensy-2] [INFO] [1746049419.588816769] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049419.588250466] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746049419.589733232] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049419.589919261] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049419.590668093] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049419.645753856] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049419.645864727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049419.647315809] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049419.648261782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049419.648800628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049419.745700661] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049419.746470953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049419.747593940] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049419.748727819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049419.749293663] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049419.835618112] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049419.837696114] [sailbot.teensy]: Wind angle: 303 -[trim_sail-4] [INFO] [1746049419.838892651] [sailbot.trim_sail]: Sail Angle: "55" -[mux-7] [INFO] [1746049419.839149024] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049419.839529740] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049419.839936053] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049419.840307698] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049419.844448133] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049419.845225690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049419.845568360] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049419.847201255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049419.848407632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049419.945311848] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049419.946878427] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049419.947636025] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049419.949668902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049419.950766217] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049420.002265834] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972761 Long: -76.50298181 -[vectornav-1] [INFO] [1746049420.003183742] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.36699999999996, -3.413, 8.29) -[mux-7] [INFO] [1746049420.045365317] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049420.046069060] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049420.048333564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049420.046928583] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049420.048861193] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049420.085846137] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049420.088802362] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049420.088907005] [sailbot.teensy]: Wind angle: 301 -[teensy-2] [INFO] [1746049420.089943036] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049420.090555856] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049420.090845157] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049420.091755953] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049420.144992151] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049420.145735514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049420.147307333] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049420.147623113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049420.148112298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049420.245591299] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049420.246476283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049420.248385299] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049420.249392400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049420.250489192] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049420.336054135] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049420.339227927] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049420.339257147] [sailbot.teensy]: Wind angle: 302 -[teensy-2] [INFO] [1746049420.340421510] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049420.340760660] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049420.341457400] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049420.342456593] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049420.344548202] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049420.345087387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049420.345645179] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049420.346787482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049420.347849372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049420.445178839] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049420.445880216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049420.446633697] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049420.448723431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049420.449835226] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049420.502454038] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972779 Long: -76.50298145 -[vectornav-1] [INFO] [1746049420.503506770] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.38, -3.512, 8.349) -[mux-7] [INFO] [1746049420.545012422] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049420.545680600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049420.546309664] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049420.547791794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049420.548749787] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049420.585514871] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049420.587521664] [sailbot.teensy]: Wind angle: 303 -[trim_sail-4] [INFO] [1746049420.588009528] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049420.588559715] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049420.589574595] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049420.589784544] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049420.590467178] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049420.645203442] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049420.646071911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049420.646967796] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049420.648704483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049420.649863038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049420.745500622] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049420.746248075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049420.747116421] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049420.748703712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049420.749484954] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049420.835693192] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049420.838727713] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049420.838750094] [sailbot.teensy]: Wind angle: 313 -[teensy-2] [INFO] [1746049420.839815660] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049420.840067957] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049420.840549852] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049420.840974189] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049420.844685300] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049420.845825018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049420.845971447] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049420.847711946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049420.848813293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049420.945199796] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049420.945911250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049420.946633671] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049420.948585366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049420.949716927] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049421.002291346] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972781 Long: -76.50298141 -[vectornav-1] [INFO] [1746049421.003344050] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.375, -3.512, 8.36) -[mux-7] [INFO] [1746049421.045529197] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049421.045976609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049421.046954431] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049421.047981937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049421.048455798] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049421.085670007] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049421.088242353] [sailbot.teensy]: Wind angle: 328 -[trim_sail-4] [INFO] [1746049421.088825519] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049421.089245663] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049421.089457898] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049421.090166673] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049421.091067579] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049421.145655238] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049421.146238478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049421.147376697] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049421.150578441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049421.151741300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049421.245226375] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049421.246111038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049421.246766483] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049421.248384977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049421.249566608] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049421.335359738] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049421.337655974] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049421.337964978] [sailbot.teensy]: Wind angle: 347 -[mux-7] [INFO] [1746049421.338449175] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049421.338695046] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049421.339088073] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049421.339500899] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049421.344552700] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049421.345133307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049421.346068262] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049421.346836113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049421.348031911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049421.445783965] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049421.446334856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049421.448091840] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049421.448618256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049421.449793606] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049421.502745766] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972751 Long: -76.50298118 -[vectornav-1] [INFO] [1746049421.503825671] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.33299999999997, -3.415, 8.24) -[mux-7] [INFO] [1746049421.545257475] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049421.546009866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049421.546796695] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049421.548089712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049421.549157559] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049421.585418174] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049421.587492113] [sailbot.teensy]: Wind angle: 352 -[teensy-2] [INFO] [1746049421.588558005] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049421.588789777] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049421.589143728] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049421.589510767] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049421.590440108] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049421.645346336] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049421.646052748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049421.647164382] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049421.648449334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049421.649527164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049421.745272821] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049421.746094859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049421.747112549] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049421.748206739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049421.749438230] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049421.835415223] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049421.837905328] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049421.838351121] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746049421.839166605] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049421.839543985] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049421.839092392] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049421.839920216] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049421.844598830] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049421.845185608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049421.845760299] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049421.846985162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049421.848138417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049421.945822954] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049421.946376115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049421.948127910] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049421.948800655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049421.950543529] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049422.002793420] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972792 Long: -76.50298098 -[vectornav-1] [INFO] [1746049422.003933202] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.31, -3.443, 7.983) -[mux-7] [INFO] [1746049422.044919015] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049422.045595529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049422.046081427] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049422.047406808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049422.048541649] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049422.085903788] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049422.088284675] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049422.089571474] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049422.089417409] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049422.090394913] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049422.090481510] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049422.091279657] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049422.145315619] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049422.146852203] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049422.146865948] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049422.148091250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049422.148698591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049422.245188774] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049422.245950529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049422.247069837] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049422.247946872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049422.249438845] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049422.335430190] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049422.337383004] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049422.337972485] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049422.338374299] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049422.339321122] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049422.339610987] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049422.339732769] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049422.344265435] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049422.344926251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049422.345371149] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049422.346667037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049422.347812240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049422.445631325] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049422.446748087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049422.447237675] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049422.447927985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049422.448476847] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049422.502306199] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972815 Long: -76.50298105 -[vectornav-1] [INFO] [1746049422.503290783] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.265, -3.521, 7.941) -[mux-7] [INFO] [1746049422.545093187] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049422.545799078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049422.547445883] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049422.547643132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049422.548728494] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049422.585609644] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049422.588099149] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049422.588353949] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049422.589076263] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049422.589200005] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049422.590117298] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049422.590972903] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049422.645337206] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049422.646197007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049422.646875446] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049422.648717782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049422.649811704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049422.745443227] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049422.746096963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049422.747079456] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049422.748708111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049422.749856372] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049422.835236684] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049422.836905251] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049422.837672984] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049422.837795536] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049422.838674088] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049422.838802697] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049422.839543354] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049422.844618212] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049422.845122049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049422.845824405] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049422.846953943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049422.848049569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049422.945285223] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049422.946188375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049422.946820171] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049422.948343270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049422.949308280] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049423.002226365] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972831 Long: -76.50298082 -[vectornav-1] [INFO] [1746049423.003139736] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.40999999999997, -3.472, 8.312) -[mux-7] [INFO] [1746049423.045415960] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049423.046059132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049423.047125746] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049423.048307484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049423.049354570] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049423.085723407] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049423.089037137] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049423.089475905] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049423.089842379] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049423.090791982] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049423.091677465] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049423.092511057] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049423.145239403] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049423.147081282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049423.147178575] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049423.149041318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049423.150163880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049423.245246803] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049423.245878235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049423.246898185] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049423.248280869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049423.249437562] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049423.335499233] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049423.338352902] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049423.339079705] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049423.339189203] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049423.339647272] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049423.340017055] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049423.340773923] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049423.344343436] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049423.345037919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049423.345765408] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049423.347630297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049423.348723339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049423.445427879] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049423.446239239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049423.447156028] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049423.448646464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049423.449869239] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049423.502466202] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972816 Long: -76.50298085 -[vectornav-1] [INFO] [1746049423.503663539] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.503, -3.431, 8.763) -[mux-7] [INFO] [1746049423.545188770] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049423.545780804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049423.546736589] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049423.548175109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049423.549364890] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049423.585741389] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049423.588138529] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049423.589149213] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049423.588496658] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049423.589157729] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049423.590172767] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049423.591022876] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049423.644940168] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049423.645567904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049423.646181606] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049423.647373244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049423.648543040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049423.745049597] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049423.745592622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049423.746413871] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049423.747732979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049423.748523675] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049423.835322257] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049423.837615130] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049423.837898569] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049423.838670025] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049423.838707232] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049423.839080904] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049423.839443716] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049423.844578169] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049423.845144649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049423.845700228] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049423.847740809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049423.848880288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049423.945600511] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049423.946220751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049423.947816508] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049423.948708754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049423.950100613] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049424.002466935] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697284 Long: -76.50298082 -[vectornav-1] [INFO] [1746049424.003512753] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.504, -3.554, 8.216) -[mux-7] [INFO] [1746049424.045270830] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049424.046034762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049424.047000729] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049424.048936327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049424.050102193] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049424.085720688] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049424.088043710] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049424.088675639] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049424.089450132] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049424.090332086] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049424.090673717] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049424.091631621] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049424.145654191] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049424.146160110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049424.147485243] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049424.148614291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049424.149997055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049424.245114683] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049424.245655403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049424.246501386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049424.247540322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049424.249161186] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049424.335458211] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049424.337624514] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049424.337980869] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049424.338453096] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049424.338546531] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049424.338958450] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049424.339525397] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049424.344695394] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049424.345120239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049424.345903873] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049424.347147298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049424.348344577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049424.445835513] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049424.446374435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049424.447522644] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049424.448719748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049424.450095961] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049424.502390154] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972838 Long: -76.50298067 -[vectornav-1] [INFO] [1746049424.503357693] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.45, -3.44, 8.662) -[mux-7] [INFO] [1746049424.545252492] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049424.545761746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049424.546947707] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049424.547899784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049424.548981670] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049424.585556550] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049424.587900051] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049424.588983236] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049424.588286748] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049424.589708488] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049424.589854502] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049424.590766586] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049424.645197728] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049424.646098394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049424.646645255] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049424.648399181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049424.648954661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049424.745131817] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049424.746083532] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049424.746595768] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049424.747926856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049424.748450136] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049424.835667370] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049424.838617196] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049424.838647190] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049424.839721286] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049424.840262666] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049424.840660114] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049424.841572355] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049424.844359751] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049424.844972593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049424.845471940] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049424.846679068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049424.847855384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049424.945487662] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049424.946109812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049424.947208110] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049424.948565040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049424.949721414] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049425.002895179] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972838 Long: -76.50298054 -[vectornav-1] [INFO] [1746049425.004477732] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.38, -3.535, 8.755) -[mux-7] [INFO] [1746049425.045454823] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049425.046223952] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049425.048732793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049425.048988740] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049425.049848642] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049425.085792229] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049425.089006740] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049425.089072584] [sailbot.teensy]: Wind angle: 354 -[mux-7] [INFO] [1746049425.089467450] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049425.090096214] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049425.090988253] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049425.091808053] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049425.145799761] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049425.147450214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049425.147676730] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049425.149716089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049425.150877797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049425.245200621] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049425.246056150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049425.246831450] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049425.248437078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049425.249481802] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049425.335442637] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049425.338308877] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049425.338979217] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049425.339435788] [sailbot.teensy]: Wind angle: 355 -[teensy-2] [INFO] [1746049425.340451524] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049425.341327660] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049425.342187347] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049425.344515754] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049425.345323030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049425.345753484] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049425.347280337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049425.348347818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049425.445610788] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049425.446421278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049425.447331213] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049425.449980776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049425.451168322] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049425.502374461] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972844 Long: -76.50298064 -[vectornav-1] [INFO] [1746049425.503399026] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.394, -3.448, 8.717) -[mux-7] [INFO] [1746049425.545453347] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049425.546211954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049425.547223857] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049425.548637285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049425.549781309] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049425.586097209] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049425.589827310] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049425.589897733] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049425.590391324] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049425.590912498] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049425.591923347] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049425.592789798] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049425.645349884] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049425.646113262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049425.647046643] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049425.648673602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049425.649750903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049425.745029708] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049425.745730947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049425.747159939] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049425.747764779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049425.748611942] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049425.835864247] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049425.838814049] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049425.839056259] [sailbot.teensy]: Wind angle: 355 -[teensy-2] [INFO] [1746049425.840332985] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049425.840356155] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049425.841244827] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049425.841643876] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049425.844477892] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049425.845050587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049425.845691646] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049425.846792594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049425.848089972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049425.945847492] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049425.946524956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049425.947628828] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049425.949116926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049425.950374381] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049426.002319312] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972832 Long: -76.50298058 -[vectornav-1] [INFO] [1746049426.003346263] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.38800000000003, -3.444, 9.381) -[mux-7] [INFO] [1746049426.045393865] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049426.046502705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049426.047333825] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049426.048880231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049426.050022053] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049426.085563928] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049426.088076118] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049426.088307119] [sailbot.teensy]: Wind angle: 356 -[teensy-2] [INFO] [1746049426.089258851] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049426.089331134] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049426.090156382] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049426.091008898] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049426.145833211] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049426.146255568] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049426.148626697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049426.149167106] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049426.149739024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049426.245158417] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049426.245907000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049426.246628113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049426.248277881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049426.248928192] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049426.335519140] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049426.337699829] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049426.338073166] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049426.338746648] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049426.339560029] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049426.339692718] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049426.340034292] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049426.344715477] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049426.345713497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049426.346102360] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049426.347437397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049426.348637739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049426.445479611] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049426.446100427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049426.447184865] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049426.448858194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049426.450023373] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049426.503254794] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972833 Long: -76.50298058 -[vectornav-1] [INFO] [1746049426.504827389] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.41999999999996, -3.391, 9.18) -[mux-7] [INFO] [1746049426.545018334] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049426.545547567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049426.546818919] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049426.547484004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049426.548593573] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049426.585354675] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049426.587716361] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049426.587922714] [sailbot.teensy]: Wind angle: 351 -[mux-7] [INFO] [1746049426.588603566] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049426.589074260] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049426.590012405] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049426.590918635] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049426.645273633] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049426.645984618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049426.646841030] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049426.648526233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049426.649691909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049426.745213210] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049426.746091743] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049426.746664716] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049426.748317507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049426.749361114] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049426.835935657] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049426.838338943] [sailbot.teensy]: Wind angle: 349 -[teensy-2] [INFO] [1746049426.839453419] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049426.838907233] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049426.839681170] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049426.840458018] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049426.841362346] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049426.844302349] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049426.845054657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049426.845616181] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049426.846858641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049426.847850174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049426.945699015] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049426.946569516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049426.948002232] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049426.948536023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049426.949028246] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049427.002419442] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972851 Long: -76.50298066 -[vectornav-1] [INFO] [1746049427.003430987] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.358, -3.411, 8.706) -[mux-7] [INFO] [1746049427.045192949] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049427.045963273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049427.047034758] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049427.048333989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049427.049394275] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049427.085548388] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049427.087700428] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746049427.088991846] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049427.089083265] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049427.089431625] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049427.090715735] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049427.091616068] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049427.145019825] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049427.145853476] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049427.146763968] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049427.148849497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049427.150017680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049427.245188510] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049427.245952570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049427.246649669] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049427.248338244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049427.249602252] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049427.335513689] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049427.338061260] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049427.338855513] [sailbot.teensy]: Wind angle: 353 -[mux-7] [INFO] [1746049427.339356245] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049427.340122728] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049427.341047242] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049427.341920728] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049427.344343514] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049427.344958883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049427.345443282] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049427.346706119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049427.347727050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049427.445712607] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049427.446647102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049427.447639300] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049427.448769545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049427.449320462] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049427.502245456] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697287 Long: -76.50298046 -[vectornav-1] [INFO] [1746049427.503298756] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.33299999999997, -3.417, 8.621) -[mux-7] [INFO] [1746049427.545127977] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049427.545904320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049427.546614572] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049427.548280338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049427.548834897] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049427.585519139] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049427.588249544] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049427.588476579] [sailbot.teensy]: Wind angle: 353 -[mux-7] [INFO] [1746049427.588733062] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049427.589599267] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049427.590486823] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049427.591343685] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049427.644944225] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049427.645637472] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049427.646357273] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049427.647520432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049427.648573429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049427.745248919] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049427.745899034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049427.746716894] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049427.747998893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049427.748579703] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049427.835427300] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049427.837726649] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049427.838221875] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049427.838583632] [sailbot.teensy]: Wind angle: 353 -[teensy-2] [INFO] [1746049427.839574449] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049427.840478903] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049427.840884766] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049427.844332219] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049427.845183563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049427.845642755] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049427.846893650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049427.848144987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049427.945470112] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049427.946352981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049427.947167907] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049427.948918344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049427.949449811] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049428.002637436] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697287 Long: -76.50298002 -[vectornav-1] [INFO] [1746049428.003775633] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.369, -3.424, 8.661) -[mux-7] [INFO] [1746049428.045434238] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049428.046348717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049428.047135323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049428.048704400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049428.049741998] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049428.086016063] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049428.088474149] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049428.089249066] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049428.089762771] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049428.090205231] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049428.090828771] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049428.091827513] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049428.145251012] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049428.146368086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049428.146806318] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049428.149426604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049428.150600675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049428.245255306] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049428.246167296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049428.246701706] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049428.248413045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049428.249562815] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049428.335496075] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049428.338219015] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049428.338666575] [sailbot.teensy]: Wind angle: 351 -[mux-7] [INFO] [1746049428.339389113] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049428.339617766] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049428.340578431] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049428.341470423] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049428.344322436] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049428.344959691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049428.345477370] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049428.346707246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049428.347819295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049428.445131544] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049428.446028899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049428.446621665] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049428.448221429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049428.449301944] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049428.502416320] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972892 Long: -76.50298003 -[vectornav-1] [INFO] [1746049428.503419636] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.385, -3.453, 8.667) -[mux-7] [INFO] [1746049428.545278746] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049428.546447757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049428.546726263] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049428.548750577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049428.549949964] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049428.586020476] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049428.588560851] [sailbot.teensy]: Wind angle: 353 -[teensy-2] [INFO] [1746049428.589716197] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049428.589598796] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049428.590716574] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049428.591312003] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049428.591656423] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049428.645501828] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049428.646529459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049428.647343313] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049428.649355045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049428.650619287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049428.745249987] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049428.746006240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049428.746698376] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049428.748339506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049428.749402586] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049428.835716456] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049428.837883995] [sailbot.teensy]: Wind angle: 356 -[trim_sail-4] [INFO] [1746049428.838340097] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049428.839684617] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049428.839989124] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049428.840973436] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049428.841843073] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049428.844574491] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049428.845826202] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049428.845881191] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049428.847716774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049428.849017260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049428.945622487] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049428.946420190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049428.947476636] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049428.947981103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049428.949486310] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049429.002843536] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972921 Long: -76.50298063 -[vectornav-1] [INFO] [1746049429.004190636] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.365, -3.46, 8.829) -[mux-7] [INFO] [1746049429.045441404] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049429.046503073] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049429.047791928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049429.046993287] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049429.048328476] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049429.085955551] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049429.088940172] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049429.089800048] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049429.090243034] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049429.091271873] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049429.092182039] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049429.093109569] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049429.145154395] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049429.146375875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049429.146558038] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049429.148309007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049429.149381190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049429.245141504] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049429.245928728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049429.246811650] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049429.247879486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049429.249065259] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049429.335724309] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049429.337875556] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049429.338474940] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049429.338940356] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049429.339861017] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049429.340027999] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049429.340770153] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049429.344311805] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049429.344932300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049429.345410967] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049429.346719797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049429.347953309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049429.445038332] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049429.446002921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049429.446380927] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049429.448069854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049429.449234071] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049429.502307740] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972919 Long: -76.50298058 -[vectornav-1] [INFO] [1746049429.503308128] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.368, -3.425, 9.27) -[mux-7] [INFO] [1746049429.544968092] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049429.545784875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049429.546215682] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049429.547671599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049429.548747251] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049429.585456593] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049429.587527688] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049429.588138210] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049429.588608121] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049429.589522552] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049429.589426922] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049429.590470405] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049429.645019689] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049429.645764007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049429.646473615] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049429.647813701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049429.648884993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049429.745525483] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049429.746688231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049429.747114899] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049429.748890731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049429.749993757] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049429.835735077] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049429.838562261] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049429.838784665] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049429.839033733] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049429.839203848] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049429.839627848] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049429.840009768] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049429.844630857] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049429.845217567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049429.846095875] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049429.846973173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049429.848098354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049429.945459645] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049429.946467252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049429.947056822] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049429.949007395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049429.950164734] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049430.002863055] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972904 Long: -76.50298065 -[vectornav-1] [INFO] [1746049430.004270750] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.3, -3.413, 8.718) -[mux-7] [INFO] [1746049430.045086413] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049430.046008663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049430.046474354] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049430.047919159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049430.048556935] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049430.086017444] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049430.089360205] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049430.089389032] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049430.089614566] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049430.090827811] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049430.091774606] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049430.092674752] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049430.145118828] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049430.145843580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049430.146585996] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049430.147842444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049430.148922013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049430.244723764] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049430.245408026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049430.245923414] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049430.247340385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049430.248792193] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049430.335508369] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049430.338350388] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049430.338445473] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049430.338767045] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049430.339442391] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049430.340357420] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049430.341221254] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049430.344353012] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049430.344831163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049430.345565423] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049430.346471701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049430.347633149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049430.445505072] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049430.446688328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049430.447220568] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049430.448649687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049430.449823638] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049430.502396335] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972883 Long: -76.50298093 -[vectornav-1] [INFO] [1746049430.503419837] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.355, -3.53, 9.003) -[mux-7] [INFO] [1746049430.545138970] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049430.545924382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049430.546510155] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049430.548312436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049430.549342253] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049430.585588185] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049430.587737956] [sailbot.teensy]: Wind angle: 356 -[trim_sail-4] [INFO] [1746049430.588209296] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049430.588805007] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049430.589430978] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049430.589742377] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049430.590733723] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049430.645366892] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049430.646395301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049430.646990913] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049430.648938482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049430.650025437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049430.745565931] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049430.746230184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049430.747086375] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049430.748945691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049430.749801015] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049430.835840509] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049430.838808141] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049430.839178723] [sailbot.teensy]: Wind angle: 355 -[mux-7] [INFO] [1746049430.839547603] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049430.839583838] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049430.839983108] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049430.840799592] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049430.844493365] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049430.845043598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049430.845652739] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049430.846709957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049430.847697519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049430.945190207] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049430.945763654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049430.946630226] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049430.947989247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049430.949082129] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049431.002651577] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972886 Long: -76.50298111 -[vectornav-1] [INFO] [1746049431.003744783] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.339, -3.652, 9.019) -[mux-7] [INFO] [1746049431.045571292] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049431.046198946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049431.047314314] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049431.048476106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049431.049759728] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049431.085817266] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049431.088199149] [sailbot.teensy]: Wind angle: 356 -[teensy-2] [INFO] [1746049431.089214643] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049431.088617172] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049431.089273528] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049431.090112958] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049431.090977200] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049431.145331115] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049431.146151684] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049431.146923629] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049431.148355594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049431.149439945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049431.245630360] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049431.246288182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049431.247314019] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049431.248600798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049431.249774102] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049431.335844846] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049431.338042160] [sailbot.teensy]: Wind angle: 355 -[teensy-2] [INFO] [1746049431.339103849] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049431.338593837] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049431.340092589] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049431.341012174] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049431.341080096] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049431.344409084] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049431.344895971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049431.346021042] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049431.346689151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049431.347866049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049431.445218344] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049431.445966176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049431.446644619] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049431.448022427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049431.449051197] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049431.502684101] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972892 Long: -76.50298091 -[vectornav-1] [INFO] [1746049431.504136615] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.33799999999997, -3.578, 9.072) -[mux-7] [INFO] [1746049431.544938000] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049431.545489417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049431.546305760] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049431.548208199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049431.549369100] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049431.585637483] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049431.587679611] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049431.588224006] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049431.588689938] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049431.589608799] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049431.590181848] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049431.590492616] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049431.645384566] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049431.646050591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049431.647126797] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049431.648661972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049431.650409224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049431.745366140] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049431.746417171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049431.746841276] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049431.748594379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049431.749592999] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049431.835728685] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049431.838324080] [sailbot.teensy]: Wind angle: 352 -[teensy-2] [INFO] [1746049431.839369324] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049431.838663678] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049431.840131889] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049431.840262674] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049431.840723315] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049431.844495855] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049431.845051742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049431.845594181] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049431.846915184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049431.848112408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049431.945541523] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049431.946500024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049431.947126061] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049431.948173944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049431.948747165] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049432.002607472] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972895 Long: -76.50298084 -[vectornav-1] [INFO] [1746049432.003717176] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.365, -3.599, 9.081) -[mux-7] [INFO] [1746049432.045341487] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049432.046236152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049432.046847062] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049432.048614477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049432.049712063] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049432.085802620] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049432.088090484] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049432.088881044] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049432.089210261] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049432.089989038] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049432.090156265] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049432.091047422] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049432.145189867] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049432.147088686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049432.147233389] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049432.149262574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049432.150302530] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049432.245703119] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049432.246298574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049432.247558962] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049432.250150259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049432.251321824] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049432.335973557] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049432.338867921] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049432.339580678] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049432.340907849] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049432.341009864] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049432.342016639] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049432.342993933] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049432.344444162] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049432.345101518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049432.345633562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049432.346830350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049432.347867926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049432.445579995] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049432.446095562] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049432.449132537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049432.447478595] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049432.450413217] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049432.502764321] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972922 Long: -76.50298078 -[vectornav-1] [INFO] [1746049432.504078279] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.377, -3.679, 8.999) -[mux-7] [INFO] [1746049432.545607952] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049432.546254140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049432.547374645] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049432.548526213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049432.549642828] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049432.585973865] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049432.588557970] [sailbot.teensy]: Wind angle: 353 -[teensy-2] [INFO] [1746049432.589694743] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049432.589329157] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049432.590712732] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049432.591578012] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049432.591677864] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049432.645614084] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049432.646533722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049432.647283514] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049432.649127185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049432.650318774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049432.745212758] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049432.745782197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049432.746711024] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049432.747995433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049432.749138329] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049432.835531428] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049432.838489767] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049432.838967429] [sailbot.teensy]: Wind angle: 355 -[mux-7] [INFO] [1746049432.839130416] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049432.839409315] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049432.839819928] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049432.840206169] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049432.844626104] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049432.845274543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049432.845832740] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049432.846979173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049432.847981921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049432.945422995] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049432.946313710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049432.947024489] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049432.949233127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049432.950377041] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049433.002413297] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972933 Long: -76.50298073 -[vectornav-1] [INFO] [1746049433.003473637] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.329, -3.486, 8.993) -[mux-7] [INFO] [1746049433.045550758] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049433.046361598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049433.047287819] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049433.048760042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049433.049980911] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049433.086020464] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049433.088415637] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049433.089029033] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049433.089545780] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049433.090528213] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049433.091070005] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049433.091422125] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049433.145373053] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049433.146126644] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049433.147100995] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049433.149215860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049433.150327811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049433.245572457] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049433.246852280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049433.247164045] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049433.249065943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049433.249564872] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049433.335905894] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049433.338959727] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049433.339404096] [sailbot.teensy]: Wind angle: 354 -[mux-7] [INFO] [1746049433.339891517] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049433.340499452] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049433.341581386] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049433.342483411] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049433.344555016] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049433.345206780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049433.345860805] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049433.346974406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049433.348010667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049433.445662574] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049433.446382535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049433.447231683] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049433.449686392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049433.450768704] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049433.502531879] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972933 Long: -76.50298057 -[vectornav-1] [INFO] [1746049433.503543303] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.356, -3.721, 8.79) -[mux-7] [INFO] [1746049433.545176913] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049433.546488798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049433.546747212] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049433.548631560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049433.549848837] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049433.585566454] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049433.588108258] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049433.588107907] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049433.589268989] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049433.589380700] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049433.590316492] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049433.591217624] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049433.645555419] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049433.646564646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049433.647162522] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049433.649217730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049433.650310333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049433.745561979] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049433.746274567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049433.747181142] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049433.749767381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049433.750802670] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049433.835542603] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049433.838298662] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049433.838266364] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049433.839021573] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049433.839505535] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049433.839897227] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049433.840478816] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049433.844409236] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049433.845095654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049433.845532946] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049433.846822853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049433.848041515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049433.945039933] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049433.945709174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049433.946282527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049433.947684373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049433.948829582] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049434.002898074] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972941 Long: -76.50298048 -[vectornav-1] [INFO] [1746049434.004558141] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.369, -3.732, 8.747) -[mux-7] [INFO] [1746049434.045208080] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049434.045876533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049434.046696496] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049434.048825924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049434.049906876] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049434.085722517] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049434.087891704] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049434.088974100] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049434.088556967] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049434.089449752] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049434.089927177] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049434.090629148] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049434.144884606] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049434.145474362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049434.146210737] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049434.147164429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049434.148238354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049434.244220565] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049434.244590022] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049434.244773012] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049434.245612955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049434.246114268] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049434.335732786] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049434.338636850] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049434.339597740] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049434.340341590] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049434.340528045] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049434.341423239] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049434.342416477] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049434.344384720] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049434.344851754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049434.346056661] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049434.346569812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049434.347756581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049434.445715509] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049434.446441775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049434.447363261] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049434.448935883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049434.449470512] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049434.502933248] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972944 Long: -76.50298047 -[vectornav-1] [INFO] [1746049434.504115782] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.36400000000003, -3.714, 8.765) -[mux-7] [INFO] [1746049434.545352249] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049434.546115946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049434.547036012] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049434.548283949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049434.549323822] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049434.585815904] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049434.588414455] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049434.589431766] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049434.588773426] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049434.589310308] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049434.590320476] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049434.591145169] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049434.645138851] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049434.645812495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049434.647066297] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049434.647735256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049434.648326354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049434.745590078] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049434.746205653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049434.747174637] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049434.748496703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049434.749609286] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049434.835758273] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049434.837909996] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049434.838860724] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049434.839403150] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049434.839690480] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049434.840087166] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049434.840475590] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049434.844924201] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049434.845331116] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049434.846125954] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049434.847182877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049434.848455720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049434.945382122] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049434.946096701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049434.946856679] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049434.948481420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049434.949442469] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049435.002972714] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972977 Long: -76.50298055 -[vectornav-1] [INFO] [1746049435.004181694] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.368, -3.697, 8.776) -[mux-7] [INFO] [1746049435.045281585] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049435.045994525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049435.046815515] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049435.048344765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049435.049548849] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049435.086119682] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049435.088897619] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049435.090115294] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049435.089414373] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049435.090977195] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049435.091068153] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049435.092042983] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049435.145386698] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049435.146503070] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049435.147353447] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049435.148972281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049435.150026083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049435.245617083] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049435.246628743] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049435.247494577] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049435.249235402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049435.250406678] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049435.335946700] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049435.339366382] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049435.339593668] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049435.339827224] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049435.340606253] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049435.341544840] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049435.341902848] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049435.344447201] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049435.344978182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049435.345709344] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049435.346656670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049435.347862995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049435.445352357] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049435.446321130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049435.446931773] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049435.447830280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049435.448350886] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049435.502983475] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697299 Long: -76.50298055 -[vectornav-1] [INFO] [1746049435.504392327] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.348, -3.714, 8.738) -[mux-7] [INFO] [1746049435.545432801] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049435.546088260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049435.547009900] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049435.548382196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049435.549478958] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049435.585575683] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049435.587597487] [sailbot.teensy]: Wind angle: 356 -[teensy-2] [INFO] [1746049435.588645133] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049435.589032688] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049435.589208488] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049435.589540015] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049435.590409908] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049435.645246986] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049435.646684486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049435.646945361] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049435.648481189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049435.649020821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049435.745744636] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049435.746355006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049435.747508559] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049435.748624991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049435.749145609] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049435.835806620] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049435.838478794] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049435.838537031] [sailbot.teensy]: Wind angle: 356 -[teensy-2] [INFO] [1746049435.838946604] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049435.838962148] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049435.839345986] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049435.839735349] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049435.844605034] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049435.845427725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049435.845787902] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049435.847303898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049435.848318023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049435.945046490] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049435.945705719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049435.946311278] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049435.947763027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049435.948953398] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049436.002763722] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973006 Long: -76.50298059 -[vectornav-1] [INFO] [1746049436.003897691] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.345, -3.718, 8.755) -[mux-7] [INFO] [1746049436.044991348] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049436.045674461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049436.046276611] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049436.047679774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049436.048738912] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049436.085735539] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049436.088852826] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049436.089131712] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049436.090882985] [sailbot.teensy]: Wind angle: 356 -[teensy-2] [INFO] [1746049436.091783578] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049436.092656960] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049436.093470871] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049436.145131392] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049436.145986970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049436.146545490] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049436.147926281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049436.148493943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049436.245648218] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049436.246438829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049436.247849049] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049436.248813069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049436.249909354] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049436.335710637] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049436.339197672] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049436.339341125] [sailbot.teensy]: Wind angle: 357 -[mux-7] [INFO] [1746049436.339513298] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049436.339810972] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049436.340203393] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049436.340572976] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049436.344581687] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049436.345202774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049436.345758482] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049436.346945852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049436.348133139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049436.445750549] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049436.446424606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049436.447614728] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049436.448524953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049436.449046793] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049436.502544105] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973013 Long: -76.50298053 -[vectornav-1] [INFO] [1746049436.503574870] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.33000000000004, -3.729, 8.714) -[mux-7] [INFO] [1746049436.545084726] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049436.545812844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049436.546524536] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049436.547763170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049436.548824677] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049436.585801060] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049436.588802252] [sailbot.teensy]: Wind angle: 356 -[trim_sail-4] [INFO] [1746049436.589253970] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049436.589818986] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049436.590732423] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049436.591046160] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049436.591714921] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049436.645658825] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049436.646357606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049436.648801619] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049436.648845020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049436.649394196] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049436.745370669] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049436.746077270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049436.747663907] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049436.748360600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049436.749683594] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049436.835901070] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049436.838241901] [sailbot.teensy]: Wind angle: 356 -[teensy-2] [INFO] [1746049436.839135790] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049436.838745228] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049436.839370049] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049436.839524995] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049436.839897772] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049436.844451783] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049436.844961298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049436.845614108] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049436.846675313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049436.847770710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049436.945598514] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049436.946381385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049436.948009176] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049436.948326435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049436.948875176] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049437.002756041] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973035 Long: -76.50298099 -[vectornav-1] [INFO] [1746049437.004095940] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.331, -3.689, 8.64) -[mux-7] [INFO] [1746049437.045648577] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049437.046467379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049437.047142163] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049437.048647924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049437.049793365] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049437.085781565] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049437.088100247] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049437.088566693] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049437.090264243] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049437.090945406] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049437.091182301] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049437.092108080] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049437.145427469] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049437.146171523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049437.147321509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049437.150238598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049437.150714772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049437.245654592] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049437.246426478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049437.247239801] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049437.248169023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049437.248698191] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049437.335624374] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049437.338260879] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049437.338313747] [sailbot.teensy]: Wind angle: 355 -[teensy-2] [INFO] [1746049437.339019636] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049437.339270152] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049437.339404153] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049437.339834339] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049437.344727578] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049437.345037943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049437.345866293] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049437.347074703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049437.348195326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049437.445045782] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049437.445627832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049437.446380780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049437.447623147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049437.448685864] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049437.502882551] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973025 Long: -76.50298095 -[vectornav-1] [INFO] [1746049437.504116918] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.34299999999996, -3.483, 9.147) -[mux-7] [INFO] [1746049437.545218894] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049437.545894663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049437.546716393] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049437.548100115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049437.549388959] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049437.585795353] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049437.589055442] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049437.589410470] [sailbot.teensy]: Wind angle: 357 -[mux-7] [INFO] [1746049437.589457035] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049437.590422705] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049437.591312631] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049437.592146275] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049437.645236116] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049437.645970002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049437.646765311] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049437.648700689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049437.649888229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049437.745423075] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049437.746337325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049437.747048487] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049437.748723292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049437.749950173] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049437.836036374] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049437.838778882] [sailbot.teensy]: Wind angle: 358 -[teensy-2] [INFO] [1746049437.839881218] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049437.839692585] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049437.840400822] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049437.840855528] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049437.841815788] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049437.844755780] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049437.845321039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049437.846081262] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049437.847234335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049437.848305739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049437.945765836] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049437.946430694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049437.947453041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049437.948448128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049437.949017111] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049438.003245828] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973032 Long: -76.50298046 -[vectornav-1] [INFO] [1746049438.004394189] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.33799999999997, -3.455, 8.969) -[mux-7] [INFO] [1746049438.045214488] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049438.046026191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049438.046851046] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049438.048248605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049438.049411103] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049438.085399732] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049438.087880399] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049438.088686026] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049438.088841834] [sailbot.teensy]: Wind angle: 358 -[teensy-2] [INFO] [1746049438.089792966] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049438.090673871] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049438.091520047] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049438.145660839] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049438.146313432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049438.149010339] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049438.149467550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049438.151240104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049438.245757729] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049438.246722660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049438.248054381] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049438.248731826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049438.249203146] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049438.336094259] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049438.338680518] [sailbot.teensy]: Wind angle: 358 -[teensy-2] [INFO] [1746049438.339881274] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049438.339272704] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049438.339983374] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049438.340969661] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049438.341880917] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049438.344558268] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049438.345100858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049438.345638800] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049438.347603644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049438.348916086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049438.445145549] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049438.445865297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049438.446590446] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049438.447939862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049438.449113847] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049438.502313126] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973016 Long: -76.5029804 -[vectornav-1] [INFO] [1746049438.503275455] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.31899999999996, -3.524, 8.985) -[mux-7] [INFO] [1746049438.545017515] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049438.545908053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049438.546317067] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049438.547787416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049438.548850113] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049438.585606840] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049438.588234671] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049438.588745900] [sailbot.teensy]: Wind angle: 358 -[mux-7] [INFO] [1746049438.589686302] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049438.589950316] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049438.590883572] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049438.591730155] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049438.645687741] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049438.646092644] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049438.648609381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049438.649007610] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049438.649373239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049438.745678606] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049438.746351777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049438.747554872] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049438.748747438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049438.749858267] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049438.835882900] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049438.838897315] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049438.839293008] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049438.840283538] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049438.840624928] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049438.841608411] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049438.842540404] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049438.844620438] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049438.844844325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049438.846007870] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049438.846524685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049438.847634614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049438.945663876] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049438.946441266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049438.947283549] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049438.948923641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049438.950218561] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049439.002504572] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973022 Long: -76.5029804 -[vectornav-1] [INFO] [1746049439.003618134] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.31399999999996, -3.462, 8.912) -[mux-7] [INFO] [1746049439.045030833] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049439.045817652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049439.046302409] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049439.047830961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049439.048783906] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049439.085315274] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049439.086996957] [sailbot.teensy]: Wind angle: 358 -[teensy-2] [INFO] [1746049439.087900629] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049439.087743050] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049439.088193709] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049439.088734610] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049439.089604681] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049439.145666430] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049439.146400856] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049439.148991894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049439.148994891] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049439.150543297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049439.245629209] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049439.246512200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049439.247265934] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049439.248826676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049439.250072780] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049439.335363767] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049439.337811649] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049439.338359355] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049439.338561151] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049439.338610357] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049439.338958955] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049439.339339555] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049439.344496656] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049439.345318498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049439.346081545] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049439.347082479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049439.348223424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049439.445557346] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049439.446383819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049439.447205142] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049439.448673971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049439.449947472] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049439.502644076] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973009 Long: -76.50298047 -[vectornav-1] [INFO] [1746049439.503807271] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.347, -3.475, 9.125) -[mux-7] [INFO] [1746049439.545292788] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049439.546256593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049439.546863395] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049439.548438709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049439.549609852] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049439.586029321] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049439.589117376] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049439.589698519] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049439.590321105] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049439.591435462] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049439.592348850] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049439.593205447] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049439.645505668] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049439.646208694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049439.647163851] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049439.648618332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049439.650420662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049439.745583152] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049439.747286268] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049439.747219877] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049439.749548700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049439.750828647] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049439.835774433] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049439.838240330] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049439.838940587] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049439.839747642] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049439.840031422] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049439.840806313] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049439.841732570] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049439.844324886] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049439.844805245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049439.845428251] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049439.846453998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049439.847665343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049439.945628998] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049439.946526446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049439.947730203] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049439.948844849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049439.950107266] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049440.002644385] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972988 Long: -76.50298076 -[vectornav-1] [INFO] [1746049440.003667006] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.348, -3.495, 9.107) -[mux-7] [INFO] [1746049440.045248898] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049440.046442045] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049440.048465299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049440.048781362] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049440.049562348] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049440.085822010] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049440.088695915] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049440.088983583] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049440.090133602] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049440.090395232] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049440.091116720] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049440.092070952] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049440.145375968] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049440.146239135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049440.146986455] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049440.148421839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049440.149129308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049440.245647016] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049440.246441193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049440.247231984] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049440.248534940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049440.249053147] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049440.335896973] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049440.338959585] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049440.339792708] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049440.340334410] [sailbot.teensy]: Wind angle: 349 -[teensy-2] [INFO] [1746049440.341427033] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049440.342352708] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049440.343244776] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049440.344466698] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049440.345171401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049440.345711869] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049440.346870583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049440.347938865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049440.445397420] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049440.446273924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049440.447093332] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049440.448894988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049440.450085431] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049440.502325485] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973027 Long: -76.50298001 -[vectornav-1] [INFO] [1746049440.503336735] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.327, -3.469, 8.971) -[mux-7] [INFO] [1746049440.545023911] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049440.545761640] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049440.546257433] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049440.547765395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049440.549016121] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049440.585373166] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049440.587418565] [sailbot.teensy]: Wind angle: 358 -[trim_sail-4] [INFO] [1746049440.588246674] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049440.588480978] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049440.589367485] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049440.589611363] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049440.590253347] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049440.645003120] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049440.645764613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049440.646276034] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049440.647767300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049440.649073537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049440.744828913] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049440.745951201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049440.746184445] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049440.747847325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049440.749049479] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049440.835545990] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049440.838764714] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049440.839177873] [sailbot.teensy]: Wind angle: 358 -[mux-7] [INFO] [1746049440.839318324] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049440.839702599] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049440.840091436] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049440.840951364] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049440.844388022] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049440.845261265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049440.845502592] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049440.847293462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049440.848455738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049440.944886731] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049440.946032314] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049440.946694161] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049440.948745465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049440.950163911] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049441.001383704] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973021 Long: -76.50298074 -[vectornav-1] [INFO] [1746049441.001889125] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.337, -3.529, 9.076) -[mux-7] [INFO] [1746049441.045033223] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049441.045914725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049441.046281781] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049441.047094838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049441.048228940] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049441.085457061] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049441.087873913] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049441.088708568] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049441.089505491] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049441.090499081] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049441.091386367] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049441.092237960] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049441.144968795] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049441.145621048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049441.146602394] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049441.148232645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049441.149397793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049441.245694316] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049441.247495723] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049441.247792793] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049441.249992878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049441.251102686] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049441.335825271] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049441.338184039] [sailbot.teensy]: Wind angle: 358 -[trim_sail-4] [INFO] [1746049441.338664366] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049441.339303061] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049441.340282638] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049441.340274619] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049441.341249841] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049441.344287935] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049441.344882331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049441.345409435] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049441.347403305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049441.348597680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049441.445277975] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049441.445999533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049441.446877313] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049441.448192786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049441.448938918] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049441.502661380] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973011 Long: -76.50298085 -[vectornav-1] [INFO] [1746049441.503775873] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.318, -3.644, 9.026) -[mux-7] [INFO] [1746049441.545026714] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049441.545737170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049441.546494539] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049441.548115220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049441.549286927] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049441.585626882] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049441.588346415] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049441.588899380] [sailbot.teensy]: Wind angle: 358 -[mux-7] [INFO] [1746049441.589954527] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049441.590057520] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049441.591060384] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049441.591903154] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049441.644955654] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049441.645624131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049441.646267519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049441.647518444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049441.648581866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049441.745059055] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049441.745934435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049441.746528761] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049441.748303474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049441.748868307] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049441.835412191] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049441.838173158] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049441.838770791] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049441.838847261] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049441.839189170] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049441.839616567] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049441.840290883] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049441.844462181] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049441.844956916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049441.845755490] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049441.846587857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049441.847754001] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049441.944876262] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049441.945756334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049441.946090913] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049441.947579239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049441.948424920] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049442.002686408] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972997 Long: -76.50298076 -[vectornav-1] [INFO] [1746049442.003872073] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.28999999999996, -3.429, 8.983) -[mux-7] [INFO] [1746049442.044936409] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049442.045672080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049442.046244775] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049442.047546794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049442.048618093] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049442.085568971] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049442.088214272] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049442.088507147] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049442.089707118] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049442.090512056] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049442.090644811] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049442.091533035] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049442.145417868] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049442.145434677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049442.146615658] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049442.147317515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049442.148416017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049442.245504995] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049442.246372824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049442.247150704] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049442.249032343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049442.250183601] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049442.335599209] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049442.337629268] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049442.338308971] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049442.339416794] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049442.339737957] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049442.340699705] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049442.341574859] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049442.344457372] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049442.344807365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049442.345605180] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049442.346468675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049442.347530161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049442.445822868] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049442.446451460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049442.447713770] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049442.449101054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049442.449551331] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049442.502322230] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973012 Long: -76.50298097 -[vectornav-1] [INFO] [1746049442.503279643] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.29200000000003, -3.423, 9.068) -[mux-7] [INFO] [1746049442.544836542] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049442.545297577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049442.546096334] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049442.547062348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049442.548203317] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049442.585959252] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049442.588883657] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049442.589127675] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049442.589876318] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049442.590100249] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049442.590992249] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049442.591939693] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049442.644856759] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049442.645476539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049442.646339698] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049442.647436063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049442.648494506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049442.745166107] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049442.746157944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049442.746638128] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049442.748400516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049442.749823995] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049442.835350964] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049442.837615238] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049442.838168349] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049442.838747702] [sailbot.teensy]: Wind angle: 357 -[teensy-2] [INFO] [1746049442.839673549] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049442.840623370] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049442.841466367] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049442.844362484] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049442.844963482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049442.845561776] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049442.846691713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049442.847848540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049442.945398455] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049442.946164859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049442.947660755] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049442.949349458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049442.950336358] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049443.002768068] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697302 Long: -76.50298115 -[vectornav-1] [INFO] [1746049443.003895126] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.294, -3.414, 9.095) -[mux-7] [INFO] [1746049443.045377672] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049443.046376785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049443.046962770] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049443.048696708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049443.049801856] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049443.085639512] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049443.088304553] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049443.088311669] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049443.089385214] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049443.090420302] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049443.091099859] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049443.091353945] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049443.145293633] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049443.146254128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049443.146872917] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049443.148534069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049443.149607097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049443.245528546] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049443.246624786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049443.247212155] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049443.249170157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049443.250331331] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049443.335850955] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049443.338730960] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049443.338733905] [sailbot.teensy]: Wind angle: 357 -[teensy-2] [INFO] [1746049443.339874616] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049443.340475919] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049443.340929077] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049443.342146058] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049443.344430110] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049443.345183723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049443.346160672] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049443.347171853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049443.348373362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049443.445405513] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049443.446107386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049443.446924694] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049443.448351430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049443.449460952] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049443.502549492] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973027 Long: -76.50298132 -[vectornav-1] [INFO] [1746049443.503566271] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.29499999999996, -3.413, 9.113) -[mux-7] [INFO] [1746049443.545347390] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049443.546344220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049443.547285718] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049443.548607797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049443.549826864] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049443.585650043] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049443.587792751] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049443.588346780] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049443.588876883] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049443.589792074] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049443.589826496] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049443.590679441] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049443.644996295] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049443.645713010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049443.646303325] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049443.647712777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049443.649480280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049443.745235498] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049443.746468593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049443.746782253] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049443.748893392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049443.750178783] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049443.835439168] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049443.837996128] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049443.838267347] [sailbot.teensy]: Wind angle: 357 -[mux-7] [INFO] [1746049443.838905017] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049443.839218379] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049443.839680659] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049443.840064041] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049443.844703625] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049443.845917442] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049443.846076825] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049443.847953610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049443.849033433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049443.945787632] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049443.946695604] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049443.948230770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049443.947417973] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049443.948681213] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049444.002718636] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973048 Long: -76.50298112 -[vectornav-1] [INFO] [1746049444.003898805] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.299, -3.404, 9.098) -[mux-7] [INFO] [1746049444.045061059] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049444.045969483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049444.046363795] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049444.048058520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049444.049099723] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049444.085915688] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049444.088500942] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049444.088528430] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049444.089367358] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049444.089525605] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049444.090688711] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049444.091628739] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049444.145630800] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049444.147636879] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049444.148375577] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049444.150312022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049444.151337759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049444.245348206] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049444.246236769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049444.247040329] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049444.247979827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049444.248566860] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049444.335815827] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049444.338540493] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049444.338766260] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049444.339041077] [sailbot.teensy]: Wind angle: 357 -[teensy-2] [INFO] [1746049444.339427102] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049444.339801877] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049444.340191213] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049444.344588327] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049444.345235487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049444.345842581] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049444.347014241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049444.348127451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049444.445211544] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049444.446117384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049444.446785968] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049444.448341597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049444.449531094] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049444.502362804] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973047 Long: -76.50298133 -[vectornav-1] [INFO] [1746049444.503420840] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.31600000000003, -3.412, 9.365) -[mux-7] [INFO] [1746049444.544978652] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049444.545786532] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049444.547715402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049444.546444203] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049444.548881888] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049444.585506901] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049444.587997126] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049444.588673092] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049444.588953046] [sailbot.teensy]: Wind angle: 357 -[teensy-2] [INFO] [1746049444.589370042] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049444.590119331] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049444.591018805] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049444.645596840] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049444.646557210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049444.647258659] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049444.649224811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049444.650450675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049444.745669062] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049444.746432974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049444.747318961] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049444.748787340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049444.749238483] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049444.835615457] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049444.838445996] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049444.839120514] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049444.839297550] [sailbot.teensy]: Wind angle: 357 -[teensy-2] [INFO] [1746049444.839742808] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049444.840115380] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049444.840497726] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049444.844334408] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049444.845062136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049444.845491101] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049444.847329703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049444.848469519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049444.945721264] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049444.947087578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049444.947351274] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049444.949431425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049444.950698268] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049445.002254833] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697305 Long: -76.50298133 -[vectornav-1] [INFO] [1746049445.003215425] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.31600000000003, -3.393, 9.324) -[mux-7] [INFO] [1746049445.045300217] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049445.046085585] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049445.048304935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049445.047075660] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049445.048892287] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049445.085388115] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049445.087666210] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049445.088086735] [sailbot.teensy]: Wind angle: 357 -[mux-7] [INFO] [1746049445.088223089] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049445.089315240] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049445.090354513] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049445.091189742] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049445.145187812] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049445.145968139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049445.146682151] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049445.148214266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049445.149408512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049445.245438734] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049445.246739075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049445.247015582] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049445.248825734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049445.249266242] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049445.335371375] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049445.337747230] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049445.338166723] [sailbot.teensy]: Wind angle: 357 -[mux-7] [INFO] [1746049445.338878797] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049445.338912361] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049445.339313682] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049445.339740345] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049445.344551266] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049445.345189060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049445.345970539] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049445.347952724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049445.349024208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049445.445236363] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049445.445972387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049445.446955485] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049445.447973487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049445.448812586] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049445.502768643] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973016 Long: -76.50298126 -[vectornav-1] [INFO] [1746049445.503930588] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.278, -3.392, 8.934) -[mux-7] [INFO] [1746049445.545256002] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049445.546214107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049445.546979351] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049445.548487157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049445.549605669] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049445.585681565] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049445.587923897] [sailbot.teensy]: Wind angle: 357 -[teensy-2] [INFO] [1746049445.589006312] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049445.588414200] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049445.589738694] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049445.589905976] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049445.590808746] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049445.645734925] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049445.647942359] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049445.648584812] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049445.649349664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049445.650500603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049445.745608868] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049445.746309097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049445.747608181] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049445.748620117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049445.749090423] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049445.835297165] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049445.837636145] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049445.838514736] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049445.838680172] [sailbot.teensy]: Wind angle: 357 -[teensy-2] [INFO] [1746049445.839723423] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049445.840629684] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049445.841027905] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049445.844350964] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049445.844808152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049445.845574190] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049445.846523086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049445.847536746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049445.945215613] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049445.945748771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049445.946723489] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049445.948353866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049445.949544402] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049446.002570764] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973026 Long: -76.50298164 -[vectornav-1] [INFO] [1746049446.003605780] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.283, -3.371, 8.88) -[mux-7] [INFO] [1746049446.045456991] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049446.046056545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049446.047298764] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049446.050021281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049446.051064242] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049446.085391477] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049446.087173197] [sailbot.teensy]: Wind angle: 357 -[teensy-2] [INFO] [1746049446.088144930] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049446.087855944] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049446.089082288] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049446.089444585] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049446.089992570] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049446.145724382] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049446.146373794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049446.147717188] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049446.148610612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049446.149247483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049446.245655054] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049446.246232407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049446.247449461] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049446.248474508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049446.249628878] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049446.335975997] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049446.338387547] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049446.339053874] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049446.339320360] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049446.339454176] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049446.339860919] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049446.340420442] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049446.344460340] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049446.345040384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049446.345589066] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049446.346726765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049446.347896889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049446.445621569] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049446.446280605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049446.447324146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049446.448840312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049446.450142504] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049446.502538985] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973058 Long: -76.50298132 -[vectornav-1] [INFO] [1746049446.503565771] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.23900000000003, -3.384, 8.67) -[mux-7] [INFO] [1746049446.544725941] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049446.545830875] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049446.545826948] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049446.547719601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049446.548997600] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049446.585515633] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049446.588137213] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049446.588353700] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049446.589123429] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049446.590056020] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049446.590138631] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049446.590980376] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049446.645522131] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049446.646324970] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049446.648778587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049446.649464923] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049446.649986445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049446.745422103] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049446.746054531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049446.747155896] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049446.748448408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049446.749603623] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049446.835710883] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049446.838227608] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049446.838700003] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049446.838858261] [sailbot.teensy]: Wind angle: 334 -[teensy-2] [INFO] [1746049446.839263804] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049446.839644496] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049446.840025539] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049446.844504966] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049446.844969653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049446.845681925] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049446.846677368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049446.847709730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049446.945744215] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049446.946320974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049446.947903538] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049446.949335960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049446.950574637] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049447.002274351] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973055 Long: -76.50298147 -[vectornav-1] [INFO] [1746049447.003309336] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.221, -3.384, 8.513) -[mux-7] [INFO] [1746049447.045305084] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049447.046206327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049447.046754101] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049447.048384843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049447.049454476] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049447.085261114] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049447.087445894] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049447.088239300] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049447.088575274] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049447.089585158] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049447.090532704] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049447.091409225] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049447.145158034] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049447.145919786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049447.147892028] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049447.148720143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049447.149840574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049447.245254071] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049447.246089404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049447.246737055] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049447.247958436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049447.248527393] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049447.335481959] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049447.337499304] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049447.338406175] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049447.338592242] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049447.339476266] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049447.339248728] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049447.340457912] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049447.344761612] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049447.345214448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049447.345918048] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049447.346989322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049447.348032728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049447.445255925] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049447.446190558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049447.446780245] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049447.448341930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049447.449510314] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049447.502546345] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973059 Long: -76.5029815 -[vectornav-1] [INFO] [1746049447.503597776] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26099999999997, -3.371, 8.86) -[mux-7] [INFO] [1746049447.545262699] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049447.546034814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049447.546805762] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049447.548585841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049447.549615528] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049447.585567846] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049447.587663358] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049447.588200585] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049447.588737486] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049447.589617701] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049447.589647416] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049447.590519059] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049447.645392067] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049447.646365156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049447.647025289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049447.648988719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049447.650058042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049447.745758587] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049447.747227053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049447.747402614] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049447.748915124] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049447.749364567] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049447.835673767] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049447.837849278] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049447.838544956] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049447.840117466] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049447.840206159] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049447.841111542] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049447.841649745] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049447.844457900] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049447.845872902] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049447.846003946] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049447.847769514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049447.848926130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049447.945509200] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049447.946069926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049447.947602036] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049447.948288523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049447.949857146] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049448.002786552] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973045 Long: -76.50298174 -[vectornav-1] [INFO] [1746049448.003959755] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.235, -3.367, 8.589) -[mux-7] [INFO] [1746049448.045669630] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049448.046198569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049448.047485050] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049448.050076664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049448.051156868] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049448.085741269] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049448.088555058] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049448.089279310] [sailbot.teensy]: Wind angle: 333 -[mux-7] [INFO] [1746049448.090008307] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049448.090233840] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049448.091147711] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049448.092020839] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049448.145337309] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049448.146287237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049448.146911273] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049448.148558153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049448.149075094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049448.245666214] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049448.246393890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049448.247596068] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049448.248399530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049448.249754235] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049448.335772718] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049448.338577526] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049448.339172113] [sailbot.teensy]: Wind angle: 334 -[mux-7] [INFO] [1746049448.339373852] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049448.340685560] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049448.341578830] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049448.342415851] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049448.344472519] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049448.344907507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049448.345575215] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049448.346719897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049448.347756877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049448.445563432] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049448.447079829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049448.447212812] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049448.449265222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049448.450494384] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049448.502259159] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973051 Long: -76.50298168 -[vectornav-1] [INFO] [1746049448.503228583] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.214, -3.378, 8.43) -[mux-7] [INFO] [1746049448.544922744] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049448.545604057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049448.546194323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049448.547669861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049448.548883197] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049448.585781980] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049448.588175837] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049448.589066780] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049448.589218819] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049448.589717731] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049448.590133586] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049448.591413249] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049448.645420761] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049448.646275606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049448.647176483] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049448.649981694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049448.651076326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049448.745545915] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049448.746584913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049448.747236742] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049448.748068197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049448.748591778] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049448.835385817] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049448.837309349] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746049448.837738383] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049448.838233513] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049448.838793231] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049448.838851984] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049448.839225675] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049448.844600123] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049448.845076750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049448.845742013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049448.847089578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049448.848259019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049448.945762109] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049448.946325446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049448.947753243] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049448.948694269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049448.950734642] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049449.002693365] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697308 Long: -76.50298186 -[vectornav-1] [INFO] [1746049449.003816386] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.209, -3.374, 8.445) -[mux-7] [INFO] [1746049449.045038922] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049449.045821969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049449.046330975] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049449.047638974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049449.048762673] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049449.085520091] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049449.088200938] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049449.089131172] [sailbot.teensy]: Wind angle: 333 -[mux-7] [INFO] [1746049449.089408440] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049449.090080018] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049449.090986257] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049449.091807494] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049449.145414210] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049449.147129731] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049449.147233721] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049449.149602113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049449.150783944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049449.245304300] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049449.245833838] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049449.247353863] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049449.248867514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049449.249387442] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049449.335198472] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049449.336891365] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049449.337425394] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049449.337831536] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049449.338778102] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049449.339640489] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049449.339693120] [sailbot.mux]: algo sail angle: 80 -[mux-7] [INFO] [1746049449.344431534] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049449.344997419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049449.345597283] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049449.346664828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049449.347700217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049449.444988821] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049449.445631109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049449.446301469] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049449.447537487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049449.448503618] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049449.502651924] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973107 Long: -76.50298186 -[vectornav-1] [INFO] [1746049449.503743760] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.21500000000003, -3.36, 8.53) -[mux-7] [INFO] [1746049449.544830489] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049449.545365468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049449.546022254] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049449.547201224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049449.548377708] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049449.585929581] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049449.589179525] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049449.589373265] [sailbot.teensy]: Wind angle: 334 -[teensy-2] [INFO] [1746049449.590391997] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049449.590789841] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049449.591327895] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049449.592233361] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049449.645368925] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049449.645973467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049449.646954277] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049449.648078968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049449.648773664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049449.745341318] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049449.746901977] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049449.747017273] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049449.748918176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049449.749850075] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049449.835571068] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049449.838461724] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049449.838516690] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049449.839448858] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049449.840066557] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049449.840389861] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049449.841011451] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049449.844632450] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049449.845070275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049449.845812899] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049449.846789937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049449.847841538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049449.945327452] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049449.946025466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049449.946802675] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049449.948467045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049449.949562655] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049450.002324160] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469731 Long: -76.5029822 -[vectornav-1] [INFO] [1746049450.003387345] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.233, -3.347, 8.622) -[mux-7] [INFO] [1746049450.045301466] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049450.046228306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049450.046841937] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049450.048413033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049450.049445034] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049450.085813190] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049450.088492912] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049450.088554744] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049450.089578010] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049450.090364620] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049450.090488772] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049450.091414700] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049450.145137206] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049450.145779885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049450.147113569] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049450.149341234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049450.150372569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049450.245283846] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049450.246083597] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049450.247175562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049450.247899677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049450.248432668] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049450.335498884] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049450.337519099] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049450.338211350] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049450.338546709] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049450.339441879] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049450.339476491] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049450.340358936] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049450.344355008] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049450.345498821] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049450.345784810] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049450.347626578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049450.348680638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049450.445400316] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049450.446087462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049450.447081919] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049450.448436982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049450.449031053] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049450.502292717] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973096 Long: -76.50298216 -[vectornav-1] [INFO] [1746049450.503266472] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.23699999999997, -3.349, 8.632) -[mux-7] [INFO] [1746049450.544926817] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049450.545952055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049450.546228898] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049450.547813611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049450.548359549] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049450.585296228] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049450.587451391] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049450.587555717] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049450.588546864] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049450.589187405] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049450.589446682] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049450.590328529] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049450.645555073] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049450.646324663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049450.647425452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049450.649689858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049450.650852148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049450.745034561] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049450.745748889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049450.746274547] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049450.747703087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049450.748748354] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049450.835454112] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049450.837788534] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049450.838240960] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049450.838897263] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049450.839499572] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049450.840519975] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049450.841092546] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049450.844446739] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049450.844989320] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049450.846651252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049450.845521905] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049450.847652228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049450.945511441] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049450.946424933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049450.947138846] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049450.948568239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049450.949038425] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049451.002980791] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973125 Long: -76.50298267 -[vectornav-1] [INFO] [1746049451.004678046] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.235, -3.345, 8.631) -[mux-7] [INFO] [1746049451.045213371] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049451.046026568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049451.046763925] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049451.048954662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049451.050077984] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049451.086017962] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049451.089167517] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049451.089551413] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049451.089709327] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049451.090845969] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049451.091757917] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049451.092628096] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049451.145668531] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049451.146366642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049451.147485014] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049451.148895840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049451.150196301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049451.245221776] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049451.246227682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049451.246706504] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049451.248343850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049451.249385839] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049451.335389233] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049451.337846753] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049451.338294264] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049451.338820030] [sailbot.teensy]: Wind angle: 357 -[teensy-2] [INFO] [1746049451.339231615] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049451.339599973] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049451.339963757] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049451.344416721] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049451.344896323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049451.345514690] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049451.346525189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049451.347564169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049451.445565576] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049451.446679845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049451.447120584] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049451.449400652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049451.450524543] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049451.502439496] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973106 Long: -76.50298283 -[vectornav-1] [INFO] [1746049451.503427039] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.235, -3.348, 8.635) -[mux-7] [INFO] [1746049451.545248698] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049451.546296780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049451.546712354] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049451.548530234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049451.549013617] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049451.585377269] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049451.587734351] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049451.588009087] [sailbot.teensy]: Wind angle: 357 -[teensy-2] [INFO] [1746049451.588974790] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049451.589225565] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049451.590084595] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049451.590961319] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049451.645194872] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049451.645757966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049451.646604434] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049451.647799295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049451.648988703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049451.745200182] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049451.745694622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049451.746662766] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049451.747867476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049451.749277795] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049451.835586342] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049451.838070059] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049451.838374661] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049451.839225895] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049451.840579179] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049451.841498895] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049451.842380997] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049451.844335719] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049451.844947799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049451.845424866] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049451.846629481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049451.847795671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049451.945671514] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049451.946505305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049451.947399787] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049451.949124173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049451.950262695] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049452.002784129] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697312 Long: -76.50298305 -[vectornav-1] [INFO] [1746049452.003931581] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.247, -3.346, 8.714) -[mux-7] [INFO] [1746049452.045120671] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049452.045914670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049452.046498761] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049452.048041853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049452.049079601] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049452.085624405] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049452.088297288] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049452.088398794] [sailbot.teensy]: Wind angle: 357 -[mux-7] [INFO] [1746049452.089129218] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049452.089303981] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049452.090161501] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049452.091032123] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049452.145974445] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049452.146720446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049452.148047123] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049452.149138652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049452.150527848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049452.245264969] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049452.246198431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049452.246862104] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049452.247934694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049452.248465532] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049452.335552721] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049452.337385774] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049452.337999001] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049452.338323457] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049452.339203557] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049452.340099850] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049452.339394190] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049452.344317216] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049452.344948812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049452.345681374] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049452.346695969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049452.347841596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049452.445660356] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049452.446792887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049452.447398464] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049452.449272125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049452.450461243] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049452.502357550] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973128 Long: -76.50298319 -[vectornav-1] [INFO] [1746049452.503808194] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.247, -3.342, 8.774) -[mux-7] [INFO] [1746049452.545113155] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049452.545858582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049452.546479287] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049452.547923551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049452.548846200] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049452.585521361] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049452.587505732] [sailbot.teensy]: Wind angle: 356 -[teensy-2] [INFO] [1746049452.588553272] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049452.588207693] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049452.589196221] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049452.589429754] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049452.590272550] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049452.644996238] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049452.645587350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049452.646303368] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049452.647391614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049452.649111720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049452.745449810] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049452.746245736] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049452.747038109] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049452.748617806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049452.749746529] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049452.835847234] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049452.838328381] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049452.838852445] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049452.839397016] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049452.840286437] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049452.840077532] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049452.841171115] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049452.844949800] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049452.845205978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049452.846146612] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049452.846918912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049452.848106966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049452.945799978] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049452.946625114] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049452.947762278] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049452.949010289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049452.950240584] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049453.002759726] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973098 Long: -76.50298336 -[vectornav-1] [INFO] [1746049453.003908265] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.28200000000004, -3.339, 9.051) -[mux-7] [INFO] [1746049453.045653665] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049453.046201023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049453.047328414] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049453.048839798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049453.050051563] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049453.085558135] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049453.087558541] [sailbot.teensy]: Wind angle: 355 -[teensy-2] [INFO] [1746049453.088626617] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049453.088421694] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049453.089485137] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049453.089665680] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049453.090404270] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049453.145349981] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049453.146888398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049453.147367494] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049453.148739073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049453.149290015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049453.245240487] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049453.245835243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049453.246758783] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049453.247805217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049453.249013559] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049453.335316597] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049453.337237726] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049453.337537477] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049453.338292146] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049453.339104719] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049453.339453040] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049453.340196002] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049453.344488333] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049453.344927124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049453.345699747] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049453.346598455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049453.347801401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049453.445405027] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049453.446242146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049453.447225308] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049453.448699909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049453.449759851] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049453.502480302] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973089 Long: -76.50298371 -[vectornav-1] [INFO] [1746049453.503553165] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26, -3.351, 8.849) -[mux-7] [INFO] [1746049453.545055307] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049453.546127120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049453.546460386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049453.548205047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049453.549376514] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049453.585675823] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049453.588165903] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049453.588660859] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049453.589229934] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049453.590170749] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049453.589552119] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049453.591033990] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049453.645657538] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049453.646524984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049453.647497576] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049453.650332945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049453.651565275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049453.745236816] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049453.746053887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049453.746876062] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049453.748343371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049453.749389075] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049453.835700734] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049453.838829987] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049453.839584720] [sailbot.teensy]: Wind angle: 356 -[mux-7] [INFO] [1746049453.839843830] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049453.840558815] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049453.841440287] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049453.842281400] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049453.844395381] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049453.845487578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049453.845519286] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049453.847410732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049453.848456205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049453.945572366] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049453.946414350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049453.947154402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049453.948691246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049453.949485452] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049454.002802653] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973102 Long: -76.50298401 -[vectornav-1] [INFO] [1746049454.003955093] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.262, -3.355, 8.899) -[mux-7] [INFO] [1746049454.044832711] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049454.045460477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049454.046003319] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049454.047224387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049454.048315736] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049454.085696852] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049454.087956385] [sailbot.teensy]: Wind angle: 356 -[trim_sail-4] [INFO] [1746049454.088946801] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049454.089042939] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049454.089991566] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049454.090356117] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049454.090885472] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049454.145190315] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049454.146093883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049454.146640464] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049454.148251656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049454.149191511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049454.245359520] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049454.246213648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049454.247585969] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049454.248392094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049454.249021365] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049454.335591137] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049454.338168499] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049454.338298923] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049454.338899036] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049454.339013576] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049454.339277455] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049454.339665122] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049454.344606091] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049454.345137043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049454.345808663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049454.346902899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049454.348021125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049454.445638626] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049454.446400726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049454.447526477] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049454.450159081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049454.451387394] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049454.502572384] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973106 Long: -76.50298423 -[vectornav-1] [INFO] [1746049454.503906149] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.185, -3.357, 8.316) -[mux-7] [INFO] [1746049454.544982439] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049454.545833271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049454.546277434] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049454.548004296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049454.549063170] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049454.585541312] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049454.588305205] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049454.589090073] [sailbot.teensy]: Wind angle: 356 -[mux-7] [INFO] [1746049454.589224806] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049454.590008524] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049454.590911203] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049454.591762734] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049454.645209049] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049454.646022155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049454.647730652] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049454.649394937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049454.650485645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049454.745252226] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049454.746282658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049454.747316602] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049454.749160048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049454.750242876] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049454.835424668] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049454.837287421] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049454.838167171] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049454.838278188] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049454.839164014] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049454.839168065] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049454.840099974] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049454.844473763] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049454.845137555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049454.845906866] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049454.847026788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049454.848100729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049454.945475038] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049454.946538789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049454.947548833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049454.948937637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049454.950099532] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049455.002760127] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973121 Long: -76.5029842 -[vectornav-1] [INFO] [1746049455.003902730] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.212, -3.357, 8.509) -[mux-7] [INFO] [1746049455.045655126] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049455.046701568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049455.047255585] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049455.049422636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049455.050476628] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049455.086076743] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049455.089140279] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049455.089453070] [sailbot.teensy]: Wind angle: 355 -[teensy-2] [INFO] [1746049455.090522852] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049455.090524620] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049455.091442144] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049455.092382768] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049455.145655072] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049455.146535148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049455.147205452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049455.148901837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049455.150005556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049455.245175369] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049455.245834426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049455.246540623] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049455.248296959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049455.249054619] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049455.335800195] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049455.337966264] [sailbot.teensy]: Wind angle: 355 -[teensy-2] [INFO] [1746049455.339083601] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049455.339878132] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049455.340039781] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049455.340967202] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049455.341491480] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049455.344298051] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049455.345420984] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049455.345637534] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049455.347348416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049455.348551382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049455.445311144] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049455.446021846] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049455.448086558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049455.446853556] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049455.449261580] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049455.502547411] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973114 Long: -76.5029842 -[vectornav-1] [INFO] [1746049455.503627797] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.22, -3.354, 8.571) -[mux-7] [INFO] [1746049455.545471140] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049455.546318191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049455.547095430] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049455.549161080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049455.550282062] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049455.585831580] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049455.588738107] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049455.589331294] [sailbot.teensy]: Wind angle: 355 -[mux-7] [INFO] [1746049455.590272615] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049455.590294908] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049455.591197208] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049455.592061432] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049455.645287821] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049455.646226991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049455.646801383] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049455.648816904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049455.649978436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049455.745344919] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049455.746203554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049455.746884734] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049455.748543773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049455.749727277] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049455.835825096] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049455.838049879] [sailbot.teensy]: Wind angle: 355 -[teensy-2] [INFO] [1746049455.838959142] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049455.838799474] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049455.839336861] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049455.839448442] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049455.839703029] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049455.844388706] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049455.845160451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049455.845523439] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049455.846870602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049455.847933873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049455.945631158] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049455.946258848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049455.947299810] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049455.948951192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049455.950023876] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049456.002445894] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973096 Long: -76.50298436 -[vectornav-1] [INFO] [1746049456.003510915] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.212, -3.358, 8.52) -[mux-7] [INFO] [1746049456.045376854] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049456.046374205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049456.046912500] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049456.048552196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049456.049734204] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049456.085351603] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049456.087270169] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049456.087590551] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049456.088460263] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049456.088571424] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049456.089404473] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049456.090247339] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049456.145293805] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049456.146217537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049456.147732918] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049456.148700160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049456.149751759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049456.245741080] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049456.246547800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049456.247597704] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049456.250721695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049456.251820491] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049456.335779380] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049456.338306708] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049456.338667798] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049456.339654276] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049456.340391525] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049456.340839590] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049456.341411383] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049456.344388768] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049456.345027319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049456.346053625] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049456.346847799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049456.347983715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049456.445483175] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049456.446228679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049456.447194633] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049456.448773097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049456.449960501] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049456.502710573] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697309 Long: -76.5029843 -[vectornav-1] [INFO] [1746049456.503882689] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.224, -3.361, 8.642) -[mux-7] [INFO] [1746049456.545242641] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049456.545955192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049456.546755479] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049456.548481485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049456.549731420] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049456.585637656] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049456.587857943] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049456.588365011] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049456.589294335] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049456.589758537] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049456.590192895] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049456.591088224] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049456.645257885] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049456.646085336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049456.646794150] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049456.648292094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049456.649647691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049456.745640687] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049456.747306710] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049456.747894965] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049456.749280145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049456.749750658] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049456.835869210] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049456.838761150] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049456.838861218] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049456.839825302] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049456.840138641] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049456.840825378] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049456.841840401] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049456.844302260] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049456.844851261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049456.845385946] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049456.846517938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049456.847735210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049456.944803618] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049456.945622569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049456.946098449] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049456.947367434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049456.947899980] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049457.002401404] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973081 Long: -76.50298428 -[vectornav-1] [INFO] [1746049457.003447650] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.241, -3.366, 8.783) -[mux-7] [INFO] [1746049457.045590406] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049457.046772906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049457.047185218] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049457.049235513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049457.050397383] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049457.085690828] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049457.088294682] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049457.088358224] [sailbot.teensy]: Wind angle: 354 -[teensy-2] [INFO] [1746049457.089358732] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049457.090054085] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049457.090262263] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049457.091206820] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049457.145151116] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049457.146065770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049457.146873520] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049457.148219477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049457.149493463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049457.245282571] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049457.245987380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049457.246907414] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049457.248447689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049457.248964071] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049457.335531483] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049457.337706418] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049457.338184400] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049457.338762398] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049457.339302495] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049457.339429551] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049457.339678244] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049457.344461613] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049457.345053202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049457.345563538] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049457.346787196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049457.347803258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049457.445591711] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049457.446766561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049457.447333395] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049457.449312722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049457.450559720] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049457.502789700] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973082 Long: -76.50298422 -[vectornav-1] [INFO] [1746049457.504063984] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.235, -3.367, 8.737) -[mux-7] [INFO] [1746049457.545110277] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049457.546112183] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049457.546593499] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049457.547750447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049457.548235568] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049457.585497461] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049457.587475828] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049457.587945788] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049457.588662638] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049457.589668011] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049457.589944536] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049457.590548415] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049457.645220767] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049457.645992465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049457.646869610] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049457.648937507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049457.650002333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049457.745494499] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049457.746720496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049457.747404951] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049457.748368459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049457.748896408] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049457.835735122] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049457.838617342] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049457.839197655] [sailbot.teensy]: Wind angle: 357 -[mux-7] [INFO] [1746049457.840145349] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049457.840211627] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049457.841106668] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049457.841493025] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049457.844450408] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049457.845200356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049457.845527266] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049457.847619542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049457.848765754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049457.945657651] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049457.946344090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049457.947546384] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049457.948904359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049457.949439537] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049458.002544974] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973094 Long: -76.50298425 -[vectornav-1] [INFO] [1746049458.003740122] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.226, -3.373, 8.682) -[mux-7] [INFO] [1746049458.045222856] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049458.046059256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049458.047012805] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049458.048236828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049458.049393267] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049458.085552637] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049458.087722519] [sailbot.teensy]: Wind angle: 356 -[trim_sail-4] [INFO] [1746049458.088437708] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049458.088783932] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049458.089703961] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049458.089755010] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049458.090579961] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049458.145168934] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049458.145763766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049458.146719434] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049458.147749729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049458.148855129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049458.245581483] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049458.246380647] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049458.247522454] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049458.248579614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049458.249122210] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049458.335517794] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049458.338648757] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049458.339280048] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049458.339893263] [sailbot.teensy]: Wind angle: 356 -[teensy-2] [INFO] [1746049458.340900597] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049458.341460303] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049458.341823931] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049458.344093499] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049458.344672494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049458.345404307] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049458.346539729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049458.347596452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049458.445413259] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049458.445980276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049458.447077784] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049458.448184808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049458.449374177] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049458.502394340] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973104 Long: -76.50298422 -[vectornav-1] [INFO] [1746049458.503465005] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.212, -3.369, 8.574) -[mux-7] [INFO] [1746049458.545258496] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049458.545869652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049458.546810412] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049458.548400875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049458.549469516] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049458.585976548] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049458.588783586] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049458.589008483] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049458.589922463] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049458.590701686] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049458.590920844] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049458.591832745] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049458.645738703] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049458.646877930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049458.647697274] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049458.649652353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049458.650908148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049458.745574487] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049458.746655223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049458.747828876] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049458.748260160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049458.748713914] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049458.835544526] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049458.837935597] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049458.837955330] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049458.839367245] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049458.840051220] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049458.841114336] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049458.842036827] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049458.844364512] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049458.844728560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049458.845498270] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049458.846336964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049458.847489345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049458.945683058] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049458.946614347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049458.947472981] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049458.948837433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049458.949338616] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049459.002264200] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973099 Long: -76.50298429 -[vectornav-1] [INFO] [1746049459.003353339] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.211, -3.38, 8.572) -[mux-7] [INFO] [1746049459.045238950] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049459.045996348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049459.046654869] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049459.048251730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049459.049383814] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049459.085636725] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049459.088328225] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049459.089306435] [sailbot.teensy]: Wind angle: 352 -[mux-7] [INFO] [1746049459.089644749] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049459.090706048] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049459.091596912] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049459.092480482] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049459.145044207] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049459.145761090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049459.146429462] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049459.148010093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049459.149176645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049459.245554205] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049459.246364745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049459.247542138] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049459.249150383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049459.250314181] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049459.335674149] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049459.337838851] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049459.338329774] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049459.338900605] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049459.339591528] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049459.339864392] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049459.341040659] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049459.344282575] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049459.344934869] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049459.345447009] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049459.346690250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049459.347721168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049459.445936149] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049459.446610877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049459.447688986] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049459.449043818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049459.450280190] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049459.502916175] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697311 Long: -76.50298432 -[vectornav-1] [INFO] [1746049459.503979612] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.202, -3.384, 8.51) -[mux-7] [INFO] [1746049459.545158648] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049459.545931034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049459.546647407] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049459.548318446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049459.549513905] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049459.585417238] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049459.587285322] [sailbot.teensy]: Wind angle: 351 -[teensy-2] [INFO] [1746049459.588398355] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049459.589052505] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049459.589541918] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049459.589942588] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049459.590622376] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049459.645276951] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049459.646066090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049459.646921776] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049459.648190350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049459.648757208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049459.745356595] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049459.746865678] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049459.747699974] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049459.748503378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049459.749569371] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049459.835911260] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049459.839409848] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049459.839468757] [sailbot.teensy]: Wind angle: 352 -[mux-7] [INFO] [1746049459.839636405] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049459.841551312] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049459.841965707] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049459.842305961] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049459.843580080] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049459.844296648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049459.844779534] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049459.846129905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049459.847224686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049459.945465460] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049459.946179761] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049459.947858016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049459.947137053] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049459.948385502] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049460.002557555] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973117 Long: -76.50298434 -[vectornav-1] [INFO] [1746049460.003778737] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.22, -3.37, 8.661) -[mux-7] [INFO] [1746049460.045234850] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049460.046003832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049460.046734949] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049460.048334750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049460.049377225] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049460.085336630] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049460.087819524] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049460.087927155] [sailbot.teensy]: Wind angle: 350 -[mux-7] [INFO] [1746049460.088838393] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049460.089074552] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049460.089978378] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049460.090855939] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049460.144981213] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049460.145723190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049460.146289606] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049460.147645126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049460.148084166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049460.245079996] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049460.246050619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049460.246537188] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049460.248428759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049460.249601951] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049460.335382130] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049460.337831834] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049460.337932831] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049460.338407735] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049460.338872758] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049460.339740064] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049460.340619081] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049460.344318285] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049460.345013516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049460.345391834] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049460.346698216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049460.347764046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049460.445393565] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049460.446163028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049460.447073187] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049460.448463675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049460.449749530] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049460.502841193] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973131 Long: -76.50298429 -[vectornav-1] [INFO] [1746049460.503946134] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.212, -3.374, 8.613) -[mux-7] [INFO] [1746049460.545112915] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049460.545922041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049460.546582127] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049460.548031634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049460.549255790] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049460.585668717] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049460.588103485] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049460.588674901] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049460.589180258] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049460.589822470] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049460.590103816] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049460.590975106] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049460.645446475] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049460.646252994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049460.647148427] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049460.648824694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049460.650117262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049460.745297293] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049460.746153074] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049460.747130093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049460.748272504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049460.749293339] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049460.835481966] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049460.838316536] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049460.838809162] [sailbot.teensy]: Wind angle: 352 -[mux-7] [INFO] [1746049460.838941951] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049460.839891480] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049460.840581174] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049460.840960320] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049460.844758087] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049460.845126457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049460.845936412] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049460.846823828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049460.847909333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049460.945473200] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049460.946360803] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049460.947535960] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049460.948663648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049460.949185779] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049461.002690981] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973128 Long: -76.50298452 -[vectornav-1] [INFO] [1746049461.003933010] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.212, -3.372, 8.642) -[mux-7] [INFO] [1746049461.045246232] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049461.045938794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049461.046782058] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049461.048035435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049461.049053200] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049461.085481866] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049461.087262100] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049461.088118621] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049461.088210782] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049461.089086575] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049461.089217918] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049461.089946420] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049461.145105308] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049461.145963947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049461.146590080] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049461.148267606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049461.148886533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049461.245219522] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049461.246029577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049461.246789619] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049461.248126083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049461.248773218] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049461.335740281] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049461.338012062] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049461.339048603] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049461.339119029] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049461.340051291] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049461.340049612] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049461.341315708] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049461.344413294] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049461.345002172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049461.345553158] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049461.346892410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049461.348073671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049461.445627156] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049461.446470268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049461.447415891] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049461.449207782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049461.450462369] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049461.502365741] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973144 Long: -76.50298456 -[vectornav-1] [INFO] [1746049461.503338517] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.214, -3.376, 8.602) -[mux-7] [INFO] [1746049461.545151058] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049461.546168690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049461.546574916] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049461.548253531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049461.549407960] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049461.585520798] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049461.588313689] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049461.588367372] [sailbot.teensy]: Wind angle: 348 -[mux-7] [INFO] [1746049461.589111374] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049461.589274919] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049461.590176008] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049461.591001572] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049461.645615134] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049461.646453857] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049461.649041798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049461.649695701] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049461.650238653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049461.745547678] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049461.746506421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049461.747170826] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049461.749273934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049461.750337699] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049461.835550872] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049461.838225759] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049461.838549357] [sailbot.teensy]: Wind angle: 343 -[mux-7] [INFO] [1746049461.838628940] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049461.839625136] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049461.840532410] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049461.841355146] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049461.844907585] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049461.845048800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049461.846405113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049461.847367738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049461.848504443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049461.945482462] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049461.947092657] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049461.947934813] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049461.949470465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049461.949976778] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049462.002396431] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973155 Long: -76.50298474 -[vectornav-1] [INFO] [1746049462.003398607] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.216, -3.365, 8.574) -[mux-7] [INFO] [1746049462.045178042] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049462.046085493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049462.046989791] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049462.048051785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049462.049699467] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049462.085500348] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049462.087205304] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049462.088147477] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049462.088334403] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049462.089279878] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049462.089431615] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049462.090355838] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049462.144820673] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049462.145502742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049462.146127094] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049462.147409136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049462.148418416] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049462.245077985] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049462.245989997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049462.246384915] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049462.248111344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049462.249147867] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049462.335320199] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049462.337863780] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049462.338789946] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049462.337948870] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049462.338996174] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049462.339794663] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049462.340416419] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049462.344477155] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049462.345063525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049462.345560501] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049462.346929074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049462.347995078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049462.445378101] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049462.446167184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049462.446995295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049462.447981569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049462.448418890] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049462.502197811] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973169 Long: -76.50298488 -[vectornav-1] [INFO] [1746049462.503213753] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.18399999999997, -3.362, 8.504) -[mux-7] [INFO] [1746049462.545036210] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049462.545752863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049462.546473175] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049462.547848426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049462.548758867] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049462.585476944] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049462.588397384] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049462.588734752] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049462.588851578] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049462.589773591] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049462.590834243] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049462.591693843] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049462.645344619] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049462.646103736] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049462.647525256] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049462.648577002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049462.649807729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049462.745398596] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049462.746161025] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049462.746975776] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049462.748460304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049462.749008517] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049462.835928338] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049462.838734274] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049462.838976361] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049462.839028024] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049462.839452041] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049462.839847122] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049462.840225576] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049462.844681055] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049462.845282630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049462.846109136] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049462.847113510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049462.848147635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049462.945442469] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049462.946116157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049462.947509845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049462.948340416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049462.949532609] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049463.002440542] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973184 Long: -76.50298493 -[vectornav-1] [INFO] [1746049463.003490533] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.19399999999996, -3.373, 8.505) -[mux-7] [INFO] [1746049463.045159160] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049463.045964317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049463.046545938] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049463.047842960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049463.048930575] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049463.085861159] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049463.088961935] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049463.089206939] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049463.090221437] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049463.090977251] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049463.091133798] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049463.092070697] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049463.145489319] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049463.146146413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049463.147112972] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049463.148354869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049463.148973194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049463.245247052] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049463.245808383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049463.246942513] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049463.248023305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049463.249109598] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049463.335517574] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049463.337521237] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049463.338203991] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049463.338487752] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049463.339344958] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049463.339279064] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049463.340209396] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049463.344347362] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049463.344940783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049463.345439570] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049463.346660980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049463.347806096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049463.445025182] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049463.445762626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049463.446352306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049463.447828825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049463.448877344] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049463.502260581] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973193 Long: -76.50298519 -[vectornav-1] [INFO] [1746049463.503298944] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.217, -3.369, 8.67) -[mux-7] [INFO] [1746049463.545202145] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049463.545993205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049463.547041237] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049463.548743943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049463.549818555] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049463.585682188] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049463.587963632] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049463.588263920] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049463.588972540] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049463.589271333] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049463.590051084] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049463.590999588] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049463.645043422] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049463.645725668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049463.646321352] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049463.647616667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049463.648856142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049463.745184570] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049463.745909665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049463.746930015] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049463.747929009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049463.749027570] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049463.835447398] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049463.837237533] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049463.837974762] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049463.838967031] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049463.839119953] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049463.839450584] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049463.839889822] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049463.844475480] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049463.844912216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049463.845674096] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049463.846703776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049463.847729295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049463.945363545] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049463.945924647] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049463.947344906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049463.949006250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049463.950314939] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049464.002460554] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973182 Long: -76.50298564 -[vectornav-1] [INFO] [1746049464.003501779] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.219, -3.371, 8.646) -[mux-7] [INFO] [1746049464.045826149] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049464.046908785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049464.048462988] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049464.049382401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049464.050601521] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049464.085244045] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049464.087365463] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049464.087581490] [sailbot.teensy]: Wind angle: 349 -[teensy-2] [INFO] [1746049464.088519480] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049464.088792645] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049464.089410925] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049464.090320225] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049464.145159082] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049464.145867749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049464.146720206] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049464.147899910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049464.149132921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049464.245650563] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049464.246483412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049464.247297811] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049464.248737333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049464.249274723] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049464.335384116] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049464.337811253] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049464.338340038] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049464.338875343] [sailbot.teensy]: Wind angle: 349 -[teensy-2] [INFO] [1746049464.339821315] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049464.340710561] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049464.341568105] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049464.344381973] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049464.344963925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049464.345757357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049464.346970349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049464.348033865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049464.445191769] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049464.445810954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049464.446927709] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049464.447967965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049464.448673730] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049464.502769157] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973169 Long: -76.50298559 -[vectornav-1] [INFO] [1746049464.504392591] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.225, -3.382, 8.627) -[mux-7] [INFO] [1746049464.545265248] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049464.546034075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049464.546721804] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049464.549089329] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049464.550170256] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049464.585630340] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049464.587580707] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049464.588897153] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049464.589000293] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049464.589806716] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049464.589873239] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049464.590779668] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049464.645324377] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049464.646076991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049464.646887348] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049464.648412056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049464.649619342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049464.745188543] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049464.746696721] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049464.747129333] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049464.749009850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049464.750119203] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049464.835560392] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049464.837672637] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049464.838634146] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049464.838109029] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049464.839049443] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049464.839109418] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049464.839479839] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049464.844350749] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049464.844961761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049464.845630690] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049464.846717159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049464.847861882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049464.945440876] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049464.946092210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049464.946989809] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049464.948346575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049464.949613464] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049465.002422689] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973169 Long: -76.50298579 -[vectornav-1] [INFO] [1746049465.003408714] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.224, -3.388, 8.646) -[mux-7] [INFO] [1746049465.045343147] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049465.045862749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049465.046821659] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049465.048017064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049465.048485845] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049465.085387367] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049465.087616445] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049465.088267627] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049465.088469225] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049465.089399088] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049465.090282593] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049465.091108511] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049465.145022842] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049465.146337015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049465.146961838] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049465.149145343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049465.150309240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049465.245076100] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049465.245897465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049465.246431631] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049465.248012259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049465.249151236] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049465.335463010] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049465.337746402] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049465.337795773] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049465.338799293] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049465.338958648] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049465.339198365] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049465.339570642] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049465.344434827] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049465.344889824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049465.345527997] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049465.346598367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049465.347656153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049465.444911731] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049465.446111404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049465.447199769] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049465.447944770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049465.449143616] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049465.502569773] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973182 Long: -76.50298578 -[vectornav-1] [INFO] [1746049465.503602610] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.22, -3.377, 8.626) -[mux-7] [INFO] [1746049465.545223305] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049465.545926673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049465.546867576] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049465.548036139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049465.549076577] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049465.585613839] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049465.588124544] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049465.588567043] [sailbot.teensy]: Wind angle: 346 -[mux-7] [INFO] [1746049465.589107424] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049465.589555726] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049465.590518738] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049465.591409828] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049465.645069744] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049465.645865995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049465.646304945] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049465.647857745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049465.649051383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049465.745199048] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049465.746229745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049465.746681391] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049465.747977875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049465.749515935] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049465.835559645] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049465.837821875] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049465.838474719] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049465.838805477] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049465.840052414] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049465.840963495] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049465.841799534] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049465.844305945] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049465.845365197] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049465.844883894] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049465.846517936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049465.847556882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049465.945015675] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049465.945992010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049465.946661894] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049465.948171661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049465.948757792] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049466.002786046] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973212 Long: -76.50298557 -[vectornav-1] [INFO] [1746049466.004199633] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.182, -3.37, 8.487) -[mux-7] [INFO] [1746049466.045063560] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049466.045811549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049466.046411896] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049466.047727883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049466.048457237] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049466.085690367] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049466.088448868] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049466.088988580] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049466.089604274] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049466.090850294] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049466.091719348] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049466.092656822] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049466.145671520] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049466.147077299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049466.148083648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049466.149461973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049466.150504721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049466.245288886] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049466.246221106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049466.247113867] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049466.248535928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049466.249608342] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049466.335879073] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049466.338883559] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049466.338997321] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049466.340019951] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049466.340594566] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049466.341029304] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049466.341997816] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049466.344343872] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049466.344835441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049466.345566599] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049466.346520772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049466.347652739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049466.445306056] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049466.446245848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049466.447116592] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049466.448730453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049466.450026077] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049466.502586101] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973197 Long: -76.50298574 -[vectornav-1] [INFO] [1746049466.503614045] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.159, -3.367, 8.449) -[mux-7] [INFO] [1746049466.545387426] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049466.546057307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049466.546867795] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049466.548132296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049466.549284158] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049466.585554908] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049466.587541397] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049466.588102731] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049466.588581732] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049466.589523073] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049466.589955109] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049466.590407011] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049466.644712385] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049466.645277618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049466.645939207] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049466.646999670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049466.648081306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049466.745798574] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049466.746346045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049466.747549489] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049466.748761659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049466.750560665] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049466.835630147] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049466.837900493] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049466.838971219] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049466.839155564] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049466.840006603] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049466.840291382] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049466.841208435] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049466.844461884] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049466.845554487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049466.845766346] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049466.847363786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049466.848462967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049466.945653291] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049466.946399894] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049466.948656737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049466.947469838] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049466.949210799] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049467.002747478] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973209 Long: -76.50298556 -[vectornav-1] [INFO] [1746049467.004036886] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.179, -3.375, 8.409) -[mux-7] [INFO] [1746049467.045214467] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049467.046078499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049467.046700774] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049467.048376680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049467.049417470] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049467.085687703] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049467.089179710] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049467.089316917] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049467.089838985] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049467.090557090] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049467.091486431] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049467.092331532] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049467.145426974] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049467.146816667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049467.146945302] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049467.148864286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049467.150019612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049467.245085936] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049467.245591176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049467.246361439] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049467.247391296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049467.249087754] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049467.335481677] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049467.337735108] [sailbot.teensy]: Wind angle: 331 -[trim_sail-4] [INFO] [1746049467.338016900] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049467.338713482] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049467.339599427] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049467.339623869] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049467.340509998] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049467.344310172] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049467.344807180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049467.345425907] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049467.346491350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049467.347733148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049467.445331216] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049467.446362140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049467.446805342] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049467.448707801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049467.449814824] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049467.502491114] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973206 Long: -76.50298554 -[vectornav-1] [INFO] [1746049467.503528450] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.182, -3.379, 8.44) -[mux-7] [INFO] [1746049467.545524349] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049467.546272411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049467.547560116] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049467.548660623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049467.549910099] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049467.586028070] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049467.588832503] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049467.589601906] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049467.589917819] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049467.590890353] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049467.591486624] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049467.591738068] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049467.645552331] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049467.646397901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049467.647731281] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049467.648892744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049467.650029701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049467.745337359] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049467.745926488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049467.747043139] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049467.747988773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049467.749323231] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049467.835562492] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049467.837607314] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049467.838344500] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049467.838630856] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049467.839493731] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049467.839515226] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049467.840221864] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049467.844759265] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049467.845012007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049467.845990493] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049467.846831301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049467.847876367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049467.945819824] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049467.946760549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049467.947561640] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049467.949419929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049467.950787910] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049468.002249677] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973202 Long: -76.50298543 -[vectornav-1] [INFO] [1746049468.003211365] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.214, -3.386, 8.783) -[mux-7] [INFO] [1746049468.045397952] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049468.046082746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049468.047111832] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049468.048259632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049468.050613624] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049468.085569924] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049468.087800442] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049468.088215666] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049468.089928956] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049468.090140394] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049468.091080060] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049468.091912200] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049468.145620810] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049468.146410156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049468.148231396] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049468.149427355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049468.151326972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049468.245456952] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049468.246768920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049468.248172860] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049468.248789103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049468.250045307] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049468.335452444] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049468.337533536] [sailbot.teensy]: Wind angle: 353 -[teensy-2] [INFO] [1746049468.338474209] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049468.337748525] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049468.339043517] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049468.339775126] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049468.340695743] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049468.344260884] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049468.344728235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049468.345368423] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049468.346385256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049468.347988546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049468.445114278] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049468.446038451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049468.446481254] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049468.448591971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049468.449730496] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049468.502659047] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973201 Long: -76.50298554 -[vectornav-1] [INFO] [1746049468.504269504] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.256, -3.386, 9.044) -[mux-7] [INFO] [1746049468.544825545] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049468.545453083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049468.545971672] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049468.548137924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049468.549380204] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049468.585166697] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049468.586965506] [sailbot.teensy]: Wind angle: 353 -[trim_sail-4] [INFO] [1746049468.587335749] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049468.587963990] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049468.588928902] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049468.589659963] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049468.589853502] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049468.645145554] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049468.645929822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049468.646641093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049468.648265147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049468.649577948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049468.744973547] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049468.746098352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049468.746344052] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049468.747870575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049468.748882921] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049468.835553974] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049468.837563481] [sailbot.teensy]: Wind angle: 353 -[trim_sail-4] [INFO] [1746049468.838337641] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049468.838572435] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049468.839466902] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049468.839469251] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049468.840383897] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049468.844418838] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049468.844975678] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049468.845525204] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049468.846654351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049468.847773684] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049468.945328826] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049468.946222034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049468.946828671] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049468.948407301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049468.949426200] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049469.002287593] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973199 Long: -76.50298542 -[vectornav-1] [INFO] [1746049469.003250559] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.291, -3.395, 9.309) -[mux-7] [INFO] [1746049469.045150396] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049469.045817490] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049469.046398425] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049469.047726598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049469.048878158] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049469.085559279] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049469.087786649] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049469.088486935] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049469.088826663] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049469.089717239] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049469.089734498] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049469.090590630] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049469.145406758] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049469.146345246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049469.147120571] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049469.148689428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049469.149807528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049469.245555325] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049469.246647647] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049469.247595945] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049469.248871284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049469.249410706] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049469.335750262] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049469.338034886] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049469.338499407] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049469.339103201] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049469.340204685] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049469.340946404] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049469.341006571] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049469.344386998] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049469.345601322] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049469.346157283] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049469.348071292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049469.349076443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049469.445170045] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049469.445866139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049469.447193918] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049469.447790976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049469.449509318] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049469.502503265] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973196 Long: -76.50298542 -[vectornav-1] [INFO] [1746049469.503569743] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.272, -3.391, 9.323) -[mux-7] [INFO] [1746049469.545235948] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049469.546663984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049469.546815382] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049469.548979507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049469.550040786] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049469.585641421] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049469.588227591] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049469.588792698] [sailbot.teensy]: Wind angle: 355 -[mux-7] [INFO] [1746049469.589859570] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049469.590168314] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049469.591097164] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049469.591951928] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049469.644896931] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049469.645447116] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049469.646233352] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049469.647272708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049469.648365302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049469.745550713] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049469.746172703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049469.747282690] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049469.748267517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049469.748741893] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049469.835289447] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049469.837066393] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746049469.837857952] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049469.838345541] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049469.838933920] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049469.839612034] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049469.839984491] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049469.844548472] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049469.845688455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049469.845728455] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049469.847429636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049469.848479214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049469.945705716] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049469.946433729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049469.947776585] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049469.948834838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049469.950048368] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049470.002295212] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973174 Long: -76.50298558 -[vectornav-1] [INFO] [1746049470.003236061] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.264, -3.4, 9.413) -[mux-7] [INFO] [1746049470.045028569] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049470.045723883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049470.046732422] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049470.047552880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049470.049449282] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049470.085677634] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049470.087756187] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049470.088285906] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049470.089756927] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049470.089943273] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049470.090861075] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049470.091734882] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049470.145296002] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049470.146429352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049470.146845860] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049470.148696100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049470.149836732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049470.245021413] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049470.245760830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049470.246427729] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049470.247868300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049470.249146301] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049470.335508917] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049470.338252780] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049470.339052600] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049470.340098444] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049470.341068194] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049470.341947746] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049470.342778279] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049470.344415268] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049470.344954119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049470.345555645] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049470.346618502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049470.347632319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049470.445038183] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049470.446389350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049470.446392233] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049470.447952415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049470.448405336] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049470.502501341] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973175 Long: -76.50298557 -[vectornav-1] [INFO] [1746049470.503560669] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.139, -3.383, 9.469) -[mux-7] [INFO] [1746049470.545114004] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049470.546012836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049470.546600729] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049470.548183240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049470.549201203] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049470.585746519] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049470.587938236] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049470.589138835] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049470.590074092] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049470.590961010] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746049470.589859331] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049470.590425163] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746049470.645479890] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049470.646755126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049470.647031163] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049470.649051690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049470.649630086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049470.745004376] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049470.745644699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049470.746337326] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049470.747723920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049470.748293525] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049470.835717147] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049470.838494202] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746049470.838622895] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049470.839513101] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049470.839712086] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049470.839906949] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049470.840287387] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049470.844508034] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049470.845145365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049470.845832322] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049470.846868193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049470.847912729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049470.945533698] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049470.946267315] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049470.947115139] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049470.948656031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049470.949257135] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049471.002432933] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973172 Long: -76.50298563 -[vectornav-1] [INFO] [1746049471.003425932] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.81600000000003, -3.406, 9.753) -[mux-7] [INFO] [1746049471.044111978] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049471.044764063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049471.045008172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049471.046155349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049471.047093707] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049471.084359636] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049471.085400157] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049471.085658654] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049471.086217821] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049471.086592566] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049471.086977351] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049471.087366875] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049471.145039729] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049471.145702270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049471.146282559] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049471.149026914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049471.150196563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049471.245045438] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049471.245963550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049471.246443869] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049471.247846112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049471.248351273] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049471.335689944] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049471.338610301] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049471.338771959] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049471.339080841] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049471.339524626] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049471.340328867] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049471.341177589] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049471.344342972] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049471.344972444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049471.345447464] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049471.346745724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049471.347732330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049471.445080321] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049471.446004767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049471.446526893] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049471.447908582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049471.449054895] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049471.502727679] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973171 Long: -76.50298561 -[vectornav-1] [INFO] [1746049471.503956548] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.829, -3.409, 9.727) -[mux-7] [INFO] [1746049471.545163683] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049471.545819790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049471.546590577] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049471.547766958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049471.548719080] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049471.585448087] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049471.587522285] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049471.588080798] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049471.588413267] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049471.588490926] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049471.589410485] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049471.590251141] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049471.645268106] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049471.646073608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049471.646982263] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049471.648257786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049471.649451119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049471.745309406] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049471.746239704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049471.746809564] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049471.748363092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049471.749192284] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049471.835411701] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049471.837999582] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049471.838401691] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049471.838623083] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049471.838993521] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049471.839874516] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049471.840283874] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049471.844430333] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049471.845141384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049471.845519750] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049471.847040059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049471.848224655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049471.945067429] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049471.945741473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049471.946471968] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049471.947677801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049471.948821991] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049472.002827718] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973186 Long: -76.50298554 -[vectornav-1] [INFO] [1746049472.003966594] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.825, -3.411, 9.745) -[mux-7] [INFO] [1746049472.045179056] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049472.045967566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049472.046583617] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049472.049394488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049472.050487190] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049472.085690277] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049472.088841398] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049472.089137310] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049472.089805661] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049472.090749487] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049472.091596577] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049472.092451219] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049472.145228320] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049472.146420102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049472.147215341] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049472.148590094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049472.149604960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049472.245386211] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049472.246154023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049472.247123977] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049472.248550510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049472.249677380] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049472.335610060] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049472.338439874] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049472.338779945] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049472.338991384] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049472.340552895] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049472.341476004] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049472.342332928] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049472.344357899] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049472.344967892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049472.345444167] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049472.346722831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049472.347799045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049472.445603388] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049472.446493689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049472.447123108] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049472.448717169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049472.449938244] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049472.502673056] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973191 Long: -76.50298553 -[vectornav-1] [INFO] [1746049472.503728698] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.799, -3.41, 9.76) -[mux-7] [INFO] [1746049472.545046064] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049472.545736036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049472.546286920] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049472.547555768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049472.548739566] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049472.585798428] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049472.588250321] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049472.588773319] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049472.589394198] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049472.589835246] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049472.590347801] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049472.591191648] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049472.645542060] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049472.646410844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049472.647152586] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049472.649657851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049472.650789219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049472.745403877] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049472.746225173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049472.747012280] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049472.749442074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049472.750578474] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049472.835492548] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049472.838440793] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049472.838706616] [sailbot.teensy]: Wind angle: 346 -[mux-7] [INFO] [1746049472.839306429] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049472.839765622] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049472.840158235] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049472.840818973] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049472.844451842] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049472.845035253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049472.845877221] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049472.846887924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049472.847951538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049472.945555110] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049472.946411821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049472.947295844] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049472.948410933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049472.948907242] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049473.002839068] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973175 Long: -76.50298577 -[vectornav-1] [INFO] [1746049473.004405435] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.79499999999996, -3.408, 9.692) -[mux-7] [INFO] [1746049473.045311665] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049473.046317619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049473.046819761] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049473.048580093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049473.049692893] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049473.086083358] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049473.088686562] [sailbot.teensy]: Wind angle: 353 -[teensy-2] [INFO] [1746049473.089905696] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049473.090999440] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049473.091160188] [sailbot.mux]: algo sail angle: 90 -[trim_sail-4] [INFO] [1746049473.090710429] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049473.091966223] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049473.145593210] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049473.147343200] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049473.147611351] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049473.149652084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049473.150864608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049473.245526088] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049473.246546951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049473.247145712] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049473.249029881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049473.250141163] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049473.335231001] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049473.337117635] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049473.337888309] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049473.338036638] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049473.338927110] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049473.339245050] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049473.339815771] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049473.344430167] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049473.345228768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049473.345542093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049473.347129153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049473.348269739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049473.445488027] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049473.446132610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049473.447050600] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049473.448115827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049473.448652827] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049473.502431873] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973182 Long: -76.50298554 -[vectornav-1] [INFO] [1746049473.503536045] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.786, -3.415, 9.677) -[mux-7] [INFO] [1746049473.545750235] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049473.545873216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049473.547213472] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049473.547937606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049473.548438991] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049473.585363070] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049473.587439201] [sailbot.teensy]: Wind angle: 353 -[trim_sail-4] [INFO] [1746049473.587555593] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049473.588522096] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049473.589434786] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049473.589584758] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049473.590349487] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049473.645320119] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049473.646209691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049473.646831015] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049473.649162452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049473.650420273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049473.745535264] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049473.746633639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049473.747081412] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049473.748966199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049473.749465774] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049473.835766572] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049473.838710371] [sailbot.teensy]: Wind angle: 353 -[trim_sail-4] [INFO] [1746049473.839095130] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049473.839199173] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049473.839392978] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049473.839591773] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049473.839962995] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049473.844490929] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049473.845253540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049473.845970745] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049473.847277853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049473.848574310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049473.945101784] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049473.945946324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049473.946521277] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049473.948097576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049473.949138050] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049474.002517788] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973172 Long: -76.50298563 -[vectornav-1] [INFO] [1746049474.003627142] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.772, -3.414, 9.69) -[mux-7] [INFO] [1746049474.045259567] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049474.046165170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049474.046787973] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049474.048418762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049474.049444500] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049474.085373206] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049474.087628849] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049474.087768724] [sailbot.teensy]: Wind angle: 353 -[teensy-2] [INFO] [1746049474.088692929] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049474.089056293] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049474.089624187] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049474.090539820] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049474.145525546] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049474.146332440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049474.147146874] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049474.150497078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049474.151717470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049474.245518424] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049474.246287509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049474.247601156] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049474.248555618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049474.249755209] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049474.335714734] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049474.338536064] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049474.339045889] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049474.339178337] [sailbot.teensy]: Wind angle: 352 -[teensy-2] [INFO] [1746049474.339590101] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049474.339970963] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049474.340333226] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049474.344534986] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049474.345235005] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049474.345732588] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049474.347040146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049474.348140495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049474.445631443] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049474.447166936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049474.447982688] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049474.448520540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049474.449207177] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049474.503512216] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973173 Long: -76.5029857 -[vectornav-1] [INFO] [1746049474.505443625] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.8, -3.396, 9.74) -[mux-7] [INFO] [1746049474.545027268] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049474.545671329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049474.546320845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049474.547662773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049474.548817656] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049474.585543954] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049474.587577041] [sailbot.teensy]: Wind angle: 351 -[teensy-2] [INFO] [1746049474.588659136] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049474.588148063] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049474.589605889] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049474.590234287] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049474.590490049] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049474.645289909] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049474.646219835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049474.646951741] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049474.648638020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049474.649811776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049474.745728745] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049474.746637383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049474.747439022] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049474.749301370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049474.750595506] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049474.836089971] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049474.838703330] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049474.838917838] [sailbot.teensy]: Wind angle: 351 -[mux-7] [INFO] [1746049474.839280629] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049474.839343878] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049474.839770638] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049474.840148976] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049474.844607606] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049474.845191903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049474.845808654] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049474.847029036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049474.848178943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049474.945613988] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049474.946309746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049474.947190700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049474.948659536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049474.950620434] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049475.002629014] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973165 Long: -76.50298537 -[vectornav-1] [INFO] [1746049475.003793325] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.606, -3.427, 9.816) -[mux-7] [INFO] [1746049475.045176049] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049475.046321742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049475.046625217] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049475.048468526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049475.049640038] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049475.085774405] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049475.088689884] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049475.090281369] [sailbot.teensy]: Wind angle: 347 -[mux-7] [INFO] [1746049475.090542920] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049475.091272451] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049475.092132763] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049475.093023076] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049475.145513250] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049475.146453490] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049475.147128855] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049475.148942219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049475.150058355] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049475.245600555] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049475.246376962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049475.247210684] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049475.247898515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049475.248519324] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049475.335832544] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049475.338442558] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049475.338708875] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049475.339434367] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049475.340785416] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049475.341871918] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049475.342776049] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049475.344500344] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049475.345173887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049475.345615405] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049475.346885994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049475.348016606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049475.445568908] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049475.446671867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049475.447198007] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049475.449556261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049475.451065016] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049475.502786148] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973157 Long: -76.50298514 -[vectornav-1] [INFO] [1746049475.503886976] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.61400000000003, -3.437, 9.768) -[mux-7] [INFO] [1746049475.545006872] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049475.546255516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049475.546448221] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049475.548655122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049475.549782267] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049475.585754230] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049475.588571028] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049475.589485092] [sailbot.teensy]: Wind angle: 347 -[mux-7] [INFO] [1746049475.589709648] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049475.590513283] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049475.591438565] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049475.592353713] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049475.645428166] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049475.646783651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049475.647806456] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049475.649309950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049475.650523866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049475.745132152] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049475.745826741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049475.746724804] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049475.747716296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049475.748268396] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049475.835515703] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049475.837972195] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049475.838304797] [sailbot.teensy]: Wind angle: 348 -[mux-7] [INFO] [1746049475.838431568] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049475.839308925] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049475.840184433] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049475.841006542] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049475.844404775] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049475.844927258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049475.845523293] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049475.846581241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049475.847607938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049475.945583553] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049475.946470528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049475.947179565] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049475.949124984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049475.950347603] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049476.002574326] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973152 Long: -76.50298505 -[vectornav-1] [INFO] [1746049476.003670534] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.60699999999997, -3.445, 9.722) -[mux-7] [INFO] [1746049476.045591254] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049476.046567247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049476.048582957] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049476.048963231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049476.050761784] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049476.085697283] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049476.088259089] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049476.088807059] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049476.089332943] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049476.089843103] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049476.090257643] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049476.091156949] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049476.145335221] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049476.146251643] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049476.146959749] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049476.149326165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049476.150438203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049476.245283697] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049476.246482367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049476.246865042] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049476.249270198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049476.250279780] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049476.335580158] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049476.338553945] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049476.338625605] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049476.339469255] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049476.340644926] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049476.341383740] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049476.341819465] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049476.344515554] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049476.345757515] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049476.346822469] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049476.348531392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049476.349526390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049476.445489190] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049476.446596638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049476.447130645] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049476.448559076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049476.449106894] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049476.502548532] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973155 Long: -76.50298493 -[vectornav-1] [INFO] [1746049476.503594110] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.627, -3.446, 9.733) -[mux-7] [INFO] [1746049476.544730286] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049476.545335879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049476.545990033] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049476.547149195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049476.548386643] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049476.586007580] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049476.588585258] [sailbot.teensy]: Wind angle: 352 -[teensy-2] [INFO] [1746049476.589908992] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049476.589342165] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049476.590521818] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049476.590838176] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049476.591702124] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049476.645501895] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049476.646234702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049476.647057148] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049476.648559437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049476.649795564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049476.745598298] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049476.746363349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049476.747246210] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049476.748290207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049476.749662153] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049476.835348376] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049476.837632190] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049476.838692695] [sailbot.teensy]: Wind angle: 352 -[mux-7] [INFO] [1746049476.839094072] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049476.839858511] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049476.840828942] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049476.841642371] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049476.844294085] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049476.844899198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049476.845447971] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049476.846618218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049476.847655225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049476.945252541] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049476.946737055] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049476.946156456] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049476.948452106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049476.948946809] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049477.002392143] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973142 Long: -76.50298487 -[vectornav-1] [INFO] [1746049477.003353881] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.642, -3.437, 9.839) -[mux-7] [INFO] [1746049477.045300214] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049477.046293422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049477.046892298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049477.048842843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049477.049980534] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049477.085866416] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049477.088327679] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049477.089020586] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049477.089416671] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049477.090175001] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049477.090357733] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049477.091285916] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049477.145141530] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049477.145817736] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049477.146693608] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049477.148833585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049477.149987271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049477.245608457] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049477.246525193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049477.247412459] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049477.248873861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049477.250157763] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049477.335513184] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049477.337987584] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049477.338062063] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049477.338531091] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049477.339062414] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049477.339439692] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049477.339815407] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049477.344377585] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049477.345022874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049477.345672485] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049477.346791031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049477.347849885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049477.445415069] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049477.446176701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049477.446981659] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049477.448402005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049477.449896585] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049477.502812513] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973136 Long: -76.50298472 -[vectornav-1] [INFO] [1746049477.504215004] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.628, -3.429, 9.836) -[mux-7] [INFO] [1746049477.545175331] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049477.546145326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049477.546565814] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049477.548127120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049477.549400718] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049477.585407727] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049477.587729673] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049477.587993693] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049477.588551538] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049477.588689084] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049477.589606051] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049477.590475630] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049477.645319672] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049477.645959298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049477.646849223] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049477.648021968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049477.649917621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049477.745641615] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049477.746855411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049477.747320339] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049477.748093307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049477.748648185] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049477.835541579] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049477.838255825] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049477.838625606] [sailbot.teensy]: Wind angle: 352 -[teensy-2] [INFO] [1746049477.839607738] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049477.839435114] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049477.840571403] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049477.841493539] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049477.844429673] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049477.845132638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049477.845582625] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049477.846952127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049477.847993590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049477.945183315] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049477.946014136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049477.946598505] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049477.948415900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049477.949705017] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049478.002810602] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973131 Long: -76.50298464 -[vectornav-1] [INFO] [1746049478.003956181] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.629, -3.443, 9.754) -[mux-7] [INFO] [1746049478.045532341] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049478.046919914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049478.047168128] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049478.050273972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049478.051486587] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049478.085802487] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049478.088729892] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049478.089203007] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049478.089797039] [sailbot.teensy]: Wind angle: 352 -[teensy-2] [INFO] [1746049478.090866714] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049478.091733856] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049478.092600424] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049478.145496800] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049478.146352853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049478.147080456] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049478.148621628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049478.149819739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049478.245677657] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049478.246379924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049478.247795375] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049478.248781168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049478.249977716] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049478.335474825] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049478.338226505] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049478.338462319] [sailbot.teensy]: Wind angle: 352 -[mux-7] [INFO] [1746049478.338587948] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049478.338974121] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049478.339333872] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049478.339667187] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049478.344744293] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049478.345195314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049478.345971322] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049478.346884487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049478.348707963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049478.445262709] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049478.445943951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049478.446792236] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049478.448050283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049478.449211515] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049478.502561033] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973112 Long: -76.50298461 -[vectornav-1] [INFO] [1746049478.503608221] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.63, -3.446, 9.775) -[mux-7] [INFO] [1746049478.545427346] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049478.546050515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049478.547219199] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049478.548308996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049478.549473117] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049478.586005550] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049478.588728415] [sailbot.teensy]: Wind angle: 352 -[teensy-2] [INFO] [1746049478.589953972] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049478.589424574] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049478.590770617] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049478.590952732] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049478.591896260] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049478.645749002] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049478.646691679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049478.647518893] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049478.649262412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049478.650355892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049478.745465504] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049478.746320441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049478.747247843] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049478.751372897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049478.753731416] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049478.834656530] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049478.836129495] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049478.836444979] [sailbot.teensy]: Wind angle: 352 -[teensy-2] [INFO] [1746049478.837188701] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049478.837367975] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049478.837890917] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049478.838513436] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049478.844067599] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049478.844614148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049478.845016979] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049478.847017882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049478.849174240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049478.945003866] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049478.945576513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049478.946190819] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049478.947325653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049478.948366639] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049479.002371968] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973124 Long: -76.5029847 -[vectornav-1] [INFO] [1746049479.003487123] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.644, -3.449, 9.855) -[mux-7] [INFO] [1746049479.045535854] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049479.046457157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049479.047347750] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049479.048808862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049479.049238319] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049479.085698429] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049479.087789735] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049479.088363618] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049479.088859332] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049479.089796204] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049479.090064503] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049479.090642661] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049479.144927795] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049479.145615418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049479.146244962] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049479.147589825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049479.148897353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049479.245628452] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049479.246542979] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049479.247265163] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049479.249238170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049479.250433560] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049479.335341143] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049479.337449644] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049479.337872298] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049479.339361538] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049479.339728387] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049479.340320876] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049479.341394981] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049479.344329490] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049479.344872714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049479.345431534] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049479.346548369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049479.347705294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049479.445559100] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049479.446325888] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049479.447217408] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049479.449085744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049479.449655571] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049479.502474578] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973115 Long: -76.50298498 -[vectornav-1] [INFO] [1746049479.503517140] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.649, -3.446, 9.891) -[mux-7] [INFO] [1746049479.545112181] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049479.545897364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049479.546565774] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049479.548219261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049479.549219302] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049479.585639550] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049479.588329811] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049479.588841614] [sailbot.teensy]: Wind angle: 351 -[mux-7] [INFO] [1746049479.589641202] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049479.589968620] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049479.590973227] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049479.591862192] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049479.645229467] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049479.645981558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049479.646662416] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049479.648261914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049479.649485523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049479.745137979] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049479.746095899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049479.746767904] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049479.748278069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049479.748810612] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049479.835557697] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049479.837789845] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049479.838221279] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049479.838881799] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049479.840428891] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049479.840727757] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049479.841637258] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049479.844400746] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049479.845086396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049479.845536893] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049479.846780648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049479.847789877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049479.945414654] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049479.946350608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049479.947059063] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049479.947980453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049479.948487009] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049480.002207870] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973153 Long: -76.50298503 -[vectornav-1] [INFO] [1746049480.003143816] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.666, -3.447, 9.961) -[mux-7] [INFO] [1746049480.045336041] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049480.046139527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049480.046949671] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049480.050144977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049480.051266630] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049480.085400342] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049480.087596640] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049480.088352183] [sailbot.teensy]: Wind angle: 351 -[mux-7] [INFO] [1746049480.089013635] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049480.089579650] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049480.090631671] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049480.091461261] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049480.145250385] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049480.146021662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049480.146983282] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049480.147737531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049480.149700513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049480.245599931] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049480.246297684] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049480.247297670] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049480.248837404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049480.250031788] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049480.335507639] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049480.337728095] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049480.338286754] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049480.339381310] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049480.340018975] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049480.340959072] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049480.341797546] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049480.344548378] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049480.345100397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049480.345851484] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049480.346941573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049480.348028222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049480.446403172] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049480.446400235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049480.448026907] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049480.449028529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049480.450188585] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049480.503788542] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697315 Long: -76.50298516 -[vectornav-1] [INFO] [1746049480.505824940] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.671, -3.452, 9.929) -[mux-7] [INFO] [1746049480.545291913] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049480.546079234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049480.546808795] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049480.548188150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049480.549335216] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049480.585357180] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049480.587600645] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049480.588450753] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049480.589196262] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049480.590268088] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049480.591201558] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049480.592041031] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049480.645164209] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049480.646058032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049480.646650965] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049480.649042323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049480.650243585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049480.745399466] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049480.746430442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049480.747009118] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049480.748128579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049480.748676683] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049480.835604326] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049480.837853783] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049480.838367813] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049480.839840749] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049480.840063747] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049480.840874099] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049480.841841219] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049480.844354429] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049480.844874263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049480.845612698] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049480.846645878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049480.848365506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049480.945144650] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049480.945874917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049480.946613176] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049480.947914518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049480.949157535] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049481.002545825] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697314 Long: -76.5029853 -[vectornav-1] [INFO] [1746049481.003573464] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.675, -3.439, 9.979) -[mux-7] [INFO] [1746049481.045003841] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049481.045905074] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049481.046531748] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049481.047672482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049481.048780091] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049481.085567394] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049481.088104507] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049481.088644193] [sailbot.teensy]: Wind angle: 338 -[mux-7] [INFO] [1746049481.089539271] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049481.089590819] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049481.090505557] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049481.091332539] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049481.145193686] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049481.146112877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049481.146672406] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049481.148078716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049481.149172060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049481.245669604] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049481.246421464] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049481.247599077] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049481.248503566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049481.249020141] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049481.335688754] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049481.337887191] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049481.338596591] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049481.339146584] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049481.340086835] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049481.340366475] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049481.340955903] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049481.344390807] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049481.344883106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049481.345657422] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049481.346665725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049481.347808343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049481.445541816] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049481.446192812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049481.447824492] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049481.448376224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049481.449478781] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049481.502165265] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973145 Long: -76.50298548 -[vectornav-1] [INFO] [1746049481.503053481] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.68100000000004, -3.445, 9.933) -[mux-7] [INFO] [1746049481.545497769] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049481.546164899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049481.547149070] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049481.548436951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049481.549411437] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049481.585264210] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049481.587373404] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049481.587480184] [sailbot.teensy]: Wind angle: 338 -[teensy-2] [INFO] [1746049481.588813987] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049481.589053033] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049481.589763261] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049481.590648998] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049481.645467627] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049481.646202882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049481.647162414] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049481.648426664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049481.649500142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049481.745250014] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049481.746005060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049481.746828357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049481.748362113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049481.749420441] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049481.835398407] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049481.838024092] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049481.838467208] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049481.838790107] [sailbot.teensy]: Wind angle: 338 -[teensy-2] [INFO] [1746049481.839764351] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049481.840411889] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049481.840771467] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049481.844886529] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049481.845380904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049481.846198695] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049481.847150985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049481.848355808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049481.945504853] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049481.946085999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049481.947195875] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049481.948341522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049481.950264929] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049482.002593545] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973158 Long: -76.50298549 -[vectornav-1] [INFO] [1746049482.003726137] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.687, -3.448, 9.919) -[mux-7] [INFO] [1746049482.044704798] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049482.046070554] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049482.048258344] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049482.049872315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049482.050768572] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049482.085382194] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049482.087218102] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049482.088131740] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049482.087864269] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049482.088402262] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049482.089131042] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049482.089993057] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049482.145520464] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049482.146245420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049482.147087020] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049482.148310345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049482.149401820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049482.245110434] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049482.245840682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049482.246476469] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049482.247974650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049482.249027417] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049482.335542695] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049482.338120500] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049482.338616006] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049482.339037725] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049482.339278805] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049482.339421460] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049482.339981402] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049482.344367911] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049482.344980308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049482.345446363] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049482.346807627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049482.347896124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049482.445250718] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049482.446206503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049482.446830062] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049482.448245316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049482.448707051] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049482.502382283] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973191 Long: -76.50298563 -[vectornav-1] [INFO] [1746049482.503348758] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.672, -3.453, 9.969) -[mux-7] [INFO] [1746049482.544959344] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049482.545719583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049482.546157715] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049482.547582544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049482.548608221] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049482.585172270] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049482.586701041] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049482.587670420] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049482.587899555] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049482.588581725] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049482.588699820] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049482.589512515] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049482.645147343] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049482.646078128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049482.646617236] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049482.648211642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049482.648991947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049482.745042943] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049482.745742030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049482.746385020] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049482.747799623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049482.748727242] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049482.835520918] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049482.837330574] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049482.838683241] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049482.837833210] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049482.839123280] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049482.839438345] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049482.839823674] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049482.844369177] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049482.845029691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049482.845596753] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049482.847055938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049482.848144738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049482.945323428] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049482.946047199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049482.947168679] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049482.948055570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049482.949564178] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049483.002511721] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973183 Long: -76.50298559 -[vectornav-1] [INFO] [1746049483.003569867] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.704, -3.45, 9.979) -[mux-7] [INFO] [1746049483.044948646] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049483.045713785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049483.046230259] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049483.047618277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049483.049519393] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049483.085687454] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049483.088535460] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049483.089008198] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746049483.089955769] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049483.091077893] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049483.091167714] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049483.092185926] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049483.145417305] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049483.146106041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049483.147110893] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049483.148653979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049483.150015649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049483.245530360] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049483.246443405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049483.247723643] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049483.248610595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049483.249758571] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049483.335743867] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049483.338526957] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049483.338784919] [sailbot.teensy]: Wind angle: 332 -[mux-7] [INFO] [1746049483.339116901] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049483.339186408] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049483.339579584] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049483.339970866] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049483.344462634] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049483.344951587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049483.345890728] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049483.346725111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049483.347949323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049483.444832988] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049483.445208728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049483.445998437] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049483.446852136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049483.448006372] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049483.502364519] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973174 Long: -76.50298567 -[vectornav-1] [INFO] [1746049483.503405209] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.692, -3.46, 10.111) -[mux-7] [INFO] [1746049483.545297448] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049483.546081840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049483.546651643] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049483.548306569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049483.548911943] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049483.585385089] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049483.587771345] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049483.588686617] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049483.588981921] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746049483.589916395] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049483.590848099] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049483.591653041] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049483.645694151] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049483.646191250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049483.647470988] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049483.648478947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049483.649714488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049483.745365909] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049483.746084107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049483.746934503] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049483.748140382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049483.749353142] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049483.835168620] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049483.837161538] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049483.837374313] [sailbot.teensy]: Wind angle: 336 -[mux-7] [INFO] [1746049483.837658141] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049483.838446731] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049483.839124564] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049483.839500888] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049483.844480683] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049483.845063736] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049483.845860728] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049483.846972563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049483.848013624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049483.945476866] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049483.946084164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049483.947404040] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049483.948285052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049483.949365856] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049484.002567788] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973184 Long: -76.50298551 -[vectornav-1] [INFO] [1746049484.003617213] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.724, -3.447, 9.959) -[mux-7] [INFO] [1746049484.045074712] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049484.045942017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049484.046527215] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049484.048722181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049484.049792662] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049484.085545117] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049484.088098181] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049484.088576324] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049484.088775117] [sailbot.teensy]: Wind angle: 346 -[teensy-2] [INFO] [1746049484.089250352] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049484.089619353] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049484.089972579] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049484.144684046] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049484.145478524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049484.146007323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049484.147325907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049484.148373092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049484.245242245] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049484.247206929] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049484.247646945] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049484.249227317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049484.249747086] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049484.335540625] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049484.338054243] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049484.338080396] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049484.339296953] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049484.339943672] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049484.340395527] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049484.341311544] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049484.344253519] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049484.344967711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049484.346542475] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049484.346671860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049484.347846933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049484.445596126] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049484.446486128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049484.447291466] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049484.448839595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049484.449335048] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049484.502517789] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973168 Long: -76.50298553 -[vectornav-1] [INFO] [1746049484.504010484] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.71500000000003, -3.413, 10.017) -[mux-7] [INFO] [1746049484.545016970] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049484.545780454] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049484.546412633] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049484.547635062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049484.548687414] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049484.585766097] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049484.588016112] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049484.588556946] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049484.589115121] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049484.590042188] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049484.590317405] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049484.590935170] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049484.645562707] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049484.646565484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049484.647287172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049484.648889254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049484.650048965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049484.745077604] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049484.745908180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049484.746464874] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049484.747815418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049484.748637192] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049484.835371481] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049484.837972302] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049484.838032855] [sailbot.teensy]: Wind angle: 354 -[mux-7] [INFO] [1746049484.838366811] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049484.839441527] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049484.839822116] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049484.840173509] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049484.844476209] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049484.844969970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049484.845542998] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049484.846941595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049484.847992426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049484.945526661] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049484.946494248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049484.947208571] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049484.948912527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049484.950027594] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049485.002314746] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973176 Long: -76.50298544 -[vectornav-1] [INFO] [1746049485.003291990] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.71299999999997, -3.441, 9.973) -[mux-7] [INFO] [1746049485.045104523] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049485.045819068] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049485.047711162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049485.046694137] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049485.048761485] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049485.085517510] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049485.088140469] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049485.088653204] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049485.089602018] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049485.090099419] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049485.090493647] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049485.091389619] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049485.145022065] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049485.145532715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049485.146407408] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049485.147366097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049485.148546015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049485.245204382] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049485.245905387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049485.246611299] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049485.248317307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049485.249831512] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049485.335402174] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049485.337739721] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049485.338467618] [sailbot.teensy]: Wind angle: 355 -[mux-7] [INFO] [1746049485.338600795] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049485.339312735] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049485.339772339] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049485.340362868] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049485.344378283] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049485.344853829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049485.345453421] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049485.346568604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049485.347587210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049485.445013453] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049485.445733604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049485.446406039] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049485.448085615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049485.449350426] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049485.502410732] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973183 Long: -76.50298547 -[vectornav-1] [INFO] [1746049485.503388660] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.70799999999997, -3.433, 9.995) -[mux-7] [INFO] [1746049485.545220451] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049485.545968669] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049485.546675782] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049485.548363071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049485.549387925] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049485.585369724] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049485.587224397] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049485.588108458] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049485.588121813] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049485.589057057] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049485.589588667] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049485.589982421] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049485.645032278] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049485.645956428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049485.646421298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049485.648066076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049485.648532345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049485.745434464] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049485.746289500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049485.747047927] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049485.748652133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049485.749872329] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049485.835502963] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049485.837848737] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049485.838092468] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049485.839327265] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049485.839887155] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049485.840833082] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049485.841647040] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049485.844521468] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049485.844861605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049485.846708371] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049485.847019774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049485.848200564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049485.945363878] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049485.946175815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049485.946849220] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049485.948402507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049485.949209822] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049486.002814746] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697317 Long: -76.50298536 -[vectornav-1] [INFO] [1746049486.004021946] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.706, -3.43, 9.996) -[mux-7] [INFO] [1746049486.044495169] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049486.045188658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049486.046670347] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049486.047011365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049486.048176479] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049486.085731983] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049486.088561648] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049486.088997587] [sailbot.teensy]: Wind angle: 351 -[teensy-2] [INFO] [1746049486.090003463] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049486.090165725] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049486.090902781] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049486.091792669] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049486.145217175] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049486.145914484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049486.146745855] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049486.149056982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049486.150193503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049486.245532653] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049486.246479673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049486.247094673] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049486.248939278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049486.250062798] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049486.335703827] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049486.338501958] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049486.338586057] [sailbot.teensy]: Wind angle: 340 -[mux-7] [INFO] [1746049486.338718736] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049486.338987427] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049486.339340684] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049486.339981763] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049486.344362072] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049486.344926998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049486.345488710] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049486.346660018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049486.347837154] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049486.445503153] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049486.446451487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049486.446982533] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049486.448459298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049486.449005580] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049486.502650376] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973172 Long: -76.50298526 -[vectornav-1] [INFO] [1746049486.503639823] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.70500000000004, -3.435, 10.036) -[mux-7] [INFO] [1746049486.545053791] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049486.545770234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049486.546399544] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049486.547578693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049486.548754459] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049486.585190197] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049486.587201463] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049486.587579641] [sailbot.teensy]: Wind angle: 338 -[teensy-2] [INFO] [1746049486.588600792] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049486.588685116] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049486.589527442] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049486.590455680] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049486.645334895] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049486.646033520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049486.646950470] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049486.648630252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049486.649148962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049486.745427127] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049486.747404867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049486.747449299] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049486.748485198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049486.748993956] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049486.835723657] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049486.838528867] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049486.839175608] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049486.839778528] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049486.840858080] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049486.841944862] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049486.842809009] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049486.844458748] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049486.845182642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049486.845592405] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049486.846923965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049486.848103455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049486.945457732] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049486.946276793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049486.947215089] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049486.947961624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049486.948542074] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049487.002430157] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973179 Long: -76.5029853 -[vectornav-1] [INFO] [1746049487.003422608] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.699, -3.421, 10.009) -[mux-7] [INFO] [1746049487.044761047] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049487.045542191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049487.045922597] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049487.047290064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049487.048461296] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049487.085700097] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049487.088551549] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049487.089062379] [sailbot.teensy]: Wind angle: 339 -[mux-7] [INFO] [1746049487.089324615] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049487.089482813] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049487.089869429] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049487.090227257] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049487.145067775] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049487.145767908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049487.146412186] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049487.147705223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049487.148799188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049487.245513373] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049487.246217545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049487.247251959] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049487.248484146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049487.250580575] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049487.335264962] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049487.337053193] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049487.337544581] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049487.338062101] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049487.339006470] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049487.339519225] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049487.339859289] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049487.344554009] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049487.345116835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049487.345647308] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049487.346869970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049487.347923839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049487.445636284] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049487.446421957] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049487.447235028] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049487.449015254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049487.450168181] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049487.503401350] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973173 Long: -76.50298521 -[vectornav-1] [INFO] [1746049487.505302450] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.676, -3.403, 9.918) -[mux-7] [INFO] [1746049487.545108934] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049487.545950867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049487.546898995] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049487.547860277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049487.548911031] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049487.585711874] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049487.588559907] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049487.589170969] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049487.590198185] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049487.591178219] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049487.592009413] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049487.592862348] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049487.645378036] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049487.645907494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049487.647250340] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049487.648431367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049487.650085221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049487.745866189] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049487.746698737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049487.747610663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049487.749008069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049487.749518146] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049487.835750523] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049487.838874666] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049487.838987202] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049487.839627820] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049487.839984708] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049487.840994026] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049487.841839404] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049487.844401259] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049487.845046197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049487.845826879] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049487.846754357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049487.847862804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049487.945231028] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049487.945750978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049487.946665861] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049487.947719337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049487.948811942] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049488.002481320] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973174 Long: -76.50298511 -[vectornav-1] [INFO] [1746049488.003496283] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.692, -3.416, 9.913) -[mux-7] [INFO] [1746049488.045434593] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049488.045940505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049488.047126522] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049488.048213020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049488.049407554] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049488.085659074] [sailbot.teensy]: Check telemetry callback entered -[mux-7] [INFO] [1746049488.089212622] [sailbot.mux]: algo sail angle: 80 -[trim_sail-4] [INFO] [1746049488.089598395] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049488.090451671] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049488.091417441] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049488.092265110] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049488.093103021] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049488.145410615] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049488.145993798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049488.146994547] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049488.148235783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049488.150359438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049488.245689370] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049488.246356658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049488.247502186] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049488.248651165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049488.249783743] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049488.335561743] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049488.338168406] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049488.339294852] [sailbot.teensy]: Wind angle: 335 -[mux-7] [INFO] [1746049488.339421138] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049488.339902712] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049488.340299738] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049488.340629587] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049488.344425356] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049488.345011471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049488.345523902] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049488.346741955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049488.347754983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049488.445223432] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049488.446423661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049488.446820133] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049488.448639673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049488.449157360] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049488.502248677] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697317 Long: -76.50298516 -[vectornav-1] [INFO] [1746049488.503257077] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.695, -3.426, 9.893) -[mux-7] [INFO] [1746049488.545072181] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049488.545900011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049488.546347123] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049488.547946045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049488.549081958] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049488.585346978] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049488.586989991] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049488.587957513] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049488.587610118] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049488.588901647] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049488.589706725] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049488.589777708] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049488.645157070] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049488.646026382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049488.646770299] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049488.648503648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049488.649623680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049488.745385744] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049488.746113114] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049488.746992772] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049488.748491823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049488.750347103] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049488.835651993] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049488.838360196] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049488.838438722] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049488.839468123] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049488.840018048] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049488.840387387] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049488.841269908] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049488.844353947] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049488.845416363] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049488.844800306] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049488.846572952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049488.847710689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049488.945328183] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049488.946070902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049488.946773101] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049488.948338732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049488.949398754] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049489.002718656] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973178 Long: -76.50298532 -[vectornav-1] [INFO] [1746049489.004301399] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.70799999999997, -3.41, 9.919) -[mux-7] [INFO] [1746049489.045343585] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049489.047089307] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049489.046902185] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049489.049151034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049489.050376382] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049489.085666622] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049489.087780981] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049489.088849342] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049489.088300422] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049489.088833721] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049489.089756198] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049489.090656763] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049489.145620884] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049489.146259562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049489.147456479] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049489.149352217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049489.150534518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049489.245658815] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049489.246295798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049489.247394287] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049489.249460748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049489.250550348] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049489.335535820] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049489.338000740] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049489.338285361] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049489.338994618] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049489.339231919] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049489.340177614] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049489.340807317] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049489.344539158] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049489.345067696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049489.345636512] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049489.346784487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049489.347970580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049489.445866917] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049489.446606104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049489.447897877] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049489.450729314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049489.451940415] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049489.502882490] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973177 Long: -76.5029853 -[vectornav-1] [INFO] [1746049489.504098477] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.711, -3.418, 9.951) -[mux-7] [INFO] [1746049489.544846266] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049489.545317106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049489.546090388] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049489.547093366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049489.548293926] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049489.585591362] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049489.588253397] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049489.588569997] [sailbot.teensy]: Wind angle: 340 -[mux-7] [INFO] [1746049489.589436573] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049489.589511229] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049489.590535500] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049489.591732288] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049489.645604853] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049489.647098907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049489.647143149] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049489.649024280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049489.649538179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049489.745469108] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049489.746306423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049489.747110225] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049489.748985342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049489.750257208] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049489.835616490] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049489.837693304] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049489.838284406] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049489.839469783] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049489.839910978] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049489.839955082] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049489.840345919] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049489.844722066] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049489.845075061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049489.845843889] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049489.846794233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049489.847877895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049489.945685955] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049489.946731878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049489.947531406] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049489.949693064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049489.950807993] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049490.002865398] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973175 Long: -76.50298551 -[vectornav-1] [INFO] [1746049490.004196007] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.599, -3.432, 9.105) -[mux-7] [INFO] [1746049490.045342625] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049490.046199678] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049490.046966718] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049490.049064132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049490.050201735] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049490.085923996] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049490.088386895] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049490.088776453] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049490.089316250] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049490.089466889] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049490.090448911] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049490.091373523] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049490.145229642] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049490.146040456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049490.147103887] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049490.148326122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049490.149393875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049490.245476052] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049490.246742189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049490.247187700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049490.248444883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049490.249033279] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049490.335821860] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049490.338591718] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049490.339159659] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049490.339252915] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049490.339618729] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049490.340534247] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049490.341387550] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049490.344442505] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049490.344944896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049490.345542020] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049490.346654327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049490.347813254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049490.445533989] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049490.446485453] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049490.447485197] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049490.448175520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049490.448706234] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049490.502688168] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973193 Long: -76.50298558 -[vectornav-1] [INFO] [1746049490.503787924] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.655, -3.421, 9.482) -[mux-7] [INFO] [1746049490.545192292] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049490.546104144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049490.546877282] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049490.547965865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049490.549039319] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049490.585763964] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049490.588547267] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049490.589610421] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049490.588683643] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049490.590384781] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049490.590470741] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049490.591385616] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049490.644939136] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049490.645709507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049490.646446281] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049490.647424588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049490.648252650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049490.745213207] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049490.745938510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049490.746613719] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049490.748751206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049490.749907628] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049490.835447669] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049490.837758425] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049490.838080571] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049490.839144417] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049490.839345819] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049490.839758398] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049490.840147523] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049490.844424390] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049490.845203235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049490.845532220] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049490.846984542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049490.848031452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049490.945584383] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049490.946407769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049490.947294701] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049490.949444311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049490.950557449] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049491.002473376] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973177 Long: -76.50298539 -[vectornav-1] [INFO] [1746049491.003616516] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.655, -3.422, 9.544) -[mux-7] [INFO] [1746049491.045219094] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049491.046153672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049491.046761349] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049491.048547638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049491.049597041] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049491.085613942] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049491.087993267] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049491.088238419] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049491.089093881] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049491.090040589] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049491.090245760] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049491.091049151] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049491.145025560] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049491.146341543] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049491.146508309] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049491.148465318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049491.149549664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049491.245613064] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049491.246662100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049491.247316646] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049491.248635111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049491.249141691] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049491.335598231] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049491.337866848] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049491.338777621] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049491.339634390] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049491.340334222] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049491.341258593] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049491.342093720] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049491.344332779] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049491.344745540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049491.345440040] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049491.346366607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049491.347557099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049491.445234591] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049491.446061257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049491.446931542] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049491.448029793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049491.449224952] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049491.503327194] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973179 Long: -76.50298539 -[vectornav-1] [INFO] [1746049491.504521025] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.565, -3.425, 9.133) -[mux-7] [INFO] [1746049491.545237194] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049491.546159149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049491.546803772] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049491.548374262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049491.549667287] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049491.585484961] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049491.588055796] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049491.588090620] [sailbot.teensy]: Wind angle: 343 -[mux-7] [INFO] [1746049491.588606607] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049491.589320955] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049491.590220198] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049491.591064071] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049491.645454643] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049491.646206249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049491.647977821] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049491.648930616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049491.650007182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049491.745674784] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049491.746348394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049491.747685433] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049491.748864179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049491.750015017] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049491.835998189] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049491.838437666] [sailbot.teensy]: Wind angle: 354 -[teensy-2] [INFO] [1746049491.838975822] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049491.838768393] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049491.839062675] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049491.839367282] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049491.839836198] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049491.844469459] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049491.845165882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049491.846458291] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049491.847108743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049491.848905573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049491.945338729] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049491.946007528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049491.946869931] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049491.948348629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049491.948869142] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049492.002519222] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973173 Long: -76.50298539 -[vectornav-1] [INFO] [1746049492.003560078] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.56600000000003, -3.423, 9.053) -[mux-7] [INFO] [1746049492.045613314] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049492.047032770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049492.047250065] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049492.049323468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049492.050529601] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049492.085686244] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049492.087919950] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049492.088469441] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049492.089363220] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049492.089905218] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049492.090268893] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049492.091147631] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049492.145245307] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049492.145975606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049492.146781886] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049492.149620984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049492.150784976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049492.245570321] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049492.246409331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049492.247185712] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049492.249006142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049492.249479307] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049492.335536754] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049492.338222181] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049492.339094297] [sailbot.teensy]: Wind angle: 332 -[mux-7] [INFO] [1746049492.339255647] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049492.340120557] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049492.341166603] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049492.342028361] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049492.344374718] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049492.345022779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049492.345447698] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049492.346889983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049492.347924322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049492.445958409] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049492.446913082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049492.447495436] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049492.448122260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049492.448685897] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049492.502973619] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973178 Long: -76.50298517 -[vectornav-1] [INFO] [1746049492.504403606] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.546, -3.422, 8.981) -[mux-7] [INFO] [1746049492.544870319] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049492.545662896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049492.546167554] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049492.547817905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049492.548913146] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049492.585838078] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049492.588076147] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049492.588652509] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049492.589200862] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049492.590196699] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049492.590928114] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049492.591113998] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049492.645392343] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049492.646160740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049492.646899934] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049492.648325346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049492.648851102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049492.745418755] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049492.746120567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049492.746964566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049492.748364693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049492.748997550] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049492.835470936] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049492.837808555] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049492.838144444] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049492.838773431] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049492.839155715] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049492.839312731] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049492.839709694] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049492.844587218] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049492.845343348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049492.845952801] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049492.847143418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049492.848244633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049492.945723434] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049492.946708544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049492.947475774] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049492.949437286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049492.950679127] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049493.002569136] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973173 Long: -76.50298526 -[vectornav-1] [INFO] [1746049493.003730387] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.56899999999996, -3.433, 8.969) -[mux-7] [INFO] [1746049493.045659892] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049493.047222343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049493.047248022] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049493.048729385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049493.049249556] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049493.085672190] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049493.088215955] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049493.088528728] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049493.089278408] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049493.089617745] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049493.090209233] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049493.091082498] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049493.145520761] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049493.146482723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049493.147132491] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049493.150303419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049493.151494534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049493.245611131] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049493.246686185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049493.247226712] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049493.248495414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049493.249033884] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049493.335293563] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049493.337594937] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049493.337593784] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049493.338580589] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049493.338823669] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049493.339531059] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049493.340472169] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049493.344486467] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049493.345585212] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049493.345816144] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049493.347567260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049493.348739683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049493.445196926] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049493.446002212] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049493.446597825] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049493.447967429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049493.449211445] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049493.502731219] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973166 Long: -76.50298538 -[vectornav-1] [INFO] [1746049493.503841547] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.586, -3.425, 8.951) -[mux-7] [INFO] [1746049493.545641972] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049493.546537045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049493.547365146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049493.549240902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049493.550357197] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049493.585712307] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049493.588094367] [sailbot.teensy]: Wind angle: 330 -[trim_sail-4] [INFO] [1746049493.588708960] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049493.589618852] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049493.590167523] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049493.591131720] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049493.592008794] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049493.645457663] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049493.646509945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049493.647420174] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049493.649008833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049493.650132897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049493.745637944] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049493.746615984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049493.747729075] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049493.749037040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049493.750157575] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049493.835414901] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049493.837342488] [sailbot.teensy]: Wind angle: 330 -[trim_sail-4] [INFO] [1746049493.837961774] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049493.839412170] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049493.839466430] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049493.840811835] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049493.841782768] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049493.844337706] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049493.844994745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049493.845413400] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049493.846697761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049493.847726270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049493.945606317] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049493.946599117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049493.947244981] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049493.949224383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049493.950454167] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049494.002515099] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973187 Long: -76.50298514 -[vectornav-1] [INFO] [1746049494.003572668] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.60699999999997, -3.397, 8.96) -[mux-7] [INFO] [1746049494.045076426] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049494.045943595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049494.046367993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049494.047990880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049494.049667506] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049494.085624427] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049494.087758551] [sailbot.teensy]: Wind angle: 330 -[trim_sail-4] [INFO] [1746049494.088095851] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049494.089851046] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049494.089914241] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049494.090856617] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049494.091710253] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049494.145918614] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049494.146553047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049494.147746227] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049494.149068135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049494.150287542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049494.245530230] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049494.246323300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049494.247358446] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049494.248160954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049494.248646193] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049494.335937777] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049494.338336952] [sailbot.teensy]: Wind angle: 328 -[trim_sail-4] [INFO] [1746049494.338694674] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049494.338750393] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049494.339135562] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049494.339147909] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049494.339535965] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049494.344678227] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049494.345271513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049494.345799037] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049494.346952300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049494.347958732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049494.445633136] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049494.447229712] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049494.447197189] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049494.449492283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049494.450747391] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049494.503597694] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973188 Long: -76.50298511 -[vectornav-1] [INFO] [1746049494.505547958] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.619, -3.424, 9.08) -[mux-7] [INFO] [1746049494.544485301] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049494.545032885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049494.545839635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049494.546774299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049494.547934144] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049494.585376355] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049494.587860230] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049494.588088509] [sailbot.teensy]: Wind angle: 328 -[mux-7] [INFO] [1746049494.588966623] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049494.589047967] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049494.589930360] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049494.590780432] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049494.645376408] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049494.645975151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049494.646992401] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049494.648453779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049494.649684916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049494.745724324] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049494.746561475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049494.747394664] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049494.748674469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049494.749211402] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049494.835338572] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049494.837663717] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049494.838022822] [sailbot.teensy]: Wind angle: 328 -[mux-7] [INFO] [1746049494.838623776] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049494.838976630] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049494.839833623] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049494.840697331] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049494.844283221] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049494.844749123] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049494.846379141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049494.846879456] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049494.847620418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049494.945490138] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049494.946258821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049494.947249870] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049494.948774539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049494.949437234] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049495.002790803] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973194 Long: -76.50298506 -[vectornav-1] [INFO] [1746049495.003999182] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.56899999999996, -3.439, 8.989) -[mux-7] [INFO] [1746049495.045409225] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049495.046154913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049495.046990263] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049495.048900767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049495.050045233] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049495.085882052] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049495.088992025] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049495.089477025] [sailbot.teensy]: Wind angle: 329 -[mux-7] [INFO] [1746049495.090335991] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049495.090514780] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049495.091843114] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049495.092917503] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049495.144636496] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049495.145378171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049495.145777802] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049495.147191331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049495.148669361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049495.245568128] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049495.246647051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049495.247319367] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049495.249403560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049495.250638036] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049495.335687964] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049495.338674647] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049495.338677087] [sailbot.teensy]: Wind angle: 334 -[teensy-2] [INFO] [1746049495.340198750] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049495.340197964] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049495.341107728] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049495.341978474] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049495.344406610] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049495.345005004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049495.345506447] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049495.346750019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049495.347902779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049495.445749419] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049495.447392137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049495.447572635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049495.449790396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049495.450955159] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049495.503832809] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973201 Long: -76.50298502 -[vectornav-1] [INFO] [1746049495.505308453] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.428, -3.468, 8.105) -[mux-7] [INFO] [1746049495.545558454] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049495.546394360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049495.547201770] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049495.549064298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049495.550181427] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049495.585554537] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049495.587666546] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049495.588700751] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049495.588496843] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049495.589619954] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049495.590196884] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049495.590502466] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049495.645170558] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049495.645866259] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049495.646587723] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049495.647944121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049495.649154427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049495.745545446] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049495.746433874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049495.747201455] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049495.749007307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049495.749557648] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049495.835453789] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049495.837368272] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049495.838338227] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049495.837945816] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049495.838672466] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049495.839235801] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049495.840241425] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049495.844347782] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049495.845061871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049495.845497678] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049495.846741004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049495.847871213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049495.944988083] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049495.945863614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049495.946287527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049495.947942186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049495.949116451] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049496.002270116] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973167 Long: -76.50298507 -[vectornav-1] [INFO] [1746049496.003204137] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.44100000000003, -3.48, 7.915) -[mux-7] [INFO] [1746049496.045477194] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049496.046995572] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049496.047019714] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049496.049235693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049496.049663018] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049496.085782578] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049496.088988507] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049496.089373462] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049496.090505644] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049496.091726457] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049496.092631628] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049496.093489067] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049496.145511177] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049496.146571675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049496.147254886] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049496.149343395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049496.150558762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049496.245715933] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049496.246668704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049496.247483015] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049496.249353849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049496.250747302] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049496.335782094] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049496.338084535] [sailbot.teensy]: Wind angle: 335 -[teensy-2] [INFO] [1746049496.339663106] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049496.340014242] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049496.340256566] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049496.340709072] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049496.341736796] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049496.344906502] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049496.345024902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049496.346077992] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049496.346736771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049496.348656278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049496.445826518] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049496.446694405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049496.448172575] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049496.448646213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049496.450184519] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049496.502566112] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973157 Long: -76.50298513 -[vectornav-1] [INFO] [1746049496.503624788] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.445, -3.46, 8.182) -[mux-7] [INFO] [1746049496.544654829] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049496.545240225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049496.545808067] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049496.546990373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049496.548147639] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049496.585570263] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049496.587841001] [sailbot.teensy]: Wind angle: 330 -[trim_sail-4] [INFO] [1746049496.588429174] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049496.588929662] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049496.589842736] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049496.590222574] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049496.590747126] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049496.645342401] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049496.646181635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049496.646964690] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049496.647811442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049496.648364933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049496.745606464] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049496.747157217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049496.747309186] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049496.749372080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049496.749869450] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049496.835494892] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049496.837890595] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049496.838138841] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049496.839105276] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049496.839227087] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049496.840108921] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049496.841012277] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049496.844430445] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049496.845512247] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049496.845011254] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049496.846678954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049496.847719373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049496.945395859] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049496.946199547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049496.947282469] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049496.948450028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049496.949703069] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049497.002652963] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973171 Long: -76.50298491 -[vectornav-1] [INFO] [1746049497.003920472] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.408, -3.495, 7.866) -[mux-7] [INFO] [1746049497.045457835] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049497.046320997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049497.047019234] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049497.048803665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049497.049970542] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049497.085572462] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049497.087829653] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049497.088307196] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049497.088866320] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049497.088987577] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049497.089924614] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049497.090781743] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049497.145642161] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049497.147394874] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049497.147849572] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049497.149941204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049497.150958330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049497.245547643] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049497.246374726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049497.247337610] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049497.248913342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049497.250093883] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049497.335672259] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049497.338579763] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049497.339227311] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049497.339427297] [sailbot.teensy]: Wind angle: 329 -[teensy-2] [INFO] [1746049497.339847132] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049497.340223092] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049497.340592661] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049497.344660802] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049497.345339535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049497.345852315] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049497.347055095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049497.348099091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049497.445090859] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049497.446410976] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049497.446981440] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049497.448686368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049497.449724922] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049497.503241352] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973169 Long: -76.50298478 -[vectornav-1] [INFO] [1746049497.504608247] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.403, -3.494, 7.849) -[mux-7] [INFO] [1746049497.545554429] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049497.546557727] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049497.548719341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049497.547316431] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049497.549266231] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049497.585500858] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049497.588729669] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049497.589058341] [sailbot.teensy]: Wind angle: 329 -[mux-7] [INFO] [1746049497.589066537] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049497.590066213] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049497.590966304] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049497.591831547] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049497.645167981] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049497.646048132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049497.646781324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049497.648743412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049497.649841148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049497.745273624] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049497.746314670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049497.746775910] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049497.748208539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049497.748721202] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049497.835596373] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049497.837729871] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049497.838204262] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049497.838615377] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049497.838624838] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049497.839013479] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049497.839366488] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049497.844463459] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049497.844999845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049497.845654235] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049497.846698549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049497.847817072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049497.945710387] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049497.946494655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049497.947738267] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049497.949555998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049497.950680321] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049498.002614425] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973164 Long: -76.50298513 -[vectornav-1] [INFO] [1746049498.003669211] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.394, -3.497, 7.878) -[mux-7] [INFO] [1746049498.045331812] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049498.046251805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049498.046989586] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049498.048860226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049498.049499795] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049498.085539431] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049498.087332504] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049498.087876833] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049498.088393811] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049498.089157968] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049498.089380035] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049498.090288483] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049498.145001495] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049498.145734090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049498.146324388] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049498.147850093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049498.149127494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049498.245660528] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049498.246901129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049498.247390391] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049498.249176003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049498.249716909] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049498.335575399] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049498.337754666] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049498.338577118] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049498.338969541] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049498.339272608] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049498.340227018] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049498.341142406] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049498.344512326] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049498.345618225] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049498.345046782] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049498.346686212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049498.347686126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049498.445577827] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049498.446575673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049498.447103669] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049498.449035987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049498.449586945] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049498.502783893] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973178 Long: -76.50298512 -[vectornav-1] [INFO] [1746049498.504148974] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.44, -3.487, 8.033) -[mux-7] [INFO] [1746049498.544840330] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049498.545755213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049498.546114633] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049498.547834344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049498.549087696] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049498.585628261] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049498.587723838] [sailbot.teensy]: Wind angle: 329 -[teensy-2] [INFO] [1746049498.589123903] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049498.588202458] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049498.589520197] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049498.590090543] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049498.590994586] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049498.645409028] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049498.646380583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049498.647034323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049498.648665431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049498.649841739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049498.745662437] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049498.746642213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049498.747322556] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049498.749154005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049498.750430242] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049498.835374662] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049498.837841670] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049498.837853199] [sailbot.teensy]: Wind angle: 328 -[mux-7] [INFO] [1746049498.838481083] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049498.839134921] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049498.840091447] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049498.841012120] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049498.844514697] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049498.844967719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049498.845740065] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049498.846651712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049498.847684202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049498.945649127] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049498.946507211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049498.947303371] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049498.948864299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049498.949338032] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049499.002422972] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973178 Long: -76.50298518 -[vectornav-1] [INFO] [1746049499.003386745] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.425, -3.476, 8.186) -[mux-7] [INFO] [1746049499.045158084] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049499.046021791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049499.046653880] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049499.048747046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049499.049239458] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049499.085416327] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049499.087742975] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049499.088213576] [sailbot.teensy]: Wind angle: 327 -[teensy-2] [INFO] [1746049499.089183970] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049499.088551911] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049499.090049611] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049499.090900625] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049499.145491630] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049499.146426737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049499.147184190] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049499.149143222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049499.150411329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049499.245719609] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049499.247491813] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049499.247991850] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049499.249721129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049499.250235361] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049499.335907277] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049499.338621725] [sailbot.teensy]: Wind angle: 322 -[trim_sail-4] [INFO] [1746049499.338837188] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049499.339732645] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049499.340444604] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049499.340693275] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049499.341567063] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049499.344400720] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049499.344966014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049499.345477261] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049499.346666401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049499.347842167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049499.445672577] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049499.446439428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049499.447340578] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049499.448867725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049499.450192402] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049499.502560188] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973181 Long: -76.50298517 -[vectornav-1] [INFO] [1746049499.503605224] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.429, -3.485, 8.097) -[mux-7] [INFO] [1746049499.545393345] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049499.546241991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049499.546928317] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049499.548511550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049499.549717336] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049499.585476748] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049499.587750633] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049499.587987311] [sailbot.teensy]: Wind angle: 314 -[mux-7] [INFO] [1746049499.588817545] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049499.588907193] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049499.589816049] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049499.590695796] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746049499.645967492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049499.646359907] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049499.647808577] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049499.649203768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049499.650278109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049499.745411321] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049499.746630934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049499.747292479] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049499.748642238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049499.749849231] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049499.835686859] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049499.838024708] [sailbot.teensy]: Wind angle: 306 -[teensy-2] [INFO] [1746049499.839081867] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049499.838424329] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746049499.840012688] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049499.840454524] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049499.840884731] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049499.844479731] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049499.844964599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049499.845673852] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049499.846714556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049499.847808247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049499.945358794] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049499.946080897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049499.947026483] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049499.948078814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049499.948686387] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049500.002565028] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973167 Long: -76.50298519 -[vectornav-1] [INFO] [1746049500.003673571] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.449, -3.478, 8.153) -[mux-7] [INFO] [1746049500.045083664] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049500.046357944] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049500.046587605] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049500.048380076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049500.049514343] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049500.085507193] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049500.087253513] [sailbot.teensy]: Wind angle: 303 -[teensy-2] [INFO] [1746049500.088237905] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049500.088676603] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049500.089183232] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049500.090053400] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049500.090287698] [sailbot.mux]: algo sail angle: 55 -[mux-7] [INFO] [1746049500.145364157] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049500.146414388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049500.146953199] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049500.148872154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049500.149993100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049500.245210220] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049500.246059047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049500.246794968] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049500.248584423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049500.249806058] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049500.335390023] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049500.337156177] [sailbot.teensy]: Wind angle: 303 -[teensy-2] [INFO] [1746049500.338074508] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049500.337836768] [sailbot.trim_sail]: Sail Angle: "55" -[mux-7] [INFO] [1746049500.338443126] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049500.338958972] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049500.339818375] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049500.344359136] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049500.345130572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049500.345451362] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049500.347192389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049500.348259695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049500.444801870] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049500.445474709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049500.445952118] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049500.447257416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049500.448479176] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049500.502551769] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973161 Long: -76.50298521 -[vectornav-1] [INFO] [1746049500.503614536] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.45500000000004, -3.481, 8.222) -[mux-7] [INFO] [1746049500.545352037] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049500.545918605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049500.547840959] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049500.547961406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049500.548469386] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049500.585371786] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049500.587247108] [sailbot.teensy]: Wind angle: 303 -[trim_sail-4] [INFO] [1746049500.587719972] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049500.588217824] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049500.589145704] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049500.589880613] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049500.589999568] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049500.645221003] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049500.645962863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049500.646673809] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049500.648399065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049500.649553625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049500.745435884] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049500.746356983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049500.747026324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049500.748639766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049500.749207006] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049500.835429490] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049500.837273647] [sailbot.teensy]: Wind angle: 306 -[teensy-2] [INFO] [1746049500.838187073] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049500.837756079] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746049500.839061943] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049500.839235495] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049500.839543089] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049500.844360479] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049500.844950219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049500.845560141] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049500.846564611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049500.847656583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049500.945287216] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049500.946251301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049500.946774364] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049500.948538676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049500.949781505] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049501.002804008] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973155 Long: -76.50298524 -[vectornav-1] [INFO] [1746049501.004004663] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.443, -3.475, 8.202) -[mux-7] [INFO] [1746049501.045472135] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049501.046692067] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049501.048811597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049501.047029524] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049501.050141842] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049501.085860624] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049501.088822964] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049501.088871889] [sailbot.teensy]: Wind angle: 314 -[teensy-2] [INFO] [1746049501.090213023] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049501.090452194] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049501.091101754] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049501.092031077] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049501.143760119] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049501.144309568] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049501.144815369] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049501.145606444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049501.146137997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049501.245272953] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049501.245828251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049501.246627699] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049501.247765554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049501.248886410] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049501.335423416] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049501.337743894] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049501.338107147] [sailbot.teensy]: Wind angle: 317 -[teensy-2] [INFO] [1746049501.339143760] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049501.339300910] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049501.340052597] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049501.340966147] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049501.344321494] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049501.344969650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049501.345392566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049501.346718390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049501.347764051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049501.445371522] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049501.446560369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049501.446821151] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049501.448519011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049501.449695693] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049501.502420516] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973139 Long: -76.50298529 -[vectornav-1] [INFO] [1746049501.503584218] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.449, -3.472, 8.177) -[mux-7] [INFO] [1746049501.545059789] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049501.545982751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049501.546438765] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049501.548048404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049501.548940254] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049501.585368248] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049501.587134382] [sailbot.teensy]: Wind angle: 317 -[trim_sail-4] [INFO] [1746049501.587742946] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049501.588101066] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049501.589027434] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049501.589132232] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049501.590053928] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049501.645206421] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049501.645864230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049501.646720060] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049501.647912849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049501.649058629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049501.745027364] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049501.746388539] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049501.746560052] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049501.748361422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049501.749510594] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049501.835700562] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049501.838374946] [sailbot.teensy]: Wind angle: 317 -[trim_sail-4] [INFO] [1746049501.838410109] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049501.838976957] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049501.839070000] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049501.839376015] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049501.839740800] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049501.844540705] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049501.845081536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049501.845695748] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049501.846793434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049501.847865167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049501.945009271] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049501.946366360] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049501.948604869] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049501.950268602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049501.951415315] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049502.002673481] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697314 Long: -76.50298539 -[vectornav-1] [INFO] [1746049502.003750771] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.461, -3.472, 8.181) -[mux-7] [INFO] [1746049502.045121275] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049502.045613023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049502.046397527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049502.047589499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049502.048685563] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049502.085275281] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049502.087814672] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049502.088197372] [sailbot.teensy]: Wind angle: 317 -[mux-7] [INFO] [1746049502.088202000] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049502.089124513] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049502.089973642] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049502.090812697] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049502.145231742] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049502.145821938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049502.146751725] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049502.148450468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049502.149672456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049502.245136456] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049502.245652656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049502.246425804] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049502.247681222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049502.248766692] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049502.335380736] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049502.337804097] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049502.338813724] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049502.338985984] [sailbot.teensy]: Wind angle: 319 -[teensy-2] [INFO] [1746049502.339938931] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049502.340821961] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049502.341674829] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049502.344535518] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049502.345022886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049502.345667979] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049502.346809541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049502.347899025] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049502.445177258] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049502.445647483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049502.446735210] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049502.447475304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049502.448550491] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049502.502482612] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973138 Long: -76.50298517 -[vectornav-1] [INFO] [1746049502.503709716] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.435, -3.472, 8.133) -[mux-7] [INFO] [1746049502.545362843] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049502.546549044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049502.549282975] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049502.550280461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049502.551420625] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049502.585808893] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049502.588621298] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049502.589884020] [sailbot.teensy]: Wind angle: 323 -[mux-7] [INFO] [1746049502.589930917] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049502.590890489] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049502.591768671] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049502.592637447] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049502.644962258] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049502.645791072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049502.646212449] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049502.647642391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049502.648677628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049502.745577808] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049502.746548517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049502.747183131] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049502.750048348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049502.751196116] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049502.835589375] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049502.838258182] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049502.838997255] [sailbot.teensy]: Wind angle: 321 -[mux-7] [INFO] [1746049502.839087758] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049502.839981547] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049502.840873700] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049502.841726352] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049502.844702219] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049502.845132346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049502.845833344] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049502.846859061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049502.847981935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049502.945372383] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049502.945818558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049502.946733768] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049502.948058194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049502.949357068] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049503.002324591] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973121 Long: -76.5029852 -[vectornav-1] [INFO] [1746049503.003341969] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.448, -3.47, 8.174) -[mux-7] [INFO] [1746049503.045296463] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049503.045828922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049503.046704697] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049503.047933326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049503.048848289] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049503.085484394] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049503.087495789] [sailbot.teensy]: Wind angle: 316 -[trim_sail-4] [INFO] [1746049503.087782643] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049503.088521046] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049503.089340342] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049503.089418602] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049503.090366195] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049503.145307104] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049503.146054923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049503.146804954] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049503.148127023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049503.149252777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049503.245555279] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049503.246366672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049503.247329193] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049503.248636783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049503.249887092] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049503.335478894] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049503.338105420] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746049503.338768676] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049503.338776486] [sailbot.teensy]: Wind angle: 318 -[teensy-2] [INFO] [1746049503.339273229] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049503.339696353] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049503.340057828] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049503.344502053] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049503.345045450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049503.345647592] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049503.346858936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049503.348035727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049503.445667626] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049503.446724744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049503.447474980] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049503.449494161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049503.450027177] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049503.502574487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973123 Long: -76.50298528 -[vectornav-1] [INFO] [1746049503.503782110] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.46000000000004, -3.452, 8.304) -[mux-7] [INFO] [1746049503.545331232] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049503.545895236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049503.546725444] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049503.548279732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049503.549328574] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049503.585458823] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049503.587865724] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049503.588265092] [sailbot.teensy]: Wind angle: 321 -[mux-7] [INFO] [1746049503.588919484] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049503.589230613] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049503.590131559] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049503.590975175] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049503.645240980] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049503.645939445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049503.647043959] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049503.648045449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049503.649099303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049503.745555632] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049503.746574321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049503.747162540] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049503.749367054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049503.750478424] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049503.835506986] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049503.837413046] [sailbot.teensy]: Wind angle: 322 -[trim_sail-4] [INFO] [1746049503.837894988] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049503.838666047] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049503.840017110] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049503.840850290] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049503.841293171] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049503.844368304] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049503.845056879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049503.845916297] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049503.846896108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049503.848096521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049503.945146804] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049503.946105718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049503.946884192] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049503.948119265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049503.949232177] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049504.002642364] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973114 Long: -76.50298507 -[vectornav-1] [INFO] [1746049504.003725897] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.41499999999996, -3.473, 7.969) -[mux-7] [INFO] [1746049504.045198069] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049504.046106092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049504.046621601] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049504.048466649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049504.049489226] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049504.085403480] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049504.087563320] [sailbot.teensy]: Wind angle: 322 -[trim_sail-4] [INFO] [1746049504.087739105] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049504.088628516] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049504.088854375] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049504.089763901] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049504.090758901] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049504.145397359] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049504.146137351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049504.147105016] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049504.148609449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049504.149223230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049504.245466389] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049504.246050455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049504.247147708] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049504.248149385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049504.249250963] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049504.335408459] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049504.337306833] [sailbot.teensy]: Wind angle: 322 -[trim_sail-4] [INFO] [1746049504.337845463] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049504.338264273] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049504.339206006] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049504.340000094] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049504.340042725] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049504.344511306] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049504.345159914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049504.345653663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049504.346848516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049504.347926629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049504.445541761] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049504.446237222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049504.446873562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049504.448222371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049504.449224504] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049504.503259926] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973109 Long: -76.50298512 -[vectornav-1] [INFO] [1746049504.505218016] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.418, -3.474, 8.02) -[mux-7] [INFO] [1746049504.545486940] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049504.547295566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049504.546101887] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049504.548496170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049504.549831147] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049504.585355215] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049504.587184905] [sailbot.teensy]: Wind angle: 323 -[trim_sail-4] [INFO] [1746049504.587528991] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049504.588280140] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049504.588976635] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049504.589200286] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049504.590146933] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049504.645283925] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049504.646156039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049504.646816157] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049504.648448136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049504.649504562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049504.745248831] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049504.746628552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049504.746653907] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049504.748960649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049504.749814825] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049504.835266859] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049504.836970109] [sailbot.teensy]: Wind angle: 323 -[trim_sail-4] [INFO] [1746049504.837776090] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049504.837917472] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049504.839027015] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049504.839912287] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049504.839968493] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049504.844597837] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049504.845227716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049504.845732694] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049504.846956505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049504.848109661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049504.945228020] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049504.946489528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049504.946750592] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049504.948237624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049504.948783209] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049505.002357987] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697311 Long: -76.50298498 -[vectornav-1] [INFO] [1746049505.003384842] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.392, -3.483, 7.848) -[mux-7] [INFO] [1746049505.045167676] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049505.045871984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049505.046560306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049505.047805042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049505.048911849] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049505.085589055] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049505.088395238] [sailbot.teensy]: Wind angle: 323 -[trim_sail-4] [INFO] [1746049505.088508313] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049505.089386576] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049505.090426216] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049505.090670009] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049505.091549320] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049505.145673246] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049505.146261062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049505.147601845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049505.148543189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049505.150686749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049505.245489323] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049505.246241954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049505.247072795] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049505.248600045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049505.249765103] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049505.335604631] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049505.337886616] [sailbot.teensy]: Wind angle: 323 -[trim_sail-4] [INFO] [1746049505.338033114] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049505.339128305] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049505.339847720] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049505.340544701] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049505.341411259] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049505.344249454] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049505.344659225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049505.345424826] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049505.346309894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049505.347438228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049505.444849195] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049505.445372363] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049505.446002230] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049505.447577632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049505.448752278] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049505.502871600] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973106 Long: -76.50298497 -[vectornav-1] [INFO] [1746049505.504502067] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.418, -3.472, 7.947) -[mux-7] [INFO] [1746049505.544807058] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049505.545410885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049505.545966583] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049505.547167848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049505.548342040] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049505.585350282] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049505.587663749] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049505.587845781] [sailbot.teensy]: Wind angle: 323 -[mux-7] [INFO] [1746049505.588532840] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049505.589118886] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049505.590042235] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049505.590885191] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049505.645262545] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049505.646368900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049505.646962865] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049505.648652268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049505.649174794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049505.745107274] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049505.746222830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049505.746684840] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049505.748399695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049505.749555105] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049505.835623336] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049505.838480604] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049505.839170899] [sailbot.teensy]: Wind angle: 323 -[mux-7] [INFO] [1746049505.839994447] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049505.840236280] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049505.841540699] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049505.841939189] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049505.844454313] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049505.844941778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049505.845817545] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049505.846951772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049505.847994190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049505.945066030] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049505.945835662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049505.946344806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049505.947632361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049505.948792459] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049506.002556942] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973112 Long: -76.50298514 -[vectornav-1] [INFO] [1746049506.003601581] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.472, -3.443, 8.341) -[mux-7] [INFO] [1746049506.045147732] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049506.046519544] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049506.046109732] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049506.048055317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049506.049233122] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049506.085396063] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049506.087788380] [sailbot.teensy]: Wind angle: 323 -[trim_sail-4] [INFO] [1746049506.087789219] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049506.088784695] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049506.089144246] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049506.089692499] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049506.090554181] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049506.145398081] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049506.146219297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049506.146917138] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049506.148162579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049506.148844123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049506.245440540] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049506.246108056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049506.247057012] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049506.248389510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049506.249616602] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049506.335633317] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049506.338535740] [sailbot.teensy]: Wind angle: 324 -[trim_sail-4] [INFO] [1746049506.338697315] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049506.339484878] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049506.339572722] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049506.340005471] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049506.340445532] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049506.344504138] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049506.345052465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049506.345691792] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049506.346789140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049506.347803796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049506.445192493] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049506.445801479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049506.446622877] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049506.447869957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049506.448785463] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049506.503649809] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973104 Long: -76.50298521 -[vectornav-1] [INFO] [1746049506.505441395] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.495, -3.431, 8.388) -[mux-7] [INFO] [1746049506.545181911] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049506.545839659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049506.546741640] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049506.548702429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049506.550607842] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049506.585683854] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049506.587831078] [sailbot.teensy]: Wind angle: 327 -[trim_sail-4] [INFO] [1746049506.588045776] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049506.588874383] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049506.589944265] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049506.590035213] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049506.590932433] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049506.644943094] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049506.645697935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049506.646225568] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049506.647510030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049506.648600731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049506.745602881] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049506.747350060] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049506.747935218] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049506.749955222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049506.751011279] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049506.835637922] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049506.837715473] [sailbot.teensy]: Wind angle: 328 -[teensy-2] [INFO] [1746049506.838727434] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049506.838251359] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049506.840003249] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049506.840367920] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049506.841327191] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049506.844446590] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049506.845019591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049506.845673221] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049506.846738727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049506.847909506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049506.945594176] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049506.946564447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049506.947215876] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049506.948321529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049506.948851506] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049507.002447071] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973097 Long: -76.50298506 -[vectornav-1] [INFO] [1746049507.003683228] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.529, -3.409, 8.625) -[mux-7] [INFO] [1746049507.045291039] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049507.046340887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049507.046794178] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049507.048775616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049507.049780813] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049507.085896225] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049507.088232402] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049507.088866483] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049507.089735884] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049507.090719968] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049507.090916727] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049507.091632200] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049507.144852356] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049507.145724658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049507.146057982] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049507.147574797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049507.148675040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049507.245019332] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049507.245735812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049507.246277255] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049507.247776363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049507.248600027] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049507.335541678] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049507.337621839] [sailbot.teensy]: Wind angle: 331 -[trim_sail-4] [INFO] [1746049507.338165252] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049507.338639619] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049507.339081476] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049507.339074489] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049507.339507733] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049507.344487104] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049507.345091570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049507.345670646] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049507.346811644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049507.347961306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049507.445075443] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049507.445892817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049507.446323577] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049507.447690472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049507.448726836] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049507.502927013] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973108 Long: -76.50298504 -[vectornav-1] [INFO] [1746049507.504269607] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.49, -3.417, 8.443) -[mux-7] [INFO] [1746049507.545128032] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049507.545874173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049507.547137985] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049507.548093925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049507.549260133] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049507.585544575] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049507.587595349] [sailbot.teensy]: Wind angle: 332 -[teensy-2] [INFO] [1746049507.588968023] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049507.588607772] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049507.589509052] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049507.589876384] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049507.590782057] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049507.644924899] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049507.645710772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049507.646392276] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049507.647556168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049507.648744194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049507.745198095] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049507.746068952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049507.746710731] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049507.748330122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049507.749132712] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049507.835943108] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049507.838594509] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049507.838707711] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049507.839698632] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049507.840619622] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049507.840645491] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049507.841552942] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049507.844379144] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049507.845084917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049507.845484681] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049507.846788984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049507.847969041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049507.945209495] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049507.946283359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049507.946759424] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049507.948087303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049507.948540087] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049508.002504364] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697311 Long: -76.50298527 -[vectornav-1] [INFO] [1746049508.003898202] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.515, -3.424, 8.462) -[mux-7] [INFO] [1746049508.045136839] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049508.046255313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049508.046990485] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049508.048262256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049508.049400558] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049508.085599615] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049508.087708614] [sailbot.teensy]: Wind angle: 353 -[trim_sail-4] [INFO] [1746049508.088351993] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049508.088902996] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049508.089845901] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049508.089986594] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049508.090738246] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049508.145123933] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049508.145991196] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049508.146545958] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049508.148098429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049508.149201503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049508.245487364] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049508.246297017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049508.247116881] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049508.248637886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049508.249745028] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049508.335397056] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049508.337964480] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049508.338185376] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049508.338898208] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049508.339057412] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049508.339802577] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049508.340673096] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049508.344229163] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049508.345668845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049508.344990068] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049508.346723098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049508.347933779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049508.445247258] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049508.445974976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049508.446782493] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049508.447960863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049508.448526337] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049508.502596076] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973114 Long: -76.5029853 -[vectornav-1] [INFO] [1746049508.503709356] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.53700000000003, -3.42, 8.523) -[mux-7] [INFO] [1746049508.545552274] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049508.546271784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049508.547206416] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049508.548665461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049508.551467142] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049508.585878626] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049508.588104801] [sailbot.teensy]: Wind angle: 355 -[teensy-2] [INFO] [1746049508.589256149] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049508.589386559] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049508.590300494] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049508.591195730] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049508.592388228] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049508.645289249] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049508.646171646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049508.646770390] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049508.648498648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049508.649658555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049508.745301559] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049508.746244927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049508.747025732] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049508.748089671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049508.748587456] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049508.835379864] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049508.837331233] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049508.837637554] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049508.838309493] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049508.838407269] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049508.839230073] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049508.840132090] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049508.844389949] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049508.844883774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049508.845630417] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049508.846578698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049508.847599483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049508.945398009] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049508.946787243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049508.947399012] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049508.948944559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049508.950170586] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049509.002657295] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973131 Long: -76.50298518 -[vectornav-1] [INFO] [1746049509.004066488] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.50800000000004, -3.434, 8.322) -[mux-7] [INFO] [1746049509.045186078] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049509.046030607] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049509.047853271] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049509.047977401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049509.048838794] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049509.085651802] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049509.087821463] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049509.088602033] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049509.088875857] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049509.089838407] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049509.090761436] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049509.090984564] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049509.145325361] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049509.146251804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049509.146877996] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049509.148605904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049509.149784040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049509.245603050] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049509.246292065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049509.247147447] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049509.248845953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049509.250086662] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049509.335733297] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049509.337956891] [sailbot.teensy]: Wind angle: 354 -[teensy-2] [INFO] [1746049509.339080276] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049509.338995072] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049509.339482755] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049509.339549174] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049509.339883797] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049509.344559268] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049509.345092503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049509.346274698] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049509.346861137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049509.348007181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049509.445717917] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049509.446401552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049509.447729816] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049509.448735403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049509.450045359] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049509.502628583] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973141 Long: -76.50298504 -[vectornav-1] [INFO] [1746049509.503766052] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.497, -3.431, 8.321) -[mux-7] [INFO] [1746049509.545367469] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049509.546133401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049509.546836062] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049509.548243738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049509.548900314] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049509.585596556] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049509.588012961] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049509.588484196] [sailbot.teensy]: Wind angle: 352 -[teensy-2] [INFO] [1746049509.589438456] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049509.589402516] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049509.590368322] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049509.591209646] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049509.645500555] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049509.646305764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049509.647144685] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049509.648641717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049509.649786915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049509.745274014] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049509.745928208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049509.746663746] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049509.747993557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049509.748472760] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049509.835332262] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049509.837844236] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049509.837966311] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049509.838895697] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049509.839587681] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049509.839979684] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049509.840342672] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049509.844467797] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049509.844969108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049509.846069182] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049509.846648119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049509.847884694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049509.945326965] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049509.946148230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049509.946995090] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049509.947772499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049509.948249343] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049510.002583604] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973124 Long: -76.50298494 -[vectornav-1] [INFO] [1746049510.003647793] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.517, -3.412, 8.399) -[mux-7] [INFO] [1746049510.045191784] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049510.045989389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049510.046632764] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049510.048182164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049510.049247108] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049510.085787709] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049510.088058635] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049510.088698091] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049510.089160984] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049510.090135578] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049510.091058517] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049510.091369903] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746049510.145096024] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049510.146118799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049510.146570667] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049510.148655394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049510.149729015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049510.245582051] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049510.246600815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049510.247197385] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049510.249254899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049510.250352004] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049510.335602342] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049510.338372667] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049510.338492179] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049510.339231956] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049510.339399639] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049510.340375081] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049510.341280698] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049510.344428923] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049510.344995074] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049510.345592493] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049510.346763203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049510.347867479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049510.445544827] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049510.446576555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049510.447140031] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049510.448602323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049510.449072065] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049510.502423827] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973117 Long: -76.50298486 -[vectornav-1] [INFO] [1746049510.503530250] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.608, -3.313, 9.379) -[mux-7] [INFO] [1746049510.545045227] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049510.545900083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049510.546323392] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049510.547866529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049510.548953276] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049510.585508833] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049510.587417179] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049510.587787703] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049510.588976714] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049510.589091455] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049510.590109324] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049510.590978844] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049510.645369810] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049510.646243505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049510.646919678] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049510.648826504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049510.650026245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049510.745128856] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049510.745884300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049510.746922187] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049510.747867165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049510.748996210] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049510.835535958] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049510.838226013] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049510.838673944] [sailbot.teensy]: Wind angle: 348 -[mux-7] [INFO] [1746049510.838810610] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049510.839626816] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049510.840034225] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049510.840400208] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049510.844531642] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049510.845229691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049510.845835941] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049510.846924624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049510.848176737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049510.945295927] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049510.946017124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049510.947124242] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049510.948139644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049510.949377618] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049511.003646602] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973118 Long: -76.50298455 -[vectornav-1] [INFO] [1746049511.005236949] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.576, -3.343, 9.277) -[mux-7] [INFO] [1746049511.045165369] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049511.045902904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049511.046975719] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049511.047766459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049511.048980444] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049511.085645796] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049511.088346060] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049511.088579254] [sailbot.teensy]: Wind angle: 355 -[mux-7] [INFO] [1746049511.088707053] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049511.089519853] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049511.090404881] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049511.091240275] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049511.145476058] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049511.146375615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049511.147211563] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049511.150732751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049511.151784101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049511.245625738] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049511.246656750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049511.247353589] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049511.248288218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049511.248677733] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049511.335813507] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049511.338341969] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049511.338995355] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049511.339497283] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049511.340347730] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049511.340494742] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049511.341503977] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049511.344340537] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049511.345122444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049511.345757513] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049511.347267471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049511.348392591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049511.445619902] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049511.446336204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049511.447404705] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049511.447832208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049511.448391709] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049511.502321716] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973122 Long: -76.50298449 -[vectornav-1] [INFO] [1746049511.503291000] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.555, -3.286, 9.304) -[mux-7] [INFO] [1746049511.545383216] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049511.546106951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049511.547216760] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049511.548216547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049511.549622595] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049511.585629819] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049511.588343105] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049511.588921681] [sailbot.teensy]: Wind angle: 337 -[mux-7] [INFO] [1746049511.589756158] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049511.589857279] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049511.590733184] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049511.591566434] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049511.644971540] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049511.645686576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049511.646274469] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049511.647636527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049511.648705294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049511.745555678] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049511.746434060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049511.747193526] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049511.749202138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049511.750272849] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049511.835625776] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049511.837719545] [sailbot.teensy]: Wind angle: 328 -[trim_sail-4] [INFO] [1746049511.838683032] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049511.838712370] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049511.839615280] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049511.839467231] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049511.840549217] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049511.844343693] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049511.844937106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049511.845515104] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049511.846611094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049511.847738201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049511.945598587] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049511.946609559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049511.947323577] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049511.948568453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049511.949142816] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049512.002745941] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973116 Long: -76.50298475 -[vectornav-1] [INFO] [1746049512.003863447] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.56899999999996, -3.264, 9.342) -[mux-7] [INFO] [1746049512.045301006] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049512.046007100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049512.047073970] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049512.048131820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049512.049375410] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049512.085897026] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049512.088373397] [sailbot.teensy]: Wind angle: 330 -[trim_sail-4] [INFO] [1746049512.089309544] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049512.089573104] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049512.090518729] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049512.090956237] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049512.091419249] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049512.145152756] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049512.146314753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049512.146651741] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049512.148655372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049512.149889788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049512.245003786] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049512.245998811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049512.246302197] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049512.247828291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049512.249016525] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049512.335351312] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049512.337428672] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049512.337827706] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049512.338398066] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049512.338415179] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049512.340065236] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049512.340990067] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049512.344398093] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049512.345006432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049512.345486426] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049512.346820190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049512.347883753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049512.445282211] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049512.446497485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049512.446738200] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049512.448711376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049512.449826010] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049512.503081848] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973129 Long: -76.50298461 -[vectornav-1] [INFO] [1746049512.504232317] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.55600000000004, -3.266, 9.052) -[mux-7] [INFO] [1746049512.544773447] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049512.545627144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049512.546367295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049512.547586395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049512.548754470] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049512.585520058] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049512.587961498] [sailbot.teensy]: Wind angle: 286 -[trim_sail-4] [INFO] [1746049512.587980966] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746049512.588995797] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049512.589946008] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049512.590176598] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746049512.590976482] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049512.645226768] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049512.646200954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049512.646789870] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049512.648574961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049512.649766986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049512.745401618] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049512.746081557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049512.746912206] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049512.748410819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049512.748905375] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049512.835523115] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049512.838215865] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746049512.838882244] [sailbot.teensy]: Wind angle: 241 -[mux-7] [INFO] [1746049512.839616737] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746049512.840784679] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049512.841665385] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049512.842509277] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049512.844349339] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049512.844728820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049512.846002112] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049512.846494952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049512.847596692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049512.945717858] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049512.946456101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049512.947749983] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049512.948453887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049512.948924098] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049513.002518657] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973139 Long: -76.50298457 -[vectornav-1] [INFO] [1746049513.003576888] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.55, -3.265, 9.084) -[mux-7] [INFO] [1746049513.045205435] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049513.045990721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049513.046494054] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049513.047901214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049513.049077500] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049513.085270895] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049513.087022430] [sailbot.teensy]: Wind angle: 237 -[teensy-2] [INFO] [1746049513.088082233] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049513.088075090] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746049513.088971856] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049513.089690793] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746049513.089826205] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049513.145094601] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049513.146464408] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049513.145931807] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049513.147964479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049513.148777898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049513.245471198] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049513.246711855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049513.247403715] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049513.249657892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049513.250781494] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049513.335631698] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049513.338024654] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746049513.339142427] [sailbot.teensy]: Wind angle: 264 -[mux-7] [INFO] [1746049513.339305351] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049513.339594923] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049513.340009988] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049513.340409519] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049513.344471208] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049513.344991511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049513.345632878] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049513.346651460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049513.347715615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049513.445132851] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049513.446164142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049513.446406150] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049513.448195718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049513.448719521] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049513.503095068] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973143 Long: -76.50298472 -[vectornav-1] [INFO] [1746049513.504208804] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.507, -3.389, 8.497) -[mux-7] [INFO] [1746049513.545055267] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049513.545853133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049513.546355113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049513.547543038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049513.548009166] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049513.585584237] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049513.587747161] [sailbot.teensy]: Wind angle: 304 -[trim_sail-4] [INFO] [1746049513.588652135] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049513.589196256] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049513.589911601] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049513.590136240] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049513.591015211] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049513.645649656] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049513.646422142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049513.647487593] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049513.649762624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049513.650844040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049513.745340281] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049513.746195340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049513.746876743] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049513.748527467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049513.749038871] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049513.835485155] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049513.838026420] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049513.838762229] [sailbot.teensy]: Wind angle: 336 -[mux-7] [INFO] [1746049513.839358623] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049513.839716576] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049513.840646950] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049513.841491098] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049513.844334091] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049513.844876394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049513.845512753] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049513.846525108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049513.847597761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049513.945837701] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049513.947224957] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049513.947699592] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049513.949530356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049513.950042058] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049514.002809033] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973152 Long: -76.50298478 -[vectornav-1] [INFO] [1746049514.004205015] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.54200000000003, -3.312, 8.972) -[mux-7] [INFO] [1746049514.045200810] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049514.045929229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049514.046877132] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049514.048382246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049514.049557367] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049514.085419020] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049514.087316765] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049514.087686868] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049514.088282297] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049514.089002453] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049514.089293721] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049514.090244377] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049514.145147532] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049514.145982267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049514.146744946] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049514.148040303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049514.148742924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049514.245487934] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049514.246432986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049514.247442292] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049514.249403032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049514.250535454] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049514.335501160] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049514.337878877] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049514.338190825] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049514.338791163] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049514.338818214] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049514.340031394] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049514.340565289] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049514.344613746] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049514.345107677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049514.345918597] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049514.346853766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049514.348029228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049514.445504512] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049514.446241568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049514.447145791] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049514.448585229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049514.449836250] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049514.502542145] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973157 Long: -76.50298478 -[vectornav-1] [INFO] [1746049514.503576007] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.41700000000003, -3.433, 7.605) -[mux-7] [INFO] [1746049514.545380363] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049514.546294784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049514.546824343] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049514.548294128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049514.549490921] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049514.585477598] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049514.587415139] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049514.588222420] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049514.588415353] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049514.589312775] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049514.589394504] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049514.590189291] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049514.645321872] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049514.646223520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049514.646888570] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049514.648805278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049514.649959576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049514.745584163] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049514.746449362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049514.747294891] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049514.748944584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049514.749573440] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049514.835631677] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049514.838194871] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049514.838349036] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049514.838711373] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049514.838768414] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049514.839165370] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049514.839551075] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049514.844854813] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049514.845467601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049514.846324999] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049514.847237156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049514.848371466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049514.945199763] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049514.946005870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049514.946719042] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049514.948185082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049514.949360032] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049515.002209823] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973151 Long: -76.5029847 -[vectornav-1] [INFO] [1746049515.003177214] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.363, -3.429, 7.412) -[mux-7] [INFO] [1746049515.045075393] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049515.046189763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049515.046388028] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049515.048362105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049515.049348745] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049515.085571238] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049515.088054179] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049515.088364139] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049515.088842534] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049515.089096188] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049515.090042904] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049515.090908534] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049515.145243479] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049515.146270869] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049515.146866629] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049515.148902176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049515.149977311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049515.246158052] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049515.247144398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049515.247761670] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049515.248879398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049515.249407813] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049515.335352211] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049515.338050614] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049515.338257709] [sailbot.teensy]: Wind angle: 340 -[mux-7] [INFO] [1746049515.338761765] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049515.338843624] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049515.339310647] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049515.339741176] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049515.344338924] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049515.345617088] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049515.346689933] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049515.348349971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049515.349455933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049515.445878660] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049515.446542742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049515.447914948] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049515.450589598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049515.451855148] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049515.502533854] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973149 Long: -76.50298467 -[vectornav-1] [INFO] [1746049515.503577754] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.382, -3.434, 7.465) -[mux-7] [INFO] [1746049515.545455672] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049515.546127519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049515.547117124] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049515.548409959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049515.549478526] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049515.585528999] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049515.588310464] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049515.588457722] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049515.588672233] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049515.589224320] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049515.590121878] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049515.590981828] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049515.645504357] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049515.646056931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049515.647448961] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049515.648333806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049515.650230371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049515.745009783] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049515.745550021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049515.746299051] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049515.747441023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049515.748490815] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049515.835400775] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049515.837211145] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049515.837747590] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049515.838151434] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049515.839075123] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049515.839467765] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049515.839959741] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049515.844481656] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049515.845249382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049515.845892473] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049515.847088096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049515.848223812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049515.945837584] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049515.946564790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049515.947658955] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049515.948791489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049515.949385144] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049516.004063363] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973153 Long: -76.50298462 -[vectornav-1] [INFO] [1746049516.005307983] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.382, -3.415, 7.507) -[mux-7] [INFO] [1746049516.045415635] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049516.045939997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049516.046945389] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049516.047986118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049516.049041628] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049516.085385820] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049516.087683354] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049516.088309914] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049516.089117569] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049516.090115906] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049516.090985083] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049516.091862557] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049516.145337207] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049516.145919989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049516.146978506] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049516.148063227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049516.149838191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049516.245634668] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049516.246428090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049516.247266107] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049516.248928299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049516.250134220] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049516.335496201] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049516.337625864] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049516.338308669] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049516.338617007] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049516.339504532] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049516.340232490] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049516.340424874] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049516.344335082] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049516.344895646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049516.345446560] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049516.346802319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049516.348037381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049516.445251169] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049516.446175079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049516.446575920] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049516.448302634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049516.449399029] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049516.502447000] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973161 Long: -76.50298451 -[vectornav-1] [INFO] [1746049516.503470322] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.414, -3.411, 7.551) -[mux-7] [INFO] [1746049516.545189819] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049516.545994157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049516.546694337] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049516.548054771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049516.549255325] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049516.585563222] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049516.588387562] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049516.588634137] [sailbot.teensy]: Wind angle: 339 -[mux-7] [INFO] [1746049516.588676297] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049516.589560806] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049516.590433661] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049516.591271384] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049516.644852792] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049516.645606806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049516.646239931] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049516.647408368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049516.648582173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049516.745202016] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049516.745718084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049516.746573438] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049516.747602940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049516.748779500] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049516.835467995] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049516.837440288] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746049516.838423962] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049516.837988924] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049516.839325267] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049516.839598832] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049516.840224009] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049516.844364941] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049516.844805066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049516.845946876] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049516.846557455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049516.848052837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049516.945734547] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049516.947379381] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049516.946312722] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049516.948577430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049516.949898358] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049517.003327528] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973154 Long: -76.50298465 -[vectornav-1] [INFO] [1746049517.004591552] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.451, -3.401, 7.761) -[mux-7] [INFO] [1746049517.045446749] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049517.046888820] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049517.045865865] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049517.047784388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049517.048764160] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049517.085571845] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049517.087972838] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049517.088655474] [sailbot.teensy]: Wind angle: 335 -[mux-7] [INFO] [1746049517.089182733] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049517.089646937] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049517.090531162] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049517.091403353] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049517.145330850] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049517.145794417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049517.147159104] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049517.147961970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049517.149186544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049517.245597519] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049517.246290359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049517.247234302] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049517.248542532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049517.249739578] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049517.335841448] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049517.338798741] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049517.339004551] [sailbot.teensy]: Wind angle: 337 -[mux-7] [INFO] [1746049517.339928567] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049517.340081245] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049517.341117491] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049517.341684914] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049517.344561482] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049517.345151089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049517.345734572] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049517.346857277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049517.348107116] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049517.445388018] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049517.446272910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049517.447728063] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049517.448601623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049517.449652413] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049517.502733547] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973156 Long: -76.50298463 -[vectornav-1] [INFO] [1746049517.503875757] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.45799999999997, -3.401, 7.799) -[mux-7] [INFO] [1746049517.545223744] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049517.546472934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049517.546813374] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049517.548722621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049517.549973932] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049517.585570999] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049517.588124809] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049517.588712305] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049517.589101657] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049517.590016543] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049517.590754551] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049517.590906982] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049517.645056346] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049517.645769392] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049517.647755221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049517.646372923] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049517.648759344] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049517.745201607] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049517.746135314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049517.746893625] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049517.748425916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049517.749039971] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049517.835725423] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049517.837885085] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049517.838904009] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049517.838438941] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049517.839032175] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049517.839844133] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049517.840729895] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049517.844419391] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049517.844970396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049517.845695531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049517.846652799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049517.847709715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049517.945148739] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049517.945824909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049517.946676495] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049517.947732347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049517.948287520] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049518.002313951] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973152 Long: -76.50298467 -[vectornav-1] [INFO] [1746049518.003316236] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.423, -3.441, 7.408) -[mux-7] [INFO] [1746049518.045107466] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049518.045977083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049518.046409782] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049518.047849947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049518.048891658] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049518.085579522] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049518.088221244] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049518.089174905] [sailbot.teensy]: Wind angle: 344 -[mux-7] [INFO] [1746049518.089396107] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049518.090127988] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049518.091065375] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049518.091914673] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049518.145198746] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049518.146169485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049518.146693217] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049518.148272377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049518.149294972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049518.245403732] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049518.246408357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049518.246991981] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049518.247876680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049518.248344886] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049518.335530149] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049518.337758521] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049518.338102405] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049518.338779553] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049518.339647366] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049518.339687395] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049518.340647404] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049518.344379181] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049518.345431406] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049518.345131776] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049518.346836794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049518.347995856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049518.445639001] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049518.447117547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049518.447428899] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049518.450098532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049518.451226037] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049518.502749196] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973158 Long: -76.50298469 -[vectornav-1] [INFO] [1746049518.504065268] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.40700000000004, -3.449, 7.337) -[mux-7] [INFO] [1746049518.545344392] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049518.546248029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049518.546782867] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049518.548006831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049518.548489779] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049518.585440057] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049518.587775883] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049518.588792461] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049518.589309552] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049518.590310503] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049518.591157132] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049518.591997701] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049518.645052891] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049518.645681903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049518.646543197] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049518.647608228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049518.648892547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049518.745048236] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049518.745953064] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049518.746456993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049518.747986859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049518.749066359] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049518.835486964] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049518.838090881] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049518.838302286] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049518.838794799] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049518.839097010] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049518.840243549] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049518.840870756] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049518.844595827] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049518.845247999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049518.845825196] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049518.847072909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049518.848295369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049518.945497836] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049518.946341213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049518.947052436] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049518.948428719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049518.948997100] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049519.002783682] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973166 Long: -76.5029849 -[vectornav-1] [INFO] [1746049519.003909867] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.414, -3.448, 7.307) -[mux-7] [INFO] [1746049519.045242567] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049519.046052959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049519.046773590] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049519.048296796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049519.049501975] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049519.085616703] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049519.088142150] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049519.089133132] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049519.089228262] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049519.090165553] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049519.091232886] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049519.092189853] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049519.144998440] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049519.145932197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049519.146639763] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049519.148080321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049519.149373532] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049519.245161040] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049519.245927547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049519.246535808] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049519.247795201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049519.248781823] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049519.335513051] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049519.337529546] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049519.338550480] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049519.338775587] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049519.339464017] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049519.340258265] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049519.340332512] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049519.344313602] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049519.344989145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049519.345414304] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049519.346673094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049519.347662158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049519.445750459] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049519.446434266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049519.447995727] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049519.448455766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049519.449813981] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049519.502198500] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973155 Long: -76.502985 -[vectornav-1] [INFO] [1746049519.503195289] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.43100000000004, -3.446, 7.383) -[mux-7] [INFO] [1746049519.545093973] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049519.546017712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049519.546569047] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049519.548313087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049519.549329922] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049519.585781967] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049519.588312760] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049519.588546706] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049519.589410967] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049519.589991540] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049519.590376585] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049519.591298501] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049519.645290305] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049519.646920797] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049519.647327636] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049519.649163063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049519.650162970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049519.745314959] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049519.746114158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049519.746805984] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049519.748511233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049519.749060699] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049519.835577853] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049519.837641730] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049519.838153295] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049519.838666100] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049519.839564657] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049519.839549792] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049519.840518184] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049519.844373600] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049519.844867363] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049519.845433470] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049519.846541767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049519.847612605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049519.945521101] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049519.946309213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049519.947296462] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049519.948949677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049519.950116337] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049520.003373387] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973158 Long: -76.50298506 -[vectornav-1] [INFO] [1746049520.004836932] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.426, -3.419, 7.609) -[mux-7] [INFO] [1746049520.045287280] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049520.046114030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049520.046838359] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049520.047928709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049520.048488485] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049520.085399686] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049520.087727809] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049520.088391484] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746049520.089424321] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049520.089879377] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049520.090395239] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049520.091316931] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049520.145045576] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049520.145691214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049520.146463238] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049520.147794500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049520.148840136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049520.245265898] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049520.246038310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049520.246686262] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049520.247735842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049520.248313945] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049520.335899020] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049520.338320857] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049520.338664609] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049520.339362959] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049520.339880940] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049520.340051347] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049520.340269261] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049520.344395821] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049520.345128604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049520.345549569] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049520.346926506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049520.348085298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049520.445469468] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049520.446267173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049520.447060841] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049520.448839241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049520.450005869] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049520.502604943] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973141 Long: -76.50298516 -[vectornav-1] [INFO] [1746049520.503646081] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.399, -3.435, 7.571) -[mux-7] [INFO] [1746049520.545474008] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049520.546606558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049520.547016473] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049520.548675618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049520.549884178] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049520.585622966] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049520.588015685] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049520.588122310] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049520.589054926] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049520.589383594] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049520.589962031] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049520.590837899] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049520.645525487] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049520.646201546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049520.647149562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049520.648586214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049520.649843293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049520.745307887] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049520.746230227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049520.746755001] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049520.748344337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049520.749511851] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049520.835718608] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049520.838302617] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049520.838466327] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049520.839365157] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049520.840326069] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049520.840759637] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049520.841230114] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049520.844407822] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049520.845191318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049520.845836604] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049520.846883615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049520.848016728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049520.945238221] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049520.945748382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049520.946769388] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049520.947679981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049520.948735234] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049521.002317305] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973161 Long: -76.50298466 -[vectornav-1] [INFO] [1746049521.003289958] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.466, -3.408, 7.958) -[mux-7] [INFO] [1746049521.044919039] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049521.045513645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049521.046121064] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049521.047574257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049521.048812868] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049521.085465572] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049521.087827145] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049521.088507906] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049521.088905617] [sailbot.teensy]: Wind angle: 349 -[teensy-2] [INFO] [1746049521.089989526] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049521.090883102] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049521.091754344] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049521.145475522] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049521.145995143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049521.147244921] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049521.148271937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049521.149312175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049521.245544306] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049521.246344762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049521.247178938] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049521.248834763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049521.249385632] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049521.335552080] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049521.337629637] [sailbot.teensy]: Wind angle: 349 -[teensy-2] [INFO] [1746049521.338845068] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049521.339193925] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049521.339722603] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049521.339871075] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049521.340623548] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049521.344384805] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049521.344957326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049521.345518980] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049521.346653681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049521.347729411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049521.445118537] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049521.445679185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049521.446656124] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049521.447631371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049521.448405366] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049521.502423119] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973167 Long: -76.50298465 -[vectornav-1] [INFO] [1746049521.503486046] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.49199999999996, -3.408, 7.939) -[mux-7] [INFO] [1746049521.545283348] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049521.546407119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049521.546973386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049521.548909508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049521.549407442] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049521.585555716] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049521.588439652] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049521.588478393] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049521.589408424] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049521.589654304] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049521.590310414] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049521.590787442] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049521.645090253] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049521.645902274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049521.646587666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049521.647840902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049521.649062189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049521.745107092] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049521.745713296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049521.746769274] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049521.747807639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049521.748836331] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049521.835507229] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049521.837571554] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049521.838110725] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049521.838583842] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049521.839036892] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049521.839243903] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049521.839421787] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049521.844599068] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049521.845045783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049521.845867356] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049521.846843637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049521.847857656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049521.945570187] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049521.946195350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049521.947557457] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049521.948355119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049521.949081087] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049522.002958411] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973173 Long: -76.50298477 -[vectornav-1] [INFO] [1746049522.004054123] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.531, -3.396, 8.006) -[mux-7] [INFO] [1746049522.045024090] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049522.045635829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049522.046380129] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049522.047643771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049522.048711437] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049522.085345810] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049522.087125293] [sailbot.teensy]: Wind angle: 353 -[trim_sail-4] [INFO] [1746049522.087686231] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049522.088034176] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049522.088583854] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049522.088951810] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049522.089808524] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049522.145015457] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049522.145716094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049522.146431973] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049522.147745844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049522.148755285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049522.245117952] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049522.246365300] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049522.246509110] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049522.248260534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049522.248753668] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049522.335401881] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049522.337718951] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049522.338613996] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049522.339535238] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746049522.339948222] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049522.340336511] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049522.340872330] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049522.344367222] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049522.344872563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049522.345512156] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049522.346639732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049522.347764774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049522.445522088] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049522.445934130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049522.447251113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049522.447882373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049522.448404201] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049522.502765244] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973183 Long: -76.50298467 -[vectornav-1] [INFO] [1746049522.504268294] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.56399999999996, -3.384, 8.062) -[mux-7] [INFO] [1746049522.544730311] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049522.545419155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049522.545964456] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049522.547192260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049522.548354049] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049522.585524320] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049522.587513613] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049522.588048403] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049522.588522885] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049522.589479904] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049522.590401359] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049522.590494197] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746049522.645951708] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049522.646088854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049522.647679050] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049522.648377457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049522.649473508] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049522.745492765] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049522.746096844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049522.747373319] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049522.748197438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049522.750047575] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049522.835239909] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049522.836833979] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049522.837497509] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049522.838701765] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049522.839373352] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049522.839858403] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049522.840241007] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049522.844461774] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049522.845063653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049522.845574145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049522.846981804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049522.847990208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049522.945455466] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049522.946495086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049522.947560422] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049522.949348609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049522.950444800] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049523.002347499] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973177 Long: -76.50298496 -[vectornav-1] [INFO] [1746049523.003332556] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.598, -3.389, 8.192) -[mux-7] [INFO] [1746049523.045307665] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049523.046351796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049523.046837169] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049523.048192002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049523.048683810] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049523.085466392] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049523.088050513] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049523.088225368] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049523.089155025] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049523.089152416] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049523.090229148] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049523.091124369] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049523.145231725] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049523.145921577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049523.146744807] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049523.148094628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049523.149213030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049523.245181607] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049523.245823873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049523.246715440] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049523.247768158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049523.248335257] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049523.335184740] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049523.336912136] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049523.338225734] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049523.338031108] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049523.339016016] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049523.339158426] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049523.340090201] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049523.344299913] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049523.345079051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049523.345412063] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049523.346841705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049523.347930039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049523.444730032] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049523.445552431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049523.445905697] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049523.447546026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049523.448758430] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049523.502438855] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973191 Long: -76.502985 -[vectornav-1] [INFO] [1746049523.503510646] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.592, -3.389, 8.172) -[mux-7] [INFO] [1746049523.545261181] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049523.546375439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049523.546840004] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049523.548860085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049523.550051285] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049523.585497959] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049523.588077434] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049523.588189450] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049523.589141400] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049523.589583766] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049523.590283642] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049523.591167136] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049523.645386582] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049523.646293100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049523.647044360] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049523.648769462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049523.650028632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049523.745515326] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049523.746036434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049523.747022794] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049523.748108679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049523.749250399] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049523.835418167] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049523.837392487] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049523.837936225] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049523.838368673] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049523.839321444] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049523.839825790] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049523.840136494] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049523.844541353] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049523.845649811] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049523.845083618] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049523.846718794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049523.847799788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049523.945371513] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049523.945876432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049523.946936151] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049523.948130373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049523.949579640] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049524.002581817] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973203 Long: -76.50298489 -[vectornav-1] [INFO] [1746049524.003785482] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.613, -3.388, 8.221) -[mux-7] [INFO] [1746049524.045409735] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049524.046028479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049524.046951162] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049524.048260464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049524.049298568] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049524.085446997] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049524.087891864] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049524.088480281] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049524.088674817] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049524.089538792] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049524.090452108] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049524.091264311] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049524.145389351] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049524.146183814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049524.147100783] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049524.148728129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049524.149890091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049524.245690851] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049524.246507088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049524.247377748] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049524.249231654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049524.250393422] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049524.335258802] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049524.337519838] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049524.337597356] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049524.338514831] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049524.339016460] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049524.339218470] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049524.339400596] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049524.344540058] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049524.345206131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049524.345829367] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049524.346948802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049524.348031321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049524.445104475] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049524.445818446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049524.446538402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049524.447488344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049524.448033344] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049524.502521887] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973206 Long: -76.50298487 -[vectornav-1] [INFO] [1746049524.503502494] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.644, -3.388, 8.292) -[mux-7] [INFO] [1746049524.544876506] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049524.545757351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049524.546424016] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049524.547729706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049524.548873590] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049524.585526271] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049524.588140919] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049524.588338924] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049524.589375255] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049524.589986566] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049524.590231494] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049524.591149920] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049524.644848038] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049524.645510744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049524.646004793] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049524.647405269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049524.648496309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049524.744938562] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049524.746018296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049524.746241059] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049524.747825799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049524.748330252] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049524.835408357] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049524.838023218] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049524.838335094] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049524.838529715] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049524.839759292] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049524.840639112] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049524.841479084] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049524.844407650] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049524.845212377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049524.845503202] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049524.847081894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049524.848198733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049524.945626110] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049524.946436380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049524.947223444] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049524.948091122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049524.948549165] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049525.002569214] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973228 Long: -76.50298473 -[vectornav-1] [INFO] [1746049525.003761068] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.648, -3.385, 8.327) -[mux-7] [INFO] [1746049525.045004548] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049525.045733103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049525.046306701] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049525.047580548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049525.048613117] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049525.085516773] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049525.087588847] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049525.088631827] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049525.088848978] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049525.089127755] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049525.089543178] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049525.090444066] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049525.144974988] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049525.145636898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049525.146294798] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049525.147492013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049525.148518988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049525.245120513] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049525.245831108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049525.246555953] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049525.248060938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049525.248576983] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049525.335488920] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049525.337338437] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049525.338011812] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049525.338314196] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049525.338990932] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049525.339070097] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049525.339363255] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049525.344413229] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049525.345021110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049525.345544119] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049525.346718687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049525.347685381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049525.445359164] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049525.446246158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049525.446675022] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049525.448199151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049525.449279847] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049525.503602881] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697322 Long: -76.50298464 -[vectornav-1] [INFO] [1746049525.504894574] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.659, -3.384, 8.301) -[mux-7] [INFO] [1746049525.544976507] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049525.545633928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049525.546524247] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049525.547708855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049525.548918974] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049525.585392525] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049525.587266723] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049525.588132640] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049525.588261414] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049525.589152494] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049525.589464004] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049525.590030972] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049525.645004248] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049525.645794272] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049525.646457255] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049525.647886317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049525.649017432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049525.744834295] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049525.745975265] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049525.745782272] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049525.747660997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049525.748755504] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049525.835508159] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049525.838307998] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049525.838391295] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049525.839331576] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049525.839403916] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049525.840364040] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049525.840947570] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049525.844208957] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049525.845054317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049525.845681126] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049525.846810406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049525.847820522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049525.945070952] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049525.945811840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049525.946498572] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049525.947835803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049525.948929858] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049526.002178768] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973233 Long: -76.50298436 -[vectornav-1] [INFO] [1746049526.003153486] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.707, -3.395, 8.496) -[mux-7] [INFO] [1746049526.045089003] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049526.046003369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049526.046496075] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049526.048355874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049526.049401567] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049526.085207182] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049526.087336556] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049526.087644935] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049526.088534108] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049526.088574385] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049526.089749766] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049526.090611850] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049526.145462249] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049526.146146387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049526.146994108] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049526.149471499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049526.150590280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049526.245390215] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049526.246081528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049526.246917087] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049526.248098763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049526.248580508] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049526.335538889] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049526.337807280] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049526.338418856] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049526.338861035] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049526.338958882] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049526.339373830] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049526.339749827] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049526.344481735] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049526.345071747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049526.345701705] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049526.346772897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049526.347954540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049526.445073861] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049526.445652620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049526.446342003] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049526.447450800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049526.448534218] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049526.502726608] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973228 Long: -76.50298434 -[vectornav-1] [INFO] [1746049526.503980715] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.765, -3.393, 8.851) -[mux-7] [INFO] [1746049526.545200524] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049526.545935444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049526.546637979] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049526.547882034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049526.548930780] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049526.585597028] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049526.587681530] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049526.588465637] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049526.588740099] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049526.589639756] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049526.589824358] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049526.590556564] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049526.644946326] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049526.645644330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049526.646419609] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049526.647446460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049526.648505592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049526.745070546] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049526.745768283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049526.746535706] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049526.747791524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049526.748599866] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049526.835402991] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049526.837285332] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049526.838180905] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049526.838854393] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049526.839033350] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049526.839459339] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049526.839817446] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049526.844441385] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049526.844954480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049526.845569806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049526.846636950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049526.847827335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049526.945122157] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049526.945852765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049526.946759764] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049526.947789960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049526.948351802] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049527.003393733] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973214 Long: -76.50298433 -[vectornav-1] [INFO] [1746049527.004943419] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.78, -3.393, 8.906) -[mux-7] [INFO] [1746049527.045077612] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049527.045857532] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049527.046524442] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049527.048120323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049527.048757703] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049527.085480225] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049527.087600228] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049527.088582749] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049527.088055221] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049527.088482238] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049527.089492526] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049527.090365608] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049527.145131619] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049527.145984001] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049527.146872124] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049527.147987807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049527.149216061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049527.245198700] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049527.245998270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049527.246642653] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049527.248095853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049527.248976959] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049527.335415100] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049527.338095079] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049527.338519519] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049527.339079191] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049527.339496622] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049527.339873904] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049527.340245103] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049527.344399705] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049527.344904816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049527.345558921] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049527.346595779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049527.347833255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049527.445356559] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049527.445993736] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049527.446915011] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049527.448141286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049527.448722988] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049527.502584277] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973205 Long: -76.50298436 -[vectornav-1] [INFO] [1746049527.503637154] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.747, -3.39, 8.583) -[mux-7] [INFO] [1746049527.545238921] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049527.546207626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049527.546784034] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049527.548410641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049527.549702519] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049527.586090797] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049527.589069830] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049527.589599834] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049527.590185911] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049527.591041453] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049527.591147249] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049527.592044395] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049527.645012846] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049527.646443716] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049527.646969307] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049527.648891046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049527.649897213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049527.745343681] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049527.746279255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049527.747023978] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049527.747915720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049527.748406877] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049527.835110912] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049527.837812225] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049527.838013214] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049527.838931085] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049527.839744435] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049527.839839519] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049527.840750066] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049527.844245797] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049527.844750726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049527.845405170] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049527.846444936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049527.847561554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049527.945145776] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049527.945860481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049527.946610378] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049527.947866567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049527.948506194] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049528.002630332] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973211 Long: -76.50298392 -[vectornav-1] [INFO] [1746049528.003777530] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.696, -3.398, 8.381) -[mux-7] [INFO] [1746049528.045563487] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049528.046300914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049528.047219028] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049528.049194421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049528.050405582] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049528.085369461] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049528.087512857] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049528.088124198] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049528.088849668] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049528.089555938] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049528.089801031] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049528.090676297] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049528.145131370] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049528.145806456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049528.146598429] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049528.148085923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049528.149412040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049528.245126590] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049528.245835797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049528.246635609] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049528.247764451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049528.248853163] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049528.335623697] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049528.338558521] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049528.339082895] [sailbot.teensy]: Wind angle: 343 -[mux-7] [INFO] [1746049528.339099198] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049528.339642678] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049528.340024574] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049528.340431062] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049528.344409337] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049528.345128096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049528.345718317] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049528.346916207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049528.347962785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049528.444853734] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049528.445586615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049528.446090805] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049528.447493694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049528.448574018] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049528.502368616] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973209 Long: -76.50298375 -[vectornav-1] [INFO] [1746049528.503344426] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.674, -3.394, 8.43) -[mux-7] [INFO] [1746049528.544430520] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049528.545070858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049528.545494759] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049528.546663268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049528.547679767] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049528.585407109] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049528.587597113] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049528.588019196] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049528.588671847] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049528.589139001] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049528.589605967] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049528.590480231] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049528.644772434] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049528.645521064] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049528.646077481] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049528.647452924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049528.648568156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049528.745260695] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049528.745985700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049528.746885064] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049528.748397159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049528.750347789] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049528.835615647] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049528.838311384] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049528.838551927] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049528.838782372] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049528.839344223] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049528.840337586] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049528.841151842] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049528.844466208] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049528.845148798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049528.845833221] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049528.847000818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049528.848081540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049528.945555976] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049528.946526544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049528.947337990] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049528.948596961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049528.949128878] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049529.002733456] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973235 Long: -76.50298359 -[vectornav-1] [INFO] [1746049529.004094152] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.674, -3.4, 8.392) -[mux-7] [INFO] [1746049529.044771504] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049529.045697242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049529.046074739] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049529.047664276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049529.048822032] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049529.085262477] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049529.087363812] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049529.088346275] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049529.087532809] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049529.088027357] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049529.089148383] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049529.089984249] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049529.145315287] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049529.146045447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049529.146856915] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049529.148542472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049529.149686567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049529.245177009] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049529.245843682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049529.246609154] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049529.248132952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049529.249113161] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049529.335725649] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049529.338964568] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049529.339000987] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049529.339007660] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049529.340411534] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049529.341201369] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049529.341582327] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049529.344470886] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049529.345204019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049529.345735116] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049529.346912209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049529.348073569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049529.445691291] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049529.446423578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049529.447314096] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049529.448042125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049529.448597714] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049529.502833036] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973215 Long: -76.50298365 -[vectornav-1] [INFO] [1746049529.504450679] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.673, -3.397, 8.451) -[mux-7] [INFO] [1746049529.545155791] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049529.545866220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049529.546593438] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049529.548026174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049529.549060612] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049529.585696710] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049529.588335561] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049529.588692262] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049529.589694645] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049529.589767398] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049529.590635037] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049529.591508359] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049529.645047353] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049529.646370576] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049529.646747834] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049529.648523375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049529.649535463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049529.744974888] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049529.745749925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049529.746316527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049529.747737639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049529.748450327] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049529.835511676] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049529.838138390] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049529.838986640] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049529.839175082] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049529.839546539] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049529.840098195] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049529.840812426] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049529.844467188] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049529.845175093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049529.845686578] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049529.846997564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049529.848262689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049529.945603110] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049529.946918208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049529.947223441] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049529.949670728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049529.950772453] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049530.003382224] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973233 Long: -76.50298378 -[vectornav-1] [INFO] [1746049530.004862684] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.68100000000004, -3.405, 8.405) -[mux-7] [INFO] [1746049530.045014264] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049530.045886484] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049530.047832561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049530.046284971] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049530.048997026] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049530.085393482] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049530.087670162] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049530.087677541] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049530.088923396] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049530.088948767] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049530.089882527] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049530.090775941] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049530.145378383] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049530.147103654] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049530.146283370] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049530.148280573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049530.149310972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049530.245055912] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049530.245828705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049530.246550027] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049530.247806059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049530.248419751] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049530.335342299] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049530.337417943] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049530.337932301] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049530.338448436] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049530.339353397] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049530.339449034] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049530.340290703] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049530.344298182] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049530.344977355] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049530.345389724] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049530.346800582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049530.347933651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049530.445327390] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049530.446045923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049530.446856453] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049530.448251714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049530.449512188] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049530.503311449] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973253 Long: -76.50298363 -[vectornav-1] [INFO] [1746049530.504786224] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.719, -3.401, 8.438) -[mux-7] [INFO] [1746049530.545212467] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049530.545972885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049530.547076539] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049530.548006863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049530.549192574] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049530.585469615] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049530.587682747] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049530.587764876] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049530.588669693] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049530.588856126] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049530.589807129] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049530.590681818] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049530.645253306] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049530.645916786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049530.646830995] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049530.648607742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049530.649672999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049530.745167769] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049530.746038843] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049530.746610469] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049530.747996506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049530.749228714] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049530.835483695] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049530.837425070] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049530.838129720] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049530.839151109] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049530.839186648] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049530.839597525] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049530.839991768] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049530.844354530] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049530.844960694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049530.845517210] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049530.846774093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049530.847817137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049530.945044324] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049530.945716987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049530.946389500] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049530.947692782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049530.948952911] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049531.002464278] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973272 Long: -76.5029835 -[vectornav-1] [INFO] [1746049531.003499355] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.71799999999996, -3.411, 8.338) -[mux-7] [INFO] [1746049531.044831381] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049531.045466115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049531.046197222] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049531.047487022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049531.048924310] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049531.085449766] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049531.087709241] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049531.087959027] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746049531.088897806] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049531.088952587] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049531.089811910] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049531.090659627] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049531.144908814] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049531.145534563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049531.146393915] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049531.147484636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049531.148594797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049531.243735896] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049531.244032591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049531.244269037] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049531.244829928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049531.245402292] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049531.335535675] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049531.337714861] [sailbot.teensy]: Wind angle: 335 -[teensy-2] [INFO] [1746049531.338751042] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049531.338070023] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049531.339783729] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049531.340438567] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049531.340724250] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049531.344342731] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049531.345132741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049531.345493552] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049531.347092324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049531.348515779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049531.445105195] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049531.446710814] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049531.445940694] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049531.447899306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049531.448963604] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049531.503217703] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697325 Long: -76.5029831 -[vectornav-1] [INFO] [1746049531.504285820] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.70500000000004, -3.415, 7.918) -[mux-7] [INFO] [1746049531.545041805] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049531.545715362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049531.546478250] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049531.547639938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049531.548709342] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049531.585252690] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049531.587795561] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049531.588127472] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049531.589098839] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049531.589426661] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049531.590169672] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049531.591071858] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049531.645005050] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049531.645864733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049531.646482408] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049531.647739216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049531.648299068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049531.745175325] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049531.746654507] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049531.746191140] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049531.748544067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049531.749436213] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049531.835742464] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049531.838496906] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049531.838665801] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049531.839082606] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049531.839301695] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049531.839458366] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049531.840398973] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049531.844384252] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049531.844956663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049531.845506267] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049531.846579835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049531.847618881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049531.945298350] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049531.946361311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049531.946864980] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049531.948703759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049531.949805285] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049532.002670649] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973273 Long: -76.50298296 -[vectornav-1] [INFO] [1746049532.003876823] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.68399999999997, -3.459, 7.85) -[mux-7] [INFO] [1746049532.045538804] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049532.046377818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049532.047022053] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049532.048521330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049532.049576233] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049532.085392181] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049532.087219483] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049532.087667490] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049532.088318678] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049532.089390418] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049532.089897155] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049532.090318256] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049532.144957351] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049532.145671764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049532.146305058] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049532.147823627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049532.149012158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049532.245386435] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049532.246186674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049532.247042583] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049532.248925838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049532.250305056] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049532.335638059] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049532.337688994] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049532.338238538] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049532.338734943] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049532.339698523] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049532.339711696] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049532.340746582] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049532.344496702] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049532.345118105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049532.345699901] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049532.347031909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049532.348124396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049532.445743908] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049532.446563997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049532.447502104] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049532.448905898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049532.450244912] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049532.502437794] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973287 Long: -76.50298294 -[vectornav-1] [INFO] [1746049532.503464748] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.688, -3.453, 7.856) -[mux-7] [INFO] [1746049532.545215467] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049532.545963782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049532.546781934] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049532.548303334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049532.549028191] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049532.585294990] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049532.586910219] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049532.587926495] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049532.588009137] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049532.588821470] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049532.589160236] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049532.589701017] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049532.645121367] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049532.645732954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049532.646867274] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049532.647680557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049532.649041612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049532.745471273] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049532.745830509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049532.747354948] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049532.749049210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049532.750172001] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049532.835366789] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049532.837111963] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049532.838230720] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049532.838505619] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049532.839153575] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049532.839516887] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049532.840049685] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049532.844544952] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049532.844968462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049532.845775824] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049532.846632522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049532.847745767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049532.944964539] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049532.946143908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049532.946975055] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049532.947971431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049532.949034653] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049533.002415733] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973301 Long: -76.50298281 -[vectornav-1] [INFO] [1746049533.003387227] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.709, -3.441, 7.987) -[mux-7] [INFO] [1746049533.045198265] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049533.046267117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049533.046692799] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049533.048591516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049533.049633651] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049533.085513134] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049533.087721240] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049533.088791647] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049533.088094755] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049533.089137686] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049533.089719838] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049533.090648604] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049533.145048068] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049533.145928825] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049533.146392622] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049533.148130818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049533.149327599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049533.245001986] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049533.245933968] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049533.246356246] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049533.248081010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049533.249253972] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049533.335396136] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049533.337853567] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049533.337851369] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049533.338678444] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049533.338793932] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049533.339704163] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049533.340511949] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049533.344340980] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049533.344826630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049533.345408993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049533.347945309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049533.349090820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049533.445483646] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049533.446099635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049533.447125638] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049533.448437859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049533.449588429] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049533.502296450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973302 Long: -76.50298275 -[vectornav-1] [INFO] [1746049533.503455200] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.721, -3.445, 8.058) -[mux-7] [INFO] [1746049533.545269187] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049533.546115892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049533.546850458] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049533.547821884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049533.548270985] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049533.585509444] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049533.587638097] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049533.588688094] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049533.588386857] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049533.589748195] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049533.590381737] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049533.590658590] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049533.645151565] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049533.645860706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049533.646525330] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049533.648048000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049533.648732024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049533.744996798] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049533.745677206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049533.746398441] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049533.747526803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049533.748717440] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049533.835555331] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049533.837536195] [sailbot.teensy]: Wind angle: 338 -[teensy-2] [INFO] [1746049533.838517760] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049533.838251832] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049533.839379312] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049533.839422849] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049533.840306009] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049533.844496717] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049533.844948495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049533.845695506] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049533.846795978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049533.847963682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049533.945235424] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049533.945845605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049533.946811471] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049533.947739583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049533.948866669] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049534.002368280] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973336 Long: -76.50298262 -[vectornav-1] [INFO] [1746049534.003343412] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.695, -3.453, 7.948) -[mux-7] [INFO] [1746049534.045001993] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049534.045769699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049534.046153061] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049534.047642217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049534.048199749] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049534.085437269] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049534.087647082] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049534.087697016] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049534.088709066] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049534.089972437] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049534.090340064] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049534.090877532] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049534.145020863] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049534.146364011] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049534.147209290] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049534.149021473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049534.150085551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049534.245122636] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049534.246042505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049534.246460947] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049534.248272349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049534.249172120] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049534.335494722] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049534.337458546] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049534.338061692] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049534.339646844] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049534.339674819] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049534.340625173] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049534.341602982] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049534.344480237] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049534.344914112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049534.345674161] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049534.346575135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049534.347657190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049534.446191219] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049534.447654655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049534.448115440] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049534.448659281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049534.449222238] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049534.503088800] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973339 Long: -76.50298281 -[vectornav-1] [INFO] [1746049534.504580625] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.701, -3.447, 7.911) -[mux-7] [INFO] [1746049534.544867986] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049534.545604000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049534.546276020] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049534.547464937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049534.548557726] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049534.585350602] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049534.587273346] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049534.587576006] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049534.588237098] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049534.588857593] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049534.589201689] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049534.590197880] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049534.645159919] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049534.645856205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049534.646661604] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049534.648332914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049534.650258046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049534.744901757] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049534.745665033] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049534.746422440] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049534.747852788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049534.748335289] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049534.835697344] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049534.838335867] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049534.838599037] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049534.839577914] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049534.839840326] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049534.840235749] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049534.840858584] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049534.844376536] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049534.845033295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049534.845463061] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049534.846851160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049534.848004206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049534.945179393] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049534.946148364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049534.946718031] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049534.947808614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049534.948378846] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049535.002700695] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973359 Long: -76.50298286 -[vectornav-1] [INFO] [1746049535.003828485] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.672, -3.458, 7.753) -[mux-7] [INFO] [1746049535.045454024] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049535.046286106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049535.047540182] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049535.048756634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049535.049962833] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049535.085477786] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049535.087510416] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049535.087875665] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049535.088522301] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049535.089446483] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049535.089471627] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049535.090351637] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049535.144928836] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049535.145857638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049535.146188190] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049535.147633156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049535.148717683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049535.245137035] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049535.245977941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049535.246437550] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049535.247961696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049535.249198496] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049535.335474551] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049535.337926606] [sailbot.teensy]: Wind angle: 328 -[trim_sail-4] [INFO] [1746049535.338020486] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049535.339132099] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049535.339411319] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049535.339530694] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049535.339915845] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049535.344412461] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049535.345040255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049535.345569071] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049535.346928816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049535.347982735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049535.445203173] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049535.445832958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049535.446724312] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049535.447896593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049535.448565921] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049535.502275215] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973366 Long: -76.50298298 -[vectornav-1] [INFO] [1746049535.503287374] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.678, -3.436, 7.921) -[mux-7] [INFO] [1746049535.545487293] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049535.547086405] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049535.548221904] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049535.549884581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049535.550854243] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049535.585438839] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049535.587226307] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049535.587762220] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049535.588186619] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049535.589127734] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049535.590001623] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049535.590270072] [sailbot.mux]: algo sail angle: 75 -[mux-7] [INFO] [1746049535.645075718] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049535.645600604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049535.646551697] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049535.647523660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049535.648605230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049535.745220671] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049535.745665165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049535.746868386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049535.747802001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049535.748619348] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049535.835362095] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049535.837054104] [sailbot.teensy]: Wind angle: 332 -[trim_sail-4] [INFO] [1746049535.837576985] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049535.838976341] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049535.839050487] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049535.839948347] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049535.840914905] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049535.844556269] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049535.844946509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049535.845631656] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049535.846660318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049535.847719531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049535.945322272] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049535.946036693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049535.946851509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049535.948456182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049535.949513348] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049536.003024751] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973379 Long: -76.502983 -[vectornav-1] [INFO] [1746049536.004299725] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.68, -3.441, 7.871) -[mux-7] [INFO] [1746049536.045156442] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049536.045799275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049536.047203796] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049536.047769299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049536.049027137] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049536.085387141] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049536.087696082] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049536.088132283] [sailbot.teensy]: Wind angle: 333 -[mux-7] [INFO] [1746049536.088833974] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049536.089143044] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049536.090094395] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049536.090954834] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049536.145002820] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049536.145670640] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049536.146620878] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049536.147624159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049536.148875832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049536.244849497] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049536.245541664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049536.246092687] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049536.247518783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049536.248719588] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049536.335428497] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049536.337873425] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049536.338463627] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049536.339709771] [sailbot.teensy]: Wind angle: 334 -[teensy-2] [INFO] [1746049536.340866191] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049536.341748068] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049536.342597155] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049536.344460799] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049536.344772821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049536.345589107] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049536.347858725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049536.348902761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049536.445294213] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049536.445886951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049536.446907046] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049536.447971317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049536.449104675] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049536.502497341] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973377 Long: -76.50298289 -[vectornav-1] [INFO] [1746049536.503626392] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.675, -3.441, 7.852) -[mux-7] [INFO] [1746049536.545443564] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049536.546171305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049536.547041909] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049536.548271822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049536.549502752] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049536.585117247] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049536.586765793] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049536.587222608] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049536.587626317] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049536.588492329] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049536.589355819] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049536.589389446] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049536.644669441] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049536.645323087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049536.645839315] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049536.647193728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049536.648396247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049536.744895106] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049536.745602116] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049536.746378971] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049536.747576136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049536.748257651] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049536.835854938] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049536.838012893] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049536.838884476] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049536.839079563] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049536.840030944] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049536.840468565] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049536.840899086] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049536.844581575] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049536.845174606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049536.845739520] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049536.846964827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049536.848138767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049536.945650852] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049536.946223491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049536.947462085] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049536.949221722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049536.950307893] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049537.002549651] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973397 Long: -76.50298281 -[vectornav-1] [INFO] [1746049537.003657958] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.651, -3.441, 7.875) -[mux-7] [INFO] [1746049537.045022831] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049537.045560661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049537.046364758] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049537.047476537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049537.048523749] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049537.085161248] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049537.086894622] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049537.087203446] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049537.087888152] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049537.088784303] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049537.088655228] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049537.089654599] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049537.144902271] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049537.146185485] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049537.146781558] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049537.148607946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049537.149854596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049537.245005389] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049537.245691345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049537.246730805] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049537.247844441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049537.248928822] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049537.335444823] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049537.337282497] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049537.338137741] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049537.338275153] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049537.339100372] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049537.339162350] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049537.340093249] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049537.344467476] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049537.345046698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049537.345576086] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049537.346822583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049537.347866757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049537.445077875] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049537.446832282] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049537.447412583] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049537.449247946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049537.450359347] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049537.503627915] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973393 Long: -76.5029828 -[vectornav-1] [INFO] [1746049537.504996469] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.683, -3.445, 7.8) -[mux-7] [INFO] [1746049537.545160835] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049537.545828597] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049537.546811991] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049537.547593648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049537.548723848] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049537.585452657] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049537.587979607] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049537.588726035] [sailbot.teensy]: Wind angle: 337 -[mux-7] [INFO] [1746049537.589398773] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049537.589691753] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049537.590574598] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049537.591461854] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049537.645281743] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049537.645849726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049537.647055842] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049537.647931369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049537.649182946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049537.745063765] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049537.745875967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049537.746506057] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049537.747878079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049537.748934131] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049537.835665858] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049537.837679533] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049537.838463730] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049537.838698231] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049537.839598333] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049537.840483914] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049537.840413618] [sailbot.mux]: algo sail angle: 80 -[mux-7] [INFO] [1746049537.844304028] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049537.845002832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049537.845412396] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049537.846690057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049537.847853600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049537.945657684] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049537.946462343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049537.947404278] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049537.949970394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049537.951275524] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049538.002567882] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973401 Long: -76.5029828 -[vectornav-1] [INFO] [1746049538.003668369] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.68899999999996, -3.437, 7.95) -[mux-7] [INFO] [1746049538.045075436] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049538.045751971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049538.046499481] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049538.047935043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049538.048791041] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049538.085624221] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049538.087425255] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049538.088785907] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049538.088782982] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049538.089466422] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049538.089730008] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049538.090656123] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049538.145218745] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049538.146148500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049538.146681645] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049538.148385343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049538.149562866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049538.245269049] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049538.246049732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049538.247053056] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049538.248338805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049538.249217072] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049538.335264964] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049538.337035668] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049538.338131533] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049538.338637717] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049538.339858891] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049538.340786790] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049538.341638316] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049538.344283783] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049538.344918915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049538.345383080] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049538.346711816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049538.347781873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049538.445672851] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049538.446882760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049538.447342003] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049538.449637295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049538.450776311] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049538.503197520] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697341 Long: -76.50298279 -[vectornav-1] [INFO] [1746049538.504430374] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.704, -3.438, 7.919) -[mux-7] [INFO] [1746049538.545299624] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049538.546302831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049538.546818232] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049538.548700020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049538.549741649] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049538.585142954] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049538.587376848] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049538.587719208] [sailbot.teensy]: Wind angle: 337 -[mux-7] [INFO] [1746049538.587865119] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049538.588725520] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049538.589614184] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049538.590509950] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049538.645137490] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049538.646007791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049538.647307115] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049538.647936477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049538.650152988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049538.745022572] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049538.746077930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049538.746574170] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049538.747857751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049538.748409567] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049538.835664559] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049538.838624855] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049538.839671654] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049538.840029860] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049538.841299548] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049538.842162939] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049538.843042512] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049538.844631057] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049538.844950989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049538.845855021] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049538.846593769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049538.847784077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049538.945076091] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049538.945740335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049538.946462218] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049538.947801011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049538.948358946] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049539.002366964] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973419 Long: -76.50298287 -[vectornav-1] [INFO] [1746049539.003423089] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.723, -3.431, 8.056) -[mux-7] [INFO] [1746049539.045310587] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049539.046751460] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049539.045996790] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049539.047961617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049539.049174203] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049539.085559408] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049539.087859592] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049539.087942100] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049539.088811831] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049539.088871579] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049539.089750300] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049539.090678901] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049539.145057364] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049539.145729233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049539.146308836] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049539.147617853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049539.148817042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049539.245039778] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049539.245717395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049539.246453655] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049539.247835226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049539.248471927] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049539.335390714] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049539.337252886] [sailbot.teensy]: Wind angle: 332 -[trim_sail-4] [INFO] [1746049539.337789656] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049539.338724057] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049539.338993807] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049539.339160929] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049539.339546821] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049539.344538414] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049539.345723794] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049539.346376644] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049539.348053010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049539.349186275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049539.445411436] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049539.446146336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049539.447040109] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049539.448475197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049539.449837865] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049539.502531684] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697343 Long: -76.50298275 -[vectornav-1] [INFO] [1746049539.503557914] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.736, -3.424, 8.125) -[mux-7] [INFO] [1746049539.544819764] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049539.545437749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049539.545992331] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049539.547357585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049539.548376962] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049539.585650945] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049539.588435304] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049539.589033063] [sailbot.teensy]: Wind angle: 332 -[mux-7] [INFO] [1746049539.589076586] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049539.590131284] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049539.591039118] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049539.591887465] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049539.645453103] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049539.646697526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049539.647220228] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049539.648621662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049539.649817460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049539.745413004] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049539.746014145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049539.746922838] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049539.748065602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049539.749154466] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049539.835396454] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049539.837780879] [sailbot.teensy]: Wind angle: 332 -[trim_sail-4] [INFO] [1746049539.837925567] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049539.838327826] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049539.838711270] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049539.839379287] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049539.839744038] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049539.844419693] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049539.845073848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049539.845691185] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049539.846961192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049539.848110278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049539.945476477] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049539.945992961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049539.947210791] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049539.948436813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049539.949833978] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049540.002593760] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697343 Long: -76.50298273 -[vectornav-1] [INFO] [1746049540.003717524] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.77099999999996, -3.411, 8.314) -[mux-7] [INFO] [1746049540.045125131] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049540.045721337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049540.046554838] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049540.047757883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049540.048691772] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049540.085649493] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049540.087750357] [sailbot.teensy]: Wind angle: 331 -[trim_sail-4] [INFO] [1746049540.088277980] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049540.089779804] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049540.090452398] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049540.090764125] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049540.091794469] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049540.145569526] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049540.146130488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049540.147059482] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049540.148202711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049540.149672547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049540.245034617] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049540.245644748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049540.246527586] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049540.247486987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049540.248581619] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049540.335477468] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049540.337901237] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049540.338522140] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049540.339527012] [sailbot.teensy]: Wind angle: 331 -[teensy-2] [INFO] [1746049540.340549989] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049540.341375987] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049540.342199684] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049540.344338473] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049540.344747452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049540.345470318] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049540.346399257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049540.347449012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049540.445975469] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049540.446759835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049540.447627438] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049540.448979878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049540.450244567] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049540.502674363] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973433 Long: -76.5029826 -[vectornav-1] [INFO] [1746049540.503788194] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.764, -3.419, 8.232) -[mux-7] [INFO] [1746049540.545045442] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049540.545870237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049540.546759001] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049540.547756075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049540.548793818] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049540.585017126] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049540.586994389] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049540.588310681] [sailbot.teensy]: Wind angle: 336 -[mux-7] [INFO] [1746049540.588407908] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049540.589247819] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049540.590092433] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049540.590943984] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049540.645193828] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049540.646023832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049540.646883509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049540.648063993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049540.649301160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049540.745726492] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049540.746542250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049540.747535480] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049540.749123607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049540.750369477] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049540.835693590] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049540.838480584] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049540.838802823] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049540.838889455] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049540.839307721] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049540.839707493] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049540.840097964] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049540.844634702] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049540.845291294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049540.845849603] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049540.847125051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049540.848205586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049540.945489104] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049540.946138512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049540.947137044] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049540.948441528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049540.949469363] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049541.002942945] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973449 Long: -76.50298251 -[vectornav-1] [INFO] [1746049541.004435901] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.73, -3.432, 8.056) -[mux-7] [INFO] [1746049541.045109202] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049541.045785884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049541.046656359] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049541.047665679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049541.049524502] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049541.085356493] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049541.087206560] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049541.087739572] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049541.088191410] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049541.089022338] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049541.089071593] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049541.089948387] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049541.144789088] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049541.145453032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049541.146047652] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049541.147196652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049541.148407019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049541.245166170] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049541.245971186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049541.246642489] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049541.248350786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049541.249476019] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049541.335422662] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049541.337412547] [sailbot.teensy]: Wind angle: 338 -[teensy-2] [INFO] [1746049541.338359119] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049541.337841433] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049541.339061446] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049541.339257130] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049541.340189541] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049541.344445056] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049541.345048109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049541.345548741] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049541.346718233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049541.347780157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049541.445338949] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049541.446074466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049541.446858110] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049541.448408636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049541.449600457] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049541.502229377] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973448 Long: -76.50298275 -[vectornav-1] [INFO] [1746049541.503801990] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.773, -3.428, 8.223) -[mux-7] [INFO] [1746049541.544869509] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049541.545682653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049541.546005511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049541.547503609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049541.548639248] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049541.585549989] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049541.588099098] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049541.588181279] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049541.589150955] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049541.589849702] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049541.590076130] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049541.590933250] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049541.645036179] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049541.645946521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049541.646493662] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049541.648320354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049541.649384326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049541.745233147] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049541.746142150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049541.746780825] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049541.748344350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049541.749578885] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049541.835496990] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049541.837613730] [sailbot.teensy]: Wind angle: 327 -[teensy-2] [INFO] [1746049541.838731839] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049541.838156083] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049541.839520175] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049541.839630101] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049541.840504566] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049541.844277319] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049541.844818823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049541.845421471] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049541.846482322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049541.847528634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049541.945213666] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049541.945932085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049541.946963693] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049541.947805404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049541.948897311] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049542.003445192] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973453 Long: -76.50298276 -[vectornav-1] [INFO] [1746049542.004868769] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.69100000000003, -3.445, 7.853) -[mux-7] [INFO] [1746049542.045180543] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049542.045945962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049542.046626611] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049542.048419782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049542.048937503] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049542.085345751] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049542.087040722] [sailbot.teensy]: Wind angle: 319 -[teensy-2] [INFO] [1746049542.087968766] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049542.087780942] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049542.088834268] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049542.089364386] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049542.089636863] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049542.145307268] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049542.146244084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049542.146841493] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049542.148567002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049542.149609033] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049542.244938622] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049542.245604681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049542.246238814] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049542.247457430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049542.248700731] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049542.335537380] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049542.337960638] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049542.338424819] [sailbot.teensy]: Wind angle: 320 -[mux-7] [INFO] [1746049542.339204754] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049542.339346171] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049542.340265079] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049542.341146533] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049542.344254390] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049542.344960991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049542.345605912] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049542.346760107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049542.347979669] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049542.445783411] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049542.446536538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049542.447620735] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049542.448880804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049542.450949085] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049542.502277475] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973447 Long: -76.50298279 -[vectornav-1] [INFO] [1746049542.503425644] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.72900000000004, -3.45, 7.846) -[mux-7] [INFO] [1746049542.545645647] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049542.546431595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049542.547337396] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049542.549622250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049542.550696123] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049542.585112005] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049542.587367048] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049542.588907843] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049542.589771662] [sailbot.teensy]: Wind angle: 320 -[teensy-2] [INFO] [1746049542.590677955] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049542.591605202] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049542.592465299] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049542.645039958] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049542.645825033] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049542.646595466] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049542.647887394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049542.648930781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049542.745269167] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049542.746720675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049542.746803738] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049542.748778924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049542.749238060] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049542.835799845] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049542.838110708] [sailbot.teensy]: Wind angle: 327 -[trim_sail-4] [INFO] [1746049542.838792263] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049542.839197264] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049542.840240108] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049542.840766242] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049542.841127413] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049542.844270924] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049542.844857702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049542.845364655] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049542.846715930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049542.847753042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049542.945287451] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049542.946069950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049542.946733395] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049542.948237766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049542.949338979] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049543.002194154] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973457 Long: -76.50298267 -[vectornav-1] [INFO] [1746049543.003123106] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.74, -3.447, 7.833) -[mux-7] [INFO] [1746049543.045259239] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049543.046841857] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049543.047431364] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049543.049211490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049543.050368535] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049543.085418143] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049543.087302392] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049543.087613890] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049543.088277661] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049543.089186477] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049543.089351333] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049543.090101052] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049543.144384901] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049543.145102093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049543.145435833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049543.146706130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049543.147638354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049543.245364937] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049543.246856151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049543.247023029] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049543.249037450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049543.250208244] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049543.335366644] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049543.337276303] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049543.337910416] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049543.338234281] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049543.339317347] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049543.339481351] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049543.340323043] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049543.344425450] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049543.345765687] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049543.345038047] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049543.346689361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049543.347808593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049543.445190182] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049543.447065873] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049543.446101256] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049543.448338115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049543.449504901] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049543.502760916] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973487 Long: -76.50298255 -[vectornav-1] [INFO] [1746049543.504129126] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.736, -3.438, 7.899) -[mux-7] [INFO] [1746049543.545027166] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049543.545655429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049543.546365077] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049543.548008063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049543.549188133] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049543.585270950] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049543.587765619] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049543.588736724] [sailbot.teensy]: Wind angle: 328 -[mux-7] [INFO] [1746049543.588882288] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049543.589728634] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049543.590608336] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049543.591456990] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049543.644985286] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049543.645598514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049543.646266068] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049543.647577540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049543.648728378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049543.745051147] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049543.745820696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049543.746459262] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049543.747751909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049543.748924812] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049543.835571107] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049543.838218293] [sailbot.teensy]: Wind angle: 332 -[teensy-2] [INFO] [1746049543.839662973] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049543.839170677] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049543.840529050] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049543.840578084] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049543.841459019] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049543.844217579] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049543.844710245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049543.845296815] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049543.846401743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049543.847433145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049543.945094732] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049543.945729487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049543.946558265] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049543.947812025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049543.948958145] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049544.002394294] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973496 Long: -76.50298257 -[vectornav-1] [INFO] [1746049544.003446356] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.75, -3.432, 8.038) -[mux-7] [INFO] [1746049544.045389072] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049544.046096951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049544.046883335] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049544.048222629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049544.049353108] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049544.085616359] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049544.087689783] [sailbot.teensy]: Wind angle: 334 -[teensy-2] [INFO] [1746049544.088734109] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049544.088666141] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049544.089578606] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049544.089612976] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049544.090521643] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049544.144999229] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049544.145618582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049544.146267054] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049544.147582737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049544.148628031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049544.245182397] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049544.245930287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049544.246655253] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049544.247679660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049544.248241132] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049544.335385068] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049544.337298743] [sailbot.teensy]: Wind angle: 335 -[teensy-2] [INFO] [1746049544.338320743] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049544.338583700] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049544.339135457] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049544.339300972] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049544.339534404] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049544.344572360] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049544.345143349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049544.345893414] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049544.346956344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049544.348088090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049544.444932957] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049544.445732086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049544.446272695] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049544.447936678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049544.448977281] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049544.502378684] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973483 Long: -76.50298266 -[vectornav-1] [INFO] [1746049544.503357592] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.77, -3.431, 8.076) -[mux-7] [INFO] [1746049544.545148686] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049544.546151920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049544.546607500] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049544.548214353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049544.549243375] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049544.585830133] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049544.588717769] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049544.589956165] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049544.591104473] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049544.591350713] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049544.592111688] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049544.593130910] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049544.645368016] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049544.646077070] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049544.646833073] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049544.648205884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049544.649445305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049544.745133607] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049544.745890209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049544.746880103] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049544.747865052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049544.748890714] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049544.835571100] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049544.837707189] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049544.838275500] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049544.839378047] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049544.839917169] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049544.840991217] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049544.841823988] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049544.844345507] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049544.844812942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049544.845411573] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049544.846491587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049544.847534368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049544.945638161] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049544.946314211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049544.947209846] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049544.948597252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049544.949895535] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049545.003428487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973488 Long: -76.50298295 -[vectornav-1] [INFO] [1746049545.004987426] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.767, -3.426, 8.104) -[mux-7] [INFO] [1746049545.045172111] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049545.045980638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049545.046902119] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049545.048144766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049545.049415373] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049545.085399815] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049545.087930984] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049545.088830926] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049545.089043409] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049545.090246485] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049545.091150991] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049545.092024509] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049545.145288353] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049545.146181162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049545.146848347] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049545.148537301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049545.149627865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049545.245642358] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049545.246712676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049545.247368675] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049545.249170747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049545.250477143] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049545.335680238] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049545.338397543] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049545.338403369] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049545.339446665] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049545.340073956] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049545.340472994] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049545.341135480] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049545.344476718] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049545.345367639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049545.345999304] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049545.347006660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049545.348119859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049545.445165715] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049545.445809635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049545.446742519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049545.447963557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049545.449069152] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049545.502753809] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973482 Long: -76.50298295 -[vectornav-1] [INFO] [1746049545.503972757] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.796, -3.412, 8.24) -[mux-7] [INFO] [1746049545.545290652] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049545.545963095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049545.546745221] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049545.548320743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049545.549448516] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049545.585424787] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049545.587894025] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049545.588429688] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049545.589544505] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049545.590583935] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049545.591436722] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049545.592298477] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049545.645250454] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049545.646247947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049545.646809461] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049545.648623576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049545.649763073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049545.745391678] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049545.746868564] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049545.746054125] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049545.749001747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049545.750045426] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049545.835659088] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049545.837819288] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049545.838355756] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049545.838908269] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049545.839957702] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049545.840478132] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049545.840945745] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049545.844560525] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049545.845186720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049545.845783577] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049545.847150036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049545.848382883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049545.945183883] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049545.945846617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049545.946794943] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049545.947894636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049545.948962892] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049546.002594922] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973485 Long: -76.50298287 -[vectornav-1] [INFO] [1746049546.003642713] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.796, -3.392, 8.233) -[mux-7] [INFO] [1746049546.045450611] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049546.047115081] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049546.046949785] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049546.049712359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049546.051030357] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049546.085705638] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049546.087901572] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049546.088475258] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049546.089051409] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049546.089961202] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049546.089961962] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049546.090885530] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049546.145319669] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049546.146191694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049546.146885089] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049546.148613643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049546.150226337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049546.245362633] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049546.246323299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049546.246935720] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049546.248673145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049546.249932240] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049546.335517064] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049546.337567079] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049546.338034155] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049546.338607316] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049546.339536855] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049546.339558710] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049546.340478212] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049546.344396024] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049546.345176239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049546.345669152] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049546.346876742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049546.347920507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049546.445214391] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049546.446505795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049546.447006485] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049546.447821905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049546.448311431] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049546.502767281] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973479 Long: -76.50298302 -[vectornav-1] [INFO] [1746049546.503937796] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.845, -3.417, 8.37) -[mux-7] [INFO] [1746049546.545142089] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049546.545942102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049546.546716754] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049546.548011673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049546.549066819] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049546.585880479] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049546.588651259] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049546.589980201] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049546.591073231] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049546.591074028] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049546.592075565] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049546.593667361] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746049546.644913586] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049546.645611981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049546.647391429] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049546.647427757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049546.648591977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049546.745497068] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049546.746400233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049546.747550947] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049546.747897380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049546.748479672] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049546.835527000] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049546.838193959] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049546.838222314] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049546.838758939] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049546.840292181] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049546.841257650] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049546.842100785] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049546.844312227] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049546.845003504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049546.845417211] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049546.846907385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049546.848004288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049546.945167702] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049546.945927721] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049546.948605878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049546.950117357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049546.951359579] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049547.003234909] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973493 Long: -76.50298312 -[vectornav-1] [INFO] [1746049547.004487325] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.899, -3.393, 8.695) -[mux-7] [INFO] [1746049547.045160485] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049547.046060485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049547.047091443] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049547.047799448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049547.048276102] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049547.085487470] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049547.087822235] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049547.087924142] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049547.088831479] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049547.089776730] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049547.090364284] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049547.090534297] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049547.145374937] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049547.146173609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049547.147198219] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049547.148473012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049547.149710494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049547.245424384] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049547.246280921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049547.246954094] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049547.248373433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049547.248905929] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049547.335500627] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049547.338319007] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049547.339494738] [sailbot.teensy]: Wind angle: 340 -[mux-7] [INFO] [1746049547.340273633] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049547.340484708] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049547.341383832] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049547.342246575] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049547.344246476] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049547.344788307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049547.345350412] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049547.346444990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049547.347502884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049547.445331475] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049547.445999716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049547.446914742] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049547.449243453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049547.450383847] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049547.502707356] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697349 Long: -76.50298319 -[vectornav-1] [INFO] [1746049547.503826528] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.90999999999997, -3.353, 8.701) -[mux-7] [INFO] [1746049547.545272736] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049547.545982347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049547.546879570] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049547.548243092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049547.549372528] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049547.585539650] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049547.587550342] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049547.588239074] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049547.588566991] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049547.589467070] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049547.589625442] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049547.590344085] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049547.645282259] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049547.645875542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049547.647196346] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049547.647875796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049547.649061764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049547.745277012] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049547.745972120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049547.746721065] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049547.748103778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049547.748918016] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049547.835431674] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049547.837429721] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049547.837994161] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049547.838432505] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049547.839335649] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049547.839658464] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049547.840264986] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049547.844369577] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049547.844906561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049547.845468531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049547.846810778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049547.847797932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049547.945662323] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049547.946397597] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049547.947614703] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049547.949198333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049547.950462831] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049548.002984306] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973516 Long: -76.50298295 -[vectornav-1] [INFO] [1746049548.004356958] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.855, -3.28, 8.634) -[mux-7] [INFO] [1746049548.045475812] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049548.046335349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049548.047151860] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049548.047857652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049548.048332194] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049548.085501233] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049548.087774470] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049548.087859520] [sailbot.teensy]: Wind angle: 340 -[mux-7] [INFO] [1746049548.088417829] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049548.088806759] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049548.089674905] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049548.090519498] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049548.145393463] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049548.146200225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049548.146960793] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049548.147854065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049548.148470033] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049548.245563079] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049548.246330944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049548.247255845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049548.248714959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049548.249954101] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049548.335727396] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049548.338126555] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049548.338937813] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049548.339747488] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049548.339904961] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049548.340997350] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049548.341951601] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049548.344336186] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049548.344910641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049548.345629594] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049548.346656131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049548.347730062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049548.445619450] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049548.446658108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049548.447490408] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049548.448005662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049548.448447932] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049548.503075036] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973525 Long: -76.50298276 -[vectornav-1] [INFO] [1746049548.504306980] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.852, -3.235, 8.593) -[mux-7] [INFO] [1746049548.544957838] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049548.545840015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049548.546160551] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049548.547661534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049548.548727144] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049548.585545492] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049548.588073927] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049548.588125297] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049548.589131959] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049548.590072926] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049548.591213970] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049548.591883936] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049548.645745064] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049548.646322938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049548.647542849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049548.650022190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049548.651176821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049548.745360888] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049548.745951853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049548.746926959] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049548.747988804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049548.749224041] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049548.835562165] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049548.837532375] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049548.838204897] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049548.838533175] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049548.839119615] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049548.839355101] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049548.839498607] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049548.844558325] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049548.845262715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049548.845678096] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049548.846970129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049548.847987214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049548.945644453] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049548.946650476] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049548.947327653] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049548.948729578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049548.949286000] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049549.002547867] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973541 Long: -76.50298258 -[vectornav-1] [INFO] [1746049549.003576326] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.892, -3.362, 8.545) -[mux-7] [INFO] [1746049549.045477461] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049549.046320834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049549.047019249] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049549.048739369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049549.049842470] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049549.085818880] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049549.088712132] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049549.089086568] [sailbot.teensy]: Wind angle: 339 -[mux-7] [INFO] [1746049549.089473382] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049549.090012494] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049549.090929821] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049549.091801570] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049549.145567686] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049549.147362998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049549.147524516] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049549.148439189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049549.149204507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049549.245524100] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049549.246287346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049549.248309648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049549.248667893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049549.250193316] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049549.335631555] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049549.337767789] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049549.338772418] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049549.338863254] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049549.339708937] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049549.340181695] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049549.340997475] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049549.344554070] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049549.345128071] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049549.345816348] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049549.348330253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049549.349404334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049549.445198579] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049549.446080603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049549.446720345] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049549.448178988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049549.449395060] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049549.502737217] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973547 Long: -76.50298254 -[vectornav-1] [INFO] [1746049549.503941313] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.918, -3.351, 8.717) -[mux-7] [INFO] [1746049549.545113012] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049549.545949465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049549.546450784] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049549.547860038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049549.548896439] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049549.585479349] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049549.587645909] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049549.588065504] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049549.588667624] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049549.589724224] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049549.589767687] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049549.590620828] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049549.645022124] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049549.646169047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049549.646567996] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049549.648607950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049549.649637571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049549.745464733] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049549.746261547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049549.747019681] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049549.748876467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049549.750274530] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049549.835750120] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049549.838239888] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049549.840130317] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049549.839170428] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049549.840688102] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049549.841197350] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049549.842225160] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049549.844589838] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049549.845135323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049549.845847192] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049549.847070150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049549.848139719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049549.945665348] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049549.946695403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049549.947270244] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049549.949163142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049549.950297147] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049550.003674169] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973558 Long: -76.50298245 -[vectornav-1] [INFO] [1746049550.004963837] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.919, -3.344, 8.694) -[mux-7] [INFO] [1746049550.045264978] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049550.046113622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049550.046855716] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049550.048230727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049550.049402305] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049550.085484287] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049550.087936306] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049550.088521019] [sailbot.teensy]: Wind angle: 339 -[mux-7] [INFO] [1746049550.088916171] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049550.089469133] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049550.090402297] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049550.091235583] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049550.145284757] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049550.145931175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049550.146840116] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049550.148208418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049550.149274085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049550.245626580] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049550.246410234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049550.247285421] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049550.248624619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049550.249843517] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049550.335718827] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049550.338349743] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049550.338422844] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049550.339409048] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049550.340114980] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049550.340361138] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049550.341068153] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049550.344631845] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049550.345481264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049550.345871700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049550.347422759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049550.348627500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049550.445430265] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049550.446108286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049550.447007405] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049550.448372281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049550.448995222] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049550.503867258] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973566 Long: -76.50298211 -[vectornav-1] [INFO] [1746049550.505218904] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.942, -3.339, 8.667) -[mux-7] [INFO] [1746049550.545252613] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049550.546024110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049550.546867434] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049550.548072125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049550.549171310] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049550.585500357] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049550.587285093] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049550.588218604] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049550.587781028] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049550.589122191] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049550.589982871] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049550.590004871] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049550.645328397] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049550.646008707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049550.646744489] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049550.647970949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049550.648520725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049550.745342965] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049550.745910048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049550.746911384] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049550.747964531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049550.749069078] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049550.835590596] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049550.838155141] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049550.838536058] [sailbot.teensy]: Wind angle: 339 -[mux-7] [INFO] [1746049550.838861109] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049550.839298053] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049550.839740020] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049550.840611697] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049550.844557735] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049550.845076457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049550.845917733] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049550.846765418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049550.847881172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049550.945074482] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049550.945940147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049550.946420011] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049550.947741300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049550.948244509] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049551.002458407] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973559 Long: -76.50298223 -[vectornav-1] [INFO] [1746049551.003515686] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.905, -3.36, 8.344) -[mux-7] [INFO] [1746049551.045379387] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049551.046143220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049551.046996675] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049551.048331317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049551.049541766] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049551.085445511] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049551.087404259] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049551.087775375] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049551.088361977] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049551.088950865] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049551.089265715] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049551.090122900] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049551.145253368] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049551.146372575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049551.146668656] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049551.148391737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049551.149768160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049551.245311055] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049551.246016311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049551.246789678] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049551.248312208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049551.249479470] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049551.335502570] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049551.337750032] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049551.338319383] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049551.338772521] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049551.339701945] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049551.339916998] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049551.340854904] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049551.344575276] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049551.345058557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049551.345830269] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049551.347630222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049551.348807925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049551.445355446] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049551.446181012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049551.447025986] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049551.448131165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049551.448655699] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049551.502733687] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973544 Long: -76.5029823 -[vectornav-1] [INFO] [1746049551.503846600] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.906, -3.35, 8.369) -[mux-7] [INFO] [1746049551.545196482] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049551.546029955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049551.546782859] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049551.548326363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049551.549498066] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049551.585940093] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049551.588311429] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049551.589433950] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049551.588891236] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049551.590464372] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049551.591440454] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049551.591610487] [sailbot.mux]: algo sail angle: 80 -[mux-7] [INFO] [1746049551.645534419] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049551.646153559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049551.647351747] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049551.648391406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049551.649814030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049551.745404144] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049551.745983256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049551.747347896] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049551.748025239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049551.749145218] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049551.835520747] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049551.838097580] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049551.838690695] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049551.839290670] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049551.840346493] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049551.841270523] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049551.842124853] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049551.844297227] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049551.844885323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049551.845387870] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049551.846803606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049551.847965466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049551.945479477] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049551.946279060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049551.947324904] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049551.948645642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049551.949746428] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049552.003352290] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973574 Long: -76.50298222 -[vectornav-1] [INFO] [1746049552.005160613] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.93, -3.33, 8.645) -[mux-7] [INFO] [1746049552.045566405] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049552.046427908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049552.047244120] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049552.048675774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049552.049885032] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049552.085807186] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049552.088670407] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049552.088855119] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049552.089684682] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049552.090032052] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049552.090543843] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049552.091435370] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049552.145576420] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049552.146096047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049552.147273014] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049552.148374664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049552.149656364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049552.245661707] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049552.246235267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049552.247908548] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049552.248651106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049552.249940511] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049552.335355476] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049552.337036681] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049552.337992858] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049552.338221033] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049552.338926739] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049552.339827569] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049552.339954277] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746049552.344383259] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049552.344956535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049552.345499146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049552.346648121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049552.347661892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049552.445733294] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049552.446516699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049552.447798018] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049552.448085924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049552.448728958] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049552.502244869] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973594 Long: -76.50298205 -[vectornav-1] [INFO] [1746049552.503212715] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.961, -3.324, 8.773) -[mux-7] [INFO] [1746049552.544876513] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049552.545697404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049552.546372458] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049552.547713018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049552.548922838] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049552.585804137] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049552.588775110] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049552.589188495] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049552.590010480] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049552.591026911] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049552.592122237] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049552.593348485] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049552.645272229] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049552.646022973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049552.647156645] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049552.648083501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049552.649157175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049552.745324076] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049552.745970223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049552.746813661] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049552.748040309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049552.748671849] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049552.835538947] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049552.838033989] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049552.838150755] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049552.839007063] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049552.839896672] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049552.840118079] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049552.840831564] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049552.844337541] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049552.844838349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049552.845456266] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049552.846597816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049552.847685725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049552.945607190] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049552.946565307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049552.947391853] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049552.949348346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049552.951066486] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049553.002722021] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973595 Long: -76.50298206 -[vectornav-1] [INFO] [1746049553.003886149] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.951, -3.351, 8.485) -[teensy-2] [INFO] [1746049553.045884264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049553.045872711] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049553.047810284] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049553.047882617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049553.049035736] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049553.085924026] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049553.088350085] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049553.088787354] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049553.090389385] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049553.090996151] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049553.091930037] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049553.092798887] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049553.145460842] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049553.145961673] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049553.148009678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049553.146973066] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049553.149308253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049553.245425302] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049553.246206859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049553.247080347] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049553.248492231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049553.249115889] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049553.335376753] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049553.337744385] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049553.338026008] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049553.338956314] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049553.339844273] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049553.339367144] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049553.340739328] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049553.344377704] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049553.344747548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049553.345409015] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049553.346270725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049553.347365520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049553.445741803] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049553.446051032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049553.447269623] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049553.448247768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049553.449365463] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049553.503644960] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973595 Long: -76.50298192 -[vectornav-1] [INFO] [1746049553.505291838] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.957, -3.353, 8.583) -[mux-7] [INFO] [1746049553.545459242] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049553.546132176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049553.547185885] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049553.548204315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049553.549434488] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049553.585611402] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049553.588192455] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049553.589308471] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049553.589702569] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049553.590670181] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049553.591563442] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049553.592444205] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049553.645265696] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049553.645943408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049553.646866867] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049553.648270141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049553.648895664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049553.745313794] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049553.746109998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049553.746830190] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049553.748192859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049553.748656761] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049553.835453604] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049553.837805715] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049553.837905344] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049553.839407062] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049553.839407335] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049553.839814183] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049553.840329054] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049553.844350936] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049553.845082392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049553.845790223] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049553.846879348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049553.848000191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049553.945075536] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049553.945784169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049553.946710617] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049553.947886362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049553.948937927] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049554.002612477] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973605 Long: -76.50298179 -[vectornav-1] [INFO] [1746049554.003778700] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.96299999999997, -3.38, 8.31) -[mux-7] [INFO] [1746049554.045321486] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049554.046002945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049554.046819290] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049554.048443779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049554.049622331] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049554.085486057] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049554.087389350] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049554.088281538] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049554.089176999] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049554.089284297] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049554.090220598] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049554.091075695] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049554.145154039] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049554.146018643] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049554.146662761] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049554.148333458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049554.149511130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049554.245565744] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049554.246398241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049554.247133593] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049554.248674064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049554.249165558] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049554.335423054] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049554.337916304] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049554.338505367] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049554.339930044] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049554.340424760] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049554.341344466] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049554.342281963] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049554.344528589] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049554.344982391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049554.345672210] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049554.346743574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049554.347783963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049554.445673844] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049554.446373451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049554.447390758] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049554.448900438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049554.449408261] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049554.502652814] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973625 Long: -76.50298158 -[vectornav-1] [INFO] [1746049554.503803278] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.881, -3.38, 8.19) -[mux-7] [INFO] [1746049554.545455218] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049554.546377463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049554.547304609] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049554.548797836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049554.549998573] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049554.585345920] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049554.587646729] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049554.588076999] [sailbot.teensy]: Wind angle: 339 -[mux-7] [INFO] [1746049554.588188877] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049554.589160416] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049554.590097290] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049554.590935952] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049554.645246118] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049554.645989536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049554.646758014] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049554.648487774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049554.649538933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049554.745678872] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049554.746231797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049554.747296733] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049554.748653796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049554.749315731] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049554.835755782] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049554.838763255] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049554.839497517] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049554.839696476] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049554.840693242] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049554.841645585] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049554.842467069] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049554.844436261] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049554.844930851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049554.845597552] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049554.846767384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049554.847827913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049554.945243208] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049554.946241450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049554.947113469] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049554.948427629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049554.949607975] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049555.003119912] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973605 Long: -76.50298148 -[vectornav-1] [INFO] [1746049555.004142274] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.947, -3.36, 8.537) -[mux-7] [INFO] [1746049555.045161189] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049555.045840268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049555.046671320] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049555.048335803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049555.049489734] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049555.085647893] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049555.088486580] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049555.088590402] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049555.089493898] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049555.089823277] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049555.090413837] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049555.091314615] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049555.144985778] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049555.145599774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049555.146258965] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049555.147427827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049555.148454196] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049555.245378556] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049555.246177452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049555.247137024] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049555.248468125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049555.249604274] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049555.335375416] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049555.337511612] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049555.338074449] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049555.338522969] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049555.339509240] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049555.339796131] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049555.340055147] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049555.344364179] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049555.344938919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049555.345450560] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049555.346585966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049555.347683376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049555.445586349] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049555.446636432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049555.447456847] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049555.449190278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049555.450496328] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049555.502424629] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973621 Long: -76.5029814 -[vectornav-1] [INFO] [1746049555.503521702] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.95799999999997, -3.354, 8.619) -[mux-7] [INFO] [1746049555.545304992] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049555.546239072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049555.546829355] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049555.548736457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049555.549775413] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049555.585163740] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049555.587335297] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049555.587999726] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049555.589384016] [sailbot.teensy]: Wind angle: 338 -[teensy-2] [INFO] [1746049555.590387648] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049555.591235409] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049555.592079825] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049555.645055791] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049555.645983424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049555.647219417] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049555.648311548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049555.649503616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049555.745250621] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049555.745795764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049555.746683410] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049555.747749994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049555.748792637] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049555.835732600] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049555.838807590] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049555.838986572] [sailbot.teensy]: Wind angle: 337 -[mux-7] [INFO] [1746049555.839879805] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049555.839955914] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049555.840900235] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049555.841836497] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049555.844443716] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049555.845017663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049555.845699273] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049555.846785869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049555.847844989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049555.945654657] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049555.946500730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049555.947165884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049555.948738678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049555.949982253] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049556.003140254] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973608 Long: -76.50298146 -[vectornav-1] [INFO] [1746049556.004647773] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.943, -3.362, 8.538) -[mux-7] [INFO] [1746049556.044958032] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049556.045844885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049556.046236590] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049556.048435539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049556.049681590] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049556.085360550] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049556.087214950] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049556.088082034] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049556.088240616] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049556.089142993] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049556.089200063] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049556.090054332] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049556.145277340] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049556.146228163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049556.146936454] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049556.148537160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049556.149557625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049556.245634119] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049556.246321414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049556.247237458] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049556.248835614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049556.249321895] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049556.335380543] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049556.337959287] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049556.338322012] [sailbot.teensy]: Wind angle: 336 -[mux-7] [INFO] [1746049556.338564703] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049556.339491183] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049556.340526414] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049556.341401051] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049556.344251011] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049556.344729191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049556.345331348] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049556.346359978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049556.347550193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049556.445334940] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049556.446058390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049556.446863241] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049556.448432877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049556.449471801] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049556.502636961] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973631 Long: -76.50298131 -[vectornav-1] [INFO] [1746049556.503888987] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.976, -3.363, 8.51) -[mux-7] [INFO] [1746049556.545327119] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049556.546199742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049556.546842459] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049556.548595636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049556.549879851] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049556.585472125] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049556.588066874] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049556.588779716] [sailbot.teensy]: Wind angle: 335 -[mux-7] [INFO] [1746049556.589401070] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049556.589775120] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049556.590736708] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049556.591590868] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049556.645305731] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049556.646022051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049556.646727363] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049556.648481387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049556.649659977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049556.745571081] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049556.746476773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049556.747228425] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049556.750086259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049556.751294125] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049556.835484463] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049556.837933512] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049556.838436469] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049556.838658201] [sailbot.teensy]: Wind angle: 335 -[teensy-2] [INFO] [1746049556.839271755] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049556.839628738] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049556.840007602] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049556.844461745] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049556.845156930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049556.845533660] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049556.846878307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049556.847977371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049556.945751738] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049556.946964711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049556.947600391] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049556.949662530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049556.950898738] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049557.003399565] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973634 Long: -76.50298119 -[vectornav-1] [INFO] [1746049557.004686309] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.031, -3.347, 9.059) -[mux-7] [INFO] [1746049557.045129122] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049557.045939198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049557.046534137] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049557.048203695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049557.049220847] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049557.085675270] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049557.088002211] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049557.088763658] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049557.089061522] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049557.089998491] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049557.089733450] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049557.090988109] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049557.144922471] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049557.145533767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049557.146059029] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049557.147226750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049557.148479365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049557.245243124] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049557.246195172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049557.246813693] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049557.248349662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049557.248886549] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049557.335397511] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049557.337341111] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049557.337858666] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049557.339104387] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049557.339268008] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049557.340076163] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049557.340485493] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049557.344471437] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049557.344857088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049557.345716587] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049557.346545845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049557.347646037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049557.445684379] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049557.446311201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049557.447610999] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049557.448267909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049557.448773410] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049557.503394407] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697365 Long: -76.50298111 -[vectornav-1] [INFO] [1746049557.504823880] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.07, -3.346, 9.242) -[mux-7] [INFO] [1746049557.544819218] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049557.545437445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049557.546311629] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049557.547222889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049557.548320552] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049557.585514250] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049557.588110506] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049557.588734959] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049557.588940406] [sailbot.teensy]: Wind angle: 335 -[teensy-2] [INFO] [1746049557.590582320] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049557.591484996] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049557.592360873] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049557.645490776] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049557.646111742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049557.647141361] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049557.648418171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049557.649560779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049557.745253376] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049557.746742132] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049557.747718820] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049557.749163863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049557.749707214] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049557.835582440] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049557.838125606] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049557.838789648] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049557.839202768] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049557.840118388] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049557.840281492] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049557.840560240] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049557.844338772] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049557.844989416] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049557.845540622] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049557.846760827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049557.848570509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049557.945230038] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049557.946146559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049557.946998994] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049557.947914414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049557.948377234] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049558.002561349] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973658 Long: -76.50298121 -[vectornav-1] [INFO] [1746049558.003672234] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.077, -3.354, 8.853) -[mux-7] [INFO] [1746049558.045118111] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049558.045895235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049558.046737745] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049558.047909039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049558.048976754] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049558.085544662] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049558.087926522] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049558.088256906] [sailbot.teensy]: Wind angle: 335 -[teensy-2] [INFO] [1746049558.088741236] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049558.089134496] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049558.089351862] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049558.089509435] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049558.145086447] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049558.145741523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049558.146510839] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049558.147721007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049558.148843179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049558.245084463] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049558.246122859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049558.246945182] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049558.247999260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049558.248549305] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049558.335476140] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049558.337716442] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049558.337952407] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049558.339022317] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049558.339195441] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049558.339954094] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049558.340843801] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049558.344435994] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049558.344907163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049558.345531778] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049558.346565330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049558.347633825] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049558.445389773] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049558.446989669] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049558.447163066] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049558.449555000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049558.450766076] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049558.503311503] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697367 Long: -76.50298135 -[vectornav-1] [INFO] [1746049558.504905647] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.06899999999996, -3.367, 8.842) -[mux-7] [INFO] [1746049558.545245938] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049558.546206417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049558.547083834] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049558.548480106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049558.549552123] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049558.585807526] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049558.588671688] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049558.589029384] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746049558.590035836] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049558.590390458] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049558.590959808] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049558.592075124] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049558.645575021] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049558.646299209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049558.647554123] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049558.648636625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049558.650265936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049558.745478492] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049558.746205392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049558.747196473] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049558.748542659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049558.749731196] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049558.835813047] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049558.838114684] [sailbot.teensy]: Wind angle: 327 -[teensy-2] [INFO] [1746049558.839167456] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049558.838665882] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049558.840085097] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049558.840111199] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049558.841180612] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049558.844362814] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049558.845064041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049558.845472657] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049558.846900786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049558.847907021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049558.945045797] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049558.945715632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049558.946459206] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049558.947862335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049558.949173160] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049559.002841455] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973666 Long: -76.50298141 -[vectornav-1] [INFO] [1746049559.004199404] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.076, -3.371, 8.824) -[mux-7] [INFO] [1746049559.045128412] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049559.045803628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049559.046572126] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049559.047925437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049559.049072580] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049559.085478142] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049559.087919025] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049559.088392516] [sailbot.teensy]: Wind angle: 321 -[mux-7] [INFO] [1746049559.088836437] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049559.089672987] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049559.090556203] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049559.091401924] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049559.145327063] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049559.146055232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049559.146845106] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049559.148503348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049559.151003423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049559.245380637] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049559.246430164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049559.247083519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049559.248782713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049559.249831997] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049559.335795471] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049559.338656795] [sailbot.teensy]: Wind angle: 317 -[trim_sail-4] [INFO] [1746049559.338642248] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049559.339742476] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049559.340077074] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049559.340726993] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049559.341284535] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049559.344621646] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049559.345258932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049559.345731781] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049559.347092166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049559.348121100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049559.445649977] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049559.446634858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049559.447599311] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049559.449344389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049559.450528406] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049559.502698761] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973676 Long: -76.50298133 -[vectornav-1] [INFO] [1746049559.503760980] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.113, -3.371, 8.768) -[mux-7] [INFO] [1746049559.544853307] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049559.545651495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049559.546158905] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049559.547443321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049559.548499481] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049559.585536423] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049559.587799097] [sailbot.teensy]: Wind angle: 317 -[teensy-2] [INFO] [1746049559.588834472] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049559.588213561] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746049559.589595852] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049559.589697090] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049559.590580873] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049559.645518742] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049559.646250983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049559.647306197] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049559.649813151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049559.650942712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049559.745375552] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049559.746323079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049559.747001158] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049559.748536789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049559.749702837] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049559.835150555] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049559.837681880] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049559.837801108] [sailbot.teensy]: Wind angle: 317 -[mux-7] [INFO] [1746049559.837994618] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049559.838717541] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049559.839568130] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049559.839941835] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049559.844644785] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049559.845315506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049559.846020621] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049559.847044137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049559.848246278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049559.945364866] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049559.945993558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049559.946986028] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049559.948262762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049559.948989994] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049560.002309632] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973678 Long: -76.50298112 -[vectornav-1] [INFO] [1746049560.003290711] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.098, -3.391, 8.79) -[mux-7] [INFO] [1746049560.045223465] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049560.045938507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049560.046669218] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049560.048061797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049560.049230213] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049560.085761606] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049560.088604852] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746049560.089708092] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049560.089900063] [sailbot.teensy]: Wind angle: 317 -[teensy-2] [INFO] [1746049560.090853245] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049560.091741297] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049560.092699364] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049560.145892205] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049560.146224763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049560.147706388] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049560.148775887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049560.150095307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049560.245367505] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049560.246020499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049560.246934635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049560.248310234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049560.249488563] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049560.335429275] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049560.338054924] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746049560.338670193] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049560.338741747] [sailbot.teensy]: Wind angle: 317 -[teensy-2] [INFO] [1746049560.339769186] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049560.340678872] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049560.341655915] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049560.344240948] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049560.344980447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049560.345340906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049560.346652501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049560.347670830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049560.445692829] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049560.446758274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049560.447306630] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049560.448317083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049560.448951872] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049560.503310757] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973687 Long: -76.50298114 -[vectornav-1] [INFO] [1746049560.504872367] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.144, -3.416, 8.84) -[mux-7] [INFO] [1746049560.545432492] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049560.546134898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049560.546950033] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049560.548338578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049560.549532041] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049560.585674215] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049560.587843587] [sailbot.teensy]: Wind angle: 317 -[trim_sail-4] [INFO] [1746049560.588468306] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049560.588887992] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049560.589785059] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049560.589824853] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049560.590703151] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049560.645223156] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049560.645906685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049560.646829631] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049560.648175391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049560.649377913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049560.745544357] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049560.746213572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049560.747198785] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049560.748773333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049560.749281454] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049560.835195200] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049560.837498346] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746049560.838172524] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049560.838458178] [sailbot.teensy]: Wind angle: 317 -[teensy-2] [INFO] [1746049560.839611193] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049560.840506277] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049560.841105827] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049560.844422119] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049560.845028101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049560.845539396] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049560.846951978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049560.848032728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049560.945064020] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049560.945736222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049560.946508043] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049560.947779872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049560.948974860] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049561.002217590] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973663 Long: -76.50298114 -[vectornav-1] [INFO] [1746049561.003106918] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.091, -3.391, 8.637) -[mux-7] [INFO] [1746049561.045163902] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049561.046153871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049561.046647012] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049561.048304222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049561.049110242] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049561.085553568] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049561.088203963] [sailbot.teensy]: Wind angle: 317 -[teensy-2] [INFO] [1746049561.089248690] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049561.088454343] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746049561.089602454] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049561.090173768] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049561.091143128] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049561.145245381] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049561.146004512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049561.146799548] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049561.148333231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049561.149572106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049561.246236016] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049561.247054707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049561.247795652] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049561.249056181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049561.249696927] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049561.334463258] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049561.336372659] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049561.337617569] [sailbot.teensy]: Wind angle: 317 -[mux-7] [INFO] [1746049561.337779989] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049561.338503185] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049561.339253298] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049561.339629192] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049561.343885060] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049561.344233695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049561.344663517] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049561.345995424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049561.346944419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049561.443850067] [sailbot.mux]: controller_app sail angle: 37 -[mux-7] [INFO] [1746049561.445782299] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049561.446575476] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049561.447163289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049561.448445968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049561.449460020] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049561.502408872] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973667 Long: -76.50298117 -[vectornav-1] [INFO] [1746049561.503591325] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.105, -3.383, 8.632) -[mux-7] [INFO] [1746049561.545294850] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049561.546103380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049561.546979309] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049561.548718376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049561.549786200] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049561.586032467] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049561.589055900] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049561.589366505] [sailbot.teensy]: Wind angle: 317 -[mux-7] [INFO] [1746049561.589700245] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049561.590465755] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049561.591440225] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049561.592398428] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049561.645244418] [sailbot.mux]: Published sail angle from controller_app: 37 -[mux-7] [INFO] [1746049561.646845130] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049561.646936689] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049561.648808518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049561.649979611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049561.744990688] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049561.745541995] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049561.747402397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[mux-7] [INFO] [1746049561.746542046] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049561.748608805] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049561.835423126] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049561.838550880] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049561.838799554] [sailbot.teensy]: Wind angle: 317 -[mux-7] [INFO] [1746049561.838958289] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049561.839213265] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049561.839579276] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049561.840131985] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049561.844372056] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049561.844927777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049561.845450026] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049561.847843716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049561.849020105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049561.945529483] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049561.946600416] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049561.947186743] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049561.949037448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049561.950203851] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049562.002412554] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973686 Long: -76.50298091 -[vectornav-1] [INFO] [1746049562.003439189] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.097, -3.391, 8.676) -[mux-7] [INFO] [1746049562.045114930] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049562.045840013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049562.046634309] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049562.048103764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049562.048973913] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049562.085660506] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049562.087833277] [sailbot.teensy]: Wind angle: 317 -[teensy-2] [INFO] [1746049562.088883119] [sailbot.teensy]: Actual sail angle: 37 -[trim_sail-4] [INFO] [1746049562.088719824] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049562.089790224] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049562.090286094] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049562.090634381] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049562.145074442] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049562.146131314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049562.146916830] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049562.148521871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049562.149643877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049562.245047319] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049562.245702027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049562.246931357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049562.247739297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049562.248435441] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049562.335369396] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049562.337300372] [sailbot.teensy]: Wind angle: 317 -[trim_sail-4] [INFO] [1746049562.338171753] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049562.338286113] [sailbot.teensy]: Actual sail angle: 37 -[mux-7] [INFO] [1746049562.339072962] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049562.339240113] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049562.339980380] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049562.344446553] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049562.345016984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049562.345515806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049562.346684695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049562.347685017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049562.445165696] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049562.446229820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049562.446660392] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049562.448777116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049562.449821797] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049562.502961714] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973694 Long: -76.50298076 -[vectornav-1] [INFO] [1746049562.504173981] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.121, -3.387, 8.739) -[mux-7] [INFO] [1746049562.544977492] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049562.545701396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049562.546262655] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049562.547600066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049562.548701181] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049562.585515600] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049562.587970298] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049562.588483393] [sailbot.teensy]: Wind angle: 317 -[mux-7] [INFO] [1746049562.589330971] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049562.589623541] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049562.590512093] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049562.591362095] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049562.645084168] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049562.646129307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049562.646557219] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049562.648090131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049562.650020507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049562.745189056] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049562.746413411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049562.746749455] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049562.747783883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049562.748258300] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049562.835466165] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049562.838009191] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049562.838117351] [sailbot.teensy]: Wind angle: 320 -[mux-7] [INFO] [1746049562.838986785] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049562.839038163] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049562.839926618] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049562.840891219] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049562.844596011] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049562.845176348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049562.845704277] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049562.846939218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049562.848001946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049562.945591234] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049562.946591624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049562.947195071] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049562.948644615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049562.949150690] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049563.002709426] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973703 Long: -76.50298067 -[vectornav-1] [INFO] [1746049563.003653759] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.124, -3.391, 8.98) -[mux-7] [INFO] [1746049563.045327102] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049563.046404662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049563.046911225] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049563.049020025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049563.050031478] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049563.085732529] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049563.088491030] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049563.089529370] [sailbot.teensy]: Wind angle: 320 -[mux-7] [INFO] [1746049563.089800422] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049563.090486409] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049563.091375196] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049563.092314236] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049563.145213641] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049563.146035137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049563.146793530] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049563.149180436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049563.150285287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049563.245405849] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049563.246227063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049563.246948992] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049563.248749704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049563.249904376] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049563.335214071] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049563.337675103] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049563.337912813] [sailbot.teensy]: Wind angle: 320 -[mux-7] [INFO] [1746049563.338640592] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049563.338853569] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049563.339759660] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049563.340696855] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049563.344340165] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049563.344881339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049563.345455616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049563.346543228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049563.347593027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049563.444469945] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049563.445167087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049563.445528247] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049563.446887111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049563.447963788] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049563.502525891] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973701 Long: -76.5029807 -[vectornav-1] [INFO] [1746049563.503598889] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.142, -3.389, 9.059) -[mux-7] [INFO] [1746049563.545129572] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049563.545896281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049563.546688975] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049563.547996745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049563.549231836] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049563.585498602] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049563.588655061] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049563.589342393] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049563.589373758] [sailbot.teensy]: Wind angle: 320 -[teensy-2] [INFO] [1746049563.590371453] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049563.591249890] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049563.592116702] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049563.645024211] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049563.645800102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049563.646280412] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049563.647742942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049563.648848420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049563.745126986] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049563.745904125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049563.746768606] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049563.747980111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049563.748562680] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049563.835388222] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049563.837933933] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049563.838882791] [sailbot.teensy]: Wind angle: 320 -[mux-7] [INFO] [1746049563.839715498] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049563.839858358] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049563.840763927] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049563.841244241] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049563.844282525] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049563.845188668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049563.845444511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049563.847077568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049563.848176688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049563.945606586] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049563.946522406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049563.947266770] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049563.948935779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049563.950055852] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049564.003271325] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973685 Long: -76.50298056 -[vectornav-1] [INFO] [1746049564.004700639] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.176, -3.428, 9.347) -[mux-7] [INFO] [1746049564.045058242] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049564.045963159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049564.046532393] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049564.047992655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049564.049169255] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049564.085446074] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049564.087363511] [sailbot.teensy]: Wind angle: 320 -[trim_sail-4] [INFO] [1746049564.087979361] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049564.088389421] [sailbot.teensy]: Actual sail angle: 37 -[mux-7] [INFO] [1746049564.089128134] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049564.089308118] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049564.090200991] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049564.145159323] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049564.145939379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049564.146637081] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049564.147954488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049564.148510582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049564.245576760] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049564.246192112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049564.247121021] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049564.248425245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049564.249600684] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049564.335477692] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049564.338226795] [sailbot.teensy]: Wind angle: 320 -[trim_sail-4] [INFO] [1746049564.338239807] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049564.338781262] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049564.340231274] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049564.341120209] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049564.341977860] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049564.344247294] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049564.344789174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049564.345410363] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049564.346450567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049564.347645904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049564.445249522] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049564.446138843] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049564.446843222] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049564.448459127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049564.449676503] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049564.502703770] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973671 Long: -76.50298066 -[vectornav-1] [INFO] [1746049564.503887774] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.199, -3.406, 9.5) -[mux-7] [INFO] [1746049564.545133939] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049564.545776232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049564.546563822] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049564.547987767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049564.549159409] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049564.585673586] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049564.588981926] [sailbot.teensy]: Wind angle: 320 -[teensy-2] [INFO] [1746049564.589890157] [sailbot.teensy]: Actual sail angle: 37 -[trim_sail-4] [INFO] [1746049564.589336360] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049564.589791862] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049564.590779429] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049564.591623472] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049564.645303929] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049564.646246293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049564.646905241] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049564.648527407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049564.649708695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049564.745539926] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049564.746581618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049564.747541805] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049564.748076511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049564.748577640] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049564.835150008] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049564.837678291] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049564.838027529] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049564.838035003] [sailbot.teensy]: Wind angle: 320 -[teensy-2] [INFO] [1746049564.839041020] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049564.839955936] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049564.840820125] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049564.844368141] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049564.844958021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049564.846282905] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049564.846611587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049564.847691344] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049564.945362511] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049564.946031157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049564.947028435] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049564.948499669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049564.949643032] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049565.002436740] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973664 Long: -76.50298073 -[vectornav-1] [INFO] [1746049565.003469848] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.206, -3.409, 9.477) -[mux-7] [INFO] [1746049565.045415087] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049565.046404399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049565.047612672] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049565.048854143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049565.050011537] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049565.085524451] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049565.087349342] [sailbot.teensy]: Wind angle: 320 -[trim_sail-4] [INFO] [1746049565.088032330] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049565.088344310] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049565.089276091] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049565.090057885] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049565.090161824] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049565.145122541] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049565.146088483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049565.146674864] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049565.148110550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049565.149271135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049565.245585510] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049565.246398224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049565.247904806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049565.248753746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049565.249463606] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049565.335841026] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049565.338200172] [sailbot.teensy]: Wind angle: 320 -[teensy-2] [INFO] [1746049565.339323270] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049565.340289592] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049565.340115729] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049565.340165843] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049565.341208841] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049565.344366344] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049565.345019958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049565.345470442] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049565.346710690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049565.347775714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049565.445328367] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049565.446174619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049565.446865382] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049565.449001769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049565.450139389] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049565.503479004] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973675 Long: -76.50298058 -[vectornav-1] [INFO] [1746049565.504876894] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.23199999999997, -3.405, 9.727) -[mux-7] [INFO] [1746049565.545323834] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049565.546310411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049565.547434432] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049565.548582798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049565.549846679] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049565.585520600] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049565.587765367] [sailbot.teensy]: Wind angle: 320 -[trim_sail-4] [INFO] [1746049565.588277923] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049565.588741753] [sailbot.teensy]: Actual sail angle: 37 -[mux-7] [INFO] [1746049565.589407417] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049565.589657914] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049565.590615920] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049565.645187452] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049565.645938265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049565.646788385] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049565.648107047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049565.649326173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049565.745385029] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049565.746268563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049565.747272674] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049565.748565482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049565.749784392] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049565.835336897] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049565.837843482] [sailbot.teensy]: Wind angle: 320 -[teensy-2] [INFO] [1746049565.838793060] [sailbot.teensy]: Actual sail angle: 37 -[trim_sail-4] [INFO] [1746049565.838132542] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049565.839146042] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049565.839685043] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049565.840598973] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049565.844418960] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049565.845275231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049565.845646016] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049565.847045097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049565.848095230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049565.945380220] [sailbot.mux]: Published sail angle from controller_app: 37 -[mux-7] [INFO] [1746049565.947211698] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049565.946051184] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049565.948100091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049565.949387519] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049566.003387443] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697368 Long: -76.50298063 -[vectornav-1] [INFO] [1746049566.004692565] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.228, -3.386, 9.48) -[mux-7] [INFO] [1746049566.045174965] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049566.046086293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049566.046690652] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049566.048836678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049566.050042952] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049566.085371418] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049566.087170719] [sailbot.teensy]: Wind angle: 321 -[trim_sail-4] [INFO] [1746049566.087830581] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049566.088715360] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049566.089636490] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049566.090576199] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049566.091442581] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049566.145472568] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049566.146657771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049566.147260018] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049566.149184843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049566.150280187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049566.245384474] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049566.246166762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049566.247000646] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049566.248429712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049566.249320461] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049566.335718141] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049566.338623427] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049566.339212813] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049566.339692107] [sailbot.teensy]: Wind angle: 321 -[teensy-2] [INFO] [1746049566.340974276] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049566.342354413] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049566.343255818] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049566.344843620] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049566.345311354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049566.345977307] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049566.347022736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049566.348093247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049566.445327599] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049566.446105477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049566.446842648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049566.448248604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049566.449462360] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049566.502501646] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973673 Long: -76.50298053 -[vectornav-1] [INFO] [1746049566.503527869] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.22900000000004, -3.387, 9.441) -[mux-7] [INFO] [1746049566.545510183] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049566.546576477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049566.547277227] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049566.549371250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049566.550508721] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049566.585588396] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049566.587996080] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049566.588028178] [sailbot.teensy]: Wind angle: 320 -[teensy-2] [INFO] [1746049566.589078376] [sailbot.teensy]: Actual sail angle: 37 -[mux-7] [INFO] [1746049566.589365470] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049566.590081923] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049566.591095954] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049566.645570831] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049566.646302854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049566.647377521] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049566.649360033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049566.650603618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049566.745322685] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049566.746086327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049566.746892692] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049566.748615656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049566.749789755] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049566.835441837] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049566.837388671] [sailbot.teensy]: Wind angle: 321 -[trim_sail-4] [INFO] [1746049566.837945737] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049566.838379420] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049566.838781092] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049566.838869528] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049566.839151610] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049566.844489843] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049566.845127236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049566.845656757] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049566.846829476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049566.847881489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049566.944976716] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049566.945831685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049566.946324084] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049566.947710612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049566.948185620] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049567.002506759] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973669 Long: -76.50298049 -[vectornav-1] [INFO] [1746049567.003605005] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.228, -3.417, 9.468) -[mux-7] [INFO] [1746049567.045201814] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049567.046010766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049567.046734336] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049567.048144145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049567.049440386] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049567.086153183] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049567.089205935] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049567.089861908] [sailbot.teensy]: Wind angle: 321 -[mux-7] [INFO] [1746049567.090843992] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049567.090908504] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049567.091813920] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049567.092664816] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049567.145967793] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049567.146526070] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049567.148217902] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049567.148916114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049567.150141610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049567.245245183] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049567.245871935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049567.247175170] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049567.248625094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049567.250300009] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049567.335443944] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049567.338056440] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049567.338800311] [sailbot.teensy]: Wind angle: 331 -[mux-7] [INFO] [1746049567.339433338] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049567.339997742] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049567.340975716] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049567.341425217] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049567.344329735] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049567.344792177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049567.345401763] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049567.346538944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049567.347578010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049567.445071060] [sailbot.mux]: Published sail angle from controller_app: 37 -[mux-7] [INFO] [1746049567.446665096] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049567.447112372] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049567.449422353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049567.450623790] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049567.503117984] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973661 Long: -76.50298045 -[vectornav-1] [INFO] [1746049567.504773015] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.245, -3.413, 9.457) -[mux-7] [INFO] [1746049567.544943617] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049567.545820534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049567.546236862] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049567.548102681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049567.549143886] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049567.585657518] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049567.588399740] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049567.588630911] [sailbot.teensy]: Wind angle: 339 -[mux-7] [INFO] [1746049567.588936150] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049567.589638291] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049567.590653289] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049567.591539701] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049567.645399743] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049567.646040448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049567.647424434] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049567.648263776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049567.649449751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049567.745571808] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049567.746215576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049567.747236643] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049567.748618021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049567.749992937] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049567.835371356] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049567.837168401] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049567.837684278] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049567.838108177] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049567.839044036] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049567.839412859] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049567.839961997] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049567.844382498] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049567.844859124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049567.845620919] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049567.846533862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049567.847689263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049567.945447399] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049567.946123858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049567.947121160] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049567.947833127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049567.948381070] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049568.002719303] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973662 Long: -76.50298055 -[vectornav-1] [INFO] [1746049568.004026590] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.265, -3.399, 9.408) -[mux-7] [INFO] [1746049568.045336895] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049568.046110733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049568.046892821] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049568.048741911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049568.049606123] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049568.086077856] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049568.088443075] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049568.089657199] [sailbot.teensy]: Actual sail angle: 37 -[trim_sail-4] [INFO] [1746049568.089074183] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049568.090697411] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049568.091134783] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049568.091622903] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049568.145541792] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049568.146379632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049568.148188201] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049568.149528915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049568.150702981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049568.245235439] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049568.245972369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049568.246789698] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049568.249044846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049568.250298761] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049568.335269105] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049568.337487523] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049568.338157763] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049568.338404690] [sailbot.teensy]: Wind angle: 346 -[teensy-2] [INFO] [1746049568.339462416] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049568.339838336] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049568.340208281] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049568.344551826] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049568.345058423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049568.345769443] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049568.346748539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049568.347778102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049568.445523636] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049568.446178491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049568.447079012] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049568.448555826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049568.449691186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049568.477397825] [sailbot.mux]: controller_app sail angle: 90 -[vectornav-1] [INFO] [1746049568.502134889] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973667 Long: -76.50298053 -[vectornav-1] [INFO] [1746049568.503031878] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.264, -3.412, 9.473) -[mux-7] [INFO] [1746049568.545112100] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049568.545769853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049568.546414320] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049568.547913607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049568.549096362] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049568.585487891] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049568.587987508] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049568.588325872] [sailbot.teensy]: Wind angle: 347 -[mux-7] [INFO] [1746049568.588921693] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049568.589277095] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049568.590194761] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049568.591249374] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049568.644783546] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049568.645599059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049568.646031235] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049568.647583779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049568.648628293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049568.745555519] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049568.746155218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049568.747148652] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049568.748340204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049568.748914199] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049568.835388373] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049568.838270645] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049568.838271189] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049568.839023780] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049568.839303775] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049568.839726694] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049568.840107043] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049568.844539681] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049568.845147575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049568.845707271] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049568.846894656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049568.848051621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049568.945351677] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049568.946046142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049568.946939552] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049568.949098400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049568.950056795] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049569.002540988] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973656 Long: -76.50298009 -[vectornav-1] [INFO] [1746049569.003573375] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.254, -3.409, 9.349) -[mux-7] [INFO] [1746049569.045176746] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049569.046189887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049569.046631720] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049569.048321562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049569.049366528] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049569.085569013] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049569.088168316] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049569.088507430] [sailbot.teensy]: Wind angle: 348 -[mux-7] [INFO] [1746049569.089448085] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049569.089599883] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049569.090479582] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049569.091342392] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049569.145080744] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049569.145722488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049569.146740973] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049569.147563039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049569.148684104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049569.245578352] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049569.247209627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049569.247457079] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049569.248731171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049569.249247584] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049569.335424733] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049569.337419404] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049569.338300641] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049569.339477092] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049569.339979913] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049569.340944818] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049569.341393206] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049569.344608325] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049569.345063669] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049569.345811776] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049569.346786247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049569.347799217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049569.445366161] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049569.446119895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049569.447146688] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049569.448574169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049569.449069667] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049569.502494511] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973647 Long: -76.5029803 -[vectornav-1] [INFO] [1746049569.503889770] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26300000000003, -3.399, 9.524) -[mux-7] [INFO] [1746049569.544911677] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049569.545541635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049569.546146533] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049569.547498246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049569.548513741] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049569.585578231] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049569.587628195] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049569.588580792] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049569.588684047] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746049569.589184218] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049569.589610950] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049569.590510530] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049569.645417798] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049569.646496271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049569.647120641] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049569.648719642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049569.649802752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049569.745340341] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049569.746194700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049569.746844681] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049569.748473107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049569.749597444] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049569.835992575] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049569.839234443] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049569.839574082] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049569.840145421] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049569.840582829] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049569.841390695] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049569.841706217] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049569.844424101] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049569.845278832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049569.845760870] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049569.847376519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049569.848585991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049569.945354429] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049569.946001951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049569.946966859] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049569.948284545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049569.949270010] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049570.002210357] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973644 Long: -76.50298027 -[vectornav-1] [INFO] [1746049570.003111663] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.278, -3.4, 9.529) -[mux-7] [INFO] [1746049570.045512796] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049570.046119715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049570.047264289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049570.049030054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049570.050222282] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049570.085264508] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049570.087454638] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049570.087478132] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049570.088373130] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746049570.088369956] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049570.089309304] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049570.090185030] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049570.145195103] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049570.146007592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049570.147053331] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049570.148741034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049570.149896936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049570.245251041] [sailbot.mux]: Published sail angle from controller_app: 90 -[mux-7] [INFO] [1746049570.246750528] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049570.246815525] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049570.248733744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049570.250027765] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049570.335361360] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049570.337768946] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049570.337871507] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049570.338641303] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746049570.338762743] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049570.339037749] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049570.339437371] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049570.344700166] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049570.345209788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049570.346048899] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049570.346920347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049570.347957345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049570.445702773] [sailbot.mux]: Published sail angle from controller_app: 90 -[mux-7] [INFO] [1746049570.447660017] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049570.447698096] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049570.449090382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049570.449622033] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049570.502908988] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973649 Long: -76.50298019 -[vectornav-1] [INFO] [1746049570.504108470] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.298, -3.425, 9.585) -[mux-7] [INFO] [1746049570.545285068] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049570.546047811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049570.546860979] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049570.548212249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049570.549408757] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049570.585956928] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049570.588949838] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049570.589512947] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049570.590512383] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746049570.590731487] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049570.591370307] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049570.592281596] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049570.645368342] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049570.646062939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049570.646950663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049570.648100406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049570.649259062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049570.745847849] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049570.746487067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049570.747588592] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049570.748849374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049570.749819053] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049570.836032191] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049570.838648232] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049570.838908704] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049570.838965673] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049570.839350068] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049570.840178065] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049570.841129079] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049570.844668011] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049570.845069097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049570.846031424] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049570.846911503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049570.848205323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049570.945058680] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049570.945690497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049570.946500347] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049570.947725326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049570.948893642] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049571.003414126] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973648 Long: -76.50298027 -[vectornav-1] [INFO] [1746049571.004830771] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.299, -3.414, 9.613) -[mux-7] [INFO] [1746049571.045259951] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049571.045777076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049571.046763222] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049571.047616368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049571.048777057] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049571.085517008] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049571.087775801] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049571.089289467] [sailbot.teensy]: Wind angle: 347 -[mux-7] [INFO] [1746049571.089680921] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049571.090399402] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049571.091316827] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049571.092131446] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049571.145397268] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049571.146084288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049571.147050310] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049571.148469161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049571.149022947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049571.245595801] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049571.246611096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049571.247315390] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049571.249545401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049571.250778419] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049571.335367661] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049571.337241181] [sailbot.teensy]: Wind angle: 346 -[teensy-2] [INFO] [1746049571.338194062] [sailbot.teensy]: Actual sail angle: 90 -[trim_sail-4] [INFO] [1746049571.338442502] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049571.339103272] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049571.339993329] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049571.340176071] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746049571.344337747] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049571.344913325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049571.345555335] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049571.346634383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049571.347727635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049571.445240561] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049571.445760368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049571.447118929] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049571.448079661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049571.449210435] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049571.503053423] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973649 Long: -76.50298025 -[vectornav-1] [INFO] [1746049571.504017289] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.29499999999996, -3.409, 9.649) -[mux-7] [INFO] [1746049571.544999094] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049571.545843588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049571.546654290] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049571.547787726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049571.548898518] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049571.585638093] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049571.588256090] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049571.588668857] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049571.589024246] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049571.589607285] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049571.590491023] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049571.591489715] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049571.645408967] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049571.646247568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049571.647282453] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049571.648612743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049571.650348255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049571.745365373] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049571.746091105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049571.746962462] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049571.748393902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049571.749670651] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049571.835641609] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049571.837783233] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049571.838593010] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049571.838720387] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746049571.838909831] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049571.839106986] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049571.839501351] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049571.844493011] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049571.845092073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049571.845657919] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049571.846914259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049571.848062378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049571.945474312] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049571.946108670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049571.947038007] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049571.948395728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049571.949669445] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049572.002718110] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973645 Long: -76.50298029 -[vectornav-1] [INFO] [1746049572.004031863] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.30600000000004, -3.396, 9.641) -[mux-7] [INFO] [1746049572.045373749] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049572.046154926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049572.046952882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049572.048525917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049572.049752512] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049572.085548075] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049572.088463597] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049572.088483259] [sailbot.teensy]: Wind angle: 346 -[mux-7] [INFO] [1746049572.089097985] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049572.090204964] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049572.091255146] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049572.092093112] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049572.145283902] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049572.146049466] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049572.148027524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[mux-7] [INFO] [1746049572.146901862] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049572.149085894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049572.245312376] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049572.245901156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049572.246770800] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049572.248177512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049572.248860932] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049572.335473129] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049572.338483006] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049572.338754854] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049572.339112597] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049572.340259000] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049572.340949852] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049572.341319938] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049572.344532045] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049572.345045254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049572.345675041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049572.346858743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049572.347968371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049572.445434545] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049572.446564483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049572.447037154] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049572.448099474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049572.448568910] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049572.503258524] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697364 Long: -76.50298031 -[vectornav-1] [INFO] [1746049572.504604443] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.30600000000004, -3.398, 9.57) -[mux-7] [INFO] [1746049572.544938316] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049572.545602104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049572.546171879] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049572.547418976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049572.548450436] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049572.585411488] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049572.587722695] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049572.588583878] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049572.589073761] [sailbot.teensy]: Wind angle: 346 -[teensy-2] [INFO] [1746049572.590029509] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049572.590902814] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049572.591804910] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049572.645158482] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049572.645960283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049572.647003188] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049572.647944797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049572.649293631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049572.745325207] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049572.745933320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049572.746895004] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049572.747968630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049572.749228696] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049572.835347560] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049572.837104420] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049572.837678787] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049572.838040996] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049572.838735444] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049572.838833616] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049572.839123807] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049572.844516286] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049572.844899346] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049572.846583379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[mux-7] [INFO] [1746049572.845745148] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049572.847671715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049572.945613599] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049572.946140586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049572.947260121] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049572.949738912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049572.950801165] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049573.002598203] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973642 Long: -76.5029802 -[vectornav-1] [INFO] [1746049573.003679710] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.365, -3.398, 9.704) -[mux-7] [INFO] [1746049573.044795625] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049573.045581258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049573.045970374] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049573.047380554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049573.048716008] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049573.085681941] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049573.088558822] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049573.089166766] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049573.090205334] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049573.091226424] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049573.092088795] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049573.092938605] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049573.145389391] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049573.146210325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049573.147333716] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049573.148226183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049573.149277101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049573.245396561] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049573.246026290] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049573.246963127] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049573.248270849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049573.249402347] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049573.335587325] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049573.337596161] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049573.338266971] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049573.338598237] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049573.339491645] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049573.339924050] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049573.340404161] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049573.344557288] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049573.344950045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049573.345677586] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049573.346654865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049573.347830340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049573.445651559] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049573.446217562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049573.448130878] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049573.448708888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049573.450768625] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049573.503561203] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973661 Long: -76.50298005 -[vectornav-1] [INFO] [1746049573.505034254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.366, -3.4, 9.665) -[mux-7] [INFO] [1746049573.545162492] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049573.545765964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049573.546605086] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049573.547674150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049573.548819459] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049573.585633341] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049573.588086049] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049573.588361540] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049573.589307177] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746049573.589734977] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049573.590226075] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049573.591112624] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049573.645393921] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049573.646082113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049573.647012072] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049573.648204135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049573.649542783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049573.745522137] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049573.746209009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049573.747042452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049573.748589826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049573.749826813] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049573.835484834] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049573.837295362] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049573.837919487] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049573.838263445] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049573.839171446] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049573.839318644] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049573.840046457] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049573.844579439] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049573.844921039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049573.845864498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049573.846581598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049573.847783766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049573.945545822] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049573.946188672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049573.947712235] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049573.948684539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049573.949889732] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049574.002459360] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973634 Long: -76.50298007 -[vectornav-1] [INFO] [1746049574.003501210] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.41499999999996, -3.401, 9.657) -[mux-7] [INFO] [1746049574.045200972] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049574.045967011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049574.046633916] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049574.047987351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049574.049224033] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049574.085553620] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049574.088081899] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049574.088832781] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049574.089058588] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746049574.089058821] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049574.089986052] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049574.090860332] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049574.145428941] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049574.146515529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049574.146943110] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049574.149114810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049574.150342983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049574.245540500] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049574.246253462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049574.247247042] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049574.248467612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049574.248955200] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049574.335643818] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049574.338549137] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049574.338768810] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049574.339139609] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049574.339833202] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049574.340850457] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049574.341814863] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049574.344359833] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049574.344887683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049574.345468729] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049574.346539267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049574.347694705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049574.445698673] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049574.447343661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049574.447435067] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049574.449976363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049574.451129621] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049574.503399338] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973619 Long: -76.50298014 -[vectornav-1] [INFO] [1746049574.505121129] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.419, -3.407, 9.693) -[mux-7] [INFO] [1746049574.545177214] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049574.546188457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049574.546687031] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049574.548444391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049574.549645713] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049574.585595676] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049574.588293006] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049574.588291902] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049574.589285012] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049574.590232158] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049574.590623306] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049574.591151100] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049574.644896117] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049574.645651819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049574.646174746] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049574.647461043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049574.648525479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049574.745339529] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049574.746172019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049574.746802577] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049574.748279315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049574.749344709] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049574.835518184] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049574.837929791] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049574.838912469] [sailbot.teensy]: Actual sail angle: 90 -[trim_sail-4] [INFO] [1746049574.838426856] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049574.839365484] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049574.839863257] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049574.840795543] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049574.844375661] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049574.845089471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049574.845467434] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049574.847071384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049574.848283407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049574.945397212] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049574.946457806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049574.946984051] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049574.948867393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049574.949987162] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049575.002501837] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973609 Long: -76.50298028 -[vectornav-1] [INFO] [1746049575.003697636] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.454, -3.415, 10.002) -[mux-7] [INFO] [1746049575.045116856] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049575.045852297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049575.046805591] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049575.048224794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049575.049303607] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049575.085729300] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049575.088540854] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049575.089986882] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049575.090197436] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049575.090932932] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049575.091814520] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049575.092655911] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049575.145116272] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049575.145732082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049575.146382824] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049575.147731164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049575.148910077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049575.245627170] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049575.246490970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049575.247691715] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049575.249336255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049575.251119090] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049575.335728875] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049575.338558635] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049575.338974556] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049575.339650177] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049575.339932535] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049575.340955652] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049575.342086370] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049575.344525801] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049575.345160304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049575.345762586] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049575.346912370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049575.348086201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049575.445526045] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746049575.446772621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049575.447364387] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049575.449379107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746049575.450652255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049575.486306470] [sailbot.mux]: controller_app sail angle: 40 -[vectornav-1] [INFO] [1746049575.502621393] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973591 Long: -76.50298028 -[vectornav-1] [INFO] [1746049575.503576637] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.46299999999997, -3.422, 10.006) -[mux-7] [INFO] [1746049575.544965552] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049575.545624608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049575.546197610] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049575.547451375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049575.548534432] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049575.585526390] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049575.587799344] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049575.589253565] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049575.589933595] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049575.590908736] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746049575.591813136] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049575.592714426] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049575.645388874] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049575.646260448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049575.646954336] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049575.648647548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049575.649919214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049575.745267537] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049575.745973558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049575.746777400] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049575.748217780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049575.748864991] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049575.835426851] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049575.837260895] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049575.837778023] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049575.838203311] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049575.839109527] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049575.839489928] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049575.839950311] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049575.844304230] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049575.844928156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049575.845394625] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049575.846727010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049575.847918787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049575.945234006] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049575.946189506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049575.946735733] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049575.948666723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049575.949790873] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049576.002553650] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973596 Long: -76.50298012 -[vectornav-1] [INFO] [1746049576.003631417] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.456, -3.413, 9.994) -[mux-7] [INFO] [1746049576.045150334] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049576.045928275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049576.046540961] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049576.048020472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049576.049097130] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049576.085563272] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049576.088131748] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049576.088889245] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049576.090214354] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049576.091115101] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049576.091972219] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049576.092980924] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049576.144860432] [sailbot.mux]: Published sail angle from controller_app: 40 -[mux-7] [INFO] [1746049576.146099727] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049576.149849507] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049576.153778573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049576.154531609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049576.245447939] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049576.246411984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049576.246932770] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049576.248666829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049576.249812510] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049576.335427539] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049576.337810110] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049576.338695480] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049576.339287306] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049576.340294003] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049576.341161919] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049576.342042798] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049576.344338472] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049576.344843876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049576.345434089] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049576.346559331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049576.347588841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049576.445288626] [sailbot.mux]: Published sail angle from controller_app: 40 -[mux-7] [INFO] [1746049576.447582297] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049576.447925436] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049576.449006935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049576.449717871] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049576.502818008] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973588 Long: -76.50297996 -[vectornav-1] [INFO] [1746049576.503906956] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.453, -3.42, 10.009) -[mux-7] [INFO] [1746049576.545026831] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049576.545751313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049576.546433531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049576.547561225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049576.548635978] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049576.585424392] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049576.587745091] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049576.588085375] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049576.589108547] [sailbot.teensy]: Actual sail angle: 40 -[mux-7] [INFO] [1746049576.589187451] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049576.590040559] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049576.590451395] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049576.644935470] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049576.645717062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049576.646210664] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049576.647709832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049576.648773141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049576.745363743] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049576.746065492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049576.746925303] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049576.748265336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049576.749423825] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049576.835794525] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049576.838237423] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049576.838627281] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049576.839487564] [sailbot.teensy]: Actual sail angle: 40 -[mux-7] [INFO] [1746049576.840442641] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049576.840498651] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049576.841124067] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049576.844313496] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049576.844931225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049576.845388438] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049576.846610249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049576.847776154] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049576.945639398] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049576.946271481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049576.947116096] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049576.948470375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049576.949027317] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049577.003262145] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973586 Long: -76.50297989 -[vectornav-1] [INFO] [1746049577.004450323] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.45500000000004, -3.407, 9.922) -[mux-7] [INFO] [1746049577.045559162] [sailbot.mux]: Published sail angle from controller_app: 40 -[mux-7] [INFO] [1746049577.047013513] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049577.047025117] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049577.049133579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049577.050321305] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049577.085703230] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049577.088517118] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049577.088547997] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049577.089587431] [sailbot.teensy]: Actual sail angle: 40 -[mux-7] [INFO] [1746049577.089991965] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049577.090502902] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049577.091365380] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049577.144996228] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049577.145902381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049577.146976485] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049577.147946218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049577.149114958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049577.245135069] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049577.245879829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049577.246909055] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049577.248003747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049577.249110208] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049577.335679780] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049577.338585182] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049577.339103951] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049577.339517131] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049577.340269392] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049577.341216341] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049577.342041792] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049577.344456821] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049577.345151534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049577.345546785] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049577.346837176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049577.347995744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049577.445471942] [sailbot.mux]: Published sail angle from controller_app: 40 -[mux-7] [INFO] [1746049577.447224694] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049577.448447431] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049577.450433449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049577.451479565] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049577.503814672] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973604 Long: -76.50297984 -[vectornav-1] [INFO] [1746049577.505388036] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.447, -3.408, 9.912) -[mux-7] [INFO] [1746049577.545268650] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049577.546088452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049577.547932795] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049577.548289052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049577.549484593] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049577.585670575] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049577.588233130] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049577.588711626] [sailbot.teensy]: Wind angle: 346 -[mux-7] [INFO] [1746049577.588972183] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049577.589982804] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049577.590846731] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049577.591697709] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049577.645197109] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049577.645775836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049577.646673140] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049577.647753310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049577.648822738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049577.745423475] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049577.746105998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049577.746943508] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049577.748541232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049577.749065655] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049577.835547449] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049577.838426996] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049577.838762916] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049577.839139799] [sailbot.teensy]: Wind angle: 346 -[teensy-2] [INFO] [1746049577.839556988] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049577.839926886] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049577.840612731] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049577.844376343] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049577.844943333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049577.845510202] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049577.846622763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049577.847809765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049577.945574289] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049577.946264241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049577.947398526] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049577.948588880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049577.950404512] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049578.002468595] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973601 Long: -76.50297982 -[vectornav-1] [INFO] [1746049578.003617238] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.447, -3.411, 9.787) -[mux-7] [INFO] [1746049578.045388883] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049578.045934979] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049578.047061122] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049578.048426810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049578.049506518] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049578.085804464] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049578.088612907] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049578.088828584] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049578.089869744] [sailbot.teensy]: Actual sail angle: 40 -[mux-7] [INFO] [1746049578.090744682] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049578.090763042] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049578.091709591] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049578.144830902] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049578.145298768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049578.146035096] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049578.147023977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049578.148128108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049578.245469570] [sailbot.mux]: Published sail angle from controller_app: 40 -[mux-7] [INFO] [1746049578.247139193] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049578.245985885] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049578.248045011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049578.249278931] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049578.335413058] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049578.337415323] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049578.337838314] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049578.338360773] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049578.339311560] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049578.339371693] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049578.339788654] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049578.344558735] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049578.345018402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049578.345705999] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049578.346769432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049578.347900184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049578.445127618] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049578.445821615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049578.446623786] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049578.447760760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049578.448655559] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049578.502317298] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973603 Long: -76.5029796 -[vectornav-1] [INFO] [1746049578.503253875] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.39, -3.42, 9.466) -[mux-7] [INFO] [1746049578.545285178] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049578.546211440] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049578.548572051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[mux-7] [INFO] [1746049578.548769542] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049578.549051628] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049578.585440630] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049578.587434104] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049578.588450490] [sailbot.teensy]: Actual sail angle: 40 -[trim_sail-4] [INFO] [1746049578.588046020] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049578.588991161] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049578.589273182] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049578.590187344] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049578.644819083] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049578.645500962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049578.646005001] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049578.647297241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049578.648406818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049578.745102821] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049578.746109342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049578.746579288] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049578.748128776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049578.749198844] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049578.835410060] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049578.837351094] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049578.838425785] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049578.839039771] [sailbot.teensy]: Actual sail angle: 40 -[mux-7] [INFO] [1746049578.839126666] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049578.840010337] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049578.840884075] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049578.844488150] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049578.845073768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049578.845597170] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049578.846931984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049578.847950503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049578.945314898] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049578.946094917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049578.946799519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049578.948425232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049578.949578843] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049579.002577791] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973595 Long: -76.50297966 -[vectornav-1] [INFO] [1746049579.004020787] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.387, -3.421, 9.457) -[mux-7] [INFO] [1746049579.045830699] [sailbot.mux]: Published sail angle from controller_app: 40 -[mux-7] [INFO] [1746049579.047313206] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049579.047546248] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049579.049804915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049579.052176950] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049579.085641534] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049579.088098770] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049579.088479929] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746049579.089547301] [sailbot.teensy]: Actual sail angle: 40 -[mux-7] [INFO] [1746049579.089843103] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049579.090865674] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049579.091851268] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049579.144963232] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049579.145658768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049579.146248534] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049579.147471110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049579.148586281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049579.245021778] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049579.245703203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049579.246368013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049579.247567605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049579.248441541] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049579.335453208] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049579.337692115] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049579.337851249] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049579.338661981] [sailbot.teensy]: Actual sail angle: 40 -[mux-7] [INFO] [1746049579.339328091] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049579.339581602] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049579.340544928] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049579.344380067] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049579.344939642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049579.345929349] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049579.346619709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049579.347755472] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049579.444895329] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049579.445889390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049579.446280249] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049579.448164637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049579.448621963] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049579.502516648] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973595 Long: -76.50297956 -[vectornav-1] [INFO] [1746049579.503574051] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.392, -3.423, 9.39) -[mux-7] [INFO] [1746049579.545106126] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049579.545818620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049579.546907065] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049579.547748129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049579.549004587] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049579.585694796] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049579.588341853] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049579.589175725] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049579.589546287] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049579.590489001] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049579.591345788] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049579.592192164] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049579.645290624] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049579.646129372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049579.647354709] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049579.647951324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049579.648438366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049579.745575263] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049579.746629059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049579.747253515] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049579.749125698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049579.750250961] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049579.835709931] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049579.837900165] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049579.838462057] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049579.839018208] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049579.840047696] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049579.840744276] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049579.841051601] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049579.844486589] [sailbot.mux]: Published sail angle from controller_app: 40 -[mux-7] [INFO] [1746049579.845798406] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049579.845254712] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049579.846992348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049579.848064163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049579.945262137] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049579.946197558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049579.946906373] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049579.948448338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049579.949637537] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049580.003340240] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973598 Long: -76.50297969 -[vectornav-1] [INFO] [1746049580.004583345] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.32, -3.42, 9.283) -[mux-7] [INFO] [1746049580.044952589] [sailbot.mux]: Published sail angle from controller_app: 40 -[mux-7] [INFO] [1746049580.046337078] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049580.047745769] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049580.049482588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049580.050507099] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049580.085240754] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049580.086968373] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746049580.087914385] [sailbot.teensy]: Actual sail angle: 40 -[trim_sail-4] [INFO] [1746049580.087999592] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049580.088400106] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049580.089044099] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049580.090040776] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049580.145087509] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049580.145924639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049580.146519500] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049580.148120361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049580.149233570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049580.245011472] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049580.245712889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049580.246288342] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049580.247728910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049580.248832213] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049580.335376827] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049580.337115274] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049580.338133615] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049580.338628443] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049580.339417986] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049580.340395294] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049580.341298184] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049580.344372125] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049580.345026077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049580.345475265] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049580.346800653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049580.347851724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049580.445372052] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049580.446190118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049580.446877049] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049580.449000267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049580.450159112] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049580.502740321] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973607 Long: -76.50297975 -[vectornav-1] [INFO] [1746049580.503935712] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.392, -3.404, 9.338) -[mux-7] [INFO] [1746049580.545293768] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049580.546030053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049580.546800840] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049580.548314799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049580.548923199] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049580.585459032] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049580.588101293] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049580.588392177] [sailbot.teensy]: Wind angle: 351 -[mux-7] [INFO] [1746049580.588410936] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049580.589533480] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049580.590484836] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049580.591356107] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049580.644962776] [sailbot.mux]: Published sail angle from controller_app: 40 -[mux-7] [INFO] [1746049580.646214480] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049580.646063107] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049580.648533704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049580.649533409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049580.745183518] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049580.745992036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049580.746434133] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049580.748061830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049580.749200159] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049580.835410178] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049580.837358855] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049580.837920521] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049580.838386238] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049580.839279135] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049580.839152866] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049580.840188325] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049580.844470253] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049580.845119170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049580.845546761] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049580.846963475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049580.848089613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049580.944752757] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049580.945336375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049580.945922360] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049580.947095671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049580.948113802] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049581.002645973] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973608 Long: -76.50297968 -[vectornav-1] [INFO] [1746049581.003748343] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.361, -3.425, 9.383) -[mux-7] [INFO] [1746049581.044788739] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049581.045470186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049581.045971402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049581.047246303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049581.048295173] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049581.085426214] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049581.087259462] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049581.088201201] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049581.088418892] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049581.089407236] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049581.090242159] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049581.090393602] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049581.144886206] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049581.145825792] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049581.147077946] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049581.147792162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049581.148970599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049581.245633734] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049581.246340061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049581.247346123] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049581.249543250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049581.250587990] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049581.335437706] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049581.337905787] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049581.338185785] [sailbot.teensy]: Wind angle: 349 -[mux-7] [INFO] [1746049581.338750798] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049581.339076915] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049581.339479758] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049581.339848292] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049581.344446290] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049581.344849991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049581.345568614] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049581.346567779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049581.347584639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049581.444982867] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049581.445742099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049581.446205863] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049581.447516588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049581.448645143] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049581.502903589] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973608 Long: -76.50297957 -[vectornav-1] [INFO] [1746049581.504147430] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.385, -3.424, 9.493) -[mux-7] [INFO] [1746049581.544862468] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049581.545544302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049581.546008071] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049581.547462438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049581.548539211] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049581.585572033] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049581.587624292] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049581.587930303] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049581.588768436] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049581.589712423] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049581.589778990] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049581.590683542] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049581.644925236] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049581.645909507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049581.646218261] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049581.648065747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049581.649114798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049581.745323062] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049581.746399847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049581.746805299] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049581.748984449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049581.749491733] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049581.835504831] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049581.837852161] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049581.838833038] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049581.839209234] [sailbot.teensy]: Wind angle: 351 -[teensy-2] [INFO] [1746049581.839627994] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049581.839992844] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049581.840373509] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049581.844445803] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049581.844944022] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049581.845571737] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049581.846586590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049581.847891768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049581.944898732] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049581.945595278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049581.946175853] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049581.947506500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049581.948573133] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049582.002666733] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973592 Long: -76.50297965 -[vectornav-1] [INFO] [1746049582.003749979] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.387, -3.391, 9.291) -[mux-7] [INFO] [1746049582.044858855] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049582.045443737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049582.046026401] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049582.047411937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049582.048418453] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049582.085262214] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049582.087475627] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049582.087752617] [sailbot.teensy]: Wind angle: 353 -[teensy-2] [INFO] [1746049582.088779921] [sailbot.teensy]: Actual sail angle: 40 -[mux-7] [INFO] [1746049582.088895182] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049582.089782993] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049582.090814940] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049582.144699860] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049582.145333102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049582.146241828] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049582.147075907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049582.148120716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049582.245504503] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049582.246450204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049582.246981093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049582.248555041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049582.249241648] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049582.335340799] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049582.337588549] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049582.338080238] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049582.338174367] [sailbot.teensy]: Wind angle: 346 -[teensy-2] [INFO] [1746049582.338968733] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049582.339354731] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049582.339735862] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049582.344446302] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049582.345010295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049582.345568784] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049582.346821320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049582.347863683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049582.444840878] [sailbot.mux]: Published sail angle from controller_app: 40 -[mux-7] [INFO] [1746049582.446018750] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049582.446144323] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049582.448165248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049582.448683553] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049582.502658179] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973583 Long: -76.50297963 -[vectornav-1] [INFO] [1746049582.503807776] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.353, -3.391, 9.024) -[mux-7] [INFO] [1746049582.545003361] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049582.545522291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049582.546399364] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049582.547358444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049582.549219178] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049582.585192937] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049582.587314290] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049582.587702949] [sailbot.teensy]: Wind angle: 344 -[mux-7] [INFO] [1746049582.587909987] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049582.588644710] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049582.589541937] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049582.590390852] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049582.645032469] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049582.645576875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049582.646415497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049582.647425818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049582.648637282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049582.745599979] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049582.746233594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049582.747333804] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049582.749204045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049582.750388611] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049582.835451403] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049582.837411654] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049582.838695600] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049582.839284368] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049582.839511924] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049582.840487611] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049582.841050542] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049582.844564665] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049582.844877483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049582.845738310] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049582.846543315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049582.847580837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049582.945696776] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049582.946531936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049582.947564375] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049582.948825367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049582.949359845] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049583.002300915] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973581 Long: -76.50297971 -[vectornav-1] [INFO] [1746049583.003431414] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.392, -3.384, 9.306) -[mux-7] [INFO] [1746049583.045030787] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049583.045756748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049583.046367501] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049583.047547363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049583.048639112] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049583.085597440] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049583.088016614] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049583.088954674] [sailbot.teensy]: Wind angle: 350 -[mux-7] [INFO] [1746049583.089038805] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049583.089941411] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049583.090837985] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049583.091657203] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049583.145407143] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049583.145987911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049583.146992625] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049583.149120203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049583.149650594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049583.245037374] [sailbot.mux]: Published sail angle from controller_app: 40 -[mux-7] [INFO] [1746049583.246450281] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049583.248745763] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049583.250345910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049583.251356098] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049583.335401642] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049583.338065134] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049583.338713250] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049583.338732752] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049583.339760259] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049583.340668794] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049583.341497519] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049583.344408936] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049583.344844480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049583.345980159] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049583.347426535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049583.348588063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049583.445710619] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049583.446272918] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049583.447409658] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049583.448884793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049583.449437683] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049583.502732095] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973574 Long: -76.50297967 -[vectornav-1] [INFO] [1746049583.503956814] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.402, -3.394, 9.286) -[mux-7] [INFO] [1746049583.544912657] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049583.545504992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049583.546119161] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049583.547243211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049583.548389764] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049583.585334538] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049583.587013223] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049583.587705975] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049583.587937448] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049583.588811107] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049583.590006568] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049583.590119323] [sailbot.mux]: algo sail angle: 80 -[mux-7] [INFO] [1746049583.645453286] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049583.646049113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049583.647016161] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049583.648734251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049583.649802449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049583.745033029] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049583.745620951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049583.746736426] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049583.747495650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049583.748561973] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049583.835449279] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049583.837384019] [sailbot.teensy]: Wind angle: 352 -[teensy-2] [INFO] [1746049583.838367080] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049583.839261508] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049583.838596384] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049583.838947195] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049583.840488395] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049583.844565005] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049583.845143147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049583.845789043] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049583.846850655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049583.848522723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049583.945318367] [sailbot.mux]: Published sail angle from controller_app: 40 -[mux-7] [INFO] [1746049583.946731064] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049583.945836415] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049583.947778733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049583.948964472] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049584.002960473] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973568 Long: -76.50297957 -[vectornav-1] [INFO] [1746049584.004054441] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.429, -3.389, 9.574) -[mux-7] [INFO] [1746049584.044954995] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049584.045419403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049584.046157678] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049584.047195636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049584.048470504] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049584.085306529] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049584.087833021] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049584.088393497] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049584.088874251] [sailbot.teensy]: Wind angle: 352 -[teensy-2] [INFO] [1746049584.089820917] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049584.090675863] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049584.091512185] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049584.145406283] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049584.145975440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049584.147404281] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049584.148078947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049584.149313031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049584.245079118] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049584.245726522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049584.246419224] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049584.247657926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049584.248571935] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049584.335669201] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049584.338579455] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049584.338881094] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049584.339937071] [sailbot.teensy]: Actual sail angle: 40 -[mux-7] [INFO] [1746049584.339997195] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049584.340930169] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049584.342087968] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049584.344509241] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049584.344866603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049584.345757968] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049584.346723691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049584.347970943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049584.445294856] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049584.446269430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049584.446837249] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049584.448638369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049584.449721461] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049584.502212919] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973557 Long: -76.50297962 -[vectornav-1] [INFO] [1746049584.503232666] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.423, -3.392, 9.565) -[mux-7] [INFO] [1746049584.545080293] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049584.546215567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049584.546458646] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049584.548526682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049584.549623148] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049584.585139920] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049584.587034713] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049584.587439912] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049584.588045572] [sailbot.teensy]: Actual sail angle: 40 -[mux-7] [INFO] [1746049584.588929468] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049584.588977994] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049584.589873189] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049584.644948268] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049584.645687721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049584.646305148] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049584.647591291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049584.648063851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049584.744929478] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049584.745853662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049584.746234220] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049584.747766197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049584.748837914] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049584.835317561] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049584.837093656] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049584.837590710] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049584.838076131] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049584.839012834] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049584.839022553] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049584.840074737] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049584.844376502] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049584.845000742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049584.845517207] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049584.846760100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049584.847849400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049584.945285103] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049584.945858266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049584.946981271] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049584.947893833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049584.949177035] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049585.002348564] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973564 Long: -76.50297963 -[vectornav-1] [INFO] [1746049585.003324400] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.40700000000004, -3.398, 9.488) -[mux-7] [INFO] [1746049585.044948329] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049585.045612560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049585.046637934] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049585.047771859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049585.048490204] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049585.085239200] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049585.087518548] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049585.087896054] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049585.088246037] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049585.089163287] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049585.090088378] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049585.091001146] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049585.145123355] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049585.145927079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049585.146563250] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049585.148047913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049585.149053530] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049585.244893698] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049585.245889461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049585.246339831] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049585.247515360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049585.247977275] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049585.335640749] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049585.338050369] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049585.338548349] [sailbot.teensy]: Wind angle: 344 -[mux-7] [INFO] [1746049585.339005492] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049585.339107535] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049585.339504933] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049585.339904640] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049585.344480749] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049585.345061099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049585.345742461] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049585.346756211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049585.347799747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049585.445820129] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049585.446348847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049585.448437580] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049585.450384412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049585.451614677] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049585.502578871] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697357 Long: -76.50297948 -[vectornav-1] [INFO] [1746049585.504026200] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.41200000000003, -3.397, 9.48) -[mux-7] [INFO] [1746049585.545122113] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049585.545851927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049585.546496449] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049585.547866578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049585.548899756] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049585.585419161] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049585.587762363] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049585.588019279] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049585.588781761] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049585.589662831] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049585.590482113] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049585.590531624] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049585.644772718] [sailbot.mux]: Published sail angle from controller_app: 40 -[teensy-2] [INFO] [1746049585.645462032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049585.645989616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049585.647239001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 0 -[teensy-2] [INFO] [1746049585.648353601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049585.709988184] [sailbot.mux]: controller_app sail angle: 0 -[mux-7] [INFO] [1746049585.744680155] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049585.745421728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049585.745866033] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049585.747179464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049585.748381639] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049585.835503585] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049585.837639264] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049585.838606445] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049585.838667749] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746049585.839590364] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049585.840364092] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049585.840493936] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049585.844366932] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049585.844991997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049585.845560584] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049585.846737633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049585.847900611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049585.945137080] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049585.945906107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049585.946799077] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049585.947845814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049585.948927169] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049586.002927988] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973565 Long: -76.50297963 -[vectornav-1] [INFO] [1746049586.004536313] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.411, -3.398, 9.251) -[mux-7] [INFO] [1746049586.044736541] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049586.045970327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049586.046423916] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049586.047895216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049586.049036921] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049586.085438456] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049586.087815051] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049586.087814864] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049586.088849732] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049586.089237476] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049586.089790025] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049586.090722749] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049586.144468293] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049586.145051517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049586.145531030] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049586.146762394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049586.147791634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049586.244938395] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049586.245924309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049586.246238476] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049586.248080510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049586.248988446] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049586.335386419] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049586.337861570] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049586.337886478] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049586.339231743] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049586.339925267] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049586.340891878] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049586.341713470] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049586.344297332] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049586.344807517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049586.345419759] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049586.346499763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049586.347504034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049586.445179514] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049586.445934752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049586.446607601] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049586.448038966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049586.449178882] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049586.502287138] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973569 Long: -76.5029797 -[vectornav-1] [INFO] [1746049586.503233745] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.402, -3.398, 9.209) -[mux-7] [INFO] [1746049586.545442768] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049586.546348751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049586.546884219] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049586.548621126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049586.549727498] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049586.585683691] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049586.588228244] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049586.588296630] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049586.589347231] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049586.590142343] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049586.590279472] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049586.591181260] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049586.644953387] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049586.645906055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049586.646262141] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049586.648845768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049586.649935076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049586.745355401] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049586.746527669] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049586.746944341] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049586.748906012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049586.749947332] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049586.835369514] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049586.837319922] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049586.837653379] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049586.839069246] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049586.839118172] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049586.840508821] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049586.841403553] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049586.844749634] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049586.844944043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049586.846025751] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049586.846596672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049586.847816388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049586.945340617] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049586.946356209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049586.947210313] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049586.948677536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049586.949716254] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049587.003090316] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973564 Long: -76.50298004 -[vectornav-1] [INFO] [1746049587.004779963] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.404, -3.399, 9.175) -[mux-7] [INFO] [1746049587.045025341] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049587.046363163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049587.046710038] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049587.048425253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049587.049526938] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049587.085455151] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049587.087874946] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049587.088090234] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049587.088431626] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049587.088848715] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049587.089809242] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049587.090713224] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049587.145142765] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049587.146174412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049587.146684772] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049587.148349546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049587.149347659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049587.244868705] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049587.245733030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049587.246027652] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049587.247858607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049587.248908647] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049587.335846584] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049587.338529579] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049587.339149790] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049587.339668739] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049587.340258996] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049587.340675886] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049587.341575953] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049587.344431128] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049587.344970148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049587.345596843] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049587.346650396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049587.347675851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049587.445795315] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049587.446851266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049587.447900326] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049587.449089034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049587.449640535] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049587.502259505] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973581 Long: -76.50298009 -[vectornav-1] [INFO] [1746049587.503146227] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.376, -3.407, 9.056) -[mux-7] [INFO] [1746049587.544685103] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049587.545520643] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049587.545896080] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049587.547302529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049587.548466115] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049587.585383071] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049587.587870764] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049587.588069191] [sailbot.teensy]: Wind angle: 351 -[teensy-2] [INFO] [1746049587.589100326] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049587.589705737] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049587.590043231] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049587.590946347] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049587.645257445] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049587.646043494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049587.647029591] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049587.648403040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049587.649645067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049587.745067916] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049587.745721653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049587.746350395] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049587.747587319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049587.748759544] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049587.835399524] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049587.837912239] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049587.838176284] [sailbot.teensy]: Wind angle: 349 -[teensy-2] [INFO] [1746049587.838717148] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049587.838898805] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049587.839109136] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049587.839508029] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049587.844590121] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049587.845015788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049587.845736381] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049587.846716081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049587.847898429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049587.945222947] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049587.945904924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049587.946861550] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049587.948286547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049587.949368575] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049588.003066518] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973565 Long: -76.50298017 -[vectornav-1] [INFO] [1746049588.004306158] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.384, -3.397, 9.074) -[mux-7] [INFO] [1746049588.045110038] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049588.045738377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049588.046764217] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049588.047645250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049588.048750643] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049588.085351539] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049588.087273125] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049588.088289510] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049588.087817050] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049588.089260835] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049588.090158881] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049588.090294775] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049588.145201758] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049588.145778600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049588.146741259] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049588.147887513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049588.148939925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049588.245173833] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049588.246515874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049588.246565114] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049588.248655470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049588.249081288] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049588.335661388] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049588.338587150] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049588.339212911] [sailbot.teensy]: Wind angle: 335 -[mux-7] [INFO] [1746049588.339291766] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049588.340144063] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049588.341047721] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049588.341903837] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049588.344319050] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049588.344964822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049588.345400385] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049588.346627708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049588.347727825] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049588.445075710] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049588.445841943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049588.446389985] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049588.447962220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049588.449030125] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049588.502385082] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973561 Long: -76.50298022 -[vectornav-1] [INFO] [1746049588.503487475] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.385, -3.394, 9.098) -[mux-7] [INFO] [1746049588.545122794] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049588.545938778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049588.546560469] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049588.547964162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049588.549009091] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049588.585566332] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049588.587739559] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049588.588616047] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049588.588826459] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049588.589752971] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049588.590359895] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049588.590636721] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049588.644995609] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049588.645835287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049588.646327715] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049588.647777474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049588.648845183] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049588.745268282] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049588.746036153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049588.746827575] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049588.748468489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049588.749625925] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049588.835421813] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049588.837468740] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049588.838146176] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049588.839275031] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049588.839374765] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049588.840317289] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049588.841172307] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049588.844304776] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049588.844924526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049588.845724779] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049588.846696000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049588.847816175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049588.945539748] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049588.946282798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049588.947478153] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049588.948619309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049588.950335850] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049589.002530169] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973544 Long: -76.50298 -[vectornav-1] [INFO] [1746049589.003608248] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.38300000000004, -3.398, 9.061) -[mux-7] [INFO] [1746049589.045196980] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049589.045834692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049589.046649076] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049589.048096825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049589.049160828] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049589.085420092] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049589.087276997] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049589.087942950] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049589.088306600] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049589.088867713] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049589.088868823] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049589.089262634] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049589.144973472] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049589.145941083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049589.146840799] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049589.147902537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049589.149090697] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049589.244946301] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049589.245661806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049589.246271212] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049589.247549867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049589.248680216] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049589.335454059] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049589.337406073] [sailbot.teensy]: Wind angle: 335 -[teensy-2] [INFO] [1746049589.338335805] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049589.338015984] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049589.338833945] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049589.339215623] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049589.340113128] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049589.344335008] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049589.344910825] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049589.345436321] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049589.346650443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049589.347689263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049589.445547864] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049589.446389940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049589.447260666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049589.448616678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049589.449084036] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049589.502783002] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973554 Long: -76.50297999 -[vectornav-1] [INFO] [1746049589.503955273] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.382, -3.399, 8.998) -[mux-7] [INFO] [1746049589.545048358] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049589.546033846] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049589.546767150] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049589.548391464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049589.549467367] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049589.585353595] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049589.587683311] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049589.588360222] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049589.588693958] [sailbot.teensy]: Wind angle: 335 -[teensy-2] [INFO] [1746049589.589653540] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049589.590514502] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049589.591356009] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049589.644848004] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049589.645504471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049589.646044527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049589.647365779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049589.648531258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049589.745353190] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049589.746157789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049589.746894105] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049589.747889434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049589.748456281] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049589.835410698] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049589.837449528] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049589.837994352] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049589.838484548] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049589.839371091] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049589.839401517] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049589.840373552] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049589.844354985] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049589.845308755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049589.845540628] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049589.847057296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049589.848346233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049589.945542466] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049589.947118108] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049589.947336205] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049589.949611328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049589.950513653] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049590.002897957] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973541 Long: -76.50298002 -[vectornav-1] [INFO] [1746049590.004052758] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.375, -3.4, 8.986) -[mux-7] [INFO] [1746049590.045170130] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049590.046147835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049590.046633834] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049590.048480601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049590.049565502] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049590.085585154] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049590.088349718] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049590.088843539] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049590.089745074] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049590.090680357] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049590.091607457] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049590.092502486] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049590.144593939] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049590.145196313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049590.145730593] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049590.147000132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049590.148098987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049590.245156755] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049590.246713468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049590.248131824] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049590.249199376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049590.250294597] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049590.335677045] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049590.338441588] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049590.339072446] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049590.340046259] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049590.340204973] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049590.340985040] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049590.341873288] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049590.344359436] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049590.345075184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049590.345545010] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049590.346802980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049590.347850395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049590.445686146] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049590.446339716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049590.447756841] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049590.448284851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049590.448741556] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049590.502398645] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973568 Long: -76.50297998 -[vectornav-1] [INFO] [1746049590.503407604] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.361, -3.399, 9.039) -[mux-7] [INFO] [1746049590.545031221] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049590.545769056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049590.546339646] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049590.547829314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049590.548866257] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049590.585434036] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049590.587636428] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049590.587986453] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049590.588745738] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049590.589079170] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049590.589699600] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049590.590552517] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049590.644626792] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049590.645168151] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049590.646682297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746049590.645706417] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049590.647742051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049590.745417090] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049590.746163098] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049590.747009249] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049590.748410824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049590.749042602] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049590.835785270] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049590.837946055] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049590.838557823] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049590.838963737] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049590.839852350] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049590.840734466] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049590.840751501] [sailbot.mux]: algo sail angle: 80 -[mux-7] [INFO] [1746049590.844357167] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049590.845151739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049590.845437480] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049590.847053476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049590.848264929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049590.945373707] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049590.946036688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049590.946872922] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049590.948382302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049590.949601770] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049591.003038253] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973543 Long: -76.50297987 -[vectornav-1] [INFO] [1746049591.004919740] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.353, -3.407, 8.858) -[mux-7] [INFO] [1746049591.044610737] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049591.045201130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049591.045742794] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049591.046925348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049591.048092444] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049591.085389350] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049591.087684477] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049591.088072439] [sailbot.teensy]: Wind angle: 341 -[mux-7] [INFO] [1746049591.088651573] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049591.088977960] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049591.089778381] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049591.090622498] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049591.144968305] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049591.145579054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049591.146445415] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049591.147468081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049591.148621495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049591.245175103] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049591.246620688] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049591.248522188] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049591.250149782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049591.251087038] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049591.334989935] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049591.336873394] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049591.337157154] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049591.338400121] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049591.340148526] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049591.340675411] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049591.341067925] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049591.344514131] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049591.344902342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049591.347185787] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049591.347183377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049591.348644839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049591.444761315] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049591.445354874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049591.445883685] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049591.447661770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049591.448662506] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049591.502174570] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973545 Long: -76.50297965 -[vectornav-1] [INFO] [1746049591.503092925] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.352, -3.408, 8.828) -[mux-7] [INFO] [1746049591.545131353] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049591.545850254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049591.546408931] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049591.547705147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049591.548907195] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049591.585488158] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049591.587388294] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049591.587916468] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049591.588392757] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049591.589302822] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049591.590062589] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049591.590184984] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049591.645465826] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049591.646431208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049591.647163721] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049591.648931456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049591.650178627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049591.744855273] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049591.745507595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049591.746077250] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049591.747429854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049591.748453037] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049591.835413224] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049591.837149551] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049591.837728807] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049591.838077607] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049591.838972449] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049591.839284548] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049591.839907404] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049591.844619395] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049591.845837718] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049591.846019463] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049591.847849328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049591.848911637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049591.945546539] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049591.946235562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049591.947247973] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049591.948738482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049591.949928682] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049592.002382360] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973537 Long: -76.5029796 -[vectornav-1] [INFO] [1746049592.003399045] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.358, -3.41, 8.775) -[mux-7] [INFO] [1746049592.045157320] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049592.045750802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049592.046630019] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049592.047813599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049592.048921568] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049592.085542854] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049592.088038055] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049592.088706125] [sailbot.teensy]: Wind angle: 341 -[mux-7] [INFO] [1746049592.089000820] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049592.089651177] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049592.090541178] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049592.091356567] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049592.144873663] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049592.145664515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049592.146221948] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049592.147785624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049592.148732147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049592.245037603] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049592.245897580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049592.246373405] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049592.248009419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049592.249137719] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049592.335336480] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049592.337927815] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049592.338325604] [sailbot.teensy]: Wind angle: 340 -[mux-7] [INFO] [1746049592.338576815] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049592.339490313] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049592.340360496] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049592.340727077] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049592.344353442] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049592.345173563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049592.345509728] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049592.346879827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049592.347932235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049592.445254493] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049592.446296484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049592.447093937] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049592.448266795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049592.448801177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049592.463110033] [sailbot.mux]: controller_app sail angle: 3 -[vectornav-1] [INFO] [1746049592.502365247] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973541 Long: -76.50297955 -[vectornav-1] [INFO] [1746049592.503449273] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.33299999999997, -3.41, 8.808) -[mux-7] [INFO] [1746049592.545020727] [sailbot.mux]: Published sail angle from controller_app: 3 -[mux-7] [INFO] [1746049592.546334652] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049592.546558134] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049592.548650343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 -[teensy-2] [INFO] [1746049592.549679541] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049592.585511665] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049592.587955113] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049592.588109410] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049592.589087577] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049592.589457588] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049592.589996804] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049592.590889553] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049592.644926093] [sailbot.mux]: Published sail angle from controller_app: 3 -[teensy-2] [INFO] [1746049592.645586590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049592.646145358] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049592.647473078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 -[teensy-2] [INFO] [1746049592.648526071] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049592.745126833] [sailbot.mux]: Published sail angle from controller_app: 3 -[teensy-2] [INFO] [1746049592.746045472] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049592.746632525] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049592.748222482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 -[teensy-2] [INFO] [1746049592.748769175] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049592.835329480] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049592.837505331] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049592.837910197] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049592.838519849] [sailbot.teensy]: Actual sail angle: 3 -[teensy-2] [INFO] [1746049592.839407265] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049592.839463720] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049592.840299149] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049592.844317002] [sailbot.mux]: Published sail angle from controller_app: 3 -[mux-7] [INFO] [1746049592.845471979] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049592.845643194] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049592.847281836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 -[teensy-2] [INFO] [1746049592.848439828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049592.944997537] [sailbot.mux]: Published sail angle from controller_app: 3 -[teensy-2] [INFO] [1746049592.945727834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049592.946328077] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049592.948066042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 -[teensy-2] [INFO] [1746049592.948734225] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049593.002458607] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973547 Long: -76.50297963 -[vectornav-1] [INFO] [1746049593.003489968] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.323, -3.399, 8.966) -[mux-7] [INFO] [1746049593.045346177] [sailbot.mux]: Published sail angle from controller_app: 3 -[teensy-2] [INFO] [1746049593.046374187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049593.046797298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049593.048147141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 -[teensy-2] [INFO] [1746049593.048593405] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049593.085595172] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049593.088303937] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746049593.088631900] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049593.089327279] [sailbot.teensy]: Actual sail angle: 3 -[mux-7] [INFO] [1746049593.089552047] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049593.090256313] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049593.091103182] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049593.145227464] [sailbot.mux]: Published sail angle from controller_app: 3 -[teensy-2] [INFO] [1746049593.145953719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049593.146706265] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049593.148239511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 -[teensy-2] [INFO] [1746049593.149230908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049593.245071288] [sailbot.mux]: Published sail angle from controller_app: 3 -[teensy-2] [INFO] [1746049593.245973178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049593.246525470] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049593.248223874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 -[teensy-2] [INFO] [1746049593.249463066] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049593.335252120] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049593.337914120] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049593.338929797] [sailbot.teensy]: Wind angle: 349 -[mux-7] [INFO] [1746049593.339045023] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049593.339911073] [sailbot.teensy]: Actual sail angle: 3 -[teensy-2] [INFO] [1746049593.340807818] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049593.341388393] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049593.344409518] [sailbot.mux]: Published sail angle from controller_app: 3 -[teensy-2] [INFO] [1746049593.344964376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049593.345543244] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049593.346949328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 -[teensy-2] [INFO] [1746049593.348001408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049593.445147148] [sailbot.mux]: Published sail angle from controller_app: 3 -[teensy-2] [INFO] [1746049593.446233705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049593.446900190] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049593.447876726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 -[teensy-2] [INFO] [1746049593.448367096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049593.486020876] [sailbot.mux]: controller_app sail angle: 23 -[vectornav-1] [INFO] [1746049593.503084655] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973559 Long: -76.50297943 -[vectornav-1] [INFO] [1746049593.504782346] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.264, -3.419, 8.633) -[mux-7] [INFO] [1746049593.544981515] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049593.545571097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049593.546184533] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049593.547446178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049593.548493328] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049593.585350308] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049593.588411044] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049593.588692799] [sailbot.teensy]: Wind angle: 354 -[mux-7] [INFO] [1746049593.589086026] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049593.589640998] [sailbot.teensy]: Actual sail angle: 3 -[teensy-2] [INFO] [1746049593.590535310] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049593.591396938] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049593.645397140] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049593.646416786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049593.646968604] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049593.648618787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049593.649128760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049593.744962879] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049593.745718904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049593.746244036] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049593.747625490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049593.748739284] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049593.835672297] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049593.838568028] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049593.838628166] [sailbot.teensy]: Wind angle: 352 -[mux-7] [INFO] [1746049593.838657675] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049593.839116425] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049593.839524895] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049593.839882304] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049593.844434487] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049593.844865821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049593.845689688] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049593.846539859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049593.847726562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049593.945661910] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049593.946527809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049593.947381564] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049593.948065672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049593.948546659] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049594.002235765] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697355 Long: -76.50297952 -[vectornav-1] [INFO] [1746049594.003278622] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.257, -3.414, 8.705) -[mux-7] [INFO] [1746049594.045161188] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049594.046101101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049594.046571034] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049594.048217052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049594.049233171] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049594.085583764] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049594.088309239] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049594.088820982] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049594.089022624] [sailbot.teensy]: Wind angle: 346 -[teensy-2] [INFO] [1746049594.089978390] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049594.090838338] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049594.091674041] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049594.145171826] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049594.145946931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049594.146919042] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049594.147921491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049594.149816956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049594.245433282] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049594.246232879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049594.246986654] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049594.248648280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049594.249577927] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049594.335256116] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049594.337711320] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049594.337894999] [sailbot.teensy]: Wind angle: 339 -[mux-7] [INFO] [1746049594.338110709] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049594.339328793] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049594.340204053] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049594.341075156] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049594.344340352] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049594.345016342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049594.345528479] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049594.346728252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049594.347883318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049594.444985353] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049594.445799384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049594.446353019] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049594.448222652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049594.449377501] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049594.503586973] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697355 Long: -76.50297944 -[vectornav-1] [INFO] [1746049594.505035028] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.33799999999997, -3.402, 8.952) -[mux-7] [INFO] [1746049594.544879116] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049594.545983306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049594.546145060] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049594.547812782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049594.548909041] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049594.585385494] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049594.587383680] [sailbot.teensy]: Wind angle: 328 -[trim_sail-4] [INFO] [1746049594.587640514] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049594.588388674] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049594.589362165] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049594.590250234] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049594.590420144] [sailbot.mux]: algo sail angle: 75 -[mux-7] [INFO] [1746049594.644925582] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049594.645755913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049594.646302788] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049594.647625019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049594.648692003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049594.745612830] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049594.746615639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049594.747330707] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049594.749047792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049594.750297138] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049594.835469495] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049594.837419923] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049594.837741702] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049594.838398254] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049594.839329928] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049594.839638891] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049594.840302334] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049594.844406249] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049594.844893051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049594.845534288] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049594.846682681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049594.847738794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049594.945776016] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049594.946923741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049594.947608181] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049594.949580054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049594.950824490] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049595.002798241] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973536 Long: -76.50297953 -[vectornav-1] [INFO] [1746049595.003978536] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.347, -3.398, 8.953) -[mux-7] [INFO] [1746049595.044949203] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049595.045810975] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049595.046602647] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049595.047709945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049595.048929483] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049595.085464642] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049595.087439847] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049595.087783377] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049595.088372479] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049595.088466717] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049595.089302300] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049595.090138555] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049595.144853126] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049595.145709153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049595.146121119] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049595.147607059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049595.148772610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049595.244901942] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049595.245676235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049595.246289607] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049595.247563326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049595.248775285] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049595.335564836] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049595.338079234] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049595.338565029] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049595.339985413] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049595.341011101] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049595.341871629] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049595.342686105] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049595.344511722] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049595.345060905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049595.345833863] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049595.346717071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049595.347913186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049595.445734685] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049595.446735271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049595.447561077] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049595.449023088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049595.450202663] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049595.502589820] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973532 Long: -76.50297949 -[vectornav-1] [INFO] [1746049595.503651164] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.355, -3.4, 8.959) -[mux-7] [INFO] [1746049595.545050153] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049595.545785578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049595.546915815] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049595.547723551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049595.549097097] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049595.585411562] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049595.587663035] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049595.588123127] [sailbot.teensy]: Wind angle: 339 -[mux-7] [INFO] [1746049595.588794510] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049595.589219602] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049595.590121058] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049595.591024712] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049595.645260726] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049595.646673321] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049595.647829353] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049595.649638481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049595.650646533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049595.745630472] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049595.746539300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049595.747300346] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049595.748234873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049595.748779668] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049595.835710778] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049595.838528075] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049595.839115007] [sailbot.teensy]: Wind angle: 339 -[mux-7] [INFO] [1746049595.839786812] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049595.840232970] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049595.841556730] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049595.842437443] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049595.844417472] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049595.844890575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049595.846581594] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049595.847040122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049595.848447314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049595.945880702] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049595.947105516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049595.947512520] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049595.949536460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049595.950709688] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049596.002963197] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973546 Long: -76.50297965 -[vectornav-1] [INFO] [1746049596.003980934] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.344, -3.406, 8.935) -[mux-7] [INFO] [1746049596.045307466] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049596.046647385] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049596.046466860] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049596.049679106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049596.051001779] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049596.085748034] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049596.087776349] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049596.088611009] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049596.088914434] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049596.089414167] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049596.089876062] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049596.090817561] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049596.144896404] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049596.145643705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049596.146151324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049596.147560510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049596.148646094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049596.245177207] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049596.245864516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049596.246820919] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049596.247790287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049596.248358301] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049596.335724893] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049596.338274524] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049596.338566514] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049596.339289907] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049596.339775996] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049596.340729004] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049596.341628380] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049596.344352765] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049596.345034596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049596.345470578] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049596.346708377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049596.347874401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049596.445219616] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049596.446259309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049596.446817489] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049596.448486805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049596.449650179] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049596.502607808] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973563 Long: -76.50297952 -[vectornav-1] [INFO] [1746049596.503673852] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.345, -3.402, 8.989) -[mux-7] [INFO] [1746049596.545207469] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049596.546275117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049596.546704320] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049596.548617246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049596.550308683] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049596.585582489] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049596.588072444] [sailbot.teensy]: Wind angle: 333 -[trim_sail-4] [INFO] [1746049596.588068876] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049596.589113990] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049596.589492214] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049596.590035943] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049596.590962245] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049596.644720107] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049596.645601708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049596.645861738] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049596.647557157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049596.648634392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049596.745405152] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049596.746169534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049596.746965900] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049596.748778351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049596.749951605] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049596.835517449] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049596.838064075] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049596.838849926] [sailbot.teensy]: Wind angle: 334 -[mux-7] [INFO] [1746049596.839341436] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049596.839951563] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049596.841096059] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049596.842036225] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049596.844323811] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049596.844889531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049596.845508592] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049596.847026819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049596.848207988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049596.945144180] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049596.946044357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049596.947054339] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049596.947883975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049596.948428080] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049597.002577821] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973569 Long: -76.50297964 -[vectornav-1] [INFO] [1746049597.004143825] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.341, -3.405, 8.896) -[mux-7] [INFO] [1746049597.045329591] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049597.046224630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049597.047029060] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049597.048489109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049597.049755549] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049597.085520606] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049597.088090645] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049597.089219794] [sailbot.teensy]: Wind angle: 344 -[mux-7] [INFO] [1746049597.089658642] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049597.090168877] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049597.091031602] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049597.091875134] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049597.145089727] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049597.145736966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049597.146728904] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049597.147841230] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049597.149040580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049597.245564451] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049597.246287027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049597.247169630] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049597.248170270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049597.248714461] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049597.335575673] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049597.338254398] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049597.338409296] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049597.338956351] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049597.339214722] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049597.339815118] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049597.340189473] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049597.344361874] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049597.344906325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049597.345451697] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049597.346587120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049597.347597138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049597.445084324] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049597.445908756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049597.446434758] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049597.448292348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049597.448879609] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049597.503513812] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973563 Long: -76.50297967 -[vectornav-1] [INFO] [1746049597.504937661] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.342, -3.411, 8.884) -[mux-7] [INFO] [1746049597.544952542] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049597.545660781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049597.546212383] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049597.547635891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049597.548675121] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049597.585412333] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049597.587600118] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049597.587802980] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049597.588578530] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049597.589275265] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049597.589491200] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049597.590349391] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049597.645096109] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049597.645773695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049597.647147835] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049597.647814869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049597.648651401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049597.744940805] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049597.745708761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049597.746309631] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049597.747545313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049597.748210948] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049597.835561254] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049597.837507412] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049597.838516061] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049597.838124318] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049597.839397221] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049597.839437605] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049597.840296690] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049597.844368423] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049597.844951430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049597.845483080] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049597.846682360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049597.847867798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049597.945413067] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049597.946110579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049597.947124399] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049597.947806602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049597.948265543] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049598.003576212] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973581 Long: -76.50297969 -[vectornav-1] [INFO] [1746049598.005560162] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.36699999999996, -3.402, 9.023) -[mux-7] [INFO] [1746049598.045022567] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049598.045836634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049598.046622745] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049598.047717754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049598.048928337] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049598.085549575] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049598.087871359] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049598.089305923] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049598.089410883] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049598.090618261] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049598.091491450] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049598.092327924] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049598.145469043] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049598.145899233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049598.147127672] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049598.147931682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049598.149029202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049598.245431510] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049598.245948613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049598.247495207] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049598.248133943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049598.249345960] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049598.335696893] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049598.337798102] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049598.338896761] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049598.339446028] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049598.339582315] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049598.339868956] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049598.340256613] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049598.344624102] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049598.345200447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049598.345940339] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049598.346862921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049598.347882182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049598.445216201] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049598.445928515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049598.446851595] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049598.448695627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049598.449858240] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049598.502554730] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973606 Long: -76.50297963 -[vectornav-1] [INFO] [1746049598.503585012] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.361, -3.396, 9.051) -[mux-7] [INFO] [1746049598.545470456] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049598.546023124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049598.547029238] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049598.548390840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049598.549568626] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049598.585536277] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049598.587981660] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049598.588378420] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049598.588985501] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049598.589298483] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049598.589932170] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049598.590808049] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049598.644447166] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049598.645598914] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049598.645600237] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049598.647243172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049598.648422249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049598.745406740] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049598.746077371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049598.747091102] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049598.748604364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049598.749697321] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049598.835523053] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049598.837553569] [sailbot.teensy]: Wind angle: 309 -[trim_sail-4] [INFO] [1746049598.838120652] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746049598.838554631] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049598.839183935] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049598.839316183] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049598.839561430] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049598.844406575] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049598.845118901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049598.845462724] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049598.846818790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049598.847872105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049598.945435948] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049598.946159344] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049598.947034607] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049598.947906229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049598.948448559] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049599.002279690] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973598 Long: -76.50297974 -[vectornav-1] [INFO] [1746049599.003244699] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.351, -3.387, 9.099) -[mux-7] [INFO] [1746049599.045234354] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049599.046134932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049599.047025542] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049599.048299246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049599.049212573] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049599.085577418] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049599.088054308] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746049599.088846713] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746049599.089780861] [sailbot.teensy]: Wind angle: 280 -[teensy-2] [INFO] [1746049599.090687763] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049599.091509476] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049599.092359464] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049599.145487285] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049599.146233512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049599.147066359] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049599.148486531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049599.149790382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049599.245033038] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049599.245904465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049599.246292750] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049599.247854629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049599.248866506] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049599.335490740] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049599.338148644] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746049599.338225257] [sailbot.teensy]: Wind angle: 269 -[teensy-2] [INFO] [1746049599.339661546] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049599.340615464] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049599.340641111] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049599.341181679] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049599.344647483] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049599.345852976] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049599.345124248] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049599.346779587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049599.347926209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049599.445186389] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049599.446154247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049599.447160067] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049599.448605648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049599.449115994] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049599.502805104] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973594 Long: -76.50297995 -[vectornav-1] [INFO] [1746049599.504141830] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.349, -3.389, 9.104) -[mux-7] [INFO] [1746049599.545571859] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049599.546050341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049599.547232510] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049599.548092954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049599.549383298] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049599.585393651] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049599.587388991] [sailbot.teensy]: Wind angle: 261 -[trim_sail-4] [INFO] [1746049599.587743507] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049599.588366774] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049599.589232906] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049599.589337751] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049599.590112806] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049599.645374856] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049599.645907944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049599.647597152] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049599.648447144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049599.649631678] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049599.745131762] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049599.745653425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049599.746443737] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049599.747446814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049599.748513146] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049599.835345225] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049599.838182737] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746049599.838686963] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049599.838810497] [sailbot.teensy]: Wind angle: 249 -[teensy-2] [INFO] [1746049599.839227948] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049599.839615605] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049599.839987932] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049599.844545029] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049599.844908523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049599.845860726] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049599.846924674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049599.848030393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049599.945457946] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049599.945963880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049599.947432767] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049599.948684165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049599.949839784] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049600.003176987] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973626 Long: -76.50298024 -[vectornav-1] [INFO] [1746049600.004458386] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.328, -3.395, 8.998) -[mux-7] [INFO] [1746049600.045296067] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049600.045800495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049600.046939610] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049600.047731369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049600.049427121] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049600.085363517] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049600.087705155] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049600.088002322] [sailbot.teensy]: Wind angle: 249 -[mux-7] [INFO] [1746049600.088317741] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049600.088982164] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049600.089846142] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049600.090694988] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049600.145080727] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049600.145725226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049600.146417015] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049600.147553484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049600.148585697] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049600.245429946] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049600.246299344] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049600.246880555] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049600.248489618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049600.249571295] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049600.335765992] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049600.338547885] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746049600.339114584] [sailbot.teensy]: Wind angle: 253 -[mux-7] [INFO] [1746049600.339460857] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049600.339540373] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049600.340011749] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049600.340972905] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049600.344414513] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049600.344893303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049600.345555387] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049600.346654050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049600.347896412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049600.445526430] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049600.446342329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049600.447159797] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049600.449385726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049600.450562283] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049600.502768338] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973641 Long: -76.50298037 -[vectornav-1] [INFO] [1746049600.503834285] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.326, -3.399, 8.996) -[mux-7] [INFO] [1746049600.545096076] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049600.545930404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049600.546413832] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049600.547838720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049600.548958405] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049600.585570563] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049600.588316163] [sailbot.teensy]: Wind angle: 256 -[trim_sail-4] [INFO] [1746049600.588395080] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746049600.589461251] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049600.589946566] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049600.590423084] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049600.591287167] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049600.644973039] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049600.645728247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049600.646913513] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049600.647577228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049600.648759155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049600.744892370] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049600.745752905] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049600.747501540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[mux-7] [INFO] [1746049600.747716312] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049600.748619428] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049600.835727906] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049600.838293969] [sailbot.teensy]: Wind angle: 258 -[trim_sail-4] [INFO] [1746049600.838517376] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049600.839449067] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049600.840399130] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049600.840756713] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049600.841188222] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049600.844486586] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049600.845068117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049600.845727162] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049600.846762669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049600.847922886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049600.945088283] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049600.945704347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049600.946485391] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049600.948007787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049600.948730547] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049601.002339625] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973668 Long: -76.50298031 -[vectornav-1] [INFO] [1746049601.003484754] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.321, -3.39, 9.0) -[mux-7] [INFO] [1746049601.044978901] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049601.045803964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049601.046245877] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049601.047701785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049601.048673023] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049601.085616531] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049601.087691652] [sailbot.teensy]: Wind angle: 266 -[trim_sail-4] [INFO] [1746049601.088596872] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746049601.088776804] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049601.089602692] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049601.089723181] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049601.090662283] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049601.145385607] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049601.146089311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049601.147022863] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049601.148450923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049601.149672149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049601.244949060] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049601.245583286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049601.246202638] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049601.247439631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049601.248608349] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049601.335521732] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049601.337529601] [sailbot.teensy]: Wind angle: 268 -[trim_sail-4] [INFO] [1746049601.338117974] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746049601.338532278] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049601.339422675] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049601.339628919] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049601.340320110] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049601.344435074] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049601.345506673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049601.345575919] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049601.347424558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049601.348511448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049601.445394594] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049601.446123504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049601.446881888] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049601.448587144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049601.449651345] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049601.502563669] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973678 Long: -76.50298027 -[vectornav-1] [INFO] [1746049601.503668702] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.29499999999996, -3.396, 8.833) -[mux-7] [INFO] [1746049601.544945718] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049601.545786036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049601.546201143] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049601.547725193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049601.548849140] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049601.585533328] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049601.587415390] [sailbot.teensy]: Wind angle: 260 -[teensy-2] [INFO] [1746049601.588500940] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049601.588527381] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049601.589469921] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049601.590421979] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049601.590765340] [sailbot.mux]: algo sail angle: 25 -[mux-7] [INFO] [1746049601.644888518] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049601.645774042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049601.646155598] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049601.647741678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049601.648899794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049601.745115102] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049601.745771147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049601.746487727] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049601.747956066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049601.748853639] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049601.835343482] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049601.837209736] [sailbot.teensy]: Wind angle: 258 -[trim_sail-4] [INFO] [1746049601.837732380] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049601.838153583] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049601.838804239] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049601.838980778] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049601.839184420] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049601.844629180] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049601.845194898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049601.845873802] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049601.846873000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049601.847911330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049601.945688410] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049601.946402462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049601.948203414] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049601.948841976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049601.950137447] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049602.003278037] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973654 Long: -76.50298062 -[vectornav-1] [INFO] [1746049602.004642358] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.3, -3.398, 8.794) -[mux-7] [INFO] [1746049602.045306619] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049602.045879332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049602.046724428] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049602.047859585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049602.048932414] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049602.085637397] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049602.088419256] [sailbot.teensy]: Wind angle: 257 -[trim_sail-4] [INFO] [1746049602.088574211] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746049602.089376178] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049602.089603714] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049602.090538334] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049602.091414714] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049602.145272382] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049602.145996093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049602.147099974] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049602.148249311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049602.149392304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049602.245346222] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049602.246075043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049602.246760795] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049602.248323821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049602.249365270] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049602.335992710] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049602.339110277] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746049602.339303332] [sailbot.teensy]: Wind angle: 256 -[mux-7] [INFO] [1746049602.340235452] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049602.340376929] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049602.341272930] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049602.341620628] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049602.344409821] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049602.345234619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049602.345663049] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049602.347030123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049602.348203439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049602.445532195] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049602.446551966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049602.447134284] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049602.449289135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049602.450528341] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049602.502825431] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973656 Long: -76.50298082 -[vectornav-1] [INFO] [1746049602.504014631] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.28499999999997, -3.403, 8.89) -[mux-7] [INFO] [1746049602.545278213] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049602.546360520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049602.546751318] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049602.548669708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049602.549814399] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049602.585346834] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049602.587580961] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746049602.588086374] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049602.589334990] [sailbot.teensy]: Wind angle: 253 -[teensy-2] [INFO] [1746049602.590267571] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049602.591094969] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049602.591926042] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049602.645097125] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049602.645608088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049602.646709020] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049602.647646111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049602.648927511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049602.745219897] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049602.746198336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049602.746676250] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049602.748376667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049602.749450327] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049602.835664170] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049602.838769630] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746049602.838973349] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746049602.839831022] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049602.840762526] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049602.840922686] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049602.841677261] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049602.844255849] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049602.844917493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049602.845347247] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049602.846643258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049602.847728131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049602.945560871] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049602.946366100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049602.947272765] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049602.948918297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049602.950092672] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049603.002519868] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973662 Long: -76.50298102 -[vectornav-1] [INFO] [1746049603.003526677] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26, -3.41, 8.933) -[mux-7] [INFO] [1746049603.045076239] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049603.046307874] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049603.046025084] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049603.048612006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049603.049767540] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049603.085314310] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049603.087011990] [sailbot.teensy]: Wind angle: 250 -[trim_sail-4] [INFO] [1746049603.087749272] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746049603.088064007] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049603.088747614] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049603.089061940] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049603.089903835] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049603.144935697] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049603.145553511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049603.146188849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049603.147384028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049603.147910759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049603.244947310] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049603.245757995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049603.246628690] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049603.247662843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049603.248848457] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049603.335573422] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049603.338396006] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049603.338902908] [sailbot.teensy]: Wind angle: 249 -[mux-7] [INFO] [1746049603.339371088] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049603.339996840] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049603.340984481] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049603.341820929] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049603.344315160] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049603.345128191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049603.345418754] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049603.347013236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049603.347983396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049603.445315211] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049603.446100488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049603.446984540] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049603.449497912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049603.450631864] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049603.502757936] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697366 Long: -76.50298119 -[vectornav-1] [INFO] [1746049603.504062921] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.23900000000003, -3.424, 8.758) -[mux-7] [INFO] [1746049603.544814082] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049603.545524869] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049603.545979884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049603.547370008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049603.548480850] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049603.585452973] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049603.587872276] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746049603.587923421] [sailbot.teensy]: Wind angle: 250 -[teensy-2] [INFO] [1746049603.588891217] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049603.589478027] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049603.589797117] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049603.590667442] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049603.645024504] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049603.645751695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049603.646684026] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049603.647738778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049603.648916015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049603.745165484] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049603.746041183] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049603.746541186] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049603.748198747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049603.748624241] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049603.835548851] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049603.837597576] [sailbot.teensy]: Wind angle: 253 -[teensy-2] [INFO] [1746049603.838606627] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049603.838336150] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746049603.839487618] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049603.839509669] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049603.840361263] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049603.844443818] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049603.845585733] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049603.845810181] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049603.847496492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049603.848598867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049603.945227020] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049603.945985131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049603.947129590] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049603.947911488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049603.948442816] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049604.002512511] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973649 Long: -76.50298152 -[vectornav-1] [INFO] [1746049604.003529320] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.08500000000004, -3.45, 7.561) -[mux-7] [INFO] [1746049604.045324824] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049604.046328007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049604.046865979] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049604.048710788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049604.049730125] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049604.085362881] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049604.087113912] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746049604.087606087] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049604.088274149] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049604.088990863] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049604.089251011] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049604.090101369] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049604.145488069] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049604.146427775] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049604.149047332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[mux-7] [INFO] [1746049604.147592106] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049604.150219790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049604.244944246] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049604.245939517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049604.246255083] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049604.247753585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049604.248788535] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049604.335544730] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049604.338015674] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746049604.338171694] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746049604.339021549] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049604.339097592] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049604.339435802] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049604.339810652] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049604.344459392] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049604.344909169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049604.345645174] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049604.346633944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049604.347651904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049604.445691262] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049604.446421562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049604.447395048] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049604.448699768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049604.450600897] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049604.503131653] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973639 Long: -76.5029817 -[vectornav-1] [INFO] [1746049604.504952526] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.118, -3.448, 7.43) -[mux-7] [INFO] [1746049604.545381219] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049604.546240251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049604.546749903] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049604.548550236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049604.549853576] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049604.585745583] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049604.591747369] [sailbot.teensy]: Wind angle: 256 -[trim_sail-4] [INFO] [1746049604.592235561] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746049604.592701373] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049604.592727530] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049604.593660303] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049604.594496166] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049604.645459683] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049604.646292287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049604.647102065] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049604.649133701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049604.650991841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049604.745189866] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049604.746061584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049604.747166662] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049604.747986467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049604.748621590] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049604.835596274] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049604.838098193] [sailbot.teensy]: Wind angle: 257 -[trim_sail-4] [INFO] [1746049604.838222633] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049604.839084480] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049604.839232301] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049604.839482992] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049604.839872555] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049604.844574247] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049604.845230587] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049604.846946260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[mux-7] [INFO] [1746049604.845750928] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049604.848128724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049604.945625147] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049604.946569567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049604.947542556] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049604.949153807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049604.949866230] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049605.002677505] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973632 Long: -76.50298182 -[vectornav-1] [INFO] [1746049605.003837617] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.135, -3.438, 7.614) -[mux-7] [INFO] [1746049605.045194053] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049605.046142863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049605.046885751] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049605.048331876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049605.049133572] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049605.085526369] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049605.087556898] [sailbot.teensy]: Wind angle: 258 -[trim_sail-4] [INFO] [1746049605.088317906] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049605.088606505] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049605.089521189] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049605.090090473] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049605.090413016] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049605.144927806] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049605.145824939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049605.146170575] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049605.147738297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049605.149010802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049605.245270952] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049605.245964143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049605.246721021] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049605.248091350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049605.248635863] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049605.335354816] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049605.337078268] [sailbot.teensy]: Wind angle: 264 -[trim_sail-4] [INFO] [1746049605.337950446] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746049605.338067990] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049605.338973303] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049605.338979690] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049605.339911796] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049605.344339747] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049605.344931000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049605.345465264] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049605.347825380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049605.348899630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049605.445185683] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049605.445838989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049605.446728745] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049605.447975834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049605.449761480] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049605.502451532] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973633 Long: -76.50298195 -[vectornav-1] [INFO] [1746049605.503541225] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.152, -3.425, 7.814) -[mux-7] [INFO] [1746049605.545096553] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049605.546042105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049605.546530812] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049605.548148451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049605.549260124] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049605.585402603] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049605.587654068] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746049605.588175992] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049605.589187056] [sailbot.teensy]: Wind angle: 268 -[teensy-2] [INFO] [1746049605.590175647] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049605.591024695] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049605.591862441] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049605.645070844] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049605.645917089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049605.646510842] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049605.647960074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049605.649031538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049605.744891580] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049605.745648507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049605.746325993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049605.747520260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049605.748628075] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049605.835320159] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049605.837510442] [sailbot.teensy]: Wind angle: 274 -[trim_sail-4] [INFO] [1746049605.838244689] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746049605.838469045] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049605.839358447] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049605.839409673] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746049605.840535950] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049605.844529535] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049605.845110662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049605.845677704] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049605.846952487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049605.848282854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049605.945326738] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049605.946348414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049605.947092216] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049605.948775561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049605.949921136] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049606.002953987] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973632 Long: -76.50298175 -[vectornav-1] [INFO] [1746049606.004411848] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.134, -3.432, 7.732) -[mux-7] [INFO] [1746049606.045113169] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049606.045937523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049606.046554830] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049606.047891704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049606.048964287] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049606.085634711] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049606.088590492] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746049606.088672456] [sailbot.teensy]: Wind angle: 294 -[mux-7] [INFO] [1746049606.088766958] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049606.090228495] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049606.091079593] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049606.091909424] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049606.144612173] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049606.145149352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049606.146165570] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049606.146858742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049606.148032284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049606.245172164] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049606.246292802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049606.247487147] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049606.248274321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049606.248835794] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049606.335286411] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049606.336990150] [sailbot.teensy]: Wind angle: 314 -[trim_sail-4] [INFO] [1746049606.337737395] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049606.337923707] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049606.338807693] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049606.339069465] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049606.339725312] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049606.344412004] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049606.344935909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049606.345483985] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049606.346632993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049606.347665819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049606.445611634] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049606.446332074] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049606.447529517] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049606.448920843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049606.450805426] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049606.502698000] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973629 Long: -76.50298181 -[vectornav-1] [INFO] [1746049606.503666744] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.14099999999996, -3.432, 7.676) -[mux-7] [INFO] [1746049606.545046113] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049606.545882907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049606.546654625] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049606.547806313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049606.548947656] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049606.585617704] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049606.587932426] [sailbot.teensy]: Wind angle: 325 -[trim_sail-4] [INFO] [1746049606.588564089] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049606.589021467] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049606.589988265] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049606.590193410] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049606.590896655] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049606.645590857] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049606.646814610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049606.647435932] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049606.649154222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049606.649740993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049606.745428597] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049606.746278666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049606.747062938] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049606.748403124] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049606.749190729] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049606.835409894] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049606.837794628] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049606.837833766] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049606.838752377] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049606.839167484] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049606.839653800] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049606.840403761] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049606.844605642] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049606.845363495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049606.845815002] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049606.847144295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049606.848214630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049606.945581356] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049606.946575492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049606.947556832] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049606.948116326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049606.948568440] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049607.002570278] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973628 Long: -76.5029819 -[vectornav-1] [INFO] [1746049607.003632914] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.125, -3.433, 7.72) -[mux-7] [INFO] [1746049607.045389089] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049607.046165848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049607.046895368] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049607.048497825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049607.050287172] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049607.085889322] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049607.088707432] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049607.088860500] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049607.090270400] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049607.090563551] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049607.091511240] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049607.092474013] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049607.145337748] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049607.146169299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049607.146858111] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049607.148379344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049607.149667759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049607.245369061] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049607.246350374] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049607.247400726] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049607.247841052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049607.248328557] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049607.335469240] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049607.337697179] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049607.338778436] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049607.338940577] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049607.339750401] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049607.340538296] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049607.340758757] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049607.344449066] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049607.344970285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049607.345554225] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049607.346725163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049607.347822199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049607.444898404] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049607.445623058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049607.446381466] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049607.447641186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049607.448320928] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049607.502877439] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973622 Long: -76.50298209 -[vectornav-1] [INFO] [1746049607.503979567] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.12, -3.437, 7.698) -[mux-7] [INFO] [1746049607.545166666] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049607.545953579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049607.546588203] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049607.548027836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049607.549177370] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049607.585360664] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049607.587606364] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049607.588522339] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049607.588611223] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049607.589965321] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049607.590813008] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049607.591650580] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049607.645171353] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049607.645713551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049607.646494839] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049607.647651427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049607.648588853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049607.745394149] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049607.745872689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049607.747016959] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049607.747818401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049607.749264899] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049607.835575506] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049607.838612653] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049607.838738759] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049607.839043635] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049607.839660257] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049607.840038543] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049607.840418401] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049607.844535409] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049607.844879663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049607.845743237] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049607.846496076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049607.847573700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049607.945209308] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049607.946006477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049607.946703912] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049607.948026807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049607.949076918] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049608.002336507] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973627 Long: -76.50298227 -[vectornav-1] [INFO] [1746049608.003333960] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.111, -3.444, 7.68) -[mux-7] [INFO] [1746049608.045209410] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049608.045636600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049608.046815240] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049608.047507683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049608.048467533] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049608.085421314] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049608.087504623] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049608.087887824] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049608.088498688] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049608.089232575] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049608.089375616] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049608.090267586] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049608.145083609] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049608.145986772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049608.146468465] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049608.148009303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049608.149020732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049608.245132828] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049608.246246212] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049608.246997110] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049608.248310428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049608.248891982] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049608.335449729] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049608.337522004] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049608.338869623] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049608.338036591] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049608.339602799] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049608.340175895] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049608.341157619] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049608.344553150] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049608.345006079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049608.345809309] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049608.346772907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049608.347832452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049608.445199657] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049608.446190146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049608.446729578] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049608.448296287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049608.448768165] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049608.503341563] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973618 Long: -76.50298232 -[vectornav-1] [INFO] [1746049608.504849531] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.111, -3.446, 7.651) -[mux-7] [INFO] [1746049608.544988707] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049608.545593695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049608.546311621] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049608.547472379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049608.548701752] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049608.585363848] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049608.587141830] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049608.587922201] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049608.588079971] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049608.588522303] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049608.588660331] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049608.589057859] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049608.644964728] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049608.645628977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049608.646232798] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049608.647367959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049608.647912715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049608.745488277] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049608.746372171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049608.747255360] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049608.748704102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049608.749902521] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049608.835822219] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049608.838031830] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049608.838865164] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049608.838926646] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049608.839263901] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049608.839690646] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049608.839840817] [sailbot.mux]: algo sail angle: 80 -[mux-7] [INFO] [1746049608.844514065] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049608.845332949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049608.845758442] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049608.847080007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049608.848260664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049608.945381934] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049608.946239970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049608.946932772] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049608.948802502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049608.949878509] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049609.002708799] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973613 Long: -76.50298231 -[vectornav-1] [INFO] [1746049609.003807961] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.023, -3.497, 7.015) -[mux-7] [INFO] [1746049609.045568107] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049609.046229674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049609.046967687] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049609.048569220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049609.049829110] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049609.085713564] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049609.088207224] [sailbot.teensy]: Wind angle: 338 -[teensy-2] [INFO] [1746049609.089213272] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049609.088674638] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049609.089768267] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049609.090104542] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049609.090971969] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049609.145216546] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049609.146136715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049609.146771746] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049609.148270810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049609.148787316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049609.245106331] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049609.245821056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049609.246545591] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049609.248096471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049609.249259144] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049609.335579153] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049609.338555170] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049609.338897944] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049609.339265766] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049609.340230507] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049609.341110388] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049609.341663426] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049609.344543524] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049609.345013995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049609.345841073] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049609.346789171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049609.347956888] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049609.445588842] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049609.446478854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049609.447357776] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049609.449393899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049609.450515874] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049609.502523444] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973627 Long: -76.50298207 -[vectornav-1] [INFO] [1746049609.503550629] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.025, -3.492, 7.084) -[mux-7] [INFO] [1746049609.544856797] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049609.545622886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049609.546155449] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049609.547577675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049609.548669269] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049609.585684305] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049609.588499255] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049609.588902753] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049609.589632275] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049609.590574495] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049609.591432229] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049609.592272639] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049609.645551649] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049609.646820035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049609.647243570] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049609.649313681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049609.650401166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049609.744943047] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049609.745625049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049609.746397280] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049609.747484068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049609.748370533] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049609.835467179] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049609.838622670] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049609.838970209] [sailbot.teensy]: Wind angle: 340 -[mux-7] [INFO] [1746049609.839073301] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049609.839890310] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049609.840786783] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049609.841654779] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049609.844358503] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049609.844892246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049609.845419471] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049609.846569476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049609.847819874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049609.945829862] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049609.946425739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049609.947500764] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049609.948717264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049609.949898380] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049610.002295488] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973636 Long: -76.5029823 -[vectornav-1] [INFO] [1746049610.003318284] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03200000000004, -3.484, 7.19) -[mux-7] [INFO] [1746049610.045458966] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049610.046172670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049610.046986884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049610.048640403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049610.049810143] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049610.085567494] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049610.087927505] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049610.088644841] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049610.089277618] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049610.089361692] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049610.090497532] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049610.091338855] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049610.145056127] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049610.145638977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049610.146634444] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049610.147639561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049610.148509896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049610.244930393] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049610.245776355] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049610.246420505] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049610.247594423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049610.248183884] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049610.335521265] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049610.337638697] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049610.338176913] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049610.338684924] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049610.339603886] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049610.339746840] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049610.340477477] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049610.344364865] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049610.344919002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049610.345436906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049610.348470617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049610.349542938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049610.445527489] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049610.446389939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049610.447303053] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049610.449220364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049610.450544669] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049610.502742733] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973636 Long: -76.5029824 -[vectornav-1] [INFO] [1746049610.503814271] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03499999999997, -3.477, 7.23) -[mux-7] [INFO] [1746049610.545199360] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049610.546260292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049610.546619887] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049610.548243800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049610.549398292] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049610.585810269] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049610.588634702] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049610.589270990] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049610.589989420] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049610.590997747] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049610.591938739] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049610.592998136] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049610.645168988] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049610.646062450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049610.646704993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049610.648008899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049610.649123105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049610.745610778] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049610.746338103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049610.747329792] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049610.748712237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049610.750936805] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049610.835529748] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049610.837723598] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049610.837970728] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049610.839042140] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049610.839808700] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049610.840751853] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049610.841583932] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049610.844380226] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049610.845014102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049610.845583283] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049610.846716774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049610.847873600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049610.945589557] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049610.946668434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049610.947232537] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049610.949553435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049610.950935629] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049611.002508627] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973635 Long: -76.50298261 -[vectornav-1] [INFO] [1746049611.003952452] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03499999999997, -3.481, 7.243) -[mux-7] [INFO] [1746049611.045098926] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049611.045966949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049611.046381364] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049611.047939713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049611.048947027] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049611.085505721] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049611.087936173] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049611.087951478] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049611.088941070] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049611.089065946] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049611.089902955] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049611.090785495] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049611.145353953] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049611.146358422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049611.147014697] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049611.148690090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049611.149249233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049611.245163828] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049611.245874464] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049611.246582034] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049611.247876538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049611.249051909] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049611.335620591] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049611.337736130] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049611.338316500] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049611.339366219] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049611.339770652] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049611.339832918] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049611.340178957] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049611.344532609] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049611.345155238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049611.345708303] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049611.346914832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049611.348229298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049611.445612509] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049611.446972450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049611.447370352] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049611.449332728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049611.450636774] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049611.503343052] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973622 Long: -76.5029829 -[vectornav-1] [INFO] [1746049611.504974329] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.029, -3.484, 7.223) -[mux-7] [INFO] [1746049611.545208891] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049611.546045458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049611.546641070] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049611.548382991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049611.549560683] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049611.585868633] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049611.588805306] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049611.588824805] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049611.589856692] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049611.589993743] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049611.590750980] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049611.591618940] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049611.645524420] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049611.646318016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049611.647192353] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049611.648475971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049611.649057875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049611.744974639] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049611.745644125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049611.746289959] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049611.747503624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049611.748730094] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049611.835461953] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049611.837637984] [sailbot.teensy]: Wind angle: 354 -[teensy-2] [INFO] [1746049611.838800454] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049611.838195903] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049611.839724616] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049611.840242962] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049611.840633592] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049611.844471889] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049611.844936702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049611.847454601] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049611.847728629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049611.848867964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049611.945694868] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049611.946546978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049611.948576318] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049611.948702548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049611.949274633] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049612.002637748] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697364 Long: -76.50298318 -[vectornav-1] [INFO] [1746049612.003955350] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03700000000003, -3.478, 7.312) -[mux-7] [INFO] [1746049612.044893368] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049612.045389685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049612.046184386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049612.047445710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049612.048547365] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049612.085457238] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049612.088008219] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049612.088095085] [sailbot.teensy]: Wind angle: 355 -[mux-7] [INFO] [1746049612.089233823] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049612.089442735] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049612.090405485] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049612.091285049] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049612.144834307] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049612.145325800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049612.146035692] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049612.147082732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049612.148262413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049612.245226396] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049612.245884707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049612.246656473] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049612.247689131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049612.248258369] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049612.335474660] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049612.337608742] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049612.338011523] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049612.339271872] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049612.339293201] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049612.340237992] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049612.341113840] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049612.344426629] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049612.345120974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049612.345570363] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049612.346795608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049612.347824615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049612.445278410] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049612.446006490] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049612.447061064] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049612.447991987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049612.448545625] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049612.502486268] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697364 Long: -76.50298338 -[vectornav-1] [INFO] [1746049612.503590584] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.039, -3.472, 7.365) -[mux-7] [INFO] [1746049612.544985500] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049612.545974149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049612.546358740] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049612.548049700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049612.549219690] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049612.585754750] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049612.588238266] [sailbot.teensy]: Wind angle: 354 -[teensy-2] [INFO] [1746049612.589661943] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049612.589250518] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049612.589789530] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049612.590805165] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049612.591651089] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049612.645590473] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049612.646199283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049612.647797655] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049612.648538557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049612.649250055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049612.745698564] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049612.746800989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049612.747615578] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049612.748331212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049612.749266679] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049612.835501400] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049612.837842617] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049612.837917175] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049612.838819453] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049612.839548739] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049612.839721111] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049612.840628656] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049612.844318124] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049612.845225436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049612.845782143] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049612.847010020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049612.848197449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049612.945620134] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049612.946655825] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049612.947595595] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049612.949576654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049612.950758380] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049613.003277603] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973651 Long: -76.50298383 -[vectornav-1] [INFO] [1746049613.004583697] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.05, -3.463, 7.471) -[mux-7] [INFO] [1746049613.045405042] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049613.046222545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049613.047067202] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049613.048493704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049613.049596378] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049613.085422783] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049613.087510500] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049613.088194769] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049613.088591163] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049613.089544930] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049613.090082566] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049613.090392955] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049613.145090684] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049613.146231586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049613.146558525] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049613.148307401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049613.149327118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049613.245144176] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049613.246073101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049613.246688694] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049613.247801433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049613.248355755] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049613.335229138] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049613.338057683] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049613.338157710] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049613.339184908] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049613.339394970] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049613.340139298] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049613.341058419] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049613.344325167] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049613.344875349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049613.346415412] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049613.346670389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049613.347753361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049613.445019446] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049613.445671872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049613.446357559] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049613.447580780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049613.448089314] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049613.502500593] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973654 Long: -76.50298414 -[vectornav-1] [INFO] [1746049613.503508199] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.063, -3.45, 7.598) -[mux-7] [INFO] [1746049613.545344456] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049613.546318217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049613.546834334] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049613.548591725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049613.549763578] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049613.585810032] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049613.588716001] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049613.589942404] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049613.590681325] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049613.591077188] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049613.591425258] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049613.591755622] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049613.644840756] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049613.645482772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049613.646049596] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049613.647482174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049613.648695783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049613.745184329] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049613.745971074] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049613.746803733] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049613.748003549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049613.748544558] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049613.835344626] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049613.837621631] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049613.838724624] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049613.839704568] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049613.839775477] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049613.840664572] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049613.841568317] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049613.844324992] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049613.844899060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049613.845477145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049613.846732941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049613.847734149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049613.945363225] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049613.946766568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049613.946821823] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049613.947970258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049613.948633245] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049614.003253464] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973638 Long: -76.50298422 -[vectornav-1] [INFO] [1746049614.004575262] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.06, -3.445, 7.606) -[mux-7] [INFO] [1746049614.045020016] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049614.045944270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049614.046753339] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049614.047952864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049614.049159456] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049614.085532827] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049614.087824630] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049614.088275219] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049614.088874811] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049614.089780883] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049614.089784162] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049614.090665062] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049614.145123010] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049614.146489953] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049614.146943010] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049614.148693064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049614.149848432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049614.245271722] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049614.245853623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049614.247267084] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049614.247891312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049614.248930119] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049614.335188479] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049614.337082727] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049614.338042905] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049614.337551460] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049614.338736194] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049614.338812515] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049614.339197307] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049614.344481556] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049614.345102499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049614.345631821] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049614.346821585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049614.347862941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049614.445164647] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049614.445995945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049614.446570380] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049614.447669415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049614.448136015] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049614.503703092] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973643 Long: -76.50298436 -[vectornav-1] [INFO] [1746049614.505245975] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.054, -3.454, 7.567) -[mux-7] [INFO] [1746049614.545143556] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049614.545826392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049614.546627709] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049614.547901214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049614.548989115] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049614.585428035] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049614.587171902] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049614.588116268] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049614.588421100] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049614.589019768] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049614.589036448] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049614.589928861] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049614.645240614] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049614.646068810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049614.646971323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049614.648929062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049614.650070606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049614.745404446] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049614.746361211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049614.747087049] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049614.748795724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049614.750048781] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049614.835698333] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049614.837916411] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049614.838990906] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049614.839076292] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049614.839973451] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049614.840757518] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049614.840897478] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049614.844246270] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049614.844991272] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049614.845401371] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049614.846750105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049614.847936165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049614.945370703] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049614.946342713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049614.947318968] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049614.948926806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049614.950100613] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049615.002674354] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973636 Long: -76.50298449 -[vectornav-1] [INFO] [1746049615.003782660] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.047, -3.454, 7.559) -[mux-7] [INFO] [1746049615.044885400] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049615.045548621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049615.046113639] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049615.047697948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049615.048967947] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049615.085418216] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049615.087369011] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049615.088342892] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049615.088043287] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049615.088661292] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049615.089265677] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049615.090169732] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049615.145193344] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049615.145884978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049615.147008704] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049615.147979142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049615.149090253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049615.245099395] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049615.246868262] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049615.247190019] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049615.249114014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049615.250162052] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049615.335740579] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049615.338126030] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049615.338635137] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049615.339282091] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049615.340303480] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049615.340766276] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049615.340957478] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049615.344463011] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049615.345267298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049615.345811915] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049615.347226910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049615.348403306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049615.444897389] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049615.445638449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049615.446155887] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049615.447501460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049615.448666848] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049615.503336518] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973646 Long: -76.50298467 -[vectornav-1] [INFO] [1746049615.504405116] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.041, -3.449, 7.588) -[mux-7] [INFO] [1746049615.545107967] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049615.545902037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049615.546498203] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049615.548039409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049615.548511803] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049615.585405553] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049615.587488016] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049615.587630054] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049615.588462803] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049615.589434147] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049615.590086921] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049615.590328790] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049615.645402952] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049615.646276062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049615.647279496] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049615.649188881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049615.650341062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049615.745279673] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049615.746051008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049615.746984556] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049615.748039422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049615.749094137] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049615.835320244] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049615.837618263] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049615.838051377] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049615.838986050] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049615.839154316] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049615.839889040] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049615.840794668] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049615.844471412] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049615.845301405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049615.845838778] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049615.847034058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049615.848114426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049615.945169999] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049615.946120876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049615.946804833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049615.948231354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049615.948683489] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049616.003566711] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973626 Long: -76.50298488 -[vectornav-1] [INFO] [1746049616.005045070] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03999999999996, -3.445, 7.593) -[mux-7] [INFO] [1746049616.045082248] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049616.046506744] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049616.047608317] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049616.049337689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049616.050329229] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049616.085359156] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049616.087753948] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049616.088450441] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049616.088519304] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049616.089636736] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049616.090524146] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049616.091379209] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049616.145017608] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049616.145613920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049616.146319877] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049616.147555030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049616.148764914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049616.245660747] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049616.246421375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049616.247624856] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049616.248731325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049616.249239071] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049616.335749544] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049616.338347289] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049616.338948590] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049616.339363697] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049616.340291477] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049616.340762919] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049616.341206884] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049616.344360292] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049616.344966719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049616.345598320] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049616.346598579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049616.347765200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049616.445331730] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049616.446184469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049616.447026818] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049616.448764786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049616.449862633] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049616.502708796] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973618 Long: -76.502985 -[vectornav-1] [INFO] [1746049616.503821694] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03700000000003, -3.443, 7.601) -[mux-7] [INFO] [1746049616.545108715] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049616.545854625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049616.546290328] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049616.548012321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049616.549099063] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049616.585707883] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049616.588895920] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049616.589003157] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049616.589963488] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049616.590449008] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049616.590855628] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049616.591773075] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049616.644997715] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049616.645783126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049616.646328807] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049616.647729711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049616.648918330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049616.745677831] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049616.746636039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049616.747765605] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049616.749178246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049616.750318439] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049616.835478161] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049616.837671508] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049616.838658447] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049616.838621923] [sailbot.mux]: algo sail angle: 85 -[trim_sail-4] [INFO] [1746049616.839122619] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049616.839519389] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049616.840383624] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049616.844434525] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049616.845088516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049616.845644709] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049616.846948368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049616.847988757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049616.945694301] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049616.946312765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049616.947419578] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049616.947847296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049616.948458051] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049617.002577814] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973603 Long: -76.50298523 -[vectornav-1] [INFO] [1746049617.003627261] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.033, -3.441, 7.589) -[mux-7] [INFO] [1746049617.045150652] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049617.045918897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049617.046470906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049617.047950274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049617.049112508] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049617.085485268] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049617.088141234] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049617.088348556] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049617.088816516] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049617.089181364] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049617.090040492] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049617.090919563] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049617.145184660] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049617.145956784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049617.146531266] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049617.148054199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049617.149160093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049617.245508469] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049617.246623028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049617.247122043] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049617.248866454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049617.249985389] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049617.335532593] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049617.338155079] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049617.338290365] [sailbot.teensy]: Wind angle: 341 -[mux-7] [INFO] [1746049617.338753755] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049617.339229726] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049617.340188166] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049617.341110015] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049617.344643720] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049617.345066668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049617.345792528] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049617.346786927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049617.347791280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049617.445425171] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049617.446125521] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049617.448044414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[mux-7] [INFO] [1746049617.446968318] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049617.449073252] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049617.503204531] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973589 Long: -76.50298533 -[vectornav-1] [INFO] [1746049617.504475535] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03, -3.437, 7.595) -[mux-7] [INFO] [1746049617.545270445] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049617.545981910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049617.546636171] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049617.548227301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049617.549341384] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049617.585395179] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049617.587655059] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049617.587970188] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049617.588589345] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049617.588722796] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049617.589492684] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049617.590385993] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049617.645203067] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049617.646162803] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049617.646711067] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049617.648689526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049617.649764599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049617.745047353] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049617.745733119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049617.746353306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049617.747620100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049617.748757321] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049617.835665455] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049617.838828379] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049617.838985512] [sailbot.teensy]: Wind angle: 342 -[mux-7] [INFO] [1746049617.839336078] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049617.839507547] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049617.839893559] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049617.840279796] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049617.844440369] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049617.845345723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049617.845733660] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049617.847109245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049617.848458672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049617.945232601] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049617.945983205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049617.946682582] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049617.948320867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049617.949075560] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049618.002694319] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973576 Long: -76.50298553 -[vectornav-1] [INFO] [1746049618.003823408] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.023, -3.434, 7.596) -[mux-7] [INFO] [1746049618.044942663] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049618.045593113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049618.046191419] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049618.047501245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049618.048671153] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049618.085279671] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049618.086896557] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746049618.087431185] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049618.087880422] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049618.088784141] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049618.088819625] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049618.089655442] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049618.144828162] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049618.145443310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049618.146406324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049618.147204199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049618.148471703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049618.245097785] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049618.245772442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049618.246433503] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049618.247857163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049618.248974459] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049618.335231529] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049618.337360933] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049618.337533472] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049618.338417591] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049618.338502928] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049618.338892944] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049618.339285324] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049618.344582416] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049618.345102313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049618.345751394] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049618.346934361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049618.348146656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049618.445413305] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049618.446217944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049618.447185687] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049618.448825364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049618.450087170] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049618.503485641] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973561 Long: -76.50298574 -[vectornav-1] [INFO] [1746049618.505304204] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.02, -3.434, 7.597) -[mux-7] [INFO] [1746049618.545075932] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049618.545734857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049618.546405714] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049618.547855169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049618.549008655] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049618.585552491] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049618.588098670] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049618.588524300] [sailbot.teensy]: Wind angle: 342 -[mux-7] [INFO] [1746049618.589140915] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049618.589528071] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049618.590477812] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049618.591429435] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049618.645239896] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049618.646041030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049618.646721769] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049618.648256280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049618.649331117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049618.745138166] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049618.746070907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049618.746473043] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049618.747960325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049618.749022870] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049618.835508828] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049618.838080577] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049618.838575665] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049618.838847157] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049618.839827591] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049618.840751279] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049618.841208612] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049618.844435090] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049618.845015737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049618.845627060] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049618.846688835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049618.847846571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049618.945319216] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049618.945964816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049618.946884320] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049618.948045942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049618.948751875] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049619.003399461] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973551 Long: -76.50298611 -[vectornav-1] [INFO] [1746049619.004608536] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.019, -3.431, 7.591) -[mux-7] [INFO] [1746049619.045404960] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049619.046294234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049619.047205135] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049619.048552964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049619.049123021] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049619.085525364] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049619.088017525] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049619.088375401] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049619.088499157] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049619.089599132] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049619.090491506] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049619.091629966] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049619.145078468] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049619.145886318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049619.146595731] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049619.147978291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049619.149033165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049619.245508851] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049619.246404465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049619.247112217] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049619.248826234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049619.249907888] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049619.335182347] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049619.337250334] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049619.337441579] [sailbot.teensy]: Wind angle: 341 -[mux-7] [INFO] [1746049619.338474200] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049619.338714415] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049619.339628835] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049619.340111982] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049619.344394585] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049619.345763440] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049619.345896579] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049619.347612378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049619.348619797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049619.445370237] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049619.446141546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049619.446938453] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049619.448517005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049619.449202829] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049619.502641798] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973547 Long: -76.50298624 -[vectornav-1] [INFO] [1746049619.503799813] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.039, -3.419, 7.765) -[mux-7] [INFO] [1746049619.545229168] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049619.546002807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049619.546697077] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049619.548413823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049619.549480263] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049619.585336852] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049619.587532720] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049619.587579664] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049619.588485090] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049619.588963703] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049619.589403570] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049619.590276345] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049619.645078277] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049619.645661722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049619.646452279] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049619.647920705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049619.648930837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049619.745228909] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049619.746003344] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049619.746988921] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049619.748211283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049619.749377266] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049619.835533081] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049619.838239563] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049619.838317848] [sailbot.teensy]: Wind angle: 341 -[mux-7] [INFO] [1746049619.838730566] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049619.839693485] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049619.840632073] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049619.841519261] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049619.844440626] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049619.844895800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049619.845578016] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049619.846589386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049619.847649232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049619.945159900] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049619.945833018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049619.946638539] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049619.948208449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049619.949356040] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049620.003409132] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973536 Long: -76.5029864 -[vectornav-1] [INFO] [1746049620.005366191] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.038, -3.423, 7.785) -[mux-7] [INFO] [1746049620.045494472] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049620.046048326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049620.047779178] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049620.048206359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049620.049445437] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049620.085580218] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049620.087532993] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049620.088419621] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049620.088543177] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049620.089415694] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049620.089661148] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049620.090354310] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049620.145373735] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049620.146104337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049620.146913331] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049620.148879800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049620.150011877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049620.245564012] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049620.246137343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049620.247602341] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049620.248414999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049620.248992551] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049620.335490593] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049620.338164287] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049620.338287488] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049620.339247470] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049620.339477046] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049620.340200707] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049620.341073881] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049620.344391110] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049620.345456408] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049620.345633023] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049620.347370817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049620.348427060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049620.445572420] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049620.446680291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049620.447135713] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049620.449748393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049620.450976784] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049620.502779220] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973528 Long: -76.50298658 -[vectornav-1] [INFO] [1746049620.503915309] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.043, -3.415, 7.82) -[mux-7] [INFO] [1746049620.545475143] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049620.546319145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049620.547044122] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049620.548679383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049620.549988204] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049620.585790182] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049620.588499483] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049620.588888080] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049620.589862098] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049620.590009829] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049620.590762119] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049620.591628769] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049620.645120530] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049620.645990949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049620.646457100] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049620.648378101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049620.649440671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049620.745140534] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049620.746050069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049620.746629023] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049620.748317208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049620.748860570] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049620.835492799] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049620.838080063] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049620.838417086] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049620.839189800] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049620.839468262] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049620.839591440] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049620.839970244] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049620.844428254] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049620.844961776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049620.845606273] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049620.846643983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049620.847759264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049620.945517327] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049620.946671548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049620.947461159] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049620.948966469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049620.949518745] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049621.002271956] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973525 Long: -76.50298671 -[vectornav-1] [INFO] [1746049621.003236972] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.038, -3.415, 7.777) -[mux-7] [INFO] [1746049621.044957171] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049621.045663610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049621.046144260] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049621.047745067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049621.048353813] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049621.085674812] [sailbot.teensy]: Check telemetry callback entered -[mux-7] [INFO] [1746049621.088842325] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049621.088868868] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049621.089107485] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049621.089802630] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049621.090647234] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049621.091505806] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049621.144406763] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049621.144921671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049621.145449678] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049621.146576771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049621.147473993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049621.244962288] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049621.245681682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049621.246358812] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049621.247503420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049621.248588873] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049621.335204129] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049621.337548468] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049621.337729983] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049621.338052642] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049621.338519792] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049621.339460937] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049621.340107626] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049621.344583916] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049621.345599491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049621.345847428] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049621.347347993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049621.348500044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049621.443724315] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049621.444107356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049621.444281828] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049621.444972019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049621.445650712] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049621.502303652] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973508 Long: -76.502987 -[vectornav-1] [INFO] [1746049621.503798163] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.033, -3.415, 7.801) -[mux-7] [INFO] [1746049621.545061485] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049621.545864320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049621.546450819] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049621.548000391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049621.549166902] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049621.584920314] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049621.586651610] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049621.587483602] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049621.588299326] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049621.587100527] [sailbot.mux]: algo sail angle: 85 -[trim_sail-4] [INFO] [1746049621.588140456] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049621.589111277] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049621.645070337] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049621.645757142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049621.646446268] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049621.647761204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049621.648878924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049621.745304342] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049621.745960741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049621.746783429] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049621.748077403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049621.749202377] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049621.835411986] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049621.837250337] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049621.838500637] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049621.838304311] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049621.838797099] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049621.838964756] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049621.839358052] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049621.844242426] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049621.844992042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049621.845349467] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049621.846712146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049621.847861517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049621.945219562] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049621.946281871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049621.946703967] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049621.948509570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049621.949675109] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049622.003405697] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973491 Long: -76.50298722 -[vectornav-1] [INFO] [1746049622.004810523] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03, -3.412, 7.807) -[mux-7] [INFO] [1746049622.045780202] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049622.047682038] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049622.047776259] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049622.048580882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049622.049192644] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049622.085506254] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049622.087963515] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049622.088843514] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049622.089083809] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049622.090112980] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049622.091021671] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049622.091855276] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049622.145213761] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049622.146106034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049622.146868181] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049622.148206091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049622.149372205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049622.245306864] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049622.246289557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049622.246759304] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049622.248522912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049622.249524907] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049622.335604963] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049622.337585179] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049622.338556661] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049622.338489681] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049622.338788966] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049622.339746433] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049622.340693717] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049622.344284289] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049622.344757707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049622.345363523] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049622.346443908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049622.347537830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049622.445216328] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049622.445855018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049622.446735336] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049622.448073332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049622.449110312] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049622.502725439] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697349 Long: -76.50298749 -[vectornav-1] [INFO] [1746049622.504245050] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.025, -3.414, 7.787) -[mux-7] [INFO] [1746049622.545291586] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049622.546159752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049622.546758644] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049622.548455333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049622.549796317] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049622.585705609] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049622.588808337] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049622.589142783] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049622.589452740] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049622.590508302] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049622.591433972] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049622.592333734] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049622.644874495] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049622.645729710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049622.646145509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049622.647590308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049622.648613444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049622.745184898] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049622.746110017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049622.746831871] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049622.747967461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049622.748495001] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049622.835454031] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049622.837300107] [sailbot.teensy]: Wind angle: 346 -[teensy-2] [INFO] [1746049622.838273010] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049622.838318266] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049622.839190104] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049622.839379514] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049622.840002544] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049622.844409801] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049622.844917026] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049622.846521656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[mux-7] [INFO] [1746049622.845491977] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049622.847530615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049622.945331408] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049622.945973635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049622.946820225] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049622.948226447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049622.949418247] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049623.002507279] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973479 Long: -76.5029877 -[vectornav-1] [INFO] [1746049623.003567305] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.007, -3.41, 7.668) -[mux-7] [INFO] [1746049623.044808835] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049623.045423561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049623.045913908] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049623.047161076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049623.048228307] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049623.085570050] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049623.087907790] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049623.088148014] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049623.088968139] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049623.089488062] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049623.089860718] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049623.090748962] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049623.144968501] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049623.145813981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049623.146243049] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049623.147897968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049623.148436474] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049623.245179989] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049623.245907708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049623.246663199] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049623.247821368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049623.248807252] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049623.335603925] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049623.338117045] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049623.338942509] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049623.339095052] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049623.339816714] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049623.340483737] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049623.341331390] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049623.344324580] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049623.344876358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049623.345440202] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049623.346548977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049623.347575917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049623.445063292] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049623.446303646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049623.446456473] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049623.448212704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049623.449248042] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049623.502661744] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973471 Long: -76.50298794 -[vectornav-1] [INFO] [1746049623.503742486] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.971, -3.417, 7.528) -[mux-7] [INFO] [1746049623.545009235] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049623.545722479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049623.546287643] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049623.547807897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049623.548829848] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049623.585565679] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049623.588212804] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049623.588702524] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049623.589200376] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049623.590300097] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049623.591159062] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049623.592011784] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049623.645315349] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049623.646001284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049623.646827690] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049623.648536435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049623.649701348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049623.744976002] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049623.745827329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049623.746255289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049623.747939628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049623.748957739] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049623.835451784] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049623.837526971] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049623.838331550] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049623.838512066] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049623.839444233] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049623.839622434] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049623.840407994] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049623.844562423] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049623.845135629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049623.845706899] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049623.846787473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049623.848003598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049623.945157840] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049623.945840739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049623.946528264] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049623.947754670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049623.948981412] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049624.002437142] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973442 Long: -76.50298819 -[vectornav-1] [INFO] [1746049624.003870856] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03, -3.405, 7.914) -[mux-7] [INFO] [1746049624.045130481] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049624.046365573] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049624.046413742] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049624.048275755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049624.049364551] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049624.085528329] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049624.087515579] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049624.087926008] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049624.088557607] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049624.089208864] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049624.089500585] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049624.090465052] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049624.144899803] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049624.145839653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049624.146146616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049624.147751585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049624.148828633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049624.245306096] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049624.246410940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049624.247452244] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049624.248649027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049624.249693009] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049624.335383759] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049624.337295118] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049624.337783585] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049624.339258856] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049624.339337792] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049624.340283189] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049624.341155707] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049624.344386734] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049624.344934717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049624.345463516] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049624.346579027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049624.347611909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049624.445106752] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049624.445838915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049624.446509413] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049624.448124221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049624.448653378] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049624.502324239] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973432 Long: -76.50298821 -[vectornav-1] [INFO] [1746049624.503295581] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03999999999996, -3.4, 7.977) -[mux-7] [INFO] [1746049624.544872696] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049624.545409432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049624.546040790] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049624.547155155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049624.548334160] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049624.585559490] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049624.588273972] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049624.588990772] [sailbot.teensy]: Wind angle: 344 -[mux-7] [INFO] [1746049624.590031216] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049624.590098755] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049624.590985506] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049624.591907455] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049624.645458602] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049624.646010318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049624.647074647] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049624.648299059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049624.649639702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049624.745309745] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049624.746793749] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049624.746336822] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049624.748540899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049624.749633355] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049624.835746255] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049624.838497831] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049624.839426055] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049624.839627369] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049624.840428138] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049624.840593763] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049624.841300584] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049624.844535847] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049624.845162791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049624.845764452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049624.846974027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049624.848046836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049624.945398991] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049624.946378430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049624.946896533] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049624.948253393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049624.948697213] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049625.002478926] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973406 Long: -76.50298839 -[vectornav-1] [INFO] [1746049625.003671456] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.11, -3.375, 8.532) -[mux-7] [INFO] [1746049625.045478656] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049625.046933691] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049625.046478310] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049625.049207173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049625.049983059] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049625.085402533] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049625.087811001] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049625.087936408] [sailbot.teensy]: Wind angle: 344 -[mux-7] [INFO] [1746049625.088874054] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049625.089177774] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049625.090105508] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049625.090934036] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049625.144682148] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049625.145610568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049625.145873007] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049625.148485016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049625.150184955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049625.245363567] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049625.246333137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049625.246844570] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049625.248127812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049625.248644418] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049625.335460163] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049625.337408577] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049625.338358088] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049625.337858804] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049625.338739968] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049625.339229924] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049625.340062778] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049625.344373086] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049625.345083074] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049625.345683176] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049625.346812654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049625.347824667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049625.445223971] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049625.445947484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049625.447012807] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049625.448099288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049625.449245436] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049625.502457919] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973382 Long: -76.50298846 -[vectornav-1] [INFO] [1746049625.503455031] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.15700000000004, -3.358, 8.809) -[mux-7] [INFO] [1746049625.545156060] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049625.545963512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049625.546756474] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049625.547937679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049625.548999577] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049625.585539322] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049625.588140579] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049625.588565495] [sailbot.teensy]: Wind angle: 344 -[mux-7] [INFO] [1746049625.588744944] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049625.589508432] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049625.590275403] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049625.590620920] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049625.645196124] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049625.645878801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049625.646827851] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049625.648029916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049625.649354100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049625.745165653] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049625.746556114] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049625.745943545] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049625.747968901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049625.748848123] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049625.835606584] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049625.838293842] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049625.838437551] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049625.839293212] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049625.839704865] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049625.840294989] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049625.841184612] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049625.844482296] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049625.844941307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049625.846329065] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049625.846662519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049625.847951070] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049625.945578485] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049625.946475024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049625.947163378] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049625.948949240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049625.950155466] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049626.002501348] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973375 Long: -76.50298865 -[vectornav-1] [INFO] [1746049626.003513045] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.067, -3.395, 8.153) -[mux-7] [INFO] [1746049626.045103497] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049626.045745422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049626.046321413] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049626.048179926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049626.049316069] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049626.085408899] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049626.087813289] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049626.088930484] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049626.089485543] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049626.090999179] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049626.091870012] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049626.092728833] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049626.144955695] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049626.145645619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049626.146238034] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049626.147742949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049626.148895397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049626.245045985] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049626.246301607] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049626.246491374] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049626.248412240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049626.249517832] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049626.335448086] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049626.337526905] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049626.338238892] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049626.339223496] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049626.340502707] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049626.341427509] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049626.342294368] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049626.344376413] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049626.344838835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049626.345477010] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049626.346491003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049626.347511090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049626.444770655] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049626.445345831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049626.445974413] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049626.447067314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049626.448238651] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049626.502450244] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973384 Long: -76.50298854 -[vectornav-1] [INFO] [1746049626.503966557] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.017, -3.415, 7.856) -[mux-7] [INFO] [1746049626.545321970] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049626.546046867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049626.546816174] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049626.548254393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049626.549448452] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049626.585627289] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049626.588215388] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049626.588612721] [sailbot.teensy]: Wind angle: 343 -[mux-7] [INFO] [1746049626.588761567] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049626.589686460] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049626.590650933] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049626.591605239] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049626.645596282] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049626.646647467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049626.647336445] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049626.649122616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049626.650212149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049626.745271142] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049626.746496498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049626.746795734] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049626.748863868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049626.750088530] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049626.835513051] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049626.837606133] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049626.838570784] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049626.837805381] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049626.838403107] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049626.839467796] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049626.840372109] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049626.844390270] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049626.845032473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049626.845844264] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049626.846742366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049626.847832102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049626.945549489] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049626.946584590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049626.947122053] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049626.948317883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049626.948796315] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049627.003184794] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973362 Long: -76.50298862 -[vectornav-1] [INFO] [1746049627.004509700] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.995, -3.418, 7.708) -[mux-7] [INFO] [1746049627.045186509] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049627.045962700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049627.046620677] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049627.048347193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049627.049360248] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049627.085439772] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049627.087285131] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049627.088234239] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049627.089133808] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049627.088037506] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049627.088401491] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049627.090043280] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049627.144974736] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049627.145757544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049627.146391889] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049627.147694622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049627.148765411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049627.245135897] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049627.245883705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049627.246543250] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049627.247864289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049627.249057984] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049627.335533749] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049627.337780851] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049627.338177409] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049627.338785818] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049627.339662294] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049627.339692978] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049627.340656328] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049627.344447606] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049627.345098366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049627.345568581] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049627.346844301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049627.347836822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049627.445476303] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049627.446384688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049627.447588289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049627.448624478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049627.449291323] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049627.503499132] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973358 Long: -76.50298882 -[vectornav-1] [INFO] [1746049627.504834985] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.94399999999996, -3.426, 7.417) -[mux-7] [INFO] [1746049627.545106796] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049627.545804253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049627.546506872] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049627.548036328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049627.548814730] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049627.585372357] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049627.587787914] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049627.587959281] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049627.588968782] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049627.589644114] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049627.589966759] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049627.590847012] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049627.645434351] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049627.646616839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049627.647079962] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049627.649156644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049627.650226062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049627.745593918] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049627.746285492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049627.747210934] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049627.748104497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049627.748657127] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049627.835519503] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049627.837383656] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049627.837909063] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049627.838442847] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049627.839395840] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049627.840233431] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049627.840463634] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746049627.844694312] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049627.845092997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049627.846766449] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049627.847189746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049627.848514177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049627.945755679] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049627.946839356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049627.947463016] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049627.949710880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049627.950926961] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049628.002595507] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697333 Long: -76.50298928 -[vectornav-1] [INFO] [1746049628.003718164] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.009, -3.4, 7.849) -[mux-7] [INFO] [1746049628.045217220] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049628.045896246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049628.046635973] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049628.047851531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049628.048539902] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049628.085822552] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049628.088728899] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049628.088751055] [sailbot.teensy]: Wind angle: 334 -[teensy-2] [INFO] [1746049628.089819624] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049628.090555970] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049628.090759255] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049628.091668848] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049628.145976830] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049628.146225881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049628.148212527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049628.148826985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049628.150070199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049628.245349211] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049628.246279542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049628.247249271] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049628.249631147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049628.250677850] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049628.335483178] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049628.337475178] [sailbot.teensy]: Wind angle: 334 -[teensy-2] [INFO] [1746049628.338436850] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049628.339318646] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049628.338486782] [sailbot.mux]: algo sail angle: 80 -[trim_sail-4] [INFO] [1746049628.339784724] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049628.340200076] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049628.344441603] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049628.345078956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049628.345495715] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049628.346767883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049628.347918882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049628.445478558] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049628.446207511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049628.447355229] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049628.448392598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049628.448912247] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049628.503424503] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973319 Long: -76.50298944 -[vectornav-1] [INFO] [1746049628.504763019] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.024, -3.395, 7.897) -[mux-7] [INFO] [1746049628.545105411] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049628.546541124] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049628.546095302] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049628.547954825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049628.549034061] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049628.585337373] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049628.587504671] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049628.587504640] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049628.588475491] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049628.589236071] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049628.589400144] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049628.590339957] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049628.645405014] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049628.646422127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049628.646922541] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049628.648927970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049628.649926926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049628.745111374] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049628.745912293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049628.746667289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049628.747895053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049628.748536222] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049628.835363308] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049628.837796689] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049628.838508512] [sailbot.teensy]: Wind angle: 334 -[mux-7] [INFO] [1746049628.839215175] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049628.839579268] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049628.840547400] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049628.841116261] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049628.844299066] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049628.844964427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049628.845581748] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049628.846619681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049628.847648420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049628.944960912] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049628.945633777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049628.946382122] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049628.947480989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049628.948452166] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049629.002744207] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973307 Long: -76.50298959 -[vectornav-1] [INFO] [1746049629.004265818] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.026, -3.389, 8.048) -[mux-7] [INFO] [1746049629.045474854] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049629.046087800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049629.046961149] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049629.048275933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049629.049562231] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049629.085526966] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049629.087931346] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049629.088053172] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049629.088999652] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049629.089162331] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049629.089927277] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049629.090779818] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049629.144834154] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049629.145452379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049629.145996223] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049629.147203535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049629.148408237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049629.245334574] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049629.246010154] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049629.247183434] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049629.248001066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049629.248475834] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049629.335359028] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049629.337255651] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049629.337855800] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049629.338225578] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049629.339135457] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049629.339384010] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049629.339997829] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049629.344403770] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049629.345008444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049629.345539304] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049629.346708559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049629.347766967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049629.445140738] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049629.445991818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049629.446972075] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049629.447952040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049629.448508155] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049629.502807263] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973294 Long: -76.50298978 -[vectornav-1] [INFO] [1746049629.503798557] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.975, -3.423, 7.514) -[mux-7] [INFO] [1746049629.545525979] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049629.546872479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049629.548348779] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049629.548550884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049629.549007122] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049629.585668744] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049629.588352543] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049629.588852813] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049629.589347472] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049629.590249558] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049629.590796850] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049629.591183175] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049629.645605330] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049629.646412814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049629.647532966] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049629.648884752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049629.650338470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049629.745746022] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049629.746434998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049629.747755368] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049629.749620732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049629.750750963] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049629.835350782] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049629.837192974] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049629.838239214] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049629.839131101] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049629.839364507] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049629.840203373] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049629.841113541] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049629.844637003] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049629.845281351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049629.845807181] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049629.846973239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049629.848314829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049629.945325401] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049629.945849308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049629.946831095] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049629.948469168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049629.949550060] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049630.002581052] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973277 Long: -76.50299002 -[vectornav-1] [INFO] [1746049630.003653863] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.999, -3.417, 7.761) -[mux-7] [INFO] [1746049630.045198084] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049630.045995596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049630.047019009] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049630.048402507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049630.049550971] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049630.085486281] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049630.087484804] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049630.087947461] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049630.088652172] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049630.089596680] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049630.089876665] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049630.090566222] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049630.145197629] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049630.146004354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049630.146882383] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049630.148335809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049630.148843679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049630.245596895] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049630.246740030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049630.247188525] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049630.249141151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049630.250353619] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049630.335519181] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049630.338050757] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049630.338125203] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049630.339114417] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049630.339714383] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049630.340017968] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049630.340906716] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049630.344500902] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049630.345154560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049630.345642005] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049630.346908091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049630.347883179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049630.445523181] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049630.446776459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049630.447483183] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049630.450323192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049630.451496047] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049630.503233576] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973276 Long: -76.50299005 -[vectornav-1] [INFO] [1746049630.504584326] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.983, -3.434, 7.673) -[mux-7] [INFO] [1746049630.544720322] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049630.545361822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049630.545920249] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049630.547245643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049630.548295556] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049630.585607056] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049630.587760555] [sailbot.teensy]: Wind angle: 358 -[trim_sail-4] [INFO] [1746049630.588295588] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049630.588872764] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049630.589806842] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049630.589749319] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049630.590733936] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049630.645147018] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049630.646366724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049630.647075591] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049630.648576436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049630.649130101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049630.745377847] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049630.746466893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049630.746923340] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049630.748922836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049630.750011808] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049630.835827269] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049630.838726592] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049630.838808978] [sailbot.teensy]: Wind angle: 357 -[mux-7] [INFO] [1746049630.839350161] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049630.840289435] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049630.840850602] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049630.841243168] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049630.844477660] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049630.844944188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049630.845616028] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049630.846701691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049630.847763247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049630.945303330] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049630.946212707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049630.946860470] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049630.948390179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049630.949602335] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049631.002425599] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973273 Long: -76.50299006 -[vectornav-1] [INFO] [1746049631.003408041] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.004, -3.417, 7.751) -[mux-7] [INFO] [1746049631.045531268] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049631.047092619] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049631.046998784] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049631.049545530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049631.050716195] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049631.085440550] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049631.087260730] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049631.087756819] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049631.088221649] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049631.089148881] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049631.089666607] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049631.090010258] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049631.145046235] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049631.145731846] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049631.147512866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[mux-7] [INFO] [1746049631.146306949] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049631.148670798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049631.245073593] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049631.245797333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049631.246714494] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049631.247912666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049631.248480948] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049631.335210783] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049631.337013418] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049631.337881341] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049631.338680027] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049631.339215294] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049631.340136079] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049631.341052378] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049631.344350777] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049631.344862612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049631.345423058] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049631.346545552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049631.347612225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049631.445788801] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049631.446735548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049631.447722449] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049631.449192988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049631.450357854] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049631.503268456] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973247 Long: -76.50299009 -[vectornav-1] [INFO] [1746049631.504595544] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.003, -3.41, 7.762) -[mux-7] [INFO] [1746049631.545384704] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049631.546271136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049631.546842491] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049631.548890979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049631.549978993] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049631.585784511] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049631.588061073] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049631.588699421] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049631.589127824] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049631.589737564] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049631.589994556] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049631.590931423] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049631.645546853] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049631.646416054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049631.647224786] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049631.648939594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049631.650244093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049631.745595202] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049631.746551746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049631.747251860] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049631.749127080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049631.750192477] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049631.835543750] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049631.837998652] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049631.838018509] [sailbot.teensy]: Wind angle: 355 -[mux-7] [INFO] [1746049631.838649727] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049631.838988095] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049631.839909108] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049631.840811763] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049631.844500229] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049631.845244337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049631.845648257] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049631.846964729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049631.848080972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049631.944947565] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049631.945623944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049631.946249945] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049631.947867543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049631.948679555] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049632.002522632] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973224 Long: -76.5029904 -[vectornav-1] [INFO] [1746049632.003569890] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.014, -3.405, 7.807) -[mux-7] [INFO] [1746049632.045413353] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049632.046327424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049632.046925587] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049632.049239306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049632.050322944] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049632.085384483] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049632.087202653] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049632.087762789] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049632.088183117] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049632.088902825] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049632.089101854] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049632.089979789] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049632.145141482] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049632.145898599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049632.146587323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049632.148131855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049632.149764824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049632.245224320] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049632.245978728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049632.246847783] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049632.247956839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049632.248995045] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049632.335401017] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049632.337342503] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049632.338289373] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049632.338330026] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049632.339025370] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049632.339155413] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049632.339377121] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049632.344269020] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049632.345072555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049632.345419511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049632.346841051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049632.347926916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049632.445266010] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049632.446210959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049632.446706144] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049632.448738528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049632.449243667] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049632.502715586] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973218 Long: -76.50299062 -[vectornav-1] [INFO] [1746049632.503724700] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.01, -3.419, 7.728) -[mux-7] [INFO] [1746049632.545023559] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049632.545772703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049632.546324545] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049632.547706012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049632.548779501] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049632.585697019] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049632.588676305] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049632.589600196] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049632.590461640] [sailbot.teensy]: Wind angle: 355 -[teensy-2] [INFO] [1746049632.590855584] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049632.591195363] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049632.591540187] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049632.645096732] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049632.645984537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049632.646576995] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049632.647945358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049632.649004650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049632.745434980] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049632.746826112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049632.747400407] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049632.749842424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049632.750956712] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049632.835582315] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049632.838464901] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049632.838834903] [sailbot.teensy]: Wind angle: 355 -[mux-7] [INFO] [1746049632.838958555] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049632.840063243] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049632.840995624] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049632.841879395] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049632.844587158] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049632.844969096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049632.845731765] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049632.846718275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049632.847850746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049632.945655519] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049632.947317971] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049632.947919879] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049632.949789961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049632.950855812] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049633.003145358] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973213 Long: -76.5029908 -[vectornav-1] [INFO] [1746049633.004499596] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.969, -3.427, 7.548) -[mux-7] [INFO] [1746049633.045467519] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049633.045652826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049633.048188163] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049633.048819495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049633.050006044] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049633.085582734] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049633.087798788] [sailbot.teensy]: Wind angle: 355 -[teensy-2] [INFO] [1746049633.088885126] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049633.088516102] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049633.090158925] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049633.090454363] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049633.091424748] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049633.145327278] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049633.146807266] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049633.145973164] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049633.148229913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049633.149463029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049633.245585713] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049633.246638904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049633.247239810] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049633.249056137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049633.250181868] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049633.335446687] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049633.337977527] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049633.338442961] [sailbot.teensy]: Wind angle: 356 -[mux-7] [INFO] [1746049633.338456832] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049633.339626800] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049633.340574564] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049633.341465504] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049633.344286304] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049633.344873054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049633.345601883] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049633.346562126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049633.347642230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049633.445361093] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049633.446200118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049633.447241797] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049633.447919765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049633.448469517] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049633.503054080] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973199 Long: -76.50299088 -[vectornav-1] [INFO] [1746049633.504334876] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.95799999999997, -3.426, 7.485) -[mux-7] [INFO] [1746049633.545307765] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049633.546289650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049633.546747427] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049633.548406484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049633.549627235] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049633.585465791] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049633.587765242] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049633.588394689] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049633.589170688] [sailbot.teensy]: Wind angle: 356 -[teensy-2] [INFO] [1746049633.590219791] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049633.591053106] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049633.591922924] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049633.645494790] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049633.646280530] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049633.647155629] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049633.648351288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049633.648902918] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049633.745523791] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049633.746722598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049633.747458448] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049633.749497521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049633.750409366] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049633.836044241] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049633.838805650] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049633.838868271] [sailbot.teensy]: Wind angle: 357 -[mux-7] [INFO] [1746049633.839135049] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049633.839277673] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049633.839672718] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049633.840051100] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049633.844432806] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049633.845443219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049633.845614925] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049633.847159921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049633.848197703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049633.945604946] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049633.946315272] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049633.947367204] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049633.948696432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049633.949945075] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049634.002506627] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973185 Long: -76.50299109 -[vectornav-1] [INFO] [1746049634.003563193] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.96299999999997, -3.437, 7.434) -[mux-7] [INFO] [1746049634.045209033] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049634.045946917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049634.046909487] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049634.047984978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049634.048524210] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049634.085562281] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049634.087547095] [sailbot.teensy]: Wind angle: 358 -[trim_sail-4] [INFO] [1746049634.088407503] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049634.088519201] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049634.089406114] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049634.088754390] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049634.090329648] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049634.145236448] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049634.146028118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049634.147401127] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049634.148318023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049634.149442207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049634.245233374] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049634.246086824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049634.246686082] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049634.248060546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049634.248634246] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049634.335585314] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049634.338197166] [sailbot.teensy]: Wind angle: 358 -[trim_sail-4] [INFO] [1746049634.338635845] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049634.339207412] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049634.339615450] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049634.340231837] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049634.341334739] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049634.344295066] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049634.344834683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049634.346625843] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049634.346679355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049634.347869756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049634.445611759] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049634.446457122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049634.447270897] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049634.448522889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049634.449056677] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049634.503082357] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973166 Long: -76.50299108 -[vectornav-1] [INFO] [1746049634.504180795] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.972, -3.429, 7.497) -[mux-7] [INFO] [1746049634.545241570] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049634.546174557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049634.546598293] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049634.548472876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049634.549517564] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049634.585669658] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049634.588088399] [sailbot.teensy]: Wind angle: 358 -[trim_sail-4] [INFO] [1746049634.588382779] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049634.589225873] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049634.590163019] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049634.590215748] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049634.591147215] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049634.645120147] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049634.646093547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049634.646632618] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049634.648867520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049634.649905731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049634.745412819] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049634.746232689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049634.746963668] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049634.748685110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049634.749235492] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049634.835487168] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049634.837662993] [sailbot.teensy]: Wind angle: 357 -[teensy-2] [INFO] [1746049634.838752657] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049634.839180975] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049634.839305520] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049634.839386821] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049634.839780512] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049634.844519896] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049634.845214338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049634.845830417] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049634.847206512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049634.848293698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049634.945520327] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049634.946556431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049634.947558143] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049634.948102550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049634.948609655] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049635.002752879] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973148 Long: -76.50299114 -[vectornav-1] [INFO] [1746049635.003846939] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.025, -3.402, 7.941) -[mux-7] [INFO] [1746049635.044841925] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049635.045461093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049635.046084014] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049635.047575974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049635.048609490] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049635.085430945] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049635.087859668] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049635.088279748] [sailbot.teensy]: Wind angle: 357 -[mux-7] [INFO] [1746049635.088682366] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049635.089426036] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049635.090349991] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049635.091170490] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049635.144902867] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049635.145674181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049635.146197097] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049635.147462733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049635.148451922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049635.245601506] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049635.247357910] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049635.248097204] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049635.250219040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049635.251339844] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049635.335772052] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049635.337944562] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049635.338798169] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049635.339045207] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049635.339920252] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049635.339998615] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049635.340926368] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049635.344443301] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049635.345118544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049635.345720666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049635.346911216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049635.348114126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049635.445210575] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049635.445916627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049635.446645409] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049635.447713913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049635.448269837] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049635.503376719] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973134 Long: -76.50299123 -[vectornav-1] [INFO] [1746049635.504653194] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03499999999997, -3.402, 8.006) -[mux-7] [INFO] [1746049635.545124332] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049635.545855326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049635.546521834] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049635.547824223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049635.548904436] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049635.585620750] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049635.587704311] [sailbot.teensy]: Wind angle: 355 -[teensy-2] [INFO] [1746049635.588774504] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049635.588255692] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049635.589683883] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049635.590109412] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049635.590531253] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049635.645485630] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049635.646295529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049635.647171886] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049635.648783997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049635.650483764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049635.745791444] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049635.746374572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049635.747819878] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049635.748729631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049635.749968358] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049635.835502845] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049635.837515258] [sailbot.teensy]: Wind angle: 354 -[teensy-2] [INFO] [1746049635.838535084] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049635.838075910] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049635.839478515] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049635.840049315] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049635.840372073] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049635.844545745] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049635.845156087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049635.845705221] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049635.846867254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049635.848179426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049635.945508242] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049635.946144738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049635.947162652] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049635.948620210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049635.949144130] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049636.002546741] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973134 Long: -76.50299107 -[vectornav-1] [INFO] [1746049636.003596312] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.041, -3.388, 8.041) -[mux-7] [INFO] [1746049636.045373700] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049636.045984370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049636.046884554] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049636.048054053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049636.049215503] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049636.085557500] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049636.088231931] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049636.088357385] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049636.089183904] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049636.089375419] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049636.090096495] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049636.090985139] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049636.144939123] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049636.145686950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049636.146172735] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049636.147593010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049636.148785317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049636.244818478] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049636.245466038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049636.246044697] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049636.247406401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049636.248585049] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049636.335707524] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049636.337999950] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049636.338692789] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049636.339114725] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049636.339529175] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049636.340099088] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049636.340986048] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049636.344530411] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049636.345129464] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049636.345715654] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049636.346990191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049636.348117087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049636.445643610] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049636.446447993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049636.447432520] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049636.449344637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049636.450607105] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049636.502352305] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973113 Long: -76.50299125 -[vectornav-1] [INFO] [1746049636.503319349] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.041, -3.393, 8.007) -[mux-7] [INFO] [1746049636.545097773] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049636.546075440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049636.546543945] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049636.548312116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049636.549560014] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049636.585696755] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049636.588078584] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049636.588603572] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049636.589436201] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049636.589732395] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049636.590399300] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049636.591331535] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049636.645548755] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049636.646329944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049636.647551899] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049636.649700663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049636.650905717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049636.745688786] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049636.746768188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049636.747368855] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049636.749233747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049636.750297825] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049636.835391757] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049636.837319100] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049636.837657061] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049636.838291606] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049636.839176213] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049636.839605486] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049636.840102039] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049636.844281498] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049636.845188689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049636.845693202] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049636.847056036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049636.848202715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049636.945487700] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049636.946078218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049636.947844305] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049636.948251518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049636.948786390] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049637.003023228] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973096 Long: -76.50299133 -[vectornav-1] [INFO] [1746049637.004787598] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.029, -3.396, 8.019) -[mux-7] [INFO] [1746049637.045135019] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049637.046350317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049637.046625716] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049637.048296261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049637.048857946] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049637.085391118] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049637.087774772] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049637.088989857] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049637.089167778] [sailbot.teensy]: Wind angle: 355 -[teensy-2] [INFO] [1746049637.090078863] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049637.090955192] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049637.091794325] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049637.145228973] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049637.146159999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049637.146653888] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049637.148226521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049637.148773181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049637.245601205] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049637.246780913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049637.247259041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049637.249412716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049637.250563510] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049637.335425936] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049637.337675586] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049637.337675235] [sailbot.teensy]: Wind angle: 355 -[teensy-2] [INFO] [1746049637.338693874] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049637.339119314] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049637.339626938] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049637.340577786] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049637.344326259] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049637.344955811] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049637.346656974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[mux-7] [INFO] [1746049637.345701578] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049637.347817293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049637.444963575] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049637.445914196] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049637.446453126] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049637.448071486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049637.449157518] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049637.502481909] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973098 Long: -76.50299139 -[vectornav-1] [INFO] [1746049637.503515118] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.08000000000004, -3.379, 8.566) -[mux-7] [INFO] [1746049637.545165706] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049637.546271354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049637.546603281] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049637.548412405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049637.549780705] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049637.585409094] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049637.587632823] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049637.587628642] [sailbot.teensy]: Wind angle: 355 -[teensy-2] [INFO] [1746049637.588650694] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049637.589106254] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049637.589575739] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049637.590468273] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049637.645345273] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049637.646812448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049637.646855204] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049637.648598936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049637.649060815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049637.745359653] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049637.746108963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049637.747128387] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049637.748626483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049637.749859353] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049637.835572050] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049637.837826196] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049637.838909639] [sailbot.teensy]: Wind angle: 355 -[mux-7] [INFO] [1746049637.838920569] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049637.839347616] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049637.839738604] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049637.840127000] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049637.844362111] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049637.845112839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049637.845846039] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049637.846797354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049637.847998587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049637.945660756] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049637.946540449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049637.947470070] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049637.948907777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049637.950136491] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049638.003139993] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973065 Long: -76.50299159 -[vectornav-1] [INFO] [1746049638.004384499] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.227, -3.352, 9.619) -[mux-7] [INFO] [1746049638.045229583] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049638.046111846] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049638.046628590] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049638.048356704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049638.049500455] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049638.085530155] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049638.087713589] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049638.087762441] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049638.088731456] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049638.089387610] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049638.089589509] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049638.090504053] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049638.145532880] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049638.146448919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049638.147217967] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049638.148581286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049638.149111093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049638.245601043] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049638.246328214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049638.247514282] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049638.248221624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049638.248804186] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049638.335780200] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049638.337894197] [sailbot.teensy]: Wind angle: 352 -[teensy-2] [INFO] [1746049638.338960758] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049638.339220670] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049638.339902353] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049638.340795126] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049638.340247207] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049638.344401381] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049638.345566748] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049638.344926621] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049638.347792637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049638.348873653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049638.445428030] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049638.446097468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049638.447031150] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049638.448458636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049638.449742202] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049638.502506002] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973069 Long: -76.50299147 -[vectornav-1] [INFO] [1746049638.503700503] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.11699999999996, -3.37, 9.041) -[mux-7] [INFO] [1746049638.545407237] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049638.546361616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049638.547004436] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049638.548859055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049638.549365441] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049638.585435355] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049638.587380293] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049638.588134207] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049638.588428378] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049638.589195589] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049638.589312368] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049638.590196390] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049638.645181856] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049638.646085111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049638.646809297] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049638.648360271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049638.649428229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049638.745228919] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049638.746051664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049638.746676841] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049638.748886719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049638.749910438] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049638.835443826] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049638.837697773] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049638.837782168] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049638.838678401] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049638.839016537] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049638.839831281] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049638.840794999] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049638.844480905] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049638.844990194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049638.845665553] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049638.846671700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049638.847729554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049638.945517533] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049638.946353577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049638.947097780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049638.949638632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049638.950777890] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049639.002753439] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973046 Long: -76.50299186 -[vectornav-1] [INFO] [1746049639.003881481] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.124, -3.363, 9.049) -[mux-7] [INFO] [1746049639.045102289] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049639.046386705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049639.046546845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049639.048537984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049639.049715271] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049639.085693891] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049639.087767011] [sailbot.teensy]: Wind angle: 351 -[teensy-2] [INFO] [1746049639.088896878] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049639.088947740] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049639.089969625] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049639.090915234] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049639.091037101] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049639.145226605] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049639.146021627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049639.146626874] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049639.148361139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049639.149387787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049639.245348217] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049639.246075942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049639.246816844] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049639.248180720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049639.249325577] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049639.335365302] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049639.337277518] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049639.337999443] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049639.338194802] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049639.338997096] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049639.338640521] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049639.339377266] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049639.344321592] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049639.345071860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049639.345393209] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049639.346911337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049639.347957221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049639.445505633] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049639.446361498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049639.447322913] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049639.448649647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049639.449704403] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049639.503546593] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973039 Long: -76.50299196 -[vectornav-1] [INFO] [1746049639.505413493] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.134, -3.366, 9.03) -[mux-7] [INFO] [1746049639.545024245] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049639.545855807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049639.546430291] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049639.547883666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049639.548968610] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049639.585282202] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049639.587463999] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049639.587754167] [sailbot.teensy]: Wind angle: 352 -[mux-7] [INFO] [1746049639.588419095] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049639.589079407] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049639.589989532] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049639.590492849] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049639.645156426] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049639.645654980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049639.646571866] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049639.647681792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049639.648765725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049639.745048047] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049639.745517221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049639.746347264] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049639.747339992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049639.748527562] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049639.835455411] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049639.837369090] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049639.837932943] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049639.838325384] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049639.839166988] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049639.839197304] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049639.839747875] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049639.844381697] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049639.845035199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049639.845766982] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049639.847095977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049639.848224118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049639.945680879] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049639.946311975] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049639.947516307] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049639.948552663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049639.950738440] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049640.003146251] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973034 Long: -76.50299198 -[vectornav-1] [INFO] [1746049640.004481799] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.108, -3.358, 9.021) -[mux-7] [INFO] [1746049640.045680985] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049640.046443899] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049640.048565222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[mux-7] [INFO] [1746049640.049184663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049640.049725998] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049640.085562083] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049640.088016401] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049640.088016268] [sailbot.teensy]: Wind angle: 351 -[teensy-2] [INFO] [1746049640.089220116] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049640.089599241] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049640.090446281] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049640.091330687] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049640.145174729] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049640.146090707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049640.146662264] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049640.148133580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049640.149237761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049640.244608323] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049640.245657224] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049640.245776782] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049640.247513367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049640.248587625] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049640.335456944] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049640.337624538] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049640.337976459] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049640.338629426] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049640.338998390] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049640.339543095] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049640.340512226] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049640.344338733] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049640.344990374] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049640.345536317] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049640.346688313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049640.347832249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049640.445621357] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049640.446557820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049640.447311166] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049640.448202806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049640.448737845] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049640.502534545] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697302 Long: -76.50299187 -[vectornav-1] [INFO] [1746049640.503576650] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.08500000000004, -3.351, 9.009) -[mux-7] [INFO] [1746049640.545087664] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049640.545829695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049640.546430529] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049640.547835294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049640.548924587] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049640.585480896] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049640.587900907] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049640.588348294] [sailbot.teensy]: Wind angle: 352 -[mux-7] [INFO] [1746049640.588478634] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049640.589355692] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049640.590237001] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049640.590603693] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049640.645228639] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049640.646086245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049640.646989615] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049640.648244738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049640.649376723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049640.745233555] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049640.745918028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049640.746965153] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049640.748541870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049640.749679706] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049640.835435718] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049640.837802654] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049640.838308204] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049640.838763234] [sailbot.teensy]: Wind angle: 352 -[teensy-2] [INFO] [1746049640.839200170] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049640.839539876] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049640.840246431] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049640.844380528] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049640.844990319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049640.845501940] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049640.846771731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049640.847902067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049640.945639318] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049640.946457999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049640.947416163] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049640.948912647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049640.950521196] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049641.002803297] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973008 Long: -76.50299185 -[vectornav-1] [INFO] [1746049641.003953329] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.081, -3.357, 8.971) -[mux-7] [INFO] [1746049641.045198362] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049641.045819445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049641.046641647] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049641.047798304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049641.049564877] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049641.085833562] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049641.088669155] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049641.089271869] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049641.090353737] [sailbot.teensy]: Wind angle: 352 -[teensy-2] [INFO] [1746049641.091299655] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049641.092219165] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049641.093041894] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049641.145301882] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049641.145785478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049641.146651588] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049641.147728011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049641.149008836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049641.245415820] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049641.246204612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049641.247079483] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049641.248278635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049641.249362870] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049641.335752530] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049641.337807534] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049641.338501476] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049641.338801704] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049641.339725800] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049641.340052857] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049641.340662843] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049641.344539545] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049641.345012779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049641.345657826] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049641.346701937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049641.347849167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049641.445191473] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049641.446285857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049641.446955497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049641.448782091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049641.449933895] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049641.502812733] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972993 Long: -76.50299195 -[vectornav-1] [INFO] [1746049641.503907619] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.097, -3.372, 8.994) -[mux-7] [INFO] [1746049641.544864418] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049641.545589423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049641.546074520] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049641.547563413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049641.548851012] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049641.585647189] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049641.588689691] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049641.588773864] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049641.589819126] [sailbot.teensy]: Wind angle: 351 -[teensy-2] [INFO] [1746049641.590857133] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049641.591788303] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049641.592668424] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049641.645414229] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049641.646268904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049641.647467004] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049641.648901873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049641.650135754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049641.745337315] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049641.746300498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049641.746846761] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049641.749129458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049641.750263549] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049641.835778808] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049641.838066135] [sailbot.teensy]: Wind angle: 351 -[teensy-2] [INFO] [1746049641.839324499] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049641.839166307] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049641.840170537] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049641.840209092] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049641.840828732] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049641.844238160] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049641.844850219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049641.845316394] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049641.846524976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049641.847690819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049641.945546289] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049641.946375243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049641.947123655] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049641.948759232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049641.949950753] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049642.002358049] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972989 Long: -76.50299195 -[vectornav-1] [INFO] [1746049642.003349538] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.075, -3.365, 8.914) -[mux-7] [INFO] [1746049642.045126161] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049642.045881801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049642.046510640] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049642.048344519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049642.049451616] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049642.085438119] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049642.087754352] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049642.088482975] [sailbot.teensy]: Wind angle: 351 -[mux-7] [INFO] [1746049642.088794436] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049642.089521008] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049642.090440920] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049642.091326065] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049642.145456998] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049642.146302763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049642.147293176] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049642.148446798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049642.148990788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049642.245159103] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049642.246039581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049642.246559489] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049642.248170966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049642.248913068] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049642.335769331] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049642.338305130] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049642.338808262] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049642.339214717] [sailbot.teensy]: Wind angle: 351 -[teensy-2] [INFO] [1746049642.340289441] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049642.341145571] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049642.341974450] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049642.344334180] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049642.345039194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049642.345854471] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049642.347370386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049642.348436802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049642.445422913] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049642.446163788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049642.446897881] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049642.448307638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049642.448847709] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049642.502514051] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972979 Long: -76.50299198 -[vectornav-1] [INFO] [1746049642.503723526] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.094, -3.37, 8.88) -[mux-7] [INFO] [1746049642.544968028] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049642.545656615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049642.546378121] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049642.547498859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049642.548671481] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049642.585680532] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049642.588683489] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049642.589208432] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746049642.590209483] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049642.590570241] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049642.591095240] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049642.592066713] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049642.645139278] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049642.645949250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049642.646817711] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049642.648372524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049642.649447491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049642.745281837] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049642.746094742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049642.747170010] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049642.748257920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049642.749046224] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049642.835720695] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049642.837888351] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049642.838484091] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049642.838973470] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049642.839975349] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049642.840094482] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049642.840888190] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049642.844399304] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049642.844850189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049642.845520135] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049642.846540951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049642.847561212] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049642.945352870] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049642.946104542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049642.946933669] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049642.948410449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049642.949207438] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049643.002300279] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972968 Long: -76.50299197 -[vectornav-1] [INFO] [1746049643.003271717] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.105, -3.345, 9.007) -[mux-7] [INFO] [1746049643.044947060] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049643.045745870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049643.046175208] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049643.047889743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049643.048955373] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049643.085464518] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049643.087807635] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049643.088388170] [sailbot.teensy]: Wind angle: 351 -[mux-7] [INFO] [1746049643.088851427] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049643.089407183] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049643.090323712] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049643.091213084] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049643.145190405] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049643.146142034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049643.147142859] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049643.148318709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049643.150057805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049643.245307449] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049643.246180423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049643.246771879] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049643.248614379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049643.249709854] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049643.335587001] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049643.337672832] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049643.338259097] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049643.338796986] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049643.340116009] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049643.340922790] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049643.341290223] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049643.344410188] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049643.344874760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049643.345517586] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049643.346610006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049643.347656711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049643.445079127] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049643.445714913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049643.446497107] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049643.447871037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049643.448466997] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049643.502342991] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697296 Long: -76.502992 -[vectornav-1] [INFO] [1746049643.503327963] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.197, -3.332, 9.615) -[mux-7] [INFO] [1746049643.545299566] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049643.546189865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049643.546762526] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049643.548605504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049643.549720079] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049643.585533274] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049643.587944219] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049643.588584248] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049643.588836076] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746049643.589810937] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049643.590686143] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049643.591502831] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049643.645119481] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049643.646177905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049643.646903376] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049643.648692138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049643.649781102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049643.745288523] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049643.746165375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049643.747264129] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049643.748257056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049643.748893243] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049643.835471067] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049643.837349644] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049643.838341450] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049643.838450297] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049643.839242152] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049643.839274478] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049643.840247613] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049643.844303361] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049643.844897753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049643.845412762] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049643.846596080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049643.847674686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049643.945521986] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049643.946349346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049643.947272131] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049643.948571437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049643.949718178] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049644.003280187] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972956 Long: -76.50299202 -[vectornav-1] [INFO] [1746049644.004850512] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.286, -3.342, 10.373) -[mux-7] [INFO] [1746049644.045005891] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049644.045871793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049644.046275047] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049644.047696771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049644.048677113] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049644.085440240] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049644.087549061] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049644.087862744] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049644.089167743] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049644.089314034] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049644.090344624] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049644.091227201] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049644.145045727] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049644.145894633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049644.146445786] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049644.148120409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049644.149230175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049644.244928822] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049644.246165299] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049644.245650203] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049644.248818585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049644.249624547] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049644.335578330] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049644.338025291] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049644.338089836] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049644.339244069] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049644.339245898] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049644.340240931] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049644.341172857] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049644.344591545] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049644.345024847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049644.346259830] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049644.346732367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049644.347944590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049644.445296953] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049644.445769875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049644.446697949] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049644.447670627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049644.448952892] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049644.503294917] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972954 Long: -76.50299208 -[vectornav-1] [INFO] [1746049644.504613580] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.256, -3.36, 10.135) -[mux-7] [INFO] [1746049644.545157859] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049644.545631469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049644.546689565] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049644.547463115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049644.548538385] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049644.585279049] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049644.587671268] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049644.587760170] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049644.588719543] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049644.588768366] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049644.589622072] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049644.590154030] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049644.645346554] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049644.645972027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049644.646873830] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049644.648545135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049644.649738694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049644.745511590] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049644.746149694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049644.746985211] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049644.748501387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049644.749640384] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049644.835866859] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049644.838533368] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049644.839363686] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049644.839650506] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049644.839758194] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049644.839923202] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049644.840143265] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049644.844643508] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049644.845179808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049644.845821512] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049644.846966427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049644.848820135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049644.945451844] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049644.946163704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049644.947221886] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049644.948306252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049644.949510595] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049645.002408427] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972971 Long: -76.50299193 -[vectornav-1] [INFO] [1746049645.003446762] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.30899999999997, -3.342, 10.551) -[mux-7] [INFO] [1746049645.045779262] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049645.047242957] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049645.046426597] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049645.048596797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049645.049854049] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049645.085484036] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049645.087316420] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049645.087843771] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049645.088367221] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049645.088830957] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049645.089983339] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049645.090839926] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049645.144095620] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049645.144732854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049645.144928999] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049645.146253835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049645.147222725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049645.245105438] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049645.245700933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049645.246391533] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049645.247519460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049645.248756870] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049645.335522110] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049645.337621934] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049645.337890817] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049645.338692865] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049645.339464637] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049645.339871597] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049645.340387762] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049645.344299900] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049645.344827007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049645.345442442] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049645.346705021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049645.347807443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049645.445104419] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049645.445826414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049645.446508010] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049645.447930139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049645.449041165] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049645.503103830] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972957 Long: -76.50299201 -[vectornav-1] [INFO] [1746049645.504770555] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.325, -3.342, 10.626) -[mux-7] [INFO] [1746049645.544742779] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049645.545680476] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049645.546234409] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049645.547648589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049645.548786608] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049645.585451023] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049645.587357864] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049645.587778892] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049645.588369987] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049645.589350860] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049645.590229882] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049645.590498671] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049645.644834297] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049645.645745091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049645.646635397] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049645.647637087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049645.648760662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049645.745259879] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049645.745978977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049645.747287125] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049645.748557958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049645.749741212] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049645.835428242] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049645.837767256] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049645.838386908] [sailbot.teensy]: Wind angle: 340 -[mux-7] [INFO] [1746049645.839000342] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049645.839385487] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049645.840303037] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049645.840943277] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049645.844421248] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049645.844940804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049645.845515585] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049645.846595671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049645.847692457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049645.945183042] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049645.945912649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049645.946580929] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049645.948230776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049645.949272064] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049646.002473434] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972953 Long: -76.50299209 -[vectornav-1] [INFO] [1746049646.003551519] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.304, -3.355, 10.564) -[mux-7] [INFO] [1746049646.045093445] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049646.045961553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049646.046501303] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049646.048124435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049646.050005914] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049646.085775819] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049646.088638262] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049646.089125313] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049646.089325650] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049646.090335728] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049646.091248718] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049646.092103289] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049646.145552610] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049646.146138540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049646.147101720] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049646.148350607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049646.149465339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049646.244991552] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049646.245580016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049646.246246746] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049646.247495174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049646.249287860] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049646.335572256] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049646.338217793] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049646.339188950] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049646.339487915] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049646.340447250] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049646.341335395] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049646.342145322] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049646.344290228] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049646.344802961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049646.345491781] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049646.346467322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049646.347637356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049646.445302287] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049646.446079565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049646.447046086] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049646.448511244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049646.449608257] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049646.503208355] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697296 Long: -76.5029918 -[vectornav-1] [INFO] [1746049646.504609617] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.305, -3.354, 10.525) -[mux-7] [INFO] [1746049646.545053503] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049646.545778126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049646.546295316] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049646.547658698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049646.548810312] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049646.585469258] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049646.587276930] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049646.588260144] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049646.588386904] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049646.588709077] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049646.588815945] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049646.589203747] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049646.645054454] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049646.645670287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049646.646542923] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049646.647625927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049646.648548598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049646.745182824] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049646.745978842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049646.747035053] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049646.747912714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049646.748958755] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049646.835557773] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049646.837839175] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049646.837880650] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049646.838853982] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049646.839797344] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049646.839908732] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049646.840435314] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049646.844341911] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049646.845027521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049646.845440871] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049646.846695686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049646.847869390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049646.945283417] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049646.946102098] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049646.946802276] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049646.948548216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049646.949450222] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049647.002659845] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972973 Long: -76.50299157 -[vectornav-1] [INFO] [1746049647.003714014] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.277, -3.357, 10.47) -[mux-7] [INFO] [1746049647.045381547] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049647.046303541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049647.046878735] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049647.048408824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049647.049236294] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049647.085796666] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049647.087917779] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049647.088996687] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049647.089634048] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049647.089938235] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049647.090830535] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049647.090856695] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746049647.145179417] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049647.146576013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049647.146634098] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049647.148659987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049647.149760188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049647.245539826] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049647.246042015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049647.247258283] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049647.248172367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049647.249262186] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049647.335313014] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049647.337268173] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049647.337834211] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049647.338247195] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049647.339105378] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049647.339635782] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049647.340009548] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049647.344496376] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049647.345037687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049647.345670754] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049647.346752347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049647.347961955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049647.445706343] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049647.446262408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049647.447482049] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049647.448564439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049647.449618963] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049647.502677841] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972989 Long: -76.50299123 -[vectornav-1] [INFO] [1746049647.503854267] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26800000000003, -3.359, 10.477) -[mux-7] [INFO] [1746049647.545274872] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049647.545833132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049647.546750331] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049647.547822036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049647.549009560] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049647.585643084] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049647.587691844] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049647.588226324] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049647.588748745] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049647.589653357] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049647.590459121] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049647.590534932] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049647.645249702] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049647.646034243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049647.646664411] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049647.648292851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049647.649417403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049647.745489712] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049647.746058417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049647.747333259] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049647.748330451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049647.748897940] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049647.835521577] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049647.838152155] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049647.838458097] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049647.839415998] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049647.839866268] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049647.840363279] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049647.841299860] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049647.844403838] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049647.844956647] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049647.845484766] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049647.846641537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049647.847709842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049647.945099347] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049647.946247039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049647.946568132] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049647.948494994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049647.949355966] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049648.003213447] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972982 Long: -76.50299111 -[vectornav-1] [INFO] [1746049648.004754403] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.24199999999996, -3.37, 10.142) -[mux-7] [INFO] [1746049648.044987252] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049648.045992507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049648.046285311] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049648.047923562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049648.048936027] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049648.085458396] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049648.087789167] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049648.087809348] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049648.088806902] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049648.089549865] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049648.089783503] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049648.090705270] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049648.145328489] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049648.146141943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049648.146853803] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049648.148674159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049648.149752597] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049648.245295131] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049648.246119299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049648.246796518] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049648.248369929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049648.249510980] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049648.335520626] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049648.337636770] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049648.337983352] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049648.338944444] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049648.339449472] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049648.339997975] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049648.340910500] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049648.344356753] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049648.344940602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049648.345458959] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049648.346608437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049648.347663661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049648.445683417] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049648.446690671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049648.447758193] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049648.448518150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049648.449079634] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049648.503757043] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972986 Long: -76.50299091 -[vectornav-1] [INFO] [1746049648.505627823] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.156, -3.37, 9.508) -[mux-7] [INFO] [1746049648.545061171] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049648.545904265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049648.546504721] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049648.548058368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049648.549419959] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049648.585438501] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049648.587716140] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049648.588426510] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049648.588703379] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049648.589625273] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049648.590413622] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049648.590502639] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049648.645361265] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049648.646366067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049648.646869692] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049648.648202452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049648.648751485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049648.745618426] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049648.746591952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049648.747159911] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049648.748985657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049648.750207955] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049648.835910412] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049648.838535116] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049648.839194116] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049648.839348731] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049648.839448172] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049648.839737625] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049648.840117590] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049648.844562992] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049648.845145947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049648.845880289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049648.847085372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049648.848118329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049648.945565220] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049648.946244854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049648.947208793] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049648.948595786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049648.949915101] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049649.002688372] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697297 Long: -76.50299113 -[vectornav-1] [INFO] [1746049649.003926454] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.11, -3.386, 9.282) -[mux-7] [INFO] [1746049649.044908616] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049649.045684942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049649.046191016] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049649.047550063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049649.048581973] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049649.085397844] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049649.087077278] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049649.087600742] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049649.088009564] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049649.088936518] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049649.088961806] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049649.089881771] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049649.145095493] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049649.145809653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049649.146513757] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049649.147990710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049649.149137355] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049649.245018861] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049649.245653687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049649.246707143] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049649.247377543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049649.247915576] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049649.335398757] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049649.337301195] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049649.337863306] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049649.338264282] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049649.339225315] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049649.339625477] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049649.340064620] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049649.344418449] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049649.345173895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049649.345550583] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049649.346906677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049649.348069735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049649.445523186] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049649.446360978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049649.447136931] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049649.448463663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049649.448921084] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049649.502721207] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972972 Long: -76.50299089 -[vectornav-1] [INFO] [1746049649.504056500] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.106, -3.385, 9.409) -[mux-7] [INFO] [1746049649.545357873] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049649.546103173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049649.547002962] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049649.548050606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049649.548606323] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049649.585619113] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049649.588458839] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049649.588693606] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049649.589111108] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049649.589148366] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049649.589494271] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049649.590189222] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049649.645113096] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049649.645821064] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049649.646905927] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049649.647749633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049649.649057153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049649.745532187] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049649.746367546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049649.747167156] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049649.749752692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049649.750511955] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049649.835652726] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049649.838699136] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049649.839075560] [sailbot.teensy]: Wind angle: 339 -[mux-7] [INFO] [1746049649.839548833] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049649.839625340] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049649.839994233] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049649.840375919] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049649.844567952] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049649.845070571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049649.845836744] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049649.846829913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049649.847843443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049649.945424432] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049649.946370608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049649.946987023] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049649.948526997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049649.949018824] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049650.003388834] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972961 Long: -76.50299086 -[vectornav-1] [INFO] [1746049650.004877364] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.039, -3.389, 9.038) -[mux-7] [INFO] [1746049650.045122037] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049650.045673916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049650.046464885] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049650.048145459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049650.049356073] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049650.085658172] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049650.087704481] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049650.088472192] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049650.088756383] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049650.089657746] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049650.089676360] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049650.090587034] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049650.145467897] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049650.146206324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049650.146963115] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049650.148318557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049650.149430080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049650.245573703] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049650.246280511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049650.247222613] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049650.248576323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049650.249798173] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049650.335660476] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049650.337739332] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049650.338287054] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049650.338765363] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049650.339726083] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049650.340536017] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049650.340598252] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049650.344521470] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049650.345025495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049650.345742139] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049650.347015909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049650.348192895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049650.445430006] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049650.446025442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049650.447167548] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049650.448452468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049650.449514599] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049650.502315318] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972947 Long: -76.50299081 -[vectornav-1] [INFO] [1746049650.503341181] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.96799999999996, -3.399, 8.293) -[mux-7] [INFO] [1746049650.545370984] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049650.545965308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049650.548443769] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049650.548910341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049650.550087553] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049650.585555410] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049650.588044283] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049650.588114969] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049650.589593285] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049650.589766184] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049650.590796855] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049650.591721163] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049650.645511775] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049650.646539222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049650.647185223] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049650.648403348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049650.648953537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049650.745542351] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049650.746148076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049650.746962794] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049650.748180364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049650.749246856] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049650.835229195] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049650.837022815] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049650.837559884] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049650.838887421] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049650.838934401] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049650.839848653] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049650.840743629] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049650.844390045] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049650.845134124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049650.846618674] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049650.846986416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049650.848105925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049650.945278385] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049650.946561404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049650.946867560] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049650.949116018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049650.950232078] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049651.002516829] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972941 Long: -76.50299048 -[vectornav-1] [INFO] [1746049651.003647562] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.001, -3.399, 8.519) -[mux-7] [INFO] [1746049651.045417527] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049651.046164165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049651.046930026] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049651.048370332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049651.049467825] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049651.085619007] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049651.088047781] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049651.088452754] [sailbot.teensy]: Wind angle: 340 -[mux-7] [INFO] [1746049651.089163464] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049651.089394257] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049651.090294774] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049651.091124437] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049651.145012175] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049651.145783498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049651.146320779] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049651.147672733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049651.148808325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049651.245165404] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049651.245917970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049651.246761466] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049651.248100675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049651.249136039] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049651.335395408] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049651.337372580] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049651.338356578] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049651.337891657] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049651.339103251] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049651.339629144] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049651.340043144] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049651.344444097] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049651.345163758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049651.345789170] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049651.346918150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049651.348106907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049651.444865003] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049651.445489837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049651.446195544] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049651.447317096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049651.448559620] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049651.502058104] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972941 Long: -76.50299039 -[vectornav-1] [INFO] [1746049651.502853959] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.998, -3.382, 8.674) -[mux-7] [INFO] [1746049651.543687526] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049651.544096950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049651.544202663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049651.545115902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049651.545611386] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049651.585470342] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049651.587692064] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049651.587929280] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049651.588485786] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049651.589048221] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049651.589885940] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049651.590582426] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049651.645160198] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049651.646975123] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049651.647871056] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049651.648646212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049651.649674433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049651.745241334] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049651.745963554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049651.746828855] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049651.748135816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049651.749077497] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049651.835396305] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049651.837291797] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049651.838395701] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049651.839035639] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049651.839049752] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049651.839459388] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049651.839830377] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049651.844417793] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049651.845090902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049651.845524292] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049651.847019354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049651.848015716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049651.945398440] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049651.946255813] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049651.947292227] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049651.948640055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049651.949828949] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049652.002157514] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972947 Long: -76.50299016 -[vectornav-1] [INFO] [1746049652.003043642] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.98699999999997, -3.389, 8.594) -[mux-7] [INFO] [1746049652.045404317] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049652.046075748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049652.047084033] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049652.048519164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049652.049694973] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049652.085509555] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049652.087515270] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049652.088324333] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049652.088524213] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049652.089425034] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049652.089562622] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049652.090454451] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049652.145230955] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049652.146021387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049652.146715113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049652.148222486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049652.149616964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049652.245511024] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049652.246984578] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049652.246128442] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049652.248208527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049652.249277649] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049652.335728354] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049652.337999743] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049652.339118943] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049652.338771163] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049652.340049153] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049652.340070703] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049652.340676445] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049652.344266715] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049652.344816909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049652.345339232] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049652.346579176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049652.347643750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049652.445551633] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049652.446662630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049652.447344255] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049652.448533058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049652.449068470] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049652.502464666] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972949 Long: -76.50298988 -[vectornav-1] [INFO] [1746049652.503611975] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.973, -3.38, 8.656) -[mux-7] [INFO] [1746049652.545689891] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049652.546211688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049652.547266663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049652.547968736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049652.548422774] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049652.585770200] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049652.588755968] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049652.588769075] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049652.589860391] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049652.590005273] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049652.590886288] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049652.591861753] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049652.645543416] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049652.646525838] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049652.647176567] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049652.649827395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049652.651062258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049652.745408855] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049652.746399165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049652.746934383] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049652.747951100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049652.748427808] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049652.835397988] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049652.837189304] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049652.837881377] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049652.838944472] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049652.839412448] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049652.840348386] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049652.841207745] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049652.844283566] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049652.845433490] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049652.845486068] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049652.847346924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049652.848413852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049652.945354802] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049652.946183813] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049652.946899980] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049652.948416514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049652.949423141] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049653.002499406] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972932 Long: -76.5029897 -[vectornav-1] [INFO] [1746049653.003525861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.01800000000003, -3.358, 9.026) -[mux-7] [INFO] [1746049653.045253260] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049653.045932633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049653.046707306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049653.048046853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049653.049087691] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049653.085342049] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049653.087605281] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049653.088868938] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049653.089042783] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049653.089998835] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049653.090870562] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049653.091701522] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049653.144999403] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049653.145797218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049653.146285076] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049653.147847379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049653.149007042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049653.245614042] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049653.246602065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049653.247297336] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049653.249449839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049653.250500377] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049653.335988711] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049653.338703806] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049653.339412658] [sailbot.teensy]: Wind angle: 341 -[mux-7] [INFO] [1746049653.339545718] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049653.340480983] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049653.341419191] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049653.342354982] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049653.344611821] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049653.344889174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049653.345739406] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049653.346608651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049653.347676055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049653.445724162] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049653.446468057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049653.447504355] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049653.449017162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049653.449557643] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049653.502673904] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972927 Long: -76.50298941 -[vectornav-1] [INFO] [1746049653.504051434] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.038, -3.363, 9.104) -[mux-7] [INFO] [1746049653.545311404] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049653.545989555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049653.546976893] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049653.548217875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049653.549428007] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049653.585397829] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049653.587837667] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049653.587970454] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049653.588372024] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049653.589572304] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049653.590497747] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049653.591352293] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049653.644863251] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049653.645548323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049653.646491642] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049653.647328407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049653.647995940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049653.745111650] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049653.746099757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049653.746724624] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049653.748402604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049653.748936916] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049653.835540585] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049653.838387431] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049653.838471995] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049653.839092718] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049653.839135487] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049653.839477408] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049653.839858072] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049653.844966645] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049653.845109512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049653.847151482] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049653.847416402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049653.848611188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049653.945692967] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049653.946925140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049653.947485812] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049653.949249009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049653.950490037] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049654.002536359] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972915 Long: -76.50298912 -[vectornav-1] [INFO] [1746049654.003541371] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.01800000000003, -3.37, 9.044) -[mux-7] [INFO] [1746049654.045183512] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049654.046101883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049654.046638816] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049654.048123140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049654.048791994] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049654.085436317] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049654.087934895] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049654.087955076] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049654.089069285] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049654.089664951] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049654.090334291] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049654.091194568] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049654.144994849] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049654.145533792] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049654.146402599] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049654.147505221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049654.148540012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049654.245025215] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049654.245724958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049654.246328649] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049654.247565737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049654.248629955] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049654.335640131] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049654.338359087] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049654.339287982] [sailbot.teensy]: Wind angle: 339 -[mux-7] [INFO] [1746049654.339706568] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049654.340853571] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049654.341778060] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049654.342662464] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049654.344390922] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049654.344837338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049654.345489920] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049654.346825698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049654.347856898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049654.445180392] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049654.445980328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049654.446627800] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049654.448125315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049654.448674289] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049654.502478060] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972898 Long: -76.50298904 -[vectornav-1] [INFO] [1746049654.503489852] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.007, -3.363, 9.032) -[mux-7] [INFO] [1746049654.545174689] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049654.545906366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049654.546568532] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049654.547944092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049654.549152676] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049654.585595966] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049654.587694498] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049654.588739719] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049654.588269253] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049654.589642612] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049654.589728196] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049654.590607239] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049654.645503157] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049654.646316590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049654.647305021] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049654.649320755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049654.650351205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049654.745178287] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049654.745925652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049654.746666221] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049654.748220525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049654.749200894] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049654.835570709] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049654.838290878] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049654.838288381] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049654.839078774] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049654.839248757] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049654.839490334] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049654.839877262] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049654.844660610] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049654.845342983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049654.845900162] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049654.847082026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049654.848143738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049654.945312888] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049654.946026958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049654.947108334] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049654.949397418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049654.950520284] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049655.003275464] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972884 Long: -76.50298917 -[vectornav-1] [INFO] [1746049655.004517727] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.026, -3.38, 8.923) -[mux-7] [INFO] [1746049655.044774320] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049655.045598848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049655.045973387] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049655.047369169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049655.048658220] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049655.085681522] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049655.088167333] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049655.088705293] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049655.089232472] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049655.089725974] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049655.090156094] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049655.091039589] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049655.145405417] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049655.146481723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049655.146955243] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049655.148816117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049655.149983884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049655.245604301] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049655.246453823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049655.247270259] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049655.248926577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049655.250084436] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049655.335271339] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049655.337083521] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049655.337600353] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049655.338057228] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049655.338964370] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049655.339090220] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049655.339881757] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049655.344487878] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049655.345164837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049655.345869856] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049655.346870505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049655.347977170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049655.445739911] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049655.446542537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049655.447507223] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049655.448655387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049655.449183114] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049655.502815815] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697286 Long: -76.50298896 -[vectornav-1] [INFO] [1746049655.503972844] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.998, -3.384, 8.827) -[mux-7] [INFO] [1746049655.545357309] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049655.546065216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049655.546906811] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049655.548490479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049655.549685755] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049655.586085715] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049655.589143771] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049655.589339487] [sailbot.teensy]: Wind angle: 339 -[mux-7] [INFO] [1746049655.589961333] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049655.590381419] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049655.591426456] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049655.592285351] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049655.645382874] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049655.646189539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049655.646885446] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049655.647899059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049655.648368335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049655.745512428] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049655.746440493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049655.747184119] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049655.748980367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049655.750314486] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049655.835691895] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049655.838095310] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049655.838602330] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049655.839239274] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049655.840341552] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049655.840841466] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049655.841204526] [sailbot.mux]: algo sail angle: 80 -[mux-7] [INFO] [1746049655.844319387] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049655.845000051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049655.845482792] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049655.846783165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049655.847868864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049655.945513049] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049655.946252271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049655.947413944] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049655.948685577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049655.949862767] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049656.002799941] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972848 Long: -76.50298906 -[vectornav-1] [INFO] [1746049656.004118416] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.97900000000004, -3.388, 8.731) -[mux-7] [INFO] [1746049656.044975685] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049656.045509066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049656.046193403] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049656.047291069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049656.048475775] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049656.085560637] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049656.087755321] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049656.088682235] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049656.088834658] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049656.089743527] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049656.089998052] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049656.090616250] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049656.145177987] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049656.146335252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049656.146779980] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049656.148825637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049656.149961458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049656.245332972] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049656.246068747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049656.247120533] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049656.248673738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049656.249442488] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049656.335623210] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049656.337939760] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049656.338522843] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049656.339002547] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049656.339774942] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049656.339923804] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049656.340839387] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049656.344315368] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049656.344758895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049656.346399160] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049656.346429615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049656.347637214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049656.445539642] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049656.447059924] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049656.446035307] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049656.448115984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049656.448883028] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049656.503441983] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972843 Long: -76.50298899 -[vectornav-1] [INFO] [1746049656.504656099] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.97, -3.398, 8.694) -[mux-7] [INFO] [1746049656.544957414] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049656.545636953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049656.546408505] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049656.547533616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049656.548566618] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049656.585379071] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049656.587129862] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049656.587720662] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049656.588085264] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049656.589007542] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049656.589477838] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049656.589845519] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049656.645586267] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049656.646155374] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049656.647210364] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049656.648424014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049656.649575892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049656.745640136] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049656.746412912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049656.747220218] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049656.748873043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049656.749946688] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049656.835371750] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049656.837826054] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049656.837947002] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049656.839174318] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049656.839563114] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049656.840564560] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049656.841457275] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049656.844339546] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049656.844963633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049656.845733082] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049656.846795065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049656.847906671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049656.945157050] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049656.946102467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049656.946602732] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049656.948166244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049656.949304672] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049657.003219838] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972844 Long: -76.50298884 -[vectornav-1] [INFO] [1746049657.004505456] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.959, -3.403, 8.664) -[mux-7] [INFO] [1746049657.045212274] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049657.045965510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049657.047078698] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049657.048296791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049657.049705388] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049657.085622192] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049657.087583929] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049657.088453622] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049657.088553454] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049657.089450704] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049657.089654610] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049657.090308130] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049657.145295421] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049657.146027502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049657.146860869] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049657.148285498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049657.149382194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049657.245447155] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049657.246442720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049657.246975446] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049657.248971718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049657.250030130] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049657.335389840] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049657.337646244] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049657.338206390] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049657.338610355] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049657.338991989] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049657.339544866] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049657.340521238] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049657.344313851] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049657.345127578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049657.345387870] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049657.346897802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049657.347898377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049657.445625765] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049657.446366399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049657.447281715] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049657.449772210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049657.450975508] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049657.502645114] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972833 Long: -76.50298878 -[vectornav-1] [INFO] [1746049657.504378651] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.956, -3.402, 8.648) -[mux-7] [INFO] [1746049657.545395436] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049657.546096454] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049657.547391538] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049657.548353023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049657.549659449] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049657.585750093] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049657.588006201] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049657.588397163] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049657.589115887] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049657.590028682] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049657.590093193] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049657.590970597] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049657.645361982] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049657.646324661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049657.647221896] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049657.648638252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049657.649781752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049657.745183705] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049657.746042991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049657.746774618] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049657.748141593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049657.748683325] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049657.835553450] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049657.838099007] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049657.838686826] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049657.838703439] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049657.839212327] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049657.839652849] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049657.840047869] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049657.844565676] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049657.845077343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049657.845672773] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049657.846805839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049657.847882207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049657.945204465] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049657.946486421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049657.946905237] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049657.948479424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049657.949599187] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049658.002718204] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972801 Long: -76.50298863 -[vectornav-1] [INFO] [1746049658.003664022] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.956, -3.399, 8.71) -[mux-7] [INFO] [1746049658.045342010] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049658.046436692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049658.046874694] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049658.048974968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049658.050203285] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049658.085415627] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049658.087150288] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049658.087697563] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049658.088078647] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049658.088991563] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049658.089440697] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049658.089894657] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049658.145501419] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049658.146381469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049658.147183207] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049658.148827797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049658.149890207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049658.245363032] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049658.246001401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049658.246878879] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049658.248371710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049658.248939532] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049658.335380093] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049658.337173806] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049658.337693368] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049658.338141795] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049658.339039892] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049658.339050205] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049658.339972469] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049658.344418406] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049658.345762430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049658.345967984] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049658.347538736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049658.348678104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049658.445162845] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049658.445816784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049658.446707270] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049658.447843605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049658.448410918] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049658.502574214] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972799 Long: -76.5029885 -[vectornav-1] [INFO] [1746049658.503654599] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.925, -3.399, 8.639) -[mux-7] [INFO] [1746049658.545113322] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049658.545770743] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049658.546553775] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049658.547904944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049658.549077519] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049658.585619668] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049658.588382047] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049658.588741622] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049658.589501952] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049658.590087286] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049658.591213996] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049658.592053666] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049658.645320698] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049658.645943243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049658.646871914] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049658.647991577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049658.649068306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049658.745570188] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049658.746320246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049658.747349016] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049658.748896700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049658.750128076] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049658.835451967] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049658.837935884] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049658.838125186] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049658.838953961] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049658.839454833] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049658.840368485] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049658.841229859] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049658.844473541] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049658.844880031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049658.845670679] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049658.846577955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049658.847802461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049658.945365156] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049658.946074211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049658.947137110] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049658.948447780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049658.948966189] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049659.003018159] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972791 Long: -76.50298863 -[vectornav-1] [INFO] [1746049659.004280286] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.916, -3.403, 8.633) -[mux-7] [INFO] [1746049659.045167366] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049659.046672520] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049659.046020998] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049659.048042569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049659.049221092] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049659.085380635] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049659.087163852] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049659.088089543] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049659.087709831] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049659.088771523] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049659.088974784] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049659.089878807] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049659.145388230] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049659.146383636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049659.146942464] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049659.147949450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049659.148422290] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049659.245202766] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049659.245891011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049659.246722736] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049659.248010633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049659.248542767] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049659.335593201] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049659.337582093] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049659.338147416] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049659.338562867] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049659.339451674] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049659.339691319] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049659.340337829] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049659.344452132] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049659.344977448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049659.345606503] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049659.346652236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049659.347673113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049659.445201900] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049659.445876815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049659.446766541] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049659.447790600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049659.448780260] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049659.502438539] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972788 Long: -76.50298856 -[vectornav-1] [INFO] [1746049659.503485064] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.91700000000003, -3.41, 8.573) -[mux-7] [INFO] [1746049659.545230689] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049659.545844725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049659.546575631] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049659.547744849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049659.548782061] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049659.585540367] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049659.588047264] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049659.588679230] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049659.589174458] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049659.590206627] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049659.591042732] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049659.591877501] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049659.645057444] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049659.645688872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049659.646625434] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049659.647466376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049659.648774408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049659.745611739] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049659.746192619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049659.747491666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049659.748740794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049659.749965234] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049659.835581359] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049659.838198614] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049659.838513600] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049659.838884901] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049659.839648301] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049659.840088575] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049659.840451271] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049659.844489912] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049659.844948794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049659.845638431] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049659.846646279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049659.847819653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049659.945266290] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049659.945894504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049659.946798829] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049659.948319275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049659.949350303] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049660.002484934] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972767 Long: -76.50298859 -[vectornav-1] [INFO] [1746049660.003570637] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.85400000000004, -3.429, 8.164) -[mux-7] [INFO] [1746049660.045303508] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049660.045886376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049660.046791742] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049660.047846220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049660.049037113] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049660.085652396] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049660.088660949] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049660.088849068] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049660.089766693] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049660.089979140] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049660.090911197] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049660.091795493] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049660.145310793] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049660.146706642] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049660.146265883] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049660.147915839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049660.148375346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049660.245378204] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049660.246186360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049660.246845051] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049660.248480379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049660.249626632] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049660.335375633] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049660.337596084] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049660.338067047] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049660.338137460] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049660.338978625] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049660.339385445] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049660.339744215] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049660.344431067] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049660.345165988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049660.345584013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049660.346895975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049660.347939298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049660.445423972] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049660.446418259] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049660.446924931] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049660.448675967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049660.450092903] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049660.503526535] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972756 Long: -76.50298861 -[vectornav-1] [INFO] [1746049660.504855449] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.84000000000003, -3.434, 8.101) -[mux-7] [INFO] [1746049660.545097072] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049660.545820262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049660.546454376] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049660.547923279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049660.548986244] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049660.585445251] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049660.587741226] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049660.588652922] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049660.589008752] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049660.589985033] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049660.590819317] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049660.591655143] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049660.645246986] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049660.646184602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049660.646941397] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049660.648613927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049660.649847834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049660.745203079] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049660.745869066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049660.746665968] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049660.747809115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049660.748891078] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049660.835132505] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049660.836760019] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049660.837151492] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049660.837634256] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049660.838525559] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049660.839099054] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049660.839506890] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049660.844325992] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049660.844883977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049660.845423545] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049660.846581906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049660.847606632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049660.945097001] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049660.945841242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049660.946419053] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049660.947992077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049660.949039041] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049661.003552484] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972756 Long: -76.50298848 -[vectornav-1] [INFO] [1746049661.005109109] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.805, -3.443, 7.916) -[mux-7] [INFO] [1746049661.044956223] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049661.045666309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049661.046210823] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049661.047569092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049661.048749469] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049661.085419931] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049661.087735517] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049661.087847374] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049661.088777795] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049661.089064722] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049661.089657626] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049661.090548320] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049661.145029030] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049661.146377883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049661.147087455] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049661.148299214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049661.149409838] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049661.245283819] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049661.246283049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049661.246760557] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049661.248657979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049661.249756884] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049661.336060721] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049661.339485006] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049661.340598076] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049661.339685754] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049661.341159666] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049661.341475870] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049661.342368568] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049661.343740848] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049661.344444134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049661.344879604] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049661.346120540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049661.347280880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049661.444927577] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049661.445529319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049661.446170007] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049661.447328834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049661.448355386] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049661.502462844] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697274 Long: -76.50298856 -[vectornav-1] [INFO] [1746049661.503575083] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.823, -3.424, 8.134) -[mux-7] [INFO] [1746049661.545243676] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049661.546051313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049661.546651968] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049661.548395288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049661.549560486] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049661.585553241] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049661.587909528] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049661.588250416] [sailbot.teensy]: Wind angle: 347 -[mux-7] [INFO] [1746049661.588812570] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049661.589231421] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049661.590150649] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049661.590996937] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049661.645276860] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049661.646282770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049661.646887718] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049661.649470834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049661.650569256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049661.745741910] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049661.745797627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049661.747071287] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049661.747921115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049661.750421660] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049661.835565468] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049661.837771415] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049661.838211296] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049661.838658361] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049661.838751352] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049661.839773647] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049661.840660116] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049661.844431963] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049661.844875056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049661.845515702] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049661.846557476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049661.847600862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049661.944947209] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049661.945528552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049661.946320851] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049661.947509373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049661.948614928] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049662.003094467] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972716 Long: -76.50298853 -[vectornav-1] [INFO] [1746049662.004709073] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.81600000000003, -3.422, 8.116) -[mux-7] [INFO] [1746049662.045114630] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049662.045984215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049662.046544225] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049662.048103890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049662.049258328] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049662.085435797] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049662.087815413] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049662.088358613] [sailbot.teensy]: Wind angle: 347 -[mux-7] [INFO] [1746049662.089228080] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049662.089491741] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049662.090550412] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049662.091446135] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049662.145232845] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049662.146337160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049662.147194670] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049662.148064319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049662.148531426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049662.245229614] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049662.246233612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049662.246926668] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049662.248264548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049662.249382038] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049662.335780233] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049662.338189817] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049662.338658189] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049662.339290687] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049662.339968990] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049662.340212460] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049662.341195945] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049662.344382984] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049662.345039840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049662.345460625] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049662.346723879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049662.347901237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049662.445491352] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049662.446578355] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049662.447063101] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049662.448893465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049662.449992965] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049662.502649486] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972699 Long: -76.50298854 -[vectornav-1] [INFO] [1746049662.503919174] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.784, -3.439, 7.847) -[mux-7] [INFO] [1746049662.544965879] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049662.545648430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049662.546192551] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049662.547791003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049662.548987406] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049662.585543464] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049662.587658126] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049662.589029799] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049662.588313617] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049662.589927727] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049662.589950671] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049662.590873862] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049662.645249582] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049662.645987168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049662.646834052] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049662.649099936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049662.650246433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049662.745495427] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049662.746252780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049662.747067580] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049662.749107416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049662.750533317] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049662.835474356] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049662.837361895] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049662.838347176] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049662.838399954] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049662.839330801] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049662.840056106] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049662.840262153] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049662.844434401] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049662.844992984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049662.845549530] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049662.846691364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049662.847864091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049662.945073188] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049662.945928568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049662.946756333] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049662.947848040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049662.948339630] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049663.003605902] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972684 Long: -76.5029886 -[vectornav-1] [INFO] [1746049663.005032508] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.781, -3.436, 7.899) -[mux-7] [INFO] [1746049663.044783608] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049663.045492352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049663.046071991] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049663.047433818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049663.048494291] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049663.085253961] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049663.087433889] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049663.087614474] [sailbot.teensy]: Wind angle: 347 -[mux-7] [INFO] [1746049663.088490633] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049663.088526864] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049663.089750018] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049663.090483817] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049663.144979046] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049663.145491283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049663.146302591] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049663.147383990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049663.148527142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049663.245277623] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049663.245976562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049663.247017966] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049663.248223079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049663.249311552] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049663.335624235] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049663.338200279] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049663.338873728] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049663.339598996] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049663.340560089] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049663.341437097] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049663.342358258] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049663.344375619] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049663.344968230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049663.345528289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049663.346773735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049663.347904110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049663.445565158] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049663.446389861] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049663.447287055] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049663.448776258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049663.449923024] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049663.502616515] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972665 Long: -76.50298865 -[vectornav-1] [INFO] [1746049663.504105067] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.76300000000003, -3.447, 7.796) -[mux-7] [INFO] [1746049663.545133159] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049663.545773439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049663.546389004] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049663.547554946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049663.548605960] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049663.585419070] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049663.587724083] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049663.587924145] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049663.588822729] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049663.588873938] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049663.589698483] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049663.590634179] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049663.645360343] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049663.645945406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049663.646823201] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049663.648179719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049663.649257001] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049663.745487361] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049663.746081361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049663.747004848] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049663.748487745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049663.749654138] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049663.835558035] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049663.837580153] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049663.838334292] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049663.838572945] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049663.839392328] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049663.839437276] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049663.840339915] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049663.844417218] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049663.845058217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049663.845585439] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049663.847193046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049663.848440691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049663.944982700] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049663.945978928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049663.946436586] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049663.948177058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049663.949155914] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049664.003123749] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697265 Long: -76.50298857 -[vectornav-1] [INFO] [1746049664.004509397] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.78200000000004, -3.431, 8.005) -[mux-7] [INFO] [1746049664.045224752] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049664.045879496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049664.046606595] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049664.047800245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049664.048954127] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049664.085479484] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049664.088229299] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049664.088257126] [sailbot.teensy]: Wind angle: 347 -[mux-7] [INFO] [1746049664.088629184] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049664.089200192] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049664.090087524] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049664.090945844] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049664.145039911] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049664.145788179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049664.146746304] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049664.147828436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049664.148397002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049664.245210076] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049664.246206666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049664.246656210] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049664.248495376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049664.249535898] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049664.335788130] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049664.338716754] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049664.338738337] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049664.339789171] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049664.340472057] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049664.340690811] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049664.341605125] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049664.344388663] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049664.344823193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049664.345707509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049664.346485131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049664.347512191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049664.445321218] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049664.445886421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049664.446896983] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049664.447912074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049664.448498392] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049664.502542535] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972628 Long: -76.50298828 -[vectornav-1] [INFO] [1746049664.503595676] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.784, -3.43, 7.98) -[mux-7] [INFO] [1746049664.545095795] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049664.545764795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049664.546447458] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049664.547704537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049664.548882532] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049664.585547660] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049664.587272933] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049664.587800840] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049664.588236411] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049664.589235015] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049664.590121791] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049664.590658776] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049664.645383481] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049664.646204141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049664.647175494] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049664.648386652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049664.649513629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049664.745576877] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049664.746120949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049664.747116138] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049664.748524126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049664.749684768] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049664.835698247] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049664.838441788] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049664.838809047] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049664.839053167] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049664.839322182] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049664.839441117] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049664.839864214] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049664.844472586] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049664.845158976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049664.845576027] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049664.846857148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049664.847889799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049664.945252215] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049664.946154937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049664.946851854] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049664.948509578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049664.949021753] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049665.002224281] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972617 Long: -76.50298805 -[vectornav-1] [INFO] [1746049665.003158709] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.783, -3.428, 7.992) -[mux-7] [INFO] [1746049665.045375162] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049665.046362553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049665.046792450] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049665.048780647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049665.049903853] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049665.085671335] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049665.087667285] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049665.088540329] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049665.088694736] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049665.089608442] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049665.090438056] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049665.090496797] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049665.144965092] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049665.145693365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049665.146241414] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049665.147545005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049665.148407751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049665.245113917] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049665.245794223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049665.246518377] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049665.247776365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049665.248248134] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049665.335669533] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049665.337555449] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049665.338372131] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049665.338494817] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049665.339393986] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049665.339851226] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049665.340317861] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049665.344346782] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049665.344913486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049665.345429517] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049665.346579419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049665.347671586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049665.445558573] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049665.446393285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049665.447152623] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049665.448888136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049665.449786390] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049665.502740801] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469726 Long: -76.50298803 -[vectornav-1] [INFO] [1746049665.504357667] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.773, -3.436, 7.959) -[mux-7] [INFO] [1746049665.545345080] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049665.546048272] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049665.546825395] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049665.548323899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049665.549583366] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049665.585346036] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049665.586955927] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049665.587590580] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049665.587854332] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049665.588725496] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049665.588933523] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049665.589606049] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049665.645028716] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049665.645662574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049665.646457193] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049665.647638650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049665.648820737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049665.745045922] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049665.745675509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049665.746469451] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049665.747659681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049665.748722828] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049665.835381494] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049665.837694671] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049665.838044191] [sailbot.teensy]: Wind angle: 347 -[mux-7] [INFO] [1746049665.838744982] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049665.839190511] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049665.840178897] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049665.841125927] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049665.844557352] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049665.845029185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049665.845747297] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049665.846708633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049665.848415157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049665.945263606] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049665.945944060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049665.946704370] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049665.948107222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049665.948999947] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049666.002565556] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972584 Long: -76.50298813 -[vectornav-1] [INFO] [1746049666.003693170] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.76800000000003, -3.43, 7.992) -[mux-7] [INFO] [1746049666.045313870] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049666.045833623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049666.046771843] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049666.047791275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049666.048949785] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049666.085589873] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049666.088198753] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049666.088602472] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049666.089895624] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049666.090584289] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049666.090838888] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049666.091678293] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049666.145107816] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049666.145883888] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049666.146370575] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049666.147766039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049666.148825008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049666.245302602] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049666.246007111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049666.246805123] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049666.249174562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049666.250265898] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049666.335414059] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049666.337672450] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049666.337793172] [sailbot.teensy]: Wind angle: 347 -[mux-7] [INFO] [1746049666.338264311] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049666.339574735] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049666.340549268] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049666.341429767] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049666.344358629] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049666.344945854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049666.345542539] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049666.346980067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049666.348068979] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049666.445532833] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049666.446592460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049666.447095949] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049666.449501438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049666.450845465] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049666.503385794] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972579 Long: -76.50298802 -[vectornav-1] [INFO] [1746049666.504695570] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.76800000000003, -3.43, 7.998) -[mux-7] [INFO] [1746049666.545153418] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049666.545870003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049666.546512547] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049666.547791273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049666.548981982] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049666.585487156] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049666.587312728] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049666.587828072] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049666.588270850] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049666.589189012] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049666.590062383] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049666.590050036] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049666.645334500] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049666.646200602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049666.646909179] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049666.648232015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049666.648769258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049666.745319281] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049666.746269665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049666.746994607] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049666.748394326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049666.749578993] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049666.835639764] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049666.837496973] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049666.838200939] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049666.838455755] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049666.839372928] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049666.840256862] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049666.840456101] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049666.844431096] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049666.845303780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049666.845549533] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049666.847187132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049666.848318815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049666.945490865] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049666.946492550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049666.947521324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049666.950209330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049666.951218621] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049667.002542633] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972571 Long: -76.50298781 -[vectornav-1] [INFO] [1746049667.003632533] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.76099999999997, -3.426, 7.994) -[mux-7] [INFO] [1746049667.045208628] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049667.046271888] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049667.046816002] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049667.048212323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049667.049246218] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049667.085744013] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049667.088044437] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049667.089379688] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049667.089238465] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049667.090460902] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049667.091337450] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049667.091558539] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049667.145468726] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049667.145978414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049667.146967975] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049667.148022354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049667.148527017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049667.245520103] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049667.246122887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049667.247308823] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049667.248450071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049667.249643296] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049667.335437217] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049667.337887451] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049667.338129234] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049667.339070184] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049667.338695769] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049667.339949518] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049667.340417487] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049667.344583983] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049667.345213208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049667.345746504] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049667.346948860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049667.347951267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049667.445795853] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049667.446554534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049667.447698359] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049667.448781440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049667.449892908] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049667.502804231] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972565 Long: -76.50298785 -[vectornav-1] [INFO] [1746049667.504171651] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.759, -3.422, 8.034) -[mux-7] [INFO] [1746049667.545293883] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049667.545924422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049667.546918093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049667.548701491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049667.549754264] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049667.585617186] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049667.587560990] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049667.588614544] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049667.588747400] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049667.589522419] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049667.590270514] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049667.590304277] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049667.645457876] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049667.646390376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049667.647081148] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049667.649216385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049667.650384169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049667.745432502] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049667.746230853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049667.746934795] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049667.748552948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049667.749459224] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049667.835425982] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049667.837429086] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049667.838368632] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049667.837811750] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049667.838319910] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049667.839268706] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049667.840118068] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049667.844357747] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049667.844844533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049667.845469843] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049667.846493882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049667.847527024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049667.945088509] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049667.945712009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049667.946521217] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049667.947912223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049667.949028992] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049668.002545850] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972545 Long: -76.50298772 -[vectornav-1] [INFO] [1746049668.003629156] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.759, -3.421, 8.039) -[mux-7] [INFO] [1746049668.045243888] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049668.046025883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049668.046595126] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049668.047867438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049668.049055328] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049668.085507040] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049668.088039018] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049668.088108901] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049668.089097486] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049668.089152153] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049668.090070552] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049668.090941690] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049668.145132905] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049668.145984652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049668.146374311] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049668.148143909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049668.149363614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049668.245340125] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049668.246118818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049668.247027471] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049668.248009832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049668.248488640] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049668.335420207] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049668.337356634] [sailbot.teensy]: Wind angle: 346 -[teensy-2] [INFO] [1746049668.338303766] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049668.337949036] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049668.339155048] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049668.339266481] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049668.340147683] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049668.344336920] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049668.344898566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049668.345432323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049668.346873285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049668.348114686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049668.445249314] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049668.445964545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049668.446809329] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049668.448015119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049668.448496892] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049668.502837450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972541 Long: -76.50298766 -[vectornav-1] [INFO] [1746049668.504200919] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.751, -3.423, 8.04) -[mux-7] [INFO] [1746049668.545368589] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049668.546191896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049668.546895247] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049668.548734261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049668.549900539] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049668.585486207] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049668.587855203] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049668.588533926] [sailbot.teensy]: Wind angle: 346 -[mux-7] [INFO] [1746049668.589080781] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049668.589508936] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049668.590394765] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049668.591282225] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049668.645008927] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049668.646126941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049668.646776491] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049668.648023503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049668.648595218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049668.745230083] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049668.746030959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049668.746908918] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049668.749168398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049668.750405063] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049668.835423938] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049668.837887990] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049668.838389519] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049668.838512622] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049668.839070387] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049668.839441287] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049668.839933812] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049668.844405215] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049668.845008175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049668.845525269] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049668.846677845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049668.847721381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049668.945350029] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049668.946231150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049668.947016169] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049668.948255015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049668.948795871] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049669.003502293] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972531 Long: -76.50298754 -[vectornav-1] [INFO] [1746049669.004815269] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.74199999999996, -3.424, 8.032) -[mux-7] [INFO] [1746049669.045117460] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049669.045955015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049669.046583759] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049669.047944780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049669.049797039] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049669.085875042] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049669.087917782] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049669.088416256] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049669.088954476] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049669.089883178] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049669.090095011] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049669.090809303] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049669.145136613] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049669.145857554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049669.146560793] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049669.148186043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049669.148720111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049669.245188004] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049669.245871948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049669.246805237] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049669.248169615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049669.249101874] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049669.335734267] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049669.338369395] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049669.338781393] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049669.339377170] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049669.339394777] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049669.339756955] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049669.340132961] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049669.344510001] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049669.345096163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049669.345622802] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049669.346883278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049669.347913392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049669.445365115] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049669.446055207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049669.446881537] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049669.448332234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049669.449619890] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049669.502609890] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972532 Long: -76.5029873 -[vectornav-1] [INFO] [1746049669.503829567] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.735, -3.428, 8.02) -[mux-7] [INFO] [1746049669.544854305] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049669.545770123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049669.546063294] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049669.547572022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049669.548688934] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049669.585408334] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049669.587280314] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049669.587764250] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049669.588798699] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049669.589837580] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049669.590799597] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049669.591725421] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049669.645167549] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049669.645755604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049669.647080576] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049669.647778518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049669.648925606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049669.745103071] [sailbot.mux]: Published sail angle from controller_app: 23 -[mux-7] [INFO] [1746049669.746461724] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049669.745980459] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049669.748098818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049669.748566795] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049669.835710086] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049669.838500551] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049669.838786319] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049669.840322280] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049669.840326517] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049669.841284668] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049669.842171726] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049669.844277258] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049669.845075409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049669.845340589] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049669.846788371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049669.847833674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049669.945235957] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049669.945897329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049669.946777501] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049669.947923357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049669.948376196] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049670.002662697] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697252 Long: -76.50298717 -[vectornav-1] [INFO] [1746049670.003924469] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.73400000000004, -3.43, 8.027) -[mux-7] [INFO] [1746049670.045449588] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049670.046134590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049670.046901391] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049670.048223909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049670.049405272] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049670.085437618] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049670.087835631] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049670.088250421] [sailbot.teensy]: Wind angle: 346 -[mux-7] [INFO] [1746049670.088496613] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049670.089335877] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049670.090300354] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049670.091165130] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049670.145186733] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049670.145661661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049670.146801300] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049670.147500688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049670.148645578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049670.245514492] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049670.246367450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049670.247406004] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049670.248414465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049670.248900695] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049670.335437742] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049670.337379010] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049670.337831685] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049670.338371142] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049670.339277792] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049670.339945764] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049670.340319898] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049670.344242037] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049670.344834057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049670.345366229] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049670.346610987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049670.347621283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049670.445338239] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049670.446347848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049670.446873628] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049670.448227569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049670.448754534] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049670.502737518] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972514 Long: -76.50298707 -[vectornav-1] [INFO] [1746049670.503833863] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.72, -3.43, 8.021) -[mux-7] [INFO] [1746049670.545356162] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049670.546058464] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049670.546878240] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049670.548270793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049670.549494135] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049670.585840733] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049670.588113029] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049670.589260520] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049670.588663856] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049670.590259873] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049670.591174259] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049670.591249909] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746049670.645240503] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049670.646423722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049670.646794869] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049670.648827189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049670.649364456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049670.745127239] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049670.746044507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049670.746580347] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049670.747954735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049670.748548068] [sailbot.teensy]: Message sent to servo -[rosbridge_websocket-8] [INFO] [1746049670.773958402] [rosbridge_websocket]: Client disconnected. 1 clients total. -[teensy-2] [INFO] [1746049670.835482224] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049670.837973846] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049670.838043038] [sailbot.teensy]: Wind angle: 343 -[mux-7] [INFO] [1746049670.838596826] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049670.839014004] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049670.839894794] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049670.840727602] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049670.844190401] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049670.844577937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049670.845275059] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049670.846190497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049670.847199848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049670.945558113] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049670.946093346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049670.947139165] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049670.948322635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049670.948920421] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049671.003195685] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972509 Long: -76.50298695 -[vectornav-1] [INFO] [1746049671.004512398] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.703, -3.435, 7.983) -[mux-7] [INFO] [1746049671.045121856] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049671.045725594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049671.046378864] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049671.047483840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049671.048648308] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049671.085358616] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049671.087159523] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049671.087853965] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049671.088132402] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049671.088621005] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049671.089212998] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049671.090101656] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049671.145166385] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049671.145950433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049671.146631370] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049671.148109041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049671.149335232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049671.245452572] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049671.246249235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049671.246996247] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049671.248380814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049671.248875908] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049671.335589791] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049671.337582031] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049671.338290763] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049671.338604313] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049671.338987974] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049671.339522855] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049671.340417053] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049671.344294129] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049671.344882188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049671.345360950] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049671.346490135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049671.347572660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049671.445588539] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049671.446384953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049671.447340319] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049671.448471182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049671.448953069] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049671.503352584] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972516 Long: -76.50298686 -[vectornav-1] [INFO] [1746049671.504718222] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.693, -3.445, 7.953) -[mux-7] [INFO] [1746049671.545135982] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049671.546044052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049671.546623405] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049671.548334167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049671.549490792] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049671.585514725] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049671.587305198] [sailbot.teensy]: Wind angle: 331 -[teensy-2] [INFO] [1746049671.588360085] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049671.587952050] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049671.588455068] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049671.589259282] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049671.590092363] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049671.644825763] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049671.645380487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049671.646132692] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049671.647210537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049671.647752926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049671.745412304] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049671.746236890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049671.747006034] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049671.748531292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049671.749049389] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049671.835503709] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049671.837559212] [sailbot.teensy]: Wind angle: 327 -[trim_sail-4] [INFO] [1746049671.838326510] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049671.838586969] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049671.838927244] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049671.839494399] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049671.840364276] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049671.844308049] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049671.844878008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049671.845403228] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049671.846428164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049671.847526269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049671.945531414] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049671.946340257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049671.947132256] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049671.948768564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049671.949894870] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049672.002386846] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972494 Long: -76.50298663 -[vectornav-1] [INFO] [1746049672.003382309] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.68399999999997, -3.433, 7.974) -[mux-7] [INFO] [1746049672.045231829] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049672.046184844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049672.046683549] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049672.048298546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049672.049345598] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049672.085880484] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049672.088746134] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049672.089377706] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049672.089659660] [sailbot.teensy]: Wind angle: 327 -[teensy-2] [INFO] [1746049672.090572179] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049672.091398544] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049672.092221063] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049672.145396892] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049672.146174643] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049672.146860715] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049672.148407577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049672.149491165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049672.245296448] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049672.246024712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049672.246846510] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049672.248311731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049672.249390461] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049672.335466932] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049672.337914959] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049672.338441421] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049672.338692328] [sailbot.teensy]: Wind angle: 323 -[teensy-2] [INFO] [1746049672.339625865] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049672.340558174] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049672.341383122] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049672.344245888] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049672.344686568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049672.345285763] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049672.346324809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049672.347333525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049672.445539893] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049672.446394088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049672.447142103] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049672.448699602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049672.449930957] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049672.503545053] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972498 Long: -76.50298639 -[vectornav-1] [INFO] [1746049672.504870306] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.666, -3.438, 7.923) -[mux-7] [INFO] [1746049672.545018436] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049672.545857360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049672.546307916] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049672.547730924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049672.548738869] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049672.585398583] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049672.587941935] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049672.588040047] [sailbot.teensy]: Wind angle: 318 -[mux-7] [INFO] [1746049672.588393906] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049672.588987786] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049672.589856437] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049672.590687290] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049672.645075509] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049672.645731511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049672.646508986] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049672.647647069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049672.648484757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049672.745313172] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049672.746133396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049672.746793996] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049672.748248441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049672.749460471] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049672.835336966] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049672.837320510] [sailbot.teensy]: Wind angle: 318 -[trim_sail-4] [INFO] [1746049672.837935016] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746049672.838705797] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049672.839214244] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049672.839609858] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049672.839963487] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049672.844331713] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049672.844863637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049672.845452822] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049672.846510663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049672.847614020] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049672.945594436] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049672.946327450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049672.947742783] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049672.948441525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049672.948962244] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049673.002585965] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972486 Long: -76.50298618 -[vectornav-1] [INFO] [1746049673.003657841] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.658, -3.429, 7.965) -[mux-7] [INFO] [1746049673.045551457] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049673.046224888] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049673.047147299] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049673.048533923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049673.049802954] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049673.085821016] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049673.088079101] [sailbot.teensy]: Wind angle: 317 -[trim_sail-4] [INFO] [1746049673.088647568] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049673.089205539] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049673.090133324] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049673.090244668] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049673.090985419] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049673.145231474] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049673.145980616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049673.146728372] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049673.148177138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049673.148850769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049673.245363348] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049673.246134100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049673.246807973] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049673.248039628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049673.248524289] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049673.335598666] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049673.337749119] [sailbot.teensy]: Wind angle: 317 -[trim_sail-4] [INFO] [1746049673.338343741] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746049673.339204438] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049673.339675741] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049673.340600417] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049673.341416153] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049673.344418516] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049673.344843098] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049673.345621222] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049673.346483878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049673.347518591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049673.445578331] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049673.446159937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049673.447228686] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049673.448396101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049673.449377081] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049673.503596407] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972475 Long: -76.50298592 -[vectornav-1] [INFO] [1746049673.505493855] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.648, -3.437, 7.926) -[mux-7] [INFO] [1746049673.545437506] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049673.546148357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049673.546982604] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049673.548337774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049673.549840339] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049673.585443806] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049673.587223481] [sailbot.teensy]: Wind angle: 322 -[trim_sail-4] [INFO] [1746049673.588001464] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049673.588222633] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049673.589134956] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049673.589667038] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049673.590038295] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049673.645530348] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049673.646228838] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049673.647169300] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049673.648513700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049673.649666929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049673.745793421] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049673.746460826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049673.747407148] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049673.748843758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049673.750132350] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049673.835787325] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049673.837944383] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049673.838979895] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049673.839001880] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049673.839970777] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049673.840195504] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049673.840845050] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049673.844532202] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049673.845003617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049673.845655613] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049673.846612575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049673.847736987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049673.945582300] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049673.946260228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049673.947225030] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049673.948525501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049673.949854469] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049674.002610103] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972463 Long: -76.50298556 -[vectornav-1] [INFO] [1746049674.003689329] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.642, -3.427, 7.93) -[mux-7] [INFO] [1746049674.045500819] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049674.046094768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049674.046999448] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049674.048230624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049674.049415304] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049674.085649009] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049674.088305761] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049674.088442039] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049674.089283695] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049674.089405062] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049674.090275566] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049674.091145321] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049674.144982551] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049674.145526168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049674.146344713] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049674.148044202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049674.149193992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049674.245310590] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049674.245865286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049674.247015602] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049674.248095537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049674.249311985] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049674.335709977] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049674.338685250] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049674.338757239] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049674.339320294] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049674.339803283] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049674.340727642] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049674.341540330] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049674.344409418] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049674.344929406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049674.345527859] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049674.346581408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049674.347708596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049674.445459950] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049674.446159628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049674.447024041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049674.448455978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049674.449006832] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049674.503220185] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972456 Long: -76.50298549 -[vectornav-1] [INFO] [1746049674.504509827] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.666, -3.418, 8.041) -[mux-7] [INFO] [1746049674.545079102] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049674.545863312] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049674.546463038] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049674.547756623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049674.548221881] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049674.585411498] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049674.587323289] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049674.587842797] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049674.588307017] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049674.589106464] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049674.589182936] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049674.590032920] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049674.645288885] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049674.645969960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049674.646825488] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049674.649305256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049674.650445773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049674.745446158] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049674.746058148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049674.746949051] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049674.748200922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049674.749411318] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049674.835724030] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049674.837770234] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049674.838803606] [sailbot.teensy]: Actual sail angle: 23 -[trim_sail-4] [INFO] [1746049674.839269911] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049674.839743818] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049674.840495325] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049674.840621842] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049674.844460692] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049674.845038831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049674.845644987] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049674.846680827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049674.847827384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049674.945566980] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049674.946295803] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049674.947214004] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049674.948620546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049674.949827247] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049675.002478327] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972443 Long: -76.50298524 -[vectornav-1] [INFO] [1746049675.003508948] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.64300000000003, -3.416, 8.073) -[mux-7] [INFO] [1746049675.045463693] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049675.045901773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049675.047399907] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049675.048640518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049675.049472101] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049675.085533002] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049675.087659239] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049675.087976742] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049675.088651595] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049675.089422593] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049675.089513320] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049675.090373856] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049675.145371108] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049675.146096117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049675.146896244] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049675.148232871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049675.149300601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049675.245619688] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049675.246323628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049675.247288666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049675.248888723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049675.250103172] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049675.335685429] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049675.338206215] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049675.338369259] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049675.339054897] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049675.339282426] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049675.339660826] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049675.340017613] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049675.344436399] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049675.345106311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049675.345657090] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049675.346858271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049675.347851770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049675.445174120] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049675.446003134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049675.446753848] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049675.448173181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049675.448827931] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049675.502397961] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972432 Long: -76.50298509 -[vectornav-1] [INFO] [1746049675.503470021] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.733, -3.404, 9.106) -[mux-7] [INFO] [1746049675.545488140] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049675.546331824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049675.547041840] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049675.548621167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049675.549867631] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049675.585981781] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049675.588953151] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049675.589617638] [sailbot.teensy]: Wind angle: 340 -[mux-7] [INFO] [1746049675.589617797] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049675.591280047] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049675.592212996] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049675.593059196] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049675.645402327] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049675.646278307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049675.646982354] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049675.648685673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049675.649847487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049675.745315650] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049675.746164313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049675.746773511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049675.747970138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049675.748428401] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049675.835444680] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049675.837773690] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049675.838166473] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049675.838702895] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049675.838884307] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049675.839874239] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049675.840649383] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049675.844374081] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049675.844892105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049675.845472570] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049675.846513907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049675.847481627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049675.945471188] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049675.946289752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049675.947052916] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049675.948520705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049675.949008676] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049676.003411266] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972413 Long: -76.50298469 -[vectornav-1] [INFO] [1746049676.004910626] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.733, -3.391, 9.105) -[mux-7] [INFO] [1746049676.045042356] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049676.045906726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049676.046463452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049676.047718847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049676.048170113] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049676.085697805] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049676.088112177] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049676.088600473] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049676.089265234] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049676.090219992] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049676.090600750] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049676.091085375] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049676.144889337] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049676.145464047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049676.146320677] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049676.147336646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049676.148396630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049676.245366470] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049676.246002117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049676.246928829] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049676.248142936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049676.249356176] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049676.335401900] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049676.337140198] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049676.337638576] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049676.338223593] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049676.339116587] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049676.339126020] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049676.339683208] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049676.344424691] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049676.345123745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049676.345650102] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049676.346833955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049676.347998706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049676.445158107] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049676.445850489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049676.446656720] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049676.448744258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049676.449249713] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049676.503604551] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972418 Long: -76.50298456 -[vectornav-1] [INFO] [1746049676.505029575] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.721, -3.387, 9.009) -[mux-7] [INFO] [1746049676.545677019] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049676.546572010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049676.547422430] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049676.549168134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049676.550357980] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049676.585605590] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049676.587852408] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049676.588167711] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049676.588737918] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049676.589193460] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049676.590073868] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049676.590921968] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049676.645499990] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049676.646125952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049676.647277397] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049676.648468765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049676.649643504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049676.745611434] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049676.746218809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049676.747156245] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049676.748350705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049676.749540338] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049676.835911865] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049676.838029886] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049676.838928115] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049676.839169245] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049676.840281455] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049676.841031112] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049676.841141065] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049676.844227163] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049676.844887668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049676.845324081] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049676.846573059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049676.847594662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049676.945417156] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049676.946212909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049676.947078165] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049676.948733729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049676.949837883] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049677.002445318] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972418 Long: -76.50298423 -[vectornav-1] [INFO] [1746049677.003462571] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.69, -3.402, 8.854) -[mux-7] [INFO] [1746049677.045252983] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049677.045975711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049677.046745185] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049677.048188543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049677.049365086] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049677.085726420] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049677.088572985] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049677.088605999] [sailbot.teensy]: Wind angle: 316 -[mux-7] [INFO] [1746049677.089038327] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049677.089694280] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049677.090550652] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049677.091378083] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049677.145149129] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049677.145835864] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049677.147830208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[mux-7] [INFO] [1746049677.147882064] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049677.149040606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049677.245418581] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049677.246337173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049677.247001678] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049677.248641870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049677.249910040] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049677.335721357] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049677.337629490] [sailbot.teensy]: Wind angle: 300 -[trim_sail-4] [INFO] [1746049677.338436417] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049677.338597928] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049677.339262346] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049677.339474254] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049677.340334380] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049677.344273855] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049677.344875443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049677.345312833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049677.346527185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049677.347548796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049677.445353382] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049677.446089757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049677.446840933] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049677.448460498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049677.449644883] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049677.503297500] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697242 Long: -76.50298412 -[vectornav-1] [INFO] [1746049677.504680450] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.653, -3.408, 8.783) -[mux-7] [INFO] [1746049677.544982304] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049677.545590087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049677.546276135] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049677.547454631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049677.547991371] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049677.585402998] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049677.587370958] [sailbot.teensy]: Wind angle: 298 -[trim_sail-4] [INFO] [1746049677.587910427] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049677.588373605] [sailbot.teensy]: Actual sail angle: 23 -[mux-7] [INFO] [1746049677.589023977] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049677.589257081] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049677.590108000] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049677.645259295] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049677.645961620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049677.646780943] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049677.648110778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049677.648892998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049677.745312531] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049677.746079326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049677.747256396] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049677.748330877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049677.749370862] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049677.835621636] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049677.837878027] [sailbot.teensy]: Wind angle: 297 -[trim_sail-4] [INFO] [1746049677.838439460] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746049677.838941144] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049677.839852793] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049677.839904616] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049677.840538733] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049677.844334242] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049677.844900047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049677.845357872] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049677.846540481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049677.847531707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049677.945146848] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049677.945886468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049677.946540497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049677.947864195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049677.949018694] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049678.002473295] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972418 Long: -76.50298407 -[vectornav-1] [INFO] [1746049678.003513101] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.661, -3.403, 8.828) -[mux-7] [INFO] [1746049678.045296237] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049678.046157863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049678.046757685] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049678.048407600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049678.049593859] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049678.085652761] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049678.088473506] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746049678.088719352] [sailbot.teensy]: Wind angle: 297 -[mux-7] [INFO] [1746049678.088950314] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049678.089938623] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049678.090805786] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049678.091608281] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049678.145367871] [sailbot.mux]: Published sail angle from controller_app: 23 -[teensy-2] [INFO] [1746049678.145895773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049678.146943827] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049678.147869571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:23, rudder: 0 -[teensy-2] [INFO] [1746049678.148961016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049678.149222631] [sailbot.mux]: controller_app sail angle: 0 -[mux-7] [INFO] [1746049678.245619423] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049678.246340048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049678.247328553] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049678.248724208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049678.249257405] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049678.335400863] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049678.337246034] [sailbot.teensy]: Wind angle: 297 -[trim_sail-4] [INFO] [1746049678.337690417] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746049678.338155920] [sailbot.teensy]: Actual sail angle: 23 -[teensy-2] [INFO] [1746049678.339027242] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049678.339276471] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049678.339879724] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049678.344390944] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049678.344982410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049678.345479487] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049678.346655059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049678.347777428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049678.445427704] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049678.446091637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049678.446903446] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049678.447977005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049678.448438355] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049678.503767479] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972424 Long: -76.50298406 -[vectornav-1] [INFO] [1746049678.505429144] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.664, -3.399, 8.836) -[mux-7] [INFO] [1746049678.545010419] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049678.545723744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049678.546286763] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049678.547967421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049678.549486666] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049678.585571524] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049678.587468727] [sailbot.teensy]: Wind angle: 297 -[trim_sail-4] [INFO] [1746049678.588217234] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746049678.588501588] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049678.589386207] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049678.589634386] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049678.590233477] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049678.645263327] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049678.645976452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049678.646768050] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049678.648146687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049678.649285577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049678.745380950] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049678.746222264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049678.746856296] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049678.748397616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049678.749467708] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049678.835557958] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049678.838005567] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049678.838291019] [sailbot.teensy]: Wind angle: 298 -[mux-7] [INFO] [1746049678.838657647] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049678.839313830] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049678.840204097] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049678.841032218] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049678.844358047] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049678.844749117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049678.845436156] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049678.846334640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049678.847328769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049678.945622958] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049678.946279329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049678.947506408] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049678.948774187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049678.950074213] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049679.002471129] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972421 Long: -76.50298394 -[vectornav-1] [INFO] [1746049679.003504537] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.645, -3.402, 8.834) -[mux-7] [INFO] [1746049679.045135663] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049679.046008544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049679.046544441] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049679.047980120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049679.049113635] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049679.085466955] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049679.087697266] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746049679.087706989] [sailbot.teensy]: Wind angle: 297 -[mux-7] [INFO] [1746049679.088395592] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049679.088639842] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049679.089450396] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049679.090322979] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049679.145382427] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049679.146142721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049679.146865102] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049679.148326744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049679.149411600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049679.245339575] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049679.246071339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049679.246823878] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049679.248239506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049679.249454291] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049679.335595745] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049679.337442531] [sailbot.teensy]: Wind angle: 298 -[teensy-2] [INFO] [1746049679.338437598] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049679.338016240] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049679.339077768] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049679.339159784] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049679.339463635] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049679.344471408] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049679.344949375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049679.345552121] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049679.346566525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049679.347558142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049679.445662187] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049679.446241893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049679.447365514] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049679.448403213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049679.449514669] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049679.503408607] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972427 Long: -76.50298389 -[vectornav-1] [INFO] [1746049679.505453330] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.626, -3.412, 8.798) -[mux-7] [INFO] [1746049679.545091985] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049679.545734498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049679.546415174] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049679.547698040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049679.548699561] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049679.585488607] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049679.587215866] [sailbot.teensy]: Wind angle: 297 -[teensy-2] [INFO] [1746049679.588141976] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049679.587768684] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746049679.588863053] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049679.589022053] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049679.589860545] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049679.645518292] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049679.646139541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049679.647173225] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049679.648333770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049679.648964685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049679.745535568] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049679.746074438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049679.747265945] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049679.748257061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049679.749427835] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049679.835863393] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049679.838061882] [sailbot.teensy]: Wind angle: 297 -[trim_sail-4] [INFO] [1746049679.838905849] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746049679.839228079] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049679.840234670] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049679.840403467] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049679.841108035] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049679.844300040] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049679.844860396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049679.845445016] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049679.846605910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049679.847631771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049679.945423323] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049679.946246966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049679.946897741] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049679.948459482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049679.949575113] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049680.002614276] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972443 Long: -76.50298376 -[vectornav-1] [INFO] [1746049680.003648220] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.603, -3.418, 8.613) -[mux-7] [INFO] [1746049680.045250910] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049680.046172932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049680.046653085] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049680.048504556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049680.049090701] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049680.085495938] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049680.087400611] [sailbot.teensy]: Wind angle: 297 -[trim_sail-4] [INFO] [1746049680.088109220] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746049680.088399931] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049680.088645873] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049680.089281431] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049680.090132593] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049680.144982917] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049680.145808218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049680.146563816] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049680.147709055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049680.148730816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049680.245032221] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049680.245727257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049680.246378517] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049680.247690404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049680.248820274] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049680.335409612] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049680.337738991] [sailbot.teensy]: Wind angle: 295 -[trim_sail-4] [INFO] [1746049680.337765916] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746049680.338655187] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049680.338656395] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049680.339538628] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049680.340482953] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049680.344206518] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049680.344748324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049680.345234081] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049680.346337232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049680.347444674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049680.444956003] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049680.445561984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049680.446651822] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049680.447404272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049680.448091157] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049680.503382449] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972454 Long: -76.5029838 -[vectornav-1] [INFO] [1746049680.504752818] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.606, -3.41, 8.648) -[mux-7] [INFO] [1746049680.545230532] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049680.545956834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049680.546594088] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049680.547931122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049680.548880627] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049680.585325553] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049680.587147559] [sailbot.teensy]: Wind angle: 290 -[trim_sail-4] [INFO] [1746049680.587647473] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746049680.588286093] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049680.588636545] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746049680.589247362] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049680.590117711] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049680.645149008] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049680.645780042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049680.646579452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049680.647784213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049680.648869313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049680.745376016] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049680.746012445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049680.746834917] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049680.748068244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049680.749306361] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049680.835461222] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049680.837173840] [sailbot.teensy]: Wind angle: 283 -[trim_sail-4] [INFO] [1746049680.837747982] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746049680.838110990] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049680.838997406] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049680.839541974] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746049680.839669027] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049680.844561219] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049680.845009472] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049680.845671613] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049680.846601830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049680.847732258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049680.945260162] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049680.945908433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049680.946785393] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049680.948178817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049680.948998214] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049681.003605778] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972471 Long: -76.50298369 -[vectornav-1] [INFO] [1746049681.005330597] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.61199999999997, -3.409, 8.643) -[mux-7] [INFO] [1746049681.045160236] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049681.045779250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049681.046502361] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049681.047640628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049681.048655739] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049681.085493433] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049681.087785519] [sailbot.teensy]: Wind angle: 283 -[trim_sail-4] [INFO] [1746049681.087823440] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746049681.088887449] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746049681.089634751] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049681.090514182] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049681.091320412] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049681.145383659] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049681.145986382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049681.146880904] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049681.147980333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049681.149021383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049681.245336074] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049681.245838751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049681.247310826] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049681.247829170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049681.248696545] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049681.335680921] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049681.337580107] [sailbot.teensy]: Wind angle: 284 -[trim_sail-4] [INFO] [1746049681.338158711] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746049681.338550723] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049681.339433730] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049681.339788897] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746049681.340312672] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049681.344517164] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049681.344958721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049681.345601525] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049681.346546191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049681.347544205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049681.445278177] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049681.445939431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049681.446728935] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049681.448006450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049681.449078776] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049681.503216726] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972481 Long: -76.50298373 -[vectornav-1] [INFO] [1746049681.504991332] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.624, -3.396, 8.759) -[mux-7] [INFO] [1746049681.545219651] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049681.545780521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049681.546546428] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049681.547606059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049681.548657947] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049681.584725292] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049681.585911466] [sailbot.teensy]: Wind angle: 283 -[trim_sail-4] [INFO] [1746049681.586281201] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746049681.586572677] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049681.586719692] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746049681.587250426] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049681.588394470] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049681.643694887] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049681.644044780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049681.644518214] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049681.645532660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049681.646178222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049681.744144991] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049681.744756711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049681.745013654] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049681.746143569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049681.747174915] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049681.835703879] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049681.838128909] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746049681.838642733] [sailbot.teensy]: Wind angle: 284 -[mux-7] [INFO] [1746049681.838969146] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746049681.839632506] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049681.840523985] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049681.841349749] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049681.843958251] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049681.844475318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049681.845046741] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049681.846072245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049681.847030555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049681.945513734] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049681.946078759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049681.947311451] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049681.948431896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049681.949633871] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049682.003271563] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972501 Long: -76.50298347 -[vectornav-1] [INFO] [1746049682.004626422] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.61, -3.39, 8.799) -[mux-7] [INFO] [1746049682.045153510] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049682.045790485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049682.046712791] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049682.047732667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049682.048771305] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049682.085479024] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049682.087363933] [sailbot.teensy]: Wind angle: 284 -[trim_sail-4] [INFO] [1746049682.087842015] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746049682.088884816] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746049682.088953877] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049682.089348140] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049682.089705872] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049682.145321736] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049682.145983485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049682.146817676] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049682.148014142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049682.149208705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049682.245426679] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049682.246014627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049682.247002126] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049682.248202035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049682.249438958] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049682.335479402] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049682.337305837] [sailbot.teensy]: Wind angle: 279 -[trim_sail-4] [INFO] [1746049682.337961250] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746049682.338520328] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746049682.339318037] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049682.340223716] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049682.340852726] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049682.344335694] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049682.344839314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049682.346297653] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049682.346438191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049682.347647588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049682.445496800] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049682.446202217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049682.447031242] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049682.448452567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049682.449556749] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049682.502495016] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972508 Long: -76.50298352 -[vectornav-1] [INFO] [1746049682.503539469] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.589, -3.385, 8.784) -[mux-7] [INFO] [1746049682.545394386] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049682.546060538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049682.546815897] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049682.548092516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049682.549294800] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049682.585963501] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049682.588264993] [sailbot.teensy]: Wind angle: 272 -[trim_sail-4] [INFO] [1746049682.589186917] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746049682.589420837] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049682.589948253] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746049682.590384881] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049682.591278536] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049682.645541533] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049682.646476415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049682.647146530] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049682.648908890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049682.650078636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049682.745359515] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049682.746221260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049682.746854278] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049682.747915559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049682.748368099] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049682.835663758] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049682.838500690] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746049682.838645836] [sailbot.teensy]: Wind angle: 272 -[mux-7] [INFO] [1746049682.839273848] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746049682.839752646] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049682.840659191] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049682.841479124] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049682.844405805] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049682.844908844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049682.845438619] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049682.846529379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049682.847638586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049682.945386152] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049682.946285715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049682.946943297] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049682.948504854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049682.949325988] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049683.003259610] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697251 Long: -76.50298346 -[vectornav-1] [INFO] [1746049683.004528523] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.56899999999996, -3.383, 8.707) -[mux-7] [INFO] [1746049683.045176690] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049683.045915682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049683.046482045] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049683.047788478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049683.048799997] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049683.085489361] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049683.087237314] [sailbot.teensy]: Wind angle: 270 -[trim_sail-4] [INFO] [1746049683.087878730] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746049683.088208130] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049683.089108118] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049683.089274857] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049683.089969269] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049683.145163235] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049683.145897320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049683.146591591] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049683.148075049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049683.148888929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049683.245521239] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049683.246305300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049683.247013355] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049683.248495829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049683.249730659] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049683.335499915] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049683.337271611] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746049683.337909434] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746049683.338229080] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049683.338632752] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049683.339025843] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049683.339404035] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049683.344502617] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049683.345086649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049683.345628571] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049683.346755427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049683.347754427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049683.445381976] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049683.446157081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049683.446941279] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049683.448074762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049683.448624958] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049683.502489779] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697253 Long: -76.50298358 -[vectornav-1] [INFO] [1746049683.503546562] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.596, -3.376, 8.778) -[mux-7] [INFO] [1746049683.545004774] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049683.545780766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049683.546368903] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049683.547650274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049683.548782346] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049683.585621615] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049683.588270385] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746049683.588757390] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049683.588997251] [sailbot.teensy]: Wind angle: 270 -[teensy-2] [INFO] [1746049683.589915914] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049683.590538316] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049683.590866726] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049683.645161932] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049683.645806577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049683.646580407] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049683.647850125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049683.649032337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049683.745217556] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049683.746149714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049683.746628544] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049683.748148438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049683.749300211] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049683.835526423] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049683.837629087] [sailbot.teensy]: Wind angle: 270 -[trim_sail-4] [INFO] [1746049683.838166956] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746049683.838652623] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049683.839974723] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049683.840863030] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049683.841692620] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049683.844184005] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049683.844825460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049683.845237250] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049683.846497412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049683.847491882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049683.945351322] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049683.946041820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049683.946855260] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049683.948297804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049683.949181264] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049684.002509810] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697253 Long: -76.5029834 -[vectornav-1] [INFO] [1746049684.003575319] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.594, -3.374, 8.8) -[mux-7] [INFO] [1746049684.045300305] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049684.045987615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049684.046771745] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049684.047837497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049684.048284740] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049684.085617003] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049684.087774401] [sailbot.teensy]: Wind angle: 270 -[trim_sail-4] [INFO] [1746049684.088262262] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746049684.088800247] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049684.089006025] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049684.089201672] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049684.089580215] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049684.145046359] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049684.145641550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049684.146531258] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049684.147701826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049684.148904088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049684.245132072] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049684.245912181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049684.247000394] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049684.247947016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049684.248956340] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049684.335401327] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049684.337197582] [sailbot.teensy]: Wind angle: 270 -[trim_sail-4] [INFO] [1746049684.337860955] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746049684.338136853] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049684.338907750] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049684.339025834] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049684.339891398] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049684.344386450] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049684.345030199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049684.345520118] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049684.346692417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049684.347792138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049684.445289935] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049684.446021069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049684.446778585] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049684.447996521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049684.448445429] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049684.503404314] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972542 Long: -76.50298328 -[vectornav-1] [INFO] [1746049684.504974162] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.58299999999997, -3.371, 8.772) -[mux-7] [INFO] [1746049684.545007834] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049684.545815340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049684.546298818] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049684.547678042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049684.548698108] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049684.585671189] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049684.587373411] [sailbot.teensy]: Wind angle: 270 -[trim_sail-4] [INFO] [1746049684.588202939] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746049684.588320073] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049684.589190954] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049684.589370115] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049684.590038319] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049684.645392761] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049684.646205915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049684.646903300] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049684.648465369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049684.649552084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049684.704865474] [sailbot.mux]: controller_app sail angle: 25 -[mux-7] [INFO] [1746049684.745091185] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746049684.745849776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049684.746411756] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049684.747725085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746049684.748769284] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049684.835375286] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049684.837138467] [sailbot.teensy]: Wind angle: 270 -[trim_sail-4] [INFO] [1746049684.837755137] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746049684.838093056] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049684.838993718] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049684.839400809] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049684.839849492] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049684.844429483] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746049684.844927317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049684.845496852] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049684.846659642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746049684.847679075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049684.945367624] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746049684.946043271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049684.946879530] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049684.947977824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746049684.948527694] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049685.003603393] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972532 Long: -76.50298333 -[vectornav-1] [INFO] [1746049685.005030743] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.55899999999997, -3.38, 8.774) -[mux-7] [INFO] [1746049685.045198685] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746049685.046094217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049685.046665585] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049685.048176809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746049685.049321062] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049685.085515772] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049685.087263809] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746049685.087855765] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746049685.088236522] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746049685.089106377] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049685.089098689] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049685.089996518] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049685.145107070] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746049685.145629232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049685.146477069] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049685.147933789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746049685.149029356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049685.245578802] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746049685.246094594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049685.247175115] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049685.248464434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746049685.249694731] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049685.335449919] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049685.337244137] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746049685.337811712] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746049685.338176004] [sailbot.teensy]: Actual sail angle: 25 -[mux-7] [INFO] [1746049685.338438130] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049685.339079112] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049685.340021004] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049685.344350146] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746049685.344749568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049685.345447773] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049685.346376777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746049685.347425747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049685.445599325] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746049685.446259513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049685.447390728] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049685.448494843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746049685.449621413] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049685.502510323] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972534 Long: -76.50298351 -[vectornav-1] [INFO] [1746049685.503607836] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.557, -3.38, 8.741) -[mux-7] [INFO] [1746049685.545336849] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746049685.546070343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049685.546789669] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049685.548102770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746049685.549370500] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049685.585568893] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049685.588064519] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746049685.588246380] [sailbot.teensy]: Wind angle: 269 -[mux-7] [INFO] [1746049685.588702838] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049685.589347129] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746049685.590227017] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049685.591059444] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049685.645745077] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746049685.645899680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049685.647451992] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049685.647903635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746049685.649141292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049685.668682132] [sailbot.mux]: controller_app sail angle: 68 -[mux-7] [INFO] [1746049685.745221361] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049685.746009406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049685.746672641] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049685.748184233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049685.749012737] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049685.835593552] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049685.837616290] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746049685.837935874] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746049685.838575732] [sailbot.teensy]: Actual sail angle: 25 -[mux-7] [INFO] [1746049685.838907605] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049685.838959053] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049685.839326659] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049685.844279681] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049685.844833678] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049685.845335762] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049685.846424452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049685.847526064] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049685.945214916] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049685.945962323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049685.946706335] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049685.948073021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049685.949245281] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049686.003250809] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697256 Long: -76.50298327 -[vectornav-1] [INFO] [1746049686.004776390] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.55, -3.384, 8.767) -[mux-7] [INFO] [1746049686.045188815] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049686.046051653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049686.046660262] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049686.048223734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049686.049342777] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049686.085632324] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049686.087739830] [sailbot.teensy]: Wind angle: 269 -[teensy-2] [INFO] [1746049686.088746792] [sailbot.teensy]: Actual sail angle: 68 -[trim_sail-4] [INFO] [1746049686.088343120] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746049686.088857761] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049686.089623611] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049686.090483302] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049686.145580618] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049686.146250398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049686.147322159] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049686.148596617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049686.149260644] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049686.245369290] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049686.246240062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049686.246940200] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049686.247889289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049686.248348956] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049686.335392819] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049686.337171451] [sailbot.teensy]: Wind angle: 267 -[trim_sail-4] [INFO] [1746049686.337793297] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746049686.338115717] [sailbot.teensy]: Actual sail angle: 68 -[teensy-2] [INFO] [1746049686.338978611] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049686.338967168] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049686.339836617] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049686.344364674] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049686.344856691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049686.345992672] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049686.346506316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049686.348030674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049686.445508632] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049686.446166223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049686.447110611] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049686.448400650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049686.449670183] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049686.502364286] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972569 Long: -76.50298338 -[vectornav-1] [INFO] [1746049686.503327845] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.574, -3.371, 8.929) -[mux-7] [INFO] [1746049686.545008527] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049686.545682208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049686.546314983] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049686.547441803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049686.548537230] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049686.585411820] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049686.587107514] [sailbot.teensy]: Wind angle: 266 -[trim_sail-4] [INFO] [1746049686.587767316] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746049686.588063157] [sailbot.teensy]: Actual sail angle: 68 -[mux-7] [INFO] [1746049686.588659743] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049686.588972832] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049686.589830166] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049686.645004354] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049686.645534894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049686.646285603] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049686.647279514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049686.648313066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049686.745326306] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049686.746223655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049686.746956141] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049686.748461021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049686.749626612] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049686.835479475] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049686.838014099] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746049686.838317728] [sailbot.teensy]: Wind angle: 265 -[mux-7] [INFO] [1746049686.838963683] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049686.839168598] [sailbot.teensy]: Actual sail angle: 68 -[teensy-2] [INFO] [1746049686.839547418] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049686.839884354] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049686.844523746] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049686.845030428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049686.845758071] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049686.846729353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049686.847761407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049686.945584630] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049686.946201681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049686.947523721] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049686.948437842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049686.949706685] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049687.002782792] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972577 Long: -76.50298328 -[vectornav-1] [INFO] [1746049687.003956133] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.577, -3.372, 9.047) -[mux-7] [INFO] [1746049687.044751498] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049687.045553879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049687.045870224] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049687.047510250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049687.048732426] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049687.086021749] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049687.088781369] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746049687.089718255] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049687.089779370] [sailbot.teensy]: Wind angle: 264 -[teensy-2] [INFO] [1746049687.090703728] [sailbot.teensy]: Actual sail angle: 68 -[teensy-2] [INFO] [1746049687.091192866] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049687.091528331] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049687.144902813] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049687.145507192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049687.146246599] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049687.147297989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049687.148437053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049687.245362233] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049687.245905066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049687.246855243] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049687.247931435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049687.249139860] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049687.335443771] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049687.337387644] [sailbot.teensy]: Wind angle: 264 -[teensy-2] [INFO] [1746049687.338408763] [sailbot.teensy]: Actual sail angle: 68 -[trim_sail-4] [INFO] [1746049687.338028733] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746049687.339218808] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049687.339277132] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049687.340119506] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049687.344661588] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049687.345104286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049687.345860157] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049687.346816050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049687.347821004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049687.445605010] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049687.446402596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049687.447301640] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049687.448681483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049687.449992281] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049687.503448377] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972582 Long: -76.50298336 -[vectornav-1] [INFO] [1746049687.505059587] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.61400000000003, -3.363, 9.226) -[mux-7] [INFO] [1746049687.545383415] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049687.545969045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049687.546914023] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049687.548063208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049687.549154468] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049687.585328597] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049687.587059625] [sailbot.teensy]: Wind angle: 262 -[trim_sail-4] [INFO] [1746049687.587765167] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049687.588016167] [sailbot.teensy]: Actual sail angle: 68 -[teensy-2] [INFO] [1746049687.588915963] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049687.589107749] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049687.589780862] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049687.645106139] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049687.645786967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049687.646575846] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049687.647876688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049687.649072800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049687.745472165] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049687.746326393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049687.747063889] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049687.748649782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049687.749877746] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049687.835615689] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049687.838200439] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049687.838298626] [sailbot.teensy]: Wind angle: 262 -[mux-7] [INFO] [1746049687.838887611] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049687.839022865] [sailbot.teensy]: Actual sail angle: 68 -[teensy-2] [INFO] [1746049687.839405013] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049687.839767506] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049687.844519654] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049687.845124339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049687.845698442] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049687.846764461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049687.847775923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049687.945584795] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049687.946268594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049687.947186916] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049687.948513138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049687.949509983] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049688.003351090] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972576 Long: -76.50298333 -[vectornav-1] [INFO] [1746049688.004942431] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.637, -3.359, 9.385) -[mux-7] [INFO] [1746049688.045504387] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049688.045993038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049688.046996393] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049688.048019738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049688.049100313] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049688.085517246] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049688.087864266] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049688.088011309] [sailbot.teensy]: Wind angle: 262 -[mux-7] [INFO] [1746049688.088445787] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049688.089068554] [sailbot.teensy]: Actual sail angle: 68 -[teensy-2] [INFO] [1746049688.089971171] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049688.090823287] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049688.145500283] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049688.146137475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049688.147050949] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049688.148391159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049688.149163582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049688.245384692] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049688.246015353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049688.246853165] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049688.248257538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049688.249333167] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049688.335863963] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049688.338697516] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746049688.339357366] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049688.340083903] [sailbot.teensy]: Wind angle: 262 -[teensy-2] [INFO] [1746049688.341018566] [sailbot.teensy]: Actual sail angle: 68 -[teensy-2] [INFO] [1746049688.341839712] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049688.342637522] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049688.344300088] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049688.344691304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049688.345348223] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049688.346239465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049688.347194861] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049688.445067049] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049688.445713662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049688.446424691] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049688.447621328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049688.448639225] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049688.502915903] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972573 Long: -76.50298347 -[vectornav-1] [INFO] [1746049688.503947390] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.63300000000004, -3.36, 9.404) -[mux-7] [INFO] [1746049688.545117436] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049688.545940573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049688.546452295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049688.547867982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049688.548436102] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049688.585549023] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049688.588016568] [sailbot.teensy]: Wind angle: 261 -[trim_sail-4] [INFO] [1746049688.588297245] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049688.588934301] [sailbot.teensy]: Actual sail angle: 68 -[mux-7] [INFO] [1746049688.589096523] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049688.589317924] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049688.589696893] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049688.645165825] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049688.645856645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049688.646648238] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049688.648332749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049688.649443125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049688.745173230] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049688.745989525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049688.746614915] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049688.748080951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049688.749347602] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049688.835340857] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049688.837185632] [sailbot.teensy]: Wind angle: 261 -[trim_sail-4] [INFO] [1746049688.837874774] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746049688.838499866] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049688.839183890] [sailbot.teensy]: Actual sail angle: 68 -[teensy-2] [INFO] [1746049688.840055651] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049688.840900423] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049688.844379450] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049688.844842502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049688.845482586] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049688.846416979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049688.847403615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049688.945448223] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049688.946337366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049688.947001873] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049688.948979870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049688.950171562] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049689.003355514] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972571 Long: -76.50298341 -[vectornav-1] [INFO] [1746049689.004807236] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.64, -3.363, 9.494) -[mux-7] [INFO] [1746049689.044974668] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049689.045768076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049689.046646938] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049689.047662044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049689.048855539] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049689.085502509] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049689.087829801] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049689.088230929] [sailbot.teensy]: Wind angle: 259 -[mux-7] [INFO] [1746049689.088451823] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049689.089177238] [sailbot.teensy]: Actual sail angle: 68 -[teensy-2] [INFO] [1746049689.090044139] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049689.090855402] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049689.145557239] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049689.146284194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049689.147137039] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049689.148279898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049689.148781680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049689.245141007] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049689.245952031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049689.246625756] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049689.248053217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049689.249243126] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049689.335840871] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049689.338659037] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049689.338909654] [sailbot.teensy]: Wind angle: 258 -[mux-7] [INFO] [1746049689.339128898] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049689.339345363] [sailbot.teensy]: Actual sail angle: 68 -[teensy-2] [INFO] [1746049689.339732331] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049689.340524786] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049689.344217802] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049689.344734016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049689.345260961] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049689.346443885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049689.347484499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049689.445353902] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049689.446204810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049689.446888260] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049689.448524374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049689.449645373] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049689.503162296] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972571 Long: -76.50298333 -[vectornav-1] [INFO] [1746049689.504465563] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.627, -3.357, 9.491) -[mux-7] [INFO] [1746049689.545052865] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049689.545784618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049689.546488983] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049689.547773477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049689.548965140] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049689.585728316] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049689.588031403] [sailbot.teensy]: Wind angle: 258 -[trim_sail-4] [INFO] [1746049689.588563877] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049689.589223826] [sailbot.teensy]: Actual sail angle: 68 -[mux-7] [INFO] [1746049689.589271852] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049689.590153382] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049689.590981873] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049689.645497654] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049689.646038047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049689.647120185] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049689.648308063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049689.649571450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049689.745607053] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049689.746312484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049689.747357927] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049689.748774142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049689.749994368] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049689.835282002] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049689.836930698] [sailbot.teensy]: Wind angle: 258 -[trim_sail-4] [INFO] [1746049689.837466304] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049689.837821637] [sailbot.teensy]: Actual sail angle: 68 -[teensy-2] [INFO] [1746049689.838702604] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049689.838910448] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049689.839215441] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049689.844541164] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049689.845013495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049689.845861842] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049689.846746496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049689.847813372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049689.945534746] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049689.946225080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049689.947287118] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049689.948535748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049689.949681285] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049690.002608039] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972563 Long: -76.50298331 -[vectornav-1] [INFO] [1746049690.003689992] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.61400000000003, -3.371, 9.448) -[mux-7] [INFO] [1746049690.045732515] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049690.046423621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049690.047353779] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049690.048670065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049690.049883699] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049690.085334905] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049690.087152254] [sailbot.teensy]: Wind angle: 259 -[trim_sail-4] [INFO] [1746049690.087877425] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049690.088131512] [sailbot.teensy]: Actual sail angle: 68 -[mux-7] [INFO] [1746049690.089159029] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049690.089217723] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049690.090074986] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049690.145506532] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049690.146320597] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049690.147157504] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049690.148586200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049690.149252049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049690.245226618] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049690.245998140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049690.246785543] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049690.248926747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049690.249456782] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049690.335668256] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049690.338178969] [sailbot.teensy]: Wind angle: 258 -[trim_sail-4] [INFO] [1746049690.338529868] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049690.339911354] [sailbot.teensy]: Actual sail angle: 68 -[mux-7] [INFO] [1746049690.340739843] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049690.340882691] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049690.341724416] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049690.344240965] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049690.344714091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049690.345303527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049690.346292782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049690.347333871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049690.445002358] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049690.445595585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049690.446315846] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049690.447477200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049690.448396699] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049690.502452163] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972549 Long: -76.50298355 -[vectornav-1] [INFO] [1746049690.503597169] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.632, -3.363, 9.453) -[mux-7] [INFO] [1746049690.545407974] [sailbot.mux]: Published sail angle from controller_app: 68 -[teensy-2] [INFO] [1746049690.546059553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049690.546894514] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049690.548240729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:68, rudder: 0 -[teensy-2] [INFO] [1746049690.549470777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049690.574526155] [sailbot.mux]: controller_app sail angle: 0 -[teensy-2] [INFO] [1746049690.585258186] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049690.587303859] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049690.587426683] [sailbot.teensy]: Wind angle: 258 -[mux-7] [INFO] [1746049690.587783679] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049690.588315727] [sailbot.teensy]: Actual sail angle: 68 -[teensy-2] [INFO] [1746049690.589122436] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049690.589880208] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049690.644949241] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049690.645480820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049690.646243248] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049690.647323717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049690.648355227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049690.745234855] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049690.745866630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049690.746629144] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049690.747828429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049690.749034363] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049690.835542611] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049690.838281370] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746049690.838773687] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049690.838799936] [sailbot.teensy]: Wind angle: 257 -[teensy-2] [INFO] [1746049690.839215226] [sailbot.teensy]: Actual sail angle: 68 -[teensy-2] [INFO] [1746049690.839588962] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049690.839943100] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049690.844700078] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049690.845167444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049690.845934195] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049690.846932656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049690.847930850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049690.945610437] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049690.946184428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049690.947237721] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049690.948544168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049690.949363416] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049691.002579707] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972536 Long: -76.50298353 -[vectornav-1] [INFO] [1746049691.003647024] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.62, -3.369, 9.466) -[mux-7] [INFO] [1746049691.045320233] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049691.045926362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049691.046828102] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049691.048093832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049691.049172807] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049691.085569410] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049691.087541117] [sailbot.teensy]: Wind angle: 256 -[trim_sail-4] [INFO] [1746049691.088127689] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746049691.089093083] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049691.090222761] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049691.090403213] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049691.091123439] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049691.145375392] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049691.145873491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049691.146878635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049691.148026943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049691.149055257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049691.245425166] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049691.246076806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049691.246921564] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049691.248190381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049691.249113154] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049691.335715012] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049691.338019162] [sailbot.teensy]: Wind angle: 256 -[trim_sail-4] [INFO] [1746049691.338485059] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746049691.339115994] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049691.340097867] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049691.340424792] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049691.341018526] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049691.344398441] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049691.344794800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049691.345555184] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049691.346436507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049691.347450277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049691.445667599] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049691.446613034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049691.447492216] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049691.448603717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049691.449140246] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049691.502635956] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972527 Long: -76.50298352 -[vectornav-1] [INFO] [1746049691.503771452] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.605, -3.377, 9.441) -[mux-7] [INFO] [1746049691.545521053] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049691.546236173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049691.547047367] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049691.548690519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049691.549962381] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049691.585435936] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049691.588826749] [sailbot.teensy]: Wind angle: 254 -[trim_sail-4] [INFO] [1746049691.589317673] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746049691.589670504] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049691.589803972] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049691.590529879] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049691.591363396] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049691.645176614] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049691.645827221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049691.646635571] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049691.647935474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049691.649029612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049691.745418969] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049691.746129078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049691.746973436] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049691.748230888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049691.748727202] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049691.835323487] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049691.837989480] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746049691.838535581] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049691.838756077] [sailbot.teensy]: Wind angle: 254 -[teensy-2] [INFO] [1746049691.839729051] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049691.840583202] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049691.841385481] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049691.844378442] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049691.844940211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049691.845460874] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049691.846685467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049691.847730394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049691.945635271] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049691.946537993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049691.947441921] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049691.947918706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049691.948437547] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049692.002519491] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972509 Long: -76.50298339 -[vectornav-1] [INFO] [1746049692.003501136] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.603, -3.374, 9.41) -[mux-7] [INFO] [1746049692.045530728] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049692.046381436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049692.047087146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049692.048706464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049692.049880956] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049692.085446928] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049692.087888745] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746049692.088117176] [sailbot.teensy]: Wind angle: 254 -[mux-7] [INFO] [1746049692.089038454] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049692.089056095] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049692.089920961] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049692.090754092] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049692.145264057] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049692.145879526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049692.146753151] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049692.147975013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049692.149110660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049692.245550377] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049692.246399727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049692.247083719] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049692.248698250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049692.249922439] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049692.335838620] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049692.337960063] [sailbot.teensy]: Wind angle: 254 -[trim_sail-4] [INFO] [1746049692.338709598] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746049692.339040548] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049692.340000478] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049692.340039100] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049692.340885304] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049692.344262746] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049692.344859047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049692.345360856] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049692.346496998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049692.347474110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049692.445454343] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049692.446183866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049692.447054284] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049692.447837178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049692.448355439] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049692.502946909] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972488 Long: -76.50298342 -[vectornav-1] [INFO] [1746049692.504005592] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.597, -3.378, 9.385) -[mux-7] [INFO] [1746049692.545371220] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049692.546186573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049692.546951806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049692.548547817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049692.549647319] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049692.585610330] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049692.587631049] [sailbot.teensy]: Wind angle: 254 -[teensy-2] [INFO] [1746049692.588674638] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049692.588384716] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746049692.588901168] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049692.589576566] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049692.590406461] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049692.645487675] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049692.646150559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049692.647103758] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049692.648468603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049692.649306671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049692.744936423] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049692.745641673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049692.746167908] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049692.747512317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049692.748376761] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049692.835322546] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049692.837090934] [sailbot.teensy]: Wind angle: 254 -[trim_sail-4] [INFO] [1746049692.837718782] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746049692.838309491] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049692.838857433] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049692.839224164] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049692.839558466] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049692.844518565] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049692.844871626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049692.845736021] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049692.846587199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049692.847975890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049692.945592839] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049692.946323008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049692.947225004] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049692.948660351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049692.950137949] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049693.002643189] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972471 Long: -76.50298327 -[vectornav-1] [INFO] [1746049693.003738815] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.546, -3.39, 9.117) -[mux-7] [INFO] [1746049693.045307003] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049693.046087190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049693.046795737] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049693.048237854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049693.049401995] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049693.085724044] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049693.087857529] [sailbot.teensy]: Wind angle: 254 -[teensy-2] [INFO] [1746049693.088974398] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049693.088599574] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746049693.089913643] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049693.089970547] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049693.090875575] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049693.145470373] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049693.146107178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049693.147017119] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049693.148567146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049693.149883067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049693.245446950] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049693.246226459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049693.247024181] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049693.248173184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049693.248692447] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049693.335665031] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049693.338259269] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746049693.338955845] [sailbot.teensy]: Wind angle: 253 -[mux-7] [INFO] [1746049693.339194905] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049693.339953260] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049693.340825636] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049693.341632745] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049693.344414848] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049693.344892466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049693.345498275] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049693.346491421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049693.347581362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049693.445095732] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049693.445889647] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049693.446599713] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049693.448050037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049693.449130876] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049693.503036495] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972462 Long: -76.5029831 -[vectornav-1] [INFO] [1746049693.504095230] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.54499999999996, -3.392, 9.129) -[mux-7] [INFO] [1746049693.545538537] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049693.546288436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049693.547134116] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049693.548772401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049693.550006109] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049693.585648582] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049693.587731151] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746049693.588430014] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746049693.588885915] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049693.589252127] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049693.589853160] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049693.590704946] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049693.645453160] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049693.646281033] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049693.647032112] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049693.648863956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049693.650079394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049693.745677897] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049693.746489945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049693.747399168] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049693.748883455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049693.750277052] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049693.835890265] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049693.838069015] [sailbot.teensy]: Wind angle: 251 -[trim_sail-4] [INFO] [1746049693.838927511] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746049693.839033502] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049693.839165141] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049693.839421754] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049693.839830140] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049693.844589662] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049693.845120898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049693.845752799] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049693.846791412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049693.847893554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049693.945489767] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049693.946211503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049693.947153829] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049693.948569766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049693.948999642] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049694.003354295] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697246 Long: -76.5029832 -[vectornav-1] [INFO] [1746049694.004648604] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.544, -3.396, 9.116) -[mux-7] [INFO] [1746049694.045324159] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049694.046151279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049694.046873155] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049694.048304447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049694.049474871] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049694.085432678] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049694.087259916] [sailbot.teensy]: Wind angle: 251 -[teensy-2] [INFO] [1746049694.088236976] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049694.088176665] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746049694.088742919] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049694.089099909] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049694.089947310] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049694.145535173] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049694.146336070] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049694.147081732] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049694.148613883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049694.149151714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049694.245193651] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049694.245951527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049694.246681066] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049694.248139656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049694.248875979] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049694.335312566] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049694.337201430] [sailbot.teensy]: Wind angle: 250 -[trim_sail-4] [INFO] [1746049694.337808448] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746049694.338183639] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049694.338618796] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049694.339065270] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049694.339900444] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049694.344299211] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049694.344944648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049694.345349925] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049694.346589056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049694.347714856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049694.445432277] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049694.446195080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049694.447070520] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049694.448382558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049694.448836681] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049694.502456442] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697245 Long: -76.50298302 -[vectornav-1] [INFO] [1746049694.503498310] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.5, -3.4, 8.863) -[mux-7] [INFO] [1746049694.545178931] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049694.546078974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049694.546648532] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049694.548227613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049694.548818965] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049694.585396998] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049694.587261032] [sailbot.teensy]: Wind angle: 251 -[trim_sail-4] [INFO] [1746049694.587944347] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746049694.588285144] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049694.589222755] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049694.589798534] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049694.590089137] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049694.645236015] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049694.645889558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049694.646771300] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049694.647722884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049694.648193357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049694.745010348] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049694.745706283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049694.746285489] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049694.747547545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049694.748593098] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049694.835855021] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049694.838034872] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746049694.838553710] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746049694.838822740] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049694.839209635] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049694.839600296] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049694.839966331] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049694.844489615] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049694.845050298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049694.845700138] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049694.847219205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049694.848387556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049694.945276362] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049694.946132888] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049694.946780985] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049694.948266097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049694.949237685] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049695.002327030] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972435 Long: -76.50298295 -[vectornav-1] [INFO] [1746049695.003290944] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.497, -3.408, 8.829) -[mux-7] [INFO] [1746049695.045328019] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049695.046759354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049695.046850287] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049695.047947285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049695.048415937] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049695.085496205] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049695.087318367] [sailbot.teensy]: Wind angle: 246 -[trim_sail-4] [INFO] [1746049695.088036272] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049695.088332027] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049695.089018475] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049695.089207214] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049695.090081151] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049695.145198541] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049695.145912355] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049695.146557861] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049695.147928067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049695.148997571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049695.245464095] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049695.246508892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049695.247082979] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049695.248018248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049695.248433308] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049695.335556451] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049695.337561260] [sailbot.teensy]: Wind angle: 246 -[trim_sail-4] [INFO] [1746049695.338185109] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049695.338521501] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049695.338964197] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049695.339413546] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049695.340268579] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049695.344209446] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049695.344859708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049695.345322282] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049695.346536371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049695.347507933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049695.445461311] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049695.446308874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049695.447225270] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049695.448478852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049695.448888532] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049695.503114409] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972421 Long: -76.50298286 -[vectornav-1] [INFO] [1746049695.504125359] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.477, -3.407, 8.926) -[mux-7] [INFO] [1746049695.544831353] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049695.545668152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049695.546107467] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049695.547539572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049695.548529106] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049695.585358970] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049695.587696427] [sailbot.teensy]: Wind angle: 246 -[trim_sail-4] [INFO] [1746049695.587741277] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746049695.588141329] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049695.588746494] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049695.589553293] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049695.590300506] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049695.645516596] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049695.646280877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049695.647132276] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049695.648891096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049695.650073369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049695.745543035] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049695.746457685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049695.747245865] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049695.748945431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049695.750019705] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049695.835869659] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049695.838215086] [sailbot.teensy]: Wind angle: 246 -[trim_sail-4] [INFO] [1746049695.838698984] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049695.839315426] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049695.840001016] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049695.840252017] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049695.841085103] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049695.844409492] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049695.845009011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049695.845627664] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049695.846822751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049695.847873553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049695.945500766] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049695.946450582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049695.947128818] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049695.948826437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049695.949953010] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049696.002938944] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469724 Long: -76.50298272 -[vectornav-1] [INFO] [1746049696.004298351] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.46500000000003, -3.4, 8.923) -[mux-7] [INFO] [1746049696.045481668] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049696.046369100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049696.046983859] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049696.048116315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049696.048694720] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049696.085428528] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049696.087936713] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049696.088280358] [sailbot.teensy]: Wind angle: 246 -[mux-7] [INFO] [1746049696.088447950] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049696.089337727] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049696.090353832] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049696.091209725] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049696.145322607] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049696.146200326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049696.146802730] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049696.148419727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049696.149537596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049696.245642595] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049696.246627323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049696.247465815] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049696.247990228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049696.248441586] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049696.335485003] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049696.337483369] [sailbot.teensy]: Wind angle: 246 -[teensy-2] [INFO] [1746049696.338487558] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049696.337999151] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746049696.338836334] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049696.339391842] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049696.340315255] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049696.344255241] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049696.344854314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049696.345321550] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049696.346453736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049696.347434582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049696.445265316] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049696.446081268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049696.446963489] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049696.447842593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049696.448369629] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049696.502916527] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972388 Long: -76.50298246 -[vectornav-1] [INFO] [1746049696.504069354] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.451, -3.405, 8.875) -[mux-7] [INFO] [1746049696.545426716] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049696.546112255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049696.546913076] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049696.548283013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049696.549458029] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049696.585569666] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049696.587763398] [sailbot.teensy]: Wind angle: 246 -[trim_sail-4] [INFO] [1746049696.588319765] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049696.588876425] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049696.589745776] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049696.589765761] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049696.590588678] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049696.644932929] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049696.645592456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049696.646276532] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049696.647500545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049696.648548594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049696.744462480] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049696.745084130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049696.745562465] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049696.747061663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049696.748015194] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049696.835910183] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049696.838676767] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049696.838708772] [sailbot.teensy]: Wind angle: 246 -[mux-7] [INFO] [1746049696.838938841] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049696.839113464] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049696.839495511] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049696.840190716] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049696.844352135] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049696.845001665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049696.845448756] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049696.846618571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049696.847722404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049696.945493710] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049696.946219860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049696.947109272] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049696.948641221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049696.949175973] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049697.003479482] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972372 Long: -76.5029824 -[vectornav-1] [INFO] [1746049697.004885211] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.46000000000004, -3.402, 8.946) -[mux-7] [INFO] [1746049697.045599859] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049697.046653081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049697.047182292] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049697.049016590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049697.050201319] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049697.085515970] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049697.087927111] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049697.087972509] [sailbot.teensy]: Wind angle: 245 -[mux-7] [INFO] [1746049697.088885620] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049697.088964345] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049697.089881767] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049697.090718580] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049697.145413518] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049697.146025217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049697.146975686] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049697.148246605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049697.149436228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049697.245467261] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049697.246205725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049697.247043350] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049697.248455630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049697.249649038] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049697.335120699] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049697.336785324] [sailbot.teensy]: Wind angle: 242 -[trim_sail-4] [INFO] [1746049697.337150908] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746049697.337782358] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746049697.337929141] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049697.338790482] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049697.339613376] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049697.344317136] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049697.344867384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049697.345423564] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049697.346482988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049697.347458253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049697.445159354] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049697.445835926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049697.446537893] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049697.447880474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049697.448676562] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049697.502935603] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972356 Long: -76.5029824 -[vectornav-1] [INFO] [1746049697.504059080] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.46299999999997, -3.398, 8.982) -[mux-7] [INFO] [1746049697.545157568] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049697.545972643] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049697.546522846] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049697.547854941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049697.548296790] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049697.585673080] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049697.587640904] [sailbot.teensy]: Wind angle: 242 -[teensy-2] [INFO] [1746049697.588711052] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049697.588365799] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746049697.589641141] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049697.590123690] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746049697.590476263] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049697.645324711] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049697.646042672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049697.646833799] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049697.647718060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049697.648253015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049697.745345011] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049697.746097494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049697.746815120] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049697.747947818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049697.748480971] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049697.835550650] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049697.837388639] [sailbot.teensy]: Wind angle: 242 -[trim_sail-4] [INFO] [1746049697.838022566] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746049697.838371699] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049697.839251347] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049697.839505467] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746049697.840126852] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049697.844373832] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049697.845003349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049697.845488126] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049697.846617289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049697.847731511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049697.945557516] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049697.946306705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049697.947165177] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049697.948647759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049697.949926843] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049698.003484689] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972367 Long: -76.50298227 -[vectornav-1] [INFO] [1746049698.005223428] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.448, -3.404, 8.844) -[mux-7] [INFO] [1746049698.044679777] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049698.045253749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049698.045783346] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049698.046884622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049698.047861758] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049698.085537518] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049698.087415467] [sailbot.teensy]: Wind angle: 242 -[trim_sail-4] [INFO] [1746049698.088100034] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746049698.088430805] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049698.089308734] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049698.089359630] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746049698.090215542] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049698.145086615] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049698.145957563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049698.146553802] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049698.147956346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049698.148990227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049698.245244313] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049698.246067827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049698.246755550] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049698.248346708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049698.249514746] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049698.335346294] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049698.337132801] [sailbot.teensy]: Wind angle: 240 -[trim_sail-4] [INFO] [1746049698.337644117] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746049698.338072700] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049698.338803293] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049698.338823039] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746049698.339174303] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049698.344459828] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049698.344902167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049698.345678962] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049698.346562115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049698.347594248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049698.445049602] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049698.445845759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049698.446455247] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049698.447830874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049698.448862053] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049698.503167594] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972361 Long: -76.50298223 -[vectornav-1] [INFO] [1746049698.504485074] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.41999999999996, -3.412, 8.689) -[mux-7] [INFO] [1746049698.545082880] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049698.545830761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049698.546404588] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049698.547802451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049698.548829258] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049698.585389518] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049698.587615025] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746049698.587736759] [sailbot.teensy]: Wind angle: 239 -[mux-7] [INFO] [1746049698.588426784] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746049698.588752651] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049698.589662853] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049698.590506125] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049698.645360636] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049698.646191860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049698.646850898] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049698.648435921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049698.649476069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049698.744768229] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049698.745434869] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049698.745895646] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049698.747100957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049698.748090136] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049698.835456694] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049698.837204475] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746049698.837766796] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746049698.838146494] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049698.839040327] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049698.839164571] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746049698.839894551] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049698.844251217] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049698.844802028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049698.845277771] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049698.846448910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049698.847560762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049698.945463807] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049698.946112958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049698.947301241] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049698.948410873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049698.949029580] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049699.002497899] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697234 Long: -76.50298229 -[vectornav-1] [INFO] [1746049699.003649783] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.445, -3.405, 8.802) -[mux-7] [INFO] [1746049699.045470161] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049699.047031643] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049699.047512879] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049699.048999930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049699.049518202] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049699.085982551] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049699.088935101] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746049699.089175783] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746049699.090024360] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049699.090021224] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746049699.090971999] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049699.091838753] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049699.145262547] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049699.145929174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049699.146775100] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049699.148213853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049699.149078468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049699.245449153] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049699.246274512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049699.246991087] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049699.248529742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049699.249752649] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049699.335526167] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049699.337395053] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746049699.337995301] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746049699.338382199] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049699.339256472] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049699.339410280] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746049699.340102466] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049699.344342710] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049699.344970680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049699.345375611] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049699.346589421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049699.347702498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049699.445409647] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049699.446357604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049699.446912818] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049699.447955715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049699.448442734] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049699.503420883] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972321 Long: -76.50298242 -[vectornav-1] [INFO] [1746049699.504813781] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.447, -3.392, 9.108) -[mux-7] [INFO] [1746049699.544939690] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049699.545799401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049699.546269206] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049699.547790978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049699.548855076] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049699.585458247] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049699.587300275] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746049699.587727165] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746049699.588431642] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049699.588619350] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746049699.589449772] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049699.590370730] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049699.645056187] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049699.645966014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049699.646462626] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049699.648039508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049699.649135073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049699.745373071] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049699.746213147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049699.746999580] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049699.748031082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049699.748468901] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049699.835360188] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049699.837108562] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746049699.837795929] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746049699.838036074] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049699.838935187] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049699.839584201] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746049699.839798294] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049699.844385200] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049699.844984567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049699.845498462] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049699.846634856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049699.847740722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049699.945543040] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049699.946358550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049699.947243636] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049699.948212008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049699.948736225] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049700.002855518] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972305 Long: -76.50298242 -[vectornav-1] [INFO] [1746049700.003935523] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.408, -3.4, 8.908) -[mux-7] [INFO] [1746049700.045544678] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049700.046404634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049700.047003814] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049700.048579062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049700.049464509] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049700.085773975] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049700.087917118] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746049700.088508792] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746049700.089008720] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049700.089959596] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049700.090367009] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746049700.090813876] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049700.145470023] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049700.146145201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049700.146997560] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049700.148430053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049700.149676338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049700.245484496] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049700.245990745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049700.247026326] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049700.248263736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049700.249078159] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049700.335867938] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049700.338106727] [sailbot.teensy]: Wind angle: 236 -[trim_sail-4] [INFO] [1746049700.338541017] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746049700.338911212] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049700.338955217] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746049700.339290352] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049700.339622665] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049700.344577691] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049700.345081997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049700.345704720] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049700.346735171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049700.347754436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049700.445432990] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049700.445959923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049700.446997126] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049700.448099193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049700.448876583] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049700.503395597] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972288 Long: -76.50298241 -[vectornav-1] [INFO] [1746049700.504694081] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.373, -3.412, 8.552) -[mux-7] [INFO] [1746049700.545215733] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049700.545889296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049700.546654050] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049700.547819851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049700.548980903] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049700.585426541] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049700.587119913] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746049700.587831712] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746049700.588722467] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049700.589025656] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049700.589917708] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049700.590731978] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049700.645361519] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049700.646211465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049700.646881722] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049700.648580010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049700.649632062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049700.744740698] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049700.745445233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049700.745857812] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049700.747127576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049700.748262812] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049700.835565267] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049700.838255906] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049700.838461349] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746049700.838690835] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049700.839785828] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049700.840319583] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049700.840656083] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049700.844413924] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049700.844919943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049700.845456993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049700.846570740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049700.847670775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049700.945631214] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049700.946364571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049700.947166536] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049700.948762051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049700.949864551] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049701.002439553] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972254 Long: -76.50298258 -[vectornav-1] [INFO] [1746049701.003506897] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.45500000000004, -3.393, 8.861) -[mux-7] [INFO] [1746049701.045479986] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049701.046370713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049701.046958393] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049701.048599823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049701.049674914] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049701.085561569] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049701.088168791] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049701.088376291] [sailbot.teensy]: Wind angle: 234 -[mux-7] [INFO] [1746049701.088824467] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049701.089465884] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049701.090318658] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049701.091124082] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049701.145217988] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049701.145962428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049701.146630420] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049701.148014652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049701.149073745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049701.245296419] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049701.246107469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049701.246835097] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049701.248279052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049701.248939183] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049701.335281285] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049701.337019213] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746049701.337727549] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049701.338051859] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049701.338969594] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049701.339899943] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049701.340878364] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746049701.344356842] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049701.344925763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049701.345404857] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049701.346648785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049701.347661091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049701.444923960] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049701.445722633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049701.446277223] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049701.447682665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049701.448750292] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049701.502432009] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972224 Long: -76.50298258 -[vectornav-1] [INFO] [1746049701.503465819] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.454, -3.385, 8.86) -[mux-7] [INFO] [1746049701.545492806] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049701.546400281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049701.546948743] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049701.548644687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049701.549726828] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049701.585693259] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049701.587891864] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746049701.588529382] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049701.589017194] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049701.589931704] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049701.589956354] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049701.590880817] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049701.645091445] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049701.645877182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049701.646568531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049701.648092272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049701.649237895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049701.745666814] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049701.746532282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049701.747303099] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049701.748356228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049701.748868253] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049701.835604545] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049701.838118581] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049701.838469190] [sailbot.teensy]: Wind angle: 234 -[mux-7] [INFO] [1746049701.838625052] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049701.839492539] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049701.840452742] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049701.841315513] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049701.844290473] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049701.844878712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049701.845499626] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049701.846536590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049701.847577817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049701.945397921] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049701.946198800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049701.946901230] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049701.948203418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049701.948616403] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049702.003118580] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697221 Long: -76.50298255 -[vectornav-1] [INFO] [1746049702.004583843] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.459, -3.386, 8.866) -[mux-7] [INFO] [1746049702.044927244] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049702.045737148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049702.046107944] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049702.047555463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049702.048667056] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049702.085432467] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049702.087266008] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746049702.087734202] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049702.088308550] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049702.089011676] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049702.089226047] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049702.090074439] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049702.145296489] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049702.146123692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049702.146806184] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049702.148354675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049702.149558362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049702.245459126] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049702.246241215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049702.247360198] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049702.248655940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049702.249856567] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049702.335511529] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049702.337580640] [sailbot.teensy]: Wind angle: 232 -[trim_sail-4] [INFO] [1746049702.338060202] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049702.338580748] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049702.339182037] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049702.339449885] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049702.340359893] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049702.344527870] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049702.345005367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049702.345597410] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049702.346673959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049702.347658103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049702.445420643] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049702.446005614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049702.447518703] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049702.448042838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049702.449123182] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049702.503435005] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697219 Long: -76.50298264 -[vectornav-1] [INFO] [1746049702.505103975] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.448, -3.39, 8.815) -[mux-7] [INFO] [1746049702.545278893] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049702.545974675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049702.546733292] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049702.547992890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049702.549059861] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049702.585464199] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049702.587209918] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746049702.588188718] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049702.588010266] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746049702.588788011] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049702.589072874] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049702.589932371] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049702.645402103] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049702.645945677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049702.646915622] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049702.648007964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049702.649126169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049702.744647858] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049702.745125974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049702.745881619] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049702.746847017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049702.747902381] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049702.835891669] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049702.838763219] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049702.839097403] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746049702.840144373] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049702.840324368] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049702.841046741] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049702.841873558] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049702.844125513] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049702.844761068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049702.845185298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049702.846348316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049702.847431007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049702.945568522] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049702.946113752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049702.947117360] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049702.948339170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049702.949569013] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049703.003594732] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972181 Long: -76.50298277 -[vectornav-1] [INFO] [1746049703.004854047] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.447, -3.395, 8.783) -[mux-7] [INFO] [1746049703.045102239] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049703.045724332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049703.046490369] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049703.047719348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049703.048805635] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049703.085570019] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049703.087417206] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746049703.088081198] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049703.088450808] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049703.088900200] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049703.089338637] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049703.090176575] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049703.145275998] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049703.145945333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049703.146772991] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049703.148136208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049703.149316148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049703.245013433] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049703.245680554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049703.246468635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049703.247685011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049703.248734989] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049703.335649404] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049703.337683367] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746049703.338339600] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049703.338757071] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049703.339716026] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049703.340096011] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049703.340595494] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049703.344391679] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049703.344861948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049703.345530518] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049703.346488564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049703.347490765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049703.445503007] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049703.446108960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049703.447045596] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049703.448397504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049703.449594429] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049703.502903500] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972167 Long: -76.50298275 -[vectornav-1] [INFO] [1746049703.504185910] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.467, -3.401, 8.768) -[mux-7] [INFO] [1746049703.545084635] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049703.545775578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049703.546395796] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049703.547629347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049703.548686210] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049703.585226335] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049703.586833473] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746049703.587499470] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049703.587738737] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049703.587960728] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049703.588582345] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049703.589366996] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049703.645188465] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049703.645995651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049703.646655012] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049703.647812147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049703.648318874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049703.745421458] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049703.746275917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049703.746820624] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049703.748278876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049703.749303035] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049703.835394094] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049703.837136223] [sailbot.teensy]: Wind angle: 232 -[teensy-2] [INFO] [1746049703.838068323] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049703.837967156] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746049703.838717383] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049703.838934278] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049703.839391433] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049703.844279165] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049703.844866184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049703.845343108] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049703.846576541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049703.847666138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049703.945467194] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049703.946223906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049703.947269553] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049703.948238204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049703.948687977] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049704.002532726] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972133 Long: -76.50298285 -[vectornav-1] [INFO] [1746049704.003697928] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.457, -3.399, 8.776) -[mux-7] [INFO] [1746049704.045055891] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049704.045876266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049704.046392335] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049704.047756192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049704.048757980] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049704.085593204] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049704.088399479] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049704.088880556] [sailbot.teensy]: Wind angle: 231 -[mux-7] [INFO] [1746049704.088982377] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049704.089829029] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049704.090670954] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049704.091473135] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049704.145241273] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049704.145895615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049704.146707209] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049704.147969357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049704.149025366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049704.245415351] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049704.246100974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049704.246915888] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049704.248229102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049704.248658268] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049704.335309744] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049704.337021060] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746049704.337591828] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746049704.338685694] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049704.338974688] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049704.339884586] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049704.340736415] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049704.344391958] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049704.344812892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049704.345490264] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049704.346402448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049704.347399478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049704.445323735] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049704.445973297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049704.446912741] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049704.448041970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049704.449304843] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049704.503469267] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972131 Long: -76.50298291 -[vectornav-1] [INFO] [1746049704.505115387] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.462, -3.397, 8.805) -[mux-7] [INFO] [1746049704.545369972] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049704.545915410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049704.546858108] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049704.548006217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049704.549208433] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049704.585463088] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049704.587148365] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746049704.587726498] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049704.588093294] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049704.588996887] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049704.589022407] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049704.589913165] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049704.645004009] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049704.645523821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049704.646439562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049704.647423790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049704.648567966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049704.744988327] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049704.745498558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049704.746311840] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049704.747744886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049704.748858352] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049704.835600959] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049704.837739779] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746049704.838409206] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049704.838773231] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049704.839794856] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049704.840248576] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049704.840668645] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049704.844373522] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049704.844909507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049704.845434824] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049704.846504593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049704.847613360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049704.944730474] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049704.945321414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049704.945853216] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049704.946941076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049704.947957643] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049705.003056642] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972119 Long: -76.50298302 -[vectornav-1] [INFO] [1746049705.004225628] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.459, -3.405, 8.732) -[mux-7] [INFO] [1746049705.045143307] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049705.046043769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049705.046466680] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049705.047955369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049705.048974367] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049705.085407872] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049705.087266649] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746049705.087853701] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049705.088244271] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049705.089136715] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049705.089433742] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049705.089989485] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049705.144906736] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049705.145630648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049705.146106246] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049705.147394815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049705.148380909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049705.245149828] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049705.245805746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049705.246696780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049705.247802123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049705.248767246] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049705.335455417] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049705.337337799] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746049705.337906231] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049705.338287267] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049705.339082437] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049705.339178171] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049705.340016471] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049705.344476049] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049705.345015529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049705.345667517] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049705.348339450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049705.349501918] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049705.445442864] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049705.446457476] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049705.447109357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049705.449415764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049705.450516815] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049705.502658927] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972106 Long: -76.50298307 -[vectornav-1] [INFO] [1746049705.503797774] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.45799999999997, -3.405, 8.752) -[mux-7] [INFO] [1746049705.545171891] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049705.545944396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049705.546595248] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049705.548012209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049705.549174641] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049705.585558945] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049705.587466852] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746049705.588091859] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049705.589385736] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049705.589571665] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049705.590357220] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049705.591227519] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049705.645148783] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049705.646102258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049705.646636300] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049705.647855157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049705.648284625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049705.745075654] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049705.745838888] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049705.746525656] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049705.747918554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049705.749390461] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049705.835351100] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049705.837740091] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049705.837845750] [sailbot.teensy]: Wind angle: 231 -[mux-7] [INFO] [1746049705.838327099] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049705.838784545] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049705.839651839] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049705.840269164] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049705.844366905] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049705.844989664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049705.845427992] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049705.846597439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049705.847696447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049705.945524597] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049705.946266949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049705.947208823] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049705.948106362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049705.948522489] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049706.003109351] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972076 Long: -76.50298319 -[vectornav-1] [INFO] [1746049706.004546649] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.469, -3.401, 8.763) -[mux-7] [INFO] [1746049706.045171309] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049706.045918768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049706.046722199] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049706.047975715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049706.049045129] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049706.085585059] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049706.087520485] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746049706.088242176] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049706.089495019] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049706.089730583] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049706.090405039] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049706.091250434] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049706.145423726] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049706.146105102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049706.146996933] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049706.148259538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049706.148768356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049706.245140139] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049706.245927312] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049706.246584917] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049706.248044371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049706.249105489] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049706.335577827] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049706.337751357] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746049706.338699770] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049706.338799067] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049706.339708804] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049706.339887740] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049706.340605036] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049706.344407126] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049706.344959114] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049706.345472503] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049706.346684538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049706.347690966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049706.445428967] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049706.446173808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049706.446968967] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049706.448510988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049706.449616669] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049706.502591602] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972061 Long: -76.50298321 -[vectornav-1] [INFO] [1746049706.503638389] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.471, -3.403, 8.726) -[mux-7] [INFO] [1746049706.545147037] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049706.545971398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049706.546600162] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049706.548187470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049706.549238144] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049706.585656783] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049706.587733049] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746049706.588284222] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049706.588774860] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049706.589428898] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049706.589687141] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049706.590553518] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049706.644615511] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049706.645320762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049706.645769315] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049706.647069265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049706.648098268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049706.745123809] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049706.745979777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049706.746443891] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049706.747975881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049706.748510967] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049706.835500101] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049706.837388368] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746049706.837902779] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049706.838338135] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049706.839219818] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049706.839240955] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049706.840089242] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049706.844292150] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049706.844750065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049706.845352812] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049706.846332676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049706.847339616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049706.945204682] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049706.945927718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049706.946745845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049706.948174060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049706.948793777] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049707.002931043] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972041 Long: -76.50298326 -[vectornav-1] [INFO] [1746049707.004194212] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.46500000000003, -3.403, 8.69) -[mux-7] [INFO] [1746049707.045214818] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049707.045954027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049707.046658499] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049707.048071852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049707.048933965] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049707.085499938] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049707.087289683] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746049707.087887736] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746049707.088653542] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049707.089063510] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049707.090050873] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049707.090881136] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049707.145576525] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049707.146209067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049707.147246430] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049707.148591614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049707.149806930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049707.245083138] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049707.245741053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049707.246577580] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049707.247764467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049707.248800679] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049707.335833943] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049707.337988732] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746049707.339041075] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049707.339049419] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746049707.339517353] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049707.339968197] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049707.340831621] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049707.344294428] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049707.344825839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049707.345320892] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049707.346418841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049707.347431638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049707.445202753] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049707.446035264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049707.446655613] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049707.448108349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049707.449178187] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049707.503468154] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972029 Long: -76.50298325 -[vectornav-1] [INFO] [1746049707.505202146] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.473, -3.402, 8.732) -[mux-7] [INFO] [1746049707.545412167] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049707.546363385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049707.547074894] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049707.548678945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049707.549791865] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049707.585445698] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049707.587843149] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746049707.588325532] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049707.588689989] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746049707.589605804] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049707.590436377] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049707.591225711] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049707.645409946] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049707.646326901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049707.646975037] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049707.648719316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049707.649832283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049707.745547374] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049707.746316761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049707.747069999] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049707.748127418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049707.748653095] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049707.835557869] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049707.837624819] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746049707.838265452] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049707.838635915] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049707.839521728] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049707.839615170] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049707.840189436] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049707.844395339] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049707.844940660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049707.845492562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049707.846599610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049707.847577463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049707.945414454] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049707.946213802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049707.946935991] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049707.948574736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049707.949821529] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049708.002524049] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697203 Long: -76.50298327 -[vectornav-1] [INFO] [1746049708.003616712] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.472, -3.408, 8.776) -[mux-7] [INFO] [1746049708.044802185] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049708.045543493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049708.046085467] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049708.047315958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049708.048308879] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049708.085424015] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049708.087167830] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746049708.087895987] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049708.088138474] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049708.089045898] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049708.089236242] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049708.089929333] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049708.145434097] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049708.146182290] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049708.146980792] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049708.148619038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049708.149822943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049708.244913948] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049708.245582909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049708.246263446] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049708.247453596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049708.248517283] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049708.335660453] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049708.338555704] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746049708.338720999] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746049708.339099625] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049708.339632398] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049708.340548424] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049708.341190081] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049708.344210461] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049708.344941212] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049708.345287314] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049708.346551143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049708.347645193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049708.445176247] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049708.445968333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049708.446631591] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049708.448050040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049708.449075586] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049708.503091206] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972023 Long: -76.50298324 -[vectornav-1] [INFO] [1746049708.504425905] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.46299999999997, -3.403, 8.788) -[mux-7] [INFO] [1746049708.545053511] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049708.545791891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049708.546617123] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049708.548207422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049708.549354598] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049708.585444019] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049708.587865946] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049708.588097775] [sailbot.teensy]: Wind angle: 230 -[mux-7] [INFO] [1746049708.588416632] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049708.589092653] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049708.589956183] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049708.590781186] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049708.645148616] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049708.645886921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049708.646766843] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049708.647654761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049708.648164041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049708.745507303] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049708.746325673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049708.747348822] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049708.749308916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049708.750773855] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049708.835318970] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049708.837191010] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746049708.837729605] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049708.838117438] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049708.838123959] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049708.839035349] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049708.839873079] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049708.844412029] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049708.844919717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049708.845511739] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049708.846646975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049708.847660324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049708.945452279] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049708.946272579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049708.947012147] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049708.948663533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049708.949897269] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049709.002576480] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972018 Long: -76.5029835 -[vectornav-1] [INFO] [1746049709.003635536] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.454, -3.417, 8.715) -[mux-7] [INFO] [1746049709.045591259] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049709.046330797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049709.047219107] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049709.048882762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049709.050087673] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049709.085336295] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049709.087228712] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746049709.087800409] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049709.088202183] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049709.088481835] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049709.089110778] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049709.089961705] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049709.145255011] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049709.146004727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049709.146699295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049709.148078849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049709.149143629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049709.245448531] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049709.246191139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049709.247232836] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049709.247804140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049709.248346099] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049709.335734742] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049709.337993053] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746049709.338529106] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049709.338718098] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049709.339100482] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049709.339095046] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049709.339477300] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049709.344475618] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049709.345300532] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049709.345668987] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049709.346955221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049709.347908859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049709.445406434] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049709.446127902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049709.447040331] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049709.448430178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049709.448919850] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049709.503632308] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972013 Long: -76.50298345 -[vectornav-1] [INFO] [1746049709.505100341] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.476, -3.408, 8.734) -[mux-7] [INFO] [1746049709.544964360] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049709.545824407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049709.546343817] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049709.547785858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049709.548310962] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049709.585481670] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049709.587402915] [sailbot.teensy]: Wind angle: 244 -[trim_sail-4] [INFO] [1746049709.587945273] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049709.588392318] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049709.588771182] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049709.589320404] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049709.590175138] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049709.645641205] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049709.646573732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049709.647345383] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049709.649902959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049709.651108177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049709.745270250] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049709.746053307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049709.746722466] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049709.748209952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049709.748706463] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049709.835640842] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049709.838379654] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746049709.838649176] [sailbot.teensy]: Wind angle: 281 -[mux-7] [INFO] [1746049709.839246211] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746049709.839590128] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049709.840488458] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049709.841346251] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049709.844411995] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049709.844967305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049709.845510963] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049709.846738484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049709.847746635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049709.945455663] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049709.946196804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049709.947009772] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049709.948346049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049709.948891972] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049710.002487382] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972014 Long: -76.50298354 -[vectornav-1] [INFO] [1746049710.003564111] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.497, -3.409, 8.702) -[mux-7] [INFO] [1746049710.045528480] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049710.046323793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049710.047155789] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049710.048670238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049710.049896650] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049710.085645241] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049710.088277863] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049710.088560995] [sailbot.teensy]: Wind angle: 301 -[mux-7] [INFO] [1746049710.088772000] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049710.089543486] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049710.090413857] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049710.091225776] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049710.145341699] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049710.146068050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049710.146927667] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049710.148360861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049710.149603532] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049710.244959962] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049710.245683639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049710.246545128] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049710.247764631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049710.248933400] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049710.335804970] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049710.338821231] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049710.339336721] [sailbot.teensy]: Wind angle: 303 -[mux-7] [INFO] [1746049710.339336408] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049710.340373282] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049710.341221520] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049710.342036324] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049710.344202282] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049710.344733642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049710.345276944] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049710.346508154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049710.347668438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049710.445409378] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049710.446223199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049710.446957193] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049710.448145507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049710.448665465] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049710.502874586] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971989 Long: -76.50298351 -[vectornav-1] [INFO] [1746049710.504192993] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.486, -3.409, 8.748) -[mux-7] [INFO] [1746049710.545185873] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049710.545916047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049710.546717352] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049710.548177884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049710.549201715] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049710.585758665] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049710.587801569] [sailbot.teensy]: Wind angle: 301 -[trim_sail-4] [INFO] [1746049710.588828969] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049710.588930539] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049710.589899216] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049710.590370364] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049710.590748345] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049710.645625249] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049710.646206713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049710.647362787] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049710.649282480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049710.650377442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049710.745468490] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049710.745924444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049710.747241220] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049710.749143453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049710.749942355] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049710.835462916] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049710.837929711] [sailbot.trim_sail]: Sail Angle: "60" -[mux-7] [INFO] [1746049710.838549247] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049710.838559295] [sailbot.teensy]: Wind angle: 305 -[teensy-2] [INFO] [1746049710.839544784] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049710.840422572] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049710.841237198] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049710.844406156] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049710.844820104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049710.845506528] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049710.846446191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049710.847600706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049710.945592324] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049710.946183989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049710.947249150] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049710.948451677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049710.949750348] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049711.002478247] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971982 Long: -76.50298366 -[vectornav-1] [INFO] [1746049711.003515756] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.49, -3.397, 8.746) -[mux-7] [INFO] [1746049711.044978985] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049711.045714205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049711.046198398] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049711.047510302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049711.048510366] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049711.085763856] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049711.088328147] [sailbot.trim_sail]: Sail Angle: "60" -[mux-7] [INFO] [1746049711.088865422] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049711.089498480] [sailbot.teensy]: Wind angle: 305 -[teensy-2] [INFO] [1746049711.090573441] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049711.091457431] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049711.092295331] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049711.144885765] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049711.145683831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049711.146201450] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049711.147788098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049711.148853968] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049711.245500228] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049711.246336358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049711.247161893] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049711.248316410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049711.248853721] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049711.335482508] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049711.338021457] [sailbot.trim_sail]: Sail Angle: "55" -[mux-7] [INFO] [1746049711.338404723] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049711.338683005] [sailbot.teensy]: Wind angle: 303 -[teensy-2] [INFO] [1746049711.339081923] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049711.339422803] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049711.339753901] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049711.344428459] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049711.345035247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049711.345614528] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049711.346823120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049711.347845306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049711.445157198] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049711.446031800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049711.446765494] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049711.447829439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049711.448302332] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049711.503465571] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971974 Long: -76.50298386 -[vectornav-1] [INFO] [1746049711.504898823] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.538, -3.394, 8.816) -[mux-7] [INFO] [1746049711.545043591] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049711.545867831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049711.546429999] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049711.547917662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049711.549025027] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049711.585471475] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049711.587337803] [sailbot.teensy]: Wind angle: 300 -[trim_sail-4] [INFO] [1746049711.588040961] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049711.588373410] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049711.589277188] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049711.589267345] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049711.590133766] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049711.645200818] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049711.645991554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049711.647015208] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049711.648137182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049711.650563722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049711.744662963] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049711.745414803] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049711.745887511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049711.747259768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049711.749019779] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049711.835556965] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049711.837443421] [sailbot.teensy]: Wind angle: 301 -[trim_sail-4] [INFO] [1746049711.838027194] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049711.839218323] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049711.840001921] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049711.840105752] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049711.841012233] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049711.844251729] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049711.844793799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049711.845306225] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049711.846385156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049711.847487082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049711.945670869] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049711.946233226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049711.947343161] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049711.948654226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049711.949207909] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049712.003527786] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971981 Long: -76.50298392 -[vectornav-1] [INFO] [1746049712.004922460] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.504, -3.404, 8.667) -[mux-7] [INFO] [1746049712.045527789] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049712.046095244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049712.047096337] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049712.048090555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049712.049133153] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049712.085497812] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049712.087328325] [sailbot.teensy]: Wind angle: 314 -[trim_sail-4] [INFO] [1746049712.087919505] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049712.088325676] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049712.089210416] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049712.089295502] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049712.090061361] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049712.145424607] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049712.146166745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049712.147010710] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049712.148198168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049712.148697651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049712.245450670] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049712.246297042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049712.247013662] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049712.248283084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049712.248776217] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049712.335501691] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049712.337493577] [sailbot.teensy]: Wind angle: 320 -[trim_sail-4] [INFO] [1746049712.338105542] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049712.338522401] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049712.338862917] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049712.339451458] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049712.340312029] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049712.344312992] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049712.344917601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049712.345456323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049712.346759088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049712.347753701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049712.445536371] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049712.446221197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049712.447089173] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049712.448423902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049712.448958251] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049712.502384939] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971988 Long: -76.50298386 -[vectornav-1] [INFO] [1746049712.503383871] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.522, -3.405, 8.586) -[mux-7] [INFO] [1746049712.545169117] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049712.545980617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049712.546661932] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049712.547686693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049712.548184845] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049712.585697699] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049712.588025585] [sailbot.teensy]: Wind angle: 311 -[trim_sail-4] [INFO] [1746049712.588725819] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746049712.589203180] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049712.590156562] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049712.590344602] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049712.591001377] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049712.645265899] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049712.645792273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049712.646918280] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049712.647931058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049712.649144088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049712.745467735] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049712.747072310] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049712.747701310] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049712.749787315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049712.750930241] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049712.835964150] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049712.838132731] [sailbot.teensy]: Wind angle: 293 -[trim_sail-4] [INFO] [1746049712.838907398] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746049712.839232272] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049712.839513357] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049712.840203590] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049712.841110735] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049712.844363387] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049712.844865469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049712.845579792] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049712.846561401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049712.847670852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049712.945566768] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049712.946436159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049712.947449836] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049712.949114759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049712.949709489] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049713.002709489] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971983 Long: -76.50298399 -[vectornav-1] [INFO] [1746049713.003787407] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.53700000000003, -3.402, 8.605) -[mux-7] [INFO] [1746049713.045612971] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049713.046907958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049713.047314732] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049713.048102379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049713.048674380] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049713.085749112] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049713.087786295] [sailbot.teensy]: Wind angle: 314 -[trim_sail-4] [INFO] [1746049713.088617012] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049713.088937573] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049713.089862488] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049713.090720355] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049713.090832677] [sailbot.mux]: algo sail angle: 65 -[mux-7] [INFO] [1746049713.145474503] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049713.146235979] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049713.147112474] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049713.148661038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049713.149928316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049713.244776486] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049713.245480331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049713.245926226] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049713.247184221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049713.248336619] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049713.335566658] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049713.337590474] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049713.338342968] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049713.338637586] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049713.339565127] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049713.339768829] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049713.340456329] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049713.344414645] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049713.344895692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049713.345541288] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049713.346512311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049713.347501455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049713.445270598] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049713.446087324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049713.446825445] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049713.448263845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049713.448921290] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049713.503213642] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697199 Long: -76.50298398 -[vectornav-1] [INFO] [1746049713.504681412] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.549, -3.402, 8.627) -[mux-7] [INFO] [1746049713.545712766] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049713.546435933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049713.547280278] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049713.548733004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049713.550002951] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049713.585493523] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049713.587514369] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049713.588361663] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049713.588586539] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049713.589526902] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049713.589769450] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049713.590362283] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049713.645342853] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049713.645971486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049713.646919124] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049713.648224761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049713.649332292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049713.745458709] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049713.746013263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049713.746998375] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049713.748125827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049713.749340851] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049713.835587566] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049713.837457440] [sailbot.teensy]: Wind angle: 14 -[trim_sail-4] [INFO] [1746049713.838147340] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049713.838444541] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049713.839333779] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049713.839870243] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049713.840254383] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049713.844405235] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049713.844950073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049713.845549654] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049713.846644271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049713.847778059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049713.945559523] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049713.946313901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049713.947196202] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049713.947946771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049713.948460192] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049714.003691606] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971982 Long: -76.50298419 -[vectornav-1] [INFO] [1746049714.005255232] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.596, -3.404, 8.582) -[mux-7] [INFO] [1746049714.044890828] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049714.045650267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049714.046170157] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049714.047505868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049714.048530498] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049714.085363436] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049714.087667213] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049714.087699609] [sailbot.teensy]: Wind angle: 8 -[mux-7] [INFO] [1746049714.088073566] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049714.088667306] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049714.089614345] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049714.090424647] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049714.145148416] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049714.145984622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049714.146623115] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049714.148235413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049714.149317813] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049714.245599751] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049714.246437994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049714.247206220] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049714.248755551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049714.249737853] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049714.335670704] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049714.338470343] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049714.338860689] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049714.338889927] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049714.339315203] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049714.339670477] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049714.340003181] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049714.344421768] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049714.345110332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049714.345650481] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049714.346856111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049714.347976679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049714.445553148] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049714.446332338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049714.447139325] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049714.448658098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049714.449946063] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049714.503151979] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971997 Long: -76.50298444 -[vectornav-1] [INFO] [1746049714.504522088] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.579, -3.398, 8.615) -[mux-7] [INFO] [1746049714.544928292] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049714.545626254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049714.546224435] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049714.547555682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049714.548586438] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049714.585527225] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049714.587354521] [sailbot.teensy]: Wind angle: 302 -[trim_sail-4] [INFO] [1746049714.588038836] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049714.588337936] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049714.589201562] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049714.588951553] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049714.590039752] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049714.645179903] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049714.645896153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049714.646666133] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049714.648056410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049714.649218781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049714.745162479] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049714.745951532] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049714.746688603] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049714.747893998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049714.748363985] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049714.835426529] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049714.837263864] [sailbot.teensy]: Wind angle: 279 -[trim_sail-4] [INFO] [1746049714.837760110] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746049714.838248465] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049714.839108808] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049714.839129724] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746049714.840017516] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049714.844352613] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049714.844900541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049714.845464563] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049714.846598969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049714.847574897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049714.945581104] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049714.946196823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049714.947268607] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049714.948654218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049714.949510640] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049715.002505747] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972 Long: -76.50298455 -[vectornav-1] [INFO] [1746049715.003509739] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.54200000000003, -3.404, 8.552) -[mux-7] [INFO] [1746049715.045076392] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049715.045658586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049715.046393196] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049715.047535594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049715.048566090] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049715.085315643] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049715.087620624] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746049715.087777488] [sailbot.teensy]: Wind angle: 269 -[mux-7] [INFO] [1746049715.088471221] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049715.088726654] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049715.089595541] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049715.090418328] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049715.145049957] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049715.145640466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049715.146429603] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049715.147514612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049715.148598082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049715.245483161] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049715.246086692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049715.247031618] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049715.248272615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049715.249486604] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049715.335377427] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049715.337639879] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746049715.338234208] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049715.338448019] [sailbot.teensy]: Wind angle: 269 -[teensy-2] [INFO] [1746049715.339274172] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049715.339646877] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049715.339996670] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049715.344451766] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049715.344764010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049715.345555869] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049715.346316083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049715.347307811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049715.445312362] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049715.446027219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049715.446947993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049715.447740870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049715.448264135] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049715.503681322] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971997 Long: -76.50298448 -[vectornav-1] [INFO] [1746049715.505252459] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.611, -3.385, 8.688) -[mux-7] [INFO] [1746049715.545402148] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049715.546150863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049715.546863497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049715.548347755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049715.549549416] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049715.585416269] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049715.587652605] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746049715.587948270] [sailbot.teensy]: Wind angle: 269 -[mux-7] [INFO] [1746049715.588298094] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049715.589044067] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049715.589926845] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049715.590732194] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049715.645138378] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049715.645721723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049715.646643817] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049715.647715269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049715.648925063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049715.745140424] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049715.745765771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049715.746597883] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049715.747767337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049715.748828728] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049715.835375720] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049715.837308689] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746049715.837805859] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746049715.838460918] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049715.839283943] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049715.840177857] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049715.841000549] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049715.844264573] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049715.845016830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049715.845430740] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049715.846729157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049715.847703701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049715.945604118] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049715.946582877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049715.947358400] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049715.949102646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049715.950345081] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049716.002948037] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971995 Long: -76.50298468 -[vectornav-1] [INFO] [1746049716.004104514] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.703, -3.365, 9.068) -[mux-7] [INFO] [1746049716.045716663] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049716.046677734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049716.047304888] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049716.049118207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049716.050270452] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049716.085367710] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049716.087293033] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746049716.087681681] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746049716.088270612] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049716.088499890] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049716.089323281] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049716.090236698] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049716.145256112] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049716.145966773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049716.146747895] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049716.148109177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049716.149335429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049716.244798637] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049716.245430164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049716.245978911] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049716.247127988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049716.248257288] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049716.335300235] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049716.337584513] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746049716.337664951] [sailbot.teensy]: Wind angle: 269 -[mux-7] [INFO] [1746049716.338274446] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049716.338585096] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049716.339442692] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049716.340274919] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049716.344391407] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049716.344837615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049716.345491114] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049716.346480145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049716.347488403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049716.445373811] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049716.446015536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049716.446949524] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049716.448209462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049716.449318999] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049716.502686999] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697201 Long: -76.50298461 -[vectornav-1] [INFO] [1746049716.503766923] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.73400000000004, -3.364, 9.134) -[mux-7] [INFO] [1746049716.545012970] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049716.545806914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049716.546301865] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049716.547654452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049716.548683260] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049716.585600617] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049716.587702426] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746049716.588062417] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746049716.588758051] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049716.589417401] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049716.589703620] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049716.590582147] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049716.645348154] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049716.646256866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049716.646850889] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049716.648544191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049716.649613319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049716.744977549] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049716.746338695] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049716.746350800] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049716.748074035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049716.749068968] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049716.835563593] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049716.838232902] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746049716.838804006] [sailbot.teensy]: Wind angle: 269 -[mux-7] [INFO] [1746049716.838987803] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049716.839839115] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049716.840753140] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049716.841586502] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049716.844292101] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049716.844847460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049716.845332939] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049716.846431014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049716.847407966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049716.945333260] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049716.946097953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049716.946817234] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049716.948286133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049716.949469672] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049717.003416171] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972025 Long: -76.50298457 -[vectornav-1] [INFO] [1746049717.004887420] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.741, -3.363, 9.068) -[mux-7] [INFO] [1746049717.044924757] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049717.045588793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049717.046136965] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049717.047350341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049717.048409586] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049717.085397183] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049717.087471301] [sailbot.teensy]: Wind angle: 268 -[trim_sail-4] [INFO] [1746049717.087727757] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746049717.088440929] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049717.088988091] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049717.089293285] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049717.090140509] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049717.145192406] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049717.145774742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049717.146622713] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049717.147795028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049717.148855623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049717.245090644] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049717.245620133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049717.246494269] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049717.247487161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049717.248628620] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049717.335314046] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049717.337066371] [sailbot.teensy]: Wind angle: 268 -[trim_sail-4] [INFO] [1746049717.337785581] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746049717.338271502] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049717.339140564] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049717.340041993] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049717.340906217] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049717.344315701] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049717.344812298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049717.345351828] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049717.346506107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049717.347681648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049717.445616411] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049717.446479119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049717.447284455] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049717.448994714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049717.450318574] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049717.502613160] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972033 Long: -76.5029847 -[vectornav-1] [INFO] [1746049717.503715097] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.757, -3.35, 9.124) -[mux-7] [INFO] [1746049717.545434791] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049717.546340095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049717.546912189] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049717.548542668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049717.549703877] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049717.585752487] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049717.588508741] [sailbot.teensy]: Wind angle: 267 -[trim_sail-4] [INFO] [1746049717.588577680] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746049717.589013539] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746049717.590340546] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049717.591234998] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049717.592049785] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049717.645185118] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049717.646056907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049717.646611947] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049717.648608237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049717.649629441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049717.745305567] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049717.745960726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049717.746778713] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049717.748263590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049717.749479451] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049717.835546276] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049717.837293853] [sailbot.teensy]: Wind angle: 262 -[teensy-2] [INFO] [1746049717.838205842] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049717.837902167] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049717.838879931] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049717.838883992] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049717.839254136] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049717.844494947] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049717.845224189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049717.845594298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049717.846838636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049717.847784156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049717.945339650] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049717.945980232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049717.946853887] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049717.947940927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049717.948385964] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049718.003573736] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972031 Long: -76.50298489 -[vectornav-1] [INFO] [1746049718.005092941] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.775, -3.339, 9.196) -[mux-7] [INFO] [1746049718.045177640] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049718.045995869] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049718.046595425] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049718.048111038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049718.049275091] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049718.085396447] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049718.087067793] [sailbot.teensy]: Wind angle: 262 -[trim_sail-4] [INFO] [1746049718.087868452] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049718.088001448] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049718.088910401] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049718.089059308] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049718.089763614] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049718.145227260] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049718.145987302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049718.146751138] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049718.148138786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049718.149386875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049718.245407350] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049718.246303380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049718.246876588] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049718.248527889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049718.249712579] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049718.335568343] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049718.337300830] [sailbot.teensy]: Wind angle: 262 -[trim_sail-4] [INFO] [1746049718.337929461] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049718.338229607] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049718.338950092] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049718.339001860] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049718.339370046] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049718.344395327] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049718.345049751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049718.345506672] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049718.346781353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049718.347810310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049718.445510871] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049718.446318819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049718.447488146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049718.448738728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049718.450587850] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049718.502707870] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972042 Long: -76.50298483 -[vectornav-1] [INFO] [1746049718.503812369] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.794, -3.326, 9.218) -[mux-7] [INFO] [1746049718.545385577] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049718.546183344] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049718.546978804] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049718.548410965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049718.549491333] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049718.585627186] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049718.587486629] [sailbot.teensy]: Wind angle: 262 -[trim_sail-4] [INFO] [1746049718.588439439] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049718.588501628] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049718.589414271] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049718.590181451] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049718.590284383] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049718.645358946] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049718.646055013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049718.646957315] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049718.648317255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049718.648859429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049718.745313294] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049718.746022405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049718.746795505] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049718.748262217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049718.749152615] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049718.835456135] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049718.837260436] [sailbot.teensy]: Wind angle: 262 -[trim_sail-4] [INFO] [1746049718.837891045] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049718.838175123] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049718.839071095] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049718.839674120] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049718.839914278] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049718.844224199] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049718.844841340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049718.845307686] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049718.846496240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049718.847610538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049718.945027058] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049718.945810066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049718.946470704] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049718.947845661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049718.949032631] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049719.003112302] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972052 Long: -76.50298522 -[vectornav-1] [INFO] [1746049719.004429327] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.80899999999997, -3.319, 9.198) -[mux-7] [INFO] [1746049719.044805960] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049719.045486745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049719.045976738] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049719.047191825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049719.048308671] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049719.085442947] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049719.087108182] [sailbot.teensy]: Wind angle: 262 -[teensy-2] [INFO] [1746049719.088044906] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049719.087816843] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049719.088969224] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049719.089168178] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049719.089833101] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049719.144965567] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049719.145690923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049719.146203174] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049719.147429886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049719.148366319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049719.245148023] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049719.245833964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049719.246580726] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049719.247765777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049719.248290232] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049719.335651127] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049719.337758609] [sailbot.teensy]: Wind angle: 262 -[trim_sail-4] [INFO] [1746049719.338546994] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746049719.339152359] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049719.339458671] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049719.339830204] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049719.340382187] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049719.344354429] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049719.344957772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049719.345378133] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049719.346675618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049719.347712687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049719.445652929] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049719.446535619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049719.447255159] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049719.448910340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049719.449819034] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049719.502992641] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972065 Long: -76.50298533 -[vectornav-1] [INFO] [1746049719.504125176] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.846, -3.316, 9.393) -[mux-7] [INFO] [1746049719.545102095] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049719.545876204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049719.546400113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049719.547773266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049719.548937418] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049719.585826466] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049719.587758246] [sailbot.teensy]: Wind angle: 262 -[trim_sail-4] [INFO] [1746049719.588398687] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746049719.589439282] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049719.589610257] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049719.590504598] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049719.591338838] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049719.645122951] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049719.645734386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049719.646628549] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049719.647788005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049719.648970601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049719.745505065] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049719.746080388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049719.747318914] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049719.748531471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049719.749280345] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049719.835783087] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049719.838217011] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746049719.838858913] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049719.839094803] [sailbot.teensy]: Wind angle: 261 -[teensy-2] [INFO] [1746049719.839990860] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049719.840621529] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049719.840979187] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049719.844408954] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049719.844861521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049719.845489955] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049719.846435890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049719.847546888] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049719.945605010] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049719.946173319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049719.947531889] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049719.948625683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049719.949659583] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049720.003329295] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972073 Long: -76.50298547 -[vectornav-1] [INFO] [1746049720.004863777] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.861, -3.314, 9.356) -[mux-7] [INFO] [1746049720.044982316] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049720.045492471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049720.046237384] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049720.047207841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049720.048188275] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049720.085611802] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049720.087535654] [sailbot.teensy]: Wind angle: 261 -[trim_sail-4] [INFO] [1746049720.088196966] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049720.088558535] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049720.089460208] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049720.089738352] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049720.090301101] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049720.144934669] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049720.145694432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049720.146254111] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049720.147618402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049720.148651053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049720.245126189] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049720.245986641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049720.246577594] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049720.248436140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049720.249428808] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049720.335651974] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049720.337693173] [sailbot.teensy]: Wind angle: 260 -[trim_sail-4] [INFO] [1746049720.338318202] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049720.338744361] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049720.339189198] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049720.339684167] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049720.340532937] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049720.344268964] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049720.344830609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049720.345244064] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049720.346292085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049720.347377388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049720.445193546] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049720.445961893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049720.446591813] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049720.447890000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049720.448405023] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049720.502657039] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972072 Long: -76.50298556 -[vectornav-1] [INFO] [1746049720.503806773] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.878, -3.31, 9.369) -[mux-7] [INFO] [1746049720.545230219] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049720.546009123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049720.546633324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049720.548077962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049720.549254105] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049720.585765378] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049720.587827609] [sailbot.teensy]: Wind angle: 260 -[trim_sail-4] [INFO] [1746049720.588525282] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049720.588896015] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049720.589648143] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049720.589815839] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049720.590700080] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049720.645230071] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049720.645868460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049720.646702779] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049720.647980794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049720.648581885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049720.745209153] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049720.745739241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049720.746660232] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049720.747746296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049720.748828613] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049720.835432093] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049720.837189363] [sailbot.teensy]: Wind angle: 260 -[trim_sail-4] [INFO] [1746049720.837746261] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049720.838108945] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049720.838958022] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049720.839085555] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049720.839805032] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049720.844482632] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049720.844851987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049720.845569898] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049720.846434249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049720.847415560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049720.945513935] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049720.946175526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049720.947150134] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049720.948425812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049720.949552400] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049721.003380400] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972078 Long: -76.50298571 -[vectornav-1] [INFO] [1746049721.004953762] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.88599999999997, -3.311, 9.298) -[mux-7] [INFO] [1746049721.045104903] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049721.045828318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049721.046493125] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049721.047693752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049721.048760566] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049721.085316969] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049721.087187355] [sailbot.teensy]: Wind angle: 260 -[teensy-2] [INFO] [1746049721.088120766] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049721.087664396] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746049721.088750102] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049721.089042032] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049721.089941920] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049721.145119011] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049721.145814418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049721.146601691] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049721.147710724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049721.148771792] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049721.245590722] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049721.246317182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049721.247466385] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049721.248687159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049721.249871481] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049721.335374307] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049721.337401833] [sailbot.teensy]: Wind angle: 260 -[trim_sail-4] [INFO] [1746049721.337934568] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746049721.338753710] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049721.339468512] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049721.340591278] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049721.341466706] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049721.344364374] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049721.344810339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049721.345413910] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049721.346471544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049721.347476679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049721.445701081] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049721.446595101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049721.447491113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049721.448993292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049721.450219263] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049721.503500041] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972074 Long: -76.50298585 -[vectornav-1] [INFO] [1746049721.504918279] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.901, -3.31, 9.277) -[mux-7] [INFO] [1746049721.545205246] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049721.546010766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049721.546485795] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049721.548046575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049721.549075600] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049721.585455165] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049721.587875543] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049721.588123483] [sailbot.teensy]: Wind angle: 260 -[mux-7] [INFO] [1746049721.588538188] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049721.589020359] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049721.589848165] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049721.590669677] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049721.645549133] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049721.646443517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049721.647056545] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049721.648633328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049721.649559098] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049721.744929196] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049721.745649285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049721.746380323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049721.747564543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049721.748568642] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049721.835735921] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049721.838533427] [sailbot.teensy]: Wind angle: 260 -[trim_sail-4] [INFO] [1746049721.838650621] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746049721.839154316] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049721.839759484] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049721.840682323] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049721.841509840] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049721.844311560] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049721.844758587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049721.845355307] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049721.846812725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049721.847971004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049721.945219750] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049721.945962292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049721.946660181] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049721.947985163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049721.948871930] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049722.002776914] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972079 Long: -76.50298612 -[vectornav-1] [INFO] [1746049722.003955926] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.895, -3.306, 9.087) -[mux-7] [INFO] [1746049722.045338949] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049722.046036555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049722.046902037] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049722.048121061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049722.049284476] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049722.085373348] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049722.087717339] [sailbot.teensy]: Wind angle: 260 -[trim_sail-4] [INFO] [1746049722.087762093] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746049722.088401380] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049722.088696614] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049722.089579205] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049722.090420712] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049722.145378806] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049722.146199224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049722.146885199] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049722.148300268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049722.148813411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049722.245321586] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049722.246190912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049722.246840494] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049722.248252177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049722.248827275] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049722.335549083] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049722.337537331] [sailbot.teensy]: Wind angle: 260 -[trim_sail-4] [INFO] [1746049722.338225733] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049722.338564513] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049722.339450904] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049722.339696767] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049722.340317004] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049722.344414860] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049722.344981813] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049722.345593836] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049722.346722660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049722.347826072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049722.445300584] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049722.446093602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049722.446995575] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049722.448345964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049722.449572225] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049722.503480094] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972078 Long: -76.50298629 -[vectornav-1] [INFO] [1746049722.504925511] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.913, -3.323, 9.181) -[mux-7] [INFO] [1746049722.545212539] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049722.546099866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049722.546855521] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049722.548322794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049722.549448044] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049722.585535194] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049722.587910367] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049722.588034647] [sailbot.teensy]: Wind angle: 260 -[mux-7] [INFO] [1746049722.588388539] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049722.589255525] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049722.590134250] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049722.590946840] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049722.645130420] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049722.645823741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049722.646549306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049722.647770773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049722.648300131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049722.745321271] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049722.746049456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049722.746778760] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049722.748274828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049722.748981210] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049722.835458708] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049722.837251866] [sailbot.teensy]: Wind angle: 260 -[trim_sail-4] [INFO] [1746049722.838443459] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746049722.838923468] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049722.839210452] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049722.840167765] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049722.841005060] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049722.844301750] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049722.844849236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049722.845369511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049722.846459826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049722.847462467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049722.945439877] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049722.946183367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049722.947072515] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049722.948249223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049722.948785434] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049723.002515180] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972087 Long: -76.50298664 -[vectornav-1] [INFO] [1746049723.003590149] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.93, -3.313, 9.178) -[mux-7] [INFO] [1746049723.045175407] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049723.045851845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049723.046482835] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049723.047934958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049723.048945188] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049723.085741020] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049723.087818315] [sailbot.teensy]: Wind angle: 259 -[trim_sail-4] [INFO] [1746049723.088757333] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746049723.088949513] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049723.089273851] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049723.090110094] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049723.090977003] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049723.144397038] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049723.144999434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049723.145449524] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049723.146589980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049723.147537440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049723.245167466] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049723.245912527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049723.246507364] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049723.247928502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049723.248963066] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049723.335430367] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049723.337509822] [sailbot.teensy]: Wind angle: 254 -[trim_sail-4] [INFO] [1746049723.337884780] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746049723.338509437] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049723.338726638] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049723.339403657] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049723.339850801] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049723.344372996] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049723.344879232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049723.345432377] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049723.346468436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049723.347451177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049723.444954206] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049723.445595399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049723.446174647] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049723.447412072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049723.448537331] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049723.502510838] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697209 Long: -76.50298683 -[vectornav-1] [INFO] [1746049723.503636913] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.967, -3.276, 9.318) -[mux-7] [INFO] [1746049723.545318440] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049723.546117078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049723.546635226] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049723.547748050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049723.548179669] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049723.585531659] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049723.587465723] [sailbot.teensy]: Wind angle: 250 -[trim_sail-4] [INFO] [1746049723.588275080] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746049723.588494479] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049723.589373566] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049723.589427233] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049723.590237986] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049723.645136496] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049723.645877690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049723.646625013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049723.648299138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049723.649403818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049723.745247826] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049723.745967728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049723.746806209] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049723.747822045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049723.748290612] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049723.835377469] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049723.837169160] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746049723.838105123] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049723.837958614] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746049723.838347203] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049723.838975175] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049723.839815508] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049723.844266719] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049723.844806806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049723.845312370] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049723.846413490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049723.847388155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049723.945359306] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049723.946064837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049723.947038705] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049723.948311547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049723.949485214] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049724.003073759] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972079 Long: -76.50298715 -[vectornav-1] [INFO] [1746049724.004339679] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.038, -3.26, 9.72) -[mux-7] [INFO] [1746049724.045212989] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049724.046028017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049724.046722146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049724.047569567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049724.048070473] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049724.085414925] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049724.087316005] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746049724.087865796] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049724.088293113] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049724.089168353] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049724.089340142] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049724.090053556] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049724.144938185] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049724.145677728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049724.146260710] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049724.147559884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049724.148721960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049724.245159498] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049724.245881012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049724.246675745] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049724.247940774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049724.249126097] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049724.335546923] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049724.338174151] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049724.338537533] [sailbot.teensy]: Wind angle: 247 -[mux-7] [INFO] [1746049724.338721540] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049724.339553806] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049724.340466310] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049724.341305343] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049724.344338130] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049724.344869750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049724.345413186] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049724.346513698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049724.347489058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049724.444989860] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049724.445701521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049724.446319498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049724.447635848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049724.448646623] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049724.503045358] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972075 Long: -76.50298759 -[vectornav-1] [INFO] [1746049724.504349887] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.038, -3.275, 9.562) -[mux-7] [INFO] [1746049724.544847126] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049724.545636844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049724.546066696] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049724.547431934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049724.548423171] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049724.585337880] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049724.587155598] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746049724.587523362] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746049724.588363965] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746049724.588426148] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049724.589304415] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049724.590125517] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049724.645477052] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049724.646055144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049724.647068355] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049724.648293901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049724.649561186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049724.745235746] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049724.745847001] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049724.746816593] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049724.748090027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049724.749170017] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049724.835405235] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049724.837225420] [sailbot.teensy]: Wind angle: 225 -[trim_sail-4] [INFO] [1746049724.837797288] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049724.838157732] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049724.838636477] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049724.838697691] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049724.839012641] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049724.844497581] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049724.844958142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049724.845629237] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049724.846602801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049724.847740586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049724.945596752] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049724.946193079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049724.947170374] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049724.948477835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049724.949162988] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049725.002621263] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972081 Long: -76.5029879 -[vectornav-1] [INFO] [1746049725.003774376] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.002, -3.33, 9.249) -[mux-7] [INFO] [1746049725.045273590] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049725.045949212] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049725.046875160] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049725.048122423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049725.049301282] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049725.085625702] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049725.087561947] [sailbot.teensy]: Wind angle: 219 -[teensy-2] [INFO] [1746049725.088602612] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049725.088213109] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746049725.089334667] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049725.089496565] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049725.090360107] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049725.144951490] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049725.145620724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049725.146291350] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049725.147524055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049725.148689512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049725.245307250] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049725.245956086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049725.246859048] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049725.248235832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049725.249418092] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049725.335801491] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049725.337918805] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746049725.338591795] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049725.338993135] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049725.339906802] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049725.340077118] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049725.340771085] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049725.344313443] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049725.344797827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049725.345384330] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049725.346394880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049725.347380463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049725.445353157] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049725.445915300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049725.446907271] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049725.448047511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049725.449238769] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049725.502744385] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972083 Long: -76.50298799 -[vectornav-1] [INFO] [1746049725.503914587] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.003, -3.343, 9.239) -[mux-7] [INFO] [1746049725.544963077] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049725.545602143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049725.546320201] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049725.547393743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049725.548418419] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049725.585434473] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049725.587745805] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746049725.587835211] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746049725.588643208] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049725.588718514] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049725.589582392] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049725.590413180] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049725.645285415] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049725.645880820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049725.646771239] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049725.647958402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049725.649191866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049725.745250482] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049725.745898018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049725.746823583] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049725.748125782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049725.749326660] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049725.835363650] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049725.836994823] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746049725.837569109] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049725.837881145] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049725.838121196] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049725.838715007] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049725.839577630] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049725.844293958] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049725.844813401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049725.845373861] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049725.846390550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049725.847456236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049725.945368458] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049725.945916969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049725.946985932] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049725.948021199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049725.949213330] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049726.002372334] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972082 Long: -76.50298826 -[vectornav-1] [INFO] [1746049726.003386314] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.081, -3.326, 9.601) -[mux-7] [INFO] [1746049726.044935955] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049726.045567951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049726.046185966] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049726.047350881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049726.048536582] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049726.085435939] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049726.087381112] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746049726.087925285] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049726.088359845] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049726.089236336] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049726.088592075] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049726.090079552] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049726.145135873] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049726.145846633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049726.146606927] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049726.147918668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049726.149106406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049726.245296942] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049726.246015591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049726.246783749] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049726.248175412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049726.249361092] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049726.335365930] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049726.337857700] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049726.338210245] [sailbot.teensy]: Wind angle: 220 -[mux-7] [INFO] [1746049726.338384384] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049726.339365683] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049726.340185948] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049726.340970424] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049726.344274176] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049726.344639459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049726.345295138] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049726.346088903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049726.346978274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049726.445273952] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049726.446001340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049726.447080590] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049726.448237614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049726.449445648] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049726.503750937] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972105 Long: -76.5029883 -[vectornav-1] [INFO] [1746049726.505405769] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.082, -3.342, 9.542) -[mux-7] [INFO] [1746049726.545336546] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049726.545914594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049726.546711377] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049726.548008989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049726.549060498] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049726.585512415] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049726.587290984] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746049726.588013487] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049726.588279976] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049726.588674406] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049726.589169618] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049726.590059508] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049726.645407098] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049726.646193381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049726.647078205] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049726.648494973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049726.649469773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049726.745040237] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049726.745663862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049726.746478383] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049726.747699192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049726.748516424] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049726.835893075] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049726.838085396] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746049726.838851589] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049726.839168751] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049726.839724993] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049726.840102363] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049726.840983479] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049726.844368081] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049726.844934034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049726.845444035] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049726.846555013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049726.847721449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049726.945473922] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049726.946135641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049726.947082081] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049726.948360495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049726.948846867] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049727.003260372] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972117 Long: -76.50298849 -[vectornav-1] [INFO] [1746049727.004617394] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03, -3.356, 9.18) -[mux-7] [INFO] [1746049727.045001605] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049727.045799968] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049727.046355401] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049727.047728350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049727.048715954] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049727.085436050] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049727.087256089] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746049727.087946005] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049727.088261071] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049727.089139206] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049727.089133036] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049727.090000495] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049727.145201311] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049727.145860064] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049727.146696750] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049727.147992290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049727.149163526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049727.245086068] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049727.245781789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049727.246440940] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049727.247779343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049727.248604766] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049727.335323700] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049727.337127036] [sailbot.teensy]: Wind angle: 223 -[trim_sail-4] [INFO] [1746049727.337906854] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049727.338105958] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049727.338979202] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049727.339004745] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049727.339838473] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049727.344391385] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049727.344913658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049727.345481902] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049727.346533088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049727.347543239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049727.445452437] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049727.446113455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049727.447038970] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049727.448325923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049727.448848589] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049727.502558209] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972116 Long: -76.50298861 -[vectornav-1] [INFO] [1746049727.503769254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.994, -3.356, 8.692) -[mux-7] [INFO] [1746049727.545622621] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049727.546438468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049727.547159380] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049727.548712076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049727.549335124] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049727.585833905] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049727.587962704] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746049727.588938776] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049727.589720566] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049727.589808393] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049727.590645166] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049727.591529569] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049727.644994818] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049727.645649615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049727.646560475] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049727.647605648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049727.648691524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049727.745487005] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049727.746346768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049727.747147837] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049727.748681729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049727.749905420] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049727.835434013] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049727.837931259] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746049727.838377138] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049727.838531915] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746049727.838943260] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049727.839293625] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049727.839625467] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049727.844412208] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049727.844879713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049727.845494812] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049727.846536979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049727.847521114] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049727.945416722] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049727.946167817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049727.946991365] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049727.948800660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049727.949389942] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049728.003840074] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972124 Long: -76.50298867 -[vectornav-1] [INFO] [1746049728.005254787] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.01800000000003, -3.354, 8.656) -[mux-7] [INFO] [1746049728.045265935] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049728.046028005] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049728.046712079] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049728.047743692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049728.048277414] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049728.085459105] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049728.087748412] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049728.088010455] [sailbot.teensy]: Wind angle: 234 -[mux-7] [INFO] [1746049728.088567671] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049728.089063328] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049728.089870224] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049728.090622453] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049728.145022036] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049728.145787070] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049728.146378097] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049728.147801601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049728.148858842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049728.245188794] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049728.246006459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049728.246649479] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049728.248131143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049728.249237505] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049728.335541281] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049728.338340559] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746049728.338678260] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049728.339282301] [sailbot.teensy]: Wind angle: 232 -[teensy-2] [INFO] [1746049728.340218503] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049728.341041605] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049728.341868804] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049728.344238117] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049728.344721969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049728.345290484] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049728.346373516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049728.347423669] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049728.445348761] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049728.446185043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049728.446922847] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049728.448539741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049728.449801473] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049728.502639228] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972129 Long: -76.50298859 -[vectornav-1] [INFO] [1746049728.503729210] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.012, -3.365, 8.571) -[mux-7] [INFO] [1746049728.545261161] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049728.546046225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049728.546786303] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049728.548181832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049728.549339992] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049728.585839044] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049728.588050361] [sailbot.teensy]: Wind angle: 232 -[trim_sail-4] [INFO] [1746049728.588975151] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746049728.590003913] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049728.590124591] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049728.591063301] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049728.591929499] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049728.645443976] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049728.646162014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049728.647024424] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049728.648440477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049728.649714434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049728.745666950] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049728.746452487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049728.747500661] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049728.748978102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049728.750298359] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049728.835484224] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049728.837301793] [sailbot.teensy]: Wind angle: 232 -[trim_sail-4] [INFO] [1746049728.837970553] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049728.838232926] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049728.839098998] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049728.839218650] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049728.839997055] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049728.844207686] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049728.844826432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049728.845295426] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049728.846415003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049728.847375383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049728.945264452] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049728.946897597] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049728.946946516] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049728.948185220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049728.948653243] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049729.003167371] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972147 Long: -76.50298863 -[vectornav-1] [INFO] [1746049729.004670867] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.01599999999996, -3.365, 8.503) -[mux-7] [INFO] [1746049729.045388768] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049729.046002823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049729.046889350] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049729.048727837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049729.050382988] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049729.085375321] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049729.087674902] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049729.088019116] [sailbot.teensy]: Wind angle: 232 -[mux-7] [INFO] [1746049729.088761102] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049729.088908680] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049729.089777419] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049729.090604493] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049729.145410068] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049729.146175519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049729.146978496] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049729.148548933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049729.149785535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049729.245538703] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049729.246188699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049729.247112940] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049729.248433572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049729.248960619] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049729.335369690] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049729.337181055] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746049729.337966333] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049729.338154802] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049729.338384043] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049729.339046150] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049729.339879717] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049729.344415818] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049729.344939273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049729.345510745] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049729.346562570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049729.347665423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049729.445440269] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049729.446246737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049729.447005561] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049729.448493256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049729.449015488] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049729.502441939] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972153 Long: -76.50298871 -[vectornav-1] [INFO] [1746049729.503461078] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.044, -3.364, 8.678) -[mux-7] [INFO] [1746049729.545616123] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049729.546391526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049729.547026402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049729.548539721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049729.549577643] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049729.585421257] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049729.587887577] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746049729.588618760] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049729.588832662] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746049729.589925925] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049729.590757531] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049729.591584951] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049729.645182741] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049729.646056200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049729.646689935] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049729.648397726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049729.649495253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049729.745320815] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049729.746068955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049729.746757896] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049729.748259327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049729.749382696] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049729.835377130] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049729.837321581] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746049729.837825223] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049729.838319055] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049729.838458028] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049729.839204838] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049729.840116907] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049729.844207425] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049729.844795064] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049729.845233746] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049729.846399371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049729.847314676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049729.945519996] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049729.946390888] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049729.947214582] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049729.948375219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049729.948907732] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049730.003527669] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972145 Long: -76.5029887 -[vectornav-1] [INFO] [1746049730.004740574] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.052, -3.362, 8.753) -[mux-7] [INFO] [1746049730.045358911] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049730.045980265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049730.046728429] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049730.047945608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049730.049095667] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049730.085561867] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049730.087583577] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746049730.088335822] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049730.088649140] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049730.089641379] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049730.089923786] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049730.090442929] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049730.144813070] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049730.145400446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049730.146072422] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049730.147209366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049730.148366963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049730.245281125] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049730.245960722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049730.246731330] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049730.248095478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049730.248614340] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049730.335498691] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049730.337520052] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746049730.337983547] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049730.338483672] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049730.339177334] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049730.339254763] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049730.339629858] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049730.344290617] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049730.344942189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049730.345391213] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049730.346572714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049730.347555846] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049730.445745450] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049730.446707534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049730.447640315] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049730.449226392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049730.449905039] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049730.502447805] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972145 Long: -76.50298869 -[vectornav-1] [INFO] [1746049730.503455183] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.081, -3.374, 8.909) -[mux-7] [INFO] [1746049730.545360044] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049730.546219499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049730.546805703] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049730.548410448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049730.548942714] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049730.585822565] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049730.588575029] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746049730.588645130] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746049730.588995050] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049730.589114138] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049730.589577525] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049730.589951660] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049730.645711570] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049730.646352813] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049730.647937389] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049730.648864094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049730.650151253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049730.745113563] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049730.745756470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049730.746577322] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049730.747785071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049730.748840001] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049730.835788601] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049730.838452994] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049730.838570638] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746049730.838977695] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049730.839154759] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049730.839357962] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049730.840264136] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049730.844432426] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049730.845135488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049730.845594556] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049730.846874840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049730.847910207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049730.945429968] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049730.946277311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049730.947014807] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049730.948403974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049730.948828607] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049731.003197377] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972147 Long: -76.50298872 -[vectornav-1] [INFO] [1746049731.004748897] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.086, -3.38, 8.881) -[mux-7] [INFO] [1746049731.045258852] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049731.046140434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049731.046802405] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049731.048829512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049731.049882192] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049731.085456666] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049731.087511203] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746049731.087874114] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049731.088547378] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049731.089546457] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049731.089591441] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049731.090513165] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049731.145464737] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049731.146374180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049731.147050105] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049731.148931516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049731.150074323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049731.245512826] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049731.246277736] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049731.247103799] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049731.248595178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049731.249335563] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049731.335481898] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049731.338181729] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049731.338651115] [sailbot.teensy]: Wind angle: 230 -[mux-7] [INFO] [1746049731.338889351] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049731.339248584] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049731.339648166] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049731.339979596] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049731.344330208] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049731.344875785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049731.345435321] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049731.346511296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049731.347668691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049731.445416844] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049731.446247062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049731.447002106] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049731.447704962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049731.448228546] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049731.502396949] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972133 Long: -76.50298868 -[vectornav-1] [INFO] [1746049731.503503536] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.071, -3.393, 8.748) -[mux-7] [INFO] [1746049731.545296750] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049731.546145690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049731.546831087] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049731.548427357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049731.549477665] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049731.585404268] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049731.587316057] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746049731.588059383] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049731.588350094] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049731.588898959] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049731.589225231] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049731.590105521] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049731.645388805] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049731.646328475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049731.647712266] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049731.648765392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049731.649902817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049731.745042021] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049731.745826159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049731.746474507] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049731.747885037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049731.749067220] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049731.835533386] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049731.838203446] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049731.838462854] [sailbot.teensy]: Wind angle: 223 -[mux-7] [INFO] [1746049731.838603366] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049731.838869631] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049731.839253037] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049731.839592672] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049731.844496850] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049731.845169887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049731.845700216] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049731.846818941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049731.847820754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049731.945243059] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049731.945919984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049731.946718385] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049731.948058193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049731.949202607] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049732.002826860] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972137 Long: -76.50298845 -[vectornav-1] [INFO] [1746049732.004079633] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.065, -3.397, 8.733) -[mux-7] [INFO] [1746049732.044882326] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049732.045613813] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049732.046162581] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049732.047465458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049732.048522896] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049732.085495797] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049732.088018114] [sailbot.teensy]: Wind angle: 207 -[trim_sail-4] [INFO] [1746049732.088054681] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746049732.088907087] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049732.089025885] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049732.089909598] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049732.090750863] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049732.145566775] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049732.146401313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049732.147373317] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049732.148769103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049732.149918145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049732.245270328] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049732.245974463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049732.246759972] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049732.248222643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049732.249387661] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049732.335456262] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049732.337378522] [sailbot.teensy]: Wind angle: 207 -[trim_sail-4] [INFO] [1746049732.338003446] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049732.338340618] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049732.338464901] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049732.339241006] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049732.339787949] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049732.344550869] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049732.345193206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049732.345735473] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049732.346917406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049732.348034816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049732.445332785] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049732.446031341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049732.446829519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049732.448190887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049732.449368276] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049732.502332649] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972148 Long: -76.50298841 -[vectornav-1] [INFO] [1746049732.503341805] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.099, -3.399, 8.742) -[mux-7] [INFO] [1746049732.545113933] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049732.545713285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049732.546359968] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049732.547512687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049732.547931077] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049732.585531550] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049732.588281991] [sailbot.teensy]: Wind angle: 204 -[trim_sail-4] [INFO] [1746049732.588292645] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746049732.588995241] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049732.589966010] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049732.590827013] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049732.591632557] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049732.645312991] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049732.645829022] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049732.646966816] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049732.648032822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049732.649174828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049732.745266939] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049732.745895217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049732.746804889] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049732.748107356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049732.750209832] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049732.835546275] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049732.837647563] [sailbot.teensy]: Wind angle: 203 -[trim_sail-4] [INFO] [1746049732.838305900] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049732.838697498] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049732.839723189] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049732.839829631] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049732.840401339] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049732.844369344] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049732.844898097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049732.845507648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049732.846498015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049732.847671332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049732.945656910] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049732.946298902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049732.947406561] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049732.948745796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049732.949996317] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049733.002516581] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972147 Long: -76.50298857 -[vectornav-1] [INFO] [1746049733.003551610] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.111, -3.404, 8.778) -[mux-7] [INFO] [1746049733.045127193] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049733.045795756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049733.046596145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049733.047856624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049733.048586352] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049733.085627641] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049733.088498311] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049733.088621826] [sailbot.teensy]: Wind angle: 201 -[teensy-2] [INFO] [1746049733.089645206] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049733.089707878] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049733.090545462] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049733.091379102] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049733.145288447] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049733.145946298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049733.146780098] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049733.148199201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049733.149372456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049733.245494787] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049733.246289166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049733.247105435] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049733.248841995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049733.249533668] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049733.335837594] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049733.338571682] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746049733.339213019] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049733.339300076] [sailbot.teensy]: Wind angle: 201 -[teensy-2] [INFO] [1746049733.340430581] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049733.341303217] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049733.342094774] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049733.344122604] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049733.344746904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049733.345212067] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049733.346454225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049733.347489290] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049733.445558704] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049733.446436127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049733.447181750] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049733.448771798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049733.449882981] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049733.502877442] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972139 Long: -76.50298845 -[vectornav-1] [INFO] [1746049733.504108919] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.098, -3.419, 8.719) -[mux-7] [INFO] [1746049733.545174527] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049733.546073324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049733.546648616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049733.548178250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049733.549175542] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049733.585519971] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049733.587395013] [sailbot.teensy]: Wind angle: 198 -[trim_sail-4] [INFO] [1746049733.587900096] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049733.588426661] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049733.589181349] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049733.589453208] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049733.590337613] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049733.645109115] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049733.645934267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049733.646600254] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049733.648146589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049733.649383548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049733.745519382] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049733.746309936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049733.747346418] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049733.747945743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049733.748451590] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049733.835533801] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049733.837404565] [sailbot.teensy]: Wind angle: 197 -[trim_sail-4] [INFO] [1746049733.837973469] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049733.838379332] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049733.839258475] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049733.839480799] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049733.840098778] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049733.844146368] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049733.844812072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049733.845205047] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049733.846493587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049733.847473609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049733.945416356] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049733.946179999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049733.946972507] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049733.948460511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049733.949487359] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049734.002580335] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972152 Long: -76.50298851 -[vectornav-1] [INFO] [1746049734.003642139] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.092, -3.424, 8.675) -[mux-7] [INFO] [1746049734.045364626] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049734.046257495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049734.046813011] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049734.048485771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049734.049480326] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049734.085803394] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049734.088429853] [sailbot.teensy]: Wind angle: 197 -[trim_sail-4] [INFO] [1746049734.088429697] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049734.089661914] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049734.089819016] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049734.090585926] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049734.091444195] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049734.145268974] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049734.146001585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049734.146792441] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049734.148355218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049734.149412093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049734.244889867] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049734.245587465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049734.246188654] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049734.247423809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049734.248540194] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049734.335465656] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049734.337744207] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746049734.338340118] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049734.338718127] [sailbot.teensy]: Wind angle: 198 -[teensy-2] [INFO] [1746049734.339648340] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049734.340513427] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049734.341328178] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049734.344327896] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049734.344779141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049734.345415205] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049734.346401869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049734.347520340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049734.446033124] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049734.446549296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049734.447968799] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049734.448385503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049734.448908321] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049734.502899606] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972163 Long: -76.5029884 -[vectornav-1] [INFO] [1746049734.504202896] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.1, -3.415, 8.7) -[mux-7] [INFO] [1746049734.544903676] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049734.545556146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049734.546116006] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049734.547253474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049734.548387113] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049734.585483913] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049734.587654910] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049734.587951067] [sailbot.teensy]: Wind angle: 198 -[mux-7] [INFO] [1746049734.588400503] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049734.588908961] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049734.589765510] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049734.590609107] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049734.645248770] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049734.645936954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049734.646816500] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049734.648222009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049734.649473065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049734.744828627] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049734.745474245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049734.746290126] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049734.747207148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049734.748208383] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049734.835396752] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049734.837156617] [sailbot.teensy]: Wind angle: 196 -[trim_sail-4] [INFO] [1746049734.837925391] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049734.838072058] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049734.838866834] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049734.838928887] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049734.839763133] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049734.844320269] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049734.844896439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049734.845391557] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049734.846525407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049734.847671507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049734.945036377] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049734.945582891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049734.946402717] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049734.947410961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049734.948571058] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049735.002308091] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972178 Long: -76.50298811 -[vectornav-1] [INFO] [1746049735.003326587] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.097, -3.418, 8.686) -[mux-7] [INFO] [1746049735.045159166] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049735.046102450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049735.046556396] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049735.048048393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049735.049197379] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049735.085582618] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049735.088007915] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746049735.088702287] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049735.088774442] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746049735.089709652] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049735.090541019] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049735.091333286] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049735.145030498] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049735.145558307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049735.146476070] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049735.147428715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049735.148515407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049735.245298956] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049735.245920260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049735.246800575] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049735.248060566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049735.249108262] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049735.335346983] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049735.337655429] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049735.337913865] [sailbot.teensy]: Wind angle: 193 -[mux-7] [INFO] [1746049735.338178777] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049735.338840959] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049735.339697699] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049735.340167358] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049735.344468924] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049735.344853400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049735.345554507] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049735.346441014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049735.347433871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049735.445529042] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049735.446139197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049735.447435487] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049735.448359423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049735.449605479] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049735.503121024] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972184 Long: -76.50298794 -[vectornav-1] [INFO] [1746049735.504547530] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.152, -3.408, 8.894) -[mux-7] [INFO] [1746049735.545340460] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049735.545956423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049735.546769963] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049735.547953502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049735.549777215] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049735.585576955] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049735.587447978] [sailbot.teensy]: Wind angle: 193 -[trim_sail-4] [INFO] [1746049735.588176044] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049735.588447625] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049735.589405188] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049735.589511019] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049735.590375444] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049735.645304381] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049735.645956805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049735.646802203] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049735.648365797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049735.649574492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049735.745137253] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049735.745828547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049735.746515723] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049735.747858390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049735.748378127] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049735.835437574] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049735.837350046] [sailbot.teensy]: Wind angle: 191 -[trim_sail-4] [INFO] [1746049735.837845850] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049735.838298981] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049735.839173384] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049735.839321090] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049735.840016303] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049735.844287119] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049735.844742048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049735.845321575] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049735.846334071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049735.847436897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049735.944916819] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049735.945609759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049735.946208407] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049735.947509182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049735.948512995] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049736.003024791] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972186 Long: -76.50298754 -[vectornav-1] [INFO] [1746049736.004484262] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.12, -3.428, 8.607) -[mux-7] [INFO] [1746049736.044986460] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049736.045701900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049736.046315083] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049736.047660383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049736.048704050] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049736.085365734] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049736.087186085] [sailbot.teensy]: Wind angle: 190 -[trim_sail-4] [INFO] [1746049736.087741057] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049736.088122766] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049736.089079902] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049736.089463290] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049736.089941616] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049736.145027403] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049736.145807473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049736.146421413] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049736.147812437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049736.149067899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049736.245090618] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049736.245708486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049736.246453047] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049736.247550442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049736.248714347] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049736.335411330] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049736.337143289] [sailbot.teensy]: Wind angle: 190 -[trim_sail-4] [INFO] [1746049736.337789227] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049736.338090957] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049736.338999390] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049736.339585380] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049736.339879131] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049736.344490461] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049736.345005513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049736.345607978] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049736.346664854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049736.347668183] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049736.445563208] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049736.446363531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049736.447446674] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049736.448533244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049736.449046769] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049736.502644409] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972178 Long: -76.50298722 -[vectornav-1] [INFO] [1746049736.503824746] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.129, -3.432, 8.506) -[mux-7] [INFO] [1746049736.545340338] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049736.546152906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049736.546704728] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049736.548182601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049736.549312904] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049736.585612802] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049736.587482271] [sailbot.teensy]: Wind angle: 190 -[teensy-2] [INFO] [1746049736.588482066] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049736.588507760] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049736.589421002] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049736.590035127] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049736.590253674] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049736.645360817] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049736.646330250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049736.646957508] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049736.648561228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049736.649784281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049736.745062364] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049736.745853733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049736.746380723] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049736.747792295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049736.748290693] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049736.835689368] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049736.838498359] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049736.838543484] [sailbot.teensy]: Wind angle: 189 -[mux-7] [INFO] [1746049736.839155926] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049736.839523571] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049736.840418396] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049736.840782675] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049736.844445476] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049736.844878805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049736.845494789] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049736.846568882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049736.847599580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049736.945260011] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049736.946035537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049736.946772550] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049736.948341322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049736.949486049] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049737.002473337] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972165 Long: -76.5029871 -[vectornav-1] [INFO] [1746049737.003524645] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.156, -3.43, 8.649) -[mux-7] [INFO] [1746049737.045596403] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049737.046217132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049737.047101981] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049737.048500441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049737.049541910] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049737.085723878] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049737.088537429] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049737.088745563] [sailbot.teensy]: Wind angle: 188 -[mux-7] [INFO] [1746049737.089071936] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049737.089720802] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049737.090615724] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049737.091430128] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049737.145388686] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049737.146036016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049737.146910205] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049737.147909874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049737.148356266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049737.245413575] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049737.246088550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049737.246918798] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049737.248289216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049737.249378624] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049737.335512070] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049737.338031743] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049737.338629465] [sailbot.teensy]: Wind angle: 187 -[mux-7] [INFO] [1746049737.338653790] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049737.339612741] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049737.339985707] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049737.340368861] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049737.344487399] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049737.344930824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049737.345593919] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049737.346618597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049737.347635620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049737.445417635] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049737.446204421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049737.447067032] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049737.447915987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049737.448411496] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049737.504094745] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972157 Long: -76.50298698 -[vectornav-1] [INFO] [1746049737.505632086] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.16700000000003, -3.426, 8.765) -[mux-7] [INFO] [1746049737.545009402] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049737.545783101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049737.546319470] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049737.547685834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049737.548717772] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049737.585469417] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049737.587242416] [sailbot.teensy]: Wind angle: 187 -[trim_sail-4] [INFO] [1746049737.587738139] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049737.588292156] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049737.589073592] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049737.589201418] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049737.590113478] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049737.645391467] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049737.646205052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049737.646995085] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049737.648552575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049737.649650625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049737.745374355] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049737.746141955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049737.746893996] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049737.748452247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049737.749519381] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049737.835511967] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049737.837356287] [sailbot.teensy]: Wind angle: 187 -[trim_sail-4] [INFO] [1746049737.837906974] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049737.838323403] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049737.839076742] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049737.839202564] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049737.840086097] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049737.844358250] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049737.844867171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049737.845381281] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049737.846526018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049737.847704909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049737.945429580] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049737.946318722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049737.947053138] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049737.948595981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049737.949693248] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049738.003120362] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972173 Long: -76.50298679 -[vectornav-1] [INFO] [1746049738.004672219] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.139, -3.44, 8.494) -[mux-7] [INFO] [1746049738.045078696] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049738.046111128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049738.046469410] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049738.048330325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049738.049355107] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049738.085416135] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049738.087211070] [sailbot.teensy]: Wind angle: 196 -[trim_sail-4] [INFO] [1746049738.087697467] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049738.088555936] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049738.089378171] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049738.089479305] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049738.090349100] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049738.145297553] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049738.146028018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049738.146820448] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049738.148122040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049738.148627261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049738.245196641] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049738.245891455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049738.246672472] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049738.247769734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049738.248292622] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049738.335445458] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049738.337217366] [sailbot.teensy]: Wind angle: 237 -[trim_sail-4] [INFO] [1746049738.337805933] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746049738.338164225] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049738.338997324] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049738.339059984] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746049738.339787302] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049738.344199049] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049738.344771078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049738.345236947] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049738.346303514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049738.347318667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049738.445519776] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049738.446153774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049738.447233995] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049738.448413810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049738.449711119] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049738.502724645] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972177 Long: -76.50298668 -[vectornav-1] [INFO] [1746049738.503880859] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.13800000000003, -3.445, 8.427) -[mux-7] [INFO] [1746049738.545499761] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049738.546399437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049738.546970560] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049738.548553687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049738.549751493] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049738.585906392] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049738.588637384] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746049738.589234893] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746049738.590164926] [sailbot.teensy]: Wind angle: 284 -[teensy-2] [INFO] [1746049738.591064968] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049738.591886146] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049738.592759733] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049738.645414115] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049738.646168008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049738.647612431] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049738.648528315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049738.649665875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049738.745308307] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049738.746115166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049738.746851300] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049738.748582972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049738.749634072] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049738.835322490] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049738.836962370] [sailbot.teensy]: Wind angle: 328 -[trim_sail-4] [INFO] [1746049738.837493512] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049738.837846468] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049738.838669269] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049738.838792166] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049738.839526697] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049738.844388783] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049738.844865450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049738.845428234] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049738.846453272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049738.847510154] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049738.945367902] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049738.946065803] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049738.947052616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049738.948320120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049738.949241466] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049739.002572431] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972189 Long: -76.50298655 -[vectornav-1] [INFO] [1746049739.003644719] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.11, -3.451, 8.162) -[mux-7] [INFO] [1746049739.045529102] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049739.046281186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049739.047005362] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049739.048789812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049739.049956321] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049739.085405473] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049739.087665068] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049739.087926027] [sailbot.teensy]: Wind angle: 357 -[mux-7] [INFO] [1746049739.088477717] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049739.089116427] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049739.090018943] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049739.090861831] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049739.144666949] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049739.145229135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049739.145781756] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049739.147105868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049739.148064810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049739.244771569] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049739.245457242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049739.245956841] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049739.247249046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049739.248359062] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049739.335386637] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049739.337204053] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049739.337790826] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049739.338196748] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049739.339129797] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049739.339382438] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049739.340018296] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049739.344323129] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049739.344881306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049739.345369041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049739.346567516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049739.347566420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049739.445639849] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049739.446458217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049739.447473588] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049739.448812308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049739.450108698] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049739.503509059] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972191 Long: -76.50298642 -[vectornav-1] [INFO] [1746049739.505070518] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03999999999996, -3.468, 7.868) -[mux-7] [INFO] [1746049739.544852647] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049739.545586052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049739.546050289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049739.547336546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049739.548418204] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049739.585594713] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049739.587818314] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049739.588555208] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049739.589246274] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049739.590190862] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049739.591059713] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049739.591895608] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049739.645357265] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049739.646161529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049739.646935390] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049739.648539290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049739.649727812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049739.745299469] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049739.746044792] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049739.746697685] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049739.748080873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049739.749323307] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049739.835453600] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049739.837679246] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049739.837869500] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049739.838406787] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049739.838643334] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049739.839532815] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049739.840397686] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049739.844386295] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049739.844779254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049739.845429585] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049739.846421342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049739.847601663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049739.945400504] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049739.946166144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049739.946943867] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049739.948086358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049739.948542177] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049740.003444032] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972191 Long: -76.50298634 -[vectornav-1] [INFO] [1746049740.005049766] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.03999999999996, -3.466, 7.891) -[mux-7] [INFO] [1746049740.045281310] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049740.046103988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049740.046699651] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049740.048224363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049740.049382074] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049740.085521924] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049740.087510844] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049740.087850358] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049740.088485924] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049740.088749004] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049740.089407734] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049740.090257887] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049740.145098693] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049740.145801163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049740.146524449] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049740.147938575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049740.149022976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049740.245157633] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049740.245989329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049740.246606565] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049740.248225667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049740.249370527] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049740.335706958] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049740.338088591] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049740.338556676] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049740.339221982] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049740.340170289] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049740.340254090] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049740.341065096] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049740.344242684] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049740.344959689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049740.345316915] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049740.346582229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049740.347673158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049740.445068762] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049740.445846658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049740.446476563] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049740.447979896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049740.448491677] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049740.502870742] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972187 Long: -76.50298634 -[vectornav-1] [INFO] [1746049740.504074765] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.086, -3.452, 7.983) -[mux-7] [INFO] [1746049740.545123791] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049740.545983618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049740.546585628] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049740.548252513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049740.549456396] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049740.585470626] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049740.587190215] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049740.587771196] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049740.588183596] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049740.588811339] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049740.589151488] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049740.590055593] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049740.645454964] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049740.646320498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049740.647058389] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049740.648727473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049740.649253172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049740.745266123] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049740.746109808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049740.746791596] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049740.748508389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049740.749491537] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049740.835642624] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049740.837654520] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049740.838177376] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049740.838690155] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049740.839614728] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049740.839805631] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049740.840537573] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049740.844389917] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049740.844942158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049740.845448714] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049740.846594468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049740.847624492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049740.945252176] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049740.945989937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049740.946748128] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049740.948405488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049740.949420070] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049741.003079926] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972208 Long: -76.50298634 -[vectornav-1] [INFO] [1746049741.004476124] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.055, -3.461, 7.773) -[mux-7] [INFO] [1746049741.045253126] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049741.046128227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049741.046948223] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049741.048515171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049741.049820189] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049741.085641313] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049741.087459830] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049741.087935027] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049741.088453721] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049741.089333677] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049741.089405655] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049741.090425716] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049741.145206524] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049741.145999711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049741.146639174] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049741.148114712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049741.149244623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049741.245444763] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049741.246190842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049741.246966856] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049741.248619352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049741.249729986] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049741.335384482] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049741.337230595] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049741.337783928] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049741.338388886] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049741.339353246] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049741.340244996] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049741.341057086] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049741.344280446] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049741.344840543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049741.345327751] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049741.346479032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049741.347399174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049741.444985644] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049741.445738391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049741.446318033] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049741.447758366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049741.448830295] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049741.502324023] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972195 Long: -76.5029863 -[vectornav-1] [INFO] [1746049741.503323290] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.11, -3.451, 7.934) -[mux-7] [INFO] [1746049741.545110081] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049741.546170796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049741.546443170] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049741.548036018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049741.549164094] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049741.585500564] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049741.587226816] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049741.588003373] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049741.588952798] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049741.589860799] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049741.590717265] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049741.591517289] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049741.645345364] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049741.646039363] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049741.647025263] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049741.648480533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049741.649441625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049741.744208748] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049741.744688947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049741.745249747] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049741.746088965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049741.747157164] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049741.835330085] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049741.836966284] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049741.837534725] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049741.837846221] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049741.838231910] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049741.838734041] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049741.839513511] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049741.844137709] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049741.844796839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049741.845146553] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049741.846269318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049741.847310681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049741.944982888] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049741.945656919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049741.946241255] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049741.947569688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049741.948608141] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049742.002355647] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972217 Long: -76.50298632 -[vectornav-1] [INFO] [1746049742.003455249] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.102, -3.445, 8.102) -[mux-7] [INFO] [1746049742.045236854] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049742.046119782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049742.046651563] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049742.048203068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049742.049257925] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049742.085624477] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049742.087636224] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049742.088200789] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049742.088714385] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049742.089646318] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049742.090406193] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049742.090511658] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049742.145259888] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049742.146128972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049742.146739847] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049742.148323071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049742.149382543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049742.245161467] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049742.245888534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049742.246487573] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049742.247732209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049742.248184490] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049742.335505907] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049742.337343069] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049742.337900272] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049742.338303234] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049742.339213667] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049742.339631344] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049742.340081895] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049742.344311213] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049742.344844972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049742.345403042] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049742.346587564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049742.347614839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049742.445323698] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049742.446227292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049742.446894549] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049742.448327756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049742.448846550] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049742.503169481] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972229 Long: -76.5029863 -[vectornav-1] [INFO] [1746049742.504483554] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.148, -3.435, 8.391) -[mux-7] [INFO] [1746049742.545081567] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049742.545865948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049742.546309921] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049742.547740891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049742.548767698] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049742.585482436] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049742.587422112] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049742.587859795] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049742.588457260] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049742.588916601] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049742.589382775] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049742.590229084] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049742.645429713] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049742.646261556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049742.646944728] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049742.648614993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049742.649701936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049742.744989734] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049742.745696934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049742.746177047] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049742.747483953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049742.748498611] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049742.835506686] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049742.837371532] [sailbot.teensy]: Wind angle: 331 -[trim_sail-4] [INFO] [1746049742.837864535] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049742.838351190] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049742.839164522] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049742.839219030] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049742.840114819] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049742.844145499] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049742.844705957] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049742.845188663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049742.846291862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049742.847260744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049742.944972379] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049742.945799058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049742.946166662] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049742.947490083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049742.948466422] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049743.002489675] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972236 Long: -76.50298624 -[vectornav-1] [INFO] [1746049743.003590254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.148, -3.428, 8.227) -[mux-7] [INFO] [1746049743.045344713] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049743.046155349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049743.046797341] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049743.048427079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049743.049440732] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049743.085637003] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049743.088131050] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049743.088392476] [sailbot.teensy]: Wind angle: 332 -[mux-7] [INFO] [1746049743.089316868] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049743.089387411] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049743.090262428] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049743.091117582] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049743.145007222] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049743.145796497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049743.146389832] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049743.147740149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049743.148760989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049743.245206029] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049743.245942732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049743.246727640] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049743.247801999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049743.248325594] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049743.335489269] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049743.337245060] [sailbot.teensy]: Wind angle: 332 -[teensy-2] [INFO] [1746049743.338185700] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049743.337837699] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049743.338819785] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049743.339058077] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049743.339972586] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049743.344293941] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049743.344761321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049743.345330433] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049743.346350666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049743.347455783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049743.445565819] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049743.446201683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049743.447143318] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049743.447725095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049743.448265117] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049743.502649984] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697224 Long: -76.50298624 -[vectornav-1] [INFO] [1746049743.503668704] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.148, -3.408, 8.431) -[mux-7] [INFO] [1746049743.545205690] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049743.546040260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049743.546700152] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049743.547939717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049743.548956883] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049743.585560835] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049743.588075631] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049743.588492316] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746049743.589428237] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049743.589476021] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049743.590305755] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049743.591131386] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049743.645211535] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049743.645771707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049743.646848978] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049743.647813714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049743.649045236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049743.745013230] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049743.745702917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049743.746573822] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049743.747684222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049743.748792304] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049743.835493127] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049743.837999857] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049743.838030638] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049743.838963338] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049743.839520150] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049743.839854439] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049743.840374378] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049743.844397785] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049743.844859442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049743.845492440] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049743.846456981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049743.847642648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049743.945179279] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049743.945772032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049743.946687772] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049743.947744737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049743.948528921] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049744.002919864] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972253 Long: -76.50298609 -[vectornav-1] [INFO] [1746049744.004230351] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.154, -3.399, 8.524) -[mux-7] [INFO] [1746049744.045010307] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049744.045656799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049744.046369083] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049744.047502500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049744.048652332] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049744.085403877] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049744.087722612] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049744.087795372] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049744.088710319] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049744.088837979] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049744.089588575] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049744.090298082] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049744.145196575] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049744.145763555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049744.146834419] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049744.147841099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049744.149073699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049744.244911063] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049744.245587971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049744.246160690] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049744.247392489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049744.248251758] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049744.335601784] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049744.337624927] [sailbot.teensy]: Wind angle: 332 -[trim_sail-4] [INFO] [1746049744.338210694] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049744.338644243] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049744.339320928] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049744.339541289] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049744.340400204] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049744.344456988] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049744.344956163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049744.345509577] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049744.346549035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049744.347528392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049744.444844732] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049744.445580640] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049744.446061031] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049744.447432919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049744.447901803] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049744.502202101] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972261 Long: -76.50298592 -[vectornav-1] [INFO] [1746049744.503118764] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.139, -3.432, 8.35) -[mux-7] [INFO] [1746049744.545101980] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049744.546070357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049744.546442791] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049744.547956670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049744.548932698] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049744.585896872] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049744.588684394] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049744.589465842] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049744.589938539] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746049744.590885107] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049744.591746288] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049744.592584832] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049744.645206977] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049744.646015661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049744.646690916] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049744.648164595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049744.649207857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049744.745173010] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049744.745985737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049744.746699345] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049744.747680195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049744.748132624] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049744.835547105] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049744.837635236] [sailbot.teensy]: Wind angle: 333 -[trim_sail-4] [INFO] [1746049744.838068422] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049744.838668447] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049744.839318228] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049744.839570932] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049744.840464683] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049744.844299021] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049744.844789587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049744.845319447] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049744.846384743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049744.847379348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049744.945055934] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049744.945868564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049744.946439853] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049744.947661658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049744.948121730] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049745.002997652] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972282 Long: -76.50298583 -[vectornav-1] [INFO] [1746049745.004442607] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.15, -3.445, 8.417) -[mux-7] [INFO] [1746049745.045315409] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049745.046141586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049745.046943536] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049745.048431827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049745.049541894] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049745.085400394] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049745.087511462] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049745.087820768] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049745.088488534] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049745.088553848] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049745.089476326] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049745.090330215] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049745.145005557] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049745.145770839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049745.146373086] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049745.147763537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049745.148764763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049745.244928129] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049745.245588024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049745.246145905] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049745.247355187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049745.248436560] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049745.335493404] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049745.337976198] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049745.338421475] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049745.338501662] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049745.339443470] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049745.340334938] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049745.341154565] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049745.344279999] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049745.344836728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049745.345328270] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049745.346439408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049745.347433133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049745.445161698] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049745.445908132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049745.446634986] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049745.448044660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049745.449103206] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049745.502219450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972308 Long: -76.50298586 -[vectornav-1] [INFO] [1746049745.503132273] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.173, -3.44, 8.514) -[mux-7] [INFO] [1746049745.544986012] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049745.545801170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049745.546219300] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049745.547590759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049745.548582123] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049745.585399270] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049745.587386071] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049745.587833139] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049745.588412368] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049745.589081558] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049745.589294364] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049745.590185161] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049745.645239064] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049745.646138208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049745.646844669] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049745.648552780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049745.649829013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049745.745142925] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049745.746019682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049745.746770633] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049745.748111718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049745.748545648] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049745.835369367] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049745.837207511] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049745.837769461] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049745.838195834] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049745.838336417] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049745.839126709] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049745.840026572] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049745.844227266] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049745.844909431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049745.845302360] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049745.846576769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049745.847542443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049745.945568407] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049745.946479601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049745.947181953] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049745.948865783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049745.950103634] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049746.002630710] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972335 Long: -76.50298583 -[vectornav-1] [INFO] [1746049746.003856683] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.175, -3.431, 8.553) -[mux-7] [INFO] [1746049746.045214630] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049746.046060868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049746.046670694] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049746.047763693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049746.048183233] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049746.085248856] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049746.087092446] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049746.088196861] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049746.087630499] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049746.088393906] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049746.089194156] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049746.090212336] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049746.145462051] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049746.146276588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049746.147179618] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049746.148754129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049746.149902581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049746.244944468] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049746.245680816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049746.246286912] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049746.247689308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049746.248708422] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049746.335327547] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049746.337182239] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049746.337713774] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049746.338117038] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049746.338898165] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049746.338983681] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049746.339868079] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049746.344309677] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049746.344774857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049746.345328971] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049746.346431700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049746.347420403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049746.445686914] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049746.446651556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049746.447386125] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049746.449122771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049746.450295016] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049746.503091666] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972345 Long: -76.5029859 -[vectornav-1] [INFO] [1746049746.504386663] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.14, -3.424, 8.336) -[mux-7] [INFO] [1746049746.544848683] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049746.545594638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049746.546068253] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049746.547485183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049746.548487346] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049746.585500010] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049746.587819327] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049746.587873478] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049746.588809082] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049746.589657496] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049746.589681443] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049746.590544320] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049746.645429932] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049746.646225748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049746.647020689] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049746.648635889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049746.649777478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049746.745277411] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049746.746011136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049746.746745715] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049746.748103454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049746.749300157] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049746.835478047] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049746.837345151] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049746.838120710] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049746.838348116] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049746.839257357] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049746.839920884] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049746.840121668] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049746.844252593] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049746.844942355] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049746.845334575] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049746.846560586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049746.847538060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049746.945072191] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049746.945861363] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049746.946449799] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049746.947847838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049746.948901249] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049747.002432848] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972371 Long: -76.502986 -[vectornav-1] [INFO] [1746049747.003468704] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.137, -3.428, 8.325) -[mux-7] [INFO] [1746049747.045007281] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049747.045610345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049747.046203548] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049747.047425048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049747.048552606] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049747.085479971] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049747.087309801] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049747.087967924] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049747.088564335] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049747.089475906] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049747.090370305] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049747.091182113] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049747.145135373] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049747.145905263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049747.146628774] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049747.148118972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049747.149177578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049747.245128310] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049747.245921383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049747.246627393] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049747.247793178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049747.248260297] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049747.335540669] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049747.337678407] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049747.338298543] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049747.338782256] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049747.339561663] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049747.339698418] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049747.340517206] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049747.344453394] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049747.345042565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049747.345671435] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049747.346849505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049747.347869403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049747.445232195] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049747.446064569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049747.446707001] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049747.448287724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049747.449431483] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049747.502355814] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972389 Long: -76.50298598 -[vectornav-1] [INFO] [1746049747.503344312] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.11699999999996, -3.419, 8.287) -[mux-7] [INFO] [1746049747.545323949] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049747.546059289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049747.546698581] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049747.548020651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049747.549122403] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049747.585775101] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049747.588400427] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049747.589006759] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049747.589557914] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049747.590557783] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049747.591414595] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049747.592237391] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049747.645175941] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049747.646030482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049747.646907777] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049747.648411793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049747.649491530] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049747.745155674] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049747.746013877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049747.746625789] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049747.748170648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049747.749255883] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049747.835631234] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049747.838283077] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049747.838779646] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049747.839376625] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049747.840359561] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049747.841187396] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049747.842007403] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049747.844243458] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049747.844769383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049747.845266858] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049747.846396486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049747.847449676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049747.945424087] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049747.946298077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049747.947028009] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049747.948231357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049747.948661336] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049748.003920461] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972402 Long: -76.50298593 -[vectornav-1] [INFO] [1746049748.005391887] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.14, -3.429, 8.32) -[mux-7] [INFO] [1746049748.045465487] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049748.046445471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049748.047001131] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049748.048783678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049748.049920853] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049748.085241970] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049748.087507234] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049748.087675853] [sailbot.teensy]: Wind angle: 339 -[mux-7] [INFO] [1746049748.088107122] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049748.088733446] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049748.089613054] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049748.090423303] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049748.145118182] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049748.145738696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049748.146617029] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049748.147556634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049748.148050897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049748.245459731] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049748.246227633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049748.247021180] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049748.247861529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049748.248290561] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049748.335607310] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049748.337871624] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049748.338689409] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049748.339028090] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049748.340028942] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049748.340369292] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049748.341014053] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049748.344294227] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049748.345001383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049748.345449609] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049748.346806062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049748.347837271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049748.445607118] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049748.446481378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049748.447366295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049748.448764667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049748.449988384] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049748.503149693] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972412 Long: -76.50298596 -[vectornav-1] [INFO] [1746049748.504345489] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.16200000000003, -3.417, 8.465) -[mux-7] [INFO] [1746049748.545454035] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049748.546295784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049748.547058154] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049748.548681036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049748.550057576] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049748.585424290] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049748.587784294] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049748.587874877] [sailbot.teensy]: Wind angle: 341 -[mux-7] [INFO] [1746049748.588630362] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049748.588882057] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049748.589753292] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049748.590579583] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049748.645395067] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049748.646208131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049748.646991039] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049748.648500503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049748.649732523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049748.745405455] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049748.746399684] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049748.747180702] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049748.748932486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049748.750287065] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049748.835646519] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049748.837666750] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049748.838341187] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049748.838691535] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049748.839564884] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049748.839590149] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049748.840443397] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049748.844137330] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049748.844781692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049748.845186691] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049748.846444015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049748.847405491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049748.945479085] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049748.946426179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049748.947201130] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049748.948305100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049748.948757171] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049749.003576813] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972426 Long: -76.50298588 -[vectornav-1] [INFO] [1746049749.004981749] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.193, -3.402, 8.646) -[mux-7] [INFO] [1746049749.045440404] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049749.046423633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049749.047035261] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049749.048775832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049749.049875453] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049749.085363146] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049749.087352176] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049749.087900761] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049749.088373483] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049749.088421881] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049749.089259871] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049749.090161294] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049749.145349176] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049749.146160894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049749.146845907] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049749.148626865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049749.149844902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049749.245609631] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049749.246411944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049749.247154223] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049749.248879278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049749.250012390] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049749.335755459] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049749.338050997] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049749.338781992] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049749.339160334] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049749.339291914] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049749.340209252] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049749.341098354] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049749.344392158] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049749.345092032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049749.345544218] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049749.346804914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049749.347914317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049749.445630499] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049749.446593616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049749.447483782] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049749.449035684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049749.450360001] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049749.503206495] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972436 Long: -76.50298585 -[vectornav-1] [INFO] [1746049749.505197444] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.18899999999996, -3.409, 8.61) -[mux-7] [INFO] [1746049749.545043324] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049749.545890689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049749.546390566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049749.547842704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049749.548974829] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049749.585691190] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049749.587734088] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049749.588557001] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049749.588795270] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049749.589704658] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049749.589861814] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049749.590541137] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049749.645467615] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049749.646171908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049749.647676395] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049749.648002164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049749.648466040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049749.745352846] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049749.746203122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049749.746885476] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049749.748202804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049749.748744817] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049749.835802691] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049749.838626924] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049749.839113248] [sailbot.teensy]: Wind angle: 334 -[mux-7] [INFO] [1746049749.839290533] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049749.840311409] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049749.841177902] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049749.841979113] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049749.843524027] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049749.843770281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049749.843978616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049749.844465999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049749.844917447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049749.945190417] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049749.945927847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049749.946678836] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049749.947645619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049749.948138991] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049750.002423078] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972447 Long: -76.5029856 -[vectornav-1] [INFO] [1746049750.003431526] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.183, -3.412, 8.564) -[mux-7] [INFO] [1746049750.045298617] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049750.046028554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049750.046821813] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049750.048225326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049750.049396651] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049750.085162515] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049750.086665169] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049750.087526579] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049750.087272179] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049750.088287205] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049750.088352341] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049750.089196571] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049750.145231347] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049750.145857473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049750.146826304] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049750.147983068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049750.149202990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049750.245199518] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049750.245914766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049750.246751342] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049750.248046891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049750.249284966] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049750.335515613] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049750.337393589] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049750.338077891] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049750.338515908] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049750.338896652] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049750.339526693] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049750.340522798] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049750.344347777] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049750.345058809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049750.345466632] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049750.346653081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049750.347649245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049750.445369325] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049750.446084251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049750.446923513] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049750.448355515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049750.449343870] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049750.502719563] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972441 Long: -76.50298557 -[vectornav-1] [INFO] [1746049750.503897240] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.185, -3.404, 8.662) -[mux-7] [INFO] [1746049750.545194862] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049750.546098750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049750.546600727] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049750.548200355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049750.549357893] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049750.585458637] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049750.587298636] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049750.587891729] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049750.588282999] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049750.589155391] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049750.589359569] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049750.590002310] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049750.645461373] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049750.646346771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049750.647180442] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049750.648676005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049750.649918757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049750.745696171] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049750.746638856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049750.747385367] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049750.747948325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049750.748387398] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049750.835469257] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049750.837763829] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049750.838023242] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049750.838820583] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049750.838817915] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049750.839208171] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049750.839578682] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049750.844484966] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049750.844923554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049750.845813561] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049750.846566325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049750.847678568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049750.945638283] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049750.946202202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049750.947287942] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049750.948516716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049750.949763573] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049751.003851149] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972452 Long: -76.50298555 -[vectornav-1] [INFO] [1746049751.005430237] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.197, -3.405, 8.64) -[mux-7] [INFO] [1746049751.045444913] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049751.046136313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049751.047048224] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049751.048466251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049751.049014992] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049751.085524769] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049751.088215586] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049751.088614968] [sailbot.teensy]: Wind angle: 341 -[mux-7] [INFO] [1746049751.088783784] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049751.089604320] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049751.090458691] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049751.091266967] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049751.145184847] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049751.145890535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049751.146690462] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049751.148189470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049751.149398764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049751.245585013] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049751.246472229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049751.247479676] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049751.249006461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049751.250371542] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049751.335373559] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049751.337097619] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049751.337608892] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049751.338264331] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049751.338963497] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049751.339025797] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049751.339340450] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049751.344553757] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049751.345117765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049751.345669577] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049751.346743827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049751.347852857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049751.445406896] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049751.446106295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049751.447708847] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049751.448404420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049751.449631018] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049751.503484413] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972457 Long: -76.50298555 -[vectornav-1] [INFO] [1746049751.505089347] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.185, -3.412, 8.671) -[mux-7] [INFO] [1746049751.545616518] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049751.546350041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049751.547225532] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049751.548760360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049751.549925818] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049751.585520530] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049751.587389244] [sailbot.teensy]: Wind angle: 353 -[trim_sail-4] [INFO] [1746049751.587965888] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049751.588376085] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049751.589353958] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049751.588681629] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049751.590212446] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049751.645203977] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049751.645840145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049751.646757582] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049751.648101349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049751.649379002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049751.745256846] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049751.745930397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049751.746882505] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049751.748183651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049751.749272027] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049751.835723361] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049751.837747037] [sailbot.teensy]: Wind angle: 353 -[trim_sail-4] [INFO] [1746049751.838372280] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049751.838785826] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049751.839676397] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049751.839952486] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049751.840528802] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049751.844440739] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049751.844836628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049751.845520690] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049751.846430540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049751.847561501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049751.945669867] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049751.946461850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049751.947488964] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049751.948930686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049751.950284919] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049752.003659816] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972477 Long: -76.50298523 -[vectornav-1] [INFO] [1746049752.004955372] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.188, -3.414, 8.585) -[mux-7] [INFO] [1746049752.045329612] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049752.045910816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049752.046868995] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049752.047981382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049752.049105322] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049752.085704106] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049752.087936705] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049752.088615500] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049752.089010293] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049752.089725901] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049752.089898313] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049752.090753705] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049752.144758857] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049752.145435540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049752.145929633] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049752.147153345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049752.148206521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049752.245498463] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049752.246232628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049752.247324370] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049752.248837032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049752.250139191] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049752.335426433] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049752.337352415] [sailbot.teensy]: Wind angle: 313 -[trim_sail-4] [INFO] [1746049752.338218713] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049752.338343926] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049752.339171272] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049752.339204709] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049752.340055397] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049752.344440476] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049752.345025897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049752.345530693] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049752.346650451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049752.347761278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049752.445526428] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049752.446276507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049752.447162111] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049752.448129256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049752.448667953] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049752.503699777] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972483 Long: -76.50298513 -[vectornav-1] [INFO] [1746049752.505394199] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.262, -3.397, 9.038) -[mux-7] [INFO] [1746049752.545404343] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049752.546151020] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049752.546859358] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049752.548235167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049752.548760113] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049752.585433162] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049752.587078924] [sailbot.teensy]: Wind angle: 304 -[trim_sail-4] [INFO] [1746049752.587876670] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049752.588006180] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049752.588855652] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049752.588868816] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049752.589725630] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049752.645353787] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049752.645975488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049752.646838060] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049752.648116631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049752.648941412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049752.745276828] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049752.746090974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049752.746876652] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049752.748279335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049752.749457230] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049752.835543534] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049752.837331907] [sailbot.teensy]: Wind angle: 301 -[trim_sail-4] [INFO] [1746049752.837974151] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049752.838257914] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049752.839151485] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049752.839505531] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049752.840003663] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049752.844387726] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049752.844876170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049752.845421609] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049752.846461024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049752.847541882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049752.945245885] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049752.945979889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049752.946753250] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049752.948201495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049752.949396473] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049753.003284397] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972469 Long: -76.50298498 -[vectornav-1] [INFO] [1746049753.004607594] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.235, -3.407, 8.943) -[mux-7] [INFO] [1746049753.045051114] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049753.045928743] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049753.046332201] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049753.049212110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049753.050313887] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049753.085451631] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049753.087155464] [sailbot.teensy]: Wind angle: 301 -[trim_sail-4] [INFO] [1746049753.087992483] [sailbot.trim_sail]: Sail Angle: "55" -[mux-7] [INFO] [1746049753.088944492] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049753.088950278] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049753.089869369] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049753.090718159] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049753.145178335] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049753.145904842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049753.146559951] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049753.147898669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049753.148927420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049753.245226969] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049753.245959817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049753.246656351] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049753.248114474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049753.249268346] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049753.335368718] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049753.337103320] [sailbot.teensy]: Wind angle: 301 -[teensy-2] [INFO] [1746049753.338038323] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049753.337780785] [sailbot.trim_sail]: Sail Angle: "55" -[mux-7] [INFO] [1746049753.338236896] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049753.338820155] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049753.339191953] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049753.344301392] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049753.344927262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049753.345324401] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049753.346549020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049753.347524153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049753.445584143] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049753.446369325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049753.447366652] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049753.448511575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049753.449052410] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049753.502482006] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972473 Long: -76.5029848 -[vectornav-1] [INFO] [1746049753.503536961] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.22900000000004, -3.402, 9.036) -[mux-7] [INFO] [1746049753.545655648] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049753.546401012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049753.547236444] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049753.548738638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049753.550010941] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049753.585918377] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049753.588072997] [sailbot.teensy]: Wind angle: 301 -[trim_sail-4] [INFO] [1746049753.588822005] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049753.589244876] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049753.590195059] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049753.590360722] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049753.591064152] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049753.645380956] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049753.646147642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049753.646911909] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049753.648359042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049753.649476745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049753.745492132] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049753.746198765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049753.747083997] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049753.748648843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049753.749919424] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049753.835489174] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049753.837916547] [sailbot.trim_sail]: Sail Angle: "55" -[mux-7] [INFO] [1746049753.838490050] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049753.838823637] [sailbot.teensy]: Wind angle: 302 -[teensy-2] [INFO] [1746049753.840005005] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049753.840931224] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049753.841775097] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049753.844317275] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049753.844823405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049753.845347033] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049753.846411639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049753.847413632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049753.945370235] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049753.946091304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049753.946909149] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049753.948311699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049753.949380830] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049754.003460172] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972485 Long: -76.50298471 -[vectornav-1] [INFO] [1746049754.004802115] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.24199999999996, -3.409, 8.959) -[mux-7] [INFO] [1746049754.045166786] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049754.045981506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049754.046609789] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049754.048018263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049754.049139954] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049754.085492934] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049754.087350635] [sailbot.teensy]: Wind angle: 303 -[trim_sail-4] [INFO] [1746049754.087920312] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049754.088307271] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049754.088330588] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049754.089215919] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049754.090042155] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049754.145386694] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049754.146124269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049754.147159732] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049754.148429616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049754.149038642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049754.244879627] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049754.245588610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049754.246244710] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049754.247499600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049754.248630431] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049754.335014116] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049754.336596125] [sailbot.teensy]: Wind angle: 305 -[trim_sail-4] [INFO] [1746049754.337038962] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746049754.337461784] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049754.337877729] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049754.338281757] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049754.339127282] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049754.344433247] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049754.344974049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049754.345511345] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049754.346759386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049754.347774094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049754.445236636] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049754.446075795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049754.446724636] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049754.448321196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049754.449473519] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049754.502470538] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972505 Long: -76.50298439 -[vectornav-1] [INFO] [1746049754.503516414] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26300000000003, -3.405, 8.989) -[mux-7] [INFO] [1746049754.545510877] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049754.546223138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049754.547016487] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049754.548388069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049754.549588089] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049754.585577206] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049754.587442850] [sailbot.teensy]: Wind angle: 304 -[trim_sail-4] [INFO] [1746049754.588025658] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049754.588456901] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049754.589034798] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049754.589331768] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049754.590255700] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049754.645079576] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049754.645670554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049754.646505771] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049754.647719219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049754.648912975] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049754.745374230] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049754.746225405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049754.746886431] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049754.748000840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049754.748458898] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049754.835835705] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049754.838226655] [sailbot.teensy]: Wind angle: 303 -[trim_sail-4] [INFO] [1746049754.838713838] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049754.839348020] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049754.840307248] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049754.840629446] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049754.841190844] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049754.844251481] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049754.844698678] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049754.845310710] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049754.846276055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049754.847234314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049754.945369860] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049754.946112189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049754.946882295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049754.948410854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049754.949505280] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049755.002990164] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972532 Long: -76.50298428 -[vectornav-1] [INFO] [1746049755.004718569] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.23, -3.409, 8.893) -[mux-7] [INFO] [1746049755.045397864] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049755.046168784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049755.046897896] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049755.048638427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049755.049797344] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049755.085420561] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049755.087115234] [sailbot.teensy]: Wind angle: 302 -[trim_sail-4] [INFO] [1746049755.087733146] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049755.088081626] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049755.088996287] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049755.089428553] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049755.089839876] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049755.144583941] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049755.145180403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049755.145633968] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049755.146832116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049755.147928701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049755.245243189] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049755.245928850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049755.246648510] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049755.247864820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049755.248392357] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049755.335366845] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049755.337077589] [sailbot.teensy]: Wind angle: 300 -[trim_sail-4] [INFO] [1746049755.337664363] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049755.338025892] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049755.338908493] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049755.339113873] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049755.339752257] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049755.344319357] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049755.344864189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049755.345367467] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049755.346525485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049755.347661961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049755.445524160] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049755.446333345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049755.447139674] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049755.447997954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049755.448548860] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049755.502590163] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972543 Long: -76.5029842 -[vectornav-1] [INFO] [1746049755.503712424] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.318, -3.41, 9.39) -[mux-7] [INFO] [1746049755.545418532] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049755.546148270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049755.546911161] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049755.548339424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049755.549545838] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049755.585675448] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049755.588473572] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746049755.588802087] [sailbot.teensy]: Wind angle: 297 -[mux-7] [INFO] [1746049755.588960661] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049755.589802238] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049755.590701289] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049755.591569307] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049755.645049657] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049755.645852937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049755.646454072] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049755.647893007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049755.649120007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049755.745305727] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049755.745977616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049755.746806154] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049755.748196660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049755.749433804] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049755.835695926] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049755.838209892] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049755.838351993] [sailbot.teensy]: Wind angle: 298 -[mux-7] [INFO] [1746049755.838705066] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049755.839328442] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049755.839849714] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049755.840224927] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049755.844293155] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049755.844905002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049755.845330684] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049755.846546505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049755.847540566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049755.945385823] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049755.946280705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049755.947200643] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049755.948806145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049755.949865669] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049756.003159237] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972566 Long: -76.50298405 -[vectornav-1] [INFO] [1746049756.005000962] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.3, -3.394, 9.49) -[mux-7] [INFO] [1746049756.045168842] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049756.046036709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049756.046622291] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049756.047963406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049756.048991965] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049756.085418552] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049756.087328937] [sailbot.teensy]: Wind angle: 299 -[trim_sail-4] [INFO] [1746049756.087767188] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049756.088394656] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049756.089192524] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049756.089605901] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049756.090231822] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049756.145095960] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049756.145904026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049756.146570446] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049756.148125494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049756.149317168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049756.245551069] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049756.246610994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049756.247065585] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049756.249002486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049756.250059461] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049756.335926661] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049756.338443614] [sailbot.teensy]: Wind angle: 299 -[trim_sail-4] [INFO] [1746049756.338835370] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049756.339596772] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049756.340608058] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049756.340920748] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049756.341483930] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049756.344365998] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049756.344985103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049756.345404387] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049756.346604650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049756.347581192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049756.445524612] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049756.446206700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049756.447139392] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049756.448579820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049756.449868743] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049756.503488218] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972578 Long: -76.50298379 -[vectornav-1] [INFO] [1746049756.505049522] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.325, -3.407, 9.409) -[mux-7] [INFO] [1746049756.545366279] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049756.546233747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049756.546790992] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049756.548295384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049756.549493063] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049756.585645923] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049756.588363128] [sailbot.teensy]: Wind angle: 299 -[trim_sail-4] [INFO] [1746049756.588426344] [sailbot.trim_sail]: Sail Angle: "55" -[mux-7] [INFO] [1746049756.588916260] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049756.590043270] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049756.590900221] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049756.591698137] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049756.645461907] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049756.646093395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049756.647080101] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049756.648571906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049756.649749728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049756.745417359] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049756.746032365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049756.746915154] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049756.748262618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049756.749575845] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049756.835492077] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049756.837240769] [sailbot.teensy]: Wind angle: 299 -[trim_sail-4] [INFO] [1746049756.838059615] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049756.838201737] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049756.839102907] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049756.839504000] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049756.839957039] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049756.844281147] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049756.844782409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049756.845334513] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049756.846370724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049756.847383049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049756.945386760] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049756.946025097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049756.946998430] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049756.948383638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049756.949295197] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049757.003827454] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972599 Long: -76.50298347 -[vectornav-1] [INFO] [1746049757.005545393] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.325, -3.411, 9.481) -[mux-7] [INFO] [1746049757.045446789] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049757.046208181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049757.046952906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049757.048604355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049757.049734585] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049757.085346114] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049757.087297783] [sailbot.teensy]: Wind angle: 312 -[trim_sail-4] [INFO] [1746049757.087729367] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746049757.088224952] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049757.088314814] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049757.089229053] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049757.090123426] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049757.145418614] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049757.146154889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049757.146908781] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049757.148577002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049757.149832672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049757.245331341] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049757.246137385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049757.246903516] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049757.248541040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049757.249607547] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049757.335722079] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049757.337919634] [sailbot.teensy]: Wind angle: 322 -[trim_sail-4] [INFO] [1746049757.338561760] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049757.339041468] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049757.340011408] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049757.340506860] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049757.340957904] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049757.344291099] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049757.344797302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049757.345335637] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049757.346403884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049757.347561751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049757.445355751] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049757.446245784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049757.446907465] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049757.448613680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049757.449677866] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049757.503880367] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972618 Long: -76.5029832 -[vectornav-1] [INFO] [1746049757.505269547] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.344, -3.407, 9.492) -[mux-7] [INFO] [1746049757.545311124] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049757.546070395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049757.546699915] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049757.548199155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049757.549260035] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049757.585469020] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049757.587207745] [sailbot.teensy]: Wind angle: 323 -[teensy-2] [INFO] [1746049757.588201274] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049757.588087089] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049757.588566287] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049757.589088864] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049757.589979153] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049757.645178570] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049757.645967725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049757.646580383] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049757.648120813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049757.649229243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049757.745341509] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049757.746136988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049757.746844300] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049757.748409944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049757.749524566] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049757.835419409] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049757.837207300] [sailbot.teensy]: Wind angle: 322 -[trim_sail-4] [INFO] [1746049757.837742941] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049757.838173326] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049757.839136417] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049757.839160881] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049757.840097820] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049757.844342177] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049757.844874845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049757.845394125] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049757.846517669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049757.847536362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049757.945422239] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049757.946166022] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049757.946961793] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049757.948624067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049757.949813004] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049758.003790729] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972639 Long: -76.50298301 -[vectornav-1] [INFO] [1746049758.005442299] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.35699999999997, -3.403, 9.626) -[mux-7] [INFO] [1746049758.045199396] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049758.046012527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049758.046645964] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049758.048142040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049758.049226488] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049758.085293055] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049758.087087846] [sailbot.teensy]: Wind angle: 323 -[trim_sail-4] [INFO] [1746049758.087813318] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049758.088083101] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049758.088399672] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049758.089048612] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049758.089927866] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049758.144885968] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049758.145660741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049758.146218815] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049758.147595320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049758.148621282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049758.245543368] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049758.246480677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049758.247358635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049758.249030502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049758.250227319] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049758.335993209] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049758.338504829] [sailbot.teensy]: Wind angle: 323 -[trim_sail-4] [INFO] [1746049758.339529478] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049758.340091330] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049758.340369335] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049758.340828312] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049758.341214593] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049758.344366010] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049758.344908752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049758.345455298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049758.346710025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049758.347739898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049758.445307357] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049758.446063185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049758.446872338] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049758.448346701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049758.449475236] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049758.502694158] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972649 Long: -76.50298276 -[vectornav-1] [INFO] [1746049758.503838368] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.36400000000003, -3.401, 9.564) -[mux-7] [INFO] [1746049758.545281667] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049758.546204484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049758.546763656] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049758.548295693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049758.549293420] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049758.585403330] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049758.587431166] [sailbot.teensy]: Wind angle: 323 -[trim_sail-4] [INFO] [1746049758.587960818] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049758.588381350] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049758.588453767] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049758.589358384] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049758.590230724] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049758.645047630] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049758.645809323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049758.646475397] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049758.647916316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049758.649030725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049758.745596440] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049758.746453389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049758.747148085] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049758.748809829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049758.749939783] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049758.835529668] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049758.837442573] [sailbot.teensy]: Wind angle: 324 -[trim_sail-4] [INFO] [1746049758.837984744] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049758.838372177] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049758.838628374] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049758.839311530] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049758.840199201] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049758.844262623] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049758.844811997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049758.845368547] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049758.846602897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049758.847632421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049758.945614115] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049758.946484048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049758.947599013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049758.949115706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049758.950260568] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049759.002581953] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972682 Long: -76.50298256 -[vectornav-1] [INFO] [1746049759.003822108] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.36, -3.399, 9.612) -[mux-7] [INFO] [1746049759.045263171] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049759.046043933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049759.046692759] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049759.048288503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049759.049508360] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049759.085752289] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049759.087889917] [sailbot.teensy]: Wind angle: 328 -[trim_sail-4] [INFO] [1746049759.088571542] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049759.089029129] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049759.089958885] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049759.089984334] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049759.090870514] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049759.145246132] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049759.146079460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049759.146778477] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049759.148445886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049759.149578239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049759.245400755] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049759.246223215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049759.247013651] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049759.248007009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049759.248496168] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049759.335730938] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049759.337943503] [sailbot.teensy]: Wind angle: 330 -[trim_sail-4] [INFO] [1746049759.338550649] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049759.339074142] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049759.340055684] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049759.340089803] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049759.340972251] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049759.344356330] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049759.344966926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049759.345500185] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049759.346688377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049759.347728965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049759.445531706] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049759.446299507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049759.447040605] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049759.448634620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049759.449730478] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049759.503986581] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972704 Long: -76.5029823 -[vectornav-1] [INFO] [1746049759.505340099] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.34000000000003, -3.407, 9.481) -[mux-7] [INFO] [1746049759.545302391] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049759.546528450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049759.546814880] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049759.548544751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049759.549572615] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049759.585364980] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049759.587197912] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049759.587782244] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049759.588208781] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049759.588652540] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049759.589140718] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049759.590008411] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049759.645516842] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049759.646257260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049759.647005803] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049759.648504894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049759.649697974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049759.745619290] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049759.746426521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049759.747191469] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049759.748685687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049759.749896768] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049759.835728204] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049759.838036088] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049759.838578551] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049759.838800772] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049759.838917766] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049759.839195021] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049759.839568463] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049759.844616195] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049759.845036326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049759.845805421] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049759.846661231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049759.847658228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049759.945543284] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049759.946198261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049759.947331325] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049759.948562045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049759.949771553] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049760.003614020] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972728 Long: -76.50298203 -[vectornav-1] [INFO] [1746049760.005171308] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.36699999999996, -3.406, 9.553) -[mux-7] [INFO] [1746049760.045595617] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049760.046062039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049760.047208642] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049760.048401848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049760.049355797] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049760.085609181] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049760.088010759] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049760.088508532] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049760.088748699] [sailbot.teensy]: Wind angle: 329 -[teensy-2] [INFO] [1746049760.089726546] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049760.090570327] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049760.091366515] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049760.145443307] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049760.146238451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049760.147037340] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049760.147972758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049760.148424363] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049760.245329279] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049760.246034269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049760.246861262] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049760.248277395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049760.249503191] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049760.335577726] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049760.338129342] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049760.338624022] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049760.338979532] [sailbot.teensy]: Wind angle: 329 -[teensy-2] [INFO] [1746049760.339886038] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049760.340747417] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049760.341556866] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049760.344292015] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049760.344923379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049760.345326011] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049760.346520218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049760.347646527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049760.445140230] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049760.445852718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049760.446596297] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049760.447904618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049760.448469267] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049760.503083873] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972756 Long: -76.50298176 -[vectornav-1] [INFO] [1746049760.504629166] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.394, -3.412, 9.668) -[mux-7] [INFO] [1746049760.545036089] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049760.545829015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049760.546418359] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049760.547781386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049760.548714305] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049760.585390893] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049760.587747155] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049760.587747292] [sailbot.teensy]: Wind angle: 332 -[mux-7] [INFO] [1746049760.588473559] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049760.588820375] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049760.589739698] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049760.590580648] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049760.645070842] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049760.645778564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049760.646524424] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049760.648015521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049760.649071426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049760.745006152] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049760.745803929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049760.746341688] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049760.747715617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049760.748855579] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049760.835514128] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049760.838175794] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049760.838536058] [sailbot.teensy]: Wind angle: 338 -[mux-7] [INFO] [1746049760.838824853] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049760.839485974] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049760.840378368] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049760.841194156] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049760.844471525] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049760.844885705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049760.845581090] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049760.846474955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049760.847617499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049760.945550634] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049760.946890350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049760.947202425] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049760.949647612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049760.950790333] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049761.003081876] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972789 Long: -76.50298146 -[vectornav-1] [INFO] [1746049761.004544562] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.328, -3.42, 9.298) -[mux-7] [INFO] [1746049761.045559924] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049761.046396511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049761.047134901] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049761.048644152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049761.049900439] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049761.085474849] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049761.087235549] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049761.087840756] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049761.088737606] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049761.089520048] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049761.089690081] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049761.090556702] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049761.145328268] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049761.146061046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049761.146907717] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049761.148197870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049761.149029965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049761.245563055] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049761.246142348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049761.247272657] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049761.248390540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049761.249657043] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049761.335446881] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049761.337284413] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049761.338095377] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049761.338266775] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049761.339172893] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049761.339822151] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049761.340020642] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049761.344369054] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049761.344956500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049761.345425894] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049761.346570565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049761.347582752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049761.445190378] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049761.445905845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049761.446749474] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049761.447797725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049761.448319278] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049761.503949293] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972801 Long: -76.5029813 -[vectornav-1] [INFO] [1746049761.505743889] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.381, -3.414, 9.555) -[mux-7] [INFO] [1746049761.545417146] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049761.546210462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049761.547073323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049761.548503421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049761.549781837] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049761.585372372] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049761.587116151] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049761.587894708] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049761.588065326] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049761.588966641] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049761.589050247] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049761.589818123] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049761.645026601] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049761.645793048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049761.646348617] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049761.647678422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049761.648846823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049761.745433710] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049761.746088398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049761.747059150] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049761.748427824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049761.750065533] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049761.835228001] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049761.837072217] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049761.837638667] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049761.838035323] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049761.838926495] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049761.838940348] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049761.839796271] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049761.844335625] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049761.844907930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049761.845509680] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049761.846599322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049761.847558874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049761.945086285] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049761.945732852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049761.946435890] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049761.947689095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049761.948568508] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049762.002861373] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972841 Long: -76.50298106 -[vectornav-1] [INFO] [1746049762.004187744] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.356, -3.412, 9.581) -[mux-7] [INFO] [1746049762.045032944] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049762.045766920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049762.046413158] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049762.047704709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049762.048702662] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049762.085481601] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049762.087412372] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049762.088004484] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049762.088602806] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049762.088640298] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049762.089739276] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049762.090582027] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049762.145473398] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049762.146239451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049762.147050817] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049762.148531354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049762.149763843] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049762.245468291] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049762.246137914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049762.246999696] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049762.248419766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049762.249287442] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049762.335513722] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049762.337454376] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049762.338071739] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049762.338411309] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049762.339334261] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049762.339935667] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049762.340189965] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049762.344246159] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049762.344886005] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049762.345360232] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049762.346557047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049762.347595418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049762.445224421] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049762.446000712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049762.446698474] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049762.448100580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049762.449292450] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049762.503352574] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972847 Long: -76.50298104 -[vectornav-1] [INFO] [1746049762.504884243] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.389, -3.407, 9.689) -[mux-7] [INFO] [1746049762.545202312] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049762.545924952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049762.546592971] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049762.547783147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049762.548297908] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049762.585581181] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049762.588406328] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049762.588460424] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049762.589205904] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049762.589253890] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049762.589586227] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049762.589953515] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049762.645440007] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049762.646152992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049762.646981843] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049762.648469015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049762.649779519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049762.745365597] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049762.746149863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049762.746924625] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049762.748502669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049762.749159728] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049762.835382183] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049762.837270260] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049762.837744206] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049762.838199070] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049762.838219431] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049762.839083425] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049762.839921832] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049762.844418551] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049762.844958953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049762.845516669] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049762.846644334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049762.847758444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049762.945190970] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049762.945840379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049762.946651420] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049762.947918257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049762.949128765] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049763.002251573] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972882 Long: -76.50298079 -[vectornav-1] [INFO] [1746049763.003233899] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.385, -3.417, 9.616) -[mux-7] [INFO] [1746049763.045349063] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049763.046162247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049763.046860096] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049763.048213196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049763.049055808] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049763.085475731] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049763.087375888] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049763.087969768] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049763.088375794] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049763.089255264] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049763.089254828] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049763.090110630] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049763.145051066] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049763.145764153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049763.146607240] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049763.147732481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049763.148896562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049763.245224802] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049763.246098786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049763.246676463] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049763.247738931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049763.248235808] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049763.335508545] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049763.337645951] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049763.338552408] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049763.338658644] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049763.339132189] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049763.339544042] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049763.340401643] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049763.344175407] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049763.344878694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049763.345274657] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049763.346505559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049763.347622276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049763.445343759] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049763.446060617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049763.446904168] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049763.448312179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049763.448865219] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049763.502385238] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972898 Long: -76.50298057 -[vectornav-1] [INFO] [1746049763.503376562] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.374, -3.423, 9.603) -[mux-7] [INFO] [1746049763.545090821] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049763.545931165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049763.546572146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049763.547909578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049763.548658397] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049763.585487601] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049763.587265323] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049763.587995914] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049763.588250186] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049763.588649110] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049763.589129845] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049763.589974021] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049763.644978950] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049763.645759681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049763.646330349] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049763.647718169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049763.648868743] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049763.745571349] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049763.746464960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049763.747451317] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049763.748668214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049763.749180889] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049763.835316749] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049763.837772512] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049763.837847929] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049763.838358795] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049763.838760982] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049763.839669332] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049763.840530524] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049763.844194957] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049763.844760278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049763.845224478] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049763.846349149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049763.847456422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049763.945200846] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049763.945938034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049763.946715060] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049763.948061684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049763.949195598] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049764.003188790] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972926 Long: -76.50298018 -[vectornav-1] [INFO] [1746049764.004793409] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.376, -3.421, 9.648) -[mux-7] [INFO] [1746049764.044856044] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049764.045600392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049764.046074082] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049764.047377471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049764.048347320] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049764.085422928] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049764.087676208] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049764.088242755] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049764.088696503] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049764.089581573] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049764.090345433] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049764.091114259] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049764.145246063] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049764.145892890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049764.146691000] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049764.147954733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049764.148396146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049764.245609547] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049764.246588110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049764.247415224] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049764.249298201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049764.250427246] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049764.335381583] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049764.337595958] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049764.337878391] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049764.338781564] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049764.339326306] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049764.340220194] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049764.341043614] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049764.344276215] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049764.344782509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049764.345310459] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049764.346369167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049764.347467778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049764.445707633] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049764.446626099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049764.447490574] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049764.449114637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049764.450412449] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049764.504031383] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697294 Long: -76.5029799 -[vectornav-1] [INFO] [1746049764.505445695] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.387, -3.418, 9.686) -[mux-7] [INFO] [1746049764.545208493] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049764.545909103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049764.546705987] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049764.548041104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049764.549075682] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049764.585545616] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049764.587871086] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049764.589060853] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049764.589239073] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049764.590223101] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049764.591083495] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049764.591892059] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049764.645176565] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049764.645871398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049764.646631579] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049764.648100227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049764.648683479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049764.745590709] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049764.746470897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049764.747175072] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049764.748560663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049764.748962214] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049764.835556528] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049764.837647835] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049764.838024007] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049764.839109707] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049764.839299853] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049764.840232462] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049764.841079578] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049764.844252601] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049764.844862633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049764.845311820] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049764.846603863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049764.847681007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049764.945586994] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049764.946743891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049764.947388492] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049764.949116738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049764.950205562] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049765.002394542] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972962 Long: -76.50297968 -[vectornav-1] [INFO] [1746049765.003529618] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.399, -3.423, 9.69) -[mux-7] [INFO] [1746049765.045504172] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049765.046272497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049765.047693373] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049765.048673645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049765.050352135] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049765.085975350] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049765.088089373] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049765.088837426] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049765.089206509] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049765.090195143] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049765.090779598] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049765.091032460] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049765.145299662] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049765.146179446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049765.146768307] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049765.148331085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049765.149374285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049765.245625677] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049765.246573231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049765.247286479] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049765.247863171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049765.248340374] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049765.335940122] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049765.338446423] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049765.339197389] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049765.340196728] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049765.340571787] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049765.341488347] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049765.342325764] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049765.344320791] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049765.344912972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049765.345351370] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049765.346494741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049765.347586534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049765.445509466] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049765.446354386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049765.447254362] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049765.448290758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049765.448789361] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049765.502970251] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972988 Long: -76.50297944 -[vectornav-1] [INFO] [1746049765.504230653] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.385, -3.427, 9.639) -[mux-7] [INFO] [1746049765.545277916] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049765.546272565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049765.546955316] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049765.548782524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049765.549308387] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049765.585532858] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049765.588183240] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049765.588184502] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049765.589145700] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049765.589253149] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049765.590187936] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049765.591062032] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049765.645388995] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049765.646273989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049765.646990046] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049765.648663296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049765.649948705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049765.745424326] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049765.746133400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049765.747005837] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049765.748423213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049765.749020529] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049765.835504902] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049765.837986976] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049765.838454065] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049765.838829784] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746049765.839753865] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049765.840604605] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049765.841406677] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049765.844190501] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049765.844683330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049765.845259562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049765.846300672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049765.847341408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049765.945439206] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049765.946191448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049765.947064160] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049765.948477763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049765.949386126] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049766.002277170] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973019 Long: -76.50297907 -[vectornav-1] [INFO] [1746049766.003345329] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.4, -3.413, 9.72) -[mux-7] [INFO] [1746049766.045403924] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049766.046056551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049766.046895156] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049766.047855815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049766.048304160] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049766.085542795] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049766.088132868] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049766.088129022] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049766.089125554] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049766.089160935] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049766.090041908] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049766.090869018] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049766.145496548] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049766.146244956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049766.147082899] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049766.148505174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049766.149739126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049766.245405676] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049766.246156040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049766.247087624] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049766.248493113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049766.249465306] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049766.335329491] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049766.337774132] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049766.338090355] [sailbot.teensy]: Wind angle: 344 -[mux-7] [INFO] [1746049766.338371192] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049766.338822155] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049766.339168174] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049766.339517683] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049766.344448389] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049766.345057220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049766.345648177] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049766.346937860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049766.347970725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049766.445564718] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049766.446497900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049766.447339567] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049766.447994694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049766.448518600] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049766.502472518] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973049 Long: -76.5029788 -[vectornav-1] [INFO] [1746049766.503493356] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.325, -3.421, 9.206) -[mux-7] [INFO] [1746049766.545226743] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049766.546081231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049766.546683346] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049766.548267091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049766.549309306] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049766.585534440] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049766.587703784] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049766.588384989] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049766.588967498] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049766.589712029] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049766.590617544] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049766.591448214] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049766.645284626] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049766.645956605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049766.646784790] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049766.648136806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049766.649349286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049766.745627563] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049766.746374480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049766.747375811] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049766.748901623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049766.750246230] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049766.835537210] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049766.838034833] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049766.838678104] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049766.838763788] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049766.839774439] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049766.840765558] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049766.841603638] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049766.844217914] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049766.844658425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049766.845248375] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049766.846246369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049766.847260890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049766.945516292] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049766.946234635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049766.947167390] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049766.948715516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049766.949978246] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049767.003084371] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973099 Long: -76.50297815 -[vectornav-1] [INFO] [1746049767.004598431] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.342, -3.412, 9.283) -[mux-7] [INFO] [1746049767.044850209] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049767.045704242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049767.046184053] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049767.047528415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049767.048537352] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049767.085467555] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049767.087358990] [sailbot.teensy]: Wind angle: 326 -[trim_sail-4] [INFO] [1746049767.088033200] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049767.088392787] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049767.089264327] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049767.089304141] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049767.090113140] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049767.145369967] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049767.146183231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049767.146911345] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049767.148361836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049767.148887789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049767.245415280] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049767.246172062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049767.247003081] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049767.248494332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049767.249770404] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049767.335607535] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049767.337709870] [sailbot.teensy]: Wind angle: 304 -[trim_sail-4] [INFO] [1746049767.338385235] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049767.338586333] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049767.338973727] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049767.339021201] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049767.339346542] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049767.344471546] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049767.345155120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049767.345669955] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049767.346964590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049767.348066754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049767.445472463] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049767.446322005] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049767.447250199] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049767.448813753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049767.450068334] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049767.504118952] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973124 Long: -76.50297798 -[vectornav-1] [INFO] [1746049767.505942578] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.336, -3.412, 9.274) -[mux-7] [INFO] [1746049767.545247809] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049767.546017876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049767.546824946] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049767.548217340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049767.549418799] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049767.585288447] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049767.587121772] [sailbot.teensy]: Wind angle: 307 -[trim_sail-4] [INFO] [1746049767.587727734] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746049767.588078398] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049767.588968983] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049767.589295780] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049767.589808737] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049767.645191862] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049767.645981075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049767.646674109] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049767.648125016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049767.649342307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049767.745550657] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049767.746506926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049767.747216516] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049767.748880026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049767.750057005] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049767.835691408] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049767.837972297] [sailbot.teensy]: Wind angle: 314 -[trim_sail-4] [INFO] [1746049767.838527591] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049767.839117210] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049767.840027910] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049767.840092448] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049767.841008882] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049767.844356108] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049767.844967226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049767.845460759] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049767.846633614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049767.847612219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049767.945667154] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049767.946612463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049767.947513691] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049767.948501938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049767.948944840] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049768.003335648] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697314 Long: -76.50297769 -[vectornav-1] [INFO] [1746049768.004798384] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.324, -3.415, 9.264) -[mux-7] [INFO] [1746049768.044874063] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049768.045710838] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049768.046169488] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049768.047560381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049768.048585531] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049768.085555563] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049768.087505759] [sailbot.teensy]: Wind angle: 317 -[trim_sail-4] [INFO] [1746049768.088041317] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049768.089009664] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049768.089375659] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049768.089924094] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049768.090830954] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049768.145482951] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049768.146248394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049768.147051356] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049768.147816399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049768.148256874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049768.245198971] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049768.245973409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049768.246676683] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049768.248287403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049768.249317246] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049768.335593728] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049768.337684984] [sailbot.teensy]: Wind angle: 322 -[trim_sail-4] [INFO] [1746049768.338216550] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049768.338743635] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049768.338821918] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049768.339736300] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049768.340595593] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049768.344472370] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049768.345216990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049768.345659125] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049768.347034586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049768.348023141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049768.445613997] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049768.446489074] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049768.447981810] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049768.448902935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049768.450074338] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049768.503542064] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973169 Long: -76.5029774 -[vectornav-1] [INFO] [1746049768.505138702] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.327, -3.416, 9.203) -[mux-7] [INFO] [1746049768.545299807] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049768.546375587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049768.546858074] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049768.548576169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049768.549673013] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049768.585333011] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049768.587022438] [sailbot.teensy]: Wind angle: 331 -[trim_sail-4] [INFO] [1746049768.587587317] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049768.587956621] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049768.588850802] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049768.589001945] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049768.589740687] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049768.645204905] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049768.645953887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049768.646678104] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049768.648193376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049768.649302905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049768.745731800] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049768.746576793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049768.747575159] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049768.748982348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049768.749762949] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049768.835807402] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049768.838946386] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049768.839366040] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049768.839532998] [sailbot.teensy]: Wind angle: 334 -[teensy-2] [INFO] [1746049768.840554717] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049768.841424781] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049768.842243286] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049768.844325480] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049768.844713293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049768.845374008] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049768.846264316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049768.847379653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049768.945236120] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049768.946060897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049768.946774761] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049768.948319312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049768.949389284] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049769.003264617] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973204 Long: -76.50297718 -[vectornav-1] [INFO] [1746049769.004634895] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.356, -3.417, 9.216) -[mux-7] [INFO] [1746049769.045466503] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049769.046282883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049769.046968224] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049769.047839038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049769.048279823] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049769.085449759] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049769.087703906] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049769.087699545] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049769.088700997] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049769.088780325] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049769.089681271] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049769.090533747] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049769.145076604] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049769.145674523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049769.146822242] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049769.147823941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049769.149312922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049769.245107744] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049769.245800284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049769.246608965] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049769.247893243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049769.249147028] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049769.336146251] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049769.339128259] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049769.339128129] [sailbot.teensy]: Wind angle: 334 -[teensy-2] [INFO] [1746049769.340274969] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049769.340410404] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049769.341224801] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049769.341895939] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049769.344390975] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049769.345072082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049769.345514586] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049769.346882919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049769.347933527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049769.445601609] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049769.446145418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049769.447255940] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049769.448439660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049769.449614558] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049769.503568694] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973228 Long: -76.50297706 -[vectornav-1] [INFO] [1746049769.505484076] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.379, -3.41, 9.015) -[mux-7] [INFO] [1746049769.544950073] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049769.545611577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049769.546325375] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049769.547487091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049769.548671585] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049769.585421028] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049769.587077200] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049769.587614147] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049769.587986873] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049769.588897123] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049769.589078798] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049769.589748059] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049769.645335824] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049769.645938609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049769.646921337] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049769.648096032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049769.648722566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049769.745477700] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049769.746174170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049769.747146870] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049769.748589003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049769.749879095] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049769.835413557] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049769.837117142] [sailbot.teensy]: Wind angle: 331 -[trim_sail-4] [INFO] [1746049769.837679341] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049769.838038025] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049769.838917510] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049769.839053785] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049769.839594071] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049769.844485249] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049769.844986400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049769.845612299] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049769.846623597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049769.847631435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049769.945391611] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049769.945976399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049769.946971387] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049769.948146863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049769.949280791] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049770.002265608] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973243 Long: -76.5029768 -[vectornav-1] [INFO] [1746049770.003213299] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.349, -3.427, 8.654) -[mux-7] [INFO] [1746049770.044371721] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746049770.045354596] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049770.047402394] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049770.048952679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049770.050031096] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049770.085451046] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049770.087643227] [sailbot.teensy]: Wind angle: 328 -[trim_sail-4] [INFO] [1746049770.087728724] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049770.088553182] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049770.089176680] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049770.090089755] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049770.090913803] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049770.145336702] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049770.146017417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049770.147035363] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049770.148251888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049770.149341187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049770.245423597] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049770.246235010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049770.247174118] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049770.248383741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049770.248879993] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049770.335462373] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049770.337194836] [sailbot.teensy]: Wind angle: 326 -[trim_sail-4] [INFO] [1746049770.337757435] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049770.338112083] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049770.338804927] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049770.338982819] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049770.339823339] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049770.344386555] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049770.344949027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049770.345491224] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049770.346586367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049770.347668679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049770.445401100] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049770.446317082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049770.447209761] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049770.448842407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049770.450226139] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049770.502605286] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973279 Long: -76.5029768 -[vectornav-1] [INFO] [1746049770.503692424] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.39, -3.414, 8.853) -[mux-7] [INFO] [1746049770.545009033] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049770.545770957] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049770.546313992] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049770.547629890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049770.548762144] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049770.585341364] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049770.587648461] [sailbot.teensy]: Wind angle: 326 -[trim_sail-4] [INFO] [1746049770.587695552] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049770.588217733] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049770.588573488] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049770.589448146] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049770.590267403] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049770.644878478] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049770.645576950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049770.646208837] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049770.647445169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049770.648478317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049770.745591247] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049770.746562569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049770.747445234] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049770.748683726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049770.749214669] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049770.835402062] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049770.837793215] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049770.838277523] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049770.837852260] [sailbot.teensy]: Wind angle: 325 -[teensy-2] [INFO] [1746049770.839498458] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049770.840383511] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049770.840743638] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049770.844257248] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049770.844572013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049770.845314898] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049770.846108570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049770.847068316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049770.945112966] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049770.945861008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049770.946484078] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049770.947630471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049770.948126215] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049771.003298240] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973317 Long: -76.50297642 -[vectornav-1] [INFO] [1746049771.004598207] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.43, -3.411, 9.093) -[mux-7] [INFO] [1746049771.044905825] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049771.045632587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049771.046118258] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049771.047389154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049771.048389687] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049771.085364902] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049771.087064116] [sailbot.teensy]: Wind angle: 322 -[trim_sail-4] [INFO] [1746049771.087723907] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049771.088015289] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049771.088927893] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049771.089057765] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049771.089801030] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049771.145074420] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049771.145810699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049771.146360733] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049771.147611801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049771.148130603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049771.245429959] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049771.246217837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049771.246963298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049771.248507599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049771.249539769] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049771.335470298] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049771.337385221] [sailbot.teensy]: Wind angle: 314 -[trim_sail-4] [INFO] [1746049771.338064124] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049771.338723953] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049771.338917761] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049771.339127247] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049771.339503085] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049771.344353908] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049771.344841542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049771.345382973] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049771.346430731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049771.347412420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049771.445435359] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049771.446211289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049771.446950498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049771.448406165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049771.449910325] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049771.503995231] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973334 Long: -76.50297633 -[vectornav-1] [INFO] [1746049771.505659442] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.43, -3.406, 9.202) -[mux-7] [INFO] [1746049771.545449881] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049771.546286728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049771.546981402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049771.548495155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049771.549654006] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049771.585466645] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049771.587204091] [sailbot.teensy]: Wind angle: 304 -[trim_sail-4] [INFO] [1746049771.587844528] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049771.588143780] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049771.589020342] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049771.589032389] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049771.589903220] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049771.645158677] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049771.645903456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049771.646760811] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049771.647955111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049771.649063713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049771.745253434] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049771.746063672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049771.746782330] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049771.748638732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049771.749710051] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049771.834400489] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049771.835542402] [sailbot.teensy]: Wind angle: 299 -[teensy-2] [INFO] [1746049771.836165385] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049771.836022143] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049771.836931189] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049771.837688928] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049771.837968969] [sailbot.mux]: algo sail angle: 55 -[mux-7] [INFO] [1746049771.843491053] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049771.843746286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049771.844004993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049771.844497893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049771.844954273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049771.945507164] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049771.946348529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049771.947064776] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049771.948518684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049771.948938843] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049772.002401593] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973366 Long: -76.50297613 -[vectornav-1] [INFO] [1746049772.003494531] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.404, -3.402, 9.057) -[mux-7] [INFO] [1746049772.045236993] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049772.045909453] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049772.046697073] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049772.047972458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049772.049140748] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049772.085592938] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049772.088029969] [sailbot.teensy]: Wind angle: 299 -[trim_sail-4] [INFO] [1746049772.088032970] [sailbot.trim_sail]: Sail Angle: "55" -[mux-7] [INFO] [1746049772.088917230] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049772.088968309] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049772.089817094] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049772.090652638] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049772.145163261] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049772.145796096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049772.146726688] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049772.147844038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049772.149056361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049772.245282398] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049772.245908473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049772.246821146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049772.248074874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049772.248881685] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049772.335506358] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049772.337358872] [sailbot.teensy]: Wind angle: 299 -[teensy-2] [INFO] [1746049772.338343331] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746049772.337997809] [sailbot.trim_sail]: Sail Angle: "55" -[mux-7] [INFO] [1746049772.338747271] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049772.339221477] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049772.340079869] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049772.344389608] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049772.344836209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049772.345442949] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049772.346428334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049772.347545301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049772.444988432] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049772.445590429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049772.446426712] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049772.448766416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049772.449925551] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049772.503760180] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973382 Long: -76.50297593 -[vectornav-1] [INFO] [1746049772.505317946] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.4, -3.406, 9.048) -[mux-7] [INFO] [1746049772.545419777] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049772.546115562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049772.547003758] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049772.548304126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049772.549511382] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049772.585571021] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049772.587245324] [sailbot.teensy]: Wind angle: 299 -[trim_sail-4] [INFO] [1746049772.587872338] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049772.588147917] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049772.589043017] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049772.589249932] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049772.589890000] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049772.645537165] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049772.646157572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049772.647076281] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049772.648360603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049772.649560267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049772.745537296] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049772.746177787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049772.747229594] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049772.748520512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049772.749747107] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049772.835490039] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049772.837289071] [sailbot.teensy]: Wind angle: 299 -[trim_sail-4] [INFO] [1746049772.837919419] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049772.838249503] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049772.839148461] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049772.839290760] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049772.840041367] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049772.844385509] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049772.844987533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049772.845492587] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049772.846678087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049772.847767157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049772.945506131] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049772.946169625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049772.947035306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049772.947831694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049772.948300065] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049773.003707283] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973418 Long: -76.50297561 -[vectornav-1] [INFO] [1746049773.005149296] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.34299999999996, -3.434, 8.818) -[mux-7] [INFO] [1746049773.045325054] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049773.046009039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049773.046768554] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049773.048061566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049773.049144714] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049773.085548863] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049773.087638989] [sailbot.teensy]: Wind angle: 302 -[trim_sail-4] [INFO] [1746049773.088237266] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746049773.088642620] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049773.089404910] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049773.089509784] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049773.090343628] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049773.144961357] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049773.145696192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049773.146261651] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049773.147656058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049773.148764928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049773.245538637] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049773.246238717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049773.247174246] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049773.248801672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049773.250057030] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049773.335378506] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049773.337811737] [sailbot.trim_sail]: Sail Angle: "60" -[mux-7] [INFO] [1746049773.338281434] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049773.338419509] [sailbot.teensy]: Wind angle: 310 -[teensy-2] [INFO] [1746049773.339405025] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049773.339764702] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049773.340099432] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049773.344355040] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049773.344877664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049773.345392664] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049773.346533161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049773.347557339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049773.445526223] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049773.446413138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049773.447315884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049773.448893341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049773.450026014] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049773.503619489] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973432 Long: -76.50297541 -[vectornav-1] [INFO] [1746049773.505093062] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.344, -3.42, 8.8) -[mux-7] [INFO] [1746049773.545536986] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049773.546416200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049773.547136094] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049773.548771250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049773.549837142] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049773.585352107] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049773.587575481] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049773.588304819] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049773.588702424] [sailbot.teensy]: Wind angle: 321 -[teensy-2] [INFO] [1746049773.589644138] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049773.590459686] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049773.591277289] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049773.645097477] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049773.645874254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049773.646506054] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049773.647886521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049773.648948247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049773.745421684] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049773.746079873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049773.747112442] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049773.748355390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049773.749831054] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049773.835333568] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049773.837039685] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049773.837651631] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049773.838039320] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049773.838910018] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049773.839059315] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049773.839604293] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049773.844431604] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049773.845049412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049773.845477431] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049773.846657389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049773.847652177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049773.945662805] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049773.946372754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049773.947293039] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049773.948912125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049773.949402242] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049774.003031939] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973447 Long: -76.50297538 -[vectornav-1] [INFO] [1746049774.004371101] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.349, -3.419, 8.804) -[mux-7] [INFO] [1746049774.045197404] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049774.045959390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049774.046618206] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049774.048008178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049774.049218737] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049774.085610027] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049774.087334734] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049774.087965736] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049774.088290127] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049774.088991518] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049774.089199035] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049774.090073990] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049774.145079842] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049774.145689064] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049774.146535942] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049774.147590178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049774.148636442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049774.245496978] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049774.246102110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049774.247149894] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049774.248336742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049774.249592168] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049774.335543160] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049774.338008153] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049774.338518735] [sailbot.teensy]: Wind angle: 334 -[mux-7] [INFO] [1746049774.338794272] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049774.339332862] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049774.339722902] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049774.340077622] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049774.344605049] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049774.344925307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049774.345764224] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049774.346539700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049774.347654680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049774.445646526] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049774.447050492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049774.447523912] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049774.449593993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049774.450803580] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049774.503839106] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697346 Long: -76.50297529 -[vectornav-1] [INFO] [1746049774.505703189] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.39099999999996, -3.413, 8.86) -[mux-7] [INFO] [1746049774.545314624] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049774.545926652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049774.546835651] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049774.547940170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049774.549146543] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049774.585455638] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049774.587747359] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049774.587795757] [sailbot.teensy]: Wind angle: 333 -[mux-7] [INFO] [1746049774.588331926] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049774.588793818] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049774.589691923] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049774.590517900] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049774.645276297] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049774.646063706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049774.646785431] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049774.648285864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049774.649156803] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049774.745392626] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049774.746050171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049774.747090605] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049774.748460584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049774.749014089] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049774.835444379] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049774.837784241] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049774.838463259] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049774.838470043] [sailbot.teensy]: Wind angle: 334 -[teensy-2] [INFO] [1746049774.839437086] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049774.840319096] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049774.841162920] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049774.844335451] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049774.844803165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049774.845398683] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049774.846442154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049774.847550250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049774.945385960] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049774.946111604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049774.946942450] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049774.948419813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049774.949626539] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049775.003518430] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973496 Long: -76.50297512 -[vectornav-1] [INFO] [1746049775.005197733] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.387, -3.416, 8.868) -[mux-7] [INFO] [1746049775.045011261] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049775.045780713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049775.046309170] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049775.047608579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049775.048685208] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049775.085780694] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049775.088555219] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049775.088590872] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049775.089694840] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049775.089859381] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049775.090559679] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049775.091398640] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049775.145172489] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049775.145778096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049775.146752732] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049775.147686171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049775.148723893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049775.245226588] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049775.246021108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049775.246716973] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049775.248034143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049775.249196155] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049775.335506879] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049775.337514685] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049775.338046574] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049775.338495550] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049775.338693812] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049775.339071101] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049775.339439802] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049775.344592826] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049775.345104978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049775.345801204] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049775.346756109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049775.347881308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049775.445538068] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049775.446282221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049775.447424982] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049775.448698653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049775.449614965] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049775.503698739] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973512 Long: -76.50297502 -[vectornav-1] [INFO] [1746049775.505454433] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.375, -3.413, 8.946) -[mux-7] [INFO] [1746049775.545640030] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049775.546232782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049775.547263114] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049775.548519237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049775.549738960] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049775.585500635] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049775.587213024] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049775.587871421] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049775.588177965] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746049775.588799622] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049775.589050181] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049775.589888259] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049775.645688442] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746049775.646300922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049775.647190230] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049775.648628074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746049775.649899638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049775.664256761] [sailbot.mux]: controller_app sail angle: 37 -[mux-7] [INFO] [1746049775.745469479] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049775.746243992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049775.747016091] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049775.748559848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049775.749673228] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049775.835505250] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049775.838038605] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049775.838117890] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049775.838612643] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049775.839103850] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746049775.839981282] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049775.840840009] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049775.844328225] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049775.844903793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049775.845443533] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049775.846545434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049775.847519522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049775.945653881] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049775.946529634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049775.947545563] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049775.949033232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049775.950147372] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049776.003311687] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973524 Long: -76.50297493 -[vectornav-1] [INFO] [1746049776.004687981] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.38300000000004, -3.422, 8.869) -[mux-7] [INFO] [1746049776.045178512] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049776.045979888] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049776.046594525] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049776.048127682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049776.049316770] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049776.085609094] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049776.088200683] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049776.088760665] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049776.089098906] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049776.090018170] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049776.090852704] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049776.091652164] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049776.145555279] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049776.146291256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049776.147147958] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049776.148808930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049776.149960726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049776.245521630] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049776.246237847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049776.247099341] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049776.248160459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049776.248587761] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049776.335754074] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049776.338596948] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049776.339079145] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049776.339148500] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049776.340092700] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049776.341001832] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049776.341868538] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049776.344301574] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049776.344850421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049776.345346462] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049776.346509663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049776.347537075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049776.445479494] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049776.446230364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049776.447347986] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049776.449540016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049776.450673248] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049776.504037576] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973532 Long: -76.50297497 -[vectornav-1] [INFO] [1746049776.505561846] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.40700000000004, -3.411, 8.949) -[mux-7] [INFO] [1746049776.545184931] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049776.545994965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049776.546719188] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049776.548069936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049776.549141596] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049776.585442319] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049776.587794692] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049776.588215609] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049776.588884650] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049776.589833750] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049776.590663326] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049776.591460885] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049776.645330745] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049776.646086721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049776.646847134] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049776.648426686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049776.649635592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049776.745326572] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049776.746095589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049776.746862351] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049776.748407749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049776.749576227] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049776.835668210] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049776.837765557] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049776.838232620] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049776.838802403] [sailbot.teensy]: Actual sail angle: 37 -[mux-7] [INFO] [1746049776.839272804] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049776.839748217] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049776.840677725] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049776.844438183] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049776.844974577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049776.845492004] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049776.846630762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049776.847639908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049776.945604665] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049776.946444048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049776.947111943] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049776.948710597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049776.949922332] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049777.003523776] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973553 Long: -76.50297491 -[vectornav-1] [INFO] [1746049777.005111333] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.425, -3.424, 8.905) -[mux-7] [INFO] [1746049777.045253358] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049777.046090828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049777.046865438] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049777.048633259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049777.049703461] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049777.085879099] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049777.088043558] [sailbot.teensy]: Wind angle: 302 -[teensy-2] [INFO] [1746049777.089147589] [sailbot.teensy]: Actual sail angle: 37 -[trim_sail-4] [INFO] [1746049777.088672807] [sailbot.trim_sail]: Sail Angle: "55" -[mux-7] [INFO] [1746049777.089216523] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746049777.090081210] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049777.090941399] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049777.145524055] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049777.146375510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049777.147082584] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049777.148722622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049777.149821342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049777.245330405] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049777.246130834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049777.246870689] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049777.248424103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049777.249578385] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049777.335383488] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049777.337272468] [sailbot.teensy]: Wind angle: 283 -[trim_sail-4] [INFO] [1746049777.337757853] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746049777.338287786] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049777.339244166] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049777.339648488] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746049777.340148621] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049777.344474406] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049777.345067712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049777.345663518] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049777.346824088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049777.347879898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049777.445387191] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049777.446200515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049777.446948439] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049777.448537211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049777.449651407] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049777.503748536] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973572 Long: -76.50297497 -[vectornav-1] [INFO] [1746049777.505666050] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.28700000000003, -3.433, 8.32) -[mux-7] [INFO] [1746049777.545648958] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049777.546648132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049777.547201770] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049777.548992994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049777.550024676] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049777.585533990] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049777.587581926] [sailbot.teensy]: Wind angle: 291 -[trim_sail-4] [INFO] [1746049777.588024118] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746049777.588618884] [sailbot.teensy]: Actual sail angle: 37 -[mux-7] [INFO] [1746049777.589462632] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049777.589479185] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049777.590358592] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049777.645357240] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049777.646125955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049777.647055740] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049777.648424795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049777.649554741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049777.745150696] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049777.745893939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049777.746587738] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049777.748091647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049777.749193741] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049777.835489977] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049777.837583843] [sailbot.teensy]: Wind angle: 307 -[trim_sail-4] [INFO] [1746049777.838102501] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746049777.838625668] [sailbot.teensy]: Actual sail angle: 37 -[mux-7] [INFO] [1746049777.838743492] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049777.839533366] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049777.840404337] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049777.844339305] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049777.844805515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049777.845460905] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049777.846454515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049777.847429229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049777.945606992] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049777.946305775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049777.947268263] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049777.948716191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049777.950032755] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049778.003058696] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973596 Long: -76.50297479 -[vectornav-1] [INFO] [1746049778.004361772] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.27, -3.451, 8.025) -[mux-7] [INFO] [1746049778.045391863] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049778.046113088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049778.046961999] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049778.048706202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049778.049874589] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049778.085495246] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049778.087890656] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049778.088274944] [sailbot.teensy]: Wind angle: 328 -[mux-7] [INFO] [1746049778.088785061] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049778.089331430] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049778.090376013] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049778.091241321] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049778.145591437] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049778.146581284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049778.147378925] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049778.148489476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049778.148986147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049778.245415087] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049778.246212805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049778.246912433] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049778.248538481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049778.249617803] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049778.335479052] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049778.337349871] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049778.337894868] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049778.338361183] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049778.339263964] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049778.339321816] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049778.339690650] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049778.344543780] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049778.345112505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049778.345685238] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049778.346785944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049778.347927876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049778.445505014] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049778.446290756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049778.447190561] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049778.448011841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049778.448527683] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049778.502736030] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973606 Long: -76.50297477 -[vectornav-1] [INFO] [1746049778.503924400] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.305, -3.426, 8.058) -[mux-7] [INFO] [1746049778.545339760] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049778.546193019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049778.546791100] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049778.548245193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049778.549309290] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049778.585973416] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049778.588348889] [sailbot.teensy]: Wind angle: 358 -[trim_sail-4] [INFO] [1746049778.588813167] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049778.589512442] [sailbot.teensy]: Actual sail angle: 37 -[mux-7] [INFO] [1746049778.589832133] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049778.590464641] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049778.591322829] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049778.645712414] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049778.646438751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049778.647407841] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049778.648952744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049778.650234419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049778.745188844] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049778.745997498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049778.746627548] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049778.747833843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049778.748338253] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049778.835520993] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049778.837380685] [sailbot.teensy]: Wind angle: 333 -[trim_sail-4] [INFO] [1746049778.837927030] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049778.838337252] [sailbot.teensy]: Actual sail angle: 37 -[mux-7] [INFO] [1746049778.838956191] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049778.839218443] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049778.840069813] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049778.844444745] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049778.844927208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049778.845580110] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049778.846549982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049778.847555980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049778.945429939] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049778.946121855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049778.947127012] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049778.948451741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049778.949631979] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049779.003246069] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973618 Long: -76.50297458 -[vectornav-1] [INFO] [1746049779.004608933] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.46500000000003, -3.389, 9.062) -[mux-7] [INFO] [1746049779.045189096] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049779.045809233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049779.046686962] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049779.047822823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049779.049012914] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049779.085486873] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049779.087840704] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049779.088368595] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049779.088783206] [sailbot.teensy]: Wind angle: 0 -[teensy-2] [INFO] [1746049779.089725883] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049779.090577581] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049779.091441781] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049779.145341634] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049779.146225486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049779.147004773] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049779.148486844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049779.149701986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049779.245407560] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049779.246032587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049779.246964302] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049779.248318931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049779.249361969] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049779.335914757] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049779.338945482] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049779.339389275] [sailbot.teensy]: Wind angle: 0 -[mux-7] [INFO] [1746049779.339924241] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049779.340573582] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049779.341463409] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049779.342283372] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049779.344267876] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049779.344681071] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049779.345413303] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049779.346311789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049779.347430420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049779.445654866] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049779.446517952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049779.447381858] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049779.448342446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049779.448824768] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049779.503669771] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973614 Long: -76.50297467 -[vectornav-1] [INFO] [1746049779.505108767] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.447, -3.392, 8.985) -[mux-7] [INFO] [1746049779.544841552] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049779.545695718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049779.546079706] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049779.547476460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049779.548635841] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049779.585652484] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049779.587594827] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746049779.588279117] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049779.588649047] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049779.589549869] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049779.590029963] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049779.590391302] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049779.645300998] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049779.646102977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049779.646962403] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049779.648398922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049779.649657576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049779.745428579] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049779.746155387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049779.746995327] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049779.748491029] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049779.749734968] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049779.835365632] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049779.837191450] [sailbot.teensy]: Wind angle: 0 -[teensy-2] [INFO] [1746049779.838134888] [sailbot.teensy]: Actual sail angle: 37 -[trim_sail-4] [INFO] [1746049779.837920813] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049779.838340679] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049779.838870512] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049779.839237467] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049779.844461261] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049779.845114382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049779.845693681] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049779.846787943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049779.847771638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049779.945585821] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049779.946447291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049779.947270963] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049779.948860286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049779.950193008] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049780.002466316] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973638 Long: -76.50297449 -[vectornav-1] [INFO] [1746049780.003462230] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.352, -3.416, 8.259) -[mux-7] [INFO] [1746049780.045165296] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049780.045965868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049780.046506786] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049780.047829089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049780.048816695] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049780.085619528] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049780.088124314] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049780.088746695] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049780.089035277] [sailbot.teensy]: Wind angle: 0 -[teensy-2] [INFO] [1746049780.090020626] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049780.090914689] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049780.091758065] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049780.145262051] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049780.145956468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049780.146747898] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049780.148697581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049780.149991210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049780.245005917] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049780.245863411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049780.246347928] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049780.247778172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049780.248935547] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049780.335770309] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049780.338729345] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049780.338806419] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049780.339504517] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049780.339855073] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049780.340835538] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049780.341230385] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049780.344472940] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049780.345072355] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049780.345644426] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049780.346720250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049780.347682381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049780.445519483] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049780.446199849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049780.447245680] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049780.448460715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049780.449257606] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049780.503295148] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973641 Long: -76.50297437 -[vectornav-1] [INFO] [1746049780.504922647] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.325, -3.429, 8.122) -[mux-7] [INFO] [1746049780.545268375] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049780.546194744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049780.546651197] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049780.548103875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049780.549231057] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049780.585576701] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049780.587906777] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049780.588302231] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049780.588740103] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049780.589355117] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049780.590374531] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049780.591189033] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049780.645321630] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049780.646083170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049780.646829361] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049780.648240158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049780.649459594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049780.744989747] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049780.745612421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049780.746239413] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049780.747409039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049780.748567743] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049780.835849429] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049780.838924089] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049780.839075787] [sailbot.teensy]: Wind angle: 342 -[mux-7] [INFO] [1746049780.839307771] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049780.840029190] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049780.840402303] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049780.840743624] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049780.844460831] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049780.844932539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049780.845630640] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049780.846607705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049780.847640420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049780.945289941] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049780.946072702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049780.946900880] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049780.948191143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049780.949250219] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049781.002912622] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973651 Long: -76.50297428 -[vectornav-1] [INFO] [1746049781.004305407] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.318, -3.444, 8.141) -[mux-7] [INFO] [1746049781.045702178] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049781.046299155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049781.047493137] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049781.048762431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049781.049866585] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049781.085344782] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049781.087589108] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049781.087630337] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049781.088284116] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049781.088498326] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049781.089368592] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049781.090211476] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049781.145242050] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049781.146030556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049781.146668147] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049781.148188449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049781.149416235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049781.245330552] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049781.246067117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049781.246767594] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049781.248285196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049781.249412653] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049781.335641064] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049781.338585709] [sailbot.teensy]: Wind angle: 332 -[trim_sail-4] [INFO] [1746049781.338581359] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049781.339291691] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049781.339641318] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049781.340400644] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049781.340744328] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049781.344351914] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049781.344689712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049781.345490908] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049781.346239483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049781.347247237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049781.445419935] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049781.446200336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049781.446966156] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049781.448589686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049781.449822564] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049781.502442898] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973658 Long: -76.50297427 -[vectornav-1] [INFO] [1746049781.503415902] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.373, -3.443, 8.399) -[mux-7] [INFO] [1746049781.545048210] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049781.545720743] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049781.546373140] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049781.547648959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049781.548813263] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049781.585475004] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049781.587376579] [sailbot.teensy]: Wind angle: 331 -[trim_sail-4] [INFO] [1746049781.587981731] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049781.588369369] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049781.589287203] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049781.589296160] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049781.590171302] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049781.644905678] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049781.645628002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049781.646133606] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049781.647413828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049781.647940851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049781.745414526] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049781.746231969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049781.746994238] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049781.748404131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049781.748942490] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049781.835928433] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049781.839047546] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049781.839580310] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049781.839731119] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746049781.840786316] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049781.841686714] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049781.842548339] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049781.844213356] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049781.844647346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049781.845391344] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049781.846176597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049781.847130232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049781.945286368] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049781.946052439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049781.946738728] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049781.947773550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049781.948289704] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049782.003230910] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973654 Long: -76.50297411 -[vectornav-1] [INFO] [1746049782.004567203] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.312, -3.433, 7.976) -[mux-7] [INFO] [1746049782.045143048] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049782.045879015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049782.046508488] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049782.047821940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049782.048764068] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049782.085364546] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049782.087210474] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049782.087602282] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049782.088169336] [sailbot.teensy]: Actual sail angle: 37 -[mux-7] [INFO] [1746049782.088873621] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049782.089058545] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049782.089913591] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049782.145429728] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049782.146120226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049782.146996644] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049782.148413716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049782.149665337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049782.245279886] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049782.246042782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049782.246715757] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049782.248168535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049782.249088517] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049782.335525458] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049782.337792037] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049782.338359311] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049782.338820898] [sailbot.teensy]: Actual sail angle: 37 -[mux-7] [INFO] [1746049782.339003718] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049782.339771193] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049782.340629324] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049782.344505584] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049782.344933793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049782.345832660] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049782.346698667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049782.347828523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049782.445439174] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049782.446119061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049782.447114913] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049782.448296489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049782.448827153] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049782.502397379] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973665 Long: -76.50297395 -[vectornav-1] [INFO] [1746049782.503398023] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.253, -3.448, 7.602) -[mux-7] [INFO] [1746049782.545678432] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049782.546258522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049782.547453244] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049782.548641692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049782.549139957] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049782.585402437] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049782.587884342] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049782.588317663] [sailbot.teensy]: Wind angle: 344 -[mux-7] [INFO] [1746049782.588385510] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049782.589314251] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049782.590200047] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049782.591021927] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049782.645212079] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049782.646012169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049782.646651214] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049782.647800209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049782.648260875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049782.744935537] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049782.745636773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049782.746337338] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049782.747676146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049782.748776022] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049782.835191331] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049782.837429349] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049782.838177597] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049782.838432062] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049782.839369759] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049782.840270493] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049782.841113716] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049782.844238841] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049782.844806879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049782.845328424] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049782.846410327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049782.847509204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049782.945578596] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049782.946371669] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049782.947305661] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049782.948864820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049782.950218588] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049783.002994831] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973652 Long: -76.50297379 -[vectornav-1] [INFO] [1746049783.004205698] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.262, -3.441, 7.603) -[mux-7] [INFO] [1746049783.045060835] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049783.045784600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049783.046453281] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049783.047760764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049783.048491532] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049783.085479373] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049783.087348951] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049783.087938585] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049783.088338833] [sailbot.teensy]: Actual sail angle: 37 -[mux-7] [INFO] [1746049783.089170109] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049783.089234871] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049783.090089153] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049783.145438333] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049783.146292433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049783.147090294] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049783.148620020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049783.149934977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049783.245302090] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049783.246000891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049783.246852462] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049783.248117582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049783.249325958] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049783.335468473] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049783.338179602] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049783.338614095] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049783.338964432] [sailbot.teensy]: Wind angle: 346 -[teensy-2] [INFO] [1746049783.339368195] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049783.339733802] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049783.340087879] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049783.344493620] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049783.345011756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049783.345728267] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049783.346733894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049783.347710013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049783.445383086] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049783.446260920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049783.446968220] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049783.448414183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049783.449600410] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049783.502892007] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973646 Long: -76.50297375 -[vectornav-1] [INFO] [1746049783.504379420] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.256, -3.449, 7.511) -[mux-7] [INFO] [1746049783.545797144] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049783.546104981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049783.547332705] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049783.548227097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049783.549353791] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049783.585702749] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049783.587692087] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049783.588509492] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049783.588773029] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049783.589700899] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049783.590263251] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049783.590542221] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049783.645339741] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049783.646005009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049783.646931948] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049783.649183498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049783.650220985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049783.745286975] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049783.745888025] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049783.746884474] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049783.748019536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049783.749163619] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049783.835384915] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049783.837589533] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049783.837850496] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049783.838727717] [sailbot.teensy]: Actual sail angle: 37 -[mux-7] [INFO] [1746049783.838756438] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049783.839112951] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049783.839469667] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049783.844515514] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049783.845161381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049783.845701524] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049783.846840084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049783.847931544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049783.945603852] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049783.946518030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049783.947508153] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049783.949036545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049783.949580660] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049784.003415301] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973665 Long: -76.50297351 -[vectornav-1] [INFO] [1746049784.004903733] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.264, -3.451, 7.573) -[mux-7] [INFO] [1746049784.044923438] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049784.045699053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049784.046177868] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049784.047491897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049784.048574021] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049784.085230292] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049784.087181135] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049784.087808204] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049784.088219180] [sailbot.teensy]: Actual sail angle: 37 -[mux-7] [INFO] [1746049784.088298313] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049784.089153435] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049784.090050801] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049784.145435272] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049784.146240086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049784.147025936] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049784.148667105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049784.149790537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049784.245082222] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049784.245780404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049784.246463511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049784.247699744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049784.248141709] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049784.335817053] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049784.338788270] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049784.339685266] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049784.340031450] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049784.340988820] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049784.341810413] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049784.342609358] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049784.344269158] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049784.344655357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049784.345343230] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049784.346206141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049784.347165422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049784.445590395] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049784.446228078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049784.447278671] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049784.448614870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049784.449862980] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049784.502442657] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973669 Long: -76.50297343 -[vectornav-1] [INFO] [1746049784.503467091] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26599999999996, -3.442, 7.611) -[mux-7] [INFO] [1746049784.545304763] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049784.546023444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049784.546846781] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049784.548125091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049784.549328753] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049784.585659765] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049784.587625511] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049784.588372621] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049784.588655012] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049784.589563792] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049784.589725451] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049784.590410224] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049784.645186299] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049784.645703896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049784.646719079] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049784.647776795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049784.648840665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049784.745345577] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049784.746011373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049784.747040335] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049784.748217321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049784.748792635] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049784.835316128] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049784.837042498] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049784.837658921] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049784.837959937] [sailbot.teensy]: Actual sail angle: 37 -[mux-7] [INFO] [1746049784.838501713] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049784.838837530] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049784.839696381] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049784.844450904] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049784.844885301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049784.845620609] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049784.846487151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049784.847591611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049784.945471268] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049784.946349389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049784.947191525] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049784.948688741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049784.949630826] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049785.003422405] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973678 Long: -76.50297342 -[vectornav-1] [INFO] [1746049785.005170140] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.272, -3.435, 7.621) -[mux-7] [INFO] [1746049785.045287169] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049785.045980953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049785.046723712] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049785.047912318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049785.048945643] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049785.085506060] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049785.087678684] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049785.087749170] [sailbot.teensy]: Wind angle: 349 -[mux-7] [INFO] [1746049785.088299425] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049785.088694123] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049785.089550765] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049785.090388959] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049785.145291957] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049785.146088320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049785.146890436] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049785.148274619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049785.149217300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049785.245413827] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049785.246205562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049785.247024172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049785.248797179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049785.249922690] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049785.335455437] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049785.337406684] [sailbot.teensy]: Wind angle: 353 -[trim_sail-4] [INFO] [1746049785.337975649] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049785.338401915] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049785.339340953] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049785.339778692] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049785.340234757] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049785.344336601] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049785.344870943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049785.345427691] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049785.346481832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049785.347504976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049785.445465708] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049785.446201195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049785.447083130] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049785.448246596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049785.448774242] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049785.503489221] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973678 Long: -76.5029733 -[vectornav-1] [INFO] [1746049785.505112164] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.275, -3.432, 7.643) -[mux-7] [INFO] [1746049785.545171450] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049785.545970602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049785.546514714] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049785.547981159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049785.549036046] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049785.585247296] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049785.587149805] [sailbot.teensy]: Wind angle: 356 -[trim_sail-4] [INFO] [1746049785.587731001] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049785.588136196] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049785.589029330] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049785.589030036] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049785.589903068] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049785.645532889] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049785.646207044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049785.647313868] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049785.648529667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049785.649811040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049785.745258388] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049785.745908835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049785.746771382] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049785.747971694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049785.749366932] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049785.835635347] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049785.838270560] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049785.838879844] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049785.839039034] [sailbot.teensy]: Wind angle: 356 -[teensy-2] [INFO] [1746049785.839949922] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049785.840812752] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049785.841617192] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049785.844298290] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049785.844760975] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049785.845479323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049785.846408444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049785.847394513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049785.945361023] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049785.946071527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049785.946930291] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049785.948275271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049785.949073657] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049786.003305843] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973673 Long: -76.50297334 -[vectornav-1] [INFO] [1746049786.004741185] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.277, -3.429, 7.655) -[mux-7] [INFO] [1746049786.045109423] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049786.045698866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049786.046450463] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049786.047553938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049786.048610517] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049786.084987862] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049786.086773755] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049786.087068429] [sailbot.teensy]: Wind angle: 353 -[mux-7] [INFO] [1746049786.087268521] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049786.087919384] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049786.088752673] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049786.089557821] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049786.145169663] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049786.145783081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049786.146649664] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049786.147791435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049786.148863143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049786.245412348] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049786.246107950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049786.246994289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049786.248279327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049786.249448605] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049786.335319221] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049786.337262959] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049786.337866564] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049786.338288441] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049786.339192242] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049786.339297594] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049786.340064594] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049786.344411121] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049786.344932036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049786.345534111] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049786.346567866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049786.347698235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049786.445649363] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049786.446315200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049786.447459062] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049786.448793319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049786.450038803] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049786.503299009] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973671 Long: -76.50297329 -[vectornav-1] [INFO] [1746049786.504820020] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.28, -3.425, 7.656) -[mux-7] [INFO] [1746049786.545146390] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049786.545850720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049786.546730924] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049786.547859537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049786.548930062] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049786.585612384] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049786.587530300] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049786.588297326] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049786.588548163] [sailbot.teensy]: Actual sail angle: 37 -[mux-7] [INFO] [1746049786.589170972] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049786.589420620] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049786.590270775] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049786.645423273] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049786.646030008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049786.647092935] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049786.648204325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049786.648871988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049786.745268409] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049786.745862342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049786.746858906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049786.748012069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049786.749104315] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049786.835050285] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049786.836770415] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049786.837223797] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049786.837722026] [sailbot.teensy]: Actual sail angle: 37 -[mux-7] [INFO] [1746049786.838105078] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049786.838770959] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049786.839149778] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049786.844520092] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746049786.845189771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049786.845744136] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049786.846987558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746049786.847955828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049786.858656069] [sailbot.mux]: controller_app sail angle: 54 -[mux-7] [INFO] [1746049786.945477533] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049786.946230668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049786.947254099] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049786.948559236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049786.949758201] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049787.003828206] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973677 Long: -76.50297329 -[vectornav-1] [INFO] [1746049787.005825650] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.291, -3.417, 7.731) -[mux-7] [INFO] [1746049787.045432667] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049787.046220699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049787.047002223] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049787.048531556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049787.049787544] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049787.085435288] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049787.087081379] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049787.087764284] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049787.087998573] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746049787.088902596] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049787.088984038] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049787.089819753] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049787.145325228] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049787.146202112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049787.146803829] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049787.148367207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049787.149540196] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049787.245425437] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049787.246279038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049787.247220370] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049787.247893974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049787.248398304] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049787.335300252] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049787.336976004] [sailbot.teensy]: Wind angle: 351 -[teensy-2] [INFO] [1746049787.337948361] [sailbot.teensy]: Actual sail angle: 54 -[trim_sail-4] [INFO] [1746049787.338164855] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049787.338837245] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049787.338910999] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049787.339744000] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049787.344282461] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049787.344848258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049787.345386966] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049787.346474056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049787.347573518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049787.445067026] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049787.445789273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049787.446454136] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049787.447580010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049787.448012970] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049787.503279206] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973673 Long: -76.50297323 -[vectornav-1] [INFO] [1746049787.505093554] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.302, -3.411, 7.808) -[mux-7] [INFO] [1746049787.545050172] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049787.545726797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049787.546385764] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049787.547547109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049787.548561407] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049787.585375799] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049787.587074480] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049787.587711745] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049787.588012526] [sailbot.teensy]: Actual sail angle: 54 -[mux-7] [INFO] [1746049787.588882818] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049787.588902840] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049787.589829510] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049787.645327097] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049787.646137536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049787.646791051] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049787.648301689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049787.649325471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049787.745558983] [sailbot.mux]: Published sail angle from controller_app: 54 -[mux-7] [INFO] [1746049787.747234510] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049787.747275734] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049787.749415176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049787.750572870] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049787.835434161] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049787.837723013] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049787.837761909] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049787.838694299] [sailbot.teensy]: Actual sail angle: 54 -[mux-7] [INFO] [1746049787.838887617] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049787.839646498] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049787.840547139] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049787.844357695] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049787.844827857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049787.845452022] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049787.846424023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049787.847470844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049787.945533415] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049787.946362494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049787.947530380] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049787.949783046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049787.951031151] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049788.002429804] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973672 Long: -76.50297323 -[vectornav-1] [INFO] [1746049788.003456620] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.308, -3.406, 7.859) -[mux-7] [INFO] [1746049788.045321858] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049788.046174149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049788.046798830] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049788.048378467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049788.049545364] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049788.085711546] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049788.088177684] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049788.088516777] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049788.089248946] [sailbot.teensy]: Actual sail angle: 54 -[mux-7] [INFO] [1746049788.089791874] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049788.090127653] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049788.090978943] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049788.145159280] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049788.145890621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049788.146590393] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049788.147694110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049788.148237988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049788.245108489] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049788.245836971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049788.246512611] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049788.247849195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049788.249011110] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049788.335561047] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049788.337693356] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049788.338315751] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049788.338857996] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049788.339569971] [sailbot.teensy]: Actual sail angle: 54 -[teensy-2] [INFO] [1746049788.339963057] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049788.340331960] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049788.344364217] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049788.344727420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049788.345388833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049788.346276045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049788.347412766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049788.445563671] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049788.446294265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049788.447216844] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049788.448622701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049788.449876871] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049788.503525352] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973679 Long: -76.50297317 -[vectornav-1] [INFO] [1746049788.505032161] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.30899999999997, -3.4, 7.866) -[mux-7] [INFO] [1746049788.545245414] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049788.545981919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049788.546632669] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049788.548013226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049788.549156881] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049788.585471200] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049788.587847849] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049788.587854831] [sailbot.teensy]: Wind angle: 351 -[mux-7] [INFO] [1746049788.588340963] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049788.588881259] [sailbot.teensy]: Actual sail angle: 54 -[teensy-2] [INFO] [1746049788.589751877] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049788.590578505] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049788.645471747] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049788.646188701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049788.646981194] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049788.648339788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049788.648988588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049788.745307743] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049788.746030047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049788.746698665] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049788.748011209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049788.748963925] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049788.835388348] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049788.838027957] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049788.839124519] [sailbot.teensy]: Wind angle: 350 -[mux-7] [INFO] [1746049788.839239914] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049788.840080540] [sailbot.teensy]: Actual sail angle: 54 -[teensy-2] [INFO] [1746049788.841020437] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049788.841838821] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049788.844352611] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049788.844786142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049788.845404053] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049788.846411614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049788.847544631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049788.945264886] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049788.946080758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049788.946764587] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049788.948288835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049788.949485709] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049789.002340321] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973683 Long: -76.50297335 -[vectornav-1] [INFO] [1746049789.003385904] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.31399999999996, -3.395, 7.869) -[mux-7] [INFO] [1746049789.045228470] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049789.046373815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049789.046470415] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049789.047337727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049789.047828792] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049789.085865764] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049789.088274202] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049789.088688212] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049789.089387849] [sailbot.teensy]: Actual sail angle: 54 -[mux-7] [INFO] [1746049789.089514843] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049789.090348315] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049789.091206943] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049789.145392182] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049789.146132162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049789.146884902] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049789.147927109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049789.148427306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049789.245321991] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049789.246099900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049789.246916179] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049789.248316077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049789.249379197] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049789.335681041] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049789.338576098] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049789.338608199] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049789.339278815] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049789.340235508] [sailbot.teensy]: Actual sail angle: 54 -[teensy-2] [INFO] [1746049789.340989290] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049789.341325287] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049789.344345107] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049789.344778628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049789.345370721] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049789.346355840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049789.347485842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049789.445350599] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049789.446089780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049789.446849018] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049789.448775033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049789.449906229] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049789.503529345] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973685 Long: -76.50297338 -[vectornav-1] [INFO] [1746049789.505256376] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.323, -3.395, 7.929) -[mux-7] [INFO] [1746049789.545215364] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049789.546025614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049789.547098790] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049789.548223985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049789.549376105] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049789.585473511] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049789.587504629] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049789.587767069] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049789.588711730] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049789.589362152] [sailbot.teensy]: Actual sail angle: 54 -[teensy-2] [INFO] [1746049789.590281692] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049789.591093327] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049789.645078464] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049789.645854120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049789.646472033] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049789.647874811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049789.648962006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049789.745161714] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049789.746019943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049789.746768123] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049789.748233803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049789.748783134] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049789.835876907] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049789.838121439] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049789.839257832] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049789.839801931] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049789.840064163] [sailbot.teensy]: Actual sail angle: 54 -[teensy-2] [INFO] [1746049789.841086244] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049789.841944619] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049789.844362901] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049789.844959461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049789.845484753] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049789.846637721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049789.847606422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049789.945477790] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049789.946319594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049789.947269429] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049789.948620015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049789.949682981] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049790.003545848] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973685 Long: -76.50297349 -[vectornav-1] [INFO] [1746049790.004829172] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.327, -3.393, 7.923) -[mux-7] [INFO] [1746049790.045157732] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049790.045957965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049790.046545965] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049790.048010328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049790.049128149] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049790.085739723] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049790.088959926] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049790.089984665] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049790.090362407] [sailbot.teensy]: Wind angle: 351 -[teensy-2] [INFO] [1746049790.091122384] [sailbot.teensy]: Actual sail angle: 54 -[teensy-2] [INFO] [1746049790.091526545] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049790.091902400] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049790.145228290] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049790.145906667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049790.146866565] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049790.147959672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049790.149024527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049790.245187869] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049790.245845937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049790.246581339] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049790.247890523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049790.248909433] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049790.335261371] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049790.337549700] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049790.337703360] [sailbot.teensy]: Wind angle: 351 -[mux-7] [INFO] [1746049790.338106540] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049790.338795410] [sailbot.teensy]: Actual sail angle: 54 -[teensy-2] [INFO] [1746049790.339707558] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049790.340521766] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049790.344437170] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049790.344889038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049790.345478698] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049790.346522448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049790.347548179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049790.445517595] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049790.446266551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049790.447410167] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049790.448614814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049790.449895127] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049790.502624032] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973687 Long: -76.50297348 -[vectornav-1] [INFO] [1746049790.503754654] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.327, -3.383, 7.885) -[mux-7] [INFO] [1746049790.545506765] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049790.546229397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049790.547049738] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049790.548530623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049790.549706890] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049790.586027131] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049790.588428916] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049790.588978695] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049790.589551163] [sailbot.teensy]: Actual sail angle: 54 -[mux-7] [INFO] [1746049790.590389232] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049790.590496298] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049790.591339585] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049790.645409852] [sailbot.mux]: Published sail angle from controller_app: 54 -[teensy-2] [INFO] [1746049790.645945117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049790.647200428] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049790.648124018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:54, rudder: 0 -[teensy-2] [INFO] [1746049790.649424841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049790.665454250] [sailbot.mux]: controller_app sail angle: 28 -[mux-7] [INFO] [1746049790.745081415] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049790.745960748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049790.746660504] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049790.748097097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049790.749166221] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049790.835370190] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049790.837811697] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049790.838749355] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049790.839987762] [sailbot.teensy]: Actual sail angle: 54 -[mux-7] [INFO] [1746049790.840422047] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049790.841034084] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049790.842006237] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049790.844348393] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049790.844892602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049790.845489631] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049790.846533821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049790.847629334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049790.945529168] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049790.946292764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049790.947306332] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049790.948821286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049790.950102513] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049791.002688155] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973677 Long: -76.5029735 -[vectornav-1] [INFO] [1746049791.003633949] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.406, -3.339, 8.453) -[mux-7] [INFO] [1746049791.045015952] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049791.045781995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049791.046293099] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049791.047624408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049791.048605618] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049791.085838069] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049791.087882481] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049791.088646913] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049791.090037445] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049791.090458042] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049791.090972601] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049791.091818565] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049791.145399094] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049791.146144048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049791.147178678] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049791.147899790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049791.148364956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049791.245094216] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049791.245751561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049791.246500844] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049791.247718587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049791.248163311] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049791.335634726] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049791.337604471] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049791.338260800] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049791.339485227] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049791.340010130] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049791.341052468] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049791.341987581] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049791.344225061] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049791.344654729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049791.345255691] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049791.346255380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049791.347305075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049791.445554052] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049791.446348856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049791.447179848] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049791.448709720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049791.449975532] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049791.502561672] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973689 Long: -76.50297365 -[vectornav-1] [INFO] [1746049791.503577000] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.336, -3.382, 7.892) -[mux-7] [INFO] [1746049791.545456652] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049791.546168794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049791.546930815] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049791.548493272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049791.549688009] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049791.585668715] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049791.588384909] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049791.588546481] [sailbot.teensy]: Wind angle: 350 -[mux-7] [INFO] [1746049791.589177994] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049791.589566073] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049791.590461086] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049791.591061175] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049791.645285727] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049791.646086035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049791.646811213] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049791.648468787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049791.649546292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049791.745401401] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049791.746197380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049791.746901319] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049791.748582992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049791.749635207] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049791.835557925] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049791.838044130] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049791.838553704] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049791.838938267] [sailbot.teensy]: Wind angle: 351 -[teensy-2] [INFO] [1746049791.839971534] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049791.840854695] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049791.841679482] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049791.844372420] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049791.844997497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049791.845443265] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049791.846759936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049791.847754324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049791.945592905] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049791.946424440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049791.947238561] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049791.948868292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049791.949994893] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049792.003157487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973696 Long: -76.50297373 -[vectornav-1] [INFO] [1746049792.004759730] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.337, -3.376, 7.948) -[mux-7] [INFO] [1746049792.045149442] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049792.045852987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049792.046477189] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049792.047790966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049792.048911673] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049792.085558376] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049792.087472170] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049792.088077304] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049792.088497946] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049792.089384054] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049792.089697418] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049792.090256312] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049792.145432114] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049792.146031750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049792.147035463] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049792.148366922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049792.149469241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049792.245611933] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049792.246495095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049792.247330778] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049792.248870804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049792.250058195] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049792.335949940] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049792.338813042] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049792.338811363] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049792.339934948] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049792.340013738] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049792.340921809] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049792.341757591] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049792.344383749] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049792.344909316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049792.345418350] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049792.346512624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049792.347616612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049792.445481210] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049792.446241178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049792.447003576] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049792.448729758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049792.449827235] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049792.503838352] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973699 Long: -76.50297391 -[vectornav-1] [INFO] [1746049792.505287529] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.337, -3.381, 7.917) -[mux-7] [INFO] [1746049792.545064584] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049792.546250323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049792.546700024] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049792.547978888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049792.548419356] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049792.585238957] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049792.586937813] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049792.587599523] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049792.587894526] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049792.588448431] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049792.588881242] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049792.589764425] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049792.645474843] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049792.646255560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049792.647027586] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049792.648554265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049792.649598269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049792.745296407] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049792.746139109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049792.746835631] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049792.748347926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049792.749564149] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049792.835593481] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049792.837841729] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049792.839308360] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049792.839405072] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049792.839787075] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049792.839816077] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049792.840226816] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049792.844633795] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049792.845193419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049792.845771392] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049792.846943730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049792.847943206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049792.945666549] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049792.946532986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049792.947493055] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049792.949104254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049792.950386583] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049793.003380402] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973701 Long: -76.50297411 -[vectornav-1] [INFO] [1746049793.004821307] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.337, -3.38, 7.921) -[mux-7] [INFO] [1746049793.044883541] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049793.045639540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049793.046089237] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049793.047421731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049793.048474359] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049793.085538764] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049793.087337195] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049793.088028092] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049793.088315485] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049793.089184257] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049793.089250001] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049793.090040082] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049793.145519843] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049793.146351919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049793.147403039] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049793.148881754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049793.150064952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049793.245134802] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049793.245851635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049793.246555188] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049793.247914372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049793.248807965] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049793.335450123] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049793.337235095] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049793.337898550] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049793.339012725] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049793.339162463] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049793.339560838] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049793.339903436] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049793.344370224] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049793.344822113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049793.345430367] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049793.346412775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049793.347472331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049793.445487458] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049793.446160651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049793.447130815] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049793.448545082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049793.449729636] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049793.502252660] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697371 Long: -76.50297437 -[vectornav-1] [INFO] [1746049793.503167345] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.334, -3.388, 7.882) -[mux-7] [INFO] [1746049793.545473826] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049793.546363258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049793.546960050] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049793.548606970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049793.549780349] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049793.585693062] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049793.587820113] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049793.588852761] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049793.588894257] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049793.589815410] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049793.589598329] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049793.590664065] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049793.645408914] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049793.646344370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049793.646979809] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049793.648663364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049793.649866560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049793.745492353] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049793.746361658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049793.747005148] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049793.748660674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049793.749256816] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049793.835359767] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049793.837091401] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049793.837824603] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049793.838038510] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049793.838478028] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049793.838793122] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049793.839166309] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049793.844442857] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049793.844961673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049793.845568617] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049793.846598084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049793.847708109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049793.945556149] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049793.946353057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049793.947273006] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049793.948831391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049793.950091745] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049794.003058765] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973713 Long: -76.50297462 -[vectornav-1] [INFO] [1746049794.004319257] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.345, -3.387, 7.741) -[mux-7] [INFO] [1746049794.045131592] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049794.045897734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049794.046448852] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049794.047829124] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049794.048946673] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049794.086042672] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049794.088284621] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049794.089196970] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049794.089424741] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049794.089597650] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049794.090431968] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049794.091340148] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049794.145187644] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049794.145782665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049794.146634474] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049794.147689331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049794.148855963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049794.245435358] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049794.246097017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049794.247034911] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049794.248362263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049794.249510465] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049794.335331646] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049794.337147479] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049794.337846587] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049794.338092148] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049794.338420251] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049794.338971805] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049794.339804760] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049794.344346965] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049794.344885605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049794.345430757] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049794.346573004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049794.347594463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049794.445587067] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049794.446412299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049794.447250717] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049794.448827216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049794.449325024] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049794.504016146] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973712 Long: -76.50297477 -[vectornav-1] [INFO] [1746049794.505651370] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.321, -3.396, 7.761) -[mux-7] [INFO] [1746049794.545153528] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049794.545891887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049794.546644565] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049794.547982999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049794.549037484] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049794.585534975] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049794.587258753] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049794.588210690] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049794.587940790] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049794.588420780] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049794.589089514] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049794.589932909] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049794.645127366] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049794.645863728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049794.646584657] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049794.647996952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049794.649067032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049794.745495319] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049794.746486664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049794.747123341] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049794.748073206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049794.748537988] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049794.835676368] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049794.838746246] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049794.839133993] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049794.840774521] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049794.841150496] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049794.841498284] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049794.842204614] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049794.844384450] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049794.844944172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049794.845408660] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049794.846558931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049794.847555224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049794.945576026] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049794.946360575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049794.947234983] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049794.948894205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049794.950072745] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049795.002436508] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973711 Long: -76.50297497 -[vectornav-1] [INFO] [1746049795.003507332] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.328, -3.398, 7.744) -[mux-7] [INFO] [1746049795.045066625] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049795.045973757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049795.046455343] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049795.047935261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049795.048950684] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049795.085206159] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049795.087473881] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049795.087560162] [sailbot.teensy]: Wind angle: 355 -[mux-7] [INFO] [1746049795.087978360] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049795.088522415] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049795.089378245] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049795.090181951] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049795.144917721] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049795.145706441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049795.146343367] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049795.147616970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049795.148669478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049795.245243463] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049795.245915715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049795.246700372] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049795.247776095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049795.248242253] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049795.335941612] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049795.338127092] [sailbot.teensy]: Wind angle: 356 -[teensy-2] [INFO] [1746049795.338893568] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049795.338764880] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049795.338950464] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049795.339281340] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049795.339667365] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049795.344360913] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049795.344862076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049795.345414402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049795.346440019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049795.347424330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049795.445430229] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049795.446135293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049795.446967380] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049795.448416075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049795.449004244] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049795.503346359] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973719 Long: -76.50297491 -[vectornav-1] [INFO] [1746049795.505083097] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.293, -3.41, 7.541) -[mux-7] [INFO] [1746049795.544978862] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049795.545952225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049795.546555297] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049795.548045830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049795.549066128] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049795.585484249] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049795.587237680] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049795.587976649] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049795.588198396] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049795.589077053] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049795.589102734] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049795.589940267] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049795.645112615] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049795.645915171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049795.646557516] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049795.647983349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049795.648530584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049795.745447631] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049795.746070881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049795.747004427] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049795.748453629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049795.749725843] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049795.835318706] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049795.837150041] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049795.837903125] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049795.838126724] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049795.838650501] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049795.839019713] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049795.839871858] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049795.844388073] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049795.844957499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049795.845489055] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049795.846587217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049795.847704690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049795.945577300] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049795.946397623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049795.947219374] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049795.948671487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049795.949165133] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049796.003455543] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973722 Long: -76.50297518 -[vectornav-1] [INFO] [1746049796.005049254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.297, -3.412, 7.528) -[mux-7] [INFO] [1746049796.045333800] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049796.046243376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049796.046784505] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049796.047702934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049796.048203256] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049796.085367205] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049796.087118149] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049796.087864457] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049796.088059820] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049796.088969270] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049796.088530850] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049796.089877296] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049796.145478184] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049796.146287316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049796.147123809] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049796.148755559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049796.149877849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049796.245393002] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049796.246114777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049796.246954938] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049796.248460664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049796.249070861] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049796.335472854] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049796.338256949] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049796.338694258] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049796.339183073] [sailbot.teensy]: Wind angle: 351 -[teensy-2] [INFO] [1746049796.340140387] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049796.340988747] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049796.341779539] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049796.344304262] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049796.344772612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049796.345349023] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049796.346358211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049796.347320491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049796.445405688] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049796.446145051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049796.446958092] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049796.448448847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049796.449382074] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049796.503693004] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973717 Long: -76.50297544 -[vectornav-1] [INFO] [1746049796.505433397] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26099999999997, -3.428, 7.285) -[mux-7] [INFO] [1746049796.545452123] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049796.546323483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049796.546973809] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049796.548212744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049796.548626501] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049796.585444929] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049796.587369139] [sailbot.teensy]: Wind angle: 353 -[teensy-2] [INFO] [1746049796.588339370] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049796.587859051] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049796.588510834] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049796.589238953] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049796.590194095] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049796.645485284] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049796.646178675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049796.647037694] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049796.648431231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049796.649693100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049796.745608456] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049796.746436529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049796.747427384] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049796.748838109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049796.749360501] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049796.835530211] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049796.838196592] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049796.839212763] [sailbot.teensy]: Wind angle: 352 -[mux-7] [INFO] [1746049796.839246899] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049796.840247397] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049796.841223319] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049796.842154358] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049796.844672461] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049796.845446519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049796.845848198] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049796.847243487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049796.848392691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049796.945236465] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049796.945918992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049796.946693982] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049796.947994014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049796.949124297] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049797.003966519] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973727 Long: -76.50297575 -[vectornav-1] [INFO] [1746049797.005747723] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.264, -3.432, 7.28) -[mux-7] [INFO] [1746049797.045015006] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049797.045760681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049797.046343323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049797.047747916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049797.048893739] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049797.085364032] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049797.087150004] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049797.087907448] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049797.088105944] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049797.089023267] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049797.088264738] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049797.089886787] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049797.145094423] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049797.145870175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049797.146466564] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049797.147843865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049797.148956488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049797.245349034] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049797.246235036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049797.246928812] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049797.248679187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049797.249860431] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049797.335897984] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049797.338161544] [sailbot.teensy]: Wind angle: 352 -[teensy-2] [INFO] [1746049797.339234115] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049797.338946258] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049797.339346167] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049797.339613872] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049797.339988377] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049797.344459311] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049797.345002986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049797.345602409] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049797.346652645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049797.347629936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049797.445454697] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049797.446167645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049797.446990361] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049797.448244365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049797.448720284] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049797.503224901] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973731 Long: -76.50297594 -[vectornav-1] [INFO] [1746049797.504712025] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.264, -3.427, 7.23) -[mux-7] [INFO] [1746049797.544940897] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049797.545666278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049797.546308457] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049797.547655689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049797.548885431] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049797.585456495] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049797.587267393] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049797.587968882] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049797.588258645] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049797.589147219] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049797.589290528] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049797.589680263] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049797.645480736] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049797.646315427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049797.647150325] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049797.648711156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049797.649236832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049797.745339200] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049797.746210204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049797.746998298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049797.748503600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049797.749722745] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049797.835351921] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049797.837335347] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049797.837868013] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049797.838299861] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049797.839033622] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049797.839161427] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049797.840014514] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049797.844186046] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049797.844817702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049797.845341115] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049797.846450262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049797.847557305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049797.945366903] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049797.946129460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049797.947128033] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049797.948000252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049797.948519630] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049798.003667827] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973737 Long: -76.50297621 -[vectornav-1] [INFO] [1746049798.005561784] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.259, -3.429, 7.231) -[mux-7] [INFO] [1746049798.045214064] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049798.045904779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049798.046567619] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049798.047794603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049798.048804081] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049798.085494780] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049798.087917497] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049798.088361479] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049798.088561673] [sailbot.teensy]: Wind angle: 349 -[teensy-2] [INFO] [1746049798.089492344] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049798.090348018] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049798.091161233] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049798.145006288] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049798.145788971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049798.146459007] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049798.147618961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049798.148781982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049798.245497088] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049798.246328204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049798.247045593] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049798.248757358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049798.249987046] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049798.336079649] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049798.339052650] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049798.339126084] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049798.339309837] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049798.339567394] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049798.339989504] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049798.340354513] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049798.344548140] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049798.345074348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049798.345713578] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049798.346809062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049798.347808786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049798.445524611] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049798.447025833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049798.447134289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049798.449147776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049798.450172847] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049798.502991161] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973733 Long: -76.50297648 -[vectornav-1] [INFO] [1746049798.504323119] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26300000000003, -3.431, 7.217) -[mux-7] [INFO] [1746049798.545052043] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049798.546491965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049798.546539953] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049798.548353485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049798.549323323] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049798.585573043] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049798.587926187] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049798.588357680] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049798.589288772] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049798.589344103] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049798.590302680] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049798.591144345] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049798.645449736] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049798.646166714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049798.647024001] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049798.648454771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049798.649695321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049798.745467168] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049798.746253877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049798.747075234] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049798.748334272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049798.748838191] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049798.835372385] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049798.837878846] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049798.838005692] [sailbot.teensy]: Wind angle: 347 -[mux-7] [INFO] [1746049798.838350912] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049798.838974626] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049798.839360375] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049798.839723242] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049798.844478981] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049798.845056548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049798.846788882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049798.847042076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049798.848326517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049798.945620500] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049798.946347899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049798.947376091] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049798.948893311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049798.950237784] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049799.002504407] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973743 Long: -76.50297681 -[vectornav-1] [INFO] [1746049799.003489476] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26599999999996, -3.425, 7.252) -[mux-7] [INFO] [1746049799.045644094] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049799.046227201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049799.047421282] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049799.048481219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049799.049638168] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049799.085508537] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049799.087397966] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049799.087942922] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049799.088410530] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049799.088927815] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049799.089280611] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049799.090136706] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049799.145151973] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049799.145913548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049799.146642877] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049799.148055172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049799.148646125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049799.245648396] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049799.246531056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049799.247519574] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049799.248980658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049799.249579981] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049799.335479102] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049799.337488933] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049799.338357878] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049799.338633649] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049799.339096455] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049799.339195085] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049799.339562294] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049799.344534814] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049799.345090274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049799.345700570] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049799.346741515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049799.347722168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049799.445240994] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049799.445986306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049799.446750050] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049799.448233481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049799.448768884] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049799.503329427] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973747 Long: -76.50297733 -[vectornav-1] [INFO] [1746049799.504945472] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.29499999999996, -3.409, 7.449) -[mux-7] [INFO] [1746049799.545155568] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049799.546007901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049799.546601706] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049799.548106253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049799.549311164] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049799.585568279] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049799.587483090] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049799.588505380] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049799.588555072] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049799.589389912] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049799.589476082] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049799.590383350] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049799.645229141] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049799.645947646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049799.646735397] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049799.648115184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049799.649327007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049799.745393562] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049799.746114503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049799.746976813] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049799.748441858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049799.748952244] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049799.835425193] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049799.837390236] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049799.837977309] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049799.838508863] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049799.839397310] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049799.840325579] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049799.841163146] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049799.844191750] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049799.844770392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049799.845293310] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049799.846406561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049799.847420833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049799.945412745] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049799.946202551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049799.946976518] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049799.948578378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049799.949740952] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049800.002407670] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973759 Long: -76.50297776 -[vectornav-1] [INFO] [1746049800.003398954] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.288, -3.421, 7.412) -[mux-7] [INFO] [1746049800.045563177] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049800.046404940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049800.047164413] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049800.048892694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049800.050124586] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049800.085584042] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049800.087711492] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049800.088359696] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049800.088805423] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049800.089248052] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049800.089739044] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049800.090596148] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049800.145426582] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049800.146291210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049800.147010525] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049800.148799380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049800.150054492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049800.245215933] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049800.246207081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049800.246738562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049800.248339152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049800.249488312] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049800.335857880] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049800.338550725] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049800.338624766] [sailbot.teensy]: Wind angle: 350 -[mux-7] [INFO] [1746049800.338817711] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049800.339063452] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049800.339441089] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049800.339800797] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049800.344484730] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049800.345087674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049800.345602753] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049800.346751834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049800.347837775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049800.445639108] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049800.447272970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049800.447534801] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049800.449900352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049800.451103628] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049800.503467350] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973759 Long: -76.50297788 -[vectornav-1] [INFO] [1746049800.505258696] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26, -3.439, 7.189) -[mux-7] [INFO] [1746049800.545321625] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049800.546029454] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049800.546906304] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049800.548382232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049800.548970136] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049800.585394043] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049800.587180834] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049800.587633235] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049800.588135110] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049800.589059010] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049800.589412191] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049800.589902392] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049800.645572353] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049800.646134870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049800.647308468] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049800.648714526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049800.649242973] [sailbot.teensy]: Message sent to servo -[rosbridge_websocket-8] [INFO] [1746049800.670185423] [rosbridge_websocket]: Calling services in existing thread -[rosbridge_websocket-8] [INFO] [1746049800.671200965] [rosbridge_websocket]: Sending action goals in existing thread -[rosbridge_websocket-8] [INFO] [1746049800.672615598] [rosbridge_websocket]: Client connected. 2 clients total. -[mux-7] [INFO] [1746049800.745600622] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049800.746313480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049800.747345891] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049800.748543971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049800.749066029] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049800.835735675] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049800.837929095] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049800.838596725] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049800.839023249] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049800.839256098] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049800.840009501] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049800.840983133] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049800.844463848] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049800.844962859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049800.845788727] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049800.847065586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049800.848546954] [sailbot.teensy]: Message sent to servo -[rosbridge_websocket-8] [INFO] [1746049800.890838321] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/algo_rudder -[rosbridge_websocket-8] [INFO] [1746049800.894444624] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/algo_sail -[rosbridge_websocket-8] [INFO] [1746049800.898070411] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/control_mode -[rosbridge_websocket-8] [INFO] [1746049800.901889891] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/radio_rudder -[rosbridge_websocket-8] [INFO] [1746049800.905101260] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/radio_sail -[rosbridge_websocket-8] [INFO] [1746049800.907827414] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/rudder_angle -[rosbridge_websocket-8] [INFO] [1746049800.910158580] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/sail -[rosbridge_websocket-8] [INFO] [1746049800.912054228] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /gps -[rosbridge_websocket-8] [INFO] [1746049800.914086642] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /imu -[rosbridge_websocket-8] [INFO] [1746049800.916248113] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/actual_rudder_angle -[rosbridge_websocket-8] [INFO] [1746049800.918143658] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/wind -[rosbridge_websocket-8] [INFO] [1746049800.920080206] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/actual_sail_angle -[rosbridge_websocket-8] [INFO] [1746049800.922196590] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/tacking_point -[rosbridge_websocket-8] [INFO] [1746049800.924061268] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/main_algo_debug -[rosbridge_websocket-8] [INFO] [1746049800.926062437] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to /sailbot/dropped_packets -[rosbridge_websocket-8] [INFO] [1746049800.928331940] [rosbridge_websocket]: [Client 21deb62c-5041-4c56-abb1-d0ac5d82804b] Subscribed to sailbot/current_waypoint -[waypoint_service-5] [INFO] [1746049800.930544651] [sailbot.waypoint_service]: Received request: command=get, argument= -[mux-7] [INFO] [1746049800.944375761] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049800.945253385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049800.945936315] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049800.947882838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049800.948696182] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049801.002891439] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973777 Long: -76.50297819 -[vectornav-1] [INFO] [1746049801.004131006] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.269, -3.439, 7.214) -[mux-7] [INFO] [1746049801.045017753] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049801.045815357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049801.046729203] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049801.047728297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049801.048922549] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049801.085238260] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049801.087492244] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049801.087651001] [sailbot.teensy]: Wind angle: 352 -[mux-7] [INFO] [1746049801.088252168] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049801.089005956] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049801.089923916] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049801.090838074] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049801.145431778] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049801.146197088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049801.146999695] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049801.148565355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049801.149608039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049801.245391040] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049801.246170503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049801.247074541] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049801.247774464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049801.248362097] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049801.335848753] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049801.338635194] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049801.339143234] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049801.339485535] [sailbot.teensy]: Wind angle: 349 -[teensy-2] [INFO] [1746049801.339917502] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049801.340287194] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049801.340640702] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049801.344549493] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049801.344980203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049801.345913238] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049801.346727960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049801.347788123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049801.445269200] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049801.446103193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049801.446843936] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049801.448197806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049801.449414186] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049801.502659351] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973781 Long: -76.50297846 -[vectornav-1] [INFO] [1746049801.503803442] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.346, -3.389, 7.839) -[mux-7] [INFO] [1746049801.545393075] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049801.546540001] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049801.547439355] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049801.549139002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049801.550325314] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049801.585557509] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049801.587929677] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049801.588067846] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049801.589100438] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049801.589872338] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049801.590011075] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049801.590957785] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049801.645469363] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049801.646379915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049801.647138567] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049801.648581379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049801.649807659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049801.745382830] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049801.746053785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049801.747221209] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049801.748422848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049801.749600476] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049801.835364340] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049801.837365575] [sailbot.teensy]: Wind angle: 330 -[teensy-2] [INFO] [1746049801.838370735] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049801.838542669] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049801.839278909] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049801.839831347] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049801.840109056] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049801.844390482] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049801.844881791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049801.846140801] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049801.846555810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049801.847948473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049801.943674682] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049801.943992273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049801.944183265] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049801.944785728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049801.945276540] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049802.002504697] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973766 Long: -76.50297886 -[vectornav-1] [INFO] [1746049802.003524732] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.329, -3.416, 7.676) -[mux-7] [INFO] [1746049802.045013821] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049802.046280312] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049802.046538721] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049802.048547822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049802.049702391] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049802.085516553] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049802.087398034] [sailbot.teensy]: Wind angle: 325 -[teensy-2] [INFO] [1746049802.088433934] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049802.088440326] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049802.089358306] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049802.089423603] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049802.090295971] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049802.144930481] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049802.145581128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049802.146294161] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049802.147625618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049802.148655099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049802.245216690] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049802.246032670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049802.246764833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049802.248251327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049802.248788728] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049802.335387430] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049802.337370004] [sailbot.teensy]: Wind angle: 327 -[trim_sail-4] [INFO] [1746049802.338073626] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049802.338381433] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049802.339125503] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049802.339176514] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049802.339571156] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049802.344420033] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049802.345143342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049802.346018549] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049802.346987584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049802.348028542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049802.445534905] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049802.446363476] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049802.447184399] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049802.448752969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049802.449919978] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049802.503602883] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973796 Long: -76.50297901 -[vectornav-1] [INFO] [1746049802.505394714] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.267, -3.429, 7.17) -[mux-7] [INFO] [1746049802.544581002] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049802.545349805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049802.545733822] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049802.547436462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049802.548720361] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049802.585546303] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049802.587557044] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049802.588349569] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049802.588553771] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049802.589363065] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049802.589429632] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049802.590327832] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049802.644857991] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049802.645514769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049802.646063633] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049802.647260513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049802.648455170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049802.745182397] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049802.746354779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049802.746783586] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049802.748678174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049802.749761103] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049802.835684765] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049802.838309890] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746049802.838522551] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049802.839327298] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049802.839484356] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049802.839910763] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049802.840280133] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049802.844594934] [sailbot.mux]: Published sail angle from controller_app: 28 -[mux-7] [INFO] [1746049802.845824261] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049802.845202235] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049802.847573239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049802.848876449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049802.945545982] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049802.946562299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049802.947223597] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049802.949073873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049802.950167889] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049803.003557077] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973798 Long: -76.50297928 -[vectornav-1] [INFO] [1746049803.004942138] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.308, -3.423, 7.521) -[mux-7] [INFO] [1746049803.045460821] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049803.046542767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049803.048844048] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049803.049130637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049803.051789005] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049803.085577800] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049803.087832410] [sailbot.teensy]: Wind angle: 333 -[trim_sail-4] [INFO] [1746049803.088015594] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049803.088829632] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049803.089746139] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049803.089886310] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049803.090612895] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049803.145252487] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049803.146371649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049803.146880336] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049803.148864704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049803.149384734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049803.244846392] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049803.245629094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049803.246160442] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049803.247557309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049803.248584207] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049803.335385373] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049803.337472628] [sailbot.teensy]: Wind angle: 321 -[trim_sail-4] [INFO] [1746049803.338416232] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049803.338494546] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049803.339397879] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049803.339922024] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049803.340330568] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049803.344418194] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049803.345032581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049803.346033134] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049803.346761387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049803.347946534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049803.445178592] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049803.446117880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049803.446644046] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049803.447764066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049803.448244112] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049803.503492689] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697383 Long: -76.50297929 -[vectornav-1] [INFO] [1746049803.504762985] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.289, -3.425, 7.297) -[mux-7] [INFO] [1746049803.545115233] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049803.545828451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049803.546409630] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049803.547789704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049803.548758874] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049803.585732457] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049803.587922476] [sailbot.teensy]: Wind angle: 321 -[trim_sail-4] [INFO] [1746049803.588902400] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049803.588975832] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049803.589836568] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049803.589855989] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049803.590791171] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049803.645456751] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049803.646395029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049803.646995625] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049803.647989381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049803.648443720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049803.745510669] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049803.746613439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049803.747088586] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049803.748609197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049803.749162320] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049803.835709554] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049803.838365603] [sailbot.teensy]: Wind angle: 322 -[trim_sail-4] [INFO] [1746049803.838572039] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049803.839295703] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049803.839580678] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049803.839981868] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049803.840772900] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049803.844445344] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049803.845049032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049803.845709557] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049803.846934047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049803.848084997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049803.945406197] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049803.946182510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049803.947000057] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049803.947986608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049803.948447370] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049804.003051921] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973828 Long: -76.50297969 -[vectornav-1] [INFO] [1746049804.004292869] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.28700000000003, -3.422, 7.283) -[mux-7] [INFO] [1746049804.045127696] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049804.046004313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049804.046591140] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049804.048668594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049804.049690312] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049804.085529171] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049804.087857902] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049804.088302317] [sailbot.teensy]: Wind angle: 322 -[mux-7] [INFO] [1746049804.088371236] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049804.089504990] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049804.090401029] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049804.091216131] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049804.144908396] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049804.145855578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049804.146193804] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049804.147637958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049804.148499286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049804.245162905] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049804.245882837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049804.246648969] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049804.248117560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049804.249179465] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049804.335439151] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049804.337235431] [sailbot.teensy]: Wind angle: 328 -[teensy-2] [INFO] [1746049804.338151755] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049804.337788888] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049804.338981438] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049804.340381920] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049804.341313391] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049804.344253216] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049804.344835630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049804.345637142] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049804.346632059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049804.347700188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049804.445191675] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049804.445864178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049804.446766044] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049804.447967069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049804.449054249] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049804.502547490] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469738 Long: -76.50298005 -[vectornav-1] [INFO] [1746049804.503751398] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.25800000000004, -3.433, 7.117) -[mux-7] [INFO] [1746049804.544847519] [sailbot.mux]: Published sail angle from controller_app: 28 -[mux-7] [INFO] [1746049804.546331631] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049804.546360726] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049804.547865417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049804.548327272] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049804.585605947] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049804.588119934] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049804.588844358] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049804.589080939] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049804.589308635] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049804.589991486] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049804.590957948] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049804.644987333] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049804.645701671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049804.646334351] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049804.647824155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049804.648987563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049804.745615084] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049804.746604714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049804.747423602] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049804.749221029] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049804.750478948] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049804.835356445] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049804.837937427] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049804.838232939] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049804.838762224] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746049804.839711904] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049804.840614857] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049804.841427920] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049804.844303590] [sailbot.mux]: Published sail angle from controller_app: 28 -[mux-7] [INFO] [1746049804.845468142] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049804.845808146] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049804.848811851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049804.850080848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049804.945193927] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049804.945871255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049804.946775997] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049804.947990851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049804.948784562] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049805.003665239] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973788 Long: -76.50298033 -[vectornav-1] [INFO] [1746049805.005372929] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.276, -3.435, 7.174) -[mux-7] [INFO] [1746049805.045026870] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049805.045955122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049805.046554188] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049805.047848187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049805.048872899] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049805.085269173] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049805.087882971] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746049805.088805537] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049805.087992308] [sailbot.mux]: algo sail angle: 80 -[trim_sail-4] [INFO] [1746049805.088002952] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049805.089696182] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049805.090516066] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049805.145110533] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049805.146148203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049805.147630580] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049805.147937360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049805.148399988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049805.245180266] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049805.245908305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049805.246679742] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049805.248236694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049805.249381391] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049805.335404378] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049805.338056192] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049805.338378733] [sailbot.teensy]: Wind angle: 334 -[mux-7] [INFO] [1746049805.339006309] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049805.339479589] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049805.340418102] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049805.340756481] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049805.344348002] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049805.344928640] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049805.345433604] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049805.346608146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049805.347775366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049805.445192579] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049805.446078377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049805.446680802] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049805.448453691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049805.449651294] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049805.502471970] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973792 Long: -76.50298049 -[vectornav-1] [INFO] [1746049805.503533544] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.277, -3.438, 7.17) -[mux-7] [INFO] [1746049805.545084761] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049805.545831125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049805.546411099] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049805.547751197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049805.548814531] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049805.585408470] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049805.587097964] [sailbot.teensy]: Wind angle: 334 -[teensy-2] [INFO] [1746049805.588006463] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049805.587833582] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049805.588892021] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049805.588938084] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049805.589811150] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049805.645367016] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049805.646085190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049805.646821819] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049805.647725895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049805.648322646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049805.745059226] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049805.745759356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049805.746488445] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049805.747699754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049805.748189809] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049805.835505292] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049805.837456245] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049805.838098879] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049805.838467471] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049805.839422490] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049805.840471860] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049805.841492195] [sailbot.mux]: algo sail angle: 80 -[mux-7] [INFO] [1746049805.844492825] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049805.844927843] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049805.845784908] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049805.846601732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049805.847760322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049805.945587424] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049805.946671667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049805.947468446] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049805.949348917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049805.950511865] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049806.003117840] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973796 Long: -76.50298075 -[vectornav-1] [INFO] [1746049806.004926782] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.277, -3.439, 7.153) -[mux-7] [INFO] [1746049806.045171825] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049806.045792072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049806.046521773] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049806.047743260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049806.048908189] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049806.085419587] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049806.087562450] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049806.087950670] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049806.088516601] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049806.089318642] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049806.089416046] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049806.090309384] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049806.145370793] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049806.146112242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049806.147119710] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049806.148567600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049806.149211174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049806.245368521] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049806.245905769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049806.247209836] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049806.248125725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049806.248686437] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049806.335237996] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049806.337509338] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049806.337995013] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049806.338467630] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049806.338763241] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049806.339404234] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049806.340296746] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049806.344334505] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049806.344935624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049806.345436428] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049806.346623690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049806.347625015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049806.445342807] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049806.446253899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049806.446950906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049806.448724351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049806.449913735] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049806.503482035] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973804 Long: -76.50298108 -[vectornav-1] [INFO] [1746049806.505248920] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.275, -3.439, 7.163) -[mux-7] [INFO] [1746049806.545210817] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049806.546350549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049806.546670161] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049806.549041446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049806.550229540] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049806.585356251] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049806.588034599] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049806.588328887] [sailbot.teensy]: Wind angle: 330 -[mux-7] [INFO] [1746049806.588495748] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049806.589516671] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049806.590445964] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049806.591322197] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049806.645438547] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049806.646351520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049806.647218415] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049806.648732529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049806.649791949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049806.745271993] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049806.746241621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049806.746814378] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049806.748667618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049806.749257980] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049806.835371335] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049806.837674623] [sailbot.teensy]: Wind angle: 330 -[trim_sail-4] [INFO] [1746049806.838019657] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049806.838664300] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049806.839555743] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049806.839291412] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049806.840495148] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049806.844282249] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049806.845183676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049806.845426912] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049806.847708874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049806.849895052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049806.945339049] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049806.946087516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049806.946803826] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049806.948285177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049806.949573693] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049807.002516661] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973794 Long: -76.50298151 -[vectornav-1] [INFO] [1746049807.003594029] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.279, -3.442, 7.173) -[mux-7] [INFO] [1746049807.044862345] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049807.045652382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049807.046124766] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049807.047539339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049807.048611777] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049807.085503400] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049807.088032861] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049807.088327578] [sailbot.teensy]: Wind angle: 330 -[teensy-2] [INFO] [1746049807.089252728] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049807.090119260] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049807.090137110] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049807.091019544] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049807.145132364] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049807.145720989] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049807.147570814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[mux-7] [INFO] [1746049807.146611616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049807.148628714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049807.245478630] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049807.246634981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049807.247074152] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049807.249647804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049807.250806359] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049807.335694333] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049807.338106126] [sailbot.teensy]: Wind angle: 327 -[trim_sail-4] [INFO] [1746049807.338507716] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049807.339227094] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049807.340095975] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049807.340200004] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049807.340900240] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049807.344432712] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049807.344942671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049807.345531502] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049807.346590974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049807.347743976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049807.445231014] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049807.446189471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049807.446741323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049807.448414295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049807.449535019] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049807.503228124] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973793 Long: -76.50298181 -[vectornav-1] [INFO] [1746049807.504675904] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.288, -3.437, 7.233) -[mux-7] [INFO] [1746049807.545335710] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049807.546091415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049807.546812634] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049807.548430590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049807.549559600] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049807.585328893] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049807.587634387] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049807.587634583] [sailbot.teensy]: Wind angle: 322 -[teensy-2] [INFO] [1746049807.588931338] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049807.588957865] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049807.590112882] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049807.590948472] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049807.645395295] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049807.646036544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049807.647124177] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049807.647999633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049807.648449245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049807.745160852] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049807.746138695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049807.746855403] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049807.748438392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049807.749559316] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049807.835302654] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049807.837012870] [sailbot.teensy]: Wind angle: 322 -[trim_sail-4] [INFO] [1746049807.837487218] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049807.838013102] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049807.838941625] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049807.839376217] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049807.839872692] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049807.844394655] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049807.844937028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049807.845459707] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049807.846557249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049807.847729621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049807.945489381] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049807.946267948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049807.947169041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049807.948615171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049807.949827524] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049808.002689393] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973814 Long: -76.50298212 -[vectornav-1] [INFO] [1746049808.004091453] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.28499999999997, -3.448, 7.186) -[mux-7] [INFO] [1746049808.045267106] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049808.045978321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049808.046682008] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049808.048231384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049808.049405313] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049808.085413439] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049808.087205450] [sailbot.teensy]: Wind angle: 323 -[teensy-2] [INFO] [1746049808.088132374] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049808.087930639] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049808.088337026] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049808.089028379] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049808.089869527] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049808.145207531] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049808.145876441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049808.146718263] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049808.149547813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049808.150644496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049808.245233375] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049808.245985768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049808.247088242] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049808.248086274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049808.249843995] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049808.335351351] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049808.337946813] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049808.338180470] [sailbot.teensy]: Wind angle: 323 -[mux-7] [INFO] [1746049808.338291734] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049808.339470679] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049808.340410125] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049808.341268349] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049808.344258146] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049808.344776533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049808.345414861] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049808.346502387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049808.347655219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049808.445529739] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049808.446492466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049808.447133032] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049808.448611037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049808.449148568] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049808.502487985] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973818 Long: -76.5029824 -[vectornav-1] [INFO] [1746049808.503560242] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.30899999999997, -3.434, 7.37) -[mux-7] [INFO] [1746049808.545330477] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049808.546187752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049808.546997597] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049808.548313899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049808.549364852] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049808.585746656] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049808.587816684] [sailbot.teensy]: Wind angle: 333 -[trim_sail-4] [INFO] [1746049808.588686601] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049808.588914237] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049808.589874316] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049808.590557308] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049808.590754955] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049808.645268373] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049808.645855579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049808.646835318] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049808.649442069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049808.650626354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049808.745610823] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049808.746516832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049808.747270086] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049808.748716589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049808.749652856] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049808.835654428] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049808.837831007] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049808.838166432] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049808.838676084] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049808.839073167] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049808.839440738] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049808.839469714] [sailbot.mux]: algo sail angle: 80 -[mux-7] [INFO] [1746049808.844407603] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049808.844920616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049808.845509357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049808.846703576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049808.847694826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049808.945453062] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049808.946236376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049808.947292484] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049808.948821900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049808.950140179] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049809.003612735] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973821 Long: -76.50298254 -[vectornav-1] [INFO] [1746049809.005048839] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.30899999999997, -3.436, 7.355) -[mux-7] [INFO] [1746049809.044941312] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049809.045698309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049809.046206890] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049809.047503170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049809.048535266] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049809.085328065] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049809.087293323] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049809.087639215] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049809.088251461] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049809.089159115] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049809.089400327] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049809.090027783] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049809.145547596] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049809.146163775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049809.147248551] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049809.148462441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049809.149628798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049809.245064290] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049809.245568034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049809.246373959] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049809.247363280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049809.248460047] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049809.335321396] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049809.337121015] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049809.338187067] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049809.339256541] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049809.339531839] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049809.339926071] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049809.340692714] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049809.344507706] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049809.344912750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049809.345973524] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049809.346642820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049809.347839611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049809.445337343] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049809.445867712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049809.446988738] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049809.448333459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049809.449155764] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049809.504026194] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697382 Long: -76.5029829 -[vectornav-1] [INFO] [1746049809.505918043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.30600000000004, -3.437, 7.339) -[mux-7] [INFO] [1746049809.545006247] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049809.545573429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049809.546491596] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049809.547485932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049809.548548054] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049809.585264924] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049809.586921121] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049809.587804883] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049809.587629746] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049809.588672881] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049809.588947329] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049809.589540389] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049809.645121240] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049809.645528430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049809.646727129] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049809.647338267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049809.648536612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049809.745127023] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049809.745696822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049809.747046887] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049809.747801068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049809.749079389] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049809.835609514] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049809.838350988] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049809.838656153] [sailbot.teensy]: Wind angle: 328 -[mux-7] [INFO] [1746049809.839105329] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049809.839584405] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049809.840495625] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049809.841089263] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049809.844384753] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049809.844885547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049809.845469683] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049809.846565942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049809.847600595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049809.945122052] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049809.945921994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049809.946584058] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049809.947988897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049809.949160981] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049810.002937222] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973833 Long: -76.50298315 -[vectornav-1] [INFO] [1746049810.004133060] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.305, -3.437, 7.339) -[mux-7] [INFO] [1746049810.044692551] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049810.045335687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049810.045855134] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049810.047111310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049810.048118129] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049810.085452791] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049810.088242074] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049810.088385513] [sailbot.teensy]: Wind angle: 329 -[mux-7] [INFO] [1746049810.089460694] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049810.089697805] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049810.090570511] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049810.091440265] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049810.145173630] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049810.146153550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049810.146775802] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049810.148273512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049810.148793018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049810.245518003] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049810.246725161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049810.247121569] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049810.248692926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049810.249201381] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049810.335652629] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049810.338101763] [sailbot.teensy]: Wind angle: 332 -[trim_sail-4] [INFO] [1746049810.338558089] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049810.339358250] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049810.339491643] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049810.340484628] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049810.341477833] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049810.344401174] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049810.344984183] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049810.345490265] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049810.346793442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049810.347893808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049810.445345625] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049810.446087236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049810.446852833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049810.448248234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049810.449289390] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049810.503331869] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973843 Long: -76.50298335 -[vectornav-1] [INFO] [1746049810.504821124] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.3, -3.443, 7.309) -[mux-7] [INFO] [1746049810.545028846] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049810.545963199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049810.547112153] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049810.548257053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049810.549573499] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049810.585505328] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049810.587371227] [sailbot.teensy]: Wind angle: 332 -[trim_sail-4] [INFO] [1746049810.588126848] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049810.589256153] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049810.589298831] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049810.590265491] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049810.591119579] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049810.645544301] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049810.646814140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049810.647149509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049810.649112117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049810.650427865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049810.745560380] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049810.746579509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049810.747188682] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049810.748923678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049810.750107418] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049810.835424040] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049810.837797096] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049810.838232595] [sailbot.teensy]: Wind angle: 332 -[mux-7] [INFO] [1746049810.839067310] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049810.839241256] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049810.839691955] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049810.840129200] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049810.844305475] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049810.844946544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049810.845411542] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049810.846707715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049810.847790450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049810.944706820] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049810.945396782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049810.945964684] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049810.947159071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049810.948311122] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049811.002394265] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973857 Long: -76.50298358 -[vectornav-1] [INFO] [1746049811.003538524] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.304, -3.443, 7.32) -[mux-7] [INFO] [1746049811.044977301] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049811.045712251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049811.046376558] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049811.047612368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049811.048638927] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049811.085441110] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049811.088114837] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049811.088309098] [sailbot.teensy]: Wind angle: 332 -[mux-7] [INFO] [1746049811.088508198] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049811.089368596] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049811.090345108] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049811.091286341] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049811.145213408] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049811.146236139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049811.147149182] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049811.148025682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049811.148545408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049811.245289102] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049811.246247209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049811.246945471] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049811.248397385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049811.249558460] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049811.335602137] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049811.337646443] [sailbot.teensy]: Wind angle: 332 -[trim_sail-4] [INFO] [1746049811.338204449] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049811.338654565] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049811.339580205] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049811.338746608] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049811.340601076] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049811.344431395] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049811.345185423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049811.345562890] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049811.347123573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049811.348236807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049811.445315655] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049811.446046765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049811.446817552] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049811.448215203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049811.449411074] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049811.503640722] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973871 Long: -76.50298379 -[vectornav-1] [INFO] [1746049811.505451012] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.328, -3.43, 7.523) -[mux-7] [INFO] [1746049811.545097378] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049811.546326587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049811.546723615] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049811.548411601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049811.549556409] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049811.585559206] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049811.587567605] [sailbot.teensy]: Wind angle: 332 -[trim_sail-4] [INFO] [1746049811.587994897] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049811.588530371] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049811.589367562] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049811.589421029] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049811.590276625] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049811.645565673] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049811.646288703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049811.647482734] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049811.648396724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049811.648948037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049811.745627795] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049811.746709138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049811.747415083] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049811.749256809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049811.750428358] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049811.835872625] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049811.838694483] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049811.839332107] [sailbot.teensy]: Wind angle: 330 -[mux-7] [INFO] [1746049811.840222653] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049811.840638312] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049811.841168106] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049811.841515603] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049811.844546126] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049811.845010404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049811.845725010] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049811.846812912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049811.847918693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049811.945454537] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049811.946340506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049811.947068638] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049811.948634422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049811.949098495] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049812.002925396] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973865 Long: -76.50298386 -[vectornav-1] [INFO] [1746049812.004095760] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.356, -3.426, 7.677) -[mux-7] [INFO] [1746049812.045131175] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049812.045900206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049812.046513432] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049812.048175340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049812.049313630] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049812.085631057] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049812.088283102] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049812.088822347] [sailbot.teensy]: Wind angle: 330 -[teensy-2] [INFO] [1746049812.089771621] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049812.089821842] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049812.090646333] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049812.091517636] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049812.145539296] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049812.146370183] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049812.147220073] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049812.148931735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049812.150173350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049812.245623451] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049812.246379486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049812.247405601] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049812.248661991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049812.249903665] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049812.335528351] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049812.337911990] [sailbot.teensy]: Wind angle: 331 -[teensy-2] [INFO] [1746049812.338727989] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049812.339112398] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049812.338676444] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049812.339370635] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049812.339484117] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049812.344626650] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049812.345302069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049812.346142649] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049812.347231942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049812.349070344] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049812.445430708] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049812.445986842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049812.447035066] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049812.448473764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049812.449903261] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049812.502517559] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973876 Long: -76.50298399 -[vectornav-1] [INFO] [1746049812.503604202] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.349, -3.416, 7.694) -[mux-7] [INFO] [1746049812.545491484] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049812.546084033] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049812.547562634] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049812.548360968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049812.548915413] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049812.585760018] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049812.588586434] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049812.588974488] [sailbot.teensy]: Wind angle: 330 -[mux-7] [INFO] [1746049812.589244300] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049812.590189136] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049812.591076208] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049812.591941196] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049812.645332442] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049812.645838617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049812.647019604] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049812.649413559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049812.650447490] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049812.745640003] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049812.746201679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049812.747468801] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049812.748515090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049812.750562152] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049812.835506801] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049812.838378678] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049812.838370584] [sailbot.teensy]: Wind angle: 330 -[mux-7] [INFO] [1746049812.839018673] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049812.839704002] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049812.840694791] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049812.841535585] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049812.844474684] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049812.844842854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049812.845667329] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049812.846468690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049812.847515024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049812.945578486] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049812.946019309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049812.947848326] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049812.948205380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049812.949318390] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049813.003487104] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973883 Long: -76.50298427 -[vectornav-1] [INFO] [1746049813.005514421] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.342, -3.443, 7.764) -[mux-7] [INFO] [1746049813.045393001] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049813.045564782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049813.046677453] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049813.049078241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049813.050342478] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049813.085744445] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049813.088461717] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049813.089212049] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049813.089757062] [sailbot.teensy]: Wind angle: 330 -[teensy-2] [INFO] [1746049813.090724751] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049813.091555549] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049813.092452831] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049813.145398910] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049813.146140075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049813.147025475] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049813.148224578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049813.149284376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049813.245403882] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049813.246087521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049813.247289705] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049813.248279957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049813.249137020] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049813.335593970] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049813.337958869] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049813.338659777] [sailbot.teensy]: Wind angle: 330 -[mux-7] [INFO] [1746049813.339556707] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049813.339641352] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049813.340652807] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049813.341035742] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049813.344377717] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049813.344909271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049813.345501353] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049813.346623501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049813.347680413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049813.445396350] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049813.446144836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049813.447416136] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049813.448274228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049813.449517122] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049813.503653319] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973884 Long: -76.50298446 -[vectornav-1] [INFO] [1746049813.505685919] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.342, -3.429, 7.85) -[mux-7] [INFO] [1746049813.545188850] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049813.545819556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049813.547021076] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049813.547837443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049813.549193342] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049813.585374740] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049813.587430950] [sailbot.teensy]: Wind angle: 328 -[trim_sail-4] [INFO] [1746049813.588016369] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049813.588452275] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049813.589397816] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049813.589729549] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049813.590375829] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049813.645331807] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049813.646031046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049813.646875928] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049813.648758261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049813.650027894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049813.745529085] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049813.746304792] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049813.747454411] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049813.748944546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049813.749561465] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049813.835645544] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049813.837692587] [sailbot.teensy]: Wind angle: 321 -[teensy-2] [INFO] [1746049813.838756067] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049813.838863165] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049813.839702831] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049813.840308087] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049813.840647169] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049813.844323221] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049813.844929632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049813.845492611] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049813.846606652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049813.847776404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049813.945299631] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049813.945999006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049813.946838664] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049813.948374951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049813.948913119] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049814.002373664] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469739 Long: -76.50298466 -[vectornav-1] [INFO] [1746049814.003487365] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.301, -3.454, 7.445) -[mux-7] [INFO] [1746049814.045064178] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049814.045824373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049814.046347788] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049814.047758696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049814.048758884] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049814.085191009] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049814.086908949] [sailbot.teensy]: Wind angle: 321 -[trim_sail-4] [INFO] [1746049814.087593618] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049814.087857152] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049814.088776809] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049814.088776304] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049814.089667218] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049814.145350893] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049814.146218040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049814.146881376] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049814.148469648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049814.149695564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049814.244782487] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049814.245424419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049814.246294124] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049814.247281694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049814.248322035] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049814.335703012] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049814.338729542] [sailbot.teensy]: Wind angle: 322 -[trim_sail-4] [INFO] [1746049814.339101740] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049814.339799098] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049814.340024622] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049814.340744898] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049814.341641533] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049814.344315438] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049814.344777425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049814.345453303] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049814.346466616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049814.347525629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049814.445452965] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049814.446389132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049814.447128758] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049814.448052233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049814.448601981] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049814.503908072] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973899 Long: -76.50298472 -[vectornav-1] [INFO] [1746049814.505718432] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.24199999999996, -3.47, 7.059) -[mux-7] [INFO] [1746049814.544897528] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049814.545577288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049814.546170385] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049814.547548291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049814.549232529] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049814.585441268] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049814.587275236] [sailbot.teensy]: Wind angle: 328 -[teensy-2] [INFO] [1746049814.588286971] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049814.588347639] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049814.589237568] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049814.590132854] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049814.590488372] [sailbot.mux]: algo sail angle: 75 -[mux-7] [INFO] [1746049814.645291846] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049814.646143477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049814.646796446] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049814.647879579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049814.648348965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049814.745710226] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049814.746506030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049814.748169006] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049814.748393076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049814.748881502] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049814.835433611] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049814.837298378] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049814.838273127] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049814.838413023] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049814.839410946] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049814.839665047] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049814.839817340] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049814.844429718] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049814.845063091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049814.845736942] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049814.846905338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049814.847960279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049814.945632380] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049814.946499417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049814.947279923] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049814.948514981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049814.949067529] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049815.003326841] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973911 Long: -76.50298483 -[vectornav-1] [INFO] [1746049815.005477882] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.19100000000003, -3.499, 6.58) -[mux-7] [INFO] [1746049815.044966833] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049815.045704472] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049815.046421193] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049815.047658939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049815.048685832] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049815.085575576] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049815.087738386] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049815.088234677] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049815.088790163] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049815.089725847] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049815.090506485] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049815.090603689] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049815.145264086] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049815.146060276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049815.146811352] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049815.148297667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049815.149379350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049815.245225886] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049815.245942972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049815.246758238] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049815.247897231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049815.248430059] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049815.335433549] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049815.337340319] [sailbot.teensy]: Wind angle: 325 -[trim_sail-4] [INFO] [1746049815.337997448] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049815.338311964] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049815.339056588] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049815.339165060] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049815.339440784] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049815.344389688] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049815.345052913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049815.345572592] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049815.346777014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049815.347917181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049815.444982525] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049815.445635951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049815.446296924] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049815.447899595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049815.448956792] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049815.503272663] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973929 Long: -76.50298504 -[vectornav-1] [INFO] [1746049815.504422129] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.168, -3.492, 6.403) -[mux-7] [INFO] [1746049815.545273809] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049815.546149781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049815.546810513] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049815.548619479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049815.550054643] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049815.585437296] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049815.587356969] [sailbot.teensy]: Wind angle: 330 -[teensy-2] [INFO] [1746049815.588350803] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049815.587850724] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049815.589227708] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049815.589463141] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049815.590125000] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049815.645423486] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049815.645952175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049815.647116416] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049815.648542199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049815.649205066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049815.744803687] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049815.745573920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049815.746058397] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049815.747384238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049815.748260506] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049815.835451480] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049815.837678474] [sailbot.teensy]: Wind angle: 331 -[trim_sail-4] [INFO] [1746049815.838087515] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049815.838762401] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049815.839231040] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049815.839580862] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049815.839806482] [sailbot.mux]: algo sail angle: 75 -[mux-7] [INFO] [1746049815.844388281] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049815.844934967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049815.845539853] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049815.846648110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049815.847881963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049815.945726271] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049815.946402748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049815.947828981] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049815.948815106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049815.949360455] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049816.002317612] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973928 Long: -76.50298507 -[vectornav-1] [INFO] [1746049816.003308008] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.209, -3.496, 6.732) -[mux-7] [INFO] [1746049816.045305275] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049816.045857117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049816.046855042] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049816.047845774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049816.048960320] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049816.085651314] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049816.088368543] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049816.088830874] [sailbot.teensy]: Wind angle: 329 -[teensy-2] [INFO] [1746049816.089774577] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049816.089327882] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049816.090632926] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049816.091457383] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049816.145108738] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049816.145937052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049816.146615591] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049816.148354918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049816.149612111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049816.245585472] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049816.246309093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049816.247179319] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049816.248542800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049816.248981630] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049816.335330157] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049816.337474397] [sailbot.teensy]: Wind angle: 330 -[trim_sail-4] [INFO] [1746049816.337613774] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049816.338518861] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049816.338945383] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049816.339366936] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049816.339745361] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049816.344467937] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049816.345341553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049816.345624116] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049816.347105360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049816.348100924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049816.445498250] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049816.446527565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049816.447298495] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049816.447937451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049816.448407147] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049816.503537085] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973938 Long: -76.50298505 -[vectornav-1] [INFO] [1746049816.504892826] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.198, -3.497, 6.687) -[mux-7] [INFO] [1746049816.545048402] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049816.545937164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049816.546845587] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049816.547990581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049816.549109895] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049816.585441833] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049816.587567219] [sailbot.teensy]: Wind angle: 330 -[trim_sail-4] [INFO] [1746049816.588187698] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049816.588609347] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049816.589540537] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049816.589329566] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049816.590437154] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049816.645131882] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049816.646068108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049816.646670328] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049816.648335403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049816.649414377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049816.745338389] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049816.746257887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049816.747013127] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049816.748557815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049816.749645784] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049816.835477266] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049816.838005538] [sailbot.teensy]: Wind angle: 330 -[teensy-2] [INFO] [1746049816.838862349] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049816.838530126] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049816.838956059] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049816.839252126] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049816.839659796] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049816.844451979] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049816.844988821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049816.845609252] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049816.846775158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049816.848613608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049816.945483759] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049816.946358403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049816.947207041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049816.948729272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049816.949304267] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049817.003164035] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973934 Long: -76.50298527 -[vectornav-1] [INFO] [1746049817.004733164] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.197, -3.498, 6.678) -[mux-7] [INFO] [1746049817.045522289] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049817.046152375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049817.047213382] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049817.048447208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049817.049529570] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049817.085614511] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049817.088019868] [sailbot.teensy]: Wind angle: 325 -[trim_sail-4] [INFO] [1746049817.088143017] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049817.089033424] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049817.089516205] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049817.090714207] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049817.091602084] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049817.145337784] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049817.145996009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049817.146951721] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049817.148268972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049817.149428109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049817.245434809] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049817.246030637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049817.247300656] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049817.248148823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049817.249613769] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049817.335603463] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049817.338113218] [sailbot.teensy]: Wind angle: 319 -[trim_sail-4] [INFO] [1746049817.338235368] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049817.339127493] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049817.340468247] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049817.340478451] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049817.340914403] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049817.344477975] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049817.345156012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049817.346050493] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049817.347036157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049817.348137901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049817.445701377] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049817.446378070] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049817.447537049] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049817.448960235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049817.450182887] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049817.502946903] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973932 Long: -76.50298532 -[vectornav-1] [INFO] [1746049817.504276350] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.301, -3.451, 7.368) -[mux-7] [INFO] [1746049817.545319548] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049817.546030451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049817.546905177] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049817.548104252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049817.549202682] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049817.585516214] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049817.587590469] [sailbot.teensy]: Wind angle: 319 -[trim_sail-4] [INFO] [1746049817.588194228] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049817.588556208] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049817.588960715] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049817.589224069] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049817.589345839] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049817.645492098] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049817.646054821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049817.647100259] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049817.648572860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049817.649888766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049817.745423537] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049817.746062286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049817.747262751] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049817.748261298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049817.749382782] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049817.835389449] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049817.837317307] [sailbot.teensy]: Wind angle: 319 -[trim_sail-4] [INFO] [1746049817.837994569] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049817.838304630] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049817.838825730] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049817.838895930] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049817.839195867] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049817.844369787] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049817.844828485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049817.845584367] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049817.846528685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049817.847557375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049817.945624414] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049817.946252751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049817.947398601] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049817.948941571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049817.950200730] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049818.003424491] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973929 Long: -76.50298542 -[vectornav-1] [INFO] [1746049818.004958480] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.249, -3.48, 6.936) -[mux-7] [INFO] [1746049818.045416425] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049818.046084834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049818.047060229] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049818.048584098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049818.049787153] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049818.085769293] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049818.088040067] [sailbot.teensy]: Wind angle: 319 -[teensy-2] [INFO] [1746049818.089137699] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049818.088668172] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049818.090090098] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049818.090372234] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049818.091012448] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049818.145414761] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049818.146197714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049818.147063597] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049818.148413589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049818.150059004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049818.245637480] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049818.246252707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049818.247507602] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049818.248572968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049818.249104593] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049818.335223596] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049818.337062669] [sailbot.teensy]: Wind angle: 323 -[trim_sail-4] [INFO] [1746049818.337654547] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049818.339110654] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049818.339728810] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049818.340676123] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049818.341360892] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049818.344376616] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049818.345015161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049818.345529346] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049818.346753818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049818.347788054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049818.445127764] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049818.446025089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049818.446642133] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049818.448161676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049818.448689872] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049818.503134429] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973935 Long: -76.50298551 -[vectornav-1] [INFO] [1746049818.504929783] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.233, -3.491, 6.748) -[mux-7] [INFO] [1746049818.545097888] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049818.545858539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049818.546566557] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049818.548056482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049818.549198456] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049818.585415954] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049818.587879092] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049818.589239123] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049818.589332476] [sailbot.teensy]: Wind angle: 323 -[teensy-2] [INFO] [1746049818.590318090] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049818.591214069] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049818.592017686] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049818.645015141] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049818.645912681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049818.646442321] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049818.647841043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049818.648929574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049818.745551222] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049818.746357829] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049818.748736227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[mux-7] [INFO] [1746049818.749254328] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049818.750035923] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049818.835493996] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049818.837410980] [sailbot.teensy]: Wind angle: 325 -[trim_sail-4] [INFO] [1746049818.838007153] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049818.838410905] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049818.839321242] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049818.840218065] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049818.840330822] [sailbot.mux]: algo sail angle: 70 -[mux-7] [INFO] [1746049818.844497659] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049818.845048941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049818.845722581] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049818.846778554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049818.847815960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049818.945743661] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049818.946333859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049818.948194822] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049818.948539759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049818.949146539] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049819.002519619] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697394 Long: -76.50298566 -[vectornav-1] [INFO] [1746049819.003543148] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.23400000000004, -3.49, 6.76) -[mux-7] [INFO] [1746049819.045070309] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049819.045860079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049819.046431107] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049819.047753340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049819.048768065] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049819.085701869] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049819.087924695] [sailbot.teensy]: Wind angle: 326 -[trim_sail-4] [INFO] [1746049819.088391774] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049819.088733873] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049819.089075335] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049819.089151660] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049819.089543555] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049819.145305963] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049819.145951590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049819.146854455] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049819.147937155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049819.149022924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049819.245486409] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049819.246157060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049819.247122767] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049819.248439973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049819.249556084] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049819.335427052] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049819.337348770] [sailbot.teensy]: Wind angle: 326 -[trim_sail-4] [INFO] [1746049819.338000022] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049819.338315737] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049819.339652062] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049819.340445031] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049819.340709137] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049819.344385658] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049819.344866602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049819.345509463] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049819.346538257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049819.347590182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049819.444339220] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049819.444789822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049819.445259107] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049819.446287420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049819.447240454] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049819.503766558] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973942 Long: -76.50298579 -[vectornav-1] [INFO] [1746049819.505387193] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.25, -3.471, 6.815) -[mux-7] [INFO] [1746049819.545259237] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049819.545898496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049819.546933790] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049819.548286272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049819.549684139] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049819.585592713] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049819.587681416] [sailbot.teensy]: Wind angle: 325 -[trim_sail-4] [INFO] [1746049819.588231396] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049819.588818571] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049819.589466574] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049819.589887195] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049819.590747964] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049819.645251045] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049819.645857252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049819.646745204] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049819.648241609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049819.649404033] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049819.745516993] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049819.746100222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049819.747332543] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049819.748474174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049819.749768471] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049819.835644836] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049819.837839139] [sailbot.teensy]: Wind angle: 325 -[teensy-2] [INFO] [1746049819.838924287] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049819.839323293] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049819.839692608] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049819.840077615] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049819.840227462] [sailbot.mux]: algo sail angle: 70 -[mux-7] [INFO] [1746049819.844343198] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049819.845025646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049819.845847149] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049819.846738090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049819.847795546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049819.945572499] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049819.946370717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049819.947346532] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049819.948379158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049819.948879187] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049820.003101298] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973935 Long: -76.50298598 -[vectornav-1] [INFO] [1746049820.004609363] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.3, -3.434, 7.014) -[mux-7] [INFO] [1746049820.045354227] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049820.046093113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049820.046959393] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049820.048396885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049820.049497610] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049820.085479536] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049820.087205166] [sailbot.teensy]: Wind angle: 325 -[teensy-2] [INFO] [1746049820.088112851] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049820.089005858] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049820.087749639] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049820.088400844] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049820.089890348] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049820.145297364] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049820.146398861] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049820.146899269] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049820.148608045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049820.149763545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049820.245232548] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049820.246144205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049820.247246550] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049820.248494524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049820.249392226] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049820.335371374] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049820.337961277] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049820.338168757] [sailbot.teensy]: Wind angle: 325 -[mux-7] [INFO] [1746049820.338746203] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049820.338898638] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049820.339294274] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049820.339666024] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049820.344600823] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049820.345046654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049820.345961704] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049820.347599136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049820.348741844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049820.445483015] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049820.446464619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049820.447163435] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049820.448891932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049820.450069370] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049820.502477298] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973932 Long: -76.50298615 -[vectornav-1] [INFO] [1746049820.503503324] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.291, -3.439, 7.039) -[mux-7] [INFO] [1746049820.545133201] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049820.545768946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049820.546489061] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049820.547813577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049820.548513113] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049820.585672597] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049820.587932931] [sailbot.teensy]: Wind angle: 325 -[teensy-2] [INFO] [1746049820.588978055] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049820.588677543] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049820.589085798] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049820.589923091] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049820.590794941] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049820.645183367] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049820.645642740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049820.646596486] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049820.647501226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049820.648644462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049820.744793814] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049820.745322034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049820.746127578] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049820.747244167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049820.748415758] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049820.835459889] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049820.838044841] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049820.839042221] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049820.839225139] [sailbot.teensy]: Wind angle: 326 -[teensy-2] [INFO] [1746049820.840260384] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049820.841134773] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049820.841957160] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049820.844399608] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049820.844903018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049820.845616463] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049820.846581962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049820.847779054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049820.945559629] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049820.946224751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049820.947840766] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049820.948482415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049820.949050149] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049821.003143517] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697393 Long: -76.50298628 -[vectornav-1] [INFO] [1746049821.004577197] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.352, -3.424, 7.481) -[mux-7] [INFO] [1746049821.045190594] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049821.045914919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049821.046572812] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049821.048000982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049821.049144112] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049821.085369240] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049821.087813236] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049821.088401279] [sailbot.teensy]: Wind angle: 326 -[mux-7] [INFO] [1746049821.088460560] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049821.089337176] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049821.090221780] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049821.091042624] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049821.145621286] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049821.146367534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049821.147265503] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049821.148625636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049821.149877433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049821.245259409] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049821.245992405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049821.246752639] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049821.248107001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049821.249301402] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049821.335354427] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049821.337355187] [sailbot.teensy]: Wind angle: 326 -[trim_sail-4] [INFO] [1746049821.337997907] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049821.338317812] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049821.339205430] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049821.339431359] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049821.340107904] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049821.344342243] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049821.344835110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049821.345596464] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049821.346909255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049821.347953625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049821.445693254] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049821.446480044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049821.447653865] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049821.448866454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049821.450126545] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049821.502538970] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973927 Long: -76.50298632 -[vectornav-1] [INFO] [1746049821.503563121] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.401, -3.417, 7.866) -[mux-7] [INFO] [1746049821.545188103] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049821.545738973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049821.546540154] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049821.547851790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049821.549018418] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049821.585713225] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049821.588472083] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049821.588984279] [sailbot.teensy]: Wind angle: 326 -[mux-7] [INFO] [1746049821.589719239] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049821.590145865] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049821.591065501] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049821.591950190] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049821.645287490] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049821.646232243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049821.646892107] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049821.648455814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049821.648963274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049821.745486621] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049821.746203762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049821.747176787] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049821.748552294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049821.749806208] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049821.835371007] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049821.837792404] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049821.838846971] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049821.839131971] [sailbot.teensy]: Wind angle: 326 -[teensy-2] [INFO] [1746049821.840306417] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049821.841156859] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049821.842010187] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049821.844354573] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049821.844806597] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049821.845495150] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049821.846527213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049821.847573044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049821.945562817] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049821.945952681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049821.947247316] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049821.949843454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049821.950989716] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049822.004271715] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697393 Long: -76.50298648 -[vectornav-1] [INFO] [1746049822.005890377] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.399, -3.418, 7.87) -[mux-7] [INFO] [1746049822.044777252] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049822.045299022] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049822.046052615] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049822.047020752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049822.048109352] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049822.085363003] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049822.087693991] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049822.087813090] [sailbot.teensy]: Wind angle: 326 -[teensy-2] [INFO] [1746049822.088797499] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049822.089563308] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049822.089731561] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049822.090612801] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049822.144960874] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049822.145717923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049822.146297382] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049822.147768990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049822.148879818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049822.245408655] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049822.246273111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049822.247020235] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049822.248473708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049822.249547366] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049822.335856582] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049822.337932035] [sailbot.teensy]: Wind angle: 326 -[trim_sail-4] [INFO] [1746049822.338495263] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049822.338966212] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049822.339875419] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049822.340694600] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049822.340770106] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049822.344532060] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049822.344935557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049822.345749054] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049822.346598272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049822.347750576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049822.444893856] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049822.445796541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049822.446166151] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049822.447597507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049822.448746637] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049822.502894958] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973922 Long: -76.50298652 -[vectornav-1] [INFO] [1746049822.504133837] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.398, -3.422, 7.864) -[mux-7] [INFO] [1746049822.544837240] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049822.545675679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049822.546101287] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049822.547588441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049822.548801334] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049822.585476664] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049822.587950785] [sailbot.teensy]: Wind angle: 326 -[trim_sail-4] [INFO] [1746049822.587989331] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049822.588990704] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049822.589887449] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049822.589887567] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049822.590756273] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049822.645084889] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049822.645914823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049822.646440426] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049822.647852093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049822.648339820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049822.745222964] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049822.745919712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049822.746692325] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049822.747977182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049822.749060606] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049822.835555774] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049822.837363291] [sailbot.teensy]: Wind angle: 330 -[teensy-2] [INFO] [1746049822.838279107] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049822.838104883] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049822.838561668] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049822.839155272] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049822.840030610] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049822.844273687] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049822.844906089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049822.845558009] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049822.846594433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049822.847612740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049822.945433126] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049822.946464795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049822.947032713] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049822.949049586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049822.950194907] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049823.003561462] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973928 Long: -76.50298683 -[vectornav-1] [INFO] [1746049823.005146346] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.401, -3.421, 7.904) -[mux-7] [INFO] [1746049823.045348200] [sailbot.mux]: Published sail angle from controller_app: 28 -[mux-7] [INFO] [1746049823.046612192] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049823.046785757] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049823.048524342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049823.049731213] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049823.085322847] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049823.087660085] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049823.087913329] [sailbot.teensy]: Wind angle: 325 -[teensy-2] [INFO] [1746049823.088940344] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049823.089202403] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049823.089907712] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049823.090764861] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049823.144924416] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049823.145647656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049823.146178482] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049823.147530327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049823.148554117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049823.245010788] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049823.245903340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049823.246343021] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049823.247825245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049823.248844870] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049823.335701970] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049823.337782982] [sailbot.teensy]: Wind angle: 316 -[trim_sail-4] [INFO] [1746049823.338418985] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049823.338827884] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049823.339735538] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049823.339803788] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049823.340647573] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049823.344395934] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049823.345306007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049823.345668182] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049823.347144028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049823.348338832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049823.445106190] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049823.446389746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049823.446905492] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049823.448509494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049823.448993642] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049823.502633836] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973938 Long: -76.50298693 -[vectornav-1] [INFO] [1746049823.503828965] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.443, -3.413, 8.262) -[mux-7] [INFO] [1746049823.544764409] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049823.545349130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049823.546087610] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049823.547070103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049823.548195694] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049823.585229041] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049823.586827105] [sailbot.teensy]: Wind angle: 318 -[teensy-2] [INFO] [1746049823.587751388] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049823.588103499] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049823.588640064] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049823.588731184] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049823.589562698] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049823.645240047] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049823.645723083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049823.646606012] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049823.647720434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049823.648767834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049823.745186580] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049823.745463245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049823.746454406] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049823.747325430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049823.748798775] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049823.835555851] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049823.837602011] [sailbot.teensy]: Wind angle: 319 -[trim_sail-4] [INFO] [1746049823.838151409] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049823.839672592] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049823.839689690] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049823.840661233] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049823.841559749] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049823.844289561] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049823.844828381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049823.845439081] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049823.846660814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049823.847686570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049823.945315551] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049823.945827879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049823.946898224] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049823.947902889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049823.948986015] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049824.003372643] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973932 Long: -76.50298712 -[vectornav-1] [INFO] [1746049824.004712901] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.447, -3.413, 8.322) -[mux-7] [INFO] [1746049824.045560970] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049824.045989300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049824.047079335] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049824.048029054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049824.049093212] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049824.085293987] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049824.087691916] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049824.088210589] [sailbot.teensy]: Wind angle: 319 -[mux-7] [INFO] [1746049824.089345955] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049824.089373206] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049824.090325639] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049824.091164956] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049824.145002582] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049824.145487620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049824.146293141] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049824.147344250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049824.148478805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049824.244863637] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049824.245645165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049824.246137215] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049824.247516123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049824.248554019] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049824.335290971] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049824.337671109] [sailbot.teensy]: Wind angle: 318 -[trim_sail-4] [INFO] [1746049824.338159529] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049824.338625561] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049824.339167379] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049824.339183468] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049824.339566894] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049824.344383874] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049824.344803898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049824.345500455] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049824.346464884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049824.347497582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049824.445342212] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049824.446090378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049824.446907632] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049824.448345377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049824.449529829] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049824.503007715] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973942 Long: -76.50298719 -[vectornav-1] [INFO] [1746049824.504381185] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.461, -3.394, 8.459) -[mux-7] [INFO] [1746049824.545033777] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049824.545503450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049824.546335517] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049824.548068464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049824.549178021] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049824.585446966] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049824.587815049] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049824.588433370] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049824.588885558] [sailbot.teensy]: Wind angle: 325 -[teensy-2] [INFO] [1746049824.589856007] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049824.591061210] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049824.591902552] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049824.645336161] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049824.645970156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049824.646822174] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049824.648158771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049824.648682904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049824.745323904] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049824.746358566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049824.746867694] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049824.748393033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049824.749401643] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049824.835396586] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049824.837281823] [sailbot.teensy]: Wind angle: 331 -[trim_sail-4] [INFO] [1746049824.837794834] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049824.839219152] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049824.839275460] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049824.840516381] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049824.841461238] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049824.844550177] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049824.845004110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049824.846050366] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049824.846701975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049824.848048425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049824.945243496] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049824.946001451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049824.946849436] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049824.948125734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049824.949134342] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049825.002534114] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973938 Long: -76.50298706 -[vectornav-1] [INFO] [1746049825.003607091] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.198, -3.441, 6.542) -[mux-7] [INFO] [1746049825.044942415] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049825.046020434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049825.046261476] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049825.047965599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049825.049115877] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049825.085635498] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049825.088558324] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049825.089366224] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049825.089856636] [sailbot.teensy]: Wind angle: 332 -[teensy-2] [INFO] [1746049825.090812885] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049825.091681138] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049825.092533002] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049825.144908423] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049825.145520883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049825.146158044] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049825.147432561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049825.148557066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049825.245076157] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049825.245787380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049825.246473767] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049825.247868962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049825.248920850] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049825.335511616] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049825.337557620] [sailbot.teensy]: Wind angle: 331 -[teensy-2] [INFO] [1746049825.338539700] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049825.338201334] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049825.338895330] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049825.339578844] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049825.340464629] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049825.344399640] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049825.344830308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049825.345563291] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049825.346557604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049825.347582637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049825.445356801] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049825.445857629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049825.447074442] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049825.447926250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049825.449025670] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049825.502616163] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973922 Long: -76.50298731 -[vectornav-1] [INFO] [1746049825.503786260] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.304, -3.411, 7.078) -[mux-7] [INFO] [1746049825.545177747] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049825.545835765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049825.546603067] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049825.547797672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049825.548845239] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049825.585793174] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049825.588467896] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049825.590683775] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049825.590825044] [sailbot.teensy]: Wind angle: 332 -[teensy-2] [INFO] [1746049825.593031959] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049825.594059253] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049825.595030096] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049825.645323322] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049825.645851488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049825.646939744] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049825.648112791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049825.649393296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049825.744943442] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049825.745626046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049825.746206799] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049825.747465807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049825.748526949] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049825.835379528] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049825.837311622] [sailbot.teensy]: Wind angle: 331 -[trim_sail-4] [INFO] [1746049825.837777300] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049825.838293371] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049825.838735668] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049825.839345130] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049825.840134286] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049825.844424090] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049825.845002483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049825.845512963] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049825.846660944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049825.847695834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049825.945494121] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049825.946179123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049825.947208984] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049825.948636054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049825.949174273] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049826.003485859] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973905 Long: -76.50298728 -[vectornav-1] [INFO] [1746049826.005093862] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.294, -3.414, 7.083) -[mux-7] [INFO] [1746049826.045286000] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049826.046355966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049826.047396334] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049826.048447127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049826.049633669] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049826.085252923] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049826.087499731] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049826.087611180] [sailbot.teensy]: Wind angle: 330 -[teensy-2] [INFO] [1746049826.088592167] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049826.088596568] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049826.089793765] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049826.090788576] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049826.145289876] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049826.145869336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049826.146839421] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049826.148123778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049826.149397179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049826.245439888] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049826.245975565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049826.246865598] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049826.247904698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049826.249068375] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049826.335405097] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049826.337620017] [sailbot.teensy]: Wind angle: 330 -[trim_sail-4] [INFO] [1746049826.337748501] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049826.338691233] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049826.339662071] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049826.340177202] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049826.340580994] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049826.344548707] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049826.345064082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049826.345748206] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049826.346791868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049826.347965429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049826.445600980] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049826.446469468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049826.447479828] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049826.448325958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049826.448808124] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049826.503202668] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973906 Long: -76.50298725 -[vectornav-1] [INFO] [1746049826.504526630] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.28700000000003, -3.421, 7.024) -[mux-7] [INFO] [1746049826.545292817] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049826.546032854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049826.546785025] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049826.548401265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049826.549541064] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049826.585583016] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049826.588312378] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049826.588795471] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049826.589100450] [sailbot.teensy]: Wind angle: 328 -[teensy-2] [INFO] [1746049826.590030530] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049826.590899721] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049826.591753336] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049826.645334413] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049826.646392863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049826.646824210] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049826.648750245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049826.649983809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049826.745397767] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049826.746181610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049826.746862099] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049826.748283856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049826.749491930] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049826.835698388] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049826.837731312] [sailbot.teensy]: Wind angle: 328 -[teensy-2] [INFO] [1746049826.838720512] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049826.838283731] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049826.839603485] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049826.839718453] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049826.840529096] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049826.844737934] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049826.845144805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049826.846130797] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049826.847064828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049826.848238836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049826.945310815] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049826.946409770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049826.946905104] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049826.948606215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049826.949678952] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049827.003841628] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973898 Long: -76.50298744 -[vectornav-1] [INFO] [1746049827.005864022] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.275, -3.426, 6.976) -[mux-7] [INFO] [1746049827.044962094] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049827.045726385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049827.046206160] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049827.047563803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049827.048714090] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049827.085492809] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049827.088074299] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049827.088555804] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049827.088811562] [sailbot.teensy]: Wind angle: 324 -[teensy-2] [INFO] [1746049827.089773261] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049827.090656047] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049827.091534675] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049827.145165090] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049827.146330221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049827.147044004] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049827.148093816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049827.148580201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049827.246130559] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049827.246201338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049827.247769651] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049827.249433763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049827.250674299] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049827.335420537] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049827.337299060] [sailbot.teensy]: Wind angle: 325 -[trim_sail-4] [INFO] [1746049827.338101893] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049827.338268841] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049827.339189712] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049827.339484089] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049827.339746901] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049827.344533124] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049827.345120284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049827.345704551] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049827.346835448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049827.347958847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049827.445514601] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049827.446390016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049827.447264783] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049827.448199026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049827.448690839] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049827.503333918] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973881 Long: -76.5029874 -[vectornav-1] [INFO] [1746049827.504676691] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.264, -3.431, 6.877) -[mux-7] [INFO] [1746049827.545233854] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049827.545948062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049827.546735113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049827.548546747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049827.549699647] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049827.585403367] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049827.587356435] [sailbot.teensy]: Wind angle: 330 -[trim_sail-4] [INFO] [1746049827.587820003] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049827.588352068] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049827.589269191] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049827.589502291] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049827.590146441] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049827.645518506] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049827.646057030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049827.647210948] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049827.648594065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049827.649132276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049827.745629362] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049827.746305799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049827.747276838] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049827.748618526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049827.749085404] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049827.835408544] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049827.837236648] [sailbot.teensy]: Wind angle: 327 -[trim_sail-4] [INFO] [1746049827.837915556] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049827.839226078] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049827.839315545] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049827.840582261] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049827.841459109] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049827.844454984] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049827.844840160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049827.845697394] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049827.846533616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049827.847640604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049827.945481485] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049827.946195508] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049827.947232693] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049827.948619331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049827.949627233] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049828.002512031] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973874 Long: -76.50298756 -[vectornav-1] [INFO] [1746049828.003590420] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.259, -3.436, 6.877) -[mux-7] [INFO] [1746049828.045474037] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049828.045974902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049828.047224228] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049828.048308366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049828.049485135] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049828.085738779] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049828.087947197] [sailbot.teensy]: Wind angle: 327 -[teensy-2] [INFO] [1746049828.089042998] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049828.088576872] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049828.089706408] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049828.089955459] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049828.090847120] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049828.145277085] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049828.146180068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049828.148464252] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049828.148506906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049828.149715177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049828.245652551] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049828.246199694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049828.247475708] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049828.248974402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049828.250175819] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049828.335694687] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049828.338325132] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049828.338316699] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049828.339091472] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049828.339290553] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049828.340217633] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049828.341062754] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049828.344436380] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049828.345120717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049828.345531512] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049828.346804380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049828.347959630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049828.445365086] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049828.446078641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049828.446842719] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049828.448500604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049828.449633149] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049828.503558253] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973879 Long: -76.50298759 -[vectornav-1] [INFO] [1746049828.505050869] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.248, -3.438, 6.815) -[mux-7] [INFO] [1746049828.544946945] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049828.545631786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049828.546206986] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049828.547478776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049828.548656257] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049828.585401691] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049828.587602560] [sailbot.teensy]: Wind angle: 330 -[trim_sail-4] [INFO] [1746049828.588419857] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049828.588450417] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049828.588553922] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049828.589459981] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049828.590378309] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049828.645467219] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049828.646265037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049828.647057239] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049828.648616805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049828.649861077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049828.745592906] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049828.746558419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049828.747251691] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049828.748961038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049828.750026839] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049828.835463650] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049828.837734138] [sailbot.teensy]: Wind angle: 330 -[trim_sail-4] [INFO] [1746049828.837928025] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049828.838449556] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049828.839999026] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049828.840908525] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049828.841833505] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049828.844329153] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049828.844869362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049828.845517366] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049828.846536193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049828.848115292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049828.945550401] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049828.946246493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049828.947192978] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049828.948393353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049828.949571208] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049829.002595469] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973872 Long: -76.50298754 -[vectornav-1] [INFO] [1746049829.003661951] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.248, -3.436, 6.853) -[mux-7] [INFO] [1746049829.045418845] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049829.046179162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049829.048081685] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049829.048266402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049829.049993212] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049829.085632446] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049829.087739661] [sailbot.teensy]: Wind angle: 328 -[trim_sail-4] [INFO] [1746049829.088434865] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049829.089614611] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049829.089663703] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049829.090599124] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049829.091545601] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049829.145106283] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049829.146101866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049829.146716789] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049829.148286868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049829.149334093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049829.245358370] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049829.246065980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049829.246853896] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049829.248279248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049829.249457092] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049829.335432211] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049829.337475285] [sailbot.teensy]: Wind angle: 323 -[trim_sail-4] [INFO] [1746049829.337867357] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049829.338458550] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049829.339353277] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049829.339366129] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049829.339864862] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049829.344423814] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049829.344977575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049829.345543257] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049829.347000975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049829.347981680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049829.445591192] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049829.446212056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049829.447329496] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049829.448562716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049829.449291475] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049829.504511234] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973867 Long: -76.5029875 -[vectornav-1] [INFO] [1746049829.505993584] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.249, -3.441, 6.82) -[mux-7] [INFO] [1746049829.544959868] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049829.545799787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049829.546233929] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049829.547783768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049829.548848382] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049829.585269935] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049829.587435582] [sailbot.teensy]: Wind angle: 323 -[trim_sail-4] [INFO] [1746049829.587482914] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049829.588408833] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049829.588571296] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049829.589326762] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049829.590252748] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049829.645977521] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049829.646528389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049829.647604817] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049829.648847886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049829.650052230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049829.745572695] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049829.746251860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049829.747421701] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049829.748714901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049829.749986656] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049829.835405983] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049829.837609879] [sailbot.teensy]: Wind angle: 330 -[teensy-2] [INFO] [1746049829.838589213] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049829.838851149] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049829.838860212] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049829.839121046] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049829.839513235] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049829.844414656] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049829.844984557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049829.845526336] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049829.846700328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049829.847844882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049829.945459401] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049829.945975934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049829.947218228] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049829.948133372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049829.949252042] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049830.002573305] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973857 Long: -76.50298765 -[vectornav-1] [INFO] [1746049830.003665212] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.23199999999997, -3.439, 6.823) -[mux-7] [INFO] [1746049830.045223948] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049830.045762333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049830.046697987] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049830.047918931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049830.048953168] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049830.085636112] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049830.087766619] [sailbot.teensy]: Wind angle: 330 -[teensy-2] [INFO] [1746049830.088818482] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049830.089159830] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049830.089722931] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049830.089891897] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049830.090710793] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049830.145166040] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049830.145848556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049830.146732983] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049830.147964209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049830.149359709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049830.245052564] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049830.245691401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049830.246318987] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049830.247457668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049830.247914489] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049830.335730615] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049830.337902295] [sailbot.teensy]: Wind angle: 331 -[teensy-2] [INFO] [1746049830.339035983] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049830.339076984] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049830.339999353] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049830.340069177] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049830.340917958] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049830.344473611] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049830.344934987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049830.345719384] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049830.346767466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049830.347883797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049830.445236759] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049830.446026643] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049830.446917870] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049830.448066259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049830.448583133] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049830.503473426] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973861 Long: -76.50298778 -[vectornav-1] [INFO] [1746049830.504770364] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26300000000003, -3.433, 6.991) -[mux-7] [INFO] [1746049830.544983391] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049830.545672148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049830.546243850] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049830.547747477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049830.548771898] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049830.585373327] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049830.587750370] [sailbot.teensy]: Wind angle: 333 -[trim_sail-4] [INFO] [1746049830.588467836] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049830.588713376] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049830.589170788] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049830.589617718] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049830.590502949] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049830.645613805] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049830.646455502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049830.647700575] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049830.648720546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049830.649274269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049830.745072557] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049830.745824465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049830.746643340] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049830.747832171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049830.748906472] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049830.835724931] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049830.837857195] [sailbot.teensy]: Wind angle: 332 -[trim_sail-4] [INFO] [1746049830.838377890] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049830.839846168] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049830.840109444] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049830.840886474] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049830.841754242] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049830.844498939] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049830.844949668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049830.845653282] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049830.846707310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049830.847835261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049830.945429323] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049830.946069099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049830.947095766] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049830.948233286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049830.949324506] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049831.002260928] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973851 Long: -76.50298797 -[vectornav-1] [INFO] [1746049831.003359268] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.226, -3.435, 6.76) -[mux-7] [INFO] [1746049831.045411139] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049831.046106837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049831.047039602] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049831.048416182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049831.049623995] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049831.085531149] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049831.087662618] [sailbot.teensy]: Wind angle: 330 -[trim_sail-4] [INFO] [1746049831.088101114] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049831.089396171] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049831.089393630] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049831.090839129] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049831.091723565] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049831.145257009] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049831.145839869] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049831.146742507] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049831.148098316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049831.148786002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049831.245590533] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049831.246510461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049831.247287468] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049831.248705227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049831.249277688] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049831.335242148] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049831.337539034] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049831.337644353] [sailbot.teensy]: Wind angle: 327 -[teensy-2] [INFO] [1746049831.338588392] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049831.338984149] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049831.339452903] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049831.340374602] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049831.344513927] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049831.345020342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049831.345661833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049831.346725592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049831.347770338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049831.445137686] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049831.445895580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049831.446555640] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049831.448135567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049831.448705027] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049831.503245763] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973864 Long: -76.50298806 -[vectornav-1] [INFO] [1746049831.505005805] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.249, -3.422, 6.951) -[mux-7] [INFO] [1746049831.544911359] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049831.545641629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049831.546185574] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049831.547510910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049831.548554585] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049831.585372244] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049831.587603123] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049831.588240006] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049831.588832390] [sailbot.teensy]: Wind angle: 328 -[teensy-2] [INFO] [1746049831.589811489] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049831.590824228] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049831.591675829] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049831.645009997] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049831.645679409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049831.646288762] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049831.647530758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049831.648546974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049831.744827123] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049831.745463045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049831.746070141] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049831.747381699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049831.748563133] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049831.835516131] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049831.837778493] [sailbot.teensy]: Wind angle: 331 -[trim_sail-4] [INFO] [1746049831.838417535] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049831.838788059] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049831.838990538] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049831.839699902] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049831.840590409] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049831.844415317] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049831.845013534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049831.845527598] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049831.846684495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049831.847842483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049831.945321772] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049831.946023740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049831.946835613] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049831.947906040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049831.948427966] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049832.001352537] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973859 Long: -76.50298822 -[vectornav-1] [INFO] [1746049832.001798084] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.24, -3.427, 6.912) -[mux-7] [INFO] [1746049832.043898606] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049832.044453818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049832.044915066] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049832.046364093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049832.047062405] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049832.085390880] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049832.087507890] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049832.087872021] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049832.088392452] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049832.088448572] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049832.089156751] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049832.089579805] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049832.144484138] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049832.145345961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049832.145631780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049832.147072047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049832.148082747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049832.245408834] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049832.246422298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049832.246921351] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049832.248523596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049832.249730850] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049832.335365385] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049832.337201796] [sailbot.teensy]: Wind angle: 353 -[trim_sail-4] [INFO] [1746049832.337759274] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049832.338192044] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049832.339076640] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049832.339253288] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049832.339910224] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049832.344371885] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049832.344869241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049832.345569266] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049832.346725050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049832.348469553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049832.445680762] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049832.446325487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049832.447417887] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049832.448740805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049832.450138893] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049832.502504820] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973858 Long: -76.5029883 -[vectornav-1] [INFO] [1746049832.503609652] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.24, -3.422, 6.922) -[mux-7] [INFO] [1746049832.545311860] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049832.545889687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049832.546878422] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049832.548041307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049832.549033505] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049832.585529938] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049832.587509280] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049832.588282651] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049832.588475792] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049832.588645146] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049832.589011389] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049832.589369367] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049832.645202366] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049832.645771781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049832.646850231] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049832.649343994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049832.650381479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049832.745544055] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049832.746116148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049832.747508698] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049832.748433473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049832.749724806] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049832.835646043] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049832.837525380] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049832.838306006] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049832.839402012] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049832.840135412] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049832.841053294] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049832.841880120] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049832.844431103] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049832.845293304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049832.845817478] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049832.847003224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049832.848136519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049832.945140095] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049832.945754045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049832.946505797] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049832.947775502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049832.948987486] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049833.003425131] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973842 Long: -76.50298846 -[vectornav-1] [INFO] [1746049833.004682196] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.241, -3.42, 6.94) -[mux-7] [INFO] [1746049833.045092466] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049833.045778960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049833.046439204] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049833.047898588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049833.048954486] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049833.085430417] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049833.087834451] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049833.087988843] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049833.088836645] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049833.089220451] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049833.089759860] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049833.090605534] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049833.145420658] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049833.146066461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049833.147201194] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049833.148604236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049833.150399604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049833.245541267] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049833.246148352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049833.247283556] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049833.248579384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049833.249407932] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049833.335416588] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049833.337534019] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049833.337890986] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049833.339327551] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049833.339425079] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049833.340491929] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049833.341387277] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049833.344598434] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049833.345070198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049833.345758514] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049833.346785641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049833.347939745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049833.445743423] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049833.446229129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049833.447771502] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049833.448641050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049833.450557352] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049833.503858053] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697384 Long: -76.50298839 -[vectornav-1] [INFO] [1746049833.505603812] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.25, -3.408, 7.039) -[mux-7] [INFO] [1746049833.545265953] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049833.545912949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049833.546753686] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049833.547943294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049833.549087444] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049833.585381798] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049833.587588217] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049833.588582942] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049833.589922716] [sailbot.teensy]: Wind angle: 357 -[teensy-2] [INFO] [1746049833.590816362] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049833.591661450] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049833.592511793] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049833.645359534] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049833.645876950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049833.646856221] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049833.648103642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049833.649314864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049833.745273475] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049833.745823436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049833.747048001] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049833.747870911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049833.749211325] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049833.835748630] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049833.837859030] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746049833.838406661] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049833.838901399] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049833.839879858] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049833.840814197] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049833.840951593] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049833.844505428] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049833.845128095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049833.845759730] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049833.846887802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049833.847914851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049833.945447470] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049833.946053248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049833.947097796] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049833.948400002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049833.949463332] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049834.002437474] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697383 Long: -76.50298845 -[vectornav-1] [INFO] [1746049834.003455369] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.252, -3.402, 7.083) -[mux-7] [INFO] [1746049834.045411363] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049834.046042830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049834.047042677] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049834.048270376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049834.049456620] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049834.085552684] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049834.087444531] [sailbot.teensy]: Wind angle: 1 -[trim_sail-4] [INFO] [1746049834.087975255] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049834.088451332] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049834.089385141] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049834.089587240] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049834.090262070] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049834.145739538] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049834.146332165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049834.147472101] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049834.148741271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049834.149895077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049834.245794021] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049834.246484830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049834.247701556] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049834.248981131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049834.249610668] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049834.335455520] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049834.337790379] [sailbot.teensy]: Wind angle: 2 -[trim_sail-4] [INFO] [1746049834.337873613] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049834.339013417] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049834.339427311] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049834.339918212] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049834.340605945] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049834.344618289] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049834.345275769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049834.345897675] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049834.347020231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049834.348226980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049834.445304375] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049834.445873218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049834.446801596] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049834.447861232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049834.448944991] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049834.503504015] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973814 Long: -76.50298839 -[vectornav-1] [INFO] [1746049834.505187475] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26599999999996, -3.374, 7.386) -[mux-7] [INFO] [1746049834.545197317] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049834.545796609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049834.546832691] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049834.547598459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049834.549444400] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049834.585471627] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049834.588168505] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049834.588456907] [sailbot.teensy]: Wind angle: 2 -[mux-7] [INFO] [1746049834.588773798] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049834.589403783] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049834.590294715] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049834.591137132] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049834.645178480] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049834.646096952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049834.646627705] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049834.648089431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049834.648629667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049834.745147272] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049834.745745606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049834.746637419] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049834.747784970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049834.748370229] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049834.835334708] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049834.837309148] [sailbot.teensy]: Wind angle: 2 -[trim_sail-4] [INFO] [1746049834.837877285] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049834.838250810] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049834.839179169] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049834.840001907] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049834.840048435] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049834.844548753] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049834.845041268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049834.845773392] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049834.847581248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049834.848739176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049834.945812978] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049834.946639666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049834.947914157] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049834.948868661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049834.949419902] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049835.003808100] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973794 Long: -76.50298829 -[vectornav-1] [INFO] [1746049835.005600741] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.277, -3.386, 7.303) -[mux-7] [INFO] [1746049835.045448499] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049835.046028481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049835.047118874] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049835.048608399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049835.049820568] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049835.085361749] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049835.087910274] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049835.088431682] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049835.088447836] [sailbot.teensy]: Wind angle: 1 -[teensy-2] [INFO] [1746049835.089456093] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049835.090345958] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049835.091188455] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049835.145308875] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049835.145880737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049835.146881639] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049835.147839060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049835.148947825] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049835.245521815] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049835.246181929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049835.247154441] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049835.248429352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049835.249507568] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049835.335571859] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049835.337721627] [sailbot.teensy]: Wind angle: 2 -[trim_sail-4] [INFO] [1746049835.338499946] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049835.338762521] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049835.339759606] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049835.340124573] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049835.340753817] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049835.344768710] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049835.345232182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049835.346316326] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049835.347109609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049835.348653866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049835.445604261] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049835.446401014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049835.447277859] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049835.448489156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049835.448949427] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049835.502401256] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973774 Long: -76.50298833 -[vectornav-1] [INFO] [1746049835.503390211] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.257, -3.389, 7.277) -[mux-7] [INFO] [1746049835.545419927] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049835.546532077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049835.547046233] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049835.548751215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049835.549276141] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049835.585715831] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049835.588504931] [sailbot.teensy]: Wind angle: 1 -[trim_sail-4] [INFO] [1746049835.588534604] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049835.589561807] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049835.590138620] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049835.590559345] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049835.590931574] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049835.645177644] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049835.645937177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049835.646812943] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049835.648222853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049835.649470153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049835.745598127] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049835.746703168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049835.747227409] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049835.749393399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049835.750500253] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049835.835576518] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049835.838334230] [sailbot.teensy]: Wind angle: 1 -[trim_sail-4] [INFO] [1746049835.838471059] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049835.839427995] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049835.839748183] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049835.840381085] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049835.841207336] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049835.844446457] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049835.844984074] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049835.845530367] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049835.846652486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049835.847693962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049835.945545338] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049835.946539198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049835.947204045] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049835.949097687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049835.950152438] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049836.002523745] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973753 Long: -76.5029883 -[vectornav-1] [INFO] [1746049836.004040908] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.248, -3.389, 7.221) -[mux-7] [INFO] [1746049836.045225575] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049836.046140996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049836.046640298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049836.048249312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049836.049320622] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049836.085722434] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049836.088219783] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746049836.088993953] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049836.089267925] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049836.089649278] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049836.090227804] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049836.091424259] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049836.145325237] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049836.146347814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049836.146923777] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049836.148941783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049836.149723915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049836.245693184] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049836.246782675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049836.247329276] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049836.249265486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049836.250434180] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049836.335437888] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049836.338055990] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049836.338641003] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049836.338758403] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746049836.339535277] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049836.339917911] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049836.340310791] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049836.344366619] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049836.345071256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049836.345462138] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049836.347364588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049836.348447213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049836.445327910] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049836.446085640] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049836.447059903] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049836.448194549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049836.448792511] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049836.504033553] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973745 Long: -76.50298819 -[vectornav-1] [INFO] [1746049836.505823322] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26300000000003, -3.38, 7.303) -[mux-7] [INFO] [1746049836.544865148] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049836.545541450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049836.546087506] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049836.547483007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049836.548547561] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049836.585411697] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049836.588217822] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049836.588813945] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049836.589653301] [sailbot.teensy]: Wind angle: 357 -[teensy-2] [INFO] [1746049836.590808817] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049836.591756700] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049836.592601387] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049836.644941956] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049836.645728679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049836.646206860] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049836.647537852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049836.648753424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049836.745376335] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049836.746142765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049836.747057209] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049836.748397638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049836.749490233] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049836.835266779] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049836.837305018] [sailbot.teensy]: Wind angle: 356 -[teensy-2] [INFO] [1746049836.838287495] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049836.837876474] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049836.838857924] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049836.839195666] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049836.840062192] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049836.844417650] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049836.845048361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049836.845608443] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049836.846807261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049836.847871331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049836.945560528] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049836.946177752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049836.947392385] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049836.948460054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049836.949003729] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049837.003437787] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973723 Long: -76.50298804 -[vectornav-1] [INFO] [1746049837.004768139] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.26099999999997, -3.385, 7.264) -[mux-7] [INFO] [1746049837.045317855] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049837.045967000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049837.046836590] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049837.048193838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049837.049340444] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049837.085433278] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049837.087486064] [sailbot.teensy]: Wind angle: 356 -[trim_sail-4] [INFO] [1746049837.088028050] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049837.088467375] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049837.089248879] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049837.089375139] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049837.090273897] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049837.144810527] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049837.145704155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049837.146070941] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049837.147456656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049837.148565803] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049837.245068692] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049837.245786442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049837.246538095] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049837.247726326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049837.248266899] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049837.335437174] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049837.337731069] [sailbot.teensy]: Wind angle: 356 -[teensy-2] [INFO] [1746049837.338665467] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049837.338555109] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049837.339213418] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049837.339284901] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049837.339650822] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049837.344259195] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049837.345226543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049837.345372762] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049837.347045863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049837.348129668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049837.445525064] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049837.446331572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049837.447184093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049837.449120233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049837.450354724] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049837.502555686] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973706 Long: -76.5029879 -[vectornav-1] [INFO] [1746049837.503592240] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.257, -3.391, 7.261) -[mux-7] [INFO] [1746049837.545264880] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049837.546197292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049837.546872047] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049837.548495142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049837.549644816] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049837.585405766] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049837.587299247] [sailbot.teensy]: Wind angle: 356 -[trim_sail-4] [INFO] [1746049837.587838575] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049837.588298042] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049837.589261958] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049837.589835039] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049837.590214772] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049837.645125082] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049837.646339892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049837.647061742] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049837.647793756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049837.648355156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049837.744755627] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049837.745566051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049837.746018867] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049837.747444080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049837.748461902] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049837.835186369] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049837.837403222] [sailbot.teensy]: Wind angle: 356 -[trim_sail-4] [INFO] [1746049837.837785560] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049837.838380943] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049837.838593830] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049837.839720638] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049837.840643018] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049837.844334478] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049837.844964749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049837.845798306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049837.846731163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049837.847761240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049837.945553120] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049837.946311178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049837.947583591] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049837.948690343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049837.950066569] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049838.004016387] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973692 Long: -76.50298765 -[vectornav-1] [INFO] [1746049838.005401251] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.25, -3.397, 7.248) -[mux-7] [INFO] [1746049838.045177283] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049838.046117049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049838.046646121] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049838.047670337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049838.048209843] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049838.085408841] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049838.087663541] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049838.087933848] [sailbot.teensy]: Wind angle: 356 -[mux-7] [INFO] [1746049838.088649562] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049838.088816873] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049838.089228853] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049838.089590132] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049838.145430827] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049838.146551481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049838.147225013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049838.149268418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049838.150423751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049838.245289743] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049838.246201127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049838.246846886] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049838.248522924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049838.249613279] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049838.335274133] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049838.337004851] [sailbot.teensy]: Wind angle: 356 -[trim_sail-4] [INFO] [1746049838.337469358] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049838.337926582] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049838.338834719] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049838.339008276] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049838.339775804] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049838.344478678] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049838.344967308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049838.345567468] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049838.346679893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049838.347748992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049838.445333512] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049838.446209408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049838.447040448] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049838.448450385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049838.448967670] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049838.502410428] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973676 Long: -76.50298751 -[vectornav-1] [INFO] [1746049838.503446811] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.243, -3.395, 7.256) -[mux-7] [INFO] [1746049838.545276429] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049838.546041045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049838.546973064] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049838.548347101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049838.548859889] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049838.585216325] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049838.587363466] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049838.588226584] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049838.589131785] [sailbot.teensy]: Wind angle: 356 -[teensy-2] [INFO] [1746049838.590105397] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049838.591003717] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049838.591877003] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049838.644892863] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049838.645662684] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049838.646850662] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049838.647715327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049838.649450376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049838.745396727] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049838.746216396] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049838.748402321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[mux-7] [INFO] [1746049838.747224762] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049838.748998994] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049838.835649402] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049838.838055360] [sailbot.teensy]: Wind angle: 356 -[trim_sail-4] [INFO] [1746049838.838929476] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049838.839128837] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049838.839599945] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049838.840022340] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049838.841035735] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049838.844469256] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049838.844953523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049838.845665594] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049838.846777742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049838.847860136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049838.945437885] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049838.946275479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049838.947145153] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049838.948237520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049838.948723396] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049839.003625173] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973655 Long: -76.50298725 -[vectornav-1] [INFO] [1746049839.005392493] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.24199999999996, -3.414, 7.192) -[mux-7] [INFO] [1746049839.045233758] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049839.046145848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049839.046704607] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049839.048251799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049839.049415416] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049839.085369848] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049839.087594713] [sailbot.teensy]: Wind angle: 356 -[trim_sail-4] [INFO] [1746049839.087629400] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049839.089380595] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049839.090043505] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049839.090954735] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049839.091809394] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049839.145070920] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049839.145770240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049839.146681571] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049839.147753871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049839.148828278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049839.245577615] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049839.246580193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049839.247406614] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049839.249102213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049839.250301371] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049839.335257920] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049839.336920431] [sailbot.teensy]: Wind angle: 357 -[teensy-2] [INFO] [1746049839.337871401] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049839.338239159] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049839.338607431] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049839.338756548] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049839.339002310] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049839.344479971] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049839.345177948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049839.345763133] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049839.347103115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049839.348280027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049839.445453750] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049839.446518505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049839.447109605] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049839.448147902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049839.448689278] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049839.502308349] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973641 Long: -76.50298704 -[vectornav-1] [INFO] [1746049839.503421643] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.23400000000004, -3.399, 7.257) -[mux-7] [INFO] [1746049839.544933813] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049839.545604168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049839.546322410] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049839.547579205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049839.548614156] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049839.585536025] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049839.587607839] [sailbot.teensy]: Wind angle: 356 -[teensy-2] [INFO] [1746049839.588550750] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049839.588205810] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049839.588717567] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049839.588929524] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049839.589309966] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049839.645079160] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049839.645766465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049839.646518150] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049839.647962214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049839.649027339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049839.745385288] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049839.746356771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049839.747321593] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049839.748395755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049839.748996446] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049839.835467551] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049839.837819819] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049839.838150136] [sailbot.teensy]: Wind angle: 353 -[mux-7] [INFO] [1746049839.838502880] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049839.839404109] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049839.840308688] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049839.840866651] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049839.844463327] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049839.844923125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049839.845535220] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049839.846637616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049839.847843254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049839.945373286] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049839.946118505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049839.947194025] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049839.948416914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049839.949577199] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049840.003687139] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973634 Long: -76.50298671 -[vectornav-1] [INFO] [1746049840.005180427] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.23699999999997, -3.395, 7.269) -[mux-7] [INFO] [1746049840.045028450] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049840.045789195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049840.046468965] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049840.047749236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049840.048774330] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049840.085423891] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049840.087851593] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049840.088367670] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049840.088455240] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049840.089538247] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049840.090536915] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049840.091444184] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049840.145147653] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049840.145824177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049840.146758052] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049840.147958263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049840.149053426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049840.245235648] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049840.245933178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049840.246805528] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049840.248033054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049840.248693594] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049840.335501986] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049840.337651264] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049840.338258453] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049840.338673133] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049840.340179818] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049840.341109716] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049840.341948783] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049840.344318416] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049840.345023222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049840.345540740] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049840.346855505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049840.347929458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049840.445527637] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049840.446219209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049840.447240753] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049840.448638645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049840.449840749] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049840.503155066] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973632 Long: -76.5029863 -[vectornav-1] [INFO] [1746049840.504804678] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.23199999999997, -3.393, 7.256) -[mux-7] [INFO] [1746049840.544920270] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049840.545513537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049840.546173034] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049840.547433493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049840.548471687] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049840.585301944] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049840.587497934] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049840.588186831] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049840.588723477] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049840.589662558] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049840.590534153] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049840.591374730] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049840.645364192] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049840.646029113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049840.646960912] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049840.647784313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049840.648309679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049840.745499066] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049840.746278403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049840.747243514] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049840.748379406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049840.748975482] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049840.835395920] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049840.837214730] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049840.837754113] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049840.838145768] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049840.838951667] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049840.839032424] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049840.839909931] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049840.844405129] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049840.844941892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049840.845689759] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049840.846631600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049840.847721271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049840.945493390] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049840.946320810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049840.947128480] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049840.948638245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049840.950505203] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049841.003269035] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973603 Long: -76.50298636 -[vectornav-1] [INFO] [1746049841.004461665] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.222, -3.396, 7.274) -[mux-7] [INFO] [1746049841.045261100] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049841.046142513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049841.046892249] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049841.048688202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049841.049772550] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049841.085460887] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049841.087418373] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049841.087766221] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049841.088444449] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049841.089340775] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049841.089861424] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049841.090269449] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049841.145209274] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049841.146015719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049841.146707845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049841.148289760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049841.148824433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049841.245176098] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049841.245963626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049841.246680447] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049841.249537880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049841.250672237] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049841.335663317] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049841.337902986] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049841.338915211] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049841.338813538] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049841.339802865] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049841.340571588] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049841.340716472] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049841.344543154] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049841.345043256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049841.345832519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049841.346784762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049841.348416214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049841.445269551] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049841.446125555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049841.446897878] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049841.448552371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049841.449678526] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049841.503326549] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973585 Long: -76.50298623 -[vectornav-1] [INFO] [1746049841.504975833] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.2, -3.418, 7.038) -[mux-7] [INFO] [1746049841.544883264] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049841.545747732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049841.546137627] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049841.547557741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049841.548660054] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049841.585366489] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049841.587625740] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049841.588104735] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049841.588610819] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049841.589112783] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049841.589503684] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049841.590395280] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049841.645191919] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049841.645946480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049841.646543101] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049841.648233813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049841.649244753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049841.745476829] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049841.746322458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049841.747033075] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049841.748684668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049841.749770087] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049841.835501397] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049841.837485297] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049841.838081861] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049841.838535983] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049841.839364983] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049841.839411517] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049841.839789648] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049841.844396350] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049841.845059499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049841.845559775] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049841.846775716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049841.847926613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049841.945212091] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049841.946096420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049841.946994101] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049841.948354784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049841.949719584] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049842.002975668] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973562 Long: -76.50298565 -[vectornav-1] [INFO] [1746049842.004240995] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.18, -3.418, 6.914) -[mux-7] [INFO] [1746049842.044968351] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049842.045608687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049842.046204176] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049842.047496871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049842.048634513] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049842.085399466] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049842.087313712] [sailbot.teensy]: Wind angle: 325 -[teensy-2] [INFO] [1746049842.088279022] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049842.087814499] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049842.089060836] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049842.089172102] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049842.090010707] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049842.145477902] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049842.146168978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049842.147078592] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049842.148000734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049842.148448815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049842.245437595] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049842.246294373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049842.246990908] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049842.248663922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049842.249883977] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049842.335364075] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049842.337154734] [sailbot.teensy]: Wind angle: 311 -[teensy-2] [INFO] [1746049842.338111605] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049842.337693359] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746049842.338993238] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049842.339470929] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049842.339875578] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049842.344611587] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049842.345215690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049842.345779343] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049842.346943236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049842.348121208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049842.445219913] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049842.446126221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049842.446722154] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049842.448417790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049842.449152608] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049842.502526611] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973556 Long: -76.50298522 -[vectornav-1] [INFO] [1746049842.503566200] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.15700000000004, -3.427, 6.858) -[mux-7] [INFO] [1746049842.545267231] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049842.546063452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049842.546860679] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049842.548418787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049842.549555820] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049842.585247939] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049842.586959144] [sailbot.teensy]: Wind angle: 316 -[trim_sail-4] [INFO] [1746049842.587648158] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049842.587870952] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049842.587927568] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049842.588816242] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049842.589682696] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049842.645205038] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049842.645979150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049842.646820843] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049842.648083350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049842.649284298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049842.745172079] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049842.745970165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049842.747162786] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049842.748051528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049842.748589556] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049842.835371694] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049842.837339066] [sailbot.teensy]: Wind angle: 326 -[trim_sail-4] [INFO] [1746049842.837713648] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049842.838259432] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049842.839184197] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049842.838389477] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049842.840105376] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049842.844418126] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049842.845066213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049842.845559185] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049842.846902866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049842.847937048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049842.945320880] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049842.946699276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049842.946849876] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049842.948696887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049842.949329940] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049843.002511366] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973546 Long: -76.50298476 -[vectornav-1] [INFO] [1746049843.003784029] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.16200000000003, -3.416, 6.826) -[mux-7] [INFO] [1746049843.044807221] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049843.045362760] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049843.047210435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[mux-7] [INFO] [1746049843.047726544] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049843.048652530] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049843.085633597] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049843.088232250] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049843.089726196] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049843.090145374] [sailbot.teensy]: Wind angle: 338 -[teensy-2] [INFO] [1746049843.091134430] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049843.092038907] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049843.092896242] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049843.144910410] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049843.145595507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049843.146172135] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049843.147492134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049843.148580833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049843.245186155] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049843.245969271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049843.246697377] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049843.247931574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049843.248483353] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049843.335423467] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049843.337859120] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049843.337991534] [sailbot.teensy]: Wind angle: 344 -[mux-7] [INFO] [1746049843.338517114] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049843.338930706] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049843.339826130] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049843.340641182] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049843.344469103] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049843.345043490] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049843.345626663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049843.346693949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049843.347745724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049843.445079824] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049843.445709499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049843.446426733] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049843.447593934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049843.448183079] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049843.502858868] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697351 Long: -76.5029846 -[vectornav-1] [INFO] [1746049843.504274697] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.151, -3.415, 6.805) -[mux-7] [INFO] [1746049843.545111255] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049843.545906698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049843.546339914] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049843.547867529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049843.549003676] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049843.585430135] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049843.587255573] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049843.587946970] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049843.588202856] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049843.588808912] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049843.589111351] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049843.589995376] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049843.645416070] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049843.646190392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049843.647000565] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049843.648435521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049843.649576280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049843.745564001] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049843.746247509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049843.747257478] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049843.748543902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049843.749819359] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049843.835425161] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049843.837476122] [sailbot.teensy]: Wind angle: 330 -[trim_sail-4] [INFO] [1746049843.837988693] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049843.838684429] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049843.838904939] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049843.839159646] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049843.839534978] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049843.844577399] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049843.845224504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049843.845757783] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049843.847031508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049843.848100548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049843.945324407] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049843.946644122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049843.946925945] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049843.948381614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049843.948857949] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049844.002501260] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973511 Long: -76.50298404 -[vectornav-1] [INFO] [1746049844.003579719] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.147, -3.404, 6.83) -[mux-7] [INFO] [1746049844.045190842] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049844.045891977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049844.046552959] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049844.048146822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049844.048795610] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049844.085501717] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049844.087307904] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049844.088646931] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049844.089226499] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049844.089256828] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049844.090205290] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049844.091144628] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049844.145071174] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049844.146130095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049844.146507385] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049844.147927968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049844.148504598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049844.245059792] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049844.246263078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049844.246471734] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049844.247867005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049844.248387740] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049844.335512876] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049844.337619624] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049844.338583094] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049844.338201876] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049844.338724837] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049844.339469647] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049844.340351651] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049844.344305280] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049844.344900371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049844.345393991] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049844.346649979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049844.347765168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049844.445243925] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049844.445976709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049844.447102311] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049844.448252288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049844.449370687] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049844.504301571] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973492 Long: -76.50298396 -[vectornav-1] [INFO] [1746049844.506369031] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.14599999999996, -3.4, 6.88) -[mux-7] [INFO] [1746049844.545082005] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049844.545678879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049844.546380253] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049844.547507592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049844.548670733] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049844.585598202] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049844.588057363] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049844.588288078] [sailbot.teensy]: Wind angle: 336 -[mux-7] [INFO] [1746049844.589088574] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049844.589234556] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049844.590146953] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049844.591042945] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049844.645258549] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049844.646347441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049844.646792259] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049844.648792436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049844.649815206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049844.745080413] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049844.745847992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049844.746537594] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049844.747682751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049844.748143249] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049844.835301897] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049844.837716393] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049844.838693957] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049844.838891743] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049844.840423840] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049844.841282318] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049844.842125424] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049844.844329175] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049844.844797255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049844.845624161] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049844.846759204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049844.848498233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049844.945107499] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049844.945669566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049844.946818946] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049844.947991825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049844.949153164] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049845.002618583] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973459 Long: -76.50298324 -[vectornav-1] [INFO] [1746049845.003716216] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.151, -3.385, 6.973) -[mux-7] [INFO] [1746049845.045282942] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049845.045828805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049845.046738241] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049845.048148820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049845.049367853] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049845.085732879] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049845.087761857] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746049845.088580782] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049845.088778905] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049845.089711351] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049845.090284855] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049845.090642746] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049845.145333507] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049845.145842958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049845.146777974] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049845.148019195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049845.149065430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049845.245494637] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049845.246136933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049845.247053067] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049845.248541087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049845.249103535] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049845.335415618] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049845.337425390] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049845.337845760] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049845.339277913] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049845.339661214] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049845.340332565] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049845.341278764] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049845.344443509] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049845.344873828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049845.345569268] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049845.346559821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049845.347668766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049845.445643104] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049845.446177969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049845.447416331] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049845.448646424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049845.449696902] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049845.503791210] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973455 Long: -76.50298293 -[vectornav-1] [INFO] [1746049845.505536931] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.14099999999996, -3.393, 6.938) -[mux-7] [INFO] [1746049845.545428156] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049845.546082780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049845.547371634] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049845.548509639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049845.549688946] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049845.585448153] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049845.587540087] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049845.588575182] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049845.587947502] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049845.589370815] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049845.589444825] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049845.590319899] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049845.644810382] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049845.645499343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049845.645965232] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049845.647262877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049845.648310589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049845.745043985] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049845.745779812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049845.746541893] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049845.747718508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049845.748194414] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049845.835216392] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049845.836975462] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049845.838008049] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049845.838038964] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049845.838938873] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049845.838952570] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049845.839855240] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049845.844353102] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049845.844938066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049845.845617614] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049845.846718962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049845.847907552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049845.945342146] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049845.946185982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049845.946844129] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049845.948636688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049845.949690190] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049846.002606411] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973443 Long: -76.50298264 -[vectornav-1] [INFO] [1746049846.003795272] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.14099999999996, -3.401, 6.942) -[mux-7] [INFO] [1746049846.045022861] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049846.045794329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049846.047111786] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049846.048362785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049846.049418332] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049846.085494898] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049846.087546228] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049846.087933515] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049846.088571104] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049846.089545732] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049846.089844838] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049846.090456663] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049846.144901018] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049846.145603140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049846.146641738] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049846.148729019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049846.149868266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049846.244972170] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049846.245544373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049846.246124459] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049846.247300001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049846.248464113] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049846.335333126] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049846.337825580] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049846.338270692] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049846.339821186] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746049846.340330721] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049846.340670744] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049846.341013350] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049846.344347594] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049846.344977657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049846.345445698] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049846.346838996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049846.347832955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049846.445419534] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049846.446431705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049846.447024416] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049846.448938779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049846.450116665] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049846.503959834] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973427 Long: -76.50298255 -[vectornav-1] [INFO] [1746049846.505865915] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.13800000000003, -3.406, 6.917) -[mux-7] [INFO] [1746049846.545148984] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049846.545851982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049846.546406044] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049846.547696706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049846.548788823] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049846.585387498] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049846.587577587] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049846.587845216] [sailbot.teensy]: Wind angle: 349 -[mux-7] [INFO] [1746049846.588656130] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049846.588869417] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049846.589784120] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049846.590662960] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049846.645118994] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049846.646035633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049846.646757322] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049846.648022498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049846.649180424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049846.745203569] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049846.746248952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049846.746745793] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049846.748368972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049846.748904523] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049846.835247925] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049846.837613516] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049846.838053560] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049846.838544459] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049846.839567493] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049846.840508639] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049846.841372185] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049846.844441570] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049846.844963203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049846.845674848] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049846.846645717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049846.847689286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049846.945431064] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049846.946048264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049846.947070167] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049846.948368194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049846.949611186] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049847.003470575] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973418 Long: -76.50298219 -[vectornav-1] [INFO] [1746049847.005275595] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.132, -3.404, 6.913) -[mux-7] [INFO] [1746049847.044982005] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049847.045779127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049847.046781475] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049847.047630251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049847.048858764] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049847.085259001] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049847.087672428] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049847.087994713] [sailbot.teensy]: Wind angle: 352 -[mux-7] [INFO] [1746049847.088110678] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049847.089078162] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049847.089971931] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049847.090934661] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049847.145176475] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049847.146013652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049847.146589967] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049847.148348181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049847.149433581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049847.245231338] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049847.246384561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049847.246938744] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049847.248541836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049847.250470163] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049847.335378393] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049847.337146421] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049847.337722203] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049847.339053780] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049847.340067925] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049847.340894810] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049847.341248307] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049847.344378710] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049847.344992939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049847.345483475] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049847.346686022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049847.347685807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049847.444748695] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049847.445347849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049847.445929263] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049847.447137267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049847.448291272] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049847.502836177] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973397 Long: -76.50298179 -[vectornav-1] [INFO] [1746049847.504037658] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.11, -3.411, 6.801) -[mux-7] [INFO] [1746049847.545069651] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049847.545908774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049847.546510710] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049847.547915336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049847.548982463] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049847.585437175] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049847.587710696] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049847.588482424] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049847.588659705] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049847.589553083] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049847.590109063] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049847.590504704] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049847.645443574] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049847.645947671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049847.647324338] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049847.648089021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049847.649424236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049847.745427646] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049847.746342199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049847.747187642] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049847.748604100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049847.749778946] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049847.835519933] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049847.837635913] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049847.838191303] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049847.838498774] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049847.839386444] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049847.839632471] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049847.840335877] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049847.844411212] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049847.844858684] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049847.845533007] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049847.846531360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049847.847664128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049847.945554523] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049847.946039557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049847.947136351] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049847.948142108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049847.949393339] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049848.002479073] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973396 Long: -76.50298143 -[vectornav-1] [INFO] [1746049848.003606104] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.113, -3.414, 6.823) -[mux-7] [INFO] [1746049848.045551697] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049848.046364614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049848.047658835] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049848.048561464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049848.049113847] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049848.085550718] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049848.088872722] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049848.089275858] [sailbot.teensy]: Wind angle: 338 -[mux-7] [INFO] [1746049848.089270900] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049848.090201234] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049848.091070695] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049848.091898170] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049848.145090395] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049848.145752908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049848.146510699] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049848.148592655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049848.149745707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049848.245100244] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049848.245873826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049848.246540357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049848.247985728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049848.249109158] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049848.335395779] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049848.337283663] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049848.338276478] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049848.338550708] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049848.339173388] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049848.339998851] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049848.340080004] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049848.344356673] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049848.344952336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049848.345638600] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049848.346821919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049848.348142297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049848.445156128] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049848.445803959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049848.446768599] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049848.447760712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049848.448297524] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049848.503478821] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973367 Long: -76.50298109 -[vectornav-1] [INFO] [1746049848.505282890] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.132, -3.422, 6.92) -[mux-7] [INFO] [1746049848.545264215] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049848.545962024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049848.546801172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049848.547940299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049848.548967112] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049848.585489959] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049848.587371445] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049848.587965028] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049848.588374224] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049848.589266170] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049848.589490473] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049848.590198286] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049848.645049309] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049848.645676918] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049848.646504634] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049848.647681713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049848.648851885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049848.745152030] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049848.745995160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049848.746584025] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049848.748258451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049848.749369624] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049848.835376663] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049848.837254720] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049848.838231277] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049848.839097070] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049848.838041734] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049848.839096519] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049848.839950253] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049848.844290223] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049848.844851168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049848.845374230] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049848.846589657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049848.847620893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049848.945101401] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049848.945838892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049848.946581381] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049848.948100470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049848.949119256] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049849.003346127] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973352 Long: -76.5029809 -[vectornav-1] [INFO] [1746049849.004962079] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.128, -3.418, 6.946) -[mux-7] [INFO] [1746049849.045090783] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049849.046155517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049849.046810004] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049849.048339661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049849.049476050] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049849.085205839] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049849.087129493] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049849.087891915] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049849.087995153] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049849.088308330] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049849.088875449] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049849.089760256] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049849.145083881] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049849.145585395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049849.146612645] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049849.147536532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049849.148682305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049849.245356072] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049849.245875004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049849.246967786] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049849.247933742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049849.248606705] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049849.335382775] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049849.337857639] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049849.338390684] [sailbot.teensy]: Wind angle: 349 -[teensy-2] [INFO] [1746049849.339191126] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049849.339309487] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049849.339584816] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049849.339930031] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049849.344406380] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049849.345103800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049849.345524822] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049849.347664597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049849.348786530] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049849.444795071] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049849.445454800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049849.445971236] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049849.447314857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049849.448384174] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049849.504509503] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973343 Long: -76.50298071 -[vectornav-1] [INFO] [1746049849.505950799] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.132, -3.413, 7.033) -[mux-7] [INFO] [1746049849.544942802] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049849.545807704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049849.546232724] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049849.547924930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049849.548969061] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049849.585428866] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049849.587467866] [sailbot.teensy]: Wind angle: 355 -[teensy-2] [INFO] [1746049849.588856960] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049849.588528870] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049849.589452794] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049849.589951729] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049849.590900887] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049849.644532822] [sailbot.mux]: Published sail angle from controller_app: 28 -[mux-7] [INFO] [1746049849.645725513] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049849.646246341] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049849.648283738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049849.650157783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049849.745567638] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049849.746423966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049849.747211932] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049849.749015738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049849.749631482] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049849.835308566] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049849.837307436] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049849.837849618] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049849.839310376] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049849.839448339] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049849.840495289] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049849.841474422] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049849.844333244] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049849.844944097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049849.845428722] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049849.846725183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049849.847823938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049849.945322922] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049849.946322510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049849.946861528] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049849.948589742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049849.949657341] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049850.002505762] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973315 Long: -76.50298025 -[vectornav-1] [INFO] [1746049850.003534385] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.119, -3.39, 6.896) -[mux-7] [INFO] [1746049850.045337099] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049850.046378713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049850.046887431] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049850.048834321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049850.049826796] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049850.085862542] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049850.088694145] [sailbot.teensy]: Wind angle: 356 -[trim_sail-4] [INFO] [1746049850.088698499] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049850.090265480] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049850.090660305] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049850.091198366] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049850.092063940] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049850.145100183] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049850.145963356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049850.146550348] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049850.148117933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049850.149261250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049850.245298471] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049850.246194325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049850.246853752] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049850.248239688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049850.248822943] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049850.335418970] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049850.337326525] [sailbot.teensy]: Wind angle: 357 -[teensy-2] [INFO] [1746049850.338379556] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049850.337882411] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049850.339131553] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049850.339262105] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049850.340099783] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049850.344552756] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049850.344982815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049850.345908419] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049850.346699772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049850.347754483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049850.445497072] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049850.446278110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049850.447060224] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049850.448455751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049850.449017139] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049850.502529349] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973316 Long: -76.50298 -[vectornav-1] [INFO] [1746049850.503581364] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.11199999999997, -3.419, 6.844) -[mux-7] [INFO] [1746049850.545058162] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049850.545640656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049850.546502506] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049850.547524374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049850.548623189] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049850.585570335] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049850.587739792] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746049850.588764220] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049850.588232790] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049850.588989363] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049850.589683412] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049850.590539759] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049850.645719050] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049850.646124620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049850.647385639] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049850.648261683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049850.649562762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049850.745215018] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049850.745734307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049850.746779831] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049850.747751680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049850.748816041] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049850.835389559] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049850.837247525] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049850.838227668] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049850.839223195] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049850.838044213] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049850.839741471] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049850.840087517] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049850.844409148] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049850.844976189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049850.845568477] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049850.846705639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049850.847739196] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049850.944992017] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049850.945674819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049850.946340074] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049850.947730250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049850.948890438] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049851.003249408] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973313 Long: -76.5029795 -[vectornav-1] [INFO] [1746049851.004739112] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.116, -3.411, 6.912) -[mux-7] [INFO] [1746049851.045499860] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049851.046123645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049851.047248384] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049851.048327273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049851.048973405] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049851.085427565] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049851.087291470] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049851.088147675] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049851.088297569] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049851.089193572] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049851.089505317] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049851.090068832] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049851.144985122] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049851.145757007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049851.146291448] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049851.147698179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049851.148705490] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049851.244914927] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049851.245640706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049851.246259177] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049851.247592863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049851.248516177] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049851.335350119] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049851.337816557] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049851.338332661] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049851.338392878] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049851.338751586] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049851.339250196] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049851.339620476] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049851.344572185] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049851.345298006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049851.346044802] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049851.347286899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049851.348495838] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049851.445499469] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049851.446499415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049851.447283781] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049851.448019092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049851.448503840] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049851.503324275] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973334 Long: -76.5029794 -[vectornav-1] [INFO] [1746049851.504745888] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.13599999999997, -3.397, 7.053) -[mux-7] [INFO] [1746049851.545129373] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049851.546029828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049851.546674899] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049851.548129443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049851.549258535] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049851.585464227] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049851.588066700] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049851.588385239] [sailbot.teensy]: Wind angle: 338 -[mux-7] [INFO] [1746049851.588830320] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049851.589656973] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049851.590591301] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049851.591399218] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049851.644989420] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049851.645716043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049851.646298966] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049851.647533160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049851.647990379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049851.745283994] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049851.746316060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049851.747150604] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049851.748544013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049851.749829841] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049851.835403096] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049851.837283173] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049851.838738923] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049851.839006829] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049851.839199845] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049851.839517108] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049851.839902659] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049851.844475425] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049851.845154179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049851.845723267] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049851.846895583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049851.847905340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049851.945313893] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049851.946171604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049851.947120117] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049851.948611452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049851.949762986] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049852.003558574] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697331 Long: -76.50297911 -[vectornav-1] [INFO] [1746049852.005237946] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.135, -3.4, 7.08) -[mux-7] [INFO] [1746049852.045040162] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049852.045835914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049852.046330293] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049852.047707555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049852.048780442] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049852.085391445] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049852.087144415] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049852.087727261] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049852.088207832] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049852.089198541] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049852.090005304] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049852.090105192] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049852.145065657] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049852.145875122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049852.146524964] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049852.148147497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049852.149175212] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049852.244886222] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049852.245517066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049852.246509262] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049852.247334853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049852.248406485] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049852.335323933] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049852.337940357] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049852.338013444] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049852.338958273] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049852.339331334] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049852.340131033] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049852.341007732] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049852.344518011] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049852.345564825] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049852.345669644] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049852.347417718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049852.348435455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049852.445187906] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049852.445851685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049852.447124473] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049852.447819545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049852.448930332] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049852.503181317] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973308 Long: -76.50297872 -[vectornav-1] [INFO] [1746049852.504703679] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.129, -3.409, 7.076) -[mux-7] [INFO] [1746049852.545011643] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049852.545895848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049852.546408477] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049852.547987474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049852.549153532] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049852.585403958] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049852.587906481] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049852.588080099] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049852.589051524] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049852.589198035] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049852.589958867] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049852.590846809] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049852.645527974] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049852.646277253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049852.647128003] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049852.649752050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049852.650811797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049852.745231443] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049852.745776279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049852.746773921] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049852.747858602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049852.748674856] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049852.835413485] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049852.837364339] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049852.838201073] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049852.838471472] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049852.839385187] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049852.839747096] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049852.840325999] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049852.844351262] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049852.845120049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049852.845501228] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049852.846835811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049852.847961388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049852.945390840] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049852.946086330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049852.947401597] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049852.948230286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049852.949907840] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049853.003737256] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973258 Long: -76.50297871 -[vectornav-1] [INFO] [1746049853.005894769] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.126, -3.413, 7.067) -[mux-7] [INFO] [1746049853.045217986] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049853.046021310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049853.046659037] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049853.048298113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049853.049438362] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049853.085322064] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049853.087834551] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049853.088088891] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049853.088827627] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049853.089174123] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049853.089735044] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049853.090640530] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049853.144993851] [sailbot.mux]: Published sail angle from controller_app: 28 -[mux-7] [INFO] [1746049853.146332604] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049853.146422458] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049853.148324023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049853.149399115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049853.245541738] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049853.246476283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049853.247195627] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049853.249184650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049853.250294096] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049853.335476914] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049853.338407703] [sailbot.teensy]: Wind angle: 334 -[teensy-2] [INFO] [1746049853.339351298] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049853.338806404] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049853.339191778] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049853.340270763] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049853.341113954] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049853.344349482] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049853.344851855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049853.345653744] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049853.346988660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049853.348002814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049853.445427864] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049853.446282625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049853.447067075] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049853.447900196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049853.448395446] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049853.503231054] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973246 Long: -76.50297848 -[vectornav-1] [INFO] [1746049853.505187660] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.116, -3.407, 7.011) -[mux-7] [INFO] [1746049853.545116856] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049853.545682263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049853.546444440] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049853.547585421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049853.548756541] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049853.585342648] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049853.587121171] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049853.587914994] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049853.588075928] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049853.588999306] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049853.589454712] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049853.589880636] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049853.645021084] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049853.645974325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049853.646347041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049853.647864800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049853.649026798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049853.744891022] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049853.745422123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049853.746457479] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049853.747193172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049853.747910408] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049853.835233918] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049853.837182794] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049853.837572890] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049853.838336990] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049853.839082906] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049853.839288207] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049853.840227885] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049853.844388889] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049853.844919725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049853.845568606] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049853.846628813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049853.847679786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049853.945361051] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049853.946281150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049853.946914830] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049853.948489105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049853.949682263] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049854.002459419] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973256 Long: -76.5029782 -[vectornav-1] [INFO] [1746049854.003516020] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.11, -3.405, 7.034) -[mux-7] [INFO] [1746049854.044929582] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049854.045716884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049854.046152717] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049854.047574829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049854.048602311] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049854.085268725] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049854.086964512] [sailbot.teensy]: Wind angle: 323 -[trim_sail-4] [INFO] [1746049854.087371846] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049854.087910922] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049854.088820080] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049854.089145833] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049854.089728041] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049854.144946409] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049854.145685629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049854.146286116] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049854.147662193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049854.148955508] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049854.245189379] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049854.246261582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049854.246685923] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049854.249034759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049854.250197014] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049854.335212414] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049854.337877521] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049854.338346769] [sailbot.teensy]: Wind angle: 325 -[mux-7] [INFO] [1746049854.338893561] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049854.339382929] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049854.340415828] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049854.341388033] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049854.344320257] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049854.344922095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049854.345769202] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049854.346710956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049854.347841384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049854.445469692] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049854.446378478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049854.447295286] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049854.448491565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049854.449024761] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049854.502486059] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973256 Long: -76.50297794 -[vectornav-1] [INFO] [1746049854.503496326] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.096, -3.403, 7.018) -[mux-7] [INFO] [1746049854.545147801] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049854.545933712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049854.546622684] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049854.548380488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049854.549499328] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049854.585492566] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049854.587451509] [sailbot.teensy]: Wind angle: 326 -[trim_sail-4] [INFO] [1746049854.588036773] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049854.588469450] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049854.589407687] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049854.590015663] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049854.590279554] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049854.645058968] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049854.645827276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049854.646478044] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049854.647933712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049854.649012101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049854.745556010] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049854.746074238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049854.747580191] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049854.748537735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049854.749354332] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049854.835513894] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049854.837996053] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049854.838188182] [sailbot.teensy]: Wind angle: 338 -[mux-7] [INFO] [1746049854.838921798] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049854.839114013] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049854.840013254] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049854.840754306] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049854.844572608] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049854.845043441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049854.845777877] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049854.846795034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049854.847927627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049854.945065048] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049854.945891173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049854.946380279] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049854.947887749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049854.949048111] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049855.004016240] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973225 Long: -76.50297761 -[vectornav-1] [INFO] [1746049855.005759126] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.098, -3.411, 6.999) -[teensy-2] [INFO] [1746049855.045587623] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049855.047764258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[mux-7] [INFO] [1746049855.045863652] [sailbot.mux]: Published sail angle from controller_app: 28 -[mux-7] [INFO] [1746049855.047371693] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049855.048927367] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049855.085362909] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049855.087533607] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049855.087839193] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049855.088786704] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049855.088850721] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049855.089727739] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049855.090638323] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049855.144953438] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049855.145359261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049855.146274078] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049855.147134592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049855.148203618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049855.244863517] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049855.245908983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049855.246109229] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049855.247553775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049855.248099258] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049855.335444155] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049855.337420851] [sailbot.teensy]: Wind angle: 328 -[teensy-2] [INFO] [1746049855.338395205] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049855.337988864] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049855.338786061] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049855.339297980] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049855.340344822] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049855.344417905] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049855.344993020] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049855.345585740] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049855.346732010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049855.347853992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049855.445239320] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049855.445970342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049855.446836056] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049855.448719433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049855.449251806] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049855.503142583] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973201 Long: -76.50297735 -[vectornav-1] [INFO] [1746049855.504658287] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.095, -3.388, 7.044) -[mux-7] [INFO] [1746049855.544882241] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049855.545579750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049855.546234862] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049855.547625779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049855.548703768] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049855.585231546] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049855.587343118] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049855.587655244] [sailbot.teensy]: Wind angle: 330 -[teensy-2] [INFO] [1746049855.588540483] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049855.588725082] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049855.589392785] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049855.590262294] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049855.645397718] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049855.646131246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049855.647453800] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049855.648391381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049855.649635916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049855.745028672] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049855.745687572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049855.746416509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049855.747634737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049855.748727282] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049855.835517318] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049855.837654928] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049855.838616160] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049855.838050556] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049855.839173272] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049855.839530885] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049855.840410387] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049855.844351798] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049855.845053241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049855.845752962] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049855.846751738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049855.847801674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049855.945309104] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049855.946025091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049855.946886325] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049855.947897419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049855.948384339] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049856.003162829] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973198 Long: -76.50297762 -[vectornav-1] [INFO] [1746049856.004854359] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.08500000000004, -3.397, 6.984) -[mux-7] [INFO] [1746049856.044906764] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049856.045572463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049856.046179497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049856.047590722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049856.048611077] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049856.085395910] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049856.087481358] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049856.087925887] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049856.088032167] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049856.089081413] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049856.089969030] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049856.090876818] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049856.144903469] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049856.145659514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049856.146148324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049856.147447479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049856.148576312] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049856.245240292] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049856.246012928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049856.246730626] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049856.248441160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049856.248947091] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049856.335470763] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049856.338020519] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049856.338785182] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049856.339133273] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049856.340176592] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049856.341039075] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049856.341535976] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049856.344442374] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049856.345076902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049856.345558651] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049856.346774717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049856.347930162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049856.445052419] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049856.445973884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049856.446712039] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049856.448040450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049856.448779461] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049856.503702816] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973184 Long: -76.50297772 -[vectornav-1] [INFO] [1746049856.505754603] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.095, -3.395, 7.051) -[mux-7] [INFO] [1746049856.544865367] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049856.545591302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049856.546171871] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049856.547521593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049856.548699009] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049856.585249935] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049856.587381774] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049856.587845192] [sailbot.teensy]: Wind angle: 342 -[mux-7] [INFO] [1746049856.587972113] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049856.589546748] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049856.590434420] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049856.591275068] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049856.645316469] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049856.646205134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049856.646867152] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049856.648203022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049856.648731011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049856.745270718] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049856.745918012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049856.746751039] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049856.748118104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049856.748804908] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049856.835335080] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049856.837235561] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049856.837702105] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049856.838175787] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049856.839098812] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049856.839719710] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049856.839969431] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049856.844369249] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049856.844859112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049856.845486145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049856.846532475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049856.847862632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049856.945208984] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049856.945916933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049856.946701179] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049856.947978038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049856.949307537] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049857.003534930] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697314 Long: -76.50297753 -[vectornav-1] [INFO] [1746049857.005481389] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.101, -3.384, 7.18) -[mux-7] [INFO] [1746049857.044885192] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049857.045559862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049857.046114616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049857.047393547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049857.048453312] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049857.085373843] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049857.087317847] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049857.087911883] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049857.088280158] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049857.089186965] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049857.089709855] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049857.090081220] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049857.145033513] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049857.145832821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049857.146498113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049857.147927861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049857.148949350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049857.245083631] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049857.245836115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049857.246988615] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049857.247578008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049857.248054883] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049857.335247133] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049857.336944329] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049857.337757278] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049857.337974265] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049857.338946716] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049857.339282096] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049857.339970148] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049857.344340340] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049857.344911381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049857.345477849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049857.346703323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049857.347943794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049857.445034667] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049857.445858720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049857.446407251] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049857.447892419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049857.448919927] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049857.502360536] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973131 Long: -76.50297746 -[vectornav-1] [INFO] [1746049857.503385049] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.095, -3.397, 7.158) -[mux-7] [INFO] [1746049857.545210850] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049857.546000873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049857.546769611] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049857.548092407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049857.549308392] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049857.585712217] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049857.588499138] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049857.589478417] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049857.589514383] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049857.590536240] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049857.591540214] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049857.592623944] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049857.645187775] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049857.645921322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049857.646678732] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049857.648430075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049857.649514785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049857.744954345] [sailbot.mux]: Published sail angle from controller_app: 28 -[mux-7] [INFO] [1746049857.746288053] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049857.746381812] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049857.748188796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049857.749395487] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049857.835439096] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049857.837414749] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049857.838415383] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049857.838714825] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049857.838780707] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049857.839301849] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049857.839849478] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049857.844321524] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049857.844999343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049857.845713953] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049857.847012278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049857.848062278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049857.945209046] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049857.946054184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049857.946701864] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049857.948287724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049857.948760801] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049858.003056544] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697309 Long: -76.50297725 -[vectornav-1] [INFO] [1746049858.004350979] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.095, -3.407, 7.146) -[mux-7] [INFO] [1746049858.044743855] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049858.045324983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049858.045889129] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049858.047059686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049858.048240912] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049858.085429643] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049858.087361700] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049858.087993148] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049858.088334456] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049858.089175827] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049858.089220491] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049858.090067759] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049858.145041528] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049858.145652781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049858.146421958] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049858.148235846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049858.149397422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049858.245241489] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049858.246289051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049858.246722097] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049858.248688659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049858.249734053] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049858.335409442] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049858.337729675] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049858.337930225] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049858.338726554] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049858.339077615] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049858.339692206] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049858.340872219] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049858.344382780] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049858.344957824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049858.345381674] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049858.346515496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049858.347469409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049858.445199827] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049858.445977148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049858.446768312] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049858.449082298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049858.450220648] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049858.503259303] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973065 Long: -76.5029769 -[vectornav-1] [INFO] [1746049858.504663607] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.09299999999996, -3.412, 7.145) -[mux-7] [INFO] [1746049858.545077816] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049858.545743999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049858.546435133] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049858.547760810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049858.548920319] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049858.585398523] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049858.587217979] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049858.587730937] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049858.589042449] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049858.589047839] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049858.590071529] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049858.590984794] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049858.645138905] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049858.645777271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049858.646512173] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049858.647942195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049858.649096203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049858.745020601] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049858.745925617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049858.746877195] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049858.748700265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049858.749843098] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049858.835246444] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049858.836978432] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049858.838002863] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049858.837455980] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049858.837967655] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049858.838926476] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049858.839796572] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049858.844447350] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049858.844953930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049858.845577729] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049858.846791806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049858.847953053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049858.944978448] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049858.945798924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049858.946248203] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049858.947722747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049858.948934968] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049859.003477992] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973056 Long: -76.50297671 -[vectornav-1] [INFO] [1746049859.005201539] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.126, -3.408, 7.091) -[mux-7] [INFO] [1746049859.045262422] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049859.046276556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049859.046904408] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049859.048450155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049859.049457634] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049859.085331439] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049859.087051757] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049859.088024535] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049859.087511140] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049859.088792229] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049859.088937420] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049859.089891583] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049859.144839064] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049859.145691210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049859.146104659] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049859.147575803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049859.148797997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049859.245398515] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049859.246225126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049859.247212788] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049859.248522182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049859.249666849] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049859.335264094] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049859.336939664] [sailbot.teensy]: Wind angle: 335 -[teensy-2] [INFO] [1746049859.337919298] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049859.338794333] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049859.338853816] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049859.339241118] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049859.339788307] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049859.344454393] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049859.344990682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049859.345549879] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049859.346712296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049859.347702857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049859.445359621] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049859.446206656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049859.446978243] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049859.448295185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049859.448712438] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049859.504047188] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973039 Long: -76.50297662 -[vectornav-1] [INFO] [1746049859.505705451] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.361, -3.283, 7.154) -[mux-7] [INFO] [1746049859.544915833] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049859.545719377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049859.546178447] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049859.547748667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049859.548958769] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049859.585454486] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049859.587727742] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049859.588045232] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049859.588738067] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049859.588922905] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049859.589693165] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049859.590613198] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049859.644976057] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049859.645609735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049859.646439718] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049859.647529273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049859.648680397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049859.745168176] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049859.746239553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049859.746978038] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049859.748375708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049859.749418722] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049859.835385776] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049859.837551197] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049859.837669689] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049859.838568499] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049859.839212632] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049859.839430238] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049859.840354565] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049859.844288821] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049859.844856812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049859.845628891] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049859.846683699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049859.847850162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049859.944983381] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049859.945605605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049859.946406373] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049859.947831061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049859.948909734] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049860.003172375] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46973026 Long: -76.50297627 -[vectornav-1] [INFO] [1746049860.004734296] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.929, -3.208, 6.786) -[mux-7] [INFO] [1746049860.044803616] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049860.045378470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049860.045951833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049860.047449290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049860.048278203] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049860.085389358] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049860.087730280] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049860.088493473] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049860.088902065] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049860.089907085] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049860.090835538] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049860.091669157] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049860.145267292] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049860.145845626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049860.146759500] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049860.148257302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049860.149306966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049860.245012499] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049860.245596362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049860.246275748] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049860.247400533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049860.248605698] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049860.335269897] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049860.337229818] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049860.337652282] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049860.338265000] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049860.339220106] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049860.339732915] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049860.340103813] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049860.344234920] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049860.344814477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049860.345320389] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049860.346595509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049860.347718944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049860.444963981] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049860.445834013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049860.446353948] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049860.447835303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049860.448890014] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049860.502461132] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972999 Long: -76.5029758 -[vectornav-1] [INFO] [1746049860.503507858] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.832, -3.372, 6.53) -[mux-7] [INFO] [1746049860.545057724] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049860.545745712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049860.546480015] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049860.547875572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049860.549008909] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049860.585534149] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049860.588142136] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049860.588142105] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049860.589180673] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049860.590254590] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049860.590504588] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049860.591135544] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049860.645013211] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049860.645890299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049860.646439331] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049860.647957163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049860.649043193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049860.745147623] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049860.746098652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049860.746553357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049860.747995451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049860.748468294] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049860.835409100] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049860.837756556] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049860.837751738] [sailbot.teensy]: Wind angle: 334 -[mux-7] [INFO] [1746049860.838762917] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049860.838805370] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049860.839749841] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049860.840718440] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049860.844421711] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049860.845279449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049860.845498203] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049860.847037549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049860.848082280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049860.945144839] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049860.946404871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049860.946742764] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049860.948263303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049860.948661123] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049861.003300609] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972971 Long: -76.50297579 -[vectornav-1] [INFO] [1746049861.004670171] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.79200000000003, -3.39, 6.806) -[mux-7] [INFO] [1746049861.044979473] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049861.045849762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049861.046245529] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049861.048386306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049861.049976551] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049861.085453021] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049861.087297807] [sailbot.teensy]: Wind angle: 0 -[teensy-2] [INFO] [1746049861.088258413] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049861.087791766] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049861.089912440] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049861.090037961] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049861.090987300] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049861.145125315] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049861.145810344] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049861.146659933] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049861.147809454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049861.148852455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049861.245259335] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049861.246171785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049861.246913044] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049861.248538127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049861.249222013] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049861.335166544] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049861.336800128] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049861.337752252] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049861.337292391] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049861.338666355] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049861.339274229] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049861.339537784] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049861.344355804] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049861.345099432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049861.345464127] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049861.347021620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049861.348074854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049861.444726432] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049861.445640481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049861.445939902] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049861.447435649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049861.448516252] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049861.502467497] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972973 Long: -76.50297612 -[vectornav-1] [INFO] [1746049861.503587378] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.786, -3.389, 6.85) -[mux-7] [INFO] [1746049861.545120317] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049861.545804489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049861.546359418] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049861.547733177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049861.548822446] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049861.585480950] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049861.587843217] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049861.588180629] [sailbot.teensy]: Wind angle: 353 -[mux-7] [INFO] [1746049861.589068903] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049861.589232899] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049861.590126221] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049861.590998017] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049861.645502761] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049861.646082508] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049861.647067811] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049861.648288671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049861.649403630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049861.745353105] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049861.746013413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049861.747235195] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049861.748145485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049861.749090888] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049861.835400243] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049861.837145215] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049861.837608230] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049861.838508022] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049861.839484332] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049861.839533533] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049861.840439969] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049861.844387779] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049861.844925470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049861.845555026] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049861.846774657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049861.847831881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049861.945106938] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049861.946078823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049861.946919504] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049861.948105559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049861.949215828] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049862.003835089] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972959 Long: -76.5029763 -[vectornav-1] [INFO] [1746049862.005437186] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.78700000000003, -3.363, 6.861) -[mux-7] [INFO] [1746049862.044592871] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049862.045226398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049862.045733324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049862.047029556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049862.048198857] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049862.084346824] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049862.085410076] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049862.085842112] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049862.086458565] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049862.086858631] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049862.087252625] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049862.087637507] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049862.145050527] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049862.145707967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049862.146311321] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049862.147542366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049862.148588259] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049862.245271786] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049862.246042360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049862.246762506] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049862.248315048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049862.249479318] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049862.335148012] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049862.336726948] [sailbot.teensy]: Wind angle: 356 -[trim_sail-4] [INFO] [1746049862.337286535] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049862.337578621] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049862.338391215] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049862.338472040] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049862.338936177] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049862.344461614] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049862.345037385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049862.345960763] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049862.346798710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049862.348472963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049862.445636706] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049862.446638876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049862.447239044] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049862.448984372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049862.450269561] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049862.502409183] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972944 Long: -76.50297642 -[vectornav-1] [INFO] [1746049862.503507750] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.773, -3.329, 6.798) -[mux-7] [INFO] [1746049862.545362008] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049862.546134198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049862.546845246] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049862.548530121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049862.549695859] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049862.585218710] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049862.587264858] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049862.587864624] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049862.588383759] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049862.589343716] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049862.590194093] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049862.591038132] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049862.645264349] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049862.646046611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049862.647065406] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049862.648626164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049862.649675091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049862.744899160] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049862.745738168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049862.746178888] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049862.747755176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049862.748782162] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049862.835415358] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049862.838114439] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049862.838434759] [sailbot.teensy]: Wind angle: 336 -[mux-7] [INFO] [1746049862.839003918] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049862.839359468] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049862.840280993] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049862.841132501] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049862.844336872] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049862.844919240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049862.845405126] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049862.846614236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049862.847748758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049862.945003462] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049862.945681161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049862.946901409] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049862.948053020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049862.948574500] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049863.003246265] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972944 Long: -76.50297669 -[vectornav-1] [INFO] [1746049863.005072357] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.741, -3.322, 6.641) -[mux-7] [INFO] [1746049863.045259055] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049863.046070019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049863.046896817] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049863.048437557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049863.049792675] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049863.085388529] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049863.087134002] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049863.087585833] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049863.088118395] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049863.088948734] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049863.089056928] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049863.090004053] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049863.144945081] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049863.145655137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049863.146223650] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049863.147593942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049863.148804297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049863.245107408] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049863.245722516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049863.246728219] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049863.247699905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049863.248900961] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049863.335531329] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049863.337599491] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049863.338614818] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049863.339494084] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049863.338654595] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049863.339427339] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049863.340409266] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049863.344299336] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049863.344946380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049863.345413339] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049863.346700704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049863.347703514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049863.445472239] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049863.446173911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049863.447067236] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049863.448827867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049863.450059629] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049863.503113019] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972938 Long: -76.50297684 -[vectornav-1] [INFO] [1746049863.504550611] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.753, -3.358, 6.638) -[mux-7] [INFO] [1746049863.545002022] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049863.545653519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049863.546285571] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049863.547482881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049863.548631869] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049863.585273989] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049863.587510300] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049863.587568843] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049863.588515141] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049863.588703003] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049863.589424181] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049863.590311812] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049863.644973702] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049863.645590282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049863.646305956] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049863.647497650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049863.648797791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049863.745061579] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049863.745809236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049863.746453076] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049863.747622502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049863.748672180] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049863.835715582] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049863.837704300] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049863.838690428] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049863.838829792] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049863.838917534] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049863.839173598] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049863.839570397] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049863.844645892] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049863.845174370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049863.845836663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049863.846943646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049863.847993843] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049863.945610946] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049863.946480049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049863.947313393] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049863.948816400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049863.950153016] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049864.003076585] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972953 Long: -76.50297677 -[vectornav-1] [INFO] [1746049864.004247448] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.728, -3.354, 6.495) -[mux-7] [INFO] [1746049864.045268854] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049864.045674223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049864.046765066] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049864.047631826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049864.048923534] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049864.085129795] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049864.086676444] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746049864.087520433] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049864.087214464] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049864.088342719] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049864.088486188] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049864.089213845] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049864.145120334] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049864.145708749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049864.146617058] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049864.147725268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049864.148886612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049864.245094550] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049864.245696419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049864.246708791] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049864.247619671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049864.248828840] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049864.335383974] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049864.337238143] [sailbot.teensy]: Wind angle: 334 -[teensy-2] [INFO] [1746049864.338219957] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049864.338269383] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049864.339157723] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049864.339965122] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049864.340084596] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049864.344434755] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049864.345424558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049864.345652407] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049864.348048062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049864.349211427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049864.444826438] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049864.445523152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049864.446004819] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049864.447263606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049864.448253010] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049864.502221108] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972951 Long: -76.5029768 -[vectornav-1] [INFO] [1746049864.503416920] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.72, -3.378, 6.467) -[mux-7] [INFO] [1746049864.545056558] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049864.545719513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049864.546509305] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049864.547968581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049864.548991017] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049864.585502599] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049864.587908264] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049864.588270551] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746049864.589215122] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049864.589529000] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049864.590113361] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049864.590994592] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049864.645185218] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049864.645943956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049864.646678814] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049864.647907913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049864.649106855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049864.745136369] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049864.746040440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049864.746837614] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049864.748253505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049864.749332303] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049864.835257419] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049864.837119716] [sailbot.teensy]: Wind angle: 358 -[trim_sail-4] [INFO] [1746049864.837730749] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049864.838079785] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049864.838959884] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049864.839283963] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049864.839849973] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049864.844569004] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049864.844998558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049864.845795774] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049864.846642355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049864.847800884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049864.945244868] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049864.946197378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049864.946867737] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049864.948439080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049864.948934575] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049865.002345747] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972914 Long: -76.50297718 -[vectornav-1] [INFO] [1746049865.003507922] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.714, -3.378, 6.428) -[mux-7] [INFO] [1746049865.045189990] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049865.046165159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049865.046859833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049865.048038027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049865.048555698] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049865.085537258] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049865.087891831] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746049865.088287396] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049865.089282100] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049865.089739612] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049865.090720430] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049865.091652938] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049865.144967990] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049865.145824932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049865.146259472] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049865.147778219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049865.148869950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049865.244885455] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049865.245850744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049865.246190132] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049865.247725344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049865.248823417] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049865.335348465] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049865.337667127] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049865.338018172] [sailbot.teensy]: Wind angle: 338 -[mux-7] [INFO] [1746049865.338743727] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049865.340004930] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049865.340583328] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049865.340952219] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049865.344307740] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049865.344899215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049865.345448380] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049865.346710659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049865.347739825] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049865.445529172] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049865.446233946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049865.447135728] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049865.448043463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049865.448562403] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049865.503295175] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697291 Long: -76.50297742 -[vectornav-1] [INFO] [1746049865.505137171] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.709, -3.377, 6.449) -[mux-7] [INFO] [1746049865.545072549] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049865.545787209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049865.546494105] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049865.547904034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049865.548937499] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049865.585450830] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049865.587335761] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049865.587952542] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049865.588890400] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049865.589542615] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049865.590625166] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049865.591489847] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049865.645020347] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049865.645730370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049865.646451311] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049865.647740314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049865.648825920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049865.744944713] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049865.745808019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049865.746400804] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049865.748435612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049865.749591895] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049865.835331505] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049865.837385633] [sailbot.teensy]: Wind angle: 338 -[teensy-2] [INFO] [1746049865.838361146] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049865.837954401] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049865.838898600] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049865.838914093] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049865.839290226] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049865.844499067] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049865.845118143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049865.845755973] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049865.846860097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049865.847881343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049865.945063773] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049865.945937413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049865.946506536] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049865.947617581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049865.948092426] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049866.003217578] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972899 Long: -76.50297783 -[vectornav-1] [INFO] [1746049866.004795632] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.702, -3.373, 6.433) -[mux-7] [INFO] [1746049866.045061603] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049866.045786253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049866.046540183] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049866.047765679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049866.048866908] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049866.085318765] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049866.087366943] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049866.087740334] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049866.088346649] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049866.088857411] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049866.089242924] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049866.090143254] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049866.144890650] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049866.145656247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049866.146793560] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049866.147872761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049866.149052000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049866.245376190] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049866.246288121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049866.246980190] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049866.248025676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049866.248557346] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049866.335374657] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049866.337265615] [sailbot.teensy]: Wind angle: 334 -[teensy-2] [INFO] [1746049866.338240985] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049866.339125638] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049866.338164577] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049866.338504959] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049866.339977627] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049866.344255031] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049866.344821888] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049866.345430411] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049866.346509972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049866.347605841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049866.445269618] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049866.445915674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049866.446839715] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049866.448169817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049866.449371140] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049866.503433608] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972888 Long: -76.50297817 -[vectornav-1] [INFO] [1746049866.505168867] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.777, -3.318, 7.084) -[mux-7] [INFO] [1746049866.545122635] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049866.545846307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049866.546479725] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049866.547893767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049866.549017782] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049866.585365999] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049866.587184082] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049866.587775018] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049866.588140061] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049866.589115194] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049866.589805492] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049866.590049968] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049866.645061676] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049866.646086168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049866.646565678] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049866.648125850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049866.649206849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049866.745318373] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049866.746368439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049866.746981976] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049866.748609210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049866.749754204] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049866.835298116] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049866.838080449] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746049866.838342957] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049866.839906111] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049866.840308277] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049866.840968801] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049866.841336768] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049866.844621573] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049866.845015089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049866.845787596] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049866.846718323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049866.847790813] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049866.945143709] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049866.945846589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049866.946576853] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049866.947854889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049866.949055853] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049867.002319614] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972894 Long: -76.50297816 -[vectornav-1] [INFO] [1746049867.003327651] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.786, -3.332, 7.167) -[mux-7] [INFO] [1746049867.045258589] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049867.046082827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049867.046826051] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049867.048554785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049867.049673830] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049867.085668504] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049867.088380248] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049867.088562709] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049867.089159314] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049867.089348221] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049867.090241885] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049867.091196101] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049867.144906343] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049867.145591310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049867.146171308] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049867.147432718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049867.148524207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049867.244875948] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049867.245436398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049867.246316638] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049867.247164295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049867.248511515] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049867.335382810] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049867.337301939] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049867.337955602] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049867.338362293] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049867.339306101] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049867.340191992] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049867.340208547] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049867.344210518] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049867.345014552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049867.345355249] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049867.346858167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049867.347971026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049867.445080042] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049867.445885813] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049867.446517010] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049867.447922689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049867.448444743] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049867.503721910] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972879 Long: -76.50297828 -[vectornav-1] [INFO] [1746049867.505673104] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.682, -3.359, 6.431) -[mux-7] [INFO] [1746049867.545110457] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049867.546081184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049867.546698477] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049867.548195857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049867.549269530] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049867.585287958] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049867.587788298] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049867.587798551] [sailbot.teensy]: Wind angle: 338 -[mux-7] [INFO] [1746049867.588641423] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049867.588692110] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049867.589597988] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049867.590501719] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049867.645092118] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049867.645839319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049867.646534113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049867.647884184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049867.648562284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049867.745286812] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049867.746037981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049867.747335114] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049867.748258469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049867.749363065] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049867.835347480] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049867.837315286] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049867.837868029] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049867.838296750] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049867.839236590] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049867.840045468] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049867.840090575] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049867.844551486] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049867.845172496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049867.845722021] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049867.846942220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049867.848111464] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049867.945299737] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049867.945937551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049867.946874109] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049867.948099660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049867.949401049] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049868.002456924] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972873 Long: -76.50297855 -[vectornav-1] [INFO] [1746049868.003544950] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.693, -3.384, 6.57) -[mux-7] [INFO] [1746049868.045195332] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049868.046124400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049868.046633951] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049868.048289773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049868.049404214] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049868.085537940] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049868.088050714] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049868.088309643] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049868.089063525] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049868.089958743] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049868.090149029] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049868.090884027] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049868.144928601] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049868.145455311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049868.146444669] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049868.147512026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049868.148702094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049868.245122238] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049868.245742493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049868.247028322] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049868.247550964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049868.248788222] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049868.335283284] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049868.337798361] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049868.339064667] [sailbot.teensy]: Wind angle: 348 -[mux-7] [INFO] [1746049868.339239957] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049868.340092526] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049868.340483496] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049868.340846581] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049868.344363521] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049868.344936118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049868.345522637] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049868.346724291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049868.347712550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049868.444955942] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049868.445688650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049868.446630294] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049868.448576231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049868.449652139] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049868.503289525] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697286 Long: -76.50297865 -[vectornav-1] [INFO] [1746049868.504628719] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.73199999999997, -3.366, 6.82) -[mux-7] [INFO] [1746049868.545136664] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049868.545718074] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049868.546507576] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049868.547602910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049868.548784836] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049868.585400440] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049868.587938897] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049868.588971976] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049868.589379512] [sailbot.teensy]: Wind angle: 349 -[teensy-2] [INFO] [1746049868.590336900] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049868.591195130] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049868.592039100] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049868.645061450] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049868.645717280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049868.646479680] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049868.647685125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049868.648783607] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049868.745003894] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049868.745564665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049868.746511796] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049868.747375232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049868.748429925] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049868.835666191] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049868.837913113] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049868.838531863] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049868.839181261] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049868.839945733] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049868.840097601] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049868.840650660] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049868.844551197] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049868.845155500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049868.845757862] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049868.846903442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049868.848103435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049868.945297892] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049868.945844787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049868.946819475] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049868.948244616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049868.948822846] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049869.003368747] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972852 Long: -76.50297889 -[vectornav-1] [INFO] [1746049869.004978979] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.73199999999997, -3.362, 6.91) -[mux-7] [INFO] [1746049869.045561709] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049869.046068273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049869.047196678] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049869.049382919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049869.050484047] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049869.085712481] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049869.088226993] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049869.088370340] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049869.089232300] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049869.089954287] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049869.090140893] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049869.091057269] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049869.145153021] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049869.145657371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049869.146544529] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049869.147496536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049869.148627149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049869.245050748] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049869.245765908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049869.246556317] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049869.247767622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049869.249034030] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049869.335325296] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049869.337068204] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746049869.337676542] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049869.337976382] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049869.338957313] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049869.339339650] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049869.339410141] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049869.344393821] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049869.345049586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049869.345562390] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049869.346736854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049869.347778989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049869.445087395] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049869.445974634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049869.446970915] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049869.447701708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049869.448396851] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049869.503396730] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972842 Long: -76.50297927 -[vectornav-1] [INFO] [1746049869.504881773] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.726, -3.363, 6.927) -[mux-7] [INFO] [1746049869.545028107] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049869.546013879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049869.546495660] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049869.548205564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049869.549259045] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049869.585365083] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049869.587874509] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746049869.587899172] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049869.588892575] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049869.589154911] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049869.589814254] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049869.590736356] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049869.645198146] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049869.646039755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049869.646667527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049869.648046694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049869.649347024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049869.745188819] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049869.746107574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049869.747073904] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049869.748836562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049869.750022302] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049869.835299087] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049869.837255643] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049869.838335777] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049869.839173159] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049869.840036382] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049869.840717667] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049869.841060169] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049869.844493233] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049869.845044992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049869.845644546] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049869.846890031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049869.847909424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049869.945106592] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049869.945985017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049869.946562871] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049869.948231935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049869.949365529] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049870.003686429] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972841 Long: -76.50298004 -[vectornav-1] [INFO] [1746049870.005661267] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.717, -3.363, 6.909) -[mux-7] [INFO] [1746049870.045000486] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049870.045732660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049870.046308295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049870.047666037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049870.048771158] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049870.085448376] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049870.088034554] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049870.088267392] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049870.089122781] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049870.089719424] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049870.090003683] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049870.090903731] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049870.144936571] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049870.145626593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049870.146459805] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049870.147520931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049870.148553086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049870.244954065] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049870.245585870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049870.246272445] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049870.247686087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049870.248831448] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049870.335261689] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049870.337601626] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049870.338493656] [sailbot.teensy]: Wind angle: 340 -[mux-7] [INFO] [1746049870.338862584] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049870.339549563] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049870.340491730] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049870.340860923] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049870.344478907] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049870.345011884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049870.345599198] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049870.346775559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049870.347945729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049870.444831262] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049870.445442924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049870.446081625] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049870.447181043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049870.448264546] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049870.502254666] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697282 Long: -76.50297981 -[vectornav-1] [INFO] [1746049870.503215322] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.71299999999997, -3.355, 6.922) -[mux-7] [INFO] [1746049870.545015546] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049870.545711511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049870.546393224] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049870.547680549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049870.548835245] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049870.585371866] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049870.587204112] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049870.587723008] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049870.588422861] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049870.588931460] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049870.589351615] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049870.590205719] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049870.645179596] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049870.645896033] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049870.646720497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049870.648137463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049870.649312980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049870.744966024] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049870.745715646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049870.746290053] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049870.747877443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049870.749065912] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049870.835490732] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049870.838007050] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049870.838372159] [sailbot.teensy]: Wind angle: 327 -[mux-7] [INFO] [1746049870.839203972] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049870.839284917] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049870.839668757] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049870.840036513] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049870.844405456] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049870.844850521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049870.845586690] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049870.846511318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049870.847719998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049870.945144472] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049870.945725791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049870.946732349] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049870.947669585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049870.949117329] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049871.003128517] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972773 Long: -76.50297986 -[vectornav-1] [INFO] [1746049871.004457232] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.70799999999997, -3.356, 6.951) -[mux-7] [INFO] [1746049871.044995136] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049871.045680076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049871.046298570] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049871.047599929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049871.048720481] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049871.085484871] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049871.087376088] [sailbot.teensy]: Wind angle: 327 -[trim_sail-4] [INFO] [1746049871.088010465] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049871.088355938] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049871.089271283] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049871.089867535] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049871.090161651] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049871.144776291] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049871.145482751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049871.146027789] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049871.147272118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049871.148406778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049871.245029646] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049871.245633245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049871.246324410] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049871.247620021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049871.248784967] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049871.335475706] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049871.338342416] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049871.338462749] [sailbot.teensy]: Wind angle: 326 -[mux-7] [INFO] [1746049871.338741758] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049871.338966380] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049871.339498121] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049871.339844669] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049871.344502363] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049871.345104803] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049871.345641511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049871.346781505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049871.347818013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049871.445178675] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049871.446225276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049871.446721669] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049871.448559230] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049871.449068635] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049871.503365296] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972779 Long: -76.50297986 -[vectornav-1] [INFO] [1746049871.504586523] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.69399999999996, -3.362, 6.904) -[mux-7] [INFO] [1746049871.545026004] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049871.545829562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049871.546328951] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049871.547832172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049871.548895461] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049871.585204276] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049871.587115595] [sailbot.teensy]: Wind angle: 320 -[trim_sail-4] [INFO] [1746049871.587371162] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049871.588049027] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049871.588534787] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049871.588990317] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049871.589922972] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049871.645256957] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049871.645932165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049871.646756385] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049871.648061839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049871.649317148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049871.745498972] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049871.746407083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049871.747167485] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049871.748370483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049871.748913841] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049871.835948213] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049871.838056552] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049871.838135970] [sailbot.teensy]: Wind angle: 317 -[mux-7] [INFO] [1746049871.838472097] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049871.838535952] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049871.838936601] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049871.839293309] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049871.844698227] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049871.845199173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049871.846017019] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049871.847033618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049871.848087350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049871.945465660] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049871.946033532] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049871.947217803] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049871.948378603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049871.948990584] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049872.003557524] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972765 Long: -76.50298021 -[vectornav-1] [INFO] [1746049872.004973573] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.704, -3.348, 7.004) -[mux-7] [INFO] [1746049872.045552883] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049872.045931082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049872.047236354] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049872.047967661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049872.049179021] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049872.085546142] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049872.088110994] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049872.088111832] [sailbot.teensy]: Wind angle: 318 -[mux-7] [INFO] [1746049872.088779239] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049872.089135588] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049872.090030912] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049872.090865039] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049872.145236410] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049872.145802011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049872.146806813] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049872.148056188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049872.149269997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049872.244992754] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049872.245691657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049872.246339156] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049872.247898561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049872.249115820] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049872.335200582] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049872.337375824] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049872.337577036] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049872.338435726] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049872.338579650] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049872.338825384] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049872.339195858] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049872.344409419] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049872.344872837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049872.345600872] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049872.346560723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049872.347603343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049872.445079148] [sailbot.mux]: Published sail angle from controller_app: 28 -[mux-7] [INFO] [1746049872.446409670] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049872.448651112] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049872.450281773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049872.451186896] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049872.502321448] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972766 Long: -76.50298021 -[vectornav-1] [INFO] [1746049872.503269461] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.693, -3.356, 6.995) -[mux-7] [INFO] [1746049872.545144630] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049872.545963168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049872.546658194] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049872.547873254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049872.548916230] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049872.585493616] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049872.587927132] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049872.587965296] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049872.588956055] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049872.589731059] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049872.589941160] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049872.590885828] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049872.645042462] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049872.646030205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049872.646369525] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049872.648130045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049872.649255114] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049872.745456618] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049872.746229366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049872.747093986] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049872.748692556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049872.749846845] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049872.835226672] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049872.837439490] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049872.837514755] [sailbot.teensy]: Wind angle: 355 -[teensy-2] [INFO] [1746049872.838414493] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049872.839042520] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049872.839331313] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049872.840225428] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049872.844292356] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049872.845177695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049872.845468720] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049872.846949494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049872.847941563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049872.944886593] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049872.945705727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049872.946129674] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049872.947517196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049872.948595611] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049873.003020386] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972757 Long: -76.50298024 -[vectornav-1] [INFO] [1746049873.004661759] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.69399999999996, -3.353, 7.008) -[mux-7] [INFO] [1746049873.045124583] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049873.045784354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049873.046738350] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049873.048051652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049873.049092500] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049873.085414928] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049873.087763260] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049873.088022059] [sailbot.teensy]: Wind angle: 348 -[mux-7] [INFO] [1746049873.088633889] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049873.089275289] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049873.090391796] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049873.091224295] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049873.144692772] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049873.145451442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049873.145948668] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049873.147257261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049873.148416742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049873.245201867] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049873.246096460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049873.246651107] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049873.248324784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049873.249358545] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049873.335588030] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049873.338303825] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049873.338920456] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049873.339015146] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049873.339977536] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049873.340799976] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049873.341156948] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049873.344336020] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049873.344962425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049873.345469371] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049873.346677685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049873.347704042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049873.444914563] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049873.445692296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049873.446425585] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049873.447627526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049873.448505491] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049873.503745454] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972758 Long: -76.50298011 -[vectornav-1] [INFO] [1746049873.505389779] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.685, -3.337, 7.041) -[mux-7] [INFO] [1746049873.544897974] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049873.546013103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049873.546475361] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049873.548088392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049873.549197790] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049873.585370049] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049873.587634036] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049873.588672535] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049873.589059532] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049873.590088333] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049873.591015083] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049873.591871154] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049873.645216400] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049873.645871483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049873.646898390] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049873.648380912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049873.649515507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049873.745154199] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049873.745804535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049873.746657708] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049873.747892506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049873.748398502] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049873.835477415] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049873.837265958] [sailbot.teensy]: Wind angle: 349 -[teensy-2] [INFO] [1746049873.838316210] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049873.838616887] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049873.839254037] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049873.840098724] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049873.840181705] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049873.844446169] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049873.844932262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049873.845552910] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049873.846945459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049873.848133063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049873.944929360] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049873.945705571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049873.946143047] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049873.947808901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049873.948840202] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049874.002189209] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972753 Long: -76.50298007 -[vectornav-1] [INFO] [1746049874.003097234] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.685, -3.336, 7.087) -[mux-7] [INFO] [1746049874.045371087] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049874.046177512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049874.046805175] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049874.048349163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049874.048866564] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049874.085232939] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049874.086965030] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049874.087374008] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049874.087876840] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049874.088571354] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049874.088788696] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049874.089690103] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049874.145233315] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049874.146201438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049874.146718663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049874.148370212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049874.149409267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049874.244930610] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049874.245569731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049874.246176788] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049874.247460290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049874.248618088] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049874.335516795] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049874.337487589] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049874.338626119] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049874.339387102] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049874.339434105] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049874.339833804] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049874.340236004] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049874.344363967] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049874.344934094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049874.345714367] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049874.346655615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049874.347797115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049874.445233596] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049874.445831949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049874.446827959] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049874.447928552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049874.448626789] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049874.503888900] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972757 Long: -76.5029801 -[vectornav-1] [INFO] [1746049874.505296567] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.68, -3.329, 7.072) -[mux-7] [INFO] [1746049874.545046227] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049874.546058777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049874.546766894] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049874.548193010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049874.549351296] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049874.585403468] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049874.587174233] [sailbot.teensy]: Wind angle: 353 -[teensy-2] [INFO] [1746049874.588105732] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049874.588099579] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049874.588963605] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049874.589011673] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049874.589894972] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049874.645279701] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049874.646153284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049874.647610618] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049874.648425333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049874.649637742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049874.745077283] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049874.745740124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049874.746474650] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049874.747801094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049874.749028279] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049874.835250015] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049874.837687946] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049874.837925323] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049874.838591652] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049874.839195717] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049874.839514072] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049874.840420409] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049874.844599093] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049874.845152125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049874.845710977] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049874.846934564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049874.848269705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049874.944991530] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049874.945539716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049874.946289393] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049874.947300151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049874.948394903] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049875.002466213] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972752 Long: -76.50298023 -[vectornav-1] [INFO] [1746049875.003513624] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.68899999999996, -3.335, 7.146) -[mux-7] [INFO] [1746049875.045339344] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049875.045953886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049875.046852122] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049875.048428504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049875.049588252] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049875.085271601] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049875.087280086] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049875.087832329] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049875.088284361] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049875.089263418] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049875.090187937] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049875.090914334] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049875.145187314] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049875.145810613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049875.146607916] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049875.147988928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049875.149092372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049875.244986832] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049875.245585494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049875.246311384] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049875.247351455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049875.249143327] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049875.335604497] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049875.338248458] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049875.338977376] [sailbot.teensy]: Wind angle: 354 -[mux-7] [INFO] [1746049875.339718857] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049875.340108667] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049875.341022455] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049875.341857862] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049875.344431766] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049875.344920980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049875.345530263] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049875.346773557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049875.347810981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049875.445271104] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049875.446231334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049875.446763640] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049875.448614107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049875.449763067] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049875.503767992] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972745 Long: -76.50298012 -[vectornav-1] [INFO] [1746049875.505834111] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.679, -3.336, 7.128) -[mux-7] [INFO] [1746049875.544845071] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049875.545540003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049875.546101473] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049875.547488305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049875.548546149] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049875.585167576] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049875.587249709] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049875.587669000] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049875.588075122] [sailbot.teensy]: Wind angle: 354 -[teensy-2] [INFO] [1746049875.589144977] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049875.590005354] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049875.590851182] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049875.644950501] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049875.646040094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049875.646471408] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049875.648082753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049875.649187620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049875.745024532] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049875.745869110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049875.746401322] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049875.747721589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049875.748191498] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049875.835206243] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049875.837353619] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049875.837516775] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049875.838374085] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049875.839215255] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049875.839299791] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049875.840054373] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049875.844433368] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049875.845025091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049875.845501778] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049875.846752844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049875.847805740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049875.945090126] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049875.945849875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049875.946442964] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049875.949433716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049875.950442727] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049876.003438629] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972747 Long: -76.50298022 -[vectornav-1] [INFO] [1746049876.005158701] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.66999999999996, -3.339, 7.114) -[mux-7] [INFO] [1746049876.044892784] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049876.045614448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049876.046146303] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049876.047619038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049876.048738467] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049876.085391547] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049876.087474985] [sailbot.teensy]: Wind angle: 354 -[teensy-2] [INFO] [1746049876.088533722] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049876.087972569] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049876.089472850] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049876.089675695] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049876.090415583] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049876.144870171] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049876.145752746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049876.146145423] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049876.147590010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049876.148652321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049876.245059064] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049876.245735492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049876.246546267] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049876.247747770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049876.248569108] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049876.335272738] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049876.337595756] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049876.338481682] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049876.338936872] [sailbot.teensy]: Wind angle: 352 -[teensy-2] [INFO] [1746049876.339925988] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049876.340817696] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049876.341696483] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049876.344295610] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049876.344727068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049876.345385497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049876.346507900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049876.347571885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049876.444507503] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049876.445059242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049876.445611370] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049876.446663925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049876.447684493] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049876.502366771] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972755 Long: -76.50298019 -[vectornav-1] [INFO] [1746049876.503330419] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.663, -3.344, 7.084) -[mux-7] [INFO] [1746049876.545017497] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049876.545655465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049876.546358184] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049876.547484174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049876.548543029] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049876.585441214] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049876.587753343] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049876.587881059] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049876.588871510] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049876.589423944] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049876.589752990] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049876.590642872] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049876.645229666] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049876.646062122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049876.646850372] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049876.648235935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049876.649087779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049876.745012403] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049876.746129652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049876.746797107] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049876.748402069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049876.749004269] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049876.835328657] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049876.837023486] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049876.837890943] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049876.837389323] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049876.838321857] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049876.838723024] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049876.839508636] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049876.844355724] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049876.845002488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049876.845455197] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049876.846713718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049876.847737311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049876.945062865] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049876.945693078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049876.946424799] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049876.947481192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049876.948675586] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049877.003996972] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972763 Long: -76.50298017 -[vectornav-1] [INFO] [1746049877.005623407] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.661, -3.339, 7.116) -[mux-7] [INFO] [1746049877.045023501] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049877.046072821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049877.046545651] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049877.048081325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049877.049096237] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049877.085786121] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049877.087843013] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746049877.088499357] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049877.088919038] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049877.090642799] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049877.090868383] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049877.091717972] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049877.145086879] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049877.145787645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049877.146469575] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049877.147750005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049877.148937893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049877.245345578] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049877.246252001] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049877.246904732] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049877.248704594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049877.249779874] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049877.335560069] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049877.337633977] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746049877.338102534] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049877.338693129] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049877.339640537] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049877.339642990] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049877.340579357] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049877.344197178] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049877.345134369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049877.345281427] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049877.346896825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049877.348076308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049877.445484264] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049877.446328803] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049877.447072261] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049877.448579308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049877.449091188] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049877.503236310] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972781 Long: -76.50298048 -[vectornav-1] [INFO] [1746049877.504656133] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.651, -3.341, 7.114) -[mux-7] [INFO] [1746049877.545072175] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049877.545959275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049877.546563894] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049877.547867307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049877.548926901] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049877.585531231] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049877.587893251] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049877.588456496] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049877.589124942] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049877.590198322] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049877.591092740] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049877.591917392] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049877.645283521] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049877.645983461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049877.646851595] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049877.648460906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049877.649545177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049877.745489548] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049877.746293871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049877.747742464] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049877.748629457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049877.749808920] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049877.835395897] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049877.837282421] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049877.837818562] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049877.838254773] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049877.839203464] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049877.839915214] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049877.840058483] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049877.844682253] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049877.845040770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049877.845973953] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049877.846778667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049877.847938963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049877.945665101] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049877.946373322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049877.947379673] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049877.948666832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049877.949826779] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049878.002483310] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972776 Long: -76.50298079 -[vectornav-1] [INFO] [1746049878.003542743] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.655, -3.346, 7.149) -[mux-7] [INFO] [1746049878.045428446] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049878.046003984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049878.046961742] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049878.048264196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049878.049296987] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049878.085921342] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049878.088502380] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746049878.088886264] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049878.089630590] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049878.090650835] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049878.090804375] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049878.091539036] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049878.145427867] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049878.146357810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049878.147038906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049878.147972411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049878.148494047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049878.245459594] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049878.246201614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049878.247121781] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049878.248477712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049878.249109051] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049878.335549282] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049878.337638638] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049878.338671514] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049878.338916479] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049878.339563854] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049878.339592401] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049878.340515302] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049878.344434945] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049878.345252495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049878.345546461] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049878.347318121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049878.348468353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049878.445606960] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049878.446263356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049878.447205961] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049878.448251423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049878.448765670] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049878.503380288] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697279 Long: -76.50298055 -[vectornav-1] [INFO] [1746049878.505279352] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.649, -3.341, 7.143) -[mux-7] [INFO] [1746049878.545072382] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049878.545732533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049878.546483989] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049878.548452006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049878.549573667] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049878.585349568] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049878.587162793] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049878.588116284] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049878.587545072] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049878.588011504] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049878.589227548] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049878.590133885] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049878.645078656] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049878.645813778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049878.646549160] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049878.648071977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049878.649140477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049878.745534308] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049878.746954645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049878.747507817] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049878.749404447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049878.750540605] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049878.835358773] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049878.837285876] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049878.837771944] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049878.838298994] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049878.839223874] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049878.838951086] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049878.840252609] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049878.844334965] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049878.845253404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049878.845458037] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049878.846967634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049878.848044966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049878.945240863] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049878.946039926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049878.946733443] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049878.948578748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049878.949620129] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049879.003665587] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469728 Long: -76.50298075 -[vectornav-1] [INFO] [1746049879.005291372] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.63800000000003, -3.353, 7.087) -[mux-7] [INFO] [1746049879.044928369] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049879.045873284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049879.046298752] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049879.048010382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049879.049256289] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049879.085659741] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049879.088056599] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049879.088572073] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049879.089047345] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049879.089975085] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049879.090858103] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049879.091705635] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049879.145312992] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049879.146220299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049879.146838975] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049879.148512753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049879.149661713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049879.245043958] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049879.245623524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049879.246302146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049879.247429589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049879.248501168] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049879.335269947] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049879.337480301] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049879.337817821] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049879.338641856] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049879.338415730] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049879.339032289] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049879.339406155] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049879.344515795] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049879.344889351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049879.345962017] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049879.346554911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049879.347702036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049879.445592553] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049879.446413936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049879.447482648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049879.448312743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049879.448833142] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049879.502785696] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972808 Long: -76.50298083 -[vectornav-1] [INFO] [1746049879.503951395] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.632, -3.34, 7.12) -[mux-7] [INFO] [1746049879.545222950] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049879.545750817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049879.546688566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049879.547706967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049879.548894912] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049879.585741542] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049879.587875150] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049879.588823414] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049879.588983515] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049879.589953327] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049879.590720563] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049879.590813962] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049879.645026436] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049879.645795395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049879.646470305] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049879.647924376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049879.648811248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049879.745311127] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049879.746047633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049879.746820984] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049879.748020489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049879.748520720] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049879.835298865] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049879.836981983] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049879.837613850] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049879.837867935] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049879.838663160] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049879.838717535] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049879.839595241] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049879.844519952] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049879.844999792] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049879.845932462] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049879.846744442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049879.847774329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049879.945733369] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049879.946392194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049879.947624139] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049879.948702906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049879.949938847] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049880.003343179] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972826 Long: -76.50298071 -[vectornav-1] [INFO] [1746049880.004763384] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.625, -3.355, 7.077) -[mux-7] [INFO] [1746049880.045070025] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049880.045793261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049880.046397930] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049880.047638586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049880.048768973] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049880.085653796] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049880.088284113] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049880.089193031] [sailbot.teensy]: Wind angle: 349 -[mux-7] [INFO] [1746049880.089669692] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049880.090170622] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049880.091074257] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049880.091933664] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049880.144991982] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049880.145534384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049880.146690119] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049880.147909199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049880.148953449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049880.245667383] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049880.246344596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049880.247300450] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049880.249070091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049880.250067695] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049880.335350296] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049880.337750246] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049880.338561203] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049880.338941382] [sailbot.teensy]: Wind angle: 349 -[teensy-2] [INFO] [1746049880.339956387] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049880.340920363] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049880.341812537] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049880.344402121] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049880.345063726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049880.345512942] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049880.346780667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049880.347797192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049880.444943235] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049880.445738440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049880.446296773] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049880.447618606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049880.448842192] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049880.503549326] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972813 Long: -76.50298119 -[vectornav-1] [INFO] [1746049880.504838048] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.622, -3.348, 7.096) -[mux-7] [INFO] [1746049880.545555862] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049880.546594133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049880.547157426] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049880.549207751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049880.550258524] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049880.585552635] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049880.587967942] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049880.588118185] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746049880.589118512] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049880.589999520] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049880.590184252] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049880.590921829] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049880.645090135] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049880.646058925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049880.646605259] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049880.648355467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049880.649495719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049880.745387175] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049880.746036781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049880.746891762] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049880.748208194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049880.749260446] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049880.835906558] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049880.838838843] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049880.839313108] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049880.839889418] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746049880.840350034] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049880.840676947] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049880.840977063] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049880.844451797] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049880.844960226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049880.845564978] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049880.846670723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049880.847661392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049880.945648772] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049880.946617702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049880.947259047] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049880.948987296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049880.950243044] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049881.002373730] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972804 Long: -76.50298097 -[vectornav-1] [INFO] [1746049881.003516886] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.61699999999996, -3.343, 7.116) -[mux-7] [INFO] [1746049881.045251264] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049881.046321704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049881.046775142] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049881.048540985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049881.049599260] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049881.085609706] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049881.088316260] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049881.088912690] [sailbot.teensy]: Wind angle: 350 -[mux-7] [INFO] [1746049881.089112974] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049881.089868537] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049881.090808827] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049881.091654910] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049881.145335798] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049881.146328480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049881.146837386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049881.148500391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049881.149732708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049881.245056707] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049881.246188256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049881.246622446] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049881.247698900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049881.248197507] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049881.335442768] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049881.337966884] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049881.339115514] [sailbot.teensy]: Wind angle: 350 -[mux-7] [INFO] [1746049881.339531617] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049881.340112334] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049881.341160708] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049881.342186881] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049881.344304580] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049881.344965327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049881.345424180] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049881.346669625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049881.347680099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049881.445591947] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049881.446697356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049881.447236167] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049881.449058521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049881.449521872] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049881.503045960] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972804 Long: -76.50298052 -[vectornav-1] [INFO] [1746049881.504925816] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.61, -3.348, 7.109) -[mux-7] [INFO] [1746049881.544799460] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049881.545532375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049881.546008533] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049881.547540608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049881.548349927] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049881.585279492] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049881.586974721] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049881.587486508] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049881.587884995] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049881.588785832] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049881.589658569] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049881.589671249] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049881.645107438] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049881.645904053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049881.646643121] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049881.647887785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049881.649000575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049881.745536706] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049881.746523061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049881.747441386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049881.748556016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049881.749099390] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049881.835309233] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049881.837704219] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049881.838262699] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746049881.838747687] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049881.839139616] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049881.839285143] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049881.839514375] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049881.844580319] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049881.845323435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049881.846489859] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049881.847203395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049881.848504349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049881.945344251] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049881.946784346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049881.946985397] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049881.948984917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049881.950020286] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049882.003767265] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972805 Long: -76.50298055 -[vectornav-1] [INFO] [1746049882.005278046] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.6, -3.348, 7.1) -[mux-7] [INFO] [1746049882.045175230] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049882.045785832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049882.046617631] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049882.048062128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049882.049258705] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049882.085291754] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049882.087681957] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049882.087680181] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049882.088630126] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049882.088657994] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049882.089621322] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049882.090498960] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049882.145452691] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049882.146089802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049882.147026527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049882.148122861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049882.148677252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049882.245059485] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049882.245685898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049882.246476498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049882.247482651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049882.248249381] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049882.335316519] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049882.337207481] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049882.337979702] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049882.338190886] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049882.339110172] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049882.339122369] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049882.340051089] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049882.344473000] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049882.345069184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049882.345601285] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049882.346796943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049882.347937580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049882.445538624] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049882.446651010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049882.447112145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049882.448120685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049882.448689547] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049882.502539336] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972808 Long: -76.50298054 -[vectornav-1] [INFO] [1746049882.503628804] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.64599999999996, -3.33, 7.482) -[mux-7] [INFO] [1746049882.545238714] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049882.546137640] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049882.546877822] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049882.548591955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049882.549728170] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049882.585313992] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049882.587211092] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746049882.588787854] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049882.587647529] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049882.589532421] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049882.589696587] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049882.590607287] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049882.645414872] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049882.646076884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049882.646962419] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049882.648048116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049882.648605024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049882.745583216] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049882.746222299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049882.747411501] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049882.748237923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049882.748792482] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049882.835521549] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049882.837443845] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049882.838331692] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049882.838429036] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049882.839324761] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049882.839980549] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049882.840240893] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049882.844611848] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049882.845207508] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049882.845842735] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049882.846979995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049882.848142613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049882.945205999] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049882.946027764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049882.946658647] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049882.947967482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049882.949012159] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049883.002543597] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972805 Long: -76.50298071 -[vectornav-1] [INFO] [1746049883.003711434] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.63, -3.316, 7.435) -[mux-7] [INFO] [1746049883.045444067] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049883.046184805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049883.047012088] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049883.048605154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049883.049730410] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049883.085815805] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049883.088020099] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049883.088884096] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049883.089139720] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049883.090108768] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049883.090471843] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049883.091016928] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049883.145243495] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049883.146056188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049883.146832531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049883.148277647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049883.148700063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049883.244884689] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049883.245711350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049883.246193272] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049883.247625649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049883.248746456] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049883.335282493] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049883.337861703] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049883.338333432] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049883.339002492] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049883.339559356] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049883.340236021] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049883.340608338] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049883.344480605] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049883.345050540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049883.345994807] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049883.346850599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049883.347994732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049883.445001551] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049883.445719726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049883.446325275] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049883.447640033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049883.448395497] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049883.502259554] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972813 Long: -76.50298075 -[vectornav-1] [INFO] [1746049883.503188293] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.624, -3.313, 7.403) -[mux-7] [INFO] [1746049883.545390474] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049883.546042091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049883.547028431] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049883.548395751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049883.549447361] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049883.585651098] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049883.588509342] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049883.589048311] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049883.589405676] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049883.590345331] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049883.591255166] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049883.592207861] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049883.645143762] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049883.645957471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049883.646612486] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049883.648922468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049883.650028194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049883.745585351] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049883.746326046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049883.747334288] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049883.748554651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049883.748993911] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049883.835433267] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049883.837979384] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049883.838702632] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049883.838954132] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049883.839862712] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049883.840757417] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049883.841606943] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049883.844365244] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049883.844875533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049883.845829285] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049883.846573299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049883.847769321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049883.945148530] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049883.945791308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049883.946568870] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049883.947787737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049883.948816409] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049884.003432103] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972788 Long: -76.50298104 -[vectornav-1] [INFO] [1746049884.005325944] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.576, -3.299, 7.168) -[mux-7] [INFO] [1746049884.045369816] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049884.046208826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049884.047668170] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049884.048460712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049884.049560069] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049884.085267029] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049884.087491775] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049884.087566818] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049884.088475307] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049884.089366391] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049884.089595782] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049884.090256356] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049884.145082157] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049884.145829015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049884.146541967] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049884.147942118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049884.148972035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049884.245100049] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049884.245995542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049884.246711030] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049884.248296410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049884.249248680] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049884.335627987] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049884.337722973] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049884.338506346] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049884.338806613] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049884.338867288] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049884.339227255] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049884.339601915] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049884.344530090] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049884.345254153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049884.345637267] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049884.346971336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049884.348182489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049884.445329508] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049884.446142520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049884.447087480] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049884.448006518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049884.448545233] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049884.503399721] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972786 Long: -76.50298104 -[vectornav-1] [INFO] [1746049884.504972347] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.576, -3.332, 7.173) -[mux-7] [INFO] [1746049884.545065633] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049884.545759282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049884.546358013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049884.547683146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049884.548764091] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049884.585717412] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049884.588655783] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049884.589107904] [sailbot.teensy]: Wind angle: 339 -[mux-7] [INFO] [1746049884.589991112] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049884.590364575] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049884.591247591] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049884.592085661] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049884.645069884] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049884.645684964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049884.646476176] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049884.647631778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049884.649573596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049884.745496233] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049884.746018418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049884.747204746] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049884.748361635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049884.748864936] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049884.835310026] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049884.837319951] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049884.838354669] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049884.838581214] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049884.839180121] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049884.839252824] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049884.840195062] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049884.844575357] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049884.845214729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049884.845737765] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049884.846927661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049884.848135189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049884.945342055] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049884.945962243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049884.946887465] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049884.947999653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049884.949097121] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049885.003230650] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697276 Long: -76.50298097 -[vectornav-1] [INFO] [1746049885.004647366] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.571, -3.322, 7.174) -[mux-7] [INFO] [1746049885.045164665] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049885.045768945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049885.046554139] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049885.047678751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049885.048701717] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049885.085280389] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049885.087597323] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049885.088535678] [sailbot.teensy]: Wind angle: 342 -[mux-7] [INFO] [1746049885.089142407] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049885.089468645] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049885.090372427] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049885.091259810] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049885.144581252] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049885.145187570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049885.145783784] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049885.147052084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049885.148086582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049885.245294652] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049885.245850534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049885.246875766] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049885.247868036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049885.249241216] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049885.335669246] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049885.338470492] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049885.338593266] [sailbot.teensy]: Wind angle: 343 -[mux-7] [INFO] [1746049885.338887913] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049885.339006797] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049885.339390651] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049885.339804379] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049885.344644233] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049885.345165029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049885.345774594] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049885.346936192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049885.348019111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049885.445356023] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049885.446254704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049885.446942680] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049885.448589485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049885.449678751] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049885.502297424] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697275 Long: -76.50298096 -[vectornav-1] [INFO] [1746049885.503395126] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.56100000000004, -3.332, 7.131) -[mux-7] [INFO] [1746049885.545187677] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049885.545953326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049885.546557193] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049885.547729085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049885.548260920] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049885.585476628] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049885.587788552] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049885.588179051] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049885.588992818] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049885.589477857] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049885.590019171] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049885.590944939] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049885.645246160] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049885.646025975] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049885.647092298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049885.648819027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049885.650446470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049885.744850413] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049885.745552230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049885.746118902] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049885.747335008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049885.748439383] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049885.835485502] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049885.837567709] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049885.838532594] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049885.837883639] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049885.838922390] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049885.838987483] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049885.839294774] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049885.844643758] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049885.845332249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049885.845948845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049885.847101247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049885.848327935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049885.945524034] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049885.946240030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049885.947251007] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049885.948314079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049885.948949505] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049886.003170180] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972724 Long: -76.50298073 -[vectornav-1] [INFO] [1746049886.004448448] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.554, -3.339, 7.127) -[mux-7] [INFO] [1746049886.045100997] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049886.045743727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049886.046485764] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049886.047940306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049886.048952016] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049886.085330892] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049886.087551816] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049886.088053137] [sailbot.teensy]: Wind angle: 338 -[mux-7] [INFO] [1746049886.088878494] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049886.089420883] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049886.090432399] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049886.091286586] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049886.144986047] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049886.145507546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049886.146733826] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049886.147675169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049886.148909755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049886.245274744] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049886.246036769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049886.246952914] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049886.248012126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049886.249731340] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049886.335465796] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049886.338000310] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049886.338593366] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049886.338609498] [sailbot.teensy]: Wind angle: 338 -[teensy-2] [INFO] [1746049886.339593915] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049886.340548503] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049886.341446220] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049886.344614558] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049886.345019828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049886.345932058] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049886.346868683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049886.347928429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049886.445510885] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049886.446130865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049886.447076693] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049886.448332117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049886.449557921] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049886.502538710] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972723 Long: -76.50298071 -[vectornav-1] [INFO] [1746049886.503741956] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.547, -3.333, 7.19) -[mux-7] [INFO] [1746049886.545395450] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049886.546266845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049886.547028471] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049886.548725751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049886.549956542] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049886.585916262] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049886.588993355] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049886.590105788] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049886.589114070] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049886.589575683] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049886.591083696] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049886.591969919] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049886.645378262] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049886.646343127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049886.646968910] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049886.648668861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049886.650067559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049886.745209775] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049886.746004135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049886.746673109] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049886.748368723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049886.749431856] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049886.835511515] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049886.837695835] [sailbot.teensy]: Wind angle: 338 -[teensy-2] [INFO] [1746049886.838756774] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049886.839076817] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049886.839755303] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049886.840134909] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049886.840811050] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049886.844386587] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049886.844932109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049886.845556755] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049886.846747446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049886.847805613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049886.945211105] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049886.945970683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049886.946668490] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049886.948244432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049886.948855348] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049887.003173509] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972698 Long: -76.50298057 -[vectornav-1] [INFO] [1746049887.004725362] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.553, -3.335, 7.221) -[mux-7] [INFO] [1746049887.045517275] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049887.046353724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049887.047041648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049887.048923675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049887.049988395] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049887.085389050] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049887.087559873] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049887.087833416] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049887.088394697] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049887.088587916] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049887.089555154] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049887.090441766] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049887.145046139] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049887.145959886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049887.146895277] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049887.148346564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049887.149440303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049887.245208479] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049887.246131768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049887.246997534] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049887.248499117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049887.249525220] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049887.335220448] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049887.337338663] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746049887.337389642] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049887.338356082] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049887.339092967] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049887.339290038] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049887.340204171] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049887.344369610] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049887.345319891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049887.345859610] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049887.347115168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049887.348209591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049887.445688861] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049887.446685438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049887.447312679] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049887.449128440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049887.449706559] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049887.502670523] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972714 Long: -76.5029805 -[vectornav-1] [INFO] [1746049887.503824872] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.546, -3.336, 7.211) -[mux-7] [INFO] [1746049887.544860559] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049887.545616380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049887.546071454] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049887.547460223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049887.548614375] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049887.585683036] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049887.587868715] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049887.588499465] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049887.588981327] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049887.589916114] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049887.590058440] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049887.590826231] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049887.645921360] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049887.646246462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049887.647552742] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049887.648388440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049887.650181789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049887.745785415] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049887.746428193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049887.747680589] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049887.748931473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049887.750098477] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049887.835360100] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049887.837763398] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049887.838396631] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049887.838605362] [sailbot.teensy]: Wind angle: 349 -[teensy-2] [INFO] [1746049887.839571024] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049887.840422564] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049887.840804940] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049887.844567616] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049887.845009434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049887.845769334] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049887.846715825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049887.847795865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049887.945264413] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049887.945840039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049887.946893283] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049887.948941025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049887.950080108] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049888.003606863] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972691 Long: -76.50298047 -[vectornav-1] [INFO] [1746049888.005041788] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.539, -3.341, 7.194) -[mux-7] [INFO] [1746049888.045395440] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049888.045852798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049888.047191063] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049888.048190067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049888.049345954] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049888.085405418] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049888.088045513] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049888.088118881] [sailbot.teensy]: Wind angle: 353 -[teensy-2] [INFO] [1746049888.089092270] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049888.089252216] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049888.090017098] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049888.090895048] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049888.144791331] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049888.146017308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049888.146290639] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049888.147765544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049888.148934332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049888.245002275] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049888.245783301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049888.246329969] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049888.248116503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049888.249147734] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049888.335413714] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049888.337534098] [sailbot.teensy]: Wind angle: 353 -[trim_sail-4] [INFO] [1746049888.338277634] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049888.339166793] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049888.340002905] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049888.341148621] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049888.341981848] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049888.344380620] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049888.344885327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049888.345514643] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049888.346535420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049888.347705989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049888.445373252] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049888.446303658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049888.446999970] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049888.448559424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049888.449808946] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049888.503149404] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972676 Long: -76.50298057 -[vectornav-1] [INFO] [1746049888.504790192] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.53, -3.338, 7.212) -[mux-7] [INFO] [1746049888.544955744] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049888.545746632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049888.546302566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049888.547758100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049888.548944977] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049888.585367295] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049888.587822516] [sailbot.teensy]: Wind angle: 353 -[trim_sail-4] [INFO] [1746049888.587893419] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049888.588815455] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049888.589287470] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049888.589686762] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049888.590590177] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049888.645179321] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049888.646250000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049888.646651305] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049888.648361414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049888.649472845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049888.745281410] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049888.746090555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049888.746942097] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049888.748344907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049888.748842998] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049888.835464679] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049888.838158146] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049888.838371552] [sailbot.teensy]: Wind angle: 352 -[mux-7] [INFO] [1746049888.838623939] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049888.839358573] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049888.839778807] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049888.840134303] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049888.844367649] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049888.845030259] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049888.845763219] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049888.846719213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049888.847876426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049888.945395548] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049888.946213786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049888.947106964] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049888.948767441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049888.949903644] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049889.002502851] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972664 Long: -76.50298062 -[vectornav-1] [INFO] [1746049889.003796369] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.52, -3.339, 7.188) -[mux-7] [INFO] [1746049889.045428214] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049889.046279653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049889.047019621] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049889.048521994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049889.049013684] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049889.085322746] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049889.087698500] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049889.087754235] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049889.088743334] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049889.089312281] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049889.089607642] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049889.090502807] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049889.145137869] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049889.146027461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049889.146939005] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049889.148380567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049889.149470892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049889.245425137] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049889.246178929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049889.247009035] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049889.247889968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049889.248362034] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049889.335264934] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049889.337345827] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049889.337940512] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049889.339624271] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049889.339652342] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049889.340602810] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049889.341447147] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049889.344421326] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049889.344860801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049889.345823900] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049889.346751258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049889.347962455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049889.445553753] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049889.446363766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049889.447193225] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049889.448779788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049889.449966569] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049889.503573783] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972655 Long: -76.50298061 -[vectornav-1] [INFO] [1746049889.505023169] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.517, -3.333, 7.222) -[mux-7] [INFO] [1746049889.544996660] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049889.545707030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049889.546346603] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049889.547879034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049889.549396999] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049889.585396698] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049889.587807943] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049889.587946008] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049889.588691102] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049889.588777800] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049889.589793504] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049889.590752997] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049889.645345798] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049889.646014178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049889.647035763] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049889.648098269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049889.648953512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049889.745351440] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049889.746155730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049889.746929156] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049889.748214587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049889.749376832] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049889.835249115] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049889.837621628] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049889.837978744] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049889.838433893] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049889.839364427] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049889.840260337] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049889.841103363] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049889.844511193] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049889.844999077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049889.845645539] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049889.846710376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049889.848581484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049889.945521793] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049889.946130787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049889.947286447] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049889.948420913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049889.949681331] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049890.002573730] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972645 Long: -76.50298074 -[vectornav-1] [INFO] [1746049890.003766769] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.497, -3.323, 7.214) -[mux-7] [INFO] [1746049890.045584220] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049890.046350038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049890.047209004] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049890.048628643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049890.049640121] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049890.085915780] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049890.088468768] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746049890.089007695] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049890.089615994] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049890.090636310] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049890.091118985] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049890.091625340] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049890.145453885] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049890.146270512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049890.147062991] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049890.148670686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049890.149852084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049890.245632232] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049890.246282445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049890.247440620] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049890.248361862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049890.248948144] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049890.335342350] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049890.337222376] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049890.337600486] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049890.338156556] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049890.338793932] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049890.339033577] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049890.339183124] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049890.344486291] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049890.345015353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049890.345648125] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049890.346737812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049890.347750628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049890.445763390] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049890.446418855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049890.447452051] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049890.450067215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049890.451280310] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049890.503351785] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972627 Long: -76.50298092 -[vectornav-1] [INFO] [1746049890.504886396] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.495, -3.32, 7.224) -[mux-7] [INFO] [1746049890.544994494] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049890.545838119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049890.546333678] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049890.547922868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049890.549050693] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049890.585237516] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049890.586884155] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049890.587484089] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049890.587776505] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049890.588604385] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049890.588642278] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049890.589548201] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049890.645829757] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049890.646312322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049890.647300105] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049890.648021554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049890.648541990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049890.745320715] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049890.746164378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049890.746925669] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049890.748521074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049890.749702124] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049890.835635203] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049890.838539547] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049890.839224730] [sailbot.teensy]: Wind angle: 338 -[mux-7] [INFO] [1746049890.839269124] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049890.840224633] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049890.840945228] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049890.841314975] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049890.844466078] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049890.845160054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049890.845967995] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049890.847047127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049890.848103514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049890.945189616] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049890.945828463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049890.946529340] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049890.948072406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049890.949084059] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049891.003188145] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972605 Long: -76.50298098 -[vectornav-1] [INFO] [1746049891.005037182] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.488, -3.315, 7.228) -[mux-7] [INFO] [1746049891.045309745] [sailbot.mux]: Published sail angle from controller_app: 28 -[mux-7] [INFO] [1746049891.046780413] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049891.047780576] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049891.049612392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049891.050704085] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049891.085615747] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049891.087987615] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049891.088041336] [sailbot.teensy]: Wind angle: 337 -[teensy-2] [INFO] [1746049891.089160725] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049891.089278274] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049891.090264587] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049891.091151645] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049891.145058014] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049891.145714850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049891.146779020] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049891.147712111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049891.148939830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049891.245429303] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049891.246153667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049891.247033255] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049891.247835909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049891.248407790] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049891.335514518] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049891.338171382] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049891.338580531] [sailbot.teensy]: Wind angle: 337 -[mux-7] [INFO] [1746049891.339109166] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049891.339152629] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049891.339540029] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049891.339975817] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049891.344318858] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049891.344907350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049891.345742560] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049891.346628719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049891.347655170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049891.445259125] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049891.446165074] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049891.446748882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049891.448348394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049891.449492042] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049891.503509500] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972594 Long: -76.50298111 -[vectornav-1] [INFO] [1746049891.504914069] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.48, -3.324, 7.216) -[mux-7] [INFO] [1746049891.545476686] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049891.546311798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049891.547058529] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049891.548702705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049891.549954875] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049891.585546791] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049891.587326826] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049891.588365750] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049891.588794020] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049891.589095562] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049891.589319619] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049891.590219472] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049891.645394445] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049891.646489111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049891.647118258] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049891.648844193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049891.650041900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049891.745265711] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049891.745974839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049891.747114167] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049891.748034719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049891.749285152] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049891.835301233] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049891.837860739] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049891.838606934] [sailbot.teensy]: Wind angle: 337 -[mux-7] [INFO] [1746049891.838763027] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049891.839028032] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049891.839429076] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049891.839990470] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049891.844490661] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049891.845053834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049891.845989036] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049891.846991036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049891.848089357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049891.945589183] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049891.946663233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049891.947365358] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049891.949208964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049891.950506761] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049892.002574655] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972582 Long: -76.5029812 -[vectornav-1] [INFO] [1746049892.003653524] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.474, -3.333, 7.275) -[mux-7] [INFO] [1746049892.045260011] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049892.046101204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049892.046769511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049892.048272555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049892.049273686] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049892.085247530] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049892.086981516] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049892.087676349] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049892.087962468] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049892.088898099] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049892.089179363] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049892.089805644] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049892.143861521] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049892.144424601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049892.144648783] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049892.145821156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049892.146617077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049892.245283107] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049892.245939721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049892.246747371] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049892.247673999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049892.248218508] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049892.335391793] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049892.337495433] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049892.338368837] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049892.338572427] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049892.339530440] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049892.340371690] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049892.340732394] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049892.344390769] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049892.344919611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049892.345757653] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049892.346679733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049892.347713683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049892.445636090] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049892.446181303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049892.447370128] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049892.448438051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049892.449074383] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049892.502626864] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972577 Long: -76.50298143 -[vectornav-1] [INFO] [1746049892.503961032] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.472, -3.33, 7.316) -[mux-7] [INFO] [1746049892.545300487] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049892.546149462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049892.546871963] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049892.548536835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049892.549060355] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049892.585504278] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049892.588130911] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049892.588427517] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049892.589413372] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049892.590370687] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049892.590637625] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049892.591251278] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049892.645193319] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049892.646121283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049892.646747450] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049892.648663903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049892.650328793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049892.745235654] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049892.745965820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049892.746572421] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049892.748070361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049892.749237735] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049892.835503738] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049892.838688383] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049892.839152598] [sailbot.teensy]: Wind angle: 346 -[mux-7] [INFO] [1746049892.839440044] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049892.840132150] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049892.841170270] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049892.841853393] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049892.844366513] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049892.844908415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049892.845443080] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049892.846660101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049892.847851155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049892.944925234] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049892.945811117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049892.946195397] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049892.947635201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049892.948776056] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049893.003422122] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972572 Long: -76.50298151 -[vectornav-1] [INFO] [1746049893.004871128] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.466, -3.329, 7.281) -[mux-7] [INFO] [1746049893.045291909] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049893.046111567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049893.046781760] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049893.048259247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049893.049428798] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049893.085742478] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049893.087976187] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049893.088783979] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049893.089039942] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049893.090023880] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049893.090398788] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049893.090926926] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049893.145555686] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049893.145863431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049893.147147854] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049893.147965892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049893.148802949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049893.245178130] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049893.245981916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049893.246690976] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049893.247859845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049893.248974819] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049893.335379683] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049893.337792985] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049893.338006256] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049893.338934065] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049893.339752676] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049893.339822356] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049893.341135871] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049893.344361245] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049893.344970239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049893.345460289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049893.346794245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049893.347836273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049893.445899159] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049893.447026005] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049893.447922891] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049893.449396573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049893.450629508] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049893.502866615] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697256 Long: -76.50298173 -[vectornav-1] [INFO] [1746049893.504341139] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.404, -3.358, 6.81) -[mux-7] [INFO] [1746049893.545412399] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049893.546484338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049893.546970679] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049893.548810250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049893.549994262] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049893.585497673] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049893.588141142] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049893.589081908] [sailbot.teensy]: Wind angle: 348 -[mux-7] [INFO] [1746049893.589428219] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049893.590030250] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049893.590920561] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049893.591796550] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049893.645214471] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049893.645775925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049893.646661102] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049893.647966052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049893.649285896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049893.745180828] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049893.745938823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049893.746989958] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049893.747871800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049893.748653085] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049893.835717168] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049893.838536054] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049893.839613159] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049893.840179424] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049893.840830450] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049893.841206855] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049893.841567009] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049893.844345692] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049893.844849817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049893.845454706] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049893.846692973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049893.847832574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049893.945245078] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049893.946042159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049893.946881977] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049893.948260493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049893.948819110] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049894.002769274] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972543 Long: -76.50298191 -[vectornav-1] [INFO] [1746049894.004359170] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.43100000000004, -3.348, 7.129) -[mux-7] [INFO] [1746049894.044820096] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049894.045680876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049894.046012234] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049894.047495624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049894.048559656] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049894.085443158] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049894.087759889] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049894.088003057] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049894.088787533] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049894.089702840] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049894.089928827] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049894.090560401] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049894.145045933] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049894.145700640] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049894.146401155] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049894.147674441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049894.148890543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049894.245012315] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049894.245788895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049894.246331208] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049894.247571292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049894.249182075] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049894.335415322] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049894.337913184] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049894.338207811] [sailbot.teensy]: Wind angle: 348 -[mux-7] [INFO] [1746049894.338513790] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049894.339133121] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049894.340006543] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049894.340867234] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049894.344354179] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049894.345272374] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049894.345596393] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049894.346948978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049894.347971557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049894.445552180] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049894.446428937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049894.447705226] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049894.448207151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049894.448755739] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049894.503756120] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697253 Long: -76.50298202 -[vectornav-1] [INFO] [1746049894.505987916] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.426, -3.366, 7.091) -[mux-7] [INFO] [1746049894.544743687] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049894.545547691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049894.546120184] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049894.547394407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049894.548551786] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049894.585324721] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049894.587138758] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049894.588089102] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049894.588076840] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049894.589015589] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049894.589147601] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049894.589887119] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049894.645078429] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049894.645906743] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049894.646494673] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049894.647852905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049894.649036223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049894.745268127] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049894.745961175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049894.747075583] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049894.748385257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049894.749249741] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049894.835167660] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049894.837437233] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049894.838005937] [sailbot.teensy]: Wind angle: 349 -[mux-7] [INFO] [1746049894.838661281] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049894.839375511] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049894.840339003] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049894.841179922] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049894.844439145] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049894.844956559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049894.845615855] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049894.846643036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049894.847831070] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049894.945242161] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049894.945776494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049894.946620282] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049894.947547892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049894.948763383] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049895.003068575] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972528 Long: -76.50298206 -[vectornav-1] [INFO] [1746049895.004486396] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.422, -3.364, 7.108) -[mux-7] [INFO] [1746049895.044986089] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049895.045742924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049895.046315878] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049895.047864937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049895.049050858] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049895.085548689] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049895.087550938] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049895.088238124] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049895.088594026] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049895.089479488] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049895.089445366] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049895.090379806] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049895.145011239] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049895.146035738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049895.146257079] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049895.148017340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049895.149195761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049895.245120436] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049895.245754008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049895.246598414] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049895.247624624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049895.248160128] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049895.335346885] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049895.337228154] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049895.338048833] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049895.338172715] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049895.339062448] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049895.339095855] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049895.340394639] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049895.344545169] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049895.345420252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049895.345757561] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049895.347192126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049895.348252199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049895.445000249] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049895.445668585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049895.446345886] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049895.447494207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049895.448613956] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049895.503042181] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972523 Long: -76.5029822 -[vectornav-1] [INFO] [1746049895.504423961] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.41200000000003, -3.368, 7.085) -[mux-7] [INFO] [1746049895.545255627] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049895.546150153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049895.546762549] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049895.548091274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049895.548854686] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049895.585234797] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049895.587297143] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049895.587428597] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049895.588285800] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049895.588726392] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049895.589165791] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049895.590040371] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049895.644942371] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049895.645575654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049895.646380168] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049895.647432637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049895.648528041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049895.745493309] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049895.746397704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049895.747270623] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049895.748142052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049895.748696687] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049895.835286292] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049895.837750400] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049895.838366847] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049895.838685412] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049895.839059996] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049895.839566447] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049895.840418595] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049895.844345982] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049895.844861702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049895.845471410] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049895.847042876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049895.848077622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049895.945149668] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049895.946612385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049895.947267596] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049895.948251172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049895.948754033] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049896.003367032] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972503 Long: -76.50298243 -[vectornav-1] [INFO] [1746049896.004832805] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.409, -3.363, 7.115) -[mux-7] [INFO] [1746049896.045019204] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049896.045959361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049896.046392334] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049896.047829466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049896.048833487] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049896.085245406] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049896.086909255] [sailbot.teensy]: Wind angle: 358 -[trim_sail-4] [INFO] [1746049896.087715770] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049896.087820734] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049896.088721155] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049896.089007497] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049896.089618237] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049896.144791332] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049896.145469464] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049896.146005926] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049896.147271626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049896.148351802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049896.245415048] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049896.246312347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049896.247091083] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049896.248627036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049896.249061135] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049896.335288944] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049896.337190558] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049896.337991749] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049896.338153643] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049896.339028172] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049896.339105148] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049896.339886381] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049896.344443456] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049896.345501225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049896.345584037] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049896.347517699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049896.348590243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049896.445655873] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049896.446459152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049896.447591646] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049896.448865857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049896.449352553] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049896.502653892] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697251 Long: -76.50298235 -[vectornav-1] [INFO] [1746049896.503707345] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.404, -3.361, 7.115) -[mux-7] [INFO] [1746049896.545356161] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049896.546790850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049896.546956876] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049896.548910917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049896.550220069] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049896.585556542] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049896.587677142] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049896.588210899] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049896.588761100] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049896.589738976] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049896.590097749] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049896.590750447] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049896.645208246] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049896.645978273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049896.646777423] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049896.648531716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049896.649037197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049896.745462880] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049896.746440011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049896.747076742] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049896.748399375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049896.748916504] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049896.835225014] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049896.836933993] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049896.837434931] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049896.837861785] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049896.838743801] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049896.838866098] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049896.839628997] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049896.844269525] [sailbot.mux]: Published sail angle from controller_app: 28 -[mux-7] [INFO] [1746049896.845352155] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049896.845359556] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049896.847026218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049896.848065456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049896.944789001] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049896.945599928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049896.946077106] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049896.947450958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049896.948491007] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049897.002430373] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469725 Long: -76.50298246 -[vectornav-1] [INFO] [1746049897.003574553] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.399, -3.356, 7.14) -[mux-7] [INFO] [1746049897.045121258] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049897.045750562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049897.046402357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049897.047570306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049897.048844051] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049897.085431200] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049897.087274178] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049897.088246904] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049897.087845699] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049897.088820712] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049897.088822069] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049897.089192211] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049897.145441439] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049897.146191882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049897.147172898] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049897.148653650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049897.149966379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049897.245308283] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049897.246168327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049897.246849409] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049897.248127378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049897.248657529] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049897.335295367] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049897.337835411] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049897.338391051] [sailbot.teensy]: Wind angle: 339 -[mux-7] [INFO] [1746049897.338445517] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049897.339409489] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049897.340122010] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049897.340474406] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049897.344434381] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049897.345415433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049897.345857588] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049897.347179075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049897.348337318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049897.445269152] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049897.446144287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049897.446804920] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049897.448283956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049897.448856969] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049897.503265557] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972512 Long: -76.50298238 -[vectornav-1] [INFO] [1746049897.504512173] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.395, -3.355, 7.146) -[mux-7] [INFO] [1746049897.544854537] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049897.545603372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049897.546011658] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049897.547379713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049897.548582938] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049897.585173598] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049897.586877827] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049897.587695448] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049897.587152661] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049897.587685386] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049897.588582918] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049897.589455972] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049897.645411200] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049897.646405795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049897.647272012] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049897.648285372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049897.648841458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049897.745446092] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049897.746513218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049897.747113663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049897.748931773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049897.750142900] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049897.835441365] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049897.837824271] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049897.838299265] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049897.838705375] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049897.839425027] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049897.839798188] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049897.840179935] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049897.844336420] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049897.845016725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049897.845617495] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049897.846805625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049897.847843494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049897.945452246] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049897.946151907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049897.947106121] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049897.948661476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049897.949831829] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049898.003168392] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972506 Long: -76.50298244 -[vectornav-1] [INFO] [1746049898.004962603] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.40999999999997, -3.345, 7.322) -[mux-7] [INFO] [1746049898.045278455] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049898.046254876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049898.047024479] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049898.048325100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049898.048843849] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049898.085362561] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049898.087609937] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049898.087727524] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049898.088879598] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049898.089368363] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049898.089896192] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049898.090755777] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049898.145149207] [sailbot.mux]: Published sail angle from controller_app: 28 -[mux-7] [INFO] [1746049898.146452577] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049898.148632534] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049898.150214493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049898.151131730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049898.245763708] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049898.246282475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049898.247463611] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049898.248659039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049898.249223002] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049898.335270558] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049898.337204467] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049898.337835747] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049898.338188258] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049898.339091378] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049898.339413018] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049898.339937499] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049898.344732685] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049898.345220579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049898.345926686] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049898.347015532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049898.348143411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049898.445431018] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049898.446365811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049898.447057104] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049898.448922501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049898.450049694] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049898.502952213] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972509 Long: -76.50298229 -[vectornav-1] [INFO] [1746049898.504422618] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.402, -3.348, 7.319) -[mux-7] [INFO] [1746049898.545651876] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049898.546713336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049898.547259126] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049898.549062116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049898.550156410] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049898.585853906] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049898.588740287] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049898.588795866] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049898.589803674] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049898.590383477] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049898.590866906] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049898.592027772] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049898.645664793] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049898.646491338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049898.647683211] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049898.649568185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049898.650823620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049898.745454622] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049898.746315491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049898.747188170] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049898.748965879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049898.749474298] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049898.835158242] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049898.836816265] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049898.837310393] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049898.838612520] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049898.838858169] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049898.839652402] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049898.840606511] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049898.844481715] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049898.845175599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049898.845606143] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049898.846934439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049898.847958260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049898.944349837] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049898.945273798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049898.945380479] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049898.947011393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049898.948141862] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049899.002539157] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972522 Long: -76.50298221 -[vectornav-1] [INFO] [1746049899.003634490] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.397, -3.348, 7.321) -[mux-7] [INFO] [1746049899.045205989] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049899.046023476] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049899.046747442] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049899.048045040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049899.048565897] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049899.085619922] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049899.087635911] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049899.088679218] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049899.088683348] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049899.089634530] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049899.090509540] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049899.090586393] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746049899.145055058] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049899.146034683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049899.146553729] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049899.148313253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049899.149401400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049899.245732722] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049899.246572033] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049899.247482157] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049899.249130310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049899.250293254] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049899.335570001] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049899.337838624] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049899.338468672] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049899.338791936] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049899.339164424] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049899.339709418] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049899.340671481] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049899.344573133] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049899.345233080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049899.345805301] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049899.347130385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049899.348174332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049899.445618731] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049899.446343120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049899.447229099] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049899.448334593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049899.448885526] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049899.503893334] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972532 Long: -76.50298213 -[vectornav-1] [INFO] [1746049899.505545726] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.392, -3.354, 7.291) -[mux-7] [INFO] [1746049899.544964729] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049899.545879075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049899.546376815] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049899.547836037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049899.548567149] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049899.585416455] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049899.587738419] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049899.587920528] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049899.588721193] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049899.589657933] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049899.590105561] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049899.590514501] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049899.645355091] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049899.646171531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049899.646990659] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049899.648347092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049899.649695540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049899.745350316] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049899.746342141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049899.746940866] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049899.748534064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049899.749649298] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049899.835179131] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049899.837216235] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049899.837455454] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049899.838722592] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049899.839245467] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049899.840248078] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049899.841195403] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049899.844291850] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049899.844974613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049899.845509621] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049899.846876905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049899.847933234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049899.945279715] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049899.946421235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049899.946830955] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049899.948802340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049899.949923017] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049900.003598999] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697255 Long: -76.50298223 -[vectornav-1] [INFO] [1746049900.004859545] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.389, -3.351, 7.292) -[mux-7] [INFO] [1746049900.044953808] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049900.045701035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049900.046280551] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049900.047654333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049900.048762722] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049900.085420802] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049900.087290423] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049900.088331219] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049900.089258400] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049900.088355013] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049900.089086030] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049900.090122597] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049900.145260399] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049900.145922165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049900.146792357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049900.148274250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049900.148875666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049900.245334663] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049900.246031616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049900.247005156] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049900.248293402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049900.249026149] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049900.335281997] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049900.337138165] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049900.337629718] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049900.338067846] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049900.338997726] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049900.339634152] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049900.339872224] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049900.344374921] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049900.345127356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049900.345534005] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049900.346864645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049900.348007717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049900.445306700] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049900.446215688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049900.446867855] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049900.448294806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049900.448816588] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049900.502696261] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697256 Long: -76.50298228 -[vectornav-1] [INFO] [1746049900.503762920] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.382, -3.352, 7.286) -[mux-7] [INFO] [1746049900.545168704] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049900.546139964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049900.546591927] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049900.548228644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049900.549271450] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049900.585084757] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049900.587066657] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049900.587176529] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049900.588018925] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049900.588902084] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049900.588974989] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049900.589865373] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049900.645532672] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049900.646399787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049900.647583722] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049900.649164943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049900.650351737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049900.745424239] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049900.746501110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049900.747127592] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049900.748234369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049900.748751428] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049900.835369942] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049900.837270718] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049900.838109364] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049900.838253215] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049900.839136217] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049900.839135875] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049900.840039966] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049900.844566757] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049900.845398244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049900.845889182] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049900.847195060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049900.848300112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049900.944810095] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049900.945531512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049900.945947157] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049900.947365858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049900.948421830] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049901.003284210] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972567 Long: -76.5029824 -[vectornav-1] [INFO] [1746049901.004795021] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.378, -3.354, 7.27) -[mux-7] [INFO] [1746049901.045052312] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049901.045794243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049901.046370541] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049901.047840162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049901.048898369] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049901.085249126] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049901.087162137] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049901.088203155] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049901.087577938] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049901.089205545] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049901.089371092] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049901.090260124] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049901.145619927] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049901.146448042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049901.147347759] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049901.148810005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049901.150026853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049901.245354676] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049901.246199158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049901.246905983] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049901.248413175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049901.248950349] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049901.335544191] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049901.338146810] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049901.338273992] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049901.339133318] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049901.340069153] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049901.340558388] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049901.340937971] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049901.344331454] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049901.345014640] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049901.345461536] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049901.346812861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049901.347843095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049901.445571348] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049901.446517207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049901.447242080] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049901.447989161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049901.448447774] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049901.503408739] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972566 Long: -76.50298247 -[vectornav-1] [INFO] [1746049901.505329186] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.371, -3.358, 7.269) -[mux-7] [INFO] [1746049901.544972673] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049901.545672287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049901.546285329] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049901.547526130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049901.548593442] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049901.585198826] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049901.587417708] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049901.587949370] [sailbot.teensy]: Wind angle: 350 -[mux-7] [INFO] [1746049901.588213977] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049901.588997065] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049901.589940343] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049901.590837255] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049901.645149254] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049901.645866058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049901.646835972] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049901.648222757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049901.649282606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049901.745392132] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049901.746187926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049901.747076160] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049901.748666612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049901.749324222] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049901.835833045] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049901.838066608] [sailbot.teensy]: Wind angle: 353 -[trim_sail-4] [INFO] [1746049901.838736184] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049901.839170173] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049901.840211395] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049901.840689355] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049901.840708783] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049901.844516632] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049901.845082842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049901.846042369] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049901.847036691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049901.848096418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049901.945698838] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049901.946473369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049901.947523796] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049901.948830649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049901.949369317] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049902.003398762] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972581 Long: -76.50298242 -[vectornav-1] [INFO] [1746049902.004666979] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.36400000000003, -3.354, 7.278) -[mux-7] [INFO] [1746049902.045443705] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049902.046151692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049902.047069984] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049902.048834216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049902.050104844] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049902.085241753] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049902.087364532] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049902.087624318] [sailbot.teensy]: Wind angle: 353 -[teensy-2] [INFO] [1746049902.088649360] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049902.089609692] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049902.090348779] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049902.090501704] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049902.144958842] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049902.145663083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049902.146189239] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049902.147441235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049902.148468162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049902.245523524] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049902.246404122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049902.247214428] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049902.248297016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049902.248826160] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049902.335282935] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049902.337313983] [sailbot.teensy]: Wind angle: 353 -[trim_sail-4] [INFO] [1746049902.337792886] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049902.338302096] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049902.339203985] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049902.340138604] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049902.339332100] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049902.344446505] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049902.345050374] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049902.345663568] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049902.346824793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049902.348605844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049902.445290248] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049902.446211118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049902.446884936] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049902.447916430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049902.448447491] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049902.502741702] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697257 Long: -76.50298264 -[vectornav-1] [INFO] [1746049902.503817592] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.35900000000004, -3.358, 7.273) -[mux-7] [INFO] [1746049902.545309033] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049902.546079422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049902.546849484] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049902.548377207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049902.549565116] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049902.585247602] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049902.587525081] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049902.588090135] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049902.588551649] [sailbot.teensy]: Wind angle: 354 -[teensy-2] [INFO] [1746049902.589452485] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049902.590314781] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049902.591154973] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049902.645182571] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049902.646140886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049902.646725123] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049902.648107739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049902.649193838] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049902.744949879] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049902.745532164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049902.746477509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049902.747268264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049902.748376604] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049902.835222586] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049902.837156887] [sailbot.teensy]: Wind angle: 353 -[trim_sail-4] [INFO] [1746049902.837655162] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049902.838085841] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049902.838309247] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049902.839002207] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049902.839884184] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049902.844588898] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049902.845140060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049902.845990438] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049902.847266462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049902.848389148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049902.944853784] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049902.945177839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049902.945358977] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049902.945977006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049902.946705151] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049903.002527108] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972574 Long: -76.50298259 -[vectornav-1] [INFO] [1746049903.003548468] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.352, -3.359, 7.281) -[mux-7] [INFO] [1746049903.045459023] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049903.046272704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049903.046836863] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049903.048902581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049903.050170785] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049903.085960989] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049903.088928123] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049903.090321063] [sailbot.teensy]: Wind angle: 353 -[mux-7] [INFO] [1746049903.090464711] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049903.091496193] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049903.092489254] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049903.093365728] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049903.145547316] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049903.146355798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049903.147226585] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049903.148839534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049903.150075113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049903.245000962] [sailbot.mux]: Published sail angle from controller_app: 28 -[mux-7] [INFO] [1746049903.246331928] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049903.246464180] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049903.247719828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049903.248196215] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049903.335238927] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049903.337527701] [sailbot.teensy]: Wind angle: 353 -[trim_sail-4] [INFO] [1746049903.337557977] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049903.338837133] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049903.339788731] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049903.340858688] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049903.341795339] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049903.344380760] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049903.344725926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049903.345487065] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049903.346365982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049903.347448395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049903.445139639] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049903.446252570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049903.446609585] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049903.448923262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049903.450082483] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049903.503191780] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972577 Long: -76.50298269 -[vectornav-1] [INFO] [1746049903.504747580] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.346, -3.35, 7.292) -[mux-7] [INFO] [1746049903.544923899] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049903.545639503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049903.546237575] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049903.547936621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049903.549142985] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049903.585368446] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049903.587402423] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049903.587862326] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049903.588652337] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049903.589568474] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049903.589546202] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049903.590441409] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049903.645136900] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049903.645827633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049903.646593178] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049903.648012517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049903.649330767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049903.745464134] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049903.746013440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049903.747146086] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049903.748215337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049903.749454126] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049903.835270654] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049903.837012069] [sailbot.teensy]: Wind angle: 353 -[trim_sail-4] [INFO] [1746049903.837458578] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049903.837935242] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049903.838842483] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049903.838869167] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049903.839763911] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049903.844384872] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049903.844992989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049903.845819806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049903.846783221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049903.847840346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049903.945528084] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049903.946481234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049903.947496824] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049903.947979691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049903.948480364] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049904.003783462] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972588 Long: -76.50298287 -[vectornav-1] [INFO] [1746049904.005248107] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.337, -3.347, 7.302) -[mux-7] [INFO] [1746049904.044869750] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049904.045662015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049904.046237145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049904.047589567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049904.048748975] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049904.085214799] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049904.087718636] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049904.088389119] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049904.088848687] [sailbot.teensy]: Wind angle: 354 -[teensy-2] [INFO] [1746049904.089779142] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049904.090627741] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049904.091511151] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049904.144977955] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049904.145911006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049904.146289650] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049904.147949827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049904.149066936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049904.244985922] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049904.245592572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049904.246767522] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049904.247443393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049904.248517744] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049904.335557537] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049904.338021661] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049904.338456149] [sailbot.teensy]: Wind angle: 354 -[teensy-2] [INFO] [1746049904.339421079] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049904.339519324] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049904.340335019] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049904.341225986] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049904.344684749] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049904.345163852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049904.346235143] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049904.346901983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049904.347988977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049904.444800909] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049904.445258423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049904.446108593] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049904.447041107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049904.448236438] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049904.503900328] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972588 Long: -76.50298284 -[vectornav-1] [INFO] [1746049904.505995095] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.332, -3.345, 7.301) -[mux-7] [INFO] [1746049904.545113125] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049904.545900726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049904.546503035] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049904.547793249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049904.548825212] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049904.585375248] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049904.587514657] [sailbot.teensy]: Wind angle: 353 -[teensy-2] [INFO] [1746049904.588503790] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049904.587918220] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049904.589215232] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049904.589380119] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049904.590258234] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049904.645126343] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049904.645749659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049904.646468803] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049904.647668814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049904.648263930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049904.745229676] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049904.745916217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049904.746707626] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049904.747965944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049904.749018256] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049904.835208507] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049904.836829437] [sailbot.teensy]: Wind angle: 353 -[trim_sail-4] [INFO] [1746049904.837368463] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049904.837715299] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049904.838590666] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049904.839254732] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049904.839456072] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049904.844499689] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049904.845030938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049904.846026778] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049904.846702441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049904.847832994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049904.945758301] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049904.946688082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049904.948317208] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049904.948752099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049904.949623855] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049905.002560588] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697259 Long: -76.50298287 -[vectornav-1] [INFO] [1746049905.003595701] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.328, -3.352, 7.295) -[mux-7] [INFO] [1746049905.045126442] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049905.045666563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049905.046537787] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049905.047589628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049905.048773881] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049905.085693951] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049905.088403665] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049905.089152162] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049905.089382314] [sailbot.teensy]: Wind angle: 353 -[teensy-2] [INFO] [1746049905.090453706] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049905.091317635] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049905.092191362] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049905.145166140] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049905.145773780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049905.146508369] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049905.148286143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049905.149359353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049905.245441647] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049905.246175623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049905.247126655] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049905.248526151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049905.249796314] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049905.335455849] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049905.338067359] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049905.339220886] [sailbot.teensy]: Wind angle: 354 -[mux-7] [INFO] [1746049905.339467948] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049905.340203075] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049905.341101813] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049905.342048895] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049905.344350734] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049905.345105156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049905.345868185] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049905.347143024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049905.348210220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049905.445256725] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049905.446508373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049905.446955561] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049905.448491318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049905.449528169] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049905.503349282] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972602 Long: -76.50298292 -[vectornav-1] [INFO] [1746049905.504706487] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.323, -3.354, 7.294) -[mux-7] [INFO] [1746049905.545444947] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049905.546192656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049905.547866121] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049905.548431178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049905.549655316] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049905.585731652] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049905.587949301] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049905.588495438] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049905.588981064] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049905.590021649] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049905.590899672] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049905.591087951] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049905.645298659] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049905.646493993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049905.646857930] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049905.648704619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049905.649852572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049905.745384835] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049905.746217854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049905.747076952] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049905.748698384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049905.749865272] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049905.835398771] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049905.837172733] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049905.837751522] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049905.838094467] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049905.838691026] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049905.838778049] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049905.839087203] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049905.844656853] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049905.845164179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049905.845872519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049905.846824155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049905.847997954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049905.945501445] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049905.946312055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049905.947737546] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049905.949030405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049905.950314601] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049906.002440944] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469726 Long: -76.50298294 -[vectornav-1] [INFO] [1746049906.003625418] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.31899999999996, -3.359, 7.292) -[mux-7] [INFO] [1746049906.044848624] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049906.045468915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049906.046168511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049906.047315798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049906.048605818] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049906.085320239] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049906.087528587] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049906.087577282] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049906.088488785] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049906.088755983] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049906.089354891] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049906.090218156] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049906.144908985] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049906.145866036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049906.146145866] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049906.147681906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049906.148698520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049906.244995674] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049906.245915440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049906.246448956] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049906.247790736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049906.248254542] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049906.335318510] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049906.337913286] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049906.338259283] [sailbot.teensy]: Wind angle: 355 -[teensy-2] [INFO] [1746049906.339239468] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049906.340221865] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049906.340785654] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049906.341226946] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049906.344383403] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049906.345458372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049906.346026933] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049906.347327085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049906.348401059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049906.445195682] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049906.445898161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049906.447187784] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049906.447631131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049906.448078945] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049906.502369883] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972595 Long: -76.50298304 -[vectornav-1] [INFO] [1746049906.503344941] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.757, -3.334, 6.971) -[mux-7] [INFO] [1746049906.544848285] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049906.545506501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049906.546080535] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049906.547386707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049906.548517944] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049906.585465751] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049906.587510169] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049906.587929150] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049906.588537877] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049906.589532096] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049906.589555739] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049906.590445375] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049906.644536458] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049906.644969852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049906.645740045] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049906.647105168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049906.648175828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049906.745745971] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049906.746419595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049906.748059510] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049906.750096386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049906.751308264] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049906.835498382] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049906.838052544] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049906.838399727] [sailbot.teensy]: Wind angle: 358 -[mux-7] [INFO] [1746049906.838662188] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049906.838804847] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049906.839203136] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049906.839549037] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049906.844616756] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049906.844933600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049906.845895182] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049906.846651564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049906.847685172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049906.945240903] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049906.945920790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049906.946742003] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049906.948064006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049906.948675391] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049907.004203261] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972602 Long: -76.5029829 -[vectornav-1] [INFO] [1746049907.005687677] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.805, -3.424, 7.121) -[mux-7] [INFO] [1746049907.044931293] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049907.046154001] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049907.046249638] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049907.048095499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049907.049228348] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049907.085252589] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049907.087544951] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049907.088481747] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049907.087763397] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049907.089194649] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049907.089636308] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049907.090506308] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049907.145641400] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049907.146218331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049907.147297832] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049907.148443109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049907.149678776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049907.245247969] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049907.245537679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049907.246557914] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049907.247324514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049907.248575807] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049907.335328429] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049907.337520874] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049907.337883991] [sailbot.teensy]: Wind angle: 351 -[mux-7] [INFO] [1746049907.338245373] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049907.339471803] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049907.340426827] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049907.341301287] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049907.344354970] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049907.344827423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049907.345920624] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049907.346498140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049907.347526548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049907.445594146] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049907.446375357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049907.447432527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049907.448653662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049907.449885625] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049907.503943285] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972601 Long: -76.50298298 -[vectornav-1] [INFO] [1746049907.505580172] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.884, -3.534, 7.002) -[mux-7] [INFO] [1746049907.545162035] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049907.545918551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049907.546672651] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049907.547880918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049907.548978356] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049907.585803883] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049907.588442452] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049907.589310365] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049907.589464902] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049907.590384203] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049907.590767837] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049907.591255465] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049907.645522236] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049907.646420274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049907.647275143] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049907.648903190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049907.650067699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049907.745291158] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049907.746262103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049907.746811266] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049907.748434951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049907.749426705] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049907.835659556] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049907.838551970] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049907.839581580] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049907.838931532] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049907.840076155] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049907.840550935] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049907.841429289] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049907.844302330] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049907.845065803] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049907.845653169] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049907.846865017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049907.847924169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049907.945553251] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049907.946419637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049907.947150514] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049907.948867295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049907.949989627] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049908.003754214] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972591 Long: -76.50298301 -[vectornav-1] [INFO] [1746049908.005104902] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.906, -3.541, 6.972) -[mux-7] [INFO] [1746049908.045139652] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049908.046276134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049908.046704222] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049908.048202212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049908.049530475] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049908.085232832] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049908.086871112] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049908.087339127] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049908.087748365] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049908.088421147] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049908.088662391] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049908.089620555] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049908.145269258] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049908.145898612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049908.146749036] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049908.147982099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049908.149165499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049908.245269332] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049908.246088071] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049908.246982609] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049908.247859663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049908.248312974] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049908.335250646] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049908.337643457] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049908.338024756] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049908.339225341] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049908.339942027] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049908.340245255] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049908.341299175] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049908.344474003] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049908.344845462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049908.345685119] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049908.346599572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049908.347775189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049908.445453377] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049908.446063125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049908.447238702] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049908.448139547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049908.449346436] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049908.502953648] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972604 Long: -76.50298291 -[vectornav-1] [INFO] [1746049908.504810443] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.88800000000003, -3.537, 6.971) -[mux-7] [INFO] [1746049908.545100527] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049908.545627633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049908.546581162] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049908.547573499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049908.548615502] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049908.585447941] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049908.587211791] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049908.587852545] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049908.588192908] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049908.589119571] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049908.589728878] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049908.589980228] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049908.644944240] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049908.645480983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049908.646283823] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049908.647605146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049908.648814575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049908.745679473] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049908.746203998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049908.747456622] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049908.748712069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049908.749628270] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049908.835381559] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049908.837717080] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049908.838247157] [sailbot.teensy]: Wind angle: 347 -[mux-7] [INFO] [1746049908.838928435] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049908.839291106] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049908.840346456] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049908.841272050] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049908.844505050] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049908.844993587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049908.845732818] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049908.846768611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049908.847974637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049908.945235514] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049908.946027926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049908.946586219] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049908.949057073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049908.950878124] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049909.003513949] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697259 Long: -76.50298309 -[vectornav-1] [INFO] [1746049909.004896406] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.89300000000003, -3.537, 7.003) -[mux-7] [INFO] [1746049909.045164480] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049909.045809774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049909.046557285] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049909.047848283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049909.048891432] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049909.085299039] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049909.087111541] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049909.087805563] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049909.088036587] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049909.088956426] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049909.089132419] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049909.090234057] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049909.145200309] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049909.145989769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049909.146977963] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049909.147871590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049909.149083341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049909.245376181] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049909.246053737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049909.247103487] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049909.248280461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049909.249317843] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049909.335266712] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049909.337114762] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049909.337460048] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049909.338282743] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049909.338978237] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049909.339187729] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049909.339624398] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049909.344363056] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049909.344924287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049909.345846224] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049909.346754179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049909.348002200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049909.445211564] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049909.445886003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049909.446835702] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049909.447987638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049909.449152400] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049909.503597324] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697259 Long: -76.50298311 -[vectornav-1] [INFO] [1746049909.505141889] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.88300000000004, -3.528, 7.056) -[mux-7] [INFO] [1746049909.545076714] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049909.545508449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049909.546352590] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049909.547388852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049909.548549111] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049909.585441051] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049909.587776962] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049909.588147393] [sailbot.teensy]: Wind angle: 353 -[teensy-2] [INFO] [1746049909.589110472] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049909.588584110] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049909.590162139] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049909.590996318] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049909.645261747] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049909.646056987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049909.647218780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049909.648138145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049909.649332184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049909.745698465] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049909.746334795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049909.747497549] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049909.748493071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049909.749005631] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049909.835405030] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049909.837830815] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049909.838662534] [sailbot.teensy]: Wind angle: 357 -[mux-7] [INFO] [1746049909.838715065] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049909.839737998] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049909.840115068] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049909.840485405] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049909.844436007] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049909.845276224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049909.845549014] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049909.847110099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049909.848263631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049909.945447161] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049909.946462815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049909.947066412] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049909.949003123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049909.950108288] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049910.003194862] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972584 Long: -76.50298331 -[vectornav-1] [INFO] [1746049910.004658529] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.88, -3.545, 6.975) -[mux-7] [INFO] [1746049910.045233824] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049910.046032244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049910.046574794] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049910.048206122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049910.049203529] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049910.085307346] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049910.087234033] [sailbot.teensy]: Wind angle: 358 -[mux-7] [INFO] [1746049910.087967420] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049910.088198399] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049910.088106913] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049910.089129294] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049910.090252023] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049910.145959915] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049910.146463937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049910.147596650] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049910.148628998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049910.149784431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049910.245110691] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049910.245789037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049910.246577057] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049910.247811040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049910.248352959] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049910.335299866] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049910.337881017] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049910.338193590] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049910.338660524] [sailbot.teensy]: Wind angle: 358 -[teensy-2] [INFO] [1746049910.339664269] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049910.340526216] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049910.341368133] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049910.344408323] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049910.345025580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049910.345505289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049910.346785950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049910.347956314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049910.445068005] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049910.445784885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049910.446473428] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049910.447644044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049910.448203195] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049910.503649130] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972592 Long: -76.50298331 -[vectornav-1] [INFO] [1746049910.505178035] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.778, -3.595, 6.26) -[mux-7] [INFO] [1746049910.545055905] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049910.545802710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049910.546440587] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049910.547968299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049910.548977321] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049910.585237717] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049910.586924028] [sailbot.teensy]: Wind angle: 358 -[teensy-2] [INFO] [1746049910.587812055] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049910.587618010] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049910.588622369] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049910.588670468] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049910.589562667] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049910.645203594] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049910.645944764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049910.647215974] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049910.648261654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049910.649762911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049910.745499795] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049910.746429234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049910.747104152] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049910.748569859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049910.749125155] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049910.835480776] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049910.838262409] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049910.838656481] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049910.838730271] [sailbot.teensy]: Wind angle: 358 -[teensy-2] [INFO] [1746049910.839144048] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049910.839509164] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049910.840321963] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049910.844331932] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049910.845058971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049910.845668359] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049910.846897906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049910.847941939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049910.945064259] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049910.945792675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049910.946577677] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049910.947977635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049910.948480248] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049911.003186147] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972585 Long: -76.50298327 -[vectornav-1] [INFO] [1746049911.005394830] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.74, -3.599, 6.016) -[mux-7] [INFO] [1746049911.045031103] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049911.045759065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049911.046522485] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049911.047880527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049911.048917597] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049911.085461755] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049911.087964001] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049911.087998333] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049911.088451414] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049911.088954304] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049911.089877732] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049911.090685667] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049911.144803179] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049911.145563701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049911.145960490] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049911.147337857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049911.148523704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049911.244971905] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049911.245721952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049911.246614693] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049911.247590532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049911.248788716] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049911.335358481] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049911.337150849] [sailbot.teensy]: Wind angle: 0 -[teensy-2] [INFO] [1746049911.338091605] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049911.337766645] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049911.338949195] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049911.338977774] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049911.339858679] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049911.344350802] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049911.344847335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049911.345806376] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049911.346754459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049911.347825853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049911.445304281] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049911.446137751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049911.446799988] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049911.448252595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049911.448669450] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049911.503742226] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972579 Long: -76.50298313 -[vectornav-1] [INFO] [1746049911.505797949] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.731, -3.615, 5.967) -[mux-7] [INFO] [1746049911.545018139] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049911.545974422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049911.546405501] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049911.548176215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049911.549304620] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049911.585384678] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049911.588202227] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049911.588759140] [sailbot.teensy]: Wind angle: 0 -[teensy-2] [INFO] [1746049911.589670624] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049911.589125235] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049911.590561807] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049911.591367494] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049911.645414124] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049911.646159055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049911.646989787] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049911.648620361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049911.649807755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049911.745179169] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049911.745748614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049911.746710181] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049911.747928966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049911.748998404] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049911.835283806] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049911.837845649] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049911.838282273] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049911.838678790] [sailbot.teensy]: Wind angle: 0 -[teensy-2] [INFO] [1746049911.839623325] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049911.840527983] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049911.841358329] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049911.844430354] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049911.845011771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049911.845690272] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049911.846714356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049911.847890215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049911.945164230] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049911.945771467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049911.946931473] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049911.947819047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049911.948856466] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049912.002337054] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972589 Long: -76.50298306 -[vectornav-1] [INFO] [1746049912.003341366] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.716, -3.618, 5.934) -[mux-7] [INFO] [1746049912.045526653] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049912.046046225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049912.047115860] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049912.048338727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049912.049549325] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049912.085622728] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049912.087647396] [sailbot.teensy]: Wind angle: 0 -[teensy-2] [INFO] [1746049912.088654860] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049912.088200455] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049912.088690893] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049912.089585528] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049912.090499839] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049912.145019694] [sailbot.mux]: Published sail angle from controller_app: 28 -[mux-7] [INFO] [1746049912.146494628] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049912.146773809] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049912.148065399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049912.148584172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049912.245481628] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049912.247155233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049912.247944918] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049912.249557540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049912.250863165] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049912.335239876] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049912.337422185] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746049912.337934052] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049912.339839902] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049912.340196041] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049912.341106618] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049912.341973967] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049912.344237858] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049912.344699322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049912.345318398] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049912.346364388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049912.347439396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049912.445113142] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049912.445893032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049912.446496110] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049912.447787433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049912.448331623] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049912.503542669] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972585 Long: -76.50298304 -[vectornav-1] [INFO] [1746049912.505153296] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.701, -3.625, 5.832) -[mux-7] [INFO] [1746049912.544887744] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049912.545483328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049912.546042300] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049912.547228458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049912.548460397] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049912.585275606] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049912.587307943] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746049912.587713926] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049912.588311026] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049912.589378629] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049912.589417214] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049912.590294766] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049912.645625789] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049912.646116224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049912.647291945] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049912.648461155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049912.649799750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049912.745023928] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049912.745958479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049912.746586865] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049912.747820191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049912.748272223] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049912.835634070] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049912.838380869] [sailbot.teensy]: Wind angle: 0 -[teensy-2] [INFO] [1746049912.839377736] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049912.838934749] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049912.840098568] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049912.840165361] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049912.840536069] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049912.844342226] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049912.845016353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049912.845473131] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049912.846811708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049912.847853501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049912.945492070] [sailbot.mux]: Published sail angle from controller_app: 28 -[mux-7] [INFO] [1746049912.947115386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049912.947291976] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049912.948517224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049912.948933129] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049913.003554771] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972587 Long: -76.50298289 -[vectornav-1] [INFO] [1746049913.005228029] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.69100000000003, -3.631, 5.69) -[mux-7] [INFO] [1746049913.045242348] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049913.046554354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049913.047137904] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049913.047988166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049913.048472433] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049913.085364616] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049913.087210100] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746049913.087522187] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049913.088097805] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049913.088371735] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049913.089044939] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049913.089954811] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049913.145337661] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049913.145835627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049913.147186820] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049913.148103422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049913.149321703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049913.245205105] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049913.245633622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049913.246939623] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049913.247653574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049913.248466343] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049913.335471517] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049913.337342616] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746049913.337879684] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049913.339367181] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049913.339678231] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049913.340636856] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049913.341546905] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049913.344608548] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049913.345763667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049913.346486506] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049913.347501268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049913.348703362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049913.445500199] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049913.446449081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049913.447115025] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049913.448139688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049913.448664159] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049913.503167616] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972584 Long: -76.50298306 -[vectornav-1] [INFO] [1746049913.504747117] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.672, -3.629, 5.695) -[mux-7] [INFO] [1746049913.544949594] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049913.545877135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049913.546250843] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049913.547746460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049913.548847042] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049913.585200223] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049913.587054593] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049913.587568061] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049913.588174663] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049913.588540271] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049913.589174592] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049913.590086996] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049913.645257757] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049913.645971856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049913.646807857] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049913.648551280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049913.649709959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049913.745579023] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049913.746251097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049913.747370137] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049913.748813408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049913.749318850] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049913.835568358] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049913.838657772] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049913.838915519] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049913.840746457] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049913.840843698] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049913.841636946] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049913.841990936] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049913.844257414] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049913.845103947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049913.845811903] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049913.846994516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049913.848095808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049913.945567576] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049913.946218549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049913.947178169] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049913.948519809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049913.949684668] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049914.003212294] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972587 Long: -76.50298326 -[vectornav-1] [INFO] [1746049914.004666128] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.656, -3.648, 5.581) -[mux-7] [INFO] [1746049914.045078070] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049914.045819137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049914.046346358] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049914.047648782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049914.048824299] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049914.085630551] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049914.087803899] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049914.088250058] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049914.088849058] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049914.089704995] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049914.089639111] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049914.090560504] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049914.145295185] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049914.145905729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049914.147168521] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049914.147930591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049914.149004353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049914.245149857] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049914.245885945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049914.246752997] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049914.247833345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049914.249013235] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049914.335349588] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049914.337624825] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049914.337917811] [sailbot.teensy]: Wind angle: 358 -[teensy-2] [INFO] [1746049914.338867849] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049914.339480944] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049914.339736636] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049914.340653537] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049914.344352695] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049914.345017344] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049914.345968142] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049914.346735733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049914.347806464] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049914.445579102] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049914.446501690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049914.447219853] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049914.448907657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049914.450043721] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049914.504148894] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972581 Long: -76.50298338 -[vectornav-1] [INFO] [1746049914.505629605] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.629, -3.667, 5.42) -[mux-7] [INFO] [1746049914.545129993] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049914.545692129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049914.546387952] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049914.547666151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049914.548839537] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049914.585379633] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049914.587741287] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049914.588887683] [sailbot.teensy]: Wind angle: 352 -[mux-7] [INFO] [1746049914.588910130] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049914.589833909] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049914.590790531] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049914.591615211] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049914.645199832] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049914.646176066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049914.646614651] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049914.648196501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049914.649347765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049914.745555448] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049914.746531808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049914.747279295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049914.748915409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049914.750126449] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049914.835804876] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049914.838760189] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049914.838986578] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049914.839272178] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049914.840012158] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049914.841023587] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049914.841927764] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049914.844626755] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049914.845221304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049914.845804946] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049914.847140554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049914.848232979] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049914.945713534] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049914.946628555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049914.947962439] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049914.949115472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049914.950624071] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049915.003826206] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972602 Long: -76.50298348 -[vectornav-1] [INFO] [1746049915.005464165] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.597, -3.683, 5.192) -[mux-7] [INFO] [1746049915.044721478] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049915.045484660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049915.045890163] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049915.047434404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049915.048489307] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049915.085246162] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049915.086934469] [sailbot.teensy]: Wind angle: 329 -[teensy-2] [INFO] [1746049915.087853520] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049915.087938447] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049915.088792388] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049915.088942072] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049915.089730541] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049915.144880354] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049915.145872090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049915.146196870] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049915.147826944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049915.148784051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049915.244839463] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049915.245484449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049915.246041420] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049915.247229778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049915.248280111] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049915.335395251] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049915.337906179] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049915.338082061] [sailbot.teensy]: Wind angle: 332 -[teensy-2] [INFO] [1746049915.339004552] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049915.339219740] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049915.339399192] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049915.339783247] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049915.344545278] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049915.345028363] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049915.345815028] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049915.348799888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049915.350032238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049915.445259445] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049915.446317549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049915.447051616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049915.447954097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049915.448416674] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049915.503672525] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972597 Long: -76.50298349 -[vectornav-1] [INFO] [1746049915.505540709] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.587, -3.692, 5.092) -[mux-7] [INFO] [1746049915.545256573] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049915.546167403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049915.546850387] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049915.548757798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049915.549785388] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049915.585231615] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049915.587325799] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049915.587695762] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049915.588554229] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049915.588854841] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049915.589940275] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049915.590943911] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049915.645708227] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049915.646328434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049915.647836984] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049915.648836526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049915.649993386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049915.745049285] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049915.745809437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049915.746492181] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049915.747596906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049915.748206071] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049915.835336073] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049915.837565739] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049915.837897504] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049915.838871771] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049915.839774509] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049915.839812030] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049915.840722665] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049915.844292941] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049915.844872164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049915.845525446] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049915.846613837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049915.847759113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049915.945288584] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049915.945977946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049915.947112087] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049915.948123168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049915.948982471] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049916.002721645] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972592 Long: -76.50298364 -[vectornav-1] [INFO] [1746049916.003977731] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.581, -3.692, 5.068) -[mux-7] [INFO] [1746049916.045774791] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049916.046377427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049916.047894655] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049916.048505112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049916.049101762] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049916.085416471] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049916.087405704] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049916.087978947] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049916.088398781] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049916.089337564] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049916.090232391] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049916.090233922] [sailbot.mux]: algo sail angle: 80 -[mux-7] [INFO] [1746049916.145297048] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049916.145929135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049916.146959259] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049916.148237966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049916.149434879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049916.245120666] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049916.245909801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049916.246660135] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049916.247964522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049916.249036769] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049916.335477708] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049916.337508035] [sailbot.teensy]: Wind angle: 333 -[trim_sail-4] [INFO] [1746049916.337897748] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049916.338504060] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049916.339381706] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049916.340061650] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049916.340284378] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049916.344504100] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049916.345057123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049916.345655435] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049916.346853108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049916.347937285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049916.445504147] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049916.446512032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049916.447661586] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049916.448361705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049916.448861162] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049916.503677071] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972596 Long: -76.50298371 -[vectornav-1] [INFO] [1746049916.505336997] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.575, -3.692, 5.087) -[mux-7] [INFO] [1746049916.545147166] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049916.545811793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049916.546698890] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049916.547828846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049916.549696843] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049916.585507581] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049916.587969556] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049916.588285997] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049916.589251277] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049916.589252842] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049916.590175084] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049916.591081510] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049916.645603933] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049916.646637257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049916.647274347] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049916.649338765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049916.650481811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049916.745445498] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049916.746570716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049916.747262287] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049916.748354208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049916.748853535] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049916.835304969] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049916.837727474] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049916.838066784] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049916.838649513] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049916.838711219] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049916.839041872] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049916.839432751] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049916.844751967] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049916.845308863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049916.846204904] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049916.847033431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049916.848135303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049916.945397477] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049916.946135982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049916.947046336] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049916.948557984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049916.949651189] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049917.002482099] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972614 Long: -76.50298357 -[vectornav-1] [INFO] [1746049917.003535248] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.579, -3.689, 5.096) -[mux-7] [INFO] [1746049917.045427874] [sailbot.mux]: Published sail angle from controller_app: 28 -[mux-7] [INFO] [1746049917.047053610] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049917.046411742] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049917.048785706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049917.049842290] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049917.085569988] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049917.087872724] [sailbot.teensy]: Wind angle: 1 -[trim_sail-4] [INFO] [1746049917.087942125] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049917.088878945] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049917.089792745] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049917.089891720] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049917.090647665] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049917.144976605] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049917.145341684] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049917.146222956] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049917.147384384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049917.148665161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049917.245278999] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049917.245857821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049917.246818747] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049917.247949245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049917.248725731] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049917.335577357] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049917.338305559] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049917.338699749] [sailbot.teensy]: Wind angle: 333 -[mux-7] [INFO] [1746049917.339588768] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049917.339730935] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049917.340691855] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049917.341291456] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049917.344482312] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049917.345109925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049917.345738513] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049917.347261476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049917.348458252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049917.445664019] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049917.446428833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049917.447397586] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049917.448874435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049917.449420684] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049917.503479503] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972622 Long: -76.50298356 -[vectornav-1] [INFO] [1746049917.505355561] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.56899999999996, -3.683, 5.081) -[mux-7] [INFO] [1746049917.545326993] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049917.546103706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049917.546905813] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049917.548095517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049917.549155743] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049917.585321526] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049917.587675578] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049917.588051687] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049917.588667218] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049917.589573111] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049917.589672918] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049917.590447866] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049917.645672718] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049917.646485322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049917.647418697] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049917.648610906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049917.649150733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049917.745680746] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049917.746185841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049917.747445326] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049917.748669857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049917.749944112] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049917.835313447] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049917.837312448] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049917.838049607] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049917.838296664] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049917.839188834] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049917.839211010] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049917.840114653] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049917.844507143] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049917.845048923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049917.845803056] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049917.846838290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049917.848003891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049917.945150657] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049917.945826181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049917.946798808] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049917.947612832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049917.948172642] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049918.002317630] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972624 Long: -76.50298371 -[vectornav-1] [INFO] [1746049918.003283771] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.58500000000004, -3.668, 5.194) -[mux-7] [INFO] [1746049918.045389603] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049918.046222890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049918.046803093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049918.048245435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049918.049367644] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049918.085247466] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049918.087399392] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049918.087800954] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049918.088374288] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049918.089282406] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049918.090185061] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049918.090577133] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049918.145412877] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049918.146170912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049918.147080450] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049918.148765297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049918.149840378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049918.245393353] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049918.246006949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049918.246915719] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049918.247979246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049918.249052419] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049918.335378220] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049918.337828006] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049918.338654388] [sailbot.teensy]: Wind angle: 353 -[mux-7] [INFO] [1746049918.338654755] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049918.339982694] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049918.340869483] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049918.341701848] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049918.344339251] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049918.344874852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049918.345731579] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049918.346661433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049918.347732906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049918.445752089] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049918.446517729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049918.447342846] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049918.447802985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049918.448551851] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049918.502300288] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972636 Long: -76.50298379 -[vectornav-1] [INFO] [1746049918.503474430] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.56899999999996, -3.658, 5.188) -[mux-7] [INFO] [1746049918.545023449] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049918.546318425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049918.546671762] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049918.548302234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049918.549433350] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049918.585389956] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049918.587282482] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049918.588543019] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049918.588912160] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049918.589870780] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049918.590615988] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049918.590797260] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049918.645002956] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049918.645830729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049918.646351137] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049918.647672026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049918.649819902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049918.745272602] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049918.746369514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049918.746990624] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049918.747902803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049918.748419579] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049918.835284624] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049918.837536262] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049918.837568165] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049918.838506618] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049918.838839275] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049918.839045340] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049918.839433591] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049918.844582438] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049918.845360401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049918.845826752] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049918.847276224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049918.848490734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049918.945332150] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049918.946331772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049918.947156738] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049918.948506630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049918.949038576] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049919.003810413] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972631 Long: -76.50298397 -[vectornav-1] [INFO] [1746049919.005850380] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.616, -3.623, 5.547) -[mux-7] [INFO] [1746049919.045127708] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049919.046007179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049919.046646832] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049919.048026901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049919.049079245] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049919.085380893] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049919.087684267] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049919.088251832] [sailbot.teensy]: Wind angle: 347 -[mux-7] [INFO] [1746049919.088854680] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049919.089227158] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049919.090196098] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049919.091291352] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049919.145772028] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049919.146490246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049919.147685462] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049919.149392536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049919.150696100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049919.245668174] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049919.246566207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049919.247434962] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049919.249119012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049919.250192930] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049919.335318014] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049919.337918785] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049919.337979375] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049919.338321051] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049919.339834053] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049919.340755682] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049919.341611086] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049919.344376655] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049919.344779819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049919.345518135] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049919.346443836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049919.347460935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049919.445255489] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049919.446058430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049919.446825586] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049919.449080785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049919.450207068] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049919.503847455] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972625 Long: -76.50298409 -[vectornav-1] [INFO] [1746049919.506517394] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.635, -3.599, 5.806) -[mux-7] [INFO] [1746049919.545221230] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049919.546196240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049919.546757197] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049919.548635262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049919.549757759] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049919.585307557] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049919.587305676] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049919.587575256] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049919.588369502] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049919.588870743] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049919.589272162] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049919.590191139] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049919.645588016] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049919.646892992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049919.647298173] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049919.648388493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049919.649265650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049919.745333215] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049919.746315698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049919.747242223] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049919.748318706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049919.748842252] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049919.835220034] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049919.837598372] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049919.838092490] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049919.838153992] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049919.839349833] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049919.840276417] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049919.841140677] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049919.844317348] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049919.844928549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049919.845424445] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049919.846653647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049919.847777085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049919.945574434] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049919.946263833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049919.947403551] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049919.949051814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049919.950271378] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049920.002598828] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697263 Long: -76.50298414 -[vectornav-1] [INFO] [1746049920.003636289] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.651, -3.598, 5.91) -[mux-7] [INFO] [1746049920.045238195] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049920.046751855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049920.046789647] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049920.048883490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049920.050038051] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049920.085226694] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049920.086974210] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049920.087521110] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049920.088521071] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049920.089148585] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049920.090109811] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049920.091035187] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049920.145285431] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049920.146115866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049920.146864970] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049920.148523111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049920.149115706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049920.245034040] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049920.245736184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049920.246485975] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049920.247706223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049920.248258521] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049920.335350443] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049920.337307129] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049920.337636692] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049920.338191434] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049920.338542134] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049920.339321326] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049920.339679011] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049920.344533651] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049920.345147903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049920.345794551] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049920.346938939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049920.348090052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049920.445024241] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049920.445803189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049920.446329366] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049920.447791113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049920.448804848] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049920.502793646] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972651 Long: -76.50298399 -[vectornav-1] [INFO] [1746049920.503932029] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.595, -3.625, 5.471) -[mux-7] [INFO] [1746049920.545387690] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049920.546309583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049920.547016052] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049920.548477764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049920.549645589] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049920.585478458] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049920.587401563] [sailbot.teensy]: Wind angle: 351 -[teensy-2] [INFO] [1746049920.588375184] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049920.588141699] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049920.589219442] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049920.589223391] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049920.590161908] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049920.645177103] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049920.645917928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049920.646618552] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049920.647969848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049920.649030434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049920.745370823] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049920.746149146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049920.746940697] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049920.748330913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049920.749549249] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049920.835140399] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049920.836971233] [sailbot.teensy]: Wind angle: 352 -[teensy-2] [INFO] [1746049920.837921565] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049920.837496930] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049920.838831929] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049920.838859251] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049920.839791771] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049920.844450188] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049920.845019971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049920.845653169] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049920.846830143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049920.847880563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049920.945602314] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049920.946448154] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049920.947355448] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049920.948474952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049920.949602732] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049921.003963382] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972656 Long: -76.50298402 -[vectornav-1] [INFO] [1746049921.006294568] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.56100000000004, -3.646, 5.222) -[mux-7] [INFO] [1746049921.045237008] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049921.045783039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049921.046452239] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049921.047546544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049921.048690232] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049921.085265264] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049921.087438391] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049921.087891486] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049921.089271735] [sailbot.teensy]: Wind angle: 351 -[teensy-2] [INFO] [1746049921.090203649] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049921.091033895] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049921.091931154] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049921.145177980] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049921.145796035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049921.146652601] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049921.147906043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049921.149096841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049921.245752170] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049921.246455266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049921.247429211] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049921.249157870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049921.250263270] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049921.335614149] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049921.337755592] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049921.338693374] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049921.338747724] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049921.339694496] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049921.340253163] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049921.340679803] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049921.344489533] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049921.345166974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049921.345815081] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049921.347250922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049921.348541084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049921.445666082] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049921.446699431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049921.447637563] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049921.449240921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049921.451262765] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049921.503831065] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972666 Long: -76.50298413 -[vectornav-1] [INFO] [1746049921.505688041] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.549, -3.649, 5.142) -[mux-7] [INFO] [1746049921.545342197] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049921.546328049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049921.546925275] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049921.548886416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049921.549896079] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049921.585335888] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049921.587642593] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049921.588263768] [sailbot.teensy]: Wind angle: 350 -[mux-7] [INFO] [1746049921.588650499] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049921.589577919] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049921.590496269] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049921.590877440] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049921.645277177] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049921.646709156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049921.647025558] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049921.648891758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049921.650026250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049921.745660229] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049921.746461740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049921.747322703] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049921.748581372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049921.749111152] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049921.835706117] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049921.838400653] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049921.838938678] [sailbot.teensy]: Wind angle: 350 -[mux-7] [INFO] [1746049921.839658064] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049921.839913439] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049921.840895294] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049921.841737225] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049921.844358670] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049921.844835113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049921.845433390] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049921.846580464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049921.847908247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049921.945395019] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049921.946233798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049921.946941911] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049921.948243480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049921.948800794] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049922.002345182] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972676 Long: -76.50298433 -[vectornav-1] [INFO] [1746049922.003330075] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.548, -3.646, 5.159) -[mux-7] [INFO] [1746049922.045484610] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049922.046282919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049922.047217483] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049922.047987875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049922.048454944] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049922.085321402] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049922.087961643] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049922.088527891] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049922.088559205] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746049922.089487849] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049922.090373441] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049922.091181674] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049922.145430820] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049922.146141123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049922.147353185] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049922.148380947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049922.149609192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049922.243711792] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049922.244026655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049922.244246194] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049922.244850180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049922.245409201] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049922.335340948] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049922.337232638] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049922.338395937] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049922.338974605] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049922.338974769] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049922.339917367] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049922.340840117] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049922.344380690] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049922.344799853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049922.345638888] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049922.346465919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049922.347582228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049922.445314471] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049922.445930143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049922.446837576] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049922.447957480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049922.449172763] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049922.502281233] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972679 Long: -76.50298447 -[vectornav-1] [INFO] [1746049922.503329181] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.519, -3.651, 5.014) -[mux-7] [INFO] [1746049922.545117790] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049922.545692777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049922.546561183] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049922.547926449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049922.549093441] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049922.585441605] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049922.587954101] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049922.588399867] [sailbot.teensy]: Wind angle: 352 -[mux-7] [INFO] [1746049922.588727014] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049922.589547438] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049922.590510016] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049922.591416190] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049922.645266494] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049922.645911445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049922.646942254] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049922.648484976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049922.649005112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049922.745346436] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049922.746100458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049922.747195836] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049922.748337036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049922.749650818] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049922.835346516] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049922.837104334] [sailbot.teensy]: Wind angle: 352 -[teensy-2] [INFO] [1746049922.837996457] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049922.837565401] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049922.838122082] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049922.838886872] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049922.839753773] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049922.844294726] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049922.844911765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049922.845467762] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049922.846594142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049922.847779239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049922.945351135] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049922.946055393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049922.946947544] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049922.948072406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049922.948583856] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049923.003840477] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972687 Long: -76.50298461 -[vectornav-1] [INFO] [1746049923.005643313] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.52099999999996, -3.654, 5.002) -[mux-7] [INFO] [1746049923.045007681] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049923.045717234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049923.046604865] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049923.047812143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049923.048871730] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049923.085380133] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049923.087229415] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049923.088045731] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049923.088232565] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049923.089202523] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049923.089986574] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049923.090153941] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049923.145451522] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049923.146383692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049923.146986232] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049923.149025699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049923.150110602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049923.245651312] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049923.246545929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049923.247298463] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049923.247997989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049923.248537582] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049923.335332150] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049923.336933126] [sailbot.teensy]: Wind angle: 353 -[trim_sail-4] [INFO] [1746049923.337742408] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049923.337820908] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049923.338617848] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049923.338665507] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049923.339526835] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049923.344392418] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049923.345268423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049923.345567820] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049923.346963194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049923.348192488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049923.445586119] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049923.446430722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049923.447294725] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049923.447927428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049923.448389778] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049923.502695866] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972688 Long: -76.50298472 -[vectornav-1] [INFO] [1746049923.503873128] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.51599999999996, -3.644, 4.993) -[mux-7] [INFO] [1746049923.545153587] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049923.546122745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049923.546815447] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049923.548322443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049923.548833579] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049923.585372322] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049923.587213656] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049923.587743958] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049923.588127447] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049923.589119509] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049923.589329138] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049923.589979157] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049923.645216652] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049923.645827302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049923.646593343] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049923.647750162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049923.649145949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049923.745284895] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049923.746001534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049923.747227293] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049923.748038252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049923.749090497] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049923.835474651] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049923.837963542] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049923.838395278] [sailbot.teensy]: Wind angle: 348 -[mux-7] [INFO] [1746049923.838493573] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049923.839438114] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049923.840342160] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049923.840962476] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049923.844406095] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049923.844863166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049923.846875201] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049923.846952999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049923.847993590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049923.945283321] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049923.946027168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049923.946901913] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049923.948091202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049923.949235967] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049924.003862372] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972674 Long: -76.50298484 -[vectornav-1] [INFO] [1746049924.005698566] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.514, -3.644, 5.026) -[mux-7] [INFO] [1746049924.045272644] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049924.046259109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049924.046754546] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049924.048439261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049924.049448164] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049924.085400402] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049924.087555893] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049924.088015928] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049924.088635792] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049924.089381620] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049924.089597016] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049924.090503204] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049924.145277132] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049924.146076851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049924.146824711] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049924.148358866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049924.149538457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049924.244722892] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049924.245270367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049924.246004729] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049924.246939928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049924.247962960] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049924.335525322] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049924.337575269] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049924.338149948] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049924.338615059] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049924.340123764] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049924.340527713] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049924.340894159] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049924.344388417] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049924.345246518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049924.345480292] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049924.347013167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049924.348058961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049924.445294443] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049924.446034159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049924.446770066] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049924.448308009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049924.449433105] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049924.503037282] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972683 Long: -76.50298487 -[vectornav-1] [INFO] [1746049924.504331621] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.51, -3.648, 5.032) -[mux-7] [INFO] [1746049924.544898697] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049924.545576247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049924.546462199] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049924.547413819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049924.548616192] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049924.585255325] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049924.586982147] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049924.587394555] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049924.587896316] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049924.588671159] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049924.588837916] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049924.589737376] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049924.644948879] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049924.645695673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049924.646342722] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049924.647884911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049924.648954023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049924.745249862] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049924.746000285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049924.746720800] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049924.748126220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049924.748646592] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049924.835382463] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049924.837122129] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049924.837517191] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049924.838005494] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049924.838701177] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049924.838757130] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049924.839148664] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049924.844409321] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049924.845008422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049924.845555703] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049924.846751967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049924.847827702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049924.945040956] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049924.946044509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049924.946336113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049924.948012027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049924.949132547] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049925.002547859] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972682 Long: -76.50298497 -[vectornav-1] [INFO] [1746049925.003623542] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.50800000000004, -3.653, 5.041) -[mux-7] [INFO] [1746049925.044930178] [sailbot.mux]: Published sail angle from controller_app: 28 -[mux-7] [INFO] [1746049925.046178828] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049925.046192183] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049925.047984810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049925.049098375] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049925.085212606] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049925.087237452] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049925.087349565] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049925.088178406] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049925.088969016] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049925.089078340] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049925.090032744] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049925.144887411] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049925.145553756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049925.146227023] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049925.147529548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049925.148571405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049925.245267711] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049925.246054709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049925.246889103] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049925.248022489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049925.248532376] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049925.335706698] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049925.338107144] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049925.338524216] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049925.339196795] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049925.340238815] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049925.340730025] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049925.341212027] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049925.344603329] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049925.345309787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049925.345994869] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049925.347035742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049925.348225776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049925.444890321] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049925.445489886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049925.446113152] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049925.447303507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049925.448404161] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049925.503968240] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972678 Long: -76.50298506 -[vectornav-1] [INFO] [1746049925.506084145] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.502, -3.647, 5.021) -[mux-7] [INFO] [1746049925.545208347] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049925.546067063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049925.546676394] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049925.548305450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049925.549488915] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049925.585366197] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049925.587198016] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049925.587887044] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049925.588130574] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049925.588577814] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049925.589074074] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049925.590013265] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049925.645138004] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049925.645877807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049925.646471595] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049925.647902873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049925.648444163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049925.745493502] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049925.746731584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049925.747210276] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049925.748974855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049925.750209034] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049925.835391435] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049925.837780228] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049925.838049354] [sailbot.teensy]: Wind angle: 348 -[mux-7] [INFO] [1746049925.838405891] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049925.838978214] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049925.839902053] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049925.840841242] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049925.844344948] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049925.844775137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049925.845474036] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049925.846487766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049925.847659893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049925.945514653] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049925.946388809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049925.947139123] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049925.948693194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049925.949225296] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049926.003423658] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697268 Long: -76.502985 -[vectornav-1] [INFO] [1746049926.005772444] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.495, -3.653, 4.976) -[mux-7] [INFO] [1746049926.044693668] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049926.045303768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049926.045859384] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049926.047066993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049926.048097695] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049926.085215117] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049926.087438602] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049926.087526659] [sailbot.teensy]: Wind angle: 339 -[mux-7] [INFO] [1746049926.088430484] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049926.088655169] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049926.089081796] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049926.089428160] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049926.145149957] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049926.145929337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049926.146580406] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049926.147836815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049926.149016209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049926.245283257] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049926.245882089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049926.247123578] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049926.248268902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049926.250003729] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049926.335772129] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049926.337946239] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746049926.339061071] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049926.339242339] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049926.340069451] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049926.340765544] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049926.340877541] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049926.344398317] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049926.345087482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049926.345589215] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049926.347036463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049926.348069580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049926.445276342] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049926.446356326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049926.447104231] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049926.448064981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049926.448620782] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049926.503088590] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972709 Long: -76.50298494 -[vectornav-1] [INFO] [1746049926.506079711] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.491, -3.648, 4.974) -[mux-7] [INFO] [1746049926.544487955] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049926.545111932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049926.545500899] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049926.546778759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049926.547725521] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049926.585429314] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049926.587829966] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049926.588035670] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049926.588638990] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049926.589606556] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049926.590477411] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049926.591300029] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049926.645793094] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049926.646404685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049926.647473360] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049926.648620239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049926.649887960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049926.745509749] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049926.746183613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049926.747305841] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049926.748802138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049926.750010979] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049926.835558735] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049926.837842003] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049926.838592844] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049926.838868180] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049926.839566621] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049926.839783918] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049926.840744097] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049926.844389906] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049926.845236278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049926.845807593] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049926.847221323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049926.848313057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049926.945372369] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049926.946108294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049926.946879826] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049926.948452714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049926.949574729] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049927.003480529] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972702 Long: -76.50298497 -[vectornav-1] [INFO] [1746049927.005039073] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.48400000000004, -3.652, 4.983) -[mux-7] [INFO] [1746049927.045375264] [sailbot.mux]: Published sail angle from controller_app: 28 -[mux-7] [INFO] [1746049927.047132731] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049927.046515162] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049927.048105278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049927.048625375] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049927.085395865] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049927.087580079] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049927.087738535] [sailbot.teensy]: Wind angle: 349 -[mux-7] [INFO] [1746049927.088060683] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049927.088900735] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049927.089778785] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049927.090614117] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049927.145101988] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049927.146006305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049927.146548229] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049927.148081206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049927.149230631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049927.245399242] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049927.246160576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049927.247000647] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049927.248287373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049927.248885999] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049927.335070860] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049927.337181360] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049927.337396390] [sailbot.teensy]: Wind angle: 351 -[teensy-2] [INFO] [1746049927.338324276] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049927.338593840] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049927.339231011] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049927.340198670] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049927.344642883] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049927.345097403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049927.345896377] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049927.346770195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049927.347834660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049927.445342192] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049927.446287382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049927.446910220] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049927.448368565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049927.449473230] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049927.502782385] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972713 Long: -76.50298502 -[vectornav-1] [INFO] [1746049927.503998026] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.47900000000004, -3.649, 4.979) -[mux-7] [INFO] [1746049927.545217149] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049927.545897406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049927.546634562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049927.547888038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049927.549076101] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049927.585563312] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049927.587927864] [sailbot.teensy]: Wind angle: 357 -[trim_sail-4] [INFO] [1746049927.588107346] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049927.588980161] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049927.589908003] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049927.590043520] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049927.590779374] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049927.645062673] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049927.645969581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049927.646452294] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049927.647999233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049927.649252213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049927.745589136] [sailbot.mux]: Published sail angle from controller_app: 28 -[mux-7] [INFO] [1746049927.747356884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049927.747531606] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049927.748591158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049927.749060954] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049927.835509019] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049927.837875953] [sailbot.teensy]: Wind angle: 356 -[trim_sail-4] [INFO] [1746049927.837864876] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049927.838770988] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049927.838812003] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049927.839752671] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049927.840701746] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049927.844565565] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049927.845345974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049927.845750311] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049927.847081278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049927.848118515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049927.945471925] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049927.946540315] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049927.947205186] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049927.948951361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049927.950084386] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049928.003911447] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972727 Long: -76.50298503 -[vectornav-1] [INFO] [1746049928.005684098] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.472, -3.654, 4.989) -[mux-7] [INFO] [1746049928.045042084] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049928.046205130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049928.046483254] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049928.048279481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049928.049331635] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049928.085441962] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049928.087442049] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049928.088072339] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049928.088415516] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049928.088526247] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049928.089382676] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049928.090375621] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049928.145060803] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049928.145797286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049928.147041516] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049928.148077028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049928.149268079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049928.245341909] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049928.246024890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049928.246828370] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049928.248210424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049928.249382430] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049928.335473643] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049928.337864684] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049928.338455896] [sailbot.teensy]: Wind angle: 353 -[mux-7] [INFO] [1746049928.339124288] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049928.339451982] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049928.340389718] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049928.341282958] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049928.344384331] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049928.345057165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049928.345493840] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049928.346768343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049928.347783604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049928.445506535] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049928.446218850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049928.447115905] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049928.448738383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049928.449806460] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049928.502778848] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972752 Long: -76.50298489 -[vectornav-1] [INFO] [1746049928.504004468] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.46799999999996, -3.659, 4.953) -[mux-7] [INFO] [1746049928.545416106] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049928.546439300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049928.546872849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049928.548711175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049928.549894102] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049928.585919253] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049928.588528661] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049928.588656504] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049928.589569632] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049928.590430740] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049928.590714009] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049928.591347811] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049928.645064041] [sailbot.mux]: Published sail angle from controller_app: 28 -[mux-7] [INFO] [1746049928.646915906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049928.647138665] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049928.649020714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049928.650045470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049928.745203423] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049928.746169539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049928.746810707] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049928.748465824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049928.749532159] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049928.835328974] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049928.837634989] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049928.837688922] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049928.838600922] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049928.839403449] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049928.839497621] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049928.840401879] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049928.844404143] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049928.844897799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049928.845554121] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049928.846663449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049928.847850130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049928.945582483] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049928.946968428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049928.947162689] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049928.949083339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049928.950133814] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049929.003979810] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972741 Long: -76.5029849 -[vectornav-1] [INFO] [1746049929.006186589] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.46500000000003, -3.65, 4.942) -[mux-7] [INFO] [1746049929.045466369] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049929.045957929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049929.046819843] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049929.047904551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049929.049082525] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049929.085268663] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049929.087134927] [sailbot.teensy]: Wind angle: 349 -[teensy-2] [INFO] [1746049929.088078615] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049929.087505383] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049929.088993393] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049929.089128803] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049929.089881663] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049929.145099458] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049929.145744909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049929.146688320] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049929.147622800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049929.148113220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049929.245366328] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049929.245847128] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049929.248230435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[mux-7] [INFO] [1746049929.249392404] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049929.249459437] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049929.335926695] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049929.338212104] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049929.338906456] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049929.339354678] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049929.340463359] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049929.341451256] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049929.341557742] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049929.344573405] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049929.345171479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049929.345761637] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049929.346996569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049929.348014383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049929.445348108] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049929.446071401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049929.446818404] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049929.448220550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049929.449369084] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049929.504396055] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697274 Long: -76.50298489 -[vectornav-1] [INFO] [1746049929.506192096] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.462, -3.629, 4.905) -[mux-7] [INFO] [1746049929.545547444] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049929.546588870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049929.547270746] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049929.548896598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049929.550205886] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049929.585450968] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049929.587741928] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049929.587972299] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049929.588740730] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049929.589578576] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049929.589640005] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049929.590514089] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049929.644745886] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049929.645385419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049929.646019329] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049929.647226453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049929.648501225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049929.745599726] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049929.746410257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049929.747571397] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049929.748671671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049929.749818890] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049929.835424513] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049929.838013342] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049929.838683856] [sailbot.teensy]: Wind angle: 344 -[mux-7] [INFO] [1746049929.839145663] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049929.839601574] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049929.840532958] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049929.841161986] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049929.844403844] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049929.845088364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049929.845784806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049929.846866378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049929.847907118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049929.945582532] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049929.946411944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049929.947187568] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049929.948721884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049929.949425558] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049930.003292626] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972745 Long: -76.50298467 -[vectornav-1] [INFO] [1746049930.004777877] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.45799999999997, -3.635, 4.964) -[mux-7] [INFO] [1746049930.045642372] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049930.046482585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049930.047083803] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049930.049099951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049930.052237327] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049930.085182772] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049930.087188015] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049930.087644617] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049930.087780466] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049930.088909922] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049930.089812976] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049930.090682085] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049930.144957925] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049930.145585965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049930.146485737] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049930.147418856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049930.148503509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049930.245165504] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049930.245978373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049930.246556275] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049930.248260400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049930.249393793] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049930.335354900] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049930.337515668] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049930.338018279] [sailbot.teensy]: Wind angle: 344 -[mux-7] [INFO] [1746049930.338570802] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049930.339101518] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049930.340042460] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049930.340983738] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049930.344400203] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049930.344900906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049930.345813021] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049930.346628091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049930.347787439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049930.445462096] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049930.445948303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049930.447185560] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049930.448071520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049930.449412350] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049930.503349255] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697276 Long: -76.50298466 -[vectornav-1] [INFO] [1746049930.505399233] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.452, -3.625, 4.993) -[mux-7] [INFO] [1746049930.545196097] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049930.545953049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049930.546838654] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049930.548064874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049930.549098307] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049930.585456410] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049930.587668647] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049930.588057367] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049930.588390752] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049930.588627123] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049930.589541513] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049930.590434986] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049930.645292907] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049930.645912540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049930.646723769] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049930.648490450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049930.649539236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049930.745439754] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049930.745980820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049930.747200077] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049930.748137657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049930.749403798] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049930.835392960] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049930.837711873] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049930.838272205] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049930.838796570] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049930.838932265] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049930.839537098] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049930.839924197] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049930.844370057] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049930.845042805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049930.845871589] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049930.846788876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049930.847889384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049930.945088830] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049930.945813077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049930.946509699] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049930.947817371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049930.949048389] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049931.003490508] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972762 Long: -76.50298454 -[vectornav-1] [INFO] [1746049931.005989657] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.46799999999996, -3.643, 5.15) -[mux-7] [INFO] [1746049931.045163752] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049931.045908879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049931.046586657] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049931.047893164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049931.048938568] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049931.085579141] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049931.087558835] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049931.088190227] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049931.088535856] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049931.089366834] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049931.089427584] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049931.090342941] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049931.145550256] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049931.146434075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049931.147182581] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049931.148808578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049931.150044436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049931.245298133] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049931.245811481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049931.246716793] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049931.248002317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049931.248930716] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049931.335158315] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049931.336852317] [sailbot.teensy]: Wind angle: 335 -[teensy-2] [INFO] [1746049931.337985510] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049931.338310975] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049931.339260607] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049931.339569319] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049931.340203760] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049931.344610208] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049931.345164367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049931.345847369] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049931.347231704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049931.348370051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049931.445406392] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049931.446693536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049931.446985621] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049931.448684039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049931.449851381] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049931.503308938] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972764 Long: -76.50298468 -[vectornav-1] [INFO] [1746049931.505248643] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.466, -3.649, 5.146) -[mux-7] [INFO] [1746049931.544970653] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049931.545833082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049931.546271410] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049931.547669176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049931.548669149] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049931.585356512] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049931.587381166] [sailbot.teensy]: Wind angle: 330 -[teensy-2] [INFO] [1746049931.588388492] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049931.588322993] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049931.589257414] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049931.589509387] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049931.590078880] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049931.645031458] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049931.645640041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049931.646548057] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049931.647446137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049931.648652729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049931.744947391] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049931.745575072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049931.746476920] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049931.747424891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049931.748174439] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049931.835565018] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049931.837977493] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049931.838655557] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049931.839038489] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049931.839502568] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049931.839521525] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049931.839911087] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049931.844526308] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049931.845038876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049931.845632570] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049931.846783902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049931.847821696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049931.945281367] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049931.945795575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049931.946763219] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049931.947736688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049931.948648857] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049932.003600394] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972747 Long: -76.50298489 -[vectornav-1] [INFO] [1746049932.005470264] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.462, -3.641, 5.18) -[mux-7] [INFO] [1746049932.045446816] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049932.046100781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049932.047075304] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049932.049136041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049932.050222492] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049932.085463853] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049932.088187920] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049932.088398266] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049932.088978678] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049932.090552202] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049932.091473239] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049932.092389778] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049932.145524298] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049932.146158466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049932.147161502] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049932.148595742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049932.149752691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049932.245657172] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049932.246402558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049932.247214031] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049932.248513134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049932.249682540] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049932.335356930] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049932.337845547] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049932.338099072] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746049932.339033743] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049932.339770868] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049932.339938737] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049932.340868205] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049932.344347513] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049932.344907553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049932.345458927] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049932.346566972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049932.347734411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049932.445615359] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049932.446744200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049932.447288745] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049932.449062596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049932.450024565] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049932.503609936] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972756 Long: -76.50298496 -[vectornav-1] [INFO] [1746049932.505090993] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.58000000000004, -3.575, 6.1) -[mux-7] [INFO] [1746049932.544882874] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049932.545494236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049932.546143548] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049932.547282213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049932.548429907] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049932.585360872] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049932.587310467] [sailbot.teensy]: Wind angle: 4 -[trim_sail-4] [INFO] [1746049932.587597977] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049932.588278539] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049932.589202026] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049932.589520983] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049932.590178136] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049932.645248907] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049932.646024368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049932.647097474] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049932.648287342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049932.649661375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049932.745496829] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049932.746066955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049932.747117637] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049932.748440253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049932.748943586] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049932.835548682] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049932.838013183] [sailbot.teensy]: Wind angle: 7 -[trim_sail-4] [INFO] [1746049932.838113315] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049932.838796402] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049932.839070221] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049932.839183547] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049932.839569792] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049932.844534914] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049932.845095208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049932.845934985] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049932.846897143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049932.848036720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049932.945147275] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049932.945839172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049932.946682262] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049932.947648039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049932.948829029] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049933.003360734] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972794 Long: -76.50298487 -[vectornav-1] [INFO] [1746049933.004688173] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.616, -3.54, 6.473) -[mux-7] [INFO] [1746049933.045117105] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049933.046124725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049933.046430686] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049933.048104367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049933.049241045] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049933.085383869] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049933.087349292] [sailbot.teensy]: Wind angle: 7 -[trim_sail-4] [INFO] [1746049933.087771033] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049933.088338403] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049933.089245020] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049933.090129773] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049933.090305318] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049933.145435345] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049933.146041897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049933.147078246] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049933.148440314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049933.149557040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049933.245733829] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049933.246325513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049933.248141105] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049933.248645635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049933.249773153] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049933.335602520] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049933.338011861] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049933.338731180] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049933.339297540] [sailbot.teensy]: Wind angle: 6 -[teensy-2] [INFO] [1746049933.339695371] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049933.340065601] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049933.340446015] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049933.344658806] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049933.345028516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049933.345841345] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049933.346767341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049933.347903378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049933.445731633] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049933.446387801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049933.447809006] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049933.448703011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049933.449229834] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049933.503736540] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972766 Long: -76.50298492 -[vectornav-1] [INFO] [1746049933.505453633] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.60699999999997, -3.496, 6.606) -[mux-7] [INFO] [1746049933.545401772] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049933.545955461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049933.547060624] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049933.548123148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049933.549353516] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049933.585630273] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049933.587961649] [sailbot.teensy]: Wind angle: 5 -[trim_sail-4] [INFO] [1746049933.588221513] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049933.588983987] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049933.589881072] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049933.590530344] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049933.590750644] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049933.645191922] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049933.645774546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049933.646640415] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049933.647667961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049933.648810175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049933.745101849] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049933.745982143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049933.746457107] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049933.747808100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049933.748854578] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049933.835275193] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049933.837535320] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049933.837731890] [sailbot.teensy]: Wind angle: 2 -[teensy-2] [INFO] [1746049933.838700797] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049933.839507964] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049933.839713396] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049933.839882117] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049933.844517428] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049933.844999069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049933.845778592] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049933.846710341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049933.847885117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049933.945502664] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049933.946254714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049933.947486009] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049933.948688005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049933.949557399] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049934.002934186] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972776 Long: -76.50298485 -[vectornav-1] [INFO] [1746049934.004739953] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.6, -3.497, 6.593) -[mux-7] [INFO] [1746049934.045038493] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049934.045633091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049934.046415539] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049934.047667377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049934.048762935] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049934.084942160] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049934.086291588] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746049934.086723749] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049934.087123538] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049934.087985688] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049934.088382222] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049934.088814691] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049934.145001598] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049934.146090765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049934.146672794] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049934.147916575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049934.148681742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049934.245331115] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049934.245910271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049934.246861822] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049934.247870957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049934.249053887] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049934.335627641] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049934.338303589] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049934.339145910] [sailbot.teensy]: Wind angle: 352 -[mux-7] [INFO] [1746049934.339757762] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049934.340099608] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049934.341012312] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049934.341859046] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049934.344513700] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049934.344950211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049934.345662722] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049934.346598429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049934.348234955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049934.445779415] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049934.446377211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049934.447782987] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049934.448740626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049934.449977100] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049934.502496407] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972791 Long: -76.50298455 -[vectornav-1] [INFO] [1746049934.503775537] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.594, -3.495, 6.599) -[mux-7] [INFO] [1746049934.545470556] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049934.546185492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049934.547185403] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049934.548366747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049934.549473376] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049934.585693083] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049934.588034585] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049934.591114640] [sailbot.teensy]: Wind angle: 334 -[teensy-2] [INFO] [1746049934.592033647] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049934.592894585] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049934.592864796] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049934.593749039] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049934.645806319] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049934.646342158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049934.647558796] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049934.648684344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049934.649821223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049934.745685414] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049934.746392185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049934.747449907] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049934.749054068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049934.750304161] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049934.835307478] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049934.837565092] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049934.838669484] [sailbot.teensy]: Wind angle: 331 -[mux-7] [INFO] [1746049934.838758684] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049934.839474115] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049934.839879215] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049934.840525707] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049934.844477828] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049934.845659847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049934.845671702] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049934.847797243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049934.848865680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049934.945137275] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049934.945864503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049934.946702788] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049934.948708819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049934.949419531] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049935.003312905] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972731 Long: -76.50298483 -[vectornav-1] [INFO] [1746049935.004970819] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.59000000000003, -3.504, 6.581) -[mux-7] [INFO] [1746049935.045010781] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049935.045991694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049935.046292898] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049935.047986998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049935.049047897] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049935.085495851] [sailbot.teensy]: Check telemetry callback entered -[mux-7] [INFO] [1746049935.088841816] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049935.089113531] [sailbot.teensy]: Wind angle: 334 -[teensy-2] [INFO] [1746049935.090002904] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049935.089166932] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049935.090866052] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049935.091737084] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049935.144850788] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049935.145641172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049935.146271451] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049935.147489050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049935.148727539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049935.245031874] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049935.246297291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049935.246374064] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049935.248020751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049935.248533029] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049935.335391542] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049935.337889644] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049935.338872510] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049935.339149383] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049935.340106479] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049935.341031636] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049935.342019278] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049935.344394517] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049935.344824176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049935.345652381] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049935.346626369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049935.347644370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049935.445692638] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049935.446406567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049935.447455197] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049935.449019666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049935.449642838] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049935.504137139] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697274 Long: -76.50298463 -[vectornav-1] [INFO] [1746049935.506075891] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.581, -3.515, 6.553) -[mux-7] [INFO] [1746049935.545402002] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049935.546430151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049935.546988650] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049935.548619716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049935.549791158] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049935.585457937] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049935.587430115] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049935.588421976] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049935.587950836] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049935.589310296] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049935.589387725] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049935.590250054] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049935.645296209] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049935.645804378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049935.646811130] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049935.647830240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049935.648945451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049935.745293290] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049935.746056750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049935.746873299] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049935.748217510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049935.749293600] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049935.835289406] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049935.837259185] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049935.837836414] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049935.838252692] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049935.838810157] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049935.838976734] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049935.839177002] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049935.844669875] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049935.845285037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049935.846252013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049935.847080852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049935.848357273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049935.945794769] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049935.946415496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049935.947548002] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049935.949780396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049935.951011363] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049936.003365481] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972756 Long: -76.50298455 -[vectornav-1] [INFO] [1746049936.004821740] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.56899999999996, -3.531, 6.543) -[mux-7] [INFO] [1746049936.045706709] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049936.046393767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049936.047373717] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049936.048505438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049936.049652481] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049936.085235461] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049936.087382763] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049936.088167475] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049936.088917585] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049936.089136720] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049936.090030324] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049936.090873590] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049936.145175093] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049936.146002564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049936.146466796] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049936.147938087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049936.149079791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049936.245451823] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049936.246264731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049936.247004429] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049936.248703716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049936.249891347] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049936.335651292] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049936.337952398] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049936.339230779] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049936.338526919] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049936.339635212] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049936.339907510] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049936.340007297] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049936.344218833] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049936.345146969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049936.345338738] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049936.346956595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049936.347984987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049936.445553974] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049936.446386635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049936.447351674] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049936.448007481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049936.448482778] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049936.502906922] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972747 Long: -76.50298448 -[vectornav-1] [INFO] [1746049936.504089521] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.56899999999996, -3.535, 6.535) -[mux-7] [INFO] [1746049936.545412847] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049936.546487833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049936.547120050] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049936.548661664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049936.549802426] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049936.585700509] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049936.587882308] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049936.588553946] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049936.588955237] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049936.589863255] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049936.590218748] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049936.590733229] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049936.645177220] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049936.646270176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049936.646655804] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049936.648083282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049936.649322181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049936.745413949] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049936.746258900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049936.747123121] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049936.748488072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049936.749692996] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049936.835404448] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049936.837810949] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049936.839194935] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049936.839826007] [sailbot.teensy]: Wind angle: 332 -[teensy-2] [INFO] [1746049936.840800171] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049936.841713805] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049936.842606011] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049936.844593125] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049936.844798125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049936.845882812] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049936.846482774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049936.847511701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049936.945629948] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049936.946395936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049936.947294964] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049936.948914228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049936.949763909] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049937.003893019] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972732 Long: -76.50298446 -[vectornav-1] [INFO] [1746049937.005776212] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.56899999999996, -3.551, 6.527) -[mux-7] [INFO] [1746049937.045416300] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049937.045916283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049937.046840860] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049937.048003499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049937.049079865] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049937.085389601] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049937.087863545] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049937.088345514] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049937.089484356] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049937.089798580] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049937.090571381] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049937.091662434] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049937.145296876] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049937.145981657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049937.146974389] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049937.148264859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049937.149396802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049937.245424594] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049937.245983979] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049937.246974119] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049937.247965923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049937.248979092] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049937.335277649] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049937.337509173] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049937.338358776] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049937.338623560] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049937.339100438] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049937.339460350] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049937.339793187] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049937.344596274] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049937.345159295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049937.345792294] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049937.346902962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049937.348028591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049937.445521765] [sailbot.mux]: Published sail angle from controller_app: 28 -[mux-7] [INFO] [1746049937.447128662] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049937.449568843] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049937.451208194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049937.452400177] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049937.503449929] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697276 Long: -76.50298457 -[vectornav-1] [INFO] [1746049937.505515396] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.562, -3.532, 6.557) -[mux-7] [INFO] [1746049937.545353050] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049937.546146515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049937.546846562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049937.548432014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049937.548978738] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049937.585119723] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049937.586751063] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049937.587473396] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049937.587707070] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049937.588646375] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049937.589279051] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049937.589530777] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049937.645392645] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049937.646546419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049937.647029738] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049937.648812414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049937.649828102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049937.745332517] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049937.746095378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049937.746962490] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049937.748109379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049937.749794721] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049937.835847377] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049937.838375044] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049937.839265543] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049937.840649717] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049937.841117050] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049937.842152143] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049937.843061759] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049937.844473700] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049937.844931673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049937.845604977] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049937.846568266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049937.847750535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049937.945377639] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049937.946196249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049937.947295354] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049937.947756671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049937.948221933] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049938.003480151] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972762 Long: -76.50298432 -[vectornav-1] [INFO] [1746049938.005310086] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.56100000000004, -3.529, 6.573) -[mux-7] [INFO] [1746049938.045741305] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049938.045796273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049938.047217215] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049938.047944635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049938.049607973] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049938.085321957] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049938.088075601] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049938.088337778] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049938.089606260] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049938.090606348] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049938.091480171] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049938.092442760] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049938.145206918] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049938.146250967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049938.146937902] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049938.148134595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049938.148710577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049938.245206109] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049938.246228259] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049938.246683427] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049938.247805252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049938.248341203] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049938.335344997] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049938.337771921] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049938.338546848] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049938.338635142] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049938.339579796] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049938.340465126] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049938.341432438] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049938.344325700] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049938.345073070] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049938.345504509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049938.346798194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049938.348011690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049938.445624440] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049938.446545308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049938.447377728] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049938.449101820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049938.450228344] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049938.503270450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972749 Long: -76.50298418 -[vectornav-1] [INFO] [1746049938.504721150] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.555, -3.549, 6.538) -[mux-7] [INFO] [1746049938.545436981] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049938.546272734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049938.547109713] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049938.548572194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049938.549684276] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049938.585917329] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049938.589442817] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049938.590033177] [sailbot.teensy]: Wind angle: 343 -[mux-7] [INFO] [1746049938.590537570] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049938.591317054] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049938.592303123] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049938.593193449] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049938.645137696] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049938.645847413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049938.646618005] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049938.648239037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049938.649980256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049938.745094034] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049938.745855118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049938.746534089] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049938.747764237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049938.748260348] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049938.835413641] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049938.838124305] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049938.838251699] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049938.839188924] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049938.839462719] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049938.840096411] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049938.841033586] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049938.844519167] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049938.844971414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049938.845835566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049938.846675406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049938.847779284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049938.945177560] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049938.946248660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049938.946654904] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049938.948140407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049938.948731578] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049939.003496427] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972752 Long: -76.5029843 -[vectornav-1] [INFO] [1746049939.005291092] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.538, -3.558, 6.418) -[mux-7] [INFO] [1746049939.045851819] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049939.046199733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049939.047601501] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049939.048394372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049939.049540287] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049939.085228499] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049939.087410954] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049939.087610505] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049939.088599661] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049939.088669251] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049939.089533493] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049939.090455215] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049939.145189318] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049939.145622786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049939.146899394] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049939.147494472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049939.148670362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049939.245403970] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049939.246357332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049939.247005794] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049939.248047305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049939.248565950] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049939.335216089] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049939.337254195] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049939.337522601] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049939.338114538] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049939.338457879] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049939.338950844] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049939.339853330] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049939.344323626] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049939.344794892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049939.345727351] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049939.346373467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049939.347361206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049939.445288129] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049939.446061199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049939.446926608] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049939.448121121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049939.448883534] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049939.504115158] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972739 Long: -76.50298436 -[vectornav-1] [INFO] [1746049939.506087067] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.534, -3.549, 6.425) -[mux-7] [INFO] [1746049939.545263076] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049939.546001945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049939.546644254] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049939.548195786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049939.549410217] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049939.585237231] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049939.587414919] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049939.588085391] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049939.588371008] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049939.589325400] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049939.590235009] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049939.591148382] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049939.644979575] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049939.645348170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049939.646284905] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049939.647143712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049939.648234933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049939.745613673] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049939.746766994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049939.747329853] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049939.748723741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049939.749254073] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049939.835194536] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049939.837553394] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049939.837927702] [sailbot.teensy]: Wind angle: 356 -[teensy-2] [INFO] [1746049939.838910201] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049939.838923753] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049939.839560394] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049939.839937568] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049939.844453603] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049939.845069182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049939.845729383] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049939.846877827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049939.848070572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049939.945372389] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049939.946451249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049939.946941039] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049939.948929572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049939.949936866] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049940.002848234] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972739 Long: -76.50298447 -[vectornav-1] [INFO] [1746049940.004048935] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.52, -3.533, 6.442) -[mux-7] [INFO] [1746049940.045410258] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049940.046168535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049940.047170177] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049940.048051704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049940.048566827] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049940.085367160] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049940.087364945] [sailbot.teensy]: Wind angle: 333 -[trim_sail-4] [INFO] [1746049940.087792404] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049940.089027975] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049940.089086619] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049940.090027564] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049940.090894896] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049940.145072954] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049940.146306757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049940.146436687] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049940.148504175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049940.149022634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049940.245278520] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049940.246167899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049940.246751187] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049940.248233775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049940.249394553] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049940.335363737] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049940.337884812] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746049940.337894800] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049940.338676076] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049940.339841546] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049940.340774881] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049940.341443697] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049940.344398705] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049940.344989287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049940.345585039] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049940.346805065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049940.347837879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049940.445295642] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049940.446313459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049940.446884776] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049940.448609687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049940.449696291] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049940.504213766] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972709 Long: -76.50298445 -[vectornav-1] [INFO] [1746049940.506739000] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.50800000000004, -3.547, 6.423) -[mux-7] [INFO] [1746049940.545072688] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049940.545950864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049940.546586351] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049940.547810250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049940.549035537] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049940.585518699] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049940.587566830] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049940.588036837] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049940.588547592] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049940.589537197] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049940.589667335] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049940.590428212] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049940.645214674] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049940.645870955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049940.646715988] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049940.647995624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049940.649101024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049940.745051214] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049940.745843944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049940.746821568] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049940.747836027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049940.748940963] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049940.835220903] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049940.837341960] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049940.837395372] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049940.838334772] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049940.838669289] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049940.839264660] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049940.840542088] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049940.844392657] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049940.844888286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049940.845448797] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049940.846512149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049940.847677529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049940.945433619] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049940.946233201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049940.946975823] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049940.948529778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049940.949072296] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049941.002592358] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972732 Long: -76.50298452 -[vectornav-1] [INFO] [1746049941.003671613] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.501, -3.546, 6.373) -[mux-7] [INFO] [1746049941.045243664] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049941.045987657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049941.046719791] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049941.048145437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049941.049285378] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049941.085437118] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049941.087826653] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049941.088413368] [sailbot.teensy]: Wind angle: 347 -[mux-7] [INFO] [1746049941.089101315] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049941.089396344] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049941.090272173] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049941.091138448] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049941.145053647] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049941.145909641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049941.146372785] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049941.148187030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049941.149576563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049941.245020293] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049941.245911770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049941.246756865] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049941.247795029] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049941.248934235] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049941.335227282] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049941.337457782] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049941.337895711] [sailbot.teensy]: Wind angle: 350 -[mux-7] [INFO] [1746049941.338605744] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049941.339115455] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049941.340058428] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049941.340943848] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049941.344374917] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049941.344984225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049941.345546252] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049941.346725589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049941.347925521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049941.445054314] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049941.445827698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049941.446279775] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049941.447591747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049941.448443350] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049941.502640941] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972735 Long: -76.50298443 -[vectornav-1] [INFO] [1746049941.503705281] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.495, -3.543, 6.356) -[mux-7] [INFO] [1746049941.545282608] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049941.546223860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049941.546741156] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049941.548425893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049941.549547197] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049941.585631924] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049941.588121303] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049941.589133928] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049941.589562813] [sailbot.teensy]: Wind angle: 353 -[teensy-2] [INFO] [1746049941.590614940] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049941.591489831] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049941.592359022] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049941.644753751] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049941.645290845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049941.645899306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049941.647090781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049941.648108946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049941.745438309] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049941.745816936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049941.747121757] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049941.747897800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049941.748952075] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049941.835211102] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049941.837366271] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049941.837927796] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049941.838431725] [sailbot.teensy]: Wind angle: 353 -[teensy-2] [INFO] [1746049941.839701741] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049941.840361931] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049941.840720677] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049941.844236072] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049941.844773682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049941.845613337] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049941.846487642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049941.847521998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049941.945461268] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049941.946016421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049941.946946974] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049941.947724031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049941.948224089] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049942.004474599] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972741 Long: -76.50298434 -[vectornav-1] [INFO] [1746049942.005963881] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.498, -3.541, 6.364) -[mux-7] [INFO] [1746049942.045306566] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049942.046260662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049942.046678392] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049942.048347250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049942.049467435] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049942.085265177] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049942.087433848] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049942.087890204] [sailbot.teensy]: Wind angle: 353 -[mux-7] [INFO] [1746049942.088805115] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049942.089078189] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049942.090071097] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049942.091076993] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049942.144742014] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049942.145965331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049942.146046269] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049942.147822966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049942.148884600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049942.245432655] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049942.246464421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049942.247257378] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049942.248763754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049942.249997630] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049942.335372271] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049942.337268361] [sailbot.teensy]: Wind angle: 353 -[trim_sail-4] [INFO] [1746049942.337556133] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049942.338258024] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049942.339179728] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049942.339729631] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049942.340088270] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049942.344301863] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049942.345269222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049942.345608965] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049942.347089897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049942.348098359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049942.445369174] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049942.446130540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049942.447341420] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049942.448111263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049942.449244690] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049942.502376140] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972739 Long: -76.50298441 -[vectornav-1] [INFO] [1746049942.503367821] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.497, -3.54, 6.369) -[mux-7] [INFO] [1746049942.545178251] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049942.545836432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049942.546385566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049942.547659244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049942.548851501] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049942.585424231] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049942.587781912] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049942.588467031] [sailbot.teensy]: Wind angle: 354 -[mux-7] [INFO] [1746049942.588776560] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049942.589490428] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049942.590442095] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049942.591319718] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049942.645167608] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049942.645974799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049942.646530254] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049942.647943915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049942.649870978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049942.745208541] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049942.746241389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049942.746824114] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049942.748498125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049942.749040928] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049942.835309232] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049942.837162285] [sailbot.teensy]: Wind angle: 358 -[teensy-2] [INFO] [1746049942.838124147] [sailbot.teensy]: Actual sail angle: 28 -[trim_sail-4] [INFO] [1746049942.837650132] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049942.838983905] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049942.838999846] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049942.839896270] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049942.844478012] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049942.845008830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049942.845553162] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049942.846724122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049942.847761550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049942.945389838] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049942.945913650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049942.946906796] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049942.947767116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049942.948326701] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049943.003594901] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972747 Long: -76.50298441 -[vectornav-1] [INFO] [1746049943.004943932] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.507, -3.546, 6.381) -[mux-7] [INFO] [1746049943.044791810] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049943.045823302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049943.046005136] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049943.048734132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049943.049834621] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049943.085556315] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049943.087314747] [sailbot.teensy]: Wind angle: 356 -[trim_sail-4] [INFO] [1746049943.087813702] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049943.088230436] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049943.089153553] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049943.090023204] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049943.090171594] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049943.144986896] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049943.146224705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049943.146412479] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049943.148127803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049943.149229138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049943.244598431] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049943.245287647] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049943.245701998] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049943.246931222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049943.247939538] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049943.335277542] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049943.336964494] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746049943.337498869] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049943.337920218] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049943.338838968] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049943.339703234] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049943.339704140] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049943.344321820] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049943.345123506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049943.345456299] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049943.346875319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049943.347967434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049943.445158549] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049943.446050896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049943.446783249] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049943.447900295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049943.448412404] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049943.503519241] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972771 Long: -76.5029845 -[vectornav-1] [INFO] [1746049943.505291883] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.526, -3.534, 6.082) -[mux-7] [INFO] [1746049943.545100955] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049943.546068054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049943.546558451] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049943.547971780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049943.549093386] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049943.585232103] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049943.587534353] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049943.588141230] [sailbot.teensy]: Wind angle: 352 -[mux-7] [INFO] [1746049943.588138021] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049943.589145884] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049943.590043712] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049943.590862010] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049943.644948264] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049943.645675748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049943.646211856] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049943.647506386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049943.648746661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049943.745002120] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049943.745586234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049943.746445137] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049943.747375942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049943.749071096] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049943.835434898] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049943.837885526] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049943.838381890] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049943.838683504] [sailbot.teensy]: Wind angle: 346 -[teensy-2] [INFO] [1746049943.839228435] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049943.839634618] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049943.840256827] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049943.844372519] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049943.844973237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049943.845627552] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049943.846693747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049943.847851084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049943.945478691] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049943.946635635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049943.947809241] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049943.948315209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049943.948857653] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049944.003425900] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972772 Long: -76.50298441 -[vectornav-1] [INFO] [1746049944.005030236] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.50800000000004, -3.517, 5.995) -[mux-7] [INFO] [1746049944.044974070] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049944.045821225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049944.046322310] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049944.047771662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049944.048828401] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049944.085342988] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049944.087542422] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049944.087545170] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049944.088526108] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049944.088897063] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049944.089415761] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049944.090303252] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049944.145125615] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049944.145714379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049944.146433785] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049944.147616079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049944.148681279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049944.245319343] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049944.245957492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049944.246722336] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049944.247937447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049944.249091860] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049944.335330820] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049944.337117432] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049944.337660685] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049944.337847919] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049944.338212862] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049944.338400867] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049944.338599922] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049944.344530966] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049944.345002261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049944.345723989] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049944.346993971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049944.348069819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049944.445401081] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049944.446299303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049944.446966459] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049944.448537959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049944.449676378] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049944.503652539] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972764 Long: -76.50298435 -[vectornav-1] [INFO] [1746049944.505257462] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.517, -3.517, 6.012) -[mux-7] [INFO] [1746049944.545288662] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049944.545885263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049944.546866894] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049944.547983518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049944.549040587] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049944.585237633] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049944.587110930] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049944.587441596] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049944.588028490] [sailbot.teensy]: Actual sail angle: 28 -[mux-7] [INFO] [1746049944.588755455] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049944.588935445] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049944.589778642] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049944.645210357] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049944.645843737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049944.646635210] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049944.647738277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049944.648866727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049944.745431941] [sailbot.mux]: Published sail angle from controller_app: 28 -[teensy-2] [INFO] [1746049944.746079776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049944.747427179] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049944.748182435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:28, rudder: 0 -[teensy-2] [INFO] [1746049944.749386489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049944.823006677] [sailbot.mux]: controller_app sail angle: 45 -[teensy-2] [INFO] [1746049944.835486917] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049944.837499738] [sailbot.teensy]: Wind angle: 338 -[trim_sail-4] [INFO] [1746049944.837880482] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049944.838510889] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049944.839480412] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049944.839725372] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049944.840395000] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049944.844562687] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049944.845102878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049944.845674730] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049944.846856001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049944.847888565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049944.945340124] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049944.946015088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049944.946825814] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049944.948080634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049944.948850099] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049945.003198854] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972768 Long: -76.50298413 -[vectornav-1] [INFO] [1746049945.004948480] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.519, -3.513, 6.041) -[mux-7] [INFO] [1746049945.045535771] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049945.046080527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049945.046901865] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049945.048396635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049945.049557938] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049945.085437018] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049945.087533117] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746049945.088042707] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049945.088527440] [sailbot.teensy]: Actual sail angle: 28 -[teensy-2] [INFO] [1746049945.089452081] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049945.090046450] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049945.090308033] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049945.144669974] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049945.145334740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049945.145837542] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049945.147189662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049945.148237629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049945.244928430] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049945.245559578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049945.246205337] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049945.247351719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049945.248443328] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049945.335340451] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049945.337243799] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049945.338187935] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049945.337754717] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049945.338914799] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049945.339064704] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049945.339949359] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049945.344489912] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049945.344867411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049945.345677403] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049945.346498840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049945.347544264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049945.445262248] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049945.446661665] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049945.449083826] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049945.450687453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049945.451621660] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049945.504259709] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697276 Long: -76.50298421 -[vectornav-1] [INFO] [1746049945.506483855] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.527, -3.506, 6.149) -[mux-7] [INFO] [1746049945.545227814] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049945.545635223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049945.546519656] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049945.547410992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049945.548526490] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049945.585274577] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049945.587004399] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049945.587920942] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049945.587489264] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049945.588843278] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049945.589759330] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049945.589450949] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746049945.644904154] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049945.645753905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049945.646171910] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049945.647554074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049945.648612288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049945.745315346] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049945.746210059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049945.746969697] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049945.748048681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049945.748567431] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049945.835272544] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049945.837537769] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049945.837570728] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049945.838869885] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049945.839420133] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049945.839830170] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049945.840193013] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049945.844529258] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049945.845162305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049945.845623036] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049945.846894596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049945.848036258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049945.945312099] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049945.946357367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049945.946921028] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049945.948743867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049945.949919098] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049946.003365938] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972738 Long: -76.50298374 -[vectornav-1] [INFO] [1746049946.004905832] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.549, -3.495, 6.298) -[mux-7] [INFO] [1746049946.045003018] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049946.045925696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049946.046696573] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049946.047772749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049946.048825414] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049946.085198356] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049946.087250386] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049946.088327137] [sailbot.teensy]: Wind angle: 354 -[mux-7] [INFO] [1746049946.088618927] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049946.089352276] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049946.090244630] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049946.091088170] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049946.144930598] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049946.145742825] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049946.146219720] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049946.147663416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049946.148841190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049946.245278933] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049946.246151806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049946.246848084] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049946.248226815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049946.248734388] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049946.335328190] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049946.337064596] [sailbot.teensy]: Wind angle: 354 -[teensy-2] [INFO] [1746049946.337984299] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049946.337603457] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049946.338478453] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049946.338874204] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049946.339746509] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049946.344542637] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049946.345031054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049946.346139274] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049946.346755890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049946.347906664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049946.445326629] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049946.446024391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049946.447080307] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049946.447983623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049946.449038512] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049946.503088255] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972735 Long: -76.50298367 -[vectornav-1] [INFO] [1746049946.504846077] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.547, -3.489, 6.304) -[mux-7] [INFO] [1746049946.545135012] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049946.545856766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049946.546547404] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049946.547901602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049946.549075419] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049946.585373518] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049946.587813660] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049946.588292912] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049946.588757229] [sailbot.teensy]: Wind angle: 354 -[teensy-2] [INFO] [1746049946.590168668] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049946.591086064] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049946.592063060] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049946.645304817] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049946.646162358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049946.646819397] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049946.648746557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049946.649400828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049946.745319168] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049946.746274398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049946.746807681] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049946.748212367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049946.748642800] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049946.835339506] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049946.837452365] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049946.837786393] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049946.838464449] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049946.839384605] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049946.839400621] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049946.840375214] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049946.844507004] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049946.845318497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049946.845668281] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049946.847177020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049946.848259765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049946.945333851] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049946.946060131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049946.947436657] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049946.947804144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049946.948282226] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049947.003788113] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972718 Long: -76.50298382 -[vectornav-1] [INFO] [1746049947.005452273] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.554, -3.489, 6.373) -[mux-7] [INFO] [1746049947.044949423] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049947.045908812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049947.046524453] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049947.047904405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049947.049153110] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049947.085427151] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049947.087240348] [sailbot.teensy]: Wind angle: 351 -[trim_sail-4] [INFO] [1746049947.087916440] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049947.088190619] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049947.089111962] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049947.089252190] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049947.090149316] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049947.145318689] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049947.145846638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049947.146790479] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049947.147810462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049947.149077673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049947.245513795] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049947.246065734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049947.247135009] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049947.248189817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049947.249246459] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049947.335353482] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049947.337245134] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049947.337893700] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049947.338214782] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049947.339140603] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049947.339997357] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049947.340011819] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049947.344374349] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049947.345114789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049947.345473568] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049947.346896171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049947.347912587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049947.445164442] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049947.445948583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049947.446795280] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049947.448001880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049947.449934097] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049947.503403892] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972711 Long: -76.5029837 -[vectornav-1] [INFO] [1746049947.505120380] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.56100000000004, -3.483, 6.413) -[mux-7] [INFO] [1746049947.544870344] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049947.545514348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049947.546044439] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049947.547265426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049947.548459688] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049947.585172758] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049947.586769457] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049947.587276741] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049947.588711801] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049947.588955419] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049947.589869735] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049947.590711840] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049947.645173267] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049947.645782686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049947.646440512] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049947.647672854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049947.648870709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049947.745351312] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049947.746009934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049947.746842237] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049947.748410169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049947.749174910] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049947.835242822] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049947.837729505] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049947.838519837] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049947.838977580] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049947.839476537] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049947.840198254] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049947.840585150] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049947.844496426] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049947.845123649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049947.845669093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049947.846843980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049947.847836743] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049947.945105965] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049947.945885655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049947.946554450] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049947.947890140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049947.948373616] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049948.003523967] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972716 Long: -76.50298368 -[vectornav-1] [INFO] [1746049948.005794934] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.622, -3.459, 6.814) -[mux-7] [INFO] [1746049948.045141221] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049948.046241701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049948.046788542] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049948.048335093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049948.049976300] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049948.085312220] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049948.087790965] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049948.088584651] [sailbot.teensy]: Wind angle: 344 -[mux-7] [INFO] [1746049948.088698116] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049948.089559951] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049948.090456192] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049948.091270910] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049948.145348071] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049948.145811591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049948.146781540] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049948.148032083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049948.149198501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049948.245431383] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049948.246092134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049948.247053006] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049948.248501203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049948.249194476] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049948.335448741] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049948.337647899] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049948.338502377] [sailbot.teensy]: Wind angle: 343 -[mux-7] [INFO] [1746049948.338764785] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049948.339049347] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049948.339443675] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049948.340002378] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049948.344402210] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049948.344914026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049948.345627885] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049948.346711492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049948.347734389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049948.445555088] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049948.446604272] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049948.447548988] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049948.449043225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049948.450141374] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049948.502638700] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697271 Long: -76.50298364 -[vectornav-1] [INFO] [1746049948.503721890] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.622, -3.461, 6.815) -[mux-7] [INFO] [1746049948.545098265] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049948.545830200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049948.546349783] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049948.547811727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049948.548387119] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049948.585462442] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049948.587978668] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049948.588362744] [sailbot.teensy]: Wind angle: 343 -[mux-7] [INFO] [1746049948.588655247] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049948.589336830] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049948.590229600] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049948.591071624] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049948.645289886] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049948.645979336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049948.646821283] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049948.648203098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049948.649292702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049948.745722917] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049948.746331634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049948.747480343] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049948.748844912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049948.749939692] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049948.835251468] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049948.837117038] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746049948.837606736] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049948.838058638] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049948.838871534] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049948.838899585] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049948.839525184] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049948.844502622] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049948.845295039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049948.846089933] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049948.847095639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049948.848144993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049948.945514919] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049948.946146497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049948.947232407] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049948.948661001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049948.949394258] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049949.003402802] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972695 Long: -76.5029835 -[vectornav-1] [INFO] [1746049949.005344361] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.637, -3.475, 6.784) -[mux-7] [INFO] [1746049949.044858334] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049949.045698761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049949.046442825] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049949.047627364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049949.048694439] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049949.085308980] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049949.087737478] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049949.088113256] [sailbot.teensy]: Wind angle: 338 -[mux-7] [INFO] [1746049949.088418913] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049949.089079130] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049949.090033820] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049949.090904322] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049949.144975071] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049949.146132231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049949.146574359] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049949.148060608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049949.148914140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049949.245335778] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049949.246558959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049949.246863329] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049949.247869107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049949.248411463] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049949.335298525] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049949.337094686] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049949.337599465] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049949.338079485] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049949.338978508] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049949.339553110] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049949.339931836] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049949.344298598] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049949.344943160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049949.345659187] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049949.346728092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049949.347879873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049949.444918785] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049949.445607527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049949.446716150] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049949.447519917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049949.448781519] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049949.503069636] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972697 Long: -76.5029834 -[vectornav-1] [INFO] [1746049949.504561120] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.634, -3.472, 6.757) -[mux-7] [INFO] [1746049949.544942939] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049949.545805500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049949.546163059] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049949.547763913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049949.548820252] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049949.585226871] [sailbot.teensy]: Check telemetry callback entered -[mux-7] [INFO] [1746049949.587953261] [sailbot.mux]: algo sail angle: 80 -[trim_sail-4] [INFO] [1746049949.588116068] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049949.588164135] [sailbot.teensy]: Wind angle: 335 -[teensy-2] [INFO] [1746049949.589091660] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049949.589987010] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049949.590846128] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049949.645141120] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049949.646267378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049949.646589544] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049949.648556562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049949.649715944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049949.745341408] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049949.746595553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049949.746872849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049949.748194745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049949.748734516] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049949.835210293] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049949.837532222] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049949.838382528] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049949.838756542] [sailbot.teensy]: Wind angle: 335 -[teensy-2] [INFO] [1746049949.839759597] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049949.840539485] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049949.840907432] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049949.844437935] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049949.845183315] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049949.845590655] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049949.846996757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049949.847994227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049949.945240777] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049949.946005700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049949.947033553] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049949.948278497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049949.949081621] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049950.003384253] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972677 Long: -76.50298372 -[vectornav-1] [INFO] [1746049950.005071911] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.637, -3.488, 6.748) -[mux-7] [INFO] [1746049950.045030510] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049950.045804077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049950.046445016] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049950.047930897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049950.049036357] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049950.085243298] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049950.087755894] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049950.088740682] [sailbot.teensy]: Wind angle: 337 -[mux-7] [INFO] [1746049950.088914297] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049950.089900473] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049950.090932530] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049950.091781874] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049950.145122348] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049950.146387573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049950.147010425] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049950.148496808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049950.148936171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049950.245607489] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049950.246207456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049950.247242970] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049950.248654283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049950.249933258] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049950.335251023] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049950.337022445] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049950.337697566] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049950.337978565] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049950.338899710] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049950.339305665] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049950.339775134] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049950.344769446] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049950.345126503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049950.345931362] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049950.346872126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049950.347998795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049950.445828823] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049950.446416356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049950.447474992] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049950.448751631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049950.450030966] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049950.502467547] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972653 Long: -76.50298379 -[vectornav-1] [INFO] [1746049950.503552870] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.631, -3.485, 6.765) -[mux-7] [INFO] [1746049950.545054027] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049950.545797403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049950.546337047] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049950.547656605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049950.548712931] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049950.585319216] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049950.587118355] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746049950.587569668] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049950.588065893] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049950.589000984] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049950.589459102] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049950.589884860] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049950.644807973] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049950.645502259] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049950.646014686] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049950.647312896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049950.648489763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049950.745146461] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049950.746136301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049950.746928849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049950.748226859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049950.749312931] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049950.835277196] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049950.837402967] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049950.837758195] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049950.838359376] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049950.838839304] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049950.838982361] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049950.839368036] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049950.844621442] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049950.845096203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049950.845914348] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049950.846801521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049950.847848809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049950.945387477] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049950.946058910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049950.947267886] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049950.948078750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049950.948675781] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049951.002519389] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972644 Long: -76.50298378 -[vectornav-1] [INFO] [1746049951.003714210] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.625, -3.484, 6.773) -[mux-7] [INFO] [1746049951.045441021] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049951.046043677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049951.046794954] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049951.047917852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049951.049015238] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049951.085257091] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049951.087471703] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049951.088777593] [sailbot.teensy]: Wind angle: 343 -[mux-7] [INFO] [1746049951.089032296] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049951.089934441] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049951.090838126] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049951.091675257] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049951.144992682] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049951.145920121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049951.146327504] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049951.147846634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049951.148875618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049951.245083720] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049951.245995792] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049951.246863308] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049951.247894781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049951.248380120] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049951.335402554] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049951.337514909] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049951.337948060] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049951.338428282] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049951.338795454] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049951.338812020] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049951.339169472] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049951.344404914] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049951.344946734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049951.345559089] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049951.346676812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049951.347727152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049951.445146974] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049951.445931150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049951.446609704] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049951.447932058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049951.449107985] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049951.503847545] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697264 Long: -76.50298385 -[vectornav-1] [INFO] [1746049951.505636452] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.635, -3.48, 6.833) -[mux-7] [INFO] [1746049951.545290241] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049951.546262108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049951.546961352] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049951.548451948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049951.549480130] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049951.585538987] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049951.587978423] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049951.588023944] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049951.589033228] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049951.589600733] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049951.589963585] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049951.590816843] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049951.645598643] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049951.645811327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049951.647132099] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049951.647922177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049951.649175018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049951.745483308] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049951.746100646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049951.747124598] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049951.748276610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049951.748726603] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049951.835388823] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049951.837266024] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049951.838416373] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049951.839106378] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049951.839468228] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049951.839864788] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049951.840245611] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049951.844424687] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049951.844943478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049951.845551069] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049951.846651222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049951.847713134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049951.945239083] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049951.945891554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049951.946821727] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049951.948103559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049951.948546338] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049952.003356491] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972615 Long: -76.50298401 -[vectornav-1] [INFO] [1746049952.005027620] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.631, -3.468, 6.753) -[mux-7] [INFO] [1746049952.045259765] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049952.046008345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049952.046858232] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049952.048328362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049952.049400304] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049952.085103328] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049952.086636328] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049952.087728166] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049952.087861462] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049952.088816818] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049952.088834691] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049952.089807810] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049952.145170950] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049952.145983251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049952.146731427] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049952.147776127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049952.148230212] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049952.245554253] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049952.246843210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049952.247272647] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049952.248447535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049952.248992805] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049952.334414828] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049952.335388219] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746049952.335503214] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049952.335798395] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049952.336235755] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049952.336623897] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049952.336667231] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049952.343561574] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049952.344056776] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049952.344329172] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049952.345113795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049952.345600089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049952.445784441] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049952.446518041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049952.447937276] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049952.449231220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049952.449702118] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049952.503363388] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972618 Long: -76.50298407 -[vectornav-1] [INFO] [1746049952.504852741] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.603, -3.461, 6.559) -[mux-7] [INFO] [1746049952.544948613] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049952.545856284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049952.546287451] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049952.547956775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049952.549033730] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049952.585222913] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049952.586950540] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049952.587288844] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049952.587842066] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049952.588423517] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049952.588748086] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049952.589651708] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049952.645122811] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049952.645948028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049952.646735984] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049952.648047844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049952.649164810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049952.745116501] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049952.745824839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049952.746657884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049952.747656335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049952.748124120] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049952.835385577] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049952.837876705] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049952.838354851] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049952.838542670] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049952.839501990] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049952.840432152] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049952.841317073] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049952.844385746] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049952.844898937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049952.845535196] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049952.846718603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049952.847764864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049952.945584778] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049952.946652041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049952.947209376] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049952.949029087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049952.950238916] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049953.002744575] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469726 Long: -76.50298424 -[vectornav-1] [INFO] [1746049953.003875552] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.61199999999997, -3.472, 6.547) -[mux-7] [INFO] [1746049953.045413894] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049953.046170609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049953.047109114] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049953.048604479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049953.049145029] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049953.085188313] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049953.087516835] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049953.088111092] [sailbot.teensy]: Wind angle: 336 -[mux-7] [INFO] [1746049953.088856528] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049953.089082133] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049953.089982437] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049953.090863828] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049953.144975721] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049953.145486310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049953.146250178] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049953.147363229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049953.148391244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049953.244920030] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049953.245548625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049953.246220301] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049953.247343770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049953.248383199] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049953.335206122] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049953.336932713] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049953.337333598] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049953.337870016] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049953.338782128] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049953.339112195] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049953.339651752] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049953.344598791] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049953.345051631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049953.345799523] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049953.347065596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049953.348148357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049953.444738054] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049953.445423073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049953.445806785] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049953.447206672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049953.448873143] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049953.502497557] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972583 Long: -76.50298447 -[vectornav-1] [INFO] [1746049953.503515980] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.62, -3.473, 6.604) -[mux-7] [INFO] [1746049953.545272581] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049953.546299958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049953.546953835] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049953.548565695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049953.549818223] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049953.585434935] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049953.587992449] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049953.588012886] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049953.589037462] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049953.589977350] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049953.590214694] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049953.590903980] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049953.645296834] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049953.645956342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049953.646808102] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049953.648389671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049953.649620148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049953.745135300] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049953.745740516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049953.746579475] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049953.747643961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049953.748161422] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049953.835553637] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049953.838365498] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049953.839328525] [sailbot.teensy]: Wind angle: 355 -[mux-7] [INFO] [1746049953.839450949] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049953.839770384] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049953.840179450] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049953.840523511] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049953.844519584] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049953.845089047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049953.845670226] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049953.846791543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049953.847979528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049953.945254020] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049953.946265920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049953.946820921] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049953.948260005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049953.948742442] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049954.003085191] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972564 Long: -76.50298445 -[vectornav-1] [INFO] [1746049954.004992159] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.608, -3.43, 6.558) -[mux-7] [INFO] [1746049954.045073107] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049954.046156600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049954.046405481] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049954.048428853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049954.049475263] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049954.085316087] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049954.087934514] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049954.088425364] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049954.088524063] [sailbot.teensy]: Wind angle: 355 -[teensy-2] [INFO] [1746049954.089452642] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049954.090223310] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049954.090581204] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049954.145347387] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049954.146282198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049954.146921448] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049954.148976615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049954.150007180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049954.245222879] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049954.246009799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049954.246715850] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049954.248200955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049954.249186268] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049954.335170764] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049954.337636553] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049954.337969377] [sailbot.teensy]: Wind angle: 354 -[mux-7] [INFO] [1746049954.338419493] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049954.338928291] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049954.339513515] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049954.339865322] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049954.344487326] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049954.345101618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049954.345649653] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049954.346815163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049954.347797542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049954.445158293] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049954.445863380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049954.446587915] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049954.448100535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049954.449265993] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049954.502508501] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972558 Long: -76.50298452 -[vectornav-1] [INFO] [1746049954.503532666] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.61400000000003, -3.458, 6.574) -[mux-7] [INFO] [1746049954.545165651] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049954.545892192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049954.546635447] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049954.547968193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049954.549132610] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049954.585465447] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049954.587553612] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746049954.588034221] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049954.588547656] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049954.589057298] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049954.589469008] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049954.590314256] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049954.645267211] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049954.645794733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049954.646821527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049954.648148091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049954.649375013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049954.745337270] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049954.745970824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049954.746852320] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049954.748015506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049954.749049272] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049954.835355628] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049954.837095724] [sailbot.teensy]: Wind angle: 347 -[teensy-2] [INFO] [1746049954.838045816] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049954.838248591] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049954.838974804] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049954.839379468] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049954.840428922] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049954.844586634] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049954.845020369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049954.845756692] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049954.846983291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049954.848043670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049954.945543520] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049954.946071731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049954.947205938] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049954.948524279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049954.950258829] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049955.002527172] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972534 Long: -76.50298445 -[vectornav-1] [INFO] [1746049955.003892861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.61699999999996, -3.461, 6.531) -[mux-7] [INFO] [1746049955.045303803] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049955.045939139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049955.046854532] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049955.048011503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049955.049082621] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049955.085284311] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049955.087472937] [sailbot.teensy]: Wind angle: 349 -[trim_sail-4] [INFO] [1746049955.087589590] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049955.088472992] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049955.089095816] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049955.089361154] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049955.090246033] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049955.145093742] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049955.145932358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049955.146614599] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049955.148247239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049955.149285715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049955.245193648] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049955.245924173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049955.246642544] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049955.247947935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049955.248906693] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049955.335719305] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049955.338636071] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049955.339072544] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049955.339416016] [sailbot.teensy]: Wind angle: 349 -[teensy-2] [INFO] [1746049955.340419798] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049955.341281062] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049955.342105846] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049955.344315716] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049955.344806409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049955.345472473] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049955.346497956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049955.347662657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049955.445105962] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049955.446063910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049955.446609149] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049955.447851921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049955.448288999] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049955.503724151] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972532 Long: -76.5029845 -[vectornav-1] [INFO] [1746049955.505424867] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.63800000000003, -3.466, 6.561) -[mux-7] [INFO] [1746049955.545278890] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049955.546372107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049955.547003054] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049955.548583450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049955.549877067] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049955.585368066] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049955.587487610] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049955.587915868] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049955.588485026] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049955.588946936] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049955.589404623] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049955.590288041] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049955.645188193] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049955.646061115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049955.646769460] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049955.648127250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049955.650621311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049955.745007188] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049955.746559149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049955.746519756] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049955.748556636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049955.749685891] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049955.835407895] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049955.838052241] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049955.838595654] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049955.839066633] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049955.839474019] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049955.839814742] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049955.840147606] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049955.844509983] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049955.845149539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049955.845694192] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049955.846846883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049955.847989920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049955.945193816] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049955.946114281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049955.946757327] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049955.948248810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049955.948739815] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049956.003402256] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972527 Long: -76.50298442 -[vectornav-1] [INFO] [1746049956.005351292] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.60400000000004, -3.45, 6.484) -[mux-7] [INFO] [1746049956.045445181] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049956.046037482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049956.047030844] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049956.048618359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049956.049798534] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049956.085391380] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049956.087177909] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746049956.088090715] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049956.089169992] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049956.087857330] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049956.088198262] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049956.090053936] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049956.145555540] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049956.146315319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049956.147206927] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049956.148468813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049956.148980926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049956.245478930] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049956.246226959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049956.247057775] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049956.248682345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049956.249735898] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049956.335276293] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049956.337031571] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746049956.337511088] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049956.338000028] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049956.338518994] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049956.338960344] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049956.339839231] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049956.344439775] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049956.345156464] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049956.345823176] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049956.346898753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049956.348019407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049956.444713731] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049956.445668824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049956.446115856] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049956.447690543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049956.448144742] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049956.502752015] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697252 Long: -76.50298442 -[vectornav-1] [INFO] [1746049956.503875913] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.632, -3.472, 6.48) -[mux-7] [INFO] [1746049956.545161476] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049956.545898542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049956.546683450] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049956.547969808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049956.549153463] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049956.585556923] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049956.588063399] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049956.588658840] [sailbot.teensy]: Wind angle: 340 -[mux-7] [INFO] [1746049956.588668852] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049956.589613781] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049956.590470032] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049956.591311773] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049956.645411537] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049956.646005409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049956.646963052] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049956.648045750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049956.649125784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049956.745505089] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049956.746199841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049956.747313481] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049956.748746213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049956.749269947] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049956.835227718] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049956.837413559] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049956.837560312] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049956.838183892] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049956.838479135] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049956.839357367] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049956.839724150] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049956.844521178] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049956.845169443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049956.846311717] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049956.846848706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049956.847957360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049956.945311490] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049956.945861111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049956.946894324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049956.947902197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049956.949029706] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049957.002360936] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972492 Long: -76.50298444 -[vectornav-1] [INFO] [1746049957.003428935] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.615, -3.476, 6.506) -[mux-7] [INFO] [1746049957.045200240] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049957.046628985] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049957.048546798] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049957.050471601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049957.051606461] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049957.085349175] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049957.087419318] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049957.087518498] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049957.088468224] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049957.089273088] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049957.089430301] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049957.090365688] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049957.145443877] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049957.146118699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049957.147255191] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049957.148429466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049957.149627918] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049957.244933722] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049957.245643234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049957.246165801] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049957.247473041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049957.248672954] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049957.335451461] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049957.338077211] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049957.338503490] [sailbot.teensy]: Wind angle: 343 -[mux-7] [INFO] [1746049957.339094111] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049957.339615847] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049957.340582953] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049957.341469400] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049957.344388361] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049957.344894282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049957.345864791] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049957.346607658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049957.347692609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049957.445219229] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049957.446205780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049957.446910327] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049957.448317055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049957.449414022] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049957.503142636] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972487 Long: -76.50298436 -[vectornav-1] [INFO] [1746049957.504710838] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.61699999999996, -3.46, 6.519) -[mux-7] [INFO] [1746049957.545046200] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049957.545836170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049957.546380755] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049957.547846771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049957.548892686] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049957.585253331] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049957.587020589] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049957.587353140] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049957.587962573] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049957.588934365] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049957.588956496] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049957.589837221] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049957.645041518] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049957.645667269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049957.646398482] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049957.647700665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049957.648746216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049957.745132718] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049957.745851582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049957.746582691] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049957.747903711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049957.748645353] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049957.835677276] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049957.837786767] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049957.838352570] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049957.838753792] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049957.839323013] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049957.839656879] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049957.839351723] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746049957.844600158] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049957.844961568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049957.846172784] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049957.846647022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049957.847721045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049957.945266133] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049957.945594332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049957.946658498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049957.947492715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049957.948747871] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049958.003783058] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972453 Long: -76.50298454 -[vectornav-1] [INFO] [1746049958.005248321] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.619, -3.456, 6.526) -[mux-7] [INFO] [1746049958.045275209] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049958.046525571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049958.046729867] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049958.048600588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049958.049720374] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049958.085233868] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049958.087235951] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049958.087826403] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049958.088271279] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049958.089268604] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049958.089392804] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049958.090177501] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049958.145414080] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049958.146057549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049958.147013520] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049958.148360692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049958.149602314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049958.245132382] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049958.246040358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049958.246461503] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049958.248053429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049958.248782400] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049958.335219840] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049958.337130348] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049958.338086720] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049958.337384012] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049958.338233326] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049958.338994350] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049958.339900924] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049958.344420603] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049958.344954471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049958.345505273] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049958.346821775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049958.347836725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049958.445820433] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049958.446800156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049958.447773100] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049958.448937541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049958.449492202] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049958.502745395] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972434 Long: -76.50298448 -[vectornav-1] [INFO] [1746049958.503881026] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.625, -3.455, 6.553) -[mux-7] [INFO] [1746049958.545419933] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049958.546221039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049958.546844997] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049958.548451331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049958.549578766] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049958.585270694] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049958.586947567] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746049958.587866399] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049958.587761418] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049958.588807830] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049958.589215347] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049958.589677427] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049958.644957534] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049958.645590806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049958.646352633] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049958.647679582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049958.648901737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049958.745288707] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049958.746130185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049958.746736029] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049958.747906654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049958.748376948] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049958.835363520] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049958.837154457] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049958.838083373] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049958.837868534] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049958.838668163] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049958.838989810] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049958.839848854] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049958.844639652] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049958.845097483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049958.845870053] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049958.846807595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049958.847853600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049958.945443378] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049958.946091389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049958.946917982] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049958.948274524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049958.948817075] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049959.002594500] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972415 Long: -76.50298461 -[vectornav-1] [INFO] [1746049959.004675586] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.629, -3.454, 6.552) -[mux-7] [INFO] [1746049959.045220551] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049959.045797538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049959.046640735] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049959.047766657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049959.048947761] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049959.085554825] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049959.087726805] [sailbot.teensy]: Wind angle: 337 -[trim_sail-4] [INFO] [1746049959.088820045] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049959.089747530] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049959.089935493] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049959.090688443] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049959.091545954] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049959.145166817] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049959.146053821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049959.146500504] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049959.148020767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049959.149209966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049959.245272943] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049959.246228815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049959.246770845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049959.248536331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049959.249698497] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049959.335216866] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049959.336959873] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746049959.337884891] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049959.337481041] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049959.338490844] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049959.338760964] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049959.339610127] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049959.344647307] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049959.345151986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049959.345883626] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049959.346920603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049959.348119811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049959.445516614] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049959.446054240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049959.447385549] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049959.448373231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049959.449546346] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049959.503772011] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972416 Long: -76.50298483 -[vectornav-1] [INFO] [1746049959.505534886] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.63, -3.458, 6.551) -[mux-7] [INFO] [1746049959.545617969] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049959.546001749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049959.547014641] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049959.547909868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049959.548981005] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049959.585495994] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049959.587989170] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746049959.588041530] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049959.588985933] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049959.589221270] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049959.589942589] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049959.590851870] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049959.644861158] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049959.645494832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049959.646128350] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049959.647316234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049959.648493350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049959.745195555] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049959.746009084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049959.746705888] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049959.748309625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049959.749329054] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049959.835242981] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049959.837556705] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049959.837905144] [sailbot.teensy]: Wind angle: 350 -[mux-7] [INFO] [1746049959.838321751] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049959.839471169] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049959.840382949] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049959.841246554] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049959.844466149] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049959.844871296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049959.845828884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049959.846581607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049959.847736814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049959.945087578] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049959.945976007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049959.946442399] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049959.947897119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049959.948895942] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049960.002811371] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972403 Long: -76.50298481 -[vectornav-1] [INFO] [1746049960.004503196] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.63599999999997, -3.454, 6.557) -[mux-7] [INFO] [1746049960.045036345] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049960.046328238] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049960.046554043] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049960.048332991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049960.049486785] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049960.085213283] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049960.087356185] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746049960.088257372] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049960.087458621] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049960.088081866] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049960.089164427] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049960.090004363] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049960.145011446] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049960.146001359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049960.146464009] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049960.147893321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049960.149069230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049960.245158568] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049960.246108698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049960.246525265] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049960.247798982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049960.248341252] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049960.335399742] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049960.337507797] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746049960.338117007] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049960.338474193] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049960.339377492] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049960.339082847] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049960.339963640] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049960.344525244] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049960.345316000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049960.345639980] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049960.347017706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049960.348084381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049960.445118042] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049960.445859011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049960.446471996] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049960.447846802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049960.449026690] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049960.503238057] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972379 Long: -76.50298483 -[vectornav-1] [INFO] [1746049960.505044879] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.63800000000003, -3.455, 6.557) -[mux-7] [INFO] [1746049960.544960491] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049960.545937557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049960.546292623] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049960.547847164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049960.548879364] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049960.585579666] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049960.588364242] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049960.589392350] [sailbot.teensy]: Wind angle: 346 -[mux-7] [INFO] [1746049960.589472751] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049960.590388835] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049960.591282094] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049960.592095422] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049960.645054637] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049960.646043788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049960.646430433] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049960.647971679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049960.649012520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049960.745181014] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049960.745734850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049960.746561665] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049960.747813753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049960.748862521] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049960.835105505] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049960.837593827] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049960.838680642] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049960.838805019] [sailbot.teensy]: Wind angle: 346 -[teensy-2] [INFO] [1746049960.839687509] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049960.840064939] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049960.840430939] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049960.844365308] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049960.844894924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049960.845599185] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049960.846556700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049960.847592362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049960.945426450] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049960.946382675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049960.947089974] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049960.948339646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049960.948869207] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049961.002525008] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972364 Long: -76.50298494 -[vectornav-1] [INFO] [1746049961.003579308] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.63800000000003, -3.453, 6.561) -[mux-7] [INFO] [1746049961.045369460] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049961.045716445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049961.046606797] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049961.047754501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049961.048871855] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049961.085404320] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049961.087405302] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049961.087874528] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049961.088398072] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049961.089299402] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049961.089688013] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049961.090215881] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049961.145463547] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049961.145969374] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049961.147151419] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049961.148423821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049961.149601332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049961.245281828] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049961.246225747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049961.246856868] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049961.248421474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049961.248848668] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049961.335519172] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049961.338377812] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049961.338407265] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049961.338647425] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049961.339383064] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049961.340290561] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049961.341138659] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049961.344385601] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049961.345138945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049961.345514078] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049961.346941676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049961.347993008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049961.445551208] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049961.446363210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049961.447126338] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049961.449001254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049961.450291774] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049961.502818443] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972347 Long: -76.50298487 -[vectornav-1] [INFO] [1746049961.503977781] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.64099999999996, -3.455, 6.561) -[mux-7] [INFO] [1746049961.545109344] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049961.545856143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049961.546589878] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049961.547759203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049961.548227676] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049961.585299399] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049961.587148456] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746049961.587461815] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049961.588137059] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049961.588693418] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049961.589064047] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049961.590024716] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049961.645217929] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049961.646296711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049961.647335087] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049961.648460550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049961.649577360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049961.744813487] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049961.745909338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049961.746361784] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049961.747725913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049961.748762848] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049961.835328094] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049961.837915572] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049961.838112902] [sailbot.teensy]: Wind angle: 342 -[mux-7] [INFO] [1746049961.838853579] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049961.839129804] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049961.839742910] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049961.840162935] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049961.844416955] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049961.844917453] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049961.845719644] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049961.846708558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049961.847737092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049961.945234676] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049961.946158070] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049961.946735253] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049961.948382505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049961.949422276] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049962.003377065] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972333 Long: -76.50298506 -[vectornav-1] [INFO] [1746049962.005249446] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.644, -3.454, 6.561) -[mux-7] [INFO] [1746049962.044970721] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049962.045716625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049962.046196352] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049962.047602007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049962.048662976] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049962.085257306] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049962.086994841] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746049962.087450828] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049962.087983358] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049962.088924269] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049962.089004675] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049962.089830670] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049962.145065601] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049962.145634664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049962.146332093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049962.147603047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049962.148655468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049962.244952152] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049962.245535974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049962.246207236] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049962.247480848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049962.248558505] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049962.335655317] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049962.338428192] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049962.339177109] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049962.339719407] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746049962.340688508] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049962.341571727] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049962.342514792] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049962.344726878] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049962.345017549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049962.345971399] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049962.346788011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049962.347828577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049962.445485089] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049962.446262958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049962.447111595] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049962.448576032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049962.449137922] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049962.503299884] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972309 Long: -76.50298508 -[vectornav-1] [INFO] [1746049962.504999133] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.645, -3.457, 6.551) -[mux-7] [INFO] [1746049962.545043612] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049962.545788737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049962.546594703] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049962.547720622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049962.548912653] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049962.585390998] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049962.587239492] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049962.588235033] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049962.588503266] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049962.589031826] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049962.589118157] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049962.590034009] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049962.645230687] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049962.645744835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049962.646743844] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049962.647758943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049962.648823922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049962.745164039] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049962.745686354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049962.746670921] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049962.747748048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049962.748819972] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049962.835525974] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049962.838195760] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049962.838447819] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746049962.839579875] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049962.840045729] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049962.840530363] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049962.840992285] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049962.844421624] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049962.845248046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049962.845670571] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049962.847091346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049962.848299016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049962.945433934] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049962.946299769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049962.947009835] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049962.948756666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049962.949987224] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049963.002842485] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469723 Long: -76.50298522 -[vectornav-1] [INFO] [1746049963.003883520] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.649, -3.458, 6.549) -[mux-7] [INFO] [1746049963.045283066] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049963.045981619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049963.046683541] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049963.047807370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049963.048849127] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049963.085163799] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049963.087033644] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746049963.087711940] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049963.088004486] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049963.088929861] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049963.088923348] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049963.089809693] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049963.145424163] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049963.146067022] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049963.147042966] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049963.148010771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049963.148565896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049963.245227856] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049963.246103185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049963.246585310] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049963.248117603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049963.249168169] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049963.335247111] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049963.336960576] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746049963.337724270] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049963.337895166] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049963.338843540] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049963.339154420] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049963.340032498] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049963.344483511] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049963.345356648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049963.345708201] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049963.347105515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049963.348263520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049963.445309103] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049963.446478238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049963.446895849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049963.448349895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049963.448848071] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049963.502514897] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972281 Long: -76.50298534 -[vectornav-1] [INFO] [1746049963.503630485] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.651, -3.452, 6.554) -[mux-7] [INFO] [1746049963.545091833] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049963.546086876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049963.546518172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049963.548061640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049963.549151208] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049963.585307408] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049963.587086118] [sailbot.teensy]: Wind angle: 358 -[trim_sail-4] [INFO] [1746049963.587628076] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049963.588027224] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049963.588985823] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049963.589665349] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049963.589824619] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049963.645045297] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049963.645587035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049963.646408962] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049963.647535962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049963.648652058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049963.745039590] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049963.746036619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049963.746489244] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049963.748190724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049963.749260745] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049963.835196491] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049963.837534152] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049963.838291762] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049963.838460367] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049963.839016540] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049963.839397613] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049963.839757416] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049963.844389371] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049963.844924991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049963.845517240] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049963.846705086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049963.847722709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049963.945507672] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049963.946261921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049963.947113393] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049963.948881662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049963.950214557] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049964.002886461] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972255 Long: -76.50298552 -[vectornav-1] [INFO] [1746049964.003899895] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.651, -3.452, 6.552) -[mux-7] [INFO] [1746049964.045145014] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049964.045836966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049964.046571371] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049964.047826103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049964.049028196] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049964.085305882] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049964.086977157] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049964.087902660] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049964.087486050] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049964.088792678] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049964.089652921] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049964.089963259] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049964.144968916] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049964.146382764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049964.146414770] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049964.148380061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049964.149503295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049964.245076139] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049964.245733786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049964.247157126] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049964.247708976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049964.248678042] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049964.335304816] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049964.337674568] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049964.338525941] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049964.339061976] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049964.339992782] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049964.340921764] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049964.341257775] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049964.344443859] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049964.345081835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049964.345591272] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049964.346866552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049964.347922885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049964.445030856] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049964.445837756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049964.446613776] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049964.448006435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049964.449040783] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049964.503688941] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972255 Long: -76.50298576 -[vectornav-1] [INFO] [1746049964.505204847] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.655, -3.447, 6.557) -[mux-7] [INFO] [1746049964.544986369] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049964.545754323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049964.546325738] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049964.547635999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049964.548859701] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049964.585538731] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049964.588131522] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049964.588240837] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049964.588722680] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049964.589154905] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049964.590003306] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049964.590861691] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049964.644810231] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049964.645309035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049964.645996771] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049964.647068226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049964.648246437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049964.745196902] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049964.746010554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049964.746899378] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049964.748288174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049964.749039613] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049964.835332620] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049964.837624711] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049964.837741188] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049964.838087679] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049964.838603792] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049964.839479775] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049964.840335944] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049964.844416570] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049964.845351384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049964.845541799] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049964.847116682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049964.848206383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049964.945416795] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049964.946145250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049964.947060192] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049964.948333637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049964.949492083] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049965.002676084] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972254 Long: -76.50298632 -[vectornav-1] [INFO] [1746049965.003690276] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.66200000000003, -3.441, 6.6) -[mux-7] [INFO] [1746049965.045140476] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049965.045843026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049965.046708896] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049965.048028628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049965.049239967] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049965.085487571] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049965.087424659] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049965.088356882] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049965.088427378] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049965.089290282] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049965.089267864] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049965.090193287] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049965.144955167] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049965.145907097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049965.146270433] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049965.147788692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049965.148964442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049965.245147546] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049965.245925796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049965.246580216] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049965.247975612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049965.249147628] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049965.335154448] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049965.337401504] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049965.337589747] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049965.338515855] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049965.338692767] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049965.339085259] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049965.339429142] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049965.344353458] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049965.344858770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049965.346668757] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049965.346836748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049965.347947219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049965.445045545] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049965.445914725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049965.446646587] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049965.447979836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049965.449168399] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049965.503431232] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972256 Long: -76.50298653 -[vectornav-1] [INFO] [1746049965.504887030] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.688, -3.433, 6.776) -[mux-7] [INFO] [1746049965.545223231] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049965.546203777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049965.546743333] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049965.548333759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049965.549510351] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049965.585280729] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049965.586972653] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049965.587833048] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049965.588891042] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049965.589554743] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049965.590504675] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049965.591379637] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049965.645068791] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049965.645803819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049965.646522641] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049965.647782709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049965.648859664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049965.745077175] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049965.745767586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049965.746984594] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049965.747743950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049965.748293077] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049965.835225635] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049965.836981531] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049965.837748692] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049965.837893612] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049965.838859527] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049965.839465186] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049965.839177098] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049965.844335692] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049965.844937733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049965.845449696] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049965.846735729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049965.847959018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049965.944932432] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049965.945692126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049965.946264124] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049965.947549084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049965.948704581] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049966.002554210] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972252 Long: -76.50298652 -[vectornav-1] [INFO] [1746049966.003732401] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.69, -3.433, 6.775) -[mux-7] [INFO] [1746049966.045004042] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049966.045713157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049966.046555833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049966.047571379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049966.048635236] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049966.085438221] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049966.087268054] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049966.087842636] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049966.088250847] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049966.089124914] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049966.090204939] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049966.091143345] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049966.145122660] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049966.146060844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049966.146566476] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049966.147936125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049966.148398023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049966.245085402] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049966.246162428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049966.246759242] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049966.248027040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049966.248505026] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049966.335285797] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049966.337270033] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049966.337789949] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049966.338304175] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049966.339210337] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049966.339324862] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049966.340209272] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049966.344357211] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049966.345120245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049966.345553635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049966.346942279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049966.347997284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049966.445065704] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049966.446002273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049966.446535144] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049966.448241228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049966.449365459] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049966.503043283] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972252 Long: -76.50298673 -[vectornav-1] [INFO] [1746049966.504639415] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.69399999999996, -3.435, 6.779) -[mux-7] [INFO] [1746049966.545074659] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049966.545905175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049966.546565653] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049966.547884447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049966.549035520] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049966.585209132] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049966.586885689] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049966.587878447] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049966.588091027] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049966.588828024] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049966.589288573] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049966.589743895] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049966.645157250] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049966.645855098] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049966.646607219] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049966.647840202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049966.648974068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049966.745114860] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049966.745925358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049966.746693773] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049966.747960805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049966.749007894] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049966.835181970] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049966.836916373] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049966.837391279] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049966.838435836] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049966.838484068] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049966.838907901] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049966.839290638] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049966.844472746] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049966.845201430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049966.845658926] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049966.846949623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049966.848091365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049966.945077940] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049966.945911453] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049966.946981198] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049966.947943531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049966.948493102] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049967.002718778] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972239 Long: -76.50298679 -[vectornav-1] [INFO] [1746049967.003751343] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.71799999999996, -3.437, 6.935) -[mux-7] [INFO] [1746049967.044806153] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049967.045647016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049967.046015733] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049967.047419587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049967.048445851] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049967.085444099] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049967.087967451] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049967.088353876] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049967.089433593] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049967.089472653] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049967.090341935] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049967.091179865] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049967.144706829] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049967.145289411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049967.145913627] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049967.147155525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049967.148248360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049967.244866922] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049967.245516869] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049967.246156468] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049967.247248903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049967.248357980] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049967.335267353] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049967.337194839] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049967.338112115] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049967.338189830] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049967.338735036] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049967.338743559] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049967.339107206] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049967.344378332] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049967.344944999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049967.345495842] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049967.346667402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049967.347785011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049967.445208518] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049967.446652769] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049967.446681114] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049967.448641658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049967.449637847] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049967.503133352] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972238 Long: -76.50298693 -[vectornav-1] [INFO] [1746049967.504745050] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.71500000000003, -3.444, 6.912) -[mux-7] [INFO] [1746049967.544831440] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049967.545418040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049967.546073518] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049967.547221201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049967.548409299] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049967.585410194] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049967.587321540] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049967.588380768] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049967.589296491] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049967.588451826] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049967.589994447] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049967.590150069] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049967.644780073] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049967.645472328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049967.646004334] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049967.647515315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049967.648560646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049967.745048469] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049967.745803071] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049967.746537777] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049967.748783451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049967.749888156] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049967.835370830] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049967.837375143] [sailbot.teensy]: Wind angle: 354 -[trim_sail-4] [INFO] [1746049967.837943993] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049967.838371800] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049967.839309608] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049967.839409192] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049967.840249001] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049967.844392934] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049967.845173317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049967.845731080] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049967.846964139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049967.847974454] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049967.945521742] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049967.946120286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049967.947071659] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049967.948567324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049967.949074244] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049968.003094478] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972249 Long: -76.50298719 -[vectornav-1] [INFO] [1746049968.004523271] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.696, -4.142, 6.518) -[mux-7] [INFO] [1746049968.045135446] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049968.045920800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049968.047031088] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049968.048216868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049968.049255069] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049968.085192908] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049968.086786886] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746049968.087652933] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049968.087767317] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049968.088519112] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049968.089362791] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049968.089591676] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746049968.145115466] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049968.145962634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049968.146605871] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049968.148280981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049968.148879301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049968.245118386] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049968.245770389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049968.246612460] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049968.248036551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049968.248707784] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049968.335467775] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049968.337452973] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746049968.337776855] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049968.338393891] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049968.339190404] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049968.339471647] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049968.339582994] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049968.344484914] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049968.345793834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049968.345854048] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049968.347583650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049968.348779125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049968.445154004] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049968.446176975] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049968.446599112] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049968.447643843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049968.448192858] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049968.502547812] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972255 Long: -76.50298709 -[vectornav-1] [INFO] [1746049968.503825280] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.156, -3.943, 6.652) -[mux-7] [INFO] [1746049968.545324255] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049968.546406744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049968.546888357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049968.548677157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049968.549674405] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049968.585117037] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049968.587148466] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049968.587208479] [sailbot.teensy]: Wind angle: 346 -[mux-7] [INFO] [1746049968.587947318] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049968.588084611] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049968.589022044] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049968.589866347] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049968.645173053] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049968.645884341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049968.646558629] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049968.648045361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049968.649081729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049968.745077830] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049968.745625376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049968.747247574] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049968.747453223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049968.748605532] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049968.835432913] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049968.838192008] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049968.838320188] [sailbot.teensy]: Wind angle: 346 -[teensy-2] [INFO] [1746049968.839289077] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049968.840406618] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049968.839542336] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049968.841273964] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049968.844312011] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049968.844913802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049968.845567873] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049968.846655266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049968.847667095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049968.945172764] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049968.945994553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049968.946616350] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049968.947628998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049968.948137822] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049969.003145916] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972218 Long: -76.50298748 -[vectornav-1] [INFO] [1746049969.004517353] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (292.75, -3.864, 5.69) -[mux-7] [INFO] [1746049969.045214924] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049969.047072874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049969.048674182] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049969.050139543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049969.051309283] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049969.085480743] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049969.087805359] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049969.088100902] [sailbot.teensy]: Wind angle: 346 -[mux-7] [INFO] [1746049969.089728271] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049969.089766564] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049969.090698892] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049969.091554172] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049969.145002360] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049969.145711226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049969.146663629] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049969.147557106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049969.148003965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049969.245149267] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049969.246002742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049969.246796215] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049969.248072310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049969.249207355] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049969.335279128] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049969.337543600] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746049969.338539894] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049969.337952146] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049969.338490886] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049969.339442412] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049969.340341596] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049969.344480017] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049969.345111863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049969.345693231] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049969.347024272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049969.348001666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049969.444955680] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049969.445833644] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049969.446452475] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049969.447790017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049969.448904326] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049969.502395820] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46972148 Long: -76.50298864 -[vectornav-1] [INFO] [1746049969.503372273] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (296.16200000000003, -1.141, 6.622) -[mux-7] [INFO] [1746049969.544979686] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049969.545848043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049969.546469200] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049969.548095266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049969.549272451] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049969.585140977] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049969.587549713] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049969.587957498] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746049969.589074559] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049969.589356998] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049969.590266430] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049969.591126682] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049969.645267535] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049969.646184669] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049969.646819498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049969.648573593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049969.649698436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049969.745133463] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049969.746094856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049969.746923760] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049969.748041541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049969.748569891] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049969.835537532] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049969.837747343] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746049969.838192654] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049969.838849582] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049969.839775064] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049969.839950482] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049969.840585894] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049969.844579155] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049969.845377362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049969.846033227] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049969.847173191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049969.848234292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049969.945380932] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049969.946236577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049969.946951659] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049969.948274126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049969.948775833] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049970.003418551] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697202 Long: -76.50298999 -[vectornav-1] [INFO] [1746049970.004858716] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (300.995, 2.253, 5.734) -[mux-7] [INFO] [1746049970.044495792] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049970.045140130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049970.045556720] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049970.046973000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049970.048098348] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049970.085214431] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049970.087479102] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049970.087712599] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746049970.088681575] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049970.088839144] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049970.089643989] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049970.090565341] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049970.145303702] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049970.146172907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049970.146827764] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049970.148468418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049970.149501845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049970.245674296] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049970.246188340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049970.247218243] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049970.248467649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049970.249664005] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049970.335203505] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049970.337393939] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049970.338028969] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049970.338969359] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746049970.340040429] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049970.340934089] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049970.341822672] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049970.344320871] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049970.344986960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049970.345409100] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049970.346731125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049970.347844525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049970.445315310] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049970.446135417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049970.446989031] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049970.448333666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049970.449551320] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049970.502684312] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697191 Long: -76.50299041 -[vectornav-1] [INFO] [1746049970.503794369] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (307.904, 4.438, 13.616) -[mux-7] [INFO] [1746049970.545297095] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049970.546226849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049970.546920669] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049970.548672454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049970.549836694] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049970.585171461] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049970.587014922] [sailbot.teensy]: Wind angle: 331 -[trim_sail-4] [INFO] [1746049970.587435552] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049970.587909755] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049970.588060295] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049970.588848098] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049970.589704108] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049970.645310836] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049970.646105664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049970.646998103] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049970.648497769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049970.649719145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049970.745132067] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049970.745792109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049970.746579531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049970.747815074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049970.748444125] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049970.835099387] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049970.836766971] [sailbot.teensy]: Wind angle: 328 -[trim_sail-4] [INFO] [1746049970.837185836] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049970.837637305] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049970.838121803] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049970.838528419] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049970.839383767] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049970.844307147] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049970.844829181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049970.845413585] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049970.846551612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049970.847703707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049970.945421254] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049970.946204724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049970.946937950] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049970.947953844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049970.948538184] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049971.002141911] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697187 Long: -76.50299052 -[vectornav-1] [INFO] [1746049971.003035501] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (313.46000000000004, 2.017, 13.085) -[mux-7] [INFO] [1746049971.045014615] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049971.045668508] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049971.046341018] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049971.047720975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049971.048752171] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049971.085572502] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049971.088834651] [sailbot.teensy]: Wind angle: 329 -[trim_sail-4] [INFO] [1746049971.089034969] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049971.089655328] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049971.089913121] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049971.091748338] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049971.092685205] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049971.144955891] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049971.145574814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049971.146157630] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049971.147396467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049971.148567228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049971.245015913] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049971.246256769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049971.246449020] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049971.248353700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049971.249502846] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049971.335190055] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049971.337508631] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049971.338087481] [sailbot.teensy]: Wind angle: 329 -[mux-7] [INFO] [1746049971.338733988] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049971.339022852] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049971.339538281] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049971.339882535] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049971.344393339] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049971.345094038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049971.345489129] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049971.346799479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049971.347991741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049971.445314750] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049971.446114855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049971.446886776] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049971.448416819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049971.448924581] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049971.502783084] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971941 Long: -76.50299052 -[vectornav-1] [INFO] [1746049971.503934855] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (310.871, -1.674, 5.648) -[mux-7] [INFO] [1746049971.545312851] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049971.546308442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049971.546884771] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049971.548817507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049971.549840448] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049971.585860262] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049971.588751954] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049971.589145886] [sailbot.teensy]: Wind angle: 331 -[teensy-2] [INFO] [1746049971.590178550] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049971.590399988] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049971.591100196] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049971.591955472] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049971.645195673] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049971.645825093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049971.646671373] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049971.647865351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049971.648944691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049971.745328467] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049971.746040534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049971.746892827] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049971.748356855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049971.749244941] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049971.835358438] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049971.837686687] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049971.838177947] [sailbot.teensy]: Wind angle: 347 -[mux-7] [INFO] [1746049971.838880098] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049971.839182676] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049971.840174412] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049971.841045952] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049971.844318513] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049971.845136083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049971.845773158] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049971.846871377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049971.848045964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049971.944979554] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049971.945668113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049971.946467924] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049971.947594413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049971.948642276] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049972.002727608] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4697195 Long: -76.50299039 -[vectornav-1] [INFO] [1746049972.004446144] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (308.171, -1.947, 7.828) -[mux-7] [INFO] [1746049972.045037836] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049972.046270489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049972.046522480] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049972.048696889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049972.049737447] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049972.085127363] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049972.087184286] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746049972.087292479] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049972.087835807] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049972.088202814] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049972.089187402] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049972.090095133] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049972.144985209] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049972.145794329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049972.146335926] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049972.147865135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049972.148988948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049972.245274733] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049972.246002321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049972.246823675] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049972.248049238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049972.248547911] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049972.335520702] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049972.338133406] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049972.338710784] [sailbot.teensy]: Wind angle: 2 -[mux-7] [INFO] [1746049972.338792183] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049972.339717546] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049972.340585369] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049972.341432541] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049972.344527994] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049972.344993155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049972.345789349] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049972.346767064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049972.347792239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049972.444954398] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049972.445807835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049972.446220355] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049972.447508427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049972.448697498] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049972.503793341] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971915 Long: -76.50299081 -[vectornav-1] [INFO] [1746049972.505788974] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (309.086, -6.489, 7.882) -[mux-7] [INFO] [1746049972.545129384] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049972.545642107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049972.546540288] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049972.547504256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049972.548654155] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049972.585397148] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049972.587843646] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746049972.588411527] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049972.588831534] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049972.589644974] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049972.590039700] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049972.591008605] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049972.645391881] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049972.646013552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049972.647174682] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049972.648476299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049972.649635129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049972.744755233] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049972.745436545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049972.745992640] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049972.747342195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049972.748371971] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049972.835482557] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049972.838063420] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049972.838481308] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049972.839436823] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049972.839574891] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049972.840609485] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049972.841448363] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049972.844356692] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049972.844988200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049972.845674366] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049972.847073574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049972.848226965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049972.945177142] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049972.946006062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049972.946661003] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049972.947771474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049972.948308662] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049973.004224453] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971847 Long: -76.50299147 -[vectornav-1] [INFO] [1746049973.005652640] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (310.30899999999997, -6.225, 6.154) -[mux-7] [INFO] [1746049973.044906295] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049973.045642675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049973.046148695] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049973.047454958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049973.048558790] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049973.085224077] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049973.087395360] [sailbot.teensy]: Wind angle: 333 -[trim_sail-4] [INFO] [1746049973.087582481] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049973.088399038] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049973.088854718] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049973.089314626] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049973.090203870] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049973.145110809] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049973.145888707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049973.146445660] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049973.147793042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049973.148826102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049973.245518158] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049973.246491563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049973.247209765] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049973.248609523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049973.249106761] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049973.335402577] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049973.337261265] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746049973.337816259] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049973.338200334] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049973.339073541] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049973.339004830] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049973.339488169] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049973.344542783] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049973.345299318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049973.345703580] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049973.347022070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049973.348038398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049973.445639318] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049973.446251955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049973.447416067] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049973.448492972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049973.448944055] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049973.503318858] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971659 Long: -76.50299297 -[vectornav-1] [INFO] [1746049973.504610714] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (308.664, -7.113, 3.066) -[mux-7] [INFO] [1746049973.545175096] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049973.546066308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049973.546723459] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049973.548343942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049973.549590137] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049973.585146060] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049973.587210393] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049973.587785553] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049973.588170808] [sailbot.teensy]: Wind angle: 0 -[teensy-2] [INFO] [1746049973.589138900] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049973.590031375] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049973.590906428] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049973.645379968] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049973.646344199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049973.646927942] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049973.648783845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049973.649920127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049973.745363694] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049973.746298760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049973.746971686] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049973.748557002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049973.749478386] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049973.835339082] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049973.837580780] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746049973.837660678] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049973.838289431] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049973.838563666] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049973.839475781] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049973.840318556] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049973.844499784] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049973.845183140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049973.845665630] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049973.847006737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049973.848011526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049973.944888893] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049973.945684528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049973.946128110] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049973.947566926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049973.948600561] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049974.003625856] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971429 Long: -76.50299329 -[vectornav-1] [INFO] [1746049974.005595462] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (306.454, -4.882, 4.025) -[mux-7] [INFO] [1746049974.045431643] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049974.046234828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049974.048112380] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049974.048466383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049974.049475423] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049974.085644267] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049974.088201553] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049974.088367030] [sailbot.teensy]: Wind angle: 0 -[teensy-2] [INFO] [1746049974.089320691] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049974.089726934] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049974.090247695] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049974.091118455] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049974.145435544] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049974.145975981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049974.147076914] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049974.148450136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049974.150346727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049974.245561588] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049974.246510163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049974.247533719] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049974.248785556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049974.249856177] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049974.335350591] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049974.337551823] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746049974.337689948] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049974.338514276] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049974.339214701] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049974.339419768] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049974.340358330] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049974.344488159] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049974.344926169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049974.345774825] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049974.346752633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049974.347770546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049974.445484036] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049974.445984688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049974.447026619] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049974.447997565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049974.449064135] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049974.503785198] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46971207 Long: -76.50299222 -[vectornav-1] [INFO] [1746049974.505643052] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (305.727, 0.464, 8.947) -[mux-7] [INFO] [1746049974.545454779] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049974.546009846] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049974.546967979] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049974.548046869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049974.549245885] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049974.585574843] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049974.588394613] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049974.589004104] [sailbot.teensy]: Wind angle: 0 -[mux-7] [INFO] [1746049974.589778645] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049974.590311445] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049974.591314245] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049974.592162874] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049974.645360151] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049974.645854102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049974.646944819] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049974.647982189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049974.648776804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049974.745416068] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049974.745980982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049974.747022558] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049974.748051859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049974.749236571] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049974.835220491] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049974.836892300] [sailbot.teensy]: Wind angle: 333 -[trim_sail-4] [INFO] [1746049974.837477655] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049974.837852900] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049974.838774622] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049974.839443097] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049974.839673241] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049974.844343128] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049974.845025394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049974.845657739] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049974.846801277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049974.847851712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049974.945222067] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049974.946117102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049974.946716089] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049974.948174965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049974.948713021] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049975.002862017] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46970875 Long: -76.50299202 -[vectornav-1] [INFO] [1746049975.003993254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (306.142, 4.287, 9.864) -[mux-7] [INFO] [1746049975.044941860] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049975.045938246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049975.046340261] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049975.047973222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049975.049024308] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049975.085574269] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049975.088536679] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049975.088659551] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049975.088908113] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049975.089674042] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049975.090535064] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049975.091359990] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049975.144839578] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049975.146081830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049975.146168566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049975.147988135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049975.149129987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049975.245433891] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049975.246164267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049975.247043617] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049975.248476146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049975.249538833] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049975.335442995] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049975.337615311] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049975.338330508] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049975.338576259] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049975.339525984] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049975.340434673] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049975.341247020] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049975.344589854] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049975.345124521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049975.345899362] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049975.347005139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049975.348039196] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049975.445023992] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049975.445684930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049975.446464570] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049975.447598561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049975.448133056] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049975.503902543] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46970558 Long: -76.50299158 -[vectornav-1] [INFO] [1746049975.505627631] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (304.56100000000004, 3.586, 6.534) -[mux-7] [INFO] [1746049975.545185536] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049975.545739105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049975.546666021] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049975.547670097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049975.548837558] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049975.585517730] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049975.587885335] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049975.588498740] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746049975.588924746] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049975.589459776] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049975.590366763] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049975.591188409] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049975.645551873] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049975.645876559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049975.647287551] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049975.648078361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049975.649310366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049975.745430228] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049975.746011018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049975.747086172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049975.748071617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049975.748769903] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049975.835586598] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049975.837405507] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049975.838378232] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049975.838271885] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049975.839278691] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049975.839681907] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049975.839819204] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049975.844627374] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049975.845134621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049975.845899482] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049975.846893313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049975.848031995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049975.945388725] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049975.945985264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049975.946943594] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049975.948039207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049975.949072053] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049976.003095216] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46970204 Long: -76.50299188 -[vectornav-1] [INFO] [1746049976.004622891] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (303.601, 2.671, 7.38) -[mux-7] [INFO] [1746049976.044872686] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049976.045447808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049976.046080027] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049976.047210885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049976.048384893] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049976.085418901] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049976.087777307] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049976.088593993] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049976.088605612] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049976.089553314] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049976.090432877] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049976.091272100] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049976.145595884] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049976.146122534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049976.147286260] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049976.148382370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049976.149558175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049976.245181473] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049976.245822854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049976.246633417] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049976.247890087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049976.249056190] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049976.335285794] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049976.336938249] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049976.337893000] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049976.338124288] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049976.338795913] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049976.339246868] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049976.339702273] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049976.344429940] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049976.345148754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049976.346163778] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049976.346904018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049976.347944261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049976.445426785] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049976.446432725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049976.447121149] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049976.448177934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049976.448660732] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049976.502670673] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46969818 Long: -76.50299222 -[vectornav-1] [INFO] [1746049976.503832425] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (303.90999999999997, 1.326, 3.078) -[mux-7] [INFO] [1746049976.545445066] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049976.547125461] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049976.547565310] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049976.549015848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049976.549481240] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049976.585105847] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049976.586803561] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049976.587760426] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049976.587218455] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049976.587890316] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049976.588703035] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049976.589626062] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049976.644749614] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049976.645585393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049976.645897704] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049976.647379897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049976.648406716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049976.745199855] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049976.745926414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049976.746567967] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049976.748067854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049976.749316450] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049976.835605733] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049976.837740480] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049976.838800053] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049976.838465822] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049976.839713610] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049976.839729028] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049976.840653151] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049976.844401191] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049976.844987381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049976.845521074] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049976.846724164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049976.847859254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049976.945015462] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049976.945759999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049976.946417890] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049976.947830704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049976.948852377] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049977.003604691] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46969451 Long: -76.50299238 -[vectornav-1] [INFO] [1746049977.004979484] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (299.755, 0.456, 2.873) -[mux-7] [INFO] [1746049977.045207139] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049977.045938568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049977.046446312] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049977.047611421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049977.048080874] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049977.085390048] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049977.088008255] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049977.088171993] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746049977.089158300] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049977.089286597] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049977.090104821] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049977.091026123] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049977.145321006] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049977.146157882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049977.147004988] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049977.148222554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049977.149263644] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049977.245173890] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049977.246007055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049977.246710061] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049977.247780178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049977.248327205] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049977.335188456] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049977.336944774] [sailbot.teensy]: Wind angle: 358 -[trim_sail-4] [INFO] [1746049977.337473838] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746049977.339351566] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049977.339534386] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049977.340448775] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049977.341350993] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049977.344447067] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049977.345052916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049977.345527052] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049977.346760256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049977.347750284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049977.445475563] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049977.446171444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049977.447166037] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049977.448181179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049977.448712461] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049977.502457561] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46968958 Long: -76.50299316 -[vectornav-1] [INFO] [1746049977.503461741] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.721, -0.84, 3.999) -[mux-7] [INFO] [1746049977.545285130] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049977.546111848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049977.546768805] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049977.548319385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049977.549479449] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049977.585564052] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049977.588135941] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049977.588717523] [sailbot.teensy]: Wind angle: 355 -[mux-7] [INFO] [1746049977.589383524] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049977.589704362] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049977.590653126] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049977.591521887] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049977.645845059] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049977.646482997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049977.647366801] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049977.648439436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049977.648905920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049977.744944331] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049977.745660802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049977.746298986] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049977.747926026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049977.748963099] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049977.835583382] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049977.837969588] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746049977.838475064] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049977.839081983] [sailbot.teensy]: Wind angle: 346 -[teensy-2] [INFO] [1746049977.839512695] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049977.839875484] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049977.840227201] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049977.844525920] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049977.844990042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049977.845633252] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049977.846726862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049977.847736764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049977.945464979] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049977.946257224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049977.947123069] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049977.948810740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049977.950038616] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049978.003819835] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46968549 Long: -76.50299341 -[vectornav-1] [INFO] [1746049978.005626967] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (291.63300000000004, -0.174, 5.202) -[mux-7] [INFO] [1746049978.045071811] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049978.046092367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049978.046529209] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049978.048116374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049978.049239711] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049978.085471616] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049978.087342172] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746049978.088302608] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049978.087743329] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049978.088665558] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049978.089221186] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049978.090115127] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049978.145483678] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049978.146319889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049978.147142649] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049978.148797817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049978.149915550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049978.245058347] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049978.245759365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049978.246529172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049978.247726069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049978.248258139] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049978.335542569] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049978.337924248] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049978.338461840] [sailbot.teensy]: Wind angle: 337 -[mux-7] [INFO] [1746049978.339185139] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049978.339437233] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049978.340329050] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049978.341139243] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049978.344597829] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049978.345050747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049978.345763603] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049978.346725807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049978.347907330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049978.445665720] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049978.446197230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049978.447513663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049978.448882150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049978.450135527] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049978.503029696] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4696804 Long: -76.50299364 -[vectornav-1] [INFO] [1746049978.504607254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.313, -0.66, 8.944) -[mux-7] [INFO] [1746049978.545024483] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049978.545608479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049978.546334265] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049978.547528053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049978.548612874] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049978.585269300] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049978.587582283] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049978.587760908] [sailbot.teensy]: Wind angle: 336 -[mux-7] [INFO] [1746049978.588048485] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049978.588716044] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049978.589608319] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049978.590423368] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049978.645631675] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049978.646610935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049978.647820921] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049978.648855557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049978.650100700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049978.745449358] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049978.746281533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049978.747018668] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049978.748455083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049978.749248831] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049978.835289621] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049978.837499416] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746049978.837949565] [sailbot.teensy]: Wind angle: 336 -[mux-7] [INFO] [1746049978.838770198] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049978.838879850] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049978.839282119] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049978.839682995] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049978.844565794] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049978.845125913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049978.845659863] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049978.846867320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049978.847993057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049978.945622626] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049978.946401775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049978.947485456] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049978.949216206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049978.950482002] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049979.002827366] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46967552 Long: -76.50299395 -[vectornav-1] [INFO] [1746049979.003888185] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.351, -0.117, 4.235) -[mux-7] [INFO] [1746049979.044972639] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049979.045845293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049979.046238296] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049979.047658390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049979.048689527] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049979.085605107] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049979.088104758] [sailbot.teensy]: Wind angle: 335 -[teensy-2] [INFO] [1746049979.089114641] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049979.088227500] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746049979.088911699] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746049979.090037829] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049979.090859824] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049979.145704775] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049979.146104857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049979.147449214] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049979.148419975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049979.150306495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049979.245458839] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049979.246095078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049979.247013928] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049979.248467898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049979.248988728] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049979.335517030] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049979.337566159] [sailbot.teensy]: Wind angle: 332 -[teensy-2] [INFO] [1746049979.338908792] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049979.338386245] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049979.339851218] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049979.339988870] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049979.340864681] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049979.344418503] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049979.344849362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049979.345560143] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049979.346770647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049979.347920681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049979.445153448] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049979.445883421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049979.446475602] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049979.447806841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049979.448858513] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049979.502913250] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46967059 Long: -76.50299548 -[vectornav-1] [INFO] [1746049979.504206940] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.624, -0.739, 5.785) -[mux-7] [INFO] [1746049979.545180025] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049979.545919546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049979.546654921] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049979.548174554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049979.549357018] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049979.585604528] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049979.587915731] [sailbot.teensy]: Wind angle: 332 -[trim_sail-4] [INFO] [1746049979.588488920] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049979.588956633] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049979.589855861] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049979.589879880] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049979.590714090] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049979.644880398] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049979.646146771] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049979.646278716] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049979.648092149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049979.649150795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049979.745057170] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049979.746189233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049979.746550279] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049979.748320033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049979.749456820] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049979.835556062] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049979.838271827] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049979.838432528] [sailbot.teensy]: Wind angle: 331 -[mux-7] [INFO] [1746049979.839172139] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049979.839384574] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049979.840325292] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049979.841023501] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049979.844452551] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049979.845263358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049979.845616405] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049979.846993795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049979.848079706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049979.945262937] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049979.945933953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049979.946766849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049979.948036049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049979.949242772] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049980.003737184] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46966547 Long: -76.50299689 -[vectornav-1] [INFO] [1746049980.005574492] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.804, -0.565, 3.109) -[mux-7] [INFO] [1746049980.045145763] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049980.045961356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049980.046536793] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049980.048289552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049980.049395050] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049980.085366665] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049980.087879293] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049980.088325392] [sailbot.teensy]: Wind angle: 328 -[mux-7] [INFO] [1746049980.088812609] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049980.089356499] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049980.090276127] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049980.091130208] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049980.145300925] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049980.146140153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049980.146829343] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049980.148694005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049980.149858970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049980.244993952] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049980.245776301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049980.246257551] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049980.248145567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049980.248751889] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049980.335426425] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049980.337273091] [sailbot.teensy]: Wind angle: 323 -[trim_sail-4] [INFO] [1746049980.338046017] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049980.338234383] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049980.339151126] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049980.339368959] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049980.340092617] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049980.344412543] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049980.345189484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049980.345908983] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049980.346912244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049980.348110938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049980.445518497] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049980.446422369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049980.447136922] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049980.448844304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049980.450044723] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049980.503312456] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4696601 Long: -76.50299846 -[vectornav-1] [INFO] [1746049980.505132735] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (279.546, -1.026, 3.65) -[mux-7] [INFO] [1746049980.544680528] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049980.545330028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049980.546035519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049980.547112589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049980.548251046] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049980.585203050] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049980.587417678] [sailbot.teensy]: Wind angle: 321 -[trim_sail-4] [INFO] [1746049980.587744151] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049980.588476895] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049980.589187607] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049980.589408373] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049980.590260404] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049980.645108718] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049980.645901418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049980.646501442] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049980.647935889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049980.649160868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049980.745138098] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049980.746163042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049980.746564925] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049980.748430046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049980.749535409] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049980.835268761] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049980.837615600] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049980.838412603] [sailbot.teensy]: Wind angle: 321 -[mux-7] [INFO] [1746049980.838641294] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049980.839384232] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049980.840297011] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049980.841134697] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049980.844365261] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049980.844778076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049980.845778162] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049980.846489571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049980.847548567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049980.945214207] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049980.946172932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049980.946746570] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049980.948448651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049980.949601645] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049981.003984064] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46965506 Long: -76.50300017 -[vectornav-1] [INFO] [1746049981.006038489] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (281.217, -1.037, 1.496) -[mux-7] [INFO] [1746049981.045014699] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049981.046115771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049981.046515771] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049981.048085994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049981.049207657] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049981.085249954] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049981.087525088] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049981.087910817] [sailbot.teensy]: Wind angle: 318 -[mux-7] [INFO] [1746049981.088746300] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049981.089017259] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049981.089967701] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049981.090836379] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049981.145068762] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049981.145698250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049981.146487821] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049981.147807504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049981.148934872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049981.245236287] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049981.245938136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049981.247086565] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049981.248048784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049981.249314537] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049981.335381623] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049981.337261949] [sailbot.teensy]: Wind angle: 318 -[teensy-2] [INFO] [1746049981.338211582] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049981.338129546] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746049981.338697445] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049981.339089398] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049981.339947762] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049981.344633870] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049981.345041186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049981.345934322] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049981.346979834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049981.348028269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049981.445489314] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049981.446159185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049981.447135170] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049981.447938398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049981.448424008] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049981.502467042] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46964947 Long: -76.50300192 -[vectornav-1] [INFO] [1746049981.503493914] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.427, -2.857, 2.277) -[mux-7] [INFO] [1746049981.545093883] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049981.545830492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049981.546525373] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049981.547670484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049981.548949498] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049981.585117697] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049981.586717015] [sailbot.teensy]: Wind angle: 318 -[teensy-2] [INFO] [1746049981.587603787] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049981.587876275] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049981.588518962] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049981.588781767] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049981.589465876] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049981.645015549] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049981.645693523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049981.646431865] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049981.647904674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049981.649092019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049981.745198765] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049981.745990839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049981.747011732] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049981.748246605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049981.748739395] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049981.835724674] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049981.839322474] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049981.839437369] [sailbot.teensy]: Wind angle: 318 -[mux-7] [INFO] [1746049981.840000163] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049981.840422890] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049981.840914016] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049981.841302176] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049981.844394758] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049981.844784194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049981.845598167] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049981.846463097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049981.847579119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049981.945253619] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049981.945946679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049981.946767289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049981.947976043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049981.948440353] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049982.003674271] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46964491 Long: -76.50300381 -[vectornav-1] [INFO] [1746049982.005649665] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.185, -3.157, 2.721) -[mux-7] [INFO] [1746049982.045258919] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049982.046216469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049982.046932507] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049982.048540952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049982.049686956] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049982.085376680] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049982.087589978] [sailbot.teensy]: Wind angle: 319 -[trim_sail-4] [INFO] [1746049982.087711143] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049982.088595605] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049982.088948282] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049982.089536049] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049982.090378489] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049982.145454642] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049982.146077231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049982.147180238] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049982.148359575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049982.149602811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049982.245002617] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049982.245662704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049982.246707077] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049982.247577905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049982.248807237] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049982.335264386] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049982.337234119] [sailbot.teensy]: Wind angle: 321 -[trim_sail-4] [INFO] [1746049982.337581863] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049982.338189356] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049982.337977502] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049982.339055780] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049982.339558485] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049982.344525893] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049982.345391914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049982.345815431] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049982.347194051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049982.348259730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049982.444570316] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049982.445289807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049982.445976255] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049982.447051434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049982.448061137] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049982.503068565] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46964019 Long: -76.50300624 -[vectornav-1] [INFO] [1746049982.505241657] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.757, -3.298, 2.732) -[mux-7] [INFO] [1746049982.545006493] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049982.545837632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049982.546401246] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049982.547995021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049982.549156511] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049982.585143379] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049982.586800888] [sailbot.teensy]: Wind angle: 321 -[trim_sail-4] [INFO] [1746049982.587263047] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049982.587737770] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049982.588632412] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049982.588619618] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049982.589571709] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049982.645263898] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049982.646036605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049982.646918720] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049982.648384727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049982.648858631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049982.745322121] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049982.746105981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049982.746862418] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049982.747952718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049982.748491770] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049982.835717812] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049982.837956459] [sailbot.teensy]: Wind angle: 322 -[teensy-2] [INFO] [1746049982.838971517] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049982.838358332] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049982.839590342] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049982.839882174] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049982.841364973] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049982.844335497] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049982.844999279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049982.845754849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049982.846730672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049982.847745705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049982.945472766] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049982.946395382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049982.947236011] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049982.948950063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049982.949441450] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049983.003043385] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46963511 Long: -76.50300825 -[vectornav-1] [INFO] [1746049983.004625701] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.28, -2.404, 3.642) -[mux-7] [INFO] [1746049983.045211740] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049983.046609203] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049983.045994064] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049983.048043612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049983.049164286] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049983.085364810] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049983.087570866] [sailbot.teensy]: Wind angle: 318 -[trim_sail-4] [INFO] [1746049983.087762281] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049983.088487850] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049983.089423646] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049983.088866836] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049983.090340777] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049983.145003013] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049983.145705558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049983.146374168] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049983.147755689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049983.148928324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049983.245078710] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049983.246030728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049983.246825984] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049983.248160763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049983.248678373] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049983.335465742] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049983.337977055] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049983.337985860] [sailbot.teensy]: Wind angle: 317 -[teensy-2] [INFO] [1746049983.338956364] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049983.339467321] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049983.339892535] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049983.340769603] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049983.344416773] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049983.344962931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049983.345608293] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049983.346711244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049983.347865662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049983.445049354] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049983.445867410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049983.446538613] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049983.447945973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049983.448999083] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049983.503903513] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46962998 Long: -76.50301046 -[vectornav-1] [INFO] [1746049983.505646696] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.59000000000003, -2.664, 1.383) -[mux-7] [INFO] [1746049983.545271800] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049983.545978076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049983.546674567] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049983.547950185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049983.549118407] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049983.585400096] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049983.587936837] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049983.588543484] [sailbot.teensy]: Wind angle: 316 -[mux-7] [INFO] [1746049983.588805763] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049983.589538674] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049983.590400818] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049983.591247747] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049983.644966397] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049983.645570470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049983.646240218] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049983.647563935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049983.648752531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049983.745240700] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049983.745994684] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049983.746792343] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049983.748194313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049983.748861103] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049983.835714315] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049983.838302231] [sailbot.teensy]: Wind angle: 314 -[trim_sail-4] [INFO] [1746049983.838690572] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049983.839457999] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049983.840328416] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049983.840401323] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049983.841281229] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049983.844478913] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049983.845199131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049983.845742601] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049983.847416668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049983.848602683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049983.945368569] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049983.946309970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049983.946879605] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049983.948608347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049983.949747080] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049984.003406317] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46962432 Long: -76.50301323 -[vectornav-1] [INFO] [1746049984.006202879] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (288.961, -1.572, 0.592) -[mux-7] [INFO] [1746049984.045974244] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049984.046319818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049984.047566754] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049984.048490304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049984.049614529] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049984.085608945] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049984.087724888] [sailbot.teensy]: Wind angle: 313 -[trim_sail-4] [INFO] [1746049984.088123339] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049984.088711814] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049984.089605371] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049984.090474996] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049984.090721821] [sailbot.mux]: algo sail angle: 65 -[mux-7] [INFO] [1746049984.145040697] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049984.146026483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049984.146477216] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049984.148014155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049984.148494304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049984.245239662] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049984.246030425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049984.246988764] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049984.248252933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049984.248807147] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049984.335302442] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049984.338020562] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746049984.338558317] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049984.338644214] [sailbot.teensy]: Wind angle: 312 -[teensy-2] [INFO] [1746049984.339614001] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049984.340358328] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049984.340734620] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049984.344363761] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049984.344968681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049984.345912386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049984.346743871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049984.347901357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049984.445361221] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049984.446129780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049984.446934261] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049984.448164446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049984.448633416] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049984.503637534] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46961955 Long: -76.50301437 -[vectornav-1] [INFO] [1746049984.505274266] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.493, -0.987, 3.507) -[mux-7] [INFO] [1746049984.544881129] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049984.545520091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049984.546202481] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049984.547250516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049984.548420524] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049984.585169262] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049984.586759751] [sailbot.teensy]: Wind angle: 314 -[trim_sail-4] [INFO] [1746049984.587507966] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049984.587625573] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049984.588544124] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049984.589319162] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049984.589408483] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049984.645215004] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049984.646041934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049984.646765899] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049984.648074973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049984.649341833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049984.745527396] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049984.746243927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049984.747337737] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049984.748426297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049984.749314112] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049984.835093468] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049984.837692273] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049984.837774194] [sailbot.teensy]: Wind angle: 315 -[mux-7] [INFO] [1746049984.838274086] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049984.838671861] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049984.839740526] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049984.840686604] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049984.844479926] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049984.845147800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049984.845907319] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049984.847071387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049984.848142576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049984.945930567] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049984.946197028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049984.947854490] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049984.948542410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049984.949048218] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049985.003114194] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46961449 Long: -76.50301598 -[vectornav-1] [INFO] [1746049985.004261110] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.81600000000003, -1.118, 3.71) -[mux-7] [INFO] [1746049985.045112506] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049985.045737260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049985.046701129] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049985.047615758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049985.048723912] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049985.085454227] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049985.088051120] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746049985.089549312] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049985.089619828] [sailbot.teensy]: Wind angle: 316 -[teensy-2] [INFO] [1746049985.090588468] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049985.091482535] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049985.092354924] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049985.145122471] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049985.145884226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049985.146699565] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049985.147788360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049985.148914075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049985.245135739] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049985.245960398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049985.246734225] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049985.248042538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049985.249018092] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049985.335223836] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049985.336995904] [sailbot.teensy]: Wind angle: 317 -[trim_sail-4] [INFO] [1746049985.337542474] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049985.337931314] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049985.338839562] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049985.339110385] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049985.339464910] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049985.344339945] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049985.345093232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049985.345494418] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049985.346803838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049985.347837757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049985.445066478] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049985.445933303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049985.446891663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049985.447922345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049985.449039350] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049985.503446780] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46960922 Long: -76.50301703 -[vectornav-1] [INFO] [1746049985.504757818] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (291.98699999999997, -1.825, 4.194) -[mux-7] [INFO] [1746049985.545395240] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049985.546076718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049985.546941460] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049985.548511964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049985.549660525] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049985.585674245] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049985.588406133] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746049985.588901139] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049985.589576099] [sailbot.teensy]: Wind angle: 321 -[teensy-2] [INFO] [1746049985.590556205] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049985.591432529] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049985.592291158] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049985.645188831] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049985.645991444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049985.646854673] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049985.648295619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049985.649439026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049985.745744601] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049985.746731423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049985.747718841] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049985.749314245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049985.750661584] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049985.835246426] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049985.837558563] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049985.837568675] [sailbot.teensy]: Wind angle: 321 -[teensy-2] [INFO] [1746049985.838739797] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049985.838730847] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049985.839695402] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049985.840600030] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049985.844327165] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049985.844946760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049985.845459202] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049985.846773959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049985.847821933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049985.945340495] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049985.946430354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049985.946898619] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049985.948603729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049985.949746679] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049986.003333486] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46960402 Long: -76.5030184 -[vectornav-1] [INFO] [1746049986.004906051] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.488, -2.305, 6.303) -[mux-7] [INFO] [1746049986.044914669] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049986.045725608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049986.046090735] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049986.047599573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049986.048678783] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049986.085271519] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049986.087101803] [sailbot.teensy]: Wind angle: 328 -[teensy-2] [INFO] [1746049986.088063939] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049986.087681002] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049986.088088021] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049986.089066106] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049986.090245870] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049986.145187430] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049986.146031911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049986.146662514] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049986.148275850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049986.149496851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049986.245633338] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049986.246515425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049986.247422719] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049986.248350202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049986.248879504] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049986.335209773] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049986.337053094] [sailbot.teensy]: Wind angle: 328 -[trim_sail-4] [INFO] [1746049986.337686094] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746049986.337949630] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049986.338854476] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049986.338672382] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049986.339731513] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049986.344301715] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049986.344822137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049986.345667614] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049986.346534175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049986.347555789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049986.445495178] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049986.446342542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049986.447357132] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049986.448132186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049986.448681120] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049986.503868849] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46959885 Long: -76.50302033 -[vectornav-1] [INFO] [1746049986.505999587] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.61199999999997, -2.866, 3.499) -[mux-7] [INFO] [1746049986.545282202] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049986.546035492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049986.547022557] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049986.548364710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049986.549567869] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049986.585566097] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049986.588008647] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049986.589132642] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049986.589312293] [sailbot.teensy]: Wind angle: 327 -[teensy-2] [INFO] [1746049986.590342874] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049986.591232558] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049986.592090637] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049986.645237978] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049986.646269283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049986.646776141] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049986.648800747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049986.649897572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049986.745516198] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049986.746313402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049986.747157924] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049986.749089139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049986.750199473] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049986.835379827] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049986.837194835] [sailbot.teensy]: Wind angle: 323 -[trim_sail-4] [INFO] [1746049986.837708856] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049986.838187787] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049986.839127699] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049986.839248864] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049986.840040457] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049986.844477070] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049986.845146939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049986.846163295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049986.847010491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049986.848045634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049986.945551192] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049986.946418245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049986.947240013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049986.947990470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049986.948478486] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049987.003215055] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46959382 Long: -76.5030215 -[vectornav-1] [INFO] [1746049987.004491713] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (298.35699999999997, -1.308, 3.399) -[mux-7] [INFO] [1746049987.044856687] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049987.045444617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049987.046573291] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049987.047468832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049987.048570653] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049987.085528274] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049987.088024508] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746049987.088392286] [sailbot.teensy]: Wind angle: 319 -[mux-7] [INFO] [1746049987.089595446] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746049987.090410426] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049987.091324879] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049987.092241571] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049987.145073972] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049987.145817915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049987.146653853] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049987.147929681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049987.149118692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049987.245434354] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049987.246086450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049987.247234294] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049987.248569272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049987.249113967] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049987.335216325] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049987.337727487] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746049987.338361275] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049987.339138431] [sailbot.teensy]: Wind angle: 318 -[teensy-2] [INFO] [1746049987.339628236] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049987.340113086] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049987.341039413] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049987.344437016] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049987.344806926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049987.345649141] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049987.346484390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049987.347532041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049987.445506808] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049987.446013536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049987.447148094] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049987.448437345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049987.449568649] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049987.502449939] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46958864 Long: -76.50302232 -[vectornav-1] [INFO] [1746049987.503630983] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (299.43399999999997, 1.426, 1.783) -[mux-7] [INFO] [1746049987.545283633] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049987.546074434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049987.546859817] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049987.548146595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049987.549312702] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049987.585195451] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049987.587504421] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049987.588056519] [sailbot.teensy]: Wind angle: 317 -[mux-7] [INFO] [1746049987.588398162] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049987.589024523] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049987.589971670] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049987.590810187] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049987.645719348] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049987.646508747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049987.647752879] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049987.649307116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049987.650553053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049987.745749225] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049987.746302938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049987.747514793] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049987.748633911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049987.749207845] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049987.835559159] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049987.837700093] [sailbot.teensy]: Wind angle: 314 -[trim_sail-4] [INFO] [1746049987.838854142] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049987.839237141] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049987.839237883] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049987.839655432] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049987.840025733] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049987.844411974] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049987.844928930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049987.845793995] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049987.846651653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049987.847763522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049987.945723361] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049987.946442493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049987.947530238] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049987.949012585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049987.950171082] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049988.003372283] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4695838 Long: -76.50302225 -[vectornav-1] [INFO] [1746049988.005730704] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (300.39099999999996, 2.027, 3.436) -[mux-7] [INFO] [1746049988.045289762] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049988.046382794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049988.047017378] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049988.048699596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049988.049751549] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049988.085271923] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049988.087626727] [sailbot.teensy]: Wind angle: 314 -[trim_sail-4] [INFO] [1746049988.088034277] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746049988.088481587] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049988.088557969] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049988.089451383] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049988.090327449] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049988.145143422] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049988.146034681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049988.146917109] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049988.147830829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049988.148403744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049988.245182853] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049988.246160079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049988.246661958] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049988.248203428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049988.249431561] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049988.335174755] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049988.337667136] [sailbot.teensy]: Wind angle: 311 -[trim_sail-4] [INFO] [1746049988.337705680] [sailbot.trim_sail]: Sail Angle: "60" -[mux-7] [INFO] [1746049988.338391904] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049988.339389036] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049988.340365174] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049988.341285080] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049988.344354958] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049988.345153138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049988.345553283] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049988.347088268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049988.348208237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049988.445580552] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049988.446628268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049988.447388572] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049988.447997243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049988.448618419] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049988.503946876] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46957907 Long: -76.50302151 -[vectornav-1] [INFO] [1746049988.506202588] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (302.18100000000004, 2.121, 3.194) -[mux-7] [INFO] [1746049988.545055183] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049988.545714134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049988.547058431] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049988.547696621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049988.548913990] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049988.585482742] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049988.587961998] [sailbot.teensy]: Wind angle: 306 -[trim_sail-4] [INFO] [1746049988.587994974] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746049988.588998201] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049988.589830740] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746049988.589879457] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049988.590778079] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049988.645707987] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049988.646279114] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049988.647624469] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049988.649128846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049988.650428856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049988.745699873] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049988.746353547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049988.747806950] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049988.748736086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049988.749994886] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049988.835295867] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049988.836983486] [sailbot.teensy]: Wind angle: 294 -[trim_sail-4] [INFO] [1746049988.837537140] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746049988.837924324] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049988.838828377] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049988.839160655] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746049988.839707779] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049988.844615009] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049988.845148786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049988.845911654] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049988.846839401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049988.848000989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049988.945356191] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049988.946034447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049988.947203646] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049988.948107673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049988.948666140] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049989.002407324] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46957373 Long: -76.50302085 -[vectornav-1] [INFO] [1746049989.003398217] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (303.582, 1.693, 2.578) -[mux-7] [INFO] [1746049989.044931117] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049989.045716701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049989.046138513] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049989.047581602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049989.048752125] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049989.085776074] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049989.088465106] [sailbot.teensy]: Wind angle: 285 -[trim_sail-4] [INFO] [1746049989.088688078] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746049989.089716718] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049989.090655977] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049989.090719728] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746049989.091596891] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049989.145044852] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049989.145946599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049989.146557215] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049989.148108182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049989.149176279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049989.245409004] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049989.246738881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049989.247125147] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049989.248663410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049989.249119370] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049989.335368594] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049989.337707764] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746049989.337765450] [sailbot.teensy]: Wind angle: 276 -[teensy-2] [INFO] [1746049989.338737937] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049989.339677377] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049989.339717879] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746049989.340649224] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049989.344370912] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049989.345199410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049989.345532670] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049989.347110075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049989.348289815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049989.445394830] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049989.446081299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049989.447089305] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049989.447788424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049989.448275780] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049989.503141241] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46956847 Long: -76.5030199 -[vectornav-1] [INFO] [1746049989.504683315] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (304.89, 0.955, 2.417) -[mux-7] [INFO] [1746049989.545092147] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049989.545928716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049989.546565710] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049989.548114032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049989.548911595] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049989.585237557] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049989.587404229] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746049989.587400452] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746049989.588387010] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049989.588748344] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049989.590091149] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049989.590936934] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049989.645238519] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049989.645860325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049989.646824862] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049989.648237719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049989.648698890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049989.745566860] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049989.746436756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049989.747200671] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049989.748669746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049989.749754707] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049989.835250568] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049989.837451774] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049989.837652041] [sailbot.teensy]: Wind angle: 243 -[mux-7] [INFO] [1746049989.838331678] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049989.838556957] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049989.839484333] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049989.839958899] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049989.844542745] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049989.845379931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049989.846138409] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049989.847159449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049989.848354940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049989.945736506] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049989.946297501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049989.947969844] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049989.948684236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049989.949887050] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049990.003614500] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4695632 Long: -76.50301901 -[vectornav-1] [INFO] [1746049990.004891407] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (306.777, -0.338, 3.002) -[mux-7] [INFO] [1746049990.045243648] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049990.046044631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049990.046936164] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049990.048101080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049990.049270466] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049990.085275195] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049990.087586321] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746049990.088187884] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049990.088686501] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746049990.089633855] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049990.090467307] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049990.091300891] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049990.144968204] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049990.145591872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049990.146244688] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049990.147408930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049990.148567598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049990.245376164] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049990.246113036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049990.246933380] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049990.248359333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049990.249504285] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049990.335137243] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049990.336740555] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746049990.337425023] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746049990.338193431] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049990.338884384] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049990.339239000] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049990.339610913] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049990.344469659] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049990.345038763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049990.345674437] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049990.346864074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049990.347892029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049990.444842473] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049990.445527034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049990.446094256] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049990.447458282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049990.448507793] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049990.503170090] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46955794 Long: -76.5030172 -[vectornav-1] [INFO] [1746049990.504873362] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (306.874, -0.021, 1.64) -[mux-7] [INFO] [1746049990.545031474] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049990.545558414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049990.546339617] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049990.547471550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049990.548570007] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049990.585433056] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049990.587757978] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049990.588676447] [sailbot.teensy]: Wind angle: 247 -[mux-7] [INFO] [1746049990.588988989] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049990.589827132] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049990.590726315] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049990.591570883] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049990.645091154] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049990.645779487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049990.646427561] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049990.647783246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049990.648997609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049990.745329955] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049990.746024294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049990.746913235] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049990.748452669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049990.748982933] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049990.835183618] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049990.837258149] [sailbot.teensy]: Wind angle: 245 -[trim_sail-4] [INFO] [1746049990.837483318] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049990.838144624] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049990.839078109] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049990.839776783] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049990.839951907] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049990.844261316] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049990.844718906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049990.845433097] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049990.846544205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049990.847652905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049990.945515841] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049990.946400130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049990.947322427] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049990.948053122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049990.948715792] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049991.003277826] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46955259 Long: -76.50301514 -[vectornav-1] [INFO] [1746049991.004578345] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (308.087, 0.61, 3.666) -[mux-7] [INFO] [1746049991.044462330] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049991.045112437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049991.045564491] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049991.046759648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049991.048468264] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049991.085128551] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049991.086745523] [sailbot.teensy]: Wind angle: 245 -[teensy-2] [INFO] [1746049991.087599088] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049991.087186681] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746049991.088338012] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049991.088458173] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049991.089260753] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049991.145057901] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049991.145729777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049991.146413061] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049991.147715220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049991.148899518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049991.245201483] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049991.246218929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049991.246795519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049991.248310852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049991.248732076] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049991.335389135] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049991.337769953] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049991.338254820] [sailbot.teensy]: Wind angle: 245 -[teensy-2] [INFO] [1746049991.339231431] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049991.339712577] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049991.340145970] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049991.341062060] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049991.344283314] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049991.344901022] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049991.345470046] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049991.346623595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049991.347770459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049991.445405864] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746049991.447284287] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049991.447474134] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049991.449765874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049991.451006280] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049991.503384570] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46954735 Long: -76.50301256 -[vectornav-1] [INFO] [1746049991.505335099] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (310.817, 1.297, 0.501) -[mux-7] [INFO] [1746049991.545090307] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049991.545804800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049991.546452518] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049991.547889974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049991.549036177] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049991.585215804] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049991.586821559] [sailbot.teensy]: Wind angle: 245 -[trim_sail-4] [INFO] [1746049991.587350964] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049991.587691813] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049991.588675556] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049991.589558743] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049991.589603232] [sailbot.mux]: algo sail angle: 15 -[mux-7] [INFO] [1746049991.645045770] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049991.645890397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049991.646377978] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049991.647812049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049991.648621715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049991.745298213] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049991.746024658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049991.746790337] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049991.748184007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049991.749285423] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049991.835399488] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049991.838163891] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049991.838641300] [sailbot.teensy]: Wind angle: 245 -[mux-7] [INFO] [1746049991.839108924] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049991.839895938] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049991.840847328] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049991.841701416] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049991.844435930] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049991.845166578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049991.845554807] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049991.846985610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049991.847983985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049991.945478746] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049991.946316925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049991.947196597] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049991.948074498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049991.948589778] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049992.003402262] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46954245 Long: -76.50300974 -[vectornav-1] [INFO] [1746049992.004821100] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (313.257, 1.262, 3.374) -[mux-7] [INFO] [1746049992.044960536] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049992.045864817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049992.046225759] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049992.047693028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049992.048725969] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049992.085416614] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049992.087163060] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746049992.087927301] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049992.088107068] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049992.089044094] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049992.089573492] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049992.089930649] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049992.145102101] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049992.145915379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049992.146492195] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049992.148145240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049992.149337509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049992.245483616] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049992.246249549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049992.247209271] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049992.248652743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049992.249709699] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049992.335329866] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049992.337578428] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746049992.338530050] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049992.337636637] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746049992.339234482] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049992.339422571] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049992.340556645] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049992.344425701] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049992.344864579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049992.345620822] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049992.346564100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049992.347594951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049992.445288480] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049992.445930410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049992.446889561] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049992.448026072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049992.449206096] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049992.502880293] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46953766 Long: -76.50300665 -[vectornav-1] [INFO] [1746049992.504300570] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (317.69, 1.538, 0.207) -[mux-7] [INFO] [1746049992.545475108] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049992.546335079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049992.547047921] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049992.548685545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049992.549846498] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049992.585182523] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049992.587501795] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746049992.587788896] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049992.588086596] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746049992.589100970] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049992.589976802] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049992.590806932] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049992.644762536] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049992.645290686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049992.646160324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049992.647112512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049992.648269315] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049992.745359199] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049992.746325973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049992.747035729] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049992.748828105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049992.749941121] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049992.835408491] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049992.837732050] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049992.838029105] [sailbot.teensy]: Wind angle: 246 -[teensy-2] [INFO] [1746049992.839206398] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049992.839875125] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049992.840181740] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049992.841134630] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049992.844435153] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049992.844981959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049992.845877505] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049992.846822577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049992.847895075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049992.945541054] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049992.946577413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049992.947303663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049992.948981802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049992.950120043] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049993.003711048] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46953344 Long: -76.50300338 -[vectornav-1] [INFO] [1746049993.005859376] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (322.327, 2.233, 3.017) -[mux-7] [INFO] [1746049993.044777798] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049993.046204494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049993.046715676] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049993.048292406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049993.049646209] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049993.085712836] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049993.087958314] [sailbot.teensy]: Wind angle: 246 -[teensy-2] [INFO] [1746049993.088981288] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049993.088515655] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746049993.089481911] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049993.089908981] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049993.090811048] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049993.145081823] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049993.145980412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049993.146460847] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049993.147907582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049993.148948048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049993.245040235] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049993.246017942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049993.246497960] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049993.247738775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049993.248305426] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049993.335478058] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049993.337537332] [sailbot.teensy]: Wind angle: 246 -[trim_sail-4] [INFO] [1746049993.338261805] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049993.338515431] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049993.339090416] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049993.339376198] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049993.340245149] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049993.344380342] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049993.344873122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049993.345607385] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049993.346685718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049993.347775937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049993.445314799] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049993.446147891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049993.446818057] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049993.448326486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049993.448844188] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049993.503621094] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46952917 Long: -76.50299958 -[vectornav-1] [INFO] [1746049993.505276657] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (327.919, 0.152, -0.805) -[mux-7] [INFO] [1746049993.544919652] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049993.546016989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049993.546294096] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049993.548087440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049993.549253546] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049993.585230862] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049993.587403076] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746049993.587948536] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049993.589022267] [sailbot.teensy]: Wind angle: 246 -[teensy-2] [INFO] [1746049993.589965640] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049993.590858748] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049993.591711527] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049993.645656053] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049993.646414241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049993.647420011] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049993.648797794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049993.650238107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049993.745200199] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049993.745798174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049993.747644992] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049993.747914554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049993.748997612] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049993.835202929] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049993.836906532] [sailbot.teensy]: Wind angle: 246 -[trim_sail-4] [INFO] [1746049993.837764726] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049993.837855091] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049993.838675487] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049993.838674544] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049993.839081035] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049993.844744567] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049993.845149291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049993.845946928] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049993.846828419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049993.847885168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049993.945398285] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049993.946152327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049993.947403002] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049993.948237042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049993.949536602] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049994.003967825] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46952494 Long: -76.50299454 -[vectornav-1] [INFO] [1746049994.005583964] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (330.749, 0.555, -0.016) -[mux-7] [INFO] [1746049994.044780052] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049994.045336182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049994.046166859] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049994.047138415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049994.048298326] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049994.085427104] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049994.087788724] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049994.088367366] [sailbot.teensy]: Wind angle: 247 -[mux-7] [INFO] [1746049994.088508379] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049994.089323032] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049994.090100416] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049994.090470685] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049994.144869064] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049994.145810614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049994.146271675] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049994.147632768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049994.148747246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049994.245360657] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049994.246655037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049994.246962920] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049994.248692917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049994.249852045] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049994.335760763] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049994.337924258] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746049994.338951705] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049994.339042254] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049994.339337632] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049994.339443717] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049994.339727991] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049994.344683072] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049994.345263680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049994.345911268] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049994.346997816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049994.348032521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049994.445593038] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049994.446257054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049994.447342888] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049994.448552283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049994.449670778] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049994.504265029] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4695217 Long: -76.50298859 -[vectornav-1] [INFO] [1746049994.506100426] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (335.279, 1.165, -1.902) -[mux-7] [INFO] [1746049994.545370151] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049994.545795445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049994.546736247] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049994.547575753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049994.548804108] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049994.585237328] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049994.586898681] [sailbot.teensy]: Wind angle: 243 -[trim_sail-4] [INFO] [1746049994.587415765] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746049994.587799010] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049994.588715490] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049994.589456136] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049994.589573052] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049994.645507212] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049994.646086218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049994.647080562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049994.648442480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049994.649516545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049994.745633876] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049994.746243879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049994.747336566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049994.748523264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049994.749049313] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049994.835128227] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049994.837306709] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746049994.837876538] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049994.838266527] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049994.839178137] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049994.839637914] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049994.840233295] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049994.844485988] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049994.845110672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049994.845808026] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049994.846861507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049994.847988791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049994.944874613] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049994.945548188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049994.946253903] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049994.947475182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049994.948550741] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049995.003265402] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46951929 Long: -76.50298268 -[vectornav-1] [INFO] [1746049995.004721626] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (336.6, -0.039, 1.032) -[mux-7] [INFO] [1746049995.044971694] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049995.045655267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049995.046268919] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049995.047599717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049995.048765054] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049995.085435958] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049995.087999642] [sailbot.teensy]: Wind angle: 216 -[trim_sail-4] [INFO] [1746049995.088256712] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746049995.089503324] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049995.089886363] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049995.090881915] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049995.091783092] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049995.144904816] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049995.145674638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049995.146177301] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049995.147514260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049995.148570802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049995.245432512] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049995.246163541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049995.247189020] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049995.247957992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049995.248503815] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049995.335320179] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049995.337712326] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049995.338014498] [sailbot.teensy]: Wind angle: 200 -[teensy-2] [INFO] [1746049995.338974480] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049995.339183988] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049995.339890887] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049995.340304407] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049995.344486347] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049995.345038840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049995.345573065] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049995.346764931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049995.347962892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049995.445493676] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049995.446273364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049995.447078443] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049995.448584547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049995.449109664] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049995.502592476] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46951741 Long: -76.50297637 -[vectornav-1] [INFO] [1746049995.503714549] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (339.606, 0.471, 1.387) -[mux-7] [INFO] [1746049995.545262227] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049995.546631768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049995.547347000] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049995.548786310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049995.549790691] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049995.585293002] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049995.587477904] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746049995.587661830] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746049995.588290852] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049995.588501164] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049995.589492713] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049995.590437893] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049995.644740462] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049995.645325448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049995.645913632] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049995.647150285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049995.648283733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049995.745566164] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049995.746232425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049995.747162927] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049995.748563800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049995.749853844] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049995.835205501] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049995.837391226] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049995.837717740] [sailbot.teensy]: Wind angle: 211 -[mux-7] [INFO] [1746049995.838833920] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049995.838877039] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049995.839802996] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049995.840792936] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049995.844510340] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049995.845197798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049995.845903354] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049995.846965154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049995.848126865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049995.945441891] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049995.945960016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049995.947002181] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049995.948250735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049995.948794001] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049996.003903904] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46951554 Long: -76.50296947 -[vectornav-1] [INFO] [1746049996.005617257] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (341.554, 0.054, 2.697) -[mux-7] [INFO] [1746049996.045140556] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049996.045974159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049996.046821085] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049996.047849834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049996.048946860] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049996.085612696] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049996.088069443] [sailbot.teensy]: Wind angle: 221 -[trim_sail-4] [INFO] [1746049996.088174624] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049996.089136531] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049996.089957158] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049996.090079829] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049996.090994577] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049996.145005937] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049996.145732913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049996.147524165] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049996.147684458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049996.148811766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049996.245111829] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049996.245714704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049996.246513026] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049996.247725188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049996.248487362] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049996.335268644] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049996.336972027] [sailbot.teensy]: Wind angle: 226 -[teensy-2] [INFO] [1746049996.337920119] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049996.337580750] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049996.338829973] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049996.339229358] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049996.339101982] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746049996.344551688] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049996.345105044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049996.345756882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049996.346877555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049996.348010351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049996.445654737] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049996.446290093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049996.447434141] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049996.448650380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049996.449768766] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049996.502931835] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46951373 Long: -76.50296359 -[vectornav-1] [INFO] [1746049996.504414747] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (342.49, 1.228, 1.678) -[mux-7] [INFO] [1746049996.545441869] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049996.546500025] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049996.547111951] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049996.548669847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049996.549870093] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049996.585153496] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049996.586775998] [sailbot.teensy]: Wind angle: 224 -[teensy-2] [INFO] [1746049996.587626533] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049996.587245101] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746049996.588555316] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746049996.589016023] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049996.589435165] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049996.645218591] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049996.646237755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049996.646851764] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049996.648475307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049996.649598225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049996.745612967] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049996.746306277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049996.747203933] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049996.748651975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049996.750478294] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049996.835225584] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049996.837478285] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746049996.838378420] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049996.838493021] [sailbot.teensy]: Wind angle: 225 -[teensy-2] [INFO] [1746049996.838981484] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049996.839372482] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049996.839736996] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049996.844429539] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049996.845207436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049996.845816751] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049996.846971174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049996.848061628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049996.945601456] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049996.946502864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049996.947515705] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049996.948759565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049996.949307809] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049997.003217992] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46951221 Long: -76.50295767 -[vectornav-1] [INFO] [1746049997.004749554] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (341.677, 2.641, 1.784) -[mux-7] [INFO] [1746049997.044996529] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049997.045731042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049997.046294795] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049997.047620112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049997.048785213] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049997.085164755] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049997.087540447] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746049997.087926354] [sailbot.teensy]: Wind angle: 232 -[mux-7] [INFO] [1746049997.087925737] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049997.089049877] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049997.089922761] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049997.090769695] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049997.145078023] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049997.145927534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049997.146610795] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049997.147957687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049997.149047360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049997.245283518] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049997.246173593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049997.246935225] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049997.248130281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049997.248627176] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049997.335505121] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049997.338026509] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746049997.338184939] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746049997.339250649] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746049997.339426331] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049997.340419293] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049997.341254207] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049997.344331984] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049997.345255027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049997.345516703] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049997.347272088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049997.348470614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049997.445526945] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049997.446393586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049997.447491371] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049997.448223415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049997.448731683] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049997.503605822] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46951041 Long: -76.50295152 -[vectornav-1] [INFO] [1746049997.505039644] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (338.597, 2.578, 2.122) -[mux-7] [INFO] [1746049997.545152052] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049997.545797409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049997.547016135] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049997.548132000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049997.549360876] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049997.585315207] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049997.587144979] [sailbot.teensy]: Wind angle: 221 -[teensy-2] [INFO] [1746049997.588094341] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049997.587953510] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746049997.588376595] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746049997.589005863] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049997.589882606] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049997.645613771] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049997.646671765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049997.647712917] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049997.648929373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049997.649429595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049997.745185589] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049997.745853537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049997.747807494] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049997.747997253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049997.749185234] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049997.835255822] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049997.837856114] [sailbot.teensy]: Wind angle: 243 -[trim_sail-4] [INFO] [1746049997.837922692] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746049997.838162193] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746049997.839292631] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049997.839710703] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049997.840360898] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049997.844380310] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049997.844957238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049997.845526446] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049997.846690077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049997.847805236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049997.945305289] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049997.946081312] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049997.946841215] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049997.948283135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049997.948843945] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049998.003074354] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4695086 Long: -76.50294505 -[vectornav-1] [INFO] [1746049998.004977241] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (333.277, 3.066, 3.2) -[mux-7] [INFO] [1746049998.045117783] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049998.045936220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049998.046536306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049998.047998052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049998.049132410] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049998.085120214] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049998.087339107] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746049998.087857614] [sailbot.teensy]: Wind angle: 252 -[mux-7] [INFO] [1746049998.088215225] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746049998.088957665] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049998.089885054] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049998.090736916] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049998.144705169] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049998.145424813] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049998.146246063] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049998.147213523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049998.148378914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049998.245354960] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049998.246425605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049998.246875258] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049998.248185347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049998.248707042] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049998.335689403] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049998.337922934] [sailbot.teensy]: Wind angle: 262 -[teensy-2] [INFO] [1746049998.338975515] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746049998.339003181] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746049998.339099598] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746049998.339416597] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049998.339807151] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049998.344384823] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049998.345004782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049998.345720201] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049998.346789119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049998.347901843] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049998.445773094] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049998.446478295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049998.448313239] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049998.448950376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049998.450284696] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049998.503564575] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46950723 Long: -76.50293892 -[vectornav-1] [INFO] [1746049998.505173016] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (331.558, 3.19, 2.208) -[mux-7] [INFO] [1746049998.544997969] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049998.545835094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049998.546295299] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049998.547776151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049998.548893782] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049998.585440850] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049998.587307970] [sailbot.teensy]: Wind angle: 272 -[teensy-2] [INFO] [1746049998.588376641] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049998.589291686] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746049998.589479837] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746049998.590209360] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049998.591226544] [sailbot.mux]: algo sail angle: 35 -[mux-7] [INFO] [1746049998.645240032] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049998.646014449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049998.646730773] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049998.648005422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049998.649074563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049998.745688525] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049998.746629178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049998.747397910] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049998.748946436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049998.750132850] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049998.835275488] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746049998.837201268] [sailbot.teensy]: Wind angle: 290 -[trim_sail-4] [INFO] [1746049998.838057239] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746049998.838153717] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049998.838382303] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746049998.839051588] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049998.839926818] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049998.844399569] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049998.844817475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049998.845574937] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049998.846526419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049998.847677085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049998.945399126] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049998.946228719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049998.947061693] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049998.948355323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049998.950175295] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049999.002911563] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46950487 Long: -76.50293279 -[vectornav-1] [INFO] [1746049999.004788454] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (329.524, 3.538, 2.084) -[mux-7] [INFO] [1746049999.044851997] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049999.045393705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049999.047128199] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049999.047205902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049999.048569859] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049999.085228993] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049999.087470111] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746049999.087506540] [sailbot.teensy]: Wind angle: 316 -[teensy-2] [INFO] [1746049999.088698534] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746049999.088883287] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746049999.089630517] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049999.090557273] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049999.145098596] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049999.146130804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049999.146674753] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049999.148245567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049999.148819096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049999.245221794] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049999.245942410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049999.246818950] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049999.248404243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049999.249620232] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049999.335085610] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049999.337173926] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746049999.337488642] [sailbot.teensy]: Wind angle: 341 -[mux-7] [INFO] [1746049999.338413561] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746049999.338468254] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049999.338871210] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049999.339246897] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049999.344440385] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049999.344981097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049999.345566097] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049999.346797573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049999.347847241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049999.445093437] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049999.445818408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049999.446625447] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049999.447793685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049999.448590145] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746049999.502996097] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46950324 Long: -76.5029272 -[vectornav-1] [INFO] [1746049999.504468863] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (322.82, 3.386, 4.704) -[mux-7] [INFO] [1746049999.544807756] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049999.545582318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049999.545985874] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049999.547367712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049999.548509189] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049999.585370142] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049999.587669100] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746049999.588654097] [sailbot.teensy]: Wind angle: 0 -[mux-7] [INFO] [1746049999.589124751] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746049999.589713082] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049999.590657445] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049999.591508410] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049999.645516184] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049999.646255137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049999.647283504] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049999.648480636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049999.649072685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049999.745388296] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049999.746391276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049999.747217206] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049999.748637120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049999.749238182] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746049999.835635015] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746049999.838629571] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746049999.839288465] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746049999.839816633] [sailbot.teensy]: Wind angle: 29 -[teensy-2] [INFO] [1746049999.840978200] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746049999.841950628] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746049999.842847081] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746049999.844647215] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049999.845802136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049999.845874143] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049999.847481949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049999.848555342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049999.945609266] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746049999.946515066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746049999.947252483] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746049999.949004278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746049999.950217333] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050000.003463601] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46950202 Long: -76.50292291 -[vectornav-1] [INFO] [1746050000.004929493] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (314.399, 3.271, 3.56) -[mux-7] [INFO] [1746050000.045254216] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050000.046143796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050000.046864014] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050000.048253350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050000.049328876] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050000.085274931] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050000.087058114] [sailbot.teensy]: Wind angle: 33 -[trim_sail-4] [INFO] [1746050000.087609658] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746050000.088040661] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050000.089087682] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050000.089206171] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746050000.090025004] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050000.145056168] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050000.145889497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050000.146501696] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050000.148065521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050000.149121591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050000.245210052] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050000.246023946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050000.246676720] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050000.248051196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050000.248685787] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050000.335391551] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050000.337290439] [sailbot.teensy]: Wind angle: 33 -[trim_sail-4] [INFO] [1746050000.337825873] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746050000.338256283] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050000.339153820] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050000.339212289] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746050000.340048145] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050000.344450508] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050000.345345709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050000.345703524] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050000.347140832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050000.348353913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050000.445642808] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050000.446739835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050000.447250499] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050000.449084182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050000.450240421] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050000.503527408] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46949933 Long: -76.50291897 -[vectornav-1] [INFO] [1746050000.505094943] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (304.06399999999996, 2.372, 6.836) -[mux-7] [INFO] [1746050000.544955457] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050000.545959369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050000.546231000] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050000.547973371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050000.549005131] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050000.585277644] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050000.587428550] [sailbot.teensy]: Wind angle: 28 -[trim_sail-4] [INFO] [1746050000.587428648] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746050000.588692829] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050000.588790536] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746050000.589681485] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050000.590555702] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050000.645568458] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050000.646719755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050000.648138400] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050000.648417849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050000.648886056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050000.745299788] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050000.746322653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050000.747031292] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050000.748167847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050000.748724465] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050000.835250051] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050000.837483298] [sailbot.teensy]: Wind angle: 26 -[trim_sail-4] [INFO] [1746050000.837560204] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746050000.838672068] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050000.839590599] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050000.839730108] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746050000.840562997] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050000.844435765] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050000.845284998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050000.845836262] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050000.847234016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050000.848267668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050000.945301424] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050000.946040990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050000.946870857] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050000.948426131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050000.949548451] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050001.003358828] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46949616 Long: -76.50291516 -[vectornav-1] [INFO] [1746050001.004803098] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.781, 2.501, 6.035) -[mux-7] [INFO] [1746050001.044515088] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050001.045120148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050001.045781149] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050001.046901285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050001.048018899] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050001.085382725] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050001.087253065] [sailbot.teensy]: Wind angle: 30 -[trim_sail-4] [INFO] [1746050001.087813020] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746050001.088272610] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050001.089252229] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050001.090118917] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050001.090185735] [sailbot.mux]: algo sail angle: 75 -[mux-7] [INFO] [1746050001.145202496] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050001.146160002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050001.146659737] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050001.148453140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050001.149159925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050001.245294972] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050001.246091277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050001.246759682] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050001.248361961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050001.249520794] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050001.335313338] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050001.337485765] [sailbot.teensy]: Wind angle: 19 -[trim_sail-4] [INFO] [1746050001.337866918] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746050001.338454720] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050001.339368223] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050001.340272743] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050001.340287461] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746050001.344303989] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050001.344806003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050001.345400276] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050001.346474484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050001.347518662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050001.445082089] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050001.445769243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050001.446530955] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050001.447790151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050001.449063000] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050001.503240086] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46949272 Long: -76.502913 -[vectornav-1] [INFO] [1746050001.504922074] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.948, 2.424, 7.718) -[mux-7] [INFO] [1746050001.545354490] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050001.546269136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050001.547001435] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050001.547914901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050001.548474745] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050001.585521716] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050001.587458403] [sailbot.teensy]: Wind angle: 11 -[trim_sail-4] [INFO] [1746050001.588091481] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050001.588466667] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050001.589406956] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050001.589808246] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050001.590340617] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050001.645052382] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050001.645888162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050001.646361260] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050001.647822568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050001.649143621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050001.745547736] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050001.746345883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050001.747608284] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050001.748901561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050001.749761002] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050001.835402967] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050001.837904026] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746050001.838853216] [sailbot.teensy]: Wind angle: 17 -[mux-7] [INFO] [1746050001.838986214] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050001.839273945] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050001.839668064] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050001.840455931] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050001.844781267] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050001.845467975] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050001.846079897] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050001.847277403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050001.848362729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050001.945740365] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050001.946574407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050001.947707713] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050001.948900685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050001.949566736] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050002.003089533] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46948931 Long: -76.50291147 -[vectornav-1] [INFO] [1746050002.004269782] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.60699999999997, 2.119, 3.988) -[mux-7] [INFO] [1746050002.045268026] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050002.045831614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050002.046833565] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050002.048122206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050002.049444051] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050002.085475517] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050002.087879864] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746050002.089137156] [sailbot.teensy]: Wind angle: 17 -[mux-7] [INFO] [1746050002.089358351] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050002.090092067] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050002.091323280] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050002.092201900] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050002.145216092] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050002.145853914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050002.146732710] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050002.147833158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050002.148904950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050002.245457082] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050002.246291531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050002.247098825] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050002.248656965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050002.249858408] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050002.335388732] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050002.337900545] [sailbot.teensy]: Wind angle: 17 -[trim_sail-4] [INFO] [1746050002.338028720] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746050002.338606005] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050002.338734301] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050002.339000034] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050002.339372202] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050002.344410381] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050002.345023115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050002.345622354] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050002.346775979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050002.347918063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050002.445248766] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050002.446248107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050002.446854759] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050002.448459028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050002.448943473] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050002.503552623] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46948514 Long: -76.50291076 -[vectornav-1] [INFO] [1746050002.505077038] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.75800000000004, -1.384, 5.977) -[mux-7] [INFO] [1746050002.545094647] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050002.545870402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050002.546459237] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050002.547746046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050002.548801597] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050002.585432829] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050002.587872273] [sailbot.teensy]: Wind angle: 9 -[trim_sail-4] [INFO] [1746050002.588047339] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050002.588880011] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050002.589799004] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050002.589922918] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050002.590664010] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050002.645230415] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050002.646005089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050002.646803085] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050002.648253522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050002.649412977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050002.744683569] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050002.745451956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050002.745920055] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050002.747339089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050002.748413879] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050002.835675048] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050002.838002577] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746050002.838470196] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746050002.839670739] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050002.840139455] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050002.841574073] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050002.842451202] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050002.844482674] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050002.844865782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050002.845702324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050002.846589544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050002.847647630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050002.945269881] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050002.946621163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050002.946725464] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050002.948473773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050002.948964771] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050003.003238943] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46948142 Long: -76.50291018 -[vectornav-1] [INFO] [1746050003.004756057] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.233, -1.508, 3.789) -[mux-7] [INFO] [1746050003.044679622] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050003.045199618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050003.045822113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050003.046943679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050003.047991150] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050003.085184127] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050003.086766535] [sailbot.teensy]: Wind angle: 332 -[teensy-2] [INFO] [1746050003.087717248] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746050003.087729585] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746050003.088741417] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050003.089637729] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050003.089962995] [sailbot.mux]: algo sail angle: 75 -[mux-7] [INFO] [1746050003.145097014] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050003.146039388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050003.146653321] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050003.148321659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050003.149449604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050003.245277951] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050003.246486683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050003.246748160] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050003.248555142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050003.249646371] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050003.335423623] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050003.337691522] [sailbot.teensy]: Wind angle: 313 -[trim_sail-4] [INFO] [1746050003.338336030] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050003.338692887] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050003.339455113] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050003.339591973] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050003.340566644] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050003.344458743] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050003.345395623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050003.345561249] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050003.347215155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050003.348348553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050003.445597410] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050003.446516265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050003.447261331] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050003.449114092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050003.450327392] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050003.502877941] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46947724 Long: -76.50290988 -[vectornav-1] [INFO] [1746050003.504006671] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.187, -1.471, 6.093) -[mux-7] [INFO] [1746050003.545431435] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050003.546363615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050003.547107124] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050003.548918561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050003.549954722] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050003.585501167] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050003.587424790] [sailbot.teensy]: Wind angle: 295 -[trim_sail-4] [INFO] [1746050003.588067927] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050003.588483542] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050003.589451824] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050003.589806397] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050003.590354519] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050003.645195551] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050003.645960927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050003.646719272] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050003.647790225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050003.648265725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050003.745393443] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050003.746481419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050003.746989075] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050003.748683239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050003.749977955] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050003.835525780] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050003.837763122] [sailbot.teensy]: Wind angle: 287 -[trim_sail-4] [INFO] [1746050003.838571158] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746050003.838936935] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050003.839066243] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050003.839438412] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050003.839816757] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050003.844567627] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050003.845521002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050003.845857386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050003.847425065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050003.848483089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050003.945559481] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050003.947151725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050003.947372936] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050003.949558247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050003.950676880] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050004.003909807] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694737 Long: -76.50290889 -[vectornav-1] [INFO] [1746050004.005650134] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.624, 0.411, 2.996) -[mux-7] [INFO] [1746050004.045601807] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050004.046352651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050004.047236665] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050004.048846221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050004.049941011] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050004.085525183] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050004.087469345] [sailbot.teensy]: Wind angle: 287 -[teensy-2] [INFO] [1746050004.088507326] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746050004.088342780] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746050004.089374282] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050004.089412667] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050004.090334143] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050004.144873823] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050004.145957823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050004.146106504] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050004.147852158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050004.149007109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050004.244962425] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050004.245866100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050004.246459713] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050004.247943430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050004.249099401] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050004.335214040] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050004.337019920] [sailbot.teensy]: Wind angle: 286 -[trim_sail-4] [INFO] [1746050004.337532380] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050004.337955466] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050004.338892924] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050004.339762557] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050004.339845114] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050004.344303368] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050004.345131771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050004.345408853] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050004.346879067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050004.348008499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050004.445269683] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050004.446183936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050004.446966431] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050004.447663615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050004.448137361] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050004.503089687] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946914 Long: -76.50290819 -[vectornav-1] [INFO] [1746050004.504402712] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.079, -0.279, 5.593) -[mux-7] [INFO] [1746050004.545091440] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050004.546106667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050004.546599173] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050004.548215355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050004.549262729] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050004.585569949] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050004.588351455] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050004.588351202] [sailbot.teensy]: Wind angle: 283 -[teensy-2] [INFO] [1746050004.589412837] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050004.590210882] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050004.590332718] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050004.591254252] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050004.644954959] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050004.645810257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050004.646308137] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050004.647885504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050004.648952622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050004.745195908] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050004.746089139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050004.746657168] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050004.748323961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050004.749387063] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050004.835118761] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050004.837023397] [sailbot.teensy]: Wind angle: 275 -[trim_sail-4] [INFO] [1746050004.837504935] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050004.838000763] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050004.838916175] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050004.838829969] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050004.839878324] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050004.844433700] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050004.845021463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050004.845952888] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050004.846731013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050004.847796181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050004.944997045] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050004.945687932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050004.946202050] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050004.947545019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050004.948612112] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050005.002768188] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694642 Long: -76.50290714 -[vectornav-1] [INFO] [1746050005.003996049] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.462, -0.639, 3.312) -[mux-7] [INFO] [1746050005.044372244] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746050005.044910982] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050005.044912993] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050005.045786416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050005.046290073] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050005.085249405] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050005.087187803] [sailbot.teensy]: Wind angle: 266 -[teensy-2] [INFO] [1746050005.088144312] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746050005.088417589] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050005.089072628] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050005.089134757] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050005.089958309] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050005.145040403] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050005.145687786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050005.146433276] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050005.147605292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050005.148730691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050005.245146541] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050005.245876009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050005.246999332] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050005.248086353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050005.248711404] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050005.335356582] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050005.337210156] [sailbot.teensy]: Wind angle: 264 -[teensy-2] [INFO] [1746050005.338148755] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050005.339048080] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746050005.338185202] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050005.339210470] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050005.339923716] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050005.344398718] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050005.345121516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050005.345573124] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050005.346864473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050005.347996435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050005.445198668] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050005.446218940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050005.446666189] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050005.448321547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050005.449492899] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050005.503765008] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945977 Long: -76.50290643 -[vectornav-1] [INFO] [1746050005.506173835] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.71799999999996, -0.728, 6.105) -[mux-7] [INFO] [1746050005.545381380] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050005.546189615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050005.547291048] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050005.548456194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050005.549570537] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050005.585314078] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050005.587123938] [sailbot.teensy]: Wind angle: 263 -[teensy-2] [INFO] [1746050005.588026513] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746050005.587777394] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050005.588756719] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050005.588919119] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050005.589761652] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050005.645534190] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050005.646534532] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050005.647356290] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050005.649488661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050005.650722249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050005.745537009] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050005.746318622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050005.747082915] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050005.748609385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050005.749412105] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050005.835461648] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050005.837208304] [sailbot.teensy]: Wind angle: 262 -[trim_sail-4] [INFO] [1746050005.838010041] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050005.838120691] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050005.839012617] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050005.838468863] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050005.839913332] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050005.844486433] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050005.845337779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050005.845802852] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050005.847225997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050005.848258919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050005.945319667] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050005.946368679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050005.946859919] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050005.947852687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050005.948400362] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050006.003472003] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945601 Long: -76.50290579 -[vectornav-1] [INFO] [1746050006.004751052] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.08299999999997, -0.246, 2.169) -[mux-7] [INFO] [1746050006.045245714] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050006.045993595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050006.046738070] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050006.048117512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050006.049393013] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050006.085406392] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050006.087179918] [sailbot.teensy]: Wind angle: 261 -[teensy-2] [INFO] [1746050006.088107906] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746050006.087670262] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050006.088959942] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050006.089011169] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050006.089905494] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050006.145269073] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050006.146150549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050006.146765638] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050006.148182817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050006.148661193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050006.245419701] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050006.246391859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050006.246982411] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050006.248809742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050006.249425238] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050006.335154442] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050006.336785901] [sailbot.teensy]: Wind angle: 262 -[trim_sail-4] [INFO] [1746050006.337435804] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050006.338622982] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050006.338899252] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050006.339307943] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050006.339780685] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050006.344455813] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050006.344945632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050006.345739389] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050006.346649324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050006.347624758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050006.445593451] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050006.446218476] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050006.447159520] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050006.449153784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050006.450398073] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050006.503497336] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945221 Long: -76.50290468 -[vectornav-1] [INFO] [1746050006.505372462] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.599, -4.403, 5.103) -[mux-7] [INFO] [1746050006.544927710] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050006.545643810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050006.546400652] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050006.547466303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050006.548612818] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050006.585419911] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050006.588008252] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050006.588539524] [sailbot.teensy]: Wind angle: 261 -[mux-7] [INFO] [1746050006.589107925] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050006.589549668] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050006.590620867] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050006.591502848] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050006.645025840] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050006.645945286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050006.646389466] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050006.648116450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050006.649390880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050006.745348473] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050006.746008505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050006.747132549] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050006.748372268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050006.749642797] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050006.835305207] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050006.836962862] [sailbot.teensy]: Wind angle: 261 -[trim_sail-4] [INFO] [1746050006.838059248] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050006.838725145] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050006.839477800] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050006.839650367] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050006.840593454] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050006.844325559] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050006.844776685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050006.846149033] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050006.846478383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050006.847680714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050006.945478385] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050006.946380421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050006.947168141] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050006.948410626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050006.948862342] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050007.002711353] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46944648 Long: -76.50290356 -[vectornav-1] [INFO] [1746050007.004017708] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.584, -4.559, 3.414) -[mux-7] [INFO] [1746050007.044998056] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050007.046004353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050007.046423556] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050007.048039594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050007.049392578] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050007.085058430] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050007.087014306] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050007.087888333] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050007.088178562] [sailbot.teensy]: Wind angle: 261 -[teensy-2] [INFO] [1746050007.089249337] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050007.090129664] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050007.091010591] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050007.145199796] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050007.146476283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050007.146778993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050007.148577656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050007.149609495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050007.245198478] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050007.245821101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050007.246671997] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050007.247628052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050007.248142500] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050007.335239184] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050007.336965632] [sailbot.teensy]: Wind angle: 262 -[trim_sail-4] [INFO] [1746050007.337641615] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050007.338227484] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050007.339013037] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050007.339393086] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050007.339757003] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050007.344371995] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050007.344982058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050007.345555979] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050007.346736412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050007.347742667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050007.444972361] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050007.445794584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050007.446693565] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050007.447957271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050007.449097132] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050007.503136533] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46944315 Long: -76.50290132 -[vectornav-1] [INFO] [1746050007.504571038] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.025, -2.921, 2.369) -[mux-7] [INFO] [1746050007.545246959] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050007.546030613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050007.546884755] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050007.548507582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050007.549171886] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050007.585310821] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050007.586948899] [sailbot.teensy]: Wind angle: 263 -[teensy-2] [INFO] [1746050007.587814251] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746050007.587508407] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050007.588792101] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050007.588958809] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050007.589823049] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050007.645173519] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050007.646003702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050007.646669424] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050007.648399526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050007.649559771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050007.745472503] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050007.746336360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050007.747053664] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050007.748883223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050007.749513782] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050007.835275261] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050007.837062724] [sailbot.teensy]: Wind angle: 263 -[trim_sail-4] [INFO] [1746050007.837719464] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050007.838009332] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050007.838741786] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050007.838899606] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050007.839437104] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050007.844476012] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050007.845089372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050007.845741929] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050007.846822830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050007.847889348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050007.945235026] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050007.946175659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050007.946753845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050007.948322921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050007.948879153] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050008.003752648] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943835 Long: -76.50289989 -[vectornav-1] [INFO] [1746050008.005518690] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.442, 1.517, 3.544) -[mux-7] [INFO] [1746050008.045090145] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050008.045865400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050008.046565278] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050008.047804994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050008.049001396] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050008.085392430] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050008.087710607] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050008.088092940] [sailbot.teensy]: Wind angle: 265 -[mux-7] [INFO] [1746050008.088846634] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050008.089122089] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050008.090089120] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050008.090961019] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050008.144889052] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050008.145504807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050008.146189351] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050008.147287043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050008.148519688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050008.245113268] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050008.245849948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050008.246450829] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050008.247688018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050008.248202254] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050008.335196736] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050008.337419143] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050008.338162170] [sailbot.teensy]: Wind angle: 265 -[mux-7] [INFO] [1746050008.338592381] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050008.339208216] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050008.340123228] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050008.340984592] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050008.344411141] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050008.344802907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050008.345583525] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050008.346490597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050008.347523145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050008.445381285] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050008.446171051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050008.446954043] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050008.448455689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050008.449635932] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050008.502586320] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943401 Long: -76.5028982 -[vectornav-1] [INFO] [1746050008.503795989] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.087, 4.299, 7.378) -[mux-7] [INFO] [1746050008.544803122] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050008.545404164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050008.545994348] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050008.547164388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050008.548453585] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050008.585125967] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050008.586639949] [sailbot.teensy]: Wind angle: 266 -[trim_sail-4] [INFO] [1746050008.587337601] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050008.587499805] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050008.588446214] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050008.588656904] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050008.589340711] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050008.644985568] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050008.645902647] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050008.646453930] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050008.647925975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050008.648956411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050008.745067014] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050008.745811590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050008.746557603] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050008.747770700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050008.748855872] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050008.835762431] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050008.839122244] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050008.839207744] [sailbot.teensy]: Wind angle: 266 -[mux-7] [INFO] [1746050008.839214993] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050008.839619268] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050008.840026335] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050008.840432283] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050008.844465545] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050008.845008255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050008.846785976] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050008.847054510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050008.848205872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050008.945478424] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050008.946227838] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050008.947237699] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050008.947991344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050008.948532835] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050009.003761075] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694289 Long: -76.50289723 -[vectornav-1] [INFO] [1746050009.005640923] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.355, 6.553, 1.029) -[mux-7] [INFO] [1746050009.045097333] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746050009.046607573] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050009.048108512] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050009.050174889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050009.051299298] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050009.085530817] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050009.087647188] [sailbot.teensy]: Wind angle: 265 -[trim_sail-4] [INFO] [1746050009.088325637] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050009.089084010] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050009.089328565] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050009.090137103] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050009.091070394] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050009.145157462] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050009.146172706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050009.147334125] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050009.148475641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050009.149634061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050009.245392427] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050009.246205000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050009.246975910] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050009.248310908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050009.248945389] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050009.335054314] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050009.337150163] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050009.338256333] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050009.338980268] [sailbot.teensy]: Wind angle: 266 -[teensy-2] [INFO] [1746050009.339387225] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050009.339730108] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050009.340063367] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050009.344438986] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050009.344970010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050009.345582101] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050009.346753472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050009.347799698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050009.445248452] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050009.445908821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050009.446783947] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050009.447978626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050009.448516638] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050009.503370318] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46942483 Long: -76.50289626 -[vectornav-1] [INFO] [1746050009.505041507] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.467, 6.222, 6.141) -[mux-7] [INFO] [1746050009.544835619] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050009.545500878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050009.546115046] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050009.547428185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050009.548550237] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050009.585411278] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050009.587752139] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050009.588587445] [sailbot.teensy]: Wind angle: 266 -[mux-7] [INFO] [1746050009.588784368] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050009.589000616] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050009.589378584] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050009.589732800] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050009.644883235] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050009.645433901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050009.646135539] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050009.647399702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050009.648586338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050009.745513472] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746050009.747079384] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050009.747202016] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050009.748282233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050009.748866900] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050009.835264885] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050009.837014157] [sailbot.teensy]: Wind angle: 266 -[trim_sail-4] [INFO] [1746050009.837462674] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050009.837995659] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050009.838943609] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050009.838979224] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050009.839945459] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050009.844428175] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050009.845399832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050009.845917142] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050009.847344090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050009.848369384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050009.945242204] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050009.946006343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050009.946821075] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050009.948232838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050009.949491788] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050010.003048945] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46942015 Long: -76.50289454 -[vectornav-1] [INFO] [1746050010.004854397] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.89300000000003, 4.911, 2.302) -[mux-7] [INFO] [1746050010.045272589] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050010.046214331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050010.046958238] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050010.048342874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050010.049518903] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050010.085129414] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050010.087190166] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050010.088003743] [sailbot.teensy]: Wind angle: 265 -[mux-7] [INFO] [1746050010.088696862] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050010.089088960] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050010.090126482] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050010.090986754] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050010.144841995] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050010.145428532] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050010.146183094] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050010.147196008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050010.148361412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050010.245377694] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050010.246072856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050010.247038891] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050010.248274835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050010.248750650] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050010.335134360] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050010.336759271] [sailbot.teensy]: Wind angle: 266 -[trim_sail-4] [INFO] [1746050010.337373011] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050010.337706667] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050010.338580477] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050010.338722434] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050010.338953727] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050010.344383440] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050010.345141403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050010.345691527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050010.346978886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050010.347971612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050010.445792243] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050010.446072587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050010.447538694] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050010.448440727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050010.449597128] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050010.503190492] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46941593 Long: -76.50289315 -[vectornav-1] [INFO] [1746050010.504569813] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.25800000000004, 4.749, 5.107) -[mux-7] [INFO] [1746050010.545101269] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050010.545848746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050010.546470497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050010.547793960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050010.548976124] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050010.585493756] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050010.588069714] [sailbot.teensy]: Wind angle: 265 -[trim_sail-4] [INFO] [1746050010.588121759] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050010.589107767] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050010.589547358] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050010.590026338] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050010.590687171] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050010.645391658] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050010.646136815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050010.647000844] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050010.647913747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050010.648461569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050010.745289768] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050010.746190921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050010.747181135] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050010.748392022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050010.749451578] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050010.835238975] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050010.837318076] [sailbot.teensy]: Wind angle: 266 -[trim_sail-4] [INFO] [1746050010.837885517] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050010.838282367] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050010.838781313] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050010.839186652] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050010.840118693] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050010.844379750] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050010.844893760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050010.845768013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050010.846613909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050010.847768666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050010.945296105] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050010.945998179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050010.947257011] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050010.948064127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050010.949310677] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050011.003084723] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46941201 Long: -76.50289158 -[vectornav-1] [INFO] [1746050011.004746089] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (297.212, 3.688, 3.952) -[mux-7] [INFO] [1746050011.045202896] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050011.046358525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050011.047628433] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050011.049158931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050011.050434084] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050011.085454596] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050011.087812686] [sailbot.teensy]: Wind angle: 266 -[trim_sail-4] [INFO] [1746050011.088060142] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050011.088347700] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050011.089201139] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050011.090271296] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050011.091196057] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050011.144967912] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050011.145820234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050011.146527423] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050011.147625614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050011.148693932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050011.245280365] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050011.246184026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050011.246667911] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050011.247809272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050011.248358084] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050011.335212131] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050011.337395544] [sailbot.teensy]: Wind angle: 266 -[trim_sail-4] [INFO] [1746050011.337468465] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050011.338774888] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050011.338810849] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050011.340068177] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050011.340753429] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050011.344359345] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050011.345042092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050011.345727456] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050011.346932414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050011.348056225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050011.445036892] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050011.445690929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050011.446476713] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050011.447816330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050011.448977411] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050011.502851531] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46940805 Long: -76.50288981 -[vectornav-1] [INFO] [1746050011.504278208] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.253, 4.358, 1.857) -[mux-7] [INFO] [1746050011.545212756] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050011.545984376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050011.546779729] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050011.547908549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050011.548542253] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050011.585102565] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050011.587379001] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050011.587696940] [sailbot.teensy]: Wind angle: 266 -[teensy-2] [INFO] [1746050011.588717135] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050011.587748326] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050011.589580106] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050011.590428701] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050011.645021296] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050011.645671926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050011.646424730] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050011.647756330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050011.648996705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050011.745222989] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050011.746039940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050011.746806035] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050011.748628879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050011.749177019] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050011.835721933] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050011.838850426] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050011.839382742] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050011.839594992] [sailbot.teensy]: Wind angle: 266 -[teensy-2] [INFO] [1746050011.840660322] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050011.841585858] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050011.842524518] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050011.844414402] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050011.844849317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050011.845619215] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050011.846470024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050011.847538802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050011.945512471] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050011.946275316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050011.947325505] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050011.948716664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050011.949211989] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050012.003781237] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46940353 Long: -76.50288767 -[vectornav-1] [INFO] [1746050012.005289493] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.356, 4.377, 4.429) -[mux-7] [INFO] [1746050012.045182531] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050012.045782796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050012.046529558] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050012.048113893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050012.049326997] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050012.085513801] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050012.087456368] [sailbot.teensy]: Wind angle: 267 -[trim_sail-4] [INFO] [1746050012.087922868] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050012.088440374] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050012.089333860] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050012.089432655] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050012.090218783] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050012.145153086] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050012.145805951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050012.146571198] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050012.147829283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050012.149089707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050012.245251174] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050012.245951019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050012.246813183] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050012.247867973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050012.249122182] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050012.335232765] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050012.337487818] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050012.337777976] [sailbot.teensy]: Wind angle: 267 -[mux-7] [INFO] [1746050012.338152828] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050012.338777375] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050012.339721213] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050012.340494577] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050012.344625415] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050012.345079965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050012.345742399] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050012.346791363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050012.347838906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050012.444587245] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050012.445030796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050012.446376004] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050012.446860971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050012.448025651] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050012.501461182] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46939932 Long: -76.50288554 -[vectornav-1] [INFO] [1746050012.501891728] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (291.506, 3.297, 2.631) -[mux-7] [INFO] [1746050012.545090875] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050012.545892228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050012.546356219] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050012.547987494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050012.549001473] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050012.584912515] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050012.586796619] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050012.587002855] [sailbot.teensy]: Wind angle: 266 -[teensy-2] [INFO] [1746050012.587847838] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050012.588824097] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050012.589703987] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050012.590313546] [sailbot.mux]: algo sail angle: 30 -[mux-7] [INFO] [1746050012.645123769] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050012.645956119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050012.646512743] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050012.647991819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050012.649188648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050012.745338781] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050012.746048507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050012.746961541] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050012.748229060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050012.749502612] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050012.835361247] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050012.837737424] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050012.838191003] [sailbot.teensy]: Wind angle: 266 -[mux-7] [INFO] [1746050012.839163872] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050012.839286462] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050012.840341618] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050012.841301655] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050012.844336028] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050012.844899658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050012.845435592] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050012.846622172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050012.847671492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050012.945539907] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050012.946556977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050012.947256514] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050012.949003400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050012.950103709] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050013.003804055] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46939536 Long: -76.50288431 -[vectornav-1] [INFO] [1746050013.005908979] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.475, 3.475, 7.894) -[mux-7] [INFO] [1746050013.045157871] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050013.045914057] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050013.048239382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[mux-7] [INFO] [1746050013.046581436] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050013.049450763] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050013.085179858] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050013.086771699] [sailbot.teensy]: Wind angle: 267 -[teensy-2] [INFO] [1746050013.087671526] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746050013.087295485] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050013.088403221] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050013.088598035] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050013.089453574] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050013.145040706] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050013.145773945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050013.146467890] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050013.147752039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050013.148802255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050013.245249473] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050013.246242049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050013.246913592] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050013.247986261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050013.248439496] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050013.335076510] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050013.337058401] [sailbot.teensy]: Wind angle: 267 -[trim_sail-4] [INFO] [1746050013.337245552] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050013.338027141] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050013.338609612] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050013.338916870] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050013.339766465] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050013.344389435] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050013.345003578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050013.345539850] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050013.346702944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050013.347682323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050013.445227446] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050013.446139876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050013.446973174] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050013.448206038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050013.448765378] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050013.502938956] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46939016 Long: -76.50288285 -[vectornav-1] [INFO] [1746050013.504817249] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.659, 3.18, 3.102) -[mux-7] [INFO] [1746050013.545191980] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050013.546110338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050013.546816626] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050013.548341486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050013.549441680] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050013.585089514] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050013.587200672] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050013.587594412] [sailbot.teensy]: Wind angle: 267 -[mux-7] [INFO] [1746050013.588011714] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050013.589003547] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050013.589865677] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050013.590236222] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050013.645225407] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050013.646142824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050013.646740783] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050013.648603254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050013.649603924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050013.744640372] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050013.745476128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050013.745761344] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050013.747127168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050013.748283305] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050013.835376164] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050013.837789594] [sailbot.teensy]: Wind angle: 267 -[trim_sail-4] [INFO] [1746050013.837883558] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050013.838754777] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050013.839349467] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050013.839669645] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050013.840575059] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050013.844243769] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050013.844800210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050013.845305724] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050013.846398082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050013.847463397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050013.944806619] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050013.945413337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050013.945978143] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050013.947200847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050013.948223359] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050014.003444396] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46938594 Long: -76.5028817 -[vectornav-1] [INFO] [1746050014.004879841] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.401, 3.353, 7.778) -[mux-7] [INFO] [1746050014.045178259] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050014.045828999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050014.046475905] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050014.047639506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050014.048703902] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050014.085245379] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050014.087359178] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050014.088052683] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050014.089388899] [sailbot.teensy]: Wind angle: 267 -[teensy-2] [INFO] [1746050014.090280685] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050014.091128246] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050014.091946343] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050014.145082803] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050014.145894068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050014.146577992] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050014.147873167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050014.148901268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050014.245032831] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050014.245687830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050014.246741729] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050014.247477685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050014.248020066] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050014.335518083] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050014.337923531] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050014.338655599] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050014.339726890] [sailbot.teensy]: Wind angle: 267 -[teensy-2] [INFO] [1746050014.340673957] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050014.341085988] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050014.341441402] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050014.344203709] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050014.344876771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050014.345726119] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050014.346643790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050014.347680621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050014.445554536] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050014.446505446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050014.447341112] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050014.447820663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050014.448318448] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050014.504328517] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46938173 Long: -76.50288077 -[vectornav-1] [INFO] [1746050014.506339269] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (296.03999999999996, 3.872, 3.334) -[mux-7] [INFO] [1746050014.544859182] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050014.545608202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050014.546436517] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050014.547528261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050014.548837074] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050014.585205112] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050014.587095013] [sailbot.teensy]: Wind angle: 267 -[trim_sail-4] [INFO] [1746050014.587488501] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050014.588219006] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050014.589079363] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050014.589338441] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050014.590225874] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050014.645105211] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050014.645707886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050014.646690476] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050014.647623454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050014.648091269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050014.745317404] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050014.746263664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050014.747162891] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050014.748197101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050014.748726089] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050014.835223207] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050014.837407187] [sailbot.teensy]: Wind angle: 267 -[trim_sail-4] [INFO] [1746050014.838060630] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050014.838341360] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050014.838736265] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050014.839112559] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050014.839181920] [sailbot.mux]: algo sail angle: 30 -[mux-7] [INFO] [1746050014.844433839] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050014.845077891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050014.845579993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050014.846907938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050014.847986185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050014.945928812] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050014.946563821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050014.947815512] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050014.948241537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050014.948733422] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050015.003544561] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46937698 Long: -76.50287929 -[vectornav-1] [INFO] [1746050015.005287719] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.308, 4.619, 3.753) -[mux-7] [INFO] [1746050015.045230349] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050015.045919088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050015.046673662] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050015.048107004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050015.049410817] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050015.085278008] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050015.087198882] [sailbot.teensy]: Wind angle: 267 -[trim_sail-4] [INFO] [1746050015.087632586] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050015.088215254] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050015.089049226] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050015.089212585] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050015.090264336] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050015.145063876] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050015.146073520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050015.146480763] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050015.148076795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050015.149143953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050015.245194781] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050015.246147857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050015.246800115] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050015.248015019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050015.248552979] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050015.335537611] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050015.338190941] [sailbot.teensy]: Wind angle: 267 -[trim_sail-4] [INFO] [1746050015.338215652] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050015.339297433] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050015.339908310] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050015.340206231] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050015.341098612] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050015.344332024] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050015.345343804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050015.345655691] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050015.347080331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050015.348238461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050015.445584080] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050015.446327354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050015.447288387] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050015.447983084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050015.448520315] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050015.503728669] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46937181 Long: -76.50287834 -[vectornav-1] [INFO] [1746050015.505624255] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (292.64300000000003, 4.668, 4.991) -[mux-7] [INFO] [1746050015.545313861] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050015.546523183] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050015.546908237] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050015.548746821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050015.550067687] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050015.585202343] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050015.587307348] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050015.587476094] [sailbot.teensy]: Wind angle: 267 -[mux-7] [INFO] [1746050015.588605663] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050015.588697192] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050015.589654682] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050015.590525755] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050015.645315886] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050015.646284789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050015.646973197] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050015.648904145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050015.650190538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050015.745569890] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050015.746551796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050015.747166408] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050015.748174534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050015.748616126] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050015.835077125] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050015.836692104] [sailbot.teensy]: Wind angle: 267 -[teensy-2] [INFO] [1746050015.837615228] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746050015.837441418] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050015.838381084] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050015.838493409] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050015.839364311] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050015.844742130] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050015.845269201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050015.846009347] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050015.847007220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050015.848203649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050015.945413784] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050015.945973768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050015.947042528] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050015.948484633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050015.949150688] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050016.003080369] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693679 Long: -76.50287735 -[vectornav-1] [INFO] [1746050016.004691058] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.594, 3.869, 7.21) -[mux-7] [INFO] [1746050016.045182847] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050016.045895004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050016.046522135] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050016.047738167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050016.048851386] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050016.085308525] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050016.087610400] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050016.089077403] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050016.089272089] [sailbot.teensy]: Wind angle: 267 -[teensy-2] [INFO] [1746050016.090197019] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050016.091113286] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050016.092007877] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050016.145226663] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050016.145706414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050016.146771475] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050016.147987168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050016.149114338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050016.245438346] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050016.246194012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050016.247044387] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050016.248447135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050016.249266283] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050016.335246186] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050016.337569900] [sailbot.teensy]: Wind angle: 267 -[trim_sail-4] [INFO] [1746050016.338015278] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050016.338592141] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050016.338979747] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050016.339370482] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050016.339737447] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050016.344453313] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050016.345037799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050016.346003859] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050016.346791599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050016.347815320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050016.445079832] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050016.445759966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050016.447142971] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050016.447963716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050016.449008383] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050016.503425664] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693629 Long: -76.50287644 -[vectornav-1] [INFO] [1746050016.504939758] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.39, 2.944, 4.658) -[mux-7] [INFO] [1746050016.545117799] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050016.546173268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050016.546545272] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050016.548229703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050016.549227804] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050016.585352049] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050016.587138391] [sailbot.teensy]: Wind angle: 268 -[trim_sail-4] [INFO] [1746050016.588336340] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050016.588484461] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050016.588984898] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050016.589446454] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050016.590453148] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050016.644945516] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050016.645730176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050016.646273625] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050016.647700350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050016.648208596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050016.745474587] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050016.746555909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050016.747457706] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050016.749115650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050016.749606188] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050016.835377343] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050016.837274619] [sailbot.teensy]: Wind angle: 268 -[teensy-2] [INFO] [1746050016.838258738] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746050016.838398919] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050016.839074952] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050016.839116749] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050016.839469704] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050016.844568030] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050016.845270784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050016.845769556] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050016.847089545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050016.848203854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050016.945409481] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050016.946467329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050016.947074743] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050016.948538870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050016.949122828] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050017.003602201] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46935861 Long: -76.50287484 -[vectornav-1] [INFO] [1746050017.005348827] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.64599999999996, 3.602, 1.506) -[mux-7] [INFO] [1746050017.044878082] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050017.045708049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050017.046195700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050017.047601362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050017.048639869] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050017.085332324] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050017.087613956] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746050017.087623386] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050017.088996626] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050017.089008728] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050017.090254248] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050017.091111828] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050017.144724538] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050017.145326425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050017.145939382] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050017.147364995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050017.148582453] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050017.245113912] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050017.245869606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050017.246524281] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050017.247849129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050017.248906643] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050017.335183335] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050017.336935316] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746050017.337553809] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050017.337888397] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050017.338804820] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050017.339028335] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050017.339665906] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050017.344492825] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050017.345099258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050017.345606350] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050017.346880199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050017.347906662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050017.445625768] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050017.446568499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050017.447237376] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050017.448736099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050017.449196991] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050017.502663434] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46935444 Long: -76.50287314 -[vectornav-1] [INFO] [1746050017.503815040] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (298.61199999999997, 2.981, 4.396) -[mux-7] [INFO] [1746050017.545144730] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050017.545970689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050017.546576794] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050017.548082519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050017.549147458] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050017.585353338] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050017.587730828] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050017.588363472] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050017.588664619] [sailbot.teensy]: Wind angle: 269 -[teensy-2] [INFO] [1746050017.589720743] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050017.590581449] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050017.591481018] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050017.645145253] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050017.645873720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050017.646846494] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050017.648240042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050017.649374869] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050017.745550885] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050017.746293818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050017.747183014] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050017.748748864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050017.749981662] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050017.835282334] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050017.837585924] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050017.837956209] [sailbot.teensy]: Wind angle: 269 -[mux-7] [INFO] [1746050017.838562108] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050017.839133530] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050017.840034673] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050017.840879206] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050017.844251688] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050017.844938367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050017.845412508] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050017.846610208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050017.847615427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050017.945138740] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050017.945794312] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050017.946510011] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050017.947887665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050017.948926371] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050018.002822652] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46935022 Long: -76.50287091 -[vectornav-1] [INFO] [1746050018.004511186] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (296.21500000000003, 3.042, 3.097) -[mux-7] [INFO] [1746050018.045198999] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050018.045990576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050018.046695020] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050018.047994533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050018.049087472] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050018.085362935] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050018.087095390] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746050018.087627903] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050018.088025844] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050018.089024332] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050018.089669544] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050018.089878283] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050018.144330004] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746050018.145445238] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050018.146481661] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050018.148021870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050018.149298284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050018.245407734] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050018.246163836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050018.247077871] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050018.248384008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050018.249623121] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050018.335328284] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050018.337060935] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746050018.337855621] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050018.337977949] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050018.338847699] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050018.338959526] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050018.339743145] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050018.344573722] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050018.345080963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050018.345954103] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050018.346807740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050018.347968076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050018.445743150] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050018.446297282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050018.447753534] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050018.448546368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050018.449095196] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050018.503700568] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46934601 Long: -76.50286908 -[vectornav-1] [INFO] [1746050018.505143262] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (296.73199999999997, 1.332, 8.486) -[mux-7] [INFO] [1746050018.545405733] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050018.546037862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050018.547005614] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050018.548677454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050018.549921309] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050018.585615953] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050018.587667083] [sailbot.teensy]: Wind angle: 270 -[teensy-2] [INFO] [1746050018.588736181] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746050018.588229137] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050018.589689447] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050018.590565878] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050018.590994828] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050018.645485173] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050018.645736959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050018.648006596] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050018.649845223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050018.650957079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050018.746193347] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050018.746850076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050018.747886131] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050018.749107576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050018.750425217] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050018.835415222] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050018.837411758] [sailbot.teensy]: Wind angle: 270 -[teensy-2] [INFO] [1746050018.838368520] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746050018.838146289] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050018.839217575] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050018.839251987] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050018.840174975] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050018.844535559] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050018.845267676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050018.845690305] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050018.846973531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050018.848136187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050018.944858623] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050018.945468347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050018.946079550] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050018.947344841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050018.948428372] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050019.002730769] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46934131 Long: -76.50286706 -[vectornav-1] [INFO] [1746050019.004176181] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.853, 1.591, 3.621) -[mux-7] [INFO] [1746050019.044883390] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050019.045507682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050019.046094569] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050019.047363974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050019.048376421] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050019.085366926] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050019.087182572] [sailbot.teensy]: Wind angle: 270 -[trim_sail-4] [INFO] [1746050019.087967700] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050019.088119688] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050019.089038749] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050019.089090151] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050019.089952722] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050019.144860579] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050019.145401114] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050019.146060410] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050019.147202757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050019.148343495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050019.244718156] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050019.245334493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050019.246127382] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050019.247212656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050019.248375435] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050019.335500192] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050019.338190573] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050019.338461637] [sailbot.teensy]: Wind angle: 270 -[mux-7] [INFO] [1746050019.338655825] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050019.339618135] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050019.340596430] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050019.341533616] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050019.344489289] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050019.345047847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050019.345566615] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050019.346760138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050019.347806214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050019.445563128] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050019.446761348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050019.447220731] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050019.448209390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050019.448708659] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050019.503468035] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46933692 Long: -76.50286491 -[vectornav-1] [INFO] [1746050019.504846706] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.61400000000003, 2.561, 6.765) -[mux-7] [INFO] [1746050019.544955314] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050019.545959319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050019.546274523] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050019.548237522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050019.549432528] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050019.585491822] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050019.588130566] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050019.588456617] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050019.588559676] [sailbot.teensy]: Wind angle: 271 -[teensy-2] [INFO] [1746050019.589630566] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050019.590505205] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050019.591317936] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050019.644750051] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050019.645590277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050019.645971852] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050019.647460197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050019.648517380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050019.745548980] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050019.746559333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050019.747175178] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050019.748722568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050019.749176786] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050019.835349010] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050019.838104593] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050019.838469319] [sailbot.teensy]: Wind angle: 271 -[mux-7] [INFO] [1746050019.839048721] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050019.839395748] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050019.840319509] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050019.841181324] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050019.844487484] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050019.844961505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050019.845748321] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050019.846761082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050019.847817339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050019.945174506] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050019.945839480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050019.947423717] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050019.947962075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050019.949067542] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050020.002929452] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46933256 Long: -76.50286362 -[vectornav-1] [INFO] [1746050020.005086695] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.58799999999997, 3.516, 3.298) -[mux-7] [INFO] [1746050020.046147883] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050020.046744018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050020.047980856] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050020.048893858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050020.050117031] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050020.085406616] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050020.087316872] [sailbot.teensy]: Wind angle: 271 -[trim_sail-4] [INFO] [1746050020.088228644] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050020.088581800] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050020.089008819] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050020.089656133] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050020.090547293] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050020.144909518] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050020.145650701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050020.146243554] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050020.147472834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050020.147959361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050020.245125232] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050020.246062318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050020.246579518] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050020.248098688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050020.249272012] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050020.335290319] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050020.337136448] [sailbot.teensy]: Wind angle: 270 -[trim_sail-4] [INFO] [1746050020.337666902] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050020.338073830] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050020.338737933] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050020.338974521] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050020.339117825] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050020.344314543] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050020.344821402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050020.345419387] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050020.346551806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050020.347664392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050020.445631661] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050020.446558917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050020.447755979] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050020.449286621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050020.450421811] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050020.503583538] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693284 Long: -76.5028612 -[vectornav-1] [INFO] [1746050020.505038550] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.522, 4.115, 6.159) -[mux-7] [INFO] [1746050020.544936950] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050020.545718068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050020.546283422] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050020.547854041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050020.548880774] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050020.585459619] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050020.587901832] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050020.588275912] [sailbot.teensy]: Wind angle: 271 -[mux-7] [INFO] [1746050020.588284160] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050020.589398484] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050020.590287273] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050020.591117011] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050020.645024792] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050020.645585389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050020.646257815] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050020.647594726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050020.648639349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050020.745195119] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050020.745965001] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050020.746514761] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050020.747909746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050020.749075212] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050020.835306874] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050020.838139897] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050020.838465471] [sailbot.teensy]: Wind angle: 271 -[mux-7] [INFO] [1746050020.838488530] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050020.839758052] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050020.840611124] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050020.840958736] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050020.844486429] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050020.845153222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050020.845609954] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050020.846887394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050020.848025311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050020.945328155] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050020.946125242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050020.946915428] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050020.947767081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050020.948250235] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050021.003046691] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46932344 Long: -76.50285921 -[vectornav-1] [INFO] [1746050021.005468626] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.39599999999996, 3.285, 3.218) -[mux-7] [INFO] [1746050021.045498450] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746050021.047016240] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050021.046261392] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050021.048416491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050021.049584575] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050021.085690860] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050021.087479999] [sailbot.teensy]: Wind angle: 271 -[teensy-2] [INFO] [1746050021.088449797] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746050021.087932907] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050021.088455951] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050021.089405100] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050021.090268761] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050021.144987007] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050021.145661209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050021.146676513] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050021.147603938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050021.148655210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050021.244756531] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050021.245351942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050021.246028277] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050021.247239171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050021.248284025] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050021.335204374] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050021.337564835] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050021.338242003] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050021.338352700] [sailbot.teensy]: Wind angle: 271 -[teensy-2] [INFO] [1746050021.339367913] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050021.339683418] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050021.340070244] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050021.344527617] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050021.345084305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050021.345617233] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050021.346786030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050021.347831509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050021.444917056] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050021.445549507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050021.446232780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050021.447708887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050021.448654365] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050021.502941679] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931956 Long: -76.50285751 -[vectornav-1] [INFO] [1746050021.504779334] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.284, 2.621, 4.678) -[mux-7] [INFO] [1746050021.545155335] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050021.545894901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050021.546720673] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050021.547961997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050021.549013922] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050021.585339580] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050021.587274442] [sailbot.teensy]: Wind angle: 272 -[trim_sail-4] [INFO] [1746050021.587604660] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050021.588241583] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050021.589147646] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050021.589500457] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050021.590016046] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050021.644865751] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050021.645410089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050021.646074871] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050021.647200932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050021.648369171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050021.745173813] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050021.745806662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050021.746765553] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050021.747894619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050021.748560604] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050021.835602304] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050021.837531455] [sailbot.teensy]: Wind angle: 273 -[trim_sail-4] [INFO] [1746050021.838362169] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050021.838507280] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050021.839447268] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050021.840428562] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050021.841515222] [sailbot.mux]: algo sail angle: 35 -[mux-7] [INFO] [1746050021.844172864] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050021.844767834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050021.845338572] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050021.846442722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050021.847489345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050021.945646134] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050021.946697973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050021.947560231] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050021.948593608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050021.949132433] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050022.003424884] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931508 Long: -76.50285666 -[vectornav-1] [INFO] [1746050022.004986979] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.15999999999997, 2.913, 3.526) -[mux-7] [INFO] [1746050022.045227246] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050022.045969754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050022.047589678] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050022.048082144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050022.049317001] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050022.085538235] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050022.088096010] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050022.088754399] [sailbot.teensy]: Wind angle: 272 -[mux-7] [INFO] [1746050022.089459916] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050022.089725841] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050022.090606709] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050022.091451272] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050022.145470913] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050022.146018851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050022.147270866] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050022.148584399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050022.149691528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050022.245503663] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050022.246168436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050022.247151478] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050022.248580447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050022.249787077] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050022.335221671] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050022.336964416] [sailbot.teensy]: Wind angle: 272 -[trim_sail-4] [INFO] [1746050022.337607724] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050022.338797866] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050022.339066389] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050022.339191939] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050022.339567977] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050022.344430662] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050022.344954477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050022.345662221] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050022.346622450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050022.347733319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050022.445714494] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050022.446372758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050022.447931922] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050022.448888326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050022.450227743] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050022.506475487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930946 Long: -76.50285557 -[vectornav-1] [INFO] [1746050022.508096825] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.26800000000003, 2.154, 4.654) -[mux-7] [INFO] [1746050022.543712169] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050022.544070641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050022.544211838] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050022.544830005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050022.545287392] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050022.585186932] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050022.587363079] [sailbot.teensy]: Wind angle: 270 -[trim_sail-4] [INFO] [1746050022.587505860] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050022.588267871] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050022.588568244] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050022.589129346] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050022.589917291] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050022.645043012] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050022.645470455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050022.646430172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050022.647258786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050022.648339404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050022.745353582] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050022.746141364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050022.746920568] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050022.748259172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050022.749521081] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050022.835291416] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050022.837579774] [sailbot.teensy]: Wind angle: 270 -[trim_sail-4] [INFO] [1746050022.837802524] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050022.838163574] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050022.838508947] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050022.839396808] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050022.840251768] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050022.844528250] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050022.844972030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050022.845707215] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050022.846624028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050022.847674435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050022.945271157] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050022.945876617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050022.946800996] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050022.948210681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050022.949146104] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050023.003250419] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930379 Long: -76.50285496 -[vectornav-1] [INFO] [1746050023.004789070] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.818, 2.3, 4.997) -[mux-7] [INFO] [1746050023.045187542] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050023.045775666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050023.046552888] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050023.048027904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050023.049276360] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050023.085395945] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050023.087667603] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050023.087801005] [sailbot.teensy]: Wind angle: 270 -[mux-7] [INFO] [1746050023.088512370] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050023.089203303] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050023.090238188] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050023.091127686] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050023.145112524] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050023.145877281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050023.147086786] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050023.148027127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050023.149108260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050023.245224240] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050023.245889602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050023.246702682] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050023.247756522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050023.248305513] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050023.335225198] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050023.336891139] [sailbot.teensy]: Wind angle: 271 -[trim_sail-4] [INFO] [1746050023.337728541] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050023.338956780] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050023.339362804] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050023.339769709] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050023.340180155] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050023.344513366] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050023.345034652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050023.345697658] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050023.346697122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050023.347719051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050023.445281797] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050023.445922838] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050023.446801913] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050023.448084464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050023.449344436] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050023.503486318] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929853 Long: -76.50285353 -[vectornav-1] [INFO] [1746050023.505106614] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (292.125, 2.333, 2.892) -[mux-7] [INFO] [1746050023.545172092] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050023.545985136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050023.546901855] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050023.548135401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050023.549320486] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050023.585444252] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050023.587766332] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050023.588392326] [sailbot.teensy]: Wind angle: 270 -[mux-7] [INFO] [1746050023.589344636] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050023.589367739] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050023.590287146] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050023.591175473] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050023.644463481] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050023.645086217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050023.645473561] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050023.647539980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050023.648601257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050023.745416727] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050023.746254048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050023.747017063] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050023.748508046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050023.749748563] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050023.835366442] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050023.837362581] [sailbot.teensy]: Wind angle: 271 -[trim_sail-4] [INFO] [1746050023.837958774] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050023.838301991] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050023.839017860] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050023.839168895] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050023.839611682] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050023.844274996] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050023.844888338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050023.845509701] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050023.846594578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050023.847622618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050023.945629799] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050023.946621437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050023.947316565] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050023.948611011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050023.949128663] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050024.003298405] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929423 Long: -76.50285156 -[vectornav-1] [INFO] [1746050024.005291516] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (296.3, 1.451, 5.12) -[mux-7] [INFO] [1746050024.044780131] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050024.045400301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050024.045946044] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050024.047143779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050024.048219214] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050024.085176522] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050024.087263182] [sailbot.teensy]: Wind angle: 271 -[trim_sail-4] [INFO] [1746050024.087477098] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050024.087979493] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050024.088133685] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050024.089059936] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050024.089941179] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050024.145189687] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050024.145737123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050024.146583620] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050024.147970186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050024.148725330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050024.245470217] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050024.246262581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050024.247078023] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050024.248372835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050024.249567173] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050024.335386155] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050024.337199194] [sailbot.teensy]: Wind angle: 271 -[trim_sail-4] [INFO] [1746050024.337725551] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050024.338159557] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050024.339050012] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050024.338904031] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050024.340292223] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050024.344523092] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050024.345140596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050024.345690483] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050024.346877015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050024.347969538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050024.445306129] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050024.445866437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050024.446892316] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050024.447998498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050024.449057658] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050024.503325452] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928944 Long: -76.50285043 -[vectornav-1] [INFO] [1746050024.504542609] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (292.653, 1.24, 2.617) -[mux-7] [INFO] [1746050024.544992694] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050024.545544887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050024.546289856] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050024.547349539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050024.548481830] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050024.585364466] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050024.587666861] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050024.587885978] [sailbot.teensy]: Wind angle: 271 -[mux-7] [INFO] [1746050024.588208944] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050024.588878497] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050024.589723860] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050024.590513989] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050024.645027790] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050024.645706610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050024.646480074] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050024.647850377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050024.648522652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050024.745328343] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050024.746077460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050024.746765906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050024.748261882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050024.748890594] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050024.835237496] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050024.836894739] [sailbot.teensy]: Wind angle: 271 -[trim_sail-4] [INFO] [1746050024.837428694] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050024.837829046] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050024.838711878] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050024.838523484] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050024.839574641] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050024.844424957] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050024.845014702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050024.845595383] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050024.846734720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050024.847771668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050024.945305563] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050024.946310043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050024.947261083] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050024.948560354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050024.949565976] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050025.003477474] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928528 Long: -76.50284864 -[vectornav-1] [INFO] [1746050025.006171887] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (288.55600000000004, 1.257, 7.081) -[mux-7] [INFO] [1746050025.045034060] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050025.046076055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050025.046554892] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050025.048026642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050025.049011175] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050025.085495700] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050025.087739789] [sailbot.teensy]: Wind angle: 270 -[trim_sail-4] [INFO] [1746050025.087765590] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050025.088733071] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050025.089110364] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050025.089629077] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050025.090551668] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050025.144730751] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050025.145404107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050025.145875030] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050025.147095534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050025.148140955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050025.245242559] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050025.246101072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050025.246732771] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050025.248253873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050025.249497821] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050025.335518087] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050025.338240087] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050025.338408245] [sailbot.teensy]: Wind angle: 270 -[teensy-2] [INFO] [1746050025.339347271] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050025.339365843] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050025.340374867] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050025.341253905] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050025.344348123] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050025.344770935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050025.345497275] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050025.346418867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050025.347390926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050025.445204620] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050025.445925239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050025.446726085] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050025.448055389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050025.449258545] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050025.503592352] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928072 Long: -76.50284663 -[vectornav-1] [INFO] [1746050025.505089008] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.76599999999996, 1.985, 3.915) -[mux-7] [INFO] [1746050025.545185435] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050025.545758561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050025.546540386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050025.547674624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050025.548721919] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050025.585214908] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050025.587045527] [sailbot.teensy]: Wind angle: 270 -[trim_sail-4] [INFO] [1746050025.587432238] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050025.588006684] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050025.588027717] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050025.588964112] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050025.589882725] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050025.644975285] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050025.645511468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050025.646240562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050025.647379699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050025.648101409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050025.745350533] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050025.746124939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050025.746901316] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050025.748276295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050025.749358814] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050025.835158770] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050025.836741802] [sailbot.teensy]: Wind angle: 270 -[trim_sail-4] [INFO] [1746050025.837163911] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050025.837649821] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050025.838563327] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050025.839046164] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050025.839456428] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050025.844459558] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050025.845293708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050025.845900487] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050025.847069718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050025.848252324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050025.945035015] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050025.945706764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050025.946285807] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050025.947543480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050025.948624982] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050026.002731476] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927556 Long: -76.5028446 -[vectornav-1] [INFO] [1746050026.004594981] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.98, 1.436, 6.275) -[mux-7] [INFO] [1746050026.044951184] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050026.045692131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050026.046309898] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050026.047751761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050026.048816579] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050026.085256994] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050026.086885918] [sailbot.teensy]: Wind angle: 271 -[trim_sail-4] [INFO] [1746050026.087575071] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050026.087850367] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050026.088773844] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050026.088906920] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050026.089677279] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050026.145019629] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050026.145880124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050026.146400618] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050026.147985086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050026.149012286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050026.245540906] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050026.246414537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050026.247309511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050026.248878152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050026.250004506] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050026.335332520] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050026.337684769] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050026.337709510] [sailbot.teensy]: Wind angle: 270 -[teensy-2] [INFO] [1746050026.338716117] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050026.338948095] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050026.339638417] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050026.340228211] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050026.344405208] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050026.344912878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050026.345522615] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050026.346706751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050026.347802263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050026.445309130] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050026.445820721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050026.447459262] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050026.447991766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050026.449147194] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050026.503298077] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692704 Long: -76.50284314 -[vectornav-1] [INFO] [1746050026.504830958] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.31, -0.196, 3.541) -[mux-7] [INFO] [1746050026.544926217] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050026.545653394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050026.546185240] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050026.547485591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050026.548505980] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050026.585498387] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050026.587812164] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050026.588288343] [sailbot.teensy]: Wind angle: 270 -[teensy-2] [INFO] [1746050026.589514582] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050026.589545145] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050026.590499005] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050026.591401299] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050026.645060497] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050026.645882413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050026.646610814] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050026.647870554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050026.649037592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050026.745284783] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050026.746337323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050026.746764146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050026.748603845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050026.749662763] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050026.835302813] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050026.837079393] [sailbot.teensy]: Wind angle: 271 -[trim_sail-4] [INFO] [1746050026.837536165] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050026.838071960] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050026.839042644] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050026.839042881] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050026.840084004] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050026.844605360] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050026.845004626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050026.845744543] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050026.846675162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050026.847834633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050026.945234087] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050026.945860081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050026.946768812] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050026.947829791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050026.948963164] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050027.003792280] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926564 Long: -76.50284176 -[vectornav-1] [INFO] [1746050027.005653363] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.89300000000003, -0.299, 3.639) -[mux-7] [INFO] [1746050027.045150643] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050027.045788246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050027.046585881] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050027.047754982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050027.048792736] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050027.085487778] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050027.088041964] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050027.088611989] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050027.088630984] [sailbot.teensy]: Wind angle: 272 -[teensy-2] [INFO] [1746050027.089638706] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050027.090526870] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050027.091406706] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050027.144706597] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050027.145425084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050027.145874392] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050027.147246414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050027.148310070] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050027.244968373] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050027.245670345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050027.246310615] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050027.247526756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050027.248741101] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050027.335305084] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050027.337013547] [sailbot.teensy]: Wind angle: 271 -[trim_sail-4] [INFO] [1746050027.337743724] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050027.337935099] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050027.338778050] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050027.339361286] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050027.339656905] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050027.344322231] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050027.344850396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050027.345403052] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050027.346639105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050027.347632991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050027.445362067] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050027.446415023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050027.446849719] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050027.449006659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050027.450187946] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050027.504088412] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926089 Long: -76.50283977 -[vectornav-1] [INFO] [1746050027.505753117] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.999, -0.312, 2.339) -[mux-7] [INFO] [1746050027.545074819] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050027.545844331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050027.546462748] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050027.547807112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050027.548823954] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050027.585195340] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050027.587581796] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050027.588463774] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050027.588760302] [sailbot.teensy]: Wind angle: 271 -[teensy-2] [INFO] [1746050027.589741245] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050027.590638958] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050027.591553167] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050027.645235208] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746050027.646623240] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050027.646173843] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050027.648903468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050027.649964332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050027.745234266] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050027.745955261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050027.746576134] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050027.748102711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050027.748944772] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050027.835263608] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050027.837453468] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050027.838045769] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050027.838336682] [sailbot.teensy]: Wind angle: 271 -[teensy-2] [INFO] [1746050027.839557441] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050027.840466189] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050027.841290549] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050027.844386889] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050027.844906676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050027.845575107] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050027.846601330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050027.847778534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050027.945317007] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050027.946157053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050027.946819249] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050027.947921401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050027.948464804] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050028.003776256] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46925621 Long: -76.50283815 -[vectornav-1] [INFO] [1746050028.005519546] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.111, 0.929, 3.081) -[mux-7] [INFO] [1746050028.045014291] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050028.045589882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050028.046265335] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050028.047504707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050028.048542113] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050028.085373115] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050028.088016756] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050028.088287143] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050028.088387068] [sailbot.teensy]: Wind angle: 271 -[teensy-2] [INFO] [1746050028.089359649] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050028.090219481] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050028.091038799] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050028.145253981] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050028.145983609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050028.146820915] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050028.148440867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050028.149613518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050028.245254994] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050028.246100871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050028.246754777] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050028.248048160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050028.248583010] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050028.335222666] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050028.337748795] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050028.337875017] [sailbot.teensy]: Wind angle: 270 -[mux-7] [INFO] [1746050028.338070116] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050028.338848825] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050028.339704467] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050028.340586868] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050028.344337081] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050028.344829848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050028.345435992] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050028.346552203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050028.347672406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050028.445238687] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050028.445888185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050028.446824341] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050028.448128677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050028.448995308] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050028.502974862] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46925083 Long: -76.50283564 -[vectornav-1] [INFO] [1746050028.505051709] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (283.85900000000004, 1.422, 4.668) -[mux-7] [INFO] [1746050028.544774685] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050028.545811341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050028.546014007] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050028.547700828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050028.548742065] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050028.585237227] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050028.586894546] [sailbot.teensy]: Wind angle: 270 -[trim_sail-4] [INFO] [1746050028.587489149] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050028.587809486] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050028.588727180] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050028.588983203] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050028.589647514] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050028.644571233] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050028.645002441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050028.646048330] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050028.646774368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050028.647945936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050028.745251963] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050028.745744585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050028.746667158] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050028.747684797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050028.748731558] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050028.835291293] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050028.837977345] [sailbot.teensy]: Wind angle: 270 -[trim_sail-4] [INFO] [1746050028.838184630] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050028.838904373] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050028.839035561] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050028.840053540] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050028.840932580] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050028.844588073] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050028.845210237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050028.845681186] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050028.847017380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050028.848172686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050028.945475944] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050028.946262826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050028.947221511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050028.948572424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050028.949612039] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050029.003395101] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46924656 Long: -76.50283355 -[vectornav-1] [INFO] [1746050029.004785535] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (281.506, 0.661, 5.107) -[mux-7] [INFO] [1746050029.044970760] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050029.045588941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050029.046238452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050029.047455553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050029.048060923] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050029.085482391] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050029.088280839] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050029.089246852] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050029.089512523] [sailbot.teensy]: Wind angle: 271 -[teensy-2] [INFO] [1746050029.090648529] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050029.091499413] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050029.092353861] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050029.145222492] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050029.145926701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050029.146707589] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050029.148197840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050029.149367820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050029.245293866] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050029.245854556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050029.246748709] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050029.247819048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050029.248892084] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050029.335609322] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050029.337628058] [sailbot.teensy]: Wind angle: 271 -[teensy-2] [INFO] [1746050029.338654974] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746050029.338981302] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050029.339591474] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050029.340453307] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050029.340510524] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050029.344420225] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050029.344860920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050029.345810548] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050029.346608893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050029.347686703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050029.445273987] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050029.445995583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050029.446749196] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050029.447903734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050029.448814113] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050029.503434127] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46924076 Long: -76.50283194 -[vectornav-1] [INFO] [1746050029.505280299] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.256, 0.85, 3.196) -[mux-7] [INFO] [1746050029.545116852] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050029.545912658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050029.546493498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050029.548142996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050029.549310249] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050029.585244195] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050029.587262027] [sailbot.teensy]: Wind angle: 272 -[trim_sail-4] [INFO] [1746050029.587545933] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050029.588171499] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050029.588798694] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050029.589068848] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050029.589977769] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050029.645218539] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050029.645879621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050029.646816685] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050029.648047764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050029.648666549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050029.745377340] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050029.745950331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050029.746869870] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050029.748059791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050029.749309807] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050029.835126853] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050029.837621592] [sailbot.teensy]: Wind angle: 271 -[trim_sail-4] [INFO] [1746050029.837759374] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050029.837986706] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050029.839755714] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050029.840693458] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050029.841639877] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050029.844588781] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050029.844905129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050029.845897697] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050029.846610367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050029.847698569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050029.945191928] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050029.945886629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050029.946621186] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050029.947873805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050029.949036470] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050030.003375893] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692357 Long: -76.50282981 -[vectornav-1] [INFO] [1746050030.005026862] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (279.905, 0.141, 2.554) -[mux-7] [INFO] [1746050030.045119640] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050030.045725633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050030.046612238] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050030.047566524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050030.048769626] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050030.085386418] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050030.088193300] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050030.088206572] [sailbot.teensy]: Wind angle: 273 -[teensy-2] [INFO] [1746050030.089619449] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050030.090149052] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050030.090566651] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050030.091461519] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050030.144940660] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050030.145673192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050030.146220605] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050030.147658284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050030.148687981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050030.245049441] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050030.245837052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050030.246604100] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050030.247887165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050030.248436959] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050030.335252269] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050030.336993640] [sailbot.teensy]: Wind angle: 273 -[trim_sail-4] [INFO] [1746050030.337612281] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050030.338665642] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050030.339564567] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050030.340512743] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050030.341383637] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050030.344535604] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050030.345034017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050030.345768375] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050030.346762478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050030.347817594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050030.445279154] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050030.446238407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050030.446791693] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050030.448694618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050030.449935696] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050030.502998026] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46923046 Long: -76.50282809 -[vectornav-1] [INFO] [1746050030.504621233] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.459, 2.136, 5.505) -[mux-7] [INFO] [1746050030.545125255] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050030.546030831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050030.546620753] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050030.548056560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050030.549312164] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050030.585154493] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050030.587342994] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050030.587452835] [sailbot.teensy]: Wind angle: 272 -[teensy-2] [INFO] [1746050030.588383680] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050030.588458997] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050030.589297634] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050030.590153377] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050030.644938966] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050030.645574019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050030.646206380] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050030.647511726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050030.648770627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050030.745086139] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050030.745716690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050030.746630753] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050030.747683371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050030.748254068] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050030.835133176] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050030.837352787] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050030.837681965] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050030.837703876] [sailbot.teensy]: Wind angle: 272 -[teensy-2] [INFO] [1746050030.838609529] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050030.838992169] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050030.839348967] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050030.844438653] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050030.844951954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050030.845591521] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050030.846649109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050030.847828191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050030.945233880] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050030.945980845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050030.946953264] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050030.948112042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050030.948641465] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050031.002995063] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46922535 Long: -76.50282668 -[vectornav-1] [INFO] [1746050031.004719930] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.5, 1.85, 3.398) -[mux-7] [INFO] [1746050031.045093321] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050031.045765428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050031.046634625] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050031.047745410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050031.048917856] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050031.085350299] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050031.087601560] [sailbot.teensy]: Wind angle: 271 -[trim_sail-4] [INFO] [1746050031.087875691] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050031.088582637] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050031.089184267] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050031.090472345] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050031.091369516] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050031.145109511] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050031.145836012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050031.146608093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050031.147906034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050031.149026799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050031.245187109] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050031.245991124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050031.246548901] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050031.247937653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050031.249067725] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050031.335444268] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050031.338225276] [sailbot.teensy]: Wind angle: 271 -[teensy-2] [INFO] [1746050031.339158228] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746050031.338286185] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050031.338612042] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050031.340065944] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050031.340953647] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050031.344288325] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050031.344902049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050031.345376674] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050031.346540739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050031.347652319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050031.445606178] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050031.446550108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050031.447375019] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050031.449169349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050031.450394363] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050031.503776325] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46922046 Long: -76.50282487 -[vectornav-1] [INFO] [1746050031.505386761] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.815, 1.728, 3.652) -[mux-7] [INFO] [1746050031.545358302] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050031.546415908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050031.547100996] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050031.548310017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050031.548831992] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050031.585186427] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050031.587361071] [sailbot.teensy]: Wind angle: 271 -[trim_sail-4] [INFO] [1746050031.587504392] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050031.588333596] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050031.588674921] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050031.589229626] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050031.590108531] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050031.645251003] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050031.646700572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050031.646886068] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050031.648232886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050031.648760876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050031.745709924] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050031.746666683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050031.747494780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050031.748183343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050031.748662887] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050031.835301966] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050031.837287562] [sailbot.teensy]: Wind angle: 271 -[trim_sail-4] [INFO] [1746050031.837575182] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050031.838232804] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050031.838552113] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050031.838696561] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050031.839079710] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050031.844556866] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050031.845080773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050031.845796444] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050031.846891619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050031.847906334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050031.943682770] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050031.944402123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050031.944464627] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050031.945588596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050031.946195747] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050032.004124796] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46921589 Long: -76.50282371 -[vectornav-1] [INFO] [1746050032.006278969] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.172, 1.303, 4.282) -[mux-7] [INFO] [1746050032.045105128] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050032.045801868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050032.046488874] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050032.047952639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050032.048985699] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050032.085673341] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050032.087722153] [sailbot.teensy]: Wind angle: 271 -[trim_sail-4] [INFO] [1746050032.088370677] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050032.088751952] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050032.089647019] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050032.089945964] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050032.090502899] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050032.145162519] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050032.145962395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050032.146883990] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050032.148058243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050032.149201552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050032.245464606] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050032.246164533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050032.247211284] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050032.248456698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050032.249507613] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050032.335288958] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050032.337196686] [sailbot.teensy]: Wind angle: 271 -[trim_sail-4] [INFO] [1746050032.338302247] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050032.339031823] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050032.339663431] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050032.340090472] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050032.340489163] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050032.344610397] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050032.345183272] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050032.345698775] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050032.346942110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050032.347995815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050032.445504851] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050032.446525433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050032.447155498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050032.449037996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050032.450254971] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050032.502756041] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692112 Long: -76.50282275 -[vectornav-1] [INFO] [1746050032.504235104] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.986, -0.017, 4.243) -[mux-7] [INFO] [1746050032.544945503] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050032.545655783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050032.546325128] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050032.547503653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050032.548512656] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050032.585122317] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050032.586724732] [sailbot.teensy]: Wind angle: 271 -[trim_sail-4] [INFO] [1746050032.587159959] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050032.587597890] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050032.588447651] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050032.588312573] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050032.589273373] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050032.645116562] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050032.645758061] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050032.647756297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[mux-7] [INFO] [1746050032.647894753] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050032.648975370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050032.745029662] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050032.745676597] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050032.746335530] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050032.747677857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050032.748843752] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050032.835134461] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050032.836744040] [sailbot.teensy]: Wind angle: 271 -[trim_sail-4] [INFO] [1746050032.837324133] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050032.838678699] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050032.838681204] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050032.839096919] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050032.839453543] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050032.844437670] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050032.845101014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050032.845589004] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050032.846848118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050032.847998361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050032.945660984] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050032.946416957] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050032.947288838] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050032.948241580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050032.948788765] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050033.003198705] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46920642 Long: -76.50282089 -[vectornav-1] [INFO] [1746050033.004667989] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.719, 0.072, 5.173) -[mux-7] [INFO] [1746050033.044789548] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050033.045603570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050033.046387462] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050033.047395487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050033.048653932] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050033.085516378] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050033.088400153] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050033.088858397] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050033.088933451] [sailbot.teensy]: Wind angle: 270 -[teensy-2] [INFO] [1746050033.089808281] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050033.090699748] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050033.091521329] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050033.145018056] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050033.145732981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050033.146450186] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050033.147656530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050033.148723735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050033.245136917] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050033.245917305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050033.246587123] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050033.248109516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050033.249271848] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050033.335187965] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050033.337368928] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050033.338091323] [sailbot.teensy]: Wind angle: 271 -[mux-7] [INFO] [1746050033.338154233] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050033.339024835] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050033.339913319] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050033.340757658] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050033.344385579] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050033.344900234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050033.345532284] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050033.346594014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050033.347650153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050033.445258953] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050033.446137022] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050033.446796473] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050033.448398422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050033.449599656] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050033.502872046] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46920246 Long: -76.5028198 -[vectornav-1] [INFO] [1746050033.504664756] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.235, -0.316, 5.188) -[mux-7] [INFO] [1746050033.545304255] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050033.546112413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050033.546826552] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050033.548379933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050033.548858103] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050033.585138487] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050033.586873479] [sailbot.teensy]: Wind angle: 271 -[trim_sail-4] [INFO] [1746050033.588048360] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050033.588185298] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050033.589128892] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050033.589569614] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050033.590043853] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050033.645251994] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050033.645968766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050033.647405062] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050033.648328056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050033.648859758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050033.745117031] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050033.745789616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050033.746534564] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050033.747779460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050033.748588311] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050033.835161712] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050033.837566486] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050033.837568252] [sailbot.teensy]: Wind angle: 271 -[mux-7] [INFO] [1746050033.838286660] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050033.838421431] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050033.838809464] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050033.839190123] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050033.844386950] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050033.844956950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050033.845735938] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050033.846637104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050033.847760081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050033.945233609] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050033.946189152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050033.946824117] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050033.948117815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050033.948670867] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050034.003171097] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46919812 Long: -76.50281821 -[vectornav-1] [INFO] [1746050034.004938289] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.14300000000003, -0.742, 4.151) -[mux-7] [INFO] [1746050034.045186979] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050034.046051459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050034.046598549] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050034.048144308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050034.049220519] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050034.085234349] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050034.087027240] [sailbot.teensy]: Wind angle: 270 -[trim_sail-4] [INFO] [1746050034.087582649] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050034.088224032] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050034.089461939] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050034.090339203] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050034.091153977] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050034.145130154] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050034.145840872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050034.146555207] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050034.147805886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050034.148906764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050034.244994286] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050034.245692048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050034.246244154] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050034.247702260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050034.248722710] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050034.335545361] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050034.338185158] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050034.338754252] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050034.339301293] [sailbot.teensy]: Wind angle: 270 -[teensy-2] [INFO] [1746050034.340248836] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050034.341117456] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050034.341968010] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050034.344250299] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050034.344792297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050034.345401668] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050034.346446211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050034.347621178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050034.445564591] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050034.446355903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050034.447172056] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050034.447894266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050034.448402109] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050034.504282587] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46919308 Long: -76.50281718 -[vectornav-1] [INFO] [1746050034.505818597] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.244, -1.308, 7.749) -[mux-7] [INFO] [1746050034.544620737] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050034.545177875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050034.545827641] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050034.547170796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050034.548289223] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050034.585125465] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050034.587549568] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050034.587978107] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050034.588726029] [sailbot.teensy]: Wind angle: 269 -[teensy-2] [INFO] [1746050034.589753631] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050034.590529566] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050034.590887446] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050034.645329589] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050034.646260607] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050034.646990208] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050034.648889430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050034.649861525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050034.745402860] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050034.746747212] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050034.747451471] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050034.748012403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050034.748560540] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050034.835647889] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050034.838603768] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050034.838972025] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050034.839386081] [sailbot.teensy]: Wind angle: 269 -[teensy-2] [INFO] [1746050034.840376439] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050034.841158468] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050034.841533771] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050034.844427678] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050034.845040395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050034.845608742] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050034.846764387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050034.847878420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050034.945501037] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050034.946270906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050034.947160991] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050034.948687164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050034.949364106] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050035.003573963] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691884 Long: -76.50281551 -[vectornav-1] [INFO] [1746050035.005035960] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (288.60400000000004, -1.14, 1.767) -[mux-7] [INFO] [1746050035.045163896] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050035.046112220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050035.046591506] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050035.048254742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050035.049278361] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050035.085438918] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050035.087914766] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050035.087992739] [sailbot.teensy]: Wind angle: 270 -[mux-7] [INFO] [1746050035.088386159] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050035.088926887] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050035.089824842] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050035.090659270] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050035.145209659] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050035.146002114] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050035.146667188] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050035.148276923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050035.149406773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050035.245521880] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050035.246388952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050035.247493249] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050035.247970098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050035.248436034] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050035.335192807] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050035.337712211] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050035.338174461] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050035.338383411] [sailbot.teensy]: Wind angle: 271 -[teensy-2] [INFO] [1746050035.339321255] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050035.340220314] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050035.341039597] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050035.344333409] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050035.345022328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050035.345442635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050035.346750913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050035.347801976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050035.445340222] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050035.446368970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050035.447201348] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050035.448622476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050035.449817839] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050035.503258126] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46918402 Long: -76.50281294 -[vectornav-1] [INFO] [1746050035.504575417] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (288.637, -1.001, 5.867) -[mux-7] [INFO] [1746050035.545204504] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050035.546069356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050035.546657791] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050035.548132360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050035.549170168] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050035.585389799] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050035.587682405] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050035.588990987] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050035.589185575] [sailbot.teensy]: Wind angle: 271 -[teensy-2] [INFO] [1746050035.590169525] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050035.591068668] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050035.591998468] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050035.645378605] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050035.646275933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050035.646897124] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050035.648072958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050035.648535351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050035.745420908] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050035.746251841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050035.747098965] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050035.748758776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050035.749964800] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050035.835479221] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050035.838025417] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050035.838462077] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050035.839323403] [sailbot.teensy]: Wind angle: 272 -[teensy-2] [INFO] [1746050035.840308391] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050035.841195869] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050035.842025872] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050035.844369730] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050035.844928794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050035.845528253] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050035.846587419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050035.847690909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050035.945256169] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050035.946302435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050035.946810236] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050035.948494557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050035.949643246] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050036.003825161] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46917947 Long: -76.50281048 -[vectornav-1] [INFO] [1746050036.006087769] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.451, 0.286, 5.434) -[mux-7] [INFO] [1746050036.044848821] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050036.045446085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050036.046130262] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050036.047208284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050036.048247007] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050036.085232006] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050036.086935867] [sailbot.teensy]: Wind angle: 270 -[teensy-2] [INFO] [1746050036.087874113] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746050036.087803059] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050036.088782311] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050036.089695028] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050036.088800338] [sailbot.mux]: algo sail angle: 30 -[mux-7] [INFO] [1746050036.144830698] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050036.145370203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050036.146139020] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050036.147171528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050036.148235712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050036.245096549] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050036.245895362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050036.246560820] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050036.248525514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050036.249621406] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050036.335284659] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050036.337161958] [sailbot.teensy]: Wind angle: 270 -[teensy-2] [INFO] [1746050036.338298776] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746050036.338318124] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050036.338827290] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050036.339264730] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050036.340209322] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050036.344302673] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050036.344913712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050036.345471570] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050036.346685265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050036.347891740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050036.445677559] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050036.446820401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050036.447329792] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050036.449221279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050036.450480977] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050036.503492807] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46917487 Long: -76.50280898 -[vectornav-1] [INFO] [1746050036.505326286] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.029, 0.166, 6.814) -[mux-7] [INFO] [1746050036.545146550] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050036.546095730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050036.546673169] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050036.548436351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050036.549645148] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050036.585307662] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050036.587380444] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050036.587401092] [sailbot.teensy]: Wind angle: 271 -[teensy-2] [INFO] [1746050036.588311289] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050036.589085888] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050036.589221375] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050036.590122369] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050036.644771680] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050036.645462387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050036.646092965] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050036.647357958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050036.648428416] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050036.745171741] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050036.745838575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050036.746607765] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050036.747878019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050036.749016968] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050036.835494791] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050036.838213914] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050036.838687122] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050036.839084610] [sailbot.teensy]: Wind angle: 271 -[teensy-2] [INFO] [1746050036.840077902] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050036.840954704] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050036.841774867] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050036.844557076] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050036.844909091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050036.845746107] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050036.846569972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050036.847641093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050036.945432329] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050036.946044544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050036.947361082] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050036.948696510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050036.949361175] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050037.003763731] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46917022 Long: -76.50280776 -[vectornav-1] [INFO] [1746050037.005484218] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.538, 0.9, 2.69) -[mux-7] [INFO] [1746050037.045518136] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050037.045978648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050037.047375509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050037.048320092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050037.049615659] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050037.085201666] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050037.087161410] [sailbot.teensy]: Wind angle: 270 -[trim_sail-4] [INFO] [1746050037.087523666] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050037.088275878] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050037.088344544] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050037.089653646] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050037.090534992] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050037.145000804] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050037.145704945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050037.146270226] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050037.147770044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050037.148791505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050037.245024134] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050037.245577214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050037.246272003] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050037.247391884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050037.248460842] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050037.335190100] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050037.337333592] [sailbot.teensy]: Wind angle: 272 -[trim_sail-4] [INFO] [1746050037.337986825] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050037.338624001] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050037.339187636] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050037.339579978] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050037.339923243] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050037.344479299] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050037.345055918] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050037.345680917] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050037.346856631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050037.348032286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050037.445269487] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050037.445991872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050037.447340953] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050037.448125047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050037.448677516] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050037.502803123] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691652 Long: -76.50280598 -[vectornav-1] [INFO] [1746050037.503932712] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (288.296, 1.11, 4.612) -[mux-7] [INFO] [1746050037.545157624] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050037.545940500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050037.546463099] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050037.547859757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050037.548927173] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050037.585205281] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050037.587617778] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050037.588395554] [sailbot.teensy]: Wind angle: 273 -[mux-7] [INFO] [1746050037.588458650] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050037.589677114] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050037.590619478] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050037.591485338] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050037.645136247] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050037.645784186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050037.646596010] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050037.647884569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050037.648983989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050037.745196259] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050037.746047641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050037.746633379] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050037.748391173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050037.749701110] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050037.835528016] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050037.837567996] [sailbot.teensy]: Wind angle: 273 -[trim_sail-4] [INFO] [1746050037.838019651] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050037.838605239] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050037.839538105] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050037.839539192] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050037.840444225] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050037.844376338] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050037.845047662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050037.845568799] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050037.846764982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050037.847883193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050037.945157029] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050037.946100563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050037.946877722] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050037.948206839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050037.949318301] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050038.003388363] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916084 Long: -76.50280383 -[vectornav-1] [INFO] [1746050038.005311893] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.945, 1.487, 2.227) -[mux-7] [INFO] [1746050038.044804545] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050038.045433962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050038.046143009] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050038.047302515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050038.048550832] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050038.085222806] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050038.087472179] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050038.088172461] [sailbot.teensy]: Wind angle: 272 -[teensy-2] [INFO] [1746050038.089166439] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050038.089837318] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050038.090136715] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050038.091000165] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050038.145029719] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050038.145772114] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050038.146346648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050038.148010455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050038.149131697] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050038.245207065] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050038.245984719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050038.246868385] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050038.247915809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050038.248387786] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050038.335167298] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050038.337075948] [sailbot.teensy]: Wind angle: 273 -[trim_sail-4] [INFO] [1746050038.337541999] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050038.338065963] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050038.338976580] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050038.339224923] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050038.339984722] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050038.344396460] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050038.344981644] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050038.345665992] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050038.346631630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050038.347671125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050038.445053464] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050038.445891516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050038.446368174] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050038.447535268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050038.447974978] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050038.504287672] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915633 Long: -76.50280153 -[vectornav-1] [INFO] [1746050038.506319499] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.57, 2.319, 5.77) -[mux-7] [INFO] [1746050038.545256317] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050038.546275111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050038.546850864] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050038.548570327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050038.549652049] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050038.585447287] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050038.587654048] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050038.587650256] [sailbot.teensy]: Wind angle: 272 -[teensy-2] [INFO] [1746050038.588685567] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050038.589633496] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050038.588949850] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050038.590650888] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050038.644729338] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050038.645304913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050038.645966401] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050038.647081999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050038.648139102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050038.744991403] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050038.745714572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050038.746395735] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050038.747630628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050038.748181393] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050038.835242958] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050038.837431673] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050038.837820661] [sailbot.teensy]: Wind angle: 272 -[teensy-2] [INFO] [1746050038.838856504] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050038.839079825] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050038.839397824] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050038.839780305] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050038.844438702] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050038.845206341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050038.845597467] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050038.847032916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050038.848066265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050038.944946348] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050038.945681471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050038.946307839] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050038.947635943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050038.948760816] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050039.002985012] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915245 Long: -76.50280001 -[vectornav-1] [INFO] [1746050039.004808385] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (292.32, 1.55, 3.005) -[mux-7] [INFO] [1746050039.045380702] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050039.046277917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050039.048281046] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050039.048638896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050039.049762912] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050039.085261739] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050039.087345451] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050039.087791934] [sailbot.teensy]: Wind angle: 272 -[mux-7] [INFO] [1746050039.088144039] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050039.089282053] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050039.090247644] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050039.091071934] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050039.144831751] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050039.145405346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050039.146210882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050039.147459551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050039.148736539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050039.245210487] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050039.245833811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050039.246809987] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050039.248081632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050039.249277519] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050039.335212027] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050039.337334590] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050039.337861398] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050039.338742821] [sailbot.teensy]: Wind angle: 271 -[teensy-2] [INFO] [1746050039.339155677] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050039.339525691] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050039.340218803] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050039.344371088] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050039.345446778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050039.345951484] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050039.347320999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050039.348444367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050039.445419128] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050039.446243407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050039.447246113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050039.448644381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050039.449849177] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050039.503080863] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914796 Long: -76.5027987 -[vectornav-1] [INFO] [1746050039.504734633] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.421, 1.165, 4.54) -[mux-7] [INFO] [1746050039.544961798] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050039.545750955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050039.546288370] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050039.547755563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050039.548808702] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050039.585401228] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050039.587154433] [sailbot.teensy]: Wind angle: 271 -[trim_sail-4] [INFO] [1746050039.587712188] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050039.588080541] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050039.589009171] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050039.589132190] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050039.589968890] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050039.645395553] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050039.645953783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050039.647216605] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050039.648251460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050039.649363269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050039.745219643] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050039.745678830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050039.746584782] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050039.747833311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050039.748531442] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050039.835528349] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050039.837729905] [sailbot.teensy]: Wind angle: 272 -[trim_sail-4] [INFO] [1746050039.838072253] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050039.838725566] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050039.839650089] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050039.840006328] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050039.840536337] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050039.844405962] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050039.844895445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050039.845563949] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050039.846564897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050039.847603114] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050039.945368783] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050039.945903593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050039.946870330] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050039.947964453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050039.949030468] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050040.003028862] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914331 Long: -76.5027968 -[vectornav-1] [INFO] [1746050040.004432244] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.56899999999996, 0.332, 3.83) -[mux-7] [INFO] [1746050040.045575948] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050040.046140042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050040.047362410] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050040.048830082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050040.049880164] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050040.085254531] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050040.087336287] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050040.087495775] [sailbot.teensy]: Wind angle: 272 -[mux-7] [INFO] [1746050040.087823046] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050040.088392200] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050040.089260084] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050040.090112846] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050040.145173045] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050040.145731634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050040.146736141] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050040.147768346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050040.148903696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050040.244984886] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050040.245599600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050040.246294264] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050040.247374156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050040.248484749] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050040.335337434] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050040.337595751] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050040.338229657] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050040.338697128] [sailbot.teensy]: Wind angle: 271 -[teensy-2] [INFO] [1746050040.339097816] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050040.339473573] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050040.339849497] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050040.344505697] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050040.345187306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050040.345824169] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050040.347060954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050040.348090493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050040.445247709] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050040.445780251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050040.446910630] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050040.447964652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050040.449105507] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050040.502972494] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913903 Long: -76.50279501 -[vectornav-1] [INFO] [1746050040.504231826] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.71000000000004, 0.181, 6.319) -[mux-7] [INFO] [1746050040.545366725] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050040.546157966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050040.546857940] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050040.548452965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050040.549594940] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050040.584998453] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050040.586925761] [sailbot.teensy]: Wind angle: 271 -[trim_sail-4] [INFO] [1746050040.587392856] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050040.587808426] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050040.588690601] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050040.589067591] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050040.589582598] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050040.645059235] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050040.645894461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050040.646416953] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050040.647890224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050040.648956760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050040.745350034] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050040.746287345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050040.746824475] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050040.748102346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050040.748558574] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050040.835342507] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050040.837149996] [sailbot.teensy]: Wind angle: 272 -[teensy-2] [INFO] [1746050040.838194372] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746050040.837665586] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050040.839126498] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050040.840046379] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050040.840315828] [sailbot.mux]: algo sail angle: 35 -[mux-7] [INFO] [1746050040.844335210] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050040.844888345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050040.845437987] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050040.846589014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050040.847636000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050040.922406249] [sailbot.mux]: controller_app sail angle: 31 -[mux-7] [INFO] [1746050040.944998025] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050040.945618852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050040.946345247] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050040.947535009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050040.948416743] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050041.002752503] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913415 Long: -76.50279365 -[vectornav-1] [INFO] [1746050041.004301089] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.597, 0.413, 6.878) -[mux-7] [INFO] [1746050041.045293382] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050041.046175695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050041.046771341] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050041.048303191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050041.049338293] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050041.085312451] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050041.086926650] [sailbot.teensy]: Wind angle: 272 -[teensy-2] [INFO] [1746050041.087854743] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746050041.087652877] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050041.088512633] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050041.088738535] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050041.089603807] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050041.145219814] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050041.145936431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050041.147401001] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050041.147998472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050041.149064055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050041.245230016] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050041.245974874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050041.246944677] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050041.248176899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050041.249343523] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050041.334550597] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050041.335378957] [sailbot.teensy]: Wind angle: 272 -[teensy-2] [INFO] [1746050041.336385289] [sailbot.teensy]: Actual sail angle: 31 -[trim_sail-4] [INFO] [1746050041.336644710] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050041.337328140] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050041.337941778] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050041.338220391] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050041.343984875] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050041.344416209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050041.345113485] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050041.346226587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050041.347339920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050041.445169103] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050041.445850567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050041.447013135] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050041.447761937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050041.448950614] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050041.503071938] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912962 Long: -76.50279178 -[vectornav-1] [INFO] [1746050041.504599836] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.68100000000004, 0.566, 6.644) -[mux-7] [INFO] [1746050041.545448732] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050041.546316098] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050041.546994285] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050041.548578284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050041.549802829] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050041.585315001] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050041.587504082] [sailbot.teensy]: Wind angle: 271 -[trim_sail-4] [INFO] [1746050041.588225529] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050041.588428842] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050041.589333137] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050041.589648805] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050041.590221845] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050041.645443125] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050041.646384329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050041.647050741] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050041.648225047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050041.648780819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050041.745579002] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050041.746745475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050041.747296374] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050041.748100958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050041.748575244] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050041.835297470] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050041.837010592] [sailbot.teensy]: Wind angle: 272 -[trim_sail-4] [INFO] [1746050041.837810148] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050041.837984888] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050041.838904527] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050041.838642993] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050041.840004284] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050041.844407313] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050041.845141564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050041.845597089] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050041.847113014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050041.848253859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050041.945231947] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050041.945988518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050041.946722581] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050041.948062552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050041.948747981] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050042.003216856] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912564 Long: -76.50278986 -[vectornav-1] [INFO] [1746050042.004566966] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.677, 1.035, 7.096) -[mux-7] [INFO] [1746050042.045254459] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050042.045909264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050042.046606368] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050042.048176169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050042.049235556] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050042.085505625] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050042.087400569] [sailbot.teensy]: Wind angle: 272 -[trim_sail-4] [INFO] [1746050042.088579335] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050042.089112268] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050042.089584520] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050042.090583278] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050042.091495613] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050042.144992256] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050042.145664653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050042.146569770] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050042.147551150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050042.148585478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050042.245555905] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050042.245980657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050042.246982355] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050042.247849862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050042.248940745] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050042.335478395] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050042.337665944] [sailbot.teensy]: Wind angle: 272 -[trim_sail-4] [INFO] [1746050042.338230558] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050042.338596161] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050042.339477870] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050042.339235325] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050042.340430100] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050042.344290230] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050042.344785624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050042.345443261] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050042.346524550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050042.347516351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050042.445296466] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050042.446054197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050042.446857482] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050042.448312328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050042.449516721] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050042.503739361] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912092 Long: -76.50278801 -[vectornav-1] [INFO] [1746050042.505313024] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (288.776, 0.475, 3.9) -[mux-7] [INFO] [1746050042.543766858] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050042.544173249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050042.544391578] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050042.545093946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050042.545639047] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050042.584458098] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050042.585268105] [sailbot.teensy]: Wind angle: 271 -[trim_sail-4] [INFO] [1746050042.585600511] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050042.585753153] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050042.586177442] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050042.586559970] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050042.586730949] [sailbot.mux]: algo sail angle: 35 -[mux-7] [INFO] [1746050042.644592750] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050042.645109410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050042.645726443] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050042.646822958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050042.647840743] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050042.745285868] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050042.745990908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050042.746666467] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050042.747876115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050042.749075229] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050042.835172975] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050042.836993007] [sailbot.teensy]: Wind angle: 271 -[trim_sail-4] [INFO] [1746050042.837375770] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050042.837975470] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050042.838841343] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050042.838847544] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050042.839259319] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050042.844587873] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050042.845262755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050042.846119101] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050042.847103425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050042.848247414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050042.945221234] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050042.946235762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050042.946784169] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050042.948348795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050042.949130919] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050043.003182814] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911613 Long: -76.5027867 -[vectornav-1] [INFO] [1746050043.004603527] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.20500000000004, 0.605, 7.656) -[mux-7] [INFO] [1746050043.045278942] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050043.046027836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050043.046677646] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050043.048706860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050043.049832520] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050043.085156859] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050043.086750251] [sailbot.teensy]: Wind angle: 272 -[teensy-2] [INFO] [1746050043.087613071] [sailbot.teensy]: Actual sail angle: 31 -[trim_sail-4] [INFO] [1746050043.087226940] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050043.088668234] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050043.088897175] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050043.089800961] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050043.145187939] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050043.145961992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050043.146684072] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050043.148213160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050043.149241198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050043.245204523] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050043.246275843] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050043.246766102] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050043.248460092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050043.249483302] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050043.335123520] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050043.336703139] [sailbot.teensy]: Wind angle: 272 -[trim_sail-4] [INFO] [1746050043.337617596] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050043.337645285] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050043.338570799] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050043.339481896] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050043.339625949] [sailbot.mux]: algo sail angle: 35 -[mux-7] [INFO] [1746050043.344252810] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050043.344794084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050043.345378601] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050043.346644550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050043.347659489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050043.444886494] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050043.445594501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050043.446417605] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050043.447530034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050043.448553018] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050043.503103822] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911134 Long: -76.50278595 -[vectornav-1] [INFO] [1746050043.504520329] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (288.901, 1.338, 1.794) -[mux-7] [INFO] [1746050043.545475659] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050043.546258657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050043.547072646] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050043.548831443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050043.550048818] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050043.585164377] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050043.586784035] [sailbot.teensy]: Wind angle: 272 -[trim_sail-4] [INFO] [1746050043.587453727] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050043.587746664] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050043.588697493] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050043.589502359] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050043.589559516] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050043.645246947] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050043.646088887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050043.646858798] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050043.648309763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050043.649051978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050043.745021542] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050043.745740189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050043.746431997] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050043.747684682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050043.748741933] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050043.835373756] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050043.837377383] [sailbot.teensy]: Wind angle: 273 -[trim_sail-4] [INFO] [1746050043.838048324] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050043.838857347] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050043.839225961] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050043.839611288] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050043.840364493] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050043.844349062] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050043.845087466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050043.845482073] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050043.846804767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050043.847924750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050043.945210157] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050043.945894467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050043.946711915] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050043.947942103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050043.948417350] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050044.002743843] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46910685 Long: -76.50278476 -[vectornav-1] [INFO] [1746050044.004389716] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (290.505, 1.705, 2.405) -[mux-7] [INFO] [1746050044.044703768] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050044.045360078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050044.046024941] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050044.047200905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050044.048308754] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050044.085201421] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050044.087638345] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050044.088098382] [sailbot.teensy]: Wind angle: 273 -[teensy-2] [INFO] [1746050044.089025848] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050044.089314665] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050044.089964821] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050044.090781728] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050044.145071182] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050044.145776974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050044.146468469] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050044.147960349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050044.148978291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050044.245508689] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050044.246233079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050044.247116770] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050044.248011689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050044.248584738] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050044.335404809] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050044.337243722] [sailbot.teensy]: Wind angle: 274 -[trim_sail-4] [INFO] [1746050044.338069076] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050044.338191664] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050044.339056279] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050044.339060298] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050044.339931373] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050044.344454900] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050044.344952011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050044.345526027] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050044.346706106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050044.347758923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050044.445089981] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050044.445945165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050044.446328540] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050044.447784547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050044.448331391] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050044.503060612] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46910315 Long: -76.50278295 -[vectornav-1] [INFO] [1746050044.504737922] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.05600000000004, 1.878, 2.981) -[mux-7] [INFO] [1746050044.545092170] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050044.545845667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050044.546477207] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050044.548051622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050044.549161948] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050044.585073389] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050044.587235113] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050044.587259932] [sailbot.teensy]: Wind angle: 273 -[mux-7] [INFO] [1746050044.588080224] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050044.588231108] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050044.589345080] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050044.590270531] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050044.644928817] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050044.645731450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050044.646180581] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050044.647710323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050044.648911340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050044.745240848] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050044.746142135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050044.746587909] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050044.748384075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050044.749413849] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050044.835507659] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050044.838200069] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050044.839285125] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050044.840298770] [sailbot.teensy]: Wind angle: 273 -[teensy-2] [INFO] [1746050044.841004950] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050044.841400968] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050044.841759846] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050044.844355424] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050044.844823630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050044.845467566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050044.846502221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050044.847565796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050044.945050545] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050044.945671182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050044.946661890] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050044.947651291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050044.948600323] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050045.003057745] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909965 Long: -76.50278087 -[vectornav-1] [INFO] [1746050045.004347704] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.094, 0.891, 4.076) -[mux-7] [INFO] [1746050045.045150983] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050045.045915980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050045.046609509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050045.047987824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050045.049040721] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050045.085213639] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050045.087410361] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050045.087944338] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050045.088902722] [sailbot.teensy]: Wind angle: 273 -[teensy-2] [INFO] [1746050045.089916754] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050045.090927047] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050045.091834417] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050045.144759762] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050045.145440744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050045.146084793] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050045.147260867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050045.148302926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050045.245058835] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050045.245716536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050045.246459159] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050045.247585078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050045.248141589] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050045.335247097] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050045.336979178] [sailbot.teensy]: Wind angle: 273 -[teensy-2] [INFO] [1746050045.337919964] [sailbot.teensy]: Actual sail angle: 31 -[trim_sail-4] [INFO] [1746050045.337599890] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050045.338787730] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050045.338910506] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050045.339683920] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050045.344424751] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050045.344992747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050045.345541180] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050045.346694636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050045.347902128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050045.444994722] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050045.445545274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050045.446436703] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050045.447466008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050045.448061575] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050045.503136167] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909592 Long: -76.50278003 -[vectornav-1] [INFO] [1746050045.504897959] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.796, 1.01, -1.412) -[mux-7] [INFO] [1746050045.545149241] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050045.545839663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050045.546533510] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050045.547823750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050045.548869407] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050045.585129298] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050045.586872034] [sailbot.teensy]: Wind angle: 273 -[trim_sail-4] [INFO] [1746050045.587343177] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050045.588723050] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050045.588775600] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050045.589696002] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050045.590613347] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050045.644893352] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050045.645749186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050045.646302157] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050045.647568212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050045.648646486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050045.745168632] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050045.745856860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050045.746574339] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050045.748080276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050045.748836122] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050045.835607826] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050045.838411876] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050045.839148131] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050045.839318044] [sailbot.teensy]: Wind angle: 270 -[teensy-2] [INFO] [1746050045.840291955] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050045.841152608] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050045.841982036] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050045.844365626] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050045.844878982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050045.845495202] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050045.846689300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050045.847766917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050045.945087460] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050045.945835249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050045.946508976] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050045.947845525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050045.948912651] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050046.003318664] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909268 Long: -76.50277852 -[vectornav-1] [INFO] [1746050046.004600760] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (287.024, 2.03, 5.614) -[mux-7] [INFO] [1746050046.044952343] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050046.045824390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050046.046226326] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050046.047772696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050046.048812196] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050046.085123773] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050046.087291930] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050046.087975669] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050046.088112470] [sailbot.teensy]: Wind angle: 269 -[teensy-2] [INFO] [1746050046.089100112] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050046.089981403] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050046.090810055] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050046.144960649] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050046.145552027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050046.146223510] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050046.147480979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050046.148056209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050046.244943899] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050046.245628737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050046.246577914] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050046.247607244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050046.248778078] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050046.335058315] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050046.336721645] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746050046.337525162] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050046.337608782] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050046.338327018] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050046.338436022] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050046.339248581] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050046.344410030] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050046.344912995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050046.345630134] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050046.346517743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050046.347486627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050046.445260676] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050046.445889559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050046.447027695] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050046.447804315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050046.448926443] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050046.502760091] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908968 Long: -76.50277873 -[vectornav-1] [INFO] [1746050046.504345625] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (288.004, 1.441, 2.991) -[mux-7] [INFO] [1746050046.544987279] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050046.545729528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050046.546239660] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050046.547576584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050046.548753719] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050046.585122274] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050046.586747773] [sailbot.teensy]: Wind angle: 266 -[trim_sail-4] [INFO] [1746050046.587416402] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050046.587691718] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050046.588634134] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050046.589402069] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050046.589556891] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050046.644879186] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050046.645447227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050046.646243909] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050046.647307526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050046.648273307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050046.744783589] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050046.745374023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050046.745943152] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050046.747377126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050046.748507408] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050046.835581941] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050046.837426690] [sailbot.teensy]: Wind angle: 265 -[trim_sail-4] [INFO] [1746050046.838010400] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050046.838384230] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050046.839270618] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050046.839261939] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050046.840293325] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050046.844285829] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050046.844807582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050046.845375007] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050046.846649533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050046.847827294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050046.945291246] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050046.946015613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050046.947094056] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050046.948457829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050046.949647437] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050047.002903674] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908666 Long: -76.50277795 -[vectornav-1] [INFO] [1746050047.004613131] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.25, 1.426, 3.101) -[mux-7] [INFO] [1746050047.044915900] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050047.045821089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050047.046195217] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050047.047787058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050047.048916994] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050047.085119677] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050047.087065402] [sailbot.teensy]: Wind angle: 264 -[trim_sail-4] [INFO] [1746050047.087276545] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050047.088006118] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050047.088925997] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050047.088997261] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050047.089844094] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050047.145072844] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050047.145808691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050047.146551544] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050047.147798708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050047.148917302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050047.245020126] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050047.245819145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050047.246301229] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050047.247657277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050047.248804233] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050047.335375581] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050047.338000964] [sailbot.teensy]: Wind angle: 264 -[trim_sail-4] [INFO] [1746050047.338338414] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050047.339479842] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050047.339861844] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050047.340253061] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050047.340644614] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050047.344336592] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050047.344870999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050047.345471926] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050047.346566084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050047.347651048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050047.444925039] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050047.445691466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050047.446276996] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050047.447686343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050047.448736856] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050047.502928505] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690852 Long: -76.50277813 -[vectornav-1] [INFO] [1746050047.504371381] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (281.49, 2.124, 4.138) -[mux-7] [INFO] [1746050047.544988616] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050047.545883482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050047.546346365] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050047.547998167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050047.548602451] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050047.585237471] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050047.586926411] [sailbot.teensy]: Wind angle: 265 -[trim_sail-4] [INFO] [1746050047.587678759] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050047.587887870] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050047.588795668] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050047.588823836] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050047.589661765] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050047.644973752] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050047.645787968] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050047.646496214] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050047.647740332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050047.648761391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050047.744848804] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050047.745446878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050047.746016803] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050047.747219811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050047.749494383] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050047.835362978] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050047.837061779] [sailbot.teensy]: Wind angle: 265 -[teensy-2] [INFO] [1746050047.838045178] [sailbot.teensy]: Actual sail angle: 31 -[trim_sail-4] [INFO] [1746050047.838049961] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050047.838882499] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050047.838956384] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050047.839846507] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050047.844304501] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050047.844880208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050047.845765499] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050047.846564830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050047.847647425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050047.945102796] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050047.945680024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050047.946699235] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050047.947645414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050047.948783618] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050048.003230182] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908384 Long: -76.50277738 -[vectornav-1] [INFO] [1746050048.004706294] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.793, 2.468, 0.851) -[mux-7] [INFO] [1746050048.045136726] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050048.045817194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050048.046953995] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050048.047889041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050048.048965237] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050048.085037909] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050048.086604251] [sailbot.teensy]: Wind angle: 265 -[trim_sail-4] [INFO] [1746050048.087374876] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050048.087470986] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050048.088357865] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050048.088670116] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050048.089232509] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050048.144985415] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050048.145728880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050048.146286923] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050048.147519526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050048.148714097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050048.245207616] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050048.245923571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050048.246725450] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050048.247906428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050048.248648853] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050048.335124550] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050048.336709571] [sailbot.teensy]: Wind angle: 265 -[trim_sail-4] [INFO] [1746050048.337486864] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050048.337571947] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050048.338443423] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050048.338585841] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050048.339307481] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050048.344715332] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050048.345313574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050048.345932842] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050048.347105671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050048.348179919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050048.445258806] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050048.446140424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050048.446802325] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050048.448332486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050048.449474078] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050048.503531154] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690838 Long: -76.5027771 -[vectornav-1] [INFO] [1746050048.505874656] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.64300000000003, 1.569, 1.223) -[mux-7] [INFO] [1746050048.544986421] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050048.545733926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050048.546275104] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050048.547839970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050048.548893736] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050048.585322160] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050048.587064565] [sailbot.teensy]: Wind angle: 265 -[teensy-2] [INFO] [1746050048.588105096] [sailbot.teensy]: Actual sail angle: 31 -[trim_sail-4] [INFO] [1746050048.588360921] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050048.588800901] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050048.589048789] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050048.590027106] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050048.645243169] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050048.646548068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050048.647011282] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050048.648859481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050048.649875892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050048.744991501] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050048.745733801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050048.746280917] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050048.747783191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050048.748852107] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050048.835313020] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050048.837178753] [sailbot.teensy]: Wind angle: 265 -[trim_sail-4] [INFO] [1746050048.838088472] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050048.838198389] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050048.838928241] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050048.839088055] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050048.840010432] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050048.844329643] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050048.844942589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050048.845437560] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050048.846721173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050048.847905597] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050048.945383733] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050048.945899036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050048.946970171] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050048.947870228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050048.948447054] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050049.002836568] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690836 Long: -76.50277701 -[vectornav-1] [INFO] [1746050049.004344380] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (279.437, 1.376, 2.75) -[mux-7] [INFO] [1746050049.045216823] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050049.045932484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050049.046642183] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050049.047956617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050049.049112184] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050049.085116756] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050049.087150989] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050049.087704100] [sailbot.teensy]: Wind angle: 265 -[mux-7] [INFO] [1746050049.088387016] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050049.088671721] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050049.089592241] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050049.090496753] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050049.145078901] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050049.146120196] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050049.146546563] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050049.148060197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050049.149285482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050049.245078323] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050049.245885193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050049.246578920] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050049.247959186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050049.248516329] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050049.335042886] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050049.336727102] [sailbot.teensy]: Wind angle: 265 -[trim_sail-4] [INFO] [1746050049.337297816] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050049.337670855] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050049.338552565] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050049.338573769] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050049.339429375] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050049.344323185] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050049.344892527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050049.345503504] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050049.346624830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050049.347793281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050049.445093748] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050049.445840321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050049.446527169] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050049.447791627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050049.448362399] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050049.502771203] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908338 Long: -76.50277663 -[vectornav-1] [INFO] [1746050049.503941112] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (279.519, 0.905, 3.657) -[mux-7] [INFO] [1746050049.545297444] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050049.546023625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050049.546669407] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050049.548281294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050049.549404272] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050049.585138282] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050049.586914418] [sailbot.teensy]: Wind angle: 265 -[trim_sail-4] [INFO] [1746050049.587266327] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050049.587860124] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050049.588804817] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050049.589206823] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050049.589663977] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050049.644981823] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050049.645792213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050049.646292906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050049.647829962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050049.648893265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050049.745392740] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050049.746284832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050049.747394850] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050049.748225781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050049.748788440] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050049.835519734] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050049.837366595] [sailbot.teensy]: Wind angle: 265 -[trim_sail-4] [INFO] [1746050049.838084309] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050049.838329859] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050049.839230924] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050049.839398006] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050049.839601749] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050049.844338229] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050049.845112661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050049.845581397] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050049.847455212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050049.848536423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050049.944926228] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050049.945525931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050049.946273424] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050049.947447969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050049.948066608] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050050.002633613] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908328 Long: -76.50277635 -[vectornav-1] [INFO] [1746050050.004633957] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (278.63, 0.073, 5.187) -[mux-7] [INFO] [1746050050.044885021] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050050.045630011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050050.046063908] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050050.047538549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050050.048657074] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050050.085226205] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050050.087007698] [sailbot.teensy]: Wind angle: 264 -[trim_sail-4] [INFO] [1746050050.087497678] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050050.087982546] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050050.088948821] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050050.089244552] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050050.089878854] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050050.144788925] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050050.145375468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050050.145976937] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050050.147167139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050050.148211284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050050.245131580] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050050.245841237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050050.246408618] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050050.247675948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050050.248310253] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050050.335269075] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050050.337193313] [sailbot.teensy]: Wind angle: 265 -[trim_sail-4] [INFO] [1746050050.337608277] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050050.338172902] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050050.338824072] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050050.338961145] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050050.339362429] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050050.344586293] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050050.345226607] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050050.345866420] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050050.346987156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050050.348236464] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050050.444943711] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050050.445807941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050050.446256582] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050050.447682312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050050.448708041] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050050.502972893] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469083 Long: -76.50277699 -[vectornav-1] [INFO] [1746050050.504342356] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (276.49199999999996, -0.243, 6.11) -[mux-7] [INFO] [1746050050.545164500] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050050.545856663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050050.546542765] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050050.547695721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050050.548714490] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050050.585046775] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050050.587115950] [sailbot.teensy]: Wind angle: 265 -[trim_sail-4] [INFO] [1746050050.587339078] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050050.587982779] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050050.588316096] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050050.588856207] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050050.589731656] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050050.644946279] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050050.645530682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050050.646231252] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050050.647430515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050050.648498537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050050.745572356] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050050.746440219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050050.747246972] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050050.749121926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050050.750385261] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050050.835247931] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050050.837606251] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050050.837660200] [sailbot.teensy]: Wind angle: 265 -[teensy-2] [INFO] [1746050050.838625602] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050050.838774983] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050050.839531959] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050050.840472945] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050050.844496600] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050050.845265446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050050.845644141] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050050.847094008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050050.848142414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050050.944972880] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050050.945835238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050050.946494795] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050050.947713874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050050.948743572] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050051.003167726] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908268 Long: -76.50277715 -[vectornav-1] [INFO] [1746050051.004700646] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (276.188, -0.122, 1.634) -[mux-7] [INFO] [1746050051.045280124] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050051.046128300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050051.046701763] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050051.048260203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050051.049469021] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050051.085461205] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050051.087557118] [sailbot.teensy]: Wind angle: 264 -[teensy-2] [INFO] [1746050051.088787898] [sailbot.teensy]: Actual sail angle: 31 -[trim_sail-4] [INFO] [1746050051.087801135] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050051.089854119] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050051.090672223] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050051.090784477] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050051.145283048] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050051.146386088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050051.147066764] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050051.148721428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050051.149781807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050051.245372797] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050051.246336085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050051.246905895] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050051.248358970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050051.248789738] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050051.335294100] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050051.337663363] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050051.338045339] [sailbot.teensy]: Wind angle: 265 -[teensy-2] [INFO] [1746050051.339033534] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050051.339061258] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050051.339945532] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050051.340878977] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050051.344454949] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050051.344997444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050051.345607197] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050051.346655698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050051.347671135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050051.445332781] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050051.446030930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050051.447004802] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050051.448420688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050051.448927639] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050051.503200879] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908251 Long: -76.50277693 -[vectornav-1] [INFO] [1746050051.505274270] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (275.846, -0.004, 1.139) -[mux-7] [INFO] [1746050051.545167825] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050051.545886181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050051.546599312] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050051.548270537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050051.549391341] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050051.585141102] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050051.586705930] [sailbot.teensy]: Wind angle: 265 -[trim_sail-4] [INFO] [1746050051.588450971] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050051.588425272] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050051.588870593] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050051.589884879] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050051.590811948] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050051.645270403] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050051.646047914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050051.647010724] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050051.648293565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050051.648916235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050051.745255386] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050051.746371146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050051.746786655] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050051.748774437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050051.749932585] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050051.835314635] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050051.837228385] [sailbot.teensy]: Wind angle: 265 -[teensy-2] [INFO] [1746050051.838217519] [sailbot.teensy]: Actual sail angle: 31 -[trim_sail-4] [INFO] [1746050051.838173913] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050051.838761884] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050051.838800869] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050051.839144959] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050051.844361241] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050051.845063047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050051.845866218] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050051.847076670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050051.848131391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050051.945310441] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050051.946062622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050051.946850563] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050051.948310821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050051.949258107] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050052.003371674] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908248 Long: -76.50277676 -[vectornav-1] [INFO] [1746050052.005220675] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (275.851, -0.311, 1.486) -[mux-7] [INFO] [1746050052.045334697] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050052.046312072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050052.046999978] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050052.048753490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050052.049920623] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050052.085128096] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050052.087070830] [sailbot.teensy]: Wind angle: 264 -[trim_sail-4] [INFO] [1746050052.087325778] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050052.088516795] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050052.089255393] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050052.090221243] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050052.091161132] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050052.145022259] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050052.145716873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050052.146341390] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050052.147794796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050052.149080220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050052.245656991] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050052.246880893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050052.247452833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050052.248035338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050052.248902763] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050052.335277674] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050052.337816130] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050052.337951496] [sailbot.teensy]: Wind angle: 264 -[mux-7] [INFO] [1746050052.338304749] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050052.338901719] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050052.339942519] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050052.340855848] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050052.344299134] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050052.344884748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050052.345627330] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050052.346540903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050052.347573916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050052.444990523] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050052.445624866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050052.446846457] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050052.447584992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050052.448132421] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050052.503048943] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908241 Long: -76.50277673 -[vectornav-1] [INFO] [1746050052.504381540] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (276.323, -0.682, 2.131) -[mux-7] [INFO] [1746050052.545089577] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050052.546007257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050052.546526213] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050052.548177946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050052.549330232] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050052.585024029] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050052.587030168] [sailbot.teensy]: Wind angle: 264 -[trim_sail-4] [INFO] [1746050052.587140016] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050052.587991810] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050052.588515914] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050052.588920376] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050052.589815721] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050052.644781018] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050052.645451307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050052.645985691] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050052.647270909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050052.648419241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050052.744372573] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050052.745655245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050052.745928718] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050052.747742888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050052.748921477] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050052.835409476] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050052.837358446] [sailbot.teensy]: Wind angle: 264 -[trim_sail-4] [INFO] [1746050052.838273873] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050052.838332012] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050052.839066324] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050052.839422461] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050052.839453234] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050052.844513183] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050052.845046639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050052.845698343] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050052.846757997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050052.847760387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050052.945013671] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050052.945751567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050052.946417809] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050052.947787854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050052.948623944] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050053.002979225] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908206 Long: -76.50277614 -[vectornav-1] [INFO] [1746050053.004549004] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (276.74, -0.978, 3.66) -[mux-7] [INFO] [1746050053.045173163] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050053.045960874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050053.046429913] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050053.047841530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050053.048358659] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050053.085465813] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050053.088880388] [sailbot.teensy]: Wind angle: 264 -[trim_sail-4] [INFO] [1746050053.089998272] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050053.090187192] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050053.091093278] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050053.092369327] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050053.092537759] [sailbot.mux]: algo sail angle: 30 -[mux-7] [INFO] [1746050053.145100957] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050053.146001517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050053.146557009] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050053.148132950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050053.149144955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050053.245197564] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050053.245945065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050053.246722385] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050053.248046641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050053.249159098] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050053.335084472] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050053.336807457] [sailbot.teensy]: Wind angle: 260 -[trim_sail-4] [INFO] [1746050053.337286779] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050053.337783740] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050053.338753864] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050053.339365745] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050053.339646514] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050053.344351473] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050053.345101758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050053.345501439] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050053.346877334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050053.348005596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050053.445359977] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050053.446163570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050053.446912258] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050053.448147424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050053.448614715] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050053.502560921] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908113 Long: -76.50277518 -[vectornav-1] [INFO] [1746050053.503660084] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (272.534, -1.255, 6.513) -[mux-7] [INFO] [1746050053.545202475] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050053.546270740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050053.547343406] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050053.548535028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050053.549614400] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050053.585266533] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050053.587632639] [sailbot.teensy]: Wind angle: 254 -[trim_sail-4] [INFO] [1746050053.587671481] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050053.588687487] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050053.589619755] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050053.590031326] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050053.590541105] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050053.645214283] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050053.645961807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050053.646785906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050053.648086433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050053.648558920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050053.745642662] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050053.746451224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050053.747337374] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050053.748303055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050053.748822649] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050053.835528052] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050053.838281609] [sailbot.teensy]: Wind angle: 254 -[trim_sail-4] [INFO] [1746050053.838502292] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050053.839156563] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050053.839429306] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050053.840523610] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050053.841367546] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050053.844551140] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050053.845032020] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050053.845826348] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050053.846824946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050053.847883242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050053.945484598] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050053.945973716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050053.947265530] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050053.948191511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050053.949403670] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050054.003556857] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46907946 Long: -76.5027732 -[vectornav-1] [INFO] [1746050054.005782230] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (268.90999999999997, -2.604, 4.525) -[mux-7] [INFO] [1746050054.045247885] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050054.045832553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050054.046876118] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050054.047856996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050054.048915932] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050054.085377935] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050054.088050361] [sailbot.teensy]: Wind angle: 253 -[trim_sail-4] [INFO] [1746050054.088547597] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050054.089035119] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050054.089258417] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050054.090158693] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050054.091064688] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050054.144884636] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050054.145439384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050054.146108796] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050054.147244235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050054.148406574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050054.245174867] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050054.246084988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050054.246864868] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050054.247574510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050054.248065785] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050054.335084647] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050054.337631856] [sailbot.teensy]: Wind angle: 253 -[trim_sail-4] [INFO] [1746050054.337675439] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050054.338522321] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050054.339494029] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050054.340368784] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050054.341137630] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050054.344317441] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050054.344924337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050054.345808249] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050054.346665413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050054.347935859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050054.445338062] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050054.446161672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050054.446891846] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050054.447938990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050054.448422963] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050054.503758031] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46907686 Long: -76.50277183 -[vectornav-1] [INFO] [1746050054.505676296] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (267.293, -3.768, 7.317) -[mux-7] [INFO] [1746050054.544669949] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050054.545300394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050054.545787285] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050054.546973852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050054.548024207] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050054.585393153] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050054.587324236] [sailbot.teensy]: Wind angle: 253 -[trim_sail-4] [INFO] [1746050054.588263255] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050054.588322584] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050054.589188253] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050054.589329681] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050054.590069120] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050054.644732461] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050054.645346607] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050054.645970535] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050054.647253129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050054.648302057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050054.745531938] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050054.746389951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050054.747375035] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050054.748037676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050054.748582468] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050054.835090069] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050054.836627264] [sailbot.teensy]: Wind angle: 253 -[trim_sail-4] [INFO] [1746050054.837147056] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050054.837497142] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050054.838357868] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050054.838530379] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050054.839259312] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050054.844398570] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050054.845023330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050054.845666319] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050054.846718990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050054.847759451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050054.945079770] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050054.945882288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050054.946584229] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050054.948025192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050054.948524008] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050055.002799294] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46907473 Long: -76.50277056 -[vectornav-1] [INFO] [1746050055.004083911] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (264.615, -2.778, 5.699) -[mux-7] [INFO] [1746050055.045181094] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050055.046112644] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050055.046890717] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050055.048196259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050055.049274967] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050055.085119708] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050055.087307354] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050055.088420301] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050055.090344589] [sailbot.teensy]: Wind angle: 253 -[teensy-2] [INFO] [1746050055.090797010] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050055.091165285] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050055.091989726] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050055.144642050] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050055.145469404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050055.145790408] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050055.147206324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050055.148393027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050055.245312594] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050055.246375473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050055.246905536] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050055.247932777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050055.248421675] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050055.335275089] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050055.337542440] [sailbot.teensy]: Wind angle: 253 -[trim_sail-4] [INFO] [1746050055.338205501] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050055.338545209] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050055.339028001] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050055.339492173] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050055.340313569] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050055.344540137] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050055.345111003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050055.345762926] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050055.346925058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050055.348108554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050055.445165551] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050055.445959289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050055.446634734] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050055.448090317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050055.449152063] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050055.502823170] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46907229 Long: -76.50277006 -[vectornav-1] [INFO] [1746050055.503958113] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (265.624, -2.62, 6.032) -[mux-7] [INFO] [1746050055.545103391] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050055.545770354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050055.546434651] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050055.547757409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050055.548780080] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050055.585280824] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050055.586980495] [sailbot.teensy]: Wind angle: 253 -[teensy-2] [INFO] [1746050055.588061849] [sailbot.teensy]: Actual sail angle: 31 -[trim_sail-4] [INFO] [1746050055.588486328] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050055.589037437] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050055.589482996] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050055.589950105] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050055.645117070] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050055.645758145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050055.646577646] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050055.647867362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050055.648660904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050055.745146730] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050055.746217655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050055.746714683] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050055.748426193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050055.749613355] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050055.835411360] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050055.837732910] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050055.838189216] [sailbot.teensy]: Wind angle: 254 -[mux-7] [INFO] [1746050055.838842021] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050055.839199566] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050055.839727673] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050055.840099298] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050055.844326348] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050055.844959280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050055.845429691] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050055.846732991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050055.847789415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050055.944836864] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050055.945649713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050055.946167111] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050055.947497494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050055.948511805] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050056.003358597] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46907075 Long: -76.50276928 -[vectornav-1] [INFO] [1746050056.005399326] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (267.443, -2.616, 3.048) -[mux-7] [INFO] [1746050056.044871164] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050056.046049409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050056.046105115] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050056.047825683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050056.048883446] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050056.085413075] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050056.087948160] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050056.088763363] [sailbot.teensy]: Wind angle: 254 -[mux-7] [INFO] [1746050056.088900424] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050056.089723665] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050056.090627416] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050056.091438720] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746050056.152365141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050056.153451473] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050056.155607863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[mux-7] [INFO] [1746050056.157573449] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050056.157855760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050056.245219165] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050056.245947602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050056.246698890] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050056.248117963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050056.249329146] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050056.335233827] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050056.337504427] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050056.338176117] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050056.338839676] [sailbot.teensy]: Wind angle: 254 -[teensy-2] [INFO] [1746050056.339834710] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050056.340767201] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050056.341625122] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050056.344391705] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050056.344890578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050056.345514650] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050056.346582936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050056.347788227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050056.445299953] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050056.445859232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050056.446910271] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050056.447916771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050056.449018710] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050056.503390346] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906988 Long: -76.50276887 -[vectornav-1] [INFO] [1746050056.505106710] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (268.48, -2.313, 3.821) -[mux-7] [INFO] [1746050056.545356152] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050056.545928260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050056.546875124] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050056.548399740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050056.549596581] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050056.585449622] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050056.587381346] [sailbot.teensy]: Wind angle: 254 -[trim_sail-4] [INFO] [1746050056.588440704] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050056.588496039] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050056.589423313] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050056.589619710] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050056.590333537] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050056.644973365] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050056.645896603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050056.646322910] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050056.647632002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050056.648114218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050056.745246061] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050056.745875412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050056.746842164] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050056.748138434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050056.748791442] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050056.835223766] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050056.840988017] [sailbot.teensy]: Wind angle: 256 -[trim_sail-4] [INFO] [1746050056.841355804] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050056.841398486] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050056.841698045] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050056.841775569] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050056.842157557] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050056.843763748] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050056.844496363] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050056.844907868] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050056.845751913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050056.846202532] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050056.945107153] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050056.945830447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050056.946814366] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050056.947902218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050056.949003856] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050057.003520404] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906953 Long: -76.50276877 -[vectornav-1] [INFO] [1746050057.005562424] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (268.74299999999994, -2.85, 4.342) -[mux-7] [INFO] [1746050057.045423973] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050057.046058790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050057.047389931] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050057.048344325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050057.049515583] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050057.085403004] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050057.087889883] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050057.088821244] [sailbot.teensy]: Wind angle: 256 -[teensy-2] [INFO] [1746050057.089899567] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050057.090564550] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050057.090824803] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050057.091779624] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050057.145632172] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050057.146155592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050057.146722499] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050057.148226866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050057.149350516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050057.245058007] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050057.246100513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050057.246890684] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050057.247884765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050057.248396587] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050057.335143651] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050057.337310579] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050057.337859206] [sailbot.teensy]: Wind angle: 256 -[mux-7] [INFO] [1746050057.338143514] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050057.338999645] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050057.340074769] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050057.340607966] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050057.344420845] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050057.345007665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050057.345711239] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050057.346714698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050057.347745688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050057.445447620] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050057.446249163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050057.447073046] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050057.448310147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050057.448855112] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050057.503036807] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906955 Long: -76.50276869 -[vectornav-1] [INFO] [1746050057.504432963] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (268.25199999999995, -2.367, 4.761) -[mux-7] [INFO] [1746050057.544836904] [sailbot.mux]: Published sail angle from controller_app: 31 -[mux-7] [INFO] [1746050057.546082688] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050057.546259704] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050057.548300577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050057.549356230] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050057.585435807] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050057.587722918] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050057.587717003] [sailbot.teensy]: Wind angle: 256 -[teensy-2] [INFO] [1746050057.588724382] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050057.589045767] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050057.589658887] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050057.590626458] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050057.645027536] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050057.645818027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050057.646418298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050057.648049589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050057.649198065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050057.745253835] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050057.745954841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050057.746681791] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050057.748261619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050057.748754755] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050057.835198209] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050057.837429043] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050057.838109209] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050057.838449529] [sailbot.teensy]: Wind angle: 260 -[teensy-2] [INFO] [1746050057.839076804] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050057.839437880] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050057.839775812] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050057.844442848] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050057.844933145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050057.845533804] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050057.846608775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050057.847671285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050057.944645655] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050057.945272484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050057.945803574] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050057.947034946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050057.948036415] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050058.002910584] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906956 Long: -76.50276856 -[vectornav-1] [INFO] [1746050058.004361058] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (268.18499999999995, -1.845, 6.052) -[mux-7] [INFO] [1746050058.045176146] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050058.046011083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050058.046785601] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050058.048187339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050058.049208083] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050058.085356453] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050058.087084576] [sailbot.teensy]: Wind angle: 260 -[trim_sail-4] [INFO] [1746050058.087553698] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050058.087993042] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050058.088913572] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050058.089363881] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050058.089825869] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050058.145075085] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050058.145891535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050058.146512266] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050058.147837132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050058.148342548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050058.245123946] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050058.245905783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050058.246801172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050058.247871165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050058.248650204] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050058.335190869] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050058.336743297] [sailbot.teensy]: Wind angle: 260 -[trim_sail-4] [INFO] [1746050058.337230454] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050058.337619981] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050058.338469696] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050058.338900118] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050058.339334564] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050058.344373025] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050058.345030950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050058.345500679] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050058.346800982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050058.347850949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050058.444884307] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050058.445397567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050058.446032937] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050058.447141818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050058.448197064] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050058.503068919] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906939 Long: -76.50276841 -[vectornav-1] [INFO] [1746050058.504658781] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (268.50299999999993, -2.306, 5.969) -[mux-7] [INFO] [1746050058.545294500] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050058.546022406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050058.547080820] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050058.548105589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050058.549404100] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050058.585034539] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050058.586639748] [sailbot.teensy]: Wind angle: 260 -[trim_sail-4] [INFO] [1746050058.587058852] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050058.587519026] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050058.588382566] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050058.588737285] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050058.589270520] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050058.645044949] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050058.645673217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050058.646418392] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050058.647726316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050058.648210579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050058.745577088] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050058.746371149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050058.747151879] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050058.748237189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050058.748720927] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050058.835557290] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050058.838515553] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050058.838662842] [sailbot.teensy]: Wind angle: 260 -[mux-7] [INFO] [1746050058.839508089] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050058.839607274] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050058.840564088] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050058.841466885] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050058.844403016] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050058.845283946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050058.845523547] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050058.847013507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050058.848228374] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050058.944953022] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050058.945476158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050058.946250920] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050058.947287202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050058.948491023] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050059.003683149] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906922 Long: -76.50276803 -[vectornav-1] [INFO] [1746050059.005192600] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (267.98, -2.276, 8.231) -[mux-7] [INFO] [1746050059.045311795] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050059.045886486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050059.046624380] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050059.047713980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050059.049222626] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050059.085589089] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050059.087954462] [sailbot.teensy]: Wind angle: 260 -[trim_sail-4] [INFO] [1746050059.088205258] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050059.089336394] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050059.090714913] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050059.091617004] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050059.091783167] [sailbot.mux]: algo sail angle: 25 -[mux-7] [INFO] [1746050059.145175307] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050059.145705543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050059.147030440] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050059.147601905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050059.148712204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050059.245222486] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050059.245797279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050059.247003396] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050059.247656360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050059.248773125] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050059.335499110] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050059.337488306] [sailbot.teensy]: Wind angle: 260 -[trim_sail-4] [INFO] [1746050059.338157052] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050059.338486378] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050059.339372968] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050059.339895166] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050059.340246698] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050059.344340242] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050059.344829130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050059.345418818] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050059.346530320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050059.347688396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050059.445269121] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050059.445907089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050059.446918822] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050059.448085997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050059.448781216] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050059.503009763] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906885 Long: -76.50276782 -[vectornav-1] [INFO] [1746050059.504532723] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (267.615, -2.164, 7.903) -[mux-7] [INFO] [1746050059.545009276] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050059.545752480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050059.546248317] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050059.547642107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050059.548694079] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050059.585150536] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050059.587364837] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050059.587654145] [sailbot.teensy]: Wind angle: 261 -[teensy-2] [INFO] [1746050059.588650117] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050059.589010173] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050059.589582632] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050059.590464347] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050059.645415389] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050059.645958831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050059.647081683] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050059.648057682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050059.649652257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050059.745195411] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050059.745801020] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050059.746669888] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050059.748058962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050059.749342230] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050059.835278510] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050059.836973461] [sailbot.teensy]: Wind angle: 260 -[teensy-2] [INFO] [1746050059.837910298] [sailbot.teensy]: Actual sail angle: 31 -[trim_sail-4] [INFO] [1746050059.838123815] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050059.838806117] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050059.839228583] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050059.839719432] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050059.844428567] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050059.844848969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050059.845615452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050059.846538955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050059.847591479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050059.945299587] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050059.945888516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050059.946886162] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050059.948085404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050059.949164347] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050060.002822256] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906847 Long: -76.50276772 -[vectornav-1] [INFO] [1746050060.004025384] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (267.77099999999996, -2.294, 6.417) -[mux-7] [INFO] [1746050060.045094124] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050060.045761357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050060.046440293] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050060.047570643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050060.048593909] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050060.085128629] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050060.087453648] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050060.088343600] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050060.088886443] [sailbot.teensy]: Wind angle: 260 -[teensy-2] [INFO] [1746050060.090300118] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050060.091165997] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050060.092012026] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050060.145084571] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050060.145834072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050060.146576339] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050060.147914162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050060.148961225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050060.245074312] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050060.245968747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050060.246766563] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050060.247908385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050060.249116731] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050060.335317640] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050060.337357662] [sailbot.teensy]: Wind angle: 260 -[trim_sail-4] [INFO] [1746050060.337659681] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050060.338331339] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050060.339094955] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050060.339215931] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050060.340113519] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050060.344564572] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050060.344984372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050060.345823751] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050060.346653910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050060.347804469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050060.445525770] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050060.446127378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050060.447178791] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050060.448406674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050060.449648945] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050060.504362778] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906795 Long: -76.50276743 -[vectornav-1] [INFO] [1746050060.505822678] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (265.706, -3.122, 7.25) -[mux-7] [INFO] [1746050060.545171934] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050060.545953851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050060.546619108] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050060.547878664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050060.548915754] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050060.585543311] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050060.588111257] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050060.588346281] [sailbot.teensy]: Wind angle: 260 -[mux-7] [INFO] [1746050060.589242129] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050060.589273543] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050060.590182413] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050060.591048348] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050060.645236021] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050060.646071671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050060.646713050] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050060.648312382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050060.649451487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050060.745262118] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050060.746004353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050060.746767373] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050060.748194836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050060.749326209] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050060.835274893] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050060.837588056] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050060.837992697] [sailbot.teensy]: Wind angle: 257 -[teensy-2] [INFO] [1746050060.839039993] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050060.839175080] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050060.839952086] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050060.840836908] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050060.844403258] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050060.844990349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050060.845579773] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050060.846712654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050060.847842839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050060.945378914] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050060.945911783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050060.947057760] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050060.947995695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050060.949132568] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050061.003657574] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690664 Long: -76.50276577 -[vectornav-1] [INFO] [1746050061.005131658] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (253.274, -4.771, 7.741) -[mux-7] [INFO] [1746050061.045214716] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050061.045854065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050061.046676925] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050061.048249781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050061.049406663] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050061.085337852] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050061.087568539] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050061.087819763] [sailbot.teensy]: Wind angle: 252 -[teensy-2] [INFO] [1746050061.088783936] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050061.089247208] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050061.089723420] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050061.090655349] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050061.145153804] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050061.145937763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050061.146984867] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050061.147869799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050061.149074645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050061.245192551] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050061.246019807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050061.246702768] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050061.247921638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050061.249016900] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050061.335219387] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050061.336959378] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050061.337639734] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050061.337898049] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050061.338753940] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050061.338781806] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050061.339724162] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050061.344457022] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050061.345062132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050061.345580363] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050061.346799750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050061.347973277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050061.444994156] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050061.445923981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050061.447030805] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050061.448336561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050061.449536634] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050061.503203461] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906377 Long: -76.50276452 -[vectornav-1] [INFO] [1746050061.505111086] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (241.279, -6.469, 6.602) -[mux-7] [INFO] [1746050061.545142824] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050061.546070052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050061.546533562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050061.548174637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050061.549189160] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050061.585429770] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050061.588179537] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050061.588682985] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050061.588856034] [sailbot.teensy]: Wind angle: 254 -[teensy-2] [INFO] [1746050061.589845776] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050061.591023762] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050061.591922462] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050061.645195727] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050061.646045923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050061.646961390] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050061.648179755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050061.649410509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050061.745054664] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050061.745955459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050061.746783942] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050061.748405641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050061.749443397] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050061.835223054] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050061.837617712] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050061.838030279] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050061.838430604] [sailbot.teensy]: Wind angle: 252 -[teensy-2] [INFO] [1746050061.839415865] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050061.840265684] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050061.841097806] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050061.844442024] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050061.844952575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050061.845737782] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050061.846809701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050061.847931011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050061.945162417] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050061.945836660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050061.946625832] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050061.947721651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050061.948228211] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050062.003366160] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906051 Long: -76.50276369 -[vectornav-1] [INFO] [1746050062.005138869] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (232.827, -4.889, 7.029) -[mux-7] [INFO] [1746050062.045255007] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050062.046021479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050062.046922700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050062.048213479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050062.049256743] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050062.085299485] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050062.087475024] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050062.087722083] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050062.088386949] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050062.088860939] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050062.089323018] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050062.090255437] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050062.145072036] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050062.145755354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050062.146745122] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050062.147596280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050062.148789738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050062.245187556] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050062.245796296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050062.247101915] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050062.247788042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050062.248851440] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050062.335179833] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050062.336876157] [sailbot.teensy]: Wind angle: 253 -[trim_sail-4] [INFO] [1746050062.337576851] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050062.337797442] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050062.338647640] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050062.339419614] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050062.339551617] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050062.344486181] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050062.345048096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050062.345594448] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050062.346812436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050062.347806327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050062.445344629] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050062.446086591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050062.446935101] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050062.448371877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050062.448889849] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050062.502726162] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905779 Long: -76.50276279 -[vectornav-1] [INFO] [1746050062.503881271] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (225.55099999999993, -1.341, 10.68) -[mux-7] [INFO] [1746050062.545251893] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050062.546231685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050062.546644546] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050062.548452992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050062.549471195] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050062.585194116] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050062.587363558] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050062.588061787] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050062.588443311] [sailbot.teensy]: Wind angle: 253 -[teensy-2] [INFO] [1746050062.589400895] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050062.590253495] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050062.591121103] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050062.645144164] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050062.645877123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050062.646690511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050062.648589905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050062.649613599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050062.745326098] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050062.746081954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050062.746816932] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050062.748698256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050062.749861764] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050062.835535716] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050062.838257985] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050062.838733845] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050062.839278096] [sailbot.teensy]: Wind angle: 253 -[teensy-2] [INFO] [1746050062.840511812] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050062.841447241] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050062.842264442] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050062.844342833] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050062.844932989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050062.845529712] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050062.846715302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050062.847765296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050062.945279471] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050062.946024243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050062.946794784] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050062.948249456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050062.949495481] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050063.003510287] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905518 Long: -76.50276206 -[vectornav-1] [INFO] [1746050063.004966078] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (219.85699999999997, -0.806, 9.172) -[mux-7] [INFO] [1746050063.045214731] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050063.046154970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050063.046752641] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050063.048676523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050063.049861519] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050063.085431573] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050063.088006067] [sailbot.teensy]: Wind angle: 254 -[trim_sail-4] [INFO] [1746050063.088030741] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050063.088805056] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050063.088992158] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050063.089899609] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050063.090794523] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050063.145144977] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050063.145841686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050063.146549189] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050063.147858407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050063.148920846] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050063.245050227] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050063.245749303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050063.246985115] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050063.247930144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050063.248774298] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050063.335168681] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050063.337263399] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050063.337525818] [sailbot.teensy]: Wind angle: 253 -[mux-7] [INFO] [1746050063.337764646] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050063.338544317] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050063.339353812] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050063.339743765] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050063.344449696] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050063.344983194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050063.345572184] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050063.346793567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050063.347781188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050063.445044907] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050063.445758097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050063.446474643] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050063.447963043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050063.449011099] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050063.502661968] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690529 Long: -76.50276128 -[vectornav-1] [INFO] [1746050063.504392342] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (214.95000000000005, 0.314, 11.293) -[mux-7] [INFO] [1746050063.545520508] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050063.546604370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050063.547698095] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050063.548862976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050063.549995076] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050063.585291065] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050063.587044260] [sailbot.teensy]: Wind angle: 253 -[trim_sail-4] [INFO] [1746050063.587821940] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050063.588055891] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050063.589049445] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050063.589595399] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050063.590006591] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050063.644901742] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050063.645764737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050063.646174944] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050063.647652192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050063.648675647] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050063.745663310] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050063.746446726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050063.747233344] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050063.748696894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050063.749901405] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050063.835152223] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050063.837276216] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050063.837835489] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050063.838366445] [sailbot.teensy]: Wind angle: 256 -[teensy-2] [INFO] [1746050063.839035979] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050063.839467523] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050063.839815688] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050063.844385342] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050063.845099575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050063.845557773] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050063.846870076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050063.847917916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050063.945180771] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050063.946029736] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050063.946683940] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050063.948565846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050063.949089959] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050064.003479769] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905206 Long: -76.50275993 -[vectornav-1] [INFO] [1746050064.005263828] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (211.49800000000005, -0.087, 12.975) -[mux-7] [INFO] [1746050064.044727252] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050064.045459007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050064.045898352] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050064.047550915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050064.048688481] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050064.085527545] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050064.087443244] [sailbot.teensy]: Wind angle: 258 -[teensy-2] [INFO] [1746050064.088414690] [sailbot.teensy]: Actual sail angle: 31 -[trim_sail-4] [INFO] [1746050064.088006777] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050064.089337895] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050064.089773354] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050064.090183954] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050064.144976112] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050064.146418282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050064.146515854] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050064.148318989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050064.149435238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050064.245166362] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050064.246099300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050064.246597114] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050064.248121402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050064.249292864] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050064.335171536] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050064.336766411] [sailbot.teensy]: Wind angle: 263 -[trim_sail-4] [INFO] [1746050064.337264847] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050064.337624614] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050064.338522778] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050064.338728228] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050064.339519463] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050064.344481389] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050064.345100690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050064.345906665] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050064.346835466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050064.347977455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050064.444928772] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050064.445639402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050064.446191377] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050064.447788952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050064.448829036] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050064.503143236] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905124 Long: -76.5027596 -[vectornav-1] [INFO] [1746050064.504641527] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (208.94100000000003, 4.234, 10.56) -[mux-7] [INFO] [1746050064.545271819] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050064.546119053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050064.546779080] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050064.548680728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050064.549672258] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050064.585263510] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050064.587025177] [sailbot.teensy]: Wind angle: 266 -[teensy-2] [INFO] [1746050064.588129491] [sailbot.teensy]: Actual sail angle: 31 -[trim_sail-4] [INFO] [1746050064.588032591] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050064.589080877] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050064.589899413] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050064.589969808] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050064.645232593] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050064.646349083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050064.646833907] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050064.648827190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050064.649987074] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050064.744945866] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050064.746020564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050064.746232414] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050064.747991046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050064.749089773] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050064.835316976] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050064.837741990] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050064.838385699] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050064.838386217] [sailbot.teensy]: Wind angle: 264 -[teensy-2] [INFO] [1746050064.839342570] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050064.840253890] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050064.840856300] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050064.844413098] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050064.844837444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050064.845496032] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050064.846520315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050064.847657759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050064.945089045] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050064.945782889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050064.946638474] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050064.947950494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050064.949139894] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050065.003040589] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905089 Long: -76.502759 -[vectornav-1] [INFO] [1746050065.004754893] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (209.04499999999996, 4.559, 9.7) -[mux-7] [INFO] [1746050065.045267324] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050065.046071321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050065.046850826] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050065.048412942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050065.049510743] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050065.085132638] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050065.086745752] [sailbot.teensy]: Wind angle: 265 -[trim_sail-4] [INFO] [1746050065.087222265] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050065.088861174] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050065.089235240] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050065.089818820] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050065.090814516] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050065.144893407] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050065.145655988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050065.146132284] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050065.147562043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050065.148572216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050065.244980633] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050065.245757443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050065.246247516] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050065.247690319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050065.248746209] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050065.335160669] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050065.337581035] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050065.338142949] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050065.339047082] [sailbot.teensy]: Wind angle: 266 -[teensy-2] [INFO] [1746050065.339989808] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050065.340593855] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050065.340949833] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050065.344542808] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050065.344978431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050065.345717819] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050065.346809558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050065.347925411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050065.445030786] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050065.445805347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050065.446696038] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050065.447843707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050065.449061922] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050065.503782437] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905059 Long: -76.50275803 -[vectornav-1] [INFO] [1746050065.505300801] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (210.683, 3.112, 7.092) -[mux-7] [INFO] [1746050065.544870055] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050065.545508882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050065.546014220] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050065.547423405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050065.548508371] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050065.585487786] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050065.587393196] [sailbot.teensy]: Wind angle: 267 -[teensy-2] [INFO] [1746050065.588464277] [sailbot.teensy]: Actual sail angle: 31 -[trim_sail-4] [INFO] [1746050065.588296563] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050065.589218371] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050065.589379816] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050065.590292788] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050065.645041999] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050065.645876286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050065.646390580] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050065.647762072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050065.648860571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050065.744756933] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050065.745294492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050065.746131716] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050065.747153558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050065.748184967] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050065.835465570] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050065.837368794] [sailbot.teensy]: Wind angle: 267 -[trim_sail-4] [INFO] [1746050065.837922748] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050065.839194575] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050065.839654157] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050065.840176275] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050065.840928916] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050065.844397983] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050065.845102494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050065.845707356] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050065.846856862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050065.847865456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050065.945326862] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050065.946074003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050065.946843367] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050065.947714261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050065.948279214] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050066.002808893] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905015 Long: -76.50275755 -[vectornav-1] [INFO] [1746050066.004244210] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (210.89800000000002, 1.648, 4.522) -[mux-7] [INFO] [1746050066.044813754] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050066.045634634] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050066.047443670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[mux-7] [INFO] [1746050066.045988806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050066.048530153] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050066.085191812] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050066.087334533] [sailbot.teensy]: Wind angle: 267 -[trim_sail-4] [INFO] [1746050066.087350857] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050066.087823128] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050066.088301879] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050066.089179113] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050066.090029813] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050066.144820479] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050066.145524622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050066.146079296] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050066.147287267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050066.148262563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050066.245167373] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050066.245778743] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050066.246703039] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050066.248019125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050066.249170857] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050066.335201789] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050066.337137364] [sailbot.teensy]: Wind angle: 267 -[teensy-2] [INFO] [1746050066.338082351] [sailbot.teensy]: Actual sail angle: 31 -[trim_sail-4] [INFO] [1746050066.337745497] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050066.338919097] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050066.338967558] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050066.339841405] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050066.344357078] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050066.344893051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050066.346009638] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050066.346660126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050066.347834657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050066.445319929] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050066.446035332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050066.446885774] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050066.448178642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050066.449411091] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050066.503479369] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904971 Long: -76.50275781 -[vectornav-1] [INFO] [1746050066.504991099] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (210.79399999999998, 0.44, 3.189) -[mux-7] [INFO] [1746050066.544960315] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050066.545902948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050066.546289750] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050066.547649747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050066.548110710] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050066.585483007] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050066.587788954] [sailbot.teensy]: Wind angle: 267 -[teensy-2] [INFO] [1746050066.588835800] [sailbot.teensy]: Actual sail angle: 31 -[trim_sail-4] [INFO] [1746050066.588228713] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050066.589725906] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050066.589937585] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050066.590590455] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050066.644960158] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050066.645986207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050066.646855953] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050066.648635636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050066.649691815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050066.745127069] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050066.745872135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050066.746575435] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050066.747985174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050066.748459062] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050066.835144604] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050066.837886101] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050066.838195588] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050066.838905654] [sailbot.teensy]: Wind angle: 266 -[teensy-2] [INFO] [1746050066.839847157] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050066.840805752] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050066.841230899] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050066.844520925] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050066.844965846] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050066.845633964] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050066.846652264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050066.847718170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050066.944943416] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050066.946003083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050066.946246679] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050066.947821780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050066.948949606] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050067.002786845] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904907 Long: -76.50275845 -[vectornav-1] [INFO] [1746050067.004516839] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (206.85000000000002, 1.493, -5.006) -[mux-7] [INFO] [1746050067.045016305] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050067.045871992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050067.046295168] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050067.047836680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050067.049122032] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050067.085274765] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050067.087058542] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746050067.087718175] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050067.088033890] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050067.088844522] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050067.088974544] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050067.089842909] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050067.145145739] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050067.145765873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050067.146863262] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050067.147803800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050067.148861260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050067.244859445] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050067.245393446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050067.246019841] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050067.246512876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050067.247036293] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050067.335070515] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050067.336793362] [sailbot.teensy]: Wind angle: 270 -[trim_sail-4] [INFO] [1746050067.337275232] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050067.337751498] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050067.338884296] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050067.338966484] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050067.339872934] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050067.344386884] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050067.345085875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050067.345752230] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050067.346789951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050067.347941893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050067.445266453] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050067.446120681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050067.446814894] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050067.448314473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050067.449176781] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050067.503520472] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904885 Long: -76.50275845 -[vectornav-1] [INFO] [1746050067.505293650] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (201.447, -1.709, -8.874) -[mux-7] [INFO] [1746050067.544999274] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050067.545877083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050067.546284428] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050067.547923994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050067.549083998] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050067.585389022] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050067.587682090] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050067.588213852] [sailbot.teensy]: Wind angle: 269 -[mux-7] [INFO] [1746050067.588995232] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050067.589878736] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050067.590786729] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050067.591656521] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050067.645038825] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050067.645941725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050067.646702442] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050067.648125890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050067.649129478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050067.745533011] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050067.746250609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050067.747199556] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050067.748330295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050067.748821544] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050067.835189712] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050067.836955695] [sailbot.teensy]: Wind angle: 272 -[trim_sail-4] [INFO] [1746050067.837622667] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050067.838794259] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050067.839871845] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050067.840809980] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050067.841657539] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050067.844359205] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050067.845145889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050067.845503678] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050067.846959980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050067.848026149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050067.945230135] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050067.945956362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050067.946828691] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050067.948280815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050067.949452928] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050068.002931353] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904806 Long: -76.50275843 -[vectornav-1] [INFO] [1746050068.004099247] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (198.341, -2.007, -13.585) -[mux-7] [INFO] [1746050068.045144487] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050068.045825092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050068.046568257] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050068.047914191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050068.049079972] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050068.085533857] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050068.087920590] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050068.088225211] [sailbot.teensy]: Wind angle: 273 -[teensy-2] [INFO] [1746050068.089279307] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050068.089391321] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050068.090233294] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050068.091242686] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050068.145179947] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050068.146021777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050068.146888638] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050068.148408595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050068.149582094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050068.245144885] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050068.246069488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050068.246574790] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050068.248055214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050068.249070346] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050068.335259233] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050068.337538452] [sailbot.teensy]: Wind angle: 275 -[teensy-2] [INFO] [1746050068.338356828] [sailbot.teensy]: Actual sail angle: 31 -[trim_sail-4] [INFO] [1746050068.338126896] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050068.338662496] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050068.338739381] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050068.339106510] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050068.344428102] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050068.345452798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050068.345711750] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050068.347225962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050068.348288256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050068.445005887] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050068.445709359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050068.446327654] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050068.447782754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050068.448792560] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050068.502643644] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690479 Long: -76.50275866 -[vectornav-1] [INFO] [1746050068.503783633] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.14800000000002, 0.104, -17.908) -[mux-7] [INFO] [1746050068.544954401] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050068.545669857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050068.546289322] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050068.547544350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050068.548569262] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050068.585078957] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050068.586737959] [sailbot.teensy]: Wind angle: 275 -[trim_sail-4] [INFO] [1746050068.587283136] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050068.587712279] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050068.588636536] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050068.588681169] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050068.589526671] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050068.645116004] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050068.645764402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050068.646694329] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050068.647795297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050068.648924165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050068.745109670] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050068.745967971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050068.746583988] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050068.748224902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050068.749368020] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050068.835144901] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050068.837139327] [sailbot.teensy]: Wind angle: 275 -[trim_sail-4] [INFO] [1746050068.837625849] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050068.838779747] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050068.838820694] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050068.839237030] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050068.839848739] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050068.844401141] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050068.845212803] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050068.845623590] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050068.847008164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050068.848081483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050068.945468616] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050068.946576117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050068.947115908] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050068.949015355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050068.950310167] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050069.003432432] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904787 Long: -76.50275842 -[vectornav-1] [INFO] [1746050069.005140504] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.17899999999997, 1.765, -15.191) -[mux-7] [INFO] [1746050069.045407921] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050069.046166842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050069.046874608] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050069.048513043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050069.049567030] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050069.085361768] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050069.087766537] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050069.087874653] [sailbot.teensy]: Wind angle: 276 -[teensy-2] [INFO] [1746050069.088813671] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050069.089661838] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050069.089679892] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050069.090621597] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050069.145303068] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050069.146235346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050069.146872635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050069.147973813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050069.148487754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050069.245198200] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050069.245926904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050069.246694238] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050069.247695857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050069.248185831] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050069.335377327] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050069.337271807] [sailbot.teensy]: Wind angle: 276 -[teensy-2] [INFO] [1746050069.338284897] [sailbot.teensy]: Actual sail angle: 31 -[trim_sail-4] [INFO] [1746050069.337947369] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050069.339202405] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050069.340063315] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050069.340382862] [sailbot.mux]: algo sail angle: 35 -[mux-7] [INFO] [1746050069.344413568] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050069.345015991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050069.345671113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050069.346800816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050069.347989921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050069.445488016] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050069.446108519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050069.447122525] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050069.448386365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050069.449490271] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050069.502812086] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904742 Long: -76.50275845 -[vectornav-1] [INFO] [1746050069.504038015] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.95900000000006, 1.813, -8.66) -[mux-7] [INFO] [1746050069.545119769] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050069.545724842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050069.546498148] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050069.547840845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050069.548923746] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050069.585259680] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050069.586894137] [sailbot.teensy]: Wind angle: 276 -[trim_sail-4] [INFO] [1746050069.587566722] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050069.587824670] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050069.588768528] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050069.589175230] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050069.589645190] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050069.645032210] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050069.645781121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050069.646500973] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050069.647841389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050069.649019788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050069.744701803] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050069.745334715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050069.745943950] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050069.747165667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050069.748275204] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050069.835266933] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050069.836930599] [sailbot.teensy]: Wind angle: 275 -[trim_sail-4] [INFO] [1746050069.837690835] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050069.837857895] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050069.838736070] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050069.838827826] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050069.839607315] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050069.844485430] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050069.845200907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050069.845745662] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050069.847058559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050069.848135766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050069.945370649] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050069.946030711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050069.946934484] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050069.948215571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050069.949328413] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050070.002859614] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904726 Long: -76.50275849 -[vectornav-1] [INFO] [1746050070.004112630] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.22000000000003, 2.092, -0.106) -[mux-7] [INFO] [1746050070.044865099] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050070.045702376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050070.046069885] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050070.047579032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050070.048594181] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050070.085178433] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050070.087115595] [sailbot.teensy]: Wind angle: 275 -[trim_sail-4] [INFO] [1746050070.087905520] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050070.088087922] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050070.088800479] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050070.089013952] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050070.089946836] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050070.145512962] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050070.146286622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050070.147171823] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050070.147996242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050070.148477910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050070.245292219] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050070.246088950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050070.246850900] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050070.248410015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050070.249494448] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050070.335370743] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050070.337199615] [sailbot.teensy]: Wind angle: 275 -[trim_sail-4] [INFO] [1746050070.338354907] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050070.338976533] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050070.339038196] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050070.339438250] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050070.339793090] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050070.344587080] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050070.345150096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050070.345826700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050070.347035886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050070.348234416] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050070.445532414] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050070.446288150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050070.447166385] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050070.449010708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050070.450132778] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050070.503247969] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904734 Long: -76.50275854 -[vectornav-1] [INFO] [1746050070.504501250] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.70100000000002, 0.683, -0.384) -[mux-7] [INFO] [1746050070.545020867] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050070.545642063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050070.546313753] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050070.547609762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050070.548763397] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050070.585400093] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050070.588077182] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050070.588556467] [sailbot.teensy]: Wind angle: 275 -[mux-7] [INFO] [1746050070.589480286] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050070.589509539] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050070.590412936] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050070.591243408] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050070.645255201] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050070.646078662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050070.646881700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050070.648606819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050070.649710687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050070.745280618] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050070.746293651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050070.746831428] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050070.748574308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050070.749746838] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050070.835346591] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050070.837440501] [sailbot.teensy]: Wind angle: 275 -[trim_sail-4] [INFO] [1746050070.837708446] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050070.838143082] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050070.838431179] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050070.839401415] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050070.840295724] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050070.844400149] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050070.845075315] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050070.846127511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050070.846849158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050070.848047466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050070.944960564] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050070.945656533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050070.946358348] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050070.947763163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050070.948850168] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050071.003001231] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904711 Long: -76.50275792 -[vectornav-1] [INFO] [1746050071.004587322] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.91599999999994, -0.039, 0.707) -[mux-7] [INFO] [1746050071.044841216] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050071.045600480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050071.046054127] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050071.047458848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050071.048501365] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050071.085467523] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050071.087482501] [sailbot.teensy]: Wind angle: 275 -[trim_sail-4] [INFO] [1746050071.087898730] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050071.088619824] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050071.089592022] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050071.090075857] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050071.090524864] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050071.144888639] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050071.145486134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050071.146114232] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050071.147256512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050071.148522390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050071.245392862] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050071.246117767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050071.246969355] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050071.248433362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050071.249550286] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050071.335391676] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050071.338210773] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050071.338787638] [sailbot.teensy]: Wind angle: 275 -[mux-7] [INFO] [1746050071.339318461] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050071.339471096] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050071.340033991] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050071.340408585] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050071.344637597] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050071.345303448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050071.345948827] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050071.347291289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050071.348403750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050071.445222128] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050071.445892097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050071.446789366] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050071.447927252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050071.449132791] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050071.502761416] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904688 Long: -76.50275785 -[vectornav-1] [INFO] [1746050071.503861067] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.639, 0.263, 4.308) -[mux-7] [INFO] [1746050071.544890975] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050071.545949666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050071.546461294] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050071.547759271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050071.548927251] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050071.585152584] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050071.587297607] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050071.587481915] [sailbot.teensy]: Wind angle: 275 -[mux-7] [INFO] [1746050071.588098801] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050071.588485032] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050071.589407299] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050071.590264581] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050071.645306131] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050071.646060065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050071.646966396] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050071.648426385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050071.649248106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050071.745726098] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050071.746278356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050071.747646506] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050071.748699021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050071.749891616] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050071.835237548] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050071.837537129] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050071.838604611] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050071.838847381] [sailbot.teensy]: Wind angle: 275 -[teensy-2] [INFO] [1746050071.840034479] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050071.840912889] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050071.841729210] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050071.844455374] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050071.844917035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050071.845663322] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050071.846664513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050071.847713371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050071.945301355] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050071.946303079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050071.947113959] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050071.948169163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050071.948679728] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050072.003305561] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904687 Long: -76.50275785 -[vectornav-1] [INFO] [1746050072.004951087] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.73000000000002, -1.304, 3.891) -[mux-7] [INFO] [1746050072.045187596] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050072.045778324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050072.046570129] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050072.047633877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050072.048787076] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050072.085343885] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050072.087190664] [sailbot.teensy]: Wind angle: 275 -[trim_sail-4] [INFO] [1746050072.087601823] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050072.088144244] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050072.089076965] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050072.089657390] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050072.089941484] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050072.145375930] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050072.145880898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050072.146994075] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050072.148272614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050072.149369841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050072.245304368] [sailbot.mux]: Published sail angle from controller_app: 31 -[mux-7] [INFO] [1746050072.246775198] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050072.248461342] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050072.250128521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050072.251132877] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050072.335102199] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050072.337382360] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050072.337482528] [sailbot.teensy]: Wind angle: 275 -[teensy-2] [INFO] [1746050072.338452816] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050072.339243749] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050072.339602234] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050072.340746089] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050072.344301857] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050072.344738190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050072.345404592] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050072.346453556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050072.347686259] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050072.445459032] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050072.446362007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050072.447251173] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050072.448325034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050072.448885523] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050072.503632954] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904658 Long: -76.50275824 -[vectornav-1] [INFO] [1746050072.505707550] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.235, 0.014, 3.618) -[mux-7] [INFO] [1746050072.545020844] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050072.545759465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050072.546576800] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050072.547771002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050072.548946995] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050072.585440874] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050072.587896014] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050072.588854572] [sailbot.teensy]: Wind angle: 275 -[mux-7] [INFO] [1746050072.588972117] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050072.589816449] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050072.590746185] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050072.591637491] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050072.643694579] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050072.644032307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050072.644201520] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050072.644859361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050072.645359217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050072.745168944] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050072.745968561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050072.746736871] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050072.748316070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050072.748843620] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050072.835147437] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050072.837504201] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050072.838465920] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050072.838578098] [sailbot.teensy]: Wind angle: 275 -[teensy-2] [INFO] [1746050072.839753033] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050072.840638762] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050072.841483006] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050072.844333554] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050072.844865653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050072.845788854] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050072.846564994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050072.847592906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050072.945480270] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050072.946337106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050072.947570002] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050072.948515026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050072.949018889] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050073.002762074] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904627 Long: -76.50275832 -[vectornav-1] [INFO] [1746050073.004203611] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.173, 0.453, 3.979) -[mux-7] [INFO] [1746050073.044687344] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050073.045536613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050073.046212110] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050073.047431599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050073.048447947] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050073.085209461] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050073.087023542] [sailbot.teensy]: Wind angle: 275 -[trim_sail-4] [INFO] [1746050073.087577534] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050073.088011302] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050073.088842613] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050073.088972097] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050073.089921729] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050073.144697026] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050073.145433359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050073.145910127] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050073.147203778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050073.148201264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050073.245328197] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050073.246203641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050073.246881766] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050073.248410021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050073.249702322] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050073.335174217] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050073.337347583] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050073.337723577] [sailbot.teensy]: Wind angle: 275 -[teensy-2] [INFO] [1746050073.338717125] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050073.339270171] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050073.339470731] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050073.339845180] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050073.344446077] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050073.345114062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050073.345542193] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050073.346804883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050073.348012534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050073.445445012] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050073.446471714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050073.447116564] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050073.449217591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050073.450320798] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050073.503668732] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904631 Long: -76.50275842 -[vectornav-1] [INFO] [1746050073.505397700] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.48800000000006, -0.987, 3.919) -[mux-7] [INFO] [1746050073.545268890] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050073.546065538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050073.547079573] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050073.548136380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050073.549179568] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050073.585434205] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050073.587526532] [sailbot.teensy]: Wind angle: 275 -[trim_sail-4] [INFO] [1746050073.588128876] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050073.588566611] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050073.589528705] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050073.589744930] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050073.590423399] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050073.645165541] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050073.645817943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050073.646727031] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050073.648266969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050073.649322468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050073.744946443] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050073.745651489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050073.746268641] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050073.747939118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050073.748964835] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050073.835313408] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050073.837121267] [sailbot.teensy]: Wind angle: 275 -[teensy-2] [INFO] [1746050073.838075120] [sailbot.teensy]: Actual sail angle: 31 -[trim_sail-4] [INFO] [1746050073.837723570] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050073.838352505] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050073.838997218] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050073.839907240] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050073.844391244] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050073.844932608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050073.845823774] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050073.846700957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050073.847765837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050073.945463477] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050073.946433682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050073.947024602] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050073.948798855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050073.949978778] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050074.003916788] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904604 Long: -76.50275856 -[vectornav-1] [INFO] [1746050074.005889385] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.644, 0.277, 3.415) -[mux-7] [INFO] [1746050074.045174453] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050074.045975879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050074.046626707] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050074.048085672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050074.049300448] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050074.085390611] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050074.087529386] [sailbot.teensy]: Wind angle: 275 -[trim_sail-4] [INFO] [1746050074.087718295] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050074.088531462] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050074.088940710] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050074.089472740] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050074.090373513] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050074.145211797] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050074.146089624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050074.147306363] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050074.148527618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050074.149719615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050074.245327865] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050074.246107674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050074.247309549] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050074.248713645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050074.249762186] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050074.335121120] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050074.336847098] [sailbot.teensy]: Wind angle: 275 -[trim_sail-4] [INFO] [1746050074.337307514] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050074.337815794] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050074.338734702] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050074.338788771] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050074.339673627] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050074.344485216] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050074.345047763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050074.345723097] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050074.346734407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050074.347784836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050074.444962397] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050074.445663301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050074.446299551] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050074.447883670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050074.449021206] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050074.502754318] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904595 Long: -76.50275846 -[vectornav-1] [INFO] [1746050074.503860546] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.87099999999998, 0.024, 4.638) -[mux-7] [INFO] [1746050074.544921969] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050074.545628325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050074.546265555] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050074.547565630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050074.548731019] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050074.585178251] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050074.586964001] [sailbot.teensy]: Wind angle: 275 -[trim_sail-4] [INFO] [1746050074.588059220] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050074.588947286] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050074.589090409] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050074.589881012] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050074.590728365] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050074.645171839] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050074.645841281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050074.646618854] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050074.648357936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050074.649380243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050074.745599265] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050074.746519146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050074.747255632] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050074.748562811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050074.749056104] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050074.835173122] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050074.837480366] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050074.837886403] [sailbot.teensy]: Wind angle: 275 -[mux-7] [INFO] [1746050074.838140952] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050074.839167308] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050074.840035549] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050074.840913552] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050074.844567700] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050074.845265645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050074.845736757] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050074.846963975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050074.848116513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050074.945652344] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050074.946539830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050074.947426005] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050074.948469632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050074.948974569] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050075.002673526] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904553 Long: -76.5027584 -[vectornav-1] [INFO] [1746050075.003996953] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.97199999999998, -1.133, 4.881) -[mux-7] [INFO] [1746050075.044931265] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050075.045827845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050075.046236371] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050075.047724091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050075.048738292] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050075.085020041] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050075.086417808] [sailbot.teensy]: Wind angle: 275 -[trim_sail-4] [INFO] [1746050075.086930185] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050075.087272584] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050075.088211527] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050075.089099503] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050075.088459401] [sailbot.mux]: algo sail angle: 35 -[mux-7] [INFO] [1746050075.144972148] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050075.145579726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050075.146186589] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050075.147432160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050075.148473274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050075.244796375] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050075.245552369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050075.246295876] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050075.247496180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050075.248562920] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050075.335252324] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050075.337057328] [sailbot.teensy]: Wind angle: 275 -[trim_sail-4] [INFO] [1746050075.337816743] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050075.338002822] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050075.338905039] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050075.339063853] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050075.339785465] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050075.344305488] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050075.344764608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050075.345379631] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050075.346446818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050075.347485150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050075.445599665] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050075.446267694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050075.447256502] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050075.448623273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050075.449943871] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050075.503942337] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904536 Long: -76.50275837 -[vectornav-1] [INFO] [1746050075.505526425] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.43600000000004, 0.12, 4.55) -[mux-7] [INFO] [1746050075.544938909] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050075.545623850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050075.546282514] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050075.547538603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050075.548726618] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050075.585380309] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050075.587892003] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050075.588123826] [sailbot.teensy]: Wind angle: 275 -[mux-7] [INFO] [1746050075.588615987] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050075.588625466] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050075.589022647] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050075.589425304] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050075.644894835] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050075.645489740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050075.646315370] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050075.647479070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050075.648755170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050075.745573019] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050075.746390037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050075.747324876] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050075.748618265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050075.749881818] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050075.835263004] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050075.837547954] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050075.838321800] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050075.838884259] [sailbot.teensy]: Wind angle: 275 -[teensy-2] [INFO] [1746050075.839868434] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050075.840773558] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050075.841605280] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050075.844397985] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050075.844840519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050075.845891305] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050075.846548928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050075.847776490] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050075.945201257] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050075.945622167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050075.946705065] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050075.947684780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050075.948819333] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050076.002737924] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904504 Long: -76.5027584 -[vectornav-1] [INFO] [1746050076.003859732] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.22500000000002, -0.36, 5.309) -[mux-7] [INFO] [1746050076.045262011] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050076.046181323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050076.046870136] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050076.048348987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050076.049523067] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050076.085026091] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050076.086912007] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050076.087647563] [sailbot.teensy]: Wind angle: 275 -[mux-7] [INFO] [1746050076.088099617] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050076.088577636] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050076.089450413] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050076.090408365] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050076.144701633] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050076.145376135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050076.145959243] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050076.147237341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050076.148351436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050076.245341726] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050076.246311358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050076.246892075] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050076.248987675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050076.250074530] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050076.335264240] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050076.337092633] [sailbot.teensy]: Wind angle: 275 -[trim_sail-4] [INFO] [1746050076.337464799] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050076.338431013] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050076.339597878] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050076.338697893] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050076.340435531] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050076.344545973] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050076.344984090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050076.345688678] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050076.346687547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050076.347866405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050076.445417276] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050076.446056513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050076.447243241] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050076.448333781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050076.449434927] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050076.503432425] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904491 Long: -76.50275837 -[vectornav-1] [INFO] [1746050076.504885919] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.04399999999998, -0.805, 5.07) -[mux-7] [INFO] [1746050076.545010553] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050076.545496484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050076.546318136] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050076.547573150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050076.548607763] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050076.585359675] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050076.587925670] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050076.588254846] [sailbot.teensy]: Wind angle: 275 -[mux-7] [INFO] [1746050076.588606791] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050076.589263598] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050076.590156263] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050076.591008197] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050076.645473190] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050076.646575745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050076.647124980] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050076.649352427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050076.650618285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050076.745350980] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050076.746105458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050076.746907393] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050076.748369382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050076.749630055] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050076.835199090] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050076.836977734] [sailbot.teensy]: Wind angle: 275 -[trim_sail-4] [INFO] [1746050076.837343360] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050076.837860892] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050076.838625157] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050076.838751167] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050076.839612317] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050076.844345724] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050076.844976536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050076.845473907] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050076.846830197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050076.847849182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050076.945190345] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050076.945861844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050076.946863044] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050076.947889923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050076.948947830] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050077.002879481] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690447 Long: -76.50275802 -[vectornav-1] [INFO] [1746050077.004119453] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.197, 0.59, 5.886) -[mux-7] [INFO] [1746050077.045049156] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050077.045870396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050077.046376258] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050077.048021466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050077.049150306] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050077.085269331] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050077.087577475] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050077.087853408] [sailbot.teensy]: Wind angle: 275 -[teensy-2] [INFO] [1746050077.088840842] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050077.089371393] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050077.089721556] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050077.090643564] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050077.145193401] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050077.145828624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050077.146677900] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050077.148253431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050077.149334567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050077.245557953] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050077.246184232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050077.247234476] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050077.248531014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050077.249674930] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050077.335377105] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050077.337362248] [sailbot.teensy]: Wind angle: 274 -[teensy-2] [INFO] [1746050077.338481494] [sailbot.teensy]: Actual sail angle: 31 -[trim_sail-4] [INFO] [1746050077.338462457] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050077.339418119] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050077.339885115] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050077.340371190] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050077.344500229] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050077.345026960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050077.345676781] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050077.346710838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050077.347868849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050077.445161437] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050077.445640719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050077.446651187] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050077.447528042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050077.448758741] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050077.503903969] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904483 Long: -76.50275786 -[vectornav-1] [INFO] [1746050077.505642094] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.168, -1.922, 6.235) -[mux-7] [INFO] [1746050077.545176615] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050077.545772197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050077.546534113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050077.547685556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050077.548796863] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050077.585566844] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050077.587916507] [sailbot.teensy]: Wind angle: 274 -[trim_sail-4] [INFO] [1746050077.588358296] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050077.588920683] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050077.589480430] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050077.589787077] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050077.590676280] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050077.645232153] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050077.646004509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050077.646984528] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050077.648250491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050077.648917391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050077.745434588] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050077.746041214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050077.747229464] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050077.748304665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050077.748857879] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050077.835221877] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050077.837365497] [sailbot.teensy]: Wind angle: 274 -[teensy-2] [INFO] [1746050077.838317820] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050077.838858716] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746050077.838634845] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050077.838823249] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050077.839247852] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050077.844418445] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050077.844845519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050077.845618706] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050077.846496327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050077.847663008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050077.945297404] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050077.945802513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050077.946813835] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050077.947834954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050077.949102515] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050078.003048620] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904479 Long: -76.50275821 -[vectornav-1] [INFO] [1746050078.004405970] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.933, 0.782, 4.856) -[mux-7] [INFO] [1746050078.045503684] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050078.046160616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050078.047524490] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050078.048419447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050078.049627415] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050078.085342374] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050078.087198064] [sailbot.teensy]: Wind angle: 273 -[trim_sail-4] [INFO] [1746050078.087938261] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050078.088146856] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050078.089063257] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050078.089825457] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050078.089969951] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050078.145352958] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050078.145903684] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050078.146858480] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050078.148076457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050078.149099587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050078.245501045] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050078.246349526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050078.247287397] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050078.248575718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050078.249754295] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050078.335463279] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050078.337394003] [sailbot.teensy]: Wind angle: 269 -[teensy-2] [INFO] [1746050078.338611449] [sailbot.teensy]: Actual sail angle: 31 -[trim_sail-4] [INFO] [1746050078.339212148] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050078.339578739] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050078.340547841] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050078.340679973] [sailbot.mux]: algo sail angle: 30 -[mux-7] [INFO] [1746050078.344259956] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050078.344845512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050078.345550289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050078.346600677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050078.347736857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050078.444838804] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050078.445491618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050078.446186656] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050078.447539050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050078.448654765] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050078.504196940] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904465 Long: -76.50275842 -[vectornav-1] [INFO] [1746050078.506883861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.64999999999998, -0.426, 5.387) -[mux-7] [INFO] [1746050078.545232034] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050078.546159003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050078.546683917] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050078.548442972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050078.549459557] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050078.585415026] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050078.587857033] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050078.588896416] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050078.588925879] [sailbot.teensy]: Wind angle: 254 -[teensy-2] [INFO] [1746050078.589856198] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050078.590708519] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050078.591546601] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050078.645050371] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050078.645479120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050078.646308985] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050078.647480982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050078.648672516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050078.745150916] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050078.745694136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050078.746516279] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050078.747684502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050078.748710543] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050078.835116560] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050078.836648480] [sailbot.teensy]: Wind angle: 241 -[trim_sail-4] [INFO] [1746050078.837129498] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050078.837504067] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050078.838391383] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050078.838827802] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050078.839263107] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050078.844423507] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050078.844848734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050078.845584894] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050078.846561866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050078.847766236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050078.945585632] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050078.946204771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050078.947257242] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050078.948517470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050078.949747336] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050079.003809202] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904476 Long: -76.50275831 -[vectornav-1] [INFO] [1746050079.005239704] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.687, -0.32, 6.689) -[mux-7] [INFO] [1746050079.045191831] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050079.046474202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050079.046699819] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050079.048544165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050079.049596113] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050079.085400458] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050079.087181542] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050079.088100467] [sailbot.teensy]: Actual sail angle: 31 -[trim_sail-4] [INFO] [1746050079.087747174] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050079.088859479] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050079.088984722] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050079.089855651] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050079.145286309] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050079.146044045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050079.146824162] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050079.148372701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050079.149511604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050079.245588509] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050079.246343079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050079.247712002] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050079.248746968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050079.249530621] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050079.335336812] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050079.337706914] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050079.338017969] [sailbot.teensy]: Wind angle: 232 -[teensy-2] [INFO] [1746050079.338796138] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050079.338960114] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050079.339213871] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050079.339607692] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050079.344372015] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050079.344928530] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050079.345479306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050079.346762646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050079.347813763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050079.444798085] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050079.445421575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050079.446081183] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050079.447214363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050079.448396993] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050079.502775914] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904509 Long: -76.50275809 -[vectornav-1] [INFO] [1746050079.504216535] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.235, -1.294, 7.106) -[mux-7] [INFO] [1746050079.545118219] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050079.545736327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050079.546445980] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050079.547804158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050079.548839006] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050079.585224370] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050079.586984119] [sailbot.teensy]: Wind angle: 232 -[trim_sail-4] [INFO] [1746050079.587842216] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050079.587968078] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050079.588908315] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050079.589377072] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050079.589863158] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050079.645386863] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050079.646263024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050079.646985448] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050079.648551206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050079.649766334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050079.745556458] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050079.746503151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050079.747225650] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050079.749224555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050079.750353654] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050079.835353546] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050079.836994857] [sailbot.teensy]: Wind angle: 232 -[trim_sail-4] [INFO] [1746050079.837642829] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050079.837903657] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050079.838682693] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050079.838801815] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050079.839738294] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050079.844507355] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050079.845274503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050079.845651511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050079.846975066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050079.847997258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050079.945415294] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050079.946050604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050079.947017045] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050079.948397635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050079.949681155] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050080.003665665] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904482 Long: -76.50275802 -[vectornav-1] [INFO] [1746050080.005035219] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.97500000000002, -0.16, 4.686) -[mux-7] [INFO] [1746050080.045026605] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050080.045615632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050080.046382454] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050080.047771756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050080.048497409] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050080.085444244] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050080.087940357] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050080.089014110] [sailbot.teensy]: Wind angle: 232 -[mux-7] [INFO] [1746050080.089653646] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050080.090031990] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050080.090974050] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050080.091855845] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050080.145235239] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050080.146034240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050080.146843524] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050080.148422118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050080.149535195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050080.245549926] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050080.246691782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050080.247383879] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050080.248501857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050080.248934977] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050080.335303753] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050080.337491320] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050080.338517718] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050080.338703704] [sailbot.teensy]: Wind angle: 232 -[teensy-2] [INFO] [1746050080.339982052] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050080.340492239] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050080.340865230] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050080.344362395] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050080.344886463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050080.345617427] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050080.346567311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050080.347606674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050080.444988238] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050080.445631445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050080.446332804] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050080.447519281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050080.448584649] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050080.502642645] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904475 Long: -76.50275781 -[vectornav-1] [INFO] [1746050080.503734927] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.91200000000003, 0.095, 5.394) -[mux-7] [INFO] [1746050080.545292643] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050080.546034374] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050080.546712625] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050080.548089650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050080.549292359] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050080.585165326] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050080.587238125] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050080.587744565] [sailbot.teensy]: Wind angle: 232 -[mux-7] [INFO] [1746050080.588443080] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050080.588791485] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050080.589747446] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050080.590669105] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050080.645326145] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050080.646170732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050080.646847532] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050080.648264961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050080.649276226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050080.745375746] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050080.746242447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050080.747053656] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050080.748473588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050080.748940832] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050080.835211448] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050080.836847702] [sailbot.teensy]: Wind angle: 232 -[trim_sail-4] [INFO] [1746050080.837607270] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050080.837897758] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050080.838934973] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050080.839345313] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050080.839881500] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050080.844341251] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050080.844996868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050080.845507873] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050080.846702418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050080.847834318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050080.945123035] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050080.945946861] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050080.946578606] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050080.947837050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050080.948349904] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050081.003361809] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904469 Long: -76.50275758 -[vectornav-1] [INFO] [1746050081.004739787] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.62400000000002, -1.114, 5.843) -[mux-7] [INFO] [1746050081.045484625] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050081.045989619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050081.046961338] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050081.048226456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050081.049250908] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050081.085432947] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050081.087732775] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050081.087831250] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050081.088849422] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050081.089529118] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050081.089817206] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050081.090685855] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050081.145241699] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050081.145703003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050081.146620242] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050081.147594528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050081.148683420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050081.245589632] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050081.246162628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050081.247242501] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050081.248483019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050081.249130935] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050081.335206075] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050081.337412360] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050081.337966855] [sailbot.teensy]: Wind angle: 234 -[mux-7] [INFO] [1746050081.338415508] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050081.338970185] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050081.339642394] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050081.340018736] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050081.344424660] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050081.344903029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050081.346083134] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050081.346570729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050081.347701859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050081.445151176] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050081.445668781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050081.446814981] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050081.447619528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050081.448864871] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050081.502666890] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904459 Long: -76.50275751 -[vectornav-1] [INFO] [1746050081.503791998] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.20399999999995, -0.954, 4.204) -[mux-7] [INFO] [1746050081.545042634] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050081.545647703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050081.546391919] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050081.547441201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050081.548477047] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050081.585253795] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050081.587413251] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050081.587662381] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050081.588651010] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050081.589042854] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050081.589562661] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050081.590246545] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050081.644942214] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050081.645654250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050081.646640650] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050081.647586049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050081.648776872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050081.745107451] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050081.745800640] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050081.746525581] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050081.747762180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050081.748302716] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050081.835075954] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050081.836779042] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050081.837143117] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050081.838486538] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050081.838714264] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050081.839747521] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050081.840674069] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050081.844296963] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050081.844865609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050081.845567986] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050081.846668138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050081.847757878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050081.945042400] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050081.945792564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050081.946377107] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050081.947837090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050081.948875038] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050082.002692674] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904454 Long: -76.5027576 -[vectornav-1] [INFO] [1746050082.003896060] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.16100000000006, 0.334, 2.983) -[mux-7] [INFO] [1746050082.045246420] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050082.045905501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050082.046717063] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050082.048286453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050082.049328863] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050082.085254102] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050082.086906474] [sailbot.teensy]: Wind angle: 236 -[trim_sail-4] [INFO] [1746050082.087520682] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050082.087861795] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050082.088807408] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050082.089517475] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050082.089722541] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050082.145206651] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050082.146007541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050082.146657363] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050082.148014036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050082.149127808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050082.245205784] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050082.245950752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050082.246643806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050082.248190074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050082.248707967] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050082.335363691] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050082.337742198] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050082.338116938] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746050082.338914990] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050082.339171800] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050082.339652596] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050082.340073446] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050082.344272510] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050082.344884072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050082.345389671] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050082.346687239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050082.347860332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050082.445217598] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050082.446114797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050082.446683177] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050082.448247719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050082.449394070] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050082.503596436] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904451 Long: -76.50275751 -[vectornav-1] [INFO] [1746050082.505265107] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.21799999999996, -0.281, 4.217) -[mux-7] [INFO] [1746050082.545360160] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050082.546192213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050082.546928052] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050082.548318296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050082.549354273] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050082.585554458] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050082.587759806] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050082.587906893] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050082.588819037] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050082.589778306] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050082.589780971] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050082.590711755] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050082.645172646] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050082.645887872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050082.646662949] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050082.648203278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050082.649290566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050082.745318537] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050082.746464925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050082.746793981] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050082.748117133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050082.748571754] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050082.835191189] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050082.836893046] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050082.837204500] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050082.837829169] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050082.838724755] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050082.838713515] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050082.839626836] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050082.844426342] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050082.844938809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050082.845651681] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050082.846758398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050082.847797168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050082.945201667] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050082.945952516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050082.946664937] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050082.948007060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050082.949279922] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050083.002857809] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904418 Long: -76.50275747 -[vectornav-1] [INFO] [1746050083.004414542] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.74099999999999, -0.78, 5.087) -[mux-7] [INFO] [1746050083.044822427] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050083.045481844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050083.046084996] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050083.047303545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050083.048510228] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050083.085037285] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050083.086518419] [sailbot.teensy]: Wind angle: 236 -[trim_sail-4] [INFO] [1746050083.086998314] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050083.087379007] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050083.088246785] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050083.088830161] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050083.089164155] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050083.145058007] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050083.145958449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050083.146389306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050083.148040095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050083.149301321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050083.245339350] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050083.246258935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050083.246901572] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050083.247913742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050083.248454826] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050083.335364080] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050083.337422112] [sailbot.teensy]: Wind angle: 237 -[trim_sail-4] [INFO] [1746050083.338103073] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050083.338751704] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050083.338974662] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050083.339448576] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050083.339860722] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050083.344452571] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050083.344948293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050083.345523561] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050083.346640652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050083.347672767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050083.445302585] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050083.446115460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050083.446765918] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050083.448331769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050083.448758624] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050083.503600523] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690441 Long: -76.50275762 -[vectornav-1] [INFO] [1746050083.505773531] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.38800000000003, -0.378, 4.596) -[mux-7] [INFO] [1746050083.544915546] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050083.545621436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050083.546186124] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050083.547420019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050083.548470007] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050083.585265430] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050083.587390102] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050083.588026278] [sailbot.teensy]: Wind angle: 237 -[teensy-2] [INFO] [1746050083.588924920] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050083.589255265] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050083.589798371] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050083.590604104] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050083.644998227] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050083.645680680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050083.646353965] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050083.647607599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050083.648086076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050083.744993219] [sailbot.mux]: Published sail angle from controller_app: 31 -[mux-7] [INFO] [1746050083.746217859] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050083.746412917] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050083.748189352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050083.749190815] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050083.835165061] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050083.836691736] [sailbot.teensy]: Wind angle: 237 -[trim_sail-4] [INFO] [1746050083.837239706] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050083.837622403] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050083.838519349] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050083.838774943] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050083.839437092] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050083.844575839] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050083.845181847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050083.845779760] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050083.846893024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050083.847938012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050083.945824446] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050083.946622641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050083.947685097] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050083.948699144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050083.949227508] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050084.003743539] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904372 Long: -76.50275735 -[vectornav-1] [INFO] [1746050084.005538187] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.44499999999994, 0.716, 4.675) -[mux-7] [INFO] [1746050084.045022854] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050084.045502380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050084.046309172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050084.047413137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050084.048569768] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050084.085430657] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050084.087731279] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050084.088922362] [sailbot.teensy]: Wind angle: 237 -[mux-7] [INFO] [1746050084.089147178] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050084.089852097] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050084.090747833] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050084.091586422] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050084.145199568] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050084.145651596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050084.146665905] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050084.147692349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050084.148906525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050084.245371524] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050084.246190924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050084.246875344] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050084.248263532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050084.248957713] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050084.335219112] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050084.336869271] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050084.337748157] [sailbot.teensy]: Actual sail angle: 31 -[trim_sail-4] [INFO] [1746050084.337475388] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050084.338053064] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050084.338612727] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050084.339544333] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050084.344425080] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050084.344991424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050084.345568048] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050084.346756907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050084.347899315] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050084.445337028] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050084.446055744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050084.447147292] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050084.448131959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050084.449380135] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050084.502523769] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904362 Long: -76.50275716 -[vectornav-1] [INFO] [1746050084.503596667] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.135, -1.152, 5.35) -[mux-7] [INFO] [1746050084.545358679] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050084.546119990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050084.546782399] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050084.548068849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050084.548565847] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050084.585257486] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050084.586886567] [sailbot.teensy]: Wind angle: 237 -[trim_sail-4] [INFO] [1746050084.587806852] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050084.587848522] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050084.588734993] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050084.588752191] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050084.589634881] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050084.645169172] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050084.646343824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050084.646642223] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050084.648532301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050084.649568619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050084.745346822] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050084.745997293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050084.746950156] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050084.747823883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050084.748396126] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050084.835233925] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050084.836964370] [sailbot.teensy]: Wind angle: 237 -[trim_sail-4] [INFO] [1746050084.837823642] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050084.837881287] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050084.838613613] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050084.838694126] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050084.839095640] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050084.844300640] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050084.844809171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050084.845383426] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050084.846415265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050084.847583603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050084.945233678] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050084.945870300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050084.946788181] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050084.947861804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050084.948339020] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050085.003470539] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904341 Long: -76.50275702 -[vectornav-1] [INFO] [1746050085.005063218] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.85699999999997, -0.777, 4.99) -[mux-7] [INFO] [1746050085.045149707] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050085.045899014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050085.046470773] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050085.047800647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050085.048982961] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050085.085401853] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050085.087122720] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050085.088320470] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050085.088989383] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050085.089253282] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050085.090005436] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050085.090860774] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050085.145048891] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050085.145839604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050085.146405070] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050085.147814489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050085.148951657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050085.245245702] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050085.245998946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050085.246972072] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050085.247764593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050085.248300526] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050085.335243433] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050085.337461656] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050085.338120889] [sailbot.teensy]: Wind angle: 238 -[mux-7] [INFO] [1746050085.338729235] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050085.339111792] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050085.339645004] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050085.340023147] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050085.344683321] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050085.345262445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050085.345807277] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050085.347025695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050085.348237046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050085.445396477] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050085.446040224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050085.447086919] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050085.448392510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050085.449551113] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050085.502918395] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690432 Long: -76.50275711 -[vectornav-1] [INFO] [1746050085.504454637] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.88599999999997, 0.506, 4.286) -[mux-7] [INFO] [1746050085.545342406] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050085.546561320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050085.547009602] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050085.548438577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050085.549017183] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050085.585254618] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050085.587477326] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050085.589191968] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050085.589562640] [sailbot.teensy]: Wind angle: 237 -[teensy-2] [INFO] [1746050085.590517214] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050085.591365575] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050085.592226961] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050085.645291556] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050085.645924289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050085.646827995] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050085.648351787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050085.649399904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050085.745256825] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050085.745897823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050085.746745212] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050085.747889176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050085.748977037] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050085.835146804] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050085.836753289] [sailbot.teensy]: Wind angle: 237 -[trim_sail-4] [INFO] [1746050085.837529824] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050085.837687103] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050085.838618245] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050085.838959530] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050085.839500597] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050085.844447210] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050085.844976345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050085.845654870] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050085.846678800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050085.847709853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050085.945026368] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050085.945990286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050085.946482968] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050085.947880886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050085.948909370] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050086.003322903] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904285 Long: -76.50275684 -[vectornav-1] [INFO] [1746050086.005250727] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.514, -0.465, 5.525) -[mux-7] [INFO] [1746050086.045104775] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050086.045878593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050086.046447237] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050086.047948828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050086.048810688] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050086.085352811] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050086.087151927] [sailbot.teensy]: Wind angle: 237 -[trim_sail-4] [INFO] [1746050086.087803227] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050086.088093723] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050086.089015833] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050086.089474240] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050086.089889197] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050086.145290516] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050086.146192150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050086.146724436] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050086.148139475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050086.149229919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050086.245149559] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050086.245834992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050086.246502006] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050086.247828580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050086.248740827] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050086.335275516] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050086.336889591] [sailbot.teensy]: Wind angle: 237 -[trim_sail-4] [INFO] [1746050086.337491335] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050086.337818477] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050086.338704504] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050086.338883018] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050086.339573047] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050086.344302662] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050086.344924186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050086.345806456] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050086.346941402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050086.348012951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050086.445160203] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050086.446086392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050086.446692101] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050086.448198141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050086.449227701] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050086.502923678] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904273 Long: -76.50275687 -[vectornav-1] [INFO] [1746050086.504290574] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.048, -1.696, 4.572) -[mux-7] [INFO] [1746050086.544966836] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050086.545776373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050086.546203124] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050086.547600272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050086.548815913] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050086.585233086] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050086.587305442] [sailbot.teensy]: Wind angle: 237 -[trim_sail-4] [INFO] [1746050086.587397363] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050086.588229092] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050086.589146881] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050086.589164955] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050086.590086737] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050086.645103008] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050086.645636897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050086.646713834] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050086.647851595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050086.648952383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050086.745115097] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050086.745673126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050086.746519061] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050086.747855489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050086.748871265] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050086.835237444] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050086.836841896] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050086.837775468] [sailbot.teensy]: Actual sail angle: 31 -[trim_sail-4] [INFO] [1746050086.837511673] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050086.838471539] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050086.839013444] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050086.839901072] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050086.844366160] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050086.844949023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050086.845507079] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050086.846732001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050086.847910569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050086.945538858] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050086.946320694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050086.947185562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050086.948547085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050086.949749593] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050087.004040343] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904246 Long: -76.5027569 -[vectornav-1] [INFO] [1746050087.005701205] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.49400000000003, 0.873, 4.691) -[mux-7] [INFO] [1746050087.045170503] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050087.045675687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050087.046570113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050087.047892339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050087.049036988] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050087.085438640] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050087.087266979] [sailbot.teensy]: Wind angle: 237 -[trim_sail-4] [INFO] [1746050087.087680117] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050087.088255357] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050087.089460958] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050087.090106837] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050087.090370373] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050087.144977496] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050087.145847011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050087.146270234] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050087.147739552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050087.148850958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050087.245210888] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050087.246191253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050087.246695881] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050087.248529397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050087.249673169] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050087.335233579] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050087.337490786] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050087.338205501] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050087.338417352] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050087.339391536] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050087.340277368] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050087.340742083] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050087.344410119] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050087.344972649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050087.345531965] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050087.346714341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050087.347729878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050087.445393611] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050087.446133336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050087.446946442] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050087.448588683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050087.449137305] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050087.503063344] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904233 Long: -76.50275694 -[vectornav-1] [INFO] [1746050087.504959965] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.861, -0.81, 4.565) -[mux-7] [INFO] [1746050087.544992453] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050087.545673345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050087.546291592] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050087.547508254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050087.548686447] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050087.585431268] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050087.587753431] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050087.588261754] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050087.588462951] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050087.589486827] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050087.590600712] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050087.591519437] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050087.645005286] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050087.645709614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050087.646607640] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050087.647638422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050087.648692359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050087.745022108] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050087.746013954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050087.746691352] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050087.748200664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050087.748738710] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050087.835099247] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050087.837219203] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050087.837308209] [sailbot.teensy]: Wind angle: 237 -[mux-7] [INFO] [1746050087.838043160] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050087.838679668] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050087.839463138] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050087.839802601] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050087.844351143] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050087.844882624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050087.845492917] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050087.846422370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050087.847544094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050087.945480441] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050087.946380142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050087.947157280] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050087.948782793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050087.949890820] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050088.003260924] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904214 Long: -76.5027568 -[vectornav-1] [INFO] [1746050088.004653316] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.13099999999997, -0.664, 4.653) -[mux-7] [INFO] [1746050088.045065247] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050088.045778822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050088.046390178] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050088.047775195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050088.048865348] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050088.085411402] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050088.087906569] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050088.088370724] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050088.089094399] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050088.090104922] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050088.091092294] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050088.091934112] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050088.145346329] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050088.146122593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050088.146799626] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050088.148525742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050088.149744814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050088.245317358] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050088.245962764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050088.246772555] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050088.248066787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050088.249262008] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050088.335286115] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050088.337503143] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050088.338123021] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746050088.338660272] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050088.339076867] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050088.339945827] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050088.340829716] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050088.344424636] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050088.344876104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050088.345622853] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050088.346580324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050088.347599621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050088.445161740] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050088.445686121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050088.446580778] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050088.447717315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050088.448772224] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050088.502809697] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469042 Long: -76.50275675 -[vectornav-1] [INFO] [1746050088.504009496] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.188, -0.117, 4.587) -[mux-7] [INFO] [1746050088.545042030] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050088.545624352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050088.546318333] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050088.547459888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050088.548581868] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050088.585244951] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050088.587413751] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050088.587731668] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746050088.588241733] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050088.588652677] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050088.589717242] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050088.590565799] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050088.645199830] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050088.645894621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050088.646685370] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050088.648345639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050088.649495179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050088.745243183] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050088.746129985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050088.746831297] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050088.747900335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050088.748431016] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050088.835248683] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050088.837265845] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050088.837534234] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050088.838190073] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050088.839071020] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050088.838811902] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050088.839965272] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050088.844471747] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050088.845051760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050088.845533569] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050088.846822214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050088.847866957] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050088.945630799] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050088.946345990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050088.947629232] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050088.948560073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050088.949856250] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050089.003374102] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690418 Long: -76.50275662 -[vectornav-1] [INFO] [1746050089.004609621] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.12400000000002, -0.184, 5.012) -[mux-7] [INFO] [1746050089.045144578] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050089.045988161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050089.046491203] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050089.048240735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050089.049282616] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050089.085406088] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050089.087747463] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050089.087920401] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050089.088879798] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050089.089175261] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050089.089802971] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050089.090669116] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050089.144900878] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050089.145699763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050089.146340110] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050089.147809037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050089.148877044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050089.245236223] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050089.246127154] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050089.246801470] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050089.248005250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050089.248430054] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050089.335203302] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050089.337032982] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050089.337484421] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050089.338820499] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050089.339072900] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050089.340070268] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050089.340939367] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050089.344583127] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050089.345117372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050089.345824160] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050089.346891299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050089.347945510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050089.444898757] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050089.445551489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050089.446167669] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050089.447455374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050089.448473609] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050089.503182569] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904171 Long: -76.50275648 -[vectornav-1] [INFO] [1746050089.505059809] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.37199999999996, -1.088, 5.01) -[mux-7] [INFO] [1746050089.545185752] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050089.545938439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050089.546494291] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050089.547844196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050089.549061966] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050089.585459641] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050089.587645758] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050089.587729424] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050089.588699137] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050089.589642689] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050089.589813549] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050089.590565807] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050089.645196619] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050089.646130251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050089.646673222] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050089.648638362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050089.649647535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050089.745567292] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050089.746539529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050089.747274417] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050089.748097656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050089.748801481] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050089.835134442] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050089.837216478] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050089.837216551] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050089.838219023] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050089.838654873] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050089.839192599] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050089.840308568] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050089.844386180] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050089.845244365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050089.845868655] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050089.847028621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050089.848099860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050089.923991436] [sailbot.mux]: controller_app sail angle: 15 -[mux-7] [INFO] [1746050089.945369392] [sailbot.mux]: Published sail angle from controller_app: 15 -[teensy-2] [INFO] [1746050089.946227148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050089.947216330] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050089.948630428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 0 -[teensy-2] [INFO] [1746050089.949850409] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050090.002883113] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904146 Long: -76.50275657 -[vectornav-1] [INFO] [1746050090.004773585] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.04099999999994, -0.191, 4.617) -[mux-7] [INFO] [1746050090.045490142] [sailbot.mux]: Published sail angle from controller_app: 15 -[teensy-2] [INFO] [1746050090.046278473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050090.046957925] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050090.048429381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 0 -[teensy-2] [INFO] [1746050090.049557608] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050090.085224267] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050090.087371285] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050090.087406903] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050090.088351017] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050090.088661099] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050090.089575567] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050090.090431601] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050090.144853968] [sailbot.mux]: Published sail angle from controller_app: 15 -[teensy-2] [INFO] [1746050090.145669916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050090.146282574] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050090.147522970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 0 -[teensy-2] [INFO] [1746050090.148708208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050090.244994423] [sailbot.mux]: Published sail angle from controller_app: 15 -[teensy-2] [INFO] [1746050090.245728908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050090.246358072] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050090.247699382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 0 -[teensy-2] [INFO] [1746050090.248807268] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050090.335709948] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050090.338559498] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050090.338744049] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050090.339547095] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050090.340870308] [sailbot.teensy]: Actual sail angle: 15 -[teensy-2] [INFO] [1746050090.341783153] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050090.342601874] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050090.344355364] [sailbot.mux]: Published sail angle from controller_app: 15 -[teensy-2] [INFO] [1746050090.345032752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050090.345466585] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050090.346846589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 0 -[teensy-2] [INFO] [1746050090.347936439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050090.445271776] [sailbot.mux]: Published sail angle from controller_app: 15 -[teensy-2] [INFO] [1746050090.446015483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050090.446744503] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050090.448391981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 0 -[teensy-2] [INFO] [1746050090.449544617] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050090.503337357] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904133 Long: -76.50275643 -[vectornav-1] [INFO] [1746050090.505018024] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.22500000000002, 0.172, 4.985) -[mux-7] [INFO] [1746050090.544969836] [sailbot.mux]: Published sail angle from controller_app: 15 -[teensy-2] [INFO] [1746050090.545604980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050090.546225928] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050090.547407506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 0 -[teensy-2] [INFO] [1746050090.548380102] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050090.585425650] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050090.587253361] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050090.587791651] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050090.588202314] [sailbot.teensy]: Actual sail angle: 15 -[teensy-2] [INFO] [1746050090.589096270] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050090.588462767] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050090.589979149] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050090.645223245] [sailbot.mux]: Published sail angle from controller_app: 15 -[teensy-2] [INFO] [1746050090.645876012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050090.646854085] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050090.648008335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 0 -[teensy-2] [INFO] [1746050090.649038495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050090.745309904] [sailbot.mux]: Published sail angle from controller_app: 15 -[teensy-2] [INFO] [1746050090.745956643] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050090.746905509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050090.747796500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 0 -[teensy-2] [INFO] [1746050090.748281104] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050090.835203865] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050090.836839509] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050090.837447723] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050090.837773177] [sailbot.teensy]: Actual sail angle: 15 -[teensy-2] [INFO] [1746050090.838686611] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050090.839450502] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050090.839574492] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050090.844509855] [sailbot.mux]: Published sail angle from controller_app: 15 -[teensy-2] [INFO] [1746050090.845165658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050090.845617697] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050090.846911595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 0 -[teensy-2] [INFO] [1746050090.847911230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050090.945331992] [sailbot.mux]: Published sail angle from controller_app: 15 -[teensy-2] [INFO] [1746050090.945965497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050090.946963797] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050090.948271138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 0 -[mux-7] [INFO] [1746050090.949103114] [sailbot.mux]: controller_app sail angle: 8 -[teensy-2] [INFO] [1746050090.949447013] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050091.003170919] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904117 Long: -76.50275632 -[vectornav-1] [INFO] [1746050091.004848175] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.606, -0.963, 5.96) -[mux-7] [INFO] [1746050091.045237135] [sailbot.mux]: Published sail angle from controller_app: 8 -[teensy-2] [INFO] [1746050091.046072744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050091.046694907] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050091.048340385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:8, rudder: 0 -[teensy-2] [INFO] [1746050091.049504182] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050091.085563238] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050091.087685714] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050091.088362786] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050091.088742533] [sailbot.teensy]: Actual sail angle: 15 -[mux-7] [INFO] [1746050091.089460405] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050091.089620448] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050091.090507279] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050091.144920789] [sailbot.mux]: Published sail angle from controller_app: 8 -[teensy-2] [INFO] [1746050091.145504115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050091.146192356] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050091.147282700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:8, rudder: 0 -[teensy-2] [INFO] [1746050091.148491103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050091.245253710] [sailbot.mux]: Published sail angle from controller_app: 8 -[teensy-2] [INFO] [1746050091.246117544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050091.246757106] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050091.247968337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:8, rudder: 0 -[teensy-2] [INFO] [1746050091.248416797] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050091.335220564] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050091.336905210] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050091.337820092] [sailbot.teensy]: Actual sail angle: 8 -[trim_sail-4] [INFO] [1746050091.337575858] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050091.338293746] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050091.338714278] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050091.339589055] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050091.344874486] [sailbot.mux]: Published sail angle from controller_app: 8 -[teensy-2] [INFO] [1746050091.344957980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050091.346022310] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050091.346780829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:8, rudder: 0 -[teensy-2] [INFO] [1746050091.347870907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050091.445211792] [sailbot.mux]: Published sail angle from controller_app: 8 -[teensy-2] [INFO] [1746050091.446177494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050091.446664535] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050091.448614445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:8, rudder: 0 -[teensy-2] [INFO] [1746050091.449822312] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050091.502861139] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904112 Long: -76.50275631 -[vectornav-1] [INFO] [1746050091.504239566] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.03499999999997, -0.759, 5.494) -[mux-7] [INFO] [1746050091.545249199] [sailbot.mux]: Published sail angle from controller_app: 8 -[teensy-2] [INFO] [1746050091.546059003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050091.546726924] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050091.548132192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:8, rudder: 0 -[teensy-2] [INFO] [1746050091.549181509] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050091.585329037] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050091.587648696] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050091.587890643] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050091.588615537] [sailbot.teensy]: Actual sail angle: 8 -[mux-7] [INFO] [1746050091.588830802] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050091.589548304] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050091.590620237] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050091.645242155] [sailbot.mux]: Published sail angle from controller_app: 8 -[teensy-2] [INFO] [1746050091.645966233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050091.646762114] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050091.648210711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:8, rudder: 0 -[teensy-2] [INFO] [1746050091.648891293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050091.745187844] [sailbot.mux]: Published sail angle from controller_app: 8 -[teensy-2] [INFO] [1746050091.745769765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050091.746669222] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050091.747708012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:8, rudder: 0 -[teensy-2] [INFO] [1746050091.748644348] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050091.835212477] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050091.836944730] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050091.837886874] [sailbot.teensy]: Actual sail angle: 8 -[trim_sail-4] [INFO] [1746050091.837995269] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050091.838672341] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050091.838783552] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050091.839706647] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050091.844285160] [sailbot.mux]: Published sail angle from controller_app: 8 -[teensy-2] [INFO] [1746050091.845027124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050091.845400199] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050091.846765841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:8, rudder: 0 -[teensy-2] [INFO] [1746050091.847835646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050091.945420718] [sailbot.mux]: Published sail angle from controller_app: 8 -[teensy-2] [INFO] [1746050091.946267657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050091.947267409] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050091.948948083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:8, rudder: 0 -[teensy-2] [INFO] [1746050091.950181318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050091.952956577] [sailbot.mux]: controller_app sail angle: 7 -[vectornav-1] [INFO] [1746050092.003461213] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904083 Long: -76.50275644 -[vectornav-1] [INFO] [1746050092.004699445] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.04700000000003, 0.465, 4.707) -[mux-7] [INFO] [1746050092.044809993] [sailbot.mux]: Published sail angle from controller_app: 7 -[teensy-2] [INFO] [1746050092.045502326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050092.046044378] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050092.047329918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:7, rudder: 0 -[teensy-2] [INFO] [1746050092.048367238] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050092.085240403] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050092.086898474] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050092.087774425] [sailbot.teensy]: Actual sail angle: 8 -[teensy-2] [INFO] [1746050092.088657115] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746050092.087929644] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050092.089159403] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050092.089442920] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050092.145202659] [sailbot.mux]: Published sail angle from controller_app: 7 -[teensy-2] [INFO] [1746050092.146025971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050092.146698744] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050092.148450120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:7, rudder: 0 -[teensy-2] [INFO] [1746050092.149586115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050092.245277048] [sailbot.mux]: Published sail angle from controller_app: 7 -[teensy-2] [INFO] [1746050092.245991817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050092.246752404] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050092.248105525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:7, rudder: 0 -[teensy-2] [INFO] [1746050092.248839163] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050092.335112486] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050092.337158923] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050092.337328361] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050092.338451474] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050092.339296771] [sailbot.teensy]: Actual sail angle: 7 -[teensy-2] [INFO] [1746050092.340359885] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050092.340729620] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050092.344416885] [sailbot.mux]: Published sail angle from controller_app: 7 -[teensy-2] [INFO] [1746050092.344993015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050092.345660466] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050092.346655941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:7, rudder: 0 -[teensy-2] [INFO] [1746050092.347836230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050092.445074532] [sailbot.mux]: Published sail angle from controller_app: 7 -[teensy-2] [INFO] [1746050092.445792482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050092.446473734] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050092.447924796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:7, rudder: 0 -[teensy-2] [INFO] [1746050092.448986916] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050092.502129313] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904053 Long: -76.50275647 -[vectornav-1] [INFO] [1746050092.502953249] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.159, -0.762, 4.266) -[mux-7] [INFO] [1746050092.544836041] [sailbot.mux]: Published sail angle from controller_app: 7 -[teensy-2] [INFO] [1746050092.545494414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050092.546231114] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050092.547499402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:7, rudder: 0 -[teensy-2] [INFO] [1746050092.548606031] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050092.585264817] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050092.587372321] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050092.587450289] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050092.588343673] [sailbot.teensy]: Actual sail angle: 7 -[mux-7] [INFO] [1746050092.588259416] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050092.589278799] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050092.590130392] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050092.645332544] [sailbot.mux]: Published sail angle from controller_app: 7 -[teensy-2] [INFO] [1746050092.646175117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050092.647017616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050092.648687001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:7, rudder: 0 -[teensy-2] [INFO] [1746050092.649250328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050092.745312809] [sailbot.mux]: Published sail angle from controller_app: 7 -[teensy-2] [INFO] [1746050092.746130822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050092.746782815] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050092.747960202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:7, rudder: 0 -[teensy-2] [INFO] [1746050092.748532879] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050092.835108804] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050092.836694008] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050092.837676592] [sailbot.teensy]: Actual sail angle: 7 -[trim_sail-4] [INFO] [1746050092.837672207] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050092.838415376] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050092.838571957] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050092.839449354] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050092.844450628] [sailbot.mux]: Published sail angle from controller_app: 7 -[teensy-2] [INFO] [1746050092.845117995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050092.845563448] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050092.846854747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:7, rudder: 0 -[teensy-2] [INFO] [1746050092.847855913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050092.945408658] [sailbot.mux]: Published sail angle from controller_app: 7 -[teensy-2] [INFO] [1746050092.946226379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050092.947221122] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050092.948131530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:7, rudder: 0 -[teensy-2] [INFO] [1746050092.948823053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050092.950455546] [sailbot.mux]: controller_app sail angle: 0 -[vectornav-1] [INFO] [1746050093.002976166] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904016 Long: -76.50275652 -[vectornav-1] [INFO] [1746050093.004630486] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.16599999999994, -0.811, 3.929) -[mux-7] [INFO] [1746050093.045163461] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050093.045402422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050093.046360187] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050093.047228097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050093.048342655] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050093.085240717] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050093.086949135] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050093.087841761] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050093.087918255] [sailbot.teensy]: Actual sail angle: 7 -[teensy-2] [INFO] [1746050093.088925113] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050093.089875610] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050093.090650572] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050093.144771018] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050093.145439238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050093.145988924] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050093.147086136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050093.148310155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050093.245314262] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050093.246124261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050093.246826329] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050093.248391254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050093.249629132] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050093.335527122] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050093.338441014] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050093.339161668] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050093.339274483] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050093.340276226] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050093.341206192] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050093.342013293] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050093.344292791] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050093.345045504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050093.345395798] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050093.346861987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050093.347875288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050093.444965264] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050093.445757378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050093.446218638] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050093.447780867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050093.448849453] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050093.502322139] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903998 Long: -76.50275661 -[vectornav-1] [INFO] [1746050093.503326451] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.39700000000005, 0.289, 3.642) -[mux-7] [INFO] [1746050093.544114411] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050093.544589793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050093.544966533] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050093.546012267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050093.546938644] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050093.584637726] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050093.586066114] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050093.586353990] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050093.586523575] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050093.587251543] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050093.587909027] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050093.588329689] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050093.645021088] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050093.645792883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050093.646303417] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050093.647788403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050093.648845734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050093.745251766] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050093.745971424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050093.746923202] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050093.748000380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050093.748561019] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050093.835223102] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050093.836911217] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050093.837386034] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050093.837848941] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050093.838796771] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050093.839719666] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050093.839892729] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050093.844335660] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050093.844884580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050093.845828848] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050093.846557445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050093.848094155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050093.945334578] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050093.946213205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050093.946860109] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050093.947839360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050093.948319188] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050094.002727025] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903957 Long: -76.50275654 -[vectornav-1] [INFO] [1746050094.004254204] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.17200000000003, -0.004, 4.375) -[mux-7] [INFO] [1746050094.045096498] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050094.046358347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050094.046569710] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050094.048474906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050094.049579912] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050094.085489588] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050094.088049329] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050094.088146863] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050094.089100170] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050094.089374655] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050094.090034857] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050094.090924499] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050094.145221302] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050094.146170336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050094.146726048] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050094.148426351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050094.149571226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050094.245076248] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050094.245880184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050094.246464877] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050094.247768646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050094.248223460] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050094.335163670] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050094.337262982] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050094.337567782] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050094.338157348] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050094.338759108] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050094.339001327] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050094.339148198] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050094.344512473] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050094.344991636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050094.345650294] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050094.346671183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050094.347846737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050094.445295047] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050094.447245202] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050094.447848786] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050094.448796463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050094.449256592] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050094.502773642] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903957 Long: -76.50275632 -[vectornav-1] [INFO] [1746050094.504133234] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.91999999999996, -1.128, 4.884) -[mux-7] [INFO] [1746050094.544928353] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050094.545694008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050094.546217350] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050094.547493799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050094.548662875] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050094.585184169] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050094.587442012] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050094.588076552] [sailbot.teensy]: Wind angle: 233 -[mux-7] [INFO] [1746050094.589098199] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050094.589479318] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050094.590372644] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050094.591249596] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050094.644991303] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050094.645674350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050094.646415975] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050094.647819980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050094.648909197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050094.745409246] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050094.746061562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050094.747081384] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050094.747841562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050094.748332279] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050094.835425320] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050094.837227552] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050094.837948933] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050094.838176604] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050094.839111179] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050094.840036752] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050094.840237288] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050094.844694761] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050094.845194409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050094.846059371] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050094.846882532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050094.848057811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050094.945131557] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050094.945680533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050094.946615108] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050094.947841442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050094.948707706] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050095.002877552] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903946 Long: -76.50275646 -[vectornav-1] [INFO] [1746050095.004198512] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.409, -0.4, 4.899) -[mux-7] [INFO] [1746050095.045361041] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050095.046014754] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050095.048113252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746050095.048398504] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050095.049360325] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050095.085210681] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050095.087259658] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050095.088346263] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050095.088819601] [sailbot.teensy]: Wind angle: 237 -[teensy-2] [INFO] [1746050095.089792735] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050095.090678046] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050095.091509944] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050095.144971413] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050095.145811753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050095.146306355] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050095.147721296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050095.148780576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050095.245319769] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050095.246219230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050095.246846434] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050095.248321549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050095.249487435] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050095.335558063] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050095.338172489] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050095.338851900] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050095.339203982] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050095.340190145] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050095.340714521] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050095.341071092] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050095.344743969] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050095.345029932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050095.346050006] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050095.346711896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050095.347761252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050095.444936150] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050095.445736884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050095.446259851] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050095.447676750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050095.448707381] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050095.502863065] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690392 Long: -76.50275685 -[vectornav-1] [INFO] [1746050095.504176849] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.75599999999997, 0.015, 4.785) -[mux-7] [INFO] [1746050095.545030995] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050095.545419746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050095.546455635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050095.547233382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050095.548683141] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050095.585055990] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050095.586754864] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050095.587114049] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050095.587651443] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050095.588514736] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050095.588737316] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050095.589433574] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050095.645034340] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050095.645974903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050095.646542970] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050095.647999624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050095.649061205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050095.744965758] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050095.745632738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050095.746334845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050095.747677598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050095.748757880] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050095.835368258] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050095.837780529] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050095.838254952] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050095.838550487] [sailbot.teensy]: Wind angle: 239 -[teensy-2] [INFO] [1746050095.839282522] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050095.839686968] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050095.840078747] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050095.844604839] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050095.845158547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050095.845715565] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050095.846919484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050095.848186843] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050095.945541485] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050095.946269006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050095.947497984] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050095.948642943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050095.949940889] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050096.003365304] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903898 Long: -76.50275708 -[vectornav-1] [INFO] [1746050096.005340031] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.44100000000003, -1.033, 4.758) -[mux-7] [INFO] [1746050096.045281692] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050096.046308831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050096.046707421] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050096.048480650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050096.049559698] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050096.085249944] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050096.086988086] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050096.087929786] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050096.087471102] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050096.088173214] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050096.088888485] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050096.089882723] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050096.145163297] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050096.145851693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050096.146777383] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050096.147996797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050096.149001304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050096.245253884] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050096.245919249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050096.246873504] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050096.248369019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050096.249521795] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050096.335239383] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050096.337307338] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050096.338245056] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050096.337504597] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050096.338912936] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050096.339530466] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050096.339983069] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050096.344419024] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050096.345162582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050096.345538661] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050096.346917088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050096.347983073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050096.444975154] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050096.445686488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050096.446325319] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050096.447681092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050096.448722130] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050096.503306657] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690388 Long: -76.50275716 -[vectornav-1] [INFO] [1746050096.504537563] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.07399999999996, -0.043, 5.065) -[mux-7] [INFO] [1746050096.545237321] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050096.545946789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050096.546697839] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050096.548011002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050096.549147886] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050096.585234190] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050096.586915860] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050096.587739709] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050096.587819713] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050096.587994575] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050096.588741097] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050096.589645598] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050096.645261114] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050096.646219935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050096.646856673] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050096.648407421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050096.649568345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050096.745245608] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050096.746104620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050096.746719946] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050096.748219419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050096.749011569] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050096.835616920] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050096.838268793] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050096.839106143] [sailbot.teensy]: Wind angle: 238 -[mux-7] [INFO] [1746050096.839210750] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050096.840107790] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050096.841032715] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050096.841443033] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050096.844692840] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050096.845162627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050096.845866627] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050096.846902496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050096.848135177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050096.945519264] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050096.946309310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050096.947100838] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050096.948079696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050096.948539836] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050097.003126289] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903863 Long: -76.50275735 -[vectornav-1] [INFO] [1746050097.005185126] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.85500000000002, -0.801, 3.693) -[mux-7] [INFO] [1746050097.045066230] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050097.045944618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050097.046876646] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050097.047939880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050097.048993282] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050097.085261917] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050097.087466668] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050097.088870622] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050097.088871841] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050097.089858611] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050097.090741227] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050097.091546399] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050097.144956835] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050097.145805647] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050097.146242974] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050097.147709320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050097.148753044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050097.245345053] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050097.246301279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050097.247150884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050097.248305339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050097.248811858] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050097.335402745] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050097.337997279] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050097.339113461] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050097.339230787] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050097.340216806] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050097.341098927] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050097.341931605] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050097.344323137] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050097.344785421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050097.345413394] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050097.346484665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050097.347512706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050097.445062429] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050097.445785011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050097.446738655] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050097.447856526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050097.448446761] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050097.503517496] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903843 Long: -76.50275756 -[vectornav-1] [INFO] [1746050097.505627006] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.38099999999997, -0.052, 4.457) -[mux-7] [INFO] [1746050097.544938471] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050097.545749942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050097.546373350] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050097.547922798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050097.549054688] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050097.585500650] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050097.588318705] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050097.588545763] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050097.589289517] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050097.589414626] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050097.590210920] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050097.591097098] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050097.645142292] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050097.645842519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050097.646707095] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050097.647802097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050097.649015413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050097.745380139] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050097.746016820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050097.747132177] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050097.748136802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050097.748839516] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050097.835705295] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050097.838100330] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050097.838856771] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050097.839195586] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050097.840093356] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050097.839888078] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050097.841018034] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050097.844284250] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050097.844824694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050097.845361073] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050097.846535362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050097.847616162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050097.945165053] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050097.945812333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050097.946558261] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050097.947723071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050097.948806637] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050098.003034411] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903828 Long: -76.50275764 -[vectornav-1] [INFO] [1746050098.004452651] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.53200000000004, -0.872, 4.343) -[mux-7] [INFO] [1746050098.044988353] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050098.045654481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050098.046226256] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050098.047470716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050098.048544946] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050098.085189778] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050098.086817381] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050098.087375066] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050098.087720587] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050098.088555204] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050098.088554972] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050098.089508864] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050098.144749676] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050098.145419287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050098.145905300] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050098.147169857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050098.148348077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050098.245231388] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050098.246019370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050098.246693855] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050098.248200404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050098.249348680] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050098.335263918] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050098.337355220] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050098.337990506] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050098.338308690] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050098.338857439] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050098.338928657] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050098.339247907] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050098.344610102] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050098.345256979] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050098.345793106] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050098.347067171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050098.348116973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050098.444738748] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050098.445509667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050098.445939284] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050098.447301680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050098.448357402] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050098.502800735] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903818 Long: -76.5027578 -[vectornav-1] [INFO] [1746050098.504674845] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.58000000000004, 0.168, 4.559) -[mux-7] [INFO] [1746050098.544772656] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050098.545414543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050098.545930650] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050098.547380764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050098.548430555] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050098.585194197] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050098.586770537] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050098.587257408] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050098.587651944] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050098.588462991] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050098.588403641] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050098.589338496] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050098.645496205] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050098.646430627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050098.647128612] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050098.649053231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050098.650282492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050098.745411273] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050098.746183759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050098.746885098] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050098.748367960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050098.749576925] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050098.835111984] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050098.837281825] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050098.837726266] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050098.837885855] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050098.839241927] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050098.840136200] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050098.840826152] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050098.844341130] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050098.844992415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050098.845450748] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050098.846742499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050098.847780670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050098.945355295] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050098.946343276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050098.947298918] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050098.948064295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050098.948609556] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050099.002954376] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903786 Long: -76.50275779 -[vectornav-1] [INFO] [1746050099.005410302] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.05399999999997, -0.492, 4.265) -[mux-7] [INFO] [1746050099.045269846] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050099.045981321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050099.046792068] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050099.048454355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050099.049596863] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050099.085419779] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050099.087854955] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050099.089658237] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050099.089736997] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050099.090657771] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050099.091535931] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050099.092426587] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050099.144789000] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050099.145616265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050099.146255437] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050099.147486454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050099.148853620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050099.245614006] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050099.246289880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050099.247553700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050099.248736336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050099.249816962] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050099.335107755] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050099.337192963] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050099.337817634] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050099.338324786] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050099.339537112] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050099.340373759] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050099.341187483] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050099.344317726] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050099.344924365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050099.345493731] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050099.346517992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050099.347464592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050099.445437768] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050099.446187214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050099.447032077] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050099.448812731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050099.449959770] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050099.503235045] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903772 Long: -76.50275779 -[vectornav-1] [INFO] [1746050099.504624892] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.94899999999996, -0.702, 4.509) -[mux-7] [INFO] [1746050099.544952198] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050099.545771777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050099.546206711] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050099.547641650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050099.548792491] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050099.585567799] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050099.588176960] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050099.588581643] [sailbot.teensy]: Wind angle: 238 -[mux-7] [INFO] [1746050099.589294069] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050099.589577312] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050099.590451354] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050099.591398873] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050099.645232148] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050099.645976428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050099.646760475] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050099.648439447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050099.649459056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050099.745639564] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050099.746306662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050099.747430125] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050099.748652615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050099.749967263] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050099.835171202] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050099.836779681] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050099.837377017] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050099.837653173] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050099.838559711] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050099.838881781] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050099.839430240] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050099.844530869] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050099.844950890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050099.845771426] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050099.846633450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050099.847839184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050099.945357422] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050099.946158614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050099.947046288] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050099.948316986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050099.949491096] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050100.002884816] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903752 Long: -76.50275785 -[vectornav-1] [INFO] [1746050100.004443914] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.12300000000005, 0.232, 3.998) -[mux-7] [INFO] [1746050100.045647405] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050100.046254469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050100.047309568] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050100.048789636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050100.049923435] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050100.085294433] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050100.087477825] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050100.087589888] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050100.088560639] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050100.089515895] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050100.090427994] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050100.090553343] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746050100.145221831] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050100.145810456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050100.146692060] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050100.148054814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050100.149237836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050100.245202588] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050100.245829463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050100.246686644] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050100.247806869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050100.248946483] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050100.335392369] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050100.338101758] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050100.339696597] [sailbot.teensy]: Wind angle: 238 -[mux-7] [INFO] [1746050100.340194613] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050100.340773798] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050100.341990818] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050100.342888346] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050100.344447463] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050100.345075131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050100.345545483] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050100.346802253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050100.347830083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050100.445118033] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050100.446044894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050100.446644143] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050100.448084071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050100.449180732] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050100.503579263] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903739 Long: -76.50275803 -[vectornav-1] [INFO] [1746050100.504895738] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.09199999999998, -0.715, 4.742) -[mux-7] [INFO] [1746050100.544525843] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050100.545155448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050100.545514237] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050100.546797457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050100.547727248] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050100.585403564] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050100.587783542] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050100.588817175] [sailbot.teensy]: Wind angle: 238 -[mux-7] [INFO] [1746050100.589344736] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050100.589717855] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050100.590603770] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050100.591441829] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050100.645018466] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050100.645521543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050100.646334256] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050100.647451708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050100.648506491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050100.745577911] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050100.746077230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050100.747139725] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050100.748192164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050100.749305430] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050100.835269857] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050100.837321674] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050100.837458659] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050100.838045178] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050100.838258402] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050100.839149495] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050100.840005675] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050100.844551502] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050100.844864669] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050100.845790546] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050100.846545118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050100.847614148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050100.945430289] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050100.945952290] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050100.947040450] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050100.948088008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050100.949220250] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050101.003069659] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903724 Long: -76.50275797 -[vectornav-1] [INFO] [1746050101.004640640] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.05100000000004, -0.406, 4.864) -[mux-7] [INFO] [1746050101.045250652] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050101.045876213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050101.046756093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050101.047838467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050101.048911439] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050101.085252414] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050101.086927381] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050101.087472756] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050101.087868619] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050101.088803700] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050101.089645043] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050101.089701349] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050101.144816710] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050101.145583595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050101.145982549] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050101.147399610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050101.148493552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050101.245266364] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050101.246094492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050101.246862788] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050101.248108528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050101.248653705] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050101.335353242] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050101.337047651] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050101.337694619] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050101.338664670] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050101.339173522] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050101.339260969] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050101.339711289] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050101.344453349] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050101.345191379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050101.345552452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050101.346988321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050101.348006922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050101.445080946] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050101.445841011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050101.446526748] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050101.447832973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050101.448997692] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050101.502579037] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903722 Long: -76.50275796 -[vectornav-1] [INFO] [1746050101.503642645] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.091, -0.563, 4.106) -[mux-7] [INFO] [1746050101.544763486] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050101.545301514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050101.545975970] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050101.547042666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050101.548106983] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050101.585200075] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050101.587275180] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050101.587698090] [sailbot.teensy]: Wind angle: 239 -[teensy-2] [INFO] [1746050101.588679764] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050101.588718721] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050101.589709933] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050101.590643661] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050101.645108953] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050101.645870043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050101.646763212] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050101.647898561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050101.649044734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050101.745642776] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050101.746271749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050101.747128125] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050101.748274213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050101.748761612] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050101.835443660] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050101.837829709] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050101.837851902] [sailbot.teensy]: Wind angle: 239 -[mux-7] [INFO] [1746050101.838635490] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050101.839019801] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050101.839979777] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050101.840405907] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050101.844453355] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050101.845125491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050101.845575180] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050101.846967023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050101.847987728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050101.945230567] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050101.945961223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050101.946744875] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050101.948102361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050101.948639663] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050102.003708831] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903709 Long: -76.50275806 -[vectornav-1] [INFO] [1746050102.005799713] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.27099999999996, -0.235, 4.134) -[mux-7] [INFO] [1746050102.045235424] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050102.045957419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050102.046798152] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050102.048571927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050102.049615222] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050102.085389121] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050102.087654801] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050102.088312205] [sailbot.teensy]: Wind angle: 239 -[mux-7] [INFO] [1746050102.088359316] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050102.089478873] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050102.090395730] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050102.091282842] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050102.145219970] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050102.145991798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050102.146754889] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050102.148393903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050102.149573375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050102.245300162] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050102.246244696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050102.247035237] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050102.248042107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050102.248504054] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050102.335250280] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050102.337067055] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050102.337700936] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050102.338025313] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050102.338058413] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050102.338980132] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050102.339854515] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050102.344508332] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050102.345121693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050102.345606017] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050102.347006752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050102.348048304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050102.445507811] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050102.446592537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050102.447098351] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050102.448951704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050102.450101287] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050102.503340374] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903696 Long: -76.50275807 -[vectornav-1] [INFO] [1746050102.505291804] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.22799999999995, -0.093, 4.646) -[mux-7] [INFO] [1746050102.545367170] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050102.546249034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050102.546854929] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050102.548510367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050102.549640303] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050102.585317539] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050102.587396890] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050102.587469241] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050102.588396360] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050102.588779627] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050102.589278336] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050102.590166081] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050102.645483197] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050102.646288106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050102.647090974] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050102.649091968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050102.650405656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050102.743950177] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050102.744357662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050102.744815015] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050102.746058511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050102.746953721] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050102.835532443] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050102.837863819] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050102.838146756] [sailbot.teensy]: Wind angle: 240 -[teensy-2] [INFO] [1746050102.839143242] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050102.840092256] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050102.840930601] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050102.841040270] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050102.844301282] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050102.844903351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050102.845405431] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050102.846587965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050102.847712864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050102.945527523] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050102.946269200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050102.947144976] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050102.948884774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050102.949446172] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050103.003099252] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903694 Long: -76.50275808 -[vectornav-1] [INFO] [1746050103.004883887] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.78700000000003, -1.282, 4.901) -[mux-7] [INFO] [1746050103.045696915] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050103.048011387] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050103.050813809] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050103.052688462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050103.053736449] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050103.085377916] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050103.087273530] [sailbot.teensy]: Wind angle: 242 -[teensy-2] [INFO] [1746050103.088223515] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050103.089147589] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746050103.088234737] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050103.088849220] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050103.090027799] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050103.144633080] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050103.145103959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050103.145782105] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050103.146830628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050103.148003025] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050103.245583726] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050103.246141879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050103.247295106] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050103.248467693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050103.249208799] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050103.335372342] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050103.337733211] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050103.337765440] [sailbot.teensy]: Wind angle: 244 -[mux-7] [INFO] [1746050103.338667600] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050103.338682620] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050103.339599161] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050103.340546784] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050103.344347335] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050103.344921067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050103.345440809] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050103.346621482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050103.347781708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050103.445653503] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050103.446578403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050103.447911668] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050103.448803168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050103.449972119] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050103.504214907] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469037 Long: -76.50275829 -[vectornav-1] [INFO] [1746050103.506049773] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.51999999999998, -0.057, 3.219) -[mux-7] [INFO] [1746050103.545098455] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050103.545586610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050103.546438916] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050103.547408756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050103.548476627] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050103.585247730] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050103.587134597] [sailbot.teensy]: Wind angle: 244 -[trim_sail-4] [INFO] [1746050103.588255862] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050103.588308623] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050103.589224439] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050103.589606882] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050103.590112296] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050103.644940541] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050103.645586018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050103.646203681] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050103.647438413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050103.648473954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050103.745288054] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050103.746137623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050103.746674443] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050103.748256709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050103.749018051] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050103.835213954] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050103.836892689] [sailbot.teensy]: Wind angle: 244 -[trim_sail-4] [INFO] [1746050103.837506905] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050103.837804138] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050103.838719941] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050103.839529713] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050103.839601964] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050103.844440605] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050103.845050629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050103.845550185] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050103.846777842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050103.847795510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050103.945200031] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050103.945887478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050103.946760865] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050103.948047180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050103.948642220] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050104.003180042] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903674 Long: -76.50275855 -[vectornav-1] [INFO] [1746050104.004657644] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.93899999999996, 0.093, 4.607) -[mux-7] [INFO] [1746050104.045263953] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050104.046171678] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050104.046980568] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050104.048578346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050104.049654115] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050104.085494894] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050104.088033478] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050104.088518397] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050104.089004395] [sailbot.teensy]: Wind angle: 244 -[teensy-2] [INFO] [1746050104.090161136] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050104.091025588] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050104.091853971] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050104.145011702] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050104.145668403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050104.146676624] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050104.147686262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050104.148728388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050104.245240482] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050104.245924167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050104.246780361] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050104.248094402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050104.248643727] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050104.335254341] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050104.337812124] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050104.338188685] [sailbot.teensy]: Wind angle: 244 -[teensy-2] [INFO] [1746050104.339127024] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050104.339262541] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050104.339990526] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050104.340893940] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050104.344529931] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050104.344966499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050104.345679612] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050104.346634476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050104.347731388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050104.445191010] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050104.445861015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050104.446685157] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050104.447926378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050104.449109054] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050104.503027443] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903679 Long: -76.50275859 -[vectornav-1] [INFO] [1746050104.505282538] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.30500000000006, -0.383, 5.251) -[mux-7] [INFO] [1746050104.544936559] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050104.545823616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050104.546405152] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050104.547677802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050104.548115651] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050104.585173854] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050104.587339941] [sailbot.teensy]: Wind angle: 244 -[trim_sail-4] [INFO] [1746050104.587565415] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050104.588321546] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050104.588701238] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050104.589224774] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050104.590132194] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050104.645158541] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050104.645779461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050104.646709694] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050104.647769960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050104.648875379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050104.745387533] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050104.745979027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050104.747036994] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050104.748204325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050104.749462787] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050104.835384397] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050104.837592474] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050104.837889666] [sailbot.teensy]: Wind angle: 244 -[teensy-2] [INFO] [1746050104.838756296] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050104.838913970] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050104.839221662] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050104.839623543] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050104.844549551] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050104.845033693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050104.845915797] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050104.846719968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050104.847756294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050104.945328587] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050104.945892121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050104.946963740] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050104.948018991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050104.949292112] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050105.003766512] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903679 Long: -76.50275868 -[vectornav-1] [INFO] [1746050105.005299524] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.788, -1.146, 4.369) -[mux-7] [INFO] [1746050105.045140618] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050105.046046331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050105.046714483] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050105.048064308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050105.049282839] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050105.085636551] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050105.087931245] [sailbot.teensy]: Wind angle: 245 -[trim_sail-4] [INFO] [1746050105.088522371] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050105.088966236] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050105.089895687] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050105.090615287] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050105.090765051] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050105.144434418] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050105.145054901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050105.145447663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050105.146688412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050105.147818792] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050105.244833347] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050105.245476949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050105.245999004] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050105.247280227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050105.248426236] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050105.335318891] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050105.337042436] [sailbot.teensy]: Wind angle: 245 -[trim_sail-4] [INFO] [1746050105.337868593] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050105.338056020] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050105.338937709] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050105.339019681] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050105.339793503] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050105.344478772] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050105.344970783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050105.345588956] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050105.346639703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050105.347672963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050105.445769024] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050105.446058406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050105.447297400] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050105.448494079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050105.449658750] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050105.502950522] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903669 Long: -76.50275891 -[vectornav-1] [INFO] [1746050105.504304103] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.971, 0.476, 4.136) -[mux-7] [INFO] [1746050105.545162949] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050105.546033561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050105.546826303] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050105.548249482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050105.549298510] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050105.585524300] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050105.587543459] [sailbot.teensy]: Wind angle: 245 -[trim_sail-4] [INFO] [1746050105.588480509] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050105.588580954] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050105.589451587] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050105.589473413] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050105.590329896] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050105.645154627] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050105.646259814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050105.646646452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050105.648322143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050105.648813941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050105.745261313] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050105.746074719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050105.746801884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050105.748462181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050105.749547294] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050105.835334679] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050105.837738229] [sailbot.teensy]: Wind angle: 245 -[trim_sail-4] [INFO] [1746050105.838091110] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050105.838662228] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050105.838910509] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050105.839056380] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050105.839454798] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050105.844622448] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050105.845510895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050105.846138684] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050105.847570214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050105.848641927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050105.945310980] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050105.946308808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050105.946919327] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050105.948299385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050105.948856730] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050106.003886360] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903661 Long: -76.50275891 -[vectornav-1] [INFO] [1746050106.005651930] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.76300000000003, 0.374, 4.344) -[mux-7] [INFO] [1746050106.045014652] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050106.045829903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050106.046275474] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050106.047904270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050106.049085110] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050106.085444642] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050106.087311913] [sailbot.teensy]: Wind angle: 245 -[trim_sail-4] [INFO] [1746050106.088242865] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050106.088317126] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050106.089217663] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050106.089690109] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050106.090110715] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050106.145188177] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050106.146122718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050106.146711255] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050106.148430350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050106.148961680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050106.244953172] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050106.245708448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050106.246630261] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050106.247665340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050106.248903923] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050106.335171645] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050106.337791113] [sailbot.teensy]: Wind angle: 245 -[trim_sail-4] [INFO] [1746050106.337788696] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050106.338555837] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050106.339213561] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050106.340136234] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050106.340831774] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050106.344473343] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050106.345262780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050106.345677463] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050106.347083092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050106.348127320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050106.445157823] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050106.445791129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050106.446603057] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050106.447749201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050106.448941761] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050106.503941989] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903657 Long: -76.50275874 -[vectornav-1] [INFO] [1746050106.505373569] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.94799999999998, -1.586, 4.43) -[mux-7] [INFO] [1746050106.544963331] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050106.545700706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050106.546336898] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050106.547559746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050106.548830091] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050106.585072181] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050106.586690924] [sailbot.teensy]: Wind angle: 245 -[trim_sail-4] [INFO] [1746050106.587228049] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050106.587546950] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050106.588504466] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050106.589317546] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050106.589393720] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050106.645008207] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050106.645790605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050106.646536467] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050106.647773502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050106.648874506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050106.745165234] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050106.745889767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050106.746591339] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050106.747892759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050106.748970657] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050106.835387814] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050106.837898467] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050106.838065185] [sailbot.teensy]: Wind angle: 245 -[mux-7] [INFO] [1746050106.839094376] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050106.839126778] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050106.840062498] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050106.840932478] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050106.844469270] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050106.844956867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050106.845599849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050106.846650149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050106.847659767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050106.945038338] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050106.945606424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050106.946461317] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050106.947422178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050106.948620313] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050107.002769409] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903689 Long: -76.50275864 -[vectornav-1] [INFO] [1746050107.004006519] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.77300000000002, 0.553, 4.385) -[mux-7] [INFO] [1746050107.045029968] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050107.045620152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050107.046319035] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050107.047481406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050107.048549281] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050107.085219283] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050107.086805880] [sailbot.teensy]: Wind angle: 246 -[trim_sail-4] [INFO] [1746050107.087382241] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050107.087657185] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050107.088575316] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050107.088776547] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050107.089440687] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050107.144471781] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050107.145071531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050107.145565501] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050107.146847122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050107.147854483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050107.245162112] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050107.245999800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050107.246706384] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050107.248322757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050107.248796400] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050107.335005634] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050107.337057922] [sailbot.teensy]: Wind angle: 246 -[trim_sail-4] [INFO] [1746050107.337196405] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050107.338030165] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050107.338677703] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050107.338896807] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050107.339835042] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050107.344343373] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050107.344889759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050107.345498989] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050107.346669358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050107.347818886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050107.445079794] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050107.445965584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050107.446514425] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050107.447983257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050107.449200769] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050107.503110945] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903672 Long: -76.50275853 -[vectornav-1] [INFO] [1746050107.505077955] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.97199999999998, -0.525, 4.04) -[mux-7] [INFO] [1746050107.544903139] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050107.545739995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050107.546524034] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050107.547678351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050107.548815729] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050107.585361794] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050107.587558638] [sailbot.teensy]: Wind angle: 246 -[trim_sail-4] [INFO] [1746050107.587655598] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050107.588486210] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050107.588810072] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050107.589369013] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050107.590218997] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050107.645205728] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050107.646205461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050107.647070679] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050107.648530104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050107.649623683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050107.745149673] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050107.745724721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050107.746626281] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050107.747991380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050107.748528320] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050107.835234430] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050107.836977651] [sailbot.teensy]: Wind angle: 245 -[trim_sail-4] [INFO] [1746050107.837766462] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050107.837918572] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050107.838804804] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050107.838907228] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050107.839674035] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050107.844449953] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050107.844931399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050107.845672982] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050107.846591323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050107.847635096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050107.945213190] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050107.945820897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050107.947006065] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050107.947999623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050107.949272913] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050108.003651402] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690366 Long: -76.50275849 -[vectornav-1] [INFO] [1746050108.005239924] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.76099999999997, -1.012, 5.132) -[mux-7] [INFO] [1746050108.045199241] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050108.046093221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050108.046612300] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050108.048066835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050108.049261528] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050108.085424864] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050108.087620254] [sailbot.teensy]: Wind angle: 245 -[trim_sail-4] [INFO] [1746050108.087671003] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050108.088620555] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050108.089567202] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050108.089844287] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050108.090478419] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050108.145223280] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050108.145900515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050108.146745829] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050108.147915412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050108.148488121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050108.245431300] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050108.245985238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050108.247036883] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050108.248281355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050108.249365496] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050108.335466764] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050108.337935575] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050108.338546160] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050108.339239007] [sailbot.teensy]: Wind angle: 246 -[teensy-2] [INFO] [1746050108.340197201] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050108.341075304] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050108.341974499] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050108.344563725] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050108.344980469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050108.345696207] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050108.346643279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050108.347712484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050108.445409077] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050108.445998961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050108.447079794] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050108.448540917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050108.449190227] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050108.504061591] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903664 Long: -76.50275866 -[vectornav-1] [INFO] [1746050108.506636936] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.45600000000002, -0.312, 4.143) -[mux-7] [INFO] [1746050108.545071533] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050108.545614301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050108.546419572] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050108.547726656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050108.548782585] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050108.585390946] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050108.587506419] [sailbot.teensy]: Wind angle: 246 -[trim_sail-4] [INFO] [1746050108.587774378] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050108.588481798] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050108.589055531] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050108.589367271] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050108.590305855] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050108.645057959] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050108.645925430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050108.646541330] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050108.648127451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050108.649284316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050108.745691679] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050108.746327619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050108.747525452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050108.748681555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050108.749199913] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050108.835052384] [sailbot.teensy]: Check telemetry callback entered -[mux-7] [INFO] [1746050108.837661649] [sailbot.mux]: algo sail angle: 15 -[trim_sail-4] [INFO] [1746050108.837701202] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050108.837921809] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050108.838840815] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050108.839231575] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050108.839590745] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050108.844515250] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050108.845144848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050108.845698132] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050108.846886071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050108.847918472] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050108.945423787] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050108.946089870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050108.947011140] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050108.948283008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050108.949409267] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050109.003647874] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903676 Long: -76.50275898 -[vectornav-1] [INFO] [1746050109.005970345] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.91200000000003, 0.041, 4.591) -[mux-7] [INFO] [1746050109.045823741] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050109.045856547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050109.047442079] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050109.048067474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050109.049166225] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050109.085151252] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050109.086942495] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050109.087510399] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050109.087943935] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050109.088813061] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050109.088909638] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050109.089812199] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050109.144706203] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050109.146021791] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050109.146015742] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050109.148232727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050109.149375520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050109.245156781] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050109.245947198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050109.246593312] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050109.248031785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050109.249059462] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050109.335271288] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050109.337135341] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050109.337607224] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050109.339193734] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050109.339376928] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050109.340349920] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050109.341210340] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050109.344479741] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050109.344993047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050109.345560321] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050109.346780272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050109.347825911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050109.445454929] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050109.446238188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050109.447390124] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050109.448984022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050109.450142643] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050109.503574894] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903677 Long: -76.50275904 -[vectornav-1] [INFO] [1746050109.505115709] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.30999999999995, -1.174, 5.61) -[mux-7] [INFO] [1746050109.544978193] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050109.545753744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050109.546261666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050109.547675974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050109.548695884] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050109.585637512] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050109.587486451] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050109.587916376] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050109.588496229] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050109.589219887] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050109.589416268] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050109.590388990] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050109.645011268] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050109.645866719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050109.646557567] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050109.647842074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050109.649007872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050109.745509504] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050109.746266713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050109.747304693] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050109.748748537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050109.750227950] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050109.835352568] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050109.837832320] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050109.837911304] [sailbot.teensy]: Wind angle: 249 -[mux-7] [INFO] [1746050109.838388593] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050109.838824041] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050109.840119198] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050109.841035522] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050109.844397974] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050109.845069799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050109.845539715] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050109.846850574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050109.847844134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050109.945308182] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050109.946324295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050109.946993882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050109.947808745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050109.948315835] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050110.003768895] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903693 Long: -76.50275922 -[vectornav-1] [INFO] [1746050110.005389819] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.74400000000003, -0.182, 5.245) -[mux-7] [INFO] [1746050110.045004956] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050110.045856461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050110.046289490] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050110.047796679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050110.048819371] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050110.085442746] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050110.087881926] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050110.088340390] [sailbot.teensy]: Wind angle: 249 -[mux-7] [INFO] [1746050110.088952608] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050110.089366165] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050110.090341917] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050110.091200899] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050110.145058120] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050110.145532230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050110.146482233] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050110.147414429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050110.148500663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050110.245153569] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050110.246116798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050110.246593803] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050110.248099692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050110.249240756] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050110.335294336] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050110.337827082] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050110.338362444] [sailbot.teensy]: Wind angle: 249 -[mux-7] [INFO] [1746050110.338788123] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050110.339327461] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050110.340219970] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050110.340607066] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050110.344569124] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050110.344960568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050110.345868257] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050110.346660857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050110.347709663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050110.445469840] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050110.446059677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050110.447057021] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050110.448130714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050110.448694652] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050110.502729062] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903713 Long: -76.50275931 -[vectornav-1] [INFO] [1746050110.504019343] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.64099999999996, -0.117, 5.4) -[mux-7] [INFO] [1746050110.545101096] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050110.545682203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050110.546483837] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050110.547654057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050110.548791182] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050110.585254652] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050110.587072296] [sailbot.teensy]: Wind angle: 249 -[trim_sail-4] [INFO] [1746050110.587619685] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050110.588018804] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050110.588960051] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050110.589116419] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050110.589865135] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050110.645279106] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050110.646118101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050110.646888323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050110.648404484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050110.649615171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050110.745377436] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050110.746102125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050110.746919507] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050110.747815322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050110.748308592] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050110.835427860] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050110.837932366] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050110.838651325] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050110.839007806] [sailbot.teensy]: Wind angle: 249 -[teensy-2] [INFO] [1746050110.840115439] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050110.841000486] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050110.841830831] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050110.844411549] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050110.844853233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050110.845560697] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050110.846766890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050110.847794923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050110.945346738] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050110.946024641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050110.946997882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050110.948306689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050110.948755111] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050111.003686233] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903705 Long: -76.50275921 -[vectornav-1] [INFO] [1746050111.005351877] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.29499999999996, -0.671, 4.632) -[mux-7] [INFO] [1746050111.045057648] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050111.045768491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050111.046327750] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050111.047700384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050111.048763795] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050111.085463773] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050111.087247550] [sailbot.teensy]: Wind angle: 249 -[trim_sail-4] [INFO] [1746050111.088078592] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050111.088655029] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050111.089712597] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050111.089834652] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050111.090692975] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050111.144605188] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050111.145361474] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050111.145821675] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050111.147148610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050111.148393113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050111.244997772] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050111.245805775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050111.246294444] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050111.247751404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050111.248803525] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050111.335425132] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050111.337386164] [sailbot.teensy]: Wind angle: 249 -[trim_sail-4] [INFO] [1746050111.338028810] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050111.338803701] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050111.338861841] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050111.339221961] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050111.339624106] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050111.344358010] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050111.344943094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050111.345483608] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050111.346628593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050111.347685814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050111.445225175] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050111.445862443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050111.446770910] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050111.448009503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050111.448491111] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050111.503475795] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690371 Long: -76.50275933 -[vectornav-1] [INFO] [1746050111.504727532] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.49199999999996, -0.054, 4.895) -[mux-7] [INFO] [1746050111.545364345] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050111.546068001] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050111.546890480] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050111.548516688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050111.549756267] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050111.585534001] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050111.588254077] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050111.588536948] [sailbot.teensy]: Wind angle: 249 -[mux-7] [INFO] [1746050111.588863261] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050111.589469080] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050111.590363888] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050111.591199909] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050111.645094798] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050111.645913548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050111.646834013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050111.648011765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050111.648615293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050111.745566483] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050111.746383037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050111.747733361] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050111.748561355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050111.749093204] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050111.835185539] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050111.837483547] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050111.837968014] [sailbot.teensy]: Wind angle: 249 -[mux-7] [INFO] [1746050111.838157058] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050111.838953879] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050111.839886209] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050111.840749871] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050111.844364674] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050111.845101695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050111.845522119] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050111.846847614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050111.847968943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050111.945525948] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050111.946279245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050111.947169302] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050111.948868714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050111.950010455] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050112.003734371] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903697 Long: -76.50275938 -[vectornav-1] [INFO] [1746050112.005696130] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.27800000000002, -0.761, 4.614) -[mux-7] [INFO] [1746050112.045376591] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050112.046138871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050112.046925178] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050112.048324530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050112.049509194] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050112.085578034] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050112.087989548] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050112.089009836] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050112.089398527] [sailbot.teensy]: Wind angle: 249 -[teensy-2] [INFO] [1746050112.090952244] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050112.091869460] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050112.092775242] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050112.145524067] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050112.146077093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050112.147155270] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050112.148275152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050112.149536947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050112.245399220] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050112.245983081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050112.247715696] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050112.248482110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050112.250224971] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050112.335454055] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050112.337456249] [sailbot.teensy]: Wind angle: 249 -[trim_sail-4] [INFO] [1746050112.338075023] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050112.338435351] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050112.339343311] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050112.339996076] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050112.340230712] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050112.344325198] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050112.344895550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050112.345484294] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050112.346569778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050112.347620338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050112.445478315] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050112.446254851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050112.447508567] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050112.448335746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050112.448819385] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050112.503282312] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903706 Long: -76.50275946 -[vectornav-1] [INFO] [1746050112.504729680] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.63800000000003, -0.372, 5.036) -[mux-7] [INFO] [1746050112.545424207] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050112.546447833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050112.547186047] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050112.548833837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050112.550009081] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050112.585212832] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050112.587364129] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050112.587864305] [sailbot.teensy]: Wind angle: 249 -[mux-7] [INFO] [1746050112.588515277] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050112.589871245] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050112.590751316] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050112.591586663] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050112.645005713] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050112.645515668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050112.646522076] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050112.647395808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050112.648686927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050112.745421591] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050112.746041234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050112.747127937] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050112.748092567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050112.748556397] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050112.835436958] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050112.837940290] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050112.838555824] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050112.839117620] [sailbot.teensy]: Wind angle: 251 -[teensy-2] [INFO] [1746050112.839539903] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050112.839908773] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050112.840277490] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050112.844668136] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050112.845224184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050112.845800346] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050112.846989944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050112.848123584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050112.945281461] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050112.945875221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050112.946874123] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050112.947891269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050112.949110411] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050113.003527191] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903716 Long: -76.50275943 -[vectornav-1] [INFO] [1746050113.004971796] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.08000000000004, -0.104, 4.572) -[mux-7] [INFO] [1746050113.045228739] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050113.045786610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050113.046667297] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050113.047621811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050113.048700900] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050113.085459434] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050113.087431475] [sailbot.teensy]: Wind angle: 251 -[trim_sail-4] [INFO] [1746050113.087914210] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050113.088414575] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050113.089319226] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050113.090213258] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050113.090285982] [sailbot.mux]: algo sail angle: 20 -[mux-7] [INFO] [1746050113.145780213] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050113.147044770] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050113.149365947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746050113.147455093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050113.150578479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050113.245134393] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050113.245718540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050113.246492531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050113.247544270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050113.248749557] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050113.335426258] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050113.337351180] [sailbot.teensy]: Wind angle: 251 -[teensy-2] [INFO] [1746050113.338355968] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050113.338530709] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050113.339320421] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050113.340229250] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050113.340911778] [sailbot.mux]: algo sail angle: 20 -[mux-7] [INFO] [1746050113.344310159] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050113.344828227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050113.345394496] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050113.346591226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050113.347584128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050113.445563099] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050113.446519847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050113.447189194] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050113.449075464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050113.450281168] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050113.503687937] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903714 Long: -76.50275933 -[vectornav-1] [INFO] [1746050113.505731650] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.72400000000005, 0.128, 5.255) -[mux-7] [INFO] [1746050113.545135641] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050113.545935249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050113.546580288] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050113.548026409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050113.549078600] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050113.585291475] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050113.587601953] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050113.587745548] [sailbot.teensy]: Wind angle: 251 -[teensy-2] [INFO] [1746050113.588690300] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050113.589092875] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050113.589595439] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050113.590480877] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050113.645120262] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050113.645967783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050113.646549172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050113.647770703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050113.648270895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050113.745495095] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050113.746566618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050113.747487066] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050113.748300786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050113.748838387] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050113.835253050] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050113.837756745] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050113.837785513] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050113.838355283] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050113.838706347] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050113.839976354] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050113.841011900] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050113.844351703] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050113.845066157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050113.845761325] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050113.846791934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050113.847964421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050113.945335867] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050113.946803351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050113.946897895] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050113.948938531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050113.949969449] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050114.003543009] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903725 Long: -76.50275866 -[vectornav-1] [INFO] [1746050114.005334686] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.79600000000005, -0.824, 5.792) -[mux-7] [INFO] [1746050114.044852725] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050114.045645765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050114.046062051] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050114.047422338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050114.048480210] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050114.085344776] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050114.087409985] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050114.087631257] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050114.088356173] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050114.089166427] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050114.089199599] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050114.090078957] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050114.145107210] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050114.146001120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050114.147133252] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050114.147977228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050114.149223258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050114.245325863] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050114.246078733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050114.246864466] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050114.248217877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050114.248719228] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050114.335192466] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050114.336968431] [sailbot.teensy]: Wind angle: 253 -[trim_sail-4] [INFO] [1746050114.337583199] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050114.337918217] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050114.338820555] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050114.339088272] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050114.339310939] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050114.344382264] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050114.344937043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050114.345490992] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050114.346794891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050114.347856219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050114.445110451] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050114.445851177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050114.446739725] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050114.447848226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050114.448401904] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050114.503147570] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903741 Long: -76.50275833 -[vectornav-1] [INFO] [1746050114.504925582] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.90999999999997, -0.693, 5.079) -[mux-7] [INFO] [1746050114.544740491] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050114.545941366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050114.545974643] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050114.547671789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050114.548845372] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050114.585281969] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050114.587467361] [sailbot.teensy]: Wind angle: 253 -[trim_sail-4] [INFO] [1746050114.587952332] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050114.588491219] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050114.589030884] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050114.589390455] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050114.590284845] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050114.645274444] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050114.646062595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050114.646936874] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050114.648285671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050114.648822473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050114.745371115] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050114.746234039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050114.746923933] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050114.748143240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050114.748776482] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050114.835190458] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050114.836967457] [sailbot.teensy]: Wind angle: 253 -[trim_sail-4] [INFO] [1746050114.837514156] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050114.837947302] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050114.838836876] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050114.838619878] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050114.839722650] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050114.844285757] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050114.844849060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050114.845457332] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050114.846522126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050114.847637529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050114.944967729] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050114.945944237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050114.946291017] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050114.947767088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050114.948804412] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050115.003703948] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903727 Long: -76.50275801 -[vectornav-1] [INFO] [1746050115.005308083] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.93100000000004, 0.759, 4.824) -[mux-7] [INFO] [1746050115.045452422] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050115.046127950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050115.046854628] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050115.048022751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050115.049068589] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050115.085942931] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050115.088313656] [sailbot.teensy]: Wind angle: 253 -[teensy-2] [INFO] [1746050115.089352801] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050115.088951958] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050115.089489956] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050115.090305364] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050115.091138496] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050115.145750290] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050115.147417550] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050115.148747452] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050115.150795795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050115.152623589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050115.245265288] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050115.246277967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050115.246742249] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050115.248405352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050115.249659250] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050115.335102448] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050115.337470814] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050115.338044239] [sailbot.teensy]: Wind angle: 253 -[mux-7] [INFO] [1746050115.338084636] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050115.339081803] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050115.339451291] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050115.339785802] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050115.344407538] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050115.344980641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050115.345617189] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050115.346702317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050115.347878442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050115.445421164] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050115.446350984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050115.447126699] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050115.448645340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050115.449161460] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050115.503140757] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903712 Long: -76.50275776 -[vectornav-1] [INFO] [1746050115.505253697] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.40499999999997, -1.409, 5.738) -[mux-7] [INFO] [1746050115.544994452] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050115.545687047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050115.546299185] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050115.547735364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050115.548892759] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050115.585214928] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050115.586793404] [sailbot.teensy]: Wind angle: 253 -[teensy-2] [INFO] [1746050115.587729790] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050115.588654302] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746050115.587755347] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050115.588678943] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050115.589548607] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050115.645200868] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050115.646061896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050115.646788642] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050115.648300626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050115.649524600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050115.745523554] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050115.746540840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050115.747151604] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050115.749748815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050115.750994720] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050115.835438953] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050115.838808187] [sailbot.teensy]: Wind angle: 254 -[trim_sail-4] [INFO] [1746050115.839006737] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050115.839027278] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050115.839897805] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050115.841078767] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050115.841950358] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050115.844356848] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050115.844877787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050115.845438710] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050115.846692684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050115.847772548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050115.945244342] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050115.945984607] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050115.946684484] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050115.948003485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050115.948851775] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050116.003416990] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903718 Long: -76.50275753 -[vectornav-1] [INFO] [1746050116.005189554] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.93100000000004, -0.147, 5.182) -[mux-7] [INFO] [1746050116.045192686] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050116.046230084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050116.046650175] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050116.048399840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050116.049456461] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050116.085412481] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050116.088478998] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050116.088927954] [sailbot.teensy]: Wind angle: 256 -[mux-7] [INFO] [1746050116.089647662] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050116.089984118] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050116.090916099] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050116.091720763] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050116.145077801] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050116.145981563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050116.146538491] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050116.148005049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050116.148800414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050116.245687658] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050116.246540200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050116.247339719] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050116.249202203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050116.250373024] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050116.335541269] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050116.338189533] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050116.338188965] [sailbot.teensy]: Wind angle: 256 -[mux-7] [INFO] [1746050116.338918142] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050116.340171413] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050116.341173094] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050116.342094505] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050116.344303955] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050116.344858049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050116.345388133] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050116.346572264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050116.347597875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050116.445221110] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050116.446198211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050116.446701635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050116.448274427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050116.449300525] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050116.502888634] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903731 Long: -76.50275749 -[vectornav-1] [INFO] [1746050116.504195911] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.94100000000003, -0.611, 4.784) -[mux-7] [INFO] [1746050116.545049412] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050116.545789697] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050116.546359162] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050116.547754920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050116.548887360] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050116.585280051] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050116.587144875] [sailbot.teensy]: Wind angle: 256 -[trim_sail-4] [INFO] [1746050116.587762367] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050116.589073322] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050116.589942037] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050116.590028782] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050116.590869061] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050116.644967041] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050116.645678908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050116.646287994] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050116.647859199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050116.648766056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050116.745663132] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050116.746581465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050116.747337505] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050116.748660084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050116.749117247] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050116.835097575] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050116.837382926] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050116.837552996] [sailbot.teensy]: Wind angle: 256 -[teensy-2] [INFO] [1746050116.838615482] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050116.839612474] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050116.839820312] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050116.840737100] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050116.844354135] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050116.844866325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050116.845470452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050116.846596693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050116.847651696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050116.945383896] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050116.946002335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050116.946960891] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050116.947780502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050116.948280611] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050117.003290859] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903735 Long: -76.50275766 -[vectornav-1] [INFO] [1746050117.004636269] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.61400000000003, -0.2, 6.008) -[mux-7] [INFO] [1746050117.045208908] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050117.046034567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050117.046649472] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050117.048552285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050117.049593051] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050117.085432982] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050117.088408700] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050117.088689306] [sailbot.teensy]: Wind angle: 256 -[teensy-2] [INFO] [1746050117.089942216] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050117.090570813] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050117.090862081] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050117.091765152] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050117.145232925] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050117.146156189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050117.146673674] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050117.147785667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050117.148839030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050117.245420405] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050117.246296443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050117.247081230] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050117.249018800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050117.250118941] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050117.335460577] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050117.337602942] [sailbot.teensy]: Wind angle: 253 -[trim_sail-4] [INFO] [1746050117.338027519] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050117.338638498] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050117.339399154] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050117.339567434] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050117.340522316] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050117.344403570] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050117.345059491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050117.345510124] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050117.346796253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050117.347853708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050117.445375767] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050117.446089194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050117.447277317] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050117.448293563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050117.449408109] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050117.502760579] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903743 Long: -76.5027577 -[vectornav-1] [INFO] [1746050117.503959406] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.10299999999995, -0.891, 6.007) -[mux-7] [INFO] [1746050117.545556550] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050117.546521553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050117.547205516] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050117.548941983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050117.550278040] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050117.585343142] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050117.587587568] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050117.587844801] [sailbot.teensy]: Wind angle: 252 -[teensy-2] [INFO] [1746050117.588845328] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050117.589189631] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050117.589800970] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050117.590657402] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050117.645266811] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050117.645973326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050117.646795933] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050117.648211603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050117.649361681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050117.745337449] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050117.746066897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050117.746922534] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050117.748303897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050117.748845963] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050117.835211673] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050117.836881902] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050117.837528066] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050117.837817420] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050117.838725359] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050117.839213780] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050117.839597921] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050117.844508763] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050117.844946290] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050117.845661170] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050117.846613720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050117.847799851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050117.945437031] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050117.946034529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050117.947080310] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050117.948239920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050117.949429441] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050118.003767205] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903746 Long: -76.50275798 -[vectornav-1] [INFO] [1746050118.005657586] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.53700000000003, -0.533, 6.15) -[mux-7] [INFO] [1746050118.044855662] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050118.045436091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050118.046158313] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050118.047256110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050118.048420476] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050118.085232790] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050118.086844620] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050118.087338580] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050118.087716306] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050118.088750358] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050118.089681516] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050118.089928408] [sailbot.mux]: algo sail angle: 20 -[mux-7] [INFO] [1746050118.145244279] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050118.146011240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050118.147087829] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050118.148013452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050118.149169763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050118.245441535] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050118.246015328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050118.247425091] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050118.248544387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050118.249660345] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050118.335595786] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050118.338111742] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050118.338349084] [sailbot.teensy]: Wind angle: 252 -[teensy-2] [INFO] [1746050118.339260818] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050118.339474886] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050118.340134100] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050118.341054512] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050118.344333642] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050118.344964356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050118.345408695] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050118.346696114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050118.347763901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050118.445657256] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050118.446414184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050118.448085314] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050118.448512325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050118.448972008] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050118.503584669] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903757 Long: -76.502758 -[vectornav-1] [INFO] [1746050118.504774170] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.139, -0.507, 4.824) -[mux-7] [INFO] [1746050118.545011845] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050118.545611754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050118.546290933] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050118.547558514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050118.548632208] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050118.585507025] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050118.587652704] [sailbot.teensy]: Wind angle: 252 -[teensy-2] [INFO] [1746050118.588617640] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050118.589489482] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746050118.588091453] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050118.588642318] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050118.590346831] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050118.644973409] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050118.645647348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050118.646303312] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050118.647578795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050118.648742338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050118.745378635] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050118.746079501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050118.747070790] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050118.748082536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050118.748552094] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050118.835320808] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050118.837113433] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050118.837625733] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050118.838056683] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050118.838954344] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050118.839654093] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050118.839944283] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050118.844356560] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050118.844896943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050118.845597567] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050118.846626816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050118.847783695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050118.945024654] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050118.945720502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050118.946392927] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050118.947706374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050118.948166563] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050119.003845543] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903747 Long: -76.50275811 -[vectornav-1] [INFO] [1746050119.005581654] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.293, -0.167, 5.296) -[mux-7] [INFO] [1746050119.045032114] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050119.046141545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050119.046360035] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050119.047945570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050119.049018608] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050119.085266946] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050119.087342401] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050119.087975857] [sailbot.teensy]: Wind angle: 252 -[mux-7] [INFO] [1746050119.088568172] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050119.089039894] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050119.089890445] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050119.090716950] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050119.145288720] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050119.146019702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050119.146700811] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050119.148313702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050119.149026135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050119.245401407] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050119.246220448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050119.247002713] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050119.248414959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050119.249592179] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050119.335281132] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050119.337254359] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050119.337675318] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050119.338544335] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050119.338899244] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050119.338977327] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050119.339345214] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050119.344425117] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050119.344942961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050119.345544151] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050119.346671482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050119.347707148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050119.445335270] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050119.446091591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050119.446916607] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050119.448281052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050119.449433775] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050119.503175406] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903755 Long: -76.50275815 -[vectornav-1] [INFO] [1746050119.504490814] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.41700000000003, -0.599, 5.525) -[mux-7] [INFO] [1746050119.544965142] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050119.545762786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050119.546318017] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050119.547863276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050119.549010343] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050119.585390236] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050119.587781039] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050119.588913075] [sailbot.teensy]: Wind angle: 252 -[mux-7] [INFO] [1746050119.589882408] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050119.590225568] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050119.591189195] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050119.592059854] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050119.645209516] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050119.646056952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050119.646775353] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050119.648728714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050119.649765034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050119.744996236] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050119.745680018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050119.746321410] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050119.747542738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050119.748707225] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050119.835491516] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050119.837590098] [sailbot.teensy]: Wind angle: 252 -[teensy-2] [INFO] [1746050119.838567453] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050119.838275677] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050119.839252858] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050119.839427886] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050119.839812804] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050119.844366734] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050119.845036058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050119.845584546] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050119.846737640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050119.847891219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050119.945261854] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050119.945965369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050119.947139257] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050119.947847966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050119.948318113] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050120.003110525] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903776 Long: -76.50275813 -[vectornav-1] [INFO] [1746050120.004830865] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.02700000000004, -0.492, 5.788) -[mux-7] [INFO] [1746050120.045228714] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050120.046076714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050120.046768450] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050120.048296533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050120.049421515] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050120.085097192] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050120.086766757] [sailbot.teensy]: Wind angle: 252 -[teensy-2] [INFO] [1746050120.087588966] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050120.087060697] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050120.087568785] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050120.088442630] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050120.089309648] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050120.145008469] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050120.145956583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050120.146403436] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050120.148419958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050120.149490167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050120.245376301] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050120.246183277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050120.246924139] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050120.248171211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050120.248641633] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050120.335428465] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050120.337897822] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050120.338633311] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050120.338761272] [sailbot.teensy]: Wind angle: 252 -[teensy-2] [INFO] [1746050120.339763144] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050120.340722455] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050120.341566620] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050120.344580552] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050120.345076122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050120.345744455] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050120.346824120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050120.347851265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050120.445100277] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050120.446031550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050120.446383598] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050120.447921072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050120.448999578] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050120.503653738] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903785 Long: -76.50275813 -[vectornav-1] [INFO] [1746050120.505567216] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.336, -0.621, 5.251) -[mux-7] [INFO] [1746050120.545042497] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050120.546007592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050120.546480760] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050120.548078909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050120.549253017] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050120.585383042] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050120.587775037] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050120.588231893] [sailbot.teensy]: Wind angle: 252 -[mux-7] [INFO] [1746050120.588775761] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050120.589197016] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050120.590117982] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050120.590927266] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050120.645297123] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050120.646075063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050120.647133587] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050120.648514902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050120.649583250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050120.745393394] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050120.746208847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050120.746953980] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050120.747911382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050120.748379551] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050120.835245292] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050120.837828061] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050120.837820506] [sailbot.teensy]: Wind angle: 252 -[mux-7] [INFO] [1746050120.838881204] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050120.839067638] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050120.839483891] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050120.839853564] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050120.844459566] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050120.845232753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050120.845630926] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050120.847009425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050120.848051908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050120.945200146] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050120.946097167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050120.946636260] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050120.948264246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050120.949277569] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050121.003459479] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903784 Long: -76.50275828 -[vectornav-1] [INFO] [1746050121.005630371] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.221, -0.444, 5.481) -[mux-7] [INFO] [1746050121.045094216] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050121.045766957] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050121.046394226] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050121.048069495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050121.049205242] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050121.085426592] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050121.087531764] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050121.088147983] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050121.088532087] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050121.089086377] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050121.089450110] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050121.090337586] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050121.145234159] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050121.145692267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050121.146633059] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050121.147789328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050121.148839199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050121.245387627] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050121.245906658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050121.247039103] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050121.248124440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050121.249273313] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050121.335268869] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050121.337884580] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050121.338664283] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050121.339070088] [sailbot.teensy]: Wind angle: 252 -[teensy-2] [INFO] [1746050121.340133229] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050121.341036251] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050121.341900792] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050121.344512861] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050121.345170266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050121.345769995] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050121.347237097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050121.348431130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050121.445765676] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050121.446401669] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050121.447809189] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050121.448799268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050121.450097239] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050121.504263758] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690379 Long: -76.50275842 -[vectornav-1] [INFO] [1746050121.506706195] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.44000000000005, -0.486, 4.78) -[mux-7] [INFO] [1746050121.545348212] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050121.545986082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050121.546836283] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050121.548026103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050121.549048209] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050121.585237992] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050121.587047013] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050121.587602827] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050121.588011682] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050121.588933798] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050121.589181603] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050121.589788296] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050121.645436352] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050121.646189667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050121.647783955] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050121.648873064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050121.650053885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050121.745264526] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050121.745948669] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050121.746601711] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050121.747812313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050121.749060235] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050121.835228076] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050121.837309071] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050121.837352950] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050121.838221558] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050121.839122344] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050121.839269436] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050121.839541159] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050121.844385006] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050121.845004555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050121.845568744] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050121.846721919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050121.847764821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050121.945812997] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050121.946624348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050121.947692456] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050121.948972656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050121.950166946] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050122.003198110] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903806 Long: -76.5027585 -[vectornav-1] [INFO] [1746050122.004640363] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.36199999999997, 0.198, 5.02) -[mux-7] [INFO] [1746050122.045188667] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050122.045792892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050122.047011043] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050122.047876600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050122.049089976] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050122.085271670] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050122.087378273] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050122.087904120] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050122.088900042] [sailbot.teensy]: Wind angle: 252 -[teensy-2] [INFO] [1746050122.089855222] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050122.090699478] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050122.091526309] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050122.145218640] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050122.145853510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050122.146709909] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050122.147989163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050122.149307916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050122.245520291] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050122.246144901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050122.247151070] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050122.248487328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050122.249599971] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050122.335208607] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050122.337288754] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050122.337537416] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050122.338590288] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050122.339201324] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050122.339519327] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050122.340400607] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050122.344617267] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050122.345076159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050122.345786180] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050122.346805685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050122.347835747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050122.445340924] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050122.446180938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050122.446858708] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050122.448746089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050122.454735195] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050122.503942442] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903805 Long: -76.50275848 -[vectornav-1] [INFO] [1746050122.505699610] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.995, -1.433, 4.72) -[mux-7] [INFO] [1746050122.544970835] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050122.545698877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050122.546297402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050122.547677440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050122.548835225] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050122.585409718] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050122.587155781] [sailbot.teensy]: Wind angle: 252 -[teensy-2] [INFO] [1746050122.588178906] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050122.588710771] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050122.589005958] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050122.589297919] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050122.589893786] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050122.645131106] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050122.645965768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050122.646563189] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050122.648267569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050122.648786046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050122.744958759] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050122.745915836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050122.746195160] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050122.747804729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050122.748870684] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050122.835218514] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050122.836857061] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050122.837545513] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050122.837763454] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050122.838495222] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050122.838691850] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050122.838901499] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050122.844613512] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050122.845346322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050122.845881989] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050122.847153302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050122.848290311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050122.945633161] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050122.946541408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050122.947393527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050122.948923031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050122.949587001] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050123.003838297] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903799 Long: -76.50275857 -[vectornav-1] [INFO] [1746050123.005844283] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.36599999999999, 0.203, 4.534) -[mux-7] [INFO] [1746050123.045274877] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050123.046325867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050123.046871709] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050123.048665443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050123.049743020] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050123.085141607] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050123.087105692] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050123.087156607] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050123.088115058] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050123.089082237] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050123.089446702] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050123.090021987] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050123.145003675] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050123.145756225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050123.146316284] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050123.147549985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050123.148606345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050123.245428504] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050123.246121141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050123.246979715] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050123.248142089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050123.249225098] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050123.335269592] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050123.336899465] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050123.337404701] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050123.337779045] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050123.338634084] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050123.339514938] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050123.339201018] [sailbot.mux]: algo sail angle: 20 -[mux-7] [INFO] [1746050123.344396550] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050123.344829465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050123.345456768] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050123.346429807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050123.347428055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050123.445510163] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050123.446171250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050123.447231693] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050123.448630023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050123.449738617] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050123.503442704] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903788 Long: -76.50275857 -[vectornav-1] [INFO] [1746050123.505014957] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.88400000000001, -0.565, 4.84) -[mux-7] [INFO] [1746050123.545146807] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050123.545863947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050123.546505768] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050123.547774915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050123.548823713] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050123.585493957] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050123.587259541] [sailbot.teensy]: Wind angle: 252 -[teensy-2] [INFO] [1746050123.588252260] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050123.587862966] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050123.589157838] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050123.589631094] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050123.590072932] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050123.645023032] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050123.645856876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050123.646366794] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050123.647918669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050123.648972667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050123.745413321] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050123.746202954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050123.747265327] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050123.748434258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050123.749744023] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050123.835884251] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050123.838151086] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050123.838836907] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050123.839264784] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050123.840304863] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050123.841281825] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050123.841492549] [sailbot.mux]: algo sail angle: 20 -[mux-7] [INFO] [1746050123.844447859] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050123.845210453] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050123.845868595] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050123.846990890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050123.848023620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050123.945286849] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050123.946090844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050123.946885971] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050123.948310990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050123.949472587] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050124.003458484] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903807 Long: -76.5027584 -[vectornav-1] [INFO] [1746050124.005108287] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.21500000000003, -0.317, 5.437) -[mux-7] [INFO] [1746050124.045361210] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050124.045963453] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050124.046903383] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050124.048249048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050124.049455499] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050124.085219974] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050124.086911536] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050124.087446779] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050124.087795480] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050124.087991834] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050124.088722255] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050124.089623579] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050124.145217321] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050124.146096401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050124.146680746] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050124.148289210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050124.149451047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050124.245656972] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050124.246529630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050124.247420399] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050124.248931975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050124.250087667] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050124.335374070] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050124.337733868] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050124.338247278] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050124.338595943] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050124.338987728] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050124.339010726] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050124.339381306] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050124.344582610] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050124.345236866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050124.345813254] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050124.347167491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050124.348312795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050124.445443125] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050124.445969949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050124.447007081] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050124.447998972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050124.449196051] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050124.502640502] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903822 Long: -76.50275843 -[vectornav-1] [INFO] [1746050124.503904737] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.817, -1.06, 4.205) -[mux-7] [INFO] [1746050124.545184163] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050124.545788360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050124.546627700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050124.547924016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050124.548923753] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050124.585043808] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050124.586554097] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050124.587155853] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050124.587403927] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050124.587840802] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050124.588272647] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050124.589512468] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050124.645141910] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050124.645616282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050124.646500624] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050124.647678530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050124.648853407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050124.745258827] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050124.745859465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050124.746766827] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050124.748383870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050124.749038124] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050124.835507947] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050124.837536195] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050124.838154632] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050124.838557497] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050124.839444048] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050124.839466452] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050124.840345712] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050124.844361605] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050124.845020687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050124.845526108] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050124.846792703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050124.847816907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050124.945139361] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050124.945654701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050124.946746190] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050124.947551422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050124.948832060] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050125.004120408] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903827 Long: -76.50275851 -[vectornav-1] [INFO] [1746050125.006064704] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.15300000000002, -0.431, 4.591) -[mux-7] [INFO] [1746050125.045055584] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050125.045628904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050125.046551258] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050125.047489519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050125.048577529] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050125.085256928] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050125.087645479] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050125.088273364] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050125.088543159] [sailbot.teensy]: Wind angle: 252 -[teensy-2] [INFO] [1746050125.089526214] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050125.090366425] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050125.091232906] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050125.145281544] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050125.146175111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050125.146925376] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050125.148526622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050125.149689780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050125.245548389] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050125.246146804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050125.247228321] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050125.248582172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050125.249803714] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050125.335187140] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050125.337316186] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050125.338026148] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050125.338388072] [sailbot.teensy]: Wind angle: 252 -[teensy-2] [INFO] [1746050125.339351506] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050125.340259318] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050125.341165436] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050125.344432997] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050125.344991837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050125.345537064] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050125.346636041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050125.347804888] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050125.445143705] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050125.445839169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050125.446622517] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050125.447983786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050125.449080928] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050125.502644338] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903807 Long: -76.50275844 -[vectornav-1] [INFO] [1746050125.503710099] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.87199999999996, 1.159, 4.233) -[mux-7] [INFO] [1746050125.545157866] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050125.545996252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050125.546631986] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050125.548148237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050125.549364633] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050125.585507963] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050125.587412487] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050125.588041636] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050125.588386197] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050125.589287497] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050125.589309294] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050125.590197926] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050125.645285624] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050125.646136993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050125.646871766] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050125.648622278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050125.649714086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050125.745447525] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050125.746417558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050125.747018037] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050125.748723300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050125.749217505] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050125.835496318] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050125.837923807] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050125.838044708] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050125.838905997] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050125.839935412] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050125.840682998] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050125.841020812] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050125.844614189] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050125.845113965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050125.845831275] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050125.846827696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050125.847997336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050125.945594277] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050125.946226140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050125.947252274] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050125.948732786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050125.949950083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050125.963411459] [sailbot.mux]: controller_app sail angle: 37 -[vectornav-1] [INFO] [1746050126.004374749] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690383 Long: -76.50275794 -[vectornav-1] [INFO] [1746050126.006808150] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.18399999999997, -1.79, 4.998) -[mux-7] [INFO] [1746050126.044989749] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746050126.045516776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050126.046269793] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050126.047277439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746050126.048478230] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050126.085270613] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050126.087420571] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050126.087968713] [sailbot.teensy]: Wind angle: 252 -[mux-7] [INFO] [1746050126.088227922] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050126.088999570] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050126.089916122] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050126.090733370] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050126.145381246] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746050126.145755084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050126.147374199] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050126.148127864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746050126.149314614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050126.245450669] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746050126.246254109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050126.247172745] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050126.248628506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746050126.249199610] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050126.335200947] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050126.337337801] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050126.337366633] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050126.338263382] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746050126.339488219] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050126.339679500] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050126.340464642] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050126.344500557] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746050126.345143478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050126.345611990] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050126.346954574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746050126.347955639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050126.445217388] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746050126.445876236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050126.446763244] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050126.447948280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746050126.449095211] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050126.503747763] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903849 Long: -76.50275767 -[vectornav-1] [INFO] [1746050126.505334953] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.48199999999997, -0.702, 4.451) -[mux-7] [INFO] [1746050126.544958813] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746050126.545558425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050126.546192082] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050126.547353685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746050126.548587969] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050126.585408137] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050126.587332016] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050126.587948016] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050126.588301207] [sailbot.teensy]: Actual sail angle: 37 -[mux-7] [INFO] [1746050126.588837378] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050126.589199208] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050126.590126653] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050126.645230260] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746050126.645995244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050126.646688690] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050126.648133100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746050126.649277100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050126.745301326] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746050126.745963393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050126.746889232] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050126.747676033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746050126.748220007] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050126.835458127] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050126.837269752] [sailbot.teensy]: Wind angle: 251 -[trim_sail-4] [INFO] [1746050126.837854213] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050126.838186812] [sailbot.teensy]: Actual sail angle: 37 -[mux-7] [INFO] [1746050126.838865156] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050126.839106826] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050126.839970906] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050126.844376182] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746050126.845181661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050126.845479187] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050126.846911823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746050126.848055757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050126.945285670] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746050126.945936828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050126.946744034] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050126.947935912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746050126.948467709] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050127.003553550] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690386 Long: -76.50275759 -[vectornav-1] [INFO] [1746050127.005400645] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.11699999999996, 0.626, 3.72) -[mux-7] [INFO] [1746050127.044985686] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746050127.045673926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050127.046288757] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050127.047982551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746050127.049130857] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050127.085389751] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050127.087026987] [sailbot.teensy]: Wind angle: 251 -[trim_sail-4] [INFO] [1746050127.087588265] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050127.087914460] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746050127.088848360] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050127.089785259] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050127.089802151] [sailbot.mux]: algo sail angle: 20 -[mux-7] [INFO] [1746050127.145248947] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746050127.146385255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050127.146691013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050127.147915365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746050127.148371997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050127.245214837] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746050127.246000288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050127.246686886] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050127.247952187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746050127.248489050] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050127.335227452] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050127.336922579] [sailbot.teensy]: Wind angle: 252 -[teensy-2] [INFO] [1746050127.337890542] [sailbot.teensy]: Actual sail angle: 37 -[trim_sail-4] [INFO] [1746050127.338306548] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050127.338787194] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050127.338868459] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050127.339677475] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050127.344443613] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746050127.345073490] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050127.345608189] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050127.346809447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746050127.347976324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050127.445444244] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746050127.446361790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050127.447142738] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050127.448461353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746050127.448968323] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050127.503393624] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690387 Long: -76.50275728 -[vectornav-1] [INFO] [1746050127.506154510] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.72900000000004, -0.717, 4.543) -[mux-7] [INFO] [1746050127.544747382] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746050127.545330952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050127.545869463] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050127.547106915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746050127.548393482] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050127.585688868] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050127.587784397] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050127.588613798] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050127.588879381] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746050127.589855500] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050127.590508001] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050127.590748682] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050127.645238232] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746050127.646112065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050127.646686486] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050127.648017260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746050127.648612860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050127.744807054] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746050127.745375539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050127.745940360] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050127.747194948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746050127.748368674] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050127.835359474] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050127.837180518] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050127.837898180] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050127.838942778] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050127.839212203] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746050127.839610651] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050127.839973383] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050127.844351499] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746050127.844869354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050127.845477016] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050127.846563482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746050127.847622166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050127.945341514] [sailbot.mux]: Published sail angle from controller_app: 37 -[teensy-2] [INFO] [1746050127.946176520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050127.947834870] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050127.948592629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:37, rudder: 0 -[teensy-2] [INFO] [1746050127.949180718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050127.949190580] [sailbot.mux]: controller_app sail angle: 0 -[vectornav-1] [INFO] [1746050128.002793161] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903878 Long: -76.50275709 -[vectornav-1] [INFO] [1746050128.004719303] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.46900000000005, -1.625, 4.463) -[mux-7] [INFO] [1746050128.044979291] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050128.045747837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050128.046195252] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050128.047711737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050128.048731884] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050128.085130424] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050128.087130159] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050128.087705398] [sailbot.teensy]: Wind angle: 252 -[mux-7] [INFO] [1746050128.088220898] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050128.088632708] [sailbot.teensy]: Actual sail angle: 37 -[teensy-2] [INFO] [1746050128.089553248] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050128.090395841] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050128.145029156] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050128.145755055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050128.146338626] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050128.147625047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050128.148730003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050128.245167498] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050128.245693926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050128.246689210] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050128.247876230] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050128.248794564] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050128.335392236] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050128.337069191] [sailbot.teensy]: Wind angle: 251 -[teensy-2] [INFO] [1746050128.337924166] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050128.337711016] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050128.338316101] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050128.338643647] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050128.339050149] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050128.344618089] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050128.345221121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050128.345864047] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050128.346902860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050128.347943971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050128.445007212] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050128.445761802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050128.446312145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050128.447640747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050128.448909964] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050128.503229137] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903883 Long: -76.50275732 -[vectornav-1] [INFO] [1746050128.504697139] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.53099999999995, -0.065, 4.468) -[mux-7] [INFO] [1746050128.545006901] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050128.545733210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050128.546247701] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050128.547545171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050128.548698993] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050128.585567330] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050128.587485643] [sailbot.teensy]: Wind angle: 251 -[trim_sail-4] [INFO] [1746050128.588047795] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050128.588498307] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050128.589439118] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050128.590353723] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050128.590388541] [sailbot.mux]: algo sail angle: 20 -[mux-7] [INFO] [1746050128.644987664] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050128.645918432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050128.646372509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050128.647735132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050128.648207641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050128.745572832] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050128.746247040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050128.747268684] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050128.748617188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050128.749903021] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050128.835456766] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050128.837281582] [sailbot.teensy]: Wind angle: 251 -[trim_sail-4] [INFO] [1746050128.837808214] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050128.838202830] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050128.839069455] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050128.839567458] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050128.839951270] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050128.844410445] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050128.845044588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050128.845520557] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050128.846762469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050128.847820424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050128.945161534] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050128.945880774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050128.946593444] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050128.947787332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050128.948709082] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050129.003003145] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903887 Long: -76.50275731 -[vectornav-1] [INFO] [1746050129.004351325] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.88699999999994, -0.214, 4.186) -[mux-7] [INFO] [1746050129.045159333] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050129.045946234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050129.046625246] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050129.048063409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050129.049201895] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050129.085373719] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050129.087006607] [sailbot.teensy]: Wind angle: 251 -[trim_sail-4] [INFO] [1746050129.087567952] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050129.088092718] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050129.089076416] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050129.089575503] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050129.089941730] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050129.145349368] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050129.146024623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050129.146929078] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050129.148121276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050129.149311305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050129.245353184] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050129.245914131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050129.247160833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050129.247987514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050129.249162936] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050129.335799597] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050129.338809014] [sailbot.teensy]: Wind angle: 251 -[trim_sail-4] [INFO] [1746050129.338832507] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050129.339594063] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050129.339825820] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050129.340213324] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050129.340554479] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050129.344436512] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050129.344870359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050129.345578576] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050129.347011900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050129.348058336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050129.445361524] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050129.445967361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050129.447017380] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050129.448050141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050129.449145947] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050129.503504579] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903882 Long: -76.50275738 -[vectornav-1] [INFO] [1746050129.505380754] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.894, -1.109, 3.756) -[mux-7] [INFO] [1746050129.544782824] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050129.545280119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050129.546168757] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050129.547003931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050129.548057593] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050129.585398944] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050129.587219510] [sailbot.teensy]: Wind angle: 251 -[trim_sail-4] [INFO] [1746050129.587711978] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050129.588170051] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050129.589069961] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050129.589296818] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050129.589933428] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050129.645023215] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050129.645812963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050129.646481800] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050129.647882519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050129.648585101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050129.745408437] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050129.746230435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050129.746995723] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050129.748435839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050129.749602287] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050129.835219204] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050129.836904928] [sailbot.teensy]: Wind angle: 251 -[trim_sail-4] [INFO] [1746050129.837441003] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050129.837855739] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050129.838845999] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050129.839059549] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050129.839722578] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050129.844270048] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050129.844913948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050129.845399628] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050129.846801451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050129.847804347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050129.945384423] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050129.946408929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050129.946997023] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050129.948531495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050129.949045717] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050130.002820344] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903894 Long: -76.50275754 -[vectornav-1] [INFO] [1746050130.004230915] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.79099999999994, -0.078, 4.696) -[mux-7] [INFO] [1746050130.044847791] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050130.045612125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050130.046041021] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050130.047434506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050130.048537148] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050130.085269346] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050130.087331924] [sailbot.teensy]: Wind angle: 251 -[trim_sail-4] [INFO] [1746050130.087425798] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050130.088375370] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050130.089306169] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050130.089450969] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050130.090216156] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050130.144867518] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050130.146020338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050130.146121685] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050130.148040848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050130.149116180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050130.245038248] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050130.245816342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050130.246750677] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050130.247975163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050130.248597817] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050130.335529844] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050130.337526235] [sailbot.teensy]: Wind angle: 251 -[trim_sail-4] [INFO] [1746050130.338057621] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050130.338528150] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050130.339436114] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050130.339538674] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050130.340538036] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050130.344447743] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050130.345004209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050130.345536311] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050130.346828978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050130.347839531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050130.445549108] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050130.446385977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050130.447138334] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050130.448966043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050130.450024748] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050130.503714414] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903902 Long: -76.50275747 -[vectornav-1] [INFO] [1746050130.505354073] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.644, -0.513, 4.119) -[mux-7] [INFO] [1746050130.544938386] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050130.545562058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050130.546296760] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050130.547450309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050130.548603883] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050130.585311855] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050130.587476746] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050130.587692741] [sailbot.teensy]: Wind angle: 251 -[teensy-2] [INFO] [1746050130.588685350] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050130.588858308] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050130.589781099] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050130.590657059] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050130.645200874] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050130.646048582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050130.646688831] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050130.648337613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050130.649512606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050130.745191069] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050130.746216187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050130.746726240] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050130.748531530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050130.749623696] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050130.835322346] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050130.837103066] [sailbot.teensy]: Wind angle: 250 -[trim_sail-4] [INFO] [1746050130.837705087] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050130.838096506] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050130.839016234] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050130.839026293] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050130.839952766] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050130.844346004] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050130.844826428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050130.845428119] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050130.846517379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050130.847628315] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050130.945336364] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050130.946022566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050130.946980709] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050130.948097773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050130.949219131] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050131.003709022] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903919 Long: -76.50275741 -[vectornav-1] [INFO] [1746050131.005360962] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.409, -0.685, 4.036) -[mux-7] [INFO] [1746050131.045108540] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050131.046231564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050131.046555245] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050131.048240553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050131.049387835] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050131.085300484] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050131.087487728] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050131.087824138] [sailbot.teensy]: Wind angle: 251 -[teensy-2] [INFO] [1746050131.089136092] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050131.089714131] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050131.090165254] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050131.091093472] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050131.144939744] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050131.145616809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050131.146179034] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050131.147447563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050131.148616375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050131.245391530] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050131.246498919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050131.247219251] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050131.248794516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050131.249910830] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050131.335542152] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050131.337671620] [sailbot.teensy]: Wind angle: 250 -[teensy-2] [INFO] [1746050131.339104552] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050131.339141263] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050131.339553358] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050131.340093339] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050131.341093097] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050131.344435514] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050131.345342555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050131.345722780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050131.347060169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050131.348072777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050131.445020947] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050131.445710695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050131.446571871] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050131.447656332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050131.448761747] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050131.502653596] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903936 Long: -76.50275744 -[vectornav-1] [INFO] [1746050131.503636481] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.31500000000005, 0.194, 4.257) -[mux-7] [INFO] [1746050131.544858404] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050131.545712427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050131.546104487] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050131.547644369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050131.548773389] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050131.585535348] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050131.587895936] [sailbot.teensy]: Wind angle: 250 -[trim_sail-4] [INFO] [1746050131.588049849] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050131.588944224] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050131.589771623] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050131.589813253] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050131.590750096] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050131.645253272] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050131.646020002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050131.646726017] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050131.647915890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050131.648453921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050131.745475183] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050131.746456574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050131.747080502] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050131.749026030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050131.750061169] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050131.835417367] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050131.837657203] [sailbot.teensy]: Wind angle: 250 -[trim_sail-4] [INFO] [1746050131.837966054] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050131.838616116] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050131.838979007] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050131.839494838] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050131.840400476] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050131.844362123] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050131.844854876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050131.845505632] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050131.846537650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050131.847571705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050131.945417048] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050131.946380516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050131.947138588] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050131.948084960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050131.948603783] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050132.003639166] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903946 Long: -76.50275722 -[vectornav-1] [INFO] [1746050132.005303332] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.56799999999998, -0.597, 4.954) -[mux-7] [INFO] [1746050132.045149502] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050132.045812710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050132.046568251] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050132.047771186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050132.048629670] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050132.085229475] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050132.087561067] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050132.087893169] [sailbot.teensy]: Wind angle: 250 -[mux-7] [INFO] [1746050132.088082958] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050132.088848757] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050132.089770477] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050132.090797804] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050132.145263648] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050132.146188667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050132.146726320] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050132.147895035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050132.148400823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050132.245563347] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050132.246338460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050132.247222735] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050132.248900630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050132.249987864] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050132.335372138] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050132.338031203] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050132.338063165] [sailbot.teensy]: Wind angle: 250 -[mux-7] [INFO] [1746050132.338591023] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050132.338982565] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050132.339885003] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050132.340775514] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050132.344352096] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050132.344747229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050132.345435099] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050132.346416224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050132.347505790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050132.445508027] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050132.446243026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050132.447091616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050132.448449147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050132.448999042] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050132.503905328] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903958 Long: -76.50275704 -[vectornav-1] [INFO] [1746050132.505936218] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.111, -0.602, 4.504) -[mux-7] [INFO] [1746050132.544889393] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050132.545514110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050132.546168779] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050132.547324677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050132.548480856] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050132.585195135] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050132.587406738] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050132.587663785] [sailbot.teensy]: Wind angle: 250 -[teensy-2] [INFO] [1746050132.588606216] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050132.588614458] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050132.589544603] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050132.590446310] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050132.645282877] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050132.646089583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050132.646770521] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050132.648103517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050132.648641459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050132.744757435] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050132.745193101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050132.745891278] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050132.746939064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050132.748065564] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050132.834775939] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050132.836486688] [sailbot.teensy]: Wind angle: 250 -[trim_sail-4] [INFO] [1746050132.837218694] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050132.837524466] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050132.838413276] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050132.838844954] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050132.839255900] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050132.844188354] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050132.844641915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050132.845398962] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050132.846300205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050132.847401159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050132.945314123] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050132.945847679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050132.946901493] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050132.947963517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050132.949209168] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050133.002394042] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690396 Long: -76.50275694 -[vectornav-1] [INFO] [1746050133.003358686] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.41899999999998, -0.469, 4.697) -[mux-7] [INFO] [1746050133.045060053] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050133.045731495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050133.046754927] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050133.047788360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050133.048900051] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050133.085162576] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050133.087468791] [sailbot.teensy]: Wind angle: 250 -[trim_sail-4] [INFO] [1746050133.087567075] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050133.088411660] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050133.088426606] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050133.089353571] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050133.090204086] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050133.145038771] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050133.145732632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050133.146981832] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050133.147671025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050133.148752330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050133.245176727] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050133.246159389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050133.246685108] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050133.248352930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050133.249636558] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050133.335151729] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050133.336966598] [sailbot.teensy]: Wind angle: 250 -[teensy-2] [INFO] [1746050133.337896420] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050133.337616641] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050133.337939377] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050133.338796562] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050133.339712524] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050133.344386988] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050133.344919600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050133.345525838] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050133.346590606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050133.347611165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050133.445412511] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050133.446449980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050133.447124562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050133.449035664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050133.450173302] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050133.503953806] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903959 Long: -76.50275687 -[vectornav-1] [INFO] [1746050133.505469403] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.289, 0.002, 4.163) -[mux-7] [INFO] [1746050133.544989216] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050133.545957086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050133.546372714] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050133.547887036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050133.549052536] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050133.585812065] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050133.588882147] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050133.589357231] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050133.590634687] [sailbot.teensy]: Wind angle: 250 -[teensy-2] [INFO] [1746050133.591610755] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050133.592617839] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050133.593473218] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050133.645025830] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050133.645730944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050133.646392654] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050133.647916456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050133.649071826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050133.745447521] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050133.746218768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050133.747146379] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050133.748066419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050133.748586866] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050133.835176147] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050133.836899300] [sailbot.teensy]: Wind angle: 250 -[trim_sail-4] [INFO] [1746050133.837361461] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050133.837849651] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050133.838744756] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050133.839076320] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050133.839615258] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050133.844543261] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050133.845188918] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050133.845714301] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050133.847000542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050133.848092868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050133.944963443] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050133.945764587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050133.946251981] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050133.947640638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050133.948803929] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050134.003782903] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903963 Long: -76.5027566 -[vectornav-1] [INFO] [1746050134.005883459] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.79999999999995, -0.655, 5.033) -[mux-7] [INFO] [1746050134.044928927] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050134.045774301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050134.046182548] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050134.047550634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050134.048624266] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050134.085272711] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050134.087123120] [sailbot.teensy]: Wind angle: 250 -[trim_sail-4] [INFO] [1746050134.087788415] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050134.088120964] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050134.088843145] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050134.089082626] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050134.089965663] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050134.145184579] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050134.146216453] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050134.147006787] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050134.147473106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050134.148172815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050134.245172125] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050134.246160073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050134.246663155] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050134.248387740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050134.249420356] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050134.335229036] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050134.337422959] [sailbot.teensy]: Wind angle: 250 -[trim_sail-4] [INFO] [1746050134.337463071] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050134.338407306] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050134.339291608] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050134.339481304] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050134.340192941] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050134.344360336] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050134.344798403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050134.345511333] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050134.346464563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050134.347588372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050134.445343603] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050134.445942042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050134.447339826] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050134.448034645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050134.450049049] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050134.502839662] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903967 Long: -76.50275652 -[vectornav-1] [INFO] [1746050134.504354663] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.96000000000004, -0.65, 4.268) -[mux-7] [INFO] [1746050134.545443603] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050134.546322465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050134.547426789] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050134.548766268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050134.549760057] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050134.585356354] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050134.587355453] [sailbot.teensy]: Wind angle: 250 -[trim_sail-4] [INFO] [1746050134.587508501] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050134.588343756] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050134.589210430] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050134.589323006] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050134.590118131] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050134.645147433] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050134.645914284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050134.646591055] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050134.647896475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050134.648935214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050134.745197486] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050134.746640373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050134.746800211] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050134.748795053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050134.750034702] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050134.835620799] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050134.838143350] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050134.838359553] [sailbot.teensy]: Wind angle: 250 -[mux-7] [INFO] [1746050134.838719523] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050134.839504549] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050134.840407675] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050134.841299183] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050134.844390957] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050134.844936160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050134.845689521] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050134.846709691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050134.847785221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050134.945453232] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050134.946212099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050134.947033099] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050134.948617081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050134.949820447] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050135.003616225] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903957 Long: -76.50275658 -[vectornav-1] [INFO] [1746050135.005816183] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.163, -0.255, 3.677) -[mux-7] [INFO] [1746050135.045250518] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050135.046129107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050135.046727821] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050135.048328942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050135.049494328] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050135.086041607] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050135.088403874] [sailbot.teensy]: Wind angle: 250 -[trim_sail-4] [INFO] [1746050135.088897046] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050135.089553157] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050135.090580360] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050135.091305239] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050135.091590928] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050135.144606677] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050135.145353710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050135.145751286] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050135.147272481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050135.148405788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050135.245084589] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050135.245912642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050135.246770833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050135.247883545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050135.248394831] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050135.335220619] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050135.336877748] [sailbot.teensy]: Wind angle: 249 -[trim_sail-4] [INFO] [1746050135.337300539] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050135.337824911] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050135.338748222] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050135.338860382] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050135.339622837] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050135.344485958] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050135.345177300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050135.345606365] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050135.346927170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050135.348014280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050135.445487509] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050135.446378390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050135.447093786] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050135.448992471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050135.450103451] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050135.503453214] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903945 Long: -76.50275643 -[vectornav-1] [INFO] [1746050135.504816292] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.04999999999995, -0.801, 3.816) -[mux-7] [INFO] [1746050135.545026509] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050135.545951828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050135.546421502] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050135.548033768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050135.549093682] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050135.585826294] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050135.588134036] [sailbot.teensy]: Wind angle: 249 -[teensy-2] [INFO] [1746050135.589358262] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050135.589256182] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050135.590336005] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050135.591235480] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050135.591460319] [sailbot.mux]: algo sail angle: 15 -[mux-7] [INFO] [1746050135.645347638] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050135.646240720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050135.646966161] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050135.649210279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050135.650333987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050135.745604968] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050135.746263287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050135.747201157] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050135.748848172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050135.749505029] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050135.835182208] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050135.836917681] [sailbot.teensy]: Wind angle: 249 -[trim_sail-4] [INFO] [1746050135.837416118] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050135.838828959] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050135.839205383] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050135.840124031] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050135.840753521] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050135.844290094] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050135.844871907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050135.845359915] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050135.846475627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050135.847654164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050135.945220983] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050135.946317750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050135.946729288] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050135.948199939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050135.948742392] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050136.003664324] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903932 Long: -76.50275657 -[vectornav-1] [INFO] [1746050136.005863489] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.97000000000003, -0.152, 3.915) -[mux-7] [INFO] [1746050136.045024647] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050136.045705028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050136.046295406] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050136.047812845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050136.048967604] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050136.085272884] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050136.087629885] [sailbot.teensy]: Wind angle: 249 -[teensy-2] [INFO] [1746050136.088545104] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050136.087934695] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050136.088757780] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050136.089444918] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050136.090338380] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050136.144885033] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050136.145693120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050136.146293634] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050136.148032860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050136.148852029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050136.245110452] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050136.246137346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050136.247329751] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050136.247997515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050136.248462251] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050136.335371620] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050136.337294600] [sailbot.teensy]: Wind angle: 249 -[trim_sail-4] [INFO] [1746050136.337764376] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050136.338296257] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050136.339228861] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050136.339286729] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050136.339958764] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050136.344303217] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050136.344919552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050136.345396052] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050136.346624768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050136.347663338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050136.444904106] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050136.445539099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050136.446177106] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050136.447486511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050136.448035091] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050136.503378693] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903924 Long: -76.50275663 -[vectornav-1] [INFO] [1746050136.504626011] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.77999999999997, -0.561, 3.664) -[mux-7] [INFO] [1746050136.545375166] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050136.546075808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050136.546838947] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050136.548208956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050136.549284333] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050136.585441988] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050136.587773585] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050136.588238142] [sailbot.teensy]: Wind angle: 249 -[mux-7] [INFO] [1746050136.588960638] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050136.590258218] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050136.591237828] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050136.592060407] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050136.644706256] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050136.645310207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050136.645886856] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050136.647364413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050136.648554710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050136.745082337] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050136.746023000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050136.746473786] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050136.747877382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050136.748352744] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050136.835384879] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050136.837886372] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050136.838559414] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050136.838769995] [sailbot.teensy]: Wind angle: 249 -[teensy-2] [INFO] [1746050136.839745147] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050136.840658595] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050136.841493191] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050136.844216476] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050136.844770062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050136.845340916] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050136.846424518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050136.847567765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050136.944905142] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050136.945839464] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050136.946172778] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050136.947677023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050136.948746243] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050137.004238031] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690392 Long: -76.50275661 -[vectornav-1] [INFO] [1746050137.006305760] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.543, -0.981, 4.131) -[mux-7] [INFO] [1746050137.045112768] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050137.045810996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050137.046507916] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050137.047875955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050137.049113104] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050137.085261727] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050137.087467251] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050137.087779269] [sailbot.teensy]: Wind angle: 249 -[mux-7] [INFO] [1746050137.088619533] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050137.088838182] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050137.089722388] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050137.090595761] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050137.145352014] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050137.145908084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050137.146984758] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050137.148305379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050137.149546977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050137.245170357] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050137.245847485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050137.246574924] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050137.247689554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050137.248889191] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050137.335252128] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050137.337043898] [sailbot.teensy]: Wind angle: 249 -[trim_sail-4] [INFO] [1746050137.337664303] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050137.339060396] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050137.339905914] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050137.340857036] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050137.341689216] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050137.344347998] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050137.344909886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050137.345480605] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050137.346591137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050137.347719762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050137.445217988] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050137.445834482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050137.446993235] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050137.447820926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050137.448901396] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050137.503107160] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903923 Long: -76.50275697 -[vectornav-1] [INFO] [1746050137.504651525] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.014, 0.019, 4.009) -[mux-7] [INFO] [1746050137.545202049] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050137.545754002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050137.546682515] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050137.547985128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050137.549183827] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050137.585249258] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050137.586898228] [sailbot.teensy]: Wind angle: 249 -[trim_sail-4] [INFO] [1746050137.587478663] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050137.587826503] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050137.588805129] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050137.589618998] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050137.589658736] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050137.645259275] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050137.645864653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050137.646845422] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050137.648182141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050137.649389382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050137.744793423] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050137.745353689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050137.746003862] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050137.747117757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050137.748356242] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050137.835287466] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050137.836965540] [sailbot.teensy]: Wind angle: 249 -[trim_sail-4] [INFO] [1746050137.837536089] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050137.837876755] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050137.838762355] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050137.839463566] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050137.839641086] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050137.844589761] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050137.844861369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050137.845858845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050137.846499019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050137.847845860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050137.945622569] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050137.946211343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050137.947419746] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050137.948879601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050137.950145360] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050138.003696145] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903929 Long: -76.50275699 -[vectornav-1] [INFO] [1746050138.005723685] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.86300000000006, -0.56, 4.836) -[mux-7] [INFO] [1746050138.045054113] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050138.046313340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050138.046356594] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050138.048191232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050138.049257265] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050138.085371516] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050138.087148901] [sailbot.teensy]: Wind angle: 249 -[teensy-2] [INFO] [1746050138.088096145] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050138.087915409] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050138.088298221] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050138.088985938] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050138.089906416] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050138.145055689] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050138.145792297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050138.146640961] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050138.147567880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050138.148721115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050138.245549776] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050138.246390890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050138.247304652] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050138.249249408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050138.250532378] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050138.335333681] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050138.337934820] [sailbot.teensy]: Wind angle: 249 -[trim_sail-4] [INFO] [1746050138.337967503] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050138.338982950] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050138.339775391] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050138.340683765] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050138.341021407] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050138.344572560] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050138.345110696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050138.345718674] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050138.346800683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050138.347990324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050138.445230104] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050138.445980237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050138.446737486] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050138.448170728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050138.449370571] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050138.503449880] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903929 Long: -76.50275686 -[vectornav-1] [INFO] [1746050138.505314457] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.30200000000002, -0.545, 4.352) -[mux-7] [INFO] [1746050138.545237662] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050138.545922487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050138.546754612] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050138.548190130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050138.549276473] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050138.585352643] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050138.587013233] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050138.587852579] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050138.587944925] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050138.588826587] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050138.588857913] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050138.589703267] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050138.645076002] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050138.645950729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050138.646509512] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050138.647880596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050138.648413364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050138.745348974] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050138.746066328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050138.747020829] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050138.748036995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050138.748532501] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050138.835521051] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050138.837706933] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050138.838298163] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050138.838742532] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050138.839510933] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050138.839650338] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050138.840565900] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050138.844278181] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050138.844822836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050138.845390543] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050138.847014387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050138.848069626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050138.945272386] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050138.945935324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050138.946892881] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050138.948111532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050138.948846283] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050139.004296557] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903922 Long: -76.50275697 -[vectornav-1] [INFO] [1746050139.006143549] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.84199999999998, -0.836, 4.122) -[mux-7] [INFO] [1746050139.045065169] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050139.045784244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050139.046646230] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050139.047857959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050139.048878110] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050139.085547644] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050139.087409081] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050139.087974814] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050139.088368289] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050139.089296297] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050139.090143437] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050139.090151820] [sailbot.mux]: algo sail angle: 15 -[mux-7] [INFO] [1746050139.145019336] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050139.145714850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050139.146435826] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050139.147697532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050139.148794705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050139.245290149] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050139.246118235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050139.247828661] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050139.248086770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050139.248615496] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050139.335246800] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050139.337143515] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050139.338232350] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050139.338480002] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050139.338954083] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050139.338970328] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050139.339362545] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050139.344520544] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050139.345132176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050139.345768919] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050139.346835438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050139.347838602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050139.445064193] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050139.445926800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050139.446473908] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050139.447888516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050139.448949075] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050139.503126685] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903913 Long: -76.50275721 -[vectornav-1] [INFO] [1746050139.504204219] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.12400000000002, 0.542, 3.865) -[mux-7] [INFO] [1746050139.545104820] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050139.546002295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050139.546518841] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050139.548052482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050139.549059315] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050139.585327024] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050139.587260830] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050139.587725400] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050139.588237620] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050139.588964711] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050139.589133538] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050139.589985327] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050139.645086287] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050139.645815649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050139.646486104] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050139.647870580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050139.648463265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050139.745458731] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050139.746644277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050139.747036829] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050139.749226960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050139.750372666] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050139.835332175] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050139.837144045] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050139.838094999] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050139.837775081] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050139.838366743] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050139.839008237] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050139.839897080] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050139.844317540] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050139.844916392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050139.845448859] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050139.846606175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050139.847759126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050139.945484086] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050139.946275376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050139.947066036] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050139.949465911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050139.950626868] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050140.003272532] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903913 Long: -76.50275709 -[vectornav-1] [INFO] [1746050140.005335893] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.67600000000004, -0.891, 4.452) -[mux-7] [INFO] [1746050140.045418827] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050140.046130069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050140.046984470] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050140.048242843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050140.049353493] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050140.085449622] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050140.087795487] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050140.087816153] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050140.089116283] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050140.089117507] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050140.090082317] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050140.090912351] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050140.145082461] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050140.145693910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050140.146501421] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050140.148025716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050140.149185941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050140.245564193] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050140.246448373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050140.247218720] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050140.248786974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050140.249738094] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050140.335280569] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050140.337709892] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050140.337843234] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050140.338704430] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050140.338707709] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050140.339099178] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050140.339496777] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050140.344712429] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050140.345522923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050140.346118791] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050140.347312650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050140.348496104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050140.444689329] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050140.445455572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050140.445852058] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050140.447213639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050140.448422913] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050140.504098817] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903915 Long: -76.50275701 -[vectornav-1] [INFO] [1746050140.505888999] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.42200000000003, -0.608, 3.455) -[mux-7] [INFO] [1746050140.544621353] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050140.545272754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050140.545711763] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050140.547020245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050140.548021332] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050140.585525065] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050140.587889667] [sailbot.teensy]: Wind angle: 249 -[trim_sail-4] [INFO] [1746050140.587889716] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050140.588722796] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050140.588854717] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050140.589715522] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050140.590583663] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050140.645074507] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050140.645751211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050140.646549264] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050140.647704473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050140.648785623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050140.745329855] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050140.745995524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050140.746935361] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050140.748130415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050140.749446850] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050140.835265947] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050140.837499306] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050140.838093082] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050140.838496320] [sailbot.teensy]: Wind angle: 249 -[teensy-2] [INFO] [1746050140.839577749] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050140.840457338] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050140.841293103] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050140.844369982] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050140.845027769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050140.845486250] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050140.846837652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050140.848022083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050140.945593015] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050140.946358509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050140.947347225] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050140.948807454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050140.949916687] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050141.003266978] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903899 Long: -76.50275695 -[vectornav-1] [INFO] [1746050141.004729827] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.35699999999997, -0.306, 3.019) -[mux-7] [INFO] [1746050141.045471611] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050141.046235910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050141.047014364] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050141.048653680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050141.049819660] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050141.085192013] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050141.087387972] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050141.087585551] [sailbot.teensy]: Wind angle: 249 -[teensy-2] [INFO] [1746050141.088616311] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050141.089491049] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050141.089526440] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050141.090417601] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050141.145015776] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050141.145633899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050141.146439054] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050141.147551467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050141.148599187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050141.245387770] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050141.246134639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050141.246905612] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050141.248254318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050141.249351930] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050141.335291276] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050141.337040833] [sailbot.teensy]: Wind angle: 249 -[trim_sail-4] [INFO] [1746050141.337743025] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050141.337943111] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050141.338121522] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050141.338854133] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050141.339747945] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050141.344452872] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050141.345068457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050141.345556355] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050141.346839428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050141.348050032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050141.445560244] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050141.446653347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050141.447155562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050141.449155703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050141.450258762] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050141.503789074] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690389 Long: -76.5027568 -[vectornav-1] [INFO] [1746050141.505623184] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.86900000000003, 0.11, 4.233) -[mux-7] [INFO] [1746050141.545244900] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050141.546196328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050141.546757660] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050141.548416988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050141.549450873] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050141.585604883] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050141.588208247] [sailbot.teensy]: Wind angle: 249 -[teensy-2] [INFO] [1746050141.589202094] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050141.588818584] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050141.589699267] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050141.590133642] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050141.591054214] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050141.645448461] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050141.646082687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050141.647079254] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050141.648507087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050141.649630696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050141.745589694] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050141.746292995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050141.747205989] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050141.748653086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050141.749216904] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050141.835291600] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050141.837065555] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050141.837550420] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050141.838006597] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050141.838793125] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050141.838927221] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050141.839166514] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050141.844378111] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050141.844919556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050141.845558967] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050141.846622759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050141.847624366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050141.945208929] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050141.945922017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050141.946729797] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050141.948083599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050141.950290062] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050142.003369319] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690391 Long: -76.50275665 -[vectornav-1] [INFO] [1746050142.004852069] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.71699999999998, -0.774, 4.189) -[mux-7] [INFO] [1746050142.044327667] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050142.044890112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050142.045330214] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050142.046577612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050142.047519513] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050142.085239045] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050142.087033314] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050142.088190723] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050142.088317781] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050142.088618476] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050142.089123580] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050142.090109275] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050142.145054116] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050142.145796681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050142.146818485] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050142.147809912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050142.148997663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050142.244883396] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050142.245762178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050142.246608129] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050142.247648627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050142.248718312] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050142.335244287] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050142.337109905] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050142.337648284] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050142.338906915] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050142.339255371] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050142.340173631] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050142.340866444] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050142.344454758] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050142.345185482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050142.346425826] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050142.346846894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050142.347960230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050142.445381840] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050142.446480487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050142.447075907] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050142.448436362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050142.448936425] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050142.503592411] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903918 Long: -76.5027564 -[vectornav-1] [INFO] [1746050142.504958723] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.37099999999998, -0.293, 3.612) -[mux-7] [INFO] [1746050142.545051933] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050142.545652203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050142.546736318] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050142.547481854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050142.548590148] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050142.585527872] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050142.588103193] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050142.588818378] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050142.589906050] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050142.590846509] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050142.591677160] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050142.592653421] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050142.645343525] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050142.646137503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050142.647309312] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050142.648406431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050142.649428576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050142.744965417] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050142.745638105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050142.746243944] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050142.747463218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050142.748038568] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050142.835265273] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050142.837438344] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050142.838835789] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050142.839395594] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050142.840378403] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050142.841238288] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050142.842096919] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050142.844194162] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050142.844788869] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050142.845541757] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050142.846400640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050142.847364523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050142.945247597] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050142.946023707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050142.947215052] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050142.948928649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050142.950021508] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050143.003766644] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903906 Long: -76.50275615 -[vectornav-1] [INFO] [1746050143.005388913] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.51, -0.612, 4.58) -[mux-7] [INFO] [1746050143.045060227] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050143.046052007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050143.046483226] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050143.048109612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050143.049251646] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050143.085250329] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050143.087584334] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050143.087883038] [sailbot.teensy]: Wind angle: 248 -[mux-7] [INFO] [1746050143.088821077] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050143.088859568] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050143.089813440] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050143.090675498] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050143.145081998] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050143.146111816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050143.146522621] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050143.148086907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050143.149279618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050143.245277913] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050143.245971691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050143.247210247] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050143.248100295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050143.249244889] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050143.335296377] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050143.337755658] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050143.338255529] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050143.339092089] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050143.339998296] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050143.340900405] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050143.341755658] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050143.344310237] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050143.345019283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050143.345436571] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050143.346726850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050143.347747607] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050143.444958453] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050143.445607986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050143.446298433] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050143.447761166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050143.448846673] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050143.503876297] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903902 Long: -76.50275611 -[vectornav-1] [INFO] [1746050143.506313299] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.433, -0.431, 3.466) -[mux-7] [INFO] [1746050143.545226353] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050143.546000746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050143.546736320] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050143.548009961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050143.549086385] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050143.585235890] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050143.587414713] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050143.588032779] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050143.589484247] [sailbot.teensy]: Wind angle: 249 -[teensy-2] [INFO] [1746050143.590450238] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050143.591281809] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050143.592116175] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050143.645336354] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050143.646050226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050143.646978471] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050143.648568140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050143.649777122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050143.745093194] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050143.745568243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050143.746552307] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050143.747407962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050143.748376848] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050143.835623421] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050143.838192393] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050143.838369689] [sailbot.teensy]: Wind angle: 249 -[teensy-2] [INFO] [1746050143.838821143] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050143.839023604] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050143.839245322] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050143.839636178] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050143.844370003] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050143.845002013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050143.845485610] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050143.846772177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050143.847780999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050143.945315394] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050143.945901941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050143.946981557] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050143.948302279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050143.949488241] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050144.002939672] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903879 Long: -76.50275614 -[vectornav-1] [INFO] [1746050144.003949589] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.17899999999997, -0.294, 3.968) -[mux-7] [INFO] [1746050144.044869325] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050144.045364136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050144.046091323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050144.047141932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050144.048218041] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050144.085172982] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050144.086893683] [sailbot.teensy]: Wind angle: 249 -[trim_sail-4] [INFO] [1746050144.087647993] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050144.087806214] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050144.088218645] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050144.088731401] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050144.089613507] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050144.145221868] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050144.146012018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050144.146974396] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050144.147930549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050144.149126859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050144.245412109] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050144.245993560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050144.247016335] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050144.248272540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050144.249509338] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050144.335475418] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050144.337459423] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050144.338450223] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050144.338988886] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050144.338987631] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050144.339278572] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050144.339671246] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050144.344551331] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050144.344981019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050144.345737257] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050144.346659908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050144.347691805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050144.445494852] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050144.446057722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050144.447200112] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050144.448202683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050144.449436036] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050144.503908261] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903872 Long: -76.50275612 -[vectornav-1] [INFO] [1746050144.505762076] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.53200000000004, -1.189, 4.087) -[mux-7] [INFO] [1746050144.545164384] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050144.546004431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050144.546760612] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050144.548447339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050144.549756471] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050144.585673510] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050144.588662630] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050144.588697350] [sailbot.teensy]: Wind angle: 248 -[mux-7] [INFO] [1746050144.588975201] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050144.589691789] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050144.590679109] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050144.591515809] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050144.645415124] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050144.645980386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050144.647031194] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050144.648207229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050144.649427256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050144.745750973] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050144.746175675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050144.748267149] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050144.748812768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050144.750148547] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050144.835495701] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050144.837392687] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050144.838053166] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050144.839460883] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050144.839470753] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050144.840425592] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050144.841383507] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050144.844421955] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050144.844975527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050144.845537642] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050144.846609284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050144.847623291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050144.945601505] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050144.946334735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050144.947187624] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050144.948678220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050144.949254829] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050145.002635737] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903873 Long: -76.50275625 -[vectornav-1] [INFO] [1746050145.003727112] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.65999999999997, 0.304, 4.32) -[mux-7] [INFO] [1746050145.045769820] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050145.046794793] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050145.047970100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746050145.047369250] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050145.048497139] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050145.085395233] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050145.087600265] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050145.087646842] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050145.088624836] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050145.089505171] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050145.089557789] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050145.090396910] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050145.145258384] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050145.146061252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050145.146848554] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050145.148612333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050145.149705952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050145.245188406] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050145.245999853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050145.246703485] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050145.248062015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050145.248562225] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050145.335414482] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050145.337355256] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050145.338382008] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050145.338409332] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050145.339421658] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050145.340287912] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050145.340323633] [sailbot.mux]: algo sail angle: 15 -[mux-7] [INFO] [1746050145.344260117] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050145.344726823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050145.345526061] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050145.346381010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050145.347566562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050145.444995675] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050145.445676506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050145.446632023] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050145.447503930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050145.448704092] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050145.502490182] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690387 Long: -76.50275629 -[vectornav-1] [INFO] [1746050145.503494926] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.284, -0.71, 4.267) -[mux-7] [INFO] [1746050145.545087688] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050145.545717771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050145.546388712] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050145.547540312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050145.548866145] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050145.585553981] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050145.588387298] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050145.588784215] [sailbot.teensy]: Wind angle: 247 -[mux-7] [INFO] [1746050145.589646974] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050145.589945900] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050145.590870337] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050145.591852857] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050145.645319722] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050145.646060110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050145.647617422] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050145.648656902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050145.649865132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050145.745309240] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050145.745950278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050145.746942759] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050145.748184089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050145.749101338] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050145.835378351] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050145.837245617] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050145.837801401] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050145.838233014] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050145.839212440] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050145.839696280] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050145.840073243] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050145.844563196] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050145.845173226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050145.845724453] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050145.846857239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050145.847889983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050145.945159166] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050145.945814338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050145.947047076] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050145.947789614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050145.949000235] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050146.003368032] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903877 Long: -76.50275633 -[vectornav-1] [INFO] [1746050146.004884936] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.50400000000002, -0.613, 4.413) -[mux-7] [INFO] [1746050146.045301344] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050146.046103885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050146.046752367] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050146.048203280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050146.049612187] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050146.085435484] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050146.087698222] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050146.088125583] [sailbot.teensy]: Wind angle: 247 -[mux-7] [INFO] [1746050146.089038588] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050146.089113548] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050146.090018027] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050146.090874353] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050146.145091032] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050146.146547930] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050146.148718588] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050146.150512904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050146.152356380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050146.245057780] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050146.245844477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050146.246346108] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050146.247876286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050146.248994826] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050146.335351220] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050146.337825128] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050146.337915813] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050146.338764196] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050146.339142569] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050146.339148778] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050146.339529153] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050146.344641900] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050146.345208784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050146.345848835] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050146.347010421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050146.348056902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050146.445053644] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050146.445644673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050146.446375233] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050146.447438253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050146.447976828] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050146.503002922] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903867 Long: -76.5027563 -[vectornav-1] [INFO] [1746050146.504375011] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.41599999999994, -0.102, 3.723) -[mux-7] [INFO] [1746050146.544937605] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050146.545823237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050146.546206054] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050146.547867987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050146.548947843] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050146.585270737] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050146.587095583] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050146.587623619] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050146.588124000] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050146.589062904] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050146.588806001] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050146.590054029] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050146.645432646] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050146.646019081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050146.647023696] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050146.648205841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050146.649371091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050146.745323844] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050146.746192351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050146.747328919] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050146.748468525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050146.749143236] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050146.835312242] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050146.837149096] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050146.837596004] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050146.838177159] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050146.839003279] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050146.839004437] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050146.839381193] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050146.844451047] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050146.844924649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050146.845803383] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050146.846672238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050146.847796392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050146.945171090] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050146.945808391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050146.946910425] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050146.947812458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050146.949060280] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050147.003251187] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903877 Long: -76.50275607 -[vectornav-1] [INFO] [1746050147.004629776] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.58000000000004, -0.217, 5.04) -[mux-7] [INFO] [1746050147.045077967] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050147.045468364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050147.046421554] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050147.047257555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050147.048308848] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050147.085434915] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050147.087882247] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050147.088479694] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050147.089277320] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050147.090254228] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050147.091097872] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050147.091948165] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050147.145464236] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050147.146143643] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050147.147052880] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050147.149240309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050147.149824666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050147.245183813] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050147.245918072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050147.246572964] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050147.247756995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050147.248963317] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050147.335546342] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050147.338302317] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050147.338359269] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050147.339073083] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050147.339106930] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050147.339469149] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050147.339812857] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050147.344375366] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050147.344953591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050147.345832360] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050147.346657975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050147.347832623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050147.444896469] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050147.445549479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050147.446465253] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050147.447371688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050147.448111645] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050147.503115644] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903864 Long: -76.50275593 -[vectornav-1] [INFO] [1746050147.504417655] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.92100000000005, -0.799, 5.639) -[mux-7] [INFO] [1746050147.544939805] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050147.545828617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050147.546672919] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050147.547867516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050147.549749868] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050147.585168681] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050147.586944858] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050147.587897591] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050147.587605873] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050147.588816575] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050147.590152960] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050147.591037973] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050147.645198757] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050147.645845989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050147.646635041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050147.647922199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050147.648461281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050147.745303615] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050147.745987242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050147.747028990] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050147.748355751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050147.748898340] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050147.835290934] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050147.837082753] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050147.838029707] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050147.838500772] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050147.838932876] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050147.839305579] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050147.839808456] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050147.844484434] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050147.845040266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050147.845611383] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050147.846737563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050147.847896829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050147.945538078] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050147.946173133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050147.947407894] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050147.948715629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050147.949348212] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050148.002310195] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690386 Long: -76.50275559 -[vectornav-1] [INFO] [1746050148.003282514] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.481, -0.128, 6.286) -[mux-7] [INFO] [1746050148.044826780] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050148.045897068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050148.045976668] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050148.047956663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050148.048997149] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050148.085521179] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050148.088546190] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050148.088684241] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050148.089640421] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050148.089771815] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050148.090570072] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050148.091400211] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050148.144579872] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050148.145116027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050148.145618493] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050148.146665206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050148.147672335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050148.245033716] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050148.246421293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050148.246727661] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050148.248018682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050148.248475601] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050148.335465785] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050148.337735163] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050148.338716917] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050148.338128416] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050148.339118519] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050148.339641094] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050148.340598502] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050148.344525598] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050148.345198359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050148.345775203] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050148.346936703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050148.348090871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050148.445301390] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050148.446211703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050148.446884058] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050148.448416070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050148.449559868] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050148.503432458] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903871 Long: -76.5027553 -[vectornav-1] [INFO] [1746050148.505244038] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.428, -0.048, 5.858) -[mux-7] [INFO] [1746050148.545008262] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050148.545674952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050148.546316760] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050148.547548509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050148.548615523] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050148.585197612] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050148.586764180] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050148.587654723] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050148.588417613] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050148.588558115] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746050148.589020304] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050148.589429094] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050148.645335044] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050148.646279695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050148.646860590] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050148.648715408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050148.649842539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050148.745047563] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050148.745862262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050148.746682274] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050148.747705806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050148.748904853] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050148.835437391] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050148.837775432] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050148.837920524] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050148.838736196] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050148.839616815] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050148.839729472] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050148.840586603] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050148.844488755] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050148.845095039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050148.845605608] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050148.846809134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050148.847970602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050148.945210729] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050148.945902441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050148.946661220] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050148.948231317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050148.949345625] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050149.003147197] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903876 Long: -76.50275485 -[vectornav-1] [INFO] [1746050149.004430319] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.308, -0.315, 5.474) -[mux-7] [INFO] [1746050149.045007811] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050149.045662028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050149.046295735] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050149.047523432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050149.048736370] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050149.085381965] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050149.087130257] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050149.087607726] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050149.088050465] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050149.088972400] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050149.089239562] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050149.089827514] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050149.145213404] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050149.145915621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050149.146742155] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050149.148459063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050149.150325522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050149.245087974] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050149.245776517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050149.246427525] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050149.247780504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050149.248311830] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050149.335428227] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050149.337335031] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050149.337926287] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050149.338304257] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050149.339201389] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050149.339427866] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050149.340074109] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050149.344536953] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050149.344853855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050149.345911745] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050149.346596392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050149.347862957] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050149.445177557] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050149.445831730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050149.446724513] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050149.447953180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050149.449039933] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050149.503277291] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903873 Long: -76.50275448 -[vectornav-1] [INFO] [1746050149.504702381] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.712, -0.932, 3.059) -[mux-7] [INFO] [1746050149.545203227] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050149.545770986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050149.546749055] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050149.547859327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050149.548947743] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050149.585198056] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050149.586758686] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050149.587290306] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050149.587606562] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050149.588482972] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050149.589192867] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050149.589274562] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050149.645193557] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050149.646775882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050149.646798158] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050149.648711387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050149.649734789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050149.745036949] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050149.745673186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050149.746327126] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050149.747591421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050149.748091817] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050149.835236278] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050149.837198526] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050149.838123910] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050149.838509538] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050149.839072502] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050149.839247465] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050149.839468906] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050149.844500207] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050149.845062134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050149.845669114] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050149.846761170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050149.848023620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050149.945102274] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050149.945738841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050149.946500676] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050149.947771899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050149.948679529] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050150.003276913] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903872 Long: -76.50275429 -[vectornav-1] [INFO] [1746050150.004969050] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.73900000000003, 0.133, 2.672) -[mux-7] [INFO] [1746050150.045177834] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050150.045790229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050150.047795930] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050150.048046654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050150.049153008] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050150.085714509] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050150.088922561] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050150.089177342] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050150.089746199] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050150.090772744] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050150.091630162] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050150.092525294] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050150.144810890] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050150.145525399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050150.146334509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050150.147570669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050150.148662367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050150.245301698] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050150.246209028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050150.246967972] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050150.248567839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050150.249586381] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050150.335269752] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050150.337893655] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050150.338291768] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050150.338431514] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050150.339342288] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050150.340244447] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050150.340895936] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050150.344496011] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050150.345132819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050150.345630802] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050150.346843271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050150.347808327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050150.445206589] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050150.446055218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050150.446737373] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050150.448062340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050150.448752005] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050150.503968648] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903865 Long: -76.5027543 -[vectornav-1] [INFO] [1746050150.505786380] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.59900000000005, 0.283, 3.555) -[mux-7] [INFO] [1746050150.544846171] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050150.545466506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050150.546034358] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050150.547321181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050150.548292909] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050150.585264258] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050150.587131777] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050150.588409269] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050150.588546526] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050150.588741785] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050150.588899685] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050150.589274909] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050150.644927171] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050150.645642826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050150.646360357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050150.647584452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050150.648631444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050150.745408528] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050150.746092433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050150.747298114] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050150.748199397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050150.748692943] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050150.835382785] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050150.837159109] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050150.837681236] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050150.838107095] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050150.839000134] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050150.839201249] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050150.839586783] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050150.844339294] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050150.845049104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050150.845452483] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050150.846809850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050150.847810364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050150.945118202] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050150.946047883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050150.946826776] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050150.947586492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050150.948063441] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050151.003142337] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903867 Long: -76.50275392 -[vectornav-1] [INFO] [1746050151.004501048] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.86599999999999, -0.755, 4.746) -[mux-7] [INFO] [1746050151.044748655] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050151.045398504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050151.045947424] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050151.047366877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050151.048452095] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050151.085403608] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050151.087884979] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050151.088536388] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050151.088940504] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050151.089903872] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050151.090222975] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050151.090813401] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050151.145041982] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050151.145971920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050151.146480357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050151.148306949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050151.149334470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050151.245036305] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050151.245892945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050151.246338390] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050151.247873747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050151.248958075] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050151.335212904] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050151.337608415] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050151.337717536] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050151.338596347] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050151.338854453] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050151.339528152] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050151.340398120] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050151.344382227] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050151.345146770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050151.345521080] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050151.347028489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050151.348039169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050151.445493854] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050151.446522905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050151.447133115] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050151.448402617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050151.448839568] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050151.502691522] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903882 Long: -76.50275381 -[vectornav-1] [INFO] [1746050151.503961130] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.721, -1.165, 3.364) -[mux-7] [INFO] [1746050151.544994892] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050151.545860469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050151.546305125] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050151.547856519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050151.548928505] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050151.585396530] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050151.587871648] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050151.588698902] [sailbot.teensy]: Wind angle: 247 -[mux-7] [INFO] [1746050151.588696167] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050151.589658213] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050151.590510553] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050151.591378229] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050151.644969952] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050151.645631018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050151.646292569] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050151.647661001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050151.648810331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050151.745007897] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050151.745694258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050151.746284139] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050151.747540037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050151.748512013] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050151.835368393] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050151.838050757] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050151.838609009] [sailbot.teensy]: Wind angle: 247 -[mux-7] [INFO] [1746050151.838688945] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050151.839610137] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050151.840561076] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050151.841227806] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050151.844308409] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050151.844822647] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050151.845459967] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050151.846916077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050151.848054639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050151.945457057] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050151.946012302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050151.947108987] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050151.948189756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050151.949434614] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050152.003273758] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903881 Long: -76.50275373 -[vectornav-1] [INFO] [1746050152.004690044] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.52800000000002, 1.844, 4.122) -[mux-7] [INFO] [1746050152.045151453] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050152.045642734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050152.046555769] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050152.047484662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050152.048534387] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050152.085146798] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050152.087268334] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050152.087786247] [sailbot.teensy]: Wind angle: 247 -[mux-7] [INFO] [1746050152.087807071] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050152.089073739] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050152.089916996] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050152.090690670] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050152.144808641] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050152.145451015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050152.146061878] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050152.147187126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050152.148252169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050152.244952103] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050152.245563702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050152.246208124] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050152.247441324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050152.248480562] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050152.335342794] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050152.338043637] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050152.338434844] [sailbot.teensy]: Wind angle: 247 -[mux-7] [INFO] [1746050152.338869404] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050152.339247182] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050152.339626362] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050152.339962142] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050152.344543096] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050152.345020406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050152.345806044] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050152.346706603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050152.347740357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050152.445370620] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050152.446350555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050152.447181925] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050152.449019442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050152.450185085] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050152.502159229] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903872 Long: -76.5027535 -[vectornav-1] [INFO] [1746050152.503059436] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.97699999999998, -1.653, 4.524) -[mux-7] [INFO] [1746050152.545164787] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050152.545874576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050152.546440981] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050152.547726272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050152.548767608] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050152.585444174] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050152.587363656] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050152.588186826] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050152.588346059] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050152.588475987] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050152.589257341] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050152.590124314] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050152.645175979] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050152.645905053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050152.647182076] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050152.648471001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050152.649015219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050152.744879393] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050152.745506669] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050152.746060752] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050152.747379372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050152.748419173] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050152.835307227] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050152.837684001] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050152.838137144] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050152.838798754] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050152.839747662] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050152.840621461] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050152.841373525] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050152.844370534] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050152.844849180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050152.845504045] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050152.846534979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050152.847574019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050152.945300931] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050152.946017199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050152.947672517] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050152.947939575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050152.948533516] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050153.002533820] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903874 Long: -76.50275332 -[vectornav-1] [INFO] [1746050153.003635859] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.85000000000002, -0.621, 4.415) -[mux-7] [INFO] [1746050153.044971833] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050153.045811222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050153.046638431] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050153.047791571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050153.048927434] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050153.085348036] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050153.087065610] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050153.087987472] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050153.087684636] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050153.088591732] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050153.088874774] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050153.089789798] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050153.145284601] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050153.146106453] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050153.147095828] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050153.148184722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050153.149353237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050153.245075161] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050153.245873576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050153.246416630] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050153.247824726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050153.248887402] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050153.335385118] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050153.337401406] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050153.337947878] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050153.338369539] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050153.338831484] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050153.338834982] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050153.339223972] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050153.344416919] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050153.344874482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050153.345542007] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050153.346780970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050153.347798546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050153.445715253] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050153.446543764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050153.447328980] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050153.449233032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050153.450499905] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050153.503115358] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903887 Long: -76.50275334 -[vectornav-1] [INFO] [1746050153.504668414] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.414, 0.004, 4.857) -[mux-7] [INFO] [1746050153.545193791] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050153.545930346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050153.546475078] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050153.547777556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050153.548819248] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050153.585215085] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050153.587074840] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050153.587741875] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050153.587929185] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050153.588421311] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050153.588861653] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050153.589736795] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050153.645221796] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050153.646678492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050153.646790778] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050153.648912023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050153.650035873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050153.745440132] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050153.746090692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050153.747028623] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050153.747673634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050153.748172307] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050153.835229334] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050153.837162380] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050153.837654920] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050153.838136343] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050153.838813927] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050153.839036452] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050153.839891664] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050153.844458182] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050153.845248505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050153.845908943] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050153.846968425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050153.848018943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050153.945530291] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050153.946258434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050153.947328535] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050153.948666371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050153.949953796] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050154.003189576] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690392 Long: -76.50275302 -[vectornav-1] [INFO] [1746050154.004704757] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.99400000000003, -0.267, 5.16) -[mux-7] [INFO] [1746050154.045281661] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050154.046602661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050154.046864723] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050154.048673846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050154.049209015] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050154.085386939] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050154.087705696] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050154.088358887] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050154.088446567] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050154.089472886] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050154.090399692] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050154.091263431] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050154.144973083] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050154.145725551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050154.146593326] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050154.147614801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050154.148679533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050154.245336752] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050154.246145312] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050154.246993581] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050154.248280704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050154.248749447] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050154.335207825] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050154.338000233] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050154.338691124] [sailbot.teensy]: Wind angle: 247 -[mux-7] [INFO] [1746050154.338711423] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050154.339672135] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050154.340554739] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050154.340944081] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050154.344383359] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050154.344868833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050154.345459640] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050154.346539861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050154.347703674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050154.445128074] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050154.445766817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050154.446596349] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050154.447805571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050154.448434998] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050154.502533184] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903922 Long: -76.50275304 -[vectornav-1] [INFO] [1746050154.503542036] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.57100000000003, -0.532, 4.384) -[mux-7] [INFO] [1746050154.545121567] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050154.546020360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050154.546593011] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050154.548098339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050154.549247959] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050154.585411741] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050154.588048407] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050154.588510024] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050154.589103096] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050154.590060851] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050154.590932688] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050154.591783070] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050154.644954437] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050154.645788555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050154.646557124] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050154.647666119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050154.648461133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050154.745373026] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050154.746304962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050154.747343810] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050154.748702530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050154.749795957] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050154.835336214] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050154.837494212] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050154.837845167] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050154.838456966] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050154.838941658] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050154.839370382] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050154.840255264] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050154.844647525] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050154.845099058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050154.846017922] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050154.846785136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050154.847837719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050154.944924417] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050154.945530286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050154.946180537] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050154.947374629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050154.948572268] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050155.003214839] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903919 Long: -76.50275332 -[vectornav-1] [INFO] [1746050155.004600889] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.95900000000006, -0.325, 5.108) -[mux-7] [INFO] [1746050155.045378542] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050155.045890865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050155.046902436] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050155.047894361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050155.048726117] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050155.085323713] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050155.087110989] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050155.088041616] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050155.087686550] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050155.088838996] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050155.088965578] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050155.089832418] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050155.145165124] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050155.145788653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050155.147039883] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050155.147705605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050155.148660657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050155.245188562] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050155.246135787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050155.246656008] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050155.248181720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050155.249277845] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050155.335401270] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050155.337157706] [sailbot.teensy]: Wind angle: 246 -[trim_sail-4] [INFO] [1746050155.337881738] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050155.338084102] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050155.338949977] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050155.338926664] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050155.340141895] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050155.344431091] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050155.345047551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050155.345497117] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050155.346771541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050155.347881379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050155.445012425] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050155.445872845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050155.446347722] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050155.447906787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050155.448982527] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050155.503476909] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903922 Long: -76.50275329 -[vectornav-1] [INFO] [1746050155.505674480] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.27099999999996, -0.607, 4.636) -[mux-7] [INFO] [1746050155.545083485] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050155.545897012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050155.546369602] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050155.547900149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050155.548976615] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050155.585431743] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050155.587654900] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050155.588314325] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050155.588637800] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050155.589229565] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050155.589548892] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050155.590456776] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050155.645297196] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050155.646236998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050155.646877761] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050155.648634185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050155.649805690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050155.745430945] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050155.746430783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050155.747029707] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050155.748727573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050155.749764917] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050155.835269741] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050155.837433372] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050155.837864625] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050155.839739214] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050155.840651793] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050155.841479711] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050155.842308690] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050155.844347063] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050155.844773502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050155.845523706] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050155.846444765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050155.847630256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050155.945313020] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050155.946115908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050155.946878144] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050155.947948258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050155.948439002] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050156.003363756] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903941 Long: -76.5027533 -[vectornav-1] [INFO] [1746050156.004815947] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.52099999999996, -0.33, 4.07) -[mux-7] [INFO] [1746050156.045067844] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050156.045947581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050156.046470349] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050156.048081195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050156.049248544] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050156.085160169] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050156.087403865] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050156.087581336] [sailbot.teensy]: Wind angle: 247 -[mux-7] [INFO] [1746050156.087817763] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050156.088592225] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050156.089405270] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050156.090187444] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050156.144747925] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050156.145199548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050156.145981782] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050156.146958870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050156.147998388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050156.245013002] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050156.245925878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050156.246798034] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050156.247801998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050156.249832529] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050156.335422632] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050156.338021583] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050156.338884658] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050156.339018938] [sailbot.teensy]: Wind angle: 246 -[teensy-2] [INFO] [1746050156.339956634] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050156.340534146] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050156.340866606] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050156.344449592] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050156.345022002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050156.345535710] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050156.346750325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050156.347811587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050156.445391400] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050156.446298023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050156.446960472] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050156.448946411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050156.449954591] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050156.503517848] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690395 Long: -76.50275303 -[vectornav-1] [INFO] [1746050156.505425878] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.30899999999997, 0.031, 3.975) -[mux-7] [INFO] [1746050156.545015724] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050156.545760537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050156.546350185] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050156.547828994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050156.548969414] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050156.585510347] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050156.587609070] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050156.588306581] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050156.588658242] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050156.589602160] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050156.590139194] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050156.590889289] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050156.645351179] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050156.645834690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050156.647098108] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050156.648517702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050156.649599689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050156.744962328] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050156.745654023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050156.746297820] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050156.747704862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050156.748864344] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050156.835281470] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050156.836984129] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050156.837467745] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050156.839200302] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050156.839507333] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050156.840458653] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050156.840801945] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050156.844423168] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050156.844961452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050156.845576642] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050156.846770763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050156.847851588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050156.945239660] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050156.945901735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050156.946830285] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050156.948122818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050156.950069043] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050157.003195327] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903963 Long: -76.50275302 -[vectornav-1] [INFO] [1746050157.004821958] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.83299999999997, -0.256, 4.574) -[mux-7] [INFO] [1746050157.045025480] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050157.045951854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050157.046355225] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050157.048007136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050157.049060579] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050157.085304174] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050157.087652071] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050157.088123619] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050157.088741861] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050157.089697394] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050157.090566555] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050157.091435009] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050157.145318009] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050157.146064162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050157.146976358] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050157.148029256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050157.149823423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050157.245283883] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050157.246236374] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050157.246811419] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050157.248235246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050157.248771290] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050157.335448499] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050157.337747046] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050157.338032095] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050157.338517334] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050157.339018452] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050157.339451650] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050157.339787952] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050157.344296759] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050157.344946851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050157.345390188] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050157.346767873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050157.347780249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050157.445685630] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050157.446677951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050157.447347156] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050157.449236245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050157.450453486] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050157.503121556] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690399 Long: -76.5027531 -[vectornav-1] [INFO] [1746050157.504696912] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.54200000000003, -1.46, 4.157) -[mux-7] [INFO] [1746050157.545294841] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050157.546319296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050157.546872787] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050157.548593061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050157.549682364] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050157.585555759] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050157.588324682] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050157.588324340] [sailbot.teensy]: Wind angle: 246 -[teensy-2] [INFO] [1746050157.589387234] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050157.589755888] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050157.590328629] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050157.591236890] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050157.645164342] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050157.645653239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050157.646564913] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050157.647574271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050157.648808114] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050157.745158730] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050157.746007518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050157.746638331] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050157.748103084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050157.748689846] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050157.835214879] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050157.837085924] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050157.837546875] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050157.838062231] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050157.838977550] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050157.838884310] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050157.839890350] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050157.844383118] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050157.845216687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050157.845643482] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050157.847001533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050157.848001224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050157.945243543] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050157.946000133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050157.947064733] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050157.948028761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050157.948509122] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050158.003492162] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904 Long: -76.50275324 -[vectornav-1] [INFO] [1746050158.004834545] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.74599999999998, 0.961, 3.7) -[mux-7] [INFO] [1746050158.045330898] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050158.046092244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050158.046847996] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050158.048352478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050158.049503214] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050158.085414381] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050158.087842502] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050158.088107494] [sailbot.teensy]: Wind angle: 246 -[teensy-2] [INFO] [1746050158.089251630] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050158.089560461] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050158.090163710] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050158.091098035] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050158.145328124] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050158.146044937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050158.146871995] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050158.148043812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050158.149154649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050158.245347122] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050158.246147476] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050158.246901345] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050158.249345026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050158.249899204] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050158.335554666] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050158.338360081] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050158.339034836] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050158.339360944] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050158.340303467] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050158.340656858] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050158.340995999] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050158.344464449] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050158.345026554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050158.345618809] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050158.346722613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050158.347780201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050158.445320957] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050158.445876535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050158.446968137] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050158.447932062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050158.449043155] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050158.503566771] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904004 Long: -76.50275326 -[vectornav-1] [INFO] [1746050158.504985741] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.31999999999994, -1.125, 4.536) -[mux-7] [INFO] [1746050158.545131455] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050158.545708053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050158.546649581] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050158.547889628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050158.549037377] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050158.585464291] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050158.587379618] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050158.588426734] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050158.588816412] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050158.589409959] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050158.590083171] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050158.590317576] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050158.645410272] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050158.646078904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050158.647357486] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050158.648295757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050158.649502737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050158.745246129] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050158.745725088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050158.746628607] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050158.747947263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050158.749101660] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050158.835250156] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050158.837069203] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050158.837635204] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050158.838023327] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050158.838926176] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050158.839029734] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050158.839851388] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050158.844560986] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050158.845116088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050158.846117337] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050158.847014674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050158.848246009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050158.945591034] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050158.946440832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050158.947240945] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050158.948650112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050158.949199567] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050159.003553755] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690401 Long: -76.5027533 -[vectornav-1] [INFO] [1746050159.005211354] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.64499999999998, -0.491, 4.383) -[mux-7] [INFO] [1746050159.044971710] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050159.045701464] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050159.046270485] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050159.047577672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050159.048646615] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050159.085100712] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050159.086920006] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050159.087807672] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050159.087253825] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050159.088695225] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050159.088686498] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050159.089599840] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050159.145461982] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050159.146224861] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050159.147090278] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050159.148541008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050159.149084516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050159.245190590] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050159.245808301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050159.246568957] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050159.247772362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050159.248975536] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050159.335312839] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050159.337502390] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050159.338333163] [sailbot.teensy]: Wind angle: 248 -[mux-7] [INFO] [1746050159.338360517] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050159.339220829] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050159.340037406] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050159.340878279] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050159.344386157] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050159.344739321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050159.345426470] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050159.346297786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050159.347331851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050159.445822181] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050159.446423597] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050159.447764585] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050159.448813655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050159.450120519] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050159.502492172] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904019 Long: -76.50275352 -[vectornav-1] [INFO] [1746050159.503581700] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.64499999999998, -0.265, 4.557) -[mux-7] [INFO] [1746050159.545543357] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050159.546159404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050159.547427723] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050159.548936954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050159.550111492] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050159.585200692] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050159.587392353] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050159.587873816] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050159.588249995] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050159.589208409] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050159.590036463] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050159.590866435] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050159.645477170] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050159.646214709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050159.647072941] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050159.648486258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050159.649761244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050159.745350496] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050159.746266406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050159.746916217] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050159.748189139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050159.748718283] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050159.835232148] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050159.837325994] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050159.837992829] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050159.839055188] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050159.839836064] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050159.840774115] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050159.841657768] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050159.844376774] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050159.845100370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050159.845494208] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050159.846720486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050159.847746613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050159.945516427] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050159.946387512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050159.947182479] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050159.948502658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050159.949071178] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050160.003588751] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904028 Long: -76.50275355 -[vectornav-1] [INFO] [1746050160.005475786] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.99900000000002, 0.035, 3.884) -[mux-7] [INFO] [1746050160.045310364] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050160.046023836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050160.046765872] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050160.048182780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050160.049193425] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050160.085345680] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050160.087462551] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050160.088620257] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050160.088716675] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050160.090120050] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050160.091047457] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050160.091876350] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050160.144527416] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050160.145098663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050160.145618284] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050160.146859444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050160.147885146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050160.245197305] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050160.246046403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050160.246673261] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050160.248212288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050160.249333040] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050160.335456163] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050160.337944010] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050160.337966165] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050160.338920443] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050160.339649202] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050160.339834007] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050160.340725991] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050160.344290361] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050160.344863282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050160.345471011] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050160.346701569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050160.347783126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050160.445229785] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050160.445953902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050160.446923465] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050160.447760170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050160.448326824] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050160.503086626] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904031 Long: -76.50275367 -[vectornav-1] [INFO] [1746050160.504706236] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.69600000000003, -1.423, 4.386) -[mux-7] [INFO] [1746050160.544913370] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050160.545842727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050160.546245670] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050160.547737988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050160.548938823] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050160.585401940] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050160.587191910] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050160.588138238] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050160.587898752] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050160.589131144] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050160.589597777] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050160.589968042] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050160.645481114] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050160.646009858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050160.647160947] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050160.648262582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050160.649409478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050160.745459420] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050160.746407153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050160.747214110] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050160.748757851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050160.749309945] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050160.835213346] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050160.836945759] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050160.837726118] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050160.837827797] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050160.838661993] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050160.838987013] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050160.839111943] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050160.844719288] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050160.844999840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050160.845847491] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050160.846734928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050160.847754053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050160.945354254] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050160.945864746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050160.947133252] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050160.947895819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050160.949142059] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050161.002401629] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904039 Long: -76.50275392 -[vectornav-1] [INFO] [1746050161.003587131] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.02099999999996, 0.558, 4.059) -[mux-7] [INFO] [1746050161.045086458] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050161.045804836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050161.046403895] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050161.047727232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050161.048755383] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050161.085481276] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050161.088044807] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050161.088694258] [sailbot.teensy]: Wind angle: 249 -[mux-7] [INFO] [1746050161.089072201] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050161.089976794] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050161.091090121] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050161.091920854] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050161.145203122] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050161.145733125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050161.146719805] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050161.147907281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050161.149095744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050161.244938070] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050161.245642291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050161.246544666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050161.247506316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050161.248676702] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050161.335347095] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050161.337468458] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050161.337653713] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050161.339144726] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050161.339279202] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050161.339686370] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050161.340047591] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050161.344334816] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050161.344803375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050161.345436464] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050161.346448760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050161.347616331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050161.445188820] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050161.445896178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050161.447215592] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050161.448044192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050161.450183160] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050161.503695880] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904038 Long: -76.50275413 -[vectornav-1] [INFO] [1746050161.505061522] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.937, -0.459, 4.53) -[mux-7] [INFO] [1746050161.545094197] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050161.545820732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050161.546519600] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050161.547738524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050161.548924591] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050161.585353949] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050161.587679271] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050161.587943974] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050161.588944700] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050161.589199535] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050161.589843119] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050161.590720203] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050161.645277622] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050161.645891280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050161.647023166] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050161.647922299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050161.649803077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050161.745750023] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050161.746380899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050161.747645621] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050161.748510113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050161.749028566] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050161.835347558] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050161.837694870] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050161.838211138] [sailbot.teensy]: Wind angle: 248 -[mux-7] [INFO] [1746050161.838294508] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050161.839596598] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050161.840522856] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050161.841382856] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050161.844428225] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050161.845128290] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050161.845717943] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050161.846844060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050161.848041333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050161.945654961] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050161.946370149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050161.947435069] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050161.949341201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050161.950437678] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050162.003548243] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904042 Long: -76.50275425 -[vectornav-1] [INFO] [1746050162.005950109] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.615, -0.867, 3.594) -[mux-7] [INFO] [1746050162.045025186] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050162.045521971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050162.046344048] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050162.047457265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050162.048658050] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050162.085439738] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050162.087731348] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050162.088511176] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050162.089032713] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050162.089961607] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050162.090812657] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050162.091643627] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050162.145339304] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050162.146068229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050162.146994705] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050162.148309942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050162.149508327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050162.245224922] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050162.245749050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050162.246601328] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050162.247726393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050162.248930473] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050162.335378322] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050162.337877197] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050162.338280396] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050162.338719218] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050162.339138927] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050162.339504185] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050162.339860945] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050162.344394298] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050162.345123609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050162.345626085] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050162.346750212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050162.347742755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050162.445102159] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050162.446009442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050162.446591845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050162.447695078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050162.448179309] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050162.503394784] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904044 Long: -76.50275446 -[vectornav-1] [INFO] [1746050162.504886771] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.59299999999996, 0.019, 4.175) -[mux-7] [INFO] [1746050162.545012010] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050162.545711630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050162.546239013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050162.547549820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050162.548764000] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050162.585509895] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050162.588455949] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050162.588813857] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050162.589810983] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050162.590116557] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050162.590751878] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050162.591649298] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050162.645025695] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050162.645817748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050162.646501656] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050162.648023664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050162.649113846] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050162.745532193] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050162.746639257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050162.747347154] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050162.749830031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050162.751028406] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050162.835459253] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050162.837762788] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050162.840033727] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050162.840073847] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050162.841086955] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050162.842006804] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050162.842873412] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050162.844453088] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050162.845605893] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050162.846359405] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050162.848594185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050162.849684463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050162.944945763] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050162.945633776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050162.946193961] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050162.947565756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050162.948614081] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050163.003322786] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904029 Long: -76.50275461 -[vectornav-1] [INFO] [1746050163.004552653] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.12599999999998, -0.52, 4.3) -[mux-7] [INFO] [1746050163.045226192] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050163.046096528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050163.046908049] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050163.048264067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050163.049313642] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050163.085517255] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050163.087626274] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050163.088609064] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050163.087891845] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050163.088394948] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050163.089517904] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050163.090401487] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050163.145452034] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050163.146147836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050163.147068113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050163.148379038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050163.149638150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050163.244928814] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050163.245603214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050163.246519484] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050163.247489456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050163.248198555] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050163.335192544] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050163.336858221] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050163.337785838] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050163.337481949] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050163.338641281] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050163.338664042] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050163.339534218] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050163.344423330] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050163.344960713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050163.345543913] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050163.346574649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050163.347704243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050163.445158708] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050163.445604484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050163.446925314] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050163.447533178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050163.448653877] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050163.502336244] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904042 Long: -76.50275439 -[vectornav-1] [INFO] [1746050163.503294184] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.37800000000004, -0.281, 3.645) -[mux-7] [INFO] [1746050163.545304541] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050163.546223262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050163.547160972] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050163.548198934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050163.549369533] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050163.585234966] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050163.587340334] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050163.587389724] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050163.588391301] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050163.588950914] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050163.589308736] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050163.590237069] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050163.645496318] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050163.646528970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050163.647275517] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050163.649057971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050163.650237436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050163.745141814] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050163.745682427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050163.746555046] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050163.747589414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050163.748668138] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050163.835178573] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050163.836866699] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050163.837464657] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050163.837798758] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050163.838679965] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050163.838600631] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050163.839730007] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050163.844366086] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050163.844968435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050163.845506646] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050163.847046706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050163.848196189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050163.945491245] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050163.946323330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050163.947090506] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050163.948881260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050163.950028868] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050164.003982730] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904048 Long: -76.50275452 -[vectornav-1] [INFO] [1746050164.005570864] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.36900000000003, -0.302, 3.148) -[mux-7] [INFO] [1746050164.045133183] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050164.045865885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050164.046658975] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050164.047783992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050164.048998544] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050164.085237059] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050164.087410986] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050164.087937209] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050164.088499532] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050164.089455332] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050164.090329481] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050164.091141089] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050164.145562849] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050164.146137142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050164.147304168] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050164.148534449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050164.149798754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050164.245372599] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050164.245924024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050164.247016982] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050164.248088187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050164.249193495] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050164.335289075] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050164.337009851] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050164.337603660] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050164.337973541] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050164.338876004] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050164.339199078] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050164.339746681] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050164.344280732] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050164.344861715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050164.345370142] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050164.346502527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050164.347646937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050164.445184316] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050164.445814309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050164.446867845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050164.447922020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050164.449040619] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050164.502658203] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904025 Long: -76.5027548 -[vectornav-1] [INFO] [1746050164.504211393] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.48199999999997, -1.036, 3.225) -[mux-7] [INFO] [1746050164.545150699] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050164.545980395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050164.546974309] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050164.547861187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050164.548409094] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050164.585167081] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050164.587294871] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050164.587636635] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050164.588747186] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050164.587932472] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050164.589786246] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050164.590617443] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050164.644716245] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050164.645350642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050164.645836125] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050164.647167250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050164.648223314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050164.745404326] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050164.746220835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050164.746792218] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050164.747191466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050164.747834587] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050164.835304344] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050164.836975273] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050164.837458749] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050164.837996805] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050164.839006795] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050164.839966680] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050164.840018835] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050164.844462440] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050164.845161256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050164.845636865] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050164.846888032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050164.848032960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050164.945406987] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050164.946237943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050164.947035551] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050164.948593806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050164.949260981] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050165.002563667] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904015 Long: -76.50275517 -[vectornav-1] [INFO] [1746050165.003626686] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.85400000000004, 0.631, 3.18) -[mux-7] [INFO] [1746050165.045133125] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050165.045878972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050165.046483689] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050165.047839867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050165.049014424] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050165.085498107] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050165.087652610] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050165.088282996] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050165.088689594] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050165.089911043] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050165.090490273] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050165.090842307] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050165.144951578] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050165.146210854] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050165.146314261] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050165.148261392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050165.149318161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050165.245299057] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050165.246088935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050165.246884595] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050165.248307679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050165.248814890] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050165.335347140] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050165.337289969] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050165.337787198] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050165.338199275] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050165.339108412] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050165.339311557] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050165.339979444] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050165.344440214] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050165.344973209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050165.345551873] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050165.346714857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050165.347744827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050165.445404928] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050165.446406760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050165.447002835] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050165.448039637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050165.448516599] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050165.503286437] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904024 Long: -76.50275534 -[vectornav-1] [INFO] [1746050165.505034175] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.91200000000003, -0.716, 4.435) -[mux-7] [INFO] [1746050165.544692042] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050165.545434313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050165.545840924] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050165.547262037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050165.548341958] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050165.585382665] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050165.587358267] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050165.587623806] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050165.588274912] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050165.588527440] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050165.589287637] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050165.590195611] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050165.645141548] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050165.646108876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050165.647147106] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050165.648507010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050165.649655662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050165.745308085] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050165.746032974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050165.746733923] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050165.748094297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050165.749322224] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050165.835549204] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050165.837341228] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050165.837846803] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050165.838282608] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050165.839159957] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050165.839281698] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050165.840061344] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050165.844549832] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050165.844965836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050165.845685116] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050165.846781940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050165.847979074] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050165.945446511] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050165.945933833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050165.947042593] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050165.948317848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050165.948929986] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050166.003620339] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690402 Long: -76.50275554 -[vectornav-1] [INFO] [1746050166.005086585] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.04200000000003, -0.557, 3.214) -[mux-7] [INFO] [1746050166.044813297] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050166.045335464] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050166.046030571] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050166.047223292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050166.048440923] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050166.085301277] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050166.087134618] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050166.087572981] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050166.088071689] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050166.088986816] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050166.089218341] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050166.089855519] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050166.145211344] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050166.145861968] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050166.146584966] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050166.147767523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050166.148871489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050166.245278657] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050166.245703694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050166.246687611] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050166.247894861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050166.249174601] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050166.335200160] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050166.337248475] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050166.338314601] [sailbot.teensy]: Wind angle: 248 -[mux-7] [INFO] [1746050166.338816977] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050166.339303812] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050166.340206707] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050166.341099404] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050166.344321822] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050166.344797964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050166.345417433] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050166.346496331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050166.347696057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050166.445262601] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050166.445899535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050166.446743922] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050166.448416871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050166.449563681] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050166.503907062] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904005 Long: -76.50275577 -[vectornav-1] [INFO] [1746050166.505757104] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.43499999999995, 0.328, 3.572) -[mux-7] [INFO] [1746050166.544759229] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050166.545442173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050166.545911396] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050166.547369409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050166.548430225] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050166.585538834] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050166.587593622] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050166.588609586] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050166.588105427] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050166.588715022] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050166.589564467] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050166.590434366] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050166.645221066] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050166.645990290] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050166.646716987] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050166.648395973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050166.649523567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050166.745353561] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050166.746044709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050166.747091824] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050166.748349826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050166.749419297] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050166.835289420] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050166.837173315] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050166.837579407] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050166.838144879] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050166.838759846] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050166.839065536] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050166.839929116] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050166.844266745] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050166.844899449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050166.845412460] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050166.846611230] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050166.847733228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050166.945250717] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050166.946000609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050166.946923189] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050166.947856691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050166.948393757] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050167.002603479] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903984 Long: -76.50275602 -[vectornav-1] [INFO] [1746050167.003648930] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.78999999999996, -0.029, 4.425) -[mux-7] [INFO] [1746050167.045253378] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050167.046087278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050167.046574441] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050167.048001056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050167.049313215] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050167.085431882] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050167.087240567] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050167.087811588] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050167.088185127] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050167.089121879] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050167.090055871] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050167.091463086] [sailbot.mux]: algo sail angle: 15 -[mux-7] [INFO] [1746050167.144988475] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050167.145877815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050167.146406851] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050167.147799027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050167.148881958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050167.245372841] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050167.246239243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050167.246961862] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050167.248558126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050167.249692686] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050167.335227002] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050167.337314133] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050167.338257258] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050167.337536976] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050167.338358501] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050167.338851576] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050167.339226871] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050167.344550794] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050167.345095941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050167.345705217] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050167.346788060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050167.347961346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050167.445245895] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050167.445707187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050167.447120621] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050167.447872907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050167.448781374] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050167.503786770] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904003 Long: -76.50275586 -[vectornav-1] [INFO] [1746050167.505485524] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.38099999999997, -1.165, 3.964) -[mux-7] [INFO] [1746050167.545050433] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050167.545665916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050167.546778442] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050167.547490656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050167.548588580] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050167.585448750] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050167.587785798] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050167.588439097] [sailbot.teensy]: Wind angle: 247 -[mux-7] [INFO] [1746050167.588628392] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050167.589459703] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050167.590398654] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050167.591291470] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050167.645219213] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050167.646201300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050167.647118039] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050167.648392546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050167.649474413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050167.745272989] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050167.746083831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050167.746764620] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050167.748124844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050167.748641091] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050167.835267140] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050167.837562802] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050167.838250910] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050167.838346747] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050167.839356288] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050167.840297384] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050167.841165099] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050167.844316547] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050167.844855638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050167.845623523] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050167.846560377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050167.847700637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050167.945494044] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050167.946393652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050167.947208227] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050167.948409627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050167.948928455] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050168.003405032] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903966 Long: -76.50275603 -[vectornav-1] [INFO] [1746050168.004826886] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.07899999999995, 0.497, 3.171) -[mux-7] [INFO] [1746050168.045120157] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050168.046205810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050168.046536559] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050168.048146666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050168.049228782] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050168.085342971] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050168.087212678] [sailbot.teensy]: Wind angle: 243 -[teensy-2] [INFO] [1746050168.088195310] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050168.087582099] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050168.088073184] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050168.089104617] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050168.089993310] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050168.145083370] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050168.145838372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050168.146542413] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050168.148129836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050168.149244044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050168.244993941] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050168.245801828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050168.246242938] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050168.247802048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050168.248847928] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050168.335477397] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050168.337754379] [sailbot.teensy]: Wind angle: 242 -[trim_sail-4] [INFO] [1746050168.337784528] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050168.338770798] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050168.338918310] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050168.339709712] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050168.340638157] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050168.344343609] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050168.344894769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050168.345525742] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050168.346772125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050168.347975133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050168.445273416] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050168.446069714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050168.446754167] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050168.448230147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050168.449262486] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050168.502576629] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903965 Long: -76.50275606 -[vectornav-1] [INFO] [1746050168.503768679] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.01700000000005, -0.738, 4.461) -[mux-7] [INFO] [1746050168.545192813] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050168.545964040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050168.546647647] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050168.548063799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050168.549251333] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050168.585325217] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050168.587507701] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050168.588079617] [sailbot.teensy]: Wind angle: 242 -[mux-7] [INFO] [1746050168.588508780] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050168.589065220] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050168.589950259] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050168.590798504] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050168.645526404] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050168.645952762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050168.647121752] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050168.648026666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050168.649102281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050168.745460827] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050168.746165067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050168.747011929] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050168.748584324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050168.749708101] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050168.835314547] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050168.837519953] [sailbot.teensy]: Wind angle: 242 -[trim_sail-4] [INFO] [1746050168.837650521] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050168.838472859] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050168.839170735] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050168.839384373] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050168.840258427] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050168.844596439] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050168.845066616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050168.845703736] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050168.846762771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050168.847905652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050168.945442062] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050168.946125892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050168.947349263] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050168.948547249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050168.949594582] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050169.003539992] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903963 Long: -76.50275642 -[vectornav-1] [INFO] [1746050169.005189810] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.69100000000003, -0.81, 3.78) -[mux-7] [INFO] [1746050169.045247462] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050169.046015355] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050169.046692871] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050169.047956977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050169.048997845] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050169.085164442] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050169.087252352] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050169.087512357] [sailbot.teensy]: Wind angle: 242 -[teensy-2] [INFO] [1746050169.088394918] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050169.088527352] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050169.089314895] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050169.090182262] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050169.145021616] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050169.145866131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050169.146419841] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050169.147875626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050169.149009720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050169.245098711] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050169.245948140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050169.246588420] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050169.247882523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050169.250032877] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050169.335867435] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050169.338844821] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050169.339357224] [sailbot.teensy]: Wind angle: 241 -[mux-7] [INFO] [1746050169.339545418] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050169.339786656] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050169.340182845] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050169.340517124] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050169.344423456] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050169.344980102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050169.345499251] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050169.346635065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050169.347691412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050169.445580144] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050169.446522549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050169.447328459] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050169.448890564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050169.449969490] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050169.503219859] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903961 Long: -76.50275679 -[vectornav-1] [INFO] [1746050169.504356755] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.937, 0.415, 4.399) -[mux-7] [INFO] [1746050169.545099544] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050169.545875216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050169.546592295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050169.547699353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050169.548186558] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050169.585559637] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050169.587724459] [sailbot.teensy]: Wind angle: 242 -[trim_sail-4] [INFO] [1746050169.588416808] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050169.588763133] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050169.589674891] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050169.590165395] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050169.590546527] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050169.645190519] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050169.645937187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050169.646649227] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050169.648126968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050169.649332419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050169.745353305] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050169.746349023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050169.746828884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050169.748000553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050169.748499956] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050169.835519263] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050169.838026944] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050169.838344861] [sailbot.teensy]: Wind angle: 241 -[mux-7] [INFO] [1746050169.839008151] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050169.839429904] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050169.840347122] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050169.840763027] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050169.844386291] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050169.844894085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050169.845505036] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050169.846613031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050169.847771874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050169.945111503] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050169.946085687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050169.946978547] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050169.947997334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050169.948476102] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050170.003360074] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903961 Long: -76.50275709 -[vectornav-1] [INFO] [1746050170.004729960] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.83899999999994, -0.557, 4.087) -[mux-7] [INFO] [1746050170.045031461] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050170.046433529] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050170.045881249] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050170.048538175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050170.050726194] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050170.085374148] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050170.087715759] [sailbot.teensy]: Wind angle: 240 -[trim_sail-4] [INFO] [1746050170.088038354] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050170.088649194] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050170.089539432] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050170.088818621] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050170.090393966] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050170.144794380] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050170.145556125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050170.145975956] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050170.147664031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050170.148697157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050170.245059560] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050170.245807300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050170.246533233] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050170.247749747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050170.248854463] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050170.335300848] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050170.337033302] [sailbot.teensy]: Wind angle: 240 -[trim_sail-4] [INFO] [1746050170.337714724] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050170.337976920] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050170.338861301] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050170.339248917] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050170.339835792] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050170.344312825] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050170.344798517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050170.345412269] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050170.346355052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050170.347477298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050170.445048861] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050170.445726676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050170.446634163] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050170.447698169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050170.448913658] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050170.502332627] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903948 Long: -76.50275728 -[vectornav-1] [INFO] [1746050170.503329389] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.94799999999998, -1.055, 3.796) -[mux-7] [INFO] [1746050170.544946370] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050170.545668651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050170.546222434] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050170.547454763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050170.548563034] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050170.585533112] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050170.587525306] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050170.588263657] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050170.588548773] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050170.589439501] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050170.589750770] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050170.590300770] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050170.645349027] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050170.645948302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050170.646963080] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050170.648148294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050170.649492469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050170.744920685] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050170.745609450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050170.746216386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050170.747585045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050170.748736610] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050170.835496381] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050170.837442967] [sailbot.teensy]: Wind angle: 239 -[teensy-2] [INFO] [1746050170.838409216] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050170.839342127] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050170.838557421] [sailbot.mux]: algo sail angle: 10 -[trim_sail-4] [INFO] [1746050170.838673034] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050170.840483589] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050170.844306923] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050170.844861151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050170.845375305] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050170.846540627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050170.847691605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050170.945500644] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050170.946469289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050170.947261412] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050170.948123595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050170.948631214] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050171.004058121] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903922 Long: -76.50275759 -[vectornav-1] [INFO] [1746050171.005716464] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.659, 0.739, 4.188) -[mux-7] [INFO] [1746050171.044929712] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050171.045545894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050171.046195152] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050171.047370378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050171.048461586] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050171.085243448] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050171.086942816] [sailbot.teensy]: Wind angle: 239 -[teensy-2] [INFO] [1746050171.087861980] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050171.087840162] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050171.088534016] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050171.088789808] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050171.089668270] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050171.145137488] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050171.146045657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050171.146578504] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050171.147957304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050171.148413748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050171.245145168] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050171.245971938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050171.246782718] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050171.247882111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050171.248931815] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050171.335513380] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050171.337330808] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050171.338082784] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050171.338295132] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050171.339223619] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050171.340105988] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050171.340244278] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746050171.344336605] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050171.344938694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050171.345423052] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050171.346592617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050171.347686876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050171.445541683] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050171.446355794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050171.447135816] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050171.448784991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050171.450031082] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050171.503252139] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903914 Long: -76.50275755 -[vectornav-1] [INFO] [1746050171.504565808] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.52800000000002, 0.012, 4.139) -[mux-7] [INFO] [1746050171.545108422] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050171.545864750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050171.546501571] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050171.548074856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050171.549253412] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050171.585420843] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050171.587377599] [sailbot.teensy]: Wind angle: 240 -[trim_sail-4] [INFO] [1746050171.588242657] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050171.588335574] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050171.589232672] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050171.588785273] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050171.590156527] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050171.645142571] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050171.646044630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050171.646548320] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050171.648274219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050171.649405890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050171.745134309] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050171.745828471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050171.746552165] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050171.747998775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050171.749029929] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050171.835193795] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050171.836880760] [sailbot.teensy]: Wind angle: 240 -[teensy-2] [INFO] [1746050171.837814465] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050171.837592153] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050171.838680596] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050171.838687607] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050171.839539505] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050171.844325199] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050171.845004048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050171.845724527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050171.846699820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050171.847882726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050171.945577279] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050171.946604709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050171.947167964] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050171.948316848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050171.948837041] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050172.002398352] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903899 Long: -76.50275751 -[vectornav-1] [INFO] [1746050172.003485615] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.53700000000003, -1.207, 3.566) -[mux-7] [INFO] [1746050172.045154127] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050172.046133610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050172.047270262] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050172.048046593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050172.049108744] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050172.085833465] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050172.088612403] [sailbot.teensy]: Wind angle: 240 -[teensy-2] [INFO] [1746050172.089634825] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050172.088971012] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050172.089917245] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050172.090521532] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050172.091580020] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050172.144907631] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050172.145524728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050172.146358730] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050172.147202775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050172.148344776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050172.245035485] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050172.245973615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050172.246547511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050172.247986769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050172.249175355] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050172.335353545] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050172.337383536] [sailbot.teensy]: Wind angle: 240 -[trim_sail-4] [INFO] [1746050172.337618480] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050172.338317162] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050172.338416052] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050172.339250808] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050172.340088727] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050172.344518931] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050172.345029474] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050172.345583654] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050172.346691813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050172.347712294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050172.444927005] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050172.445668807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050172.446384146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050172.447666243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050172.448817459] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050172.504286581] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903891 Long: -76.50275773 -[vectornav-1] [INFO] [1746050172.505964360] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.03099999999995, 0.218, 4.353) -[mux-7] [INFO] [1746050172.545148694] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050172.546059237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050172.546523936] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050172.548136226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050172.549212676] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050172.585765712] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050172.588821908] [sailbot.teensy]: Wind angle: 240 -[trim_sail-4] [INFO] [1746050172.589188576] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050172.589885493] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050172.590184156] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050172.590462321] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050172.590870612] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050172.645278074] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050172.645768518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050172.647147583] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050172.647944982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050172.649343536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050172.745744357] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050172.746207572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050172.747831537] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050172.748525913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050172.749299098] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050172.835481812] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050172.837316809] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050172.837763750] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050172.838423088] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050172.839747848] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050172.840788859] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050172.841621735] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050172.844398484] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050172.844841485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050172.845505352] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050172.846469431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050172.847439285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050172.945240127] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050172.945873130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050172.946776072] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050172.948003461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050172.949121022] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050173.003513421] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903865 Long: -76.50275784 -[vectornav-1] [INFO] [1746050173.005893453] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.288, -0.256, 4.455) -[mux-7] [INFO] [1746050173.045415074] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050173.046497272] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050173.047208706] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050173.048845114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050173.049863093] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050173.085251253] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050173.087210165] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050173.087466936] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050173.088434898] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050173.089103031] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050173.089361885] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050173.090221587] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050173.145324526] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050173.146053395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050173.146915489] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050173.148219417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050173.149390829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050173.244757642] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050173.245948283] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050173.248051702] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050173.249594425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050173.250521829] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050173.335335532] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050173.337580001] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050173.339145120] [sailbot.teensy]: Wind angle: 239 -[mux-7] [INFO] [1746050173.339144628] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050173.340108623] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050173.341000325] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050173.341807128] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050173.344520229] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050173.345116738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050173.345920239] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050173.346822542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050173.347878867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050173.445618509] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050173.446138223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050173.447359433] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050173.448742291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050173.449931586] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050173.503180417] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903854 Long: -76.50275801 -[vectornav-1] [INFO] [1746050173.504465911] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.90700000000004, -1.008, 4.041) -[mux-7] [INFO] [1746050173.545212343] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050173.545836676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050173.546637122] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050173.548035764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050173.549147325] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050173.585582611] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050173.587857158] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050173.588186067] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050173.589086321] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050173.589679490] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050173.590381148] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050173.591268006] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050173.645330208] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050173.645880410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050173.647175043] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050173.648274124] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050173.649510082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050173.745086292] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050173.745705202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050173.746525019] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050173.747757549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050173.748966656] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050173.835317893] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050173.837752234] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050173.838439531] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050173.838457126] [sailbot.teensy]: Wind angle: 239 -[teensy-2] [INFO] [1746050173.839051878] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050173.839429654] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050173.839936807] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050173.844255559] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050173.844827457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050173.845355629] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050173.846602420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050173.847607624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050173.945545701] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050173.946610265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050173.947186902] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050173.948266041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050173.949012027] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050174.004000619] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903819 Long: -76.50275856 -[vectornav-1] [INFO] [1746050174.005681852] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.77800000000002, -0.185, 4.528) -[mux-7] [INFO] [1746050174.045436934] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050174.046361468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050174.047433303] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050174.048428881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050174.049626471] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050174.085356429] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050174.087772009] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050174.088280665] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050174.088623195] [sailbot.teensy]: Wind angle: 239 -[teensy-2] [INFO] [1746050174.089684546] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050174.090557200] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050174.091428832] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050174.145244683] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050174.146047933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050174.146761681] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050174.148160759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050174.148706940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050174.245325595] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050174.246026584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050174.246941523] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050174.248231314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050174.249293672] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050174.335315476] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050174.337203613] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050174.337994839] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050174.338149539] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050174.339018953] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050174.339004881] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050174.339903997] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050174.344402246] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050174.345198646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050174.345973382] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050174.346945053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050174.348135051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050174.445585227] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050174.446370089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050174.447303124] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050174.448795431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050174.449331140] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050174.503397305] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903821 Long: -76.50275898 -[vectornav-1] [INFO] [1746050174.504869462] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.61400000000003, -0.08, 4.633) -[mux-7] [INFO] [1746050174.544673629] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050174.545323620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050174.545832063] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050174.547092086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050174.548271217] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050174.585421229] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050174.587270170] [sailbot.teensy]: Wind angle: 239 -[teensy-2] [INFO] [1746050174.588289906] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050174.588690354] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050174.589276802] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050174.589668043] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050174.590210907] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050174.645225651] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050174.645934696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050174.646745393] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050174.648229036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050174.649416622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050174.745228401] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050174.746463201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050174.746869158] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050174.748111131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050174.748656336] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050174.835503164] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050174.837596255] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050174.838392577] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050174.838621956] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050174.839547349] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050174.840441742] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050174.840867804] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050174.844419043] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050174.845173329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050174.845661085] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050174.846971770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050174.847982042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050174.945242191] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050174.945962347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050174.947096795] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050174.948132542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050174.948738967] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050175.004145886] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903809 Long: -76.50275938 -[vectornav-1] [INFO] [1746050175.005765191] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.13099999999997, -0.595, 5.283) -[mux-7] [INFO] [1746050175.044968325] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050175.045708632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050175.046240586] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050175.047721903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050175.048774580] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050175.085435448] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050175.088030365] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050175.088780148] [sailbot.teensy]: Wind angle: 239 -[mux-7] [INFO] [1746050175.088992579] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050175.089757046] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050175.090641463] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050175.091488291] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050175.144999094] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050175.146277316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050175.146645612] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050175.148723438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050175.149766970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050175.245221655] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050175.246171149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050175.246752292] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050175.248137148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050175.248697199] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050175.335414619] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050175.337314489] [sailbot.teensy]: Wind angle: 239 -[teensy-2] [INFO] [1746050175.338292790] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050175.338396216] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050175.339201452] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050175.340056244] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050175.339752286] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746050175.344321390] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050175.345170870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050175.345435028] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050175.347069921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050175.348227944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050175.445722257] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050175.446413323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050175.447526732] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050175.448732134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050175.451014679] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050175.503969026] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903791 Long: -76.50275969 -[vectornav-1] [INFO] [1746050175.505470508] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.10699999999997, 0.114, 5.691) -[mux-7] [INFO] [1746050175.545375892] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050175.546226683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050175.546940245] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050175.548380152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050175.549465068] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050175.585456298] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050175.587277040] [sailbot.teensy]: Wind angle: 239 -[teensy-2] [INFO] [1746050175.588217090] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050175.588188048] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050175.589109173] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050175.589669079] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050175.590040882] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050175.645484858] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050175.646369195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050175.647113783] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050175.648447031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050175.648961987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050175.745400964] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050175.745924100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050175.747042753] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050175.748035994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050175.749917353] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050175.835483248] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050175.838103939] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050175.838104166] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050175.839047685] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050175.839147721] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050175.839967709] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050175.840891836] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050175.844361028] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050175.844984073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050175.845571734] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050175.846759248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050175.847844816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050175.945282539] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050175.946032955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050175.946862145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050175.948295122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050175.949389807] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050176.004001713] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903783 Long: -76.50275981 -[vectornav-1] [INFO] [1746050176.005447956] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.84199999999998, -1.14, 4.631) -[mux-7] [INFO] [1746050176.045113838] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050176.045791837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050176.046532164] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050176.047944672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050176.048968717] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050176.085483037] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050176.087757285] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050176.087892578] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050176.088722107] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050176.089329656] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050176.089632076] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050176.090528716] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746050176.145316675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050176.145599646] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050176.146832149] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050176.147040193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050176.148347493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050176.245305033] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050176.246661649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050176.246923045] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050176.248221161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050176.248713124] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050176.335131723] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050176.336776844] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050176.337378423] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050176.337715304] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050176.338574229] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050176.338623778] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050176.339467513] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050176.344421191] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050176.344947659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050176.345509703] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050176.346641384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050176.347683047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050176.445348746] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050176.446333316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050176.447111098] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050176.448543002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050176.449587253] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050176.502681484] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903767 Long: -76.50275995 -[vectornav-1] [INFO] [1746050176.504008742] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.75900000000001, 0.63, 4.961) -[mux-7] [INFO] [1746050176.544962644] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050176.545655510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050176.546253661] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050176.547658260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050176.548760880] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050176.585527933] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050176.587382620] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050176.588251846] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050176.588358508] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050176.589278146] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050176.589764011] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050176.590129837] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050176.645063454] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050176.645874464] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050176.646620015] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050176.647874174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050176.648339532] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050176.745514590] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050176.746398865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050176.747606540] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050176.748851421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050176.750074771] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050176.835339099] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050176.837496590] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050176.837634745] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050176.838443595] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050176.838734854] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050176.839371465] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050176.840277825] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050176.844480207] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050176.845053783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050176.845598119] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050176.846768596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050176.847837765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050176.945410063] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050176.946293507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050176.946933676] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050176.947835128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050176.948331400] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050177.003586178] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903761 Long: -76.50276005 -[vectornav-1] [INFO] [1746050177.005120230] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.38200000000006, -0.788, 5.606) -[mux-7] [INFO] [1746050177.045130703] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050177.045702162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050177.046691656] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050177.047525344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050177.048742286] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050177.085625381] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050177.088080909] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050177.088510777] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050177.089085055] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050177.089155703] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050177.090006603] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050177.090966132] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050177.145538349] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050177.146403825] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050177.147414430] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050177.148630290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050177.149167511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050177.244414758] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050177.245475589] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050177.245702332] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050177.247465299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050177.249600187] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050177.335521979] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050177.338070788] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050177.338148496] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050177.339263076] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050177.339328145] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050177.339826383] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050177.340716612] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050177.344553958] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050177.344931656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050177.345932268] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050177.346669053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050177.347721113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050177.445658312] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050177.446326112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050177.447500555] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050177.448576843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050177.449092738] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050177.503104016] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903747 Long: -76.50276014 -[vectornav-1] [INFO] [1746050177.505009469] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.67600000000004, -0.862, 5.744) -[mux-7] [INFO] [1746050177.545181213] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050177.545819462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050177.546660238] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050177.547868601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050177.549186052] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050177.585612774] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050177.587450806] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050177.588418268] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050177.587958499] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050177.589322236] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050177.589868540] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050177.590220247] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050177.645191932] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050177.645952758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050177.646750890] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050177.648261526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050177.649434209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050177.745437998] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050177.745996787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050177.747063911] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050177.748204176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050177.749486383] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050177.835399046] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050177.837295488] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050177.837916758] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050177.838332830] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050177.839223900] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050177.839492442] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050177.840081201] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050177.844454476] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050177.845033710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050177.845875283] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050177.847078746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050177.848242019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050177.945711433] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050177.946440956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050177.947552924] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050177.948881150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050177.950013792] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050178.002552084] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903759 Long: -76.50276038 -[vectornav-1] [INFO] [1746050178.003657616] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.53600000000006, -0.476, 4.787) -[mux-7] [INFO] [1746050178.045191895] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050178.046042222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050178.046632754] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050178.047999966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050178.048605282] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050178.085284432] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050178.087543220] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050178.088491661] [sailbot.teensy]: Wind angle: 238 -[mux-7] [INFO] [1746050178.088859751] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050178.089546121] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050178.090437490] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050178.091312617] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050178.144984541] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050178.145697025] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050178.146263878] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050178.147732516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050178.148732620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050178.245262758] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050178.246369027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050178.246929449] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050178.248601358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050178.249666754] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050178.335388720] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050178.337354457] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050178.338414758] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050178.338533973] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050178.339380073] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050178.340418342] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050178.341317350] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746050178.344181073] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050178.344812560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050178.345297722] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050178.346557880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050178.347698051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050178.445290362] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050178.446073325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050178.447003205] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050178.448166009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050178.448623722] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050178.502644601] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903741 Long: -76.50276065 -[vectornav-1] [INFO] [1746050178.503716226] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.85400000000004, 0.862, 5.321) -[mux-7] [INFO] [1746050178.544996373] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050178.545720310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050178.546394998] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050178.547687659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050178.548825515] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050178.585357248] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050178.587933376] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050178.588418045] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050178.588829772] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050178.589744929] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050178.590238950] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050178.590610624] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050178.645072849] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050178.645820821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050178.646456182] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050178.647947803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050178.648671810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050178.745090176] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050178.746031150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050178.746554292] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050178.748133079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050178.749326005] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050178.835537884] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050178.837406238] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050178.838386821] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050178.838616753] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050178.839338082] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050178.840380778] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050178.841060260] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746050178.844427674] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050178.844910889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050178.845699768] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050178.846789370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050178.847816709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050178.945507114] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050178.946348832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050178.947480233] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050178.948760993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050178.950022629] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050179.004014343] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903733 Long: -76.50276064 -[vectornav-1] [INFO] [1746050179.005412989] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.18499999999995, -1.075, 6.04) -[mux-7] [INFO] [1746050179.045261314] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050179.046055693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050179.046810028] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050179.048278565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050179.049031446] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050179.085797825] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050179.088148595] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050179.089013772] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050179.089250756] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050179.090491979] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050179.090529809] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050179.091388703] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050179.145080244] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050179.146100861] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050179.146469651] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050179.147888982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050179.148922747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050179.245394978] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050179.246429376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050179.247159524] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050179.248873215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050179.249367499] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050179.335365647] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050179.337804644] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050179.337918522] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050179.338538433] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050179.338694599] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050179.338935215] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050179.339417370] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050179.344575983] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050179.345124800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050179.345811642] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050179.346870496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050179.347984125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050179.444924747] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050179.445748161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050179.446257403] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050179.447584604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050179.448628910] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050179.502177769] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690373 Long: -76.5027608 -[vectornav-1] [INFO] [1746050179.503111450] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.49900000000002, -0.668, 5.085) -[mux-7] [INFO] [1746050179.544915943] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050179.545680321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050179.546188540] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050179.547648556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050179.548779831] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050179.585718006] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050179.588632850] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050179.589048424] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050179.590054695] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050179.590359276] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050179.590974970] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050179.591856227] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050179.644630379] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050179.645344899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050179.645806564] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050179.647256660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050179.648299685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050179.745121633] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050179.745963137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050179.746543726] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050179.747761279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050179.748317560] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050179.835360402] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050179.838171132] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050179.838265996] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050179.839101434] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050179.839921713] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050179.840896034] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050179.841749125] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050179.844300119] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050179.844731340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050179.845596656] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050179.846400358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050179.847587927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050179.945583972] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050179.946177466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050179.947445607] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050179.948621267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050179.949158029] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050180.003347776] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903724 Long: -76.50276104 -[vectornav-1] [INFO] [1746050180.004506309] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.45799999999997, -0.395, 4.931) -[mux-7] [INFO] [1746050180.045104297] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050180.045889915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050180.046430875] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050180.047750956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050180.048775330] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050180.085647295] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050180.088720859] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050180.089687366] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050180.089098978] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050180.089764538] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050180.090606077] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050180.091495244] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050180.145152883] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050180.145807373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050180.146624891] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050180.147837367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050180.148402863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050180.245242830] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050180.246061400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050180.246881705] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050180.248063135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050180.249287972] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050180.335641664] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050180.338893083] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050180.339014227] [sailbot.teensy]: Wind angle: 238 -[mux-7] [INFO] [1746050180.339092654] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050180.339526158] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050180.339924537] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050180.340309630] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050180.344367668] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050180.344912610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050180.345482670] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050180.346617258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050180.347638624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050180.445318908] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050180.446150187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050180.446864529] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050180.447980320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050180.448468161] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050180.504388154] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690372 Long: -76.50276116 -[vectornav-1] [INFO] [1746050180.506495749] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.55399999999997, 0.947, 5.46) -[mux-7] [INFO] [1746050180.544961020] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050180.545669373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050180.546246673] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050180.547549623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050180.549231011] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050180.585321502] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050180.587485969] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050180.587941431] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050180.588468058] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050180.589384353] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050180.589637697] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050180.590242654] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050180.645188817] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050180.645945190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050180.646667828] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050180.647948673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050180.648549210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050180.745630190] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050180.746174116] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050180.747430452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050180.748693745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050180.749328552] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050180.835331531] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050180.837842485] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050180.837969953] [sailbot.teensy]: Wind angle: 238 -[mux-7] [INFO] [1746050180.838524794] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050180.839096142] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050180.840052136] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050180.840907828] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050180.844418366] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050180.844978194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050180.845569402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050180.846639294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050180.847675042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050180.945477532] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050180.946433038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050180.947134222] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050180.948431159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050180.948965353] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050181.003568174] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903722 Long: -76.50276118 -[vectornav-1] [INFO] [1746050181.005364626] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.361, -1.853, 5.535) -[mux-7] [INFO] [1746050181.044922732] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050181.046008721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050181.046182221] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050181.048695238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050181.049786343] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050181.085452331] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050181.088025938] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050181.088980066] [sailbot.teensy]: Wind angle: 238 -[mux-7] [INFO] [1746050181.089287268] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050181.090046644] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050181.091057471] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050181.091931329] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050181.145298678] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050181.146111100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050181.147054632] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050181.148288061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050181.149510436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050181.245304754] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050181.246436386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050181.247524321] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050181.248462630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050181.249289091] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050181.335763043] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050181.338013868] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050181.338677731] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050181.339102321] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050181.340246489] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050181.341012870] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050181.341122761] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050181.344417072] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050181.345257706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050181.345623691] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050181.347203074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050181.348304238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050181.445582748] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050181.446404469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050181.447218474] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050181.448808530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050181.450079670] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050181.503917959] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903725 Long: -76.50276145 -[vectornav-1] [INFO] [1746050181.505872451] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.77300000000002, -0.112, 5.478) -[mux-7] [INFO] [1746050181.545125574] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050181.545835904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050181.546591371] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050181.547870360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050181.549049517] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050181.585451781] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050181.587349764] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050181.587963418] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050181.588316854] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050181.589220887] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050181.589458651] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050181.590227287] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050181.645559401] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050181.646287674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050181.647348648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050181.648089477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050181.648562091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050181.745418386] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050181.746094620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050181.746940281] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050181.748244836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050181.748761790] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050181.835311695] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050181.837752758] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050181.838798477] [sailbot.teensy]: Wind angle: 238 -[mux-7] [INFO] [1746050181.839319178] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050181.839753955] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050181.840595336] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050181.840967709] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050181.844521815] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050181.845118409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050181.845721744] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050181.846997744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050181.848086884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050181.945313202] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050181.946622819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050181.946871311] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050181.948787162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050181.949795798] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050182.003433527] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903732 Long: -76.50276125 -[vectornav-1] [INFO] [1746050182.005267544] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.15499999999997, 0.051, 5.44) -[mux-7] [INFO] [1746050182.045153461] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050182.046070252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050182.046801009] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050182.048050237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050182.049202575] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050182.085646644] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050182.088395979] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050182.088810521] [sailbot.teensy]: Wind angle: 238 -[mux-7] [INFO] [1746050182.089548946] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050182.089792834] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050182.090681312] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050182.091541889] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050182.144953640] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050182.145800779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050182.146333462] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050182.147636288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050182.148792184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050182.245275001] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050182.246157311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050182.246869818] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050182.248708054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050182.249452713] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050182.335346856] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050182.337606769] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050182.338127669] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050182.338810255] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050182.340085627] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050182.340737697] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050182.341111006] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050182.344454129] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050182.345335443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050182.345634648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050182.347024599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050182.348178836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050182.445582535] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050182.446605035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050182.447220146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050182.449063437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050182.449549304] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050182.503775952] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903728 Long: -76.50276116 -[vectornav-1] [INFO] [1746050182.505389583] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.336, -0.849, 4.846) -[mux-7] [INFO] [1746050182.544695633] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050182.545432593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050182.545886296] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050182.547207418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050182.548353702] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050182.585294932] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050182.587660961] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050182.588237592] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050182.588331063] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050182.589609896] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050182.590558952] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050182.591433672] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050182.645202508] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050182.646058066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050182.646737127] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050182.648360057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050182.649439487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050182.745338023] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050182.746324956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050182.747111582] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050182.748340702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050182.748829745] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050182.835302228] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050182.838026400] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050182.838427506] [sailbot.teensy]: Wind angle: 238 -[mux-7] [INFO] [1746050182.838489011] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050182.839377574] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050182.839728515] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050182.840103419] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050182.844647046] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050182.845319485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050182.845977839] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050182.847148286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050182.848207032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050182.945420889] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050182.946150919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050182.947565111] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050182.948369972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050182.948949976] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050183.003320015] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903727 Long: -76.50276154 -[vectornav-1] [INFO] [1746050183.004931803] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.80399999999997, -0.437, 4.105) -[mux-7] [INFO] [1746050183.045354307] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050183.045933114] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050183.047254849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050183.048183885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050183.049393978] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050183.085555124] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050183.087424558] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050183.088375675] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050183.088203055] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050183.089247635] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050183.089330419] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050183.090202442] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050183.145469966] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050183.146102262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050183.147337749] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050183.148383736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050183.149615452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050183.245412020] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050183.246012716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050183.247031907] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050183.248189015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050183.248673257] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050183.335352123] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050183.337302899] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050183.337858529] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050183.338311652] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050183.339210583] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050183.339560343] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050183.340137961] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050183.344480032] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050183.345097037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050183.346003412] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050183.346855317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050183.348072100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050183.445696713] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050183.446275391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050183.447707132] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050183.448639953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050183.449730778] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050183.502325275] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903721 Long: -76.50276165 -[vectornav-1] [INFO] [1746050183.503376700] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.81999999999994, -0.473, 4.051) -[mux-7] [INFO] [1746050183.545162166] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050183.545676434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050183.546530098] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050183.547577994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050183.548389970] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050183.585907685] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050183.588069971] [sailbot.teensy]: Wind angle: 237 -[teensy-2] [INFO] [1746050183.589178504] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050183.589402162] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050183.590198812] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050183.591202476] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050183.591519110] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746050183.645197878] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050183.646156552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050183.646707389] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050183.648709641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050183.649862855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050183.745583784] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050183.746412509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050183.747247309] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050183.749028835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050183.749573384] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050183.835805930] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050183.839165439] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050183.839279495] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050183.839746482] [sailbot.teensy]: Wind angle: 236 -[teensy-2] [INFO] [1746050183.840709262] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050183.841742074] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050183.842588685] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050183.844582087] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050183.844980604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050183.845690072] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050183.846659067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050183.847849233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050183.945535462] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050183.947028630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050183.947386806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050183.949582717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050183.950629858] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050184.002317724] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903716 Long: -76.50276199 -[vectornav-1] [INFO] [1746050184.003310952] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.04499999999996, -0.836, 3.645) -[mux-7] [INFO] [1746050184.045151846] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050184.045827985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050184.046649565] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050184.047647545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050184.048162419] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050184.085480806] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050184.087605775] [sailbot.teensy]: Wind angle: 236 -[teensy-2] [INFO] [1746050184.088662767] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050184.088863772] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050184.089569000] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050184.090442078] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050184.089724255] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746050184.145143286] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050184.145842405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050184.146978810] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050184.147579651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050184.148097761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050184.245250282] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050184.246001767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050184.246913953] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050184.248321312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050184.248851744] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050184.335204751] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050184.337028128] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050184.337561756] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050184.337934063] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050184.338754485] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050184.339331223] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050184.339433017] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050184.344249906] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050184.344834821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050184.345223250] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050184.346452837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050184.347421969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050184.445296492] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050184.445995632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050184.447163448] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050184.448100595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050184.448772593] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050184.503276871] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903725 Long: -76.50276253 -[vectornav-1] [INFO] [1746050184.505146226] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.245, 0.026, 4.675) -[mux-7] [INFO] [1746050184.544856361] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050184.545715079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050184.546041512] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050184.547591773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050184.548743038] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050184.585345382] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050184.587328357] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050184.588079535] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050184.588356746] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050184.589240933] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050184.589244330] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050184.590159542] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050184.644977528] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050184.645637343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050184.646276137] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050184.647664518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050184.648702863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050184.745600313] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050184.746312604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050184.747425447] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050184.748465528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050184.749001591] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050184.835382732] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050184.837198692] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050184.837933078] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050184.838117083] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050184.838505611] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050184.838696600] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050184.839085213] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050184.844717561] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050184.845118671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050184.845908334] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050184.846843440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050184.847913216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050184.945530272] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050184.946325994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050184.947457877] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050184.948827904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050184.950041104] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050185.003381220] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690371 Long: -76.5027632 -[vectornav-1] [INFO] [1746050185.004963160] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.553, -0.427, 4.969) -[mux-7] [INFO] [1746050185.045377191] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050185.045985393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050185.046936570] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050185.048270368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050185.049407102] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050185.085266989] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050185.087600459] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050185.087942464] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746050185.088268329] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050185.088932611] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050185.089833150] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050185.090725958] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050185.145256009] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050185.145860045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050185.146838432] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050185.147919486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050185.149126278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050185.245154553] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050185.245812746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050185.246799407] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050185.247689741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050185.248737360] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050185.335230463] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050185.337624286] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050185.338000199] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050185.338602820] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050185.339196008] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050185.339485950] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050185.340390573] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050185.344405219] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050185.344971947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050185.345562622] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050185.346644681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050185.347679248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050185.445317953] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050185.446001479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050185.447076436] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050185.448262414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050185.449505241] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050185.502488139] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903711 Long: -76.50276355 -[vectornav-1] [INFO] [1746050185.503485915] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.09199999999998, -0.891, 5.606) -[mux-7] [INFO] [1746050185.545094422] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050185.546042574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050185.546602381] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050185.548246080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050185.549401734] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050185.585593912] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050185.587648647] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050185.588723298] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050185.588718494] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050185.589669891] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050185.590480215] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050185.590581140] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050185.644908542] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050185.645591251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050185.646404617] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050185.647445451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050185.648684205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050185.745283858] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050185.746013176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050185.746843357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050185.748209158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050185.748674215] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050185.835459421] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050185.837908773] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050185.838038252] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050185.838859043] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050185.839009207] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050185.839264174] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050185.839634778] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050185.844488973] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050185.845444636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050185.845800036] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050185.847175921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050185.848248268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050185.945504713] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050185.946340370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050185.947176817] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050185.949086639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050185.950149344] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050186.003068597] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690371 Long: -76.5027638 -[vectornav-1] [INFO] [1746050186.004292780] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.38300000000004, -0.314, 4.451) -[mux-7] [INFO] [1746050186.045056358] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050186.045884960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050186.046522275] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050186.048041457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050186.049403151] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050186.085480371] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050186.087918767] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050186.088418942] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050186.088952796] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050186.089892651] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050186.090732423] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050186.091561666] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050186.145135398] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050186.146114447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050186.146592700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050186.148207595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050186.148782398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050186.245485110] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050186.246200058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050186.247401141] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050186.248640335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050186.249154533] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050186.335185200] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050186.337480816] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050186.338602285] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050186.338715491] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050186.339140240] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050186.339541299] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050186.339902764] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050186.344431955] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050186.344959855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050186.345567708] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050186.346617745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050186.347669979] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050186.445485832] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050186.446272203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050186.447186375] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050186.447908592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050186.448382818] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050186.502724510] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903702 Long: -76.50276416 -[vectornav-1] [INFO] [1746050186.503831023] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.07600000000002, -0.288, 5.475) -[mux-7] [INFO] [1746050186.545398460] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050186.546462335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050186.547017855] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050186.548468723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050186.548975221] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050186.585103741] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050186.587196128] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050186.587775481] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050186.588749197] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050186.588924996] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050186.589690852] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050186.590552854] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050186.645041590] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050186.645631247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050186.646393487] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050186.647769649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050186.648640752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050186.745111533] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050186.745629370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050186.746463900] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050186.747530312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050186.748516599] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050186.835381126] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050186.837865214] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050186.838764235] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050186.838981283] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050186.839920015] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050186.840824543] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050186.841418414] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050186.844618034] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050186.844993051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050186.845831211] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050186.846686616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050186.847779654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050186.945446931] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050186.946103124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050186.947093677] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050186.949120915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050186.950200247] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050187.003364113] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903687 Long: -76.50276442 -[vectornav-1] [INFO] [1746050187.004976634] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.91700000000003, -0.572, 6.262) -[mux-7] [INFO] [1746050187.045462088] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050187.046290869] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050187.047100862] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050187.048485730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050187.049748479] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050187.085432266] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050187.087782472] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050187.087875783] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050187.088837471] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050187.089473186] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050187.089747917] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050187.090654896] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050187.145002570] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050187.145576638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050187.146579076] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050187.147562632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050187.148070253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050187.245281345] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050187.246125968] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050187.247029373] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050187.248327010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050187.250258259] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050187.335443851] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050187.338248621] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050187.338811064] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050187.339228968] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050187.339711580] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050187.340113844] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050187.340779342] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050187.344351004] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050187.344903387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050187.345460493] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050187.346612919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050187.347703418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050187.445362491] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050187.446204486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050187.446928273] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050187.448789887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050187.449459654] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050187.503330985] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903684 Long: -76.50276452 -[vectornav-1] [INFO] [1746050187.504614107] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.053, -0.482, 6.729) -[mux-7] [INFO] [1746050187.545099288] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050187.546037244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050187.546550229] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050187.548247867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050187.549377800] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050187.585617787] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050187.588412631] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050187.588450738] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050187.589462675] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050187.590333953] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050187.590384118] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050187.591253689] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050187.645351307] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050187.646078349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050187.647297738] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050187.648787676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050187.649962119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050187.745472434] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050187.746285910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050187.747219458] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050187.748407927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050187.748934236] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050187.835413269] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050187.837876569] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050187.837974831] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050187.838852388] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050187.839410344] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050187.839737178] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050187.840639168] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050187.844559101] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050187.845094437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050187.845767111] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050187.846836092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050187.847844091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050187.945262392] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050187.945892251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050187.946843678] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050187.947986658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050187.949629927] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050188.002425053] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903684 Long: -76.50276472 -[vectornav-1] [INFO] [1746050188.003597854] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.94100000000003, -1.556, 5.489) -[mux-7] [INFO] [1746050188.045274116] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050188.045839037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050188.046933829] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050188.048058563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050188.049184922] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050188.085374344] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050188.087672989] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050188.088210079] [sailbot.teensy]: Wind angle: 234 -[mux-7] [INFO] [1746050188.089075188] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050188.089148805] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050188.090058522] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050188.090896086] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050188.145288842] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050188.146055822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050188.146834097] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050188.148261195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050188.149555980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050188.245315734] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050188.246258825] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050188.247428042] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050188.248722402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050188.249874823] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050188.335444604] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050188.337750619] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050188.338482591] [sailbot.teensy]: Wind angle: 234 -[mux-7] [INFO] [1746050188.339372246] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050188.339433258] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050188.340458643] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050188.340996041] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050188.344374669] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050188.345086070] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050188.345597912] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050188.346811292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050188.347856887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050188.445316044] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050188.446039826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050188.447208806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050188.448233660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050188.448807210] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050188.503620380] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903672 Long: -76.50276512 -[vectornav-1] [INFO] [1746050188.504977505] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.91700000000003, 1.338, 6.224) -[mux-7] [INFO] [1746050188.544959870] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050188.545617587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050188.546282648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050188.547833323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050188.548995972] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050188.585276515] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050188.587109191] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050188.587589912] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050188.588044162] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050188.589084075] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050188.589451111] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050188.589970500] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050188.645418014] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050188.646144574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050188.647114806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050188.650091773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050188.651134710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050188.745258935] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050188.746095771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050188.746913915] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050188.748077300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050188.750208966] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050188.835392066] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050188.837989746] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050188.838921509] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050188.839304313] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050188.840325273] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050188.841094835] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050188.841461841] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050188.844393166] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050188.844940965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050188.845543461] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050188.846597703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050188.847680122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050188.945131316] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050188.945847973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050188.946632239] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050188.948089105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050188.948689734] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050189.003282819] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903665 Long: -76.50276503 -[vectornav-1] [INFO] [1746050189.004638970] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.976, -1.129, 5.763) -[mux-7] [INFO] [1746050189.045134079] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050189.045922561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050189.046609560] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050189.048310490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050189.049441748] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050189.085197995] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050189.087338966] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050189.088397034] [sailbot.teensy]: Wind angle: 234 -[mux-7] [INFO] [1746050189.088948998] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050189.089355696] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050189.090282573] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050189.091121071] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050189.145154154] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050189.145991688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050189.146867576] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050189.147996483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050189.149060827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050189.245270806] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050189.245980933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050189.247011649] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050189.248246476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050189.249339860] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050189.335222030] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050189.337044723] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050189.337875549] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050189.339092630] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050189.339518981] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050189.339986972] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050189.340912375] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050189.344365649] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050189.345490631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050189.345648688] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050189.347250391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050189.348471092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050189.445608205] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050189.446415641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050189.447280687] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050189.448005450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050189.448478997] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050189.502302935] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903677 Long: -76.50276515 -[vectornav-1] [INFO] [1746050189.503294657] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.14, -0.583, 4.942) -[mux-7] [INFO] [1746050189.544710710] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050189.545309920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050189.546050559] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050189.547153853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050189.548290535] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050189.585375710] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050189.587622682] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050189.587776830] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050189.588768207] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050189.589202901] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050189.589657483] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050189.590538736] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050189.645373862] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050189.646259803] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050189.646943244] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050189.648583868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050189.649102406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050189.745352854] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050189.746594231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050189.746948036] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050189.748892209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050189.750079135] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050189.835192490] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050189.837079772] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050189.837535521] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050189.838031749] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050189.838944622] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050189.839502313] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050189.839654224] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050189.844297521] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050189.844857159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050189.845382266] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050189.846540654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050189.847586815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050189.945684914] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050189.946609430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050189.947458715] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050189.948629847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050189.949172849] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050190.002652486] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903687 Long: -76.50276537 -[vectornav-1] [INFO] [1746050190.004230918] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.14200000000005, 0.245, 5.296) -[mux-7] [INFO] [1746050190.045237996] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050190.046039832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050190.046701765] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050190.048290818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050190.049298579] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050190.085874997] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050190.088674996] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050190.088951667] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050190.089863681] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050190.090663612] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050190.090831619] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050190.091782562] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050190.144576069] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050190.145478998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050190.145662657] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050190.147300469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050190.148328254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050190.245364092] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050190.246156353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050190.246961321] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050190.248687089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050190.249223953] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050190.335308160] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050190.337039943] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050190.337436561] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050190.337909477] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050190.338766310] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050190.338993581] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050190.339660566] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050190.344327502] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050190.345469544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050190.345796486] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050190.347212212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050190.348413288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050190.445324435] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050190.446315637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050190.446999971] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050190.448141649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050190.448756148] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050190.502957421] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903696 Long: -76.50276533 -[vectornav-1] [INFO] [1746050190.504108675] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.24900000000002, -0.504, 5.426) -[mux-7] [INFO] [1746050190.544940273] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050190.545656411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050190.546296471] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050190.547632041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050190.548696854] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050190.585202335] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050190.586836835] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050190.587315861] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050190.587768989] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050190.588663750] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050190.588945233] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050190.589546445] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050190.645159996] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050190.646016000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050190.646630390] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050190.648071496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050190.648623370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050190.745073273] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050190.745749917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050190.746767936] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050190.747595525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050190.748088562] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050190.835462257] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050190.837787344] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050190.837787453] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050190.838819263] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050190.839133953] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050190.839752664] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050190.840712682] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050190.844379690] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050190.845104222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050190.845638127] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050190.846795227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050190.847834953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050190.945681893] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050190.946673457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050190.947963262] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050190.948198055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050190.948749754] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050191.003884971] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903716 Long: -76.50276536 -[vectornav-1] [INFO] [1746050191.005416072] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.53099999999995, -0.705, 5.07) -[mux-7] [INFO] [1746050191.045223996] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050191.046034593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050191.046678199] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050191.048099191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050191.049360931] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050191.085510843] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050191.087637035] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050191.087850508] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050191.088611665] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050191.089009187] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050191.089551105] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050191.090412628] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050191.144565445] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050191.145422346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050191.145713712] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050191.147363433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050191.148433458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050191.245023967] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050191.246000108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050191.246550761] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050191.247828469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050191.248348148] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050191.335531833] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050191.337548295] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050191.338398956] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050191.339044145] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050191.339529680] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050191.339625625] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050191.339910468] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050191.344515068] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050191.345114680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050191.345946133] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050191.346873734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050191.348047674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050191.444996786] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050191.445715498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050191.446347425] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050191.447744187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050191.448945223] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050191.503319972] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903717 Long: -76.50276543 -[vectornav-1] [INFO] [1746050191.504690931] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.27300000000002, 0.263, 4.854) -[mux-7] [INFO] [1746050191.545117552] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050191.545989286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050191.546628909] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050191.548038351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050191.549093128] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050191.585326511] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050191.587509449] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050191.587674606] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050191.588518287] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050191.589209640] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050191.589428989] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050191.590306963] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050191.645367426] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050191.646679822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050191.647084987] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050191.649283343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050191.650444105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050191.745313848] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050191.746004634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050191.746786967] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050191.747864182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050191.748419190] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050191.835338154] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050191.837644124] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050191.837660436] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050191.838595102] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050191.838764715] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050191.838996275] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050191.839372589] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050191.844422260] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050191.845053186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050191.845543209] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050191.846803018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050191.847960483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050191.945223959] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050191.945874771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050191.946706273] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050191.947702808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050191.948255010] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050192.004019291] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903733 Long: -76.50276543 -[vectornav-1] [INFO] [1746050192.005522189] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.28499999999997, -0.547, 5.444) -[mux-7] [INFO] [1746050192.045315403] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050192.047056106] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050192.046233011] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050192.048100052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050192.049172968] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050192.085328423] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050192.087431296] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050192.087472045] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050192.088445356] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050192.088710232] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050192.089646215] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050192.090507093] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050192.145463866] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050192.146273015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050192.147017185] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050192.148876242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050192.150032497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050192.245354779] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050192.246279696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050192.246973493] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050192.248312584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050192.249417401] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050192.335534615] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050192.337883149] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050192.338327148] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050192.338987443] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050192.339889145] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050192.339887762] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050192.340846795] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050192.344460954] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050192.345276095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050192.345678088] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050192.347196163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050192.348266407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050192.445571133] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050192.446638898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050192.447231250] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050192.449253063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050192.450617864] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050192.503942813] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690375 Long: -76.50276543 -[vectornav-1] [INFO] [1746050192.505578237] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.18399999999997, -0.464, 5.835) -[mux-7] [INFO] [1746050192.545498572] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050192.546471222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050192.547181937] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050192.549034012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050192.550225116] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050192.585885179] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050192.588052399] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050192.588615120] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050192.589180863] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050192.590264085] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050192.590512005] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050192.591287932] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050192.645340569] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050192.646104146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050192.646949489] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050192.648376119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050192.649459462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050192.745341985] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050192.745987306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050192.746798468] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050192.748321236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050192.749475080] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050192.835238921] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050192.836910631] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050192.837429156] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050192.837853382] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050192.838788115] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050192.839425300] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050192.839635474] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050192.844480773] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050192.845022166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050192.845792590] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050192.846785465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050192.847904118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050192.943848179] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050192.944223926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050192.944584964] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050192.945163748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050192.945789313] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050193.001948243] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903763 Long: -76.50276535 -[vectornav-1] [INFO] [1746050193.003105087] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.65800000000002, -0.133, 5.563) -[mux-7] [INFO] [1746050193.046525188] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050193.046684635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050193.048548183] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050193.049007763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050193.050227900] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050193.085048393] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050193.086949260] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050193.087623740] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050193.088558066] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050193.089400476] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050193.089733540] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050193.091011622] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050193.145388013] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050193.146344984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050193.146983679] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050193.148832464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050193.149939847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050193.245215999] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050193.246163935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050193.246714218] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050193.248515303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050193.249731693] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050193.335353680] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050193.337728172] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050193.338699098] [sailbot.teensy]: Wind angle: 234 -[mux-7] [INFO] [1746050193.338827638] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050193.339906601] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050193.340815918] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050193.341740261] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050193.344324691] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050193.344881400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050193.345501392] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050193.346606895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050193.347759125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050193.445495224] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050193.446411134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050193.447360105] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050193.448581768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050193.449114721] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050193.503907330] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903772 Long: -76.50276541 -[vectornav-1] [INFO] [1746050193.505595075] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.63400000000001, -0.252, 5.461) -[mux-7] [INFO] [1746050193.545013579] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050193.545680102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050193.546346294] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050193.547771272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050193.548790343] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050193.585255943] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050193.586933674] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050193.587700079] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050193.587895107] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050193.588849057] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050193.589205017] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050193.589854502] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050193.645409414] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050193.646121300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050193.647280739] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050193.648146831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050193.648698533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050193.745368382] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050193.746146523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050193.746986563] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050193.748687586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050193.749529937] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050193.835602249] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050193.837767927] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050193.838305145] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050193.838730196] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050193.839134357] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050193.839199416] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050193.839532211] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050193.844605525] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050193.845105944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050193.846058169] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050193.846800652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050193.847852408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050193.945083362] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050193.945622270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050193.946499262] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050193.947613914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050193.948901722] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050194.002421543] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903788 Long: -76.5027654 -[vectornav-1] [INFO] [1746050194.003654847] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.14, -0.422, 6.076) -[mux-7] [INFO] [1746050194.045266913] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050194.046419962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050194.046947133] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050194.048715712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050194.049898225] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050194.085517617] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050194.087530567] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050194.088355088] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050194.088585742] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050194.089484905] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050194.089874333] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050194.090732813] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050194.145381573] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050194.146629614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050194.146956568] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050194.149533694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050194.150699277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050194.245565968] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050194.246443172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050194.247242039] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050194.249075838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050194.250207843] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050194.335430961] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050194.337977225] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050194.338069311] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050194.338966864] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050194.339587471] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050194.339897759] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050194.340564547] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050194.344525163] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050194.345058631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050194.345635757] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050194.346744377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050194.347767679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050194.445175968] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050194.446331430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050194.446687653] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050194.449063797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050194.450198163] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050194.503494454] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903814 Long: -76.50276533 -[vectornav-1] [INFO] [1746050194.505256077] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.712, -0.726, 6.636) -[mux-7] [INFO] [1746050194.544920307] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050194.545696039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050194.546142955] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050194.547571984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050194.548749009] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050194.585387541] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050194.587801804] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050194.587801738] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050194.588778619] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050194.588991199] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050194.589680476] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050194.590552822] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050194.644717355] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050194.645336987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050194.645859052] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050194.647066646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050194.648218009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050194.745542709] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050194.746281767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050194.747396117] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050194.748001462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050194.748571481] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050194.835360150] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050194.837199672] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050194.837659656] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050194.838578398] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050194.839342392] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050194.839594806] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050194.840530413] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050194.844425763] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050194.844950869] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050194.845529609] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050194.846633175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050194.847786726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050194.945488326] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050194.946078749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050194.947168407] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050194.948731150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050194.949283043] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050195.003556993] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903832 Long: -76.50276529 -[vectornav-1] [INFO] [1746050195.005494852] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.515, -0.001, 6.429) -[mux-7] [INFO] [1746050195.045029520] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050195.045805413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050195.046361257] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050195.047979003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050195.049099267] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050195.085249806] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050195.087522272] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050195.088491062] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050195.087627422] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050195.088856871] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050195.089388802] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050195.090278033] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050195.144942054] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050195.145626829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050195.146327775] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050195.147480276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050195.148518449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050195.245080557] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050195.245819182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050195.246521817] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050195.247853627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050195.248884310] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050195.335792286] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050195.338279121] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050195.339336468] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050195.338532619] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050195.339075566] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050195.340381120] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050195.341313151] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050195.344409660] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050195.345063765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050195.345465794] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050195.346830938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050195.347866493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050195.445724758] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050195.446432051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050195.447414661] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050195.448770646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050195.449275915] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050195.504206414] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690384 Long: -76.50276536 -[vectornav-1] [INFO] [1746050195.506053490] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.04399999999998, -0.314, 6.164) -[mux-7] [INFO] [1746050195.544878900] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050195.545568707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050195.546111348] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050195.547445175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050195.548459355] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050195.585404561] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050195.587380796] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050195.587791506] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050195.588398770] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050195.589374397] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050195.589542417] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050195.590290995] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050195.645192411] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050195.645768985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050195.646775201] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050195.647684830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050195.648341315] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050195.745518040] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050195.746517472] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050195.747242698] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050195.748710300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050195.749984318] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050195.835416997] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050195.838124764] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050195.838712624] [sailbot.teensy]: Wind angle: 234 -[mux-7] [INFO] [1746050195.839135441] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050195.839698391] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050195.840672189] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050195.841650878] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050195.844351648] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050195.845006529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050195.845479549] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050195.846737902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050195.847814624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050195.945449812] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050195.946164195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050195.947023398] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050195.948450988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050195.949700736] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050196.002504115] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903851 Long: -76.50276543 -[vectornav-1] [INFO] [1746050196.003568226] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.86900000000003, -0.289, 6.474) -[mux-7] [INFO] [1746050196.045350891] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050196.046221186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050196.046810136] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050196.048498389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050196.049477327] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050196.085549566] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050196.087529122] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050196.088580166] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050196.089472835] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746050196.088786965] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050196.089755662] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050196.090380180] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050196.145459449] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050196.146447864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050196.147776846] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050196.148635430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050196.150395889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050196.245138072] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050196.246004623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050196.246731386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050196.247694365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050196.248240939] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050196.335317667] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050196.337721346] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050196.338201630] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050196.338303862] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050196.339425433] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050196.340341342] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050196.341221277] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050196.344325925] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050196.344799350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050196.345449658] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050196.346696647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050196.347665226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050196.445474700] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050196.446199719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050196.447060221] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050196.447823876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050196.448740897] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050196.503969670] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903868 Long: -76.5027654 -[vectornav-1] [INFO] [1746050196.505787046] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.875, -0.618, 6.296) -[mux-7] [INFO] [1746050196.545184369] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050196.545850953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050196.546829881] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050196.547961161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050196.549041048] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050196.585396525] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050196.587687591] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050196.587751196] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050196.588676783] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050196.589412551] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050196.589581212] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050196.590467794] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050196.645091357] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050196.645776906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050196.646439837] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050196.647726988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050196.648905514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050196.745446979] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050196.746269705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050196.747067916] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050196.748534797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050196.749956203] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050196.835590620] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050196.837512520] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050196.837878272] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050196.838417733] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050196.838413069] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050196.839330997] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050196.839731960] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050196.844615823] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050196.845445403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050196.845952236] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050196.847241533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050196.848433268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050196.945528325] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050196.946389448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050196.947280692] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050196.948111575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050196.948648079] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050197.003610670] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903881 Long: -76.50276544 -[vectornav-1] [INFO] [1746050197.005253282] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.33799999999997, -0.37, 5.968) -[mux-7] [INFO] [1746050197.045029467] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050197.045839065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050197.046401266] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050197.047757933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050197.048824313] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050197.085265973] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050197.087274966] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050197.087376595] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050197.088247806] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050197.089174347] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050197.089327384] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050197.090086214] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050197.145186327] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050197.145989250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050197.147129582] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050197.148070048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050197.149283252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050197.245061964] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050197.245753864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050197.246334996] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050197.247668864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050197.248800542] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050197.335721638] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050197.338231298] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050197.339286443] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050197.340022702] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050197.340332588] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050197.341010766] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050197.341023944] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050197.344582326] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050197.345222665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050197.345742283] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050197.346950993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050197.347931523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050197.445479249] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050197.446160381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050197.447110872] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050197.448497803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050197.449578667] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050197.502815445] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903894 Long: -76.50276557 -[vectornav-1] [INFO] [1746050197.504116293] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.461, -0.277, 6.179) -[mux-7] [INFO] [1746050197.545272850] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050197.546209891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050197.546778357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050197.548392604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050197.549541080] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050197.585491523] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050197.588101558] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050197.588798849] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050197.589003919] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050197.590003124] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050197.590889003] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050197.591733378] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050197.645090380] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050197.645716045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050197.646558109] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050197.647637887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050197.648857177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050197.744940139] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050197.745726313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050197.746158020] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050197.747695759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050197.748729320] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050197.835515975] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050197.837932225] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050197.838602686] [sailbot.teensy]: Wind angle: 234 -[mux-7] [INFO] [1746050197.838819127] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050197.839659544] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050197.840587991] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050197.841433369] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050197.844483040] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050197.844864050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050197.845805319] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050197.846638967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050197.847955926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050197.945618201] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050197.946253000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050197.947909149] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050197.948483491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050197.949080954] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050198.002539093] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903895 Long: -76.50276573 -[vectornav-1] [INFO] [1746050198.003665783] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.38400000000001, 0.086, 6.877) -[mux-7] [INFO] [1746050198.044823778] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050198.045349551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050198.046030994] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050198.047109342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050198.048255538] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050198.085710027] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050198.088504526] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050198.088880201] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050198.089549276] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050198.090483765] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050198.091347679] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050198.092184835] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050198.145276958] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050198.146577056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050198.147167831] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050198.148784881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050198.149944494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050198.245309565] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050198.245942506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050198.246883016] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050198.247986840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050198.249150519] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050198.335339431] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050198.337363457] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050198.338319361] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050198.337887992] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050198.338834756] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050198.339352023] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050198.339774064] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050198.344328479] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050198.344849944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050198.345520849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050198.346580091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050198.347570953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050198.445065651] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050198.445787415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050198.446480029] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050198.447850297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050198.448942031] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050198.503788114] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903905 Long: -76.50276571 -[vectornav-1] [INFO] [1746050198.505408861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.87900000000002, -1.081, 6.515) -[mux-7] [INFO] [1746050198.544881240] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050198.545616692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050198.546136123] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050198.547495851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050198.548610474] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050198.585393164] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050198.587896839] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050198.587939094] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050198.588879123] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050198.588999665] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050198.589911047] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050198.590793851] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050198.645172092] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050198.645868632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050198.646664106] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050198.648025295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050198.649121965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050198.745292500] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050198.745928878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050198.747358500] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050198.747947135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050198.748453108] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050198.835483543] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050198.837462247] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050198.837904199] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050198.838891256] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050198.839268130] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050198.839850524] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050198.840227394] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050198.844580000] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050198.845276881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050198.845712213] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050198.846939636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050198.847975385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050198.945297284] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050198.946241102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050198.946811480] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050198.948441076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050198.949772072] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050199.002437012] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903913 Long: -76.50276588 -[vectornav-1] [INFO] [1746050199.003548088] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.35199999999998, 0.3, 6.608) -[mux-7] [INFO] [1746050199.045360044] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050199.046013654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050199.046968523] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050199.048378168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050199.049563276] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050199.085834515] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050199.087933421] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050199.089024587] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050199.088947322] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050199.089966444] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050199.091296690] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050199.091332092] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050199.144962814] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050199.145597260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050199.146261519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050199.147500946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050199.148697634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050199.245376164] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050199.246150950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050199.246897613] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050199.248077101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050199.248587855] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050199.335640265] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050199.337757003] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050199.338820452] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050199.338872452] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050199.339878928] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050199.340810485] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050199.340832295] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050199.344253468] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050199.344913628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050199.345341410] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050199.346645597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050199.347873239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050199.445310681] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050199.446048669] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050199.446790475] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050199.447930951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050199.448495290] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050199.503603173] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903914 Long: -76.50276591 -[vectornav-1] [INFO] [1746050199.505111622] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.79499999999996, -0.307, 6.835) -[mux-7] [INFO] [1746050199.545037087] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050199.545671810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050199.546433098] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050199.547626685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050199.548821399] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050199.585298304] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050199.587040480] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050199.587576299] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050199.587953154] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050199.588801966] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050199.588798968] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050199.589674738] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050199.644998131] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050199.645870824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050199.646780193] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050199.647803808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050199.648992874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050199.745241022] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050199.745977784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050199.746977018] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050199.747846865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050199.748322813] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050199.835235364] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050199.837004074] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050199.837563650] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050199.837974987] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050199.838913641] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050199.839214492] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050199.839823143] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050199.844338356] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050199.844950921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050199.845450333] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050199.846714774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050199.847759851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050199.945207875] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050199.946307600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050199.946739559] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050199.948421381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050199.949627465] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050200.002700419] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903917 Long: -76.50276592 -[vectornav-1] [INFO] [1746050200.003853487] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.84900000000005, -0.682, 6.519) -[mux-7] [INFO] [1746050200.045041479] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050200.045646703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050200.046298751] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050200.047737190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050200.048898253] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050200.085479607] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050200.087263503] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050200.088043341] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050200.088224097] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050200.089109331] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050200.089202743] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050200.089957645] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050200.144891137] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050200.145521721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050200.146040564] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050200.147452546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050200.148206080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050200.245260476] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050200.246005785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050200.247200723] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050200.248092762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050200.249444039] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050200.335320467] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050200.337199548] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050200.338160783] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050200.339136173] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746050200.338193115] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050200.339910249] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050200.340044599] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050200.344313816] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050200.344877019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050200.345587031] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050200.346554615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050200.347626737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050200.444876132] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050200.445604409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050200.446138928] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050200.447523873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050200.448565098] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050200.503911838] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903932 Long: -76.50276591 -[vectornav-1] [INFO] [1746050200.505842234] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.64800000000002, -0.357, 6.862) -[mux-7] [INFO] [1746050200.544929111] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050200.545689953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050200.546215300] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050200.547740420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050200.548781780] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050200.585457815] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050200.587791417] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050200.587788849] [sailbot.teensy]: Wind angle: 234 -[mux-7] [INFO] [1746050200.588324815] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050200.588807610] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050200.589799080] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050200.590712565] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050200.645398559] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050200.646138185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050200.647042199] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050200.648435160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050200.649612288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050200.745594408] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050200.746428927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050200.747801028] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050200.748776688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050200.750080418] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050200.835434529] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050200.837264993] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050200.838217913] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050200.838165490] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050200.839076626] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050200.839089794] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050200.839988941] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050200.844490525] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050200.845026123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050200.845832354] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050200.846741268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050200.847763826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050200.945146095] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050200.945903610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050200.946544645] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050200.948015298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050200.949054263] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050201.002638043] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903923 Long: -76.50276615 -[vectornav-1] [INFO] [1746050201.003725009] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.09699999999998, 0.041, 6.46) -[mux-7] [INFO] [1746050201.045149384] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050201.045838784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050201.046519148] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050201.048207919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050201.049445421] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050201.085820661] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050201.088229772] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050201.089275238] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050201.088724810] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050201.089633344] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050201.090173874] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050201.091034029] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050201.144664789] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050201.145287823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050201.145732463] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050201.146978333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050201.147942993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050201.245011309] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050201.245845925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050201.246446168] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050201.248115585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050201.249240204] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050201.335477738] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050201.337321067] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050201.338092142] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050201.338291339] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050201.339199364] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050201.339386712] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050201.340063174] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050201.344359096] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050201.344879205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050201.345457215] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050201.346885519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050201.348033378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050201.444901796] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050201.445569709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050201.446272724] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050201.447416097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050201.449075891] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050201.503537117] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903913 Long: -76.50276625 -[vectornav-1] [INFO] [1746050201.505231493] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.68200000000002, -0.552, 5.822) -[mux-7] [INFO] [1746050201.544750582] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050201.545372533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050201.545892230] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050201.547148925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050201.548134802] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050201.585444711] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050201.587225666] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050201.588197616] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050201.587949738] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050201.589105985] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050201.589957527] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050201.589646647] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050201.645432919] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050201.646114831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050201.647074696] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050201.648459211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050201.649742572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050201.745641400] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050201.746275281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050201.747355252] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050201.748527948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050201.749002555] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050201.835194407] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050201.836898389] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050201.837493377] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050201.837825003] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050201.838754397] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050201.839618991] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050201.839706330] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050201.844334464] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050201.844816171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050201.845483598] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050201.846514439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050201.847552688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050201.945045835] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050201.945948839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050201.946601892] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050201.947732711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050201.948233195] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050202.002648681] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903913 Long: -76.50276628 -[vectornav-1] [INFO] [1746050202.004089101] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.312, -0.589, 5.893) -[mux-7] [INFO] [1746050202.044895080] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050202.045648504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050202.046186054] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050202.047736322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050202.048789152] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050202.085706922] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050202.088626010] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050202.089492327] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050202.089619396] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050202.090585186] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050202.091431645] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050202.092285275] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050202.145466801] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050202.146664982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050202.147231512] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050202.148636634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050202.149182577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050202.245483229] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050202.246383903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050202.247057402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050202.249165228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050202.250182559] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050202.335664911] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050202.337564837] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050202.338326162] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050202.338518130] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050202.339290427] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050202.339301076] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050202.339696760] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050202.344381205] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050202.344976053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050202.345493404] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050202.346697995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050202.347910359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050202.445459852] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050202.446137183] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050202.447429963] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050202.448451005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050202.449243318] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050202.503026870] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903923 Long: -76.50276634 -[vectornav-1] [INFO] [1746050202.504471413] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.02700000000004, -0.062, 5.283) -[mux-7] [INFO] [1746050202.545046315] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050202.545699777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050202.546816487] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050202.547624181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050202.548656037] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050202.585591430] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050202.588296320] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050202.588321923] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050202.589286586] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050202.589341218] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050202.590231097] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050202.591105767] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050202.645484015] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050202.646287600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050202.647082773] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050202.648601269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050202.649888375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050202.745302301] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050202.745977371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050202.747121837] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050202.748125072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050202.749259471] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050202.835444701] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050202.837109309] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050202.838053469] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050202.838322686] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050202.838989378] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050202.839873240] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050202.840011263] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050202.844543154] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050202.845032394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050202.845707698] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050202.846766685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050202.847840424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050202.945460311] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050202.946025202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050202.947118072] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050202.948302123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050202.949475172] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050203.003448555] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903919 Long: -76.50276644 -[vectornav-1] [INFO] [1746050203.005398991] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.115, -0.641, 5.721) -[mux-7] [INFO] [1746050203.045175498] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050203.045718576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050203.046669158] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050203.048694235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050203.049836161] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050203.085272366] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050203.087498618] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050203.088113030] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050203.089155712] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050203.089724072] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050203.090098582] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050203.090983862] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050203.144482553] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050203.145489353] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050203.147470100] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050203.149005367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050203.149892396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050203.245022159] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050203.245601549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050203.246316599] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050203.247575152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050203.248791842] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050203.335392781] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050203.337846335] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050203.338150635] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050203.339314500] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050203.339350198] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050203.340485208] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050203.341336515] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050203.344604660] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050203.345061355] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050203.345781153] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050203.346830214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050203.347873114] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050203.445206148] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050203.445997365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050203.446785006] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050203.447950749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050203.449012822] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050203.502365858] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903922 Long: -76.50276661 -[vectornav-1] [INFO] [1746050203.503356644] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.91899999999998, 0.092, 5.73) -[mux-7] [INFO] [1746050203.544857370] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050203.545442585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050203.546037905] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050203.547184795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050203.548270756] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050203.585149034] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050203.586704113] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050203.587574710] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050203.587900012] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050203.588408543] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050203.588560425] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050203.589263874] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050203.645165134] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050203.645990295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050203.646694134] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050203.648179325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050203.648713234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050203.745484292] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050203.746524924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050203.747485970] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050203.748998092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050203.750828284] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050203.835197470] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050203.837613429] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050203.837764472] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050203.838671832] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050203.838672381] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050203.839684059] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050203.840583190] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050203.844329096] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050203.844910424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050203.845429113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050203.846607885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050203.847607540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050203.945626246] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050203.946364346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050203.947320162] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050203.948957507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050203.950173798] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050204.004097130] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903916 Long: -76.50276679 -[vectornav-1] [INFO] [1746050204.006226196] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.39300000000003, -1.062, 5.825) -[mux-7] [INFO] [1746050204.045247774] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050204.046031400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050204.046774566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050204.048311816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050204.049510670] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050204.085370356] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050204.087175988] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050204.088132062] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050204.087965376] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050204.089037476] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050204.089075321] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050204.089976168] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050204.145392079] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050204.146496660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050204.147655265] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050204.148943625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050204.150044276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050204.245656542] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050204.246257626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050204.247403077] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050204.248579913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050204.249272101] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050204.335434931] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050204.337275436] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050204.337800292] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050204.338235718] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050204.339179436] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050204.339962874] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050204.340019401] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050204.344549069] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050204.344954436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050204.345693711] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050204.346628673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050204.347778376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050204.445300225] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050204.445855634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050204.447679328] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050204.448237396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050204.449473840] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050204.503253135] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903918 Long: -76.50276713 -[vectornav-1] [INFO] [1746050204.504909759] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.514, -0.28, 4.675) -[mux-7] [INFO] [1746050204.545045418] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050204.545618787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050204.546465164] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050204.547538289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050204.548615182] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050204.585696739] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050204.588445038] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050204.588692703] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050204.589699257] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050204.590599401] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050204.590730415] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050204.591519754] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050204.645015428] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050204.645776592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050204.646455411] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050204.647976198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050204.649135198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050204.745179470] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050204.745881066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050204.746846080] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050204.748730661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050204.749194114] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050204.835579068] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050204.838144945] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050204.838269045] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050204.839434267] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050204.839692291] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050204.840373726] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050204.841294572] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050204.844446999] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050204.844914711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050204.845552373] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050204.846592398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050204.847654089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050204.945663222] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050204.946402449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050204.947336016] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050204.948714735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050204.949817068] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050205.003830434] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903914 Long: -76.5027674 -[vectornav-1] [INFO] [1746050205.005667388] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.24699999999996, 0.592, 5.563) -[mux-7] [INFO] [1746050205.045335791] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050205.046144136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050205.047102726] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050205.048128766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050205.050463196] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050205.085681724] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050205.088109453] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050205.089094999] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050205.089262161] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050205.090234734] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050205.091117776] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050205.091968854] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050205.145302296] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050205.146150104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050205.146887113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050205.148697932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050205.149762833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050205.244755047] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050205.245430470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050205.246094958] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050205.247160357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050205.248238873] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050205.335249236] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050205.337538530] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050205.338062366] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050205.339652655] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050205.340740678] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050205.341707357] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050205.342589650] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050205.344481290] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050205.344974735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050205.345613552] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050205.346739092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050205.347810828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050205.445355527] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050205.446002682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050205.447190743] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050205.448525522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050205.449342194] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050205.503003434] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903917 Long: -76.50276724 -[vectornav-1] [INFO] [1746050205.504463013] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.85000000000002, -0.811, 5.793) -[mux-7] [INFO] [1746050205.545108446] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050205.545853698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050205.546850751] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050205.547834310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050205.549094090] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050205.585468429] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050205.587833659] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050205.588456831] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050205.589142620] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050205.590117780] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050205.591021019] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050205.591861889] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050205.645206043] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050205.645932069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050205.646915266] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050205.648027221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050205.648499836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050205.745192300] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050205.746017323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050205.746707749] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050205.748491354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050205.749557153] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050205.835347846] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050205.837585265] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050205.837650718] [sailbot.teensy]: Wind angle: 233 -[mux-7] [INFO] [1746050205.838369365] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050205.838582364] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050205.839465564] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050205.840358300] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050205.844363226] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050205.844810279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050205.845466396] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050205.846520004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050205.847656288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050205.945383982] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050205.946117332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050205.947096439] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050205.948532443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050205.949734128] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050206.003778272] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690393 Long: -76.50276735 -[vectornav-1] [INFO] [1746050206.005609835] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.73900000000003, -1.75, 5.847) -[mux-7] [INFO] [1746050206.045262141] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050206.046121551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050206.046855232] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050206.048392749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050206.049421617] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050206.085297231] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050206.087517448] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050206.088013936] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050206.089592480] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050206.090472622] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050206.091321716] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050206.092188957] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050206.144807943] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050206.145402072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050206.145969491] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050206.147167304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050206.148342063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050206.244943269] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050206.245673867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050206.246234777] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050206.247754928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050206.248888042] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050206.335173731] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050206.337132481] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050206.337452997] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050206.338349220] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050206.338729892] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050206.339313493] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050206.340206791] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050206.344443764] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050206.344968238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050206.345566266] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050206.346650041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050206.347812775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050206.445292414] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050206.445989467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050206.446810477] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050206.448573524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050206.449701411] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050206.503238432] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903947 Long: -76.50276772 -[vectornav-1] [INFO] [1746050206.504598903] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.93200000000002, 1.62, 5.086) -[mux-7] [INFO] [1746050206.544912901] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050206.545647254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050206.546230418] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050206.547535352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050206.548561388] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050206.585151269] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050206.587425127] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050206.588093964] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050206.588685724] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050206.590019415] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050206.590996698] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050206.591852577] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050206.645106826] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050206.646225666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050206.647793165] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050206.648428755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050206.649513856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050206.745416862] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050206.746444956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050206.747030096] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050206.748898770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050206.749981327] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050206.835532180] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050206.837940429] [sailbot.teensy]: Wind angle: 232 -[trim_sail-4] [INFO] [1746050206.838136414] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050206.839355049] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050206.839981065] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050206.840967564] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050206.841807157] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050206.844482660] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050206.845268876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050206.845748445] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050206.847087493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050206.848099682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050206.945210028] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050206.946117116] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050206.946804472] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050206.947835979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050206.948306406] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050207.003280983] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903958 Long: -76.50276772 -[vectornav-1] [INFO] [1746050207.005007472] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.99, -0.835, 5.62) -[mux-7] [INFO] [1746050207.045202533] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050207.046052721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050207.046847549] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050207.048278502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050207.049480077] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050207.085552814] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050207.087326297] [sailbot.teensy]: Wind angle: 232 -[teensy-2] [INFO] [1746050207.088337568] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050207.088428892] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050207.089248032] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050207.090099162] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050207.090130716] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050207.145239218] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050207.145919486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050207.146740538] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050207.147982419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050207.149379282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050207.244606201] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050207.245190927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050207.245724183] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050207.246878542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050207.247967568] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050207.335251090] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050207.336953262] [sailbot.teensy]: Wind angle: 232 -[trim_sail-4] [INFO] [1746050207.337560528] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050207.337857651] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050207.338649423] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050207.339021593] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050207.339039306] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050207.344346206] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050207.344945768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050207.345491376] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050207.346681900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050207.347809806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050207.445459202] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050207.446343819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050207.447084852] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050207.448876152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050207.450033396] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050207.503701205] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903971 Long: -76.50276774 -[vectornav-1] [INFO] [1746050207.505668443] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.52499999999998, -0.681, 5.314) -[mux-7] [INFO] [1746050207.545236135] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050207.546203176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050207.546790792] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050207.548725369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050207.549256306] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050207.585560798] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050207.588452436] [sailbot.teensy]: Wind angle: 232 -[teensy-2] [INFO] [1746050207.589415187] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050207.588583613] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050207.590251811] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050207.590604981] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050207.591487928] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050207.644949370] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050207.645620489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050207.646229167] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050207.647594448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050207.648627516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050207.745601369] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050207.746135994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050207.747289888] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050207.748473880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050207.749714687] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050207.835301181] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050207.837379377] [sailbot.teensy]: Wind angle: 232 -[trim_sail-4] [INFO] [1746050207.837913067] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050207.838358909] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050207.839196615] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050207.839263194] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050207.840102733] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050207.844517514] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050207.845077001] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050207.845661003] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050207.846771507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050207.847927880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050207.945057157] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050207.945822905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050207.946513530] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050207.947608431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050207.948089636] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050208.002374251] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690397 Long: -76.50276777 -[vectornav-1] [INFO] [1746050208.003500407] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.78700000000003, -0.687, 5.423) -[mux-7] [INFO] [1746050208.044942865] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050208.046034629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050208.046135239] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050208.047782807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050208.048829024] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050208.085429486] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050208.087846568] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050208.087950067] [sailbot.teensy]: Wind angle: 232 -[teensy-2] [INFO] [1746050208.088950408] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050208.089554692] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050208.089862283] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050208.090795602] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050208.145040419] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050208.145615527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050208.146431992] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050208.147572810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050208.148723133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050208.245234997] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050208.245860852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050208.246743207] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050208.248095238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050208.249250874] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050208.335285856] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050208.337185692] [sailbot.teensy]: Wind angle: 232 -[teensy-2] [INFO] [1746050208.338171244] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050208.338175281] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050208.339098073] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050208.339471909] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050208.339642178] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050208.344351188] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050208.344950594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050208.345446713] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050208.346670397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050208.347665601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050208.445066424] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050208.445798179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050208.446468532] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050208.447884894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050208.449043840] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050208.504117685] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903974 Long: -76.50276795 -[vectornav-1] [INFO] [1746050208.506025589] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.798, 0.24, 5.075) -[mux-7] [INFO] [1746050208.545133225] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050208.545921377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050208.546545861] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050208.548023407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050208.549156224] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050208.585531477] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050208.587494172] [sailbot.teensy]: Wind angle: 232 -[teensy-2] [INFO] [1746050208.588604432] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050208.587914660] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050208.589574345] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050208.589818007] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050208.590602190] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050208.645269577] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050208.645933549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050208.646826200] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050208.648193684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050208.649411000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050208.745090139] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050208.745741767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050208.746888349] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050208.747811518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050208.748305908] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050208.835318871] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050208.837911823] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050208.838329048] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050208.838717705] [sailbot.teensy]: Wind angle: 232 -[teensy-2] [INFO] [1746050208.839641796] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050208.840527912] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050208.841358464] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050208.844344510] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050208.844842235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050208.845421872] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050208.846522360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050208.847684878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050208.945251345] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050208.945885406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050208.946842971] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050208.948146101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050208.949354142] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050209.002536499] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690399 Long: -76.50276783 -[vectornav-1] [INFO] [1746050209.003611799] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.94499999999994, -0.711, 4.774) -[mux-7] [INFO] [1746050209.045329713] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050209.046108424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050209.046913032] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050209.048074419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050209.049242331] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050209.086509754] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050209.089105906] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050209.089330022] [sailbot.teensy]: Wind angle: 232 -[teensy-2] [INFO] [1746050209.090585462] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050209.091811493] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050209.092762137] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050209.093790556] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050209.144786625] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050209.145916583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050209.145989551] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050209.147661294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050209.148628571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050209.244696607] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050209.245207120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050209.245772598] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050209.246953799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050209.248121941] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050209.335184414] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050209.336948129] [sailbot.teensy]: Wind angle: 232 -[trim_sail-4] [INFO] [1746050209.337738755] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050209.337882818] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050209.338767304] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050209.338809578] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050209.339626567] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050209.344317570] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050209.344818758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050209.345398269] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050209.346516392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050209.347644395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050209.444656005] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050209.445319827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050209.445840540] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050209.447158515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050209.448248863] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050209.503121070] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904012 Long: -76.50276806 -[vectornav-1] [INFO] [1746050209.504350904] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.83000000000004, -0.611, 5.143) -[mux-7] [INFO] [1746050209.545125520] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050209.546007886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050209.546595172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050209.548143679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050209.549386020] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050209.585263546] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050209.587744387] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050209.587753682] [sailbot.teensy]: Wind angle: 232 -[mux-7] [INFO] [1746050209.588451526] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050209.588705344] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050209.589599370] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050209.590487036] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050209.644888173] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050209.645605861] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050209.646333566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050209.647517234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050209.648815474] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050209.744975090] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050209.745638939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050209.746469545] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050209.748056998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050209.748610075] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050209.835185534] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050209.838062456] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050209.838327129] [sailbot.teensy]: Wind angle: 231 -[mux-7] [INFO] [1746050209.838933968] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050209.839475611] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050209.840430522] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050209.841042405] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050209.844356749] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050209.844870883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050209.845446028] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050209.846575727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050209.847703839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050209.945373348] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050209.945970071] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050209.946910515] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050209.948120306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050209.949354155] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050210.003530634] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904014 Long: -76.50276824 -[vectornav-1] [INFO] [1746050210.004806972] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.81799999999998, 0.009, 5.37) -[mux-7] [INFO] [1746050210.045082337] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050210.045881886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050210.046615583] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050210.047973436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050210.049270911] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050210.085521028] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050210.087563049] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050210.088525421] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050210.088199610] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050210.088540390] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050210.089429837] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050210.090296614] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050210.145120083] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050210.145984613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050210.146547197] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050210.148218653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050210.149391790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050210.244880108] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050210.245750266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050210.246651526] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050210.247606978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050210.248376166] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050210.335350216] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050210.337817521] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050210.337948468] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050210.338757173] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050210.339123943] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050210.339326091] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050210.339698872] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050210.344367106] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050210.345209973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050210.345533886] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050210.346942171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050210.347989274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050210.445600982] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050210.446546258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050210.447230251] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050210.448797583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050210.449263530] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050210.503391253] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904032 Long: -76.50276819 -[vectornav-1] [INFO] [1746050210.504722366] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.91200000000003, -0.698, 5.249) -[mux-7] [INFO] [1746050210.544840926] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050210.545473745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050210.545992830] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050210.547307720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050210.548356175] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050210.585283229] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050210.587104911] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050210.588037024] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050210.587641688] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050210.588846815] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050210.588943389] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050210.589791564] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050210.644933554] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050210.645625208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050210.646495363] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050210.647518301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050210.648706952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050210.745287566] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050210.746039618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050210.746813637] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050210.748324428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050210.748923303] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050210.835343290] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050210.837098262] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050210.838087487] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050210.839291768] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050210.839307633] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050210.840346876] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050210.840800343] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050210.844532932] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050210.845305420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050210.845724250] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050210.847030340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050210.848139841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050210.945109502] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050210.946041852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050210.946639283] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050210.948329589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050210.949339007] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050211.003260608] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904032 Long: -76.50276802 -[vectornav-1] [INFO] [1746050211.005002531] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.73900000000003, 0.268, 5.037) -[mux-7] [INFO] [1746050211.045361556] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050211.046391033] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050211.046963280] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050211.048835270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746050211.049505941] [sailbot.mux]: controller_app sail angle: 31 -[teensy-2] [INFO] [1746050211.051086946] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050211.085344825] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050211.087885381] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050211.088722205] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050211.089280316] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050211.090241421] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050211.091091089] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050211.091900392] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050211.145364150] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050211.146059179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050211.146937254] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050211.148371542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050211.150025675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050211.243950848] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050211.244322992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050211.244613601] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050211.246140001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050211.247134625] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050211.335303347] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050211.337502202] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050211.337812009] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050211.338510450] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050211.338768396] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050211.339832469] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050211.340747982] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050211.344381668] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050211.344853695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050211.345459156] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050211.346598084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050211.347606311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050211.445399915] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050211.446219724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050211.446951060] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050211.448348791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050211.449576350] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050211.503217455] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690403 Long: -76.502768 -[vectornav-1] [INFO] [1746050211.504959796] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.62599999999998, -0.865, 5.136) -[mux-7] [INFO] [1746050211.545170390] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050211.545835943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050211.546597741] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050211.547846494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050211.548925686] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050211.585261804] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050211.587590831] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050211.588367243] [sailbot.teensy]: Wind angle: 231 -[mux-7] [INFO] [1746050211.588424728] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050211.589308229] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050211.590199755] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050211.591083570] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050211.645268906] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050211.645876252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050211.646860846] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050211.648056543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050211.649425279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050211.744924730] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050211.745808894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050211.746215632] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050211.747649241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050211.748734291] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050211.835494960] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050211.838318857] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050211.838783618] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050211.839300719] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050211.840266791] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050211.841040857] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050211.841374462] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050211.844324666] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050211.844963195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050211.845505926] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050211.846664861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050211.847783725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050211.944970938] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050211.945826494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050211.946268270] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050211.947960078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050211.948956194] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050212.002485848] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904039 Long: -76.50276799 -[vectornav-1] [INFO] [1746050212.003570604] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.654, -0.08, 5.633) -[mux-7] [INFO] [1746050212.045256637] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050212.046124696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050212.046937314] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050212.048407985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050212.048908112] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050212.085259973] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050212.087843996] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050212.088075160] [sailbot.teensy]: Wind angle: 231 -[mux-7] [INFO] [1746050212.088934846] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050212.089061707] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050212.090256850] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050212.091357177] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050212.144780015] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050212.145675733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050212.146336620] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050212.147577979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050212.148663788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050212.245334218] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050212.246329999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050212.247163879] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050212.248626006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050212.249695442] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050212.335399721] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050212.337879877] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050212.338691954] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050212.338791437] [sailbot.teensy]: Wind angle: 232 -[teensy-2] [INFO] [1746050212.339206673] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050212.339575867] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050212.340083367] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050212.344300303] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050212.344700417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050212.345416484] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050212.346354553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050212.347417731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050212.445699354] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050212.446688983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050212.447431878] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050212.447984485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050212.448459213] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050212.503216962] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904053 Long: -76.50276782 -[vectornav-1] [INFO] [1746050212.504774279] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.317, -0.564, 4.511) -[mux-7] [INFO] [1746050212.544705568] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050212.545381939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050212.545913402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050212.547206244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050212.548336871] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050212.585355149] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050212.587563647] [sailbot.teensy]: Wind angle: 232 -[trim_sail-4] [INFO] [1746050212.587848685] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050212.588352786] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050212.588586175] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050212.589524574] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050212.590375716] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050212.645669306] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050212.646535088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050212.647281122] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050212.649145734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050212.650246654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050212.745308724] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050212.746184015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050212.747017872] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050212.748367593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050212.748902596] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050212.835364454] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050212.837688780] [sailbot.teensy]: Wind angle: 232 -[trim_sail-4] [INFO] [1746050212.838361795] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050212.838641801] [sailbot.teensy]: Actual sail angle: 31 -[mux-7] [INFO] [1746050212.838888765] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050212.839533583] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050212.840452406] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050212.844524289] [sailbot.mux]: Published sail angle from controller_app: 31 -[mux-7] [INFO] [1746050212.845628476] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050212.845686799] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050212.847695983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050212.848920713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050212.945473087] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050212.946467731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050212.947145306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050212.948943099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050212.950254839] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050213.002343142] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904065 Long: -76.50276776 -[vectornav-1] [INFO] [1746050213.003599616] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.02800000000002, -0.834, 4.688) -[mux-7] [INFO] [1746050213.045144782] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050213.046195555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050213.046639240] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050213.048568483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050213.049662953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050213.050836751] [sailbot.mux]: controller_app sail angle: 0 -[teensy-2] [INFO] [1746050213.085456068] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050213.088761674] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050213.089071112] [sailbot.teensy]: Wind angle: 232 -[mux-7] [INFO] [1746050213.089633918] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050213.089967807] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050213.090863113] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050213.091859454] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050213.145173493] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050213.146084100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050213.146640130] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050213.148303079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050213.149455983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050213.244835387] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050213.245572306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050213.246195801] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050213.247552996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050213.248204301] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050213.335763264] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050213.338424637] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050213.339498268] [sailbot.teensy]: Actual sail angle: 31 -[trim_sail-4] [INFO] [1746050213.338944692] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050213.340048496] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050213.340422114] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050213.341266582] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050213.344329747] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050213.344892243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050213.345402365] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050213.346584596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050213.347741909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050213.445092418] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050213.445873812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050213.446583995] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050213.448072799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050213.449234910] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050213.503914903] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904059 Long: -76.50276779 -[vectornav-1] [INFO] [1746050213.505886295] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.27999999999997, 0.698, 5.08) -[mux-7] [INFO] [1746050213.544971723] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050213.545908050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050213.546276259] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050213.547780284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050213.548939744] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050213.585197997] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050213.587204968] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050213.588131164] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050213.587247116] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050213.589040604] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050213.589908716] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050213.589928328] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050213.645482361] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050213.646319885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050213.647133599] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050213.648707812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050213.649841037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050213.745361924] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050213.746075291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050213.747131650] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050213.747735163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050213.748193194] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050213.835492222] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050213.837433393] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050213.838395715] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050213.838026053] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050213.839277136] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050213.839532599] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050213.840125692] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050213.844490653] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050213.845114550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050213.845604268] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050213.846873718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050213.847996278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050213.945628900] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050213.946757102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050213.947886724] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050213.948622629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050213.949133665] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050214.003366668] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904087 Long: -76.5027677 -[vectornav-1] [INFO] [1746050214.005070462] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.38300000000004, -0.986, 5.467) -[mux-7] [INFO] [1746050214.045236168] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050214.046107623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050214.046781089] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050214.048659449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050214.049703733] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050214.085815975] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050214.088926400] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050214.089891261] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050214.090976310] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050214.091704653] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050214.092012216] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050214.092981450] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050214.144787316] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050214.145423585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050214.145993650] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050214.147288737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050214.148379791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050214.245071688] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050214.245793919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050214.246390283] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050214.247726455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050214.248819720] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050214.335517027] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050214.337419335] [sailbot.teensy]: Wind angle: 232 -[teensy-2] [INFO] [1746050214.338380097] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050214.339258160] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746050214.338445831] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050214.339229674] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050214.340107569] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050214.344343972] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050214.345114813] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050214.345853788] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050214.346925901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050214.347975727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050214.445420582] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050214.446519730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050214.447088526] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050214.447948097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050214.448526779] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050214.503192211] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904093 Long: -76.50276763 -[vectornav-1] [INFO] [1746050214.505006003] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.86400000000003, -0.782, 5.058) -[mux-7] [INFO] [1746050214.544969548] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050214.545877480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050214.546385759] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050214.547915205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050214.549000894] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050214.585324435] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050214.588025297] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050214.588084731] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050214.589018667] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050214.589766951] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050214.589921676] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050214.590810917] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050214.645411714] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050214.646128323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050214.646992740] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050214.648469982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050214.649520047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050214.745451361] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050214.746192694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050214.747156642] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050214.748650912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050214.749893417] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050214.835349113] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050214.837885603] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050214.838267363] [sailbot.teensy]: Wind angle: 231 -[mux-7] [INFO] [1746050214.838325118] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050214.839277964] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050214.840300291] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050214.841002529] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050214.844390459] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050214.845105788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050214.845797846] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050214.846826164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050214.847971467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050214.945284048] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050214.946181785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050214.946979150] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050214.948533337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050214.949105990] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050215.003520647] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904115 Long: -76.50276807 -[vectornav-1] [INFO] [1746050215.004937129] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.44499999999994, -0.186, 4.656) -[mux-7] [INFO] [1746050215.045176260] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050215.046115834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050215.046724426] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050215.048441530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050215.049464509] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050215.085535166] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050215.087943859] [sailbot.teensy]: Wind angle: 232 -[trim_sail-4] [INFO] [1746050215.087977145] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050215.088533372] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050215.088970372] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050215.089978175] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050215.090850922] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050215.144689686] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050215.145541828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050215.145911357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050215.147734366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050215.148923415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050215.245280246] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050215.246709390] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050215.247147989] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050215.249659038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050215.250992425] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050215.335497176] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050215.337820564] [sailbot.teensy]: Wind angle: 232 -[trim_sail-4] [INFO] [1746050215.337988903] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050215.338491851] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050215.338982980] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050215.339964017] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050215.340846087] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050215.344301030] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050215.344829106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050215.345392417] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050215.346768405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050215.347798957] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050215.445388336] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050215.446103416] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050215.446955376] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050215.448478423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050215.449587100] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050215.503178778] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904115 Long: -76.50276848 -[vectornav-1] [INFO] [1746050215.505072313] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.36799999999994, 0.271, 5.228) -[mux-7] [INFO] [1746050215.545016230] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050215.545800180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050215.546357181] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050215.547807307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050215.548888579] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050215.585218349] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050215.587204012] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050215.587726033] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050215.588058407] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050215.588143092] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050215.588917817] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050215.589822233] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050215.645289875] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050215.646321039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050215.647153135] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050215.648491115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050215.649589671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050215.745536374] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050215.746101735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050215.747157944] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050215.748574639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050215.749683446] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050215.835192557] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050215.837164676] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050215.837818607] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050215.838437450] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050215.838686974] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050215.838947915] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050215.839322870] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050215.844540272] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050215.845068795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050215.845728858] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050215.846744528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050215.847781496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050215.945448765] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050215.946165313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050215.947154528] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050215.948492350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050215.949571377] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050216.003090682] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904124 Long: -76.5027684 -[vectornav-1] [INFO] [1746050216.004258554] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.048, -1.236, 5.293) -[mux-7] [INFO] [1746050216.044875146] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050216.045333608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050216.046281945] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050216.047114800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050216.048299719] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050216.085416382] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050216.087334048] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050216.087917442] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050216.088327125] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050216.088932217] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050216.089237354] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050216.090118242] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050216.145281461] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050216.145890329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050216.146783477] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050216.147859705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050216.149003672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050216.245099979] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050216.246658895] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050216.245628338] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050216.249542244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050216.250118425] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050216.335307721] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050216.336979094] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050216.337609674] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050216.337848494] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050216.338744596] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050216.339011293] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050216.339484434] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050216.344577316] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050216.344993192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050216.345776264] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050216.346645013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050216.347720642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050216.445489650] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050216.446082559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050216.447433847] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050216.448326437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050216.449445948] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050216.503900048] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690413 Long: -76.50276854 -[vectornav-1] [INFO] [1746050216.505221652] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.74900000000002, -0.401, 4.887) -[mux-7] [INFO] [1746050216.545761181] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050216.546713783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050216.547461636] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050216.549199065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050216.550287180] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050216.585182079] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050216.587345803] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050216.587920263] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050216.588244921] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050216.589206072] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050216.590230034] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050216.591068467] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050216.645234888] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050216.645818088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050216.647001555] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050216.647906104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050216.648976134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050216.745336325] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050216.746014049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050216.747627540] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050216.748857375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050216.750309274] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050216.835505836] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050216.838041898] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050216.838630757] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050216.840223961] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050216.841113935] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050216.842021493] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050216.842840746] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050216.844520984] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050216.844909701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050216.845648159] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050216.846558665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050216.847567847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050216.945249562] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050216.945909263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050216.946748419] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050216.948183429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050216.948771241] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050217.002317775] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904152 Long: -76.50276889 -[vectornav-1] [INFO] [1746050217.003273919] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.19000000000005, -0.212, 4.541) -[mux-7] [INFO] [1746050217.045205787] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050217.045980251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050217.046446635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050217.047900287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050217.049021162] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050217.085684626] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050217.088553406] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050217.088780120] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050217.089291057] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050217.090270966] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050217.091090982] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050217.091917321] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050217.145112585] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050217.146316103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050217.146597718] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050217.147976057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050217.148421388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050217.245163791] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050217.246528299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050217.248374403] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050217.248503413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050217.249124015] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050217.335299681] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050217.337751782] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050217.338163344] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050217.338599270] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050217.339530404] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050217.340363158] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050217.340709589] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050217.344451723] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050217.345052851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050217.345605180] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050217.346736582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050217.347908212] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050217.445165827] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050217.445775578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050217.446632688] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050217.447836285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050217.448871161] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050217.503571729] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904147 Long: -76.50276876 -[vectornav-1] [INFO] [1746050217.505064738] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.14200000000005, -0.244, 5.007) -[mux-7] [INFO] [1746050217.545347515] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050217.546236431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050217.547129625] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050217.548492609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050217.549680745] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050217.585221494] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050217.587243586] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050217.587447765] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050217.588177227] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050217.588664796] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050217.589044554] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050217.589915496] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050217.645160444] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050217.646118137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050217.646769059] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050217.648298012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050217.649330292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050217.744932338] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050217.745641273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050217.746229658] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050217.747670930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050217.748860842] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050217.835397084] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050217.837347100] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050217.838340379] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050217.839209924] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746050217.838074219] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050217.839256386] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050217.839579332] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050217.844379016] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050217.844961711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050217.845453950] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050217.846694443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050217.847740048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050217.945527035] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050217.946577375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050217.947215437] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050217.949201144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050217.950400643] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050218.002867060] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904156 Long: -76.50276884 -[vectornav-1] [INFO] [1746050218.004097088] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.29600000000005, -0.039, 5.459) -[mux-7] [INFO] [1746050218.045346268] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050218.046413945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050218.046768609] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050218.047981901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050218.048485668] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050218.085420330] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050218.087980706] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050218.087998363] [sailbot.teensy]: Wind angle: 232 -[mux-7] [INFO] [1746050218.088511685] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050218.088932145] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050218.090238199] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050218.091090004] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050218.145013116] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050218.145608731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050218.146321853] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050218.148317103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050218.149404706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050218.245079191] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050218.245799748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050218.246580343] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050218.247676774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050218.248160401] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050218.335251832] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050218.337289226] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050218.337873309] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050218.338356959] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050218.339258535] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050218.338883795] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050218.340214063] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050218.344391810] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050218.344851393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050218.345608034] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050218.346515788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050218.347550941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050218.445390935] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050218.446513086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050218.447188565] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050218.448647783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050218.449825949] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050218.503550287] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904166 Long: -76.50276879 -[vectornav-1] [INFO] [1746050218.505360024] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.19499999999994, -1.263, 5.686) -[mux-7] [INFO] [1746050218.545177747] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050218.545953487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050218.546668588] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050218.548260295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050218.549373160] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050218.585220357] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050218.587345240] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050218.588258004] [sailbot.teensy]: Wind angle: 233 -[mux-7] [INFO] [1746050218.588892160] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050218.589164452] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050218.590037650] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050218.590923332] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050218.645131457] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050218.645752787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050218.646608436] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050218.648242028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050218.649351392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050218.745186269] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050218.745923766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050218.746876758] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050218.747586098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050218.748081579] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050218.835155731] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050218.837005426] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050218.837360597] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050218.838022652] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050218.838957372] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050218.839312006] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050218.839879633] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050218.844557273] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050218.845366047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050218.845678666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050218.847093236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050218.848296372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050218.945225423] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050218.946307471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050218.946791681] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050218.948311966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050218.948771971] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050219.003316352] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904172 Long: -76.50276896 -[vectornav-1] [INFO] [1746050219.004878379] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.61900000000003, 0.439, 5.222) -[mux-7] [INFO] [1746050219.045280925] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050219.046127356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050219.047476249] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050219.048387143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050219.050467086] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050219.085580357] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050219.087955076] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050219.088394425] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050219.089000837] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050219.089756827] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050219.089980150] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050219.090904341] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050219.145219552] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050219.146051045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050219.146716321] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050219.148235067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050219.149241619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050219.245296092] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050219.245994014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050219.247018021] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050219.249599532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050219.250195792] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050219.335312583] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050219.337381169] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050219.338735591] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050219.339819053] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746050219.338760060] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050219.339472867] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050219.340789380] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050219.344245949] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050219.344863554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050219.345346485] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050219.346724829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050219.347874682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050219.445302161] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050219.446103718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050219.447081739] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050219.448451860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050219.449696250] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050219.502681974] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904172 Long: -76.50276896 -[vectornav-1] [INFO] [1746050219.503791224] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.933, -0.629, 6.606) -[mux-7] [INFO] [1746050219.545173809] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050219.546101431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050219.546708356] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050219.548463584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050219.549499509] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050219.585745447] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050219.588634377] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050219.589236266] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050219.589608742] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050219.590529626] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050219.591403170] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050219.592264229] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050219.645488615] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050219.646200843] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050219.647379027] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050219.647741757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050219.648469149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050219.745365310] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050219.746092862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050219.746958838] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050219.748295274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050219.748836226] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050219.835430062] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050219.837747921] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050219.838179794] [sailbot.teensy]: Wind angle: 233 -[mux-7] [INFO] [1746050219.839053661] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050219.839086662] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050219.839457375] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050219.839827815] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050219.844510967] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050219.845098756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050219.845660761] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050219.846847938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050219.847855463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050219.945224461] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050219.945912704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050219.946793884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050219.948179060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050219.949454951] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050220.003756071] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904184 Long: -76.50276883 -[vectornav-1] [INFO] [1746050220.005368893] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.25700000000006, -0.636, 6.662) -[mux-7] [INFO] [1746050220.045310587] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050220.046103594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050220.046897211] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050220.048852704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050220.049904632] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050220.085250146] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050220.087026511] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050220.087325797] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050220.087938639] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050220.088998085] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050220.089595419] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050220.089904177] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050220.145150243] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050220.146118511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050220.146524870] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050220.147826334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050220.148316067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050220.245655157] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050220.246684893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050220.247409857] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050220.248593154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050220.249032578] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050220.335511165] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050220.337681591] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050220.338669017] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050220.338100648] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050220.338603332] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050220.339601089] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050220.340469104] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050220.344334589] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050220.345040646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050220.345522853] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050220.346842620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050220.347891327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050220.445425081] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050220.446096037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050220.447138151] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050220.447798612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050220.448344754] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050220.503712978] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904192 Long: -76.50276891 -[vectornav-1] [INFO] [1746050220.505758396] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.44799999999998, -0.473, 6.959) -[mux-7] [INFO] [1746050220.544672018] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050220.545440349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050220.546533834] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050220.547274076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050220.548474079] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050220.585206410] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050220.587583475] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050220.587988740] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050220.588248818] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050220.589102496] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050220.589939160] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050220.590780200] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050220.644928293] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050220.645713987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050220.647738001] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050220.647967466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050220.649092487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050220.745217642] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050220.746053189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050220.746851522] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050220.748554952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050220.749089335] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050220.835676512] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050220.838773721] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050220.839178115] [sailbot.teensy]: Wind angle: 233 -[mux-7] [INFO] [1746050220.839314376] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050220.840312409] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050220.841213584] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050220.842045454] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050220.844387693] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050220.844871621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050220.845649175] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050220.846535193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050220.847650386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050220.945461968] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050220.946305781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050220.947273946] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050220.948522094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050220.948969819] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050221.002401158] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904205 Long: -76.50276888 -[vectornav-1] [INFO] [1746050221.003447005] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.97699999999998, -0.775, 6.69) -[mux-7] [INFO] [1746050221.044837431] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050221.045858814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050221.046206580] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050221.047764732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050221.048681362] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050221.085531613] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050221.088402936] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050221.089134179] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050221.089769680] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050221.090944207] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050221.091972110] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050221.092927528] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050221.145058850] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050221.145892047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050221.146476466] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050221.148569967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050221.149749163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050221.245343427] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050221.246091471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050221.246918303] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050221.248489450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050221.249005067] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050221.335355022] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050221.337162155] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050221.337909026] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050221.338106644] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050221.338992978] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050221.339148720] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050221.340256130] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050221.344472279] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050221.344965336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050221.345606871] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050221.346760182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050221.347811590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050221.445003434] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050221.445598368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050221.446348215] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050221.447598815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050221.448562098] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050221.503289660] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904203 Long: -76.50276897 -[vectornav-1] [INFO] [1746050221.504707216] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.45500000000004, 0.131, 6.355) -[mux-7] [INFO] [1746050221.545272373] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050221.546065911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050221.546972983] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050221.548969585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050221.550049349] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050221.585505588] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050221.587823707] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050221.588318128] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050221.588741401] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050221.589693532] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050221.590517953] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050221.591346900] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050221.644979246] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050221.645628412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050221.646749642] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050221.647764250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050221.648946498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050221.745310969] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050221.746041057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050221.747210784] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050221.748171386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050221.748703798] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050221.835347750] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050221.837685903] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050221.838003460] [sailbot.teensy]: Wind angle: 233 -[mux-7] [INFO] [1746050221.838189931] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050221.839046079] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050221.840025847] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050221.840957229] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050221.844295373] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050221.844886892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050221.845488476] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050221.846552719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050221.847595447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050221.945334581] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050221.946301869] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050221.946979256] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050221.948048683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050221.948560134] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050222.002632916] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904191 Long: -76.50276897 -[vectornav-1] [INFO] [1746050222.003754041] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.409, -0.072, 6.907) -[mux-7] [INFO] [1746050222.045359725] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050222.046159178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050222.046927008] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050222.048675922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050222.049914369] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050222.085484527] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050222.088178901] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050222.088768906] [sailbot.teensy]: Wind angle: 233 -[mux-7] [INFO] [1746050222.089669240] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050222.089799022] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050222.090722340] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050222.091633777] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050222.145405346] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050222.146196998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050222.147243939] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050222.148625269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050222.149842880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050222.245223468] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050222.246248796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050222.246812016] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050222.248496479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050222.249799677] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050222.335275120] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050222.337335985] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050222.337735384] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050222.338291251] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050222.339015920] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050222.339193684] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050222.339625290] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050222.344560309] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050222.345106334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050222.345688477] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050222.346780135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050222.347855535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050222.445540329] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050222.446198761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050222.447475663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050222.448411415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050222.450235066] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050222.503729955] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904202 Long: -76.50276888 -[vectornav-1] [INFO] [1746050222.505450910] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.49099999999999, -1.135, 6.976) -[mux-7] [INFO] [1746050222.545013491] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050222.545514498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050222.546415406] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050222.547498655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050222.548545853] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050222.585201403] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050222.587419389] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050222.587950603] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050222.588328834] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050222.589238956] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050222.590076912] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050222.590903965] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050222.645361410] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050222.646114672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050222.647781443] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050222.648511585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050222.649703429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050222.744937558] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050222.745422653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050222.746250552] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050222.747206206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050222.748945215] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050222.835307430] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050222.837552773] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050222.838486855] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050222.838782173] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050222.839335253] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050222.839828940] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050222.840887747] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050222.844532950] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050222.845032889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050222.845628726] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050222.846732734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050222.847920243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050222.945314101] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050222.946142063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050222.947493771] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050222.948482674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050222.949616853] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050223.002189674] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904215 Long: -76.50276903 -[vectornav-1] [INFO] [1746050223.003016424] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.54899999999998, -0.047, 6.465) -[mux-7] [INFO] [1746050223.043721515] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050223.044070314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050223.044256426] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050223.044895776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050223.045405061] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050223.085385228] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050223.087310362] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050223.087993287] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050223.088255273] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050223.089070591] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050223.089218245] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050223.089891462] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050223.144998220] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050223.145840362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050223.146518078] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050223.147943155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050223.149129401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050223.244964680] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050223.245868221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050223.246320886] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050223.247832413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050223.248940586] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050223.335478967] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050223.337799339] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050223.337850362] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050223.338820690] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050223.339232968] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050223.340174050] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050223.340891375] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050223.344267879] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050223.344819758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050223.345321963] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050223.346799667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050223.347809445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050223.445386423] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050223.446056783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050223.446990526] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050223.448645819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050223.449558120] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050223.503846946] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904211 Long: -76.50276902 -[vectornav-1] [INFO] [1746050223.506254925] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.13400000000001, 0.707, 6.701) -[mux-7] [INFO] [1746050223.544819736] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050223.545454069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050223.546065026] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050223.547230059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050223.548405340] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050223.585349655] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050223.587506642] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050223.587850961] [sailbot.teensy]: Wind angle: 233 -[mux-7] [INFO] [1746050223.588779666] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050223.588833529] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050223.589825730] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050223.590781072] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050223.645174815] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050223.646175421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050223.647189402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050223.648386065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050223.649490101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050223.745011438] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050223.745646420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050223.746576491] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050223.747570261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050223.748382110] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050223.835509429] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050223.837268847] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050223.838188530] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050223.837840117] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050223.839020172] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050223.839042665] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050223.839944728] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050223.844425134] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050223.844983097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050223.845538964] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050223.846667170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050223.847790308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050223.945130570] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050223.946106216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050223.946639214] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050223.948068360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050223.948491053] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050224.003284249] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904218 Long: -76.50276884 -[vectornav-1] [INFO] [1746050224.004776594] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.971, -1.818, 6.774) -[mux-7] [INFO] [1746050224.045199360] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050224.046725439] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050224.046843284] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050224.048706488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050224.049877720] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050224.085279521] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050224.086901298] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050224.087454241] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050224.087829913] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050224.088757241] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050224.088766384] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050224.089639283] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050224.145161433] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050224.145782320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050224.146630616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050224.148193461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050224.148933885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050224.245508747] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050224.246302332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050224.247123635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050224.248643360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050224.249859774] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050224.335200329] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050224.337373570] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050224.337564356] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050224.338441988] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050224.338685700] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050224.338955090] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050224.339334817] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050224.344384424] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050224.344913612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050224.345474937] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050224.346557247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050224.347734760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050224.445207957] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050224.445897980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050224.446670656] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050224.447996546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050224.449071337] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050224.502427502] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904226 Long: -76.50276888 -[vectornav-1] [INFO] [1746050224.503443035] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.77999999999997, 0.544, 6.788) -[mux-7] [INFO] [1746050224.544889753] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050224.545508907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050224.546331694] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050224.547415637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050224.548577337] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050224.585533081] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050224.587475921] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050224.588479955] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050224.588015928] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050224.589360339] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050224.589564871] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050224.590269055] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050224.645054338] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050224.645738297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050224.646434882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050224.647657787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050224.648755396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050224.745075603] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050224.745812082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050224.746449761] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050224.747738526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050224.748283186] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050224.835585774] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050224.837935006] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050224.838356315] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050224.839268085] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050224.839358901] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050224.839662231] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050224.840036737] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050224.844420606] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050224.844994862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050224.845505825] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050224.846957541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050224.847979770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050224.945207277] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050224.946085860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050224.947054988] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050224.948591156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050224.949409984] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050225.003930493] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904234 Long: -76.50276871 -[vectornav-1] [INFO] [1746050225.005926689] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.84400000000005, -0.217, 6.94) -[mux-7] [INFO] [1746050225.045064173] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050225.045954153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050225.046552444] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050225.048096417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050225.049226501] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050225.085241053] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050225.086888132] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050225.087532030] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050225.087839747] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050225.088771692] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050225.089434016] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050225.089661529] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050225.145569236] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050225.146503403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050225.147328451] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050225.148752108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050225.149989777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050225.245175800] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050225.245964278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050225.246683236] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050225.248441916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050225.249458583] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050225.335495273] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050225.337594630] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050225.338032919] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050225.338603887] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050225.339273504] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050225.339517250] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050225.340482427] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050225.344402964] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050225.344976120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050225.345515116] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050225.346690592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050225.347743442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050225.445374019] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050225.446104641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050225.446962580] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050225.448488465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050225.449043694] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050225.503850855] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904236 Long: -76.5027686 -[vectornav-1] [INFO] [1746050225.505601097] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.37400000000002, -1.274, 6.981) -[mux-7] [INFO] [1746050225.545348019] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050225.546051157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050225.546894717] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050225.548122441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050225.549938460] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050225.585451952] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050225.587780848] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050225.588323202] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050225.589277218] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050225.590208397] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050225.591039055] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050225.591871416] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050225.644994659] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050225.645647255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050225.646382087] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050225.647547636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050225.648623086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050225.744923140] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050225.745807989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050225.746249764] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050225.748308609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050225.749376990] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050225.835526007] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050225.838097273] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050225.838371499] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050225.838551558] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050225.839089908] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050225.840009195] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050225.840819513] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050225.844461419] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050225.844949914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050225.845538164] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050225.846747520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050225.847766316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050225.945404442] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050225.946222797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050225.947059928] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050225.947917271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050225.948391848] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050226.003550115] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904231 Long: -76.50276886 -[vectornav-1] [INFO] [1746050226.004864414] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.34500000000003, -0.287, 7.037) -[mux-7] [INFO] [1746050226.045096676] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050226.045778333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050226.046453177] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050226.047804450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050226.048997435] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050226.085302057] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050226.087195951] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050226.087475708] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050226.088875717] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050226.089264600] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050226.089822498] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050226.090760552] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050226.144972064] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050226.145752410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050226.146393938] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050226.147676525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050226.148864091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050226.245600541] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050226.246208399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050226.247280114] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050226.248568056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050226.249666140] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050226.335455920] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050226.338045700] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050226.338222750] [sailbot.teensy]: Wind angle: 234 -[mux-7] [INFO] [1746050226.338945562] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050226.339573863] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050226.340526043] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050226.341356323] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050226.344464260] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050226.345045028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050226.345618677] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050226.346724966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050226.347874651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050226.445043967] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050226.445746298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050226.446354848] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050226.447556920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050226.448519667] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050226.502264165] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690424 Long: -76.5027689 -[vectornav-1] [INFO] [1746050226.503306041] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.341, 0.389, 7.031) -[mux-7] [INFO] [1746050226.545245485] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050226.545996592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050226.546832429] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050226.547999003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050226.549088000] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050226.585587879] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050226.587973478] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050226.588077481] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050226.589000176] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050226.589513306] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050226.589887633] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050226.590762664] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050226.645432472] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050226.646871282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050226.647056129] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050226.649185193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050226.650242845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050226.745277474] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050226.746098389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050226.746846993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050226.748210089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050226.749454098] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050226.835394033] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050226.837476615] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050226.837753500] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050226.838512606] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050226.839430068] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050226.839519608] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050226.840482944] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050226.844406189] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050226.844912710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050226.845486118] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050226.846666487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050226.847751311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050226.945302932] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050226.946401921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050226.946785060] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050226.948821610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050226.949866699] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050227.003745422] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904249 Long: -76.50276875 -[vectornav-1] [INFO] [1746050227.005365762] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.394, -1.53, 7.3) -[mux-7] [INFO] [1746050227.045114743] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050227.045796943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050227.046475504] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050227.048102833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050227.049135467] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050227.085292283] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050227.087899337] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050227.088434763] [sailbot.teensy]: Wind angle: 234 -[mux-7] [INFO] [1746050227.088868796] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050227.089725304] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050227.090651812] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050227.091551132] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050227.145348969] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050227.146068536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050227.146808735] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050227.148435244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050227.149559078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050227.245294032] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050227.245993560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050227.246996686] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050227.248106557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050227.249214917] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050227.335650753] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050227.338134485] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050227.338584871] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050227.339903559] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050227.340404478] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050227.341351061] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050227.342178685] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050227.344402640] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050227.344904327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050227.345472134] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050227.346673685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050227.347705467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050227.445476264] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050227.446405917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050227.447143157] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050227.448956461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050227.450145801] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050227.502744728] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904255 Long: -76.50276879 -[vectornav-1] [INFO] [1746050227.504021185] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.18100000000004, -0.111, 7.064) -[mux-7] [INFO] [1746050227.544891011] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050227.545584973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050227.546184194] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050227.547564198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050227.549029381] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050227.585580822] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050227.587370589] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050227.588305547] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050227.587890321] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050227.588660542] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050227.589205541] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050227.590052482] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050227.645217347] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050227.645924383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050227.646806905] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050227.648355083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050227.649552432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050227.745241178] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050227.745913913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050227.746699845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050227.748181281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050227.748799387] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050227.835543267] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050227.838031093] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050227.838762169] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050227.839755705] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050227.840726305] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050227.841563095] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050227.842395688] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050227.844446641] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050227.844955870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050227.845622405] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050227.846647174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050227.847851779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050227.945226700] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050227.946072261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050227.946747939] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050227.948434967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050227.949527584] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050228.003856337] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904271 Long: -76.50276911 -[vectornav-1] [INFO] [1746050228.005604845] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.39599999999996, -0.305, 7.275) -[mux-7] [INFO] [1746050228.044758275] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050228.045456464] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050228.045894587] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050228.047315999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050228.048479500] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050228.085267982] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050228.086975873] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050228.087918525] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050228.087937796] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050228.089178601] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050228.089272958] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050228.090062164] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050228.145365233] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050228.146041796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050228.146908047] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050228.148127018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050228.149288537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050228.245432350] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050228.246015876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050228.247477624] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050228.248245305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050228.249336626] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050228.335214737] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050228.337585038] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050228.337668412] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050228.338593877] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050228.338717046] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050228.339675244] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050228.340573225] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050228.344269498] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050228.344750085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050228.345420672] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050228.346443571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050228.347482259] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050228.445492463] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050228.446185958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050228.447105629] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050228.448471651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050228.449689883] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050228.502406391] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904277 Long: -76.50276917 -[vectornav-1] [INFO] [1746050228.503382719] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.47299999999996, -0.175, 7.44) -[mux-7] [INFO] [1746050228.544935735] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050228.545516704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050228.546329048] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050228.547461260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050228.548505582] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050228.585408644] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050228.587216808] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050228.588163641] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050228.587809327] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050228.589040721] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050228.589177615] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050228.589950945] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050228.645230526] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050228.646084661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050228.646649218] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050228.648024639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050228.648708149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050228.745267968] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050228.745925262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050228.746807436] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050228.748720412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050228.749783351] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050228.835183646] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050228.837562421] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050228.837758820] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050228.838219333] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050228.838504479] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050228.839175057] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050228.839535129] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050228.844269317] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050228.844901759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050228.845972917] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050228.846752419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050228.847971072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050228.945388487] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050228.946218681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050228.946989024] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050228.947932099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050228.948449883] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050229.002355920] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904305 Long: -76.50276923 -[vectornav-1] [INFO] [1746050229.003561880] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.87099999999998, -0.522, 7.236) -[mux-7] [INFO] [1746050229.045030609] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050229.045753360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050229.046370458] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050229.048375055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050229.049654216] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050229.085757096] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050229.088595576] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050229.089214320] [sailbot.teensy]: Wind angle: 234 -[mux-7] [INFO] [1746050229.089683638] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050229.090171408] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050229.091113216] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050229.091934529] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050229.145196856] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050229.146330981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050229.146710074] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050229.148141221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050229.148698502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050229.245307934] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050229.246044685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050229.247221232] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050229.248135680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050229.249070638] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050229.335433480] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050229.337312469] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050229.337983134] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050229.338273862] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050229.339106685] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050229.339154575] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050229.340063198] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050229.344328443] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050229.344881971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050229.345535534] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050229.346619818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050229.347761619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050229.445121435] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050229.445698434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050229.446588246] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050229.447732807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050229.448405222] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050229.503817266] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904312 Long: -76.50276934 -[vectornav-1] [INFO] [1746050229.505234640] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.668, -1.078, 7.174) -[mux-7] [INFO] [1746050229.544944019] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050229.545815170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050229.546210205] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050229.547809252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050229.548567580] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050229.585190712] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050229.587404644] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050229.587757294] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050229.588669174] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050229.588941079] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050229.589858542] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050229.590717346] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050229.644998841] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050229.645974392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050229.646421544] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050229.648299112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050229.649434775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050229.744972809] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050229.745882162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050229.746264556] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050229.747792695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050229.748385989] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050229.835320641] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050229.837541593] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050229.837688898] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050229.838500438] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050229.839433154] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050229.840299242] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050229.840332465] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050229.844312253] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050229.844987234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050229.845402842] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050229.846675383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050229.847851012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050229.945056426] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050229.945770452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050229.946629205] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050229.947720907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050229.948772112] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050230.003346512] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904314 Long: -76.50276925 -[vectornav-1] [INFO] [1746050230.005292647] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.976, 0.738, 7.019) -[mux-7] [INFO] [1746050230.044965645] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050230.046063031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050230.046712538] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050230.048222799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050230.049458585] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050230.085231029] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050230.087449888] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050230.088014281] [sailbot.teensy]: Wind angle: 234 -[mux-7] [INFO] [1746050230.088631641] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050230.088923756] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050230.089855117] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050230.090739223] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050230.144916622] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050230.145484387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050230.146356424] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050230.147405740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050230.148453143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050230.245069992] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050230.245604862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050230.246362481] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050230.247575028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050230.248822609] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050230.335387770] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050230.337768683] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050230.337781742] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050230.338735573] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050230.338919094] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050230.339153799] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050230.339556574] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050230.344326287] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050230.345055213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050230.345420190] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050230.346787931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050230.347825633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050230.445272632] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050230.446156741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050230.446786716] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050230.448319658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050230.449458241] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050230.502444856] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904308 Long: -76.50276919 -[vectornav-1] [INFO] [1746050230.503415166] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.077, -0.658, 7.159) -[mux-7] [INFO] [1746050230.544899597] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050230.545628186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050230.546429165] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050230.547622008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050230.548649191] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050230.585571100] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050230.588254833] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050230.588461696] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050230.589418352] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050230.589743386] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050230.590335833] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050230.591212543] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050230.645351492] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050230.646712583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050230.646933559] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050230.649113997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050230.650187929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050230.745081742] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050230.745612628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050230.746543836] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050230.747520033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050230.748855747] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050230.835229354] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050230.837093127] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050230.837468459] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050230.838052761] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050230.838782089] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050230.838809661] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050230.839190607] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050230.844607714] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050230.845304391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050230.845906193] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050230.847120442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050230.848211636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050230.945356627] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050230.945924397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050230.947347497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050230.948028544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050230.949184294] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050231.003756142] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904306 Long: -76.50276926 -[vectornav-1] [INFO] [1746050231.005155971] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.40700000000004, -0.579, 7.774) -[mux-7] [INFO] [1746050231.045265262] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050231.045792486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050231.046794156] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050231.047881297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050231.049658653] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050231.085546285] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050231.087428806] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050231.087822482] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050231.088400127] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050231.089384021] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050231.089967013] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050231.090288431] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050231.145314289] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050231.146264413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050231.146796483] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050231.148569357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050231.149700302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050231.244910129] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050231.245627449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050231.246235708] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050231.247522554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050231.248560690] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050231.335402907] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050231.337656358] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050231.338178500] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050231.338674723] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050231.339613573] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050231.340505654] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050231.341336453] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050231.344375562] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050231.344980946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050231.345492527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050231.346690917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050231.347822047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050231.445178380] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050231.445668213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050231.446644001] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050231.447814260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050231.448909627] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050231.502262655] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690431 Long: -76.50276939 -[vectornav-1] [INFO] [1746050231.503264056] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.52999999999997, -0.902, 7.472) -[mux-7] [INFO] [1746050231.545249164] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050231.545879760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050231.546761221] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050231.547984722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050231.549038322] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050231.585575450] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050231.588220329] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050231.588714956] [sailbot.teensy]: Wind angle: 234 -[mux-7] [INFO] [1746050231.589171655] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050231.589680622] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050231.590537762] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050231.591401900] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050231.645044915] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050231.645584078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050231.646358689] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050231.648092793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050231.649121721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050231.745414401] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050231.745988376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050231.747010041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050231.748065365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050231.749714912] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050231.835331519] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050231.837653952] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050231.837655282] [sailbot.teensy]: Wind angle: 234 -[mux-7] [INFO] [1746050231.838601697] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050231.838760145] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050231.839664141] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050231.840553377] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050231.844346105] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050231.844844387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050231.845421652] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050231.846509649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050231.847673129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050231.945329760] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050231.945989737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050231.946849794] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050231.948547338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050231.949672543] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050232.002390141] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904309 Long: -76.50276939 -[vectornav-1] [INFO] [1746050232.003403849] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.45399999999995, 0.554, 6.888) -[mux-7] [INFO] [1746050232.045467792] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050232.046492566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050232.047285327] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050232.048048602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050232.048596075] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050232.085505253] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050232.087972693] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050232.088743183] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050232.088992895] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050232.089925455] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050232.090795773] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050232.091141303] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050232.145247410] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050232.145965909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050232.146749917] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050232.148453867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050232.149613331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050232.245350845] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050232.246085838] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050232.246830748] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050232.248489233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050232.249621971] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050232.335435413] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050232.337382603] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050232.338292592] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050232.339067253] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050232.339408720] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050232.339803767] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050232.340456400] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050232.344333113] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050232.344893561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050232.345464308] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050232.346737026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050232.347779165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050232.444911754] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050232.445616628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050232.446425303] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050232.447556738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050232.448117446] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050232.503411269] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904314 Long: -76.50276927 -[vectornav-1] [INFO] [1746050232.504961106] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.832, -0.637, 5.947) -[mux-7] [INFO] [1746050232.545112290] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050232.545858960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050232.546570009] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050232.547821200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050232.548918912] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050232.585341429] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050232.587194844] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050232.588175164] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050232.587760852] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050232.589125436] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050232.589791804] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050232.589998762] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050232.644777278] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050232.645446692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050232.646053442] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050232.647324321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050232.648475805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050232.745531920] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050232.746217004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050232.747159330] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050232.748524664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050232.750834508] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050232.835515194] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050232.837890283] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050232.838811670] [sailbot.teensy]: Wind angle: 234 -[mux-7] [INFO] [1746050232.838827902] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050232.839447339] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050232.839802758] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050232.840135791] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050232.844506195] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050232.844938479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050232.845780637] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050232.846684789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050232.847754878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050232.945275118] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050232.945789902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050232.946939023] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050232.947902490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050232.948898635] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050233.003398036] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904318 Long: -76.50276934 -[vectornav-1] [INFO] [1746050233.004816653] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.293, -0.764, 5.413) -[mux-7] [INFO] [1746050233.045164698] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050233.045685108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050233.046476043] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050233.047515111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050233.048572552] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050233.085285724] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050233.087095584] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050233.087580289] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050233.088013475] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050233.088835491] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050233.088835730] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050233.089693606] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050233.145432557] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050233.146141942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050233.147254626] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050233.148608194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050233.149186232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050233.244895229] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050233.245501369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050233.246145718] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050233.247429072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050233.248616157] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050233.335824484] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050233.338359174] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050233.338593886] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050233.339154428] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050233.339198875] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050233.339535708] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050233.339901983] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050233.344468381] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050233.345064704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050233.345712124] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050233.346850254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050233.347908894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050233.445105647] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050233.445933955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050233.446569400] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050233.447909316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050233.448967070] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050233.503488818] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690432 Long: -76.50276929 -[vectornav-1] [INFO] [1746050233.505404472] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.00900000000001, -0.17, 5.852) -[mux-7] [INFO] [1746050233.544918799] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050233.545633035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050233.546183524] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050233.547590346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050233.548660792] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050233.585506918] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050233.587442183] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050233.587919393] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050233.588463155] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050233.589459256] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050233.589974734] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050233.590352979] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050233.645532010] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050233.646578771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050233.647177157] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050233.648929036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050233.650001241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050233.744800775] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050233.745680826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050233.745952703] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050233.747382985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050233.748241153] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050233.835797409] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050233.837992094] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050233.839054216] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050233.838756764] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050233.839957494] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050233.840090487] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050233.840884600] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050233.844498767] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050233.845033368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050233.845641656] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050233.846823930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050233.847976581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050233.945323633] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050233.946341556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050233.946921278] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050233.948302813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050233.948844225] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050234.003346779] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904319 Long: -76.50276926 -[vectornav-1] [INFO] [1746050234.004864661] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.53200000000004, -0.24, 6.006) -[mux-7] [INFO] [1746050234.045153175] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050234.045873021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050234.046552496] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050234.047971619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050234.049032113] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050234.085341977] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050234.087275232] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050234.088265842] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050234.087786319] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050234.089156033] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050234.089373978] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050234.090051951] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050234.145059676] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050234.145544945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050234.146353511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050234.147482871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050234.148646956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050234.244927292] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050234.245732053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050234.246485252] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050234.247588113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050234.248274705] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050234.335609208] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050234.337804717] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050234.338857708] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050234.338095736] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050234.339685090] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050234.339741215] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050234.340664776] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050234.344751470] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050234.345077203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050234.345898749] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050234.346768739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050234.348498205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050234.445453516] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050234.446303521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050234.447064720] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050234.448512953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050234.449692965] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050234.502539286] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904332 Long: -76.50276919 -[vectornav-1] [INFO] [1746050234.503621229] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.99199999999996, -0.479, 5.923) -[mux-7] [INFO] [1746050234.545266624] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050234.545863286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050234.546721615] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050234.548241907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050234.549379596] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050234.585200532] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050234.586795202] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050234.587273486] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050234.587687398] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050234.588656233] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050234.589383896] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050234.589521749] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050234.644929765] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050234.645539389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050234.646254887] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050234.647381019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050234.648575227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050234.745656922] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050234.746257145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050234.747960566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050234.748685451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050234.749287492] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050234.835453404] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050234.837492005] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050234.838475045] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050234.837869045] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050234.839212619] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050234.839373859] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050234.840237050] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050234.844737023] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050234.845214029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050234.846065002] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050234.846932416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050234.847971045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050234.945295322] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050234.945808222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050234.946760806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050234.947838418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050234.949156644] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050235.002497579] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904358 Long: -76.50276913 -[vectornav-1] [INFO] [1746050235.003947930] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.841, -0.68, 6.747) -[mux-7] [INFO] [1746050235.045290326] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050235.045927539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050235.047143779] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050235.047901999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050235.048955272] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050235.085592518] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050235.087637124] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050235.088255160] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050235.088956279] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050235.090444312] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050235.091342082] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050235.092204906] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050235.145240160] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050235.146049088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050235.146689728] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050235.148261575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050235.149413591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050235.245736506] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050235.246400280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050235.247615853] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050235.248819389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050235.249444722] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050235.335336913] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050235.337585575] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050235.338272366] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050235.338777965] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050235.339865222] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050235.340728452] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050235.341795396] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050235.344343825] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050235.344875201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050235.345727745] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050235.346616202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050235.347741125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050235.445489810] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050235.446090636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050235.447084026] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050235.448355166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050235.449555006] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050235.503761629] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904363 Long: -76.50276907 -[vectornav-1] [INFO] [1746050235.505363914] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.20399999999995, -0.418, 6.769) -[mux-7] [INFO] [1746050235.545000062] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050235.545558665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050235.546332722] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050235.547678347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050235.548733646] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050235.585202243] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050235.587460221] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050235.588265108] [sailbot.teensy]: Wind angle: 234 -[mux-7] [INFO] [1746050235.588913576] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050235.589234797] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050235.590141275] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050235.590993262] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050235.645227117] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050235.646265843] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050235.646731338] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050235.648556637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050235.649614970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050235.745331188] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050235.746336475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050235.746822881] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050235.748323504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050235.748789288] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050235.835409209] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050235.837449221] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050235.837887150] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050235.838417072] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050235.839297202] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050235.839597037] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050235.840175654] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050235.844515656] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050235.845116576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050235.845657571] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050235.846831977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050235.847878180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050235.945244615] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050235.945822660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050235.947095289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050235.947773718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050235.949025615] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050236.003283191] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904383 Long: -76.502769 -[vectornav-1] [INFO] [1746050236.005299401] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.25400000000002, -0.698, 6.314) -[mux-7] [INFO] [1746050236.045189637] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050236.045722542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050236.046583500] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050236.047701125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050236.049633331] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050236.085574166] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050236.087629127] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050236.088576153] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050236.088221467] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050236.088611363] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050236.089475303] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050236.090375829] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050236.145451961] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050236.146016545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050236.147064995] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050236.148592392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050236.149749679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050236.245249118] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050236.245980944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050236.246745670] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050236.248070161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050236.249154367] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050236.335312400] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050236.337782553] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050236.338541084] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050236.338657530] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050236.339786688] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050236.340709845] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050236.341117144] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050236.344403974] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050236.345015223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050236.345564833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050236.346752902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050236.347800576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050236.445265900] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050236.445802658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050236.446961173] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050236.448299357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050236.449510637] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050236.503694560] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904396 Long: -76.50276895 -[vectornav-1] [INFO] [1746050236.505384994] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.11900000000003, 0.584, 4.919) -[mux-7] [INFO] [1746050236.545219569] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050236.545929853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050236.546727447] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050236.548148455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050236.549288482] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050236.585412472] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050236.587904235] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050236.589051423] [sailbot.teensy]: Wind angle: 234 -[mux-7] [INFO] [1746050236.589510697] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050236.590023154] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050236.590924291] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050236.591780059] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050236.645219928] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050236.645995863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050236.647293439] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050236.647959367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050236.648519778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050236.745416870] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050236.745993934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050236.747058990] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050236.748111206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050236.749286226] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050236.835198624] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050236.837131861] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050236.837713469] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050236.838125298] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050236.838305016] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050236.839318199] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050236.840143914] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050236.844671619] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050236.845037885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050236.845982555] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050236.846806895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050236.847864955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050236.945536703] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050236.946294238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050236.947334606] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050236.948772334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050236.949923832] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050237.003558609] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904379 Long: -76.50276906 -[vectornav-1] [INFO] [1746050237.004938376] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.587, -1.005, 5.703) -[mux-7] [INFO] [1746050237.045262001] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050237.046063498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050237.046728830] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050237.048276728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050237.049412321] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050237.085347762] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050237.087242652] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050237.087771658] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050237.088243311] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050237.089151799] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050237.089367335] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050237.089999966] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050237.145294511] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050237.145791878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050237.146921865] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050237.148170570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050237.149385974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050237.245419013] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050237.245965799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050237.247426800] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050237.248391198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050237.248958586] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050237.335482708] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050237.337464039] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050237.337905732] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050237.338441838] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050237.339097123] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050237.339243331] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050237.339476607] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050237.344558281] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050237.345364983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050237.346143704] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050237.347126380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050237.348259973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050237.445699776] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050237.446285508] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050237.447428097] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050237.448694773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050237.449860290] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050237.503683701] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904399 Long: -76.502769 -[vectornav-1] [INFO] [1746050237.505540576] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.413, -0.5, 5.677) -[mux-7] [INFO] [1746050237.545145333] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050237.545767089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050237.546860721] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050237.547650313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050237.548744572] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050237.585366810] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050237.587210893] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050237.588194578] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050237.587888773] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050237.589076783] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050237.589271104] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050237.589966728] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050237.644931968] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050237.645540730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050237.646258103] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050237.647409876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050237.649084139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050237.744698379] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050237.745286947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050237.745773449] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050237.747151823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050237.748501375] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050237.835498856] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050237.837407332] [sailbot.teensy]: Wind angle: 236 -[trim_sail-4] [INFO] [1746050237.837958412] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050237.838344528] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050237.838650971] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050237.839252700] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050237.839725928] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050237.844365989] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050237.845136373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050237.845463690] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050237.846982616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050237.848030534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050237.945214102] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050237.946082900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050237.946706308] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050237.948975454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050237.950157560] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050238.003583872] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904406 Long: -76.50276904 -[vectornav-1] [INFO] [1746050238.005416508] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.03700000000003, 0.133, 5.119) -[mux-7] [INFO] [1746050238.045126686] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050238.045948333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050238.046444440] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050238.047949330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050238.049070677] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050238.085289195] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050238.087828181] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050238.088442769] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050238.088507852] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050238.089469624] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050238.090356134] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050238.091161106] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050238.145618981] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050238.146275225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050238.147815705] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050238.148648661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050238.150018433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050238.245672709] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050238.246193512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050238.247434159] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050238.248543232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050238.249440906] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050238.335339991] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050238.337682934] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050238.338556922] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746050238.338791845] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050238.339532434] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050238.340483233] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050238.341092739] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050238.344435952] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050238.344959347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050238.345614496] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050238.346616716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050238.347866279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050238.445230245] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050238.446128152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050238.446776315] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050238.448122468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050238.449307468] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050238.503464410] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904416 Long: -76.50276906 -[vectornav-1] [INFO] [1746050238.504979585] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.39999999999998, -0.586, 6.058) -[mux-7] [INFO] [1746050238.544839641] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050238.545507598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050238.546144700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050238.547630228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050238.548725496] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050238.585398562] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050238.587942941] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050238.588542127] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050238.588761005] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050238.589709506] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050238.590564462] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050238.591389854] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050238.645341510] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050238.646232400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050238.647161760] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050238.648782288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050238.649958449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050238.745620396] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050238.746618896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050238.747267545] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050238.749148979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050238.749754944] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050238.835361823] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050238.837478702] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050238.837683518] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050238.838391236] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050238.839169936] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050238.839282284] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050238.840214795] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050238.844587768] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050238.845339046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050238.845828067] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050238.847082988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050238.848382651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050238.945280499] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050238.946022501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050238.946772239] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050238.948185274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050238.949282816] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050239.002659777] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904424 Long: -76.50276912 -[vectornav-1] [INFO] [1746050239.004215043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.735, -0.543, 5.733) -[mux-7] [INFO] [1746050239.045348612] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050239.045939157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050239.046991852] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050239.048297840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050239.048828159] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050239.085511762] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050239.087471155] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050239.087981354] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050239.088491783] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050239.089314405] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050239.089465002] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050239.090357841] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050239.144859783] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050239.145444234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050239.146092495] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050239.147200158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050239.148386334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050239.245623300] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050239.246299181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050239.247406170] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050239.248795014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050239.249886689] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050239.335445193] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050239.337778555] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050239.338286746] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050239.339435504] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050239.340432054] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050239.341264585] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050239.342097220] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050239.344433242] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050239.345022905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050239.345595163] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050239.346654256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050239.347652072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050239.445362263] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050239.446076985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050239.446883583] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050239.448410792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050239.449271995] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050239.503564969] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904426 Long: -76.50276916 -[vectornav-1] [INFO] [1746050239.505439043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.51300000000003, 0.203, 5.804) -[mux-7] [INFO] [1746050239.544918610] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050239.545617183] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050239.546218505] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050239.547817027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050239.548978253] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050239.585312280] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050239.587754743] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050239.587858783] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050239.588743615] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050239.589140960] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050239.589628725] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050239.590587943] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050239.644966333] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050239.645676875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050239.646380023] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050239.647652745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050239.648691564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050239.745548658] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050239.746456508] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050239.747210757] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050239.749033604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050239.750193770] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050239.835119780] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050239.837234670] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050239.837869578] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050239.838492307] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050239.839495261] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050239.840438358] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050239.840808470] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050239.844560840] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050239.844981573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050239.845718357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050239.846625395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050239.847838781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050239.945528011] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050239.946523540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050239.947166168] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050239.948395911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050239.948814442] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050240.002505509] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904428 Long: -76.50276914 -[vectornav-1] [INFO] [1746050240.003544056] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.98699999999997, -1.081, 5.506) -[mux-7] [INFO] [1746050240.045137579] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050240.046366182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050240.046574458] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050240.048520564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050240.049688318] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050240.085341404] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050240.087673355] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050240.087837639] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050240.089682949] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050240.090030897] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050240.090608492] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050240.091518002] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050240.145228554] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050240.146011249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050240.146633980] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050240.148124106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050240.149283277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050240.245535228] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050240.246549550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050240.247189972] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050240.247981040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050240.248522123] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050240.335532329] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050240.338226832] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050240.338478084] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050240.339159271] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050240.339320816] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050240.339545574] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050240.339916113] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050240.344526631] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050240.345024883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050240.345818840] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050240.347037739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050240.348096613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050240.445424856] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050240.445982860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050240.447178931] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050240.448175637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050240.449448264] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050240.503672912] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904437 Long: -76.50276954 -[vectornav-1] [INFO] [1746050240.505056219] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.97199999999998, -0.537, 5.186) -[mux-7] [INFO] [1746050240.544959049] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050240.545434402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050240.546190286] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050240.547293233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050240.548586529] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050240.585466290] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050240.588044805] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050240.588139193] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050240.588515059] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050240.589193993] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050240.590225302] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050240.591093857] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050240.645466975] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050240.646093090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050240.647112528] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050240.648368600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050240.649636978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050240.745181523] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050240.745742692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050240.746970623] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050240.747734229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050240.748846500] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050240.835467475] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050240.838076659] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050240.838313837] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746050240.838985112] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050240.839901466] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050240.840850160] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050240.841673589] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050240.844373074] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050240.844993028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050240.845530306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050240.846758318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050240.847813885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050240.945148271] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050240.945728235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050240.946566151] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050240.947584710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050240.948444241] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050241.002534517] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904429 Long: -76.50276955 -[vectornav-1] [INFO] [1746050241.003600336] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.12300000000005, 0.438, 5.912) -[mux-7] [INFO] [1746050241.045743094] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050241.047132430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050241.047601898] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050241.049359150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050241.050510672] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050241.085911799] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050241.088598851] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050241.089637737] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050241.088811937] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050241.089653981] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050241.090718994] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050241.091565720] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050241.145347417] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050241.146107282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050241.146916670] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050241.148574201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050241.149770476] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050241.245244938] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050241.245988607] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050241.246749492] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050241.248321167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050241.248868522] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050241.335500429] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050241.338036478] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050241.338117051] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050241.339009004] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050241.339356699] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050241.339931325] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050241.340809331] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050241.344389219] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050241.344820791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050241.345577109] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050241.346599945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050241.347718287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050241.445618013] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050241.446196359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050241.447403695] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050241.448656284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050241.449585732] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050241.503750631] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904431 Long: -76.50276945 -[vectornav-1] [INFO] [1746050241.506021125] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.53700000000003, -1.528, 5.093) -[mux-7] [INFO] [1746050241.544788361] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050241.545356041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050241.546071562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050241.547157248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050241.548219931] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050241.585405561] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050241.588082222] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050241.588114765] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050241.589060575] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050241.589138523] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050241.589987766] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050241.590486783] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050241.645163186] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050241.645847134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050241.646993663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050241.647919413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050241.649049705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050241.745165621] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050241.746375108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050241.746611840] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050241.748456604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050241.749449144] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050241.835319196] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050241.837536361] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050241.837873272] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050241.839346251] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050241.839929892] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050241.840901034] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050241.841741865] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050241.844366834] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050241.844905490] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050241.845435955] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050241.846639323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050241.847824907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050241.945397236] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050241.946531707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050241.946958517] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050241.948860271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050241.949964232] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050242.002560367] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904436 Long: -76.50276963 -[vectornav-1] [INFO] [1746050242.003610929] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.62099999999998, -0.252, 6.143) -[mux-7] [INFO] [1746050242.045153943] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050242.045955423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050242.047101815] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050242.047987899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050242.049137288] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050242.085692319] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050242.088114701] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050242.088771608] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050242.089362664] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050242.090264072] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050242.090329565] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050242.091252515] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050242.145169382] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050242.145698670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050242.146720413] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050242.147835942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050242.149030111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050242.245097206] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050242.245873527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050242.246661708] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050242.247560418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050242.248071045] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050242.335064971] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050242.336986188] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050242.337242404] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050242.338535244] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050242.338927505] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050242.339347377] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050242.339723933] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050242.344343321] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050242.344913058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050242.345457465] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050242.346623793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050242.347812254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050242.444883935] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050242.445485605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050242.446159571] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050242.447361089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050242.448408599] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050242.503370022] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904439 Long: -76.50276969 -[vectornav-1] [INFO] [1746050242.504764766] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.49900000000002, -0.073, 5.879) -[mux-7] [INFO] [1746050242.545103552] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050242.545786996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050242.546550956] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050242.548220471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050242.549358972] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050242.585246700] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050242.587564997] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050242.587692717] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746050242.588072528] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050242.588599614] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050242.589502663] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050242.590350129] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050242.645101437] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050242.645894986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050242.646455424] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050242.647734806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050242.648742638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050242.745605719] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050242.746241065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050242.747368990] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050242.748735650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050242.749289904] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050242.835346602] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050242.837838158] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050242.838201242] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050242.838758734] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050242.839923699] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050242.840870784] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050242.841802295] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050242.844473899] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050242.844974397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050242.845622267] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050242.846694255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050242.847902151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050242.945708621] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050242.946546959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050242.947558427] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050242.948892523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050242.950149506] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050243.002555505] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904446 Long: -76.5027697 -[vectornav-1] [INFO] [1746050243.003688196] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.88400000000001, -0.72, 5.534) -[mux-7] [INFO] [1746050243.045392879] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050243.046224860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050243.047018338] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050243.048639802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050243.049852511] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050243.085693333] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050243.088281797] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050243.088574193] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050243.089291087] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050243.090138074] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050243.090316203] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050243.091022562] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050243.144951841] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050243.145712097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050243.146258779] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050243.147863393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050243.148950536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050243.245124243] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050243.246059207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050243.246575751] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050243.248392357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050243.249466474] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050243.335573164] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050243.338018546] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050243.338054057] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050243.339036365] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050243.339434314] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050243.340013909] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050243.341037715] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050243.344493758] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050243.345056700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050243.346056373] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050243.346782532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050243.347961977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050243.445332425] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050243.446053543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050243.446911106] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050243.448369262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050243.449640973] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050243.503767528] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904449 Long: -76.50276977 -[vectornav-1] [INFO] [1746050243.505429994] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.889, 0.196, 6.171) -[mux-7] [INFO] [1746050243.544865431] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050243.545456436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050243.546067253] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050243.547199066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050243.548787560] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050243.585234532] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050243.587533203] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050243.587901063] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746050243.588012281] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050243.589020169] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050243.589936434] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050243.590762826] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050243.645134347] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050243.645639589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050243.646477766] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050243.647527706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050243.648715084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050243.745740922] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050243.746403203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050243.747496063] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050243.749025232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050243.749585320] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050243.835350605] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050243.837453444] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050243.837761436] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050243.838410195] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050243.839017121] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050243.839318979] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050243.840177728] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050243.844375474] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050243.844763814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050243.845510113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050243.846423161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050243.847529765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050243.945305314] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050243.946013676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050243.946946904] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050243.947993820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050243.949080525] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050244.002530790] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904441 Long: -76.50276982 -[vectornav-1] [INFO] [1746050244.003931413] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.10199999999998, -1.326, 6.399) -[mux-7] [INFO] [1746050244.045340320] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050244.045936811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050244.046879978] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050244.047973595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050244.048585751] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050244.085491866] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050244.087512703] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050244.088325177] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050244.088519374] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050244.089460193] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050244.090361770] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050244.090721615] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050244.145495419] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050244.145928920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050244.147323743] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050244.148376116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050244.149591457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050244.245363296] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050244.246090565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050244.246883934] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050244.248111731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050244.248881641] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050244.335348565] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050244.337571233] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050244.337660836] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050244.338537625] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050244.338821392] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050244.339006764] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050244.339393116] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050244.344442163] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050244.345204293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050244.345617957] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050244.347051614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050244.348051274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050244.445105235] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050244.445905351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050244.447003356] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050244.448472530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050244.449535330] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050244.504021156] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904439 Long: -76.50276991 -[vectornav-1] [INFO] [1746050244.505810305] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.62599999999998, -0.224, 5.91) -[mux-7] [INFO] [1746050244.544924752] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050244.545699350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050244.546381762] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050244.547736566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050244.548751457] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050244.585319571] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050244.587257927] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050244.588003152] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050244.588265076] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050244.589147877] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050244.589309635] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050244.590081706] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050244.645047522] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050244.646002205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050244.646498674] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050244.648072000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050244.649280918] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050244.745103240] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050244.746257347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050244.746759570] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050244.747747549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050244.748271435] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050244.835247702] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050244.837743584] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050244.837879202] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050244.838694223] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050244.838831049] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050244.839596614] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050244.840487137] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050244.844592854] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050244.845079302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050244.845752871] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050244.846779931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050244.847848595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050244.945592247] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050244.946445075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050244.947395098] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050244.948407039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050244.949044248] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050245.003549767] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904449 Long: -76.50276986 -[vectornav-1] [INFO] [1746050245.005281659] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.88099999999997, 0.549, 6.167) -[mux-7] [INFO] [1746050245.045254143] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050245.046048713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050245.046703711] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050245.048279007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050245.049416182] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050245.085363586] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050245.087490059] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050245.088242097] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050245.088509517] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050245.089614568] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050245.089623534] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050245.090495330] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050245.143894247] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050245.144470331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050245.144661932] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050245.145817636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050245.146619859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050245.245266910] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050245.246268179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050245.246701398] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050245.247857949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050245.248307438] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050245.335361484] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050245.337765064] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050245.338310013] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050245.338306990] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050245.339459340] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050245.340390531] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050245.341210554] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050245.344278640] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050245.344899814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050245.345511292] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050245.346585416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050245.347739167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050245.445139917] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050245.446123899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050245.446520648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050245.447123053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050245.448009073] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050245.503196575] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904441 Long: -76.5027697 -[vectornav-1] [INFO] [1746050245.504872127] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.70799999999997, -1.184, 6.817) -[mux-7] [INFO] [1746050245.544703586] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050245.545331878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050245.545988908] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050245.547134133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050245.548263969] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050245.585252138] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050245.587013316] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050245.587929548] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050245.587572993] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050245.588810654] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050245.588948485] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050245.589725019] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050245.645433024] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050245.646088927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050245.647102698] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050245.648288045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050245.649418051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050245.745292946] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050245.745924984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050245.746841036] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050245.748010988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050245.749742493] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050245.835466207] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050245.838205061] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050245.838425650] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746050245.838523615] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050245.839384469] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050245.840296034] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050245.841192792] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050245.844500834] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050245.844905383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050245.845751595] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050245.846687807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050245.847821826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050245.944835572] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050245.945654190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050245.946085105] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050245.947561657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050245.948658664] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050246.003424244] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904446 Long: -76.50276969 -[vectornav-1] [INFO] [1746050246.005521343] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.34799999999996, -0.127, 6.978) -[mux-7] [INFO] [1746050246.045023368] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050246.046037469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050246.046768772] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050246.048705589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050246.049940575] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050246.085364473] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050246.087116198] [sailbot.teensy]: Wind angle: 236 -[trim_sail-4] [INFO] [1746050246.087726884] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050246.088336334] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050246.088557592] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050246.089461605] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050246.090335054] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050246.145311923] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050246.146265771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050246.146921533] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050246.149351538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050246.150440452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050246.245629833] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050246.246331453] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050246.247282194] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050246.248961825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050246.249468852] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050246.335470662] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050246.337433119] [sailbot.teensy]: Wind angle: 236 -[trim_sail-4] [INFO] [1746050246.338244135] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050246.338824899] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050246.339754768] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050246.340028782] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050246.340684484] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050246.344270493] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050246.344945114] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050246.345382519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050246.346728698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050246.347711869] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050246.445538246] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050246.446332794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050246.447351720] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050246.448820169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050246.450028934] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050246.503806936] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904453 Long: -76.5027695 -[vectornav-1] [INFO] [1746050246.505602638] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.534, -0.17, 6.892) -[mux-7] [INFO] [1746050246.545069033] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050246.545805633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050246.546640462] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050246.547896184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050246.549000297] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050246.585524486] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050246.587459802] [sailbot.teensy]: Wind angle: 236 -[trim_sail-4] [INFO] [1746050246.588140306] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050246.588444129] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050246.589382032] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050246.590264328] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050246.590604726] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746050246.645186508] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050246.646087540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050246.646745062] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050246.648592686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050246.649690490] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050246.745018278] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050246.745598378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050246.746328226] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050246.747544693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050246.748586311] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050246.835496366] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050246.837420519] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050246.838103388] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050246.838416297] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050246.839316149] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050246.839677816] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050246.839686520] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050246.844443554] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050246.844947750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050246.845579945] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050246.846620841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050246.847656466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050246.945575206] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050246.946457343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050246.947249085] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050246.948834499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050246.949954065] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050247.004208246] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904477 Long: -76.50276924 -[vectornav-1] [INFO] [1746050247.005655004] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.54999999999995, -0.714, 5.932) -[mux-7] [INFO] [1746050247.045313693] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050247.046337519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050247.046915668] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050247.048738338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050247.049742206] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050247.085819962] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050247.088552536] [sailbot.teensy]: Wind angle: 236 -[trim_sail-4] [INFO] [1746050247.089579509] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050247.089696037] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050247.090654745] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050247.090841767] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050247.091620895] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050247.145320079] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050247.146140709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050247.146903537] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050247.148381147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050247.149613381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050247.245575999] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050247.246648292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050247.247208282] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050247.247951054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050247.248507211] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050247.335645498] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050247.338077637] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050247.338123413] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050247.339909126] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050247.340409355] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050247.340890022] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050247.341416471] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050247.344443512] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050247.344990928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050247.345687680] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050247.346864857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050247.347923472] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050247.445578331] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050247.446354127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050247.447231970] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050247.448763526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050247.450058719] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050247.502303715] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904486 Long: -76.50276907 -[vectornav-1] [INFO] [1746050247.503275428] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.04600000000005, -0.0, 6.541) -[mux-7] [INFO] [1746050247.545062726] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050247.545738218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050247.546370199] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050247.547651454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050247.548628112] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050247.585807439] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050247.588785107] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050247.589096153] [sailbot.teensy]: Wind angle: 236 -[mux-7] [INFO] [1746050247.590001947] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050247.590972291] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050247.591838346] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050247.592707236] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050247.645390028] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050247.646140347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050247.647053862] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050247.648531775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050247.649638632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050247.745428828] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050247.745981453] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050247.747103656] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050247.748304789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050247.749547498] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050247.835380018] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050247.837937948] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050247.837955354] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746050247.838405569] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050247.838977534] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050247.839904806] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050247.840741402] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050247.844650933] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050247.845107953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050247.845905701] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050247.846847753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050247.847921463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050247.944921935] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050247.945665198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050247.946141395] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050247.947648978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050247.948630783] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050248.003988683] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904475 Long: -76.50276891 -[vectornav-1] [INFO] [1746050248.005795479] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.74, -0.497, 7.034) -[mux-7] [INFO] [1746050248.044956755] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050248.045640775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050248.046191548] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050248.047700992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050248.048702054] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050248.085283814] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050248.087433133] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050248.087431433] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050248.088485095] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050248.088941726] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050248.089444801] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050248.090353027] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050248.145169459] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050248.146711543] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050248.147401624] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050248.149546629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050248.150524405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050248.245148893] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050248.245982635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050248.246863793] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050248.248367092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050248.249384221] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050248.335402654] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050248.337267724] [sailbot.teensy]: Wind angle: 236 -[trim_sail-4] [INFO] [1746050248.337954000] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050248.339015321] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050248.339398929] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050248.340391466] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050248.341291075] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050248.344460882] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050248.344818726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050248.345789324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050248.346612184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050248.347739535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050248.445345637] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050248.446384729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050248.446953508] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050248.449000829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050248.450102077] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050248.503052862] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904485 Long: -76.50276867 -[vectornav-1] [INFO] [1746050248.504314834] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.49299999999994, -0.825, 6.527) -[mux-7] [INFO] [1746050248.545154443] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050248.546191497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050248.546614877] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050248.548417679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050248.549512777] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050248.585398471] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050248.587674513] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050248.587702806] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050248.588738719] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050248.589435402] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050248.589725300] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050248.590708859] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050248.644715875] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050248.645771141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050248.646538144] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050248.647944431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050248.649041155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050248.745277997] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050248.746416806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050248.746788845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050248.748403242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050248.748948695] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050248.835732357] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050248.838481114] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050248.838474626] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050248.839491178] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050248.839496769] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050248.840565897] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050248.841459415] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050248.844346261] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050248.844966618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050248.845465863] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050248.846833615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050248.847864336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050248.945397398] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050248.946334746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050248.947121189] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050248.948359476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050248.948861603] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050249.003374039] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904498 Long: -76.5027687 -[vectornav-1] [INFO] [1746050249.004756475] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.05899999999997, 0.083, 5.642) -[mux-7] [INFO] [1746050249.045148102] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050249.045989475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050249.046610290] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050249.048112370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050249.049260415] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050249.085239454] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050249.087600376] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050249.087683640] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050249.088618394] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050249.089746059] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050249.089834700] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050249.090735015] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050249.145073848] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050249.145794172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050249.146431472] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050249.147898547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050249.149085450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050249.245005325] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050249.245754934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050249.246351228] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050249.247915725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050249.248934822] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050249.335563868] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050249.337576280] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050249.338199912] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050249.339641453] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050249.339853894] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050249.340595521] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050249.341513621] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050249.344804582] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050249.345196498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050249.346071372] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050249.346923381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050249.348094368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050249.445300329] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050249.446018699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050249.446846427] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050249.448143194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050249.449328521] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050249.504035062] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904493 Long: -76.50276875 -[vectornav-1] [INFO] [1746050249.505642199] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.62, -1.022, 5.639) -[mux-7] [INFO] [1746050249.544767263] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050249.545327044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050249.546169240] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050249.547156410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050249.548286663] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050249.585405417] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050249.587561535] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050249.587956200] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050249.588547868] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050249.589449986] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050249.590340491] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050249.590556887] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050249.645223256] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050249.646173997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050249.646705918] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050249.647857732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050249.648417633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050249.745088750] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050249.745692071] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050249.746804962] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050249.747692553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050249.748623293] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050249.835212736] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050249.836872780] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050249.837371856] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050249.837813422] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050249.838731975] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050249.839093035] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050249.839575273] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050249.844463318] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050249.844962078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050249.845680588] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050249.846637665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050249.847770991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050249.945245119] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050249.946108117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050249.946817611] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050249.948496390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050249.949625234] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050250.002495702] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904481 Long: -76.50276896 -[vectornav-1] [INFO] [1746050250.003538885] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.87800000000004, -0.257, 6.511) -[mux-7] [INFO] [1746050250.044414699] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050250.045253810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050250.045463619] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050250.046882615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050250.047809773] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050250.085424884] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050250.087232686] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050250.087735387] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050250.088207147] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050250.089084657] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050250.089714821] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050250.089895601] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050250.144958391] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050250.145551365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050250.146297956] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050250.147499761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050250.148590287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050250.245298081] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050250.245991203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050250.247307398] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050250.249125076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050250.250206943] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050250.335430634] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050250.337317378] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050250.338005444] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050250.338253817] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050250.339155814] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050250.339412544] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050250.340062588] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050250.344351772] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050250.344924442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050250.345881767] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050250.346761850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050250.348029994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050250.445531945] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050250.446340767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050250.447218018] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050250.448596287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050250.449845982] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050250.502693562] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904491 Long: -76.5027689 -[vectornav-1] [INFO] [1746050250.503820529] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.10699999999997, -0.806, 6.19) -[mux-7] [INFO] [1746050250.545016036] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050250.545705309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050250.546337480] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050250.547504840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050250.548660768] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050250.585524352] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050250.587532873] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050250.588528327] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050250.588079174] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050250.588655623] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050250.589420619] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050250.590259808] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050250.645410150] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050250.646005113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050250.647090228] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050250.648615662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050250.649760233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050250.745335521] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050250.746140358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050250.746996924] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050250.748216842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050250.748811227] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050250.835426768] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050250.837785005] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050250.838081912] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050250.839028820] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050250.839878639] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050250.840034368] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050250.840926868] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050250.844252556] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050250.844810470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050250.845330909] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050250.846538582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050250.847571351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050250.945216840] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050250.946115140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050250.946709775] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050250.948298277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050250.949352751] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050251.003320729] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904511 Long: -76.50276876 -[vectornav-1] [INFO] [1746050251.004743907] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.039, -0.133, 5.878) -[mux-7] [INFO] [1746050251.045060130] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050251.045806458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050251.046392232] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050251.047977586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050251.049135508] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050251.085454031] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050251.087403878] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050251.087813206] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050251.088412669] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050251.089142803] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050251.089290199] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050251.090185886] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050251.145379703] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050251.146232761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050251.147206360] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050251.147984777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050251.148525589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050251.244915178] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050251.245789385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050251.246170053] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050251.247754847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050251.248816772] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050251.335402819] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050251.337783287] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050251.337800082] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050251.338784225] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050251.339060982] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050251.339716499] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050251.340640732] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050251.344325913] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050251.344996663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050251.345424790] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050251.346735332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050251.347770444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050251.445108219] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050251.445794609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050251.446438777] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050251.447987966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050251.449006454] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050251.502978898] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904508 Long: -76.50276895 -[vectornav-1] [INFO] [1746050251.504645406] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.90099999999995, -0.754, 5.596) -[mux-7] [INFO] [1746050251.544894201] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050251.545515801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050251.546136878] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050251.547413266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050251.548376555] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050251.585397733] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050251.587731928] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050251.588346753] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746050251.588417719] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050251.589359846] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050251.590247101] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050251.591130343] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050251.645225783] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050251.646418962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050251.646767555] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050251.648827226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050251.649820004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050251.745330212] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050251.746098879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050251.746791983] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050251.748375307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050251.749106287] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050251.835169243] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050251.837003903] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050251.837367837] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050251.838674409] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050251.839400025] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050251.839584821] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050251.840516346] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050251.844292103] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050251.844766634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050251.845451118] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050251.846426455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050251.847496829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050251.945176426] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050251.945783826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050251.946653484] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050251.947926201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050251.948762352] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050252.002452135] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904509 Long: -76.50276896 -[vectornav-1] [INFO] [1746050252.003436164] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.67600000000004, -0.51, 5.899) -[mux-7] [INFO] [1746050252.045360868] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050252.045960406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050252.047051677] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050252.048064022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050252.049124562] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050252.085775681] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050252.088820161] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050252.090019875] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050252.090209476] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050252.091197748] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050252.092077508] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050252.092946645] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050252.145292524] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050252.145912065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050252.146857557] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050252.148319383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050252.149397010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050252.245227536] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050252.246019295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050252.246607706] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050252.248174064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050252.248942854] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050252.335549303] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050252.338121596] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050252.338111316] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050252.339095695] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050252.339555624] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050252.340002102] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050252.340961021] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050252.344528718] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050252.345012521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050252.345826366] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050252.346699216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050252.347906958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050252.445331376] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050252.446140343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050252.447218246] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050252.448235592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050252.449355017] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050252.503841498] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904495 Long: -76.50276893 -[vectornav-1] [INFO] [1746050252.506160348] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.72500000000002, -0.306, 5.332) -[mux-7] [INFO] [1746050252.545167546] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050252.545687868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050252.546558666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050252.548017396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050252.549173653] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050252.585232549] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050252.587039365] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050252.587910728] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050252.587546699] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050252.587963007] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050252.588825383] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050252.589664113] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050252.645335672] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050252.645808445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050252.646918526] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050252.648304276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050252.648927763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050252.745392880] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050252.746011838] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050252.747366668] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050252.748099583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050252.749268153] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050252.835342648] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050252.837183927] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050252.838022517] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050252.838162177] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050252.839085485] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050252.839936676] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050252.840100576] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050252.844298312] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050252.844938365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050252.845420654] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050252.846667095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050252.847832589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050252.945554935] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050252.946461693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050252.947285839] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050252.949197416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050252.950344470] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050253.002437529] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904499 Long: -76.50276905 -[vectornav-1] [INFO] [1746050253.003499247] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.274, -0.914, 5.235) -[mux-7] [INFO] [1746050253.045185002] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050253.045943015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050253.046606420] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050253.048141233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050253.049438785] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050253.084804617] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050253.086366899] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050253.086754648] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050253.089178396] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050253.089943810] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050253.090783944] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050253.091612505] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050253.143780443] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050253.144145483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050253.144413670] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050253.145337319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050253.146072763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050253.244388293] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050253.244907260] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050253.246448881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746050253.245384122] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050253.247456679] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050253.335267323] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050253.337039618] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050253.338058091] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050253.338238067] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050253.338969854] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050253.339096487] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050253.339892483] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050253.344316735] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050253.344757446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050253.345539856] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050253.346467562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050253.347488625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050253.445573198] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050253.446207962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050253.447250819] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050253.448757737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050253.449318025] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050253.502707415] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904493 Long: -76.50276907 -[vectornav-1] [INFO] [1746050253.503850925] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.19799999999998, 0.1, 5.692) -[mux-7] [INFO] [1746050253.544844343] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050253.545508298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050253.546071517] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050253.547226421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050253.548408566] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050253.585523467] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050253.588086764] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050253.589164953] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746050253.589494461] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050253.590486368] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050253.591343768] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050253.592201246] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050253.645005352] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050253.645733081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050253.646378984] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050253.648455904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050253.649599939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050253.745450317] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050253.746694771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050253.747047727] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050253.748943307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050253.750135246] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050253.835577820] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050253.837806309] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050253.837850815] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050253.838705827] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050253.838731976] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050253.839104788] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050253.839460470] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050253.844477394] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050253.844948624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050253.845635405] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050253.846669972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050253.847755089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050253.945487273] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050253.946347311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050253.947150900] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050253.948811514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050253.950027072] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050254.003753552] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904485 Long: -76.50276908 -[vectornav-1] [INFO] [1746050254.005581159] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.135, -0.644, 5.802) -[mux-7] [INFO] [1746050254.045058709] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050254.045708706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050254.046735833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050254.047486015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050254.049523569] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050254.085289842] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050254.087492582] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050254.088273010] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746050254.088877910] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050254.089185279] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050254.090093076] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050254.090946934] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050254.144761790] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050254.145377316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050254.145954776] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050254.147340638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050254.148405231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050254.245135427] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050254.245897998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050254.246540783] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050254.247800258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050254.248973193] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050254.335414182] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050254.337745167] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050254.337987689] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050254.338943913] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050254.339405149] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050254.339854085] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050254.340782232] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050254.344352079] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050254.345021690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050254.345460170] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050254.346771079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050254.347786623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050254.445196615] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050254.445909455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050254.446706938] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050254.447999330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050254.449129823] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050254.503455954] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904474 Long: -76.50276915 -[vectornav-1] [INFO] [1746050254.505696201] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.73800000000006, -0.545, 6.005) -[mux-7] [INFO] [1746050254.545114155] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050254.545991456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050254.546682633] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050254.548062537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050254.549726655] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050254.585148081] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050254.587261260] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050254.587257250] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050254.588129851] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050254.588368816] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050254.589456474] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050254.590343203] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050254.645801327] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050254.646199447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050254.647498975] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050254.648496906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050254.649663044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050254.745253664] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050254.745768122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050254.746726437] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050254.747834960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050254.748850970] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050254.835358061] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050254.837228447] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050254.837634390] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050254.838950822] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050254.839234297] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050254.840206666] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050254.841078839] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050254.844363213] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050254.844879388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050254.845514815] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050254.846617155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050254.847859641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050254.945609211] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050254.946435010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050254.947453552] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050254.949000371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050254.950185647] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050255.002382429] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904474 Long: -76.50276944 -[vectornav-1] [INFO] [1746050255.003483367] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.07600000000002, -0.412, 5.672) -[mux-7] [INFO] [1746050255.045128402] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050255.045896340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050255.046621136] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050255.048100650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050255.049302677] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050255.085418462] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050255.087423384] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050255.088501292] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050255.088423318] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050255.089082549] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050255.089417624] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050255.090336630] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050255.145134734] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050255.146061701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050255.146538649] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050255.147964315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050255.149053473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050255.245333390] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050255.246203019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050255.246827621] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050255.247870849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050255.248348988] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050255.335414330] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050255.337802318] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050255.338158040] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050255.338924861] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050255.338981920] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050255.339324375] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050255.339696027] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050255.344530685] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050255.345008745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050255.345640855] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050255.346689515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050255.347738773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050255.445225361] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050255.445892725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050255.446735281] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050255.448291659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050255.449442704] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050255.502569787] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904436 Long: -76.50276966 -[vectornav-1] [INFO] [1746050255.503622184] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.03300000000002, 0.319, 6.648) -[mux-7] [INFO] [1746050255.545254352] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050255.546380915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050255.547501404] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050255.548410797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050255.549586453] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050255.585686510] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050255.588419727] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050255.588487571] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050255.589457411] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050255.589826547] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050255.590359946] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050255.591267738] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050255.645161927] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050255.646118821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050255.646705465] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050255.648220975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050255.648774897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050255.745535572] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050255.746366163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050255.747122733] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050255.748629317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050255.749150847] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050255.835391877] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050255.837223214] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050255.838152914] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050255.838183631] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050255.839070637] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050255.839087210] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050255.840001458] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050255.844433061] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050255.844958003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050255.846417339] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050255.846668627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050255.847763100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050255.945774540] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050255.946457016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050255.947487863] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050255.948330642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050255.948860425] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050256.003682517] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904456 Long: -76.50276939 -[vectornav-1] [INFO] [1746050256.005328160] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.63, -1.455, 6.332) -[mux-7] [INFO] [1746050256.044877551] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050256.045566978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050256.046410414] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050256.047410214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050256.048475207] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050256.085224831] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050256.087520067] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050256.087863914] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050256.088856428] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050256.089054761] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050256.089821312] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050256.090658189] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050256.145186445] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050256.145917077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050256.146689034] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050256.148058494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050256.148571629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050256.245226433] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050256.246318767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050256.246748712] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050256.248126679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050256.248559073] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050256.335461523] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050256.338271526] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050256.338367290] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050256.339375754] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050256.339943467] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050256.340332739] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050256.341281793] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050256.344361221] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050256.345009415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050256.345461504] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050256.346738361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050256.347799945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050256.445510389] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050256.446272108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050256.447111525] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050256.448254329] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050256.448761479] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050256.502588485] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904465 Long: -76.50276966 -[vectornav-1] [INFO] [1746050256.503712714] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.567, 0.686, 6.846) -[mux-7] [INFO] [1746050256.545422055] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050256.545967719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050256.547092942] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050256.548586356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050256.549142603] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050256.585727462] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050256.588648075] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050256.589491789] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050256.589566553] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050256.590564131] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050256.591155671] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050256.591488480] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050256.645382030] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050256.646027890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050256.646969126] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050256.650085450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050256.651264858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050256.745192799] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050256.745738327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050256.746610183] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050256.747805731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050256.748677051] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050256.835404667] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050256.837837138] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050256.838397101] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050256.838717833] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050256.839133698] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050256.839509980] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050256.840271314] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050256.844407578] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050256.844780561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050256.845558301] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050256.846478714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050256.847633380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050256.945313178] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050256.945858185] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050256.947914255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746050256.947041725] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050256.949136742] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050257.003514895] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904438 Long: -76.50276954 -[vectornav-1] [INFO] [1746050257.004972767] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.32799999999997, -0.135, 7.362) -[mux-7] [INFO] [1746050257.045373216] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050257.045790091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050257.046876326] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050257.047753854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050257.048820304] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050257.085254151] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050257.087146044] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050257.087536702] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050257.088070418] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050257.088142621] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050257.089022805] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050257.089867387] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050257.145003917] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050257.145725221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050257.146323938] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050257.147716744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050257.148639860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050257.245560279] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050257.246399243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050257.248387378] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050257.248736035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050257.249836043] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050257.335399435] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050257.337786124] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050257.337824342] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050257.338784798] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050257.339203818] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050257.339763856] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050257.340760470] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050257.344556051] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050257.345064496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050257.345709395] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050257.346972704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050257.347994347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050257.445382101] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050257.445977597] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050257.446980331] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050257.448342096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050257.449414444] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050257.502424193] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904428 Long: -76.50276907 -[vectornav-1] [INFO] [1746050257.503424677] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.13800000000003, -1.094, 6.941) -[mux-7] [INFO] [1746050257.545413118] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050257.546048414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050257.546994771] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050257.548401543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050257.549542115] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050257.585522536] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050257.587858394] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050257.588968683] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050257.589282532] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050257.590246392] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050257.591422221] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050257.592306076] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050257.645157145] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050257.645753564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050257.646594643] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050257.647912321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050257.649082626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050257.745616355] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050257.746435260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050257.747317137] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050257.748858662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050257.750201636] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050257.835320922] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050257.837522098] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050257.837629913] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050257.838102619] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050257.838482305] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050257.838905256] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050257.839297138] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050257.844643556] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050257.845204867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050257.845981000] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050257.846906478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050257.847977975] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050257.945420155] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050257.946095498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050257.947180743] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050257.948240980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050257.950234219] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050258.003864628] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690442 Long: -76.5027688 -[vectornav-1] [INFO] [1746050258.005806147] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.216, -0.291, 6.085) -[mux-7] [INFO] [1746050258.045216066] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050258.045973638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050258.046770716] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050258.048177593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050258.049330786] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050258.085516603] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050258.087918695] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050258.088173970] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746050258.088437470] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050258.089141625] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050258.089992828] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050258.090855720] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050258.144996714] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050258.145621447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050258.146260508] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050258.147469093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050258.148498538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050258.245010231] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050258.245614088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050258.246263595] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050258.247602171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050258.248072140] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050258.335374569] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050258.337202496] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050258.337968054] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050258.338143347] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050258.339074318] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050258.339848311] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050258.339963347] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050258.344395584] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050258.345060984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050258.345623100] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050258.346944178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050258.348086352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050258.445744516] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050258.446760862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050258.447473625] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050258.449381682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050258.450658610] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050258.502616398] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904416 Long: -76.50276803 -[vectornav-1] [INFO] [1746050258.503675844] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.74099999999999, 0.121, 5.633) -[mux-7] [INFO] [1746050258.544926312] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050258.545823466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050258.546325798] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050258.547730177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050258.548753643] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050258.585539616] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050258.588128946] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050258.588379595] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050258.589335347] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050258.590017792] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050258.590266438] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050258.591216620] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050258.645371450] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050258.646071060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050258.646976924] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050258.648234848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050258.649455356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050258.744937963] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050258.745648308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050258.746443999] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050258.747653579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050258.748124849] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050258.835553118] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050258.838268537] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050258.839049424] [sailbot.teensy]: Wind angle: 236 -[mux-7] [INFO] [1746050258.839147080] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050258.839465091] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050258.839890187] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050258.840262660] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050258.844444796] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050258.844906779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050258.845603005] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050258.846643159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050258.847831238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050258.945299531] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050258.946026168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050258.946811589] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050258.948380875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050258.949478544] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050259.003349715] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904411 Long: -76.50276765 -[vectornav-1] [INFO] [1746050259.005787037] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.54899999999998, -1.106, 5.581) -[mux-7] [INFO] [1746050259.045077771] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050259.046009876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050259.046494106] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050259.048290685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050259.049475030] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050259.085500732] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050259.087792396] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050259.088924379] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746050259.089512609] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050259.089889723] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050259.090776931] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050259.091618364] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050259.145191202] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050259.146195592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050259.146828596] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050259.148215183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050259.148735874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050259.245300358] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050259.246175242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050259.246831948] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050259.248203128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050259.248792660] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050259.335330247] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050259.337725364] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050259.337728605] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050259.338849126] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050259.339450233] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050259.340393750] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050259.341371637] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050259.344361149] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050259.344797700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050259.345496024] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050259.346416213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050259.347457383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050259.445665393] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050259.446550091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050259.447406738] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050259.449145323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050259.449726777] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050259.503673131] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904402 Long: -76.50276756 -[vectornav-1] [INFO] [1746050259.506287705] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.68600000000004, -0.899, 5.247) -[mux-7] [INFO] [1746050259.544925390] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050259.545627826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050259.546184501] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050259.547475305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050259.548523161] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050259.585240085] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050259.587606081] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050259.587778050] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050259.589103337] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050259.589721759] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050259.590692728] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050259.591538826] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050259.645244054] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050259.646091969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050259.646767865] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050259.648802281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050259.649974527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050259.745572814] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050259.746362649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050259.747202063] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050259.748906207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050259.750235526] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050259.835631699] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050259.838038746] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050259.838506228] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050259.838842512] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050259.839043223] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050259.839950927] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050259.840846761] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050259.844398748] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050259.844923917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050259.845501835] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050259.846659398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050259.847826916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050259.945188612] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050259.945814920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050259.946605786] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050259.948049316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050259.949227431] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050260.003401762] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904378 Long: -76.50276756 -[vectornav-1] [INFO] [1746050260.004810905] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.72799999999995, 0.553, 6.389) -[mux-7] [INFO] [1746050260.045169953] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050260.045914380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050260.046658672] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050260.047901286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050260.049053669] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050260.085367846] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050260.087564689] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050260.087589752] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050260.088577972] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050260.089008303] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050260.089481744] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050260.090386047] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050260.145174474] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050260.145849015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050260.146671146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050260.148692815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050260.149783160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050260.245598643] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050260.246464368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050260.247311024] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050260.249746577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050260.251003614] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050260.335679866] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050260.337859355] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050260.338931465] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050260.338622432] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050260.339478778] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050260.339867680] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050260.340753636] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050260.344610336] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050260.344872255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050260.345832130] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050260.346522167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050260.347704944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050260.445316662] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050260.446002852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050260.446809240] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050260.448313206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050260.449564589] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050260.503580595] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690436 Long: -76.50276763 -[vectornav-1] [INFO] [1746050260.504954994] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.56899999999996, -1.038, 6.571) -[mux-7] [INFO] [1746050260.545437272] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050260.546062677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050260.547039024] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050260.548599787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050260.549756350] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050260.585515378] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050260.587940048] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050260.588886121] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050260.588982683] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050260.589951301] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050260.590983606] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050260.591814205] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050260.645284136] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050260.646012599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050260.647175339] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050260.648190912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050260.649434783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050260.745532406] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050260.746222396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050260.747253654] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050260.748878441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050260.749467069] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050260.835423936] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050260.837291797] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050260.837970104] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050260.838238842] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050260.839100307] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050260.839118514] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050260.840005570] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050260.844463414] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050260.845069515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050260.845637126] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050260.846810748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050260.848628100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050260.945734220] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050260.947179645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050260.947842350] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050260.948481589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050260.949392230] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050261.002787210] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904347 Long: -76.50276817 -[vectornav-1] [INFO] [1746050261.004027682] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.61900000000003, 0.038, 5.653) -[mux-7] [INFO] [1746050261.045206589] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050261.046063638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050261.046623495] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050261.048215983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050261.049407840] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050261.085475564] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050261.087501998] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050261.087976345] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050261.088519457] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050261.089522313] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050261.090539930] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050261.091342188] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050261.145307663] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050261.146132678] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050261.146960140] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050261.148388568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050261.149543986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050261.245488077] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050261.246252515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050261.247370444] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050261.248415681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050261.248883407] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050261.335418808] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050261.337443761] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050261.337907204] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050261.338454336] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050261.339391849] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050261.339659435] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050261.340448840] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050261.344370644] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050261.345572143] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050261.345732892] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050261.347512531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050261.348558960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050261.445445940] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050261.446262430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050261.447037216] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050261.448863117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050261.449383140] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050261.502435022] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904337 Long: -76.50276864 -[vectornav-1] [INFO] [1746050261.503432207] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (186.44399999999996, -0.557, 6.25) -[mux-7] [INFO] [1746050261.545411801] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050261.546211635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050261.547043062] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050261.548527463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050261.549739134] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050261.585555284] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050261.587919625] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050261.588798297] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050261.588932033] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050261.589847081] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050261.590452412] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050261.590723212] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050261.645342401] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050261.646092732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050261.646856267] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050261.648743896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050261.649926036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050261.745464128] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050261.746266379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050261.747100757] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050261.748807017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050261.750012929] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050261.835690589] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050261.838415935] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050261.838954647] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050261.839400772] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050261.840378447] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050261.841327273] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050261.842218771] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050261.844339441] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050261.844852257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050261.845596077] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050261.846525046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050261.847796371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050261.945479923] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050261.946228932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050261.947236855] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050261.949072197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050261.950178312] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050262.003967155] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904316 Long: -76.50276883 -[vectornav-1] [INFO] [1746050262.005947288] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.38800000000003, 0.586, 6.312) -[mux-7] [INFO] [1746050262.045111496] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050262.045985882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050262.046535780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050262.047958424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050262.049308486] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050262.085642069] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050262.087664986] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050262.088267926] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050262.088603132] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050262.088630409] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050262.089554135] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050262.090484228] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050262.145259312] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050262.146097746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050262.146820110] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050262.148406528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050262.149781468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050262.245621655] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050262.246808420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050262.247233066] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050262.249100248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050262.250356338] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050262.335433565] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050262.337822944] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050262.337837452] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050262.338806982] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050262.339707446] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050262.340070379] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050262.340596821] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050262.344343505] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050262.345079028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050262.345639753] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050262.346809738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050262.347856445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050262.445303904] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050262.446081860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050262.446914058] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050262.449304560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050262.450380676] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050262.503958420] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904318 Long: -76.50276808 -[vectornav-1] [INFO] [1746050262.505472842] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.85500000000002, -0.344, 6.586) -[mux-7] [INFO] [1746050262.545449331] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050262.546539325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050262.547084673] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050262.549236209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050262.551000437] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050262.585457955] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050262.587323095] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050262.587866879] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050262.588980727] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050262.589678195] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050262.589930965] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050262.590833272] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050262.645253944] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050262.646242048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050262.646797309] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050262.648299866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050262.648807320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050262.745463623] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050262.746233134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050262.747384064] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050262.748892895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050262.750121461] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050262.835860091] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050262.839021773] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050262.839395210] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050262.839885023] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050262.840871529] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050262.841806553] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050262.842646777] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050262.844416968] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050262.844889434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050262.845509421] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050262.846530956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050262.847531975] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050262.945563468] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050262.946379194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050262.947223329] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050262.948243254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050262.948761503] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050263.003664173] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904317 Long: -76.50276744 -[vectornav-1] [INFO] [1746050263.005128774] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.966, -1.086, 5.376) -[mux-7] [INFO] [1746050263.045439484] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050263.046219580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050263.047127101] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050263.048813878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050263.050091835] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050263.085913035] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050263.088302233] [sailbot.teensy]: Wind angle: 236 -[teensy-2] [INFO] [1746050263.089438963] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050263.089021962] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050263.090233150] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050263.090323637] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050263.091238035] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050263.144992798] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050263.145739303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050263.146423728] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050263.147703022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050263.148776178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050263.245488462] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050263.246439298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050263.247130098] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050263.248263470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050263.248742459] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050263.335391108] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050263.337856501] [sailbot.teensy]: Wind angle: 236 -[trim_sail-4] [INFO] [1746050263.337946827] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050263.338849354] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050263.339171666] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050263.339795516] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050263.340721894] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050263.344388219] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050263.345072930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050263.345459872] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050263.346733871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050263.347830174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050263.445360370] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050263.446515292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050263.447027530] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050263.447734425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050263.448191135] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050263.502661259] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904308 Long: -76.50276751 -[vectornav-1] [INFO] [1746050263.503800733] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.94000000000005, -0.334, 4.735) -[mux-7] [INFO] [1746050263.545633745] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050263.546440198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050263.547395406] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050263.549067101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050263.550309818] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050263.585847952] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050263.588720370] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050263.589551308] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050263.590455020] [sailbot.teensy]: Wind angle: 236 -[teensy-2] [INFO] [1746050263.591373571] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050263.592221732] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050263.593095458] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050263.645188438] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050263.645964986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050263.646734833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050263.648458481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050263.649524425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050263.745258138] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050263.746195291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050263.747074591] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050263.748090920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050263.748533832] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050263.835358566] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050263.837774868] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050263.838642847] [sailbot.teensy]: Wind angle: 237 -[mux-7] [INFO] [1746050263.839143595] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050263.839620538] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050263.840562337] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050263.841427834] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050263.844304955] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050263.844897569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050263.845381092] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050263.846612757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050263.847631234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050263.945493282] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050263.946226719] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050263.948718460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746050263.947204214] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050263.949951508] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050264.003736851] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904284 Long: -76.50276739 -[vectornav-1] [INFO] [1746050264.005206597] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.60199999999998, 0.365, 5.369) -[mux-7] [INFO] [1746050264.045487057] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050264.046536049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050264.047290481] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050264.048491491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050264.049012881] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050264.085143566] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050264.087226329] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050264.087724359] [sailbot.teensy]: Wind angle: 237 -[mux-7] [INFO] [1746050264.087892516] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050264.088743137] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050264.089616937] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050264.090461201] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050264.145301932] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050264.146033309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050264.146829621] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050264.148233910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050264.149299039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050264.245523022] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050264.246290637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050264.247580232] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050264.248020968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050264.248469066] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050264.335306658] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050264.337181183] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050264.337713728] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050264.338140006] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050264.339073849] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050264.339990885] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050264.339816253] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746050264.344807830] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050264.345199609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050264.346234277] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050264.346941857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050264.348777302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050264.445360284] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050264.446134296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050264.447233165] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050264.448389867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050264.449590382] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050264.502741245] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904272 Long: -76.50276764 -[vectornav-1] [INFO] [1746050264.503822115] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.33000000000004, -1.235, 5.84) -[mux-7] [INFO] [1746050264.545382610] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050264.545907838] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050264.547002424] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050264.548035675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050264.549109063] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050264.585798928] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050264.588735239] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050264.589267109] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050264.590282599] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050264.590609989] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050264.591176094] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050264.592065740] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050264.645523117] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050264.646341361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050264.647161012] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050264.648941625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050264.649466887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050264.745071946] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050264.745608958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050264.746495553] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050264.747546779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050264.748581917] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050264.835482804] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050264.838188913] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050264.838441579] [sailbot.teensy]: Wind angle: 237 -[teensy-2] [INFO] [1746050264.839148853] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050264.839175269] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050264.839538072] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050264.839968062] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050264.844709055] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050264.845155708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050264.846179550] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050264.846909107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050264.847982143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050264.945717958] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050264.946601578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050264.947565920] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050264.949095635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050264.949696314] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050265.003967635] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904253 Long: -76.50276797 -[vectornav-1] [INFO] [1746050265.005487806] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.73699999999997, -0.685, 6.071) -[mux-7] [INFO] [1746050265.045226456] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050265.045981396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050265.046730660] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050265.048073503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050265.049267993] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050265.085358883] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050265.087164472] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050265.087628953] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050265.088105310] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050265.089038237] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050265.089285074] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050265.089942517] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050265.144744135] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050265.145167888] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050265.146105036] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050265.147195516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050265.148275636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050265.245626755] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050265.246201689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050265.247890757] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050265.249478078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050265.250643734] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050265.335136790] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050265.336806597] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050265.337283891] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050265.337707957] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050265.338461720] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050265.338518548] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050265.339410265] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050265.344365720] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050265.344992229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050265.345702301] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050265.346853887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050265.347991425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050265.444959301] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050265.445688311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050265.446244059] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050265.447468006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050265.448312089] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050265.502285845] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690424 Long: -76.50276783 -[vectornav-1] [INFO] [1746050265.503255596] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.52099999999996, 0.982, 5.648) -[mux-7] [INFO] [1746050265.545113374] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050265.545951980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050265.546646032] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050265.548052417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050265.549161711] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050265.585795405] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050265.588777116] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050265.589438287] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050265.590694120] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050265.590725399] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050265.591632084] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050265.592504860] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050265.645467406] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050265.646461599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050265.647080555] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050265.649409135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050265.650520610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050265.745460607] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050265.746296405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050265.747209649] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050265.748200551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050265.748723630] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050265.835269002] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050265.837863886] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050265.838010262] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050265.838214522] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050265.839681978] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050265.840560385] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050265.841415677] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050265.844378735] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050265.844780844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050265.845496854] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050265.846474676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050265.847480998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050265.945547554] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050265.946236843] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050265.947315549] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050265.948821514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050265.950156199] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050266.003419626] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904226 Long: -76.50276726 -[vectornav-1] [INFO] [1746050266.005199404] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.216, -1.079, 5.534) -[mux-7] [INFO] [1746050266.044876941] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050266.045656320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050266.046058294] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050266.047477409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050266.048647115] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050266.085389914] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050266.087784784] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050266.088269516] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050266.088874766] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050266.089804805] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050266.090675388] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050266.091488862] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050266.145085575] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050266.145896883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050266.146760965] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050266.148146019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050266.149210261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050266.245325863] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050266.246098408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050266.246906518] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050266.248397947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050266.249555883] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050266.335353655] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050266.337838673] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050266.338241201] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050266.338550995] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050266.339524640] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050266.340399959] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050266.341077431] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050266.344416824] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050266.344814399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050266.345523391] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050266.346473774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050266.347595593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050266.445663038] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050266.446721808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050266.447309584] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050266.449174888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050266.450345033] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050266.503996128] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904207 Long: -76.50276717 -[vectornav-1] [INFO] [1746050266.506312439] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.91100000000006, -0.65, 5.004) -[mux-7] [INFO] [1746050266.545297143] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050266.546208184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050266.546967867] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050266.548555934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050266.549669948] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050266.585259984] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050266.587930575] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050266.588109808] [sailbot.teensy]: Wind angle: 233 -[mux-7] [INFO] [1746050266.588980060] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050266.589061290] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050266.589940921] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050266.590818689] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050266.645067029] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050266.645989766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050266.646845466] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050266.648045660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050266.649202143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050266.744834788] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050266.745482178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050266.746109892] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050266.747388022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050266.748394603] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050266.835515671] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050266.837610142] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050266.838705466] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050266.838809348] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050266.839147707] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050266.839521886] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050266.839540118] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050266.844403083] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050266.845170558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050266.845520145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050266.846907313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050266.848034848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050266.945516928] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050266.946456110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050266.947194696] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050266.948831052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050266.949925924] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050267.002713636] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904167 Long: -76.50276731 -[vectornav-1] [INFO] [1746050267.003807014] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.63400000000001, -0.031, 4.857) -[mux-7] [INFO] [1746050267.045032052] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050267.045905370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050267.046322126] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050267.047941024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050267.048966855] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050267.085256976] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050267.087740273] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050267.088175920] [sailbot.teensy]: Wind angle: 233 -[mux-7] [INFO] [1746050267.088427192] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050267.089146822] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050267.089998650] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050267.090828828] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050267.145263983] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050267.146081880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050267.146942906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050267.148351541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050267.149447164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050267.245116490] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050267.245882264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050267.246907772] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050267.248431024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050267.248920511] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050267.335693254] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050267.337886265] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050267.338507229] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050267.338911885] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050267.338949579] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050267.339856815] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050267.340960548] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050267.344271991] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050267.344842496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050267.345349990] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050267.346692229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050267.347740753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050267.445539580] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050267.446303608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050267.447352643] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050267.448901289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050267.450067859] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050267.503688373] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904149 Long: -76.5027673 -[vectornav-1] [INFO] [1746050267.505165839] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.50700000000006, 0.093, 5.09) -[mux-7] [INFO] [1746050267.544976777] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050267.545620051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050267.546288959] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050267.547505207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050267.548552759] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050267.585376014] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050267.587097504] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050267.587660158] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050267.588028115] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050267.588976761] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050267.589838922] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050267.589894424] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050267.644992970] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050267.645764323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050267.646328163] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050267.647767695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050267.648907906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050267.745345599] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050267.745987505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050267.746993596] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050267.748240978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050267.749372292] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050267.835486554] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050267.837381417] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050267.838112478] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050267.838800990] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050267.838828564] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050267.839225128] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050267.839607649] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050267.844659030] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050267.845932498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050267.845961746] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050267.847881553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050267.849131248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050267.945614579] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050267.946486391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050267.947319931] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050267.949177003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050267.950360746] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050268.002330314] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904115 Long: -76.50276726 -[vectornav-1] [INFO] [1746050268.003303691] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.14999999999998, -0.975, 5.066) -[mux-7] [INFO] [1746050268.045227559] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050268.046188883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050268.046682543] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050268.048463877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050268.049672761] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050268.085214057] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050268.087346018] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050268.087369264] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050268.088313428] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050268.088502256] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050268.089245459] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050268.090217846] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050268.144862827] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050268.145598990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050268.146067793] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050268.147440630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050268.148647318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050268.245020840] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050268.245948360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050268.246339405] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050268.247865556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050268.248486074] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050268.335576970] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050268.337761922] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050268.338221810] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050268.338809804] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050268.339702472] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050268.339821664] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050268.340431188] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050268.344661798] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050268.345084781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050268.345902351] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050268.346923076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050268.348026866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050268.445232328] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050268.445991886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050268.447265366] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050268.448191607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050268.448833114] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050268.503169542] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904106 Long: -76.50276759 -[vectornav-1] [INFO] [1746050268.504638051] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.05399999999997, -0.105, 5.728) -[mux-7] [INFO] [1746050268.544921576] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050268.545813559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050268.546346167] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050268.547834509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050268.548377465] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050268.585426571] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050268.588110147] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050268.588516963] [sailbot.teensy]: Wind angle: 233 -[mux-7] [INFO] [1746050268.588692826] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050268.589478655] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050268.590412758] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050268.591255871] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050268.645168016] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050268.646078077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050268.646630312] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050268.648349363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050268.649356574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050268.745530519] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050268.746301655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050268.747602631] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050268.748810214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050268.749941389] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050268.835233069] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050268.837854656] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050268.838979303] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050268.839003576] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050268.839477551] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050268.839872121] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050268.840723863] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050268.844297125] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050268.844982987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050268.845392539] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050268.846755916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050268.847802425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050268.945286738] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050268.945945535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050268.946901531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050268.948193982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050268.949446254] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050269.003145052] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904085 Long: -76.50276742 -[vectornav-1] [INFO] [1746050269.004337201] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.26800000000003, -0.299, 5.951) -[mux-7] [INFO] [1746050269.045346375] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050269.045885560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050269.046902023] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050269.047894133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050269.048490033] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050269.085568759] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050269.088368525] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050269.088838238] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050269.089815608] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050269.090735760] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050269.090751992] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050269.092292714] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050269.145238838] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050269.145912492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050269.146795994] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050269.149216842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050269.150356242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050269.245186330] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050269.246081727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050269.246630112] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050269.248078249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050269.248697679] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050269.335436341] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050269.338181115] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050269.338793196] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050269.338819898] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050269.339788417] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050269.340763554] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050269.341619776] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050269.344258117] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050269.344814225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050269.345587888] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050269.346499781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050269.347563734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050269.445411534] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050269.446348436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050269.447111674] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050269.448327546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050269.449162303] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050269.503385856] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904058 Long: -76.50276695 -[vectornav-1] [INFO] [1746050269.504681803] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.90999999999997, -0.752, 5.803) -[mux-7] [INFO] [1746050269.545075767] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050269.545965602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050269.546529102] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050269.548181418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050269.549366966] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050269.585562129] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050269.587688840] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050269.587920594] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050269.588639067] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050269.588675964] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050269.590681242] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050269.591531140] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050269.645021963] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050269.645807725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050269.646833382] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050269.647857253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050269.648991734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050269.745017654] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050269.745608502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050269.746291899] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050269.747547711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050269.748073174] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050269.835376965] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050269.837843347] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050269.837984076] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050269.838962299] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050269.839257514] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050269.839516639] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050269.839885983] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050269.844610676] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050269.845147939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050269.845861790] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050269.846904281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050269.848048052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050269.945544573] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050269.946195948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050269.947225770] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050269.948501126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050269.949002291] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050270.002616818] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904038 Long: -76.50276672 -[vectornav-1] [INFO] [1746050270.003664184] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.356, -0.788, 5.478) -[mux-7] [INFO] [1746050270.044864945] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050270.045586538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050270.046067246] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050270.047419860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050270.048451219] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050270.084994680] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050270.086970623] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050270.086987008] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050270.087864545] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050270.088486118] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050270.088821626] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050270.089701525] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050270.145114527] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050270.145634012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050270.146789041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050270.147733718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050270.148904819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050270.244878584] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050270.245604313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050270.246082334] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050270.247998179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050270.249189369] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050270.335363117] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050270.337863256] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050270.338624726] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746050270.339775076] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050270.339924594] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050270.340871970] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050270.341421455] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050270.344291947] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050270.344960871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050270.345443344] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050270.346650852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050270.347677868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050270.445092005] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050270.445639219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050270.446420736] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050270.447634557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050270.448679785] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050270.503805380] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904018 Long: -76.5027667 -[vectornav-1] [INFO] [1746050270.505183502] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.63, -0.196, 5.597) -[mux-7] [INFO] [1746050270.545002236] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050270.545648592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050270.546600258] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050270.547434308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050270.549344281] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050270.585254469] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050270.587097369] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050270.587582928] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050270.589019502] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050270.589123959] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050270.590017590] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050270.590909346] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050270.645651549] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050270.646402234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050270.647381330] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050270.649174076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050270.651222342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050270.745434551] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050270.746086098] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050270.747486830] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050270.748381612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050270.749611688] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050270.835390918] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050270.837350127] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050270.838063829] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050270.839186608] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050270.840088348] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050270.840195584] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050270.841020851] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050270.844330279] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050270.844851857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050270.845454099] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050270.846597631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050270.847757409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050270.945496090] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050270.946470035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050270.947648435] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050270.948014614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050270.948485627] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050271.002562369] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904025 Long: -76.50276682 -[vectornav-1] [INFO] [1746050271.003591933] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.66100000000006, -0.222, 6.092) -[mux-7] [INFO] [1746050271.045218646] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050271.045949425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050271.046800900] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050271.048076565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050271.049147055] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050271.085233208] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050271.087039224] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050271.087400983] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050271.088000824] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050271.088980105] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050271.089397919] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050271.089933697] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050271.145129434] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050271.146009369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050271.147027362] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050271.148280714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050271.149353245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050271.245066277] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050271.245906519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050271.246719605] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050271.247705432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050271.248235294] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050271.335491452] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050271.338106233] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050271.338439994] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746050271.338850930] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050271.338885850] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050271.339281451] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050271.339716352] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050271.344389951] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050271.345006701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050271.345432480] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050271.346823986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050271.347844599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050271.445097574] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050271.445764113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050271.446957826] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050271.447567038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050271.448017092] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050271.503587474] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904026 Long: -76.50276695 -[vectornav-1] [INFO] [1746050271.505127684] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.78200000000004, -0.597, 5.048) -[mux-7] [INFO] [1746050271.544868360] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050271.545629337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050271.546541077] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050271.547406534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050271.548562444] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050271.585501727] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050271.587986670] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050271.589182115] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746050271.589300017] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050271.590148906] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050271.591268127] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050271.592178118] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050271.645234104] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050271.646162028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050271.647077442] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050271.648655736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050271.649721017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050271.745628723] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050271.746634075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050271.747264407] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050271.749228367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050271.750314719] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050271.835242806] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050271.837833880] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050271.837994687] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050271.838851596] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050271.839078610] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050271.839819540] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050271.840731058] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050271.844425085] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050271.844949649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050271.845550139] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050271.846605326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050271.848282707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050271.945443238] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050271.946218595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050271.947131545] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050271.948809397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050271.949869451] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050272.002540073] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904016 Long: -76.50276681 -[vectornav-1] [INFO] [1746050272.003549584] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.072, 0.141, 5.122) -[mux-7] [INFO] [1746050272.045261744] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050272.045907411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050272.047139846] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050272.049215211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050272.049852526] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050272.085520275] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050272.088034850] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050272.089272062] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050272.089468286] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050272.090765967] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050272.091661050] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050272.092544110] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050272.145363942] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050272.146120833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050272.147014850] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050272.148590381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050272.149741934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050272.245672010] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050272.246210648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050272.247847733] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050272.248624068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050272.249987400] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050272.335732300] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050272.338737702] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050272.339190861] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050272.339214312] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050272.339690933] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050272.340083188] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050272.340448931] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050272.344438072] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050272.344947225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050272.345973158] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050272.346664781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050272.347879407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050272.445892773] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050272.446696706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050272.447649800] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050272.448210978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050272.448748609] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050272.503482727] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904019 Long: -76.50276659 -[vectornav-1] [INFO] [1746050272.505575619] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.42499999999995, -0.721, 5.2) -[teensy-2] [INFO] [1746050272.545849528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050272.546080940] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050272.547455413] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050272.547872252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050272.549009415] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050272.585373401] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050272.587167690] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050272.587705026] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050272.588131613] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050272.589102586] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050272.589608008] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050272.590100849] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050272.645205428] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050272.645874938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050272.647021392] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050272.648637345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050272.649784172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050272.745255738] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050272.746081864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050272.747303844] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050272.748497875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050272.749665384] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050272.835486393] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050272.837593353] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050272.838570849] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050272.838621562] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050272.839537918] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050272.839641808] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050272.840472133] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050272.844360792] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050272.845139776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050272.845527637] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050272.846999094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050272.848232887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050272.945779881] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050272.946516972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050272.947909088] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050272.948724115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050272.949175035] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050273.002327030] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904015 Long: -76.50276643 -[vectornav-1] [INFO] [1746050273.003296959] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.25400000000002, -0.153, 5.015) -[mux-7] [INFO] [1746050273.044832503] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050273.045592433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050273.046189335] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050273.047599119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050273.048616456] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050273.085245911] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050273.087133861] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050273.087800448] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050273.088127511] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050273.088885346] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050273.089073116] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050273.089959576] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050273.145233654] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050273.146129347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050273.146705409] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050273.148240343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050273.149278471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050273.245565337] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050273.246585251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050273.247325027] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050273.248564586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050273.249097909] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050273.335439139] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050273.337715689] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050273.337753538] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050273.338721635] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050273.339665829] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050273.339934424] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050273.340589779] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050273.344322917] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050273.345367367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050273.345513000] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050273.347273859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050273.348475575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050273.445562406] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050273.446462447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050273.447225646] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050273.449126340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050273.450415672] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050273.502298250] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904009 Long: -76.50276641 -[vectornav-1] [INFO] [1746050273.503266428] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.40599999999995, -0.026, 5.88) -[mux-7] [INFO] [1746050273.544946931] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050273.545622278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050273.546156335] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050273.547691036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050273.548771873] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050273.585396078] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050273.587193353] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050273.587671556] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050273.588171263] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050273.589067931] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050273.589430257] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050273.589965562] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050273.644999329] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050273.645680795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050273.646899205] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050273.647557117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050273.648646698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050273.745245414] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050273.745957493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050273.746789774] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050273.748184664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050273.749386309] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050273.835609510] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050273.838076409] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050273.838719983] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746050273.839394077] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050273.839696723] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050273.840778189] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050273.841669817] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050273.844446422] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050273.845035088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050273.845682110] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050273.846876996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050273.847900310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050273.945326141] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050273.946045766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050273.947431838] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050273.948240550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050273.949382254] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050274.003484806] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904013 Long: -76.50276629 -[vectornav-1] [INFO] [1746050274.004951366] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.77599999999995, -1.038, 5.225) -[mux-7] [INFO] [1746050274.045027410] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050274.045889887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050274.046357879] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050274.048175969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050274.049256278] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050274.085348883] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050274.087630022] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050274.087874046] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050274.088488687] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050274.088646018] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050274.089604131] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050274.090572325] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050274.145177402] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050274.145968748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050274.146661452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050274.148080511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050274.149254473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050274.245429676] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050274.246110653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050274.247019992] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050274.248538374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050274.249047646] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050274.335353047] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050274.337695405] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050274.338855401] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746050274.339359574] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050274.339934920] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050274.340884665] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050274.341957988] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050274.344322725] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050274.344735519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050274.345465734] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050274.346577024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050274.347644905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050274.445626364] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050274.446320791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050274.447456146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050274.448485689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050274.448945534] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050274.503829853] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904011 Long: -76.50276634 -[vectornav-1] [INFO] [1746050274.505579837] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.74599999999998, -0.026, 4.325) -[mux-7] [INFO] [1746050274.545159758] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050274.546085023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050274.546627250] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050274.548317359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050274.549363423] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050274.585277070] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050274.586949854] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050274.587440230] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050274.587844587] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050274.587888596] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050274.588826553] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050274.589742250] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050274.645264925] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050274.646310812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050274.647035380] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050274.648637961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050274.649745352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050274.745716921] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050274.746563389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050274.747580062] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050274.748946212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050274.750068060] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050274.835504688] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050274.837584329] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050274.838053344] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050274.838706063] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050274.839706894] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050274.840502375] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050274.840596991] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050274.844452539] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050274.845052042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050274.845646855] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050274.846957979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050274.848096433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050274.945278063] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050274.946289706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050274.946853835] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050274.948259511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050274.948706976] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050275.002497843] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904003 Long: -76.50276609 -[vectornav-1] [INFO] [1746050275.003554699] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.57899999999995, 0.021, 4.335) -[mux-7] [INFO] [1746050275.045148150] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050275.046145194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050275.046827898] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050275.048287560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050275.049292339] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050275.085423949] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050275.087674469] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050275.088412702] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050275.088686474] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050275.089088994] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050275.089624622] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050275.090543398] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050275.144898453] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050275.145559617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050275.146307424] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050275.147339830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050275.147997658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050275.245227017] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050275.245975479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050275.246676329] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050275.247836289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050275.248322442] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050275.335727724] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050275.338152367] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050275.339429815] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050275.340372994] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050275.341277717] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746050275.339879786] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050275.340076529] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050275.344351816] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050275.344876422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050275.345465586] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050275.346613978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050275.347657748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050275.445608303] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050275.446524683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050275.447043381] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050275.447939187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050275.448429464] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050275.503799199] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904004 Long: -76.50276593 -[vectornav-1] [INFO] [1746050275.505305113] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.36199999999997, -0.224, 4.8) -[mux-7] [INFO] [1746050275.545327436] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050275.546197192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050275.547341904] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050275.548695946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050275.549881672] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050275.585551400] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050275.587442612] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050275.588068939] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050275.588526584] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050275.589471612] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050275.590135307] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050275.590355537] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050275.645127106] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050275.646978543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050275.647335048] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050275.649010216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050275.649854617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050275.745610435] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050275.746573470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050275.747449124] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050275.749040246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050275.750193599] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050275.835433028] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050275.837239133] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050275.837743726] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050275.838291760] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050275.839240149] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050275.840017948] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050275.840179997] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050275.844406463] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050275.845135434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050275.845478484] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050275.846939766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050275.848019188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050275.945145291] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050275.946226310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050275.946718553] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050275.947830403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050275.948291378] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050276.002391394] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903982 Long: -76.50276578 -[vectornav-1] [INFO] [1746050276.003485294] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.20399999999995, -1.417, 4.598) -[mux-7] [INFO] [1746050276.044899060] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050276.045642772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050276.046142499] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050276.047568062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050276.048569971] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050276.085374831] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050276.087104733] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050276.088036928] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050276.088293856] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050276.088985026] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050276.089623051] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050276.089905479] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050276.145382240] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050276.146276202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050276.146811105] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050276.148353102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050276.149782330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050276.245204224] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050276.245771770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050276.246589420] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050276.247663727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050276.248979735] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050276.335480663] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050276.337437179] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050276.338164330] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050276.338470449] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050276.339386631] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050276.339910551] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050276.340336468] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050276.344354015] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050276.345123745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050276.345448628] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050276.346842913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050276.347967212] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050276.445191089] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050276.446127058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050276.446656081] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050276.448192582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050276.449342628] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050276.503015400] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690398 Long: -76.50276558 -[vectornav-1] [INFO] [1746050276.504196538] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.54099999999994, 1.097, 4.328) -[mux-7] [INFO] [1746050276.545238255] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050276.546000607] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050276.546709785] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050276.548260362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050276.548742896] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050276.585495039] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050276.587823118] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050276.587958017] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050276.588941990] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050276.589277203] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050276.589807016] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050276.590700341] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050276.645265235] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050276.645908380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050276.647018325] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050276.648022692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050276.648679778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050276.745260575] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050276.745911622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050276.747742050] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050276.748452856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050276.748989865] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050276.835407429] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050276.837255102] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050276.837763054] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050276.838202878] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050276.839089286] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050276.839274833] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050276.839993235] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050276.844531087] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050276.844951163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050276.845664126] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050276.846680315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050276.847730179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050276.945521773] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050276.946256396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050276.947657742] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050276.948584980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050276.949405763] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050277.002460173] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903976 Long: -76.5027652 -[vectornav-1] [INFO] [1746050277.003557141] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.33000000000004, -1.192, 4.437) -[mux-7] [INFO] [1746050277.045428357] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050277.046139169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050277.047933990] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050277.048883428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050277.049485000] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050277.085591230] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050277.087910062] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050277.088779309] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746050277.089031273] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050277.089699245] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050277.090638156] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050277.091455631] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050277.145266284] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050277.146004287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050277.146835847] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050277.148082856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050277.149283632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050277.245329255] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050277.245904678] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050277.247451024] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050277.249127668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050277.250344544] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050277.335485407] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050277.337507423] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050277.337834006] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050277.338739394] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050277.339650893] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050277.340067257] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050277.340538407] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050277.344426298] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050277.344887925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050277.345547784] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050277.346540912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050277.347701124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050277.445333501] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050277.446002775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050277.446907531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050277.448094799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050277.449203427] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050277.503622222] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903977 Long: -76.50276518 -[vectornav-1] [INFO] [1746050277.505416986] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.21900000000005, -0.325, 4.618) -[mux-7] [INFO] [1746050277.544760746] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050277.545255993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050277.545964830] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050277.547011259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050277.548240505] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050277.585171916] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050277.586780295] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050277.588057599] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050277.587854076] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050277.588878130] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050277.589267135] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050277.590204102] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050277.645270494] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050277.646104937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050277.646826206] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050277.648279045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050277.649423975] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050277.745359721] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050277.745958558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050277.746935616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050277.748054734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050277.749260172] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050277.835439931] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050277.837269888] [sailbot.teensy]: Wind angle: 236 -[trim_sail-4] [INFO] [1746050277.837828755] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050277.839172344] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050277.839520561] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050277.840483055] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050277.841306267] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050277.844580391] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050277.845118146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050277.845693372] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050277.846941534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050277.847993159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050277.945151091] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050277.945772276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050277.946501869] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050277.947797235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050277.948906070] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050278.002323662] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903982 Long: -76.50276527 -[vectornav-1] [INFO] [1746050278.003328155] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.83899999999994, -0.323, 5.444) -[mux-7] [INFO] [1746050278.045332192] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050278.045996354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050278.046827675] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050278.048315727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050278.048826353] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050278.085387095] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050278.087337919] [sailbot.teensy]: Wind angle: 236 -[trim_sail-4] [INFO] [1746050278.087717716] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050278.088744509] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050278.089189344] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050278.090034995] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050278.090904353] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050278.145414501] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050278.146245615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050278.147127973] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050278.148510953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050278.149039040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050278.245021908] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050278.245845510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050278.246374770] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050278.247859132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050278.248752877] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050278.335666218] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050278.337886681] [sailbot.teensy]: Wind angle: 236 -[teensy-2] [INFO] [1746050278.338902188] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050278.338719776] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050278.339033929] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050278.339286086] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050278.339673770] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050278.344434174] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050278.345307058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050278.345928918] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050278.347097345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050278.348286671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050278.445270339] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050278.446241383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050278.446735790] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050278.448291394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050278.449400354] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050278.503192371] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690398 Long: -76.50276509 -[vectornav-1] [INFO] [1746050278.504600317] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.25400000000002, -0.426, 4.133) -[mux-7] [INFO] [1746050278.544998961] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050278.545678834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050278.546445645] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050278.547738798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050278.548284234] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050278.585274351] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050278.587023736] [sailbot.teensy]: Wind angle: 236 -[trim_sail-4] [INFO] [1746050278.587669647] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050278.588777302] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050278.588881413] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050278.589932795] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050278.590952018] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050278.645005239] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050278.645637535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050278.646625860] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050278.647586523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050278.648685577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050278.745071735] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050278.745782128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050278.746517117] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050278.747725356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050278.748797612] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050278.835440356] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050278.837795584] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050278.838257520] [sailbot.teensy]: Wind angle: 236 -[mux-7] [INFO] [1746050278.839132741] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050278.839476846] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050278.840459179] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050278.840916392] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050278.844472562] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050278.844925187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050278.846650510] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050278.846719638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050278.848113294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050278.945530205] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050278.946240714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050278.948006029] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050278.948646207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050278.949644118] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050279.004063526] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903959 Long: -76.50276502 -[vectornav-1] [INFO] [1746050279.005330375] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.029, 0.714, 4.064) -[mux-7] [INFO] [1746050279.044948212] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050279.045561967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050279.046271678] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050279.047471671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050279.048456111] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050279.085363303] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050279.087200053] [sailbot.teensy]: Wind angle: 236 -[trim_sail-4] [INFO] [1746050279.087755361] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050279.088170469] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050279.089070882] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050279.089457549] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050279.090117575] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050279.145575638] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050279.146148312] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050279.147337254] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050279.148647046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050279.149865306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050279.245344548] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050279.246126975] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050279.246909894] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050279.248489928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050279.249636924] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050279.335306218] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050279.337333679] [sailbot.teensy]: Wind angle: 237 -[teensy-2] [INFO] [1746050279.338402141] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050279.338657908] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050279.339307989] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050279.339368931] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050279.339844153] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050279.344523360] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050279.345177274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050279.345804679] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050279.346929520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050279.347952306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050279.445378889] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050279.445918337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050279.446968715] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050279.447954866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050279.449065819] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050279.502481611] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690395 Long: -76.50276475 -[vectornav-1] [INFO] [1746050279.503759742] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.13300000000004, -1.762, 4.57) -[mux-7] [INFO] [1746050279.545183536] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050279.545746527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050279.546631950] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050279.547816166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050279.549117278] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050279.585193462] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050279.586820141] [sailbot.teensy]: Wind angle: 236 -[teensy-2] [INFO] [1746050279.587713467] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050279.587366231] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050279.587969296] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050279.588616280] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050279.589508089] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050279.645142386] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050279.645730068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050279.646820919] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050279.647595660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050279.648829188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050279.745601837] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050279.746355588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050279.747259074] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050279.748562631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050279.749867880] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050279.835602957] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050279.838191965] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050279.839177658] [sailbot.teensy]: Wind angle: 236 -[mux-7] [INFO] [1746050279.839805070] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050279.840190268] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050279.841233874] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050279.842178693] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050279.844831950] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050279.845210331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050279.846107746] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050279.846961758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050279.848174994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050279.945356950] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050279.945972659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050279.947053713] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050279.948202362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050279.948858154] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050280.003352535] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903947 Long: -76.50276498 -[vectornav-1] [INFO] [1746050280.004905603] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.30399999999997, -0.433, 4.365) -[mux-7] [INFO] [1746050280.045064733] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050280.045860700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050280.046458148] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050280.047765700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050280.048838692] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050280.085612707] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050280.088394252] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050280.089082303] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050280.089520516] [sailbot.teensy]: Wind angle: 237 -[teensy-2] [INFO] [1746050280.090452889] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050280.091322062] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050280.092122603] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050280.144883675] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050280.145717730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050280.146141040] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050280.147680493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050280.148808917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050280.245340625] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050280.245942998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050280.246969859] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050280.248147031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050280.249384017] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050280.335637155] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050280.337634268] [sailbot.teensy]: Wind angle: 237 -[trim_sail-4] [INFO] [1746050280.338409029] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050280.338663161] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050280.339579202] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050280.340001896] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050280.340541396] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050280.344537056] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050280.345263163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050280.345703581] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050280.346959407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050280.348116609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050280.445471829] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050280.446214858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050280.447070221] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050280.449987259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050280.451196618] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050280.503479968] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903921 Long: -76.50276506 -[vectornav-1] [INFO] [1746050280.505062057] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.211, -0.399, 3.807) -[mux-7] [INFO] [1746050280.545412416] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050280.546100053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050280.546945704] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050280.548239631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050280.549456236] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050280.585465143] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050280.587257742] [sailbot.teensy]: Wind angle: 239 -[teensy-2] [INFO] [1746050280.588231728] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050280.587828257] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050280.589150552] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050280.589527558] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050280.590010425] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050280.645403686] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050280.646194178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050280.646987475] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050280.648324028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050280.649408342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050280.745446983] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050280.746388466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050280.747068744] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050280.748769407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050280.749291048] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050280.835253067] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050280.837514814] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050280.837636417] [sailbot.teensy]: Wind angle: 240 -[teensy-2] [INFO] [1746050280.838594945] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050280.838858617] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050280.839496348] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050280.840197834] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050280.844416278] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050280.845052957] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050280.845600246] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050280.846911179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050280.847918831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050280.944936586] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050280.945616360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050280.946209265] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050280.947440509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050280.948577489] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050281.002359529] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903904 Long: -76.50276549 -[vectornav-1] [INFO] [1746050281.003391577] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.33100000000002, -0.364, 4.544) -[mux-7] [INFO] [1746050281.045312343] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050281.045805203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050281.046749223] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050281.047761768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050281.048932184] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050281.085542732] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050281.088413396] [sailbot.teensy]: Wind angle: 240 -[trim_sail-4] [INFO] [1746050281.088409539] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050281.089388771] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050281.090649889] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050281.091575099] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050281.092459452] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050281.145211985] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050281.146122505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050281.146898187] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050281.148518338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050281.149583291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050281.245440914] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050281.246171308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050281.247056209] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050281.248732800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050281.249810506] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050281.335352721] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050281.337369890] [sailbot.teensy]: Wind angle: 240 -[trim_sail-4] [INFO] [1746050281.337910646] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050281.338354025] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050281.338978797] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050281.339281910] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050281.340212279] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050281.344280381] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050281.344801633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050281.345418090] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050281.346620805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050281.347645301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050281.445372401] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050281.446245901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050281.446824449] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050281.448334370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050281.448912255] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050281.503115966] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903913 Long: -76.50276604 -[vectornav-1] [INFO] [1746050281.504556719] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.39599999999996, -0.811, 4.919) -[mux-7] [INFO] [1746050281.545597468] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050281.546231409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050281.547338172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050281.548716870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050281.549842173] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050281.585280209] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050281.587241404] [sailbot.teensy]: Wind angle: 240 -[trim_sail-4] [INFO] [1746050281.587681109] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050281.588146178] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050281.588614342] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050281.589221033] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050281.590095850] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050281.645212072] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050281.645868352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050281.646828329] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050281.648086116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050281.649167969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050281.745488821] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050281.746492418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050281.747339144] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050281.748762487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050281.749969393] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050281.835468245] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050281.837260871] [sailbot.teensy]: Wind angle: 242 -[trim_sail-4] [INFO] [1746050281.838057820] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050281.838211925] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050281.839092135] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050281.839124229] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050281.839981990] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050281.844478911] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050281.845225727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050281.845864847] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050281.846996509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050281.848135035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050281.945314314] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050281.946063797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050281.946807863] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050281.948284044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050281.948852903] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050282.003133150] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903969 Long: -76.50276693 -[vectornav-1] [INFO] [1746050282.004661435] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.861, -0.109, 5.062) -[mux-7] [INFO] [1746050282.044920129] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050282.045669545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050282.046157794] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050282.047716320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050282.048541803] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050282.085396251] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050282.087214705] [sailbot.teensy]: Wind angle: 243 -[trim_sail-4] [INFO] [1746050282.088108757] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050282.088213404] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050282.089100312] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050282.089127844] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050282.090039232] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050282.145440738] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050282.146160878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050282.148577824] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050282.148758243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050282.149990432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050282.245512631] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050282.246268429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050282.247126013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050282.248593428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050282.249281499] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050282.335413269] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050282.337244408] [sailbot.teensy]: Wind angle: 243 -[trim_sail-4] [INFO] [1746050282.337816612] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050282.338194832] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050282.339070750] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050282.339189365] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050282.339932527] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050282.344640046] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050282.345171126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050282.345782568] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050282.346870056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050282.347923979] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050282.445230800] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050282.445941630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050282.446712760] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050282.448137045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050282.449346312] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050282.502621779] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903974 Long: -76.50276717 -[vectornav-1] [INFO] [1746050282.503793765] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.04600000000005, -0.711, 5.754) -[mux-7] [INFO] [1746050282.545086337] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050282.545781351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050282.546465642] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050282.548080941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050282.549212876] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050282.585748022] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050282.587989796] [sailbot.teensy]: Wind angle: 243 -[trim_sail-4] [INFO] [1746050282.588533497] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050282.589133628] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050282.590091594] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050282.590731567] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050282.591040076] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050282.645484264] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050282.646100364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050282.647312898] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050282.648845639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050282.650117323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050282.745642937] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050282.746183350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050282.747331633] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050282.749841433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050282.751113619] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050282.835526804] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050282.838397079] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050282.838469599] [sailbot.teensy]: Wind angle: 243 -[mux-7] [INFO] [1746050282.839106437] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050282.839147967] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050282.839547142] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050282.839941587] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050282.844642631] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050282.845200527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050282.845855497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050282.847052995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050282.848258632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050282.945443611] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050282.946098206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050282.947064042] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050282.948714149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050282.949923195] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050283.002492141] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903961 Long: -76.50276729 -[vectornav-1] [INFO] [1746050283.003556027] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.798, -0.813, 5.173) -[mux-7] [INFO] [1746050283.045342087] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050283.045974552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050283.046944208] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050283.048114901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050283.049336072] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050283.085837613] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050283.088834210] [sailbot.teensy]: Wind angle: 243 -[teensy-2] [INFO] [1746050283.089856764] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050283.088838312] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050283.089921891] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050283.090813737] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050283.091750069] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050283.145666465] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050283.145834617] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050283.149021481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746050283.149036318] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050283.151393879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050283.245057531] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050283.245800473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050283.246724837] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050283.247686663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050283.248816564] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050283.335159019] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050283.336786098] [sailbot.teensy]: Wind angle: 243 -[trim_sail-4] [INFO] [1746050283.337239866] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050283.337693949] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050283.338562002] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050283.339209713] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050283.339485145] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050283.344296502] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050283.344762575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050283.345375735] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050283.346375851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050283.347291037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050283.445470972] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050283.446465856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050283.447098064] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050283.448998880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050283.450102002] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050283.503508780] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903947 Long: -76.50276767 -[vectornav-1] [INFO] [1746050283.505185624] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.78600000000006, 0.044, 5.257) -[mux-7] [INFO] [1746050283.545031758] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050283.545773826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050283.546448692] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050283.547731170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050283.548893799] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050283.585202298] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050283.587446052] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050283.588057896] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050283.588219965] [sailbot.teensy]: Wind angle: 243 -[teensy-2] [INFO] [1746050283.589081218] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050283.589905241] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050283.590705931] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050283.645324050] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050283.645901097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050283.646768707] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050283.647920318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050283.649089740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050283.744964268] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050283.745598666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050283.746258607] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050283.747521889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050283.748584264] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050283.835380193] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050283.837784570] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050283.838863046] [sailbot.teensy]: Wind angle: 244 -[mux-7] [INFO] [1746050283.839112702] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050283.839837939] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050283.840802032] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050283.841681503] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050283.844350765] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050283.844775819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050283.845473911] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050283.846477996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050283.847483075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050283.945223459] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050283.945901241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050283.946994561] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050283.948030532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050283.948537180] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050284.003280335] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903937 Long: -76.50276774 -[vectornav-1] [INFO] [1746050284.004662880] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.78600000000006, -1.202, 5.088) -[mux-7] [INFO] [1746050284.044889139] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050284.045470363] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050284.046231903] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050284.047227803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050284.048362967] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050284.085343995] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050284.087377177] [sailbot.teensy]: Wind angle: 244 -[trim_sail-4] [INFO] [1746050284.087503477] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050284.088388863] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050284.089125701] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050284.089273956] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050284.090569144] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050284.145051844] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050284.145956024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050284.146738383] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050284.147880543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050284.149072153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050284.244902064] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050284.245730058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050284.246187227] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050284.247558722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050284.248792534] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050284.335345901] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050284.337410581] [sailbot.teensy]: Wind angle: 244 -[teensy-2] [INFO] [1746050284.338359251] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050284.337543266] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050284.339102099] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050284.339227192] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050284.340116983] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050284.344403787] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050284.344963425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050284.345519236] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050284.346676263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050284.347898620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050284.445332292] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050284.446625189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050284.446923824] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050284.448079248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050284.448523231] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050284.502371652] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903932 Long: -76.50276802 -[vectornav-1] [INFO] [1746050284.503478879] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.582, 0.112, 4.354) -[mux-7] [INFO] [1746050284.544865699] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050284.545758506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050284.546135807] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050284.547708331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050284.548715923] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050284.585576956] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050284.588216273] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050284.588877898] [sailbot.teensy]: Wind angle: 244 -[mux-7] [INFO] [1746050284.589266495] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050284.589864611] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050284.590760257] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050284.591632894] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050284.645169371] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050284.645937626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050284.646780586] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050284.649667138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050284.650792896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050284.745434677] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050284.746288613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050284.747029762] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050284.748565615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050284.749071922] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050284.835530138] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050284.837801212] [sailbot.teensy]: Wind angle: 244 -[trim_sail-4] [INFO] [1746050284.838169943] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050284.838823319] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050284.839700374] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050284.839717438] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050284.840629135] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050284.844512926] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050284.844890410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050284.845607371] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050284.846560839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050284.847638111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050284.945452043] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050284.946165913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050284.947205431] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050284.948534299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050284.949661636] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050285.002455821] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903916 Long: -76.50276823 -[vectornav-1] [INFO] [1746050285.003843285] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.00300000000004, -0.471, 4.831) -[mux-7] [INFO] [1746050285.045388258] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050285.046145906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050285.046870729] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050285.048385103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050285.049511796] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050285.085593698] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050285.088214602] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050285.088522693] [sailbot.teensy]: Wind angle: 244 -[teensy-2] [INFO] [1746050285.089466210] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050285.089648459] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050285.090363552] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050285.091447196] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050285.145552044] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050285.146043513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050285.146813269] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050285.148693810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050285.149769265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050285.245020791] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050285.245596936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050285.246353573] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050285.247420352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050285.248467267] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050285.335571217] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050285.337999952] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050285.338684508] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050285.339636093] [sailbot.teensy]: Wind angle: 244 -[teensy-2] [INFO] [1746050285.340623775] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050285.341527049] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050285.342337939] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050285.344435262] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050285.344870136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050285.345456800] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050285.346422963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050285.347557470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050285.445603095] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050285.446258692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050285.447351553] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050285.450518718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050285.451708055] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050285.503978450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903919 Long: -76.50276843 -[vectornav-1] [INFO] [1746050285.505690122] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.65800000000002, -1.085, 4.871) -[mux-7] [INFO] [1746050285.544884055] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050285.545396237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050285.546089129] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050285.547142507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050285.548310375] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050285.585411771] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050285.587277731] [sailbot.teensy]: Wind angle: 244 -[trim_sail-4] [INFO] [1746050285.587802771] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050285.588254005] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050285.589140780] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050285.589217023] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050285.590116105] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050285.645126533] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050285.645934259] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050285.646805573] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050285.647885360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050285.649079163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050285.745274469] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050285.747017240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050285.747229894] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050285.748962302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050285.750095417] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050285.835369271] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050285.837279980] [sailbot.teensy]: Wind angle: 244 -[trim_sail-4] [INFO] [1746050285.837922785] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050285.838250818] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050285.839158006] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050285.840020089] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050285.840237981] [sailbot.mux]: algo sail angle: 15 -[mux-7] [INFO] [1746050285.844328332] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050285.845091038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050285.845459372] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050285.846867739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050285.848001974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050285.945187979] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050285.946131391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050285.946740489] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050285.947848091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050285.948342209] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050286.003724118] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903924 Long: -76.5027687 -[vectornav-1] [INFO] [1746050286.006238828] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.87199999999996, 0.831, 3.85) -[mux-7] [INFO] [1746050286.045067925] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050286.046007773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050286.046574410] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050286.048208553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050286.049240834] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050286.085349193] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050286.087771587] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050286.087812877] [sailbot.teensy]: Wind angle: 245 -[mux-7] [INFO] [1746050286.088309720] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050286.088779182] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050286.089695659] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050286.090520291] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050286.145243917] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050286.146030656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050286.146787523] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050286.148197388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050286.149389354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050286.245270164] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050286.246063201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050286.246765229] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050286.248189576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050286.249389759] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050286.335512063] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050286.337398133] [sailbot.teensy]: Wind angle: 245 -[trim_sail-4] [INFO] [1746050286.337881585] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050286.338309060] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050286.338387122] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050286.339216139] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050286.340146975] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050286.344400737] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050286.345044240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050286.345551468] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050286.346848913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050286.348056042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050286.445507340] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050286.446312036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050286.447494289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050286.448647167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050286.449843829] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050286.502622406] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903917 Long: -76.50276875 -[vectornav-1] [INFO] [1746050286.503773373] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.38699999999994, -0.48, 3.968) -[mux-7] [INFO] [1746050286.544999872] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050286.545777633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050286.546619518] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050286.547705835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050286.548944833] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050286.585770827] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050286.588203154] [sailbot.teensy]: Wind angle: 244 -[trim_sail-4] [INFO] [1746050286.588656537] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050286.589329371] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050286.590339753] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050286.590798828] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050286.591235253] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050286.645199942] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050286.645871148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050286.646745736] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050286.648004567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050286.648545495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050286.745442054] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050286.746224620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050286.747085107] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050286.748099877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050286.748574065] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050286.835714666] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050286.838020168] [sailbot.teensy]: Wind angle: 244 -[trim_sail-4] [INFO] [1746050286.838879518] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050286.839130203] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050286.839835554] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050286.840081486] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050286.841032902] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050286.844266292] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050286.845096822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050286.845402014] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050286.846764193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050286.847789141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050286.945288000] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050286.946019791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050286.946880408] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050286.948215459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050286.949416483] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050287.003306553] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903908 Long: -76.50276897 -[vectornav-1] [INFO] [1746050287.004631825] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.27599999999995, -1.152, 4.65) -[mux-7] [INFO] [1746050287.045044208] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050287.045804267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050287.046475372] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050287.047800202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050287.048899243] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050287.085552916] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050287.087461499] [sailbot.teensy]: Wind angle: 245 -[teensy-2] [INFO] [1746050287.088436810] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050287.088213517] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050287.088839662] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050287.089333768] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050287.090225128] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050287.144888475] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050287.145694121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050287.146552498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050287.147482917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050287.148537163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050287.245129231] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050287.245879688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050287.246670025] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050287.247912088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050287.248480850] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050287.335458712] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050287.337353306] [sailbot.teensy]: Wind angle: 244 -[trim_sail-4] [INFO] [1746050287.337906936] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050287.338343727] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050287.339278475] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050287.340138652] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050287.340173738] [sailbot.mux]: algo sail angle: 15 -[mux-7] [INFO] [1746050287.344281061] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050287.345119846] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050287.345400002] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050287.346985113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050287.348062057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050287.445589929] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050287.446742954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050287.447209355] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050287.449067485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050287.450294017] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050287.502753463] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903926 Long: -76.50276933 -[vectornav-1] [INFO] [1746050287.504314612] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.399, -0.072, 3.703) -[mux-7] [INFO] [1746050287.545361203] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050287.546617923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050287.546963929] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050287.548895244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050287.549923711] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050287.585476150] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050287.587576833] [sailbot.teensy]: Wind angle: 245 -[trim_sail-4] [INFO] [1746050287.588413689] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050287.588584428] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050287.589115363] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050287.589607149] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050287.590578897] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050287.645249480] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050287.646436988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050287.646869065] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050287.648560008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050287.649699786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050287.745294299] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050287.745959840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050287.746819727] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050287.748096940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050287.749201234] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050287.835414583] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050287.837670862] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050287.838033965] [sailbot.teensy]: Wind angle: 245 -[teensy-2] [INFO] [1746050287.839037721] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050287.839433352] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050287.839998258] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050287.840936923] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050287.844544797] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050287.845094943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050287.845640807] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050287.846850094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050287.847930269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050287.945495272] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050287.946319951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050287.947123285] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050287.948852865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050287.949464051] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050288.003569666] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903907 Long: -76.50276967 -[vectornav-1] [INFO] [1746050288.005331902] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.64700000000005, 0.639, 4.846) -[mux-7] [INFO] [1746050288.045014826] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050288.045681657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050288.046287273] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050288.047609687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050288.048635874] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050288.085441732] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050288.087286320] [sailbot.teensy]: Wind angle: 245 -[trim_sail-4] [INFO] [1746050288.087940494] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050288.088296305] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050288.089230366] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050288.089785379] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050288.090104061] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050288.145219649] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050288.146066574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050288.146837491] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050288.148204227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050288.148762128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050288.245220510] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050288.245914084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050288.246727687] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050288.249039470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050288.250145083] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050288.335744658] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050288.338251363] [sailbot.teensy]: Wind angle: 245 -[trim_sail-4] [INFO] [1746050288.338475236] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050288.338730580] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050288.338695047] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050288.339096089] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050288.339451796] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050288.344486363] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050288.345172160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050288.346051665] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050288.347025567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050288.348213144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050288.445655619] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050288.446220676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050288.447463172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050288.448792506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050288.450039597] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050288.503717530] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903923 Long: -76.50277 -[vectornav-1] [INFO] [1746050288.505437888] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.76, -1.446, 5.495) -[mux-7] [INFO] [1746050288.545021620] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050288.545980339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050288.546659579] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050288.548961703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050288.550116531] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050288.585300532] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050288.587508032] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050288.588349868] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050288.588630301] [sailbot.teensy]: Wind angle: 245 -[teensy-2] [INFO] [1746050288.589769918] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050288.590625312] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050288.591482018] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050288.645057688] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050288.645774870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050288.646417833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050288.647866996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050288.648949083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050288.745186436] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050288.745862341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050288.746711739] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050288.747856025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050288.748796617] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050288.835398153] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050288.837834965] [sailbot.teensy]: Wind angle: 246 -[trim_sail-4] [INFO] [1746050288.837830644] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050288.838869813] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050288.839298388] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050288.839752166] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050288.840673708] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050288.844327352] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050288.845041633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050288.845435887] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050288.846848832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050288.847872398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050288.944916857] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050288.945594027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050288.946143239] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050288.947435859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050288.948505535] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050289.003828033] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903911 Long: -76.50277032 -[vectornav-1] [INFO] [1746050289.005874516] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.82899999999995, 0.507, 6.037) -[mux-7] [INFO] [1746050289.045133470] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050289.045885287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050289.046583843] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050289.048759733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050289.051409334] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050289.085494304] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050289.087744447] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050289.088340838] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050289.089356892] [sailbot.teensy]: Wind angle: 246 -[teensy-2] [INFO] [1746050289.090281806] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050289.091139151] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050289.091958950] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050289.145333618] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050289.146082763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050289.146962169] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050289.148346389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050289.149514393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050289.245196052] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050289.245871034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050289.246716196] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050289.247831937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050289.249105886] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050289.335489604] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050289.337402560] [sailbot.teensy]: Wind angle: 246 -[teensy-2] [INFO] [1746050289.337813542] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050289.337633814] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050289.338026777] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050289.338194152] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050289.338563075] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050289.344497960] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050289.345122056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050289.346003520] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050289.347100445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050289.348214605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050289.445063977] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050289.445818934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050289.446452281] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050289.447665769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050289.448456064] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050289.503379321] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903907 Long: -76.50277018 -[vectornav-1] [INFO] [1746050289.504743123] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.13300000000004, -0.81, 6.104) -[mux-7] [INFO] [1746050289.545035236] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050289.545628337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050289.546411653] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050289.547632649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050289.548776789] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050289.585392194] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050289.587101909] [sailbot.teensy]: Wind angle: 246 -[teensy-2] [INFO] [1746050289.588017862] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050289.587638308] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050289.588614141] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050289.588924812] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050289.589836930] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050289.645309980] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050289.646266266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050289.647381235] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050289.648576616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050289.650612206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050289.745316271] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050289.745970141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050289.746845887] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050289.747999452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050289.748595677] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050289.835245536] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050289.836995611] [sailbot.teensy]: Wind angle: 246 -[trim_sail-4] [INFO] [1746050289.838061568] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050289.838317887] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050289.839266146] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050289.839393208] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050289.840174811] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050289.844439352] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050289.845071705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050289.845576830] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050289.846848991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050289.847963437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050289.945291773] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050289.945992991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050289.946811012] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050289.948552079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050289.949772741] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050290.003669226] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903923 Long: -76.50277007 -[vectornav-1] [INFO] [1746050290.005553861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.55500000000006, 0.161, 5.093) -[mux-7] [INFO] [1746050290.045087311] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050290.045938802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050290.046529705] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050290.047926798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050290.048933688] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050290.085479193] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050290.087931047] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050290.088259134] [sailbot.teensy]: Wind angle: 246 -[teensy-2] [INFO] [1746050290.089257033] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050290.089934537] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050290.090214496] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050290.091110996] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050290.144629810] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050290.145244344] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050290.146128213] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050290.147112794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050290.148118364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050290.245042724] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050290.245822630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050290.246323408] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050290.247734897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050290.248792057] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050290.335763540] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050290.337919156] [sailbot.teensy]: Wind angle: 246 -[trim_sail-4] [INFO] [1746050290.338425228] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050290.338992241] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050290.339953000] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050290.340254418] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050290.340869926] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050290.344267917] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050290.344761427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050290.345334176] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050290.346437387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050290.347480645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050290.446118002] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050290.446350024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050290.448398735] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050290.448753226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050290.450060879] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050290.503166806] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903913 Long: -76.50276986 -[vectornav-1] [INFO] [1746050290.504595150] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.36699999999996, -0.669, 5.49) -[mux-7] [INFO] [1746050290.545173120] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050290.546112888] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050290.546917146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050290.548076839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050290.549297261] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050290.585376278] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050290.587662285] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050290.588068278] [sailbot.teensy]: Wind angle: 246 -[teensy-2] [INFO] [1746050290.589051448] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050290.588273252] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050290.589922014] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050290.590762230] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050290.645313499] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050290.646042109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050290.647122733] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050290.648016509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050290.648560872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050290.745354621] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050290.746076746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050290.746875661] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050290.748133375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050290.748699990] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050290.835149219] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050290.836760443] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050290.837729261] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050290.838091961] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050290.838474000] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050290.838562396] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050290.839418591] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050290.844628347] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050290.845180048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050290.845883668] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050290.846957333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050290.848253147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050290.944972459] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050290.945594544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050290.946439644] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050290.947458117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050290.948585287] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050291.003162786] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903915 Long: -76.50276985 -[vectornav-1] [INFO] [1746050291.004608699] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.00900000000001, -0.601, 4.926) -[mux-7] [INFO] [1746050291.044834991] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050291.045429816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050291.046073057] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050291.047195205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050291.048192314] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050291.085193059] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050291.087372884] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050291.087843360] [sailbot.teensy]: Wind angle: 249 -[mux-7] [INFO] [1746050291.088442091] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050291.088873087] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050291.089769858] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050291.090661137] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050291.145069950] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050291.146068000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050291.146509560] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050291.148034594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050291.149040560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050291.244855400] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050291.245445177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050291.246018590] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050291.247203575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050291.248297373] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050291.335316722] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050291.337062927] [sailbot.teensy]: Wind angle: 251 -[teensy-2] [INFO] [1746050291.337994452] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050291.338077284] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050291.338829829] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050291.338919982] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050291.339230236] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050291.344335901] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050291.344950468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050291.345454263] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050291.346564741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050291.347718353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050291.445319706] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050291.445980198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050291.446985659] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050291.448177758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050291.449166235] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050291.502316337] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903922 Long: -76.50276997 -[vectornav-1] [INFO] [1746050291.503753587] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.99400000000003, -0.404, 4.264) -[mux-7] [INFO] [1746050291.545274585] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050291.546109600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050291.547062740] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050291.548549113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050291.549662807] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050291.585876214] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050291.588529910] [sailbot.teensy]: Wind angle: 251 -[trim_sail-4] [INFO] [1746050291.588735739] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050291.589670664] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050291.590527967] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050291.590587531] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050291.591515239] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050291.645129109] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050291.646054951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050291.646605793] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050291.648626417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050291.649689100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050291.745115247] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050291.746006012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050291.746647835] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050291.748063346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050291.748592007] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050291.835435047] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050291.837973961] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050291.837972836] [sailbot.teensy]: Wind angle: 252 -[teensy-2] [INFO] [1746050291.838983999] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050291.839771434] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050291.839907041] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050291.840549262] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050291.844331649] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050291.844947119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050291.845495231] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050291.846701646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050291.847926936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050291.944982508] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050291.945682460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050291.946273445] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050291.947876960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050291.948493764] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050292.002504652] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690393 Long: -76.50277011 -[vectornav-1] [INFO] [1746050292.003617910] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.053, 0.34, 4.493) -[mux-7] [INFO] [1746050292.045206263] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050292.046005072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050292.046619583] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050292.047981099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050292.048500635] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050292.085728374] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050292.087732817] [sailbot.teensy]: Wind angle: 252 -[teensy-2] [INFO] [1746050292.088795180] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050292.089070465] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050292.089711384] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050292.090592376] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050292.091070485] [sailbot.mux]: algo sail angle: 20 -[mux-7] [INFO] [1746050292.145159217] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050292.146293913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050292.146707925] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050292.148182351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050292.149239579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050292.245133467] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050292.245653260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050292.246663881] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050292.247736310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050292.248917654] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050292.335396930] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050292.337866201] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050292.338422729] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050292.338876717] [sailbot.teensy]: Wind angle: 252 -[teensy-2] [INFO] [1746050292.339949848] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050292.340625159] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050292.341010142] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050292.344610751] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050292.345058736] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050292.345821698] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050292.346888353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050292.347960783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050292.445280007] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050292.445967287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050292.446854898] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050292.448172175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050292.448691319] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050292.503479543] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903952 Long: -76.50277023 -[vectornav-1] [INFO] [1746050292.505241446] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.53700000000003, -1.165, 4.693) -[mux-7] [INFO] [1746050292.545305554] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050292.546183515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050292.546852887] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050292.548783820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050292.549948980] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050292.585414916] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050292.587880785] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050292.588250563] [sailbot.teensy]: Wind angle: 253 -[teensy-2] [INFO] [1746050292.589206310] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050292.589912633] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050292.590148431] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050292.591028505] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050292.645247051] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050292.646074330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050292.646793981] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050292.648292278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050292.649309132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050292.745061851] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050292.745945592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050292.746671325] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050292.747943602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050292.749025693] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050292.835409965] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050292.837310805] [sailbot.teensy]: Wind angle: 253 -[teensy-2] [INFO] [1746050292.838289725] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050292.837941903] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050292.838736469] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050292.838823426] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050292.839108771] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050292.844391399] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050292.844951346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050292.845678206] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050292.846942622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050292.847973611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050292.945368989] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050292.945964772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050292.947400840] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050292.949592990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050292.950740582] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050293.003264635] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903951 Long: -76.50277031 -[vectornav-1] [INFO] [1746050293.004588438] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.18100000000004, -0.162, 4.355) -[mux-7] [INFO] [1746050293.044994199] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050293.045693359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050293.046401589] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050293.047581923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050293.048614580] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050293.085336880] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050293.087275165] [sailbot.teensy]: Wind angle: 253 -[trim_sail-4] [INFO] [1746050293.087937736] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050293.088283082] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050293.089144426] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050293.089187229] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050293.090094183] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050293.145167982] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050293.145966160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050293.146683817] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050293.148107234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050293.148754216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050293.245092903] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050293.246310956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050293.246577783] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050293.248490180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050293.249545408] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050293.335286984] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050293.337614333] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050293.338153921] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050293.338627612] [sailbot.teensy]: Wind angle: 253 -[teensy-2] [INFO] [1746050293.339172480] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050293.339557380] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050293.339921190] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050293.344836931] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050293.345141044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050293.346020643] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050293.346831660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050293.347896321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050293.445628211] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050293.446107486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050293.447438734] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050293.448461618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050293.448977169] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050293.503063405] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903963 Long: -76.5027704 -[vectornav-1] [INFO] [1746050293.504257949] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.06600000000003, -0.236, 4.607) -[mux-7] [INFO] [1746050293.545141687] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050293.545730231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050293.546905998] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050293.548040244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050293.549053204] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050293.585395849] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050293.587655979] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050293.588445130] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050293.589115467] [sailbot.teensy]: Wind angle: 253 -[teensy-2] [INFO] [1746050293.590087079] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050293.590901262] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050293.591930463] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050293.645123987] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050293.645637912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050293.646710789] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050293.648269735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050293.649492403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050293.745024508] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050293.745702606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050293.746399864] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050293.747573359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050293.748742685] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050293.835521919] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050293.837701121] [sailbot.teensy]: Wind angle: 253 -[trim_sail-4] [INFO] [1746050293.837979682] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050293.838739902] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050293.839720815] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050293.840470869] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050293.840901507] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050293.844323395] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050293.844878555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050293.845423002] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050293.846641551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050293.847809625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050293.945312069] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050293.945960329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050293.947078156] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050293.948180002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050293.949276261] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050294.003225084] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903962 Long: -76.5027704 -[vectornav-1] [INFO] [1746050294.005153280] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.99099999999999, -0.455, 4.407) -[mux-7] [INFO] [1746050294.045104790] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050294.045656179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050294.046413223] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050294.047569949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050294.048747648] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050294.085399662] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050294.087154257] [sailbot.teensy]: Wind angle: 253 -[teensy-2] [INFO] [1746050294.088061453] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050294.087879731] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050294.088952017] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050294.089446568] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050294.089912226] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050294.145144184] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050294.145928679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050294.147018337] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050294.148503575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050294.149098609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050294.245049499] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050294.245686863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050294.246914054] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050294.247677946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050294.248383543] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050294.335281248] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050294.340330882] [sailbot.teensy]: Wind angle: 256 -[trim_sail-4] [INFO] [1746050294.341000685] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050294.341224174] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050294.342059497] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050294.342090050] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050294.342887952] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050294.344377192] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050294.344628142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050294.344897574] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050294.345351572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050294.345897186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050294.445596689] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050294.446335294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050294.447237627] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050294.448596690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050294.449092151] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050294.502313975] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903961 Long: -76.50277064 -[vectornav-1] [INFO] [1746050294.503293046] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.481, -0.953, 3.162) -[mux-7] [INFO] [1746050294.545247377] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050294.546162408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050294.546922410] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050294.548569354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050294.549616944] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050294.585344540] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050294.587863366] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050294.587897933] [sailbot.teensy]: Wind angle: 262 -[teensy-2] [INFO] [1746050294.588870055] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050294.588919666] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050294.589810663] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050294.590679741] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050294.645145816] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050294.645744390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050294.646591464] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050294.647769685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050294.648861608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050294.745230241] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050294.745976820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050294.747225504] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050294.748073064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050294.748626269] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050294.835427251] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050294.837411214] [sailbot.teensy]: Wind angle: 273 -[teensy-2] [INFO] [1746050294.838383936] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050294.837975042] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050294.839275935] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050294.839881002] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050294.840179414] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050294.844541151] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050294.845069331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050294.845916319] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050294.846835809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050294.848676428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050294.945481998] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050294.946071400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050294.947091916] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050294.948683519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050294.949878760] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050295.002420776] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903965 Long: -76.50277132 -[vectornav-1] [INFO] [1746050295.003479046] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.84199999999998, -0.116, 3.245) -[mux-7] [INFO] [1746050295.045227542] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050295.045949727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050295.046778144] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050295.047949689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050295.049120237] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050295.085599561] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050295.088790896] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050295.088946702] [sailbot.teensy]: Wind angle: 287 -[teensy-2] [INFO] [1746050295.089893076] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050295.090248067] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050295.090786602] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050295.091672307] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050295.145221851] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050295.145790250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050295.146800694] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050295.147800722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050295.148884929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050295.245159524] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050295.245801390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050295.246610947] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050295.247796000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050295.248337087] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050295.335172677] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050295.337301208] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050295.338203300] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050295.338510841] [sailbot.teensy]: Wind angle: 294 -[teensy-2] [INFO] [1746050295.339536824] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050295.340588449] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050295.341470487] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050295.344335300] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050295.344942910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050295.345446954] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050295.346719827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050295.347706236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050295.445430466] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050295.446506833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050295.446998908] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050295.448524714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050295.449012643] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050295.503110538] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903958 Long: -76.50277185 -[vectornav-1] [INFO] [1746050295.504723392] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.44399999999996, -0.964, 2.892) -[mux-7] [INFO] [1746050295.545120659] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050295.545922202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050295.546550829] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050295.548008081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050295.549055807] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050295.585247179] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050295.587460115] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050295.587542545] [sailbot.teensy]: Wind angle: 295 -[teensy-2] [INFO] [1746050295.588508957] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050295.588724309] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050295.589481866] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050295.590369535] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050295.644964270] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050295.645657341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050295.646269044] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050295.647794336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050295.648885786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050295.745151343] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050295.746055296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050295.746632708] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050295.747856763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050295.748305713] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050295.835302888] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050295.837124814] [sailbot.teensy]: Wind angle: 295 -[trim_sail-4] [INFO] [1746050295.837959436] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050295.838911961] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050295.839785775] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050295.840752232] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050295.841699633] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050295.844598958] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050295.845042063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050295.845827485] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050295.846726696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050295.847857930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050295.945333069] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050295.946161701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050295.947158057] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050295.948575133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050295.949884840] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050296.002495012] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903964 Long: -76.50277223 -[vectornav-1] [INFO] [1746050296.003567598] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.09900000000005, -0.08, 1.847) -[mux-7] [INFO] [1746050296.045195755] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050296.046103626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050296.046746160] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050296.048306955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050296.049348619] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050296.085369886] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050296.087139653] [sailbot.teensy]: Wind angle: 294 -[trim_sail-4] [INFO] [1746050296.087840927] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050296.088076710] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050296.088959926] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050296.089146108] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050296.089912846] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050296.145269171] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050296.145989930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050296.147273119] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050296.148350054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050296.149604400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050296.245110436] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050296.246471106] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050296.248680495] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050296.250290528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050296.251207239] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050296.335459783] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050296.337953133] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050296.338793641] [sailbot.teensy]: Wind angle: 295 -[mux-7] [INFO] [1746050296.339502541] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050296.339580297] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050296.339985335] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050296.340437212] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050296.344510706] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050296.345002274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050296.345658849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050296.346706347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050296.347779887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050296.445591478] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050296.446256695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050296.447524859] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050296.448788356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050296.449854299] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050296.503142941] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903953 Long: -76.50277244 -[vectornav-1] [INFO] [1746050296.504459973] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.721, -0.838, 2.786) -[mux-7] [INFO] [1746050296.545200661] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050296.546280819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050296.546759016] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050296.548366172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050296.549526060] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050296.585288226] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050296.587990116] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050296.588011159] [sailbot.teensy]: Wind angle: 294 -[teensy-2] [INFO] [1746050296.588963752] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050296.589104237] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050296.589870709] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050296.590721816] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050296.644740135] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050296.645538293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050296.646336536] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050296.647428625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050296.648487423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050296.745178398] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050296.745944383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050296.746625074] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050296.748047182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050296.748647334] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050296.835410405] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050296.837453722] [sailbot.teensy]: Wind angle: 295 -[trim_sail-4] [INFO] [1746050296.837920760] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050296.838507529] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050296.839457489] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050296.839865112] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050296.840225989] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050296.844537154] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050296.845384634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050296.845821676] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050296.847877780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050296.849075279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050296.945283457] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050296.946531288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050296.946984286] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050296.948750509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050296.949794838] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050297.002574184] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903945 Long: -76.5027729 -[vectornav-1] [INFO] [1746050297.003602765] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.389, -0.414, 2.652) -[mux-7] [INFO] [1746050297.045848011] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050297.046556410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050297.047520796] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050297.048080055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050297.048643414] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050297.085374383] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050297.087608657] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050297.088101643] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050297.088385259] [sailbot.teensy]: Wind angle: 295 -[teensy-2] [INFO] [1746050297.089274842] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050297.090196007] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050297.091076183] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050297.145237662] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050297.146268002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050297.147014256] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050297.148719447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050297.149754055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050297.244900383] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050297.245658226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050297.246121176] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050297.247839637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050297.248896355] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050297.335099333] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050297.337240743] [sailbot.teensy]: Wind angle: 294 -[trim_sail-4] [INFO] [1746050297.337266229] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050297.338262743] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050297.338466655] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050297.339263243] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050297.340427542] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050297.344353093] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050297.344817776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050297.345511718] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050297.346558446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050297.347730601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050297.445129176] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050297.446067335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050297.446650614] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050297.448415685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050297.449576097] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050297.503605138] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903952 Long: -76.50277354 -[vectornav-1] [INFO] [1746050297.505036011] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.71699999999998, 0.017, 2.808) -[mux-7] [INFO] [1746050297.545301065] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050297.546236585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050297.546908776] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050297.548412455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050297.549626069] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050297.585371289] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050297.587679222] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050297.588092259] [sailbot.teensy]: Wind angle: 295 -[mux-7] [INFO] [1746050297.588391994] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050297.589426880] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050297.590416998] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050297.591391652] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050297.644822188] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050297.645645581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050297.646245454] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050297.647654145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050297.648749108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050297.744755851] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050297.745474140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050297.745982583] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050297.747383005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050297.748401921] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050297.835365011] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050297.837163553] [sailbot.teensy]: Wind angle: 295 -[teensy-2] [INFO] [1746050297.838125535] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050297.838438986] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050297.838942051] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050297.839060962] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050297.839847235] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050297.844344010] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050297.844817215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050297.845512779] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050297.846956111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050297.848053526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050297.945102076] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050297.945940436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050297.946933146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050297.947935148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050297.948431290] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050298.003496208] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903926 Long: -76.50277423 -[vectornav-1] [INFO] [1746050298.005032187] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.265, -1.153, 2.884) -[mux-7] [INFO] [1746050298.044760992] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050298.045409198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050298.046171879] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050298.047272390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050298.048461056] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050298.085352763] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050298.087907128] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050298.088100716] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050298.088370689] [sailbot.teensy]: Wind angle: 294 -[teensy-2] [INFO] [1746050298.089626482] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050298.090561470] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050298.091402203] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050298.145512982] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050298.146185075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050298.148070262] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050298.148647681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050298.149801657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050298.245171516] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050298.245997794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050298.246677598] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050298.248024173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050298.248499047] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050298.335511876] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050298.337717971] [sailbot.teensy]: Wind angle: 294 -[teensy-2] [INFO] [1746050298.338679281] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050298.338149335] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050298.338585525] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050298.339496658] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050298.339874676] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050298.344527494] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050298.345264183] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050298.345835421] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050298.347094042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050298.348068436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050298.445276389] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050298.446381193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050298.446808064] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050298.448629997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050298.449703458] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050298.502700645] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903926 Long: -76.50277487 -[vectornav-1] [INFO] [1746050298.503791281] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.89, -0.589, 2.903) -[mux-7] [INFO] [1746050298.545281683] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050298.546083789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050298.546977358] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050298.548592814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050298.549817441] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050298.585439196] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050298.587680736] [sailbot.teensy]: Wind angle: 293 -[trim_sail-4] [INFO] [1746050298.588626064] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050298.588690084] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050298.589637583] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050298.590071168] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050298.590841140] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050298.645352314] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050298.646280391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050298.646930582] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050298.648622044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050298.649740283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050298.745173628] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050298.746057601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050298.746630953] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050298.748074029] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050298.748562564] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050298.835341960] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050298.837502626] [sailbot.teensy]: Wind angle: 292 -[trim_sail-4] [INFO] [1746050298.837667680] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050298.838169578] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050298.838438914] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050298.839351371] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050298.840198476] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050298.844507441] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050298.845063540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050298.845682057] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050298.846823210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050298.848014366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050298.945367242] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050298.946144310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050298.947032093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050298.948487450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050298.948952901] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050299.003526005] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903908 Long: -76.50277545 -[vectornav-1] [INFO] [1746050299.005178317] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.76800000000003, 0.246, 2.729) -[mux-7] [INFO] [1746050299.045313322] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050299.046348881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050299.047114977] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050299.048533094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050299.050088820] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050299.085793841] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050299.088541429] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050299.089204662] [sailbot.teensy]: Wind angle: 292 -[teensy-2] [INFO] [1746050299.090144924] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050299.090281409] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050299.091062487] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050299.091952485] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050299.145194092] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050299.146025163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050299.147349826] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050299.148104204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050299.149288294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050299.245499402] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050299.246651363] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050299.247321349] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050299.248917782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050299.249531148] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050299.335208522] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050299.337202775] [sailbot.teensy]: Wind angle: 293 -[teensy-2] [INFO] [1746050299.338414150] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050299.338594759] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050299.339536336] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050299.340323587] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050299.340544060] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050299.344528460] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050299.345327887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050299.345898234] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050299.347109026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050299.348261901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050299.445941852] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050299.446493837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050299.447773717] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050299.449006258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050299.450264020] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050299.502400368] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903892 Long: -76.50277619 -[vectornav-1] [INFO] [1746050299.503454725] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.28700000000003, -0.54, 2.363) -[mux-7] [INFO] [1746050299.545444157] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050299.546427223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050299.547186007] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050299.548643226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050299.549848892] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050299.585379060] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050299.587687405] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050299.587896396] [sailbot.teensy]: Wind angle: 293 -[teensy-2] [INFO] [1746050299.589042740] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050299.589636506] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050299.589998495] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050299.590897894] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050299.644894922] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050299.645600362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050299.646386098] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050299.647636476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050299.648690664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050299.745349470] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050299.746144411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050299.747118491] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050299.748127380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050299.749445520] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050299.835930885] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050299.838812373] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050299.839919554] [sailbot.teensy]: Wind angle: 293 -[teensy-2] [INFO] [1746050299.840956109] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050299.841186587] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050299.841895878] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050299.842852473] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050299.844544428] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050299.845186147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050299.845673205] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050299.846827275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050299.847890285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050299.945451111] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050299.946168385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050299.947018962] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050299.947836469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050299.948387794] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050300.003225203] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903879 Long: -76.50277689 -[vectornav-1] [INFO] [1746050300.004437273] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.36799999999994, -1.104, 3.236) -[mux-7] [INFO] [1746050300.045159550] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050300.046051225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050300.046667041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050300.048038777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050300.049093188] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050300.085462088] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050300.087193785] [sailbot.teensy]: Wind angle: 293 -[trim_sail-4] [INFO] [1746050300.087716510] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050300.088262153] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050300.089188273] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050300.089388794] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050300.090101011] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050300.145197009] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050300.146486484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050300.146703850] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050300.148117978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050300.148650528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050300.244920726] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050300.245727477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050300.246166513] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050300.247662018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050300.248728450] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050300.335319800] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050300.337578640] [sailbot.teensy]: Wind angle: 292 -[trim_sail-4] [INFO] [1746050300.337654222] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050300.338552818] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050300.339170276] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050300.339235091] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050300.339635508] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050300.344278738] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050300.344930715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050300.345371048] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050300.346647782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050300.347877892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050300.445216754] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050300.446324167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050300.446874418] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050300.448541491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050300.449034087] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050300.502595679] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903838 Long: -76.50277801 -[vectornav-1] [INFO] [1746050300.503631005] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.56399999999996, -0.284, 2.643) -[mux-7] [INFO] [1746050300.544838175] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050300.545745626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050300.546307670] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050300.547784149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050300.548838792] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050300.585409394] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050300.587277895] [sailbot.teensy]: Wind angle: 293 -[trim_sail-4] [INFO] [1746050300.587804976] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050300.588254745] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050300.589119861] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050300.589051936] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050300.590002391] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050300.645054756] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050300.645864453] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050300.646367864] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050300.647772458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050300.648374149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050300.744855551] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050300.745484520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050300.746077142] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050300.747489373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050300.748094491] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050300.835362917] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050300.837452908] [sailbot.teensy]: Wind angle: 293 -[trim_sail-4] [INFO] [1746050300.837948286] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050300.838451855] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050300.838858172] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050300.839420138] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050300.840311919] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050300.844315168] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050300.844822182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050300.845441895] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050300.846610833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050300.847665848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050300.945486807] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050300.946244276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050300.947045808] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050300.948519696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050300.949808671] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050301.003209447] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690378 Long: -76.50277888 -[vectornav-1] [INFO] [1746050301.004443716] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.659, 0.606, 2.551) -[mux-7] [INFO] [1746050301.044894302] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050301.045504255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050301.046130718] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050301.047595567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050301.048671222] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050301.085315319] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050301.086988563] [sailbot.teensy]: Wind angle: 293 -[trim_sail-4] [INFO] [1746050301.087454321] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050301.087869890] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050301.088747300] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050301.089677636] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050301.089694498] [sailbot.mux]: algo sail angle: 50 -[mux-7] [INFO] [1746050301.145163738] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050301.145783557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050301.146653498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050301.148216201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050301.149084026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050301.244836747] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050301.245543133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050301.246655154] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050301.247506765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050301.248443606] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050301.335284519] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050301.337789773] [sailbot.teensy]: Wind angle: 293 -[trim_sail-4] [INFO] [1746050301.339184846] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050301.340044145] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050301.340428668] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050301.341465548] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050301.342334092] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050301.344423146] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050301.344862359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050301.345550398] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050301.346518966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050301.347658849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050301.445577027] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050301.446215959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050301.447595211] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050301.448495923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050301.449661874] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050301.503148588] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903745 Long: -76.50277992 -[vectornav-1] [INFO] [1746050301.504339690] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.99, -1.142, 4.296) -[mux-7] [INFO] [1746050301.545036007] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050301.545562495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050301.546354481] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050301.547564527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050301.548667576] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050301.585660353] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050301.587824616] [sailbot.teensy]: Wind angle: 293 -[trim_sail-4] [INFO] [1746050301.588420549] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050301.588929925] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050301.589920487] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050301.590722146] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050301.590769508] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050301.645587164] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050301.646007091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050301.647225513] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050301.648584671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050301.649683005] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050301.745418218] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050301.746016596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050301.747371206] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050301.748342791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050301.750139667] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050301.835543820] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050301.838119296] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050301.838673094] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050301.839476515] [sailbot.teensy]: Wind angle: 293 -[teensy-2] [INFO] [1746050301.840461181] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050301.841320276] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050301.842162331] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050301.844448810] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050301.845044699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050301.845553298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050301.846757270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050301.847787140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050301.944900881] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050301.945454974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050301.946205145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050301.947211142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050301.948420218] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050302.002985143] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903726 Long: -76.5027808 -[vectornav-1] [INFO] [1746050302.004338456] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.34400000000005, 0.198, 2.693) -[mux-7] [INFO] [1746050302.045123304] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050302.045828932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050302.046475573] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050302.047986132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050302.049162738] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050302.085497602] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050302.087812900] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050302.089110911] [sailbot.teensy]: Wind angle: 291 -[mux-7] [INFO] [1746050302.089204994] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050302.090209246] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050302.091099884] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050302.091969466] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050302.145451536] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050302.146213339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050302.147022741] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050302.148474317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050302.149770933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050302.244880370] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050302.245703219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050302.246139276] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050302.247529981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050302.248587290] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050302.335459905] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050302.337646720] [sailbot.teensy]: Wind angle: 291 -[trim_sail-4] [INFO] [1746050302.337750718] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050302.338634270] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050302.339366558] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050302.339539752] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050302.340470543] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050302.344552601] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050302.344968645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050302.345648427] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050302.346653560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050302.348123202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050302.445352822] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050302.445996890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050302.446688990] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050302.447978545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050302.449266134] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050302.502507717] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903693 Long: -76.50278133 -[vectornav-1] [INFO] [1746050302.503629458] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.836, 0.615, 2.692) -[mux-7] [INFO] [1746050302.544908514] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050302.545527323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050302.546277713] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050302.547564715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050302.548667667] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050302.585596606] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050302.588288837] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050302.588876447] [sailbot.teensy]: Wind angle: 291 -[mux-7] [INFO] [1746050302.589428774] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050302.589875725] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050302.590853330] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050302.591731207] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050302.644952940] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050302.645876444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050302.646319921] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050302.647933709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050302.648995763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050302.745058534] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050302.745634313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050302.746284177] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050302.747419099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050302.748623685] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050302.835685772] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050302.838553324] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050302.839283990] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050302.839374176] [sailbot.teensy]: Wind angle: 291 -[teensy-2] [INFO] [1746050302.839830405] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050302.840184518] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050302.840554599] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050302.844395277] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050302.844901262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050302.845485178] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050302.846658003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050302.847778484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050302.945269798] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050302.946271389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050302.946756510] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050302.948077663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050302.948615456] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050303.002864914] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903669 Long: -76.5027814 -[vectornav-1] [INFO] [1746050303.003991345] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.86400000000003, -0.844, 2.926) -[mux-7] [INFO] [1746050303.044996355] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050303.045450197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050303.046386531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050303.047233074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050303.048932540] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050303.085403356] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050303.087263499] [sailbot.teensy]: Wind angle: 291 -[teensy-2] [INFO] [1746050303.088361175] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050303.088481104] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050303.089308277] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050303.089716129] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050303.090624601] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050303.145265300] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050303.146193111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050303.146712921] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050303.148674827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050303.149753131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050303.245242355] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050303.245880386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050303.246940380] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050303.248201260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050303.249380825] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050303.335527795] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050303.337571978] [sailbot.teensy]: Wind angle: 291 -[teensy-2] [INFO] [1746050303.338961752] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050303.338878574] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050303.339604932] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050303.339876948] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050303.339986997] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050303.344361640] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050303.345002443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050303.345464701] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050303.346794825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050303.347943790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050303.445126090] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050303.445978521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050303.446698752] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050303.448099764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050303.449295260] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050303.503470424] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903659 Long: -76.50278174 -[vectornav-1] [INFO] [1746050303.505018688] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.11900000000003, -0.542, 3.518) -[mux-7] [INFO] [1746050303.545005466] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050303.545666235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050303.546223568] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050303.547492190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050303.548517031] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050303.585531276] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050303.588050640] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050303.588485759] [sailbot.teensy]: Wind angle: 291 -[mux-7] [INFO] [1746050303.589367335] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050303.589522188] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050303.590453538] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050303.591328965] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050303.645199559] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050303.645958035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050303.646663871] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050303.648070434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050303.649162508] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050303.734178200] [sailbot.mux]: controller_app sail angle: 3 -[mux-7] [INFO] [1746050303.744837485] [sailbot.mux]: Published sail angle from controller_app: 3 -[teensy-2] [INFO] [1746050303.745495450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050303.746093062] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050303.747283085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 -[teensy-2] [INFO] [1746050303.748311106] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050303.835374772] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050303.837691572] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050303.838275744] [sailbot.teensy]: Wind angle: 291 -[mux-7] [INFO] [1746050303.838962507] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050303.839521858] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050303.840476005] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050303.841361150] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050303.844415182] [sailbot.mux]: Published sail angle from controller_app: 3 -[teensy-2] [INFO] [1746050303.844909345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050303.845508354] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050303.846596024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 -[teensy-2] [INFO] [1746050303.847602688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050303.945189798] [sailbot.mux]: Published sail angle from controller_app: 3 -[teensy-2] [INFO] [1746050303.945995636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050303.946925708] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050303.948349963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 -[teensy-2] [INFO] [1746050303.948805564] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050304.003236030] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903652 Long: -76.50278199 -[vectornav-1] [INFO] [1746050304.004742446] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.22299999999996, 0.257, 1.761) -[mux-7] [INFO] [1746050304.045303539] [sailbot.mux]: Published sail angle from controller_app: 3 -[teensy-2] [INFO] [1746050304.046169631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050304.046808988] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050304.048305269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:3, rudder: 0 -[teensy-2] [INFO] [1746050304.049437493] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050304.085267615] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050304.087444750] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050304.087813357] [sailbot.teensy]: Wind angle: 291 -[mux-7] [INFO] [1746050304.088428299] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050304.088892998] [sailbot.teensy]: Actual sail angle: 3 -[teensy-2] [INFO] [1746050304.089776896] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050304.090626554] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050304.132554205] [sailbot.mux]: controller_app sail angle: 0 -[mux-7] [INFO] [1746050304.144870624] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050304.145530842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050304.146106149] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050304.147363131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050304.148401309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050304.245097709] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050304.246097348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050304.246480039] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050304.247946868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050304.248514560] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050304.335409630] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050304.337258947] [sailbot.teensy]: Wind angle: 291 -[teensy-2] [INFO] [1746050304.338176524] [sailbot.teensy]: Actual sail angle: 3 -[trim_sail-4] [INFO] [1746050304.337710568] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050304.338209409] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050304.339101195] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050304.340043807] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050304.344335778] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050304.344981052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050304.345444652] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050304.347127528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050304.348338988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050304.445318961] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050304.446069422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050304.447455466] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050304.447871821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050304.448352164] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050304.502510962] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903618 Long: -76.50278198 -[vectornav-1] [INFO] [1746050304.503612042] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.84400000000005, -0.17, 2.835) -[mux-7] [INFO] [1746050304.545039905] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050304.545729316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050304.546480787] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050304.547765139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050304.548799826] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050304.585298545] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050304.587452743] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050304.588198492] [sailbot.teensy]: Wind angle: 291 -[mux-7] [INFO] [1746050304.588875390] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050304.589215503] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050304.590323301] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050304.591275481] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050304.644874037] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050304.645408727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050304.646136958] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050304.647236224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050304.648282506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050304.744842968] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050304.745463045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050304.746198779] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050304.747287329] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050304.748921436] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050304.835397933] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050304.837198803] [sailbot.teensy]: Wind angle: 291 -[trim_sail-4] [INFO] [1746050304.837906552] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050304.838796820] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050304.839384300] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050304.839824868] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050304.840204990] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050304.844289760] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050304.844774566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050304.845379331] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050304.846509265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050304.847466070] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050304.945023933] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050304.945943046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050304.946753009] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050304.947954994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050304.949004047] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050305.003202774] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903584 Long: -76.50278208 -[vectornav-1] [INFO] [1746050305.004464905] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.54099999999994, -0.608, 4.472) -[mux-7] [INFO] [1746050305.045164359] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050305.045684493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050305.046533325] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050305.047710917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050305.048749953] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050305.085401113] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050305.087547589] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050305.088063980] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050305.088436517] [sailbot.teensy]: Wind angle: 292 -[teensy-2] [INFO] [1746050305.089435569] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050305.090341570] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050305.091202173] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050305.145098511] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050305.145825488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050305.146484781] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050305.147825258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050305.148895566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050305.245060407] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050305.245811151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050305.246448519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050305.248128403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050305.249153855] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050305.335470204] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050305.337775237] [sailbot.teensy]: Wind angle: 292 -[teensy-2] [INFO] [1746050305.338958733] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050305.337850880] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050305.338394018] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050305.340138150] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050305.341494757] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050305.344816970] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050305.345060509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050305.346044620] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050305.346863065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050305.348095585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050305.444955616] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050305.445743446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050305.446289557] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050305.447844193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050305.448424989] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050305.503099635] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903591 Long: -76.50278219 -[vectornav-1] [INFO] [1746050305.504471801] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.35199999999998, -0.036, 4.085) -[mux-7] [INFO] [1746050305.544890609] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050305.545496251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050305.546304346] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050305.547526674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050305.548562307] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050305.585258912] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050305.586918105] [sailbot.teensy]: Wind angle: 291 -[trim_sail-4] [INFO] [1746050305.587515987] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050305.587818324] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050305.588663802] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050305.588818095] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050305.589476627] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050305.644913627] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050305.645995769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050305.646202421] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050305.647978950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050305.649016557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050305.745057258] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050305.745938282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050305.746606948] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050305.747921148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050305.748427598] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050305.835415166] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050305.837637703] [sailbot.teensy]: Wind angle: 292 -[trim_sail-4] [INFO] [1746050305.837730269] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050305.838598461] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050305.839461835] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050305.839462609] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050305.840385199] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050305.844542990] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050305.844929821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050305.845695228] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050305.846645061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050305.847694240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050305.945340089] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050305.945873103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050305.946944724] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050305.947972561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050305.949057818] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050306.004027425] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469036 Long: -76.50278206 -[vectornav-1] [INFO] [1746050306.005557916] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.00400000000002, -0.526, 4.343) -[mux-7] [INFO] [1746050306.045201444] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050306.045788056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050306.046844769] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050306.047988431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050306.049064799] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050306.085126435] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050306.087133934] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050306.087815697] [sailbot.teensy]: Wind angle: 292 -[mux-7] [INFO] [1746050306.088486962] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050306.088789820] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050306.089629251] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050306.090476107] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050306.144989140] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050306.145750845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050306.146401281] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050306.147712674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050306.148869942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050306.173939830] [sailbot.mux]: controller_app sail angle: 31 -[mux-7] [INFO] [1746050306.244960017] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050306.245632289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050306.246202701] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050306.247436128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050306.248488646] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050306.335385436] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050306.337214392] [sailbot.teensy]: Wind angle: 292 -[trim_sail-4] [INFO] [1746050306.337770423] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050306.338181323] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050306.338808025] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050306.339072146] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050306.339194596] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050306.344465254] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050306.345166789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050306.345926203] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050306.346987989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050306.347999965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050306.445014109] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050306.445784070] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050306.446777556] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050306.447867177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050306.448940818] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050306.502606725] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903589 Long: -76.50278177 -[vectornav-1] [INFO] [1746050306.503666597] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.41999999999996, 0.267, 4.064) -[mux-7] [INFO] [1746050306.544792329] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050306.545372642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050306.545990558] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050306.547111083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050306.547991131] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050306.585685128] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050306.587941882] [sailbot.teensy]: Wind angle: 292 -[teensy-2] [INFO] [1746050306.589073247] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050306.590059199] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746050306.589193163] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050306.590951040] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050306.591690897] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050306.645166859] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050306.645818174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050306.646551367] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050306.647727147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050306.648952700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050306.745290500] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050306.746023024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050306.747402761] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050306.747916189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050306.748712299] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050306.835360355] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050306.837106839] [sailbot.teensy]: Wind angle: 292 -[teensy-2] [INFO] [1746050306.838049837] [sailbot.teensy]: Actual sail angle: 31 -[trim_sail-4] [INFO] [1746050306.838230083] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050306.838792256] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050306.838801292] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050306.839196212] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050306.844490323] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050306.844978160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050306.845537284] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050306.846671123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050306.847778254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050306.945179650] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050306.945920240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050306.946753195] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050306.948126181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050306.948775645] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050307.003342925] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903587 Long: -76.50278138 -[vectornav-1] [INFO] [1746050307.005197463] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.24199999999996, -1.238, 4.979) -[mux-7] [INFO] [1746050307.044918870] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050307.045587165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050307.046169963] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050307.047654750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[teensy-2] [INFO] [1746050307.048808012] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050307.085308561] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050307.086975291] [sailbot.teensy]: Wind angle: 291 -[trim_sail-4] [INFO] [1746050307.087467505] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050307.087917140] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050307.088840495] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050307.089055544] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050307.089719894] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050307.144667829] [sailbot.mux]: Published sail angle from controller_app: 31 -[teensy-2] [INFO] [1746050307.145473394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050307.145872861] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050307.147258243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:31, rudder: 0 -[mux-7] [INFO] [1746050307.147940558] [sailbot.mux]: controller_app sail angle: 42 -[teensy-2] [INFO] [1746050307.148638227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050307.245213072] [sailbot.mux]: Published sail angle from controller_app: 42 -[teensy-2] [INFO] [1746050307.245980913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050307.246695093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050307.248291923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 -[teensy-2] [INFO] [1746050307.248701994] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050307.335539384] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050307.338794125] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050307.339897108] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050307.341083425] [sailbot.teensy]: Wind angle: 291 -[teensy-2] [INFO] [1746050307.341525204] [sailbot.teensy]: Actual sail angle: 31 -[teensy-2] [INFO] [1746050307.341932343] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050307.342304059] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050307.343555345] [sailbot.mux]: Published sail angle from controller_app: 42 -[teensy-2] [INFO] [1746050307.343784430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050307.344424840] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050307.345719930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 -[teensy-2] [INFO] [1746050307.346816300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050307.445244453] [sailbot.mux]: Published sail angle from controller_app: 42 -[teensy-2] [INFO] [1746050307.446024935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050307.446721767] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050307.448066797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 -[teensy-2] [INFO] [1746050307.448573362] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050307.503556328] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903619 Long: -76.50278107 -[vectornav-1] [INFO] [1746050307.505010066] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.46699999999998, 0.556, 3.427) -[mux-7] [INFO] [1746050307.545048335] [sailbot.mux]: Published sail angle from controller_app: 42 -[teensy-2] [INFO] [1746050307.545784769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050307.547293563] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050307.547709324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 -[teensy-2] [INFO] [1746050307.548511606] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050307.585437028] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050307.587243752] [sailbot.teensy]: Wind angle: 292 -[trim_sail-4] [INFO] [1746050307.587781798] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050307.588209458] [sailbot.teensy]: Actual sail angle: 42 -[teensy-2] [INFO] [1746050307.589157375] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050307.589514504] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050307.590100869] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050307.645143198] [sailbot.mux]: Published sail angle from controller_app: 42 -[teensy-2] [INFO] [1746050307.646041116] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050307.646599340] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050307.648367415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 -[teensy-2] [INFO] [1746050307.649430387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050307.745020958] [sailbot.mux]: Published sail angle from controller_app: 42 -[teensy-2] [INFO] [1746050307.745740264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050307.746363485] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050307.747691365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 -[teensy-2] [INFO] [1746050307.748672227] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050307.835316628] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050307.837741484] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050307.837757917] [sailbot.teensy]: Wind angle: 291 -[teensy-2] [INFO] [1746050307.839012636] [sailbot.teensy]: Actual sail angle: 42 -[mux-7] [INFO] [1746050307.839280787] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050307.839968602] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050307.840839890] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050307.844500498] [sailbot.mux]: Published sail angle from controller_app: 42 -[teensy-2] [INFO] [1746050307.845157150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050307.845746633] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050307.847225831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 -[teensy-2] [INFO] [1746050307.848488496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050307.945148880] [sailbot.mux]: Published sail angle from controller_app: 42 -[teensy-2] [INFO] [1746050307.945933361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050307.946607899] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050307.948113127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 -[teensy-2] [INFO] [1746050307.949119338] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050308.002508258] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903632 Long: -76.50278057 -[vectornav-1] [INFO] [1746050308.003623447] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.38200000000006, -1.061, 3.791) -[mux-7] [INFO] [1746050308.045492913] [sailbot.mux]: Published sail angle from controller_app: 42 -[teensy-2] [INFO] [1746050308.046172140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050308.047748849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050308.048324446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 -[teensy-2] [INFO] [1746050308.049246015] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050308.085671459] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050308.087647535] [sailbot.teensy]: Wind angle: 292 -[teensy-2] [INFO] [1746050308.088656114] [sailbot.teensy]: Actual sail angle: 42 -[trim_sail-4] [INFO] [1746050308.088288767] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050308.089581436] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050308.089836646] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050308.090433671] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050308.144735632] [sailbot.mux]: Published sail angle from controller_app: 42 -[teensy-2] [INFO] [1746050308.145434953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050308.145908701] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050308.147875921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 -[teensy-2] [INFO] [1746050308.149034120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050308.244992712] [sailbot.mux]: Published sail angle from controller_app: 42 -[teensy-2] [INFO] [1746050308.245740642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050308.246267929] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050308.247868404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 -[teensy-2] [INFO] [1746050308.248869930] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050308.335487396] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050308.337760498] [sailbot.teensy]: Wind angle: 292 -[trim_sail-4] [INFO] [1746050308.337812250] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050308.338682677] [sailbot.teensy]: Actual sail angle: 42 -[mux-7] [INFO] [1746050308.339004589] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050308.339077948] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050308.339483418] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050308.344574942] [sailbot.mux]: Published sail angle from controller_app: 42 -[teensy-2] [INFO] [1746050308.344967016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050308.345833884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050308.346654845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 -[teensy-2] [INFO] [1746050308.347752792] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050308.445269131] [sailbot.mux]: Published sail angle from controller_app: 42 -[teensy-2] [INFO] [1746050308.445896496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050308.446758501] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050308.447812603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 -[teensy-2] [INFO] [1746050308.448671035] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050308.502490705] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903625 Long: -76.50278033 -[vectornav-1] [INFO] [1746050308.503566877] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.707, 0.055, 2.966) -[mux-7] [INFO] [1746050308.545044509] [sailbot.mux]: Published sail angle from controller_app: 42 -[teensy-2] [INFO] [1746050308.545626879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050308.546703208] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050308.547705601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 -[teensy-2] [INFO] [1746050308.548767213] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050308.585573293] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050308.588184661] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050308.588680522] [sailbot.teensy]: Wind angle: 292 -[mux-7] [INFO] [1746050308.589469865] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050308.589665503] [sailbot.teensy]: Actual sail angle: 42 -[teensy-2] [INFO] [1746050308.590637541] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050308.591518562] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050308.645354654] [sailbot.mux]: Published sail angle from controller_app: 42 -[teensy-2] [INFO] [1746050308.646351339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050308.646992232] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050308.648528114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 -[teensy-2] [INFO] [1746050308.649733834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050308.745269619] [sailbot.mux]: Published sail angle from controller_app: 42 -[teensy-2] [INFO] [1746050308.746061049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050308.746784884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050308.748532856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 -[teensy-2] [INFO] [1746050308.749616625] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050308.835609896] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050308.837712500] [sailbot.teensy]: Wind angle: 292 -[teensy-2] [INFO] [1746050308.838835828] [sailbot.teensy]: Actual sail angle: 42 -[teensy-2] [INFO] [1746050308.839794975] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050308.839972953] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050308.840719679] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746050308.840749181] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050308.844496362] [sailbot.mux]: Published sail angle from controller_app: 42 -[teensy-2] [INFO] [1746050308.845133724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050308.845604121] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050308.846893566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 -[teensy-2] [INFO] [1746050308.847937622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050308.945239570] [sailbot.mux]: Published sail angle from controller_app: 42 -[teensy-2] [INFO] [1746050308.946030521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050308.946754812] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050308.948293287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 -[teensy-2] [INFO] [1746050308.949433901] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050309.003074947] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903611 Long: -76.50278005 -[vectornav-1] [INFO] [1746050309.004432801] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.13400000000001, 0.055, 2.385) -[mux-7] [INFO] [1746050309.045085072] [sailbot.mux]: Published sail angle from controller_app: 42 -[teensy-2] [INFO] [1746050309.045962911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050309.046602588] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050309.048107617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 -[teensy-2] [INFO] [1746050309.048683195] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050309.085432428] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050309.087955755] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050309.088222089] [sailbot.teensy]: Wind angle: 292 -[mux-7] [INFO] [1746050309.088681969] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050309.089163463] [sailbot.teensy]: Actual sail angle: 42 -[teensy-2] [INFO] [1746050309.090082027] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050309.090947896] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050309.144779489] [sailbot.mux]: Published sail angle from controller_app: 42 -[teensy-2] [INFO] [1746050309.145449377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050309.145961835] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050309.147279981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:42, rudder: 0 -[mux-7] [INFO] [1746050309.147922143] [sailbot.mux]: controller_app sail angle: 90 -[teensy-2] [INFO] [1746050309.148675868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050309.244823578] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746050309.245470942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050309.246068831] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050309.247334485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050309.248540640] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050309.335188290] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050309.336903527] [sailbot.teensy]: Wind angle: 292 -[trim_sail-4] [INFO] [1746050309.337409637] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050309.337844035] [sailbot.teensy]: Actual sail angle: 42 -[teensy-2] [INFO] [1746050309.338775414] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050309.339667719] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050309.339850619] [sailbot.mux]: algo sail angle: 50 -[mux-7] [INFO] [1746050309.344594677] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746050309.345132761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050309.345766960] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050309.346878449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050309.347878360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050309.445408583] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746050309.446061467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050309.446887590] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050309.448372669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050309.449419109] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050309.502513847] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903631 Long: -76.50277975 -[vectornav-1] [INFO] [1746050309.503786859] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.44000000000005, -1.833, 2.605) -[mux-7] [INFO] [1746050309.545239102] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746050309.546151914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050309.546906789] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050309.548209365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050309.548696915] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050309.585464013] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050309.587748185] [sailbot.teensy]: Wind angle: 292 -[trim_sail-4] [INFO] [1746050309.587783213] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050309.588729641] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746050309.588992313] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050309.589611617] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050309.590493547] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050309.645482661] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746050309.646111341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050309.647053782] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050309.648321723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050309.649498330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050309.745395681] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746050309.745862722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050309.746925300] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050309.747933997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050309.749041210] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050309.835401645] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050309.837253240] [sailbot.teensy]: Wind angle: 292 -[teensy-2] [INFO] [1746050309.838186238] [sailbot.teensy]: Actual sail angle: 90 -[trim_sail-4] [INFO] [1746050309.837766182] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050309.838680731] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050309.839112803] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050309.839961185] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050309.844532491] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746050309.844927805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050309.845677432] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050309.846650450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050309.847751850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050309.945160927] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746050309.945865823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050309.946913617] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050309.947836522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050309.948905280] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050310.003430841] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903613 Long: -76.50278011 -[vectornav-1] [INFO] [1746050310.004801521] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.96000000000004, 0.658, 1.846) -[mux-7] [INFO] [1746050310.045064462] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746050310.045663396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050310.046434015] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050310.047666233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050310.048734955] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050310.085405361] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050310.087761430] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050310.088600291] [sailbot.teensy]: Wind angle: 291 -[teensy-2] [INFO] [1746050310.089591850] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746050310.090118495] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050310.090459741] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050310.091338535] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050310.145098654] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746050310.145616969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050310.146613648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050310.147830332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050310.148916317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050310.245069781] [sailbot.mux]: Published sail angle from controller_app: 90 -[mux-7] [INFO] [1746050310.246401472] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050310.248604364] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050310.250122561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050310.251046438] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050310.335388626] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050310.337271390] [sailbot.teensy]: Wind angle: 292 -[trim_sail-4] [INFO] [1746050310.337808825] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050310.339348846] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746050310.339395957] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050310.339772254] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050310.340147621] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050310.344503956] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746050310.344953224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050310.345637096] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050310.346623418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050310.347684874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050310.445691789] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746050310.446476361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050310.447544958] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050310.448856814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050310.449720553] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050310.503126490] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903617 Long: -76.50278018 -[vectornav-1] [INFO] [1746050310.504539200] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.96799999999996, -0.622, 3.114) -[mux-7] [INFO] [1746050310.545251219] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746050310.545955368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050310.546692714] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050310.548100288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050310.549219021] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050310.585459181] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050310.587808261] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050310.588514181] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050310.588554874] [sailbot.teensy]: Wind angle: 292 -[teensy-2] [INFO] [1746050310.589512991] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050310.590388894] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050310.591203743] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050310.644971315] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746050310.645643192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050310.646521244] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050310.647578858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050310.648823883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050310.745590933] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746050310.746366837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050310.747311838] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050310.748121422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050310.748629275] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050310.835469773] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050310.838134022] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050310.838662463] [sailbot.teensy]: Wind angle: 292 -[mux-7] [INFO] [1746050310.839248435] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050310.839730789] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050310.840617852] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050310.840956001] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050310.844393709] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746050310.844978061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050310.845525425] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050310.846686250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050310.847677892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050310.945231179] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746050310.945799359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050310.946883302] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050310.947941674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050310.948454461] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050311.003739721] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903583 Long: -76.50278017 -[vectornav-1] [INFO] [1746050311.005014925] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.68200000000002, -0.455, 3.234) -[mux-7] [INFO] [1746050311.045045750] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746050311.045825202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050311.046295627] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050311.047765652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050311.048799815] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050311.085301021] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050311.087522995] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050311.088064466] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050311.088566995] [sailbot.teensy]: Wind angle: 292 -[teensy-2] [INFO] [1746050311.089544228] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050311.090437471] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050311.090867812] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050311.144980102] [sailbot.mux]: Published sail angle from controller_app: 90 -[teensy-2] [INFO] [1746050311.145699361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050311.146351131] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050311.147721645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050311.149098208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050311.161360312] [sailbot.mux]: controller_app sail angle: 61 -[mux-7] [INFO] [1746050311.244988992] [sailbot.mux]: Published sail angle from controller_app: 61 -[teensy-2] [INFO] [1746050311.245615263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050311.246207811] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050311.247723959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:61, rudder: 0 -[teensy-2] [INFO] [1746050311.248907626] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050311.335439765] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050311.337828841] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050311.338296744] [sailbot.teensy]: Wind angle: 292 -[mux-7] [INFO] [1746050311.338353932] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050311.339448627] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050311.339809621] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050311.340172003] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050311.344568113] [sailbot.mux]: Published sail angle from controller_app: 61 -[mux-7] [INFO] [1746050311.345794321] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050311.346028936] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050311.347963637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:61, rudder: 0 -[teensy-2] [INFO] [1746050311.349035046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050311.445163936] [sailbot.mux]: Published sail angle from controller_app: 61 -[teensy-2] [INFO] [1746050311.446082080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050311.446728089] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050311.448254301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:61, rudder: 0 -[teensy-2] [INFO] [1746050311.448703028] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050311.502487587] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903566 Long: -76.50278072 -[vectornav-1] [INFO] [1746050311.503597479] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.21000000000004, -0.713, 4.101) -[mux-7] [INFO] [1746050311.545126006] [sailbot.mux]: Published sail angle from controller_app: 61 -[teensy-2] [INFO] [1746050311.545883623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050311.546578160] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050311.548131498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:61, rudder: 0 -[teensy-2] [INFO] [1746050311.549151220] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050311.585211523] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050311.587447435] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050311.587781710] [sailbot.teensy]: Wind angle: 292 -[mux-7] [INFO] [1746050311.588223152] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050311.588778809] [sailbot.teensy]: Actual sail angle: 61 -[teensy-2] [INFO] [1746050311.589713832] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050311.590579053] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050311.645261310] [sailbot.mux]: Published sail angle from controller_app: 61 -[teensy-2] [INFO] [1746050311.646010189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050311.646762648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050311.648395596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:61, rudder: 0 -[teensy-2] [INFO] [1746050311.649482402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050311.745317414] [sailbot.mux]: Published sail angle from controller_app: 61 -[teensy-2] [INFO] [1746050311.746032061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050311.746837115] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050311.748558344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:61, rudder: 0 -[teensy-2] [INFO] [1746050311.749011562] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050311.835491255] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050311.838074052] [sailbot.teensy]: Wind angle: 292 -[trim_sail-4] [INFO] [1746050311.838117506] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050311.839112793] [sailbot.teensy]: Actual sail angle: 61 -[teensy-2] [INFO] [1746050311.839619606] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050311.839754960] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050311.839993014] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050311.844390267] [sailbot.mux]: Published sail angle from controller_app: 61 -[teensy-2] [INFO] [1746050311.844900479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050311.845561605] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050311.846585239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:61, rudder: 0 -[teensy-2] [INFO] [1746050311.847682563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050311.945265052] [sailbot.mux]: Published sail angle from controller_app: 61 -[teensy-2] [INFO] [1746050311.945892240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050311.946798645] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050311.948030790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:61, rudder: 0 -[teensy-2] [INFO] [1746050311.948633841] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050312.003462866] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903546 Long: -76.50278118 -[vectornav-1] [INFO] [1746050312.005033304] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.86900000000003, -0.881, 3.31) -[mux-7] [INFO] [1746050312.045147181] [sailbot.mux]: Published sail angle from controller_app: 61 -[teensy-2] [INFO] [1746050312.045915560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050312.046507176] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050312.048207368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:61, rudder: 0 -[teensy-2] [INFO] [1746050312.049353168] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050312.085384042] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050312.087269909] [sailbot.teensy]: Wind angle: 292 -[trim_sail-4] [INFO] [1746050312.087699462] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050312.088093916] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050312.088202415] [sailbot.teensy]: Actual sail angle: 61 -[teensy-2] [INFO] [1746050312.089196185] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050312.090088710] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050312.133791848] [sailbot.mux]: controller_app sail angle: 35 -[mux-7] [INFO] [1746050312.144905676] [sailbot.mux]: Published sail angle from controller_app: 35 -[teensy-2] [INFO] [1746050312.145433733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050312.146391699] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050312.147314834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 -[teensy-2] [INFO] [1746050312.148496442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050312.244917891] [sailbot.mux]: Published sail angle from controller_app: 35 -[teensy-2] [INFO] [1746050312.245621553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050312.246241777] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050312.247681546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 -[teensy-2] [INFO] [1746050312.248753267] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050312.335309204] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050312.337829904] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050312.338319727] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050312.338839353] [sailbot.teensy]: Wind angle: 292 -[teensy-2] [INFO] [1746050312.339770408] [sailbot.teensy]: Actual sail angle: 61 -[teensy-2] [INFO] [1746050312.340698537] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050312.341373593] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050312.344397014] [sailbot.mux]: Published sail angle from controller_app: 35 -[teensy-2] [INFO] [1746050312.345281729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050312.345768173] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050312.347065839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 -[teensy-2] [INFO] [1746050312.348221044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050312.445089646] [sailbot.mux]: Published sail angle from controller_app: 35 -[teensy-2] [INFO] [1746050312.445757474] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050312.446508919] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050312.447478702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 -[teensy-2] [INFO] [1746050312.448014062] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050312.502482477] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903523 Long: -76.50278171 -[vectornav-1] [INFO] [1746050312.503577515] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.707, 0.975, 2.888) -[mux-7] [INFO] [1746050312.545459156] [sailbot.mux]: Published sail angle from controller_app: 35 -[teensy-2] [INFO] [1746050312.546193168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050312.546922146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050312.548435755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 -[teensy-2] [INFO] [1746050312.549591388] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050312.585586710] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050312.587665515] [sailbot.teensy]: Wind angle: 292 -[teensy-2] [INFO] [1746050312.588623115] [sailbot.teensy]: Actual sail angle: 35 -[trim_sail-4] [INFO] [1746050312.587964431] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050312.589256438] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050312.589505321] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050312.590348916] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050312.645129016] [sailbot.mux]: Published sail angle from controller_app: 35 -[teensy-2] [INFO] [1746050312.645786408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050312.646725124] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050312.647887782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 -[teensy-2] [INFO] [1746050312.648576553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050312.745155636] [sailbot.mux]: Published sail angle from controller_app: 35 -[teensy-2] [INFO] [1746050312.745978863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050312.746551298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050312.747897755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 -[teensy-2] [INFO] [1746050312.749062431] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050312.835451759] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050312.837901625] [sailbot.teensy]: Wind angle: 292 -[trim_sail-4] [INFO] [1746050312.837945869] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050312.838876998] [sailbot.teensy]: Actual sail angle: 35 -[mux-7] [INFO] [1746050312.839077152] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050312.839368817] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050312.839741652] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050312.844298633] [sailbot.mux]: Published sail angle from controller_app: 35 -[teensy-2] [INFO] [1746050312.845032674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050312.845385100] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050312.846836346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 -[teensy-2] [INFO] [1746050312.848044531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050312.945202773] [sailbot.mux]: Published sail angle from controller_app: 35 -[teensy-2] [INFO] [1746050312.945865100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050312.946851580] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050312.948256258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 -[teensy-2] [INFO] [1746050312.949012117] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050313.003078802] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903486 Long: -76.50278201 -[vectornav-1] [INFO] [1746050313.004501119] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.24, -1.86, 2.559) -[mux-7] [INFO] [1746050313.045070324] [sailbot.mux]: Published sail angle from controller_app: 35 -[mux-7] [INFO] [1746050313.046491128] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050313.046560279] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050313.048564022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 -[teensy-2] [INFO] [1746050313.049763168] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050313.085646183] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050313.088088337] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050313.089087371] [sailbot.teensy]: Wind angle: 292 -[mux-7] [INFO] [1746050313.089705634] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050313.090010678] [sailbot.teensy]: Actual sail angle: 35 -[teensy-2] [INFO] [1746050313.090926542] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050313.091748260] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050313.145359024] [sailbot.mux]: Published sail angle from controller_app: 35 -[teensy-2] [INFO] [1746050313.145969720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050313.146996069] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050313.148355603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 -[teensy-2] [INFO] [1746050313.149561149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050313.244289318] [sailbot.mux]: Published sail angle from controller_app: 35 -[teensy-2] [INFO] [1746050313.244797530] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050313.245143298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050313.246362288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 -[teensy-2] [INFO] [1746050313.247257427] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050313.335229034] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050313.337307033] [sailbot.teensy]: Wind angle: 292 -[trim_sail-4] [INFO] [1746050313.337437512] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050313.338197200] [sailbot.teensy]: Actual sail angle: 35 -[mux-7] [INFO] [1746050313.338634996] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050313.338865058] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050313.339258687] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050313.344475988] [sailbot.mux]: Published sail angle from controller_app: 35 -[mux-7] [INFO] [1746050313.345718902] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050313.344964459] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050313.346621892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 -[teensy-2] [INFO] [1746050313.347733238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050313.445107615] [sailbot.mux]: Published sail angle from controller_app: 35 -[teensy-2] [INFO] [1746050313.445841662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050313.446467378] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050313.447876359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 -[teensy-2] [INFO] [1746050313.449034883] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050313.503609991] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903476 Long: -76.50278235 -[vectornav-1] [INFO] [1746050313.505307548] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.894, 0.286, 1.961) -[mux-7] [INFO] [1746050313.545278360] [sailbot.mux]: Published sail angle from controller_app: 35 -[teensy-2] [INFO] [1746050313.546012660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050313.546733891] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050313.548078988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 -[teensy-2] [INFO] [1746050313.549148294] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050313.585569103] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050313.587990899] [sailbot.teensy]: Wind angle: 292 -[teensy-2] [INFO] [1746050313.588962528] [sailbot.teensy]: Actual sail angle: 35 -[trim_sail-4] [INFO] [1746050313.588650884] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050313.589353729] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050313.589870194] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050313.590743638] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050313.645314621] [sailbot.mux]: Published sail angle from controller_app: 35 -[teensy-2] [INFO] [1746050313.645889226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050313.646776212] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050313.647865935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 -[teensy-2] [INFO] [1746050313.648904875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050313.745048310] [sailbot.mux]: Published sail angle from controller_app: 35 -[teensy-2] [INFO] [1746050313.745825660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050313.746408549] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050313.747847828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 0 -[teensy-2] [INFO] [1746050313.749051408] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050313.835337855] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050313.837298754] [sailbot.teensy]: Wind angle: 292 -[teensy-2] [INFO] [1746050313.838295803] [sailbot.teensy]: Actual sail angle: 35 -[trim_sail-4] [INFO] [1746050313.838758523] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050313.839231998] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050313.839715462] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050313.840022961] [sailbot.mux]: algo sail angle: 50 -[mux-7] [INFO] [1746050313.841627601] [sailbot.mux]: controller_app sail angle: 21 -[mux-7] [INFO] [1746050313.844288757] [sailbot.mux]: Published sail angle from controller_app: 21 -[teensy-2] [INFO] [1746050313.845026013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050313.845404300] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050313.846715209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:21, rudder: 0 -[teensy-2] [INFO] [1746050313.847918418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050313.945094526] [sailbot.mux]: Published sail angle from controller_app: 21 -[teensy-2] [INFO] [1746050313.946457846] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050313.946521847] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050313.948549593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:21, rudder: 0 -[teensy-2] [INFO] [1746050313.949624221] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050314.002564778] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903443 Long: -76.50278287 -[vectornav-1] [INFO] [1746050314.003666584] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (186.10699999999997, -0.464, 2.512) -[mux-7] [INFO] [1746050314.044923560] [sailbot.mux]: Published sail angle from controller_app: 21 -[teensy-2] [INFO] [1746050314.045472757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050314.046140872] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050314.047308753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:21, rudder: 0 -[teensy-2] [INFO] [1746050314.048341890] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050314.085359729] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050314.087035632] [sailbot.teensy]: Wind angle: 292 -[teensy-2] [INFO] [1746050314.087990893] [sailbot.teensy]: Actual sail angle: 35 -[trim_sail-4] [INFO] [1746050314.088110594] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050314.088921594] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050314.089299498] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050314.089856292] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050314.145217236] [sailbot.mux]: Published sail angle from controller_app: 21 -[teensy-2] [INFO] [1746050314.145935988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050314.146665594] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050314.147926061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:21, rudder: 0 -[mux-7] [INFO] [1746050314.148660167] [sailbot.mux]: controller_app sail angle: 20 -[teensy-2] [INFO] [1746050314.150227526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050314.245052287] [sailbot.mux]: Published sail angle from controller_app: 20 -[teensy-2] [INFO] [1746050314.245788357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050314.246545695] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050314.247852534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 0 -[teensy-2] [INFO] [1746050314.248915912] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050314.335631899] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050314.337513796] [sailbot.teensy]: Wind angle: 292 -[trim_sail-4] [INFO] [1746050314.338009863] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050314.338458819] [sailbot.teensy]: Actual sail angle: 21 -[teensy-2] [INFO] [1746050314.339392615] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050314.340398988] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050314.340576022] [sailbot.mux]: algo sail angle: 50 -[mux-7] [INFO] [1746050314.344473367] [sailbot.mux]: Published sail angle from controller_app: 20 -[teensy-2] [INFO] [1746050314.344868980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050314.345660583] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050314.346598399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 0 -[teensy-2] [INFO] [1746050314.347728503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050314.445670279] [sailbot.mux]: Published sail angle from controller_app: 20 -[teensy-2] [INFO] [1746050314.445797003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050314.446955598] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050314.447597549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 0 -[teensy-2] [INFO] [1746050314.448905469] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050314.502631072] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903413 Long: -76.50278318 -[vectornav-1] [INFO] [1746050314.503821656] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.64700000000005, -0.328, 2.119) -[mux-7] [INFO] [1746050314.545295752] [sailbot.mux]: Published sail angle from controller_app: 20 -[teensy-2] [INFO] [1746050314.546122912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050314.546861857] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050314.548265369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 0 -[teensy-2] [INFO] [1746050314.549431556] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050314.585658122] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050314.588295161] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050314.588628422] [sailbot.teensy]: Wind angle: 292 -[teensy-2] [INFO] [1746050314.589577045] [sailbot.teensy]: Actual sail angle: 20 -[mux-7] [INFO] [1746050314.589738015] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050314.590471445] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050314.591335324] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050314.645288966] [sailbot.mux]: Published sail angle from controller_app: 20 -[teensy-2] [INFO] [1746050314.646013595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050314.646847552] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050314.648208794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 0 -[teensy-2] [INFO] [1746050314.649426098] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050314.745385311] [sailbot.mux]: Published sail angle from controller_app: 20 -[teensy-2] [INFO] [1746050314.746385780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050314.747020395] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050314.747982800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 0 -[teensy-2] [INFO] [1746050314.748575791] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050314.835543221] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050314.838231762] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050314.838392917] [sailbot.teensy]: Wind angle: 292 -[mux-7] [INFO] [1746050314.839175968] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050314.839458631] [sailbot.teensy]: Actual sail angle: 20 -[teensy-2] [INFO] [1746050314.840471926] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050314.841337632] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050314.844450457] [sailbot.mux]: Published sail angle from controller_app: 20 -[teensy-2] [INFO] [1746050314.844879227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050314.846083733] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050314.846638392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 0 -[teensy-2] [INFO] [1746050314.847847729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050314.945255089] [sailbot.mux]: Published sail angle from controller_app: 20 -[teensy-2] [INFO] [1746050314.946159268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050314.947636098] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050314.948328612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 0 -[teensy-2] [INFO] [1746050314.949431876] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050315.003741135] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903366 Long: -76.50278359 -[vectornav-1] [INFO] [1746050315.006225155] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.75599999999997, -0.75, 3.56) -[mux-7] [INFO] [1746050315.045067125] [sailbot.mux]: Published sail angle from controller_app: 20 -[teensy-2] [INFO] [1746050315.045954447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050315.046516229] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050315.047901614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 0 -[teensy-2] [INFO] [1746050315.049106162] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050315.085335703] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050315.087212628] [sailbot.teensy]: Wind angle: 292 -[trim_sail-4] [INFO] [1746050315.087626637] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050315.088216896] [sailbot.teensy]: Actual sail angle: 20 -[teensy-2] [INFO] [1746050315.089148743] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050315.089438747] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050315.090024133] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050315.144401085] [sailbot.mux]: controller_app sail angle: 25 -[mux-7] [INFO] [1746050315.146503825] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050315.147074395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050315.147541977] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050315.148774514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050315.149946924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050315.245372437] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050315.246109707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050315.246811804] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050315.248070794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050315.249041395] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050315.335273645] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050315.337111002] [sailbot.teensy]: Wind angle: 292 -[trim_sail-4] [INFO] [1746050315.337683569] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050315.338963689] [sailbot.teensy]: Actual sail angle: 20 -[mux-7] [INFO] [1746050315.339378290] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050315.339875249] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050315.340866644] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050315.344864042] [sailbot.mux]: Published sail angle from controller_app: 25 -[mux-7] [INFO] [1746050315.346221379] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050315.347350819] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050315.349194614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050315.350365776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050315.445592012] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050315.446448764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050315.447211041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050315.448226497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050315.448720476] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050315.502510426] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690336 Long: -76.50278418 -[vectornav-1] [INFO] [1746050315.503565744] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.923, -0.038, 2.723) -[mux-7] [INFO] [1746050315.545154337] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050315.545991394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050315.546660922] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050315.548053610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050315.549084686] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050315.585361165] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050315.587582089] [sailbot.teensy]: Wind angle: 292 -[trim_sail-4] [INFO] [1746050315.588309895] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050315.588624835] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050315.589613711] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050315.590466069] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050315.590492812] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050315.645233580] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050315.646201043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050315.646822319] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050315.648247243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050315.649257059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050315.744886058] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050315.745837523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050315.746234581] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050315.747857358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050315.748513364] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050315.835544182] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050315.837766642] [sailbot.teensy]: Wind angle: 292 -[teensy-2] [INFO] [1746050315.838821166] [sailbot.teensy]: Actual sail angle: 25 -[trim_sail-4] [INFO] [1746050315.838880884] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050315.839402294] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050315.839483997] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050315.839802555] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050315.844352354] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050315.845116820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050315.845551147] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050315.846993689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050315.848202552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050315.945332427] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050315.946605317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050315.946943094] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050315.948920598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050315.950106072] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050316.003583929] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903332 Long: -76.50278471 -[vectornav-1] [INFO] [1746050316.005144463] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.89599999999996, -0.282, 2.995) -[mux-7] [INFO] [1746050316.045135920] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050316.045947076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050316.046863138] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050316.047972601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050316.049069603] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050316.085507746] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050316.087931072] [sailbot.teensy]: Wind angle: 292 -[mux-7] [INFO] [1746050316.088822637] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050316.088956184] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050316.089882366] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746050316.089496658] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050316.090844248] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050316.145226078] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050316.146000564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050316.146861121] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050316.148066304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[mux-7] [INFO] [1746050316.149026377] [sailbot.mux]: controller_app sail angle: 25 -[teensy-2] [INFO] [1746050316.149253022] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050316.245011494] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050316.245777101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050316.246303621] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050316.247810775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050316.248961486] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050316.335140290] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050316.337359305] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050316.337407354] [sailbot.teensy]: Wind angle: 292 -[teensy-2] [INFO] [1746050316.338292050] [sailbot.teensy]: Actual sail angle: 25 -[mux-7] [INFO] [1746050316.338491943] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050316.339212513] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050316.340119236] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050316.344559552] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050316.344958698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050316.345740802] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050316.346677122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050316.347798216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050316.445497604] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050316.446046836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050316.447123801] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050316.448474888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050316.449675598] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050316.502483757] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903299 Long: -76.50278519 -[vectornav-1] [INFO] [1746050316.503850414] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.389, -0.636, 3.769) -[mux-7] [INFO] [1746050316.545515781] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050316.546095087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050316.547095379] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050316.548526800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050316.549083540] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050316.585191875] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050316.587330928] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050316.587892488] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050316.588608683] [sailbot.teensy]: Wind angle: 292 -[teensy-2] [INFO] [1746050316.589620227] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050316.590617754] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050316.591495866] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050316.644782996] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050316.645468975] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050316.645994020] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050316.647315943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050316.648444652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050316.745460731] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050316.746029734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050316.747066210] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050316.748648802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050316.749802116] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050316.835887464] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050316.838085337] [sailbot.teensy]: Wind angle: 292 -[trim_sail-4] [INFO] [1746050316.839050719] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050316.839201722] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050316.840265647] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050316.841210999] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050316.841653742] [sailbot.mux]: algo sail angle: 50 -[mux-7] [INFO] [1746050316.844290112] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050316.844896714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050316.845379310] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050316.846635778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050316.847672791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050316.945468215] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050316.946219856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050316.947711273] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050316.948385123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050316.949387679] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050317.003218016] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903285 Long: -76.50278597 -[vectornav-1] [INFO] [1746050317.004614770] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.20100000000002, -0.295, 3.582) -[mux-7] [INFO] [1746050317.044998570] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050317.045783300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050317.046333311] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050317.047770412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050317.048861447] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050317.085392513] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050317.087776475] [sailbot.teensy]: Wind angle: 292 -[trim_sail-4] [INFO] [1746050317.088191174] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050317.088739637] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050317.089634857] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050317.088809036] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050317.090497320] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050317.145246093] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050317.146173903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050317.146895858] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050317.148286226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[mux-7] [INFO] [1746050317.148993109] [sailbot.mux]: controller_app sail angle: 24 -[teensy-2] [INFO] [1746050317.149510430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050317.245315683] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050317.246233182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050317.247135682] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050317.248166381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050317.248706211] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050317.335212401] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050317.337378617] [sailbot.teensy]: Wind angle: 292 -[trim_sail-4] [INFO] [1746050317.337716220] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050317.338325508] [sailbot.teensy]: Actual sail angle: 25 -[mux-7] [INFO] [1746050317.338793565] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050317.339260350] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050317.340237172] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050317.344329979] [sailbot.mux]: Published sail angle from controller_app: 24 -[mux-7] [INFO] [1746050317.345407793] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050317.344772245] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050317.346566492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050317.348241148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050317.444998712] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050317.445977216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050317.446461398] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050317.448266658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050317.448743564] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050317.502923709] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903297 Long: -76.5027867 -[vectornav-1] [INFO] [1746050317.504231792] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (194.678, -0.203, 2.977) -[mux-7] [INFO] [1746050317.544914832] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050317.545643474] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050317.546554833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050317.547768087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050317.548942315] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050317.585419572] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050317.587618610] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050317.588514528] [sailbot.teensy]: Wind angle: 292 -[mux-7] [INFO] [1746050317.588839305] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050317.589926171] [sailbot.teensy]: Actual sail angle: 24 -[teensy-2] [INFO] [1746050317.590803472] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050317.591647956] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050317.645594974] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050317.646001071] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050317.648348581] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050317.648373677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050317.650169569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050317.745479139] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050317.746367586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050317.747114406] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050317.748251344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050317.748668205] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050317.835729354] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050317.838028870] [sailbot.teensy]: Wind angle: 292 -[teensy-2] [INFO] [1746050317.839288813] [sailbot.teensy]: Actual sail angle: 24 -[trim_sail-4] [INFO] [1746050317.838712044] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050317.840339105] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050317.840328060] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050317.841315782] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050317.844367089] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050317.845030273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050317.845596063] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050317.846892278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050317.847923727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050317.945692435] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050317.946612793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050317.947929724] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050317.948526221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050317.949000756] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050318.003887662] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903282 Long: -76.50278745 -[vectornav-1] [INFO] [1746050318.005526757] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (194.41100000000006, 0.062, 2.964) -[mux-7] [INFO] [1746050318.045129850] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050318.045945243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050318.046629788] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050318.048038584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050318.049048939] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050318.085521684] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050318.087339876] [sailbot.teensy]: Wind angle: 295 -[trim_sail-4] [INFO] [1746050318.087797053] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050318.088313828] [sailbot.teensy]: Actual sail angle: 24 -[teensy-2] [INFO] [1746050318.089230006] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050318.089475894] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050318.090545854] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050318.145094163] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050318.146031918] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050318.146628818] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050318.148252579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050318.149325536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050318.245021929] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050318.245762541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050318.246369604] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050318.247584310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050318.248682514] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050318.335378617] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050318.337673152] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050318.338171750] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050318.339016044] [sailbot.teensy]: Wind angle: 297 -[teensy-2] [INFO] [1746050318.339923079] [sailbot.teensy]: Actual sail angle: 24 -[teensy-2] [INFO] [1746050318.340811244] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050318.341657043] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050318.344334502] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050318.345108677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050318.345486906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050318.347101331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050318.348105804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050318.445278259] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050318.446099280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050318.446826744] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050318.448450132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050318.449001592] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050318.502571744] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690325 Long: -76.50278772 -[vectornav-1] [INFO] [1746050318.503633861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.25700000000006, -0.491, 3.158) -[mux-7] [INFO] [1746050318.545569028] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050318.546491796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050318.547334232] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050318.548236604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050318.548684372] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050318.585660802] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050318.587863404] [sailbot.teensy]: Wind angle: 298 -[trim_sail-4] [INFO] [1746050318.588800599] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050318.589045792] [sailbot.teensy]: Actual sail angle: 24 -[teensy-2] [INFO] [1746050318.590039989] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050318.590947825] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050318.590995467] [sailbot.mux]: algo sail angle: 55 -[mux-7] [INFO] [1746050318.645019618] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050318.645871566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050318.646322355] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050318.648007802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050318.649136000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050318.745322315] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050318.746062482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050318.747007097] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050318.748014874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050318.749138262] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050318.835431918] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050318.837374233] [sailbot.teensy]: Wind angle: 297 -[trim_sail-4] [INFO] [1746050318.837907574] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050318.838375002] [sailbot.teensy]: Actual sail angle: 24 -[teensy-2] [INFO] [1746050318.839296460] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050318.839759300] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050318.840228379] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050318.844515996] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050318.844991072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050318.846110208] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050318.846744041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050318.847911877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050318.945737893] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050318.946833335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050318.948300931] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050318.949151378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050318.949733049] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050319.004108944] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903251 Long: -76.50278799 -[vectornav-1] [INFO] [1746050319.006518254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.74900000000002, -0.307, 3.851) -[mux-7] [INFO] [1746050319.045441591] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050319.046016011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050319.047064526] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050319.048215582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050319.049501887] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050319.085567515] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050319.088039499] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050319.088350900] [sailbot.teensy]: Wind angle: 297 -[mux-7] [INFO] [1746050319.089256546] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050319.089270658] [sailbot.teensy]: Actual sail angle: 24 -[teensy-2] [INFO] [1746050319.090209572] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050319.091116517] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050319.145345138] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050319.145948843] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050319.146880700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050319.148075253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050319.148977929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050319.245497975] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050319.245993864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050319.247311645] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050319.248197529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050319.249465097] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050319.335341766] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050319.337829272] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050319.338417412] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050319.338481437] [sailbot.teensy]: Wind angle: 297 -[teensy-2] [INFO] [1746050319.339349838] [sailbot.teensy]: Actual sail angle: 24 -[teensy-2] [INFO] [1746050319.339728073] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050319.340082646] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050319.344565829] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050319.344959025] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050319.345974077] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050319.346697858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050319.348519383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050319.445181159] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050319.445646917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050319.446714450] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050319.447728383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050319.448943137] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050319.502981205] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903263 Long: -76.50278817 -[vectornav-1] [INFO] [1746050319.504341251] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.46500000000003, -0.143, 3.066) -[mux-7] [INFO] [1746050319.545213016] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050319.545970191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050319.546567664] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050319.548077024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050319.549269762] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050319.585277888] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050319.587594290] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050319.587928809] [sailbot.teensy]: Wind angle: 297 -[mux-7] [INFO] [1746050319.588465460] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050319.588889689] [sailbot.teensy]: Actual sail angle: 24 -[teensy-2] [INFO] [1746050319.589857427] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050319.590685494] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050319.644849063] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050319.645289152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050319.646442448] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050319.647065964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050319.648113281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050319.745456400] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050319.746044956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050319.748236824] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050319.748334595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050319.748977705] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050319.835521415] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050319.837886274] [sailbot.teensy]: Wind angle: 297 -[trim_sail-4] [INFO] [1746050319.838414203] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050319.838919479] [sailbot.teensy]: Actual sail angle: 24 -[teensy-2] [INFO] [1746050319.840232534] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050319.841069379] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050319.841380490] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050319.844300570] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050319.844806188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050319.845373136] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050319.846470237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050319.847646331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050319.945212655] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050319.945995306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050319.946667198] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050319.948074231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050319.948976106] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050320.003413788] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690326 Long: -76.50278824 -[vectornav-1] [INFO] [1746050320.004827264] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.06899999999996, 0.007, 2.894) -[mux-7] [INFO] [1746050320.045156988] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050320.046677932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050320.047169424] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050320.048990735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050320.050078296] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050320.085378986] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050320.087615489] [sailbot.teensy]: Wind angle: 297 -[trim_sail-4] [INFO] [1746050320.087763169] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050320.088971039] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050320.089348129] [sailbot.teensy]: Actual sail angle: 24 -[teensy-2] [INFO] [1746050320.090298784] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050320.091175022] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050320.145541352] [sailbot.mux]: Published sail angle from controller_app: 24 -[teensy-2] [INFO] [1746050320.146258930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050320.147002331] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050320.148251394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:24, rudder: 0 -[teensy-2] [INFO] [1746050320.149500735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050320.149795123] [sailbot.mux]: controller_app sail angle: 25 -[mux-7] [INFO] [1746050320.245140901] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050320.245971199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050320.246613557] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050320.248214330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050320.249255267] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050320.335449384] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050320.337473172] [sailbot.teensy]: Wind angle: 297 -[trim_sail-4] [INFO] [1746050320.337953483] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050320.338988355] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050320.339352370] [sailbot.teensy]: Actual sail angle: 24 -[teensy-2] [INFO] [1746050320.340435200] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050320.341284227] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050320.344375326] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050320.344897557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050320.345542910] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050320.346612629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050320.347756401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050320.445198624] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050320.446164740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050320.446830608] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050320.448041916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050320.448583405] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050320.503003352] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903246 Long: -76.50278805 -[vectornav-1] [INFO] [1746050320.504099909] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.24400000000003, -0.514, 2.704) -[mux-7] [INFO] [1746050320.545070100] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050320.545869999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050320.546889930] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050320.548139519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050320.549327215] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050320.585411858] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050320.587306623] [sailbot.teensy]: Wind angle: 297 -[trim_sail-4] [INFO] [1746050320.587735197] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050320.588321776] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050320.589341767] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050320.589373893] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050320.590294750] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050320.645242657] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050320.646210365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050320.646807582] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050320.649637808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050320.650809410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050320.745399221] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050320.746329223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050320.747052653] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050320.748349519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050320.748852509] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050320.835417134] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050320.838000180] [sailbot.teensy]: Wind angle: 297 -[trim_sail-4] [INFO] [1746050320.838145022] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050320.838734369] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050320.839005027] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050320.839408914] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050320.839746464] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050320.844395886] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050320.844878230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050320.845521892] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050320.846568257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050320.847632085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050320.945148546] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050320.945671980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050320.946550900] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050320.947585510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050320.948617462] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050321.003349421] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903244 Long: -76.50278792 -[vectornav-1] [INFO] [1746050321.004872051] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.30100000000004, -0.478, 2.789) -[mux-7] [INFO] [1746050321.045358502] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050321.046094736] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050321.048025878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[mux-7] [INFO] [1746050321.048056983] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050321.049110316] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050321.085358147] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050321.087459842] [sailbot.teensy]: Wind angle: 297 -[trim_sail-4] [INFO] [1746050321.087591895] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050321.088460879] [sailbot.teensy]: Actual sail angle: 25 -[mux-7] [INFO] [1746050321.089134093] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050321.089361440] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050321.090215690] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050321.145062979] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050321.145876453] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050321.146372618] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050321.147772518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050321.148943909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050321.245126449] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050321.245807418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050321.246951984] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050321.247904886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050321.248445234] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050321.335383788] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050321.337687317] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050321.338122556] [sailbot.teensy]: Wind angle: 297 -[mux-7] [INFO] [1746050321.338627729] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050321.338763480] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050321.339184350] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050321.339510001] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050321.344508379] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050321.345070535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050321.345989516] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050321.346781169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050321.348697109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050321.445661292] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050321.446301016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050321.447420616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050321.448313343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050321.448867208] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050321.504129479] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903237 Long: -76.50278764 -[vectornav-1] [INFO] [1746050321.505977710] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.308, 0.133, 2.341) -[mux-7] [INFO] [1746050321.545294901] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050321.546142444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050321.546849444] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050321.548381081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050321.550100864] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050321.585437750] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050321.587826096] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050321.588175170] [sailbot.teensy]: Wind angle: 296 -[mux-7] [INFO] [1746050321.588319492] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050321.589189666] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050321.590099309] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050321.590920499] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050321.645261155] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050321.646040829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050321.646957521] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050321.648463316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050321.649016952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050321.745567221] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050321.746378713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050321.747231252] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050321.748493680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050321.749083510] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050321.835306932] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050321.837271066] [sailbot.teensy]: Wind angle: 297 -[trim_sail-4] [INFO] [1746050321.837947147] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050321.838303193] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050321.839222284] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050321.839376247] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050321.840146299] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050321.844500665] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050321.845142603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050321.845665600] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050321.847502123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050321.849164946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050321.945386680] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050321.946362392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050321.947100280] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050321.948536661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050321.949739155] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050322.002464482] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903228 Long: -76.50278723 -[vectornav-1] [INFO] [1746050322.003501432] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.23699999999997, -0.884, 2.714) -[mux-7] [INFO] [1746050322.045239619] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050322.046277933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050322.047164717] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050322.048386416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050322.048881795] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050322.085579731] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050322.087557415] [sailbot.teensy]: Wind angle: 297 -[teensy-2] [INFO] [1746050322.088480475] [sailbot.teensy]: Actual sail angle: 25 -[trim_sail-4] [INFO] [1746050322.088038746] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050322.088861212] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050322.089225025] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050322.089526043] [sailbot.mux]: algo sail angle: 50 -[mux-7] [INFO] [1746050322.144897503] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050322.145628625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050322.146178715] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050322.148420625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050322.149459925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050322.245447998] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050322.246266853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050322.247228845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050322.248805704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050322.250110101] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050322.335486584] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050322.338017091] [sailbot.teensy]: Wind angle: 296 -[trim_sail-4] [INFO] [1746050322.338016135] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050322.339057052] [sailbot.teensy]: Actual sail angle: 25 -[mux-7] [INFO] [1746050322.339249705] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050322.339469098] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050322.339841373] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050322.344480267] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050322.345165307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050322.345640912] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050322.346873824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050322.347959573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050322.445479116] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050322.446092581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050322.447151253] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050322.448330946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050322.449438269] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050322.502315580] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903227 Long: -76.50278718 -[vectornav-1] [INFO] [1746050322.503280438] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.17899999999997, -0.453, 2.675) -[mux-7] [INFO] [1746050322.545253572] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050322.545858056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050322.546763849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050322.548048226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050322.549131170] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050322.585382842] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050322.587298072] [sailbot.teensy]: Wind angle: 296 -[teensy-2] [INFO] [1746050322.588256870] [sailbot.teensy]: Actual sail angle: 25 -[trim_sail-4] [INFO] [1746050322.587668540] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050322.588710523] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050322.589302184] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050322.590184110] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050322.645298833] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050322.645793570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050322.647158239] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050322.647842520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050322.648922824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050322.745274481] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050322.745747049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050322.747130374] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050322.748141345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050322.748687890] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050322.835356848] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050322.837671164] [sailbot.teensy]: Wind angle: 296 -[trim_sail-4] [INFO] [1746050322.837912360] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050322.838674952] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050322.839065159] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050322.839447941] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050322.840035991] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050322.844370675] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050322.844790181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050322.846290623] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050322.846540693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050322.847647451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050322.944905919] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050322.945481438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050322.946228496] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050322.947271451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050322.949077371] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050323.003967777] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903214 Long: -76.50278711 -[vectornav-1] [INFO] [1746050323.005987521] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.81100000000004, 0.498, 2.602) -[mux-7] [INFO] [1746050323.045130585] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050323.045888624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050323.046625350] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050323.048108827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050323.049356018] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050323.085530722] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050323.087624847] [sailbot.teensy]: Wind angle: 296 -[trim_sail-4] [INFO] [1746050323.088022974] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050323.088541165] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050323.088590018] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050323.089813220] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050323.090693870] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050323.144997606] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050323.145637852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050323.146495088] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050323.147664676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050323.148683595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050323.245073107] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050323.245729437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050323.246414487] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050323.247769956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050323.248814581] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050323.335423085] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050323.337381479] [sailbot.teensy]: Wind angle: 296 -[trim_sail-4] [INFO] [1746050323.337976295] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050323.338540946] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050323.339014461] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050323.339009529] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050323.339390232] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050323.344698322] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050323.345109071] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050323.345893403] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050323.346791870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050323.347955120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050323.446208709] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050323.446343045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050323.447713304] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050323.448345419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050323.449383023] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050323.502953052] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903173 Long: -76.50278687 -[vectornav-1] [INFO] [1746050323.504207340] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.34799999999996, -0.937, 2.328) -[mux-7] [INFO] [1746050323.545104950] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050323.545990369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050323.546893674] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050323.548389237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050323.548900625] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050323.585491284] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050323.587797095] [sailbot.teensy]: Wind angle: 296 -[trim_sail-4] [INFO] [1746050323.588030434] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050323.589249165] [sailbot.teensy]: Actual sail angle: 25 -[mux-7] [INFO] [1746050323.589482132] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050323.590226436] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050323.591367447] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050323.645142454] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050323.645906271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050323.646593506] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050323.648095056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050323.648648350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050323.745915389] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050323.746390586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050323.747759667] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050323.748561605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050323.749089234] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050323.835479995] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050323.838096656] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050323.838479333] [sailbot.teensy]: Wind angle: 293 -[mux-7] [INFO] [1746050323.839168442] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050323.839434826] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050323.840390338] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050323.841281185] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050323.844300955] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050323.844914824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050323.845453591] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050323.846635980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050323.847688404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050323.945203183] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050323.945956105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050323.946636453] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050323.948008403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050323.948554948] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050324.004329640] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903162 Long: -76.50278714 -[vectornav-1] [INFO] [1746050324.006454249] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.837, -1.274, 3.014) -[mux-7] [INFO] [1746050324.044913763] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050324.045662138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050324.046365022] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050324.047588415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050324.048755642] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050324.085388346] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050324.087676270] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050324.087696662] [sailbot.teensy]: Wind angle: 293 -[teensy-2] [INFO] [1746050324.088792886] [sailbot.teensy]: Actual sail angle: 25 -[mux-7] [INFO] [1746050324.088813455] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050324.089766599] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050324.090673309] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050324.145217110] [sailbot.mux]: Published sail angle from controller_app: 25 -[teensy-2] [INFO] [1746050324.146484911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050324.146779098] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050324.148541441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[mux-7] [INFO] [1746050324.149313736] [sailbot.mux]: controller_app sail angle: 0 -[teensy-2] [INFO] [1746050324.149647383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050324.245343312] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050324.246293258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050324.246901292] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050324.248093607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050324.248505724] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050324.335424924] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050324.337746663] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050324.337892953] [sailbot.teensy]: Wind angle: 293 -[teensy-2] [INFO] [1746050324.338656220] [sailbot.teensy]: Actual sail angle: 25 -[mux-7] [INFO] [1746050324.338770172] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050324.339041421] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050324.339411070] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050324.344699736] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050324.345241816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050324.345894688] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050324.346998195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050324.347998331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050324.445610059] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050324.446432188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050324.447275323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050324.448650058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050324.449893972] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050324.503637068] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903173 Long: -76.50278781 -[vectornav-1] [INFO] [1746050324.504996050] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.50300000000004, 0.262, 1.538) -[mux-7] [INFO] [1746050324.544973950] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050324.545630931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050324.546619741] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050324.547628323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050324.548835918] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050324.585335877] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050324.587800844] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050324.588329739] [sailbot.teensy]: Wind angle: 293 -[mux-7] [INFO] [1746050324.588459655] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050324.589892594] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050324.591058747] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050324.591900223] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050324.645514964] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050324.646398771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050324.647073082] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050324.648578601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050324.649067445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050324.745608946] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050324.746370451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050324.747390572] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050324.748796773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050324.749960766] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050324.835343121] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050324.837187108] [sailbot.teensy]: Wind angle: 293 -[trim_sail-4] [INFO] [1746050324.837751963] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050324.838103819] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050324.838994997] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050324.840021955] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050324.840376352] [sailbot.mux]: algo sail angle: 50 -[mux-7] [INFO] [1746050324.844505731] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050324.844914297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050324.845623478] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050324.846598602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050324.847789995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050324.945572027] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050324.946450194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050324.947243058] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050324.948901626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050324.949507522] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050325.002446815] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903111 Long: -76.50278865 -[vectornav-1] [INFO] [1746050325.003537105] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.947, 0.043, 1.812) -[mux-7] [INFO] [1746050325.045388377] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050325.046451937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050325.047316380] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050325.048471171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050325.049081395] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050325.085885314] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050325.088679073] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050325.090013205] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050325.090037211] [sailbot.teensy]: Wind angle: 293 -[teensy-2] [INFO] [1746050325.091041257] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050325.091932213] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050325.092778513] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050325.145235887] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050325.146187948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050325.147243149] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050325.148468054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050325.149574000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050325.245328286] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050325.246113785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050325.247142584] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050325.247958563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050325.248423437] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050325.335672091] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050325.337903445] [sailbot.teensy]: Wind angle: 293 -[trim_sail-4] [INFO] [1746050325.338744127] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050325.338976187] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050325.339875730] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050325.339816566] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050325.340781607] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050325.344430173] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050325.345207328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050325.345522795] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050325.347133941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050325.348311197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050325.445597119] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050325.446677821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050325.447420973] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050325.448292260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050325.448952217] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050325.502561177] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903114 Long: -76.50278957 -[vectornav-1] [INFO] [1746050325.503594278] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.298, -0.91, 3.427) -[mux-7] [INFO] [1746050325.545325555] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050325.546115468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050325.546912387] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050325.548563929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050325.549065729] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050325.585275099] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050325.586900833] [sailbot.teensy]: Wind angle: 293 -[teensy-2] [INFO] [1746050325.587815697] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050325.588724389] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746050325.587752742] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050325.588492773] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050325.589626257] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050325.645059780] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050325.645921862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050325.646414498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050325.648479369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050325.648993818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050325.745490879] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050325.746305274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050325.747044044] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050325.748758583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050325.749301223] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050325.835380449] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050325.837704704] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050325.838443678] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050325.838636467] [sailbot.teensy]: Wind angle: 293 -[teensy-2] [INFO] [1746050325.839597923] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050325.840562677] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050325.841593340] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050325.844325870] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050325.844885506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050325.845413807] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050325.846588753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050325.847743737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050325.945190171] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050325.945930380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050325.946703204] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050325.948201090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050325.949282241] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050326.003654110] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903103 Long: -76.50279085 -[vectornav-1] [INFO] [1746050326.005479294] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.02099999999996, -1.823, 1.75) -[mux-7] [INFO] [1746050326.045080003] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050326.045574129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050326.046328426] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050326.047372442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050326.048450860] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050326.085411156] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050326.087209900] [sailbot.teensy]: Wind angle: 293 -[trim_sail-4] [INFO] [1746050326.087740213] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050326.088143555] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050326.089074631] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050326.089453593] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050326.089936741] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050326.145269708] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050326.146209949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050326.147035059] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050326.148271856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050326.149314781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050326.244636941] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050326.245208632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050326.245973370] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050326.246793746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050326.247905554] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050326.335354616] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050326.337229639] [sailbot.teensy]: Wind angle: 293 -[trim_sail-4] [INFO] [1746050326.337739077] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050326.338208958] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050326.339274536] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050326.339635664] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050326.340184693] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050326.344419696] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050326.344960495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050326.345493337] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050326.346639446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050326.347782688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050326.445070259] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050326.445999458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050326.446852340] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050326.447860758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050326.448640470] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050326.503986413] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903131 Long: -76.50279272 -[vectornav-1] [INFO] [1746050326.505633871] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.23199999999997, 1.356, -0.427) -[mux-7] [INFO] [1746050326.545208503] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050326.546055284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050326.547130954] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050326.548545734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050326.549718033] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050326.585472035] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050326.587793350] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050326.589085329] [sailbot.teensy]: Wind angle: 293 -[mux-7] [INFO] [1746050326.589169999] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050326.590759150] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050326.591675820] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050326.592530679] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050326.644697225] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050326.645229631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050326.645836972] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050326.646949177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050326.647983466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050326.745474570] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050326.746280338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050326.747158394] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050326.748607551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050326.749116943] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050326.835366685] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050326.837474734] [sailbot.teensy]: Wind angle: 293 -[trim_sail-4] [INFO] [1746050326.838390713] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050326.838498325] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050326.839458563] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050326.839829926] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050326.840475408] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050326.844421219] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050326.844954554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050326.845720048] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050326.846775653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050326.847806053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050326.945652849] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050326.946440544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050326.947457005] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050326.948829270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050326.949375067] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050327.002539317] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903047 Long: -76.50279426 -[vectornav-1] [INFO] [1746050327.003617736] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.52700000000004, -0.223, 1.257) -[mux-7] [INFO] [1746050327.045023854] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050327.045559445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050327.046369872] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050327.047473174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050327.048609636] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050327.085629577] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050327.088381989] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050327.088805179] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050327.089241760] [sailbot.teensy]: Wind angle: 293 -[teensy-2] [INFO] [1746050327.090267741] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050327.091105159] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050327.091930868] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050327.145249727] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050327.145959399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050327.146895370] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050327.148281560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050327.149452162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050327.245525373] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050327.246349503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050327.247840363] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050327.248998222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050327.249430233] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050327.335483128] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050327.337884822] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050327.338359085] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050327.339190731] [sailbot.teensy]: Wind angle: 293 -[teensy-2] [INFO] [1746050327.340252352] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050327.341143372] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050327.341968251] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050327.344300816] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050327.344811507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050327.345387872] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050327.346530913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050327.347703322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050327.445119720] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050327.445949770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050327.446478313] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050327.447881220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050327.448953705] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050327.502560908] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903049 Long: -76.50279614 -[vectornav-1] [INFO] [1746050327.504141456] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.38200000000006, -2.247, 2.703) -[mux-7] [INFO] [1746050327.545410606] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050327.546377972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050327.547001703] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050327.548646145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050327.549838174] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050327.585423627] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050327.587611488] [sailbot.teensy]: Wind angle: 293 -[trim_sail-4] [INFO] [1746050327.587818908] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050327.588646432] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050327.588658397] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050327.589562967] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050327.590146375] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050327.645039444] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050327.645706207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050327.646492818] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050327.647818072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050327.648996656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050327.745306796] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050327.746070747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050327.746779806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050327.748539613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050327.749624716] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050327.835270261] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050327.836912604] [sailbot.teensy]: Wind angle: 293 -[trim_sail-4] [INFO] [1746050327.837482417] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050327.837783595] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050327.837978402] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050327.838618801] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050327.839001971] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050327.844424374] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050327.844905142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050327.845532968] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050327.846647901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050327.847787413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050327.945453291] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050327.946954749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050327.947183189] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050327.949750769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050327.950747663] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050328.003378927] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903036 Long: -76.50279794 -[vectornav-1] [INFO] [1746050328.005011399] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.29600000000005, -0.404, 1.615) -[mux-7] [INFO] [1746050328.044941792] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050328.045766153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050328.046101187] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050328.047849573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050328.048943239] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050328.085239369] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050328.086936256] [sailbot.teensy]: Wind angle: 295 -[teensy-2] [INFO] [1746050328.087848334] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050328.087452158] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050328.088911723] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050328.089248316] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050328.089828850] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050328.144776280] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050328.145499386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050328.145993727] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050328.147409623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050328.148651983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050328.245059382] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050328.245952201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050328.246438160] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050328.247882331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050328.249019550] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050328.335409049] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050328.337612606] [sailbot.teensy]: Wind angle: 298 -[trim_sail-4] [INFO] [1746050328.337704912] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050328.338606659] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050328.339289423] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050328.339527437] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050328.340183488] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050328.344417112] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050328.344997637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050328.345503816] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050328.346719732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050328.347754793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050328.444871682] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050328.445449766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050328.446113128] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050328.447339558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050328.448506771] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050328.503466460] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902969 Long: -76.50279955 -[vectornav-1] [INFO] [1746050328.505162607] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.11300000000006, 1.362, 0.1) -[mux-7] [INFO] [1746050328.545244632] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050328.545999899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050328.546921472] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050328.548462079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050328.549562858] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050328.585522406] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050328.587807813] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050328.588331919] [sailbot.teensy]: Wind angle: 299 -[mux-7] [INFO] [1746050328.589126335] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050328.589296632] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050328.590213759] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050328.591071316] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050328.644935319] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050328.645722798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050328.646186500] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050328.647721525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050328.648867989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050328.745593757] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050328.746423769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050328.747178411] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050328.748167560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050328.748682357] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050328.835272402] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050328.836916376] [sailbot.teensy]: Wind angle: 299 -[trim_sail-4] [INFO] [1746050328.837440153] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050328.837794759] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050328.838594407] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050328.838569289] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050328.839394907] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050328.844509659] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050328.844977983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050328.845993079] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050328.846765981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050328.848571701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050328.945167035] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050328.946343799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050328.946705777] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050328.948662319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050328.949178391] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050329.002671693] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902902 Long: -76.50280092 -[vectornav-1] [INFO] [1746050329.003778776] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.72900000000004, -0.928, 3.835) -[mux-7] [INFO] [1746050329.045365819] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050329.046182171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050329.046859057] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050329.048378207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050329.049370755] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050329.085434465] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050329.087331374] [sailbot.teensy]: Wind angle: 299 -[trim_sail-4] [INFO] [1746050329.087837802] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050329.088320495] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050329.089273424] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050329.089387787] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050329.090254074] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050329.145025619] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050329.145817343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050329.146880586] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050329.147794714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050329.148910384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050329.245248572] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050329.246223427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050329.246783198] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050329.248228601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050329.248721175] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050329.335430702] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050329.337470145] [sailbot.teensy]: Wind angle: 299 -[trim_sail-4] [INFO] [1746050329.337934011] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050329.338445616] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050329.339430176] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050329.339805197] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050329.340413879] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050329.344366097] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050329.344889097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050329.345457410] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050329.346628982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050329.347835989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050329.445086531] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050329.446446222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050329.447158684] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050329.447843450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050329.448399831] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050329.503989900] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902899 Long: -76.50280223 -[vectornav-1] [INFO] [1746050329.505478017] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.514, -0.776, 3.08) -[mux-7] [INFO] [1746050329.545019265] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050329.545529430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050329.546340712] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050329.547523296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050329.548603417] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050329.585247158] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050329.587402781] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050329.587723649] [sailbot.teensy]: Wind angle: 299 -[teensy-2] [INFO] [1746050329.588636332] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050329.589545443] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050329.589858747] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050329.590410359] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050329.644859788] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050329.645373524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050329.646100032] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050329.647076596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050329.648239857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050329.745470911] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050329.746009506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050329.747102725] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050329.748278736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050329.749240136] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050329.835520166] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050329.838112456] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050329.838465539] [sailbot.teensy]: Wind angle: 299 -[mux-7] [INFO] [1746050329.838700363] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050329.838999381] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050329.839383226] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050329.839738374] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050329.844523584] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050329.844994767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050329.845744260] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050329.846704260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050329.847758573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050329.945221932] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050329.945691338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050329.946743195] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050329.947654528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050329.948719555] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050330.003295269] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902843 Long: -76.50280337 -[vectornav-1] [INFO] [1746050330.004945144] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.07500000000005, -0.447, 2.014) -[mux-7] [INFO] [1746050330.044871915] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050330.045395541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050330.046113748] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050330.047162543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050330.048278484] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050330.085299232] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050330.087622553] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050330.088043515] [sailbot.teensy]: Wind angle: 299 -[mux-7] [INFO] [1746050330.088235633] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050330.089314123] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050330.090193027] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050330.091037399] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050330.145099718] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050330.145600023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050330.146421803] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050330.148055975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050330.149255770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050330.244995546] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050330.245527533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050330.246018511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050330.246525828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050330.247100488] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050330.335439008] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050330.337275357] [sailbot.teensy]: Wind angle: 298 -[trim_sail-4] [INFO] [1746050330.337864826] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050330.338214453] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050330.339105246] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050330.339226073] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050330.339987473] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050330.344308931] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050330.345037928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050330.345981132] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050330.346814611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050330.347955401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050330.445269273] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050330.446217158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050330.447105503] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050330.447999645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050330.448963936] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050330.503113918] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902809 Long: -76.50280449 -[vectornav-1] [INFO] [1746050330.504774447] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.23199999999997, 0.206, -2.153) -[mux-7] [INFO] [1746050330.544934170] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050330.545762216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050330.546212589] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050330.547779372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050330.548800116] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050330.585428361] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050330.587801579] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050330.587794961] [sailbot.teensy]: Wind angle: 298 -[teensy-2] [INFO] [1746050330.588831655] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050330.589158220] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050330.589759876] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050330.590682666] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050330.644982237] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050330.645652028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050330.646238408] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050330.647523069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050330.648583638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050330.745107234] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050330.745959522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050330.746495066] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050330.748143682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050330.748640528] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050330.835795138] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050330.838062908] [sailbot.teensy]: Wind angle: 297 -[trim_sail-4] [INFO] [1746050330.838575119] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050330.839151664] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050330.840102799] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050330.840046807] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050330.841204072] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050330.844430592] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050330.844938701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050330.845620125] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050330.846609761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050330.847677078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050330.945192409] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050330.945877042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050330.946987206] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050330.948086126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050330.949401220] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050331.002996801] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902742 Long: -76.50280558 -[vectornav-1] [INFO] [1746050331.005049663] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.08799999999997, -1.031, -1.39) -[mux-7] [INFO] [1746050331.044838390] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050331.045554991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050331.045980062] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050331.048085471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050331.049105705] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050331.085433196] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050331.087285091] [sailbot.teensy]: Wind angle: 297 -[trim_sail-4] [INFO] [1746050331.088232451] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050331.088304710] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050331.088926179] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050331.089306966] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050331.089326392] [sailbot.mux]: algo sail angle: 50 -[mux-7] [INFO] [1746050331.144746797] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050331.145527865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050331.145923241] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050331.147313183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050331.148272625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050331.245217190] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050331.245964104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050331.246812927] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050331.248306743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050331.249545289] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050331.335419286] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050331.337237955] [sailbot.teensy]: Wind angle: 297 -[trim_sail-4] [INFO] [1746050331.337804622] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050331.338183317] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050331.339100134] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050331.339957275] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050331.340117550] [sailbot.mux]: algo sail angle: 50 -[mux-7] [INFO] [1746050331.344367874] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050331.344986058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050331.345462174] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050331.346736859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050331.347765057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050331.445061385] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050331.446332834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050331.446989242] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050331.448907402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050331.450063656] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050331.503762275] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690275 Long: -76.50280674 -[vectornav-1] [INFO] [1746050331.505686858] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.46399999999994, -0.899, 4.043) -[mux-7] [INFO] [1746050331.544936124] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050331.545612380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050331.546351024] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050331.547434309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050331.548472513] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050331.585311315] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050331.587007984] [sailbot.teensy]: Wind angle: 296 -[trim_sail-4] [INFO] [1746050331.587498825] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050331.588042513] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050331.588986085] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050331.589284407] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050331.589855675] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050331.645083417] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050331.646025893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050331.646522406] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050331.647792368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050331.648266730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050331.745183348] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050331.746173445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050331.746827322] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050331.748052914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050331.748532715] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050331.835726795] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050331.838592230] [sailbot.teensy]: Wind angle: 295 -[trim_sail-4] [INFO] [1746050331.838747005] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050331.839670162] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050331.839997486] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050331.840823185] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050331.841808134] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050331.844351404] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050331.844999914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050331.845468873] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050331.846784344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050331.847790340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050331.945151523] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050331.946019370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050331.946617336] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050331.948131456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050331.949213366] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050332.003068713] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902769 Long: -76.50280766 -[vectornav-1] [INFO] [1746050332.004317151] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.399, -1.562, 1.186) -[mux-7] [INFO] [1746050332.045119550] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050332.045934624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050332.046377328] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050332.047845373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050332.049027713] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050332.085441124] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050332.087276345] [sailbot.teensy]: Wind angle: 293 -[teensy-2] [INFO] [1746050332.088283424] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050332.088181362] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050332.089190425] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050332.090036534] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050332.090119063] [sailbot.mux]: algo sail angle: 50 -[mux-7] [INFO] [1746050332.145011204] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050332.145790800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050332.146411231] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050332.147779031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050332.148925877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050332.245244264] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050332.245965112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050332.246996096] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050332.248018017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050332.248545272] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050332.335458829] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050332.337337329] [sailbot.teensy]: Wind angle: 289 -[trim_sail-4] [INFO] [1746050332.337881141] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050332.338372027] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050332.339258930] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050332.339607210] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050332.340182935] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050332.344455324] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050332.344953598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050332.345765833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050332.346692922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050332.348039940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050332.445259644] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050332.446390281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050332.446841206] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050332.448933593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050332.449922828] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050332.502414429] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902714 Long: -76.50280651 -[vectornav-1] [INFO] [1746050332.503514682] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (186.885, 1.228, 1.558) -[mux-7] [INFO] [1746050332.545089050] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050332.546338727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050332.546738965] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050332.548365073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050332.548856014] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050332.585589673] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050332.588244988] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050332.588476268] [sailbot.teensy]: Wind angle: 289 -[mux-7] [INFO] [1746050332.589365074] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050332.589383288] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050332.590299461] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050332.591132952] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050332.645206100] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050332.645673143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050332.646702997] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050332.647644995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050332.649308757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050332.745224509] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050332.745746365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050332.746657898] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050332.747672395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050332.748751148] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050332.835595785] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050332.837388760] [sailbot.teensy]: Wind angle: 288 -[trim_sail-4] [INFO] [1746050332.838479486] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050332.839187699] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050332.839965988] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050332.840193963] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050332.841163268] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050332.844640495] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050332.844907498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050332.845838689] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050332.846627530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050332.847736294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050332.945221420] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050332.945721178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050332.946707695] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050332.948618368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050332.949656123] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050333.003179232] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902738 Long: -76.50280466 -[vectornav-1] [INFO] [1746050333.004543894] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (186.841, -2.034, 3.398) -[mux-7] [INFO] [1746050333.045149034] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050333.045727694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050333.046473398] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050333.047753966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050333.048752238] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050333.085417789] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050333.087989953] [sailbot.teensy]: Wind angle: 288 -[teensy-2] [INFO] [1746050333.088936760] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050333.088679942] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746050333.089475255] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050333.089830103] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050333.090686853] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050333.145113667] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050333.145801703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050333.146436292] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050333.147793113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050333.148912823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050333.245519398] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050333.246245899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050333.247265569] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050333.248419612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050333.249538318] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050333.335715612] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050333.337936117] [sailbot.teensy]: Wind angle: 288 -[teensy-2] [INFO] [1746050333.339011047] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050333.339289717] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746050333.339879484] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050333.339936378] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050333.340881179] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050333.344452383] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050333.345053269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050333.345581177] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050333.346785288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050333.347857006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050333.445629729] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050333.446592658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050333.447217261] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050333.448855020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050333.450053389] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050333.502895417] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690276 Long: -76.50280296 -[vectornav-1] [INFO] [1746050333.504074636] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.69100000000003, -2.435, -2.26) -[mux-7] [INFO] [1746050333.544984440] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050333.545691856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050333.546244882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050333.547509994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050333.548068041] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050333.585215061] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050333.587034852] [sailbot.teensy]: Wind angle: 287 -[trim_sail-4] [INFO] [1746050333.587651374] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050333.587984774] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050333.588361876] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050333.588924509] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050333.589802776] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050333.645016295] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050333.645951518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050333.646836730] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050333.648309567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050333.649502590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050333.745357659] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050333.746336683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050333.747076180] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050333.748454560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050333.749506585] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050333.835506235] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050333.838101843] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746050333.838604995] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050333.838957117] [sailbot.teensy]: Wind angle: 285 -[teensy-2] [INFO] [1746050333.840089090] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050333.840964809] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050333.841818013] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050333.844267576] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050333.844942274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050333.845335207] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050333.846763483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050333.847800040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050333.945654901] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050333.946633281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050333.947232200] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050333.948917563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050333.950208655] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050334.002553420] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902745 Long: -76.50280148 -[vectornav-1] [INFO] [1746050334.003625758] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (194.90300000000002, -0.82, -3.111) -[mux-7] [INFO] [1746050334.045116231] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050334.045822905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050334.046517846] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050334.047901955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050334.048426303] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050334.085361254] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050334.087440217] [sailbot.teensy]: Wind angle: 279 -[teensy-2] [INFO] [1746050334.088390565] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050334.087874663] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050334.088376767] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050334.089314842] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050334.090555885] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050334.145253990] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050334.145838291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050334.146813119] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050334.147826131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050334.148889240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050334.245418034] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050334.246037562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050334.247075781] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050334.248113235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050334.249215769] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050334.335405005] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050334.337310803] [sailbot.teensy]: Wind angle: 278 -[teensy-2] [INFO] [1746050334.338264429] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050334.339156778] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746050334.338394489] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050334.338574177] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050334.340027615] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050334.344591667] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050334.344992151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050334.345768634] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050334.346716605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050334.347893655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050334.445507811] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050334.446203944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050334.447095933] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050334.448775153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050334.449920835] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050334.502833445] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902776 Long: -76.50280064 -[vectornav-1] [INFO] [1746050334.504239247] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (200.72199999999998, 0.172, -1.023) -[mux-7] [INFO] [1746050334.545279034] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050334.545838390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050334.546794676] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050334.549006095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050334.550058228] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050334.585385197] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050334.587880614] [sailbot.teensy]: Wind angle: 278 -[trim_sail-4] [INFO] [1746050334.588382156] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050334.589107161] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050334.589122287] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050334.590043235] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050334.590904321] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050334.645082017] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050334.645919882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050334.646819682] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050334.647882876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050334.649158261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050334.745214022] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050334.745950517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050334.747060280] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050334.747900923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050334.748394540] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050334.835402921] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050334.837829931] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050334.838715852] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050334.838776118] [sailbot.teensy]: Wind angle: 278 -[teensy-2] [INFO] [1746050334.839210279] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050334.839578879] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050334.840355849] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050334.844373426] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050334.845037098] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050334.845494701] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050334.846770172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050334.847772665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050334.945369865] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050334.946055050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050334.946892479] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050334.948226701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050334.950010253] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050335.002377787] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902812 Long: -76.50280028 -[vectornav-1] [INFO] [1746050335.003393469] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (205.34500000000003, -2.476, -2.78) -[mux-7] [INFO] [1746050335.045131958] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050335.045877883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050335.046544511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050335.047984249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050335.048422403] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050335.085191276] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050335.087426591] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050335.087425755] [sailbot.teensy]: Wind angle: 278 -[teensy-2] [INFO] [1746050335.088426435] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050335.089024550] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050335.089339139] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050335.090290196] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050335.144934793] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050335.145541066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050335.146093619] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050335.147281342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050335.148463452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050335.245324427] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050335.246444248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050335.246863954] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050335.248519264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050335.249061543] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050335.335720168] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050335.338955948] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050335.338975321] [sailbot.teensy]: Wind angle: 277 -[teensy-2] [INFO] [1746050335.340319889] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050335.340397856] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050335.341324570] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050335.342213754] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050335.344453791] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050335.344959270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050335.345549163] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050335.346758246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050335.347898612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050335.445674369] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050335.446975495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050335.447761365] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050335.449522571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050335.450792898] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050335.503696477] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902814 Long: -76.50280122 -[vectornav-1] [INFO] [1746050335.505761942] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (202.28600000000006, -0.933, -4.734) -[mux-7] [INFO] [1746050335.545120752] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050335.545927821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050335.546533932] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050335.548224768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050335.549368606] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050335.585450350] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050335.587785174] [sailbot.teensy]: Wind angle: 277 -[trim_sail-4] [INFO] [1746050335.587914138] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050335.588778737] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050335.589074015] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050335.589667875] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050335.590652373] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050335.645184353] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050335.645830875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050335.646423183] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050335.647827777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050335.648777604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050335.745079976] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050335.745944625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050335.746851773] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050335.747966674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050335.748441704] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050335.835447772] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050335.837405063] [sailbot.teensy]: Wind angle: 278 -[trim_sail-4] [INFO] [1746050335.837906161] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050335.838404284] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050335.839346269] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050335.839822465] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050335.840090330] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050335.844405027] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050335.845290480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050335.845574791] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050335.847308854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050335.848348937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050335.945401618] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050335.945986228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050335.946916680] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050335.948472711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050335.949636451] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050336.004169473] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902729 Long: -76.50280326 -[vectornav-1] [INFO] [1746050336.005872278] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (202.288, -0.393, -5.436) -[mux-7] [INFO] [1746050336.045277111] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050336.046335395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050336.046805013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050336.048533101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050336.049504587] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050336.085248319] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050336.087678265] [sailbot.teensy]: Wind angle: 278 -[trim_sail-4] [INFO] [1746050336.087747698] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050336.088470994] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050336.088658492] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050336.089572393] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050336.090444946] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050336.145257221] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050336.145903506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050336.146906146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050336.148082456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050336.149339269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050336.245123075] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050336.245805346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050336.246548526] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050336.248020131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050336.249030364] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050336.335409961] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050336.337903517] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050336.338638417] [sailbot.teensy]: Wind angle: 277 -[mux-7] [INFO] [1746050336.338990806] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050336.339636059] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050336.340548518] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050336.340940187] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050336.344474451] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050336.344840288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050336.345625663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050336.346533874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050336.347608236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050336.445297550] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050336.446132256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050336.446743535] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050336.448076490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050336.449313439] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050336.503632864] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690268 Long: -76.50280576 -[vectornav-1] [INFO] [1746050336.505520635] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (200.89200000000005, -1.228, -2.7) -[mux-7] [INFO] [1746050336.544973125] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050336.545765732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050336.546259393] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050336.547608637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050336.548740695] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050336.585244981] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050336.587476732] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050336.587548904] [sailbot.teensy]: Wind angle: 278 -[teensy-2] [INFO] [1746050336.588697722] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050336.589635615] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050336.589844428] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050336.590508775] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050336.645127074] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050336.645819172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050336.646561030] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050336.648084748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050336.649233019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050336.745603087] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050336.746625689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050336.747222188] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050336.747932557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050336.748407859] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050336.835442486] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050336.837329849] [sailbot.teensy]: Wind angle: 277 -[trim_sail-4] [INFO] [1746050336.837858850] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050336.838322381] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050336.839278475] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050336.839817411] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050336.840207556] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050336.844380532] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050336.845101500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050336.845444213] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050336.846804084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050336.847999338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050336.945536527] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050336.946296450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050336.947488837] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050336.948010461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050336.948546279] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050337.002411169] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902699 Long: -76.50280663 -[vectornav-1] [INFO] [1746050337.003514419] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (198.56500000000005, -1.465, -6.942) -[mux-7] [INFO] [1746050337.045679110] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050337.047359547] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050337.047326841] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050337.049811413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050337.051111891] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050337.085885534] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050337.088270949] [sailbot.teensy]: Wind angle: 278 -[teensy-2] [INFO] [1746050337.089353787] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050337.090267240] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746050337.089369136] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050337.090133288] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050337.091154499] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050337.145160729] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050337.145827284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050337.146593775] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050337.147859228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050337.149034263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050337.245384053] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050337.246296666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050337.246909645] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050337.249024340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050337.250098720] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050337.335324173] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050337.337132538] [sailbot.teensy]: Wind angle: 278 -[trim_sail-4] [INFO] [1746050337.337850474] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050337.338136573] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050337.338961947] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050337.339067887] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050337.340023468] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050337.344561269] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050337.345011812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050337.345687882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050337.346740682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050337.347782083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050337.445422456] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050337.446343767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050337.447057686] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050337.447998432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050337.448453014] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050337.502275358] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902732 Long: -76.502805 -[vectornav-1] [INFO] [1746050337.504691400] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (204.39599999999996, -0.476, -4.592) -[mux-7] [INFO] [1746050337.545131168] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050337.545968472] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050337.546528704] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050337.548368089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050337.549488681] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050337.585422552] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050337.588415736] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050337.588472019] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050337.589146221] [sailbot.teensy]: Wind angle: 278 -[teensy-2] [INFO] [1746050337.590101835] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050337.590953887] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050337.591797924] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050337.645541138] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050337.646380123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050337.647267836] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050337.649126733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050337.650285593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050337.745331330] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050337.746318675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050337.746997696] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050337.748730958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050337.749887876] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050337.835577221] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050337.838746578] [sailbot.teensy]: Wind angle: 281 -[trim_sail-4] [INFO] [1746050337.838800479] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050337.839294260] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050337.840243150] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050337.840590470] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050337.841276495] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050337.844386956] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050337.844927271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050337.845489449] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050337.846626600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050337.847761450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050337.945617392] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050337.946332180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050337.947818263] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050337.948929431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050337.950155033] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050338.002666268] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902777 Long: -76.50280381 -[vectornav-1] [INFO] [1746050338.003859557] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (208.13599999999997, -0.876, -3.878) -[mux-7] [INFO] [1746050338.045496069] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050338.046146272] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050338.047107266] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050338.048813206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050338.049974590] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050338.085580170] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050338.088722907] [sailbot.teensy]: Wind angle: 281 -[trim_sail-4] [INFO] [1746050338.089434148] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050338.089592265] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050338.089665067] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050338.090579334] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050338.091430332] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050338.145290888] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050338.145872796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050338.146785896] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050338.148027914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050338.149195371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050338.245737938] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050338.246383927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050338.247412081] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050338.248929886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050338.250244914] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050338.335542066] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050338.338206260] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050338.338510030] [sailbot.teensy]: Wind angle: 281 -[mux-7] [INFO] [1746050338.339199134] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050338.339473902] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050338.339882296] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050338.340380244] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050338.344443711] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050338.345464598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050338.345570822] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050338.347284890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050338.348417751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050338.445453895] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050338.446886952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050338.447220096] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050338.449082330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050338.450233242] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050338.503187658] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902777 Long: -76.5028039 -[vectornav-1] [INFO] [1746050338.504635417] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (207.81600000000003, -1.633, -5.249) -[mux-7] [INFO] [1746050338.545221154] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050338.545870134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050338.546913547] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050338.548585376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050338.549770588] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050338.585226213] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050338.587589668] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050338.587837898] [sailbot.teensy]: Wind angle: 281 -[teensy-2] [INFO] [1746050338.588879888] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050338.588969727] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050338.589786526] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050338.590669897] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050338.645220614] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050338.645840237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050338.646721608] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050338.647817747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050338.648969510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050338.745753196] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050338.746351444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050338.748448334] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050338.749005038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050338.750139914] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050338.835309994] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050338.837586009] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050338.837698889] [sailbot.teensy]: Wind angle: 281 -[teensy-2] [INFO] [1746050338.838537618] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050338.838941301] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050338.838973256] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050338.839319180] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050338.844544720] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050338.845067751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050338.845730717] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050338.846765652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050338.848036420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050338.945384714] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050338.946056668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050338.947188574] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050338.948243744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050338.949482628] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050339.003821386] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690278 Long: -76.50280402 -[vectornav-1] [INFO] [1746050339.005277291] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (208.341, -0.26, -2.321) -[mux-7] [INFO] [1746050339.045535564] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050339.046150391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050339.047160804] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050339.048269664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050339.049589465] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050339.085409193] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050339.087558711] [sailbot.teensy]: Wind angle: 282 -[teensy-2] [INFO] [1746050339.088543278] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050339.087914394] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050339.089235665] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050339.089415740] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050339.090320973] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050339.145156962] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050339.146292670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050339.146584687] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050339.147842800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050339.148419475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050339.245659035] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050339.246319713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050339.247746884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050339.248699198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050339.250294043] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050339.335682231] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050339.337878064] [sailbot.teensy]: Wind angle: 282 -[trim_sail-4] [INFO] [1746050339.338526101] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050339.338901994] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050339.339095148] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050339.340875807] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050339.341776196] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050339.344371207] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050339.345064011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050339.345440407] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050339.346787499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050339.347816397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050339.445634009] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050339.446440026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050339.447583494] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050339.448302085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050339.448891105] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050339.503651859] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902789 Long: -76.5028039 -[vectornav-1] [INFO] [1746050339.505310983] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (207.812, -1.436, -1.302) -[mux-7] [INFO] [1746050339.545067708] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050339.545797854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050339.546514469] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050339.548172462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050339.548778892] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050339.585428709] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050339.587449049] [sailbot.teensy]: Wind angle: 282 -[trim_sail-4] [INFO] [1746050339.587905409] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050339.588439686] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050339.589381861] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050339.589884784] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050339.590245636] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050339.645325329] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050339.646161555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050339.646872130] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050339.648261539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050339.648751794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050339.745201948] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050339.746207976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050339.746741447] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050339.748468865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050339.748981579] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050339.835388811] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050339.838304747] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050339.838536317] [sailbot.teensy]: Wind angle: 281 -[teensy-2] [INFO] [1746050339.839731335] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050339.839775665] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050339.840704832] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050339.841558741] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050339.844378787] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050339.844873349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050339.845456404] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050339.846699734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050339.847741222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050339.945636909] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050339.946431947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050339.947262279] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050339.948564616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050339.949024178] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050340.004108424] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902766 Long: -76.5028044 -[vectornav-1] [INFO] [1746050340.005710701] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (206.086, 0.041, -3.58) -[mux-7] [INFO] [1746050340.045483191] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050340.046317228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050340.047136972] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050340.048458388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050340.049618865] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050340.085504042] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050340.087940424] [sailbot.teensy]: Wind angle: 280 -[trim_sail-4] [INFO] [1746050340.088283112] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050340.088962975] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050340.089053651] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050340.089885773] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050340.090807487] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050340.145001493] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050340.145957387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050340.146674516] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050340.147859044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050340.148919541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050340.245594603] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050340.246592934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050340.247478929] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050340.248919003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050340.250143786] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050340.335599509] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050340.337578170] [sailbot.teensy]: Wind angle: 280 -[trim_sail-4] [INFO] [1746050340.338306887] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050340.338579920] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050340.339529814] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050340.340112027] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050340.340502119] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050340.344408368] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050340.344829176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050340.345622812] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050340.347329672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050340.348526398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050340.445495392] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050340.446287923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050340.446994165] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050340.448437331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050340.449706420] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050340.502540564] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902675 Long: -76.50280672 -[vectornav-1] [INFO] [1746050340.503830088] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (201.0, -0.573, -1.51) -[mux-7] [INFO] [1746050340.545334002] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050340.546058859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050340.546955164] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050340.548541317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050340.549858436] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050340.585599967] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050340.588327444] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050340.589011663] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050340.589230621] [sailbot.teensy]: Wind angle: 278 -[teensy-2] [INFO] [1746050340.590168893] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050340.591039523] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050340.591844260] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050340.645133051] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050340.645993148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050340.646539866] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050340.647948599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050340.648556867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050340.745184935] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050340.746024211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050340.746613550] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050340.748748498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050340.749853215] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050340.835423623] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050340.837848020] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050340.838271502] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050340.839016937] [sailbot.teensy]: Wind angle: 265 -[teensy-2] [INFO] [1746050340.839460024] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050340.840180954] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050340.840947700] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050340.844417678] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050340.844857666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050340.845539245] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050340.846616990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050340.847862960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050340.945369956] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050340.946484806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050340.946919374] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050340.948656358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050340.949718319] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050341.002567436] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902585 Long: -76.50281296 -[vectornav-1] [INFO] [1746050341.003641483] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.572, 3.085, -0.453) -[mux-7] [INFO] [1746050341.045348080] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050341.046031622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050341.046872604] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050341.048422543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050341.049705648] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050341.085379839] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050341.088258620] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050341.088601832] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050341.089572983] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050341.089030356] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050341.090430305] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050341.091272728] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050341.145006672] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050341.145810689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050341.146369569] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050341.147544422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050341.148083153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050341.244860467] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050341.245642000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050341.246058555] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050341.247549091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050341.248709644] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050341.335349292] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050341.337697926] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050341.338328403] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050341.338522846] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746050341.339532922] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050341.340477212] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050341.341333078] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050341.344280525] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050341.344963599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050341.345397266] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050341.346654419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050341.347821673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050341.445417392] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050341.446567911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050341.447505035] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050341.448850872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050341.449581082] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050341.503591619] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902723 Long: -76.50282203 -[vectornav-1] [INFO] [1746050341.505742734] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.99900000000002, 2.845, 1.785) -[mux-7] [INFO] [1746050341.544904989] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050341.545560929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050341.546108187] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050341.547552293] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050341.548668902] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050341.585280188] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050341.587539220] [sailbot.teensy]: Wind angle: 152 -[trim_sail-4] [INFO] [1746050341.587723239] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050341.588518969] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050341.588901526] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050341.589437565] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050341.590281536] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050341.644940368] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050341.645601649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050341.646286066] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050341.648138149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050341.648734638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050341.745275047] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050341.745953607] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050341.746822394] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050341.748424927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050341.749370534] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050341.835416498] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050341.837557381] [sailbot.teensy]: Wind angle: 169 -[trim_sail-4] [INFO] [1746050341.837931117] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050341.838820772] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050341.839438411] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050341.839801023] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050341.840685426] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050341.844384362] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050341.844922373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050341.845517363] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050341.846558092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050341.847785347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050341.945591284] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050341.946360835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050341.947474045] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050341.948764580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050341.950087591] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050342.003549042] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903084 Long: -76.50283248 -[vectornav-1] [INFO] [1746050342.004948125] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.20000000000005, 6.368, -0.625) -[mux-7] [INFO] [1746050342.045325498] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050342.046038800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050342.046867132] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050342.048540801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050342.049746267] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050342.085462662] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050342.088167383] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050342.089418154] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050342.089448101] [sailbot.teensy]: Wind angle: 217 -[teensy-2] [INFO] [1746050342.090382630] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050342.091278903] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050342.092234081] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050342.145251534] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050342.146180047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050342.147313972] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050342.148428866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050342.149544972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050342.245626252] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050342.246684046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050342.248094172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050342.250710952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050342.251900333] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050342.335620923] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050342.337997596] [sailbot.teensy]: Wind angle: 228 -[trim_sail-4] [INFO] [1746050342.338042820] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050342.338971194] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050342.339412617] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050342.339861273] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050342.340760729] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050342.344212050] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050342.344988446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050342.345326150] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050342.346703143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050342.347845088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050342.445074455] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050342.445871036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050342.446545641] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050342.448064459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050342.449132205] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050342.503188660] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690333 Long: -76.502841 -[vectornav-1] [INFO] [1746050342.504487320] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.64999999999998, 0.396, 1.484) -[mux-7] [INFO] [1746050342.545266572] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050342.546301739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050342.546825775] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050342.548648964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050342.549721153] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050342.585504908] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050342.588025154] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050342.588442845] [sailbot.teensy]: Wind angle: 205 -[teensy-2] [INFO] [1746050342.589458597] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050342.588503785] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050342.590317141] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050342.591157899] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050342.645103830] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050342.645906829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050342.646573195] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050342.647929752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050342.648689499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050342.745715693] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050342.746603876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050342.747344588] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050342.748945345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050342.750178927] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050342.835485720] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050342.837390623] [sailbot.teensy]: Wind angle: 212 -[trim_sail-4] [INFO] [1746050342.838174723] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050342.838367270] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050342.839269993] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050342.839543031] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050342.840203422] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050342.844462948] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050342.844936621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050342.845598051] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050342.846646899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050342.848304707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050342.945490762] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050342.946513661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050342.947160160] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050342.948852302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050342.950059580] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050343.002373733] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903619 Long: -76.50284781 -[vectornav-1] [INFO] [1746050343.003374395] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.452, 1.698, 3.198) -[mux-7] [INFO] [1746050343.045153422] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050343.046082717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050343.046642467] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050343.048062978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050343.048591034] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050343.085570792] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050343.088908808] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050343.089113696] [sailbot.teensy]: Wind angle: 219 -[teensy-2] [INFO] [1746050343.090118016] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050343.090108015] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050343.090890433] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050343.091269479] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050343.145286059] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050343.146267967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050343.146863961] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050343.147835738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050343.148401817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050343.245348523] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050343.246045532] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050343.247058745] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050343.248453238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050343.249708801] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050343.334420793] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050343.335845082] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050343.336307219] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050343.336563618] [sailbot.teensy]: Wind angle: 215 -[teensy-2] [INFO] [1746050343.337150267] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050343.337678333] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050343.338216869] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050343.343626659] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050343.343955714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050343.344119940] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050343.344767536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050343.345299645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050343.445321957] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050343.446324638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050343.447321246] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050343.448676276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050343.449852566] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050343.503419652] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903802 Long: -76.50285304 -[vectornav-1] [INFO] [1746050343.505023947] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.71699999999998, -3.961, -0.075) -[mux-7] [INFO] [1746050343.545191596] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050343.545906588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050343.546619246] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050343.548232931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050343.549369711] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050343.585427220] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050343.587522519] [sailbot.teensy]: Wind angle: 215 -[teensy-2] [INFO] [1746050343.588635984] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050343.587928991] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050343.589550103] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050343.589680937] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050343.590430816] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050343.645415269] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050343.646214061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050343.647064957] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050343.648458901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050343.649742086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050343.745528565] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050343.746228775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050343.747194437] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050343.748430753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050343.750217383] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050343.835925446] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050343.838841385] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050343.839808036] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050343.840067240] [sailbot.teensy]: Wind angle: 220 -[teensy-2] [INFO] [1746050343.841064311] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050343.841439869] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050343.841811606] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050343.844089737] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050343.844459644] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050343.845329760] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050343.846120890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050343.847392297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050343.945298336] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050343.946481707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050343.946894274] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050343.948516757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050343.948960098] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050344.003510688] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903968 Long: -76.50285897 -[vectornav-1] [INFO] [1746050344.004932156] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.135, 0.497, -0.973) -[mux-7] [INFO] [1746050344.045052926] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050344.045803364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050344.046426605] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050344.047718096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050344.048766612] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050344.085391655] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050344.087716341] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050344.088244856] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050344.089212284] [sailbot.teensy]: Wind angle: 228 -[teensy-2] [INFO] [1746050344.090160434] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050344.091002294] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050344.091835064] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050344.145341455] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050344.146176143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050344.147008982] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050344.148756820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050344.149957895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050344.245447566] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050344.246322068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050344.247005084] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050344.248707205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050344.249198792] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050344.335398511] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050344.338334804] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050344.339587647] [sailbot.teensy]: Wind angle: 226 -[teensy-2] [INFO] [1746050344.340767678] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050344.341190469] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050344.341709739] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050344.342586325] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050344.344405942] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050344.344764216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050344.345904627] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050344.346465625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050344.347674553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050344.445285352] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050344.446376687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050344.447309282] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050344.448615505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050344.449741890] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050344.502459591] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904161 Long: -76.50286442 -[vectornav-1] [INFO] [1746050344.503572854] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.56100000000004, 3.491, -0.056) -[mux-7] [INFO] [1746050344.545004696] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050344.545635909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050344.546325952] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050344.547578542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050344.548742669] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050344.585267951] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050344.587095497] [sailbot.teensy]: Wind angle: 227 -[trim_sail-4] [INFO] [1746050344.587573179] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050344.588038611] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050344.588907726] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050344.589781883] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050344.589800778] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050344.645425899] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050344.646081877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050344.647146435] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050344.647760049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050344.648326316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050344.745439315] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050344.746148119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050344.747066589] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050344.748343673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050344.749581819] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050344.835459666] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050344.837478115] [sailbot.teensy]: Wind angle: 227 -[trim_sail-4] [INFO] [1746050344.838013235] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050344.838462609] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050344.838977420] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050344.839116200] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050344.839354468] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050344.844407635] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050344.844988261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050344.845582603] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050344.846734840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050344.847803319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050344.945491439] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050344.946194574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050344.947304432] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050344.948526774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050344.949635093] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050345.002514798] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904297 Long: -76.50286885 -[vectornav-1] [INFO] [1746050345.003545646] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.43000000000006, -4.668, 0.718) -[mux-7] [INFO] [1746050345.045104291] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050345.045664243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050345.046329336] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050345.047440067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050345.048575043] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050345.085327244] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050345.087667522] [sailbot.teensy]: Wind angle: 226 -[trim_sail-4] [INFO] [1746050345.087829626] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050345.088667267] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050345.089157314] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050345.089637093] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050345.090536298] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050345.145082870] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050345.145930970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050345.146517324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050345.148587489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050345.149740755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050345.245355158] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050345.246201371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050345.246943944] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050345.248280469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050345.248810422] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050345.335444874] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050345.337804950] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050345.338358494] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050345.338872503] [sailbot.teensy]: Wind angle: 225 -[teensy-2] [INFO] [1746050345.339879929] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050345.340959234] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050345.341912817] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050345.344313158] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050345.344938659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050345.345402393] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050345.346663140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050345.347773785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050345.445238572] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050345.446068856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050345.446724905] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050345.447844087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050345.448385470] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050345.503210718] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904503 Long: -76.50287333 -[vectornav-1] [INFO] [1746050345.504823056] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.23900000000003, 3.883, 1.197) -[mux-7] [INFO] [1746050345.545184257] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050345.546010058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050345.546873609] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050345.548599879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050345.549743205] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050345.585554864] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050345.587698814] [sailbot.teensy]: Wind angle: 226 -[trim_sail-4] [INFO] [1746050345.588003794] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050345.588699256] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050345.589648191] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050345.590559978] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050345.590827695] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050345.645244824] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050345.646064609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050345.646921019] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050345.648348574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050345.649608039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050345.745394830] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050345.746123554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050345.747103888] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050345.747902839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050345.748464397] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050345.835403099] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050345.837528693] [sailbot.teensy]: Wind angle: 224 -[trim_sail-4] [INFO] [1746050345.837964498] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050345.838525432] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050345.839332279] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050345.839388708] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050345.839724544] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050345.844514859] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050345.845289085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050345.845660117] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050345.847063628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050345.848196889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050345.945698146] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050345.946650713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050345.947360343] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050345.949162211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050345.950431956] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050346.003536398] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904519 Long: -76.50287639 -[vectornav-1] [INFO] [1746050346.004944983] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.30999999999995, 0.109, -1.774) -[mux-7] [INFO] [1746050346.044895798] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050346.045572163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050346.046109895] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050346.047434520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050346.048446627] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050346.085422187] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050346.087528315] [sailbot.teensy]: Wind angle: 224 -[trim_sail-4] [INFO] [1746050346.088316384] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050346.088580624] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050346.088951028] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050346.089568077] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050346.090495632] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050346.145193763] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050346.146095627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050346.146662660] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050346.148219960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050346.149311278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050346.245373890] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050346.246045085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050346.246962454] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050346.248606652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050346.249254261] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050346.335486024] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050346.338000664] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050346.338707425] [sailbot.teensy]: Wind angle: 223 -[mux-7] [INFO] [1746050346.338749065] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050346.339154817] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050346.339598906] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050346.340432659] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050346.344363632] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050346.344913498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050346.345464351] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050346.346586511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050346.347746107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050346.445279246] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050346.446023931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050346.447041489] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050346.448196719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050346.448662012] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050346.503361843] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904621 Long: -76.50287896 -[vectornav-1] [INFO] [1746050346.505014254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.702, 1.055, 0.105) -[mux-7] [INFO] [1746050346.545046941] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050346.545850040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050346.546509913] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050346.547977573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050346.549012074] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050346.585404380] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050346.588181026] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050346.588387955] [sailbot.teensy]: Wind angle: 228 -[mux-7] [INFO] [1746050346.588933909] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050346.589441306] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050346.590627053] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050346.591607634] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050346.645354430] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050346.646237004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050346.647175290] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050346.648508327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050346.649706366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050346.745346465] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050346.746257226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050346.746913538] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050346.748300173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050346.748815378] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050346.835374970] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050346.837744682] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050346.838240876] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050346.838953871] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050346.839964855] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050346.840711478] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050346.841083429] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050346.844563033] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050346.845054664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050346.845688974] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050346.846724329] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050346.847888551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050346.945401210] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050346.946350816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050346.947000673] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050346.950165310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050346.950867707] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050347.003487457] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904738 Long: -76.50288173 -[vectornav-1] [INFO] [1746050347.005342043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.97000000000003, -0.389, 2.232) -[mux-7] [INFO] [1746050347.045350548] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050347.046270572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050347.046911449] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050347.048596080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050347.049677342] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050347.085434433] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050347.087774460] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050347.087769258] [sailbot.teensy]: Wind angle: 221 -[teensy-2] [INFO] [1746050347.088767282] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050347.089297776] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050347.089701229] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050347.090733073] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050347.145350900] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050347.145835349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050347.146861633] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050347.148044607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050347.149106504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050347.245252974] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050347.245771856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050347.247147837] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050347.247630464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050347.249196070] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050347.335700960] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050347.338490131] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050347.339226463] [sailbot.teensy]: Wind angle: 217 -[teensy-2] [INFO] [1746050347.340228664] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050347.340751539] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050347.340917780] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050347.341272648] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050347.344678400] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050347.345356300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050347.345914908] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050347.347208156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050347.348291342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050347.445442278] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050347.446466622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050347.447645520] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050347.448752280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050347.449996655] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050347.503820312] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904802 Long: -76.50288377 -[vectornav-1] [INFO] [1746050347.505393058] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.394, 0.453, 3.017) -[mux-7] [INFO] [1746050347.545213186] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050347.545947122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050347.546777000] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050347.548243507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050347.549401900] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050347.585724724] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050347.588070326] [sailbot.teensy]: Wind angle: 223 -[trim_sail-4] [INFO] [1746050347.588798743] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050347.589173125] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050347.590146070] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050347.591121404] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050347.592011360] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050347.645419759] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050347.646136700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050347.647035515] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050347.648494128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050347.649769108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050347.745686266] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050347.746450045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050347.747464360] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050347.748862913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050347.749781232] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050347.835213056] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050347.836839256] [sailbot.teensy]: Wind angle: 227 -[trim_sail-4] [INFO] [1746050347.837357442] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050347.837772026] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050347.838689115] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050347.839566690] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050347.839573428] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050347.844312178] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050347.844881278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050347.845397406] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050347.846546658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050347.847575498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050347.945693422] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050347.946848538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050347.947989942] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050347.949480550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050347.951007885] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050348.002646060] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904881 Long: -76.50288632 -[vectornav-1] [INFO] [1746050348.003697640] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.81999999999994, -1.691, 0.881) -[mux-7] [INFO] [1746050348.045346228] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050348.045894208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050348.046741531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050348.047868950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050348.048929348] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050348.085537073] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050348.087719111] [sailbot.teensy]: Wind angle: 226 -[trim_sail-4] [INFO] [1746050348.088184254] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050348.088760764] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050348.088766927] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050348.089958847] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050348.091216102] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050348.145134260] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050348.145913773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050348.146593555] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050348.148359455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050348.149452656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050348.245458666] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050348.246324175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050348.247140058] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050348.248707442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050348.249204862] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050348.335219124] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050348.337332989] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050348.337548455] [sailbot.teensy]: Wind angle: 226 -[mux-7] [INFO] [1746050348.338236370] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050348.338836388] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050348.339447941] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050348.339810808] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050348.344292059] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050348.344917226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050348.345437351] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050348.346640838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050348.347825949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050348.445043730] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050348.445975576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050348.446385328] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050348.448105575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050348.449177288] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050348.503400084] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904935 Long: -76.50288897 -[vectornav-1] [INFO] [1746050348.505556516] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.84799999999996, 1.557, 1.864) -[mux-7] [INFO] [1746050348.545278752] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050348.546128454] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050348.546831698] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050348.547888991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050348.548429950] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050348.585400339] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050348.587672787] [sailbot.teensy]: Wind angle: 226 -[trim_sail-4] [INFO] [1746050348.587713107] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050348.588398749] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050348.588640613] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050348.589537406] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050348.590377744] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050348.645164277] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050348.646047079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050348.646661179] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050348.648192722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050348.649434841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050348.745657618] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050348.746523104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050348.747455584] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050348.748720371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050348.749266301] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050348.835494851] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050348.838089594] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050348.838548862] [sailbot.teensy]: Wind angle: 227 -[mux-7] [INFO] [1746050348.838682523] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050348.839509377] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050348.840500114] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050348.841525866] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050348.844364641] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050348.845003018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050348.845440711] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050348.846696269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050348.847849608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050348.945331427] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050348.946170335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050348.947033120] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050348.947824746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050348.948318447] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050349.002561192] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904989 Long: -76.50289043 -[vectornav-1] [INFO] [1746050349.003639853] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.55500000000006, 0.182, 0.066) -[mux-7] [INFO] [1746050349.045311499] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050349.047271028] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050349.046491222] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050349.048989165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050349.050168472] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050349.085765514] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050349.088377709] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050349.088368123] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050349.089342053] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050349.089728385] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050349.090262085] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050349.091112683] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050349.145385920] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050349.146036240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050349.147048634] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050349.149523191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050349.150681289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050349.245003844] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050349.245453148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050349.246285325] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050349.247231752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050349.248299743] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050349.335369889] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050349.337202123] [sailbot.teensy]: Wind angle: 232 -[trim_sail-4] [INFO] [1746050349.337799685] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050349.338173020] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050349.339071454] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050349.339763558] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050349.339939833] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050349.344439901] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050349.345081370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050349.345554557] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050349.346971398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050349.348019773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050349.445232305] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050349.446367654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050349.446727248] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050349.448037521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050349.448581386] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050349.503153254] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904993 Long: -76.50289177 -[vectornav-1] [INFO] [1746050349.504612693] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.543, 0.019, -0.077) -[mux-7] [INFO] [1746050349.544910513] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050349.545678601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050349.546230112] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050349.547999440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050349.549175337] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050349.585420752] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050349.587649313] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050349.588602865] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050349.587804835] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050349.588188535] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050349.589496138] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050349.590347785] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050349.645141567] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050349.645835891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050349.646737212] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050349.647918921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050349.649057943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050349.745798963] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050349.745879443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050349.747315706] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050349.748210261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050349.749313035] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050349.835224281] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050349.837351440] [sailbot.teensy]: Wind angle: 236 -[trim_sail-4] [INFO] [1746050349.837540401] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050349.838228832] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050349.838586515] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050349.839161188] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050349.840007055] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050349.844322410] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050349.844843116] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050349.845674974] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050349.846723776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050349.847845364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050349.945194997] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050349.945932208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050349.946716164] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050349.948245963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050349.949405344] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050350.002598922] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904991 Long: -76.50289389 -[vectornav-1] [INFO] [1746050350.003759811] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.40499999999997, -0.485, -0.716) -[mux-7] [INFO] [1746050350.045314699] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050350.046123467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050350.047112096] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050350.048356536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050350.048907730] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050350.085803198] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050350.088786338] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050350.089341719] [sailbot.teensy]: Wind angle: 234 -[mux-7] [INFO] [1746050350.089754190] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050350.090260488] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050350.091162609] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050350.092003559] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050350.144934614] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050350.145776895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050350.146233269] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050350.148080170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050350.149146813] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050350.196482292] [sailbot.mux]: controller_app rudder angle: 2 -[mux-7] [INFO] [1746050350.245199061] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050350.245976629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050350.246659149] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050350.248205294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050350.249343398] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050350.335426622] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050350.337229045] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050350.337965714] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050350.339076924] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050350.339214129] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050350.339715898] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050350.340084992] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050350.344365981] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050350.345017666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050350.345425497] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050350.346680673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050350.347840463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050350.444978948] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050350.445780421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050350.446408058] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050350.447886068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050350.448370373] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050350.503257114] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904995 Long: -76.50289536 -[vectornav-1] [INFO] [1746050350.504884467] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.981, 1.447, 0.618) -[mux-7] [INFO] [1746050350.544859431] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050350.545622688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050350.546145685] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050350.547426496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050350.548487037] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050350.585381004] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050350.587588446] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050350.587872932] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050350.588522439] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050350.588793490] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050350.589675285] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050350.590670338] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050350.645041583] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050350.646675535] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050350.646884072] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050350.649294596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050350.650095666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050350.745218812] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050350.746312564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050350.746990326] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050350.748042683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050350.748522131] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050350.835415263] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050350.837717497] [sailbot.teensy]: Wind angle: 236 -[trim_sail-4] [INFO] [1746050350.837787387] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050350.839221216] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050350.839429672] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050350.840558698] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050350.841428825] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050350.844432771] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050350.844913730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050350.845551393] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050350.846584428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050350.847692146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050350.945225666] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050350.946069836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050350.946725687] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050350.948997639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050350.950098973] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050351.003758119] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905003 Long: -76.50289638 -[vectornav-1] [INFO] [1746050351.005677021] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.67899999999997, -2.992, 1.567) -[mux-7] [INFO] [1746050351.044924333] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050351.045716144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050351.046207030] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050351.047687996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050351.048747745] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050351.085469244] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050351.087358787] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050351.087939891] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050351.088379527] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050351.089347292] [sailbot.teensy]: Actual tail angle: 27 -[mux-7] [INFO] [1746050351.089501529] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050351.090258326] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050351.145309405] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050351.146122516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050351.146790178] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050351.148685537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050351.149725200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050351.187162923] [sailbot.mux]: controller_app rudder angle: 1 -[mux-7] [INFO] [1746050351.245171579] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050351.245915284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050351.246646602] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050351.248710423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050351.249840527] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050351.335705842] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050351.338486849] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050351.339132982] [sailbot.teensy]: Wind angle: 232 -[mux-7] [INFO] [1746050351.339730488] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050351.340132786] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050351.340536499] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050351.341321687] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050351.344372324] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050351.344821004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050351.345441464] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050351.346495362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050351.347532761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050351.445530443] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050351.446431948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050351.447610811] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050351.448608395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050351.449120451] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050351.503411210] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905031 Long: -76.50289831 -[vectornav-1] [INFO] [1746050351.504893169] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.24299999999994, 1.859, -1.042) -[mux-7] [INFO] [1746050351.545265212] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050351.545828596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050351.546625855] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050351.547937386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050351.549016098] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050351.585654359] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050351.587745258] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050351.588245412] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050351.588742236] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050351.589645332] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050351.590445654] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050351.590529947] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050351.645328626] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050351.646080730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050351.647275829] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050351.648724906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050351.649916611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050351.745109519] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050351.745953817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050351.746750999] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050351.747851149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050351.748399928] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050351.835229764] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050351.837443864] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050351.837539886] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050351.838328673] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050351.839214095] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050351.839508506] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050351.840114178] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050351.844442310] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050351.844999261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050351.845554223] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050351.846790262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050351.847805174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050351.945050584] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050351.946078085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050351.946439604] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050351.948141399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050351.949211683] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050352.002523135] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904987 Long: -76.50290033 -[vectornav-1] [INFO] [1746050352.003583277] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.62599999999998, -2.231, -3.679) -[mux-7] [INFO] [1746050352.045365572] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050352.046383822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050352.046923278] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050352.048536641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050352.049015045] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050352.085301652] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050352.087327052] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050352.087515087] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050352.088257968] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050352.089155453] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050352.090022694] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050352.090035749] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050352.145018206] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050352.145825230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050352.146412214] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050352.147702922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050352.148200845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050352.185578620] [sailbot.mux]: controller_app rudder angle: -8 -[mux-7] [INFO] [1746050352.245167681] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050352.245846307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050352.246690081] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050352.247989380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050352.249061565] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050352.335486247] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050352.338353630] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050352.339522758] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050352.339612397] [sailbot.teensy]: Wind angle: 237 -[teensy-2] [INFO] [1746050352.340670981] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050352.342027719] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050352.342956168] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050352.344496319] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050352.345087931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050352.345600013] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050352.346825910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050352.347823522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050352.445022157] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050352.445755420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050352.446573894] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050352.447689678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050352.448870242] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050352.502755271] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904999 Long: -76.50290264 -[vectornav-1] [INFO] [1746050352.504182810] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.47799999999995, 0.292, -0.31) -[mux-7] [INFO] [1746050352.544950316] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050352.545606065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050352.546298023] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050352.547416345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050352.548452703] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050352.585414323] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050352.587482206] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050352.587789735] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050352.588443941] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050352.588945259] [sailbot.teensy]: Actual tail angle: 17 -[mux-7] [INFO] [1746050352.588966568] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050352.589321320] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050352.645203912] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050352.645653494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050352.646648746] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050352.647583048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050352.648680494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050352.745073550] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050352.745775505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050352.746435832] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050352.747597872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050352.748734640] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050352.835215825] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050352.837322884] [sailbot.teensy]: Wind angle: 239 -[teensy-2] [INFO] [1746050352.838286267] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050352.837396947] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050352.839154851] [sailbot.teensy]: Actual tail angle: 17 -[mux-7] [INFO] [1746050352.839178850] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050352.840085702] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050352.844589225] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050352.845148658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050352.845699193] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050352.846839745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050352.847871634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050352.945124272] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050352.945782516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050352.946509975] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050352.947738056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050352.948241871] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050353.002497009] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904996 Long: -76.50290435 -[vectornav-1] [INFO] [1746050353.003615684] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.85199999999998, -0.7, -2.859) -[mux-7] [INFO] [1746050353.045088575] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050353.045870096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050353.046491259] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050353.047794076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050353.048991842] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050353.085436825] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050353.087715071] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050353.088085289] [sailbot.teensy]: Wind angle: 239 -[mux-7] [INFO] [1746050353.088407189] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050353.089088323] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050353.090253116] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050353.091110367] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050353.144890470] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050353.145787782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050353.146209894] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050353.147761029] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050353.148858463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050353.244952904] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050353.246001452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050353.246242279] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050353.247820704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050353.248947883] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050353.335385140] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050353.338163335] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050353.338608524] [sailbot.teensy]: Wind angle: 238 -[mux-7] [INFO] [1746050353.339311024] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050353.339554018] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050353.339947586] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050353.340332667] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050353.344628322] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050353.345449965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050353.345771088] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050353.347149519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050353.348205600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050353.445238281] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050353.445818832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050353.446959377] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050353.447838835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050353.448849452] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050353.502499398] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690498 Long: -76.50290655 -[vectornav-1] [INFO] [1746050353.503593068] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.26800000000003, -1.684, -3.702) -[mux-7] [INFO] [1746050353.518611816] [sailbot.mux]: controller_app rudder angle: -6 -[mux-7] [INFO] [1746050353.544786323] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050353.545257255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050353.546108447] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050353.547126640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050353.548397695] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050353.585600455] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050353.588231024] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050353.588453648] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050353.589411396] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050353.590128959] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050353.590276067] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050353.591230841] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050353.645442818] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050353.645961226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050353.647121671] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050353.648432266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050353.649587305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050353.745235327] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050353.745958439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050353.746724557] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050353.747875550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050353.748953784] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050353.835509757] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050353.838012620] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050353.838055160] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050353.839018524] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050353.839483736] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050353.839916208] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050353.840746921] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050353.844518001] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050353.844905886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050353.845680724] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050353.846617526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050353.847626905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050353.945683987] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050353.946696880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050353.947719941] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050353.949325003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050353.950496341] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050354.003039375] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904997 Long: -76.50290921 -[vectornav-1] [INFO] [1746050354.004385416] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.17899999999997, 1.44, -2.758) -[mux-7] [INFO] [1746050354.045428585] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050354.046043577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050354.047036954] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050354.048626032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050354.049777616] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050354.085472237] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050354.087822062] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050354.088237033] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050354.089200013] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050354.089642272] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050354.090085260] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050354.090967965] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050354.145473740] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050354.146424778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050354.147093332] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050354.148025919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050354.148531806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050354.200404733] [sailbot.mux]: controller_app rudder angle: 1 -[mux-7] [INFO] [1746050354.245315819] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050354.246320388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050354.247149907] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050354.248443073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050354.249532131] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050354.335308908] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050354.337065323] [sailbot.teensy]: Wind angle: 240 -[trim_sail-4] [INFO] [1746050354.337522822] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050354.337960968] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050354.338895213] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050354.339748792] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050354.339824727] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746050354.344364878] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050354.345020972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050354.345446386] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050354.346752297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050354.347966864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050354.445368488] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050354.445856388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050354.447814986] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050354.447985184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050354.449146952] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050354.503136291] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904939 Long: -76.50291142 -[vectornav-1] [INFO] [1746050354.504853476] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (186.89, -0.808, -4.139) -[mux-7] [INFO] [1746050354.545043156] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050354.545857486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050354.546435537] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050354.547870249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050354.548934611] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050354.585432022] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050354.588140906] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050354.588358628] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050354.588997314] [sailbot.teensy]: Wind angle: 241 -[teensy-2] [INFO] [1746050354.589956965] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050354.590819029] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050354.591682022] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050354.645461174] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050354.646316633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050354.647088206] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050354.648727567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050354.649868966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050354.745494865] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050354.746834296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050354.747795294] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050354.748358814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050354.749083095] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050354.835714428] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050354.838064721] [sailbot.teensy]: Wind angle: 242 -[trim_sail-4] [INFO] [1746050354.838564246] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050354.839467084] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050354.839851518] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050354.839916154] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050354.840680520] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050354.844316290] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050354.845139398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050354.845444456] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050354.846873121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050354.848136766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050354.945442278] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050354.946157193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050354.947174755] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050354.948141004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050354.948674809] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050355.003727570] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904907 Long: -76.50291432 -[vectornav-1] [INFO] [1746050355.005489832] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.159, -1.932, -4.826) -[mux-7] [INFO] [1746050355.045912633] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050355.046047731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050355.047579804] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050355.048560420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050355.049092058] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050355.085475900] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050355.087461516] [sailbot.teensy]: Wind angle: 254 -[teensy-2] [INFO] [1746050355.088395458] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050355.087772916] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050355.088660493] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050355.089296944] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050355.090151884] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050355.144632769] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050355.145230246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050355.145715473] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050355.147069322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050355.148076197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050355.245454996] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050355.246130158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050355.247080278] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050355.247992700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050355.248574929] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050355.335327038] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050355.337167318] [sailbot.teensy]: Wind angle: 263 -[trim_sail-4] [INFO] [1746050355.337787430] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050355.338121875] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050355.339007703] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050355.339175536] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050355.339856318] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050355.344351914] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050355.344996414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050355.345459223] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050355.347447774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050355.348688702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050355.445255815] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050355.446128275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050355.446829007] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050355.448429070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050355.449261533] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050355.503617067] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904854 Long: -76.5029181 -[vectornav-1] [INFO] [1746050355.505291229] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (194.36699999999996, -0.672, -5.598) -[mux-7] [INFO] [1746050355.545109214] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050355.546013671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050355.546614830] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050355.548001237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050355.549189528] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050355.585317985] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050355.587578077] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050355.588418692] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050355.588548291] [sailbot.teensy]: Wind angle: 258 -[teensy-2] [INFO] [1746050355.589482129] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050355.590363361] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050355.591219502] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050355.645165112] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050355.645829675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050355.646631543] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050355.648023067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050355.649198539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050355.745566761] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050355.746168256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050355.748239634] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050355.748689622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050355.749906358] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050355.835615582] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050355.837440804] [sailbot.teensy]: Wind angle: 250 -[trim_sail-4] [INFO] [1746050355.837987654] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050355.838990776] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050355.839197903] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050355.839679325] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050355.840201624] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050355.844361236] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050355.844932774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050355.845478780] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050355.846695300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050355.847773006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050355.945545775] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050355.946344385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050355.947184242] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050355.948779487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050355.949947121] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050356.002529580] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904733 Long: -76.50292252 -[vectornav-1] [INFO] [1746050356.003625703] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (194.18600000000004, -0.729, -5.991) -[mux-7] [INFO] [1746050356.045289457] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050356.046394078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050356.046790241] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050356.049095281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050356.050117750] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050356.085724029] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050356.088475471] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050356.088601429] [sailbot.teensy]: Wind angle: 249 -[mux-7] [INFO] [1746050356.089461047] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050356.089514063] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050356.090380286] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050356.091256978] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050356.145409187] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050356.146138243] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050356.148105496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[mux-7] [INFO] [1746050356.148231608] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050356.148678729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050356.199591813] [sailbot.mux]: controller_app rudder angle: 7 -[mux-7] [INFO] [1746050356.244975267] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050356.245725080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050356.246223899] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050356.247556081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050356.248594725] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050356.335585120] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050356.337924366] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050356.338143784] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050356.338999624] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050356.339025518] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050356.339395569] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050356.339784893] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050356.344421245] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050356.345118764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050356.345511371] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050356.346861257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050356.347983686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050356.445012976] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050356.445669232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050356.446622237] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050356.448025159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050356.448553106] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050356.503002524] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904632 Long: -76.50292668 -[vectornav-1] [INFO] [1746050356.504603893] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.16499999999996, -0.568, -6.015) -[mux-7] [INFO] [1746050356.544890134] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050356.545724917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050356.546343903] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050356.547635432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050356.548694401] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050356.585557227] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050356.588179459] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050356.588440493] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050356.589378074] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050356.590265135] [sailbot.teensy]: Actual tail angle: 32 -[mux-7] [INFO] [1746050356.590294383] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050356.591144696] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050356.644851667] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050356.645468226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050356.646263554] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050356.647324075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050356.648424866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050356.745450216] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050356.746136603] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050356.748575376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[mux-7] [INFO] [1746050356.747087434] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050356.749036704] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050356.835654860] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050356.837865386] [sailbot.teensy]: Wind angle: 246 -[teensy-2] [INFO] [1746050356.838974401] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050356.839016814] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050356.839471923] [sailbot.teensy]: Actual tail angle: 32 -[mux-7] [INFO] [1746050356.839702512] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050356.839867172] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050356.844493156] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050356.844970774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050356.845582027] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050356.846706670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050356.847751405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050356.945518481] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050356.946479513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050356.947149254] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050356.948372371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050356.948886345] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050357.003347608] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904577 Long: -76.50293115 -[vectornav-1] [INFO] [1746050357.005045746] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (194.221, -0.596, -4.984) -[mux-7] [INFO] [1746050357.045053523] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050357.045644683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050357.046304428] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050357.047702409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050357.048912796] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050357.085373297] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050357.087980197] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050357.088799461] [sailbot.teensy]: Wind angle: 247 -[mux-7] [INFO] [1746050357.088845593] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050357.089839384] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050357.090781681] [sailbot.teensy]: Actual tail angle: 32 -[teensy-2] [INFO] [1746050357.091665728] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050357.145190019] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050357.145869315] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050357.146583101] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050357.148212155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050357.149296056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050357.184309852] [sailbot.mux]: controller_app rudder angle: 2 -[mux-7] [INFO] [1746050357.245200823] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050357.246000574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050357.246709871] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050357.247779753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050357.248345098] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050357.335271165] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050357.337345478] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050357.338686325] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050357.338828981] [sailbot.teensy]: Wind angle: 246 -[teensy-2] [INFO] [1746050357.339933164] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050357.340299588] [sailbot.teensy]: Actual tail angle: 32 -[teensy-2] [INFO] [1746050357.340674947] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050357.344307882] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050357.344929614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050357.345490078] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050357.347258893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050357.348389378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050357.445084543] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050357.445957608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050357.446502511] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050357.448218506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050357.449385091] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050357.502672209] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904536 Long: -76.50293676 -[vectornav-1] [INFO] [1746050357.504444054] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.16100000000006, -2.816, -6.887) -[mux-7] [INFO] [1746050357.544599713] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050357.545192887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050357.545714676] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050357.547421745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050357.549200972] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050357.585324055] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050357.586985963] [sailbot.teensy]: Wind angle: 243 -[trim_sail-4] [INFO] [1746050357.587825003] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050357.587916820] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050357.588844610] [sailbot.teensy]: Actual tail angle: 27 -[mux-7] [INFO] [1746050357.588988109] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050357.589785795] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050357.645234760] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050357.646045525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050357.646751025] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050357.648589996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050357.649814461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050357.745451646] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050357.746130930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050357.746914497] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050357.748363500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050357.749496818] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050357.835450229] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050357.838098140] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050357.838207606] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050357.839141064] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050357.839133725] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050357.840073586] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050357.840990679] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050357.844893493] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050357.845331438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050357.846082866] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050357.847844619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050357.849088103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050357.945443483] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050357.946684332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050357.947094680] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050357.948436377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050357.948938196] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050358.002616281] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904447 Long: -76.50294239 -[vectornav-1] [INFO] [1746050358.003733309] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.40099999999995, 2.718, -9.347) -[mux-7] [INFO] [1746050358.045223119] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050358.046175823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050358.046714846] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050358.048474434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050358.049626935] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050358.085828260] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050358.087996254] [sailbot.teensy]: Wind angle: 229 -[teensy-2] [INFO] [1746050358.089141385] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050358.089166257] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050358.090111095] [sailbot.teensy]: Actual tail angle: 27 -[mux-7] [INFO] [1746050358.090406099] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050358.091041544] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050358.145540037] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050358.146507536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050358.147129219] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050358.149061771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050358.150247860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050358.213605972] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746050358.245344196] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050358.246103105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050358.246977057] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050358.248416761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050358.249621562] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050358.335365035] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050358.337321973] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050358.337861362] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050358.338281057] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050358.339143595] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050358.339167615] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050358.339605826] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050358.344414096] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050358.344950486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050358.345506086] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050358.346651587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050358.347666846] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050358.445325215] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050358.446116734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050358.446893369] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050358.448432271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050358.449109621] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050358.503324672] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904447 Long: -76.50294661 -[vectornav-1] [INFO] [1746050358.505226515] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.029, -2.517, -8.298) -[mux-7] [INFO] [1746050358.545313412] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050358.546115677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050358.546820095] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050358.548378120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050358.549468452] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050358.585446457] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050358.587870280] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050358.588085561] [sailbot.teensy]: Wind angle: 236 -[mux-7] [INFO] [1746050358.588925553] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050358.589102103] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050358.590009837] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050358.590855847] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050358.645245744] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050358.646095713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050358.646809484] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050358.648474175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050358.649541714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050358.745537322] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050358.746291376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050358.747120905] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050358.748335755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050358.748862237] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050358.835405168] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050358.837469459] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050358.837977898] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050358.839119427] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050358.839691680] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050358.840673428] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050358.841505243] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050358.844345105] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050358.844781537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050358.846070754] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050358.846470572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050358.847564974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050358.945710135] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050358.946369409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050358.947551107] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050358.948684066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050358.949945450] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050359.002501755] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690458 Long: -76.50295206 -[vectornav-1] [INFO] [1746050359.003640091] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.461, 0.303, -2.504) -[mux-7] [INFO] [1746050359.045210400] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050359.045790540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050359.046716302] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050359.048014286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050359.049201961] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050359.085578258] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050359.087948486] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050359.088358310] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050359.089546681] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050359.090050122] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050359.090979640] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050359.091807974] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050359.144917077] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050359.145540888] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050359.146237490] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050359.147434022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050359.148412991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050359.212957509] [sailbot.mux]: controller_app rudder angle: -3 -[mux-7] [INFO] [1746050359.245149056] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050359.245896217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050359.246562038] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050359.248143537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050359.249023120] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050359.335272042] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050359.337153526] [sailbot.teensy]: Wind angle: 223 -[teensy-2] [INFO] [1746050359.338087239] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050359.337574816] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050359.339037188] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050359.339669724] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050359.339956510] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050359.344443031] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050359.345042981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050359.345538055] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050359.346756395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050359.347798527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050359.445322020] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050359.447196577] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050359.447327600] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050359.449690321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050359.450724694] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050359.503271623] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690464 Long: -76.50295646 -[vectornav-1] [INFO] [1746050359.504761382] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.79899999999998, 0.065, -1.587) -[mux-7] [INFO] [1746050359.544899076] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050359.545824834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050359.546187305] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050359.548100441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050359.549262644] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050359.585323071] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050359.587712718] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050359.588191127] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050359.588617401] [sailbot.teensy]: Wind angle: 223 -[teensy-2] [INFO] [1746050359.589570222] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050359.590446294] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050359.591262263] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050359.645216414] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050359.646139617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050359.646928367] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050359.648200572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050359.648766068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050359.745647998] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050359.746393021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050359.747547829] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050359.748321338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050359.748797988] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050359.835169919] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050359.836828015] [sailbot.teensy]: Wind angle: 224 -[trim_sail-4] [INFO] [1746050359.837537213] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050359.837685451] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050359.837770734] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050359.838704824] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050359.839581949] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050359.844331140] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050359.844900275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050359.845450747] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050359.846581682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050359.847737833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050359.945615762] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050359.946511015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050359.947231042] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050359.948966856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050359.950134931] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050360.003825745] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904697 Long: -76.50296098 -[vectornav-1] [INFO] [1746050360.006035897] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.61, 1.147, 1.358) -[mux-7] [INFO] [1746050360.044971608] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050360.046333521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050360.046407130] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050360.048921820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050360.050178450] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050360.085698910] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050360.088331562] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050360.088479884] [sailbot.teensy]: Wind angle: 227 -[mux-7] [INFO] [1746050360.088694677] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050360.089641975] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050360.090678510] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050360.091562010] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050360.145386280] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050360.145897758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050360.146999125] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050360.148025676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050360.149273385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050360.176704497] [sailbot.mux]: controller_app rudder angle: -9 -[mux-7] [INFO] [1746050360.245394244] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050360.246005044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050360.247171973] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050360.248281616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050360.249794503] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050360.335779116] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050360.337989252] [sailbot.teensy]: Wind angle: 229 -[trim_sail-4] [INFO] [1746050360.338967460] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050360.339075212] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050360.339739413] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050360.340015047] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050360.340952925] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050360.344609256] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050360.345277121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050360.345822375] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050360.347022258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050360.348218068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050360.445324521] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050360.445914052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050360.446964406] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050360.448316812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050360.449216892] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050360.502614494] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904826 Long: -76.50296466 -[vectornav-1] [INFO] [1746050360.503838835] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.81899999999996, -1.622, 2.723) -[mux-7] [INFO] [1746050360.545293126] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050360.545839395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050360.546774410] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050360.547828820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050360.548908728] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050360.585298802] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050360.587479229] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050360.587494424] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050360.588735868] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050360.589335741] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050360.589694812] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050360.590555217] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050360.645387295] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050360.645892971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050360.647195228] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050360.648099695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050360.648859997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050360.745384424] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050360.745957197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050360.747049990] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050360.748098911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050360.749930398] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050360.835927533] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050360.838976032] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050360.839283543] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746050360.840131791] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050360.840296374] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050360.841157604] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050360.842026929] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050360.844441916] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050360.844924398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050360.845525225] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050360.846585376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050360.847647203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050360.945554243] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050360.946410057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050360.947229310] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050360.948364277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050360.948898147] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050361.003469634] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690489 Long: -76.50296812 -[vectornav-1] [INFO] [1746050361.005089384] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.80100000000004, 1.675, 0.082) -[mux-7] [INFO] [1746050361.045277877] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050361.045911641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050361.046918933] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050361.047913169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050361.049098217] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050361.085463030] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050361.087485047] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050361.088179489] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050361.088708234] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050361.089626608] [sailbot.teensy]: Actual tail angle: 16 -[mux-7] [INFO] [1746050361.089631019] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050361.090507895] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050361.144986561] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050361.145708437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050361.146304519] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050361.147523844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050361.148579058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050361.245109903] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050361.245837368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050361.246916598] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050361.247885315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050361.248517435] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050361.335569244] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050361.337436256] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050361.338054656] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050361.338404435] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050361.339311807] [sailbot.teensy]: Actual tail angle: 16 -[mux-7] [INFO] [1746050361.339685756] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050361.340184964] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050361.344325535] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050361.345003107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050361.345490956] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050361.346902358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050361.348241143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050361.445153857] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050361.446125793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050361.446601148] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050361.448068699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050361.449270605] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050361.503801143] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904875 Long: -76.50297101 -[vectornav-1] [INFO] [1746050361.505375564] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.90999999999997, -3.011, 0.206) -[mux-7] [INFO] [1746050361.545281888] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050361.546236540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050361.546926857] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050361.548685465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050361.549408375] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050361.585631516] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050361.587486145] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050361.588093018] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050361.589282815] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050361.589554366] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050361.590297392] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050361.591255785] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050361.645314602] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050361.646206253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050361.647003469] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050361.648415432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050361.649518095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050361.745207060] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050361.746161806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050361.746952116] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050361.748526137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050361.749040985] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050361.835292830] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050361.837038776] [sailbot.teensy]: Wind angle: 242 -[teensy-2] [INFO] [1746050361.837977091] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050361.837602567] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050361.838772184] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050361.838919747] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050361.839827610] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050361.844404355] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050361.844900298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050361.845544397] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050361.846615379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050361.847755057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050361.945331642] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050361.946322261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050361.946860275] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050361.948277489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050361.948727365] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050362.002327656] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904805 Long: -76.50297454 -[vectornav-1] [INFO] [1746050362.003322787] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.50700000000006, 0.456, -0.643) -[mux-7] [INFO] [1746050362.044942840] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050362.045470067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050362.046171808] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050362.047283847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050362.048330395] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050362.085635450] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050362.088494194] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050362.089185636] [sailbot.teensy]: Wind angle: 246 -[mux-7] [INFO] [1746050362.089228445] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050362.090143374] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050362.091013451] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050362.091848582] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050362.145295430] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050362.146134096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050362.146991033] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050362.147694200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050362.148260836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050362.233381968] [sailbot.mux]: controller_app rudder angle: -3 -[mux-7] [INFO] [1746050362.244850226] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050362.245738890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050362.246401668] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050362.247511881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050362.248526274] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050362.335741694] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050362.337968055] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050362.338712362] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050362.339091900] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050362.340121441] [sailbot.teensy]: Actual tail angle: 16 -[mux-7] [INFO] [1746050362.340929315] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050362.341061424] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050362.344514808] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050362.345059609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050362.345729589] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050362.346753768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050362.347769521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050362.445389990] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050362.446773661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050362.447886684] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050362.449136007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050362.450283805] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050362.502694482] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904774 Long: -76.50297806 -[vectornav-1] [INFO] [1746050362.503742596] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (206.84299999999996, -0.958, -1.607) -[mux-7] [INFO] [1746050362.545254930] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050362.545943599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050362.546801303] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050362.548300437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050362.549487729] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050362.585839118] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050362.588225755] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050362.589328600] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050362.590499435] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050362.592251428] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050362.593149063] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050362.593955867] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050362.645332979] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050362.645805957] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050362.646985612] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050362.647797201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050362.648918214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050362.745469932] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050362.746160212] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050362.747062967] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050362.748645166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050362.749833073] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050362.835374908] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050362.837118804] [sailbot.teensy]: Wind angle: 258 -[trim_sail-4] [INFO] [1746050362.837701171] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050362.838048722] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050362.838949041] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050362.839416475] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050362.839795068] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050362.844361939] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050362.844974592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050362.845467829] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050362.846633768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050362.847660251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050362.945445282] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050362.946156764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050362.947118696] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050362.950405890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050362.951600732] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050363.003508001] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904643 Long: -76.50298107 -[vectornav-1] [INFO] [1746050363.005222437] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (218.68399999999997, -0.531, -5.894) -[mux-7] [INFO] [1746050363.045140432] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050363.045884347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050363.046565439] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050363.047907418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050363.048671564] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050363.085433469] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050363.087362265] [sailbot.teensy]: Wind angle: 262 -[teensy-2] [INFO] [1746050363.088351736] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050363.088406528] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050363.089225236] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050363.089248758] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050363.090175302] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050363.145103386] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050363.145803052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050363.147193358] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050363.148363468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050363.148993584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050363.245346148] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050363.246062511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050363.246906261] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050363.248415484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050363.248977965] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050363.335285070] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050363.337250368] [sailbot.teensy]: Wind angle: 263 -[teensy-2] [INFO] [1746050363.338220927] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050363.338074417] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050363.338537281] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050363.339108492] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050363.339999161] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050363.344380847] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050363.344957319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050363.345752524] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050363.346671434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050363.347758651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050363.445321669] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050363.445953153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050363.446959390] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050363.448223675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050363.449384730] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050363.503360253] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690433 Long: -76.50298374 -[vectornav-1] [INFO] [1746050363.504609793] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (232.572, -3.017, -7.061) -[mux-7] [INFO] [1746050363.544993371] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050363.545654430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050363.546302075] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050363.547580687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050363.548634290] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050363.585350316] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050363.587172292] [sailbot.teensy]: Wind angle: 264 -[trim_sail-4] [INFO] [1746050363.587696032] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050363.588127061] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050363.589075909] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050363.589463074] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050363.589962523] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050363.645081283] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050363.645978067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050363.647017173] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050363.649060737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050363.650085023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050363.745348959] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050363.746146505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050363.746879595] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050363.748181189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050363.748739153] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050363.835428341] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050363.838540612] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050363.839148399] [sailbot.teensy]: Wind angle: 266 -[mux-7] [INFO] [1746050363.839278090] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050363.840595109] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050363.841443755] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050363.842293153] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050363.844422719] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050363.844963250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050363.845549341] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050363.846633738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050363.847810095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050363.945404677] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050363.946450277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050363.947011798] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050363.949030012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050363.950124349] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050364.004386040] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904013 Long: -76.50298686 -[vectornav-1] [INFO] [1746050364.006345450] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (242.41700000000003, 0.226, -4.072) -[mux-7] [INFO] [1746050364.044897334] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050364.045595337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050364.046112021] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050364.047590844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050364.048659746] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050364.085390258] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050364.087950186] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050364.088430695] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050364.089027330] [sailbot.teensy]: Wind angle: 275 -[teensy-2] [INFO] [1746050364.089976377] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050364.090838270] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050364.091675610] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050364.145128230] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050364.145921367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050364.146745664] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050364.147913533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050364.148969254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050364.209425454] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746050364.244978870] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050364.245762543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050364.246299366] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050364.247562853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050364.248410066] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050364.335412060] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050364.337236006] [sailbot.teensy]: Wind angle: 279 -[trim_sail-4] [INFO] [1746050364.337821295] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050364.338183889] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050364.339095921] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050364.339407649] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050364.339950300] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050364.344472783] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050364.345011479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050364.345641795] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050364.346737547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050364.347783676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050364.445290342] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050364.446193682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050364.446764929] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050364.448205561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050364.449403313] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050364.503304280] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903678 Long: -76.50298972 -[vectornav-1] [INFO] [1746050364.505219522] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (253.90599999999995, 0.402, -1.235) -[mux-7] [INFO] [1746050364.545063628] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050364.545645837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050364.546424654] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050364.547524040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050364.548710739] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050364.585418935] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050364.587497897] [sailbot.teensy]: Wind angle: 281 -[teensy-2] [INFO] [1746050364.588494170] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050364.588915663] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050364.589164822] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050364.589381079] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050364.590345028] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050364.645188247] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050364.645792076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050364.646911188] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050364.647983394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050364.648501540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050364.745352301] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050364.746055859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050364.747029082] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050364.748299110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050364.749403396] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050364.835417804] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050364.838023761] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050364.838235796] [sailbot.teensy]: Wind angle: 285 -[mux-7] [INFO] [1746050364.838790503] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050364.838860082] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050364.839273277] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050364.840076344] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050364.844381482] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050364.844936258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050364.845495007] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050364.846900579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050364.847953053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050364.945307480] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050364.946273101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050364.947118659] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050364.947949754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050364.948437298] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050365.003445296] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903325 Long: -76.50299101 -[vectornav-1] [INFO] [1746050365.004824831] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (263.028, -2.986, -1.222) -[mux-7] [INFO] [1746050365.045339114] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050365.046213139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050365.046885482] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050365.048536230] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050365.049596530] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050365.085639061] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050365.088269907] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050365.088698112] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050365.089271736] [sailbot.teensy]: Wind angle: 284 -[teensy-2] [INFO] [1746050365.090234841] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050365.091219940] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050365.092126298] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050365.145141821] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050365.145971465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050365.146863507] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050365.148074598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050365.149265163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050365.245438277] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050365.246602566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050365.247040441] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050365.248712528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746050365.248988638] [sailbot.mux]: controller_app rudder angle: 1 -[teensy-2] [INFO] [1746050365.249198337] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050365.335423702] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050365.337827149] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746050365.338374911] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050365.338488109] [sailbot.teensy]: Wind angle: 289 -[teensy-2] [INFO] [1746050365.339449354] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050365.340356369] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050365.341245606] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050365.344252008] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050365.344781622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050365.345341607] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050365.346455439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050365.347493604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050365.445396073] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050365.446976565] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050365.447291997] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050365.449293436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050365.450401509] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050365.503408235] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469029 Long: -76.50299133 -[vectornav-1] [INFO] [1746050365.505137541] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (270.01, -1.629, -0.906) -[mux-7] [INFO] [1746050365.544843772] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050365.545468790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050365.546070205] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050365.547271311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050365.548504714] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050365.585272341] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050365.586876587] [sailbot.teensy]: Wind angle: 290 -[trim_sail-4] [INFO] [1746050365.587445472] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050365.587718336] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050365.587878121] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050365.588596559] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050365.589501815] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050365.645190140] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050365.645940095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050365.646652426] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050365.648125630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050365.649268810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050365.745382344] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050365.746191973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050365.746970406] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050365.748465689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050365.748969026] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050365.835423037] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050365.837383718] [sailbot.teensy]: Wind angle: 291 -[trim_sail-4] [INFO] [1746050365.838270079] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050365.838415130] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050365.839374899] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050365.840128930] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050365.840713409] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050365.844435494] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050365.845049352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050365.845624742] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050365.846875818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050365.848027517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050365.945423470] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050365.946445379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050365.947012056] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050365.948907616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050365.950047099] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050366.002412633] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902427 Long: -76.50299063 -[vectornav-1] [INFO] [1746050366.003451736] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (277.438, 1.67, -0.61) -[mux-7] [INFO] [1746050366.045200376] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050366.045915978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050366.046640473] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050366.048074957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050366.048899560] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050366.085358442] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050366.087564259] [sailbot.teensy]: Wind angle: 301 -[trim_sail-4] [INFO] [1746050366.087850969] [sailbot.trim_sail]: Sail Angle: "55" -[mux-7] [INFO] [1746050366.088500302] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050366.088861717] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050366.090033301] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050366.090908123] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050366.144995429] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050366.145548937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050366.146301892] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050366.147887903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050366.149000648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050366.221817610] [sailbot.mux]: controller_app rudder angle: 8 -[mux-7] [INFO] [1746050366.245152760] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050366.246066102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050366.246597712] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746050366.248175943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 8 -[teensy-2] [INFO] [1746050366.249292860] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050366.335573190] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050366.338676047] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050366.339436677] [sailbot.teensy]: Wind angle: 315 -[mux-7] [INFO] [1746050366.339533739] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050366.341036105] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050366.341929767] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050366.342970386] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050366.344434341] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050366.345190868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050366.345539859] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746050366.346837810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 8 -[teensy-2] [INFO] [1746050366.347951107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050366.445679917] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050366.446651367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050366.447348550] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746050366.449214157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 8 -[teensy-2] [INFO] [1746050366.450446251] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050366.503196343] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902061 Long: -76.50299088 -[vectornav-1] [INFO] [1746050366.504514375] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.02, 0.1, 2.126) -[mux-7] [INFO] [1746050366.545066198] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050366.545760161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050366.546340570] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746050366.548016540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 8 -[teensy-2] [INFO] [1746050366.549151417] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050366.585497607] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050366.587564741] [sailbot.teensy]: Wind angle: 317 -[trim_sail-4] [INFO] [1746050366.588228354] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050366.588648980] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050366.589580828] [sailbot.teensy]: Actual tail angle: 33 -[mux-7] [INFO] [1746050366.589793645] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050366.590439827] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050366.645268762] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050366.645960303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050366.648125868] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746050366.648255943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 8 -[teensy-2] [INFO] [1746050366.649356756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050366.745667401] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050366.746522770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050366.747666831] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746050366.749039038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 8 -[teensy-2] [INFO] [1746050366.750251030] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050366.835409967] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050366.837240443] [sailbot.teensy]: Wind angle: 318 -[trim_sail-4] [INFO] [1746050366.838021157] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050366.838175192] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050366.839047051] [sailbot.teensy]: Actual tail angle: 33 -[mux-7] [INFO] [1746050366.839063784] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050366.839974038] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050366.844479694] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050366.845180652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050366.845673411] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746050366.847022885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 8 -[teensy-2] [INFO] [1746050366.848024668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050366.945593386] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050366.946349286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050366.947242100] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746050366.949114393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 8 -[teensy-2] [INFO] [1746050366.949735890] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050367.003713325] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690171 Long: -76.50298985 -[vectornav-1] [INFO] [1746050367.005292122] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (281.488, -2.754, -1.513) -[mux-7] [INFO] [1746050367.045158659] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050367.045925805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050367.046714173] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746050367.048148058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 8 -[teensy-2] [INFO] [1746050367.049325831] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050367.085337861] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050367.087102129] [sailbot.teensy]: Wind angle: 322 -[trim_sail-4] [INFO] [1746050367.087803856] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746050367.088006618] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050367.088916765] [sailbot.teensy]: Actual tail angle: 33 -[mux-7] [INFO] [1746050367.089684408] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746050367.089825776] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050367.145373077] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050367.146405190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050367.146931984] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746050367.148538478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 8 -[teensy-2] [INFO] [1746050367.149067006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050367.176028117] [sailbot.mux]: controller_app rudder angle: 14 -[mux-7] [INFO] [1746050367.245556906] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050367.246652192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050367.247233582] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050367.248664029] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050367.249194020] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050367.335595342] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050367.337801546] [sailbot.teensy]: Wind angle: 323 -[trim_sail-4] [INFO] [1746050367.338758094] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746050367.338859361] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050367.339775360] [sailbot.teensy]: Actual tail angle: 33 -[mux-7] [INFO] [1746050367.340570036] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746050367.340688362] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050367.344424518] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050367.345100166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050367.345645612] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050367.347068784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050367.348121349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050367.445310655] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050367.446240777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050367.447247228] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050367.448452342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050367.449677274] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050367.504231768] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901273 Long: -76.50298845 -[vectornav-1] [INFO] [1746050367.506351270] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (271.548, -1.318, -5.205) -[mux-7] [INFO] [1746050367.545168459] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050367.546129917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050367.546635269] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050367.548233993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050367.549420326] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050367.585454785] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050367.588010032] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746050367.588125907] [sailbot.teensy]: Wind angle: 323 -[teensy-2] [INFO] [1746050367.589154664] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050367.589215333] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746050367.590101677] [sailbot.teensy]: Actual tail angle: 39 -[teensy-2] [INFO] [1746050367.590936462] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050367.645441005] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050367.646397234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050367.647236790] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050367.649091112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050367.650316781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050367.745418410] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050367.746345544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050367.746965076] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050367.747907422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050367.748449923] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050367.835330088] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050367.837074204] [sailbot.teensy]: Wind angle: 323 -[teensy-2] [INFO] [1746050367.838011022] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050367.837635394] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746050367.838898229] [sailbot.teensy]: Actual tail angle: 39 -[mux-7] [INFO] [1746050367.839295447] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746050367.839796636] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050367.844475297] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050367.844979442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050367.845798814] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050367.846671850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050367.848541109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050367.945281980] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050367.946016831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050367.946823348] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050367.948478302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050367.951520581] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050368.002413689] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900782 Long: -76.5029883 -[vectornav-1] [INFO] [1746050368.003467767] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (253.312, -1.068, -9.644) -[mux-7] [INFO] [1746050368.045186403] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050368.046231104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050368.046675788] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050368.048419279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050368.049638060] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050368.085668240] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050368.088450340] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746050368.088705439] [sailbot.teensy]: Wind angle: 322 -[mux-7] [INFO] [1746050368.088963398] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746050368.089680096] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050368.090566943] [sailbot.teensy]: Actual tail angle: 39 -[teensy-2] [INFO] [1746050368.091421197] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050368.145248842] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050368.146212635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050368.146913595] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050368.148724861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050368.149876340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050368.245399451] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050368.246185762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050368.247123095] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050368.248461860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050368.248972914] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050368.335328445] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050368.338034150] [sailbot.teensy]: Wind angle: 312 -[trim_sail-4] [INFO] [1746050368.338405840] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746050368.338972045] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050368.340216009] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050368.341172202] [sailbot.teensy]: Actual tail angle: 39 -[teensy-2] [INFO] [1746050368.342137223] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050368.344391510] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050368.345002318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050368.345460172] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050368.346717989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050368.347866743] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050368.445145985] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050368.446157657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050368.446527841] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050368.448536619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050368.448988815] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050368.502979479] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690037 Long: -76.50299035 -[vectornav-1] [INFO] [1746050368.504619787] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (232.82100000000003, -1.233, -14.362) -[mux-7] [INFO] [1746050368.545191373] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050368.545903486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050368.546635261] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050368.548065214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050368.549128147] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050368.585417763] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050368.587272528] [sailbot.teensy]: Wind angle: 301 -[trim_sail-4] [INFO] [1746050368.588123103] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050368.588314431] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050368.588792820] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050368.589267442] [sailbot.teensy]: Actual tail angle: 39 -[teensy-2] [INFO] [1746050368.590175900] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050368.644852756] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050368.645498755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050368.646174626] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050368.647332951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050368.648514011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050368.745179496] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050368.746082132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050368.746728455] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050368.747654864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050368.748105506] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050368.835497633] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050368.838203675] [sailbot.teensy]: Wind angle: 295 -[trim_sail-4] [INFO] [1746050368.838524513] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050368.839150969] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050368.839312780] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050368.839559269] [sailbot.teensy]: Actual tail angle: 39 -[teensy-2] [INFO] [1746050368.839931018] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050368.844436427] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050368.845088165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050368.845616195] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050368.846839547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050368.847816577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050368.945369644] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050368.946325037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050368.947403153] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050368.947989497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050368.948465101] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050369.003722685] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900139 Long: -76.50299503 -[vectornav-1] [INFO] [1746050369.005435746] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (211.53600000000006, -1.446, -14.837) -[mux-7] [INFO] [1746050369.045256471] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050369.045986801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050369.046736478] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050369.048390088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050369.049592121] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050369.085406223] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050369.087296583] [sailbot.teensy]: Wind angle: 280 -[teensy-2] [INFO] [1746050369.088256383] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050369.087911524] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050369.088514358] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050369.089158781] [sailbot.teensy]: Actual tail angle: 39 -[teensy-2] [INFO] [1746050369.090060185] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050369.145309802] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050369.145832210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050369.146858972] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050369.147938690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050369.149168857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050369.245389792] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050369.246213098] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050369.247060830] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050369.248415282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050369.248979150] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050369.335598468] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050369.338115953] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050369.338116171] [sailbot.teensy]: Wind angle: 264 -[mux-7] [INFO] [1746050369.338757797] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050369.338885333] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050369.339263883] [sailbot.teensy]: Actual tail angle: 39 -[teensy-2] [INFO] [1746050369.339624574] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050369.344527892] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050369.345226887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050369.345903165] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050369.346975704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050369.348066619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050369.445431130] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050369.446254446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050369.447170554] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050369.448468328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050369.449645607] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050369.503543893] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899948 Long: -76.50299998 -[vectornav-1] [INFO] [1746050369.505470739] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.64099999999996, -0.548, -14.853) -[mux-7] [INFO] [1746050369.545250242] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050369.546057065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050369.546905694] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050369.548131613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050369.549304762] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050369.585344899] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050369.587157191] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050369.588035353] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050369.588060442] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050369.588981666] [sailbot.teensy]: Actual tail angle: 39 -[teensy-2] [INFO] [1746050369.589882570] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050369.590969710] [sailbot.mux]: algo sail angle: 15 -[mux-7] [INFO] [1746050369.645164131] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050369.645979593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050369.646646393] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050369.647844475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050369.648358063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050369.744951297] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050369.746089394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050369.746314297] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050369.749064021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050369.750085348] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050369.835689220] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050369.838002333] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050369.839114911] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050369.839131029] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050369.839626669] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050369.840071094] [sailbot.teensy]: Actual tail angle: 39 -[teensy-2] [INFO] [1746050369.840884419] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050369.844627659] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050369.845148092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050369.845999995] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050369.846960883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050369.848011600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050369.945447670] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050369.946037139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050369.947131393] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050369.948279896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050369.949544391] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050370.003182911] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900025 Long: -76.50300483 -[vectornav-1] [INFO] [1746050370.004675118] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.10799999999995, -0.716, -11.653) -[mux-7] [INFO] [1746050370.044891364] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050370.045440823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050370.046174238] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050370.047886986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050370.049224077] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050370.085367873] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050370.087222697] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746050370.087710199] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050370.089025601] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050370.089132687] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050370.089983217] [sailbot.teensy]: Actual tail angle: 39 -[teensy-2] [INFO] [1746050370.090874877] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050370.145311887] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050370.145853947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050370.146965210] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050370.147934407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050370.149065104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050370.199721148] [sailbot.mux]: controller_app rudder angle: -3 -[mux-7] [INFO] [1746050370.245265077] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050370.245864616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050370.247226133] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050370.247955668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050370.248647176] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050370.335544567] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050370.338278438] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050370.338842529] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050370.339061221] [sailbot.teensy]: Wind angle: 230 -[teensy-2] [INFO] [1746050370.340036416] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050370.340941831] [sailbot.teensy]: Actual tail angle: 39 -[teensy-2] [INFO] [1746050370.341804208] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050370.344313562] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050370.345043995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050370.345642983] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050370.346767187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050370.347788212] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050370.445245491] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050370.446232626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050370.446849159] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050370.448052664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050370.448570215] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050370.503003121] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900193 Long: -76.5030089 -[vectornav-1] [INFO] [1746050370.504675399] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (152.29899999999998, 0.103, -4.807) -[mux-7] [INFO] [1746050370.544912189] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050370.545730434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050370.546228097] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050370.547547450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050370.548631795] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050370.585376761] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050370.587325392] [sailbot.teensy]: Wind angle: 229 -[trim_sail-4] [INFO] [1746050370.587765403] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050370.588301082] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050370.588460104] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050370.589191092] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050370.590084171] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050370.645196157] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050370.646073459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050370.646972458] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050370.648204799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050370.649369840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050370.745159849] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050370.746239961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050370.746823801] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050370.747931862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050370.748491058] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050370.835513022] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050370.837913972] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050370.838382174] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050370.838935400] [sailbot.teensy]: Wind angle: 229 -[teensy-2] [INFO] [1746050370.839898036] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050370.840791555] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050370.841654260] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050370.844466487] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050370.844816273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050370.845588652] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050370.846498339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050370.847528809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050370.945486915] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050370.946523206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050370.947078463] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050370.948873566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050370.949499451] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050371.002567984] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900434 Long: -76.50301203 -[vectornav-1] [INFO] [1746050371.003649034] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (137.312, 0.012, 2.165) -[mux-7] [INFO] [1746050371.045046803] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050371.045760894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050371.046580103] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050371.047869364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050371.049054563] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050371.085731060] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050371.088327021] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050371.088979520] [sailbot.teensy]: Wind angle: 211 -[mux-7] [INFO] [1746050371.090016195] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050371.090235348] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050371.091234166] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050371.092203324] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050371.144968067] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050371.145635924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050371.146538780] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050371.147714405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050371.149190964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050371.233744519] [sailbot.mux]: controller_app rudder angle: -3 -[mux-7] [INFO] [1746050371.244601922] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050371.245238981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050371.245772156] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050371.246967584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050371.248794039] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050371.335329685] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050371.337479911] [sailbot.teensy]: Wind angle: 200 -[trim_sail-4] [INFO] [1746050371.337758609] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050371.338001883] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050371.338430162] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050371.339340156] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050371.340171419] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050371.344344344] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050371.344912696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050371.345645440] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050371.346705292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050371.347739096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050371.445522553] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050371.446256076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050371.447107981] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050371.448859890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050371.450043122] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050371.502509102] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900668 Long: -76.50301408 -[vectornav-1] [INFO] [1746050371.503715650] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (129.64499999999998, -1.313, 5.095) -[teensy-2] [INFO] [1746050371.545246092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050371.545267698] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050371.546973203] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050371.546974872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050371.548043615] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050371.585551678] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050371.587646942] [sailbot.teensy]: Wind angle: 195 -[trim_sail-4] [INFO] [1746050371.588144483] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050371.588673941] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050371.589571710] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050371.590066932] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050371.590479995] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050371.645301487] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050371.646276524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050371.647070494] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050371.649024827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050371.650046988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050371.745565003] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050371.746213325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050371.747371911] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050371.748524022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050371.749735798] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050371.835366589] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050371.837147814] [sailbot.teensy]: Wind angle: 187 -[trim_sail-4] [INFO] [1746050371.837557136] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050371.838083059] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050371.838806777] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050371.838832619] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050371.839201565] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050371.844688878] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050371.845303494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050371.845903969] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050371.846984856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050371.848085468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050371.945362707] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050371.945956960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050371.947379822] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050371.948062018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050371.949272861] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050372.003991034] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900913 Long: -76.50301594 -[vectornav-1] [INFO] [1746050372.005179717] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (127.78899999999999, 1.01, 4.356) -[mux-7] [INFO] [1746050372.045069967] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050372.045620891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050372.046344344] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050372.047464056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050372.048619051] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050372.085253153] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050372.087347887] [sailbot.teensy]: Wind angle: 187 -[trim_sail-4] [INFO] [1746050372.087493542] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050372.088451715] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050372.089381191] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050372.089768305] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050372.090657659] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050372.145038003] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050372.145676857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050372.146418846] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050372.148079634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050372.149249723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050372.233061184] [sailbot.mux]: controller_app rudder angle: 19 -[mux-7] [INFO] [1746050372.244829312] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050372.245699710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050372.246082543] [sailbot.mux]: Published rudder angle from controller_app: 19 -[teensy-2] [INFO] [1746050372.247622148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 -[teensy-2] [INFO] [1746050372.248660018] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050372.335445701] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050372.337715869] [sailbot.teensy]: Wind angle: 187 -[trim_sail-4] [INFO] [1746050372.337995983] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050372.338714477] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050372.339116615] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050372.339201491] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050372.339586951] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050372.344344861] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050372.345089874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050372.345427574] [sailbot.mux]: Published rudder angle from controller_app: 19 -[teensy-2] [INFO] [1746050372.346843005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 -[teensy-2] [INFO] [1746050372.347870956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050372.445500643] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050372.446335092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050372.447090329] [sailbot.mux]: Published rudder angle from controller_app: 19 -[teensy-2] [INFO] [1746050372.447934168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 -[teensy-2] [INFO] [1746050372.448481305] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050372.503945663] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901073 Long: -76.50301846 -[vectornav-1] [INFO] [1746050372.505587729] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (130.334, -1.563, 3.59) -[mux-7] [INFO] [1746050372.545211680] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050372.546019149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050372.546666626] [sailbot.mux]: Published rudder angle from controller_app: 19 -[teensy-2] [INFO] [1746050372.548446992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 -[teensy-2] [INFO] [1746050372.549435064] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050372.585277060] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050372.587613581] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050372.587900165] [sailbot.teensy]: Wind angle: 186 -[mux-7] [INFO] [1746050372.588529528] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050372.588875112] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050372.590260062] [sailbot.teensy]: Actual tail angle: 44 -[teensy-2] [INFO] [1746050372.591148968] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050372.644996408] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050372.645895204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050372.646489376] [sailbot.mux]: Published rudder angle from controller_app: 19 -[teensy-2] [INFO] [1746050372.647810440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 -[teensy-2] [INFO] [1746050372.648891908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050372.745271770] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050372.746298522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050372.747186444] [sailbot.mux]: Published rudder angle from controller_app: 19 -[teensy-2] [INFO] [1746050372.748624813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 -[teensy-2] [INFO] [1746050372.749585883] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050372.835407330] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050372.837479662] [sailbot.teensy]: Wind angle: 188 -[trim_sail-4] [INFO] [1746050372.837888833] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050372.838357199] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050372.838831235] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050372.839247447] [sailbot.teensy]: Actual tail angle: 44 -[teensy-2] [INFO] [1746050372.840126260] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050372.844302086] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050372.844837782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050372.845377544] [sailbot.mux]: Published rudder angle from controller_app: 19 -[teensy-2] [INFO] [1746050372.846625222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 -[teensy-2] [INFO] [1746050372.847677294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050372.945202375] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050372.945964268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050372.947048040] [sailbot.mux]: Published rudder angle from controller_app: 19 -[teensy-2] [INFO] [1746050372.948004157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 -[teensy-2] [INFO] [1746050372.948497194] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050373.003353773] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901239 Long: -76.50302039 -[vectornav-1] [INFO] [1746050373.004852038] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (129.623, 3.199, 5.126) -[mux-7] [INFO] [1746050373.044870456] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050373.045539075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050373.046334158] [sailbot.mux]: Published rudder angle from controller_app: 19 -[teensy-2] [INFO] [1746050373.048417975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 -[teensy-2] [INFO] [1746050373.049528335] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050373.085429675] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050373.087759649] [sailbot.teensy]: Wind angle: 191 -[teensy-2] [INFO] [1746050373.088887646] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050373.088196224] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050373.089881779] [sailbot.teensy]: Actual tail angle: 44 -[mux-7] [INFO] [1746050373.089913121] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050373.090807581] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050373.145156724] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050373.145930061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050373.146643075] [sailbot.mux]: Published rudder angle from controller_app: 19 -[teensy-2] [INFO] [1746050373.148076305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 -[teensy-2] [INFO] [1746050373.149305043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050373.245129741] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050373.246037321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050373.246637774] [sailbot.mux]: Published rudder angle from controller_app: 19 -[teensy-2] [INFO] [1746050373.248096874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 -[teensy-2] [INFO] [1746050373.249171692] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050373.335226051] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050373.336981338] [sailbot.teensy]: Wind angle: 191 -[trim_sail-4] [INFO] [1746050373.337435274] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050373.337973460] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050373.338888123] [sailbot.teensy]: Actual tail angle: 44 -[mux-7] [INFO] [1746050373.338960668] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050373.339843961] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050373.344486634] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050373.345168258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050373.345567935] [sailbot.mux]: Published rudder angle from controller_app: 19 -[teensy-2] [INFO] [1746050373.346946838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 -[teensy-2] [INFO] [1746050373.347991383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050373.443731718] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050373.444109133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050373.444247804] [sailbot.mux]: Published rudder angle from controller_app: 19 -[teensy-2] [INFO] [1746050373.444970987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 19 -[teensy-2] [INFO] [1746050373.445534147] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050373.503006783] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901332 Long: -76.50302193 -[vectornav-1] [INFO] [1746050373.504999739] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (123.71300000000002, -4.422, 1.91) -[mux-7] [INFO] [1746050373.518462575] [sailbot.mux]: controller_app rudder angle: -9 -[mux-7] [INFO] [1746050373.544535998] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050373.545175220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050373.545701842] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050373.547160791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050373.548145336] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050373.585143204] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050373.587173108] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050373.587386482] [sailbot.teensy]: Wind angle: 189 -[teensy-2] [INFO] [1746050373.588300346] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050373.588929744] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050373.589096894] [sailbot.teensy]: Actual tail angle: 44 -[teensy-2] [INFO] [1746050373.589924756] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050373.644779368] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050373.645226922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050373.646004293] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050373.646955960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050373.648121867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050373.745268701] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050373.745934076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050373.747121542] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050373.747989751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050373.749133957] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050373.835699176] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050373.837872548] [sailbot.teensy]: Wind angle: 180 -[trim_sail-4] [INFO] [1746050373.838585490] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050373.838950456] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050373.839355150] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050373.839717686] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050373.839725624] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050373.844466904] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050373.845171258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050373.845674531] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050373.846916404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050373.847907180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050373.945066558] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050373.945715446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050373.946897445] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050373.947805053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050373.948852731] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050374.003272093] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901491 Long: -76.50302351 -[vectornav-1] [INFO] [1746050374.004888090] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (114.53300000000002, 3.211, 4.212) -[mux-7] [INFO] [1746050374.044725974] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050374.045408694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050374.046291058] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050374.047311551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050374.050239928] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050374.085582834] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050374.087534851] [sailbot.teensy]: Wind angle: 164 -[trim_sail-4] [INFO] [1746050374.087904584] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050374.088724714] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050374.089770376] [sailbot.teensy]: Actual tail angle: 16 -[mux-7] [INFO] [1746050374.090201002] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050374.090886632] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050374.144886887] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050374.145580062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050374.146298963] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050374.147539558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050374.148582332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050374.233567807] [sailbot.mux]: controller_app rudder angle: -10 -[mux-7] [INFO] [1746050374.244814841] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050374.245600293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050374.246877329] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050374.247423141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050374.248696799] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050374.335351508] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050374.337696102] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050374.337921813] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746050374.338849527] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050374.338947112] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050374.339743986] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050374.340623746] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050374.344478213] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050374.344969277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050374.345720352] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050374.346732840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050374.347755412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050374.445031102] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050374.445459795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050374.446451848] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050374.447535797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050374.448769181] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050374.503480451] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901653 Long: -76.50302374 -[vectornav-1] [INFO] [1746050374.505409595] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (108.01100000000002, -1.435, 5.672) -[mux-7] [INFO] [1746050374.545006420] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050374.545611143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050374.546565334] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050374.547440191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050374.548617317] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050374.585403284] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050374.587540951] [sailbot.teensy]: Wind angle: 167 -[trim_sail-4] [INFO] [1746050374.587902044] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050374.588506539] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050374.589742707] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050374.589811287] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050374.590698270] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050374.644946362] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050374.645635510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050374.646351316] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050374.647481713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050374.648696984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050374.745369245] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050374.746033562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050374.747274281] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050374.748361448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050374.748939928] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050374.835488110] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050374.837691746] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746050374.837999956] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050374.838643209] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050374.839532020] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050374.840374414] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050374.840378495] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050374.844411097] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050374.844880584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050374.845588298] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050374.846549510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050374.848471704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050374.945525467] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050374.946250150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050374.947223280] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050374.948473458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050374.949017652] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050375.002529435] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901764 Long: -76.50302386 -[vectornav-1] [INFO] [1746050375.003622645] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (100.17200000000003, 2.238, 6.574) -[mux-7] [INFO] [1746050375.044999681] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050375.045620149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050375.046289864] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050375.047560820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050375.048730289] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050375.085307648] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050375.087563536] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050375.087669007] [sailbot.teensy]: Wind angle: 159 -[mux-7] [INFO] [1746050375.088099505] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050375.089075031] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050375.089950945] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050375.090812445] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050375.145134584] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050375.145963452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050375.146659695] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050375.148114252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050375.149286210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050375.234522666] [sailbot.mux]: controller_app rudder angle: -12 -[mux-7] [INFO] [1746050375.244558221] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050375.245129020] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050375.245762465] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050375.247124010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050375.248224114] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050375.335455340] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050375.337272890] [sailbot.teensy]: Wind angle: 154 -[trim_sail-4] [INFO] [1746050375.337991144] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050375.338220120] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050375.338869538] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050375.339229374] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050375.339555144] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050375.344236242] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050375.344989616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050375.345330624] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050375.346737242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050375.347786875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050375.445222784] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050375.446017339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050375.446863913] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050375.447935692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050375.448479178] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050375.503653598] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901815 Long: -76.50302406 -[vectornav-1] [INFO] [1746050375.505732194] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (94.19299999999998, -1.672, 5.019) -[mux-7] [INFO] [1746050375.545218921] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050375.545957795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050375.547003467] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050375.548232374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050375.549329511] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050375.585291025] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050375.587350992] [sailbot.teensy]: Wind angle: 152 -[teensy-2] [INFO] [1746050375.588243478] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050375.587608536] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050375.588624754] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050375.589161985] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050375.590037393] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050375.645254294] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050375.646159927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050375.646735123] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050375.648325088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050375.649486558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050375.745327157] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050375.746147496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050375.747354834] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050375.748270466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050375.749029305] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050375.835408169] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050375.837955518] [sailbot.teensy]: Wind angle: 148 -[trim_sail-4] [INFO] [1746050375.837988694] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050375.838420333] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050375.839326331] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050375.839727831] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050375.840236613] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050375.844370274] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050375.844796343] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050375.846489973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[mux-7] [INFO] [1746050375.846530382] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050375.847572944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050375.945186081] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050375.946229866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050375.946753885] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050375.948304019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050375.949357419] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050376.003541031] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901926 Long: -76.5030239 -[vectornav-1] [INFO] [1746050376.004967671] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (86.72000000000003, -0.314, 5.817) -[mux-7] [INFO] [1746050376.044978568] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050376.045862587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050376.046268356] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050376.047903789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050376.049119067] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050376.085440013] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050376.087577408] [sailbot.teensy]: Wind angle: 145 -[trim_sail-4] [INFO] [1746050376.087793154] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050376.088747920] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050376.089301015] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050376.089713375] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050376.090262091] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050376.145159617] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050376.145892621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050376.146677924] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050376.147973562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050376.149908678] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050376.212733591] [sailbot.mux]: controller_app rudder angle: -13 -[mux-7] [INFO] [1746050376.245329577] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050376.245953373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050376.246931686] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050376.248079633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050376.249292701] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050376.335464885] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050376.337295355] [sailbot.teensy]: Wind angle: 145 -[trim_sail-4] [INFO] [1746050376.338203401] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050376.338274526] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050376.339189247] [sailbot.teensy]: Actual tail angle: 13 -[mux-7] [INFO] [1746050376.339831594] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050376.340095869] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050376.344497947] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050376.345097593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050376.345723627] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050376.346849425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050376.347820416] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050376.445422741] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050376.445902260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050376.447073836] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050376.448221890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050376.449074804] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050376.503116288] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901989 Long: -76.50302338 -[vectornav-1] [INFO] [1746050376.504573494] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (80.37799999999999, 1.629, 8.627) -[mux-7] [INFO] [1746050376.544958259] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050376.545878572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050376.546217850] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050376.547750525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050376.548770983] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050376.585430121] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050376.587876744] [sailbot.teensy]: Wind angle: 143 -[trim_sail-4] [INFO] [1746050376.588082076] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050376.588907877] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050376.589880392] [sailbot.teensy]: Actual tail angle: 12 -[mux-7] [INFO] [1746050376.590516516] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050376.590781510] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050376.645458309] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050376.646259983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050376.647041041] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050376.648106787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050376.648580393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050376.745220061] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050376.746018821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050376.746824628] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050376.748507097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050376.749113420] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050376.835519153] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050376.837538858] [sailbot.teensy]: Wind angle: 137 -[trim_sail-4] [INFO] [1746050376.838190113] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050376.838542426] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050376.839242048] [sailbot.teensy]: Actual tail angle: 12 -[mux-7] [INFO] [1746050376.839454553] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050376.839617735] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050376.844541133] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050376.844929147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050376.845822310] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050376.846593058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050376.847701327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050376.945421931] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050376.946482933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050376.947570091] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050376.948698236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050376.949353948] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050377.003807005] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902072 Long: -76.50302264 -[vectornav-1] [INFO] [1746050377.005389006] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (73.49099999999999, -2.104, 9.485) -[mux-7] [INFO] [1746050377.045234052] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050377.045863211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050377.046688653] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050377.047780908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050377.049058831] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050377.085656634] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050377.088244756] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050377.088788337] [sailbot.teensy]: Wind angle: 136 -[mux-7] [INFO] [1746050377.089625512] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050377.089738270] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050377.090609844] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050377.091473789] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050377.145238047] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050377.146187537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050377.146807893] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050377.148106876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050377.148641592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050377.221564200] [sailbot.mux]: controller_app rudder angle: -14 -[mux-7] [INFO] [1746050377.244943489] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050377.245691207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050377.246336433] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050377.247644151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050377.248365234] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050377.335358414] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050377.337266912] [sailbot.teensy]: Wind angle: 132 -[teensy-2] [INFO] [1746050377.338250846] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050377.339178627] [sailbot.teensy]: Actual tail angle: 12 -[trim_sail-4] [INFO] [1746050377.338786055] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050377.339727668] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050377.340099080] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050377.344369778] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050377.344980167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050377.345842198] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050377.346749518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050377.347825391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050377.445223797] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050377.446097628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050377.446818126] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050377.449039674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050377.450199954] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050377.503209929] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902173 Long: -76.5030212 -[vectornav-1] [INFO] [1746050377.504611005] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (68.03399999999999, 2.011, 9.796) -[mux-7] [INFO] [1746050377.545369589] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050377.546046472] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050377.546934991] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050377.548600695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050377.549133404] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050377.585352321] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050377.587266095] [sailbot.teensy]: Wind angle: 131 -[trim_sail-4] [INFO] [1746050377.588064368] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050377.588263858] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050377.588852232] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050377.589175590] [sailbot.teensy]: Actual tail angle: 11 -[teensy-2] [INFO] [1746050377.590096795] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050377.645425248] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050377.646259752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050377.647241671] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050377.648980111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050377.650170092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050377.745481241] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050377.746260337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050377.747235634] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050377.750056783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050377.751182312] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050377.835621674] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050377.838452908] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050377.838819219] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050377.839045247] [sailbot.teensy]: Wind angle: 129 -[teensy-2] [INFO] [1746050377.839993407] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050377.840708928] [sailbot.teensy]: Actual tail angle: 11 -[teensy-2] [INFO] [1746050377.841071044] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050377.844485814] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050377.844952073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050377.845568519] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050377.846642076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050377.847693737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050377.945548545] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050377.946441097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050377.947131142] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050377.948662745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050377.949973590] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050378.003491547] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902254 Long: -76.5030202 -[vectornav-1] [INFO] [1746050378.005414998] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (65.096, -3.525, 10.725) -[mux-7] [INFO] [1746050378.044796426] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050378.045508037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050378.046010392] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050378.047249387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050378.048449994] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050378.085536162] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050378.087377014] [sailbot.teensy]: Wind angle: 126 -[teensy-2] [INFO] [1746050378.088336786] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050378.089068837] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050378.089329002] [sailbot.teensy]: Actual tail angle: 11 -[teensy-2] [INFO] [1746050378.090220110] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050378.090702132] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050378.145292621] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050378.146407792] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050378.146692291] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050378.148288416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050378.149415346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050378.226161815] [sailbot.mux]: controller_app rudder angle: -7 -[mux-7] [INFO] [1746050378.245234392] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050378.245968807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050378.246706703] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050378.249101339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050378.250243981] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050378.335320590] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050378.337300918] [sailbot.teensy]: Wind angle: 128 -[trim_sail-4] [INFO] [1746050378.338088210] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050378.338256808] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050378.338453840] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050378.338955488] [sailbot.teensy]: Actual tail angle: 11 -[teensy-2] [INFO] [1746050378.339320668] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050378.344801253] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050378.345148620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050378.346052439] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050378.346912400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050378.347941968] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050378.445516016] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050378.446403462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050378.447125378] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050378.448469535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050378.448985962] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050378.503467980] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902396 Long: -76.50301859 -[vectornav-1] [INFO] [1746050378.505266671] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (65.23000000000002, 2.682, 10.685) -[mux-7] [INFO] [1746050378.545369384] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050378.546100373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050378.546984203] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050378.548640374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050378.549807828] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050378.585390856] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050378.587234101] [sailbot.teensy]: Wind angle: 128 -[trim_sail-4] [INFO] [1746050378.588066537] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050378.588193820] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050378.589095515] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746050378.589363717] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050378.589966104] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050378.645365937] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050378.645906990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050378.646996586] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050378.648027189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050378.649172084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050378.745645157] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050378.746173152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050378.747699251] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050378.748465807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050378.749671335] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050378.835664522] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050378.837684389] [sailbot.teensy]: Wind angle: 128 -[teensy-2] [INFO] [1746050378.838604411] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050378.838297546] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050378.839468346] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746050378.839525231] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050378.840369215] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050378.844471602] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050378.845086833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050378.845595878] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050378.847426477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050378.848727101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050378.944853033] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050378.945665752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050378.946322193] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050378.947514249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050378.948587206] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050379.002832746] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902509 Long: -76.50301728 -[vectornav-1] [INFO] [1746050379.004113348] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (66.63400000000001, -2.773, 10.664) -[mux-7] [INFO] [1746050379.044955405] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050379.045950543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050379.046392634] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050379.047743755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050379.048789390] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050379.085581070] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050379.088044382] [sailbot.teensy]: Wind angle: 129 -[teensy-2] [INFO] [1746050379.089096138] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050379.088231289] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050379.090014499] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746050379.090396123] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050379.090846906] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050379.144764559] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050379.145365992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050379.145931418] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050379.147164805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050379.148197150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050379.232612684] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746050379.244885723] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050379.245689286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050379.246157961] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050379.247586780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050379.248635528] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050379.335516586] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050379.338481140] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050379.338478917] [sailbot.teensy]: Wind angle: 135 -[teensy-2] [INFO] [1746050379.339463990] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050379.339593851] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050379.340763341] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050379.341859161] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050379.344373480] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050379.344839608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050379.345460211] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050379.346567797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050379.347619132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050379.445323906] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050379.446139935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050379.446845935] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050379.448681461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050379.449509819] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050379.503330979] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902643 Long: -76.5030161 -[vectornav-1] [INFO] [1746050379.504855872] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (71.85199999999998, 1.766, 10.172) -[mux-7] [INFO] [1746050379.544913396] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050379.545639085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050379.546521354] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050379.547637264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050379.549368029] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050379.585434143] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050379.587673688] [sailbot.teensy]: Wind angle: 140 -[trim_sail-4] [INFO] [1746050379.587940386] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050379.588646996] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050379.589578253] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050379.590334942] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050379.590644008] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050379.645225129] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050379.645937086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050379.646901776] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050379.648471513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050379.649628978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050379.745502315] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050379.746508269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050379.747142342] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050379.748919439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050379.750053382] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050379.835366585] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050379.837323512] [sailbot.teensy]: Wind angle: 140 -[teensy-2] [INFO] [1746050379.838293243] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050379.837782285] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050379.838601387] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050379.839229640] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050379.840004921] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050379.844459880] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050379.845190178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050379.845754585] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050379.846983718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050379.848051779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050379.945549747] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050379.946468856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050379.947334763] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050379.948988152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050379.950070978] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050380.002563615] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690277 Long: -76.50301552 -[vectornav-1] [INFO] [1746050380.003676292] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (76.06400000000002, -2.952, 8.788) -[mux-7] [INFO] [1746050380.045262459] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050380.046216832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050380.046819534] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050380.048535000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050380.049397413] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050380.085627103] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050380.087988653] [sailbot.teensy]: Wind angle: 140 -[trim_sail-4] [INFO] [1746050380.088283281] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050380.089067878] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050380.090118728] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050380.090475716] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050380.091044653] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050380.145010833] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050380.146120739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050380.146463195] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050380.149382204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050380.150547384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050380.207268889] [sailbot.mux]: controller_app rudder angle: -4 -[mux-7] [INFO] [1746050380.244728830] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050380.245330031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050380.245947242] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050380.247235360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050380.248414796] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050380.335093916] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050380.336865416] [sailbot.teensy]: Wind angle: 140 -[trim_sail-4] [INFO] [1746050380.337421045] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050380.337784488] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050380.338664534] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050380.338756444] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050380.339557503] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050380.344320095] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050380.344826590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050380.345809465] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050380.346517783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050380.348365184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050380.445139419] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050380.445732076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050380.446751650] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050380.448457805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050380.449108594] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050380.502668728] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902948 Long: -76.50301516 -[vectornav-1] [INFO] [1746050380.503854755] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (79.344, 1.373, 7.745) -[mux-7] [INFO] [1746050380.545142322] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050380.545701733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050380.546609578] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050380.547557968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050380.548661330] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050380.585582999] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050380.588102022] [sailbot.teensy]: Wind angle: 140 -[trim_sail-4] [INFO] [1746050380.588215901] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050380.589159959] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050380.589789293] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050380.590443586] [sailbot.teensy]: Actual tail angle: 21 -[teensy-2] [INFO] [1746050380.591305865] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050380.645303160] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050380.646043305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050380.646805824] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050380.648713822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050380.649876585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050380.745640246] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050380.745882627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050380.747129963] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050380.747965887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050380.749168701] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050380.835499619] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050380.837555295] [sailbot.teensy]: Wind angle: 140 -[trim_sail-4] [INFO] [1746050380.838204512] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050380.838539742] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050380.839303285] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050380.839451135] [sailbot.teensy]: Actual tail angle: 21 -[teensy-2] [INFO] [1746050380.840350739] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050380.844593597] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050380.845073753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050380.845735307] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050380.846763479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050380.847787793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050380.945455875] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050380.946139538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050380.947231005] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050380.948380832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050380.948830834] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050381.003357154] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903102 Long: -76.50301418 -[vectornav-1] [INFO] [1746050381.005176957] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (80.27999999999997, 3.381, 11.271) -[mux-7] [INFO] [1746050381.045249097] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050381.045758419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050381.047137681] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050381.047759416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050381.048694434] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050381.085441704] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050381.087467001] [sailbot.teensy]: Wind angle: 147 -[trim_sail-4] [INFO] [1746050381.087854355] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050381.088607526] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050381.089505838] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050381.089562223] [sailbot.teensy]: Actual tail angle: 21 -[teensy-2] [INFO] [1746050381.090515370] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050381.145404819] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050381.145900187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050381.147015149] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050381.147871904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050381.148960646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050381.223188612] [sailbot.mux]: controller_app rudder angle: -5 -[mux-7] [INFO] [1746050381.245285815] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050381.245868456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050381.246893856] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050381.248006547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050381.249138666] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050381.335403590] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050381.337925784] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050381.338359616] [sailbot.teensy]: Wind angle: 151 -[mux-7] [INFO] [1746050381.338663262] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050381.339313878] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050381.340317780] [sailbot.teensy]: Actual tail angle: 21 -[teensy-2] [INFO] [1746050381.341188614] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050381.344293902] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050381.344859109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050381.345408978] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050381.346553748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050381.347677560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050381.444979442] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050381.445733180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050381.446285757] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050381.447755234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050381.448543527] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050381.503556414] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903201 Long: -76.50301305 -[vectornav-1] [INFO] [1746050381.505001971] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (82.80399999999997, -5.095, 9.721) -[mux-7] [INFO] [1746050381.545517599] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050381.546496408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050381.547233496] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050381.548809348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050381.549453528] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050381.585498973] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050381.587853444] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050381.588034379] [sailbot.teensy]: Wind angle: 149 -[teensy-2] [INFO] [1746050381.588999019] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050381.589538582] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050381.589903556] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050381.590832767] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050381.645550598] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050381.646297930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050381.647290667] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050381.648884447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050381.650125068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050381.745055000] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050381.745976628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050381.746640796] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050381.747753012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050381.748296930] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050381.835926931] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050381.838781537] [sailbot.teensy]: Wind angle: 145 -[teensy-2] [INFO] [1746050381.839445879] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050381.839153027] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050381.839833534] [sailbot.teensy]: Actual tail angle: 20 -[mux-7] [INFO] [1746050381.840184459] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050381.840208725] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050381.844606085] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050381.845325310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050381.845818000] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050381.847036057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050381.848208350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050381.945238772] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050381.946069768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050381.946749551] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050381.947692289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050381.948224366] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050382.003484921] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903369 Long: -76.50301342 -[vectornav-1] [INFO] [1746050382.005426514] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (86.28500000000003, -0.035, 5.277) -[mux-7] [INFO] [1746050382.045058919] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050382.045820273] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050382.047746933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[mux-7] [INFO] [1746050382.046555621] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050382.048854855] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050382.085455318] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050382.087327942] [sailbot.teensy]: Wind angle: 143 -[trim_sail-4] [INFO] [1746050382.087858385] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050382.088310046] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050382.088711395] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050382.089082444] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050382.089179934] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050382.145001347] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050382.145438462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050382.146347097] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050382.147419312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050382.148522669] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050382.244917184] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050382.245342558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050382.246484784] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050382.247089561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050382.248211132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050382.298210653] [sailbot.mux]: controller_app rudder angle: 9 -[teensy-2] [INFO] [1746050382.335462433] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050382.338169295] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050382.338394661] [sailbot.teensy]: Wind angle: 146 -[teensy-2] [INFO] [1746050382.339630415] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050382.339790175] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050382.340634172] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050382.341641076] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050382.344241535] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050382.344913075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050382.345401947] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050382.346592391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050382.347665974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050382.445641308] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050382.446520800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050382.447320287] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050382.448975715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050382.450131713] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050382.503896996] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903578 Long: -76.50301328 -[vectornav-1] [INFO] [1746050382.506256716] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (87.25599999999997, 4.661, 9.24) -[mux-7] [INFO] [1746050382.544833826] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050382.545511278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050382.546113860] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050382.547666118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050382.548687820] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050382.585327020] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050382.587854315] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050382.588734017] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050382.588863820] [sailbot.teensy]: Wind angle: 154 -[teensy-2] [INFO] [1746050382.589815585] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050382.590707564] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050382.591636122] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050382.645376885] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050382.645942343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050382.647005386] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050382.648143820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050382.649313683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050382.745278733] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050382.746822152] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050382.747055639] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050382.748957264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050382.750017679] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050382.835646448] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050382.838278152] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050382.838357400] [sailbot.teensy]: Wind angle: 154 -[teensy-2] [INFO] [1746050382.838777316] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050382.838945279] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050382.839157582] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746050382.839534540] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050382.844600886] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050382.845184428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050382.845838809] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050382.846921860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050382.848141189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050382.945176525] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050382.945677727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050382.946933958] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050382.947658514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050382.948828996] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050383.003114090] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903624 Long: -76.5030116 -[vectornav-1] [INFO] [1746050383.004599779] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (87.142, -4.073, 10.325) -[mux-7] [INFO] [1746050383.044824128] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050383.045321239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050383.046058389] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050383.047127294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050383.048301464] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050383.085458046] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050383.087514560] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746050383.087986257] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050383.088716032] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050383.089191871] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050383.089643087] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746050383.090537611] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050383.144594513] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050383.145086936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050383.145752623] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050383.146820877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050383.147841468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050383.245419715] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050383.245979534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050383.247055497] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050383.248255546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050383.248748454] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050383.335359900] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050383.337783935] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050383.337878106] [sailbot.teensy]: Wind angle: 147 -[teensy-2] [INFO] [1746050383.338899347] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050383.338959566] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050383.339380207] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746050383.339750039] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050383.344563437] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050383.345002412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050383.345869196] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050383.346702828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050383.347768847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050383.445397903] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050383.446030339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050383.447570286] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050383.448277361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050383.449825778] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050383.503356264] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903746 Long: -76.50301209 -[vectornav-1] [INFO] [1746050383.504693749] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (85.84800000000001, 2.262, 7.537) -[mux-7] [INFO] [1746050383.545408892] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050383.546104603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050383.546974043] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050383.548528043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050383.549599770] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050383.585232598] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050383.587371489] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050383.588462853] [sailbot.teensy]: Wind angle: 143 -[mux-7] [INFO] [1746050383.589200832] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050383.589590743] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050383.590568557] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746050383.591405366] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050383.645289055] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050383.645979451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050383.646940812] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050383.648180569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050383.649319648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050383.663577385] [sailbot.mux]: controller_app rudder angle: 14 -[mux-7] [INFO] [1746050383.745259605] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050383.746030445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050383.746935462] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050383.748240363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050383.749543586] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050383.835648502] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050383.837747536] [sailbot.teensy]: Wind angle: 143 -[trim_sail-4] [INFO] [1746050383.838374781] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050383.838778328] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050383.839457135] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050383.839674186] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746050383.840576476] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050383.844459353] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050383.845191431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050383.845562982] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050383.846961528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050383.848104815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050383.945297138] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050383.946025580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050383.946830955] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050383.948037480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050383.948582724] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050384.003425424] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903899 Long: -76.50301179 -[vectornav-1] [INFO] [1746050384.005238207] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (77.36500000000001, -0.388, 7.729) -[mux-7] [INFO] [1746050384.045108163] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050384.045950414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050384.046460456] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050384.047739865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050384.048943821] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050384.085584773] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050384.088247778] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050384.089423439] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050384.089475470] [sailbot.teensy]: Wind angle: 143 -[teensy-2] [INFO] [1746050384.090570657] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050384.091524015] [sailbot.teensy]: Actual tail angle: 39 -[teensy-2] [INFO] [1746050384.092412897] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050384.145141531] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050384.146064312] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050384.146580919] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050384.148176834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050384.149248299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050384.200842520] [sailbot.mux]: controller_app rudder angle: 13 -[mux-7] [INFO] [1746050384.245561999] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050384.246639240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050384.247298481] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050384.249182153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050384.250380488] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050384.335948392] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050384.339344926] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050384.339598270] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050384.339608593] [sailbot.teensy]: Wind angle: 139 -[teensy-2] [INFO] [1746050384.340707356] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050384.341708045] [sailbot.teensy]: Actual tail angle: 39 -[teensy-2] [INFO] [1746050384.342653689] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050384.344436035] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050384.344975555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050384.345506050] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050384.346626804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050384.347634063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050384.445579365] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050384.446477096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050384.447192979] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050384.449033623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050384.450244111] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050384.503508311] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903996 Long: -76.50301063 -[vectornav-1] [INFO] [1746050384.505155996] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (68.61000000000001, 1.722, 10.266) -[mux-7] [INFO] [1746050384.544982042] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050384.545634502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050384.546249627] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050384.547755863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050384.548801698] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050384.585391465] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050384.587267386] [sailbot.teensy]: Wind angle: 137 -[trim_sail-4] [INFO] [1746050384.587712796] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050384.588256535] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050384.589048352] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050384.589124955] [sailbot.teensy]: Actual tail angle: 38 -[teensy-2] [INFO] [1746050384.590023924] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050384.645085677] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050384.645874212] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050384.646506351] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050384.647857237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050384.648355387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050384.745344193] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050384.746325977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050384.746894201] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050384.748904328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050384.749917248] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050384.835203834] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050384.837127234] [sailbot.teensy]: Wind angle: 135 -[trim_sail-4] [INFO] [1746050384.837310544] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050384.838141501] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050384.838724299] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050384.839072695] [sailbot.teensy]: Actual tail angle: 38 -[teensy-2] [INFO] [1746050384.840007099] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050384.844457573] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050384.845060921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050384.845563311] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050384.846955264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050384.847973467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050384.945545252] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050384.946452668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050384.947192631] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050384.948641801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050384.949168353] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050385.002578950] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904085 Long: -76.50300927 -[vectornav-1] [INFO] [1746050385.003668783] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.252999999999986, -4.937, 11.577) -[mux-7] [INFO] [1746050385.045156061] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050385.046061018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050385.046620145] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050385.048338493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050385.049390018] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050385.085370484] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050385.087330799] [sailbot.teensy]: Wind angle: 129 -[trim_sail-4] [INFO] [1746050385.087938594] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050385.088528036] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050385.089497050] [sailbot.teensy]: Actual tail angle: 38 -[mux-7] [INFO] [1746050385.089860028] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050385.090439294] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050385.144973428] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050385.145645526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050385.146343045] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050385.147729538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050385.148779967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050385.245153771] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050385.245665475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050385.246354624] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050385.247566299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[mux-7] [INFO] [1746050385.248306405] [sailbot.mux]: controller_app rudder angle: -2 -[teensy-2] [INFO] [1746050385.248440177] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050385.335468501] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050385.337757158] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050385.338199777] [sailbot.teensy]: Wind angle: 119 -[mux-7] [INFO] [1746050385.338355414] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050385.339281486] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050385.340130726] [sailbot.teensy]: Actual tail angle: 38 -[teensy-2] [INFO] [1746050385.340488078] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050385.344459607] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050385.345069291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050385.345533033] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050385.346786381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050385.347914534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050385.445374980] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050385.446227815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050385.448085881] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050385.448352498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050385.449446445] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050385.503066137] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904252 Long: -76.50300708 -[vectornav-1] [INFO] [1746050385.504379960] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.031000000000006, 1.782, 15.431) -[mux-7] [INFO] [1746050385.544987392] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050385.545702805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050385.546300223] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050385.547514220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050385.548610002] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050385.585363735] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050385.587864171] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050385.588667147] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050385.589097255] [sailbot.teensy]: Wind angle: 119 -[teensy-2] [INFO] [1746050385.590280514] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050385.591124706] [sailbot.teensy]: Actual tail angle: 38 -[teensy-2] [INFO] [1746050385.591983592] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050385.644853077] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050385.645409769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050385.646029014] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050385.647188160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050385.648346673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050385.745270457] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050385.746131685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050385.747224029] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050385.747671151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050385.748257006] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050385.835184240] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050385.837026422] [sailbot.teensy]: Wind angle: 118 -[trim_sail-4] [INFO] [1746050385.838320288] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050385.839089200] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050385.839738962] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050385.840818862] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050385.841690514] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050385.844355637] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050385.844902951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050385.845431144] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050385.846605177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050385.847681106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050385.945358454] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050385.946167980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050385.947043031] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050385.948447990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050385.949500430] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050386.003679309] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904359 Long: -76.50300328 -[vectornav-1] [INFO] [1746050386.005317337] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.149, 0.425, 18.096) -[mux-7] [INFO] [1746050386.045150673] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050386.045872223] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050386.047927889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[mux-7] [INFO] [1746050386.048061148] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050386.049126904] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050386.085683905] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050386.087899964] [sailbot.teensy]: Wind angle: 109 -[trim_sail-4] [INFO] [1746050386.088434214] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050386.088962020] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050386.090294069] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050386.090858934] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050386.091488252] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050386.144315013] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050386.145103422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050386.145261696] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050386.146674373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050386.147689834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050386.245159284] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050386.245901408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050386.246627933] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050386.248249859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050386.248886650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050386.274934907] [sailbot.mux]: controller_app rudder angle: -4 -[teensy-2] [INFO] [1746050386.335473873] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050386.337396192] [sailbot.teensy]: Wind angle: 90 -[trim_sail-4] [INFO] [1746050386.338054974] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050386.338403492] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050386.339349967] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050386.340077746] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050386.340220757] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050386.344380201] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050386.345042856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050386.345639615] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050386.346807713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050386.347936472] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050386.445404347] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050386.446594616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050386.447030084] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050386.448842062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050386.449311737] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050386.503430256] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904447 Long: -76.50300026 -[vectornav-1] [INFO] [1746050386.504918122] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.449000000000012, -4.743, 13.074) -[mux-7] [INFO] [1746050386.545111500] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050386.545939133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050386.546534051] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050386.548003393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050386.549185205] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050386.585625709] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050386.587782876] [sailbot.teensy]: Wind angle: 95 -[teensy-2] [INFO] [1746050386.588846156] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050386.588829000] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050386.589558142] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050386.589825445] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050386.590709708] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050386.645351302] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050386.646494143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050386.646919472] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050386.648656623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050386.649787787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050386.745337081] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050386.746119068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050386.746940194] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050386.748391405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050386.748965583] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050386.835840795] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050386.838063536] [sailbot.teensy]: Wind angle: 107 -[teensy-2] [INFO] [1746050386.839166784] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050386.838720610] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050386.840119447] [sailbot.teensy]: Actual tail angle: 21 -[mux-7] [INFO] [1746050386.840343635] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050386.841072884] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050386.844349699] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050386.844799587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050386.845504988] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050386.846530078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050386.847686283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050386.945634384] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050386.946231141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050386.947377964] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050386.948961147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050386.950249974] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050387.003330539] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904573 Long: -76.50299598 -[vectornav-1] [INFO] [1746050387.004592239] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (25.82299999999998, 1.347, 13.158) -[mux-7] [INFO] [1746050387.045429890] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050387.046034941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050387.047270703] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050387.049268959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050387.050411759] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050387.085515662] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050387.087983867] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050387.089422973] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050387.089530608] [sailbot.teensy]: Wind angle: 107 -[teensy-2] [INFO] [1746050387.091163538] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050387.092094536] [sailbot.teensy]: Actual tail angle: 21 -[teensy-2] [INFO] [1746050387.092993686] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050387.144841401] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050387.145578403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050387.146388070] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050387.147490172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050387.148584251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050387.234564764] [sailbot.mux]: controller_app rudder angle: -9 -[mux-7] [INFO] [1746050387.245060448] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050387.246186625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050387.246441074] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050387.248216183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050387.249268491] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050387.335387855] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050387.337980077] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050387.338266257] [sailbot.teensy]: Wind angle: 107 -[teensy-2] [INFO] [1746050387.339184087] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050387.339514100] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050387.340080079] [sailbot.teensy]: Actual tail angle: 21 -[teensy-2] [INFO] [1746050387.340464275] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050387.344397931] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050387.344980330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050387.345510113] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050387.346682053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050387.347723714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050387.445415406] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050387.446545275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050387.447059863] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050387.449083265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050387.450097196] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050387.502481912] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469047 Long: -76.50299166 -[vectornav-1] [INFO] [1746050387.503508404] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.238999999999976, 0.069, 11.055) -[mux-7] [INFO] [1746050387.545411620] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050387.546184359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050387.547084850] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050387.548107675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050387.548643879] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050387.585513086] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050387.588025879] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050387.588560139] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050387.589494470] [sailbot.teensy]: Wind angle: 107 -[teensy-2] [INFO] [1746050387.590463454] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050387.591311888] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050387.592140538] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050387.645295486] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050387.646158207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050387.647157579] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050387.648767547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050387.650019815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050387.745353097] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050387.746234493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050387.747006389] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050387.748551372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050387.749038889] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050387.835520007] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050387.837595048] [sailbot.teensy]: Wind angle: 109 -[teensy-2] [INFO] [1746050387.838803833] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050387.838024513] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050387.839031836] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050387.839690488] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050387.840605885] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050387.844387534] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050387.845362878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050387.845520833] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050387.847026584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050387.848260389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050387.945555295] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050387.946549069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050387.947441765] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050387.949283075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050387.949788929] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050388.003397055] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904826 Long: -76.50298818 -[vectornav-1] [INFO] [1746050388.005029467] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.178, -0.254, 10.506) -[mux-7] [INFO] [1746050388.045141920] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050388.045948048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050388.046625075] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050388.047962891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050388.049004392] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050388.085360544] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050388.087838495] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050388.088323008] [sailbot.teensy]: Wind angle: 110 -[teensy-2] [INFO] [1746050388.089303665] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050388.090395269] [sailbot.teensy]: Actual tail angle: 16 -[mux-7] [INFO] [1746050388.090686465] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050388.091280601] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050388.145573327] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050388.146636264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050388.147331556] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050388.148495284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050388.149007315] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050388.244945364] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050388.245759670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050388.246303390] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050388.247499163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050388.248018709] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050388.335353542] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050388.337158553] [sailbot.teensy]: Wind angle: 117 -[teensy-2] [INFO] [1746050388.338093820] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050388.337719813] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050388.338795385] [sailbot.teensy]: Actual tail angle: 16 -[mux-7] [INFO] [1746050388.338813832] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050388.339167264] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050388.344465692] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050388.345061774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050388.345748103] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050388.346777584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050388.347825903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050388.445631004] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050388.446520367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050388.447698027] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050388.449149478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050388.450410270] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050388.503663711] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904984 Long: -76.50298477 -[vectornav-1] [INFO] [1746050388.505234820] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.886000000000024, -3.109, 13.525) -[mux-7] [INFO] [1746050388.545326214] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050388.545911243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050388.546951028] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050388.547910510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050388.548998530] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050388.585636883] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050388.587845520] [sailbot.teensy]: Wind angle: 132 -[teensy-2] [INFO] [1746050388.588998362] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050388.588553545] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050388.589981742] [sailbot.teensy]: Actual tail angle: 16 -[mux-7] [INFO] [1746050388.589982130] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050388.590875377] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050388.645613376] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050388.646309016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050388.647520099] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050388.648756603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050388.649938054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050388.745276932] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050388.746286168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050388.746843287] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050388.748244380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050388.749472230] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050388.835969669] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050388.838524767] [sailbot.teensy]: Wind angle: 143 -[trim_sail-4] [INFO] [1746050388.839049421] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050388.839701401] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050388.840693336] [sailbot.teensy]: Actual tail angle: 16 -[mux-7] [INFO] [1746050388.840647661] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050388.841614116] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050388.844529102] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050388.845226743] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050388.845619269] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050388.846958644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050388.848087480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050388.945472723] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050388.946222357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050388.947071712] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050388.947873645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050388.948421227] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050389.003962042] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690522 Long: -76.5029819 -[vectornav-1] [INFO] [1746050389.005332273] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.545000000000016, 2.382, 14.866) -[mux-7] [INFO] [1746050389.045268418] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050389.045697829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050389.046651183] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050389.047629868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050389.048890269] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050389.085436814] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050389.087909455] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050389.087963783] [sailbot.teensy]: Wind angle: 141 -[teensy-2] [INFO] [1746050389.089014659] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050389.089409987] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050389.090295157] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050389.091285614] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050389.145371859] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050389.146430105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050389.146943526] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050389.148696939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050389.149732978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050389.236977622] [sailbot.mux]: controller_app rudder angle: -22 -[mux-7] [INFO] [1746050389.244477695] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050389.245031421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050389.245794716] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050389.247054081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050389.248247776] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050389.335482417] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050389.337421109] [sailbot.teensy]: Wind angle: 140 -[teensy-2] [INFO] [1746050389.338453455] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050389.338371479] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050389.339526529] [sailbot.teensy]: Actual tail angle: 16 -[mux-7] [INFO] [1746050389.339986077] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050389.340489875] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050389.344393573] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050389.345015232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050389.345569779] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050389.346746184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050389.347877415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050389.445492348] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050389.446286894] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050389.448642486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[mux-7] [INFO] [1746050389.448872829] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050389.449908275] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050389.503495307] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905465 Long: -76.50298057 -[vectornav-1] [INFO] [1746050389.504998718] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (72.40899999999999, -1.106, 11.547) -[mux-7] [INFO] [1746050389.545126674] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050389.546006764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050389.546663421] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050389.548048656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050389.549120398] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050389.585261822] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050389.587317710] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050389.588058593] [sailbot.teensy]: Wind angle: 140 -[mux-7] [INFO] [1746050389.588838391] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050389.589011745] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050389.589935870] [sailbot.teensy]: Actual tail angle: 3 -[teensy-2] [INFO] [1746050389.590773977] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050389.645062061] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050389.645760987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050389.646628226] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050389.647540658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050389.648630354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050389.745486690] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050389.746140297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050389.747352942] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050389.748520015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050389.749667997] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050389.835666597] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050389.837797580] [sailbot.teensy]: Wind angle: 143 -[trim_sail-4] [INFO] [1746050389.838378470] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050389.838798213] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050389.839105149] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050389.839195349] [sailbot.teensy]: Actual tail angle: 3 -[teensy-2] [INFO] [1746050389.839593237] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050389.844684832] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050389.845196919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050389.846008742] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050389.846932209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050389.848046241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050389.945637798] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050389.946225834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050389.947536863] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050389.948649601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050389.949892264] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050390.003668876] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690566 Long: -76.50298005 -[vectornav-1] [INFO] [1746050390.005487060] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (90.59500000000003, -1.22, 11.807) -[mux-7] [INFO] [1746050390.045632426] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050390.046109571] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050390.048209298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[mux-7] [INFO] [1746050390.047442807] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050390.049041980] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050390.085854006] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050390.088569752] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050390.088718411] [sailbot.teensy]: Wind angle: 158 -[mux-7] [INFO] [1746050390.089236965] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050390.089686967] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050390.090563851] [sailbot.teensy]: Actual tail angle: 3 -[teensy-2] [INFO] [1746050390.091452290] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050390.145578672] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050390.145873699] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050390.148174962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[mux-7] [INFO] [1746050390.148623316] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050390.149440273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050390.245475187] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050390.246218361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050390.247015591] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050390.248664942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050390.249845048] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050390.335568165] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050390.338422407] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050390.338425118] [sailbot.teensy]: Wind angle: 172 -[mux-7] [INFO] [1746050390.339617133] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050390.339886046] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050390.340903798] [sailbot.teensy]: Actual tail angle: 3 -[teensy-2] [INFO] [1746050390.341757813] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050390.344387855] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050390.345169651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050390.345526420] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050390.346892133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050390.348008419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050390.445393715] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050390.446424894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050390.446977295] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050390.449128179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050390.450250110] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050390.504598452] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905872 Long: -76.50298044 -[vectornav-1] [INFO] [1746050390.506250684] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (113.334, -0.283, 8.959) -[mux-7] [INFO] [1746050390.545015284] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050390.545955024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050390.546359825] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050390.547810998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050390.548885328] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050390.585311220] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050390.587612033] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050390.588528320] [sailbot.teensy]: Wind angle: 176 -[mux-7] [INFO] [1746050390.588669747] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050390.589479355] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050390.590362739] [sailbot.teensy]: Actual tail angle: 3 -[teensy-2] [INFO] [1746050390.591201621] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050390.645153570] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050390.646034893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050390.646753789] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050390.648610299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050390.649667164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050390.745622711] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050390.746477764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050390.747751527] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050390.749275176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050390.750461724] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050390.835396642] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050390.837767323] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050390.838309202] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050390.838653166] [sailbot.teensy]: Wind angle: 181 -[teensy-2] [INFO] [1746050390.839152071] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050390.839557081] [sailbot.teensy]: Actual tail angle: 3 -[teensy-2] [INFO] [1746050390.839922007] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050390.844656108] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050390.845047506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050390.846067128] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050390.846804271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050390.847875541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050390.945701911] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050390.946205705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050390.947477259] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050390.948585413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050390.949898866] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050391.003371843] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905997 Long: -76.50298257 -[vectornav-1] [INFO] [1746050391.005101515] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (136.736, 2.835, 4.159) -[mux-7] [INFO] [1746050391.045261715] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050391.046047264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050391.046901745] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050391.048607938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050391.049672632] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050391.085493842] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050391.087408955] [sailbot.teensy]: Wind angle: 207 -[teensy-2] [INFO] [1746050391.088330987] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050391.088029049] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050391.088340607] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050391.089220756] [sailbot.teensy]: Actual tail angle: 3 -[teensy-2] [INFO] [1746050391.090087444] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050391.145294532] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050391.145981084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050391.146867250] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050391.149236719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050391.150405579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050391.245494004] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050391.246071895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050391.247198092] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050391.248296747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050391.248779811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050391.274948468] [sailbot.mux]: controller_app rudder angle: -15 -[teensy-2] [INFO] [1746050391.335481786] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050391.338026992] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050391.338321553] [sailbot.teensy]: Wind angle: 224 -[teensy-2] [INFO] [1746050391.339291941] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050391.339760364] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050391.340237612] [sailbot.teensy]: Actual tail angle: 3 -[teensy-2] [INFO] [1746050391.340914406] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050391.344599185] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050391.345336669] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050391.345689438] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050391.347244600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050391.348345161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050391.445644803] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050391.446434870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050391.447466217] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050391.449066926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050391.450337773] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050391.503224536] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906011 Long: -76.50298393 -[vectornav-1] [INFO] [1746050391.504815517] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.966, -0.251, 6.161) -[mux-7] [INFO] [1746050391.545137752] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050391.545828851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050391.546597009] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050391.547991383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050391.549074427] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050391.585432606] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050391.587775406] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050391.588776157] [sailbot.teensy]: Wind angle: 230 -[mux-7] [INFO] [1746050391.589132731] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050391.589796521] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050391.590914067] [sailbot.teensy]: Actual tail angle: 3 -[teensy-2] [INFO] [1746050391.591825738] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050391.645005348] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050391.645820442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050391.646607330] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050391.647825234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050391.648845846] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050391.745158798] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050391.746048706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050391.747173819] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050391.748098478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050391.749130265] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050391.835669619] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050391.837936131] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050391.838421494] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050391.839024225] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050391.839959911] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050391.840074704] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050391.841005117] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050391.844419866] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050391.845081180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050391.845634562] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050391.846951799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050391.848017989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050391.945514016] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050391.946523567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050391.947301810] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050391.948072369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050391.948563682] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050392.003190473] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906015 Long: -76.50298601 -[vectornav-1] [INFO] [1746050392.004855997] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.534, -3.56, 6.193) -[mux-7] [INFO] [1746050392.045013520] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050392.046465782] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050392.047924575] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050392.050346695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050392.051356002] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050392.085358488] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050392.087212199] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050392.088183821] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050392.087671037] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050392.088999192] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050392.089038533] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050392.089999585] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050392.145158091] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050392.145983097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050392.146640841] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050392.148367099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050392.149453534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050392.245624278] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050392.246508347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050392.247324338] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050392.249008776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050392.250301053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050392.278333017] [sailbot.mux]: controller_app rudder angle: 0 -[teensy-2] [INFO] [1746050392.335415258] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050392.337768036] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050392.338345849] [sailbot.teensy]: Wind angle: 244 -[mux-7] [INFO] [1746050392.338365309] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050392.339310909] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050392.340358654] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050392.340743195] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050392.344298915] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050392.344779286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050392.345592275] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050392.346488275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050392.347501093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050392.445153263] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050392.446228833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050392.446668661] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050392.448881553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050392.450100712] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050392.503484388] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905981 Long: -76.50298881 -[vectornav-1] [INFO] [1746050392.505626614] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.31999999999994, 2.646, -2.788) -[mux-7] [INFO] [1746050392.544941086] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050392.545804154] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050392.546203637] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050392.547579235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050392.548769658] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050392.585220776] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050392.587411243] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050392.588390468] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050392.588623961] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050392.589587158] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050392.590491376] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050392.591467197] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050392.645428115] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050392.646253556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050392.647017190] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050392.648540301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050392.649718723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050392.744994788] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050392.745679284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050392.746377943] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050392.747533067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050392.748708902] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050392.835363305] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050392.837682830] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050392.838871341] [sailbot.teensy]: Wind angle: 253 -[mux-7] [INFO] [1746050392.838996231] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050392.839297475] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050392.839808349] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050392.840644932] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050392.844371561] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050392.844858705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050392.845525264] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050392.846674892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050392.847715276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050392.945290802] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050392.945829624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050392.946972796] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050392.948173043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050392.949033748] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050393.003090343] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690572 Long: -76.5029897 -[vectornav-1] [INFO] [1746050393.004424014] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (216.01199999999994, 0.311, -9.779) -[mux-7] [INFO] [1746050393.045141078] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050393.045842133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050393.046663178] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050393.047750790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050393.049018535] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050393.085449341] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050393.087291586] [sailbot.teensy]: Wind angle: 265 -[trim_sail-4] [INFO] [1746050393.088079437] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050393.089433973] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050393.089444122] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050393.090389488] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050393.091263375] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050393.145325221] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050393.145862445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050393.146960502] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050393.147911499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050393.149572582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050393.245313309] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050393.246101776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050393.246851530] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050393.248107906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050393.249195149] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050393.335529031] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050393.338138921] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050393.338521663] [sailbot.teensy]: Wind angle: 279 -[mux-7] [INFO] [1746050393.339271856] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050393.339637711] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050393.340587278] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050393.340933252] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050393.344356792] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050393.344855293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050393.345478015] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050393.346586872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050393.347667250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050393.445093001] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050393.445713088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050393.446467396] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050393.447609115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050393.448674521] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050393.503778749] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905535 Long: -76.50299125 -[vectornav-1] [INFO] [1746050393.505490985] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (227.30200000000002, -0.928, -10.665) -[mux-7] [INFO] [1746050393.545113169] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050393.545992222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050393.546415960] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050393.547946665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050393.549099712] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050393.585552436] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050393.587833061] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050393.588009907] [sailbot.teensy]: Wind angle: 299 -[teensy-2] [INFO] [1746050393.588978652] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050393.589119166] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050393.589883406] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050393.590788167] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050393.645072019] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050393.645939819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050393.646418414] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050393.647859268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050393.648924606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050393.684372104] [sailbot.mux]: controller_app rudder angle: 13 -[mux-7] [INFO] [1746050393.745210695] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050393.746153259] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050393.746889829] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050393.747813848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050393.748341754] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050393.835317221] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050393.837652529] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050393.837710578] [sailbot.teensy]: Wind angle: 315 -[teensy-2] [INFO] [1746050393.839052837] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050393.839525349] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050393.839958209] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050393.840903771] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050393.844324327] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050393.845034492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050393.845432482] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050393.847382836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050393.848561497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050393.945409343] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050393.946126020] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050393.947166847] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050393.947915078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050393.948394954] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050394.002746841] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905404 Long: -76.50299458 -[vectornav-1] [INFO] [1746050394.003888240] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (231.81500000000005, -3.934, -2.452) -[mux-7] [INFO] [1746050394.045220231] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050394.046084935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050394.046785628] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050394.048403108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050394.049537087] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050394.085388696] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050394.087685967] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746050394.088513232] [sailbot.teensy]: Wind angle: 306 -[mux-7] [INFO] [1746050394.089362054] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746050394.089491857] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050394.090428952] [sailbot.teensy]: Actual tail angle: 38 -[teensy-2] [INFO] [1746050394.091315048] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050394.145174052] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050394.145862911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050394.146791079] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050394.148269977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050394.149382397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050394.231637783] [sailbot.mux]: controller_app rudder angle: 14 -[mux-7] [INFO] [1746050394.245090305] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050394.245662251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050394.246488203] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050394.247681354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050394.248724761] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050394.335345586] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050394.337225063] [sailbot.teensy]: Wind angle: 291 -[teensy-2] [INFO] [1746050394.338143478] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050394.337879397] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050394.338526382] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050394.339017583] [sailbot.teensy]: Actual tail angle: 38 -[teensy-2] [INFO] [1746050394.339894321] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050394.344371045] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050394.344936033] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050394.345525788] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050394.346784072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050394.347837735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050394.445513546] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050394.446534374] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050394.447457259] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050394.448613565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050394.449168957] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050394.502558755] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905068 Long: -76.50299708 -[vectornav-1] [INFO] [1746050394.503592470] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (227.95100000000002, -0.709, -7.269) -[mux-7] [INFO] [1746050394.544947879] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050394.545703356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050394.546281340] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050394.547598458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050394.548640107] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050394.585550835] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050394.588067806] [sailbot.teensy]: Wind angle: 286 -[trim_sail-4] [INFO] [1746050394.588086341] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050394.589147098] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050394.590067609] [sailbot.teensy]: Actual tail angle: 39 -[mux-7] [INFO] [1746050394.590219812] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050394.591001740] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050394.645150411] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050394.645811170] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050394.647920007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[mux-7] [INFO] [1746050394.648323004] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050394.649084539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050394.744672426] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050394.745215976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050394.745807915] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050394.746962203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050394.748085136] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050394.835374977] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050394.837182430] [sailbot.teensy]: Wind angle: 284 -[teensy-2] [INFO] [1746050394.838163040] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050394.837788288] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050394.839074940] [sailbot.teensy]: Actual tail angle: 39 -[mux-7] [INFO] [1746050394.839868407] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050394.839936816] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050394.844602721] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050394.844864596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050394.845748737] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050394.846573069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050394.847669902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050394.945453456] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050394.946421127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050394.947201262] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050394.949179055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050394.950511041] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050395.003384922] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904733 Long: -76.50299888 -[vectornav-1] [INFO] [1746050395.005037580] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (218.58899999999994, -0.123, -12.303) -[mux-7] [INFO] [1746050395.044997486] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050395.045732618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050395.046247759] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050395.047599662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050395.048673031] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050395.085141263] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050395.086866543] [sailbot.teensy]: Wind angle: 278 -[trim_sail-4] [INFO] [1746050395.087274077] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050395.087792265] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050395.088030078] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050395.088742238] [sailbot.teensy]: Actual tail angle: 39 -[teensy-2] [INFO] [1746050395.089773283] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050395.144508106] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050395.145337021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050395.145796487] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050395.147191694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050395.148266488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050395.244677823] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050395.245282098] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050395.245973746] [sailbot.mux]: Published rudder angle from controller_app: 14 -[teensy-2] [INFO] [1746050395.247251747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 14 -[teensy-2] [INFO] [1746050395.248526675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050395.248592322] [sailbot.mux]: controller_app rudder angle: 15 -[teensy-2] [INFO] [1746050395.335376555] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050395.337200526] [sailbot.teensy]: Wind angle: 272 -[trim_sail-4] [INFO] [1746050395.337827614] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050395.338170217] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050395.339065547] [sailbot.teensy]: Actual tail angle: 39 -[mux-7] [INFO] [1746050395.339128838] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050395.339930610] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050395.344317172] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050395.345007842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050395.345459591] [sailbot.mux]: Published rudder angle from controller_app: 15 -[teensy-2] [INFO] [1746050395.346781165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746050395.347883130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050395.445004858] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050395.445680876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050395.446474436] [sailbot.mux]: Published rudder angle from controller_app: 15 -[teensy-2] [INFO] [1746050395.447622983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746050395.448823283] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050395.502417695] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904609 Long: -76.50300308 -[vectornav-1] [INFO] [1746050395.503478153] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (204.43100000000004, 1.732, -10.148) -[mux-7] [INFO] [1746050395.545117938] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050395.545937554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050395.546561519] [sailbot.mux]: Published rudder angle from controller_app: 15 -[teensy-2] [INFO] [1746050395.547745245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746050395.548265199] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050395.585357308] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050395.587694503] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050395.588023159] [sailbot.teensy]: Wind angle: 270 -[teensy-2] [INFO] [1746050395.588993469] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050395.589458296] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050395.589932025] [sailbot.teensy]: Actual tail angle: 39 -[teensy-2] [INFO] [1746050395.590808607] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050395.645190000] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050395.646143202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050395.646711121] [sailbot.mux]: Published rudder angle from controller_app: 15 -[teensy-2] [INFO] [1746050395.649612876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746050395.650732008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050395.745159138] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050395.745894773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050395.746758088] [sailbot.mux]: Published rudder angle from controller_app: 15 -[teensy-2] [INFO] [1746050395.748351935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746050395.749433286] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050395.835469500] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050395.837834168] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050395.838514173] [sailbot.teensy]: Wind angle: 269 -[mux-7] [INFO] [1746050395.838552120] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050395.839562021] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050395.839961010] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050395.840411477] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050395.844511075] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050395.845217782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050395.845641130] [sailbot.mux]: Published rudder angle from controller_app: 15 -[teensy-2] [INFO] [1746050395.847020790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746050395.848053529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050395.945522391] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050395.946501896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050395.947106580] [sailbot.mux]: Published rudder angle from controller_app: 15 -[teensy-2] [INFO] [1746050395.949097476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746050395.950265115] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050396.003389154] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904533 Long: -76.50300735 -[vectornav-1] [INFO] [1746050396.005040325] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.322, -4.382, -7.611) -[mux-7] [INFO] [1746050396.045203607] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050396.046135830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050396.046755203] [sailbot.mux]: Published rudder angle from controller_app: 15 -[teensy-2] [INFO] [1746050396.048457742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746050396.049532976] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050396.085433140] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050396.087337841] [sailbot.teensy]: Wind angle: 263 -[trim_sail-4] [INFO] [1746050396.087789745] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050396.088417239] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050396.089287300] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050396.089339878] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050396.090269694] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050396.144931961] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050396.145752603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050396.146198532] [sailbot.mux]: Published rudder angle from controller_app: 15 -[teensy-2] [INFO] [1746050396.147704729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746050396.148863042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050396.245227442] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050396.246181680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050396.246827324] [sailbot.mux]: Published rudder angle from controller_app: 15 -[mux-7] [INFO] [1746050396.248916357] [sailbot.mux]: controller_app rudder angle: 1 -[teensy-2] [INFO] [1746050396.249261472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746050396.250492265] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050396.335447416] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050396.338125786] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050396.338471768] [sailbot.teensy]: Wind angle: 238 -[mux-7] [INFO] [1746050396.339136069] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050396.339454765] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050396.339921183] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050396.340303116] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050396.344317826] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050396.344851411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050396.345393868] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050396.346557960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050396.347619220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050396.445447072] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050396.446202106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050396.447024953] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050396.448034958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050396.448539108] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050396.502360113] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904484 Long: -76.50301273 -[vectornav-1] [INFO] [1746050396.503325866] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.755, 4.556, -8.109) -[mux-7] [INFO] [1746050396.545236421] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050396.546059704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050396.546706949] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050396.548281423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050396.549334319] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050396.585452355] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050396.587992492] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050396.588303605] [sailbot.teensy]: Wind angle: 222 -[mux-7] [INFO] [1746050396.588542067] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050396.589311756] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050396.590205607] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050396.591056507] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050396.645320908] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050396.646332865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050396.646805822] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050396.648745731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050396.649807065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050396.745550830] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050396.746490294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050396.747314439] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050396.749045734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050396.750163667] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050396.835175530] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050396.836821558] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746050396.837216667] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050396.837699767] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050396.838613939] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050396.838761788] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050396.839528319] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050396.844302530] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050396.844917121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050396.845411756] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050396.846675974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050396.847712402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050396.945526032] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050396.946304784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050396.947218429] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050396.948856752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050396.949445922] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050397.003096658] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904509 Long: -76.50301613 -[vectornav-1] [INFO] [1746050397.004660503] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.93499999999995, -4.427, -2.565) -[mux-7] [INFO] [1746050397.045048634] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050397.045642948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050397.046382620] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050397.047645763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050397.048656836] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050397.085403863] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050397.087227928] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746050397.087751895] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050397.088546832] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050397.089489406] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050397.089516686] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050397.090311062] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050397.145414317] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050397.146161411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050397.147051852] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050397.148521162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050397.149071668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050397.236077196] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746050397.244722341] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050397.245546683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050397.245892270] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050397.247425190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050397.248671954] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050397.335896093] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050397.338787902] [sailbot.teensy]: Wind angle: 209 -[trim_sail-4] [INFO] [1746050397.339144466] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050397.339948825] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050397.340031704] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050397.340473123] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050397.340900814] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050397.344472509] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050397.345215282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050397.345566006] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050397.346903659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050397.348088834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050397.445188918] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050397.445901453] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050397.446635305] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050397.447813804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050397.448863802] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050397.503058451] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904677 Long: -76.50301936 -[vectornav-1] [INFO] [1746050397.504260861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (147.856, 1.767, 3.241) -[mux-7] [INFO] [1746050397.545230646] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050397.546177139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050397.546897993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050397.548625687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050397.549149943] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050397.585375180] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050397.587871570] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050397.588342245] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050397.588365733] [sailbot.teensy]: Wind angle: 205 -[teensy-2] [INFO] [1746050397.589419852] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050397.590350470] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050397.591215014] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050397.645189927] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050397.646137390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050397.646695954] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050397.648845514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050397.649878743] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050397.745517033] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050397.746347391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050397.747213465] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050397.748747307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050397.749897272] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050397.835319549] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050397.837100948] [sailbot.teensy]: Wind angle: 203 -[trim_sail-4] [INFO] [1746050397.837556414] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050397.838100140] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050397.838760134] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050397.839052335] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050397.839949974] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050397.844436320] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050397.845038749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050397.845988806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050397.846812042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050397.847847411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050397.945305352] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050397.946282402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050397.946816272] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050397.948522882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050397.949747034] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050398.002537583] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904821 Long: -76.50302172 -[vectornav-1] [INFO] [1746050398.003598927] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (139.901, 3.624, 5.284) -[mux-7] [INFO] [1746050398.045631329] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050398.046248671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050398.047382552] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050398.048507036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050398.049767658] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050398.085251839] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050398.087674367] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050398.087980145] [sailbot.teensy]: Wind angle: 197 -[mux-7] [INFO] [1746050398.088173190] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050398.088958256] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050398.089852405] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050398.090691873] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050398.144970622] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050398.145635154] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050398.146209493] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050398.147651236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050398.148197387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050398.233651937] [sailbot.mux]: controller_app rudder angle: -7 -[mux-7] [INFO] [1746050398.244851705] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050398.245646004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050398.246134973] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050398.247546901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050398.248049800] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050398.335459198] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050398.337802393] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050398.338999865] [sailbot.teensy]: Wind angle: 197 -[mux-7] [INFO] [1746050398.339149111] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050398.340108621] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050398.341067616] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050398.341908324] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050398.344354961] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050398.344889135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050398.345445137] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050398.346573425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050398.347624531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050398.445497569] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050398.446440462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050398.447091268] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050398.448333405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050398.448853151] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050398.502484880] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904924 Long: -76.50302287 -[vectornav-1] [INFO] [1746050398.503880431] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (135.373, -3.888, 1.982) -[mux-7] [INFO] [1746050398.545242209] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050398.545900862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050398.546635391] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050398.547954140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050398.549001132] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050398.585785907] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050398.588640430] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050398.590088546] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050398.590861467] [sailbot.teensy]: Wind angle: 198 -[teensy-2] [INFO] [1746050398.591791234] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050398.592666881] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050398.593487989] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050398.645062855] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050398.645969329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050398.646460271] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050398.648640292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050398.649778860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050398.745211941] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050398.746252058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050398.746719037] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050398.748676660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050398.751092020] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050398.835361247] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050398.837161403] [sailbot.teensy]: Wind angle: 195 -[trim_sail-4] [INFO] [1746050398.837816800] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050398.838223520] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050398.839170297] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746050398.839700918] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050398.840033616] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050398.844556079] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050398.844976527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050398.845741974] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050398.846614331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050398.847643967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050398.945369038] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050398.945932546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050398.946954165] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050398.947989608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050398.949151238] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050399.003196053] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904955 Long: -76.50302514 -[vectornav-1] [INFO] [1746050399.004531336] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (134.66899999999998, 0.334, 3.376) -[mux-7] [INFO] [1746050399.045349790] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050399.045977991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050399.046940112] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050399.048399866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050399.049567886] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050399.085644198] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050399.087827309] [sailbot.teensy]: Wind angle: 187 -[trim_sail-4] [INFO] [1746050399.088552529] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050399.088861575] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050399.089479575] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050399.089757001] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050399.090633674] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050399.145259331] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050399.146095352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050399.146977675] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050399.148310505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050399.149354417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050399.245020044] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050399.245942776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050399.246454656] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050399.247988358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050399.249226336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050399.262652842] [sailbot.mux]: controller_app rudder angle: -11 -[teensy-2] [INFO] [1746050399.335802493] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050399.338920347] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050399.339167551] [sailbot.teensy]: Wind angle: 197 -[mux-7] [INFO] [1746050399.339588971] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050399.340127574] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050399.341057831] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050399.341790775] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050399.344506996] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050399.345153268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050399.345589166] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050399.346916490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050399.348076437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050399.444802642] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050399.445401558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050399.445960992] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050399.447154709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050399.448379309] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050399.503896770] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905095 Long: -76.50302616 -[vectornav-1] [INFO] [1746050399.505502433] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (133.86700000000002, 1.896, 4.923) -[mux-7] [INFO] [1746050399.544895825] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050399.545633721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050399.546250052] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050399.547557013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050399.548920823] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050399.585445710] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050399.587697860] [sailbot.teensy]: Wind angle: 197 -[trim_sail-4] [INFO] [1746050399.588328501] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050399.588525437] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050399.588656630] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050399.589660067] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050399.590548308] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050399.645462946] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050399.646232614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050399.647146643] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050399.648575991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050399.649730862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050399.745416031] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050399.746317815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050399.747198660] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050399.748574175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050399.749109427] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050399.835431898] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050399.837328256] [sailbot.teensy]: Wind angle: 198 -[trim_sail-4] [INFO] [1746050399.838007956] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050399.838271314] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050399.839206980] [sailbot.teensy]: Actual tail angle: 14 -[mux-7] [INFO] [1746050399.839677543] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050399.840270013] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050399.844460236] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050399.845100872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050399.845611063] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050399.846776486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050399.847917218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050399.945042029] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050399.946121210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050399.946461005] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050399.948032309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050399.948671983] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050400.003102945] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905135 Long: -76.50302694 -[vectornav-1] [INFO] [1746050400.004148915] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (135.856, -0.689, 3.962) -[mux-7] [INFO] [1746050400.044967695] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050400.045795062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050400.046251869] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050400.047883679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050400.048906865] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050400.085550726] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050400.087867579] [sailbot.teensy]: Wind angle: 205 -[teensy-2] [INFO] [1746050400.088850299] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050400.087992810] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050400.089742024] [sailbot.teensy]: Actual tail angle: 14 -[mux-7] [INFO] [1746050400.089808658] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050400.090609346] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050400.144899917] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050400.145789865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050400.146178314] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050400.147614057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050400.148626629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050400.233618129] [sailbot.mux]: controller_app rudder angle: -12 -[mux-7] [INFO] [1746050400.245074580] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050400.245902590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050400.246495879] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050400.247876144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050400.249104297] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050400.335355632] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050400.337192094] [sailbot.teensy]: Wind angle: 200 -[trim_sail-4] [INFO] [1746050400.337859419] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050400.338133731] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050400.338750644] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050400.339036635] [sailbot.teensy]: Actual tail angle: 14 -[teensy-2] [INFO] [1746050400.339961786] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050400.344297686] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050400.344937294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050400.345410019] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050400.346706096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050400.348438446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050400.445547382] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050400.446318865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050400.447432268] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050400.448676163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050400.449253445] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050400.502541825] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905182 Long: -76.50302786 -[vectornav-1] [INFO] [1746050400.503610522] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (136.64800000000002, -2.069, 3.897) -[mux-7] [INFO] [1746050400.545240145] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050400.546164631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050400.546718700] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050400.548387695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050400.549420327] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050400.585817162] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050400.588250440] [sailbot.teensy]: Wind angle: 200 -[trim_sail-4] [INFO] [1746050400.588921869] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050400.589283415] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050400.590224043] [sailbot.teensy]: Actual tail angle: 13 -[mux-7] [INFO] [1746050400.590513623] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050400.591166134] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050400.645623242] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050400.646214670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050400.647367088] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050400.648525565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050400.650769714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050400.745418144] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050400.746182758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050400.747048735] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050400.748265903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050400.748752947] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050400.835406296] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050400.837517200] [sailbot.teensy]: Wind angle: 205 -[trim_sail-4] [INFO] [1746050400.838065743] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050400.838489572] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050400.839384405] [sailbot.teensy]: Actual tail angle: 13 -[mux-7] [INFO] [1746050400.839468204] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050400.840345030] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050400.844485686] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050400.845263522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050400.845815003] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050400.847038975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050400.848201898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050400.945408992] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050400.946337436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050400.947048736] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050400.948645405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050400.949766664] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050401.002560594] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905226 Long: -76.50302892 -[vectornav-1] [INFO] [1746050401.003706823] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (141.69, 6.075, 1.841) -[mux-7] [INFO] [1746050401.045260518] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050401.046009861] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050401.046874558] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050401.048194962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050401.049385407] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050401.085597912] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050401.087658250] [sailbot.teensy]: Wind angle: 205 -[trim_sail-4] [INFO] [1746050401.088486295] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050401.088704139] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050401.089612420] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050401.090507648] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050401.090569850] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050401.145007039] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050401.146027659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050401.146427240] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050401.148237065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050401.149261820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050401.245096161] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050401.245826680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050401.246888867] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050401.247923043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050401.248439980] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050401.335806900] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050401.338027819] [sailbot.teensy]: Wind angle: 209 -[teensy-2] [INFO] [1746050401.338736471] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050401.338753704] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050401.338934671] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050401.339155955] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050401.339620692] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050401.344408685] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050401.344983040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050401.345528794] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050401.346739472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050401.347761197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050401.444916375] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050401.445617832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050401.446216839] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050401.447416904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050401.448896705] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050401.503533322] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905204 Long: -76.50302884 -[vectornav-1] [INFO] [1746050401.505033333] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (145.524, -6.001, 3.765) -[mux-7] [INFO] [1746050401.545112621] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050401.545889826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050401.546603213] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050401.548217446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050401.549557917] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050401.585461258] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050401.587756472] [sailbot.teensy]: Wind angle: 213 -[trim_sail-4] [INFO] [1746050401.587871842] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050401.588765260] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050401.589137182] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050401.589683959] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050401.590738041] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050401.645026382] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050401.645739717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050401.646546973] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050401.647948131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050401.648801717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050401.745042797] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050401.745932542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050401.746613039] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050401.748204721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050401.749396305] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050401.835255814] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050401.837831155] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050401.837831465] [sailbot.teensy]: Wind angle: 220 -[mux-7] [INFO] [1746050401.838384491] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050401.839272865] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050401.840148570] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050401.841023899] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050401.844260011] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050401.844804984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050401.845353697] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050401.846537207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050401.847684973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050401.945289722] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050401.946186118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050401.946820675] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050401.948432966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050401.949606517] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050402.003117299] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905249 Long: -76.5030294 -[vectornav-1] [INFO] [1746050402.004329316] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (149.07799999999997, 2.872, 2.067) -[mux-7] [INFO] [1746050402.045066195] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050402.046123775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050402.046503246] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050402.048257495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050402.049251580] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050402.085413364] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050402.087405314] [sailbot.teensy]: Wind angle: 227 -[trim_sail-4] [INFO] [1746050402.088124265] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050402.088419085] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050402.089327697] [sailbot.teensy]: Actual tail angle: 13 -[mux-7] [INFO] [1746050402.090064309] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050402.090258298] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050402.145467608] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050402.146062167] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050402.148124655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[mux-7] [INFO] [1746050402.147015419] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050402.149233485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050402.230832881] [sailbot.mux]: controller_app rudder angle: -3 -[mux-7] [INFO] [1746050402.244959422] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050402.245721702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050402.246199529] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050402.247567670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050402.248717642] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050402.335288888] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050402.337145325] [sailbot.teensy]: Wind angle: 224 -[teensy-2] [INFO] [1746050402.338125548] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050402.338328420] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050402.339032029] [sailbot.teensy]: Actual tail angle: 13 -[mux-7] [INFO] [1746050402.339715062] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050402.339912566] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050402.344302117] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050402.344885579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050402.345509495] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050402.346646217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050402.347721733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050402.445720569] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050402.446491974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050402.447433434] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050402.449281670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050402.450585303] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050402.504229209] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905188 Long: -76.50303004 -[vectornav-1] [INFO] [1746050402.506485994] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (154.95399999999995, 0.283, 0.681) -[mux-7] [INFO] [1746050402.545243970] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050402.546340908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050402.546766711] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050402.548459047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050402.549555023] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050402.585668535] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050402.587708400] [sailbot.teensy]: Wind angle: 222 -[teensy-2] [INFO] [1746050402.588755808] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050402.588930949] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050402.589659638] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050402.590353415] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050402.590575397] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050402.645203514] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050402.646342350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050402.646756337] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050402.648813276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050402.649926312] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050402.745705131] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050402.746637250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050402.747658229] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050402.748147642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050402.748681738] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050402.835503189] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050402.837463556] [sailbot.teensy]: Wind angle: 224 -[teensy-2] [INFO] [1746050402.838467279] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050402.839407552] [sailbot.teensy]: Actual tail angle: 22 -[trim_sail-4] [INFO] [1746050402.838528927] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050402.840358564] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050402.840957756] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050402.844512969] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050402.845525447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050402.845689450] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050402.847424486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050402.848528247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050402.945549541] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050402.946302073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050402.947286722] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050402.948789205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050402.949900004] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050403.003911416] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905129 Long: -76.5030305 -[vectornav-1] [INFO] [1746050403.005334737] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.94000000000005, -0.808, -0.562) -[mux-7] [INFO] [1746050403.045251616] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050403.046092106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050403.046798870] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050403.048346519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050403.049402815] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050403.085553717] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050403.087996612] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050403.088863915] [sailbot.teensy]: Wind angle: 226 -[mux-7] [INFO] [1746050403.088954570] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050403.089871622] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050403.090811812] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050403.091644479] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050403.145222102] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050403.146264983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050403.146743675] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050403.148684803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050403.149654145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050403.245581837] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050403.246497176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050403.247222785] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050403.250145308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050403.251311882] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050403.335576221] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050403.337624499] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050403.338626413] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050403.338184275] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050403.339230558] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050403.339538061] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050403.340431340] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050403.344284564] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050403.344902504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050403.345369823] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050403.346596300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050403.347644795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050403.444767513] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050403.445570996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050403.445964033] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050403.447411515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050403.448471540] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050403.501324125] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905093 Long: -76.50303111 -[vectornav-1] [INFO] [1746050403.501778612] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.32100000000003, -2.684, -1.361) -[mux-7] [INFO] [1746050403.543921683] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050403.545231108] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050403.545515456] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050403.547658618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050403.548203786] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050403.585463817] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050403.587376351] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050403.588294978] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050403.588425367] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050403.589300713] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050403.589779450] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050403.590777644] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050403.644527998] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050403.645195656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050403.645617633] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050403.646875261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050403.648053899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050403.745277135] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050403.746023339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050403.747007479] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050403.748474549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050403.749621294] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050403.835496561] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050403.837592581] [sailbot.teensy]: Wind angle: 237 -[trim_sail-4] [INFO] [1746050403.838392343] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050403.838637127] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050403.839029730] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050403.839042432] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050403.839410275] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050403.844872302] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050403.845224840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050403.846077131] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050403.847030553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050403.848067165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050403.945266737] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050403.946088045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050403.946819437] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050403.948270024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050403.948832513] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050404.003183052] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905093 Long: -76.50303279 -[vectornav-1] [INFO] [1746050404.004432649] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.38099999999997, 0.359, -4.602) -[mux-7] [INFO] [1746050404.044931328] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050404.045864728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050404.046290364] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050404.047884175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050404.049057515] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050404.085434746] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050404.087870774] [sailbot.teensy]: Wind angle: 245 -[trim_sail-4] [INFO] [1746050404.088466315] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050404.088845507] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050404.088870074] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050404.089799952] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050404.090673694] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050404.145090407] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050404.145891582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050404.146517574] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050404.147871618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050404.149039045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050404.244927419] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050404.245614054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050404.246494241] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050404.247422632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050404.248528887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050404.262498681] [sailbot.mux]: controller_app rudder angle: -2 -[teensy-2] [INFO] [1746050404.335366514] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050404.337064321] [sailbot.teensy]: Wind angle: 251 -[trim_sail-4] [INFO] [1746050404.337624727] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050404.338311753] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050404.339272646] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050404.339799938] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050404.340192103] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050404.344368946] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050404.345104251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050404.345571033] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050404.347178310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050404.348250331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050404.445238369] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050404.446019056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050404.446804495] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050404.448039750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050404.448549776] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050404.502391095] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904972 Long: -76.50303485 -[vectornav-1] [INFO] [1746050404.503556755] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.65499999999997, -0.998, -9.763) -[mux-7] [INFO] [1746050404.545336184] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050404.545955298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050404.547148601] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050404.548006810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050404.549138906] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050404.585792600] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050404.587964789] [sailbot.teensy]: Wind angle: 251 -[trim_sail-4] [INFO] [1746050404.588696419] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050404.589091487] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050404.590102642] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050404.590670206] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050404.591000468] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050404.645211410] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050404.646055260] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050404.648305038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[mux-7] [INFO] [1746050404.649249089] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050404.649453888] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050404.745295281] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050404.746253672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050404.746823664] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050404.748357328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050404.749024979] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050404.835507431] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050404.837965609] [sailbot.teensy]: Wind angle: 251 -[trim_sail-4] [INFO] [1746050404.837955226] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050404.838683515] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050404.838936216] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050404.839825695] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050404.840751865] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050404.844471219] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050404.844923721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050404.845572291] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050404.846590420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050404.847654771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050404.945322496] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050404.946064957] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050404.946978145] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050404.948218520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050404.949444288] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050405.002343928] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904847 Long: -76.50303757 -[vectornav-1] [INFO] [1746050405.003266698] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.41899999999998, -0.82, -13.507) -[mux-7] [INFO] [1746050405.045397251] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050405.046055970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050405.046915896] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050405.048539101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050405.049697608] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050405.085786162] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050405.088298865] [sailbot.teensy]: Wind angle: 253 -[trim_sail-4] [INFO] [1746050405.089414655] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050405.090059214] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050405.090074193] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050405.091083238] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050405.091967159] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050405.144846009] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050405.146015057] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050405.146036848] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050405.148053806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050405.149183456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050405.244804848] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050405.245929978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050405.246030707] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050405.248301189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050405.249456350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050405.249840520] [sailbot.mux]: controller_app rudder angle: 7 -[teensy-2] [INFO] [1746050405.335493235] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050405.337449767] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746050405.337976799] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050405.338451386] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050405.339402907] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050405.339525580] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050405.340359836] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050405.344541844] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050405.345053051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050405.345854329] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050405.346772288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050405.347784140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050405.444473882] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050405.445301210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050405.445543623] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050405.447105949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050405.448238565] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050405.503534946] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904808 Long: -76.50304074 -[vectornav-1] [INFO] [1746050405.504975498] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.02099999999996, -1.893, -13.157) -[mux-7] [INFO] [1746050405.545260933] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050405.546278324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050405.546898388] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050405.548856125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050405.550001240] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050405.585341200] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050405.587617186] [sailbot.teensy]: Wind angle: 289 -[teensy-2] [INFO] [1746050405.588583296] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050405.588587371] [sailbot.mux]: algo sail angle: 45 -[trim_sail-4] [INFO] [1746050405.588739521] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050405.589489168] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050405.590398507] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050405.645217946] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050405.645857239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050405.646933562] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050405.647867329] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050405.648932318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050405.745184234] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050405.745978778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050405.746819497] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050405.747533887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050405.748020294] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050405.835423049] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050405.837852859] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050405.838261459] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050405.838516585] [sailbot.teensy]: Wind angle: 294 -[teensy-2] [INFO] [1746050405.839154451] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050405.839546190] [sailbot.teensy]: Actual tail angle: 32 -[teensy-2] [INFO] [1746050405.839909340] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050405.844441827] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050405.844961714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050405.845775511] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050405.846631040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050405.847668453] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050405.945330033] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050405.946008467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050405.946939498] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050405.948545332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050405.949652115] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050406.003134907] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904749 Long: -76.50304477 -[vectornav-1] [INFO] [1746050406.004791460] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.16899999999998, -2.35, -12.326) -[mux-7] [INFO] [1746050406.045281694] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050406.046066465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050406.047025017] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050406.048501669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050406.049694098] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050406.085557253] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050406.087779893] [sailbot.teensy]: Wind angle: 286 -[trim_sail-4] [INFO] [1746050406.088020081] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050406.088762183] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050406.089646352] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050406.089675985] [sailbot.teensy]: Actual tail angle: 32 -[teensy-2] [INFO] [1746050406.090543948] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050406.145003037] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050406.145747943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050406.146369199] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050406.147747624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050406.148989843] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050406.245298571] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050406.246042303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050406.247981111] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050406.248259103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050406.249265494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050406.249906309] [sailbot.mux]: controller_app rudder angle: 6 -[teensy-2] [INFO] [1746050406.335850821] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050406.338879635] [sailbot.teensy]: Wind angle: 258 -[trim_sail-4] [INFO] [1746050406.338880786] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050406.339917162] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050406.340427401] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050406.340830545] [sailbot.teensy]: Actual tail angle: 32 -[teensy-2] [INFO] [1746050406.341240327] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050406.344414302] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050406.344931104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050406.345568207] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050406.346582423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050406.347726413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050406.445237667] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050406.445821913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050406.446777121] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050406.447978150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050406.449060908] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050406.503121368] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904662 Long: -76.50304962 -[vectornav-1] [INFO] [1746050406.504623013] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.20000000000005, 0.963, -12.68) -[mux-7] [INFO] [1746050406.545206603] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050406.545784598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050406.546786842] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050406.547724388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050406.548955484] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050406.585193420] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050406.587299261] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050406.587999142] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050406.588240907] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050406.589103423] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050406.589912911] [sailbot.teensy]: Actual tail angle: 32 -[teensy-2] [INFO] [1746050406.590741908] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050406.645182004] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050406.646321652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050406.647027989] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050406.648531460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050406.649487101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050406.745462748] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050406.746043608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050406.747090635] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050406.748213103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050406.749338637] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050406.835311579] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050406.837026487] [sailbot.teensy]: Wind angle: 246 -[teensy-2] [INFO] [1746050406.837977989] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050406.837529487] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050406.838987549] [sailbot.teensy]: Actual tail angle: 31 -[teensy-2] [INFO] [1746050406.839868051] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050406.839977936] [sailbot.mux]: algo sail angle: 15 -[mux-7] [INFO] [1746050406.844611850] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050406.845165151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050406.845963933] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050406.846859024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050406.848047142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050406.945432846] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050406.946219272] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050406.947164469] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050406.948531996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050406.950191607] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050407.003394524] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904653 Long: -76.5030545 -[vectornav-1] [INFO] [1746050407.005440043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.77200000000005, -2.491, -12.941) -[mux-7] [INFO] [1746050407.045137952] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050407.045672532] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050407.046753474] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050407.047527683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050407.048841719] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050407.085450200] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050407.087859208] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050407.088022528] [sailbot.teensy]: Wind angle: 271 -[mux-7] [INFO] [1746050407.088547747] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050407.088958329] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050407.089843486] [sailbot.teensy]: Actual tail angle: 31 -[teensy-2] [INFO] [1746050407.090679971] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050407.144983826] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050407.145853881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050407.146299344] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050407.147762238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050407.148792139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050407.244943043] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050407.245642961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050407.246255674] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050407.247503693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050407.248714647] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050407.263604767] [sailbot.mux]: controller_app rudder angle: 4 -[teensy-2] [INFO] [1746050407.335695538] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050407.338191721] [sailbot.teensy]: Wind angle: 287 -[trim_sail-4] [INFO] [1746050407.338321114] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050407.339241767] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050407.340103684] [sailbot.teensy]: Actual tail angle: 31 -[mux-7] [INFO] [1746050407.339994728] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050407.340555564] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050407.344463951] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050407.345105850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050407.345786272] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050407.346853910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050407.348048981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050407.445040964] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050407.445795880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050407.446257507] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050407.447689228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050407.449006541] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050407.503304652] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904693 Long: -76.50305967 -[vectornav-1] [INFO] [1746050407.504572914] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.86400000000003, -1.514, -9.578) -[mux-7] [INFO] [1746050407.545495726] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050407.546043704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050407.547153075] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050407.548452842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050407.549534525] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050407.585459437] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050407.587885099] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746050407.588807826] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050407.589121231] [sailbot.teensy]: Wind angle: 285 -[teensy-2] [INFO] [1746050407.590060602] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050407.590919119] [sailbot.teensy]: Actual tail angle: 31 -[teensy-2] [INFO] [1746050407.591760152] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050407.645083991] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050407.645516211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050407.646451200] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050407.647388243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050407.648466098] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050407.745226836] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050407.745950683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050407.747017205] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050407.748499243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050407.749708863] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050407.835500963] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050407.838551833] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050407.839207124] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050407.839362125] [sailbot.teensy]: Wind angle: 257 -[teensy-2] [INFO] [1746050407.840306982] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050407.841204117] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050407.842090366] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050407.844404421] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050407.844995164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050407.845816241] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050407.846984681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050407.848049896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050407.945241079] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050407.945822841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050407.946778167] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050407.948325204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050407.949402424] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050408.003861249] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904766 Long: -76.50306432 -[vectornav-1] [INFO] [1746050408.005264872] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.37699999999995, 1.913, -6.616) -[mux-7] [INFO] [1746050408.045095284] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050408.045708101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050408.046440382] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050408.047633304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050408.048750976] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050408.085481342] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050408.087184901] [sailbot.teensy]: Wind angle: 225 -[trim_sail-4] [INFO] [1746050408.088131330] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050408.088518255] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050408.089369200] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050408.089466820] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050408.090354043] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050408.145397083] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050408.146101986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050408.146985263] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050408.148296628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050408.148818887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050408.245187591] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050408.246825716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050408.247848855] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050408.248663371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050408.249757847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050408.249867963] [sailbot.mux]: controller_app rudder angle: 0 -[teensy-2] [INFO] [1746050408.335784076] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050408.338907081] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050408.339364126] [sailbot.teensy]: Wind angle: 224 -[mux-7] [INFO] [1746050408.339432564] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050408.340463675] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050408.341436604] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050408.342441084] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050408.344526784] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050408.345352863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050408.345630365] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050408.347038829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050408.348170925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050408.445052335] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050408.445948368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050408.446973065] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050408.447916598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050408.448376142] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050408.503203700] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904803 Long: -76.50306879 -[vectornav-1] [INFO] [1746050408.504699140] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.28499999999997, -2.916, -5.215) -[mux-7] [INFO] [1746050408.545275331] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050408.546299436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050408.546846201] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050408.548700466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050408.549867325] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050408.585594401] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050408.588135805] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746050408.588306094] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050408.589128409] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050408.589316233] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050408.590156097] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050408.591028471] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050408.645072741] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050408.645856258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050408.646510971] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050408.648187793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050408.649280589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050408.745344549] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050408.746213115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050408.747416006] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050408.748371981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050408.748886574] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050408.835407979] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050408.837982097] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050408.838105799] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050408.838915743] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050408.839079454] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050408.839485680] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050408.839876482] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050408.844398694] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050408.845081855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050408.845567472] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050408.846800135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050408.847912355] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050408.945244154] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050408.946146706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050408.946721735] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050408.948219070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050408.949367785] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050409.003862873] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690493 Long: -76.50307406 -[vectornav-1] [INFO] [1746050409.005706682] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.63400000000001, 0.067, -4.018) -[mux-7] [INFO] [1746050409.045210950] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050409.046201725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050409.046790802] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050409.047831402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050409.048463338] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050409.085554398] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050409.088091481] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050409.088319803] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050409.089048875] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050409.089405448] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050409.089957040] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050409.090853320] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050409.145422171] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050409.146366483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050409.147064904] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050409.148724874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050409.149723467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050409.245166944] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050409.246018794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050409.246724816] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050409.248199456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746050409.248824699] [sailbot.mux]: controller_app rudder angle: -3 -[teensy-2] [INFO] [1746050409.249324446] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050409.335764998] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050409.338275274] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050409.338989739] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050409.339416962] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050409.340400588] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050409.340541426] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050409.341217378] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050409.344344926] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050409.344973425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050409.345672838] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050409.346736964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050409.347771361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050409.444915459] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050409.446252026] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050409.446382383] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050409.448312499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050409.448884536] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050409.503337627] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905106 Long: -76.50307802 -[vectornav-1] [INFO] [1746050409.504645666] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (153.683, 1.062, -0.666) -[mux-7] [INFO] [1746050409.544834776] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050409.545473955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050409.546030571] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050409.547340365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050409.548452183] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050409.585430501] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050409.587440344] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050409.587936292] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050409.588463568] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050409.589411668] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050409.589988136] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050409.590262981] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050409.645213732] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050409.646112955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050409.646737808] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050409.648274066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050409.648841388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050409.745587122] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050409.746389929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050409.747217989] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050409.748082578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050409.748677413] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050409.835405283] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050409.837955808] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050409.838031188] [sailbot.teensy]: Wind angle: 228 -[teensy-2] [INFO] [1746050409.838768265] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050409.838849066] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050409.839159652] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050409.839536754] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050409.844543735] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050409.845299270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050409.846032756] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050409.847030228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050409.848175741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050409.945130341] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050409.945880819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050409.946585270] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050409.947932773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050409.949090206] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050410.003150956] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905181 Long: -76.50308151 -[vectornav-1] [INFO] [1746050410.005413730] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (152.07399999999996, -2.465, -0.382) -[mux-7] [INFO] [1746050410.044596547] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050410.045185004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050410.045832289] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050410.046864038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050410.047866433] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050410.085470980] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050410.087959949] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050410.088748704] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050410.089646735] [sailbot.teensy]: Wind angle: 227 -[teensy-2] [INFO] [1746050410.090849536] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050410.091731475] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050410.092600719] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050410.145223294] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050410.146061104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050410.146776033] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050410.148090778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050410.148912484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050410.245018624] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050410.245741887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050410.246339163] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050410.247801056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050410.248950236] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050410.335344744] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050410.337625826] [sailbot.teensy]: Wind angle: 226 -[trim_sail-4] [INFO] [1746050410.337663405] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050410.339000882] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050410.339503910] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050410.340509662] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050410.341366301] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050410.344703565] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050410.344975794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050410.346034837] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050410.346711594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050410.347953633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050410.444855404] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050410.445504873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050410.446067763] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050410.447500844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050410.448794376] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050410.502538016] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905355 Long: -76.50308551 -[vectornav-1] [INFO] [1746050410.503618014] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (151.05200000000002, 2.746, 2.061) -[mux-7] [INFO] [1746050410.545568551] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050410.546230322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050410.547125621] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050410.547914792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050410.548467365] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050410.585330466] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050410.587609860] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050410.587917187] [sailbot.teensy]: Wind angle: 226 -[teensy-2] [INFO] [1746050410.588920419] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050410.589177934] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050410.589793900] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050410.591000239] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050410.645387493] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050410.646155336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050410.647045484] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050410.648671220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050410.649839201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050410.745482587] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050410.746387020] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050410.747488321] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050410.748729995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050410.749239907] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050410.835422678] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050410.837398191] [sailbot.teensy]: Wind angle: 228 -[trim_sail-4] [INFO] [1746050410.837906071] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050410.838376501] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050410.838915366] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050410.839304519] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050410.839325238] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050410.844457409] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050410.844986097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050410.845726214] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050410.846814510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050410.848070437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050410.945162204] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050410.945837704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050410.946737706] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050410.947980462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050410.949155714] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050411.002500797] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905444 Long: -76.50308831 -[vectornav-1] [INFO] [1746050411.003515807] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (154.33000000000004, 0.044, 0.701) -[mux-7] [INFO] [1746050411.045247983] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050411.046143676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050411.047101226] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050411.048478582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050411.049524557] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050411.085658334] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050411.088143399] [sailbot.teensy]: Wind angle: 228 -[trim_sail-4] [INFO] [1746050411.088602067] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050411.089223861] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050411.089743653] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050411.090119765] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050411.091041424] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050411.145287234] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050411.146256940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050411.146872601] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050411.148691988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050411.150002062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050411.245573344] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050411.246504282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050411.247482671] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050411.248843441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050411.250130172] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050411.335352000] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050411.337678165] [sailbot.teensy]: Wind angle: 228 -[trim_sail-4] [INFO] [1746050411.337854256] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050411.338588947] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050411.338972459] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050411.338842727] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050411.339357540] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050411.344401884] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050411.344834596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050411.345488597] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050411.346527232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050411.347602443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050411.445817444] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050411.446036771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050411.447816297] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050411.448035479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050411.448591747] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050411.503156242] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905481 Long: -76.50309089 -[vectornav-1] [INFO] [1746050411.504377148] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (156.74699999999996, -3.231, 0.531) -[mux-7] [INFO] [1746050411.545450894] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050411.546375762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050411.547074675] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050411.548596170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050411.549798248] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050411.585464491] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050411.587688432] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050411.588546863] [sailbot.teensy]: Wind angle: 228 -[mux-7] [INFO] [1746050411.588581625] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050411.590059735] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050411.590903044] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050411.591731851] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050411.645189710] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050411.645934484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050411.646639167] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050411.647970998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050411.649129401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050411.745309994] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050411.746219594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050411.747037730] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050411.748506700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050411.749693232] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050411.835349989] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050411.837497106] [sailbot.teensy]: Wind angle: 227 -[trim_sail-4] [INFO] [1746050411.837597033] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050411.838462340] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050411.839365938] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050411.839414493] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050411.840262487] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050411.844462528] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050411.845192440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050411.845628247] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050411.846948730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050411.847981986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050411.945191471] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050411.946555559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050411.947067280] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050411.948319440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050411.948846998] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050412.002771252] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905538 Long: -76.50309431 -[vectornav-1] [INFO] [1746050412.003902831] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.28300000000002, 3.946, -0.05) -[mux-7] [INFO] [1746050412.045406163] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050412.046696940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050412.047190077] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050412.049111478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050412.049653196] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050412.085618526] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050412.087964854] [sailbot.teensy]: Wind angle: 228 -[trim_sail-4] [INFO] [1746050412.088422600] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050412.089142158] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050412.090109589] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050412.090701582] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050412.090983900] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050412.144703055] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050412.145334152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050412.145843680] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050412.147783401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050412.148858695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050412.245208280] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050412.245823379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050412.246568757] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050412.247981987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050412.248707101] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050412.335428557] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050412.337647348] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050412.338572156] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050412.338743123] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050412.339704782] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050412.339741020] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050412.340722727] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050412.344470872] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050412.344856375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050412.345643541] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050412.346608633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050412.347796081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050412.445281615] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050412.445954490] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050412.447358032] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050412.448398407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050412.448943842] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050412.503153693] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905602 Long: -76.50309661 -[vectornav-1] [INFO] [1746050412.504786289] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.457, -4.959, 1.39) -[mux-7] [INFO] [1746050412.545404925] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050412.546069835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050412.547719474] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050412.548301824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050412.549538218] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050412.585544724] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050412.587616237] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050412.588085132] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050412.588640177] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050412.589526575] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050412.589962431] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050412.590746119] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050412.645420919] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050412.646450042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050412.647133535] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050412.648822282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050412.650016509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050412.745359827] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050412.745933067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050412.746882767] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050412.748027875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050412.749100510] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050412.835431680] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050412.837762311] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050412.838304970] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050412.838450072] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050412.839394775] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050412.840312412] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050412.840846202] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050412.844704233] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050412.845054965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050412.846203881] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050412.846759060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050412.847822524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050412.945354473] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050412.946116651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050412.947881717] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050412.948202652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050412.948759868] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050413.003529826] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905647 Long: -76.50309972 -[vectornav-1] [INFO] [1746050413.005667135] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.33000000000004, 3.137, -3.229) -[mux-7] [INFO] [1746050413.045025132] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050413.045519130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050413.046441071] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050413.047453240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050413.048468493] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050413.085208866] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050413.087432492] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050413.087608712] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746050413.088280808] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050413.088544763] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050413.089389881] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050413.090194701] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050413.144594225] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050413.145070573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050413.145914416] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050413.146821646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050413.148067987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050413.245290203] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050413.246143813] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050413.248142298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[mux-7] [INFO] [1746050413.246852792] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050413.249320877] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050413.335553256] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050413.338236931] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050413.338411857] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746050413.339050104] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050413.339764630] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050413.340864342] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050413.341676317] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050413.344447875] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050413.345011930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050413.345878538] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050413.346869084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050413.348031255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050413.446126974] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050413.448386926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050413.449294373] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050413.450345771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050413.450821955] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050413.503255372] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905614 Long: -76.50310283 -[vectornav-1] [INFO] [1746050413.504552500] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.716, -1.475, -2.411) -[mux-7] [INFO] [1746050413.545262814] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050413.545742694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050413.546622074] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050413.547639938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050413.548708779] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050413.585434234] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050413.587707431] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050413.587959732] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050413.588959481] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050413.590041553] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050413.590146763] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050413.591280230] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050413.645252691] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050413.645846696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050413.646921004] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050413.648217791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050413.649399160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050413.745111871] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050413.745871632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050413.746499613] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050413.748065898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050413.749208915] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050413.835224742] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050413.836852992] [sailbot.teensy]: Wind angle: 244 -[trim_sail-4] [INFO] [1746050413.837490238] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050413.838784360] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050413.839467309] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050413.839552201] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050413.839941126] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050413.844448205] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050413.845177330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050413.845528823] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050413.846862244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050413.848054826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050413.945602897] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050413.947009155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050413.947445035] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050413.949631724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050413.950898515] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050414.002416470] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905645 Long: -76.50310556 -[vectornav-1] [INFO] [1746050414.003471024] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.00700000000006, 3.065, -2.579) -[mux-7] [INFO] [1746050414.045171889] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050414.046292345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050414.046634520] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050414.048638628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050414.049651944] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050414.085670979] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050414.088258547] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050414.088884071] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050414.089307568] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050414.090201419] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050414.090656115] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050414.091116147] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050414.145125196] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050414.145847052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050414.146778918] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050414.147940045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050414.149019181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050414.245226621] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050414.246074932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050414.246739832] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050414.248229222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050414.249305464] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050414.249714361] [sailbot.mux]: controller_app rudder angle: 2 -[teensy-2] [INFO] [1746050414.335378884] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050414.337807437] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050414.338196285] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050414.338620734] [sailbot.teensy]: Wind angle: 256 -[teensy-2] [INFO] [1746050414.339522076] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050414.340411892] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050414.341242222] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050414.344247523] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050414.344815393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050414.345496515] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050414.346405159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050414.347521295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050414.445490028] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050414.446365128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050414.447104220] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050414.448847175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050414.450015933] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050414.503305563] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905597 Long: -76.50310817 -[vectornav-1] [INFO] [1746050414.504814464] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.84900000000005, -6.132, -6.326) -[mux-7] [INFO] [1746050414.544889082] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050414.545602552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050414.546131843] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050414.547431731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050414.548471993] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050414.585368122] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050414.587503098] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050414.587862081] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050414.588507426] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050414.589339114] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050414.589404375] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050414.590289327] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050414.644872533] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050414.645717947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050414.646180607] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050414.647526289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050414.648586482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050414.745070409] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050414.745724732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050414.746392564] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050414.747624918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050414.748687782] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050414.835403021] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050414.837176165] [sailbot.teensy]: Wind angle: 243 -[trim_sail-4] [INFO] [1746050414.837909376] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050414.839233294] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050414.839259169] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050414.839614320] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050414.839994812] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050414.844621537] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050414.845025741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050414.845912051] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050414.846726156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050414.847792577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050414.945096540] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050414.945831489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050414.946425154] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050414.947646067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050414.948180808] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050415.002469081] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905588 Long: -76.50311201 -[vectornav-1] [INFO] [1746050415.003520027] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.60000000000002, 6.345, -7.852) -[mux-7] [INFO] [1746050415.045027824] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050415.046062576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050415.046721163] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050415.047957603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050415.048989713] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050415.085653492] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050415.092085539] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050415.092231996] [sailbot.teensy]: Wind angle: 256 -[mux-7] [INFO] [1746050415.092811567] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050415.093025192] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050415.093816950] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050415.094602060] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050415.145330596] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050415.146606708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050415.147925032] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050415.148767770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050415.149840905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050415.245240512] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050415.246116021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050415.247122247] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050415.247956716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050415.248511507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050415.296919767] [sailbot.mux]: controller_app rudder angle: 3 -[teensy-2] [INFO] [1746050415.335400043] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050415.337402874] [sailbot.teensy]: Wind angle: 256 -[trim_sail-4] [INFO] [1746050415.337761333] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050415.339185477] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050415.339306600] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050415.340361341] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050415.341282554] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050415.344239911] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050415.344750028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050415.345403959] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050415.346460190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050415.347596592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050415.445455095] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050415.447276448] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050415.448501846] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050415.450301187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050415.451376589] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050415.502921984] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905487 Long: -76.50311412 -[vectornav-1] [INFO] [1746050415.504385215] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.418, -4.819, -7.375) -[mux-7] [INFO] [1746050415.545022971] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050415.545828305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050415.546504795] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050415.548050426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050415.549154952] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050415.585413339] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050415.587619262] [sailbot.teensy]: Wind angle: 256 -[trim_sail-4] [INFO] [1746050415.587976705] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050415.588970255] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050415.589241423] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050415.589893797] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050415.590809444] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050415.645174793] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050415.645994148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050415.646659052] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050415.648620472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050415.649681485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050415.745426019] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050415.746337155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050415.747033819] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050415.748810871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050415.749895533] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050415.835611978] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050415.837642847] [sailbot.teensy]: Wind angle: 250 -[trim_sail-4] [INFO] [1746050415.838641025] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050415.839433159] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050415.841109156] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050415.841445230] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050415.841765950] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050415.844222270] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050415.844845473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050415.845502585] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050415.846612160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050415.847759552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050415.945311594] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050415.945886350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050415.946974187] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050415.948126856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050415.950023580] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050416.003692525] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905441 Long: -76.50311758 -[vectornav-1] [INFO] [1746050416.005383932] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.79099999999994, 0.191, -5.193) -[mux-7] [INFO] [1746050416.045255158] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050416.046037718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050416.046631534] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050416.047965055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050416.049038686] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050416.085292512] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050416.087420618] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050416.088030944] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050416.088512664] [sailbot.teensy]: Wind angle: 249 -[teensy-2] [INFO] [1746050416.089484613] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050416.090342328] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050416.091176062] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050416.145190284] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050416.145661350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050416.147357054] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050416.147614715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050416.148911636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050416.245331806] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050416.245848236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050416.247077415] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050416.247978066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050416.249250654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050416.287649676] [sailbot.mux]: controller_app rudder angle: 5 -[teensy-2] [INFO] [1746050416.335751742] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050416.338485608] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050416.339771769] [sailbot.teensy]: Wind angle: 249 -[mux-7] [INFO] [1746050416.339904005] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050416.340785293] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050416.341697573] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050416.342537653] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050416.344280370] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050416.344726490] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050416.345411226] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050416.346440256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050416.347540340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050416.445320988] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050416.446280232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050416.446820596] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050416.448063192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050416.448600432] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050416.502543185] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905435 Long: -76.50312146 -[vectornav-1] [INFO] [1746050416.503592971] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.93600000000004, -1.06, -2.771) -[mux-7] [INFO] [1746050416.545199376] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050416.545963732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050416.546671698] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050416.548023182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050416.549216042] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050416.585535543] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050416.587505351] [sailbot.teensy]: Wind angle: 249 -[teensy-2] [INFO] [1746050416.588510991] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050416.589426943] [sailbot.teensy]: Actual tail angle: 28 -[trim_sail-4] [INFO] [1746050416.588554187] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050416.589726165] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050416.590286746] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050416.645175590] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050416.646102484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050416.646665006] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050416.648271318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050416.649432017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050416.745759734] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050416.746402589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050416.747574565] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050416.748770423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050416.750004215] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050416.835819777] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050416.838996579] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050416.839030994] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050416.839893392] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050416.840919673] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050416.841886747] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746050416.842718015] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050416.844505739] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050416.845207046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050416.845738276] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050416.847074817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050416.848056631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050416.945451563] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050416.946558935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050416.947125505] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050416.948173421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050416.948624831] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050417.003518123] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905437 Long: -76.50312526 -[vectornav-1] [INFO] [1746050417.004971631] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.58100000000002, 1.449, -3.566) -[mux-7] [INFO] [1746050417.045275165] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050417.046125733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050417.046765356] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050417.048532486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050417.049587834] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050417.085475137] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050417.087394910] [sailbot.teensy]: Wind angle: 244 -[teensy-2] [INFO] [1746050417.088364881] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050417.088103271] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050417.089058618] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050417.089244531] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746050417.090116913] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050417.145426827] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050417.146267631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050417.147704812] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050417.148999685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050417.150060057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050417.245477388] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050417.246284873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050417.247055800] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050417.248876678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050417.249650731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050417.276325903] [sailbot.mux]: controller_app rudder angle: 6 -[teensy-2] [INFO] [1746050417.335165667] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050417.336827967] [sailbot.teensy]: Wind angle: 244 -[trim_sail-4] [INFO] [1746050417.337356512] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050417.338505508] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050417.339048265] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050417.339993129] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746050417.340854234] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050417.344401312] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050417.344803749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050417.345894003] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050417.346437763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050417.347638610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050417.445278446] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050417.445761104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050417.446871442] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050417.447841742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050417.449288310] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050417.503409170] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905359 Long: -76.50312814 -[vectornav-1] [INFO] [1746050417.505056882] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.08000000000004, -2.647, -3.385) -[mux-7] [INFO] [1746050417.545187267] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050417.545793379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050417.546552591] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050417.547833089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050417.548872775] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050417.585763807] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050417.587861623] [sailbot.teensy]: Wind angle: 243 -[trim_sail-4] [INFO] [1746050417.588599998] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050417.588947983] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050417.589837522] [sailbot.teensy]: Actual tail angle: 30 -[mux-7] [INFO] [1746050417.589893988] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050417.590707122] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050417.645165805] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050417.646210305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050417.646682631] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050417.647865147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050417.648352008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050417.745504865] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050417.746245645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050417.747125340] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050417.748734636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050417.749880213] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050417.835373224] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050417.837836074] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050417.838043527] [sailbot.teensy]: Wind angle: 240 -[mux-7] [INFO] [1746050417.838715273] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050417.838983673] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050417.839883632] [sailbot.teensy]: Actual tail angle: 31 -[teensy-2] [INFO] [1746050417.840857458] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050417.844290463] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050417.844811745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050417.845365783] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050417.846489901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050417.847637357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050417.945271034] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050417.945981517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050417.947714974] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050417.947936963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050417.948456187] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050418.004010333] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905387 Long: -76.50313164 -[vectornav-1] [INFO] [1746050418.005477800] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.97000000000003, -0.271, -1.801) -[mux-7] [INFO] [1746050418.045193082] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050418.046046632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050418.046722960] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050418.048233113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050418.049289230] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050418.085449696] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050418.087857245] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050418.088511698] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050418.088948702] [sailbot.teensy]: Wind angle: 240 -[teensy-2] [INFO] [1746050418.090163536] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050418.091153199] [sailbot.teensy]: Actual tail angle: 31 -[teensy-2] [INFO] [1746050418.092014171] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050418.145208961] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050418.146004066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050418.147097779] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050418.148076470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050418.149189131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050418.245488796] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050418.246982467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050418.247672244] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050418.249453811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050418.250637169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050418.288244865] [sailbot.mux]: controller_app rudder angle: 5 -[teensy-2] [INFO] [1746050418.335438722] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050418.338016717] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050418.338483398] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050418.339296196] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050418.340268798] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050418.341139462] [sailbot.teensy]: Actual tail angle: 31 -[teensy-2] [INFO] [1746050418.342102210] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050418.344432203] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050418.344857538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050418.345552411] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050418.346599635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050418.347623576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050418.445254051] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050418.446094173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050418.446740427] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050418.448207719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050418.449097881] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050418.502485362] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905389 Long: -76.50313567 -[vectornav-1] [INFO] [1746050418.503537898] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.40200000000004, 2.997, -2.116) -[mux-7] [INFO] [1746050418.545039599] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050418.545826917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050418.546491375] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050418.547717356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050418.548196704] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050418.585538948] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050418.588196587] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050418.589252536] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050418.590190608] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050418.590214849] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050418.591105248] [sailbot.teensy]: Actual tail angle: 31 -[teensy-2] [INFO] [1746050418.591988186] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050418.645292336] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050418.646096342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050418.646825855] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050418.648544084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050418.649703497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050418.745429681] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050418.746094091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050418.747031670] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050418.748203100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050418.749271744] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050418.835421036] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050418.837208683] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050418.837738197] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050418.838144193] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050418.838906613] [sailbot.teensy]: Actual tail angle: 30 -[mux-7] [INFO] [1746050418.838945357] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050418.839280427] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050418.844395768] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050418.844977717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050418.845593948] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050418.847015523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050418.848137230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050418.945479655] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050418.946031332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050418.947310988] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050418.948283723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050418.949416875] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050419.003794926] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905396 Long: -76.50313844 -[vectornav-1] [INFO] [1746050419.005593265] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.71900000000005, -4.158, -1.108) -[mux-7] [INFO] [1746050419.045046974] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050419.045509254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050419.046433203] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050419.047422501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050419.048621563] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050419.085248274] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050419.087481469] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050419.087969865] [sailbot.teensy]: Wind angle: 229 -[mux-7] [INFO] [1746050419.088348156] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050419.088970326] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050419.090086360] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746050419.090934602] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050419.145210531] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050419.145925884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050419.146708973] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050419.148050223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050419.149245891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050419.245261549] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050419.246892830] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050419.247879319] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050419.250330928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050419.251405806] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050419.335741768] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050419.338513655] [sailbot.teensy]: Wind angle: 227 -[trim_sail-4] [INFO] [1746050419.338763094] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050419.339706307] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050419.340584848] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050419.340633322] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746050419.341515046] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050419.344219469] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050419.344961693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050419.345313228] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050419.346688849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050419.347723210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050419.445534136] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050419.446259467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050419.447404604] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050419.448695173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050419.449207232] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050419.502396479] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905429 Long: -76.50314244 -[vectornav-1] [INFO] [1746050419.503526660] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.87300000000005, 2.129, -0.401) -[mux-7] [INFO] [1746050419.545255771] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050419.546185011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050419.546724392] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050419.548392943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050419.549544282] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050419.585772013] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050419.588612443] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050419.590077914] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050419.590512167] [sailbot.teensy]: Wind angle: 227 -[teensy-2] [INFO] [1746050419.591439914] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050419.592352724] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746050419.593185268] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050419.645165728] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050419.646382589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050419.646662756] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050419.648426719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050419.649554281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050419.745255636] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050419.746131108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050419.746872125] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050419.748115649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050419.748676953] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050419.835616998] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050419.837736899] [sailbot.teensy]: Wind angle: 228 -[teensy-2] [INFO] [1746050419.838746514] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050419.838242704] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050419.839233534] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050419.839640975] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746050419.840538811] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050419.844448144] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050419.844976151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050419.845544778] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050419.846758614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050419.847773177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050419.945519728] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050419.946515908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050419.947101591] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050419.948861332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050419.950007148] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050420.002992506] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905471 Long: -76.50314567 -[vectornav-1] [INFO] [1746050420.004403806] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.423, 1.013, -0.624) -[mux-7] [INFO] [1746050420.045233635] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050420.045974277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050420.046588724] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050420.048454507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050420.050255221] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050420.085615932] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050420.087546372] [sailbot.teensy]: Wind angle: 228 -[teensy-2] [INFO] [1746050420.088681222] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050420.088596493] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050420.089618544] [sailbot.teensy]: Actual tail angle: 30 -[mux-7] [INFO] [1746050420.089873376] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050420.090522901] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050420.145167315] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050420.145982955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050420.146673587] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050420.148184259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050420.149257389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050420.245371459] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050420.246202946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050420.246878318] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050420.248357682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050420.248975574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050420.274018377] [sailbot.mux]: controller_app rudder angle: 3 -[teensy-2] [INFO] [1746050420.335318948] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050420.337170371] [sailbot.teensy]: Wind angle: 228 -[trim_sail-4] [INFO] [1746050420.337804570] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050420.338144804] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050420.338967217] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050420.339009824] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746050420.339917785] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050420.344483105] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050420.345038760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050420.345776394] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050420.346824256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050420.347878032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050420.445411733] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050420.446166503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050420.447027017] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050420.448300763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050420.448837310] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050420.503328984] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905486 Long: -76.5031488 -[vectornav-1] [INFO] [1746050420.505391144] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.27200000000005, -2.254, -0.713) -[mux-7] [INFO] [1746050420.545317516] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050420.546126246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050420.547098500] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050420.548270233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050420.549438777] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050420.585800475] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050420.588185584] [sailbot.teensy]: Wind angle: 226 -[trim_sail-4] [INFO] [1746050420.588576914] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050420.589288242] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050420.590231118] [sailbot.teensy]: Actual tail angle: 30 -[mux-7] [INFO] [1746050420.590594141] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050420.591085054] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050420.645561361] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050420.646572844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050420.647423233] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050420.648952975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050420.650236193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050420.745365060] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050420.745949462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050420.747370416] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050420.748596949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050420.749751530] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050420.835615990] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050420.837892528] [sailbot.teensy]: Wind angle: 229 -[trim_sail-4] [INFO] [1746050420.838764486] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050420.838921977] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050420.839892938] [sailbot.teensy]: Actual tail angle: 28 -[mux-7] [INFO] [1746050420.840137597] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050420.840847276] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050420.844507577] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050420.845181885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050420.845617157] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050420.846930746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050420.848247133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050420.945554852] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050420.946332703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050420.947417334] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050420.948531969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050420.949079313] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050421.003951341] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905533 Long: -76.50315154 -[vectornav-1] [INFO] [1746050421.006252685] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.22299999999996, 1.208, 0.154) -[mux-7] [INFO] [1746050421.045152303] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050421.046063833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050421.046567229] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050421.047976065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050421.049014401] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050421.085408982] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050421.087322662] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746050421.087784760] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050421.088282939] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050421.088857947] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050421.089191674] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050421.090052754] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050421.145012544] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050421.145717764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050421.146577529] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050421.147695107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050421.148745330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050421.244904762] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050421.245524593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050421.246268536] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050421.247301598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050421.248320982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050421.298235971] [sailbot.mux]: controller_app rudder angle: -1 -[teensy-2] [INFO] [1746050421.335342879] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050421.337746041] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050421.338074031] [sailbot.teensy]: Wind angle: 227 -[teensy-2] [INFO] [1746050421.340007192] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050421.340298004] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050421.340912590] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050421.341346033] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050421.344433682] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050421.345008302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050421.345514128] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050421.346676453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050421.347832636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050421.445230177] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050421.446260804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050421.446897802] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050421.448801362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050421.450019862] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050421.503616258] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905584 Long: -76.50315434 -[vectornav-1] [INFO] [1746050421.504994483] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.05500000000006, -2.426, 0.012) -[mux-7] [INFO] [1746050421.545319265] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050421.546153447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050421.546986400] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050421.548507428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050421.549557882] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050421.585267699] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050421.587820920] [sailbot.teensy]: Wind angle: 224 -[trim_sail-4] [INFO] [1746050421.587868224] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050421.589035003] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050421.589096886] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050421.590380162] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050421.591407072] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050421.645239354] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050421.645989480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050421.646926987] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050421.648345373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050421.649405264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050421.745478393] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050421.746195937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050421.747331732] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050421.748449404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050421.749027887] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050421.835520403] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050421.838133437] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050421.838370599] [sailbot.teensy]: Wind angle: 224 -[teensy-2] [INFO] [1746050421.838979058] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050421.839189804] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050421.839464260] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050421.840003003] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050421.844614135] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050421.845101996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050421.845810817] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050421.846849819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050421.847931840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050421.945372665] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050421.945918145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050421.947009588] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050421.948106299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050421.949244778] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050422.003141989] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905656 Long: -76.5031569 -[vectornav-1] [INFO] [1746050422.004575724] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.31100000000004, 3.438, 1.765) -[mux-7] [INFO] [1746050422.045382777] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050422.045980082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050422.047025216] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050422.048647067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050422.049835217] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050422.085427470] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050422.087774686] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050422.089020815] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050422.089694323] [sailbot.teensy]: Wind angle: 224 -[teensy-2] [INFO] [1746050422.090681965] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050422.091520546] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050422.092368755] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050422.145369084] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050422.145882293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050422.146818599] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050422.148070499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050422.149227305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050422.245076422] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050422.245787534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050422.246413683] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050422.247696260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050422.248847190] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050422.335360140] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050422.337817578] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050422.337939712] [sailbot.teensy]: Wind angle: 224 -[teensy-2] [INFO] [1746050422.338862885] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050422.339206757] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050422.339788045] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050422.340748032] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050422.344365426] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050422.344870479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050422.345534984] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050422.346546590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050422.347586361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050422.445607508] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050422.446362916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050422.447415791] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050422.449090796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050422.449781742] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050422.503412652] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905705 Long: -76.50315888 -[vectornav-1] [INFO] [1746050422.504860720] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (155.69299999999998, -2.742, 2.255) -[mux-7] [INFO] [1746050422.545219725] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050422.545860093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050422.546713896] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050422.548573182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050422.549587924] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050422.585381007] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050422.587204842] [sailbot.teensy]: Wind angle: 223 -[trim_sail-4] [INFO] [1746050422.587779611] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050422.588523157] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050422.588542949] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050422.589538027] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050422.590413922] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050422.645349523] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050422.646007364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050422.646979823] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050422.648494037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050422.649668321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050422.745697694] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050422.746511560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050422.747356806] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050422.748711036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050422.749235885] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050422.835326667] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050422.837698709] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050422.838044081] [sailbot.teensy]: Wind angle: 222 -[mux-7] [INFO] [1746050422.838413276] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050422.838973851] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050422.840167975] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050422.841050198] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050422.844434848] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050422.845288328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050422.846085548] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050422.847330770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050422.848486739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050422.945466697] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050422.946297715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050422.947438975] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050422.948354939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050422.949921239] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050423.003713378] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905773 Long: -76.50316111 -[vectornav-1] [INFO] [1746050423.005951094] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (153.356, -1.105, 2.88) -[mux-7] [INFO] [1746050423.045603081] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050423.046226794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050423.047393146] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050423.048591736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050423.049837560] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050423.085492446] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050423.087341896] [sailbot.teensy]: Wind angle: 221 -[trim_sail-4] [INFO] [1746050423.088194464] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050423.088356952] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050423.089279441] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050423.089454840] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050423.090213247] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050423.145481568] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050423.146014881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050423.147174270] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050423.148092855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050423.148636152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050423.244984907] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050423.245675577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050423.246247104] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050423.247463049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050423.248390538] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050423.335767578] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050423.337972585] [sailbot.teensy]: Wind angle: 221 -[trim_sail-4] [INFO] [1746050423.338613952] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050423.339035544] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050423.340008099] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050423.340345198] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050423.340888422] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050423.344472590] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050423.345105295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050423.345578137] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050423.346805576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050423.347825072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050423.445596720] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050423.446462050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050423.447474079] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050423.449422553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050423.450819259] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050423.502581455] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905831 Long: -76.50316304 -[vectornav-1] [INFO] [1746050423.503743453] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (152.688, 1.978, 1.567) -[mux-7] [INFO] [1746050423.545087628] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050423.545830527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050423.546981789] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050423.547779414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050423.548880550] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050423.585118089] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050423.586863687] [sailbot.teensy]: Wind angle: 220 -[teensy-2] [INFO] [1746050423.587819943] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050423.588194518] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050423.588721001] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050423.588752099] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050423.589646487] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050423.644919579] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050423.645589897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050423.646215291] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050423.647570771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050423.648451291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050423.745349998] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050423.746005085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050423.746897099] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050423.749495980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050423.750526592] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050423.835665730] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050423.838324301] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050423.839127215] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050423.839681469] [sailbot.teensy]: Wind angle: 219 -[teensy-2] [INFO] [1746050423.840717777] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050423.841296497] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050423.841595797] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050423.844486081] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050423.845090439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050423.845650122] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050423.846936396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050423.848094401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050423.945573477] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050423.946259783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050423.947161132] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050423.948565586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050423.949898206] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050424.003313277] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905848 Long: -76.50316442 -[vectornav-1] [INFO] [1746050424.005033294] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (151.563, -0.983, 2.0) -[mux-7] [INFO] [1746050424.044935404] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050424.045764156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050424.046214008] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050424.047730373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050424.048971046] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050424.085416276] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050424.087488277] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746050424.087917636] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050424.088491451] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050424.088498570] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050424.089458544] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050424.090327955] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050424.144945168] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050424.145867106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050424.146222982] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050424.147781970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050424.148929287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050424.245260640] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050424.246003563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050424.246805288] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050424.248419916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050424.249436443] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050424.335186146] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050424.337191502] [sailbot.teensy]: Wind angle: 221 -[trim_sail-4] [INFO] [1746050424.337573078] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050424.338366789] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050424.338567976] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050424.339351568] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050424.340264066] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050424.344287796] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050424.344781217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050424.345381401] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050424.346514626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050424.347499327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050424.445455645] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050424.446247755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050424.447711266] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050424.448141557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050424.448624713] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050424.503953563] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690591 Long: -76.50316577 -[vectornav-1] [INFO] [1746050424.505449513] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (149.49900000000002, -2.861, 3.545) -[mux-7] [INFO] [1746050424.544914477] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050424.546262511] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050424.546270526] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050424.548334861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050424.549460444] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050424.585469257] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050424.587785300] [sailbot.teensy]: Wind angle: 221 -[trim_sail-4] [INFO] [1746050424.588052221] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050424.588796920] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050424.589738647] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050424.590360184] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050424.590641897] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050424.644859813] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050424.645637237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050424.646027480] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050424.647485064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050424.648754243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050424.745545101] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050424.746516203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050424.747162298] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050424.748920719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050424.749416245] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050424.835399924] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050424.837592470] [sailbot.teensy]: Wind angle: 221 -[trim_sail-4] [INFO] [1746050424.837619131] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050424.838229953] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050424.838560354] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050424.839518647] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050424.840388395] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050424.844358036] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050424.845007320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050424.845751136] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050424.846871303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050424.847881584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050424.945245852] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050424.946107635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050424.946841443] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050424.947831189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050424.948397162] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050425.003777644] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905981 Long: -76.50316732 -[vectornav-1] [INFO] [1746050425.005431141] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (148.34699999999998, 4.276, 1.615) -[mux-7] [INFO] [1746050425.044881534] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050425.045491563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050425.046097735] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050425.047249437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050425.048338373] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050425.085464018] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050425.088461158] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050425.088845639] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050425.088997045] [sailbot.teensy]: Wind angle: 221 -[teensy-2] [INFO] [1746050425.089920258] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050425.090793711] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050425.091636810] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050425.144952128] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050425.145989831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050425.146324039] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050425.148252409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050425.149346227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050425.245142558] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050425.245911945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050425.246813990] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050425.248398465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050425.248845407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050425.285908445] [sailbot.mux]: controller_app rudder angle: 0 -[teensy-2] [INFO] [1746050425.335311568] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050425.337564230] [sailbot.teensy]: Wind angle: 222 -[trim_sail-4] [INFO] [1746050425.337578506] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050425.338381314] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050425.338565349] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050425.339520553] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050425.340424345] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050425.344399222] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050425.345063021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050425.345521270] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050425.346747298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050425.347908982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050425.445264027] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050425.446059407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050425.446909729] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050425.449360400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050425.450493545] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050425.503553632] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905991 Long: -76.50316795 -[vectornav-1] [INFO] [1746050425.505827796] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (147.77999999999997, -3.137, 2.799) -[mux-7] [INFO] [1746050425.544915683] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050425.545536131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050425.546087852] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050425.547398156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050425.548430116] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050425.585441612] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050425.587376906] [sailbot.teensy]: Wind angle: 222 -[trim_sail-4] [INFO] [1746050425.587919657] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050425.588410783] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050425.589392411] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050425.589772201] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050425.590280592] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050425.645010975] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050425.645743522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050425.646816389] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050425.647571114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050425.648621786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050425.745299854] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050425.746040182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050425.747236987] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050425.748425285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050425.749362264] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050425.835743694] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050425.837982320] [sailbot.teensy]: Wind angle: 222 -[teensy-2] [INFO] [1746050425.839084616] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050425.838845213] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050425.840411423] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050425.841202635] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050425.842256500] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050425.844247955] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050425.844960561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050425.845371578] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050425.846875066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050425.847947650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050425.945651728] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050425.946499744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050425.947400201] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050425.949277635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050425.950451012] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050426.003493742] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906029 Long: -76.50316884 -[vectornav-1] [INFO] [1746050426.004861861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (144.834, 0.602, 3.851) -[mux-7] [INFO] [1746050426.044985838] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050426.045711015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050426.046508292] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050426.047750066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050426.048940804] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050426.085353803] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050426.087030099] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746050426.087803787] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050426.087933259] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050426.088787262] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050426.088902172] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050426.089714059] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050426.145235083] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050426.146075542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050426.146817908] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050426.148333018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050426.149532650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050426.245021953] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050426.245811055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050426.246328999] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050426.247687508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050426.248780849] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050426.335324933] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050426.337250247] [sailbot.teensy]: Wind angle: 219 -[trim_sail-4] [INFO] [1746050426.337854369] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050426.338267316] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050426.339047656] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050426.339216928] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050426.340119202] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050426.344404005] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050426.345133254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050426.345664371] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050426.346962849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050426.348176598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050426.445453517] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050426.446655525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050426.447222556] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050426.447892775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050426.448478357] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050426.503327358] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906059 Long: -76.50316957 -[vectornav-1] [INFO] [1746050426.504672485] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (141.49900000000002, 1.157, 2.681) -[mux-7] [INFO] [1746050426.545296603] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050426.546077525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050426.548367422] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050426.548462445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050426.550168926] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050426.585206297] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050426.587618870] [sailbot.teensy]: Wind angle: 216 -[trim_sail-4] [INFO] [1746050426.587661907] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050426.588582400] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050426.588775610] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050426.589498712] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050426.590350754] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050426.645415422] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050426.646493380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050426.647156110] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050426.649246343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050426.649733033] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050426.745555433] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050426.746514418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050426.747164295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050426.748933315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050426.749428520] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050426.835215978] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050426.837013373] [sailbot.teensy]: Wind angle: 214 -[trim_sail-4] [INFO] [1746050426.837577337] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050426.837931252] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050426.838809881] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050426.838847181] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050426.839706283] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050426.844475800] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050426.845200069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050426.845693319] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050426.847129511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050426.848330482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050426.945139444] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050426.945950135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050426.946581455] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050426.947862957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050426.948348519] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050427.002577878] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906079 Long: -76.50316971 -[vectornav-1] [INFO] [1746050427.004085484] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (138.608, -2.988, 5.025) -[mux-7] [INFO] [1746050427.044834114] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050427.045548577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050427.046313961] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050427.047345049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050427.048488478] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050427.085702954] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050427.088124141] [sailbot.teensy]: Wind angle: 212 -[trim_sail-4] [INFO] [1746050427.088700689] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050427.089234386] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050427.090265838] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050427.091169777] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050427.091320971] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050427.145287054] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050427.145974475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050427.147053874] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050427.147747873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050427.148288542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050427.245556521] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050427.246577480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050427.247543896] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050427.248901240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050427.249401758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050427.274384451] [sailbot.mux]: controller_app rudder angle: -7 -[teensy-2] [INFO] [1746050427.335424635] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050427.337691092] [sailbot.teensy]: Wind angle: 206 -[trim_sail-4] [INFO] [1746050427.337686747] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050427.338717044] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050427.339133098] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050427.339710734] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050427.340679444] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050427.344381315] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050427.344951593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050427.345517340] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050427.346624210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050427.347776723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050427.445561583] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050427.446276778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050427.447181680] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050427.448109759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050427.448564141] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050427.502964554] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906101 Long: -76.50317041 -[vectornav-1] [INFO] [1746050427.504349240] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (138.065, 2.311, 3.165) -[mux-7] [INFO] [1746050427.545135149] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050427.546086209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050427.546563521] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050427.548033476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050427.549116493] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050427.585312270] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050427.587768719] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050427.588109144] [sailbot.teensy]: Wind angle: 206 -[mux-7] [INFO] [1746050427.588279147] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050427.589122608] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050427.590045657] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050427.590954137] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050427.645549097] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050427.646310508] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050427.647775545] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050427.649325704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050427.650517889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050427.745533071] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050427.746340679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050427.747175371] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050427.748145777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050427.748677078] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050427.835104155] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050427.836975024] [sailbot.teensy]: Wind angle: 205 -[trim_sail-4] [INFO] [1746050427.837437090] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050427.837943194] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050427.838912323] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746050427.838993800] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050427.839872873] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050427.844356326] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050427.844930738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050427.845505836] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050427.847183063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050427.848366200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050427.945631153] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050427.946328568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050427.946652857] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050427.947056969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050427.947593836] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050428.002781388] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906093 Long: -76.50317053 -[vectornav-1] [INFO] [1746050428.004012826] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (137.038, -0.898, 3.778) -[mux-7] [INFO] [1746050428.044947685] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050428.046325531] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050428.047411871] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050428.049113673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050428.050108089] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050428.085137803] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050428.086792092] [sailbot.teensy]: Wind angle: 205 -[trim_sail-4] [INFO] [1746050428.087485086] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050428.088052206] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050428.089150529] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746050428.089474522] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050428.090058477] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050428.145203389] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050428.146292378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050428.146768036] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050428.148337768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050428.149416882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050428.245629237] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050428.246743208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050428.247415893] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050428.249144782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050428.250507302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050428.289381694] [sailbot.mux]: controller_app rudder angle: -9 -[teensy-2] [INFO] [1746050428.335692399] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050428.338139657] [sailbot.teensy]: Wind angle: 205 -[trim_sail-4] [INFO] [1746050428.338389674] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050428.339199603] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050428.340436489] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746050428.340665943] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050428.341446075] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050428.344314408] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050428.344826263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050428.345395910] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050428.346564237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050428.347662700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050428.445666835] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050428.446792589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050428.447547401] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050428.450156809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050428.451324135] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050428.503380254] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469061 Long: -76.50317029 -[vectornav-1] [INFO] [1746050428.504663462] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (135.928, -1.315, 4.11) -[mux-7] [INFO] [1746050428.544590636] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050428.545245873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050428.545730533] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050428.547293768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050428.548312509] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050428.585455471] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050428.587407412] [sailbot.teensy]: Wind angle: 205 -[teensy-2] [INFO] [1746050428.588566995] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050428.589037349] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050428.589536363] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050428.590464454] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050428.589603704] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050428.645112345] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050428.645854311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050428.646745229] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050428.648111240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050428.648983268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050428.745634855] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050428.746334214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050428.748294717] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050428.749400105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050428.750674235] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050428.835373469] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050428.837693234] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050428.838203654] [sailbot.teensy]: Wind angle: 205 -[mux-7] [INFO] [1746050428.838903730] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050428.839153722] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050428.839529502] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050428.839879561] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050428.844587380] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050428.845013247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050428.845774028] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050428.846711374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050428.847748232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050428.945775298] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050428.946217824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050428.947567252] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050428.948544543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050428.950470299] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050429.003288129] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906104 Long: -76.50317068 -[vectornav-1] [INFO] [1746050429.004722259] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (135.567, -0.759, 3.873) -[mux-7] [INFO] [1746050429.045255422] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050429.046006005] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050429.046788911] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050429.048445791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050429.049547760] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050429.085366646] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050429.087841327] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050429.088776053] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050429.089000534] [sailbot.teensy]: Wind angle: 205 -[teensy-2] [INFO] [1746050429.089946412] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050429.090809208] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050429.091649811] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050429.144953130] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050429.145537272] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050429.146172224] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050429.147426061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050429.148553891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050429.245187160] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050429.245848780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050429.246852571] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050429.247980002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050429.248752171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050429.298120488] [sailbot.mux]: controller_app rudder angle: -13 -[teensy-2] [INFO] [1746050429.335292686] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050429.337537285] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050429.338184906] [sailbot.teensy]: Wind angle: 205 -[mux-7] [INFO] [1746050429.338843692] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050429.339185734] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050429.340173700] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050429.341135482] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050429.344288860] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050429.344891068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050429.345626962] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050429.346708138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050429.347936055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050429.445313950] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050429.446365820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050429.447040333] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050429.449279051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050429.450421448] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050429.503258029] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906114 Long: -76.50317073 -[vectornav-1] [INFO] [1746050429.504507210] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (133.38400000000001, 3.188, 3.069) -[mux-7] [INFO] [1746050429.545105502] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050429.545983429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050429.546540981] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050429.548008638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050429.549037455] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050429.585375732] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050429.587514227] [sailbot.teensy]: Wind angle: 205 -[trim_sail-4] [INFO] [1746050429.587842460] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050429.588480525] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050429.589372551] [sailbot.teensy]: Actual tail angle: 16 -[mux-7] [INFO] [1746050429.589883450] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050429.590274833] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050429.645336360] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050429.645982671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050429.646979287] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050429.648193320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050429.649342978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050429.745473172] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050429.746132041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050429.747148802] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050429.748528813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050429.749594113] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050429.836001348] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050429.839260492] [sailbot.teensy]: Wind angle: 205 -[trim_sail-4] [INFO] [1746050429.839769028] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050429.840483784] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050429.840621433] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050429.841543677] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050429.842577043] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050429.844417577] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050429.844973273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050429.845521223] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050429.847063489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050429.848128992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050429.945736299] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050429.946641125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050429.947472821] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050429.949146399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050429.950473076] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050430.003351011] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906056 Long: -76.50317019 -[vectornav-1] [INFO] [1746050430.004856569] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (133.288, -3.115, 4.402) -[mux-7] [INFO] [1746050430.045063074] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050430.046070491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050430.046542956] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050430.047997563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050430.049120494] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050430.085527419] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050430.087976177] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050430.088307382] [sailbot.teensy]: Wind angle: 205 -[mux-7] [INFO] [1746050430.089118121] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050430.089280908] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050430.090211470] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050430.091089350] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050430.145080594] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050430.145679481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050430.146374069] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050430.147564648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050430.148240087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050430.245120204] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050430.245768364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050430.247056076] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050430.247596686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050430.248177280] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050430.335493030] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050430.337381669] [sailbot.teensy]: Wind angle: 202 -[trim_sail-4] [INFO] [1746050430.337967540] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050430.338347383] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050430.339271641] [sailbot.teensy]: Actual tail angle: 12 -[mux-7] [INFO] [1746050430.339951886] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050430.340116243] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050430.344322720] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050430.345068708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050430.345412635] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050430.346706325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050430.347669656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050430.445542549] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050430.446514877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050430.447285327] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050430.447948929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050430.448575140] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050430.503046082] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906052 Long: -76.50316983 -[vectornav-1] [INFO] [1746050430.504259314] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (132.01800000000003, 0.262, 3.362) -[mux-7] [INFO] [1746050430.545087095] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050430.545817068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050430.546651619] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050430.547774047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050430.548818989] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050430.585483131] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050430.587370194] [sailbot.teensy]: Wind angle: 202 -[teensy-2] [INFO] [1746050430.588749576] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050430.589603012] [sailbot.teensy]: Actual tail angle: 12 -[trim_sail-4] [INFO] [1746050430.588813192] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050430.589740004] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050430.590522629] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050430.645743775] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050430.646703417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050430.647467440] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050430.649142045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050430.650413937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050430.745370410] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050430.746215561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050430.746941921] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050430.748315459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050430.748798860] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050430.835354250] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050430.837290838] [sailbot.teensy]: Wind angle: 202 -[trim_sail-4] [INFO] [1746050430.838027925] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050430.838270701] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050430.839168046] [sailbot.teensy]: Actual tail angle: 12 -[mux-7] [INFO] [1746050430.839512395] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050430.840348971] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050430.844470775] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050430.844928332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050430.846003149] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050430.846687674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050430.847846192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050430.945137016] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050430.945708241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050430.946465200] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050430.947741206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050430.948803532] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050431.002330490] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906039 Long: -76.50316986 -[vectornav-1] [INFO] [1746050431.003323108] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (132.017, 0.449, 4.185) -[mux-7] [INFO] [1746050431.045396700] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050431.046270858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050431.047073519] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050431.048622536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050431.049771734] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050431.085439313] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050431.087901022] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050431.089086094] [sailbot.teensy]: Wind angle: 202 -[mux-7] [INFO] [1746050431.089450427] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050431.090011127] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050431.090899196] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050431.091701613] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050431.144759337] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050431.145358117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050431.146036566] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050431.148250300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050431.149298709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050431.245312763] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050431.245919076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050431.246864649] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050431.247871926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050431.249265119] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050431.335462218] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050431.337571073] [sailbot.teensy]: Wind angle: 202 -[trim_sail-4] [INFO] [1746050431.338508627] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050431.339559114] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050431.339566036] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050431.340570529] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050431.340956732] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050431.344559209] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050431.345029119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050431.346059464] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050431.346747252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050431.347851473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050431.445183993] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050431.445879531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050431.447028520] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050431.448074927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050431.448731135] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050431.503425991] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905989 Long: -76.5031697 -[vectornav-1] [INFO] [1746050431.505047751] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (130.872, -1.66, 2.588) -[mux-7] [INFO] [1746050431.545304529] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050431.546115320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050431.546859912] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050431.548456107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050431.549661316] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050431.585225261] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050431.586927249] [sailbot.teensy]: Wind angle: 202 -[trim_sail-4] [INFO] [1746050431.587713645] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050431.587759803] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050431.587912448] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050431.588618833] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050431.589499120] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050431.645287326] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050431.646249881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050431.646996307] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050431.648059805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050431.648568003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050431.745278317] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050431.746337703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050431.746889130] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050431.749316679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050431.750439667] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050431.835760311] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050431.838976445] [sailbot.teensy]: Wind angle: 202 -[trim_sail-4] [INFO] [1746050431.839063234] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050431.839299350] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050431.841212479] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050431.841601524] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050431.841971785] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050431.844419805] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050431.844922709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050431.845692786] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050431.846716153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050431.848381523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050431.945396689] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050431.946168696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050431.947102494] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050431.948187935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050431.948698150] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050432.003369785] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905941 Long: -76.50316986 -[vectornav-1] [INFO] [1746050432.004969108] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (130.623, 1.675, 4.675) -[mux-7] [INFO] [1746050432.045215167] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050432.045953435] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050432.047923786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[mux-7] [INFO] [1746050432.047989091] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050432.049012205] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050432.085387141] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050432.087926972] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050432.088177077] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050432.088637708] [sailbot.teensy]: Wind angle: 202 -[teensy-2] [INFO] [1746050432.089613245] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050432.090452924] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050432.091279666] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050432.145165555] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050432.145903292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050432.146724602] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050432.148101243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050432.149289877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050432.245245531] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050432.245997809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050432.246850610] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050432.248384858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050432.248898758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050432.298078555] [sailbot.mux]: controller_app rudder angle: -12 -[teensy-2] [INFO] [1746050432.335465651] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050432.338135858] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050432.338331322] [sailbot.teensy]: Wind angle: 202 -[teensy-2] [INFO] [1746050432.339311453] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050432.339901164] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050432.340217412] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050432.341122665] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050432.344335118] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050432.344790781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050432.345422076] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050432.346481673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050432.347545541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050432.445572495] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050432.446462295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050432.447702318] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050432.449509309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050432.450650628] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050432.503228479] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690591 Long: -76.50316934 -[vectornav-1] [INFO] [1746050432.504961978] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (128.308, -2.729, 4.343) -[mux-7] [INFO] [1746050432.545333503] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050432.546204346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050432.547048751] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050432.548743859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050432.549970709] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050432.585900035] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050432.588483006] [sailbot.teensy]: Wind angle: 202 -[trim_sail-4] [INFO] [1746050432.588541271] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050432.589717603] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050432.590732120] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050432.591763858] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050432.592905894] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050432.645277778] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050432.646159197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050432.646834596] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050432.648259350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050432.649250048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050432.745598199] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050432.746539010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050432.747698139] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050432.748073175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050432.748853108] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050432.835333525] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050432.837462751] [sailbot.teensy]: Wind angle: 202 -[trim_sail-4] [INFO] [1746050432.837877537] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050432.838500578] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050432.839411116] [sailbot.teensy]: Actual tail angle: 13 -[mux-7] [INFO] [1746050432.839296671] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050432.840319162] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050432.844322976] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050432.844795920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050432.845581449] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050432.846455487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050432.847512222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050432.945590820] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050432.946351447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050432.947265862] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050432.948906135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050432.949628802] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050433.002388469] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905878 Long: -76.50316945 -[vectornav-1] [INFO] [1746050433.003372879] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (126.94799999999998, 2.331, 2.795) -[mux-7] [INFO] [1746050433.045372616] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050433.046978759] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050433.046604942] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050433.048010274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050433.048643956] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050433.085619275] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050433.088389314] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050433.088839513] [sailbot.teensy]: Wind angle: 201 -[teensy-2] [INFO] [1746050433.089823335] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050433.089893412] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050433.090778475] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050433.091657946] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050433.145280781] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050433.145881503] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050433.148112555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[mux-7] [INFO] [1746050433.148283622] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050433.149323877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050433.245605682] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050433.246573655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050433.247408463] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050433.248829840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050433.249623812] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050433.335249703] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050433.338153022] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050433.338166886] [sailbot.teensy]: Wind angle: 201 -[teensy-2] [INFO] [1746050433.339130459] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050433.339267447] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050433.340024183] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050433.340930156] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050433.344290549] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050433.345005431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050433.345367449] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050433.346761356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050433.347810298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050433.445471544] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050433.446451510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050433.447113901] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050433.447966352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050433.448439882] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050433.503608797] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905827 Long: -76.50316908 -[vectornav-1] [INFO] [1746050433.505245593] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (123.95499999999998, -1.177, 5.098) -[mux-7] [INFO] [1746050433.544621115] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050433.545286807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050433.546266166] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050433.550015775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050433.551118197] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050433.584379201] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050433.585427926] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050433.585757004] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050433.585850498] [sailbot.teensy]: Wind angle: 200 -[teensy-2] [INFO] [1746050433.586253233] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050433.586649806] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050433.587034337] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050433.644966820] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050433.645684955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050433.646315486] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050433.647732833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050433.648268100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050433.744887050] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050433.745514127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050433.746500149] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050433.747347684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050433.748057074] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050433.835454291] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050433.838219060] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050433.838504326] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050433.838927653] [sailbot.teensy]: Wind angle: 197 -[teensy-2] [INFO] [1746050433.839862062] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050433.840761919] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050433.841695547] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050433.844349067] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050433.844888517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050433.845427148] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050433.846556633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050433.847560073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050433.945559671] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050433.946818074] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050433.947325535] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050433.948010437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050433.948731998] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050434.002369330] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905775 Long: -76.50316854 -[vectornav-1] [INFO] [1746050434.003396774] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (120.59800000000001, -1.12, 3.431) -[mux-7] [INFO] [1746050434.045137545] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050434.046081701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050434.046629623] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050434.048335534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050434.049449574] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050434.085426109] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050434.087768482] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746050434.088764420] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050434.088467744] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050434.089352458] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050434.089648277] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050434.090520795] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050434.144982843] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050434.145786685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050434.146323186] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050434.147794434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050434.148935383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050434.244963575] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050434.245797631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050434.246351188] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050434.247861238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050434.248560915] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050434.335215845] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050434.337970915] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050434.338467788] [sailbot.teensy]: Wind angle: 193 -[mux-7] [INFO] [1746050434.338880653] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050434.338982760] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050434.339370460] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050434.339743753] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050434.344343814] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050434.344898880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050434.346862522] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050434.347031262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050434.348265268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050434.444960049] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050434.445715231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050434.446275276] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050434.448057093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050434.449647533] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050434.503199768] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690573 Long: -76.50316883 -[vectornav-1] [INFO] [1746050434.504530802] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (116.58299999999997, 0.744, 4.575) -[mux-7] [INFO] [1746050434.545025719] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050434.545835741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050434.546518946] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050434.547949563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050434.549082729] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050434.585256575] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050434.587103057] [sailbot.teensy]: Wind angle: 190 -[trim_sail-4] [INFO] [1746050434.587574551] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050434.588064735] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050434.588988321] [sailbot.teensy]: Actual tail angle: 13 -[mux-7] [INFO] [1746050434.589018372] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050434.590286786] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050434.645073687] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050434.645669257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050434.646463286] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050434.647769671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050434.648806600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050434.745667028] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050434.746636758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050434.747594327] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050434.749188444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050434.750478339] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050434.835540240] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050434.837732101] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746050434.838797269] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050434.838505663] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050434.839685517] [sailbot.teensy]: Actual tail angle: 13 -[mux-7] [INFO] [1746050434.839692644] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050434.840620558] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050434.844352942] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050434.845013934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050434.845501481] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050434.847064320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050434.848217063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050434.945604395] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050434.946556228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050434.947823454] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050434.948740012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050434.949226868] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050435.003612574] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905697 Long: -76.50316802 -[vectornav-1] [INFO] [1746050435.005263443] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (109.031, 1.846, 5.739) -[mux-7] [INFO] [1746050435.044774076] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050435.045260961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050435.045982096] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050435.047035401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050435.048186816] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050435.085404150] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050435.087401264] [sailbot.teensy]: Wind angle: 179 -[trim_sail-4] [INFO] [1746050435.087874087] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050435.088380165] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050435.089285843] [sailbot.teensy]: Actual tail angle: 13 -[mux-7] [INFO] [1746050435.089306602] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050435.090537856] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050435.145033558] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050435.145818720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050435.146610697] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050435.147862491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050435.148768754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050435.245764114] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050435.246471382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050435.247549617] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050435.248862036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050435.249375321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050435.301859993] [sailbot.mux]: controller_app rudder angle: -15 -[teensy-2] [INFO] [1746050435.335554258] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050435.338080047] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050435.338727056] [sailbot.teensy]: Wind angle: 177 -[mux-7] [INFO] [1746050435.339281278] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050435.339730776] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050435.340651259] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050435.341549351] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050435.344367271] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050435.344782032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050435.345816167] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050435.346414526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050435.347460502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050435.445237250] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050435.446025613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050435.446712893] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050435.448437416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050435.449492901] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050435.503943667] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905589 Long: -76.50316799 -[vectornav-1] [INFO] [1746050435.505515328] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (102.87599999999998, -3.288, 3.728) -[mux-7] [INFO] [1746050435.544720849] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050435.545394529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050435.545873409] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050435.547138239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050435.548293575] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050435.585491275] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050435.587354405] [sailbot.teensy]: Wind angle: 168 -[trim_sail-4] [INFO] [1746050435.587852293] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050435.589054978] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050435.589078497] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050435.590133088] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050435.591014791] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050435.645302575] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050435.646073028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050435.646875509] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050435.647914750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050435.648509752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050435.745444695] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050435.746380783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050435.748630915] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050435.748699600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050435.749253518] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050435.835688274] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050435.838424682] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050435.838606388] [sailbot.teensy]: Wind angle: 158 -[teensy-2] [INFO] [1746050435.839626978] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050435.840811474] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050435.841148719] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050435.841820792] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050435.844236763] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050435.844754119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050435.845366130] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050435.846397826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050435.847444947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050435.945531346] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050435.946407994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050435.947503150] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050435.948131154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050435.948702501] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050436.002968311] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905575 Long: -76.50316807 -[vectornav-1] [INFO] [1746050436.004748644] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (93.995, 2.024, 6.19) -[mux-7] [INFO] [1746050436.044906390] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050436.045408410] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050436.047474693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050436.048526370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050436.048614004] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050436.085223742] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050436.087410176] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050436.088123642] [sailbot.teensy]: Wind angle: 156 -[mux-7] [INFO] [1746050436.088129410] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050436.089101501] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050436.090007048] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050436.090883295] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050436.144926437] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050436.145731295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050436.146153945] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050436.147721067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050436.148704993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050436.245009604] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050436.245668812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050436.246384708] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050436.247708115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050436.248659420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050436.300671230] [sailbot.mux]: controller_app rudder angle: -7 -[teensy-2] [INFO] [1746050436.335450891] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050436.337742926] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050436.338285361] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050436.338782282] [sailbot.teensy]: Wind angle: 156 -[teensy-2] [INFO] [1746050436.339736214] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050436.340586777] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050436.340948956] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050436.344456504] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050436.345046467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050436.345583875] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050436.346759042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050436.347799386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050436.445464061] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050436.446321779] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050436.448457546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[mux-7] [INFO] [1746050436.447032497] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050436.448900716] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050436.503721496] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905485 Long: -76.50316733 -[vectornav-1] [INFO] [1746050436.505541113] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (85.35399999999998, 0.23, 6.506) -[mux-7] [INFO] [1746050436.544968319] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050436.545661966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050436.546275289] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050436.547506685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050436.548666607] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050436.585252885] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050436.587386101] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050436.587996312] [sailbot.teensy]: Wind angle: 156 -[mux-7] [INFO] [1746050436.588105920] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050436.589021500] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050436.589947797] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050436.590800671] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050436.645219866] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050436.646114635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050436.646864564] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050436.648111882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050436.648639459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050436.745467463] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050436.746364927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050436.747051686] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050436.748878531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050436.750442393] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050436.835770994] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050436.838412472] [sailbot.teensy]: Wind angle: 150 -[trim_sail-4] [INFO] [1746050436.838838301] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050436.839394618] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050436.839577129] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050436.839858837] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050436.840236288] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050436.844700223] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050436.845370142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050436.845862272] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050436.847065101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050436.848093668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050436.945035157] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050436.945778458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050436.946387685] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050436.947772198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050436.948853098] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050437.002789294] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905396 Long: -76.50316754 -[vectornav-1] [INFO] [1746050437.003805694] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (74.856, -2.73, 7.102) -[mux-7] [INFO] [1746050437.045272896] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050437.046465387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050437.046857187] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050437.049030396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050437.050067507] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050437.085449446] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050437.087266102] [sailbot.teensy]: Wind angle: 143 -[trim_sail-4] [INFO] [1746050437.087947448] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050437.088201724] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050437.088552209] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050437.089114639] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050437.089963917] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050437.145182384] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050437.146021306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050437.146635341] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050437.148084933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050437.149053650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050437.245299608] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050437.246123609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050437.246747154] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050437.248465547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050437.249625652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050437.325719478] [sailbot.mux]: controller_app rudder angle: 10 -[teensy-2] [INFO] [1746050437.335407469] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050437.337579940] [sailbot.teensy]: Wind angle: 142 -[trim_sail-4] [INFO] [1746050437.337714976] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050437.338550895] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050437.339435446] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746050437.339436223] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050437.340364028] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050437.344377794] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050437.345072683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050437.345765505] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050437.346979203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050437.348117666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050437.445183108] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050437.446234278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050437.446997835] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050437.448509490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050437.449802579] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050437.504217969] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905349 Long: -76.50316732 -[vectornav-1] [INFO] [1746050437.505922133] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (65.23500000000001, 2.443, 8.458) -[mux-7] [INFO] [1746050437.545063595] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050437.545843410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050437.546542550] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050437.547756362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050437.549112833] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050437.585363590] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050437.587728926] [sailbot.teensy]: Wind angle: 140 -[trim_sail-4] [INFO] [1746050437.588752826] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050437.588775942] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050437.588969470] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050437.589886916] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050437.590777387] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050437.645313734] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050437.645948616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050437.646885345] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050437.648380030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050437.648922702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050437.745292459] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050437.745970102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050437.746841441] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050437.748040783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050437.749215024] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050437.835459917] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050437.837743114] [sailbot.teensy]: Wind angle: 137 -[trim_sail-4] [INFO] [1746050437.838032200] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050437.838477515] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050437.838685848] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050437.839605047] [sailbot.teensy]: Actual tail angle: 35 -[teensy-2] [INFO] [1746050437.840512455] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050437.844546164] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050437.845211933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050437.845695515] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050437.847785287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050437.848852745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050437.945492022] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050437.946473480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050437.947034903] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050437.948759975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050437.950011415] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050438.002504621] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905274 Long: -76.5031664 -[vectornav-1] [INFO] [1746050438.003549980] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.04899999999998, -4.608, 15.564) -[mux-7] [INFO] [1746050438.044760033] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050438.045397956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050438.045911070] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050438.047315173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050438.048446600] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050438.085440665] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050438.087354964] [sailbot.teensy]: Wind angle: 133 -[trim_sail-4] [INFO] [1746050438.088014803] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050438.088318462] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050438.088834063] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050438.089212519] [sailbot.teensy]: Actual tail angle: 35 -[teensy-2] [INFO] [1746050438.090123806] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050438.145214212] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050438.145862347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050438.146997668] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050438.147846780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050438.148351615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050438.245445718] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050438.246131855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050438.247026200] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050438.248534102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050438.249083096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050438.297839264] [sailbot.mux]: controller_app rudder angle: 13 -[teensy-2] [INFO] [1746050438.335501564] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050438.337308744] [sailbot.teensy]: Wind angle: 125 -[trim_sail-4] [INFO] [1746050438.337907743] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050438.338249298] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050438.339150856] [sailbot.teensy]: Actual tail angle: 35 -[mux-7] [INFO] [1746050438.339532107] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050438.340010364] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050438.344452319] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050438.344963153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050438.345922770] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050438.346766110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050438.347876915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050438.445596736] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050438.446376402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050438.447296238] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050438.448035255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050438.448498576] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050438.503960794] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905221 Long: -76.50316463 -[vectornav-1] [INFO] [1746050438.505500703] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.297000000000025, 0.972, 21.498) -[mux-7] [INFO] [1746050438.545473931] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050438.546414013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050438.547158834] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050438.549089058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050438.550146754] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050438.585443965] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050438.587845568] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050438.587957401] [sailbot.teensy]: Wind angle: 125 -[teensy-2] [INFO] [1746050438.588927857] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050438.589591034] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050438.589832059] [sailbot.teensy]: Actual tail angle: 35 -[teensy-2] [INFO] [1746050438.590716862] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050438.645316232] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050438.646055138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050438.646892953] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050438.648120886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050438.649236733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050438.745536637] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050438.746187171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050438.747502337] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050438.748661249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050438.749722317] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050438.835662498] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050438.837987520] [sailbot.teensy]: Wind angle: 124 -[trim_sail-4] [INFO] [1746050438.838531752] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050438.839031824] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050438.839948304] [sailbot.teensy]: Actual tail angle: 38 -[mux-7] [INFO] [1746050438.839756969] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050438.841127570] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050438.844471134] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050438.845233530] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050438.845573651] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050438.847036454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050438.848237096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050438.945703231] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050438.946463189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050438.947387568] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050438.948905975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050438.950338046] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050439.003270643] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905288 Long: -76.5031637 -[vectornav-1] [INFO] [1746050439.004718452] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.65100000000001, -2.541, 15.759) -[mux-7] [INFO] [1746050439.045266934] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050439.045996853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050439.046837653] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050439.048552945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050439.049692167] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050439.085674569] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050439.088006959] [sailbot.teensy]: Wind angle: 119 -[trim_sail-4] [INFO] [1746050439.088787454] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050439.089119811] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050439.090048668] [sailbot.teensy]: Actual tail angle: 38 -[mux-7] [INFO] [1746050439.090496587] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050439.090913657] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050439.145157227] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050439.145876878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050439.146655463] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050439.147976740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050439.148649507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050439.245257015] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050439.246231834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050439.246739210] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050439.248349453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050439.248858550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050439.312039264] [sailbot.mux]: controller_app rudder angle: -8 -[teensy-2] [INFO] [1746050439.335374963] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050439.337739346] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050439.338126041] [sailbot.teensy]: Wind angle: 117 -[mux-7] [INFO] [1746050439.338962503] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050439.339115260] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050439.340048270] [sailbot.teensy]: Actual tail angle: 38 -[teensy-2] [INFO] [1746050439.340994192] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050439.344285643] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050439.344764484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050439.345356347] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050439.346358459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050439.347497521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050439.445635849] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050439.446465795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050439.447649206] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050439.449081182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050439.450384283] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050439.502512037] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905327 Long: -76.50316166 -[vectornav-1] [INFO] [1746050439.503576798] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.27600000000001, -0.425, 14.661) -[mux-7] [INFO] [1746050439.544759542] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050439.545422736] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050439.545902033] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050439.547163657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050439.548199030] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050439.585504694] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050439.587516542] [sailbot.teensy]: Wind angle: 116 -[teensy-2] [INFO] [1746050439.588531663] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050439.588038626] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050439.589189465] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050439.589432021] [sailbot.teensy]: Actual tail angle: 38 -[teensy-2] [INFO] [1746050439.590447268] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050439.645356804] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050439.645870429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050439.647024739] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050439.648329850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050439.650371713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050439.745590747] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050439.746156664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050439.747391071] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050439.748414541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050439.749750319] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050439.835642055] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050439.837927570] [sailbot.teensy]: Wind angle: 114 -[trim_sail-4] [INFO] [1746050439.838240543] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050439.838911746] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050439.839564971] [sailbot.teensy]: Actual tail angle: 17 -[mux-7] [INFO] [1746050439.839664082] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050439.839938355] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050439.844553246] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050439.845188097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050439.845724624] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050439.847012092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050439.848116224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050439.945232293] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050439.946135731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050439.946714826] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050439.948271257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050439.949469741] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050440.003002945] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905414 Long: -76.5031592 -[vectornav-1] [INFO] [1746050440.004424554] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.92700000000002, -1.13, 12.321) -[mux-7] [INFO] [1746050440.045107939] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050440.045901357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050440.046567039] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050440.048021364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050440.049058657] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050440.085456449] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050440.087670441] [sailbot.teensy]: Wind angle: 110 -[trim_sail-4] [INFO] [1746050440.088346676] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050440.089057768] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050440.090024890] [sailbot.teensy]: Actual tail angle: 17 -[mux-7] [INFO] [1746050440.090170058] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050440.090891439] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050440.144996003] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050440.146320801] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050440.147652585] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050440.149327561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050440.150324251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050440.245369108] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050440.246566261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050440.247077721] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050440.248749193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050440.249274561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050440.287418959] [sailbot.mux]: controller_app rudder angle: -10 -[teensy-2] [INFO] [1746050440.335470821] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050440.337806046] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050440.337826990] [sailbot.teensy]: Wind angle: 110 -[teensy-2] [INFO] [1746050440.339012981] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050440.339251565] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050440.339941195] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050440.340827593] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050440.344431808] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050440.345009695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050440.345540511] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050440.346680858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050440.347693265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050440.445383184] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050440.446065188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050440.447012960] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050440.448613567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050440.449906896] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050440.502414608] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905409 Long: -76.50315592 -[vectornav-1] [INFO] [1746050440.503480622] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.33299999999997, 0.32, 15.253) -[mux-7] [INFO] [1746050440.545514324] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050440.546022512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050440.547283051] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050440.548130956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050440.549251296] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050440.585615338] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050440.587836888] [sailbot.teensy]: Wind angle: 112 -[teensy-2] [INFO] [1746050440.588855973] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050440.588876296] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050440.589815164] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050440.590696252] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050440.590957716] [sailbot.mux]: algo sail angle: 15 -[mux-7] [INFO] [1746050440.645222907] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050440.645900205] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050440.647994483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[mux-7] [INFO] [1746050440.648228703] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050440.649202819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050440.745483779] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050440.746307544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050440.747289333] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050440.748787307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050440.749296363] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050440.835347783] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050440.837924880] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050440.838355912] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050440.838839703] [sailbot.teensy]: Wind angle: 119 -[teensy-2] [INFO] [1746050440.839743923] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050440.840637127] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050440.841486616] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050440.844412371] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050440.845169274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050440.845605199] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050440.846964442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050440.848082388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050440.945563400] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050440.946654113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050440.947166431] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050440.949041215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050440.950192588] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050441.003225645] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905463 Long: -76.50315333 -[vectornav-1] [INFO] [1746050441.004656184] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.69100000000003, -1.345, 16.925) -[mux-7] [INFO] [1746050441.045356103] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050441.045888060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050441.046725560] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050441.047980149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050441.049294581] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050441.085433067] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050441.087292277] [sailbot.teensy]: Wind angle: 120 -[trim_sail-4] [INFO] [1746050441.087972698] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050441.089172757] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050441.089921239] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050441.091206700] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050441.092083971] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050441.145307201] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050441.145832832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050441.146926186] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050441.147936924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050441.149072692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050441.245447190] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050441.246254856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050441.247076728] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050441.248573640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050441.249074557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050441.299553013] [sailbot.mux]: controller_app rudder angle: -13 -[teensy-2] [INFO] [1746050441.335479162] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050441.337957197] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050441.338357674] [sailbot.teensy]: Wind angle: 115 -[mux-7] [INFO] [1746050441.339091545] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050441.339591506] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050441.340286402] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050441.340667753] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050441.344280960] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050441.344898927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050441.345403285] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050441.346707432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050441.347755294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050441.445451919] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050441.446236338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050441.447062456] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050441.448518459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050441.449405575] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050441.503971661] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905618 Long: -76.50315082 -[vectornav-1] [INFO] [1746050441.505846391] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.603999999999985, 0.032, 14.192) -[mux-7] [INFO] [1746050441.544999820] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050441.545957884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050441.546408369] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050441.548067601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050441.549210598] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050441.585231235] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050441.587521239] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050441.588100256] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050441.588271564] [sailbot.teensy]: Wind angle: 116 -[teensy-2] [INFO] [1746050441.589264204] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050441.590188314] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050441.591041830] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050441.645470893] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050441.646466766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050441.647196566] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050441.648800471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050441.649953056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050441.745123939] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050441.745993883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050441.746494291] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050441.748167623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050441.748821936] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050441.835632595] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050441.838197227] [sailbot.teensy]: Wind angle: 124 -[trim_sail-4] [INFO] [1746050441.838397952] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050441.838750636] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050441.839197441] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050441.840117761] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050441.840958980] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050441.844412704] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050441.844884505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050441.845486583] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050441.846603592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050441.847875515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050441.945530486] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050441.946244792] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050441.947151554] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050441.948852822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050441.950141784] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050442.003252903] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905767 Long: -76.5031485 -[vectornav-1] [INFO] [1746050442.004912189] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.317999999999984, 1.949, 13.968) -[mux-7] [INFO] [1746050442.045355880] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050442.046137149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050442.047105296] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050442.048119821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050442.048627204] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050442.085907647] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050442.088901713] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050442.089735195] [sailbot.teensy]: Wind angle: 132 -[mux-7] [INFO] [1746050442.089820862] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050442.091168592] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050442.092095340] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050442.092980493] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050442.145518921] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050442.146265201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050442.147086425] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050442.148604939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050442.149744605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050442.245328474] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050442.246052072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050442.246832355] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050442.247982615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050442.248536837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050442.288503813] [sailbot.mux]: controller_app rudder angle: -3 -[teensy-2] [INFO] [1746050442.335508321] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050442.337327053] [sailbot.teensy]: Wind angle: 141 -[trim_sail-4] [INFO] [1746050442.337850784] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050442.338277981] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050442.339216859] [sailbot.teensy]: Actual tail angle: 12 -[mux-7] [INFO] [1746050442.339985026] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050442.340431415] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050442.344262323] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050442.344857418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050442.345379796] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050442.346578454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050442.347677970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050442.445536922] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050442.446427592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050442.447169228] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050442.448997446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050442.450243406] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050442.503111927] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905884 Long: -76.50314688 -[vectornav-1] [INFO] [1746050442.504337866] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (70.16199999999998, -3.915, 12.473) -[mux-7] [INFO] [1746050442.544505552] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050442.545047937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050442.545595846] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050442.546693981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050442.547628338] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050442.585274686] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050442.587696679] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050442.588064970] [sailbot.teensy]: Wind angle: 146 -[mux-7] [INFO] [1746050442.588245166] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050442.589139820] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050442.590074277] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050442.590932263] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050442.645033663] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050442.645581470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050442.646508449] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050442.647513153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050442.648584627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050442.745461477] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050442.746047163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050442.747366241] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050442.748188554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050442.749906958] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050442.835799436] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050442.838793717] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050442.839332663] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050442.839472475] [sailbot.teensy]: Wind angle: 154 -[teensy-2] [INFO] [1746050442.839879924] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050442.840272982] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050442.840654898] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050442.844547075] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050442.845073303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050442.845689928] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050442.846758324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050442.847831031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050442.945158114] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050442.945809366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050442.946564882] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050442.947701493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050442.948901162] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050443.003212570] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906109 Long: -76.5031469 -[vectornav-1] [INFO] [1746050443.004554703] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (89.50999999999999, 1.052, 8.665) -[mux-7] [INFO] [1746050443.045097075] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050443.045824584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050443.046501095] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050443.047874849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050443.048893676] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050443.085477479] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050443.087969477] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050443.088169987] [sailbot.teensy]: Wind angle: 171 -[mux-7] [INFO] [1746050443.088939826] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050443.089100956] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050443.089989469] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050443.090848219] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050443.145058782] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050443.145654295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050443.146572549] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050443.147607450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050443.148715084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050443.245020557] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050443.245735832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050443.246355821] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050443.247687613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050443.248825086] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050443.335366481] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050443.337766673] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050443.337878540] [sailbot.teensy]: Wind angle: 177 -[mux-7] [INFO] [1746050443.338312100] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050443.338802620] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050443.339256356] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050443.339635441] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050443.344633307] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050443.345336223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050443.345897783] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050443.347117711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050443.348266401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050443.445646597] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050443.446373126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050443.447889537] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050443.448740447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050443.449401428] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050443.502672499] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906278 Long: -76.50314797 -[vectornav-1] [INFO] [1746050443.503827670] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (106.86200000000002, 2.587, 5.284) -[mux-7] [INFO] [1746050443.544962012] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050443.545596134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050443.546293405] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050443.547522785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050443.548711048] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050443.585492093] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050443.587705414] [sailbot.teensy]: Wind angle: 184 -[trim_sail-4] [INFO] [1746050443.587813979] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050443.588757659] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050443.589588069] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050443.589667908] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050443.590559101] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050443.645165613] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050443.645831384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050443.646635288] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050443.648125108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050443.649084782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050443.663004312] [sailbot.mux]: controller_app rudder angle: -1 -[mux-7] [INFO] [1746050443.745326368] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050443.746374752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050443.746836539] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050443.748675051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050443.749839239] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050443.835478920] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050443.837884346] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050443.838272356] [sailbot.teensy]: Wind angle: 196 -[mux-7] [INFO] [1746050443.838999040] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050443.839530140] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050443.840434956] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050443.840791622] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050443.844487826] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050443.844913521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050443.845656658] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050443.846689413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050443.847869561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050443.945549486] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050443.946203981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050443.947434599] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050443.948719442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050443.949914245] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050444.003199497] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906379 Long: -76.50314884 -[vectornav-1] [INFO] [1746050444.005268207] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (119.59300000000002, -4.282, 5.583) -[mux-7] [INFO] [1746050444.044883375] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050444.045349639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050444.046133515] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050444.047125604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050444.048292547] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050444.085392938] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050444.087763998] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050444.088070739] [sailbot.teensy]: Wind angle: 204 -[teensy-2] [INFO] [1746050444.089042496] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050444.089231386] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050444.089988072] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050444.090875704] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050444.144875756] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050444.145392812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050444.146091287] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050444.147183379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050444.148227364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050444.245217152] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050444.245898462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050444.246733299] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050444.247870718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050444.248999190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050444.300955836] [sailbot.mux]: controller_app rudder angle: 9 -[teensy-2] [INFO] [1746050444.335443995] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050444.337241207] [sailbot.teensy]: Wind angle: 212 -[trim_sail-4] [INFO] [1746050444.337783996] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050444.338193914] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050444.339143527] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050444.340063521] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050444.340307426] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050444.344470705] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050444.345050617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050444.345568218] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050444.346744855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050444.347757580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050444.445558120] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050444.446202111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050444.447301455] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050444.448748191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050444.449256499] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050444.503200682] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906492 Long: -76.50315052 -[vectornav-1] [INFO] [1746050444.504550462] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (130.04899999999998, 4.129, 5.102) -[mux-7] [INFO] [1746050444.544934111] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050444.545747014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050444.546421113] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050444.547843620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050444.548451605] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050444.585427717] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050444.587636140] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050444.588355200] [sailbot.teensy]: Wind angle: 221 -[mux-7] [INFO] [1746050444.589220945] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050444.589308657] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050444.590203788] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050444.591075493] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050444.645492705] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050444.646101652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050444.647227878] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050444.648423041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050444.649596231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050444.745678506] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050444.746414439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050444.747599048] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050444.748710498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050444.750048487] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050444.835402208] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050444.837673962] [sailbot.teensy]: Wind angle: 221 -[trim_sail-4] [INFO] [1746050444.838324339] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050444.838702409] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050444.839316895] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050444.839910389] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746050444.840861124] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050444.844328485] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050444.844735389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050444.845659245] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050444.846411432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050444.847441262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050444.945498478] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050444.946232501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050444.947449055] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050444.948080245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050444.948650500] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050445.003357529] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906548 Long: -76.50315209 -[vectornav-1] [INFO] [1746050445.005009648] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (137.17000000000002, -1.151, 3.987) -[mux-7] [INFO] [1746050445.045075999] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050445.045941359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050445.046522993] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050445.048190718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050445.049301862] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050445.085414948] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050445.088025318] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050445.088258800] [sailbot.teensy]: Wind angle: 221 -[mux-7] [INFO] [1746050445.089116677] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050445.089185354] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050445.090173022] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746050445.091044974] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050445.145098058] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050445.145609524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050445.146421388] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050445.147437090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050445.148578205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050445.245366725] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050445.246340136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050445.247437134] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050445.248568485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050445.249689028] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050445.335302840] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050445.337749943] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050445.338320235] [sailbot.teensy]: Wind angle: 221 -[mux-7] [INFO] [1746050445.338867691] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050445.338986379] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050445.339372395] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746050445.339775286] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050445.344265904] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050445.345037659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050445.345664163] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050445.346724206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050445.347944509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050445.445632696] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050445.446564634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050445.447562193] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050445.448411915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050445.448952600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050445.485690533] [sailbot.mux]: controller_app rudder angle: 1 -[vectornav-1] [INFO] [1746050445.502401915] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906594 Long: -76.5031533 -[vectornav-1] [INFO] [1746050445.503609321] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (139.51299999999998, 2.25, 3.403) -[mux-7] [INFO] [1746050445.544828255] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050445.545505026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050445.546000229] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050445.547291841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050445.548441105] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050445.585584665] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050445.587619265] [sailbot.teensy]: Wind angle: 224 -[teensy-2] [INFO] [1746050445.588712967] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050445.588771239] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050445.589647273] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746050445.590596151] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050445.591571625] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050445.645181957] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050445.646112901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050445.647285435] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050445.648607316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050445.649153465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050445.744922280] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050445.745665589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050445.746675963] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050445.747537908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050445.748654914] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050445.835441673] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050445.837987436] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050445.838013107] [sailbot.teensy]: Wind angle: 224 -[teensy-2] [INFO] [1746050445.838934076] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050445.839033939] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050445.839840066] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050445.840337524] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050445.844370216] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050445.844906863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050445.845492689] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050445.846706826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050445.847685125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050445.945182278] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050445.945834051] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050445.947787579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050445.948253434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050445.946620740] [sailbot.mux]: Published rudder angle from controller_app: 1 -[vectornav-1] [INFO] [1746050446.003136018] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906631 Long: -76.50315435 -[vectornav-1] [INFO] [1746050446.004849142] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (140.317, -1.344, 0.73) -[mux-7] [INFO] [1746050446.045289706] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050446.046162949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050446.046896980] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050446.048353891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050446.049460498] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050446.085399979] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050446.087099435] [sailbot.teensy]: Wind angle: 224 -[trim_sail-4] [INFO] [1746050446.087939503] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050446.088029145] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050446.088925341] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050446.088925734] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050446.089847797] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050446.145061461] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050446.145981837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050446.146472388] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050446.147945843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050446.148527193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050446.245352514] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050446.246310815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050446.246891423] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050446.248512059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050446.249635162] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050446.335421061] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050446.337418912] [sailbot.teensy]: Wind angle: 224 -[teensy-2] [INFO] [1746050446.338425823] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050446.338568292] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050446.339368839] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050446.339560422] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050446.340333769] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050446.344268784] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050446.345010031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050446.345838221] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050446.346873455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050446.348059317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050446.445633852] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050446.446267085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050446.447260833] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050446.448785345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050446.449434337] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050446.502384399] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906622 Long: -76.5031555 -[vectornav-1] [INFO] [1746050446.503503509] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (139.63600000000002, -0.533, 2.266) -[mux-7] [INFO] [1746050446.504669835] [sailbot.mux]: controller_app rudder angle: -10 -[mux-7] [INFO] [1746050446.545011526] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050446.546116687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050446.546616316] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050446.548091669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050446.548972729] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050446.585392852] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050446.587924142] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050446.588044776] [sailbot.teensy]: Wind angle: 222 -[teensy-2] [INFO] [1746050446.588989516] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050446.589082790] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050446.589890738] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050446.590731484] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050446.645125229] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050446.645867949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050446.646531889] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050446.647981897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050446.649084005] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050446.745638672] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050446.746800410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050446.747282119] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050446.749097485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050446.750360397] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050446.835639724] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050446.837784631] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746050446.838273250] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050446.838832145] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050446.839774051] [sailbot.teensy]: Actual tail angle: 15 -[mux-7] [INFO] [1746050446.839836619] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050446.840842456] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050446.844673128] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050446.845464861] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050446.845863339] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050446.847271148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050446.848511850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050446.945316875] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050446.946030987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050446.946925293] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050446.948319710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050446.949528110] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050447.003842883] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906668 Long: -76.50315596 -[vectornav-1] [INFO] [1746050447.005078119] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (139.18, 1.323, 3.112) -[mux-7] [INFO] [1746050447.044923467] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050447.045800304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050447.046272526] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050447.047637177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050447.048635103] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050447.085632728] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050447.088447320] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050447.088622774] [sailbot.teensy]: Wind angle: 222 -[mux-7] [INFO] [1746050447.089374012] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050447.089570274] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050447.090447614] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050447.091302795] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050447.145793457] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050447.146302565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050447.147538553] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050447.148562131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050447.149637226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050447.245371112] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050447.245983063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050447.247053125] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050447.248126624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050447.249378100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050447.276281718] [sailbot.mux]: controller_app rudder angle: -11 -[teensy-2] [INFO] [1746050447.335458745] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050447.338153464] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050447.338519396] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050447.338725101] [sailbot.teensy]: Wind angle: 223 -[teensy-2] [INFO] [1746050447.339681170] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050447.340594732] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050447.341432896] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050447.344501421] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050447.345477353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050447.346017914] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050447.347189262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050447.348215715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050447.445390919] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050447.445962626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050447.447017607] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050447.448088652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050447.448725443] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050447.502664227] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906681 Long: -76.50315656 -[vectornav-1] [INFO] [1746050447.503855519] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (138.322, -1.794, 3.942) -[mux-7] [INFO] [1746050447.545097765] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050447.545705242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050447.546491962] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050447.548033567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050447.549101610] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050447.585737950] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050447.588589161] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050447.589862227] [sailbot.teensy]: Wind angle: 222 -[mux-7] [INFO] [1746050447.590019560] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050447.590821646] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050447.591720719] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050447.592576544] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050447.645315628] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050447.645928823] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050447.647972805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[mux-7] [INFO] [1746050447.646958654] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050447.649651976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050447.745242652] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050447.746010319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050447.746901837] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050447.748042180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050447.749089111] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050447.835577053] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050447.837859806] [sailbot.teensy]: Wind angle: 222 -[trim_sail-4] [INFO] [1746050447.837948877] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050447.838507069] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050447.838814666] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050447.839718995] [sailbot.teensy]: Actual tail angle: 14 -[teensy-2] [INFO] [1746050447.840390189] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050447.844709684] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050447.845195228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050447.845971629] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050447.846916047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050447.847970591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050447.945460569] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050447.946123674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050447.947200874] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050447.948283016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050447.949386587] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050448.003670438] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906684 Long: -76.50315757 -[vectornav-1] [INFO] [1746050448.004983675] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (138.32100000000003, 0.855, 2.118) -[mux-7] [INFO] [1746050448.045578287] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050448.046166019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050448.047306165] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050448.048459610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050448.049678173] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050448.085998213] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050448.088538045] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746050448.089212291] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050448.089682801] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050448.089692501] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050448.090687098] [sailbot.teensy]: Actual tail angle: 14 -[teensy-2] [INFO] [1746050448.091643060] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050448.144688098] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050448.145717770] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050448.147706811] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050448.149351250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050448.150231217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050448.245196525] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050448.245839584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050448.246911200] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050448.247916743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050448.248987395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050448.310916014] [sailbot.mux]: controller_app rudder angle: -10 -[teensy-2] [INFO] [1746050448.335641891] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050448.338426592] [sailbot.teensy]: Wind angle: 219 -[trim_sail-4] [INFO] [1746050448.338690109] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050448.339438153] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050448.339776588] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050448.340415134] [sailbot.teensy]: Actual tail angle: 14 -[teensy-2] [INFO] [1746050448.341323740] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050448.344262292] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050448.344905526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050448.345376990] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050448.346710401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050448.347734736] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050448.445016697] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050448.445756510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050448.446297982] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050448.448060595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050448.448694867] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050448.503957878] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906694 Long: -76.50315813 -[vectornav-1] [INFO] [1746050448.505660464] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (137.832, -0.639, 3.616) -[mux-7] [INFO] [1746050448.545713086] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050448.546288717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050448.547686192] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050448.548777679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050448.550762355] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050448.585579932] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050448.587629593] [sailbot.teensy]: Wind angle: 219 -[trim_sail-4] [INFO] [1746050448.588907424] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050448.589318782] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050448.590999634] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050448.591964964] [sailbot.teensy]: Actual tail angle: 14 -[teensy-2] [INFO] [1746050448.592904969] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050448.645259839] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050448.645848045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050448.646895141] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050448.647899733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050448.648976167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050448.745192168] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050448.745882107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050448.746729976] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050448.748064258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050448.749272589] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050448.835220209] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050448.836971069] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746050448.837596549] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050448.838237866] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050448.838859252] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050448.839231359] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050448.839609080] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050448.844489651] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050448.844981016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050448.845716434] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050448.846652929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050448.847730040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050448.945302023] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050448.946083583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050448.947074339] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050448.947717029] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050448.948326407] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050449.003333946] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906695 Long: -76.50315875 -[vectornav-1] [INFO] [1746050449.005487282] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (136.442, -0.625, 3.943) -[mux-7] [INFO] [1746050449.045104412] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050449.045621580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050449.046459172] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050449.047523347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050449.048591555] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050449.085471675] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050449.087422807] [sailbot.teensy]: Wind angle: 221 -[trim_sail-4] [INFO] [1746050449.087906957] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050449.088433003] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050449.089308909] [sailbot.teensy]: Actual tail angle: 15 -[mux-7] [INFO] [1746050449.089445445] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050449.090233927] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050449.145240254] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050449.145867219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050449.146773269] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050449.148120672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050449.149254065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050449.245273825] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050449.245818453] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050449.246830736] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050449.247822940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050449.248725114] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050449.299143933] [sailbot.mux]: controller_app rudder angle: -13 -[teensy-2] [INFO] [1746050449.335648373] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050449.338318212] [sailbot.teensy]: Wind angle: 221 -[trim_sail-4] [INFO] [1746050449.338332249] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050449.339326223] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050449.339523673] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050449.340244681] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050449.341130971] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050449.344334282] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050449.344909735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050449.345415079] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050449.346672994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050449.347734724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050449.445640973] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050449.446726355] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050449.447239871] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050449.448253245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050449.448775844] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050449.503627389] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906691 Long: -76.50315913 -[vectornav-1] [INFO] [1746050449.505371318] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (134.84000000000003, 0.797, 4.395) -[mux-7] [INFO] [1746050449.545260404] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050449.546052288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050449.547504269] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050449.548225342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050449.549325812] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050449.585224817] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050449.587070267] [sailbot.teensy]: Wind angle: 221 -[trim_sail-4] [INFO] [1746050449.587467951] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050449.588014836] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050449.588957537] [sailbot.teensy]: Actual tail angle: 15 -[mux-7] [INFO] [1746050449.589470625] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050449.589838110] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050449.645529440] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050449.646235174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050449.647266216] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050449.648671564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050449.650116003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050449.745587075] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050449.746320683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050449.747244134] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050449.748880081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050449.750131163] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050449.835802558] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050449.838699500] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050449.839055466] [sailbot.teensy]: Wind angle: 217 -[mux-7] [INFO] [1746050449.839735072] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050449.840267485] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050449.841303884] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050449.842181719] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050449.844316205] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050449.844754882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050449.845494412] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050449.846436030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050449.847515936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050449.945618808] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050449.946640383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050449.947225949] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050449.949169077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050449.950436220] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050450.003259054] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690668 Long: -76.50315923 -[vectornav-1] [INFO] [1746050450.004529104] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (133.916, -0.772, 3.308) -[mux-7] [INFO] [1746050450.045385725] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050450.047681744] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050450.046824611] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050450.049338559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050450.050426296] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050450.085727923] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050450.088064147] [sailbot.teensy]: Wind angle: 207 -[teensy-2] [INFO] [1746050450.089117147] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050450.088505266] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050450.089342198] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050450.090031834] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050450.090948148] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050450.145300567] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050450.146312340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050450.146844684] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050450.148600538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050450.149763393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050450.245223489] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050450.246184905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050450.246789746] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050450.248378307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050450.248877174] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050450.335401132] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050450.337319765] [sailbot.teensy]: Wind angle: 203 -[teensy-2] [INFO] [1746050450.338313060] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050450.337962132] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050450.338850640] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050450.339197134] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050450.340101078] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050450.344415409] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050450.344975322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050450.345679319] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050450.346681708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050450.347833997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050450.445498329] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050450.446248461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050450.447182614] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050450.448622822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050450.449800329] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050450.502522305] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690665 Long: -76.50315968 -[vectornav-1] [INFO] [1746050450.503531425] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (131.22500000000002, -0.804, 4.407) -[mux-7] [INFO] [1746050450.545098122] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050450.546009941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050450.546492975] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050450.547872430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050450.549058410] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050450.585844116] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050450.588338115] [sailbot.teensy]: Wind angle: 203 -[trim_sail-4] [INFO] [1746050450.589140434] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050450.589477161] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050450.590465021] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050450.591357157] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050450.591422991] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050450.645387455] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050450.645997087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050450.647064756] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050450.648195245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050450.648727806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050450.745863191] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050450.746415306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050450.747681244] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050450.748776882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050450.750703911] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050450.835352746] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050450.837866729] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050450.838062797] [sailbot.teensy]: Wind angle: 203 -[mux-7] [INFO] [1746050450.838248731] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050450.839051232] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050450.839985952] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050450.840924757] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050450.844736596] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050450.845129446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050450.845958873] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050450.846812296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050450.847933796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050450.945427468] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050450.946106000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050450.947072585] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050450.948309157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050450.949500828] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050451.003335405] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690664 Long: -76.50315982 -[vectornav-1] [INFO] [1746050451.005467434] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (128.673, 0.139, 5.11) -[mux-7] [INFO] [1746050451.045385650] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050451.046215759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050451.047205950] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050451.048442231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050451.049627641] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050451.085900250] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050451.088259027] [sailbot.teensy]: Wind angle: 203 -[trim_sail-4] [INFO] [1746050451.089243147] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050451.089351386] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050451.090148924] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050451.090289518] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050451.091173388] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050451.145362605] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050451.146098203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050451.146909369] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050451.148512540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050451.149726051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050451.245625453] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050451.246454584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050451.247478556] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050451.247939755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050451.248499002] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050451.335608504] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050451.337542192] [sailbot.teensy]: Wind angle: 203 -[teensy-2] [INFO] [1746050451.338505683] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050451.338529773] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050451.339322962] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050451.339450148] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050451.340391036] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050451.344457858] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050451.345041663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050451.345633013] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050451.346902749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050451.348664893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050451.445456858] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050451.446534758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050451.447103158] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050451.449006944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050451.450166679] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050451.502504108] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906622 Long: -76.50315974 -[vectornav-1] [INFO] [1746050451.503559020] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (126.39699999999999, 0.897, 4.092) -[mux-7] [INFO] [1746050451.545087527] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050451.545848503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050451.546738389] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050451.547798197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050451.548332829] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050451.585556656] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050451.588243485] [sailbot.teensy]: Wind angle: 200 -[trim_sail-4] [INFO] [1746050451.588559529] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050451.589248632] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050451.589596909] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050451.590180215] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050451.591091584] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050451.645250324] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050451.646143271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050451.646844598] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050451.648387737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050451.649456557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050451.745648172] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050451.746565529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050451.747370887] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050451.748088971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050451.748514015] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050451.835225644] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050451.837429197] [sailbot.teensy]: Wind angle: 191 -[trim_sail-4] [INFO] [1746050451.837703133] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050451.838380336] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050451.838772652] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050451.839251297] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050451.840076637] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050451.844352513] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050451.845054687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050451.845524655] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050451.847207415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050451.848322403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050451.945604368] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050451.946800803] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050451.947296644] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050451.948039719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050451.948568742] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050452.003307222] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906568 Long: -76.50315962 -[vectornav-1] [INFO] [1746050452.005215955] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (122.017, -1.58, 5.412) -[mux-7] [INFO] [1746050452.045238452] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050452.046052504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050452.046690089] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050452.048366914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050452.049509227] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050452.085689726] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050452.088051115] [sailbot.teensy]: Wind angle: 190 -[trim_sail-4] [INFO] [1746050452.088797856] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050452.089555735] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050452.090199759] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050452.090533074] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050452.091433692] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050452.145036821] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050452.145838097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050452.146295196] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050452.147883364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050452.149879001] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050452.245402787] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050452.246247129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050452.246984432] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050452.248564128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050452.249759924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050452.298154109] [sailbot.mux]: controller_app rudder angle: -16 -[teensy-2] [INFO] [1746050452.335440211] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050452.338031618] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050452.338234091] [sailbot.teensy]: Wind angle: 186 -[mux-7] [INFO] [1746050452.338477170] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050452.339259932] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050452.340139162] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050452.341043322] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050452.344472520] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050452.344987382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050452.345631120] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050452.346686663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050452.347861317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050452.445108442] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050452.445961489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050452.446555910] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050452.448215826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050452.448831759] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050452.503559197] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906531 Long: -76.50315965 -[vectornav-1] [INFO] [1746050452.504971767] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (118.053, 0.82, 4.027) -[mux-7] [INFO] [1746050452.545033271] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050452.545624573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050452.546309887] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050452.547518951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050452.548642335] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050452.585218806] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050452.587168897] [sailbot.teensy]: Wind angle: 177 -[trim_sail-4] [INFO] [1746050452.587538622] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050452.588126599] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050452.589034100] [sailbot.teensy]: Actual tail angle: 12 -[mux-7] [INFO] [1746050452.589266587] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050452.589916684] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050452.644959208] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050452.645517609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050452.646387077] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050452.647501785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050452.648671567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050452.745032591] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050452.745793288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050452.746345812] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050452.747949040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050452.748680377] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050452.835584086] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050452.837894243] [sailbot.teensy]: Wind angle: 174 -[trim_sail-4] [INFO] [1746050452.838693534] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050452.839548340] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050452.840073089] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050452.841116493] [sailbot.teensy]: Actual tail angle: 9 -[teensy-2] [INFO] [1746050452.842029996] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050452.844269868] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050452.844761473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050452.845560646] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050452.846475505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050452.847612668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050452.945565992] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050452.946264747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050452.947244346] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050452.948663872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050452.949967957] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050453.002500181] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906486 Long: -76.5031593 -[vectornav-1] [INFO] [1746050453.003618998] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (112.62400000000002, -0.011, 6.668) -[mux-7] [INFO] [1746050453.045326952] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050453.046154569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050453.046907211] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050453.048674836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050453.049825660] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050453.085523899] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050453.088106760] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050453.088781964] [sailbot.teensy]: Wind angle: 174 -[mux-7] [INFO] [1746050453.089314292] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050453.089725411] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050453.090596720] [sailbot.teensy]: Actual tail angle: 9 -[teensy-2] [INFO] [1746050453.091441604] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050453.145202193] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050453.145918877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050453.146677439] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050453.148082480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050453.149265877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050453.245149352] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050453.245895995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050453.246589025] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050453.248375668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050453.248818189] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050453.335650665] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050453.338543308] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050453.338774487] [sailbot.teensy]: Wind angle: 171 -[mux-7] [INFO] [1746050453.338895356] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050453.339192994] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050453.339597433] [sailbot.teensy]: Actual tail angle: 9 -[teensy-2] [INFO] [1746050453.340423339] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050453.344439571] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050453.344906112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050453.345639053] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050453.346732438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050453.347921780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050453.445383486] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050453.446091436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050453.447110391] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050453.448202579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050453.448752355] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050453.503028969] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906436 Long: -76.50315876 -[vectornav-1] [INFO] [1746050453.504222886] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (107.32400000000001, -1.743, 5.182) -[mux-7] [INFO] [1746050453.545116489] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050453.545798853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050453.546401112] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050453.547693112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050453.549069857] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050453.585380028] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050453.587241085] [sailbot.teensy]: Wind angle: 169 -[teensy-2] [INFO] [1746050453.588178362] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050453.587727692] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050453.588583372] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050453.589163899] [sailbot.teensy]: Actual tail angle: 9 -[teensy-2] [INFO] [1746050453.590061850] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050453.644983079] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050453.645845323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050453.646642877] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050453.647784528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050453.648661499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050453.745058608] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050453.746374622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050453.746681051] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050453.748571222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050453.749656633] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050453.835369749] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050453.837744521] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050453.837857659] [sailbot.teensy]: Wind angle: 169 -[teensy-2] [INFO] [1746050453.838812627] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050453.839711214] [sailbot.teensy]: Actual tail angle: 9 -[mux-7] [INFO] [1746050453.839775736] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050453.840590811] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050453.844346784] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050453.844846598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050453.845566987] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050453.846618100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050453.847678260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050453.945308235] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050453.945981253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050453.946838584] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050453.948092201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050453.949244430] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050454.002490779] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906385 Long: -76.50315877 -[vectornav-1] [INFO] [1746050454.003985314] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (101.555, 1.541, 5.969) -[mux-7] [INFO] [1746050454.045101647] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050454.045687103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050454.046527317] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050454.047670555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050454.048700482] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050454.085425636] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050454.087552861] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746050454.088622907] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050454.088677359] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050454.089557431] [sailbot.teensy]: Actual tail angle: 9 -[mux-7] [INFO] [1746050454.090296341] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050454.090451513] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050454.144933065] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050454.145625934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050454.146276796] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050454.147540367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050454.148711439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050454.245186304] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050454.246011149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050454.246688417] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050454.248084508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050454.249140184] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050454.335527714] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050454.338034595] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050454.338730308] [sailbot.teensy]: Wind angle: 160 -[mux-7] [INFO] [1746050454.339369946] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050454.339764660] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050454.340740729] [sailbot.teensy]: Actual tail angle: 9 -[teensy-2] [INFO] [1746050454.341616690] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050454.344370508] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050454.345091073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050454.345537140] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050454.347201891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050454.348372543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050454.445608640] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050454.446729416] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050454.447714087] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050454.448501477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050454.449031586] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050454.503253373] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906315 Long: -76.5031584 -[vectornav-1] [INFO] [1746050454.504713029] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (95.87200000000001, -1.742, 4.506) -[mux-7] [INFO] [1746050454.545002904] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050454.545740565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050454.546322936] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050454.548010541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050454.549171325] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050454.585392672] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050454.587287786] [sailbot.teensy]: Wind angle: 157 -[teensy-2] [INFO] [1746050454.588309343] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050454.588330979] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050454.589229437] [sailbot.teensy]: Actual tail angle: 9 -[mux-7] [INFO] [1746050454.589249406] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050454.590706497] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050454.644867413] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050454.645463429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050454.646088617] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050454.647334157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050454.648498043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050454.745174463] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050454.746212444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050454.746657411] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050454.748379816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050454.749383614] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050454.835445326] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050454.837844743] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050454.838109247] [sailbot.teensy]: Wind angle: 153 -[teensy-2] [INFO] [1746050454.839033502] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050454.839116884] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050454.840034301] [sailbot.teensy]: Actual tail angle: 9 -[teensy-2] [INFO] [1746050454.840928049] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050454.844373505] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050454.845124729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050454.845472248] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050454.846948564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050454.847986656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050454.945282045] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050454.946082883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050454.946776314] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050454.948349683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050454.948869818] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050455.002466377] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690626 Long: -76.50315807 -[vectornav-1] [INFO] [1746050455.003555708] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (87.678, -0.207, 6.929) -[mux-7] [INFO] [1746050455.045433143] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050455.046393139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050455.047339583] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050455.048683645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050455.049764204] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050455.085288316] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050455.088305986] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050455.088352559] [sailbot.teensy]: Wind angle: 150 -[teensy-2] [INFO] [1746050455.089330311] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050455.089523405] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050455.090304662] [sailbot.teensy]: Actual tail angle: 9 -[teensy-2] [INFO] [1746050455.091197981] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050455.144998612] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050455.145521695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050455.146400253] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050455.147437506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050455.148491660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050455.245391351] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050455.246225068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050455.247528610] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050455.248673464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050455.250496646] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050455.335633224] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050455.338572640] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050455.339423405] [sailbot.teensy]: Wind angle: 144 -[mux-7] [INFO] [1746050455.339690660] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050455.340361573] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050455.340756690] [sailbot.teensy]: Actual tail angle: 9 -[teensy-2] [INFO] [1746050455.341093998] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050455.344367317] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050455.344884170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050455.345453358] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050455.346583032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050455.347654807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050455.445629043] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050455.446618368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050455.447715369] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050455.449587282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050455.450673521] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050455.503025700] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906216 Long: -76.50315746 -[vectornav-1] [INFO] [1746050455.504352883] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (78.49099999999999, 1.373, 9.358) -[mux-7] [INFO] [1746050455.545194348] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050455.546066177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050455.546677764] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050455.548592342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050455.549679001] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050455.585435897] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050455.587466450] [sailbot.teensy]: Wind angle: 142 -[teensy-2] [INFO] [1746050455.588457240] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050455.588405401] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050455.588781911] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050455.589356687] [sailbot.teensy]: Actual tail angle: 9 -[teensy-2] [INFO] [1746050455.590236007] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050455.645197642] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050455.646241694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050455.646692099] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050455.648404065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050455.649566453] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050455.745267013] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050455.746218564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050455.746846243] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050455.748379740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050455.748983519] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050455.835316947] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050455.837461945] [sailbot.teensy]: Wind angle: 139 -[trim_sail-4] [INFO] [1746050455.837623137] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050455.838421669] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050455.839321407] [sailbot.teensy]: Actual tail angle: 9 -[mux-7] [INFO] [1746050455.840025287] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050455.840602288] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050455.844369662] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050455.845241992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050455.845684894] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050455.847072338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050455.848425775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050455.945239606] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050455.945959401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050455.946879197] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050455.947997863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050455.949275919] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050456.002459929] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906171 Long: -76.50315693 -[vectornav-1] [INFO] [1746050456.003552503] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (67.67599999999999, -2.766, 8.514) -[mux-7] [INFO] [1746050456.045008334] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050456.045701937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050456.046381522] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050456.047926575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050456.049087379] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050456.085513011] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050456.087561054] [sailbot.teensy]: Wind angle: 134 -[trim_sail-4] [INFO] [1746050456.088198874] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050456.089407258] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050456.089542527] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050456.090937056] [sailbot.teensy]: Actual tail angle: 9 -[teensy-2] [INFO] [1746050456.091990234] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050456.145166052] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050456.145876102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050456.146466323] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050456.148098602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050456.149200959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050456.244877538] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050456.245621365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050456.246285473] [sailbot.mux]: Published rudder angle from controller_app: -16 -[teensy-2] [INFO] [1746050456.247389262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -16 -[teensy-2] [INFO] [1746050456.248621035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050456.300424421] [sailbot.mux]: controller_app rudder angle: 6 -[teensy-2] [INFO] [1746050456.335292055] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050456.336975611] [sailbot.teensy]: Wind angle: 130 -[trim_sail-4] [INFO] [1746050456.337497665] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050456.337866255] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050456.338719693] [sailbot.teensy]: Actual tail angle: 9 -[mux-7] [INFO] [1746050456.338778034] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050456.339620530] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050456.344418911] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050456.345113303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050456.345563445] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050456.346777433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050456.347960187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050456.445162704] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050456.445873919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050456.446462967] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050456.447868409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050456.448979447] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050456.502611076] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690616 Long: -76.50315595 -[vectornav-1] [INFO] [1746050456.503674944] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.295000000000016, 0.513, 12.762) -[mux-7] [INFO] [1746050456.545547076] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050456.546407138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050456.547466185] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050456.548759318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050456.549302902] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050456.585761512] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050456.587876353] [sailbot.teensy]: Wind angle: 128 -[trim_sail-4] [INFO] [1746050456.588550495] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050456.589883866] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050456.590234721] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050456.591211200] [sailbot.teensy]: Actual tail angle: 9 -[teensy-2] [INFO] [1746050456.592134639] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050456.645389428] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050456.646196780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050456.647025468] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050456.648985493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050456.650157161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050456.745272525] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050456.746301003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050456.746873907] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050456.747859035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050456.748394625] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050456.835352403] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050456.837247413] [sailbot.teensy]: Wind angle: 124 -[trim_sail-4] [INFO] [1746050456.837853778] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050456.838210551] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050456.839109700] [sailbot.teensy]: Actual tail angle: 31 -[mux-7] [INFO] [1746050456.839147530] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050456.840022793] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050456.844482760] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050456.845044281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050456.845755503] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050456.846870705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050456.848028328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050456.945162184] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050456.946151441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050456.946640081] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050456.947731505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050456.948231197] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050457.002691525] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906116 Long: -76.50315306 -[vectornav-1] [INFO] [1746050457.004196462] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.74400000000003, -0.64, 19.656) -[mux-7] [INFO] [1746050457.045533735] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050457.046135584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050457.047188173] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050457.047916505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050457.048414513] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050457.085652994] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050457.087765657] [sailbot.teensy]: Wind angle: 123 -[teensy-2] [INFO] [1746050457.088772190] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050457.088199956] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050457.089645362] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050457.089681533] [sailbot.teensy]: Actual tail angle: 31 -[teensy-2] [INFO] [1746050457.090561464] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050457.145301430] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050457.146113346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050457.146895539] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050457.148487907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050457.149086894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050457.245204760] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050457.245912854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050457.246794597] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050457.247944735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050457.248489598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050457.334944093] [sailbot.mux]: controller_app rudder angle: 10 -[teensy-2] [INFO] [1746050457.335157528] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050457.336894872] [sailbot.teensy]: Wind angle: 112 -[teensy-2] [INFO] [1746050457.337643548] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050457.337646981] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050457.338037849] [sailbot.teensy]: Actual tail angle: 31 -[mux-7] [INFO] [1746050457.338150684] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050457.338399907] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050457.344359053] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050457.344957137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050457.345456371] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050457.346649957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050457.347701713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050457.445233884] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050457.445959750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050457.446697946] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050457.448072093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050457.449057500] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050457.503495269] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906166 Long: -76.50315177 -[vectornav-1] [INFO] [1746050457.504907108] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.903999999999996, -1.405, 17.083) -[mux-7] [INFO] [1746050457.544913983] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050457.545641260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050457.546149374] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050457.547690658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050457.548735708] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050457.585431584] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050457.587321110] [sailbot.teensy]: Wind angle: 89 -[teensy-2] [INFO] [1746050457.588337658] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050457.588548713] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050457.589209447] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050457.589275735] [sailbot.teensy]: Actual tail angle: 31 -[teensy-2] [INFO] [1746050457.590255329] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050457.645047342] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050457.646078071] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050457.646695454] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050457.648318908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050457.649590067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050457.745143809] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050457.745930525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050457.746909774] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050457.748146834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050457.749033631] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050457.835638514] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050457.838734086] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050457.838888642] [sailbot.teensy]: Wind angle: 92 -[teensy-2] [INFO] [1746050457.839908446] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050457.840340245] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050457.840877118] [sailbot.teensy]: Actual tail angle: 35 -[teensy-2] [INFO] [1746050457.841960243] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050457.844318140] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050457.845088601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050457.845456410] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050457.846973475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050457.848227903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050457.945835015] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050457.946795490] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050457.947348543] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050457.948297466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050457.948795498] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050458.002486056] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906219 Long: -76.50314953 -[vectornav-1] [INFO] [1746050458.003589685] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.259000000000015, -0.151, 13.807) -[mux-7] [INFO] [1746050458.045459256] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050458.046295946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050458.047135318] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050458.048664651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050458.049997942] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050458.085805175] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050458.088781220] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050458.089131910] [sailbot.teensy]: Wind angle: 109 -[mux-7] [INFO] [1746050458.089595909] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050458.090109291] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050458.091109798] [sailbot.teensy]: Actual tail angle: 35 -[teensy-2] [INFO] [1746050458.092091472] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050458.145460587] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050458.146390207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050458.147148744] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050458.150373078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050458.151433557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050458.245520830] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050458.246129583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050458.247160626] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050458.247760105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050458.248237522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050458.320514466] [sailbot.mux]: controller_app rudder angle: 4 -[teensy-2] [INFO] [1746050458.335465965] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050458.338083844] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050458.339264786] [sailbot.teensy]: Wind angle: 109 -[mux-7] [INFO] [1746050458.339264283] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050458.340300516] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050458.341172719] [sailbot.teensy]: Actual tail angle: 35 -[teensy-2] [INFO] [1746050458.342018226] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050458.344291965] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050458.344855929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050458.345372324] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050458.346539807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050458.347660233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050458.445580686] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050458.446248440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050458.447092027] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050458.448336867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050458.448870612] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050458.503603733] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906202 Long: -76.50314667 -[vectornav-1] [INFO] [1746050458.505318768] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (22.57499999999999, 1.024, 12.904) -[mux-7] [INFO] [1746050458.544914491] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050458.545742947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050458.546150899] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050458.547714010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050458.548742627] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050458.585264208] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050458.587341495] [sailbot.teensy]: Wind angle: 105 -[trim_sail-4] [INFO] [1746050458.587391635] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050458.588342764] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050458.588348965] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050458.589270866] [sailbot.teensy]: Actual tail angle: 35 -[teensy-2] [INFO] [1746050458.590150160] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050458.645133577] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050458.645647039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050458.646684667] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050458.647566213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050458.648699598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050458.745203542] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050458.745931585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050458.746692176] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050458.748002791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050458.748894133] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050458.835367292] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050458.837753169] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050458.839010803] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050458.839304335] [sailbot.teensy]: Wind angle: 102 -[teensy-2] [INFO] [1746050458.839718768] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050458.840094112] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050458.840650457] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050458.844430505] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050458.845186073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050458.845527652] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050458.846956445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050458.848071337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050458.945531953] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050458.946329162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050458.947207366] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050458.949152996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050458.950274576] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050459.002934379] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906291 Long: -76.50314416 -[vectornav-1] [INFO] [1746050459.004529179] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (17.891999999999996, -0.836, 9.802) -[mux-7] [INFO] [1746050459.045219158] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050459.045909863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050459.046580143] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050459.047800959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050459.049164610] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050459.085244994] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050459.086836629] [sailbot.teensy]: Wind angle: 102 -[trim_sail-4] [INFO] [1746050459.087298558] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050459.088788801] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050459.089289711] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050459.090186356] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050459.091064180] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050459.145110636] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050459.145879449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050459.146648225] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050459.147942527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050459.148552241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050459.245236776] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050459.246203031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050459.246719779] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050459.248906739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050459.250183423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050459.310652607] [sailbot.mux]: controller_app rudder angle: 2 -[teensy-2] [INFO] [1746050459.335762340] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050459.338658212] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050459.339096595] [sailbot.teensy]: Wind angle: 103 -[mux-7] [INFO] [1746050459.339923351] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050459.340788788] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050459.341747297] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050459.342622721] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050459.344399390] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050459.344840685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050459.345497170] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050459.346470688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050459.347528325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050459.445387044] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050459.446404913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050459.447008330] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050459.448804590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050459.449995398] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050459.502639920] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906355 Long: -76.50314087 -[vectornav-1] [INFO] [1746050459.504142029] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (13.437000000000012, -2.081, 12.077) -[mux-7] [INFO] [1746050459.545078983] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050459.545772423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050459.546588149] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050459.547672478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050459.548866153] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050459.585498411] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050459.587280284] [sailbot.teensy]: Wind angle: 104 -[trim_sail-4] [INFO] [1746050459.587838299] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050459.588243360] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050459.589143257] [sailbot.teensy]: Actual tail angle: 29 -[mux-7] [INFO] [1746050459.589675011] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050459.590046399] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050459.645417334] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050459.646368185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050459.647023596] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050459.648852090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050459.649364847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050459.745293053] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050459.746228001] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050459.747035942] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050459.748398872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050459.749534590] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050459.835294784] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050459.837410629] [sailbot.teensy]: Wind angle: 106 -[trim_sail-4] [INFO] [1746050459.837455006] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050459.837971374] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050459.838387847] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050459.838960690] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050459.839298951] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050459.844506124] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050459.845116257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050459.845619070] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050459.846881188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050459.847916569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050459.945267093] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050459.946083221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050459.946822918] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050459.948241874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050459.949537630] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050460.003009518] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906285 Long: -76.50313663 -[vectornav-1] [INFO] [1746050460.004557323] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (11.310000000000002, -0.689, 14.454) -[mux-7] [INFO] [1746050460.045203317] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050460.045905070] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050460.046550298] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050460.048091419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050460.049275789] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050460.085533015] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050460.087637276] [sailbot.teensy]: Wind angle: 102 -[trim_sail-4] [INFO] [1746050460.088469035] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050460.088608266] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050460.089516753] [sailbot.teensy]: Actual tail angle: 27 -[mux-7] [INFO] [1746050460.089525693] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050460.090389748] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050460.144889840] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050460.145350578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050460.146153068] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050460.147104494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050460.148267354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050460.245163775] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050460.245800495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050460.246861770] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050460.247740690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050460.248805583] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050460.335402977] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050460.338204984] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050460.338244155] [sailbot.teensy]: Wind angle: 97 -[teensy-2] [INFO] [1746050460.339187835] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050460.339290249] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050460.340090806] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050460.340682637] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050460.344437164] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050460.344976797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050460.346268793] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050460.346767534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050460.347782780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050460.388667295] [sailbot.mux]: controller_app rudder angle: -1 -[mux-7] [INFO] [1746050460.444980301] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050460.445754885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050460.446350820] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050460.447887594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050460.448931543] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050460.502509825] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906295 Long: -76.50313231 -[vectornav-1] [INFO] [1746050460.503724959] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (6.720000000000027, -0.273, 12.67) -[mux-7] [INFO] [1746050460.545253852] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050460.546166125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050460.546739127] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050460.548536210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050460.549512171] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050460.585530378] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050460.589140954] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050460.589373456] [sailbot.teensy]: Wind angle: 95 -[mux-7] [INFO] [1746050460.589583963] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050460.590334255] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050460.591197225] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050460.592059989] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050460.645159019] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050460.646031126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050460.646726037] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050460.648448179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050460.649528289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050460.745043513] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050460.745957643] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050460.746801957] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050460.747930219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050460.748762262] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050460.835289082] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050460.837333747] [sailbot.teensy]: Wind angle: 90 -[teensy-2] [INFO] [1746050460.838294994] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050460.838315243] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050460.838946500] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050460.839193618] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050460.840069877] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050460.844379022] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050460.844955799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050460.845477595] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050460.846685792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050460.847831820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050460.945733380] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050460.946657106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050460.947496819] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050460.949188515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050460.950484859] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050461.002428903] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906335 Long: -76.50312852 -[vectornav-1] [INFO] [1746050461.003413201] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (5.411000000000001, 1.321, 11.086) -[mux-7] [INFO] [1746050461.044975803] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050461.045935539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050461.046236668] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050461.047745243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050461.048927628] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050461.085517110] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050461.087487818] [sailbot.teensy]: Wind angle: 91 -[trim_sail-4] [INFO] [1746050461.088842833] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050461.089288187] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050461.089625547] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050461.090567450] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050461.091432080] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050461.144915800] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050461.145652634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050461.146316168] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050461.147458588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050461.148759117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050461.244901622] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050461.245720085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050461.246470687] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050461.247507460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050461.248764443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050461.286879407] [sailbot.mux]: controller_app rudder angle: -5 -[teensy-2] [INFO] [1746050461.335469876] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050461.337806952] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050461.338258440] [sailbot.teensy]: Wind angle: 92 -[mux-7] [INFO] [1746050461.338990845] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050461.339540879] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050461.340484515] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050461.341325348] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050461.344425197] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050461.344916596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050461.345519289] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050461.346630767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050461.347639294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050461.445543020] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050461.446326500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050461.447418302] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050461.449022546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050461.450607925] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050461.502842366] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906337 Long: -76.50312494 -[vectornav-1] [INFO] [1746050461.504120979] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (4.2379999999999995, -2.337, 10.491) -[mux-7] [INFO] [1746050461.545282038] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050461.546018396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050461.546775065] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050461.548245716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050461.549428039] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050461.585573685] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050461.588126845] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050461.588938413] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050461.589629201] [sailbot.teensy]: Wind angle: 92 -[teensy-2] [INFO] [1746050461.590622209] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050461.591489496] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050461.592429336] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050461.645221481] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050461.646099080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050461.646706633] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050461.648294571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050461.649457592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050461.745194005] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050461.746022805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050461.746848543] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050461.748249306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050461.749305226] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050461.835713139] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050461.837912665] [sailbot.teensy]: Wind angle: 91 -[trim_sail-4] [INFO] [1746050461.838476624] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050461.838933138] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050461.839904782] [sailbot.teensy]: Actual tail angle: 20 -[mux-7] [INFO] [1746050461.840515733] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050461.840987661] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050461.844131056] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050461.844748058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050461.845284100] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050461.846463126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050461.847495993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050461.945567523] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050461.946425694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050461.947268190] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050461.948288424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050461.948748818] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050462.002996684] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906344 Long: -76.50312039 -[vectornav-1] [INFO] [1746050462.004400982] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (7.499000000000024, -3.087, 11.258) -[mux-7] [INFO] [1746050462.045326135] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050462.046112969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050462.046834556] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050462.048752690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050462.049900212] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050462.085486831] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050462.087950477] [sailbot.teensy]: Wind angle: 92 -[trim_sail-4] [INFO] [1746050462.088141175] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050462.088555622] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050462.089624525] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050462.090617092] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050462.091463319] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050462.144881171] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050462.145671826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050462.146426659] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050462.147497982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050462.148646219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050462.245454243] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050462.246426115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050462.247366208] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050462.248611414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050462.249115440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050462.311078852] [sailbot.mux]: controller_app rudder angle: -7 -[teensy-2] [INFO] [1746050462.335309573] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050462.337268091] [sailbot.teensy]: Wind angle: 94 -[trim_sail-4] [INFO] [1746050462.337518534] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050462.338158968] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050462.338643494] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050462.339034358] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050462.339941291] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050462.344413923] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050462.345107079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050462.345522200] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050462.346947211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050462.347976907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050462.445544934] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050462.446203337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050462.447411482] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050462.448454485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050462.449641166] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050462.502526795] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906336 Long: -76.50311497 -[vectornav-1] [INFO] [1746050462.503583752] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (13.298000000000002, 3.76, 14.066) -[mux-7] [INFO] [1746050462.545256326] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050462.546187342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050462.546749596] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050462.548363202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050462.548942837] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050462.585614897] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050462.587759777] [sailbot.teensy]: Wind angle: 94 -[trim_sail-4] [INFO] [1746050462.588111949] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050462.589690515] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050462.590385153] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050462.591328091] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050462.592209785] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050462.645030696] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050462.645756777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050462.646448326] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050462.647697536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050462.648916456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050462.745536322] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050462.746504048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050462.747152993] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050462.748842372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050462.750011504] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050462.835694946] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050462.838078081] [sailbot.teensy]: Wind angle: 94 -[trim_sail-4] [INFO] [1746050462.838513737] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050462.839206883] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050462.840122643] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050462.840256795] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050462.841121610] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050462.844478996] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050462.844933978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050462.845919863] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050462.846723143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050462.847875362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050462.945179174] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050462.945997616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050462.946672738] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050462.948111219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050462.949350978] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050463.003441700] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906401 Long: -76.50311126 -[vectornav-1] [INFO] [1746050463.004888194] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (16.326999999999998, -0.642, 12.134) -[mux-7] [INFO] [1746050463.045086605] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050463.045888677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050463.046541126] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050463.047951418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050463.049015071] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050463.085162953] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050463.087277078] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050463.087783728] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050463.088406166] [sailbot.teensy]: Wind angle: 94 -[teensy-2] [INFO] [1746050463.089456158] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050463.090373072] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050463.091239201] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050463.145191499] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050463.146089975] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050463.146823368] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050463.148314527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050463.149536169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050463.245287668] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050463.246226441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050463.246783481] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050463.248437315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050463.249422990] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050463.335461204] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050463.337330110] [sailbot.teensy]: Wind angle: 94 -[teensy-2] [INFO] [1746050463.338316121] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050463.337786486] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050463.339034799] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050463.339229839] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050463.340260042] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050463.344419845] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050463.344988805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050463.345505087] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050463.346694850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050463.347719159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050463.445711587] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050463.446616910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050463.447552272] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050463.449174405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050463.450384144] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050463.502258249] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906552 Long: -76.50310728 -[vectornav-1] [INFO] [1746050463.503259459] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (22.346000000000004, -2.468, 11.088) -[mux-7] [INFO] [1746050463.545139319] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050463.546096367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050463.546546297] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050463.548095131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050463.549177553] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050463.584368357] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050463.586188656] [sailbot.teensy]: Wind angle: 105 -[trim_sail-4] [INFO] [1746050463.586189107] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050463.587174521] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050463.587215747] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050463.588132496] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050463.589049934] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050463.629595592] [sailbot.mux]: controller_app rudder angle: -10 -[mux-7] [INFO] [1746050463.643615174] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050463.644288732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050463.644413936] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050463.645585994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050463.646383653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050463.744912972] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050463.745547241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050463.746168078] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050463.747629303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050463.748358342] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050463.835443641] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050463.837777186] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050463.838231950] [sailbot.teensy]: Wind angle: 123 -[mux-7] [INFO] [1746050463.838845640] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050463.839192196] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050463.840221566] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050463.841101383] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050463.844451251] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050463.844907396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050463.845577015] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050463.846770009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050463.847826496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050463.945860662] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050463.946546026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050463.947574047] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050463.948915354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050463.950073602] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050464.003327140] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906629 Long: -76.50310223 -[vectornav-1] [INFO] [1746050464.004747578] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.50400000000002, 0.593, 15.228) -[mux-7] [INFO] [1746050464.045267693] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050464.046140230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050464.046660044] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050464.048704554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050464.049795899] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050464.085405514] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050464.087256361] [sailbot.teensy]: Wind angle: 125 -[trim_sail-4] [INFO] [1746050464.087787436] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050464.088311388] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050464.089312319] [sailbot.teensy]: Actual tail angle: 15 -[mux-7] [INFO] [1746050464.090317717] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050464.090550234] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050464.145250957] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050464.146093291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050464.146603067] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050464.148194100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050464.149255455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050464.245321748] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050464.246143965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050464.246846241] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050464.248477622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050464.249019523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050464.332652670] [sailbot.mux]: controller_app rudder angle: -3 -[teensy-2] [INFO] [1746050464.335032202] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050464.336581643] [sailbot.teensy]: Wind angle: 125 -[teensy-2] [INFO] [1746050464.337494781] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050464.337115151] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050464.338014311] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050464.338377264] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050464.339266119] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050464.344652020] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050464.344989146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050464.345919602] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050464.346645670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050464.347717720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050464.445211061] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050464.445916309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050464.446738171] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050464.447913152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050464.449079612] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050464.502505881] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906762 Long: -76.50309796 -[vectornav-1] [INFO] [1746050464.503712705] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (40.25799999999998, 0.047, 16.174) -[mux-7] [INFO] [1746050464.545380629] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050464.545989465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050464.546969070] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050464.548317790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050464.549428419] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050464.585786301] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050464.588673330] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050464.589617636] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050464.589825035] [sailbot.teensy]: Wind angle: 125 -[teensy-2] [INFO] [1746050464.590848930] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050464.591735645] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050464.592610534] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050464.645628204] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050464.646368753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050464.647272493] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050464.649310681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050464.650501291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050464.745476167] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050464.746485451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050464.747208928] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050464.748898454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050464.750125468] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050464.835399426] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050464.837262068] [sailbot.teensy]: Wind angle: 119 -[trim_sail-4] [INFO] [1746050464.837752054] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050464.838208880] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050464.839085863] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050464.839376367] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050464.839947139] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050464.844470261] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050464.845028129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050464.845637491] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050464.846721849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050464.847731863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050464.944926912] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050464.945728600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050464.946319670] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050464.947534987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050464.948005763] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050465.004010045] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906986 Long: -76.50309589 -[vectornav-1] [INFO] [1746050465.005544111] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.19, -0.029, 11.054) -[mux-7] [INFO] [1746050465.045334065] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050465.046017663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050465.047445813] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050465.048266087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050465.049383157] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050465.085331386] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050465.087126358] [sailbot.teensy]: Wind angle: 121 -[trim_sail-4] [INFO] [1746050465.087461218] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050465.088071606] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050465.089043487] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050465.089969197] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050465.090031058] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746050465.145025864] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050465.145944871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050465.146440222] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050465.148000863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050465.149139256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050465.245036816] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050465.246139369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050465.246504259] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050465.248442594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050465.249195904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050465.301012063] [sailbot.mux]: controller_app rudder angle: 1 -[teensy-2] [INFO] [1746050465.335463262] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050465.337747062] [sailbot.teensy]: Wind angle: 140 -[trim_sail-4] [INFO] [1746050465.337902606] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050465.338799693] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050465.339279907] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050465.339708240] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050465.340603937] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050465.344606206] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050465.345062111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050465.346051937] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050465.346771936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050465.347997502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050465.445564955] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050465.446225354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050465.447740216] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050465.448610131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050465.449182254] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050465.502443559] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46907188 Long: -76.50309349 -[vectornav-1] [INFO] [1746050465.503645332] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (72.14100000000002, -1.394, 14.779) -[mux-7] [INFO] [1746050465.545156435] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050465.545982086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050465.546965852] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050465.548194719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050465.549387008] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050465.585305022] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050465.587006307] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746050465.587481498] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050465.587934917] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050465.588854071] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050465.589135166] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050465.589708506] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050465.645393139] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050465.645924024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050465.647016865] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050465.648424888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050465.649082003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050465.745279237] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050465.745901253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050465.747539921] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050465.748301171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050465.748782908] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050465.835407707] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050465.837263109] [sailbot.teensy]: Wind angle: 164 -[trim_sail-4] [INFO] [1746050465.838197613] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050465.838970968] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050465.839233678] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050465.839648037] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050465.840313993] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050465.844580517] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050465.845207219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050465.845779612] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050465.846984526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050465.848055029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050465.945648178] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050465.946795582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050465.947359047] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050465.949617893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050465.950794574] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050466.003537299] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46907444 Long: -76.50309331 -[vectornav-1] [INFO] [1746050466.006648032] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (87.70299999999997, 0.304, 12.189) -[mux-7] [INFO] [1746050466.045304417] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050466.046116696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050466.046894004] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050466.048673212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050466.049694454] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050466.085325318] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050466.087158058] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746050466.087572479] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050466.088207973] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050466.089011767] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050466.089170936] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050466.090144184] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050466.145770752] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050466.146087770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050466.147920608] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050466.148205619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050466.148752185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050466.245397374] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050466.246159719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050466.247144381] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050466.248619918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050466.249803742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050466.289418377] [sailbot.mux]: controller_app rudder angle: 7 -[teensy-2] [INFO] [1746050466.335745834] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050466.338578270] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050466.339666488] [sailbot.teensy]: Wind angle: 164 -[mux-7] [INFO] [1746050466.339715361] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050466.340355837] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050466.341248880] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050466.342082439] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050466.344741327] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050466.345282213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050466.345909287] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050466.346973173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050466.348011902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050466.444643675] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050466.445780378] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050466.447888209] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050466.449576936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050466.450577851] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050466.503153718] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46907665 Long: -76.50309405 -[vectornav-1] [INFO] [1746050466.504483514] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (97.43599999999998, 0.6, 6.1) -[mux-7] [INFO] [1746050466.545156291] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050466.545788701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050466.546712978] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050466.548008365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050466.549214098] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050466.585149896] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050466.587220386] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050466.587262438] [sailbot.teensy]: Wind angle: 164 -[teensy-2] [INFO] [1746050466.588115443] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050466.588216599] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050466.589003189] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050466.589865306] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050466.645496523] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050466.646454738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050466.647090654] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050466.648913350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050466.650101488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050466.745301207] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050466.746030388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050466.746798761] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050466.748259106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050466.749578262] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050466.835372758] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050466.837748467] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050466.837876927] [sailbot.teensy]: Wind angle: 167 -[teensy-2] [INFO] [1746050466.838802987] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050466.838966885] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050466.839712816] [sailbot.teensy]: Actual tail angle: 32 -[teensy-2] [INFO] [1746050466.840642347] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050466.844426386] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050466.845111273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050466.845640936] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050466.846976168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050466.848002071] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050466.945325358] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050466.945950550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050466.946862475] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050466.947848681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050466.948429819] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050467.003560173] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46907889 Long: -76.50309506 -[vectornav-1] [INFO] [1746050467.005417197] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (104.79399999999998, -2.202, 4.9) -[mux-7] [INFO] [1746050467.045096323] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050467.045823548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050467.046633835] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050467.047911849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050467.048973437] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050467.085125963] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050467.086751943] [sailbot.teensy]: Wind angle: 168 -[teensy-2] [INFO] [1746050467.087641323] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050467.088484081] [sailbot.teensy]: Actual tail angle: 32 -[trim_sail-4] [INFO] [1746050467.087486759] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050467.088131139] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050467.089350738] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050467.144947944] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050467.145616091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050467.146226384] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050467.147458982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050467.148614543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050467.245393596] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050467.246176491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050467.246911279] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050467.248484113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050467.249110637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050467.300624348] [sailbot.mux]: controller_app rudder angle: 9 -[teensy-2] [INFO] [1746050467.336003898] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050467.339150939] [sailbot.teensy]: Wind angle: 171 -[trim_sail-4] [INFO] [1746050467.339504933] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050467.340280243] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050467.340639552] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050467.341280601] [sailbot.teensy]: Actual tail angle: 32 -[teensy-2] [INFO] [1746050467.342253262] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050467.344614335] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050467.345690966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050467.345944231] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050467.347811040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050467.348902006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050467.445601425] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050467.446293286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050467.447327415] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050467.448880047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050467.449443869] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050467.502813898] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908127 Long: -76.50309636 -[vectornav-1] [INFO] [1746050467.503901552] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (106.969, 4.269, 4.457) -[mux-7] [INFO] [1746050467.545334958] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050467.546069834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050467.546869453] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050467.548518286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050467.549697012] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050467.585349453] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050467.587054525] [sailbot.teensy]: Wind angle: 172 -[trim_sail-4] [INFO] [1746050467.587656645] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050467.588038023] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050467.588964260] [sailbot.teensy]: Actual tail angle: 32 -[mux-7] [INFO] [1746050467.588117266] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050467.589835969] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050467.644846065] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050467.645473636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050467.646020517] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050467.647301520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050467.648348986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050467.745137431] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050467.745817555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050467.746539774] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050467.747885925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050467.749009266] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050467.835365400] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050467.837532629] [sailbot.teensy]: Wind angle: 172 -[trim_sail-4] [INFO] [1746050467.837977323] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050467.838575103] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050467.839414128] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050467.839925440] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746050467.841003094] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050467.844413943] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050467.844922723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050467.845551529] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050467.847053766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050467.848118353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050467.945040024] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050467.945666619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050467.946322823] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050467.947542616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050467.948636751] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050468.004038251] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908249 Long: -76.50309708 -[vectornav-1] [INFO] [1746050468.005814473] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (105.24599999999998, -3.135, 5.663) -[mux-7] [INFO] [1746050468.045245984] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050468.046118244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050468.046798765] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050468.048527204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050468.049697790] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050468.085232463] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050468.087219185] [sailbot.teensy]: Wind angle: 170 -[trim_sail-4] [INFO] [1746050468.087282820] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050468.088326954] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050468.089038333] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050468.089321031] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746050468.090262347] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050468.145367636] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050468.146018043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050468.146971724] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050468.148564184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050468.149708818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050468.245419402] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050468.246244989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050468.247178555] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050468.248361064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050468.249533940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050468.323601034] [sailbot.mux]: controller_app rudder angle: 10 -[teensy-2] [INFO] [1746050468.335615227] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050468.338210136] [sailbot.teensy]: Wind angle: 170 -[trim_sail-4] [INFO] [1746050468.338244858] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050468.339245356] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050468.339728644] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050468.340298208] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746050468.341341019] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050468.344322169] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050468.345096047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050468.345431048] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050468.346979527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050468.348060958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050468.445589382] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050468.446249390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050468.447203906] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050468.448549298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050468.449703002] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050468.503242581] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908441 Long: -76.50309801 -[vectornav-1] [INFO] [1746050468.504550428] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (103.77800000000002, 0.356, 4.067) -[mux-7] [INFO] [1746050468.545075056] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050468.546013032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050468.546510232] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050468.548109312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050468.549220330] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050468.585380617] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050468.587778787] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050468.587778737] [sailbot.teensy]: Wind angle: 170 -[teensy-2] [INFO] [1746050468.588806280] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050468.589244817] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050468.589712732] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746050468.590351885] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050468.645523641] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050468.646350613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050468.647132175] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050468.648686201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050468.649814021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050468.745363759] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050468.746034063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050468.746887367] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050468.748534312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050468.749165974] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050468.835326879] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050468.837537255] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050468.838061796] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050468.839303856] [sailbot.teensy]: Wind angle: 168 -[teensy-2] [INFO] [1746050468.839710631] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050468.840144730] [sailbot.teensy]: Actual tail angle: 35 -[teensy-2] [INFO] [1746050468.840510794] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050468.844376476] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050468.845048563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050468.845515945] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050468.846781339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050468.847880455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050468.945297004] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050468.945961562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050468.946872459] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050468.948141248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050468.949467970] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050469.003449351] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908609 Long: -76.50309865 -[vectornav-1] [INFO] [1746050469.005438237] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (100.01400000000001, 0.294, 4.844) -[mux-7] [INFO] [1746050469.045327648] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050469.046267613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050469.046912147] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050469.048728005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050469.049763263] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050469.085560951] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050469.087778629] [sailbot.teensy]: Wind angle: 168 -[trim_sail-4] [INFO] [1746050469.087989167] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050469.088754650] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050469.089222245] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050469.089681687] [sailbot.teensy]: Actual tail angle: 35 -[teensy-2] [INFO] [1746050469.090562183] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050469.145758236] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050469.146008889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050469.147392497] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050469.148184473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050469.148836356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050469.245633815] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050469.246354854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050469.247471458] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050469.250067195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 10 -[teensy-2] [INFO] [1746050469.251096764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050469.301163860] [sailbot.mux]: controller_app rudder angle: 0 -[teensy-2] [INFO] [1746050469.335546034] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050469.337457491] [sailbot.teensy]: Wind angle: 167 -[trim_sail-4] [INFO] [1746050469.338027253] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050469.338432337] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050469.339373679] [sailbot.teensy]: Actual tail angle: 35 -[mux-7] [INFO] [1746050469.339857964] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050469.340263599] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050469.344470658] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050469.344985177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050469.345691693] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050469.346758844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050469.347761637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050469.445443256] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050469.446104730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050469.447040902] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050469.447952448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050469.448502214] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050469.502754958] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908743 Long: -76.50309879 -[vectornav-1] [INFO] [1746050469.503276717] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (94.86200000000002, 0.905, 4.204) -[mux-7] [INFO] [1746050469.545313189] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050469.546262525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050469.546957982] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050469.549111086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050469.550255316] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050469.585547964] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050469.587829230] [sailbot.teensy]: Wind angle: 167 -[teensy-2] [INFO] [1746050469.588794389] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050469.588311832] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050469.589359612] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050469.589661410] [sailbot.teensy]: Actual tail angle: 35 -[teensy-2] [INFO] [1746050469.590563958] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050469.645071445] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050469.645855702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050469.646511819] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050469.648034629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050469.649161304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050469.745628718] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050469.746683206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050469.747362495] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050469.748638653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050469.749038097] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050469.835426328] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050469.837822855] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050469.837967133] [sailbot.teensy]: Wind angle: 159 -[teensy-2] [INFO] [1746050469.838890661] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050469.838880713] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050469.839806685] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050469.840729003] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050469.844449436] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050469.845013166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050469.846384176] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050469.846802123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050469.847992394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050469.945474614] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050469.946682080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050469.947022994] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050469.948871376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050469.950128793] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050470.003205155] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908833 Long: -76.50309875 -[vectornav-1] [INFO] [1746050470.004940599] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (89.38099999999997, -1.173, 4.292) -[mux-7] [INFO] [1746050470.045407187] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050470.046453402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050470.046927740] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050470.048943324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050470.050250550] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050470.085474152] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050470.087964612] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050470.088380445] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050470.089406333] [sailbot.teensy]: Wind angle: 157 -[teensy-2] [INFO] [1746050470.090327685] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050470.091183323] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050470.091985473] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050470.145213633] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050470.145951843] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050470.146743986] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050470.147959970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050470.149063151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050470.244941348] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050470.245582054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050470.246196996] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050470.248295081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050470.249487235] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050470.335729389] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050470.338704765] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050470.339075442] [sailbot.teensy]: Wind angle: 155 -[mux-7] [INFO] [1746050470.339448827] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050470.339989194] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050470.340575916] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050470.340924398] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050470.344447734] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050470.345041736] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050470.345653330] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050470.346715095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050470.347793289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050470.413372931] [sailbot.mux]: controller_app rudder angle: 9 -[mux-7] [INFO] [1746050470.445317662] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050470.446257219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050470.446838966] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050470.448502934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050470.449560921] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050470.503769237] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908955 Long: -76.50309865 -[vectornav-1] [INFO] [1746050470.505761658] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (85.469, -3.284, 3.566) -[mux-7] [INFO] [1746050470.545002506] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050470.545805251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050470.546456213] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050470.548495474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050470.549691751] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050470.585346116] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050470.587265323] [sailbot.teensy]: Wind angle: 155 -[trim_sail-4] [INFO] [1746050470.588913574] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050470.589057392] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050470.589653300] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050470.590194342] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050470.591247578] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050470.645568710] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050470.646449131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050470.647357141] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050470.648919167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050470.650318774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050470.745514249] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050470.746740183] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050470.747188533] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050470.749243612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050470.750361992] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050470.835496355] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050470.837891376] [sailbot.teensy]: Wind angle: 155 -[trim_sail-4] [INFO] [1746050470.838060528] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050470.839221808] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050470.839600014] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050470.840609941] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746050470.841691027] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050470.844625490] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050470.845032082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050470.845810791] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050470.846800233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050470.847866294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050470.945567844] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050470.946361054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050470.947744871] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050470.949284936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050470.950448216] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050471.003635450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909058 Long: -76.50309835 -[vectornav-1] [INFO] [1746050471.005200168] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (77.12400000000002, 8.236, 10.629) -[mux-7] [INFO] [1746050471.045219373] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050471.045851934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050471.046771179] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050471.047601337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050471.048072857] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050471.085401347] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050471.087313959] [sailbot.teensy]: Wind angle: 155 -[trim_sail-4] [INFO] [1746050471.087863258] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050471.088321197] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050471.089234705] [sailbot.teensy]: Actual tail angle: 34 -[mux-7] [INFO] [1746050471.089579857] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050471.090088369] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050471.145202416] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050471.145806229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050471.146858353] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050471.147818831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050471.148879597] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050471.245559233] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050471.246193826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050471.247219602] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050471.248679917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050471.249800466] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050471.335714448] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050471.337954132] [sailbot.teensy]: Wind angle: 154 -[trim_sail-4] [INFO] [1746050471.338577251] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050471.339051384] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050471.340053656] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746050471.340975128] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050471.341299219] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050471.344245213] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050471.344888057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050471.345300702] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050471.346585009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050471.347746882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050471.445231477] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050471.446190893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050471.446866915] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050471.448017572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050471.448589236] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050471.503034063] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690907 Long: -76.503097 -[vectornav-1] [INFO] [1746050471.504433579] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (71.08999999999997, -7.782, 14.276) -[mux-7] [INFO] [1746050471.545285332] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050471.546116544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050471.546875507] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050471.548640410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050471.549784510] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050471.585564232] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050471.587459775] [sailbot.teensy]: Wind angle: 150 -[teensy-2] [INFO] [1746050471.588446826] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050471.588345385] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050471.589303835] [sailbot.teensy]: Actual tail angle: 34 -[mux-7] [INFO] [1746050471.589294578] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050471.590162300] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050471.645324609] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050471.646138321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050471.646917554] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050471.648709684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050471.649293069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050471.745375596] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050471.746062595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050471.746908816] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050471.748336844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050471.750125136] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050471.835895545] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050471.838998794] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050471.839100750] [sailbot.teensy]: Wind angle: 143 -[mux-7] [INFO] [1746050471.839561004] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050471.840120269] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050471.841102076] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746050471.841597632] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050471.844533435] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050471.845051104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050471.845716451] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050471.846829380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050471.848016880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050471.945630142] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050471.946302287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050471.947422945] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050471.948730459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050471.949647923] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050472.003227999] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909158 Long: -76.50309671 -[vectornav-1] [INFO] [1746050472.004868370] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (66.85399999999998, 2.843, 11.254) -[mux-7] [INFO] [1746050472.045280923] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050472.046314197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050472.046922453] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050472.048574713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050472.049751928] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050472.085450196] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050472.087875297] [sailbot.teensy]: Wind angle: 137 -[trim_sail-4] [INFO] [1746050472.088321436] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050472.088848430] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050472.089239314] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050472.089770816] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746050472.090659391] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050472.145488441] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050472.146224049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050472.147156629] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050472.148732088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[teensy-2] [INFO] [1746050472.151019644] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050472.245535325] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050472.246373623] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050472.248374883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 9 -[mux-7] [INFO] [1746050472.248403698] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050472.248925492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050472.311011183] [sailbot.mux]: controller_app rudder angle: 0 -[teensy-2] [INFO] [1746050472.335347136] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050472.337867609] [sailbot.teensy]: Wind angle: 137 -[trim_sail-4] [INFO] [1746050472.337996267] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050472.338828322] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050472.339214331] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050472.339742484] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746050472.340633538] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050472.344412281] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050472.344887434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050472.345871943] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050472.346622287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050472.347631538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050472.445279948] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050472.446152097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050472.446906882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050472.448222576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050472.448792251] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050472.502491115] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909282 Long: -76.5030957 -[vectornav-1] [INFO] [1746050472.503559621] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (60.149, -1.429, 10.129) -[mux-7] [INFO] [1746050472.545134087] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050472.546083334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050472.546892685] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050472.548103671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050472.549284174] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050472.585193175] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050472.587272741] [sailbot.teensy]: Wind angle: 134 -[trim_sail-4] [INFO] [1746050472.587396302] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050472.588226790] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050472.588475224] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050472.589157735] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746050472.590063148] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050472.645059519] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050472.646461490] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050472.646491085] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050472.648641752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050472.649622524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050472.745277421] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050472.746225419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050472.746833126] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050472.748216381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050472.748763259] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050472.835283132] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050472.837710715] [sailbot.teensy]: Wind angle: 134 -[trim_sail-4] [INFO] [1746050472.837907770] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050472.838505426] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050472.838906613] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050472.839055255] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050472.839275336] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050472.844403144] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050472.845049228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050472.845532738] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050472.846840036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050472.847878727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050472.945806025] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050472.946552551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050472.947411872] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050472.948467596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050472.948992633] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050473.003302929] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909359 Long: -76.5030942 -[vectornav-1] [INFO] [1746050473.005068853] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.09699999999998, 0.184, 10.091) -[mux-7] [INFO] [1746050473.045163330] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050473.045963139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050473.046639424] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050473.048369485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050473.049410478] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050473.085022692] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050473.086856387] [sailbot.teensy]: Wind angle: 132 -[trim_sail-4] [INFO] [1746050473.087276403] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050473.087752910] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050473.088666453] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050473.088914032] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050473.089782194] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050473.144601763] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050473.145140220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050473.145727011] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050473.146861456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050473.147889119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050473.245127871] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050473.245957585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050473.246684306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050473.247910696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050473.248398078] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050473.335650673] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050473.337839568] [sailbot.teensy]: Wind angle: 128 -[teensy-2] [INFO] [1746050473.338938485] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050473.339140542] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050473.339880829] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050473.340189594] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050473.340853563] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050473.344337620] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050473.344998881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050473.345461661] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050473.346866321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050473.347922481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050473.445488844] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050473.446225733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050473.447499060] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050473.448837865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050473.450260554] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050473.502507049] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909444 Long: -76.50309187 -[vectornav-1] [INFO] [1746050473.503686892] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.52800000000002, -0.965, 13.227) -[mux-7] [INFO] [1746050473.544799933] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050473.545579044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050473.546666409] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050473.547300065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050473.549100632] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050473.585285936] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050473.586915213] [sailbot.teensy]: Wind angle: 119 -[trim_sail-4] [INFO] [1746050473.587382904] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050473.588632593] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050473.588859958] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050473.589846032] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050473.590753974] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050473.645145807] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050473.645894794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050473.646618002] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050473.648014361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050473.649119245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050473.707944432] [sailbot.mux]: controller_app rudder angle: -4 -[mux-7] [INFO] [1746050473.745159822] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050473.745958980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050473.746768046] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050473.748260087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050473.748873164] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050473.835385388] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050473.837562096] [sailbot.teensy]: Wind angle: 118 -[trim_sail-4] [INFO] [1746050473.838070331] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050473.838716984] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050473.838921127] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050473.839234166] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050473.839663166] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050473.844317341] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050473.844949279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050473.845507714] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050473.846617043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050473.847757686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050473.945160101] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050473.946186488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050473.946868650] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050473.947858416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050473.948331280] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050474.003196209] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909574 Long: -76.50308978 -[vectornav-1] [INFO] [1746050474.004467482] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (40.860000000000014, -2.331, 12.52) -[mux-7] [INFO] [1746050474.045374686] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050474.046385398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050474.047122922] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050474.049032941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050474.050073083] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050474.084368635] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050474.085767368] [sailbot.teensy]: Wind angle: 117 -[trim_sail-4] [INFO] [1746050474.085905327] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050474.086599858] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050474.087397511] [sailbot.teensy]: Actual tail angle: 21 -[teensy-2] [INFO] [1746050474.088289979] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050474.088801048] [sailbot.mux]: algo sail angle: 15 -[mux-7] [INFO] [1746050474.144465088] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050474.145515912] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050474.144847451] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050474.146383804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050474.147476130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050474.245170936] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050474.245920777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050474.246615808] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050474.248067697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050474.249238116] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050474.287485045] [sailbot.mux]: controller_app rudder angle: -12 -[teensy-2] [INFO] [1746050474.335310669] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050474.337661289] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050474.338361790] [sailbot.teensy]: Wind angle: 118 -[mux-7] [INFO] [1746050474.339052799] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050474.339385154] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050474.340331225] [sailbot.teensy]: Actual tail angle: 21 -[teensy-2] [INFO] [1746050474.341188461] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050474.344482909] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050474.344881867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050474.345710648] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050474.346512948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050474.347551215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050474.445796282] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050474.446939843] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050474.447551617] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050474.449708467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050474.450848227] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050474.502408186] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909715 Long: -76.50308604 -[vectornav-1] [INFO] [1746050474.503931787] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.30500000000001, 2.406, 15.703) -[mux-7] [INFO] [1746050474.545053224] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050474.546254701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050474.546725851] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050474.548124398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050474.549327016] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050474.587804163] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050474.590219512] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050474.591197147] [sailbot.teensy]: Wind angle: 124 -[teensy-2] [INFO] [1746050474.592254878] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050474.592593247] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050474.594149262] [sailbot.teensy]: Actual tail angle: 21 -[teensy-2] [INFO] [1746050474.595232189] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050474.645035500] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050474.645916798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050474.646357522] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050474.648111576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050474.649176168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050474.745172945] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050474.746111658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050474.747009149] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050474.748225406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050474.749404567] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050474.835418168] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050474.837342617] [sailbot.teensy]: Wind angle: 126 -[teensy-2] [INFO] [1746050474.838345632] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050474.838914154] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050474.839241895] [sailbot.teensy]: Actual tail angle: 13 -[mux-7] [INFO] [1746050474.839640074] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050474.840138690] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050474.844285404] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050474.844921872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050474.845396630] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050474.847116811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050474.848357401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050474.945336185] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050474.946135354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050474.946921588] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050474.948378155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050474.949620390] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050475.003937987] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909812 Long: -76.50308333 -[vectornav-1] [INFO] [1746050475.005749698] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.15699999999998, -2.066, 15.071) -[mux-7] [INFO] [1746050475.045230289] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050475.046005452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050475.046685568] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050475.048042957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050475.049119790] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050475.085421986] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050475.087934446] [sailbot.teensy]: Wind angle: 123 -[trim_sail-4] [INFO] [1746050475.088249126] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050475.088945578] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050475.089857982] [sailbot.teensy]: Actual tail angle: 13 -[mux-7] [INFO] [1746050475.090251136] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050475.090842246] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050475.144976101] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050475.145625333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050475.146242918] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050475.147519750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050475.148736125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050475.245415302] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050475.246249566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050475.247120993] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050475.248440253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050475.248975496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050475.323630079] [sailbot.mux]: controller_app rudder angle: -10 -[teensy-2] [INFO] [1746050475.335365091] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050475.337726349] [sailbot.teensy]: Wind angle: 118 -[trim_sail-4] [INFO] [1746050475.337756296] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050475.338875010] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050475.340028864] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050475.340953889] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050475.341841852] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050475.344300923] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050475.344783652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050475.345336122] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050475.346305078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050475.347291574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050475.445599369] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050475.446272128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050475.447282713] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050475.448778067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050475.450070536] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050475.503363869] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909987 Long: -76.5030803 -[vectornav-1] [INFO] [1746050475.504837284] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.886000000000024, -1.191, 13.615) -[mux-7] [INFO] [1746050475.545153180] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050475.545835200] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050475.547659678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[mux-7] [INFO] [1746050475.546895225] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050475.549402591] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050475.585352874] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050475.587635407] [sailbot.teensy]: Wind angle: 126 -[trim_sail-4] [INFO] [1746050475.587726443] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050475.588643359] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050475.589710617] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050475.590571494] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050475.590124277] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050475.645040569] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050475.645969044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050475.646396892] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050475.647620095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050475.648053137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050475.745066192] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050475.745968504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050475.746368628] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050475.748096102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050475.749116542] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050475.835234331] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050475.837476767] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050475.837667683] [sailbot.teensy]: Wind angle: 141 -[teensy-2] [INFO] [1746050475.838614919] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050475.839225103] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050475.839288796] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050475.839680148] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050475.844393130] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050475.844805850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050475.845516958] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050475.846368579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050475.847426045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050475.945871240] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050475.946837729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050475.947689359] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050475.949421248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050475.950564913] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050476.003600496] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46910219 Long: -76.50307738 -[vectornav-1] [INFO] [1746050476.005059780] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.06, 1.916, 13.334) -[mux-7] [INFO] [1746050476.046177253] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050476.046875513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050476.047853438] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050476.049227392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050476.050537607] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050476.085391197] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050476.087612370] [sailbot.teensy]: Wind angle: 143 -[trim_sail-4] [INFO] [1746050476.087735667] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050476.088263407] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050476.088584252] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050476.089648437] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050476.090497752] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050476.145048428] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050476.145849471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050476.146390671] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050476.147895685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050476.149126069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050476.245158695] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050476.245873093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050476.247038182] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050476.247965917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050476.249109597] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050476.322573088] [sailbot.mux]: controller_app rudder angle: -1 -[teensy-2] [INFO] [1746050476.335391398] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050476.337184658] [sailbot.teensy]: Wind angle: 143 -[trim_sail-4] [INFO] [1746050476.337705459] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050476.338122245] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050476.339052009] [sailbot.teensy]: Actual tail angle: 15 -[mux-7] [INFO] [1746050476.339283322] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050476.340321477] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050476.344314514] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050476.344848842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050476.345453724] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050476.346610121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050476.347648815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050476.445442749] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050476.446177513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050476.447022312] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050476.448472667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050476.449773840] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050476.503637980] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46910434 Long: -76.50307591 -[vectornav-1] [INFO] [1746050476.505370072] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (69.721, -1.363, 11.219) -[mux-7] [INFO] [1746050476.545104050] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050476.545880558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050476.546869422] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050476.548115932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050476.549211067] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050476.585297914] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050476.587393102] [sailbot.teensy]: Wind angle: 143 -[teensy-2] [INFO] [1746050476.588411794] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050476.587875133] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050476.588806079] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050476.589296640] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050476.590167456] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050476.645441899] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050476.646330036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050476.647535227] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050476.649161150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050476.650349112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050476.745324789] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050476.746140177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050476.746892951] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050476.747795296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050476.748316223] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050476.835472666] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050476.837439140] [sailbot.teensy]: Wind angle: 145 -[teensy-2] [INFO] [1746050476.838438540] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050476.838015141] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050476.839327783] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050476.839408414] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050476.840244636] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050476.844333289] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050476.844818985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050476.845788873] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050476.846481883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050476.847631595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050476.945357883] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050476.945873700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050476.946970438] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050476.947874511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050476.949686021] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050477.004637282] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691066 Long: -76.50307512 -[vectornav-1] [INFO] [1746050477.006032609] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (82.39299999999997, -1.402, 9.998) -[mux-7] [INFO] [1746050477.045448003] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050477.046152758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050477.047163036] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050477.048587616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050477.049712263] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050477.085335877] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050477.087616970] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050477.087729043] [sailbot.teensy]: Wind angle: 150 -[teensy-2] [INFO] [1746050477.088719536] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050477.089180089] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050477.089662709] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050477.090573381] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050477.145355415] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050477.146320573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050477.146926166] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050477.148679454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050477.149926793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050477.245264785] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050477.245958694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050477.246741222] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050477.247744358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050477.248289380] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050477.335461644] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050477.337612989] [sailbot.teensy]: Wind angle: 156 -[teensy-2] [INFO] [1746050477.338609313] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050477.337940651] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050477.339556078] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050477.340637477] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050477.340979731] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050477.344285728] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050477.344809716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050477.345393052] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050477.346484244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050477.347625725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050477.445662773] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050477.446764806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050477.447366926] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050477.449299094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050477.450373277] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050477.503842503] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691091 Long: -76.50307515 -[vectornav-1] [INFO] [1746050477.505786355] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (93.832, 0.208, 7.196) -[mux-7] [INFO] [1746050477.545213309] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050477.545790993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050477.546707454] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050477.548969001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050477.550015555] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050477.585332455] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050477.587467009] [sailbot.teensy]: Wind angle: 159 -[trim_sail-4] [INFO] [1746050477.587590403] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050477.588573178] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050477.589015470] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050477.589478170] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050477.590376658] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050477.645329257] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050477.646001274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050477.646872416] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050477.648212588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050477.649403903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050477.745343584] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050477.746247080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050477.746944891] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050477.748613393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050477.749880824] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050477.835382784] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050477.837166673] [sailbot.teensy]: Wind angle: 161 -[trim_sail-4] [INFO] [1746050477.837722559] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050477.839158030] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050477.839261477] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050477.840103790] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050477.841010868] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050477.844469947] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050477.844741317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050477.845666916] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050477.846303515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050477.847243688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050477.945324450] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050477.945816859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050477.946935093] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050477.947845518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050477.948610726] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050478.003506557] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911147 Long: -76.50307651 -[vectornav-1] [INFO] [1746050478.004952951] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (102.12599999999998, 3.18, 5.97) -[mux-7] [INFO] [1746050478.045179371] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050478.045791758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050478.046546859] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050478.047836524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050478.048867173] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050478.085475711] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050478.088066460] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050478.088289937] [sailbot.teensy]: Wind angle: 162 -[mux-7] [INFO] [1746050478.088976509] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050478.089251427] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050478.090155759] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050478.091029187] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050478.145460729] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050478.146332367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050478.147063035] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050478.147933943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050478.148437579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050478.245237775] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050478.246002000] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050478.248019452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[mux-7] [INFO] [1746050478.246931442] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050478.248499908] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050478.335620537] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050478.338085115] [sailbot.teensy]: Wind angle: 172 -[trim_sail-4] [INFO] [1746050478.338700635] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050478.339153928] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050478.340238176] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050478.340892877] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050478.341123373] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050478.344586643] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050478.345209772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050478.345868793] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050478.347000960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050478.348177932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050478.445303579] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050478.446151591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050478.446518036] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050478.448951829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050478.450024374] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050478.502927718] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911297 Long: -76.5030771 -[vectornav-1] [INFO] [1746050478.504046730] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (108.582, -4.657, 5.627) -[mux-7] [INFO] [1746050478.545333101] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050478.546124693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050478.547147030] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050478.548620980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050478.549710807] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050478.585295559] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050478.587830224] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050478.587904756] [sailbot.teensy]: Wind angle: 181 -[teensy-2] [INFO] [1746050478.588886381] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050478.589405256] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050478.589796900] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050478.590715077] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050478.645098130] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050478.645913229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050478.646592027] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050478.648693435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050478.649862811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050478.745332626] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050478.746155738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050478.746795436] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050478.748327222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050478.749001736] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050478.835376358] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050478.837534578] [sailbot.teensy]: Wind angle: 184 -[teensy-2] [INFO] [1746050478.838608801] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050478.838851745] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050478.839478808] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050478.840752992] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050478.841614627] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050478.844354505] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050478.845045427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050478.845453694] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050478.846777759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050478.848440369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050478.945658541] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050478.947037457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050478.947198230] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050478.949131556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050478.950403639] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050479.002419153] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911519 Long: -76.50307837 -[vectornav-1] [INFO] [1746050479.003691786] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (114.03399999999999, 3.01, 4.987) -[mux-7] [INFO] [1746050479.045019746] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050479.045766842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050479.046446987] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050479.047706731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050479.048892591] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050479.085549023] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050479.088112830] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050479.088486554] [sailbot.teensy]: Wind angle: 184 -[mux-7] [INFO] [1746050479.088725386] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050479.089502125] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050479.090431865] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050479.091333093] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050479.145172619] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050479.146164646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050479.146705691] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050479.148392835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050479.149699039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050479.245241662] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050479.246255312] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050479.246782762] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050479.248771138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050479.249801042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050479.310276523] [sailbot.mux]: controller_app rudder angle: 12 -[teensy-2] [INFO] [1746050479.335441555] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050479.337721304] [sailbot.teensy]: Wind angle: 184 -[trim_sail-4] [INFO] [1746050479.337782656] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050479.338645896] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050479.339112997] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050479.339495177] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050479.340407201] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050479.344415575] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050479.345064557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050479.345535143] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050479.346658705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 -[teensy-2] [INFO] [1746050479.347622187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050479.445008524] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050479.445473357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050479.446507307] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050479.447227017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 -[teensy-2] [INFO] [1746050479.448741684] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050479.503728253] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691165 Long: -76.50307941 -[vectornav-1] [INFO] [1746050479.505547345] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (119.52100000000002, 1.729, 4.679) -[mux-7] [INFO] [1746050479.545029942] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050479.545837305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050479.546729764] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050479.547706997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 -[teensy-2] [INFO] [1746050479.548783725] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050479.585373818] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050479.587891055] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050479.589386852] [sailbot.teensy]: Wind angle: 185 -[mux-7] [INFO] [1746050479.589415665] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050479.590598692] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050479.591454890] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050479.592373330] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050479.645098579] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050479.645810134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050479.646326522] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050479.647705122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 -[teensy-2] [INFO] [1746050479.648918008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050479.745233834] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050479.746138516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050479.747130398] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050479.748241692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 -[teensy-2] [INFO] [1746050479.748959831] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050479.835409578] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050479.837223427] [sailbot.teensy]: Wind angle: 188 -[trim_sail-4] [INFO] [1746050479.837808078] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050479.838160918] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050479.839051112] [sailbot.teensy]: Actual tail angle: 37 -[mux-7] [INFO] [1746050479.839126131] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050479.839946502] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050479.844400232] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050479.844991667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050479.845658118] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050479.846646641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 -[teensy-2] [INFO] [1746050479.847838427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050479.945250219] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050479.946024544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050479.946727197] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050479.948226138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 -[teensy-2] [INFO] [1746050479.949309758] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050480.003890199] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911735 Long: -76.50308014 -[vectornav-1] [INFO] [1746050480.005671312] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (121.35699999999997, -1.995, 4.726) -[mux-7] [INFO] [1746050480.045024254] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050480.045672642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050480.046276784] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050480.047503065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 -[teensy-2] [INFO] [1746050480.048563726] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050480.085324035] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050480.087049614] [sailbot.teensy]: Wind angle: 193 -[trim_sail-4] [INFO] [1746050480.087907784] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050480.088010983] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050480.088922935] [sailbot.teensy]: Actual tail angle: 37 -[mux-7] [INFO] [1746050480.089087659] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050480.089826845] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050480.145045863] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050480.145691309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050480.146416287] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050480.147728439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 -[teensy-2] [INFO] [1746050480.148782856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050480.245211566] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050480.245924537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050480.246709698] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050480.248457027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 -[teensy-2] [INFO] [1746050480.249011855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050480.325124244] [sailbot.mux]: controller_app rudder angle: 12 -[teensy-2] [INFO] [1746050480.335420380] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050480.337881290] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050480.337924406] [sailbot.teensy]: Wind angle: 196 -[mux-7] [INFO] [1746050480.338513350] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050480.338853717] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050480.339770403] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746050480.340665249] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050480.344409310] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050480.344910667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050480.345762614] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050480.346742667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 -[teensy-2] [INFO] [1746050480.348004161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050480.445256393] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050480.446365379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050480.446864148] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050480.448018319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 -[teensy-2] [INFO] [1746050480.448472658] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050480.503183995] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911839 Long: -76.50308127 -[vectornav-1] [INFO] [1746050480.504649144] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (123.02600000000001, 0.015, 5.029) -[mux-7] [INFO] [1746050480.545090567] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050480.545867252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050480.546437003] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050480.548024059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 -[teensy-2] [INFO] [1746050480.549187874] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050480.585699702] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050480.588570204] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050480.589209073] [sailbot.teensy]: Wind angle: 196 -[mux-7] [INFO] [1746050480.589982658] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050480.590294111] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050480.591254212] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746050480.592203565] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050480.645169005] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050480.645953934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050480.646810108] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050480.648445680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 -[teensy-2] [INFO] [1746050480.649460553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050480.745240164] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050480.745974852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050480.746979545] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050480.748464331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 -[teensy-2] [INFO] [1746050480.749651779] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050480.835390893] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050480.837274740] [sailbot.teensy]: Wind angle: 200 -[trim_sail-4] [INFO] [1746050480.837912044] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050480.839104845] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050480.839123296] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050480.840132731] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746050480.841041613] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050480.844359067] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050480.844975579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050480.845635324] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050480.847018928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 -[teensy-2] [INFO] [1746050480.848034506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050480.945562533] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050480.946345398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050480.947132036] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050480.948635253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 -[teensy-2] [INFO] [1746050480.950002366] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050481.003914916] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911932 Long: -76.50308212 -[vectornav-1] [INFO] [1746050481.005789522] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (122.69400000000002, 2.019, 4.223) -[mux-7] [INFO] [1746050481.045444774] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050481.046150111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050481.047101607] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050481.048574236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 -[teensy-2] [INFO] [1746050481.049675048] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050481.085276145] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050481.087603332] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050481.088720076] [sailbot.teensy]: Wind angle: 200 -[mux-7] [INFO] [1746050481.088790921] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050481.089693827] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050481.090572231] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746050481.091382479] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050481.145022445] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050481.145736194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050481.146398669] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050481.147838853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 -[teensy-2] [INFO] [1746050481.148910145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050481.245223668] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050481.245935623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050481.246988787] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050481.247824940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 12 -[teensy-2] [INFO] [1746050481.248282824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050481.332235402] [sailbot.mux]: controller_app rudder angle: 7 -[teensy-2] [INFO] [1746050481.335024707] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050481.337078668] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050481.337607441] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050481.337641708] [sailbot.teensy]: Wind angle: 200 -[teensy-2] [INFO] [1746050481.338669174] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050481.339563531] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746050481.340488652] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050481.344380016] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050481.344998062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050481.345493265] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050481.346763217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050481.347792391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050481.445481102] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050481.446440917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050481.447076771] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050481.448875083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050481.450337862] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050481.503483635] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911951 Long: -76.50308246 -[vectornav-1] [INFO] [1746050481.504900228] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (121.66300000000001, 0.164, 4.2) -[mux-7] [INFO] [1746050481.544933335] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050481.545645898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050481.546200753] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050481.547478250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050481.548514980] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050481.585454122] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050481.587790973] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050481.588227770] [sailbot.teensy]: Wind angle: 200 -[mux-7] [INFO] [1746050481.588312525] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050481.589301025] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050481.590169630] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746050481.591018133] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050481.645331386] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050481.646154945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050481.646829780] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050481.648592847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050481.649720660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050481.745544310] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050481.746201925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050481.747131731] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050481.748512796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050481.749461362] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050481.835303753] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050481.837159841] [sailbot.teensy]: Wind angle: 200 -[teensy-2] [INFO] [1746050481.838079195] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050481.837676550] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050481.838164288] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050481.838995498] [sailbot.teensy]: Actual tail angle: 32 -[teensy-2] [INFO] [1746050481.839903843] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050481.844358139] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050481.844938501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050481.846100875] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050481.846738492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050481.847818230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050481.946228771] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050481.946457048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050481.947925320] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050481.950417165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050481.951726670] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050482.003755278] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911969 Long: -76.50308262 -[vectornav-1] [INFO] [1746050482.005131373] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (118.65100000000001, -1.769, 4.401) -[mux-7] [INFO] [1746050482.045077996] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050482.045728859] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050482.047523658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[mux-7] [INFO] [1746050482.047658596] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050482.048751303] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050482.085368636] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050482.087216314] [sailbot.teensy]: Wind angle: 199 -[teensy-2] [INFO] [1746050482.088175406] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050482.087924390] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050482.088614783] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050482.089093041] [sailbot.teensy]: Actual tail angle: 32 -[teensy-2] [INFO] [1746050482.090001562] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050482.145090751] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050482.146008918] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050482.146874933] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050482.147942083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050482.148446548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050482.245041605] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050482.245693318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050482.246701181] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050482.247662472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 7 -[teensy-2] [INFO] [1746050482.249007696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050482.324835674] [sailbot.mux]: controller_app rudder angle: -19 -[teensy-2] [INFO] [1746050482.335414473] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050482.337843753] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050482.338683255] [sailbot.teensy]: Wind angle: 197 -[mux-7] [INFO] [1746050482.339021787] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050482.339633467] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050482.340621706] [sailbot.teensy]: Actual tail angle: 32 -[teensy-2] [INFO] [1746050482.341458819] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050482.344327663] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050482.344859496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050482.345376581] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050482.346525837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050482.347691897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050482.445505384] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050482.446338224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050482.447700840] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050482.448276682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050482.448749870] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050482.503440881] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912048 Long: -76.50308318 -[vectornav-1] [INFO] [1746050482.505250393] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (116.99400000000003, -2.077, 3.284) -[mux-7] [INFO] [1746050482.544970143] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050482.545796317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050482.546217275] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050482.548904118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050482.550801815] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050482.585524701] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050482.587668584] [sailbot.teensy]: Wind angle: 196 -[trim_sail-4] [INFO] [1746050482.587771113] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050482.588652315] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050482.589605192] [sailbot.teensy]: Actual tail angle: 32 -[mux-7] [INFO] [1746050482.590062434] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050482.590468425] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050482.645226212] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050482.646097544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050482.646714040] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050482.648433105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050482.649592527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050482.745474765] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050482.746288441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050482.747080840] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050482.748676575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050482.749766206] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050482.835772854] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050482.838710046] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050482.840073605] [sailbot.teensy]: Wind angle: 195 -[mux-7] [INFO] [1746050482.840477753] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050482.841143737] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050482.842416316] [sailbot.teensy]: Actual tail angle: 6 -[teensy-2] [INFO] [1746050482.843652868] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050482.844832577] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050482.845781980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050482.846252031] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050482.847495613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050482.848537932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050482.945527032] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050482.946399864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050482.947170304] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050482.948816356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050482.950009652] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050483.003374333] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912086 Long: -76.5030837 -[vectornav-1] [INFO] [1746050483.004920264] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (114.459, 7.923, 5.66) -[mux-7] [INFO] [1746050483.044982339] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050483.046002904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050483.046406679] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050483.047864888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050483.048940941] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050483.085411371] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050483.087762703] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746050483.087754577] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050483.088809613] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050483.089490912] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050483.089787302] [sailbot.teensy]: Actual tail angle: 6 -[teensy-2] [INFO] [1746050483.090711606] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050483.145124358] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050483.145763757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050483.146365198] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050483.147763455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050483.148802665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050483.245383811] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050483.246295334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050483.247125898] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050483.248510156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050483.249551113] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050483.335428856] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050483.337904138] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050483.338354811] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050483.339014999] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746050483.339531811] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050483.339967077] [sailbot.teensy]: Actual tail angle: 6 -[teensy-2] [INFO] [1746050483.340352155] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050483.344340134] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050483.344974996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050483.345551159] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050483.346708482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050483.347897889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050483.445068508] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050483.445865016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050483.446464951] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050483.447837062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050483.448996267] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050483.503798800] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912059 Long: -76.5030828 -[vectornav-1] [INFO] [1746050483.505836117] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (111.19400000000002, -5.999, 4.421) -[mux-7] [INFO] [1746050483.544813711] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050483.545446614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050483.545948227] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050483.547301494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050483.548612230] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050483.585408900] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050483.587395514] [sailbot.teensy]: Wind angle: 189 -[trim_sail-4] [INFO] [1746050483.587784305] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050483.588371393] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050483.588275718] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050483.589292001] [sailbot.teensy]: Actual tail angle: 6 -[teensy-2] [INFO] [1746050483.590163047] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050483.645275715] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050483.646261003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050483.646777033] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050483.648535103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050483.649648649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050483.664138667] [sailbot.mux]: controller_app rudder angle: -22 -[mux-7] [INFO] [1746050483.745056693] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050483.745831031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050483.746365320] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050483.748340570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050483.749474534] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050483.835313931] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050483.837887219] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050483.838154312] [sailbot.teensy]: Wind angle: 187 -[mux-7] [INFO] [1746050483.838440784] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050483.838852448] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050483.839302050] [sailbot.teensy]: Actual tail angle: 6 -[teensy-2] [INFO] [1746050483.839648889] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050483.844459570] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050483.845103201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050483.845828322] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050483.846803771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050483.847969898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050483.945450303] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050483.946206257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050483.947477540] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050483.948249145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050483.948716633] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050484.002568991] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912055 Long: -76.50308287 -[vectornav-1] [INFO] [1746050484.003640991] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (110.04200000000003, -1.174, 4.114) -[mux-7] [INFO] [1746050484.045516620] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050484.047136534] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050484.046771767] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050484.049032289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050484.049612676] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050484.085717911] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050484.088571535] [sailbot.teensy]: Wind angle: 186 -[trim_sail-4] [INFO] [1746050484.088822700] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050484.089532396] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050484.089769418] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050484.090464429] [sailbot.teensy]: Actual tail angle: 3 -[teensy-2] [INFO] [1746050484.091349995] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050484.145145445] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050484.145820100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050484.146512876] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050484.148001798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050484.149034611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050484.245501454] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050484.246253311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050484.247111192] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050484.248696830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050484.249809441] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050484.335515496] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050484.337448517] [sailbot.teensy]: Wind angle: 186 -[trim_sail-4] [INFO] [1746050484.337890411] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050484.338421564] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050484.339358157] [sailbot.teensy]: Actual tail angle: 3 -[mux-7] [INFO] [1746050484.339825133] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050484.340238695] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050484.344547450] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050484.345273596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050484.345670462] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050484.347250513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050484.348483651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050484.445453897] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050484.446526775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050484.447515875] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050484.448353456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050484.448854934] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050484.503692063] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912078 Long: -76.50308293 -[vectornav-1] [INFO] [1746050484.505994249] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (108.03500000000003, 3.561, 4.546) -[mux-7] [INFO] [1746050484.545038901] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050484.545822228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050484.546798892] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050484.547886971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050484.549058216] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050484.585385995] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050484.587562403] [sailbot.teensy]: Wind angle: 182 -[trim_sail-4] [INFO] [1746050484.587590761] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050484.588566208] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050484.588906149] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050484.589480867] [sailbot.teensy]: Actual tail angle: 3 -[teensy-2] [INFO] [1746050484.590369645] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050484.645535969] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050484.646495413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050484.647163402] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050484.648846953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050484.650034492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050484.745519076] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050484.746275500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050484.747100696] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050484.748888395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050484.750160093] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050484.835365238] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050484.837225355] [sailbot.teensy]: Wind angle: 177 -[trim_sail-4] [INFO] [1746050484.837784892] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050484.838196115] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050484.839102196] [sailbot.teensy]: Actual tail angle: 3 -[mux-7] [INFO] [1746050484.839936659] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050484.839954177] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050484.844405822] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050484.845169695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050484.845563767] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050484.846861742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050484.848543495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050484.945563180] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050484.946817077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050484.947158485] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050484.948341173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050484.948871143] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050485.002659749] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912028 Long: -76.50308254 -[vectornav-1] [INFO] [1746050485.003822640] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (103.74000000000001, -2.489, 5.477) -[mux-7] [INFO] [1746050485.044978207] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050485.045680028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050485.046272841] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050485.047719304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050485.048755770] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050485.085458638] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050485.087450488] [sailbot.teensy]: Wind angle: 177 -[trim_sail-4] [INFO] [1746050485.088089387] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050485.088447027] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050485.089384630] [sailbot.teensy]: Actual tail angle: 3 -[mux-7] [INFO] [1746050485.090280098] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050485.090324470] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050485.145158984] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050485.145765398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050485.146636965] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050485.147978291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050485.149751462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050485.245373191] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050485.246041732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050485.246990462] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050485.248201399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050485.248721846] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050485.335396794] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050485.337557025] [sailbot.teensy]: Wind angle: 176 -[trim_sail-4] [INFO] [1746050485.338041291] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050485.338554600] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050485.339570788] [sailbot.teensy]: Actual tail angle: 3 -[mux-7] [INFO] [1746050485.339571186] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050485.340582438] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050485.344839558] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050485.345349393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050485.346176537] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050485.347233097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050485.348437961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050485.445534646] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050485.446169779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050485.447155721] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050485.448966426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050485.450166021] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050485.503353860] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912051 Long: -76.50308243 -[vectornav-1] [INFO] [1746050485.505049767] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (99.00799999999998, 1.678, 6.411) -[mux-7] [INFO] [1746050485.545148769] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050485.545922221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050485.546623806] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050485.548326311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050485.549566717] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050485.585475481] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050485.587974476] [sailbot.teensy]: Wind angle: 170 -[trim_sail-4] [INFO] [1746050485.588046706] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050485.588934867] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050485.589121962] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050485.589817566] [sailbot.teensy]: Actual tail angle: 3 -[teensy-2] [INFO] [1746050485.590710224] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050485.645244669] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050485.646093370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050485.646893000] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050485.648053432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050485.648586264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050485.745506107] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050485.746425587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050485.747232902] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050485.748730221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050485.750026322] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050485.835400319] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050485.837703606] [sailbot.teensy]: Wind angle: 169 -[trim_sail-4] [INFO] [1746050485.837967002] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050485.838664223] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050485.839110151] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050485.839574922] [sailbot.teensy]: Actual tail angle: 3 -[teensy-2] [INFO] [1746050485.840460749] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050485.844238803] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050485.845081422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050485.845350469] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050485.846865840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050485.848014139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050485.945742275] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050485.946739079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050485.947452234] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050485.948259200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050485.948968383] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050486.002454566] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911989 Long: -76.50308198 -[vectornav-1] [INFO] [1746050486.003916346] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (92.805, -4.189, 4.248) -[mux-7] [INFO] [1746050486.044688318] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050486.045281879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050486.045902653] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050486.047036181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050486.048214433] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050486.085748433] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050486.087930242] [sailbot.teensy]: Wind angle: 168 -[trim_sail-4] [INFO] [1746050486.088584055] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050486.089062014] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050486.090005643] [sailbot.teensy]: Actual tail angle: 3 -[mux-7] [INFO] [1746050486.090208335] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050486.090944486] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050486.144992703] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050486.145720395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050486.146705836] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050486.147540979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050486.148731425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050486.245327926] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050486.246269998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050486.246853582] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050486.248596925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050486.249647265] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050486.335377069] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050486.337190207] [sailbot.teensy]: Wind angle: 162 -[trim_sail-4] [INFO] [1746050486.337874722] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050486.338130741] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050486.339007164] [sailbot.teensy]: Actual tail angle: 3 -[mux-7] [INFO] [1746050486.339123420] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050486.339898664] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050486.344362546] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050486.345078990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050486.345528731] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050486.347149505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050486.348196387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050486.445537523] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050486.446366577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050486.447412271] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050486.448680380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050486.449215854] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050486.503338062] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912008 Long: -76.50308234 -[vectornav-1] [INFO] [1746050486.505229004] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (87.541, 2.668, 5.882) -[mux-7] [INFO] [1746050486.545052047] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050486.545769413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050486.546739577] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050486.548312545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050486.549436227] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050486.585358794] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050486.587155694] [sailbot.teensy]: Wind angle: 159 -[teensy-2] [INFO] [1746050486.588166683] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050486.587764878] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050486.588872262] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050486.589048717] [sailbot.teensy]: Actual tail angle: 3 -[teensy-2] [INFO] [1746050486.589963297] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050486.645705551] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050486.646323891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050486.647431805] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050486.650148700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050486.651344253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050486.745435384] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050486.746075117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050486.747078585] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050486.748489013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050486.749353821] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050486.835485120] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050486.838139171] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050486.838547074] [sailbot.teensy]: Wind angle: 156 -[teensy-2] [INFO] [1746050486.839484589] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050486.839968407] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050486.840484885] [sailbot.teensy]: Actual tail angle: 3 -[teensy-2] [INFO] [1746050486.841394974] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050486.844343384] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050486.844972784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050486.845556621] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050486.846750475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050486.848028520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050486.945573515] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050486.946513720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050486.947175973] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050486.949093721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050486.950411330] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050487.003478920] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911948 Long: -76.50308143 -[vectornav-1] [INFO] [1746050487.004814890] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (78.81799999999998, 0.027, 8.706) -[mux-7] [INFO] [1746050487.045279752] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050487.046246526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050487.046828596] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050487.049383007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050487.050439022] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050487.085582960] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050487.087379501] [sailbot.teensy]: Wind angle: 149 -[trim_sail-4] [INFO] [1746050487.088255086] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050487.089170829] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050487.089761300] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050487.090720405] [sailbot.teensy]: Actual tail angle: 3 -[teensy-2] [INFO] [1746050487.091572904] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050487.144965424] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050487.145920979] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050487.147016106] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050487.148037299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050487.148510867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050487.245006321] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050487.245804037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050487.246427550] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050487.247796033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050487.248935907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050487.312002353] [sailbot.mux]: controller_app rudder angle: 24 -[teensy-2] [INFO] [1746050487.335364185] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050487.337330439] [sailbot.teensy]: Wind angle: 145 -[trim_sail-4] [INFO] [1746050487.337788333] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050487.338314533] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050487.339242945] [sailbot.teensy]: Actual tail angle: 3 -[mux-7] [INFO] [1746050487.340099102] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050487.340135919] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050487.344443328] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050487.344885094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050487.345562594] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050487.347334126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050487.348528726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050487.445520087] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050487.446506271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050487.447274441] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050487.448956727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050487.450762536] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050487.502734299] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911867 Long: -76.5030811 -[vectornav-1] [INFO] [1746050487.503975749] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (69.62599999999998, -0.942, 8.103) -[mux-7] [INFO] [1746050487.545158078] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050487.546094317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050487.546582320] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050487.548088814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050487.549231772] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050487.585210756] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050487.587458775] [sailbot.teensy]: Wind angle: 141 -[trim_sail-4] [INFO] [1746050487.587591260] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050487.588462358] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050487.588953358] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050487.589358415] [sailbot.teensy]: Actual tail angle: 3 -[teensy-2] [INFO] [1746050487.590267944] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050487.645640378] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050487.646161193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050487.647458033] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050487.648547833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050487.649854786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050487.745733584] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050487.746286950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050487.747408611] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050487.748738655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050487.749899580] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050487.835463960] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050487.837541488] [sailbot.teensy]: Wind angle: 136 -[trim_sail-4] [INFO] [1746050487.838338309] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050487.838519949] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050487.839442175] [sailbot.teensy]: Actual tail angle: 49 -[mux-7] [INFO] [1746050487.839906272] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050487.840417119] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050487.844468859] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050487.845103372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050487.845637286] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050487.846926933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050487.848098154] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050487.945732213] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050487.946699045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050487.947501755] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050487.948845999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050487.949282820] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050488.002627918] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911858 Long: -76.50308045 -[vectornav-1] [INFO] [1746050488.003805224] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.158000000000015, -2.191, 8.357) -[mux-7] [INFO] [1746050488.045327010] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050488.046261215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050488.046878133] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050488.048527091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050488.049563150] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050488.085688426] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050488.088193152] [sailbot.teensy]: Wind angle: 136 -[trim_sail-4] [INFO] [1746050488.088263661] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050488.089706708] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050488.089755472] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050488.090622271] [sailbot.teensy]: Actual tail angle: 49 -[teensy-2] [INFO] [1746050488.091519427] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050488.145257472] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050488.146213380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050488.147119779] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050488.148431957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050488.149520746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050488.245342857] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050488.246289481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050488.246895405] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050488.248519841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050488.249614592] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050488.335343863] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050488.337536508] [sailbot.teensy]: Wind angle: 134 -[trim_sail-4] [INFO] [1746050488.337584473] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050488.338537691] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050488.338851101] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050488.339508731] [sailbot.teensy]: Actual tail angle: 49 -[teensy-2] [INFO] [1746050488.340399543] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050488.344409792] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050488.344985466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050488.345522755] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050488.346762191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050488.347755919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050488.445319421] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050488.446648174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050488.447051174] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050488.448927225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050488.449484819] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050488.504018163] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911906 Long: -76.50307935 -[vectornav-1] [INFO] [1746050488.505368678] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.45100000000002, 0.516, 11.243) -[mux-7] [INFO] [1746050488.545157190] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050488.546037539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050488.546594697] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050488.548306268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050488.549353281] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050488.585338747] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050488.587721288] [sailbot.teensy]: Wind angle: 129 -[trim_sail-4] [INFO] [1746050488.587770338] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050488.588752537] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050488.589054968] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050488.589684504] [sailbot.teensy]: Actual tail angle: 49 -[teensy-2] [INFO] [1746050488.590532091] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050488.645496051] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050488.646423297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050488.647136483] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050488.648864098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050488.649998701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050488.745304112] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050488.746284343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050488.747117749] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050488.748403772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050488.748942895] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050488.835369896] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050488.837838589] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050488.838179986] [sailbot.teensy]: Wind angle: 120 -[mux-7] [INFO] [1746050488.838463347] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050488.839098045] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050488.840029468] [sailbot.teensy]: Actual tail angle: 49 -[teensy-2] [INFO] [1746050488.840871556] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050488.844403862] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050488.845005232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050488.845768936] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050488.846710173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050488.847740643] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050488.945732261] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050488.946311587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050488.947725101] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050488.948681473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050488.950646035] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050489.003986325] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911888 Long: -76.50307725 -[vectornav-1] [INFO] [1746050489.005776091] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.886000000000024, -1.533, 14.86) -[mux-7] [INFO] [1746050489.045254513] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050489.046137203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050489.046830268] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050489.048427104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050489.049559357] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050489.085598586] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050489.088256482] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050489.089199973] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050489.089213062] [sailbot.teensy]: Wind angle: 112 -[teensy-2] [INFO] [1746050489.090511315] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050489.091407990] [sailbot.teensy]: Actual tail angle: 49 -[teensy-2] [INFO] [1746050489.092257336] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050489.144959981] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050489.145591991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050489.146252769] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050489.147445780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050489.148473133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050489.244819901] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050489.245374392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050489.246183070] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050489.247166891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050489.248242882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050489.334259872] [sailbot.mux]: controller_app rudder angle: 4 -[teensy-2] [INFO] [1746050489.335031181] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050489.337074780] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050489.337570419] [sailbot.teensy]: Wind angle: 110 -[mux-7] [INFO] [1746050489.338513679] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050489.338648131] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050489.339386595] [sailbot.teensy]: Actual tail angle: 49 -[teensy-2] [INFO] [1746050489.339765181] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050489.344411296] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050489.345133482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050489.345847687] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050489.346984157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050489.348273410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050489.445548522] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050489.446465401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050489.447667016] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050489.448889446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050489.450068817] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050489.503935432] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911876 Long: -76.50307481 -[vectornav-1] [INFO] [1746050489.505517853] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (19.257000000000005, -0.095, 14.644) -[mux-7] [INFO] [1746050489.545141330] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050489.545876672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050489.546533158] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050489.548192208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050489.549238090] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050489.585609166] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050489.587958528] [sailbot.teensy]: Wind angle: 103 -[teensy-2] [INFO] [1746050489.589016052] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050489.588238464] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050489.588975763] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050489.589951146] [sailbot.teensy]: Actual tail angle: 49 -[teensy-2] [INFO] [1746050489.590840124] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050489.645359102] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050489.646931236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050489.647320304] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050489.649150347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050489.650265285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050489.745583767] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050489.746500852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050489.747350868] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050489.747900540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050489.748382098] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050489.835781198] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050489.838121961] [sailbot.teensy]: Wind angle: 92 -[teensy-2] [INFO] [1746050489.839316027] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050489.838953427] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050489.840304118] [sailbot.teensy]: Actual tail angle: 29 -[mux-7] [INFO] [1746050489.840826679] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050489.841221263] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050489.844238440] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050489.844789852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050489.845323517] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050489.846534449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050489.847626669] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050489.945538796] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050489.946220166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050489.947337141] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050489.948583914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050489.949896906] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050490.003416962] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911939 Long: -76.5030726 -[vectornav-1] [INFO] [1746050490.005330585] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (7.980000000000018, -0.251, 9.803) -[mux-7] [INFO] [1746050490.045415449] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050490.046194017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050490.046967973] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050490.048469242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050490.049209812] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050490.085481051] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050490.087516582] [sailbot.teensy]: Wind angle: 89 -[trim_sail-4] [INFO] [1746050490.087873947] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050490.088529890] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050490.089434869] [sailbot.teensy]: Actual tail angle: 29 -[mux-7] [INFO] [1746050490.089629741] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050490.090316866] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050490.145055957] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050490.145880685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050490.146363904] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050490.147783051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050490.148853356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050490.245362879] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050490.246384636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050490.247053246] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050490.248854975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050490.249968368] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050490.335399685] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050490.337437912] [sailbot.teensy]: Wind angle: 93 -[mux-7] [INFO] [1746050490.337470143] [sailbot.mux]: controller_app rudder angle: -2 -[trim_sail-4] [INFO] [1746050490.338475479] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050490.339472749] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050490.340394354] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050490.341290882] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050490.342138835] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050490.344356447] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050490.345037725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050490.345778406] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050490.346777531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050490.348637528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050490.445777401] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050490.447243581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050490.447586122] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050490.450247684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050490.451384435] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050490.502513690] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911958 Long: -76.50307011 -[vectornav-1] [INFO] [1746050490.503542315] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (357.443, -2.074, 10.41) -[mux-7] [INFO] [1746050490.545383193] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050490.546338908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050490.546894219] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050490.548847875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050490.550000424] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050490.585328169] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050490.587764957] [sailbot.teensy]: Wind angle: 98 -[trim_sail-4] [INFO] [1746050490.587962318] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050490.588738720] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050490.589138188] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050490.589702716] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050490.590595435] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050490.645071575] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050490.645847165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050490.646638977] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050490.648240679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050490.649273486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050490.745350506] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050490.746203283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050490.746904185] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050490.748751426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050490.749866897] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050490.835598647] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050490.837797936] [sailbot.teensy]: Wind angle: 98 -[trim_sail-4] [INFO] [1746050490.838662784] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050490.838886702] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050490.839812088] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050490.839837764] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050490.841335410] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050490.844413405] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050490.844996918] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050490.845525975] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050490.846714216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050490.847734432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050490.945602170] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050490.946561961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050490.947231951] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050490.948929660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050490.950294950] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050491.004045766] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911868 Long: -76.50306714 -[vectornav-1] [INFO] [1746050491.005551184] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (353.494, -2.623, 12.137) -[mux-7] [INFO] [1746050491.045275705] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050491.046816844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050491.046859287] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050491.048867532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050491.049854332] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050491.085369139] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050491.087611614] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050491.087982122] [sailbot.teensy]: Wind angle: 92 -[mux-7] [INFO] [1746050491.088659087] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050491.089025336] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050491.090013304] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050491.090917653] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050491.145344132] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050491.146135910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050491.146910651] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050491.148372116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050491.149535907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050491.245171349] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050491.245883040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050491.246714538] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050491.247940242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050491.249028327] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050491.335349319] [sailbot.teensy]: Check telemetry callback entered -[mux-7] [INFO] [1746050491.335375092] [sailbot.mux]: controller_app rudder angle: -19 -[teensy-2] [INFO] [1746050491.337150572] [sailbot.teensy]: Wind angle: 90 -[trim_sail-4] [INFO] [1746050491.337543316] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050491.338123714] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050491.339056097] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050491.339094048] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050491.339973528] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050491.344296169] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050491.344850613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050491.345476392] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050491.346584524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050491.347746518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050491.445342668] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050491.446184485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050491.446927373] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050491.448649093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050491.449887174] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050491.503537974] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911732 Long: -76.50306313 -[vectornav-1] [INFO] [1746050491.504955213] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (350.36199999999997, 3.022, 13.971) -[mux-7] [INFO] [1746050491.545010943] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050491.545709718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050491.546310642] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050491.547633623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050491.548741928] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050491.585456254] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050491.587862544] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050491.588636143] [sailbot.teensy]: Wind angle: 89 -[teensy-2] [INFO] [1746050491.589585221] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050491.589557746] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050491.590476013] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050491.591347144] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050491.645206126] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050491.645791814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050491.646733743] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050491.648026642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050491.649078690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050491.745437720] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050491.746048503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050491.747268328] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050491.748840165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050491.750004277] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050491.835416710] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050491.837338582] [sailbot.teensy]: Wind angle: 77 -[trim_sail-4] [INFO] [1746050491.837929455] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050491.838653389] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050491.839612676] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050491.839996945] [sailbot.teensy]: Actual tail angle: 6 -[teensy-2] [INFO] [1746050491.840352389] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050491.844582807] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050491.844943916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050491.845772136] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050491.846566608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050491.847642528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050491.945378009] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050491.946021494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050491.947090310] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050491.948246570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050491.949363885] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050492.003976589] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911695 Long: -76.50306021 -[vectornav-1] [INFO] [1746050492.005595980] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (348.762, 0.781, 9.483) -[mux-7] [INFO] [1746050492.045436859] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050492.046525334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050492.046857225] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050492.048968371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050492.049989734] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050492.085269145] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050492.087192071] [sailbot.teensy]: Wind angle: 75 -[trim_sail-4] [INFO] [1746050492.087556134] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050492.088414153] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050492.089093272] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050492.089857391] [sailbot.teensy]: Actual tail angle: 6 -[teensy-2] [INFO] [1746050492.090968707] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050492.145072732] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050492.145630592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050492.146433746] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050492.147721861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050492.148831744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050492.245374449] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050492.245965674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050492.247787195] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050492.248114451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050492.249974385] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050492.335492164] [sailbot.teensy]: Check telemetry callback entered -[mux-7] [INFO] [1746050492.335790109] [sailbot.mux]: controller_app rudder angle: -20 -[teensy-2] [INFO] [1746050492.337583803] [sailbot.teensy]: Wind angle: 84 -[trim_sail-4] [INFO] [1746050492.338111527] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050492.338566213] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050492.339307680] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050492.339480948] [sailbot.teensy]: Actual tail angle: 6 -[teensy-2] [INFO] [1746050492.340399289] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050492.344408870] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050492.345068019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050492.345564671] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746050492.346829583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 -[teensy-2] [INFO] [1746050492.347856909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050492.445603751] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050492.446417589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050492.447659101] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746050492.448293375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 -[teensy-2] [INFO] [1746050492.448786808] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050492.503058720] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691163 Long: -76.50305762 -[vectornav-1] [INFO] [1746050492.504578852] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (0.3299999999999841, -4.96, 12.56) -[mux-7] [INFO] [1746050492.545062539] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050492.546159954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050492.547000311] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746050492.548125201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 -[teensy-2] [INFO] [1746050492.549197205] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050492.585494644] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050492.587680428] [sailbot.teensy]: Wind angle: 81 -[trim_sail-4] [INFO] [1746050492.588300936] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050492.588718021] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050492.589663750] [sailbot.teensy]: Actual tail angle: 6 -[mux-7] [INFO] [1746050492.590145289] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050492.590537303] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050492.645319304] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050492.646151738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050492.646883515] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746050492.648580944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 -[teensy-2] [INFO] [1746050492.649729722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050492.745168918] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050492.745878184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050492.747070586] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746050492.747697224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 -[teensy-2] [INFO] [1746050492.748255272] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050492.835440972] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050492.837424168] [sailbot.teensy]: Wind angle: 82 -[trim_sail-4] [INFO] [1746050492.838222335] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050492.838427269] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050492.839232295] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050492.839329157] [sailbot.teensy]: Actual tail angle: 5 -[teensy-2] [INFO] [1746050492.840241186] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050492.844455811] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050492.845108648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050492.845599042] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746050492.846909234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 -[teensy-2] [INFO] [1746050492.847956611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050492.945587416] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050492.946276483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050492.947858864] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746050492.948332036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 -[teensy-2] [INFO] [1746050492.948921397] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050493.003315943] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691156 Long: -76.50305363 -[vectornav-1] [INFO] [1746050493.005059326] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (20.16700000000003, 0.759, 20.423) -[mux-7] [INFO] [1746050493.045517679] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050493.046013107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050493.046985563] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746050493.048047298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 -[teensy-2] [INFO] [1746050493.048837581] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050493.085523439] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050493.087406467] [sailbot.teensy]: Wind angle: 95 -[trim_sail-4] [INFO] [1746050493.088204042] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050493.090125580] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050493.090250551] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050493.091166758] [sailbot.teensy]: Actual tail angle: 5 -[teensy-2] [INFO] [1746050493.092007576] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050493.144984705] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050493.145830663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050493.146280203] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746050493.147808731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 -[teensy-2] [INFO] [1746050493.148841462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050493.245104270] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050493.245942613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050493.246958697] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746050493.248518192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 -[teensy-2] [INFO] [1746050493.249697811] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050493.335513799] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050493.337413926] [sailbot.teensy]: Wind angle: 109 -[trim_sail-4] [INFO] [1746050493.338184044] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050493.338575413] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050493.339243930] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050493.339311301] [sailbot.teensy]: Actual tail angle: 5 -[teensy-2] [INFO] [1746050493.339701398] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050493.344393229] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050493.345299279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050493.345539908] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746050493.347051366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 -[teensy-2] [INFO] [1746050493.348267870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050493.445559779] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050493.446230278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050493.447270656] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746050493.448324214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 -[teensy-2] [INFO] [1746050493.448833742] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050493.503526494] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911575 Long: -76.5030501 -[vectornav-1] [INFO] [1746050493.505432608] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (36.644000000000005, -2.935, 22.729) -[mux-7] [INFO] [1746050493.545019673] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050493.545810760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050493.546747615] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746050493.547719431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 -[teensy-2] [INFO] [1746050493.548850890] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050493.585681907] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050493.587786457] [sailbot.teensy]: Wind angle: 114 -[teensy-2] [INFO] [1746050493.588910502] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050493.589824651] [sailbot.teensy]: Actual tail angle: 5 -[trim_sail-4] [INFO] [1746050493.589402024] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050493.589944972] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050493.590700987] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050493.645091197] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050493.645738300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050493.646562346] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746050493.647801235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 -[teensy-2] [INFO] [1746050493.648850004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050493.743710704] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050493.744055219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050493.744223840] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746050493.744860973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -20 -[teensy-2] [INFO] [1746050493.745402150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050493.757810996] [sailbot.mux]: controller_app rudder angle: 0 -[teensy-2] [INFO] [1746050493.835529634] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050493.837714040] [sailbot.teensy]: Wind angle: 114 -[trim_sail-4] [INFO] [1746050493.837992387] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050493.838681400] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050493.839233750] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050493.839579676] [sailbot.teensy]: Actual tail angle: 5 -[teensy-2] [INFO] [1746050493.840457034] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050493.844360867] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050493.844932575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050493.845441493] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050493.846624046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050493.847638215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050493.945044465] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050493.946114706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050493.946380853] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050493.948111548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050493.949218751] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050494.003185313] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691173 Long: -76.50304845 -[vectornav-1] [INFO] [1746050494.004470116] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.21100000000001, 3.019, 17.736) -[mux-7] [INFO] [1746050494.045355559] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050494.046252033] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050494.046756743] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050494.048125967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050494.048641551] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050494.085403023] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050494.087628570] [sailbot.teensy]: Wind angle: 112 -[trim_sail-4] [INFO] [1746050494.087990862] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050494.088932519] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050494.089312997] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050494.090248881] [sailbot.teensy]: Actual tail angle: 5 -[teensy-2] [INFO] [1746050494.091117229] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050494.144888693] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050494.145718748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050494.146714298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050494.148142626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050494.149410120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050494.245211034] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050494.245966967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050494.246996963] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050494.248101563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050494.248650031] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050494.335515229] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050494.338210200] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050494.338867689] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050494.339030482] [sailbot.teensy]: Wind angle: 120 -[teensy-2] [INFO] [1746050494.339438873] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050494.339821697] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050494.340521459] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050494.344425586] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050494.344931817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050494.345595196] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050494.346620639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050494.347644523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050494.445273716] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050494.445870613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050494.446944264] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050494.448178346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050494.449341041] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050494.502986846] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911913 Long: -76.50304793 -[vectornav-1] [INFO] [1746050494.504347550] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (75.803, -1.278, 12.043) -[mux-7] [INFO] [1746050494.545211315] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050494.545901786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050494.546760867] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050494.548268426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050494.549456401] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050494.585435320] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050494.587559077] [sailbot.teensy]: Wind angle: 125 -[teensy-2] [INFO] [1746050494.588561939] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050494.587946174] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050494.588932900] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050494.589459488] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050494.590303966] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050494.645373744] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050494.646461620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050494.647095847] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050494.649105550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050494.650293713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050494.745348678] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050494.746131854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050494.746891579] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050494.748433903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050494.748994816] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050494.835375363] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050494.838149595] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050494.838449068] [sailbot.teensy]: Wind angle: 140 -[mux-7] [INFO] [1746050494.838688054] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050494.839540869] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050494.840547838] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050494.841391593] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050494.844358215] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050494.844861269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050494.845557499] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050494.846630722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050494.847800812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050494.944959093] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050494.945641664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050494.946345125] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050494.947504367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050494.948047381] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050495.002465517] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912085 Long: -76.50304713 -[vectornav-1] [INFO] [1746050495.003892439] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (85.53800000000001, 1.742, 10.485) -[mux-7] [INFO] [1746050495.044727857] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050495.045339301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050495.045990390] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050495.047136280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050495.048172688] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050495.085237329] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050495.086984787] [sailbot.teensy]: Wind angle: 157 -[trim_sail-4] [INFO] [1746050495.087300532] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050495.087928276] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050495.088860277] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050495.088925465] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050495.089800897] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050495.144875351] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050495.145574956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050495.146107252] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050495.147952721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050495.149129784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050495.244697587] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050495.245498884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050495.245952523] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050495.247456882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050495.248569428] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050495.335125244] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050495.337034487] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746050495.337469638] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050495.337959816] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050495.338289227] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050495.338854086] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050495.339733221] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050495.344303654] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050495.344962452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050495.345418739] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050495.346632146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050495.347670548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050495.445297695] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050495.446050568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050495.447773944] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050495.448319224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050495.449046135] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050495.503773800] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912255 Long: -76.50304731 -[vectornav-1] [INFO] [1746050495.505400666] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (93.435, -2.669, 5.789) -[mux-7] [INFO] [1746050495.545034567] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050495.545997862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050495.546426206] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050495.547912123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050495.548943090] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050495.585293957] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050495.587921943] [sailbot.teensy]: Wind angle: 160 -[trim_sail-4] [INFO] [1746050495.587945595] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050495.588971380] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050495.589722792] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050495.589914874] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050495.590813388] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050495.645151984] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050495.646052057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050495.647014464] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050495.647779949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050495.648245540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050495.744780654] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050495.745681768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050495.746055467] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050495.747529520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050495.748631093] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050495.835310368] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050495.837103936] [sailbot.teensy]: Wind angle: 160 -[trim_sail-4] [INFO] [1746050495.837841779] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050495.838657267] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050495.839039132] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050495.839053979] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050495.839427680] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050495.844359600] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050495.844907459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050495.845473168] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050495.846776906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050495.847806844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050495.945609422] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050495.946547735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050495.947344441] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050495.948944406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050495.950085883] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050496.003002630] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912458 Long: -76.50304838 -[vectornav-1] [INFO] [1746050496.004628889] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (97.88, 3.272, 7.834) -[mux-7] [INFO] [1746050496.045246426] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050496.046220397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050496.046707208] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050496.048226291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050496.049287067] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050496.085517348] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050496.087698679] [sailbot.teensy]: Wind angle: 160 -[trim_sail-4] [INFO] [1746050496.088176875] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050496.088682684] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050496.089255792] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050496.089618094] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050496.090472727] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050496.145285290] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050496.146078217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050496.146855440] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050496.148527103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050496.149024616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050496.245574247] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050496.246461022] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050496.247242921] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050496.249119353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050496.250362591] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050496.335438225] [sailbot.teensy]: Check telemetry callback entered -[mux-7] [INFO] [1746050496.336604926] [sailbot.mux]: controller_app rudder angle: 13 -[teensy-2] [INFO] [1746050496.337275120] [sailbot.teensy]: Wind angle: 160 -[teensy-2] [INFO] [1746050496.338227287] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050496.338893457] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746050496.339027417] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050496.339290029] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050496.339631218] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050496.344446676] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050496.345229351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050496.345728741] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050496.347007734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050496.348061299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050496.445488793] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050496.446371192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050496.447550610] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050496.449365106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050496.450530835] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050496.502513855] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691261 Long: -76.50304775 -[vectornav-1] [INFO] [1746050496.503541084] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (97.35399999999998, -1.828, 7.587) -[mux-7] [INFO] [1746050496.545527326] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050496.546555213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050496.547214055] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050496.549119662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050496.550216987] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050496.585873167] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050496.589072048] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050496.589115737] [sailbot.teensy]: Wind angle: 160 -[teensy-2] [INFO] [1746050496.590209458] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050496.590440266] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050496.591187555] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050496.592199368] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050496.645395978] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050496.646368808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050496.646987102] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050496.649331768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050496.650571181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050496.745362735] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050496.746483507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050496.746961066] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050496.749170867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050496.750347845] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050496.835234971] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050496.837092149] [sailbot.teensy]: Wind angle: 160 -[trim_sail-4] [INFO] [1746050496.837424541] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050496.838009887] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050496.838977641] [sailbot.teensy]: Actual tail angle: 38 -[mux-7] [INFO] [1746050496.839119965] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050496.839822396] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050496.844418408] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050496.845253298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050496.845577400] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050496.847150931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050496.848365906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050496.945714198] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050496.946743254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050496.947353209] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050496.949297249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050496.950446296] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050497.002300044] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469127 Long: -76.50304831 -[vectornav-1] [INFO] [1746050497.003284933] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (97.37599999999998, -2.502, 4.151) -[mux-7] [INFO] [1746050497.045406270] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050497.046207822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050497.047090112] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050497.048669011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050497.049723545] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050497.085453405] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050497.087447157] [sailbot.teensy]: Wind angle: 158 -[trim_sail-4] [INFO] [1746050497.088011879] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050497.088517865] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050497.089069294] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050497.089487421] [sailbot.teensy]: Actual tail angle: 38 -[teensy-2] [INFO] [1746050497.090375942] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050497.144998300] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050497.145782143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050497.146354278] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050497.148598595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050497.149672718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050497.245662005] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050497.246609263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050497.247327252] [sailbot.mux]: Published rudder angle from controller_app: 13 -[teensy-2] [INFO] [1746050497.248167038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 13 -[teensy-2] [INFO] [1746050497.248872702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050497.312849375] [sailbot.mux]: controller_app rudder angle: 11 -[teensy-2] [INFO] [1746050497.335464978] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050497.337482285] [sailbot.teensy]: Wind angle: 157 -[trim_sail-4] [INFO] [1746050497.337806569] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050497.338476402] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050497.339102019] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050497.339436187] [sailbot.teensy]: Actual tail angle: 38 -[teensy-2] [INFO] [1746050497.340360857] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050497.344383445] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050497.344948567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050497.345559571] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050497.346635959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050497.347802223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050497.445323599] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050497.446275849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050497.447030628] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050497.448011621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050497.448466443] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050497.503270907] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912863 Long: -76.5030493 -[vectornav-1] [INFO] [1746050497.504574110] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (95.613, 1.775, 5.534) -[mux-7] [INFO] [1746050497.545114038] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050497.545839150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050497.546772660] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050497.547832884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050497.549131705] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050497.585378981] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050497.587166012] [sailbot.teensy]: Wind angle: 157 -[teensy-2] [INFO] [1746050497.588088494] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050497.587723734] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050497.588760963] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050497.588995646] [sailbot.teensy]: Actual tail angle: 38 -[teensy-2] [INFO] [1746050497.589860402] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050497.645242849] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050497.646371545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050497.646725799] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050497.648480492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050497.649526101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050497.745539968] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050497.746476897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050497.747762626] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050497.748095695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050497.748563744] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050497.835358673] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050497.837148888] [sailbot.teensy]: Wind angle: 156 -[trim_sail-4] [INFO] [1746050497.838014975] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050497.839476086] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050497.839736297] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050497.840510418] [sailbot.teensy]: Actual tail angle: 36 -[teensy-2] [INFO] [1746050497.841439610] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050497.844345459] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050497.844880052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050497.845527928] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050497.846615755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050497.847877861] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050497.945465043] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050497.946111304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050497.947243355] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050497.947698669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050497.948256615] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050498.003485577] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912952 Long: -76.50304918 -[vectornav-1] [INFO] [1746050498.005104344] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (87.863, 3.311, 8.238) -[mux-7] [INFO] [1746050498.045500752] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050498.046373399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050498.047231001] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050498.048732906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050498.049901766] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050498.085481165] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050498.087370599] [sailbot.teensy]: Wind angle: 152 -[trim_sail-4] [INFO] [1746050498.087847737] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050498.088404619] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050498.089351850] [sailbot.teensy]: Actual tail angle: 36 -[mux-7] [INFO] [1746050498.089435810] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050498.090378863] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050498.145208819] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050498.146003313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050498.147162980] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050498.148048196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050498.149221423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050498.245348809] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050498.246148562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050498.247459050] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050498.247948527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050498.248492132] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050498.335279753] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050498.337658668] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050498.338379080] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050498.338771230] [sailbot.teensy]: Wind angle: 146 -[teensy-2] [INFO] [1746050498.339237115] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050498.339767152] [sailbot.teensy]: Actual tail angle: 36 -[teensy-2] [INFO] [1746050498.340615475] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050498.344351523] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050498.344994419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050498.345456358] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050498.346675717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050498.347776292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050498.445630959] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050498.446440811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050498.447332990] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050498.448958456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050498.450310707] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050498.502550985] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912996 Long: -76.50304851 -[vectornav-1] [INFO] [1746050498.503594601] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (79.55000000000001, -5.416, 6.608) -[mux-7] [INFO] [1746050498.545179716] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050498.546038161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050498.546700466] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050498.548320574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050498.549520151] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050498.585376762] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050498.587676076] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050498.588051954] [sailbot.teensy]: Wind angle: 138 -[teensy-2] [INFO] [1746050498.589000633] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050498.589013124] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050498.589897985] [sailbot.teensy]: Actual tail angle: 36 -[teensy-2] [INFO] [1746050498.590814293] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050498.645254058] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050498.646067985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050498.647449559] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050498.648138641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050498.649373983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050498.745030960] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050498.745852365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050498.746395428] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050498.747740210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050498.748924550] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050498.835680941] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050498.838449972] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050498.838803732] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050498.839314134] [sailbot.teensy]: Wind angle: 136 -[teensy-2] [INFO] [1746050498.839857489] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050498.840726160] [sailbot.teensy]: Actual tail angle: 36 -[teensy-2] [INFO] [1746050498.841629809] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050498.844274842] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050498.844726133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050498.845530654] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050498.846330186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050498.847373519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050498.945258826] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050498.946179091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050498.947080197] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050498.948475061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050498.949023239] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050499.003501347] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913137 Long: -76.5030485 -[vectornav-1] [INFO] [1746050499.005689632] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (71.51800000000003, 2.038, 7.533) -[mux-7] [INFO] [1746050499.045087903] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050499.045823150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050499.046464557] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050499.047753510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050499.048863221] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050499.085418256] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050499.087706515] [sailbot.teensy]: Wind angle: 136 -[trim_sail-4] [INFO] [1746050499.087847975] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050499.088597814] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050499.088698538] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050499.089616474] [sailbot.teensy]: Actual tail angle: 36 -[teensy-2] [INFO] [1746050499.090470823] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050499.145030886] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050499.145584103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050499.146317579] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050499.147550002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050499.148651090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050499.245136271] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050499.245596729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050499.246583220] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050499.247593296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050499.248799373] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050499.335446964] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050499.338018661] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050499.338045996] [sailbot.teensy]: Wind angle: 135 -[mux-7] [INFO] [1746050499.338911544] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050499.339125943] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050499.340036610] [sailbot.teensy]: Actual tail angle: 36 -[teensy-2] [INFO] [1746050499.340591321] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050499.344444183] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050499.344963224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050499.345556530] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050499.346722941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050499.347897286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050499.397078940] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746050499.445469190] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050499.445585517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050499.446710148] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050499.447581730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050499.448476343] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050499.502474263] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913237 Long: -76.50304691 -[vectornav-1] [INFO] [1746050499.503511560] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.82600000000002, 0.16, 11.307) -[mux-7] [INFO] [1746050499.544733541] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050499.545256150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050499.545895421] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050499.546981696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050499.548079244] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050499.585399692] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050499.587474500] [sailbot.teensy]: Wind angle: 133 -[trim_sail-4] [INFO] [1746050499.587846000] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050499.588454702] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050499.589356040] [sailbot.teensy]: Actual tail angle: 36 -[mux-7] [INFO] [1746050499.589359863] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050499.590230805] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050499.645353199] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050499.646348517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050499.646943625] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050499.648737980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050499.649944550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050499.745499445] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050499.746429683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050499.747057273] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050499.749195194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050499.750260999] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050499.835379400] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050499.837539717] [sailbot.teensy]: Wind angle: 124 -[trim_sail-4] [INFO] [1746050499.837753329] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050499.838064944] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050499.839373365] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050499.840272654] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050499.841143928] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050499.844403315] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050499.844919846] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050499.845531803] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050499.846727070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050499.847757173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050499.945468773] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050499.946477983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050499.946955892] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050499.948144636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050499.948700130] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050500.004053695] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913314 Long: -76.50304508 -[vectornav-1] [INFO] [1746050500.006228461] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.17599999999999, -2.36, 13.33) -[mux-7] [INFO] [1746050500.045286356] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050500.046167510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050500.046806616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050500.048616083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050500.050145031] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050500.085472376] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050500.087822158] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050500.088409125] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050500.089001172] [sailbot.teensy]: Wind angle: 116 -[teensy-2] [INFO] [1746050500.089871574] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050500.090679083] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050500.091494978] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050500.145105239] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050500.145836536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050500.146467152] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050500.148004202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050500.149126301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050500.245138515] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050500.245880192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050500.246771009] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050500.247800482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050500.248972321] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050500.335353440] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050500.337732575] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050500.339257053] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050500.339402363] [sailbot.teensy]: Wind angle: 110 -[teensy-2] [INFO] [1746050500.340460320] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050500.341340233] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050500.342156514] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050500.344491918] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050500.344805018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050500.345674967] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050500.346435039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050500.347548304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050500.445299074] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050500.445902088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050500.446896770] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050500.448006054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050500.449126031] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050500.502419868] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913454 Long: -76.50304229 -[vectornav-1] [INFO] [1746050500.503482137] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.77800000000002, 0.18, 12.419) -[mux-7] [INFO] [1746050500.545166137] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050500.545725601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050500.546675951] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050500.547668038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050500.549309942] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050500.585386810] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050500.587642979] [sailbot.teensy]: Wind angle: 110 -[trim_sail-4] [INFO] [1746050500.587678390] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050500.588637635] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050500.589062036] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050500.589515231] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050500.590398626] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050500.645231534] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050500.646114372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050500.646923076] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050500.648538741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050500.649686936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050500.745181602] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050500.746010857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050500.746518434] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050500.747990590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050500.749176086] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050500.835562098] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050500.837610381] [sailbot.teensy]: Wind angle: 110 -[teensy-2] [INFO] [1746050500.838624631] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050500.838321992] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050500.838927673] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050500.839022877] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050500.839389588] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050500.844542718] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050500.845115079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050500.845712304] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050500.846868713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050500.847857086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050500.945150522] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050500.946128555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050500.946653885] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050500.948852668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050500.950044158] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050501.003585490] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913609 Long: -76.50304016 -[vectornav-1] [INFO] [1746050501.005011826] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.233000000000004, -0.759, 10.385) -[mux-7] [INFO] [1746050501.045306164] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050501.046242417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050501.046780745] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050501.048524651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050501.049544934] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050501.085284414] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050501.087318507] [sailbot.teensy]: Wind angle: 109 -[trim_sail-4] [INFO] [1746050501.087534520] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050501.088100004] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050501.088198433] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050501.089103660] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050501.089967710] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050501.144906963] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050501.145731275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050501.146158587] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050501.147706815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050501.148757442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050501.244934760] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050501.245610674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050501.246198908] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050501.248293938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050501.249445084] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050501.335577995] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050501.338002104] [sailbot.teensy]: Wind angle: 109 -[trim_sail-4] [INFO] [1746050501.338628164] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050501.338969462] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050501.339421641] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050501.339871029] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050501.340766988] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050501.344358163] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050501.345521007] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050501.345747432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050501.347545195] [sailbot.mux]: controller_app rudder angle: -2 -[teensy-2] [INFO] [1746050501.347743186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050501.348864027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050501.445195434] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050501.445952789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050501.446700620] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050501.448138751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050501.449337769] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050501.503479357] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913773 Long: -76.50303712 -[vectornav-1] [INFO] [1746050501.505544212] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (36.327, -0.634, 11.239) -[mux-7] [INFO] [1746050501.544939014] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050501.545678826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050501.546215181] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050501.547687159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050501.548725257] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050501.585411785] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050501.587945051] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050501.588342980] [sailbot.teensy]: Wind angle: 109 -[mux-7] [INFO] [1746050501.588451392] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050501.589541893] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050501.590405589] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050501.591262530] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050501.645583977] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050501.645839586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050501.647182034] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050501.648025818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050501.648828019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050501.745192525] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050501.745886338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050501.746711908] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050501.747999008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050501.749089966] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050501.835427374] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050501.837797873] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050501.839114531] [sailbot.teensy]: Wind angle: 110 -[mux-7] [INFO] [1746050501.839319067] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050501.840085926] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050501.841012747] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050501.841828483] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050501.844296306] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050501.844951064] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050501.845392362] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050501.846721118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050501.847769328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050501.945280946] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050501.946021701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050501.946749691] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050501.947827561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050501.948273135] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050502.003907738] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691387 Long: -76.50303354 -[vectornav-1] [INFO] [1746050502.005738141] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.851999999999975, -0.676, 12.171) -[mux-7] [INFO] [1746050502.044693755] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050502.045353105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050502.045841458] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050502.047224968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050502.048245693] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050502.085245904] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050502.087056912] [sailbot.teensy]: Wind angle: 119 -[trim_sail-4] [INFO] [1746050502.087413272] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050502.087950611] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050502.088689694] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050502.088932018] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050502.089833204] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050502.144867733] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050502.145715703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050502.146136330] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050502.147601819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050502.148588336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050502.245229180] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050502.245885673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050502.246731590] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050502.247958408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050502.249123189] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050502.335730259] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050502.338478645] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050502.339147016] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050502.339202193] [sailbot.teensy]: Wind angle: 115 -[teensy-2] [INFO] [1746050502.339623162] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050502.340407725] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050502.341257897] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050502.344525133] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050502.345069806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050502.345638289] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050502.346718401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050502.347811209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050502.375564974] [sailbot.mux]: controller_app rudder angle: -9 -[mux-7] [INFO] [1746050502.445426820] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050502.446063172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050502.446919734] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050502.448465764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050502.449703122] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050502.503246606] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914004 Long: -76.50303013 -[vectornav-1] [INFO] [1746050502.504503661] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.928999999999974, 0.008, 8.675) -[mux-7] [INFO] [1746050502.545435766] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050502.546159786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050502.547141892] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050502.548450254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050502.549621432] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050502.585563433] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050502.588501130] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050502.588877725] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050502.589179484] [sailbot.teensy]: Wind angle: 107 -[teensy-2] [INFO] [1746050502.590189266] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050502.591043550] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050502.591897144] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050502.645426095] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050502.646175488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050502.647378395] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050502.648464068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050502.649659395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050502.745147411] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050502.745806428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050502.746731843] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050502.747742442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050502.748278799] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050502.835319980] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050502.837706706] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050502.838197496] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050502.839217578] [sailbot.teensy]: Wind angle: 100 -[teensy-2] [INFO] [1746050502.839949499] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050502.840351803] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050502.840942161] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050502.844477228] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050502.844938009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050502.845567820] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050502.846773568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050502.847778914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050502.945949031] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050502.946512653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050502.947530303] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050502.948934048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050502.950065939] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050503.004022292] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914168 Long: -76.50302711 -[vectornav-1] [INFO] [1746050503.005794988] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.654999999999973, -1.991, 6.599) -[mux-7] [INFO] [1746050503.045508261] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050503.046378310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050503.048031498] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050503.048812805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050503.050020292] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050503.085428730] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050503.087275381] [sailbot.teensy]: Wind angle: 100 -[trim_sail-4] [INFO] [1746050503.087558837] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050503.088241428] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050503.089218390] [sailbot.teensy]: Actual tail angle: 16 -[mux-7] [INFO] [1746050503.089493091] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050503.090134893] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050503.144927749] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050503.145647633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050503.146333400] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050503.147798972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050503.148876249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050503.245310327] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050503.246059791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050503.246963654] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050503.248188656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050503.249104558] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050503.335433653] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050503.337813956] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050503.338231718] [sailbot.teensy]: Wind angle: 101 -[mux-7] [INFO] [1746050503.339263390] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050503.339516686] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050503.340552562] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050503.341398234] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050503.344290083] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050503.345001998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050503.345493020] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050503.346913884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050503.347931510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050503.361550895] [sailbot.mux]: controller_app rudder angle: -11 -[mux-7] [INFO] [1746050503.445190264] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050503.446197909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050503.447093652] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050503.448381513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050503.448957832] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050503.503075837] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914291 Long: -76.50302348 -[vectornav-1] [INFO] [1746050503.504382985] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.81299999999999, 2.48, 10.811) -[mux-7] [INFO] [1746050503.544909098] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050503.545579325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050503.546181881] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050503.547403866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050503.548587833] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050503.585457745] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050503.588319576] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050503.588819442] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050503.588861483] [sailbot.teensy]: Wind angle: 104 -[teensy-2] [INFO] [1746050503.589803962] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050503.590770158] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050503.591585597] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050503.645188230] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050503.645681350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050503.646858153] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050503.647825787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050503.649060986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050503.745587772] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050503.746202190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050503.747276045] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050503.749118366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050503.750405577] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050503.835453950] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050503.837819757] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050503.838350999] [sailbot.teensy]: Wind angle: 114 -[teensy-2] [INFO] [1746050503.838909178] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050503.838983015] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050503.839314563] [sailbot.teensy]: Actual tail angle: 14 -[teensy-2] [INFO] [1746050503.839742456] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050503.844515707] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050503.845229187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050503.845601334] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050503.847027495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050503.848132515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050503.945121952] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050503.945800542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050503.946509546] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050503.947860305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050503.948906620] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050504.002520298] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914386 Long: -76.50302 -[vectornav-1] [INFO] [1746050504.003802804] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.30000000000001, -4.574, 14.509) -[mux-7] [INFO] [1746050504.045176337] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050504.045972902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050504.046622164] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050504.047947523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050504.049008456] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050504.085774300] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050504.088301610] [sailbot.teensy]: Wind angle: 129 -[trim_sail-4] [INFO] [1746050504.088585929] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050504.090221372] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050504.090454277] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050504.091374168] [sailbot.teensy]: Actual tail angle: 14 -[teensy-2] [INFO] [1746050504.092228695] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050504.145351917] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050504.146216757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050504.147084331] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050504.150120221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050504.151189204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050504.245293380] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050504.245990682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050504.246887628] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050504.248257158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050504.249422192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050504.313863651] [sailbot.mux]: controller_app rudder angle: -24 -[teensy-2] [INFO] [1746050504.335610369] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050504.337725606] [sailbot.teensy]: Wind angle: 134 -[teensy-2] [INFO] [1746050504.338718603] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050504.338260770] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050504.339219797] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050504.339600211] [sailbot.teensy]: Actual tail angle: 14 -[teensy-2] [INFO] [1746050504.340503556] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050504.344360056] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050504.344798562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050504.345521751] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050504.346560313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050504.347617498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050504.445640751] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050504.446181765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050504.447513297] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050504.448495886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050504.449618086] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050504.504064204] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914524 Long: -76.50301682 -[vectornav-1] [INFO] [1746050504.506101787] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.59100000000001, 3.237, 15.714) -[mux-7] [INFO] [1746050504.545165520] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050504.545856906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050504.546696153] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050504.547753283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050504.548272637] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050504.585229043] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050504.587403807] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050504.588329610] [sailbot.teensy]: Wind angle: 133 -[mux-7] [INFO] [1746050504.588729471] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050504.589325206] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050504.590249752] [sailbot.teensy]: Actual tail angle: 14 -[teensy-2] [INFO] [1746050504.591115308] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050504.645084674] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050504.645889674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050504.646655424] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050504.648260792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050504.649256786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050504.745479981] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050504.746342834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050504.747128508] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050504.749207501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050504.751287805] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050504.835598292] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050504.838232085] [sailbot.teensy]: Wind angle: 134 -[trim_sail-4] [INFO] [1746050504.838311452] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050504.838863656] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050504.839275612] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050504.840198669] [sailbot.teensy]: Actual tail angle: 1 -[teensy-2] [INFO] [1746050504.841076440] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050504.844317837] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050504.845037159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050504.845711543] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050504.846953043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050504.848065210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050504.945497454] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050504.946196736] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050504.947146025] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050504.948513365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050504.949691247] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050505.003357300] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914721 Long: -76.50301552 -[vectornav-1] [INFO] [1746050505.005798055] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (64.16399999999999, -2.131, 12.522) -[mux-7] [INFO] [1746050505.045474788] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050505.046316559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050505.047082027] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050505.048744356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050505.050021779] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050505.085411241] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050505.087679189] [sailbot.teensy]: Wind angle: 136 -[trim_sail-4] [INFO] [1746050505.087792072] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050505.088698875] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050505.089129211] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050505.089620827] [sailbot.teensy]: Actual tail angle: 1 -[teensy-2] [INFO] [1746050505.090480807] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050505.144958187] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050505.145778128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050505.146281010] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050505.148042643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050505.148591665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050505.245261439] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050505.246776947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050505.246909042] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050505.248657498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050505.249105143] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050505.335832108] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050505.338866474] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050505.339279698] [sailbot.teensy]: Wind angle: 141 -[mux-7] [INFO] [1746050505.339536207] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050505.340415858] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050505.341400092] [sailbot.teensy]: Actual tail angle: 1 -[teensy-2] [INFO] [1746050505.342288102] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050505.344448367] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050505.345260540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050505.345626157] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050505.347182927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[mux-7] [INFO] [1746050505.348237820] [sailbot.mux]: controller_app rudder angle: -23 -[teensy-2] [INFO] [1746050505.348284195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050505.445516439] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050505.446371751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050505.447108537] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050505.448798589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050505.450035398] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050505.503855924] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914903 Long: -76.50301437 -[vectornav-1] [INFO] [1746050505.505250243] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (81.65100000000001, 2.322, 13.045) -[mux-7] [INFO] [1746050505.544523476] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050505.545041438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050505.545623902] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050505.546684028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050505.547689194] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050505.585503258] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050505.587754076] [sailbot.teensy]: Wind angle: 155 -[trim_sail-4] [INFO] [1746050505.588126247] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050505.588944126] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050505.589899045] [sailbot.teensy]: Actual tail angle: 1 -[mux-7] [INFO] [1746050505.590256465] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050505.590758445] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050505.645225668] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050505.646120770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050505.646719218] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050505.648650369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050505.649671820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050505.745251002] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050505.746191519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050505.746886879] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050505.748128128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050505.748608871] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050505.835228677] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050505.837451487] [sailbot.teensy]: Wind angle: 164 -[trim_sail-4] [INFO] [1746050505.837607592] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050505.838449987] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050505.838675716] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050505.839391189] [sailbot.teensy]: Actual tail angle: 2 -[teensy-2] [INFO] [1746050505.840294255] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050505.844386705] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050505.845056779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050505.845526847] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050505.846748241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050505.847807658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050505.945346077] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050505.946278251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050505.946927796] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050505.948010524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050505.948485862] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050506.002562751] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914983 Long: -76.5030136 -[vectornav-1] [INFO] [1746050506.003644705] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (103.73500000000001, -2.771, 11.178) -[mux-7] [INFO] [1746050506.045165083] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050506.045956247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050506.046647402] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050506.047984531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050506.049148173] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050506.085474926] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050506.087864442] [sailbot.teensy]: Wind angle: 168 -[teensy-2] [INFO] [1746050506.088852564] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050506.088906561] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050506.089153373] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050506.089752629] [sailbot.teensy]: Actual tail angle: 2 -[teensy-2] [INFO] [1746050506.090638306] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050506.145225111] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050506.146180735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050506.147296518] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050506.148507226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050506.149540645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050506.245457064] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050506.246247423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050506.247056740] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050506.248695292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050506.249213826] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050506.335434581] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050506.337324461] [sailbot.teensy]: Wind angle: 176 -[trim_sail-4] [INFO] [1746050506.338112261] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050506.338264942] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050506.338477021] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050506.339159523] [sailbot.teensy]: Actual tail angle: 2 -[teensy-2] [INFO] [1746050506.340044340] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050506.344419017] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050506.344889705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050506.345513926] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050506.346563600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050506.347602990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050506.445419428] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050506.446209277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050506.447066718] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050506.448920884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050506.450077366] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050506.503651705] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915116 Long: -76.50301418 -[vectornav-1] [INFO] [1746050506.505094748] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (123.79899999999998, -1.608, 6.476) -[mux-7] [INFO] [1746050506.545066144] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050506.545866949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050506.546465280] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050506.548109041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050506.549293725] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050506.585242422] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050506.587506308] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050506.587604073] [sailbot.teensy]: Wind angle: 179 -[mux-7] [INFO] [1746050506.587947220] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050506.588520956] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050506.589381507] [sailbot.teensy]: Actual tail angle: 2 -[teensy-2] [INFO] [1746050506.590215995] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050506.645056471] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050506.645676206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050506.646587846] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050506.647669491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050506.648762362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050506.745484535] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050506.746362162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050506.747186746] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050506.748895966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050506.749514233] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050506.835316181] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050506.837744125] [sailbot.teensy]: Wind angle: 199 -[trim_sail-4] [INFO] [1746050506.837951054] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050506.838721563] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050506.839410785] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050506.839619460] [sailbot.teensy]: Actual tail angle: 2 -[teensy-2] [INFO] [1746050506.840540060] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050506.844526241] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050506.845014895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050506.845616103] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050506.846682731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050506.847790924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050506.945504177] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050506.946458393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050506.947524975] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050506.948588780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050506.949118368] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050507.003529455] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915147 Long: -76.50301598 -[vectornav-1] [INFO] [1746050507.005110017] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (148.966, 5.156, 2.885) -[mux-7] [INFO] [1746050507.044979749] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050507.045847699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050507.046276632] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050507.047690561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050507.048711234] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050507.085151301] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050507.087235026] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050507.087366955] [sailbot.teensy]: Wind angle: 225 -[teensy-2] [INFO] [1746050507.088314115] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050507.089233092] [sailbot.teensy]: Actual tail angle: 2 -[mux-7] [INFO] [1746050507.089524003] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050507.090100485] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050507.144740357] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050507.145539232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050507.145902047] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050507.147276389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050507.148455192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050507.244908903] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050507.245885100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050507.246373888] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050507.247789072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050507.248281461] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050507.335714442] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050507.337942807] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050507.338547174] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050507.339105422] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050507.340240747] [sailbot.teensy]: Actual tail angle: 2 -[teensy-2] [INFO] [1746050507.341210656] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050507.341741620] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050507.344549093] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050507.344976288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050507.345690082] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050507.346742881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[mux-7] [INFO] [1746050507.347654919] [sailbot.mux]: controller_app rudder angle: 1 -[teensy-2] [INFO] [1746050507.347770010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050507.445720066] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050507.446331800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050507.447333441] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050507.448823639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050507.449354988] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050507.502659748] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915144 Long: -76.50301659 -[vectornav-1] [INFO] [1746050507.503720478] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.17100000000005, -2.992, 1.375) -[mux-7] [INFO] [1746050507.544854099] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050507.545458591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050507.546121728] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050507.547210103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050507.548344878] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050507.585549325] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050507.587925036] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050507.589110131] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050507.589241695] [sailbot.teensy]: Wind angle: 237 -[teensy-2] [INFO] [1746050507.590196617] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050507.591086846] [sailbot.teensy]: Actual tail angle: 2 -[teensy-2] [INFO] [1746050507.591905868] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050507.645117501] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050507.645863679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050507.646519796] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050507.647954888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050507.648989689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050507.745281817] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050507.746107270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050507.747497558] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050507.748286790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050507.749457121] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050507.835769310] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050507.838024509] [sailbot.teensy]: Wind angle: 246 -[trim_sail-4] [INFO] [1746050507.838435346] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050507.838645423] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050507.839023637] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050507.839204716] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050507.839425272] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050507.844516750] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050507.845044946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050507.845748452] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050507.846938667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050507.848043449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050507.945307948] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050507.946015706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050507.946837093] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050507.948184904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050507.948750993] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050508.003926933] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915104 Long: -76.50301812 -[vectornav-1] [INFO] [1746050508.005753422] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.20399999999995, -2.198, -0.759) -[mux-7] [INFO] [1746050508.045101896] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050508.045804715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050508.046527068] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050508.048007438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050508.049186074] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050508.085344544] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050508.087789920] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050508.088524954] [sailbot.teensy]: Wind angle: 250 -[mux-7] [INFO] [1746050508.089464854] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050508.089540892] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050508.090471301] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050508.091366933] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050508.145389429] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050508.146027746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050508.146923832] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050508.148197681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050508.149301136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050508.245598007] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050508.246296670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050508.247227992] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050508.248947959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050508.250155185] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050508.335431276] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050508.337854352] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050508.338237024] [sailbot.teensy]: Wind angle: 252 -[teensy-2] [INFO] [1746050508.339236436] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050508.339747380] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050508.340146448] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050508.341113060] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050508.344420229] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050508.345017811] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050508.347193428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[mux-7] [INFO] [1746050508.347818478] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050508.349531195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050508.349850948] [sailbot.mux]: controller_app rudder angle: 3 -[mux-7] [INFO] [1746050508.445659821] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050508.446777322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050508.447581806] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050508.449499401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050508.450646183] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050508.502358523] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914974 Long: -76.5030209 -[vectornav-1] [INFO] [1746050508.503366539] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (204.88200000000006, 1.167, -5.5) -[mux-7] [INFO] [1746050508.543801280] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050508.544535959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050508.544874974] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050508.546845092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050508.547305200] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050508.585512550] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050508.587335255] [sailbot.teensy]: Wind angle: 261 -[teensy-2] [INFO] [1746050508.588334068] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050508.588979172] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050508.589256785] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050508.590204883] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050508.591866940] [sailbot.mux]: algo sail angle: 25 -[mux-7] [INFO] [1746050508.645036986] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050508.645763282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050508.646699985] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050508.647844099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050508.649224521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050508.745287810] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050508.746017157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050508.747248975] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050508.747935228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050508.748587705] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050508.835809251] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050508.838524716] [sailbot.teensy]: Wind angle: 274 -[teensy-2] [INFO] [1746050508.839543295] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050508.839444585] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050508.839915725] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050508.840429764] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050508.841318060] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050508.844250445] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050508.844913494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050508.845330470] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050508.846662453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050508.847690217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050508.945740274] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050508.946395475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050508.947326759] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050508.948729423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050508.950021215] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050509.003424685] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914811 Long: -76.50302372 -[vectornav-1] [INFO] [1746050509.005095032] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (211.812, -1.24, -6.414) -[mux-7] [INFO] [1746050509.045418153] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050509.047238225] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050509.049001005] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050509.050963050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050509.052096752] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050509.085456529] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050509.088012562] [sailbot.teensy]: Wind angle: 275 -[trim_sail-4] [INFO] [1746050509.088368160] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050509.088844497] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050509.090231727] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050509.091169977] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050509.092042272] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050509.145308709] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050509.146045496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050509.147510741] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050509.148470182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050509.149668246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050509.244926987] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050509.245647949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050509.246215188] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050509.247628766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050509.248838564] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050509.335541511] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050509.337685976] [sailbot.teensy]: Wind angle: 272 -[trim_sail-4] [INFO] [1746050509.338373526] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050509.339605756] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050509.340920884] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050509.341557918] [sailbot.mux]: controller_app rudder angle: 11 -[teensy-2] [INFO] [1746050509.341760870] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050509.342153512] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050509.344255908] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050509.344821520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050509.345426136] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050509.347013627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050509.348282807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050509.445601779] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050509.446306300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050509.447237758] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050509.448701690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050509.449226241] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050509.502526598] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914537 Long: -76.5030266 -[vectornav-1] [INFO] [1746050509.503813948] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (212.62900000000002, -2.342, -9.234) -[mux-7] [INFO] [1746050509.544476761] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050509.545081594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050509.545491403] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050509.546756569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050509.547745879] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050509.585350134] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050509.587653371] [sailbot.teensy]: Wind angle: 269 -[teensy-2] [INFO] [1746050509.588628857] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050509.587997008] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050509.589140535] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050509.589505259] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050509.590561908] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050509.645487495] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050509.646425857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050509.647352674] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050509.649463273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050509.650584865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050509.745295191] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050509.746050053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050509.747242068] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050509.748377997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050509.749197214] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050509.835855269] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050509.838260784] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746050509.839016131] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050509.839383834] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050509.840464011] [sailbot.teensy]: Actual tail angle: 36 -[mux-7] [INFO] [1746050509.840939494] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050509.841484655] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050509.844228859] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050509.844869184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050509.845437872] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050509.846608828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050509.847618942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050509.945735510] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050509.946370432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050509.947498113] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050509.948940390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050509.950101104] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050510.003503101] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691439 Long: -76.50303077 -[vectornav-1] [INFO] [1746050510.004859542] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (205.88400000000001, 0.729, -6.379) -[mux-7] [INFO] [1746050510.045429102] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050510.046956707] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050510.047174735] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050510.049167691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050510.050370610] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050510.085578415] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050510.087842219] [sailbot.teensy]: Wind angle: 273 -[teensy-2] [INFO] [1746050510.088863462] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050510.088267136] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050510.089332585] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050510.089735451] [sailbot.teensy]: Actual tail angle: 36 -[teensy-2] [INFO] [1746050510.090611650] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050510.145195295] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050510.145755893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050510.146757245] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050510.147779830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050510.148936126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050510.245439064] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050510.246275168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050510.247069826] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050510.248692617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050510.249880295] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050510.335465382] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050510.337903404] [sailbot.teensy]: Wind angle: 270 -[trim_sail-4] [INFO] [1746050510.338416452] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050510.339209979] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050510.339309655] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050510.339724256] [sailbot.teensy]: Actual tail angle: 36 -[teensy-2] [INFO] [1746050510.340090423] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050510.344857349] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050510.345451204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050510.346300479] [sailbot.mux]: Published rudder angle from controller_app: 11 -[mux-7] [INFO] [1746050510.348253980] [sailbot.mux]: controller_app rudder angle: -3 -[teensy-2] [INFO] [1746050510.348309312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050510.349514198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050510.445740953] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050510.446608042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050510.447453363] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050510.449450886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050510.450612558] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050510.502446000] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914278 Long: -76.503035 -[vectornav-1] [INFO] [1746050510.503551947] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.26800000000003, -2.249, -4.607) -[mux-7] [INFO] [1746050510.545669891] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050510.546367336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050510.547518829] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050510.548748268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050510.550034610] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050510.585521199] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050510.587921021] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050510.588875560] [sailbot.teensy]: Wind angle: 256 -[mux-7] [INFO] [1746050510.589672055] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050510.589841322] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050510.590698695] [sailbot.teensy]: Actual tail angle: 36 -[teensy-2] [INFO] [1746050510.591562113] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050510.645359947] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050510.646112332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050510.647013594] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050510.648523498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050510.649027953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050510.745199231] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050510.745795273] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050510.747940494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[mux-7] [INFO] [1746050510.748284592] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050510.749029279] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050510.835735630] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050510.837996610] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050510.839058488] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050510.838890615] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050510.839436445] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050510.839478064] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050510.839804096] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050510.844679293] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050510.845094164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050510.845990918] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050510.846856299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050510.848179518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050510.945645712] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050510.946244417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050510.947373290] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050510.948751507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050510.949328749] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050511.003628622] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914216 Long: -76.50303904 -[vectornav-1] [INFO] [1746050511.005587531] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.93100000000004, 0.406, -5.444) -[mux-7] [INFO] [1746050511.045267379] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050511.045846100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050511.046891657] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050511.048017759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050511.049177981] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050511.085482474] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050511.088455478] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050511.088841026] [sailbot.teensy]: Wind angle: 229 -[teensy-2] [INFO] [1746050511.089781948] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050511.089688402] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050511.090675747] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050511.091506837] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050511.145161451] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050511.145875892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050511.146622775] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050511.147912887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050511.148714009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050511.245430091] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050511.246105562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050511.247073127] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050511.248342754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050511.249419522] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050511.335353502] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050511.337169897] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746050511.337608504] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050511.338106529] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050511.339012415] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050511.339895227] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050511.339974934] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050511.344447445] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050511.344898493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050511.345685388] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050511.346593241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050511.347792504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050511.350968900] [sailbot.mux]: controller_app rudder angle: -1 -[mux-7] [INFO] [1746050511.445365500] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050511.446071230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050511.447474896] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050511.448611111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050511.449253339] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050511.502460349] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914212 Long: -76.50304393 -[vectornav-1] [INFO] [1746050511.503465039] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.68100000000004, -0.55, -3.952) -[mux-7] [INFO] [1746050511.544546125] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050511.545187056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050511.545724597] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050511.546952799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050511.547948268] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050511.585212308] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050511.587469318] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050511.587519673] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050511.588508836] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050511.589063744] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050511.589399461] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050511.590286164] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050511.644928880] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050511.645699741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050511.646288460] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050511.647689249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050511.648419915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050511.744949685] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050511.745705439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050511.746413914] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050511.747732503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050511.748928577] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050511.835534963] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050511.838127670] [sailbot.teensy]: Wind angle: 236 -[trim_sail-4] [INFO] [1746050511.838227226] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050511.839079401] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050511.839450042] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050511.840248087] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050511.841092311] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050511.844427088] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050511.844824482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050511.845667959] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050511.846475195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050511.847529948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050511.945707606] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050511.945824982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050511.947298967] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050511.947835813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050511.948957648] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050512.003475607] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914221 Long: -76.50304811 -[vectornav-1] [INFO] [1746050512.005062404] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.01700000000005, 0.171, -2.841) -[mux-7] [INFO] [1746050512.045301509] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050512.046083300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050512.047008685] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050512.048919710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050512.049999089] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050512.085467434] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050512.087850893] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050512.087969409] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050512.089265504] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050512.089270450] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050512.090340495] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050512.091213529] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050512.145476159] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050512.147044824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050512.147162431] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050512.149354008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050512.150621785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050512.245405502] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050512.246100203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050512.246959988] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050512.248454885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050512.249622011] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050512.335421733] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050512.337365553] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050512.338372062] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050512.338636900] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050512.339293055] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050512.339476054] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050512.340197420] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050512.344209572] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050512.344704529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050512.345280698] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050512.346389003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050512.347466309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050512.374284129] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746050512.445107861] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050512.446062299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050512.446741881] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050512.447952363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050512.448411663] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050512.502413774] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914247 Long: -76.50305266 -[vectornav-1] [INFO] [1746050512.503468766] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.64499999999998, 1.241, -2.767) -[mux-7] [INFO] [1746050512.545217217] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050512.546039711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050512.547078124] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050512.548124163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050512.548682383] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050512.585282079] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050512.587769056] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050512.588224858] [sailbot.teensy]: Wind angle: 236 -[mux-7] [INFO] [1746050512.588508693] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050512.589857853] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050512.591015453] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050512.591884552] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050512.644855870] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050512.645742912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050512.646172661] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050512.647728865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050512.648846305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050512.745145461] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050512.746086087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050512.746595875] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050512.748367997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050512.749523955] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050512.835638896] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050512.838279460] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050512.839179102] [sailbot.teensy]: Wind angle: 236 -[mux-7] [INFO] [1746050512.839543784] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050512.839660348] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050512.840037111] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050512.840606453] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050512.844602622] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050512.845129040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050512.845793633] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050512.846836975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050512.847856346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050512.945214894] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050512.945762384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050512.946993229] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050512.947655778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050512.948812985] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050513.003364450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914213 Long: -76.50305671 -[vectornav-1] [INFO] [1746050513.004908847] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.90200000000004, -1.174, -2.551) -[mux-7] [INFO] [1746050513.045116889] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050513.045883078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050513.046832140] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050513.047740263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050513.048855777] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050513.085357577] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050513.087689819] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050513.088142188] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050513.088569533] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050513.089578655] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050513.090443748] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050513.091253270] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050513.145451196] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050513.146185345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050513.147229378] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050513.148375443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050513.149654305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050513.245291620] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050513.246067549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050513.247027800] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050513.248395805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050513.248972101] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050513.335236448] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050513.337725092] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050513.338755285] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050513.339398522] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050513.339803406] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050513.340742664] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050513.341189781] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050513.344269983] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050513.344795480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050513.345389859] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050513.346473704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050513.347540773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050513.363368329] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746050513.444909912] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050513.445644131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050513.446243536] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050513.447519840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050513.448425399] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050513.503628787] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914193 Long: -76.5030607 -[vectornav-1] [INFO] [1746050513.504995380] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.35000000000002, -0.612, -0.923) -[mux-7] [INFO] [1746050513.544723011] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050513.545198746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050513.545912597] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050513.547000848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050513.548136848] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050513.585606056] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050513.588274198] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050513.589099016] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050513.589282842] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050513.589454338] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050513.590180241] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050513.591047461] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050513.644989334] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050513.645729451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050513.646402139] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050513.647873787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050513.648745783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050513.744946805] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050513.745718238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050513.746255409] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050513.747701767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050513.748902686] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050513.835670427] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050513.837768859] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050513.838716809] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050513.838823003] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050513.839063119] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050513.839097045] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050513.839486189] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050513.844426856] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050513.845056340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050513.845562982] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050513.846719580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050513.847849222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050513.945753700] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050513.946815329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050513.947527278] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050513.949401395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050513.949921217] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050514.003777041] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691423 Long: -76.50306437 -[vectornav-1] [INFO] [1746050514.005580175] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.20900000000006, 2.349, 0.742) -[mux-7] [INFO] [1746050514.044932193] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050514.045648365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050514.046123244] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050514.047484737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050514.048649393] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050514.085196969] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050514.087536569] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050514.088040782] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050514.088084125] [sailbot.teensy]: Wind angle: 237 -[teensy-2] [INFO] [1746050514.089077446] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050514.089948808] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050514.090811467] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050514.145306147] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050514.146211069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050514.146893504] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050514.148774303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050514.149801574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050514.245373485] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050514.246086876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050514.246914938] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050514.247815444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050514.248425855] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050514.335181347] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050514.336856361] [sailbot.teensy]: Wind angle: 242 -[teensy-2] [INFO] [1746050514.337738266] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050514.337845511] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050514.338607916] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050514.338679243] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050514.339541350] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050514.344431122] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050514.345021815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050514.345621639] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050514.346762147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050514.347884932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050514.445623183] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050514.446388057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050514.447344109] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050514.448756096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050514.449345443] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050514.503950264] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914268 Long: -76.50306769 -[vectornav-1] [INFO] [1746050514.505758820] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.71699999999998, -2.789, 1.114) -[mux-7] [INFO] [1746050514.545121061] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050514.546035875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050514.546583904] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050514.548020462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050514.549207400] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050514.585375628] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050514.587881541] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050514.588063001] [sailbot.teensy]: Wind angle: 227 -[teensy-2] [INFO] [1746050514.589053046] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050514.589368164] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050514.589949653] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050514.590825713] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050514.645619856] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050514.646276805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050514.647648050] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050514.648297616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050514.648890151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050514.745407821] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050514.746106829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050514.747071941] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050514.748643008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050514.749834526] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050514.835647653] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050514.838411814] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050514.839143603] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050514.839305799] [sailbot.teensy]: Wind angle: 229 -[teensy-2] [INFO] [1746050514.839716587] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050514.840081053] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050514.840871199] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050514.844505395] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050514.845045579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050514.845719102] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050514.846687475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050514.847929575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050514.944998156] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050514.945796105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050514.946363380] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050514.947600461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050514.948775370] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050515.002856104] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914271 Long: -76.50307101 -[vectornav-1] [INFO] [1746050515.004137428] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.562, 3.523, -1.07) -[mux-7] [INFO] [1746050515.045403843] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050515.046204177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050515.047053071] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050515.048430712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050515.049547009] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050515.085643546] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050515.088253664] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746050515.088426256] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050515.089288971] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050515.090167256] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050515.090433647] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050515.091077188] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050515.145039790] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050515.145699565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050515.146323573] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050515.147614591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050515.148797884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050515.245019310] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050515.245858151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050515.246322601] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050515.247912877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050515.248976355] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050515.335467806] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050515.338118073] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050515.338469485] [sailbot.teensy]: Wind angle: 230 -[mux-7] [INFO] [1746050515.338985976] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050515.339579093] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050515.340537878] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050515.341392279] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050515.344348788] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050515.344769499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050515.345499526] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050515.346389824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050515.347443837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050515.445144973] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050515.446092663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050515.446722864] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050515.447827018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050515.448353976] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050515.502278085] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914313 Long: -76.50307389 -[vectornav-1] [INFO] [1746050515.503252037] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.54600000000005, -1.084, 1.13) -[mux-7] [INFO] [1746050515.544995134] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050515.546106098] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050515.546327202] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050515.548516587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050515.549752977] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050515.585696705] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050515.588445836] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050515.588974314] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050515.590260216] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050515.591218862] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050515.592051133] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050515.592945943] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050515.645189943] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050515.646075891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050515.646931206] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050515.648381216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050515.649530518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050515.745026806] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050515.745718280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050515.746349509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050515.748449583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050515.749752851] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050515.835581757] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050515.838102914] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050515.838450424] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050515.838891154] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050515.838704424] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050515.839282012] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050515.839726349] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050515.844812305] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050515.845612253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050515.846114295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050515.847357267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050515.848514575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050515.945595419] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050515.946561915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050515.947366249] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050515.948938290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050515.950245614] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050516.003586070] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914336 Long: -76.50307649 -[vectornav-1] [INFO] [1746050516.005249630] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.07600000000002, -1.934, 1.517) -[mux-7] [INFO] [1746050516.045211379] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050516.046124044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050516.046700383] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050516.048197863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050516.049390124] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050516.085573914] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050516.087600913] [sailbot.teensy]: Wind angle: 229 -[trim_sail-4] [INFO] [1746050516.087873877] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050516.088678566] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050516.089199333] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050516.089639374] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050516.090536520] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050516.145185304] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050516.145873333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050516.146673345] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050516.148290161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050516.148795773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050516.245051864] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050516.245755201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050516.246490849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050516.247581656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050516.248085114] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050516.335367596] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050516.337194816] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746050516.337730668] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050516.339094862] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050516.339264980] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050516.339756908] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050516.340129973] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050516.344464173] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050516.344887941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050516.345630587] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050516.346627498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050516.347772609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050516.445294333] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050516.446168876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050516.446870711] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050516.448662555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050516.449156392] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050516.503304675] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914358 Long: -76.50307924 -[vectornav-1] [INFO] [1746050516.504580882] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.202, 4.543, -0.209) -[mux-7] [INFO] [1746050516.545096103] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050516.545777216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050516.546412286] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050516.547864304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050516.549059887] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050516.585461795] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050516.587810552] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050516.588922522] [sailbot.teensy]: Wind angle: 231 -[mux-7] [INFO] [1746050516.589316102] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050516.589929176] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050516.591006615] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050516.591889788] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050516.645449595] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050516.645985303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050516.647134525] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050516.648236621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050516.648824056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050516.745278125] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050516.745925302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050516.746931136] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050516.748303313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050516.749305066] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050516.835175553] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050516.837169553] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050516.837381126] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050516.838595572] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050516.838922784] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050516.839004467] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050516.839390500] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050516.844408978] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050516.844938643] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050516.845863254] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050516.846984736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050516.848023828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050516.945167455] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050516.945855055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050516.946672134] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050516.948327323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050516.949500653] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050517.002693792] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914384 Long: -76.50308137 -[vectornav-1] [INFO] [1746050517.003861154] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.322, -2.302, 0.172) -[mux-7] [INFO] [1746050517.045157586] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050517.046174084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050517.046706882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050517.048350603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050517.048997115] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050517.085747863] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050517.087921788] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050517.088985138] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050517.088423912] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050517.089874112] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050517.090157717] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050517.090740509] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050517.145267544] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050517.145844286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050517.146943371] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050517.148062122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050517.149319810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050517.245374462] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050517.246905054] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050517.249185622] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050517.250848713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050517.251799045] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050517.335299622] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050517.337716490] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050517.338551427] [sailbot.teensy]: Wind angle: 243 -[mux-7] [INFO] [1746050517.338999308] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050517.339623798] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050517.340556479] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050517.341533502] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050517.344289118] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050517.344704905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050517.345348652] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050517.346280384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050517.347348614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050517.445273607] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050517.445961430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050517.447008899] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050517.448656746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050517.449296900] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050517.503022314] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914393 Long: -76.50308367 -[vectornav-1] [INFO] [1746050517.505205962] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.68100000000004, 1.949, -2.96) -[mux-7] [INFO] [1746050517.545645062] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050517.546385002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050517.547345118] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050517.549013281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050517.550363744] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050517.585542212] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050517.587591949] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050517.588584395] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050517.589458363] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746050517.588690846] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050517.589411993] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050517.590319947] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050517.645248905] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050517.645901828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050517.646761931] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050517.647818723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050517.648372408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050517.745280167] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050517.745848761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050517.746973972] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050517.747909917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050517.749039687] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050517.835567849] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050517.837659326] [sailbot.teensy]: Wind angle: 240 -[trim_sail-4] [INFO] [1746050517.838403759] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050517.838647164] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050517.838799416] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050517.839050124] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050517.839444639] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050517.844443572] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050517.845345693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050517.845553888] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050517.847156233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050517.848362418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050517.945989489] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050517.946959894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050517.947944936] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050517.949033503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050517.949563300] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050518.003558168] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914297 Long: -76.50308585 -[vectornav-1] [INFO] [1746050518.005017635] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.49800000000005, -2.773, -2.922) -[mux-7] [INFO] [1746050518.045027413] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050518.045816512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050518.046362805] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050518.047805448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050518.048910645] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050518.085395669] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050518.087413144] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050518.087956245] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050518.088307459] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050518.088410035] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050518.089346769] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050518.090229683] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050518.145528601] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050518.146337240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050518.147257615] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050518.148918684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050518.150154068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050518.245233477] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050518.246010234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050518.247201486] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050518.248029798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050518.249216973] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050518.335425232] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050518.337919564] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050518.338358118] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050518.338609474] [sailbot.teensy]: Wind angle: 237 -[teensy-2] [INFO] [1746050518.339031943] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050518.339625577] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050518.340008739] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050518.344514562] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050518.345244473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050518.345793071] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050518.347011692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050518.348697853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050518.445679689] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050518.446333883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050518.447489855] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050518.448717648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050518.449310547] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050518.502369598] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914392 Long: -76.50308847 -[vectornav-1] [INFO] [1746050518.503558255] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.42499999999995, -0.973, 1.743) -[mux-7] [INFO] [1746050518.545410516] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050518.546139277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050518.547016878] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050518.548709503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050518.549932509] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050518.585427484] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050518.587751301] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050518.588354944] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050518.588619440] [sailbot.teensy]: Wind angle: 239 -[teensy-2] [INFO] [1746050518.589716692] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050518.590578352] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050518.591417027] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050518.645187506] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050518.646038052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050518.646657260] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050518.648025302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050518.648541039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050518.745025623] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050518.745777639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050518.746525354] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050518.747604454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050518.748184769] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050518.835465704] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050518.837474322] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050518.837853742] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050518.838639234] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050518.839079599] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050518.839128652] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050518.839514446] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050518.844470592] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050518.844930974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050518.845612436] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050518.846601609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050518.847690549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050518.945652598] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050518.946376251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050518.947706439] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050518.948592267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050518.949751560] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050519.003521891] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914437 Long: -76.50309088 -[vectornav-1] [INFO] [1746050519.005094344] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.46699999999998, 5.167, -2.222) -[mux-7] [INFO] [1746050519.045142804] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050519.045913273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050519.046561930] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050519.047816338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050519.048873436] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050519.085336215] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050519.087220165] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050519.087926697] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050519.088144520] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050519.088517351] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050519.089071557] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050519.089944108] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050519.144938562] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050519.145824788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050519.146196194] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050519.147599445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050519.148651239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050519.245047225] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050519.245958664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050519.246520411] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050519.247928621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050519.248961255] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050519.335227633] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050519.337322017] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050519.337564388] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050519.338322699] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050519.338712125] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050519.339272799] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050519.340255175] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050519.344607423] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050519.345269397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050519.345729818] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050519.347040222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050519.348061205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050519.445488591] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050519.446452952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050519.447293479] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050519.448495414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050519.448993753] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050519.502544904] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914381 Long: -76.50309274 -[vectornav-1] [INFO] [1746050519.503653648] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.89200000000005, -5.894, -1.344) -[mux-7] [INFO] [1746050519.545321288] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050519.546141663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050519.546952815] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050519.548289358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050519.550757543] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050519.585375874] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050519.587075432] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050519.587598317] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050519.588802474] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050519.589195615] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050519.590189381] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050519.591069418] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050519.645426876] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050519.646380971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050519.647546977] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050519.648106242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050519.648875352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050519.744836836] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050519.745509320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050519.746341046] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050519.747495922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050519.748551252] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050519.835307789] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050519.837711019] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050519.837828416] [sailbot.teensy]: Wind angle: 229 -[teensy-2] [INFO] [1746050519.838758511] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050519.838809092] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050519.839686456] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050519.840578996] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050519.844627602] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050519.845102746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050519.845809041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050519.846819035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050519.847881322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050519.945553911] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050519.946797653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050519.947137035] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050519.948976435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050519.949506493] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050520.003162272] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914485 Long: -76.50309563 -[vectornav-1] [INFO] [1746050520.004742923] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.24699999999996, -1.158, 2.758) -[mux-7] [INFO] [1746050520.044989055] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050520.045692639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050520.046292630] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050520.047490112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050520.048557769] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050520.085280455] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050520.087427449] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050520.088103423] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050520.088304741] [sailbot.teensy]: Wind angle: 229 -[teensy-2] [INFO] [1746050520.089300075] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050520.090147114] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050520.090984752] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050520.145185048] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050520.145959368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050520.146678255] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050520.148118838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050520.149193982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050520.245254378] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050520.246035496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050520.246859701] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050520.248403251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050520.249564857] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050520.335175284] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050520.337416468] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050520.337652760] [sailbot.teensy]: Wind angle: 229 -[mux-7] [INFO] [1746050520.338233897] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050520.338756999] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050520.339918351] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050520.340842041] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050520.344473742] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050520.345051190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050520.345618906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050520.346876911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050520.347924544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050520.445155624] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050520.446212550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050520.446627511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050520.448438936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050520.449163128] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050520.504847376] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914575 Long: -76.50309834 -[vectornav-1] [INFO] [1746050520.506797715] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (161.72799999999995, 5.676, -1.32) -[mux-7] [INFO] [1746050520.545239354] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050520.546461324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050520.546771657] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050520.549034717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050520.550242038] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050520.585221187] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050520.586955010] [sailbot.teensy]: Wind angle: 229 -[trim_sail-4] [INFO] [1746050520.587420750] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050520.587918248] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050520.588834104] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050520.588953977] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050520.589928533] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050520.645194082] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050520.646105024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050520.646691665] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050520.648258375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050520.649393753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050520.745031894] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050520.745911035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050520.746718582] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050520.747611627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050520.748166117] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050520.835198487] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050520.837245921] [sailbot.teensy]: Wind angle: 228 -[trim_sail-4] [INFO] [1746050520.837503687] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050520.838262105] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050520.838664500] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050520.839150514] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050520.839867320] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050520.844403318] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050520.844875148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050520.845713073] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050520.846613345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050520.847653288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050520.945239739] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050520.946175522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050520.946806447] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050520.948605620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050520.949232017] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050521.002560786] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914555 Long: -76.5031001 -[vectornav-1] [INFO] [1746050521.003752976] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.08299999999997, -5.094, -2.598) -[mux-7] [INFO] [1746050521.045298520] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050521.046275687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050521.046914234] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050521.048524061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050521.049116778] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050521.085834285] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050521.088525283] [sailbot.teensy]: Wind angle: 229 -[trim_sail-4] [INFO] [1746050521.088554991] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050521.089725354] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050521.089977247] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050521.090707790] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050521.091668958] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050521.145348742] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050521.146144395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050521.146878733] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050521.149419795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050521.150532954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050521.245415334] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050521.246278147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050521.247319240] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050521.248661492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050521.249788359] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050521.335602914] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050521.338112313] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050521.338480769] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050521.339030520] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050521.339982577] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050521.339509603] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050521.340948183] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050521.344498621] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050521.345049200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050521.345715267] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050521.346808537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050521.347939756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050521.445454066] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050521.446187057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050521.447516587] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050521.447836884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050521.448399798] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050521.503524714] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914594 Long: -76.50310277 -[vectornav-1] [INFO] [1746050521.505290282] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.957, 1.147, 0.763) -[mux-7] [INFO] [1746050521.545047895] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050521.545754197] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050521.548076341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050521.549412048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050521.548093350] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050521.585567159] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050521.587557819] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050521.588343180] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050521.588608435] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050521.589505442] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050521.589779509] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050521.590475644] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050521.645038598] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050521.645752461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050521.646413590] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050521.648546595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050521.649592722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050521.745469062] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050521.746331835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050521.747090894] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050521.748213358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050521.748757602] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050521.835486642] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050521.838107538] [sailbot.teensy]: Wind angle: 228 -[trim_sail-4] [INFO] [1746050521.838584336] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050521.839212531] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050521.839417187] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050521.839633255] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050521.840012183] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050521.844592941] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050521.845021537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050521.845838086] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050521.846757576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050521.847788903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050521.945461983] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050521.946310861] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050521.947363481] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050521.948880853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050521.949565317] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050522.004202401] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914729 Long: -76.5031055 -[vectornav-1] [INFO] [1746050522.006133240] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.53700000000003, -0.158, 0.478) -[mux-7] [INFO] [1746050522.044966405] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050522.045597635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050522.046247196] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050522.047405525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050522.048597800] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050522.085448913] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050522.087306061] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746050522.087962465] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050522.088302124] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050522.089204215] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050522.089282170] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050522.090087087] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050522.145355322] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050522.146282171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050522.147562399] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050522.148375110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050522.149539351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050522.245137667] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050522.245792176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050522.246862466] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050522.247699141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050522.249251143] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050522.335707146] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050522.338656666] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050522.339389039] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050522.339709853] [sailbot.teensy]: Wind angle: 221 -[teensy-2] [INFO] [1746050522.340797755] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050522.341149985] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050522.341479241] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050522.344323490] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050522.344872876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050522.345398247] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050522.346647548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050522.347686018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050522.445203671] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050522.445985713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050522.446803534] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050522.448041909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050522.448534501] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050522.502502278] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914761 Long: -76.50310733 -[vectornav-1] [INFO] [1746050522.503553086] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (156.072, 3.311, 3.593) -[mux-7] [INFO] [1746050522.545044836] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050522.545983005] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050522.546417534] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050522.547915563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050522.548928464] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050522.585416732] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050522.587591801] [sailbot.teensy]: Wind angle: 221 -[teensy-2] [INFO] [1746050522.588555862] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050522.588068055] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050522.589478225] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050522.590389495] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050522.590023948] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050522.645042395] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050522.645920551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050522.646417503] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050522.648032705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050522.649082966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050522.745313212] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050522.746040863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050522.746787119] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050522.748213341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050522.749276386] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050522.835337218] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050522.837793091] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050522.837868817] [sailbot.teensy]: Wind angle: 221 -[teensy-2] [INFO] [1746050522.838833841] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050522.839381803] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050522.839742269] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050522.840650319] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050522.844404861] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050522.845084447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050522.845823160] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050522.847227437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050522.848273583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050522.945283844] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050522.946791791] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050522.947293179] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050522.949400335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050522.950453651] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050523.003510220] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914805 Long: -76.50310848 -[vectornav-1] [INFO] [1746050523.005059887] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (155.86400000000003, -7.239, 3.415) -[mux-7] [INFO] [1746050523.045467628] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050523.046462734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050523.047062979] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050523.049038239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050523.050198742] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050523.085530073] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050523.088119144] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050523.088447679] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050523.088055974] [sailbot.teensy]: Wind angle: 221 -[teensy-2] [INFO] [1746050523.089920641] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050523.090826680] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050523.091635421] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050523.145206547] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050523.145961050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050523.146809210] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050523.147899569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050523.148421049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050523.245035615] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050523.245855174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050523.246795776] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050523.247815337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050523.248984979] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050523.335101439] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050523.336683135] [sailbot.teensy]: Wind angle: 223 -[trim_sail-4] [INFO] [1746050523.337410132] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050523.337547730] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050523.338140231] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050523.338456687] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050523.339359639] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050523.344432389] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050523.344952664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050523.345636006] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050523.346652481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050523.347708523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050523.445326765] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050523.446114263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050523.447644230] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050523.448373251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050523.449559428] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050523.503645685] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914847 Long: -76.50311102 -[vectornav-1] [INFO] [1746050523.504972035] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.85799999999995, 6.496, 0.702) -[mux-7] [INFO] [1746050523.545339197] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050523.545980341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050523.546906135] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050523.548354467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050523.549544037] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050523.585549812] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050523.587701679] [sailbot.teensy]: Wind angle: 223 -[teensy-2] [INFO] [1746050523.588712788] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050523.588476854] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050523.588856935] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050523.589777424] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050523.590859263] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050523.645333458] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050523.645959746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050523.646988729] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050523.648088666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050523.649337414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050523.745177598] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050523.745837579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050523.746613891] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050523.747818558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050523.749032826] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050523.834434131] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050523.835519055] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050523.835774201] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050523.835933526] [sailbot.teensy]: Wind angle: 224 -[teensy-2] [INFO] [1746050523.836356857] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050523.836762240] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050523.837158879] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050523.843625641] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050523.843914330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050523.844126305] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050523.844857606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050523.845353111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050523.945173372] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050523.946042597] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050523.946840330] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050523.948592037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050523.949710734] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050524.003901778] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914819 Long: -76.50311203 -[vectornav-1] [INFO] [1746050524.005597364] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.34799999999996, -2.876, 1.838) -[mux-7] [INFO] [1746050524.044934957] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050524.045836276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050524.046240799] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050524.047734079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050524.048780650] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050524.085356366] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050524.087409463] [sailbot.teensy]: Wind angle: 224 -[trim_sail-4] [INFO] [1746050524.087833964] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050524.088738535] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050524.088788001] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050524.089816849] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050524.090673056] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050524.145064284] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050524.145823178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050524.146481734] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050524.147872374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050524.148918918] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050524.244943566] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050524.245896478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050524.246308802] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050524.247624850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050524.248147410] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050524.335428522] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050524.337958220] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050524.338158486] [sailbot.teensy]: Wind angle: 230 -[mux-7] [INFO] [1746050524.338903487] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050524.339065479] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050524.339928524] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050524.340823761] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050524.344452583] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050524.344930865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050524.345544127] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050524.346663796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050524.347783339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050524.445529169] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050524.446221689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050524.447291122] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050524.448720098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050524.449366259] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050524.502703549] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914847 Long: -76.50311321 -[vectornav-1] [INFO] [1746050524.503929967] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.80899999999997, 0.06, 2.115) -[mux-7] [INFO] [1746050524.544951572] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050524.545596997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050524.546194981] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050524.547513067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050524.548540302] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050524.585442939] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050524.587794053] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050524.588824997] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050524.589077662] [sailbot.teensy]: Wind angle: 224 -[teensy-2] [INFO] [1746050524.590309177] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050524.591243580] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050524.592222525] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050524.645068311] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050524.645862751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050524.646609289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050524.648227713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050524.649263172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050524.745268898] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050524.746056648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050524.746774559] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050524.748497577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050524.749630696] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050524.835541451] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050524.838247337] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050524.838681430] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050524.838911806] [sailbot.teensy]: Wind angle: 217 -[teensy-2] [INFO] [1746050524.839350135] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050524.839809168] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050524.840712753] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050524.844341277] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050524.844892057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050524.845421696] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050524.846585826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050524.847730269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050524.945585064] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050524.946286537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050524.947332298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050524.948569822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050524.949129319] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050525.003467067] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914835 Long: -76.50311454 -[vectornav-1] [INFO] [1746050525.004878073] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (161.44399999999996, 0.85, 2.979) -[mux-7] [INFO] [1746050525.045069578] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050525.045939157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050525.046427103] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050525.048053284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050525.049142977] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050525.085436619] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050525.087331970] [sailbot.teensy]: Wind angle: 223 -[teensy-2] [INFO] [1746050525.088342070] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050525.087791203] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050525.088659652] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050525.089286348] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050525.090230138] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050525.144532745] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050525.145270706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050525.146018977] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050525.147107298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050525.148118492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050525.244937998] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050525.246221325] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050525.246664035] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050525.248379490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050525.249362295] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050525.335416019] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050525.337765779] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050525.338214876] [sailbot.teensy]: Wind angle: 230 -[mux-7] [INFO] [1746050525.338914028] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050525.339056111] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050525.339442050] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050525.339896219] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050525.344622341] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050525.345128188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050525.345730526] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050525.346899815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050525.348110431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050525.445461169] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050525.446366822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050525.447651437] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050525.449033970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050525.450887438] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050525.503445208] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914824 Long: -76.50311562 -[vectornav-1] [INFO] [1746050525.505337811] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.519, -1.914, 2.093) -[mux-7] [INFO] [1746050525.545440065] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050525.546029814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050525.546957984] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050525.548292319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050525.549279463] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050525.585390428] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050525.587847782] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050525.588260001] [sailbot.teensy]: Wind angle: 230 -[teensy-2] [INFO] [1746050525.589276989] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050525.589403719] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050525.590202610] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050525.591120061] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050525.644907903] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050525.645635009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050525.646178107] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050525.647622059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050525.648663619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050525.745295887] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050525.746098489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050525.746949092] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050525.748180958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050525.748820443] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050525.835608245] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050525.837635846] [sailbot.teensy]: Wind angle: 223 -[trim_sail-4] [INFO] [1746050525.838196109] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050525.838623732] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050525.839512306] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050525.839885138] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050525.839899001] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050525.844512716] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050525.845233496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050525.845715120] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050525.846949514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050525.847977246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050525.945602909] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050525.946596616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050525.947228386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050525.948743530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050525.949265239] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050526.003360270] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914807 Long: -76.50311706 -[vectornav-1] [INFO] [1746050526.004940180] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.09699999999998, 2.279, 1.421) -[mux-7] [INFO] [1746050526.045048530] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050526.045797901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050526.046590432] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050526.048899011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050526.049985738] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050526.085460591] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050526.087601810] [sailbot.teensy]: Wind angle: 223 -[trim_sail-4] [INFO] [1746050526.087845208] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050526.088663940] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050526.089493727] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050526.089875850] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050526.090794259] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050526.145623111] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050526.146497629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050526.147463975] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050526.148985360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050526.150162539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050526.245276309] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050526.246047714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050526.246900903] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050526.248147286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050526.248610924] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050526.335371797] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050526.337365576] [sailbot.teensy]: Wind angle: 227 -[trim_sail-4] [INFO] [1746050526.337871138] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050526.338346693] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050526.339024920] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050526.339261556] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050526.340193686] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050526.344509441] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050526.345432894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050526.345883075] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050526.347353156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050526.348438350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050526.445515394] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050526.446227354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050526.447136855] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050526.448701573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050526.449997026] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050526.503556894] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914789 Long: -76.50311759 -[vectornav-1] [INFO] [1746050526.505198783] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.149, -0.62, 1.31) -[mux-7] [INFO] [1746050526.545107053] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050526.546169921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050526.546516467] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050526.548522777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050526.549667029] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050526.585552147] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050526.587886435] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050526.589065479] [sailbot.teensy]: Wind angle: 228 -[mux-7] [INFO] [1746050526.589264415] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050526.590050392] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050526.590952925] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050526.591798353] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050526.645514306] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050526.646390322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050526.647132619] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050526.648969445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050526.650189017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050526.745249554] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050526.746005946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050526.746784527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050526.748313333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050526.749526115] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050526.835488865] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050526.837367084] [sailbot.teensy]: Wind angle: 229 -[trim_sail-4] [INFO] [1746050526.838324862] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050526.839025825] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050526.839164916] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050526.839558074] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050526.839945291] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050526.844362269] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050526.844979823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050526.845435127] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050526.846773004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050526.847857450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050526.945558763] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050526.946740262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050526.947411008] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050526.948165508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050526.948771293] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050527.002508559] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914752 Long: -76.50311857 -[vectornav-1] [INFO] [1746050527.003655613] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.18000000000006, -2.494, 1.004) -[mux-7] [INFO] [1746050527.044733283] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050527.045465768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050527.046177832] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050527.047334968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050527.048549390] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050527.085447806] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050527.087445830] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746050527.088034136] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050527.088519253] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050527.089413475] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050527.089449278] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050527.090384313] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050527.145167127] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050527.145514867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050527.146832842] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050527.148404468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050527.150077942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050527.245438732] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050527.246056159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050527.247014613] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050527.248436782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050527.249398818] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050527.335306604] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050527.337022008] [sailbot.teensy]: Wind angle: 228 -[trim_sail-4] [INFO] [1746050527.337549969] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050527.337959760] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050527.338849661] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050527.339037428] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050527.339735109] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050527.344418041] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050527.344951102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050527.345534634] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050527.346676280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050527.347679483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050527.375579422] [sailbot.mux]: controller_app rudder angle: -7 -[mux-7] [INFO] [1746050527.445184930] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050527.446349555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050527.446722329] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050527.447989211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050527.448513667] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050527.502638598] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914758 Long: -76.50312018 -[vectornav-1] [INFO] [1746050527.503936715] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.66999999999996, 4.422, 1.606) -[mux-7] [INFO] [1746050527.545286899] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050527.546170172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050527.546847531] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050527.548558040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050527.549028748] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050527.585432799] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050527.587132373] [sailbot.teensy]: Wind angle: 226 -[trim_sail-4] [INFO] [1746050527.587884866] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050527.588035366] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050527.588913616] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050527.589381882] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050527.589782470] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050527.645252994] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050527.646138078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050527.646928880] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050527.648273507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050527.648816811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050527.744948298] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050527.745789806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050527.746228857] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050527.747631922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050527.748688555] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050527.835435646] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050527.837863807] [sailbot.teensy]: Wind angle: 226 -[trim_sail-4] [INFO] [1746050527.838074278] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050527.838891345] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050527.839910037] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746050527.840079375] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050527.840906209] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050527.844318474] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050527.845014440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050527.845980900] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050527.846822067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050527.848009355] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050527.945248024] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050527.945993784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050527.946758507] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050527.949260367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050527.950407101] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050528.003818497] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914724 Long: -76.50312069 -[vectornav-1] [INFO] [1746050528.005695565] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.45399999999995, -4.969, -0.12) -[mux-7] [INFO] [1746050528.045310065] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050528.046156842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050528.046815624] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050528.048393325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050528.048941892] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050528.085494910] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050528.087505498] [sailbot.teensy]: Wind angle: 228 -[teensy-2] [INFO] [1746050528.088464519] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050528.087904153] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050528.089188379] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050528.089431682] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050528.090331542] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050528.145293768] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050528.146285500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050528.146833657] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050528.148569346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050528.149700905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050528.245335735] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050528.246082404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050528.246828030] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050528.248192755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050528.248726662] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050528.335307183] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050528.337776868] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050528.338080598] [sailbot.teensy]: Wind angle: 227 -[teensy-2] [INFO] [1746050528.339010285] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050528.339471122] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050528.339952122] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050528.340842208] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050528.344441182] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050528.345154020] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050528.345613879] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050528.346979241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050528.348095329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050528.374730973] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746050528.445668625] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050528.446468784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050528.447488382] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050528.448912135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050528.450126128] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050528.503301574] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914653 Long: -76.50312191 -[vectornav-1] [INFO] [1746050528.504847436] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.60400000000004, 4.211, -2.884) -[mux-7] [INFO] [1746050528.545364186] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050528.546090536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050528.546997695] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050528.548533407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050528.549698278] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050528.585364392] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050528.587553821] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050528.588013040] [sailbot.teensy]: Wind angle: 229 -[mux-7] [INFO] [1746050528.588891540] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050528.590560324] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050528.591487761] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050528.592345063] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050528.645256468] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050528.645810636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050528.646799013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050528.647830297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050528.648873703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050528.745421257] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050528.745997336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050528.747027403] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050528.748119301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050528.749405912] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050528.835292974] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050528.837200808] [sailbot.teensy]: Wind angle: 236 -[trim_sail-4] [INFO] [1746050528.837982069] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050528.838188118] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050528.839077548] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050528.839316537] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050528.839927354] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050528.844395236] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050528.844902654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050528.845455994] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050528.846585459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050528.848356215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050528.945458251] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050528.946102135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050528.947133818] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050528.948448606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050528.948947898] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050529.002495923] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914587 Long: -76.50312309 -[vectornav-1] [INFO] [1746050529.003581480] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.07799999999997, -4.996, -5.436) -[mux-7] [INFO] [1746050529.045272517] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050529.046110563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050529.046981326] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050529.048432919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050529.049482654] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050529.085642901] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050529.088535191] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050529.088873622] [sailbot.teensy]: Wind angle: 246 -[mux-7] [INFO] [1746050529.089654889] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050529.089788892] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050529.090716424] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050529.091622203] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050529.145338200] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050529.146213254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050529.146892023] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050529.149656272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050529.150851437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050529.245575531] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050529.246362703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050529.247325850] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050529.248750444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050529.249849509] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050529.335508517] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050529.337728901] [sailbot.teensy]: Wind angle: 243 -[teensy-2] [INFO] [1746050529.338753564] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050529.338907656] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050529.339341870] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050529.339429424] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050529.339819248] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050529.344429750] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050529.345049885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050529.345686243] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050529.346798592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050529.347923325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050529.445633717] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050529.446328374] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050529.447257205] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050529.448690757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050529.449953311] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050529.503311793] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469145 Long: -76.50312492 -[vectornav-1] [INFO] [1746050529.504751727] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.07100000000003, 1.38, -7.031) -[mux-7] [INFO] [1746050529.545151045] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050529.545950022] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050529.546582092] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050529.548298611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050529.549071876] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050529.585430416] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050529.587693304] [sailbot.teensy]: Wind angle: 245 -[trim_sail-4] [INFO] [1746050529.588293086] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050529.588764034] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050529.589207546] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050529.589746766] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050529.590659546] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050529.645575832] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050529.646359437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050529.647729700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050529.648710114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050529.649879118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050529.744902185] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050529.745555199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050529.746148878] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050529.747317748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050529.748305108] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050529.835269138] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050529.837382075] [sailbot.teensy]: Wind angle: 246 -[trim_sail-4] [INFO] [1746050529.837539992] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050529.838344589] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050529.839261513] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050529.839599404] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050529.840119496] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050529.844630958] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050529.845336575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050529.845739029] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050529.847675972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050529.848765691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050529.945318962] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050529.946364390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050529.946893697] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050529.948863215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050529.949986953] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050530.002653661] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691433 Long: -76.50312718 -[vectornav-1] [INFO] [1746050530.003857039] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.47400000000005, -1.625, -12.842) -[mux-7] [INFO] [1746050530.045068390] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050530.045967003] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050530.047874863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746050530.046300172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050530.049027831] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050530.085624783] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050530.087519305] [sailbot.teensy]: Wind angle: 251 -[teensy-2] [INFO] [1746050530.088612937] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050530.088055774] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050530.089506003] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050530.089644307] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050530.090405458] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050530.145100989] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050530.145849545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050530.146580298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050530.147871628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050530.148897927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050530.245247167] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050530.245939003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050530.247332605] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050530.248066498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050530.248547586] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050530.335376982] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050530.337840744] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050530.339043806] [sailbot.teensy]: Wind angle: 261 -[mux-7] [INFO] [1746050530.339107865] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050530.340032179] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050530.340940563] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050530.341358079] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050530.344358992] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050530.345050884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050530.345452605] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050530.346833874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050530.348007847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050530.374651701] [sailbot.mux]: controller_app rudder angle: 1 -[mux-7] [INFO] [1746050530.445023104] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050530.446141314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050530.446719491] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050530.448302755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050530.448812963] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050530.503339648] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914213 Long: -76.50313 -[vectornav-1] [INFO] [1746050530.505075969] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.389, -2.156, -15.827) -[mux-7] [INFO] [1746050530.545285214] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050530.546252408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050530.546830687] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050530.547860504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050530.548344624] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050530.585329747] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050530.588368149] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050530.589012846] [sailbot.teensy]: Wind angle: 271 -[mux-7] [INFO] [1746050530.589194017] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050530.590019755] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050530.590891612] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050530.591747561] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050530.645087528] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050530.645795297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050530.646541493] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050530.647783387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050530.648850497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050530.745308023] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050530.745989094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050530.746876597] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050530.748355853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050530.749282597] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050530.835702228] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050530.838199064] [sailbot.teensy]: Wind angle: 274 -[trim_sail-4] [INFO] [1746050530.839097620] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050530.839172389] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050530.839232442] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050530.839564147] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050530.839955201] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050530.844421052] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050530.844984362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050530.845945754] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050530.846734129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050530.847819603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050530.945478059] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050530.946114213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050530.947159104] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050530.948457765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050530.949013967] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050531.003184063] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914097 Long: -76.50313396 -[vectornav-1] [INFO] [1746050531.004542192] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.36699999999996, -3.046, -16.62) -[mux-7] [INFO] [1746050531.045139119] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050531.045996543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050531.046673003] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050531.048828794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050531.049898766] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050531.085376437] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050531.087817056] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050531.088122748] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050531.088676263] [sailbot.teensy]: Wind angle: 258 -[teensy-2] [INFO] [1746050531.089713500] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050531.090580367] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050531.091485706] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050531.145145853] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050531.145962307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050531.146611703] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050531.148165803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050531.148683774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050531.245123256] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050531.245782766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050531.246595169] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050531.248026678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050531.249175621] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050531.335389832] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050531.337688133] [sailbot.teensy]: Wind angle: 246 -[trim_sail-4] [INFO] [1746050531.338327914] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050531.338661444] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050531.339562176] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050531.340110496] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050531.340470654] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050531.344495034] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050531.345191359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050531.346796224] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050531.347506738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050531.348689387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050531.349026487] [sailbot.mux]: controller_app rudder angle: 3 -[mux-7] [INFO] [1746050531.445345037] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050531.446042804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050531.446891362] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050531.448107797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050531.448706148] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050531.503718112] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914065 Long: -76.50313878 -[vectornav-1] [INFO] [1746050531.505031978] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.15099999999995, -1.48, -16.883) -[mux-7] [INFO] [1746050531.545135923] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050531.546010945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050531.547255674] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050531.547986364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050531.549124466] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050531.585353476] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050531.587184226] [sailbot.teensy]: Wind angle: 249 -[trim_sail-4] [INFO] [1746050531.588012251] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050531.588107918] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050531.588989668] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050531.589824520] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050531.590222944] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050531.645200512] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050531.645928153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050531.646738620] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050531.648114887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050531.649399545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050531.745336988] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050531.746261618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050531.747008637] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050531.748855086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050531.750037562] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050531.835349664] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050531.837672683] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050531.837690376] [sailbot.teensy]: Wind angle: 252 -[teensy-2] [INFO] [1746050531.838690809] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050531.838875352] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050531.839716131] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050531.840686190] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050531.844411121] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050531.844932601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050531.845523012] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050531.846642332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050531.847954332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050531.945748571] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050531.946882253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050531.947620621] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050531.948355616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050531.948784570] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050532.002467922] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914005 Long: -76.50314393 -[vectornav-1] [INFO] [1746050532.003529150] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.66100000000006, 0.827, -13.086) -[mux-7] [INFO] [1746050532.045122086] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050532.046032008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050532.046588558] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050532.048029388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050532.049110981] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050532.085758906] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050532.088487693] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050532.089195869] [sailbot.teensy]: Wind angle: 252 -[mux-7] [INFO] [1746050532.089747970] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050532.090165361] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050532.091084273] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050532.091916310] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050532.145553602] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050532.146451066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050532.147202288] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050532.148801691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050532.150030186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050532.245320414] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050532.246146728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050532.247055291] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050532.247900345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050532.248408614] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050532.335448031] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050532.337904159] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050532.338230586] [sailbot.teensy]: Wind angle: 241 -[teensy-2] [INFO] [1746050532.339222681] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050532.339557135] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050532.340129400] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050532.341107262] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050532.344283635] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050532.344863034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050532.345354837] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050532.346608434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050532.347613106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050532.445030037] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050532.445721204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050532.446504525] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050532.447530944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050532.448549198] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050532.503689630] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913998 Long: -76.50314844 -[vectornav-1] [INFO] [1746050532.505032726] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.93899999999996, -2.823, -9.254) -[mux-7] [INFO] [1746050532.545065528] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050532.545867272] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050532.546601408] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050532.547927823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050532.548964786] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050532.585286260] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050532.587249957] [sailbot.teensy]: Wind angle: 236 -[trim_sail-4] [INFO] [1746050532.587780619] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050532.588258128] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050532.589157586] [sailbot.teensy]: Actual tail angle: 28 -[mux-7] [INFO] [1746050532.589576634] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050532.590058338] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050532.645341258] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050532.646405075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050532.647663467] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050532.648503026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050532.649008326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050532.745081496] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050532.745849964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050532.746911830] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050532.747671521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050532.748102207] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050532.835753227] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050532.838025285] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050532.839090886] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050532.840196426] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050532.840976340] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050532.841624114] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050532.841979297] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050532.844521241] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050532.845106187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050532.845790005] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050532.846857411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050532.848010322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050532.945663510] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050532.946459870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050532.947634356] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050532.949369593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050532.950482832] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050533.003135447] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914082 Long: -76.50315348 -[vectornav-1] [INFO] [1746050533.004250018] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.82299999999998, 0.154, -5.262) -[mux-7] [INFO] [1746050533.044730385] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050533.045490153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050533.046218793] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050533.047404663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050533.048484853] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050533.085357315] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050533.087797938] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050533.087935361] [sailbot.teensy]: Wind angle: 234 -[mux-7] [INFO] [1746050533.088770161] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050533.088915476] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050533.089811904] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050533.090672593] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050533.144920645] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050533.145613219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050533.146146201] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050533.147581893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050533.148602593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050533.244983310] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050533.245729686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050533.246380188] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050533.247707204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050533.248754580] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050533.335519955] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050533.337550312] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050533.338125671] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050533.338517428] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050533.338997192] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050533.339422273] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050533.340340434] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050533.344481680] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050533.344988893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050533.345638249] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050533.346801292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050533.347901956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050533.387934962] [sailbot.mux]: controller_app rudder angle: -3 -[mux-7] [INFO] [1746050533.445353188] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050533.446337842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050533.447238292] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050533.448216633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050533.448761106] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050533.504171603] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691418 Long: -76.50315767 -[vectornav-1] [INFO] [1746050533.505437424] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.71900000000005, -0.735, -2.527) -[mux-7] [INFO] [1746050533.544819317] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050533.545508550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050533.546394008] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050533.547397079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050533.548497853] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050533.585331692] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050533.587387484] [sailbot.teensy]: Wind angle: 232 -[trim_sail-4] [INFO] [1746050533.587644339] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050533.588102341] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050533.588564378] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050533.589558748] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050533.590497193] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050533.645165303] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050533.646048194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050533.646745432] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050533.648144526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050533.649285408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050533.744942232] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050533.746095115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050533.746624121] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050533.748029702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050533.749325517] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050533.835281706] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050533.837628293] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746050533.837677079] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050533.838040115] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050533.838598969] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050533.839487236] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050533.840276128] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050533.844504551] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050533.845090239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050533.845656408] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050533.846787374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050533.847973282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050533.945703486] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050533.946611576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050533.947313212] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050533.948945924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050533.949521151] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050534.003373088] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914215 Long: -76.50316127 -[vectornav-1] [INFO] [1746050534.004646732] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (161.216, 2.17, -3.001) -[mux-7] [INFO] [1746050534.045264614] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050534.046101160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050534.047043255] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050534.048746048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050534.049938038] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050534.085415366] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050534.087335086] [sailbot.teensy]: Wind angle: 229 -[trim_sail-4] [INFO] [1746050534.087951900] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050534.088323232] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050534.089225540] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050534.089131816] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050534.090519107] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050534.144856861] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050534.145681035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050534.146157984] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050534.147563398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050534.148695186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050534.245318441] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050534.246063536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050534.246867954] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050534.248384103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050534.248895760] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050534.335374382] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050534.337923793] [sailbot.teensy]: Wind angle: 224 -[trim_sail-4] [INFO] [1746050534.338409492] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050534.338968414] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050534.340295522] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050534.341189684] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050534.342012066] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050534.344299762] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050534.344854147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050534.345387095] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050534.346574116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050534.347622757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050534.349742402] [sailbot.mux]: controller_app rudder angle: -4 -[mux-7] [INFO] [1746050534.445154247] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050534.445926515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050534.446597763] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050534.448118706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050534.449165785] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050534.503737115] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914314 Long: -76.50316437 -[vectornav-1] [INFO] [1746050534.505705430] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.889, -1.689, 1.845) -[mux-7] [INFO] [1746050534.545155708] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050534.545994498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050534.546579061] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050534.548239912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050534.549439008] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050534.585447435] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050534.587753063] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050534.588725050] [sailbot.teensy]: Wind angle: 224 -[mux-7] [INFO] [1746050534.589068913] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050534.589702599] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050534.590610585] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050534.591450855] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050534.645524708] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050534.646041950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050534.648060226] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050534.648334365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050534.649604967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050534.745118768] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050534.745671457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050534.746579970] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050534.747812934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050534.748791440] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050534.835414946] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050534.837587851] [sailbot.teensy]: Wind angle: 227 -[trim_sail-4] [INFO] [1746050534.838296123] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050534.838641175] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050534.839675700] [sailbot.teensy]: Actual tail angle: 21 -[mux-7] [INFO] [1746050534.839790563] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050534.840650161] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050534.844322261] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050534.845041959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050534.845435885] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050534.846807920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050534.847961397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050534.945282997] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050534.946201687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050534.947320893] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050534.948646734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050534.949834328] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050535.002848158] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691442 Long: -76.50316733 -[vectornav-1] [INFO] [1746050535.004297212] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.505, 0.771, 1.485) -[mux-7] [INFO] [1746050535.044965284] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050535.045664252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050535.046296544] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050535.047557514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050535.048587054] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050535.085383394] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050535.087101852] [sailbot.teensy]: Wind angle: 224 -[teensy-2] [INFO] [1746050535.088044709] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050535.088362485] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050535.088876079] [sailbot.teensy]: Actual tail angle: 21 -[mux-7] [INFO] [1746050535.088926318] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050535.089724704] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050535.145440964] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050535.146050229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050535.147063496] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050535.148081041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050535.149344587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050535.245063854] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050535.245662947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050535.246538102] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050535.247570365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050535.248177676] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050535.335360855] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050535.337553239] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746050535.337920571] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050535.338749765] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050535.339729064] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050535.339940767] [sailbot.teensy]: Actual tail angle: 21 -[teensy-2] [INFO] [1746050535.340910451] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050535.344708381] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050535.345140675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050535.345872719] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050535.346912414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050535.348070327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050535.349214024] [sailbot.mux]: controller_app rudder angle: -8 -[mux-7] [INFO] [1746050535.445349002] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050535.446123531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050535.446931592] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050535.448307526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050535.448754047] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050535.502426077] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914494 Long: -76.50317 -[vectornav-1] [INFO] [1746050535.503451853] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.788, 0.441, 3.867) -[mux-7] [INFO] [1746050535.545395877] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050535.546291239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050535.546962796] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050535.548494970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050535.548981221] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050535.585393493] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050535.587743884] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050535.588039842] [sailbot.teensy]: Wind angle: 225 -[mux-7] [INFO] [1746050535.589234084] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050535.589297176] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050535.590309281] [sailbot.teensy]: Actual tail angle: 21 -[teensy-2] [INFO] [1746050535.591097310] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050535.644924058] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050535.645582763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050535.646313448] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050535.647573587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050535.649476687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050535.745028849] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050535.746038577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050535.746380534] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050535.747936919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050535.748990160] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050535.835508181] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050535.837736245] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050535.838259735] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050535.838850536] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050535.839805837] [sailbot.teensy]: Actual tail angle: 17 -[mux-7] [INFO] [1746050535.839737612] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050535.840703269] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050535.844442377] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050535.845119260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050535.845546932] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050535.846881351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050535.847911658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050535.945190034] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050535.947085108] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050535.948204146] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050535.949000881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050535.949953194] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050536.003248470] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691449 Long: -76.50317169 -[vectornav-1] [INFO] [1746050536.005120842] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.62800000000004, -2.005, 1.138) -[mux-7] [INFO] [1746050536.045312180] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050536.046184264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050536.046909318] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050536.048515305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050536.049806721] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050536.085544713] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050536.088175975] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050536.088686007] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050536.089268712] [sailbot.teensy]: Wind angle: 229 -[teensy-2] [INFO] [1746050536.090224172] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050536.091147940] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050536.092103949] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746050536.149400412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050536.152431530] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050536.155186905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[mux-7] [INFO] [1746050536.155266930] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050536.158253510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050536.245417481] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050536.246459955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050536.246985198] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050536.248954466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050536.250030194] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050536.335504944] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050536.338134904] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050536.338337714] [sailbot.teensy]: Wind angle: 215 -[teensy-2] [INFO] [1746050536.339308515] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050536.340127858] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050536.340222936] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050536.341162804] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050536.344446156] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050536.344896728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050536.345698880] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050536.346550373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050536.347585735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050536.387820547] [sailbot.mux]: controller_app rudder angle: -2 -[mux-7] [INFO] [1746050536.445255860] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050536.445941442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050536.446764038] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050536.448709810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050536.449757768] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050536.503570131] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914496 Long: -76.50317333 -[vectornav-1] [INFO] [1746050536.505074514] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.42899999999997, 3.694, 1.627) -[mux-7] [INFO] [1746050536.545448807] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050536.546094354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050536.547229401] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050536.548572708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050536.549783488] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050536.585390415] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050536.587198751] [sailbot.teensy]: Wind angle: 216 -[teensy-2] [INFO] [1746050536.588108070] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050536.587997242] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050536.588294457] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050536.589052711] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050536.590035388] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050536.645261995] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050536.645858142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050536.647027250] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050536.648281856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050536.648951667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050536.745174489] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050536.745916326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050536.746752360] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050536.747847024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050536.748657373] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050536.835569509] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050536.838026275] [sailbot.teensy]: Wind angle: 224 -[trim_sail-4] [INFO] [1746050536.838127791] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050536.839029266] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050536.839639820] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050536.839934834] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050536.840815051] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050536.844414659] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050536.845104527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050536.845498785] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050536.846842186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050536.847837733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050536.945349413] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050536.946244570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050536.946978539] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050536.948872332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050536.950148625] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050537.003276420] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914504 Long: -76.50317459 -[vectornav-1] [INFO] [1746050537.004759391] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.865, -3.013, 1.267) -[mux-7] [INFO] [1746050537.045178140] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050537.046169748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050537.046895151] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050537.048047948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050537.049075221] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050537.085395120] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050537.087672823] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050537.088061572] [sailbot.teensy]: Wind angle: 223 -[mux-7] [INFO] [1746050537.088437737] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050537.089095249] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050537.089971934] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050537.090826167] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050537.145046437] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050537.145965714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050537.146396629] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050537.148096761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050537.149152619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050537.245178294] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050537.246211069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050537.246747628] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050537.247882195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050537.248335181] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050537.335400813] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050537.337791927] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050537.338904548] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050537.339238935] [sailbot.teensy]: Wind angle: 228 -[teensy-2] [INFO] [1746050537.340271015] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050537.341166704] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050537.342016181] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050537.344352575] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050537.345093760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050537.345463274] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050537.346876094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050537.348139247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050537.387423204] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746050537.445618160] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050537.446424647] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050537.447388765] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050537.448966219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050537.450098117] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050537.502405714] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914479 Long: -76.50317612 -[vectornav-1] [INFO] [1746050537.503579322] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.97900000000004, 2.205, -2.241) -[mux-7] [INFO] [1746050537.545606297] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050537.546865636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050537.547265190] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050537.549527481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050537.550623870] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050537.585523080] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050537.587822983] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050537.587820198] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050537.588797485] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050537.588813084] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050537.589788360] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050537.590665138] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050537.645061404] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050537.645951918] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050537.646563902] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050537.647977512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050537.649262305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050537.745005434] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050537.745599465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050537.746236765] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050537.747402461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050537.748582271] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050537.835311660] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050537.837669291] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050537.837999030] [sailbot.teensy]: Wind angle: 237 -[teensy-2] [INFO] [1746050537.839070310] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050537.839136287] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050537.839986937] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050537.840900925] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050537.844463567] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050537.844849457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050537.845765270] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050537.846509178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050537.847645829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050537.945428190] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050537.946007785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050537.947044111] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050537.948037590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050537.949266485] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050538.003356178] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914369 Long: -76.50317755 -[vectornav-1] [INFO] [1746050538.005049480] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.13300000000004, -3.411, -6.807) -[mux-7] [INFO] [1746050538.045440695] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050538.046477913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050538.047095736] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050538.048509126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050538.049671199] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050538.085345165] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050538.087087279] [sailbot.teensy]: Wind angle: 237 -[teensy-2] [INFO] [1746050538.088007640] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050538.087767656] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050538.088889268] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050538.089098400] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050538.089779487] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050538.144754622] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050538.145206473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050538.145960586] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050538.147028788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050538.148069439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050538.245202215] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050538.245742422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050538.246546156] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050538.247707104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050538.248894722] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050538.335190639] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050538.336955751] [sailbot.teensy]: Wind angle: 244 -[trim_sail-4] [INFO] [1746050538.337267410] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050538.338220166] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050538.338863159] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050538.339147234] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050538.340005206] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050538.344527066] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050538.345122203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050538.345754685] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050538.347093539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050538.348196952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050538.420484839] [sailbot.mux]: controller_app rudder angle: 2 -[mux-7] [INFO] [1746050538.445298247] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050538.446100035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050538.447094760] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050538.449188568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050538.450319520] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050538.504364466] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914334 Long: -76.50317993 -[vectornav-1] [INFO] [1746050538.506255396] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.14700000000005, -1.224, -8.636) -[mux-7] [INFO] [1746050538.545320667] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050538.545989515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050538.546862460] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050538.548090496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050538.549273659] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050538.585399191] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050538.587684350] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050538.589140170] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050538.589281763] [sailbot.teensy]: Wind angle: 252 -[teensy-2] [INFO] [1746050538.590210737] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050538.591095271] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050538.591905830] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050538.645208979] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050538.645965120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050538.646697889] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050538.648006383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050538.649052425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050538.745095483] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050538.745801678] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050538.746563693] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050538.748107585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050538.749303185] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050538.835692772] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050538.837913838] [sailbot.teensy]: Wind angle: 254 -[teensy-2] [INFO] [1746050538.838992746] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050538.838566069] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050538.839917787] [sailbot.teensy]: Actual tail angle: 27 -[mux-7] [INFO] [1746050538.839942507] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050538.840900034] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050538.844453385] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050538.845001249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050538.845605748] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050538.846681815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050538.847915692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050538.945514753] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050538.946455060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050538.947341966] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050538.948579133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050538.949149458] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050539.003345521] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914279 Long: -76.5031832 -[vectornav-1] [INFO] [1746050539.004806852] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.72699999999998, -0.596, -9.101) -[mux-7] [INFO] [1746050539.045292392] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050539.046752424] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050539.046520225] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050539.048795410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050539.049950306] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050539.085575827] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050539.088116137] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050539.089074458] [sailbot.teensy]: Wind angle: 258 -[mux-7] [INFO] [1746050539.089513819] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050539.090063823] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050539.090976913] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050539.091835709] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050539.145307315] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050539.145937496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050539.146950158] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050539.147982620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050539.149080558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050539.245023663] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050539.245749019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050539.246413904] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050539.247773899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050539.248830908] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050539.335453373] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050539.337790912] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050539.338048771] [sailbot.teensy]: Wind angle: 257 -[mux-7] [INFO] [1746050539.338633248] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050539.338983685] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050539.339591093] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050539.340035009] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050539.344440624] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050539.344997305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050539.345796473] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050539.346781679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050539.347965609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050539.445506403] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050539.446106992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050539.447219796] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050539.448624062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050539.449692468] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050539.502544085] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914168 Long: -76.50318705 -[vectornav-1] [INFO] [1746050539.503609014] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.87300000000005, 0.234, -10.445) -[mux-7] [INFO] [1746050539.545137110] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050539.545880410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050539.546514736] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050539.547936474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050539.548661783] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050539.585467082] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050539.591843407] [sailbot.teensy]: Wind angle: 254 -[teensy-2] [INFO] [1746050539.592653235] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050539.592664085] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050539.593404158] [sailbot.teensy]: Actual tail angle: 27 -[mux-7] [INFO] [1746050539.593598079] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050539.594228825] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050539.645295915] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050539.646014571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050539.647213775] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050539.649837133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050539.650986210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050539.745053081] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050539.745766995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050539.746404267] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050539.747878192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050539.748872653] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050539.835387755] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050539.837817406] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050539.838078141] [sailbot.teensy]: Wind angle: 251 -[mux-7] [INFO] [1746050539.838812738] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050539.839065660] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050539.839987551] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050539.840866210] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050539.844528217] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050539.844875701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050539.845831443] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050539.846545553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050539.847680478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050539.945415136] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050539.945924950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050539.947239029] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050539.947970837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050539.949275853] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050540.003584144] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914093 Long: -76.50319101 -[vectornav-1] [INFO] [1746050540.005503428] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.70799999999997, -4.667, -12.483) -[mux-7] [INFO] [1746050540.045333897] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050540.045795100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050540.047249456] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050540.047752216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050540.048956748] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050540.085598167] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050540.087736748] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050540.088494193] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050540.089678494] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050540.090198622] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050540.090578829] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050540.091461393] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050540.145015126] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050540.145486637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050540.146384489] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050540.147249518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050540.148359065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050540.245351353] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050540.246224709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050540.246911926] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050540.248307960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050540.250095375] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050540.335773487] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050540.339077832] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050540.339564805] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050540.339716003] [sailbot.teensy]: Wind angle: 254 -[teensy-2] [INFO] [1746050540.340132229] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050540.340526785] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050540.340952505] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050540.344494375] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050540.344912087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050540.345706851] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050540.346915856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050540.347951635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050540.402016883] [sailbot.mux]: controller_app rudder angle: 3 -[mux-7] [INFO] [1746050540.445523574] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050540.446164304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050540.447403154] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050540.448423947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050540.449565126] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050540.503706261] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914083 Long: -76.50319594 -[vectornav-1] [INFO] [1746050540.505446095] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.62400000000002, 2.742, -10.722) -[mux-7] [INFO] [1746050540.545323508] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050540.545951118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050540.547008780] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050540.548066276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050540.549315787] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050540.585386726] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050540.587271560] [sailbot.teensy]: Wind angle: 256 -[trim_sail-4] [INFO] [1746050540.587843805] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050540.588228106] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050540.589110512] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050540.589145530] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050540.590046676] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050540.645490098] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050540.646095657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050540.647361588] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050540.648488441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050540.649081885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050540.745271960] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050540.746087313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050540.746974689] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050540.748114231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050540.748662220] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050540.835277154] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050540.837576798] [sailbot.teensy]: Wind angle: 259 -[trim_sail-4] [INFO] [1746050540.837682436] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050540.838700122] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050540.839068457] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050540.839466742] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050540.840298818] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050540.844337417] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050540.844930132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050540.845471042] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050540.846900926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050540.848359926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050540.945076765] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050540.945811086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050540.946437172] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050540.947795427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050540.948262938] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050541.002307943] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913996 Long: -76.50320054 -[vectornav-1] [INFO] [1746050541.003288537] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.00900000000001, -1.442, -8.146) -[mux-7] [INFO] [1746050541.045278569] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050541.046057662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050541.046747942] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050541.048398489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050541.049513037] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050541.085441912] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050541.087256941] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050541.088769551] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050541.089702049] [sailbot.teensy]: Actual tail angle: 28 -[trim_sail-4] [INFO] [1746050541.089103102] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050541.090135427] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050541.090568050] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050541.144750288] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050541.145334345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050541.146435669] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050541.147369003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050541.148431864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050541.245186972] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050541.245716584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050541.246768495] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050541.247763917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050541.248559251] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050541.335230342] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050541.336984124] [sailbot.teensy]: Wind angle: 243 -[trim_sail-4] [INFO] [1746050541.337958135] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050541.339012787] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050541.339534816] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050541.340683822] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050541.341647656] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050541.344595568] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050541.344876256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050541.345894529] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050541.346563344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050541.347770715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050541.399734116] [sailbot.mux]: controller_app rudder angle: 2 -[mux-7] [INFO] [1746050541.445133323] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050541.445949957] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050541.446634463] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050541.448066595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050541.449259084] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050541.502494073] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913876 Long: -76.50320532 -[vectornav-1] [INFO] [1746050541.503688682] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (186.52700000000004, -4.098, -8.372) -[mux-7] [INFO] [1746050541.544959485] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050541.545700903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050541.546410366] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050541.547536597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050541.548679504] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050541.585467837] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050541.587746977] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050541.588016033] [sailbot.teensy]: Wind angle: 242 -[teensy-2] [INFO] [1746050541.589018499] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050541.589479877] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050541.589929231] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050541.590807881] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050541.645336852] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050541.645974788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050541.646920716] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050541.648463808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050541.649039523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050541.745318532] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050541.746416738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050541.746908726] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050541.748433826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050541.749461497] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050541.835380493] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050541.837696357] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050541.838342879] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050541.838950763] [sailbot.teensy]: Wind angle: 252 -[teensy-2] [INFO] [1746050541.839363198] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050541.839744557] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050541.840549636] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050541.844542272] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050541.844956612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050541.845784542] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050541.846614641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050541.847742121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050541.945446797] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050541.946390707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050541.948516662] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050541.949736268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050541.950919510] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050542.003129564] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913882 Long: -76.5032114 -[vectornav-1] [INFO] [1746050542.004376445] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.336, 6.387, -8.365) -[mux-7] [INFO] [1746050542.045337020] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050542.046022570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050542.046916804] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050542.048191733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050542.049341907] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050542.085266957] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050542.087881894] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050542.088729015] [sailbot.teensy]: Wind angle: 253 -[mux-7] [INFO] [1746050542.089356902] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050542.089723358] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050542.090648993] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050542.091554105] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050542.144561101] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050542.145131353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050542.145810921] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050542.147006193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050542.148050200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050542.245182372] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050542.245946601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050542.246899281] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050542.248571175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050542.249721012] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050542.335252472] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050542.336940767] [sailbot.teensy]: Wind angle: 241 -[trim_sail-4] [INFO] [1746050542.337468242] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050542.338041922] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050542.338837592] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050542.339230925] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050542.339994411] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050542.344486504] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050542.345064635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050542.345752011] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050542.346807478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050542.347828829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050542.387705800] [sailbot.mux]: controller_app rudder angle: 3 -[mux-7] [INFO] [1746050542.445048944] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050542.445906823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050542.446413054] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050542.447830272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050542.448885612] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050542.502485372] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913785 Long: -76.5032158 -[vectornav-1] [INFO] [1746050542.503539626] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.22500000000002, -3.491, -10.198) -[mux-7] [INFO] [1746050542.545466220] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050542.546301901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050542.547037116] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050542.548801672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050542.550020422] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050542.585712721] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050542.588993566] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050542.589291609] [sailbot.teensy]: Wind angle: 236 -[mux-7] [INFO] [1746050542.589463660] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050542.590546641] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050542.591424819] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050542.592280864] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050542.645224834] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050542.646024031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050542.646656005] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050542.648060803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050542.649417285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050542.745176153] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050542.745717296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050542.746634645] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050542.747636060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050542.748688556] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050542.835396415] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050542.837227596] [sailbot.teensy]: Wind angle: 246 -[teensy-2] [INFO] [1746050542.838157013] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050542.838889654] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050542.839055934] [sailbot.teensy]: Actual tail angle: 28 -[mux-7] [INFO] [1746050542.839874894] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050542.839946256] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050542.844408573] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050542.844865588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050542.845556055] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050542.846521546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050542.847566099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050542.945412579] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050542.946020509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050542.947047870] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050542.948066048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050542.949688511] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050543.003438347] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913767 Long: -76.50322088 -[vectornav-1] [INFO] [1746050543.004976524] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.31100000000004, -2.731, -7.489) -[mux-7] [INFO] [1746050543.045028741] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050543.045564821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050543.046351193] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050543.047674864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050543.048729206] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050543.085387469] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050543.087219452] [sailbot.teensy]: Wind angle: 250 -[teensy-2] [INFO] [1746050543.088169083] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050543.087753219] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050543.088414778] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050543.089064893] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050543.089890946] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050543.145299839] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050543.146081435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050543.147099660] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050543.148271074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050543.149350879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050543.245486150] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050543.246563408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050543.247818855] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050543.248477707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050543.248964038] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050543.335342922] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050543.337179927] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050543.337737744] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050543.338937322] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050543.339107951] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050543.339516622] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050543.339911239] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050543.344390298] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050543.344891589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050543.345855871] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050543.346535552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050543.347621701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050543.445262152] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050543.446334459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050543.446782393] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050543.448694791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050543.449726212] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050543.502754216] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913804 Long: -76.50322628 -[vectornav-1] [INFO] [1746050543.503883700] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.274, 2.94, -4.968) -[mux-7] [INFO] [1746050543.545107259] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050543.545896072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050543.546362871] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050543.547936787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050543.549012706] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050543.585546826] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050543.587956534] [sailbot.teensy]: Wind angle: 240 -[trim_sail-4] [INFO] [1746050543.588018293] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050543.588726526] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050543.588970729] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050543.589916854] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050543.590821866] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050543.645039074] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050543.645807951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050543.646476258] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050543.647842684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050543.649079245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050543.745534617] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050543.746204591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050543.747123600] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050543.748126224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050543.748653221] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050543.835364565] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050543.837825609] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050543.838393223] [sailbot.teensy]: Wind angle: 224 -[mux-7] [INFO] [1746050543.838747369] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050543.839376921] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050543.840328126] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050543.841189124] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050543.844240963] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050543.844826708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050543.845778970] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050543.846515786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050543.847542190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050543.945299058] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050543.946098380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050543.946802741] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050543.947963560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050543.948521265] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050544.003382054] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691383 Long: -76.50323042 -[vectornav-1] [INFO] [1746050544.005237187] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.26599999999996, -3.058, -2.621) -[mux-7] [INFO] [1746050544.045154945] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050544.045676408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050544.046432388] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050544.047471870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050544.048508437] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050544.085174087] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050544.086713802] [sailbot.teensy]: Wind angle: 225 -[trim_sail-4] [INFO] [1746050544.087174560] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050544.087627182] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050544.088220318] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050544.088519351] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050544.089384114] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050544.145037937] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050544.145867304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050544.146509777] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050544.147829311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050544.148971720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050544.245110221] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050544.245852577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050544.246505794] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050544.248008409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050544.249067144] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050544.335414462] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050544.337386126] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050544.337764573] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050544.338323262] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050544.338472175] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050544.339257944] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050544.340116318] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050544.344608537] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050544.345039436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050544.345711356] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050544.346724180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050544.347741167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050544.402167399] [sailbot.mux]: controller_app rudder angle: -1 -[mux-7] [INFO] [1746050544.445457947] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050544.446482556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050544.447047006] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050544.448443433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050544.448990117] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050544.502417692] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913909 Long: -76.50323464 -[vectornav-1] [INFO] [1746050544.503493085] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.02200000000005, 1.71, -1.23) -[mux-7] [INFO] [1746050544.544675101] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050544.545271109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050544.545875020] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050544.547028581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050544.548048204] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050544.585563434] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050544.587608813] [sailbot.teensy]: Wind angle: 227 -[trim_sail-4] [INFO] [1746050544.588221784] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050544.588654689] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050544.589558146] [sailbot.teensy]: Actual tail angle: 28 -[mux-7] [INFO] [1746050544.589937537] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050544.590415327] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050544.645535706] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050544.646360547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050544.647497493] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050544.648926351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050544.649507268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050544.745561785] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050544.746283110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050544.747283562] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050544.748632099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050544.749895617] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050544.835459460] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050544.837469388] [sailbot.teensy]: Wind angle: 226 -[teensy-2] [INFO] [1746050544.838565578] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050544.838616101] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050544.839129830] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050544.839946906] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050544.840322188] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050544.844497969] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050544.844930946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050544.845674806] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050544.846647985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050544.847670782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050544.945369275] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050544.947072496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050544.947348836] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050544.948775373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050544.949312417] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050545.003480635] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913986 Long: -76.50323773 -[vectornav-1] [INFO] [1746050545.004837168] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.09199999999998, 0.186, 1.165) -[mux-7] [INFO] [1746050545.044845197] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050545.045421653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050545.046069366] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050545.047307162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050545.048377782] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050545.085231347] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050545.087298991] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050545.087838086] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050545.088726625] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050545.088734389] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050545.089635245] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050545.090466495] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050545.145016046] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050545.145657360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050545.146354044] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050545.148072469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050545.149248016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050545.245487479] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050545.246192067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050545.247221621] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050545.247911077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050545.248397641] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050545.335268372] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050545.337573327] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050545.337905604] [sailbot.teensy]: Wind angle: 227 -[mux-7] [INFO] [1746050545.338532350] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050545.338915496] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050545.339871346] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050545.340876751] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050545.344467659] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050545.344880175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050545.345551364] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050545.346546857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050545.347596491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050545.389368308] [sailbot.mux]: controller_app rudder angle: -2 -[mux-7] [INFO] [1746050545.445323697] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050545.446864636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050545.447060917] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050545.449229422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050545.450368476] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050545.503908393] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914055 Long: -76.50324079 -[vectornav-1] [INFO] [1746050545.505531385] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.106, -1.986, 0.03) -[mux-7] [INFO] [1746050545.545103393] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050545.545913510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050545.546526663] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050545.548033632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050545.549067767] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050545.585255643] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050545.587083069] [sailbot.teensy]: Wind angle: 221 -[teensy-2] [INFO] [1746050545.588034664] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050545.587533662] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050545.588719103] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050545.589011104] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050545.590015540] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050545.644710695] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050545.645456473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050545.645901723] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050545.647314801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050545.648373500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050545.744940238] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050545.745591216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050545.746322136] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050545.747495919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050545.748936898] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050545.835591021] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050545.838245653] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050545.838636837] [sailbot.teensy]: Wind angle: 227 -[mux-7] [INFO] [1746050545.839078286] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050545.839554797] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050545.840505496] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050545.841373493] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050545.844622089] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050545.844984542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050545.845910997] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050545.846691412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050545.847865349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050545.945411836] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050545.946064904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050545.947004201] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050545.948239538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050545.949373547] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050546.003356826] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914118 Long: -76.50324357 -[vectornav-1] [INFO] [1746050546.004772105] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.27099999999996, 0.975, 0.866) -[mux-7] [INFO] [1746050546.045546521] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050546.046572596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050546.047244241] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050546.049716051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050546.051104697] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050546.085620261] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050546.087486339] [sailbot.teensy]: Wind angle: 229 -[trim_sail-4] [INFO] [1746050546.088116884] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050546.089477848] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050546.089495480] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050546.090433915] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050546.091327559] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050546.145011056] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050546.145663281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050546.146454337] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050546.148335726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050546.149470784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050546.245059786] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050546.245566254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050546.246391729] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050546.247485966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050546.248356096] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050546.335368484] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050546.337568304] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050546.338233939] [sailbot.teensy]: Wind angle: 220 -[mux-7] [INFO] [1746050546.338935279] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050546.339209352] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050546.340128006] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050546.341010287] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050546.344326507] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050546.344808210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050546.345416557] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050546.346501228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050546.347647849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050546.409396077] [sailbot.mux]: controller_app rudder angle: -5 -[mux-7] [INFO] [1746050546.444848537] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050546.445336047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050546.446058892] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050546.447314217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050546.448348458] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050546.503231714] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914231 Long: -76.50324627 -[vectornav-1] [INFO] [1746050546.504641361] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (154.664, -0.608, 3.384) -[mux-7] [INFO] [1746050546.545148718] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050546.546280719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050546.546628324] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050546.548400234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050546.549557438] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050546.585236641] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050546.587449323] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050546.587887863] [sailbot.teensy]: Wind angle: 220 -[teensy-2] [INFO] [1746050546.588882700] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050546.588488047] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050546.589815964] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050546.590662131] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050546.645204298] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050546.646018827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050546.646746923] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050546.648575159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050546.649409224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050546.745504558] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050546.746218846] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050546.747149394] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050546.747987490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050546.748544047] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050546.835646872] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050546.839072430] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050546.839281693] [sailbot.teensy]: Wind angle: 223 -[mux-7] [INFO] [1746050546.839285306] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050546.839926554] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050546.840649117] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050546.841501459] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050546.844337251] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050546.844807928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050546.845476704] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050546.846586775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050546.847637379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050546.945545910] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050546.946734856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050546.947268732] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050546.949161922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050546.950407830] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050547.003623605] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914332 Long: -76.50324817 -[vectornav-1] [INFO] [1746050547.005457661] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (151.389, 1.884, 1.352) -[mux-7] [INFO] [1746050547.045143432] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050547.045895420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050547.046568936] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050547.048117092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050547.049247001] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050547.085394111] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050547.087263271] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746050547.088100179] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050547.088242192] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050547.089147530] [sailbot.teensy]: Actual tail angle: 20 -[mux-7] [INFO] [1746050547.089507610] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050547.090047877] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050547.144856044] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050547.145282823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050547.146108797] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050547.147062472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050547.148199793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050547.245400886] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050547.246220942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050547.247175813] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050547.248410988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050547.249006866] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050547.335408221] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050547.337800060] [sailbot.teensy]: Wind angle: 207 -[trim_sail-4] [INFO] [1746050547.337821910] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050547.338791763] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050547.339163010] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050547.339351237] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050547.339725866] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050547.344559467] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050547.345139139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050547.345802290] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050547.346937764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050547.347997010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050547.397575366] [sailbot.mux]: controller_app rudder angle: -6 -[mux-7] [INFO] [1746050547.445152483] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050547.446035077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050547.446684946] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050547.448388841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050547.449411646] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050547.502652626] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914351 Long: -76.50325002 -[vectornav-1] [INFO] [1746050547.503714313] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (151.11399999999998, -5.105, 2.627) -[mux-7] [INFO] [1746050547.544913321] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050547.545521356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050547.546055784] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050547.547330600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050547.548487410] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050547.585209360] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050547.586891749] [sailbot.teensy]: Wind angle: 208 -[trim_sail-4] [INFO] [1746050547.587680439] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050547.587821783] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050547.588794494] [sailbot.teensy]: Actual tail angle: 20 -[mux-7] [INFO] [1746050547.589501901] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050547.589661407] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050547.644726881] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050547.645590935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050547.646184736] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050547.647694679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050547.648777265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050547.745308748] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050547.745949168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050547.746840603] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050547.748299802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050547.748817412] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050547.835388381] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050547.837903534] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050547.838493307] [sailbot.teensy]: Wind angle: 212 -[mux-7] [INFO] [1746050547.839130882] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050547.839428554] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050547.840247689] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050547.840705439] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050547.844527994] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050547.845022308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050547.845719820] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050547.846725363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050547.847762391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050547.945312495] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050547.946559416] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050547.947191645] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050547.949088082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050547.950203735] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050548.003509292] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914441 Long: -76.50325216 -[vectornav-1] [INFO] [1746050548.005229555] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (151.76999999999998, 4.709, 3.397) -[mux-7] [INFO] [1746050548.045190315] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050548.045935561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050548.046706532] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050548.048177929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050548.049170891] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050548.085387576] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050548.087235148] [sailbot.teensy]: Wind angle: 221 -[teensy-2] [INFO] [1746050548.088256973] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050548.088258698] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050548.089195474] [sailbot.teensy]: Actual tail angle: 19 -[mux-7] [INFO] [1746050548.089959405] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050548.090077682] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050548.145188316] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050548.145789341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050548.146720224] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050548.147794320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050548.149076842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050548.245044243] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050548.246329263] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050548.248525141] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050548.250172160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050548.251162905] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050548.335299439] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050548.337721470] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050548.338189407] [sailbot.teensy]: Wind angle: 219 -[mux-7] [INFO] [1746050548.339188390] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050548.339285203] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050548.339719058] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050548.340089759] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050548.344752421] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050548.345163646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050548.346026081] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050548.346823927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050548.347917870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050548.408351418] [sailbot.mux]: controller_app rudder angle: -7 -[mux-7] [INFO] [1746050548.445272967] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050548.446056535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050548.446787138] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050548.448170072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050548.449414569] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050548.502602984] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914452 Long: -76.50325254 -[vectornav-1] [INFO] [1746050548.503797351] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (153.94100000000003, -1.685, 2.69) -[mux-7] [INFO] [1746050548.545267403] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050548.546094841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050548.546931190] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050548.548346292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050548.549499520] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050548.585804601] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050548.588092763] [sailbot.teensy]: Wind angle: 216 -[teensy-2] [INFO] [1746050548.589205035] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050548.588852738] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050548.590104661] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050548.590173287] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050548.591081929] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050548.645193041] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050548.645974156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050548.647086118] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050548.647957970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050548.649271893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050548.745768194] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050548.746263622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050548.747540408] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050548.748690068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050548.749801045] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050548.835660732] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050548.838145050] [sailbot.teensy]: Wind angle: 215 -[trim_sail-4] [INFO] [1746050548.838230926] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050548.839204363] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050548.840223451] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746050548.840542155] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050548.841013580] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050548.844316799] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050548.844889406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050548.845643548] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050548.846832639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050548.847912548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050548.945646507] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050548.946478724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050548.948629590] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050548.948740315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050548.949377123] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050549.003660655] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914463 Long: -76.50325315 -[vectornav-1] [INFO] [1746050549.006045856] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (156.62900000000002, -1.427, 3.005) -[mux-7] [INFO] [1746050549.045298704] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050549.046257030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050549.046934616] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050549.048718908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050549.049744923] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050549.085341481] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050549.087678487] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050549.088764912] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050549.088973003] [sailbot.teensy]: Wind angle: 223 -[teensy-2] [INFO] [1746050549.090010706] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050549.091014124] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050549.091974710] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050549.145235136] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050549.145900381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050549.147161929] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050549.147877381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050549.148434566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050549.245129241] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050549.245846956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050549.246637028] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050549.247957732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050549.249125549] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050549.335365923] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050549.337634723] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050549.337637692] [sailbot.teensy]: Wind angle: 226 -[teensy-2] [INFO] [1746050549.338651813] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050549.338800284] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050549.339550741] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050549.340492185] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050549.344333308] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050549.344954276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050549.345490501] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050549.346649662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050549.347841330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050549.384408546] [sailbot.mux]: controller_app rudder angle: -5 -[mux-7] [INFO] [1746050549.445278755] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050549.446009775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050549.446983435] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050549.448422809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050549.449381918] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050549.503918196] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914446 Long: -76.50325414 -[vectornav-1] [INFO] [1746050549.505398231] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.66200000000003, 2.813, 2.147) -[mux-7] [INFO] [1746050549.545177600] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050549.546044029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050549.546610149] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050549.548046597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050549.549106611] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050549.585368843] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050549.587960583] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050549.588051690] [sailbot.teensy]: Wind angle: 214 -[mux-7] [INFO] [1746050549.588866400] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050549.589033570] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050549.589928743] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050549.590823509] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050549.645125267] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050549.645854814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050549.647086367] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050549.647866560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050549.649088861] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050549.745149348] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050549.745834103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050549.746583102] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050549.748102890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050549.748630138] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050549.835390311] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050549.837884490] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050549.838494384] [sailbot.teensy]: Wind angle: 220 -[mux-7] [INFO] [1746050549.839048322] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050549.839535156] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050549.840534363] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050549.841430752] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050549.844308259] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050549.844771230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050549.845310573] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050549.846273049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050549.847344621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050549.945511446] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050549.947119790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050549.947238403] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050549.949816263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050549.950991597] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050550.003819977] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914394 Long: -76.50325399 -[vectornav-1] [INFO] [1746050550.005561424] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.91599999999994, -1.973, 1.995) -[mux-7] [INFO] [1746050550.045135452] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050550.046032347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050550.046759138] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050550.048092200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050550.049249214] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050550.085451554] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050550.087870548] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050550.088540669] [sailbot.teensy]: Wind angle: 224 -[mux-7] [INFO] [1746050550.089178391] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050550.089890497] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050550.091202542] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050550.092112323] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050550.144426557] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050550.145024437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050550.145534113] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050550.147061071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050550.148117983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050550.245469344] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050550.246340749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050550.247118397] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050550.248833323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050550.250094133] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050550.335428942] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050550.337434976] [sailbot.teensy]: Wind angle: 225 -[trim_sail-4] [INFO] [1746050550.337907534] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050550.338445912] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050550.339418631] [sailbot.teensy]: Actual tail angle: 20 -[mux-7] [INFO] [1746050550.340444346] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050550.340764249] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050550.344456057] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050550.344916031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050550.345581171] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050550.346581292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050550.347750594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050550.422651802] [sailbot.mux]: controller_app rudder angle: 1 -[mux-7] [INFO] [1746050550.445315533] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050550.446051008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050550.447008291] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050550.448234163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050550.449363902] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050550.503340697] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914388 Long: -76.50325428 -[vectornav-1] [INFO] [1746050550.504975715] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.59199999999998, -0.989, 0.918) -[mux-7] [INFO] [1746050550.545306818] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050550.546142133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050550.546765173] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050550.547889138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050550.548376176] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050550.585350965] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050550.587204788] [sailbot.teensy]: Wind angle: 229 -[teensy-2] [INFO] [1746050550.588115001] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050550.588245401] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050550.588329432] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050550.589037103] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050550.589918019] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050550.644919562] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050550.645927058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050550.646650779] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050550.648131060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050550.648791257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050550.745022812] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050550.745709664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050550.746442918] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050550.747622149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050550.748539099] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050550.835749992] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050550.839193930] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050550.839300839] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050550.839508412] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050550.840318929] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050550.841232783] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050550.842082701] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050550.844455200] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050550.844949504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050550.845509808] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050550.846681383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050550.847728986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050550.945612366] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050550.946691916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050550.947474661] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050550.948989961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050550.950259327] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050551.003623500] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914343 Long: -76.50325504 -[vectornav-1] [INFO] [1746050551.005238087] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.423, 0.247, -0.307) -[mux-7] [INFO] [1746050551.044977317] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050551.045760872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050551.046265536] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050551.047933207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050551.049088415] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050551.085579011] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050551.087865813] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050551.088539410] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050551.088601416] [sailbot.teensy]: Wind angle: 232 -[teensy-2] [INFO] [1746050551.089741776] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050551.090675441] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050551.091563813] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050551.145005723] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050551.145688603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050551.146296892] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050551.147562690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050551.148593764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050551.245046652] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050551.245889563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050551.246526177] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050551.247700753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050551.248804166] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050551.335383287] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050551.337322845] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050551.338094460] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050551.338315033] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050551.339193304] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050551.339661315] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050551.339359790] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050551.344438138] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050551.345224705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050551.345553761] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050551.347026700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050551.348092551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050551.401050773] [sailbot.mux]: controller_app rudder angle: 2 -[mux-7] [INFO] [1746050551.445305140] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050551.446182877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050551.446853955] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050551.448319445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050551.448830839] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050551.503520467] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914252 Long: -76.50325581 -[vectornav-1] [INFO] [1746050551.504771528] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.28300000000002, 1.466, -3.601) -[mux-7] [INFO] [1746050551.545204975] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050551.546085180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050551.546886170] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050551.548070681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050551.549172145] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050551.585227603] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050551.586821639] [sailbot.teensy]: Wind angle: 244 -[trim_sail-4] [INFO] [1746050551.587366670] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050551.587753973] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050551.588687499] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050551.588963131] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050551.589564018] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050551.645224068] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050551.645731394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050551.647158921] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050551.647770983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050551.648874164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050551.744922699] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050551.745437082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050551.746199967] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050551.747205742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050551.748954486] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050551.835659640] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050551.838410544] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050551.839167723] [sailbot.teensy]: Wind angle: 247 -[mux-7] [INFO] [1746050551.839581617] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050551.840196970] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050551.841074176] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050551.841940713] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050551.844304450] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050551.845216667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050551.845470286] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050551.847086902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050551.848112928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050551.945441689] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050551.946098504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050551.947090652] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050551.948239536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050551.949362580] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050552.003335202] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914117 Long: -76.50325619 -[vectornav-1] [INFO] [1746050552.004839426] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.692, -3.152, -5.144) -[mux-7] [INFO] [1746050552.045412064] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050552.046079311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050552.047059022] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050552.048560491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050552.049622422] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050552.085460930] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050552.087853351] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050552.089303697] [sailbot.teensy]: Wind angle: 247 -[mux-7] [INFO] [1746050552.089311908] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050552.090325926] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050552.091216924] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050552.092088198] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050552.144927049] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050552.145699894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050552.146255072] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050552.147545655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050552.148728163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050552.245010882] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050552.245712476] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050552.246542953] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050552.247577783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050552.248658501] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050552.335206873] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050552.337332147] [sailbot.teensy]: Wind angle: 250 -[trim_sail-4] [INFO] [1746050552.337729873] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050552.338330424] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050552.339232349] [sailbot.teensy]: Actual tail angle: 27 -[mux-7] [INFO] [1746050552.339301363] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050552.340106177] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050552.344378948] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050552.345184893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050552.345471434] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050552.346938622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050552.348018744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050552.397626048] [sailbot.mux]: controller_app rudder angle: 4 -[teensy-2] [INFO] [1746050552.445923464] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050552.445940303] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050552.447630972] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050552.449125336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050552.450326483] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050552.503646255] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914083 Long: -76.50325826 -[vectornav-1] [INFO] [1746050552.505085044] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.789, -0.913, -5.099) -[mux-7] [INFO] [1746050552.545443746] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050552.546303998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050552.547101176] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050552.548760476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050552.549909800] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050552.585526013] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050552.587938716] [sailbot.teensy]: Wind angle: 250 -[trim_sail-4] [INFO] [1746050552.587963865] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050552.589049905] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050552.589759117] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050552.589974814] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050552.590837839] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050552.645190072] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050552.646009090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050552.646642226] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050552.647899524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050552.648382060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050552.745642074] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050552.746327049] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050552.748306609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050552.748783167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050552.747357950] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050552.835516244] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050552.837665271] [sailbot.teensy]: Wind angle: 251 -[trim_sail-4] [INFO] [1746050552.838486698] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050552.839583077] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050552.840246624] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050552.841192609] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050552.842024781] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050552.844253251] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050552.844772269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050552.845388022] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050552.846438992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050552.847464027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050552.945599298] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050552.946513100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050552.947381552] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050552.948723423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050552.949244763] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050553.003217831] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913967 Long: -76.50326062 -[vectornav-1] [INFO] [1746050553.004858701] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (198.51999999999998, 0.902, -9.921) -[mux-7] [INFO] [1746050553.045003865] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050553.045630550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050553.046193604] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050553.047405879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050553.048444765] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050553.085548578] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050553.087752947] [sailbot.teensy]: Wind angle: 251 -[trim_sail-4] [INFO] [1746050553.088827098] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050553.088855519] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050553.089767656] [sailbot.teensy]: Actual tail angle: 29 -[mux-7] [INFO] [1746050553.090415238] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050553.090676639] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050553.145010357] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050553.145918835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050553.146400113] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050553.147770445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050553.148835074] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050553.245294165] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050553.246091052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050553.247110067] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050553.248243304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050553.248765224] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050553.335371227] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050553.337323779] [sailbot.teensy]: Wind angle: 251 -[teensy-2] [INFO] [1746050553.338323627] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050553.339227016] [sailbot.teensy]: Actual tail angle: 29 -[trim_sail-4] [INFO] [1746050553.338329591] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050553.339253197] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050553.340118548] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050553.344482673] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050553.345072286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050553.345776103] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050553.346865130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050553.347986686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050553.409916398] [sailbot.mux]: controller_app rudder angle: 5 -[mux-7] [INFO] [1746050553.444748345] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050553.445704060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050553.445992879] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050553.447648541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050553.448655459] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050553.502410564] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691377 Long: -76.50326291 -[vectornav-1] [INFO] [1746050553.503436174] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.56600000000003, -3.03, -13.15) -[mux-7] [INFO] [1746050553.545498468] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050553.546384024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050553.547635534] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050553.549514075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050553.550652495] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050553.585935652] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050553.589036173] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050553.590251078] [sailbot.teensy]: Wind angle: 251 -[teensy-2] [INFO] [1746050553.591402426] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050553.591984508] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050553.592560167] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050553.593594563] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050553.645503400] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050553.646410482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050553.647197835] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050553.650332564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050553.651520816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050553.745352782] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050553.746146576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050553.746910291] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050553.748518823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050553.749511538] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050553.835397747] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050553.837886149] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050553.838296603] [sailbot.teensy]: Wind angle: 257 -[teensy-2] [INFO] [1746050553.839416158] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050553.839515086] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050553.840373038] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746050553.841253085] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050553.844420248] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050553.844896253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050553.845603815] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050553.846649613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050553.847692702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050553.944574646] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050553.945247969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050553.945759047] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050553.947098427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050553.947870497] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050554.003595522] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913717 Long: -76.5032668 -[vectornav-1] [INFO] [1746050554.005038512] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.97199999999998, -0.958, -13.226) -[mux-7] [INFO] [1746050554.044908790] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050554.045603979] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050554.046133035] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050554.047501341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050554.048687469] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050554.085194366] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050554.087290329] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050554.087313659] [sailbot.teensy]: Wind angle: 257 -[mux-7] [INFO] [1746050554.088527615] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050554.088553450] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050554.089547633] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746050554.090400608] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050554.144846550] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050554.145473373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050554.146089878] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050554.147305396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050554.148304248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050554.244934052] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050554.245609725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050554.246247348] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050554.247498803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050554.248549710] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050554.335292134] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050554.337580287] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050554.338166910] [sailbot.teensy]: Wind angle: 253 -[mux-7] [INFO] [1746050554.338354389] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050554.339180222] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050554.339561681] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746050554.339915699] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050554.344271845] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050554.345063921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050554.345894122] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050554.346860982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050554.348029943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050554.420264558] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746050554.445284891] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050554.446063337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050554.446846945] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050554.448644893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050554.449172908] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050554.502287438] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913706 Long: -76.50327132 -[vectornav-1] [INFO] [1746050554.503263254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.90800000000002, 0.011, -8.994) -[mux-7] [INFO] [1746050554.545275950] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050554.546262870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050554.546844215] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050554.548464934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050554.549701779] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050554.585833596] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050554.588487293] [sailbot.teensy]: Wind angle: 250 -[teensy-2] [INFO] [1746050554.589595013] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050554.588617181] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050554.590151011] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050554.590503679] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746050554.591366971] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050554.645353250] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050554.646070216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050554.646948972] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050554.649387131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050554.650476392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050554.745295204] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050554.746200475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050554.746896888] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050554.748554576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050554.749599118] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050554.835400901] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050554.837855150] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050554.838081726] [sailbot.teensy]: Wind angle: 244 -[teensy-2] [INFO] [1746050554.839072335] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050554.839326380] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050554.839543074] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050554.839938432] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050554.844311503] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050554.844942504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050554.845394487] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050554.846614614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050554.847647141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050554.945141089] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050554.945854539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050554.947019826] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050554.947918448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050554.949153721] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050555.003135919] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913692 Long: -76.50327547 -[vectornav-1] [INFO] [1746050555.004893964] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.76300000000003, -0.153, -7.163) -[mux-7] [INFO] [1746050555.044905649] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050555.045763524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050555.046063944] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050555.047505239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050555.048644610] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050555.085239962] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050555.087179654] [sailbot.teensy]: Wind angle: 242 -[trim_sail-4] [INFO] [1746050555.087897589] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050555.088177010] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050555.089095189] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050555.089740593] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050555.089954183] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050555.144872390] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050555.145696362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050555.146154373] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050555.147425775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050555.148404278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050555.245016003] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050555.245815151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050555.246311497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050555.247871801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050555.248931686] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050555.335310685] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050555.337339243] [sailbot.teensy]: Wind angle: 242 -[trim_sail-4] [INFO] [1746050555.337658457] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050555.338344216] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050555.339069157] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050555.339301999] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050555.340215952] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050555.344225345] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050555.344810921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050555.345396631] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050555.346518756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050555.347779239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050555.398204643] [sailbot.mux]: controller_app rudder angle: -1 -[mux-7] [INFO] [1746050555.444814704] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050555.445510734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050555.446025722] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050555.447434693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050555.448479879] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050555.502329487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913692 Long: -76.50327997 -[vectornav-1] [INFO] [1746050555.503527328] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.07299999999998, -2.797, -3.335) -[mux-7] [INFO] [1746050555.545331906] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050555.546153286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050555.546910367] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050555.548380076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050555.549611306] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050555.585700906] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050555.588513562] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050555.589146639] [sailbot.teensy]: Wind angle: 237 -[teensy-2] [INFO] [1746050555.590201967] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050555.591657096] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050555.592737604] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050555.594532926] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746050555.645194247] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050555.645938904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050555.647114326] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050555.647970399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050555.649055814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050555.745614449] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050555.746390539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050555.747255183] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050555.748840071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050555.750025707] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050555.835413298] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050555.838072819] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050555.838593584] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050555.839069515] [sailbot.teensy]: Wind angle: 237 -[teensy-2] [INFO] [1746050555.839559672] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050555.839950762] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050555.840340483] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050555.844733201] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050555.845156430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050555.846038118] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050555.846949315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050555.847961400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050555.945162603] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050555.945606827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050555.946761995] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050555.947542888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050555.948765075] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050556.003981345] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913736 Long: -76.50328377 -[vectornav-1] [INFO] [1746050556.006012034] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.20100000000002, 1.821, -0.542) -[mux-7] [INFO] [1746050556.045245792] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050556.046018681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050556.046850366] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050556.048547558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050556.049566837] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050556.085447751] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050556.087704777] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050556.088206157] [sailbot.teensy]: Wind angle: 232 -[mux-7] [INFO] [1746050556.089082265] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050556.089280252] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050556.090311036] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050556.091195006] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050556.144977681] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050556.145749347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050556.146591786] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050556.147634818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050556.148738575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050556.245419510] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050556.246428517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050556.246975282] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050556.248651917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050556.249833209] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050556.335216438] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050556.337384501] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050556.337747459] [sailbot.teensy]: Wind angle: 223 -[mux-7] [INFO] [1746050556.338692398] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050556.338762212] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050556.339244895] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050556.339622512] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050556.344484512] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050556.344837300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050556.345726575] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050556.346513123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050556.347572915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050556.445167261] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050556.445672195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050556.446549744] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050556.447760598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050556.448559417] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050556.503261602] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913829 Long: -76.50328723 -[vectornav-1] [INFO] [1746050556.504849016] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.798, 2.411, -0.382) -[mux-7] [INFO] [1746050556.545255245] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050556.545872584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050556.546825802] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050556.547958736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050556.549006821] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050556.585258672] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050556.587046300] [sailbot.teensy]: Wind angle: 225 -[trim_sail-4] [INFO] [1746050556.587428004] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050556.587932811] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050556.588851139] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050556.589211901] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050556.589729711] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050556.645237347] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050556.645886356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050556.646917861] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050556.648134696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050556.649430140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050556.745472037] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050556.746138693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050556.747332021] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050556.749862956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050556.750343020] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050556.835486604] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050556.838134324] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050556.838767119] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050556.839259960] [sailbot.teensy]: Wind angle: 226 -[teensy-2] [INFO] [1746050556.840393678] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050556.840977000] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050556.841391987] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050556.844412845] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050556.844996227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050556.845909961] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050556.846929452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050556.847959052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050556.945364377] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050556.946180806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050556.947265832] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050556.948687844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050556.949200178] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050557.003184608] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913841 Long: -76.50329014 -[vectornav-1] [INFO] [1746050557.004836604] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.22500000000002, -1.302, -0.325) -[mux-7] [INFO] [1746050557.045404654] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050557.046265247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050557.046965431] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050557.048794164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050557.049793045] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050557.085375031] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050557.087648451] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050557.088529548] [sailbot.teensy]: Wind angle: 225 -[mux-7] [INFO] [1746050557.088932873] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050557.090346437] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050557.091349639] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050557.092222513] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050557.145185855] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050557.146222982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050557.147297042] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050557.148283394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050557.149349835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050557.245269280] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050557.246046495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050557.246849374] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050557.248269474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050557.249531846] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050557.335379322] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050557.337730032] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050557.338271294] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050557.338741591] [sailbot.teensy]: Wind angle: 227 -[teensy-2] [INFO] [1746050557.339376225] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050557.339825677] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050557.340388182] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050557.344457753] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050557.345041704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050557.345546376] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050557.346756273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050557.347912524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050557.445083083] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050557.445981294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050557.446409876] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050557.447871776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050557.448886725] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050557.502187852] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913898 Long: -76.50329309 -[vectornav-1] [INFO] [1746050557.503157953] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.24699999999996, -1.034, 2.345) -[mux-7] [INFO] [1746050557.545297440] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050557.546060168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050557.547093078] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050557.548354561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050557.548907110] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050557.585545957] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050557.588191077] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050557.590716895] [sailbot.teensy]: Wind angle: 229 -[teensy-2] [INFO] [1746050557.592017511] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050557.592194497] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050557.593090732] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050557.594001739] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050557.645157324] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050557.645959829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050557.646613229] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050557.649021861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050557.650146410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050557.745215816] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050557.746163094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050557.746693525] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050557.748283043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050557.749462334] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050557.835341293] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050557.837723859] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050557.837884474] [sailbot.teensy]: Wind angle: 216 -[mux-7] [INFO] [1746050557.838212947] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050557.838824199] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050557.839721735] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050557.840600520] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050557.844323647] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050557.844856245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050557.845586571] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050557.846601255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050557.847703120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050557.945484827] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050557.946222762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050557.947148908] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050557.948412225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050557.949733573] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050558.003720549] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913977 Long: -76.50329596 -[vectornav-1] [INFO] [1746050558.005389610] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.45600000000002, 1.741, 1.726) -[mux-7] [INFO] [1746050558.045232203] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050558.046206320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050558.046706599] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050558.048262791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050558.049416975] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050558.085433494] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050558.087825344] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050558.088036605] [sailbot.teensy]: Wind angle: 217 -[mux-7] [INFO] [1746050558.089225858] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050558.089670008] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050558.090630258] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050558.091505057] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050558.145305017] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050558.146198083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050558.146855721] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050558.148285994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050558.149431559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050558.245276502] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050558.245935666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050558.246837987] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050558.248136343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050558.249340398] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050558.335424313] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050558.337224365] [sailbot.teensy]: Wind angle: 223 -[trim_sail-4] [INFO] [1746050558.337958838] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050558.338303594] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050558.339190350] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050558.339206345] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050558.340060926] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050558.344520120] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050558.344916771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050558.345716291] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050558.346601937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050558.347618712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050558.445313408] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050558.445876687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050558.446921297] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050558.448054174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050558.449170116] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050558.502703008] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914002 Long: -76.50329784 -[vectornav-1] [INFO] [1746050558.503716036] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.89800000000002, 0.412, 0.144) -[mux-7] [INFO] [1746050558.545322125] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050558.545934137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050558.546878896] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050558.548053039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050558.549238323] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050558.585530231] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050558.587972040] [sailbot.teensy]: Wind angle: 224 -[teensy-2] [INFO] [1746050558.588965635] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050558.588537090] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050558.589884889] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050558.590696170] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050558.590756600] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050558.644954528] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050558.645797047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050558.646318119] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050558.648469971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050558.649548467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050558.744823005] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050558.745642701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050558.746332681] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050558.747846591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050558.748895844] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050558.835366453] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050558.837188694] [sailbot.teensy]: Wind angle: 224 -[trim_sail-4] [INFO] [1746050558.838056984] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050558.838166312] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050558.838968178] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050558.839043871] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050558.839938511] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050558.844349204] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050558.844780277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050558.845454783] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050558.846352365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050558.847379287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050558.945303549] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050558.945988562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050558.947156393] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050558.947907660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050558.948414436] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050559.003257664] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913981 Long: -76.50329951 -[vectornav-1] [INFO] [1746050559.004642355] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.52099999999996, -3.022, 2.09) -[mux-7] [INFO] [1746050559.045206984] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050559.045732605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050559.046701678] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050559.047955854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050559.049125874] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050559.085709370] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050559.088073242] [sailbot.teensy]: Wind angle: 224 -[trim_sail-4] [INFO] [1746050559.088841654] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050559.089190529] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050559.090154673] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050559.091016287] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050559.091036430] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050559.144996395] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050559.145498606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050559.146583796] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050559.147318125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050559.148553043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050559.245386047] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050559.246176629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050559.246938033] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050559.248325413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050559.250085609] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050559.335521748] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050559.337673060] [sailbot.teensy]: Wind angle: 224 -[teensy-2] [INFO] [1746050559.338739916] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050559.338077013] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050559.339490691] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050559.339633349] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050559.340472364] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050559.344709591] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050559.344865125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050559.345860475] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050559.346549334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050559.347589803] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050559.445396768] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050559.446387770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050559.446983676] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050559.448163795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050559.448661853] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050559.503794546] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914076 Long: -76.50330206 -[vectornav-1] [INFO] [1746050559.505303086] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.27700000000004, 1.636, 3.11) -[mux-7] [INFO] [1746050559.545099538] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050559.545707249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050559.546628555] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050559.547813253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050559.548978693] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050559.585427060] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050559.587797841] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050559.587900417] [sailbot.teensy]: Wind angle: 224 -[mux-7] [INFO] [1746050559.588978466] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050559.589127638] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050559.590231884] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050559.591346751] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050559.645419769] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050559.646244011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050559.647009178] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050559.648552624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050559.649730362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050559.745253953] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050559.745956341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050559.746716018] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050559.748116440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050559.749322803] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050559.835320733] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050559.837709597] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050559.838459649] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050559.838479430] [sailbot.teensy]: Wind angle: 225 -[teensy-2] [INFO] [1746050559.838988237] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050559.839418446] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050559.839783042] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050559.844478456] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050559.844876812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050559.845869343] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050559.846516874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050559.847636779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050559.945032273] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050559.945474841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050559.946359199] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050559.947523981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050559.948716219] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050560.003362543] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914119 Long: -76.50330345 -[vectornav-1] [INFO] [1746050560.004932649] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.10500000000002, 0.928, 0.964) -[mux-7] [INFO] [1746050560.044774908] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050560.045322030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050560.046016244] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050560.047310123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050560.048521942] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050560.085507845] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050560.087851805] [sailbot.teensy]: Wind angle: 224 -[trim_sail-4] [INFO] [1746050560.087852074] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050560.088864935] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050560.089264880] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050560.089817171] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050560.090775191] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050560.145092033] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050560.145504439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050560.146396917] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050560.147305380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050560.148425207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050560.245552629] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050560.246459310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050560.247412233] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050560.248844996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050560.250164641] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050560.335456527] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050560.337867295] [sailbot.teensy]: Wind angle: 224 -[trim_sail-4] [INFO] [1746050560.338063508] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050560.339274729] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050560.339808456] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050560.340266101] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050560.341026307] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050560.344355945] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050560.344813237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050560.345464021] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050560.346584886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050560.347882048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050560.445057740] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050560.446002970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050560.446441500] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050560.447973312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050560.449033649] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050560.502314435] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914107 Long: -76.50330483 -[vectornav-1] [INFO] [1746050560.503286718] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (156.49299999999994, -1.438, 1.209) -[mux-7] [INFO] [1746050560.545030277] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050560.545740751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050560.546279168] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050560.547899464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050560.548955536] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050560.585447378] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050560.587746848] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050560.587814484] [sailbot.teensy]: Wind angle: 221 -[mux-7] [INFO] [1746050560.588770426] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050560.589178654] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050560.590059629] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050560.590909227] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050560.645151889] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050560.646051405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050560.646630141] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050560.648516722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050560.649652138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050560.745202798] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050560.745906221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050560.746553699] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050560.748108119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050560.749250768] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050560.835423099] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050560.837256372] [sailbot.teensy]: Wind angle: 217 -[trim_sail-4] [INFO] [1746050560.837933006] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050560.838212806] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050560.839214622] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050560.839266307] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050560.840220819] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050560.844395813] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050560.844863535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050560.845549668] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050560.846590306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050560.847608335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050560.945583383] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050560.946326068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050560.947407927] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050560.948591142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050560.949891398] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050561.002551794] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914134 Long: -76.50330634 -[vectornav-1] [INFO] [1746050561.003611184] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (154.40099999999995, -1.703, 3.005) -[mux-7] [INFO] [1746050561.044995082] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050561.045484688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050561.046317691] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050561.047364475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050561.048614295] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050561.085481051] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050561.087990032] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050561.088388824] [sailbot.teensy]: Wind angle: 216 -[mux-7] [INFO] [1746050561.088602959] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050561.089469814] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050561.090432625] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050561.091311545] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050561.145080530] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050561.145935569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050561.146515819] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050561.147797709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050561.148257488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050561.245079576] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050561.245658553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050561.246696546] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050561.247572348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050561.248769625] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050561.335539259] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050561.338372218] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050561.338569830] [sailbot.teensy]: Wind angle: 218 -[mux-7] [INFO] [1746050561.338847479] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050561.339274108] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050561.339690085] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050561.340101929] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050561.344406779] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050561.345115725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050561.345624608] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050561.346802426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050561.347831382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050561.445133360] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050561.446090377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050561.447000624] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050561.448561937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050561.449050673] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050561.503475861] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691421 Long: -76.50330741 -[vectornav-1] [INFO] [1746050561.505033229] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (152.28499999999997, 2.518, 4.031) -[mux-7] [INFO] [1746050561.545019085] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050561.545755674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050561.546397067] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050561.547697521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050561.548569002] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050561.585312831] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050561.587192260] [sailbot.teensy]: Wind angle: 219 -[trim_sail-4] [INFO] [1746050561.587961689] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050561.589001036] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050561.589977526] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050561.591022321] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050561.591968940] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050561.645448209] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050561.646304758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050561.647203866] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050561.648965811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050561.650324806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050561.744996397] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050561.745672908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050561.746234644] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050561.747606122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050561.748694996] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050561.835382224] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050561.837850957] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050561.838303626] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050561.839793139] [sailbot.teensy]: Wind angle: 219 -[teensy-2] [INFO] [1746050561.840776759] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050561.841670492] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050561.842487101] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050561.844397805] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050561.844919157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050561.845531470] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050561.846554308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050561.847938180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050561.945667493] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050561.946470432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050561.947359331] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050561.949112616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050561.949573310] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050562.003991160] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914234 Long: -76.50330845 -[vectornav-1] [INFO] [1746050562.005557234] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (150.14800000000002, -0.128, 1.772) -[mux-7] [INFO] [1746050562.044918822] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050562.045549578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050562.046173833] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050562.047377942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050562.048337783] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050562.085433223] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050562.087850161] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050562.088393447] [sailbot.teensy]: Wind angle: 218 -[mux-7] [INFO] [1746050562.088535689] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050562.089327338] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050562.090239286] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050562.091065095] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050562.145195186] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050562.146558060] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050562.148835303] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050562.150516950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050562.151441836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050562.245574756] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050562.246393008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050562.247585784] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050562.248704965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050562.249859572] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050562.335298260] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050562.337509319] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050562.338545546] [sailbot.teensy]: Wind angle: 217 -[mux-7] [INFO] [1746050562.338837876] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050562.339494602] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050562.340392004] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050562.341274738] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050562.344481128] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050562.344868232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050562.345788416] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050562.346572848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050562.347702880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050562.425699597] [sailbot.mux]: controller_app rudder angle: -6 -[mux-7] [INFO] [1746050562.445150402] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050562.446005764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050562.446620639] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050562.448242242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050562.449248811] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050562.502576931] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914208 Long: -76.5033092 -[vectornav-1] [INFO] [1746050562.503624364] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (147.48899999999998, -3.368, 1.986) -[mux-7] [INFO] [1746050562.545231520] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050562.546128753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050562.546811214] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050562.548269398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050562.549418229] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050562.585777725] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050562.587929855] [sailbot.teensy]: Wind angle: 215 -[trim_sail-4] [INFO] [1746050562.588519466] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050562.589025525] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050562.589984681] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050562.590007558] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050562.590973739] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050562.645202915] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050562.645919410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050562.646697707] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050562.648324220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050562.648808234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050562.745230321] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050562.746196109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050562.746727611] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050562.748595354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050562.749741126] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050562.835385897] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050562.837202265] [sailbot.teensy]: Wind angle: 214 -[trim_sail-4] [INFO] [1746050562.837745762] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050562.838147522] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050562.838907297] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050562.839048415] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050562.839895626] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050562.844635242] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050562.845830968] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050562.845909478] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050562.847728165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050562.848751855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050562.945452829] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050562.946036656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050562.947722455] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050562.948469858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050562.949566455] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050563.003218495] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914298 Long: -76.50330957 -[vectornav-1] [INFO] [1746050563.004503589] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (144.93900000000002, 0.74, 5.682) -[mux-7] [INFO] [1746050563.045369079] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050563.046120341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050563.046949498] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050563.048854962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050563.050045361] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050563.085458148] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050563.087751387] [sailbot.teensy]: Wind angle: 214 -[trim_sail-4] [INFO] [1746050563.087821554] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050563.088755854] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050563.089180553] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050563.089671814] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050563.090528971] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050563.145201439] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050563.146034746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050563.146872669] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050563.148062086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050563.149405412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050563.245186053] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050563.245745890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050563.246837811] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050563.247955657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050563.248801509] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050563.335613692] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050563.337667699] [sailbot.teensy]: Wind angle: 214 -[trim_sail-4] [INFO] [1746050563.338211332] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050563.338657976] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050563.339039759] [sailbot.teensy]: Actual tail angle: 19 -[mux-7] [INFO] [1746050563.339261674] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050563.339419767] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050563.344673509] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050563.345130248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050563.345908249] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050563.346830709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050563.347887458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050563.445659776] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050563.446253582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050563.447354728] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050563.448869658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050563.449421532] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050563.488827695] [sailbot.mux]: controller_app rudder angle: -9 -[vectornav-1] [INFO] [1746050563.502733025] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914323 Long: -76.50331008 -[vectornav-1] [INFO] [1746050563.504204958] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (142.748, 3.036, 3.452) -[mux-7] [INFO] [1746050563.545356883] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050563.546240332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050563.546922012] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050563.549260540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050563.550387961] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050563.585447748] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050563.587288175] [sailbot.teensy]: Wind angle: 213 -[teensy-2] [INFO] [1746050563.588335637] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050563.588178782] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050563.589264635] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050563.590170855] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050563.590776717] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050563.645024310] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050563.645641439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050563.647010704] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050563.647584088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050563.648685373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050563.745476320] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050563.746436222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050563.747081182] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050563.748740655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050563.749853383] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050563.835272961] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050563.837157569] [sailbot.teensy]: Wind angle: 211 -[teensy-2] [INFO] [1746050563.838103936] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050563.837685383] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050563.838499312] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050563.839017299] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050563.839881138] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050563.844468391] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050563.845167414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050563.845585373] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050563.846889984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050563.847921130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050563.945161424] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050563.945880260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050563.946535325] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050563.948093261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050563.948973592] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050564.002416324] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914283 Long: -76.50331027 -[vectornav-1] [INFO] [1746050564.003501988] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (140.60000000000002, -2.535, 3.137) -[mux-7] [INFO] [1746050564.045279727] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050564.046059135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050564.046790566] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050564.048437897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050564.049645753] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050564.085061134] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050564.087076492] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050564.087201344] [sailbot.teensy]: Wind angle: 202 -[teensy-2] [INFO] [1746050564.088070956] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050564.088333516] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050564.088959665] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050564.089854541] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050564.145082422] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050564.145763024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050564.147410132] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050564.147769819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050564.148527149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050564.245442402] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050564.246284964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050564.247022127] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050564.248627266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050564.249769538] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050564.335533840] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050564.337646518] [sailbot.teensy]: Wind angle: 202 -[trim_sail-4] [INFO] [1746050564.338270712] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050564.338669669] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050564.339265384] [sailbot.teensy]: Actual tail angle: 16 -[mux-7] [INFO] [1746050564.339238955] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050564.339653995] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050564.344444407] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050564.344986224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050564.345542143] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050564.346870870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050564.347909105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050564.445249086] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050564.446133489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050564.446792936] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050564.448550750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050564.449570665] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050564.502630831] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914297 Long: -76.50331028 -[vectornav-1] [INFO] [1746050564.503753059] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (138.188, -2.589, 3.793) -[mux-7] [INFO] [1746050564.544926521] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050564.545715718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050564.546253484] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050564.547507574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050564.548487608] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050564.585530611] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050564.588255492] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050564.589216121] [sailbot.teensy]: Wind angle: 202 -[teensy-2] [INFO] [1746050564.590137317] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050564.590252432] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050564.591072523] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050564.591932176] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050564.645485326] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050564.646708141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050564.647178726] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050564.650319215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050564.651370047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050564.745651733] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050564.746409274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050564.747359759] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050564.748219459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050564.748733763] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050564.835422569] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050564.837289041] [sailbot.teensy]: Wind angle: 197 -[teensy-2] [INFO] [1746050564.838220508] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050564.838058128] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050564.838803848] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050564.839117663] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050564.840061977] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050564.844595890] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050564.845102700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050564.845783088] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050564.846793636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050564.847940815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050564.945433942] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050564.946364543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050564.947087063] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050564.948502438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050564.948999267] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050565.003600970] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914327 Long: -76.50331079 -[vectornav-1] [INFO] [1746050565.005023862] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (135.289, 2.42, 5.39) -[mux-7] [INFO] [1746050565.044932702] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050565.045750976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050565.046203837] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050565.047583202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050565.048675450] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050565.085430811] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050565.087913708] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050565.088381250] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050565.088757561] [sailbot.teensy]: Wind angle: 197 -[teensy-2] [INFO] [1746050565.089722483] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050565.090600748] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050565.091474826] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050565.144914326] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050565.145752702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050565.146621558] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050565.147541664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050565.148613004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050565.245144248] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050565.246064988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050565.246670100] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050565.248102389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050565.248734985] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050565.335359672] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050565.338051293] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050565.339131741] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050565.339448305] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746050565.340471482] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050565.341427655] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050565.342295759] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050565.344718599] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050565.344882152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050565.345930783] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050565.346755718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050565.347828600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050565.406789481] [sailbot.mux]: controller_app rudder angle: -11 -[mux-7] [INFO] [1746050565.444833537] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050565.445348513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050565.446127422] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050565.447114515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050565.448283795] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050565.502628775] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914294 Long: -76.5033106 -[vectornav-1] [INFO] [1746050565.504124736] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (132.44, 1.938, 4.446) -[mux-7] [INFO] [1746050565.545405901] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050565.545986430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050565.547014454] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050565.548264237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050565.549384720] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050565.585648241] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050565.588519200] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050565.588619997] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746050565.589578379] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050565.589380204] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050565.590507533] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050565.591346502] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050565.645155427] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050565.645926960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050565.646570977] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050565.647962291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050565.649065995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050565.745544112] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050565.746624207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050565.747697438] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050565.748692887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050565.749209130] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050565.835556196] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050565.837796374] [sailbot.teensy]: Wind angle: 197 -[teensy-2] [INFO] [1746050565.839009975] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050565.839024929] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050565.839289901] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050565.839482549] [sailbot.teensy]: Actual tail angle: 14 -[teensy-2] [INFO] [1746050565.839863131] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050565.844371673] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050565.845017916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050565.845483046] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050565.846725318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050565.847746130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050565.945592950] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050565.946226954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050565.947713789] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050565.948850686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050565.950176327] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050566.003136486] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914248 Long: -76.50331004 -[vectornav-1] [INFO] [1746050566.004261712] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (128.48399999999998, -4.518, 2.861) -[mux-7] [INFO] [1746050566.045252011] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050566.046100202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050566.046879154] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050566.048448359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050566.049530461] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050566.085436443] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050566.087347544] [sailbot.teensy]: Wind angle: 195 -[trim_sail-4] [INFO] [1746050566.088061608] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050566.088372895] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050566.089191651] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050566.089239802] [sailbot.teensy]: Actual tail angle: 14 -[teensy-2] [INFO] [1746050566.090130420] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050566.144538156] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050566.145245750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050566.145600468] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050566.147204768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050566.148369041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050566.245246965] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050566.245918815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050566.246764014] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050566.248107288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050566.249447991] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050566.335420766] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050566.337953460] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050566.338990039] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050566.339533296] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746050566.340591256] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050566.341498860] [sailbot.teensy]: Actual tail angle: 14 -[teensy-2] [INFO] [1746050566.342350421] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050566.344381426] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050566.345028336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050566.345465233] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050566.346782792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050566.347827082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050566.425490576] [sailbot.mux]: controller_app rudder angle: -12 -[mux-7] [INFO] [1746050566.445365591] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050566.446294042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050566.446951284] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050566.448457941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050566.449643687] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050566.503718628] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914217 Long: -76.50330992 -[vectornav-1] [INFO] [1746050566.505239956] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (124.892, 3.026, 5.204) -[mux-7] [INFO] [1746050566.545397264] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050566.546090802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050566.547000324] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050566.548214785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050566.549446639] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050566.585350189] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050566.587746419] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050566.587977485] [sailbot.teensy]: Wind angle: 194 -[mux-7] [INFO] [1746050566.588263732] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050566.589400435] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050566.590512119] [sailbot.teensy]: Actual tail angle: 14 -[teensy-2] [INFO] [1746050566.591394464] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050566.645072661] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050566.645932918] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050566.646508307] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050566.647853878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050566.648386215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050566.745541071] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050566.746250257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050566.747379043] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050566.748424374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050566.748923707] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050566.835657433] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050566.837871634] [sailbot.teensy]: Wind angle: 192 -[trim_sail-4] [INFO] [1746050566.838981034] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050566.839354977] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050566.840287738] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050566.840541020] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050566.841432586] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050566.844467925] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050566.844968502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050566.845693846] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050566.846782618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050566.847879620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050566.945538900] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050566.946705611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050566.947176723] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050566.948204715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050566.948963926] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050567.003610557] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914183 Long: -76.50330943 -[vectornav-1] [INFO] [1746050567.005142865] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (119.959, -1.018, 4.117) -[mux-7] [INFO] [1746050567.045153110] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050567.045887084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050567.046574124] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050567.048048203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050567.049066775] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050567.085391080] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050567.087749129] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050567.088101507] [sailbot.teensy]: Wind angle: 182 -[teensy-2] [INFO] [1746050567.089099437] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050567.089308037] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050567.089963148] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050567.090849112] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050567.144919662] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050567.145638008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050567.146503886] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050567.147896897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050567.148489396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050567.245589587] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050567.246454775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050567.247221382] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050567.248734039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050567.249925720] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050567.335420199] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050567.337896348] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050567.338249398] [sailbot.teensy]: Wind angle: 182 -[teensy-2] [INFO] [1746050567.339287070] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050567.340031382] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050567.340144971] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050567.340551926] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050567.344245612] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050567.345213223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050567.345506739] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050567.347068654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050567.348411816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050567.422142975] [sailbot.mux]: controller_app rudder angle: -13 -[mux-7] [INFO] [1746050567.445033486] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050567.446027313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050567.446444675] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050567.448078423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050567.449234547] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050567.503351869] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914112 Long: -76.50330889 -[vectornav-1] [INFO] [1746050567.504662674] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (114.55099999999999, 2.242, 4.903) -[mux-7] [INFO] [1746050567.544768815] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050567.545526510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050567.545932031] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050567.547451064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050567.548598890] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050567.585262965] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050567.587500623] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050567.587793885] [sailbot.teensy]: Wind angle: 175 -[mux-7] [INFO] [1746050567.588577167] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050567.588751890] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050567.589651076] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050567.590488048] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050567.644908931] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050567.645625396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050567.646148263] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050567.647385338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050567.648578005] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050567.745807457] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050567.746455445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050567.748043151] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050567.748913802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050567.750387453] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050567.835469551] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050567.838320667] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050567.838988707] [sailbot.teensy]: Wind angle: 173 -[mux-7] [INFO] [1746050567.839532161] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050567.839942688] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050567.840743671] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050567.841090472] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050567.844493805] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050567.845037929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050567.845597663] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050567.846895377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050567.848135056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050567.945611606] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050567.946727586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050567.947331794] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050567.949477401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050567.950674435] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050568.004190451] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914034 Long: -76.50330822 -[vectornav-1] [INFO] [1746050568.005802296] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (108.38600000000002, -4.053, 5.55) -[mux-7] [INFO] [1746050568.045058638] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050568.045739733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050568.046349751] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050568.047599679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050568.048698152] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050568.085405891] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050568.087265361] [sailbot.teensy]: Wind angle: 170 -[teensy-2] [INFO] [1746050568.088232193] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050568.087889856] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050568.088631617] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050568.089131031] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050568.089986205] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050568.145438995] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050568.146201018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050568.147082867] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050568.148463594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050568.148976252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050568.245230376] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050568.245918546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050568.247124334] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050568.247570971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050568.248124622] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050568.335397406] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050568.337315176] [sailbot.teensy]: Wind angle: 162 -[trim_sail-4] [INFO] [1746050568.337959855] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050568.338596317] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050568.339630122] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050568.339990516] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050568.340593627] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050568.344303264] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050568.344841410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050568.345418344] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050568.346666036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050568.347751067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050568.434962294] [sailbot.mux]: controller_app rudder angle: -14 -[mux-7] [INFO] [1746050568.445004654] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050568.445676911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050568.446257286] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050568.447716842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050568.448745587] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050568.502637834] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913981 Long: -76.50330826 -[vectornav-1] [INFO] [1746050568.503727606] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (101.375, 4.2, 4.437) -[mux-7] [INFO] [1746050568.545193230] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050568.546164474] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050568.546627707] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050568.548223941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050568.549350033] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050568.585591589] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050568.587709207] [sailbot.teensy]: Wind angle: 158 -[trim_sail-4] [INFO] [1746050568.588248956] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050568.588758856] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050568.589691891] [sailbot.teensy]: Actual tail angle: 12 -[mux-7] [INFO] [1746050568.590097555] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050568.590591565] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050568.644961351] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050568.645716574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050568.646418189] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050568.647750056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050568.649105747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050568.745732355] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050568.746876696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050568.747469938] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050568.748550199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050568.748980070] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050568.835335521] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050568.837626232] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050568.837651379] [sailbot.teensy]: Wind angle: 157 -[teensy-2] [INFO] [1746050568.838602344] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050568.838853562] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050568.839578005] [sailbot.teensy]: Actual tail angle: 11 -[teensy-2] [INFO] [1746050568.840650167] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050568.844354825] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050568.844848462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050568.845488491] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050568.846530885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050568.847684902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050568.945504613] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050568.946267772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050568.947489636] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050568.949050830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050568.949703053] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050569.002487465] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913863 Long: -76.50330778 -[vectornav-1] [INFO] [1746050569.003500558] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (92.863, -3.089, 7.029) -[mux-7] [INFO] [1746050569.045284609] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050569.046297939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050569.046839526] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050569.048513917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050569.049669262] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050569.085912178] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050569.088683662] [sailbot.teensy]: Wind angle: 155 -[trim_sail-4] [INFO] [1746050569.088757664] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050569.090594133] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050569.090669426] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050569.092013519] [sailbot.teensy]: Actual tail angle: 11 -[teensy-2] [INFO] [1746050569.092946618] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050569.145158392] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050569.145940759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050569.146613434] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050569.147925827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050569.148984664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050569.245168920] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050569.245959800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050569.246952983] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050569.247988647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050569.248532555] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050569.335329050] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050569.337772044] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050569.337982586] [sailbot.teensy]: Wind angle: 154 -[teensy-2] [INFO] [1746050569.338931587] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050569.338989952] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050569.339425107] [sailbot.teensy]: Actual tail angle: 11 -[teensy-2] [INFO] [1746050569.339821099] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050569.344464484] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050569.345113184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050569.345621265] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050569.346984003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050569.347972900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050569.445425530] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050569.446135587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050569.447048553] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050569.448525092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050569.449507293] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050569.503270590] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913809 Long: -76.50330728 -[vectornav-1] [INFO] [1746050569.505054495] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (84.30200000000002, 1.085, 6.107) -[mux-7] [INFO] [1746050569.544833543] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050569.545309244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050569.546160969] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050569.547186892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050569.548226741] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050569.585474643] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050569.587883068] [sailbot.teensy]: Wind angle: 149 -[teensy-2] [INFO] [1746050569.588830013] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050569.588578554] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050569.589147482] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050569.589797372] [sailbot.teensy]: Actual tail angle: 11 -[teensy-2] [INFO] [1746050569.590640694] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050569.645503749] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050569.646367381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050569.647065854] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050569.648606831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050569.649162734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050569.745543668] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050569.746285841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050569.747414185] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050569.748661206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050569.749948142] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050569.835415329] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050569.837767399] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050569.838971382] [sailbot.teensy]: Wind angle: 140 -[mux-7] [INFO] [1746050569.839006811] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050569.839922379] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050569.840537524] [sailbot.teensy]: Actual tail angle: 11 -[teensy-2] [INFO] [1746050569.840908595] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050569.844560833] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050569.845100038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050569.845888119] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050569.846856826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050569.848025830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050569.945441438] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050569.946402001] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050569.947134408] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050569.948782132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050569.950022747] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050570.003389239] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913766 Long: -76.50330707 -[vectornav-1] [INFO] [1746050570.004649871] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (73.03199999999998, -0.289, 7.958) -[mux-7] [INFO] [1746050570.045102829] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050570.045648937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050570.046461145] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050570.047527460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050570.048652158] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050570.085292637] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050570.087240211] [sailbot.teensy]: Wind angle: 136 -[trim_sail-4] [INFO] [1746050570.087749328] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050570.088248577] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050570.089143947] [sailbot.teensy]: Actual tail angle: 11 -[mux-7] [INFO] [1746050570.089315923] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050570.090068042] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050570.144792763] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050570.145296539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050570.146060602] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050570.147058262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050570.148009217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050570.245317068] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050570.246192675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050570.247001237] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050570.248412624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050570.249631683] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050570.335361146] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050570.337860954] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050570.338569786] [sailbot.teensy]: Wind angle: 136 -[mux-7] [INFO] [1746050570.339453282] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050570.339475773] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050570.340412526] [sailbot.teensy]: Actual tail angle: 11 -[teensy-2] [INFO] [1746050570.340977825] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050570.344458388] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050570.345008747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050570.345664364] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050570.346675499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050570.347781585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050570.434313980] [sailbot.mux]: controller_app rudder angle: -13 -[mux-7] [INFO] [1746050570.444943918] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050570.445649667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050570.446228884] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050570.447501314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050570.448541104] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050570.502562063] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913698 Long: -76.50330592 -[vectornav-1] [INFO] [1746050570.503666145] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.627999999999986, -1.444, 11.847) -[mux-7] [INFO] [1746050570.545217718] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050570.546016843] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050570.546651106] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050570.548479338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050570.549476951] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050570.585657170] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050570.588063506] [sailbot.teensy]: Wind angle: 132 -[trim_sail-4] [INFO] [1746050570.588501085] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050570.589119653] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050570.589952240] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050570.590068582] [sailbot.teensy]: Actual tail angle: 11 -[teensy-2] [INFO] [1746050570.590970410] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050570.645313616] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050570.646008523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050570.646875948] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050570.648633202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050570.649782976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050570.745279838] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050570.746030921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050570.746818684] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050570.748414336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050570.748896872] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050570.835284120] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050570.837810717] [sailbot.teensy]: Wind angle: 121 -[trim_sail-4] [INFO] [1746050570.837941786] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050570.838769454] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050570.838961247] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050570.839220760] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050570.839593319] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050570.844377091] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050570.845000034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050570.845567341] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050570.846779857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050570.847834802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050570.945605036] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050570.946284727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050570.947450520] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050570.948498782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050570.949108045] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050571.002455056] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913671 Long: -76.50330497 -[vectornav-1] [INFO] [1746050571.003498981] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.761000000000024, -0.509, 13.681) -[mux-7] [INFO] [1746050571.045426702] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050571.046317868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050571.047089865] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050571.048753958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050571.049892802] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050571.085420799] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050571.087711924] [sailbot.teensy]: Wind angle: 118 -[trim_sail-4] [INFO] [1746050571.087851146] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050571.088718031] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050571.089422435] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050571.089609694] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050571.090500182] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050571.145269084] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050571.146295670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050571.146812037] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050571.149394425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050571.150540652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050571.245274351] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050571.246306134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050571.246920909] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050571.247828872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050571.248358556] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050571.335225461] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050571.337895662] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050571.337985278] [sailbot.teensy]: Wind angle: 115 -[teensy-2] [INFO] [1746050571.338962183] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050571.338967935] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050571.339363887] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050571.339742714] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050571.344379569] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050571.344917345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050571.345515951] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050571.346608559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050571.347696461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050571.412921430] [sailbot.mux]: controller_app rudder angle: -1 -[mux-7] [INFO] [1746050571.445208435] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050571.445895566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050571.446788869] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050571.448955646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050571.450064751] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050571.503845528] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913679 Long: -76.50330364 -[vectornav-1] [INFO] [1746050571.505243064] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.63099999999997, -1.77, 14.904) -[mux-7] [INFO] [1746050571.545389287] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050571.546165230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050571.547017000] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050571.548464863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050571.549786423] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050571.585555399] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050571.587900480] [sailbot.teensy]: Wind angle: 103 -[trim_sail-4] [INFO] [1746050571.588627601] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050571.588868456] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050571.589298085] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050571.589783475] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050571.590670456] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050571.645026042] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050571.645982035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050571.646371108] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050571.647908084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050571.649116132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050571.745188483] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050571.745988613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050571.746704886] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050571.748140238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050571.748713145] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050571.835452593] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050571.837449669] [sailbot.teensy]: Wind angle: 103 -[trim_sail-4] [INFO] [1746050571.838114925] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050571.839204420] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050571.839505498] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050571.840183441] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050571.841114718] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050571.844288983] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050571.844812998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050571.845657165] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050571.846474743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050571.847646137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050571.945334317] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050571.946301343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050571.947070242] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050571.948683285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050571.949156699] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050572.003190642] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691362 Long: -76.50330104 -[vectornav-1] [INFO] [1746050572.004478475] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.218999999999994, 0.376, 18.752) -[mux-7] [INFO] [1746050572.045166632] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050572.046049221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050572.046681722] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050572.048042742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050572.048590658] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050572.085462745] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050572.087365120] [sailbot.teensy]: Wind angle: 109 -[teensy-2] [INFO] [1746050572.088428026] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050572.087905142] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050572.088488382] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050572.089345135] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050572.090174157] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050572.145279907] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050572.145586301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050572.146702227] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050572.148114742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050572.149251909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050572.245336208] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050572.246205377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050572.246960955] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050572.247910829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050572.248380481] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050572.335465455] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050572.337642345] [sailbot.teensy]: Wind angle: 107 -[trim_sail-4] [INFO] [1746050572.338440827] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050572.338604392] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050572.339063631] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050572.339499581] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050572.340302101] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050572.344502403] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050572.345297287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050572.345745115] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050572.347137514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050572.348226182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050572.445284351] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050572.446181940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050572.446833797] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050572.449408480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050572.450430597] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050572.486675753] [sailbot.mux]: controller_app rudder angle: 1 -[vectornav-1] [INFO] [1746050572.503211227] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913623 Long: -76.50329871 -[vectornav-1] [INFO] [1746050572.504693873] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.718000000000018, -2.4, 18.184) -[mux-7] [INFO] [1746050572.545248202] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050572.546321293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050572.547018756] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050572.548535049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050572.549693316] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050572.585228331] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050572.587348573] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050572.587504678] [sailbot.teensy]: Wind angle: 97 -[mux-7] [INFO] [1746050572.588177985] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050572.588446296] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050572.589346881] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050572.590446578] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050572.645135401] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050572.646074086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050572.646776318] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050572.647785207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050572.648262097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050572.745464520] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050572.746248724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050572.747103426] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050572.748424540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050572.749667127] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050572.835461300] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050572.838165498] [sailbot.teensy]: Wind angle: 93 -[trim_sail-4] [INFO] [1746050572.838175853] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050572.839110342] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050572.839705692] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050572.840005446] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050572.840606367] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050572.844636521] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050572.845166389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050572.845898626] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050572.846995211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050572.848190722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050572.945490100] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050572.946200797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050572.947149244] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050572.947834961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050572.948300766] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050573.002624595] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913741 Long: -76.50329653 -[vectornav-1] [INFO] [1746050573.003641927] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.182000000000016, 0.551, 15.308) -[mux-7] [INFO] [1746050573.045678994] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050573.046881204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050573.047357538] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050573.048052745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050573.048983475] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050573.085503073] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050573.088264966] [sailbot.teensy]: Wind angle: 94 -[trim_sail-4] [INFO] [1746050573.088280897] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050573.088825196] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050573.090208006] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050573.091104311] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050573.091977229] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050573.145213601] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050573.146051802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050573.146887226] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050573.148358032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050573.149434913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050573.245632735] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050573.246594685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050573.247267634] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050573.249155505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050573.250333043] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050573.335486692] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050573.338333043] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050573.339650738] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050573.339694745] [sailbot.teensy]: Wind angle: 104 -[teensy-2] [INFO] [1746050573.340678522] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050573.341637534] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050573.342568628] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050573.344369184] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050573.345180461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050573.345459410] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050573.346839894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050573.347833077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050573.445512917] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050573.446597771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050573.447171387] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050573.449574471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050573.450713785] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050573.503053989] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913759 Long: -76.50329334 -[vectornav-1] [INFO] [1746050573.504494177] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (36.411, -1.33, 17.031) -[mux-7] [INFO] [1746050573.545313674] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050573.546183726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050573.546892156] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050573.548468511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050573.549614651] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050573.585378187] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050573.587366431] [sailbot.teensy]: Wind angle: 116 -[trim_sail-4] [INFO] [1746050573.588115404] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050573.588364936] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050573.589325828] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050573.589587019] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050573.590235590] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050573.645080140] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050573.645934438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050573.646397345] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050573.647718906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050573.648221804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050573.745346112] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050573.746111351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050573.746990472] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050573.748307794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050573.748837801] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050573.835648029] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050573.837769060] [sailbot.teensy]: Wind angle: 118 -[trim_sail-4] [INFO] [1746050573.838355352] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050573.838817920] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050573.839762547] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050573.840587307] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050573.840652558] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050573.844427863] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050573.845218633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050573.845564145] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050573.847036644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050573.848101462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050573.945668599] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050573.946383129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050573.947466591] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050573.948330766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050573.948853246] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050574.002537123] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913853 Long: -76.50329005 -[vectornav-1] [INFO] [1746050574.003581241] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.15699999999998, -0.339, 16.92) -[mux-7] [INFO] [1746050574.045193702] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050574.046181600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050574.046638006] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050574.048378301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050574.049505025] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050574.085713592] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050574.088372288] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050574.089005231] [sailbot.teensy]: Wind angle: 117 -[teensy-2] [INFO] [1746050574.089964212] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050574.090022260] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050574.090840502] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050574.091711268] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050574.144592316] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050574.145433398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050574.145776999] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050574.147403046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050574.148648755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050574.245490159] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050574.246363243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050574.247138503] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050574.248323881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050574.248892286] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050574.335483730] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050574.337959768] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050574.338272189] [sailbot.teensy]: Wind angle: 118 -[teensy-2] [INFO] [1746050574.339221605] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050574.339530290] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050574.340129995] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050574.341063783] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050574.344399992] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050574.345018044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050574.345568028] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050574.346704810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050574.347843495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050574.445585915] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050574.446360014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050574.447459465] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050574.449226778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050574.450356916] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050574.503275502] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914045 Long: -76.50328774 -[vectornav-1] [INFO] [1746050574.504951007] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.988, -2.28, 15.234) -[mux-7] [INFO] [1746050574.545263077] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050574.546024119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050574.546675493] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050574.548072775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050574.549337400] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050574.585392707] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050574.587278770] [sailbot.teensy]: Wind angle: 121 -[teensy-2] [INFO] [1746050574.588299241] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050574.588822447] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050574.589232520] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050574.590211122] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050574.591068767] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746050574.645115560] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050574.646056477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050574.646616957] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050574.648651264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050574.649664644] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050574.745383069] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050574.746145154] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050574.746944817] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050574.748747686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050574.749793005] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050574.835452737] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050574.838100741] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050574.838436266] [sailbot.teensy]: Wind angle: 129 -[teensy-2] [INFO] [1746050574.839444044] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050574.840454424] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050574.840674469] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050574.841660852] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050574.844408266] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050574.844997443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050574.845564109] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050574.846819071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050574.847905461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050574.945174427] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050574.946169608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050574.946611147] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050574.948204465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050574.949560113] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050575.003317286] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914292 Long: -76.50328493 -[vectornav-1] [INFO] [1746050575.005149354] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.245000000000005, 0.245, 16.171) -[mux-7] [INFO] [1746050575.045042177] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050575.045798340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050575.046364166] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050575.047835968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050575.048979310] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050575.085231688] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050575.086991225] [sailbot.teensy]: Wind angle: 132 -[trim_sail-4] [INFO] [1746050575.087406676] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050575.087938531] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050575.088858178] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050575.089021830] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050575.089751406] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050575.144875376] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050575.145810302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050575.146513255] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050575.147699320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050575.148783047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050575.245048121] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050575.245682204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050575.246536133] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050575.247631092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050575.248108254] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050575.335164856] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050575.336896611] [sailbot.teensy]: Wind angle: 128 -[trim_sail-4] [INFO] [1746050575.337437967] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050575.338579034] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050575.338751795] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050575.339143286] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050575.339527619] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050575.344268079] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050575.345065211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050575.345446408] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050575.346869121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050575.347978422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050575.445110421] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050575.445804293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050575.446595577] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050575.448217833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050575.449375818] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050575.502297488] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914493 Long: -76.50328179 -[vectornav-1] [INFO] [1746050575.503246358] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.322, 0.25, 16.586) -[mux-7] [INFO] [1746050575.544915976] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050575.545598608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050575.546245301] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050575.547546539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050575.548751473] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050575.585360710] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050575.587108204] [sailbot.teensy]: Wind angle: 130 -[trim_sail-4] [INFO] [1746050575.587927227] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050575.588049649] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050575.589008810] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050575.589895465] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050575.589917685] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050575.645188854] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050575.646083059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050575.646657353] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050575.649259726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050575.650387184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050575.745328778] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050575.746230003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050575.747025745] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050575.748091815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050575.748540486] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050575.835233485] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050575.837688142] [sailbot.teensy]: Wind angle: 135 -[trim_sail-4] [INFO] [1746050575.837936329] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050575.839202480] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050575.839964923] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050575.840878539] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050575.841769637] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050575.844403703] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050575.845010966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050575.845586642] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050575.846880721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050575.847921136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050575.945514510] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050575.947102815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050575.947151646] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050575.949161452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050575.949771482] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050576.002305947] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914729 Long: -76.50327938 -[vectornav-1] [INFO] [1746050576.003281967] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (67.118, -4.14, 17.343) -[mux-7] [INFO] [1746050576.045328876] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050576.045903744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050576.046892237] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050576.047946315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050576.049041888] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050576.085503298] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050576.088146256] [sailbot.teensy]: Wind angle: 134 -[trim_sail-4] [INFO] [1746050576.088248730] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050576.089265772] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050576.089322207] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050576.090406228] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050576.091268004] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050576.145172684] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050576.145919398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050576.146660362] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050576.148080820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050576.149309446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050576.245103449] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050576.245845950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050576.246877854] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050576.248177512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050576.248704372] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050576.335576023] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050576.338392133] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050576.338384357] [sailbot.teensy]: Wind angle: 131 -[teensy-2] [INFO] [1746050576.338996446] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050576.338991255] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050576.339394666] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050576.339820128] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050576.344421790] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050576.345132280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050576.345589430] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050576.346765934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050576.347786512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050576.445196985] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050576.446086721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050576.446630363] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050576.447832956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050576.448378320] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050576.503546294] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915052 Long: -76.50327898 -[vectornav-1] [INFO] [1746050576.505566402] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (75.59199999999998, 2.572, 13.984) -[mux-7] [INFO] [1746050576.545315078] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050576.545933710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050576.546907145] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050576.547974954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050576.549073466] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050576.585348835] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050576.587842142] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050576.588207481] [sailbot.teensy]: Wind angle: 136 -[mux-7] [INFO] [1746050576.588231704] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050576.589069768] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050576.589944950] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050576.590777154] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050576.645012886] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050576.645794356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050576.646368772] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050576.647644962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050576.648238761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050576.745381733] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050576.746164162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050576.747105289] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050576.748458396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050576.749555592] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050576.835396859] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050576.837370537] [sailbot.teensy]: Wind angle: 143 -[trim_sail-4] [INFO] [1746050576.838225044] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050576.838372711] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050576.839251436] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050576.840164183] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050576.839287266] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050576.844343623] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050576.845096133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050576.845781352] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050576.846884297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050576.848192915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050576.945494313] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050576.946225108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050576.947458414] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050576.948397651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050576.949468811] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050577.003946776] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915328 Long: -76.50327802 -[vectornav-1] [INFO] [1746050577.005772350] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (82.267, 0.581, 11.271) -[mux-7] [INFO] [1746050577.044830030] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050577.045580495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050577.046311095] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050577.047764283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050577.048832835] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050577.085221886] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050577.086907607] [sailbot.teensy]: Wind angle: 144 -[trim_sail-4] [INFO] [1746050577.087417727] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050577.087894181] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050577.088902334] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050577.089568690] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050577.089802444] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050577.144928702] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050577.145585274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050577.147418059] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050577.147501854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050577.148750814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050577.244869645] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050577.245700769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050577.246153320] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050577.248396695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050577.249522615] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050577.335501405] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050577.337875110] [sailbot.teensy]: Wind angle: 149 -[trim_sail-4] [INFO] [1746050577.337958062] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050577.338845328] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050577.339709375] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050577.339724914] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050577.340650579] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050577.344279819] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050577.345136961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050577.345538759] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050577.346901724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050577.347930198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050577.445492319] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050577.446482157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050577.447221520] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050577.449118437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050577.450218903] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050577.503243443] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915583 Long: -76.50327754 -[vectornav-1] [INFO] [1746050577.504962614] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (88.63299999999998, -2.638, 9.062) -[mux-7] [INFO] [1746050577.545102040] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050577.545882291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050577.546414323] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050577.547789175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050577.548845006] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050577.585437203] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050577.587717135] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050577.587931893] [sailbot.teensy]: Wind angle: 152 -[mux-7] [INFO] [1746050577.588964017] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050577.589209510] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050577.590150095] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050577.590979505] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050577.644730475] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050577.645415323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050577.645870633] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050577.647253781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050577.648308346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050577.745127016] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050577.745924999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050577.746715758] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050577.747995920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050577.749245866] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050577.835175456] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050577.837401940] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050577.837913228] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050577.838387227] [sailbot.teensy]: Wind angle: 152 -[teensy-2] [INFO] [1746050577.838945198] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050577.839313936] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050577.839797955] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050577.844297927] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050577.844905309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050577.845384962] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050577.846605709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050577.847632723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050577.945184792] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050577.946243462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050577.946694256] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050577.948100247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050577.948552703] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050578.002981224] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691591 Long: -76.50327807 -[vectornav-1] [INFO] [1746050578.004271470] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (95.35700000000003, 2.098, 7.437) -[mux-7] [INFO] [1746050578.045153284] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050578.046123096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050578.046765924] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050578.048276657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050578.049307676] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050578.085404639] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050578.087522456] [sailbot.teensy]: Wind angle: 159 -[trim_sail-4] [INFO] [1746050578.087689427] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050578.088518347] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050578.089165055] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050578.089433676] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050578.090413333] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050578.145268134] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050578.146364195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050578.146618927] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050578.148510972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050578.149520245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050578.244826015] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050578.245705800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050578.246454258] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050578.247518255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050578.248740049] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050578.335353406] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050578.337720949] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050578.338158154] [sailbot.teensy]: Wind angle: 159 -[mux-7] [INFO] [1746050578.338162275] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050578.339009890] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050578.339380316] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050578.339762739] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050578.344438882] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050578.345174534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050578.346011225] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050578.346959539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050578.348043602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050578.445159971] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050578.445989594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050578.446495863] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050578.448021782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[mux-7] [INFO] [1746050578.448689084] [sailbot.mux]: controller_app rudder angle: -22 -[teensy-2] [INFO] [1746050578.449141126] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050578.503049959] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691616 Long: -76.50327879 -[vectornav-1] [INFO] [1746050578.504376105] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (97.947, -0.397, 6.783) -[mux-7] [INFO] [1746050578.544802182] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050578.545451038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050578.545910783] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050578.547383325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050578.548512544] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050578.585447325] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050578.587611558] [sailbot.teensy]: Wind angle: 159 -[trim_sail-4] [INFO] [1746050578.587887654] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050578.588640663] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050578.589516572] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050578.589546981] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050578.590467275] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050578.644983593] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050578.645925867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050578.646354026] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050578.648004229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050578.649108705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050578.745028820] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050578.745781905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050578.746560094] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050578.747876088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050578.748433416] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050578.835591083] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050578.838280252] [sailbot.teensy]: Wind angle: 160 -[trim_sail-4] [INFO] [1746050578.838810705] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050578.839370703] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050578.839747787] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050578.840323460] [sailbot.teensy]: Actual tail angle: 3 -[teensy-2] [INFO] [1746050578.841253252] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050578.844298580] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050578.844937144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050578.845386024] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050578.846604258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050578.847663007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050578.945551379] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050578.946567790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050578.947685184] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050578.948541445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050578.949014277] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050579.002534975] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916387 Long: -76.50327895 -[vectornav-1] [INFO] [1746050579.003662412] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (103.44600000000003, -1.155, 7.8) -[mux-7] [INFO] [1746050579.045253165] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050579.046048483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050579.046731402] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050579.048172011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050579.049203913] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050579.085705291] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050579.087973584] [sailbot.teensy]: Wind angle: 160 -[trim_sail-4] [INFO] [1746050579.088733521] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050579.089051199] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050579.090004441] [sailbot.teensy]: Actual tail angle: 3 -[mux-7] [INFO] [1746050579.090408456] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050579.090899397] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050579.145292075] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050579.145961534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050579.147049482] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050579.148042726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050579.149863350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050579.245396216] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050579.245990582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050579.247003740] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050579.248046435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050579.248744470] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050579.335243842] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050579.337038267] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746050579.337493212] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050579.337992462] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050579.338927724] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050579.338938787] [sailbot.teensy]: Actual tail angle: 3 -[teensy-2] [INFO] [1746050579.339834582] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050579.344533200] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050579.344924721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050579.345711891] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050579.346606275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050579.347668869] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050579.445318224] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050579.445977740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050579.447087619] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050579.448140343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050579.449355829] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050579.503164061] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916575 Long: -76.5032793 -[vectornav-1] [INFO] [1746050579.504801030] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (112.08100000000002, -2.207, 6.151) -[mux-7] [INFO] [1746050579.545012495] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050579.545621443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050579.546307892] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050579.547417608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050579.548364347] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050579.585217210] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050579.587321488] [sailbot.teensy]: Wind angle: 173 -[trim_sail-4] [INFO] [1746050579.587375709] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050579.588390266] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050579.589250146] [sailbot.teensy]: Actual tail angle: 3 -[mux-7] [INFO] [1746050579.589361102] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050579.590151163] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050579.645184225] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050579.646173481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050579.646604684] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050579.648189817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050579.649400191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050579.745527160] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050579.746400730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050579.747237648] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050579.749051277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050579.750213956] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050579.835738471] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050579.838040550] [sailbot.teensy]: Wind angle: 176 -[trim_sail-4] [INFO] [1746050579.838932543] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050579.839090937] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050579.840082998] [sailbot.teensy]: Actual tail angle: 3 -[mux-7] [INFO] [1746050579.840538998] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050579.841080208] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050579.844336960] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050579.844911836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050579.845483889] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050579.846615304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050579.847726696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050579.945271484] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050579.945933113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050579.947050474] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050579.947896150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050579.948372606] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050580.002451323] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691675 Long: -76.50328085 -[vectornav-1] [INFO] [1746050580.003493072] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (123.73700000000002, 7.334, 5.67) -[mux-7] [INFO] [1746050580.044891992] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050580.045762727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050580.046305020] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050580.047673775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050580.048717717] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050580.085385171] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050580.087666209] [sailbot.teensy]: Wind angle: 179 -[teensy-2] [INFO] [1746050580.088626521] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050580.087802054] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050580.088137341] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050580.089520923] [sailbot.teensy]: Actual tail angle: 3 -[teensy-2] [INFO] [1746050580.090338585] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050580.145002236] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050580.145934763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050580.146439990] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050580.147842264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050580.148585164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050580.245311531] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050580.246274702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050580.246770327] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050580.248332294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050580.249539082] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050580.335382988] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050580.337705680] [sailbot.teensy]: Wind angle: 192 -[trim_sail-4] [INFO] [1746050580.337928474] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050580.338411332] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050580.338665479] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050580.339209941] [sailbot.teensy]: Actual tail angle: 3 -[teensy-2] [INFO] [1746050580.339595328] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050580.344549418] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050580.345055808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050580.345905255] [sailbot.mux]: Published rudder angle from controller_app: -22 -[teensy-2] [INFO] [1746050580.346884829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -22 -[teensy-2] [INFO] [1746050580.347925763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050580.436934931] [sailbot.mux]: controller_app rudder angle: -21 -[mux-7] [INFO] [1746050580.444404527] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050580.445176376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050580.445587829] [sailbot.mux]: Published rudder angle from controller_app: -21 -[teensy-2] [INFO] [1746050580.446917179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -21 -[teensy-2] [INFO] [1746050580.447939496] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050580.504258423] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916789 Long: -76.50328113 -[vectornav-1] [INFO] [1746050580.506008923] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (134.44100000000003, -5.128, 6.706) -[mux-7] [INFO] [1746050580.545146481] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050580.545730763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050580.546541758] [sailbot.mux]: Published rudder angle from controller_app: -21 -[teensy-2] [INFO] [1746050580.547817094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -21 -[teensy-2] [INFO] [1746050580.549043547] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050580.585383097] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050580.587719445] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050580.588014560] [sailbot.teensy]: Wind angle: 198 -[teensy-2] [INFO] [1746050580.588974931] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050580.588339782] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050580.589874198] [sailbot.teensy]: Actual tail angle: 3 -[teensy-2] [INFO] [1746050580.590706262] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050580.645419988] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050580.646537997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050580.647124232] [sailbot.mux]: Published rudder angle from controller_app: -21 -[teensy-2] [INFO] [1746050580.649124344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -21 -[teensy-2] [INFO] [1746050580.650284555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050580.744880929] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050580.745822006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050580.746314867] [sailbot.mux]: Published rudder angle from controller_app: -21 -[teensy-2] [INFO] [1746050580.748348959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -21 -[teensy-2] [INFO] [1746050580.748875783] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050580.835476890] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050580.837489772] [sailbot.teensy]: Wind angle: 198 -[trim_sail-4] [INFO] [1746050580.838124400] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050580.838907162] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050580.839091645] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050580.839325920] [sailbot.teensy]: Actual tail angle: 4 -[teensy-2] [INFO] [1746050580.839732430] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050580.844403587] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050580.844983314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050580.845790058] [sailbot.mux]: Published rudder angle from controller_app: -21 -[teensy-2] [INFO] [1746050580.846722153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -21 -[teensy-2] [INFO] [1746050580.847803662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050580.945483706] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050580.946349601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050580.948698862] [sailbot.mux]: Published rudder angle from controller_app: -21 -[teensy-2] [INFO] [1746050580.949492688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -21 -[teensy-2] [INFO] [1746050580.950726669] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050581.002613493] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916857 Long: -76.50328206 -[vectornav-1] [INFO] [1746050581.003666764] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (145.39100000000002, 1.585, 5.869) -[mux-7] [INFO] [1746050581.045077863] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050581.045966382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050581.046476893] [sailbot.mux]: Published rudder angle from controller_app: -21 -[teensy-2] [INFO] [1746050581.047992473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -21 -[teensy-2] [INFO] [1746050581.049084809] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050581.085421891] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050581.087789830] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050581.089102137] [sailbot.teensy]: Wind angle: 202 -[mux-7] [INFO] [1746050581.089180722] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050581.090094529] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050581.091048133] [sailbot.teensy]: Actual tail angle: 4 -[teensy-2] [INFO] [1746050581.091973093] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050581.145974612] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050581.148710334] [sailbot.mux]: Published rudder angle from controller_app: -21 -[teensy-2] [INFO] [1746050581.148992119] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050581.151205389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -21 -[teensy-2] [INFO] [1746050581.152495429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050581.244925391] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050581.245764130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050581.246185445] [sailbot.mux]: Published rudder angle from controller_app: -21 -[teensy-2] [INFO] [1746050581.247574717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -21 -[teensy-2] [INFO] [1746050581.248499675] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050581.335318375] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050581.337562110] [sailbot.teensy]: Wind angle: 215 -[trim_sail-4] [INFO] [1746050581.337799882] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050581.338603139] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050581.339373124] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050581.339485736] [sailbot.teensy]: Actual tail angle: 4 -[teensy-2] [INFO] [1746050581.340415190] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050581.344321669] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050581.344783869] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050581.345442000] [sailbot.mux]: Published rudder angle from controller_app: -21 -[teensy-2] [INFO] [1746050581.346510378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -21 -[teensy-2] [INFO] [1746050581.347654100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050581.445683577] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050581.446001335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050581.447489583] [sailbot.mux]: Published rudder angle from controller_app: -21 -[teensy-2] [INFO] [1746050581.448307092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -21 -[teensy-2] [INFO] [1746050581.449634885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050581.450218490] [sailbot.mux]: controller_app rudder angle: -11 -[vectornav-1] [INFO] [1746050581.503438821] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469169 Long: -76.50328286 -[vectornav-1] [INFO] [1746050581.504897714] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.46399999999994, 3.85, 2.771) -[mux-7] [INFO] [1746050581.545202625] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050581.545684692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050581.546821651] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050581.547853366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050581.548890079] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050581.585224318] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050581.587102101] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746050581.587407640] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050581.588208488] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050581.589114772] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050581.589372337] [sailbot.teensy]: Actual tail angle: 4 -[teensy-2] [INFO] [1746050581.590239561] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050581.645188455] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050581.645898084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050581.646854331] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050581.647852317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050581.648985167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050581.744762145] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050581.745298797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050581.745961468] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050581.747052525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050581.748250032] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050581.835232971] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050581.836971950] [sailbot.teensy]: Wind angle: 222 -[trim_sail-4] [INFO] [1746050581.837604462] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050581.838305404] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050581.839272016] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050581.839655838] [sailbot.teensy]: Actual tail angle: 14 -[teensy-2] [INFO] [1746050581.840404939] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050581.844427814] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050581.844867712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050581.845626969] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050581.846686286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050581.847720089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050581.945195370] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050581.945880397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050581.946703171] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050581.947761077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050581.948233983] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050582.003660951] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916832 Long: -76.50328312 -[vectornav-1] [INFO] [1746050582.005182712] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.61599999999999, -4.621, -0.23) -[mux-7] [INFO] [1746050582.045511919] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050582.046155738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050582.047057668] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050582.048137333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050582.049276854] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050582.085469354] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050582.087290681] [sailbot.teensy]: Wind angle: 228 -[teensy-2] [INFO] [1746050582.088260726] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050582.088454233] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050582.089092132] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050582.089150191] [sailbot.teensy]: Actual tail angle: 14 -[teensy-2] [INFO] [1746050582.090054323] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050582.145080695] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050582.145807123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050582.146498106] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050582.147768273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050582.148821942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050582.245003374] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050582.245692733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050582.246831603] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050582.247599652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050582.248674825] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050582.335567253] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050582.337689868] [sailbot.teensy]: Wind angle: 229 -[trim_sail-4] [INFO] [1746050582.338325410] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050582.338738077] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050582.339861788] [sailbot.teensy]: Actual tail angle: 14 -[teensy-2] [INFO] [1746050582.340885133] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050582.340894218] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050582.344237841] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050582.345028632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050582.345319555] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050582.346779221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050582.347811644] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050582.445422071] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050582.446208896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050582.447640041] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746050582.448673751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -11 -[teensy-2] [INFO] [1746050582.449130956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050582.475013628] [sailbot.mux]: controller_app rudder angle: 0 -[vectornav-1] [INFO] [1746050582.503216353] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916839 Long: -76.50328411 -[vectornav-1] [INFO] [1746050582.504509774] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.05200000000002, 1.878, 0.749) -[mux-7] [INFO] [1746050582.544789613] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050582.545322941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050582.546316879] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050582.547079498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050582.548346029] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050582.585362451] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050582.587208227] [sailbot.teensy]: Wind angle: 229 -[teensy-2] [INFO] [1746050582.588181731] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050582.588313411] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050582.588473415] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050582.589086808] [sailbot.teensy]: Actual tail angle: 14 -[teensy-2] [INFO] [1746050582.589975436] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050582.645540714] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050582.646354894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050582.647372162] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050582.648647763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050582.649155511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050582.745540392] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050582.746139490] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050582.747294872] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050582.748600116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050582.749667374] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050582.835172581] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050582.837555528] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050582.837620174] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050582.838521697] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050582.838774958] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050582.839157909] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050582.839535585] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050582.844256562] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050582.845002714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050582.845432238] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050582.846705017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050582.847732135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050582.945569752] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050582.946284942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050582.947164445] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050582.948238657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050582.948746839] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050583.004232029] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916803 Long: -76.50328515 -[vectornav-1] [INFO] [1746050583.006104625] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.45600000000002, -1.208, -2.197) -[mux-7] [INFO] [1746050583.045175340] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050583.046102796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050583.046774018] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050583.048444828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050583.049769156] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050583.085309804] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050583.087145557] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050583.088076001] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050583.087856878] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050583.088186582] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050583.088982021] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050583.089916889] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050583.144680731] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050583.145450262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050583.145875665] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050583.147218880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050583.148376766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050583.245143385] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050583.245888506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050583.246665503] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050583.248025277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050583.249052259] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050583.335379399] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050583.337244171] [sailbot.teensy]: Wind angle: 240 -[teensy-2] [INFO] [1746050583.338163910] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050583.338054035] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050583.338331101] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050583.339063553] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050583.339946736] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050583.344350038] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050583.344921379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050583.345454600] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050583.346673451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050583.347743401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050583.445180656] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050583.445933166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050583.446621833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050583.448121580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050583.449147364] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050583.502589477] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916704 Long: -76.50328677 -[vectornav-1] [INFO] [1746050583.503887191] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.23199999999997, 0.393, -5.724) -[mux-7] [INFO] [1746050583.545092537] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050583.545927730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050583.547035909] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050583.547926432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050583.548991958] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050583.585602757] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050583.587824046] [sailbot.teensy]: Wind angle: 243 -[teensy-2] [INFO] [1746050583.588824098] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050583.588573222] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050583.589299906] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050583.589721145] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050583.590623567] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050583.645186987] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050583.645957337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050583.646581079] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050583.647873242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050583.649676209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050583.745578119] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050583.746476444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050583.747150700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050583.748929475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050583.750045728] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050583.835445621] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050583.837466073] [sailbot.teensy]: Wind angle: 246 -[trim_sail-4] [INFO] [1746050583.837867154] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050583.838319875] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050583.838382824] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050583.839294511] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050583.840130001] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050583.844432422] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050583.844938479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050583.845590726] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050583.846733574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050583.847914124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050583.944260918] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050583.944902108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050583.945151800] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050583.946389294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050583.947592282] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050584.001442973] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916598 Long: -76.50328868 -[vectornav-1] [INFO] [1746050584.002093774] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (197.08100000000002, -2.788, -11.385) -[mux-7] [INFO] [1746050584.045235227] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050584.046109491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050584.046544501] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050584.048067216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050584.049243649] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050584.085266412] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050584.086960159] [sailbot.teensy]: Wind angle: 249 -[trim_sail-4] [INFO] [1746050584.088085371] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050584.088983961] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050584.089381599] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050584.090353136] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050584.091221459] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050584.144750196] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050584.145379405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050584.145926332] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050584.147167420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050584.148359686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050584.245031440] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050584.246299877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050584.246452198] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050584.248338828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050584.249376003] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050584.335607094] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050584.338359605] [sailbot.teensy]: Wind angle: 254 -[teensy-2] [INFO] [1746050584.339353445] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050584.338728559] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050584.339319964] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050584.340329740] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050584.341221791] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050584.344541497] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050584.345141765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050584.345631648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050584.346934757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050584.347985715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050584.445474284] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050584.446249072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050584.447084924] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050584.449017590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050584.450240330] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050584.503198620] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916502 Long: -76.50329219 -[vectornav-1] [INFO] [1746050584.504933743] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.50099999999998, -1.577, -15.305) -[mux-7] [INFO] [1746050584.545283365] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050584.546011079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050584.547250223] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050584.548247502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050584.549475169] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050584.585542418] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050584.587979358] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050584.588516464] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050584.588945751] [sailbot.teensy]: Wind angle: 257 -[teensy-2] [INFO] [1746050584.589908743] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050584.590764188] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050584.591603994] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050584.644946880] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050584.645762121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050584.646257053] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050584.647561934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050584.648607756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050584.745173476] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050584.745959123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050584.746700946] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050584.748510417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050584.749337900] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050584.835511003] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050584.837732026] [sailbot.teensy]: Wind angle: 264 -[teensy-2] [INFO] [1746050584.838742516] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050584.838167228] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050584.839547986] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050584.839607942] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050584.840531242] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050584.844329263] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050584.844925775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050584.845747506] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050584.846632982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050584.847654844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050584.945072144] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050584.945940197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050584.946482440] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050584.947888994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050584.949052074] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050585.003503805] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916391 Long: -76.50329606 -[vectornav-1] [INFO] [1746050585.005190208] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (197.601, -1.574, -14.282) -[mux-7] [INFO] [1746050585.045357523] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050585.045832003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050585.046924520] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050585.047782439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050585.048853963] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050585.085396401] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050585.087167604] [sailbot.teensy]: Wind angle: 284 -[trim_sail-4] [INFO] [1746050585.087951673] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050585.088107204] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050585.089073904] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050585.089082778] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050585.089989493] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050585.144779542] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050585.145609196] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050585.145985780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050585.147700728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050585.148736089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050585.245203388] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050585.246024514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050585.246754402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050585.248184632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050585.249441259] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050585.335162413] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050585.337017986] [sailbot.teensy]: Wind angle: 285 -[trim_sail-4] [INFO] [1746050585.337222118] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050585.338363825] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050585.339303361] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050585.339333367] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050585.340218063] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050585.344430123] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050585.344967364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050585.345538027] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050585.346620694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050585.347734884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050585.445242828] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050585.446079933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050585.446758960] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050585.448234616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050585.448729671] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050585.502594244] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916242 Long: -76.50330065 -[vectornav-1] [INFO] [1746050585.503775774] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.31500000000005, -1.168, -11.504) -[mux-7] [INFO] [1746050585.545226995] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050585.546377992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050585.546772666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050585.548907613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050585.549915959] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050585.585462036] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050585.587639989] [sailbot.teensy]: Wind angle: 274 -[trim_sail-4] [INFO] [1746050585.588022181] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050585.588729853] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050585.589684774] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050585.589843652] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050585.590574462] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050585.645048466] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050585.645672381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050585.646353929] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050585.647709308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050585.648940844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050585.745286408] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050585.746098347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050585.746783775] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050585.748333558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050585.748861712] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050585.835344936] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050585.837200736] [sailbot.teensy]: Wind angle: 264 -[trim_sail-4] [INFO] [1746050585.837834950] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050585.838191628] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050585.839062337] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050585.839063246] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050585.839724649] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050585.844257692] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050585.844934966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050585.845571259] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050585.846625964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050585.847678596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050585.945338366] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050585.946016179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050585.946967600] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050585.949077409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050585.950180171] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050586.003786890] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916101 Long: -76.50330549 -[vectornav-1] [INFO] [1746050586.005385582] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.33899999999994, -4.134, -12.677) -[mux-7] [INFO] [1746050586.045330001] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050586.046201613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050586.046836089] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050586.048602481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050586.049820356] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050586.085405259] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050586.087912111] [sailbot.teensy]: Wind angle: 254 -[trim_sail-4] [INFO] [1746050586.088266651] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050586.088927460] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050586.089268275] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050586.090005732] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050586.091252624] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050586.145168352] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050586.145872146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050586.147188778] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050586.148022087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050586.149178180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050586.245350521] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050586.246027954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050586.246833399] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050586.248021132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050586.248511301] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050586.335379078] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050586.337346430] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050586.337877019] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050586.338321111] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050586.338878247] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050586.338923334] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050586.339259213] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050586.344456903] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050586.345125541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050586.345562183] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050586.346864719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050586.347908726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050586.444717337] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050586.445453930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050586.445903267] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050586.447289959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050586.448303945] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050586.503740811] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916049 Long: -76.50331182 -[vectornav-1] [INFO] [1746050586.505199823] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.09799999999996, 2.171, -11.742) -[mux-7] [INFO] [1746050586.545111610] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050586.545829837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050586.546874102] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050586.547771916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050586.548270616] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050586.585637589] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050586.587709698] [sailbot.teensy]: Wind angle: 254 -[teensy-2] [INFO] [1746050586.588730887] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050586.588665458] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050586.589197838] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050586.589625429] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050586.590553165] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050586.645281742] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050586.645918598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050586.647888542] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050586.648427502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050586.649672832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050586.745803346] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050586.746461360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050586.747629296] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050586.748482313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050586.749038891] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050586.835539361] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050586.838095047] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050586.839181210] [sailbot.teensy]: Wind angle: 263 -[mux-7] [INFO] [1746050586.839275368] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050586.840205789] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050586.841119768] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050586.841993063] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050586.844316655] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050586.844845167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050586.845398172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050586.846565187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050586.847670567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050586.945711728] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050586.946547810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050586.947468016] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050586.948372768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050586.948942329] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050587.003233212] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915926 Long: -76.50331738 -[vectornav-1] [INFO] [1746050587.004741265] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.41899999999998, -0.833, -8.772) -[mux-7] [INFO] [1746050587.044778726] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050587.045459125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050587.045941075] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050587.047226828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050587.048367483] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050587.085430871] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050587.087288344] [sailbot.teensy]: Wind angle: 253 -[trim_sail-4] [INFO] [1746050587.087828184] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050587.088283567] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050587.089240345] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050587.089909479] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050587.090088066] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050587.145200202] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050587.146124524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050587.146783562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050587.148739853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050587.149856989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050587.245344927] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050587.246063464] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050587.246858919] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050587.248446281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050587.248939918] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050587.335745955] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050587.339159880] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050587.339801606] [sailbot.teensy]: Wind angle: 242 -[mux-7] [INFO] [1746050587.340372374] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050587.340897034] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050587.341779570] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050587.342616386] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050587.344819624] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050587.345350553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050587.346001192] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050587.347221049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050587.348290953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050587.445582582] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050587.446340135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050587.447770161] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050587.449016956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050587.450277659] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050587.504279597] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915832 Long: -76.5033227 -[vectornav-1] [INFO] [1746050587.505892494] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.47299999999996, -3.89, -11.215) -[mux-7] [INFO] [1746050587.545239925] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050587.546084163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050587.546790655] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050587.548581471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050587.549753357] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050587.585448773] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050587.587833242] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050587.588316697] [sailbot.teensy]: Wind angle: 242 -[teensy-2] [INFO] [1746050587.589318347] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050587.589365894] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050587.590270943] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050587.591147115] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050587.645357061] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050587.646362627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050587.646917542] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050587.648696005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050587.649872152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050587.745457959] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050587.746527498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050587.747234019] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050587.748732486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050587.749305782] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050587.835744287] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050587.838574013] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050587.838840537] [sailbot.teensy]: Wind angle: 245 -[mux-7] [INFO] [1746050587.839061368] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050587.839283257] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050587.839699203] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050587.840413396] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050587.844396728] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050587.845189295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050587.845546989] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050587.846953318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050587.848200037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050587.945538854] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050587.946255550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050587.947620922] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050587.948361859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050587.948907230] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050588.003382655] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915788 Long: -76.50332934 -[vectornav-1] [INFO] [1746050588.004836490] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.54999999999995, -0.77, -8.908) -[mux-7] [INFO] [1746050588.045426863] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050588.046102879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050588.046918510] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050588.048297745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050588.049434993] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050588.085459095] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050588.087459416] [sailbot.teensy]: Wind angle: 246 -[teensy-2] [INFO] [1746050588.088429707] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050588.088192206] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050588.088900964] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050588.089315285] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050588.090153189] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050588.145088449] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050588.145856317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050588.146973033] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050588.147674501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050588.148760431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050588.244877458] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050588.245389929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050588.246258238] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050588.247170217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050588.248403183] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050588.335372796] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050588.337682303] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050588.337831794] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050588.338642265] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050588.339552418] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050588.339909034] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050588.340426880] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050588.344378033] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050588.344941523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050588.345568129] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050588.346655609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050588.347836316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050588.445405786] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050588.446103762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050588.447007710] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050588.448325950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050588.449551944] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050588.502571729] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915707 Long: -76.50333631 -[vectornav-1] [INFO] [1746050588.503740196] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.98699999999997, 1.041, -9.861) -[mux-7] [INFO] [1746050588.545373170] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050588.546025573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050588.547009389] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050588.548499770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050588.549042102] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050588.585874757] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050588.588723335] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050588.589514217] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050588.591423413] [sailbot.teensy]: Wind angle: 251 -[teensy-2] [INFO] [1746050588.592440361] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050588.593381832] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050588.594308236] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050588.645431428] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050588.645931092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050588.647032337] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050588.647917183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050588.649028578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050588.745746284] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050588.746457873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050588.747765426] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050588.748818645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050588.749347792] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050588.835382033] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050588.837714375] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050588.837951699] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050588.838689318] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050588.839140310] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050588.839257865] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050588.839631824] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050588.844532911] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050588.845367144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050588.845812849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050588.847084998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050588.848192642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050588.945408539] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050588.946217252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050588.947006660] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050588.948493304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050588.949465508] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050589.003985153] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915511 Long: -76.50334173 -[vectornav-1] [INFO] [1746050589.005782037] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.519, -3.81, -10.402) -[mux-7] [INFO] [1746050589.045404959] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050589.046079985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050589.047028250] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050589.048147917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050589.049335343] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050589.085312375] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050589.087758089] [sailbot.teensy]: Wind angle: 243 -[trim_sail-4] [INFO] [1746050589.087895322] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050589.088725462] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050589.089344137] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050589.089656551] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050589.090558811] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050589.144632522] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050589.145354575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050589.145772132] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050589.147123647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050589.148178813] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050589.245045678] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050589.245847568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050589.246347729] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050589.247793956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050589.248844275] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050589.335204572] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050589.337457049] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050589.337542020] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050589.338560280] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050589.338781542] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050589.339195581] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050589.339559410] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050589.344321452] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050589.344931270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050589.345568831] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050589.347138987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050589.348323691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050589.445224630] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050589.445950794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050589.446774337] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050589.448145519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050589.448745625] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050589.502486390] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691543 Long: -76.50334871 -[vectornav-1] [INFO] [1746050589.503558056] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.37, -0.533, -9.66) -[mux-7] [INFO] [1746050589.545004222] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050589.545583698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050589.546311382] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050589.547423906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050589.548634186] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050589.585404933] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050589.587422936] [sailbot.teensy]: Wind angle: 256 -[trim_sail-4] [INFO] [1746050589.587862630] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050589.588422375] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050589.589372019] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050589.589838929] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050589.590233275] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050589.645037221] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050589.645806923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050589.646338220] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050589.647477083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050589.647975106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050589.745129760] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050589.745990524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050589.746550562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050589.748241948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050589.749251676] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050589.835607282] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050589.838179665] [sailbot.teensy]: Wind angle: 254 -[trim_sail-4] [INFO] [1746050589.838225164] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050589.839242664] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050589.840474087] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050589.841405295] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050589.841434678] [sailbot.mux]: algo sail angle: 20 -[mux-7] [INFO] [1746050589.844552414] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050589.845212210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050589.845906910] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050589.847171373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050589.848351762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050589.944866942] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050589.945486446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050589.946035972] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050589.947373536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050589.948554182] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050590.003362528] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915353 Long: -76.50335561 -[vectornav-1] [INFO] [1746050590.005229847] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.01, -0.916, -8.863) -[mux-7] [INFO] [1746050590.045433908] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050590.047010078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050590.047012559] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050590.050352254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050590.052483210] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050590.085639686] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050590.088092023] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050590.089160896] [sailbot.teensy]: Wind angle: 257 -[mux-7] [INFO] [1746050590.089266261] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050590.090127747] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050590.090985715] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050590.091812216] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050590.144970007] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050590.146144779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050590.146257074] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050590.148043933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050590.149017585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050590.245383081] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050590.246372931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050590.246927647] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050590.248649840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050590.249850238] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050590.335589571] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050590.337948231] [sailbot.teensy]: Wind angle: 249 -[trim_sail-4] [INFO] [1746050590.338003776] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050590.338917367] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050590.339268354] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050590.339818725] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050590.340804149] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050590.344319089] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050590.344947952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050590.345477493] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050590.346648397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050590.347803993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050590.445182271] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050590.445897221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050590.446602496] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050590.447867596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050590.448899335] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050590.502265317] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691519 Long: -76.50336261 -[vectornav-1] [INFO] [1746050590.503190667] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.12, -2.143, -9.924) -[mux-7] [INFO] [1746050590.545105124] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050590.545954190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050590.546543851] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050590.548224268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050590.548745211] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050590.585362473] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050590.587644863] [sailbot.teensy]: Wind angle: 243 -[trim_sail-4] [INFO] [1746050590.587762012] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050590.588638489] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050590.589489344] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050590.589525275] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050590.590409312] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050590.645333089] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050590.646135251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050590.647102074] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050590.648937274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050590.650134185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050590.745442080] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050590.746234594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050590.747943133] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050590.748454581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050590.750279660] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050590.835416639] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050590.838019631] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050590.838621975] [sailbot.teensy]: Wind angle: 248 -[mux-7] [INFO] [1746050590.838937666] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050590.839602932] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050590.840617768] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050590.841155166] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050590.844419453] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050590.845059739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050590.845488244] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050590.846774508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050590.847914322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050590.945268108] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050590.946287438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050590.947274027] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050590.948589566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050590.949047675] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050591.003004541] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915035 Long: -76.50336914 -[vectornav-1] [INFO] [1746050591.004180213] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.63400000000001, -1.213, -9.808) -[mux-7] [INFO] [1746050591.044841263] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050591.045512985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050591.046026728] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050591.047369721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050591.048438545] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050591.085448721] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050591.088403027] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050591.089105878] [sailbot.teensy]: Wind angle: 261 -[teensy-2] [INFO] [1746050591.090084144] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050591.089548302] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050591.091008810] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050591.091873336] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050591.144750896] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050591.145377558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050591.145976748] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050591.147157062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050591.148198670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050591.245341972] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050591.246250640] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050591.246884357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050591.248415020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050591.249602188] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050591.335343755] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050591.337206561] [sailbot.teensy]: Wind angle: 267 -[trim_sail-4] [INFO] [1746050591.337886604] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050591.338143814] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050591.338940010] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050591.338964157] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050591.339343660] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050591.344446527] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050591.345052027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050591.345602615] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050591.346825917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050591.347901337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050591.445643961] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050591.446497814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050591.447405382] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050591.448394019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050591.448904180] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050591.502647981] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914956 Long: -76.50337652 -[vectornav-1] [INFO] [1746050591.503803850] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.09900000000005, 1.689, -6.041) -[mux-7] [INFO] [1746050591.545297899] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050591.546158252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050591.546892738] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050591.548360924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050591.549612089] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050591.585873164] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050591.588667129] [sailbot.teensy]: Wind angle: 264 -[trim_sail-4] [INFO] [1746050591.588721963] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050591.589802240] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050591.590525806] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050591.590689075] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050591.591631459] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050591.645146993] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050591.646137471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050591.646616951] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050591.647897038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050591.648401145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050591.745589727] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050591.746580205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050591.747243757] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050591.749054856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050591.750363406] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050591.835279911] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050591.837149962] [sailbot.teensy]: Wind angle: 249 -[trim_sail-4] [INFO] [1746050591.838521387] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050591.839016190] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050591.839149687] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050591.840061407] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050591.841024989] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050591.844425817] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050591.845160343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050591.845834156] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050591.847019206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050591.848255780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050591.945587480] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050591.946321779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050591.947866766] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050591.948440988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050591.949003621] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050592.002561219] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914797 Long: -76.50338291 -[vectornav-1] [INFO] [1746050592.003662104] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.836, -3.241, -5.475) -[mux-7] [INFO] [1746050592.044981113] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050592.045680971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050592.046739195] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050592.047467162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050592.048660901] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050592.085663895] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050592.088640869] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050592.088837541] [sailbot.teensy]: Wind angle: 238 -[mux-7] [INFO] [1746050592.089502193] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050592.089766644] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050592.090667862] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050592.091538753] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050592.145110720] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050592.145777257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050592.146846929] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050592.148669179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050592.149788586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050592.245598856] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050592.246360711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050592.247251926] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050592.248962483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050592.250191957] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050592.335504649] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050592.337657570] [sailbot.teensy]: Wind angle: 243 -[trim_sail-4] [INFO] [1746050592.338294028] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050592.338727579] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050592.339713682] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050592.340052477] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050592.340604256] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050592.344584081] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050592.345179395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050592.345728882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050592.346874622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050592.347935283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050592.445517846] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050592.446356014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050592.447168616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050592.448812899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050592.450147352] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050592.503150837] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914618 Long: -76.5033889 -[vectornav-1] [INFO] [1746050592.504793644] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.01999999999998, -1.003, -6.925) -[mux-7] [INFO] [1746050592.545149028] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050592.546091357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050592.546619392] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050592.548240811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050592.549385304] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050592.585376197] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050592.587633302] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050592.588877530] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050592.589140484] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050592.590117758] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050592.590981216] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050592.591808668] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050592.645532976] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050592.646538726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050592.647288954] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050592.648927250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050592.650176152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050592.745506568] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050592.746356148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050592.747223146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050592.748728147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050592.750023094] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050592.835374992] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050592.837251565] [sailbot.teensy]: Wind angle: 257 -[trim_sail-4] [INFO] [1746050592.837753258] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050592.838223178] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050592.838860320] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050592.838950162] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050592.839243266] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050592.844607178] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050592.845312326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050592.846089897] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050592.847054309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050592.848823235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050592.945635669] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050592.946656844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050592.948320679] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050592.950068879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050592.951197723] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050593.002504723] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914524 Long: -76.50339602 -[vectornav-1] [INFO] [1746050593.003503276] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (194.74599999999998, -0.841, -4.869) -[mux-7] [INFO] [1746050593.045291701] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050593.046402511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050593.046829515] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050593.048701152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050593.049825481] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050593.085722871] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050593.087885962] [sailbot.teensy]: Wind angle: 256 -[trim_sail-4] [INFO] [1746050593.088381798] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050593.088971987] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050593.089964502] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050593.090804901] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050593.090683794] [sailbot.mux]: algo sail angle: 20 -[mux-7] [INFO] [1746050593.145185122] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050593.145966939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050593.146663576] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050593.148017999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050593.149102240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050593.245230206] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050593.246176737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050593.246693503] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050593.248170930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050593.248739248] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050593.335331506] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050593.337911759] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050593.338571521] [sailbot.teensy]: Wind angle: 251 -[mux-7] [INFO] [1746050593.338735467] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050593.338974993] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050593.339361851] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050593.339738267] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050593.344407376] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050593.345044987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050593.345658716] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050593.346861182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050593.347863208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050593.433577649] [sailbot.mux]: controller_app rudder angle: 3 -[mux-7] [INFO] [1746050593.444881405] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050593.445347518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050593.446254944] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050593.447094036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050593.448895754] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050593.503207555] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691442 Long: -76.50340241 -[vectornav-1] [INFO] [1746050593.504603301] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.28600000000006, -1.378, -6.603) -[mux-7] [INFO] [1746050593.545435809] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050593.546056518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050593.547087212] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050593.548221202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050593.549480157] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050593.585442674] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050593.587945880] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050593.588138890] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050593.588572593] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050593.588954086] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050593.589876058] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050593.590726008] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050593.645168341] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050593.646165178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050593.646883752] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050593.648189814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050593.649365267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050593.745579471] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050593.746418271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050593.747580795] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050593.748024589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050593.748504167] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050593.835372450] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050593.838094403] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050593.838466731] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050593.839808719] [sailbot.teensy]: Wind angle: 245 -[teensy-2] [INFO] [1746050593.840756703] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050593.841581647] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050593.842415475] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050593.844337653] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050593.844958018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050593.845439618] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050593.846649196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050593.847778805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050593.945637210] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050593.946334812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050593.947323500] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050593.947937134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050593.948454689] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050594.003834523] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914218 Long: -76.50340868 -[vectornav-1] [INFO] [1746050594.005583569] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.52200000000005, -0.253, -9.899) -[mux-7] [INFO] [1746050594.045408279] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050594.046756830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050594.047092397] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050594.049380813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050594.050564586] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050594.085435553] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050594.087355366] [sailbot.teensy]: Wind angle: 245 -[trim_sail-4] [INFO] [1746050594.088195915] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050594.088455602] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050594.089369638] [sailbot.teensy]: Actual tail angle: 28 -[mux-7] [INFO] [1746050594.089410492] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050594.090645191] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050594.145291925] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050594.146325555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050594.147136790] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050594.148691013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050594.149852430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050594.245615153] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050594.246562253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050594.247333197] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050594.249202554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050594.250421239] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050594.335311167] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050594.337476359] [sailbot.teensy]: Wind angle: 246 -[trim_sail-4] [INFO] [1746050594.337579292] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050594.338414330] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050594.339155907] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050594.339304755] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050594.340230241] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050594.344457122] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050594.345103801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050594.345633253] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050594.347275847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050594.348568766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050594.438448178] [sailbot.mux]: controller_app rudder angle: 4 -[mux-7] [INFO] [1746050594.444515769] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050594.445664779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050594.445740772] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050594.447429673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050594.448468581] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050594.502418157] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914086 Long: -76.5034152 -[vectornav-1] [INFO] [1746050594.503433550] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.45000000000005, 0.148, -12.023) -[mux-7] [INFO] [1746050594.545114155] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050594.546085756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050594.546736767] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050594.548168768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050594.549312123] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050594.585431388] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050594.587739449] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050594.588510798] [sailbot.teensy]: Wind angle: 243 -[mux-7] [INFO] [1746050594.589362871] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050594.589833489] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050594.590750859] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050594.591596270] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050594.644998089] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050594.645720841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050594.646470894] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050594.647632886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050594.648676687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050594.745338207] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050594.746254345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050594.747040111] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050594.748795885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050594.749288043] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050594.835390545] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050594.837917450] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050594.837936185] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050594.838808715] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050594.838884271] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050594.839224436] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050594.839586453] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050594.844597333] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050594.845277086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050594.846041910] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050594.846999667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050594.848052042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050594.945444200] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050594.946314518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050594.947008309] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050594.948375653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050594.948874062] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050595.002465683] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914092 Long: -76.50342173 -[vectornav-1] [INFO] [1746050595.003571701] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.87, -1.407, -11.159) -[mux-7] [INFO] [1746050595.045064729] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050595.046142396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050595.047034169] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050595.047992228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050595.049049137] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050595.085520172] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050595.087421172] [sailbot.teensy]: Wind angle: 249 -[trim_sail-4] [INFO] [1746050595.087979392] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050595.088435956] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050595.089350218] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050595.090206362] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050595.090403098] [sailbot.mux]: algo sail angle: 15 -[mux-7] [INFO] [1746050595.145022003] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050595.145797339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050595.146428270] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050595.147938621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050595.149005413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050595.245031513] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050595.245705405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050595.246333406] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050595.247585079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050595.248626673] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050595.335404858] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050595.338460623] [sailbot.teensy]: Wind angle: 250 -[trim_sail-4] [INFO] [1746050595.338600830] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050595.338910349] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050595.339058145] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050595.339297916] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050595.340092343] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050595.344457723] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050595.345173536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050595.345636260] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050595.346991583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050595.348001633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050595.444954728] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050595.445765982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050595.446347735] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050595.447929332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050595.448449631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050595.462126587] [sailbot.mux]: controller_app rudder angle: -1 -[vectornav-1] [INFO] [1746050595.503287701] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914036 Long: -76.50342746 -[vectornav-1] [INFO] [1746050595.504790640] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.68399999999997, -0.122, -8.856) -[mux-7] [INFO] [1746050595.544903212] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050595.546249107] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050595.546453791] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050595.548382863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050595.549524692] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050595.585247486] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050595.587359665] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050595.587727619] [sailbot.teensy]: Wind angle: 243 -[mux-7] [INFO] [1746050595.588462998] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050595.588663854] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050595.589559036] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050595.590391206] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050595.645147975] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050595.646109214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050595.646690507] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050595.648335347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050595.649514376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050595.745286283] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050595.746239937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050595.747112956] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050595.748472340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050595.748991677] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050595.835197053] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050595.837551097] [sailbot.teensy]: Wind angle: 237 -[trim_sail-4] [INFO] [1746050595.837708610] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050595.838496203] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050595.838635308] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050595.838956098] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050595.839321437] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050595.844318543] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050595.844857569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050595.845623142] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050595.846635056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050595.847689339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050595.945453858] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050595.946345403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050595.947454705] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050595.947941102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050595.948456236] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050596.003736417] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914025 Long: -76.50343355 -[vectornav-1] [INFO] [1746050596.005448317] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.00900000000001, -0.678, -8.427) -[mux-7] [INFO] [1746050596.045219442] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050596.046183896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050596.047299987] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050596.048251523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050596.049275471] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050596.085327613] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050596.087564817] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050596.088019041] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050596.089403506] [sailbot.teensy]: Wind angle: 240 -[teensy-2] [INFO] [1746050596.090332546] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050596.091189603] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050596.092013177] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050596.144927328] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050596.145739903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050596.146280632] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050596.147910749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050596.149034387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050596.245148262] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050596.246248345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050596.246691412] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050596.248327270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050596.249461737] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050596.335262178] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050596.337870674] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050596.338179914] [sailbot.teensy]: Wind angle: 238 -[mux-7] [INFO] [1746050596.338870752] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050596.339113927] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050596.340004390] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050596.340642223] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050596.344495991] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050596.344983588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050596.345742680] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050596.346741268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050596.347899801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050596.444998516] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050596.445602584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050596.446247709] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050596.447352198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050596.448579323] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050596.502468542] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691419 Long: -76.50343887 -[vectornav-1] [INFO] [1746050596.503499030] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.95799999999997, -1.358, -2.985) -[mux-7] [INFO] [1746050596.544959173] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050596.545611487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050596.546257851] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050596.547532688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050596.548551016] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050596.585580943] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050596.588462506] [sailbot.teensy]: Wind angle: 232 -[teensy-2] [INFO] [1746050596.589525500] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050596.588675969] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050596.589972773] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050596.590448167] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050596.591287206] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050596.645054155] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050596.645794347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050596.646447693] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050596.648400494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050596.649558627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050596.745480179] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050596.746594576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050596.747075363] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050596.749063382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050596.750206737] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050596.835358850] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050596.837882064] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050596.838047757] [sailbot.teensy]: Wind angle: 228 -[mux-7] [INFO] [1746050596.838597066] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050596.838988686] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050596.839881533] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050596.840774168] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050596.844325223] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050596.844922345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050596.845440725] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050596.846617305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050596.847652420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050596.945626985] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050596.946553534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050596.947458583] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050596.948552872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050596.949005434] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050597.002457066] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914289 Long: -76.50344338 -[vectornav-1] [INFO] [1746050597.003495154] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.11699999999996, 2.898, 0.906) -[mux-7] [INFO] [1746050597.045132105] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050597.045920494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050597.046475572] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050597.047924681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050597.048959443] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050597.085550168] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050597.088387715] [sailbot.teensy]: Wind angle: 226 -[trim_sail-4] [INFO] [1746050597.088478429] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050597.088943387] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050597.089361510] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050597.090219726] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050597.091061845] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050597.144552219] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050597.145474712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050597.145734910] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050597.147289227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050597.148427317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050597.245355655] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050597.246341705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050597.246944833] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050597.249112776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050597.250119194] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050597.335378920] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050597.337341436] [sailbot.teensy]: Wind angle: 224 -[teensy-2] [INFO] [1746050597.338288265] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050597.337835095] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050597.338293417] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050597.339215595] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050597.340126025] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050597.344476754] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050597.345173113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050597.345655645] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050597.346964491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050597.348019202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050597.445251378] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050597.446009438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050597.446815030] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050597.448147139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050597.449199485] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050597.503020311] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914383 Long: -76.50344696 -[vectornav-1] [INFO] [1746050597.504857861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (153.17700000000002, -2.891, 3.129) -[mux-7] [INFO] [1746050597.544742997] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050597.545479420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050597.545982272] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050597.547375389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050597.548403992] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050597.585359134] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050597.587212395] [sailbot.teensy]: Wind angle: 223 -[trim_sail-4] [INFO] [1746050597.587960615] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050597.588200614] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050597.588353768] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050597.589153392] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050597.590105077] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050597.645283385] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050597.646092981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050597.646823102] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050597.647865173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050597.648342477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050597.745440957] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050597.746132023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050597.747184262] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050597.748569579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050597.749649735] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050597.835503329] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050597.837315565] [sailbot.teensy]: Wind angle: 221 -[trim_sail-4] [INFO] [1746050597.837801045] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050597.838251667] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050597.839117486] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050597.839987945] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050597.840072447] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050597.844301758] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050597.844969965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050597.845529724] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050597.846758582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050597.847791763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050597.945546397] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050597.946417009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050597.947143317] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050597.948640162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050597.949708113] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050598.003870775] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914539 Long: -76.50345016 -[vectornav-1] [INFO] [1746050598.005465391] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (148.483, 0.784, 3.025) -[mux-7] [INFO] [1746050598.045231969] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050598.046310469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050598.046748697] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050598.048458437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050598.049637227] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050598.085279404] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050598.087442967] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050598.087526254] [sailbot.teensy]: Wind angle: 218 -[teensy-2] [INFO] [1746050598.088773040] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050598.088773745] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050598.089755538] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050598.090608615] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050598.145165001] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050598.146164434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050598.146718537] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050598.148348095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050598.149527860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050598.244883625] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050598.245533118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050598.246135419] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050598.248433059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050598.249577697] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050598.335598593] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050598.338160944] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050598.338854552] [sailbot.teensy]: Wind angle: 217 -[mux-7] [INFO] [1746050598.339401867] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050598.339581605] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050598.339975356] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050598.340366505] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050598.344261798] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050598.344901159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050598.345362513] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050598.346584622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050598.347616351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050598.445436864] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050598.446213042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050598.447145900] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050598.448628827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050598.449729102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050598.462429685] [sailbot.mux]: controller_app rudder angle: -5 -[vectornav-1] [INFO] [1746050598.503766480] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691469 Long: -76.50345301 -[vectornav-1] [INFO] [1746050598.505549421] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (145.37599999999998, 5.608, 1.357) -[mux-7] [INFO] [1746050598.545210117] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050598.546172670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050598.546695275] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050598.548310721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050598.549455626] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050598.585278187] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050598.587408945] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050598.588283794] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050598.589057533] [sailbot.teensy]: Wind angle: 216 -[teensy-2] [INFO] [1746050598.589976882] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050598.590872855] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050598.591776720] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050598.645122801] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050598.645799685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050598.646535389] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050598.647928128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050598.649104235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050598.745007178] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050598.745746768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050598.746764195] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050598.747676373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050598.748849574] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050598.835221773] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050598.836885838] [sailbot.teensy]: Wind angle: 216 -[trim_sail-4] [INFO] [1746050598.837410157] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050598.837826781] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050598.838749572] [sailbot.teensy]: Actual tail angle: 20 -[mux-7] [INFO] [1746050598.839097499] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050598.839677774] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050598.844535602] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050598.844943585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050598.845837270] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050598.846638255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050598.847669165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050598.945490509] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050598.946081836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050598.947233859] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050598.949091603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050598.950422572] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050599.003724969] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914716 Long: -76.50345418 -[vectornav-1] [INFO] [1746050599.005169708] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (143.856, -7.393, 3.488) -[mux-7] [INFO] [1746050599.045215701] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050599.046116443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050599.046723448] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050599.048319374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050599.049476390] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050599.085537102] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050599.087841492] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050599.088146164] [sailbot.teensy]: Wind angle: 215 -[teensy-2] [INFO] [1746050599.089490500] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050599.089546611] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050599.090398006] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050599.091332046] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050599.145377961] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050599.145998051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050599.147272390] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050599.148086637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050599.149339916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050599.245181352] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050599.245919891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050599.246562010] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050599.248011410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050599.249161672] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050599.335223083] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050599.337472673] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050599.338187113] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050599.338263440] [sailbot.teensy]: Wind angle: 202 -[teensy-2] [INFO] [1746050599.339209646] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050599.340084505] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050599.340939651] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050599.344418708] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050599.344928336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050599.345561877] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050599.346644248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050599.347736900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050599.444994722] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050599.445854881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050599.446418254] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050599.447820672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050599.448884167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050599.463101420] [sailbot.mux]: controller_app rudder angle: -6 -[vectornav-1] [INFO] [1746050599.502525468] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914816 Long: -76.50345626 -[vectornav-1] [INFO] [1746050599.503589832] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (143.623, 4.502, 3.484) -[mux-7] [INFO] [1746050599.544906709] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050599.545755370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050599.546150569] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050599.547944556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050599.549017762] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050599.585549689] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050599.588065355] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050599.588095677] [sailbot.teensy]: Wind angle: 211 -[teensy-2] [INFO] [1746050599.589134602] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050599.589341848] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050599.590118597] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050599.591000879] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050599.645106057] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050599.646060216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050599.646487522] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050599.648177643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050599.649238275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050599.745133645] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050599.745947894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050599.746651085] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050599.748169942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050599.749330317] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050599.835331704] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050599.837105486] [sailbot.teensy]: Wind angle: 212 -[trim_sail-4] [INFO] [1746050599.837631544] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050599.838048388] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050599.838921412] [sailbot.teensy]: Actual tail angle: 19 -[mux-7] [INFO] [1746050599.839017488] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050599.839787528] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050599.844571347] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050599.844998085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050599.845737551] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050599.846663337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050599.847785114] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050599.945005109] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050599.945550470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050599.946298912] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050599.947395818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050599.948552148] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050600.002549659] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914892 Long: -76.50345781 -[vectornav-1] [INFO] [1746050600.003656920] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (145.555, 0.366, 4.376) -[mux-7] [INFO] [1746050600.045222800] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050600.045796566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050600.046604842] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050600.047758457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050600.048742729] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050600.085403317] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050600.087187635] [sailbot.teensy]: Wind angle: 202 -[trim_sail-4] [INFO] [1746050600.088240004] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050600.089003458] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050600.089167927] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050600.090011284] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050600.090931919] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050600.145100829] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050600.146270764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050600.146534647] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050600.148337359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050600.149467645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050600.245045369] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050600.245851356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050600.246422955] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050600.247746105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050600.248793690] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050600.335413926] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050600.337256162] [sailbot.teensy]: Wind angle: 211 -[teensy-2] [INFO] [1746050600.338189369] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050600.337836243] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050600.338819198] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050600.339090743] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050600.339937628] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050600.344257470] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050600.344909812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050600.345648446] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050600.346639142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050600.347796142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050600.444796716] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050600.445389947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050600.445953510] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050600.447168914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050600.448315747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050600.461277450] [sailbot.mux]: controller_app rudder angle: -8 -[vectornav-1] [INFO] [1746050600.503270814] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914915 Long: -76.5034585 -[vectornav-1] [INFO] [1746050600.504480725] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (148.09000000000003, -2.248, 2.174) -[mux-7] [INFO] [1746050600.545238198] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050600.546168611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050600.546888108] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050600.548266401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050600.549415299] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050600.585349605] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050600.587645981] [sailbot.teensy]: Wind angle: 213 -[trim_sail-4] [INFO] [1746050600.587666359] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050600.588244712] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050600.588614346] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050600.589523458] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050600.590336679] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050600.645030843] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050600.645909425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050600.646424861] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050600.647964012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050600.649063879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050600.745044332] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050600.745704761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050600.746558454] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050600.747715994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050600.748251713] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050600.835310610] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050600.837726785] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050600.837977404] [sailbot.teensy]: Wind angle: 214 -[mux-7] [INFO] [1746050600.838476513] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050600.838861493] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050600.839326822] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050600.839685849] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050600.844503048] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050600.845110084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050600.845601625] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050600.846807539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050600.847828766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050600.945504666] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050600.946418190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050600.947139167] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050600.948481420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050600.949032546] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050601.003469933] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691489 Long: -76.50345975 -[vectornav-1] [INFO] [1746050601.005097267] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (150.392, 2.461, 2.404) -[mux-7] [INFO] [1746050601.045373601] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050601.046068012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050601.046897867] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050601.048197115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050601.049460161] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050601.085301202] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050601.087742305] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050601.087822710] [sailbot.teensy]: Wind angle: 214 -[mux-7] [INFO] [1746050601.088000200] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050601.088850617] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050601.089802741] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050601.090625252] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050601.145231522] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050601.146153856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050601.147061280] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050601.148677424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050601.149740429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050601.245500180] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050601.246545762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050601.247216377] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050601.248130003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050601.248572739] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050601.335421818] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050601.337321521] [sailbot.teensy]: Wind angle: 221 -[trim_sail-4] [INFO] [1746050601.337766449] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050601.338292809] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050601.339282553] [sailbot.teensy]: Actual tail angle: 17 -[mux-7] [INFO] [1746050601.339542686] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050601.340195710] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050601.344337418] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050601.344912963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050601.345439813] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050601.346767598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050601.347830022] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050601.445556395] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050601.446416929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050601.447282539] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050601.449110139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050601.450377498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050601.464170754] [sailbot.mux]: controller_app rudder angle: -2 -[vectornav-1] [INFO] [1746050601.502322741] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914907 Long: -76.50346035 -[vectornav-1] [INFO] [1746050601.503313689] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (152.82500000000005, -3.969, 3.872) -[mux-7] [INFO] [1746050601.545027892] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050601.545847721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050601.546482016] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050601.547641415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050601.548898339] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050601.585509995] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050601.587595111] [sailbot.teensy]: Wind angle: 221 -[trim_sail-4] [INFO] [1746050601.588084753] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050601.588641854] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050601.590407832] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050601.590480338] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050601.591442330] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050601.644734206] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050601.645627330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050601.645907044] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050601.647403450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050601.648459029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050601.744758927] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050601.745448288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050601.745898561] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050601.747226585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050601.748382658] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050601.835218503] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050601.837441396] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050601.837638833] [sailbot.teensy]: Wind angle: 223 -[teensy-2] [INFO] [1746050601.838563998] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050601.838815920] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050601.839457885] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050601.840071365] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050601.844445085] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050601.845082062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050601.845612169] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050601.847085615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050601.848122330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050601.945452771] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050601.946332861] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050601.947164637] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050601.948102108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050601.948857290] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050602.003098132] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914924 Long: -76.50346139 -[vectornav-1] [INFO] [1746050602.004989047] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (156.293, 3.927, 0.943) -[mux-7] [INFO] [1746050602.045078991] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050602.045893770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050602.046480834] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050602.047835893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050602.049090898] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050602.085448976] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050602.087855535] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050602.088538782] [sailbot.teensy]: Wind angle: 224 -[mux-7] [INFO] [1746050602.088562217] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050602.089626126] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050602.090529359] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050602.091373311] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050602.145113177] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050602.145897717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050602.146555332] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050602.148329285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050602.149476434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050602.245430110] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050602.246905262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050602.247491604] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050602.248738507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050602.249245575] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050602.335476908] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050602.338137119] [sailbot.teensy]: Wind angle: 224 -[trim_sail-4] [INFO] [1746050602.338681325] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050602.339779469] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050602.340563216] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050602.341537012] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050602.342374484] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050602.344335265] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050602.344778039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050602.345409577] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050602.346409200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050602.347567499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050602.445545093] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050602.446740256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050602.447415233] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050602.448942924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[mux-7] [INFO] [1746050602.449065576] [sailbot.mux]: controller_app rudder angle: 0 -[teensy-2] [INFO] [1746050602.449463323] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050602.502303549] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691487 Long: -76.50346223 -[vectornav-1] [INFO] [1746050602.503287144] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.50599999999997, -1.949, 0.751) -[mux-7] [INFO] [1746050602.545046251] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050602.545958410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050602.546480440] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050602.547894111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050602.548897778] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050602.585264415] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050602.587564067] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050602.588190258] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050602.588311040] [sailbot.teensy]: Wind angle: 227 -[teensy-2] [INFO] [1746050602.589591057] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050602.590529118] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050602.591377375] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050602.645361007] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050602.646200816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050602.646955670] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050602.648350778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050602.649476440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050602.745375463] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050602.745889695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050602.747200260] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050602.748228241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050602.749294564] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050602.835187076] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050602.836909139] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746050602.837766700] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050602.837844291] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050602.838730493] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050602.838945045] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050602.839642852] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050602.844344085] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050602.844899305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050602.845388883] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050602.846591336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050602.847741874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050602.945359494] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050602.946103894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050602.946898873] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050602.947928915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050602.948395090] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050603.004258693] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914845 Long: -76.50346283 -[vectornav-1] [INFO] [1746050603.006075672] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.60699999999997, -1.276, 1.45) -[mux-7] [INFO] [1746050603.045085577] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050603.045811953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050603.046468677] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050603.047751420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050603.048791591] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050603.085257826] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050603.087586679] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050603.087960091] [sailbot.teensy]: Wind angle: 230 -[teensy-2] [INFO] [1746050603.089292431] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050603.089529857] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050603.090264306] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050603.091114444] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050603.144915405] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050603.145785195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050603.146217556] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050603.147591202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050603.148726298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050603.245542062] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050603.246420407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050603.247168310] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050603.248038741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050603.248550969] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050603.335554965] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050603.337832312] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050603.338483394] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050603.339164547] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050603.339893707] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050603.340144699] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050603.340542592] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050603.344437387] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050603.344954455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050603.345607846] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050603.346938165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050603.347998570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050603.445206046] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050603.446129004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050603.446758444] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050603.448429551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050603.449363299] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050603.503035463] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914828 Long: -76.5034638 -[vectornav-1] [INFO] [1746050603.504451215] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.413, 1.445, 2.091) -[mux-7] [INFO] [1746050603.545123457] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050603.546025267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050603.546716318] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050603.548341118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050603.548843095] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050603.585401458] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050603.587985263] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050603.588338049] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050603.588349480] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050603.589349127] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050603.590209971] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050603.591073125] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050603.644931145] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050603.645546270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050603.646217507] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050603.647547266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050603.649618797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050603.745085964] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050603.745788268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050603.746491649] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050603.748412532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050603.748874587] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050603.835165676] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050603.836878769] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050603.838109803] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050603.838586721] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050603.838703558] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050603.839638776] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050603.840520384] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050603.844304587] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050603.845035031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050603.845405764] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050603.846931662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050603.848045843] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050603.945450461] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050603.946443947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050603.947116145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050603.949102425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050603.949569514] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050604.003713446] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914817 Long: -76.50346436 -[vectornav-1] [INFO] [1746050604.005862341] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.63200000000006, -1.397, 1.896) -[mux-7] [INFO] [1746050604.045191255] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050604.045863132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050604.046726436] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050604.048034129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050604.049047597] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050604.085448501] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050604.087280216] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050604.087775937] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050604.088354902] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050604.089292502] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050604.089906987] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050604.090184430] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050604.145423141] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050604.146465475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050604.147628136] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050604.149069208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050604.149616275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050604.245309441] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050604.246114703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050604.246811780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050604.248339583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050604.249350521] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050604.335414362] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050604.337366911] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050604.337846247] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050604.338357138] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050604.339253534] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050604.339644210] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050604.340214513] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050604.344462136] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050604.345203817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050604.345637334] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050604.347062492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050604.348109213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050604.444992493] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050604.445676304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050604.446408497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050604.447776016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050604.448800777] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050604.502669522] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914753 Long: -76.50346507 -[vectornav-1] [INFO] [1746050604.503968402] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.187, 1.737, -1.313) -[mux-7] [INFO] [1746050604.544887793] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050604.545561151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050604.546487035] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050604.547405761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050604.548473056] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050604.585396960] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050604.587321527] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050604.587782443] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050604.588322139] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050604.589236502] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050604.589559488] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050604.590118816] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050604.645288367] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050604.646128999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050604.646914393] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050604.648560343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050604.649623642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050604.745159758] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050604.745830820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050604.746563706] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050604.748025969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050604.749218391] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050604.835303320] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050604.837746062] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050604.839541590] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050604.839638113] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050604.840633222] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050604.840992220] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050604.841319460] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050604.844488140] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050604.845252461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050604.845617133] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050604.846992264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050604.847995401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050604.945621248] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050604.946466118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050604.947191895] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050604.948881177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050604.949517806] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050605.003325342] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914692 Long: -76.50346527 -[vectornav-1] [INFO] [1746050605.004541842] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.61799999999994, -3.386, -0.092) -[mux-7] [INFO] [1746050605.045396452] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050605.046661606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050605.046973571] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050605.048870691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050605.049962972] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050605.085462287] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050605.087812581] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050605.088777557] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050605.088038514] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050605.088578904] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050605.089665928] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050605.090571377] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050605.144907016] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050605.145574274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050605.146318174] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050605.147651538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050605.148838242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050605.245288895] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050605.246283926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050605.246771672] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050605.248530386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050605.249625869] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050605.335910471] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050605.338786906] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050605.339162358] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050605.340728775] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050605.340743726] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050605.341773479] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050605.342710452] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050605.344587523] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050605.344982713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050605.345820248] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050605.346660823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050605.347665651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050605.445589055] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050605.446632322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050605.447232241] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050605.448849472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050605.449288097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050605.476116527] [sailbot.mux]: controller_app rudder angle: 1 -[vectornav-1] [INFO] [1746050605.502900866] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914679 Long: -76.50346624 -[vectornav-1] [INFO] [1746050605.504291682] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.06399999999996, 2.682, -0.787) -[mux-7] [INFO] [1746050605.545190958] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050605.546128809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050605.546786208] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050605.548572865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050605.549583787] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050605.585472396] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050605.587307201] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050605.587912828] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050605.588313500] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050605.589215307] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050605.589594181] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050605.590140249] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050605.644760657] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050605.645481068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050605.646055144] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050605.647243268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050605.648373360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050605.745260116] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050605.745796886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050605.747152831] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050605.747771923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050605.748426165] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050605.835457217] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050605.837262388] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050605.837825790] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050605.838276094] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050605.839200795] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050605.840073215] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050605.840092411] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050605.844356447] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050605.844882855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050605.845510340] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050605.846575916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050605.847666460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050605.945292572] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050605.946087797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050605.946819090] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050605.948371319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050605.949461349] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050606.002576728] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691455 Long: -76.50346737 -[vectornav-1] [INFO] [1746050606.003989999] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.34799999999996, -3.129, -5.431) -[mux-7] [INFO] [1746050606.045340850] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050606.046064592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050606.046878124] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050606.048213614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050606.049448008] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050606.085431146] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050606.087270757] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050606.087926694] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050606.088279692] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050606.089201708] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050606.089606257] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050606.090065107] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050606.144996361] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050606.145765896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050606.146677572] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050606.147549423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050606.148598557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050606.245505106] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050606.246379456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050606.247245834] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050606.248707834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050606.249863146] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050606.335471918] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050606.337231595] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050606.337715422] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050606.338214575] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050606.339272679] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050606.339413009] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050606.340237593] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050606.344326566] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050606.344909963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050606.345623820] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050606.346614545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050606.347667704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050606.444948672] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050606.445849534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050606.446199667] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050606.447880197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050606.448944225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050606.487004048] [sailbot.mux]: controller_app rudder angle: 4 -[vectornav-1] [INFO] [1746050606.503988358] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691446 Long: -76.50346881 -[vectornav-1] [INFO] [1746050606.505692362] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (186.702, 1.08, -9.058) -[mux-7] [INFO] [1746050606.545400964] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050606.546289881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050606.547001593] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050606.548445560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050606.549580627] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050606.585507747] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050606.587894099] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050606.589337313] [sailbot.teensy]: Wind angle: 238 -[mux-7] [INFO] [1746050606.589554036] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050606.590555634] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050606.591498850] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050606.592369426] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050606.645208369] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050606.645926922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050606.646773284] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050606.648724155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050606.649892974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050606.745150574] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050606.745931740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050606.746543514] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050606.747986439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050606.748468133] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050606.835530988] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050606.838346384] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050606.838375200] [sailbot.teensy]: Wind angle: 242 -[mux-7] [INFO] [1746050606.839295873] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050606.839310418] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050606.840229567] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050606.841151018] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050606.844345634] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050606.844968291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050606.845490792] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050606.846863832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050606.847923944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050606.945296211] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050606.946133590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050606.946818508] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050606.948372494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050606.949543831] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050607.004476653] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914362 Long: -76.50347173 -[vectornav-1] [INFO] [1746050607.006488799] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.77200000000005, -2.277, -11.993) -[mux-7] [INFO] [1746050607.045104341] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050607.046069519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050607.046524621] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050607.048232206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050607.049345610] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050607.085226688] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050607.087333024] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050607.087967856] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050607.088312444] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050607.089214530] [sailbot.teensy]: Actual tail angle: 29 -[mux-7] [INFO] [1746050607.089537192] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050607.090121014] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050607.145316411] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050607.146092711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050607.146932885] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050607.148292470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050607.149479342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050607.245466743] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050607.246274472] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050607.247053168] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050607.248488169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050607.249555449] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050607.335924525] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050607.339046727] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050607.339177283] [sailbot.teensy]: Wind angle: 265 -[mux-7] [INFO] [1746050607.339542777] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050607.340274223] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050607.341198956] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050607.342026985] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050607.344464145] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050607.344954231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050607.345599951] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050607.346682283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050607.347746125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050607.445638952] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050607.446603594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050607.447613661] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050607.448912897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[mux-7] [INFO] [1746050607.449993213] [sailbot.mux]: controller_app rudder angle: 5 -[teensy-2] [INFO] [1746050607.450218092] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050607.503734246] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914225 Long: -76.50347483 -[vectornav-1] [INFO] [1746050607.505068948] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.351, 0.354, -13.663) -[mux-7] [INFO] [1746050607.545395923] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050607.546185331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050607.546903423] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050607.548763110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050607.549794077] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050607.585767699] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050607.588478384] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050607.590236768] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050607.590679206] [sailbot.teensy]: Wind angle: 263 -[teensy-2] [INFO] [1746050607.591633485] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050607.592499323] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050607.593350471] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050607.645002669] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050607.645540646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050607.646372727] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050607.647441647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050607.648548628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050607.745442464] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050607.746021142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050607.747073343] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050607.748178050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050607.748747684] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050607.835187355] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050607.836926967] [sailbot.teensy]: Wind angle: 259 -[trim_sail-4] [INFO] [1746050607.838057953] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050607.838275824] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050607.838880379] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050607.839170951] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746050607.840063672] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050607.844347329] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050607.844776837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050607.845500919] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050607.846443694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050607.847546491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050607.945083027] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050607.945561667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050607.946409069] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050607.947506615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050607.948800078] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050608.002473306] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914082 Long: -76.50347873 -[vectornav-1] [INFO] [1746050608.003482546] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (186.27200000000005, -0.45, -15.232) -[mux-7] [INFO] [1746050608.044918365] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050608.045376254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050608.046387004] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050608.047255674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050608.048317899] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050608.085411147] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050608.087291254] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746050608.088192816] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050608.088327699] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050608.089274646] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746050608.090176069] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050608.090241444] [sailbot.mux]: algo sail angle: 30 -[mux-7] [INFO] [1746050608.145039594] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050608.145782646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050608.146381065] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050608.148400776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050608.149573242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050608.245043751] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050608.245644308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050608.246390135] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050608.247607563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050608.248640434] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050608.335391854] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050608.337442931] [sailbot.teensy]: Wind angle: 273 -[trim_sail-4] [INFO] [1746050608.337848558] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050608.338441787] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050608.339304770] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050608.339342980] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746050608.340213217] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050608.344366118] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050608.345043340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050608.345506046] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050608.346731575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050608.348394447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050608.445122472] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050608.445964104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050608.446605798] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050608.448262739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050608.449334984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050608.486363893] [sailbot.mux]: controller_app rudder angle: 1 -[vectornav-1] [INFO] [1746050608.503674551] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914021 Long: -76.50348243 -[vectornav-1] [INFO] [1746050608.506528053] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.207, -0.773, -12.739) -[mux-7] [INFO] [1746050608.544964047] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050608.545638702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050608.546214872] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050608.547587391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050608.548647794] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050608.585231160] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050608.587495439] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050608.587726287] [sailbot.teensy]: Wind angle: 266 -[teensy-2] [INFO] [1746050608.588745626] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050608.589263220] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050608.589708176] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746050608.590577822] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050608.645198950] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050608.645733603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050608.646835566] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050608.647825712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050608.648942693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050608.745349736] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050608.746118452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050608.746867184] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050608.748069438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050608.749265980] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050608.835227928] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050608.837553903] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050608.838469611] [sailbot.teensy]: Wind angle: 257 -[mux-7] [INFO] [1746050608.838662780] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050608.839410709] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050608.840334452] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050608.841149779] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050608.844361601] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050608.845019562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050608.845535211] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050608.846737416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050608.847833183] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050608.945678149] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050608.946459491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050608.947373572] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050608.948811092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050608.950040676] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050609.002788026] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914001 Long: -76.50348629 -[vectornav-1] [INFO] [1746050609.003946173] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.67899999999997, -3.568, -10.211) -[mux-7] [INFO] [1746050609.045643114] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050609.046349872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050609.047359432] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050609.049081471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050609.050348217] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050609.085643177] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050609.087887171] [sailbot.teensy]: Wind angle: 256 -[trim_sail-4] [INFO] [1746050609.088773324] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050609.089348338] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050609.090299746] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050609.091045756] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050609.091196298] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050609.145265529] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050609.146154299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050609.146851596] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050609.148033459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050609.148528307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050609.245307185] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050609.246085970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050609.247196738] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050609.248389368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050609.248899982] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050609.335368874] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050609.338002179] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050609.338339920] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050609.339310195] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050609.338779483] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050609.340275029] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050609.341287695] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050609.344297468] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050609.344742522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050609.345387876] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050609.346439396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050609.347479773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050609.445559255] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050609.446234417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050609.447231015] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050609.448632622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050609.449152938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050609.476216321] [sailbot.mux]: controller_app rudder angle: 0 -[vectornav-1] [INFO] [1746050609.503614329] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914014 Long: -76.50349057 -[vectornav-1] [INFO] [1746050609.505519043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.86400000000003, 1.693, -6.673) -[mux-7] [INFO] [1746050609.545104507] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050609.546028456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050609.546506604] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050609.548290439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050609.548856093] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050609.585402161] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050609.587793102] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050609.587816309] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050609.588772817] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050609.589190430] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050609.589667697] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050609.590574536] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050609.644689177] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050609.645301993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050609.645891565] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050609.647108844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050609.648171287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050609.745088362] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050609.745987590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050609.747018564] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050609.748262125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050609.748830237] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050609.835648465] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050609.837711306] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050609.838748521] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050609.839265321] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746050609.838720769] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050609.839491355] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050609.839642772] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050609.844305939] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050609.844906903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050609.845411927] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050609.846586301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050609.847648773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050609.945643992] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050609.946491536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050609.947291480] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050609.948956134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050609.950125656] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050610.003698221] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914068 Long: -76.50349454 -[vectornav-1] [INFO] [1746050610.005658626] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.23900000000003, -0.834, -2.506) -[mux-7] [INFO] [1746050610.045281828] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050610.046111701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050610.046834184] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050610.048436811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050610.049535154] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050610.085397004] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050610.087544479] [sailbot.teensy]: Wind angle: 237 -[trim_sail-4] [INFO] [1746050610.087939838] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050610.088957000] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050610.089963091] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050610.090448973] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050610.090895741] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050610.145232295] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050610.145972935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050610.146848665] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050610.148393067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050610.149587372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050610.245528807] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050610.246391908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050610.247155669] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050610.249055090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050610.249546162] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050610.335172244] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050610.337539725] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050610.338652673] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050610.338708320] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050610.339784644] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050610.340700030] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050610.341704905] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050610.344377361] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050610.344955921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050610.345523506] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050610.346753694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050610.347874989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050610.445561866] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050610.446346539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050610.447277394] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050610.448750668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050610.449220258] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050610.503784755] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914162 Long: -76.50349818 -[vectornav-1] [INFO] [1746050610.505339007] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.173, 0.718, -0.216) -[mux-7] [INFO] [1746050610.545259841] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050610.546193343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050610.546919633] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050610.548473533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050610.549659839] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050610.585407576] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050610.587322933] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050610.588328574] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050610.587868126] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050610.589078384] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050610.589197270] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050610.590087694] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050610.645239369] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050610.645873171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050610.646771056] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050610.647908880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050610.648958141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050610.745386668] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050610.746103439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050610.747133842] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050610.748284321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050610.750420907] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050610.835822406] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050610.838695810] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050610.838882497] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746050610.839299357] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050610.839404130] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050610.839699476] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050610.840088258] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050610.844546735] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050610.845096230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050610.845962288] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050610.846866126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050610.848011753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050610.945682592] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050610.946354304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050610.947943089] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050610.949106865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050610.950447352] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050611.003157972] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914222 Long: -76.50350197 -[vectornav-1] [INFO] [1746050611.004485269] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (161.95399999999995, -1.544, 0.186) -[mux-7] [INFO] [1746050611.045213468] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050611.045787326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050611.046770450] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050611.047788987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050611.048931312] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050611.085275656] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050611.087082934] [sailbot.teensy]: Wind angle: 223 -[trim_sail-4] [INFO] [1746050611.087552649] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050611.088026814] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050611.088946941] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050611.089785730] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050611.089892210] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050611.145284715] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050611.145827373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050611.146825503] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050611.147856856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050611.149013338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050611.245460410] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050611.246212042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050611.247102797] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050611.248286566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050611.248830608] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050611.335403415] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050611.337794420] [sailbot.teensy]: Wind angle: 226 -[trim_sail-4] [INFO] [1746050611.338063593] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050611.338742904] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050611.339236729] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050611.339658488] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050611.340539647] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050611.344363900] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050611.344949797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050611.345489211] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050611.346670960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050611.347700067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050611.445036280] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050611.445989105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050611.446642006] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050611.448380338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050611.448910415] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050611.503122393] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914277 Long: -76.50350529 -[vectornav-1] [INFO] [1746050611.504479025] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.94899999999996, 2.52, -0.139) -[mux-7] [INFO] [1746050611.544880735] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050611.545683168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050611.546066303] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050611.547458350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050611.548417630] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050611.585413245] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050611.587455723] [sailbot.teensy]: Wind angle: 230 -[teensy-2] [INFO] [1746050611.588786433] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050611.588007650] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050611.588349353] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050611.589731759] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050611.590563095] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050611.644534763] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050611.645105193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050611.645809896] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050611.646858552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050611.648006356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050611.744815564] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050611.745445042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050611.746053011] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050611.747306034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050611.749076506] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050611.835657145] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050611.837927549] [sailbot.teensy]: Wind angle: 222 -[trim_sail-4] [INFO] [1746050611.838846691] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050611.839423260] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050611.839433692] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050611.839820679] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050611.840221549] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050611.844842123] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050611.844993205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050611.846129341] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050611.846673924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050611.847714998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050611.945429764] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050611.946084391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050611.947062867] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050611.948502712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050611.949048850] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050612.003633609] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914303 Long: -76.50350805 -[vectornav-1] [INFO] [1746050612.005154777] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.58799999999997, -4.953, 0.959) -[mux-7] [INFO] [1746050612.045224583] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050612.045789802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050612.046569364] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050612.047691250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050612.048731079] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050612.085374361] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050612.087858919] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050612.088502013] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050612.089065677] [sailbot.teensy]: Wind angle: 221 -[teensy-2] [INFO] [1746050612.090018375] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050612.090864260] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050612.091713229] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050612.145442607] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050612.146253466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050612.147417151] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050612.148466495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050612.149662760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050612.245475366] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050612.246100292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050612.247263454] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050612.248618273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050612.249383896] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050612.335308180] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050612.337803734] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746050612.337844309] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050612.339145473] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050612.339144593] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050612.340079235] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050612.340964811] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050612.344381538] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050612.344876926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050612.345497448] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050612.346581287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050612.347646262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050612.445259919] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050612.446174620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050612.446959195] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050612.448660722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050612.449218924] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050612.503285735] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914427 Long: -76.50351062 -[vectornav-1] [INFO] [1746050612.504673662] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.015, 6.513, 1.864) -[mux-7] [INFO] [1746050612.545143617] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050612.546003306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050612.546581833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050612.548082487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050612.549218996] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050612.585532850] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050612.587737245] [sailbot.teensy]: Wind angle: 220 -[teensy-2] [INFO] [1746050612.588770224] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050612.587970552] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050612.589378565] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050612.589642594] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050612.590579352] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050612.645238150] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050612.646261091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050612.646793337] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050612.649183896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050612.650317243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050612.745378839] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050612.746196282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050612.746936180] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050612.748216954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050612.748713055] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050612.835390189] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050612.837857205] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050612.838451865] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050612.838957506] [sailbot.teensy]: Wind angle: 218 -[teensy-2] [INFO] [1746050612.839912201] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050612.840776850] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050612.841603711] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050612.844317091] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050612.844897155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050612.845804989] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050612.846622370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050612.847682127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050612.945661351] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050612.946264093] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050612.948557342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746050612.947838403] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050612.949417347] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050613.003165221] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914393 Long: -76.50351223 -[vectornav-1] [INFO] [1746050613.004381986] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (155.44000000000005, -3.699, 0.312) -[mux-7] [INFO] [1746050613.045081267] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050613.045609898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050613.046448639] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050613.047783002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050613.048941990] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050613.085479340] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050613.087952599] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746050613.088645491] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050613.088960388] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050613.089896571] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050613.090643030] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050613.090783023] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050613.144749842] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050613.145595828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050613.146046145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050613.147533429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050613.148552447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050613.244978844] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050613.246305009] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050613.247120570] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050613.248176129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050613.248607645] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050613.335580451] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050613.337984033] [sailbot.teensy]: Wind angle: 222 -[trim_sail-4] [INFO] [1746050613.338048675] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050613.338954902] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050613.339623191] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050613.339657646] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050613.340018120] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050613.344436706] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050613.345007436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050613.345700897] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050613.346810188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050613.347845640] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050613.445140353] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050613.445960183] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050613.446610261] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050613.447653569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050613.448229289] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050613.503833325] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914434 Long: -76.50351365 -[vectornav-1] [INFO] [1746050613.505429351] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (151.00099999999998, 1.012, 1.389) -[mux-7] [INFO] [1746050613.545228375] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050613.545966380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050613.546808637] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050613.548216092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050613.549366256] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050613.585396800] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050613.587363346] [sailbot.teensy]: Wind angle: 228 -[teensy-2] [INFO] [1746050613.588394813] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050613.589301423] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050613.590180823] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746050613.589454072] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050613.589803167] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050613.644501347] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050613.645013379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050613.645651703] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050613.646702810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050613.647765482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050613.745269234] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050613.745920096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050613.746985949] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050613.747946780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050613.749185097] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050613.835207933] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050613.837476156] [sailbot.teensy]: Wind angle: 214 -[trim_sail-4] [INFO] [1746050613.837627672] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050613.838438301] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050613.839120186] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050613.839251932] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050613.839621225] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050613.844397467] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050613.844801223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050613.845590984] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050613.846504221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050613.847557094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050613.945192776] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050613.946149116] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050613.946695979] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050613.948414349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050613.948923746] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050614.002293539] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914498 Long: -76.50351536 -[vectornav-1] [INFO] [1746050614.003286476] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (147.106, -0.083, 4.99) -[mux-7] [INFO] [1746050614.043656797] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050614.044067409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050614.044179972] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050614.045068529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050614.045666622] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050614.084412090] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050614.085302626] [sailbot.teensy]: Wind angle: 211 -[trim_sail-4] [INFO] [1746050614.085912778] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050614.086862809] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050614.087103204] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050614.087848065] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050614.088435539] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050614.145332515] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050614.146087096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050614.146935043] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050614.149384508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050614.150571961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050614.244953642] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050614.245857482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050614.246284242] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050614.247721986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050614.248805232] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050614.335369489] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050614.337151667] [sailbot.teensy]: Wind angle: 209 -[trim_sail-4] [INFO] [1746050614.338016148] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050614.338806295] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050614.339187461] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050614.340333025] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050614.341076569] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050614.344455021] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050614.344937459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050614.345557554] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050614.346637227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050614.347786565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050614.445029658] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050614.445629244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050614.446387897] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050614.447538225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050614.448083230] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050614.502450809] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914559 Long: -76.50351594 -[vectornav-1] [INFO] [1746050614.503497822] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (144.85899999999998, 2.612, 1.997) -[mux-7] [INFO] [1746050614.544755605] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050614.545373140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050614.546008514] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050614.547167563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050614.548288360] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050614.585362527] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050614.587133435] [sailbot.teensy]: Wind angle: 211 -[trim_sail-4] [INFO] [1746050614.587684511] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050614.588052017] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050614.588479893] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050614.588971166] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050614.589859845] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050614.645139440] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050614.645651386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050614.646616249] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050614.647809401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050614.649071758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050614.744982673] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050614.745666385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050614.746322937] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050614.747600586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050614.748463439] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050614.835406917] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050614.837799741] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050614.837621451] [sailbot.teensy]: Wind angle: 212 -[mux-7] [INFO] [1746050614.839130948] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050614.839478002] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050614.839882497] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050614.840258710] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050614.844378707] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050614.845557630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050614.845823485] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050614.847352794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050614.848490897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050614.945496860] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050614.946430877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050614.947037877] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050614.948973738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050614.950031712] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050615.003200151] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691452 Long: -76.50351685 -[vectornav-1] [INFO] [1746050615.004626962] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (142.45100000000002, -5.486, 2.063) -[mux-7] [INFO] [1746050615.045152202] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050615.046103716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050615.046481048] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050615.048082287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050615.049147811] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050615.085413892] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050615.087804177] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050615.087846954] [sailbot.teensy]: Wind angle: 216 -[teensy-2] [INFO] [1746050615.088883229] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050615.089003486] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050615.089774450] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050615.090463079] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050615.144891665] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050615.145621068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050615.146202530] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050615.147697420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050615.148745503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050615.245045058] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050615.245752438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050615.246709199] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050615.247841234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050615.248839979] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050615.335337844] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050615.337617629] [sailbot.teensy]: Wind angle: 216 -[teensy-2] [INFO] [1746050615.338617442] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050615.337682050] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050615.339260363] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050615.339502899] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050615.340235082] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050615.344263184] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050615.345072533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050615.345426099] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050615.346831987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050615.347920379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050615.444955478] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050615.445737576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050615.446508102] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050615.447564472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050615.448685255] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050615.504301129] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691461 Long: -76.50351791 -[vectornav-1] [INFO] [1746050615.505852618] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (139.00900000000001, 2.921, 4.369) -[mux-7] [INFO] [1746050615.545158244] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050615.546009063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050615.546714660] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050615.548308102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050615.549444728] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050615.585218676] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050615.586932275] [sailbot.teensy]: Wind angle: 215 -[trim_sail-4] [INFO] [1746050615.587437038] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050615.587881283] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050615.588749067] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050615.588790544] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050615.589680092] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050615.644671838] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050615.645492646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050615.645886648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050615.647660128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050615.648788004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050615.744851381] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050615.745705988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050615.746347120] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050615.747769104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050615.748803627] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050615.835336710] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050615.837494151] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050615.838281498] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050615.838380235] [sailbot.teensy]: Wind angle: 212 -[teensy-2] [INFO] [1746050615.838901377] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050615.839297999] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050615.839882428] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050615.844441305] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050615.844997570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050615.845582710] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050615.846747419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050615.847824660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050615.945230833] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050615.946544012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050615.946772615] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050615.948600768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050615.949716693] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050616.003355370] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914633 Long: -76.50351839 -[vectornav-1] [INFO] [1746050616.005160709] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (137.01800000000003, 0.979, 2.88) -[mux-7] [INFO] [1746050616.045141300] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050616.046239685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050616.046550448] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050616.048774000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050616.049867894] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050616.085411685] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050616.087669796] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050616.088177768] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050616.088448109] [sailbot.teensy]: Wind angle: 202 -[teensy-2] [INFO] [1746050616.089656690] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050616.090575447] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050616.091416211] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050616.145171561] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050616.145899421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050616.146731230] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050616.147955105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050616.149054811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050616.245188550] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050616.245934175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050616.246776137] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050616.248205766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050616.249412793] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050616.335294210] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050616.337695014] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050616.338755403] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050616.339635986] [sailbot.teensy]: Wind angle: 202 -[teensy-2] [INFO] [1746050616.340560499] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050616.341424159] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050616.342267236] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050616.344324350] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050616.344840240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050616.345427119] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050616.346541877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050616.347564359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050616.445276657] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050616.446044418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050616.446774821] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050616.448067857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050616.449306470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050616.497389986] [sailbot.mux]: controller_app rudder angle: -8 -[vectornav-1] [INFO] [1746050616.502463663] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691461 Long: -76.50351812 -[vectornav-1] [INFO] [1746050616.503599329] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (134.298, -1.407, 4.563) -[mux-7] [INFO] [1746050616.544999548] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050616.545722536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050616.546344065] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050616.547732216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050616.548875512] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050616.585570401] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050616.588057112] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050616.588400269] [sailbot.teensy]: Wind angle: 205 -[teensy-2] [INFO] [1746050616.589486880] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050616.589736065] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050616.590403328] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050616.591298068] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050616.644984502] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050616.645974446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050616.646338473] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050616.647933090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050616.648997745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050616.745281409] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050616.746089735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050616.746902558] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050616.747973697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050616.748427859] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050616.835276095] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050616.837027933] [sailbot.teensy]: Wind angle: 207 -[trim_sail-4] [INFO] [1746050616.837480520] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050616.838002029] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050616.838934490] [sailbot.teensy]: Actual tail angle: 17 -[mux-7] [INFO] [1746050616.838956820] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050616.839880149] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050616.844549740] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050616.845249026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050616.845726589] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050616.847038278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050616.848108521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050616.945389738] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050616.946309007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050616.947134388] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050616.949004852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050616.949606860] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050617.003800068] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914594 Long: -76.50351817 -[vectornav-1] [INFO] [1746050617.006109517] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (131.16500000000002, 0.462, 3.651) -[mux-7] [INFO] [1746050617.045268068] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050617.045813700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050617.046670276] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050617.048301710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050617.049459730] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050617.085425389] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050617.087690859] [sailbot.teensy]: Wind angle: 197 -[teensy-2] [INFO] [1746050617.088746489] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050617.089248871] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050617.089676813] [sailbot.teensy]: Actual tail angle: 17 -[mux-7] [INFO] [1746050617.090176741] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050617.090616927] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050617.145052672] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050617.146020863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050617.146426985] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050617.147894176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050617.148920974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050617.245256261] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050617.246245689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050617.247126546] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050617.247846073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050617.248417165] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050617.335442769] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050617.337849206] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050617.338184458] [sailbot.teensy]: Wind angle: 196 -[mux-7] [INFO] [1746050617.339035245] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050617.339200869] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050617.339700440] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050617.340064086] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050617.344449162] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050617.345266593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050617.345605564] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050617.347059876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050617.348119312] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050617.445073083] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050617.445874722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050617.446403335] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050617.447726232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050617.448206296] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050617.503308989] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914584 Long: -76.50351813 -[vectornav-1] [INFO] [1746050617.504512789] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (127.57, 2.464, 6.085) -[mux-7] [INFO] [1746050617.545234605] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050617.546239692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050617.546791523] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050617.548308833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050617.549386162] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050617.585249423] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050617.587240331] [sailbot.teensy]: Wind angle: 196 -[trim_sail-4] [INFO] [1746050617.587546328] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050617.588122856] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050617.588708459] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050617.589102225] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050617.589998131] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050617.644918915] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050617.645442716] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050617.647192044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[mux-7] [INFO] [1746050617.646279364] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050617.647839580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050617.744980462] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050617.745928177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050617.746378506] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050617.748529127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050617.749651121] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050617.835384152] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050617.838143212] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050617.838405636] [sailbot.teensy]: Wind angle: 193 -[teensy-2] [INFO] [1746050617.839355665] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050617.838983341] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050617.839773463] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050617.840160999] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050617.844416954] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050617.844855661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050617.845524227] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050617.846548942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050617.847569322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050617.945453768] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050617.946144963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050617.946987405] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050617.948437319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050617.949465919] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050618.003606014] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914531 Long: -76.5035178 -[vectornav-1] [INFO] [1746050618.005698781] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (123.48399999999998, -3.184, 4.094) -[mux-7] [INFO] [1746050618.045094421] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050618.045907763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050618.046458483] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050618.047916046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050618.048937297] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050618.085269783] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050618.087694403] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050618.087946897] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050618.088613170] [sailbot.teensy]: Wind angle: 188 -[teensy-2] [INFO] [1746050618.089736005] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050618.090609750] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050618.091414385] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050618.145079678] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050618.145899787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050618.147064715] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050618.148308842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050618.149410587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050618.245006017] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050618.245725784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050618.246523684] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050618.247710699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050618.248852819] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050618.335421453] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050618.337289377] [sailbot.teensy]: Wind angle: 187 -[teensy-2] [INFO] [1746050618.338235494] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050618.337823967] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050618.339348577] [sailbot.teensy]: Actual tail angle: 17 -[mux-7] [INFO] [1746050618.340314255] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050618.340631837] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050618.344296939] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050618.344857196] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050618.345387735] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050618.346545545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050618.347604199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050618.445370760] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050618.446450806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050618.447278737] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050618.448872395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050618.450166430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050618.477676389] [sailbot.mux]: controller_app rudder angle: -9 -[vectornav-1] [INFO] [1746050618.503204158] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691451 Long: -76.5035179 -[vectornav-1] [INFO] [1746050618.504980370] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (121.38400000000001, 2.377, 4.22) -[mux-7] [INFO] [1746050618.545066171] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050618.545977991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050618.546446412] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050618.548002422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050618.549022483] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050618.585395536] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050618.587791315] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050618.587909122] [sailbot.teensy]: Wind angle: 187 -[teensy-2] [INFO] [1746050618.588935582] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050618.589174983] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050618.589817500] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050618.590719794] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050618.645226475] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050618.645969915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050618.646708639] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050618.648078098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050618.648686301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050618.745140672] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050618.746058436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050618.746750938] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050618.748438983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050618.749623509] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050618.835507709] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050618.838257533] [sailbot.teensy]: Wind angle: 186 -[trim_sail-4] [INFO] [1746050618.838682443] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050618.838881133] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050618.839278459] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050618.839662932] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050618.839747978] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050618.844410853] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050618.845002451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050618.845627022] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050618.846872198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050618.847911428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050618.945222408] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050618.945966711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050618.946708709] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050618.947885736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050618.948338957] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050619.003581217] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914446 Long: -76.50351757 -[vectornav-1] [INFO] [1746050619.005264609] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (117.19299999999998, -2.89, 4.733) -[mux-7] [INFO] [1746050619.044906920] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050619.045572148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050619.046161523] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050619.047617845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050619.048732762] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050619.085478322] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050619.087268056] [sailbot.teensy]: Wind angle: 183 -[trim_sail-4] [INFO] [1746050619.087812678] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050619.088262131] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050619.089209901] [sailbot.teensy]: Actual tail angle: 16 -[mux-7] [INFO] [1746050619.089615236] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050619.090074235] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050619.145243984] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050619.146684381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050619.146905968] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050619.149278146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050619.150389439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050619.245267979] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050619.246054209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050619.247395795] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050619.248270043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050619.249387838] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050619.335408039] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050619.337306236] [sailbot.teensy]: Wind angle: 180 -[trim_sail-4] [INFO] [1746050619.337792752] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050619.339248924] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050619.339312043] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050619.340666244] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050619.341536417] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050619.344395261] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050619.344911931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050619.345507104] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050619.346627451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050619.347653889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050619.445500416] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050619.446517740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050619.447288342] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050619.448894405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050619.450113306] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050619.503125088] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914447 Long: -76.50351721 -[vectornav-1] [INFO] [1746050619.504390782] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (114.69299999999998, 0.981, 3.479) -[mux-7] [INFO] [1746050619.544896641] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050619.545696587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050619.546163510] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050619.547594153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050619.548770002] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050619.585401824] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050619.587718939] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050619.588193894] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050619.588345403] [sailbot.teensy]: Wind angle: 179 -[teensy-2] [INFO] [1746050619.589355060] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050619.590227535] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050619.591068027] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050619.645653891] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050619.647776650] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050619.646337311] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050619.648095921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050619.649236300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050619.745093436] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050619.745847387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050619.746496181] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050619.747975239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050619.748625885] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050619.835485947] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050619.838031649] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050619.838392524] [sailbot.teensy]: Wind angle: 179 -[teensy-2] [INFO] [1746050619.839313270] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050619.839356020] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050619.840284189] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050619.841264017] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050619.844459508] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050619.844956858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050619.845601115] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050619.846704373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050619.847715959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050619.945043725] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050619.945981802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050619.946435290] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050619.948364004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050619.948824971] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050620.003467913] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691442 Long: -76.50351663 -[vectornav-1] [INFO] [1746050620.005108637] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (110.51100000000002, 0.852, 5.584) -[mux-7] [INFO] [1746050620.044795455] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050620.045403392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050620.045950880] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050620.047148056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050620.047913794] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050620.085245317] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050620.087505244] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050620.087893782] [sailbot.teensy]: Wind angle: 177 -[mux-7] [INFO] [1746050620.088343694] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050620.088981016] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050620.090077089] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050620.090943139] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050620.144715086] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050620.145314092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050620.145861028] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050620.147151078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050620.148322318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050620.245050633] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050620.245711405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050620.246459287] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050620.247695353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050620.248839087] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050620.335294646] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050620.337693059] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050620.338407450] [sailbot.teensy]: Wind angle: 172 -[teensy-2] [INFO] [1746050620.339485702] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050620.339726394] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050620.340445150] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050620.340903309] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050620.344376638] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050620.344900720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050620.345452572] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050620.346565731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050620.347716759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050620.445240174] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050620.446161445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050620.447045892] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050620.448282990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050620.449454145] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050620.503358679] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914351 Long: -76.50351607 -[vectornav-1] [INFO] [1746050620.505044140] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (105.26299999999998, -1.187, 5.454) -[mux-7] [INFO] [1746050620.545218827] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050620.546204039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050620.546697825] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050620.548374784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050620.549528239] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050620.585411822] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050620.587555104] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746050620.588067871] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050620.588600295] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050620.589530183] [sailbot.teensy]: Actual tail angle: 16 -[mux-7] [INFO] [1746050620.589642234] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050620.590489269] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050620.645024275] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050620.645793605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050620.646417058] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050620.648143460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050620.649309169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050620.745042110] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050620.745719606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050620.746558869] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050620.747903162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050620.748712546] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050620.835372820] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050620.837735242] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050620.838156353] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746050620.839111582] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050620.839391776] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050620.839685793] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050620.840086169] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050620.844589402] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050620.845285837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050620.845872776] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050620.847002624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050620.848168927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050620.945310815] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050620.946114165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050620.946818503] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050620.948380701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050620.949714338] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050621.003338116] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914283 Long: -76.50351587 -[vectornav-1] [INFO] [1746050621.004877342] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (98.71600000000001, -0.254, 4.686) -[mux-7] [INFO] [1746050621.045317952] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050621.046366377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050621.046832680] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050621.048473021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050621.049638321] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050621.085460688] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050621.087882674] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050621.089040502] [sailbot.teensy]: Wind angle: 164 -[mux-7] [INFO] [1746050621.089353158] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050621.090381473] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050621.091362185] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050621.092250242] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050621.145163486] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050621.145826677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050621.146752256] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050621.147938622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050621.149044960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050621.245170867] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050621.245877637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050621.246568532] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050621.247818303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050621.249008612] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050621.335803128] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050621.338569190] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050621.339092126] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050621.339245720] [sailbot.teensy]: Wind angle: 157 -[teensy-2] [INFO] [1746050621.339698037] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050621.340070364] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050621.340435237] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050621.344366702] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050621.344911174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050621.345735031] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050621.346715662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050621.348122196] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050621.445102446] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050621.445736028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050621.446749005] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050621.447724908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050621.448355037] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050621.502345043] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914243 Long: -76.5035159 -[vectornav-1] [INFO] [1746050621.503422985] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (90.43599999999998, -1.809, 5.185) -[mux-7] [INFO] [1746050621.505177844] [sailbot.mux]: controller_app rudder angle: -10 -[mux-7] [INFO] [1746050621.545040612] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050621.545667946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050621.546490552] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050621.547668019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050621.548719354] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050621.585501006] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050621.587522472] [sailbot.teensy]: Wind angle: 155 -[teensy-2] [INFO] [1746050621.588618786] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050621.588658684] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050621.589576065] [sailbot.teensy]: Actual tail angle: 16 -[mux-7] [INFO] [1746050621.590237639] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050621.590435971] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050621.645079592] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050621.645837437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050621.646651942] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050621.649404838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050621.650667406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050621.745356096] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050621.745955896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050621.746925683] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050621.748035866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050621.749118599] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050621.835345459] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050621.837956222] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050621.837949339] [sailbot.teensy]: Wind angle: 149 -[mux-7] [INFO] [1746050621.838630265] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050621.838920684] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050621.839702470] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050621.840078837] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050621.844405451] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050621.844848353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050621.845545664] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050621.846627006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050621.847755203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050621.945550497] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050621.946408200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050621.947428417] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050621.948991341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050621.950263064] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050622.003622121] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914227 Long: -76.50351572 -[vectornav-1] [INFO] [1746050622.005145831] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (81.51100000000002, 4.904, 8.776) -[mux-7] [INFO] [1746050622.045360475] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050622.046133415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050622.046935153] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050622.048497815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050622.049518685] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050622.085447159] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050622.088013718] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050622.088400588] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050622.088909718] [sailbot.teensy]: Wind angle: 143 -[teensy-2] [INFO] [1746050622.089903140] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050622.090860480] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050622.091682670] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050622.145395876] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050622.145625131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050622.146853989] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050622.147570146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050622.148650702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050622.245606631] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050622.246115431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050622.247225735] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050622.248458302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050622.249027611] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050622.335593763] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050622.337611009] [sailbot.teensy]: Wind angle: 141 -[trim_sail-4] [INFO] [1746050622.338162006] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050622.338625046] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050622.339530572] [sailbot.teensy]: Actual tail angle: 15 -[mux-7] [INFO] [1746050622.340016831] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050622.340445026] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050622.344546410] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050622.345132960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050622.345699580] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050622.346882983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050622.348045420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050622.445613994] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050622.446202891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050622.447329997] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050622.448503818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -10 -[teensy-2] [INFO] [1746050622.449788916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050622.476442878] [sailbot.mux]: controller_app rudder angle: -12 -[vectornav-1] [INFO] [1746050622.502312976] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914102 Long: -76.50351417 -[vectornav-1] [INFO] [1746050622.503303441] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (68.78399999999999, -4.881, 13.56) -[mux-7] [INFO] [1746050622.545241801] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050622.546037046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050622.546752734] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050622.548408339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050622.549443337] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050622.585379189] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050622.587788131] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050622.588024133] [sailbot.teensy]: Wind angle: 134 -[mux-7] [INFO] [1746050622.588782321] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050622.589204473] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050622.590092717] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050622.590956847] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050622.645113225] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050622.645699155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050622.646591053] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050622.647669484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050622.649649214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050622.745063701] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050622.745714063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050622.746455419] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050622.747638600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050622.748713847] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050622.835502238] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050622.837863540] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050622.838472288] [sailbot.teensy]: Wind angle: 131 -[mux-7] [INFO] [1746050622.839028191] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050622.839823769] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050622.840701995] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050622.841081764] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050622.844483386] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050622.844892485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050622.845593816] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050622.846564867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050622.847750980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050622.944842200] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050622.945298251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050622.946061487] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050622.947240857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050622.948625100] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050623.003330231] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914084 Long: -76.50351372 -[vectornav-1] [INFO] [1746050623.005413427] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (63.58800000000002, -1.055, 13.06) -[mux-7] [INFO] [1746050623.045368227] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050623.046254161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050623.046958927] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050623.048510758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050623.049664615] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050623.085522561] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050623.087811990] [sailbot.teensy]: Wind angle: 127 -[trim_sail-4] [INFO] [1746050623.087872957] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050623.088341911] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050623.089092104] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050623.090014891] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050623.090906907] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050623.145576549] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050623.146557675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050623.147352576] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050623.148682705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050623.149242239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050623.244749818] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050623.245372739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050623.245899754] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050623.247276114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050623.248414421] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050623.335529903] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050623.338194754] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050623.338641882] [sailbot.teensy]: Wind angle: 124 -[teensy-2] [INFO] [1746050623.339572217] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050623.339715354] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050623.340523369] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050623.340979529] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050623.344317295] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050623.344938572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050623.345824758] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050623.346674830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050623.347928050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050623.445541577] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050623.446328834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050623.447123813] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050623.448949737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050623.450211229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050623.475677297] [sailbot.mux]: controller_app rudder angle: -13 -[vectornav-1] [INFO] [1746050623.502314986] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914141 Long: -76.50351195 -[vectornav-1] [INFO] [1746050623.503307111] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.21199999999999, 0.712, 15.727) -[mux-7] [INFO] [1746050623.544826572] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050623.545478746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050623.545974246] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050623.547208975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050623.548394961] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050623.585450574] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050623.587293248] [sailbot.teensy]: Wind angle: 123 -[trim_sail-4] [INFO] [1746050623.588001451] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050623.588282801] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050623.589199988] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050623.590080941] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050623.590078973] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746050623.645311658] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050623.645909201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050623.646908449] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050623.648434377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050623.649755341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050623.745551940] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050623.746594842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050623.747192522] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050623.748960431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050623.750073570] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050623.835968390] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050623.839244659] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050623.839757057] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050623.840485994] [sailbot.teensy]: Wind angle: 123 -[teensy-2] [INFO] [1746050623.841559651] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050623.841974819] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050623.842279556] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050623.844580816] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050623.845103656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050623.845681537] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050623.846768996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050623.847987999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050623.945534798] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050623.946170186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050623.947546896] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050623.948496197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050623.949001093] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050624.003842365] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914141 Long: -76.50351016 -[vectornav-1] [INFO] [1746050624.005899735] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.05200000000002, -1.798, 18.914) -[mux-7] [INFO] [1746050624.045440576] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050624.046056106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050624.046960986] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050624.048365632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050624.049416832] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050624.085405154] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050624.087567018] [sailbot.teensy]: Wind angle: 122 -[trim_sail-4] [INFO] [1746050624.087760451] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050624.088623792] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050624.089395478] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050624.089523472] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050624.090456292] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050624.145382120] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050624.145795414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050624.147072036] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050624.147787581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050624.148883162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050624.245567846] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050624.246177213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050624.247572082] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050624.248386750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050624.248936627] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050624.335455276] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050624.337855110] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050624.338105650] [sailbot.teensy]: Wind angle: 120 -[teensy-2] [INFO] [1746050624.339035784] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050624.339887341] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050624.339911452] [sailbot.teensy]: Actual tail angle: 12 -[teensy-2] [INFO] [1746050624.340885568] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050624.344509998] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050624.345169186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050624.345633582] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050624.346892364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050624.348053409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050624.445592693] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050624.446361706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050624.447324391] [sailbot.mux]: Published rudder angle from controller_app: -13 -[teensy-2] [INFO] [1746050624.448684059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -13 -[teensy-2] [INFO] [1746050624.449972763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050624.486733409] [sailbot.mux]: controller_app rudder angle: 3 -[vectornav-1] [INFO] [1746050624.503271781] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914198 Long: -76.50350811 -[vectornav-1] [INFO] [1746050624.504648142] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.21500000000003, -1.14, 18.818) -[mux-7] [INFO] [1746050624.545158003] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050624.545731866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050624.546745664] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050624.547802338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050624.548867071] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050624.585637586] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050624.587892791] [sailbot.teensy]: Wind angle: 118 -[trim_sail-4] [INFO] [1746050624.588485244] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050624.588931583] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050624.589821395] [sailbot.teensy]: Actual tail angle: 12 -[mux-7] [INFO] [1746050624.590641802] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050624.590690882] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050624.645081092] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050624.645838212] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050624.646509663] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050624.648003311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050624.649179428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050624.745558374] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050624.746382077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050624.747252851] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050624.748385834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050624.748894613] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050624.835312086] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050624.837119956] [sailbot.teensy]: Wind angle: 119 -[trim_sail-4] [INFO] [1746050624.837719410] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050624.838058159] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050624.838804154] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050624.838933817] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050624.839787730] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050624.844451103] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050624.844918557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050624.845550509] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050624.846598261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050624.847598100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050624.945482454] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050624.946191162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050624.947100446] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050624.947996357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050624.948484533] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050625.002549812] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914297 Long: -76.50350621 -[vectornav-1] [INFO] [1746050625.003651114] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (61.26600000000002, -0.989, 15.324) -[mux-7] [INFO] [1746050625.045074997] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050625.045973812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050625.046458148] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050625.047839089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050625.048999717] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050625.085424679] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050625.087731691] [sailbot.teensy]: Wind angle: 123 -[trim_sail-4] [INFO] [1746050625.088009513] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050625.088707019] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050625.089029637] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050625.089624561] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050625.090628103] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050625.144958925] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050625.145665485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050625.146350724] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050625.147818106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050625.148905797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050625.245621815] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050625.246820372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050625.247193670] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050625.249136039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050625.250157849] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050625.335326359] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050625.337056233] [sailbot.teensy]: Wind angle: 130 -[trim_sail-4] [INFO] [1746050625.338081625] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050625.338906473] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050625.338991842] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050625.340258272] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050625.340658702] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050625.344440068] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050625.344926361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050625.345492917] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050625.346594480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050625.347624718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050625.445470688] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050625.446207732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050625.447636267] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050625.448580147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050625.449865953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050625.499080131] [sailbot.mux]: controller_app rudder angle: 1 -[vectornav-1] [INFO] [1746050625.502676428] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914453 Long: -76.50350512 -[vectornav-1] [INFO] [1746050625.504205338] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (67.36900000000003, 0.48, 12.015) -[mux-7] [INFO] [1746050625.545161305] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050625.546041685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050625.546679220] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050625.548012183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050625.549115360] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050625.585658573] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050625.588292437] [sailbot.teensy]: Wind angle: 132 -[trim_sail-4] [INFO] [1746050625.588534212] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050625.589281938] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050625.589776709] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050625.590216623] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050625.591056208] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050625.644716021] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050625.645403570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050625.645905440] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050625.647250835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050625.648281574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050625.745175831] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050625.746034495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050625.746579289] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050625.748049383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050625.749240992] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050625.835338070] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050625.837639668] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050625.838172150] [sailbot.teensy]: Wind angle: 133 -[mux-7] [INFO] [1746050625.838959289] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050625.839104258] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050625.839996435] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050625.840849531] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050625.844482316] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050625.845063609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050625.845646547] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050625.847011015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050625.848185837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050625.945543136] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050625.946508564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050625.947162408] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050625.948667150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050625.949174259] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050626.002424151] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914617 Long: -76.50350385 -[vectornav-1] [INFO] [1746050626.003556710] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (68.827, -0.769, 10.989) -[mux-7] [INFO] [1746050626.045003576] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050626.045735021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050626.046267206] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050626.047653492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050626.048740746] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050626.085703774] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050626.088721535] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050626.089073646] [sailbot.teensy]: Wind angle: 136 -[mux-7] [INFO] [1746050626.089493645] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050626.090061657] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050626.090963261] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050626.091825624] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050626.144454485] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050626.145146295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050626.145580849] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050626.146878281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050626.147951998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050626.245335454] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050626.246155004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050626.246854428] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050626.248477680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050626.249492269] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050626.335313672] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050626.337988450] [sailbot.teensy]: Wind angle: 136 -[trim_sail-4] [INFO] [1746050626.338077516] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050626.338573609] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050626.340032259] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050626.340938550] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050626.341810628] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050626.344240691] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050626.344794347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050626.345309132] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050626.346461947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050626.347496551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050626.445325276] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050626.446111654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050626.447680292] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050626.448328386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050626.448865950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050626.497880900] [sailbot.mux]: controller_app rudder angle: 0 -[vectornav-1] [INFO] [1746050626.502534080] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914792 Long: -76.5035031 -[vectornav-1] [INFO] [1746050626.503732080] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (69.13400000000001, -0.8, 11.553) -[mux-7] [INFO] [1746050626.544934531] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050626.545643749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050626.546300440] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050626.547594738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050626.548720992] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050626.585436010] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050626.587442866] [sailbot.teensy]: Wind angle: 137 -[trim_sail-4] [INFO] [1746050626.587971547] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050626.588572679] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050626.589512950] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050626.589692965] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050626.590387546] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050626.645280455] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050626.646047401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050626.646902143] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050626.648389682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050626.649216801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050626.744936940] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050626.745647680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050626.746348977] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050626.747678502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050626.748729994] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050626.835226998] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050626.837628933] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050626.838176243] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050626.838640806] [sailbot.teensy]: Wind angle: 138 -[teensy-2] [INFO] [1746050626.839641369] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050626.840506301] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050626.841349246] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050626.844335560] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050626.844985946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050626.845596264] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050626.846565389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050626.847596449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050626.945525216] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050626.946338327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050626.947312281] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050626.948113625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050626.948652846] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050627.002566204] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915006 Long: -76.50350094 -[vectornav-1] [INFO] [1746050627.004043331] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (66.05799999999999, -1.479, 13.723) -[mux-7] [INFO] [1746050627.045345471] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050627.046257293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050627.047184017] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050627.048081598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050627.048625674] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050627.085831327] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050627.088546669] [sailbot.teensy]: Wind angle: 137 -[trim_sail-4] [INFO] [1746050627.088612465] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050627.089709610] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050627.090220452] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050627.090609534] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050627.091504844] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050627.145143338] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050627.145908294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050627.146613002] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050627.148675069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050627.149828323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050627.245561833] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050627.246614706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050627.247178295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050627.248346230] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050627.248792345] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050627.335394853] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050627.337399291] [sailbot.teensy]: Wind angle: 134 -[teensy-2] [INFO] [1746050627.338397426] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050627.338116050] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050627.338458014] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050627.339308437] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050627.340238431] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050627.344296840] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050627.344904559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050627.345558210] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050627.346629435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050627.347648321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050627.445603037] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050627.446400386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050627.447192790] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050627.448852386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050627.450120767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050627.464977936] [sailbot.mux]: controller_app rudder angle: -5 -[vectornav-1] [INFO] [1746050627.503087700] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915255 Long: -76.50349946 -[vectornav-1] [INFO] [1746050627.504436952] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (66.27800000000002, 0.691, 14.026) -[mux-7] [INFO] [1746050627.545269929] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050627.546239250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050627.547376720] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050627.548785981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050627.549800203] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050627.585584254] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050627.588280364] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050627.588683765] [sailbot.teensy]: Wind angle: 134 -[teensy-2] [INFO] [1746050627.589706031] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050627.590479329] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050627.590646234] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050627.591528564] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050627.645259527] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050627.646083499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050627.646803632] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050627.648366521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050627.649529243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050627.744967863] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050627.745644937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050627.746141332] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050627.747523086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050627.748702033] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050627.835408169] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050627.837911804] [sailbot.teensy]: Wind angle: 133 -[trim_sail-4] [INFO] [1746050627.838110062] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050627.838714935] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050627.838797856] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050627.839120667] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050627.839507642] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050627.844540568] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050627.844993020] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050627.845733399] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050627.846656553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050627.847693977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050627.945455342] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050627.946255504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050627.947132578] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050627.948912816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050627.949537211] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050628.003689835] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915502 Long: -76.50349701 -[vectornav-1] [INFO] [1746050628.005539384] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (63.341999999999985, -2.139, 17.531) -[mux-7] [INFO] [1746050628.045006379] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050628.045651424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050628.046292449] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050628.047504255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050628.048629690] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050628.085418430] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050628.087128324] [sailbot.teensy]: Wind angle: 131 -[trim_sail-4] [INFO] [1746050628.087746297] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050628.088184310] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050628.089119558] [sailbot.teensy]: Actual tail angle: 20 -[mux-7] [INFO] [1746050628.089309580] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050628.089998090] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050628.144635132] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050628.145270354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050628.146013839] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050628.146994877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050628.148067912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050628.245082632] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050628.245864152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050628.246796610] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050628.247890487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050628.248919531] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050628.335343087] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050628.337502735] [sailbot.teensy]: Wind angle: 130 -[trim_sail-4] [INFO] [1746050628.337902690] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050628.338513389] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050628.339401854] [sailbot.teensy]: Actual tail angle: 20 -[mux-7] [INFO] [1746050628.339447328] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050628.340813599] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050628.344776089] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050628.345050945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050628.346038452] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050628.346754031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050628.348623399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050628.445630929] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050628.446486375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050628.447262865] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050628.448621302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050628.449148626] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050628.503374116] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915776 Long: -76.50349488 -[vectornav-1] [INFO] [1746050628.504856246] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (67.32100000000003, 0.022, 18.281) -[mux-7] [INFO] [1746050628.505054345] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746050628.544942061] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050628.546110050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050628.546666448] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050628.548343574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050628.549482454] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050628.585216266] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050628.586926142] [sailbot.teensy]: Wind angle: 133 -[teensy-2] [INFO] [1746050628.587775157] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050628.587339883] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050628.588605120] [sailbot.teensy]: Actual tail angle: 20 -[mux-7] [INFO] [1746050628.588599565] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050628.589484978] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050628.645058686] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050628.645519676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050628.646617632] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050628.647459826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050628.648723222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050628.745556593] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050628.746232149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050628.747641964] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050628.748599132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050628.749361848] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050628.835414678] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050628.837224788] [sailbot.teensy]: Wind angle: 134 -[trim_sail-4] [INFO] [1746050628.837679656] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050628.838199576] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050628.839202323] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050628.840231096] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050628.840380580] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050628.844478173] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050628.845350211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050628.845991672] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050628.847190250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050628.848461474] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050628.945200921] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050628.945928696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050628.946659653] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050628.948039964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050628.949284901] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050629.002494186] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916096 Long: -76.5034931 -[vectornav-1] [INFO] [1746050629.003511109] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (69.84800000000001, -1.358, 16.699) -[mux-7] [INFO] [1746050629.045064168] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050629.046024778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050629.046328676] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050629.047830492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050629.048325944] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050629.085404784] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050629.087699218] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050629.088392142] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050629.089050903] [sailbot.teensy]: Wind angle: 137 -[teensy-2] [INFO] [1746050629.090009497] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050629.090879774] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050629.091705340] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050629.144960387] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050629.145850545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050629.146529039] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050629.147707592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050629.148778093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050629.245540420] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050629.246304124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050629.247247845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050629.248253120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050629.248745949] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050629.335437868] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050629.337905556] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050629.339208905] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050629.339883128] [sailbot.teensy]: Wind angle: 134 -[teensy-2] [INFO] [1746050629.340814523] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050629.341659919] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050629.342553330] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050629.344371502] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050629.344889224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050629.345493605] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050629.346579797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050629.347756257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050629.445120256] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050629.445837350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050629.447028284] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050629.447991014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050629.449070711] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050629.503821087] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916397 Long: -76.50349154 -[vectornav-1] [INFO] [1746050629.505927541] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (70.423, 0.883, 15.396) -[mux-7] [INFO] [1746050629.545351679] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050629.546233152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050629.547480417] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050629.548496653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050629.549694030] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050629.585776877] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050629.588744237] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050629.589443063] [sailbot.teensy]: Wind angle: 139 -[teensy-2] [INFO] [1746050629.590449730] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050629.591196037] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050629.591313548] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050629.592219294] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050629.645112403] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050629.645782210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050629.646559701] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050629.647907951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050629.649117323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050629.745165521] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050629.745917078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050629.746972888] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050629.747561257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050629.748126767] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050629.835344534] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050629.837869147] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050629.838440843] [sailbot.teensy]: Wind angle: 141 -[mux-7] [INFO] [1746050629.838623928] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050629.838856388] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050629.839249818] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050629.839858510] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050629.844273957] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050629.844815537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050629.845816495] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050629.846614089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050629.847649258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050629.945421780] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050629.946388026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050629.947075368] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050629.948807597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050629.949369675] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050630.003270700] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916715 Long: -76.50349 -[vectornav-1] [INFO] [1746050630.004486552] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (70.20600000000002, -1.686, 13.544) -[mux-7] [INFO] [1746050630.045084925] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050630.045689534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050630.046429187] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050630.048214764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050630.049308136] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050630.085396511] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050630.087929830] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050630.088473174] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050630.088692956] [sailbot.teensy]: Wind angle: 137 -[teensy-2] [INFO] [1746050630.090156712] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050630.091043886] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050630.091945204] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050630.145170199] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050630.145896508] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050630.146528827] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050630.147776658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050630.148929887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050630.245460742] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050630.246241793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050630.247080467] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050630.248431168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050630.249651026] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050630.335462358] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050630.337931476] [sailbot.teensy]: Wind angle: 137 -[trim_sail-4] [INFO] [1746050630.338217300] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050630.338973182] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050630.339794300] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050630.339859708] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050630.340513653] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050630.344541248] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050630.345026987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050630.345960668] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050630.346928602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050630.348625934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050630.445587214] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050630.446134557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050630.447574051] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050630.448512022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050630.449858285] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050630.502697218] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46917063 Long: -76.50348805 -[vectornav-1] [INFO] [1746050630.503805372] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (68.66199999999998, 0.772, 12.366) -[mux-7] [INFO] [1746050630.544847192] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050630.545391228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050630.546071514] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050630.547216982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050630.548363144] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050630.585368045] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050630.587568732] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050630.588203472] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050630.588678994] [sailbot.teensy]: Wind angle: 138 -[teensy-2] [INFO] [1746050630.589571264] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050630.590317389] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050630.590679645] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050630.645056221] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050630.645618531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050630.646704968] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050630.647547971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050630.648816851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050630.745116189] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050630.745642892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050630.746728924] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050630.747495209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050630.748811095] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050630.835425134] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050630.837374582] [sailbot.teensy]: Wind angle: 137 -[trim_sail-4] [INFO] [1746050630.837922319] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050630.838323519] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050630.838549565] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050630.839241046] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050630.840116534] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050630.844370913] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050630.844992162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050630.845561119] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050630.846815848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050630.848046291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050630.945460154] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050630.946048302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050630.947232012] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050630.948258560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050630.949395423] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050631.003263844] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46917382 Long: -76.50348637 -[vectornav-1] [INFO] [1746050631.004786731] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (66.57299999999998, -1.141, 10.62) -[mux-7] [INFO] [1746050631.044836775] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050631.045427006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050631.046295687] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050631.047242861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050631.048429736] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050631.085294843] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050631.087760795] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050631.088047541] [sailbot.teensy]: Wind angle: 134 -[teensy-2] [INFO] [1746050631.089216868] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050631.089314678] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050631.090169685] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050631.091272278] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050631.144645052] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050631.145234159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050631.145790113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050631.146968908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050631.147986518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050631.245425531] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050631.246055788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050631.247079225] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050631.248381732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050631.249628948] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050631.335544098] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050631.338288580] [sailbot.teensy]: Wind angle: 137 -[trim_sail-4] [INFO] [1746050631.338479384] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050631.339613435] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050631.339653508] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050631.339999968] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050631.340389862] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050631.344469866] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050631.344916336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050631.345708006] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050631.346676930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050631.347852839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050631.445286836] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050631.445768062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050631.446820293] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050631.448043763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050631.448854371] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050631.502422479] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46917717 Long: -76.503484 -[vectornav-1] [INFO] [1746050631.503444048] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (64.37700000000001, -1.76, 12.265) -[mux-7] [INFO] [1746050631.545116161] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050631.545570837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050631.546512072] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050631.547505810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050631.548653057] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050631.585567712] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050631.587716548] [sailbot.teensy]: Wind angle: 137 -[teensy-2] [INFO] [1746050631.588592027] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050631.588622509] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050631.588873242] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050631.588986001] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050631.589367896] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050631.645233659] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050631.645838939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050631.646734656] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050631.647889971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050631.648943684] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050631.745333717] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050631.746294939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050631.746976270] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050631.748588506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050631.749139718] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050631.835379303] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050631.838078709] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050631.838422680] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050631.838862190] [sailbot.teensy]: Wind angle: 137 -[teensy-2] [INFO] [1746050631.839886306] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050631.840774998] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050631.841618442] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050631.844374089] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050631.845478191] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050631.845718764] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050631.847397981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050631.848538504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050631.945278309] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050631.946074686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050631.946954985] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050631.948078067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050631.949262681] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050632.003412043] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46917998 Long: -76.50348114 -[vectornav-1] [INFO] [1746050632.005193286] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (61.30200000000002, 2.307, 14.139) -[mux-7] [INFO] [1746050632.045205015] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050632.046038080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050632.046778500] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050632.048043656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050632.048777366] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050632.085401737] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050632.087444589] [sailbot.teensy]: Wind angle: 136 -[trim_sail-4] [INFO] [1746050632.088070358] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050632.088442872] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050632.089355693] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050632.089058206] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050632.090218777] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050632.145022419] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050632.145471010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050632.146559275] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050632.147405231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050632.148510733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050632.245099092] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050632.245621631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050632.246687404] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050632.247493655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050632.248417914] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050632.335210488] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050632.337735287] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050632.338116942] [sailbot.teensy]: Wind angle: 135 -[mux-7] [INFO] [1746050632.338302838] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050632.338815997] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050632.339185432] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050632.339532813] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050632.344397515] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050632.344914312] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050632.345613734] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050632.346586168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050632.347690731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050632.445353419] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050632.446128088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050632.447034670] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050632.448463659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050632.449581156] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050632.502735055] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46918312 Long: -76.50347805 -[vectornav-1] [INFO] [1746050632.503860493] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.08800000000002, -3.502, 16.305) -[mux-7] [INFO] [1746050632.545301090] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050632.546112419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050632.547137386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050632.548373430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050632.549574498] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050632.585400374] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050632.587330671] [sailbot.teensy]: Wind angle: 133 -[trim_sail-4] [INFO] [1746050632.587753027] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050632.589010983] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050632.589423709] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050632.589959646] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050632.590846675] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050632.645186295] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050632.645832704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050632.646685835] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050632.648214606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050632.648788400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050632.745276623] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050632.746439553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050632.747421882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050632.748885900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050632.749622800] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050632.835231180] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050632.837463411] [sailbot.teensy]: Wind angle: 131 -[trim_sail-4] [INFO] [1746050632.837723624] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050632.838335711] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050632.839039985] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050632.839442324] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050632.839794189] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050632.844541287] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050632.845214012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050632.845857234] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050632.847018869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050632.848044865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050632.945394959] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050632.946366338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050632.947057989] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050632.948892605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050632.950147720] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050633.003092021] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46918662 Long: -76.50347508 -[vectornav-1] [INFO] [1746050633.004536765] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.15100000000001, -1.234, 17.661) -[mux-7] [INFO] [1746050633.045243200] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050633.046048393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050633.046696147] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050633.048254786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050633.049403213] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050633.085262686] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050633.087331625] [sailbot.teensy]: Wind angle: 132 -[trim_sail-4] [INFO] [1746050633.087886036] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050633.088349743] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050633.089234537] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050633.089343584] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050633.090115061] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050633.144950866] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050633.145990376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050633.146339891] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050633.148035045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050633.149110627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050633.244818522] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050633.245591541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050633.246181499] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050633.247564987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050633.248116188] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050633.335440604] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050633.337856739] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050633.338442965] [sailbot.teensy]: Wind angle: 131 -[mux-7] [INFO] [1746050633.338984795] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050633.339610275] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050633.340542337] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050633.341030128] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050633.344442704] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050633.345037079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050633.345510153] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050633.346746269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050633.347960546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050633.445404151] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050633.446108876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050633.446966290] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050633.448218431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050633.448772924] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050633.502883117] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46919033 Long: -76.50347122 -[vectornav-1] [INFO] [1746050633.504599115] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.94400000000002, -0.194, 18.849) -[mux-7] [INFO] [1746050633.545143746] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050633.545802734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050633.546612469] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050633.547887916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050633.548970754] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050633.585226216] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050633.586851860] [sailbot.teensy]: Wind angle: 131 -[trim_sail-4] [INFO] [1746050633.587364528] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050633.587728433] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050633.588627727] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050633.589083141] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050633.589502557] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050633.645163747] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050633.645887209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050633.646644834] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050633.648465135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050633.649513810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050633.745617879] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050633.746798748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050633.747627137] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050633.748063407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050633.748532198] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050633.835781644] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050633.838517132] [sailbot.teensy]: Wind angle: 131 -[trim_sail-4] [INFO] [1746050633.839044657] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050633.839260547] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050633.839646905] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050633.839699033] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050633.840038678] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050633.844479683] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050633.844947551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050633.845587340] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050633.846693832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050633.847869159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050633.945700139] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050633.946419731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050633.947556509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050633.948296060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050633.948738568] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050634.003073901] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46919378 Long: -76.50346757 -[vectornav-1] [INFO] [1746050634.004443125] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.59100000000001, -1.422, 18.298) -[mux-7] [INFO] [1746050634.045172624] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050634.046055582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050634.046630325] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050634.048460624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050634.049652074] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050634.085253615] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050634.087035938] [sailbot.teensy]: Wind angle: 129 -[trim_sail-4] [INFO] [1746050634.087560080] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050634.087887086] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050634.087887334] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050634.088819848] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050634.089687661] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050634.144984031] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050634.145941912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050634.146347587] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050634.148143738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050634.149219507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050634.245557589] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050634.246353705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050634.247505487] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050634.247956776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050634.248513205] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050634.335353424] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050634.337675600] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050634.338000536] [sailbot.teensy]: Wind angle: 117 -[teensy-2] [INFO] [1746050634.338622229] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050634.338661409] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050634.339041213] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050634.339429376] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050634.344331231] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050634.344920871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050634.345393159] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050634.346637215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050634.347684991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050634.445329613] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050634.446284246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050634.447044917] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050634.448779799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050634.449833396] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050634.503382266] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46919751 Long: -76.50346453 -[vectornav-1] [INFO] [1746050634.505035230] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.90100000000001, -0.165, 18.012) -[mux-7] [INFO] [1746050634.545149228] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050634.545902566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050634.546611702] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050634.548129485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050634.549150814] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050634.585371145] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050634.587284313] [sailbot.teensy]: Wind angle: 116 -[trim_sail-4] [INFO] [1746050634.587672504] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050634.588284654] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050634.589161398] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050634.589220528] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050634.590030143] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050634.645179230] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050634.645990502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050634.646790572] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050634.647735881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050634.648269773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050634.745358162] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050634.746303057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050634.747278951] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050634.748543122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050634.749136296] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050634.835289612] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050634.836955817] [sailbot.teensy]: Wind angle: 122 -[teensy-2] [INFO] [1746050634.837824796] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050634.837481152] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050634.838599195] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050634.838665806] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050634.839507456] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050634.844325093] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050634.844892192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050634.845629621] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050634.846632341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050634.847684023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050634.944921958] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050634.945552930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050634.946130787] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050634.947410874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050634.948618192] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050635.002515450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46920153 Long: -76.50346079 -[vectornav-1] [INFO] [1746050635.003557991] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.24799999999999, -0.476, 17.567) -[mux-7] [INFO] [1746050635.044753177] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050635.045378093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050635.045874217] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050635.047307813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050635.048445805] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050635.085375577] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050635.087672569] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050635.088716128] [sailbot.teensy]: Wind angle: 132 -[mux-7] [INFO] [1746050635.088923722] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050635.089668889] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050635.090531942] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050635.091425874] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050635.145198333] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050635.145873276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050635.146577967] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050635.147868716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050635.149329779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050635.245316659] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050635.246180839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050635.246889582] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050635.248238141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050635.249414776] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050635.335220379] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050635.337378453] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050635.338083831] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050635.338237791] [sailbot.teensy]: Wind angle: 131 -[teensy-2] [INFO] [1746050635.339209321] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050635.340074328] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050635.340957556] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050635.344297953] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050635.344849227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050635.345552301] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050635.346529419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050635.347725148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050635.445042396] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050635.445778302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050635.446697641] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050635.447581761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050635.448059113] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050635.502529251] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46920523 Long: -76.50345662 -[vectornav-1] [INFO] [1746050635.503563120] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.952999999999975, -3.877, 20.559) -[mux-7] [INFO] [1746050635.544858368] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050635.545495471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050635.546243698] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050635.547297198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050635.548350990] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050635.585385463] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050635.587161868] [sailbot.teensy]: Wind angle: 124 -[trim_sail-4] [INFO] [1746050635.587911734] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050635.588087389] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050635.589026946] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050635.589512466] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050635.589961447] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050635.645171642] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050635.645857914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050635.646635041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050635.647720322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050635.648230446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050635.745471472] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050635.746249609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050635.747058893] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050635.747970861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050635.748549741] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050635.835268520] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050635.837031143] [sailbot.teensy]: Wind angle: 115 -[trim_sail-4] [INFO] [1746050635.837472135] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050635.837995753] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050635.839003460] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050635.838975734] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050635.839987379] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050635.844395163] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050635.844920631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050635.845520568] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050635.846575327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050635.847615485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050635.945496767] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050635.946545762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050635.947316440] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050635.949118433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050635.949769081] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050636.003629695] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46920865 Long: -76.50345257 -[vectornav-1] [INFO] [1746050636.005788212] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.120000000000005, 0.652, 20.977) -[mux-7] [INFO] [1746050636.045397043] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050636.045969721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050636.046965318] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050636.048019561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050636.050061860] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050636.085272726] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050636.086850209] [sailbot.teensy]: Wind angle: 124 -[trim_sail-4] [INFO] [1746050636.087355436] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050636.088547081] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050636.088853264] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050636.089434411] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050636.090346107] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050636.145140310] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050636.145787567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050636.146432700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050636.147565820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050636.148650610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050636.245330972] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050636.246099366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050636.247113739] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050636.248209705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050636.249950447] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050636.335558122] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050636.338272730] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050636.338500289] [sailbot.teensy]: Wind angle: 120 -[mux-7] [INFO] [1746050636.338800716] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050636.339051637] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050636.339434010] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050636.339790064] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050636.344361904] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050636.344966040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050636.345479103] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050636.346656776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050636.347816770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050636.445398199] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050636.446410510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050636.447389397] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050636.448200819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050636.448728100] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050636.503394728] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46921251 Long: -76.50344827 -[vectornav-1] [INFO] [1746050636.504733309] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.30899999999997, 1.087, 21.262) -[mux-7] [INFO] [1746050636.544671541] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050636.545323499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050636.545897479] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050636.547131392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050636.548147865] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050636.585254551] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050636.586956316] [sailbot.teensy]: Wind angle: 118 -[teensy-2] [INFO] [1746050636.587856936] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050636.587467055] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050636.588721273] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050636.588759677] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050636.589675485] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050636.645227195] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050636.646121666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050636.646774467] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050636.648393378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050636.648954801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050636.744991690] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050636.745895117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050636.746308295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050636.747776903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050636.748933576] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050636.835456251] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050636.837422075] [sailbot.teensy]: Wind angle: 117 -[teensy-2] [INFO] [1746050636.838410851] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050636.837984425] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050636.838666747] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050636.839315413] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050636.840193425] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050636.844357968] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050636.845020391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050636.845497970] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050636.846706385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050636.847768385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050636.945132931] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050636.945793234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050636.946646026] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050636.948329590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050636.949013366] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050637.003456569] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46921601 Long: -76.50344402 -[vectornav-1] [INFO] [1746050637.004816053] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.98399999999998, -3.882, 20.151) -[mux-7] [INFO] [1746050637.044949913] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050637.045496010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050637.046204981] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050637.047377796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050637.048491666] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050637.085284635] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050637.087057700] [sailbot.teensy]: Wind angle: 119 -[teensy-2] [INFO] [1746050637.087985782] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050637.087486256] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050637.088694472] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050637.088745603] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050637.089140887] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050637.144665316] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050637.145226389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050637.145832660] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050637.146964286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050637.148000851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050637.245039171] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050637.245667785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050637.246430233] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050637.247745862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050637.248691108] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050637.335349726] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050637.337232845] [sailbot.teensy]: Wind angle: 120 -[trim_sail-4] [INFO] [1746050637.337905063] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050637.338792900] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050637.338929352] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050637.339336991] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050637.339711737] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050637.344290041] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050637.344881590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050637.345724145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050637.346573613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050637.347659900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050637.445317132] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050637.446290696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050637.447323093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050637.448645620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050637.449951506] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050637.503272833] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46922042 Long: -76.50344071 -[vectornav-1] [INFO] [1746050637.504848861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.66199999999998, 0.776, 16.433) -[mux-7] [INFO] [1746050637.544929062] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050637.545532682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050637.546167220] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050637.547463751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050637.548389384] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050637.585533553] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050637.587982546] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050637.588428687] [sailbot.teensy]: Wind angle: 120 -[mux-7] [INFO] [1746050637.588424731] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050637.589421939] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050637.590354513] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050637.591248003] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050637.645056744] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050637.645731659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050637.646414467] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050637.647877760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050637.649062164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050637.745302317] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050637.746021367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050637.746788527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050637.748109033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050637.749338944] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050637.835328114] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050637.837166767] [sailbot.teensy]: Wind angle: 121 -[trim_sail-4] [INFO] [1746050637.837661541] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050637.838106178] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050637.839005394] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050637.839442709] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050637.839889037] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050637.844451926] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050637.845059770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050637.845571821] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050637.846767596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050637.847766481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050637.945445462] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050637.946215054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050637.947070049] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050637.947990997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050637.948715008] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050638.003364822] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46922418 Long: -76.50343731 -[vectornav-1] [INFO] [1746050638.004978129] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.31200000000001, -0.623, 15.152) -[mux-7] [INFO] [1746050638.045070147] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050638.045901886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050638.046470434] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050638.047952227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050638.049230725] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050638.085265061] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050638.086904023] [sailbot.teensy]: Wind angle: 123 -[teensy-2] [INFO] [1746050638.087787238] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050638.087412592] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050638.088569204] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050638.088683298] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050638.089562894] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050638.144945101] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050638.145622383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050638.146206315] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050638.147442296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050638.148615213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050638.245226016] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050638.246033508] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050638.246703226] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050638.248444858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050638.249509283] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050638.335641381] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050638.337909049] [sailbot.teensy]: Wind angle: 130 -[trim_sail-4] [INFO] [1746050638.338442836] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050638.338997984] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050638.339925856] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050638.339761773] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050638.340830683] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050638.344523958] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050638.345143263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050638.345782956] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050638.346922929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050638.347965627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050638.445499315] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050638.446414204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050638.447258360] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050638.448936074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050638.450169985] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050638.502560616] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46922631 Long: -76.5034299 -[vectornav-1] [INFO] [1746050638.503604058] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.666, -1.289, 24.537) -[mux-7] [INFO] [1746050638.544783992] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050638.545580336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050638.545963883] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050638.547624242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050638.548646012] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050638.585489732] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050638.587307132] [sailbot.teensy]: Wind angle: 131 -[teensy-2] [INFO] [1746050638.588317640] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050638.588492438] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050638.589253728] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050638.590166742] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050638.590559997] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050638.645059212] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050638.645701194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050638.646441230] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050638.647598282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050638.648821617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050638.745533023] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050638.746401982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050638.747106888] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050638.749193888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050638.750276846] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050638.835434272] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050638.837827164] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050638.838542459] [sailbot.teensy]: Wind angle: 107 -[mux-7] [INFO] [1746050638.838994688] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050638.839495305] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050638.840735857] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050638.841596741] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050638.844289691] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050638.844989503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050638.845399868] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050638.846784235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050638.847829637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050638.945286698] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050638.945985647] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050638.946904835] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050638.948382962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050638.948933978] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050639.003962160] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46922969 Long: -76.50342646 -[vectornav-1] [INFO] [1746050639.005848841] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.37299999999999, -1.668, 26.055) -[mux-7] [INFO] [1746050639.044731563] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050639.045361892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050639.045887284] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050639.047226977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050639.048389886] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050639.085295741] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050639.087469554] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050639.088002281] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050639.088912817] [sailbot.teensy]: Wind angle: 68 -[teensy-2] [INFO] [1746050639.089876889] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050639.090743752] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050639.091602419] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050639.145097273] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050639.146010890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050639.146494554] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050639.148274678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050639.149361182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050639.245351375] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050639.246277728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050639.246832915] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050639.248855423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050639.250785531] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050639.335744177] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050639.338503334] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050639.338885807] [sailbot.teensy]: Wind angle: 66 -[mux-7] [INFO] [1746050639.339012198] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050639.339289841] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050639.339942050] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050639.340791273] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050639.344476924] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050639.344965994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050639.346303348] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050639.346732526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050639.347777672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050639.445394354] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050639.446098796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050639.447285038] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050639.448484748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050639.449759133] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050639.502602254] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46923303 Long: -76.50342176 -[vectornav-1] [INFO] [1746050639.503654776] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.54599999999999, -2.581, 20.728) -[mux-7] [INFO] [1746050639.544888924] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050639.545741576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050639.546139802] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050639.547561328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050639.548582182] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050639.585557363] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050639.587549204] [sailbot.teensy]: Wind angle: 91 -[trim_sail-4] [INFO] [1746050639.588090724] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050639.588585610] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050639.589536571] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050639.590493629] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050639.590522674] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050639.645300610] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050639.645900599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050639.646891115] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050639.648169773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050639.649218689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050639.745390465] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050639.745948747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050639.747050486] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050639.748144210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050639.749270472] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050639.835364101] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050639.837284737] [sailbot.teensy]: Wind angle: 139 -[trim_sail-4] [INFO] [1746050639.837761809] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050639.839191978] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050639.839282322] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050639.840224803] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050639.841099327] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050639.844432345] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050639.844885306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050639.845548690] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050639.846626761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050639.847708271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050639.945223621] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050639.945645558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050639.946740287] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050639.947859827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050639.949062979] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050640.003832224] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46923589 Long: -76.50341682 -[vectornav-1] [INFO] [1746050640.005621729] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.577999999999975, 0.421, 20.467) -[mux-7] [INFO] [1746050640.045643620] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050640.045821702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050640.047093312] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050640.047782247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050640.049028217] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050640.085524968] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050640.087314523] [sailbot.teensy]: Wind angle: 141 -[teensy-2] [INFO] [1746050640.088290886] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050640.088351765] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050640.088997866] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050640.089188990] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050640.090089850] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050640.145003747] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050640.145531819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050640.146366167] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050640.147291645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050640.148665917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050640.245195554] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050640.245707352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050640.246652109] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050640.247783988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050640.248895617] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050640.335614977] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050640.337682500] [sailbot.teensy]: Wind angle: 114 -[teensy-2] [INFO] [1746050640.338671190] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050640.338350105] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050640.339361056] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050640.339535779] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050640.340394709] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050640.344452816] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050640.345002731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050640.345807523] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050640.346771696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050640.347890986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050640.445306015] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050640.446087192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050640.447130154] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050640.448060752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050640.448630246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050640.495042749] [sailbot.mux]: controller_app rudder angle: -6 -[vectornav-1] [INFO] [1746050640.502239221] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46923917 Long: -76.503412 -[vectornav-1] [INFO] [1746050640.503224436] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.68599999999998, -0.55, 17.272) -[mux-7] [INFO] [1746050640.545015611] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050640.545688337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050640.546259951] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050640.547714795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050640.548828547] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050640.585396051] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050640.587817830] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050640.588078796] [sailbot.teensy]: Wind angle: 110 -[teensy-2] [INFO] [1746050640.589067246] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050640.589979317] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050640.590196013] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050640.590859426] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050640.645031237] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050640.645624927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050640.646410879] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050640.647661716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050640.648871088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050640.745477188] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050640.746101066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050640.747059458] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050640.747918317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050640.748414635] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050640.835307544] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050640.837164670] [sailbot.teensy]: Wind angle: 113 -[trim_sail-4] [INFO] [1746050640.837816616] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050640.838135671] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050640.839085333] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050640.840004979] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050640.840456681] [sailbot.mux]: algo sail angle: 15 -[mux-7] [INFO] [1746050640.844395631] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050640.844979841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050640.845460728] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050640.846668328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050640.847819672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050640.945593157] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050640.946466283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050640.947205939] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050640.948994579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050640.949876732] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050641.003472417] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46924253 Long: -76.50340827 -[vectornav-1] [INFO] [1746050641.005004995] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.120000000000005, -2.105, 14.176) -[mux-7] [INFO] [1746050641.045148274] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050641.046446556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050641.046673458] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050641.048590286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050641.049766953] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050641.085343836] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050641.088036651] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050641.088313006] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050641.088351339] [sailbot.teensy]: Wind angle: 116 -[teensy-2] [INFO] [1746050641.089379209] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050641.090277708] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050641.091129557] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050641.145194917] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050641.145871783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050641.146632369] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050641.148099354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050641.149267447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050641.245372154] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050641.246072842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050641.246837366] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050641.247997559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050641.248511982] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050641.335322437] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050641.337696525] [sailbot.teensy]: Wind angle: 126 -[trim_sail-4] [INFO] [1746050641.337869933] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050641.338898176] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050641.339139076] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050641.339540020] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050641.339922792] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050641.344395946] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050641.344909553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050641.345775955] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050641.346590751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050641.347771890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050641.445122824] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050641.445897522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050641.446509544] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050641.447978035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050641.449024157] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050641.503938321] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46924526 Long: -76.50340303 -[vectornav-1] [INFO] [1746050641.505454038] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.79000000000002, 0.852, 18.925) -[mux-7] [INFO] [1746050641.519866981] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746050641.544812738] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050641.545611262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050641.546098308] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050641.547659775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050641.548832673] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050641.585245174] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050641.587399364] [sailbot.teensy]: Wind angle: 130 -[trim_sail-4] [INFO] [1746050641.587476072] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050641.588430504] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050641.588943046] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050641.589393826] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050641.590357173] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050641.645158982] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050641.646126699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050641.646756365] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050641.648783251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050641.649914462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050641.745287763] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050641.746209650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050641.746874179] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050641.748435589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050641.749117843] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050641.835616380] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050641.837731486] [sailbot.teensy]: Wind angle: 126 -[trim_sail-4] [INFO] [1746050641.838216945] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050641.838763259] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050641.839702064] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050641.839724898] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050641.840760155] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050641.844315002] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050641.845035416] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050641.845813159] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050641.846737402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050641.847785036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050641.945006397] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050641.945698013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050641.946708903] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050641.947678126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050641.948227052] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050642.003195594] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46924837 Long: -76.50339891 -[vectornav-1] [INFO] [1746050642.004520388] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.922000000000025, -1.177, 16.751) -[mux-7] [INFO] [1746050642.045194120] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050642.046112673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050642.046580409] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050642.048832047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050642.050083524] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050642.085438442] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050642.087249506] [sailbot.teensy]: Wind angle: 113 -[trim_sail-4] [INFO] [1746050642.087827929] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050642.088942743] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050642.089265781] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050642.089951655] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050642.090835833] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050642.144974153] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050642.145820296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050642.146327123] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050642.147984258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050642.149027807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050642.244910153] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050642.245730023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050642.246260396] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050642.247620503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050642.248222078] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050642.335473395] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050642.337840354] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050642.338062605] [sailbot.teensy]: Wind angle: 118 -[mux-7] [INFO] [1746050642.338299255] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050642.338983990] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050642.339924518] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050642.340651241] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050642.344358101] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050642.345022088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050642.345658776] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050642.346677702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050642.347713597] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050642.445040244] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050642.445713362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050642.446478788] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050642.447657097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050642.448716532] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050642.503567334] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46925146 Long: -76.50339468 -[vectornav-1] [INFO] [1746050642.504889319] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.87900000000002, -1.281, 16.793) -[mux-7] [INFO] [1746050642.545041338] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050642.545772819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050642.546308321] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050642.547592541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050642.548708935] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050642.585666503] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050642.587660672] [sailbot.teensy]: Wind angle: 121 -[teensy-2] [INFO] [1746050642.588723803] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050642.589043609] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050642.589651159] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050642.590563006] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050642.590967644] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746050642.645309941] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050642.645876393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050642.646963509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050642.648013111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050642.648642321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050642.745032849] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050642.745702553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050642.746727341] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050642.747541449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050642.748660610] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050642.835288045] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050642.837599653] [sailbot.teensy]: Wind angle: 125 -[trim_sail-4] [INFO] [1746050642.837929218] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050642.839660970] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050642.839677920] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050642.840603091] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050642.841487578] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050642.844487747] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050642.844949305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050642.845605353] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050642.846664559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050642.847741376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050642.945385558] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050642.946079052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050642.947096608] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050642.948376854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050642.949864448] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050643.002840103] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46925479 Long: -76.50339027 -[vectornav-1] [INFO] [1746050643.005134290] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.666, -1.835, 18.263) -[mux-7] [INFO] [1746050643.045114847] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050643.045619111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050643.046430027] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050643.047644693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050643.048687945] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050643.085330759] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050643.087152290] [sailbot.teensy]: Wind angle: 124 -[trim_sail-4] [INFO] [1746050643.087927289] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050643.088202907] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050643.089127013] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050643.089992790] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050643.090017810] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050643.144997962] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050643.145741509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050643.146426003] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050643.147725522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050643.148750247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050643.245125120] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050643.245900532] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050643.246934089] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050643.247943402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050643.248502919] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050643.335370499] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050643.337286141] [sailbot.teensy]: Wind angle: 111 -[trim_sail-4] [INFO] [1746050643.338187469] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050643.338223484] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050643.338506617] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050643.339119229] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050643.340026045] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050643.344358790] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050643.344947805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050643.345619212] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050643.346739592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050643.347876802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050643.445532561] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050643.446234529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050643.447256488] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050643.448131713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050643.448711171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050643.500664181] [sailbot.mux]: controller_app rudder angle: -1 -[vectornav-1] [INFO] [1746050643.502584613] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46925884 Long: -76.50338715 -[vectornav-1] [INFO] [1746050643.503813127] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.865999999999985, 0.977, 13.982) -[mux-7] [INFO] [1746050643.545211641] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050643.545951229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050643.546876006] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050643.548454847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050643.549699174] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050643.585415670] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050643.587266259] [sailbot.teensy]: Wind angle: 111 -[trim_sail-4] [INFO] [1746050643.587868212] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050643.588244021] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050643.589142356] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050643.589296029] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050643.590014748] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050643.645244282] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050643.645900400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050643.646898695] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050643.648054593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050643.648966867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050643.745283229] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050643.746105913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050643.746774663] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050643.748570377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050643.749083930] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050643.835476914] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050643.837352881] [sailbot.teensy]: Wind angle: 130 -[trim_sail-4] [INFO] [1746050643.837893805] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050643.839069612] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050643.839105480] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050643.839511778] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050643.839891454] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050643.844413367] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050643.844915730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050643.845534147] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050643.846611800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050643.847708644] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050643.945525928] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050643.946516967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050643.947161144] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050643.949367166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050643.950539554] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050644.002426377] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926138 Long: -76.50338227 -[vectornav-1] [INFO] [1746050644.003471411] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.86500000000001, -2.185, 16.375) -[mux-7] [INFO] [1746050644.045322316] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050644.046023056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050644.046850104] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050644.048136827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050644.049399842] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050644.085263813] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050644.087359039] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050644.088133859] [sailbot.teensy]: Wind angle: 135 -[teensy-2] [INFO] [1746050644.089198870] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050644.090058892] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050644.090088368] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050644.091040259] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050644.143689400] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050644.144098176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050644.144264342] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050644.144903180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050644.145443484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050644.245041379] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050644.245768370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050644.246297889] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050644.247735888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050644.248841670] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050644.335266821] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050644.337602406] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050644.337998034] [sailbot.teensy]: Wind angle: 128 -[teensy-2] [INFO] [1746050644.338908999] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050644.339025799] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050644.339304230] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050644.339696404] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050644.344590916] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050644.344974042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050644.346024887] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050644.346761172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050644.347838846] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050644.445007574] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050644.445559785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050644.446321252] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050644.447545818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050644.448613108] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050644.503411462] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926465 Long: -76.50337853 -[vectornav-1] [INFO] [1746050644.505094523] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.89999999999998, -0.726, 16.367) -[mux-7] [INFO] [1746050644.545080445] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050644.545580956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050644.546434824] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050644.547866670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050644.548886681] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050644.585257031] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050644.587537765] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050644.588142787] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050644.588989461] [sailbot.teensy]: Wind angle: 108 -[teensy-2] [INFO] [1746050644.590097475] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050644.591005293] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050644.591824573] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050644.645617649] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050644.646130064] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050644.647346615] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050644.648881530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050644.650201040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050644.745679554] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050644.746414812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050644.747432157] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050644.748807778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050644.749368753] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050644.835605313] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050644.838244163] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050644.838790693] [sailbot.teensy]: Wind angle: 112 -[mux-7] [INFO] [1746050644.839008824] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050644.839410040] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050644.839843302] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050644.840213071] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050644.844550490] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050644.844965180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050644.845701544] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050644.846640814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050644.847749828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050644.945592557] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050644.946336909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050644.947351235] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050644.948943758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050644.950192587] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050645.003528019] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926836 Long: -76.50337496 -[vectornav-1] [INFO] [1746050645.004758833] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.291, -1.029, 13.167) -[mux-7] [INFO] [1746050645.045220908] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050645.046375191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050645.046681223] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050645.048343910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050645.048908979] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050645.085431785] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050645.087299409] [sailbot.teensy]: Wind angle: 125 -[trim_sail-4] [INFO] [1746050645.088206589] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050645.088273117] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050645.089160015] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050645.089413409] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050645.090017541] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050645.145200179] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050645.146733415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050645.146900650] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050645.148781337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050645.149817208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050645.245084368] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050645.245922612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050645.246505004] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050645.247966755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050645.248991494] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050645.335303837] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050645.337346941] [sailbot.teensy]: Wind angle: 125 -[trim_sail-4] [INFO] [1746050645.337799746] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050645.338291001] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050645.338679618] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050645.338822790] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050645.339062997] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050645.344482656] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050645.345076254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050645.345712194] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050645.346873490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050645.347871677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050645.445493716] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050645.446268265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050645.447142850] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050645.448391342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050645.448905275] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050645.503517542] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927103 Long: -76.50336991 -[vectornav-1] [INFO] [1746050645.504810549] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.99599999999998, -0.773, 14.996) -[mux-7] [INFO] [1746050645.545056541] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050645.545722374] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050645.546329058] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050645.547767978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050645.548777482] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050645.585489561] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050645.587432293] [sailbot.teensy]: Wind angle: 127 -[trim_sail-4] [INFO] [1746050645.588168100] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050645.588412214] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050645.589343226] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050645.590036089] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050645.590217199] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050645.645366259] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050645.646337268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050645.646886949] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050645.648483534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050645.649663231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050645.745374059] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050645.746130752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050645.746905746] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050645.748797550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050645.749799668] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050645.835433015] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050645.837344472] [sailbot.teensy]: Wind angle: 126 -[teensy-2] [INFO] [1746050645.838316701] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050645.838136204] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050645.839186472] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050645.839307499] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050645.840070695] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050645.844479592] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050645.845052008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050645.845593675] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050645.846764799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050645.847744688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050645.945381544] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050645.946392346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050645.947294240] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050645.948726341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050645.950042631] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050646.004082925] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927384 Long: -76.50336473 -[vectornav-1] [INFO] [1746050646.005545916] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.85500000000002, -0.853, 17.989) -[mux-7] [INFO] [1746050646.045620562] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050646.046458939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050646.047221102] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050646.048877201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050646.049976584] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050646.085348230] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050646.087860033] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050646.087925753] [sailbot.teensy]: Wind angle: 123 -[mux-7] [INFO] [1746050646.088747069] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050646.089260653] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050646.090151210] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050646.091041619] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050646.144382088] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050646.144857753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050646.145507722] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050646.146437650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050646.147378983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050646.245100040] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050646.246002923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050646.246523558] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050646.247988504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050646.248889101] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050646.335475692] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050646.337859624] [sailbot.teensy]: Wind angle: 106 -[trim_sail-4] [INFO] [1746050646.337893070] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050646.338549295] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050646.338830756] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050646.339249220] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050646.339632172] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050646.344650391] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050646.345378694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050646.345995271] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050646.347128317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050646.348130911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050646.445554147] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050646.446379092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050646.447329704] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050646.448846317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050646.449469084] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050646.503460238] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927729 Long: -76.5033608 -[vectornav-1] [INFO] [1746050646.505004240] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.346000000000004, 0.424, 15.153) -[mux-7] [INFO] [1746050646.545111608] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050646.545790034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050646.546527970] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050646.548066627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050646.549210523] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050646.585614779] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050646.588244240] [sailbot.teensy]: Wind angle: 98 -[teensy-2] [INFO] [1746050646.589305803] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050646.588296695] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050646.590328312] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050646.591039649] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050646.591250632] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050646.645411893] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050646.646314336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050646.647060896] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050646.648843116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050646.649354300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050646.745367308] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050646.746129883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050646.746881919] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050646.747773578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050646.748326036] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050646.835098851] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050646.836880778] [sailbot.teensy]: Wind angle: 102 -[trim_sail-4] [INFO] [1746050646.837322319] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050646.837820787] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050646.838728323] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050646.839004954] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050646.839603108] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050646.844444690] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050646.845048955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050646.845515170] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050646.846796643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050646.847906909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050646.945469354] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050646.946378724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050646.947340865] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050646.948739303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050646.950131973] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050647.002395671] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927984 Long: -76.50335541 -[vectornav-1] [INFO] [1746050647.003469089] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (40.49000000000001, -2.443, 18.197) -[mux-7] [INFO] [1746050647.045213087] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050647.045968804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050647.046629062] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050647.048200327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050647.049227200] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050647.085719483] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050647.088383943] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050647.088932360] [sailbot.teensy]: Wind angle: 121 -[mux-7] [INFO] [1746050647.089870208] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050647.089968875] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050647.090870133] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050647.091709239] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050647.144987120] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050647.146414697] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050647.149122251] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050647.150775098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050647.151792810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050647.245454017] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050647.246002775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050647.247107854] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050647.248888655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050647.250116018] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050647.335520966] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050647.338184011] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050647.338709581] [sailbot.teensy]: Wind angle: 134 -[mux-7] [INFO] [1746050647.338902075] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050647.339660959] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050647.340580548] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050647.341058042] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050647.344399183] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050647.344981263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050647.345540235] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050647.346750710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050647.347783628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050647.445129711] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050647.445815216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050647.446980097] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050647.447550640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050647.448026331] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050647.503346186] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928218 Long: -76.50334983 -[vectornav-1] [INFO] [1746050647.504611005] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.303999999999974, -1.647, 22.867) -[mux-7] [INFO] [1746050647.544954603] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050647.545532910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050647.546556240] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050647.547466204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050647.548599714] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050647.585322772] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050647.587431028] [sailbot.teensy]: Wind angle: 124 -[teensy-2] [INFO] [1746050647.588424619] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050647.588535333] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050647.589320400] [sailbot.teensy]: Actual tail angle: 24 -[trim_sail-4] [INFO] [1746050647.589506059] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050647.590219205] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050647.645409975] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050647.646214939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050647.646924382] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050647.648406413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050647.649191970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050647.744937945] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050647.745784830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050647.746120936] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050647.747622471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050647.748772867] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050647.835281624] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050647.837730192] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050647.838158057] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050647.838396881] [sailbot.teensy]: Wind angle: 97 -[teensy-2] [INFO] [1746050647.839211491] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050647.839597975] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050647.839949437] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050647.844448998] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050647.844979695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050647.845855714] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050647.846692358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050647.847806504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050647.945140440] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050647.945800103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050647.946802100] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050647.947813289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050647.948579214] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050648.002493166] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928587 Long: -76.50334525 -[vectornav-1] [INFO] [1746050648.003506744] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.08299999999997, -0.609, 19.002) -[mux-7] [INFO] [1746050648.045023558] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050648.045754596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050648.046314006] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050648.047780864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050648.048892555] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050648.085342861] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050648.087689471] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050648.087838963] [sailbot.teensy]: Wind angle: 92 -[mux-7] [INFO] [1746050648.088205293] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050648.088896837] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050648.089809554] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050648.090635032] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050648.145455877] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050648.146165189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050648.147080665] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050648.148631207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050648.149260206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050648.245636937] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050648.246609097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050648.247483909] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050648.249023620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050648.250155000] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050648.335410527] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050648.337299963] [sailbot.teensy]: Wind angle: 117 -[trim_sail-4] [INFO] [1746050648.338079547] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050648.339138383] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050648.339396048] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050648.340241871] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050648.341140709] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050648.344525086] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050648.345192978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050648.345683291] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050648.346917581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050648.348114395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050648.445634381] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050648.446667802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050648.447346450] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050648.448975728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050648.449576103] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050648.503851461] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928825 Long: -76.5033403 -[vectornav-1] [INFO] [1746050648.505374441] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.39499999999998, -0.972, 18.319) -[mux-7] [INFO] [1746050648.545027927] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050648.545689336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050648.546326044] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050648.547566664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050648.548705133] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050648.585369485] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050648.587454693] [sailbot.teensy]: Wind angle: 130 -[trim_sail-4] [INFO] [1746050648.588291458] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050648.588526465] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050648.589430353] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050648.589820199] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050648.590361155] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050648.644978842] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050648.646028004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050648.646329015] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050648.647849480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050648.648912878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050648.745270938] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050648.746271572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050648.746839945] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050648.748604183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050648.749736435] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050648.835298452] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050648.837665287] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050648.838140786] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050648.838702328] [sailbot.teensy]: Wind angle: 122 -[teensy-2] [INFO] [1746050648.839677825] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050648.840337142] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050648.840712394] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050648.844414213] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050648.844985055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050648.845772719] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050648.846716985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050648.847735554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050648.945395491] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050648.946337112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050648.946934293] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050648.948648736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050648.949965157] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050649.003330073] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929145 Long: -76.50333533 -[vectornav-1] [INFO] [1746050649.005369152] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.57299999999998, -2.496, 18.112) -[mux-7] [INFO] [1746050649.045157704] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050649.045844551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050649.046433159] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050649.047846496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050649.048931917] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050649.085299695] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050649.087311946] [sailbot.teensy]: Wind angle: 111 -[trim_sail-4] [INFO] [1746050649.087807670] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050649.088333323] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050649.089233656] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050649.089518986] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050649.090136578] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050649.145434140] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050649.146017141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050649.148035895] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050649.148505745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050649.149715548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050649.245743762] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050649.246304040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050649.247706746] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050649.248786251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050649.249926555] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050649.335277541] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050649.337286071] [sailbot.teensy]: Wind angle: 106 -[teensy-2] [INFO] [1746050649.338278878] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050649.338785676] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050649.339203942] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050649.340097322] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050649.340333068] [sailbot.mux]: algo sail angle: 20 -[mux-7] [INFO] [1746050649.344409913] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050649.345107405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050649.345564618] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050649.346867388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050649.347928243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050649.445576646] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050649.446635828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050649.447476962] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050649.448077051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050649.448900159] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050649.504272538] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929479 Long: -76.50332984 -[vectornav-1] [INFO] [1746050649.506472255] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.89300000000003, -0.664, 14.961) -[mux-7] [INFO] [1746050649.545000026] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050649.545751967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050649.546307373] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050649.547635823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050649.548667958] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050649.585290566] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050649.587187499] [sailbot.teensy]: Wind angle: 115 -[teensy-2] [INFO] [1746050649.588187147] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050649.587925021] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050649.589111198] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050649.590002177] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050649.589538673] [sailbot.mux]: algo sail angle: 15 -[mux-7] [INFO] [1746050649.645256694] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050649.646052322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050649.646940349] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050649.648393611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050649.649544731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050649.745547161] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050649.746176962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050649.747184220] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050649.748416086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050649.750309660] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050649.835659661] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050649.838451457] [sailbot.teensy]: Wind angle: 121 -[teensy-2] [INFO] [1746050649.839591964] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050649.838953139] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050649.840337068] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050649.840559280] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050649.841369939] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050649.844377418] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050649.845101107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050649.845618681] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050649.846903027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050649.847896680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050649.945647701] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050649.946203600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050649.947433925] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050649.948806809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050649.950002352] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050650.003433920] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929736 Long: -76.50332398 -[vectornav-1] [INFO] [1746050650.005473371] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.04599999999999, -0.667, 13.664) -[mux-7] [INFO] [1746050650.045440585] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050650.046108823] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050650.047987765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[mux-7] [INFO] [1746050650.046905993] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050650.049038206] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050650.085638395] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050650.088031451] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050650.088358357] [sailbot.teensy]: Wind angle: 121 -[teensy-2] [INFO] [1746050650.089315668] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050650.089881538] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050650.090223450] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050650.091130307] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050650.144738996] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050650.145336345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050650.145690213] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050650.146257321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050650.147165615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050650.245719687] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050650.246389260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050650.247451572] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050650.249044084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050650.249616676] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050650.335523677] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050650.337658753] [sailbot.teensy]: Wind angle: 120 -[trim_sail-4] [INFO] [1746050650.338230019] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050650.338721915] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050650.339644314] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050650.340250239] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050650.340516512] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050650.344411124] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050650.345075075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050650.345786743] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050650.347097579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050650.348247800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050650.445410322] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050650.446055314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050650.447328505] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050650.448481873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050650.449710860] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050650.503081615] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693003 Long: -76.50331901 -[vectornav-1] [INFO] [1746050650.504858841] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.706999999999994, 0.776, 11.062) -[mux-7] [INFO] [1746050650.545411817] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050650.546063176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050650.547058129] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050650.548727021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050650.549956797] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050650.585262238] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050650.587051152] [sailbot.teensy]: Wind angle: 118 -[trim_sail-4] [INFO] [1746050650.587561674] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050650.587987316] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050650.588894996] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050650.589011932] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050650.589830105] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050650.645434756] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050650.646463164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050650.647225271] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050650.649382856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050650.650533960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050650.745115525] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050650.746486321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050650.746700336] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050650.747927893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050650.748427573] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050650.835749888] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050650.838378681] [sailbot.teensy]: Wind angle: 119 -[teensy-2] [INFO] [1746050650.838788757] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050650.838593849] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050650.839188411] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050650.839562846] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050650.839723550] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746050650.844464042] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050650.845061261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050650.845601195] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050650.846783615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050650.847799215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050650.945272882] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050650.945932270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050650.946785802] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050650.947969028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050650.949060205] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050651.003498693] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930249 Long: -76.50331351 -[vectornav-1] [INFO] [1746050651.005408107] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.076000000000022, -2.17, 12.272) -[mux-7] [INFO] [1746050651.045423431] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050651.046239141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050651.047068429] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050651.048591076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050651.049152549] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050651.085155977] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050651.087274206] [sailbot.teensy]: Wind angle: 118 -[trim_sail-4] [INFO] [1746050651.087599926] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050651.088253864] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050651.088927006] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050651.089148244] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050651.090048515] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050651.144885556] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050651.145631712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050651.146299767] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050651.147775183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050651.149369241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050651.245173642] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050651.246083976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050651.246623890] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050651.248275693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050651.249343424] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050651.335670934] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050651.338518583] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050651.338563036] [sailbot.teensy]: Wind angle: 118 -[mux-7] [INFO] [1746050651.339493666] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050651.339518534] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050651.340414438] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050651.341261623] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050651.344376480] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050651.344803804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050651.345456447] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050651.346486590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050651.347671051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050651.445545586] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050651.446210274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050651.447212168] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050651.448367932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050651.448890587] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050651.503891305] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930473 Long: -76.50330781 -[vectornav-1] [INFO] [1746050651.505414605] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (28.12299999999999, 0.251, 13.111) -[mux-7] [INFO] [1746050651.545223430] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050651.545959931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050651.546648947] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050651.547994074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050651.549108407] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050651.585437759] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050651.588026923] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050651.588470038] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050651.588615663] [sailbot.teensy]: Wind angle: 118 -[teensy-2] [INFO] [1746050651.589643352] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050651.590507892] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050651.591356515] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050651.645206470] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050651.646352086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050651.646662387] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050651.648397199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050651.649499588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050651.745382743] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050651.746244819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050651.747510238] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050651.748454618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050651.749109207] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050651.835216238] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050651.837176015] [sailbot.teensy]: Wind angle: 118 -[trim_sail-4] [INFO] [1746050651.837538114] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050651.838122345] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050651.838838623] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050651.838899154] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050651.839238297] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050651.844340206] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050651.845113582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050651.845455944] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050651.846905467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050651.848000623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050651.945412172] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050651.946184947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050651.946947166] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050651.948824290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050651.950002112] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050652.002550325] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693069 Long: -76.50330207 -[vectornav-1] [INFO] [1746050652.003633689] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.090000000000032, -0.985, 12.054) -[mux-7] [INFO] [1746050652.044927391] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050652.045697225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050652.046100507] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050652.047681993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050652.048738793] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050652.085610513] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050652.087803107] [sailbot.teensy]: Wind angle: 116 -[trim_sail-4] [INFO] [1746050652.088375478] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050652.089005734] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050652.089954842] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050652.090021239] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050652.090828857] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050652.145531586] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050652.146369000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050652.147307948] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050652.148816962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050652.150033226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050652.245057559] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050652.245984394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050652.246352413] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050652.247955338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050652.249195232] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050652.335472021] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050652.338100564] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050652.338101508] [sailbot.teensy]: Wind angle: 112 -[teensy-2] [INFO] [1746050652.339089733] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050652.339204504] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050652.340014677] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050652.340989046] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050652.344397394] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050652.345053686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050652.345623019] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050652.346781021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050652.347957437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050652.445391723] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050652.446329239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050652.446965467] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050652.448562420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050652.449091690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050652.487304173] [sailbot.mux]: controller_app rudder angle: -8 -[vectornav-1] [INFO] [1746050652.503606152] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930877 Long: -76.5032967 -[vectornav-1] [INFO] [1746050652.505461747] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.92700000000002, -1.674, 10.608) -[mux-7] [INFO] [1746050652.545426250] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050652.546233913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050652.547192898] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050652.548497303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050652.549553528] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050652.585226187] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050652.587523966] [sailbot.teensy]: Wind angle: 109 -[trim_sail-4] [INFO] [1746050652.587614217] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050652.588473424] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050652.588572802] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050652.589431272] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050652.590273850] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050652.645184408] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050652.645865563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050652.646662646] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050652.648592589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050652.649704035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050652.745356946] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050652.746335158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050652.747276502] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050652.748774154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050652.749448333] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050652.835443726] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050652.837817629] [sailbot.teensy]: Wind angle: 112 -[trim_sail-4] [INFO] [1746050652.838284396] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050652.838796708] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050652.839227559] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050652.839714419] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050652.840678300] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050652.844616076] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050652.845257754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050652.846232569] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050652.847131749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050652.848248332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050652.945600849] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050652.946480788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050652.947399198] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050652.949576834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050652.950091939] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050653.003905356] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931048 Long: -76.5032907 -[vectornav-1] [INFO] [1746050653.005642190] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (25.826999999999998, -0.031, 12.858) -[mux-7] [INFO] [1746050653.045154449] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050653.046150968] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050653.046620909] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050653.048287984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050653.049350234] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050653.085575929] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050653.087770062] [sailbot.teensy]: Wind angle: 120 -[teensy-2] [INFO] [1746050653.088804550] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050653.088670606] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050653.089793563] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050653.090642232] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050653.091409609] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746050653.145317535] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050653.146207441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050653.146877370] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050653.148513270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050653.149620786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050653.245602041] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050653.246436864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050653.247816954] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050653.248526056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050653.249171489] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050653.335348073] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050653.337273268] [sailbot.teensy]: Wind angle: 122 -[trim_sail-4] [INFO] [1746050653.337801288] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050653.338217546] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050653.339118067] [sailbot.teensy]: Actual tail angle: 17 -[mux-7] [INFO] [1746050653.338929075] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050653.339965477] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050653.344301343] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050653.344878904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050653.345481995] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050653.346576794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050653.347636395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050653.444890560] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050653.445590234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050653.446116202] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050653.447481794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050653.448528862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050653.499755655] [sailbot.mux]: controller_app rudder angle: -24 -[vectornav-1] [INFO] [1746050653.502302429] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931219 Long: -76.5032849 -[vectornav-1] [INFO] [1746050653.503304636] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.21100000000001, -0.007, 15.308) -[mux-7] [INFO] [1746050653.545150114] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050653.546023147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050653.546604451] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050653.548071103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050653.549093315] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050653.585425166] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050653.587206410] [sailbot.teensy]: Wind angle: 123 -[trim_sail-4] [INFO] [1746050653.587704650] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050653.588132233] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050653.588904106] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050653.589030412] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050653.589903440] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050653.645178328] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050653.645973490] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050653.646645527] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050653.648788757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050653.649923400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050653.745177301] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050653.745788758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050653.746548516] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050653.747892672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050653.749048379] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050653.835246444] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050653.836883201] [sailbot.teensy]: Wind angle: 125 -[teensy-2] [INFO] [1746050653.837750285] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050653.837536014] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050653.838429946] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050653.838591688] [sailbot.teensy]: Actual tail angle: 1 -[teensy-2] [INFO] [1746050653.839456615] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050653.844301512] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050653.844804570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050653.845438275] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050653.846450557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050653.847676030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050653.945319382] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050653.946207277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050653.946867229] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050653.949182720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050653.950298318] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050654.003292190] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931429 Long: -76.50328107 -[vectornav-1] [INFO] [1746050654.004511619] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.803, -0.125, 16.74) -[mux-7] [INFO] [1746050654.045238594] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050654.045982505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050654.046891350] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050654.048070039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050654.049260839] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050654.085276140] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050654.086872556] [sailbot.teensy]: Wind angle: 129 -[trim_sail-4] [INFO] [1746050654.087484400] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050654.087765194] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050654.089075919] [sailbot.teensy]: Actual tail angle: 1 -[mux-7] [INFO] [1746050654.090043933] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050654.090319214] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050654.145513145] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050654.146444535] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050654.148794419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[mux-7] [INFO] [1746050654.149076541] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050654.149945463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050654.244992210] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050654.245723823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050654.246345606] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050654.247673304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050654.248710731] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050654.335230594] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050654.336866899] [sailbot.teensy]: Wind angle: 132 -[trim_sail-4] [INFO] [1746050654.337398319] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050654.337747497] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050654.338640286] [sailbot.teensy]: Actual tail angle: 1 -[teensy-2] [INFO] [1746050654.339511654] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050654.339532621] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050654.344272043] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050654.344861175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050654.345388484] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050654.346601105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050654.347758381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050654.445210202] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050654.446118408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050654.446673004] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050654.447826829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050654.448337654] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050654.503599856] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931606 Long: -76.50327776 -[vectornav-1] [INFO] [1746050654.505238978] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (81.00099999999998, 1.074, 20.549) -[mux-7] [INFO] [1746050654.518567526] [sailbot.mux]: controller_app rudder angle: -25 -[mux-7] [INFO] [1746050654.544833740] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050654.545486608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050654.546204486] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050654.547451502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050654.548484522] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050654.585280945] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050654.587001657] [sailbot.teensy]: Wind angle: 146 -[trim_sail-4] [INFO] [1746050654.587419793] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050654.587965294] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050654.588877151] [sailbot.teensy]: Actual tail angle: 1 -[mux-7] [INFO] [1746050654.589136988] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050654.589773774] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050654.645127141] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050654.645863924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050654.646604822] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050654.647938793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050654.649107642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050654.745132218] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050654.746185694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050654.746643360] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050654.748281239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050654.749446655] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050654.835702890] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050654.838063837] [sailbot.teensy]: Wind angle: 168 -[teensy-2] [INFO] [1746050654.838864642] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050654.838888075] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050654.839134930] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050654.839253064] [sailbot.teensy]: Actual tail angle: 0 -[teensy-2] [INFO] [1746050654.839653050] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050654.844302839] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050654.844819577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050654.845401917] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050654.846492229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050654.847683989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050654.945438276] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050654.946268301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050654.947042460] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050654.948086990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050654.948646963] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050655.003330129] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931779 Long: -76.50327726 -[vectornav-1] [INFO] [1746050655.004920388] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (109.92899999999997, -2.481, 19.555) -[mux-7] [INFO] [1746050655.044815599] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050655.045254943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050655.045956985] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050655.046976629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050655.048176000] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050655.085261635] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050655.087379788] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050655.087631974] [sailbot.teensy]: Wind angle: 187 -[mux-7] [INFO] [1746050655.088523049] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050655.088580201] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050655.089457868] [sailbot.teensy]: Actual tail angle: 0 -[teensy-2] [INFO] [1746050655.090329050] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050655.144662786] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050655.145177878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050655.145899934] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050655.146868631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050655.148051518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050655.245318425] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050655.245841887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050655.246866842] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050655.248495987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050655.249675744] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050655.335372521] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050655.337202050] [sailbot.teensy]: Wind angle: 188 -[trim_sail-4] [INFO] [1746050655.338064366] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050655.338119645] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050655.339025257] [sailbot.teensy]: Actual tail angle: 0 -[teensy-2] [INFO] [1746050655.339884185] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050655.339594691] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050655.344469643] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050655.345042630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050655.345578825] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050655.346768263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050655.347792864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050655.445297758] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050655.445943336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050655.446837891] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050655.448701882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050655.449797168] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050655.503870878] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931879 Long: -76.50327889 -[vectornav-1] [INFO] [1746050655.505567290] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (135.212, 6.179, 6.262) -[mux-7] [INFO] [1746050655.529444095] [sailbot.mux]: controller_app rudder angle: -23 -[mux-7] [INFO] [1746050655.544941608] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050655.545552211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050655.546244068] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050655.547478159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050655.548617523] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050655.585205698] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050655.586816762] [sailbot.teensy]: Wind angle: 206 -[trim_sail-4] [INFO] [1746050655.587728080] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050655.587742531] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050655.588605043] [sailbot.teensy]: Actual tail angle: 0 -[mux-7] [INFO] [1746050655.588716829] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050655.589488853] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050655.644945309] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050655.645594302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050655.646233106] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050655.647502756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050655.648594476] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050655.745055903] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050655.745759744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050655.746584676] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050655.747562346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050655.748772611] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050655.835490715] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050655.837679338] [sailbot.teensy]: Wind angle: 222 -[trim_sail-4] [INFO] [1746050655.837873838] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050655.838637442] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050655.839134128] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050655.839505116] [sailbot.teensy]: Actual tail angle: 2 -[teensy-2] [INFO] [1746050655.840425982] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050655.844255706] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050655.844813142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050655.845458957] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050655.846472891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050655.847581535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050655.945338791] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050655.945897151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050655.946879118] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050655.947963879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050655.949435493] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050656.003919154] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931837 Long: -76.50328016 -[vectornav-1] [INFO] [1746050656.005680442] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.71399999999994, -6.508, 3.789) -[mux-7] [INFO] [1746050656.044875169] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050656.045414566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050656.046068556] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050656.047129172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050656.048305799] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050656.085396922] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050656.087205197] [sailbot.teensy]: Wind angle: 230 -[teensy-2] [INFO] [1746050656.088140220] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050656.087854088] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050656.088493117] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050656.089008865] [sailbot.teensy]: Actual tail angle: 2 -[teensy-2] [INFO] [1746050656.089878205] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050656.144836967] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050656.145510676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050656.146065880] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050656.147185911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050656.148285817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050656.244992716] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050656.245495952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050656.246599615] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050656.247269916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050656.248397238] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050656.335400578] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050656.337819647] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050656.338041034] [sailbot.teensy]: Wind angle: 239 -[mux-7] [INFO] [1746050656.338505606] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050656.338988967] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050656.339571367] [sailbot.teensy]: Actual tail angle: 2 -[teensy-2] [INFO] [1746050656.339940063] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050656.344566509] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050656.345124112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050656.345722218] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050656.346884564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050656.348010073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050656.445134514] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050656.445681217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050656.446503664] [sailbot.mux]: Published rudder angle from controller_app: -23 -[teensy-2] [INFO] [1746050656.447698423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -23 -[teensy-2] [INFO] [1746050656.448795245] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050656.503586562] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931911 Long: -76.50328224 -[vectornav-1] [INFO] [1746050656.505362027] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.56100000000004, 2.514, -0.26) -[mux-7] [INFO] [1746050656.531780200] [sailbot.mux]: controller_app rudder angle: -2 -[mux-7] [INFO] [1746050656.544782988] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050656.545463445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050656.546029526] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050656.547384003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050656.548445225] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050656.585281432] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050656.587465927] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050656.588019732] [sailbot.teensy]: Wind angle: 246 -[mux-7] [INFO] [1746050656.588853661] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050656.589021697] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050656.589933210] [sailbot.teensy]: Actual tail angle: 2 -[teensy-2] [INFO] [1746050656.590783554] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050656.645323513] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050656.646195465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050656.647009253] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050656.648463039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050656.649570147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050656.745140802] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050656.746018765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050656.746539229] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050656.747946258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050656.748988464] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050656.835424759] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050656.837835924] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050656.838244453] [sailbot.teensy]: Wind angle: 253 -[mux-7] [INFO] [1746050656.838386935] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050656.839087833] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050656.839466250] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050656.839839485] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050656.844442726] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050656.844991977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050656.845563434] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050656.846675961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050656.847922326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050656.945294927] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050656.946016579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050656.946814798] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050656.947996755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050656.948539231] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050657.002551341] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931769 Long: -76.50328413 -[vectornav-1] [INFO] [1746050657.003821964] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (200.721, -0.224, -9.665) -[mux-7] [INFO] [1746050657.045290410] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050657.046022255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050657.046784217] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050657.048237127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050657.049411237] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050657.085440004] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050657.087703120] [sailbot.teensy]: Wind angle: 254 -[trim_sail-4] [INFO] [1746050657.088006881] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050657.088695459] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050657.089592342] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050657.089632523] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050657.090483396] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050657.144840893] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050657.145474062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050657.146032027] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050657.147262525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050657.148386686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050657.244959907] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050657.245773341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050657.246189766] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050657.247770164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050657.248909596] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050657.335346673] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050657.337552534] [sailbot.teensy]: Wind angle: 260 -[trim_sail-4] [INFO] [1746050657.337811558] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050657.338484595] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050657.338670866] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050657.339415311] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050657.340354790] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050657.344431595] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050657.345092659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050657.345634296] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050657.346934357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050657.348009505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050657.445485310] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050657.446187195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050657.447097717] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050657.448719868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050657.449956352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050657.500506185] [sailbot.mux]: controller_app rudder angle: 4 -[vectornav-1] [INFO] [1746050657.502398722] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931532 Long: -76.50328628 -[vectornav-1] [INFO] [1746050657.503404538] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (209.69600000000003, -4.07, -15.151) -[mux-7] [INFO] [1746050657.544736760] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050657.545428492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050657.545888484] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050657.547158902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050657.548212043] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050657.585405801] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050657.587596658] [sailbot.teensy]: Wind angle: 271 -[trim_sail-4] [INFO] [1746050657.587675227] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050657.588557378] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050657.588843965] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050657.589435791] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050657.590325141] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050657.644975861] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050657.645595102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050657.646856527] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050657.647523677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050657.649334352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050657.745093470] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050657.745805271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050657.746456764] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050657.747676169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050657.748220909] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050657.835522635] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050657.837292683] [sailbot.teensy]: Wind angle: 289 -[trim_sail-4] [INFO] [1746050657.837903476] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050657.838237960] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050657.839139820] [sailbot.teensy]: Actual tail angle: 29 -[mux-7] [INFO] [1746050657.839206597] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050657.840005623] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050657.844458963] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050657.845012987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050657.845542716] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050657.846705793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050657.847931679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050657.945328080] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050657.946052315] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050657.946879241] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050657.948307699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050657.949597989] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050658.003832463] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931394 Long: -76.50329026 -[vectornav-1] [INFO] [1746050658.005605929] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (208.572, -1.589, -17.532) -[mux-7] [INFO] [1746050658.045113014] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050658.045965973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050658.046464160] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050658.047946167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050658.049014336] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050658.085415343] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050658.087285762] [sailbot.teensy]: Wind angle: 314 -[teensy-2] [INFO] [1746050658.088298248] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050658.088359238] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050658.089277760] [sailbot.teensy]: Actual tail angle: 29 -[mux-7] [INFO] [1746050658.089739256] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050658.090224047] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050658.145186532] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050658.146398638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050658.146672865] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050658.148818574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050658.150020384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050658.245124775] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050658.246180776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050658.246520236] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050658.248060432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050658.249207171] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050658.335211337] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050658.337466733] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050658.337783328] [sailbot.teensy]: Wind angle: 317 -[teensy-2] [INFO] [1746050658.338752684] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050658.338980534] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050658.339638400] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050658.340548078] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050658.344354457] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050658.344928325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050658.345514170] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050658.346626501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050658.347755287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050658.445148988] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050658.445790099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050658.446574364] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050658.447695611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050658.448519497] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050658.503847046] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931236 Long: -76.50329549 -[vectornav-1] [INFO] [1746050658.505506345] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (200.683, -0.749, -15.544) -[mux-7] [INFO] [1746050658.519054801] [sailbot.mux]: controller_app rudder angle: 3 -[mux-7] [INFO] [1746050658.544832925] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050658.545612573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050658.546087691] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050658.547596958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050658.548944446] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050658.585306915] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050658.587121794] [sailbot.teensy]: Wind angle: 316 -[trim_sail-4] [INFO] [1746050658.587778748] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050658.588191441] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050658.589162245] [sailbot.teensy]: Actual tail angle: 29 -[mux-7] [INFO] [1746050658.589509829] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050658.590138598] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050658.645274286] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050658.645947355] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050658.646739932] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050658.647796126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050658.648287461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050658.745070386] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050658.745717881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050658.746493309] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050658.748541568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050658.749600175] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050658.835356960] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050658.838004016] [sailbot.teensy]: Wind angle: 310 -[trim_sail-4] [INFO] [1746050658.838010378] [sailbot.trim_sail]: Sail Angle: "60" -[mux-7] [INFO] [1746050658.838943382] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746050658.839161161] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050658.839605633] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050658.840355960] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050658.844485080] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050658.844815702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050658.845758683] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050658.846492659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050658.847561912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050658.945149270] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050658.945797648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050658.946556358] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050658.947734528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050658.948985411] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050659.003046740] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931073 Long: -76.50330052 -[vectornav-1] [INFO] [1746050659.004621148] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.62800000000004, -1.265, -13.225) -[mux-7] [INFO] [1746050659.045061155] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050659.045697366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050659.046513708] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050659.048125097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050659.049352522] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050659.085439621] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050659.087400135] [sailbot.teensy]: Wind angle: 292 -[teensy-2] [INFO] [1746050659.088531204] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050659.087764321] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050659.089284425] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050659.089374374] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050659.090277370] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050659.145256039] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050659.146063802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050659.147541685] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050659.148515853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050659.149768570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050659.245135498] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050659.246130392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050659.246647305] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050659.248076570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050659.249394384] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050659.335225111] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050659.337105407] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746050659.337886987] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050659.338597692] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050659.338910893] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050659.339316383] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050659.339648060] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050659.344437506] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050659.345063604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050659.345597103] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050659.346803459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050659.347978447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050659.445023076] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050659.445633586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050659.446443115] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050659.447626840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050659.448221703] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050659.502389439] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931005 Long: -76.50330677 -[vectornav-1] [INFO] [1746050659.503880756] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.76999999999998, -1.148, -14.77) -[mux-7] [INFO] [1746050659.518286318] [sailbot.mux]: controller_app rudder angle: -6 -[mux-7] [INFO] [1746050659.544789266] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050659.545550367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050659.546031630] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050659.547369513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050659.548651507] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050659.585438918] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050659.587966499] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050659.588569908] [sailbot.teensy]: Wind angle: 260 -[mux-7] [INFO] [1746050659.589549898] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050659.589576227] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050659.590494898] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050659.591434216] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050659.644991002] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050659.645958311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050659.646250704] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050659.648140337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050659.649235647] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050659.745404975] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050659.746029539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050659.746998793] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050659.748095772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050659.749256469] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050659.835395147] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050659.837453588] [sailbot.teensy]: Wind angle: 264 -[trim_sail-4] [INFO] [1746050659.837773877] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050659.838415816] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050659.839307767] [sailbot.teensy]: Actual tail angle: 19 -[mux-7] [INFO] [1746050659.839423104] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050659.840187728] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050659.844432338] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050659.844900310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050659.845512773] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050659.846599168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050659.847626042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050659.945395878] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050659.946318364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050659.947063157] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050659.948669413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050659.949779133] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050660.004191272] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931068 Long: -76.50331215 -[vectornav-1] [INFO] [1746050660.006016105] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.255, 1.793, -10.734) -[mux-7] [INFO] [1746050660.045409075] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050660.046524306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050660.047162876] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050660.048967137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050660.050145639] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050660.085399106] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050660.087790752] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050660.088298920] [sailbot.teensy]: Wind angle: 266 -[mux-7] [INFO] [1746050660.088407001] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050660.089305647] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050660.090226626] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050660.091086860] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050660.145267919] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050660.146093545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050660.146748577] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050660.147905336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050660.148397206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050660.245353074] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050660.246304423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050660.246931826] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050660.248606166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050660.249649427] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050660.335501315] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050660.337926267] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050660.338424778] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050660.338978193] [sailbot.teensy]: Wind angle: 270 -[teensy-2] [INFO] [1746050660.339935257] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050660.340830979] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050660.341704266] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050660.344331412] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050660.345062763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050660.345738632] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050660.346754363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050660.347761980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050660.445453006] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050660.446233542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050660.447193585] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050660.448095536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050660.448631754] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050660.503139217] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931121 Long: -76.50331716 -[vectornav-1] [INFO] [1746050660.504821651] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.23699999999997, -2.637, -5.022) -[mux-7] [INFO] [1746050660.544112105] [sailbot.mux]: controller_app rudder angle: -5 -[mux-7] [INFO] [1746050660.545961994] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050660.546682591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050660.546927937] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050660.548518997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050660.549623446] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050660.585325471] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050660.587469273] [sailbot.teensy]: Wind angle: 254 -[trim_sail-4] [INFO] [1746050660.587555811] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050660.588420289] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050660.589372081] [sailbot.teensy]: Actual tail angle: 19 -[mux-7] [INFO] [1746050660.589572183] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050660.590341710] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050660.645121831] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050660.646049109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050660.646512448] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050660.648276791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050660.649313528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050660.745286165] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050660.745911991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050660.746713536] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050660.748593609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050660.749806318] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050660.835553694] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050660.837432302] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050660.838587171] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050660.839397047] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050660.839571403] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050660.840612452] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050660.841504832] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050660.844377539] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050660.845056310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050660.845573452] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050660.846826562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050660.847962732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050660.945592054] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050660.946200799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050660.947508874] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050660.948507473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050660.949080005] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050661.003594771] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931089 Long: -76.50332256 -[vectornav-1] [INFO] [1746050661.005247876] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.808, -1.447, -1.093) -[mux-7] [INFO] [1746050661.045290757] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050661.046489220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050661.047048721] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050661.048876499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050661.050032571] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050661.085450187] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050661.088388695] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050661.088823779] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050661.088912900] [sailbot.teensy]: Wind angle: 242 -[teensy-2] [INFO] [1746050661.089855033] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050661.090742710] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050661.091580392] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050661.145315438] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050661.145916659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050661.146937380] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050661.148117307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050661.149273573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050661.245459511] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050661.246057839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050661.247067548] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050661.248225365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050661.249449296] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050661.335368106] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050661.337780980] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050661.338101026] [sailbot.teensy]: Wind angle: 250 -[teensy-2] [INFO] [1746050661.339080729] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050661.339586473] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050661.340012269] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050661.340971179] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050661.344274670] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050661.344763632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050661.345387758] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050661.346536964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050661.347587426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050661.445573123] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050661.446537222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050661.447191968] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050661.448389942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050661.448933726] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050661.503444619] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931103 Long: -76.5033279 -[vectornav-1] [INFO] [1746050661.505286709] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.365, 2.251, -0.401) -[mux-7] [INFO] [1746050661.545403626] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050661.546064672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050661.546982170] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050661.548202985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050661.549373583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050661.563833944] [sailbot.mux]: controller_app rudder angle: -4 -[teensy-2] [INFO] [1746050661.585243667] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050661.586974518] [sailbot.teensy]: Wind angle: 245 -[trim_sail-4] [INFO] [1746050661.587323390] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050661.588063171] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050661.589074780] [sailbot.teensy]: Actual tail angle: 20 -[mux-7] [INFO] [1746050661.588748728] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050661.589992491] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050661.644822180] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050661.645425559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050661.646009233] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050661.647144896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050661.648405720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050661.745240279] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050661.745779029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050661.747124047] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050661.747678061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050661.749497750] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050661.835549999] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050661.838191474] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050661.838686195] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050661.838987518] [sailbot.teensy]: Wind angle: 240 -[teensy-2] [INFO] [1746050661.840011629] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050661.840895882] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050661.841680248] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050661.844509060] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050661.845092456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050661.845585068] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050661.846850170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050661.847895590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050661.945549400] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050661.946464648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050661.947391174] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050661.949080786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050661.950287141] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050662.003622887] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931118 Long: -76.50333277 -[vectornav-1] [INFO] [1746050662.005278132] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.83400000000006, 0.543, -2.619) -[mux-7] [INFO] [1746050662.044876493] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050662.045763631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050662.046055953] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050662.047528161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050662.048661874] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050662.085420825] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050662.087647721] [sailbot.teensy]: Wind angle: 242 -[trim_sail-4] [INFO] [1746050662.088136740] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050662.088630163] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050662.089468057] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050662.089537193] [sailbot.teensy]: Actual tail angle: 21 -[teensy-2] [INFO] [1746050662.090394126] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050662.145192801] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050662.146326361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050662.147292896] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050662.148456007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050662.149646579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050662.245268516] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050662.245957044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050662.246824801] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050662.248239052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050662.249407439] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050662.335356354] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050662.337231386] [sailbot.teensy]: Wind angle: 244 -[teensy-2] [INFO] [1746050662.338194768] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050662.339089294] [sailbot.teensy]: Actual tail angle: 21 -[trim_sail-4] [INFO] [1746050662.338362772] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050662.339550995] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050662.339932667] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050662.344642318] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050662.344986472] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050662.345985800] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050662.346684866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050662.347867428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050662.445415822] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050662.445991032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050662.447042133] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050662.448316289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050662.449475441] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050662.502495737] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931087 Long: -76.50333764 -[vectornav-1] [INFO] [1746050662.503522616] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.79099999999994, -2.718, -3.964) -[mux-7] [INFO] [1746050662.545428615] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050662.546028822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050662.547039409] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050662.548350648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050662.549515414] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050662.585453306] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050662.587694435] [sailbot.teensy]: Wind angle: 243 -[trim_sail-4] [INFO] [1746050662.587764204] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050662.588383759] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050662.588684504] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050662.589571322] [sailbot.teensy]: Actual tail angle: 21 -[teensy-2] [INFO] [1746050662.590421676] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050662.644845439] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050662.645290155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050662.646221670] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050662.647120251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050662.648238518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050662.745315693] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050662.745956333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050662.746968014] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050662.748533547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050662.749770184] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050662.835369547] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050662.837215815] [sailbot.teensy]: Wind angle: 243 -[teensy-2] [INFO] [1746050662.838144787] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050662.837802870] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050662.838391474] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050662.839015361] [sailbot.teensy]: Actual tail angle: 21 -[teensy-2] [INFO] [1746050662.839853996] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050662.844518676] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050662.845017897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050662.846314388] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050662.846727066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050662.847900781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050662.945645169] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050662.946427411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050662.947389818] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050662.949944096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050662.950997565] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050663.003663844] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930989 Long: -76.50334246 -[vectornav-1] [INFO] [1746050663.005309624] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.74, 1.784, -6.45) -[mux-7] [INFO] [1746050663.044795419] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050663.045295051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050663.046052037] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050663.047070398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050663.048098614] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050663.085465901] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050663.087429494] [sailbot.teensy]: Wind angle: 246 -[teensy-2] [INFO] [1746050663.088441055] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050663.087886531] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050663.089390973] [sailbot.teensy]: Actual tail angle: 21 -[mux-7] [INFO] [1746050663.090238780] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050663.090297697] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050663.144795323] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050663.145294952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050663.146044705] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050663.147066397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050663.148089671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050663.245655611] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050663.246252614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050663.247559726] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050663.248654525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050663.249962305] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050663.335601437] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050663.337528579] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050663.338050296] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050663.338471261] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050663.339415806] [sailbot.teensy]: Actual tail angle: 21 -[mux-7] [INFO] [1746050663.339850084] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050663.340318063] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050663.344418956] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050663.344882408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050663.345582177] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050663.346543547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050663.347579321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050663.445407010] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050663.445975534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050663.447036563] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050663.447964017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050663.449212092] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050663.503494170] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930903 Long: -76.50334817 -[vectornav-1] [INFO] [1746050663.504793173] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.78099999999995, -2.37, -11.438) -[mux-7] [INFO] [1746050663.545380334] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050663.546119217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050663.546983794] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746050663.548338146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -4 -[teensy-2] [INFO] [1746050663.548842052] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050663.585559718] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050663.588024353] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050663.588534809] [sailbot.mux]: controller_app rudder angle: 2 -[teensy-2] [INFO] [1746050663.589114714] [sailbot.teensy]: Wind angle: 246 -[teensy-2] [INFO] [1746050663.590044894] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050663.590461432] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050663.590928131] [sailbot.teensy]: Actual tail angle: 21 -[teensy-2] [INFO] [1746050663.591775102] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050663.645233614] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050663.645828807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050663.646910332] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050663.648085045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050663.649370996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050663.745284594] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050663.745771451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050663.746766797] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050663.748732578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050663.749779505] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050663.835501052] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050663.837435531] [sailbot.teensy]: Wind angle: 254 -[trim_sail-4] [INFO] [1746050663.838695770] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050663.839133467] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050663.839904742] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050663.840470532] [sailbot.teensy]: Actual tail angle: 21 -[teensy-2] [INFO] [1746050663.840808880] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050663.844648132] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050663.845165740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050663.845791432] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050663.846862376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050663.847867710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050663.945355969] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050663.945891459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050663.946962419] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050663.948013273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050663.949307654] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050664.003768539] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930806 Long: -76.50335418 -[vectornav-1] [INFO] [1746050664.005563058] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.70900000000006, 0.533, -10.097) -[mux-7] [INFO] [1746050664.044939092] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050664.045368336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050664.046178509] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050664.047213488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050664.048460847] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050664.085354270] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050664.087646071] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050664.088176669] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050664.088571010] [sailbot.teensy]: Wind angle: 266 -[teensy-2] [INFO] [1746050664.089661416] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050664.090561679] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050664.091394580] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050664.145396741] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050664.145914583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050664.147122675] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050664.148102977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050664.149245438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050664.245337699] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050664.246058651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050664.246800776] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050664.248029048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050664.249071643] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050664.335331860] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050664.338090411] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050664.338672079] [sailbot.teensy]: Wind angle: 257 -[mux-7] [INFO] [1746050664.338695818] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050664.339623119] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050664.340523526] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050664.341356734] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050664.344276408] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050664.344862996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050664.345417291] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050664.346525323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050664.347686769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050664.445441347] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050664.446064974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050664.447255851] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050664.448346179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050664.449079603] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050664.502372662] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930738 Long: -76.50336022 -[vectornav-1] [INFO] [1746050664.503410216] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (186.50400000000002, -2.2, -9.359) -[mux-7] [INFO] [1746050664.545612892] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050664.546282646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050664.547221258] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050664.548695197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050664.549984476] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050664.550702240] [sailbot.mux]: controller_app rudder angle: 4 -[teensy-2] [INFO] [1746050664.585439109] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050664.587678102] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050664.587983767] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050664.589307198] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050664.589670111] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050664.590595932] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050664.591441859] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050664.645199576] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050664.646142154] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050664.646741209] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050664.649057006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050664.650132134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050664.745337927] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050664.746116368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050664.746962957] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050664.748352327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050664.748828504] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050664.835436509] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050664.838075211] [sailbot.teensy]: Wind angle: 240 -[trim_sail-4] [INFO] [1746050664.838088370] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050664.839045908] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050664.840136200] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050664.841068709] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050664.841893659] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050664.844463542] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050664.844862867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050664.845851203] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050664.846556917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050664.847601254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050664.945230374] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050664.946216751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050664.946743304] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050664.947784919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050664.948310095] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050665.003536266] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930676 Long: -76.50336625 -[vectornav-1] [INFO] [1746050665.005219178] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.409, -0.919, -9.594) -[mux-7] [INFO] [1746050665.044998854] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050665.045824631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050665.046307730] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050665.047671677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050665.048709549] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050665.085437250] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050665.087989496] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050665.088591820] [sailbot.teensy]: Wind angle: 241 -[mux-7] [INFO] [1746050665.088721490] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050665.089523408] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050665.090460886] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050665.091294399] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050665.145144190] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050665.145856824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050665.146557385] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050665.147922975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050665.149108998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050665.245252255] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050665.245795132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050665.246725780] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050665.247858829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050665.248997397] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050665.335269875] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050665.338029623] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050665.338363276] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050665.339288254] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050665.339216837] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050665.340199933] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050665.341069148] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050665.344415326] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050665.345089982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050665.345646662] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050665.346889170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050665.348036538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050665.445297064] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050665.446661146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050665.446955131] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050665.448868109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050665.449942580] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050665.502757400] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469307 Long: -76.5033727 -[vectornav-1] [INFO] [1746050665.504046856] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.01800000000003, 0.891, -5.54) -[mux-7] [INFO] [1746050665.531946511] [sailbot.mux]: controller_app rudder angle: -1 -[mux-7] [INFO] [1746050665.544879022] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050665.545686266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050665.546158367] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050665.547648199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050665.548722574] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050665.585609413] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050665.588108079] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050665.588361472] [sailbot.teensy]: Wind angle: 259 -[teensy-2] [INFO] [1746050665.589304496] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050665.589596159] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050665.590228377] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050665.591079607] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050665.645166443] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050665.645692259] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050665.646645164] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050665.648369704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050665.649492628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050665.745494281] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050665.746232682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050665.747134588] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050665.748488754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050665.749376697] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050665.835423713] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050665.837851370] [sailbot.teensy]: Wind angle: 249 -[trim_sail-4] [INFO] [1746050665.838376228] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050665.839159688] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050665.840362952] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050665.841281996] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050665.842166418] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050665.844413968] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050665.844727445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050665.845604075] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050665.846398322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050665.847513724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050665.945693279] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050665.946401147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050665.947619386] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050665.950072167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050665.951248834] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050666.003666452] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930717 Long: -76.50337846 -[vectornav-1] [INFO] [1746050666.005464437] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.611, -2.082, -3.442) -[mux-7] [INFO] [1746050666.044982712] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050666.045697332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050666.046329969] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050666.047589749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050666.048633307] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050666.085228822] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050666.087539485] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050666.088218740] [sailbot.teensy]: Wind angle: 236 -[mux-7] [INFO] [1746050666.088443283] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050666.089232016] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050666.090138450] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050666.091000681] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050666.144964201] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050666.145842824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050666.146288226] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050666.147689266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050666.148853752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050666.245526198] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050666.246259625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050666.247131621] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050666.248335776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050666.248857116] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050666.335304306] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050666.337896237] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050666.339025125] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050666.339135201] [sailbot.teensy]: Wind angle: 237 -[teensy-2] [INFO] [1746050666.340057506] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050666.340956541] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050666.341762229] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050666.344478565] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050666.344926309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050666.345970841] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050666.346712732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050666.347937216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050666.445560516] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050666.446164061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050666.447700342] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050666.448300682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050666.449753447] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050666.503852151] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930756 Long: -76.50338434 -[vectornav-1] [INFO] [1746050666.505750147] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (173.66499999999996, 2.091, -4.59) -[mux-7] [INFO] [1746050666.533100672] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746050666.545025722] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050666.545720774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050666.546375233] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050666.547665147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050666.548701631] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050666.585326227] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050666.587563619] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050666.587801019] [sailbot.teensy]: Wind angle: 238 -[mux-7] [INFO] [1746050666.588486438] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050666.588746449] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050666.589611711] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050666.590473145] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050666.645209721] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050666.645754689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050666.646706417] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050666.648130271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050666.648782140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050666.745184868] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050666.745870860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050666.747084632] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050666.748608085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050666.749693030] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050666.835711950] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050666.838256907] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746050666.839119981] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050666.839232303] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050666.839244780] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050666.839626750] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050666.839998222] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050666.844489943] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050666.845040525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050666.845599059] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050666.846709699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050666.847753594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050666.945606417] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050666.946409532] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050666.947335715] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050666.948890667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050666.950112940] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050667.003732965] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930792 Long: -76.50338981 -[vectornav-1] [INFO] [1746050667.005721960] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.404, -1.289, -3.45) -[mux-7] [INFO] [1746050667.044988327] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050667.045662503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050667.046291768] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050667.047526919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050667.048578555] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050667.085595436] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050667.087549130] [sailbot.teensy]: Wind angle: 228 -[trim_sail-4] [INFO] [1746050667.088194382] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050667.088587679] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050667.088805688] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050667.089520429] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050667.090412401] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050667.145407356] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050667.146103058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050667.146947606] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050667.148324174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050667.149539162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050667.245039929] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050667.245576207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050667.246374255] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050667.247475351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050667.248563547] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050667.335113103] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050667.337670764] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050667.338127978] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050667.338157880] [sailbot.teensy]: Wind angle: 230 -[teensy-2] [INFO] [1746050667.339332968] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050667.340248600] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050667.341225487] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050667.344344292] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050667.344751983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050667.345451924] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050667.346437736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050667.347512620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050667.444960877] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050667.445408644] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050667.446312020] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050667.447440316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050667.448502523] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050667.504100749] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930866 Long: -76.503395 -[vectornav-1] [INFO] [1746050667.505855771] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.42399999999998, -1.313, -0.961) -[mux-7] [INFO] [1746050667.545241701] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050667.545879457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050667.546792393] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050667.547924713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050667.549046761] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050667.585446812] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050667.588095552] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050667.588131290] [sailbot.teensy]: Wind angle: 228 -[teensy-2] [INFO] [1746050667.589088575] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050667.589225678] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050667.590039372] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050667.590949910] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050667.645053925] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050667.645875226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050667.646492498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050667.647908851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050667.649060556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050667.745360607] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050667.746045385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050667.746914553] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050667.748313608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050667.748822346] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050667.835738911] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050667.837871675] [sailbot.teensy]: Wind angle: 229 -[trim_sail-4] [INFO] [1746050667.839003262] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050667.839323170] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050667.839366886] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050667.839789632] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050667.840178546] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050667.844456420] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050667.845034156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050667.845564845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050667.846735915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050667.847730506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050667.945524378] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050667.946419899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050667.947286017] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050667.948357222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050667.948882334] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050668.003200057] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930974 Long: -76.50340013 -[vectornav-1] [INFO] [1746050668.004786641] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.94399999999996, 1.307, 0.578) -[mux-7] [INFO] [1746050668.044873636] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050668.045621606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050668.046070593] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050668.047601471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050668.048600961] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050668.085402202] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050668.087434033] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746050668.088138642] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050668.089463257] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050668.089762593] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050668.090711592] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050668.091540132] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050668.145120667] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050668.145964604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050668.146555967] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050668.148044292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050668.149056720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050668.245410860] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050668.246183413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050668.247262701] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050668.248377167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050668.249403372] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050668.335220492] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050668.336933729] [sailbot.teensy]: Wind angle: 226 -[trim_sail-4] [INFO] [1746050668.337664030] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050668.337892836] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050668.338741949] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050668.339642100] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050668.338758707] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050668.344384332] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050668.344941546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050668.345705792] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050668.346615285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050668.347782740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050668.445379085] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050668.445914761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050668.447080794] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050668.448808984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050668.449889127] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050668.503087706] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931082 Long: -76.50340477 -[vectornav-1] [INFO] [1746050668.504558536] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.65599999999995, 1.227, -0.062) -[mux-7] [INFO] [1746050668.529806452] [sailbot.mux]: controller_app rudder angle: -9 -[mux-7] [INFO] [1746050668.544991565] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050668.545599331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050668.546324189] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050668.547688693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050668.548879431] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050668.585227197] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050668.587463603] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050668.587641292] [sailbot.teensy]: Wind angle: 223 -[mux-7] [INFO] [1746050668.588425450] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050668.588595717] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050668.589508954] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050668.590440307] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050668.645489471] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050668.645705142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050668.646874187] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050668.647520419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050668.648749031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050668.745368301] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050668.746070768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050668.746928773] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050668.748175690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050668.748721149] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050668.835447537] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050668.837502217] [sailbot.teensy]: Wind angle: 228 -[teensy-2] [INFO] [1746050668.838457300] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050668.837947425] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050668.838467743] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050668.839350839] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050668.840276213] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050668.844435971] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050668.845249878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050668.845693839] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050668.846996731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050668.848007250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050668.945598053] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050668.946388207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050668.947696831] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050668.948438523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050668.948972911] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050669.003693442] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931156 Long: -76.50340848 -[vectornav-1] [INFO] [1746050669.005232794] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.486, -4.182, -0.532) -[mux-7] [INFO] [1746050669.045059250] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050669.045773873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050669.046326990] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050669.047579968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050669.048789754] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050669.085542119] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050669.087410884] [sailbot.teensy]: Wind angle: 228 -[teensy-2] [INFO] [1746050669.088368992] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050669.088027631] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050669.088464395] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050669.089260927] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050669.090131660] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050669.145118541] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050669.146599736] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050669.146636535] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050669.148729100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050669.149784196] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050669.245354329] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050669.246273000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050669.247010617] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050669.247859971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050669.248443983] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050669.335220059] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050669.337623941] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050669.338033354] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050669.338378898] [sailbot.teensy]: Wind angle: 226 -[teensy-2] [INFO] [1746050669.339383242] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050669.340248092] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050669.340675284] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050669.344495889] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050669.345092905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050669.346637290] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050669.346827728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050669.347918657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050669.444965464] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050669.445642709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050669.446262525] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050669.447535189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050669.448615110] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050669.502819356] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931245 Long: -76.50341231 -[vectornav-1] [INFO] [1746050669.504102603] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.471, 4.597, 0.591) -[mux-7] [INFO] [1746050669.545304058] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050669.546222447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050669.546702586] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050669.548577957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050669.549726900] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050669.585355823] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050669.587544264] [sailbot.teensy]: Wind angle: 226 -[trim_sail-4] [INFO] [1746050669.587791171] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050669.588526361] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050669.588877118] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050669.589427881] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050669.590309462] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050669.645348400] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050669.646722353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050669.647333817] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050669.648940668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050669.650042999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050669.745605909] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050669.746489977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050669.747404562] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050669.749126854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050669.750238821] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050669.835874359] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050669.839114229] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050669.839128388] [sailbot.teensy]: Wind angle: 229 -[mux-7] [INFO] [1746050669.839567366] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050669.839615338] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050669.839991608] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050669.840357851] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050669.844465237] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050669.844965477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050669.845578134] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050669.846670647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050669.847687292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050669.945351845] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050669.946195650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050669.947086827] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050669.948511699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050669.949778990] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050670.003163500] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693123 Long: -76.50341512 -[vectornav-1] [INFO] [1746050670.004471912] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.45500000000004, -5.207, 0.87) -[mux-7] [INFO] [1746050670.044998689] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050670.045688920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050670.046306189] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050670.047602550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050670.048781075] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050670.085465769] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050670.087557875] [sailbot.teensy]: Wind angle: 237 -[trim_sail-4] [INFO] [1746050670.088028830] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050670.088563859] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050670.089403699] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050670.089422687] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050670.090328056] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050670.145204833] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050670.145731311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050670.146667060] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050670.147670024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050670.148522856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050670.245617607] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050670.246388551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050670.247344719] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050670.248830927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050670.250069191] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050670.335232167] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050670.337682218] [sailbot.teensy]: Wind angle: 242 -[trim_sail-4] [INFO] [1746050670.338204660] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050670.338607522] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050670.338623536] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050670.339214098] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050670.339586371] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050670.344507310] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050670.345295572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050670.345772571] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050670.347184159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050670.348313065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050670.445147878] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050670.446135939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050670.446603553] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050670.447810170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050670.448252275] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050670.502374812] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931232 Long: -76.50341884 -[vectornav-1] [INFO] [1746050670.503751962] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.87300000000005, 4.658, -3.267) -[mux-7] [INFO] [1746050670.542310651] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746050670.544209979] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050670.544904751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050670.545176838] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050670.546563107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050670.547674704] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050670.585355424] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050670.587778200] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050670.588275593] [sailbot.teensy]: Wind angle: 242 -[mux-7] [INFO] [1746050670.588786627] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050670.589303439] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050670.590328222] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050670.591243421] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050670.645202708] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050670.646048559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050670.646711815] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050670.647656547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050670.649086750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050670.745115700] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050670.746087325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050670.746623264] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050670.747700305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050670.748228781] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050670.835454369] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050670.837579153] [sailbot.teensy]: Wind angle: 249 -[trim_sail-4] [INFO] [1746050670.838228017] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050670.838493846] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050670.838874643] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050670.838885623] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050670.839272289] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050670.844386308] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050670.844950663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050670.845543575] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050670.846673195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050670.847668851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050670.945207857] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050670.945886391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050670.946651862] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050670.948043072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050670.949512152] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050671.003301462] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931133 Long: -76.50342138 -[vectornav-1] [INFO] [1746050671.005321840] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.11599999999999, -3.894, -3.039) -[mux-7] [INFO] [1746050671.045523106] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050671.046535475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050671.047900341] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050671.048447003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050671.049012805] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050671.085402149] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050671.087728422] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050671.088516713] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050671.088692006] [sailbot.teensy]: Wind angle: 258 -[teensy-2] [INFO] [1746050671.089841098] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050671.090746993] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050671.091593165] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050671.145254617] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050671.145957019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050671.146700240] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050671.148184679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050671.149368413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050671.245034400] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050671.246065384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050671.246733557] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050671.247658556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050671.248202879] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050671.335420364] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050671.338257360] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050671.339441896] [sailbot.teensy]: Wind angle: 259 -[mux-7] [INFO] [1746050671.339485289] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050671.340427614] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050671.340951886] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050671.341311289] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050671.344329414] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050671.344818025] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050671.345497161] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050671.346532997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050671.347596081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050671.445343979] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050671.446333349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050671.447093088] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050671.449408996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050671.450618921] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050671.504497493] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693106 Long: -76.50342523 -[vectornav-1] [INFO] [1746050671.505956991] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (199.89999999999998, 0.815, -3.642) -[mux-7] [INFO] [1746050671.545004612] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050671.545956227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050671.546355941] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050671.547988142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050671.549026587] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050671.585380362] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050671.587214704] [sailbot.teensy]: Wind angle: 264 -[trim_sail-4] [INFO] [1746050671.587662563] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050671.588203144] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050671.589135750] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050671.589392590] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050671.590040082] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050671.645144127] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050671.646178009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050671.646604169] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050671.648470768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050671.649552267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050671.745161978] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050671.746194372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050671.746694749] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050671.748378278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050671.749451428] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050671.835246908] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050671.837538443] [sailbot.teensy]: Wind angle: 264 -[trim_sail-4] [INFO] [1746050671.837691370] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050671.838603387] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050671.838910502] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050671.839553127] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050671.840277304] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050671.844384476] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050671.845009819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050671.845535633] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050671.846776555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050671.847850916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050671.945330437] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050671.946291953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050671.947226518] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050671.948784866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050671.949310382] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050672.004122073] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930917 Long: -76.50342913 -[vectornav-1] [INFO] [1746050672.006238910] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (202.50900000000001, -3.092, -5.613) -[mux-7] [INFO] [1746050672.045168337] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050672.045882913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050672.046436806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050672.047742706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050672.048866813] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050672.085354721] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050672.087693100] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050672.088030741] [sailbot.teensy]: Wind angle: 264 -[mux-7] [INFO] [1746050672.088228781] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050672.089057098] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050672.089993139] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050672.090851346] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050672.145157954] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050672.145851519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050672.146818669] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050672.147926535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050672.149002862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050672.245055790] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050672.245745170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050672.246646611] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050672.247800995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050672.248946198] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050672.335234428] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050672.338306076] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050672.338918592] [sailbot.teensy]: Wind angle: 263 -[mux-7] [INFO] [1746050672.339698487] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050672.339883896] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050672.340703405] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050672.341079050] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050672.344550418] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050672.345105289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050672.345707646] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050672.346805016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050672.347961491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050672.445179696] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050672.445819988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050672.446748512] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050672.447499153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050672.447960679] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050672.503542742] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930747 Long: -76.50343376 -[vectornav-1] [INFO] [1746050672.505021724] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (206.92100000000005, 0.414, -5.305) -[mux-7] [INFO] [1746050672.544680504] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050672.545289919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050672.546087837] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050672.547072636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050672.548193885] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050672.585272244] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050672.587612095] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050672.588369789] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050672.588538316] [sailbot.teensy]: Wind angle: 263 -[teensy-2] [INFO] [1746050672.589556083] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050672.590448097] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050672.591276145] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050672.645038912] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050672.645662637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050672.646340892] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050672.647559456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050672.648792075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050672.745394108] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050672.746353873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050672.747010545] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050672.747930258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050672.748485199] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050672.835709661] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050672.838089229] [sailbot.teensy]: Wind angle: 264 -[teensy-2] [INFO] [1746050672.838933216] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050672.838580469] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050672.839098485] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050672.839321745] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050672.839694402] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050672.844707554] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050672.845186270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050672.846444902] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050672.847249991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050672.848395765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050672.945685690] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050672.946427925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050672.947591493] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050672.948836669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050672.950172398] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050673.004125313] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693058 Long: -76.5034381 -[vectornav-1] [INFO] [1746050673.005933041] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (210.52700000000004, -2.103, -2.837) -[mux-7] [INFO] [1746050673.045501875] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050673.046119943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050673.047232958] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050673.048425126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050673.049707081] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050673.085369732] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050673.087540901] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050673.087601360] [sailbot.teensy]: Wind angle: 264 -[teensy-2] [INFO] [1746050673.088540425] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050673.089085495] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050673.089437288] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050673.090408708] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050673.145327433] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050673.146227631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050673.146899456] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050673.148488729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050673.149570159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050673.245387358] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050673.246214153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050673.246948790] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050673.248578689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050673.249081104] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050673.335321529] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050673.337747198] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050673.337849862] [sailbot.teensy]: Wind angle: 263 -[teensy-2] [INFO] [1746050673.338685349] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050673.338819247] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050673.339091386] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050673.339479818] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050673.344406417] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050673.344987674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050673.345529715] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050673.346688633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050673.347732243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050673.444977525] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050673.445767434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050673.446682849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050673.447811055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050673.448557013] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050673.503811293] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693033 Long: -76.50344239 -[vectornav-1] [INFO] [1746050673.505597831] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (216.135, -0.818, -4.571) -[mux-7] [INFO] [1746050673.545327675] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050673.546114832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050673.546920994] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050673.548527195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050673.549731001] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050673.585526986] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050673.587289854] [sailbot.teensy]: Wind angle: 263 -[trim_sail-4] [INFO] [1746050673.587807826] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050673.588261335] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050673.589200598] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050673.589731202] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050673.590069378] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050673.645202366] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050673.645842108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050673.646847075] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050673.647692622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050673.648261959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050673.745255056] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050673.746204836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050673.746933665] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050673.748464657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050673.749578383] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050673.835823527] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050673.838674804] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050673.839491580] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050673.840088897] [sailbot.teensy]: Wind angle: 262 -[teensy-2] [INFO] [1746050673.841042185] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050673.841395393] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050673.841720578] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050673.844432023] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050673.845094203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050673.845543102] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050673.846904054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050673.847981342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050673.945198463] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050673.945865858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050673.946819799] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050673.948065151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050673.949525353] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050674.003743129] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930084 Long: -76.50344728 -[vectornav-1] [INFO] [1746050674.005615055] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (220.53300000000002, -0.936, -4.38) -[mux-7] [INFO] [1746050674.045273821] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050674.045983518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050674.046783349] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050674.048197562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050674.049540933] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050674.085432052] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050674.087239379] [sailbot.teensy]: Wind angle: 263 -[trim_sail-4] [INFO] [1746050674.088025295] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050674.088184666] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050674.089069881] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050674.089221501] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050674.089949933] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050674.145187102] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050674.145890776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050674.146684357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050674.148005617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050674.149363658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050674.244234372] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050674.244685764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050674.245298233] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050674.246629103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050674.247477220] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050674.334939613] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050674.336555307] [sailbot.teensy]: Wind angle: 265 -[trim_sail-4] [INFO] [1746050674.337260196] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050674.337430523] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050674.338144036] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050674.338255810] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050674.339113377] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050674.344367203] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050674.345079501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050674.345489383] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050674.346808561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050674.347840705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050674.445271382] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050674.445994386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050674.447026185] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050674.448078926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050674.449902379] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050674.503308484] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929754 Long: -76.50345171 -[vectornav-1] [INFO] [1746050674.504735226] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (226.606, -1.005, -5.044) -[mux-7] [INFO] [1746050674.543320833] [sailbot.mux]: controller_app rudder angle: 2 -[mux-7] [INFO] [1746050674.545412816] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050674.546054427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050674.546468928] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050674.547767038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050674.548922505] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050674.585254403] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050674.586890002] [sailbot.teensy]: Wind angle: 266 -[trim_sail-4] [INFO] [1746050674.587787810] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050674.587843563] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050674.588758695] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050674.589331087] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050674.589690114] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050674.645028752] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050674.645670806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050674.646377706] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050674.647884154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050674.649033052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050674.745133265] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050674.745703953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050674.746452833] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050674.747611310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050674.748173385] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050674.835133838] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050674.836791951] [sailbot.teensy]: Wind angle: 267 -[trim_sail-4] [INFO] [1746050674.837350260] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050674.837701138] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050674.838595446] [sailbot.teensy]: Actual tail angle: 27 -[mux-7] [INFO] [1746050674.839435592] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050674.839572891] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050674.844388063] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050674.844874951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050674.845477509] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050674.846759717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050674.847834021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050674.945397651] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050674.946055167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050674.947363211] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050674.948019844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050674.948637163] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050675.003215123] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929421 Long: -76.50345608 -[vectornav-1] [INFO] [1746050675.004652902] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (228.96500000000003, -0.775, -5.277) -[mux-7] [INFO] [1746050675.044919646] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050675.045522414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050675.046176675] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050675.047369268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050675.048581756] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050675.085336687] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050675.087705319] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050675.088041660] [sailbot.teensy]: Wind angle: 288 -[mux-7] [INFO] [1746050675.088762229] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050675.089653449] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050675.090558147] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050675.091411854] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050675.145098121] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050675.145609635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050675.146374224] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050675.147504105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050675.148476768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050675.245357962] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050675.246079352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050675.246997312] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050675.248118225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050675.249225369] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050675.335417727] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050675.337162319] [sailbot.teensy]: Wind angle: 291 -[trim_sail-4] [INFO] [1746050675.337699405] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050675.338092750] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050675.338690314] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050675.339008577] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050675.339913433] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050675.344498445] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050675.344833939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050675.345681495] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050675.346541503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050675.347622348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050675.445688815] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050675.446445079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050675.448120808] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050675.449689664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050675.450863851] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050675.502949977] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692903 Long: -76.50346009 -[vectornav-1] [INFO] [1746050675.504272007] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (232.89800000000002, -2.596, -4.854) -[mux-7] [INFO] [1746050675.545159121] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050675.545643964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050675.547126860] [sailbot.mux]: Published rudder angle from controller_app: 2 -[teensy-2] [INFO] [1746050675.547781421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 2 -[teensy-2] [INFO] [1746050675.549065235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050675.549223403] [sailbot.mux]: controller_app rudder angle: 5 -[teensy-2] [INFO] [1746050675.585334494] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050675.587503481] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050675.587767219] [sailbot.teensy]: Wind angle: 277 -[mux-7] [INFO] [1746050675.587988862] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050675.588749440] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050675.589713739] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050675.590617206] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050675.644928712] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050675.645661589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050675.646246159] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050675.647565021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050675.648606137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050675.745215575] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050675.746194202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050675.746692961] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050675.747869788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050675.748346660] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050675.835720407] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050675.838530986] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050675.838999940] [sailbot.teensy]: Wind angle: 274 -[mux-7] [INFO] [1746050675.839261662] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050675.839418673] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050675.839790044] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050675.840183874] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050675.844546386] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050675.845109989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050675.845709322] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050675.846792979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050675.847946636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050675.945167729] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050675.946183529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050675.947157294] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050675.948319041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050675.949370627] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050676.003517602] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928568 Long: -76.5034637 -[vectornav-1] [INFO] [1746050676.005400138] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (237.28200000000004, 0.545, -4.84) -[mux-7] [INFO] [1746050676.045462221] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050676.046503151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050676.046980376] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050676.049561132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050676.050712162] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050676.085533916] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050676.088135509] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746050676.088428525] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050676.089420874] [sailbot.teensy]: Wind angle: 290 -[teensy-2] [INFO] [1746050676.090384766] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050676.091321033] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746050676.092177330] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050676.144912976] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050676.145545190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050676.146314955] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050676.147379571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050676.148417237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050676.245049526] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050676.245927737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050676.246436413] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050676.247860631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050676.248357785] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050676.335387987] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050676.337294766] [sailbot.teensy]: Wind angle: 297 -[trim_sail-4] [INFO] [1746050676.337850297] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050676.338842895] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050676.339385453] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050676.339861736] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746050676.340248724] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050676.344369664] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050676.344895527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050676.346273157] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050676.346673850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050676.347913889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050676.445101471] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050676.446020229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050676.446460254] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050676.448170633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050676.449068720] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050676.503273283] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692817 Long: -76.50346811 -[vectornav-1] [INFO] [1746050676.504745778] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (236.63699999999994, -0.881, -3.341) -[mux-7] [INFO] [1746050676.544926276] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050676.545958307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050676.546240165] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746050676.547811412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 5 -[teensy-2] [INFO] [1746050676.548907806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050676.550603406] [sailbot.mux]: controller_app rudder angle: 6 -[teensy-2] [INFO] [1746050676.585349891] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050676.587609104] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050676.588662962] [sailbot.teensy]: Wind angle: 287 -[mux-7] [INFO] [1746050676.588659391] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050676.589626945] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050676.590538029] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746050676.591367511] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050676.645011700] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050676.645748846] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050676.646396714] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050676.647901517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050676.649019204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050676.745278125] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050676.746004807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050676.746883184] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050676.748050748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050676.749136956] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050676.835245768] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050676.837614068] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050676.838135670] [sailbot.teensy]: Wind angle: 279 -[mux-7] [INFO] [1746050676.838286728] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050676.839107331] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050676.840108923] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746050676.840976933] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050676.844333526] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050676.844811801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050676.845425297] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050676.846816871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050676.847849707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050676.945551308] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050676.946483717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050676.947142585] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050676.949088226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050676.950143006] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050677.002520552] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927718 Long: -76.50347189 -[vectornav-1] [INFO] [1746050677.003601996] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (230.923, -1.921, -8.13) -[mux-7] [INFO] [1746050677.045508526] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050677.046062105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050677.047289396] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050677.047949442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050677.048578639] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050677.085388037] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050677.087347641] [sailbot.teensy]: Wind angle: 279 -[teensy-2] [INFO] [1746050677.088283258] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050677.087890073] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050677.088671606] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050677.089173313] [sailbot.teensy]: Actual tail angle: 31 -[teensy-2] [INFO] [1746050677.090052095] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050677.145267266] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050677.145978347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050677.146856982] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050677.148034997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050677.149110468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050677.245144009] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050677.245980329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050677.246513659] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050677.247956436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050677.248983808] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050677.335337381] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050677.337080343] [sailbot.teensy]: Wind angle: 278 -[teensy-2] [INFO] [1746050677.338072864] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050677.338234271] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050677.338836764] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050677.339007781] [sailbot.teensy]: Actual tail angle: 31 -[teensy-2] [INFO] [1746050677.339952784] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050677.344425060] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050677.345080630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050677.345515757] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050677.346809500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050677.347946943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050677.445265181] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050677.445925067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050677.446716842] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050677.448322621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050677.449450705] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050677.503727533] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927306 Long: -76.50347611 -[vectornav-1] [INFO] [1746050677.505547173] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (222.20900000000006, -2.222, -11.025) -[mux-7] [INFO] [1746050677.532515430] [sailbot.mux]: controller_app rudder angle: 6 -[mux-7] [INFO] [1746050677.544803014] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050677.545494603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050677.546047139] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050677.547356657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050677.548406185] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050677.585261897] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050677.587432797] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050677.587423948] [sailbot.teensy]: Wind angle: 276 -[teensy-2] [INFO] [1746050677.588412120] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050677.588735158] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050677.589353763] [sailbot.teensy]: Actual tail angle: 31 -[teensy-2] [INFO] [1746050677.590232976] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050677.645381779] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050677.646268457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050677.646943369] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050677.648651334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050677.649754642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050677.745213438] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050677.745890776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050677.746576098] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050677.747792493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050677.748976234] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050677.835233898] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050677.836897009] [sailbot.teensy]: Wind angle: 273 -[trim_sail-4] [INFO] [1746050677.837439097] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050677.837885119] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050677.838812813] [sailbot.teensy]: Actual tail angle: 31 -[mux-7] [INFO] [1746050677.839593173] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050677.839705041] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050677.844337634] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050677.844899044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050677.845457678] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050677.846545883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050677.847681917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050677.945377510] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050677.946119590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050677.946942922] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050677.948269578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050677.949405471] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050678.002484700] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692695 Long: -76.50348182 -[vectornav-1] [INFO] [1746050678.003545140] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (213.64499999999998, 1.928, -9.744) -[mux-7] [INFO] [1746050678.045048349] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050678.045716936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050678.046334743] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050678.047731990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050678.048755513] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050678.085483221] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050678.087861583] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050678.088328397] [sailbot.teensy]: Wind angle: 275 -[mux-7] [INFO] [1746050678.088687552] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050678.089278616] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050678.090206126] [sailbot.teensy]: Actual tail angle: 31 -[teensy-2] [INFO] [1746050678.091101363] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050678.145268515] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050678.146331736] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050678.147258060] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050678.148402959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050678.148958708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050678.245132642] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050678.246015752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050678.246948829] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050678.247897677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050678.248432923] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050678.335584163] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050678.337753032] [sailbot.teensy]: Wind angle: 274 -[trim_sail-4] [INFO] [1746050678.337832349] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050678.338596467] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050678.338945692] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050678.338984053] [sailbot.teensy]: Actual tail angle: 31 -[teensy-2] [INFO] [1746050678.339369360] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050678.344302461] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050678.344888305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050678.345416465] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050678.346984996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050678.348141899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050678.445346575] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050678.446094198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050678.446978219] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050678.448542788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050678.449726215] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050678.503825514] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926723 Long: -76.50348711 -[vectornav-1] [INFO] [1746050678.505382805] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (204.35900000000004, -3.708, -13.321) -[mux-7] [INFO] [1746050678.544960615] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050678.546076328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050678.546278975] [sailbot.mux]: Published rudder angle from controller_app: 6 -[teensy-2] [INFO] [1746050678.548070900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 6 -[teensy-2] [INFO] [1746050678.549236839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050678.549720745] [sailbot.mux]: controller_app rudder angle: 4 -[teensy-2] [INFO] [1746050678.585427776] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050678.587391866] [sailbot.teensy]: Wind angle: 272 -[trim_sail-4] [INFO] [1746050678.587781606] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050678.588319320] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050678.589287667] [sailbot.teensy]: Actual tail angle: 31 -[mux-7] [INFO] [1746050678.589601048] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050678.590195468] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050678.645050987] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050678.645706651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050678.646450768] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050678.647688628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050678.648766018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050678.745177758] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050678.745903866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050678.746545361] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050678.747915647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050678.748769194] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050678.835327569] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050678.837571427] [sailbot.teensy]: Wind angle: 277 -[trim_sail-4] [INFO] [1746050678.837714281] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050678.838552163] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050678.839458839] [sailbot.teensy]: Actual tail angle: 31 -[mux-7] [INFO] [1746050678.839657185] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050678.840326169] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050678.844242435] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050678.845030266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050678.845342843] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050678.846742701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050678.847880375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050678.945083566] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050678.946122325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050678.946485974] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050678.948472342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050678.949659459] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050679.003678116] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926555 Long: -76.50349403 -[vectornav-1] [INFO] [1746050679.005886796] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (194.62900000000002, 1.811, -13.324) -[mux-7] [INFO] [1746050679.045242609] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050679.046310121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050679.046746569] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050679.048716307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050679.049756258] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050679.085410775] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050679.087607189] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050679.087836938] [sailbot.teensy]: Wind angle: 285 -[teensy-2] [INFO] [1746050679.088959052] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050679.089013103] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050679.089913483] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050679.090762192] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050679.145253859] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050679.146028079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050679.146811783] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050679.148121959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050679.149350896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050679.245380168] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050679.246060784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050679.247251662] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050679.247986281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050679.249088504] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050679.335686880] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050679.338569060] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050679.339077637] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050679.339441511] [sailbot.teensy]: Wind angle: 282 -[teensy-2] [INFO] [1746050679.339865733] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050679.340240021] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050679.340594110] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050679.344367596] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050679.345226837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050679.345506732] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050679.346984310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050679.347983037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050679.445202224] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050679.445883562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050679.446736307] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050679.447965263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050679.448501353] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050679.502778082] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926415 Long: -76.50350043 -[vectornav-1] [INFO] [1746050679.503910417] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.97699999999998, -3.735, -11.269) -[mux-7] [INFO] [1746050679.545064565] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050679.545883166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050679.546883020] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050679.547896381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050679.548951085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050679.562019421] [sailbot.mux]: controller_app rudder angle: 3 -[teensy-2] [INFO] [1746050679.585681512] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050679.589252175] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050679.590265220] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050679.590686001] [sailbot.teensy]: Wind angle: 254 -[teensy-2] [INFO] [1746050679.591701697] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050679.592727265] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050679.593623664] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050679.645091268] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050679.645813742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050679.646502924] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050679.647895287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050679.649035984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050679.745428750] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050679.746152526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050679.746937708] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050679.748365683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050679.749532923] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050679.835396385] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050679.837453236] [sailbot.teensy]: Wind angle: 242 -[teensy-2] [INFO] [1746050679.838400512] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050679.837799144] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050679.838675912] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050679.838956722] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050679.839333468] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050679.844560598] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050679.845149596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050679.845741007] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050679.846848883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050679.847873242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050679.945064091] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050679.945775962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050679.946777752] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050679.947770875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050679.949261162] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050680.003502201] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926392 Long: -76.50350667 -[vectornav-1] [INFO] [1746050680.005047811] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.33000000000004, -2.896, -10.69) -[mux-7] [INFO] [1746050680.045217703] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050680.045966069] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050680.048188717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[mux-7] [INFO] [1746050680.046708173] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050680.048892724] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050680.085459550] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050680.087624879] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050680.088990894] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050680.089446434] [sailbot.teensy]: Wind angle: 245 -[teensy-2] [INFO] [1746050680.090403445] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050680.091276220] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050680.092092844] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050680.145086523] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050680.145977235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050680.146507000] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050680.148063605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050680.149255775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050680.245113919] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050680.245654899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050680.246921784] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050680.247473601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050680.248515268] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050680.335632667] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050680.337892823] [sailbot.teensy]: Wind angle: 240 -[trim_sail-4] [INFO] [1746050680.338547668] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050680.338981568] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050680.339869263] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050680.339894872] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050680.340864842] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050680.344405253] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050680.344910829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050680.345557280] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050680.346578504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050680.347733558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050680.445637577] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050680.446444459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050680.447221997] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050680.448203991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050680.448721360] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050680.502645678] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926498 Long: -76.50351332 -[vectornav-1] [INFO] [1746050680.503766822] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.83400000000006, 5.389, -6.389) -[mux-7] [INFO] [1746050680.545109512] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050680.545636500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050680.546329774] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050680.548043026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[mux-7] [INFO] [1746050680.548719703] [sailbot.mux]: controller_app rudder angle: -2 -[teensy-2] [INFO] [1746050680.549192308] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050680.585469222] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050680.587829833] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050680.588540064] [sailbot.teensy]: Wind angle: 240 -[mux-7] [INFO] [1746050680.589055525] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050680.589497221] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050680.590418186] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050680.591301845] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050680.645448143] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050680.645987543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050680.647135833] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050680.648562104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050680.649594445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050680.745226174] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050680.745761087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050680.746702747] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050680.747728681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050680.748861996] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050680.835270901] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050680.837476623] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050680.837594236] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050680.838718069] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050680.838909961] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050680.839650699] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050680.840509173] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050680.844533753] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050680.845161565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050680.845704868] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050680.847014095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050680.848089551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050680.945619611] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050680.946342879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050680.947240957] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050680.949703098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050680.950866094] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050681.003974493] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926555 Long: -76.50351769 -[vectornav-1] [INFO] [1746050681.005810760] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.60400000000004, -5.064, -1.328) -[mux-7] [INFO] [1746050681.045154721] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050681.045914905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050681.046563398] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050681.048094845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050681.049268051] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050681.085218453] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050681.087522179] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050681.087574286] [sailbot.teensy]: Wind angle: 232 -[teensy-2] [INFO] [1746050681.088461393] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050681.088598608] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050681.089383753] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050681.090251073] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050681.145105573] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050681.145615910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050681.146687323] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050681.147525373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050681.148769886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050681.245054019] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050681.245635508] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050681.246421192] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050681.247436415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050681.248656818] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050681.335525278] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050681.338088489] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050681.339133313] [sailbot.teensy]: Wind angle: 233 -[mux-7] [INFO] [1746050681.339156808] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050681.339550618] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050681.339924872] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050681.340499893] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050681.344508021] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050681.344954807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050681.345824126] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050681.346642136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050681.347696324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050681.445187508] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050681.446011379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050681.446751554] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050681.448299481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050681.449501670] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050681.502512372] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926659 Long: -76.50352294 -[vectornav-1] [INFO] [1746050681.503583382] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.72799999999995, 0.915, 1.181) -[mux-7] [INFO] [1746050681.545168849] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050681.545863947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050681.546479679] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050681.547918698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050681.549343161] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050681.585576505] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050681.588196329] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050681.588752160] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050681.590006412] [sailbot.teensy]: Wind angle: 230 -[teensy-2] [INFO] [1746050681.590914436] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050681.591791490] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050681.592709008] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050681.644967759] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050681.645792812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050681.646260623] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050681.647806554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[mux-7] [INFO] [1746050681.648272902] [sailbot.mux]: controller_app rudder angle: -1 -[teensy-2] [INFO] [1746050681.649019973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050681.745385215] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050681.746330856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050681.747174729] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050681.749264751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050681.750410686] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050681.835748509] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050681.838650133] [sailbot.teensy]: Wind angle: 223 -[trim_sail-4] [INFO] [1746050681.839059800] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050681.839602113] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050681.839655389] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050681.840574190] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050681.841369547] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050681.844713836] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050681.845461884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050681.845971819] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050681.847317174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050681.848369465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050681.945355397] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050681.946050363] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050681.947279412] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050681.947956101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050681.948507588] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050682.003985680] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926748 Long: -76.50352682 -[vectornav-1] [INFO] [1746050682.005775029] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (161.79099999999994, 1.496, 1.338) -[mux-7] [INFO] [1746050682.045390714] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050682.046192054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050682.046895924] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050682.048643909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050682.049727175] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050682.085539031] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050682.088115957] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050682.088209975] [sailbot.teensy]: Wind angle: 222 -[teensy-2] [INFO] [1746050682.089178798] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050682.089444157] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050682.090056735] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050682.090423842] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050682.144940665] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050682.145691242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050682.146433544] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050682.147652906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050682.148168831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050682.245099988] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050682.245905356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050682.246530311] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050682.247856642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050682.248473263] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050682.335197851] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050682.336916369] [sailbot.teensy]: Wind angle: 224 -[teensy-2] [INFO] [1746050682.338042088] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050682.338147986] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050682.339150883] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050682.340122260] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050682.341029535] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050682.344412176] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050682.344877670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050682.345617202] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050682.346592104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050682.347740887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050682.445237552] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050682.445846579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050682.446778285] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050682.447996920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050682.449182787] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050682.503444397] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926824 Long: -76.50353021 -[vectornav-1] [INFO] [1746050682.504960733] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (161.096, 0.408, 0.512) -[mux-7] [INFO] [1746050682.544977291] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050682.545701451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050682.546242467] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050682.547702066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050682.548846080] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050682.585410526] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050682.587252184] [sailbot.teensy]: Wind angle: 225 -[trim_sail-4] [INFO] [1746050682.587813682] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050682.588237423] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050682.589116189] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050682.589127238] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050682.589960032] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050682.645614516] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050682.646404633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050682.647211194] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050682.648745480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050682.650107675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050682.745661442] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050682.746386367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050682.747660395] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050682.748708930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050682.749832302] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050682.835440061] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050682.837815134] [sailbot.teensy]: Wind angle: 225 -[trim_sail-4] [INFO] [1746050682.837848634] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050682.838482652] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050682.838765427] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050682.839293562] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050682.839695114] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050682.844491294] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050682.845139505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050682.845905523] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050682.846825056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050682.847962705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050682.945394503] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050682.946261595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050682.947277287] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050682.948420392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050682.949780727] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050683.003602641] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926856 Long: -76.50353395 -[vectornav-1] [INFO] [1746050683.005528553] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.40599999999995, 0.234, 0.949) -[mux-7] [INFO] [1746050683.045260087] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050683.046033007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050683.046727326] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050683.048364063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050683.049472473] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050683.085462596] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050683.087499652] [sailbot.teensy]: Wind angle: 222 -[trim_sail-4] [INFO] [1746050683.087812145] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050683.088475409] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050683.089379465] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050683.090070600] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050683.090292842] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050683.145171977] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050683.146456342] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050683.148642866] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050683.150361384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050683.151380910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050683.245230967] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050683.245806963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050683.247098852] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050683.247972065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050683.248794938] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050683.335262587] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050683.336977084] [sailbot.teensy]: Wind angle: 226 -[trim_sail-4] [INFO] [1746050683.337635720] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050683.337933694] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050683.338843565] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050683.339765609] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050683.340125758] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050683.344351697] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050683.345100872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050683.345528014] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050683.346847717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050683.347904520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050683.445240961] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050683.445881913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050683.446888327] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050683.448371561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050683.449205147] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050683.503410681] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926871 Long: -76.50353639 -[vectornav-1] [INFO] [1746050683.504979129] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.87900000000002, -2.889, 2.039) -[mux-7] [INFO] [1746050683.545004367] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050683.545829964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050683.546197894] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050683.547764290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050683.548885609] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050683.585512116] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050683.587636171] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050683.588609541] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050683.588518343] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050683.588563379] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050683.589526065] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050683.590396496] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050683.645071837] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050683.645806293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050683.646513812] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050683.647854018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050683.648320077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050683.745380748] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050683.746361425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050683.746966893] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050683.748679516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050683.749888186] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050683.835513494] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050683.837924777] [sailbot.teensy]: Wind angle: 225 -[trim_sail-4] [INFO] [1746050683.838033622] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050683.839148863] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050683.839780606] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050683.840719735] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050683.841557485] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050683.844351889] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050683.845023773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050683.845519955] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050683.846983669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050683.848007426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050683.945541808] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050683.946503674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050683.947183702] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050683.948201154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050683.948728979] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050684.003844812] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926948 Long: -76.50353912 -[vectornav-1] [INFO] [1746050684.005737886] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.66899999999998, 3.431, 1.578) -[mux-7] [INFO] [1746050684.045379120] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050684.046481139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050684.047037898] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050684.048860218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050684.050045683] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050684.085477450] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050684.087887144] [sailbot.teensy]: Wind angle: 223 -[trim_sail-4] [INFO] [1746050684.087920591] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050684.088556630] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050684.088924025] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050684.089888289] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050684.090758281] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050684.145206316] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050684.146136321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050684.146668271] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050684.148356540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050684.149362119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050684.245017286] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050684.245727595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050684.246336148] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050684.247557243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050684.248083826] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050684.335212353] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050684.337424514] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050684.337734397] [sailbot.teensy]: Wind angle: 223 -[teensy-2] [INFO] [1746050684.338839229] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050684.338890912] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050684.339458665] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050684.339802577] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050684.344667522] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050684.345333331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050684.345844420] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050684.347162938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050684.348195779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050684.445617360] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050684.446533482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050684.447345670] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050684.448641366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050684.449043266] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050684.503145670] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926984 Long: -76.5035415 -[vectornav-1] [INFO] [1746050684.504560049] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.95399999999995, -1.982, 0.333) -[mux-7] [INFO] [1746050684.544647867] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050684.545254545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050684.545763461] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050684.547106506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[mux-7] [INFO] [1746050684.547792044] [sailbot.mux]: controller_app rudder angle: -2 -[teensy-2] [INFO] [1746050684.548202316] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050684.585447340] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050684.587777714] [sailbot.teensy]: Wind angle: 224 -[trim_sail-4] [INFO] [1746050684.588046722] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050684.588862248] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050684.589793070] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050684.590344472] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050684.590690023] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050684.645200521] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050684.646252324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050684.646872086] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050684.648693716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050684.649862616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050684.745715956] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050684.746501708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050684.747564035] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050684.748128999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050684.748567213] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050684.835535865] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050684.837429498] [sailbot.teensy]: Wind angle: 224 -[teensy-2] [INFO] [1746050684.838388874] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050684.837915466] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050684.839330057] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050684.839704118] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050684.840280635] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050684.844390663] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050684.844999612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050684.845563178] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050684.846747786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050684.847838127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050684.945487162] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050684.946430749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050684.947012198] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050684.948308874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050684.948825475] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050685.004218693] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692696 Long: -76.50354413 -[vectornav-1] [INFO] [1746050685.006242136] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.70900000000006, 0.741, 0.85) -[mux-7] [INFO] [1746050685.044848363] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050685.045421358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050685.046042949] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050685.047218126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050685.048394250] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050685.085547760] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050685.088451089] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050685.088995734] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050685.089166309] [sailbot.teensy]: Wind angle: 224 -[teensy-2] [INFO] [1746050685.090134401] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050685.091020063] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050685.091904984] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050685.145184943] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050685.145860349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050685.146664185] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050685.147652009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050685.148783987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050685.245332353] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050685.245927905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050685.247156199] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050685.248028880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050685.249221643] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050685.335502418] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050685.338116718] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050685.338700551] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050685.338924032] [sailbot.teensy]: Wind angle: 224 -[teensy-2] [INFO] [1746050685.339851307] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050685.340771559] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050685.341636001] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050685.344629445] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050685.345294494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050685.345879085] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050685.347121291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050685.348323997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050685.445438556] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050685.446302019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050685.447564387] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050685.447942777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050685.448555226] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050685.504046210] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927019 Long: -76.50354669 -[vectornav-1] [INFO] [1746050685.506015833] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.03300000000002, -0.427, 2.215) -[mux-7] [INFO] [1746050685.545125404] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050685.545958347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050685.546561889] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050685.548146739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050685.549326872] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050685.585249732] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050685.587539596] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050685.588287659] [sailbot.teensy]: Wind angle: 224 -[mux-7] [INFO] [1746050685.588342823] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050685.589298198] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050685.590192634] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050685.591081934] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050685.645619230] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050685.646272104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050685.647230083] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050685.648534040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050685.649607915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050685.745430907] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050685.746164847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050685.747034100] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050685.748370499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050685.748953542] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050685.835789604] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050685.838546666] [sailbot.teensy]: Wind angle: 226 -[trim_sail-4] [INFO] [1746050685.838598565] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050685.840318281] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050685.840455838] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050685.841392239] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050685.842364176] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050685.844368148] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050685.844840971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050685.845479447] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050685.846564494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050685.847595892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050685.945262897] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050685.946070679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050685.946824570] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050685.947777822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050685.948359446] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050686.003765619] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927034 Long: -76.50354883 -[vectornav-1] [INFO] [1746050686.005891895] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.48800000000006, 1.251, -0.78) -[mux-7] [INFO] [1746050686.045143512] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050686.045914351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050686.046582556] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050686.047908639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050686.048921747] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050686.085377864] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050686.087672547] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050686.088126342] [sailbot.teensy]: Wind angle: 226 -[teensy-2] [INFO] [1746050686.089175718] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050686.089244240] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050686.090115851] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050686.091031361] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050686.144990127] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050686.145643458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050686.146296227] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050686.147453840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050686.148687977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050686.245343168] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050686.246309287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050686.246884468] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050686.247835197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050686.248324776] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050686.335472444] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050686.337825746] [sailbot.teensy]: Wind angle: 226 -[trim_sail-4] [INFO] [1746050686.338098206] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050686.339284247] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050686.339738956] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050686.340144636] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050686.340779243] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050686.344391039] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050686.345003745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050686.345519806] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050686.346751197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050686.347758528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050686.445369729] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050686.446258688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050686.446903954] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050686.448472363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050686.449659909] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050686.502961008] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927004 Long: -76.50355121 -[vectornav-1] [INFO] [1746050686.504458502] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.31999999999994, -2.879, -1.957) -[mux-7] [INFO] [1746050686.544991974] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050686.545833021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050686.546301208] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050686.547767443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050686.548813192] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050686.585486292] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050686.587661926] [sailbot.teensy]: Wind angle: 229 -[trim_sail-4] [INFO] [1746050686.588179808] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050686.588696914] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050686.589700909] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050686.590398288] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050686.590679277] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050686.645081140] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050686.645892010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050686.646579200] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050686.647887666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050686.649797557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050686.744969130] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050686.745786165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050686.746319834] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050686.748007082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050686.749136759] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050686.835413996] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050686.837497691] [sailbot.teensy]: Wind angle: 228 -[trim_sail-4] [INFO] [1746050686.837932288] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050686.838491752] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050686.839468612] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050686.840144027] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050686.840376468] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050686.844418105] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050686.845091490] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050686.845737533] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050686.846842842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050686.848032687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050686.945583433] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050686.946518416] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050686.947236318] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050686.948594082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050686.949164326] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050687.003689906] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927063 Long: -76.50355374 -[vectornav-1] [INFO] [1746050687.005526249] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.80999999999995, 1.309, 0.709) -[mux-7] [INFO] [1746050687.044894824] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050687.045605108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050687.046117521] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050687.047381653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050687.048430865] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050687.085430057] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050687.087843922] [sailbot.teensy]: Wind angle: 229 -[trim_sail-4] [INFO] [1746050687.087878929] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050687.088871481] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050687.089767665] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050687.090201138] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050687.090632720] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050687.145055955] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050687.145931103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050687.146359791] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050687.147851272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050687.148497300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050687.245182128] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050687.246042351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050687.246723703] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050687.247996105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050687.248533079] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050687.335456575] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050687.338319164] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050687.338948460] [sailbot.teensy]: Wind angle: 239 -[mux-7] [INFO] [1746050687.339484442] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050687.339899073] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050687.340603579] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050687.340935481] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050687.344669216] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050687.345134550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050687.345787075] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050687.346848436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050687.348006861] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050687.445558389] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050687.446353157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050687.447203860] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050687.448760486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050687.450017212] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050687.502664501] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692708 Long: -76.50355599 -[vectornav-1] [INFO] [1746050687.503747721] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.14800000000002, -0.295, -1.231) -[mux-7] [INFO] [1746050687.545176824] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050687.545876617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050687.546934568] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050687.547931712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050687.548993326] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050687.585445221] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050687.587966572] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050687.588551703] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050687.588948958] [sailbot.teensy]: Wind angle: 229 -[teensy-2] [INFO] [1746050687.589917452] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050687.590836861] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050687.591696883] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050687.645140213] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050687.645844969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050687.646701100] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050687.648001787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050687.649146308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050687.745180627] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050687.745931851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050687.746812518] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050687.748295286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050687.749392803] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050687.835572009] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050687.837528870] [sailbot.teensy]: Wind angle: 228 -[trim_sail-4] [INFO] [1746050687.838329270] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050687.838466741] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050687.839348111] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050687.838896805] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050687.840257161] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050687.844484033] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050687.844972270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050687.845699309] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050687.846760852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050687.847821483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050687.945515950] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050687.946010309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050687.947254427] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050687.948199212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050687.950246955] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050688.003780596] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927078 Long: -76.50355798 -[vectornav-1] [INFO] [1746050688.005327233] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.25599999999997, -2.082, -0.582) -[mux-7] [INFO] [1746050688.045144627] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050688.046235483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050688.046592382] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050688.048516784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050688.049561857] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050688.085480344] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050688.087880961] [sailbot.teensy]: Wind angle: 227 -[trim_sail-4] [INFO] [1746050688.087921148] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050688.088926956] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050688.089376376] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050688.090277068] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050688.091201606] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050688.145230197] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050688.146047011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050688.146761026] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050688.148430729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050688.149540468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050688.245378446] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050688.246393871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050688.247049337] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050688.248842299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050688.249898136] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050688.335234852] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050688.337679809] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050688.337679056] [sailbot.teensy]: Wind angle: 230 -[mux-7] [INFO] [1746050688.338054610] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050688.338692375] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050688.339616419] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050688.340511294] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050688.344424498] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050688.345109999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050688.345519369] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050688.346804328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050688.347901217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050688.445662215] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050688.447426361] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050688.447589256] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050688.449878378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050688.450996280] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050688.503371629] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927184 Long: -76.50356043 -[vectornav-1] [INFO] [1746050688.505300059] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.55600000000004, 0.797, 2.06) -[mux-7] [INFO] [1746050688.545481483] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050688.546516449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050688.547762683] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050688.549176986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050688.550530775] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050688.585365724] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050688.587698886] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050688.588355698] [sailbot.teensy]: Wind angle: 232 -[teensy-2] [INFO] [1746050688.589317556] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050688.589734812] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050688.590231872] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050688.591098236] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050688.645837097] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050688.646164064] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050688.647613459] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050688.648787862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050688.650077800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050688.745390072] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050688.746075817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050688.747049454] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050688.748424074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050688.749674575] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050688.835405207] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050688.837349799] [sailbot.teensy]: Wind angle: 232 -[trim_sail-4] [INFO] [1746050688.838009508] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050688.839107613] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050688.839142673] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050688.839546236] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050688.839962231] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050688.844501745] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050688.845247421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050688.845865702] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050688.847375864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050688.848424052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050688.945385609] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050688.946277461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050688.946936631] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050688.947878173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050688.948402003] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050689.002502130] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927202 Long: -76.50356264 -[vectornav-1] [INFO] [1746050689.003505062] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.34900000000005, -0.285, 0.306) -[mux-7] [INFO] [1746050689.045227214] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050689.045860285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050689.046704204] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050689.047908966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050689.049069089] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050689.085471653] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050689.087855667] [sailbot.teensy]: Wind angle: 232 -[trim_sail-4] [INFO] [1746050689.088141398] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050689.088903730] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050689.089670658] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050689.089835290] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050689.090693395] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050689.145272757] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050689.146238885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050689.147020037] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050689.147955418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050689.148442965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050689.245031793] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050689.245862766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050689.246339602] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050689.247520188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050689.247992931] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050689.335510928] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050689.337934814] [sailbot.teensy]: Wind angle: 232 -[trim_sail-4] [INFO] [1746050689.338161661] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050689.338982184] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050689.340070255] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050689.340419297] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050689.341142973] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050689.344287306] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050689.344990646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050689.345385244] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050689.346790741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050689.347902726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050689.445349519] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050689.446329940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050689.446891897] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050689.448204902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050689.448747172] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050689.502483703] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927219 Long: -76.5035648 -[vectornav-1] [INFO] [1746050689.503502867] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.74, -0.376, -0.112) -[mux-7] [INFO] [1746050689.545135047] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050689.545898158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050689.546585069] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050689.548035828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050689.549016411] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050689.585421956] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050689.587700003] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050689.588137284] [sailbot.teensy]: Wind angle: 231 -[mux-7] [INFO] [1746050689.588620607] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050689.589182751] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050689.590169639] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050689.591190019] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050689.645054855] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050689.645785722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050689.646715142] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050689.647687971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050689.648209205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050689.745123851] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050689.746122889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050689.746695646] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050689.748251655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050689.749391140] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050689.835677279] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050689.838264194] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050689.838911843] [sailbot.teensy]: Wind angle: 231 -[mux-7] [INFO] [1746050689.839316658] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050689.839868675] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050689.840814389] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050689.841625452] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050689.844614874] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050689.845199798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050689.845847034] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050689.846888138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050689.848098934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050689.945592249] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050689.946153789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050689.947375586] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050689.948334543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050689.949635445] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050690.003741758] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927267 Long: -76.50356689 -[vectornav-1] [INFO] [1746050690.005347889] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.53700000000003, -0.984, 1.349) -[mux-7] [INFO] [1746050690.045210964] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050690.045677305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050690.046572248] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050690.047748362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050690.048890662] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050690.085238157] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050690.087001518] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050690.087522116] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050690.087949420] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050690.088805254] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050690.089009289] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050690.089192353] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050690.145114813] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050690.145854890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050690.146829354] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050690.148203504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050690.149568200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050690.245367634] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050690.245890081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050690.246915396] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050690.248898644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050690.250069928] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050690.335430091] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050690.338051233] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050690.338246331] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050690.339198718] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050690.339657172] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050690.340141777] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050690.341111528] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050690.344376654] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050690.344850658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050690.345644497] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050690.346819025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050690.347842027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050690.445590879] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050690.446729704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050690.447227689] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050690.449295022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050690.450438229] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050690.502693717] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927301 Long: -76.50356923 -[vectornav-1] [INFO] [1746050690.503835726] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.81600000000003, 0.158, 0.799) -[mux-7] [INFO] [1746050690.545219524] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050690.546220479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050690.546647426] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050690.548451514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050690.549502822] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050690.585443691] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050690.587671387] [sailbot.teensy]: Wind angle: 232 -[trim_sail-4] [INFO] [1746050690.587965036] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050690.588641185] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050690.588820489] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050690.589587437] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050690.590499988] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050690.645207158] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050690.646206016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050690.646756589] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050690.648324144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050690.649455523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050690.745411710] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050690.746132120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050690.746996392] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050690.748423976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050690.749647164] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050690.835356715] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050690.837908855] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050690.838673370] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050690.839430006] [sailbot.teensy]: Wind angle: 232 -[teensy-2] [INFO] [1746050690.840428619] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050690.841319492] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050690.842183691] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050690.844453238] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050690.845016708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050690.845561183] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050690.846763787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050690.847756552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050690.945096850] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050690.945784348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050690.946452293] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050690.947831422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050690.949104391] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050691.003694588] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927291 Long: -76.5035712 -[vectornav-1] [INFO] [1746050691.005568464] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (161.56899999999996, 0.304, -0.563) -[mux-7] [INFO] [1746050691.045014024] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050691.045827317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050691.046344442] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050691.048032486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050691.049188540] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050691.085345495] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050691.087365171] [sailbot.teensy]: Wind angle: 232 -[trim_sail-4] [INFO] [1746050691.087677873] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050691.088429169] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050691.089369669] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050691.089449647] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050691.090354041] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050691.144639552] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050691.145405452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050691.145803643] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050691.147252962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050691.148434833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050691.245371232] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050691.246015854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050691.246966634] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050691.248290665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050691.249359490] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050691.335240688] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050691.337588454] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050691.338205532] [sailbot.teensy]: Wind angle: 232 -[mux-7] [INFO] [1746050691.338482304] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050691.339176062] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050691.340122159] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050691.341063257] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050691.344266121] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050691.344922638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050691.345608841] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050691.346772506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050691.347841944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050691.445429470] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050691.446246752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050691.446993350] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050691.447905134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050691.448364644] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050691.504023735] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927249 Long: -76.50357317 -[vectornav-1] [INFO] [1746050691.505534654] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.62400000000002, -0.283, -0.175) -[mux-7] [INFO] [1746050691.545196431] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050691.545941372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050691.546691505] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050691.547610706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050691.548103296] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050691.585134100] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050691.587360826] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050691.588090532] [sailbot.teensy]: Wind angle: 232 -[mux-7] [INFO] [1746050691.588438724] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050691.588639381] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050691.589027472] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050691.589397922] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050691.645079830] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050691.645982059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050691.646402029] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050691.647987543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050691.649038307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050691.745127852] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050691.745927161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050691.746610650] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050691.748133773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050691.749180958] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050691.835397793] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050691.837904473] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050691.838103215] [sailbot.teensy]: Wind angle: 232 -[mux-7] [INFO] [1746050691.838718928] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050691.839047544] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050691.839943563] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050691.840820693] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050691.844584614] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050691.845095813] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050691.845891040] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050691.846801609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050691.847896557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050691.945767236] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050691.946387342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050691.947560844] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050691.949499405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050691.950806446] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050692.002491994] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927269 Long: -76.50357515 -[vectornav-1] [INFO] [1746050692.003566559] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.85799999999995, -1.313, 1.065) -[mux-7] [INFO] [1746050692.045313234] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050692.045937897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050692.046828671] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050692.048127703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050692.049386327] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050692.085494590] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050692.088213970] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050692.088739339] [sailbot.teensy]: Wind angle: 232 -[mux-7] [INFO] [1746050692.088754448] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050692.089739624] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050692.090611194] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050692.091439410] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050692.145094891] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050692.145831211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050692.146697317] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050692.147869306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050692.148576109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050692.245016205] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050692.245904067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050692.246580440] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050692.247868844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050692.248949646] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050692.335426209] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050692.337254767] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050692.337724079] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050692.338245757] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050692.339196461] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050692.339513809] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050692.340101819] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050692.344357961] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050692.344901433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050692.345546565] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050692.346586639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050692.347601917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050692.445397648] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050692.446124551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050692.447000837] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050692.448378344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050692.448914308] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050692.503503561] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927321 Long: -76.50357744 -[vectornav-1] [INFO] [1746050692.504991071] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.10699999999997, 1.484, -0.002) -[mux-7] [INFO] [1746050692.545135758] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050692.545859645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050692.546582402] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050692.547956402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050692.549028040] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050692.585381875] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050692.587803009] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050692.587911892] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746050692.588744503] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050692.589735436] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050692.590697016] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050692.591531208] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050692.645178965] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050692.646174505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050692.646667653] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050692.647886546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050692.648437690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050692.744986136] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050692.745899034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050692.746382322] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050692.747787610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050692.748928473] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050692.835464715] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050692.837977995] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050692.838569778] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050692.839105118] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050692.840039960] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050692.840880405] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050692.841214608] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050692.844421390] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050692.844909652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050692.845797519] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050692.846558615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050692.847625757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050692.945029699] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050692.945692101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050692.946369185] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050692.947541311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050692.948087905] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050693.003896776] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927254 Long: -76.50357977 -[vectornav-1] [INFO] [1746050693.006030718] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.914, -0.803, -2.324) -[mux-7] [INFO] [1746050693.045167044] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050693.046131129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050693.046931938] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050693.048139192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050693.049239127] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050693.085236546] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050693.087230063] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050693.088193986] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050693.087382756] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050693.089167842] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050693.089423085] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050693.090159679] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050693.145116846] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050693.146221329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050693.146663645] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050693.148313899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050693.149952616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050693.245300977] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050693.245925588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050693.246779459] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050693.248078619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050693.248895383] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050693.335229670] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050693.336883318] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050693.337395761] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050693.337893241] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050693.338712885] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050693.338924887] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050693.339090731] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050693.344416842] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050693.344898857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050693.345722260] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050693.346616083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050693.347862276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050693.445775086] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050693.446395654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050693.447562615] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050693.448591208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050693.449141868] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050693.503345528] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927249 Long: -76.50358179 -[vectornav-1] [INFO] [1746050693.504608266] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.78600000000006, -0.931, -2.057) -[mux-7] [INFO] [1746050693.544845930] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050693.545433461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050693.546060311] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050693.547299664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050693.548355636] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050693.585264598] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050693.586956901] [sailbot.teensy]: Wind angle: 237 -[trim_sail-4] [INFO] [1746050693.587443325] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050693.587929966] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050693.588860583] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050693.589089947] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050693.589753903] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050693.644776357] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050693.645245229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050693.646290949] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050693.646975842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050693.648144582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050693.745442108] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050693.745971105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050693.747130901] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050693.748373339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050693.749243411] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050693.835499003] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050693.837521636] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050693.838832086] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050693.838976455] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050693.839649621] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050693.839921657] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050693.840749776] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050693.844432615] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050693.844892818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050693.845873347] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050693.847063183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050693.848135678] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050693.945225047] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050693.945837684] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050693.947112981] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050693.947590303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050693.948081412] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050694.003714298] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927247 Long: -76.50358434 -[vectornav-1] [INFO] [1746050694.005819920] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.06899999999996, -1.004, -2.102) -[mux-7] [INFO] [1746050694.045078569] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050694.045937044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050694.046416095] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050694.047904807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050694.048938542] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050694.085412780] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050694.087577614] [sailbot.teensy]: Wind angle: 240 -[trim_sail-4] [INFO] [1746050694.087901270] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050694.088539677] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050694.089235008] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050694.089460010] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050694.090315302] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050694.145076131] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050694.145914601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050694.146781181] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050694.148121281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050694.149325274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050694.245333150] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050694.246085456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050694.246806192] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050694.247856248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050694.248354389] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050694.335246406] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050694.337470748] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050694.338182039] [sailbot.teensy]: Wind angle: 240 -[mux-7] [INFO] [1746050694.338245727] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050694.339209692] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050694.339616565] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050694.340022083] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050694.344490329] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050694.344983537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050694.345721350] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050694.346746646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050694.347850202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050694.445274599] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050694.446284084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050694.446764586] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050694.447998536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050694.448470583] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050694.502478251] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927238 Long: -76.50358784 -[vectornav-1] [INFO] [1746050694.503544726] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.69899999999996, 0.583, -2.947) -[mux-7] [INFO] [1746050694.545008458] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050694.545916801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050694.546374892] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050694.548133153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050694.549201249] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050694.585535609] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050694.587945594] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050694.588385675] [sailbot.teensy]: Wind angle: 239 -[teensy-2] [INFO] [1746050694.589333919] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050694.588905411] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050694.590306683] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050694.591129145] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050694.645357937] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050694.646135204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050694.646912954] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050694.648707116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050694.649753199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050694.745371830] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050694.746270650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050694.746835842] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050694.748679555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050694.749799288] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050694.835149675] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050694.837187426] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050694.837854401] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050694.838163720] [sailbot.teensy]: Wind angle: 239 -[teensy-2] [INFO] [1746050694.839168213] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050694.840044757] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050694.840919760] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050694.844306264] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050694.844978417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050694.845413047] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050694.846707144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050694.847842861] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050694.945289531] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050694.946102827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050694.946758167] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050694.948185678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050694.949417725] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050695.004079934] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927184 Long: -76.50359065 -[vectornav-1] [INFO] [1746050695.005692765] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.947, -1.47, -4.264) -[mux-7] [INFO] [1746050695.045090960] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050695.045825192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050695.046445566] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050695.047973488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050695.049024197] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050695.085445988] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050695.088030901] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050695.088638733] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050695.089418738] [sailbot.teensy]: Wind angle: 239 -[teensy-2] [INFO] [1746050695.090380066] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050695.091281378] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050695.092132502] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050695.145099360] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050695.146422695] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050695.147392327] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050695.149182609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050695.150201443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050695.244979731] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050695.245855528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050695.246423260] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050695.247795873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050695.248277629] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050695.335285345] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050695.337499384] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050695.338447124] [sailbot.teensy]: Wind angle: 240 -[mux-7] [INFO] [1746050695.338772818] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050695.339956967] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050695.340772021] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050695.341147004] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050695.344412678] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050695.345023234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050695.345637511] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050695.346851911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050695.347894920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050695.445660260] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050695.446426753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050695.447418025] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050695.448657330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050695.449880686] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050695.503678259] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927224 Long: -76.50359402 -[vectornav-1] [INFO] [1746050695.505750272] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.63800000000003, 0.267, -2.855) -[mux-7] [INFO] [1746050695.545390795] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050695.546270212] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050695.547105639] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050695.548675498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050695.550017986] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050695.585447959] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050695.587364060] [sailbot.teensy]: Wind angle: 243 -[trim_sail-4] [INFO] [1746050695.587780895] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050695.588346391] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050695.588626072] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050695.589295871] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050695.590187858] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050695.645080537] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050695.645947554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050695.646516308] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050695.647801027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050695.648360260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050695.745099871] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050695.745838973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050695.746455881] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050695.747880133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050695.748912269] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050695.835227993] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050695.837429004] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050695.837809680] [sailbot.teensy]: Wind angle: 244 -[mux-7] [INFO] [1746050695.838086635] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050695.838928303] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050695.839874342] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050695.840804096] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050695.844427448] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050695.844907138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050695.845528956] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050695.846631474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050695.847675789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050695.945410502] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050695.946108946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050695.947139798] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050695.947943569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050695.948505914] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050696.002462073] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927213 Long: -76.50359764 -[vectornav-1] [INFO] [1746050696.003643594] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.038, 0.155, -2.453) -[mux-7] [INFO] [1746050696.045261368] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050696.046355963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050696.046763838] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050696.048866333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050696.049938775] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050696.085246708] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050696.087172633] [sailbot.teensy]: Wind angle: 242 -[trim_sail-4] [INFO] [1746050696.087203282] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050696.089006883] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050696.089160454] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050696.089930779] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050696.090824722] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050696.144911609] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050696.145571477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050696.146243948] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050696.147411861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050696.148499606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050696.245235882] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050696.246875933] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050696.247038439] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050696.249312919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050696.250552321] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050696.335281171] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050696.337568168] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050696.338849681] [sailbot.teensy]: Wind angle: 237 -[mux-7] [INFO] [1746050696.339010706] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050696.339812474] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050696.340734495] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050696.341557557] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050696.344637785] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050696.345054137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050696.345926080] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050696.346804168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050696.347813953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050696.445554806] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050696.446148599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050696.447285632] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050696.448550275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050696.449255398] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050696.503775917] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927265 Long: -76.50360087 -[vectornav-1] [INFO] [1746050696.505287461] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.81500000000005, -1.15, -0.992) -[mux-7] [INFO] [1746050696.545294840] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050696.545867012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050696.547053546] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050696.548072227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050696.549145165] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050696.585344288] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050696.587581162] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050696.587989766] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050696.587979204] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050696.589083962] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050696.590248277] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050696.591121539] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050696.645120200] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050696.646094447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050696.646643792] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050696.648052319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050696.648538041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050696.745029635] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050696.745753852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050696.746431159] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050696.747664375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050696.748754134] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050696.835236726] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050696.837012646] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050696.837999881] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050696.839369994] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050696.839825884] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050696.840809420] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050696.841579541] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050696.844380284] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050696.845155310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050696.845518050] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050696.846972902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050696.847994121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050696.945392487] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050696.946149674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050696.947519030] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050696.948438084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050696.949762196] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050697.002531729] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927287 Long: -76.5036044 -[vectornav-1] [INFO] [1746050697.003659299] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.81999999999994, 0.811, -1.796) -[mux-7] [INFO] [1746050697.045339209] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050697.046189318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050697.046847587] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050697.048327197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050697.049359734] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050697.085618251] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050697.088207472] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050697.089045105] [sailbot.teensy]: Wind angle: 236 -[mux-7] [INFO] [1746050697.089361257] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050697.090042468] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050697.090944893] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050697.091810301] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050697.145407678] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050697.146147147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050697.146915495] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050697.148479174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050697.149486007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050697.245146108] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050697.246086251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050697.246546194] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050697.247968635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050697.248441305] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050697.335231152] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050697.337452511] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050697.337463976] [sailbot.teensy]: Wind angle: 236 -[teensy-2] [INFO] [1746050697.338445250] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050697.338785006] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050697.339360784] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050697.340355972] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050697.344290302] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050697.345117616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050697.345732143] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050697.346876507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050697.347960100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050697.445261535] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050697.446139915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050697.447008727] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050697.448812019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050697.449960818] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050697.503199833] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692728 Long: -76.50360747 -[vectornav-1] [INFO] [1746050697.504852563] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.85900000000004, -3.508, -0.725) -[mux-7] [INFO] [1746050697.544921275] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050697.545729831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050697.546170753] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050697.547698863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050697.549018194] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050697.585267705] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050697.587886239] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050697.588566900] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050697.589583537] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050697.588828545] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050697.590541708] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050697.591516651] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050697.645055597] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050697.645684707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050697.646441324] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050697.647655458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050697.648818609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050697.745114877] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050697.745849033] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050697.746517440] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050697.747822961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050697.748302064] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050697.835566670] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050697.837332757] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050697.837857430] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050697.838264131] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050697.839125135] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050697.839055186] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050697.839503064] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050697.844388865] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050697.845038538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050697.845417954] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050697.846675346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050697.847830011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050697.945451984] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050697.946248216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050697.947313317] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050697.948210630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050697.948673434] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050698.003342248] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927367 Long: -76.50361077 -[vectornav-1] [INFO] [1746050698.005002651] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.75900000000001, 5.727, -1.672) -[mux-7] [INFO] [1746050698.045092044] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050698.045837232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050698.046491043] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050698.048079960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050698.049262249] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050698.085215785] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050698.086777695] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050698.087355247] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050698.087683215] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050698.088581198] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050698.088811889] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050698.089437228] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050698.144925684] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050698.145868023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050698.146210527] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050698.147785350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050698.148930361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050698.245232942] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050698.245877252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050698.246782180] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050698.248007827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050698.249140321] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050698.335222717] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050698.336897103] [sailbot.teensy]: Wind angle: 239 -[teensy-2] [INFO] [1746050698.337911395] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050698.338121650] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050698.338806904] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050698.338897276] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050698.339740657] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050698.344302001] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050698.344821908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050698.345407476] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050698.346636861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050698.347637524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050698.445203888] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050698.446273485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050698.446765682] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050698.449117409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050698.450103352] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050698.503583036] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927322 Long: -76.5036135 -[vectornav-1] [INFO] [1746050698.505825771] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.49800000000005, -3.582, -3.275) -[mux-7] [INFO] [1746050698.545068677] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050698.545776757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050698.546812543] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050698.547752051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050698.548798271] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050698.585205663] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050698.587507217] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050698.587732281] [sailbot.teensy]: Wind angle: 237 -[teensy-2] [INFO] [1746050698.588647050] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050698.588977994] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050698.589457084] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050698.590365737] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050698.645043265] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050698.645763145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050698.646532949] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050698.647712022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050698.648285196] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050698.744875891] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050698.745629944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050698.746635242] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050698.747504398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050698.748881809] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050698.835523109] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050698.837445818] [sailbot.teensy]: Wind angle: 237 -[trim_sail-4] [INFO] [1746050698.837907828] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050698.838449673] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050698.839379384] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050698.840188008] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050698.840316900] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050698.844438734] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050698.844973343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050698.845532909] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050698.846729350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050698.847787174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050698.945272894] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050698.946030779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050698.947241648] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050698.948146088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050698.948676293] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050699.003814240] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927324 Long: -76.50361663 -[vectornav-1] [INFO] [1746050699.006025485] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.68399999999997, -0.128, -1.877) -[mux-7] [INFO] [1746050699.045109228] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050699.045804482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050699.046513621] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050699.048066326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050699.049113084] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050699.085268803] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050699.087537503] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050699.087877753] [sailbot.teensy]: Wind angle: 238 -[mux-7] [INFO] [1746050699.088291372] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050699.088897586] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050699.089873777] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050699.090853566] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050699.145400973] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050699.146096103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050699.147150290] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050699.149407858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050699.150612749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050699.245147989] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050699.245829855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050699.246578765] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050699.247871531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050699.248931203] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050699.335387981] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050699.337356396] [sailbot.teensy]: Wind angle: 237 -[trim_sail-4] [INFO] [1746050699.337832231] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050699.339328979] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050699.339667818] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050699.340639423] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050699.341475895] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050699.344353585] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050699.344825031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050699.345500164] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050699.346558670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050699.347636373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050699.445193817] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050699.445966852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050699.446806540] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050699.448763866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050699.449929927] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050699.503961121] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692731 Long: -76.50361963 -[vectornav-1] [INFO] [1746050699.505912269] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.71299999999997, 0.691, -1.657) -[mux-7] [INFO] [1746050699.545290497] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050699.546560433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050699.546876531] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050699.548717152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050699.549865478] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050699.585222988] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050699.587073084] [sailbot.teensy]: Wind angle: 236 -[trim_sail-4] [INFO] [1746050699.587482465] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050699.588038057] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050699.588961324] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050699.589149873] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050699.590265820] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050699.644999061] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050699.645666405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050699.646440440] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050699.647629430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050699.648927096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050699.745139864] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050699.746028005] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050699.747080876] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050699.748134940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050699.749332651] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050699.835727789] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050699.838644639] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050699.838877453] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050699.839891337] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050699.839635473] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050699.840673856] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050699.841032765] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050699.844467153] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050699.845409989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050699.845620743] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050699.847222945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050699.848276616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050699.945603612] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050699.946476349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050699.947190348] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050699.948771502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050699.950033210] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050700.003675598] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927333 Long: -76.5036226 -[vectornav-1] [INFO] [1746050700.005257888] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.10199999999998, -0.825, -1.049) -[mux-7] [INFO] [1746050700.044987611] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050700.045677129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050700.046258020] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050700.047653547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050700.048720020] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050700.085455263] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050700.088025906] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050700.087993126] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050700.088573542] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050700.088990614] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050700.089832051] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050700.090712250] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050700.145128300] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050700.146549797] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050700.145804864] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050700.148725311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050700.149204800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050700.245369475] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050700.246112859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050700.247045820] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050700.247977745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050700.248532362] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050700.335406761] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050700.337328920] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050700.337886413] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050700.338302943] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050700.339146839] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050700.339173945] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050700.340085173] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050700.344405379] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050700.344998691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050700.345540872] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050700.346728314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050700.347732712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050700.445222802] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050700.445926956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050700.446783321] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050700.448311377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050700.449531483] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050700.504030488] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927339 Long: -76.50362568 -[vectornav-1] [INFO] [1746050700.506289990] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.99099999999999, 2.401, -1.905) -[mux-7] [INFO] [1746050700.545130004] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050700.545899283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050700.546589294] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050700.547893742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050700.549004500] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050700.585292799] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050700.587027434] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050700.587921234] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050700.587722900] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050700.588775451] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050700.589013681] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050700.589675835] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050700.645055396] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050700.645821905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050700.646448481] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050700.647785760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050700.648331602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050700.745493286] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050700.746602738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050700.747276678] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050700.748926604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050700.750159177] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050700.835892520] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050700.838087214] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050700.838900284] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050700.839181005] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050700.840073593] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050700.840053693] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050700.840961455] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050700.844367367] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050700.844978354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050700.845522220] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050700.846806784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050700.847858139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050700.945337137] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050700.945980247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050700.946855392] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050700.948283619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050700.949454309] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050701.003261738] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927298 Long: -76.50362842 -[vectornav-1] [INFO] [1746050701.004653487] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.69000000000005, -6.103, -2.01) -[mux-7] [INFO] [1746050701.045030989] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050701.045669633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050701.046341445] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050701.047694897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050701.048720456] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050701.085554391] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050701.087539262] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050701.088389688] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050701.088562358] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050701.089468091] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050701.090027356] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050701.090318754] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050701.145095817] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050701.145971240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050701.146536330] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050701.147986946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050701.148884621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050701.245283961] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050701.246004052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050701.246723756] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050701.248023261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050701.249061913] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050701.335191540] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050701.337416523] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050701.337659702] [sailbot.teensy]: Wind angle: 236 -[teensy-2] [INFO] [1746050701.338591221] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050701.339485222] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050701.339711186] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050701.340240629] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050701.344359748] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050701.344882514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050701.345503004] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050701.346642284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050701.347671213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050701.445249347] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050701.446165665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050701.446775432] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050701.448349893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050701.449403261] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050701.502415881] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927388 Long: -76.50363191 -[vectornav-1] [INFO] [1746050701.503505369] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.89800000000002, 5.369, -0.131) -[mux-7] [INFO] [1746050701.545108637] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050701.545837437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050701.546581377] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050701.548102143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050701.548605247] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050701.585588160] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050701.588490269] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050701.588619583] [sailbot.teensy]: Wind angle: 236 -[teensy-2] [INFO] [1746050701.589539887] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050701.589564998] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050701.590496901] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050701.591355455] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050701.645257531] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050701.645884430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050701.647564739] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050701.648082321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050701.649160923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050701.745208096] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050701.746038742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050701.746665100] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050701.747988618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050701.749068545] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050701.835446543] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050701.837894157] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050701.838439140] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050701.839636808] [sailbot.teensy]: Wind angle: 236 -[teensy-2] [INFO] [1746050701.840024604] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050701.840396652] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050701.840753603] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050701.844351318] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050701.844916099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050701.845647137] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050701.846769725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050701.847864492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050701.945299777] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050701.946065734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050701.946924395] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050701.948392747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050701.949655619] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050702.003715228] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927369 Long: -76.50363419 -[vectornav-1] [INFO] [1746050702.005866947] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.35000000000002, -2.456, -0.726) -[mux-7] [INFO] [1746050702.045293676] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050702.046083367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050702.046804819] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050702.048057374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050702.049094044] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050702.085440855] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050702.087862244] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050702.088045957] [sailbot.teensy]: Wind angle: 237 -[mux-7] [INFO] [1746050702.088891948] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050702.088997766] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050702.089878255] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050702.090796562] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050702.145150698] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050702.146023448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050702.146798641] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050702.148255710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050702.148745111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050702.245070411] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050702.245902250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050702.246645168] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050702.247969722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050702.249124999] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050702.335259126] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050702.337387871] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050702.337560456] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050702.338368356] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050702.339135754] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050702.339238649] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050702.340148058] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050702.344544783] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050702.344965089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050702.345706178] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050702.346720505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050702.347804525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050702.445496122] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050702.446122032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050702.447428216] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050702.448235494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050702.448832677] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050702.502816065] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927396 Long: -76.5036372 -[vectornav-1] [INFO] [1746050702.503980137] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.351, -0.605, 1.607) -[mux-7] [INFO] [1746050702.545221973] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050702.545994301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050702.546751995] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050702.547957871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050702.548992491] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050702.585371465] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050702.587712639] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746050702.587929139] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050702.588656735] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050702.588657149] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050702.589601712] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050702.590487353] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050702.645148043] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050702.645830574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050702.646575398] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050702.647987410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050702.649084906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050702.744952917] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050702.745556457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050702.746260900] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050702.747743394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050702.748750256] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050702.835249777] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050702.837470085] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050702.837696749] [sailbot.teensy]: Wind angle: 227 -[teensy-2] [INFO] [1746050702.838675511] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050702.838935815] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050702.839407777] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050702.839805050] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050702.844227536] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050702.844858256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050702.845668420] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050702.846546906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050702.847573585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050702.945644800] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050702.946438947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050702.947429879] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050702.948212924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050702.948699707] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050703.003821366] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927447 Long: -76.50363966 -[vectornav-1] [INFO] [1746050703.005696562] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.986, 1.832, 1.096) -[mux-7] [INFO] [1746050703.045326522] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050703.046055292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050703.046844891] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050703.048770003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050703.049921312] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050703.085707307] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050703.088126433] [sailbot.teensy]: Wind angle: 228 -[trim_sail-4] [INFO] [1746050703.088458430] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050703.089221325] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050703.089822307] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050703.090117799] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050703.091003888] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050703.145249885] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050703.145808607] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050703.146749509] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050703.148057188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050703.149240347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050703.245490556] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050703.247008079] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050703.249442266] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050703.251112113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050703.252096891] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050703.335561339] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050703.337646499] [sailbot.teensy]: Wind angle: 229 -[trim_sail-4] [INFO] [1746050703.338524908] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050703.338662128] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050703.339540549] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050703.339560929] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050703.340457166] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050703.344580729] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050703.345121359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050703.345706455] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050703.346835525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050703.348024267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050703.445437165] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050703.446161505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050703.446987552] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050703.448358187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050703.449430669] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050703.503457870] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927447 Long: -76.50364194 -[vectornav-1] [INFO] [1746050703.505066468] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.74599999999998, 0.255, 0.815) -[mux-7] [INFO] [1746050703.545304241] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050703.546098267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050703.546762897] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050703.548266990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050703.549444070] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050703.585216626] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050703.587266451] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050703.587475965] [sailbot.teensy]: Wind angle: 230 -[teensy-2] [INFO] [1746050703.588414534] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050703.588876954] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050703.589321929] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050703.590204782] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050703.645513096] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050703.646339762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050703.647129088] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050703.648926043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050703.650015387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050703.745364359] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050703.746126216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050703.746979268] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050703.748360788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050703.749481655] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050703.835184901] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050703.837243687] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050703.837975112] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050703.838897294] [sailbot.teensy]: Wind angle: 229 -[teensy-2] [INFO] [1746050703.839867465] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050703.840749470] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050703.841591711] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050703.844362772] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050703.844942117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050703.845625135] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050703.846673650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050703.847708400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050703.945101009] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050703.945938720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050703.946985215] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050703.947930031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050703.948995296] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050704.002516842] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927452 Long: -76.503644 -[vectornav-1] [INFO] [1746050704.003504936] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.76800000000003, -4.153, 2.358) -[mux-7] [INFO] [1746050704.045158306] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050704.045821649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050704.046410362] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050704.047574039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050704.048120560] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050704.085288972] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050704.087570123] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050704.089192524] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050704.089294672] [sailbot.teensy]: Wind angle: 229 -[teensy-2] [INFO] [1746050704.090269974] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050704.091157148] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050704.091982786] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050704.144836806] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050704.145629301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050704.146090571] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050704.147452802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050704.148489638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050704.244521947] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050704.245330901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050704.245843165] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050704.247503290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050704.248651066] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050704.335268734] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050704.337262367] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746050704.337615807] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050704.338565323] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050704.339050247] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050704.339049177] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050704.339428754] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050704.344547319] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050704.345003721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050704.345772564] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050704.346758033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050704.347776446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050704.445121069] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050704.445994651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050704.446535730] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050704.448420776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050704.449543452] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050704.502511390] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927511 Long: -76.5036465 -[vectornav-1] [INFO] [1746050704.503606505] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.19299999999998, 4.277, 0.346) -[mux-7] [INFO] [1746050704.545187400] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050704.545936777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050704.546794649] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050704.547984836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050704.548986272] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050704.585421873] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050704.587923866] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050704.588303659] [sailbot.teensy]: Wind angle: 226 -[mux-7] [INFO] [1746050704.589004189] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050704.589266075] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050704.590191077] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050704.591055422] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050704.645099143] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050704.645581639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050704.646473935] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050704.647424788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050704.648356426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050704.745201342] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050704.746017811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050704.746765933] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050704.748346898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050704.749523163] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050704.835245663] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050704.837645072] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050704.838632143] [sailbot.teensy]: Wind angle: 222 -[mux-7] [INFO] [1746050704.838629317] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050704.839137956] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050704.839525328] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050704.839881883] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050704.844428355] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050704.845169417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050704.845672142] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050704.846889073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050704.847963470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050704.945187000] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050704.945969442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050704.946836212] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050704.948199702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050704.948777958] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050705.003141481] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927497 Long: -76.50364832 -[vectornav-1] [INFO] [1746050705.004813750] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.94299999999998, -1.285, 0.053) -[mux-7] [INFO] [1746050705.045053945] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050705.045693458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050705.046368987] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050705.047532434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050705.048706832] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050705.085429114] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050705.087287890] [sailbot.teensy]: Wind angle: 228 -[trim_sail-4] [INFO] [1746050705.088570105] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050705.089932296] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050705.090097057] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050705.091119930] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050705.091971217] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050705.145120003] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050705.145930773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050705.146617577] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050705.147914159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050705.148945029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050705.245268904] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050705.245950917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050705.246851777] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050705.248124064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050705.249351174] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050705.335250449] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050705.337606452] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050705.337938842] [sailbot.teensy]: Wind angle: 228 -[mux-7] [INFO] [1746050705.338767494] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050705.339032155] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050705.339930193] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050705.340806774] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050705.344346289] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050705.344900486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050705.345607388] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050705.346730138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050705.347893770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050705.445563627] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050705.446176609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050705.447876308] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050705.448481988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050705.448994456] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050705.502471782] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927448 Long: -76.50364981 -[vectornav-1] [INFO] [1746050705.503458451] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.67399999999998, 0.132, -2.294) -[mux-7] [INFO] [1746050705.544964707] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050705.545553700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050705.546506449] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050705.547485659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050705.547994563] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050705.585434872] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050705.587479217] [sailbot.teensy]: Wind angle: 226 -[teensy-2] [INFO] [1746050705.588476590] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050705.587937603] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050705.589096899] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050705.589353379] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050705.590238613] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050705.644955607] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050705.645641941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050705.646258901] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050705.647507989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050705.648078545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050705.745074051] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050705.745929875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050705.746371060] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050705.747813015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050705.748874913] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050705.835485948] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050705.838013088] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050705.838196769] [sailbot.teensy]: Wind angle: 230 -[mux-7] [INFO] [1746050705.838919151] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050705.839104588] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050705.840000687] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050705.840853134] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050705.844460247] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050705.844969097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050705.845698629] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050705.846776425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050705.847813426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050705.945327335] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050705.946160439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050705.946883212] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050705.948826133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050705.950073699] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050706.004077090] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927438 Long: -76.50365153 -[vectornav-1] [INFO] [1746050706.005950278] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.09400000000005, -1.568, -0.067) -[mux-7] [INFO] [1746050706.045074249] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050706.045914252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050706.046873522] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050706.047803285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050706.048985670] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050706.085412279] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050706.087304379] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050706.088309631] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050706.089231159] [sailbot.teensy]: Actual tail angle: 23 -[trim_sail-4] [INFO] [1746050706.088091478] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050706.089371103] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050706.090160849] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050706.145178302] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050706.146035155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050706.146637783] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050706.148233733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050706.149365017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050706.245155713] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050706.245877590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050706.246616992] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050706.248212390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050706.248794933] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050706.335269080] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050706.337017894] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050706.337788987] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050706.338976792] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050706.339349129] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050706.340321501] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050706.341176915] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050706.344308391] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050706.344859552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050706.345709413] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050706.346557109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050706.347595524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050706.445082011] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050706.445825426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050706.446500365] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050706.447860546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050706.448902742] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050706.502706957] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927501 Long: -76.50365334 -[vectornav-1] [INFO] [1746050706.503796739] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.34500000000003, 0.982, -1.251) -[mux-7] [INFO] [1746050706.544787006] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050706.545462342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050706.545994522] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050706.547252963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050706.548293534] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050706.585434920] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050706.587705251] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050706.587940793] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050706.588659006] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050706.588682343] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050706.589604918] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050706.590434246] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050706.645126255] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050706.645914607] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050706.646801469] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050706.647896085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050706.649530538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050706.745056582] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050706.745816715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050706.746350321] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050706.747711115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050706.748856370] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050706.835270128] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050706.837175435] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050706.837580419] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050706.838121322] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050706.839014036] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050706.839229150] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050706.839906727] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050706.844406260] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050706.844895370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050706.845510869] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050706.846557117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050706.847676230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050706.945136018] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050706.945893366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050706.946614676] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050706.947994535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050706.948733259] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050707.003832017] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692745 Long: -76.50365478 -[vectornav-1] [INFO] [1746050707.005837079] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.62800000000004, -1.393, -1.478) -[mux-7] [INFO] [1746050707.045136827] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050707.045998186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050707.047059302] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050707.048693813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050707.049836814] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050707.085511149] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050707.087958290] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746050707.088144536] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050707.089125062] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050707.089501864] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050707.090420684] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050707.091311387] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050707.144754562] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050707.145383921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050707.145974101] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050707.147296608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050707.148359960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050707.245029755] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050707.245943161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050707.246564903] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050707.247462261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050707.248007179] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050707.335358933] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050707.337238107] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746050707.337831880] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050707.338220755] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050707.339122879] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050707.339982646] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050707.340203312] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050707.344384049] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050707.344819614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050707.345644775] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050707.346535323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050707.347551170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050707.445542348] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050707.446306812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050707.447382636] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050707.449210441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050707.450291178] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050707.503260562] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927481 Long: -76.50365654 -[vectornav-1] [INFO] [1746050707.505399963] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.61300000000006, 0.09, 1.994) -[mux-7] [INFO] [1746050707.544944758] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050707.545697186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050707.546277362] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050707.547545308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[mux-7] [INFO] [1746050707.548374869] [sailbot.mux]: controller_app rudder angle: -3 -[teensy-2] [INFO] [1746050707.548616395] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050707.585313761] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050707.587167095] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050707.587637986] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050707.588121770] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050707.589028620] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050707.589129039] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050707.589881415] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050707.644975230] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050707.645684809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050707.646531014] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050707.647549042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050707.648609401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050707.745189453] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050707.745680095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050707.746698876] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050707.747749672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050707.748957202] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050707.835474102] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050707.838019302] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050707.838252605] [sailbot.teensy]: Wind angle: 233 -[mux-7] [INFO] [1746050707.838590642] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050707.839577934] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050707.839940920] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050707.840293902] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050707.844370724] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050707.845188464] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050707.845521936] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050707.846884266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050707.847918292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050707.944980964] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050707.945812354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050707.946300488] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050707.947758300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050707.948261760] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050708.003405482] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927538 Long: -76.50365791 -[vectornav-1] [INFO] [1746050708.004630346] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.46900000000005, -0.047, 2.313) -[mux-7] [INFO] [1746050708.044816716] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050708.045566146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050708.046027179] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050708.047430982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050708.048446221] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050708.085640493] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050708.088311352] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050708.089372862] [sailbot.teensy]: Wind angle: 231 -[mux-7] [INFO] [1746050708.089873081] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050708.090349158] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050708.091258590] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050708.092084164] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050708.145198539] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050708.146269075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050708.146781207] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050708.148553064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050708.149718397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050708.244882580] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050708.245634654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050708.246289853] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050708.247511046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050708.248671011] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050708.335269724] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050708.337631274] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050708.338071310] [sailbot.teensy]: Wind angle: 227 -[teensy-2] [INFO] [1746050708.339196133] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050708.339406050] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050708.339721151] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050708.340113947] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050708.344438687] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050708.345158205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050708.345598526] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050708.346911006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050708.347960740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050708.445210052] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050708.446169395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050708.446807689] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050708.448479583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050708.449529316] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050708.502353792] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692753 Long: -76.50365995 -[vectornav-1] [INFO] [1746050708.503315775] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (158.692, -1.458, 1.874) -[mux-7] [INFO] [1746050708.545235216] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050708.546211352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050708.546671914] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050708.547849899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050708.548321922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050708.576070426] [sailbot.mux]: controller_app rudder angle: -7 -[teensy-2] [INFO] [1746050708.585346854] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050708.587825104] [sailbot.teensy]: Wind angle: 227 -[trim_sail-4] [INFO] [1746050708.588451470] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050708.588904984] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050708.589836895] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050708.589626287] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050708.590782052] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050708.645183719] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050708.645954573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050708.646612837] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050708.648362126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050708.649457826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050708.745605323] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050708.746454379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050708.747450648] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050708.748050784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050708.748594419] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050708.835397038] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050708.837889453] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050708.838756436] [sailbot.teensy]: Wind angle: 226 -[mux-7] [INFO] [1746050708.838873473] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050708.839229292] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050708.839634532] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050708.840051109] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050708.844486887] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050708.845008122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050708.845561116] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050708.846777224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050708.847837766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050708.945454255] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050708.946393187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050708.947347580] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050708.948885526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050708.949997686] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050709.003365754] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927567 Long: -76.50366149 -[vectornav-1] [INFO] [1746050709.004894757] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (159.40200000000004, 2.934, 1.934) -[mux-7] [INFO] [1746050709.045035759] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050709.045917611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050709.046361072] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050709.047983466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050709.049138941] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050709.085412140] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050709.087968934] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050709.088269427] [sailbot.teensy]: Wind angle: 226 -[mux-7] [INFO] [1746050709.088911047] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050709.089207560] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050709.090083218] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050709.090922644] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050709.145729364] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050709.146504683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050709.147791296] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050709.148696082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050709.149238269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050709.245577555] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050709.246136893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050709.247380047] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050709.248421290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050709.249631769] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050709.335392434] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050709.338223536] [sailbot.teensy]: Wind angle: 227 -[trim_sail-4] [INFO] [1746050709.338270042] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050709.338821271] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050709.339216139] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746050709.339347978] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050709.339602455] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050709.344530742] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050709.345236719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050709.345665614] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050709.346960396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050709.347996890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050709.445603207] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050709.446243045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050709.447272249] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050709.448747046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050709.450014230] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050709.502741059] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927554 Long: -76.50366285 -[vectornav-1] [INFO] [1746050709.503847764] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (161.47500000000002, -3.712, -0.35) -[mux-7] [INFO] [1746050709.545135335] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050709.545776093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050709.547014792] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050709.547868650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050709.548946228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050709.562190666] [sailbot.mux]: controller_app rudder angle: -6 -[teensy-2] [INFO] [1746050709.585526546] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050709.587485270] [sailbot.teensy]: Wind angle: 227 -[trim_sail-4] [INFO] [1746050709.588003631] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050709.588488578] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050709.589433032] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746050709.589977950] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050709.590492816] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050709.644840863] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050709.645476454] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050709.646166228] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050709.647486305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050709.648696402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050709.745123947] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050709.745668133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050709.746497450] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050709.747526755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050709.748730903] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050709.835419621] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050709.837381989] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746050709.838215338] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050709.838371017] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050709.839283624] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746050709.839779214] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050709.840174837] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050709.844439114] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050709.845090779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050709.845759452] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050709.846988646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050709.847996900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050709.945553418] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050709.946200069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050709.947558600] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050709.948612059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050709.949818717] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050710.003520418] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927555 Long: -76.50366457 -[vectornav-1] [INFO] [1746050710.005021560] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (163.216, 1.95, -0.562) -[mux-7] [INFO] [1746050710.045446576] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050710.046716144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050710.046987645] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050710.049235826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050710.050520541] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050710.085517499] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050710.088071500] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050710.088563314] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050710.089015009] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050710.089980867] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050710.090893658] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050710.091734192] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050710.145049319] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050710.145657311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050710.146551187] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050710.147622645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050710.148590613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050710.245108696] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050710.245779626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050710.246439653] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050710.247608656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050710.248208169] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050710.335220976] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050710.336996943] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050710.337443714] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050710.338812053] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050710.338891265] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050710.339546657] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050710.339933107] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050710.344419970] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050710.345010695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050710.345536580] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050710.346856894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050710.348019735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050710.445473244] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050710.446422796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050710.447095369] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050710.448806442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050710.449870475] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050710.502503916] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927561 Long: -76.50366657 -[vectornav-1] [INFO] [1746050710.503775327] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.99299999999994, -1.57, 0.634) -[mux-7] [INFO] [1746050710.545649709] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050710.546687226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050710.547566056] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050710.549192646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050710.549825608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050710.576909239] [sailbot.mux]: controller_app rudder angle: 0 -[teensy-2] [INFO] [1746050710.585373023] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050710.587543795] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050710.588446924] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050710.589401258] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050710.589440211] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050710.590370742] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050710.591368152] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050710.645364554] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050710.645825079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050710.646714563] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050710.647923224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050710.649079523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050710.745139185] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050710.745760816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050710.746552215] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050710.747691281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050710.748784729] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050710.835349840] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050710.837350137] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050710.837650471] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050710.838663150] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050710.839219901] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050710.840242009] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050710.840627464] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050710.844434610] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050710.845025698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050710.845763199] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050710.846702871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050710.847760722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050710.945473879] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050710.946027081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050710.947237249] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050710.948555028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050710.949120300] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050711.003368017] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927518 Long: -76.50366811 -[vectornav-1] [INFO] [1746050711.005078043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (171.25800000000004, 2.249, -1.317) -[mux-7] [INFO] [1746050711.045156319] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050711.045736799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050711.046544922] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050711.047764336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050711.048856303] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050711.085385323] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050711.087635180] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050711.087796687] [sailbot.teensy]: Wind angle: 236 -[teensy-2] [INFO] [1746050711.089105180] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050711.089476423] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050711.090065515] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050711.090943928] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050711.144976293] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050711.145725890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050711.146282131] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050711.147639193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050711.148796291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050711.245582883] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050711.246227648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050711.247628559] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050711.248480062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050711.249822585] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050711.335321809] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050711.337145450] [sailbot.teensy]: Wind angle: 236 -[trim_sail-4] [INFO] [1746050711.337830420] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050711.338074854] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050711.338978843] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050711.339511369] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050711.339609381] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050711.344522398] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050711.345080077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050711.345691298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050711.346801490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050711.347908151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050711.445494360] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050711.446312784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050711.447512389] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050711.448568810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050711.449821458] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050711.502839832] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927513 Long: -76.50366985 -[vectornav-1] [INFO] [1746050711.504365536] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.17899999999997, -2.937, -1.863) -[mux-7] [INFO] [1746050711.545583492] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050711.546264896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050711.547233381] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050711.548529459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050711.549026831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050711.576810057] [sailbot.mux]: controller_app rudder angle: -1 -[teensy-2] [INFO] [1746050711.585313362] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050711.587655551] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050711.588065524] [sailbot.teensy]: Wind angle: 237 -[mux-7] [INFO] [1746050711.588737062] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050711.589015712] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050711.589897853] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050711.590759435] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050711.645124715] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050711.645921548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050711.646874539] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050711.648272674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050711.649442748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050711.744681338] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050711.745214417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050711.745824217] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050711.746937469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050711.747971013] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050711.835217479] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050711.836868682] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050711.837820678] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050711.838741272] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050711.839620537] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746050711.837830798] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050711.838991714] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746050711.844365549] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050711.844987672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050711.845448031] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050711.846727071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050711.847859769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050711.945242492] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050711.946011058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050711.947059218] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050711.948324690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050711.949399297] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050712.003257249] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927493 Long: -76.50367235 -[vectornav-1] [INFO] [1746050712.004844643] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.44899999999996, 1.273, -4.176) -[mux-7] [INFO] [1746050712.044929910] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050712.045709781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050712.046183958] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050712.047926312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050712.049179627] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050712.085210811] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050712.087082320] [sailbot.teensy]: Wind angle: 237 -[trim_sail-4] [INFO] [1746050712.087512825] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050712.087988751] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050712.088880635] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050712.088935161] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050712.089870796] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050712.145193206] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050712.145945675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050712.146946950] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050712.148144557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050712.148705058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050712.244731999] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050712.245347396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050712.245891045] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050712.247135837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050712.248288730] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050712.335497016] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050712.337436593] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050712.338453154] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050712.338730117] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050712.339494738] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050712.339910766] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050712.340280713] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050712.344534277] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050712.345174671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050712.345604012] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050712.346937528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050712.348009294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050712.445572203] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050712.446320347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050712.447559588] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050712.448735828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050712.450046163] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050712.503087478] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927447 Long: -76.50367471 -[vectornav-1] [INFO] [1746050712.504392162] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.014, -2.12, -5.7) -[mux-7] [INFO] [1746050712.545236692] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050712.545919118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050712.546904473] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050712.548142637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050712.549336032] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050712.585383644] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050712.587459970] [sailbot.teensy]: Wind angle: 241 -[trim_sail-4] [INFO] [1746050712.587995053] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050712.588264960] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050712.588422789] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050712.589330194] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050712.590198330] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050712.644914932] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050712.645477627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050712.646177127] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050712.647548367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050712.648699969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050712.745365262] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050712.746249785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050712.746941658] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050712.748630784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050712.749132032] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050712.835203811] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050712.837350697] [sailbot.teensy]: Wind angle: 242 -[trim_sail-4] [INFO] [1746050712.837402297] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050712.837812847] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050712.838227907] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050712.838829414] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050712.839205270] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050712.844536574] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050712.845043146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050712.845661332] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050712.846723589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050712.847883577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050712.945325393] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050712.946185015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050712.947411063] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050712.948423446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050712.949445826] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050713.003477856] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927435 Long: -76.50367824 -[vectornav-1] [INFO] [1746050713.005047530] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.00199999999995, 0.936, -6.239) -[mux-7] [INFO] [1746050713.044976409] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050713.045839393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050713.046248727] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050713.047767177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050713.048796229] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050713.085292139] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050713.087630097] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050713.087676771] [sailbot.teensy]: Wind angle: 243 -[teensy-2] [INFO] [1746050713.088563883] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050713.088720379] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050713.089462309] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050713.090329183] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050713.144930075] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050713.145596605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050713.146200247] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050713.147591839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050713.148397936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050713.245196293] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050713.246001386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050713.246683133] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050713.248216937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050713.249325225] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050713.335237432] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050713.336929238] [sailbot.teensy]: Wind angle: 244 -[trim_sail-4] [INFO] [1746050713.337953454] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050713.337971403] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050713.338957713] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050713.339254021] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050713.339860822] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050713.344555230] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050713.345028568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050713.345783277] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050713.346725690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050713.347753023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050713.445096286] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050713.445981811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050713.446964623] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050713.447916593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050713.448711763] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050713.502620717] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927356 Long: -76.50368221 -[vectornav-1] [INFO] [1746050713.503704100] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (184.288, -3.972, -9.008) -[mux-7] [INFO] [1746050713.545182275] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050713.545876088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050713.546621421] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050713.547809733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050713.548962668] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050713.585550161] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050713.588098637] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050713.588790599] [sailbot.teensy]: Wind angle: 243 -[mux-7] [INFO] [1746050713.589107057] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050713.589753138] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050713.590650996] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050713.591471925] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050713.608965200] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746050713.645197714] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050713.646181498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050713.646876260] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050713.648337941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050713.649503517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050713.744738644] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050713.745505285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050713.745871481] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050713.747353849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050713.748381833] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050713.835455662] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050713.837845071] [sailbot.teensy]: Wind angle: 244 -[trim_sail-4] [INFO] [1746050713.837936386] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050713.838799554] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050713.838934126] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050713.839240400] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050713.839641318] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050713.844325343] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050713.844975153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050713.845575503] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050713.846709246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050713.847912862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050713.945402806] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050713.946143960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050713.947019517] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050713.948430558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050713.949733060] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050714.002856844] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927336 Long: -76.50368705 -[vectornav-1] [INFO] [1746050714.003983781] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.885, 1.134, -8.253) -[mux-7] [INFO] [1746050714.045209407] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050714.046203215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050714.046683233] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050714.048277361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050714.049322594] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050714.085568499] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050714.088321060] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050714.088317187] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050714.088580662] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050714.089270326] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050714.090171924] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050714.091033731] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050714.144912280] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050714.145775565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050714.146287067] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050714.147593625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050714.148737431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050714.244923717] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050714.245685372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050714.246185813] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050714.247494017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050714.248424896] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050714.335208698] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050714.337451507] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050714.338010758] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050714.338633338] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050714.339994180] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050714.340881886] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050714.341730915] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050714.344366542] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050714.344769819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050714.345532290] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050714.346466719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050714.347522877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050714.445182294] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050714.445993106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050714.447425818] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050714.448312000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050714.448902833] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050714.503736317] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927242 Long: -76.50369134 -[vectornav-1] [INFO] [1746050714.505668672] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.87, -1.02, -9.947) -[mux-7] [INFO] [1746050714.545058767] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050714.545826529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050714.546432627] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050714.547906216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050714.548971192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050714.561863930] [sailbot.mux]: controller_app rudder angle: 1 -[teensy-2] [INFO] [1746050714.585443730] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050714.587612846] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050714.588167355] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050714.588177909] [sailbot.teensy]: Wind angle: 246 -[teensy-2] [INFO] [1746050714.589179065] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050714.590042066] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050714.590894841] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050714.645319032] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050714.646010191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050714.646881651] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050714.648088955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050714.648974731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050714.745587142] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050714.746307173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050714.747286487] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050714.748543003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050714.749881921] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050714.835259804] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050714.837047445] [sailbot.teensy]: Wind angle: 251 -[trim_sail-4] [INFO] [1746050714.837494245] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050714.838036008] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050714.838995497] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050714.839301451] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050714.839887510] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050714.844336580] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050714.844830936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050714.845440294] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050714.846550926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050714.847569868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050714.944916210] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050714.945493244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050714.946169084] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050714.947309747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050714.948327949] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050715.002937038] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927221 Long: -76.50369625 -[vectornav-1] [INFO] [1746050715.004978886] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (186.90099999999995, -3.024, -7.269) -[mux-7] [INFO] [1746050715.045290164] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050715.045988388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050715.046769000] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050715.048383034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050715.049384002] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050715.085287240] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050715.087428102] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050715.087564278] [sailbot.teensy]: Wind angle: 260 -[teensy-2] [INFO] [1746050715.088515875] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050715.088762875] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050715.089381322] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050715.090279459] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050715.145064054] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050715.145962991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050715.146544719] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050715.148024569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050715.149221344] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050715.245086049] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050715.245989378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050715.246680288] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050715.247942121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050715.248541571] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050715.335589331] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050715.337905024] [sailbot.teensy]: Wind angle: 262 -[trim_sail-4] [INFO] [1746050715.338226566] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050715.339675895] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050715.339986888] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050715.340706414] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050715.341089611] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050715.344446144] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050715.345079563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050715.345627218] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050715.346870819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050715.347921647] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050715.444884205] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050715.445645413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050715.446272113] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050715.447619392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050715.448707695] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050715.503064608] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927132 Long: -76.50370239 -[vectornav-1] [INFO] [1746050715.504516567] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.66200000000003, 1.395, -7.688) -[mux-7] [INFO] [1746050715.545208977] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050715.545855797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050715.546899538] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050715.547663627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050715.548320035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050715.573334092] [sailbot.mux]: controller_app rudder angle: 0 -[teensy-2] [INFO] [1746050715.585146163] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050715.587152059] [sailbot.teensy]: Wind angle: 260 -[trim_sail-4] [INFO] [1746050715.587185822] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050715.588035596] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050715.588329937] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050715.588878912] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050715.589678157] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050715.644902162] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050715.645523179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050715.646150778] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050715.647419367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050715.648738855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050715.744610794] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050715.745197255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050715.745674241] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050715.746925136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050715.747948391] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050715.835239445] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050715.837141181] [sailbot.teensy]: Wind angle: 258 -[trim_sail-4] [INFO] [1746050715.837471157] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050715.838120072] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050715.838830409] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050715.839018963] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050715.839921719] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050715.844381791] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050715.844940381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050715.845631904] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050715.846643064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050715.847668651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050715.945234353] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050715.946011303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050715.946719351] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050715.948270265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050715.949201091] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050716.003217546] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927045 Long: -76.50370822 -[vectornav-1] [INFO] [1746050716.004752146] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.226, -2.79, -5.201) -[mux-7] [INFO] [1746050716.045291158] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050716.045940047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050716.046799394] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050716.048207355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050716.049281998] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050716.085461435] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050716.087417224] [sailbot.teensy]: Wind angle: 257 -[teensy-2] [INFO] [1746050716.088370591] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050716.087828244] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050716.089284016] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050716.089334892] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050716.090163288] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050716.145113241] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050716.145714440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050716.146582315] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050716.147785814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050716.148873213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050716.245057140] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050716.245855383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050716.246822088] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050716.247825702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050716.248394667] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050716.335239374] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050716.336982730] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050716.337470613] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050716.338091274] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050716.338670774] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050716.339016753] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050716.339996307] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050716.344494500] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050716.344940661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050716.345518966] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050716.346768729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050716.347850392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050716.445229397] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050716.445986970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050716.446747860] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050716.447918037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050716.448467425] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050716.502493994] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926971 Long: -76.50371432 -[vectornav-1] [INFO] [1746050716.503557105] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.95100000000002, 2.899, -5.837) -[mux-7] [INFO] [1746050716.545192623] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050716.545912922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050716.546709043] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050716.548081887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050716.549285886] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050716.585455095] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050716.587772530] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050716.588132555] [sailbot.teensy]: Wind angle: 244 -[mux-7] [INFO] [1746050716.589057439] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050716.589077657] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050716.589970878] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050716.590835167] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050716.645325808] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050716.646556315] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050716.647313741] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050716.649283586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050716.650297577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050716.745368511] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050716.746267201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050716.747013590] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050716.748763962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050716.749824646] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050716.835421295] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050716.837832697] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050716.837902537] [sailbot.teensy]: Wind angle: 246 -[mux-7] [INFO] [1746050716.838323372] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050716.838921566] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050716.839850510] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050716.840692042] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050716.844308584] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050716.844900050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050716.845424451] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050716.846572540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050716.847586209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050716.945056676] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050716.945775785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050716.946451531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050716.947817042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050716.948902886] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050717.003305777] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926827 Long: -76.50371945 -[vectornav-1] [INFO] [1746050717.004758844] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.22199999999998, -2.895, -5.559) -[mux-7] [INFO] [1746050717.044730146] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050717.045401603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050717.045902115] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050717.047166672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050717.048197433] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050717.085361499] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050717.087510520] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050717.087806289] [sailbot.teensy]: Wind angle: 250 -[teensy-2] [INFO] [1746050717.088774988] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050717.089122863] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050717.089732557] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050717.090617289] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050717.145266773] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050717.146041251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050717.146904102] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050717.149527413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050717.150600791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050717.245067461] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050717.245701096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050717.246497774] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050717.247665471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050717.248775277] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050717.335357788] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050717.337173319] [sailbot.teensy]: Wind angle: 250 -[trim_sail-4] [INFO] [1746050717.337842957] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050717.338200573] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050717.339153225] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050717.340017024] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050717.340345062] [sailbot.mux]: algo sail angle: 20 -[mux-7] [INFO] [1746050717.344255067] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050717.345025939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050717.345373645] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050717.346905985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050717.348077705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050717.445103943] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050717.445895569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050717.446600566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050717.448125146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050717.448880557] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050717.503440144] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926771 Long: -76.50372559 -[vectornav-1] [INFO] [1746050717.504800157] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.84799999999996, -0.305, -4.459) -[mux-7] [INFO] [1746050717.545100609] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050717.545773700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050717.546596689] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050717.547714113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050717.548847353] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050717.585233113] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050717.586952904] [sailbot.teensy]: Wind angle: 253 -[teensy-2] [INFO] [1746050717.587891218] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050717.588037898] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050717.588815392] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050717.589157295] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050717.589690522] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050717.645061808] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050717.645646061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050717.646505107] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050717.647609447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050717.648840044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050717.744835884] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050717.746365189] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050717.746648344] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050717.748484057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050717.749491424] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050717.835402546] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050717.837270747] [sailbot.teensy]: Wind angle: 253 -[teensy-2] [INFO] [1746050717.838248484] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050717.838330572] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050717.839163303] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050717.840033110] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050717.840313771] [sailbot.mux]: algo sail angle: 20 -[mux-7] [INFO] [1746050717.844197802] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050717.844785840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050717.845311519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050717.846538066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050717.847564832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050717.945217804] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050717.946129020] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050717.946693269] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050717.948357670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050717.949427591] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050718.003940879] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926628 Long: -76.50373113 -[vectornav-1] [INFO] [1746050718.005911600] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.89499999999998, 1.18, -4.535) -[mux-7] [INFO] [1746050718.044888218] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050718.045767247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050718.046149512] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050718.047829841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050718.048908466] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050718.085629460] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050718.088217343] [sailbot.teensy]: Wind angle: 249 -[teensy-2] [INFO] [1746050718.089229114] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050718.089427463] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050718.089446000] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050718.090183583] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050718.091114553] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050718.145226226] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050718.146036821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050718.146992470] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050718.148339585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050718.149528403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050718.245211486] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050718.245946521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050718.246610046] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050718.247887917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050718.248975957] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050718.335300373] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050718.337718002] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050718.338218028] [sailbot.teensy]: Wind angle: 248 -[mux-7] [INFO] [1746050718.339129499] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050718.339151232] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050718.340078781] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050718.340723578] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050718.344364148] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050718.344982555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050718.345528678] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050718.346848556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050718.347906644] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050718.445175355] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050718.445916017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050718.446902749] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050718.448093151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050718.449332681] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050718.503366954] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926591 Long: -76.5037368 -[vectornav-1] [INFO] [1746050718.505306745] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.43200000000002, -2.165, -5.364) -[mux-7] [INFO] [1746050718.544717002] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050718.545363305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050718.545885070] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050718.547118732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050718.548303793] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050718.585166380] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050718.587562398] [sailbot.teensy]: Wind angle: 249 -[trim_sail-4] [INFO] [1746050718.587756445] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050718.588480590] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050718.588820657] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050718.589365913] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050718.590235744] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050718.644905192] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050718.645715680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050718.646328819] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050718.647714612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050718.648477750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050718.745190379] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050718.746171720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050718.746909533] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050718.748797834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050718.750106162] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050718.835259966] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050718.836934141] [sailbot.teensy]: Wind angle: 250 -[teensy-2] [INFO] [1746050718.837999310] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050718.838047464] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050718.838859634] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050718.839123769] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050718.840027684] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050718.844256261] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050718.844913671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050718.845338579] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050718.846600182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050718.847752754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050718.945248574] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050718.946006005] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050718.947140938] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050718.948340345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050718.949380682] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050719.002962692] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926498 Long: -76.50374252 -[vectornav-1] [INFO] [1746050719.004573394] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.69899999999996, -0.473, -3.728) -[mux-7] [INFO] [1746050719.045180807] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050719.045914404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050719.046680830] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050719.047995420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050719.048490866] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050719.085336662] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050719.087539446] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050719.088140304] [sailbot.teensy]: Wind angle: 246 -[mux-7] [INFO] [1746050719.089067155] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050719.089409898] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050719.090283011] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050719.091187583] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050719.145271375] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050719.145745395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050719.146731752] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050719.147805448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050719.148869635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050719.244950715] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050719.245663335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050719.246247605] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050719.247573825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050719.248696205] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050719.335269732] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050719.336988597] [sailbot.teensy]: Wind angle: 241 -[trim_sail-4] [INFO] [1746050719.337477597] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050719.337936051] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050719.338861794] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050719.339800119] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050719.339808872] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746050719.344221391] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050719.344805719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050719.345313291] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050719.346600716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050719.347589975] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050719.445243429] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050719.446000078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050719.446967877] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050719.448300472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050719.449394913] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050719.502360911] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926437 Long: -76.50374864 -[vectornav-1] [INFO] [1746050719.503513947] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.47299999999996, -1.201, -4.134) -[mux-7] [INFO] [1746050719.544927850] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050719.545686297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050719.546207565] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050719.547596406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050719.548695043] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050719.585463251] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050719.587840057] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050719.587961842] [sailbot.teensy]: Wind angle: 241 -[teensy-2] [INFO] [1746050719.589204289] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050719.589285380] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050719.590193677] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050719.591036619] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050719.645307032] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050719.646276879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050719.646841252] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050719.649023676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050719.650140860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050719.744959140] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050719.746275684] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050719.746265847] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050719.748607260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050719.749868040] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050719.835469133] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050719.837539703] [sailbot.teensy]: Wind angle: 241 -[trim_sail-4] [INFO] [1746050719.837861833] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050719.838521730] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050719.839430099] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050719.839301837] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050719.840754803] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050719.844514963] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050719.845152182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050719.845644316] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050719.846897340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050719.848181084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050719.945495842] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050719.946304958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050719.947467469] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050719.948623076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050719.949858923] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050720.003593721] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469264 Long: -76.50375392 -[vectornav-1] [INFO] [1746050720.005304885] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.471, 0.441, -3.153) -[mux-7] [INFO] [1746050720.044966295] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050720.045715670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050720.046133521] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050720.047490070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050720.048506280] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050720.085546110] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050720.087906608] [sailbot.teensy]: Wind angle: 241 -[trim_sail-4] [INFO] [1746050720.087912116] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050720.088908208] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050720.089384023] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050720.089801899] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050720.090678321] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050720.145245473] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050720.145977280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050720.146902676] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050720.147972792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050720.149088657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050720.245499132] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050720.246198998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050720.247002832] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050720.248442112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050720.249633357] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050720.335508517] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050720.337878618] [sailbot.teensy]: Wind angle: 241 -[trim_sail-4] [INFO] [1746050720.337906427] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050720.338866397] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050720.339515432] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050720.339740566] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050720.340663257] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050720.344536286] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050720.344949963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050720.345673425] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050720.346626186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050720.347728857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050720.445435698] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050720.445920539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050720.447019367] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050720.448340957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050720.449245982] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050720.503157640] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926385 Long: -76.50375956 -[vectornav-1] [INFO] [1746050720.505002791] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.63400000000001, -2.82, -2.226) -[mux-7] [INFO] [1746050720.545392411] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050720.546079339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050720.546991090] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050720.548268083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050720.549316579] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050720.585227106] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050720.587486122] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050720.587765213] [sailbot.teensy]: Wind angle: 240 -[mux-7] [INFO] [1746050720.587945745] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050720.588817328] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050720.589727301] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050720.590590297] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050720.645148876] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050720.645943223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050720.646632945] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050720.647891374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050720.648476556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050720.745408454] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050720.746164526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050720.747007074] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050720.748520085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050720.749709715] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050720.835548551] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050720.838208362] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050720.838584158] [sailbot.teensy]: Wind angle: 240 -[mux-7] [INFO] [1746050720.838800388] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050720.839592858] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050720.839976018] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050720.840357583] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050720.844649731] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050720.845749795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050720.845920125] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050720.848093144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050720.849129380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050720.945243883] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050720.946098436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050720.946819102] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050720.948528587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050720.949652295] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050721.002477326] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926377 Long: -76.50376561 -[vectornav-1] [INFO] [1746050721.003491791] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (179.64099999999996, 0.986, -2.401) -[mux-7] [INFO] [1746050721.045419809] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050721.046296356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050721.046931236] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050721.048079854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050721.048619940] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050721.085521313] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050721.087989326] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050721.088532530] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050721.088563485] [sailbot.teensy]: Wind angle: 239 -[teensy-2] [INFO] [1746050721.089935280] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050721.090830777] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050721.091646001] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050721.145024278] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050721.145665330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050721.146408375] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050721.147701142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050721.148739486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050721.245666391] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050721.246241786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050721.247387139] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050721.248676741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050721.249373921] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050721.335218631] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050721.337073331] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050721.337388999] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050721.338040407] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050721.339021385] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050721.339627959] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050721.339936687] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050721.344411277] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050721.344840275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050721.345558370] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050721.346532366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050721.347558550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050721.445029196] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050721.445583106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050721.446391316] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050721.447803373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050721.448517948] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050721.503871236] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926331 Long: -76.50377086 -[vectornav-1] [INFO] [1746050721.505198848] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.812, 0.948, -3.663) -[mux-7] [INFO] [1746050721.545271934] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050721.546302991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050721.546802703] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050721.548541730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050721.549593303] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050721.585191016] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050721.587027500] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050721.587704976] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050721.588010716] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050721.588922146] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050721.588534575] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050721.589814187] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050721.645259441] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050721.646021175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050721.646772064] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050721.648560912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050721.649701249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050721.745657313] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050721.747391223] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050721.748199932] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050721.750496498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050721.751800411] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050721.835262336] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050721.837394947] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050721.837493674] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050721.838347183] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050721.838728032] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050721.839489422] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050721.840394025] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050721.844368536] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050721.844898536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050721.845449610] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050721.846693933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050721.847688245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050721.945384356] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050721.946276300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050721.946901500] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050721.948479857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050721.948999771] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050722.003813801] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926251 Long: -76.50377605 -[vectornav-1] [INFO] [1746050722.005652316] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.678, -4.107, -5.511) -[mux-7] [INFO] [1746050722.045067442] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050722.045713675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050722.046357818] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050722.047728058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050722.048778674] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050722.085314610] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050722.087175803] [sailbot.teensy]: Wind angle: 237 -[teensy-2] [INFO] [1746050722.088179935] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050722.088305611] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050722.088775319] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050722.089079512] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050722.089951561] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050722.145116237] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050722.145822591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050722.146517472] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050722.147996270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050722.149111587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050722.245334105] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050722.246208787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050722.246969266] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050722.248254467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050722.248691761] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050722.335146778] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050722.336988826] [sailbot.teensy]: Wind angle: 237 -[trim_sail-4] [INFO] [1746050722.337437710] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050722.337976472] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050722.338841341] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050722.339013978] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050722.339884675] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050722.344272572] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050722.344790178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050722.345777985] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050722.346504922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050722.347682769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050722.445103847] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050722.445780097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050722.446560969] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050722.447829276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050722.448959287] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050722.502655511] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926297 Long: -76.5037821 -[vectornav-1] [INFO] [1746050722.503725539] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (175.31600000000003, 5.728, -5.54) -[mux-7] [INFO] [1746050722.545263847] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050722.545986276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050722.546888785] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050722.548207037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050722.549265563] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050722.585352425] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050722.587771229] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050722.588267143] [sailbot.teensy]: Wind angle: 237 -[mux-7] [INFO] [1746050722.588486009] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050722.589316538] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050722.590205286] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050722.591077276] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050722.645239675] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050722.645929634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050722.646751970] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050722.648047974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050722.655774932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050722.745346719] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050722.746172904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050722.746889663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050722.748326508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050722.749539487] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050722.835485886] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050722.837582312] [sailbot.teensy]: Wind angle: 237 -[trim_sail-4] [INFO] [1746050722.838236951] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050722.838627531] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050722.839558118] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050722.840422555] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050722.840463583] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746050722.844469573] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050722.845061214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050722.845633676] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050722.846771875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050722.847863535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050722.945323456] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050722.946883130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050722.947177013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050722.949294929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050722.950341346] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050723.003558818] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926286 Long: -76.50378662 -[vectornav-1] [INFO] [1746050723.006218721] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.72500000000002, -3.363, -5.509) -[mux-7] [INFO] [1746050723.045394469] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050723.046034700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050723.046930887] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050723.048429399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050723.049602887] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050723.085171239] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050723.086803900] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050723.087562115] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050723.087672981] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050723.088577985] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050723.088543470] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050723.089458551] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050723.144934693] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050723.145719448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050723.146344565] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050723.147474623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050723.147978738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050723.245144548] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050723.245884400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050723.246569483] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050723.247989113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050723.248676458] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050723.335224746] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050723.337630996] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050723.337709126] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050723.338844136] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050723.338998871] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050723.339767512] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050723.340645527] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050723.344457033] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050723.345076015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050723.345573537] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050723.346800726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050723.347867206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050723.445323374] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050723.446335097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050723.446836083] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050723.448790451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050723.449661404] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050723.502555820] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926295 Long: -76.50379152 -[vectornav-1] [INFO] [1746050723.503758268] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (172.34199999999998, -0.002, -3.778) -[mux-7] [INFO] [1746050723.545355078] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050723.546085472] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050723.546869860] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050723.548379357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050723.549559998] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050723.585907464] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050723.588222754] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050723.589286706] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050723.589425425] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050723.590393052] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050723.591276816] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050723.591561325] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746050723.592866106] [sailbot.mux]: controller_app rudder angle: 25 -[mux-7] [INFO] [1746050723.645030002] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050723.645659181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050723.646386464] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050723.647514530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050723.648609059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050723.745439763] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050723.745961403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050723.746996667] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050723.749058664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050723.749618677] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050723.835385050] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050723.837641746] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050723.837767341] [sailbot.teensy]: Wind angle: 238 -[mux-7] [INFO] [1746050723.838779183] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050723.839361096] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050723.840316990] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050723.841152607] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050723.844472384] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050723.845042287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050723.845585368] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050723.846747435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050723.847817466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050723.945426086] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050723.945949843] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050723.947225356] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050723.948471137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050723.949648850] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050724.002966010] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926325 Long: -76.50379639 -[vectornav-1] [INFO] [1746050724.004506439] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.52099999999996, -1.323, -0.656) -[mux-7] [INFO] [1746050724.045327248] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050724.046015767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050724.047026463] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050724.048282442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050724.049967297] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050724.085545692] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050724.087588223] [sailbot.teensy]: Wind angle: 240 -[trim_sail-4] [INFO] [1746050724.088120297] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050724.089390144] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050724.089461664] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050724.090369053] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746050724.091233195] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050724.144887505] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050724.145450384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050724.146195283] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050724.147237242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050724.148224513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050724.245526514] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050724.246186411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050724.247132415] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050724.248334843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050724.249648573] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050724.335284429] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050724.337236042] [sailbot.teensy]: Wind angle: 240 -[trim_sail-4] [INFO] [1746050724.337578777] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050724.338201536] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050724.339008949] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746050724.339105511] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050724.339380070] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050724.344398604] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050724.345054534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050724.345562002] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050724.346780210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050724.347845623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050724.444839446] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050724.445424900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050724.446014801] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050724.447195231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050724.448213715] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050724.502714651] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926409 Long: -76.50380099 -[vectornav-1] [INFO] [1746050724.503843823] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (153.48299999999995, 3.592, -0.381) -[mux-7] [INFO] [1746050724.545152358] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050724.545796439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050724.546584179] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050724.547844212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050724.548357831] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050724.585300339] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050724.587603329] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050724.589212606] [sailbot.teensy]: Wind angle: 239 -[mux-7] [INFO] [1746050724.589401170] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050724.590186550] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050724.591085327] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746050724.591908363] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050724.644980064] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050724.645682471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050724.646258582] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050724.647589727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050724.648708765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050724.745318111] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050724.746127468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050724.746871916] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050724.747831157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050724.748298654] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050724.835389701] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050724.837828676] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050724.838343093] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050724.839180772] [sailbot.teensy]: Wind angle: 229 -[teensy-2] [INFO] [1746050724.840116216] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050724.841000713] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746050724.841808238] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050724.844512553] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050724.844943781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050724.845627682] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050724.846610802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050724.847669710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050724.945360926] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050724.946157592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050724.946831899] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050724.948116421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050724.949026050] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050725.002398869] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926493 Long: -76.50380407 -[vectornav-1] [INFO] [1746050725.003408087] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (133.06600000000003, -1.926, -3.259) -[mux-7] [INFO] [1746050725.045056832] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050725.045763802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050725.046336129] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050725.047693303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050725.048788088] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050725.085400941] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050725.087616026] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050725.088274816] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050725.089171494] [sailbot.teensy]: Wind angle: 211 -[teensy-2] [INFO] [1746050725.090216345] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050725.091049066] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746050725.091896324] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050725.145149749] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050725.145963417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050725.146971345] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050725.147758166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050725.148881793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050725.245357606] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050725.245943728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050725.246879963] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050725.247925115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050725.249059877] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050725.335275323] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050725.337186469] [sailbot.teensy]: Wind angle: 207 -[teensy-2] [INFO] [1746050725.338276160] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050725.338317912] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050725.339099194] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050725.339279742] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746050725.340317998] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050725.344437002] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050725.344832419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050725.345588738] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050725.346589695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050725.347928108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050725.445476419] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050725.446212173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050725.447239927] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050725.448644948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050725.449810950] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050725.503356595] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692665 Long: -76.50380537 -[vectornav-1] [INFO] [1746050725.504936606] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (111.77699999999999, -1.271, 0.691) -[mux-7] [INFO] [1746050725.545091462] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050725.545652816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050725.546465366] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050725.547554741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050725.548400247] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050725.585225760] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050725.587649663] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050725.588331093] [sailbot.teensy]: Wind angle: 206 -[mux-7] [INFO] [1746050725.588513035] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050725.589252243] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050725.590119458] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746050725.590954287] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050725.645138274] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050725.646062854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050725.646593562] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050725.648314201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050725.649373544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050725.744980763] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050725.745730722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050725.746308193] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050725.747763525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050725.750184731] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050725.835215746] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050725.837010392] [sailbot.teensy]: Wind angle: 197 -[trim_sail-4] [INFO] [1746050725.837810444] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050725.837940439] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050725.839095920] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746050725.839414166] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050725.839555244] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050725.844536510] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050725.845191328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050725.845654099] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050725.846948278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050725.848079511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050725.945515900] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050725.946406812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050725.947264351] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050725.947759599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050725.948215043] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050726.002565233] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926867 Long: -76.50380552 -[vectornav-1] [INFO] [1746050726.003622809] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (89.47800000000001, 2.114, 4.437) -[mux-7] [INFO] [1746050726.045378826] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050726.046060136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050726.046957658] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050726.048326657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050726.049239826] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050726.085369456] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050726.087190957] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746050726.088229765] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050726.088087002] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050726.088805007] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050726.089126359] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746050726.090009448] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050726.145129522] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050726.145920729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050726.147367454] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050726.148030776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050726.148541806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050726.245188836] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050726.245853986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050726.246602670] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050726.247867255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050726.248947542] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050726.335084374] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050726.336876899] [sailbot.teensy]: Wind angle: 177 -[teensy-2] [INFO] [1746050726.337794408] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050726.338626774] [sailbot.mux]: algo sail angle: 0 -[trim_sail-4] [INFO] [1746050726.338649772] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050726.338670398] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746050726.339054356] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050726.344325630] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050726.344982142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050726.345422357] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050726.346804890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050726.347843974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050726.445235448] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050726.445733185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050726.446605203] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050726.447611635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050726.448415785] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050726.503285050] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927004 Long: -76.50380458 -[vectornav-1] [INFO] [1746050726.505307845] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (68.46300000000002, -1.119, 5.656) -[mux-7] [INFO] [1746050726.545509687] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050726.546291424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050726.547096939] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050726.548515993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746050726.549568509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050726.563209744] [sailbot.mux]: controller_app rudder angle: 24 -[teensy-2] [INFO] [1746050726.585438599] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050726.587711350] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050726.587982752] [sailbot.teensy]: Wind angle: 160 -[teensy-2] [INFO] [1746050726.589014614] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050726.589871999] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050726.589920569] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746050726.590820190] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050726.644622605] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050726.646005562] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050726.646014052] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050726.648066614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050726.649227116] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050726.745595425] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050726.746246111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050726.747225701] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050726.748731534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050726.749904197] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050726.835369892] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050726.837146408] [sailbot.teensy]: Wind angle: 148 -[trim_sail-4] [INFO] [1746050726.837953058] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050726.838077203] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050726.838606267] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050726.838971714] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746050726.839605014] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050726.844746148] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050726.845342872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050726.846040063] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050726.847145346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050726.848383075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050726.945316921] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050726.946066565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050726.946828367] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050726.948085428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050726.949251172] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050727.003044082] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927135 Long: -76.50380309 -[vectornav-1] [INFO] [1746050727.004263355] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.103999999999985, 0.02, 7.013) -[mux-7] [INFO] [1746050727.045437085] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050727.046157569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050727.047159854] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050727.049003648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050727.050140676] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050727.085440946] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050727.087654754] [sailbot.teensy]: Wind angle: 131 -[trim_sail-4] [INFO] [1746050727.088585353] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050727.088789516] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050727.089714563] [sailbot.teensy]: Actual tail angle: 49 -[mux-7] [INFO] [1746050727.089841087] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050727.090601078] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050727.145034636] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050727.145989398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050727.146599571] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050727.148283567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050727.148777190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050727.245428862] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050727.246148031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050727.246996202] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050727.248386018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050727.249007135] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050727.335362867] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050727.337890728] [sailbot.teensy]: Wind angle: 122 -[trim_sail-4] [INFO] [1746050727.338036864] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050727.339010288] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050727.339766883] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050727.340708550] [sailbot.teensy]: Actual tail angle: 49 -[teensy-2] [INFO] [1746050727.341567917] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050727.344359506] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050727.344885739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050727.345523178] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050727.346554126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050727.347552252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050727.445403941] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050727.446281017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050727.446963595] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050727.448624965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050727.449187930] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050727.503424118] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927217 Long: -76.5038 -[vectornav-1] [INFO] [1746050727.504694350] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.547000000000025, -1.063, 11.434) -[mux-7] [INFO] [1746050727.545118241] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050727.546066623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050727.546568022] [sailbot.mux]: Published rudder angle from controller_app: 24 -[teensy-2] [INFO] [1746050727.548393229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 24 -[teensy-2] [INFO] [1746050727.549568869] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050727.576001174] [sailbot.mux]: controller_app rudder angle: 0 -[teensy-2] [INFO] [1746050727.585221164] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050727.587516618] [sailbot.teensy]: Wind angle: 116 -[trim_sail-4] [INFO] [1746050727.587593661] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050727.588475114] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050727.588364277] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050727.589379031] [sailbot.teensy]: Actual tail angle: 49 -[teensy-2] [INFO] [1746050727.590260850] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050727.645014741] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050727.645683740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050727.646315820] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050727.647679502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050727.648716475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050727.745246567] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050727.746068398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050727.746829701] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050727.748276930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050727.749483645] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050727.835694198] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050727.837831872] [sailbot.teensy]: Wind angle: 104 -[teensy-2] [INFO] [1746050727.838845460] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050727.838757243] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050727.839813881] [sailbot.teensy]: Actual tail angle: 49 -[mux-7] [INFO] [1746050727.840273749] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050727.840773461] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050727.844277698] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050727.845025319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050727.845397458] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050727.846807190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050727.847830178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050727.945094433] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050727.945890135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050727.946544068] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050727.948214285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050727.948738881] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050728.003062889] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927243 Long: -76.50379641 -[vectornav-1] [INFO] [1746050728.004380210] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (11.158000000000015, -3.464, 11.519) -[mux-7] [INFO] [1746050728.045025224] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050728.045660469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050728.046213686] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050728.047621272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050728.048771670] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050728.085560780] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050728.088306440] [sailbot.teensy]: Wind angle: 89 -[trim_sail-4] [INFO] [1746050728.088815113] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050728.089440242] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050728.090393522] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050728.090704509] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050728.091312764] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050728.145157706] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050728.146088667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050728.146634777] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050728.148422031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050728.149605920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050728.245236724] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050728.246971621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050728.247008644] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050728.249401189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050728.250428981] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050728.335470591] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050728.337331427] [sailbot.teensy]: Wind angle: 92 -[trim_sail-4] [INFO] [1746050728.337848450] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050728.339185891] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050728.339776089] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050728.340130359] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050728.340844969] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050728.344323109] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050728.344885026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050728.345487551] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050728.346540972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050728.347576119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050728.445330217] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050728.446216067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050728.447060148] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050728.448528136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050728.449674672] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050728.503136951] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927156 Long: -76.50379167 -[vectornav-1] [INFO] [1746050728.504599995] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (356.418, 1.838, 14.267) -[mux-7] [INFO] [1746050728.545028043] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050728.545942082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050728.546373334] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050728.547739261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050728.548231982] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050728.585522521] [sailbot.teensy]: Check telemetry callback entered -[mux-7] [INFO] [1746050728.587530215] [sailbot.mux]: controller_app rudder angle: -5 -[teensy-2] [INFO] [1746050728.587797479] [sailbot.teensy]: Wind angle: 89 -[trim_sail-4] [INFO] [1746050728.588486753] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050728.588817758] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050728.589811373] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050728.590883743] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050728.591443926] [sailbot.mux]: algo sail angle: 35 -[mux-7] [INFO] [1746050728.645223721] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050728.646233794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050728.646771595] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050728.648893368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050728.649910289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050728.744931714] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050728.745658334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050728.746708278] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050728.747524787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050728.747995346] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050728.835429840] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050728.837171863] [sailbot.teensy]: Wind angle: 82 -[trim_sail-4] [INFO] [1746050728.837958124] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050728.838122068] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050728.839018423] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050728.839211113] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050728.839885643] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050728.844293517] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050728.844785722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050728.845399157] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050728.846538713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050728.847575695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050728.945390388] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050728.946346505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050728.947066472] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050728.948772082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050728.949846000] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050729.002595025] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692704 Long: -76.50378721 -[vectornav-1] [INFO] [1746050729.003650198] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (345.3, 0.856, 12.152) -[mux-7] [INFO] [1746050729.045578442] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050729.046609785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050729.047242635] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050729.048952211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050729.050119234] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050729.085413378] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050729.088377715] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746050729.088586323] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050729.089705132] [sailbot.teensy]: Wind angle: 70 -[teensy-2] [INFO] [1746050729.090690956] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050729.091602143] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050729.092447212] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050729.145173172] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050729.145874071] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050729.146772067] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050729.148176599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050729.149235692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050729.245178534] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050729.246030753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050729.247208244] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050729.248209313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050729.248673918] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050729.335441986] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050729.337457240] [sailbot.teensy]: Wind angle: 64 -[teensy-2] [INFO] [1746050729.338462150] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050729.338051363] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050729.339394344] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050729.340353283] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050729.339848888] [sailbot.mux]: algo sail angle: 50 -[mux-7] [INFO] [1746050729.344301257] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050729.344818000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050729.345376517] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050729.346591611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050729.347638779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050729.445343804] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050729.446392204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050729.447022091] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050729.448733643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050729.449838104] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050729.504192313] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692698 Long: -76.50378347 -[vectornav-1] [INFO] [1746050729.506562268] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (344.493, -3.785, 7.999) -[mux-7] [INFO] [1746050729.544886261] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050729.545677821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050729.546290413] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050729.547844698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050729.548958423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050729.583207579] [sailbot.mux]: controller_app rudder angle: -12 -[teensy-2] [INFO] [1746050729.585000838] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050729.586883638] [sailbot.teensy]: Wind angle: 74 -[trim_sail-4] [INFO] [1746050729.587112137] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050729.587800194] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050729.588545471] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050729.588691672] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050729.589586060] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050729.645131312] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050729.646209492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050729.646817612] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050729.648043780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050729.648504042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050729.744631772] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050729.745801525] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050729.745911441] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050729.747595963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050729.748640168] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050729.835338288] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050729.837558485] [sailbot.teensy]: Wind angle: 86 -[trim_sail-4] [INFO] [1746050729.837648044] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050729.838549081] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050729.839341246] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050729.839468677] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050729.840354491] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050729.844394480] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050729.844931248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050729.845571641] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050729.846736568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050729.847763644] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050729.945152707] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050729.945845694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050729.946471595] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050729.947590079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050729.948050528] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050730.004044750] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926876 Long: -76.50377852 -[vectornav-1] [INFO] [1746050730.005936921] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (346.995, -0.812, 10.614) -[mux-7] [INFO] [1746050730.045333388] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050730.046277509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050730.046769832] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050730.048389752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050730.049339172] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050730.085315175] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050730.087420158] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050730.087647705] [sailbot.teensy]: Wind angle: 91 -[teensy-2] [INFO] [1746050730.088617094] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050730.088870214] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050730.089594943] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050730.090488215] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050730.144885752] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050730.145817578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050730.146511592] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050730.147873035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050730.149039286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050730.245014216] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050730.245707229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050730.246366507] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050730.247614427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050730.248061673] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050730.335230221] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050730.337717120] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050730.338547120] [sailbot.teensy]: Wind angle: 91 -[mux-7] [INFO] [1746050730.338818150] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050730.339977676] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050730.341017437] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050730.342192341] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050730.344391790] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050730.344893249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050730.345565113] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050730.346655655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050730.347706605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050730.445655379] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050730.446607101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050730.447303997] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050730.449185322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050730.450373872] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050730.502630011] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926764 Long: -76.50377315 -[vectornav-1] [INFO] [1746050730.503650368] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (357.852, 1.871, 12.27) -[mux-7] [INFO] [1746050730.545292825] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050730.546409348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050730.546870756] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050730.548884314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050730.549961411] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050730.585504482] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050730.587558477] [sailbot.teensy]: Wind angle: 92 -[trim_sail-4] [INFO] [1746050730.587941653] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050730.588571021] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050730.588733478] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050730.589524900] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050730.590394322] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050730.645100233] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050730.645887186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050730.646584626] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050730.648321501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050730.649356438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050730.745405574] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050730.746511214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050730.747240529] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050730.748804040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050730.749964151] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050730.835206303] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050730.837469301] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050730.837935808] [sailbot.teensy]: Wind angle: 93 -[mux-7] [INFO] [1746050730.838760133] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050730.838846967] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050730.839732175] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050730.840628364] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050730.844282371] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050730.844812279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050730.845358825] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050730.846485939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050730.847423070] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050730.944898681] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050730.945730731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050730.946140776] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050730.947596080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050730.948601791] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050731.003656391] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926722 Long: -76.50376948 -[vectornav-1] [INFO] [1746050731.005685190] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (9.396000000000015, -0.189, 13.466) -[mux-7] [INFO] [1746050731.045116246] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050731.045804493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050731.046548801] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050731.047715822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050731.048767685] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050731.085536047] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050731.087620822] [sailbot.teensy]: Wind angle: 94 -[trim_sail-4] [INFO] [1746050731.088147325] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050731.089393878] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050731.090434022] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050731.091333177] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050731.092182339] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050731.145076014] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050731.145729224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050731.146609171] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050731.147682475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050731.148721278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050731.245033587] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050731.245928455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050731.246653432] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050731.247857585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050731.248903013] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050731.335382027] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050731.337732292] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050731.338733854] [sailbot.teensy]: Wind angle: 96 -[mux-7] [INFO] [1746050731.338977683] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050731.339140433] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050731.339533141] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050731.339923001] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050731.344328163] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050731.344841446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050731.345998778] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050731.346611195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050731.347692088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050731.445153759] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050731.446059401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050731.446536103] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050731.448029087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050731.449148361] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050731.503157439] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926796 Long: -76.50376588 -[vectornav-1] [INFO] [1746050731.504625401] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (22.88900000000001, -2.001, 12.563) -[mux-7] [INFO] [1746050731.545048021] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050731.545744940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050731.546873795] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050731.547859532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050731.548677508] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050731.585395867] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050731.587712205] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050731.588730381] [sailbot.teensy]: Wind angle: 105 -[mux-7] [INFO] [1746050731.588909193] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050731.589670757] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050731.590582285] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050731.591431499] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050731.596879596] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746050731.645152538] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050731.645874561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050731.646666050] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050731.648450008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050731.649535178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050731.745260003] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050731.746272446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050731.746722561] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050731.748647500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050731.749717486] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050731.835316375] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050731.837123179] [sailbot.teensy]: Wind angle: 116 -[teensy-2] [INFO] [1746050731.838112685] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050731.838223233] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050731.839007498] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050731.839055209] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050731.840013087] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050731.844421601] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050731.844950280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050731.845514115] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050731.846606470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050731.847611414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050731.945303677] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050731.945878115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050731.947089362] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050731.948087462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050731.949149167] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050732.003779087] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926907 Long: -76.50376167 -[vectornav-1] [INFO] [1746050732.005753113] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.303999999999974, -0.339, 16.374) -[mux-7] [INFO] [1746050732.045073548] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050732.045825890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050732.046449231] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050732.047725642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050732.048782592] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050732.085182002] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050732.087400433] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050732.087818606] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050732.088077295] [sailbot.teensy]: Wind angle: 127 -[teensy-2] [INFO] [1746050732.089012098] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050732.089901101] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050732.090731330] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050732.145201578] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050732.146253329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050732.146733105] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050732.148385888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050732.149576345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050732.245029504] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050732.245658110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050732.246544230] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050732.247666812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050732.248183844] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050732.335193399] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050732.336857806] [sailbot.teensy]: Wind angle: 131 -[trim_sail-4] [INFO] [1746050732.337439254] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050732.337782624] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050732.338700701] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050732.339762602] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050732.340127586] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050732.344479138] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050732.344976427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050732.345677549] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050732.346835579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050732.347901558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050732.445361922] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050732.446355322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050732.446988098] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050732.448717975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050732.449929467] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050732.502317756] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927082 Long: -76.50375815 -[vectornav-1] [INFO] [1746050732.503336402] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.47300000000001, -0.034, 13.561) -[mux-7] [INFO] [1746050732.545237913] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050732.546298095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050732.546839567] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050732.548618742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050732.549667559] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050732.585746042] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050732.588822238] [sailbot.teensy]: Wind angle: 132 -[trim_sail-4] [INFO] [1746050732.589043649] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050732.589260069] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050732.589844551] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050732.590814964] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050732.591714346] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050732.645076586] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050732.645771549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050732.646467054] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050732.647919541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050732.648995723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050732.745440054] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050732.746485394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050732.747039106] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050732.748929819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050732.750069083] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050732.835393650] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050732.837820989] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050732.837980752] [sailbot.teensy]: Wind angle: 132 -[mux-7] [INFO] [1746050732.838826482] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050732.838902247] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050732.839791096] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050732.840676503] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050732.844554775] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050732.844938020] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050732.845721335] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050732.846665420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050732.847700186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050732.945420991] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050732.946064247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050732.946985473] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050732.948195709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050732.949381939] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050733.003668623] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927355 Long: -76.50375678 -[vectornav-1] [INFO] [1746050733.004988688] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.81400000000002, -0.914, 9.826) -[mux-7] [INFO] [1746050733.045487615] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050733.046067805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050733.047066637] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050733.048281093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050733.049402519] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050733.085330425] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050733.087461443] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050733.087917936] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050733.088332807] [sailbot.teensy]: Wind angle: 132 -[teensy-2] [INFO] [1746050733.089259179] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050733.090111608] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050733.090931641] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050733.145072820] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050733.145663081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050733.146594696] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050733.147570998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050733.148606366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050733.245364733] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050733.245837931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050733.246912489] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050733.247924555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050733.249025363] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050733.335355008] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050733.337279507] [sailbot.teensy]: Wind angle: 134 -[trim_sail-4] [INFO] [1746050733.337913502] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050733.339016342] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050733.339183039] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050733.339596777] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050733.339962502] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050733.344385632] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050733.345025882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050733.345508862] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050733.346932057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050733.347956761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050733.444773451] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050733.445286243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050733.445915483] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050733.447024683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050733.448068648] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050733.503292499] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927584 Long: -76.50375463 -[vectornav-1] [INFO] [1746050733.505483252] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (64.62, 3.518, 10.986) -[mux-7] [INFO] [1746050733.544719532] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050733.545508913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050733.546579842] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050733.547274794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050733.548333522] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050733.585292111] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050733.587505768] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050733.588024806] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050733.588864034] [sailbot.teensy]: Wind angle: 145 -[teensy-2] [INFO] [1746050733.589884319] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050733.590784634] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050733.591619251] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050733.644857817] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050733.645501258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050733.646100029] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050733.647345486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050733.648514075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050733.744986955] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050733.745975003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050733.746407125] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050733.747932470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050733.749019765] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050733.835415663] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050733.837353499] [sailbot.teensy]: Wind angle: 149 -[trim_sail-4] [INFO] [1746050733.837753497] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050733.838299073] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050733.838315016] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050733.839269752] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050733.840110704] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050733.844479479] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050733.844978510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050733.845686340] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050733.846794350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050733.848058023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050733.945246078] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050733.946071463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050733.946820337] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050733.948473670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050733.949478929] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050734.002417135] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927801 Long: -76.50375314 -[vectornav-1] [INFO] [1746050734.003515467] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (71.64499999999998, -4.777, 9.123) -[mux-7] [INFO] [1746050734.045267516] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050734.046055003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050734.046747363] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050734.048248665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050734.049329894] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050734.085382171] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050734.087254806] [sailbot.teensy]: Wind angle: 149 -[trim_sail-4] [INFO] [1746050734.087719969] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050734.088280299] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050734.088909358] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050734.089208389] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050734.090106649] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050734.145008439] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050734.145701979] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050734.146497071] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050734.147874197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050734.148672883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050734.244888356] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050734.245974282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050734.246175046] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050734.247822355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050734.248949688] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050734.334790850] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050734.336259637] [sailbot.teensy]: Wind angle: 149 -[teensy-2] [INFO] [1746050734.337012748] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050734.337794904] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746050734.336438397] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050734.337999667] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050734.338605359] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050734.343999322] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050734.344710795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050734.345459329] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050734.346260883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050734.347284278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050734.445084137] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050734.445865952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050734.446459677] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050734.448057187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050734.449146818] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050734.502133140] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928102 Long: -76.50375247 -[vectornav-1] [INFO] [1746050734.503050753] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (77.75299999999999, 3.617, 6.483) -[mux-7] [INFO] [1746050734.544953070] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050734.545771908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050734.546563880] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050734.547686355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050734.548751242] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050734.585590506] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050734.588299982] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050734.588879362] [sailbot.teensy]: Wind angle: 150 -[mux-7] [INFO] [1746050734.589259072] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050734.589861605] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050734.590874797] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050734.591811897] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050734.609637171] [sailbot.mux]: controller_app rudder angle: -1 -[mux-7] [INFO] [1746050734.645119734] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050734.645828231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050734.646664916] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050734.648132497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050734.649344380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050734.745221026] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050734.746030015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050734.746720822] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050734.748227057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050734.749286321] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050734.835145409] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050734.836703203] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746050734.837150459] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050734.837605884] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050734.838485830] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050734.839116715] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050734.839340717] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050734.844274353] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050734.844810155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050734.845413247] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050734.846554800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050734.847561466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050734.945212020] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050734.946198291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050734.946729679] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050734.947921386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050734.948594096] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050735.003561268] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928284 Long: -76.50375225 -[vectornav-1] [INFO] [1746050735.005393660] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (81.517, -0.28, 6.442) -[mux-7] [INFO] [1746050735.044724874] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050735.045335816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050735.045882220] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050735.047077934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050735.048104891] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050735.085175346] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050735.086687036] [sailbot.teensy]: Wind angle: 153 -[teensy-2] [INFO] [1746050735.087544862] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050735.087191904] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050735.088349166] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050735.089211314] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050735.088899761] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050735.144929745] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050735.145756305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050735.146296274] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050735.147724780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050735.148760637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050735.245069860] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050735.245904457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050735.246511706] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050735.247682856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050735.248176630] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050735.335168890] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050735.336946970] [sailbot.teensy]: Wind angle: 156 -[trim_sail-4] [INFO] [1746050735.337390835] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050735.337907212] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050735.338837446] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050735.339416158] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050735.339775604] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050735.344368542] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050735.345083395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050735.345527427] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050735.346674392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050735.347754153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050735.445197683] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050735.445912425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050735.446943608] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050735.448010175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050735.448472380] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050735.503026678] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928466 Long: -76.50375163 -[vectornav-1] [INFO] [1746050735.504139492] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (85.94, -1.077, 5.963) -[mux-7] [INFO] [1746050735.545112273] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050735.545997495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050735.546745710] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050735.547967781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050735.548865802] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050735.585455916] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050735.587763279] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050735.587873848] [sailbot.teensy]: Wind angle: 156 -[mux-7] [INFO] [1746050735.589325256] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050735.589749072] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050735.590707069] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050735.591575652] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050735.645214891] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050735.646169594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050735.646903901] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050735.649000219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050735.650098401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050735.745221958] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050735.746036483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050735.746970442] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050735.748254057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050735.749340142] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050735.835229554] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050735.836872981] [sailbot.teensy]: Wind angle: 156 -[teensy-2] [INFO] [1746050735.837782662] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050735.837861419] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050735.838695484] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050735.839074884] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050735.839625310] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050735.844502394] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050735.844990513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050735.845788676] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050735.846795638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050735.847859451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050735.945370326] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050735.946216811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050735.947158561] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050735.948542994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050735.949609459] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050736.003826837] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928668 Long: -76.50375167 -[vectornav-1] [INFO] [1746050736.005607455] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (88.38299999999998, -0.918, 4.843) -[mux-7] [INFO] [1746050736.045268838] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050736.046034027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050736.046780687] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050736.048462996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050736.049684660] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050736.085514363] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050736.087360788] [sailbot.teensy]: Wind angle: 157 -[teensy-2] [INFO] [1746050736.088390833] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050736.089327146] [sailbot.teensy]: Actual tail angle: 24 -[trim_sail-4] [INFO] [1746050736.088838617] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050736.090199237] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050736.090865933] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050736.145036694] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050736.145804478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050736.146398577] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050736.147749000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050736.148867917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050736.245236459] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050736.245810662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050736.246741051] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050736.247774459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050736.248937480] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050736.335346833] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050736.337561217] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050736.337901816] [sailbot.teensy]: Wind angle: 158 -[teensy-2] [INFO] [1746050736.338786256] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050736.339052081] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050736.339690503] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050736.340581420] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050736.344292540] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050736.344776017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050736.345393123] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050736.346397927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050736.347422710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050736.445151339] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050736.445674643] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050736.447435050] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050736.447615538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050736.449004435] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050736.502406332] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928872 Long: -76.5037511 -[vectornav-1] [INFO] [1746050736.503460893] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (85.56400000000002, 2.63, 8.606) -[mux-7] [INFO] [1746050736.545232309] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050736.546434665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050736.546649405] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050736.548325964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050736.549467976] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050736.585414326] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050736.587777785] [sailbot.teensy]: Wind angle: 159 -[trim_sail-4] [INFO] [1746050736.587777264] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050736.588762500] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050736.589101143] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050736.589693237] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050736.590615469] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050736.645048517] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050736.645850934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050736.646577921] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050736.648202790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050736.649425774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050736.745265634] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050736.746011651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050736.746734966] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050736.748606516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050736.749754010] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050736.835354282] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050736.837316577] [sailbot.teensy]: Wind angle: 159 -[trim_sail-4] [INFO] [1746050736.837764572] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050736.838328077] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050736.839286175] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050736.840029267] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050736.840243573] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050736.844355449] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050736.844935246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050736.845436973] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050736.846660020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050736.847697899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050736.945186883] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050736.946188018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050736.946970216] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050736.948397160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050736.949455221] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050737.003228591] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928996 Long: -76.50375005 -[vectornav-1] [INFO] [1746050737.004977054] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (84.572, -2.208, 6.539) -[mux-7] [INFO] [1746050737.045073650] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050737.045927344] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050737.046489807] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050737.047893056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050737.049069740] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050737.085289670] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050737.087488235] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050737.087795087] [sailbot.teensy]: Wind angle: 159 -[teensy-2] [INFO] [1746050737.088801994] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050737.089195926] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050737.090566509] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050737.091437919] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050737.145086774] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050737.145585016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050737.146454623] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050737.147386199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050737.148517953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050737.245199869] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050737.245657430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050737.246522104] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050737.247449765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050737.248651228] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050737.335313121] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050737.337254692] [sailbot.teensy]: Wind angle: 158 -[trim_sail-4] [INFO] [1746050737.337818006] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050737.338922137] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050737.339729178] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050737.340671965] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050737.341493975] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050737.344362364] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050737.344808091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050737.345754508] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050737.346531250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050737.347573545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050737.444902098] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050737.445704461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050737.446251332] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050737.447521597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050737.448559778] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050737.503504427] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929133 Long: -76.50375013 -[vectornav-1] [INFO] [1746050737.505144991] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (85.09800000000001, 0.313, 4.376) -[mux-7] [INFO] [1746050737.545098244] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050737.545994691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050737.546499249] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050737.548030487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050737.549067313] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050737.585360730] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050737.587045314] [sailbot.teensy]: Wind angle: 154 -[trim_sail-4] [INFO] [1746050737.587663738] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050737.587987813] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050737.588958691] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050737.589746743] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050737.589824352] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050737.645179931] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050737.645676094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050737.646629727] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050737.647649097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050737.648726887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050737.745536568] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050737.746030631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050737.747131832] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050737.748123237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050737.748819051] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050737.835491187] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050737.837348800] [sailbot.teensy]: Wind angle: 154 -[teensy-2] [INFO] [1746050737.838778850] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050737.838250444] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050737.839411574] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050737.839673421] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050737.840590095] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050737.844505864] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050737.844916821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050737.845729159] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050737.846575116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050737.847773248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050737.945447159] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050737.946219620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050737.947128039] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050737.948522622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050737.949674180] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050738.003169601] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929284 Long: -76.50375011 -[vectornav-1] [INFO] [1746050738.005184224] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (84.09500000000003, -0.053, 6.117) -[mux-7] [INFO] [1746050738.044914585] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050738.045416238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050738.046099165] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050738.047175977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050738.048397480] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050738.085402242] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050738.087214058] [sailbot.teensy]: Wind angle: 154 -[trim_sail-4] [INFO] [1746050738.087871288] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050738.088222706] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050738.089146880] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050738.089653365] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050738.090009684] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050738.145242417] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050738.146038928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050738.146887187] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050738.148358352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050738.148854605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050738.244725089] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050738.245942003] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050738.246197530] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050738.247899469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050738.248924724] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050738.335276475] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050738.337145210] [sailbot.teensy]: Wind angle: 154 -[trim_sail-4] [INFO] [1746050738.337461867] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050738.338088174] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050738.338883301] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050738.338939505] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050738.339252857] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050738.344489697] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050738.345126289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050738.345647826] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050738.346942331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050738.347959351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050738.445030764] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050738.445677835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050738.446464749] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050738.447643212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050738.448194813] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050738.503105193] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929409 Long: -76.50374886 -[vectornav-1] [INFO] [1746050738.504755268] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (81.656, -0.087, 9.061) -[mux-7] [INFO] [1746050738.545097055] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050738.545748155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050738.546510469] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050738.547861039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050738.548893446] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050738.585121599] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050738.587514729] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050738.588453946] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050738.589056104] [sailbot.teensy]: Wind angle: 154 -[teensy-2] [INFO] [1746050738.589997466] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050738.590853439] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050738.591687357] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050738.608941434] [sailbot.mux]: controller_app rudder angle: -8 -[mux-7] [INFO] [1746050738.644887220] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050738.645449162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050738.646438955] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050738.647205248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050738.648360663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050738.745496864] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050738.746101577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050738.747220839] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050738.748265183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050738.749015229] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050738.835156344] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050738.837442277] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050738.837640439] [sailbot.teensy]: Wind angle: 154 -[teensy-2] [INFO] [1746050738.838620546] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050738.839817066] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050738.840173530] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050738.840659718] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050738.844373568] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050738.844967880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050738.845513920] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050738.846695342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050738.847687180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050738.945587051] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050738.946145940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050738.947343727] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050738.948618700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050738.949736028] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050739.003788143] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929535 Long: -76.50374841 -[vectornav-1] [INFO] [1746050739.005330425] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (81.94600000000003, -0.62, 6.393) -[mux-7] [INFO] [1746050739.045030257] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050739.045662194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050739.046424268] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050739.047454939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050739.048576189] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050739.085281639] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050739.087080979] [sailbot.teensy]: Wind angle: 154 -[teensy-2] [INFO] [1746050739.088056409] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050739.087869243] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050739.089002819] [sailbot.teensy]: Actual tail angle: 17 -[mux-7] [INFO] [1746050739.089433723] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050739.089913606] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050739.144801917] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050739.145504703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050739.146504645] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050739.147273614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050739.148441009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050739.245096060] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050739.245774549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050739.246616873] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050739.247571392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050739.248774920] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050739.335147842] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050739.337240305] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050739.337694577] [sailbot.teensy]: Wind angle: 153 -[mux-7] [INFO] [1746050739.338305784] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050739.338634745] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050739.339655596] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050739.340600608] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050739.344465476] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050739.344923180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050739.345739779] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050739.346860578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050739.347926980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050739.445305651] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050739.445937169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050739.446853531] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050739.448484030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050739.449635245] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050739.502915926] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929679 Long: -76.5037485 -[vectornav-1] [INFO] [1746050739.504809097] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (81.5, 0.395, 5.651) -[mux-7] [INFO] [1746050739.544795408] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050739.545597317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050739.545969718] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050739.547439435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -8 -[teensy-2] [INFO] [1746050739.548479313] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050739.585313821] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050739.587037914] [sailbot.teensy]: Wind angle: 153 -[trim_sail-4] [INFO] [1746050739.587925038] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050739.588042632] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050739.588997550] [sailbot.teensy]: Actual tail angle: 17 -[mux-7] [INFO] [1746050739.589393441] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050739.589944955] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050739.609122677] [sailbot.mux]: controller_app rudder angle: 11 -[mux-7] [INFO] [1746050739.645002251] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050739.645772652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050739.646431291] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050739.647841290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050739.648955677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050739.744895291] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050739.745653417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050739.746428250] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050739.747652391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050739.749178017] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050739.835617040] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050739.837794772] [sailbot.teensy]: Wind angle: 152 -[trim_sail-4] [INFO] [1746050739.838296791] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050739.838838171] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050739.839791923] [sailbot.teensy]: Actual tail angle: 17 -[mux-7] [INFO] [1746050739.839913601] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050739.840732418] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050739.844450006] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050739.844994519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050739.845604765] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050739.846748637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050739.847818110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050739.945096093] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050739.945805018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050739.946605738] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050739.947852381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050739.948409644] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050740.003005948] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929796 Long: -76.50374804 -[vectornav-1] [INFO] [1746050740.004240100] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (82.42000000000002, 0.924, 5.576) -[mux-7] [INFO] [1746050740.045068915] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050740.045676793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050740.046509033] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050740.047541258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050740.048602385] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050740.085382685] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050740.087835701] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050740.088253877] [sailbot.teensy]: Wind angle: 151 -[teensy-2] [INFO] [1746050740.089250827] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050740.090070735] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050740.090158202] [sailbot.teensy]: Actual tail angle: 36 -[teensy-2] [INFO] [1746050740.091040311] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050740.145014655] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050740.145783182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050740.146291118] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050740.147819903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050740.148984349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050740.244949675] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050740.245691290] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050740.246563806] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050740.247526904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050740.248609408] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050740.335308722] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050740.337213715] [sailbot.teensy]: Wind angle: 149 -[trim_sail-4] [INFO] [1746050740.337781633] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050740.338205349] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050740.339114557] [sailbot.teensy]: Actual tail angle: 36 -[mux-7] [INFO] [1746050740.339399777] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050740.339973003] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050740.344358569] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050740.344968961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050740.345407638] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050740.346744603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050740.347847537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050740.445272697] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050740.446031019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050740.446779954] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050740.448390009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050740.449520112] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050740.503014497] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929883 Long: -76.50374694 -[vectornav-1] [INFO] [1746050740.504428843] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (78.981, -0.408, 7.643) -[mux-7] [INFO] [1746050740.545074854] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050740.545898903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050740.546577781] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050740.547929539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050740.549077100] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050740.585324411] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050740.587365533] [sailbot.teensy]: Wind angle: 149 -[teensy-2] [INFO] [1746050740.588352765] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050740.587508926] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050740.588868212] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050740.589253809] [sailbot.teensy]: Actual tail angle: 36 -[teensy-2] [INFO] [1746050740.590141537] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050740.644902390] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050740.645535351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050740.646186626] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050740.647513688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050740.648687079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050740.745204209] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050740.745963366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050740.746691800] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050740.747884610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050740.748609467] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050740.835394034] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050740.837863385] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050740.838649582] [sailbot.teensy]: Wind angle: 149 -[mux-7] [INFO] [1746050740.838803894] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050740.839949772] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050740.840916670] [sailbot.teensy]: Actual tail angle: 36 -[teensy-2] [INFO] [1746050740.841753353] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050740.844379473] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050740.844809329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050740.845583147] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050740.846496292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050740.847519709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050740.945021821] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050740.945546263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050740.946502204] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050740.947596011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050740.948750452] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050741.003340274] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929949 Long: -76.50374673 -[vectornav-1] [INFO] [1746050741.004690746] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (76.17500000000001, -1.826, 5.351) -[mux-7] [INFO] [1746050741.045516136] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050741.045902388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050741.046988599] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050741.048205779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050741.049225391] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050741.085288312] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050741.087261807] [sailbot.teensy]: Wind angle: 149 -[trim_sail-4] [INFO] [1746050741.087939043] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050741.088282439] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050741.089167127] [sailbot.teensy]: Actual tail angle: 36 -[mux-7] [INFO] [1746050741.089209723] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050741.090064852] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050741.145023632] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050741.145500857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050741.146433025] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050741.147358390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050741.148368529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050741.245401177] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050741.245948675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050741.247005508] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050741.248025309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050741.248509930] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050741.335182273] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050741.336922876] [sailbot.teensy]: Wind angle: 149 -[trim_sail-4] [INFO] [1746050741.337482023] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050741.338668585] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050741.339132116] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050741.339622961] [sailbot.teensy]: Actual tail angle: 36 -[teensy-2] [INFO] [1746050741.340589564] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050741.344514504] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050741.345031654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050741.345699852] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050741.346811377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050741.347868178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050741.445300648] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050741.446112081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050741.447108484] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050741.448315538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050741.449098953] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050741.503633141] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930086 Long: -76.50374626 -[vectornav-1] [INFO] [1746050741.505759251] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (72.13600000000002, 2.431, 7.505) -[mux-7] [INFO] [1746050741.545051095] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050741.545584057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050741.546440450] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050741.547472685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 11 -[teensy-2] [INFO] [1746050741.548520379] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050741.585287244] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050741.586986895] [sailbot.teensy]: Wind angle: 147 -[trim_sail-4] [INFO] [1746050741.587505033] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050741.587908746] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050741.588822551] [sailbot.teensy]: Actual tail angle: 36 -[mux-7] [INFO] [1746050741.589039211] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050741.589707999] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050741.634827916] [sailbot.mux]: controller_app rudder angle: 3 -[mux-7] [INFO] [1746050741.644901911] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050741.645580788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050741.646181609] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050741.647528672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050741.648577004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050741.744958651] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050741.745755011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050741.746507598] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050741.747723298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050741.748895301] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050741.835491886] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050741.837501927] [sailbot.teensy]: Wind angle: 143 -[trim_sail-4] [INFO] [1746050741.838004144] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050741.838442110] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050741.839179140] [sailbot.teensy]: Actual tail angle: 36 -[mux-7] [INFO] [1746050741.839191817] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050741.839553219] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050741.844328973] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050741.844968577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050741.845454124] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050741.846667897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050741.847791570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050741.945163723] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050741.945920029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050741.946599984] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050741.948048265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050741.948508690] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050742.003578287] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930118 Long: -76.50374501 -[vectornav-1] [INFO] [1746050742.005273221] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (66.11599999999999, 0.341, 8.207) -[mux-7] [INFO] [1746050742.045317627] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050742.046277059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050742.046835211] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050742.048505136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050742.049728551] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050742.085484062] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050742.087455851] [sailbot.teensy]: Wind angle: 143 -[teensy-2] [INFO] [1746050742.088471303] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050742.089359694] [sailbot.teensy]: Actual tail angle: 28 -[mux-7] [INFO] [1746050742.088786843] [sailbot.mux]: algo sail angle: 0 -[trim_sail-4] [INFO] [1746050742.089022973] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050742.090233971] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050742.145239406] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050742.145779762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050742.146823819] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050742.147922415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050742.149112237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050742.245346675] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050742.245952037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050742.247096283] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050742.248364367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050742.249517585] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050742.335247628] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050742.337053837] [sailbot.teensy]: Wind angle: 143 -[trim_sail-4] [INFO] [1746050742.337571971] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050742.337989579] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050742.338923913] [sailbot.teensy]: Actual tail angle: 28 -[mux-7] [INFO] [1746050742.339291982] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050742.339842230] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050742.344405043] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050742.345022199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050742.345522434] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050742.346740056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050742.347920067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050742.444772058] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050742.445396615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050742.445999896] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050742.447184952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050742.448219662] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050742.503575966] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930179 Long: -76.50374409 -[vectornav-1] [INFO] [1746050742.505025236] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (60.07600000000002, -3.367, 8.032) -[mux-7] [INFO] [1746050742.545295659] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050742.545883769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050742.546779679] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050742.547875328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050742.549008814] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050742.585267063] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050742.586935995] [sailbot.teensy]: Wind angle: 140 -[teensy-2] [INFO] [1746050742.587849418] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050742.587607459] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050742.588306583] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050742.588739470] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050742.589603465] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050742.608257061] [sailbot.mux]: controller_app rudder angle: -1 -[mux-7] [INFO] [1746050742.645160371] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050742.645854182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050742.646683846] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050742.648194916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050742.649383183] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050742.745102011] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050742.745775835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050742.746462759] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050742.747597414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050742.748686047] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050742.835414707] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050742.837501052] [sailbot.teensy]: Wind angle: 134 -[trim_sail-4] [INFO] [1746050742.837982612] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050742.838459820] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050742.839359930] [sailbot.teensy]: Actual tail angle: 28 -[mux-7] [INFO] [1746050742.840063521] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050742.840268333] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050742.844293748] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050742.845012455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050742.845401499] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050742.846791087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050742.847924661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050742.945156956] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050742.946159420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050742.947360157] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050742.947802986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050742.948360405] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050743.003343898] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930279 Long: -76.50374267 -[vectornav-1] [INFO] [1746050743.004831399] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.13900000000001, 1.662, 9.55) -[mux-7] [INFO] [1746050743.045028082] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050743.045755431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050743.046322415] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050743.047709018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050743.048749787] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050743.085412876] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050743.087600457] [sailbot.teensy]: Wind angle: 134 -[trim_sail-4] [INFO] [1746050743.088346086] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050743.088935148] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050743.089161072] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050743.090035235] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050743.090973940] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050743.144984545] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050743.145718767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050743.146269226] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050743.147601904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050743.148550116] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050743.245006730] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050743.246010320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050743.246333660] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050743.247863370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050743.248888458] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050743.335242581] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050743.337549259] [sailbot.teensy]: Wind angle: 133 -[teensy-2] [INFO] [1746050743.338484911] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050743.337762943] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050743.338763647] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050743.339113614] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050743.339505674] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050743.344409713] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050743.345117339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050743.345653754] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050743.346851084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050743.347879811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050743.445240404] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050743.446106161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050743.446796745] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050743.448302623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050743.450145781] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050743.502901226] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930362 Long: -76.50374036 -[vectornav-1] [INFO] [1746050743.504431584] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.14999999999998, -2.061, 12.507) -[mux-7] [INFO] [1746050743.545262850] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050743.546221975] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050743.546792385] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050743.548332626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050743.549527683] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050743.585342774] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050743.587101576] [sailbot.teensy]: Wind angle: 134 -[trim_sail-4] [INFO] [1746050743.587573286] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050743.588045762] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050743.588955576] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050743.589484196] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050743.589862945] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050743.645114575] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050743.645598119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050743.646589404] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050743.647436736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050743.648719513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050743.745273337] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050743.745964937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050743.747535139] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050743.748081011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050743.749297824] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050743.835508120] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050743.837990488] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050743.838559055] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050743.838827439] [sailbot.teensy]: Wind angle: 130 -[teensy-2] [INFO] [1746050743.839253728] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050743.839950638] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050743.840852452] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050743.844393704] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050743.844970819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050743.845505511] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050743.846694752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050743.847711772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050743.945380672] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050743.946144356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050743.947144080] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050743.948332531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050743.949406091] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050744.003694506] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930417 Long: -76.50373749 -[vectornav-1] [INFO] [1746050744.005457936] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.297000000000025, 2.557, 14.554) -[mux-7] [INFO] [1746050744.045063962] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050744.045862543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050744.046511032] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050744.047759091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050744.048882610] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050744.085727560] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050744.088017936] [sailbot.teensy]: Wind angle: 117 -[teensy-2] [INFO] [1746050744.089074605] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050744.088399242] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050744.089909392] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050744.090030587] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050744.090943562] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050744.144948583] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050744.145825348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050744.146584979] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050744.147649889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050744.148774781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050744.245132791] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050744.246324508] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050744.246652797] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050744.248483869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050744.249552926] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050744.335226607] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050744.337065079] [sailbot.teensy]: Wind angle: 114 -[trim_sail-4] [INFO] [1746050744.338000656] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050744.338018569] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050744.338958937] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050744.339146753] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050744.339897242] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050744.344193110] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050744.344800072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050744.345317819] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050744.346599872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050744.347673822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050744.445104441] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050744.445875756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050744.446479198] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050744.447894900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050744.449069374] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050744.502976224] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930497 Long: -76.50373531 -[vectornav-1] [INFO] [1746050744.504485143] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.572, -4.26, 11.648) -[mux-7] [INFO] [1746050744.545060227] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050744.545770487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050744.546461093] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050744.547921511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050744.548976031] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050744.585186797] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050744.586924426] [sailbot.teensy]: Wind angle: 114 -[teensy-2] [INFO] [1746050744.587843471] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050744.587306040] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050744.587957891] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050744.588765064] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050744.589674964] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050744.619476897] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746050744.644986330] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050744.645632343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050744.646379480] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050744.647551132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050744.648697354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050744.745019026] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050744.745792581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050744.746841455] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050744.747655978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050744.749432311] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050744.835428270] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050744.838169508] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050744.838954723] [sailbot.teensy]: Wind angle: 114 -[teensy-2] [INFO] [1746050744.839966233] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050744.840508275] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050744.840913744] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050744.841774504] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050744.844332217] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050744.844908238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050744.845441020] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050744.846646101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050744.847686188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050744.944947291] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050744.945665098] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050744.946256323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050744.947460285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050744.948001580] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050745.003271406] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930584 Long: -76.50373185 -[vectornav-1] [INFO] [1746050745.004732672] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.071000000000026, 2.108, 11.008) -[mux-7] [INFO] [1746050745.045253604] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050745.046030251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050745.046794913] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050745.048228660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050745.049342751] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050745.085241509] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050745.086935365] [sailbot.teensy]: Wind angle: 115 -[trim_sail-4] [INFO] [1746050745.087357648] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050745.087838595] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050745.088845124] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050745.089719681] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050745.089736234] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050745.145002339] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050745.145863368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050745.146315150] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050745.147969874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050745.149090884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050745.245276239] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050745.246063919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050745.246948021] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050745.248296458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050745.248842872] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050745.335252551] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050745.337263433] [sailbot.teensy]: Wind angle: 119 -[trim_sail-4] [INFO] [1746050745.337815589] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050745.339408126] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050745.339539305] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050745.340483014] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050745.341405857] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050745.344358877] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050745.344959944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050745.345438842] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050745.346788388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050745.347780166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050745.445285822] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050745.446152672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050745.446841246] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050745.448375885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050745.449187849] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050745.503685062] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930662 Long: -76.50372846 -[vectornav-1] [INFO] [1746050745.505297580] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.487000000000023, -0.972, 11.192) -[mux-7] [INFO] [1746050745.544852078] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050745.545446259] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050745.546050882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050745.547460780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050745.548590789] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050745.585088564] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050745.586562670] [sailbot.teensy]: Wind angle: 118 -[trim_sail-4] [INFO] [1746050745.587061236] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050745.587429345] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050745.588328260] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050745.588740746] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050745.589128913] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050745.644943074] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050745.645693522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050745.646262738] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050745.647794735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050745.648761755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050745.745159820] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050745.746077838] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050745.746651651] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050745.748570363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050745.749318362] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050745.835286017] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050745.836925172] [sailbot.teensy]: Wind angle: 115 -[teensy-2] [INFO] [1746050745.837814847] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050745.838315803] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050745.838636741] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050745.838746548] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050745.839568446] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050745.844398333] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050745.844929964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050745.845490657] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050745.846619663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050745.847641155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050745.945062995] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050745.945844750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050745.946540311] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050745.947988505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050745.948493858] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050746.003439001] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930787 Long: -76.5037256 -[vectornav-1] [INFO] [1746050746.004975542] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (25.686000000000035, -0.095, 9.978) -[mux-7] [INFO] [1746050746.045391889] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050746.046155000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050746.046963557] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050746.048725653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050746.049838317] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050746.085380767] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050746.087739695] [sailbot.teensy]: Wind angle: 113 -[trim_sail-4] [INFO] [1746050746.087859517] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050746.088737106] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050746.089673106] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050746.090056069] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050746.090545867] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050746.144955992] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050746.145920239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050746.146784158] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050746.147921922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050746.149013718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050746.245466873] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050746.245977054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050746.247013373] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050746.248113234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050746.249402545] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050746.335228352] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050746.337370813] [sailbot.teensy]: Wind angle: 118 -[trim_sail-4] [INFO] [1746050746.337798047] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050746.338384482] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050746.339264775] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050746.339400251] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050746.339667666] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050746.344371444] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050746.345083631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050746.345492312] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050746.346876884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050746.347945165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050746.444941441] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050746.445963300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050746.446438140] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050746.447839577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050746.448582003] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050746.503599770] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930799 Long: -76.50372124 -[vectornav-1] [INFO] [1746050746.505553024] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.629999999999995, -2.649, 13.616) -[mux-7] [INFO] [1746050746.545210400] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050746.545995564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050746.546958390] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050746.548235817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050746.549369475] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050746.585229158] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050746.587078194] [sailbot.teensy]: Wind angle: 117 -[trim_sail-4] [INFO] [1746050746.587314654] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050746.588293882] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050746.588871068] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050746.589231705] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050746.590101974] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050746.645198188] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050746.645958866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050746.646665201] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050746.647857590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050746.648381400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050746.745577132] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050746.746199929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050746.747126043] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050746.748408750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050746.749540886] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050746.835653537] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050746.837691792] [sailbot.teensy]: Wind angle: 111 -[trim_sail-4] [INFO] [1746050746.838145449] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050746.838682613] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050746.839343820] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050746.839567684] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050746.840444916] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050746.844372088] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050746.844943860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050746.845552659] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050746.846659215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050746.847690830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050746.945371021] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050746.946127002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050746.946924507] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050746.948461595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050746.949640647] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050747.003450637] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930943 Long: -76.50371716 -[vectornav-1] [INFO] [1746050747.005065664] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (23.432999999999993, 0.325, 11.897) -[mux-7] [INFO] [1746050747.044976987] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050747.045667474] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050747.046317910] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050747.047735846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050747.048933710] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050747.085445779] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050747.087465033] [sailbot.teensy]: Wind angle: 108 -[trim_sail-4] [INFO] [1746050747.087895101] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050747.088410714] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050747.088826203] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050747.089309523] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050747.090197331] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050747.145236228] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050747.146515349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050747.147295820] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050747.148545905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050747.149088494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050747.244869542] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050747.245579234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050747.246245695] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050747.247355525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050747.248102390] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050747.335199717] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050747.336853438] [sailbot.teensy]: Wind angle: 107 -[trim_sail-4] [INFO] [1746050747.338093611] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050747.338514462] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050747.339650335] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050747.340596292] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050747.341348456] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050747.344429050] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050747.345130609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050747.345726328] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050747.346910321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050747.348038384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050747.445073869] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050747.445954896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050747.446585856] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050747.448089755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050747.449184444] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050747.503452757] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693106 Long: -76.50371322 -[vectornav-1] [INFO] [1746050747.505377720] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (20.99799999999999, -1.839, 11.405) -[mux-7] [INFO] [1746050747.545098738] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050747.545869321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050747.546563298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050747.547945831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050747.549082728] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050747.585208133] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050747.587512132] [sailbot.teensy]: Wind angle: 115 -[trim_sail-4] [INFO] [1746050747.587613437] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050747.588434512] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050747.588776800] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050747.589381719] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050747.590254626] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050747.610049880] [sailbot.mux]: controller_app rudder angle: -1 -[mux-7] [INFO] [1746050747.645039410] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050747.645781992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050747.646455452] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050747.647683574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050747.648814830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050747.745073775] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050747.745598910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050747.746482724] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050747.747764866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050747.748942709] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050747.835406275] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050747.837194743] [sailbot.teensy]: Wind angle: 115 -[trim_sail-4] [INFO] [1746050747.838100016] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050747.839212862] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050747.839450864] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050747.840447043] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050747.841302070] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050747.844355645] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050747.844943690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050747.845443516] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050747.846724404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050747.847905708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050747.945383274] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050747.946333405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050747.947089701] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050747.948468063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050747.948999088] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050748.003754446] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931134 Long: -76.50370842 -[vectornav-1] [INFO] [1746050748.005334001] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (20.906999999999982, -1.465, 12.957) -[mux-7] [INFO] [1746050748.045236816] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050748.045739802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050748.046532091] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050748.047876275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050748.048959375] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050748.085419711] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050748.087426969] [sailbot.teensy]: Wind angle: 109 -[trim_sail-4] [INFO] [1746050748.087716293] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050748.088409230] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050748.088871802] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050748.089337367] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050748.090272498] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050748.145171600] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050748.145942458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050748.146662381] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050748.147865566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050748.148375039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050748.244978326] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050748.245824087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050748.246394795] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050748.247945559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050748.249068605] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050748.335238113] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050748.337525686] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050748.337801047] [sailbot.teensy]: Wind angle: 109 -[teensy-2] [INFO] [1746050748.338742821] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050748.339214641] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050748.339618881] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050748.340470984] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050748.344390763] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050748.344993907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050748.345566479] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050748.346707727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050748.347714389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050748.445679851] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050748.446352994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050748.447377925] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050748.448834336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050748.450078452] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050748.503420490] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931182 Long: -76.50370341 -[vectornav-1] [INFO] [1746050748.505130847] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (17.307999999999993, 2.053, 12.156) -[mux-7] [INFO] [1746050748.545029550] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050748.545713394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050748.546361541] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050748.547819390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050748.548844593] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050748.585175742] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050748.586910376] [sailbot.teensy]: Wind angle: 104 -[teensy-2] [INFO] [1746050748.587909920] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050748.588633066] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050748.588848660] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050748.588963256] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050748.589769464] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050748.644921767] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050748.645606502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050748.646164023] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050748.647434467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050748.647894871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050748.745313959] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050748.746207353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050748.747329624] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050748.747782489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050748.748274206] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050748.835259119] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050748.837113627] [sailbot.teensy]: Wind angle: 102 -[trim_sail-4] [INFO] [1746050748.837681465] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050748.838098721] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050748.839001953] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050748.838701350] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050748.839840928] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050748.844381562] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050748.845095110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050748.845520464] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050748.846793716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050748.847987078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050748.944965842] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050748.945933217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050748.946365771] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050748.947718416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050748.948233189] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050749.003138938] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931298 Long: -76.50369892 -[vectornav-1] [INFO] [1746050749.005435759] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (14.672000000000025, -2.708, 8.78) -[mux-7] [INFO] [1746050749.044797795] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050749.045802769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050749.046203874] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050749.047819901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050749.048873767] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050749.085477150] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050749.087702251] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050749.087710054] [sailbot.teensy]: Wind angle: 103 -[teensy-2] [INFO] [1746050749.088884755] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050749.089498039] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050749.089846455] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050749.090860287] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050749.144998801] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050749.145637320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050749.146375695] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050749.147654620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050749.148874460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050749.245801045] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050749.246691566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050749.247678007] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050749.248275543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050749.248783210] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050749.335206433] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050749.337396370] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050749.338267333] [sailbot.teensy]: Wind angle: 103 -[mux-7] [INFO] [1746050749.339021088] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050749.339183190] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050749.339647637] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050749.340031607] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050749.344361686] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050749.345047335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050749.345611284] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050749.346817108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050749.347914510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050749.445347789] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050749.446393269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050749.447172567] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050749.448706399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050749.449869286] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050749.502324619] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931347 Long: -76.50369326 -[vectornav-1] [INFO] [1746050749.503313307] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (13.115000000000009, -1.198, 12.112) -[mux-7] [INFO] [1746050749.545061372] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050749.545644365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050749.546528833] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050749.547651819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050749.548814483] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050749.585430983] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050749.587385757] [sailbot.teensy]: Wind angle: 105 -[teensy-2] [INFO] [1746050749.588365688] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050749.587770387] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050749.589191386] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050749.589243987] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050749.590157307] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050749.608022472] [sailbot.mux]: controller_app rudder angle: -3 -[mux-7] [INFO] [1746050749.644923076] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050749.645699524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050749.646297475] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050749.647726129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050749.648903221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050749.745382793] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050749.746282404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050749.747093314] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050749.748878807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050749.749953908] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050749.835458445] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050749.837337227] [sailbot.teensy]: Wind angle: 112 -[teensy-2] [INFO] [1746050749.838347374] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050749.837787987] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050749.839412335] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050749.839945715] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050749.840345909] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050749.844592420] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050749.845103643] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050749.845855894] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050749.846881136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050749.848042806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050749.945000700] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050749.945619814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050749.946344950] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050749.947515496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050749.949345449] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050750.003387122] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931356 Long: -76.50368758 -[vectornav-1] [INFO] [1746050750.004951167] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (10.963999999999999, 0.756, 12.852) -[mux-7] [INFO] [1746050750.045229924] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050750.046051851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050750.046716218] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050750.048138541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050750.049419126] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050750.085417530] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050750.087262203] [sailbot.teensy]: Wind angle: 102 -[trim_sail-4] [INFO] [1746050750.087692060] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050750.088211754] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050750.089137204] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050750.089289440] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050750.090003877] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050750.145375610] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050750.146190722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050750.146980371] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050750.148656903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050750.149747836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050750.244925104] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050750.245851873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050750.246201561] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050750.247814150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050750.248945695] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050750.335187690] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050750.337192961] [sailbot.teensy]: Wind angle: 94 -[trim_sail-4] [INFO] [1746050750.337746887] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050750.338281656] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050750.338683526] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050750.339236522] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050750.340124811] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050750.344326594] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050750.344823066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050750.345421487] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050750.346590281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050750.347596785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050750.445407468] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050750.446282023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050750.447141043] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050750.448583092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050750.449769348] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050750.502390911] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693142 Long: -76.50368202 -[vectornav-1] [INFO] [1746050750.503362848] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (12.01600000000002, 0.601, 12.177) -[mux-7] [INFO] [1746050750.545187030] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050750.546000412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050750.546513799] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050750.547973086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050750.549019178] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050750.585270654] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050750.587153709] [sailbot.teensy]: Wind angle: 104 -[teensy-2] [INFO] [1746050750.588069876] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050750.587557366] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050750.588668931] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050750.588986597] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050750.589932145] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050750.633244973] [sailbot.mux]: controller_app rudder angle: -6 -[mux-7] [INFO] [1746050750.644811024] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050750.645802699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050750.646086410] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050750.647564023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050750.648691088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050750.745024981] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050750.745858248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050750.746866119] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050750.747935781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050750.748630769] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050750.835203294] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050750.837384503] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050750.837930018] [sailbot.teensy]: Wind angle: 108 -[mux-7] [INFO] [1746050750.838117224] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050750.838886643] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050750.839516583] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050750.839935871] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050750.844414398] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050750.845149320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050750.845538674] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050750.846792622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050750.847746892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050750.945284066] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050750.945766062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050750.946700376] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050750.947625982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050750.948758770] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050751.003511596] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931473 Long: -76.50367695 -[vectornav-1] [INFO] [1746050751.005199390] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (15.481999999999971, -4.078, 13.351) -[mux-7] [INFO] [1746050751.045177196] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050751.045703365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050751.046605237] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050751.047814840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050751.048914433] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050751.085253433] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050751.086884846] [sailbot.teensy]: Wind angle: 104 -[trim_sail-4] [INFO] [1746050751.087494113] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050751.087790989] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050751.088674523] [sailbot.teensy]: Actual tail angle: 19 -[mux-7] [INFO] [1746050751.088844061] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050751.089536774] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050751.145328878] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050751.145802841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050751.146904562] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050751.148019283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050751.149091845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050751.244995756] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050751.245677298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050751.246394828] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050751.247580230] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050751.248622239] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050751.335251937] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050751.337399301] [sailbot.teensy]: Wind angle: 105 -[trim_sail-4] [INFO] [1746050751.337634754] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050751.338362597] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050751.338790399] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050751.339298324] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050751.340266233] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050751.344691020] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050751.345258651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050751.345862101] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050751.346944461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050751.348085043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050751.445356565] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050751.446172097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050751.447276372] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050751.448526108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050751.449216091] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050751.503280521] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931574 Long: -76.50367125 -[vectornav-1] [INFO] [1746050751.504485924] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (23.412000000000035, -1.42, 15.076) -[mux-7] [INFO] [1746050751.545019075] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050751.545778569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050751.546412512] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050751.547714729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050751.548757938] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050751.585693477] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050751.588537067] [sailbot.teensy]: Wind angle: 116 -[trim_sail-4] [INFO] [1746050751.588546693] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050751.589566412] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050751.590112829] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050751.590450370] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050751.591392587] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050751.644892118] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050751.645690716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050751.646138633] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050751.647549689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[mux-7] [INFO] [1746050751.648122572] [sailbot.mux]: controller_app rudder angle: -3 -[teensy-2] [INFO] [1746050751.649730107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050751.745457017] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050751.746212974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050751.747146499] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050751.748339958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050751.748793063] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050751.835335643] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050751.836997027] [sailbot.teensy]: Wind angle: 124 -[teensy-2] [INFO] [1746050751.837963828] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050751.838856085] [sailbot.teensy]: Actual tail angle: 19 -[trim_sail-4] [INFO] [1746050751.838452299] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050751.838870243] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050751.839746348] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050751.844367294] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050751.845231825] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050751.845506908] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050751.847101987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050751.848199662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050751.945178661] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050751.945841016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050751.946708672] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050751.947785912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050751.949094935] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050752.003529065] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931758 Long: -76.5036656 -[vectornav-1] [INFO] [1746050752.005884838] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (28.331999999999994, 2.354, 15.778) -[mux-7] [INFO] [1746050752.044775337] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050752.045410631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050752.046293598] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050752.047275656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050752.048327086] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050752.085284484] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050752.086946923] [sailbot.teensy]: Wind angle: 113 -[trim_sail-4] [INFO] [1746050752.087407695] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050752.087886013] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050752.088796967] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050752.089291581] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050752.089647401] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050752.145186388] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050752.145860408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050752.146999728] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050752.148222277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050752.149283845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050752.244856105] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050752.245933590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050752.246202901] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050752.247603867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050752.248070179] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050752.335274377] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050752.337386454] [sailbot.teensy]: Wind angle: 111 -[trim_sail-4] [INFO] [1746050752.337459984] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050752.338812870] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050752.339007817] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050752.339397252] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050752.339758034] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050752.344429757] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050752.344959632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050752.345715345] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050752.346737086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050752.347773171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050752.445293053] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050752.445950905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050752.446764135] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050752.448062288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050752.449439516] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050752.503327266] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931944 Long: -76.50366094 -[vectornav-1] [INFO] [1746050752.504715165] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.44, -2.186, 13.629) -[mux-7] [INFO] [1746050752.545074537] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050752.545841006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050752.546562401] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050752.547903515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -3 -[teensy-2] [INFO] [1746050752.548332890] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050752.585406537] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050752.587824240] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050752.588768265] [sailbot.teensy]: Wind angle: 113 -[mux-7] [INFO] [1746050752.589439374] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050752.589703099] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050752.590613119] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050752.591437301] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050752.620425607] [sailbot.mux]: controller_app rudder angle: -1 -[mux-7] [INFO] [1746050752.644501468] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050752.645063271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050752.645583328] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050752.646715824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050752.647718367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050752.745138885] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050752.746001942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050752.746943951] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050752.747951950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050752.748504743] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050752.835068077] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050752.836795724] [sailbot.teensy]: Wind angle: 113 -[trim_sail-4] [INFO] [1746050752.837194454] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050752.837687394] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050752.838562694] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050752.838971883] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050752.839359922] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050752.844191278] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050752.844746688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050752.845301846] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050752.846431069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050752.847445775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050752.945433590] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050752.946139894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050752.947428046] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050752.947984823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050752.948563296] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050753.003181330] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46932146 Long: -76.5036564 -[vectornav-1] [INFO] [1746050753.004504412] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (40.339, -1.092, 13.392) -[mux-7] [INFO] [1746050753.044881151] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050753.045407443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050753.046048934] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050753.047269903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050753.048419941] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050753.085208830] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050753.086875060] [sailbot.teensy]: Wind angle: 117 -[teensy-2] [INFO] [1746050753.087800706] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050753.087479473] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050753.088552194] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050753.088744403] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050753.089614106] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050753.145437413] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050753.145859308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050753.147138376] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050753.148080791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050753.149195984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050753.245493055] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050753.246077753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050753.247078971] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050753.248454474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050753.250271126] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050753.335528788] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050753.338097930] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050753.338464312] [sailbot.teensy]: Wind angle: 129 -[mux-7] [INFO] [1746050753.338923305] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050753.339553320] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050753.339906975] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050753.340251523] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050753.344582659] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050753.345148054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050753.345819824] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050753.346862503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050753.347969416] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050753.445807254] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050753.446526558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050753.447636968] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050753.448731005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050753.449853562] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050753.503186161] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693241 Long: -76.50365221 -[vectornav-1] [INFO] [1746050753.504790163] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.32400000000001, -1.256, 11.841) -[mux-7] [INFO] [1746050753.545171178] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050753.545895146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050753.546822344] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050753.547845985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050753.549035381] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050753.585350254] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050753.587329376] [sailbot.teensy]: Wind angle: 129 -[teensy-2] [INFO] [1746050753.588287115] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050753.587718081] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050753.589170952] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050753.589265948] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050753.590059229] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050753.620321077] [sailbot.mux]: controller_app rudder angle: 1 -[mux-7] [INFO] [1746050753.644835247] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050753.645848015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050753.646097521] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050753.647741252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050753.648877756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050753.745044910] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050753.745986191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050753.746648460] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050753.748024883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050753.749194574] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050753.835445056] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050753.837926291] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050753.838166192] [sailbot.teensy]: Wind angle: 128 -[mux-7] [INFO] [1746050753.838689137] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050753.839091926] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050753.840009786] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050753.840687739] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050753.844525075] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050753.844904655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050753.845767850] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050753.846613440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050753.847741784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050753.945021894] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050753.945799703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050753.946434053] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050753.947717756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050753.948811484] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050754.003666529] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46932648 Long: -76.50364808 -[vectornav-1] [INFO] [1746050754.005408175] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.81099999999998, -0.154, 11.916) -[mux-7] [INFO] [1746050754.045156169] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050754.046077771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050754.046540194] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050754.047990587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050754.049198448] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050754.085358401] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050754.087576143] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050754.087799576] [sailbot.teensy]: Wind angle: 127 -[mux-7] [INFO] [1746050754.088365263] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050754.088785673] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050754.089717641] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050754.090567519] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050754.145187424] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050754.145854295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050754.146704726] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050754.147850517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050754.148307830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050754.245155571] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050754.245825259] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050754.246794364] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050754.247853116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050754.248411992] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050754.335367669] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050754.337413274] [sailbot.teensy]: Wind angle: 130 -[teensy-2] [INFO] [1746050754.338292942] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050754.337745903] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050754.338169273] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050754.339167491] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050754.339707194] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050754.344326964] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050754.344804648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050754.345441442] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050754.346528500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050754.347528698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050754.445248228] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050754.445922322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050754.446727235] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050754.448061237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050754.449142933] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050754.502407555] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46932968 Long: -76.50364462 -[vectornav-1] [INFO] [1746050754.503396452] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.696000000000026, -0.604, 11.234) -[mux-7] [INFO] [1746050754.545074711] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050754.545862235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050754.546484581] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050754.547903592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050754.548453533] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050754.585448606] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050754.587218001] [sailbot.teensy]: Wind angle: 130 -[trim_sail-4] [INFO] [1746050754.587788648] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050754.589218980] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050754.589335030] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050754.590215437] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050754.590599979] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050754.632131563] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746050754.644622525] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050754.645338518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050754.646598856] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050754.647184801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050754.648507310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050754.745301005] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050754.745878545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050754.746850148] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050754.748274711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050754.749322991] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050754.835257817] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050754.836954747] [sailbot.teensy]: Wind angle: 130 -[trim_sail-4] [INFO] [1746050754.837495082] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050754.837889260] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050754.838908625] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050754.839462081] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050754.839766446] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050754.844218816] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050754.844878854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050754.845298181] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050754.846589962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050754.847622176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050754.945092621] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050754.945924819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050754.946481800] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050754.947880877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050754.948456567] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050755.003476529] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46933236 Long: -76.50364152 -[vectornav-1] [INFO] [1746050755.004972825] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.84100000000001, -0.938, 9.856) -[mux-7] [INFO] [1746050755.045061744] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050755.045876374] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050755.046489060] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050755.048021015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050755.049130000] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050755.085472534] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050755.087818311] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050755.088120562] [sailbot.teensy]: Wind angle: 130 -[teensy-2] [INFO] [1746050755.089156420] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050755.090065685] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050755.090100827] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050755.090981591] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050755.144863974] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050755.145539709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050755.146268093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050755.147418953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050755.148588195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050755.245123279] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050755.245946680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050755.246539117] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050755.248019843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050755.248861333] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050755.335323602] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050755.337756732] [sailbot.teensy]: Wind angle: 130 -[trim_sail-4] [INFO] [1746050755.337803096] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050755.338720742] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050755.338934217] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050755.339170962] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050755.339543961] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050755.344317634] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050755.344911148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050755.345728614] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050755.346610867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050755.347784856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050755.444942231] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050755.445556993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050755.446442499] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050755.447386737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050755.448472918] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050755.502514438] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46933508 Long: -76.5036377 -[vectornav-1] [INFO] [1746050755.504383564] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.452999999999975, 1.467, 12.996) -[mux-7] [INFO] [1746050755.544923760] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050755.545804089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050755.546218298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050755.547795815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050755.548860210] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050755.585192438] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050755.587106184] [sailbot.teensy]: Wind angle: 131 -[trim_sail-4] [INFO] [1746050755.587601039] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050755.588061285] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050755.589005292] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050755.589226874] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050755.589919468] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050755.645015068] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050755.645983961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050755.646635217] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050755.647976894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050755.649142414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050755.744889379] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050755.745551332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050755.746134410] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050755.747559825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050755.748611234] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050755.835629596] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050755.838596722] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050755.838991293] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050755.839619277] [sailbot.teensy]: Wind angle: 131 -[teensy-2] [INFO] [1746050755.840561925] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050755.841433476] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050755.842279563] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050755.844401719] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050755.844900574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050755.845511570] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050755.846668723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050755.847879082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050755.945265759] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050755.946193649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050755.946967744] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050755.948400025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050755.948968074] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050756.003422476] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46933726 Long: -76.50363399 -[vectornav-1] [INFO] [1746050756.004730079] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.985000000000014, -3.458, 12.902) -[mux-7] [INFO] [1746050756.045077185] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050756.045760283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050756.046364728] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050756.047661540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050756.048828246] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050756.085313002] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050756.086964213] [sailbot.teensy]: Wind angle: 130 -[trim_sail-4] [INFO] [1746050756.087678432] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050756.088889844] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050756.089326778] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050756.090263351] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050756.091132398] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050756.144458745] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050756.145071321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050756.145503170] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050756.147286066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050756.148120027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050756.244901364] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050756.245645943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050756.246671902] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050756.247547685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050756.248582064] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050756.335324109] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050756.337270634] [sailbot.teensy]: Wind angle: 120 -[trim_sail-4] [INFO] [1746050756.337722171] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050756.338275843] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050756.339253537] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050756.339790844] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050756.340126602] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050756.344332159] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050756.344885556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050756.345805842] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050756.346608189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050756.347800939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050756.445287819] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050756.445932489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050756.446967536] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050756.448040067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050756.449148867] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050756.502299459] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46934083 Long: -76.50363076 -[vectornav-1] [INFO] [1746050756.503433019] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.841999999999985, 1.128, 13.52) -[mux-7] [INFO] [1746050756.545468549] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050756.546184515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050756.546945974] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050756.548512815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050756.549111479] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050756.585582829] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050756.587669347] [sailbot.teensy]: Wind angle: 120 -[teensy-2] [INFO] [1746050756.588697239] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050756.588416152] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050756.589591755] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050756.589806092] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050756.590467711] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050756.645139499] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050756.646293960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050756.646602476] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050756.648215815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050756.649259275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050756.745235551] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050756.745894945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050756.747260591] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050756.747961756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050756.748517039] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050756.835252584] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050756.837530727] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050756.837902006] [sailbot.teensy]: Wind angle: 134 -[mux-7] [INFO] [1746050756.838413689] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050756.838832321] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050756.839731600] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050756.840654760] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050756.844523746] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050756.844942761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050756.845778066] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050756.846628229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050756.847786389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050756.945244536] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050756.945909380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050756.946893448] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050756.948220621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050756.948751100] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050757.003585489] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46934258 Long: -76.50362581 -[vectornav-1] [INFO] [1746050757.004978649] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.54399999999998, 0.305, 15.403) -[mux-7] [INFO] [1746050757.045333800] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050757.046030636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050757.046854209] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050757.048498281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050757.049715314] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050757.085371340] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050757.087578556] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050757.088143404] [sailbot.teensy]: Wind angle: 135 -[mux-7] [INFO] [1746050757.088353746] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050757.089432051] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050757.090425200] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050757.091337992] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050757.145064556] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050757.145584740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050757.146586309] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050757.147435256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050757.148562981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050757.245393746] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050757.245873756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050757.247216851] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050757.248177546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050757.249224902] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050757.335247393] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050757.337017644] [sailbot.teensy]: Wind angle: 131 -[trim_sail-4] [INFO] [1746050757.337826316] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050757.337970704] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050757.338882240] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050757.339175795] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050757.339760665] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050757.344383877] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050757.344894985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050757.345558112] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050757.346983423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050757.348043523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050757.445245222] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050757.445943659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050757.446780321] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050757.447845308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050757.448398879] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050757.502450067] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46934464 Long: -76.50362147 -[vectornav-1] [INFO] [1746050757.503588759] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.14499999999998, -2.666, 14.654) -[mux-7] [INFO] [1746050757.545127177] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050757.545779989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050757.546624578] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050757.547772267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050757.548896883] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050757.585434255] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050757.587633036] [sailbot.teensy]: Wind angle: 129 -[trim_sail-4] [INFO] [1746050757.587896049] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050757.588622092] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050757.589164114] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050757.589505660] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050757.590397069] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050757.645282772] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050757.646261676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050757.646872100] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050757.648473506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050757.649668807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050757.744919555] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050757.745606582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050757.746196228] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050757.747382665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050757.748612053] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050757.835395049] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050757.837869719] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050757.838226594] [sailbot.teensy]: Wind angle: 118 -[mux-7] [INFO] [1746050757.838769717] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050757.838890919] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050757.839281601] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050757.839630574] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050757.844421080] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050757.844729926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050757.845587826] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050757.846390077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050757.847437039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050757.945157292] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050757.945861002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050757.946786028] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050757.947866602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050757.948819497] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050758.003220170] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46934775 Long: -76.50361862 -[vectornav-1] [INFO] [1746050758.004538962] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.983000000000004, 0.418, 10.969) -[mux-7] [INFO] [1746050758.045141341] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050758.045927952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050758.046579070] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050758.048177505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050758.049348672] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050758.085203991] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050758.087463741] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050758.087806939] [sailbot.teensy]: Wind angle: 116 -[mux-7] [INFO] [1746050758.088022688] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050758.088787455] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050758.089822785] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050758.090678873] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050758.144930496] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050758.145525549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050758.146234642] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050758.147473016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050758.148608014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050758.244919010] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050758.245639454] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050758.246226799] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050758.247469183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050758.248696145] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050758.335205965] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050758.337825000] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050758.338141113] [sailbot.teensy]: Wind angle: 134 -[mux-7] [INFO] [1746050758.338981330] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050758.339950621] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050758.340474877] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050758.340814788] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050758.344401137] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050758.345090788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050758.345524220] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050758.346802665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050758.347954161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050758.445193331] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050758.445918133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050758.446625729] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050758.448006946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050758.449126504] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050758.503028291] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46934993 Long: -76.50361388 -[vectornav-1] [INFO] [1746050758.504135257] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (40.283000000000015, -0.389, 13.847) -[mux-7] [INFO] [1746050758.545147016] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050758.545882336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050758.546605508] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050758.548000619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050758.548859882] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050758.585189532] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050758.587362393] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050758.587854392] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050758.588485873] [sailbot.teensy]: Wind angle: 136 -[teensy-2] [INFO] [1746050758.589885316] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050758.590769014] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050758.591582287] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050758.645060544] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050758.645740543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050758.646620270] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050758.647827096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050758.649981933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050758.745350193] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050758.745988306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050758.747595744] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050758.748254073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050758.748862676] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050758.835140169] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050758.837228305] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050758.837735126] [sailbot.teensy]: Wind angle: 134 -[mux-7] [INFO] [1746050758.838401504] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050758.838652230] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050758.839700307] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050758.840604908] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050758.844345044] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050758.844874562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050758.845629366] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050758.846537716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050758.847694797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050758.945104196] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050758.945776249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050758.946534467] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050758.947704861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050758.948892943] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050759.003089073] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46935182 Long: -76.50360925 -[vectornav-1] [INFO] [1746050759.004953231] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.502999999999986, -0.904, 13.544) -[mux-7] [INFO] [1746050759.045074769] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050759.045802865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050759.046490946] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050759.048010496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050759.049198315] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050759.085312676] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050759.087670676] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050759.088094968] [sailbot.teensy]: Wind angle: 125 -[mux-7] [INFO] [1746050759.088649269] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050759.089682236] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050759.090601705] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050759.091460681] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050759.145224776] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050759.145688098] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050759.146734808] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050759.147639705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050759.149023267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050759.244970184] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050759.246230891] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050759.248295775] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050759.249805525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050759.250701977] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050759.335332757] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050759.337440964] [sailbot.teensy]: Wind angle: 118 -[trim_sail-4] [INFO] [1746050759.337940340] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050759.338445922] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050759.339386123] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050759.340246480] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050759.340257824] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746050759.344562005] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050759.345192697] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050759.345927360] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050759.346936082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050759.347984068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050759.445235099] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050759.445799582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050759.446738290] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050759.447754817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050759.448850281] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050759.502858462] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46935428 Long: -76.50360494 -[vectornav-1] [INFO] [1746050759.504301274] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.749000000000024, -1.677, 11.914) -[mux-7] [INFO] [1746050759.545316593] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050759.545789982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050759.546778103] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050759.547830689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050759.548992212] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050759.585361649] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050759.587805332] [sailbot.teensy]: Wind angle: 119 -[trim_sail-4] [INFO] [1746050759.587870229] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050759.588838888] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050759.589142925] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050759.590397725] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050759.591251684] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050759.644973423] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050759.645652648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050759.646665069] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050759.647699692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050759.648913294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050759.744916032] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050759.745693029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050759.746200929] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050759.747741587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050759.748852326] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050759.835574438] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050759.838050186] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050759.838627826] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050759.839257223] [sailbot.teensy]: Wind angle: 121 -[teensy-2] [INFO] [1746050759.840477624] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050759.841337209] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050759.842162777] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050759.844287325] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050759.844814723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050759.845644354] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050759.846536181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050759.847662679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050759.945122375] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050759.945790321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050759.946893843] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050759.947760410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050759.948427866] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050760.003185108] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46935707 Long: -76.50360001 -[vectornav-1] [INFO] [1746050760.005247529] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.10699999999997, 0.474, 13.442) -[mux-7] [INFO] [1746050760.045048606] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050760.045702477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050760.046292394] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050760.047536516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050760.048714116] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050760.085398549] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050760.087276489] [sailbot.teensy]: Wind angle: 121 -[trim_sail-4] [INFO] [1746050760.088146278] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050760.089364056] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050760.089893751] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050760.090850926] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050760.091684949] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050760.145343235] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050760.145907192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050760.147040795] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050760.148147919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050760.148640174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050760.244808019] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050760.245454789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050760.246152414] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050760.247278270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050760.248415142] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050760.335406416] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050760.338051113] [sailbot.teensy]: Wind angle: 122 -[teensy-2] [INFO] [1746050760.339074480] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050760.338187234] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050760.339242387] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050760.339478610] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050760.339867757] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050760.344382117] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050760.345018477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050760.345480655] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050760.346814203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050760.347835099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050760.445321106] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050760.446264111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050760.446737541] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050760.448349202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050760.448866259] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050760.503260535] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693595 Long: -76.50359509 -[vectornav-1] [INFO] [1746050760.504719981] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.90199999999999, -1.247, 13.313) -[mux-7] [INFO] [1746050760.545071489] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050760.546019076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050760.546707058] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050760.548212004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050760.549375887] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050760.585279264] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050760.587855163] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050760.588213659] [sailbot.teensy]: Wind angle: 116 -[mux-7] [INFO] [1746050760.588912932] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050760.589252351] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050760.590192412] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050760.591010908] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050760.644906350] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050760.645766118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050760.646209402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050760.647826239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050760.648870819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050760.744876475] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050760.745804084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050760.746192011] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050760.747853299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050760.749051098] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050760.835290163] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050760.837621999] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050760.837762525] [sailbot.teensy]: Wind angle: 112 -[teensy-2] [INFO] [1746050760.838703810] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050760.838877954] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050760.839292201] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050760.839665448] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050760.844440665] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050760.844924420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050760.845566251] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050760.846610772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050760.847678488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050760.945234599] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050760.946060105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050760.946729227] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050760.948110627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050760.949199789] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050761.002319084] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46936181 Long: -76.50359032 -[vectornav-1] [INFO] [1746050761.003258549] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.988, -1.234, 12.084) -[mux-7] [INFO] [1746050761.045158956] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050761.045877744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050761.046605056] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050761.048129494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050761.049287944] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050761.085324485] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050761.087380536] [sailbot.teensy]: Wind angle: 112 -[trim_sail-4] [INFO] [1746050761.087847861] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050761.088663362] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050761.088876238] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050761.089754978] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050761.090623867] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050761.144976872] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050761.145557372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050761.146255007] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050761.147441486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050761.148626380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050761.244821943] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050761.245503626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050761.246422918] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050761.247418266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050761.247960341] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050761.335242509] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050761.337370370] [sailbot.teensy]: Wind angle: 115 -[trim_sail-4] [INFO] [1746050761.337491070] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050761.339000858] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050761.339429569] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050761.340467956] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050761.341319778] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050761.344355668] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050761.344763604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050761.345510332] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050761.346427001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050761.347504134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050761.445516980] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050761.446247685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050761.447161521] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050761.448459276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050761.449682307] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050761.502294152] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693636 Long: -76.50358501 -[vectornav-1] [INFO] [1746050761.503313258] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.17599999999999, -2.701, 14.504) -[mux-7] [INFO] [1746050761.545180281] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050761.545915349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050761.546623806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050761.547711492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050761.548161024] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050761.585433505] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050761.588121545] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050761.588447639] [sailbot.teensy]: Wind angle: 121 -[teensy-2] [INFO] [1746050761.589516378] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050761.590204847] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050761.590433300] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050761.591298768] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050761.644889108] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050761.645775674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050761.646439100] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050761.647609248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050761.649479836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050761.745112035] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050761.745983822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050761.746556863] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050761.748118577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050761.748567867] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050761.835317321] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050761.837824987] [sailbot.teensy]: Wind angle: 125 -[trim_sail-4] [INFO] [1746050761.837843813] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050761.838979442] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050761.839171718] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050761.839727315] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050761.840093601] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050761.844459226] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050761.844922985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050761.845617799] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050761.846666032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050761.847809859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050761.945238747] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050761.945917858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050761.946831993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050761.948356721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050761.948893700] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050762.003130300] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46936574 Long: -76.50357999 -[vectornav-1] [INFO] [1746050762.004689018] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.46199999999999, 1.938, 15.028) -[mux-7] [INFO] [1746050762.045166461] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050762.046233875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050762.046820068] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050762.048232420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050762.049536505] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050762.085856063] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050762.088466333] [sailbot.teensy]: Wind angle: 121 -[trim_sail-4] [INFO] [1746050762.088983679] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050762.089535330] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050762.090418081] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050762.090559547] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050762.091261443] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050762.145347294] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050762.146003821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050762.146983111] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050762.148323292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050762.148835290] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050762.245329433] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050762.246128609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050762.246907237] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050762.248413592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050762.248849487] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050762.335345464] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050762.337771548] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050762.338125881] [sailbot.teensy]: Wind angle: 115 -[mux-7] [INFO] [1746050762.338435711] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050762.339474244] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050762.340403991] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050762.341258831] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050762.344351540] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050762.344859728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050762.345466269] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050762.346577844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050762.347629510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050762.445686838] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050762.447027209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050762.447604746] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050762.448527422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050762.449225075] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050762.502494810] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46936802 Long: -76.50357501 -[vectornav-1] [INFO] [1746050762.503570237] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.228999999999985, -1.712, 11.422) -[mux-7] [INFO] [1746050762.545621105] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050762.546740734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050762.547901462] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050762.549039837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050762.550234515] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050762.585693143] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050762.588367714] [sailbot.teensy]: Wind angle: 113 -[trim_sail-4] [INFO] [1746050762.588942414] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050762.589359351] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050762.590256763] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050762.590618330] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050762.591107632] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050762.644987288] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050762.645694383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050762.646525917] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050762.647547185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050762.648814085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050762.745037416] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050762.745587242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050762.746599692] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050762.747578821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050762.748760168] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050762.835398454] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050762.837319860] [sailbot.teensy]: Wind angle: 112 -[teensy-2] [INFO] [1746050762.838281019] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050762.837916020] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050762.838930348] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050762.839148320] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050762.839517645] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050762.844638803] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050762.845261349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050762.845899946] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050762.846963034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050762.848064938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050762.945041836] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050762.945842956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050762.946455388] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050762.947804513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050762.948897055] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050763.003848349] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46937024 Long: -76.50356999 -[vectornav-1] [INFO] [1746050763.005699755] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (28.187000000000012, -1.383, 11.947) -[mux-7] [INFO] [1746050763.045080447] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050763.045667877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050763.046465821] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050763.047644541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050763.048684867] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050763.085256384] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050763.087162512] [sailbot.teensy]: Wind angle: 114 -[trim_sail-4] [INFO] [1746050763.087651604] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050763.088120436] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050763.088441269] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050763.089028069] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050763.089936237] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050763.145215234] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050763.145785499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050763.147110422] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050763.148084948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050763.149554394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050763.244543306] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050763.245005640] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050763.245714473] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050763.246580350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050763.247507843] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050763.335156278] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050763.337462140] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050763.338010726] [sailbot.teensy]: Wind angle: 115 -[mux-7] [INFO] [1746050763.338335671] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050763.338949519] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050763.339373492] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050763.339933049] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050763.344406620] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050763.344944467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050763.345570956] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050763.346684750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050763.347823637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050763.445351835] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050763.446218036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050763.447432458] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050763.448595724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050763.449407788] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050763.502832850] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46937184 Long: -76.50356371 -[vectornav-1] [INFO] [1746050763.504201996] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.37299999999999, 0.417, 14.133) -[mux-7] [INFO] [1746050763.545266911] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050763.545896585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050763.546771767] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050763.548290248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050763.548966437] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050763.585261843] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050763.587040131] [sailbot.teensy]: Wind angle: 118 -[teensy-2] [INFO] [1746050763.587977811] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050763.588187060] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050763.589607915] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050763.590057281] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050763.591024282] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050763.645059877] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050763.645935491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050763.646520601] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050763.648007754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050763.649187445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050763.745162381] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050763.746204658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050763.746620496] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050763.748600339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050763.749767816] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050763.835483671] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050763.838067446] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050763.838292028] [sailbot.teensy]: Wind angle: 119 -[teensy-2] [INFO] [1746050763.839244816] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050763.840230859] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050763.840574721] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050763.841150132] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050763.844220069] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050763.844752084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050763.845302585] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050763.846465548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050763.847598518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050763.945383062] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050763.946273500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050763.947149125] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050763.948201502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050763.948717439] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050764.003646414] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46937301 Long: -76.50355789 -[vectornav-1] [INFO] [1746050764.005046310] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.303999999999974, 0.502, 14.894) -[mux-7] [INFO] [1746050764.045220937] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050764.045826532] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050764.046704504] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050764.047815506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050764.049002327] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050764.085334991] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050764.087917349] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050764.089324640] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050764.089425255] [sailbot.teensy]: Wind angle: 117 -[teensy-2] [INFO] [1746050764.090355363] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050764.091279542] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050764.092257139] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050764.145323271] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050764.146231186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050764.147072974] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050764.148716957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050764.149752248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050764.245440624] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050764.246491473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050764.247256084] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050764.248917471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050764.250086220] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050764.335230106] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050764.337044719] [sailbot.teensy]: Wind angle: 108 -[teensy-2] [INFO] [1746050764.337976858] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050764.337530399] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050764.338959919] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050764.339646396] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050764.339878513] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050764.344448053] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050764.345112573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050764.345633869] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050764.346852070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050764.347970755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050764.443703329] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050764.444222866] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050764.444648782] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050764.445468144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050764.445945810] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050764.502522198] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46937533 Long: -76.50355323 -[vectornav-1] [INFO] [1746050764.504085386] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.803999999999974, -3.196, 11.843) -[mux-7] [INFO] [1746050764.544826252] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050764.545494113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050764.546069602] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050764.547291306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050764.548437196] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050764.585035255] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050764.586525408] [sailbot.teensy]: Wind angle: 104 -[teensy-2] [INFO] [1746050764.587392997] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050764.587000026] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050764.588283410] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050764.588615545] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050764.589109150] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050764.645117525] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050764.645993918] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050764.646416738] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050764.647909863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050764.649086032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050764.744983464] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050764.745856158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050764.746511361] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050764.747647597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050764.748222426] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050764.835583362] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050764.837748099] [sailbot.teensy]: Wind angle: 115 -[teensy-2] [INFO] [1746050764.838820148] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050764.838929505] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050764.839577488] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050764.839720080] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050764.840708065] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050764.844577114] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050764.845183961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050764.845764451] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050764.846905846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050764.848053137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050764.945125227] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050764.945880947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050764.946629162] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050764.948043701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050764.949071379] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050765.003116586] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46937679 Long: -76.5035472 -[vectornav-1] [INFO] [1746050765.004920459] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.09899999999999, 0.061, 14.288) -[mux-7] [INFO] [1746050765.045034346] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050765.045735918] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050765.046344326] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050765.047800865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050765.048848671] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050765.085410613] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050765.087878149] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050765.088275069] [sailbot.teensy]: Wind angle: 119 -[teensy-2] [INFO] [1746050765.089216083] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050765.089256471] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050765.090094614] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050765.090976912] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050765.145153125] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050765.145924054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050765.146613648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050765.148201502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050765.149365634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050765.244849340] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050765.245502016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050765.246110285] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050765.247320575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050765.248452125] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050765.335233596] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050765.337152551] [sailbot.teensy]: Wind angle: 116 -[teensy-2] [INFO] [1746050765.338130116] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050765.338282279] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050765.338824654] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050765.339070159] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050765.339975343] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050765.344363915] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050765.344874970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050765.345472696] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050765.346829230] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050765.347898619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050765.445109610] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050765.445815039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050765.446605188] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050765.447866018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050765.449128646] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050765.502942535] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46937775 Long: -76.50354078 -[vectornav-1] [INFO] [1746050765.504441073] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (15.199000000000012, 1.406, 13.026) -[mux-7] [INFO] [1746050765.545254021] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050765.546256206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050765.546699998] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050765.548489818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050765.549616093] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050765.585108102] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050765.586936494] [sailbot.teensy]: Wind angle: 110 -[trim_sail-4] [INFO] [1746050765.587186346] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050765.587805605] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050765.588636559] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050765.589475361] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050765.589506208] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050765.644954535] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050765.645604627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050765.646364644] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050765.647529780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050765.648737248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050765.745106322] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050765.745907412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050765.746567798] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050765.747871059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050765.748532163] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050765.835556978] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050765.838277991] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050765.838357173] [sailbot.teensy]: Wind angle: 103 -[teensy-2] [INFO] [1746050765.839362065] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050765.839634421] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050765.840335313] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050765.840800505] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050765.844414530] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050765.844958926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050765.845501539] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050765.846635995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050765.847671737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050765.944856573] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050765.945521971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050765.946100743] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050765.947275309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050765.948313654] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050766.003102196] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46937883 Long: -76.50353511 -[vectornav-1] [INFO] [1746050766.004286298] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (16.88499999999999, -1.34, 11.925) -[mux-7] [INFO] [1746050766.045067845] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050766.045925319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050766.046414834] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050766.047676436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050766.048167725] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050766.085380572] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050766.087743751] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050766.088378816] [sailbot.teensy]: Wind angle: 110 -[teensy-2] [INFO] [1746050766.089687147] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050766.089759368] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050766.090890923] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050766.091738635] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050766.144920777] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050766.145500169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050766.146163786] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050766.147330900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050766.148361964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050766.245137810] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050766.245684441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050766.246579629] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050766.247590353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050766.248708820] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050766.335123999] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050766.336972737] [sailbot.teensy]: Wind angle: 113 -[trim_sail-4] [INFO] [1746050766.337746050] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050766.337903630] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050766.338182591] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050766.338605918] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050766.338991579] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050766.344745567] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050766.345212825] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050766.345945011] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050766.347000859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050766.348239228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050766.445027190] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050766.445873915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050766.446447409] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050766.447912223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050766.448970501] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050766.502339728] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46938006 Long: -76.50352911 -[vectornav-1] [INFO] [1746050766.503295044] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (14.423000000000002, 0.194, 12.595) -[mux-7] [INFO] [1746050766.545337577] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050766.546078847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050766.546907152] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050766.548578148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050766.549736723] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050766.585268755] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050766.586912890] [sailbot.teensy]: Wind angle: 106 -[trim_sail-4] [INFO] [1746050766.587695669] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050766.587808819] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050766.588681960] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050766.588737650] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050766.589551005] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050766.644806126] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050766.645821772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050766.646781578] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050766.647976763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[mux-7] [INFO] [1746050766.648766511] [sailbot.mux]: controller_app rudder angle: -5 -[teensy-2] [INFO] [1746050766.649504361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050766.744955776] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050766.745825573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050766.746280238] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050766.747622537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050766.748094841] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050766.835198096] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050766.837530122] [sailbot.teensy]: Wind angle: 100 -[trim_sail-4] [INFO] [1746050766.837612846] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050766.838467189] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050766.838921752] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050766.839303747] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050766.839998622] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050766.844341168] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050766.844991224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050766.845663195] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050766.846916086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050766.848070148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050766.945166561] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050766.945980662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050766.946802079] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050766.948099422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050766.949160177] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050767.003346499] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46938121 Long: -76.50352402 -[vectornav-1] [INFO] [1746050767.004979756] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (10.757999999999981, -2.992, 9.811) -[mux-7] [INFO] [1746050767.044947743] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050767.045800336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050767.046159767] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050767.047730216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050767.048784396] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050767.085456801] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050767.087710670] [sailbot.teensy]: Wind angle: 100 -[trim_sail-4] [INFO] [1746050767.087817269] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050767.088747914] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050767.088993260] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050767.089751040] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050767.090756535] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050767.144821964] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050767.145705255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050767.146314567] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050767.147565489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050767.148641333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050767.244655751] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050767.245714118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050767.245829093] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050767.247627843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050767.248723532] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050767.335484187] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050767.337409508] [sailbot.teensy]: Wind angle: 105 -[trim_sail-4] [INFO] [1746050767.337803087] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050767.338412297] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050767.339326484] [sailbot.teensy]: Actual tail angle: 20 -[mux-7] [INFO] [1746050767.339600075] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050767.340250745] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050767.344411793] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050767.345162757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050767.345893385] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050767.347100903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050767.348270706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050767.445180730] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050767.445897369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050767.446695269] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050767.447998538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050767.449066249] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050767.503355095] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46938167 Long: -76.50351774 -[vectornav-1] [INFO] [1746050767.505322230] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (14.024999999999977, -2.606, 13.374) -[mux-7] [INFO] [1746050767.544979585] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050767.545934458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050767.546376187] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746050767.547861565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -5 -[teensy-2] [INFO] [1746050767.549051494] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050767.585311952] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050767.587007827] [sailbot.teensy]: Wind angle: 108 -[trim_sail-4] [INFO] [1746050767.587442587] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050767.587978423] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050767.588906840] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050767.588921826] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746050767.589931095] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050767.643668208] [sailbot.mux]: controller_app rudder angle: -6 -[mux-7] [INFO] [1746050767.645773250] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050767.646421541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050767.646823776] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050767.648080896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050767.649170053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050767.744969222] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050767.745638581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050767.746335866] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050767.747415987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050767.747960693] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050767.835268723] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050767.836897337] [sailbot.teensy]: Wind angle: 112 -[trim_sail-4] [INFO] [1746050767.837420123] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050767.837787296] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050767.838664565] [sailbot.teensy]: Actual tail angle: 20 -[mux-7] [INFO] [1746050767.839009942] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050767.839754153] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050767.844448959] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050767.845006493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050767.845512851] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050767.846710837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050767.847895929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050767.945243958] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050767.945815734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050767.946804987] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050767.947882397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050767.949010465] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050768.003754493] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46938219 Long: -76.50351078 -[vectornav-1] [INFO] [1746050768.005555902] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (17.259000000000015, 1.178, 16.981) -[mux-7] [INFO] [1746050768.045277087] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050768.046033003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050768.046763475] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050768.048073438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050768.049245333] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050768.085390408] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050768.087148325] [sailbot.teensy]: Wind angle: 108 -[teensy-2] [INFO] [1746050768.088105249] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050768.088035020] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050768.089029953] [sailbot.teensy]: Actual tail angle: 19 -[mux-7] [INFO] [1746050768.089683587] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050768.089931387] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050768.145096490] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050768.145910359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050768.146588159] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050768.148190854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050768.149232994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050768.244886055] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050768.245772045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050768.246131718] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050768.247626012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050768.248680463] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050768.335230963] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050768.337686903] [sailbot.teensy]: Wind angle: 108 -[trim_sail-4] [INFO] [1746050768.338199807] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050768.339426265] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050768.339876457] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050768.340610497] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050768.341001080] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050768.344334797] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050768.344830573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050768.345414269] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050768.346521446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050768.347541667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050768.445854379] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050768.446842677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050768.447880814] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050768.448270304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050768.448812083] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050768.502542681] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46938362 Long: -76.50350496 -[vectornav-1] [INFO] [1746050768.503592084] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (20.766999999999996, 1.684, 16.446) -[mux-7] [INFO] [1746050768.545225822] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050768.545918967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050768.546697473] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050768.548008079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050768.548696960] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050768.585389243] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050768.587232722] [sailbot.teensy]: Wind angle: 98 -[teensy-2] [INFO] [1746050768.588194935] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050768.588283720] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050768.589100776] [sailbot.teensy]: Actual tail angle: 19 -[mux-7] [INFO] [1746050768.589258180] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050768.590029636] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050768.645349330] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050768.645763220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050768.646880949] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050768.648301629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050768.649514384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050768.745265433] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050768.746113330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050768.746835869] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050768.747977381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050768.748542206] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050768.835210108] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050768.836949683] [sailbot.teensy]: Wind angle: 90 -[trim_sail-4] [INFO] [1746050768.837372386] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050768.837835716] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050768.838703447] [sailbot.teensy]: Actual tail angle: 19 -[mux-7] [INFO] [1746050768.839117515] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050768.839564956] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050768.844380490] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050768.844924317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050768.845641962] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050768.846476405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050768.847453075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050768.945165088] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050768.945796244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050768.946675138] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050768.947882596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050768.948985541] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050769.003990231] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46938574 Long: -76.50350091 -[vectornav-1] [INFO] [1746050769.006121435] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (25.44999999999999, -3.478, 12.224) -[mux-7] [INFO] [1746050769.044775048] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050769.045570242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050769.045917247] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050769.047354602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050769.048372985] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050769.085379983] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050769.087165429] [sailbot.teensy]: Wind angle: 111 -[trim_sail-4] [INFO] [1746050769.087675972] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050769.088117483] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050769.089099449] [sailbot.teensy]: Actual tail angle: 19 -[mux-7] [INFO] [1746050769.089871491] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050769.090184735] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050769.144995347] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050769.145924986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050769.146363669] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050769.147956458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050769.149096930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050769.244999849] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050769.245845377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050769.246350118] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050769.247928548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050769.248688894] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050769.335229466] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050769.337006936] [sailbot.teensy]: Wind angle: 123 -[trim_sail-4] [INFO] [1746050769.337399788] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050769.337868069] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050769.338677336] [sailbot.teensy]: Actual tail angle: 19 -[mux-7] [INFO] [1746050769.339039692] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050769.339061542] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050769.344350618] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050769.344879844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050769.345446417] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050769.346492958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050769.347433993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050769.445416533] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050769.446095753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050769.447066444] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050769.448231904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050769.448788694] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050769.503194696] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46938766 Long: -76.50349551 -[vectornav-1] [INFO] [1746050769.504660203] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.10699999999997, -2.038, 14.397) -[mux-7] [INFO] [1746050769.544850042] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050769.545671812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050769.546101952] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050769.547526998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050769.548552389] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050769.585411182] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050769.587712083] [sailbot.teensy]: Wind angle: 122 -[trim_sail-4] [INFO] [1746050769.587741853] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050769.588708945] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050769.589423766] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050769.589616608] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050769.590484519] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050769.645068870] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050769.646086620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050769.646454043] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050769.648058419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050769.649122664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050769.744915715] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050769.745706468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050769.746172256] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050769.747579216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050769.748712966] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050769.835290399] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050769.837435392] [sailbot.teensy]: Wind angle: 122 -[trim_sail-4] [INFO] [1746050769.837438043] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050769.838392636] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050769.839045747] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050769.839339948] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050769.840238317] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050769.844401243] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050769.844998138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050769.845536545] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050769.846680653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050769.847842010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050769.945028347] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050769.945802860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050769.946437954] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050769.947896546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050769.948993472] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050770.003478835] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693895 Long: -76.5034895 -[vectornav-1] [INFO] [1746050770.004862068] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.63799999999998, 2.18, 15.861) -[mux-7] [INFO] [1746050770.044910454] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050770.045756232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050770.046210554] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050770.048378251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050770.049582815] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050770.085381856] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050770.087544597] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050770.088036084] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050770.088876794] [sailbot.teensy]: Wind angle: 117 -[teensy-2] [INFO] [1746050770.089910065] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050770.090789126] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050770.091612597] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050770.145002616] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050770.145667501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050770.146588159] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050770.147624614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050770.148748721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050770.245061661] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050770.245777296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050770.246483844] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050770.247762225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050770.248957780] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050770.335258724] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050770.336939883] [sailbot.teensy]: Wind angle: 118 -[trim_sail-4] [INFO] [1746050770.337433421] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050770.337838561] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050770.338741768] [sailbot.teensy]: Actual tail angle: 19 -[mux-7] [INFO] [1746050770.339798967] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050770.339952200] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050770.344306573] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050770.345044593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050770.345404802] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050770.346857531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050770.347862306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050770.445261103] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050770.445976582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050770.447141674] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050770.448189868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050770.449287042] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050770.502365843] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46939228 Long: -76.50348499 -[vectornav-1] [INFO] [1746050770.503422267] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.370000000000005, -0.925, 12.683) -[mux-7] [INFO] [1746050770.545203625] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050770.546105759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050770.547946240] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050770.548384535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050770.549470645] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050770.585480562] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050770.587894632] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050770.587936681] [sailbot.teensy]: Wind angle: 113 -[teensy-2] [INFO] [1746050770.588876969] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050770.588990912] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050770.589775785] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050770.590623041] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050770.644858803] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050770.645493801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050770.646002823] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050770.647269108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -6 -[teensy-2] [INFO] [1746050770.649463137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050770.650674542] [sailbot.mux]: controller_app rudder angle: -7 -[mux-7] [INFO] [1746050770.744786057] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050770.745691421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050770.746377914] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050770.747525508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050770.748614469] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050770.835396122] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050770.837764693] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050770.838020586] [sailbot.teensy]: Wind angle: 108 -[teensy-2] [INFO] [1746050770.838961999] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050770.839342671] [sailbot.teensy]: Actual tail angle: 19 -[mux-7] [INFO] [1746050770.839379307] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050770.839719460] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050770.844417890] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050770.845154346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050770.845541156] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050770.846882199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050770.847885227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050770.945220497] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050770.945875561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050770.946739582] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050770.947918799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050770.948450289] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050771.002761633] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46939487 Long: -76.50348107 -[vectornav-1] [INFO] [1746050771.003762892] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (40.543000000000006, -1.357, 12.694) -[mux-7] [INFO] [1746050771.045233270] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050771.045846264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050771.046867191] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050771.048079590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050771.049620814] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050771.085455283] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050771.087966256] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050771.088340717] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050771.089709871] [sailbot.teensy]: Wind angle: 121 -[teensy-2] [INFO] [1746050771.090615037] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050771.091435074] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050771.092279033] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050771.144704476] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050771.145417851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050771.145897359] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050771.147331785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050771.148436071] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050771.245099708] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050771.245691357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050771.246521364] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050771.247644628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050771.248487059] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050771.335249483] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050771.337593492] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050771.338206319] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050771.338411427] [sailbot.teensy]: Wind angle: 130 -[teensy-2] [INFO] [1746050771.339387334] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050771.340265281] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050771.341120791] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050771.344373237] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050771.344865253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050771.345482615] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050771.346581710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050771.347585717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050771.445237967] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050771.446038703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050771.446791507] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050771.448370820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050771.448914313] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050771.503369020] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46939698 Long: -76.50347593 -[vectornav-1] [INFO] [1746050771.504691498] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.86700000000002, 0.188, 15.456) -[mux-7] [INFO] [1746050771.545053255] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050771.545903129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050771.546484552] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050771.547853428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050771.549001004] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050771.585421656] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050771.587896877] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050771.588474539] [sailbot.teensy]: Wind angle: 130 -[mux-7] [INFO] [1746050771.588672137] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050771.589450688] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050771.590328159] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050771.591180840] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050771.645206962] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050771.646225280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050771.647184948] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050771.648760536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050771.649882304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050771.745042754] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050771.745653479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050771.746456545] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050771.747561342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050771.748618493] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050771.835576817] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050771.838080955] [sailbot.teensy]: Wind angle: 130 -[trim_sail-4] [INFO] [1746050771.838524083] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050771.839070350] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050771.839893834] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050771.839982248] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050771.840919910] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050771.844283474] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050771.845023727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050771.845568046] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050771.846802634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050771.847891855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050771.945628940] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050771.946250287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050771.947354458] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050771.948510359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050771.949816805] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050772.002947820] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46939958 Long: -76.50347177 -[vectornav-1] [INFO] [1746050772.004216307] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.93700000000001, -0.517, 12.773) -[mux-7] [INFO] [1746050772.044851572] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050772.045490650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050772.046055337] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050772.047335180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050772.048354003] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050772.085430836] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050772.087199481] [sailbot.teensy]: Wind angle: 128 -[teensy-2] [INFO] [1746050772.088139693] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050772.089060159] [sailbot.teensy]: Actual tail angle: 18 -[trim_sail-4] [INFO] [1746050772.087940430] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050772.089029923] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050772.089937225] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050772.145012330] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050772.145679387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050772.146489959] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050772.147643995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050772.148766092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050772.245267051] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050772.245928428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050772.247023380] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050772.248006373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050772.249154271] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050772.335367377] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050772.337407418] [sailbot.teensy]: Wind angle: 126 -[trim_sail-4] [INFO] [1746050772.338095464] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050772.338637949] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050772.339181775] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050772.339581630] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050772.340463232] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050772.344398635] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050772.345014037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050772.345818927] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050772.346782771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050772.347860953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050772.445492291] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050772.446248618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050772.447086869] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050772.447976704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050772.448430978] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050772.503283556] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46940326 Long: -76.50346906 -[vectornav-1] [INFO] [1746050772.504816373] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.60699999999997, -0.156, 11.093) -[mux-7] [INFO] [1746050772.545057497] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050772.545918606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050772.546455020] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050772.548095059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[teensy-2] [INFO] [1746050772.549141410] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050772.585287346] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050772.587455002] [sailbot.teensy]: Wind angle: 125 -[trim_sail-4] [INFO] [1746050772.587519461] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050772.588427406] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050772.589320715] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746050772.589310534] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050772.590218594] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050772.644731434] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050772.645518859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050772.645954935] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050772.647319642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -7 -[mux-7] [INFO] [1746050772.647904245] [sailbot.mux]: controller_app rudder angle: -2 -[teensy-2] [INFO] [1746050772.648386563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050772.745237247] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050772.746078373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050772.746804764] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050772.748106284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050772.748666309] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050772.835451125] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050772.837279786] [sailbot.teensy]: Wind angle: 126 -[trim_sail-4] [INFO] [1746050772.837930538] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050772.838232241] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050772.839129667] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746050772.839496671] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050772.839978864] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050772.844438997] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050772.845480330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050772.845649951] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050772.847241037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050772.848413470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050772.945504158] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050772.945938739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050772.947210039] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050772.948121130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050772.949260327] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050773.003225544] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46940551 Long: -76.50346448 -[vectornav-1] [INFO] [1746050773.004661121] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.29399999999998, 0.172, 16.406) -[mux-7] [INFO] [1746050773.044795897] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050773.045383576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050773.046010667] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050773.047181037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050773.048266208] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050773.085241609] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050773.087453163] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050773.087447720] [sailbot.teensy]: Wind angle: 137 -[teensy-2] [INFO] [1746050773.088448952] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050773.088956471] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050773.089367309] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050773.090206137] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050773.145161900] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050773.145739059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050773.146645363] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050773.147884638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050773.149081369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050773.245210233] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050773.245915271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050773.246869617] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050773.248096575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050773.248833792] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050773.335295468] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050773.337505855] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050773.338471196] [sailbot.teensy]: Wind angle: 136 -[mux-7] [INFO] [1746050773.338922697] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050773.339454849] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050773.340402947] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050773.341295630] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050773.344437432] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050773.344914817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050773.345576768] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050773.346592895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050773.347677180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050773.445238423] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050773.445877279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050773.447087908] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050773.447989947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050773.449305835] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050773.503450336] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46940802 Long: -76.50346111 -[vectornav-1] [INFO] [1746050773.505380516] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.74400000000003, -2.72, 15.664) -[mux-7] [INFO] [1746050773.545085033] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050773.545793472] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050773.546794703] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050773.547690395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050773.548806736] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050773.585458031] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050773.588007018] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050773.588025076] [sailbot.teensy]: Wind angle: 133 -[teensy-2] [INFO] [1746050773.589027535] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050773.589474271] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050773.589970339] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050773.590893079] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050773.645084783] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050773.646110663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050773.646720483] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050773.648225966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -2 -[teensy-2] [INFO] [1746050773.649434483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050773.650172861] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746050773.745225335] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050773.745946911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050773.746884104] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050773.748072900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050773.749282394] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050773.835267450] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050773.837783870] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050773.838134942] [sailbot.teensy]: Wind angle: 118 -[mux-7] [INFO] [1746050773.838470555] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050773.839080857] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050773.839993452] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050773.840869178] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050773.844428534] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050773.844964574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050773.845604388] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050773.846762491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050773.847836009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050773.945290697] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050773.946339963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050773.946906414] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050773.948473889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050773.949604251] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050774.002483997] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46941176 Long: -76.5034586 -[vectornav-1] [INFO] [1746050774.003630491] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.58100000000002, -0.01, 12.642) -[mux-7] [INFO] [1746050774.045654992] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050774.046185739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050774.047530494] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050774.048737463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050774.049265080] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050774.085035015] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050774.087077686] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050774.087285506] [sailbot.teensy]: Wind angle: 119 -[mux-7] [INFO] [1746050774.088066288] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050774.088239467] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050774.089357433] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050774.090207041] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050774.145155483] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050774.145894897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050774.146801478] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050774.147861088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050774.148900772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050774.244997272] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050774.245724525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050774.246765901] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050774.247752577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050774.249073583] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050774.335731643] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050774.338122561] [sailbot.teensy]: Wind angle: 133 -[trim_sail-4] [INFO] [1746050774.338554686] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050774.339924052] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050774.340880991] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050774.340911172] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050774.341802153] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050774.344354087] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050774.344940147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050774.345708163] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050774.346641611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050774.347672557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050774.445603981] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050774.446230927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050774.447280269] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050774.448731178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050774.449953604] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050774.503837774] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46941446 Long: -76.50345487 -[vectornav-1] [INFO] [1746050774.505677164] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.25999999999999, -0.067, 13.718) -[mux-7] [INFO] [1746050774.545390047] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050774.546148538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050774.546939309] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050774.548309021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050774.548941524] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050774.585327370] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050774.587701811] [sailbot.teensy]: Wind angle: 135 -[trim_sail-4] [INFO] [1746050774.587835400] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050774.589082208] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050774.589316539] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050774.590066655] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050774.590945850] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050774.645227734] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050774.645969227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050774.646756147] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050774.648296499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050774.649391464] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050774.745018909] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050774.745706749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050774.746534308] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050774.747876710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050774.748917028] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050774.835247225] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050774.836984983] [sailbot.teensy]: Wind angle: 135 -[trim_sail-4] [INFO] [1746050774.837767449] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050774.837944313] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050774.838819959] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050774.838934775] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050774.839737449] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050774.844299643] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050774.844918022] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050774.845631585] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050774.846649995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050774.847640794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050774.945318835] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050774.945953973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050774.947012100] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050774.948066755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050774.948618561] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050775.002354658] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46941767 Long: -76.50345176 -[vectornav-1] [INFO] [1746050775.003401967] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.803999999999974, -1.817, 12.22) -[mux-7] [INFO] [1746050775.045299363] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050775.045991893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050775.046827526] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050775.048350070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050775.049506465] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050775.085196043] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050775.087746876] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050775.088100108] [sailbot.teensy]: Wind angle: 133 -[mux-7] [INFO] [1746050775.088516255] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050775.089078504] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050775.089993715] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050775.090820195] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050775.144987265] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050775.145728927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050775.146470744] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050775.147563014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050775.148671940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050775.244784798] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050775.246017304] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050775.246082513] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050775.247883848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050775.248965211] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050775.335492136] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050775.337952526] [sailbot.teensy]: Wind angle: 122 -[trim_sail-4] [INFO] [1746050775.338226168] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050775.338889019] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050775.339129618] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050775.339456812] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050775.339824772] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050775.344330070] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050775.345071651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050775.345453134] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050775.346774756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050775.347896114] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050775.445433798] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050775.446094418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050775.447084275] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050775.448452784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050775.449769280] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050775.503984056] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46942086 Long: -76.50344899 -[vectornav-1] [INFO] [1746050775.505948698] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.726, -0.22, 11.652) -[mux-7] [INFO] [1746050775.545081951] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050775.545754159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050775.546667039] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050775.547763507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050775.548948177] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050775.585225638] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050775.587525276] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050775.587745542] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050775.588444455] [sailbot.teensy]: Wind angle: 117 -[teensy-2] [INFO] [1746050775.589378164] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050775.590207151] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050775.591039144] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050775.644913809] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050775.645542202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050775.646184138] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050775.647399857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050775.648351660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050775.744950443] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050775.745705518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050775.746246677] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050775.747761957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050775.748842762] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050775.835217114] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050775.837038433] [sailbot.teensy]: Wind angle: 125 -[trim_sail-4] [INFO] [1746050775.837564503] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050775.838617785] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050775.839112229] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050775.839534950] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050775.840460268] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050775.844305066] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050775.845064089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050775.845860905] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050775.846784713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050775.847943965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050775.945293741] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050775.946039927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050775.946819566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050775.948434604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050775.949233089] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050776.002791928] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46942372 Long: -76.50344452 -[vectornav-1] [INFO] [1746050776.004269796] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.617999999999995, 0.506, 11.107) -[mux-7] [INFO] [1746050776.045566545] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050776.046493841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050776.047160248] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050776.048863593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050776.050192628] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050776.085373546] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050776.087116090] [sailbot.teensy]: Wind angle: 133 -[teensy-2] [INFO] [1746050776.088030247] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050776.087911849] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050776.089025248] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050776.089788325] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050776.090837669] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050776.145061222] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050776.145770974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050776.146408506] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050776.147755841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050776.148943467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050776.245237029] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050776.246056316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050776.246858355] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050776.248196410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050776.249202610] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050776.335612581] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050776.338650711] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050776.339262963] [sailbot.teensy]: Wind angle: 132 -[mux-7] [INFO] [1746050776.340092750] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050776.340259467] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050776.340839608] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050776.341190264] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050776.344448567] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050776.344921234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050776.345616959] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050776.346943725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050776.348149001] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050776.445074962] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050776.445964527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050776.446825047] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050776.447288912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050776.447784878] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050776.502955670] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46942656 Long: -76.50344144 -[vectornav-1] [INFO] [1746050776.504451258] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.841999999999985, -2.977, 9.879) -[mux-7] [INFO] [1746050776.545195468] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050776.545962428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050776.546891492] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050776.548276954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050776.549479746] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050776.585202787] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050776.586987002] [sailbot.teensy]: Wind angle: 132 -[trim_sail-4] [INFO] [1746050776.587447863] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050776.587938929] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050776.588848371] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050776.588678859] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050776.589719273] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050776.645097232] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050776.645857065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050776.646503468] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050776.647987177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050776.649026170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050776.745156530] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050776.745883308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050776.746578210] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050776.747872858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050776.748361367] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050776.835039998] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050776.836598582] [sailbot.teensy]: Wind angle: 130 -[trim_sail-4] [INFO] [1746050776.837191933] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050776.837464336] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050776.838376641] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050776.839266291] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050776.839494837] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050776.844340942] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050776.844872605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050776.845453960] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050776.846539641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050776.847587515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050776.945262885] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050776.945897526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050776.946929483] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050776.948367748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050776.949146519] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050777.003618618] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943001 Long: -76.50343833 -[vectornav-1] [INFO] [1746050777.005185549] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.96300000000002, 2.133, 9.228) -[mux-7] [INFO] [1746050777.044832348] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050777.045722898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050777.046338017] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050777.047632316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050777.048797304] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050777.085196396] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050777.086990805] [sailbot.teensy]: Wind angle: 131 -[trim_sail-4] [INFO] [1746050777.087308749] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050777.087950860] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050777.088891140] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050777.089788477] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050777.089973068] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746050777.145587826] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050777.146235669] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050777.147271728] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050777.148660414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050777.149976339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050777.245032665] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050777.245636175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050777.246486010] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050777.247469745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050777.248478289] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050777.335397124] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050777.337781909] [sailbot.teensy]: Wind angle: 134 -[trim_sail-4] [INFO] [1746050777.337806299] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050777.338762688] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050777.339673511] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050777.340299904] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050777.340552915] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050777.344478470] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050777.345025230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050777.345609578] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050777.346800924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050777.347935948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050777.445753705] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050777.446484460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050777.447327193] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050777.448756588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050777.450049621] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050777.503056180] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943227 Long: -76.50343436 -[vectornav-1] [INFO] [1746050777.504189955] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.58600000000001, -1.362, 10.631) -[mux-7] [INFO] [1746050777.545259841] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050777.546035081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050777.546780264] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050777.548194822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050777.549418893] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050777.585607935] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050777.588251224] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050777.588589023] [sailbot.teensy]: Wind angle: 134 -[mux-7] [INFO] [1746050777.589503229] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050777.589613805] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050777.590664081] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050777.591623870] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050777.645218374] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050777.645916688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050777.646798410] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050777.648522445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050777.649528393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050777.745115084] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050777.745764329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050777.746527146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050777.747875659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050777.748927401] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050777.835305884] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050777.837588307] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050777.838257239] [sailbot.teensy]: Wind angle: 134 -[mux-7] [INFO] [1746050777.838290180] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050777.839103268] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050777.839503526] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050777.839872378] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050777.844276909] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050777.844849448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050777.845426227] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050777.846580184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050777.847624011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050777.945635619] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050777.946106634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050777.947412275] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050777.948755056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050777.949604617] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050778.002949635] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943469 Long: -76.50343108 -[vectornav-1] [INFO] [1746050778.004066504] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.80599999999998, -1.165, 8.111) -[mux-7] [INFO] [1746050778.044817736] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050778.045601138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050778.046025817] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050778.047395114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050778.048391991] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050778.085219855] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050778.087312869] [sailbot.teensy]: Wind angle: 134 -[trim_sail-4] [INFO] [1746050778.087471429] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050778.088302958] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050778.089210771] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050778.090044412] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050778.090074911] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050778.145153194] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050778.145804084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050778.146882969] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050778.147791547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050778.148880216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050778.244976504] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050778.245645522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050778.246515214] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050778.247541327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050778.248779027] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050778.335739512] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050778.338933183] [sailbot.teensy]: Wind angle: 131 -[trim_sail-4] [INFO] [1746050778.339118821] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050778.339686153] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050778.339986451] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050778.340385783] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050778.340769548] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050778.344508862] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050778.345103347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050778.345619119] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050778.346779000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050778.347992706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050778.445348444] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050778.446102827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050778.446886745] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050778.448286568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050778.449516845] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050778.503834638] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943765 Long: -76.50342811 -[vectornav-1] [INFO] [1746050778.505452567] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.66899999999998, 1.07, 7.035) -[mux-7] [INFO] [1746050778.545122139] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050778.545842074] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050778.546546479] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050778.548048247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050778.549197013] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050778.585337620] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050778.587242986] [sailbot.teensy]: Wind angle: 129 -[trim_sail-4] [INFO] [1746050778.588204160] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050778.588228617] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050778.589137046] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050778.589159105] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050778.590043132] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050778.644869826] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050778.645658759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050778.646561120] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050778.647585678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050778.648756210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050778.650114643] [sailbot.mux]: controller_app rudder angle: -1 -[mux-7] [INFO] [1746050778.744899973] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050778.745801011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050778.746188464] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050778.747787993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050778.748932938] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050778.835193376] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050778.837626437] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050778.837737941] [sailbot.teensy]: Wind angle: 129 -[teensy-2] [INFO] [1746050778.838711220] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050778.839603502] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050778.839813673] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050778.840437985] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050778.844257216] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050778.844876219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050778.845640093] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050778.846605390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050778.847787465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050778.945001939] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050778.945691028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050778.946316851] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050778.947579604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050778.948516607] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050779.002348036] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943996 Long: -76.50342428 -[vectornav-1] [INFO] [1746050779.003288382] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.646000000000015, -0.47, 11.56) -[mux-7] [INFO] [1746050779.045067531] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050779.045692174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050779.046244584] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050779.047527823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050779.048587151] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050779.085200708] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050779.087544322] [sailbot.teensy]: Wind angle: 129 -[trim_sail-4] [INFO] [1746050779.087782090] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050779.088084327] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050779.088939449] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050779.089918208] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050779.090776735] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050779.145048916] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050779.145738216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050779.146964309] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050779.148239028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050779.148838139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050779.245009250] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050779.245655993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050779.246430682] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050779.247475571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050779.248511491] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050779.335279843] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050779.337081005] [sailbot.teensy]: Wind angle: 129 -[trim_sail-4] [INFO] [1746050779.337880298] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050779.338943435] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050779.339335149] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050779.340494830] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050779.341401491] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050779.344362362] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050779.344962824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050779.345441316] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050779.346668338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050779.347780650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050779.445274922] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050779.446100063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050779.446826196] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050779.448452437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050779.449014095] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050779.502450910] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46944182 Long: -76.50342049 -[vectornav-1] [INFO] [1746050779.503453310] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.33600000000001, -0.683, 9.134) -[mux-7] [INFO] [1746050779.544958406] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050779.545675575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050779.546229245] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050779.547569245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050779.548598331] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050779.585417300] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050779.587762602] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050779.588171852] [sailbot.teensy]: Wind angle: 130 -[mux-7] [INFO] [1746050779.588903466] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050779.589092797] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050779.590207198] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050779.591040316] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050779.645285966] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050779.645984043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050779.646830409] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050779.648555098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050779.649729875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050779.745457028] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050779.746193130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050779.746962263] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050779.747875869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050779.748346269] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050779.835260902] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050779.837024183] [sailbot.teensy]: Wind angle: 130 -[trim_sail-4] [INFO] [1746050779.837633148] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050779.837908010] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050779.838564385] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050779.838484937] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050779.839128802] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050779.844274181] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050779.844817338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050779.845663941] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050779.846486626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050779.847546594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050779.945548300] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050779.946361547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050779.947290050] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050779.948618574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050779.949144642] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050780.003091503] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46944335 Long: -76.50341681 -[vectornav-1] [INFO] [1746050780.004344632] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.759000000000015, -0.633, 10.498) -[mux-7] [INFO] [1746050780.045074135] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050780.045800421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050780.046389419] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050780.047697662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050780.048747555] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050780.085423648] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050780.087415252] [sailbot.teensy]: Wind angle: 127 -[trim_sail-4] [INFO] [1746050780.088132601] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050780.088451650] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050780.089300313] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050780.089339976] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050780.090219818] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050780.144975815] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050780.145863916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050780.146290606] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050780.147775383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050780.149023786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050780.245073274] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050780.245834778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050780.246559082] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050780.247952725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050780.249043429] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050780.335496834] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050780.338179914] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050780.338176304] [sailbot.teensy]: Wind angle: 125 -[teensy-2] [INFO] [1746050780.339125534] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050780.339244410] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050780.339555964] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050780.340007027] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050780.344459569] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050780.344958350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050780.345658246] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050780.346792279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050780.347855514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050780.445279884] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050780.446091321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050780.446988348] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050780.448628642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050780.449779275] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050780.503004571] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46944618 Long: -76.50341343 -[vectornav-1] [INFO] [1746050780.504068641] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.946000000000026, -0.24, 9.581) -[mux-7] [INFO] [1746050780.545200495] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050780.545972196] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050780.547316535] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050780.548445952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050780.548992752] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050780.585392070] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050780.587124026] [sailbot.teensy]: Wind angle: 124 -[trim_sail-4] [INFO] [1746050780.587896354] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050780.588057040] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050780.588998905] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050780.589594617] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050780.589868309] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050780.645093869] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050780.645801793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050780.646625584] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050780.647876271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050780.648936360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050780.745446442] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050780.746390618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050780.747107091] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050780.748692278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050780.749839090] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050780.835187380] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050780.837115687] [sailbot.teensy]: Wind angle: 123 -[trim_sail-4] [INFO] [1746050780.838028139] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050780.839506136] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050780.839605990] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050780.839988735] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050780.840371912] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050780.844411640] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050780.844942093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050780.846458972] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050780.846609938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050780.847807144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050780.945503904] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050780.946192386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050780.947613845] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050780.948694865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050780.949847857] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050781.003281252] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46944756 Long: -76.50340921 -[vectornav-1] [INFO] [1746050781.005073529] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.80799999999999, -1.286, 13.392) -[mux-7] [INFO] [1746050781.045311682] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050781.046205819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050781.046852616] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050781.048310739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050781.049455595] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050781.085164129] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050781.087245004] [sailbot.teensy]: Wind angle: 124 -[trim_sail-4] [INFO] [1746050781.087310229] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050781.088251209] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050781.088803065] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050781.089146669] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050781.090020165] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050781.144980387] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050781.145802519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050781.146318513] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050781.147893149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050781.148963431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050781.244789110] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050781.245516901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050781.246148767] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050781.247308148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050781.248391554] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050781.335244057] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050781.337672650] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050781.338123846] [sailbot.teensy]: Wind angle: 124 -[mux-7] [INFO] [1746050781.338282261] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050781.339225205] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050781.340112317] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050781.340568774] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050781.344457028] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050781.344968356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050781.345599834] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050781.346652384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050781.347822664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050781.445198037] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050781.445878230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050781.446759668] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050781.448134722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050781.449369301] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050781.502477860] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46944904 Long: -76.50340383 -[vectornav-1] [INFO] [1746050781.503494081] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.218999999999994, -0.923, 14.911) -[mux-7] [INFO] [1746050781.545321995] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050781.545989455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050781.546993947] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050781.547918700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050781.548486482] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050781.585626031] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050781.587762311] [sailbot.teensy]: Wind angle: 124 -[teensy-2] [INFO] [1746050781.588827939] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050781.588396850] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050781.589753240] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050781.590480561] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050781.590622923] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050781.645210507] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050781.645953265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050781.646711645] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050781.648040118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050781.649399722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050781.745719771] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050781.746303339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050781.747582335] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050781.749003279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050781.749529119] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050781.835308229] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050781.837781884] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050781.838241420] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050781.839035532] [sailbot.teensy]: Wind angle: 125 -[teensy-2] [INFO] [1746050781.840031391] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050781.840691557] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050781.841061871] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050781.844570467] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050781.844983484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050781.845759747] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050781.846682706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050781.847779723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050781.945471799] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050781.946066691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050781.947131500] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050781.948960695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050781.950141720] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050782.003322868] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945147 Long: -76.50340014 -[vectornav-1] [INFO] [1746050782.004871893] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.553999999999974, 0.83, 11.489) -[mux-7] [INFO] [1746050782.045452741] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050782.046308746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050782.047070992] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050782.048774545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050782.049947557] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050782.085439018] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050782.088016532] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050782.088737936] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050782.089609877] [sailbot.teensy]: Wind angle: 122 -[teensy-2] [INFO] [1746050782.090559670] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050782.091444664] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050782.092280807] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050782.145190084] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050782.146193542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050782.146571565] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050782.147976550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050782.149141272] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050782.245043155] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050782.245693240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050782.246444681] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050782.247604505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050782.248763994] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050782.335295312] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050782.337870181] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050782.338436878] [sailbot.teensy]: Wind angle: 117 -[mux-7] [INFO] [1746050782.339242251] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050782.339483315] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050782.340398906] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050782.341261053] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050782.344538986] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050782.345160131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050782.345792012] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050782.346936909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050782.348140271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050782.445236383] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050782.445754526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050782.446801199] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050782.447776031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050782.448982598] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050782.502849454] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945399 Long: -76.50339658 -[vectornav-1] [INFO] [1746050782.504148279] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.855999999999995, -1.655, 12.183) -[mux-7] [INFO] [1746050782.545252307] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050782.546162747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050782.546780799] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050782.548378080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050782.549600815] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050782.585327309] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050782.587413806] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050782.588022732] [sailbot.teensy]: Wind angle: 117 -[mux-7] [INFO] [1746050782.588286817] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050782.589225545] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050782.590102165] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050782.590946755] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050782.644904684] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050782.645566159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050782.646143970] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050782.647441722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050782.648341465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050782.745106166] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050782.745758117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050782.746486989] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050782.747815465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050782.748893816] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050782.835682944] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050782.838463524] [sailbot.teensy]: Wind angle: 118 -[trim_sail-4] [INFO] [1746050782.838482022] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050782.838815027] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050782.838877314] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050782.839259632] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050782.839623755] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050782.844558801] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050782.845255560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050782.845742286] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050782.846970172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050782.848091809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050782.945335703] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050782.946045135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050782.947225649] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050782.947858157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050782.948396977] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050783.003708910] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945526 Long: -76.5033918 -[vectornav-1] [INFO] [1746050783.005511597] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.891999999999996, -0.221, 11.157) -[mux-7] [INFO] [1746050783.045243744] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050783.046105014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050783.046967667] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050783.048770637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050783.049839863] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050783.085641384] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050783.087799045] [sailbot.teensy]: Wind angle: 117 -[trim_sail-4] [INFO] [1746050783.088462852] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050783.088892795] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050783.089591720] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050783.089819969] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050783.090791879] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050783.145684326] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050783.146787752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050783.147438079] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050783.149257997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050783.150453338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050783.245178517] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050783.245862892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050783.246652271] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050783.248235989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050783.248980432] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050783.335316801] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050783.337156851] [sailbot.teensy]: Wind angle: 115 -[trim_sail-4] [INFO] [1746050783.337634978] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050783.338097534] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050783.339009415] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050783.339211558] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050783.339867343] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050783.344476818] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050783.345146965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050783.345645723] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050783.346874341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050783.347996316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050783.445637884] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050783.446511347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050783.447264619] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050783.448895843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050783.450189676] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050783.503888267] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945736 Long: -76.50338746 -[vectornav-1] [INFO] [1746050783.506223547] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.57499999999999, 0.086, 6.773) -[mux-7] [INFO] [1746050783.545358810] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050783.546052566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050783.546962479] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050783.548404972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050783.549498200] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050783.585515902] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050783.587877128] [sailbot.teensy]: Wind angle: 113 -[trim_sail-4] [INFO] [1746050783.587917240] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050783.588992487] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050783.589885942] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050783.589926877] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050783.590799400] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050783.644966687] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050783.645830891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050783.646292711] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050783.647843211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050783.649044922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050783.745207742] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050783.746214105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050783.746858378] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050783.748216611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050783.748876266] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050783.835548278] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050783.837696576] [sailbot.teensy]: Wind angle: 113 -[trim_sail-4] [INFO] [1746050783.838356697] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050783.839009626] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050783.839779991] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050783.839890698] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050783.840842657] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050783.844587628] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050783.845209656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050783.845855160] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050783.846909273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050783.847931243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050783.945317380] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050783.945985562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050783.946886603] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050783.947859241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050783.948357651] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050784.003730119] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945903 Long: -76.50338305 -[vectornav-1] [INFO] [1746050784.005426835] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (25.89300000000003, -1.111, 8.164) -[mux-7] [INFO] [1746050784.045171124] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050784.045865789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050784.046641180] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050784.047926108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050784.049091775] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050784.085392543] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050784.087746385] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050784.088240969] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050784.088655163] [sailbot.teensy]: Wind angle: 116 -[teensy-2] [INFO] [1746050784.089598770] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050784.090427105] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050784.091268514] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050784.145323252] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050784.146113518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050784.146870976] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050784.148554197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050784.149668580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050784.245275609] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050784.246092566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050784.246830943] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050784.247717436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050784.248254223] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050784.335269300] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050784.337692925] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050784.337818644] [sailbot.teensy]: Wind angle: 120 -[mux-7] [INFO] [1746050784.338012355] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050784.339323016] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050784.339731726] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050784.340091805] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050784.344500405] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050784.345031856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050784.345631938] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050784.346705817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050784.347844747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050784.445131703] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050784.445800364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050784.446610949] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050784.447593937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050784.448034289] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050784.502486270] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946037 Long: -76.50337799 -[vectornav-1] [INFO] [1746050784.503514393] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (22.521000000000015, -0.445, 7.996) -[mux-7] [INFO] [1746050784.545075515] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050784.546591503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050784.546879484] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050784.548856648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050784.549894592] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050784.585614906] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050784.588331813] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050784.588386592] [sailbot.teensy]: Wind angle: 120 -[teensy-2] [INFO] [1746050784.589623125] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050784.590597078] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050784.590724765] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050784.591539200] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050784.644983948] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050784.645722958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050784.646333606] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050784.647864902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050784.648891096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050784.745382943] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050784.746088892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050784.746939370] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050784.747762418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050784.748220000] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050784.835199385] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050784.837398207] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050784.838385880] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050784.838715991] [sailbot.teensy]: Wind angle: 120 -[teensy-2] [INFO] [1746050784.839696148] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050784.840624922] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050784.841448844] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050784.844455626] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050784.844888703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050784.845566838] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050784.846574431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050784.847633934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050784.945367267] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050784.946184944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050784.947262982] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050784.947947889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050784.948419778] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050785.003773978] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946162 Long: -76.50337311 -[vectornav-1] [INFO] [1746050785.005661358] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (18.653999999999996, 0.19, 8.634) -[mux-7] [INFO] [1746050785.045017043] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050785.045723875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050785.046333929] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050785.047865288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050785.048874181] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050785.085286506] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050785.087828855] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050785.088256865] [sailbot.teensy]: Wind angle: 120 -[teensy-2] [INFO] [1746050785.089503460] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050785.089515449] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050785.090497917] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050785.091411629] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050785.144514512] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050785.145497317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050785.145642911] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050785.147299050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050785.148319995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050785.245056459] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050785.245869570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050785.246419852] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050785.247538361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050785.248111401] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050785.335399099] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050785.337494051] [sailbot.teensy]: Wind angle: 115 -[trim_sail-4] [INFO] [1746050785.337975919] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050785.338504570] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050785.339335202] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050785.339395248] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050785.340378811] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050785.344431465] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050785.345311900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050785.345635467] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050785.347032220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050785.348214046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050785.445557026] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050785.446422149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050785.447093920] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050785.447966203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050785.448559944] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050785.503147602] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946225 Long: -76.50336808 -[vectornav-1] [INFO] [1746050785.504175243] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (14.239000000000033, 0.507, 8.583) -[mux-7] [INFO] [1746050785.544978993] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050785.546565587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050785.546640505] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050785.548653072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050785.549686652] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050785.585569136] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050785.587364697] [sailbot.teensy]: Wind angle: 111 -[trim_sail-4] [INFO] [1746050785.587881830] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050785.588347539] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050785.589275877] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050785.590165376] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050785.590215504] [sailbot.mux]: algo sail angle: 15 -[mux-7] [INFO] [1746050785.644838219] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050785.645509534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050785.646078104] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050785.647419806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050785.648444288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050785.745404594] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050785.746285340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050785.746974431] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050785.748336408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050785.748874453] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050785.835267907] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050785.837151155] [sailbot.teensy]: Wind angle: 111 -[trim_sail-4] [INFO] [1746050785.837456924] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050785.838166941] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050785.838774565] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050785.839088738] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050785.839150586] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050785.844414142] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050785.844976220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050785.845583713] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050785.846676298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050785.847730991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050785.945465516] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050785.946217061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050785.947171681] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050785.948626002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050785.949770274] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050786.003416801] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946316 Long: -76.50336383 -[vectornav-1] [INFO] [1746050786.004711537] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (12.004000000000019, -1.674, 7.156) -[mux-7] [INFO] [1746050786.045291565] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050786.046047721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050786.046720215] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050786.048436190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050786.049559639] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050786.085301244] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050786.087542758] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050786.088375504] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050786.088678996] [sailbot.teensy]: Wind angle: 111 -[teensy-2] [INFO] [1746050786.089682863] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050786.090813588] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050786.091695404] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050786.145234763] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050786.145903315] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050786.146710570] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050786.148261536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050786.149420626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050786.245062368] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050786.245778285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050786.246466866] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050786.247855762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050786.248402707] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050786.335100679] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050786.336653182] [sailbot.teensy]: Wind angle: 110 -[teensy-2] [INFO] [1746050786.337499819] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050786.337280117] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050786.337907202] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050786.338342474] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050786.339228308] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050786.344317510] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050786.344922914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050786.345422718] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050786.346701542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050786.347723804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050786.445346682] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050786.446092570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050786.446935092] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050786.448532577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050786.449593934] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050786.503305778] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946419 Long: -76.50335913 -[vectornav-1] [INFO] [1746050786.504764948] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (9.942999999999984, -1.851, 9.512) -[mux-7] [INFO] [1746050786.545240199] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050786.546357113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050786.546763617] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050786.548670144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050786.549665829] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050786.585401294] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050786.587802612] [sailbot.teensy]: Wind angle: 110 -[trim_sail-4] [INFO] [1746050786.588702835] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050786.588828657] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050786.589265881] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050786.589773937] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050786.590722936] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050786.645078553] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050786.645833359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050786.646391315] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050786.647741069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050786.648949046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050786.745157659] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050786.745918575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050786.746616112] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050786.748084181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050786.748741740] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050786.835294296] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050786.837596835] [sailbot.teensy]: Wind angle: 111 -[trim_sail-4] [INFO] [1746050786.837822676] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050786.839443471] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050786.839633922] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050786.840588213] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050786.841451986] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050786.844388085] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050786.844740690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050786.845639280] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050786.846401517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050786.847447964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050786.945326729] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050786.945960354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050786.947026323] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050786.948597077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050786.949736665] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050787.003240747] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946416 Long: -76.50335394 -[vectornav-1] [INFO] [1746050787.004771244] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (9.037000000000035, 0.308, 13.215) -[mux-7] [INFO] [1746050787.044966675] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050787.045635523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050787.046230181] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050787.047449401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050787.048558074] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050787.085461824] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050787.087229523] [sailbot.teensy]: Wind angle: 110 -[trim_sail-4] [INFO] [1746050787.087712729] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050787.088145892] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050787.089058031] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050787.089660500] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050787.089915817] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050787.145513798] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050787.146025308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050787.147186860] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050787.148547634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050787.149155735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050787.245355418] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050787.246138902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050787.246981711] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050787.248433446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050787.249603603] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050787.335287916] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050787.337475258] [sailbot.teensy]: Wind angle: 110 -[trim_sail-4] [INFO] [1746050787.337471572] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050787.338627083] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050787.338785185] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050787.339199755] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050787.339597075] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050787.344539721] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050787.344890798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050787.345696543] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050787.346604231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050787.347688447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050787.445233643] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050787.446102602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050787.447176998] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050787.448287467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050787.450065785] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050787.503382112] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694644 Long: -76.50334906 -[vectornav-1] [INFO] [1746050787.505882758] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (2.8430000000000177, 2.317, 11.68) -[mux-7] [INFO] [1746050787.545574120] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050787.546461614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050787.547282885] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050787.548669956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050787.549944475] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050787.585215526] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050787.587275253] [sailbot.teensy]: Wind angle: 103 -[trim_sail-4] [INFO] [1746050787.587548007] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050787.588189664] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050787.589110753] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050787.589455560] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050787.590001800] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050787.644877320] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050787.645615076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050787.646310116] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050787.647532073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050787.648687730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050787.744970301] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050787.745766605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050787.746584430] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050787.747720075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050787.748951732] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050787.835473552] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050787.838029988] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050787.838029820] [sailbot.teensy]: Wind angle: 96 -[teensy-2] [INFO] [1746050787.839019714] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050787.839199348] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050787.840020519] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050787.840934456] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050787.844360467] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050787.844948409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050787.845456322] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050787.846669161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050787.847742889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050787.945150089] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050787.945723569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050787.946483289] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050787.947641279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050787.948224190] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050788.003902597] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946483 Long: -76.50334487 -[vectornav-1] [INFO] [1746050788.005593221] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (2.2250000000000227, -4.223, 7.48) -[mux-7] [INFO] [1746050788.045223719] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050788.046003686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050788.046546748] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050788.047897031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050788.049233037] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050788.085462221] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050788.087819062] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050788.088306598] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050788.088479387] [sailbot.teensy]: Wind angle: 96 -[teensy-2] [INFO] [1746050788.089999192] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050788.090890334] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050788.091705951] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050788.145215222] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050788.146059543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050788.146721189] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050788.148221046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050788.149285176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050788.245296790] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050788.246044629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050788.246831267] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050788.248103535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050788.249245190] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050788.335211842] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050788.336938623] [sailbot.teensy]: Wind angle: 98 -[trim_sail-4] [INFO] [1746050788.337345953] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050788.337869833] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050788.338780673] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050788.339645301] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050788.339648708] [sailbot.mux]: algo sail angle: 25 -[mux-7] [INFO] [1746050788.344321527] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050788.344854879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050788.345465680] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050788.346681983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050788.347800893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050788.445301305] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050788.446082056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050788.446793076] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050788.448285420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050788.449405636] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050788.502627105] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946483 Long: -76.50333956 -[vectornav-1] [INFO] [1746050788.504203779] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (2.159999999999968, -0.345, 9.988) -[mux-7] [INFO] [1746050788.544876314] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050788.545621785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050788.546121656] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050788.547559970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050788.548566944] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050788.585266685] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050788.587307781] [sailbot.teensy]: Wind angle: 102 -[trim_sail-4] [INFO] [1746050788.587526102] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050788.588282006] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050788.589193149] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050788.589810828] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050788.590102450] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050788.644913060] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050788.645592960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050788.646312388] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050788.647435441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -1 -[teensy-2] [INFO] [1746050788.648582113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050788.674190589] [sailbot.mux]: controller_app rudder angle: -25 -[mux-7] [INFO] [1746050788.745020613] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050788.745740998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050788.746597040] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050788.747688589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050788.748794846] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050788.835242232] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050788.837588327] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050788.837917879] [sailbot.teensy]: Wind angle: 102 -[teensy-2] [INFO] [1746050788.838872597] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050788.838206007] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050788.839742566] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050788.840252284] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050788.844451617] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050788.845136761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050788.845564052] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050788.846907839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050788.848023782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050788.945428608] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050788.946200534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050788.947161481] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050788.948589856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050788.949787584] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050789.003304857] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946436 Long: -76.5033343 -[vectornav-1] [INFO] [1746050789.004507905] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (356.791, 2.527, 8.853) -[mux-7] [INFO] [1746050789.045141149] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050789.045787499] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050789.047787196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[mux-7] [INFO] [1746050789.048078517] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050789.048898142] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050789.085149892] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050789.086661486] [sailbot.teensy]: Wind angle: 102 -[trim_sail-4] [INFO] [1746050789.087498172] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050789.088634319] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050789.088790468] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050789.089801775] [sailbot.teensy]: Actual tail angle: 0 -[teensy-2] [INFO] [1746050789.090720179] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050789.145078208] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050789.145978925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050789.146489196] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050789.148336973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050789.149532419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050789.244858083] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050789.245574306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050789.246152784] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050789.247456533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050789.248494946] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050789.335220499] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050789.337020966] [sailbot.teensy]: Wind angle: 102 -[trim_sail-4] [INFO] [1746050789.337926400] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050789.337966809] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050789.338923296] [sailbot.teensy]: Actual tail angle: 0 -[mux-7] [INFO] [1746050789.339349410] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050789.339955164] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050789.344481958] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050789.345250491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050789.345612189] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050789.346959660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050789.348011855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050789.445165369] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050789.445869639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050789.446674792] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050789.448069221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050789.449299905] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050789.502944082] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946404 Long: -76.50333075 -[vectornav-1] [INFO] [1746050789.504261619] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (4.038999999999987, -0.516, 6.791) -[mux-7] [INFO] [1746050789.545073593] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050789.545811320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050789.546893121] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050789.547702964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050789.548919912] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050789.585563478] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050789.587746711] [sailbot.teensy]: Wind angle: 102 -[trim_sail-4] [INFO] [1746050789.588210335] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050789.588757616] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050789.589395995] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050789.589636737] [sailbot.teensy]: Actual tail angle: 0 -[teensy-2] [INFO] [1746050789.590487768] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050789.645204836] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050789.645847178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050789.646700436] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050789.648033538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050789.649288916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050789.745546492] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050789.746293762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050789.747154571] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050789.748712037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050789.749356617] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050789.835458336] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050789.837828860] [sailbot.teensy]: Wind angle: 102 -[trim_sail-4] [INFO] [1746050789.838472351] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050789.838778956] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050789.839244463] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050789.839683859] [sailbot.teensy]: Actual tail angle: 0 -[teensy-2] [INFO] [1746050789.840613477] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050789.844453796] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050789.845025697] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050789.845615556] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050789.846696123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050789.847832645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050789.945464423] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050789.946133231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050789.947026130] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050789.948266988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050789.949425942] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050790.003768161] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946427 Long: -76.50332746 -[vectornav-1] [INFO] [1746050790.005486507] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.050999999999988, -1.34, 14.461) -[mux-7] [INFO] [1746050790.044987884] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050790.045556238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050790.046299306] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050790.047312379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050790.048446756] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050790.085366952] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050790.087726507] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050790.088014266] [sailbot.teensy]: Wind angle: 103 -[mux-7] [INFO] [1746050790.088325434] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050790.088972931] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050790.089887000] [sailbot.teensy]: Actual tail angle: 0 -[teensy-2] [INFO] [1746050790.090755459] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050790.145417955] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050790.146218399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050790.146813784] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050790.148108337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050790.149391653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050790.245671552] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050790.246115109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050790.247488454] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050790.248459949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050790.249650011] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050790.335357286] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050790.337814233] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050790.338595060] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050790.339046141] [sailbot.teensy]: Wind angle: 108 -[teensy-2] [INFO] [1746050790.339561354] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050790.340243222] [sailbot.teensy]: Actual tail angle: 0 -[teensy-2] [INFO] [1746050790.341084783] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050790.344366789] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050790.344756779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050790.345515231] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050790.346524048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050790.347591374] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050790.445476966] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050790.446070834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050790.447389975] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050790.448372346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050790.449519952] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050790.503431686] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946462 Long: -76.50332448 -[vectornav-1] [INFO] [1746050790.505244166] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.541, 0.284, 18.351) -[mux-7] [INFO] [1746050790.545389981] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050790.546106689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050790.546977515] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050790.548522404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050790.549753843] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050790.585201240] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050790.586902147] [sailbot.teensy]: Wind angle: 117 -[trim_sail-4] [INFO] [1746050790.587403627] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050790.587838966] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050790.588779092] [sailbot.teensy]: Actual tail angle: 0 -[mux-7] [INFO] [1746050790.589326425] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050790.589652666] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050790.644910508] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050790.645552037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050790.646132720] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050790.647355442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050790.648630224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050790.745292079] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050790.746024111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050790.746771351] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050790.748069163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050790.749337086] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050790.835416439] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050790.837631455] [sailbot.teensy]: Wind angle: 128 -[teensy-2] [INFO] [1746050790.838612609] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050790.838673143] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050790.838926165] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050790.839013500] [sailbot.teensy]: Actual tail angle: 0 -[teensy-2] [INFO] [1746050790.839406248] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050790.844401366] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050790.845039625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050790.845588121] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050790.846729612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050790.847876474] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050790.945207678] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050790.945907302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050790.946726493] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050790.948088179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050790.948778955] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050791.003670908] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946584 Long: -76.50332342 -[vectornav-1] [INFO] [1746050791.005289206] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (69.19200000000001, -0.086, 11.306) -[mux-7] [INFO] [1746050791.045050983] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050791.045788481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050791.046460192] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050791.047824099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050791.048953007] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050791.085454068] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050791.087797301] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050791.088454600] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050791.089517619] [sailbot.teensy]: Wind angle: 142 -[teensy-2] [INFO] [1746050791.090276370] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050791.090662601] [sailbot.teensy]: Actual tail angle: 0 -[teensy-2] [INFO] [1746050791.091026475] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050791.144984853] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050791.145625156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050791.146266909] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050791.147572511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050791.148786535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050791.245076130] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050791.245822326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050791.246472419] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050791.247910707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050791.248547223] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050791.335481651] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050791.337820983] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050791.338238834] [sailbot.teensy]: Wind angle: 157 -[mux-7] [INFO] [1746050791.339468231] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050791.340171772] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050791.340813280] [sailbot.teensy]: Actual tail angle: 0 -[teensy-2] [INFO] [1746050791.341197005] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050791.344343240] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050791.345001674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050791.345452276] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050791.346824301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050791.347997335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050791.445334919] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050791.445964458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050791.446818216] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050791.448132612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050791.449321067] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050791.503423100] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946727 Long: -76.50332267 -[vectornav-1] [INFO] [1746050791.505368395] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (95.64999999999998, -0.514, 8.032) -[mux-7] [INFO] [1746050791.544690726] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050791.545344538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050791.545857882] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050791.547050830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050791.547991641] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050791.585494146] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050791.587453236] [sailbot.teensy]: Wind angle: 167 -[teensy-2] [INFO] [1746050791.588396123] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050791.587832180] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050791.588442537] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050791.589330603] [sailbot.teensy]: Actual tail angle: 0 -[teensy-2] [INFO] [1746050791.590241845] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050791.645045809] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050791.645744652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050791.646704092] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050791.647911816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050791.648903127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050791.745485001] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050791.746503298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050791.747222108] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050791.748873428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050791.749366625] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050791.835417310] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050791.837868718] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050791.838208505] [sailbot.teensy]: Wind angle: 172 -[mux-7] [INFO] [1746050791.838573667] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050791.839200486] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050791.840146940] [sailbot.teensy]: Actual tail angle: 0 -[teensy-2] [INFO] [1746050791.841042162] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050791.844408783] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050791.844943353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050791.845534048] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050791.846731428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050791.847944072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050791.945616528] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050791.946491708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050791.947350843] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050791.948391723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050791.948940056] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050792.002632259] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694683 Long: -76.50332356 -[vectornav-1] [INFO] [1746050792.003961002] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (116.50200000000001, 1.219, 6.416) -[mux-7] [INFO] [1746050792.044858541] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050792.045400388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050792.046127344] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050792.047305340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050792.048475779] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050792.085281398] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050792.086919467] [sailbot.teensy]: Wind angle: 173 -[trim_sail-4] [INFO] [1746050792.087591177] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050792.087955506] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050792.088910093] [sailbot.teensy]: Actual tail angle: 0 -[mux-7] [INFO] [1746050792.089322954] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050792.089774252] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050792.145420357] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050792.146149418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050792.147201847] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050792.148300879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050792.148883399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050792.244904883] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050792.245786048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050792.246532862] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050792.247577015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050792.248054657] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050792.335240399] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050792.337344635] [sailbot.teensy]: Wind angle: 188 -[trim_sail-4] [INFO] [1746050792.337446560] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050792.338425953] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050792.339064447] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050792.339323734] [sailbot.teensy]: Actual tail angle: 0 -[teensy-2] [INFO] [1746050792.340298620] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050792.344501097] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050792.345233108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050792.345622017] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050792.346973835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050792.348123423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050792.444909526] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050792.445643674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050792.446251822] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050792.447553656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050792.448610808] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050792.503466517] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946901 Long: -76.50332411 -[vectornav-1] [INFO] [1746050792.505184825] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (134.14100000000002, -0.311, 5.095) -[mux-7] [INFO] [1746050792.545477654] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050792.546293227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050792.547066703] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050792.548670175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[teensy-2] [INFO] [1746050792.549942356] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050792.585568079] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050792.587825578] [sailbot.teensy]: Wind angle: 214 -[trim_sail-4] [INFO] [1746050792.588498600] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050792.588794027] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050792.589088488] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050792.589706053] [sailbot.teensy]: Actual tail angle: 0 -[teensy-2] [INFO] [1746050792.590567339] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050792.645379395] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050792.646191650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050792.646896491] [sailbot.mux]: Published rudder angle from controller_app: -25 -[teensy-2] [INFO] [1746050792.648446265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -25 -[mux-7] [INFO] [1746050792.648949628] [sailbot.mux]: controller_app rudder angle: -24 -[teensy-2] [INFO] [1746050792.649149885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050792.745392195] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050792.746350612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050792.746989818] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050792.748566755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050792.749109240] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050792.835529981] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050792.838176812] [sailbot.teensy]: Wind angle: 225 -[teensy-2] [INFO] [1746050792.839191950] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050792.838491869] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050792.840103187] [sailbot.teensy]: Actual tail angle: 0 -[mux-7] [INFO] [1746050792.840115878] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050792.840937987] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050792.844312238] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050792.844967598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050792.845451114] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050792.846762951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050792.847773774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050792.945528664] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050792.946487305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050792.947371346] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050792.948798253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050792.949955716] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050793.003570896] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694695 Long: -76.50332499 -[vectornav-1] [INFO] [1746050793.005078866] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (149.548, -0.669, 3.852) -[mux-7] [INFO] [1746050793.044944570] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050793.045667599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050793.046241187] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050793.047587026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050793.048439277] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050793.085341468] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050793.087705869] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050793.088121001] [sailbot.teensy]: Wind angle: 226 -[teensy-2] [INFO] [1746050793.089211753] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050793.088983867] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050793.090132214] [sailbot.teensy]: Actual tail angle: 1 -[teensy-2] [INFO] [1746050793.090953961] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050793.144971827] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050793.145696072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050793.146276799] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050793.147530593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050793.148576907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050793.245218421] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050793.245975246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050793.246823393] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050793.248317943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050793.248815522] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050793.335184369] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050793.337197573] [sailbot.teensy]: Wind angle: 226 -[trim_sail-4] [INFO] [1746050793.337469888] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050793.338136179] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050793.338685290] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050793.338999491] [sailbot.teensy]: Actual tail angle: 1 -[teensy-2] [INFO] [1746050793.339375051] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050793.344678036] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050793.345241853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050793.345926916] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050793.346966532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050793.348067877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050793.445663285] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050793.446193157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050793.447890153] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050793.448929421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050793.450197146] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050793.503556495] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946952 Long: -76.50332621 -[vectornav-1] [INFO] [1746050793.504998359] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.85199999999998, 0.801, 2.765) -[mux-7] [INFO] [1746050793.545198478] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050793.545990348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050793.547179111] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050793.548096309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050793.549296173] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050793.585561339] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050793.587630201] [sailbot.teensy]: Wind angle: 226 -[teensy-2] [INFO] [1746050793.588659250] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050793.588144923] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050793.589555921] [sailbot.teensy]: Actual tail angle: 1 -[mux-7] [INFO] [1746050793.589801386] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050793.590473470] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050793.645348580] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050793.646195386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050793.646973361] [sailbot.mux]: Published rudder angle from controller_app: -24 -[teensy-2] [INFO] [1746050793.648564859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -24 -[teensy-2] [INFO] [1746050793.649105435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050793.674167870] [sailbot.mux]: controller_app rudder angle: 1 -[mux-7] [INFO] [1746050793.745303031] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050793.746005856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050793.746963704] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050793.748172832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050793.749255407] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050793.835381093] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050793.837282976] [sailbot.teensy]: Wind angle: 227 -[trim_sail-4] [INFO] [1746050793.837835821] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050793.838228901] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050793.839137453] [sailbot.teensy]: Actual tail angle: 1 -[mux-7] [INFO] [1746050793.839274924] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050793.840008432] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050793.844394308] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050793.844853020] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050793.845723603] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050793.846626663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050793.847690324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050793.945439754] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050793.945992438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050793.947162335] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050793.948148972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050793.950054483] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050794.003215655] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946926 Long: -76.50332743 -[vectornav-1] [INFO] [1746050794.004649797] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (177.69000000000005, -0.784, 1.32) -[mux-7] [INFO] [1746050794.045618362] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050794.046272521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050794.047362055] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050794.048778939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050794.049944517] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050794.085452651] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050794.087320932] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050794.088244796] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050794.088327217] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050794.089229524] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050794.089489072] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050794.090425727] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050794.145185040] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050794.146010003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050794.146691814] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050794.148120303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050794.149296689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050794.245239354] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050794.246220419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050794.246786448] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050794.248289558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050794.248854835] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050794.335512891] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050794.337801351] [sailbot.teensy]: Wind angle: 250 -[trim_sail-4] [INFO] [1746050794.338136281] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050794.338789695] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050794.339165844] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050794.340074992] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050794.341017036] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050794.344740580] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050794.345152946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050794.346085523] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050794.346900314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050794.347978013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050794.445375314] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050794.446121661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050794.446879015] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050794.448559016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050794.449311441] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050794.501563487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946876 Long: -76.50332894 -[vectornav-1] [INFO] [1746050794.502281977] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.86400000000003, 0.228, -1.395) -[mux-7] [INFO] [1746050794.543640805] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050794.544083395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050794.544317051] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050794.545557566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050794.546029730] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050794.585646187] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050794.587494793] [sailbot.teensy]: Wind angle: 260 -[trim_sail-4] [INFO] [1746050794.587981251] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050794.588594969] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050794.588899613] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050794.589312612] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050794.589698297] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050794.645197887] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050794.646000021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050794.646818519] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050794.649032243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050794.650202095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050794.676542147] [sailbot.mux]: controller_app rudder angle: 3 -[mux-7] [INFO] [1746050794.745453323] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050794.746283373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050794.747156374] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050794.748285592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050794.748784876] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050794.835233731] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050794.836939132] [sailbot.teensy]: Wind angle: 260 -[trim_sail-4] [INFO] [1746050794.837541282] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050794.837889325] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050794.838810171] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050794.839291101] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050794.839400354] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050794.844467459] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050794.845018389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050794.845846744] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050794.846723375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050794.847744912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050794.945650826] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050794.946461529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050794.947397218] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050794.948904251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050794.949413850] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050795.003063190] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946744 Long: -76.50333036 -[vectornav-1] [INFO] [1746050795.004525077] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (203.663, -0.748, -5.685) -[mux-7] [INFO] [1746050795.045014527] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050795.045664758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050795.046348055] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050795.047504521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050795.048543793] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050795.085137366] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050795.087275253] [sailbot.teensy]: Wind angle: 259 -[trim_sail-4] [INFO] [1746050795.087587481] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050795.088228674] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050795.088236184] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050795.089163353] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050795.090063575] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050795.145258545] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050795.146117125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050795.146828515] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050795.148744665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050795.149931149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050795.245111341] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050795.245748050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050795.246861063] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050795.247679134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050795.248774662] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050795.335325532] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050795.337069887] [sailbot.teensy]: Wind angle: 260 -[teensy-2] [INFO] [1746050795.338013899] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050795.337566122] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050795.338930639] [sailbot.teensy]: Actual tail angle: 28 -[mux-7] [INFO] [1746050795.339344898] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050795.339781924] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050795.344319108] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050795.344892073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050795.345496421] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050795.346575427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050795.347817249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050795.445657135] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050795.446127131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050795.447577630] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050795.448779511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050795.449333537] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050795.503211318] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946617 Long: -76.50333256 -[vectornav-1] [INFO] [1746050795.504963681] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (206.86900000000003, -0.633, -4.74) -[mux-7] [INFO] [1746050795.545133389] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050795.545815512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050795.546644404] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050795.547761898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050795.548824407] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050795.585221474] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050795.586915029] [sailbot.teensy]: Wind angle: 260 -[trim_sail-4] [INFO] [1746050795.587483125] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050795.587835035] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050795.588684906] [sailbot.teensy]: Actual tail angle: 28 -[mux-7] [INFO] [1746050795.589053669] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050795.589496190] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050795.644794082] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050795.645382108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050795.645977403] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050795.647234726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050795.648263714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050795.686645900] [sailbot.mux]: controller_app rudder angle: 4 -[mux-7] [INFO] [1746050795.744894730] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050795.745760498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050795.746568893] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050795.747656634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050795.748185339] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050795.835241605] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050795.837570382] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050795.838602430] [sailbot.teensy]: Wind angle: 262 -[mux-7] [INFO] [1746050795.838602102] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050795.839601357] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050795.840520740] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050795.841467536] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050795.844358639] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050795.844894664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050795.845855311] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050795.846633260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050795.847850248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050795.945386390] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050795.946213586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050795.946976713] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050795.948570219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050795.949770362] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050796.003442236] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946545 Long: -76.50333585 -[vectornav-1] [INFO] [1746050796.005645659] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (206.33500000000004, -0.641, -2.168) -[mux-7] [INFO] [1746050796.045462565] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050796.046218052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050796.047060629] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050796.048535380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050796.049583017] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050796.085446500] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050796.087575266] [sailbot.teensy]: Wind angle: 265 -[trim_sail-4] [INFO] [1746050796.087792447] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050796.088537904] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050796.088954785] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050796.089447422] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050796.090361873] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050796.145121753] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050796.146024727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050796.146570176] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050796.148081184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050796.149171141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050796.245003154] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050796.245746345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050796.246925119] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050796.247633902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050796.248162847] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050796.335300501] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050796.337247128] [sailbot.teensy]: Wind angle: 265 -[trim_sail-4] [INFO] [1746050796.338025615] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050796.338275094] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050796.339216190] [sailbot.teensy]: Actual tail angle: 29 -[mux-7] [INFO] [1746050796.339395501] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050796.340245292] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050796.344427024] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050796.344985949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050796.345530434] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050796.346781569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050796.347908391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050796.445397784] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050796.446336611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050796.446934803] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050796.448766295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050796.450007995] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050796.502467061] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946435 Long: -76.50333867 -[vectornav-1] [INFO] [1746050796.503474933] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (204.409, 0.445, -2.349) -[mux-7] [INFO] [1746050796.544843494] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050796.545556454] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050796.546226358] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050796.547526663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050796.548680444] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050796.585411121] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050796.587299351] [sailbot.teensy]: Wind angle: 265 -[trim_sail-4] [INFO] [1746050796.587841729] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050796.588309426] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050796.589235609] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050796.590111094] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050796.590271939] [sailbot.mux]: algo sail angle: 30 -[mux-7] [INFO] [1746050796.645030720] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050796.645758754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050796.646441461] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050796.647761900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050796.648859850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050796.675779165] [sailbot.mux]: controller_app rudder angle: 3 -[mux-7] [INFO] [1746050796.745220791] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050796.746045594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050796.746770260] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050796.747921971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050796.748466961] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050796.835213510] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050796.836807367] [sailbot.teensy]: Wind angle: 264 -[trim_sail-4] [INFO] [1746050796.837326987] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050796.837736459] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050796.838664171] [sailbot.teensy]: Actual tail angle: 29 -[mux-7] [INFO] [1746050796.839424402] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050796.839554161] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050796.844405445] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050796.845086136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050796.845553945] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050796.846853019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050796.848000689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050796.945276099] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050796.946205138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050796.947145492] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050796.947957210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050796.948455179] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050797.003173738] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694628 Long: -76.50334122 -[vectornav-1] [INFO] [1746050797.004491357] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (202.32899999999995, -3.149, -1.838) -[mux-7] [INFO] [1746050797.045167200] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050797.045920293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050797.046597663] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050797.047954136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050797.049090303] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050797.085377636] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050797.087579836] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050797.088008308] [sailbot.teensy]: Wind angle: 259 -[mux-7] [INFO] [1746050797.088985435] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050797.089357531] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050797.090407072] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050797.091247958] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050797.145273449] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050797.146156911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050797.146902839] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050797.148377235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050797.149433450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050797.245207369] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050797.246837628] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050797.247035619] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050797.249555985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050797.250450264] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050797.335632800] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050797.338836025] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050797.338848208] [sailbot.teensy]: Wind angle: 258 -[mux-7] [INFO] [1746050797.339821503] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050797.340376275] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050797.341329373] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050797.342220836] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050797.344331233] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050797.345007997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050797.345432772] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050797.346802659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050797.347920058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050797.445357634] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050797.446044468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050797.447210920] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050797.448397556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050797.449989603] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050797.503626602] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946189 Long: -76.50334553 -[vectornav-1] [INFO] [1746050797.505132305] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (199.02800000000002, 3.26, -1.985) -[mux-7] [INFO] [1746050797.544865616] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050797.545631551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050797.546022593] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050797.547408649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050797.548600698] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050797.585599807] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050797.587918821] [sailbot.teensy]: Wind angle: 258 -[teensy-2] [INFO] [1746050797.588961427] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050797.589024596] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050797.589516873] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050797.589848871] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746050797.590734947] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050797.645252763] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050797.646022185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050797.646837354] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746050797.648233555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 3 -[teensy-2] [INFO] [1746050797.649611922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050797.650538068] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746050797.745532438] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050797.746256215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050797.747164986] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050797.748939847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050797.750211921] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050797.835366884] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050797.837143317] [sailbot.teensy]: Wind angle: 257 -[trim_sail-4] [INFO] [1746050797.837968778] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050797.838058421] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050797.838930564] [sailbot.teensy]: Actual tail angle: 28 -[mux-7] [INFO] [1746050797.839082226] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050797.839780974] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050797.844363890] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050797.844874599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050797.845503537] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050797.846603656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050797.847631730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050797.945290615] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050797.946051680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050797.946832230] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050797.948225034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050797.948838491] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050798.003485851] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946051 Long: -76.50334883 -[vectornav-1] [INFO] [1746050798.004939552] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (197.22000000000003, -2.29, -4.344) -[mux-7] [INFO] [1746050798.045302432] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050798.046098595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050798.046882398] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050798.048303537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050798.049490177] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050798.085451039] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050798.087920796] [sailbot.teensy]: Wind angle: 254 -[trim_sail-4] [INFO] [1746050798.088036460] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050798.088908726] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050798.089328306] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050798.089802283] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050798.090771989] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050798.145007272] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050798.145643370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050798.146286056] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050798.147593163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050798.148610962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050798.245454895] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050798.246419754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050798.247201334] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050798.247958718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050798.248503086] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050798.335107001] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050798.337301932] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050798.337774897] [sailbot.teensy]: Wind angle: 251 -[mux-7] [INFO] [1746050798.338470318] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050798.338718030] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050798.339659093] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050798.340666070] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050798.344329945] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050798.344879827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050798.345446441] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050798.346589494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050798.347620006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050798.444954944] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050798.445636505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050798.446348518] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050798.447467111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050798.448576737] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050798.502666265] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945938 Long: -76.50335216 -[vectornav-1] [INFO] [1746050798.503773337] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.52800000000002, 0.865, -4.091) -[mux-7] [INFO] [1746050798.545243157] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050798.546108923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050798.546796223] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050798.548413748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050798.548969002] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050798.585377941] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050798.587457756] [sailbot.teensy]: Wind angle: 251 -[trim_sail-4] [INFO] [1746050798.587568659] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050798.588398034] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050798.589258999] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050798.588928650] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050798.590118666] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050798.644829563] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050798.645303267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050798.646076252] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050798.647166195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050798.648293220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050798.745226219] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050798.745946592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050798.746928158] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050798.747931700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050798.749014774] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050798.835252333] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050798.836931984] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050798.837455788] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050798.837865242] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050798.838787892] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050798.839224274] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050798.839667323] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050798.844505230] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050798.844970813] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050798.845790737] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050798.846869225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050798.847857742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050798.945469286] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050798.946007786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050798.947210017] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050798.948192249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050798.949430649] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050799.003367388] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945897 Long: -76.50335646 -[vectornav-1] [INFO] [1746050799.005077519] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.26599999999996, -0.833, -2.984) -[mux-7] [INFO] [1746050799.045376531] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050799.046050690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050799.047058912] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050799.048673045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050799.049841676] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050799.085732329] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050799.088420535] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050799.089367667] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050799.089631335] [sailbot.teensy]: Wind angle: 243 -[teensy-2] [INFO] [1746050799.090593293] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050799.091466270] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050799.092343768] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050799.144980944] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050799.145726410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050799.146264131] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050799.147563619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050799.148614193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050799.245060772] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050799.245704034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050799.246349138] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050799.247591558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050799.248161585] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050799.335503638] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050799.338029736] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050799.338698451] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050799.338820572] [sailbot.teensy]: Wind angle: 246 -[teensy-2] [INFO] [1746050799.339207419] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050799.339781101] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050799.340658307] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050799.344422961] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050799.344862308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050799.346440511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050799.347037392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050799.348262196] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050799.445372264] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050799.446049427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050799.446921157] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050799.448581033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050799.449217446] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050799.503046400] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945804 Long: -76.50335993 -[vectornav-1] [INFO] [1746050799.504612224] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.91599999999994, 1.424, -4.856) -[mux-7] [INFO] [1746050799.544966733] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050799.545761696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050799.546613882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050799.547708948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050799.548868739] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050799.585264162] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050799.587228359] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050799.587643967] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050799.588269481] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050799.588983939] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050799.589214170] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050799.590213583] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050799.645149173] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050799.646129961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050799.646623789] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050799.648630195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050799.649862234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050799.744953931] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050799.745674687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050799.746537525] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050799.747631557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050799.748914872] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050799.835119831] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050799.836815176] [sailbot.teensy]: Wind angle: 242 -[trim_sail-4] [INFO] [1746050799.837238766] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050799.837780707] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050799.838628389] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050799.838651937] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050799.839552081] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050799.844454045] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050799.845158213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050799.845981335] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050799.846881655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050799.848082757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050799.945227032] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050799.946145931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050799.946769814] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050799.947868219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050799.948418132] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050800.003259242] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945717 Long: -76.50336355 -[vectornav-1] [INFO] [1746050800.004787902] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.31600000000003, -1.674, -6.21) -[mux-7] [INFO] [1746050800.045314959] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050800.046178293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050800.047282498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050800.048844134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050800.049950288] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050800.085414607] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050800.087786476] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050800.088372660] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050800.088540617] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746050800.089518274] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050800.090371976] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050800.091278388] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050800.145070445] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050800.146034869] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050800.146523721] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050800.148032771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050800.149182927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050800.245677226] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050800.246599207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050800.247349290] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050800.248388664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050800.248849973] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050800.335256905] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050800.337223492] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746050800.337690937] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050800.338512943] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050800.339163488] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050800.339567343] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050800.339901052] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050800.344386175] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050800.344853052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050800.345550295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050800.346539997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050800.347592853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050800.445597902] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050800.446355009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050800.447214748] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050800.448210886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050800.448729773] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050800.502474448] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945706 Long: -76.50336787 -[vectornav-1] [INFO] [1746050800.503826117] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (178.27999999999997, 2.886, -4.274) -[mux-7] [INFO] [1746050800.545120688] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050800.545884560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050800.546569292] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050800.547898252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050800.549105763] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050800.585162340] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050800.587122337] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050800.587897329] [sailbot.teensy]: Wind angle: 236 -[mux-7] [INFO] [1746050800.588114257] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050800.589212772] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050800.590144825] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050800.591001609] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050800.645272132] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050800.645816188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050800.646766581] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050800.647813517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050800.648411401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050800.745368758] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050800.746363299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050800.746932621] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050800.748233345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050800.748797724] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050800.835220713] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050800.837725790] [sailbot.teensy]: Wind angle: 244 -[mux-7] [INFO] [1746050800.838023372] [sailbot.mux]: algo sail angle: 15 -[trim_sail-4] [INFO] [1746050800.838311948] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050800.838816194] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050800.839764058] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050800.840621148] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050800.844343863] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050800.844802013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050800.845765765] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050800.846452628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050800.847591934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050800.945624081] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050800.946501949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050800.947396648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050800.949086488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050800.949855375] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050801.002742266] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945675 Long: -76.50337128 -[vectornav-1] [INFO] [1746050801.003969380] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (174.30500000000006, -3.227, -4.02) -[mux-7] [INFO] [1746050801.045135584] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050801.045997082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050801.046583018] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050801.048563007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050801.049602412] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050801.085075783] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050801.086570588] [sailbot.teensy]: Wind angle: 242 -[trim_sail-4] [INFO] [1746050801.087052153] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050801.087425517] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050801.088307997] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050801.088389751] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050801.089165526] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050801.145162914] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050801.145913350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050801.146719985] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050801.148084111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050801.149266562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050801.245439389] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050801.246260446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050801.247142205] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050801.248554656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050801.249111538] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050801.335522658] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050801.337657956] [sailbot.teensy]: Wind angle: 241 -[teensy-2] [INFO] [1746050801.338716123] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050801.338836546] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050801.339277976] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050801.339430092] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050801.339672915] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050801.344548452] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050801.345181744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050801.345863674] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050801.346975086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050801.348139941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050801.445510311] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050801.445996204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050801.447264559] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050801.448238653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050801.449501985] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050801.503353885] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945737 Long: -76.50337537 -[vectornav-1] [INFO] [1746050801.504608269] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.731, -0.851, -0.841) -[mux-7] [INFO] [1746050801.545146269] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050801.545819569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050801.546697451] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050801.547672319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050801.549737244] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050801.585364962] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050801.587357562] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050801.587953363] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050801.589229225] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050801.589712687] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050801.590680059] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050801.591497309] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050801.645200415] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050801.645792871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050801.646786607] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050801.647995050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050801.648782023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050801.745516170] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050801.746106455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050801.747815866] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050801.748428572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050801.749536456] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050801.835224329] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050801.836965744] [sailbot.teensy]: Wind angle: 237 -[trim_sail-4] [INFO] [1746050801.837430654] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050801.837952099] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050801.838915426] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050801.839134585] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050801.839824955] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050801.844670051] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050801.845116744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050801.845805023] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050801.846838525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050801.848005830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050801.945257236] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050801.946055132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050801.947095380] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050801.948274506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050801.949420359] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050802.003339460] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945769 Long: -76.50337954 -[vectornav-1] [INFO] [1746050802.005048503] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.635, 1.76, -0.807) -[mux-7] [INFO] [1746050802.045140049] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050802.045862159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050802.046538330] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050802.047749170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050802.048951735] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050802.085381694] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050802.087493410] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050802.088475015] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050802.087890630] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050802.088433211] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050802.089392414] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050802.090305627] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050802.145237156] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050802.146015013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050802.146765319] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050802.148233886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050802.149455183] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050802.245513066] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050802.246076430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050802.247250007] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050802.248579467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050802.249173538] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050802.335388162] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050802.337605370] [sailbot.teensy]: Wind angle: 226 -[trim_sail-4] [INFO] [1746050802.337888055] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050802.338944769] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050802.339000514] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050802.339902253] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050802.340768415] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050802.344493262] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050802.345138177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050802.345625133] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050802.346845508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050802.348003871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050802.445266488] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050802.446150810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050802.446879823] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050802.448391420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050802.449442551] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050802.503148432] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945812 Long: -76.50338326 -[vectornav-1] [INFO] [1746050802.504853517] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.40300000000002, -4.044, -1.424) -[mux-7] [INFO] [1746050802.545327757] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050802.546223239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050802.548070180] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050802.548588116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050802.549804399] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050802.585255653] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050802.587263020] [sailbot.teensy]: Wind angle: 226 -[trim_sail-4] [INFO] [1746050802.587601101] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050802.588119103] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050802.588781966] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050802.589066699] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050802.589916994] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050802.645310702] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050802.645814331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050802.646931037] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050802.648286056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050802.649432229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050802.745637626] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050802.746527396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050802.747309112] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050802.748968934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050802.749624235] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050802.835524003] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050802.838171001] [sailbot.teensy]: Wind angle: 226 -[trim_sail-4] [INFO] [1746050802.838717637] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050802.838866668] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050802.839163463] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050802.840057840] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050802.840955513] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050802.844253181] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050802.844873960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050802.845590491] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050802.846644241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050802.847853040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050802.945382764] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050802.946180122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050802.946954312] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050802.948899259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050802.949909852] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050803.002940578] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945906 Long: -76.50338722 -[vectornav-1] [INFO] [1746050803.004485024] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.937, 5.383, -1.578) -[mux-7] [INFO] [1746050803.045242274] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050803.046229075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050803.046849312] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050803.048520869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050803.049713905] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050803.085473430] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050803.087795714] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746050803.088226355] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050803.088769647] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050803.089175060] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050803.089713186] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050803.090998736] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050803.145143687] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050803.146107682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050803.146610095] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050803.148254559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050803.148791666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050803.245269992] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050803.246059670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050803.246949449] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050803.248182439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050803.248746625] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050803.335313528] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050803.337825704] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050803.338501579] [sailbot.teensy]: Wind angle: 230 -[mux-7] [INFO] [1746050803.338564234] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050803.339485224] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050803.340379567] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050803.341211046] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050803.344336233] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050803.344847886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050803.345348247] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050803.346381061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050803.347316228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050803.445515629] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050803.446305135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050803.447373003] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050803.448344691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050803.448897169] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050803.503169402] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945943 Long: -76.5033897 -[vectornav-1] [INFO] [1746050803.505355974] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (155.34000000000003, -2.529, -0.957) -[mux-7] [INFO] [1746050803.545230331] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050803.546134492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050803.547137084] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050803.548090004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050803.549286608] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050803.585368429] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050803.587367487] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050803.587694479] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050803.588115588] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050803.588767707] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050803.589758185] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050803.590614819] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050803.645013909] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050803.645748797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050803.646834775] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050803.647623023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050803.648907337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050803.745150266] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050803.746252849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050803.747188930] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050803.748286394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050803.748831285] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050803.835200251] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050803.837160258] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050803.837422280] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050803.838108413] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050803.838874333] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050803.839002715] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050803.839878883] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050803.844314719] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050803.845067132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050803.845486081] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050803.846903267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050803.847984209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050803.945547969] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050803.946374217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050803.947618959] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050803.948976709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050803.950137105] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050804.003322485] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946054 Long: -76.50339232 -[vectornav-1] [INFO] [1746050804.004792640] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (150.238, -0.981, 2.332) -[mux-7] [INFO] [1746050804.045403090] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050804.046056575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050804.047296708] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050804.048378848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050804.049609719] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050804.085546223] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050804.087419724] [sailbot.teensy]: Wind angle: 229 -[teensy-2] [INFO] [1746050804.088443541] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050804.088297356] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050804.089326283] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050804.089993304] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050804.090206933] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050804.145313157] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050804.146056963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050804.146855791] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050804.148348183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050804.148883605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050804.245747075] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050804.246349931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050804.247531293] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050804.249070505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050804.250350125] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050804.335320077] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050804.337308014] [sailbot.teensy]: Wind angle: 217 -[trim_sail-4] [INFO] [1746050804.339001524] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050804.339012848] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050804.339708974] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050804.339797721] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050804.340103144] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050804.344812516] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050804.345298152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050804.346015379] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050804.347036355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050804.348065805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050804.445741100] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050804.446494273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050804.447630553] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050804.449377819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050804.451306062] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050804.503517242] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946191 Long: -76.50339508 -[vectornav-1] [INFO] [1746050804.505394707] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (146.95499999999998, 2.011, 2.456) -[mux-7] [INFO] [1746050804.545148358] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050804.546112700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050804.546618893] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050804.548427374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050804.549499856] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050804.585150004] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050804.586825495] [sailbot.teensy]: Wind angle: 212 -[teensy-2] [INFO] [1746050804.587689696] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050804.587391565] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050804.587993165] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050804.588563394] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050804.589400677] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050804.644858855] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050804.645537337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050804.646104489] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050804.647421637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050804.648490719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050804.745551250] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050804.746122451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050804.747428099] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050804.749040826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050804.749931222] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050804.835358443] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050804.837287708] [sailbot.teensy]: Wind angle: 218 -[teensy-2] [INFO] [1746050804.838245839] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050804.838617358] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050804.839109137] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050804.839133238] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050804.840045371] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050804.844691995] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050804.845220796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050804.845843152] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050804.846893997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050804.848016527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050804.945389272] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050804.945918297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050804.947096786] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050804.948239588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050804.949388459] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050805.003100392] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946263 Long: -76.50339686 -[vectornav-1] [INFO] [1746050805.005087762] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (142.988, 0.182, 3.351) -[mux-7] [INFO] [1746050805.045169312] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050805.045930993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050805.046599359] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050805.048057260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050805.049242016] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050805.085380335] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050805.087936752] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050805.088670828] [sailbot.teensy]: Wind angle: 217 -[mux-7] [INFO] [1746050805.088997984] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050805.089670821] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050805.090584528] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050805.091404255] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050805.144942233] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050805.145583568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050805.146236316] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050805.147389224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050805.148555059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050805.245005875] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050805.245667044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050805.246434963] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050805.247756190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050805.248302699] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050805.335382288] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050805.337381644] [sailbot.teensy]: Wind angle: 215 -[trim_sail-4] [INFO] [1746050805.337813035] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050805.338351194] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050805.339257553] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050805.340112774] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050805.340148651] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050805.344568027] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050805.345031275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050805.345674950] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050805.346796391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050805.347842745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050805.445483588] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050805.446233475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050805.447215696] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050805.448655458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050805.449116918] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050805.503161113] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946341 Long: -76.50339868 -[vectornav-1] [INFO] [1746050805.505107208] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (141.29200000000003, -1.473, 2.683) -[mux-7] [INFO] [1746050805.545156459] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050805.545906142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050805.546962184] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050805.547953613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050805.549088927] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050805.585227069] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050805.586959038] [sailbot.teensy]: Wind angle: 218 -[trim_sail-4] [INFO] [1746050805.587617736] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050805.587847532] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050805.588648802] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050805.588719665] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050805.589595754] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050805.645163191] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050805.645950838] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050805.646631138] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050805.648119744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050805.648947341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050805.745457405] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050805.746186005] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050805.747054570] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050805.748980252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050805.750175189] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050805.835055492] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050805.836943178] [sailbot.teensy]: Wind angle: 218 -[teensy-2] [INFO] [1746050805.837921957] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050805.838202121] [sailbot.mux]: algo sail angle: 0 -[trim_sail-4] [INFO] [1746050805.839241865] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050805.839547895] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050805.839996208] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050805.844557452] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050805.844917243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050805.845724368] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050805.846581651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050805.847619350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050805.945286347] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050805.945890496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050805.946975480] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050805.948239550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050805.949341678] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050806.003566839] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946433 Long: -76.50340042 -[vectornav-1] [INFO] [1746050806.004897521] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (140.64100000000002, 2.234, 3.295) -[mux-7] [INFO] [1746050806.044835222] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050806.045313702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050806.046170792] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050806.047066172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050806.048234905] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050806.085312993] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050806.087469554] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050806.088754211] [sailbot.teensy]: Wind angle: 209 -[mux-7] [INFO] [1746050806.089257260] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050806.089754383] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050806.090684397] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050806.091548790] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050806.145049202] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050806.145806130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050806.146422141] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050806.147789149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050806.148992986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050806.245026766] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050806.245770346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050806.246365214] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050806.247799674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050806.248869647] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050806.335331848] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050806.337162122] [sailbot.teensy]: Wind angle: 208 -[trim_sail-4] [INFO] [1746050806.337626832] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050806.338119580] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050806.339028781] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050806.339387558] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050806.339623858] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050806.344540869] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050806.345223849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050806.345702788] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050806.346919031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050806.347950928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050806.445612855] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050806.446356650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050806.447186750] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050806.448404347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050806.448961770] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050806.503604608] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946451 Long: -76.50340135 -[vectornav-1] [INFO] [1746050806.505313028] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (140.899, -2.551, 2.753) -[mux-7] [INFO] [1746050806.545250348] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050806.546017700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050806.546851117] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050806.548188864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050806.549357396] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050806.585523134] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050806.587869530] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050806.588236000] [sailbot.teensy]: Wind angle: 211 -[teensy-2] [INFO] [1746050806.589229366] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050806.590174782] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050806.590289531] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050806.591080378] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050806.645210787] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050806.646001512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050806.648026130] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050806.648205303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050806.649374609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050806.744999540] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050806.745744124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050806.746281490] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050806.747567054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050806.748451153] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050806.835243277] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050806.837444501] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050806.837728660] [sailbot.teensy]: Wind angle: 211 -[mux-7] [INFO] [1746050806.837985023] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050806.838658102] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050806.839537172] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050806.840404216] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050806.844445998] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050806.844909645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050806.845638487] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050806.846577698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050806.847611679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050806.945411004] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050806.945979139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050806.946964661] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050806.948364116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050806.949512533] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050807.003513068] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694652 Long: -76.50340243 -[vectornav-1] [INFO] [1746050807.005028739] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (140.39100000000002, 1.319, 3.746) -[mux-7] [INFO] [1746050807.044872569] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050807.045374928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050807.046071593] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050807.047522361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050807.048664965] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050807.085109903] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050807.086819053] [sailbot.teensy]: Wind angle: 214 -[trim_sail-4] [INFO] [1746050807.087174804] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050807.087856247] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050807.088565861] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050807.088901979] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050807.089973846] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050807.145086752] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050807.145706591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050807.146485958] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050807.147643104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050807.148833401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050807.245301533] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050807.245999767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050807.246760308] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050807.248062876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050807.249268116] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050807.335298883] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050807.337551357] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050807.337710555] [sailbot.teensy]: Wind angle: 218 -[teensy-2] [INFO] [1746050807.338621314] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050807.338800018] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050807.339629319] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050807.340556268] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050807.344264232] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050807.344949174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050807.345478807] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050807.346757901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050807.347787173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050807.445473041] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050807.446244215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050807.447135241] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050807.448659919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050807.449101375] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050807.503492755] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946567 Long: -76.50340335 -[vectornav-1] [INFO] [1746050807.505165947] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (138.901, -0.483, 1.57) -[mux-7] [INFO] [1746050807.545408997] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050807.546305731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050807.546858821] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050807.548547940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050807.549677208] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050807.585819978] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050807.588584626] [sailbot.teensy]: Wind angle: 217 -[trim_sail-4] [INFO] [1746050807.589264061] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050807.589613496] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050807.590589867] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050807.589953533] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050807.591541543] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050807.645156071] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050807.646115097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050807.646645438] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050807.648327262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050807.649383943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050807.745446424] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050807.746178805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050807.747077786] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050807.748542131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050807.749093854] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050807.835368609] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050807.838253907] [sailbot.teensy]: Wind angle: 218 -[teensy-2] [INFO] [1746050807.838974429] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050807.838302231] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050807.838505988] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050807.839372691] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050807.839744111] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050807.844451270] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050807.845001543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050807.845588975] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050807.846779866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050807.847808918] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050807.945289932] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050807.946332330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050807.946771054] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050807.948453860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050807.949579861] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050808.003386265] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946579 Long: -76.50340397 -[vectornav-1] [INFO] [1746050808.005359895] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (137.29200000000003, 0.712, 4.215) -[mux-7] [INFO] [1746050808.045024678] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050808.045785971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050808.046623971] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050808.048025889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050808.049167118] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050808.085258092] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050808.086981811] [sailbot.teensy]: Wind angle: 218 -[teensy-2] [INFO] [1746050808.087956103] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050808.088140816] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050808.088877398] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050808.088974455] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050808.089842403] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050808.145024581] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050808.145794035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050808.146415445] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050808.147886561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050808.149082707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050808.245395439] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050808.246359684] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050808.246957389] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050808.248802548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050808.249789347] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050808.335191098] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050808.337640108] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050808.338045903] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050808.338941056] [sailbot.teensy]: Wind angle: 217 -[teensy-2] [INFO] [1746050808.339860473] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050808.340745797] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050808.341709049] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050808.344421179] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050808.344940511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050808.345513693] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050808.346729744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050808.347735187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050808.445137051] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050808.445980627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050808.446660711] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050808.447857724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050808.448319957] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050808.503291517] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946612 Long: -76.50340441 -[vectornav-1] [INFO] [1746050808.504775040] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (136.36900000000003, -2.866, 4.208) -[mux-7] [INFO] [1746050808.545226654] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050808.545878559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050808.546581280] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050808.547819521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050808.548857127] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050808.585301998] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050808.586975732] [sailbot.teensy]: Wind angle: 212 -[trim_sail-4] [INFO] [1746050808.587789346] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050808.588872189] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050808.589732357] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050808.590688415] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050808.591565131] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050808.645067749] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050808.645829080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050808.646451528] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050808.647909932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050808.648985490] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050808.745175518] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050808.746670956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050808.746678935] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050808.748017422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050808.748504268] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050808.835212658] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050808.837685263] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050808.837716801] [sailbot.teensy]: Wind angle: 213 -[teensy-2] [INFO] [1746050808.838724799] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050808.838923872] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050808.839700643] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050808.840657313] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050808.844378220] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050808.844975452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050808.845486477] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050808.846680585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050808.847799801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050808.945338254] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050808.946098160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050808.947211970] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050808.948467564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050808.949685613] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050809.002940677] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946629 Long: -76.50340524 -[vectornav-1] [INFO] [1746050809.004286133] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (135.755, 3.826, 4.036) -[mux-7] [INFO] [1746050809.045660609] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050809.046816535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050809.047300803] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050809.049062937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050809.050136620] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050809.085459366] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050809.087868780] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050809.087902297] [sailbot.teensy]: Wind angle: 213 -[teensy-2] [INFO] [1746050809.088877799] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050809.089047571] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050809.089831069] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050809.090745429] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050809.145363261] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050809.145962994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050809.146965666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050809.148177924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050809.150477928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050809.245134651] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050809.245799603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050809.246810950] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050809.247778779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050809.248838249] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050809.335259782] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050809.337818752] [sailbot.teensy]: Wind angle: 213 -[trim_sail-4] [INFO] [1746050809.338007997] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050809.338534046] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050809.338930640] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050809.339573459] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050809.339947404] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050809.344353833] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050809.345032057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050809.345605572] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050809.346796970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050809.347962083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050809.445542971] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050809.446318702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050809.447026179] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050809.447998573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050809.448576713] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050809.502854270] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946602 Long: -76.50340533 -[vectornav-1] [INFO] [1746050809.504084229] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (135.627, -2.489, 2.869) -[mux-7] [INFO] [1746050809.544892262] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050809.545466556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050809.546104444] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050809.548001095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050809.549045526] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050809.585316830] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050809.587164141] [sailbot.teensy]: Wind angle: 212 -[teensy-2] [INFO] [1746050809.588085290] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050809.588111443] [sailbot.mux]: algo sail angle: 0 -[trim_sail-4] [INFO] [1746050809.588125268] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050809.589020273] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050809.589886874] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050809.645192044] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050809.646160162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050809.646726289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050809.648708750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050809.649763266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050809.745484926] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050809.746391142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050809.747090695] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050809.749038186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050809.750240485] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050809.835343520] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050809.838028225] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050809.839288327] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050809.839706323] [sailbot.teensy]: Wind angle: 211 -[teensy-2] [INFO] [1746050809.840122437] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050809.840518133] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050809.840881158] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050809.844761121] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050809.845169654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050809.846056743] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050809.847010441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050809.848042525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050809.945279834] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050809.945845863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050809.947034029] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050809.947951058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050809.948848502] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050810.003424096] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946577 Long: -76.50340559 -[vectornav-1] [INFO] [1746050810.005033397] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (134.55599999999998, -2.245, 4.561) -[mux-7] [INFO] [1746050810.045249764] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050810.045802153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050810.046831527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050810.048059132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050810.049290076] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050810.085412316] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050810.087393642] [sailbot.teensy]: Wind angle: 211 -[trim_sail-4] [INFO] [1746050810.088102772] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050810.088396365] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050810.089191133] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050810.089301610] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050810.090194836] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050810.145302086] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050810.145934342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050810.147043699] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050810.148439030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050810.148950050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050810.245274445] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050810.246145063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050810.247156375] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050810.248286015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050810.248835597] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050810.335130426] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050810.336743354] [sailbot.teensy]: Wind angle: 207 -[trim_sail-4] [INFO] [1746050810.337220914] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050810.337634301] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050810.338562924] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050810.339226525] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050810.339412325] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050810.344400816] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050810.344888993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050810.345635297] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050810.346579658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050810.347641815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050810.445657370] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050810.446217906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050810.448205540] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050810.448670800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050810.449933170] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050810.503560899] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946596 Long: -76.50340617 -[vectornav-1] [INFO] [1746050810.505066994] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (135.027, 5.087, 2.567) -[mux-7] [INFO] [1746050810.545141617] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050810.545829561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050810.546622961] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050810.547789539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050810.548952922] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050810.585406641] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050810.587469091] [sailbot.teensy]: Wind angle: 210 -[teensy-2] [INFO] [1746050810.588436795] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050810.588255595] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050810.589471439] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050810.590091780] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050810.590346373] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050810.645244666] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050810.645753972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050810.646719218] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050810.647759502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050810.649125181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050810.745040198] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050810.745786442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050810.746446766] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050810.747830665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050810.748495130] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050810.835228412] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050810.836942664] [sailbot.teensy]: Wind angle: 210 -[teensy-2] [INFO] [1746050810.838252063] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050810.838669190] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050810.838726264] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050810.838850119] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050810.839245895] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050810.844699860] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050810.845170854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050810.845899858] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050810.846901384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050810.847971704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050810.945056960] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050810.945758349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050810.946473427] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050810.947745567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050810.948897525] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050811.002865236] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946531 Long: -76.50340563 -[vectornav-1] [INFO] [1746050811.003987534] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (135.618, -1.631, 4.284) -[mux-7] [INFO] [1746050811.044924915] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050811.045661622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050811.046326233] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050811.047563824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050811.048635634] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050811.085421977] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050811.087319961] [sailbot.teensy]: Wind angle: 210 -[teensy-2] [INFO] [1746050811.088416727] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050811.088478902] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050811.089407280] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050811.089999474] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050811.090321189] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050811.145566000] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050811.146373658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050811.147058997] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050811.148687595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050811.149785059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050811.245286536] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050811.246111643] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050811.247972388] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050811.248319016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050811.249422242] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050811.335318779] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050811.337319533] [sailbot.teensy]: Wind angle: 212 -[trim_sail-4] [INFO] [1746050811.337685980] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050811.338257191] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050811.338932293] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050811.339185853] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050811.340080514] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050811.344499669] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050811.344991834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050811.345686222] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050811.346777608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050811.347947969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050811.445493945] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050811.446419813] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050811.447165304] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050811.448826980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050811.450103989] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050811.502782249] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946484 Long: -76.50340541 -[vectornav-1] [INFO] [1746050811.504729724] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (135.128, -5.571, 4.419) -[mux-7] [INFO] [1746050811.545469943] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050811.546173292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050811.547212590] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050811.548522072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050811.549653064] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050811.585291634] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050811.587492550] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050811.587987808] [sailbot.teensy]: Wind angle: 210 -[mux-7] [INFO] [1746050811.588478457] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050811.589097504] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050811.590028151] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050811.590905997] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050811.644790445] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050811.645271705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050811.645960574] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050811.647284340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050811.648355056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050811.698087738] [sailbot.mux]: controller_app rudder angle: -9 -[mux-7] [INFO] [1746050811.744947269] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050811.745776671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050811.746374544] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050811.747703147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050811.748204375] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050811.835229666] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050811.837102718] [sailbot.teensy]: Wind angle: 207 -[trim_sail-4] [INFO] [1746050811.837740823] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050811.838111457] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050811.839142792] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050811.840306725] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050811.840926985] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050811.844493682] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050811.845136656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050811.845762520] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050811.847140492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050811.848295401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050811.945265760] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050811.945985973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050811.946801684] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050811.947744204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050811.948303421] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050812.003573249] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694652 Long: -76.50340587 -[vectornav-1] [INFO] [1746050812.005157970] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (136.07299999999998, 8.266, 2.646) -[mux-7] [INFO] [1746050812.045023910] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050812.045833214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050812.046562131] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050812.047729150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050812.048773207] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050812.085477380] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050812.087854472] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050812.088900622] [sailbot.teensy]: Wind angle: 207 -[teensy-2] [INFO] [1746050812.089871816] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050812.090092517] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050812.090738191] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050812.091651962] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050812.145024217] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050812.145691233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050812.146454848] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050812.147911109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050812.148965150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050812.244900142] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050812.245617081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050812.246472737] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050812.247458720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050812.248567163] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050812.335176500] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050812.336995692] [sailbot.teensy]: Wind angle: 207 -[trim_sail-4] [INFO] [1746050812.337479885] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050812.339294257] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050812.339304576] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050812.340385163] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050812.341322252] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050812.344445302] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050812.345079956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050812.345832189] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050812.346756813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050812.347819361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050812.445305886] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050812.446568494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050812.446836044] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050812.448603171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050812.449138278] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050812.503429778] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946398 Long: -76.50340536 -[vectornav-1] [INFO] [1746050812.505768122] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (135.925, -4.322, 3.49) -[mux-7] [INFO] [1746050812.545374685] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050812.546013792] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050812.546995210] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050812.547888276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050812.548395545] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050812.585396594] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050812.587385429] [sailbot.teensy]: Wind angle: 207 -[trim_sail-4] [INFO] [1746050812.587780166] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050812.588341785] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050812.589545054] [sailbot.teensy]: Actual tail angle: 16 -[mux-7] [INFO] [1746050812.590061649] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050812.590428745] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050812.645122139] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050812.645761250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050812.646376945] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050812.647594875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050812.648680760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050812.745512329] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050812.746441181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050812.747418344] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050812.748140934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050812.748674088] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050812.835503658] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050812.837905978] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050812.838278390] [sailbot.teensy]: Wind angle: 202 -[mux-7] [INFO] [1746050812.838835524] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050812.838989844] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050812.839447492] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050812.839787695] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050812.844698018] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050812.845173514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050812.845883070] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050812.846950772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050812.847982820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050812.945253162] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050812.946057136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050812.946775528] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050812.948200048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050812.948698037] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050813.003068765] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946345 Long: -76.5034048 -[vectornav-1] [INFO] [1746050813.004609369] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (134.392, -0.344, 3.545) -[mux-7] [INFO] [1746050813.045532318] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050813.046236063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050813.047181424] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050813.048741847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050813.049866918] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050813.085291164] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050813.087676383] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050813.088003583] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050813.088447012] [sailbot.teensy]: Wind angle: 203 -[teensy-2] [INFO] [1746050813.089396754] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050813.090231675] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050813.091075547] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050813.145268896] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050813.145972987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050813.146810108] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050813.148119059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050813.149296877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050813.245192677] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050813.245978921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050813.247083511] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050813.248251997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050813.249446009] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050813.335236759] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050813.337055680] [sailbot.teensy]: Wind angle: 205 -[trim_sail-4] [INFO] [1746050813.337550736] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050813.337999635] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050813.338918732] [sailbot.teensy]: Actual tail angle: 16 -[mux-7] [INFO] [1746050813.339447052] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050813.339854642] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050813.344431112] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050813.345107835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050813.345594677] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050813.346930703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050813.348060647] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050813.445529662] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050813.446498902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050813.447125813] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050813.448434395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050813.448911127] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050813.503489147] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946299 Long: -76.5034046 -[vectornav-1] [INFO] [1746050813.504942161] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (133.211, -2.159, 4.872) -[mux-7] [INFO] [1746050813.544964286] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050813.545623823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050813.546226657] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050813.547448117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050813.548478182] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050813.585322650] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050813.587780775] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050813.587967717] [sailbot.teensy]: Wind angle: 204 -[mux-7] [INFO] [1746050813.588675019] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050813.589200841] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050813.590140863] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050813.591026532] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050813.645221674] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050813.646087834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050813.646909747] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050813.648391700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -9 -[teensy-2] [INFO] [1746050813.649662038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050813.697107232] [sailbot.mux]: controller_app rudder angle: -12 -[mux-7] [INFO] [1746050813.745056036] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050813.745903697] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050813.746716074] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050813.748147865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050813.748790799] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050813.835235161] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050813.837520446] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050813.838559388] [sailbot.teensy]: Wind angle: 204 -[teensy-2] [INFO] [1746050813.839037588] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050813.839367715] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050813.839448439] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050813.839849770] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050813.844461755] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050813.845239336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050813.845559980] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050813.847071262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050813.848087444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050813.945522340] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050813.946521890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050813.947457784] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050813.948710091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050813.949221515] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050814.003563722] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946259 Long: -76.50340468 -[vectornav-1] [INFO] [1746050814.005227602] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (131.34500000000003, 4.548, 3.647) -[mux-7] [INFO] [1746050814.045289134] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050814.046062043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050814.046854493] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050814.048314480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050814.049463328] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050814.085616560] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050814.087890538] [sailbot.teensy]: Wind angle: 203 -[trim_sail-4] [INFO] [1746050814.088653257] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050814.089922390] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050814.090377579] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050814.091273432] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050814.092111609] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050814.145283321] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050814.146188885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050814.146798996] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050814.148677411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050814.149216258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050814.245057930] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050814.245698712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050814.246518332] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050814.247658191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050814.248565818] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050814.335178754] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050814.336921121] [sailbot.teensy]: Wind angle: 203 -[mux-7] [INFO] [1746050814.338130375] [sailbot.mux]: algo sail angle: 0 -[trim_sail-4] [INFO] [1746050814.338468442] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050814.338644795] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050814.339604252] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050814.340568585] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050814.344645053] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050814.345021102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050814.345774958] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050814.346729591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050814.347786057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050814.445493880] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050814.446194293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050814.447399346] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050814.448370958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050814.448958586] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050814.503449138] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946168 Long: -76.50340384 -[vectornav-1] [INFO] [1746050814.505221786] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (129.661, -0.951, 4.545) -[mux-7] [INFO] [1746050814.545349292] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050814.546065129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050814.546901795] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050814.548615734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050814.549726297] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050814.585177551] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050814.587460317] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050814.588001565] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050814.588363202] [sailbot.teensy]: Wind angle: 203 -[teensy-2] [INFO] [1746050814.589293792] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050814.590127113] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050814.590967200] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050814.645247165] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050814.646110371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050814.646777154] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746050814.648044562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -12 -[teensy-2] [INFO] [1746050814.648548678] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050814.733456976] [sailbot.mux]: controller_app rudder angle: -14 -[mux-7] [INFO] [1746050814.744602384] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050814.745171809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050814.745809604] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050814.746928871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050814.748076635] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050814.835086556] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050814.837254282] [sailbot.teensy]: Wind angle: 200 -[trim_sail-4] [INFO] [1746050814.837254756] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050814.838489373] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050814.839125861] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050814.840065952] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746050814.840566751] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050814.844541527] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050814.845025570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050814.845861792] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050814.846738115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050814.847770293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050814.945276791] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050814.945961594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050814.946817502] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050814.948430123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050814.949090320] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050815.002949132] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946061 Long: -76.50340262 -[vectornav-1] [INFO] [1746050815.005414094] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (125.61200000000002, -0.526, 5.071) -[mux-7] [INFO] [1746050815.045298881] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050815.046050113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050815.046803480] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050815.047948803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050815.048897979] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050815.085458522] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050815.087946614] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050815.088193796] [sailbot.teensy]: Wind angle: 198 -[teensy-2] [INFO] [1746050815.089360284] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050815.089363916] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050815.090327440] [sailbot.teensy]: Actual tail angle: 11 -[teensy-2] [INFO] [1746050815.091191295] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050815.145388307] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050815.146048892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050815.147027030] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050815.148263721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050815.149622649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050815.245063714] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050815.245645477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050815.246484987] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050815.247741763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050815.248888771] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050815.335697163] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050815.338339767] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050815.338866324] [sailbot.teensy]: Wind angle: 195 -[teensy-2] [INFO] [1746050815.339833785] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050815.339864397] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050815.340757726] [sailbot.teensy]: Actual tail angle: 11 -[teensy-2] [INFO] [1746050815.341623898] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050815.344339983] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050815.344829984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050815.345491996] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050815.346555679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050815.347593219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050815.445617446] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050815.446553795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050815.448122503] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050815.448940845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050815.449522918] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050815.503799313] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945974 Long: -76.503402 -[vectornav-1] [INFO] [1746050815.505731980] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (121.11500000000001, -2.156, 3.486) -[mux-7] [INFO] [1746050815.544828213] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050815.545460825] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050815.546028507] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050815.547208644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050815.548444467] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050815.585559389] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050815.587536576] [sailbot.teensy]: Wind angle: 193 -[teensy-2] [INFO] [1746050815.588594041] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050815.588246534] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050815.589472874] [sailbot.teensy]: Actual tail angle: 11 -[mux-7] [INFO] [1746050815.589918838] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050815.590377968] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050815.645315626] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050815.646216137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050815.646866626] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050815.648432310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -14 -[teensy-2] [INFO] [1746050815.649605606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050815.700060324] [sailbot.mux]: controller_app rudder angle: -15 -[mux-7] [INFO] [1746050815.745664278] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050815.746478119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050815.747360518] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050815.749480779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050815.750704343] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050815.835112989] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050815.837338097] [sailbot.teensy]: Wind angle: 187 -[trim_sail-4] [INFO] [1746050815.838374608] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050815.838867149] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050815.841028352] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050815.841977604] [sailbot.teensy]: Actual tail angle: 11 -[teensy-2] [INFO] [1746050815.842968929] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050815.846308623] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050815.846326808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050815.848647487] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050815.848905826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050815.849979996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050815.945455066] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050815.946500951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050815.947083199] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050815.948936560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050815.950081950] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050816.003754078] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945913 Long: -76.50340186 -[vectornav-1] [INFO] [1746050816.005772578] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (116.29000000000002, 5.038, 5.143) -[mux-7] [INFO] [1746050816.045361466] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050816.046352980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050816.046906382] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050816.048774526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050816.049769532] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050816.085463221] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050816.087766587] [sailbot.teensy]: Wind angle: 187 -[trim_sail-4] [INFO] [1746050816.087875913] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050816.088802507] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050816.089603228] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050816.089706098] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050816.090649975] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050816.144948228] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050816.145980046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050816.146367313] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050816.147897972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050816.148951450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050816.245428547] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050816.246440992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050816.247111058] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050816.248924911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050816.250073094] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050816.335386516] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050816.337390812] [sailbot.teensy]: Wind angle: 181 -[trim_sail-4] [INFO] [1746050816.338153031] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050816.338431780] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050816.339306840] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050816.339378749] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050816.340322174] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050816.344481784] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050816.345195838] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050816.345585260] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050816.346884434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050816.348014436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050816.445363993] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050816.446243150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050816.447337751] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050816.447837650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050816.448409192] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050816.502798622] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945788 Long: -76.50340085 -[vectornav-1] [INFO] [1746050816.504349530] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (107.851, -4.245, 5.394) -[mux-7] [INFO] [1746050816.545357787] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050816.546042403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050816.546905165] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050816.548400334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050816.549621624] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050816.585431283] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050816.587493241] [sailbot.teensy]: Wind angle: 172 -[teensy-2] [INFO] [1746050816.588481678] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050816.589370674] [sailbot.teensy]: Actual tail angle: 10 -[trim_sail-4] [INFO] [1746050816.588612115] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050816.589294446] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050816.590246214] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050816.645122691] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050816.646014002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050816.646581575] [sailbot.mux]: Published rudder angle from controller_app: -15 -[teensy-2] [INFO] [1746050816.648049928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746050816.649086099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050816.698343779] [sailbot.mux]: controller_app rudder angle: -19 -[mux-7] [INFO] [1746050816.745431604] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050816.746476054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050816.747124141] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050816.749085841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050816.749644963] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050816.835319748] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050816.837740973] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050816.838261808] [sailbot.teensy]: Wind angle: 167 -[mux-7] [INFO] [1746050816.838983337] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050816.839665256] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050816.840735970] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050816.841580928] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050816.844376522] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050816.844839348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050816.845465993] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050816.846530361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050816.847624397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050816.945686612] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050816.946463501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050816.947446011] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050816.948958780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050816.950192240] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050817.003611164] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945694 Long: -76.50340074 -[vectornav-1] [INFO] [1746050817.005642585] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (101.78699999999998, 1.359, 4.234) -[mux-7] [INFO] [1746050817.044963872] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050817.045467232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050817.046185616] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050817.047266766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050817.048428910] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050817.085226125] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050817.086946679] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746050817.087505746] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050817.087887668] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050817.088829727] [sailbot.teensy]: Actual tail angle: 6 -[mux-7] [INFO] [1746050817.089367594] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050817.089688221] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050817.145263646] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050817.146154571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050817.146798547] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050817.147832746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050817.148320661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050817.245674604] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050817.246490636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050817.247436219] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050817.249301470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050817.249811717] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050817.335017348] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050817.337055006] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746050817.337264468] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050817.338149042] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050817.338509486] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050817.339050549] [sailbot.teensy]: Actual tail angle: 6 -[teensy-2] [INFO] [1746050817.339415160] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050817.344406168] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050817.344939301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050817.345761898] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050817.346697649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050817.347735177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050817.445208200] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050817.446171620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050817.446829033] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050817.447746862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050817.448333402] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050817.503405632] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945596 Long: -76.50340075 -[vectornav-1] [INFO] [1746050817.504566171] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (91.53500000000003, -0.997, 5.869) -[mux-7] [INFO] [1746050817.545115825] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050817.545885431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050817.546574609] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050817.547803812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050817.548855231] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050817.585453298] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050817.588243251] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050817.588377685] [sailbot.teensy]: Wind angle: 154 -[mux-7] [INFO] [1746050817.588619475] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050817.589319490] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050817.590266355] [sailbot.teensy]: Actual tail angle: 6 -[teensy-2] [INFO] [1746050817.591113006] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050817.645098953] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050817.645756007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050817.646910971] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050817.647772640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050817.648338897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050817.744953684] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050817.745676651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050817.746268378] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050817.747491764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050817.747975145] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050817.835136042] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050817.837677573] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050817.838872996] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050817.840348471] [sailbot.teensy]: Wind angle: 151 -[teensy-2] [INFO] [1746050817.841339517] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050817.841732194] [sailbot.teensy]: Actual tail angle: 6 -[teensy-2] [INFO] [1746050817.842147376] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050817.844774223] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050817.845299677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050817.846011333] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050817.847209285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050817.848405027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050817.945676097] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050817.946696316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050817.947561160] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050817.949125823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050817.950347494] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050818.003102719] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945545 Long: -76.50340021 -[vectornav-1] [INFO] [1746050818.004468779] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (81.322, -1.005, 6.472) -[mux-7] [INFO] [1746050818.045326252] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050818.046034778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050818.046898160] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050818.048267693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050818.049546278] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050818.085863561] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050818.088182602] [sailbot.teensy]: Wind angle: 150 -[teensy-2] [INFO] [1746050818.089305228] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050818.090258854] [sailbot.teensy]: Actual tail angle: 6 -[trim_sail-4] [INFO] [1746050818.089770948] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050818.090654129] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050818.091131134] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050818.145244212] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050818.146407945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050818.146821026] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050818.148798771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050818.149961741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050818.245388352] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050818.246407233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050818.246952216] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050818.248986867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050818.249984448] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050818.335095039] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050818.337055858] [sailbot.teensy]: Wind angle: 145 -[trim_sail-4] [INFO] [1746050818.337098296] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050818.337961856] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050818.338401306] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050818.338872744] [sailbot.teensy]: Actual tail angle: 6 -[teensy-2] [INFO] [1746050818.339749039] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050818.344306749] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050818.345053238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050818.345469904] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050818.346779215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050818.347812190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050818.445813633] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050818.446024603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050818.447485349] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050818.448223269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050818.449215130] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050818.502611266] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945502 Long: -76.50339955 -[vectornav-1] [INFO] [1746050818.503916089] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (69.55900000000003, 0.443, 11.097) -[mux-7] [INFO] [1746050818.545034826] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050818.546209920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050818.546363416] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050818.548251101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050818.549378596] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050818.585528709] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050818.587419746] [sailbot.teensy]: Wind angle: 139 -[teensy-2] [INFO] [1746050818.588379349] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050818.587737101] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050818.589141842] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050818.589259221] [sailbot.teensy]: Actual tail angle: 6 -[teensy-2] [INFO] [1746050818.590147108] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050818.644980238] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050818.645678614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050818.646293619] [sailbot.mux]: Published rudder angle from controller_app: -19 -[teensy-2] [INFO] [1746050818.647472149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -19 -[teensy-2] [INFO] [1746050818.648003326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050818.709534814] [sailbot.mux]: controller_app rudder angle: -18 -[mux-7] [INFO] [1746050818.745361599] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050818.746211189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050818.747594084] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050818.748527188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -18 -[teensy-2] [INFO] [1746050818.749750735] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050818.835263212] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050818.837352641] [sailbot.teensy]: Wind angle: 133 -[trim_sail-4] [INFO] [1746050818.837823169] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050818.838793545] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050818.839230648] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050818.840087685] [sailbot.teensy]: Actual tail angle: 6 -[teensy-2] [INFO] [1746050818.840982867] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050818.844412454] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050818.845153632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050818.845943695] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050818.847202160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -18 -[teensy-2] [INFO] [1746050818.848254509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050818.945408531] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050818.946230129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050818.947343693] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050818.948610436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -18 -[teensy-2] [INFO] [1746050818.949696946] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050819.002917746] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945448 Long: -76.50339837 -[vectornav-1] [INFO] [1746050819.004859615] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.47500000000002, -0.464, 13.764) -[mux-7] [INFO] [1746050819.044845983] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050819.045361553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050819.046122258] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050819.047277224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -18 -[teensy-2] [INFO] [1746050819.048438498] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050819.085100827] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050819.087279148] [sailbot.teensy]: Wind angle: 128 -[trim_sail-4] [INFO] [1746050819.087435107] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050819.088543483] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050819.088896298] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050819.089444599] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050819.090341575] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050819.145241445] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050819.145657724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050819.146630123] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050819.147631020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -18 -[teensy-2] [INFO] [1746050819.148828934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050819.245094787] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050819.245757417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050819.246469584] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050819.247879343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -18 -[teensy-2] [INFO] [1746050819.248506941] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050819.335229899] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050819.337137112] [sailbot.teensy]: Wind angle: 116 -[trim_sail-4] [INFO] [1746050819.337646183] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050819.338219126] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050819.338944554] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050819.339008369] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050819.339386311] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050819.344487842] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050819.345184028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050819.345856773] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050819.346915142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -18 -[teensy-2] [INFO] [1746050819.348088945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050819.445380039] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050819.446060588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050819.447050786] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050819.448334286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -18 -[teensy-2] [INFO] [1746050819.448884458] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050819.503427578] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945435 Long: -76.50339696 -[vectornav-1] [INFO] [1746050819.505227436] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.158000000000015, -3.849, 15.477) -[mux-7] [INFO] [1746050819.545055270] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050819.545626317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050819.546396186] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050819.547605658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -18 -[teensy-2] [INFO] [1746050819.548799772] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050819.585413171] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050819.587533911] [sailbot.teensy]: Wind angle: 114 -[teensy-2] [INFO] [1746050819.588540890] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746050819.587929849] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050819.589326641] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050819.589398629] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050819.590285279] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050819.645128996] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050819.645718229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050819.646930748] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050819.647646346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -18 -[teensy-2] [INFO] [1746050819.648760094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050819.711966522] [sailbot.mux]: controller_app rudder angle: 1 -[mux-7] [INFO] [1746050819.745280893] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050819.746081650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050819.746839441] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050819.748243158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050819.749295848] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050819.835226671] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050819.837198260] [sailbot.teensy]: Wind angle: 111 -[trim_sail-4] [INFO] [1746050819.837713826] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050819.838173943] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050819.838932671] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050819.839089133] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050819.839542346] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050819.844518785] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050819.845440325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050819.845716142] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050819.847927233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050819.848978884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050819.945026218] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050819.946169964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050819.946362290] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050819.948750341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050819.949319849] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050820.003246807] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945468 Long: -76.50339469 -[vectornav-1] [INFO] [1746050820.004927377] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.69999999999999, 1.519, 15.237) -[mux-7] [INFO] [1746050820.045452603] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050820.046471773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050820.047005092] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050820.047965291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050820.048491396] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050820.085380063] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050820.087909489] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050820.087974385] [sailbot.teensy]: Wind angle: 112 -[teensy-2] [INFO] [1746050820.088966944] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050820.089902941] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050820.090290243] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050820.090802955] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050820.145101341] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050820.145697301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050820.146377124] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050820.147582166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050820.148775053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050820.245261401] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050820.246327594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050820.246831330] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050820.248759825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050820.249963399] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050820.335445099] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050820.338214114] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050820.338213898] [sailbot.teensy]: Wind angle: 111 -[teensy-2] [INFO] [1746050820.339373151] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050820.340277784] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050820.340336066] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050820.341237588] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050820.344480524] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050820.345104371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050820.345730142] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050820.346852765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050820.347915060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050820.445402319] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050820.446250114] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050820.446969648] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050820.448646205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050820.449688546] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050820.503198667] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945542 Long: -76.50339315 -[vectornav-1] [INFO] [1746050820.504828459] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.46300000000002, -1.997, 13.354) -[mux-7] [INFO] [1746050820.545179547] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050820.545242218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050820.546483368] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050820.546955097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050820.548043805] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050820.585396072] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050820.587443361] [sailbot.teensy]: Wind angle: 112 -[trim_sail-4] [INFO] [1746050820.587982824] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050820.588470820] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050820.589735922] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050820.590076991] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050820.590657047] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050820.645042370] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050820.645586934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050820.646413681] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050820.647522247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050820.648720182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050820.745104309] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050820.745822347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050820.746460675] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050820.747703018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050820.748526613] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050820.835253940] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050820.837076222] [sailbot.teensy]: Wind angle: 115 -[trim_sail-4] [INFO] [1746050820.837868145] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050820.837984316] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050820.838399651] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050820.838717137] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050820.839102837] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050820.844635685] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050820.844909905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050820.845823967] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050820.846553495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050820.847801773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050820.945090635] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050820.945666818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050820.946463257] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050820.947579500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050820.948682896] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050821.003163280] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945616 Long: -76.50339121 -[vectornav-1] [INFO] [1746050821.005188182] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.740999999999985, -0.009, 13.136) -[mux-7] [INFO] [1746050821.045798166] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050821.046555579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050821.047810658] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050821.048953335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050821.050244347] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050821.085183939] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050821.087385843] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050821.088354809] [sailbot.teensy]: Wind angle: 115 -[mux-7] [INFO] [1746050821.088705726] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050821.089347887] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050821.090628458] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050821.091496417] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050821.144986335] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050821.145586565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050821.146195173] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050821.147428884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050821.148623761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050821.245005643] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050821.245693156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050821.246464170] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050821.247581613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050821.248112168] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050821.335394757] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050821.338120542] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050821.338128746] [sailbot.teensy]: Wind angle: 115 -[teensy-2] [INFO] [1746050821.338719741] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050821.338751980] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050821.339112018] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050821.339493599] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050821.344320445] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050821.344833777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050821.345485231] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050821.346534249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050821.347584593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050821.445377861] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050821.446237884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050821.446872429] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050821.447940474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050821.448461237] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050821.503518653] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945754 Long: -76.50338914 -[vectornav-1] [INFO] [1746050821.504737167] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.68099999999998, 0.01, 11.491) -[mux-7] [INFO] [1746050821.545047541] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050821.545724448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050821.546527475] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050821.547745101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050821.548834345] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050821.585298500] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050821.587409541] [sailbot.teensy]: Wind angle: 116 -[trim_sail-4] [INFO] [1746050821.587437421] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050821.588738884] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050821.589258618] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050821.589666396] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050821.590544425] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050821.645205216] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050821.646154382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050821.646795203] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050821.648416661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050821.649633808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050821.745367235] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050821.746162054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050821.747055540] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050821.747948494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050821.748446704] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050821.835471187] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050821.837492229] [sailbot.teensy]: Wind angle: 120 -[trim_sail-4] [INFO] [1746050821.838010965] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050821.838536078] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050821.839519548] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050821.839763394] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050821.840473365] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050821.844435320] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050821.845206646] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050821.847186008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[mux-7] [INFO] [1746050821.847687946] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050821.849536451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050821.945406651] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050821.946172219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050821.947068053] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050821.948879056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050821.949964179] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050822.003344972] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945906 Long: -76.50338704 -[vectornav-1] [INFO] [1746050822.004798480] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.403999999999996, -0.453, 12.11) -[mux-7] [INFO] [1746050822.045125011] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050822.045771358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050822.046444869] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050822.047915058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050822.049139552] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050822.085292562] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050822.087068939] [sailbot.teensy]: Wind angle: 131 -[trim_sail-4] [INFO] [1746050822.087473672] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050822.088030239] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050822.088955974] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050822.088970428] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050822.089852987] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050822.145171149] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050822.146188946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050822.146761432] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050822.148254103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050822.149407226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050822.245202722] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050822.246121430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050822.246686615] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050822.248444899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050822.249566102] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050822.335151757] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050822.337217170] [sailbot.teensy]: Wind angle: 133 -[trim_sail-4] [INFO] [1746050822.337345087] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050822.338119856] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050822.338570375] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050822.338998997] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050822.339496009] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050822.344371401] [sailbot.mux]: Published sail angle from controller_app: 0 -[mux-7] [INFO] [1746050822.345554261] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050822.345756737] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050822.347498631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050822.348597881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050822.445731169] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050822.446562928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050822.447518938] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050822.448925121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050822.450071847] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050822.503532029] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946088 Long: -76.50338554 -[vectornav-1] [INFO] [1746050822.504815731] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (62.639999999999986, -1.905, 10.826) -[mux-7] [INFO] [1746050822.545099812] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050822.545907354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050822.546575632] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050822.548445603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050822.549556549] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050822.585624635] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050822.588235683] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050822.589124964] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050822.589186338] [sailbot.teensy]: Wind angle: 133 -[teensy-2] [INFO] [1746050822.590156000] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050822.591035666] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050822.591869140] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050822.644999511] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050822.646009237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050822.646375137] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050822.647941608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050822.649048947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050822.745429131] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050822.746488178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050822.747442190] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050822.748590146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050822.749029478] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050822.835581167] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050822.837615610] [sailbot.teensy]: Wind angle: 131 -[trim_sail-4] [INFO] [1746050822.838098638] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050822.838634515] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050822.839614047] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050822.840133933] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050822.840505429] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050822.844489591] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050822.845277626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050822.845983721] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050822.847260539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050822.848325588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050822.945192442] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050822.945836852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050822.946821244] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050822.947904444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050822.949162325] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050823.003705218] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946328 Long: -76.50338502 -[vectornav-1] [INFO] [1746050823.005470624] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (66.91500000000002, 3.106, 12.684) -[mux-7] [INFO] [1746050823.045155819] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050823.045971056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050823.046897297] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050823.048281035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050823.049336556] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050823.085257564] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050823.087013972] [sailbot.teensy]: Wind angle: 136 -[trim_sail-4] [INFO] [1746050823.087496526] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050823.087980665] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050823.088712361] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050823.088954349] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050823.089868257] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050823.144954921] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050823.145615994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050823.146321537] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050823.147567972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050823.148692260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050823.244913889] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050823.245555945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050823.246240237] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050823.247345454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050823.248533219] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050823.335271924] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050823.337472364] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050823.338106425] [sailbot.teensy]: Wind angle: 140 -[mux-7] [INFO] [1746050823.338727325] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050823.339199635] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050823.340122612] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050823.341018306] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050823.344527036] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050823.345444885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050823.345624991] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050823.347509300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050823.348592759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050823.445525251] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050823.446385990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050823.447095599] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050823.448392907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050823.448945309] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050823.503769763] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946432 Long: -76.50338201 -[vectornav-1] [INFO] [1746050823.505919023] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (69.27600000000001, -3.275, 17.123) -[mux-7] [INFO] [1746050823.545196166] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050823.545948348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050823.546636789] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050823.548043985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050823.549222302] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050823.585642116] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050823.587576008] [sailbot.teensy]: Wind angle: 140 -[trim_sail-4] [INFO] [1746050823.588111599] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050823.588604605] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050823.589531957] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050823.590337209] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050823.590401403] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050823.645568327] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050823.646514247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050823.647241342] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746050823.649212256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 1 -[teensy-2] [INFO] [1746050823.650383705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050823.700504743] [sailbot.mux]: controller_app rudder angle: 4 -[mux-7] [INFO] [1746050823.745276450] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050823.746049528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050823.746790560] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050823.747989725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050823.748543534] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050823.835213634] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050823.837481854] [sailbot.teensy]: Wind angle: 141 -[trim_sail-4] [INFO] [1746050823.837542378] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050823.838118919] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050823.838620980] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050823.839452664] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050823.839836536] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050823.844370204] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050823.845080256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050823.845767212] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050823.846982987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050823.848384576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050823.945661689] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050823.946681084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050823.947819671] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050823.949468449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050823.950698682] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050824.003272939] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946642 Long: -76.50338181 -[vectornav-1] [INFO] [1746050824.004567050] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (78.35000000000002, -1.008, 15.124) -[mux-7] [INFO] [1746050824.045254719] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050824.046518462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050824.047085441] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050824.048649078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050824.049756051] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050824.085419432] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050824.087816525] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050824.087932167] [sailbot.teensy]: Wind angle: 138 -[mux-7] [INFO] [1746050824.088547528] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050824.089227138] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050824.090125070] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050824.090996094] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050824.145314565] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050824.146078221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050824.146786033] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050824.148416916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050824.149654446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050824.245546276] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050824.246258509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050824.247126786] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050824.247916850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050824.248462945] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050824.335312750] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050824.337299044] [sailbot.teensy]: Wind angle: 133 -[trim_sail-4] [INFO] [1746050824.337735363] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050824.339179942] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050824.339276919] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050824.339600332] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050824.339985407] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050824.344451523] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050824.344948550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050824.345540981] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050824.346622247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050824.347844679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050824.445498442] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050824.446117067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050824.447061224] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050824.448366917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050824.449027602] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050824.503198841] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946928 Long: -76.503382 -[vectornav-1] [INFO] [1746050824.504551446] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (78.59300000000002, 2.826, 8.889) -[mux-7] [INFO] [1746050824.545021116] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050824.545803499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050824.546508926] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050824.547797417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050824.548843781] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050824.584414276] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050824.585745129] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050824.585885861] [sailbot.teensy]: Wind angle: 141 -[teensy-2] [INFO] [1746050824.586341239] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050824.586810197] [sailbot.teensy]: Actual tail angle: 29 -[mux-7] [INFO] [1746050824.587027850] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050824.587231543] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050824.644364069] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050824.645329368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050824.645506399] [sailbot.mux]: Published rudder angle from controller_app: 4 -[teensy-2] [INFO] [1746050824.647005097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 4 -[teensy-2] [INFO] [1746050824.647998883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050824.708675945] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746050824.744906038] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050824.745818358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050824.746155324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050824.747720860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050824.748468765] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050824.835254565] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050824.837725098] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050824.838253777] [sailbot.teensy]: Wind angle: 151 -[mux-7] [INFO] [1746050824.838695879] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050824.839212585] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050824.840097875] [sailbot.teensy]: Actual tail angle: 29 -[teensy-2] [INFO] [1746050824.840839727] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050824.844517933] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050824.844936370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050824.845996214] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050824.846693979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050824.847838655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050824.945337313] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050824.945891075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050824.947119228] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050824.948080990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050824.948758064] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050825.002762500] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46947104 Long: -76.50338035 -[vectornav-1] [INFO] [1746050825.004194805] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (78.30399999999997, -2.107, 8.721) -[mux-7] [INFO] [1746050825.045342639] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050825.046106089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050825.047182869] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050825.048251268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050825.049454622] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050825.085215412] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050825.086859871] [sailbot.teensy]: Wind angle: 150 -[trim_sail-4] [INFO] [1746050825.087560656] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050825.087890107] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050825.088748786] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050825.088795026] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050825.089669625] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050825.145221995] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050825.145709027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050825.146783598] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050825.147645264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050825.148758848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050825.245335285] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050825.245978996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050825.247144008] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050825.248356478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050825.250394551] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050825.335647308] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050825.337586335] [sailbot.teensy]: Wind angle: 147 -[trim_sail-4] [INFO] [1746050825.338399528] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050825.338590512] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050825.339550263] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050825.340482105] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050825.340836450] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050825.344810267] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050825.345200312] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050825.346132891] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050825.346931216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050825.347986581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050825.445519733] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050825.446677981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050825.447198218] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050825.448953167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050825.450216676] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050825.503035293] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46947339 Long: -76.50337985 -[vectornav-1] [INFO] [1746050825.504365252] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (79.029, -4.027, 5.926) -[mux-7] [INFO] [1746050825.544955011] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050825.545605186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050825.546255901] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050825.547487119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050825.548512625] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050825.585480776] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050825.587454330] [sailbot.teensy]: Wind angle: 143 -[trim_sail-4] [INFO] [1746050825.588286612] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050825.588470851] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050825.589341958] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050825.589420543] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050825.590213484] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050825.645138896] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050825.646140520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050825.646612608] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050825.648291072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050825.649336254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050825.745507228] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050825.746271536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050825.747597176] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050825.747921693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050825.748404102] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050825.835173787] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050825.836869353] [sailbot.teensy]: Wind angle: 140 -[trim_sail-4] [INFO] [1746050825.837562961] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050825.837815410] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050825.838602437] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050825.838709756] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050825.839414370] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050825.844502485] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050825.845103524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050825.845685145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050825.846939781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050825.848464341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050825.945182699] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050825.946024937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050825.946681158] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050825.948199649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050825.949351834] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050826.003023734] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46947528 Long: -76.50337892 -[vectornav-1] [INFO] [1746050826.004891333] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (70.29399999999998, 8.629, 14.221) -[mux-7] [INFO] [1746050826.045105620] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050826.045944014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050826.046403753] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050826.048629899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050826.049762310] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050826.085291884] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050826.087521385] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050826.087969957] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050826.088130366] [sailbot.teensy]: Wind angle: 141 -[teensy-2] [INFO] [1746050826.089232604] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050826.090144533] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050826.091179561] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050826.144713493] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050826.145327982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050826.145875102] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050826.147315835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050826.148347573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050826.245190293] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050826.245997449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050826.246792437] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050826.248299391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050826.249533264] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050826.335383817] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050826.338016517] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050826.338204873] [sailbot.teensy]: Wind angle: 140 -[mux-7] [INFO] [1746050826.339003981] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050826.339120715] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050826.340018238] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050826.340906468] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050826.344482720] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050826.344941495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050826.345705725] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050826.346674011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050826.347827313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050826.445498339] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050826.446375466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050826.447276166] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050826.448259501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050826.448799184] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050826.503530598] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46947603 Long: -76.50337654 -[vectornav-1] [INFO] [1746050826.504863366] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (68.67500000000001, -6.957, 18.843) -[mux-7] [INFO] [1746050826.544805497] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050826.545543224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050826.546457066] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050826.547502584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050826.548565292] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050826.585551565] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050826.588388923] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050826.588719300] [sailbot.teensy]: Wind angle: 140 -[teensy-2] [INFO] [1746050826.589691576] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746050826.590027483] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050826.590554663] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050826.591437905] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050826.644812462] [sailbot.mux]: Published sail angle from controller_app: 0 -[teensy-2] [INFO] [1746050826.645249340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050826.646025463] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050826.646979836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 0 -[teensy-2] [INFO] [1746050826.648117788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050826.723529109] [sailbot.mux]: controller_app sail angle: 52 -[mux-7] [INFO] [1746050826.745231611] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050826.746036537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050826.746957626] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050826.748203923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 0 -[teensy-2] [INFO] [1746050826.749401054] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050826.835304110] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050826.837006600] [sailbot.teensy]: Wind angle: 138 -[trim_sail-4] [INFO] [1746050826.837698700] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050826.838842080] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050826.838867973] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746050826.839270414] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050826.839646022] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050826.844538392] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050826.845040727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050826.845946097] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050826.846786952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 0 -[teensy-2] [INFO] [1746050826.847839007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050826.945529338] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050826.946404175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050826.947381603] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050826.948806498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 0 -[teensy-2] [INFO] [1746050826.949357859] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050827.003103326] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46947815 Long: -76.50337672 -[vectornav-1] [INFO] [1746050827.004556715] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (71.26800000000003, 1.939, 11.27) -[mux-7] [INFO] [1746050827.044993060] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050827.045765702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050827.046291097] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050827.047697121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 0 -[teensy-2] [INFO] [1746050827.048822584] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050827.085438660] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050827.087629177] [sailbot.teensy]: Wind angle: 137 -[trim_sail-4] [INFO] [1746050827.087715174] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050827.088632501] [sailbot.teensy]: Actual sail angle: 52 -[mux-7] [INFO] [1746050827.089273449] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050827.089531262] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050827.090411828] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050827.145623763] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050827.145757367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050827.147043416] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050827.147671195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 0 -[teensy-2] [INFO] [1746050827.148919560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050827.245050930] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050827.245790134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050827.246479106] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050827.248000267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 0 -[teensy-2] [INFO] [1746050827.248468521] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050827.335266022] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050827.336948450] [sailbot.teensy]: Wind angle: 136 -[trim_sail-4] [INFO] [1746050827.337467238] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050827.337888532] [sailbot.teensy]: Actual sail angle: 52 -[teensy-2] [INFO] [1746050827.338774273] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050827.338765551] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050827.339645216] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050827.344516780] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050827.345098866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050827.345587845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050827.346807911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 0 -[teensy-2] [INFO] [1746050827.347887867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050827.445747533] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050827.446371828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050827.447739136] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050827.448497625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 0 -[teensy-2] [INFO] [1746050827.449892152] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050827.503240652] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46948034 Long: -76.50337624 -[vectornav-1] [INFO] [1746050827.504709493] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (68.22899999999998, 2.376, 6.914) -[mux-7] [INFO] [1746050827.545249964] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050827.546254235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050827.546864334] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050827.548350117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 0 -[teensy-2] [INFO] [1746050827.549504068] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050827.585417999] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050827.587052900] [sailbot.teensy]: Wind angle: 135 -[trim_sail-4] [INFO] [1746050827.587597104] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050827.587970704] [sailbot.teensy]: Actual sail angle: 52 -[teensy-2] [INFO] [1746050827.588900925] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050827.589227882] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050827.589827293] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050827.645208789] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050827.646091952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050827.646692976] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050827.648186426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 0 -[teensy-2] [INFO] [1746050827.649261627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050827.686808922] [sailbot.mux]: controller_app rudder angle: 22 -[mux-7] [INFO] [1746050827.745301514] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050827.746136227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050827.747060542] [sailbot.mux]: Published rudder angle from controller_app: 22 -[teensy-2] [INFO] [1746050827.748348147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 22 -[teensy-2] [INFO] [1746050827.749394360] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050827.835161120] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050827.836887177] [sailbot.teensy]: Wind angle: 135 -[trim_sail-4] [INFO] [1746050827.837422870] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050827.837906712] [sailbot.teensy]: Actual sail angle: 52 -[mux-7] [INFO] [1746050827.838686634] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050827.838837807] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050827.839729837] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050827.844432043] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050827.845089159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050827.845635615] [sailbot.mux]: Published rudder angle from controller_app: 22 -[teensy-2] [INFO] [1746050827.846874946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 22 -[teensy-2] [INFO] [1746050827.847926755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050827.945550660] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050827.946314995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050827.947304812] [sailbot.mux]: Published rudder angle from controller_app: 22 -[teensy-2] [INFO] [1746050827.948700753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 22 -[teensy-2] [INFO] [1746050827.949260512] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050828.002889880] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46948156 Long: -76.50337484 -[vectornav-1] [INFO] [1746050828.004857792] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (65.94900000000001, -5.162, 4.211) -[mux-7] [INFO] [1746050828.045546407] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050828.046350893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050828.047155259] [sailbot.mux]: Published rudder angle from controller_app: 22 -[teensy-2] [INFO] [1746050828.048663683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 22 -[teensy-2] [INFO] [1746050828.049735911] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050828.085357794] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050828.087686822] [sailbot.teensy]: Wind angle: 135 -[trim_sail-4] [INFO] [1746050828.087753933] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050828.088780959] [sailbot.teensy]: Actual sail angle: 52 -[mux-7] [INFO] [1746050828.089290132] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050828.089698205] [sailbot.teensy]: Actual tail angle: 47 -[teensy-2] [INFO] [1746050828.090578344] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050828.145003544] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050828.145718471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050828.146392528] [sailbot.mux]: Published rudder angle from controller_app: 22 -[teensy-2] [INFO] [1746050828.147675514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 22 -[teensy-2] [INFO] [1746050828.148679874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050828.245233853] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050828.246364987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050828.247154322] [sailbot.mux]: Published rudder angle from controller_app: 22 -[teensy-2] [INFO] [1746050828.248791826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 22 -[teensy-2] [INFO] [1746050828.249825967] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050828.335394081] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050828.337331903] [sailbot.teensy]: Wind angle: 133 -[trim_sail-4] [INFO] [1746050828.338018802] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050828.339125945] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050828.339279490] [sailbot.teensy]: Actual sail angle: 52 -[teensy-2] [INFO] [1746050828.339698526] [sailbot.teensy]: Actual tail angle: 47 -[teensy-2] [INFO] [1746050828.340092508] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050828.344399269] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050828.344964065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050828.345745457] [sailbot.mux]: Published rudder angle from controller_app: 22 -[teensy-2] [INFO] [1746050828.346649574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 22 -[teensy-2] [INFO] [1746050828.347673036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050828.445562788] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050828.446230306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050828.447541357] [sailbot.mux]: Published rudder angle from controller_app: 22 -[teensy-2] [INFO] [1746050828.448007871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 22 -[teensy-2] [INFO] [1746050828.448530327] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050828.503911623] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46948379 Long: -76.50337418 -[vectornav-1] [INFO] [1746050828.505802692] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.92099999999999, 3.802, 6.175) -[mux-7] [INFO] [1746050828.545097372] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050828.545824180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050828.546505185] [sailbot.mux]: Published rudder angle from controller_app: 22 -[teensy-2] [INFO] [1746050828.547872004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 22 -[teensy-2] [INFO] [1746050828.548917970] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050828.585494797] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050828.587313880] [sailbot.teensy]: Wind angle: 128 -[trim_sail-4] [INFO] [1746050828.588298361] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050828.588317237] [sailbot.teensy]: Actual sail angle: 52 -[teensy-2] [INFO] [1746050828.589248107] [sailbot.teensy]: Actual tail angle: 47 -[mux-7] [INFO] [1746050828.590140192] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050828.590168077] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050828.645263191] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050828.645836787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050828.646789307] [sailbot.mux]: Published rudder angle from controller_app: 22 -[teensy-2] [INFO] [1746050828.648094826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 22 -[teensy-2] [INFO] [1746050828.649302465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050828.708386874] [sailbot.mux]: controller_app rudder angle: 25 -[mux-7] [INFO] [1746050828.744630506] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050828.745304037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050828.745796256] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050828.747152160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050828.748192015] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050828.835291175] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050828.837980956] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050828.838275188] [sailbot.teensy]: Wind angle: 127 -[teensy-2] [INFO] [1746050828.839227555] [sailbot.teensy]: Actual sail angle: 52 -[mux-7] [INFO] [1746050828.839489060] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050828.840109260] [sailbot.teensy]: Actual tail angle: 47 -[teensy-2] [INFO] [1746050828.840729059] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050828.844411338] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050828.844957627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050828.845635242] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050828.846747611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050828.847758699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050828.945283220] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050828.946011914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050828.947310169] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050828.948227250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050828.949360994] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050829.003328266] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46948479 Long: -76.50337268 -[vectornav-1] [INFO] [1746050829.004910608] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.18799999999999, -1.235, 5.145) -[mux-7] [INFO] [1746050829.044755982] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050829.045552450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050829.045922089] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050829.047318503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050829.048476686] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050829.085501108] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050829.087505266] [sailbot.teensy]: Wind angle: 126 -[teensy-2] [INFO] [1746050829.088530267] [sailbot.teensy]: Actual sail angle: 52 -[trim_sail-4] [INFO] [1746050829.088481915] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050829.089148561] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050829.089432775] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746050829.090349504] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050829.145063347] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050829.145979289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050829.146469338] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050829.147934749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050829.148855320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050829.245254662] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050829.246071677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050829.246822270] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050829.248454671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050829.249647510] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050829.335326987] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050829.337255725] [sailbot.teensy]: Wind angle: 117 -[teensy-2] [INFO] [1746050829.338199525] [sailbot.teensy]: Actual sail angle: 52 -[trim_sail-4] [INFO] [1746050829.337983251] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050829.339053580] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746050829.339300856] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050829.340010122] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050829.344496952] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050829.344931747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050829.345702030] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050829.346666010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050829.347775440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050829.445381634] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050829.446412429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050829.447121303] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050829.448125819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050829.448742650] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050829.503017618] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46948596 Long: -76.50337116 -[vectornav-1] [INFO] [1746050829.504664926] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.55200000000002, -2.144, 6.106) -[mux-7] [INFO] [1746050829.544838779] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050829.545541042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050829.546109645] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050829.547482103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050829.548641419] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050829.585165461] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050829.587068606] [sailbot.teensy]: Wind angle: 110 -[trim_sail-4] [INFO] [1746050829.587690388] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050829.588014225] [sailbot.teensy]: Actual sail angle: 52 -[mux-7] [INFO] [1746050829.588806372] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050829.588941684] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746050829.589824998] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050829.645104519] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050829.646002916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050829.646508970] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050829.647940668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050829.649094485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050829.745325758] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050829.746189180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050829.746940898] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050829.748168138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050829.748682268] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050829.835275950] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050829.837339609] [sailbot.teensy]: Wind angle: 105 -[teensy-2] [INFO] [1746050829.838403601] [sailbot.teensy]: Actual sail angle: 52 -[trim_sail-4] [INFO] [1746050829.837433101] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050829.839142254] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050829.839254199] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746050829.839643103] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050829.844436070] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050829.845263157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050829.845559542] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050829.847042899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050829.848099519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050829.945326492] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050829.946120306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050829.946845225] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050829.948341007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050829.949532142] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050830.003070841] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46948673 Long: -76.50336821 -[vectornav-1] [INFO] [1746050830.004575837] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.524, 0.945, 6.181) -[mux-7] [INFO] [1746050830.045339853] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050830.046136240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050830.046830123] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050830.048335513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050830.049485393] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050830.085280769] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050830.087734321] [sailbot.teensy]: Wind angle: 100 -[trim_sail-4] [INFO] [1746050830.087860893] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050830.087985126] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050830.088720760] [sailbot.teensy]: Actual sail angle: 52 -[teensy-2] [INFO] [1746050830.089603097] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746050830.090429226] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050830.145125673] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050830.146381369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050830.146552526] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050830.148505187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050830.149535484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050830.245071570] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050830.245989513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050830.246490824] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050830.248181013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050830.248713239] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050830.335380012] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050830.337253405] [sailbot.teensy]: Wind angle: 89 -[teensy-2] [INFO] [1746050830.338186635] [sailbot.teensy]: Actual sail angle: 52 -[trim_sail-4] [INFO] [1746050830.338114692] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050830.338412897] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050830.339077254] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746050830.339963093] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050830.344479513] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050830.345245388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050830.345659451] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050830.347225197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050830.348358781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050830.445725637] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050830.446328548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050830.447439502] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050830.447906331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050830.448386494] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050830.503560060] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46948717 Long: -76.50336534 -[vectornav-1] [INFO] [1746050830.505187011] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (7.8840000000000146, -0.75, 5.869) -[mux-7] [INFO] [1746050830.545041612] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050830.545959819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050830.546460093] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050830.547928603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050830.549057874] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050830.585693268] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050830.587389688] [sailbot.teensy]: Wind angle: 82 -[teensy-2] [INFO] [1746050830.588343009] [sailbot.teensy]: Actual sail angle: 52 -[trim_sail-4] [INFO] [1746050830.588485957] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050830.589262269] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746050830.589840633] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050830.590169886] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050830.645041781] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050830.645582156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050830.646369071] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050830.647430619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050830.648614313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050830.745215167] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050830.746055155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050830.746775168] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050830.748201152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050830.749450709] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050830.835231732] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050830.837014400] [sailbot.teensy]: Wind angle: 81 -[teensy-2] [INFO] [1746050830.837957358] [sailbot.teensy]: Actual sail angle: 52 -[mux-7] [INFO] [1746050830.838226309] [sailbot.mux]: algo sail angle: 40 -[trim_sail-4] [INFO] [1746050830.838568919] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050830.838830696] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746050830.839737746] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050830.844624141] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050830.844967384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050830.845915397] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050830.846647830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050830.847684367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050830.945420035] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050830.946263675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050830.947005882] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050830.948574464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050830.949407973] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050831.003472064] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694873 Long: -76.50336197 -[vectornav-1] [INFO] [1746050831.005155923] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (354.677, -2.768, 4.834) -[mux-7] [INFO] [1746050831.045294559] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050831.046548278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050831.046852290] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050831.048669692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050831.049780245] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050831.085175287] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050831.086939630] [sailbot.teensy]: Wind angle: 80 -[trim_sail-4] [INFO] [1746050831.087586741] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050831.088484047] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050831.089570281] [sailbot.teensy]: Actual sail angle: 52 -[teensy-2] [INFO] [1746050831.090515679] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746050831.091340495] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050831.145467336] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050831.146001748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050831.147141768] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050831.148142078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050831.149369637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050831.245589942] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050831.246210317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050831.247239336] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050831.248756668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050831.250652078] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050831.335160788] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050831.337293209] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050831.337901072] [sailbot.teensy]: Wind angle: 79 -[mux-7] [INFO] [1746050831.338365746] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050831.338909791] [sailbot.teensy]: Actual sail angle: 52 -[teensy-2] [INFO] [1746050831.339307665] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746050831.339686074] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050831.344489431] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050831.345018793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050831.345608825] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050831.346936082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050831.347978099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050831.445212410] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050831.446077074] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050831.446771378] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050831.448342995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050831.449717277] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050831.503279934] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694864 Long: -76.50335757 -[vectornav-1] [INFO] [1746050831.504905095] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (339.971, -1.89, 6.466) -[mux-7] [INFO] [1746050831.544830178] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050831.545453723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050831.545993382] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050831.547234814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050831.548250608] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050831.585121739] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050831.586832795] [sailbot.teensy]: Wind angle: 79 -[trim_sail-4] [INFO] [1746050831.587235781] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050831.587714335] [sailbot.teensy]: Actual sail angle: 52 -[mux-7] [INFO] [1746050831.588124050] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050831.588651581] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746050831.589513751] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050831.644775463] [sailbot.mux]: Published sail angle from controller_app: 52 -[teensy-2] [INFO] [1746050831.645543519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050831.646209146] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050831.647349364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:52, rudder: 25 -[teensy-2] [INFO] [1746050831.648648854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050831.711963188] [sailbot.mux]: controller_app sail angle: 74 -[mux-7] [INFO] [1746050831.745176935] [sailbot.mux]: Published sail angle from controller_app: 74 -[teensy-2] [INFO] [1746050831.746044769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050831.746707030] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050831.748339482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:74, rudder: 25 -[teensy-2] [INFO] [1746050831.749540335] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050831.835257172] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050831.837141848] [sailbot.teensy]: Wind angle: 71 -[teensy-2] [INFO] [1746050831.838079427] [sailbot.teensy]: Actual sail angle: 52 -[trim_sail-4] [INFO] [1746050831.837600872] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746050831.838256487] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050831.839336529] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746050831.840237651] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050831.844512779] [sailbot.mux]: Published sail angle from controller_app: 74 -[teensy-2] [INFO] [1746050831.845001558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050831.845734836] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050831.846817814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:74, rudder: 25 -[teensy-2] [INFO] [1746050831.847853870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050831.944847110] [sailbot.mux]: Published sail angle from controller_app: 74 -[teensy-2] [INFO] [1746050831.945647935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050831.946476318] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050831.947606223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:74, rudder: 25 -[teensy-2] [INFO] [1746050831.948083060] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050832.004038617] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46948423 Long: -76.50335318 -[vectornav-1] [INFO] [1746050832.006489868] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (317.18, 2.582, 4.104) -[mux-7] [INFO] [1746050832.044878913] [sailbot.mux]: Published sail angle from controller_app: 74 -[teensy-2] [INFO] [1746050832.045589455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050832.046171187] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050832.047395356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:74, rudder: 25 -[teensy-2] [INFO] [1746050832.048541564] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050832.085280622] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050832.087127276] [sailbot.teensy]: Wind angle: 56 -[trim_sail-4] [INFO] [1746050832.087508295] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050832.088068106] [sailbot.teensy]: Actual sail angle: 74 -[teensy-2] [INFO] [1746050832.089020975] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746050832.089989682] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050832.090500184] [sailbot.mux]: algo sail angle: 55 -[mux-7] [INFO] [1746050832.145713231] [sailbot.mux]: Published sail angle from controller_app: 74 -[teensy-2] [INFO] [1746050832.146230288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050832.148072150] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050832.148658367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:74, rudder: 25 -[teensy-2] [INFO] [1746050832.149865988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050832.245281041] [sailbot.mux]: Published sail angle from controller_app: 74 -[teensy-2] [INFO] [1746050832.245972771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050832.247110971] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050832.247547862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:74, rudder: 25 -[teensy-2] [INFO] [1746050832.248114661] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050832.335161772] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050832.337222405] [sailbot.teensy]: Wind angle: 45 -[trim_sail-4] [INFO] [1746050832.337423200] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746050832.337928881] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050832.338159128] [sailbot.teensy]: Actual sail angle: 74 -[teensy-2] [INFO] [1746050832.339060505] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746050832.339488892] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050832.344625667] [sailbot.mux]: Published sail angle from controller_app: 74 -[teensy-2] [INFO] [1746050832.345149429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050832.345831493] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050832.346869840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:74, rudder: 25 -[teensy-2] [INFO] [1746050832.347922795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050832.445322405] [sailbot.mux]: Published sail angle from controller_app: 74 -[teensy-2] [INFO] [1746050832.446294310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050832.446970584] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050832.448461048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:74, rudder: 25 -[teensy-2] [INFO] [1746050832.449625080] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050832.503135868] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46948214 Long: -76.50335027 -[vectornav-1] [INFO] [1746050832.504548343] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.281, 0.357, 0.55) -[mux-7] [INFO] [1746050832.544995148] [sailbot.mux]: Published sail angle from controller_app: 74 -[teensy-2] [INFO] [1746050832.545791273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050832.546783408] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050832.547619982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:74, rudder: 25 -[teensy-2] [INFO] [1746050832.548753015] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050832.585612404] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050832.587698760] [sailbot.teensy]: Wind angle: 40 -[trim_sail-4] [INFO] [1746050832.588252358] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746050832.588767959] [sailbot.teensy]: Actual sail angle: 74 -[teensy-2] [INFO] [1746050832.589710110] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746050832.589961758] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746050832.590563603] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050832.645491808] [sailbot.mux]: Published sail angle from controller_app: 74 -[teensy-2] [INFO] [1746050832.646202997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050832.647313895] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050832.648236185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:74, rudder: 25 -[teensy-2] [INFO] [1746050832.648801515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050832.701920717] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746050832.703829050] [sailbot.mux]: controller_app sail angle: 75 -[mux-7] [INFO] [1746050832.745515318] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050832.746255197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050832.747125703] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050832.748621922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050832.749286773] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050832.835383167] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050832.837247032] [sailbot.teensy]: Wind angle: 27 -[trim_sail-4] [INFO] [1746050832.838006114] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746050832.838237538] [sailbot.teensy]: Actual sail angle: 74 -[teensy-2] [INFO] [1746050832.838974771] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746050832.839073005] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746050832.839347035] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050832.844500336] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050832.845188674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050832.845870226] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050832.847033850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050832.848052530] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050832.944912001] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050832.945745996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050832.946543805] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050832.947747797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050832.948521433] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050833.002937465] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46947941 Long: -76.50334956 -[vectornav-1] [INFO] [1746050833.004448511] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (269.491, -4.942, -1.526) -[mux-7] [INFO] [1746050833.045300799] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050833.046289646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050833.046838820] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050833.048523948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050833.049704540] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050833.085252640] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050833.087489517] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746050833.087690869] [sailbot.teensy]: Wind angle: 14 -[teensy-2] [INFO] [1746050833.088643205] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050833.088687374] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050833.089560185] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050833.090425073] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050833.145044129] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050833.145598477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050833.146394853] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050833.147481811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050833.148395275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050833.245053517] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050833.245595980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050833.246431148] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050833.247415819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050833.248553082] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050833.335517776] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050833.338306055] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050833.339017580] [sailbot.teensy]: Wind angle: 0 -[mux-7] [INFO] [1746050833.339385574] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050833.339618177] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050833.339992641] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050833.340356212] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050833.344429067] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050833.344983579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050833.345567520] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050833.346825867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050833.347846206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050833.445133234] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050833.445885775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050833.446282692] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050833.446719909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050833.447613556] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050833.503587911] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46947555 Long: -76.50335039 -[vectornav-1] [INFO] [1746050833.505138088] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (248.312, 1.984, -2.404) -[mux-7] [INFO] [1746050833.545570244] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050833.546041847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050833.547151157] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050833.548175911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050833.549376109] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050833.585490824] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050833.587776604] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746050833.588140782] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050833.588793047] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050833.588866491] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050833.589725059] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050833.590600880] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050833.645131523] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050833.646032027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050833.646565882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050833.648032737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050833.649108309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050833.710934560] [sailbot.mux]: controller_app rudder angle: -1 -[mux-7] [INFO] [1746050833.745039175] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050833.745880705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050833.746483366] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050833.748063931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 -[teensy-2] [INFO] [1746050833.748661948] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050833.835514891] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050833.838460691] [sailbot.teensy]: Wind angle: 318 -[teensy-2] [INFO] [1746050833.839419555] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050833.838928536] [sailbot.mux]: algo sail angle: 65 -[trim_sail-4] [INFO] [1746050833.838948833] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050833.840287288] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050833.840651238] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050833.844185359] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050833.844931959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050833.845269378] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050833.846635240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 -[teensy-2] [INFO] [1746050833.847647810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050833.945134511] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050833.946051947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050833.946699750] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050833.947863373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 -[teensy-2] [INFO] [1746050833.948410205] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050834.003531442] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46947274 Long: -76.50335274 -[vectornav-1] [INFO] [1746050834.005872083] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (237.226, -0.856, 1.98) -[mux-7] [INFO] [1746050834.045027265] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050834.045788670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050834.046901916] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050834.047589345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 -[teensy-2] [INFO] [1746050834.048066057] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050834.085205205] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050834.087011207] [sailbot.teensy]: Wind angle: 288 -[trim_sail-4] [INFO] [1746050834.087453973] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050834.087918546] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050834.088226946] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050834.088844536] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050834.089780527] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050834.144988147] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050834.145741443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050834.146240189] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050834.147700927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 -[teensy-2] [INFO] [1746050834.148733202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050834.245242970] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050834.245943894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050834.247203460] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050834.248100948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 -[teensy-2] [INFO] [1746050834.249410429] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050834.335312310] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050834.337091396] [sailbot.teensy]: Wind angle: 278 -[trim_sail-4] [INFO] [1746050834.337665909] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050834.338034867] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050834.338933647] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050834.339108985] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050834.339877801] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050834.344469201] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050834.345117484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050834.345635147] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050834.346879030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 -[teensy-2] [INFO] [1746050834.347912191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050834.445466397] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050834.446201217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050834.447244133] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050834.448571452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 -[teensy-2] [INFO] [1746050834.449845063] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050834.503204466] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46947052 Long: -76.50335549 -[vectornav-1] [INFO] [1746050834.504752878] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (229.53300000000002, -1.642, 3.137) -[mux-7] [INFO] [1746050834.544963495] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050834.545794569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050834.546269259] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050834.547661001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 -[teensy-2] [INFO] [1746050834.548710863] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050834.585319104] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050834.587444960] [sailbot.teensy]: Wind angle: 279 -[trim_sail-4] [INFO] [1746050834.587486319] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050834.588378262] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050834.588657174] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050834.589257738] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050834.590140140] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050834.645114184] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050834.645651881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050834.646880083] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746050834.647502268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 -[teensy-2] [INFO] [1746050834.648741966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050834.719965962] [sailbot.mux]: controller_app rudder angle: -2 -[mux-7] [INFO] [1746050834.745359099] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050834.745976140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050834.746985518] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050834.748142286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -2 -[teensy-2] [INFO] [1746050834.749457253] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050834.835498538] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050834.837615093] [sailbot.teensy]: Wind angle: 280 -[trim_sail-4] [INFO] [1746050834.838243622] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050834.839134298] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050834.839762444] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050834.840134825] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050834.840499388] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050834.844510575] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050834.845475480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050834.845694652] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050834.847307682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -2 -[teensy-2] [INFO] [1746050834.848422202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050834.945295924] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050834.945951504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050834.947052773] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050834.948059911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -2 -[teensy-2] [INFO] [1746050834.949235210] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050835.002974713] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946816 Long: -76.50335803 -[vectornav-1] [INFO] [1746050835.004452504] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (227.139, 0.947, 1.994) -[mux-7] [INFO] [1746050835.045395945] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050835.046129681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050835.047278415] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050835.048486746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -2 -[teensy-2] [INFO] [1746050835.048984573] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050835.085196407] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050835.086948916] [sailbot.teensy]: Wind angle: 278 -[trim_sail-4] [INFO] [1746050835.087385143] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050835.088806893] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050835.089036440] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050835.089982819] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050835.090813042] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050835.145408910] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050835.146161325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050835.146945961] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050835.148783656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -2 -[teensy-2] [INFO] [1746050835.149994229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050835.245545669] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050835.246266160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050835.247204020] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050835.248674595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -2 -[teensy-2] [INFO] [1746050835.249961577] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050835.335387172] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050835.338103718] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050835.338398911] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050835.338600182] [sailbot.teensy]: Wind angle: 274 -[teensy-2] [INFO] [1746050835.339022526] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050835.339428684] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050835.339817235] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050835.344480768] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050835.345269267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050835.345693177] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050835.347129777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -2 -[teensy-2] [INFO] [1746050835.348343937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050835.445527547] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050835.446496265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050835.447298629] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050835.448387239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -2 -[teensy-2] [INFO] [1746050835.448839127] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050835.504108577] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946609 Long: -76.50336074 -[vectornav-1] [INFO] [1746050835.506167390] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (224.90300000000002, -0.474, 0.409) -[mux-7] [INFO] [1746050835.544943392] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050835.545675060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050835.546238911] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050835.547646962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -2 -[teensy-2] [INFO] [1746050835.548448168] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050835.585360964] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050835.587225128] [sailbot.teensy]: Wind angle: 277 -[trim_sail-4] [INFO] [1746050835.588104132] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050835.588218319] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050835.589096120] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050835.589167478] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050835.590026465] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050835.645044280] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050835.646110206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050835.646718078] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050835.648179981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -2 -[teensy-2] [INFO] [1746050835.649316873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050835.709742431] [sailbot.mux]: controller_app rudder angle: -8 -[mux-7] [INFO] [1746050835.745346621] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050835.745994194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050835.746959859] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050835.748628359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746050835.749871704] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050835.835353077] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050835.837311681] [sailbot.teensy]: Wind angle: 289 -[teensy-2] [INFO] [1746050835.838280137] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050835.838108036] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050835.839150244] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050835.839237642] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050835.840029995] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050835.844477893] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050835.845205235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050835.845708549] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050835.846959692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746050835.848108007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050835.945381355] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050835.946301253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050835.947259324] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050835.948578562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746050835.949626098] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050836.003336575] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694643 Long: -76.50336243 -[vectornav-1] [INFO] [1746050836.005270615] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (226.13, -0.592, -1.352) -[mux-7] [INFO] [1746050836.045183239] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050836.045999325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050836.046746394] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050836.048262426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746050836.049338315] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050836.085436586] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050836.088177555] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050836.088263208] [sailbot.teensy]: Wind angle: 286 -[mux-7] [INFO] [1746050836.088903582] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050836.089173253] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050836.090075255] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050836.090902933] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050836.144747711] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050836.145568965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050836.146000319] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050836.147431316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746050836.148462768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050836.245349203] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050836.246105117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050836.246936720] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050836.248423698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746050836.249509117] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050836.335323354] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050836.337990773] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050836.338475612] [sailbot.teensy]: Wind angle: 279 -[mux-7] [INFO] [1746050836.338652566] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050836.339578200] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050836.340468654] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050836.341310549] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050836.344405944] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050836.344848672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050836.345722013] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050836.346510488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746050836.347692975] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050836.445642375] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050836.446743828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050836.447366705] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050836.448577190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746050836.449139607] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050836.503010421] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46946277 Long: -76.5033652 -[vectornav-1] [INFO] [1746050836.504456134] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (225.64, -0.608, 1.5) -[mux-7] [INFO] [1746050836.545354420] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050836.546031219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050836.547057264] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050836.548258456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746050836.549530827] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050836.585224471] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050836.587176862] [sailbot.teensy]: Wind angle: 278 -[trim_sail-4] [INFO] [1746050836.587729460] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050836.588132924] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050836.588832184] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050836.589236591] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050836.590110293] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050836.645300485] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050836.646269355] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050836.646871381] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050836.648995220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -8 -[teensy-2] [INFO] [1746050836.650099788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050836.733832492] [sailbot.mux]: controller_app rudder angle: -10 -[mux-7] [INFO] [1746050836.744802076] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050836.745876940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050836.746197090] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050836.747847580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050836.748469375] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050836.835103568] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050836.837451914] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050836.837516069] [sailbot.teensy]: Wind angle: 278 -[teensy-2] [INFO] [1746050836.838451731] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050836.838684280] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050836.839368914] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050836.840230320] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050836.844299867] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050836.844927673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050836.845403660] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050836.846952459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050836.848010249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050836.945304335] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050836.946030920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050836.947240297] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050836.948425624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050836.949603951] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050837.002915187] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469461 Long: -76.50336739 -[vectornav-1] [INFO] [1746050837.004641595] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (229.65200000000004, 0.844, 2.072) -[mux-7] [INFO] [1746050837.045185702] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050837.045861413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050837.046797828] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050837.047912908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050837.048957409] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050837.085295650] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050837.087506161] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050837.088272718] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050837.088914123] [sailbot.teensy]: Wind angle: 279 -[teensy-2] [INFO] [1746050837.089859156] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050837.090718526] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050837.091557993] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050837.144968464] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050837.145764549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050837.146287911] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050837.147596422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050837.148074519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050837.244795527] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050837.245711259] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050837.246067680] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050837.247514681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050837.248343535] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050837.335380147] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050837.338157433] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050837.338509763] [sailbot.teensy]: Wind angle: 279 -[teensy-2] [INFO] [1746050837.339483093] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050837.340238879] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050837.340419782] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050837.341127763] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050837.344395997] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050837.344978117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050837.345624378] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050837.346723721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050837.347876412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050837.445744107] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050837.446724442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050837.447513233] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050837.449172605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050837.450519350] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050837.504054262] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945953 Long: -76.50336911 -[vectornav-1] [INFO] [1746050837.505892248] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (234.30500000000006, -2.135, 5.068) -[mux-7] [INFO] [1746050837.545396267] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050837.546314847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050837.547210450] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050837.548523864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050837.549747254] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050837.585412990] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050837.587893852] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050837.588054141] [sailbot.teensy]: Wind angle: 281 -[mux-7] [INFO] [1746050837.588745700] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050837.589007388] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050837.589898859] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050837.590878427] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050837.645414596] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050837.646003700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050837.647105453] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050837.648221844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050837.649392156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050837.744972059] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050837.745521691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050837.746217252] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050837.747322357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050837.748485304] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050837.835210593] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050837.837062556] [sailbot.teensy]: Wind angle: 284 -[teensy-2] [INFO] [1746050837.837999841] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050837.837533725] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050837.838962441] [sailbot.teensy]: Actual tail angle: 15 -[mux-7] [INFO] [1746050837.839047950] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050837.839875490] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050837.844574545] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050837.845184912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050837.845901612] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050837.846978623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050837.848108583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050837.945373402] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050837.945953653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050837.947399370] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050837.948179113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050837.949474165] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050838.003865323] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945764 Long: -76.50337136 -[vectornav-1] [INFO] [1746050838.006165782] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (237.69799999999998, -0.327, 0.522) -[mux-7] [INFO] [1746050838.045289549] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050838.045896121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050838.047020056] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050838.047933622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050838.049000401] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050838.085240710] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050838.087033263] [sailbot.teensy]: Wind angle: 289 -[trim_sail-4] [INFO] [1746050838.087539322] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050838.087967329] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050838.088943138] [sailbot.teensy]: Actual tail angle: 15 -[mux-7] [INFO] [1746050838.089424622] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050838.089816769] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050838.145248557] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050838.145761332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050838.146796222] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050838.147833598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050838.148927681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050838.245406703] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050838.245944388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050838.247197501] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050838.248258920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050838.249507631] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050838.335484323] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050838.337628940] [sailbot.teensy]: Wind angle: 289 -[trim_sail-4] [INFO] [1746050838.337991517] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050838.338617145] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050838.339459019] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050838.339519351] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050838.340398656] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050838.344411726] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050838.344913889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050838.345717522] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050838.346658427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050838.347747827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050838.445498856] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050838.446012568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050838.447533617] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050838.448273998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050838.448917385] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050838.504020426] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945481 Long: -76.50337219 -[vectornav-1] [INFO] [1746050838.506414043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (243.46299999999997, 0.45, -0.35) -[mux-7] [INFO] [1746050838.545418194] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050838.546186239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050838.547135669] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050838.548620444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050838.549723333] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050838.585515359] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050838.588294401] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746050838.588977032] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050838.589354132] [sailbot.teensy]: Wind angle: 290 -[teensy-2] [INFO] [1746050838.590636812] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050838.591547551] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050838.592377532] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050838.645380921] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050838.646062857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050838.646943535] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050838.648402208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050838.648922664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050838.744868765] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050838.745525572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050838.746092041] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050838.747350983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050838.748516269] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050838.835396841] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050838.837994202] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050838.838167102] [sailbot.teensy]: Wind angle: 294 -[teensy-2] [INFO] [1746050838.838860272] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050838.838893536] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050838.839251148] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050838.839625586] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050838.844295182] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050838.844840654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050838.845639862] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050838.846617861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050838.847659352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050838.945413112] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050838.946166498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050838.947038091] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050838.948477891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050838.949023455] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050839.003111645] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46945241 Long: -76.50337457 -[vectornav-1] [INFO] [1746050839.004525970] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (245.34000000000003, -1.552, 5.884) -[mux-7] [INFO] [1746050839.045333173] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050839.046075854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050839.046806618] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050839.048318192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050839.049033517] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050839.085439052] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050839.087646857] [sailbot.teensy]: Wind angle: 299 -[teensy-2] [INFO] [1746050839.089035271] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050839.088372209] [sailbot.trim_sail]: Sail Angle: "55" -[mux-7] [INFO] [1746050839.089242261] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050839.089994395] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050839.090870160] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050839.145189986] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050839.145935750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050839.146655886] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050839.147974127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050839.149231203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050839.245324424] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050839.246111467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050839.246919638] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050839.248630002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050839.249387119] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050839.335233120] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050839.337229483] [sailbot.teensy]: Wind angle: 300 -[trim_sail-4] [INFO] [1746050839.338063201] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050839.338211490] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050839.339094079] [sailbot.teensy]: Actual tail angle: 15 -[mux-7] [INFO] [1746050839.339370100] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050839.339977623] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050839.344576240] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050839.345172868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050839.345807469] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050839.347024737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050839.348125071] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050839.445577428] [sailbot.mux]: Published sail angle from controller_app: 75 -[mux-7] [INFO] [1746050839.447363186] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050839.447546603] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050839.449582341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050839.450629726] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050839.503071465] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4694496 Long: -76.50337725 -[vectornav-1] [INFO] [1746050839.504297282] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (247.68399999999997, -2.457, 5.604) -[mux-7] [INFO] [1746050839.545077899] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050839.545843724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050839.546458964] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050839.547854274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050839.548960438] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050839.585227547] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050839.587187450] [sailbot.teensy]: Wind angle: 300 -[trim_sail-4] [INFO] [1746050839.587572456] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050839.588122288] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050839.589122275] [sailbot.teensy]: Actual tail angle: 15 -[mux-7] [INFO] [1746050839.589517065] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050839.590045806] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050839.644922361] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050839.645522181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050839.646153921] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050839.647463005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -10 -[teensy-2] [INFO] [1746050839.648547118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050839.723675542] [sailbot.mux]: controller_app rudder angle: -14 -[mux-7] [INFO] [1746050839.745131631] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050839.745968630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050839.746587483] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050839.748072471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 -[teensy-2] [INFO] [1746050839.749152857] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050839.835224561] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050839.837296168] [sailbot.teensy]: Wind angle: 300 -[trim_sail-4] [INFO] [1746050839.837344406] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050839.839094764] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050839.839121961] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050839.839511034] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050839.839889029] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050839.844533125] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050839.844913862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050839.845834620] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050839.846591894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 -[teensy-2] [INFO] [1746050839.847755696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050839.944999997] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050839.945557432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050839.946272473] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050839.947421788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 -[teensy-2] [INFO] [1746050839.948601211] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050840.002916697] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46944575 Long: -76.50337866 -[vectornav-1] [INFO] [1746050840.004841176] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (256.74800000000005, -0.271, 3.665) -[mux-7] [INFO] [1746050840.045245462] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050840.045802889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050840.046747908] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050840.047680292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 -[teensy-2] [INFO] [1746050840.048752846] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050840.085369652] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050840.088146617] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050840.088408310] [sailbot.teensy]: Wind angle: 300 -[teensy-2] [INFO] [1746050840.089351889] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050840.089190076] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050840.090294709] [sailbot.teensy]: Actual tail angle: 11 -[teensy-2] [INFO] [1746050840.091161954] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050840.144990311] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050840.145775914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050840.146320136] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050840.147881187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 -[teensy-2] [INFO] [1746050840.148904009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050840.245319768] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050840.246128591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050840.247368877] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050840.248338865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 -[teensy-2] [INFO] [1746050840.248852234] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050840.335222779] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050840.337494682] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746050840.337949229] [sailbot.teensy]: Wind angle: 305 -[mux-7] [INFO] [1746050840.338564239] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746050840.338914331] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050840.339772391] [sailbot.teensy]: Actual tail angle: 11 -[teensy-2] [INFO] [1746050840.340147089] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050840.344571705] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050840.345045657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050840.345854506] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050840.346770905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 -[teensy-2] [INFO] [1746050840.347873426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050840.445474062] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050840.445991185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050840.447603697] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050840.447793660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 -[teensy-2] [INFO] [1746050840.448371783] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050840.502803563] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46944163 Long: -76.50337935 -[vectornav-1] [INFO] [1746050840.504298301] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (273.108, 2.132, 8.702) -[mux-7] [INFO] [1746050840.545074347] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050840.545969789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050840.546620022] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050840.548106986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 -[teensy-2] [INFO] [1746050840.549346542] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050840.585274236] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050840.587519610] [sailbot.teensy]: Wind angle: 313 -[trim_sail-4] [INFO] [1746050840.587536064] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050840.588458153] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050840.589244753] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050840.589374251] [sailbot.teensy]: Actual tail angle: 11 -[teensy-2] [INFO] [1746050840.590142513] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050840.645005234] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050840.645573398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050840.646458519] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050840.647712446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 -[teensy-2] [INFO] [1746050840.648728945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050840.745221279] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050840.745921521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050840.746849000] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050840.747905583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 -[teensy-2] [INFO] [1746050840.749019429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050840.749061512] [sailbot.mux]: controller_app rudder angle: -14 -[teensy-2] [INFO] [1746050840.835284127] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050840.837301758] [sailbot.teensy]: Wind angle: 316 -[trim_sail-4] [INFO] [1746050840.837565040] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050840.838202137] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050840.838941031] [sailbot.teensy]: Actual tail angle: 11 -[mux-7] [INFO] [1746050840.839314735] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050840.839339095] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050840.844446980] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050840.844945468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050840.845573471] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050840.846626343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 -[teensy-2] [INFO] [1746050840.847827322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050840.945214797] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050840.945795101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050840.946766818] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050840.948041669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 -[teensy-2] [INFO] [1746050840.949294922] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050841.002962391] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943781 Long: -76.50337953 -[vectornav-1] [INFO] [1746050841.005065833] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (291.3, -0.449, 14.337) -[mux-7] [INFO] [1746050841.045221288] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050841.046399787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050841.046887977] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050841.048590515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 -[teensy-2] [INFO] [1746050841.049697755] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050841.085310161] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050841.087792684] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050841.087832258] [sailbot.teensy]: Wind angle: 317 -[mux-7] [INFO] [1746050841.088595555] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050841.088773630] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050841.089658667] [sailbot.teensy]: Actual tail angle: 11 -[teensy-2] [INFO] [1746050841.090501888] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050841.144871749] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050841.145538403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050841.146148288] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050841.147334899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 -[teensy-2] [INFO] [1746050841.148498528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050841.245359291] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050841.246187902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050841.246923825] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050841.248652150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 -[teensy-2] [INFO] [1746050841.249246969] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050841.335494069] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050841.338307683] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746050841.338719760] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746050841.338948087] [sailbot.teensy]: Wind angle: 319 -[teensy-2] [INFO] [1746050841.339913246] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050841.340794445] [sailbot.teensy]: Actual tail angle: 11 -[teensy-2] [INFO] [1746050841.341743594] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050841.344294615] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050841.344821707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050841.345369121] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050841.346536360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 -[teensy-2] [INFO] [1746050841.347588759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050841.445446743] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050841.446351664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050841.447046087] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050841.448036858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 -[teensy-2] [INFO] [1746050841.448574532] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050841.503532746] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943515 Long: -76.50337751 -[vectornav-1] [INFO] [1746050841.505197854] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (314.47, -1.144, 12.815) -[mux-7] [INFO] [1746050841.545251578] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050841.546003618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050841.546679663] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050841.548324494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 -[teensy-2] [INFO] [1746050841.549501689] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050841.585455162] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050841.587978445] [sailbot.teensy]: Wind angle: 323 -[teensy-2] [INFO] [1746050841.588951647] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050841.588103611] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746050841.588366904] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746050841.589820017] [sailbot.teensy]: Actual tail angle: 11 -[teensy-2] [INFO] [1746050841.590647405] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050841.645236993] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050841.645868046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050841.646715817] [sailbot.mux]: Published rudder angle from controller_app: -14 -[teensy-2] [INFO] [1746050841.648374567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -14 -[teensy-2] [INFO] [1746050841.649516611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050841.734169092] [sailbot.mux]: controller_app rudder angle: 17 -[mux-7] [INFO] [1746050841.745006514] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050841.745857231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050841.746331264] [sailbot.mux]: Published rudder angle from controller_app: 17 -[teensy-2] [INFO] [1746050841.748053179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 17 -[teensy-2] [INFO] [1746050841.748818507] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050841.835138223] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050841.837314556] [sailbot.teensy]: Wind angle: 332 -[teensy-2] [INFO] [1746050841.838239602] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050841.837418946] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746050841.838311101] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746050841.839113825] [sailbot.teensy]: Actual tail angle: 11 -[teensy-2] [INFO] [1746050841.839980819] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050841.844399482] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050841.845013789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050841.845567475] [sailbot.mux]: Published rudder angle from controller_app: 17 -[teensy-2] [INFO] [1746050841.846718228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 17 -[teensy-2] [INFO] [1746050841.847759185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050841.945100950] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050841.945802787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050841.946441040] [sailbot.mux]: Published rudder angle from controller_app: 17 -[teensy-2] [INFO] [1746050841.947694631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 17 -[teensy-2] [INFO] [1746050841.948810231] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050842.002979589] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943316 Long: -76.5033737 -[vectornav-1] [INFO] [1746050842.004560395] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (342.744, -2.961, 14.916) -[mux-7] [INFO] [1746050842.045412288] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050842.046440871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050842.047086276] [sailbot.mux]: Published rudder angle from controller_app: 17 -[teensy-2] [INFO] [1746050842.048722193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 17 -[teensy-2] [INFO] [1746050842.049919849] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050842.085371313] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050842.087309223] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746050842.088028439] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050842.088265616] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050842.089169810] [sailbot.teensy]: Actual tail angle: 42 -[mux-7] [INFO] [1746050842.089912715] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050842.090102777] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050842.145113197] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050842.145923738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050842.146609578] [sailbot.mux]: Published rudder angle from controller_app: 17 -[teensy-2] [INFO] [1746050842.147957664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 17 -[teensy-2] [INFO] [1746050842.149032212] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050842.244994018] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050842.245696692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050842.246253802] [sailbot.mux]: Published rudder angle from controller_app: 17 -[teensy-2] [INFO] [1746050842.247484787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 17 -[teensy-2] [INFO] [1746050842.248023008] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050842.335472401] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050842.337518324] [sailbot.teensy]: Wind angle: 14 -[teensy-2] [INFO] [1746050842.338489831] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050842.338128968] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746050842.338852431] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050842.339355339] [sailbot.teensy]: Actual tail angle: 42 -[teensy-2] [INFO] [1746050842.340203859] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050842.344277612] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050842.344938823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050842.345376583] [sailbot.mux]: Published rudder angle from controller_app: 17 -[teensy-2] [INFO] [1746050842.346684008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 17 -[teensy-2] [INFO] [1746050842.347736139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050842.445154483] [sailbot.mux]: Published sail angle from controller_app: 75 -[mux-7] [INFO] [1746050842.446907588] [sailbot.mux]: Published rudder angle from controller_app: 17 -[teensy-2] [INFO] [1746050842.447004315] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050842.448118762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 17 -[teensy-2] [INFO] [1746050842.448633625] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050842.503779678] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943262 Long: -76.5033681 -[vectornav-1] [INFO] [1746050842.505443856] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (358.141, -1.444, 13.195) -[mux-7] [INFO] [1746050842.544896899] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050842.545526152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050842.546256935] [sailbot.mux]: Published rudder angle from controller_app: 17 -[teensy-2] [INFO] [1746050842.547357852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 17 -[teensy-2] [INFO] [1746050842.548539770] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050842.585260257] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050842.587228574] [sailbot.teensy]: Wind angle: 39 -[teensy-2] [INFO] [1746050842.588147902] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050842.587645656] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746050842.588508898] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746050842.589070413] [sailbot.teensy]: Actual tail angle: 42 -[teensy-2] [INFO] [1746050842.589959800] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050842.644981139] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050842.645769740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050842.646356233] [sailbot.mux]: Published rudder angle from controller_app: 17 -[teensy-2] [INFO] [1746050842.648225825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 17 -[teensy-2] [INFO] [1746050842.649437080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050842.734869772] [sailbot.mux]: controller_app rudder angle: -3 -[mux-7] [INFO] [1746050842.744713683] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050842.745776990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050842.745999495] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050842.747709825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -3 -[teensy-2] [INFO] [1746050842.748867768] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050842.835592546] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050842.837970422] [sailbot.teensy]: Wind angle: 72 -[trim_sail-4] [INFO] [1746050842.838415081] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050842.838959218] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050842.839369305] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050842.839536352] [sailbot.teensy]: Actual tail angle: 42 -[teensy-2] [INFO] [1746050842.839922869] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050842.844615949] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050842.845374026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050842.845909078] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050842.847237114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -3 -[teensy-2] [INFO] [1746050842.848303816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050842.945053714] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050842.945797020] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050842.946412564] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050842.948004779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -3 -[teensy-2] [INFO] [1746050842.949084682] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050843.003421867] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943265 Long: -76.50336138 -[vectornav-1] [INFO] [1746050843.005266092] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (350.955, -0.457, 5.851) -[mux-7] [INFO] [1746050843.044933074] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050843.045661224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050843.046551843] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050843.047555781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -3 -[teensy-2] [INFO] [1746050843.048176827] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050843.085357258] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050843.087500816] [sailbot.teensy]: Wind angle: 90 -[trim_sail-4] [INFO] [1746050843.087855343] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050843.088480626] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050843.089461349] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050843.089510502] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050843.090403898] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050843.145430486] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050843.146207891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050843.147589947] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050843.148464046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -3 -[teensy-2] [INFO] [1746050843.149821217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050843.245034481] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050843.245805999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050843.246399120] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050843.247800845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -3 -[teensy-2] [INFO] [1746050843.248869595] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050843.335226895] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050843.336967709] [sailbot.teensy]: Wind angle: 77 -[teensy-2] [INFO] [1746050843.337919781] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050843.337422978] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050843.338853079] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050843.339537551] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050843.339697037] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050843.344344087] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050843.345027895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050843.345466958] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050843.346870659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -3 -[teensy-2] [INFO] [1746050843.348025053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050843.445357596] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050843.446026445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050843.446927916] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050843.448143456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -3 -[teensy-2] [INFO] [1746050843.449362272] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050843.502926546] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46943102 Long: -76.50335483 -[vectornav-1] [INFO] [1746050843.504398639] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (332.402, 1.433, -0.394) -[mux-7] [INFO] [1746050843.545347528] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050843.546176717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050843.546914941] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050843.548468094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -3 -[teensy-2] [INFO] [1746050843.549579061] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050843.585114202] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050843.586898846] [sailbot.teensy]: Wind angle: 61 -[trim_sail-4] [INFO] [1746050843.587214146] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050843.587828376] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050843.588739730] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050843.589344766] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050843.589635831] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050843.645245133] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050843.646019678] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050843.646789703] [sailbot.mux]: Published rudder angle from controller_app: -3 -[teensy-2] [INFO] [1746050843.648489815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -3 -[teensy-2] [INFO] [1746050843.649694844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050843.723587430] [sailbot.mux]: controller_app rudder angle: -7 -[mux-7] [INFO] [1746050843.745027260] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050843.745817092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050843.746836134] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050843.747812480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 -[teensy-2] [INFO] [1746050843.748933061] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050843.835219250] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050843.837459085] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746050843.837791514] [sailbot.teensy]: Wind angle: 52 -[teensy-2] [INFO] [1746050843.838746355] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050843.838033731] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746050843.839647162] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050843.840482917] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050843.844401765] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050843.845100605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050843.845526504] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050843.846905855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 -[teensy-2] [INFO] [1746050843.847951461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050843.945378476] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050843.946194245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050843.947023826] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050843.948462318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 -[teensy-2] [INFO] [1746050843.949654429] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050844.003569001] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46942839 Long: -76.50334951 -[vectornav-1] [INFO] [1746050844.005166671] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (319.93399999999997, -0.819, 1.023) -[mux-7] [INFO] [1746050844.045374718] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050844.045942254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050844.046969402] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050844.048263720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 -[teensy-2] [INFO] [1746050844.049431218] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050844.085507794] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050844.087445046] [sailbot.teensy]: Wind angle: 48 -[trim_sail-4] [INFO] [1746050844.087745208] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050844.088398416] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050844.089336837] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746050844.090055814] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050844.090192374] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050844.145197403] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050844.146644855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050844.146968616] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050844.149027466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 -[teensy-2] [INFO] [1746050844.150197527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050844.245139263] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050844.245904849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050844.246713068] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050844.247797244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 -[teensy-2] [INFO] [1746050844.248856958] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050844.335291695] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050844.337474144] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050844.337886135] [sailbot.teensy]: Wind angle: 46 -[mux-7] [INFO] [1746050844.338310422] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050844.338594223] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050844.338992289] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050844.339368260] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050844.344686122] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050844.345198203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050844.345879591] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050844.346976870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 -[teensy-2] [INFO] [1746050844.348032425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050844.445361080] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050844.445887369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050844.447085554] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050844.447958411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 -[teensy-2] [INFO] [1746050844.449136499] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050844.503049809] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46942486 Long: -76.50334501 -[vectornav-1] [INFO] [1746050844.504636752] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (310.122, -1.217, 3.035) -[mux-7] [INFO] [1746050844.544988476] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050844.545644892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050844.546311295] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050844.547577656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 -[teensy-2] [INFO] [1746050844.548589297] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050844.585280723] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050844.587325153] [sailbot.teensy]: Wind angle: 44 -[trim_sail-4] [INFO] [1746050844.587418609] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050844.588326763] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050844.589239779] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746050844.590011701] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050844.590111012] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050844.644974413] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050844.645553932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050844.646279586] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050844.647389311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 -[teensy-2] [INFO] [1746050844.648563102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050844.745274854] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050844.746070079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050844.747040965] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050844.748144376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 -[teensy-2] [INFO] [1746050844.749336022] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050844.835313007] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050844.837500548] [sailbot.teensy]: Wind angle: 44 -[trim_sail-4] [INFO] [1746050844.838077155] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050844.838463846] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050844.839368022] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746050844.839505749] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050844.840269877] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050844.844478603] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050844.845129360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050844.845648356] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050844.846839560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 -[teensy-2] [INFO] [1746050844.847919889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050844.945122728] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050844.946028644] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050844.946466255] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050844.947889373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 -[teensy-2] [INFO] [1746050844.948958976] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050845.003232171] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46942058 Long: -76.50334118 -[vectornav-1] [INFO] [1746050845.004976933] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (303.587, -5.151, 3.228) -[mux-7] [INFO] [1746050845.045181087] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050845.045908966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050845.046678859] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050845.047810180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 -[teensy-2] [INFO] [1746050845.049007332] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050845.085447879] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050845.087941380] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050845.089203962] [sailbot.teensy]: Wind angle: 44 -[mux-7] [INFO] [1746050845.089386826] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050845.090241315] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050845.091163290] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050845.092018291] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050845.144014388] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050845.144940575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050845.144979182] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050845.146412990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 -[teensy-2] [INFO] [1746050845.147268682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050845.244892561] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050845.245772869] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050845.246570154] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050845.247679701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 -[teensy-2] [INFO] [1746050845.248369424] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050845.335306819] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050845.337080180] [sailbot.teensy]: Wind angle: 38 -[trim_sail-4] [INFO] [1746050845.337527226] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746050845.337974097] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050845.338880495] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746050845.339358765] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746050845.339729442] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050845.344364862] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050845.344859053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050845.345555384] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050845.346559106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 -[teensy-2] [INFO] [1746050845.347634389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050845.445440719] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050845.446181249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050845.446898856] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050845.448128012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 -[teensy-2] [INFO] [1746050845.448772749] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050845.502930734] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46941506 Long: -76.50333717 -[vectornav-1] [INFO] [1746050845.504637461] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (299.193, -1.156, 2.996) -[mux-7] [INFO] [1746050845.545138704] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050845.545720275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050845.546559782] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050845.547673643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 -[teensy-2] [INFO] [1746050845.548739890] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050845.585251640] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050845.587067212] [sailbot.teensy]: Wind angle: 22 -[teensy-2] [INFO] [1746050845.587976861] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050845.587502101] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746050845.588869228] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746050845.588961671] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746050845.589774873] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050845.645244001] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050845.645785086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050845.646886474] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050845.648084698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 -[teensy-2] [INFO] [1746050845.649266888] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050845.721845081] [sailbot.mux]: controller_app rudder angle: -6 -[mux-7] [INFO] [1746050845.744758960] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050845.745405328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050845.746370738] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050845.747229857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -6 -[teensy-2] [INFO] [1746050845.748045141] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050845.835236555] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050845.836952057] [sailbot.teensy]: Wind angle: 10 -[teensy-2] [INFO] [1746050845.837885941] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050845.837435855] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050845.838762504] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746050845.839024462] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050845.839643125] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050845.844528066] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050845.844893310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050845.845887639] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050845.846627194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -6 -[teensy-2] [INFO] [1746050845.847648246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050845.945201425] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050845.945968600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050845.946613408] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050845.947887126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -6 -[teensy-2] [INFO] [1746050845.948892533] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050846.002846589] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46940942 Long: -76.50333311 -[vectornav-1] [INFO] [1746050846.004296751] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (296.879, 2.092, 2.851) -[mux-7] [INFO] [1746050846.045330984] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050846.045972632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050846.046920633] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050846.048338062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -6 -[teensy-2] [INFO] [1746050846.049473092] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050846.085270162] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050846.087567296] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746050846.088134366] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050846.088336240] [sailbot.teensy]: Wind angle: 4 -[teensy-2] [INFO] [1746050846.089319868] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050846.090204616] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050846.091048951] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050846.144862290] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050846.145974624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050846.146127267] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050846.147779711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -6 -[teensy-2] [INFO] [1746050846.148754324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050846.245328541] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050846.246506711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050846.246869326] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050846.248267413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -6 -[teensy-2] [INFO] [1746050846.248830836] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050846.335401918] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050846.337931329] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050846.338082108] [sailbot.teensy]: Wind angle: 4 -[teensy-2] [INFO] [1746050846.339204701] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050846.339642266] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050846.340212456] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050846.341172988] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050846.344232461] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050846.344829466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050846.345624324] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050846.346535001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -6 -[teensy-2] [INFO] [1746050846.347603121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050846.445200377] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050846.446102061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050846.446728204] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050846.448331445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -6 -[teensy-2] [INFO] [1746050846.449501225] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050846.503763875] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46940474 Long: -76.50333009 -[vectornav-1] [INFO] [1746050846.505515066] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (296.914, 3.235, 5.223) -[mux-7] [INFO] [1746050846.545058907] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050846.545831288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050846.546612524] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050846.547774559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -6 -[teensy-2] [INFO] [1746050846.548982125] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050846.585497119] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050846.587499126] [sailbot.teensy]: Wind angle: 4 -[teensy-2] [INFO] [1746050846.588476677] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050846.587844117] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050846.589386691] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050846.590266921] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050846.590267861] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746050846.645274751] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050846.645801167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050846.647062130] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746050846.648254143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -6 -[teensy-2] [INFO] [1746050846.649352655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050846.733962591] [sailbot.mux]: controller_app rudder angle: -7 -[mux-7] [INFO] [1746050846.744730261] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050846.745536359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050846.746002648] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050846.747399059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 -[teensy-2] [INFO] [1746050846.748487473] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050846.835287977] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050846.837548166] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050846.837776287] [sailbot.teensy]: Wind angle: 2 -[teensy-2] [INFO] [1746050846.839361179] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050846.839410668] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050846.840709387] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746050846.841873475] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050846.844711624] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050846.845287527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050846.845921922] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746050846.847214091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -7 -[teensy-2] [INFO] [1746050846.848341699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050846.851451135] [sailbot.mux]: Switched control mode to algo -[mux-7] [INFO] [1746050846.945301995] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050846.945837686] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050847.003323377] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46940085 Long: -76.50332803 -[vectornav-1] [INFO] [1746050847.004721332] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.983, 0.256, 5.448) -[mux-7] [INFO] [1746050847.044804917] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050847.045274843] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050847.085449397] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050847.087360219] [sailbot.teensy]: Wind angle: 1 -[trim_sail-4] [INFO] [1746050847.087784996] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050847.088345827] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050847.089292468] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746050847.089827146] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050847.090145452] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050847.145168552] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050847.145731482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050847.244978540] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050847.245565502] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050847.335336321] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050847.337568363] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050847.338092233] [sailbot.teensy]: Wind angle: 0 -[mux-7] [INFO] [1746050847.338803535] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050847.339197744] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050847.340074487] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050847.340962335] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050847.344391842] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050847.345118111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050847.445142934] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050847.445883616] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050847.502827374] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46939682 Long: -76.50332603 -[vectornav-1] [INFO] [1746050847.504478823] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.095, -5.202, 4.912) -[mux-7] [INFO] [1746050847.544780030] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050847.545300212] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050847.585211073] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050847.586914934] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746050847.587472533] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050847.587842355] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050847.588762866] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746050847.588808832] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050847.589155388] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050847.644981020] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050847.645558447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050847.745411362] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050847.746040511] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050847.835350591] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050847.837037550] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746050847.837566488] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050847.837992436] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050847.838925864] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746050847.839544864] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050847.839851624] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050847.844531748] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050847.845063634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050847.945494419] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050847.946372890] [sailbot.teensy]: Message sent to servo -[vectornav-1] [INFO] [1746050848.003044367] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46939176 Long: -76.50332319 -[vectornav-1] [INFO] [1746050848.004462428] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.012, -2.378, 1.695) -[mux-7] [INFO] [1746050848.045273116] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050848.046113455] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050848.085255256] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050848.087131163] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746050848.087573853] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050848.088061601] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050848.088986672] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746050848.089765595] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050848.089866387] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050848.145190206] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050848.145771512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050848.245035195] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050848.245555340] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050848.335515545] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050848.337873777] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050848.337878837] [sailbot.teensy]: Wind angle: 0 -[teensy-2] [INFO] [1746050848.338896813] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746050848.339437065] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050848.339805203] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050848.340603202] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050848.344719749] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050848.345131810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050848.445666922] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050848.446112676] [sailbot.teensy]: Message sent to servo -[waypoint_service-5] [INFO] [1746050848.474035736] [sailbot.waypoint_service]: Received request: command=set, argument=42.46905659809444,-76.50352614378555 -[waypoint_service-5] [INFO] [1746050848.474973429] [sailbot.waypoint_service]: New waypoint queue: [(42.46905659809444, -76.50352614378555)] -[waypoint_service-5] [INFO] [1746050848.476356850] [sailbot.waypoint_service]: Published current waypoint: Lat=42.46905659809444, Lon=-76.50352614378555 -[main_algo-3] [INFO] [1746050848.477596545] [sailbot.main_algo]: Updated current waypoint to: (42.46905659809444, -76.50352614378555) -[waypoint_service-5] [INFO] [1746050848.485731484] [sailbot.waypoint_service]: Received request: command=get, argument= -[vectornav-1] [INFO] [1746050848.502606885] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46938623 Long: -76.50332011 -[main_algo-3] [INFO] [1746050848.503629128] [sailbot.main_algo]: Distance to destination: 40.3381351098595 -[vectornav-1] [INFO] [1746050848.503780623] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.903, -1.236, 1.43) -[main_algo-3] [INFO] [1746050848.504733839] [sailbot.main_algo]: Target Bearing: -115.84741907534963 -[main_algo-3] [INFO] [1746050848.505730716] [sailbot.main_algo]: Heading Difference: 44.859419075349706 -[main_algo-3] [INFO] [1746050848.506701988] [sailbot.main_algo]: Wind Direction: 0 -[main_algo-3] [INFO] [1746050848.507652662] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050848.508591735] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050848.510324584] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050848.545028335] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050848.545663164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050848.546356941] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050848.547564408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050848.548799261] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050848.585269217] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050848.587248110] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746050848.588003279] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050848.588208724] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050848.589166649] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746050848.590048234] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050848.590241812] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746050848.644939102] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050848.645628119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050848.646256482] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050848.647592885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050848.648604698] [sailbot.teensy]: Message sent to servo -[waypoint_service-5] [INFO] [1746050848.687362941] [sailbot.waypoint_service]: Received request: command=get, argument= -[mux-7] [INFO] [1746050848.745177938] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050848.746100618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050848.746560229] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050848.748179608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050848.748947107] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050848.835143556] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050848.837461052] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050848.837693920] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746050848.838844300] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746050848.838968864] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050848.839802593] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050848.841168124] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050848.844601553] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050848.845067435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050848.845805974] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050848.846740204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050848.847769968] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050848.944886724] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050848.945597445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050848.946159478] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050848.947738846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050848.948794138] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050848.957186634] [sailbot.main_algo]: Wind Direction: 359 -[main_algo-3] [INFO] [1746050848.958306859] [sailbot.main_algo]: Target Bearing: -115.84741907534963 -[main_algo-3] [INFO] [1746050848.959272568] [sailbot.main_algo]: Heading Difference: 41.75041907534967 -[main_algo-3] [INFO] [1746050848.960175514] [sailbot.main_algo]: Wind Direction: 359 -[main_algo-3] [INFO] [1746050848.961051968] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050848.961847771] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050848.962985101] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050848.963423343] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050849.002897643] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46938064 Long: -76.50331769 -[main_algo-3] [INFO] [1746050849.004082492] [sailbot.main_algo]: Distance to destination: 39.86072198571874 -[vectornav-1] [INFO] [1746050849.004227770] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.748, 4.446, 4.917) -[main_algo-3] [INFO] [1746050849.005379377] [sailbot.main_algo]: Target Bearing: -116.48175688024112 -[main_algo-3] [INFO] [1746050849.006430580] [sailbot.main_algo]: Heading Difference: 42.384756880241184 -[main_algo-3] [INFO] [1746050849.007395386] [sailbot.main_algo]: Wind Direction: 359 -[main_algo-3] [INFO] [1746050849.008322096] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050849.009199117] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050849.010898506] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050849.045314593] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050849.046136198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050849.047016814] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050849.048481719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050849.049621690] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050849.085058132] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050849.086738989] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746050849.087145095] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050849.087625173] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050849.088490647] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050849.088520880] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050849.089399496] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050849.145072127] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050849.145708282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050849.146503695] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050849.147685627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050849.148815895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050849.245560128] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050849.246534120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050849.247212876] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050849.248997520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050849.250194041] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050849.335503915] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050849.338377474] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746050849.338547346] [sailbot.teensy]: Wind angle: 344 -[mux-7] [INFO] [1746050849.339336650] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050849.339720007] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050849.340617928] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050849.341510630] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050849.344293383] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050849.344824149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050849.345361399] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050849.346569978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050849.347726916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050849.445535630] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050849.446731808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050849.447874531] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050849.448983850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050849.450185803] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050849.457130538] [sailbot.main_algo]: Wind Direction: 344 -[main_algo-3] [INFO] [1746050849.458210913] [sailbot.main_algo]: Target Bearing: -116.48175688024112 -[main_algo-3] [INFO] [1746050849.459137119] [sailbot.main_algo]: Heading Difference: 39.2297568802411 -[main_algo-3] [INFO] [1746050849.459990439] [sailbot.main_algo]: Wind Direction: 344 -[main_algo-3] [INFO] [1746050849.460891254] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050849.461693105] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050849.462784070] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050849.463253070] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050849.503609361] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46937607 Long: -76.50331728 -[main_algo-3] [INFO] [1746050849.504479643] [sailbot.main_algo]: Distance to destination: 39.417777050409626 -[vectornav-1] [INFO] [1746050849.504990667] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (267.927, 1.416, 3.378) -[main_algo-3] [INFO] [1746050849.505785367] [sailbot.main_algo]: Target Bearing: -116.84321315265369 -[main_algo-3] [INFO] [1746050849.506990115] [sailbot.main_algo]: Heading Difference: 39.59121315265361 -[main_algo-3] [INFO] [1746050849.507934404] [sailbot.main_algo]: Wind Direction: 344 -[main_algo-3] [INFO] [1746050849.508848803] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050849.509706516] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050849.511425461] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050849.545093390] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050849.545837410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050849.546495516] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050849.548142583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050849.549410709] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050849.585309902] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050849.587169550] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746050849.587850955] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746050849.588118766] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050849.589056073] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050849.589361912] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050849.589929967] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050849.644873476] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050849.645459881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050849.646046653] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050849.647237113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050849.648447271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050849.734085185] [sailbot.mux]: controller_app rudder angle: -6 -[mux-7] [INFO] [1746050849.744586882] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050849.745355318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050849.745895542] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050849.747150679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050849.748206655] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050849.835774868] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050849.838559501] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746050849.838880248] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746050849.839615307] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746050849.840013803] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050849.840514910] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050849.841363610] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050849.844281993] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050849.844807095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050849.845435017] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050849.846549807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050849.847580525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050849.945363035] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050849.946309379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050849.946885450] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050849.948061915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050849.948594307] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050849.956926367] [sailbot.main_algo]: Wind Direction: 344 -[main_algo-3] [INFO] [1746050849.957900358] [sailbot.main_algo]: Target Bearing: -116.84321315265369 -[main_algo-3] [INFO] [1746050849.958782838] [sailbot.main_algo]: Heading Difference: 24.770213152653696 -[main_algo-3] [INFO] [1746050849.959582174] [sailbot.main_algo]: Wind Direction: 344 -[main_algo-3] [INFO] [1746050849.960396660] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050849.961202121] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050849.962258783] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050849.962845498] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050850.003240222] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46937215 Long: -76.50331932 -[main_algo-3] [INFO] [1746050850.004099224] [sailbot.main_algo]: Distance to destination: 38.952858490099075 -[main_algo-3] [INFO] [1746050850.005343444] [sailbot.main_algo]: Target Bearing: -116.90012718968228 -[main_algo-3] [INFO] [1746050850.006350163] [sailbot.main_algo]: Heading Difference: 24.8271271896823 -[vectornav-1] [INFO] [1746050850.006726775] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (246.33000000000004, -2.548, -1.881) -[main_algo-3] [INFO] [1746050850.007287480] [sailbot.main_algo]: Wind Direction: 344 -[main_algo-3] [INFO] [1746050850.008194393] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050850.009049567] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050850.010745269] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050850.045274542] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050850.046115030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050850.046807201] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050850.048536944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050850.049694192] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050850.085211836] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050850.087470291] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746050850.087827169] [sailbot.teensy]: Wind angle: 335 -[mux-7] [INFO] [1746050850.089112757] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746050850.089187811] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746050850.090634093] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050850.091507786] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050850.145463374] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050850.145976328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050850.147418657] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050850.148418526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050850.149710355] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050850.245476001] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050850.246162807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050850.247290428] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050850.248313781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050850.249557933] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050850.335325084] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050850.337048829] [sailbot.teensy]: Wind angle: 314 -[trim_sail-4] [INFO] [1746050850.337874174] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050850.337992870] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746050850.338909392] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050850.339573060] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050850.339670262] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050850.344520508] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050850.345147469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050850.345742600] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050850.346884715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 -[teensy-2] [INFO] [1746050850.347881931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050850.445567800] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050850.446674383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050850.447203316] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050850.448161616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 -[teensy-2] [INFO] [1746050850.448724208] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050850.457023877] [sailbot.main_algo]: Wind Direction: 314 -[main_algo-3] [INFO] [1746050850.457985625] [sailbot.main_algo]: Target Bearing: -116.90012718968228 -[main_algo-3] [INFO] [1746050850.458903331] [sailbot.main_algo]: Heading Difference: 3.230127189682321 -[main_algo-3] [INFO] [1746050850.459719701] [sailbot.main_algo]: Rudder Angle Raw: 0.44862877634476683 -[main_algo-3] [INFO] [1746050850.460566107] [sailbot.main_algo]: Rudder Angle: 0 -[main_algo-3] [INFO] [1746050850.461581417] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050850.462172887] [sailbot.mux]: algo rudder angle: 0 -[vectornav-1] [INFO] [1746050850.503984958] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46936785 Long: -76.50332155 -[main_algo-3] [INFO] [1746050850.504490806] [sailbot.main_algo]: Distance to destination: 38.443195633694764 -[main_algo-3] [INFO] [1746050850.505785704] [sailbot.main_algo]: Target Bearing: -116.96499607017626 -[vectornav-1] [INFO] [1746050850.506189109] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (222.13800000000003, -0.825, -11.078) -[main_algo-3] [INFO] [1746050850.506921623] [sailbot.main_algo]: Heading Difference: 3.2949960701762393 -[main_algo-3] [INFO] [1746050850.507883915] [sailbot.main_algo]: Rudder Angle Raw: 0.45763834308003326 -[main_algo-3] [INFO] [1746050850.508826857] [sailbot.main_algo]: Rudder Angle: 0 -[mux-7] [INFO] [1746050850.510556345] [sailbot.mux]: algo rudder angle: 0 -[mux-7] [INFO] [1746050850.545302432] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050850.546296668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050850.547055058] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050850.548954727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 0 -[teensy-2] [INFO] [1746050850.550059294] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050850.585547557] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050850.588417304] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050850.589087823] [sailbot.teensy]: Wind angle: 295 -[mux-7] [INFO] [1746050850.589327779] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050850.590136190] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746050850.591046424] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050850.591886124] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050850.645247781] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050850.646098637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050850.646809457] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050850.647944031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 0 -[teensy-2] [INFO] [1746050850.648576319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050850.732770525] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746050850.744728336] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050850.745532885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050850.746181616] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050850.747523663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 0 -[teensy-2] [INFO] [1746050850.748570847] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050850.835155713] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050850.837777030] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050850.838102715] [sailbot.teensy]: Wind angle: 288 -[teensy-2] [INFO] [1746050850.839055957] [sailbot.teensy]: Actual sail angle: 65 -[mux-7] [INFO] [1746050850.839318890] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050850.839994928] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050850.840865982] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050850.844445118] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050850.844858744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050850.845645544] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050850.846519204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050850.847548316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050850.944974496] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050850.945782196] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050850.946355939] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050850.947693469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050850.948718221] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050850.957193435] [sailbot.main_algo]: Wind Direction: 288 -[main_algo-3] [INFO] [1746050850.958285815] [sailbot.main_algo]: Target Bearing: -116.96499607017626 -[main_algo-3] [INFO] [1746050850.959242269] [sailbot.main_algo]: Heading Difference: -20.897003929823768 -[main_algo-3] [INFO] [1746050850.960076791] [sailbot.main_algo]: Wind Direction: 288 -[main_algo-3] [INFO] [1746050850.960923707] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050850.961716322] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050850.962880715] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050850.963391588] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050851.003206261] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46936475 Long: -76.50332575 -[main_algo-3] [INFO] [1746050851.004318098] [sailbot.main_algo]: Distance to destination: 37.98284968134345 -[vectornav-1] [INFO] [1746050851.005166827] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (202.62099999999998, -0.019, -12.555) -[main_algo-3] [INFO] [1746050851.005672281] [sailbot.main_algo]: Target Bearing: -116.72385000354875 -[main_algo-3] [INFO] [1746050851.006784155] [sailbot.main_algo]: Heading Difference: -21.138149996451148 -[main_algo-3] [INFO] [1746050851.007795535] [sailbot.main_algo]: Wind Direction: 288 -[main_algo-3] [INFO] [1746050851.008741847] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050851.009629523] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050851.011395391] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050851.045271664] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050851.046131084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050851.046826139] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050851.048341908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 -[teensy-2] [INFO] [1746050851.049513690] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050851.085221340] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050851.087466915] [sailbot.teensy]: Wind angle: 284 -[trim_sail-4] [INFO] [1746050851.088125909] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050851.088518715] [sailbot.teensy]: Actual sail angle: 50 -[teensy-2] [INFO] [1746050851.089454848] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050851.089811167] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050851.090357698] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050851.145251328] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050851.146057185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050851.146801594] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050851.148463233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050851.149644597] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050851.244970405] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050851.245811006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050851.246272775] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050851.247946218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050851.248590242] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050851.335410737] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050851.337861735] [sailbot.teensy]: Wind angle: 283 -[trim_sail-4] [INFO] [1746050851.337908750] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050851.338841647] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050851.339051263] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050851.339360330] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050851.339761159] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050851.344489867] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050851.345233553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050851.346059859] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050851.346995780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050851.348026570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050851.445727415] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050851.446465507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050851.448047799] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050851.448504881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050851.449038926] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050851.457006865] [sailbot.main_algo]: Wind Direction: 283 -[main_algo-3] [INFO] [1746050851.458023486] [sailbot.main_algo]: Target Bearing: -116.72385000354875 -[main_algo-3] [INFO] [1746050851.458916543] [sailbot.main_algo]: Heading Difference: -40.65514999645126 -[main_algo-3] [INFO] [1746050851.459766295] [sailbot.main_algo]: Wind Direction: 283 -[main_algo-3] [INFO] [1746050851.460572670] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050851.461381198] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050851.463000679] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746050851.463056321] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746050851.502862561] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46936413 Long: -76.50333015 -[main_algo-3] [INFO] [1746050851.503403319] [sailbot.main_algo]: Distance to destination: 37.765033395866126 -[vectornav-1] [INFO] [1746050851.504125916] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.952, -0.696, -6.764) -[main_algo-3] [INFO] [1746050851.504465354] [sailbot.main_algo]: Target Bearing: -116.27462185661459 -[main_algo-3] [INFO] [1746050851.505462901] [sailbot.main_algo]: Heading Difference: -41.10437814338542 -[main_algo-3] [INFO] [1746050851.506364927] [sailbot.main_algo]: Wind Direction: 283 -[main_algo-3] [INFO] [1746050851.507274577] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050851.508128274] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050851.510017279] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050851.545125648] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050851.546111152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050851.546568414] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050851.548239703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050851.549326654] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050851.585614427] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050851.588563454] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050851.589558733] [sailbot.teensy]: Wind angle: 264 -[mux-7] [INFO] [1746050851.589935056] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050851.590506122] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746050851.591420000] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050851.592280425] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050851.645291057] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050851.645970064] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050851.646856038] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050851.648458131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050851.649011338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050851.745403482] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050851.746133794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050851.746939974] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050851.748309187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050851.749205571] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050851.835495119] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050851.837804450] [sailbot.teensy]: Wind angle: 245 -[trim_sail-4] [INFO] [1746050851.838271146] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050851.839230547] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746050851.840173770] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050851.840725180] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050851.841100465] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050851.844259878] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746050851.844939564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050851.845369137] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050851.846719471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746050851.847726158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050851.945616864] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746050851.946538955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050851.947292819] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050851.948522174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746050851.949046867] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050851.957133550] [sailbot.main_algo]: Wind Direction: 245 -[main_algo-3] [INFO] [1746050851.958264932] [sailbot.main_algo]: Target Bearing: -116.27462185661459 -[main_algo-3] [INFO] [1746050851.959237294] [sailbot.main_algo]: Heading Difference: -51.7733781433854 -[main_algo-3] [INFO] [1746050851.960119484] [sailbot.main_algo]: Wind Direction: 245 -[main_algo-3] [INFO] [1746050851.961004324] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050851.961802701] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050851.963103206] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050851.963558796] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050852.003576582] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46936443 Long: -76.50333432 -[main_algo-3] [INFO] [1746050852.004206294] [sailbot.main_algo]: Distance to destination: 37.65025567442916 -[main_algo-3] [INFO] [1746050852.005396437] [sailbot.main_algo]: Target Bearing: -115.78110140060149 -[vectornav-1] [INFO] [1746050852.005612422] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.52099999999996, 0.523, 1.164) -[main_algo-3] [INFO] [1746050852.006442938] [sailbot.main_algo]: Heading Difference: -52.26689859939853 -[main_algo-3] [INFO] [1746050852.007359447] [sailbot.main_algo]: Wind Direction: 245 -[main_algo-3] [INFO] [1746050852.008297938] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050852.009186774] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050852.010888025] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050852.045163503] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746050852.046185389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050852.046605225] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050852.048263708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746050852.049300281] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050852.085189191] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050852.087364601] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050852.087428381] [sailbot.teensy]: Wind angle: 256 -[teensy-2] [INFO] [1746050852.088357676] [sailbot.teensy]: Actual sail angle: 30 -[mux-7] [INFO] [1746050852.088429925] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050852.089258202] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050852.090157185] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050852.145285920] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050852.146205302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050852.146866981] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050852.148470824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050852.149507208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050852.245077299] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050852.245733712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050852.246634696] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050852.247751955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050852.248947744] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050852.335090232] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050852.337193793] [sailbot.teensy]: Wind angle: 263 -[trim_sail-4] [INFO] [1746050852.337857004] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050852.338135021] [sailbot.teensy]: Actual sail angle: 15 -[teensy-2] [INFO] [1746050852.339060832] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050852.339204671] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050852.339940227] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050852.344483274] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050852.345106089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050852.345635159] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050852.346862659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050852.347871849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050852.445055544] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050852.445715129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050852.446406000] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050852.447659365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050852.448702918] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050852.457038316] [sailbot.main_algo]: Wind Direction: 263 -[main_algo-3] [INFO] [1746050852.457994750] [sailbot.main_algo]: Target Bearing: -115.78110140060149 -[main_algo-3] [INFO] [1746050852.458847439] [sailbot.main_algo]: Heading Difference: -51.69789859939857 -[main_algo-3] [INFO] [1746050852.459671421] [sailbot.main_algo]: Wind Direction: 263 -[main_algo-3] [INFO] [1746050852.460505529] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050852.461347142] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050852.462396151] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050852.462956043] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050852.503785717] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46936382 Long: -76.50333719 -[main_algo-3] [INFO] [1746050852.504123968] [sailbot.main_algo]: Distance to destination: 37.49034814139214 -[main_algo-3] [INFO] [1746050852.505469900] [sailbot.main_algo]: Target Bearing: -115.49700329124408 -[main_algo-3] [INFO] [1746050852.506470801] [sailbot.main_algo]: Heading Difference: -51.98199670875596 -[vectornav-1] [INFO] [1746050852.507044226] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (202.48299999999995, -0.844, 1.967) -[main_algo-3] [INFO] [1746050852.507401211] [sailbot.main_algo]: Wind Direction: 263 -[main_algo-3] [INFO] [1746050852.508330129] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050852.509190171] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050852.510945947] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050852.544842885] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050852.545638035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050852.546127815] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050852.547505325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050852.548524034] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050852.585516940] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050852.587846676] [sailbot.teensy]: Wind angle: 261 -[teensy-2] [INFO] [1746050852.588814014] [sailbot.teensy]: Actual sail angle: 20 -[teensy-2] [INFO] [1746050852.589745850] [sailbot.teensy]: Actual tail angle: 10 -[trim_sail-4] [INFO] [1746050852.588237999] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050852.588968184] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050852.590689346] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050852.645008842] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050852.645687293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050852.646326562] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050852.647595448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050852.648786803] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050852.745133822] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050852.745781326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050852.746512420] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050852.747683549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050852.748478697] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050852.835315619] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050852.837546248] [sailbot.teensy]: Wind angle: 261 -[trim_sail-4] [INFO] [1746050852.837704049] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050852.838528888] [sailbot.teensy]: Actual sail angle: 25 -[mux-7] [INFO] [1746050852.839172506] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050852.839438519] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050852.840358823] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050852.844623806] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050852.845104053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050852.845965655] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050852.846849001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050852.847894940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050852.945419747] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050852.945923772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050852.947054967] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050852.948104560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050852.949323452] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050852.957056335] [sailbot.main_algo]: Wind Direction: 261 -[main_algo-3] [INFO] [1746050852.958081122] [sailbot.main_algo]: Target Bearing: -115.49700329124408 -[main_algo-3] [INFO] [1746050852.958977843] [sailbot.main_algo]: Heading Difference: -42.01999670875597 -[main_algo-3] [INFO] [1746050852.959837681] [sailbot.main_algo]: Wind Direction: 261 -[main_algo-3] [INFO] [1746050852.960676957] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050852.961488417] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050852.962639299] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050852.963096753] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050853.003574036] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46936266 Long: -76.50333973 -[main_algo-3] [INFO] [1746050853.004188699] [sailbot.main_algo]: Distance to destination: 37.28680744679727 -[main_algo-3] [INFO] [1746050853.005372730] [sailbot.main_algo]: Target Bearing: -115.28697782597429 -[vectornav-1] [INFO] [1746050853.005424756] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (214.394, 1.094, 4.385) -[main_algo-3] [INFO] [1746050853.006465565] [sailbot.main_algo]: Heading Difference: -42.23002217402575 -[main_algo-3] [INFO] [1746050853.007383735] [sailbot.main_algo]: Wind Direction: 261 -[main_algo-3] [INFO] [1746050853.008322245] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050853.009195055] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050853.010948255] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050853.046014598] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050853.046181955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050853.047544833] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050853.048467592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050853.050374601] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050853.085208719] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050853.087759242] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050853.088288279] [sailbot.teensy]: Wind angle: 272 -[mux-7] [INFO] [1746050853.088319945] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050853.089639124] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050853.090492208] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050853.091350629] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050853.145314733] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050853.146356821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050853.146987431] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050853.148439122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050853.148955325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050853.245349157] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050853.246355165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050853.246904577] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050853.248573035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050853.249635359] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050853.335257589] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050853.337644407] [sailbot.teensy]: Wind angle: 282 -[trim_sail-4] [INFO] [1746050853.337860769] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050853.338647286] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050853.339536748] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050853.339974788] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050853.340536996] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050853.344394688] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050853.345073155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050853.345876603] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050853.346891478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050853.348075594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050853.445279806] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050853.445940491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050853.446850999] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050853.447962135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050853.448484346] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050853.457410497] [sailbot.main_algo]: Wind Direction: 282 -[main_algo-3] [INFO] [1746050853.458601294] [sailbot.main_algo]: Target Bearing: -115.28697782597429 -[main_algo-3] [INFO] [1746050853.459539965] [sailbot.main_algo]: Heading Difference: -30.31902217402569 -[main_algo-3] [INFO] [1746050853.460452191] [sailbot.main_algo]: Wind Direction: 282 -[main_algo-3] [INFO] [1746050853.461327127] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050853.462167253] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050853.463172157] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050853.463762788] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050853.503429387] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46936148 Long: -76.50334261 -[main_algo-3] [INFO] [1746050853.504490866] [sailbot.main_algo]: Distance to destination: 37.070356261603074 -[vectornav-1] [INFO] [1746050853.504890878] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (227.64699999999993, -3.64, 4.098) -[main_algo-3] [INFO] [1746050853.506363766] [sailbot.main_algo]: Target Bearing: -115.03659533891394 -[main_algo-3] [INFO] [1746050853.507449272] [sailbot.main_algo]: Heading Difference: -30.569404661086082 -[main_algo-3] [INFO] [1746050853.508405795] [sailbot.main_algo]: Wind Direction: 282 -[main_algo-3] [INFO] [1746050853.509311991] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050853.510192323] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050853.511907255] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050853.545955750] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050853.546092168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050853.547485073] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050853.548756889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050853.549811682] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050853.585274813] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050853.587884177] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050853.587993946] [sailbot.teensy]: Wind angle: 281 -[teensy-2] [INFO] [1746050853.588938797] [sailbot.teensy]: Actual sail angle: 35 -[mux-7] [INFO] [1746050853.589025591] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050853.589845615] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050853.590703703] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050853.645139603] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050853.645853117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050853.646587495] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050853.647850333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050853.648930873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050853.744805715] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050853.745570193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050853.746024401] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050853.747349073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050853.748476765] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050853.835211822] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050853.837583809] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050853.838045707] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050853.838343522] [sailbot.teensy]: Wind angle: 280 -[teensy-2] [INFO] [1746050853.839346943] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746050853.840248564] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050853.841042182] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050853.844466637] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050853.845014349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050853.845617484] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050853.846692685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050853.847750027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050853.945167081] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050853.945923197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050853.946610897] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050853.947962752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050853.948988964] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050853.957010084] [sailbot.main_algo]: Wind Direction: 280 -[main_algo-3] [INFO] [1746050853.958057581] [sailbot.main_algo]: Target Bearing: -115.03659533891394 -[main_algo-3] [INFO] [1746050853.958958628] [sailbot.main_algo]: Heading Difference: -17.316404661086153 -[main_algo-3] [INFO] [1746050853.959846970] [sailbot.main_algo]: Rudder Angle Raw: -2.4050562029286326 -[main_algo-3] [INFO] [1746050853.960682347] [sailbot.main_algo]: Rudder Angle: -3 -[main_algo-3] [INFO] [1746050853.961693571] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050853.962360467] [sailbot.mux]: algo rudder angle: -3 -[vectornav-1] [INFO] [1746050854.003112028] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46935886 Long: -76.50334507 -[main_algo-3] [INFO] [1746050854.003632963] [sailbot.main_algo]: Distance to destination: 36.72230443051708 -[vectornav-1] [INFO] [1746050854.004629022] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (243.49199999999996, -2.222, -1.906) -[main_algo-3] [INFO] [1746050854.004729946] [sailbot.main_algo]: Target Bearing: -114.93315320238528 -[main_algo-3] [INFO] [1746050854.005661985] [sailbot.main_algo]: Heading Difference: -17.41984679761481 -[main_algo-3] [INFO] [1746050854.006590334] [sailbot.main_algo]: Rudder Angle Raw: -2.4194231663353905 -[main_algo-3] [INFO] [1746050854.007484683] [sailbot.main_algo]: Rudder Angle: -3 -[mux-7] [INFO] [1746050854.009325218] [sailbot.mux]: algo rudder angle: -3 -[mux-7] [INFO] [1746050854.045002696] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050854.045540952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050854.046352066] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050854.047668317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -3 -[teensy-2] [INFO] [1746050854.048812882] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050854.085383802] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050854.087337996] [sailbot.teensy]: Wind angle: 281 -[trim_sail-4] [INFO] [1746050854.087799349] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050854.089018224] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050854.089180238] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746050854.090151905] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050854.091018431] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050854.144958091] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050854.145780058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050854.146345964] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050854.147716672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -3 -[teensy-2] [INFO] [1746050854.148840852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050854.244886909] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050854.245633765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050854.246076351] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050854.247416969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -3 -[teensy-2] [INFO] [1746050854.248504890] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050854.335227625] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050854.337058996] [sailbot.teensy]: Wind angle: 281 -[trim_sail-4] [INFO] [1746050854.338002302] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050854.338894408] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050854.339545315] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746050854.340528745] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050854.341353972] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050854.344266037] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050854.344873025] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050854.345425202] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050854.346560051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -3 -[teensy-2] [INFO] [1746050854.347726210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050854.445528848] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050854.446206677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050854.447335147] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050854.448289382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -3 -[teensy-2] [INFO] [1746050854.448811895] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050854.457081893] [sailbot.main_algo]: Wind Direction: 281 -[main_algo-3] [INFO] [1746050854.458112615] [sailbot.main_algo]: Target Bearing: -114.93315320238528 -[main_algo-3] [INFO] [1746050854.459018552] [sailbot.main_algo]: Heading Difference: -1.5748467976147822 -[main_algo-3] [INFO] [1746050854.459894044] [sailbot.main_algo]: Rudder Angle Raw: -0.21872872189094197 -[main_algo-3] [INFO] [1746050854.460725318] [sailbot.main_algo]: Rudder Angle: -1 -[main_algo-3] [INFO] [1746050854.461789548] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050854.462741856] [sailbot.mux]: algo rudder angle: -1 -[vectornav-1] [INFO] [1746050854.503054054] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46935472 Long: -76.5033458 -[main_algo-3] [INFO] [1746050854.503678879] [sailbot.main_algo]: Distance to destination: 36.277907810270875 -[vectornav-1] [INFO] [1746050854.504531420] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (265.28, 2.294, 0.349) -[main_algo-3] [INFO] [1746050854.504814129] [sailbot.main_algo]: Target Bearing: -115.14090507462907 -[main_algo-3] [INFO] [1746050854.505885028] [sailbot.main_algo]: Heading Difference: -1.3670949253710205 -[main_algo-3] [INFO] [1746050854.506819676] [sailbot.main_algo]: Rudder Angle Raw: -0.1898742951904195 -[main_algo-3] [INFO] [1746050854.507749325] [sailbot.main_algo]: Rudder Angle: -1 -[mux-7] [INFO] [1746050854.509489342] [sailbot.mux]: algo rudder angle: -1 -[mux-7] [INFO] [1746050854.545447302] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050854.545542845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050854.546977295] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050854.547422421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -1 -[teensy-2] [INFO] [1746050854.548687535] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050854.585283151] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050854.587710444] [sailbot.teensy]: Wind angle: 293 -[trim_sail-4] [INFO] [1746050854.587969810] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050854.588714858] [sailbot.teensy]: Actual sail angle: 40 -[mux-7] [INFO] [1746050854.589283599] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050854.589596453] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050854.590510188] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050854.644492419] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050854.645043659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050854.645527220] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050854.646671139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 -[teensy-2] [INFO] [1746050854.647819852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050854.745100981] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050854.745941785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050854.746422954] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050854.747795818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 -[teensy-2] [INFO] [1746050854.748835108] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050854.835462938] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050854.837784088] [sailbot.teensy]: Wind angle: 320 -[teensy-2] [INFO] [1746050854.838764123] [sailbot.teensy]: Actual sail angle: 40 -[trim_sail-4] [INFO] [1746050854.838057763] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746050854.839425078] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746050854.839641069] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050854.840673777] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050854.844305154] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050854.844873503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050854.845371947] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050854.846557964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: -1 -[teensy-2] [INFO] [1746050854.847747503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050854.945144750] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050854.945903560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050854.946734871] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050854.948108303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: -1 -[teensy-2] [INFO] [1746050854.949264990] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050854.957030821] [sailbot.main_algo]: Wind Direction: 320 -[main_algo-3] [INFO] [1746050854.958079872] [sailbot.main_algo]: Target Bearing: -115.14090507462907 -[main_algo-3] [INFO] [1746050854.958993276] [sailbot.main_algo]: Heading Difference: 20.42090507462899 -[main_algo-3] [INFO] [1746050854.959848399] [sailbot.main_algo]: Wind Direction: 320 -[main_algo-3] [INFO] [1746050854.960685860] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050854.961508283] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050854.962525908] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050854.963093463] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050855.003589989] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46935131 Long: -76.50334582 -[main_algo-3] [INFO] [1746050855.004207153] [sailbot.main_algo]: Distance to destination: 35.931932080561765 -[vectornav-1] [INFO] [1746050855.004931388] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (286.147, 3.32, 7.435) -[main_algo-3] [INFO] [1746050855.005468204] [sailbot.main_algo]: Target Bearing: -115.38534217674088 -[main_algo-3] [INFO] [1746050855.006472441] [sailbot.main_algo]: Heading Difference: 20.665342176740864 -[main_algo-3] [INFO] [1746050855.007434892] [sailbot.main_algo]: Wind Direction: 320 -[main_algo-3] [INFO] [1746050855.008359688] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050855.009217926] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050855.010910400] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050855.045184170] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050855.045923937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050855.046626366] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050855.047908365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 -[teensy-2] [INFO] [1746050855.048963219] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050855.085391454] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050855.087120444] [sailbot.teensy]: Wind angle: 332 -[trim_sail-4] [INFO] [1746050855.087832332] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746050855.088050815] [sailbot.teensy]: Actual sail angle: 50 -[teensy-2] [INFO] [1746050855.088962276] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050855.089299565] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746050855.089864612] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050855.145311296] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050855.146277966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050855.146862434] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050855.148561673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 -[teensy-2] [INFO] [1746050855.149751183] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050855.245264945] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050855.246245673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050855.246930210] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050855.248440172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 -[teensy-2] [INFO] [1746050855.249628935] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050855.335177026] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050855.336865329] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746050855.337806820] [sailbot.teensy]: Actual sail angle: 70 -[trim_sail-4] [INFO] [1746050855.337905949] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746050855.338716112] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050855.339558236] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746050855.339600632] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050855.344402295] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050855.345075087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050855.345563876] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050855.346788532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050855.347773802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050855.444959958] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050855.445649456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050855.446293173] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050855.447563185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050855.448179507] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050855.457037347] [sailbot.main_algo]: Wind Direction: 333 -[main_algo-3] [INFO] [1746050855.458057578] [sailbot.main_algo]: Target Bearing: -115.38534217674088 -[main_algo-3] [INFO] [1746050855.458905217] [sailbot.main_algo]: Heading Difference: 41.53234217674094 -[main_algo-3] [INFO] [1746050855.459723658] [sailbot.main_algo]: Wind Direction: 333 -[main_algo-3] [INFO] [1746050855.460518441] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050855.461301231] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050855.462307026] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050855.462829682] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050855.503830228] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46934834 Long: -76.50334496 -[main_algo-3] [INFO] [1746050855.504308420] [sailbot.main_algo]: Distance to destination: 35.66121798759734 -[vectornav-1] [INFO] [1746050855.505125643] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.679, -4.987, 8.095) -[main_algo-3] [INFO] [1746050855.505562672] [sailbot.main_algo]: Target Bearing: -115.70750375768297 -[main_algo-3] [INFO] [1746050855.507401134] [sailbot.main_algo]: Heading Difference: 41.854503757683005 -[main_algo-3] [INFO] [1746050855.508394458] [sailbot.main_algo]: Wind Direction: 333 -[main_algo-3] [INFO] [1746050855.509292265] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050855.510152657] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050855.511879646] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050855.545285442] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050855.546105854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050855.546827469] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050855.548601998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050855.549684065] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050855.585611027] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050855.588279222] [sailbot.teensy]: Wind angle: 336 -[trim_sail-4] [INFO] [1746050855.588284715] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746050855.589344213] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050855.590258224] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050855.590578639] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746050855.591180744] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050855.644929067] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050855.645659970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050855.646228891] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050855.647748335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050855.648802242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050855.745516221] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050855.746332923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050855.747158130] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050855.748852262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050855.750031766] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050855.835636556] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050855.837796019] [sailbot.teensy]: Wind angle: 347 -[trim_sail-4] [INFO] [1746050855.838276335] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050855.838866858] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746050855.839783060] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050855.839337679] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050855.840843881] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050855.844388949] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050855.845150006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050855.845466688] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050855.846934919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050855.848035325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050855.945335934] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050855.946076694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050855.947063914] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050855.948294940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050855.949539815] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050855.957068958] [sailbot.main_algo]: Wind Direction: 347 -[main_algo-3] [INFO] [1746050855.958086379] [sailbot.main_algo]: Target Bearing: -115.70750375768297 -[main_algo-3] [INFO] [1746050855.959002625] [sailbot.main_algo]: Heading Difference: 51.38650375768293 -[main_algo-3] [INFO] [1746050855.959892012] [sailbot.main_algo]: Wind Direction: 347 -[main_algo-3] [INFO] [1746050855.960721177] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050855.961536326] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050855.962550673] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050855.963145841] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050856.003225465] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693448 Long: -76.50334199 -[main_algo-3] [INFO] [1746050856.003658801] [sailbot.main_algo]: Distance to destination: 35.40813549882309 -[vectornav-1] [INFO] [1746050856.004372154] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.794, -3.428, 1.894) -[main_algo-3] [INFO] [1746050856.004774158] [sailbot.main_algo]: Target Bearing: -116.3322944942467 -[main_algo-3] [INFO] [1746050856.005769399] [sailbot.main_algo]: Heading Difference: 52.01129449424661 -[main_algo-3] [INFO] [1746050856.006661118] [sailbot.main_algo]: Wind Direction: 347 -[main_algo-3] [INFO] [1746050856.007522219] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050856.008380360] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050856.010063170] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050856.045328723] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050856.046103744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050856.047034706] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050856.048430576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050856.049539083] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050856.085208126] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050856.086925630] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746050856.087815376] [sailbot.teensy]: Actual sail angle: 80 -[trim_sail-4] [INFO] [1746050856.087411752] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746050856.088301457] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050856.088739353] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050856.089633796] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050856.145436438] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050856.145994823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050856.147019837] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050856.148237097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050856.149386805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050856.245126949] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050856.246133919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050856.246672367] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050856.248133768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050856.249313809] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050856.335407137] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050856.337347155] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746050856.337728530] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746050856.338336719] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050856.339256371] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050856.339677919] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746050856.340224308] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050856.344378682] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050856.344974359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050856.345539008] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050856.346661118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050856.347743651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050856.445294424] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050856.446213544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050856.446856855] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050856.448386534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050856.448919653] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050856.457100646] [sailbot.main_algo]: Wind Direction: 334 -[main_algo-3] [INFO] [1746050856.458061503] [sailbot.main_algo]: Target Bearing: -116.3322944942467 -[main_algo-3] [INFO] [1746050856.458997103] [sailbot.main_algo]: Heading Difference: 46.12629449424662 -[main_algo-3] [INFO] [1746050856.459799827] [sailbot.main_algo]: Wind Direction: 334 -[main_algo-3] [INFO] [1746050856.460646852] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050856.461481884] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050856.462581530] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050856.463073623] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050856.503705542] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46933983 Long: -76.50333962 -[main_algo-3] [INFO] [1746050856.504462221] [sailbot.main_algo]: Distance to destination: 34.994943791093 -[vectornav-1] [INFO] [1746050856.505284162] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (271.334, 1.12, -1.632) -[main_algo-3] [INFO] [1746050856.505582611] [sailbot.main_algo]: Target Bearing: -117.00716222314809 -[main_algo-3] [INFO] [1746050856.506584856] [sailbot.main_algo]: Heading Difference: 46.80116222314814 -[main_algo-3] [INFO] [1746050856.507503251] [sailbot.main_algo]: Wind Direction: 334 -[main_algo-3] [INFO] [1746050856.508385695] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050856.509231427] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050856.511028306] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050856.545302465] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050856.546193964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050856.546862806] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050856.548455324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050856.549556648] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050856.585455974] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050856.587802143] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050856.587834939] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746050856.588801041] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746050856.588909560] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050856.589671424] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050856.590648973] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050856.645291092] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050856.645962529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050856.647212613] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050856.648018639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050856.648496839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050856.744926001] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050856.745595048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050856.746247583] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050856.747500360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050856.748586710] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050856.835205019] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050856.837555863] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050856.837819078] [sailbot.teensy]: Wind angle: 358 -[mux-7] [INFO] [1746050856.838681916] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050856.838778529] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746050856.839665377] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050856.840468194] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050856.844580988] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050856.844980854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050856.846125438] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050856.846679152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050856.847901756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050856.945854467] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050856.946074507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050856.947524506] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050856.948285395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050856.949561573] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050856.957136119] [sailbot.main_algo]: Wind Direction: 358 -[main_algo-3] [INFO] [1746050856.958158668] [sailbot.main_algo]: Target Bearing: -117.00716222314809 -[main_algo-3] [INFO] [1746050856.959043202] [sailbot.main_algo]: Heading Difference: 28.341162223148103 -[main_algo-3] [INFO] [1746050856.959898303] [sailbot.main_algo]: Wind Direction: 358 -[main_algo-3] [INFO] [1746050856.960790800] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050856.961649031] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050856.962726583] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050856.963316059] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050857.002814923] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46933578 Long: -76.50333995 -[main_algo-3] [INFO] [1746050857.004050620] [sailbot.main_algo]: Distance to destination: 34.57918956426952 -[vectornav-1] [INFO] [1746050857.004425219] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (249.332, 0.394, -3.431) -[main_algo-3] [INFO] [1746050857.005421859] [sailbot.main_algo]: Target Bearing: -117.29336549838018 -[main_algo-3] [INFO] [1746050857.006504769] [sailbot.main_algo]: Heading Difference: 28.627365498380186 -[main_algo-3] [INFO] [1746050857.007443748] [sailbot.main_algo]: Wind Direction: 358 -[main_algo-3] [INFO] [1746050857.008391672] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050857.009287549] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050857.011051189] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050857.045464523] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050857.046127129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050857.047112300] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050857.048624448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050857.049795866] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050857.085471698] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050857.087397511] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746050857.088405788] [sailbot.teensy]: Actual sail angle: 90 -[trim_sail-4] [INFO] [1746050857.088203847] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746050857.088901203] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050857.089312087] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050857.090214532] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050857.145301532] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050857.145882986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050857.146939353] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050857.148056310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050857.149266201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050857.245013915] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050857.245491371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050857.246343045] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050857.247363262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050857.248404321] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050857.335164480] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050857.337367706] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050857.337749280] [sailbot.teensy]: Wind angle: 314 -[mux-7] [INFO] [1746050857.338107567] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050857.338821858] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050857.339423460] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050857.339789138] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050857.344488038] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050857.344880091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050857.345871051] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050857.346550281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 -[teensy-2] [INFO] [1746050857.347601247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050857.446286092] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050857.446323899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050857.448197858] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050857.448781593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 -[teensy-2] [INFO] [1746050857.450088854] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050857.457059059] [sailbot.main_algo]: Wind Direction: 314 -[main_algo-3] [INFO] [1746050857.458011263] [sailbot.main_algo]: Target Bearing: -117.29336549838018 -[main_algo-3] [INFO] [1746050857.458895907] [sailbot.main_algo]: Heading Difference: 6.6253654983802335 -[main_algo-3] [INFO] [1746050857.459699279] [sailbot.main_algo]: Rudder Angle Raw: 0.9201896525528102 -[main_algo-3] [INFO] [1746050857.460509001] [sailbot.main_algo]: Rudder Angle: 0 -[main_algo-3] [INFO] [1746050857.461471935] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050857.462319308] [sailbot.mux]: algo rudder angle: 0 -[vectornav-1] [INFO] [1746050857.503061606] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46933252 Long: -76.50334351 -[main_algo-3] [INFO] [1746050857.503762798] [sailbot.main_algo]: Distance to destination: 34.125115731418454 -[vectornav-1] [INFO] [1746050857.504615534] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (227.15599999999995, -1.367, -1.899) -[main_algo-3] [INFO] [1746050857.504861073] [sailbot.main_algo]: Target Bearing: -117.12182580091839 -[main_algo-3] [INFO] [1746050857.505843894] [sailbot.main_algo]: Heading Difference: 6.453825800918366 -[main_algo-3] [INFO] [1746050857.506768521] [sailbot.main_algo]: Rudder Angle Raw: 0.8963646945719954 -[main_algo-3] [INFO] [1746050857.507628139] [sailbot.main_algo]: Rudder Angle: 0 -[mux-7] [INFO] [1746050857.509350352] [sailbot.mux]: algo rudder angle: 0 -[mux-7] [INFO] [1746050857.545739427] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050857.545796375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050857.547387818] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050857.547789361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 0 -[teensy-2] [INFO] [1746050857.549097217] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050857.585407070] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050857.587732772] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050857.588111282] [sailbot.teensy]: Wind angle: 304 -[teensy-2] [INFO] [1746050857.589148058] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746050857.589828556] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050857.590029265] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050857.590932764] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050857.644821616] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050857.645923509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050857.646065465] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050857.647660185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: 0 -[teensy-2] [INFO] [1746050857.648810094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050857.745345687] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050857.746171963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050857.747038980] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050857.748040464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: 0 -[teensy-2] [INFO] [1746050857.748502971] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050857.835635035] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050857.838235265] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050857.838720942] [sailbot.teensy]: Wind angle: 295 -[mux-7] [INFO] [1746050857.839416373] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050857.839685166] [sailbot.teensy]: Actual sail angle: 65 -[teensy-2] [INFO] [1746050857.840627653] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050857.841588845] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050857.844401369] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050857.844954035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050857.845554807] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050857.846710331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 0 -[teensy-2] [INFO] [1746050857.847724866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050857.945302060] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050857.946368191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050857.946973215] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050857.948506705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 0 -[teensy-2] [INFO] [1746050857.949040654] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050857.956998171] [sailbot.main_algo]: Wind Direction: 295 -[main_algo-3] [INFO] [1746050857.957985129] [sailbot.main_algo]: Target Bearing: -117.12182580091839 -[main_algo-3] [INFO] [1746050857.958836188] [sailbot.main_algo]: Heading Difference: -15.722174199081678 -[main_algo-3] [INFO] [1746050857.959625528] [sailbot.main_algo]: Rudder Angle Raw: -2.1836353054280107 -[main_algo-3] [INFO] [1746050857.960452828] [sailbot.main_algo]: Rudder Angle: -3 -[main_algo-3] [INFO] [1746050857.961580512] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050857.962063067] [sailbot.mux]: algo rudder angle: -3 -[vectornav-1] [INFO] [1746050858.003821022] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46933023 Long: -76.50334743 -[main_algo-3] [INFO] [1746050858.004465873] [sailbot.main_algo]: Distance to destination: 33.75537481380879 -[vectornav-1] [INFO] [1746050858.005322487] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (209.51800000000003, 1.792, -4.918) -[main_algo-3] [INFO] [1746050858.005652722] [sailbot.main_algo]: Target Bearing: -116.82051838202258 -[main_algo-3] [INFO] [1746050858.006711071] [sailbot.main_algo]: Heading Difference: -16.023481617977495 -[main_algo-3] [INFO] [1746050858.008106564] [sailbot.main_algo]: Rudder Angle Raw: -2.22548355805243 -[main_algo-3] [INFO] [1746050858.009063996] [sailbot.main_algo]: Rudder Angle: -3 -[mux-7] [INFO] [1746050858.010838268] [sailbot.mux]: algo rudder angle: -3 -[mux-7] [INFO] [1746050858.045166573] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050858.046026149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050858.046729306] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050858.048438045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -3 -[teensy-2] [INFO] [1746050858.049669935] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050858.085246140] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050858.087000996] [sailbot.teensy]: Wind angle: 281 -[teensy-2] [INFO] [1746050858.087953215] [sailbot.teensy]: Actual sail angle: 55 -[trim_sail-4] [INFO] [1746050858.087432267] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050858.089082891] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050858.089223805] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050858.090035352] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050858.145156923] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050858.145972344] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050858.146708090] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050858.147720763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -3 -[teensy-2] [INFO] [1746050858.148180064] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050858.245130811] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050858.245886447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050858.246582297] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050858.247910622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -3 -[teensy-2] [INFO] [1746050858.249103224] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050858.335267860] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050858.337714617] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050858.338755219] [sailbot.teensy]: Wind angle: 271 -[teensy-2] [INFO] [1746050858.339716640] [sailbot.teensy]: Actual sail angle: 50 -[mux-7] [INFO] [1746050858.339761410] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050858.340114891] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050858.340486215] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050858.344433603] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050858.345095446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050858.345605126] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050858.346781957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -3 -[teensy-2] [INFO] [1746050858.347812820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050858.445262401] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050858.446005806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050858.446824692] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050858.448247658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -3 -[teensy-2] [INFO] [1746050858.449516563] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050858.457058331] [sailbot.main_algo]: Wind Direction: 271 -[main_algo-3] [INFO] [1746050858.458012495] [sailbot.main_algo]: Target Bearing: -116.82051838202258 -[main_algo-3] [INFO] [1746050858.458926743] [sailbot.main_algo]: Heading Difference: -33.661481617977415 -[main_algo-3] [INFO] [1746050858.459751059] [sailbot.main_algo]: Wind Direction: 271 -[main_algo-3] [INFO] [1746050858.460567833] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050858.461374161] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050858.462376135] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050858.462958487] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050858.502371989] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46932831 Long: -76.50335135 -[main_algo-3] [INFO] [1746050858.503209559] [sailbot.main_algo]: Distance to destination: 33.42368239258489 -[vectornav-1] [INFO] [1746050858.503303675] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (198.736, -2.669, -4.521) -[main_algo-3] [INFO] [1746050858.504275183] [sailbot.main_algo]: Target Bearing: -116.48222323826778 -[main_algo-3] [INFO] [1746050858.505167350] [sailbot.main_algo]: Heading Difference: -33.999776761732164 -[main_algo-3] [INFO] [1746050858.506030805] [sailbot.main_algo]: Wind Direction: 271 -[main_algo-3] [INFO] [1746050858.506861049] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050858.507645021] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050858.509259448] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050858.545099792] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050858.545760216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050858.546540060] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050858.547818589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050858.548891732] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050858.585184458] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050858.587221509] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050858.587762070] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050858.587947434] [sailbot.teensy]: Wind angle: 269 -[teensy-2] [INFO] [1746050858.589131160] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746050858.590000398] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050858.590831532] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050858.644987291] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050858.645851414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050858.646327605] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050858.648058860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050858.649208986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050858.745196326] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050858.746089315] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050858.746667038] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050858.747931002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050858.748430207] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050858.835370466] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050858.837149329] [sailbot.teensy]: Wind angle: 269 -[teensy-2] [INFO] [1746050858.838098355] [sailbot.teensy]: Actual sail angle: 35 -[trim_sail-4] [INFO] [1746050858.838400295] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050858.838994875] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050858.839414028] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050858.839422249] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050858.844453873] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050858.845102010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050858.845593099] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050858.846784393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050858.847841413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050858.945181054] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050858.946176980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050858.946651963] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050858.948219762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050858.948749848] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050858.957167416] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050858.958150178] [sailbot.main_algo]: Target Bearing: -116.48222323826778 -[main_algo-3] [INFO] [1746050858.958992370] [sailbot.main_algo]: Heading Difference: -44.7817767617322 -[main_algo-3] [INFO] [1746050858.959801816] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050858.960692961] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050858.961525935] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050858.962731406] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050858.963084685] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050859.003435759] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46932799 Long: -76.50335508 -[main_algo-3] [INFO] [1746050859.003845316] [sailbot.main_algo]: Distance to destination: 33.26075267599528 -[main_algo-3] [INFO] [1746050859.004992974] [sailbot.main_algo]: Target Bearing: -116.03157019965461 -[vectornav-1] [INFO] [1746050859.005143431] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.41999999999996, 2.568, -0.231) -[main_algo-3] [INFO] [1746050859.006021663] [sailbot.main_algo]: Heading Difference: -45.232429800345415 -[main_algo-3] [INFO] [1746050859.006925197] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050859.008046317] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050859.008945916] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050859.010701338] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050859.045131657] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050859.046262948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050859.046701722] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050859.048621647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050859.049777205] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050859.085267875] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050859.087354684] [sailbot.teensy]: Wind angle: 260 -[trim_sail-4] [INFO] [1746050859.087439116] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050859.088345575] [sailbot.teensy]: Actual sail angle: 30 -[mux-7] [INFO] [1746050859.088843023] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050859.089244264] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050859.090163528] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050859.145185630] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050859.145943710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050859.146651004] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050859.147718612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050859.148181046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050859.245504851] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050859.246506167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050859.247331800] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050859.249325177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050859.250544062] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050859.335221287] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050859.337961307] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050859.338099094] [sailbot.teensy]: Wind angle: 252 -[mux-7] [INFO] [1746050859.338900964] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050859.339243014] [sailbot.teensy]: Actual sail angle: 30 -[teensy-2] [INFO] [1746050859.340364164] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050859.341379006] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050859.344396040] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050859.345029840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050859.345611388] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050859.346808153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050859.347809750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050859.445222032] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050859.446328999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050859.446723937] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050859.448076393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050859.448579754] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050859.457052337] [sailbot.main_algo]: Wind Direction: 252 -[main_algo-3] [INFO] [1746050859.458020574] [sailbot.main_algo]: Target Bearing: -116.03157019965461 -[main_algo-3] [INFO] [1746050859.458857799] [sailbot.main_algo]: Heading Difference: -48.548429800345446 -[main_algo-3] [INFO] [1746050859.459646904] [sailbot.main_algo]: Wind Direction: 252 -[main_algo-3] [INFO] [1746050859.460466556] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050859.461266853] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050859.462286247] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050859.462936889] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050859.502904378] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46932734 Long: -76.50335808 -[main_algo-3] [INFO] [1746050859.503503343] [sailbot.main_algo]: Distance to destination: 33.09159030186637 -[vectornav-1] [INFO] [1746050859.504309967] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (198.98900000000003, -2.255, 3.107) -[main_algo-3] [INFO] [1746050859.504647653] [sailbot.main_algo]: Target Bearing: -115.69740573815902 -[main_algo-3] [INFO] [1746050859.505717974] [sailbot.main_algo]: Heading Difference: -48.88259426184101 -[main_algo-3] [INFO] [1746050859.506636449] [sailbot.main_algo]: Wind Direction: 252 -[main_algo-3] [INFO] [1746050859.507512426] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050859.508371288] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050859.510081751] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050859.544675433] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050859.545366089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050859.546062446] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050859.547430480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050859.548451322] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050859.585003134] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050859.586591322] [sailbot.teensy]: Wind angle: 256 -[trim_sail-4] [INFO] [1746050859.586931786] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050859.587493793] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050859.588342483] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050859.588343829] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050859.589176380] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050859.644620481] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050859.645265892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050859.645847598] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050859.646986498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050859.648135389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050859.745240959] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050859.745757649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050859.746623209] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050859.747663682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050859.748861557] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050859.835216095] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050859.837576953] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050859.838003841] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050859.838321629] [sailbot.teensy]: Wind angle: 267 -[teensy-2] [INFO] [1746050859.839244141] [sailbot.teensy]: Actual sail angle: 20 -[teensy-2] [INFO] [1746050859.839626795] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050859.840002641] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050859.844547446] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050859.844998921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050859.845786672] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050859.846698123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050859.847769481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050859.945328745] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050859.946036915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050859.946887187] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050859.948388540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050859.949537887] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050859.957067704] [sailbot.main_algo]: Wind Direction: 267 -[main_algo-3] [INFO] [1746050859.958038562] [sailbot.main_algo]: Target Bearing: -115.69740573815902 -[main_algo-3] [INFO] [1746050859.958924716] [sailbot.main_algo]: Heading Difference: -45.31359426184093 -[main_algo-3] [INFO] [1746050859.959732023] [sailbot.main_algo]: Wind Direction: 267 -[main_algo-3] [INFO] [1746050859.960551670] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050859.961342840] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050859.962339114] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050859.963095029] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050860.003628545] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693266 Long: -76.50336121 -[main_algo-3] [INFO] [1746050860.003998752] [sailbot.main_algo]: Distance to destination: 32.910052851811166 -[vectornav-1] [INFO] [1746050860.004900025] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (207.59500000000003, -0.624, 1.966) -[main_algo-3] [INFO] [1746050860.005206003] [sailbot.main_algo]: Target Bearing: -115.35003786450507 -[main_algo-3] [INFO] [1746050860.006207784] [sailbot.main_algo]: Heading Difference: -45.66096213549491 -[main_algo-3] [INFO] [1746050860.007120740] [sailbot.main_algo]: Wind Direction: 267 -[main_algo-3] [INFO] [1746050860.008050191] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050860.008921622] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050860.010792662] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050860.045146031] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050860.045796609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050860.046560185] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050860.047895218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050860.048984100] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050860.085151925] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050860.086650320] [sailbot.teensy]: Wind angle: 272 -[teensy-2] [INFO] [1746050860.087504262] [sailbot.teensy]: Actual sail angle: 20 -[trim_sail-4] [INFO] [1746050860.087180203] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050860.088351556] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050860.088382936] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050860.089251756] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050860.144667488] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050860.145151815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050860.145835672] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050860.146863285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050860.148072534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050860.244855430] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050860.245482254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050860.246173636] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050860.247240996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050860.247927987] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050860.335264292] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050860.337445143] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050860.338145598] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050860.338666752] [sailbot.teensy]: Wind angle: 270 -[teensy-2] [INFO] [1746050860.339903011] [sailbot.teensy]: Actual sail angle: 30 -[teensy-2] [INFO] [1746050860.340759457] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050860.341600346] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050860.344324266] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050860.344918033] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050860.345765748] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050860.346632166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050860.347740088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050860.445201074] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050860.445982976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050860.447493994] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050860.448404118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050860.448933775] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050860.457064959] [sailbot.main_algo]: Wind Direction: 270 -[main_algo-3] [INFO] [1746050860.458071963] [sailbot.main_algo]: Target Bearing: -115.35003786450507 -[main_algo-3] [INFO] [1746050860.458978172] [sailbot.main_algo]: Heading Difference: -37.05496213549492 -[main_algo-3] [INFO] [1746050860.459806176] [sailbot.main_algo]: Wind Direction: 270 -[main_algo-3] [INFO] [1746050860.460643497] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050860.461459925] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050860.462929109] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050860.463248007] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050860.502925263] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46932476 Long: -76.50336418 -[main_algo-3] [INFO] [1746050860.503423067] [sailbot.main_algo]: Distance to destination: 32.623526918080614 -[vectornav-1] [INFO] [1746050860.504278907] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (219.91700000000003, 0.647, -0.612) -[main_algo-3] [INFO] [1746050860.504564403] [sailbot.main_algo]: Target Bearing: -115.10715054306043 -[main_algo-3] [INFO] [1746050860.505568871] [sailbot.main_algo]: Heading Difference: -37.29784945693956 -[main_algo-3] [INFO] [1746050860.506491385] [sailbot.main_algo]: Wind Direction: 270 -[main_algo-3] [INFO] [1746050860.507350052] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050860.508200278] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050860.509929565] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050860.545656807] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050860.545793590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050860.546982777] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050860.548198622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050860.549262337] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050860.585022336] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050860.586659609] [sailbot.teensy]: Wind angle: 270 -[teensy-2] [INFO] [1746050860.587551286] [sailbot.teensy]: Actual sail angle: 35 -[trim_sail-4] [INFO] [1746050860.587098032] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050860.588449860] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050860.588568074] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050860.589368729] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050860.645113196] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050860.646101906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050860.646591154] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050860.648566943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050860.649736984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050860.744918335] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050860.745546175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050860.746151822] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050860.747378657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050860.748474662] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050860.835296770] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050860.837421194] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050860.837927453] [sailbot.teensy]: Wind angle: 278 -[mux-7] [INFO] [1746050860.838748056] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050860.839087285] [sailbot.teensy]: Actual sail angle: 30 -[teensy-2] [INFO] [1746050860.839980060] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050860.840869354] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050860.844394536] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050860.844943130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050860.845529725] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050860.846683700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050860.847668191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050860.945192462] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050860.946030778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050860.946680029] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050860.948002235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050860.948448686] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050860.957035462] [sailbot.main_algo]: Wind Direction: 278 -[main_algo-3] [INFO] [1746050860.958040444] [sailbot.main_algo]: Target Bearing: -115.10715054306043 -[main_algo-3] [INFO] [1746050860.958893925] [sailbot.main_algo]: Heading Difference: -24.975849456939613 -[main_algo-3] [INFO] [1746050860.959684529] [sailbot.main_algo]: Wind Direction: 278 -[main_algo-3] [INFO] [1746050860.960609369] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050860.961436947] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050860.962502328] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050860.962970298] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050861.003375160] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46932269 Long: -76.50336728 -[main_algo-3] [INFO] [1746050861.003911091] [sailbot.main_algo]: Distance to destination: 32.30991333354774 -[main_algo-3] [INFO] [1746050861.005080662] [sailbot.main_algo]: Target Bearing: -114.86093835871482 -[vectornav-1] [INFO] [1746050861.005313506] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (233.37300000000005, -2.404, 1.528) -[main_algo-3] [INFO] [1746050861.006109814] [sailbot.main_algo]: Heading Difference: -25.22206164128511 -[main_algo-3] [INFO] [1746050861.007051887] [sailbot.main_algo]: Wind Direction: 278 -[main_algo-3] [INFO] [1746050861.007995232] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050861.008915064] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050861.010636392] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050861.045129456] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050861.046117319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050861.046899555] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050861.048054568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050861.049142869] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050861.085377650] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050861.087047601] [sailbot.teensy]: Wind angle: 281 -[teensy-2] [INFO] [1746050861.087952397] [sailbot.teensy]: Actual sail angle: 30 -[trim_sail-4] [INFO] [1746050861.087626009] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050861.088855855] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050861.088948498] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050861.089780475] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050861.145310093] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050861.145841305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050861.146939862] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050861.148332617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050861.149520982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050861.245421888] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050861.246040193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050861.247026278] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050861.248185937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050861.249361695] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050861.335338051] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050861.337682636] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050861.337993150] [sailbot.teensy]: Wind angle: 285 -[mux-7] [INFO] [1746050861.338592659] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050861.338912267] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746050861.339810257] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050861.340691448] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050861.344269489] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050861.344760149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050861.345445626] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050861.346460935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 -[teensy-2] [INFO] [1746050861.347501541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050861.445222091] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050861.445674163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050861.446886554] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050861.447591265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 -[teensy-2] [INFO] [1746050861.448679059] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050861.456956523] [sailbot.main_algo]: Wind Direction: 285 -[main_algo-3] [INFO] [1746050861.457911637] [sailbot.main_algo]: Target Bearing: -114.86093835871482 -[main_algo-3] [INFO] [1746050861.458765083] [sailbot.main_algo]: Heading Difference: -11.766061641285205 -[main_algo-3] [INFO] [1746050861.459595164] [sailbot.main_algo]: Rudder Angle Raw: -1.6341752279562785 -[main_algo-3] [INFO] [1746050861.460414009] [sailbot.main_algo]: Rudder Angle: -2 -[main_algo-3] [INFO] [1746050861.461555061] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050861.462359357] [sailbot.mux]: algo rudder angle: -2 -[vectornav-1] [INFO] [1746050861.502992474] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931941 Long: -76.50336973 -[main_algo-3] [INFO] [1746050861.503436555] [sailbot.main_algo]: Distance to destination: 31.89531851181762 -[vectornav-1] [INFO] [1746050861.504279606] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (248.38099999999997, -1.961, 1.588) -[main_algo-3] [INFO] [1746050861.504504022] [sailbot.main_algo]: Target Bearing: -114.79450715842283 -[main_algo-3] [INFO] [1746050861.505515481] [sailbot.main_algo]: Heading Difference: -11.83249284157705 -[main_algo-3] [INFO] [1746050861.506401845] [sailbot.main_algo]: Rudder Angle Raw: -1.643401783552368 -[main_algo-3] [INFO] [1746050861.507287675] [sailbot.main_algo]: Rudder Angle: -2 -[mux-7] [INFO] [1746050861.509084061] [sailbot.mux]: algo rudder angle: -2 -[mux-7] [INFO] [1746050861.544968736] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050861.545546082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050861.546258867] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050861.547430965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -2 -[teensy-2] [INFO] [1746050861.548521543] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050861.585080551] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050861.586764409] [sailbot.teensy]: Wind angle: 291 -[trim_sail-4] [INFO] [1746050861.587307568] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050861.587652689] [sailbot.teensy]: Actual sail angle: 40 -[mux-7] [INFO] [1746050861.588419189] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050861.588532593] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050861.589431586] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050861.644977691] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050861.645545328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050861.646704771] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050861.647374211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -2 -[teensy-2] [INFO] [1746050861.648629564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050861.745315060] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050861.745868458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050861.746904710] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050861.747941808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -2 -[teensy-2] [INFO] [1746050861.748945310] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050861.835242083] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050861.837303360] [sailbot.teensy]: Wind angle: 299 -[trim_sail-4] [INFO] [1746050861.837492209] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050861.838357534] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050861.838733264] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050861.839262498] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050861.840314824] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050861.844392352] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050861.845217425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050861.845911893] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050861.846970507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -2 -[teensy-2] [INFO] [1746050861.848123396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050861.945278728] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050861.946282128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050861.946759621] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050861.948008069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -2 -[teensy-2] [INFO] [1746050861.948563287] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050861.957004337] [sailbot.main_algo]: Wind Direction: 299 -[main_algo-3] [INFO] [1746050861.957995451] [sailbot.main_algo]: Target Bearing: -114.79450715842283 -[main_algo-3] [INFO] [1746050861.958851294] [sailbot.main_algo]: Heading Difference: 3.1755071584227608 -[main_algo-3] [INFO] [1746050861.959661573] [sailbot.main_algo]: Rudder Angle Raw: 0.44104266089205013 -[main_algo-3] [INFO] [1746050861.960501460] [sailbot.main_algo]: Rudder Angle: 0 -[main_algo-3] [INFO] [1746050861.961500652] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050861.962103117] [sailbot.mux]: algo rudder angle: 0 -[vectornav-1] [INFO] [1746050862.003118197] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46931553 Long: -76.50337142 -[main_algo-3] [INFO] [1746050862.003526168] [sailbot.main_algo]: Distance to destination: 31.44499789876512 -[vectornav-1] [INFO] [1746050862.004144353] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (267.793, 0.58, 6.013) -[main_algo-3] [INFO] [1746050862.004583121] [sailbot.main_algo]: Target Bearing: -114.87939935889482 -[main_algo-3] [INFO] [1746050862.005593145] [sailbot.main_algo]: Heading Difference: 3.2603993588948015 -[main_algo-3] [INFO] [1746050862.006489134] [sailbot.main_algo]: Rudder Angle Raw: 0.4528332442909446 -[main_algo-3] [INFO] [1746050862.007373081] [sailbot.main_algo]: Rudder Angle: 0 -[mux-7] [INFO] [1746050862.009094593] [sailbot.mux]: algo rudder angle: 0 -[mux-7] [INFO] [1746050862.045044974] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050862.045886684] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050862.046385731] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050862.047833102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: 0 -[teensy-2] [INFO] [1746050862.048952538] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050862.085439227] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050862.087514953] [sailbot.teensy]: Wind angle: 311 -[trim_sail-4] [INFO] [1746050862.088436552] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746050862.088598640] [sailbot.teensy]: Actual sail angle: 50 -[teensy-2] [INFO] [1746050862.089570729] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050862.090259256] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746050862.090498407] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050862.144858162] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050862.145653572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050862.146314517] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050862.147567075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 0 -[teensy-2] [INFO] [1746050862.148580626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050862.245165189] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050862.246129604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050862.246730231] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050862.248035893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 0 -[teensy-2] [INFO] [1746050862.248522467] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050862.335260736] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050862.337608052] [sailbot.teensy]: Wind angle: 316 -[trim_sail-4] [INFO] [1746050862.338355124] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050862.338642647] [sailbot.teensy]: Actual sail angle: 55 -[mux-7] [INFO] [1746050862.338907117] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050862.339117902] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050862.339504204] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050862.344336905] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050862.344725877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050862.345474467] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050862.346495091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 0 -[teensy-2] [INFO] [1746050862.347555089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050862.445326450] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050862.445857385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050862.446921584] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050862.447915656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 0 -[teensy-2] [INFO] [1746050862.449094655] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050862.457131845] [sailbot.main_algo]: Wind Direction: 316 -[main_algo-3] [INFO] [1746050862.458184684] [sailbot.main_algo]: Target Bearing: -114.87939935889482 -[main_algo-3] [INFO] [1746050862.459077896] [sailbot.main_algo]: Heading Difference: 22.672399358894836 -[main_algo-3] [INFO] [1746050862.459932438] [sailbot.main_algo]: Wind Direction: 316 -[main_algo-3] [INFO] [1746050862.460782508] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050862.461572272] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050862.462549158] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050862.463176727] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050862.502969469] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4693114 Long: -76.50337081 -[main_algo-3] [INFO] [1746050862.504406897] [sailbot.main_algo]: Distance to destination: 31.04669217206487 -[vectornav-1] [INFO] [1746050862.504598556] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.688, -0.589, 6.155) -[main_algo-3] [INFO] [1746050862.505653194] [sailbot.main_algo]: Target Bearing: -115.30650594820884 -[main_algo-3] [INFO] [1746050862.506913848] [sailbot.main_algo]: Heading Difference: 23.099505948208844 -[main_algo-3] [INFO] [1746050862.507891262] [sailbot.main_algo]: Wind Direction: 316 -[main_algo-3] [INFO] [1746050862.508820437] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050862.509679058] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050862.511435281] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050862.544983440] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050862.545610891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050862.546273927] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050862.547447296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 -[teensy-2] [INFO] [1746050862.548473750] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050862.585199559] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050862.586913461] [sailbot.teensy]: Wind angle: 322 -[teensy-2] [INFO] [1746050862.587785190] [sailbot.teensy]: Actual sail angle: 60 -[trim_sail-4] [INFO] [1746050862.587441279] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746050862.587992134] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746050862.588663616] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050862.589525127] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050862.644877102] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050862.645693363] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050862.646163197] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050862.647804723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 -[teensy-2] [INFO] [1746050862.648961401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050862.745507012] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050862.746263702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050862.747098373] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050862.748137783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 -[teensy-2] [INFO] [1746050862.748680984] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050862.835256060] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050862.837431259] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746050862.837924409] [sailbot.teensy]: Wind angle: 335 -[mux-7] [INFO] [1746050862.838786450] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746050862.839171703] [sailbot.teensy]: Actual sail angle: 65 -[teensy-2] [INFO] [1746050862.840132226] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050862.840637067] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050862.844315894] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050862.845009926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050862.845850107] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050862.846755002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050862.847815498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050862.945276427] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050862.946107263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050862.946743907] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050862.948112617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050862.949324852] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050862.957145470] [sailbot.main_algo]: Wind Direction: 335 -[main_algo-3] [INFO] [1746050862.958205012] [sailbot.main_algo]: Target Bearing: -115.30650594820884 -[main_algo-3] [INFO] [1746050862.959103453] [sailbot.main_algo]: Heading Difference: 37.994505948208825 -[main_algo-3] [INFO] [1746050862.959943276] [sailbot.main_algo]: Wind Direction: 335 -[main_algo-3] [INFO] [1746050862.960829113] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050862.961650306] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050862.962758771] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050862.963242851] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050863.002942779] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930744 Long: -76.50336875 -[main_algo-3] [INFO] [1746050863.004007876] [sailbot.main_algo]: Distance to destination: 30.7173435749597 -[vectornav-1] [INFO] [1746050863.004227566] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (291.14300000000003, 0.293, 5.862) -[main_algo-3] [INFO] [1746050863.005462000] [sailbot.main_algo]: Target Bearing: -115.93194228915281 -[main_algo-3] [INFO] [1746050863.006520308] [sailbot.main_algo]: Heading Difference: 38.61994228915273 -[main_algo-3] [INFO] [1746050863.007410737] [sailbot.main_algo]: Wind Direction: 335 -[main_algo-3] [INFO] [1746050863.008331936] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050863.009218450] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050863.010898321] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050863.045062657] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050863.045799760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050863.046424856] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050863.047960214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050863.049110381] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050863.085136783] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050863.087663029] [sailbot.teensy]: Wind angle: 353 -[trim_sail-4] [INFO] [1746050863.087764507] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746050863.088810108] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050863.090218323] [sailbot.teensy]: Actual sail angle: 70 -[teensy-2] [INFO] [1746050863.091261459] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050863.092143259] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050863.145114302] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050863.146034527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050863.147433226] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050863.148673053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050863.149707155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050863.245273826] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050863.246109059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050863.246760458] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050863.247946903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050863.248428167] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050863.335277601] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050863.337039036] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746050863.337974131] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050863.339060091] [sailbot.teensy]: Actual sail angle: 80 -[mux-7] [INFO] [1746050863.339068748] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050863.340018521] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050863.340941845] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050863.344307427] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050863.345031444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050863.345759005] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050863.346994714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050863.348028419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050863.445192862] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050863.446308806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050863.446718165] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050863.448067733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050863.448607088] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050863.457044371] [sailbot.main_algo]: Wind Direction: 359 -[main_algo-3] [INFO] [1746050863.458030540] [sailbot.main_algo]: Target Bearing: -115.93194228915281 -[main_algo-3] [INFO] [1746050863.458871450] [sailbot.main_algo]: Heading Difference: 47.07494228915289 -[main_algo-3] [INFO] [1746050863.459651563] [sailbot.main_algo]: Wind Direction: 359 -[main_algo-3] [INFO] [1746050863.460485792] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050863.461306765] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050863.462434073] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050863.463094931] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050863.503329698] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46930374 Long: -76.50336626 -[main_algo-3] [INFO] [1746050863.503825377] [sailbot.main_algo]: Distance to destination: 30.433042672547074 -[vectornav-1] [INFO] [1746050863.504916584] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.177, -2.889, 1.367) -[main_algo-3] [INFO] [1746050863.505110020] [sailbot.main_algo]: Target Bearing: -116.60745701349458 -[main_algo-3] [INFO] [1746050863.506097878] [sailbot.main_algo]: Heading Difference: 47.75045701349461 -[main_algo-3] [INFO] [1746050863.507029697] [sailbot.main_algo]: Wind Direction: 359 -[main_algo-3] [INFO] [1746050863.507925558] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050863.508797739] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050863.510586022] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050863.545050375] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050863.545755329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050863.546806359] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050863.547679659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050863.548772482] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050863.585413394] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050863.587584259] [sailbot.teensy]: Wind angle: 0 -[teensy-2] [INFO] [1746050863.588629192] [sailbot.teensy]: Actual sail angle: 90 -[trim_sail-4] [INFO] [1746050863.587686471] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050863.589572959] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050863.590266820] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050863.590507190] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050863.644975836] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050863.645902094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050863.646376611] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050863.648008137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050863.649181980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050863.745111223] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050863.745786494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050863.746488900] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050863.747939288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050863.748602119] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050863.835384817] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050863.837202411] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746050863.837720372] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050863.838154490] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050863.838980884] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050863.839051343] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050863.839350216] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050863.844355474] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050863.844969901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050863.845486388] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050863.846654709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050863.847802663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050863.945241547] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050863.946135341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050863.946790059] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050863.947809783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050863.948359477] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050863.957040268] [sailbot.main_algo]: Wind Direction: 0 -[main_algo-3] [INFO] [1746050863.958054438] [sailbot.main_algo]: Target Bearing: -116.60745701349458 -[main_algo-3] [INFO] [1746050863.958921872] [sailbot.main_algo]: Heading Difference: 38.7844570134946 -[main_algo-3] [INFO] [1746050863.959748006] [sailbot.main_algo]: Wind Direction: 0 -[main_algo-3] [INFO] [1746050863.960579033] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050863.961397085] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050863.962425124] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050863.963093439] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050864.003454590] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929874 Long: -76.50336538 -[main_algo-3] [INFO] [1746050864.003942893] [sailbot.main_algo]: Distance to destination: 29.965036223942704 -[vectornav-1] [INFO] [1746050864.004739137] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (263.15, -1.039, -0.657) -[main_algo-3] [INFO] [1746050864.005139170] [sailbot.main_algo]: Target Bearing: -117.19089012073383 -[main_algo-3] [INFO] [1746050864.006162993] [sailbot.main_algo]: Heading Difference: 39.36789012073382 -[main_algo-3] [INFO] [1746050864.007178060] [sailbot.main_algo]: Wind Direction: 0 -[main_algo-3] [INFO] [1746050864.008118655] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050864.009031103] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050864.010746551] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050864.045115465] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050864.045891478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050864.046500105] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050864.047814758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050864.048835464] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050864.085369250] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050864.087153019] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746050864.087688723] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746050864.088086691] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050864.089034943] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050864.089927174] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050864.090060441] [sailbot.mux]: algo sail angle: 80 -[mux-7] [INFO] [1746050864.145306800] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050864.145958817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050864.146912539] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050864.148407701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050864.149553820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050864.245577131] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050864.246091960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050864.247190920] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050864.248005912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050864.248850288] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050864.335257279] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050864.337397789] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050864.338318795] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746050864.338631064] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050864.339174001] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050864.339567889] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050864.339936071] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050864.344565076] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050864.345013707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050864.345741464] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050864.346768490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050864.347960079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050864.445294367] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050864.446005310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050864.446986335] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050864.448086218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050864.449319538] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050864.456975235] [sailbot.main_algo]: Wind Direction: 359 -[main_algo-3] [INFO] [1746050864.457890207] [sailbot.main_algo]: Target Bearing: -117.19089012073383 -[main_algo-3] [INFO] [1746050864.458708759] [sailbot.main_algo]: Heading Difference: 20.340890120733775 -[main_algo-3] [INFO] [1746050864.459496815] [sailbot.main_algo]: Wind Direction: 359 -[main_algo-3] [INFO] [1746050864.460291489] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050864.461084543] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050864.462057444] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050864.462670058] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050864.503693588] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929403 Long: -76.50336725 -[main_algo-3] [INFO] [1746050864.504031679] [sailbot.main_algo]: Distance to destination: 29.427915078426555 -[main_algo-3] [INFO] [1746050864.505281144] [sailbot.main_algo]: Target Bearing: -117.37149384600234 -[vectornav-1] [INFO] [1746050864.505029419] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (239.52600000000007, 0.417, -4.453) -[main_algo-3] [INFO] [1746050864.506261058] [sailbot.main_algo]: Heading Difference: 20.521493846002386 -[main_algo-3] [INFO] [1746050864.507166775] [sailbot.main_algo]: Wind Direction: 359 -[main_algo-3] [INFO] [1746050864.508062439] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050864.508968308] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050864.510801440] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050864.544989596] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050864.545544522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050864.546288771] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050864.547354142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050864.548435425] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050864.585433424] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050864.587365834] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746050864.587847473] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050864.588319605] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746050864.589229545] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050864.589713520] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050864.590138871] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050864.645045336] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050864.645713986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050864.646434806] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050864.647692180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050864.648701561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050864.744921739] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050864.745557773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050864.746189329] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050864.747399481] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050864.748587642] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050864.835177962] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050864.836892029] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746050864.837939124] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746050864.838586231] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746050864.838702480] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050864.839124605] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050864.839494794] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050864.844429938] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050864.844842323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050864.845568871] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050864.846524157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050864.847525886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050864.945134973] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050864.945827636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050864.946646893] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050864.947894792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050864.948395982] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050864.957478249] [sailbot.main_algo]: Wind Direction: 335 -[main_algo-3] [INFO] [1746050864.958631461] [sailbot.main_algo]: Target Bearing: -117.37149384600234 -[main_algo-3] [INFO] [1746050864.959610536] [sailbot.main_algo]: Heading Difference: -3.1025061539976377 -[main_algo-3] [INFO] [1746050864.960530529] [sailbot.main_algo]: Rudder Angle Raw: -0.4309036324996719 -[main_algo-3] [INFO] [1746050864.961386906] [sailbot.main_algo]: Rudder Angle: -1 -[main_algo-3] [INFO] [1746050864.962405724] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050864.963004306] [sailbot.mux]: algo rudder angle: -1 -[vectornav-1] [INFO] [1746050865.002894969] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46929097 Long: -76.50337117 -[main_algo-3] [INFO] [1746050865.003929377] [sailbot.main_algo]: Distance to destination: 28.980639566881948 -[vectornav-1] [INFO] [1746050865.004256676] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (213.317, 0.451, -4.405) -[main_algo-3] [INFO] [1746050865.005175955] [sailbot.main_algo]: Target Bearing: -117.09879446676436 -[main_algo-3] [INFO] [1746050865.006161996] [sailbot.main_algo]: Heading Difference: -3.375205533235544 -[main_algo-3] [INFO] [1746050865.007153684] [sailbot.main_algo]: Rudder Angle Raw: -0.4687785462827144 -[main_algo-3] [INFO] [1746050865.008050967] [sailbot.main_algo]: Rudder Angle: -1 -[mux-7] [INFO] [1746050865.009785684] [sailbot.mux]: algo rudder angle: -1 -[mux-7] [INFO] [1746050865.045836463] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050865.045957306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050865.047388866] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050865.048335123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: -1 -[teensy-2] [INFO] [1746050865.049445593] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050865.085320601] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050865.087025834] [sailbot.teensy]: Wind angle: 314 -[trim_sail-4] [INFO] [1746050865.087742017] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050865.087947197] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050865.088848536] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050865.089716327] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050865.089859500] [sailbot.mux]: algo sail angle: 65 -[mux-7] [INFO] [1746050865.145275417] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050865.146202783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050865.146792877] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050865.148487309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: -1 -[teensy-2] [INFO] [1746050865.149499140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050865.245295912] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050865.246552453] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050865.247216569] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050865.248580957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: -1 -[teensy-2] [INFO] [1746050865.249098376] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050865.335492424] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050865.338091368] [sailbot.teensy]: Wind angle: 295 -[trim_sail-4] [INFO] [1746050865.338191468] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050865.338909536] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746050865.339290233] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050865.339678541] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050865.339847203] [sailbot.mux]: algo sail angle: 50 -[mux-7] [INFO] [1746050865.344409012] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050865.344996426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050865.345519183] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050865.346706169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 -[teensy-2] [INFO] [1746050865.347714881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050865.445455314] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050865.446154465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050865.447193136] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050865.448438155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 -[teensy-2] [INFO] [1746050865.449612568] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050865.457066990] [sailbot.main_algo]: Wind Direction: 295 -[main_algo-3] [INFO] [1746050865.458050398] [sailbot.main_algo]: Target Bearing: -117.09879446676436 -[main_algo-3] [INFO] [1746050865.458931976] [sailbot.main_algo]: Heading Difference: -29.584205533235604 -[main_algo-3] [INFO] [1746050865.459778653] [sailbot.main_algo]: Wind Direction: 295 -[main_algo-3] [INFO] [1746050865.460648715] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050865.461507384] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050865.462477946] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050865.463186306] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050865.503620022] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692897 Long: -76.50337594 -[main_algo-3] [INFO] [1746050865.504038900] [sailbot.main_algo]: Distance to destination: 28.682985848413864 -[vectornav-1] [INFO] [1746050865.504894029] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.16999999999996, -0.327, -3.919) -[main_algo-3] [INFO] [1746050865.505440586] [sailbot.main_algo]: Target Bearing: -116.51901667508945 -[main_algo-3] [INFO] [1746050865.506489815] [sailbot.main_algo]: Heading Difference: -30.163983324910532 -[main_algo-3] [INFO] [1746050865.507420183] [sailbot.main_algo]: Wind Direction: 295 -[main_algo-3] [INFO] [1746050865.508306398] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050865.509154401] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050865.511263394] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050865.545339595] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050865.545997038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050865.546917432] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050865.548512876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 -[teensy-2] [INFO] [1746050865.549669201] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050865.585471630] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050865.587482772] [sailbot.teensy]: Wind angle: 275 -[teensy-2] [INFO] [1746050865.588452499] [sailbot.teensy]: Actual sail angle: 65 -[trim_sail-4] [INFO] [1746050865.587788400] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050865.589450427] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050865.589488970] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050865.590424195] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050865.645167217] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050865.645640250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050865.646602719] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050865.647595570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050865.648881258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050865.745414089] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050865.746085858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050865.747032068] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050865.748354654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050865.749527741] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050865.835293607] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050865.837163316] [sailbot.teensy]: Wind angle: 253 -[trim_sail-4] [INFO] [1746050865.837669211] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050865.838069399] [sailbot.teensy]: Actual sail angle: 50 -[mux-7] [INFO] [1746050865.838767925] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050865.838953195] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050865.839820553] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050865.844725721] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050865.844887683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050865.845990265] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050865.846703176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050865.847722931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050865.945237068] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050865.945837290] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050865.946685352] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050865.947768664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050865.948980475] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050865.957017884] [sailbot.main_algo]: Wind Direction: 253 -[main_algo-3] [INFO] [1746050865.957995350] [sailbot.main_algo]: Target Bearing: -116.51901667508945 -[main_algo-3] [INFO] [1746050865.958881286] [sailbot.main_algo]: Heading Difference: -51.31098332491058 -[main_algo-3] [INFO] [1746050865.959671436] [sailbot.main_algo]: Wind Direction: 253 -[main_algo-3] [INFO] [1746050865.960517635] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050865.961326744] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050865.962505632] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050865.963101824] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050866.003970540] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928962 Long: -76.50338021 -[main_algo-3] [INFO] [1746050866.004453363] [sailbot.main_algo]: Distance to destination: 28.525516761113767 -[main_algo-3] [INFO] [1746050866.006145018] [sailbot.main_algo]: Target Bearing: -115.89021729142267 -[main_algo-3] [INFO] [1746050866.007223791] [sailbot.main_algo]: Heading Difference: -51.939782708577354 -[vectornav-1] [INFO] [1746050866.007407754] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.61199999999997, -0.878, -0.901) -[main_algo-3] [INFO] [1746050866.008275018] [sailbot.main_algo]: Wind Direction: 253 -[main_algo-3] [INFO] [1746050866.009237379] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050866.010163272] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050866.011902226] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050866.045453978] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050866.045688103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050866.047177564] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050866.047517833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050866.048585662] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050866.085398023] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050866.088042509] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050866.088341990] [sailbot.teensy]: Wind angle: 240 -[mux-7] [INFO] [1746050866.088594426] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050866.089594248] [sailbot.teensy]: Actual sail angle: 35 -[teensy-2] [INFO] [1746050866.090445654] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050866.091281841] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050866.145242097] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746050866.146332944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050866.146775262] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050866.148578915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: -15 -[teensy-2] [INFO] [1746050866.149721938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050866.245480867] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746050866.246556560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050866.247240804] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050866.248820538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: -15 -[teensy-2] [INFO] [1746050866.249946965] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050866.335177766] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050866.336921181] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050866.337640017] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050866.337855461] [sailbot.teensy]: Actual sail angle: 20 -[teensy-2] [INFO] [1746050866.338778983] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050866.339651950] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050866.339920272] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746050866.344370811] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746050866.344925039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050866.345523383] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050866.346612304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: -15 -[teensy-2] [INFO] [1746050866.347739501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050866.445071806] [sailbot.mux]: Published sail angle from algo: 10 -[mux-7] [INFO] [1746050866.446559364] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050866.446583892] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050866.448529341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: -15 -[teensy-2] [INFO] [1746050866.449816232] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050866.456935044] [sailbot.main_algo]: Wind Direction: 239 -[main_algo-3] [INFO] [1746050866.457904602] [sailbot.main_algo]: Target Bearing: -115.89021729142267 -[main_algo-3] [INFO] [1746050866.458781542] [sailbot.main_algo]: Heading Difference: -62.49778270857735 -[main_algo-3] [INFO] [1746050866.459588498] [sailbot.main_algo]: Wind Direction: 239 -[main_algo-3] [INFO] [1746050866.460397394] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050866.461204813] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050866.462183559] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050866.463501506] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050866.503060378] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928965 Long: -76.50338396 -[main_algo-3] [INFO] [1746050866.503633596] [sailbot.main_algo]: Distance to destination: 28.400234179165846 -[vectornav-1] [INFO] [1746050866.504494223] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.74900000000002, -0.882, 2.912) -[main_algo-3] [INFO] [1746050866.505205724] [sailbot.main_algo]: Target Bearing: -115.32304808970106 -[main_algo-3] [INFO] [1746050866.506343486] [sailbot.main_algo]: Heading Difference: -63.06495191029899 -[main_algo-3] [INFO] [1746050866.507291145] [sailbot.main_algo]: Wind Direction: 239 -[main_algo-3] [INFO] [1746050866.508222878] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050866.509136798] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050866.510846256] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050866.545031470] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746050866.545909960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050866.546617605] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050866.547933717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: -15 -[teensy-2] [INFO] [1746050866.548952868] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050866.585207637] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050866.586991574] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050866.587500161] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050866.587975503] [sailbot.teensy]: Actual sail angle: 10 -[teensy-2] [INFO] [1746050866.589014291] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050866.589348521] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050866.589961410] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050866.645390909] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746050866.646259806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050866.647096576] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050866.648656609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: -15 -[teensy-2] [INFO] [1746050866.649912179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050866.745454692] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746050866.746151873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050866.747079672] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050866.748349363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: -15 -[teensy-2] [INFO] [1746050866.749124646] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050866.835447110] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050866.837629447] [sailbot.teensy]: Wind angle: 246 -[trim_sail-4] [INFO] [1746050866.837918213] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050866.839132860] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050866.839622455] [sailbot.teensy]: Actual sail angle: 10 -[teensy-2] [INFO] [1746050866.840575526] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050866.841429212] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050866.844438161] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746050866.845273079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050866.845628927] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050866.847045146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746050866.848130993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050866.945402047] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746050866.946096335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050866.947213063] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050866.948203641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746050866.948711369] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050866.957040657] [sailbot.main_algo]: Wind Direction: 246 -[main_algo-3] [INFO] [1746050866.958038758] [sailbot.main_algo]: Target Bearing: -115.32304808970106 -[main_algo-3] [INFO] [1746050866.958924523] [sailbot.main_algo]: Heading Difference: -61.92795191029893 -[main_algo-3] [INFO] [1746050866.959752630] [sailbot.main_algo]: Wind Direction: 246 -[main_algo-3] [INFO] [1746050866.960590531] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050866.961378081] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050866.962547451] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050866.963027323] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050867.003431050] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928984 Long: -76.50338707 -[main_algo-3] [INFO] [1746050867.003684788] [sailbot.main_algo]: Distance to destination: 28.315236371751883 -[main_algo-3] [INFO] [1746050867.004794846] [sailbot.main_algo]: Target Bearing: -114.83390969978721 -[vectornav-1] [INFO] [1746050867.004912248] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.59400000000005, 1.416, 3.419) -[main_algo-3] [INFO] [1746050867.005771860] [sailbot.main_algo]: Heading Difference: -62.41709030021275 -[main_algo-3] [INFO] [1746050867.006691600] [sailbot.main_algo]: Wind Direction: 246 -[main_algo-3] [INFO] [1746050867.007587141] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050867.008507982] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050867.010148024] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050867.045040693] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746050867.045745241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050867.046508275] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050867.047728332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746050867.048765816] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050867.085301069] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050867.086978765] [sailbot.teensy]: Wind angle: 258 -[trim_sail-4] [INFO] [1746050867.087677688] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050867.087922317] [sailbot.teensy]: Actual sail angle: 10 -[teensy-2] [INFO] [1746050867.088899857] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050867.089178255] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050867.089789088] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050867.144763649] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050867.145417379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050867.145932155] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050867.147262962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050867.148345104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050867.245546153] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050867.246589377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050867.247273170] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050867.248248244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050867.248754605] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050867.335233464] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050867.337362565] [sailbot.teensy]: Wind angle: 259 -[trim_sail-4] [INFO] [1746050867.337450650] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050867.338331221] [sailbot.teensy]: Actual sail angle: 15 -[mux-7] [INFO] [1746050867.339119484] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050867.339224539] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050867.340112606] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050867.344448719] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050867.344894629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050867.345607952] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050867.346557054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050867.347714757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050867.444976654] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050867.445686088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050867.446238749] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050867.447869193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050867.448891198] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050867.457020002] [sailbot.main_algo]: Wind Direction: 259 -[main_algo-3] [INFO] [1746050867.457984807] [sailbot.main_algo]: Target Bearing: -114.83390969978721 -[main_algo-3] [INFO] [1746050867.458867029] [sailbot.main_algo]: Heading Difference: -52.57209030021272 -[main_algo-3] [INFO] [1746050867.459689265] [sailbot.main_algo]: Wind Direction: 259 -[main_algo-3] [INFO] [1746050867.460517961] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050867.461322039] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050867.462332540] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050867.462948445] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050867.503280899] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928906 Long: -76.50338935 -[main_algo-3] [INFO] [1746050867.504043860] [sailbot.main_algo]: Distance to destination: 28.16061260828958 -[main_algo-3] [INFO] [1746050867.505183675] [sailbot.main_algo]: Target Bearing: -114.5561532625114 -[main_algo-3] [INFO] [1746050867.506201757] [sailbot.main_algo]: Heading Difference: -52.84984673748852 -[vectornav-1] [INFO] [1746050867.506941956] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (204.54899999999998, -3.283, 1.645) -[main_algo-3] [INFO] [1746050867.507201068] [sailbot.main_algo]: Wind Direction: 259 -[main_algo-3] [INFO] [1746050867.508171723] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050867.509054094] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050867.510804674] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050867.545040057] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050867.545899469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050867.546444704] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050867.547916824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050867.549143159] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050867.585654317] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050867.588227719] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050867.589688671] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050867.589760305] [sailbot.teensy]: Wind angle: 260 -[teensy-2] [INFO] [1746050867.590777970] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050867.591703977] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050867.592545924] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050867.645318757] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050867.646119461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050867.647126777] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050867.648301941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050867.649561496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050867.745309512] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050867.746019241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050867.747066916] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050867.748183384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050867.748849690] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050867.835330407] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050867.837537318] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050867.838447965] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050867.838517083] [sailbot.teensy]: Wind angle: 266 -[teensy-2] [INFO] [1746050867.839361908] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050867.839767547] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050867.840144901] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050867.844540797] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050867.845092809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050867.845667416] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050867.846913914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050867.847956050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050867.945539773] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050867.946383384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050867.947143428] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050867.948255231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050867.948785937] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050867.956945732] [sailbot.main_algo]: Wind Direction: 266 -[main_algo-3] [INFO] [1746050867.957927874] [sailbot.main_algo]: Target Bearing: -114.5561532625114 -[main_algo-3] [INFO] [1746050867.958821452] [sailbot.main_algo]: Heading Difference: -40.89484673748859 -[main_algo-3] [INFO] [1746050867.959615263] [sailbot.main_algo]: Wind Direction: 266 -[main_algo-3] [INFO] [1746050867.960458405] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050867.961266072] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050867.962394446] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050867.962879934] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050868.003160489] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928777 Long: -76.50339236 -[main_algo-3] [INFO] [1746050868.004175303] [sailbot.main_algo]: Distance to destination: 27.93093775733692 -[vectornav-1] [INFO] [1746050868.004998248] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (217.03999999999996, 0.979, 1.462) -[main_algo-3] [INFO] [1746050868.005953383] [sailbot.main_algo]: Target Bearing: -114.20810197187392 -[main_algo-3] [INFO] [1746050868.007000734] [sailbot.main_algo]: Heading Difference: -41.24289802812609 -[main_algo-3] [INFO] [1746050868.007928811] [sailbot.main_algo]: Wind Direction: 266 -[main_algo-3] [INFO] [1746050868.008824284] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050868.009667966] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050868.011505212] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050868.045118354] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050868.045893641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050868.046508989] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050868.047891349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050868.048895015] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050868.085207893] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050868.086953009] [sailbot.teensy]: Wind angle: 272 -[teensy-2] [INFO] [1746050868.087867434] [sailbot.teensy]: Actual sail angle: 25 -[trim_sail-4] [INFO] [1746050868.087455599] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050868.088783380] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050868.089090047] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050868.089724129] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050868.145349145] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050868.146039286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050868.146985775] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050868.148321661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050868.149419846] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050868.245465254] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050868.246063928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050868.247097097] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050868.248185174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050868.249215620] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050868.335185461] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050868.337419312] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050868.337605218] [sailbot.teensy]: Wind angle: 276 -[teensy-2] [INFO] [1746050868.338570482] [sailbot.teensy]: Actual sail angle: 30 -[mux-7] [INFO] [1746050868.338670549] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050868.339533336] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050868.340453720] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050868.344708809] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050868.345128939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050868.346003348] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050868.346840756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050868.347915571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050868.445429317] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050868.446239588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050868.447016219] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050868.448393890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050868.448890200] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050868.456967502] [sailbot.main_algo]: Wind Direction: 276 -[main_algo-3] [INFO] [1746050868.457903311] [sailbot.main_algo]: Target Bearing: -114.20810197187392 -[main_algo-3] [INFO] [1746050868.458730533] [sailbot.main_algo]: Heading Difference: -28.751898028126107 -[main_algo-3] [INFO] [1746050868.459530592] [sailbot.main_algo]: Wind Direction: 276 -[main_algo-3] [INFO] [1746050868.460363570] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050868.461156838] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050868.462278935] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050868.462963831] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050868.504071471] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928606 Long: -76.50339526 -[main_algo-3] [INFO] [1746050868.504974573] [sailbot.main_algo]: Distance to destination: 27.662846126716065 -[vectornav-1] [INFO] [1746050868.505481295] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (232.21000000000004, -2.899, 2.029) -[main_algo-3] [INFO] [1746050868.506201432] [sailbot.main_algo]: Target Bearing: -113.90905587340487 -[main_algo-3] [INFO] [1746050868.507230873] [sailbot.main_algo]: Heading Difference: -29.05094412659514 -[main_algo-3] [INFO] [1746050868.508175302] [sailbot.main_algo]: Wind Direction: 276 -[main_algo-3] [INFO] [1746050868.509076608] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050868.509942557] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050868.511676506] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050868.545401588] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050868.546100535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050868.547235660] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050868.548292910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050868.549458630] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050868.585639680] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050868.587876372] [sailbot.teensy]: Wind angle: 277 -[trim_sail-4] [INFO] [1746050868.588702461] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050868.588958090] [sailbot.teensy]: Actual sail angle: 35 -[teensy-2] [INFO] [1746050868.589846878] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050868.589883293] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050868.590756305] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050868.645248217] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050868.646187233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050868.646785372] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050868.648700344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050868.649263173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050868.745481052] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050868.746338095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050868.747106209] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050868.748541137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050868.749041524] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050868.835230676] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050868.837433917] [sailbot.teensy]: Wind angle: 282 -[trim_sail-4] [INFO] [1746050868.837684231] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050868.838423701] [sailbot.teensy]: Actual sail angle: 35 -[teensy-2] [INFO] [1746050868.839526756] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050868.840200849] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050868.840273587] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050868.844357034] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050868.844954979] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050868.845628183] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050868.846636117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050868.847808304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050868.945260610] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050868.945737495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050868.946729485] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050868.947661681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050868.948798092] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050868.957173659] [sailbot.main_algo]: Wind Direction: 282 -[main_algo-3] [INFO] [1746050868.958267828] [sailbot.main_algo]: Target Bearing: -113.90905587340487 -[main_algo-3] [INFO] [1746050868.959205945] [sailbot.main_algo]: Heading Difference: -13.880944126595068 -[main_algo-3] [INFO] [1746050868.960075328] [sailbot.main_algo]: Rudder Angle Raw: -1.9279089064715371 -[main_algo-3] [INFO] [1746050868.960961546] [sailbot.main_algo]: Rudder Angle: -2 -[main_algo-3] [INFO] [1746050868.962043743] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050868.962729467] [sailbot.mux]: algo rudder angle: -2 -[vectornav-1] [INFO] [1746050869.002923263] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46928325 Long: -76.50339778 -[main_algo-3] [INFO] [1746050869.003971317] [sailbot.main_algo]: Distance to destination: 27.294836675230755 -[main_algo-3] [INFO] [1746050869.005205622] [sailbot.main_algo]: Target Bearing: -113.76322363961837 -[vectornav-1] [INFO] [1746050869.005560635] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (245.23400000000004, -2.034, 1.694) -[main_algo-3] [INFO] [1746050869.006232683] [sailbot.main_algo]: Heading Difference: -14.026776360381518 -[main_algo-3] [INFO] [1746050869.007181052] [sailbot.main_algo]: Rudder Angle Raw: -1.948163383386322 -[main_algo-3] [INFO] [1746050869.008067465] [sailbot.main_algo]: Rudder Angle: -2 -[mux-7] [INFO] [1746050869.010023698] [sailbot.mux]: algo rudder angle: -2 -[mux-7] [INFO] [1746050869.045238710] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050869.045847059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050869.046772013] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050869.047866069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -2 -[teensy-2] [INFO] [1746050869.049125962] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050869.085273736] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050869.087577950] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050869.087757773] [sailbot.teensy]: Wind angle: 293 -[mux-7] [INFO] [1746050869.088411496] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050869.089265878] [sailbot.teensy]: Actual sail angle: 35 -[teensy-2] [INFO] [1746050869.090177967] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050869.091083251] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050869.145286770] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050869.146234838] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050869.146787608] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050869.148498211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -2 -[teensy-2] [INFO] [1746050869.149673265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050869.245380473] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050869.246280486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050869.246898996] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050869.248561087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -2 -[teensy-2] [INFO] [1746050869.249769346] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050869.335732136] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050869.338666451] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050869.338892304] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050869.339067259] [sailbot.teensy]: Wind angle: 296 -[teensy-2] [INFO] [1746050869.339483021] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746050869.340049360] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050869.340979714] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050869.344434495] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050869.345016784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050869.345561929] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050869.346821047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -2 -[teensy-2] [INFO] [1746050869.347815116] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050869.445528542] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050869.446531497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050869.447480187] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050869.449045339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -2 -[teensy-2] [INFO] [1746050869.450290255] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050869.456941850] [sailbot.main_algo]: Wind Direction: 296 -[main_algo-3] [INFO] [1746050869.458018354] [sailbot.main_algo]: Target Bearing: -113.76322363961837 -[main_algo-3] [INFO] [1746050869.458909827] [sailbot.main_algo]: Heading Difference: -1.002776360381631 -[main_algo-3] [INFO] [1746050869.459769856] [sailbot.main_algo]: Rudder Angle Raw: -0.13927449449744875 -[main_algo-3] [INFO] [1746050869.460638503] [sailbot.main_algo]: Rudder Angle: -1 -[main_algo-3] [INFO] [1746050869.461657667] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050869.462268394] [sailbot.mux]: algo rudder angle: -1 -[vectornav-1] [INFO] [1746050869.503008529] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927921 Long: -76.50339843 -[main_algo-3] [INFO] [1746050869.503718674] [sailbot.main_algo]: Distance to destination: 26.860681041405464 -[vectornav-1] [INFO] [1746050869.504096858] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (264.807, 0.544, 1.962) -[main_algo-3] [INFO] [1746050869.505132838] [sailbot.main_algo]: Target Bearing: -114.02816762743892 -[main_algo-3] [INFO] [1746050869.506164151] [sailbot.main_algo]: Heading Difference: -0.7378323725611153 -[main_algo-3] [INFO] [1746050869.507123269] [sailbot.main_algo]: Rudder Angle Raw: -0.10247671841126602 -[main_algo-3] [INFO] [1746050869.508032887] [sailbot.main_algo]: Rudder Angle: -1 -[mux-7] [INFO] [1746050869.509810307] [sailbot.mux]: algo rudder angle: -1 -[mux-7] [INFO] [1746050869.544931205] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050869.545709820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050869.546180104] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050869.547689064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 -[teensy-2] [INFO] [1746050869.548719060] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050869.585385274] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050869.587662316] [sailbot.teensy]: Wind angle: 302 -[teensy-2] [INFO] [1746050869.588665287] [sailbot.teensy]: Actual sail angle: 50 -[teensy-2] [INFO] [1746050869.589582705] [sailbot.teensy]: Actual tail angle: 23 -[trim_sail-4] [INFO] [1746050869.587821205] [sailbot.trim_sail]: Sail Angle: "55" -[mux-7] [INFO] [1746050869.590217849] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050869.590455359] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050869.645109678] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050869.645913699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050869.646740684] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050869.648190779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -1 -[teensy-2] [INFO] [1746050869.649502759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050869.745491092] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050869.746257075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050869.747506614] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050869.748639533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -1 -[teensy-2] [INFO] [1746050869.749842025] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050869.835480155] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050869.837882676] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746050869.838637015] [sailbot.teensy]: Wind angle: 326 -[mux-7] [INFO] [1746050869.838856990] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746050869.839119369] [sailbot.teensy]: Actual sail angle: 50 -[teensy-2] [INFO] [1746050869.839495195] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050869.839846917] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050869.844370966] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050869.844998583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050869.845499145] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050869.846690981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 -[teensy-2] [INFO] [1746050869.847733301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050869.945434222] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050869.946450908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050869.946974969] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050869.948785506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 -[teensy-2] [INFO] [1746050869.949784497] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050869.956987706] [sailbot.main_algo]: Wind Direction: 326 -[main_algo-3] [INFO] [1746050869.957993395] [sailbot.main_algo]: Target Bearing: -114.02816762743892 -[main_algo-3] [INFO] [1746050869.958884786] [sailbot.main_algo]: Heading Difference: 18.835167627438977 -[main_algo-3] [INFO] [1746050869.959741897] [sailbot.main_algo]: Rudder Angle Raw: 2.6159955038109692 -[main_algo-3] [INFO] [1746050869.960562059] [sailbot.main_algo]: Rudder Angle: 2 -[main_algo-3] [INFO] [1746050869.961546478] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050869.962212035] [sailbot.mux]: algo rudder angle: 2 -[vectornav-1] [INFO] [1746050870.003625787] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927556 Long: -76.50339845 -[main_algo-3] [INFO] [1746050870.004416159] [sailbot.main_algo]: Distance to destination: 26.487398785411628 -[main_algo-3] [INFO] [1746050870.005803903] [sailbot.main_algo]: Target Bearing: -114.36769381058242 -[main_algo-3] [INFO] [1746050870.007153751] [sailbot.main_algo]: Heading Difference: 19.174693810582426 -[vectornav-1] [INFO] [1746050870.007149975] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.8, 3.356, 6.684) -[main_algo-3] [INFO] [1746050870.008209790] [sailbot.main_algo]: Rudder Angle Raw: 2.663151918136448 -[main_algo-3] [INFO] [1746050870.009229820] [sailbot.main_algo]: Rudder Angle: 2 -[mux-7] [INFO] [1746050870.011112228] [sailbot.mux]: algo rudder angle: 2 -[mux-7] [INFO] [1746050870.045188173] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050870.045832115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050870.046663084] [sailbot.mux]: Published rudder angle from algo: 2 -[teensy-2] [INFO] [1746050870.047869689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 2 -[teensy-2] [INFO] [1746050870.049041766] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050870.085169397] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050870.086756014] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746050870.087595022] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746050870.087705022] [sailbot.teensy]: Actual sail angle: 55 -[teensy-2] [INFO] [1746050870.088613072] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050870.089190559] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050870.089450794] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050870.144932422] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050870.145461329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050870.146151193] [sailbot.mux]: Published rudder angle from algo: 2 -[teensy-2] [INFO] [1746050870.147224566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 2 -[teensy-2] [INFO] [1746050870.148413483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050870.245393257] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050870.246014032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050870.247026341] [sailbot.mux]: Published rudder angle from algo: 2 -[teensy-2] [INFO] [1746050870.248594147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 2 -[teensy-2] [INFO] [1746050870.249785218] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050870.335336169] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050870.337585974] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746050870.338533083] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050870.338531234] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746050870.339465597] [sailbot.teensy]: Actual tail angle: 27 -[mux-7] [INFO] [1746050870.339915460] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050870.340377285] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050870.344692930] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050870.345241727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050870.346806582] [sailbot.mux]: Published rudder angle from algo: 2 -[teensy-2] [INFO] [1746050870.347079062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 2 -[teensy-2] [INFO] [1746050870.348207005] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050870.445618206] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050870.446675219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050870.447382528] [sailbot.mux]: Published rudder angle from algo: 2 -[teensy-2] [INFO] [1746050870.449120547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 2 -[teensy-2] [INFO] [1746050870.450299367] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050870.457215456] [sailbot.main_algo]: Wind Direction: 345 -[main_algo-3] [INFO] [1746050870.458442617] [sailbot.main_algo]: Target Bearing: -114.36769381058242 -[main_algo-3] [INFO] [1746050870.459503255] [sailbot.main_algo]: Heading Difference: 37.16769381058248 -[main_algo-3] [INFO] [1746050870.460439203] [sailbot.main_algo]: Wind Direction: 345 -[main_algo-3] [INFO] [1746050870.461349226] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050870.462216348] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050870.463371051] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050870.464084495] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050870.502618603] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46927235 Long: -76.5033977 -[main_algo-3] [INFO] [1746050870.503415384] [sailbot.main_algo]: Distance to destination: 26.185294711934592 -[vectornav-1] [INFO] [1746050870.503691789] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.411, -5.308, 5.511) -[main_algo-3] [INFO] [1746050870.504596417] [sailbot.main_algo]: Target Bearing: -114.80077837263758 -[main_algo-3] [INFO] [1746050870.505599926] [sailbot.main_algo]: Heading Difference: 37.60077837263759 -[main_algo-3] [INFO] [1746050870.506573580] [sailbot.main_algo]: Wind Direction: 345 -[main_algo-3] [INFO] [1746050870.507528646] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050870.508433880] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050870.510139707] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050870.545250478] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050870.546451434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050870.546703052] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050870.548456716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050870.549584587] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050870.585232967] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050870.587427306] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746050870.587840180] [sailbot.teensy]: Wind angle: 345 -[teensy-2] [INFO] [1746050870.588840338] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746050870.589072164] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050870.589779525] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050870.590675886] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050870.644929476] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050870.645577726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050870.646198222] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050870.647416860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050870.648603545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050870.745171516] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050870.745870773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050870.746595221] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050870.747883501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050870.748414719] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050870.835655554] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050870.838291126] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746050870.839195662] [sailbot.teensy]: Wind angle: 345 -[mux-7] [INFO] [1746050870.839297616] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050870.840666930] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746050870.841093534] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050870.841432430] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050870.844312762] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050870.844788908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050870.845411843] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050870.846484867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050870.847497676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050870.944806889] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050870.945380891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050870.946332871] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050870.947282678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050870.948495801] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050870.956945730] [sailbot.main_algo]: Wind Direction: 345 -[main_algo-3] [INFO] [1746050870.957896490] [sailbot.main_algo]: Target Bearing: -114.80077837263758 -[main_algo-3] [INFO] [1746050870.958798312] [sailbot.main_algo]: Heading Difference: 44.21177837263758 -[main_algo-3] [INFO] [1746050870.959612249] [sailbot.main_algo]: Wind Direction: 345 -[main_algo-3] [INFO] [1746050870.960431719] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050870.961223499] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050870.962227932] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050870.962986887] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050871.003094959] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926826 Long: -76.50339518 -[main_algo-3] [INFO] [1746050871.003893854] [sailbot.main_algo]: Distance to destination: 25.855899881123513 -[main_algo-3] [INFO] [1746050871.005102282] [sailbot.main_algo]: Target Bearing: -115.626913792058 -[vectornav-1] [INFO] [1746050871.006021354] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (291.96799999999996, -3.425, 3.54) -[main_algo-3] [INFO] [1746050871.006187810] [sailbot.main_algo]: Heading Difference: 45.03791379205802 -[main_algo-3] [INFO] [1746050871.007131579] [sailbot.main_algo]: Wind Direction: 345 -[main_algo-3] [INFO] [1746050871.008025205] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050871.008912369] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050871.010620981] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050871.045202047] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050871.046020165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050871.046623964] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050871.048315254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050871.049309603] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050871.085361114] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050871.087205147] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746050871.087684225] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050871.088239896] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746050871.089235414] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050871.090125020] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050871.090534309] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050871.145163437] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050871.146079880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050871.146570678] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050871.148326935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050871.149433456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050871.245300907] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050871.246230320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050871.246931014] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050871.248630743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050871.249544296] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050871.335211224] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050871.337505884] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050871.338257815] [sailbot.teensy]: Wind angle: 348 -[mux-7] [INFO] [1746050871.338857593] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050871.339272422] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746050871.340240806] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050871.341349266] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050871.344350695] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050871.344912721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050871.345560756] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050871.346626716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050871.347644362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050871.445329698] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050871.446331706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050871.447114343] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050871.448495986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050871.449350530] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050871.457227885] [sailbot.main_algo]: Wind Direction: 348 -[main_algo-3] [INFO] [1746050871.458429412] [sailbot.main_algo]: Target Bearing: -115.626913792058 -[main_algo-3] [INFO] [1746050871.459442311] [sailbot.main_algo]: Heading Difference: 47.59491379205792 -[main_algo-3] [INFO] [1746050871.460348419] [sailbot.main_algo]: Wind Direction: 348 -[main_algo-3] [INFO] [1746050871.461226622] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050871.462105782] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050871.463094802] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050871.463720338] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050871.502956454] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46926323 Long: -76.50339184 -[main_algo-3] [INFO] [1746050871.503424172] [sailbot.main_algo]: Distance to destination: 25.46696261050455 -[vectornav-1] [INFO] [1746050871.504054881] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.59299999999996, 1.086, 1.581) -[main_algo-3] [INFO] [1746050871.504469477] [sailbot.main_algo]: Target Bearing: -116.71210806015777 -[main_algo-3] [INFO] [1746050871.505460422] [sailbot.main_algo]: Heading Difference: 48.68010806015775 -[main_algo-3] [INFO] [1746050871.506342175] [sailbot.main_algo]: Wind Direction: 348 -[main_algo-3] [INFO] [1746050871.507235725] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050871.508109272] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050871.509841294] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050871.545244692] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050871.545974086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050871.546798361] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050871.548659028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050871.549824831] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050871.585029851] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050871.586731900] [sailbot.teensy]: Wind angle: 348 -[teensy-2] [INFO] [1746050871.587675865] [sailbot.teensy]: Actual sail angle: 90 -[trim_sail-4] [INFO] [1746050871.587258725] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050871.588565667] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050871.588667516] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050871.589477533] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050871.645446479] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050871.646203339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050871.647159665] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050871.648784441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050871.649913063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050871.745190768] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050871.745990986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050871.746594092] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050871.747984652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050871.748949449] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050871.835433330] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050871.837478197] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746050871.838110468] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050871.838421519] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746050871.838490703] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050871.839177389] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050871.839555156] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050871.844534145] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050871.845080649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050871.845681593] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050871.846761787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050871.847844927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050871.944852840] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050871.945558127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050871.946088255] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050871.947428213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050871.948473099] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050871.957066535] [sailbot.main_algo]: Wind Direction: 348 -[main_algo-3] [INFO] [1746050871.958118636] [sailbot.main_algo]: Target Bearing: -116.71210806015777 -[main_algo-3] [INFO] [1746050871.959064864] [sailbot.main_algo]: Heading Difference: 37.30510806015775 -[main_algo-3] [INFO] [1746050871.959946903] [sailbot.main_algo]: Wind Direction: 348 -[main_algo-3] [INFO] [1746050871.960793907] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050871.961613942] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050871.962656753] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050871.963195075] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050872.003492545] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46925829 Long: -76.50339136 -[main_algo-3] [INFO] [1746050872.004302542] [sailbot.main_algo]: Distance to destination: 24.991200409422277 -[main_algo-3] [INFO] [1746050872.005797437] [sailbot.main_algo]: Target Bearing: -117.33905436111787 -[vectornav-1] [INFO] [1746050872.005896874] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (260.35699999999997, 2.166, -0.052) -[main_algo-3] [INFO] [1746050872.006874707] [sailbot.main_algo]: Heading Difference: 37.93205436111782 -[main_algo-3] [INFO] [1746050872.007797632] [sailbot.main_algo]: Wind Direction: 348 -[main_algo-3] [INFO] [1746050872.008793291] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050872.009681376] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050872.011446183] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050872.045681323] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050872.045816601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050872.047288064] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050872.047835336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050872.049037597] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050872.085239989] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050872.087503895] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746050872.087521312] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050872.088580671] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746050872.089461450] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050872.089785374] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050872.090654963] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050872.144956228] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050872.145581478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050872.146256505] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050872.147450981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050872.148557039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050872.245532569] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050872.246471943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050872.247326279] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050872.247971822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050872.248906342] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050872.335244170] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050872.336950402] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746050872.337483740] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746050872.337860722] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050872.338738376] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050872.339473008] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050872.339632653] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050872.344375481] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050872.345054647] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050872.345462275] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050872.346757820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050872.347837369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050872.445330406] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050872.446552342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050872.447714781] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050872.448137345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050872.448658548] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050872.457236981] [sailbot.main_algo]: Wind Direction: 344 -[main_algo-3] [INFO] [1746050872.458355808] [sailbot.main_algo]: Target Bearing: -117.33905436111787 -[main_algo-3] [INFO] [1746050872.459314311] [sailbot.main_algo]: Heading Difference: 17.69605436111783 -[main_algo-3] [INFO] [1746050872.460234498] [sailbot.main_algo]: Rudder Angle Raw: 2.457785327933032 -[main_algo-3] [INFO] [1746050872.461067800] [sailbot.main_algo]: Rudder Angle: 2 -[main_algo-3] [INFO] [1746050872.462260297] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050872.463017240] [sailbot.mux]: algo rudder angle: 2 -[vectornav-1] [INFO] [1746050872.502877785] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692545 Long: -76.50339325 -[main_algo-3] [INFO] [1746050872.503853813] [sailbot.main_algo]: Distance to destination: 24.545070035716755 -[vectornav-1] [INFO] [1746050872.504271950] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (237.17899999999997, -0.402, -0.697) -[main_algo-3] [INFO] [1746050872.505036791] [sailbot.main_algo]: Target Bearing: -117.44962316953291 -[main_algo-3] [INFO] [1746050872.506141224] [sailbot.main_algo]: Heading Difference: 17.80662316953294 -[main_algo-3] [INFO] [1746050872.507082250] [sailbot.main_algo]: Rudder Angle Raw: 2.473142106879575 -[main_algo-3] [INFO] [1746050872.507957404] [sailbot.main_algo]: Rudder Angle: 2 -[mux-7] [INFO] [1746050872.509788324] [sailbot.mux]: algo rudder angle: 2 -[mux-7] [INFO] [1746050872.544998119] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050872.545829910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050872.546459519] [sailbot.mux]: Published rudder angle from algo: 2 -[teensy-2] [INFO] [1746050872.547847139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 2 -[teensy-2] [INFO] [1746050872.548899777] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050872.585254006] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050872.587314474] [sailbot.teensy]: Wind angle: 332 -[trim_sail-4] [INFO] [1746050872.587903308] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746050872.588250405] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050872.589183321] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050872.589989317] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746050872.590087838] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050872.644939569] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050872.645792891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050872.646626835] [sailbot.mux]: Published rudder angle from algo: 2 -[teensy-2] [INFO] [1746050872.647822253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 2 -[teensy-2] [INFO] [1746050872.648909069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050872.745110767] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050872.745673629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050872.746736987] [sailbot.mux]: Published rudder angle from algo: 2 -[teensy-2] [INFO] [1746050872.747573326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 2 -[teensy-2] [INFO] [1746050872.748752222] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050872.835232449] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050872.837527745] [sailbot.trim_sail]: Sail Angle: "60" -[mux-7] [INFO] [1746050872.838179362] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746050872.839043074] [sailbot.teensy]: Wind angle: 310 -[teensy-2] [INFO] [1746050872.839980606] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746050872.840685965] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050872.841051597] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050872.844528287] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050872.844984890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050872.845706632] [sailbot.mux]: Published rudder angle from algo: 2 -[teensy-2] [INFO] [1746050872.846675071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 2 -[teensy-2] [INFO] [1746050872.847751755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050872.945622024] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050872.946431839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050872.947474523] [sailbot.mux]: Published rudder angle from algo: 2 -[teensy-2] [INFO] [1746050872.948529726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 2 -[teensy-2] [INFO] [1746050872.949053438] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050872.957108313] [sailbot.main_algo]: Wind Direction: 310 -[main_algo-3] [INFO] [1746050872.958117464] [sailbot.main_algo]: Target Bearing: -117.44962316953291 -[main_algo-3] [INFO] [1746050872.959005854] [sailbot.main_algo]: Heading Difference: -5.37137683046717 -[main_algo-3] [INFO] [1746050872.959867325] [sailbot.main_algo]: Rudder Angle Raw: -0.746024559787107 -[main_algo-3] [INFO] [1746050872.960745384] [sailbot.main_algo]: Rudder Angle: -1 -[main_algo-3] [INFO] [1746050872.961768265] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050872.962375622] [sailbot.mux]: algo rudder angle: -1 -[vectornav-1] [INFO] [1746050873.003256676] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46925205 Long: -76.50339776 -[main_algo-3] [INFO] [1746050873.003663610] [sailbot.main_algo]: Distance to destination: 24.13726708112942 -[main_algo-3] [INFO] [1746050873.004776160] [sailbot.main_algo]: Target Bearing: -116.94894554961637 -[vectornav-1] [INFO] [1746050873.005198931] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (215.60400000000004, -1.201, -3.651) -[main_algo-3] [INFO] [1746050873.005765074] [sailbot.main_algo]: Heading Difference: -5.872054450383644 -[main_algo-3] [INFO] [1746050873.006739679] [sailbot.main_algo]: Rudder Angle Raw: -0.8155631181088394 -[main_algo-3] [INFO] [1746050873.007634270] [sailbot.main_algo]: Rudder Angle: -1 -[mux-7] [INFO] [1746050873.009391845] [sailbot.mux]: algo rudder angle: -1 -[mux-7] [INFO] [1746050873.045356957] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050873.045989783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050873.046984470] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050873.048280278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: -1 -[teensy-2] [INFO] [1746050873.049383846] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050873.085515256] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050873.087342882] [sailbot.teensy]: Wind angle: 292 -[trim_sail-4] [INFO] [1746050873.087898451] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050873.088335379] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050873.089245043] [sailbot.teensy]: Actual tail angle: 27 -[mux-7] [INFO] [1746050873.090007411] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050873.090113435] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050873.145306147] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050873.145987687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050873.146869545] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050873.148106253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 -[teensy-2] [INFO] [1746050873.148605238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050873.245140657] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050873.245791936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050873.246935715] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050873.247966082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 -[teensy-2] [INFO] [1746050873.249028736] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050873.335198035] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050873.337472459] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050873.337912393] [sailbot.teensy]: Wind angle: 284 -[mux-7] [INFO] [1746050873.338339031] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050873.338572954] [sailbot.teensy]: Actual sail angle: 60 -[teensy-2] [INFO] [1746050873.339010040] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050873.339372622] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050873.344503741] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050873.345122348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050873.345757760] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050873.346910558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -1 -[teensy-2] [INFO] [1746050873.347912691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050873.445293772] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050873.445870001] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050873.446774368] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050873.448323508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -1 -[teensy-2] [INFO] [1746050873.449416656] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050873.457021337] [sailbot.main_algo]: Wind Direction: 284 -[main_algo-3] [INFO] [1746050873.457986116] [sailbot.main_algo]: Target Bearing: -116.94894554961637 -[main_algo-3] [INFO] [1746050873.458876217] [sailbot.main_algo]: Heading Difference: -27.447054450383575 -[main_algo-3] [INFO] [1746050873.459675258] [sailbot.main_algo]: Wind Direction: 284 -[main_algo-3] [INFO] [1746050873.460500186] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050873.461279924] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050873.462234861] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050873.462871425] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050873.503037645] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692495 Long: -76.50340121 -[main_algo-3] [INFO] [1746050873.503428209] [sailbot.main_algo]: Distance to destination: 23.758891926727244 -[vectornav-1] [INFO] [1746050873.504222819] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (201.563, 0.138, -7.613) -[main_algo-3] [INFO] [1746050873.504893855] [sailbot.main_algo]: Target Bearing: -116.63243240131787 -[main_algo-3] [INFO] [1746050873.505896142] [sailbot.main_algo]: Heading Difference: -27.76356759868213 -[main_algo-3] [INFO] [1746050873.506817992] [sailbot.main_algo]: Wind Direction: 284 -[main_algo-3] [INFO] [1746050873.507714694] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050873.508588914] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050873.510305609] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050873.545130623] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050873.545756067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050873.546797536] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050873.547968790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050873.549020163] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050873.585423416] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050873.587860781] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050873.588130293] [sailbot.teensy]: Wind angle: 276 -[teensy-2] [INFO] [1746050873.589102364] [sailbot.teensy]: Actual sail angle: 50 -[mux-7] [INFO] [1746050873.589514065] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050873.589964002] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050873.591098546] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050873.645233456] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050873.645784741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050873.646800031] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050873.647949703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050873.649095313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050873.745061218] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050873.745760383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050873.746356452] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050873.747737759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050873.748769702] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050873.835492760] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050873.837878385] [sailbot.teensy]: Wind angle: 267 -[trim_sail-4] [INFO] [1746050873.837992854] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050873.838945517] [sailbot.teensy]: Actual sail angle: 40 -[mux-7] [INFO] [1746050873.840315606] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050873.840549170] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050873.840947194] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050873.844561115] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050873.845318727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050873.845806962] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050873.847185459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050873.848413291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050873.945349009] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050873.946428206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050873.946894931] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050873.948571517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050873.949748232] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050873.956969585] [sailbot.main_algo]: Wind Direction: 267 -[main_algo-3] [INFO] [1746050873.958011465] [sailbot.main_algo]: Target Bearing: -116.63243240131787 -[main_algo-3] [INFO] [1746050873.958900988] [sailbot.main_algo]: Heading Difference: -41.80456759868213 -[main_algo-3] [INFO] [1746050873.959768892] [sailbot.main_algo]: Wind Direction: 267 -[main_algo-3] [INFO] [1746050873.960613214] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050873.961418798] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050873.962469272] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050873.963055069] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050874.003609052] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46924883 Long: -76.50340509 -[main_algo-3] [INFO] [1746050874.004231695] [sailbot.main_algo]: Distance to destination: 23.555251624671868 -[main_algo-3] [INFO] [1746050874.005469220] [sailbot.main_algo]: Target Bearing: -116.01096545966749 -[main_algo-3] [INFO] [1746050874.006497467] [sailbot.main_algo]: Heading Difference: -42.42603454033252 -[vectornav-1] [INFO] [1746050874.007139564] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.59299999999996, -0.385, -5.727) -[main_algo-3] [INFO] [1746050874.007446177] [sailbot.main_algo]: Wind Direction: 267 -[main_algo-3] [INFO] [1746050874.008425544] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050874.009339336] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050874.011047867] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050874.045224274] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050874.046178543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050874.046918067] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050874.048872120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050874.050014208] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050874.085317263] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050874.087045022] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746050874.087952863] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050874.087984630] [sailbot.teensy]: Actual sail angle: 35 -[teensy-2] [INFO] [1746050874.088893425] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050874.088917390] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050874.089818679] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050874.145471921] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050874.146232559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050874.147135587] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050874.148442232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050874.149691063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050874.245245929] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050874.246001217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050874.246751385] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050874.248105837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050874.249315228] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050874.335324753] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050874.337343961] [sailbot.teensy]: Wind angle: 270 -[teensy-2] [INFO] [1746050874.338320878] [sailbot.teensy]: Actual sail angle: 30 -[trim_sail-4] [INFO] [1746050874.337865999] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050874.339207261] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050874.339398500] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050874.340234991] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050874.344367491] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050874.344870854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050874.345438968] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050874.346565836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050874.347708079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050874.444990752] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050874.445635208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050874.446319455] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050874.447886337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050874.448951919] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050874.457050153] [sailbot.main_algo]: Wind Direction: 270 -[main_algo-3] [INFO] [1746050874.458002530] [sailbot.main_algo]: Target Bearing: -116.01096545966749 -[main_algo-3] [INFO] [1746050874.458887597] [sailbot.main_algo]: Heading Difference: -52.39603454033255 -[main_algo-3] [INFO] [1746050874.459715000] [sailbot.main_algo]: Wind Direction: 270 -[main_algo-3] [INFO] [1746050874.460538750] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050874.461357689] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050874.462445739] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050874.463054552] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050874.503143702] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46924919 Long: -76.50340859 -[main_algo-3] [INFO] [1746050874.503427146] [sailbot.main_algo]: Distance to destination: 23.47153097227499 -[vectornav-1] [INFO] [1746050874.504218993] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.15800000000002, -1.091, 3.684) -[main_algo-3] [INFO] [1746050874.504433084] [sailbot.main_algo]: Target Bearing: -115.33302112828751 -[main_algo-3] [INFO] [1746050874.505455718] [sailbot.main_algo]: Heading Difference: -53.07397887171254 -[main_algo-3] [INFO] [1746050874.506381133] [sailbot.main_algo]: Wind Direction: 270 -[main_algo-3] [INFO] [1746050874.507289163] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050874.508143606] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050874.509868804] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050874.545082432] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050874.545986039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050874.546501356] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050874.548111634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050874.549199883] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050874.585242888] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050874.586943999] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050874.587375478] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050874.587805431] [sailbot.teensy]: Actual sail angle: 30 -[teensy-2] [INFO] [1746050874.588725599] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050874.588708718] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050874.589629503] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050874.645495770] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746050874.646480807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050874.647159426] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050874.649221508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746050874.650463680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050874.745441982] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746050874.746577526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050874.747595855] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050874.748379754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746050874.748903788] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050874.835398114] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050874.837905146] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050874.837935540] [sailbot.teensy]: Wind angle: 243 -[teensy-2] [INFO] [1746050874.838961782] [sailbot.teensy]: Actual sail angle: 30 -[mux-7] [INFO] [1746050874.839231510] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050874.839510989] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050874.839879777] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050874.844781305] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746050874.845211303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050874.846030971] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050874.846980677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746050874.848002927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050874.945286165] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746050874.945878726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050874.947111374] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050874.947942834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746050874.949032454] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050874.957000917] [sailbot.main_algo]: Wind Direction: 243 -[main_algo-3] [INFO] [1746050874.957975516] [sailbot.main_algo]: Target Bearing: -115.33302112828751 -[main_algo-3] [INFO] [1746050874.958870537] [sailbot.main_algo]: Heading Difference: -48.508978871712486 -[main_algo-3] [INFO] [1746050874.959707292] [sailbot.main_algo]: Wind Direction: 243 -[main_algo-3] [INFO] [1746050874.960520347] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050874.961329206] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050874.962318518] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050874.963277776] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050875.003951625] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46924836 Long: -76.50341175 -[main_algo-3] [INFO] [1746050875.004494118] [sailbot.main_algo]: Distance to destination: 23.281385904547935 -[main_algo-3] [INFO] [1746050875.005812627] [sailbot.main_algo]: Target Bearing: -114.84374259123372 -[vectornav-1] [INFO] [1746050875.006402887] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (204.41499999999996, -1.21, 2.779) -[main_algo-3] [INFO] [1746050875.006910755] [sailbot.main_algo]: Heading Difference: -48.99825740876628 -[main_algo-3] [INFO] [1746050875.007853557] [sailbot.main_algo]: Wind Direction: 243 -[main_algo-3] [INFO] [1746050875.008813826] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050875.009684761] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050875.011403930] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050875.045194276] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746050875.045739060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050875.046728441] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050875.047804549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746050875.049040968] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050875.085267914] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050875.086993304] [sailbot.teensy]: Wind angle: 261 -[trim_sail-4] [INFO] [1746050875.087488166] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050875.087931102] [sailbot.teensy]: Actual sail angle: 15 -[teensy-2] [INFO] [1746050875.088852793] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050875.089707074] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050875.089698113] [sailbot.mux]: algo sail angle: 25 -[mux-7] [INFO] [1746050875.145205885] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050875.145962840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050875.146798349] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050875.147610214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050875.148126566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050875.245386096] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050875.246208108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050875.246986718] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050875.248660327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050875.249845314] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050875.335211085] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050875.337424222] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050875.337873679] [sailbot.teensy]: Wind angle: 274 -[teensy-2] [INFO] [1746050875.338837448] [sailbot.teensy]: Actual sail angle: 15 -[mux-7] [INFO] [1746050875.338891417] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050875.339741164] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050875.340750722] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050875.344490403] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050875.344984237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050875.345612534] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050875.346633272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050875.347823848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050875.445327096] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050875.445887494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050875.447104596] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050875.448450170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050875.449495022] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050875.457150690] [sailbot.main_algo]: Wind Direction: 274 -[main_algo-3] [INFO] [1746050875.458206716] [sailbot.main_algo]: Target Bearing: -114.84374259123372 -[main_algo-3] [INFO] [1746050875.459107982] [sailbot.main_algo]: Heading Difference: -40.74125740876633 -[main_algo-3] [INFO] [1746050875.459937436] [sailbot.main_algo]: Wind Direction: 274 -[main_algo-3] [INFO] [1746050875.460784646] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050875.461602413] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050875.462833986] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050875.463501795] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050875.502796616] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46924638 Long: -76.50341459 -[main_algo-3] [INFO] [1746050875.504590672] [sailbot.main_algo]: Distance to destination: 22.986234063405636 -[vectornav-1] [INFO] [1746050875.504616986] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (219.486, 0.56, -0.229) -[main_algo-3] [INFO] [1746050875.506231415] [sailbot.main_algo]: Target Bearing: -114.53274528213625 -[main_algo-3] [INFO] [1746050875.507382695] [sailbot.main_algo]: Heading Difference: -41.052254717863775 -[main_algo-3] [INFO] [1746050875.508379168] [sailbot.main_algo]: Wind Direction: 274 -[main_algo-3] [INFO] [1746050875.509287371] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050875.510313800] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050875.512030238] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050875.545356571] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050875.545964137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050875.547049412] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050875.548011309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050875.549039873] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050875.585400117] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050875.587987959] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050875.588682533] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050875.589211956] [sailbot.teensy]: Wind angle: 274 -[teensy-2] [INFO] [1746050875.590241724] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050875.591118931] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050875.591932070] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050875.645330198] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050875.645870087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050875.646984632] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050875.648588327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050875.649804964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050875.745230743] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050875.745790988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050875.747235332] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050875.748067630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050875.749292583] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050875.835261520] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050875.837770272] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050875.838514430] [sailbot.teensy]: Wind angle: 275 -[mux-7] [INFO] [1746050875.838666971] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050875.839471896] [sailbot.teensy]: Actual sail angle: 35 -[teensy-2] [INFO] [1746050875.839864643] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050875.840229682] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050875.844457242] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050875.845027473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050875.845775884] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050875.846719824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050875.847875710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050875.945254437] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050875.946023683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050875.946974998] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050875.948068819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050875.949320192] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050875.957013920] [sailbot.main_algo]: Wind Direction: 275 -[main_algo-3] [INFO] [1746050875.957970883] [sailbot.main_algo]: Target Bearing: -114.53274528213625 -[main_algo-3] [INFO] [1746050875.958812455] [sailbot.main_algo]: Heading Difference: -25.98125471786375 -[main_algo-3] [INFO] [1746050875.959610582] [sailbot.main_algo]: Wind Direction: 275 -[main_algo-3] [INFO] [1746050875.960445471] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050875.961235436] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050875.962246708] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050875.963122914] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050876.003122409] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46924415 Long: -76.50341689 -[main_algo-3] [INFO] [1746050876.003653232] [sailbot.main_algo]: Distance to destination: 22.683806086509865 -[main_algo-3] [INFO] [1746050876.004751104] [sailbot.main_algo]: Target Bearing: -114.3443718184096 -[vectornav-1] [INFO] [1746050876.004811041] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (237.61799999999994, -0.807, 4.002) -[main_algo-3] [INFO] [1746050876.005758884] [sailbot.main_algo]: Heading Difference: -26.169628181590383 -[main_algo-3] [INFO] [1746050876.006693745] [sailbot.main_algo]: Wind Direction: 275 -[main_algo-3] [INFO] [1746050876.007566978] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050876.008437111] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050876.010142497] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050876.044988676] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050876.045719519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050876.046310117] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050876.047635379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050876.048799118] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050876.085607758] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050876.088687917] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050876.090119122] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050876.090337160] [sailbot.teensy]: Wind angle: 282 -[teensy-2] [INFO] [1746050876.091297111] [sailbot.teensy]: Actual sail angle: 35 -[teensy-2] [INFO] [1746050876.092171985] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050876.093009131] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050876.145122989] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050876.145974143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050876.146682374] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050876.148040969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050876.149120296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050876.245401119] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050876.246216369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050876.246995008] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050876.248438887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050876.249650928] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050876.335275087] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050876.337289080] [sailbot.teensy]: Wind angle: 283 -[trim_sail-4] [INFO] [1746050876.337457600] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050876.338456470] [sailbot.teensy]: Actual sail angle: 35 -[teensy-2] [INFO] [1746050876.339394568] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050876.339650485] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050876.340328962] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050876.344392042] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050876.345061801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050876.345664838] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050876.346780878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050876.347782651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050876.445496511] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050876.446056197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050876.447263740] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050876.448553488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050876.449807150] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050876.457127998] [sailbot.main_algo]: Wind Direction: 283 -[main_algo-3] [INFO] [1746050876.458085233] [sailbot.main_algo]: Target Bearing: -114.3443718184096 -[main_algo-3] [INFO] [1746050876.458967743] [sailbot.main_algo]: Heading Difference: -8.037628181590435 -[main_algo-3] [INFO] [1746050876.459769179] [sailbot.main_algo]: Rudder Angle Raw: -1.116337247443116 -[main_algo-3] [INFO] [1746050876.460619540] [sailbot.main_algo]: Rudder Angle: -2 -[main_algo-3] [INFO] [1746050876.461673772] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050876.462267777] [sailbot.mux]: algo rudder angle: -2 -[vectornav-1] [INFO] [1746050876.503481564] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4692416 Long: -76.50341942 -[main_algo-3] [INFO] [1746050876.504201109] [sailbot.main_algo]: Distance to destination: 22.341519171363707 -[main_algo-3] [INFO] [1746050876.505481927] [sailbot.main_algo]: Target Bearing: -114.14212206204809 -[main_algo-3] [INFO] [1746050876.506468722] [sailbot.main_algo]: Heading Difference: -8.239877937951974 -[vectornav-1] [INFO] [1746050876.506916286] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (252.09799999999996, -4.015, 4.685) -[main_algo-3] [INFO] [1746050876.507506612] [sailbot.main_algo]: Rudder Angle Raw: -1.1444274913822186 -[main_algo-3] [INFO] [1746050876.508418524] [sailbot.main_algo]: Rudder Angle: -2 -[mux-7] [INFO] [1746050876.510139649] [sailbot.mux]: algo rudder angle: -2 -[mux-7] [INFO] [1746050876.545584632] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050876.545674158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050876.546923333] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050876.548055275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -2 -[teensy-2] [INFO] [1746050876.549102253] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050876.585398617] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050876.587926208] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050876.588897625] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050876.588929317] [sailbot.teensy]: Wind angle: 291 -[teensy-2] [INFO] [1746050876.589941440] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746050876.590853840] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050876.591726066] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050876.645132291] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050876.645922647] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050876.646614647] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050876.648263620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -2 -[teensy-2] [INFO] [1746050876.649295061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050876.745328539] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050876.746259807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050876.747114290] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050876.748491574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -2 -[teensy-2] [INFO] [1746050876.749658575] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050876.835326704] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050876.837920170] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050876.839156883] [sailbot.teensy]: Wind angle: 301 -[mux-7] [INFO] [1746050876.839174824] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050876.840548038] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746050876.841414522] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050876.842275791] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050876.844307647] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050876.844984860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050876.845493410] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050876.846869302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -2 -[teensy-2] [INFO] [1746050876.847921872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050876.945212646] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050876.945977021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050876.946767549] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050876.947870664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -2 -[teensy-2] [INFO] [1746050876.948340152] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050876.957080209] [sailbot.main_algo]: Wind Direction: 301 -[main_algo-3] [INFO] [1746050876.958051074] [sailbot.main_algo]: Target Bearing: -114.14212206204809 -[main_algo-3] [INFO] [1746050876.958930584] [sailbot.main_algo]: Heading Difference: 6.240122062048044 -[main_algo-3] [INFO] [1746050876.959737188] [sailbot.main_algo]: Rudder Angle Raw: 0.866683619728895 -[main_algo-3] [INFO] [1746050876.960571557] [sailbot.main_algo]: Rudder Angle: 0 -[main_algo-3] [INFO] [1746050876.961743229] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050876.962131819] [sailbot.mux]: algo rudder angle: 0 -[vectornav-1] [INFO] [1746050877.003215617] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46923753 Long: -76.50341993 -[main_algo-3] [INFO] [1746050877.004281256] [sailbot.main_algo]: Distance to destination: 21.9098051107577 -[vectornav-1] [INFO] [1746050877.004543041] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (274.43, -2.058, 3.852) -[main_algo-3] [INFO] [1746050877.005694818] [sailbot.main_algo]: Target Bearing: -114.50554657064788 -[main_algo-3] [INFO] [1746050877.006665114] [sailbot.main_algo]: Heading Difference: 6.603546570647836 -[main_algo-3] [INFO] [1746050877.007630921] [sailbot.main_algo]: Rudder Angle Raw: 0.9171592459233106 -[main_algo-3] [INFO] [1746050877.008589794] [sailbot.main_algo]: Rudder Angle: 0 -[mux-7] [INFO] [1746050877.010375918] [sailbot.mux]: algo rudder angle: 0 -[mux-7] [INFO] [1746050877.045235595] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050877.046094141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050877.046678984] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050877.048255867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: 0 -[teensy-2] [INFO] [1746050877.049391383] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050877.085211536] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050877.087076638] [sailbot.teensy]: Wind angle: 308 -[teensy-2] [INFO] [1746050877.087983321] [sailbot.teensy]: Actual sail angle: 50 -[trim_sail-4] [INFO] [1746050877.087488601] [sailbot.trim_sail]: Sail Angle: "60" -[mux-7] [INFO] [1746050877.087988759] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746050877.088927068] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050877.089755378] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050877.145064000] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050877.145868999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050877.146417714] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050877.148059648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 0 -[teensy-2] [INFO] [1746050877.149084337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050877.245432931] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050877.246417201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050877.247122152] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050877.248906676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 0 -[teensy-2] [INFO] [1746050877.250080633] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050877.335032315] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050877.337246257] [sailbot.teensy]: Wind angle: 323 -[trim_sail-4] [INFO] [1746050877.337719940] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746050877.338199806] [sailbot.teensy]: Actual sail angle: 55 -[mux-7] [INFO] [1746050877.338814489] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746050877.338889600] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050877.339281058] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050877.344366790] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050877.344894913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050877.345440206] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050877.346623322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 0 -[teensy-2] [INFO] [1746050877.347756136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050877.445394922] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050877.446027999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050877.446889777] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050877.448127863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 0 -[teensy-2] [INFO] [1746050877.449241913] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050877.457185210] [sailbot.main_algo]: Wind Direction: 323 -[main_algo-3] [INFO] [1746050877.458253443] [sailbot.main_algo]: Target Bearing: -114.50554657064788 -[main_algo-3] [INFO] [1746050877.459167154] [sailbot.main_algo]: Heading Difference: 28.93554657064783 -[main_algo-3] [INFO] [1746050877.459986461] [sailbot.main_algo]: Wind Direction: 323 -[main_algo-3] [INFO] [1746050877.460818877] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050877.461633921] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050877.462676788] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050877.463387445] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050877.502586899] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46923265 Long: -76.50341857 -[main_algo-3] [INFO] [1746050877.503584870] [sailbot.main_algo]: Distance to destination: 21.459688491398367 -[vectornav-1] [INFO] [1746050877.503966911] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.179, 1.689, 6.247) -[main_algo-3] [INFO] [1746050877.504713815] [sailbot.main_algo]: Target Bearing: -115.35616200894604 -[main_algo-3] [INFO] [1746050877.505730028] [sailbot.main_algo]: Heading Difference: 29.78616200894612 -[main_algo-3] [INFO] [1746050877.506677800] [sailbot.main_algo]: Wind Direction: 323 -[main_algo-3] [INFO] [1746050877.507565635] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050877.508438786] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050877.510145359] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050877.545061156] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050877.545968331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050877.546371668] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050877.547930350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 -[teensy-2] [INFO] [1746050877.548981361] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050877.585486643] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050877.587447985] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746050877.588015125] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746050877.588486429] [sailbot.teensy]: Actual sail angle: 60 -[mux-7] [INFO] [1746050877.588754502] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050877.589446745] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050877.590409553] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050877.645244718] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050877.645949851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050877.646733549] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050877.648076160] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050877.649285772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050877.745013109] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050877.745969052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050877.746628524] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050877.747705402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050877.748257568] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050877.835334096] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050877.836997369] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746050877.837566929] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050877.837938306] [sailbot.teensy]: Actual sail angle: 70 -[teensy-2] [INFO] [1746050877.838810038] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050877.839069574] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050877.839708250] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050877.844348836] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050877.845052195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050877.845414303] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050877.846792999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050877.847916698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050877.945292839] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050877.946120452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050877.947182038] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050877.948311793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050877.948827558] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050877.957076535] [sailbot.main_algo]: Wind Direction: 352 -[main_algo-3] [INFO] [1746050877.958113152] [sailbot.main_algo]: Target Bearing: -115.35616200894604 -[main_algo-3] [INFO] [1746050877.958998911] [sailbot.main_algo]: Heading Difference: 48.53516200894603 -[main_algo-3] [INFO] [1746050877.959885050] [sailbot.main_algo]: Wind Direction: 352 -[main_algo-3] [INFO] [1746050877.960714773] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050877.961519531] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050877.962527886] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050877.963175076] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050878.003386541] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46922891 Long: -76.50341572 -[main_algo-3] [INFO] [1746050878.004100349] [sailbot.main_algo]: Distance to destination: 21.181327615504802 -[vectornav-1] [INFO] [1746050878.004753551] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (301.671, 1.939, 5.76) -[main_algo-3] [INFO] [1746050878.005308597] [sailbot.main_algo]: Target Bearing: -116.39683618138736 -[main_algo-3] [INFO] [1746050878.006349451] [sailbot.main_algo]: Heading Difference: 49.57583618138733 -[main_algo-3] [INFO] [1746050878.007329236] [sailbot.main_algo]: Wind Direction: 352 -[main_algo-3] [INFO] [1746050878.008344007] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050878.009243625] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050878.011085781] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050878.044975004] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050878.045530733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050878.046235137] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050878.047499384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050878.048557606] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050878.085192292] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050878.086726014] [sailbot.teensy]: Wind angle: 354 -[teensy-2] [INFO] [1746050878.087614268] [sailbot.teensy]: Actual sail angle: 85 -[trim_sail-4] [INFO] [1746050878.087423713] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050878.088469826] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050878.088655111] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050878.089375290] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050878.145261921] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050878.146044306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050878.147042183] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050878.148455700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050878.149531421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050878.245305455] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050878.245850219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050878.247252628] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050878.247899555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050878.249028443] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050878.335242658] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050878.336930246] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746050878.337561074] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050878.337889292] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050878.338799121] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050878.339582474] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050878.339673015] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050878.344226928] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050878.345074842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050878.345329205] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050878.346813398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050878.347928058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050878.445179284] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050878.445938471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050878.446974298] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050878.448515279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050878.449658526] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050878.457053045] [sailbot.main_algo]: Wind Direction: 359 -[main_algo-3] [INFO] [1746050878.458015062] [sailbot.main_algo]: Target Bearing: -116.39683618138736 -[main_algo-3] [INFO] [1746050878.458897693] [sailbot.main_algo]: Heading Difference: 58.06783618138729 -[main_algo-3] [INFO] [1746050878.459706341] [sailbot.main_algo]: Wind Direction: 359 -[main_algo-3] [INFO] [1746050878.460530068] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050878.461330159] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050878.462334626] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050878.463709756] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050878.503422146] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46922597 Long: -76.50341241 -[main_algo-3] [INFO] [1746050878.503900929] [sailbot.main_algo]: Distance to destination: 21.00653344829895 -[vectornav-1] [INFO] [1746050878.504818910] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.325, -0.406, 2.946) -[main_algo-3] [INFO] [1746050878.505113335] [sailbot.main_algo]: Target Bearing: -117.44928879117428 -[main_algo-3] [INFO] [1746050878.506108001] [sailbot.main_algo]: Heading Difference: 59.12028879117429 -[main_algo-3] [INFO] [1746050878.507033880] [sailbot.main_algo]: Wind Direction: 359 -[main_algo-3] [INFO] [1746050878.507930976] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050878.508791909] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050878.510618538] [sailbot.mux]: algo rudder angle: 15 -[teensy-2] [INFO] [1746050878.545773993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050878.545782393] [sailbot.mux]: Published sail angle from algo: 90 -[mux-7] [INFO] [1746050878.547333238] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050878.547903368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050878.549077180] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050878.585422509] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050878.587894092] [sailbot.teensy]: Wind angle: 3 -[trim_sail-4] [INFO] [1746050878.588062301] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746050878.588567980] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050878.588869698] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050878.590078414] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050878.590960012] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050878.645167313] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050878.645856269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050878.646666522] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050878.648010979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050878.648772518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050878.745446425] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050878.746321858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050878.747235768] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050878.748780499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050878.750029358] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050878.835407135] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050878.837232357] [sailbot.teensy]: Wind angle: 4 -[trim_sail-4] [INFO] [1746050878.838121218] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050878.838139466] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050878.839024351] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050878.838482045] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050878.839458601] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050878.844471685] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050878.845114845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050878.845560039] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050878.846808907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050878.847961724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050878.945111306] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050878.945910429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050878.946449149] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050878.947848626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050878.948363542] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050878.956902171] [sailbot.main_algo]: Wind Direction: 4 -[main_algo-3] [INFO] [1746050878.957866057] [sailbot.main_algo]: Target Bearing: -117.44928879117428 -[main_algo-3] [INFO] [1746050878.958726385] [sailbot.main_algo]: Heading Difference: 52.774288791174286 -[main_algo-3] [INFO] [1746050878.959530379] [sailbot.main_algo]: Wind Direction: 4 -[main_algo-3] [INFO] [1746050878.960357469] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050878.961159262] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050878.962144515] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050878.962762264] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050879.003043449] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46922229 Long: -76.50341056 -[main_algo-3] [INFO] [1746050879.003919117] [sailbot.main_algo]: Distance to destination: 20.71072562477754 -[vectornav-1] [INFO] [1746050879.004613424] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (278.219, -3.585, 0.841) -[main_algo-3] [INFO] [1746050879.005131722] [sailbot.main_algo]: Target Bearing: -118.3294657904551 -[main_algo-3] [INFO] [1746050879.006119328] [sailbot.main_algo]: Heading Difference: 53.654465790455106 -[main_algo-3] [INFO] [1746050879.007040777] [sailbot.main_algo]: Wind Direction: 4 -[main_algo-3] [INFO] [1746050879.007932657] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050879.008811686] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050879.010466038] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050879.045073137] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050879.046421450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050879.046646420] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050879.048420569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050879.049552277] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050879.085449408] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050879.087335941] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746050879.088068046] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050879.088274944] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050879.089170888] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050879.089425862] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050879.090039453] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050879.144883671] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050879.145719871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050879.146150673] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050879.147618222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050879.148553310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050879.245038997] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050879.245718689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050879.246570059] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050879.247840898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050879.249055200] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050879.335224222] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050879.337068674] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746050879.337424868] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050879.337993925] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746050879.338786742] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050879.338906606] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050879.339783036] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050879.344383106] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050879.344914676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050879.345586043] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050879.346671195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050879.347752790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050879.445167080] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050879.446026970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050879.446570656] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050879.447947674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050879.449093760] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050879.457011319] [sailbot.main_algo]: Wind Direction: 359 -[main_algo-3] [INFO] [1746050879.458012818] [sailbot.main_algo]: Target Bearing: -118.3294657904551 -[main_algo-3] [INFO] [1746050879.458847272] [sailbot.main_algo]: Heading Difference: 36.54846579045511 -[main_algo-3] [INFO] [1746050879.459679055] [sailbot.main_algo]: Wind Direction: 359 -[main_algo-3] [INFO] [1746050879.460518159] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050879.461353662] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050879.462468234] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050879.463188010] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050879.502568722] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46921718 Long: -76.50341055 -[main_algo-3] [INFO] [1746050879.503399246] [sailbot.main_algo]: Distance to destination: 20.2085552352439 -[vectornav-1] [INFO] [1746050879.503538083] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (253.183, 0.094, -4.013) -[main_algo-3] [INFO] [1746050879.504765264] [sailbot.main_algo]: Target Bearing: -119.06988936165388 -[main_algo-3] [INFO] [1746050879.505638515] [sailbot.main_algo]: Heading Difference: 37.2888893616539 -[main_algo-3] [INFO] [1746050879.506458640] [sailbot.main_algo]: Wind Direction: 359 -[main_algo-3] [INFO] [1746050879.507279803] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050879.508067770] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050879.509655321] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050879.544917582] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050879.545563678] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050879.546157150] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050879.547326537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050879.548295543] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050879.585128482] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050879.586689521] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746050879.587200164] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746050879.587582989] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050879.588473306] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050879.589025373] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050879.589389794] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050879.645080421] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050879.645776626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050879.646433500] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050879.647919196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050879.649070248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050879.744904170] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050879.745533605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050879.746193826] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050879.747330043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050879.748554633] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050879.835109992] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050879.837250109] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746050879.837613330] [sailbot.teensy]: Wind angle: 326 -[mux-7] [INFO] [1746050879.838017085] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746050879.838637863] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050879.839617163] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050879.840543011] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050879.844354248] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050879.844793517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050879.845355379] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050879.846328633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 -[teensy-2] [INFO] [1746050879.847376828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050879.945434627] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050879.946080847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050879.946935204] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050879.948273303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 -[teensy-2] [INFO] [1746050879.949333423] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050879.956979646] [sailbot.main_algo]: Wind Direction: 326 -[main_algo-3] [INFO] [1746050879.957957351] [sailbot.main_algo]: Target Bearing: -119.06988936165388 -[main_algo-3] [INFO] [1746050879.958860442] [sailbot.main_algo]: Heading Difference: 12.252889361653843 -[main_algo-3] [INFO] [1746050879.959685533] [sailbot.main_algo]: Rudder Angle Raw: 1.7017901891185891 -[main_algo-3] [INFO] [1746050879.960508508] [sailbot.main_algo]: Rudder Angle: 1 -[main_algo-3] [INFO] [1746050879.961639058] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050879.962282220] [sailbot.mux]: algo rudder angle: 1 -[vectornav-1] [INFO] [1746050880.002905551] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46921268 Long: -76.50341295 -[main_algo-3] [INFO] [1746050880.003729341] [sailbot.main_algo]: Distance to destination: 19.67479921212101 -[vectornav-1] [INFO] [1746050880.004640672] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (229.08400000000006, 1.129, -6.762) -[main_algo-3] [INFO] [1746050880.004963286] [sailbot.main_algo]: Target Bearing: -119.24724038588867 -[main_algo-3] [INFO] [1746050880.005997286] [sailbot.main_algo]: Heading Difference: 12.430240385888737 -[main_algo-3] [INFO] [1746050880.006922333] [sailbot.main_algo]: Rudder Angle Raw: 1.72642227581788 -[main_algo-3] [INFO] [1746050880.007822877] [sailbot.main_algo]: Rudder Angle: 1 -[mux-7] [INFO] [1746050880.009571372] [sailbot.mux]: algo rudder angle: 1 -[mux-7] [INFO] [1746050880.044756849] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050880.045449262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050880.045872482] [sailbot.mux]: Published rudder angle from algo: 1 -[teensy-2] [INFO] [1746050880.047275849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 1 -[teensy-2] [INFO] [1746050880.048756911] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050880.085451870] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050880.087479767] [sailbot.teensy]: Wind angle: 310 -[teensy-2] [INFO] [1746050880.088425930] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746050880.088500711] [sailbot.mux]: algo sail angle: 60 -[trim_sail-4] [INFO] [1746050880.088645565] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746050880.089345124] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050880.090245715] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050880.145032187] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050880.146227939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050880.146610799] [sailbot.mux]: Published rudder angle from algo: 1 -[teensy-2] [INFO] [1746050880.148078767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 1 -[teensy-2] [INFO] [1746050880.149257105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050880.245208224] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050880.246284975] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050880.246906819] [sailbot.mux]: Published rudder angle from algo: 1 -[teensy-2] [INFO] [1746050880.247956921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 1 -[teensy-2] [INFO] [1746050880.248389764] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050880.335285076] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050880.337229286] [sailbot.teensy]: Wind angle: 299 -[teensy-2] [INFO] [1746050880.338119777] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050880.338467890] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050880.338921738] [sailbot.teensy]: Actual tail angle: 26 -[trim_sail-4] [INFO] [1746050880.339252704] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050880.339305173] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050880.344407804] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050880.345090597] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050880.345954311] [sailbot.mux]: Published rudder angle from algo: 1 -[teensy-2] [INFO] [1746050880.347028784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: 1 -[teensy-2] [INFO] [1746050880.348235842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050880.445221801] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050880.445940617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050880.446709570] [sailbot.mux]: Published rudder angle from algo: 1 -[teensy-2] [INFO] [1746050880.448054643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: 1 -[teensy-2] [INFO] [1746050880.449359598] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050880.457017481] [sailbot.main_algo]: Wind Direction: 299 -[main_algo-3] [INFO] [1746050880.457990596] [sailbot.main_algo]: Target Bearing: -119.24724038588867 -[main_algo-3] [INFO] [1746050880.458826309] [sailbot.main_algo]: Heading Difference: -11.668759614111195 -[main_algo-3] [INFO] [1746050880.459648979] [sailbot.main_algo]: Rudder Angle Raw: -1.6206610575154439 -[main_algo-3] [INFO] [1746050880.460467336] [sailbot.main_algo]: Rudder Angle: -2 -[main_algo-3] [INFO] [1746050880.461486855] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050880.462058551] [sailbot.mux]: algo rudder angle: -2 -[vectornav-1] [INFO] [1746050880.503121852] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46921023 Long: -76.50341669 -[main_algo-3] [INFO] [1746050880.503888826] [sailbot.main_algo]: Distance to destination: 19.29013238248619 -[vectornav-1] [INFO] [1746050880.504433968] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (209.62099999999998, -0.486, -4.563) -[main_algo-3] [INFO] [1746050880.504962015] [sailbot.main_algo]: Target Bearing: -118.82482498506076 -[main_algo-3] [INFO] [1746050880.506286822] [sailbot.main_algo]: Heading Difference: -12.091175014939154 -[main_algo-3] [INFO] [1746050880.507252211] [sailbot.main_algo]: Rudder Angle Raw: -1.6793298631859934 -[main_algo-3] [INFO] [1746050880.508138660] [sailbot.main_algo]: Rudder Angle: -2 -[mux-7] [INFO] [1746050880.509889863] [sailbot.mux]: algo rudder angle: -2 -[mux-7] [INFO] [1746050880.545089570] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050880.545813729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050880.546416697] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050880.548102630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -2 -[teensy-2] [INFO] [1746050880.549249476] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050880.585423005] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050880.587325255] [sailbot.teensy]: Wind angle: 291 -[trim_sail-4] [INFO] [1746050880.587736726] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050880.588328271] [sailbot.teensy]: Actual sail angle: 60 -[teensy-2] [INFO] [1746050880.589297316] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050880.590385399] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050880.590437264] [sailbot.mux]: algo sail angle: 50 -[mux-7] [INFO] [1746050880.645241817] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050880.645834740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050880.646632801] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050880.648030022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -2 -[teensy-2] [INFO] [1746050880.649048856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050880.745286907] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050880.746339200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050880.746788716] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050880.748406131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -2 -[teensy-2] [INFO] [1746050880.749393716] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050880.835137554] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050880.837219944] [sailbot.teensy]: Wind angle: 275 -[trim_sail-4] [INFO] [1746050880.837378390] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050880.838205009] [sailbot.teensy]: Actual sail angle: 55 -[mux-7] [INFO] [1746050880.838630160] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050880.839021939] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050880.839399866] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050880.844485722] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050880.845113595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050880.845558418] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050880.846943557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -2 -[teensy-2] [INFO] [1746050880.847995573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050880.945418249] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050880.946259256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050880.947030254] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050880.948653703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -2 -[teensy-2] [INFO] [1746050880.949703723] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050880.957035184] [sailbot.main_algo]: Wind Direction: 275 -[main_algo-3] [INFO] [1746050880.958019412] [sailbot.main_algo]: Target Bearing: -118.82482498506076 -[main_algo-3] [INFO] [1746050880.958908580] [sailbot.main_algo]: Heading Difference: -31.554175014939233 -[main_algo-3] [INFO] [1746050880.959762224] [sailbot.main_algo]: Wind Direction: 275 -[main_algo-3] [INFO] [1746050880.960639915] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050880.961424617] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050880.962439344] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050880.963229143] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050881.003176106] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46920932 Long: -76.50342132 -[main_algo-3] [INFO] [1746050881.003752373] [sailbot.main_algo]: Distance to destination: 19.02534126443541 -[vectornav-1] [INFO] [1746050881.004698502] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.46399999999994, -2.167, 0.502) -[main_algo-3] [INFO] [1746050881.004893151] [sailbot.main_algo]: Target Bearing: -117.95273845886794 -[main_algo-3] [INFO] [1746050881.005903085] [sailbot.main_algo]: Heading Difference: -32.42626154113208 -[main_algo-3] [INFO] [1746050881.006833796] [sailbot.main_algo]: Wind Direction: 275 -[main_algo-3] [INFO] [1746050881.007734677] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050881.008599523] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050881.010371373] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050881.045095151] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050881.046184559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050881.046468770] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050881.048142870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050881.049225366] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050881.085498531] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050881.087361718] [sailbot.teensy]: Wind angle: 258 -[trim_sail-4] [INFO] [1746050881.088042565] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050881.088356192] [sailbot.teensy]: Actual sail angle: 50 -[mux-7] [INFO] [1746050881.089181503] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050881.089263244] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050881.090205555] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050881.144742829] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050881.145393000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050881.145891642] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050881.147147208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050881.148351255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050881.245275137] [sailbot.mux]: Published sail angle from algo: 25 -[mux-7] [INFO] [1746050881.246850827] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050881.247573176] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050881.248648677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050881.249105083] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050881.335398580] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050881.337419206] [sailbot.teensy]: Wind angle: 256 -[trim_sail-4] [INFO] [1746050881.337805840] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050881.339097842] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050881.339195689] [sailbot.teensy]: Actual sail angle: 35 -[teensy-2] [INFO] [1746050881.339608957] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050881.340044416] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050881.344375538] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050881.345278194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050881.345801419] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050881.347031304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050881.348044762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050881.445271973] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050881.446799639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050881.447292148] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050881.448599387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050881.449142859] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050881.457188619] [sailbot.main_algo]: Wind Direction: 256 -[main_algo-3] [INFO] [1746050881.458247612] [sailbot.main_algo]: Target Bearing: -117.95273845886794 -[main_algo-3] [INFO] [1746050881.459143807] [sailbot.main_algo]: Heading Difference: -45.58326154113212 -[main_algo-3] [INFO] [1746050881.459948067] [sailbot.main_algo]: Wind Direction: 256 -[main_algo-3] [INFO] [1746050881.460779589] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050881.461562911] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050881.462581154] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050881.463573578] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050881.502756373] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46920863 Long: -76.50342568 -[main_algo-3] [INFO] [1746050881.503717223] [sailbot.main_algo]: Distance to destination: 18.79678244555356 -[vectornav-1] [INFO] [1746050881.503905853] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.43200000000002, 0.341, -0.024) -[main_algo-3] [INFO] [1746050881.505066440] [sailbot.main_algo]: Target Bearing: -117.0843521416152 -[main_algo-3] [INFO] [1746050881.506075080] [sailbot.main_algo]: Heading Difference: -46.45164785838483 -[main_algo-3] [INFO] [1746050881.506994154] [sailbot.main_algo]: Wind Direction: 256 -[main_algo-3] [INFO] [1746050881.507873970] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050881.508748661] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050881.510786289] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050881.544968495] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050881.545736709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050881.546200146] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050881.547790326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050881.548991199] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050881.585308285] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050881.586835045] [sailbot.teensy]: Wind angle: 253 -[teensy-2] [INFO] [1746050881.587712678] [sailbot.teensy]: Actual sail angle: 25 -[trim_sail-4] [INFO] [1746050881.587314470] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050881.588539435] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050881.588590340] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050881.589577808] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050881.645156211] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050881.645896402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050881.646913268] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050881.648008451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050881.649256450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050881.745422410] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050881.746460762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050881.747036160] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050881.748770198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050881.750029118] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050881.835231266] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050881.837162768] [sailbot.teensy]: Wind angle: 253 -[trim_sail-4] [INFO] [1746050881.837478988] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050881.838543739] [sailbot.teensy]: Actual sail angle: 20 -[teensy-2] [INFO] [1746050881.839605392] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050881.840330814] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050881.840504217] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050881.844399502] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050881.844985163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050881.845512824] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050881.846688592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050881.847832177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050881.945180016] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050881.946026376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050881.946653110] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050881.947978185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050881.949122779] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050881.957109312] [sailbot.main_algo]: Wind Direction: 253 -[main_algo-3] [INFO] [1746050881.958094908] [sailbot.main_algo]: Target Bearing: -117.0843521416152 -[main_algo-3] [INFO] [1746050881.958949950] [sailbot.main_algo]: Heading Difference: -51.48364785838476 -[main_algo-3] [INFO] [1746050881.959737175] [sailbot.main_algo]: Wind Direction: 253 -[main_algo-3] [INFO] [1746050881.960538581] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050881.961349080] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050881.962387877] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050881.963035637] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050882.002995032] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46920807 Long: -76.50342915 -[main_algo-3] [INFO] [1746050882.003499937] [sailbot.main_algo]: Distance to destination: 18.61694369886387 -[vectornav-1] [INFO] [1746050882.004299178] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.47799999999995, 2.289, 0.212) -[main_algo-3] [INFO] [1746050882.004545897] [sailbot.main_algo]: Target Bearing: -116.3797058201563 -[main_algo-3] [INFO] [1746050882.005485100] [sailbot.main_algo]: Heading Difference: -52.188294179843695 -[main_algo-3] [INFO] [1746050882.006336574] [sailbot.main_algo]: Wind Direction: 253 -[main_algo-3] [INFO] [1746050882.007148392] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050882.007969519] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050882.009743593] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050882.044917031] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050882.045710343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050882.046198997] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050882.047507111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050882.048693710] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050882.085392441] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050882.087952584] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050882.088333097] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050882.088589428] [sailbot.teensy]: Wind angle: 260 -[teensy-2] [INFO] [1746050882.089637999] [sailbot.teensy]: Actual sail angle: 20 -[teensy-2] [INFO] [1746050882.090540082] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050882.091407023] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050882.145462902] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050882.146069628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050882.146845293] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050882.148211835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050882.149263548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050882.245458802] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050882.246213661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050882.247039817] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050882.248842969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050882.249738186] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050882.335405997] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050882.337809701] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050882.338646153] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050882.338811389] [sailbot.teensy]: Wind angle: 261 -[teensy-2] [INFO] [1746050882.339422959] [sailbot.teensy]: Actual sail angle: 20 -[teensy-2] [INFO] [1746050882.339815288] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050882.340197128] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050882.344446375] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050882.344928809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050882.345544688] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050882.346623540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050882.347657543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050882.445340804] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050882.445900087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050882.446830190] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050882.447796964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050882.448274980] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050882.457193037] [sailbot.main_algo]: Wind Direction: 261 -[main_algo-3] [INFO] [1746050882.458257334] [sailbot.main_algo]: Target Bearing: -116.3797058201563 -[main_algo-3] [INFO] [1746050882.459161090] [sailbot.main_algo]: Heading Difference: -48.14229417984376 -[main_algo-3] [INFO] [1746050882.459981428] [sailbot.main_algo]: Wind Direction: 261 -[main_algo-3] [INFO] [1746050882.460795114] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050882.461596365] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050882.462581227] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050882.463136669] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050882.502844521] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46920718 Long: -76.50343177 -[main_algo-3] [INFO] [1746050882.503840987] [sailbot.main_algo]: Distance to destination: 18.435977718164846 -[vectornav-1] [INFO] [1746050882.504043545] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (205.02700000000004, -2.926, 4.023) -[main_algo-3] [INFO] [1746050882.505172351] [sailbot.main_algo]: Target Bearing: -115.90633719827348 -[main_algo-3] [INFO] [1746050882.506152229] [sailbot.main_algo]: Heading Difference: -48.61566280172656 -[main_algo-3] [INFO] [1746050882.507058085] [sailbot.main_algo]: Wind Direction: 261 -[main_algo-3] [INFO] [1746050882.507937237] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050882.508832766] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050882.510539112] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050882.545054542] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050882.545778683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050882.546436045] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050882.547929454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050882.549141971] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050882.585277870] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050882.587035029] [sailbot.teensy]: Wind angle: 263 -[trim_sail-4] [INFO] [1746050882.587522522] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050882.587933195] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050882.588816785] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050882.589248564] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050882.589720845] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050882.645028606] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050882.645775345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050882.646631701] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050882.647739101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050882.648857211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050882.744792633] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050882.745334512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050882.745972507] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050882.747050725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050882.748253595] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050882.835067945] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050882.837222272] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050882.837407666] [sailbot.teensy]: Wind angle: 267 -[mux-7] [INFO] [1746050882.838122279] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050882.838346379] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050882.839234543] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050882.840089633] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050882.844410339] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050882.844818184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050882.845539671] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050882.846507465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050882.847572109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050882.944756786] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050882.945290413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050882.946025766] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050882.947052188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050882.948216222] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050882.956949148] [sailbot.main_algo]: Wind Direction: 267 -[main_algo-3] [INFO] [1746050882.957944432] [sailbot.main_algo]: Target Bearing: -115.90633719827348 -[main_algo-3] [INFO] [1746050882.958810093] [sailbot.main_algo]: Heading Difference: -39.066662801726466 -[main_algo-3] [INFO] [1746050882.959636655] [sailbot.main_algo]: Wind Direction: 267 -[main_algo-3] [INFO] [1746050882.960452066] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050882.961247404] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050882.962247139] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050882.963225419] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050883.003513761] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46920615 Long: -76.50343481 -[main_algo-3] [INFO] [1746050883.003701844] [sailbot.main_algo]: Distance to destination: 18.227883212935634 -[vectornav-1] [INFO] [1746050883.004642063] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (214.69899999999996, 0.43, 0.675) -[main_algo-3] [INFO] [1746050883.004788023] [sailbot.main_algo]: Target Bearing: -115.34496647587332 -[main_algo-3] [INFO] [1746050883.005793032] [sailbot.main_algo]: Heading Difference: -39.628033524126636 -[main_algo-3] [INFO] [1746050883.006783349] [sailbot.main_algo]: Wind Direction: 267 -[main_algo-3] [INFO] [1746050883.007718382] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050883.008612855] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050883.010393076] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050883.045160223] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050883.045698697] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050883.046605979] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050883.047657383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050883.048850773] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050883.085435765] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050883.087273457] [sailbot.teensy]: Wind angle: 267 -[teensy-2] [INFO] [1746050883.088263282] [sailbot.teensy]: Actual sail angle: 25 -[trim_sail-4] [INFO] [1746050883.088022121] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050883.089140903] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050883.089446081] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050883.090044163] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050883.145205854] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050883.145982785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050883.146704506] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050883.148112370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050883.148943847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050883.245322332] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050883.246184541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050883.247052164] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050883.248318883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050883.248952401] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050883.335202445] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050883.337524878] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050883.337776575] [sailbot.teensy]: Wind angle: 267 -[mux-7] [INFO] [1746050883.338578742] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050883.338949267] [sailbot.teensy]: Actual sail angle: 30 -[teensy-2] [INFO] [1746050883.339832963] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050883.340711456] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050883.344495562] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050883.344851607] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050883.345622255] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050883.346508373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050883.347664595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050883.445238815] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050883.446007998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050883.446670643] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050883.447952933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050883.449103761] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050883.457122166] [sailbot.main_algo]: Wind Direction: 267 -[main_algo-3] [INFO] [1746050883.458187771] [sailbot.main_algo]: Target Bearing: -115.34496647587332 -[main_algo-3] [INFO] [1746050883.459104493] [sailbot.main_algo]: Heading Difference: -29.956033524126724 -[main_algo-3] [INFO] [1746050883.459966098] [sailbot.main_algo]: Wind Direction: 267 -[main_algo-3] [INFO] [1746050883.460777762] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050883.461585259] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050883.462744273] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050883.463150924] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050883.502941871] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46920373 Long: -76.50343721 -[main_algo-3] [INFO] [1746050883.504061446] [sailbot.main_algo]: Distance to destination: 17.901824496589875 -[vectornav-1] [INFO] [1746050883.504302954] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (229.45399999999995, -0.93, -1.786) -[main_algo-3] [INFO] [1746050883.505688456] [sailbot.main_algo]: Target Bearing: -115.12386929540236 -[main_algo-3] [INFO] [1746050883.506672524] [sailbot.main_algo]: Heading Difference: -30.177130704597687 -[main_algo-3] [INFO] [1746050883.507575135] [sailbot.main_algo]: Wind Direction: 267 -[main_algo-3] [INFO] [1746050883.508473651] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050883.509348860] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050883.511082608] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050883.545070435] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050883.545965103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050883.546471904] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050883.547932919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050883.548932941] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050883.585322502] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050883.587214814] [sailbot.teensy]: Wind angle: 270 -[trim_sail-4] [INFO] [1746050883.587857774] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050883.588189169] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050883.588209564] [sailbot.teensy]: Actual sail angle: 30 -[teensy-2] [INFO] [1746050883.589189964] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050883.590097256] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050883.645218364] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050883.646011701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050883.646730829] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050883.648768542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050883.649783950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050883.745563563] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050883.746327733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050883.747163254] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050883.748820445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050883.749430824] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050883.835204208] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050883.837471880] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050883.838180285] [sailbot.teensy]: Wind angle: 278 -[mux-7] [INFO] [1746050883.838761686] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050883.839167719] [sailbot.teensy]: Actual sail angle: 30 -[teensy-2] [INFO] [1746050883.840125967] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050883.841056659] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050883.844366074] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050883.845190591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050883.845942730] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050883.847094201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050883.848121350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050883.945356087] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050883.946313185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050883.946828949] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050883.948412123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050883.949577546] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050883.956973789] [sailbot.main_algo]: Wind Direction: 278 -[main_algo-3] [INFO] [1746050883.957984967] [sailbot.main_algo]: Target Bearing: -115.12386929540236 -[main_algo-3] [INFO] [1746050883.958876176] [sailbot.main_algo]: Heading Difference: -15.422130704597748 -[main_algo-3] [INFO] [1746050883.959732735] [sailbot.main_algo]: Rudder Angle Raw: -2.1419625978607986 -[main_algo-3] [INFO] [1746050883.960549305] [sailbot.main_algo]: Rudder Angle: -3 -[main_algo-3] [INFO] [1746050883.961551251] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050883.962328803] [sailbot.mux]: algo rudder angle: -3 -[vectornav-1] [INFO] [1746050884.003138235] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46920127 Long: -76.5034402 -[main_algo-3] [INFO] [1746050884.003535298] [sailbot.main_algo]: Distance to destination: 17.552393959336005 -[main_algo-3] [INFO] [1746050884.004666108] [sailbot.main_algo]: Target Bearing: -114.75564444865252 -[vectornav-1] [INFO] [1746050884.004803268] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (240.79099999999994, -0.605, 0.177) -[main_algo-3] [INFO] [1746050884.005625086] [sailbot.main_algo]: Heading Difference: -15.790355551347602 -[main_algo-3] [INFO] [1746050884.006787502] [sailbot.main_algo]: Rudder Angle Raw: -2.193104937687167 -[main_algo-3] [INFO] [1746050884.007668259] [sailbot.main_algo]: Rudder Angle: -3 -[mux-7] [INFO] [1746050884.009827819] [sailbot.mux]: algo rudder angle: -3 -[mux-7] [INFO] [1746050884.044893468] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050884.045772659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050884.046216965] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050884.047593292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -3 -[teensy-2] [INFO] [1746050884.048691877] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050884.085582127] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050884.087486546] [sailbot.teensy]: Wind angle: 287 -[trim_sail-4] [INFO] [1746050884.088208195] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050884.088560326] [sailbot.teensy]: Actual sail angle: 30 -[teensy-2] [INFO] [1746050884.089477859] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050884.090022852] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050884.090360433] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050884.145607681] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050884.145992579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050884.147252021] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050884.148076162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -3 -[teensy-2] [INFO] [1746050884.149252450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050884.245747922] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050884.246033190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050884.247451818] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050884.248247740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -3 -[teensy-2] [INFO] [1746050884.249336233] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050884.335268900] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050884.337059506] [sailbot.teensy]: Wind angle: 287 -[trim_sail-4] [INFO] [1746050884.337713714] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050884.338001802] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746050884.339026778] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050884.339399306] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050884.339523174] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050884.344662773] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050884.345041875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050884.345974838] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050884.346705013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -3 -[teensy-2] [INFO] [1746050884.347808667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050884.445563700] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050884.446203323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050884.448107090] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050884.448909099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -3 -[teensy-2] [INFO] [1746050884.450024982] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050884.456999859] [sailbot.main_algo]: Wind Direction: 287 -[main_algo-3] [INFO] [1746050884.457948833] [sailbot.main_algo]: Target Bearing: -114.75564444865252 -[main_algo-3] [INFO] [1746050884.458812570] [sailbot.main_algo]: Heading Difference: -4.453355551347613 -[main_algo-3] [INFO] [1746050884.459606314] [sailbot.main_algo]: Rudder Angle Raw: -0.6185216043538351 -[main_algo-3] [INFO] [1746050884.460424562] [sailbot.main_algo]: Rudder Angle: -1 -[main_algo-3] [INFO] [1746050884.461395860] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050884.461998987] [sailbot.mux]: algo rudder angle: -1 -[vectornav-1] [INFO] [1746050884.503153096] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46919819 Long: -76.50344226 -[main_algo-3] [INFO] [1746050884.503523064] [sailbot.main_algo]: Distance to destination: 17.171096944254355 -[vectornav-1] [INFO] [1746050884.504258089] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (254.69399999999996, -2.653, 3.85) -[main_algo-3] [INFO] [1746050884.504574712] [sailbot.main_algo]: Target Bearing: -114.69780955721873 -[main_algo-3] [INFO] [1746050884.505642727] [sailbot.main_algo]: Heading Difference: -4.511190442781299 -[main_algo-3] [INFO] [1746050884.506561767] [sailbot.main_algo]: Rudder Angle Raw: -0.6265542281640692 -[main_algo-3] [INFO] [1746050884.507464957] [sailbot.main_algo]: Rudder Angle: -1 -[mux-7] [INFO] [1746050884.509167636] [sailbot.mux]: algo rudder angle: -1 -[mux-7] [INFO] [1746050884.545431171] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050884.545570189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050884.546939774] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050884.547361912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -1 -[teensy-2] [INFO] [1746050884.548463360] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050884.585342652] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050884.587077137] [sailbot.teensy]: Wind angle: 295 -[trim_sail-4] [INFO] [1746050884.587738691] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050884.587978921] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050884.588860399] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050884.589831208] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050884.589889812] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050884.645153582] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050884.645840445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050884.646693009] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050884.647798945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 -[teensy-2] [INFO] [1746050884.648913107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050884.743739284] [sailbot.mux]: Published sail angle from algo: 50 -[mux-7] [INFO] [1746050884.744359394] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050884.744177949] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050884.745069857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 -[teensy-2] [INFO] [1746050884.745668656] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050884.835581655] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050884.837967583] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746050884.838888677] [sailbot.teensy]: Wind angle: 309 -[mux-7] [INFO] [1746050884.839173679] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746050884.839845479] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050884.840605217] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050884.840960708] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050884.844443822] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050884.845092395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050884.845610425] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050884.846873505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: -1 -[teensy-2] [INFO] [1746050884.848052121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050884.945351900] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050884.946057876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050884.946957743] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050884.948210343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: -1 -[teensy-2] [INFO] [1746050884.949244871] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050884.957010525] [sailbot.main_algo]: Wind Direction: 309 -[main_algo-3] [INFO] [1746050884.958001799] [sailbot.main_algo]: Target Bearing: -114.69780955721873 -[main_algo-3] [INFO] [1746050884.958889956] [sailbot.main_algo]: Heading Difference: 9.391809557218721 -[main_algo-3] [INFO] [1746050884.959738599] [sailbot.main_algo]: Rudder Angle Raw: 1.3044179940581557 -[main_algo-3] [INFO] [1746050884.960575692] [sailbot.main_algo]: Rudder Angle: 1 -[main_algo-3] [INFO] [1746050884.961563467] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050884.962180802] [sailbot.mux]: algo rudder angle: 1 -[vectornav-1] [INFO] [1746050885.003279763] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46919438 Long: -76.50344319 -[main_algo-3] [INFO] [1746050885.003965470] [sailbot.main_algo]: Distance to destination: 16.75318091960208 -[main_algo-3] [INFO] [1746050885.005602135] [sailbot.main_algo]: Target Bearing: -115.03958256323962 -[vectornav-1] [INFO] [1746050885.006106595] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (272.52099999999996, -0.287, 6.452) -[main_algo-3] [INFO] [1746050885.006640285] [sailbot.main_algo]: Heading Difference: 9.733582563239565 -[main_algo-3] [INFO] [1746050885.007559145] [sailbot.main_algo]: Rudder Angle Raw: 1.3518864671166062 -[main_algo-3] [INFO] [1746050885.008457700] [sailbot.main_algo]: Rudder Angle: 1 -[mux-7] [INFO] [1746050885.010263201] [sailbot.mux]: algo rudder angle: 1 -[mux-7] [INFO] [1746050885.045020407] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050885.045657987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050885.046282382] [sailbot.mux]: Published rudder angle from algo: 1 -[teensy-2] [INFO] [1746050885.047501097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 1 -[teensy-2] [INFO] [1746050885.048518309] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050885.085264373] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050885.086943587] [sailbot.teensy]: Wind angle: 313 -[teensy-2] [INFO] [1746050885.087839829] [sailbot.teensy]: Actual sail angle: 50 -[trim_sail-4] [INFO] [1746050885.087491039] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050885.088764544] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050885.088825032] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050885.089658093] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050885.145020108] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050885.145672938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050885.146284054] [sailbot.mux]: Published rudder angle from algo: 1 -[teensy-2] [INFO] [1746050885.147475766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 1 -[teensy-2] [INFO] [1746050885.148639405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050885.244885412] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050885.245834855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050885.246264223] [sailbot.mux]: Published rudder angle from algo: 1 -[teensy-2] [INFO] [1746050885.247625224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 1 -[teensy-2] [INFO] [1746050885.248745408] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050885.335122253] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050885.336818861] [sailbot.teensy]: Wind angle: 317 -[trim_sail-4] [INFO] [1746050885.337560724] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746050885.338509324] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050885.338848256] [sailbot.teensy]: Actual sail angle: 60 -[teensy-2] [INFO] [1746050885.340338554] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050885.341026138] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050885.344392940] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050885.344878672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050885.345532067] [sailbot.mux]: Published rudder angle from algo: 1 -[teensy-2] [INFO] [1746050885.346628427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 1 -[teensy-2] [INFO] [1746050885.347667892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050885.445258729] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050885.445915507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050885.446815760] [sailbot.mux]: Published rudder angle from algo: 1 -[teensy-2] [INFO] [1746050885.448381570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 1 -[teensy-2] [INFO] [1746050885.448969524] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050885.456989223] [sailbot.main_algo]: Wind Direction: 317 -[main_algo-3] [INFO] [1746050885.457972220] [sailbot.main_algo]: Target Bearing: -115.03958256323962 -[main_algo-3] [INFO] [1746050885.458892676] [sailbot.main_algo]: Heading Difference: 27.560582563239564 -[main_algo-3] [INFO] [1746050885.459754046] [sailbot.main_algo]: Wind Direction: 317 -[main_algo-3] [INFO] [1746050885.460593363] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050885.461390110] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050885.462407749] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050885.462911196] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050885.503009635] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46919042 Long: -76.50344253 -[main_algo-3] [INFO] [1746050885.503263759] [sailbot.main_algo]: Distance to destination: 16.375175180673537 -[vectornav-1] [INFO] [1746050885.504046601] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (284.31399999999996, 0.859, 5.797) -[main_algo-3] [INFO] [1746050885.504256091] [sailbot.main_algo]: Target Bearing: -115.83952288973647 -[main_algo-3] [INFO] [1746050885.505269878] [sailbot.main_algo]: Heading Difference: 28.360522889736444 -[main_algo-3] [INFO] [1746050885.506228846] [sailbot.main_algo]: Wind Direction: 317 -[main_algo-3] [INFO] [1746050885.507124025] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050885.508003466] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050885.509675048] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050885.545004577] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050885.545822666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050885.546721119] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050885.547791656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 -[teensy-2] [INFO] [1746050885.548845035] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050885.585160922] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050885.586846628] [sailbot.teensy]: Wind angle: 320 -[trim_sail-4] [INFO] [1746050885.587294085] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746050885.587746964] [sailbot.teensy]: Actual sail angle: 65 -[mux-7] [INFO] [1746050885.587955285] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746050885.588680197] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050885.589582989] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050885.644922735] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050885.645514245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050885.646550019] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050885.647298536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 -[teensy-2] [INFO] [1746050885.648553938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050885.745071672] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050885.745710280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050885.746481604] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050885.747730289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 -[teensy-2] [INFO] [1746050885.748181688] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050885.835249933] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050885.837009415] [sailbot.teensy]: Wind angle: 324 -[trim_sail-4] [INFO] [1746050885.837592025] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746050885.837962634] [sailbot.teensy]: Actual sail angle: 65 -[teensy-2] [INFO] [1746050885.838847595] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050885.838941234] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746050885.839769809] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050885.844495345] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050885.844992399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050885.845642020] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050885.846616671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 -[teensy-2] [INFO] [1746050885.847634061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050885.945653055] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050885.946445275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050885.947591031] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050885.947959077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 -[teensy-2] [INFO] [1746050885.948489692] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050885.957064201] [sailbot.main_algo]: Wind Direction: 324 -[main_algo-3] [INFO] [1746050885.958060601] [sailbot.main_algo]: Target Bearing: -115.83952288973647 -[main_algo-3] [INFO] [1746050885.958918955] [sailbot.main_algo]: Heading Difference: 40.15352288973645 -[main_algo-3] [INFO] [1746050885.959698454] [sailbot.main_algo]: Wind Direction: 324 -[main_algo-3] [INFO] [1746050885.960532140] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050885.961310641] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050885.962315339] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050885.963033941] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050886.003503417] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46918689 Long: -76.50344067 -[main_algo-3] [INFO] [1746050886.004594468] [sailbot.main_algo]: Distance to destination: 16.086429962499896 -[vectornav-1] [INFO] [1746050886.004691732] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (289.624, -0.072, 5.149) -[main_algo-3] [INFO] [1746050886.006022546] [sailbot.main_algo]: Target Bearing: -116.92019781671654 -[main_algo-3] [INFO] [1746050886.007019698] [sailbot.main_algo]: Heading Difference: 41.23419781671646 -[main_algo-3] [INFO] [1746050886.007944126] [sailbot.main_algo]: Wind Direction: 324 -[main_algo-3] [INFO] [1746050886.008842608] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050886.009771195] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050886.011527778] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050886.044992807] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050886.045667941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050886.046266641] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050886.047499883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 -[teensy-2] [INFO] [1746050886.048550450] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050886.085417669] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050886.087247163] [sailbot.teensy]: Wind angle: 326 -[teensy-2] [INFO] [1746050886.088230618] [sailbot.teensy]: Actual sail angle: 70 -[teensy-2] [INFO] [1746050886.089109353] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050886.088312198] [sailbot.mux]: algo sail angle: 75 -[trim_sail-4] [INFO] [1746050886.088464576] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746050886.089969582] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050886.144977821] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050886.145638487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050886.146272579] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050886.147552522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 -[teensy-2] [INFO] [1746050886.148638055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050886.245466952] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050886.246362006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050886.247140197] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050886.248470861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 -[teensy-2] [INFO] [1746050886.249476492] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050886.335114873] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050886.337072404] [sailbot.teensy]: Wind angle: 328 -[teensy-2] [INFO] [1746050886.338011810] [sailbot.teensy]: Actual sail angle: 70 -[trim_sail-4] [INFO] [1746050886.337382031] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746050886.338871276] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050886.338893363] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746050886.339792413] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050886.344689962] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050886.345185931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050886.345980572] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050886.346861706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 -[teensy-2] [INFO] [1746050886.347895497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050886.445421321] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050886.445925806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050886.447223354] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050886.448084062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 -[teensy-2] [INFO] [1746050886.449289193] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050886.457162823] [sailbot.main_algo]: Wind Direction: 328 -[main_algo-3] [INFO] [1746050886.458245647] [sailbot.main_algo]: Target Bearing: -116.92019781671654 -[main_algo-3] [INFO] [1746050886.459200399] [sailbot.main_algo]: Heading Difference: 46.54419781671663 -[main_algo-3] [INFO] [1746050886.460059642] [sailbot.main_algo]: Wind Direction: 328 -[main_algo-3] [INFO] [1746050886.460964281] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050886.461801453] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050886.462780997] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050886.463369982] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050886.502663962] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46918311 Long: -76.50343873 -[main_algo-3] [INFO] [1746050886.503714818] [sailbot.main_algo]: Distance to destination: 15.781881890571114 -[vectornav-1] [INFO] [1746050886.504026794] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.154, -0.89, 2.862) -[main_algo-3] [INFO] [1746050886.504842091] [sailbot.main_algo]: Target Bearing: -118.10703533852974 -[main_algo-3] [INFO] [1746050886.505863238] [sailbot.main_algo]: Heading Difference: 47.73103533852975 -[main_algo-3] [INFO] [1746050886.506816173] [sailbot.main_algo]: Wind Direction: 328 -[main_algo-3] [INFO] [1746050886.507702699] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050886.508593174] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050886.510322992] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050886.545242477] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050886.545895682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050886.546666264] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050886.547824983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 -[teensy-2] [INFO] [1746050886.548989271] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050886.585320689] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050886.587474599] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746050886.588417320] [sailbot.teensy]: Wind angle: 329 -[mux-7] [INFO] [1746050886.588989943] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746050886.589401161] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050886.590288620] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050886.591138849] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050886.645451549] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050886.646140628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050886.647079541] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050886.648927857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 -[teensy-2] [INFO] [1746050886.650019754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050886.745096251] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050886.745815005] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050886.746506084] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050886.748046635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 -[teensy-2] [INFO] [1746050886.749141298] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050886.835252096] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050886.836971047] [sailbot.teensy]: Wind angle: 331 -[trim_sail-4] [INFO] [1746050886.837581755] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746050886.837923049] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050886.838830812] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050886.839359423] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746050886.839732727] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050886.844490980] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050886.845092566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050886.845716409] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050886.846853950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 -[teensy-2] [INFO] [1746050886.847857788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050886.945263910] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050886.946072964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050886.946753202] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050886.948195765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 -[teensy-2] [INFO] [1746050886.949413760] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050886.956957141] [sailbot.main_algo]: Wind Direction: 331 -[main_algo-3] [INFO] [1746050886.957974676] [sailbot.main_algo]: Target Bearing: -118.10703533852974 -[main_algo-3] [INFO] [1746050886.958880806] [sailbot.main_algo]: Heading Difference: 38.26103533852972 -[main_algo-3] [INFO] [1746050886.959746499] [sailbot.main_algo]: Wind Direction: 331 -[main_algo-3] [INFO] [1746050886.960667513] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050886.961464441] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050886.962544760] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050886.963058298] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050887.003063181] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46917895 Long: -76.50343818 -[main_algo-3] [INFO] [1746050887.003617307] [sailbot.main_algo]: Distance to destination: 15.393205151536645 -[vectornav-1] [INFO] [1746050887.004569982] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (262.14699999999993, -1.405, -1.439) -[main_algo-3] [INFO] [1746050887.004758175] [sailbot.main_algo]: Target Bearing: -119.04008958043157 -[main_algo-3] [INFO] [1746050887.005820420] [sailbot.main_algo]: Heading Difference: 39.19408958043164 -[main_algo-3] [INFO] [1746050887.006821652] [sailbot.main_algo]: Wind Direction: 331 -[main_algo-3] [INFO] [1746050887.007714438] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050887.008600849] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050887.010291399] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050887.044907071] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050887.045757024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050887.046194175] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050887.047663975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 -[teensy-2] [INFO] [1746050887.048717972] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050887.085450652] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050887.087701984] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746050887.088664165] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746050887.088721303] [sailbot.teensy]: Wind angle: 334 -[teensy-2] [INFO] [1746050887.089696184] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050887.090616959] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050887.091449474] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050887.144934245] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050887.145818325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050887.146220816] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050887.147802978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050887.148932037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050887.245255620] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050887.245989689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050887.246926831] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050887.248072912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050887.248583519] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050887.335284088] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050887.337796768] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746050887.338057826] [sailbot.teensy]: Wind angle: 334 -[teensy-2] [INFO] [1746050887.339037979] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050887.339584667] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746050887.339913579] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050887.340821233] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050887.344422597] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050887.345039345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050887.345553696] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050887.346728548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050887.347879281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050887.445151310] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050887.445839178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050887.447371421] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050887.448460270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050887.449006430] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050887.457171033] [sailbot.main_algo]: Wind Direction: 334 -[main_algo-3] [INFO] [1746050887.458283211] [sailbot.main_algo]: Target Bearing: -119.04008958043157 -[main_algo-3] [INFO] [1746050887.459229479] [sailbot.main_algo]: Heading Difference: 21.187089580431575 -[main_algo-3] [INFO] [1746050887.460099963] [sailbot.main_algo]: Wind Direction: 334 -[main_algo-3] [INFO] [1746050887.460995107] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050887.461775538] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050887.462952143] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050887.463948154] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050887.503000675] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46917442 Long: -76.50343947 -[main_algo-3] [INFO] [1746050887.504359629] [sailbot.main_algo]: Distance to destination: 14.899947854984715 -[main_algo-3] [INFO] [1746050887.505641705] [sailbot.main_algo]: Target Bearing: -119.58903497056882 -[vectornav-1] [INFO] [1746050887.505845794] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (239.08899999999994, -0.658, -6.298) -[main_algo-3] [INFO] [1746050887.506681228] [sailbot.main_algo]: Heading Difference: 21.736034970568767 -[main_algo-3] [INFO] [1746050887.507645570] [sailbot.main_algo]: Wind Direction: 334 -[main_algo-3] [INFO] [1746050887.508581316] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050887.509474362] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050887.511237782] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050887.545380485] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050887.546272299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050887.546882238] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050887.548448652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050887.549585101] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050887.585348347] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050887.587487863] [sailbot.teensy]: Wind angle: 332 -[trim_sail-4] [INFO] [1746050887.587598035] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746050887.589000443] [sailbot.teensy]: Actual sail angle: 80 -[mux-7] [INFO] [1746050887.590360819] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746050887.591110600] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050887.591988313] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050887.645279277] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050887.646104375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050887.646831029] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050887.648663478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 -[teensy-2] [INFO] [1746050887.649786212] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050887.745382978] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050887.746328870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050887.746914318] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050887.748479300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 -[teensy-2] [INFO] [1746050887.749016181] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050887.835261971] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050887.837091172] [sailbot.teensy]: Wind angle: 326 -[trim_sail-4] [INFO] [1746050887.837565792] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746050887.838010730] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746050887.838953170] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050887.839673358] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746050887.839789887] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050887.844641736] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050887.845124956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050887.845916830] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050887.846886166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 -[teensy-2] [INFO] [1746050887.847890006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050887.945336156] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050887.945987905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050887.947022977] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050887.947943820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 -[teensy-2] [INFO] [1746050887.948872005] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050887.957046435] [sailbot.main_algo]: Wind Direction: 326 -[main_algo-3] [INFO] [1746050887.958074806] [sailbot.main_algo]: Target Bearing: -119.58903497056882 -[main_algo-3] [INFO] [1746050887.958969357] [sailbot.main_algo]: Heading Difference: -1.321965029431226 -[main_algo-3] [INFO] [1746050887.959792241] [sailbot.main_algo]: Rudder Angle Raw: -0.18360625408767026 -[main_algo-3] [INFO] [1746050887.960630040] [sailbot.main_algo]: Rudder Angle: -1 -[main_algo-3] [INFO] [1746050887.961698249] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050887.962363624] [sailbot.mux]: algo rudder angle: -1 -[vectornav-1] [INFO] [1746050888.002914881] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46917114 Long: -76.50344255 -[main_algo-3] [INFO] [1746050888.003872938] [sailbot.main_algo]: Distance to destination: 14.458998941517446 -[vectornav-1] [INFO] [1746050888.004288931] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (219.70399999999995, -1.003, -5.052) -[main_algo-3] [INFO] [1746050888.005131208] [sailbot.main_algo]: Target Bearing: -119.39815138540992 -[main_algo-3] [INFO] [1746050888.006289081] [sailbot.main_algo]: Heading Difference: -1.5128486145902116 -[main_algo-3] [INFO] [1746050888.007244980] [sailbot.main_algo]: Rudder Angle Raw: -0.2101178631375294 -[main_algo-3] [INFO] [1746050888.008131800] [sailbot.main_algo]: Rudder Angle: -1 -[mux-7] [INFO] [1746050888.009829199] [sailbot.mux]: algo rudder angle: -1 -[mux-7] [INFO] [1746050888.045860284] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050888.046141737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050888.047859634] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050888.048406372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 -[teensy-2] [INFO] [1746050888.049602191] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050888.085636799] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050888.088019297] [sailbot.teensy]: Wind angle: 311 -[trim_sail-4] [INFO] [1746050888.088262068] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746050888.089052950] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050888.089976820] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050888.090612154] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746050888.090859163] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050888.145216697] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050888.145948765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050888.146787235] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050888.148190120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: -1 -[teensy-2] [INFO] [1746050888.148777941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050888.244889156] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050888.245491598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050888.246404315] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050888.247282859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: -1 -[teensy-2] [INFO] [1746050888.248341260] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050888.335309762] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050888.337577391] [sailbot.teensy]: Wind angle: 293 -[trim_sail-4] [INFO] [1746050888.338334536] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050888.338599950] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050888.339537958] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050888.339881938] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050888.339977444] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050888.344711349] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050888.345231369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050888.346063817] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050888.347027739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 -[teensy-2] [INFO] [1746050888.348190984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050888.445161980] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050888.445691415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050888.446682532] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050888.447934710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 -[teensy-2] [INFO] [1746050888.449099630] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050888.457103342] [sailbot.main_algo]: Wind Direction: 293 -[main_algo-3] [INFO] [1746050888.458292846] [sailbot.main_algo]: Target Bearing: -119.39815138540992 -[main_algo-3] [INFO] [1746050888.459316825] [sailbot.main_algo]: Heading Difference: -20.897848614590202 -[main_algo-3] [INFO] [1746050888.460211760] [sailbot.main_algo]: Wind Direction: 293 -[main_algo-3] [INFO] [1746050888.461066786] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050888.461857954] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050888.462890008] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050888.463608862] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050888.502260587] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916939 Long: -76.50344716 -[vectornav-1] [INFO] [1746050888.503268661] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (200.43499999999995, -0.51, -1.66) -[main_algo-3] [INFO] [1746050888.503364570] [sailbot.main_algo]: Distance to destination: 14.109886293922926 -[main_algo-3] [INFO] [1746050888.504471087] [sailbot.main_algo]: Target Bearing: -118.41911134909608 -[main_algo-3] [INFO] [1746050888.505488856] [sailbot.main_algo]: Heading Difference: -21.876888650903993 -[main_algo-3] [INFO] [1746050888.506409773] [sailbot.main_algo]: Wind Direction: 293 -[main_algo-3] [INFO] [1746050888.507254341] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050888.508048464] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050888.509684625] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050888.544725478] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050888.545476571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050888.545942808] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050888.547354367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 -[teensy-2] [INFO] [1746050888.548426597] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050888.585103488] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050888.586663660] [sailbot.teensy]: Wind angle: 274 -[trim_sail-4] [INFO] [1746050888.587145249] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050888.587554436] [sailbot.teensy]: Actual sail angle: 60 -[mux-7] [INFO] [1746050888.588199216] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050888.588433468] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050888.589403469] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050888.645088680] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050888.645821428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050888.646521128] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050888.647798357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050888.648910556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050888.745635393] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050888.746566955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050888.747979897] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050888.748456261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050888.748985399] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050888.835296050] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050888.837559811] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050888.837877075] [sailbot.teensy]: Wind angle: 257 -[teensy-2] [INFO] [1746050888.838920546] [sailbot.teensy]: Actual sail angle: 50 -[mux-7] [INFO] [1746050888.839265903] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050888.839794528] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050888.840485677] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050888.844439719] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050888.845086206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050888.845573089] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050888.846909099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050888.847972484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050888.945512301] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050888.946567120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050888.947283288] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050888.949046219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050888.950185500] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050888.957384788] [sailbot.main_algo]: Wind Direction: 257 -[main_algo-3] [INFO] [1746050888.958451937] [sailbot.main_algo]: Target Bearing: -118.41911134909608 -[main_algo-3] [INFO] [1746050888.959369570] [sailbot.main_algo]: Heading Difference: -41.145888650904 -[main_algo-3] [INFO] [1746050888.960253168] [sailbot.main_algo]: Wind Direction: 257 -[main_algo-3] [INFO] [1746050888.961139092] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050888.961996414] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050888.963109468] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050888.963838703] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050889.002670559] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916872 Long: -76.50345182 -[main_algo-3] [INFO] [1746050889.003642818] [sailbot.main_algo]: Distance to destination: 13.87085004240932 -[vectornav-1] [INFO] [1746050889.003766236] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.159, 1.572, -1.077) -[main_algo-3] [INFO] [1746050889.004862502] [sailbot.main_algo]: Target Bearing: -117.15539552075428 -[main_algo-3] [INFO] [1746050889.005865882] [sailbot.main_algo]: Heading Difference: -42.409604479245786 -[main_algo-3] [INFO] [1746050889.006853972] [sailbot.main_algo]: Wind Direction: 257 -[main_algo-3] [INFO] [1746050889.007876346] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050889.008881185] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050889.010686357] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050889.044981110] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050889.045781766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050889.046267941] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050889.047629171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050889.048792623] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050889.085270378] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050889.087008011] [sailbot.teensy]: Wind angle: 250 -[teensy-2] [INFO] [1746050889.087904085] [sailbot.teensy]: Actual sail angle: 35 -[trim_sail-4] [INFO] [1746050889.087540974] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050889.088794020] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050889.089054643] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050889.089698147] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050889.145111031] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050889.145710566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050889.146465545] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050889.147546734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050889.148804558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050889.245442127] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050889.246190707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050889.247076218] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050889.248413424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050889.248942386] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050889.335387105] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050889.337353288] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050889.337842627] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050889.338307978] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050889.339201673] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050889.339328185] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050889.340176726] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050889.344466977] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050889.345043701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050889.345592931] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050889.347121012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050889.348143774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050889.445368450] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050889.446036270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050889.446894893] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050889.448138112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050889.448627629] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050889.456996871] [sailbot.main_algo]: Wind Direction: 252 -[main_algo-3] [INFO] [1746050889.457990375] [sailbot.main_algo]: Target Bearing: -117.15539552075428 -[main_algo-3] [INFO] [1746050889.458869952] [sailbot.main_algo]: Heading Difference: -53.68560447924574 -[main_algo-3] [INFO] [1746050889.459711858] [sailbot.main_algo]: Wind Direction: 252 -[main_algo-3] [INFO] [1746050889.460606102] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050889.461445755] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050889.462498247] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050889.463036105] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050889.503456823] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916803 Long: -76.50345515 -[main_algo-3] [INFO] [1746050889.503896196] [sailbot.main_algo]: Distance to destination: 13.683073037613118 -[vectornav-1] [INFO] [1746050889.504637089] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.50900000000001, -2.211, 0.939) -[main_algo-3] [INFO] [1746050889.505010089] [sailbot.main_algo]: Target Bearing: -116.26750145742375 -[main_algo-3] [INFO] [1746050889.505979386] [sailbot.main_algo]: Heading Difference: -54.57349854257626 -[main_algo-3] [INFO] [1746050889.506901879] [sailbot.main_algo]: Wind Direction: 252 -[main_algo-3] [INFO] [1746050889.507808280] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050889.508693014] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050889.510469245] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050889.544983642] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050889.545671412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050889.546511093] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050889.547575860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050889.548645838] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050889.585398264] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050889.587430136] [sailbot.teensy]: Wind angle: 252 -[teensy-2] [INFO] [1746050889.588416125] [sailbot.teensy]: Actual sail angle: 20 -[trim_sail-4] [INFO] [1746050889.587996873] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050889.589287177] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050889.589540121] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050889.590172809] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050889.645276533] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050889.645829039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050889.646897332] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050889.648070113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050889.649229441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050889.745298450] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050889.745994141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050889.747176561] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050889.747957700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050889.748506258] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050889.835198363] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050889.839073294] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050889.839592155] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050889.840247877] [sailbot.teensy]: Wind angle: 256 -[teensy-2] [INFO] [1746050889.841160853] [sailbot.teensy]: Actual sail angle: 20 -[teensy-2] [INFO] [1746050889.841993201] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050889.842827127] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050889.844350976] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050889.844634207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050889.845437080] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050889.846203703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050889.847241277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050889.945366678] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050889.946098804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050889.947271396] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050889.948350978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050889.948862121] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050889.957054075] [sailbot.main_algo]: Wind Direction: 256 -[main_algo-3] [INFO] [1746050889.958157885] [sailbot.main_algo]: Target Bearing: -116.26750145742375 -[main_algo-3] [INFO] [1746050889.959103359] [sailbot.main_algo]: Heading Difference: -51.22349854257624 -[main_algo-3] [INFO] [1746050889.959952742] [sailbot.main_algo]: Wind Direction: 256 -[main_algo-3] [INFO] [1746050889.960832516] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050889.961625305] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050889.962621956] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050889.963262795] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050890.003074147] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691676 Long: -76.5034586 -[main_algo-3] [INFO] [1746050890.003620299] [sailbot.main_algo]: Distance to destination: 13.520931329415214 -[vectornav-1] [INFO] [1746050890.004286510] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (200.24900000000002, 0.322, 2.566) -[main_algo-3] [INFO] [1746050890.004717727] [sailbot.main_algo]: Target Bearing: -115.26659975029877 -[main_algo-3] [INFO] [1746050890.005765509] [sailbot.main_algo]: Heading Difference: -52.224400249701205 -[main_algo-3] [INFO] [1746050890.006734892] [sailbot.main_algo]: Wind Direction: 256 -[main_algo-3] [INFO] [1746050890.007619931] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050890.008536790] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050890.010262389] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050890.045287051] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050890.045793925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050890.046783213] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050890.047807587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050890.048874004] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050890.085422580] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050890.087831841] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050890.087875297] [sailbot.teensy]: Wind angle: 260 -[mux-7] [INFO] [1746050890.089045671] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050890.089103690] [sailbot.teensy]: Actual sail angle: 20 -[teensy-2] [INFO] [1746050890.089975303] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050890.090847067] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050890.145020470] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050890.145835307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050890.146337353] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050890.147675618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050890.148820692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050890.245199335] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050890.246012874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050890.246653558] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050890.247669480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050890.248176728] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050890.335313854] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050890.337861254] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050890.338487752] [sailbot.teensy]: Wind angle: 261 -[mux-7] [INFO] [1746050890.338728747] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050890.339722282] [sailbot.teensy]: Actual sail angle: 20 -[teensy-2] [INFO] [1746050890.340393786] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050890.340755610] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050890.344364693] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050890.344885521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050890.345461737] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050890.346983399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050890.348075529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050890.445491041] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050890.446330668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050890.447586245] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050890.448375715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050890.448885964] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050890.457036419] [sailbot.main_algo]: Wind Direction: 261 -[main_algo-3] [INFO] [1746050890.457989257] [sailbot.main_algo]: Target Bearing: -115.26659975029877 -[main_algo-3] [INFO] [1746050890.458946969] [sailbot.main_algo]: Heading Difference: -44.484400249701196 -[main_algo-3] [INFO] [1746050890.459764467] [sailbot.main_algo]: Wind Direction: 261 -[main_algo-3] [INFO] [1746050890.460624086] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050890.461414887] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050890.462426550] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050890.463246873] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050890.503315278] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916691 Long: -76.50346177 -[main_algo-3] [INFO] [1746050890.504228844] [sailbot.main_algo]: Distance to destination: 13.345598949571444 -[vectornav-1] [INFO] [1746050890.504572173] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (212.096, -1.469, 1.765) -[main_algo-3] [INFO] [1746050890.505618397] [sailbot.main_algo]: Target Bearing: -114.38144082475604 -[main_algo-3] [INFO] [1746050890.506976989] [sailbot.main_algo]: Heading Difference: -45.36955917524392 -[main_algo-3] [INFO] [1746050890.507972508] [sailbot.main_algo]: Wind Direction: 261 -[main_algo-3] [INFO] [1746050890.508869919] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050890.509727841] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050890.511497937] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050890.545147417] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050890.545956213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050890.546872476] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050890.548118605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050890.549302719] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050890.585416088] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050890.587893229] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050890.588673828] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050890.588805057] [sailbot.teensy]: Wind angle: 263 -[teensy-2] [INFO] [1746050890.589946427] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050890.590852307] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050890.591675925] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050890.645176165] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050890.646075019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050890.646630885] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050890.648324226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050890.649452718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050890.745443886] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050890.746335834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050890.747172978] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050890.747901050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050890.748419710] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050890.835294203] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050890.837567595] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050890.837612829] [sailbot.teensy]: Wind angle: 266 -[teensy-2] [INFO] [1746050890.838581956] [sailbot.teensy]: Actual sail angle: 25 -[mux-7] [INFO] [1746050890.839050948] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050890.839517884] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050890.840475526] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050890.844337198] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050890.845073583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050890.845465643] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050890.846767800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050890.847804367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050890.945007965] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050890.945676428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050890.946325760] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050890.947545225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050890.948440852] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050890.957052283] [sailbot.main_algo]: Wind Direction: 266 -[main_algo-3] [INFO] [1746050890.958011630] [sailbot.main_algo]: Target Bearing: -114.38144082475604 -[main_algo-3] [INFO] [1746050890.958894081] [sailbot.main_algo]: Heading Difference: -33.52255917524394 -[main_algo-3] [INFO] [1746050890.959684648] [sailbot.main_algo]: Wind Direction: 266 -[main_algo-3] [INFO] [1746050890.960519421] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050890.961316045] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050890.962338147] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050890.962905846] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050891.003281614] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916495 Long: -76.50346443 -[main_algo-3] [INFO] [1746050891.004041961] [sailbot.main_algo]: Distance to destination: 13.059534972114767 -[vectornav-1] [INFO] [1746050891.004692252] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (226.29099999999994, -0.631, 1.399) -[main_algo-3] [INFO] [1746050891.005204855] [sailbot.main_algo]: Target Bearing: -113.87934444293575 -[main_algo-3] [INFO] [1746050891.006243654] [sailbot.main_algo]: Heading Difference: -34.02465555706425 -[main_algo-3] [INFO] [1746050891.007190523] [sailbot.main_algo]: Wind Direction: 266 -[main_algo-3] [INFO] [1746050891.008107777] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050891.009002768] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050891.010699648] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050891.045122125] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050891.045919111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050891.046767546] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050891.047942763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050891.049038597] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050891.085289679] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050891.086994975] [sailbot.teensy]: Wind angle: 274 -[trim_sail-4] [INFO] [1746050891.087670549] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050891.087911339] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050891.088812932] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050891.088986465] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050891.090086158] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050891.145302047] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050891.145894321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050891.146800678] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050891.148183848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050891.149351805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050891.244988650] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050891.245509783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050891.246211296] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050891.247295647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050891.248336400] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050891.335286503] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050891.337126218] [sailbot.teensy]: Wind angle: 280 -[trim_sail-4] [INFO] [1746050891.338060623] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050891.338076645] [sailbot.teensy]: Actual sail angle: 30 -[teensy-2] [INFO] [1746050891.339001201] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050891.339882276] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050891.340298392] [sailbot.mux]: algo sail angle: 40 -[mux-7] [INFO] [1746050891.344360739] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050891.344830075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050891.345651359] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050891.346561953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050891.347615134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050891.444879240] [sailbot.mux]: Published sail angle from algo: 40 -[mux-7] [INFO] [1746050891.446079499] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050891.448293211] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050891.449864567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050891.450946160] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050891.456926916] [sailbot.main_algo]: Wind Direction: 280 -[main_algo-3] [INFO] [1746050891.457829359] [sailbot.main_algo]: Target Bearing: -113.87934444293575 -[main_algo-3] [INFO] [1746050891.458701720] [sailbot.main_algo]: Heading Difference: -19.82965555706437 -[main_algo-3] [INFO] [1746050891.459537800] [sailbot.main_algo]: Rudder Angle Raw: -2.7541188273700516 -[main_algo-3] [INFO] [1746050891.460396793] [sailbot.main_algo]: Rudder Angle: -3 -[main_algo-3] [INFO] [1746050891.461445419] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050891.462169317] [sailbot.mux]: algo rudder angle: -3 -[vectornav-1] [INFO] [1746050891.502935029] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46916227 Long: -76.50346685 -[main_algo-3] [INFO] [1746050891.503308406] [sailbot.main_algo]: Distance to destination: 12.708151374967896 -[vectornav-1] [INFO] [1746050891.504132530] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (244.15700000000004, -0.675, 1.814) -[main_algo-3] [INFO] [1746050891.504294825] [sailbot.main_algo]: Target Bearing: -113.5741242553783 -[main_algo-3] [INFO] [1746050891.505192609] [sailbot.main_algo]: Heading Difference: -20.134875744621695 -[main_algo-3] [INFO] [1746050891.506048174] [sailbot.main_algo]: Wind Direction: 280 -[main_algo-3] [INFO] [1746050891.506905298] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050891.507769708] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050891.509505597] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050891.545098490] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050891.545987921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050891.546571637] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050891.548084507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050891.549275689] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050891.585249610] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050891.587027866] [sailbot.teensy]: Wind angle: 282 -[teensy-2] [INFO] [1746050891.587948323] [sailbot.teensy]: Actual sail angle: 35 -[teensy-2] [INFO] [1746050891.588835292] [sailbot.teensy]: Actual tail angle: 10 -[trim_sail-4] [INFO] [1746050891.587583384] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050891.588590812] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050891.589684020] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050891.645096009] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050891.645757803] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050891.646519714] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050891.647805084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050891.648563251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050891.745522092] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050891.746553365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050891.747487909] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050891.748995402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050891.750252638] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050891.835284342] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050891.837645213] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050891.838709611] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050891.839139457] [sailbot.teensy]: Wind angle: 292 -[teensy-2] [INFO] [1746050891.840212313] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746050891.841098002] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050891.841927027] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050891.844543508] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050891.845019863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050891.845708830] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050891.846756919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 -[teensy-2] [INFO] [1746050891.847774681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050891.945081388] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050891.945968329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050891.946376583] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050891.947699448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 -[teensy-2] [INFO] [1746050891.948274424] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050891.956953192] [sailbot.main_algo]: Wind Direction: 292 -[main_algo-3] [INFO] [1746050891.957910633] [sailbot.main_algo]: Target Bearing: -113.5741242553783 -[main_algo-3] [INFO] [1746050891.958817229] [sailbot.main_algo]: Heading Difference: -2.2688757446217096 -[main_algo-3] [INFO] [1746050891.959649582] [sailbot.main_algo]: Rudder Angle Raw: -0.3151216311974597 -[main_algo-3] [INFO] [1746050891.960463034] [sailbot.main_algo]: Rudder Angle: -1 -[main_algo-3] [INFO] [1746050891.961494208] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050891.962368900] [sailbot.mux]: algo rudder angle: -1 -[vectornav-1] [INFO] [1746050892.002972129] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915924 Long: -76.5034684 -[main_algo-3] [INFO] [1746050892.004098735] [sailbot.main_algo]: Distance to destination: 12.34850430987146 -[vectornav-1] [INFO] [1746050892.004423377] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (263.16100000000006, -0.074, 6.091) -[main_algo-3] [INFO] [1746050892.005296865] [sailbot.main_algo]: Target Bearing: -113.62703175432993 -[main_algo-3] [INFO] [1746050892.006581525] [sailbot.main_algo]: Heading Difference: -2.2159682456699556 -[main_algo-3] [INFO] [1746050892.007507880] [sailbot.main_algo]: Rudder Angle Raw: -0.3077733674541605 -[main_algo-3] [INFO] [1746050892.008398311] [sailbot.main_algo]: Rudder Angle: -1 -[mux-7] [INFO] [1746050892.010170448] [sailbot.mux]: algo rudder angle: -1 -[mux-7] [INFO] [1746050892.045201068] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050892.045966984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050892.046547008] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050892.047833712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 -[teensy-2] [INFO] [1746050892.048982369] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050892.085435992] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050892.088045792] [sailbot.trim_sail]: Sail Angle: "60" -[mux-7] [INFO] [1746050892.088526157] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746050892.088904206] [sailbot.teensy]: Wind angle: 305 -[teensy-2] [INFO] [1746050892.089845677] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746050892.090693421] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050892.091534470] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050892.144989292] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050892.145758359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050892.146310354] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050892.147666255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: -1 -[teensy-2] [INFO] [1746050892.148713092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050892.245371084] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050892.246176189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050892.247063477] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050892.248781853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: -1 -[teensy-2] [INFO] [1746050892.249932543] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050892.335469137] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050892.337916912] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746050892.338196560] [sailbot.teensy]: Wind angle: 307 -[teensy-2] [INFO] [1746050892.339096201] [sailbot.teensy]: Actual sail angle: 50 -[mux-7] [INFO] [1746050892.339187708] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746050892.339466255] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050892.339834905] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050892.344511573] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050892.345266302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050892.345609524] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050892.347107161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: -1 -[teensy-2] [INFO] [1746050892.348183797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050892.445345573] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050892.446358881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050892.447021957] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050892.448605401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: -1 -[teensy-2] [INFO] [1746050892.449748629] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050892.457155863] [sailbot.main_algo]: Wind Direction: 307 -[main_algo-3] [INFO] [1746050892.458171867] [sailbot.main_algo]: Target Bearing: -113.62703175432993 -[main_algo-3] [INFO] [1746050892.459057970] [sailbot.main_algo]: Heading Difference: 16.78803175432995 -[main_algo-3] [INFO] [1746050892.459920184] [sailbot.main_algo]: Rudder Angle Raw: 2.3316710769902707 -[main_algo-3] [INFO] [1746050892.460748716] [sailbot.main_algo]: Rudder Angle: 2 -[main_algo-3] [INFO] [1746050892.461780765] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050892.462404401] [sailbot.mux]: algo rudder angle: 2 -[vectornav-1] [INFO] [1746050892.502889540] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915602 Long: -76.50346883 -[main_algo-3] [INFO] [1746050892.503874258] [sailbot.main_algo]: Distance to destination: 12.005248122803193 -[main_algo-3] [INFO] [1746050892.505004367] [sailbot.main_algo]: Target Bearing: -114.12747821561568 -[vectornav-1] [INFO] [1746050892.505545389] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.861, -2.283, 7.451) -[main_algo-3] [INFO] [1746050892.505993012] [sailbot.main_algo]: Heading Difference: 17.28847821561567 -[main_algo-3] [INFO] [1746050892.507329421] [sailbot.main_algo]: Rudder Angle Raw: 2.401177529946621 -[main_algo-3] [INFO] [1746050892.508226504] [sailbot.main_algo]: Rudder Angle: 2 -[mux-7] [INFO] [1746050892.510022335] [sailbot.mux]: algo rudder angle: 2 -[mux-7] [INFO] [1746050892.545755847] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050892.546451081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050892.547650893] [sailbot.mux]: Published rudder angle from algo: 2 -[teensy-2] [INFO] [1746050892.548827450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 2 -[teensy-2] [INFO] [1746050892.550067023] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050892.585269689] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050892.587562486] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050892.587917834] [sailbot.teensy]: Wind angle: 314 -[mux-7] [INFO] [1746050892.588659239] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050892.589107120] [sailbot.teensy]: Actual sail angle: 60 -[teensy-2] [INFO] [1746050892.590008430] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050892.590864574] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050892.645001359] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050892.645378770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050892.646327776] [sailbot.mux]: Published rudder angle from algo: 2 -[teensy-2] [INFO] [1746050892.647247992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 2 -[teensy-2] [INFO] [1746050892.648545142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050892.745349114] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050892.745915945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050892.746915796] [sailbot.mux]: Published rudder angle from algo: 2 -[teensy-2] [INFO] [1746050892.747930704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 2 -[teensy-2] [INFO] [1746050892.749050879] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050892.835099184] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050892.837350771] [sailbot.teensy]: Wind angle: 335 -[trim_sail-4] [INFO] [1746050892.837393072] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746050892.839015763] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746050892.839133603] [sailbot.teensy]: Actual sail angle: 60 -[teensy-2] [INFO] [1746050892.840089174] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050892.841002766] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050892.844467788] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050892.844906867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050892.845609258] [sailbot.mux]: Published rudder angle from algo: 2 -[teensy-2] [INFO] [1746050892.846693551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 2 -[teensy-2] [INFO] [1746050892.847769353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050892.945678104] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050892.946761301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050892.947389062] [sailbot.mux]: Published rudder angle from algo: 2 -[teensy-2] [INFO] [1746050892.948701390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 2 -[teensy-2] [INFO] [1746050892.949194973] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050892.957090737] [sailbot.main_algo]: Wind Direction: 335 -[main_algo-3] [INFO] [1746050892.958073947] [sailbot.main_algo]: Target Bearing: -114.12747821561568 -[main_algo-3] [INFO] [1746050892.959000489] [sailbot.main_algo]: Heading Difference: 36.988478215615714 -[main_algo-3] [INFO] [1746050892.959873707] [sailbot.main_algo]: Wind Direction: 335 -[main_algo-3] [INFO] [1746050892.960776943] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050892.961604124] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050892.962778087] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050892.963631384] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050893.003311753] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46915249 Long: -76.50346668 -[main_algo-3] [INFO] [1746050893.003894752] [sailbot.main_algo]: Distance to destination: 11.718341452977823 -[main_algo-3] [INFO] [1746050893.005098166] [sailbot.main_algo]: Target Bearing: -115.6750500593796 -[main_algo-3] [INFO] [1746050893.006120386] [sailbot.main_algo]: Heading Difference: 38.53605005937959 -[vectornav-1] [INFO] [1746050893.006481833] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (300.243, 0.172, 6.274) -[main_algo-3] [INFO] [1746050893.007144244] [sailbot.main_algo]: Wind Direction: 335 -[main_algo-3] [INFO] [1746050893.008224803] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050893.009169378] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050893.010921342] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050893.045062580] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050893.045748432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050893.046352236] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050893.047884640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050893.049101316] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050893.085497203] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050893.088050156] [sailbot.teensy]: Wind angle: 352 -[trim_sail-4] [INFO] [1746050893.088213938] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050893.089315029] [sailbot.teensy]: Actual sail angle: 65 -[mux-7] [INFO] [1746050893.089829974] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050893.090209657] [sailbot.teensy]: Actual tail angle: 27 -[teensy-2] [INFO] [1746050893.091091504] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050893.145009630] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050893.145944708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050893.146333010] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050893.147755950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050893.148963824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050893.245182891] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050893.246001089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050893.246663161] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050893.247861057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050893.248304089] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050893.335346024] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050893.337270312] [sailbot.teensy]: Wind angle: 359 -[trim_sail-4] [INFO] [1746050893.338188995] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050893.338476123] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746050893.339380881] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050893.339031745] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050893.340591397] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050893.344450088] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050893.344850901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050893.345808588] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050893.346583039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050893.347651274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050893.445458607] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050893.445990419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050893.447512860] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050893.449096717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050893.450276042] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050893.457216449] [sailbot.main_algo]: Wind Direction: 359 -[main_algo-3] [INFO] [1746050893.458228611] [sailbot.main_algo]: Target Bearing: -115.6750500593796 -[main_algo-3] [INFO] [1746050893.459124292] [sailbot.main_algo]: Heading Difference: 55.91805005937954 -[main_algo-3] [INFO] [1746050893.459995476] [sailbot.main_algo]: Wind Direction: 359 -[main_algo-3] [INFO] [1746050893.460901530] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050893.461755966] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050893.462801018] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050893.463440608] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050893.502713394] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914933 Long: -76.50346332 -[main_algo-3] [INFO] [1746050893.503801652] [sailbot.main_algo]: Distance to destination: 11.521526470101428 -[vectornav-1] [INFO] [1746050893.504219871] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (308.226, -1.415, 6.541) -[main_algo-3] [INFO] [1746050893.504987406] [sailbot.main_algo]: Target Bearing: -117.65216178274427 -[main_algo-3] [INFO] [1746050893.505948454] [sailbot.main_algo]: Heading Difference: 57.89516178274425 -[main_algo-3] [INFO] [1746050893.506874487] [sailbot.main_algo]: Wind Direction: 359 -[main_algo-3] [INFO] [1746050893.507789516] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050893.508681898] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050893.510556357] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050893.545548387] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050893.545686527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050893.546874673] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050893.547891843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050893.548924718] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050893.585271052] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050893.587070802] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746050893.588059234] [sailbot.teensy]: Actual sail angle: 90 -[trim_sail-4] [INFO] [1746050893.587575614] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050893.588947970] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050893.588922909] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050893.589845152] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050893.645251691] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050893.645648813] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050893.646537550] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050893.647386534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050893.648630510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050893.745651732] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050893.746446367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050893.747580205] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050893.748504227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050893.748979909] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050893.835104992] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050893.836939861] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746050893.837055370] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050893.837855727] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050893.838776121] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050893.839623258] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050893.839651856] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050893.844318755] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050893.844874754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050893.845492210] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050893.846701951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050893.847704941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050893.945172440] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050893.945946638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050893.946632165] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050893.947754625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050893.948205890] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050893.957244051] [sailbot.main_algo]: Wind Direction: 0 -[main_algo-3] [INFO] [1746050893.958300252] [sailbot.main_algo]: Target Bearing: -117.65216178274427 -[main_algo-3] [INFO] [1746050893.959250221] [sailbot.main_algo]: Heading Difference: 65.8781617827442 -[main_algo-3] [INFO] [1746050893.960089756] [sailbot.main_algo]: Wind Direction: 0 -[main_algo-3] [INFO] [1746050893.960920463] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050893.961745934] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050893.963052094] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050893.963358493] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050894.002875343] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691457 Long: -76.50345974 -[vectornav-1] [INFO] [1746050894.004230383] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (298.983, -1.16, 2.74) -[main_algo-3] [INFO] [1746050894.004257801] [sailbot.main_algo]: Distance to destination: 11.301858874593371 -[main_algo-3] [INFO] [1746050894.005446164] [sailbot.main_algo]: Target Bearing: -119.90291261405383 -[main_algo-3] [INFO] [1746050894.006528749] [sailbot.main_algo]: Heading Difference: 68.12891261405389 -[main_algo-3] [INFO] [1746050894.007472376] [sailbot.main_algo]: Wind Direction: 0 -[main_algo-3] [INFO] [1746050894.008428811] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050894.009306685] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050894.010984347] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050894.045464096] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050894.046219241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050894.047020819] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050894.048450874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050894.049625365] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050894.085303762] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050894.087114560] [sailbot.teensy]: Wind angle: 5 -[trim_sail-4] [INFO] [1746050894.087916663] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050894.088052977] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050894.088958226] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050894.089075375] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050894.089876985] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050894.145035164] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050894.145862705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050894.146285512] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050894.147736397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050894.148932828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050894.245568695] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050894.246211144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050894.247333909] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050894.248568360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050894.249676404] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050894.335408824] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050894.337908767] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050894.338179824] [sailbot.teensy]: Wind angle: 5 -[teensy-2] [INFO] [1746050894.339110745] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746050894.339131197] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050894.340022566] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050894.340673651] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050894.344661090] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050894.345233674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050894.345847507] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050894.347081448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050894.348211249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050894.445372351] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050894.446220556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050894.446951667] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050894.448426844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050894.449739007] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050894.456999689] [sailbot.main_algo]: Wind Direction: 5 -[main_algo-3] [INFO] [1746050894.457976406] [sailbot.main_algo]: Target Bearing: -119.90291261405383 -[main_algo-3] [INFO] [1746050894.458858817] [sailbot.main_algo]: Heading Difference: 58.88591261405384 -[main_algo-3] [INFO] [1746050894.459680581] [sailbot.main_algo]: Wind Direction: 5 -[main_algo-3] [INFO] [1746050894.460497904] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050894.461336015] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050894.462362238] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050894.462976709] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050894.503565323] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46914125 Long: -76.50345686 -[main_algo-3] [INFO] [1746050894.504357099] [sailbot.main_algo]: Distance to destination: 10.992593655816151 -[vectornav-1] [INFO] [1746050894.505328956] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (278.51300000000003, 0.464, -0.778) -[main_algo-3] [INFO] [1746050894.505708152] [sailbot.main_algo]: Target Bearing: -122.22864144325172 -[main_algo-3] [INFO] [1746050894.506833466] [sailbot.main_algo]: Heading Difference: 61.211641443251665 -[main_algo-3] [INFO] [1746050894.507751643] [sailbot.main_algo]: Wind Direction: 5 -[main_algo-3] [INFO] [1746050894.508712818] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050894.509627608] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050894.511363001] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050894.545054686] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050894.545837880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050894.546501425] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050894.548013960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050894.549225096] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050894.585473773] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050894.587709066] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050894.587861189] [sailbot.teensy]: Wind angle: 4 -[teensy-2] [INFO] [1746050894.588824814] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746050894.589081137] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050894.589729857] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050894.590604210] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050894.645130913] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050894.645818505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050894.646731553] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050894.647942246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050894.649050482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050894.745372030] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050894.746159556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050894.747063988] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050894.748627400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050894.749827833] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050894.835212823] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050894.837529895] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050894.837573067] [sailbot.teensy]: Wind angle: 0 -[teensy-2] [INFO] [1746050894.838493625] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050894.838877591] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050894.838935689] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050894.839254563] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050894.844443888] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050894.845085197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050894.845628354] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050894.846841228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050894.847874579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050894.946168861] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050894.946481328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050894.947988570] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050894.949375646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050894.949833093] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050894.957009699] [sailbot.main_algo]: Wind Direction: 0 -[main_algo-3] [INFO] [1746050894.957985169] [sailbot.main_algo]: Target Bearing: -122.22864144325172 -[main_algo-3] [INFO] [1746050894.958885935] [sailbot.main_algo]: Heading Difference: 40.74164144325175 -[main_algo-3] [INFO] [1746050894.959698503] [sailbot.main_algo]: Wind Direction: 0 -[main_algo-3] [INFO] [1746050894.960506126] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050894.961310247] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050894.962297775] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050894.962897895] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050895.003002718] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913703 Long: -76.50345669 -[main_algo-3] [INFO] [1746050895.003472644] [sailbot.main_algo]: Distance to destination: 10.602074895967895 -[vectornav-1] [INFO] [1746050895.004375949] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (256.51, 1.839, -3.112) -[main_algo-3] [INFO] [1746050895.004442335] [sailbot.main_algo]: Target Bearing: -123.60593231733053 -[main_algo-3] [INFO] [1746050895.005332564] [sailbot.main_algo]: Heading Difference: 42.11893231733052 -[main_algo-3] [INFO] [1746050895.006189427] [sailbot.main_algo]: Wind Direction: 0 -[main_algo-3] [INFO] [1746050895.007072023] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050895.007935315] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050895.009610990] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050895.045190878] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050895.045946708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050895.046621557] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050895.048020928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050895.049079237] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050895.085646634] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050895.088307771] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050895.088808765] [sailbot.teensy]: Wind angle: 358 -[teensy-2] [INFO] [1746050895.089830762] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746050895.090436935] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050895.090766602] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050895.091719192] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050895.145057926] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050895.145886369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050895.146355192] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050895.148031925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050895.149078654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050895.245192933] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050895.246027342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050895.246693461] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050895.248182839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050895.249278379] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050895.335310757] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050895.337204413] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746050895.337918905] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746050895.338162945] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746050895.338546778] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050895.339113840] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050895.340016155] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050895.344526916] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050895.345000640] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050895.345770513] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050895.346840884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050895.347881785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050895.445274429] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050895.445934887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050895.446833665] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050895.447687999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050895.448217413] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050895.457353529] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746050895.458465829] [sailbot.main_algo]: Target Bearing: -123.60593231733053 -[main_algo-3] [INFO] [1746050895.459430038] [sailbot.main_algo]: Heading Difference: 20.11593231733059 -[main_algo-3] [INFO] [1746050895.460340379] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746050895.461153851] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050895.461953781] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050895.462978425] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050895.463623343] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050895.502817088] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913353 Long: -76.50345926 -[main_algo-3] [INFO] [1746050895.503720760] [sailbot.main_algo]: Distance to destination: 10.160803906939012 -[vectornav-1] [INFO] [1746050895.504118305] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (232.76300000000003, -2.222, -3.548) -[main_algo-3] [INFO] [1746050895.504819281] [sailbot.main_algo]: Target Bearing: -123.7826139816765 -[main_algo-3] [INFO] [1746050895.505774205] [sailbot.main_algo]: Heading Difference: 20.29261398167648 -[main_algo-3] [INFO] [1746050895.506677861] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746050895.507579080] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050895.508447394] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050895.510169359] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050895.545998633] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050895.546128023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050895.547589002] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050895.548471254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050895.549591893] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050895.585280721] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050895.587835921] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746050895.588633417] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746050895.588991702] [sailbot.teensy]: Wind angle: 322 -[teensy-2] [INFO] [1746050895.589919357] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050895.590782032] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050895.591588954] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050895.645024255] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050895.645670931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050895.646409618] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050895.647719941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 -[teensy-2] [INFO] [1746050895.648914736] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050895.745340067] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050895.746299493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050895.747522815] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050895.748105549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 -[teensy-2] [INFO] [1746050895.748636160] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050895.835248522] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050895.837409566] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746050895.838115461] [sailbot.teensy]: Wind angle: 305 -[mux-7] [INFO] [1746050895.838817603] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746050895.839126558] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746050895.840052088] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050895.840924383] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050895.844434651] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050895.845122446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050895.845610359] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050895.846796946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 15 -[teensy-2] [INFO] [1746050895.847829628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050895.945054302] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050895.946055198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050895.946423893] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050895.948398981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 15 -[teensy-2] [INFO] [1746050895.949420917] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050895.956931513] [sailbot.main_algo]: Wind Direction: 305 -[main_algo-3] [INFO] [1746050895.957895548] [sailbot.main_algo]: Target Bearing: -123.7826139816765 -[main_algo-3] [INFO] [1746050895.958745938] [sailbot.main_algo]: Heading Difference: -3.4543860183234756 -[main_algo-3] [INFO] [1746050895.959553394] [sailbot.main_algo]: Rudder Angle Raw: -0.4797758358782605 -[main_algo-3] [INFO] [1746050895.960395518] [sailbot.main_algo]: Rudder Angle: -1 -[main_algo-3] [INFO] [1746050895.961389255] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050895.962072847] [sailbot.mux]: algo rudder angle: -1 -[vectornav-1] [INFO] [1746050896.003181943] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46913065 Long: -76.50346347 -[main_algo-3] [INFO] [1746050896.003395662] [sailbot.main_algo]: Distance to destination: 9.70521836111767 -[vectornav-1] [INFO] [1746050896.004241405] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (211.19399999999996, -0.159, -4.622) -[main_algo-3] [INFO] [1746050896.004426980] [sailbot.main_algo]: Target Bearing: -123.08620242820234 -[main_algo-3] [INFO] [1746050896.005411045] [sailbot.main_algo]: Heading Difference: -4.150797571797625 -[main_algo-3] [INFO] [1746050896.006332445] [sailbot.main_algo]: Rudder Angle Raw: -0.5764996627496701 -[main_algo-3] [INFO] [1746050896.007292853] [sailbot.main_algo]: Rudder Angle: -1 -[mux-7] [INFO] [1746050896.009222059] [sailbot.mux]: algo rudder angle: -1 -[mux-7] [INFO] [1746050896.045014325] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050896.045535637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050896.046297947] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050896.047313755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: -1 -[teensy-2] [INFO] [1746050896.048391691] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050896.085458138] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050896.087408372] [sailbot.teensy]: Wind angle: 291 -[trim_sail-4] [INFO] [1746050896.088059184] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050896.088390131] [sailbot.teensy]: Actual sail angle: 70 -[teensy-2] [INFO] [1746050896.089324146] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050896.090187303] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050896.090328990] [sailbot.mux]: algo sail angle: 50 -[mux-7] [INFO] [1746050896.145169199] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050896.145691081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050896.146569328] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050896.147686787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 -[teensy-2] [INFO] [1746050896.148904922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050896.245059801] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050896.245661091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050896.246334990] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050896.247560298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -1 -[teensy-2] [INFO] [1746050896.248602907] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050896.335277018] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050896.336946920] [sailbot.teensy]: Wind angle: 281 -[trim_sail-4] [INFO] [1746050896.337700357] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050896.337852678] [sailbot.teensy]: Actual sail angle: 60 -[teensy-2] [INFO] [1746050896.338732945] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050896.339027318] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050896.339664493] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050896.344267321] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050896.344814369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050896.345406034] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050896.346654561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -1 -[teensy-2] [INFO] [1746050896.347730792] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050896.445369467] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050896.446083334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050896.447983356] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050896.448412809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -1 -[teensy-2] [INFO] [1746050896.449707175] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050896.456998637] [sailbot.main_algo]: Wind Direction: 281 -[main_algo-3] [INFO] [1746050896.457973146] [sailbot.main_algo]: Target Bearing: -123.08620242820234 -[main_algo-3] [INFO] [1746050896.458833709] [sailbot.main_algo]: Heading Difference: -25.7197975717977 -[main_algo-3] [INFO] [1746050896.459672247] [sailbot.main_algo]: Wind Direction: 281 -[main_algo-3] [INFO] [1746050896.460496873] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050896.461332390] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050896.462401675] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050896.462952481] [sailbot.mux]: algo rudder angle: -15 -[waypoint_service-5] [INFO] [1746050896.467696150] [sailbot.waypoint_service]: Received request: command=set, argument=42.46905659809444,-76.50352614378555;42.468722228966215,-76.50330754375084 -[waypoint_service-5] [INFO] [1746050896.468646548] [sailbot.waypoint_service]: New waypoint queue: [(42.46905659809444, -76.50352614378555), (42.468722228966215, -76.50330754375084)] -[waypoint_service-5] [INFO] [1746050896.469892847] [sailbot.waypoint_service]: Published current waypoint: Lat=42.46905659809444, Lon=-76.50352614378555 -[main_algo-3] [INFO] [1746050896.471040268] [sailbot.main_algo]: Updated current waypoint to: (42.46905659809444, -76.50352614378555) -[waypoint_service-5] [INFO] [1746050896.479455608] [sailbot.waypoint_service]: Received request: command=get, argument= -[vectornav-1] [INFO] [1746050896.503175161] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912845 Long: -76.50346732 -[main_algo-3] [INFO] [1746050896.503675362] [sailbot.main_algo]: Distance to destination: 9.331123135460976 -[vectornav-1] [INFO] [1746050896.504309092] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.664, -0.499, -4.819) -[main_algo-3] [INFO] [1746050896.504847970] [sailbot.main_algo]: Target Bearing: -122.23565340261868 -[main_algo-3] [INFO] [1746050896.505884162] [sailbot.main_algo]: Heading Difference: -26.57034659738133 -[main_algo-3] [INFO] [1746050896.506760431] [sailbot.main_algo]: Wind Direction: 281 -[main_algo-3] [INFO] [1746050896.507616411] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050896.508467099] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050896.510078890] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050896.545004923] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050896.545779286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050896.546427861] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050896.547704507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050896.548748189] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050896.585256447] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050896.586849016] [sailbot.teensy]: Wind angle: 267 -[trim_sail-4] [INFO] [1746050896.587406865] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050896.587749879] [sailbot.teensy]: Actual sail angle: 50 -[teensy-2] [INFO] [1746050896.588654167] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050896.589135845] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050896.589685004] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050896.645066472] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050896.646090730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050896.646545156] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050896.648473969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050896.649504471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050896.744728294] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050896.745527088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050896.745992266] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050896.747548469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050896.748509871] [sailbot.teensy]: Message sent to servo -[waypoint_service-5] [INFO] [1746050896.759217638] [sailbot.waypoint_service]: Received request: command=get, argument= -[teensy-2] [INFO] [1746050896.835810239] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050896.838612530] [sailbot.teensy]: Wind angle: 253 -[trim_sail-4] [INFO] [1746050896.839140730] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050896.839664637] [sailbot.teensy]: Actual sail angle: 40 -[mux-7] [INFO] [1746050896.839858278] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050896.840623396] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050896.841568270] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050896.844482524] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050896.845211454] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050896.845646569] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050896.846999396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050896.848052792] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050896.945205601] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050896.946049332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050896.946848485] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050896.948028357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050896.948494409] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050896.956972722] [sailbot.main_algo]: Wind Direction: 253 -[main_algo-3] [INFO] [1746050896.957865063] [sailbot.main_algo]: Target Bearing: -122.23565340261868 -[main_algo-3] [INFO] [1746050896.958680316] [sailbot.main_algo]: Heading Difference: -44.100346597381304 -[main_algo-3] [INFO] [1746050896.959468643] [sailbot.main_algo]: Wind Direction: 253 -[main_algo-3] [INFO] [1746050896.960275757] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050896.961081783] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050896.962032367] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050896.962624162] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050897.003009729] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912835 Long: -76.50347155 -[main_algo-3] [INFO] [1746050897.003897237] [sailbot.main_algo]: Distance to destination: 9.146002488525273 -[vectornav-1] [INFO] [1746050897.004679331] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (182.284, -0.736, -1.518) -[main_algo-3] [INFO] [1746050897.005126223] [sailbot.main_algo]: Target Bearing: -120.40812988227056 -[main_algo-3] [INFO] [1746050897.006122987] [sailbot.main_algo]: Heading Difference: -45.92787011772947 -[main_algo-3] [INFO] [1746050897.007017142] [sailbot.main_algo]: Wind Direction: 253 -[main_algo-3] [INFO] [1746050897.007914387] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050897.008798127] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050897.010495752] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050897.045290323] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050897.046098599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050897.046810745] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050897.048383284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050897.049439339] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050897.085244383] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050897.086851496] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050897.087361997] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050897.087790957] [sailbot.teensy]: Actual sail angle: 30 -[teensy-2] [INFO] [1746050897.088720959] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050897.089556109] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050897.089607510] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050897.145049583] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746050897.145613099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050897.146315084] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050897.147430519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746050897.148575950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050897.245182484] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746050897.245917319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050897.246716846] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050897.247820294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746050897.249124307] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050897.335094388] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050897.336629736] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050897.337233121] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050897.337522251] [sailbot.teensy]: Actual sail angle: 20 -[teensy-2] [INFO] [1746050897.338357307] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050897.338663926] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050897.339152824] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050897.344336921] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746050897.344788511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050897.345581633] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050897.346394922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746050897.347367767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050897.445087931] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746050897.445533479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050897.446379157] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050897.447242765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746050897.448320840] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050897.457185179] [sailbot.main_algo]: Wind Direction: 248 -[main_algo-3] [INFO] [1746050897.458262791] [sailbot.main_algo]: Target Bearing: -120.40812988227056 -[main_algo-3] [INFO] [1746050897.459176341] [sailbot.main_algo]: Heading Difference: -57.307870117729465 -[main_algo-3] [INFO] [1746050897.460032659] [sailbot.main_algo]: Wind Direction: 248 -[main_algo-3] [INFO] [1746050897.460844307] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050897.461668683] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050897.462705323] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050897.463272682] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050897.502840882] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912881 Long: -76.5034752 -[main_algo-3] [INFO] [1746050897.504168736] [sailbot.main_algo]: Distance to destination: 9.047759489764605 -[vectornav-1] [INFO] [1746050897.504991977] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (183.961, -0.866, 2.983) -[main_algo-3] [INFO] [1746050897.505212389] [sailbot.main_algo]: Target Bearing: -118.59321006476573 -[main_algo-3] [INFO] [1746050897.506243840] [sailbot.main_algo]: Heading Difference: -59.122789935234266 -[main_algo-3] [INFO] [1746050897.507162238] [sailbot.main_algo]: Wind Direction: 248 -[main_algo-3] [INFO] [1746050897.508056853] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050897.508916806] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050897.510782749] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050897.544853854] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746050897.545506918] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050897.546071452] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050897.547322649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746050897.548486899] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050897.585170483] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050897.586851094] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050897.587776623] [sailbot.teensy]: Actual sail angle: 15 -[trim_sail-4] [INFO] [1746050897.587329037] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050897.588338280] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050897.588700476] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050897.589550655] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050897.645194417] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746050897.646108966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050897.646630734] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050897.647957698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746050897.649124358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050897.745258685] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746050897.746085415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050897.746744214] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050897.748007716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746050897.748513248] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050897.835212919] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050897.837444216] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050897.838081462] [sailbot.teensy]: Wind angle: 249 -[mux-7] [INFO] [1746050897.838493868] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050897.839108755] [sailbot.teensy]: Actual sail angle: 15 -[teensy-2] [INFO] [1746050897.840006659] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050897.840653585] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050897.844543999] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746050897.844928413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050897.845695546] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050897.846617673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746050897.847661821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050897.945472594] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746050897.946103279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050897.947531606] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050897.948351296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746050897.949548949] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050897.956984021] [sailbot.main_algo]: Wind Direction: 249 -[main_algo-3] [INFO] [1746050897.957980695] [sailbot.main_algo]: Target Bearing: -118.59321006476573 -[main_algo-3] [INFO] [1746050897.958879266] [sailbot.main_algo]: Heading Difference: -57.445789935234245 -[main_algo-3] [INFO] [1746050897.959674483] [sailbot.main_algo]: Wind Direction: 249 -[main_algo-3] [INFO] [1746050897.960468923] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050897.961235821] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050897.962235916] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050897.962861426] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050898.003023682] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912828 Long: -76.50347812 -[main_algo-3] [INFO] [1746050898.003689810] [sailbot.main_algo]: Distance to destination: 8.886373566648716 -[vectornav-1] [INFO] [1746050898.004351427] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.42200000000003, 1.225, -0.159) -[main_algo-3] [INFO] [1746050898.004825911] [sailbot.main_algo]: Target Bearing: -117.3967079323586 -[main_algo-3] [INFO] [1746050898.005791565] [sailbot.main_algo]: Heading Difference: -58.64229206764139 -[main_algo-3] [INFO] [1746050898.006721879] [sailbot.main_algo]: Wind Direction: 249 -[main_algo-3] [INFO] [1746050898.007576666] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050898.008464321] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050898.010202732] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050898.044890456] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746050898.045502940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050898.046409914] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050898.047433598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746050898.048511772] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050898.085222110] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050898.087136107] [sailbot.teensy]: Wind angle: 253 -[trim_sail-4] [INFO] [1746050898.087194082] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050898.088059960] [sailbot.teensy]: Actual sail angle: 15 -[mux-7] [INFO] [1746050898.088859348] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050898.089004159] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050898.089896421] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050898.145416032] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050898.146213261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050898.146875090] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050898.148559405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050898.149665887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050898.245287882] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050898.245961418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050898.246760259] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050898.248037636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050898.249085300] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050898.335315547] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050898.337639472] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050898.338362103] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050898.339677687] [sailbot.teensy]: Wind angle: 261 -[teensy-2] [INFO] [1746050898.340647027] [sailbot.teensy]: Actual sail angle: 15 -[teensy-2] [INFO] [1746050898.341674170] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050898.342616468] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050898.344371557] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050898.344855810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050898.345459677] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050898.346528110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050898.347603718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050898.445276120] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050898.445908269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050898.446860584] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050898.447970522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050898.449025634] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050898.457028006] [sailbot.main_algo]: Wind Direction: 261 -[main_algo-3] [INFO] [1746050898.458016300] [sailbot.main_algo]: Target Bearing: -117.3967079323586 -[main_algo-3] [INFO] [1746050898.458880860] [sailbot.main_algo]: Heading Difference: -49.18129206764138 -[main_algo-3] [INFO] [1746050898.459679037] [sailbot.main_algo]: Wind Direction: 261 -[main_algo-3] [INFO] [1746050898.460490701] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050898.461311462] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050898.462316803] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050898.463014164] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050898.503168152] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912727 Long: -76.5034808 -[main_algo-3] [INFO] [1746050898.503702049] [sailbot.main_algo]: Distance to destination: 8.689225400281227 -[vectornav-1] [INFO] [1746050898.504667735] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (204.61, -2.013, 1.565) -[main_algo-3] [INFO] [1746050898.504844518] [sailbot.main_algo]: Target Bearing: -116.42363854829871 -[main_algo-3] [INFO] [1746050898.505842944] [sailbot.main_algo]: Heading Difference: -50.15436145170128 -[main_algo-3] [INFO] [1746050898.506846382] [sailbot.main_algo]: Wind Direction: 261 -[main_algo-3] [INFO] [1746050898.507765274] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050898.508685415] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050898.510333064] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050898.544891121] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050898.545596725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050898.546347113] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050898.547484696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050898.548673423] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050898.585117704] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050898.586733038] [sailbot.teensy]: Wind angle: 265 -[trim_sail-4] [INFO] [1746050898.587221121] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050898.587623034] [sailbot.teensy]: Actual sail angle: 20 -[teensy-2] [INFO] [1746050898.588501225] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050898.589217817] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050898.589515818] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050898.645173658] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050898.646250268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050898.646670242] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050898.648577422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050898.649748284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050898.745123529] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050898.746114009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050898.746800259] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050898.747778568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050898.748263415] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050898.835276437] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050898.837438384] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050898.838112691] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050898.839212976] [sailbot.teensy]: Wind angle: 269 -[teensy-2] [INFO] [1746050898.840133256] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050898.840998142] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050898.841828195] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050898.844252381] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050898.845153761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050898.845594167] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050898.846826424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050898.847870711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050898.945102955] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050898.946042040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050898.946817528] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050898.947728979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050898.948212062] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050898.956996526] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050898.957917248] [sailbot.main_algo]: Target Bearing: -116.42363854829871 -[main_algo-3] [INFO] [1746050898.958764660] [sailbot.main_algo]: Heading Difference: -38.96636145170129 -[main_algo-3] [INFO] [1746050898.959622493] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050898.960467591] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050898.961293512] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050898.962333579] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050898.963166842] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050899.003011924] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912614 Long: -76.50348452 -[vectornav-1] [INFO] [1746050899.004208254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (216.19899999999996, 0.12, 0.717) -[main_algo-3] [INFO] [1746050899.004208294] [sailbot.main_algo]: Distance to destination: 8.447559861709507 -[main_algo-3] [INFO] [1746050899.005417920] [sailbot.main_algo]: Target Bearing: -114.91480137991698 -[main_algo-3] [INFO] [1746050899.006558951] [sailbot.main_algo]: Heading Difference: -40.475198620083006 -[main_algo-3] [INFO] [1746050899.007540352] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050899.008448435] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050899.009312904] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050899.011607260] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050899.044972133] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050899.045762671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050899.046673186] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050899.047543373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050899.048613283] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050899.085335670] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050899.087078384] [sailbot.teensy]: Wind angle: 274 -[teensy-2] [INFO] [1746050899.087944199] [sailbot.teensy]: Actual sail angle: 30 -[trim_sail-4] [INFO] [1746050899.087504967] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050899.088828779] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050899.088851658] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050899.089783868] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050899.145140419] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050899.145732568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050899.146635274] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050899.147820206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050899.149001875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050899.245381736] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050899.246260925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050899.246904658] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050899.248352649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050899.248939752] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050899.335194332] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050899.337293220] [sailbot.teensy]: Wind angle: 274 -[trim_sail-4] [INFO] [1746050899.337546875] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050899.338671845] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050899.338946058] [sailbot.teensy]: Actual sail angle: 30 -[teensy-2] [INFO] [1746050899.339426998] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050899.339772698] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050899.344462835] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050899.344858986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050899.345572700] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050899.346676180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050899.347844713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050899.445098112] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050899.445737731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050899.447011722] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050899.447901268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050899.449010423] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050899.456961405] [sailbot.main_algo]: Wind Direction: 274 -[main_algo-3] [INFO] [1746050899.457932038] [sailbot.main_algo]: Target Bearing: -114.91480137991698 -[main_algo-3] [INFO] [1746050899.458814484] [sailbot.main_algo]: Heading Difference: -28.886198620083064 -[main_algo-3] [INFO] [1746050899.459639732] [sailbot.main_algo]: Wind Direction: 274 -[main_algo-3] [INFO] [1746050899.460486175] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050899.461301967] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050899.462340081] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050899.463011995] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050899.503064756] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46912361 Long: -76.50348747 -[main_algo-3] [INFO] [1746050899.503738851] [sailbot.main_algo]: Distance to destination: 8.093125234981763 -[vectornav-1] [INFO] [1746050899.504490746] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (231.53099999999995, -3.27, -0.04) -[main_algo-3] [INFO] [1746050899.504901334] [sailbot.main_algo]: Target Bearing: -114.15072790951211 -[main_algo-3] [INFO] [1746050899.505982601] [sailbot.main_algo]: Heading Difference: -29.65027209048793 -[main_algo-3] [INFO] [1746050899.506895816] [sailbot.main_algo]: Wind Direction: 274 -[main_algo-3] [INFO] [1746050899.507820512] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050899.508732595] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050899.510421867] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050899.544899273] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050899.545630004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050899.546123130] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050899.547456239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050899.548631199] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050899.585493929] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050899.588016535] [sailbot.teensy]: Wind angle: 276 -[trim_sail-4] [INFO] [1746050899.588028493] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050899.588949907] [sailbot.teensy]: Actual sail angle: 35 -[mux-7] [INFO] [1746050899.589233912] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050899.590107916] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050899.591042946] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050899.645111280] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050899.645880512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050899.646503018] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050899.648080438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050899.649234843] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050899.745210569] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050899.745859228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050899.746544318] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050899.747794411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: -15 -[teensy-2] [INFO] [1746050899.748296783] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050899.835642069] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050899.837430732] [sailbot.teensy]: Wind angle: 283 -[trim_sail-4] [INFO] [1746050899.837924728] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050899.838377737] [sailbot.teensy]: Actual sail angle: 35 -[teensy-2] [INFO] [1746050899.839272292] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050899.839454736] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050899.839721813] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050899.844351515] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050899.844855541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050899.845452037] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050899.846608606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050899.847711292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050899.944947641] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050899.945776607] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050899.946243187] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050899.947711494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050899.948740164] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050899.956913566] [sailbot.main_algo]: Wind Direction: 283 -[main_algo-3] [INFO] [1746050899.957889941] [sailbot.main_algo]: Target Bearing: -114.15072790951211 -[main_algo-3] [INFO] [1746050899.958772225] [sailbot.main_algo]: Heading Difference: -14.31827209048788 -[main_algo-3] [INFO] [1746050899.959606626] [sailbot.main_algo]: Rudder Angle Raw: -1.9886489014566502 -[main_algo-3] [INFO] [1746050899.960439705] [sailbot.main_algo]: Rudder Angle: -2 -[main_algo-3] [INFO] [1746050899.961763804] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050899.962026482] [sailbot.mux]: algo rudder angle: -2 -[vectornav-1] [INFO] [1746050900.003318452] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911985 Long: -76.50349019 -[main_algo-3] [INFO] [1746050900.004140879] [sailbot.main_algo]: Distance to destination: 7.6213688699444555 -[main_algo-3] [INFO] [1746050900.005325404] [sailbot.main_algo]: Target Bearing: -113.83807833039245 -[vectornav-1] [INFO] [1746050900.005671952] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (247.70900000000006, -1.515, 2.507) -[main_algo-3] [INFO] [1746050900.006408998] [sailbot.main_algo]: Heading Difference: -14.630921669607574 -[main_algo-3] [INFO] [1746050900.007402519] [sailbot.main_algo]: Rudder Angle Raw: -2.032072454112163 -[main_algo-3] [INFO] [1746050900.008353501] [sailbot.main_algo]: Rudder Angle: -3 -[mux-7] [INFO] [1746050900.010013790] [sailbot.mux]: algo rudder angle: -3 -[mux-7] [INFO] [1746050900.045395470] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050900.045609778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050900.046696808] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050900.047440892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -3 -[teensy-2] [INFO] [1746050900.048593451] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050900.085365788] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050900.087692765] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050900.088032966] [sailbot.teensy]: Wind angle: 291 -[mux-7] [INFO] [1746050900.088704596] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050900.089023854] [sailbot.teensy]: Actual sail angle: 35 -[teensy-2] [INFO] [1746050900.089945751] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050900.090803182] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050900.145226659] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050900.146005072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050900.146761858] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050900.148116509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -3 -[teensy-2] [INFO] [1746050900.149343835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050900.245014726] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050900.245866489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050900.246281087] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050900.247815638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -3 -[teensy-2] [INFO] [1746050900.248857402] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050900.335318776] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050900.337734356] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050900.338306482] [sailbot.teensy]: Wind angle: 294 -[mux-7] [INFO] [1746050900.338813842] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050900.339426139] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746050900.340406768] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050900.341248336] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050900.344280791] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050900.344874522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050900.345365304] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050900.346588574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -3 -[teensy-2] [INFO] [1746050900.347671420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050900.445304363] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050900.446192861] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050900.447096547] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050900.448315920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -3 -[teensy-2] [INFO] [1746050900.449489564] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050900.457092593] [sailbot.main_algo]: Wind Direction: 294 -[main_algo-3] [INFO] [1746050900.458081243] [sailbot.main_algo]: Target Bearing: -113.83807833039245 -[main_algo-3] [INFO] [1746050900.458911894] [sailbot.main_algo]: Heading Difference: 1.5470783303925373 -[main_algo-3] [INFO] [1746050900.459728852] [sailbot.main_algo]: Rudder Angle Raw: 0.21487199033229684 -[main_algo-3] [INFO] [1746050900.460612750] [sailbot.main_algo]: Rudder Angle: 0 -[main_algo-3] [INFO] [1746050900.461651140] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050900.462235146] [sailbot.mux]: algo rudder angle: 0 -[vectornav-1] [INFO] [1746050900.503415672] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46911561 Long: -76.50349158 -[main_algo-3] [INFO] [1746050900.504207965] [sailbot.main_algo]: Distance to destination: 7.143433648096542 -[vectornav-1] [INFO] [1746050900.505193063] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (269.677, -0.543, 3.376) -[main_algo-3] [INFO] [1746050900.505565931] [sailbot.main_algo]: Target Bearing: -114.45816728892557 -[main_algo-3] [INFO] [1746050900.506612876] [sailbot.main_algo]: Heading Difference: 2.1671672889256115 -[main_algo-3] [INFO] [1746050900.507517253] [sailbot.main_algo]: Rudder Angle Raw: 0.3009954567952238 -[main_algo-3] [INFO] [1746050900.508409425] [sailbot.main_algo]: Rudder Angle: 0 -[mux-7] [INFO] [1746050900.510517311] [sailbot.mux]: algo rudder angle: 0 -[mux-7] [INFO] [1746050900.545119656] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050900.545689227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050900.546419144] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050900.547680901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 0 -[teensy-2] [INFO] [1746050900.548739887] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050900.585403737] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050900.587735853] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746050900.587946265] [sailbot.teensy]: Wind angle: 309 -[teensy-2] [INFO] [1746050900.588948924] [sailbot.teensy]: Actual sail angle: 50 -[mux-7] [INFO] [1746050900.589530040] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746050900.590257308] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050900.591198654] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050900.645065246] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050900.645611962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050900.646370117] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050900.647558994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 0 -[teensy-2] [INFO] [1746050900.648677501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050900.745089755] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050900.745591082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050900.746389211] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050900.747389796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 0 -[teensy-2] [INFO] [1746050900.748487861] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050900.835275448] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050900.836920770] [sailbot.teensy]: Wind angle: 329 -[teensy-2] [INFO] [1746050900.837844338] [sailbot.teensy]: Actual sail angle: 50 -[trim_sail-4] [INFO] [1746050900.838160765] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746050900.838683679] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050900.838898682] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746050900.839602141] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050900.844487494] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050900.845025320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050900.846320831] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050900.846882247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050900.847941985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050900.945295945] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050900.945759831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050900.946802353] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050900.947683159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050900.948782371] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050900.956910004] [sailbot.main_algo]: Wind Direction: 329 -[main_algo-3] [INFO] [1746050900.957941342] [sailbot.main_algo]: Target Bearing: -114.45816728892557 -[main_algo-3] [INFO] [1746050900.958826893] [sailbot.main_algo]: Heading Difference: 24.135167288925572 -[main_algo-3] [INFO] [1746050900.959645777] [sailbot.main_algo]: Wind Direction: 329 -[main_algo-3] [INFO] [1746050900.960484699] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050900.961312874] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050900.962357129] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050900.963065425] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050901.003410379] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691115 Long: -76.50349037 -[main_algo-3] [INFO] [1746050901.004418562] [sailbot.main_algo]: Distance to destination: 6.769740237398257 -[vectornav-1] [INFO] [1746050901.005233722] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.63300000000004, 4.191, 6.802) -[main_algo-3] [INFO] [1746050901.005721618] [sailbot.main_algo]: Target Bearing: -116.7682232527058 -[main_algo-3] [INFO] [1746050901.006724149] [sailbot.main_algo]: Heading Difference: 26.445223252705773 -[main_algo-3] [INFO] [1746050901.007666017] [sailbot.main_algo]: Wind Direction: 329 -[main_algo-3] [INFO] [1746050901.008610974] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050901.009485369] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050901.011160804] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050901.045123326] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050901.045881815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050901.046506700] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050901.048106223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 -[teensy-2] [INFO] [1746050901.049262586] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050901.085362714] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050901.087254898] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746050901.087799585] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746050901.088378118] [sailbot.teensy]: Actual sail angle: 60 -[teensy-2] [INFO] [1746050901.089258152] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050901.089380033] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050901.090115237] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050901.145226933] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050901.145743756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050901.146690829] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050901.147694827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050901.148755779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050901.245297749] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050901.246178849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050901.246849262] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050901.248314467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050901.249407826] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050901.335192212] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050901.337312880] [sailbot.teensy]: Wind angle: 350 -[trim_sail-4] [INFO] [1746050901.337606717] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050901.338274709] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050901.338822094] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050901.339029423] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050901.339424202] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050901.344532344] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050901.345179911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050901.345683006] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050901.346957620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050901.348281102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050901.445297051] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050901.445828799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050901.446707457] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050901.447730844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050901.448831886] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050901.457022621] [sailbot.main_algo]: Wind Direction: 350 -[main_algo-3] [INFO] [1746050901.458049427] [sailbot.main_algo]: Target Bearing: -116.7682232527058 -[main_algo-3] [INFO] [1746050901.458911340] [sailbot.main_algo]: Heading Difference: 50.401223252705904 -[main_algo-3] [INFO] [1746050901.459744586] [sailbot.main_algo]: Wind Direction: 350 -[main_algo-3] [INFO] [1746050901.460604050] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050901.461420308] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050901.462468973] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050901.463497323] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050901.502794376] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46910844 Long: -76.50348778 -[main_algo-3] [INFO] [1746050901.503261030] [sailbot.main_algo]: Distance to destination: 6.564963970692035 -[vectornav-1] [INFO] [1746050901.504057182] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (306.467, -0.361, 8.199) -[main_algo-3] [INFO] [1746050901.504216324] [sailbot.main_algo]: Target Bearing: -119.73219498619231 -[main_algo-3] [INFO] [1746050901.505177020] [sailbot.main_algo]: Heading Difference: 53.365194986192364 -[main_algo-3] [INFO] [1746050901.506093049] [sailbot.main_algo]: Wind Direction: 350 -[main_algo-3] [INFO] [1746050901.506967118] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050901.507804395] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050901.509528625] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050901.544956688] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050901.545669998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050901.546195719] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050901.547607365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050901.548612501] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050901.585334680] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050901.587508571] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050901.587674418] [sailbot.teensy]: Wind angle: 355 -[mux-7] [INFO] [1746050901.588093371] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050901.588576340] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746050901.589454823] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050901.590302521] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050901.644950056] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050901.645774417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050901.646358891] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050901.647738969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050901.648775226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050901.744909251] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050901.745791114] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050901.746218724] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050901.747611667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050901.748799636] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050901.835691651] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050901.838265149] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746050901.838790408] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050901.839451609] [sailbot.teensy]: Wind angle: 0 -[teensy-2] [INFO] [1746050901.839852892] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050901.840211250] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050901.840577035] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050901.844534506] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050901.844916738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050901.845670593] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050901.846621827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050901.847753762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050901.945174885] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050901.945882083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050901.946561576] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050901.947838210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050901.948878294] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050901.956940148] [sailbot.main_algo]: Wind Direction: 0 -[main_algo-3] [INFO] [1746050901.957905646] [sailbot.main_algo]: Target Bearing: -119.73219498619231 -[main_algo-3] [INFO] [1746050901.958788600] [sailbot.main_algo]: Heading Difference: 66.19919498619231 -[main_algo-3] [INFO] [1746050901.959615428] [sailbot.main_algo]: Wind Direction: 0 -[main_algo-3] [INFO] [1746050901.960449744] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050901.961282073] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050901.962323021] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050901.962921622] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050902.003048301] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4691054 Long: -76.50348487 -[main_algo-3] [INFO] [1746050902.004027441] [sailbot.main_algo]: Distance to destination: 6.394666727202183 -[vectornav-1] [INFO] [1746050902.005283718] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (302.02, -5.682, 5.097) -[main_algo-3] [INFO] [1746050902.005886816] [sailbot.main_algo]: Target Bearing: -123.06768752691173 -[main_algo-3] [INFO] [1746050902.006908651] [sailbot.main_algo]: Heading Difference: 69.53468752691174 -[main_algo-3] [INFO] [1746050902.007890413] [sailbot.main_algo]: Wind Direction: 0 -[main_algo-3] [INFO] [1746050902.008804197] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050902.009653874] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050902.011381680] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050902.045558757] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050902.045748958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050902.047073676] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050902.047698712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050902.048812287] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050902.085258913] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050902.086830768] [sailbot.teensy]: Wind angle: 13 -[teensy-2] [INFO] [1746050902.087748519] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050902.088649329] [sailbot.teensy]: Actual tail angle: 40 -[trim_sail-4] [INFO] [1746050902.087636588] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746050902.088613089] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050902.089573303] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050902.145121519] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050902.145829884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050902.146532124] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050902.147922607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050902.148946020] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050902.244941709] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050902.245820182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050902.246247903] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050902.247637602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050902.248833696] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050902.335151580] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050902.337501456] [sailbot.teensy]: Wind angle: 16 -[trim_sail-4] [INFO] [1746050902.337501382] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746050902.338510161] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050902.339385458] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050902.340299274] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050902.341142604] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050902.344354047] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050902.344768985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050902.345462240] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050902.346415232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050902.347465868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050902.445223236] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050902.445903231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050902.446789510] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050902.448189928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050902.448665075] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050902.457202799] [sailbot.main_algo]: Wind Direction: 16 -[main_algo-3] [INFO] [1746050902.458271517] [sailbot.main_algo]: Target Bearing: -123.06768752691173 -[main_algo-3] [INFO] [1746050902.459175320] [sailbot.main_algo]: Heading Difference: 65.08768752691174 -[main_algo-3] [INFO] [1746050902.460026004] [sailbot.main_algo]: Wind Direction: 16 -[main_algo-3] [INFO] [1746050902.460904273] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050902.461682659] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050902.462817440] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050902.463550716] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050902.502655805] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46910054 Long: -76.50348136 -[main_algo-3] [INFO] [1746050902.503555441] [sailbot.main_algo]: Distance to destination: 6.113464597495278 -[vectornav-1] [INFO] [1746050902.503953157] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (282.879, -1.876, -0.144) -[main_algo-3] [INFO] [1746050902.504615329] [sailbot.main_algo]: Target Bearing: -128.05096987387319 -[main_algo-3] [INFO] [1746050902.505588968] [sailbot.main_algo]: Heading Difference: 70.0709698738732 -[main_algo-3] [INFO] [1746050902.506511871] [sailbot.main_algo]: Wind Direction: 16 -[main_algo-3] [INFO] [1746050902.507394943] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050902.508284184] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050902.510031566] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050902.545215043] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050902.546024155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050902.547130626] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050902.548203206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050902.549280867] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050902.585298692] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050902.587550942] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746050902.588320706] [sailbot.teensy]: Wind angle: 15 -[mux-7] [INFO] [1746050902.589067346] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050902.589531905] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050902.590729085] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050902.591614865] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050902.645085553] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050902.645824559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050902.646479575] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050902.647936500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050902.649049913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050902.745394986] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050902.746365417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050902.747308513] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050902.748658027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050902.749803959] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050902.835022344] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050902.837013244] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050902.837279165] [sailbot.teensy]: Wind angle: 6 -[teensy-2] [INFO] [1746050902.838172985] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746050902.837762385] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050902.839043320] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050902.839890470] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050902.844596619] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050902.845068392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050902.845745934] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050902.846763982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050902.847797185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050902.945474857] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050902.946311017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050902.947048774] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050902.948397858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050902.949587779] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050902.956896960] [sailbot.main_algo]: Wind Direction: 6 -[main_algo-3] [INFO] [1746050902.957839318] [sailbot.main_algo]: Target Bearing: -128.05096987387319 -[main_algo-3] [INFO] [1746050902.958769874] [sailbot.main_algo]: Heading Difference: 50.92996987387323 -[main_algo-3] [INFO] [1746050902.959558485] [sailbot.main_algo]: Wind Direction: 6 -[main_algo-3] [INFO] [1746050902.960354795] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050902.961150783] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050902.962116207] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050902.962738491] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050903.002742817] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46909439 Long: -76.50348057 -[main_algo-3] [INFO] [1746050903.003387084] [sailbot.main_algo]: Distance to destination: 5.626468799188318 -[vectornav-1] [INFO] [1746050903.004013160] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (254.34199999999998, 2.496, -4.927) -[main_algo-3] [INFO] [1746050903.004327087] [sailbot.main_algo]: Target Bearing: -132.77358706029574 -[main_algo-3] [INFO] [1746050903.005240118] [sailbot.main_algo]: Heading Difference: 55.65258706029579 -[main_algo-3] [INFO] [1746050903.006081502] [sailbot.main_algo]: Wind Direction: 6 -[main_algo-3] [INFO] [1746050903.006893883] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050903.007675216] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050903.009327994] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050903.044967742] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050903.045634479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050903.046387685] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050903.047575961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050903.048729584] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050903.085498864] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050903.087293389] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746050903.088289863] [sailbot.teensy]: Actual sail angle: 85 -[trim_sail-4] [INFO] [1746050903.088300836] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746050903.089169380] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050903.089273084] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050903.090199726] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050903.145208727] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050903.145957976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050903.146663002] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050903.148210048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050903.149264257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050903.245453212] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050903.246291005] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050903.247039669] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050903.248410207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050903.249698317] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050903.335209046] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050903.337320857] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746050903.338281087] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050903.339163117] [sailbot.teensy]: Actual tail angle: 40 -[trim_sail-4] [INFO] [1746050903.338387298] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746050903.338631414] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746050903.340017887] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050903.344506715] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050903.345059477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050903.345692175] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050903.346813882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050903.347881376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050903.444867266] [sailbot.mux]: Published sail angle from algo: 80 -[mux-7] [INFO] [1746050903.446073493] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050903.448108884] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050903.449648231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050903.450691395] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050903.456959033] [sailbot.main_algo]: Wind Direction: 333 -[main_algo-3] [INFO] [1746050903.457897725] [sailbot.main_algo]: Target Bearing: -132.77358706029574 -[main_algo-3] [INFO] [1746050903.458711452] [sailbot.main_algo]: Heading Difference: 27.115587060295752 -[main_algo-3] [INFO] [1746050903.459511012] [sailbot.main_algo]: Wind Direction: 333 -[main_algo-3] [INFO] [1746050903.460341787] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050903.461151013] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050903.462164983] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050903.462910434] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050903.503271291] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908999 Long: -76.50348264 -[main_algo-3] [INFO] [1746050903.503874856] [sailbot.main_algo]: Distance to destination: 5.15242150822383 -[vectornav-1] [INFO] [1746050903.504824038] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (230.05399999999997, 1.448, -6.73) -[main_algo-3] [INFO] [1746050903.505047402] [sailbot.main_algo]: Target Bearing: -134.98126057834628 -[main_algo-3] [INFO] [1746050903.506046582] [sailbot.main_algo]: Heading Difference: 29.323260578346208 -[main_algo-3] [INFO] [1746050903.506959022] [sailbot.main_algo]: Wind Direction: 333 -[main_algo-3] [INFO] [1746050903.507830198] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050903.508693089] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050903.510417277] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050903.545341463] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050903.545618356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050903.546631832] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050903.547467025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050903.548753267] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050903.585088096] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050903.586664108] [sailbot.teensy]: Wind angle: 314 -[trim_sail-4] [INFO] [1746050903.587239092] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050903.587544471] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050903.588391262] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050903.589243203] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050903.589366649] [sailbot.mux]: algo sail angle: 65 -[mux-7] [INFO] [1746050903.645362249] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050903.646035600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050903.646872602] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050903.648551766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 -[teensy-2] [INFO] [1746050903.649677798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050903.745277764] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050903.746003870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050903.746775774] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050903.747905885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 -[teensy-2] [INFO] [1746050903.748404494] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050903.835358789] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050903.837230373] [sailbot.teensy]: Wind angle: 305 -[trim_sail-4] [INFO] [1746050903.837806563] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746050903.838950314] [sailbot.teensy]: Actual sail angle: 80 -[mux-7] [INFO] [1746050903.839465516] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746050903.839558151] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050903.839940378] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050903.844376611] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050903.845086536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050903.845490339] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050903.846851783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 15 -[teensy-2] [INFO] [1746050903.847900073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050903.945355259] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050903.946342086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050903.946897556] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050903.948540410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 15 -[teensy-2] [INFO] [1746050903.949534248] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050903.956931242] [sailbot.main_algo]: Wind Direction: 305 -[main_algo-3] [INFO] [1746050903.957868422] [sailbot.main_algo]: Target Bearing: -134.98126057834628 -[main_algo-3] [INFO] [1746050903.958696863] [sailbot.main_algo]: Heading Difference: 5.035260578346197 -[main_algo-3] [INFO] [1746050903.959498782] [sailbot.main_algo]: Rudder Angle Raw: 0.6993417469925273 -[main_algo-3] [INFO] [1746050903.960318881] [sailbot.main_algo]: Rudder Angle: 0 -[main_algo-3] [INFO] [1746050903.961298966] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050903.961950038] [sailbot.mux]: algo rudder angle: 0 -[vectornav-1] [INFO] [1746050904.003424962] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908769 Long: -76.50348707 -[main_algo-3] [INFO] [1746050904.003904678] [sailbot.main_algo]: Distance to destination: 4.716465061623431 -[main_algo-3] [INFO] [1746050904.005022926] [sailbot.main_algo]: =============================== Waypoint popped =============================== -[vectornav-1] [INFO] [1746050904.005772780] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (208.726, -2.778, -3.649) -[waypoint_service-5] [INFO] [1746050904.010222271] [sailbot.waypoint_service]: Received request: command=pop, argument= -[waypoint_service-5] [INFO] [1746050904.011180437] [sailbot.waypoint_service]: Popped waypoint: (42.46905659809444, -76.50352614378555) -[waypoint_service-5] [INFO] [1746050904.012543985] [sailbot.waypoint_service]: Published current waypoint: Lat=42.468722228966215, Lon=-76.50330754375084 -[main_algo-3] [INFO] [1746050904.013781413] [sailbot.main_algo]: Updated current waypoint to: (42.468722228966215, -76.50330754375084) -[main_algo-3] [INFO] [1746050904.015842255] [sailbot.main_algo]: Waypoint popped successfully. -[mux-7] [INFO] [1746050904.045094283] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050904.045810542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050904.046435761] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050904.047786220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 0 -[teensy-2] [INFO] [1746050904.048944838] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050904.085220464] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050904.087044250] [sailbot.teensy]: Wind angle: 288 -[trim_sail-4] [INFO] [1746050904.087378712] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050904.087938885] [sailbot.teensy]: Actual sail angle: 65 -[teensy-2] [INFO] [1746050904.088857295] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050904.089702732] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050904.090037118] [sailbot.mux]: algo sail angle: 45 -[mux-7] [INFO] [1746050904.145240482] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050904.146231606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050904.146763982] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050904.148320289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050904.148772092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050904.245477417] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050904.246582181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050904.247072669] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050904.250568480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[waypoint_service-5] [INFO] [1746050904.251279629] [sailbot.waypoint_service]: Received request: command=get, argument= -[teensy-2] [INFO] [1746050904.252123441] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050904.335266181] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050904.336994664] [sailbot.teensy]: Wind angle: 261 -[teensy-2] [INFO] [1746050904.337961834] [sailbot.teensy]: Actual sail angle: 60 -[trim_sail-4] [INFO] [1746050904.338229280] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050904.338889685] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050904.339801479] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050904.340359853] [sailbot.mux]: algo sail angle: 25 -[mux-7] [INFO] [1746050904.344330514] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050904.345476233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050904.345575866] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050904.347207378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050904.348410165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050904.445240729] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050904.446181759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050904.446745878] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050904.448341117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 0 -[teensy-2] [INFO] [1746050904.449521312] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050904.456966072] [sailbot.main_algo]: Wind Direction: 261 -[main_algo-3] [INFO] [1746050904.457888518] [sailbot.main_algo]: Target Bearing: -71.02972766396182 -[main_algo-3] [INFO] [1746050904.458711546] [sailbot.main_algo]: Heading Difference: -80.2442723360382 -[main_algo-3] [INFO] [1746050904.459498831] [sailbot.main_algo]: Wind Direction: 261 -[main_algo-3] [INFO] [1746050904.460324509] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050904.461112565] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050904.462185814] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050904.462664885] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050904.503544491] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908599 Long: -76.50349154 -[main_algo-3] [INFO] [1746050904.504273112] [sailbot.main_algo]: Distance to destination: 43.13865669454605 -[vectornav-1] [INFO] [1746050904.505035803] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (191.39200000000005, 1.388, -5.271) -[main_algo-3] [INFO] [1746050904.505498847] [sailbot.main_algo]: Target Bearing: -70.48526245121555 -[main_algo-3] [INFO] [1746050904.506537008] [sailbot.main_algo]: Heading Difference: -80.78873754878447 -[main_algo-3] [INFO] [1746050904.507429429] [sailbot.main_algo]: Wind Direction: 261 -[main_algo-3] [INFO] [1746050904.508337653] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050904.509220019] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050904.510946632] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050904.544903856] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050904.545579433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050904.546185489] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050904.547676516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050904.548945440] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050904.585340807] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050904.587168857] [sailbot.teensy]: Wind angle: 248 -[teensy-2] [INFO] [1746050904.588128441] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746050904.587763106] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050904.589048309] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050904.589375588] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050904.589954213] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050904.645213452] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746050904.645747141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050904.646779920] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050904.647803786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746050904.649010525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050904.745124516] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746050904.745771131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050904.746929289] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050904.747718335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746050904.748796633] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050904.835377833] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050904.837700520] [sailbot.teensy]: Wind angle: 251 -[trim_sail-4] [INFO] [1746050904.838111383] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050904.838630376] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050904.839016871] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050904.839180731] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050904.839417143] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050904.844617689] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050904.845329951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050904.845805733] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050904.847115792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050904.848259522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050904.944973008] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050904.945687061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050904.946414101] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050904.947769805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050904.948347675] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050904.957040800] [sailbot.main_algo]: Wind Direction: 251 -[main_algo-3] [INFO] [1746050904.958099032] [sailbot.main_algo]: Target Bearing: -70.48526245121555 -[main_algo-3] [INFO] [1746050904.959027764] [sailbot.main_algo]: Heading Difference: -98.12273754878441 -[main_algo-3] [INFO] [1746050904.959830121] [sailbot.main_algo]: Wind Direction: 251 -[main_algo-3] [INFO] [1746050904.960688631] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050904.961544472] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050904.962588229] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050904.963321463] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050905.003374235] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908553 Long: -76.50349569 -[main_algo-3] [INFO] [1746050905.004080815] [sailbot.main_algo]: Distance to destination: 43.21179769011519 -[main_algo-3] [INFO] [1746050905.005330879] [sailbot.main_algo]: Target Bearing: -70.03780165417106 -[vectornav-1] [INFO] [1746050905.005586135] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (181.46399999999994, -3.153, -1.735) -[main_algo-3] [INFO] [1746050905.006614886] [sailbot.main_algo]: Heading Difference: -98.57019834582889 -[main_algo-3] [INFO] [1746050905.007603466] [sailbot.main_algo]: Wind Direction: 251 -[main_algo-3] [INFO] [1746050905.008839237] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050905.009748751] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050905.011432765] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050905.045156802] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050905.045912308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050905.046577800] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050905.048000452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050905.049046303] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050905.085305131] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050905.087035496] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050905.087555593] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050905.089145468] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050905.089698239] [sailbot.teensy]: Actual sail angle: 15 -[teensy-2] [INFO] [1746050905.090660145] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050905.091830371] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050905.144661079] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050905.145186957] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050905.145738810] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050905.146854603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050905.148805715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050905.245209066] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050905.246066449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050905.246755531] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050905.249193532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050905.250360596] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050905.335223473] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050905.337364843] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746050905.337532665] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050905.338382380] [sailbot.teensy]: Actual sail angle: 20 -[mux-7] [INFO] [1746050905.338988567] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050905.339339419] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050905.340255798] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050905.344499145] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050905.345010556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050905.345639343] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050905.346776270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050905.347903806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050905.445005568] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050905.445668838] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050905.446272363] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050905.447585712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050905.448707116] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050905.457183097] [sailbot.main_algo]: Wind Direction: 252 -[main_algo-3] [INFO] [1746050905.458256941] [sailbot.main_algo]: Target Bearing: -70.03780165417106 -[main_algo-3] [INFO] [1746050905.459198439] [sailbot.main_algo]: Heading Difference: -108.498198345829 -[main_algo-3] [INFO] [1746050905.460065497] [sailbot.main_algo]: Wind Direction: 252 -[main_algo-3] [INFO] [1746050905.460923425] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050905.461716473] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050905.462721833] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050905.463843535] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050905.503027159] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908572 Long: -76.50349959 -[main_algo-3] [INFO] [1746050905.504078143] [sailbot.main_algo]: Distance to destination: 43.34728159604717 -[vectornav-1] [INFO] [1746050905.504554334] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.279, 3.262, 2.09) -[main_algo-3] [INFO] [1746050905.505299654] [sailbot.main_algo]: Target Bearing: -69.65202470670921 -[main_algo-3] [INFO] [1746050905.506318742] [sailbot.main_algo]: Heading Difference: -108.88397529329086 -[main_algo-3] [INFO] [1746050905.507395888] [sailbot.main_algo]: Wind Direction: 252 -[main_algo-3] [INFO] [1746050905.508355665] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050905.509224827] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050905.511010552] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050905.544948695] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050905.545566865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050905.546393936] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050905.547520813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050905.548748654] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050905.585106007] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050905.587039760] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050905.588058683] [sailbot.teensy]: Wind angle: 252 -[mux-7] [INFO] [1746050905.588297000] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050905.589254986] [sailbot.teensy]: Actual sail angle: 20 -[teensy-2] [INFO] [1746050905.590271008] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050905.590643921] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050905.645503875] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050905.646120828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050905.647157826] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050905.648267996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050905.649359017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050905.745241836] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050905.745787340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050905.746784134] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050905.747741048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050905.748690932] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050905.835250211] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050905.837710698] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050905.838275583] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050905.838384507] [sailbot.teensy]: Wind angle: 253 -[teensy-2] [INFO] [1746050905.838796601] [sailbot.teensy]: Actual sail angle: 20 -[teensy-2] [INFO] [1746050905.839177744] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050905.839722902] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050905.844402226] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050905.844923304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050905.845714549] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050905.846672885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050905.847799860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050905.945112324] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050905.945802625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050905.946436575] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050905.947840627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050905.948875937] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050905.956974362] [sailbot.main_algo]: Wind Direction: 253 -[main_algo-3] [INFO] [1746050905.957976959] [sailbot.main_algo]: Target Bearing: -69.65202470670921 -[main_algo-3] [INFO] [1746050905.958865911] [sailbot.main_algo]: Heading Difference: -105.0689752932908 -[main_algo-3] [INFO] [1746050905.959666863] [sailbot.main_algo]: Wind Direction: 253 -[main_algo-3] [INFO] [1746050905.960479661] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050905.961275988] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050905.962299566] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050905.962923176] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050906.003414069] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908486 Long: -76.50350231 -[main_algo-3] [INFO] [1746050906.004145679] [sailbot.main_algo]: Distance to destination: 43.340484122934875 -[vectornav-1] [INFO] [1746050906.005246963] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (193.90999999999997, -2.838, 2.131) -[main_algo-3] [INFO] [1746050906.005278688] [sailbot.main_algo]: Target Bearing: -69.3306865341024 -[main_algo-3] [INFO] [1746050906.006450907] [sailbot.main_algo]: Heading Difference: -105.39031346589763 -[main_algo-3] [INFO] [1746050906.007406722] [sailbot.main_algo]: Wind Direction: 253 -[main_algo-3] [INFO] [1746050906.008345219] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050906.009241398] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050906.010927874] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050906.045100662] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050906.045701206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050906.046415623] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050906.047650878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050906.048737225] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050906.085417218] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050906.087292868] [sailbot.teensy]: Wind angle: 254 -[teensy-2] [INFO] [1746050906.088250782] [sailbot.teensy]: Actual sail angle: 20 -[trim_sail-4] [INFO] [1746050906.087778514] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050906.089090852] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050906.089127073] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050906.090006170] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050906.144804375] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050906.145437293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050906.145978012] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050906.147320143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050906.148373242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050906.245371473] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050906.246186119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050906.246910833] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050906.248368212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746050906.249030829] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050906.335167969] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050906.337460150] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050906.337962597] [sailbot.teensy]: Wind angle: 258 -[mux-7] [INFO] [1746050906.338209034] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050906.338908762] [sailbot.teensy]: Actual sail angle: 20 -[teensy-2] [INFO] [1746050906.339812107] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050906.340462574] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050906.344426823] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050906.345102561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050906.345534942] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050906.346810033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050906.347850493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050906.444849044] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050906.445461319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050906.446370737] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050906.447365734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050906.448305067] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050906.457010059] [sailbot.main_algo]: Wind Direction: 258 -[main_algo-3] [INFO] [1746050906.457965665] [sailbot.main_algo]: Target Bearing: -69.3306865341024 -[main_algo-3] [INFO] [1746050906.458892811] [sailbot.main_algo]: Heading Difference: -96.75931346589766 -[main_algo-3] [INFO] [1746050906.459694275] [sailbot.main_algo]: Wind Direction: 258 -[main_algo-3] [INFO] [1746050906.460529979] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050906.461316730] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050906.462435998] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050906.462921522] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050906.502770247] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908401 Long: -76.50350543 -[main_algo-3] [INFO] [1746050906.503784722] [sailbot.main_algo]: Distance to destination: 43.34841399177191 -[vectornav-1] [INFO] [1746050906.503971212] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (205.13099999999997, 0.223, 0.152) -[main_algo-3] [INFO] [1746050906.504869732] [sailbot.main_algo]: Target Bearing: -68.96950397186522 -[main_algo-3] [INFO] [1746050906.506159509] [sailbot.main_algo]: Heading Difference: -97.12049602813482 -[main_algo-3] [INFO] [1746050906.507078087] [sailbot.main_algo]: Wind Direction: 258 -[main_algo-3] [INFO] [1746050906.507906203] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050906.508714050] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050906.510270067] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050906.545088506] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050906.545881712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050906.546512973] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050906.547905100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050906.549125259] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050906.585531316] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050906.587395934] [sailbot.teensy]: Wind angle: 262 -[trim_sail-4] [INFO] [1746050906.587981820] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050906.588349786] [sailbot.teensy]: Actual sail angle: 20 -[teensy-2] [INFO] [1746050906.589328759] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050906.589877560] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050906.590183764] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050906.644979518] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050906.645590437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050906.646370089] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050906.647440728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050906.648484476] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050906.744891267] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050906.745557707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050906.746281156] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050906.747432589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: -15 -[teensy-2] [INFO] [1746050906.748599687] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050906.835124986] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050906.836772337] [sailbot.teensy]: Wind angle: 267 -[trim_sail-4] [INFO] [1746050906.837568749] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050906.837689762] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050906.838557482] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050906.838636158] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050906.839442704] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050906.844336926] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050906.844891037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050906.845475856] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050906.846545138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050906.847590487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050906.945361436] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050906.945981382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050906.946896500] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050906.948117867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050906.949322787] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050906.957054539] [sailbot.main_algo]: Wind Direction: 267 -[main_algo-3] [INFO] [1746050906.958063087] [sailbot.main_algo]: Target Bearing: -68.96950397186522 -[main_algo-3] [INFO] [1746050906.958933890] [sailbot.main_algo]: Heading Difference: -85.89949602813482 -[main_algo-3] [INFO] [1746050906.959776256] [sailbot.main_algo]: Wind Direction: 267 -[main_algo-3] [INFO] [1746050906.960608226] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050906.961395454] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050906.962451140] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050906.963318140] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050907.003095602] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46908235 Long: -76.50350884 -[main_algo-3] [INFO] [1746050907.003611802] [sailbot.main_algo]: Distance to destination: 43.28402554008876 -[vectornav-1] [INFO] [1746050907.004248089] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (217.086, -3.058, -1.634) -[main_algo-3] [INFO] [1746050907.004710794] [sailbot.main_algo]: Target Bearing: -68.53389725559816 -[main_algo-3] [INFO] [1746050907.005630793] [sailbot.main_algo]: Heading Difference: -86.33510274440187 -[main_algo-3] [INFO] [1746050907.006516950] [sailbot.main_algo]: Wind Direction: 267 -[main_algo-3] [INFO] [1746050907.007406515] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050907.008284293] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050907.009976515] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050907.045027566] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050907.045653259] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050907.046686159] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050907.047478266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050907.048546710] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050907.085353955] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050907.087853522] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050907.088058867] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050907.088292849] [sailbot.teensy]: Wind angle: 268 -[teensy-2] [INFO] [1746050907.089441003] [sailbot.teensy]: Actual sail angle: 25 -[teensy-2] [INFO] [1746050907.090296281] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050907.091138188] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050907.145078520] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050907.145652780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050907.146374661] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050907.147474861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050907.148663588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050907.245055825] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050907.245680597] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050907.246599667] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050907.247400383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: -15 -[teensy-2] [INFO] [1746050907.247935001] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050907.335247943] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050907.337722466] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050907.337938083] [sailbot.teensy]: Wind angle: 286 -[mux-7] [INFO] [1746050907.338609659] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050907.338864618] [sailbot.teensy]: Actual sail angle: 30 -[teensy-2] [INFO] [1746050907.339769844] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050907.340683279] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050907.344448151] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050907.344975735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050907.345729401] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050907.346739167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 -[teensy-2] [INFO] [1746050907.347778805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050907.444974053] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050907.446131828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050907.446571293] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050907.448105241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 -[teensy-2] [INFO] [1746050907.449118390] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050907.457187464] [sailbot.main_algo]: Wind Direction: 286 -[main_algo-3] [INFO] [1746050907.458267000] [sailbot.main_algo]: Target Bearing: -68.53389725559816 -[main_algo-3] [INFO] [1746050907.459194525] [sailbot.main_algo]: Heading Difference: -74.38010274440182 -[main_algo-3] [INFO] [1746050907.460066083] [sailbot.main_algo]: Wind Direction: 286 -[main_algo-3] [INFO] [1746050907.460966877] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050907.461770962] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050907.462847884] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050907.463330707] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050907.502687184] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46907906 Long: -76.50351263 -[main_algo-3] [INFO] [1746050907.503802354] [sailbot.main_algo]: Distance to destination: 43.067691949187854 -[vectornav-1] [INFO] [1746050907.504179854] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (234.163, -1.379, -2.633) -[main_algo-3] [INFO] [1746050907.504868686] [sailbot.main_algo]: Target Bearing: -67.96494884783661 -[main_algo-3] [INFO] [1746050907.505922371] [sailbot.main_algo]: Heading Difference: -74.9490511521634 -[main_algo-3] [INFO] [1746050907.506828031] [sailbot.main_algo]: Wind Direction: 286 -[main_algo-3] [INFO] [1746050907.507716847] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050907.508603389] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050907.510274423] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050907.545209725] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050907.546005295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050907.546629249] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050907.548080156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 -[teensy-2] [INFO] [1746050907.549234482] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050907.585317814] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050907.587016376] [sailbot.teensy]: Wind angle: 291 -[teensy-2] [INFO] [1746050907.587932057] [sailbot.teensy]: Actual sail angle: 30 -[trim_sail-4] [INFO] [1746050907.587867076] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050907.588595406] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050907.589010542] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050907.589890318] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050907.644802564] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050907.645637665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050907.645991886] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050907.647484730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 -[teensy-2] [INFO] [1746050907.648391881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050907.745255313] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050907.746087437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050907.746925027] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050907.748391832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 -[teensy-2] [INFO] [1746050907.748908579] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050907.835420343] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050907.837574943] [sailbot.teensy]: Wind angle: 293 -[trim_sail-4] [INFO] [1746050907.837998091] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050907.838514552] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050907.838965611] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050907.839420503] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050907.840364584] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050907.844365550] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050907.844919933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050907.845932795] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050907.846667643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 -[teensy-2] [INFO] [1746050907.847881329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050907.945005874] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050907.945678437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050907.946337416] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050907.947691453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 -[teensy-2] [INFO] [1746050907.948771656] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050907.957176381] [sailbot.main_algo]: Wind Direction: 293 -[main_algo-3] [INFO] [1746050907.958270440] [sailbot.main_algo]: Target Bearing: -67.96494884783661 -[main_algo-3] [INFO] [1746050907.959214800] [sailbot.main_algo]: Heading Difference: -57.87205115216341 -[main_algo-3] [INFO] [1746050907.960067558] [sailbot.main_algo]: Wind Direction: 293 -[main_algo-3] [INFO] [1746050907.960965380] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050907.961754350] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050907.962768132] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050907.963542810] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050908.003011015] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46907541 Long: -76.50351552 -[main_algo-3] [INFO] [1746050908.003945666] [sailbot.main_algo]: Distance to destination: 42.78939342529096 -[vectornav-1] [INFO] [1746050908.004365582] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (255.53499999999997, 2.299, 2.992) -[main_algo-3] [INFO] [1746050908.005238228] [sailbot.main_algo]: Target Bearing: -67.45964132137019 -[main_algo-3] [INFO] [1746050908.006327694] [sailbot.main_algo]: Heading Difference: -58.377358678629776 -[main_algo-3] [INFO] [1746050908.007247357] [sailbot.main_algo]: Wind Direction: 293 -[main_algo-3] [INFO] [1746050908.008136968] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050908.009004367] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050908.010676367] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050908.045360974] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050908.046248333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050908.046879488] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050908.048421968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 -[teensy-2] [INFO] [1746050908.049571705] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050908.085338293] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050908.088086344] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746050908.088244456] [sailbot.teensy]: Wind angle: 308 -[mux-7] [INFO] [1746050908.088783778] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746050908.089226764] [sailbot.teensy]: Actual sail angle: 50 -[teensy-2] [INFO] [1746050908.090124972] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050908.090966329] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050908.144957168] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050908.145743831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050908.146256927] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050908.147845880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: -15 -[teensy-2] [INFO] [1746050908.148909158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050908.245271685] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050908.246364785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050908.246736436] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050908.248099146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: -15 -[teensy-2] [INFO] [1746050908.248561165] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050908.335328080] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050908.337855648] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050908.337927319] [sailbot.teensy]: Wind angle: 313 -[mux-7] [INFO] [1746050908.338430761] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050908.338838752] [sailbot.teensy]: Actual sail angle: 50 -[teensy-2] [INFO] [1746050908.339738578] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050908.340576832] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050908.344570157] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050908.345176082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050908.345740378] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050908.346900600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: -15 -[teensy-2] [INFO] [1746050908.348003177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050908.445579859] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050908.446676024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050908.448599153] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050908.449105451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: -15 -[teensy-2] [INFO] [1746050908.450431209] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050908.457042733] [sailbot.main_algo]: Wind Direction: 313 -[main_algo-3] [INFO] [1746050908.458056557] [sailbot.main_algo]: Target Bearing: -67.45964132137019 -[main_algo-3] [INFO] [1746050908.458940957] [sailbot.main_algo]: Heading Difference: -37.00535867862982 -[main_algo-3] [INFO] [1746050908.459826959] [sailbot.main_algo]: Wind Direction: 313 -[main_algo-3] [INFO] [1746050908.460705801] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050908.461547558] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050908.462648066] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050908.463267070] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050908.503448899] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46907172 Long: -76.50351684 -[main_algo-3] [INFO] [1746050908.503967412] [sailbot.main_algo]: Distance to destination: 42.45792488853297 -[vectornav-1] [INFO] [1746050908.504756679] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.874, -1.844, 9.862) -[main_algo-3] [INFO] [1746050908.505320104] [sailbot.main_algo]: Target Bearing: -67.1043710086984 -[main_algo-3] [INFO] [1746050908.506306958] [sailbot.main_algo]: Heading Difference: -37.36062899130161 -[main_algo-3] [INFO] [1746050908.507237961] [sailbot.main_algo]: Wind Direction: 313 -[main_algo-3] [INFO] [1746050908.508169182] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050908.509039534] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050908.510772825] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050908.545274892] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050908.545992088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050908.547017383] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050908.548312144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: -15 -[teensy-2] [INFO] [1746050908.549532582] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050908.585231618] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050908.587457238] [sailbot.teensy]: Wind angle: 319 -[trim_sail-4] [INFO] [1746050908.587745405] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746050908.588449692] [sailbot.teensy]: Actual sail angle: 60 -[teensy-2] [INFO] [1746050908.589350679] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050908.590244532] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746050908.590830762] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050908.645257837] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050908.645833978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050908.646765506] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050908.647860767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: -15 -[teensy-2] [INFO] [1746050908.649183756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050908.744920849] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050908.745447400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050908.746198322] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050908.747196201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: -15 -[teensy-2] [INFO] [1746050908.748361064] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050908.835431366] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050908.838006244] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746050908.838184194] [sailbot.teensy]: Wind angle: 326 -[mux-7] [INFO] [1746050908.838662900] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746050908.838763538] [sailbot.teensy]: Actual sail angle: 65 -[teensy-2] [INFO] [1746050908.839169361] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050908.839552552] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050908.844324679] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050908.844907742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050908.845653724] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050908.846580126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -15 -[teensy-2] [INFO] [1746050908.847733538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050908.945207627] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050908.945907112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050908.946779655] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050908.948121407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -15 -[teensy-2] [INFO] [1746050908.948719535] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050908.957082119] [sailbot.main_algo]: Wind Direction: 326 -[main_algo-3] [INFO] [1746050908.958030220] [sailbot.main_algo]: Target Bearing: -67.1043710086984 -[main_algo-3] [INFO] [1746050908.958916386] [sailbot.main_algo]: Heading Difference: -12.021628991301554 -[main_algo-3] [INFO] [1746050908.959709285] [sailbot.main_algo]: Rudder Angle Raw: -1.6696706932363268 -[main_algo-3] [INFO] [1746050908.960551116] [sailbot.main_algo]: Rudder Angle: -2 -[main_algo-3] [INFO] [1746050908.961511386] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050908.962089401] [sailbot.mux]: algo rudder angle: -2 -[vectornav-1] [INFO] [1746050909.003128542] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906793 Long: -76.50351545 -[main_algo-3] [INFO] [1746050909.003841164] [sailbot.main_algo]: Distance to destination: 42.026864999848144 -[vectornav-1] [INFO] [1746050909.004670616] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (305.829, -4.777, 13.733) -[main_algo-3] [INFO] [1746050909.005167000] [sailbot.main_algo]: Target Bearing: -67.01422508881166 -[main_algo-3] [INFO] [1746050909.006248358] [sailbot.main_algo]: Heading Difference: -12.111774911188377 -[main_algo-3] [INFO] [1746050909.007344458] [sailbot.main_algo]: Rudder Angle Raw: -1.6821909598872746 -[main_algo-3] [INFO] [1746050909.008228067] [sailbot.main_algo]: Rudder Angle: -2 -[mux-7] [INFO] [1746050909.009995486] [sailbot.mux]: algo rudder angle: -2 -[mux-7] [INFO] [1746050909.045164994] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050909.046015624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050909.046583030] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050909.048182059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -2 -[teensy-2] [INFO] [1746050909.049238572] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050909.085390827] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050909.087894610] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050909.087926442] [sailbot.teensy]: Wind angle: 349 -[teensy-2] [INFO] [1746050909.088900910] [sailbot.teensy]: Actual sail angle: 70 -[mux-7] [INFO] [1746050909.089604271] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050909.089809812] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050909.090724955] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050909.145140595] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050909.145698196] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050909.146616718] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050909.147745564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: -2 -[teensy-2] [INFO] [1746050909.148621408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050909.245215592] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050909.245983039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050909.246645140] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050909.248061330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: -2 -[teensy-2] [INFO] [1746050909.248589458] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050909.335266251] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050909.337506056] [sailbot.teensy]: Wind angle: 6 -[trim_sail-4] [INFO] [1746050909.337782206] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050909.338745392] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050909.338897434] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050909.339664814] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050909.340569681] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050909.344510132] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050909.345099946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050909.345663300] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050909.346816788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: -2 -[teensy-2] [INFO] [1746050909.348004913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050909.444868705] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050909.445643581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050909.446068877] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050909.447415436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: -2 -[teensy-2] [INFO] [1746050909.448622872] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050909.457002441] [sailbot.main_algo]: Wind Direction: 6 -[main_algo-3] [INFO] [1746050909.458021008] [sailbot.main_algo]: Target Bearing: -67.01422508881166 -[main_algo-3] [INFO] [1746050909.458916462] [sailbot.main_algo]: Heading Difference: 12.843225088811664 -[main_algo-3] [INFO] [1746050909.459802550] [sailbot.main_algo]: Rudder Angle Raw: 1.7837812623349534 -[main_algo-3] [INFO] [1746050909.460620090] [sailbot.main_algo]: Rudder Angle: 1 -[main_algo-3] [INFO] [1746050909.461679479] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050909.462254573] [sailbot.mux]: algo rudder angle: 1 -[vectornav-1] [INFO] [1746050909.502749663] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906396 Long: -76.50351092 -[main_algo-3] [INFO] [1746050909.503202489] [sailbot.main_algo]: Distance to destination: 41.472893141402665 -[vectornav-1] [INFO] [1746050909.504041699] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (332.64, -4.108, 16.171) -[main_algo-3] [INFO] [1746050909.504350075] [sailbot.main_algo]: Target Bearing: -67.2365441439201 -[main_algo-3] [INFO] [1746050909.505249469] [sailbot.main_algo]: Heading Difference: 13.065544143920079 -[main_algo-3] [INFO] [1746050909.506070321] [sailbot.main_algo]: Rudder Angle Raw: 1.8146589088777885 -[main_algo-3] [INFO] [1746050909.506914077] [sailbot.main_algo]: Rudder Angle: 1 -[mux-7] [INFO] [1746050909.508640246] [sailbot.mux]: algo rudder angle: 1 -[mux-7] [INFO] [1746050909.545084330] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050909.545605104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050909.546433904] [sailbot.mux]: Published rudder angle from algo: 1 -[teensy-2] [INFO] [1746050909.547468710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 1 -[teensy-2] [INFO] [1746050909.548562385] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050909.585317610] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050909.587027649] [sailbot.teensy]: Wind angle: 29 -[trim_sail-4] [INFO] [1746050909.587920681] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746050909.587978907] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050909.588937484] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050909.589818539] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050909.589944955] [sailbot.mux]: algo sail angle: 75 -[mux-7] [INFO] [1746050909.645322939] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050909.645891122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050909.646817522] [sailbot.mux]: Published rudder angle from algo: 1 -[teensy-2] [INFO] [1746050909.647988521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 1 -[teensy-2] [INFO] [1746050909.649057976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050909.745431020] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050909.745953561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050909.747147788] [sailbot.mux]: Published rudder angle from algo: 1 -[teensy-2] [INFO] [1746050909.748146647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 1 -[teensy-2] [INFO] [1746050909.749325043] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050909.835802426] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050909.837868472] [sailbot.teensy]: Wind angle: 42 -[teensy-2] [INFO] [1746050909.838884598] [sailbot.teensy]: Actual sail angle: 90 -[trim_sail-4] [INFO] [1746050909.838497192] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050909.839777936] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746050909.840608135] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050909.840694435] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050909.844254682] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050909.845340989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050909.845441963] [sailbot.mux]: Published rudder angle from algo: 1 -[teensy-2] [INFO] [1746050909.847105217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 1 -[teensy-2] [INFO] [1746050909.848089362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050909.944928962] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050909.945695545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050909.946228396] [sailbot.mux]: Published rudder angle from algo: 1 -[teensy-2] [INFO] [1746050909.947609159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 1 -[teensy-2] [INFO] [1746050909.948690124] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050909.956948047] [sailbot.main_algo]: Wind Direction: 42 -[main_algo-3] [INFO] [1746050909.957903594] [sailbot.main_algo]: Target Bearing: -67.2365441439201 -[main_algo-3] [INFO] [1746050909.958737309] [sailbot.main_algo]: Heading Difference: 39.876544143920114 -[main_algo-3] [INFO] [1746050909.959543642] [sailbot.main_algo]: Wind Direction: 42 -[main_algo-3] [INFO] [1746050909.960356252] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050909.961151274] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050909.962287743] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050909.962707286] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050910.003157278] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906285 Long: -76.5035038 -[main_algo-3] [INFO] [1746050910.003829801] [sailbot.main_algo]: Distance to destination: 41.12690940571329 -[vectornav-1] [INFO] [1746050910.004426316] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (354.473, 0.812, 18.003) -[main_algo-3] [INFO] [1746050910.005031568] [sailbot.main_algo]: Target Bearing: -67.9136553747173 -[main_algo-3] [INFO] [1746050910.006115849] [sailbot.main_algo]: Heading Difference: 40.55365537471721 -[main_algo-3] [INFO] [1746050910.007124961] [sailbot.main_algo]: Wind Direction: 42 -[main_algo-3] [INFO] [1746050910.008029896] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050910.008929154] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050910.010757979] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050910.045357153] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050910.046313430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050910.046891214] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050910.048831245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 -[teensy-2] [INFO] [1746050910.049939173] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050910.085274123] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050910.087685551] [sailbot.trim_sail]: Sail Angle: "60" -[mux-7] [INFO] [1746050910.088102811] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746050910.089418876] [sailbot.teensy]: Wind angle: 54 -[teensy-2] [INFO] [1746050910.090506210] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050910.091352081] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050910.092197089] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050910.145073767] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050910.145674112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050910.146594561] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050910.147641947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 15 -[teensy-2] [INFO] [1746050910.148681483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050910.244925267] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050910.245858569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050910.246246525] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050910.247763243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 15 -[teensy-2] [INFO] [1746050910.248402601] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050910.335257566] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050910.337849898] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050910.338388993] [sailbot.teensy]: Wind angle: 67 -[mux-7] [INFO] [1746050910.338557269] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050910.339377880] [sailbot.teensy]: Actual sail angle: 65 -[teensy-2] [INFO] [1746050910.340292191] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050910.341188744] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050910.344288361] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050910.344856164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050910.345697240] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050910.346589751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 15 -[teensy-2] [INFO] [1746050910.347641072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050910.445190571] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050910.446141550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050910.446874898] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050910.448231830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 15 -[teensy-2] [INFO] [1746050910.449260776] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050910.457051170] [sailbot.main_algo]: Wind Direction: 67 -[main_algo-3] [INFO] [1746050910.458001957] [sailbot.main_algo]: Target Bearing: -67.9136553747173 -[main_algo-3] [INFO] [1746050910.458893268] [sailbot.main_algo]: Heading Difference: 62.38665537471729 -[main_algo-3] [INFO] [1746050910.459708417] [sailbot.main_algo]: Wind Direction: 67 -[main_algo-3] [INFO] [1746050910.460515797] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050910.461305616] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050910.462311277] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050910.462924795] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050910.502721327] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906343 Long: -76.50349675 -[main_algo-3] [INFO] [1746050910.503158357] [sailbot.main_algo]: Distance to destination: 40.96252570314747 -[vectornav-1] [INFO] [1746050910.503902994] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (3.5889999999999986, -0.179, 13.646) -[main_algo-3] [INFO] [1746050910.504140168] [sailbot.main_algo]: Target Bearing: -68.6948127032513 -[main_algo-3] [INFO] [1746050910.505142340] [sailbot.main_algo]: Heading Difference: 63.16781270325134 -[main_algo-3] [INFO] [1746050910.506110286] [sailbot.main_algo]: Wind Direction: 67 -[main_algo-3] [INFO] [1746050910.506956807] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050910.507807773] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050910.509429563] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050910.545002970] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050910.545721008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050910.546266793] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050910.547647717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 15 -[teensy-2] [INFO] [1746050910.548802471] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050910.585166836] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050910.587674068] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050910.588172993] [sailbot.teensy]: Wind angle: 76 -[mux-7] [INFO] [1746050910.588625631] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050910.589120699] [sailbot.teensy]: Actual sail angle: 60 -[teensy-2] [INFO] [1746050910.589985706] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050910.590843698] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050910.645271430] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050910.646248413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050910.646824895] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050910.648488096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 -[teensy-2] [INFO] [1746050910.648987985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050910.745289565] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050910.746010990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050910.746839440] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050910.748236560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 -[teensy-2] [INFO] [1746050910.748873558] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050910.835465249] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050910.838293237] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050910.838966187] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050910.839694548] [sailbot.teensy]: Wind angle: 77 -[teensy-2] [INFO] [1746050910.840677154] [sailbot.teensy]: Actual sail angle: 50 -[teensy-2] [INFO] [1746050910.841544171] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050910.842372283] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050910.844249085] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050910.844666348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050910.845335689] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050910.846311443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 -[teensy-2] [INFO] [1746050910.847339301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050910.945214442] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050910.945938054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050910.946810325] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050910.947689264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 -[teensy-2] [INFO] [1746050910.948199282] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050910.957070048] [sailbot.main_algo]: Wind Direction: 77 -[main_algo-3] [INFO] [1746050910.958028084] [sailbot.main_algo]: Target Bearing: -68.6948127032513 -[main_algo-3] [INFO] [1746050910.958965787] [sailbot.main_algo]: Heading Difference: 72.2838127032513 -[main_algo-3] [INFO] [1746050910.959777425] [sailbot.main_algo]: Wind Direction: 77 -[main_algo-3] [INFO] [1746050910.960637410] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050910.961432982] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050910.962437930] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050910.963068095] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050911.002989289] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690646 Long: -76.50349055 -[main_algo-3] [INFO] [1746050911.004034623] [sailbot.main_algo]: Distance to destination: 40.89244056783471 -[main_algo-3] [INFO] [1746050911.005400562] [sailbot.main_algo]: Target Bearing: -69.4247257110173 -[vectornav-1] [INFO] [1746050911.006476832] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (353.759, -1.111, 3.268) -[main_algo-3] [INFO] [1746050911.006757233] [sailbot.main_algo]: Heading Difference: 73.01372571101729 -[main_algo-3] [INFO] [1746050911.007729713] [sailbot.main_algo]: Wind Direction: 77 -[main_algo-3] [INFO] [1746050911.008680638] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050911.009534999] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050911.011396993] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050911.045114440] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050911.045968177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050911.046544954] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050911.048086350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 -[teensy-2] [INFO] [1746050911.049291797] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050911.085507066] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050911.088051408] [sailbot.teensy]: Wind angle: 77 -[trim_sail-4] [INFO] [1746050911.088127170] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050911.089069287] [sailbot.teensy]: Actual sail angle: 40 -[mux-7] [INFO] [1746050911.089492858] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050911.090009865] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050911.090938018] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050911.145048133] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050911.145816146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050911.146334418] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050911.147751714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 -[teensy-2] [INFO] [1746050911.148815087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050911.245210389] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050911.246247066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050911.246728013] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050911.248323307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 -[teensy-2] [INFO] [1746050911.249467396] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050911.335299028] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050911.337919664] [sailbot.teensy]: Wind angle: 75 -[trim_sail-4] [INFO] [1746050911.338152094] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746050911.339802870] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050911.339990315] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746050911.340964415] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050911.341834630] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050911.344217193] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050911.344838289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050911.345299120] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050911.346527949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746050911.347525153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050911.444928703] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050911.445529116] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050911.446583543] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050911.447554167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746050911.449203924] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050911.456993596] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746050911.457955079] [sailbot.main_algo]: Target Bearing: -69.4247257110173 -[main_algo-3] [INFO] [1746050911.458770308] [sailbot.main_algo]: Heading Difference: 63.18372571101736 -[main_algo-3] [INFO] [1746050911.459551437] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746050911.460350851] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050911.461141567] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050911.462119969] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050911.462818523] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050911.502993452] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690639 Long: -76.50348431 -[main_algo-3] [INFO] [1746050911.504107534] [sailbot.main_algo]: Distance to destination: 40.633835350155046 -[vectornav-1] [INFO] [1746050911.504242583] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (340.329, -4.705, 5.038) -[main_algo-3] [INFO] [1746050911.505188589] [sailbot.main_algo]: Target Bearing: -70.05709163659543 -[main_algo-3] [INFO] [1746050911.506290927] [sailbot.main_algo]: Heading Difference: 63.8160916365955 -[main_algo-3] [INFO] [1746050911.507177661] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746050911.508060468] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050911.508951516] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050911.510708946] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050911.545313564] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050911.545878566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050911.546802299] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050911.547907139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746050911.549027757] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050911.585167142] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050911.586955530] [sailbot.teensy]: Wind angle: 72 -[trim_sail-4] [INFO] [1746050911.587684025] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050911.588029320] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746050911.588959338] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050911.589039690] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050911.590281847] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050911.645091730] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050911.646117977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050911.646707825] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050911.648272194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746050911.648707525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050911.745229662] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050911.746297127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050911.746925940] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050911.748585801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746050911.749778432] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050911.835403901] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050911.837525453] [sailbot.teensy]: Wind angle: 64 -[trim_sail-4] [INFO] [1746050911.838407883] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050911.838887196] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050911.839665502] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050911.840659629] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050911.841547980] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050911.844377891] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050911.845086815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050911.845626087] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050911.846869955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 15 -[teensy-2] [INFO] [1746050911.847965903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050911.945098406] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050911.946013240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050911.946403527] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050911.947765024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 15 -[teensy-2] [INFO] [1746050911.948229166] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050911.957033457] [sailbot.main_algo]: Wind Direction: 64 -[main_algo-3] [INFO] [1746050911.957984510] [sailbot.main_algo]: Target Bearing: -70.05709163659543 -[main_algo-3] [INFO] [1746050911.958851458] [sailbot.main_algo]: Heading Difference: 50.38609163659544 -[main_algo-3] [INFO] [1746050911.959668855] [sailbot.main_algo]: Wind Direction: 64 -[main_algo-3] [INFO] [1746050911.960500614] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050911.961304903] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050911.962518199] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050911.963037934] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050912.002732544] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46906075 Long: -76.50347762 -[main_algo-3] [INFO] [1746050912.003664345] [sailbot.main_algo]: Distance to destination: 40.11227529642852 -[vectornav-1] [INFO] [1746050912.004265687] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (319.525, 2.603, 3.386) -[main_algo-3] [INFO] [1746050912.004778565] [sailbot.main_algo]: Target Bearing: -70.61208942923477 -[main_algo-3] [INFO] [1746050912.005775062] [sailbot.main_algo]: Heading Difference: 50.94108942923481 -[main_algo-3] [INFO] [1746050912.006702956] [sailbot.main_algo]: Wind Direction: 64 -[main_algo-3] [INFO] [1746050912.007610674] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050912.008491219] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050912.010241974] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050912.045148940] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050912.045918750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050912.046431257] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050912.048026131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 15 -[teensy-2] [INFO] [1746050912.049142357] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050912.085238002] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050912.087121329] [sailbot.teensy]: Wind angle: 58 -[trim_sail-4] [INFO] [1746050912.087653380] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050912.088025746] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050912.088960940] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050912.089833497] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050912.089913183] [sailbot.mux]: algo sail angle: 55 -[mux-7] [INFO] [1746050912.145358839] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050912.145725791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050912.147026613] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050912.147951489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: 15 -[teensy-2] [INFO] [1746050912.149156513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050912.245552943] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050912.246203586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050912.247416543] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050912.248676682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: 15 -[teensy-2] [INFO] [1746050912.249260998] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050912.335199286] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050912.337547071] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746050912.337868201] [sailbot.teensy]: Wind angle: 41 -[mux-7] [INFO] [1746050912.338478815] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746050912.339004149] [sailbot.teensy]: Actual sail angle: 50 -[teensy-2] [INFO] [1746050912.339957404] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050912.340366570] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050912.344822830] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050912.345123370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050912.346249715] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050912.346885214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 -[teensy-2] [INFO] [1746050912.347961812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050912.444963384] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050912.445664881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050912.446551201] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050912.447692751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 -[teensy-2] [INFO] [1746050912.448424960] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050912.456905766] [sailbot.main_algo]: Wind Direction: 41 -[main_algo-3] [INFO] [1746050912.457839627] [sailbot.main_algo]: Target Bearing: -70.61208942923477 -[main_algo-3] [INFO] [1746050912.458670785] [sailbot.main_algo]: Heading Difference: 30.13708942923472 -[main_algo-3] [INFO] [1746050912.459483976] [sailbot.main_algo]: Wind Direction: 41 -[main_algo-3] [INFO] [1746050912.460289946] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050912.461086535] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050912.462077873] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050912.462728127] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050912.502511665] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905702 Long: -76.50347274 -[main_algo-3] [INFO] [1746050912.502868772] [sailbot.main_algo]: Distance to destination: 39.58480934330185 -[vectornav-1] [INFO] [1746050912.503729704] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (294.625, 2.241, -0.069) -[main_algo-3] [INFO] [1746050912.503765878] [sailbot.main_algo]: Target Bearing: -70.94739091862073 -[main_algo-3] [INFO] [1746050912.504683064] [sailbot.main_algo]: Heading Difference: 30.472390918620704 -[main_algo-3] [INFO] [1746050912.505480556] [sailbot.main_algo]: Wind Direction: 41 -[main_algo-3] [INFO] [1746050912.506281277] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050912.507099490] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050912.508699500] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050912.545034804] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050912.545834653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050912.546733159] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050912.547899951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 -[teensy-2] [INFO] [1746050912.548976518] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050912.585243004] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050912.586938181] [sailbot.teensy]: Wind angle: 31 -[teensy-2] [INFO] [1746050912.587816838] [sailbot.teensy]: Actual sail angle: 55 -[trim_sail-4] [INFO] [1746050912.587623733] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746050912.588721989] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050912.589028824] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746050912.589644163] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050912.645207549] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050912.645844346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050912.646652492] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050912.648269199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 -[teensy-2] [INFO] [1746050912.649269451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050912.745107462] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050912.745730522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050912.746581092] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050912.747803829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 -[teensy-2] [INFO] [1746050912.748437215] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050912.835411541] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050912.838213630] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746050912.838797662] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050912.838949541] [sailbot.teensy]: Wind angle: 15 -[teensy-2] [INFO] [1746050912.839460630] [sailbot.teensy]: Actual sail angle: 70 -[teensy-2] [INFO] [1746050912.839817212] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050912.840198916] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050912.844535051] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050912.845151880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050912.845702525] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050912.846876195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050912.848006738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050912.944978483] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050912.945560788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050912.946665169] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050912.947475614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050912.948022856] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050912.956836462] [sailbot.main_algo]: Wind Direction: 15 -[main_algo-3] [INFO] [1746050912.957714182] [sailbot.main_algo]: Target Bearing: -70.94739091862073 -[main_algo-3] [INFO] [1746050912.958531214] [sailbot.main_algo]: Heading Difference: 5.5723909186207266 -[main_algo-3] [INFO] [1746050912.959316593] [sailbot.main_algo]: Rudder Angle Raw: 0.7739431831417676 -[main_algo-3] [INFO] [1746050912.960099995] [sailbot.main_algo]: Rudder Angle: 0 -[main_algo-3] [INFO] [1746050912.961089911] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050912.961748469] [sailbot.mux]: algo rudder angle: 0 -[vectornav-1] [INFO] [1746050913.003319961] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46905285 Long: -76.50347121 -[main_algo-3] [INFO] [1746050913.004407852] [sailbot.main_algo]: Distance to destination: 39.106666328044 -[vectornav-1] [INFO] [1746050913.004693779] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (271.877, -1.169, -0.779) -[main_algo-3] [INFO] [1746050913.006091770] [sailbot.main_algo]: Target Bearing: -70.88769027205558 -[main_algo-3] [INFO] [1746050913.007047135] [sailbot.main_algo]: Heading Difference: 5.512690272055579 -[main_algo-3] [INFO] [1746050913.008018795] [sailbot.main_algo]: Rudder Angle Raw: 0.765651426674386 -[main_algo-3] [INFO] [1746050913.009010053] [sailbot.main_algo]: Rudder Angle: 0 -[mux-7] [INFO] [1746050913.010823259] [sailbot.mux]: algo rudder angle: 0 -[mux-7] [INFO] [1746050913.045443876] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050913.046175960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050913.047094497] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050913.048622256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 0 -[teensy-2] [INFO] [1746050913.049829760] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050913.085377024] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050913.087415740] [sailbot.teensy]: Wind angle: 0 -[teensy-2] [INFO] [1746050913.088365245] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050913.087635385] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746050913.089135775] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050913.089304245] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050913.090157926] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050913.145361255] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050913.145876965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050913.147086896] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050913.147914355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050913.149192834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050913.245332837] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050913.246146667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050913.246966212] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050913.248435720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050913.249589439] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050913.335042376] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050913.337203698] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746050913.337471780] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746050913.338178657] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746050913.339086753] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050913.339333078] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050913.339559676] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050913.344374972] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050913.344929794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050913.345568939] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050913.346664621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 0 -[teensy-2] [INFO] [1746050913.347681481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050913.444975395] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050913.445626809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050913.446342085] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050913.447503285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 0 -[teensy-2] [INFO] [1746050913.448414102] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050913.457098904] [sailbot.main_algo]: Wind Direction: 346 -[main_algo-3] [INFO] [1746050913.458202620] [sailbot.main_algo]: Target Bearing: -70.88769027205558 -[main_algo-3] [INFO] [1746050913.459086783] [sailbot.main_algo]: Heading Difference: -17.23530972794447 -[main_algo-3] [INFO] [1746050913.459905111] [sailbot.main_algo]: Rudder Angle Raw: -2.393793017770065 -[main_algo-3] [INFO] [1746050913.460734011] [sailbot.main_algo]: Rudder Angle: -3 -[main_algo-3] [INFO] [1746050913.461723495] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050913.462593167] [sailbot.mux]: algo rudder angle: -3 -[vectornav-1] [INFO] [1746050913.502737113] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904811 Long: -76.50347236 -[main_algo-3] [INFO] [1746050913.503676897] [sailbot.main_algo]: Distance to destination: 38.645876744780224 -[vectornav-1] [INFO] [1746050913.503917975] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (247.92700000000002, -2.394, -3.383) -[main_algo-3] [INFO] [1746050913.504786692] [sailbot.main_algo]: Target Bearing: -70.48749649567456 -[main_algo-3] [INFO] [1746050913.505742273] [sailbot.main_algo]: Heading Difference: -17.63550350432547 -[main_algo-3] [INFO] [1746050913.506649979] [sailbot.main_algo]: Rudder Angle Raw: -2.449375486711871 -[main_algo-3] [INFO] [1746050913.507529679] [sailbot.main_algo]: Rudder Angle: -3 -[mux-7] [INFO] [1746050913.509309909] [sailbot.mux]: algo rudder angle: -3 -[mux-7] [INFO] [1746050913.545346062] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050913.546000814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050913.546845079] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050913.548065972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: -3 -[teensy-2] [INFO] [1746050913.549265095] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050913.585294948] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050913.586888335] [sailbot.teensy]: Wind angle: 326 -[teensy-2] [INFO] [1746050913.587789287] [sailbot.teensy]: Actual sail angle: 90 -[trim_sail-4] [INFO] [1746050913.587755044] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746050913.588710279] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050913.589022939] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746050913.589640587] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050913.645314727] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050913.646023251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050913.646876261] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050913.648884715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -3 -[teensy-2] [INFO] [1746050913.650045387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050913.744890386] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050913.745483250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050913.746303472] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050913.747370822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -3 -[teensy-2] [INFO] [1746050913.747920689] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050913.835139299] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050913.836739890] [sailbot.teensy]: Wind angle: 314 -[trim_sail-4] [INFO] [1746050913.837394387] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050913.837692270] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746050913.838513508] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050913.838565301] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050913.839472275] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050913.844342341] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050913.844892572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050913.845454155] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050913.846626865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: -3 -[teensy-2] [INFO] [1746050913.847844586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050913.944740884] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050913.945567357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050913.945982671] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050913.947474367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: -3 -[teensy-2] [INFO] [1746050913.948601617] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050913.956940966] [sailbot.main_algo]: Wind Direction: 314 -[main_algo-3] [INFO] [1746050913.957894582] [sailbot.main_algo]: Target Bearing: -70.48749649567456 -[main_algo-3] [INFO] [1746050913.958736929] [sailbot.main_algo]: Heading Difference: -41.5855035043254 -[main_algo-3] [INFO] [1746050913.959543770] [sailbot.main_algo]: Wind Direction: 314 -[main_algo-3] [INFO] [1746050913.960375608] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050913.961169903] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050913.962199616] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050913.962782424] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050914.002980902] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904344 Long: -76.50347546 -[main_algo-3] [INFO] [1746050914.003415009] [sailbot.main_algo]: Distance to destination: 38.25185631041498 -[vectornav-1] [INFO] [1746050914.004277415] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (234.197, -0.913, -5.941) -[main_algo-3] [INFO] [1746050914.004436978] [sailbot.main_algo]: Target Bearing: -69.85752692400091 -[main_algo-3] [INFO] [1746050914.005321899] [sailbot.main_algo]: Heading Difference: -42.21547307599906 -[main_algo-3] [INFO] [1746050914.006178767] [sailbot.main_algo]: Wind Direction: 314 -[main_algo-3] [INFO] [1746050914.007058266] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050914.007902237] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050914.009542585] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050914.044938672] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050914.045730739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050914.046267778] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050914.047944066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: -15 -[teensy-2] [INFO] [1746050914.048980615] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050914.085644299] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050914.087757315] [sailbot.teensy]: Wind angle: 300 -[trim_sail-4] [INFO] [1746050914.088045356] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050914.088812080] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050914.089506314] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050914.089781316] [sailbot.teensy]: Actual tail angle: 22 -[teensy-2] [INFO] [1746050914.090680454] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050914.145098041] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050914.145957611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050914.146767692] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050914.147842905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -15 -[teensy-2] [INFO] [1746050914.149109448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050914.245244148] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050914.246190955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050914.246704609] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050914.248431740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -15 -[teensy-2] [INFO] [1746050914.248922283] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050914.335176321] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050914.336891325] [sailbot.teensy]: Wind angle: 296 -[trim_sail-4] [INFO] [1746050914.337383478] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050914.337843631] [sailbot.teensy]: Actual sail angle: 65 -[teensy-2] [INFO] [1746050914.338748600] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050914.339328285] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050914.339644709] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050914.344567073] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050914.345061595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050914.345779294] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050914.346757409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 -[teensy-2] [INFO] [1746050914.347913033] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050914.445177323] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050914.445644971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050914.446548674] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050914.447539375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 -[teensy-2] [INFO] [1746050914.448686711] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050914.457072630] [sailbot.main_algo]: Wind Direction: 296 -[main_algo-3] [INFO] [1746050914.458042899] [sailbot.main_algo]: Target Bearing: -69.85752692400091 -[main_algo-3] [INFO] [1746050914.458943855] [sailbot.main_algo]: Heading Difference: -55.945473075999075 -[main_algo-3] [INFO] [1746050914.459831383] [sailbot.main_algo]: Wind Direction: 296 -[main_algo-3] [INFO] [1746050914.460684232] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050914.461490261] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050914.462494472] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050914.463259626] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050914.502986602] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903946 Long: -76.50347959 -[main_algo-3] [INFO] [1746050914.503702297] [sailbot.main_algo]: Distance to destination: 37.9651910362112 -[main_algo-3] [INFO] [1746050914.504875942] [sailbot.main_algo]: Target Bearing: -69.13880441245162 -[vectornav-1] [INFO] [1746050914.504439814] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (234.014, 1.329, -1.734) -[main_algo-3] [INFO] [1746050914.506041324] [sailbot.main_algo]: Heading Difference: -56.66419558754836 -[main_algo-3] [INFO] [1746050914.507007692] [sailbot.main_algo]: Wind Direction: 296 -[main_algo-3] [INFO] [1746050914.507914536] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050914.508804757] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050914.510527909] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050914.545178419] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050914.545770557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050914.546535800] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050914.547702627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 -[teensy-2] [INFO] [1746050914.548795898] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050914.585374779] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050914.587692804] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050914.587844349] [sailbot.teensy]: Wind angle: 296 -[mux-7] [INFO] [1746050914.588404412] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050914.588809827] [sailbot.teensy]: Actual sail angle: 55 -[teensy-2] [INFO] [1746050914.589734687] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050914.590843292] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050914.645194774] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050914.645904099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050914.646560889] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050914.648063114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 -[teensy-2] [INFO] [1746050914.649277014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050914.744802940] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050914.745239548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050914.746358758] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050914.747043158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 -[teensy-2] [INFO] [1746050914.748206524] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050914.834389823] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050914.835520658] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050914.835841353] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050914.835906690] [sailbot.teensy]: Wind angle: 295 -[teensy-2] [INFO] [1746050914.836331383] [sailbot.teensy]: Actual sail angle: 50 -[teensy-2] [INFO] [1746050914.836727267] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050914.837117723] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050914.843711145] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050914.844115448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050914.844307622] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050914.845130001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 -[teensy-2] [INFO] [1746050914.845655307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050914.945133245] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050914.945891459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050914.946576577] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050914.947765374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 -[teensy-2] [INFO] [1746050914.948716193] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050914.956965633] [sailbot.main_algo]: Wind Direction: 295 -[main_algo-3] [INFO] [1746050914.957910633] [sailbot.main_algo]: Target Bearing: -69.13880441245162 -[main_algo-3] [INFO] [1746050914.958783789] [sailbot.main_algo]: Heading Difference: -56.847195587548356 -[main_algo-3] [INFO] [1746050914.959585121] [sailbot.main_algo]: Wind Direction: 295 -[main_algo-3] [INFO] [1746050914.960409027] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050914.961326710] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050914.962361530] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050914.963434807] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050915.002749981] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690363 Long: -76.50348357 -[main_algo-3] [INFO] [1746050915.003950547] [sailbot.main_algo]: Distance to destination: 37.76394923431814 -[vectornav-1] [INFO] [1746050915.004391501] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (251.57899999999995, -2.813, 7.731) -[main_algo-3] [INFO] [1746050915.005043213] [sailbot.main_algo]: Target Bearing: -68.47964817602966 -[main_algo-3] [INFO] [1746050915.005977028] [sailbot.main_algo]: Heading Difference: -57.50635182397036 -[main_algo-3] [INFO] [1746050915.006877064] [sailbot.main_algo]: Wind Direction: 295 -[main_algo-3] [INFO] [1746050915.007723655] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050915.008570332] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050915.010479960] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050915.044963236] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050915.045577684] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050915.046186317] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050915.047374166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 -[teensy-2] [INFO] [1746050915.048615484] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050915.085245844] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050915.087405747] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050915.087810547] [sailbot.teensy]: Wind angle: 292 -[teensy-2] [INFO] [1746050915.088834469] [sailbot.teensy]: Actual sail angle: 50 -[mux-7] [INFO] [1746050915.089441657] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050915.089783283] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050915.090752365] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050915.144878834] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050915.145664898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050915.146139552] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050915.147502887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 -[teensy-2] [INFO] [1746050915.148470693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050915.245071945] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050915.245855508] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050915.246479898] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050915.247970861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 -[teensy-2] [INFO] [1746050915.249103362] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050915.335124323] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050915.337344095] [sailbot.trim_sail]: Sail Angle: "55" -[mux-7] [INFO] [1746050915.337946983] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050915.338005859] [sailbot.teensy]: Wind angle: 300 -[teensy-2] [INFO] [1746050915.339029540] [sailbot.teensy]: Actual sail angle: 50 -[teensy-2] [INFO] [1746050915.340013526] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050915.340971586] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050915.344500442] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050915.345107606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050915.345748335] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050915.346832435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -15 -[teensy-2] [INFO] [1746050915.348001183] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050915.445335406] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050915.445923553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050915.446851588] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050915.447940861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -15 -[teensy-2] [INFO] [1746050915.449073585] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050915.457207170] [sailbot.main_algo]: Wind Direction: 300 -[main_algo-3] [INFO] [1746050915.458215528] [sailbot.main_algo]: Target Bearing: -68.47964817602966 -[main_algo-3] [INFO] [1746050915.459151607] [sailbot.main_algo]: Heading Difference: -39.94135182397042 -[main_algo-3] [INFO] [1746050915.460145219] [sailbot.main_algo]: Wind Direction: 300 -[main_algo-3] [INFO] [1746050915.461089644] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050915.461945601] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050915.463112004] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050915.464023750] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050915.503289835] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903236 Long: -76.50348535 -[main_algo-3] [INFO] [1746050915.504223017] [sailbot.main_algo]: Distance to destination: 37.417107471358804 -[vectornav-1] [INFO] [1746050915.505072881] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (285.096, 0.528, 14.788) -[main_algo-3] [INFO] [1746050915.505443614] [sailbot.main_algo]: Target Bearing: -68.01584725623866 -[main_algo-3] [INFO] [1746050915.506952920] [sailbot.main_algo]: Heading Difference: -40.40515274376139 -[main_algo-3] [INFO] [1746050915.507907532] [sailbot.main_algo]: Wind Direction: 300 -[main_algo-3] [INFO] [1746050915.508911795] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050915.509762634] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050915.511447984] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050915.545191944] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050915.546022398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050915.546641662] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050915.548494005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -15 -[teensy-2] [INFO] [1746050915.549549961] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050915.585414681] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050915.587368716] [sailbot.teensy]: Wind angle: 316 -[trim_sail-4] [INFO] [1746050915.587824319] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050915.588355960] [sailbot.teensy]: Actual sail angle: 50 -[teensy-2] [INFO] [1746050915.589355850] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050915.590035190] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050915.590247309] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050915.644904721] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050915.645725131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050915.646142692] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050915.647587418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: -15 -[teensy-2] [INFO] [1746050915.648700836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050915.745160867] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050915.746158285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050915.746909061] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050915.748036738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: -15 -[teensy-2] [INFO] [1746050915.748571346] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050915.834972095] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050915.836826392] [sailbot.teensy]: Wind angle: 333 -[trim_sail-4] [INFO] [1746050915.836982557] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746050915.837924683] [sailbot.teensy]: Actual sail angle: 55 -[teensy-2] [INFO] [1746050915.838691541] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050915.838736794] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746050915.839078167] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050915.844422703] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050915.844917409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050915.845557134] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050915.846684324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: -15 -[teensy-2] [INFO] [1746050915.847764622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050915.944524301] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050915.945315251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050915.946206072] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050915.947160480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: -15 -[teensy-2] [INFO] [1746050915.948320894] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050915.957012621] [sailbot.main_algo]: Wind Direction: 333 -[main_algo-3] [INFO] [1746050915.957992313] [sailbot.main_algo]: Target Bearing: -68.01584725623866 -[main_algo-3] [INFO] [1746050915.958873739] [sailbot.main_algo]: Heading Difference: -6.888152743761339 -[main_algo-3] [INFO] [1746050915.959682979] [sailbot.main_algo]: Rudder Angle Raw: -0.9566878810779637 -[main_algo-3] [INFO] [1746050915.960539550] [sailbot.main_algo]: Rudder Angle: -1 -[main_algo-3] [INFO] [1746050915.961541701] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050915.962241325] [sailbot.mux]: algo rudder angle: -1 -[vectornav-1] [INFO] [1746050916.003299947] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902898 Long: -76.50348281 -[main_algo-3] [INFO] [1746050916.004635494] [sailbot.main_algo]: Distance to destination: 36.989995981832735 -[vectornav-1] [INFO] [1746050916.004919849] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (321.8, -1.408, 17.034) -[main_algo-3] [INFO] [1746050916.006018961] [sailbot.main_algo]: Target Bearing: -68.08643958293952 -[main_algo-3] [INFO] [1746050916.007178361] [sailbot.main_algo]: Heading Difference: -6.817560417060463 -[main_algo-3] [INFO] [1746050916.008125858] [sailbot.main_algo]: Rudder Angle Raw: -0.9468833912583976 -[main_algo-3] [INFO] [1746050916.009036387] [sailbot.main_algo]: Rudder Angle: -1 -[mux-7] [INFO] [1746050916.010764294] [sailbot.mux]: algo rudder angle: -1 -[mux-7] [INFO] [1746050916.045536817] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050916.045986146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050916.047113770] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050916.048367278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: -1 -[teensy-2] [INFO] [1746050916.049591661] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050916.085130469] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050916.086706845] [sailbot.teensy]: Wind angle: 350 -[teensy-2] [INFO] [1746050916.087636600] [sailbot.teensy]: Actual sail angle: 65 -[trim_sail-4] [INFO] [1746050916.087801163] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050916.088572016] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050916.089474701] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050916.088912769] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746050916.145226139] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050916.145738302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050916.146714372] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050916.147688752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: -1 -[teensy-2] [INFO] [1746050916.148920356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050916.245252495] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050916.245862297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050916.246695639] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050916.247898541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: -1 -[teensy-2] [INFO] [1746050916.248933657] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050916.335403559] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050916.337268063] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746050916.337906781] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746050916.338194240] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746050916.339112428] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050916.339564838] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050916.339588297] [sailbot.mux]: algo sail angle: 80 -[mux-7] [INFO] [1746050916.344346451] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050916.345046061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050916.345545219] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050916.346985662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: -1 -[teensy-2] [INFO] [1746050916.347993116] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050916.445287678] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050916.446005722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050916.446871721] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050916.447840984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: -1 -[teensy-2] [INFO] [1746050916.448372940] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050916.457022058] [sailbot.main_algo]: Wind Direction: 334 -[main_algo-3] [INFO] [1746050916.457991969] [sailbot.main_algo]: Target Bearing: -68.08643958293952 -[main_algo-3] [INFO] [1746050916.458844357] [sailbot.main_algo]: Heading Difference: 29.8864395829396 -[main_algo-3] [INFO] [1746050916.459648123] [sailbot.main_algo]: Wind Direction: 334 -[main_algo-3] [INFO] [1746050916.460461620] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050916.461267112] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050916.462258414] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050916.462880805] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050916.503232698] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902812 Long: -76.50347815 -[main_algo-3] [INFO] [1746050916.503717785] [sailbot.main_algo]: Distance to destination: 36.75411496812963 -[vectornav-1] [INFO] [1746050916.504431215] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (356.83799999999997, -0.934, 16.599) -[main_algo-3] [INFO] [1746050916.504799839] [sailbot.main_algo]: Target Bearing: -68.57854509280152 -[main_algo-3] [INFO] [1746050916.505796391] [sailbot.main_algo]: Heading Difference: 30.37854509280146 -[main_algo-3] [INFO] [1746050916.506724765] [sailbot.main_algo]: Wind Direction: 334 -[main_algo-3] [INFO] [1746050916.507605826] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050916.508467952] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050916.510316460] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050916.545000515] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050916.545624391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050916.546314083] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050916.547472489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746050916.548543767] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050916.585427863] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050916.587215252] [sailbot.teensy]: Wind angle: 13 -[teensy-2] [INFO] [1746050916.588147768] [sailbot.teensy]: Actual sail angle: 90 -[trim_sail-4] [INFO] [1746050916.587960970] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050916.589083894] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746050916.589695954] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050916.589952684] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050916.644980858] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050916.645600485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050916.646380708] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050916.647751405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050916.648696418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050916.745187839] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050916.745854686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050916.746688862] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050916.747944290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050916.748495526] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050916.834998445] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050916.836546934] [sailbot.teensy]: Wind angle: 43 -[trim_sail-4] [INFO] [1746050916.837219326] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050916.837384733] [sailbot.teensy]: Actual sail angle: 80 -[mux-7] [INFO] [1746050916.837476938] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050916.838281884] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050916.839128134] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050916.844411262] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050916.844862547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050916.845550113] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050916.846611703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 -[teensy-2] [INFO] [1746050916.847637948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050916.945249815] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050916.946169723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050916.947286328] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050916.947825631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 -[teensy-2] [INFO] [1746050916.948374257] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050916.957227664] [sailbot.main_algo]: Wind Direction: 43 -[main_algo-3] [INFO] [1746050916.958313905] [sailbot.main_algo]: Target Bearing: -68.57854509280152 -[main_algo-3] [INFO] [1746050916.959270257] [sailbot.main_algo]: Heading Difference: 65.41654509280147 -[main_algo-3] [INFO] [1746050916.960174952] [sailbot.main_algo]: Wind Direction: 43 -[main_algo-3] [INFO] [1746050916.961048222] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050916.961875888] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050916.962967418] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050916.963448188] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050917.002943658] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690291 Long: -76.50347347 -[main_algo-3] [INFO] [1746050917.004596317] [sailbot.main_algo]: Distance to destination: 36.709999145206226 -[vectornav-1] [INFO] [1746050917.004886848] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.470000000000027, 1.137, 16.842) -[main_algo-3] [INFO] [1746050917.005998458] [sailbot.main_algo]: Target Bearing: -69.19850994637838 -[main_algo-3] [INFO] [1746050917.007035894] [sailbot.main_algo]: Heading Difference: 66.03650994637837 -[main_algo-3] [INFO] [1746050917.007962783] [sailbot.main_algo]: Wind Direction: 43 -[main_algo-3] [INFO] [1746050917.008868104] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050917.009730143] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050917.011510020] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050917.045277656] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050917.046084367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050917.046848836] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050917.048201233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 -[teensy-2] [INFO] [1746050917.049425029] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050917.085062540] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050917.086610535] [sailbot.teensy]: Wind angle: 81 -[teensy-2] [INFO] [1746050917.087449274] [sailbot.teensy]: Actual sail angle: 90 -[trim_sail-4] [INFO] [1746050917.087204911] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050917.087860194] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050917.088276394] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050917.089152398] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050917.145091457] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050917.145698972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050917.146454506] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050917.147881335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 -[teensy-2] [INFO] [1746050917.149024415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050917.244904472] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050917.245638123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050917.246337341] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050917.247545590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 -[teensy-2] [INFO] [1746050917.248633920] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050917.335526849] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050917.338465609] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050917.339314250] [sailbot.teensy]: Wind angle: 96 -[mux-7] [INFO] [1746050917.339609599] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050917.340351681] [sailbot.teensy]: Actual sail angle: 65 -[teensy-2] [INFO] [1746050917.341261494] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050917.341606933] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050917.344309789] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050917.344856462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050917.345380944] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050917.346628807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 -[teensy-2] [INFO] [1746050917.347630873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050917.445280441] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050917.445956203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050917.447138858] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050917.447829886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 -[teensy-2] [INFO] [1746050917.448347620] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050917.457016825] [sailbot.main_algo]: Wind Direction: 96 -[main_algo-3] [INFO] [1746050917.458014844] [sailbot.main_algo]: Target Bearing: -69.19850994637838 -[main_algo-3] [INFO] [1746050917.458887926] [sailbot.main_algo]: Heading Difference: 90.66850994637844 -[main_algo-3] [INFO] [1746050917.459705476] [sailbot.main_algo]: Wind Direction: 96 -[main_algo-3] [INFO] [1746050917.460564687] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050917.461387013] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050917.462498536] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050917.463115543] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050917.503380289] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903038 Long: -76.50346995 -[main_algo-3] [INFO] [1746050917.503751363] [sailbot.main_algo]: Distance to destination: 36.735819436967894 -[vectornav-1] [INFO] [1746050917.504529799] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.105000000000018, -0.339, 9.117) -[main_algo-3] [INFO] [1746050917.504833199] [sailbot.main_algo]: Target Bearing: -69.69998662184432 -[main_algo-3] [INFO] [1746050917.505768724] [sailbot.main_algo]: Heading Difference: 91.16998662184437 -[main_algo-3] [INFO] [1746050917.506609141] [sailbot.main_algo]: Wind Direction: 96 -[main_algo-3] [INFO] [1746050917.507429667] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050917.508216359] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050917.509786888] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050917.545175717] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050917.545898900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050917.546609193] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050917.547839397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 -[teensy-2] [INFO] [1746050917.548900825] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050917.585262905] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050917.587458735] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050917.587975802] [sailbot.teensy]: Wind angle: 97 -[teensy-2] [INFO] [1746050917.588899621] [sailbot.teensy]: Actual sail angle: 40 -[mux-7] [INFO] [1746050917.589146702] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050917.589775581] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050917.590979185] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050917.644790894] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050917.645435122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050917.645982219] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050917.647203292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 15 -[teensy-2] [INFO] [1746050917.648318642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050917.745562288] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050917.746024797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050917.747189947] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050917.748065112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 15 -[teensy-2] [INFO] [1746050917.749320681] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050917.835074430] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050917.837221139] [sailbot.teensy]: Wind angle: 98 -[trim_sail-4] [INFO] [1746050917.837284821] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050917.838179145] [sailbot.teensy]: Actual sail angle: 30 -[mux-7] [INFO] [1746050917.838281661] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050917.839011535] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050917.839379784] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050917.844526405] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050917.845170469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050917.845725121] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050917.846916687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 15 -[teensy-2] [INFO] [1746050917.848069201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050917.944800904] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050917.945620241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050917.946598161] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050917.947870515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 15 -[teensy-2] [INFO] [1746050917.948603376] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050917.957017966] [sailbot.main_algo]: Wind Direction: 98 -[main_algo-3] [INFO] [1746050917.957966854] [sailbot.main_algo]: Target Bearing: -69.69998662184432 -[main_algo-3] [INFO] [1746050917.958820932] [sailbot.main_algo]: Heading Difference: 93.80498662184436 -[main_algo-3] [INFO] [1746050917.959605501] [sailbot.main_algo]: Wind Direction: 98 -[main_algo-3] [INFO] [1746050917.960438145] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050917.961244969] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050917.962248583] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050917.963213342] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050918.003489875] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903235 Long: -76.50346689 -[main_algo-3] [INFO] [1746050918.003768257] [sailbot.main_algo]: Distance to destination: 36.84951993890372 -[vectornav-1] [INFO] [1746050918.004721841] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.19799999999998, -1.853, 5.857) -[main_algo-3] [INFO] [1746050918.004904389] [sailbot.main_algo]: Target Bearing: -70.1880896540856 -[main_algo-3] [INFO] [1746050918.006012243] [sailbot.main_algo]: Heading Difference: 94.29308965408563 -[main_algo-3] [INFO] [1746050918.007013631] [sailbot.main_algo]: Wind Direction: 98 -[main_algo-3] [INFO] [1746050918.007933381] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050918.008818863] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050918.010596260] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050918.045134717] [sailbot.mux]: Published sail angle from algo: 25 -[teensy-2] [INFO] [1746050918.046241252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050918.047298606] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050918.048174917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:25, rudder: 15 -[teensy-2] [INFO] [1746050918.049261854] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050918.085437519] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050918.087782611] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050918.087782669] [sailbot.teensy]: Wind angle: 106 -[teensy-2] [INFO] [1746050918.088809811] [sailbot.teensy]: Actual sail angle: 25 -[mux-7] [INFO] [1746050918.089367581] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050918.089774988] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050918.090756353] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050918.145252391] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050918.146059481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050918.146730692] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050918.148295274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 15 -[teensy-2] [INFO] [1746050918.149526454] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050918.245248563] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050918.246357438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050918.247081140] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050918.248454329] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 15 -[teensy-2] [INFO] [1746050918.248938004] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050918.335215811] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050918.337628259] [sailbot.teensy]: Wind angle: 104 -[trim_sail-4] [INFO] [1746050918.337888675] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050918.339745283] [sailbot.teensy]: Actual sail angle: 25 -[mux-7] [INFO] [1746050918.339766189] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050918.340673144] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050918.341466204] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050918.344534568] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050918.344926915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050918.345703744] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050918.346637319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 15 -[teensy-2] [INFO] [1746050918.347690064] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050918.445444706] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050918.445941781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050918.447558292] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050918.448098993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 15 -[teensy-2] [INFO] [1746050918.449395581] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050918.457193306] [sailbot.main_algo]: Wind Direction: 104 -[main_algo-3] [INFO] [1746050918.458285727] [sailbot.main_algo]: Target Bearing: -70.1880896540856 -[main_algo-3] [INFO] [1746050918.459230795] [sailbot.main_algo]: Heading Difference: 91.3860896540856 -[main_algo-3] [INFO] [1746050918.460126222] [sailbot.main_algo]: Wind Direction: 104 -[main_algo-3] [INFO] [1746050918.460974948] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050918.461790917] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050918.462805158] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050918.463401610] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050918.502735793] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903357 Long: -76.50346257 -[main_algo-3] [INFO] [1746050918.503838919] [sailbot.main_algo]: Distance to destination: 36.851827999247305 -[vectornav-1] [INFO] [1746050918.504231373] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (11.774000000000001, -0.712, 4.471) -[main_algo-3] [INFO] [1746050918.505333057] [sailbot.main_algo]: Target Bearing: -70.77916417965486 -[main_algo-3] [INFO] [1746050918.506457032] [sailbot.main_algo]: Heading Difference: 91.97716417965484 -[main_algo-3] [INFO] [1746050918.507336936] [sailbot.main_algo]: Wind Direction: 104 -[main_algo-3] [INFO] [1746050918.508199459] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050918.508999106] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050918.510573880] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050918.544916220] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746050918.545570574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050918.546165887] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050918.547386616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 15 -[teensy-2] [INFO] [1746050918.548482614] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050918.585238828] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050918.587495702] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050918.588040680] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050918.588399845] [sailbot.teensy]: Wind angle: 96 -[teensy-2] [INFO] [1746050918.589365757] [sailbot.teensy]: Actual sail angle: 20 -[teensy-2] [INFO] [1746050918.590217840] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050918.591054006] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050918.645232722] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050918.645697701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050918.646645717] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050918.647629689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 -[teensy-2] [INFO] [1746050918.648824573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050918.745419490] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050918.745963338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050918.746961729] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050918.748042216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 -[teensy-2] [INFO] [1746050918.749192203] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050918.835410116] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050918.837065534] [sailbot.teensy]: Wind angle: 94 -[teensy-2] [INFO] [1746050918.837982557] [sailbot.teensy]: Actual sail angle: 20 -[trim_sail-4] [INFO] [1746050918.837607617] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050918.838898649] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050918.839324299] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050918.839750083] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050918.844636010] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050918.845192138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050918.845849205] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050918.846965927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 -[teensy-2] [INFO] [1746050918.848031598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050918.945243789] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050918.945996500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050918.946712078] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050918.948399119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 -[teensy-2] [INFO] [1746050918.949606614] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050918.957117837] [sailbot.main_algo]: Wind Direction: 94 -[main_algo-3] [INFO] [1746050918.958176807] [sailbot.main_algo]: Target Bearing: -70.77916417965486 -[main_algo-3] [INFO] [1746050918.959078512] [sailbot.main_algo]: Heading Difference: 82.55316417965486 -[main_algo-3] [INFO] [1746050918.959934653] [sailbot.main_algo]: Wind Direction: 94 -[main_algo-3] [INFO] [1746050918.960795070] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050918.961584616] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050918.962614897] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050918.963314786] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050919.002992489] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903342 Long: -76.50345695 -[main_algo-3] [INFO] [1746050919.003961335] [sailbot.main_algo]: Distance to destination: 36.67886098985493 -[vectornav-1] [INFO] [1746050919.004447955] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (1.0090000000000146, -1.512, 7.761) -[main_algo-3] [INFO] [1746050919.005178407] [sailbot.main_algo]: Target Bearing: -71.4474487733939 -[main_algo-3] [INFO] [1746050919.006205721] [sailbot.main_algo]: Heading Difference: 83.22144877339389 -[main_algo-3] [INFO] [1746050919.007126823] [sailbot.main_algo]: Wind Direction: 94 -[main_algo-3] [INFO] [1746050919.008025164] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050919.008913184] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050919.010686795] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050919.045255916] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050919.046234057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050919.046768097] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050919.048582140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 -[teensy-2] [INFO] [1746050919.049735679] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050919.085212001] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050919.087406619] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050919.088592072] [sailbot.teensy]: Wind angle: 94 -[mux-7] [INFO] [1746050919.088610875] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050919.089619157] [sailbot.teensy]: Actual sail angle: 30 -[teensy-2] [INFO] [1746050919.090568136] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050919.091432730] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050919.145141997] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050919.145965456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050919.146547972] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050919.148303589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 -[teensy-2] [INFO] [1746050919.149349287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050919.245069290] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050919.245831082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050919.246532753] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050919.247869449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 -[teensy-2] [INFO] [1746050919.249117195] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050919.335494405] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050919.338126248] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050919.338406837] [sailbot.teensy]: Wind angle: 90 -[teensy-2] [INFO] [1746050919.339383065] [sailbot.teensy]: Actual sail angle: 30 -[mux-7] [INFO] [1746050919.339413391] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050919.340372234] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050919.341295277] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050919.344328417] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050919.344746484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050919.345433731] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050919.346507088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 -[teensy-2] [INFO] [1746050919.347573249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050919.445588646] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050919.446570283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050919.447315829] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050919.448228335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 -[teensy-2] [INFO] [1746050919.448643631] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050919.456949332] [sailbot.main_algo]: Wind Direction: 90 -[main_algo-3] [INFO] [1746050919.457865684] [sailbot.main_algo]: Target Bearing: -71.4474487733939 -[main_algo-3] [INFO] [1746050919.458681630] [sailbot.main_algo]: Heading Difference: 72.4564487733939 -[main_algo-3] [INFO] [1746050919.459476560] [sailbot.main_algo]: Wind Direction: 90 -[main_algo-3] [INFO] [1746050919.460335685] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050919.461201845] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050919.462602255] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050919.462940013] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050919.502421247] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903279 Long: -76.50345094 -[vectornav-1] [INFO] [1746050919.503874598] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (346.817, 1.384, 6.681) -[main_algo-3] [INFO] [1746050919.503893002] [sailbot.main_algo]: Distance to destination: 36.4501135985446 -[main_algo-3] [INFO] [1746050919.505525524] [sailbot.main_algo]: Target Bearing: -72.1425297246578 -[main_algo-3] [INFO] [1746050919.506672321] [sailbot.main_algo]: Heading Difference: 73.15152972465782 -[main_algo-3] [INFO] [1746050919.507543135] [sailbot.main_algo]: Wind Direction: 90 -[main_algo-3] [INFO] [1746050919.508418633] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050919.509276295] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050919.510984830] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050919.545061022] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746050919.545867735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050919.546422122] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050919.548064670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 -[teensy-2] [INFO] [1746050919.549212184] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050919.585335757] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050919.586968379] [sailbot.teensy]: Wind angle: 80 -[trim_sail-4] [INFO] [1746050919.587476851] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050919.587870649] [sailbot.teensy]: Actual sail angle: 30 -[teensy-2] [INFO] [1746050919.588796711] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050919.589743685] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050919.590638517] [sailbot.mux]: algo sail angle: 40 -[mux-7] [INFO] [1746050919.645034980] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050919.645770955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050919.646436598] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050919.647805308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 -[teensy-2] [INFO] [1746050919.648836545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050919.745081725] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050919.745855819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050919.746889152] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050919.748060756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 -[teensy-2] [INFO] [1746050919.749410635] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050919.835225726] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050919.836951980] [sailbot.teensy]: Wind angle: 70 -[trim_sail-4] [INFO] [1746050919.837481506] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050919.837944121] [sailbot.teensy]: Actual sail angle: 30 -[teensy-2] [INFO] [1746050919.838869198] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050919.839012970] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050919.839787149] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050919.844602036] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050919.845337204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050919.845839197] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050919.847120004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746050919.848141582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050919.944736664] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050919.945709276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050919.946112297] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050919.948197732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746050919.949504035] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050919.957124264] [sailbot.main_algo]: Wind Direction: 70 -[main_algo-3] [INFO] [1746050919.958194861] [sailbot.main_algo]: Target Bearing: -72.1425297246578 -[main_algo-3] [INFO] [1746050919.959120159] [sailbot.main_algo]: Heading Difference: 58.95952972465784 -[main_algo-3] [INFO] [1746050919.959968706] [sailbot.main_algo]: Wind Direction: 70 -[main_algo-3] [INFO] [1746050919.960833104] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050919.961622081] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050919.962830608] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050919.963328844] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050920.002735834] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903129 Long: -76.50344544 -[main_algo-3] [INFO] [1746050920.003804484] [sailbot.main_algo]: Distance to destination: 36.14813754985399 -[vectornav-1] [INFO] [1746050920.003836861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (331.906, 0.477, 3.662) -[main_algo-3] [INFO] [1746050920.005054214] [sailbot.main_algo]: Target Bearing: -72.73537887564113 -[main_algo-3] [INFO] [1746050920.006146026] [sailbot.main_algo]: Heading Difference: 59.552378875641125 -[main_algo-3] [INFO] [1746050920.007035354] [sailbot.main_algo]: Wind Direction: 70 -[main_algo-3] [INFO] [1746050920.007927247] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050920.008810243] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050920.010535205] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050920.045435826] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050920.045863086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050920.046839083] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050920.048442879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746050920.049465529] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050920.085248377] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050920.087582993] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050920.087763958] [sailbot.teensy]: Wind angle: 66 -[mux-7] [INFO] [1746050920.088356068] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050920.089298653] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746050920.090232156] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050920.091059285] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050920.145344424] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050920.145961739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050920.147275027] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050920.147897838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 15 -[teensy-2] [INFO] [1746050920.149137118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050920.245117353] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050920.245911836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050920.246600654] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050920.247749333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 15 -[teensy-2] [INFO] [1746050920.248837361] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050920.335409204] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050920.337812926] [sailbot.trim_sail]: Sail Angle: "55" -[mux-7] [INFO] [1746050920.338459001] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050920.338770779] [sailbot.teensy]: Wind angle: 61 -[teensy-2] [INFO] [1746050920.339726553] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050920.340312275] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050920.340665644] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050920.344495513] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050920.344994186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050920.345637047] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050920.346717681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: 15 -[teensy-2] [INFO] [1746050920.347970477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050920.445506470] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050920.446082104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050920.447314219] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050920.449027459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: 15 -[teensy-2] [INFO] [1746050920.450182030] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050920.456973021] [sailbot.main_algo]: Wind Direction: 61 -[main_algo-3] [INFO] [1746050920.457929598] [sailbot.main_algo]: Target Bearing: -72.73537887564113 -[main_algo-3] [INFO] [1746050920.458798628] [sailbot.main_algo]: Heading Difference: 44.64137887564107 -[main_algo-3] [INFO] [1746050920.459594959] [sailbot.main_algo]: Wind Direction: 61 -[main_algo-3] [INFO] [1746050920.460440759] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050920.461238362] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050920.462434739] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050920.463029727] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050920.502567671] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902904 Long: -76.50344067 -[main_algo-3] [INFO] [1746050920.503482653] [sailbot.main_algo]: Distance to destination: 35.78905630585522 -[vectornav-1] [INFO] [1746050920.503842949] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (313.087, -1.816, 0.065) -[main_algo-3] [INFO] [1746050920.504645751] [sailbot.main_algo]: Target Bearing: -73.20610518116128 -[main_algo-3] [INFO] [1746050920.506221624] [sailbot.main_algo]: Heading Difference: 45.11210518116127 -[main_algo-3] [INFO] [1746050920.507408630] [sailbot.main_algo]: Wind Direction: 61 -[main_algo-3] [INFO] [1746050920.508315470] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050920.509168749] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050920.511058817] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050920.545231702] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050920.545822221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050920.546636245] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050920.547783116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: 15 -[teensy-2] [INFO] [1746050920.548812740] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050920.585298241] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050920.587124267] [sailbot.teensy]: Wind angle: 55 -[trim_sail-4] [INFO] [1746050920.587865886] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746050920.588077532] [sailbot.teensy]: Actual sail angle: 50 -[mux-7] [INFO] [1746050920.588653814] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746050920.588997002] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050920.589911281] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050920.644975179] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050920.645579786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050920.646533207] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050920.647513550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 15 -[teensy-2] [INFO] [1746050920.648618478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050920.745029590] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050920.745821264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050920.746484279] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050920.747837497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 15 -[teensy-2] [INFO] [1746050920.748927315] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050920.835235861] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050920.836982889] [sailbot.teensy]: Wind angle: 41 -[trim_sail-4] [INFO] [1746050920.837696534] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746050920.837990098] [sailbot.teensy]: Actual sail angle: 55 -[mux-7] [INFO] [1746050920.838721036] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746050920.838943504] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050920.839851500] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050920.844345348] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050920.845098488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050920.845850090] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050920.846855197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 -[teensy-2] [INFO] [1746050920.847945046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050920.945021163] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050920.945839165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050920.946294834] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050920.947660018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 -[teensy-2] [INFO] [1746050920.948424646] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050920.957063356] [sailbot.main_algo]: Wind Direction: 41 -[main_algo-3] [INFO] [1746050920.958059136] [sailbot.main_algo]: Target Bearing: -73.20610518116128 -[main_algo-3] [INFO] [1746050920.958944087] [sailbot.main_algo]: Heading Difference: 26.29310518116131 -[main_algo-3] [INFO] [1746050920.959741362] [sailbot.main_algo]: Wind Direction: 41 -[main_algo-3] [INFO] [1746050920.960562829] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050920.961364753] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050920.962425655] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050920.963049963] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050921.002810020] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902527 Long: -76.50343691 -[main_algo-3] [INFO] [1746050921.003727120] [sailbot.main_algo]: Distance to destination: 35.296265391391984 -[vectornav-1] [INFO] [1746050921.003948676] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.31, -4.788, -1.264) -[main_algo-3] [INFO] [1746050921.005059599] [sailbot.main_algo]: Target Bearing: -73.47603360252243 -[main_algo-3] [INFO] [1746050921.006172220] [sailbot.main_algo]: Heading Difference: 26.56303360252241 -[main_algo-3] [INFO] [1746050921.007066499] [sailbot.main_algo]: Wind Direction: 41 -[main_algo-3] [INFO] [1746050921.007920405] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050921.008782400] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050921.010557231] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050921.045250493] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050921.046078408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050921.046897072] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050921.048259795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 -[teensy-2] [INFO] [1746050921.049442702] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050921.085140135] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050921.087418255] [sailbot.teensy]: Wind angle: 32 -[trim_sail-4] [INFO] [1746050921.087558097] [sailbot.trim_sail]: Sail Angle: "75" -[mux-7] [INFO] [1746050921.087844140] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746050921.088320459] [sailbot.teensy]: Actual sail angle: 60 -[teensy-2] [INFO] [1746050921.089206741] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050921.090129166] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050921.144979261] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050921.145922459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050921.146351698] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050921.148106873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 -[teensy-2] [INFO] [1746050921.149175382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050921.245176395] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050921.245974327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050921.246854834] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050921.247923364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 15 -[teensy-2] [INFO] [1746050921.248962935] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050921.335425084] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050921.337350431] [sailbot.teensy]: Wind angle: 19 -[trim_sail-4] [INFO] [1746050921.337841669] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746050921.338291404] [sailbot.teensy]: Actual sail angle: 70 -[mux-7] [INFO] [1746050921.339037096] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050921.339185345] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050921.340057259] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050921.344420273] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050921.344833168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050921.345671409] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050921.346489897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050921.347535764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050921.445369345] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050921.446204440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050921.446983861] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050921.448459807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050921.448983497] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050921.456991604] [sailbot.main_algo]: Wind Direction: 19 -[main_algo-3] [INFO] [1746050921.457903104] [sailbot.main_algo]: Target Bearing: -73.47603360252243 -[main_algo-3] [INFO] [1746050921.458721539] [sailbot.main_algo]: Heading Difference: 6.786033602522366 -[main_algo-3] [INFO] [1746050921.459513330] [sailbot.main_algo]: Rudder Angle Raw: 0.9425046670169952 -[main_algo-3] [INFO] [1746050921.460317697] [sailbot.main_algo]: Rudder Angle: 0 -[main_algo-3] [INFO] [1746050921.461349820] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050921.461951699] [sailbot.mux]: algo rudder angle: 0 -[vectornav-1] [INFO] [1746050921.502524759] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901976 Long: -76.50343508 -[main_algo-3] [INFO] [1746050921.503299949] [sailbot.main_algo]: Distance to destination: 34.66745923322998 -[vectornav-1] [INFO] [1746050921.503750315] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (269.11699999999996, -1.919, -2.223) -[main_algo-3] [INFO] [1746050921.504499471] [sailbot.main_algo]: Target Bearing: -73.40837107770008 -[main_algo-3] [INFO] [1746050921.505473854] [sailbot.main_algo]: Heading Difference: 6.718371077700112 -[main_algo-3] [INFO] [1746050921.506457212] [sailbot.main_algo]: Rudder Angle Raw: 0.9331070941250156 -[main_algo-3] [INFO] [1746050921.507331091] [sailbot.main_algo]: Rudder Angle: 0 -[mux-7] [INFO] [1746050921.509071066] [sailbot.mux]: algo rudder angle: 0 -[mux-7] [INFO] [1746050921.544858350] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050921.545552924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050921.546487651] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050921.547361183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 0 -[teensy-2] [INFO] [1746050921.548422798] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050921.585402130] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050921.587175391] [sailbot.teensy]: Wind angle: 0 -[teensy-2] [INFO] [1746050921.588123079] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050921.588067334] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050921.589036423] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050921.589090757] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050921.590344246] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050921.644986919] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050921.645813561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050921.646427470] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050921.647884669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050921.648668520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050921.744724779] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050921.745567904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050921.745935754] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050921.747371122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050921.748558211] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050921.835255560] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050921.837121285] [sailbot.teensy]: Wind angle: 355 -[trim_sail-4] [INFO] [1746050921.837670704] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050921.838096610] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746050921.838941550] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050921.839000412] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050921.839887091] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050921.844402634] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050921.844937941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050921.845823780] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050921.846608697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050921.847668521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050921.945293198] [sailbot.mux]: Published sail angle from algo: 90 -[mux-7] [INFO] [1746050921.946787395] [sailbot.mux]: Published rudder angle from algo: 0 -[teensy-2] [INFO] [1746050921.948057667] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050921.948860836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 0 -[teensy-2] [INFO] [1746050921.949357538] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050921.957009124] [sailbot.main_algo]: Wind Direction: 355 -[main_algo-3] [INFO] [1746050921.957964016] [sailbot.main_algo]: Target Bearing: -73.40837107770008 -[main_algo-3] [INFO] [1746050921.958825095] [sailbot.main_algo]: Heading Difference: -17.474628922299985 -[main_algo-3] [INFO] [1746050921.959648416] [sailbot.main_algo]: Rudder Angle Raw: -2.4270317947638866 -[main_algo-3] [INFO] [1746050921.960464444] [sailbot.main_algo]: Rudder Angle: -3 -[main_algo-3] [INFO] [1746050921.961452588] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050921.962206022] [sailbot.mux]: algo rudder angle: -3 -[vectornav-1] [INFO] [1746050922.003363593] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901439 Long: -76.50343657 -[main_algo-3] [INFO] [1746050922.003914749] [sailbot.main_algo]: Distance to destination: 34.137362376305596 -[vectornav-1] [INFO] [1746050922.004933187] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (246.12, 1.407, -3.21) -[main_algo-3] [INFO] [1746050922.004978107] [sailbot.main_algo]: Target Bearing: -72.90959927223857 -[main_algo-3] [INFO] [1746050922.005991905] [sailbot.main_algo]: Heading Difference: -17.973400727761486 -[main_algo-3] [INFO] [1746050922.007241991] [sailbot.main_algo]: Rudder Angle Raw: -2.49630565663354 -[main_algo-3] [INFO] [1746050922.008193636] [sailbot.main_algo]: Rudder Angle: -3 -[mux-7] [INFO] [1746050922.009905901] [sailbot.mux]: algo rudder angle: -3 -[mux-7] [INFO] [1746050922.044985386] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050922.045726023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050922.046263467] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050922.047630554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: -3 -[teensy-2] [INFO] [1746050922.048688245] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050922.085483676] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050922.087524553] [sailbot.teensy]: Wind angle: 335 -[teensy-2] [INFO] [1746050922.088506733] [sailbot.teensy]: Actual sail angle: 90 -[trim_sail-4] [INFO] [1746050922.087911471] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746050922.088826189] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746050922.089385325] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050922.090292310] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050922.144988717] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050922.145629879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050922.146260529] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050922.147459186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: -3 -[teensy-2] [INFO] [1746050922.148693298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050922.245339710] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746050922.246075287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050922.247135821] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050922.248063810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: -3 -[teensy-2] [INFO] [1746050922.248636443] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050922.335449141] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050922.337526054] [sailbot.teensy]: Wind angle: 319 -[trim_sail-4] [INFO] [1746050922.337852319] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746050922.338513126] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050922.339504939] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050922.339818362] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746050922.339979658] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050922.344506013] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050922.344941464] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050922.345687848] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050922.346692584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: -3 -[teensy-2] [INFO] [1746050922.347760353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050922.445238702] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050922.445972977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050922.446633869] [sailbot.mux]: Published rudder angle from algo: -3 -[teensy-2] [INFO] [1746050922.448369527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: -3 -[teensy-2] [INFO] [1746050922.449530112] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050922.457190364] [sailbot.main_algo]: Wind Direction: 319 -[main_algo-3] [INFO] [1746050922.458289174] [sailbot.main_algo]: Target Bearing: -72.90959927223857 -[main_algo-3] [INFO] [1746050922.459252401] [sailbot.main_algo]: Heading Difference: -40.970400727761444 -[main_algo-3] [INFO] [1746050922.460186216] [sailbot.main_algo]: Wind Direction: 319 -[main_algo-3] [INFO] [1746050922.461020610] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050922.461841661] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050922.462845213] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050922.463360422] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050922.503133745] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690106 Long: -76.50344058 -[main_algo-3] [INFO] [1746050922.504103196] [sailbot.main_algo]: Distance to destination: 33.8426702015606 -[main_algo-3] [INFO] [1746050922.505291954] [sailbot.main_algo]: Target Bearing: -72.15755820004699 -[vectornav-1] [INFO] [1746050922.505513410] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (232.20799999999997, -0.239, 0.011) -[main_algo-3] [INFO] [1746050922.506310303] [sailbot.main_algo]: Heading Difference: -41.722441799953 -[main_algo-3] [INFO] [1746050922.507267662] [sailbot.main_algo]: Wind Direction: 319 -[main_algo-3] [INFO] [1746050922.508162516] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050922.509010972] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050922.510708767] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050922.545061059] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050922.545903928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050922.546459451] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050922.548058343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: -15 -[teensy-2] [INFO] [1746050922.549154729] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050922.585281243] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050922.586987305] [sailbot.teensy]: Wind angle: 299 -[trim_sail-4] [INFO] [1746050922.587527968] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050922.587951543] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746050922.588912685] [sailbot.teensy]: Actual tail angle: 22 -[mux-7] [INFO] [1746050922.589055932] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050922.589858208] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050922.644947409] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050922.645706313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050922.646363099] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050922.647839813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -15 -[teensy-2] [INFO] [1746050922.649037189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050922.745148218] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050922.745794118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050922.746555951] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050922.747728609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -15 -[teensy-2] [INFO] [1746050922.748204068] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050922.835220805] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050922.836822888] [sailbot.teensy]: Wind angle: 286 -[trim_sail-4] [INFO] [1746050922.837342458] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050922.837749199] [sailbot.teensy]: Actual sail angle: 70 -[teensy-2] [INFO] [1746050922.838645751] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746050922.838712919] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050922.839536589] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050922.844414317] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050922.844932601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050922.845557980] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050922.846645542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 -[teensy-2] [INFO] [1746050922.847788628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050922.945357765] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050922.946093249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050922.946889294] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050922.948524803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 -[teensy-2] [INFO] [1746050922.949625127] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050922.957009997] [sailbot.main_algo]: Wind Direction: 286 -[main_algo-3] [INFO] [1746050922.957956497] [sailbot.main_algo]: Target Bearing: -72.15755820004699 -[main_algo-3] [INFO] [1746050922.958827146] [sailbot.main_algo]: Heading Difference: -55.63444179995304 -[main_algo-3] [INFO] [1746050922.959605720] [sailbot.main_algo]: Wind Direction: 286 -[main_algo-3] [INFO] [1746050922.960418908] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050922.961207446] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050922.962204652] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050922.962920206] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050923.002910213] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900752 Long: -76.50344443 -[main_algo-3] [INFO] [1746050923.003574764] [sailbot.main_algo]: Distance to destination: 33.62378719582133 -[vectornav-1] [INFO] [1746050923.004087219] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (232.139, -1.756, 1.741) -[main_algo-3] [INFO] [1746050923.005129495] [sailbot.main_algo]: Target Bearing: -71.4586783801396 -[main_algo-3] [INFO] [1746050923.006129365] [sailbot.main_algo]: Heading Difference: -56.33332161986044 -[main_algo-3] [INFO] [1746050923.007117878] [sailbot.main_algo]: Wind Direction: 286 -[main_algo-3] [INFO] [1746050923.008000389] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050923.008889637] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050923.010789136] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050923.045206278] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050923.045817360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050923.046762192] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050923.047802183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 -[teensy-2] [INFO] [1746050923.048918300] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050923.085510227] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050923.087948861] [sailbot.teensy]: Wind angle: 284 -[trim_sail-4] [INFO] [1746050923.088028300] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050923.088804658] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050923.089300230] [sailbot.teensy]: Actual sail angle: 55 -[teensy-2] [INFO] [1746050923.090224618] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050923.091094799] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050923.145209758] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050923.145866895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050923.146672145] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050923.148070517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050923.149243515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050923.245259428] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050923.245808747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050923.246719612] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050923.248080619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: -15 -[teensy-2] [INFO] [1746050923.249317172] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050923.335284114] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050923.337482347] [sailbot.teensy]: Wind angle: 286 -[trim_sail-4] [INFO] [1746050923.337517372] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050923.338980731] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050923.339080034] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050923.339413794] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050923.339799341] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050923.344614147] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050923.345122314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050923.345839290] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050923.346902999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 -[teensy-2] [INFO] [1746050923.348070717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050923.445305556] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050923.445830665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050923.446765402] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050923.447975667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 -[teensy-2] [INFO] [1746050923.449115299] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050923.457084315] [sailbot.main_algo]: Wind Direction: 286 -[main_algo-3] [INFO] [1746050923.458212193] [sailbot.main_algo]: Target Bearing: -71.4586783801396 -[main_algo-3] [INFO] [1746050923.459166995] [sailbot.main_algo]: Heading Difference: -56.4023216198604 -[main_algo-3] [INFO] [1746050923.460002864] [sailbot.main_algo]: Wind Direction: 286 -[main_algo-3] [INFO] [1746050923.460843128] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050923.461679474] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050923.462722961] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050923.463266259] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050923.502758528] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900417 Long: -76.50344812 -[vectornav-1] [INFO] [1746050923.503939299] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (246.39599999999996, -1.147, 5.684) -[main_algo-3] [INFO] [1746050923.504068113] [sailbot.main_algo]: Distance to destination: 33.37728575056571 -[main_algo-3] [INFO] [1746050923.505253421] [sailbot.main_algo]: Target Bearing: -70.75410361679889 -[main_algo-3] [INFO] [1746050923.506236156] [sailbot.main_algo]: Heading Difference: -57.106896383201104 -[main_algo-3] [INFO] [1746050923.507177711] [sailbot.main_algo]: Wind Direction: 286 -[main_algo-3] [INFO] [1746050923.508043154] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050923.508921924] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050923.510669739] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050923.544931163] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050923.545602940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050923.546199455] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050923.547563017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 -[teensy-2] [INFO] [1746050923.548663913] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050923.585155684] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050923.587213500] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050923.587861252] [sailbot.teensy]: Wind angle: 290 -[mux-7] [INFO] [1746050923.588396945] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050923.588770419] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746050923.589668929] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050923.590873383] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050923.645024796] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050923.645576233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050923.646404659] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050923.647424012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 -[teensy-2] [INFO] [1746050923.648485763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050923.745248805] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050923.745920425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050923.746829594] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050923.748006080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: -15 -[teensy-2] [INFO] [1746050923.748544793] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050923.835138103] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050923.837258527] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050923.837740580] [sailbot.teensy]: Wind angle: 291 -[mux-7] [INFO] [1746050923.838003871] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050923.838714948] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050923.839282232] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050923.839653794] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050923.844608121] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050923.845140252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050923.845817547] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050923.846866415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 -[teensy-2] [INFO] [1746050923.847918498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050923.945113225] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050923.946324494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050923.946595122] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050923.948489157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 -[teensy-2] [INFO] [1746050923.949019010] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050923.957024621] [sailbot.main_algo]: Wind Direction: 291 -[main_algo-3] [INFO] [1746050923.958059614] [sailbot.main_algo]: Target Bearing: -70.75410361679889 -[main_algo-3] [INFO] [1746050923.958974687] [sailbot.main_algo]: Heading Difference: -42.849896383201155 -[main_algo-3] [INFO] [1746050923.959825786] [sailbot.main_algo]: Wind Direction: 291 -[main_algo-3] [INFO] [1746050923.960715538] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050923.961540826] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050923.962542509] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050923.963108784] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050924.003219858] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900056 Long: -76.50344934 -[main_algo-3] [INFO] [1746050924.003690055] [sailbot.main_algo]: Distance to destination: 33.03672970955823 -[vectornav-1] [INFO] [1746050924.004680928] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (279.721, 2.899, 10.554) -[main_algo-3] [INFO] [1746050924.004779418] [sailbot.main_algo]: Target Bearing: -70.35010524233095 -[main_algo-3] [INFO] [1746050924.005838582] [sailbot.main_algo]: Heading Difference: -43.25389475766906 -[main_algo-3] [INFO] [1746050924.006812040] [sailbot.main_algo]: Wind Direction: 291 -[main_algo-3] [INFO] [1746050924.007731356] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050924.008606245] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050924.010272116] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050924.044929627] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050924.045615649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050924.046193228] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050924.047567426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: -15 -[teensy-2] [INFO] [1746050924.048742708] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050924.085362183] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050924.087237958] [sailbot.teensy]: Wind angle: 304 -[teensy-2] [INFO] [1746050924.088192220] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050924.089166524] [sailbot.teensy]: Actual tail angle: 10 -[trim_sail-4] [INFO] [1746050924.087720549] [sailbot.trim_sail]: Sail Angle: "55" -[mux-7] [INFO] [1746050924.088650605] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050924.090055485] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050924.144915294] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050924.145625367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050924.146195270] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050924.147465681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -15 -[teensy-2] [INFO] [1746050924.148634720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050924.245325060] [sailbot.mux]: Published sail angle from algo: 55 -[teensy-2] [INFO] [1746050924.246075418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050924.246800560] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050924.248313911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:55, rudder: -15 -[teensy-2] [INFO] [1746050924.249552940] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050924.335225479] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050924.337616245] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746050924.338338396] [sailbot.teensy]: Wind angle: 321 -[mux-7] [INFO] [1746050924.339027951] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746050924.339366554] [sailbot.teensy]: Actual sail angle: 50 -[teensy-2] [INFO] [1746050924.340314686] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050924.340687586] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050924.344641806] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050924.345238863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050924.345773859] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050924.346920265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: -15 -[teensy-2] [INFO] [1746050924.348092041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050924.445050119] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050924.445588377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050924.446613582] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746050924.447441654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: -15 -[teensy-2] [INFO] [1746050924.448565898] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050924.457063584] [sailbot.main_algo]: Wind Direction: 321 -[main_algo-3] [INFO] [1746050924.458041057] [sailbot.main_algo]: Target Bearing: -70.35010524233095 -[main_algo-3] [INFO] [1746050924.458945534] [sailbot.main_algo]: Heading Difference: -9.928894757669013 -[main_algo-3] [INFO] [1746050924.459782879] [sailbot.main_algo]: Rudder Angle Raw: -1.379013160787363 -[main_algo-3] [INFO] [1746050924.460620639] [sailbot.main_algo]: Rudder Angle: -2 -[main_algo-3] [INFO] [1746050924.461660910] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050924.462493958] [sailbot.mux]: algo rudder angle: -2 -[vectornav-1] [INFO] [1746050924.503066943] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899745 Long: -76.50344847 -[main_algo-3] [INFO] [1746050924.504064964] [sailbot.main_algo]: Distance to destination: 32.688361368765655 -[vectornav-1] [INFO] [1746050924.504318098] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (313.098, 0.907, 14.748) -[main_algo-3] [INFO] [1746050924.505672484] [sailbot.main_algo]: Target Bearing: -70.2537713007861 -[main_algo-3] [INFO] [1746050924.506724308] [sailbot.main_algo]: Heading Difference: -10.025228699213926 -[main_algo-3] [INFO] [1746050924.507684749] [sailbot.main_algo]: Rudder Angle Raw: -1.3923928748908232 -[main_algo-3] [INFO] [1746050924.508591117] [sailbot.main_algo]: Rudder Angle: -2 -[mux-7] [INFO] [1746050924.510311352] [sailbot.mux]: algo rudder angle: -2 -[mux-7] [INFO] [1746050924.544998133] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050924.545807422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050924.546262716] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050924.547882190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: -2 -[teensy-2] [INFO] [1746050924.548947392] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050924.585373320] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050924.587348135] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746050924.588344203] [sailbot.teensy]: Actual sail angle: 55 -[trim_sail-4] [INFO] [1746050924.587619973] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746050924.588635064] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050924.589457946] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746050924.590341339] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050924.644751618] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050924.645891279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050924.645913137] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050924.647546542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: -2 -[teensy-2] [INFO] [1746050924.648544483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050924.745209871] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050924.745838762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050924.746791723] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050924.748004493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: -2 -[teensy-2] [INFO] [1746050924.748593228] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050924.835101332] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050924.837288339] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746050924.837745516] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050924.837999189] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746050924.839058723] [sailbot.teensy]: Actual sail angle: 70 -[teensy-2] [INFO] [1746050924.839945637] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050924.840824081] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050924.844393446] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050924.844803501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050924.845555739] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050924.846560917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: -2 -[teensy-2] [INFO] [1746050924.847567850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050924.944914812] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050924.945671864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050924.946224283] [sailbot.mux]: Published rudder angle from algo: -2 -[teensy-2] [INFO] [1746050924.947566726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: -2 -[teensy-2] [INFO] [1746050924.948744708] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050924.956943241] [sailbot.main_algo]: Wind Direction: 359 -[main_algo-3] [INFO] [1746050924.957904333] [sailbot.main_algo]: Target Bearing: -70.2537713007861 -[main_algo-3] [INFO] [1746050924.958750502] [sailbot.main_algo]: Heading Difference: 23.35177130078614 -[main_algo-3] [INFO] [1746050924.959568970] [sailbot.main_algo]: Wind Direction: 359 -[main_algo-3] [INFO] [1746050924.960424089] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050924.961243795] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050924.962301182] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050924.962865207] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050925.003190470] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899637 Long: -76.50344559 -[main_algo-3] [INFO] [1746050925.003858388] [sailbot.main_algo]: Distance to destination: 32.49275857955928 -[vectornav-1] [INFO] [1746050925.004425093] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (341.974, -3.486, 15.203) -[main_algo-3] [INFO] [1746050925.004962274] [sailbot.main_algo]: Target Bearing: -70.56924445020812 -[main_algo-3] [INFO] [1746050925.005989000] [sailbot.main_algo]: Heading Difference: 23.66724445020816 -[main_algo-3] [INFO] [1746050925.006883988] [sailbot.main_algo]: Wind Direction: 359 -[main_algo-3] [INFO] [1746050925.007780301] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050925.008657447] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050925.010313958] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050925.044959901] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050925.045683100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050925.046242107] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050925.047569749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050925.048732567] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050925.085331107] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050925.087510836] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050925.087654357] [sailbot.teensy]: Wind angle: 4 -[teensy-2] [INFO] [1746050925.088546402] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746050925.088997627] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050925.089443317] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050925.090319277] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050925.145138748] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050925.145703410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050925.146458226] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050925.147749663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050925.148874522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050925.245341483] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050925.246140933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050925.246931073] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050925.248382377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746050925.249558767] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050925.335392981] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050925.337302624] [sailbot.teensy]: Wind angle: 20 -[teensy-2] [INFO] [1746050925.338290465] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050925.339299012] [sailbot.teensy]: Actual tail angle: 40 -[trim_sail-4] [INFO] [1746050925.338587436] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746050925.339339839] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050925.340208960] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050925.344444659] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050925.344985059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050925.346091651] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050925.346740442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050925.347961881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050925.445472284] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050925.446021386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050925.447238056] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050925.448214134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050925.449433297] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050925.457021003] [sailbot.main_algo]: Wind Direction: 20 -[main_algo-3] [INFO] [1746050925.457994234] [sailbot.main_algo]: Target Bearing: -70.56924445020812 -[main_algo-3] [INFO] [1746050925.458906498] [sailbot.main_algo]: Heading Difference: 52.543244450208135 -[main_algo-3] [INFO] [1746050925.459724891] [sailbot.main_algo]: Wind Direction: 20 -[main_algo-3] [INFO] [1746050925.460590592] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050925.461423055] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050925.462490781] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050925.463261596] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050925.503627341] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899582 Long: -76.50344099 -[main_algo-3] [INFO] [1746050925.504193197] [sailbot.main_algo]: Distance to destination: 32.30511905124679 -[main_algo-3] [INFO] [1746050925.505301157] [sailbot.main_algo]: Target Bearing: -71.15995908796134 -[vectornav-1] [INFO] [1746050925.505291773] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (5.223000000000013, -1.722, 15.878) -[main_algo-3] [INFO] [1746050925.506770196] [sailbot.main_algo]: Heading Difference: 53.13395908796133 -[main_algo-3] [INFO] [1746050925.507781223] [sailbot.main_algo]: Wind Direction: 20 -[main_algo-3] [INFO] [1746050925.508735041] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050925.509614074] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050925.511372052] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050925.544977684] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050925.545767022] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050925.546314424] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050925.547872505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050925.548894412] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050925.585644797] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050925.587549263] [sailbot.teensy]: Wind angle: 38 -[teensy-2] [INFO] [1746050925.588634630] [sailbot.teensy]: Actual sail angle: 90 -[trim_sail-4] [INFO] [1746050925.588027188] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746050925.589514965] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746050925.589576275] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050925.590642155] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050925.644791701] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050925.645376733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050925.645970901] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050925.647268936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 -[teensy-2] [INFO] [1746050925.648574240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050925.745138125] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050925.745794885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050925.746685535] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050925.747800897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 -[teensy-2] [INFO] [1746050925.748347999] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050925.835411197] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050925.837855503] [sailbot.trim_sail]: Sail Angle: "50" -[mux-7] [INFO] [1746050925.838343681] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050925.838819202] [sailbot.teensy]: Wind angle: 67 -[teensy-2] [INFO] [1746050925.839699695] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746050925.840555289] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050925.841395861] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050925.844360698] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050925.844869057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050925.845483029] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050925.846629029] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 15 -[teensy-2] [INFO] [1746050925.847758073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050925.945397939] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050925.946194840] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050925.948493047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 15 -[mux-7] [INFO] [1746050925.946892081] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050925.949437122] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050925.957139718] [sailbot.main_algo]: Wind Direction: 67 -[main_algo-3] [INFO] [1746050925.958143390] [sailbot.main_algo]: Target Bearing: -71.15995908796134 -[main_algo-3] [INFO] [1746050925.959128468] [sailbot.main_algo]: Heading Difference: 76.38295908796135 -[main_algo-3] [INFO] [1746050925.959994291] [sailbot.main_algo]: Wind Direction: 67 -[main_algo-3] [INFO] [1746050925.960953235] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050925.961770615] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050925.962761862] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050925.963307476] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050926.002647685] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899656 Long: -76.5034366 -[main_algo-3] [INFO] [1746050926.003906919] [sailbot.main_algo]: Distance to destination: 32.261912398090736 -[vectornav-1] [INFO] [1746050926.004133551] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (9.949999999999989, 1.018, 8.532) -[main_algo-3] [INFO] [1746050926.004979287] [sailbot.main_algo]: Target Bearing: -71.81247957552918 -[main_algo-3] [INFO] [1746050926.005925368] [sailbot.main_algo]: Heading Difference: 77.03547957552917 -[main_algo-3] [INFO] [1746050926.006917011] [sailbot.main_algo]: Wind Direction: 67 -[main_algo-3] [INFO] [1746050926.007833485] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050926.008735257] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050926.010334827] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050926.045130125] [sailbot.mux]: Published sail angle from algo: 50 -[teensy-2] [INFO] [1746050926.045909917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050926.046605841] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050926.048214182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:50, rudder: 15 -[teensy-2] [INFO] [1746050926.049418855] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050926.085323660] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050926.087082105] [sailbot.teensy]: Wind angle: 89 -[teensy-2] [INFO] [1746050926.088013901] [sailbot.teensy]: Actual sail angle: 70 -[trim_sail-4] [INFO] [1746050926.087620058] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050926.088881034] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050926.089247567] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050926.089793257] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050926.144950276] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050926.145832249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050926.146247935] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050926.147670440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 -[teensy-2] [INFO] [1746050926.148706557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050926.245044144] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050926.245998354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050926.246509407] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050926.248056180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 -[teensy-2] [INFO] [1746050926.249067225] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050926.335099092] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050926.337171336] [sailbot.teensy]: Wind angle: 88 -[trim_sail-4] [INFO] [1746050926.337213120] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050926.338521243] [sailbot.teensy]: Actual sail angle: 50 -[mux-7] [INFO] [1746050926.338737232] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050926.339457317] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050926.340420708] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050926.344393088] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050926.345060585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050926.345560623] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050926.346837391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 -[teensy-2] [INFO] [1746050926.347919659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050926.445233519] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050926.446151264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050926.446790179] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050926.448367620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 -[teensy-2] [INFO] [1746050926.449568682] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050926.457003179] [sailbot.main_algo]: Wind Direction: 88 -[main_algo-3] [INFO] [1746050926.457958835] [sailbot.main_algo]: Target Bearing: -71.81247957552918 -[main_algo-3] [INFO] [1746050926.458838173] [sailbot.main_algo]: Heading Difference: 81.76247957552914 -[main_algo-3] [INFO] [1746050926.459616500] [sailbot.main_algo]: Wind Direction: 88 -[main_algo-3] [INFO] [1746050926.460413374] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050926.461210889] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050926.462260405] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050926.462780298] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050926.502476219] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899786 Long: -76.50343279 -[main_algo-3] [INFO] [1746050926.503533078] [sailbot.main_algo]: Distance to destination: 32.29704360370082 -[vectornav-1] [INFO] [1746050926.503928958] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (6.0470000000000255, -0.22, 2.155) -[main_algo-3] [INFO] [1746050926.504734643] [sailbot.main_algo]: Target Bearing: -72.42155597540021 -[main_algo-3] [INFO] [1746050926.505989153] [sailbot.main_algo]: Heading Difference: 82.37155597540021 -[main_algo-3] [INFO] [1746050926.506925943] [sailbot.main_algo]: Wind Direction: 88 -[main_algo-3] [INFO] [1746050926.507818539] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050926.508710411] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050926.510442701] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050926.545145159] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050926.546222778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050926.546819274] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050926.548290092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 -[teensy-2] [INFO] [1746050926.549308788] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050926.585383962] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050926.587763485] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050926.588197458] [sailbot.teensy]: Wind angle: 86 -[teensy-2] [INFO] [1746050926.589155237] [sailbot.teensy]: Actual sail angle: 35 -[mux-7] [INFO] [1746050926.588705423] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050926.590331838] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050926.591282367] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050926.644979050] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050926.645635073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050926.646301459] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050926.647537883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 -[teensy-2] [INFO] [1746050926.648685913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050926.745134079] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050926.745779929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050926.746580335] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050926.747804685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 -[teensy-2] [INFO] [1746050926.748509390] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050926.835259931] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050926.836997649] [sailbot.teensy]: Wind angle: 84 -[trim_sail-4] [INFO] [1746050926.837543555] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050926.837952465] [sailbot.teensy]: Actual sail angle: 35 -[teensy-2] [INFO] [1746050926.838865003] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050926.839728711] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050926.839756174] [sailbot.mux]: algo sail angle: 35 -[mux-7] [INFO] [1746050926.844378178] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050926.844926255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050926.845538570] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050926.846604500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 -[teensy-2] [INFO] [1746050926.847611324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050926.945235992] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050926.945881548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050926.946802787] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050926.948080083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 -[teensy-2] [INFO] [1746050926.949378204] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050926.957159817] [sailbot.main_algo]: Wind Direction: 84 -[main_algo-3] [INFO] [1746050926.958277686] [sailbot.main_algo]: Target Bearing: -72.42155597540021 -[main_algo-3] [INFO] [1746050926.959221363] [sailbot.main_algo]: Heading Difference: 78.46855597540025 -[main_algo-3] [INFO] [1746050926.960053377] [sailbot.main_algo]: Wind Direction: 84 -[main_algo-3] [INFO] [1746050926.960950861] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050926.961764050] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050926.962812128] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050926.963520977] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050927.002694742] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899849 Long: -76.50342892 -[main_algo-3] [INFO] [1746050927.003547642] [sailbot.main_algo]: Distance to destination: 32.26352504448267 -[vectornav-1] [INFO] [1746050927.003799673] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (357.55899999999997, -2.505, 3.054) -[main_algo-3] [INFO] [1746050927.004948050] [sailbot.main_algo]: Target Bearing: -72.99676987833757 -[main_algo-3] [INFO] [1746050927.006126761] [sailbot.main_algo]: Heading Difference: 79.04376987833757 -[main_algo-3] [INFO] [1746050927.007226902] [sailbot.main_algo]: Wind Direction: 84 -[main_algo-3] [INFO] [1746050927.008164870] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050927.009018527] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050927.010756847] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050927.045217165] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050927.046031121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050927.046632402] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050927.048407057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 -[teensy-2] [INFO] [1746050927.049463343] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050927.085112757] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050927.086886292] [sailbot.teensy]: Wind angle: 83 -[teensy-2] [INFO] [1746050927.087796873] [sailbot.teensy]: Actual sail angle: 35 -[trim_sail-4] [INFO] [1746050927.087397685] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050927.088205840] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050927.088733393] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050927.089647486] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050927.144801163] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050927.145491435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050927.146054704] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050927.147292178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 -[teensy-2] [INFO] [1746050927.148529126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050927.245158668] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746050927.246191094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050927.246817651] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050927.248262111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 -[teensy-2] [INFO] [1746050927.249249196] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050927.335287578] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050927.337829954] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050927.338349205] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050927.339056928] [sailbot.teensy]: Wind angle: 82 -[teensy-2] [INFO] [1746050927.340040633] [sailbot.teensy]: Actual sail angle: 35 -[teensy-2] [INFO] [1746050927.340936102] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050927.341817720] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050927.344286039] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050927.344784535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050927.345347746] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050927.346447754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 -[teensy-2] [INFO] [1746050927.347595312] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050927.445330664] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050927.446026160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050927.447407421] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050927.448704938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 -[teensy-2] [INFO] [1746050927.449796868] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050927.456972386] [sailbot.main_algo]: Wind Direction: 82 -[main_algo-3] [INFO] [1746050927.457995105] [sailbot.main_algo]: Target Bearing: -72.99676987833757 -[main_algo-3] [INFO] [1746050927.458882437] [sailbot.main_algo]: Heading Difference: 70.55576987833751 -[main_algo-3] [INFO] [1746050927.459738606] [sailbot.main_algo]: Wind Direction: 82 -[main_algo-3] [INFO] [1746050927.460597493] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050927.461379923] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050927.462495656] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050927.463031897] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050927.503041396] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899749 Long: -76.50342368 -[main_algo-3] [INFO] [1746050927.503706063] [sailbot.main_algo]: Distance to destination: 32.02684243421418 -[vectornav-1] [INFO] [1746050927.504200465] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (345.16200000000003, -2.183, 6.17) -[main_algo-3] [INFO] [1746050927.504867942] [sailbot.main_algo]: Target Bearing: -73.66830348757264 -[main_algo-3] [INFO] [1746050927.505876054] [sailbot.main_algo]: Heading Difference: 71.22730348757261 -[main_algo-3] [INFO] [1746050927.506792305] [sailbot.main_algo]: Wind Direction: 82 -[main_algo-3] [INFO] [1746050927.507656983] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050927.508520513] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050927.510310939] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050927.545356618] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050927.545609036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050927.546811383] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050927.547583673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 -[teensy-2] [INFO] [1746050927.548705232] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050927.585113630] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050927.586865517] [sailbot.teensy]: Wind angle: 82 -[trim_sail-4] [INFO] [1746050927.587339348] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050927.587872572] [sailbot.teensy]: Actual sail angle: 35 -[teensy-2] [INFO] [1746050927.588853939] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050927.589402019] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050927.589798012] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050927.645142119] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050927.646463674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050927.646876587] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050927.648422373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 -[teensy-2] [INFO] [1746050927.648830421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050927.745108929] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050927.745953286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050927.746521354] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050927.748357684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 -[teensy-2] [INFO] [1746050927.749555065] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050927.835409170] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050927.837582992] [sailbot.teensy]: Wind angle: 81 -[trim_sail-4] [INFO] [1746050927.837882306] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050927.838621492] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746050927.839545484] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050927.839554403] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050927.840596924] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050927.844376968] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050927.844990833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050927.845451363] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050927.846700134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 -[teensy-2] [INFO] [1746050927.847734897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050927.945194315] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050927.946008604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050927.946864369] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050927.948503316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 -[teensy-2] [INFO] [1746050927.949769986] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050927.956880601] [sailbot.main_algo]: Wind Direction: 81 -[main_algo-3] [INFO] [1746050927.957772287] [sailbot.main_algo]: Target Bearing: -73.66830348757264 -[main_algo-3] [INFO] [1746050927.958613917] [sailbot.main_algo]: Heading Difference: 58.83030348757268 -[main_algo-3] [INFO] [1746050927.959434936] [sailbot.main_algo]: Wind Direction: 81 -[main_algo-3] [INFO] [1746050927.960308820] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050927.961116359] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050927.962133805] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050927.962912341] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050928.002738449] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899544 Long: -76.5034177 -[main_algo-3] [INFO] [1746050928.003680525] [sailbot.main_algo]: Distance to destination: 31.665471525505758 -[vectornav-1] [INFO] [1746050928.004244832] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (330.595, 1.179, 3.571) -[main_algo-3] [INFO] [1746050928.004766402] [sailbot.main_algo]: Target Bearing: -74.39469841377151 -[main_algo-3] [INFO] [1746050928.005747308] [sailbot.main_algo]: Heading Difference: 59.55669841377153 -[main_algo-3] [INFO] [1746050928.006664655] [sailbot.main_algo]: Wind Direction: 81 -[main_algo-3] [INFO] [1746050928.007547690] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050928.008404167] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050928.010173900] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050928.045179587] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746050928.045694693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050928.046676402] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050928.047708611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 -[teensy-2] [INFO] [1746050928.048823783] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050928.085367248] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050928.087130693] [sailbot.teensy]: Wind angle: 70 -[trim_sail-4] [INFO] [1746050928.087611172] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050928.088067572] [sailbot.teensy]: Actual sail angle: 40 -[teensy-2] [INFO] [1746050928.088979237] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050928.088661392] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050928.089869607] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050928.145495507] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050928.145993700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050928.147218635] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050928.148334475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746050928.149144110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050928.245319622] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746050928.245840865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050928.246976963] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050928.247934105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746050928.248531096] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050928.335113389] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050928.337192871] [sailbot.teensy]: Wind angle: 55 -[trim_sail-4] [INFO] [1746050928.337760990] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746050928.338997471] [sailbot.teensy]: Actual sail angle: 40 -[mux-7] [INFO] [1746050928.339256932] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746050928.339915076] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050928.340844045] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050928.344427498] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050928.344810636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050928.345557666] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050928.346476467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 15 -[teensy-2] [INFO] [1746050928.347491172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050928.445299083] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050928.445924614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050928.446820958] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050928.448091570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 15 -[teensy-2] [INFO] [1746050928.448978053] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050928.457087889] [sailbot.main_algo]: Wind Direction: 55 -[main_algo-3] [INFO] [1746050928.458049322] [sailbot.main_algo]: Target Bearing: -74.39469841377151 -[main_algo-3] [INFO] [1746050928.458979932] [sailbot.main_algo]: Heading Difference: 44.98969841377152 -[main_algo-3] [INFO] [1746050928.459890031] [sailbot.main_algo]: Wind Direction: 55 -[main_algo-3] [INFO] [1746050928.460744745] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050928.461591424] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050928.462658558] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050928.463314310] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050928.503429646] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899284 Long: -76.50341258 -[main_algo-3] [INFO] [1746050928.504233781] [sailbot.main_algo]: Distance to destination: 31.27001526574031 -[main_algo-3] [INFO] [1746050928.505383899] [sailbot.main_algo]: Target Bearing: -74.98250170447994 -[main_algo-3] [INFO] [1746050928.506512453] [sailbot.main_algo]: Heading Difference: 45.57750170448003 -[vectornav-1] [INFO] [1746050928.506551737] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (312.856, 1.94, 1.354) -[main_algo-3] [INFO] [1746050928.507525501] [sailbot.main_algo]: Wind Direction: 55 -[main_algo-3] [INFO] [1746050928.508472579] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050928.509346439] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050928.511118357] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050928.545398927] [sailbot.mux]: Published sail angle from algo: 60 -[teensy-2] [INFO] [1746050928.546518379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050928.546923938] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050928.548733504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:60, rudder: 15 -[teensy-2] [INFO] [1746050928.549815009] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050928.585568901] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050928.587993782] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050928.588532580] [sailbot.teensy]: Wind angle: 46 -[teensy-2] [INFO] [1746050928.589495263] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746050928.589667460] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050928.590478041] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050928.591447676] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050928.645237778] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050928.646587412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050928.647010006] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050928.648945672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 -[teensy-2] [INFO] [1746050928.649405630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050928.745184177] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050928.746123947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050928.746899291] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050928.747834427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 -[teensy-2] [INFO] [1746050928.748304866] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050928.835351661] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050928.837086794] [sailbot.teensy]: Wind angle: 44 -[teensy-2] [INFO] [1746050928.838013455] [sailbot.teensy]: Actual sail angle: 60 -[trim_sail-4] [INFO] [1746050928.837697581] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050928.838893302] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050928.838983607] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050928.839827466] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050928.844428896] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050928.845085414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050928.845530391] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050928.846807168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 -[teensy-2] [INFO] [1746050928.847823265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050928.945171955] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050928.946126844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050928.946628820] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050928.948498977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 -[teensy-2] [INFO] [1746050928.949692211] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050928.957033168] [sailbot.main_algo]: Wind Direction: 44 -[main_algo-3] [INFO] [1746050928.957991692] [sailbot.main_algo]: Target Bearing: -74.98250170447994 -[main_algo-3] [INFO] [1746050928.958879451] [sailbot.main_algo]: Heading Difference: 27.838501704479995 -[main_algo-3] [INFO] [1746050928.959684694] [sailbot.main_algo]: Wind Direction: 44 -[main_algo-3] [INFO] [1746050928.960487123] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050928.961274049] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050928.962294857] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050928.962905113] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050929.002868068] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46898945 Long: -76.50340986 -[vectornav-1] [INFO] [1746050929.004098050] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (295.52, -2.032, 1.956) -[main_algo-3] [INFO] [1746050929.004105716] [sailbot.main_algo]: Distance to destination: 30.84660178263191 -[main_algo-3] [INFO] [1746050929.005304158] [sailbot.main_algo]: Target Bearing: -75.18861189277249 -[main_algo-3] [INFO] [1746050929.006314285] [sailbot.main_algo]: Heading Difference: 28.044611892772537 -[main_algo-3] [INFO] [1746050929.007228880] [sailbot.main_algo]: Wind Direction: 44 -[main_algo-3] [INFO] [1746050929.008116734] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050929.009047915] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050929.010792449] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050929.045124136] [sailbot.mux]: Published sail angle from algo: 65 -[teensy-2] [INFO] [1746050929.045835063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050929.046576685] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050929.048064386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:65, rudder: 15 -[teensy-2] [INFO] [1746050929.049215491] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050929.085389137] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050929.087313821] [sailbot.teensy]: Wind angle: 35 -[trim_sail-4] [INFO] [1746050929.087788665] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746050929.088278897] [sailbot.teensy]: Actual sail angle: 65 -[teensy-2] [INFO] [1746050929.089297292] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050929.089358855] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746050929.090202547] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050929.144900049] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050929.145427450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050929.146372846] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050929.147319365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 -[teensy-2] [INFO] [1746050929.148530840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050929.245308633] [sailbot.mux]: Published sail angle from algo: 70 -[teensy-2] [INFO] [1746050929.245848944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050929.247062122] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050929.247845588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:70, rudder: 15 -[teensy-2] [INFO] [1746050929.248960531] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050929.335267789] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050929.337065186] [sailbot.teensy]: Wind angle: 17 -[teensy-2] [INFO] [1746050929.337998885] [sailbot.teensy]: Actual sail angle: 65 -[trim_sail-4] [INFO] [1746050929.337629161] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746050929.338842736] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746050929.338878603] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746050929.339751091] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050929.344476372] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050929.345056873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050929.345617442] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050929.346740041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050929.347767867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050929.445313387] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050929.445953462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050929.447010942] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746050929.448250021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746050929.448801373] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050929.457026226] [sailbot.main_algo]: Wind Direction: 17 -[main_algo-3] [INFO] [1746050929.458002447] [sailbot.main_algo]: Target Bearing: -75.18861189277249 -[main_algo-3] [INFO] [1746050929.458918081] [sailbot.main_algo]: Heading Difference: 10.708611892772524 -[main_algo-3] [INFO] [1746050929.459798783] [sailbot.main_algo]: Rudder Angle Raw: 1.487307207329517 -[main_algo-3] [INFO] [1746050929.460648897] [sailbot.main_algo]: Rudder Angle: 1 -[main_algo-3] [INFO] [1746050929.461688754] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050929.462244732] [sailbot.mux]: algo rudder angle: 1 -[vectornav-1] [INFO] [1746050929.503278749] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689852 Long: -76.50340826 -[main_algo-3] [INFO] [1746050929.504172551] [sailbot.main_algo]: Distance to destination: 30.356615880864613 -[vectornav-1] [INFO] [1746050929.504683467] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (278.53700000000003, -3.568, 0.0) -[main_algo-3] [INFO] [1746050929.505418051] [sailbot.main_algo]: Target Bearing: -75.18453740017776 -[main_algo-3] [INFO] [1746050929.506426917] [sailbot.main_algo]: Heading Difference: 10.704537400177742 -[main_algo-3] [INFO] [1746050929.507360435] [sailbot.main_algo]: Rudder Angle Raw: 1.4867413055802419 -[main_algo-3] [INFO] [1746050929.508296897] [sailbot.main_algo]: Rudder Angle: 1 -[mux-7] [INFO] [1746050929.509957621] [sailbot.mux]: algo rudder angle: 1 -[mux-7] [INFO] [1746050929.545018417] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050929.545630635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050929.546306388] [sailbot.mux]: Published rudder angle from algo: 1 -[teensy-2] [INFO] [1746050929.547519187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 1 -[teensy-2] [INFO] [1746050929.548547879] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050929.585446220] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050929.587350830] [sailbot.teensy]: Wind angle: 0 -[trim_sail-4] [INFO] [1746050929.588371495] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050929.588453864] [sailbot.teensy]: Actual sail angle: 70 -[teensy-2] [INFO] [1746050929.589345973] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746050929.589374599] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050929.590277191] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050929.645003654] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050929.645506049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050929.646354631] [sailbot.mux]: Published rudder angle from algo: 1 -[teensy-2] [INFO] [1746050929.648323242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 1 -[teensy-2] [INFO] [1746050929.649340121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050929.745462537] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050929.746189284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050929.747235618] [sailbot.mux]: Published rudder angle from algo: 1 -[teensy-2] [INFO] [1746050929.748487853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 1 -[teensy-2] [INFO] [1746050929.748974468] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050929.835344364] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050929.837902458] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746050929.838639751] [sailbot.teensy]: Wind angle: 357 -[mux-7] [INFO] [1746050929.839132908] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746050929.839270335] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746050929.839675729] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050929.840069275] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050929.844539239] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050929.845027404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050929.845757502] [sailbot.mux]: Published rudder angle from algo: 1 -[teensy-2] [INFO] [1746050929.846686948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 1 -[teensy-2] [INFO] [1746050929.847835611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050929.945503233] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050929.946044839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050929.947114704] [sailbot.mux]: Published rudder angle from algo: 1 -[teensy-2] [INFO] [1746050929.948346418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 1 -[teensy-2] [INFO] [1746050929.948915322] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050929.957044594] [sailbot.main_algo]: Wind Direction: 357 -[main_algo-3] [INFO] [1746050929.958010843] [sailbot.main_algo]: Target Bearing: -75.18453740017776 -[main_algo-3] [INFO] [1746050929.958829255] [sailbot.main_algo]: Heading Difference: -6.2784625998222054 -[main_algo-3] [INFO] [1746050929.959625479] [sailbot.main_algo]: Rudder Angle Raw: -0.8720086944197507 -[main_algo-3] [INFO] [1746050929.960482812] [sailbot.main_algo]: Rudder Angle: -1 -[main_algo-3] [INFO] [1746050929.961506580] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050929.962170514] [sailbot.mux]: algo rudder angle: -1 -[vectornav-1] [INFO] [1746050930.003125104] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46898003 Long: -76.50340783 -[main_algo-3] [INFO] [1746050930.004260716] [sailbot.main_algo]: Distance to destination: 29.794826391077525 -[vectornav-1] [INFO] [1746050930.004647621] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (258.89, -1.758, -3.695) -[main_algo-3] [INFO] [1746050930.005798241] [sailbot.main_algo]: Target Bearing: -74.94874190115209 -[main_algo-3] [INFO] [1746050930.006817738] [sailbot.main_algo]: Heading Difference: -6.514258098847904 -[main_algo-3] [INFO] [1746050930.007752513] [sailbot.main_algo]: Rudder Angle Raw: -0.9047580692844311 -[main_algo-3] [INFO] [1746050930.008648059] [sailbot.main_algo]: Rudder Angle: -1 -[mux-7] [INFO] [1746050930.010449221] [sailbot.mux]: algo rudder angle: -1 -[mux-7] [INFO] [1746050930.044982820] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746050930.045558495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050930.046403497] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050930.047599922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: -1 -[teensy-2] [INFO] [1746050930.048687881] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050930.085086677] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050930.086871798] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746050930.087385017] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746050930.087826954] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746050930.088746607] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746050930.089817224] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050930.089338105] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746050930.145115793] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050930.145572300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050930.146539842] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050930.147451861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: -1 -[teensy-2] [INFO] [1746050930.148529254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050930.245492799] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746050930.246064481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050930.247111179] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050930.248364101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: -1 -[teensy-2] [INFO] [1746050930.249617091] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050930.335353558] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050930.337125288] [sailbot.teensy]: Wind angle: 327 -[trim_sail-4] [INFO] [1746050930.337918100] [sailbot.trim_sail]: Sail Angle: "75" -[teensy-2] [INFO] [1746050930.339078701] [sailbot.teensy]: Actual sail angle: 90 -[mux-7] [INFO] [1746050930.339082891] [sailbot.mux]: algo sail angle: 75 -[teensy-2] [INFO] [1746050930.340035048] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050930.340928360] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050930.344379747] [sailbot.mux]: Published sail angle from algo: 75 -[teensy-2] [INFO] [1746050930.344884004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050930.345740549] [sailbot.mux]: Published rudder angle from algo: -1 -[teensy-2] [INFO] [1746050930.346550331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: -1 -[teensy-2] [INFO] [1746050930.347649338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050930.362096675] [sailbot.mux]: Switched control mode to controller_app -[mux-7] [INFO] [1746050930.445094838] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050930.446242591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050930.446572596] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050930.448281228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050930.449313778] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050930.456913047] [sailbot.main_algo]: Wind Direction: 327 -[main_algo-3] [INFO] [1746050930.457884705] [sailbot.main_algo]: Target Bearing: -74.94874190115209 -[main_algo-3] [INFO] [1746050930.458740627] [sailbot.main_algo]: Heading Difference: -26.161258098847952 -[main_algo-3] [INFO] [1746050930.459554042] [sailbot.main_algo]: Wind Direction: 327 -[main_algo-3] [INFO] [1746050930.460392580] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050930.461213075] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050930.462235260] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050930.462808118] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050930.503247512] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46897486 Long: -76.50340949 -[main_algo-3] [INFO] [1746050930.503384564] [sailbot.main_algo]: Distance to destination: 29.282288990060977 -[vectornav-1] [INFO] [1746050930.504442865] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (248.293, 0.591, -1.418) -[main_algo-3] [INFO] [1746050930.504477618] [sailbot.main_algo]: Target Bearing: -74.3811772516581 -[main_algo-3] [INFO] [1746050930.505482891] [sailbot.main_algo]: Heading Difference: -26.72882274834194 -[main_algo-3] [INFO] [1746050930.506415064] [sailbot.main_algo]: Wind Direction: 327 -[main_algo-3] [INFO] [1746050930.507287318] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050930.508132109] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050930.509902253] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050930.545311715] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050930.546250791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050930.546862991] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050930.548504222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050930.549580420] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050930.585453503] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050930.587438118] [sailbot.teensy]: Wind angle: 315 -[trim_sail-4] [INFO] [1746050930.587995743] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746050930.589153184] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746050930.589244933] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746050930.590175016] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746050930.591047670] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050930.644822589] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050930.645489492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050930.646040973] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050930.647442243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050930.648719071] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050930.744991099] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050930.746184243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050930.746581828] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050930.748312946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050930.749510460] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050930.835387945] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050930.837436526] [sailbot.teensy]: Wind angle: 306 -[teensy-2] [INFO] [1746050930.838401470] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050930.838033453] [sailbot.trim_sail]: Sail Angle: "60" -[mux-7] [INFO] [1746050930.839180117] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746050930.839254791] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050930.840121406] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050930.844320975] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050930.844863028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050930.845386871] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050930.846599421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050930.847655836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050930.944805564] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050930.945576689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050930.946115303] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050930.947443615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050930.948567453] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050930.956930780] [sailbot.main_algo]: Wind Direction: 306 -[main_algo-3] [INFO] [1746050930.957826795] [sailbot.main_algo]: Target Bearing: -74.3811772516581 -[main_algo-3] [INFO] [1746050930.958639595] [sailbot.main_algo]: Heading Difference: -37.32582274834192 -[main_algo-3] [INFO] [1746050930.959420227] [sailbot.main_algo]: Wind Direction: 306 -[main_algo-3] [INFO] [1746050930.960235407] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050930.961014752] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050930.962019052] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050930.962723247] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050931.002688148] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46897059 Long: -76.50341309 -[main_algo-3] [INFO] [1746050931.003530769] [sailbot.main_algo]: Distance to destination: 28.915686030774587 -[vectornav-1] [INFO] [1746050931.003909991] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (242.47399999999993, -0.152, 4.151) -[main_algo-3] [INFO] [1746050931.004726902] [sailbot.main_algo]: Target Bearing: -73.55019061580003 -[main_algo-3] [INFO] [1746050931.005688643] [sailbot.main_algo]: Heading Difference: -38.15680938419996 -[main_algo-3] [INFO] [1746050931.006593878] [sailbot.main_algo]: Wind Direction: 306 -[main_algo-3] [INFO] [1746050931.007522525] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050931.008417171] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050931.010073377] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050931.045111048] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050931.045706596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050931.046469933] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050931.047681357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050931.048860098] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050931.085259013] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050931.087575407] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050931.087888926] [sailbot.teensy]: Wind angle: 302 -[mux-7] [INFO] [1746050931.088673791] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050931.088831397] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050931.089733007] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050931.090660074] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050931.145211529] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050931.146116616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050931.146691575] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050931.148363662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050931.149520329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050931.245011106] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050931.245761206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050931.246483386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050931.247816831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050931.248328620] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050931.335003074] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050931.337236280] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746050931.337610038] [sailbot.teensy]: Wind angle: 302 -[mux-7] [INFO] [1746050931.337680752] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746050931.338549289] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050931.339395081] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050931.340263092] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050931.344330178] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050931.345000660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050931.345428519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050931.346716552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050931.347757850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050931.445167861] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050931.445852444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050931.446748717] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050931.448432295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050931.448989778] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050931.457082105] [sailbot.main_algo]: Wind Direction: 302 -[main_algo-3] [INFO] [1746050931.458040009] [sailbot.main_algo]: Target Bearing: -73.55019061580003 -[main_algo-3] [INFO] [1746050931.458882967] [sailbot.main_algo]: Heading Difference: -43.97580938420003 -[main_algo-3] [INFO] [1746050931.459669271] [sailbot.main_algo]: Wind Direction: 302 -[main_algo-3] [INFO] [1746050931.460494907] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050931.461298860] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050931.462301473] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050931.462896573] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050931.503072655] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896669 Long: -76.50341662 -[main_algo-3] [INFO] [1746050931.503667847] [sailbot.main_algo]: Distance to destination: 28.592527708949532 -[vectornav-1] [INFO] [1746050931.504360184] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (238.938, -0.077, 1.641) -[main_algo-3] [INFO] [1746050931.504766428] [sailbot.main_algo]: Target Bearing: -72.73487434469075 -[main_algo-3] [INFO] [1746050931.505764465] [sailbot.main_algo]: Heading Difference: -44.791125655309315 -[main_algo-3] [INFO] [1746050931.506664922] [sailbot.main_algo]: Wind Direction: 302 -[main_algo-3] [INFO] [1746050931.507555368] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050931.508429058] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050931.510144195] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050931.545001458] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050931.545892796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050931.546642965] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050931.547784601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050931.548949262] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050931.585361745] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050931.587219541] [sailbot.teensy]: Wind angle: 297 -[teensy-2] [INFO] [1746050931.588177099] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050931.587965735] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050931.589062273] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050931.589387037] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050931.589937750] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050931.645388815] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050931.645875315] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050931.647149144] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050931.648118387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050931.649356810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050931.745361180] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050931.746480409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050931.747603684] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050931.748142477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050931.748659520] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050931.835226674] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050931.837420068] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746050931.837960561] [sailbot.teensy]: Wind angle: 292 -[mux-7] [INFO] [1746050931.838452924] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746050931.838771422] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050931.839218516] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050931.839562986] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050931.844325248] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050931.844944607] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050931.845618040] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050931.846666101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050931.847839990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050931.945246865] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050931.945993060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050931.946809336] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050931.947966994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050931.948553920] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050931.957162095] [sailbot.main_algo]: Wind Direction: 292 -[main_algo-3] [INFO] [1746050931.958190999] [sailbot.main_algo]: Target Bearing: -72.73487434469075 -[main_algo-3] [INFO] [1746050931.959100703] [sailbot.main_algo]: Heading Difference: -48.32712565530926 -[main_algo-3] [INFO] [1746050931.959969148] [sailbot.main_algo]: Wind Direction: 292 -[main_algo-3] [INFO] [1746050931.960899364] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050931.961759771] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050931.963036617] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050931.963389470] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050932.002759268] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896234 Long: -76.50341943 -[vectornav-1] [INFO] [1746050932.003867196] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (235.115, -2.132, -0.184) -[main_algo-3] [INFO] [1746050932.004077942] [sailbot.main_algo]: Distance to destination: 28.208712280361976 -[main_algo-3] [INFO] [1746050932.005210040] [sailbot.main_algo]: Target Bearing: -71.98146584384322 -[main_algo-3] [INFO] [1746050932.006152012] [sailbot.main_algo]: Heading Difference: -49.08053415615677 -[main_algo-3] [INFO] [1746050932.007048837] [sailbot.main_algo]: Wind Direction: 292 -[main_algo-3] [INFO] [1746050932.007879216] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050932.008718782] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050932.010289936] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050932.045267116] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050932.046039383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050932.046729499] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050932.048198324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050932.049232230] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050932.085242299] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050932.087384098] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050932.087738056] [sailbot.teensy]: Wind angle: 290 -[mux-7] [INFO] [1746050932.088220304] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050932.089825179] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050932.090762660] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050932.091583887] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050932.145187536] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050932.145724516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050932.146621963] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050932.147843875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050932.148877895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050932.245008842] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050932.245643621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050932.246357712] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050932.247662060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050932.248887692] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050932.335601623] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050932.338377959] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050932.339060558] [sailbot.teensy]: Wind angle: 290 -[mux-7] [INFO] [1746050932.339485295] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050932.339881484] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050932.340322893] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050932.341056139] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050932.344361175] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050932.344941499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050932.345579558] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050932.346781835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050932.347809593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050932.445176006] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050932.445913303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050932.446867808] [sailbot.mux]: Published rudder angle from controller_app: 0 -[rosbridge_websocket-8] [INFO] [1746050932.447168997] [rosbridge_websocket]: Client disconnected. 1 clients total. -[teensy-2] [INFO] [1746050932.448076010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050932.449022408] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050932.456958496] [sailbot.main_algo]: Wind Direction: 290 -[main_algo-3] [INFO] [1746050932.457947964] [sailbot.main_algo]: Target Bearing: -71.98146584384322 -[main_algo-3] [INFO] [1746050932.458807667] [sailbot.main_algo]: Heading Difference: -52.90353415615675 -[main_algo-3] [INFO] [1746050932.459613337] [sailbot.main_algo]: Wind Direction: 290 -[main_algo-3] [INFO] [1746050932.460446020] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050932.461267277] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050932.462279454] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050932.462856083] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050932.502960588] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689584 Long: -76.50342353 -[main_algo-3] [INFO] [1746050932.503779677] [sailbot.main_algo]: Distance to destination: 27.90881841814739 -[vectornav-1] [INFO] [1746050932.504136785] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (231.24400000000003, -0.557, 1.167) -[main_algo-3] [INFO] [1746050932.505061776] [sailbot.main_algo]: Target Bearing: -71.03421977307862 -[main_algo-3] [INFO] [1746050932.506585892] [sailbot.main_algo]: Heading Difference: -53.85078022692136 -[main_algo-3] [INFO] [1746050932.507503523] [sailbot.main_algo]: Wind Direction: 290 -[main_algo-3] [INFO] [1746050932.508388803] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050932.509232581] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050932.510933394] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050932.544848619] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050932.545721776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050932.546078469] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050932.547615565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050932.548693611] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050932.585278082] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050932.587007007] [sailbot.teensy]: Wind angle: 290 -[trim_sail-4] [INFO] [1746050932.587386927] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050932.587915620] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050932.588780691] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050932.589405431] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050932.589643345] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050932.645167990] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050932.645944347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050932.646846906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050932.648334024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050932.649378883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050932.745118902] [sailbot.mux]: Published sail angle from controller_app: 75 -[mux-7] [INFO] [1746050932.746645094] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050932.746760924] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050932.748253930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050932.748766920] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050932.835250806] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050932.837432819] [sailbot.teensy]: Wind angle: 286 -[trim_sail-4] [INFO] [1746050932.837623504] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050932.838418038] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050932.838779271] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050932.839350536] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050932.840037202] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050932.844451700] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050932.844969789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050932.845549414] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050932.846766515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050932.847756789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050932.945649595] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050932.946693397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050932.947358318] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050932.949176450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050932.950390459] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050932.957395873] [sailbot.main_algo]: Wind Direction: 286 -[main_algo-3] [INFO] [1746050932.958492946] [sailbot.main_algo]: Target Bearing: -71.03421977307862 -[main_algo-3] [INFO] [1746050932.959450731] [sailbot.main_algo]: Heading Difference: -57.72178022692134 -[main_algo-3] [INFO] [1746050932.960346743] [sailbot.main_algo]: Wind Direction: 286 -[main_algo-3] [INFO] [1746050932.961226193] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050932.962073638] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050932.963158534] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050932.963822349] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050933.003009835] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895437 Long: -76.50342773 -[main_algo-3] [INFO] [1746050933.003988261] [sailbot.main_algo]: Distance to destination: 27.610324579911175 -[vectornav-1] [INFO] [1746050933.004455277] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (223.97500000000002, -1.966, -0.538) -[main_algo-3] [INFO] [1746050933.005275748] [sailbot.main_algo]: Target Bearing: -70.04331602480362 -[main_algo-3] [INFO] [1746050933.006270580] [sailbot.main_algo]: Heading Difference: -58.71268397519634 -[main_algo-3] [INFO] [1746050933.007158259] [sailbot.main_algo]: Wind Direction: 286 -[main_algo-3] [INFO] [1746050933.008027715] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050933.008888364] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050933.010683328] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050933.045105841] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050933.046368311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050933.046658017] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050933.048574079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050933.049675105] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050933.085197280] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050933.086952978] [sailbot.teensy]: Wind angle: 285 -[trim_sail-4] [INFO] [1746050933.087217862] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746050933.087901195] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050933.088866563] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050933.088988707] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746050933.089789045] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050933.145063527] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050933.145729837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050933.146413530] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050933.147538585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050933.147984781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050933.244989814] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050933.246449405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050933.246462721] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050933.248297870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050933.249284839] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050933.335385880] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050933.337710110] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050933.338414815] [sailbot.teensy]: Wind angle: 283 -[mux-7] [INFO] [1746050933.338976525] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050933.339410304] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050933.339816628] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050933.340211619] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050933.344415392] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050933.345007027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050933.345478537] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050933.346776045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050933.347833567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050933.445626998] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050933.446442299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050933.447432152] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050933.448678947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050933.449091462] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050933.457099866] [sailbot.main_algo]: Wind Direction: 283 -[main_algo-3] [INFO] [1746050933.458068755] [sailbot.main_algo]: Target Bearing: -70.04331602480362 -[main_algo-3] [INFO] [1746050933.458957911] [sailbot.main_algo]: Heading Difference: -65.98168397519635 -[main_algo-3] [INFO] [1746050933.459770889] [sailbot.main_algo]: Wind Direction: 283 -[main_algo-3] [INFO] [1746050933.460594931] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050933.461384910] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050933.462536747] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050933.463191811] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050933.503422391] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895165 Long: -76.50343233 -[main_algo-3] [INFO] [1746050933.504105645] [sailbot.main_algo]: Distance to destination: 27.467498794263065 -[vectornav-1] [INFO] [1746050933.505045011] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (217.59799999999996, 3.536, -1.959) -[main_algo-3] [INFO] [1746050933.505167344] [sailbot.main_algo]: Target Bearing: -69.08105452891269 -[main_algo-3] [INFO] [1746050933.506109617] [sailbot.main_algo]: Heading Difference: -66.94394547108732 -[main_algo-3] [INFO] [1746050933.507292741] [sailbot.main_algo]: Wind Direction: 283 -[main_algo-3] [INFO] [1746050933.508236081] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050933.509116016] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050933.510867495] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050933.545095003] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050933.545879190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050933.546444973] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050933.548048590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050933.549084968] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050933.585024739] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050933.586501013] [sailbot.teensy]: Wind angle: 282 -[trim_sail-4] [INFO] [1746050933.587160231] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050933.587341536] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050933.588102257] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050933.588636661] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050933.589269392] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050933.645291478] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050933.646047880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050933.646903874] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050933.648023616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050933.648606884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050933.745205990] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050933.746095509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050933.746700027] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050933.748245430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050933.749317208] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050933.835225959] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050933.837392756] [sailbot.teensy]: Wind angle: 279 -[trim_sail-4] [INFO] [1746050933.838180614] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746050933.838745536] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050933.839890336] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050933.840731723] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050933.841634015] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050933.844297426] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050933.844761241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050933.845379445] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050933.846373494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050933.847290651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050933.945541569] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050933.946407171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050933.947224205] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050933.948847613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050933.950132418] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050933.957131295] [sailbot.main_algo]: Wind Direction: 279 -[main_algo-3] [INFO] [1746050933.958154296] [sailbot.main_algo]: Target Bearing: -69.08105452891269 -[main_algo-3] [INFO] [1746050933.959099138] [sailbot.main_algo]: Heading Difference: -73.32094547108738 -[main_algo-3] [INFO] [1746050933.960081621] [sailbot.main_algo]: Wind Direction: 279 -[main_algo-3] [INFO] [1746050933.961056833] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050933.961921694] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050933.963024293] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050933.963689327] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050934.003402960] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894937 Long: -76.50343596 -[main_algo-3] [INFO] [1746050934.004212656] [sailbot.main_algo]: Distance to destination: 27.346626294548493 -[main_algo-3] [INFO] [1746050934.005440662] [sailbot.main_algo]: Target Bearing: -68.30278526153097 -[vectornav-1] [INFO] [1746050934.005801380] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (215.14700000000005, -2.785, -1.125) -[main_algo-3] [INFO] [1746050934.006472047] [sailbot.main_algo]: Heading Difference: -74.09921473846907 -[main_algo-3] [INFO] [1746050934.007473619] [sailbot.main_algo]: Wind Direction: 279 -[main_algo-3] [INFO] [1746050934.008392728] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050934.009283064] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050934.010942273] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050934.044942357] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050934.045680640] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050934.046180983] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050934.047629590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050934.048657753] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050934.085132836] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050934.087142637] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050934.087387066] [sailbot.teensy]: Wind angle: 271 -[teensy-2] [INFO] [1746050934.088381884] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050934.088898998] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050934.089301695] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050934.090230160] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050934.145223931] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050934.146081097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050934.146743918] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050934.148166173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050934.148697382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050934.244859189] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050934.245676555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050934.246116160] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050934.247533454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050934.248544411] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050934.335193745] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050934.337343952] [sailbot.teensy]: Wind angle: 271 -[trim_sail-4] [INFO] [1746050934.338253210] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050934.338647055] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050934.339299638] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050934.339954025] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050934.340854898] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050934.344259267] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050934.344905969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050934.345353103] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050934.346776806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050934.347809085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050934.445175162] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050934.445764552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050934.446678919] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050934.447829237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050934.448500607] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050934.457100498] [sailbot.main_algo]: Wind Direction: 271 -[main_algo-3] [INFO] [1746050934.458069791] [sailbot.main_algo]: Target Bearing: -68.30278526153097 -[main_algo-3] [INFO] [1746050934.458952979] [sailbot.main_algo]: Heading Difference: -76.55021473846898 -[main_algo-3] [INFO] [1746050934.459758762] [sailbot.main_algo]: Wind Direction: 271 -[main_algo-3] [INFO] [1746050934.460579536] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050934.461356529] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050934.462490089] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050934.463022734] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050934.502815065] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894756 Long: -76.50343995 -[main_algo-3] [INFO] [1746050934.503608127] [sailbot.main_algo]: Distance to destination: 27.29051554272405 -[vectornav-1] [INFO] [1746050934.504098661] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (209.32600000000002, 1.665, -1.636) -[main_algo-3] [INFO] [1746050934.504715636] [sailbot.main_algo]: Target Bearing: -67.50445410482992 -[main_algo-3] [INFO] [1746050934.505750487] [sailbot.main_algo]: Heading Difference: -77.34854589517005 -[main_algo-3] [INFO] [1746050934.506663901] [sailbot.main_algo]: Wind Direction: 271 -[main_algo-3] [INFO] [1746050934.507551239] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050934.508438885] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050934.510163232] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050934.544833598] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050934.545538445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050934.546057936] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050934.547319984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050934.548485740] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050934.585360436] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050934.587091893] [sailbot.teensy]: Wind angle: 270 -[trim_sail-4] [INFO] [1746050934.587674441] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050934.588018130] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050934.588947412] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050934.589942922] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050934.590263128] [sailbot.mux]: algo sail angle: 30 -[mux-7] [INFO] [1746050934.645244637] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050934.646008978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050934.646713233] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050934.648063896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050934.648738826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050934.745062051] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050934.745815220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050934.746430648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050934.748001469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050934.748537665] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050934.835279859] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050934.837524693] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050934.838312299] [sailbot.teensy]: Wind angle: 270 -[teensy-2] [INFO] [1746050934.839280302] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050934.839307997] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050934.840180308] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050934.840787341] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050934.844358941] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050934.844882991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050934.845421752] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050934.846631473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050934.847772343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050934.945091727] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050934.946028894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050934.946698299] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050934.947139003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050934.947623324] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050934.957292144] [sailbot.main_algo]: Wind Direction: 270 -[main_algo-3] [INFO] [1746050934.958349886] [sailbot.main_algo]: Target Bearing: -67.50445410482992 -[main_algo-3] [INFO] [1746050934.959261102] [sailbot.main_algo]: Heading Difference: -83.16954589517007 -[main_algo-3] [INFO] [1746050934.960146558] [sailbot.main_algo]: Wind Direction: 270 -[main_algo-3] [INFO] [1746050934.961014041] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050934.961853839] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050934.962894318] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050934.963602415] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050935.002777309] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894527 Long: -76.50344303 -[main_algo-3] [INFO] [1746050935.003832760] [sailbot.main_algo]: Distance to destination: 27.160378032319564 -[vectornav-1] [INFO] [1746050935.003925406] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (203.50800000000004, -2.292, -2.664) -[main_algo-3] [INFO] [1746050935.005042765] [sailbot.main_algo]: Target Bearing: -66.80053285302535 -[main_algo-3] [INFO] [1746050935.006038135] [sailbot.main_algo]: Heading Difference: -83.87346714697463 -[main_algo-3] [INFO] [1746050935.007084935] [sailbot.main_algo]: Wind Direction: 270 -[main_algo-3] [INFO] [1746050935.007978405] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050935.008911517] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050935.010594136] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050935.044857585] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050935.045561244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050935.046100500] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050935.047465556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050935.048512522] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050935.085111896] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050935.086878124] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746050935.087277100] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050935.087914983] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050935.087937913] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050935.088849296] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050935.089739479] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050935.145001474] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050935.145581093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050935.146276591] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050935.147509464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050935.148615787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050935.245307058] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050935.246024848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050935.246964141] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050935.248000123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050935.248485374] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050935.335539408] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050935.338101759] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050935.339181545] [sailbot.teensy]: Wind angle: 270 -[mux-7] [INFO] [1746050935.339258362] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050935.340133123] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050935.341043327] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050935.341864709] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050935.344348608] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050935.344962475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050935.345452577] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050935.346763579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050935.347786065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050935.445397594] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050935.446068379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050935.446981635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050935.448389994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050935.449668225] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050935.456976970] [sailbot.main_algo]: Wind Direction: 270 -[main_algo-3] [INFO] [1746050935.457925490] [sailbot.main_algo]: Target Bearing: -66.80053285302535 -[main_algo-3] [INFO] [1746050935.458806837] [sailbot.main_algo]: Heading Difference: -89.69146714697462 -[main_algo-3] [INFO] [1746050935.459630778] [sailbot.main_algo]: Wind Direction: 270 -[main_algo-3] [INFO] [1746050935.460435522] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050935.461238327] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050935.462235524] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050935.462834311] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050935.503057298] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894497 Long: -76.50344727 -[main_algo-3] [INFO] [1746050935.503694017] [sailbot.main_algo]: Distance to destination: 27.27499774465728 -[vectornav-1] [INFO] [1746050935.504274683] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.649, 0.744, 2.145) -[main_algo-3] [INFO] [1746050935.504812625] [sailbot.main_algo]: Target Bearing: -66.1039036119388 -[main_algo-3] [INFO] [1746050935.505768923] [sailbot.main_algo]: Heading Difference: -90.38809638806117 -[main_algo-3] [INFO] [1746050935.506696263] [sailbot.main_algo]: Wind Direction: 270 -[main_algo-3] [INFO] [1746050935.507600100] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050935.508470721] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050935.510421688] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050935.544578967] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050935.545353629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050935.545749425] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050935.547153981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050935.548112919] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050935.585237884] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050935.587477353] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050935.587489825] [sailbot.teensy]: Wind angle: 269 -[mux-7] [INFO] [1746050935.588637443] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050935.588682998] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050935.589564591] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050935.590833663] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050935.645102745] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050935.645776061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050935.646444894] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050935.647706497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050935.648194157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050935.745064909] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050935.745920356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050935.746443932] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050935.748081191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050935.749096630] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050935.835256860] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050935.837798752] [sailbot.teensy]: Wind angle: 259 -[trim_sail-4] [INFO] [1746050935.837889171] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050935.839097608] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050935.839711998] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050935.840652154] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050935.841479001] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050935.844366459] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050935.845049435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050935.845697190] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050935.846916171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050935.848003126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050935.945001655] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050935.945765316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050935.946649534] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050935.947782047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050935.948890341] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050935.957008857] [sailbot.main_algo]: Wind Direction: 259 -[main_algo-3] [INFO] [1746050935.958044242] [sailbot.main_algo]: Target Bearing: -66.1039036119388 -[main_algo-3] [INFO] [1746050935.959003800] [sailbot.main_algo]: Heading Difference: -97.24709638806121 -[main_algo-3] [INFO] [1746050935.959945841] [sailbot.main_algo]: Wind Direction: 259 -[main_algo-3] [INFO] [1746050935.960909994] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050935.961843212] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050935.963207178] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050935.963737119] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050936.002863974] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894419 Long: -76.50345088 -[main_algo-3] [INFO] [1746050936.003733347] [sailbot.main_algo]: Distance to destination: 27.323167673707697 -[vectornav-1] [INFO] [1746050936.004503025] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.45000000000005, 0.861, -1.213) -[main_algo-3] [INFO] [1746050936.004977506] [sailbot.main_algo]: Target Bearing: -65.46285942772971 -[main_algo-3] [INFO] [1746050936.006006644] [sailbot.main_algo]: Heading Difference: -97.88814057227029 -[main_algo-3] [INFO] [1746050936.006909689] [sailbot.main_algo]: Wind Direction: 259 -[main_algo-3] [INFO] [1746050936.007949050] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050936.008845358] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050936.010647425] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050936.045506177] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050936.045737036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050936.046862876] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050936.047553206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050936.048693329] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050936.085214525] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050936.089003117] [sailbot.teensy]: Wind angle: 256 -[teensy-2] [INFO] [1746050936.089886866] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050936.089429870] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050936.090534633] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050936.090716177] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050936.091586926] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050936.144872724] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050936.145478049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050936.146148576] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050936.147256075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050936.148415563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050936.245110872] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050936.245740894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050936.246710390] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050936.247803004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050936.248842405] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050936.335232769] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050936.337586570] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050936.338057679] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050936.338479697] [sailbot.teensy]: Wind angle: 254 -[teensy-2] [INFO] [1746050936.339607569] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050936.340579680] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050936.341425984] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050936.344320398] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050936.344839898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050936.345757892] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050936.346547141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050936.347740318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050936.445004141] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050936.445620031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050936.446583884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050936.447575347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050936.448044322] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050936.457414144] [sailbot.main_algo]: Wind Direction: 254 -[main_algo-3] [INFO] [1746050936.458522770] [sailbot.main_algo]: Target Bearing: -65.46285942772971 -[main_algo-3] [INFO] [1746050936.459496194] [sailbot.main_algo]: Heading Difference: -102.08714057227024 -[main_algo-3] [INFO] [1746050936.460370958] [sailbot.main_algo]: Wind Direction: 254 -[main_algo-3] [INFO] [1746050936.461244920] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050936.462037883] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050936.463048334] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050936.463625666] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050936.502861048] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894262 Long: -76.50345349 -[main_algo-3] [INFO] [1746050936.503784287] [sailbot.main_algo]: Distance to destination: 27.259749702270625 -[vectornav-1] [INFO] [1746050936.503966776] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.79700000000003, -0.726, -1.203) -[main_algo-3] [INFO] [1746050936.504905854] [sailbot.main_algo]: Target Bearing: -64.89783410544364 -[main_algo-3] [INFO] [1746050936.505857297] [sailbot.main_algo]: Heading Difference: -102.65216589455633 -[main_algo-3] [INFO] [1746050936.506768251] [sailbot.main_algo]: Wind Direction: 254 -[main_algo-3] [INFO] [1746050936.507665429] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050936.508560612] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050936.510393429] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050936.545218996] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050936.545748478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050936.546679012] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050936.547917257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050936.549083829] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050936.585097336] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050936.586657942] [sailbot.teensy]: Wind angle: 253 -[trim_sail-4] [INFO] [1746050936.587374376] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050936.587504984] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050936.588054480] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050936.588438460] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050936.589344721] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050936.645347796] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050936.645991996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050936.646896484] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050936.648520575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050936.649686588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050936.745496721] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050936.746111135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050936.747332702] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050936.748220048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050936.749378572] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050936.835427645] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050936.837236104] [sailbot.teensy]: Wind angle: 254 -[teensy-2] [INFO] [1746050936.838203368] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050936.837763508] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050936.839122604] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050936.840043754] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050936.839186993] [sailbot.mux]: algo sail angle: 20 -[mux-7] [INFO] [1746050936.844338659] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050936.844950674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050936.845449306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050936.846729559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050936.847732887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050936.945218231] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050936.946115477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050936.946712375] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050936.948092125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050936.948524400] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050936.956983904] [sailbot.main_algo]: Wind Direction: 254 -[main_algo-3] [INFO] [1746050936.957902092] [sailbot.main_algo]: Target Bearing: -64.89783410544364 -[main_algo-3] [INFO] [1746050936.958723429] [sailbot.main_algo]: Heading Difference: -105.30516589455635 -[main_algo-3] [INFO] [1746050936.959534583] [sailbot.main_algo]: Wind Direction: 254 -[main_algo-3] [INFO] [1746050936.960346802] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050936.961148452] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050936.962146156] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050936.962858292] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050937.002983263] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894244 Long: -76.50345677 -[main_algo-3] [INFO] [1746050937.003988657] [sailbot.main_algo]: Distance to destination: 27.361671451926203 -[vectornav-1] [INFO] [1746050937.004813504] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.13099999999997, -2.329, 2.923) -[main_algo-3] [INFO] [1746050937.005261307] [sailbot.main_algo]: Target Bearing: -64.37232891935045 -[main_algo-3] [INFO] [1746050937.006020047] [sailbot.main_algo]: Heading Difference: -105.8306710806495 -[main_algo-3] [INFO] [1746050937.006408831] [sailbot.main_algo]: Wind Direction: 254 -[main_algo-3] [INFO] [1746050937.006786820] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050937.007643019] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050937.009598942] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050937.045098734] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050937.045945887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050937.046478736] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050937.048284917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050937.049422393] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050937.085341277] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050937.087538697] [sailbot.teensy]: Wind angle: 260 -[trim_sail-4] [INFO] [1746050937.087637521] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050937.088547812] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050937.088945302] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050937.089466263] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050937.090377928] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050937.145380963] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050937.146136173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050937.146982983] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050937.148001839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050937.148484063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050937.245017549] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050937.245914229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050937.246418490] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050937.248124874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050937.249438292] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050937.335228734] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050937.337549851] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050937.338165828] [sailbot.teensy]: Wind angle: 260 -[mux-7] [INFO] [1746050937.338700795] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050937.339524754] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050937.340558241] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050937.341583058] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050937.344339839] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050937.344845901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050937.345458128] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050937.346487211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050937.347535773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050937.444870364] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050937.445485689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050937.446115075] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050937.447293963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050937.448257130] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050937.457115827] [sailbot.main_algo]: Wind Direction: 260 -[main_algo-3] [INFO] [1746050937.458087720] [sailbot.main_algo]: Target Bearing: -64.37232891935045 -[main_algo-3] [INFO] [1746050937.458982937] [sailbot.main_algo]: Heading Difference: -107.49667108064955 -[main_algo-3] [INFO] [1746050937.459816498] [sailbot.main_algo]: Wind Direction: 260 -[main_algo-3] [INFO] [1746050937.460637463] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050937.461434374] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050937.462431458] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050937.463261185] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050937.502574244] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894268 Long: -76.50345978 -[main_algo-3] [INFO] [1746050937.503476784] [sailbot.main_algo]: Distance to destination: 27.49727281307186 -[vectornav-1] [INFO] [1746050937.503816146] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.99900000000002, 5.404, -1.062) -[main_algo-3] [INFO] [1746050937.504599761] [sailbot.main_algo]: Target Bearing: -63.93629655131521 -[main_algo-3] [INFO] [1746050937.505585246] [sailbot.main_algo]: Heading Difference: -107.93270344868483 -[main_algo-3] [INFO] [1746050937.506514665] [sailbot.main_algo]: Wind Direction: 260 -[main_algo-3] [INFO] [1746050937.507450606] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050937.508340267] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050937.510052874] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050937.545027567] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050937.545927591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050937.546426868] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050937.547915395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050937.549082637] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050937.585670455] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050937.588216163] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050937.588568900] [sailbot.teensy]: Wind angle: 250 -[teensy-2] [INFO] [1746050937.589559223] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050937.589705520] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050937.590507385] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050937.591426271] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050937.645232245] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050937.646110575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050937.646702743] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050937.648475471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050937.649518043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050937.744862924] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050937.745488238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050937.746130515] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050937.747277053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050937.748342242] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050937.835189577] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050937.836952529] [sailbot.teensy]: Wind angle: 251 -[trim_sail-4] [INFO] [1746050937.837401697] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050937.837933519] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050937.838837470] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050937.839049407] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050937.839610034] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050937.844652849] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050937.845105966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050937.845790786] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050937.846854329] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050937.847878830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050937.945253295] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050937.945767605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050937.946855620] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050937.947798735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050937.948852259] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050937.957277538] [sailbot.main_algo]: Wind Direction: 251 -[main_algo-3] [INFO] [1746050937.958351870] [sailbot.main_algo]: Target Bearing: -63.93629655131521 -[main_algo-3] [INFO] [1746050937.959457743] [sailbot.main_algo]: Heading Difference: -106.06470344868478 -[main_algo-3] [INFO] [1746050937.960582680] [sailbot.main_algo]: Wind Direction: 251 -[main_algo-3] [INFO] [1746050937.961595046] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050937.962626405] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050937.963803534] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050937.964924602] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050938.002745354] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894056 Long: -76.50346079 -[main_algo-3] [INFO] [1746050938.003725793] [sailbot.main_algo]: Distance to destination: 27.32604107556571 -[vectornav-1] [INFO] [1746050938.003863475] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (190.22900000000004, -6.457, -9.178) -[main_algo-3] [INFO] [1746050938.004860549] [sailbot.main_algo]: Target Bearing: -63.556531490733924 -[main_algo-3] [INFO] [1746050938.005813114] [sailbot.main_algo]: Heading Difference: -106.44446850926602 -[main_algo-3] [INFO] [1746050938.006789524] [sailbot.main_algo]: Wind Direction: 251 -[main_algo-3] [INFO] [1746050938.007688283] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050938.008659940] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050938.010385527] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050938.045103716] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050938.045817292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050938.046504567] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050938.047863300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050938.048909275] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050938.085233691] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050938.087165000] [sailbot.teensy]: Wind angle: 251 -[trim_sail-4] [INFO] [1746050938.087440655] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050938.088923945] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050938.089293268] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050938.090270366] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050938.091158063] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050938.145255744] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050938.146158660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050938.147418326] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050938.148250931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050938.149449594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050938.245002896] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050938.245624722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050938.246267963] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050938.247402273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050938.248599917] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050938.335310074] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050938.337536856] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050938.338163395] [sailbot.teensy]: Wind angle: 251 -[mux-7] [INFO] [1746050938.338181576] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050938.338917931] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050938.339356369] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050938.339724171] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050938.344469839] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050938.344932961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050938.345663316] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050938.346737674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050938.347789982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050938.445400379] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050938.446131808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050938.447066250] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050938.448282497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050938.449753182] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050938.456962078] [sailbot.main_algo]: Wind Direction: 251 -[main_algo-3] [INFO] [1746050938.457917933] [sailbot.main_algo]: Target Bearing: -63.556531490733924 -[main_algo-3] [INFO] [1746050938.458780213] [sailbot.main_algo]: Heading Difference: -106.214468509266 -[main_algo-3] [INFO] [1746050938.459571026] [sailbot.main_algo]: Wind Direction: 251 -[main_algo-3] [INFO] [1746050938.460401190] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050938.461179931] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050938.462192145] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050938.462893882] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050938.503274030] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893979 Long: -76.50346319 -[main_algo-3] [INFO] [1746050938.504615531] [sailbot.main_algo]: Distance to destination: 27.341993589758943 -[vectornav-1] [INFO] [1746050938.504940640] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.12300000000005, 3.348, -5.159) -[main_algo-3] [INFO] [1746050938.505762600] [sailbot.main_algo]: Target Bearing: -63.106965152649536 -[main_algo-3] [INFO] [1746050938.506723965] [sailbot.main_algo]: Heading Difference: -106.66403484735042 -[main_algo-3] [INFO] [1746050938.507625046] [sailbot.main_algo]: Wind Direction: 251 -[main_algo-3] [INFO] [1746050938.508535945] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050938.509382408] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050938.511097690] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050938.545006038] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050938.545612243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050938.546617564] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050938.547424225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050938.548466067] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050938.585456029] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050938.587390607] [sailbot.teensy]: Wind angle: 262 -[trim_sail-4] [INFO] [1746050938.588186442] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050938.588683423] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050938.589287421] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050938.589851668] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050938.590843258] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050938.645145442] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050938.645963565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050938.646653882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050938.648082874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050938.649313976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050938.745122847] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050938.745990718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050938.746522520] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050938.747759006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050938.748309368] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050938.835298861] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050938.837528544] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050938.837730079] [sailbot.teensy]: Wind angle: 263 -[teensy-2] [INFO] [1746050938.838626454] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050938.839466737] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050938.839530725] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050938.839844819] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050938.844306558] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050938.844812145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050938.845415519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050938.846465633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050938.847501351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050938.945239861] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050938.945904197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050938.946623354] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050938.948100930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050938.949266156] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050938.956938128] [sailbot.main_algo]: Wind Direction: 263 -[main_algo-3] [INFO] [1746050938.957856290] [sailbot.main_algo]: Target Bearing: -63.106965152649536 -[main_algo-3] [INFO] [1746050938.958673543] [sailbot.main_algo]: Heading Difference: -111.77003484735042 -[main_algo-3] [INFO] [1746050938.959458129] [sailbot.main_algo]: Wind Direction: 263 -[main_algo-3] [INFO] [1746050938.960286721] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050938.961073528] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050938.962185513] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050938.962846164] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050939.003032688] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894035 Long: -76.50346541 -[main_algo-3] [INFO] [1746050939.003917143] [sailbot.main_algo]: Distance to destination: 27.482707451502975 -[vectornav-1] [INFO] [1746050939.004349729] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.389, -1.542, 3.678) -[main_algo-3] [INFO] [1746050939.005173548] [sailbot.main_algo]: Target Bearing: -62.83136584099302 -[main_algo-3] [INFO] [1746050939.006152865] [sailbot.main_algo]: Heading Difference: -112.04563415900691 -[main_algo-3] [INFO] [1746050939.007102511] [sailbot.main_algo]: Wind Direction: 263 -[main_algo-3] [INFO] [1746050939.008318685] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050939.009226896] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050939.011099207] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050939.045191756] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050939.045791216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050939.046626556] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050939.047786004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050939.048970352] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050939.085286629] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050939.087012775] [sailbot.teensy]: Wind angle: 253 -[trim_sail-4] [INFO] [1746050939.087681093] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050939.087953807] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050939.088918693] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050939.089850166] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050939.090176173] [sailbot.mux]: algo sail angle: 20 -[mux-7] [INFO] [1746050939.145152579] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050939.145729908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050939.146626164] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050939.148020917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050939.149169382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050939.244986667] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050939.245598657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050939.246518640] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050939.247853440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050939.248991765] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050939.335256513] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050939.339431675] [sailbot.teensy]: Wind angle: 254 -[trim_sail-4] [INFO] [1746050939.339904795] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050939.341153920] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050939.341640602] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050939.342468188] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050939.343563155] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050939.344495891] [sailbot.mux]: Published sail angle from controller_app: 75 -[mux-7] [INFO] [1746050939.345828012] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050939.346145035] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050939.348027742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050939.349272456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050939.445261815] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050939.446020271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050939.446820322] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050939.448052926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050939.448569405] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050939.457003375] [sailbot.main_algo]: Wind Direction: 254 -[main_algo-3] [INFO] [1746050939.458032989] [sailbot.main_algo]: Target Bearing: -62.83136584099302 -[main_algo-3] [INFO] [1746050939.458938435] [sailbot.main_algo]: Heading Difference: -111.77963415900695 -[main_algo-3] [INFO] [1746050939.459788586] [sailbot.main_algo]: Wind Direction: 254 -[main_algo-3] [INFO] [1746050939.460638002] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050939.461475485] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050939.462528585] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050939.463037751] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050939.502911300] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894014 Long: -76.503467 -[main_algo-3] [INFO] [1746050939.503428643] [sailbot.main_algo]: Distance to destination: 27.52418557171909 -[vectornav-1] [INFO] [1746050939.504045552] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (186.351, 0.588, 3.501) -[main_algo-3] [INFO] [1746050939.504451041] [sailbot.main_algo]: Target Bearing: -62.56855976967062 -[main_algo-3] [INFO] [1746050939.505433309] [sailbot.main_algo]: Heading Difference: -112.04244023032936 -[main_algo-3] [INFO] [1746050939.506324324] [sailbot.main_algo]: Wind Direction: 254 -[main_algo-3] [INFO] [1746050939.507172988] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050939.507995931] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050939.509621340] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050939.544945897] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050939.545682570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050939.546198273] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050939.547565211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050939.548708813] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050939.585273280] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050939.587659018] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050939.588373802] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050939.588446497] [sailbot.teensy]: Wind angle: 254 -[teensy-2] [INFO] [1746050939.589389494] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050939.590275498] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050939.591097069] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050939.644883496] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050939.645733410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050939.646148110] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050939.647546781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050939.648724926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050939.744939042] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050939.745786468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050939.746217625] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050939.747995754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050939.749102218] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050939.835486933] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050939.838771299] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050939.839078129] [sailbot.teensy]: Wind angle: 254 -[mux-7] [INFO] [1746050939.839288948] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050939.840041252] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050939.840980022] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050939.841837317] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050939.844307375] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050939.844929692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050939.845335519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050939.846539565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050939.847557040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050939.945058432] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050939.945671391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050939.946728857] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050939.947625422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050939.948768087] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050939.956993998] [sailbot.main_algo]: Wind Direction: 254 -[main_algo-3] [INFO] [1746050939.957920010] [sailbot.main_algo]: Target Bearing: -62.56855976967062 -[main_algo-3] [INFO] [1746050939.958746756] [sailbot.main_algo]: Heading Difference: -111.08044023032937 -[main_algo-3] [INFO] [1746050939.959552406] [sailbot.main_algo]: Wind Direction: 254 -[main_algo-3] [INFO] [1746050939.960432132] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050939.961322996] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050939.962505171] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050939.964227081] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050940.002521709] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893945 Long: -76.50346852 -[main_algo-3] [INFO] [1746050940.003664530] [sailbot.main_algo]: Distance to destination: 27.51672875466072 -[main_algo-3] [INFO] [1746050940.004654038] [sailbot.main_algo]: Target Bearing: -62.263741935827994 -[vectornav-1] [INFO] [1746050940.004716049] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (187.235, -1.124, 1.018) -[main_algo-3] [INFO] [1746050940.005579672] [sailbot.main_algo]: Heading Difference: -111.38525806417204 -[main_algo-3] [INFO] [1746050940.006455629] [sailbot.main_algo]: Wind Direction: 254 -[main_algo-3] [INFO] [1746050940.007270390] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050940.008098070] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050940.009676600] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050940.044872994] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050940.045652310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050940.046321234] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050940.047522053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050940.048755551] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050940.085220045] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050940.087215843] [sailbot.teensy]: Wind angle: 254 -[teensy-2] [INFO] [1746050940.088143972] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050940.087856404] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050940.088828053] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050940.089069011] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050940.089916358] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050940.144804233] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050940.145349435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050940.145994910] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050940.147227726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050940.148400153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050940.244788710] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050940.245501906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050940.246309531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050940.247326490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050940.248493813] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050940.335257949] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050940.337378634] [sailbot.teensy]: Wind angle: 256 -[trim_sail-4] [INFO] [1746050940.337469730] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050940.338355490] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050940.338973414] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050940.339238098] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050940.340143484] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050940.344480251] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050940.345107059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050940.345579921] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050940.346864658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050940.348037775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050940.445239873] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050940.446490821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050940.446935140] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050940.449149687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050940.450181069] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050940.457178819] [sailbot.main_algo]: Wind Direction: 256 -[main_algo-3] [INFO] [1746050940.458185397] [sailbot.main_algo]: Target Bearing: -62.263741935827994 -[main_algo-3] [INFO] [1746050940.459118171] [sailbot.main_algo]: Heading Difference: -110.50125806417202 -[main_algo-3] [INFO] [1746050940.460052612] [sailbot.main_algo]: Wind Direction: 256 -[main_algo-3] [INFO] [1746050940.461018803] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050940.461823171] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050940.462871557] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050940.463821254] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050940.503056063] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893924 Long: -76.50346997 -[main_algo-3] [INFO] [1746050940.503873056] [sailbot.main_algo]: Distance to destination: 27.55387213532876 -[vectornav-1] [INFO] [1746050940.504326883] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (188.44399999999996, 0.448, 1.885) -[main_algo-3] [INFO] [1746050940.505042453] [sailbot.main_algo]: Target Bearing: -62.0230659077583 -[main_algo-3] [INFO] [1746050940.506046793] [sailbot.main_algo]: Heading Difference: -110.74193409224165 -[main_algo-3] [INFO] [1746050940.506971437] [sailbot.main_algo]: Wind Direction: 256 -[main_algo-3] [INFO] [1746050940.507862241] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050940.508727669] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050940.510513533] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050940.545110356] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050940.545944472] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050940.546661637] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050940.547978251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050940.549025723] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050940.585379424] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050940.587655305] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050940.587891315] [sailbot.teensy]: Wind angle: 267 -[mux-7] [INFO] [1746050940.588381706] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050940.589879563] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050940.590774039] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050940.591658453] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050940.645004091] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050940.645832768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050940.646275700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050940.647715243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050940.648750404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050940.745143457] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050940.745816642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050940.746822781] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050940.747988864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050940.748588705] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050940.835073907] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050940.836743905] [sailbot.teensy]: Wind angle: 267 -[trim_sail-4] [INFO] [1746050940.837442212] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050940.837634415] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050940.838528753] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050940.838270182] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050940.839400782] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050940.844399746] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050940.844915725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050940.845503980] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050940.846750557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050940.847755269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050940.944972992] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050940.945578835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050940.946268259] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050940.947380262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050940.948497090] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050940.957122905] [sailbot.main_algo]: Wind Direction: 267 -[main_algo-3] [INFO] [1746050940.958139831] [sailbot.main_algo]: Target Bearing: -62.0230659077583 -[main_algo-3] [INFO] [1746050940.959052488] [sailbot.main_algo]: Heading Difference: -109.5329340922417 -[main_algo-3] [INFO] [1746050940.959905265] [sailbot.main_algo]: Wind Direction: 267 -[main_algo-3] [INFO] [1746050940.960785524] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050940.961600796] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050940.962636897] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050940.963226293] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050941.002872684] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893896 Long: -76.50347118 -[main_algo-3] [INFO] [1746050941.003859739] [sailbot.main_algo]: Distance to destination: 27.57508281076896 -[vectornav-1] [INFO] [1746050941.004067461] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.87400000000002, -1.992, 3.438) -[main_algo-3] [INFO] [1746050941.005086522] [sailbot.main_algo]: Target Bearing: -61.8109341144319 -[main_algo-3] [INFO] [1746050941.006052447] [sailbot.main_algo]: Heading Difference: -109.74506588556812 -[main_algo-3] [INFO] [1746050941.006972675] [sailbot.main_algo]: Wind Direction: 267 -[main_algo-3] [INFO] [1746050941.007869948] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050941.008759086] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050941.010452104] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050941.045038800] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050941.045778575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050941.046444637] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050941.047759319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050941.048950696] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050941.085070459] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050941.086699171] [sailbot.teensy]: Wind angle: 262 -[teensy-2] [INFO] [1746050941.087617992] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050941.087368651] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050941.087880540] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050941.088505892] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050941.089393137] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050941.145042737] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050941.145599200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050941.146393282] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050941.147422659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050941.148234156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050941.245431660] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050941.246003134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050941.247040402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050941.248121532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050941.249363814] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050941.335515173] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050941.337667672] [sailbot.teensy]: Wind angle: 264 -[trim_sail-4] [INFO] [1746050941.338398835] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050941.338693219] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050941.339612086] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050941.340536536] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050941.341351251] [sailbot.mux]: algo sail angle: 30 -[mux-7] [INFO] [1746050941.344316424] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050941.344854820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050941.345624157] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050941.346514753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050941.347578244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050941.445477432] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050941.445983989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050941.447306877] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050941.448091954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050941.449429215] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050941.456981101] [sailbot.main_algo]: Wind Direction: 264 -[main_algo-3] [INFO] [1746050941.457934458] [sailbot.main_algo]: Target Bearing: -61.8109341144319 -[main_algo-3] [INFO] [1746050941.458800351] [sailbot.main_algo]: Heading Difference: -108.31506588556806 -[main_algo-3] [INFO] [1746050941.459582250] [sailbot.main_algo]: Wind Direction: 264 -[main_algo-3] [INFO] [1746050941.460440893] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050941.461256772] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050941.462266065] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050941.463020645] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050941.503333372] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893865 Long: -76.50347236 -[main_algo-3] [INFO] [1746050941.503855895] [sailbot.main_algo]: Distance to destination: 27.592557180605347 -[vectornav-1] [INFO] [1746050941.504558118] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (192.293, 2.412, 0.478) -[main_algo-3] [INFO] [1746050941.505374986] [sailbot.main_algo]: Target Bearing: -61.60019501877233 -[main_algo-3] [INFO] [1746050941.506395506] [sailbot.main_algo]: Heading Difference: -108.52580498122768 -[main_algo-3] [INFO] [1746050941.507424235] [sailbot.main_algo]: Wind Direction: 264 -[main_algo-3] [INFO] [1746050941.508318180] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050941.509157122] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050941.511001804] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050941.545026210] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050941.545604417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050941.546422014] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050941.547450574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050941.548535307] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050941.585295253] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050941.586966312] [sailbot.teensy]: Wind angle: 267 -[trim_sail-4] [INFO] [1746050941.587867197] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050941.587895534] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050941.588779951] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050941.589723898] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050941.590454482] [sailbot.mux]: algo sail angle: 30 -[mux-7] [INFO] [1746050941.644933970] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050941.645628371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050941.646710050] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050941.647490564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050941.648599930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050941.744806849] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050941.745443584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050941.745971930] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050941.747261880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050941.748422803] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050941.835226429] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050941.836942292] [sailbot.teensy]: Wind angle: 266 -[teensy-2] [INFO] [1746050941.837884380] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050941.837884597] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050941.838809869] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050941.839722878] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050941.839770218] [sailbot.mux]: algo sail angle: 30 -[mux-7] [INFO] [1746050941.844367891] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050941.844839394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050941.845803080] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050941.846515012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050941.847613718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050941.944935784] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050941.945587181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050941.946248730] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050941.947422602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050941.947962099] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050941.957059024] [sailbot.main_algo]: Wind Direction: 266 -[main_algo-3] [INFO] [1746050941.958067413] [sailbot.main_algo]: Target Bearing: -61.60019501877233 -[main_algo-3] [INFO] [1746050941.958950286] [sailbot.main_algo]: Heading Difference: -106.1068049812277 -[main_algo-3] [INFO] [1746050941.959758159] [sailbot.main_algo]: Wind Direction: 266 -[main_algo-3] [INFO] [1746050941.960586991] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050941.961451210] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050941.962656285] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050941.964118360] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050942.002573187] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893765 Long: -76.50347272 -[main_algo-3] [INFO] [1746050942.003389771] [sailbot.main_algo]: Distance to destination: 27.510470331623587 -[vectornav-1] [INFO] [1746050942.003647411] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (194.447, -2.822, -1.182) -[main_algo-3] [INFO] [1746050942.004519629] [sailbot.main_algo]: Target Bearing: -61.432894896691046 -[main_algo-3] [INFO] [1746050942.005446828] [sailbot.main_algo]: Heading Difference: -106.27410510330895 -[main_algo-3] [INFO] [1746050942.006419618] [sailbot.main_algo]: Wind Direction: 266 -[main_algo-3] [INFO] [1746050942.007334299] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050942.008203409] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050942.009924153] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050942.045136015] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050942.045926642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050942.046527879] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050942.048000254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050942.049142947] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050942.085257161] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050942.086985892] [sailbot.teensy]: Wind angle: 266 -[trim_sail-4] [INFO] [1746050942.087833920] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050942.087915279] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050942.088830080] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050942.088941312] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050942.089777710] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050942.144875899] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050942.145460359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050942.146158913] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050942.147430357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050942.148600487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050942.245140184] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050942.246034457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050942.246569651] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050942.248133485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050942.249192201] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050942.335298433] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050942.337618288] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050942.338401125] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050942.339171829] [sailbot.teensy]: Wind angle: 267 -[teensy-2] [INFO] [1746050942.340134702] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050942.340988935] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050942.341895554] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050942.344289330] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050942.344905504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050942.345368540] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050942.346621065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050942.347762719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050942.445206746] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050942.445926274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050942.446734257] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050942.447906708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050942.448386071] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050942.456948302] [sailbot.main_algo]: Wind Direction: 267 -[main_algo-3] [INFO] [1746050942.457894869] [sailbot.main_algo]: Target Bearing: -61.432894896691046 -[main_algo-3] [INFO] [1746050942.458722691] [sailbot.main_algo]: Heading Difference: -104.12010510330896 -[main_algo-3] [INFO] [1746050942.459509238] [sailbot.main_algo]: Wind Direction: 267 -[main_algo-3] [INFO] [1746050942.460318477] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050942.461102654] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050942.462100543] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050942.462718534] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050942.502956985] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689371 Long: -76.503474 -[vectornav-1] [INFO] [1746050942.504284200] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (194.89700000000005, -0.338, 2.506) -[main_algo-3] [INFO] [1746050942.504310248] [sailbot.main_algo]: Distance to destination: 27.50957583528264 -[main_algo-3] [INFO] [1746050942.505625690] [sailbot.main_algo]: Target Bearing: -61.179463446348585 -[main_algo-3] [INFO] [1746050942.506608671] [sailbot.main_algo]: Heading Difference: -104.37353655365143 -[main_algo-3] [INFO] [1746050942.507557754] [sailbot.main_algo]: Wind Direction: 267 -[main_algo-3] [INFO] [1746050942.508609995] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050942.509469199] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050942.511237355] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050942.545043149] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050942.545715236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050942.546455899] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050942.548024707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050942.549206531] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050942.585046161] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050942.587293511] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050942.587914533] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050942.588098545] [sailbot.teensy]: Wind angle: 266 -[teensy-2] [INFO] [1746050942.589067653] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050942.590006905] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050942.590866637] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050942.645040438] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050942.645768321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050942.646761311] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050942.647713952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050942.648203541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050942.745048112] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050942.745775467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050942.746472448] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050942.747571748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050942.748135803] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050942.835334465] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050942.837333510] [sailbot.teensy]: Wind angle: 265 -[trim_sail-4] [INFO] [1746050942.838160144] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050942.838871859] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050942.838987156] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050942.839640775] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050942.840318018] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050942.844490750] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050942.844857560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050942.845737533] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050942.846515099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050942.847587931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050942.945071561] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050942.945819550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050942.946543577] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050942.947915248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050942.948450934] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050942.957034855] [sailbot.main_algo]: Wind Direction: 265 -[main_algo-3] [INFO] [1746050942.957971974] [sailbot.main_algo]: Target Bearing: -61.179463446348585 -[main_algo-3] [INFO] [1746050942.958796003] [sailbot.main_algo]: Heading Difference: -103.92353655365139 -[main_algo-3] [INFO] [1746050942.959605532] [sailbot.main_algo]: Wind Direction: 265 -[main_algo-3] [INFO] [1746050942.960419332] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050942.961224348] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050942.962409732] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050942.962763497] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050943.002734534] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893758 Long: -76.50347532 -[main_algo-3] [INFO] [1746050943.003980749] [sailbot.main_algo]: Distance to destination: 27.60989823492196 -[vectornav-1] [INFO] [1746050943.005062657] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.35199999999998, 1.587, 1.914) -[main_algo-3] [INFO] [1746050943.005123324] [sailbot.main_algo]: Target Bearing: -61.03912634458726 -[main_algo-3] [INFO] [1746050943.006139909] [sailbot.main_algo]: Heading Difference: -104.06387365541269 -[main_algo-3] [INFO] [1746050943.007083237] [sailbot.main_algo]: Wind Direction: 265 -[main_algo-3] [INFO] [1746050943.008040542] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050943.008951434] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050943.010680672] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050943.044983605] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050943.045665871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050943.046262001] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050943.047586175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050943.048638783] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050943.085144420] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050943.086718689] [sailbot.teensy]: Wind angle: 265 -[trim_sail-4] [INFO] [1746050943.087489799] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050943.088708676] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050943.088734675] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050943.089695278] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050943.090568378] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050943.144961010] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050943.145501147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050943.146243567] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050943.147372526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050943.148469438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050943.245098481] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050943.245914930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050943.246522573] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050943.247942039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050943.249055157] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050943.335295570] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050943.338071637] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050943.338155927] [sailbot.teensy]: Wind angle: 264 -[teensy-2] [INFO] [1746050943.339056909] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050943.339051402] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050943.339977793] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050943.340857266] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050943.344297851] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050943.344865130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050943.345379515] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050943.346536602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050943.347614324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050943.445303165] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050943.446112324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050943.447250740] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050943.448320854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050943.449584049] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050943.457023107] [sailbot.main_algo]: Wind Direction: 264 -[main_algo-3] [INFO] [1746050943.458011029] [sailbot.main_algo]: Target Bearing: -61.03912634458726 -[main_algo-3] [INFO] [1746050943.458908429] [sailbot.main_algo]: Heading Difference: -103.60887365541276 -[main_algo-3] [INFO] [1746050943.459715734] [sailbot.main_algo]: Wind Direction: 264 -[main_algo-3] [INFO] [1746050943.460567289] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050943.461375713] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050943.462467586] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050943.462937896] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050943.502343349] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893663 Long: -76.5034758 -[main_algo-3] [INFO] [1746050943.503241083] [sailbot.main_algo]: Distance to destination: 27.53836169738151 -[vectornav-1] [INFO] [1746050943.503334170] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.42100000000005, -1.819, -0.446) -[main_algo-3] [INFO] [1746050943.504646734] [sailbot.main_algo]: Target Bearing: -60.858318914719256 -[main_algo-3] [INFO] [1746050943.505587317] [sailbot.main_algo]: Heading Difference: -103.78968108528079 -[main_algo-3] [INFO] [1746050943.506494593] [sailbot.main_algo]: Wind Direction: 264 -[main_algo-3] [INFO] [1746050943.507380461] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050943.508247424] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050943.509952667] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050943.545046102] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050943.545769258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050943.546988106] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050943.547592315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050943.548792308] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050943.585096868] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050943.586736402] [sailbot.teensy]: Wind angle: 264 -[trim_sail-4] [INFO] [1746050943.587173902] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050943.587734303] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050943.588674745] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050943.589110032] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050943.589575428] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050943.645246675] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050943.645948206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050943.646819389] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050943.648361992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050943.649539982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050943.745152616] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050943.745869514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050943.746927437] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050943.748011729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050943.748542119] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050943.835260058] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050943.836975770] [sailbot.teensy]: Wind angle: 264 -[trim_sail-4] [INFO] [1746050943.837892194] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050943.838870147] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050943.838972520] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050943.839275748] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050943.839678975] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050943.844833231] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050943.845213236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050943.846201420] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050943.846968041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050943.848146139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050943.945026640] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050943.945794938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050943.946421206] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050943.947644247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050943.948752473] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050943.956993439] [sailbot.main_algo]: Wind Direction: 264 -[main_algo-3] [INFO] [1746050943.957995127] [sailbot.main_algo]: Target Bearing: -60.858318914719256 -[main_algo-3] [INFO] [1746050943.958905279] [sailbot.main_algo]: Heading Difference: -103.72068108528072 -[main_algo-3] [INFO] [1746050943.959719159] [sailbot.main_algo]: Wind Direction: 264 -[main_algo-3] [INFO] [1746050943.960574994] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050943.961382392] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050943.962424028] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050943.963248963] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050944.003043149] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893592 Long: -76.50347654 -[main_algo-3] [INFO] [1746050944.003328993] [sailbot.main_algo]: Distance to destination: 27.50090338545698 -[main_algo-3] [INFO] [1746050944.004383313] [sailbot.main_algo]: Target Bearing: -60.66618167659068 -[vectornav-1] [INFO] [1746050944.004635549] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.90099999999995, -0.981, 0.741) -[main_algo-3] [INFO] [1746050944.005299635] [sailbot.main_algo]: Heading Difference: -103.91281832340928 -[main_algo-3] [INFO] [1746050944.006202349] [sailbot.main_algo]: Wind Direction: 264 -[main_algo-3] [INFO] [1746050944.007019355] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050944.007824498] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050944.009413469] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050944.044972816] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050944.045764668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050944.046333624] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050944.047827854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050944.048895127] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050944.085500269] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050944.087444756] [sailbot.teensy]: Wind angle: 264 -[trim_sail-4] [INFO] [1746050944.087951842] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050944.088482611] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050944.089422980] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050944.089332265] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050944.090354615] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050944.145112025] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050944.145703110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050944.146585818] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050944.147966071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050944.149116418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050944.244961796] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050944.245628034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050944.246255740] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050944.247746286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050944.248985038] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050944.335406394] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050944.337803107] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050944.338131655] [sailbot.teensy]: Wind angle: 266 -[mux-7] [INFO] [1746050944.338301828] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050944.338656862] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050944.339045588] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050944.339701104] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050944.344475177] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050944.345139411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050944.345608324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050944.346871161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050944.347919142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050944.445119416] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050944.445999990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050944.446555790] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050944.448091540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050944.448774421] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050944.456996619] [sailbot.main_algo]: Wind Direction: 266 -[main_algo-3] [INFO] [1746050944.457992140] [sailbot.main_algo]: Target Bearing: -60.66618167659068 -[main_algo-3] [INFO] [1746050944.458807508] [sailbot.main_algo]: Heading Difference: -103.43281832340938 -[main_algo-3] [INFO] [1746050944.459620776] [sailbot.main_algo]: Wind Direction: 266 -[main_algo-3] [INFO] [1746050944.460448487] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050944.461246197] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050944.462246654] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050944.462862900] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050944.502299408] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893597 Long: -76.50347793 -[main_algo-3] [INFO] [1746050944.503205088] [sailbot.main_algo]: Distance to destination: 27.56360835062033 -[vectornav-1] [INFO] [1746050944.503399825] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.731, 0.285, 4.493) -[main_algo-3] [INFO] [1746050944.504285735] [sailbot.main_algo]: Target Bearing: -60.466999735699694 -[main_algo-3] [INFO] [1746050944.505232324] [sailbot.main_algo]: Heading Difference: -103.63200026430036 -[main_algo-3] [INFO] [1746050944.506115970] [sailbot.main_algo]: Wind Direction: 266 -[main_algo-3] [INFO] [1746050944.506922777] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050944.507700247] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050944.509314946] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050944.544915285] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050944.545575695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050944.546170185] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050944.547448391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050944.548458998] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050944.585248680] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050944.587409213] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050944.588526187] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050944.588810940] [sailbot.teensy]: Wind angle: 266 -[teensy-2] [INFO] [1746050944.589768755] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050944.590607630] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050944.591520401] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050944.645009083] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050944.645713393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050944.646306308] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050944.647600241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050944.648683666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050944.744971482] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050944.745819819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050944.746259666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050944.747694948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050944.748562094] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050944.835154234] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050944.837352082] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050944.837882835] [sailbot.teensy]: Wind angle: 265 -[mux-7] [INFO] [1746050944.837981215] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050944.838929877] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050944.839856282] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050944.840805759] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050944.844485211] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050944.845162244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050944.845628598] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050944.846965473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050944.847992220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050944.943710568] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050944.944051042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050944.944201206] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050944.944825903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050944.945392609] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050944.956331521] [sailbot.main_algo]: Wind Direction: 265 -[main_algo-3] [INFO] [1746050944.956802018] [sailbot.main_algo]: Target Bearing: -60.466999735699694 -[main_algo-3] [INFO] [1746050944.957291517] [sailbot.main_algo]: Heading Difference: -103.80200026430032 -[main_algo-3] [INFO] [1746050944.957674800] [sailbot.main_algo]: Wind Direction: 265 -[main_algo-3] [INFO] [1746050944.958322372] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050944.958705182] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050944.959612264] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050944.960040342] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050945.003449574] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893546 Long: -76.50347865 -[main_algo-3] [INFO] [1746050945.003577687] [sailbot.main_algo]: Distance to destination: 27.54503464610113 -[main_algo-3] [INFO] [1746050945.004734139] [sailbot.main_algo]: Target Bearing: -60.30106927547533 -[vectornav-1] [INFO] [1746050945.005054135] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.20799999999997, 0.942, 1.441) -[main_algo-3] [INFO] [1746050945.006138331] [sailbot.main_algo]: Heading Difference: -103.96793072452465 -[main_algo-3] [INFO] [1746050945.007188100] [sailbot.main_algo]: Wind Direction: 265 -[main_algo-3] [INFO] [1746050945.008120149] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050945.009003564] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050945.010833139] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050945.044260799] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050945.044852822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050945.045258191] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050945.046612463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050945.047649658] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050945.085446544] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050945.087510791] [sailbot.teensy]: Wind angle: 266 -[teensy-2] [INFO] [1746050945.088515042] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050945.088281258] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050945.088826771] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050945.089771558] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050945.090690460] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050945.144878267] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050945.145635124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050945.146161687] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050945.147407243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050945.148414191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050945.244772356] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050945.245570473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050945.246067761] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050945.247644261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050945.248825363] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050945.335243694] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050945.337497462] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050945.338644437] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050945.338903292] [sailbot.teensy]: Wind angle: 266 -[teensy-2] [INFO] [1746050945.339888114] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050945.340568532] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050945.340933458] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050945.344330158] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050945.344813123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050945.345411010] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050945.346501812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050945.347532470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050945.445085699] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050945.445872309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050945.446541662] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050945.447933365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050945.449023645] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050945.456896685] [sailbot.main_algo]: Wind Direction: 266 -[main_algo-3] [INFO] [1746050945.457869934] [sailbot.main_algo]: Target Bearing: -60.30106927547533 -[main_algo-3] [INFO] [1746050945.458774260] [sailbot.main_algo]: Heading Difference: -103.49093072452467 -[main_algo-3] [INFO] [1746050945.459588098] [sailbot.main_algo]: Wind Direction: 266 -[main_algo-3] [INFO] [1746050945.460410600] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050945.461233517] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050945.462241039] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050945.462933220] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050945.503317376] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893465 Long: -76.50347914 -[main_algo-3] [INFO] [1746050945.503618843] [sailbot.main_algo]: Distance to destination: 27.488391637063955 -[vectornav-1] [INFO] [1746050945.504425865] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.19299999999998, -2.385, -0.789) -[main_algo-3] [INFO] [1746050945.504691886] [sailbot.main_algo]: Target Bearing: -60.13310313666847 -[main_algo-3] [INFO] [1746050945.505641015] [sailbot.main_algo]: Heading Difference: -103.65889686333156 -[main_algo-3] [INFO] [1746050945.506514635] [sailbot.main_algo]: Wind Direction: 266 -[main_algo-3] [INFO] [1746050945.507402331] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050945.508288850] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050945.509978936] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050945.544972501] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050945.545748111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050945.546242990] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050945.547717053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050945.548854133] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050945.585678586] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050945.588058928] [sailbot.teensy]: Wind angle: 266 -[trim_sail-4] [INFO] [1746050945.588613029] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050945.589160173] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050945.589859626] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050945.590100975] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050945.590998793] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050945.645237691] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050945.645790304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050945.646778833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050945.647794197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050945.648984772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050945.744960939] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050945.745550782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050945.746507390] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050945.747378599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050945.748258709] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050945.835109031] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050945.837491555] [sailbot.teensy]: Wind angle: 267 -[trim_sail-4] [INFO] [1746050945.837704031] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050945.839022799] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050945.839952801] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050945.840926013] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050945.841858578] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050945.844318953] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050945.844804773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050945.845422799] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050945.846439069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050945.847358330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050945.944930584] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050945.945779429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050945.946235829] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050945.947609491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050945.948053479] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050945.957102408] [sailbot.main_algo]: Wind Direction: 267 -[main_algo-3] [INFO] [1746050945.958199515] [sailbot.main_algo]: Target Bearing: -60.13310313666847 -[main_algo-3] [INFO] [1746050945.959150366] [sailbot.main_algo]: Heading Difference: -104.67389686333155 -[main_algo-3] [INFO] [1746050945.960027053] [sailbot.main_algo]: Wind Direction: 267 -[main_algo-3] [INFO] [1746050945.960839113] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050945.961634828] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050945.962626581] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050945.963201853] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050946.002699012] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689341 Long: -76.50347992 -[main_algo-3] [INFO] [1746050946.003597522] [sailbot.main_algo]: Distance to destination: 27.46902308688928 -[vectornav-1] [INFO] [1746050946.003825316] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.235, 0.161, 1.06) -[main_algo-3] [INFO] [1746050946.004685567] [sailbot.main_algo]: Target Bearing: -59.952901872911774 -[main_algo-3] [INFO] [1746050946.005595568] [sailbot.main_algo]: Heading Difference: -104.85409812708826 -[main_algo-3] [INFO] [1746050946.006428784] [sailbot.main_algo]: Wind Direction: 267 -[main_algo-3] [INFO] [1746050946.007236752] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050946.008024766] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050946.009667101] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050946.045122718] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050946.045850604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050946.046541918] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050946.048021571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050946.049162750] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050946.085219834] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050946.086993802] [sailbot.teensy]: Wind angle: 268 -[trim_sail-4] [INFO] [1746050946.087686400] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050946.087959796] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050946.088889821] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050946.089297601] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050946.090202978] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050946.144946056] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050946.145756906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050946.146242560] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050946.147632443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050946.148873202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050946.244955003] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050946.245854629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050946.246531689] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050946.247774359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050946.248845577] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050946.335183251] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050946.337482166] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050946.338441878] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050946.338651767] [sailbot.teensy]: Wind angle: 269 -[teensy-2] [INFO] [1746050946.339775876] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050946.340475600] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050946.340847219] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050946.344498605] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050946.345191257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050946.345730482] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050946.347097704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050946.348112314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050946.445019601] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050946.445608433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050946.446320418] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050946.447646522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050946.448673826] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050946.457075111] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050946.458032296] [sailbot.main_algo]: Target Bearing: -59.952901872911774 -[main_algo-3] [INFO] [1746050946.458960645] [sailbot.main_algo]: Heading Difference: -104.81209812708823 -[main_algo-3] [INFO] [1746050946.459767606] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050946.460586653] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050946.461382622] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050946.462350874] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050946.462997469] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050946.502667588] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893422 Long: -76.50348084 -[main_algo-3] [INFO] [1746050946.503693617] [sailbot.main_algo]: Distance to destination: 27.51953041664743 -[vectornav-1] [INFO] [1746050946.503934043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.735, 1.035, 4.318) -[main_algo-3] [INFO] [1746050946.504895717] [sailbot.main_algo]: Target Bearing: -59.83230970623544 -[main_algo-3] [INFO] [1746050946.505905115] [sailbot.main_algo]: Heading Difference: -104.93269029376455 -[main_algo-3] [INFO] [1746050946.506819783] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050946.507738547] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050946.508598212] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050946.510320749] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050946.544964894] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050946.545664120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050946.546287003] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050946.547518218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050946.548563744] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050946.585297254] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050946.587103527] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746050946.587543703] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050946.588117455] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050946.589039901] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050946.589242673] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050946.589900038] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050946.645202544] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050946.646085161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050946.646812078] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050946.648254369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050946.649450393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050946.744870288] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050946.745774392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050946.746110241] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050946.747494739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050946.748041671] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050946.835212380] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050946.837313975] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050946.837786189] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050946.838263928] [sailbot.teensy]: Wind angle: 269 -[teensy-2] [INFO] [1746050946.839202806] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050946.840060595] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050946.840910861] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050946.844300420] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050946.844865612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050946.845394136] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050946.846584884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050946.847724207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050946.945375267] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050946.946442135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050946.947039165] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050946.948411632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050946.948872576] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050946.957113603] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050946.958104335] [sailbot.main_algo]: Target Bearing: -59.83230970623544 -[main_algo-3] [INFO] [1746050946.959021615] [sailbot.main_algo]: Heading Difference: -104.43269029376455 -[main_algo-3] [INFO] [1746050946.959826318] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050946.960687734] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050946.961509223] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050946.962519403] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050946.963067512] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050947.003139762] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893389 Long: -76.50348122 -[main_algo-3] [INFO] [1746050947.003789525] [sailbot.main_algo]: Distance to destination: 27.504391664197435 -[vectornav-1] [INFO] [1746050947.004453234] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (195.94899999999996, -1.408, 0.602) -[main_algo-3] [INFO] [1746050947.004884512] [sailbot.main_algo]: Target Bearing: -59.737096643265154 -[main_algo-3] [INFO] [1746050947.005877351] [sailbot.main_algo]: Heading Difference: -104.52790335673484 -[main_algo-3] [INFO] [1746050947.006765009] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050947.007642979] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050947.008526205] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050947.010215499] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050947.045004118] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050947.045701372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050947.046304518] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050947.047610571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050947.048650865] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050947.085089682] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050947.087014436] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050947.087563532] [sailbot.teensy]: Wind angle: 269 -[teensy-2] [INFO] [1746050947.088575275] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050947.088885940] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050947.090203235] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050947.091318709] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050947.145029819] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050947.145733152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050947.146361015] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050947.147909614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050947.148943004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050947.245087957] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050947.245770091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050947.246407970] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050947.247678605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050947.248330412] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050947.335343865] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050947.337148876] [sailbot.teensy]: Wind angle: 268 -[teensy-2] [INFO] [1746050947.338121859] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050947.338234523] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050947.339081308] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050947.339414673] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050947.340084022] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050947.344248259] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050947.344937573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050947.345412553] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050947.346635740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050947.347762000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050947.445385192] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050947.446093842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050947.446943969] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050947.448593461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050947.449110556] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050947.457027630] [sailbot.main_algo]: Wind Direction: 268 -[main_algo-3] [INFO] [1746050947.457986497] [sailbot.main_algo]: Target Bearing: -59.737096643265154 -[main_algo-3] [INFO] [1746050947.458872950] [sailbot.main_algo]: Heading Difference: -104.3139033567349 -[main_algo-3] [INFO] [1746050947.459666816] [sailbot.main_algo]: Wind Direction: 268 -[main_algo-3] [INFO] [1746050947.460483616] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050947.461264762] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050947.462265824] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050947.463148503] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050947.502119091] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893316 Long: -76.50348157 -[main_algo-3] [INFO] [1746050947.502894447] [sailbot.main_algo]: Distance to destination: 27.450124363389858 -[vectornav-1] [INFO] [1746050947.502985988] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.39999999999998, 0.22, 0.299) -[main_algo-3] [INFO] [1746050947.503869789] [sailbot.main_algo]: Target Bearing: -59.59790141316965 -[main_algo-3] [INFO] [1746050947.504746684] [sailbot.main_algo]: Heading Difference: -104.45309858683038 -[main_algo-3] [INFO] [1746050947.505585653] [sailbot.main_algo]: Wind Direction: 268 -[main_algo-3] [INFO] [1746050947.506395674] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050947.507173204] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050947.508749936] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050947.544892911] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050947.545540788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050947.546617365] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050947.547437157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050947.548512072] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050947.585125871] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050947.586610552] [sailbot.teensy]: Wind angle: 269 -[teensy-2] [INFO] [1746050947.587455341] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050947.587209236] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050947.587642042] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050947.588320214] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050947.589181054] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050947.644877585] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050947.645656764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050947.646657813] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050947.647805943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050947.649011551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050947.745247294] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050947.746176770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050947.746848767] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050947.748253285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050947.748782559] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050947.835167473] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050947.837629441] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050947.837715412] [sailbot.teensy]: Wind angle: 269 -[teensy-2] [INFO] [1746050947.838668007] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050947.838924787] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050947.839193907] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050947.839560146] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050947.844528704] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050947.845067388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050947.845720512] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050947.846994739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050947.848201491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050947.945477535] [sailbot.mux]: Published sail angle from controller_app: 75 -[mux-7] [INFO] [1746050947.947077654] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050947.947154796] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050947.949222306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050947.950269429] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050947.957016470] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050947.957968345] [sailbot.main_algo]: Target Bearing: -59.59790141316965 -[main_algo-3] [INFO] [1746050947.958794128] [sailbot.main_algo]: Heading Difference: -104.00209858683036 -[main_algo-3] [INFO] [1746050947.959585489] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050947.960411756] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050947.961199843] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050947.962420629] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050947.962846143] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050948.003119206] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689327 Long: -76.50348222 -[main_algo-3] [INFO] [1746050948.003656617] [sailbot.main_algo]: Distance to destination: 27.434481036415413 -[vectornav-1] [INFO] [1746050948.004268346] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.18200000000002, -0.558, 2.84) -[main_algo-3] [INFO] [1746050948.004753413] [sailbot.main_algo]: Target Bearing: -59.44703266969282 -[main_algo-3] [INFO] [1746050948.005749041] [sailbot.main_algo]: Heading Difference: -104.1529673303072 -[main_algo-3] [INFO] [1746050948.006655162] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050948.007598169] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050948.008488443] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050948.010215688] [sailbot.mux]: algo rudder angle: -15 -[teensy-2] [INFO] [1746050948.045883195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050948.045884721] [sailbot.mux]: Published sail angle from controller_app: 75 -[mux-7] [INFO] [1746050948.047629581] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050948.047948269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050948.049161877] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050948.085201556] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050948.087288092] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050948.087407984] [sailbot.teensy]: Wind angle: 269 -[teensy-2] [INFO] [1746050948.088316175] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050948.088975237] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050948.089142471] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050948.090027463] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050948.144800070] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050948.145487646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050948.146525639] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050948.147278321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050948.148362026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050948.245085215] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050948.245854956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050948.246453919] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050948.247815176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050948.248981139] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050948.335254123] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050948.337026688] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746050948.337549064] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050948.337955185] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050948.338843710] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050948.339055758] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050948.339707912] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050948.344456550] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050948.345005985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050948.345535236] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050948.346696995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050948.347857248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050948.445104776] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050948.445879631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050948.446584525] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050948.448362055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050948.449391581] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050948.456938126] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050948.457905630] [sailbot.main_algo]: Target Bearing: -59.44703266969282 -[main_algo-3] [INFO] [1746050948.458743841] [sailbot.main_algo]: Heading Difference: -104.37096733030717 -[main_algo-3] [INFO] [1746050948.459603140] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050948.460433657] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050948.461261112] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050948.462273308] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050948.463017318] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050948.502818833] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893237 Long: -76.50348265 -[main_algo-3] [INFO] [1746050948.503895572] [sailbot.main_algo]: Distance to destination: 27.421808553599305 -[vectornav-1] [INFO] [1746050948.504053586] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (197.235, -0.052, 1.975) -[main_algo-3] [INFO] [1746050948.505100743] [sailbot.main_algo]: Target Bearing: -59.34400307367204 -[main_algo-3] [INFO] [1746050948.506058941] [sailbot.main_algo]: Heading Difference: -104.47399692632791 -[main_algo-3] [INFO] [1746050948.506964525] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050948.507822494] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050948.508674679] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050948.510427362] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050948.545096019] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050948.545928116] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050948.546548559] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050948.548276935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050948.549454730] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050948.585155146] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050948.587094689] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746050948.587504458] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050948.588080826] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050948.589108313] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050948.589722049] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050948.590316064] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050948.645112144] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050948.645887814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050948.646588747] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050948.648243161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050948.649374371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050948.745065678] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050948.745692484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050948.746798864] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050948.747669868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050948.748504149] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050948.835170274] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050948.837543558] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050948.838143211] [sailbot.teensy]: Wind angle: 269 -[mux-7] [INFO] [1746050948.838512265] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050948.839189897] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050948.840095113] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050948.840716441] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050948.844477719] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050948.845095849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050948.845677548] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050948.847089331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050948.848274425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050948.945489303] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050948.946235066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050948.947099853] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050948.948461792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050948.949535577] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050948.956951061] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050948.957898104] [sailbot.main_algo]: Target Bearing: -59.34400307367204 -[main_algo-3] [INFO] [1746050948.958738494] [sailbot.main_algo]: Heading Difference: -103.42099692632792 -[main_algo-3] [INFO] [1746050948.959523057] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050948.960333880] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050948.961156603] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050948.962132220] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050948.962745943] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050949.003023774] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893243 Long: -76.50348347 -[main_algo-3] [INFO] [1746050949.003644631] [sailbot.main_algo]: Distance to destination: 27.462932277890747 -[vectornav-1] [INFO] [1746050949.004377710] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.606, -0.519, 2.692) -[main_algo-3] [INFO] [1746050949.004791705] [sailbot.main_algo]: Target Bearing: -59.231587775145115 -[main_algo-3] [INFO] [1746050949.005859593] [sailbot.main_algo]: Heading Difference: -103.53341222485489 -[main_algo-3] [INFO] [1746050949.006772482] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050949.007663565] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050949.008559079] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050949.010488318] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050949.044983389] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050949.045575651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050949.046411635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050949.047631124] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050949.048802584] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050949.085475813] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050949.087968687] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050949.088221589] [sailbot.teensy]: Wind angle: 269 -[teensy-2] [INFO] [1746050949.089134627] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050949.089315248] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050949.090005731] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050949.090899153] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050949.145150871] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050949.145800947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050949.146628528] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050949.147642117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050949.148736490] [sailbot.teensy]: Message sent to servo -[rosbridge_websocket-8] [INFO] [1746050949.198938192] [rosbridge_websocket]: Calling services in existing thread -[rosbridge_websocket-8] [INFO] [1746050949.200081207] [rosbridge_websocket]: Sending action goals in existing thread -[rosbridge_websocket-8] [INFO] [1746050949.201672317] [rosbridge_websocket]: Client connected. 2 clients total. -[mux-7] [INFO] [1746050949.245069578] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050949.245907060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050949.246471594] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050949.247926156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050949.248661075] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050949.335275773] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050949.337982430] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050949.338105309] [sailbot.teensy]: Wind angle: 269 -[mux-7] [INFO] [1746050949.338989071] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050949.339033193] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050949.339962882] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050949.340950273] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050949.344406250] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050949.344886130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050949.345850228] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050949.346628476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050949.347760791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050949.445381191] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050949.446345974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050949.447054182] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050949.448513729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050949.449048982] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050949.457035068] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050949.457988332] [sailbot.main_algo]: Target Bearing: -59.231587775145115 -[main_algo-3] [INFO] [1746050949.458829016] [sailbot.main_algo]: Heading Difference: -104.1624122248549 -[main_algo-3] [INFO] [1746050949.459618585] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050949.460447816] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050949.461231437] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050949.462239623] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050949.463077408] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050949.503029573] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893175 Long: -76.50348375 -[main_algo-3] [INFO] [1746050949.504181876] [sailbot.main_algo]: Distance to destination: 27.410927406583188 -[main_algo-3] [INFO] [1746050949.505769757] [sailbot.main_algo]: Target Bearing: -59.107536783762114 -[vectornav-1] [INFO] [1746050949.506077120] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (198.57299999999998, 1.369, 0.081) -[main_algo-3] [INFO] [1746050949.506814336] [sailbot.main_algo]: Heading Difference: -104.2864632162379 -[main_algo-3] [INFO] [1746050949.507756760] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050949.508640140] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050949.509479310] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050949.511360175] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050949.545359589] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050949.545654767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050949.546849690] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050949.547672209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050949.548802316] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050949.585071805] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050949.586836090] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746050949.587258499] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050949.587841465] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050949.588845042] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050949.589177693] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050949.589738454] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050949.645190414] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050949.645994223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050949.646662889] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050949.648100769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050949.649246273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050949.745200715] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050949.746043357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050949.746911960] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050949.747735435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050949.748217645] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050949.835309083] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050949.837051245] [sailbot.teensy]: Wind angle: 274 -[trim_sail-4] [INFO] [1746050949.837541055] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050949.837933447] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050949.838747411] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050949.838802857] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050949.839691924] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050949.844443310] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050949.845035878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050949.845581981] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050949.846776653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050949.847877756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050949.945021739] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050949.945735797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050949.946497130] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050949.947691493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050949.948403907] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050949.957060650] [sailbot.main_algo]: Wind Direction: 274 -[main_algo-3] [INFO] [1746050949.958067905] [sailbot.main_algo]: Target Bearing: -59.107536783762114 -[main_algo-3] [INFO] [1746050949.958964543] [sailbot.main_algo]: Heading Difference: -102.31946321623792 -[main_algo-3] [INFO] [1746050949.959772577] [sailbot.main_algo]: Wind Direction: 274 -[main_algo-3] [INFO] [1746050949.960617374] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050949.961407629] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050949.962537217] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050949.963033126] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050950.002840484] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893103 Long: -76.50348378 -[main_algo-3] [INFO] [1746050950.003454751] [sailbot.main_algo]: Distance to destination: 27.344387065047687 -[vectornav-1] [INFO] [1746050950.004351322] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (199.48800000000006, -3.377, 0.824) -[main_algo-3] [INFO] [1746050950.004490153] [sailbot.main_algo]: Target Bearing: -59.014591050124004 -[main_algo-3] [INFO] [1746050950.005414066] [sailbot.main_algo]: Heading Difference: -102.41240894987601 -[main_algo-3] [INFO] [1746050950.006247786] [sailbot.main_algo]: Wind Direction: 274 -[main_algo-3] [INFO] [1746050950.007066766] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050950.007838988] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050950.009460823] [sailbot.mux]: algo rudder angle: -15 -[teensy-2] [INFO] [1746050950.045426491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050950.045428543] [sailbot.mux]: Published sail angle from controller_app: 75 -[mux-7] [INFO] [1746050950.046972178] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050950.047348966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050950.048606111] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050950.085488666] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050950.087741134] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050950.089249442] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050950.089345273] [sailbot.teensy]: Wind angle: 274 -[teensy-2] [INFO] [1746050950.090329696] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050950.091175613] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050950.092048495] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050950.144814484] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050950.145492790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050950.146017251] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050950.147374961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050950.148433725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050950.245147525] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050950.245848492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050950.246943303] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050950.247887217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050950.249134466] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050950.335227090] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050950.337189004] [sailbot.teensy]: Wind angle: 273 -[trim_sail-4] [INFO] [1746050950.337699638] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050950.338842957] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050950.339079079] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050950.339242893] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050950.339617760] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050950.344649557] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050950.345657150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050950.345998705] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050950.347454561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050950.348501523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050950.445579430] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050950.446311710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050950.447412057] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050950.448764939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050950.449297031] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050950.457077230] [sailbot.main_algo]: Wind Direction: 273 -[main_algo-3] [INFO] [1746050950.458034447] [sailbot.main_algo]: Target Bearing: -59.014591050124004 -[main_algo-3] [INFO] [1746050950.458932426] [sailbot.main_algo]: Heading Difference: -101.49740894987593 -[main_algo-3] [INFO] [1746050950.459804696] [sailbot.main_algo]: Wind Direction: 273 -[main_algo-3] [INFO] [1746050950.460641080] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050950.461434733] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050950.462708262] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050950.463050416] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050950.502637089] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893064 Long: -76.50348488 -[main_algo-3] [INFO] [1746050950.503438865] [sailbot.main_algo]: Distance to destination: 27.355766560987643 -[vectornav-1] [INFO] [1746050950.503862885] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (199.68200000000002, 3.38, 4.349) -[main_algo-3] [INFO] [1746050950.504889114] [sailbot.main_algo]: Target Bearing: -58.80586951004426 -[main_algo-3] [INFO] [1746050950.505906198] [sailbot.main_algo]: Heading Difference: -101.70613048995568 -[main_algo-3] [INFO] [1746050950.507121969] [sailbot.main_algo]: Wind Direction: 273 -[main_algo-3] [INFO] [1746050950.508048040] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050950.508925884] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050950.510668667] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050950.544960246] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050950.545542944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050950.546216323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050950.547340940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050950.548409986] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050950.585213529] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050950.586860835] [sailbot.teensy]: Wind angle: 274 -[teensy-2] [INFO] [1746050950.587759684] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050950.587648423] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050950.588660348] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050950.588968792] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050950.589560326] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050950.644877466] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050950.645640307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050950.646173667] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050950.647545054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050950.648616865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050950.745460059] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050950.746243055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050950.747335267] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050950.748970828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050950.750115711] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050950.835304396] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050950.836959144] [sailbot.teensy]: Wind angle: 270 -[trim_sail-4] [INFO] [1746050950.837938687] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746050950.838871978] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050950.839479532] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050950.840431142] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050950.841317235] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050950.844317026] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050950.844791804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050950.845389230] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050950.846460810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050950.847575699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050950.945179191] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050950.945859156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050950.946637805] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050950.948281813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050950.949431699] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050950.956944188] [sailbot.main_algo]: Wind Direction: 270 -[main_algo-3] [INFO] [1746050950.957896983] [sailbot.main_algo]: Target Bearing: -58.80586951004426 -[main_algo-3] [INFO] [1746050950.958746587] [sailbot.main_algo]: Heading Difference: -101.51213048995572 -[main_algo-3] [INFO] [1746050950.959533266] [sailbot.main_algo]: Wind Direction: 270 -[main_algo-3] [INFO] [1746050950.960398839] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050950.961196769] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050950.962506474] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050950.962796195] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050951.003034467] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893051 Long: -76.50348491 -[main_algo-3] [INFO] [1746050951.003388702] [sailbot.main_algo]: Distance to destination: 27.34486730387502 -[vectornav-1] [INFO] [1746050951.004164851] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (200.04999999999995, -3.172, 0.825) -[main_algo-3] [INFO] [1746050951.004442193] [sailbot.main_algo]: Target Bearing: -58.785372110627044 -[main_algo-3] [INFO] [1746050951.005353745] [sailbot.main_algo]: Heading Difference: -101.53262788937292 -[main_algo-3] [INFO] [1746050951.006201514] [sailbot.main_algo]: Wind Direction: 270 -[main_algo-3] [INFO] [1746050951.007084049] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050951.007943151] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050951.009525416] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050951.045424416] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050951.045530444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050951.046864009] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050951.047328896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050951.048556089] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050951.085225851] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050951.087036081] [sailbot.teensy]: Wind angle: 264 -[trim_sail-4] [INFO] [1746050951.087698915] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050951.087903825] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050951.088020828] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050951.088884428] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050951.089822094] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050951.145002442] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050951.145630994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050951.146419726] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050951.147506483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050951.148690209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050951.245126197] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050951.245726535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050951.246698198] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050951.247670397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050951.248750412] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050951.335110600] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050951.337380756] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050951.337530103] [sailbot.teensy]: Wind angle: 265 -[teensy-2] [INFO] [1746050951.338427139] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050951.339183449] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050951.339347432] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050951.340219699] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050951.344432598] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050951.344877906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050951.345622810] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050951.346567178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050951.347650017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050951.445183763] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050951.445706729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050951.446761834] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050951.447976276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050951.449070211] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050951.457126562] [sailbot.main_algo]: Wind Direction: 265 -[main_algo-3] [INFO] [1746050951.458170041] [sailbot.main_algo]: Target Bearing: -58.785372110627044 -[main_algo-3] [INFO] [1746050951.459067168] [sailbot.main_algo]: Heading Difference: -101.16462788937298 -[main_algo-3] [INFO] [1746050951.459924749] [sailbot.main_algo]: Wind Direction: 265 -[main_algo-3] [INFO] [1746050951.460763694] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050951.461552003] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050951.462834748] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050951.463092179] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050951.503615182] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892938 Long: -76.503485 -[vectornav-1] [INFO] [1746050951.507232663] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (200.86199999999997, 0.647, -0.665) -[main_algo-3] [INFO] [1746050951.504630762] [sailbot.main_algo]: Distance to destination: 27.242752802698153 -[main_algo-3] [INFO] [1746050951.505711831] [sailbot.main_algo]: Target Bearing: -58.63144340491621 -[main_algo-3] [INFO] [1746050951.506983456] [sailbot.main_algo]: Heading Difference: -101.3185565950838 -[main_algo-3] [INFO] [1746050951.507954424] [sailbot.main_algo]: Wind Direction: 265 -[main_algo-3] [INFO] [1746050951.508867083] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050951.509718901] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050951.511474994] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050951.545599625] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050951.545785790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050951.547126059] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050951.547999612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050951.549174732] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050951.585178046] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050951.586696775] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746050951.587266231] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050951.588642453] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050951.589359034] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050951.589789112] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050951.590710538] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050951.644965274] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050951.645481988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050951.646296290] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050951.647330689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050951.648444538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050951.744735672] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050951.745405175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050951.745934397] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050951.747189646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050951.748343514] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050951.835483180] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050951.837459064] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746050951.838204270] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050951.838456024] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050951.839360505] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050951.840248441] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050951.840270110] [sailbot.mux]: algo sail angle: 30 -[mux-7] [INFO] [1746050951.844575949] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050951.844951443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050951.845859639] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050951.846663512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050951.847943345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050951.945418150] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050951.946016357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050951.946979777] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050951.948305348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050951.949548025] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050951.956973860] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050951.957926305] [sailbot.main_algo]: Target Bearing: -58.63144340491621 -[main_algo-3] [INFO] [1746050951.958769231] [sailbot.main_algo]: Heading Difference: -100.5065565950838 -[main_algo-3] [INFO] [1746050951.959572794] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050951.960392985] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050951.961183687] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050951.962266024] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050951.962759638] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050952.002896852] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892858 Long: -76.50348517 -[main_algo-3] [INFO] [1746050952.003748679] [sailbot.main_algo]: Distance to destination: 27.175274533016 -[main_algo-3] [INFO] [1746050952.004842155] [sailbot.main_algo]: Target Bearing: -58.50622791746941 -[vectornav-1] [INFO] [1746050952.005124342] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (201.38300000000004, -1.808, 1.519) -[main_algo-3] [INFO] [1746050952.005857881] [sailbot.main_algo]: Heading Difference: -100.63177208253063 -[main_algo-3] [INFO] [1746050952.006808235] [sailbot.main_algo]: Wind Direction: 269 -[main_algo-3] [INFO] [1746050952.007709991] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050952.008591929] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050952.010350802] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050952.045384470] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050952.045625243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050952.046628869] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050952.047441351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050952.048625067] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050952.085229887] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050952.086840032] [sailbot.teensy]: Wind angle: 272 -[trim_sail-4] [INFO] [1746050952.087454309] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050952.087723550] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050952.088628367] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050952.089476318] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050952.089471344] [sailbot.mux]: algo sail angle: 35 -[mux-7] [INFO] [1746050952.144878180] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050952.145678636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050952.146132473] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050952.147504909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050952.148585257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050952.244842868] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050952.245710351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050952.246116893] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050952.247511629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050952.248586459] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050952.335154732] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050952.337759477] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050952.338409372] [sailbot.teensy]: Wind angle: 275 -[mux-7] [INFO] [1746050952.338630483] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050952.339340062] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050952.340228384] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050952.341163323] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050952.344404086] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050952.345038300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050952.345623107] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050952.346779425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050952.347796858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050952.445328854] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050952.445811227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050952.446837268] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050952.447874507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050952.448969568] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050952.457169548] [sailbot.main_algo]: Wind Direction: 275 -[main_algo-3] [INFO] [1746050952.458216538] [sailbot.main_algo]: Target Bearing: -58.50622791746941 -[main_algo-3] [INFO] [1746050952.459108642] [sailbot.main_algo]: Heading Difference: -100.11077208253056 -[main_algo-3] [INFO] [1746050952.459948128] [sailbot.main_algo]: Wind Direction: 275 -[main_algo-3] [INFO] [1746050952.460910434] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050952.461729395] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050952.462835074] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050952.463336372] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050952.502960816] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892875 Long: -76.50348615 -[main_algo-3] [INFO] [1746050952.503954931] [sailbot.main_algo]: Distance to destination: 27.234562660407683 -[vectornav-1] [INFO] [1746050952.504268859] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (200.93499999999995, 1.985, 1.811) -[main_algo-3] [INFO] [1746050952.505129508] [sailbot.main_algo]: Target Bearing: -58.38461813093578 -[main_algo-3] [INFO] [1746050952.506106603] [sailbot.main_algo]: Heading Difference: -100.23238186906417 -[main_algo-3] [INFO] [1746050952.507009108] [sailbot.main_algo]: Wind Direction: 275 -[main_algo-3] [INFO] [1746050952.507893264] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050952.508746632] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050952.510527190] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050952.544986311] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050952.545568025] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050952.546301592] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050952.547381714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050952.548582759] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050952.585236891] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050952.587349804] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050952.587528207] [sailbot.teensy]: Wind angle: 275 -[mux-7] [INFO] [1746050952.587924765] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050952.588428592] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050952.589363896] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050952.590233952] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050952.645223292] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050952.645951371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050952.646693371] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050952.648111053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050952.649175255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050952.745433345] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050952.746454649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050952.747020042] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050952.748307563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050952.748804333] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050952.835394509] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050952.837489359] [sailbot.teensy]: Wind angle: 272 -[trim_sail-4] [INFO] [1746050952.837750858] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050952.838672081] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050952.839658004] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050952.839947445] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050952.840609950] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050952.844347406] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050952.844873620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050952.845457319] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050952.846640579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050952.847674516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050952.945192429] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050952.945930346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050952.946720917] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050952.948302584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050952.949614777] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050952.957009945] [sailbot.main_algo]: Wind Direction: 272 -[main_algo-3] [INFO] [1746050952.957969812] [sailbot.main_algo]: Target Bearing: -58.38461813093578 -[main_algo-3] [INFO] [1746050952.958816359] [sailbot.main_algo]: Heading Difference: -100.68038186906426 -[main_algo-3] [INFO] [1746050952.959599858] [sailbot.main_algo]: Wind Direction: 272 -[main_algo-3] [INFO] [1746050952.960425228] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050952.961211415] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050952.962186899] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050952.962846146] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050953.002950595] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892803 Long: -76.50348603 -[main_algo-3] [INFO] [1746050953.003988942] [sailbot.main_algo]: Distance to destination: 27.161923210757106 -[vectornav-1] [INFO] [1746050953.005481179] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (201.28700000000003, -2.223, 1.118) -[main_algo-3] [INFO] [1746050953.005496973] [sailbot.main_algo]: Target Bearing: -58.31119344818301 -[main_algo-3] [INFO] [1746050953.006541017] [sailbot.main_algo]: Heading Difference: -100.75380655181704 -[main_algo-3] [INFO] [1746050953.007466447] [sailbot.main_algo]: Wind Direction: 272 -[main_algo-3] [INFO] [1746050953.008388846] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050953.009276655] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050953.011086452] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050953.045072371] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050953.045889828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050953.046675707] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050953.047948242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050953.049005883] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050953.085236965] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050953.087351483] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050953.087364606] [sailbot.teensy]: Wind angle: 271 -[teensy-2] [INFO] [1746050953.088397369] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050953.088766876] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050953.089366381] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050953.090298388] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050953.144968308] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050953.145713316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050953.146212627] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050953.147752129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050953.148763046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050953.244872107] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050953.245588322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050953.246258189] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050953.247654159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050953.248696251] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050953.335224019] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050953.336968954] [sailbot.teensy]: Wind angle: 271 -[teensy-2] [INFO] [1746050953.338043935] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050953.337795457] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050953.338794481] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050953.338977509] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050953.339893500] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050953.344396563] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050953.344961482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050953.345506168] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050953.346670402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050953.347634564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050953.445317600] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050953.446059579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050953.447121200] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050953.448067749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050953.448603176] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050953.457075865] [sailbot.main_algo]: Wind Direction: 271 -[main_algo-3] [INFO] [1746050953.458059937] [sailbot.main_algo]: Target Bearing: -58.31119344818301 -[main_algo-3] [INFO] [1746050953.458892184] [sailbot.main_algo]: Heading Difference: -100.40180655181695 -[main_algo-3] [INFO] [1746050953.459685842] [sailbot.main_algo]: Wind Direction: 271 -[main_algo-3] [INFO] [1746050953.460513860] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050953.461303312] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050953.462399438] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050953.462990480] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050953.502370890] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689274 Long: -76.50348627 -[main_algo-3] [INFO] [1746050953.503162657] [sailbot.main_algo]: Distance to destination: 27.113764370858455 -[vectornav-1] [INFO] [1746050953.503478105] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (200.82799999999997, 1.215, 1.171) -[main_algo-3] [INFO] [1746050953.504237425] [sailbot.main_algo]: Target Bearing: -58.19621985635489 -[main_algo-3] [INFO] [1746050953.505201327] [sailbot.main_algo]: Heading Difference: -100.51678014364506 -[main_algo-3] [INFO] [1746050953.506119184] [sailbot.main_algo]: Wind Direction: 271 -[main_algo-3] [INFO] [1746050953.507015776] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050953.507855241] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050953.509549697] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050953.545432804] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050953.545507712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050953.546750769] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050953.547399553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050953.548560227] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050953.585250688] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050953.587112939] [sailbot.teensy]: Wind angle: 272 -[teensy-2] [INFO] [1746050953.588048736] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050953.587421834] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050953.588949006] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050953.589006348] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050953.589842542] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050953.644823744] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050953.645352270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050953.646014153] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050953.647092489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050953.648251210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050953.745403770] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050953.746122516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050953.747166748] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050953.748298912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050953.749439785] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050953.835058747] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050953.836930941] [sailbot.teensy]: Wind angle: 273 -[teensy-2] [INFO] [1746050953.837818784] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050953.837043078] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050953.838614199] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050953.839081441] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050953.839992296] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050953.844466906] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050953.845045287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050953.845599033] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050953.846779870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050953.847888920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050953.944993075] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050953.945697536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050953.946408151] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050953.947941121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050953.949069514] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050953.957005730] [sailbot.main_algo]: Wind Direction: 273 -[main_algo-3] [INFO] [1746050953.958017481] [sailbot.main_algo]: Target Bearing: -58.19621985635489 -[main_algo-3] [INFO] [1746050953.958895789] [sailbot.main_algo]: Heading Difference: -100.97578014364512 -[main_algo-3] [INFO] [1746050953.959756061] [sailbot.main_algo]: Wind Direction: 273 -[main_algo-3] [INFO] [1746050953.960604733] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050953.961430718] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050953.962461416] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050953.962985507] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050954.002939946] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892663 Long: -76.50348639 -[main_algo-3] [INFO] [1746050954.003669653] [sailbot.main_algo]: Distance to destination: 27.047301267535733 -[vectornav-1] [INFO] [1746050954.004045254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (201.212, -2.149, 3.204) -[main_algo-3] [INFO] [1746050954.004716158] [sailbot.main_algo]: Target Bearing: -58.08047275241943 -[main_algo-3] [INFO] [1746050954.005719124] [sailbot.main_algo]: Heading Difference: -101.09152724758059 -[main_algo-3] [INFO] [1746050954.006568189] [sailbot.main_algo]: Wind Direction: 273 -[main_algo-3] [INFO] [1746050954.007386646] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050954.008206457] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050954.009798334] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050954.045213855] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050954.045823361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050954.046785130] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050954.047809609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050954.049054341] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050954.085326071] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050954.087116155] [sailbot.teensy]: Wind angle: 273 -[teensy-2] [INFO] [1746050954.088056875] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050954.087729555] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050954.089013824] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050954.089753471] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050954.089860131] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050954.145033078] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050954.146022481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050954.146430876] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050954.148031237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050954.149063034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050954.245396752] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050954.246207703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050954.246937495] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050954.248401759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050954.249453749] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050954.335362256] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050954.337811477] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050954.338609620] [sailbot.teensy]: Wind angle: 272 -[teensy-2] [INFO] [1746050954.339563196] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050954.340092666] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050954.340528124] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050954.341398328] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050954.344274630] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050954.344911085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050954.345384829] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050954.346591112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050954.347759176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050954.445177557] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050954.445848594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050954.446754358] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050954.447725283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050954.448270450] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050954.457093571] [sailbot.main_algo]: Wind Direction: 272 -[main_algo-3] [INFO] [1746050954.458090386] [sailbot.main_algo]: Target Bearing: -58.08047275241943 -[main_algo-3] [INFO] [1746050954.458972472] [sailbot.main_algo]: Heading Difference: -100.70752724758057 -[main_algo-3] [INFO] [1746050954.459829347] [sailbot.main_algo]: Wind Direction: 272 -[main_algo-3] [INFO] [1746050954.460670468] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050954.461565505] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050954.463052905] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050954.463122190] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050954.502894519] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689265 Long: -76.5034871 -[main_algo-3] [INFO] [1746050954.503776447] [sailbot.main_algo]: Distance to destination: 27.066982681509643 -[vectornav-1] [INFO] [1746050954.504402944] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (199.85799999999995, 1.109, 3.134) -[main_algo-3] [INFO] [1746050954.504889590] [sailbot.main_algo]: Target Bearing: -57.96014145459183 -[main_algo-3] [INFO] [1746050954.505911662] [sailbot.main_algo]: Heading Difference: -100.82785854540816 -[main_algo-3] [INFO] [1746050954.506816368] [sailbot.main_algo]: Wind Direction: 272 -[main_algo-3] [INFO] [1746050954.507699130] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050954.508551919] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050954.510296044] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050954.544940803] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050954.545750573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050954.546189691] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050954.547666839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050954.548702744] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050954.585262069] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050954.587002446] [sailbot.teensy]: Wind angle: 272 -[trim_sail-4] [INFO] [1746050954.587482532] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050954.587983538] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050954.588941961] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050954.588962505] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050954.589842340] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050954.644801470] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050954.645539285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050954.646112813] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050954.647368820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050954.648589436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050954.745141490] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050954.745822911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050954.746860060] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050954.748144406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050954.749386899] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050954.835275770] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050954.837668615] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050954.837883521] [sailbot.teensy]: Wind angle: 273 -[mux-7] [INFO] [1746050954.838285340] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050954.838880779] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050954.839819525] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050954.840737613] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050954.844318289] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050954.844896040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050954.846007690] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050954.846771472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050954.847889559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050954.944838337] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050954.945516322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050954.946099669] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050954.947365663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050954.948458191] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050954.956945162] [sailbot.main_algo]: Wind Direction: 273 -[main_algo-3] [INFO] [1746050954.957909424] [sailbot.main_algo]: Target Bearing: -57.96014145459183 -[main_algo-3] [INFO] [1746050954.958779785] [sailbot.main_algo]: Heading Difference: -102.1818585454082 -[main_algo-3] [INFO] [1746050954.959585584] [sailbot.main_algo]: Wind Direction: 273 -[main_algo-3] [INFO] [1746050954.960427532] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050954.961227969] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050954.962245253] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050954.962809538] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050955.003503296] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892601 Long: -76.5034872 -[main_algo-3] [INFO] [1746050955.003753127] [sailbot.main_algo]: Distance to destination: 27.02588126843672 -[main_algo-3] [INFO] [1746050955.004903053] [sailbot.main_algo]: Target Bearing: -57.88260343460076 -[vectornav-1] [INFO] [1746050955.005214015] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (199.48000000000002, -0.802, 1.983) -[main_algo-3] [INFO] [1746050955.005898599] [sailbot.main_algo]: Heading Difference: -102.2593965653993 -[main_algo-3] [INFO] [1746050955.006841396] [sailbot.main_algo]: Wind Direction: 273 -[main_algo-3] [INFO] [1746050955.007706595] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050955.008565294] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050955.010260186] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050955.045184171] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050955.045920691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050955.047050149] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050955.047864571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050955.049021591] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050955.085271917] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050955.087101786] [sailbot.teensy]: Wind angle: 273 -[trim_sail-4] [INFO] [1746050955.087545847] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050955.088116615] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050955.089029434] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050955.088986144] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050955.089892302] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050955.144780085] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050955.145448240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050955.145925769] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050955.147165775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050955.148508761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050955.244786475] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050955.245340762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050955.245954769] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050955.247026461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050955.248087438] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050955.335181278] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050955.337750893] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050955.337866053] [sailbot.teensy]: Wind angle: 272 -[mux-7] [INFO] [1746050955.338219567] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050955.338832359] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050955.339749912] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050955.340596284] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050955.344243353] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050955.344910671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050955.345377361] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050955.346631185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050955.347675144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050955.444680171] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050955.445253782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050955.445841348] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050955.446981524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050955.448060902] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050955.457157847] [sailbot.main_algo]: Wind Direction: 272 -[main_algo-3] [INFO] [1746050955.458123293] [sailbot.main_algo]: Target Bearing: -57.88260343460076 -[main_algo-3] [INFO] [1746050955.458975438] [sailbot.main_algo]: Heading Difference: -102.63739656539923 -[main_algo-3] [INFO] [1746050955.459770959] [sailbot.main_algo]: Wind Direction: 272 -[main_algo-3] [INFO] [1746050955.460592689] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050955.461383693] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050955.462385637] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050955.463128938] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050955.502708011] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892514 Long: -76.50348693 -[vectornav-1] [INFO] [1746050955.503874257] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (199.024, -0.896, -0.199) -[main_algo-3] [INFO] [1746050955.504285887] [sailbot.main_algo]: Distance to destination: 26.932857653367233 -[main_algo-3] [INFO] [1746050955.505443302] [sailbot.main_algo]: Target Bearing: -57.80980377844454 -[main_algo-3] [INFO] [1746050955.506384734] [sailbot.main_algo]: Heading Difference: -102.71019622155546 -[main_algo-3] [INFO] [1746050955.507251995] [sailbot.main_algo]: Wind Direction: 272 -[main_algo-3] [INFO] [1746050955.508098756] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050955.508992529] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050955.510761433] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050955.544917319] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050955.545749367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050955.546187070] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050955.547704584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050955.548835653] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050955.585110190] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050955.587122040] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050955.587361277] [sailbot.teensy]: Wind angle: 272 -[mux-7] [INFO] [1746050955.587803291] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050955.588247704] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050955.589068055] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050955.589847138] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050955.645220723] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050955.646049344] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050955.646691648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050955.648477645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050955.649539271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050955.744895480] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050955.745772770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050955.746173316] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050955.747761460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050955.748658247] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050955.835173142] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050955.837353892] [sailbot.teensy]: Wind angle: 272 -[trim_sail-4] [INFO] [1746050955.837375956] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050955.838381421] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050955.838721070] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050955.839260508] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050955.840229479] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050955.844509220] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050955.845054075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050955.845727779] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050955.846804806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050955.847810396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050955.945006008] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050955.945741882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050955.946424492] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050955.947658053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050955.948788080] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050955.956977006] [sailbot.main_algo]: Wind Direction: 272 -[main_algo-3] [INFO] [1746050955.957945069] [sailbot.main_algo]: Target Bearing: -57.80980377844454 -[main_algo-3] [INFO] [1746050955.958789200] [sailbot.main_algo]: Heading Difference: -103.16619622155548 -[main_algo-3] [INFO] [1746050955.959573222] [sailbot.main_algo]: Wind Direction: 272 -[main_algo-3] [INFO] [1746050955.960400114] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050955.961189889] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050955.962297068] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050955.962769542] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050956.002864772] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892444 Long: -76.5034869 -[main_algo-3] [INFO] [1746050956.003286758] [sailbot.main_algo]: Distance to destination: 26.866490347702165 -[vectornav-1] [INFO] [1746050956.003877447] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (198.00400000000002, -0.055, 1.907) -[main_algo-3] [INFO] [1746050956.004257761] [sailbot.main_algo]: Target Bearing: -57.72341053681732 -[main_algo-3] [INFO] [1746050956.005157164] [sailbot.main_algo]: Heading Difference: -103.25258946318269 -[main_algo-3] [INFO] [1746050956.006048083] [sailbot.main_algo]: Wind Direction: 272 -[main_algo-3] [INFO] [1746050956.006895461] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050956.007696334] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050956.009290217] [sailbot.mux]: algo rudder angle: -15 -[teensy-2] [INFO] [1746050956.045511020] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050956.045578836] [sailbot.mux]: Published sail angle from controller_app: 75 -[mux-7] [INFO] [1746050956.047029740] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050956.047449005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050956.048570682] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050956.085433831] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050956.087309457] [sailbot.teensy]: Wind angle: 272 -[teensy-2] [INFO] [1746050956.088336858] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050956.088634155] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050956.089250210] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050956.089680968] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050956.090156117] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050956.144952262] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050956.145547836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050956.146257982] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050956.147430153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050956.148702729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050956.244950435] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050956.245747219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050956.246305614] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050956.247563212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050956.248750212] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050956.335207410] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050956.337596436] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050956.338073505] [sailbot.teensy]: Wind angle: 272 -[mux-7] [INFO] [1746050956.338257054] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050956.338750143] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050956.339129026] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050956.339488832] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050956.344338772] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050956.344985404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050956.345711895] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050956.346673669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050956.347832795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050956.445001927] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050956.445795562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050956.446674808] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050956.447763602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050956.448872919] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050956.457029647] [sailbot.main_algo]: Wind Direction: 272 -[main_algo-3] [INFO] [1746050956.458041668] [sailbot.main_algo]: Target Bearing: -57.72341053681732 -[main_algo-3] [INFO] [1746050956.458897940] [sailbot.main_algo]: Heading Difference: -104.27258946318267 -[main_algo-3] [INFO] [1746050956.459684493] [sailbot.main_algo]: Wind Direction: 272 -[main_algo-3] [INFO] [1746050956.460489783] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050956.461287671] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050956.462328240] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050956.463172462] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050956.503170593] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892486 Long: -76.50348745 -[main_algo-3] [INFO] [1746050956.503523254] [sailbot.main_algo]: Distance to destination: 26.930305417049457 -[vectornav-1] [INFO] [1746050956.504392483] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.688, -1.72, 4.174) -[main_algo-3] [INFO] [1746050956.504553618] [sailbot.main_algo]: Target Bearing: -57.697460409827826 -[main_algo-3] [INFO] [1746050956.505472104] [sailbot.main_algo]: Heading Difference: -104.29853959017214 -[main_algo-3] [INFO] [1746050956.506335784] [sailbot.main_algo]: Wind Direction: 272 -[main_algo-3] [INFO] [1746050956.507222489] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050956.508037357] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050956.509640315] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050956.544965136] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050956.545633132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050956.546402940] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050956.547618402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050956.548765977] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050956.585432219] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050956.587719769] [sailbot.teensy]: Wind angle: 272 -[trim_sail-4] [INFO] [1746050956.587974426] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050956.588685304] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050956.589557456] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050956.589615712] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050956.590422153] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050956.644884990] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050956.645553412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050956.646154993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050956.647464341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050956.648312817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050956.745037817] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050956.745694281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050956.746443032] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050956.747629947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050956.748683604] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050956.835222676] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050956.836898159] [sailbot.teensy]: Wind angle: 272 -[teensy-2] [INFO] [1746050956.837809670] [sailbot.teensy]: Actual sail angle: 75 -[trim_sail-4] [INFO] [1746050956.837644216] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050956.838673537] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050956.839108838] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050956.838695643] [sailbot.mux]: algo sail angle: 35 -[mux-7] [INFO] [1746050956.844353987] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050956.845024959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050956.845469231] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050956.846833324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050956.847826037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050956.945187198] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050956.946124385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050956.947148936] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050956.948595237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050956.949882014] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050956.957178321] [sailbot.main_algo]: Wind Direction: 272 -[main_algo-3] [INFO] [1746050956.958238929] [sailbot.main_algo]: Target Bearing: -57.697460409827826 -[main_algo-3] [INFO] [1746050956.959168234] [sailbot.main_algo]: Heading Difference: -105.61453959017217 -[main_algo-3] [INFO] [1746050956.960025789] [sailbot.main_algo]: Wind Direction: 272 -[main_algo-3] [INFO] [1746050956.960922867] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050956.961770918] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050956.963119934] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050956.963868787] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050957.002859499] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892415 Long: -76.5034872 -[main_algo-3] [INFO] [1746050957.004051423] [sailbot.main_algo]: Distance to destination: 26.85313588132192 -[main_algo-3] [INFO] [1746050957.005131319] [sailbot.main_algo]: Target Bearing: -57.6416970570431 -[main_algo-3] [INFO] [1746050957.006098314] [sailbot.main_algo]: Heading Difference: -105.67030294295694 -[vectornav-1] [INFO] [1746050957.006365790] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (199.84199999999998, 2.533, -0.472) -[main_algo-3] [INFO] [1746050957.007086346] [sailbot.main_algo]: Wind Direction: 272 -[main_algo-3] [INFO] [1746050957.008022155] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050957.008913701] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050957.010664379] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050957.045106181] [sailbot.mux]: Published sail angle from controller_app: 75 -[teensy-2] [INFO] [1746050957.045752066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050957.046427144] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050957.047928430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:75, rudder: 0 -[teensy-2] [INFO] [1746050957.049500881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050957.050473160] [sailbot.mux]: controller_app sail angle: 45 -[teensy-2] [INFO] [1746050957.085099815] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050957.087046710] [sailbot.teensy]: Wind angle: 272 -[trim_sail-4] [INFO] [1746050957.087179459] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050957.087940552] [sailbot.teensy]: Actual sail angle: 75 -[mux-7] [INFO] [1746050957.088592242] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050957.088795386] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050957.089707366] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050957.144966555] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050957.145980470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050957.146692051] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050957.147986904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050957.149154715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050957.245055822] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050957.245620910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050957.246419200] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050957.247543587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050957.248668045] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050957.335191335] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050957.337472299] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746050957.337909036] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050957.337981600] [sailbot.teensy]: Wind angle: 272 -[teensy-2] [INFO] [1746050957.339186062] [sailbot.teensy]: Actual sail angle: 75 -[teensy-2] [INFO] [1746050957.340135786] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050957.341008755] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050957.344375164] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050957.344928858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050957.345482444] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050957.346685749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050957.347735170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050957.445467848] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050957.446485396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050957.447059215] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050957.448251514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050957.448826166] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050957.456937960] [sailbot.main_algo]: Wind Direction: 272 -[main_algo-3] [INFO] [1746050957.457903325] [sailbot.main_algo]: Target Bearing: -57.6416970570431 -[main_algo-3] [INFO] [1746050957.458780090] [sailbot.main_algo]: Heading Difference: -102.51630294295694 -[main_algo-3] [INFO] [1746050957.459571784] [sailbot.main_algo]: Wind Direction: 272 -[main_algo-3] [INFO] [1746050957.460397178] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050957.461184068] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050957.462403645] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050957.462883482] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050957.503547627] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689229 Long: -76.50348612 -[main_algo-3] [INFO] [1746050957.503904064] [sailbot.main_algo]: Distance to destination: 26.688355675701967 -[vectornav-1] [INFO] [1746050957.504715064] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (201.207, -2.811, -3.444) -[main_algo-3] [INFO] [1746050957.505011455] [sailbot.main_algo]: Target Bearing: -57.63695434507826 -[main_algo-3] [INFO] [1746050957.506045480] [sailbot.main_algo]: Heading Difference: -102.52104565492175 -[main_algo-3] [INFO] [1746050957.506962219] [sailbot.main_algo]: Wind Direction: 272 -[main_algo-3] [INFO] [1746050957.507825084] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050957.508708501] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050957.510355732] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050957.545168354] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050957.545946493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050957.546520883] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050957.547882298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050957.549042272] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050957.585458960] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050957.587561297] [sailbot.teensy]: Wind angle: 272 -[trim_sail-4] [INFO] [1746050957.587896222] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050957.588548948] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050957.589435689] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050957.589749220] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050957.590305300] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050957.645388511] [sailbot.mux]: Published sail angle from controller_app: 45 -[mux-7] [INFO] [1746050957.646962019] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050957.647063489] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050957.649094686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050957.650131291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050957.745100228] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050957.745639880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050957.746631049] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050957.747611510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050957.748760994] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050957.835128649] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050957.836717093] [sailbot.teensy]: Wind angle: 273 -[trim_sail-4] [INFO] [1746050957.837533250] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050957.837559908] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050957.838484230] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050957.838871043] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050957.839336552] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050957.844352629] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050957.844855815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050957.845391829] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050957.846387748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050957.847426418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050957.945165522] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050957.945821721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050957.946829376] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050957.947969808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050957.948554080] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050957.957166771] [sailbot.main_algo]: Wind Direction: 273 -[main_algo-3] [INFO] [1746050957.958231348] [sailbot.main_algo]: Target Bearing: -57.63695434507826 -[main_algo-3] [INFO] [1746050957.959179983] [sailbot.main_algo]: Heading Difference: -101.15604565492174 -[main_algo-3] [INFO] [1746050957.960002524] [sailbot.main_algo]: Wind Direction: 273 -[main_algo-3] [INFO] [1746050957.960840792] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050957.961622395] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050957.962646107] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050957.963163718] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050958.002806516] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892276 Long: -76.50348649 -[main_algo-3] [INFO] [1746050958.003802289] [sailbot.main_algo]: Distance to destination: 26.692130866970032 -[vectornav-1] [INFO] [1746050958.004143110] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (199.10500000000002, -1.4, 2.092) -[main_algo-3] [INFO] [1746050958.004993848] [sailbot.main_algo]: Target Bearing: -57.56406125801929 -[main_algo-3] [INFO] [1746050958.006011070] [sailbot.main_algo]: Heading Difference: -101.2289387419807 -[main_algo-3] [INFO] [1746050958.006980845] [sailbot.main_algo]: Wind Direction: 273 -[main_algo-3] [INFO] [1746050958.007919501] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050958.008832829] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050958.010598106] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050958.045096136] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050958.045862119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050958.046500054] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050958.048573064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050958.049618880] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050958.085139693] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050958.086683704] [sailbot.teensy]: Wind angle: 274 -[trim_sail-4] [INFO] [1746050958.087498682] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050958.087520400] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050958.088433124] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050958.088976844] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050958.089343643] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050958.145171668] [sailbot.mux]: Published sail angle from controller_app: 45 -[teensy-2] [INFO] [1746050958.145925069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050958.147384064] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050958.147925214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 0 -[teensy-2] [INFO] [1746050958.148526978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050958.148565803] [sailbot.mux]: controller_app sail angle: 22 -[mux-7] [INFO] [1746050958.245252670] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050958.246062819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050958.246780290] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050958.248307281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050958.249345942] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050958.335141661] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050958.337719657] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050958.338475806] [sailbot.teensy]: Wind angle: 273 -[mux-7] [INFO] [1746050958.339253156] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050958.339393210] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746050958.340360611] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050958.341337588] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050958.344382652] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050958.344899900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050958.345515943] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050958.346554232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050958.347680589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050958.444918314] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050958.445745625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050958.446217396] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050958.447731682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050958.448834960] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050958.457177789] [sailbot.main_algo]: Wind Direction: 273 -[main_algo-3] [INFO] [1746050958.458309507] [sailbot.main_algo]: Target Bearing: -57.56406125801929 -[main_algo-3] [INFO] [1746050958.459237742] [sailbot.main_algo]: Heading Difference: -103.33093874198067 -[main_algo-3] [INFO] [1746050958.460105674] [sailbot.main_algo]: Wind Direction: 273 -[main_algo-3] [INFO] [1746050958.460949882] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050958.461715812] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050958.462703078] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050958.463287259] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050958.502952649] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892272 Long: -76.50348729 -[main_algo-3] [INFO] [1746050958.504009185] [sailbot.main_algo]: Distance to destination: 26.724744342175697 -[vectornav-1] [INFO] [1746050958.504228075] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (196.385, 2.437, 2.513) -[main_algo-3] [INFO] [1746050958.505243829] [sailbot.main_algo]: Target Bearing: -57.441148314287474 -[main_algo-3] [INFO] [1746050958.506204737] [sailbot.main_algo]: Heading Difference: -103.4538516857125 -[main_algo-3] [INFO] [1746050958.507309147] [sailbot.main_algo]: Wind Direction: 273 -[main_algo-3] [INFO] [1746050958.508209061] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050958.509053594] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050958.510761681] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050958.545115217] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050958.545794672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050958.546604154] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050958.547764618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050958.548936829] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050958.585039046] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050958.587019069] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050958.587949633] [sailbot.teensy]: Wind angle: 271 -[mux-7] [INFO] [1746050958.588225347] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050958.588855758] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050958.589752896] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050958.590642602] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050958.645082783] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050958.645830339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050958.646602677] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050958.648008773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050958.649045639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050958.745346506] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050958.746040834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050958.747076770] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050958.748172921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050958.749472297] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050958.835197643] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050958.836773662] [sailbot.teensy]: Wind angle: 270 -[teensy-2] [INFO] [1746050958.837657174] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050958.837253795] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050958.838516398] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050958.838693385] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050958.839198322] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050958.844320809] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050958.845088863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050958.845656008] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050958.846782680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050958.847966055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050958.945556622] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050958.946029521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050958.947112914] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050958.948354721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050958.949209951] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050958.957049464] [sailbot.main_algo]: Wind Direction: 270 -[main_algo-3] [INFO] [1746050958.958046223] [sailbot.main_algo]: Target Bearing: -57.441148314287474 -[main_algo-3] [INFO] [1746050958.958936729] [sailbot.main_algo]: Heading Difference: -106.17385168571252 -[main_algo-3] [INFO] [1746050958.959770551] [sailbot.main_algo]: Wind Direction: 270 -[main_algo-3] [INFO] [1746050958.960604340] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050958.961412325] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050958.962428477] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050958.963077085] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050959.002680370] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892187 Long: -76.50348754 -[main_algo-3] [INFO] [1746050959.003613325] [sailbot.main_algo]: Distance to destination: 26.65755067400837 -[vectornav-1] [INFO] [1746050959.004017837] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (194.41599999999994, -2.186, -0.151) -[main_algo-3] [INFO] [1746050959.004696775] [sailbot.main_algo]: Target Bearing: -57.292133288721146 -[main_algo-3] [INFO] [1746050959.005668097] [sailbot.main_algo]: Heading Difference: -106.32286671127883 -[main_algo-3] [INFO] [1746050959.006586442] [sailbot.main_algo]: Wind Direction: 270 -[main_algo-3] [INFO] [1746050959.007491347] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050959.008377596] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050959.010199751] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050959.045163811] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050959.045741343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050959.046671409] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050959.048075419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050959.049216014] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050959.085460011] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050959.087272130] [sailbot.teensy]: Wind angle: 269 -[trim_sail-4] [INFO] [1746050959.088180662] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050959.088276631] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050959.089150264] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050959.089071758] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050959.090018583] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050959.144894864] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050959.145705065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050959.146162793] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050959.147625043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050959.148672658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050959.244875596] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050959.245631959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050959.246403111] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050959.247534306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050959.248170086] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050959.335404059] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050959.337298536] [sailbot.teensy]: Wind angle: 266 -[trim_sail-4] [INFO] [1746050959.337782924] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746050959.338279611] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050959.339245651] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050959.339992958] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746050959.340274728] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050959.344406477] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050959.344921651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050959.345584157] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050959.346676431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050959.348048526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050959.444956818] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050959.446022632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050959.446424346] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050959.447978436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050959.449142847] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050959.457010685] [sailbot.main_algo]: Wind Direction: 266 -[main_algo-3] [INFO] [1746050959.458003781] [sailbot.main_algo]: Target Bearing: -57.292133288721146 -[main_algo-3] [INFO] [1746050959.458890796] [sailbot.main_algo]: Heading Difference: -108.29186671127889 -[main_algo-3] [INFO] [1746050959.459746935] [sailbot.main_algo]: Wind Direction: 266 -[main_algo-3] [INFO] [1746050959.460554766] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050959.461351385] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050959.462322418] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050959.463519288] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050959.502395008] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892089 Long: -76.50348795 -[main_algo-3] [INFO] [1746050959.503383351] [sailbot.main_algo]: Distance to destination: 26.585890053979256 -[vectornav-1] [INFO] [1746050959.503511594] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (189.813, 0.011, -0.868) -[main_algo-3] [INFO] [1746050959.504520817] [sailbot.main_algo]: Target Bearing: -57.101484381956034 -[main_algo-3] [INFO] [1746050959.505527081] [sailbot.main_algo]: Heading Difference: -108.48251561804403 -[main_algo-3] [INFO] [1746050959.506467075] [sailbot.main_algo]: Wind Direction: 266 -[main_algo-3] [INFO] [1746050959.507361906] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050959.508238763] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050959.509958346] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050959.545013688] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050959.545756984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050959.546275893] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050959.547760638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050959.548863029] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050959.585132644] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050959.586768848] [sailbot.teensy]: Wind angle: 261 -[trim_sail-4] [INFO] [1746050959.587415059] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050959.587751799] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050959.588712506] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050959.588841215] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050959.589617977] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050959.645185209] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050959.646031814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050959.646697019] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050959.648568349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050959.649587517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050959.745305997] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050959.746064724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050959.746878224] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050959.748902714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050959.749930688] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050959.835454491] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050959.837396947] [sailbot.teensy]: Wind angle: 260 -[trim_sail-4] [INFO] [1746050959.838250775] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050959.838492265] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050959.839410872] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050959.839231792] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050959.840297469] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050959.844459055] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050959.845029932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050959.845562324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050959.846700405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050959.847707409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050959.944975195] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050959.945760006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050959.946249449] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050959.947597634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050959.948643738] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050959.956973456] [sailbot.main_algo]: Wind Direction: 260 -[main_algo-3] [INFO] [1746050959.957914510] [sailbot.main_algo]: Target Bearing: -57.101484381956034 -[main_algo-3] [INFO] [1746050959.958735779] [sailbot.main_algo]: Heading Difference: -113.08551561804398 -[main_algo-3] [INFO] [1746050959.959514898] [sailbot.main_algo]: Wind Direction: 260 -[main_algo-3] [INFO] [1746050959.960336971] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050959.961122866] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050959.962137278] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050959.962769628] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050960.002852962] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689202 Long: -76.50348934 -[main_algo-3] [INFO] [1746050960.003823999] [sailbot.main_algo]: Distance to destination: 26.586419014138684 -[vectornav-1] [INFO] [1746050960.004129545] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (185.85000000000002, -2.938, 0.039) -[main_algo-3] [INFO] [1746050960.004968569] [sailbot.main_algo]: Target Bearing: -56.804941138494975 -[main_algo-3] [INFO] [1746050960.005934792] [sailbot.main_algo]: Heading Difference: -113.38205886150502 -[main_algo-3] [INFO] [1746050960.006854030] [sailbot.main_algo]: Wind Direction: 260 -[main_algo-3] [INFO] [1746050960.007737889] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050960.008626197] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050960.010531371] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050960.045084083] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050960.045626173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050960.046534611] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050960.047625833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050960.048721639] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050960.085101069] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050960.086666134] [sailbot.teensy]: Wind angle: 258 -[trim_sail-4] [INFO] [1746050960.087217273] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050960.087552582] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050960.088476869] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050960.088961667] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050960.089360674] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050960.144935980] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050960.145738336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050960.146216725] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050960.147669680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050960.148707750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050960.245298388] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050960.245983978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050960.247445427] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050960.248185885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050960.249334802] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050960.335479125] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050960.338059840] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050960.338881404] [sailbot.teensy]: Wind angle: 259 -[mux-7] [INFO] [1746050960.338954731] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050960.339849196] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050960.340722315] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050960.341548333] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050960.344512123] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050960.345098315] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050960.345741552] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050960.346864083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050960.348200181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050960.445111688] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050960.445750140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050960.446552962] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050960.447817303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050960.448331119] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050960.457004156] [sailbot.main_algo]: Wind Direction: 259 -[main_algo-3] [INFO] [1746050960.457951351] [sailbot.main_algo]: Target Bearing: -56.804941138494975 -[main_algo-3] [INFO] [1746050960.458816662] [sailbot.main_algo]: Heading Difference: -117.34505886150498 -[main_algo-3] [INFO] [1746050960.459608641] [sailbot.main_algo]: Wind Direction: 259 -[main_algo-3] [INFO] [1746050960.460419214] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050960.461204925] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050960.462298842] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050960.462771894] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050960.503045119] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689203 Long: -76.5034911 -[main_algo-3] [INFO] [1746050960.504436402] [sailbot.main_algo]: Distance to destination: 26.67720582818342 -[vectornav-1] [INFO] [1746050960.504987966] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (180.78499999999997, 3.035, 1.238) -[main_algo-3] [INFO] [1746050960.505701302] [sailbot.main_algo]: Target Bearing: -56.56132394050972 -[main_algo-3] [INFO] [1746050960.506687978] [sailbot.main_algo]: Heading Difference: -117.58867605949024 -[main_algo-3] [INFO] [1746050960.507620067] [sailbot.main_algo]: Wind Direction: 259 -[main_algo-3] [INFO] [1746050960.508638250] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050960.509525210] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050960.511311892] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050960.544963050] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050960.545638574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050960.546232896] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050960.547491458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050960.548666892] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050960.585034011] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050960.586523764] [sailbot.teensy]: Wind angle: 258 -[trim_sail-4] [INFO] [1746050960.587059892] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050960.587367315] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050960.587443088] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050960.588217513] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050960.589051051] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050960.645359427] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050960.646006376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050960.646921327] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050960.648142504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050960.649270941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050960.744983679] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050960.745810714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050960.746661722] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050960.747699615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050960.748540187] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050960.835111624] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050960.836997971] [sailbot.teensy]: Wind angle: 254 -[teensy-2] [INFO] [1746050960.838032721] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050960.838686978] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050960.838808362] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050960.839112822] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050960.839196582] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050960.844425487] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050960.844890047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050960.845610011] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050960.846592052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050960.847603717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050960.945700678] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050960.946120256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050960.947720620] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050960.948479946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050960.949700091] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050960.957033959] [sailbot.main_algo]: Wind Direction: 254 -[main_algo-3] [INFO] [1746050960.958089467] [sailbot.main_algo]: Target Bearing: -56.56132394050972 -[main_algo-3] [INFO] [1746050960.959009359] [sailbot.main_algo]: Heading Difference: -122.6536760594903 -[main_algo-3] [INFO] [1746050960.959903843] [sailbot.main_algo]: Wind Direction: 254 -[main_algo-3] [INFO] [1746050960.960754089] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050960.961574600] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050960.962588818] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050960.963163713] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050961.003233637] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891965 Long: -76.50349217 -[main_algo-3] [INFO] [1746050961.003590768] [sailbot.main_algo]: Distance to destination: 26.667694699336597 -[vectornav-1] [INFO] [1746050961.004454791] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (176.56799999999998, -1.489, -1.211) -[main_algo-3] [INFO] [1746050961.005090801] [sailbot.main_algo]: Target Bearing: -56.31771472562544 -[main_algo-3] [INFO] [1746050961.006051080] [sailbot.main_algo]: Heading Difference: -122.89728527437455 -[main_algo-3] [INFO] [1746050961.006969025] [sailbot.main_algo]: Wind Direction: 254 -[main_algo-3] [INFO] [1746050961.007858992] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050961.008749690] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050961.010431877] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050961.038463269] [sailbot.mux]: controller_app rudder angle: -8 -[mux-7] [INFO] [1746050961.044242416] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050961.044927448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050961.045358675] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050961.046691973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050961.047811876] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050961.085296403] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050961.087164392] [sailbot.teensy]: Wind angle: 253 -[teensy-2] [INFO] [1746050961.088122376] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050961.087745970] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050961.089051522] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050961.089101423] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050961.089972911] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050961.145015055] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050961.145823784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050961.146305100] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050961.147787270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050961.148890466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050961.244725066] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050961.245381943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050961.245922900] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050961.247307161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050961.248438333] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050961.335216102] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050961.337222689] [sailbot.teensy]: Wind angle: 248 -[trim_sail-4] [INFO] [1746050961.337466958] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050961.338177948] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050961.339004537] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050961.339091116] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050961.339957729] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050961.344450953] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050961.344849767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050961.345632703] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050961.346537549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050961.347658665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050961.445382358] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050961.446192208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050961.446969382] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050961.448364945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050961.449704763] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050961.457144439] [sailbot.main_algo]: Wind Direction: 248 -[main_algo-3] [INFO] [1746050961.458176741] [sailbot.main_algo]: Target Bearing: -56.31771472562544 -[main_algo-3] [INFO] [1746050961.459088606] [sailbot.main_algo]: Heading Difference: -127.11428527437454 -[main_algo-3] [INFO] [1746050961.459960040] [sailbot.main_algo]: Wind Direction: 248 -[main_algo-3] [INFO] [1746050961.460879153] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050961.461694122] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050961.462911229] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050961.463282510] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050961.502848803] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891909 Long: -76.5034937 -[main_algo-3] [INFO] [1746050961.503802601] [sailbot.main_algo]: Distance to destination: 26.688533719962365 -[vectornav-1] [INFO] [1746050961.504237758] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (170.66200000000003, -1.93, -0.797) -[main_algo-3] [INFO] [1746050961.504953263] [sailbot.main_algo]: Target Bearing: -56.01966486929183 -[main_algo-3] [INFO] [1746050961.505939141] [sailbot.main_algo]: Heading Difference: -127.41233513070819 -[main_algo-3] [INFO] [1746050961.506845875] [sailbot.main_algo]: Wind Direction: 248 -[main_algo-3] [INFO] [1746050961.507721143] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050961.508584993] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050961.510248550] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050961.545267091] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050961.546010956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050961.546675076] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050961.547948331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050961.549090918] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050961.585080267] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050961.586618351] [sailbot.teensy]: Wind angle: 247 -[teensy-2] [INFO] [1746050961.587500327] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050961.587595422] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050961.588422040] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050961.589300424] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050961.589532870] [sailbot.mux]: algo sail angle: 15 -[mux-7] [INFO] [1746050961.645101488] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050961.645771103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050961.646569050] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050961.647759587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050961.648805286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050961.744898186] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050961.745583115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050961.746217371] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050961.747483395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050961.748592786] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050961.835230466] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050961.837567261] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050961.838720495] [sailbot.teensy]: Wind angle: 247 -[mux-7] [INFO] [1746050961.838900929] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050961.839707424] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050961.840486899] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050961.840846481] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050961.844570361] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050961.845093957] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050961.845699468] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050961.846806217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050961.847842172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050961.945282750] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050961.945945524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050961.946944490] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050961.948122857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050961.948771998] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050961.957140170] [sailbot.main_algo]: Wind Direction: 247 -[main_algo-3] [INFO] [1746050961.958210461] [sailbot.main_algo]: Target Bearing: -56.01966486929183 -[main_algo-3] [INFO] [1746050961.959132001] [sailbot.main_algo]: Heading Difference: -133.31833513070814 -[main_algo-3] [INFO] [1746050961.960026961] [sailbot.main_algo]: Wind Direction: 247 -[main_algo-3] [INFO] [1746050961.960951943] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050961.961772795] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050961.963069013] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050961.963437436] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050962.003132297] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891947 Long: -76.50349502 -[main_algo-3] [INFO] [1746050962.003696021] [sailbot.main_algo]: Distance to destination: 26.785429266906927 -[vectornav-1] [INFO] [1746050962.004232209] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.135, 0.272, 3.951) -[main_algo-3] [INFO] [1746050962.004821741] [sailbot.main_algo]: Target Bearing: -55.88125331669611 -[main_algo-3] [INFO] [1746050962.005807231] [sailbot.main_algo]: Heading Difference: -133.4567466833039 -[main_algo-3] [INFO] [1746050962.006806159] [sailbot.main_algo]: Wind Direction: 247 -[main_algo-3] [INFO] [1746050962.007758226] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050962.008649677] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050962.010359885] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050962.034567406] [sailbot.mux]: controller_app rudder angle: -8 -[mux-7] [INFO] [1746050962.045115513] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050962.045223701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050962.046459769] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050962.046974944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050962.047944041] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050962.085299604] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050962.087730813] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050962.088435047] [sailbot.teensy]: Wind angle: 247 -[mux-7] [INFO] [1746050962.088534496] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050962.089749954] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050962.090627562] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050962.091464139] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050962.145093802] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050962.145743991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050962.146608245] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050962.147911075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050962.149091595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050962.244983339] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050962.245824742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050962.246267235] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050962.247761560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050962.248801094] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050962.335551825] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050962.338259136] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050962.338953085] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050962.339622584] [sailbot.teensy]: Wind angle: 245 -[teensy-2] [INFO] [1746050962.340605082] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050962.341445275] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050962.342265526] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050962.344291784] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050962.344867130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050962.345436513] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050962.346552510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050962.347562980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050962.445176229] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050962.445740284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050962.446827315] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050962.447661996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050962.448113910] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050962.457178313] [sailbot.main_algo]: Wind Direction: 245 -[main_algo-3] [INFO] [1746050962.458212334] [sailbot.main_algo]: Target Bearing: -55.88125331669611 -[main_algo-3] [INFO] [1746050962.459136625] [sailbot.main_algo]: Heading Difference: -137.98374668330393 -[main_algo-3] [INFO] [1746050962.459980549] [sailbot.main_algo]: Wind Direction: 245 -[main_algo-3] [INFO] [1746050962.460851112] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050962.461675920] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050962.462722356] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050962.463244650] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050962.502737909] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891974 Long: -76.50349636 -[main_algo-3] [INFO] [1746050962.503828846] [sailbot.main_algo]: Distance to destination: 26.873457057700076 -[vectornav-1] [INFO] [1746050962.504926233] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (164.63599999999997, 1.454, 1.61) -[main_algo-3] [INFO] [1746050962.505076118] [sailbot.main_algo]: Target Bearing: -55.72593750916302 -[main_algo-3] [INFO] [1746050962.506099003] [sailbot.main_algo]: Heading Difference: -138.13906249083698 -[main_algo-3] [INFO] [1746050962.507000888] [sailbot.main_algo]: Wind Direction: 245 -[main_algo-3] [INFO] [1746050962.507957220] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050962.508831151] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050962.510515835] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050962.544974311] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050962.545688699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050962.546336386] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050962.547559145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050962.548752263] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050962.585166543] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050962.587406324] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050962.587651768] [sailbot.teensy]: Wind angle: 244 -[teensy-2] [INFO] [1746050962.588615576] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050962.589103371] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050962.589557488] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050962.590406311] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050962.644990446] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050962.645839875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050962.646291845] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050962.647923245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050962.648960740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050962.744490812] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050962.745043465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050962.745534328] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050962.746646866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050962.747669505] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050962.835244782] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050962.837036171] [sailbot.teensy]: Wind angle: 240 -[teensy-2] [INFO] [1746050962.837989635] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050962.837657803] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050962.838907185] [sailbot.teensy]: Actual tail angle: 17 -[mux-7] [INFO] [1746050962.839166046] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050962.839792502] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050962.844327683] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050962.844932601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050962.845468863] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050962.846634375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050962.847647743] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050962.944907343] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050962.945631446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050962.946411326] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050962.947738509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050962.948816842] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050962.956951893] [sailbot.main_algo]: Wind Direction: 240 -[main_algo-3] [INFO] [1746050962.957970280] [sailbot.main_algo]: Target Bearing: -55.72593750916302 -[main_algo-3] [INFO] [1746050962.958846450] [sailbot.main_algo]: Heading Difference: -139.638062490837 -[main_algo-3] [INFO] [1746050962.959660885] [sailbot.main_algo]: Wind Direction: 240 -[main_algo-3] [INFO] [1746050962.960467099] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050962.961269496] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050962.962277496] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050962.963074882] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050963.003306740] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891937 Long: -76.50349718 -[main_algo-3] [INFO] [1746050963.003573519] [sailbot.main_algo]: Distance to destination: 26.87898175305545 -[vectornav-1] [INFO] [1746050963.004495085] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.72699999999998, -2.024, 1.567) -[main_algo-3] [INFO] [1746050963.004645311] [sailbot.main_algo]: Target Bearing: -55.558025192834315 -[main_algo-3] [INFO] [1746050963.005609415] [sailbot.main_algo]: Heading Difference: -139.80597480716574 -[main_algo-3] [INFO] [1746050963.006525436] [sailbot.main_algo]: Wind Direction: 240 -[main_algo-3] [INFO] [1746050963.007416428] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050963.008276191] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050963.010110608] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050963.044855760] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050963.045603377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050963.046177066] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050963.047516725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050963.048531588] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050963.085348393] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050963.087089798] [sailbot.teensy]: Wind angle: 239 -[teensy-2] [INFO] [1746050963.088008817] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050963.087632456] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050963.088872610] [sailbot.teensy]: Actual tail angle: 17 -[mux-7] [INFO] [1746050963.089212392] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050963.089797190] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050963.145051437] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050963.145643158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050963.146426856] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050963.147530913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050963.148456338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050963.244999257] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050963.245867846] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050963.246294745] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050963.247872675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050963.248925845] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050963.335135894] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050963.337623070] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050963.337777742] [sailbot.teensy]: Wind angle: 238 -[mux-7] [INFO] [1746050963.338086713] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050963.338687928] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050963.339582329] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050963.340094295] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050963.344406944] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050963.344850687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050963.345655090] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050963.346495896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050963.347558452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050963.445199239] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050963.445888835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050963.446811011] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050963.447801544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050963.448368607] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050963.456986733] [sailbot.main_algo]: Wind Direction: 238 -[main_algo-3] [INFO] [1746050963.457866649] [sailbot.main_algo]: Target Bearing: -55.558025192834315 -[main_algo-3] [INFO] [1746050963.458687189] [sailbot.main_algo]: Heading Difference: -141.71497480716573 -[main_algo-3] [INFO] [1746050963.459502476] [sailbot.main_algo]: Wind Direction: 238 -[main_algo-3] [INFO] [1746050963.460306978] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050963.461110528] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050963.462074415] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050963.462671666] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050963.503114853] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891936 Long: -76.50349837 -[main_algo-3] [INFO] [1746050963.503344126] [sailbot.main_algo]: Distance to destination: 26.934956093203713 -[main_algo-3] [INFO] [1746050963.504978388] [sailbot.main_algo]: Target Bearing: -55.38711934270583 -[main_algo-3] [INFO] [1746050963.505504362] [sailbot.main_algo]: Heading Difference: -141.8858806572942 -[vectornav-1] [INFO] [1746050963.505540593] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (161.55600000000004, -0.355, 3.875) -[main_algo-3] [INFO] [1746050963.505894094] [sailbot.main_algo]: Wind Direction: 238 -[main_algo-3] [INFO] [1746050963.506257069] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050963.506600367] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050963.507664699] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050963.544963634] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050963.545649203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050963.546277425] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050963.547508309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050963.548657828] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050963.585446924] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050963.587891450] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050963.588424046] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050963.588881282] [sailbot.teensy]: Wind angle: 238 -[teensy-2] [INFO] [1746050963.589941580] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050963.590797880] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050963.591623994] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050963.645137443] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050963.645997966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050963.646587187] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050963.647997459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050963.649017787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050963.745057856] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050963.746055866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050963.746621698] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050963.748190487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050963.749334671] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050963.835167659] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050963.837658406] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050963.838125705] [sailbot.teensy]: Wind angle: 236 -[mux-7] [INFO] [1746050963.838291750] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050963.839126971] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050963.840028340] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050963.840943118] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050963.844521987] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050963.844967962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050963.845892889] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050963.847050996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050963.848148331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050963.945238036] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050963.945964987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050963.946902336] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050963.948588044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050963.949634744] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050963.957046169] [sailbot.main_algo]: Wind Direction: 236 -[main_algo-3] [INFO] [1746050963.958066707] [sailbot.main_algo]: Target Bearing: -55.38711934270583 -[main_algo-3] [INFO] [1746050963.958953230] [sailbot.main_algo]: Heading Difference: -143.05688065729413 -[main_algo-3] [INFO] [1746050963.959832946] [sailbot.main_algo]: Wind Direction: 236 -[main_algo-3] [INFO] [1746050963.960717538] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050963.961533146] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050963.962492811] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050963.963102511] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050964.002453256] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891954 Long: -76.50349954 -[vectornav-1] [INFO] [1746050964.003498929] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (160.38800000000003, -0.3, 1.724) -[main_algo-3] [INFO] [1746050964.003806612] [sailbot.main_algo]: Distance to destination: 27.007325421280406 -[main_algo-3] [INFO] [1746050964.004857598] [sailbot.main_algo]: Target Bearing: -55.24593859847272 -[main_algo-3] [INFO] [1746050964.005799639] [sailbot.main_algo]: Heading Difference: -143.19806140152724 -[main_algo-3] [INFO] [1746050964.006669573] [sailbot.main_algo]: Wind Direction: 236 -[main_algo-3] [INFO] [1746050964.007494533] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050964.008296310] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050964.010051459] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050964.035220639] [sailbot.mux]: controller_app rudder angle: 12 -[mux-7] [INFO] [1746050964.044590213] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050964.045187756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050964.045816072] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050964.047077895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746050964.048111392] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050964.085293301] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050964.087538957] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050964.087529667] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050964.088907830] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050964.089900061] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050964.090533232] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050964.091424236] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050964.144784281] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050964.145562668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050964.146004674] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050964.147398013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746050964.148427393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050964.245002315] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050964.245659922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050964.246426053] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050964.247544877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746050964.248062817] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050964.335250306] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050964.337274988] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050964.338266073] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050964.337777291] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050964.339136841] [sailbot.teensy]: Actual tail angle: 37 -[mux-7] [INFO] [1746050964.339154725] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050964.340037226] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050964.344261636] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050964.344908810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050964.345405470] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050964.346601281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746050964.347651411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050964.445346680] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050964.445984467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050964.447027580] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050964.448188925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746050964.449423551] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050964.456956393] [sailbot.main_algo]: Wind Direction: 234 -[main_algo-3] [INFO] [1746050964.457942735] [sailbot.main_algo]: Target Bearing: -55.24593859847272 -[main_algo-3] [INFO] [1746050964.458795434] [sailbot.main_algo]: Heading Difference: -144.36606140152725 -[main_algo-3] [INFO] [1746050964.459595809] [sailbot.main_algo]: Wind Direction: 234 -[main_algo-3] [INFO] [1746050964.460446547] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050964.461231983] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050964.462309725] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050964.462807826] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050964.502710867] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891941 Long: -76.50350025 -[main_algo-3] [INFO] [1746050964.503714871] [sailbot.main_algo]: Distance to destination: 27.029791861796053 -[vectornav-1] [INFO] [1746050964.503833462] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.14499999999998, 1.357, 2.149) -[main_algo-3] [INFO] [1746050964.504860538] [sailbot.main_algo]: Target Bearing: -55.12764599129142 -[main_algo-3] [INFO] [1746050964.505893402] [sailbot.main_algo]: Heading Difference: -144.48435400870858 -[main_algo-3] [INFO] [1746050964.506832522] [sailbot.main_algo]: Wind Direction: 234 -[main_algo-3] [INFO] [1746050964.507729517] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050964.508630670] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050964.510397562] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050964.544930617] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050964.546167473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050964.546475525] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050964.548248206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746050964.549451252] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050964.585162117] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050964.587313161] [sailbot.teensy]: Wind angle: 234 -[teensy-2] [INFO] [1746050964.588272657] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050964.587402681] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050964.589198452] [sailbot.teensy]: Actual tail angle: 37 -[mux-7] [INFO] [1746050964.589811473] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050964.590048243] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050964.644788713] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050964.645527136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050964.646030949] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050964.647286598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746050964.647926805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050964.745357687] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050964.746302358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050964.747019724] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050964.748470572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746050964.748959564] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050964.835220550] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050964.837255894] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050964.837586826] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050964.838242883] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050964.838819550] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050964.839177324] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746050964.839673495] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050964.844451712] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050964.845173400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050964.845797776] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050964.846891878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746050964.847913783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050964.944849226] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050964.945443094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050964.946062745] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050964.947284146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746050964.948357069] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050964.956998588] [sailbot.main_algo]: Wind Direction: 234 -[main_algo-3] [INFO] [1746050964.958097573] [sailbot.main_algo]: Target Bearing: -55.12764599129142 -[main_algo-3] [INFO] [1746050964.959020626] [sailbot.main_algo]: Heading Difference: -142.72735400870863 -[main_algo-3] [INFO] [1746050964.959881588] [sailbot.main_algo]: Wind Direction: 234 -[main_algo-3] [INFO] [1746050964.960771187] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050964.961608686] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050964.962687916] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050964.963255850] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050965.003231537] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891911 Long: -76.50350085 -[main_algo-3] [INFO] [1746050965.003620680] [sailbot.main_algo]: Distance to destination: 27.031783532131563 -[main_algo-3] [INFO] [1746050965.004650789] [sailbot.main_algo]: Target Bearing: -55.001533450742905 -[vectornav-1] [INFO] [1746050965.004622253] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (162.20100000000002, -3.566, 3.017) -[main_algo-3] [INFO] [1746050965.005657213] [sailbot.main_algo]: Heading Difference: -142.85346654925712 -[main_algo-3] [INFO] [1746050965.006577593] [sailbot.main_algo]: Wind Direction: 234 -[main_algo-3] [INFO] [1746050965.007462885] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050965.008353477] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050965.010111282] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050965.045067443] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050965.045732920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050965.046792077] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746050965.047622366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746050965.048893506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050965.049204937] [sailbot.mux]: controller_app rudder angle: 23 -[teensy-2] [INFO] [1746050965.085375367] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050965.087560658] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746050965.088253329] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050965.089725966] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050965.089946059] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050965.090811512] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746050965.091854377] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050965.145041454] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050965.145727914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050965.146324127] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050965.147757894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050965.148833034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050965.245095895] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050965.245781139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050965.246565268] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050965.247865027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050965.249053194] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050965.335135246] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050965.336922491] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050965.337551213] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050965.337857563] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050965.338756492] [sailbot.teensy]: Actual tail angle: 37 -[mux-7] [INFO] [1746050965.338911735] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050965.339615426] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050965.344674896] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050965.345152650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050965.345980894] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050965.346930676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050965.347950804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050965.445477423] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050965.446197080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050965.447199542] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050965.448395834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050965.449473706] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050965.457054371] [sailbot.main_algo]: Wind Direction: 231 -[main_algo-3] [INFO] [1746050965.458034162] [sailbot.main_algo]: Target Bearing: -55.001533450742905 -[main_algo-3] [INFO] [1746050965.458879142] [sailbot.main_algo]: Heading Difference: -142.79746654925708 -[main_algo-3] [INFO] [1746050965.459683178] [sailbot.main_algo]: Wind Direction: 231 -[main_algo-3] [INFO] [1746050965.460535353] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050965.461318825] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050965.462648714] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050965.462911690] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050965.503377435] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891897 Long: -76.50350165 -[main_algo-3] [INFO] [1746050965.504006253] [sailbot.main_algo]: Distance to destination: 27.057954763764496 -[main_algo-3] [INFO] [1746050965.505118919] [sailbot.main_algo]: Target Bearing: -54.86950985837633 -[main_algo-3] [INFO] [1746050965.506081258] [sailbot.main_algo]: Heading Difference: -142.92949014162366 -[vectornav-1] [INFO] [1746050965.506294538] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.62, 2.647, 0.013) -[main_algo-3] [INFO] [1746050965.506998174] [sailbot.main_algo]: Wind Direction: 231 -[main_algo-3] [INFO] [1746050965.507911920] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050965.508811501] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050965.510483728] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050965.545143652] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050965.545873953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050965.546580800] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050965.548558177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050965.549619808] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050965.585438065] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050965.587174559] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746050965.587745758] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050965.588127209] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050965.589054725] [sailbot.teensy]: Actual tail angle: 48 -[mux-7] [INFO] [1746050965.589379257] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050965.589939217] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050965.645374048] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050965.645944811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050965.647120709] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050965.648148474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050965.649383824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050965.745770400] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050965.746393305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050965.747342979] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050965.748562736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050965.749401384] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050965.835439156] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050965.837415220] [sailbot.teensy]: Wind angle: 238 -[trim_sail-4] [INFO] [1746050965.837962298] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050965.838410419] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050965.838862676] [sailbot.teensy]: Actual tail angle: 48 -[mux-7] [INFO] [1746050965.839118682] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050965.839230136] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050965.844475850] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050965.845159241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050965.845769916] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050965.847091142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050965.848128221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050965.945213611] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050965.945835211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050965.946724111] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050965.947769794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050965.948247214] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050965.957235924] [sailbot.main_algo]: Wind Direction: 238 -[main_algo-3] [INFO] [1746050965.958245468] [sailbot.main_algo]: Target Bearing: -54.86950985837633 -[main_algo-3] [INFO] [1746050965.959134828] [sailbot.main_algo]: Heading Difference: -139.51049014162368 -[main_algo-3] [INFO] [1746050965.960018204] [sailbot.main_algo]: Wind Direction: 238 -[main_algo-3] [INFO] [1746050965.960837351] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050965.961635272] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050965.962766965] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050965.963256526] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050966.002576346] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891841 Long: -76.50350225 -[main_algo-3] [INFO] [1746050966.003504717] [sailbot.main_algo]: Distance to destination: 27.036939933969563 -[vectornav-1] [INFO] [1746050966.003567982] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (166.865, -2.249, 1.929) -[main_algo-3] [INFO] [1746050966.004606755] [sailbot.main_algo]: Target Bearing: -54.70734758775794 -[main_algo-3] [INFO] [1746050966.005624579] [sailbot.main_algo]: Heading Difference: -139.6726524122421 -[main_algo-3] [INFO] [1746050966.006506370] [sailbot.main_algo]: Wind Direction: 238 -[main_algo-3] [INFO] [1746050966.007398021] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050966.008260694] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050966.009882656] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050966.045233913] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050966.045886612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050966.046920862] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050966.048326927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050966.049335249] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050966.085142660] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050966.086631373] [sailbot.teensy]: Wind angle: 240 -[teensy-2] [INFO] [1746050966.087481676] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050966.087408890] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050966.088097290] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050966.088325795] [sailbot.teensy]: Actual tail angle: 48 -[teensy-2] [INFO] [1746050966.089209650] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050966.145316495] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050966.145815789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050966.146863493] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050966.147816879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050966.148606963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050966.245284507] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050966.245990304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050966.246944669] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050966.248025291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050966.249098283] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050966.335225341] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050966.337940647] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050966.338123087] [sailbot.teensy]: Wind angle: 242 -[teensy-2] [INFO] [1746050966.339065084] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050966.339105224] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050966.340123262] [sailbot.teensy]: Actual tail angle: 48 -[teensy-2] [INFO] [1746050966.340503010] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050966.344437734] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050966.345115080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050966.345626647] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050966.346883648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050966.348067013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050966.445546737] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050966.446141969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050966.447138357] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050966.448554467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050966.449672693] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050966.457067778] [sailbot.main_algo]: Wind Direction: 242 -[main_algo-3] [INFO] [1746050966.458018417] [sailbot.main_algo]: Target Bearing: -54.70734758775794 -[main_algo-3] [INFO] [1746050966.458911374] [sailbot.main_algo]: Heading Difference: -138.42765241224208 -[main_algo-3] [INFO] [1746050966.459714888] [sailbot.main_algo]: Wind Direction: 242 -[main_algo-3] [INFO] [1746050966.460542621] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050966.461355621] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050966.462373096] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050966.463148312] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050966.503039525] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891807 Long: -76.50350338 -[vectornav-1] [INFO] [1746050966.504544540] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.49099999999999, 0.013, 2.477) -[main_algo-3] [INFO] [1746050966.504825561] [sailbot.main_algo]: Distance to destination: 27.061700843837233 -[main_algo-3] [INFO] [1746050966.506023248] [sailbot.main_algo]: Target Bearing: -54.50148750643146 -[main_algo-3] [INFO] [1746050966.506982810] [sailbot.main_algo]: Heading Difference: -138.63351249356856 -[main_algo-3] [INFO] [1746050966.507944371] [sailbot.main_algo]: Wind Direction: 242 -[main_algo-3] [INFO] [1746050966.508836282] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050966.509674782] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050966.511420451] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050966.545063741] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050966.545664915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050966.546428467] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050966.548451504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050966.549560437] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050966.585192830] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050966.587051062] [sailbot.teensy]: Wind angle: 242 -[trim_sail-4] [INFO] [1746050966.587470137] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050966.588036437] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050966.588867157] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050966.589004490] [sailbot.teensy]: Actual tail angle: 48 -[teensy-2] [INFO] [1746050966.589940599] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050966.645408578] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050966.646309469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050966.647723784] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050966.648632316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050966.649875947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050966.745549784] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050966.746411318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050966.747216728] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050966.748461365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050966.749042693] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050966.835229179] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050966.837371705] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050966.837348794] [sailbot.teensy]: Wind angle: 245 -[teensy-2] [INFO] [1746050966.838339142] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050966.838727374] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050966.839287913] [sailbot.teensy]: Actual tail angle: 48 -[teensy-2] [INFO] [1746050966.840201060] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050966.844305030] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050966.845044429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050966.845460735] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050966.846806835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050966.847859914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050966.945665176] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050966.946541621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050966.947877807] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050966.948959117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050966.949464207] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050966.957094310] [sailbot.main_algo]: Wind Direction: 245 -[main_algo-3] [INFO] [1746050966.958058004] [sailbot.main_algo]: Target Bearing: -54.50148750643146 -[main_algo-3] [INFO] [1746050966.958951967] [sailbot.main_algo]: Heading Difference: -138.00751249356858 -[main_algo-3] [INFO] [1746050966.959799438] [sailbot.main_algo]: Wind Direction: 245 -[main_algo-3] [INFO] [1746050966.960646045] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050966.961437317] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050966.962430033] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050966.963049201] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050967.003323151] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891784 Long: -76.50350417 -[main_algo-3] [INFO] [1746050967.003621356] [sailbot.main_algo]: Distance to destination: 27.079904680996634 -[main_algo-3] [INFO] [1746050967.004692575] [sailbot.main_algo]: Target Bearing: -54.3588725860649 -[vectornav-1] [INFO] [1746050967.004929529] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (168.764, 0.222, 2.079) -[main_algo-3] [INFO] [1746050967.005818529] [sailbot.main_algo]: Heading Difference: -138.15012741393514 -[main_algo-3] [INFO] [1746050967.006896276] [sailbot.main_algo]: Wind Direction: 245 -[main_algo-3] [INFO] [1746050967.007821895] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050967.008698089] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050967.010391177] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050967.045035080] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050967.045681623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050967.046343621] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050967.047604740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050967.048634661] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050967.085423404] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050967.087534491] [sailbot.teensy]: Wind angle: 245 -[trim_sail-4] [INFO] [1746050967.087910911] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050967.088557208] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050967.089466841] [sailbot.teensy]: Actual tail angle: 48 -[mux-7] [INFO] [1746050967.090282477] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050967.090324042] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050967.145259124] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050967.146111387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050967.146841046] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050967.147835753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050967.148321559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050967.245474194] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050967.246252297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050967.247028309] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050967.248702416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050967.249928381] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050967.335294834] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050967.336987099] [sailbot.teensy]: Wind angle: 245 -[teensy-2] [INFO] [1746050967.337954401] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050967.338848435] [sailbot.teensy]: Actual tail angle: 48 -[trim_sail-4] [INFO] [1746050967.338499459] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050967.339088543] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050967.340049735] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050967.344523348] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050967.345078713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050967.345643905] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050967.346785625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050967.347847649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050967.444882672] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050967.445584205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050967.446228729] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050967.447640045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050967.448404936] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050967.456972242] [sailbot.main_algo]: Wind Direction: 245 -[main_algo-3] [INFO] [1746050967.457866135] [sailbot.main_algo]: Target Bearing: -54.3588725860649 -[main_algo-3] [INFO] [1746050967.458675327] [sailbot.main_algo]: Heading Difference: -136.8771274139351 -[main_algo-3] [INFO] [1746050967.459497034] [sailbot.main_algo]: Wind Direction: 245 -[main_algo-3] [INFO] [1746050967.460295045] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050967.461097733] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050967.462095123] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050967.462692118] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050967.503289381] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891752 Long: -76.5035048 -[main_algo-3] [INFO] [1746050967.503891851] [sailbot.main_algo]: Distance to destination: 27.082392504228384 -[main_algo-3] [INFO] [1746050967.505061434] [sailbot.main_algo]: Target Bearing: -54.22606979489344 -[vectornav-1] [INFO] [1746050967.505078815] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.789, -0.942, 0.67) -[main_algo-3] [INFO] [1746050967.506082016] [sailbot.main_algo]: Heading Difference: -137.00993020510657 -[main_algo-3] [INFO] [1746050967.507001148] [sailbot.main_algo]: Wind Direction: 245 -[main_algo-3] [INFO] [1746050967.507997606] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050967.508865336] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050967.510705678] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050967.545717849] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050967.545735506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050967.547195937] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050967.548060793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050967.549379909] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050967.585525320] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050967.587722136] [sailbot.teensy]: Wind angle: 245 -[trim_sail-4] [INFO] [1746050967.588280694] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050967.588702353] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050967.589586152] [sailbot.teensy]: Actual tail angle: 48 -[mux-7] [INFO] [1746050967.589809801] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050967.590498785] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050967.645136200] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050967.645907881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050967.647015447] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050967.648878170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050967.650167444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050967.744929947] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050967.745702399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050967.746150752] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050967.747677044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050967.748746492] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050967.835306748] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050967.837727267] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050967.838236214] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050967.838577556] [sailbot.teensy]: Wind angle: 246 -[teensy-2] [INFO] [1746050967.839518452] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050967.840480322] [sailbot.teensy]: Actual tail angle: 48 -[teensy-2] [INFO] [1746050967.841335703] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050967.844369177] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050967.845075672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050967.845516120] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050967.846785255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050967.848007039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050967.945649925] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050967.946550343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050967.947326862] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050967.948610853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050967.949081495] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050967.957411601] [sailbot.main_algo]: Wind Direction: 246 -[main_algo-3] [INFO] [1746050967.958523058] [sailbot.main_algo]: Target Bearing: -54.22606979489344 -[main_algo-3] [INFO] [1746050967.959456993] [sailbot.main_algo]: Heading Difference: -137.9849302051066 -[main_algo-3] [INFO] [1746050967.960357063] [sailbot.main_algo]: Wind Direction: 246 -[main_algo-3] [INFO] [1746050967.961238997] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050967.962101206] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050967.963211635] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050967.963908962] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050968.002545642] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891673 Long: -76.5035055 -[main_algo-3] [INFO] [1746050968.003438103] [sailbot.main_algo]: Distance to destination: 27.046777585307353 -[vectornav-1] [INFO] [1746050968.003898330] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.481, 1.957, 0.017) -[main_algo-3] [INFO] [1746050968.004562316] [sailbot.main_algo]: Target Bearing: -54.017119130673215 -[main_algo-3] [INFO] [1746050968.005547214] [sailbot.main_algo]: Heading Difference: -138.1938808693268 -[main_algo-3] [INFO] [1746050968.006455718] [sailbot.main_algo]: Wind Direction: 246 -[main_algo-3] [INFO] [1746050968.007380248] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050968.008258580] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050968.009916432] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050968.045049324] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050968.045700318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050968.046383290] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050968.047597008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050968.048685490] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050968.085213657] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050968.086955133] [sailbot.teensy]: Wind angle: 245 -[teensy-2] [INFO] [1746050968.087868761] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050968.087410275] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050968.088072143] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050968.088798982] [sailbot.teensy]: Actual tail angle: 48 -[teensy-2] [INFO] [1746050968.089635640] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050968.145016049] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746050968.146518273] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050968.146703721] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050968.148841133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050968.149853569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050968.245231974] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050968.246018757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050968.247041060] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050968.247879235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050968.248379315] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050968.335128782] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050968.336701794] [sailbot.teensy]: Wind angle: 246 -[trim_sail-4] [INFO] [1746050968.337146376] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050968.337605716] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050968.338501094] [sailbot.teensy]: Actual tail angle: 48 -[mux-7] [INFO] [1746050968.339121349] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050968.339434784] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050968.344481393] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050968.345113653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050968.345610148] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050968.346776986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050968.347813050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050968.445531959] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050968.446456805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050968.447989175] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050968.448831939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050968.450529040] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050968.457093045] [sailbot.main_algo]: Wind Direction: 246 -[main_algo-3] [INFO] [1746050968.458044770] [sailbot.main_algo]: Target Bearing: -54.017119130673215 -[main_algo-3] [INFO] [1746050968.458928604] [sailbot.main_algo]: Heading Difference: -136.50188086932678 -[main_algo-3] [INFO] [1746050968.459779120] [sailbot.main_algo]: Wind Direction: 246 -[main_algo-3] [INFO] [1746050968.460685998] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050968.461549092] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050968.462974533] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050968.463272172] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050968.503176888] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891649 Long: -76.50350627 -[main_algo-3] [INFO] [1746050968.504136784] [sailbot.main_algo]: Distance to destination: 27.063672080127894 -[vectornav-1] [INFO] [1746050968.504914689] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (169.452, -4.93, 2.995) -[main_algo-3] [INFO] [1746050968.505390592] [sailbot.main_algo]: Target Bearing: -53.87611359065719 -[main_algo-3] [INFO] [1746050968.506511456] [sailbot.main_algo]: Heading Difference: -136.64288640934285 -[main_algo-3] [INFO] [1746050968.507479671] [sailbot.main_algo]: Wind Direction: 246 -[main_algo-3] [INFO] [1746050968.508415377] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050968.509298206] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050968.511046514] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050968.545348377] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050968.546135481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050968.546925727] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050968.548383631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050968.549476161] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050968.585249592] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050968.587065164] [sailbot.teensy]: Wind angle: 247 -[trim_sail-4] [INFO] [1746050968.587431749] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050968.588007872] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050968.588907917] [sailbot.teensy]: Actual tail angle: 48 -[mux-7] [INFO] [1746050968.589184048] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050968.589750570] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050968.645552520] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050968.646227852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050968.647195434] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050968.648881829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050968.650022267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050968.745036019] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050968.746205862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050968.746445401] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050968.748218872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050968.748753310] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050968.835171849] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050968.837236226] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746050968.837674231] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050968.838486547] [sailbot.teensy]: Wind angle: 246 -[teensy-2] [INFO] [1746050968.839521518] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050968.840537583] [sailbot.teensy]: Actual tail angle: 48 -[teensy-2] [INFO] [1746050968.841491591] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050968.844429649] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050968.844951023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050968.845531821] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050968.846729166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050968.847905565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050968.945352271] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050968.946837796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050968.946906950] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050968.949532340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746050968.950557758] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050968.957028619] [sailbot.main_algo]: Wind Direction: 246 -[main_algo-3] [INFO] [1746050968.957987968] [sailbot.main_algo]: Target Bearing: -53.87611359065719 -[main_algo-3] [INFO] [1746050968.958865077] [sailbot.main_algo]: Heading Difference: -136.67188640934285 -[main_algo-3] [INFO] [1746050968.959689216] [sailbot.main_algo]: Wind Direction: 246 -[main_algo-3] [INFO] [1746050968.960518613] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050968.961311138] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050968.962372541] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050968.963080928] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050969.002925645] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891646 Long: -76.50350774 -[main_algo-3] [INFO] [1746050969.003944039] [sailbot.main_algo]: Distance to destination: 27.13416804753234 -[vectornav-1] [INFO] [1746050969.004866216] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (167.69499999999994, 6.246, -0.216) -[main_algo-3] [INFO] [1746050969.005225312] [sailbot.main_algo]: Target Bearing: -53.6684123173101 -[main_algo-3] [INFO] [1746050969.006257826] [sailbot.main_algo]: Heading Difference: -136.87958768268993 -[main_algo-3] [INFO] [1746050969.007218788] [sailbot.main_algo]: Wind Direction: 246 -[main_algo-3] [INFO] [1746050969.008124122] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050969.009000066] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050969.010701407] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050969.045027172] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050969.046129602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050969.046832494] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746050969.048340314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[mux-7] [INFO] [1746050969.048791457] [sailbot.mux]: controller_app rudder angle: 25 -[teensy-2] [INFO] [1746050969.049444227] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050969.085413245] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050969.087291876] [sailbot.teensy]: Wind angle: 246 -[trim_sail-4] [INFO] [1746050969.087746502] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050969.088312786] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050969.089305697] [sailbot.teensy]: Actual tail angle: 48 -[mux-7] [INFO] [1746050969.089978414] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050969.090199291] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050969.144970747] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050969.146261277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050969.146332839] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050969.148120466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746050969.149297380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050969.245186191] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050969.246097872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050969.246643173] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050969.248148263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746050969.249288126] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050969.335223924] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050969.336912645] [sailbot.teensy]: Wind angle: 244 -[trim_sail-4] [INFO] [1746050969.337505842] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050969.337854604] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050969.338793200] [sailbot.teensy]: Actual tail angle: 48 -[mux-7] [INFO] [1746050969.339178733] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050969.339684274] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050969.344415229] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746050969.345521483] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050969.345650653] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050969.347356381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746050969.348428749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050969.445216855] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050969.445987827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050969.446682389] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050969.448143632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746050969.449174977] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050969.457049542] [sailbot.main_algo]: Wind Direction: 244 -[main_algo-3] [INFO] [1746050969.458015251] [sailbot.main_algo]: Target Bearing: -53.6684123173101 -[main_algo-3] [INFO] [1746050969.458850061] [sailbot.main_algo]: Heading Difference: -138.63658768269 -[main_algo-3] [INFO] [1746050969.459633288] [sailbot.main_algo]: Wind Direction: 244 -[main_algo-3] [INFO] [1746050969.460453438] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050969.461235296] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050969.462242227] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050969.463051511] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050969.503051134] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891555 Long: -76.50350804 -[main_algo-3] [INFO] [1746050969.503933415] [sailbot.main_algo]: Distance to destination: 27.068909518403668 -[vectornav-1] [INFO] [1746050969.504526556] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (165.78999999999996, -3.113, -0.08) -[main_algo-3] [INFO] [1746050969.505108719] [sailbot.main_algo]: Target Bearing: -53.49713472050884 -[main_algo-3] [INFO] [1746050969.506106441] [sailbot.main_algo]: Heading Difference: -138.80786527949124 -[main_algo-3] [INFO] [1746050969.506999472] [sailbot.main_algo]: Wind Direction: 244 -[main_algo-3] [INFO] [1746050969.507906905] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050969.508792312] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050969.510552176] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050969.544867825] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050969.545484007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050969.546126422] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050969.547279512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746050969.548394331] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050969.585335823] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050969.587172929] [sailbot.teensy]: Wind angle: 243 -[trim_sail-4] [INFO] [1746050969.587738359] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050969.588105410] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050969.589043220] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746050969.589273834] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050969.589967153] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050969.645531499] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050969.646086416] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050969.647157340] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050969.648728136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746050969.649968511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050969.745265305] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050969.746045911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050969.747096544] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050969.748084839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746050969.749360675] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050969.835256802] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050969.837583748] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050969.837687785] [sailbot.teensy]: Wind angle: 243 -[mux-7] [INFO] [1746050969.838439534] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050969.838603887] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050969.839687476] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746050969.840528319] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050969.844353364] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050969.845050663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050969.845771553] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050969.846864849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746050969.847888616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050969.945252407] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050969.946057139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050969.946750490] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050969.948175283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746050969.948769198] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050969.957059288] [sailbot.main_algo]: Wind Direction: 243 -[main_algo-3] [INFO] [1746050969.958029963] [sailbot.main_algo]: Target Bearing: -53.49713472050884 -[main_algo-3] [INFO] [1746050969.958962701] [sailbot.main_algo]: Heading Difference: -140.7128652794912 -[main_algo-3] [INFO] [1746050969.959792515] [sailbot.main_algo]: Wind Direction: 243 -[main_algo-3] [INFO] [1746050969.960603720] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050969.961376802] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050969.962377183] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050969.963255447] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050970.002591891] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891516 Long: -76.50350845 -[main_algo-3] [INFO] [1746050970.003093408] [sailbot.main_algo]: Distance to destination: 27.055138045889557 -[vectornav-1] [INFO] [1746050970.003818209] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (161.71299999999997, -2.247, 3.873) -[main_algo-3] [INFO] [1746050970.004163316] [sailbot.main_algo]: Target Bearing: -53.38464771111315 -[main_algo-3] [INFO] [1746050970.005120636] [sailbot.main_algo]: Heading Difference: -140.82535228888685 -[main_algo-3] [INFO] [1746050970.006113792] [sailbot.main_algo]: Wind Direction: 243 -[main_algo-3] [INFO] [1746050970.007036301] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050970.007911391] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050970.009588788] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050970.044882587] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050970.045605543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050970.046128901] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050970.047385968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746050970.048473528] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050970.085412321] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050970.087308053] [sailbot.teensy]: Wind angle: 244 -[trim_sail-4] [INFO] [1746050970.088065088] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050970.088279721] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050970.089213424] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746050970.089978906] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050970.090107802] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050970.145299068] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050970.146112259] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050970.146854568] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050970.148585099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746050970.149809267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050970.245143518] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050970.245888012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050970.246540870] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050970.247971475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746050970.248997845] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050970.335381312] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050970.337213415] [sailbot.teensy]: Wind angle: 243 -[teensy-2] [INFO] [1746050970.338143093] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050970.337824667] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050970.339009519] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746050970.339255887] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050970.339923302] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050970.344366659] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050970.344961962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050970.345533264] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050970.346760358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746050970.347841775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050970.444996183] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050970.445859655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050970.446344826] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050970.447860083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746050970.448904515] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050970.456954567] [sailbot.main_algo]: Wind Direction: 243 -[main_algo-3] [INFO] [1746050970.457912536] [sailbot.main_algo]: Target Bearing: -53.38464771111315 -[main_algo-3] [INFO] [1746050970.458765161] [sailbot.main_algo]: Heading Difference: -144.90235228888685 -[main_algo-3] [INFO] [1746050970.459590595] [sailbot.main_algo]: Wind Direction: 243 -[main_algo-3] [INFO] [1746050970.460393181] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050970.461222830] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050970.462221907] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050970.462817942] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050970.503189959] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891525 Long: -76.50350959 -[main_algo-3] [INFO] [1746050970.504634614] [sailbot.main_algo]: Distance to destination: 27.120370207590206 -[vectornav-1] [INFO] [1746050970.504890217] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (157.93399999999997, 0.547, 4.033) -[main_algo-3] [INFO] [1746050970.506067466] [sailbot.main_algo]: Target Bearing: -53.24071163502986 -[main_algo-3] [INFO] [1746050970.507042533] [sailbot.main_algo]: Heading Difference: -145.04628836497017 -[main_algo-3] [INFO] [1746050970.507972717] [sailbot.main_algo]: Wind Direction: 243 -[main_algo-3] [INFO] [1746050970.508976935] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050970.509841907] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050970.511589529] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050970.544909206] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050970.545562239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050970.546133911] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050970.547355794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746050970.548544940] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050970.585211588] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050970.587104541] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746050970.587550926] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050970.588091555] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050970.588885010] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050970.589009074] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746050970.589929645] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050970.645235861] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050970.646004687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050970.646720396] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050970.648100100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746050970.649257958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050970.745067500] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746050970.746540448] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050970.746566294] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050970.747964123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746050970.748538067] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050970.835261977] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050970.837325561] [sailbot.teensy]: Wind angle: 228 -[trim_sail-4] [INFO] [1746050970.837420983] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050970.838207916] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050970.838250929] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050970.839118463] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746050970.839624308] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050970.844646414] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050970.845137637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050970.845918383] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050970.846899906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746050970.847938439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050970.944917663] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050970.945826034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050970.946204052] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746050970.947839561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746050970.948941336] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050970.957002702] [sailbot.main_algo]: Wind Direction: 228 -[main_algo-3] [INFO] [1746050970.958059721] [sailbot.main_algo]: Target Bearing: -53.24071163502986 -[main_algo-3] [INFO] [1746050970.958906515] [sailbot.main_algo]: Heading Difference: -148.82528836497016 -[main_algo-3] [INFO] [1746050970.959721771] [sailbot.main_algo]: Wind Direction: 228 -[main_algo-3] [INFO] [1746050970.960579301] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050970.961354692] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050970.962334012] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050970.963107940] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050971.002709312] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891509 Long: -76.50351014 -[main_algo-3] [INFO] [1746050971.003198326] [sailbot.main_algo]: Distance to destination: 27.13406602817965 -[main_algo-3] [INFO] [1746050971.004304601] [sailbot.main_algo]: Target Bearing: -53.142249293645655 -[vectornav-1] [INFO] [1746050971.004872336] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (155.64499999999998, 4.811, 2.297) -[main_algo-3] [INFO] [1746050971.005199343] [sailbot.main_algo]: Heading Difference: -148.92375070635438 -[main_algo-3] [INFO] [1746050971.006082219] [sailbot.main_algo]: Wind Direction: 228 -[main_algo-3] [INFO] [1746050971.006930317] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050971.007751432] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050971.009615511] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050971.023508121] [sailbot.mux]: controller_app rudder angle: -17 -[mux-7] [INFO] [1746050971.044666273] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050971.045240909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050971.045868233] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050971.047021322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050971.048188056] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050971.085182718] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050971.086741350] [sailbot.teensy]: Wind angle: 226 -[teensy-2] [INFO] [1746050971.087593293] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050971.087263500] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050971.088928429] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746050971.089294017] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050971.090198688] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050971.144797963] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050971.145274128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050971.146001040] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050971.146962543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050971.148061614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050971.245011105] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050971.245564232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050971.246304994] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050971.247342049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050971.248438528] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050971.335263760] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050971.336948071] [sailbot.teensy]: Wind angle: 226 -[teensy-2] [INFO] [1746050971.337864533] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050971.338309668] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050971.338774373] [sailbot.teensy]: Actual tail angle: 8 -[mux-7] [INFO] [1746050971.339013245] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050971.339693999] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050971.344419997] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050971.344980817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050971.345641796] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050971.346702357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050971.347693641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050971.445418557] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050971.445997259] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050971.446937394] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050971.448277063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050971.449605348] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050971.457132646] [sailbot.main_algo]: Wind Direction: 226 -[main_algo-3] [INFO] [1746050971.458183691] [sailbot.main_algo]: Target Bearing: -53.142249293645655 -[main_algo-3] [INFO] [1746050971.459086312] [sailbot.main_algo]: Heading Difference: -151.21275070635437 -[main_algo-3] [INFO] [1746050971.459936442] [sailbot.main_algo]: Wind Direction: 226 -[main_algo-3] [INFO] [1746050971.460862631] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050971.461687348] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050971.462794118] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050971.463328444] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050971.502734783] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891415 Long: -76.50350967 -[main_algo-3] [INFO] [1746050971.503456064] [sailbot.main_algo]: Distance to destination: 27.027955668351847 -[vectornav-1] [INFO] [1746050971.503771116] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (155.28300000000002, -6.674, 1.834) -[main_algo-3] [INFO] [1746050971.504524809] [sailbot.main_algo]: Target Bearing: -53.071053804023 -[main_algo-3] [INFO] [1746050971.505520423] [sailbot.main_algo]: Heading Difference: -151.28394619597702 -[main_algo-3] [INFO] [1746050971.506475317] [sailbot.main_algo]: Wind Direction: 226 -[main_algo-3] [INFO] [1746050971.507368763] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050971.508285229] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050971.510045973] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050971.545147936] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050971.545703076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050971.546596385] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050971.547638169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050971.548709986] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050971.585106169] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050971.586680538] [sailbot.teensy]: Wind angle: 229 -[trim_sail-4] [INFO] [1746050971.587274101] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050971.587625770] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050971.588508002] [sailbot.teensy]: Actual tail angle: 8 -[mux-7] [INFO] [1746050971.588659651] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050971.589433834] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050971.645333062] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050971.645923913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050971.646901785] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050971.648364415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050971.649538164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050971.745000526] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050971.745709656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050971.746289378] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050971.747639510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050971.748818096] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050971.835355827] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050971.837615134] [sailbot.teensy]: Wind angle: 229 -[trim_sail-4] [INFO] [1746050971.837949756] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050971.839379177] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050971.839844411] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050971.840862201] [sailbot.teensy]: Actual tail angle: 8 -[teensy-2] [INFO] [1746050971.841738050] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050971.844518272] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050971.844920633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050971.845718717] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050971.846577086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050971.847736868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050971.944746525] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050971.945467039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050971.946287217] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050971.947126446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050971.948182749] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050971.956828481] [sailbot.main_algo]: Wind Direction: 229 -[main_algo-3] [INFO] [1746050971.957696511] [sailbot.main_algo]: Target Bearing: -53.071053804023 -[main_algo-3] [INFO] [1746050971.958454542] [sailbot.main_algo]: Heading Difference: -151.645946195977 -[main_algo-3] [INFO] [1746050971.959144838] [sailbot.main_algo]: Wind Direction: 229 -[main_algo-3] [INFO] [1746050971.959864855] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050971.960568563] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050971.961547197] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050971.962099574] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050972.002304430] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891405 Long: -76.50351052 -[vectornav-1] [INFO] [1746050972.003334383] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (154.053, 1.551, 4.473) -[main_algo-3] [INFO] [1746050972.003926716] [sailbot.main_algo]: Distance to destination: 27.06224265283165 -[main_algo-3] [INFO] [1746050972.004948690] [sailbot.main_algo]: Target Bearing: -52.93990669830622 -[main_algo-3] [INFO] [1746050972.005936242] [sailbot.main_algo]: Heading Difference: -151.77709330169375 -[main_algo-3] [INFO] [1746050972.006772932] [sailbot.main_algo]: Wind Direction: 229 -[main_algo-3] [INFO] [1746050972.007623380] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050972.008467409] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050972.010348233] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050972.045442392] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050972.045772803] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050972.046761028] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050972.047642869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050972.048861175] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050972.085313149] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050972.087185445] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050972.087629285] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050972.088262585] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050972.089336202] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050972.089593706] [sailbot.teensy]: Actual tail angle: 8 -[teensy-2] [INFO] [1746050972.090532374] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050972.145224776] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050972.145634780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050972.146568686] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050972.147364840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050972.148436701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050972.245221419] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050972.245760061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050972.246643785] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050972.247637992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050972.248324119] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050972.335311149] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050972.336992291] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050972.337641629] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050972.337963514] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050972.338851885] [sailbot.teensy]: Actual tail angle: 8 -[mux-7] [INFO] [1746050972.338929815] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050972.339241712] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050972.344581794] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050972.345221514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050972.345773841] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050972.346954981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050972.348095287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050972.445104039] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050972.445759072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050972.446663067] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050972.447654497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050972.448844414] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050972.457169882] [sailbot.main_algo]: Wind Direction: 231 -[main_algo-3] [INFO] [1746050972.458222064] [sailbot.main_algo]: Target Bearing: -52.93990669830622 -[main_algo-3] [INFO] [1746050972.459119791] [sailbot.main_algo]: Heading Difference: -153.00709330169377 -[main_algo-3] [INFO] [1746050972.459940061] [sailbot.main_algo]: Wind Direction: 231 -[main_algo-3] [INFO] [1746050972.460765218] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050972.461556106] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050972.462582084] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050972.463340969] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050972.502835009] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891406 Long: -76.50351099 -[main_algo-3] [INFO] [1746050972.503907687] [sailbot.main_algo]: Distance to destination: 27.086965184634995 -[vectornav-1] [INFO] [1746050972.504031886] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (152.25400000000002, 2.08, 3.081) -[main_algo-3] [INFO] [1746050972.505110705] [sailbot.main_algo]: Target Bearing: -52.87700745415307 -[main_algo-3] [INFO] [1746050972.506087831] [sailbot.main_algo]: Heading Difference: -153.06999254584696 -[main_algo-3] [INFO] [1746050972.506988363] [sailbot.main_algo]: Wind Direction: 231 -[main_algo-3] [INFO] [1746050972.507869882] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050972.508794059] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050972.510513560] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050972.545384490] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050972.546130085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050972.546884369] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050972.548270781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050972.549455727] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050972.585350197] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050972.586935161] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050972.587789064] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050972.587857404] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050972.588774998] [sailbot.teensy]: Actual tail angle: 8 -[mux-7] [INFO] [1746050972.589413844] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050972.589666964] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050972.644719586] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050972.645312819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050972.645867116] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050972.647019095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050972.648138590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050972.744956154] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050972.745731207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050972.746238995] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050972.747603779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050972.748668085] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050972.835592125] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050972.838263588] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050972.839068576] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050972.839552457] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050972.840556018] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050972.841473991] [sailbot.teensy]: Actual tail angle: 8 -[teensy-2] [INFO] [1746050972.842282894] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050972.843666076] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050972.844449952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050972.844771795] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050972.846166570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050972.847302370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050972.945415727] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050972.946165779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050972.946960224] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050972.948846867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050972.949402530] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050972.957010764] [sailbot.main_algo]: Wind Direction: 231 -[main_algo-3] [INFO] [1746050972.957968005] [sailbot.main_algo]: Target Bearing: -52.87700745415307 -[main_algo-3] [INFO] [1746050972.958822878] [sailbot.main_algo]: Heading Difference: -154.86899254584694 -[main_algo-3] [INFO] [1746050972.959611159] [sailbot.main_algo]: Wind Direction: 231 -[main_algo-3] [INFO] [1746050972.960425458] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050972.961210160] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050972.962347057] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050972.962942871] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050973.003001543] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689133 Long: -76.50351063 -[main_algo-3] [INFO] [1746050973.003996366] [sailbot.main_algo]: Distance to destination: 27.002314534924345 -[main_algo-3] [INFO] [1746050973.005247169] [sailbot.main_algo]: Target Bearing: -52.815803789265374 -[main_algo-3] [INFO] [1746050973.006209639] [sailbot.main_algo]: Heading Difference: -154.9301962107346 -[vectornav-1] [INFO] [1746050973.006257587] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (150.78300000000002, -1.317, 3.775) -[main_algo-3] [INFO] [1746050973.007218651] [sailbot.main_algo]: Wind Direction: 231 -[main_algo-3] [INFO] [1746050973.008179852] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050973.009080967] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050973.010887196] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050973.044914484] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050973.045659801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050973.046165992] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050973.047566190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050973.048771877] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050973.085409565] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050973.087639065] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746050973.088603246] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050973.087951153] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050973.088978978] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050973.089598126] [sailbot.teensy]: Actual tail angle: 8 -[teensy-2] [INFO] [1746050973.090465291] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050973.145022847] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050973.145724789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050973.146448342] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050973.147848451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050973.149049082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050973.245409960] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050973.246136422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050973.246885273] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050973.248224423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050973.249395561] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050973.335190629] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050973.336783693] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746050973.337802310] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050973.338532066] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050973.339419686] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050973.340406952] [sailbot.teensy]: Actual tail angle: 8 -[teensy-2] [INFO] [1746050973.341004822] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050973.344444403] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050973.345180058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050973.345566475] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050973.346957079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050973.348001557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050973.444741401] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050973.445277093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050973.446089445] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050973.447013170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050973.448175324] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050973.457039320] [sailbot.main_algo]: Wind Direction: 231 -[main_algo-3] [INFO] [1746050973.458022960] [sailbot.main_algo]: Target Bearing: -52.815803789265374 -[main_algo-3] [INFO] [1746050973.458905118] [sailbot.main_algo]: Heading Difference: -156.4011962107346 -[main_algo-3] [INFO] [1746050973.459713002] [sailbot.main_algo]: Wind Direction: 231 -[main_algo-3] [INFO] [1746050973.460547461] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050973.461343932] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050973.462343475] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050973.462905261] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050973.489143582] [sailbot.mux]: controller_app rudder angle: -18 -[vectornav-1] [INFO] [1746050973.503128513] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891258 Long: -76.50351076 -[main_algo-3] [INFO] [1746050973.503674074] [sailbot.main_algo]: Distance to destination: 26.946147231281433 -[vectornav-1] [INFO] [1746050973.504404687] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (148.70499999999998, -2.958, 2.564) -[main_algo-3] [INFO] [1746050973.504766243] [sailbot.main_algo]: Target Bearing: -52.69279932124321 -[main_algo-3] [INFO] [1746050973.505777578] [sailbot.main_algo]: Heading Difference: -156.52420067875676 -[main_algo-3] [INFO] [1746050973.506693071] [sailbot.main_algo]: Wind Direction: 231 -[main_algo-3] [INFO] [1746050973.507591340] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050973.508454191] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050973.510097537] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050973.545049733] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050973.545888584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050973.546430795] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050973.547977525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050973.549132087] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050973.585331849] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050973.587060155] [sailbot.teensy]: Wind angle: 230 -[teensy-2] [INFO] [1746050973.587944011] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050973.587632116] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050973.588396377] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050973.588826479] [sailbot.teensy]: Actual tail angle: 8 -[teensy-2] [INFO] [1746050973.589681666] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050973.644788372] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050973.645416141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050973.646120477] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050973.647258693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050973.648420282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050973.745023706] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050973.745717960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050973.746439326] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050973.747687721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050973.748726220] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050973.835281599] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050973.837742414] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746050973.837741761] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050973.838680461] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050973.838681514] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050973.839593044] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050973.840465607] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050973.844396245] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050973.844980108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050973.845504176] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050973.846733247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050973.847737404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050973.944781833] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050973.945327746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050973.945948822] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050973.947224195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050973.948284448] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050973.957111225] [sailbot.main_algo]: Wind Direction: 230 -[main_algo-3] [INFO] [1746050973.958251172] [sailbot.main_algo]: Target Bearing: -52.69279932124321 -[main_algo-3] [INFO] [1746050973.959184050] [sailbot.main_algo]: Heading Difference: -158.60220067875684 -[main_algo-3] [INFO] [1746050973.960053826] [sailbot.main_algo]: Wind Direction: 230 -[main_algo-3] [INFO] [1746050973.960915936] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050973.961703173] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050973.962677039] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050973.963243836] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050974.002433090] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891236 Long: -76.50351108 -[main_algo-3] [INFO] [1746050974.003135139] [sailbot.main_algo]: Distance to destination: 26.94331773887163 -[vectornav-1] [INFO] [1746050974.003569897] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (146.736, 1.999, 5.22) -[main_algo-3] [INFO] [1746050974.004173598] [sailbot.main_algo]: Target Bearing: -52.61668546318875 -[main_algo-3] [INFO] [1746050974.005159303] [sailbot.main_algo]: Heading Difference: -158.67831453681129 -[main_algo-3] [INFO] [1746050974.005997529] [sailbot.main_algo]: Wind Direction: 230 -[main_algo-3] [INFO] [1746050974.006847031] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050974.007644414] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050974.009308441] [sailbot.mux]: algo rudder angle: -15 -[teensy-2] [INFO] [1746050974.045967438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050974.046025991] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746050974.047438087] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050974.047925307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050974.049080743] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050974.085247372] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050974.087633928] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050974.087976970] [sailbot.teensy]: Wind angle: 224 -[teensy-2] [INFO] [1746050974.088997670] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050974.089086857] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050974.089914848] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050974.090809073] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050974.145062650] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050974.145861053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050974.146465909] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050974.147965667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050974.149190534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050974.244951717] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050974.245652082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050974.246204959] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050974.247546398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050974.248714299] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050974.335254718] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050974.337628570] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050974.337974217] [sailbot.teensy]: Wind angle: 221 -[teensy-2] [INFO] [1746050974.338944002] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050974.338969574] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050974.339858167] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050974.340537228] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050974.344440842] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050974.344939414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050974.345860288] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050974.346738461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050974.347838040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050974.445486703] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050974.446537428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050974.447223895] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050974.448871049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050974.450125993] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050974.457171447] [sailbot.main_algo]: Wind Direction: 221 -[main_algo-3] [INFO] [1746050974.458242743] [sailbot.main_algo]: Target Bearing: -52.61668546318875 -[main_algo-3] [INFO] [1746050974.459149051] [sailbot.main_algo]: Heading Difference: -160.64731453681122 -[main_algo-3] [INFO] [1746050974.460013528] [sailbot.main_algo]: Wind Direction: 221 -[main_algo-3] [INFO] [1746050974.460928609] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050974.461794415] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050974.462868264] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050974.463769881] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050974.502931910] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891207 Long: -76.5035105 -[main_algo-3] [INFO] [1746050974.503701025] [sailbot.main_algo]: Distance to destination: 26.888461439698496 -[vectornav-1] [INFO] [1746050974.504131588] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (144.332, 0.657, 4.112) -[main_algo-3] [INFO] [1746050974.504979341] [sailbot.main_algo]: Target Bearing: -52.653697571829746 -[main_algo-3] [INFO] [1746050974.507111940] [sailbot.main_algo]: Heading Difference: -160.61030242817026 -[main_algo-3] [INFO] [1746050974.508035317] [sailbot.main_algo]: Wind Direction: 221 -[main_algo-3] [INFO] [1746050974.508958829] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050974.509802774] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050974.511542260] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050974.545390074] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050974.545634324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050974.547022059] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050974.547506719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050974.548484427] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050974.585195821] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050974.587358554] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050974.587877820] [sailbot.teensy]: Wind angle: 221 -[mux-7] [INFO] [1746050974.587934542] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050974.588861525] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050974.589928897] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050974.590791541] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050974.645435698] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050974.646221942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050974.647414501] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050974.648550752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050974.649686925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050974.745034783] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050974.745752427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050974.746599143] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050974.747731636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050974.748945283] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050974.835358151] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050974.837233526] [sailbot.teensy]: Wind angle: 223 -[teensy-2] [INFO] [1746050974.838187128] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050974.837865803] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050974.838794203] [sailbot.teensy]: Actual tail angle: 7 -[mux-7] [INFO] [1746050974.838794633] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050974.839162182] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050974.844446075] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050974.845042753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050974.845836691] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050974.846765329] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050974.847818574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050974.945327078] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746050974.947004048] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050974.947449554] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050974.949581487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050974.950147411] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050974.957047375] [sailbot.main_algo]: Wind Direction: 223 -[main_algo-3] [INFO] [1746050974.958079581] [sailbot.main_algo]: Target Bearing: -52.653697571829746 -[main_algo-3] [INFO] [1746050974.959049895] [sailbot.main_algo]: Heading Difference: -163.01430242817025 -[main_algo-3] [INFO] [1746050974.959957065] [sailbot.main_algo]: Wind Direction: 223 -[main_algo-3] [INFO] [1746050974.960921329] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050974.961932542] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050974.963242835] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050974.963700894] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050975.001371983] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891087 Long: -76.50350996 -[vectornav-1] [INFO] [1746050975.001813780] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (144.10199999999998, -0.708, 1.913) -[main_algo-3] [INFO] [1746050975.001835867] [sailbot.main_algo]: Distance to destination: 26.756449881178032 -[main_algo-3] [INFO] [1746050975.002289425] [sailbot.main_algo]: Target Bearing: -52.551133445086975 -[main_algo-3] [INFO] [1746050975.002717199] [sailbot.main_algo]: Heading Difference: -163.11686655491303 -[main_algo-3] [INFO] [1746050975.003116298] [sailbot.main_algo]: Wind Direction: 223 -[main_algo-3] [INFO] [1746050975.003490916] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050975.003876416] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050975.004770299] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050975.040947254] [sailbot.mux]: controller_app rudder angle: -17 -[mux-7] [INFO] [1746050975.044011436] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050975.044714884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050975.045032188] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050975.046316126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050975.047276673] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050975.085127510] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050975.087177720] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050975.087370892] [sailbot.teensy]: Wind angle: 224 -[mux-7] [INFO] [1746050975.088217223] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050975.088258577] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050975.089100658] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050975.089945766] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050975.145097972] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050975.145876943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050975.146503602] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050975.147671905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050975.148735628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050975.245151034] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050975.245941955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050975.246818410] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050975.247790665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050975.248343539] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050975.335376840] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050975.337035317] [sailbot.teensy]: Wind angle: 223 -[trim_sail-4] [INFO] [1746050975.337520985] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050975.337944266] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050975.338899802] [sailbot.teensy]: Actual tail angle: 8 -[mux-7] [INFO] [1746050975.339648544] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050975.339744779] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050975.344483791] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050975.345229891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050975.345631090] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050975.346981171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050975.348006983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050975.445178443] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050975.445940431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050975.446703975] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050975.448188444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050975.449263603] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050975.457015003] [sailbot.main_algo]: Wind Direction: 223 -[main_algo-3] [INFO] [1746050975.458002143] [sailbot.main_algo]: Target Bearing: -52.551133445086975 -[main_algo-3] [INFO] [1746050975.458896098] [sailbot.main_algo]: Heading Difference: -163.34686655491305 -[main_algo-3] [INFO] [1746050975.459753042] [sailbot.main_algo]: Wind Direction: 223 -[main_algo-3] [INFO] [1746050975.460566058] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050975.461367033] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050975.462362761] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050975.462940165] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050975.503176043] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891008 Long: -76.50351003 -[main_algo-3] [INFO] [1746050975.503789058] [sailbot.main_algo]: Distance to destination: 26.691397917519545 -[vectornav-1] [INFO] [1746050975.504729547] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (141.385, -1.792, 3.509) -[main_algo-3] [INFO] [1746050975.504944213] [sailbot.main_algo]: Target Bearing: -52.42431030834267 -[main_algo-3] [INFO] [1746050975.505922980] [sailbot.main_algo]: Heading Difference: -163.47368969165734 -[main_algo-3] [INFO] [1746050975.506840976] [sailbot.main_algo]: Wind Direction: 223 -[main_algo-3] [INFO] [1746050975.507698097] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050975.508554313] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050975.510263465] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050975.545050940] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050975.545785516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050975.546460002] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050975.547720439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050975.548758327] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050975.585430499] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050975.587123911] [sailbot.teensy]: Wind angle: 217 -[trim_sail-4] [INFO] [1746050975.587579471] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050975.588060530] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050975.589055538] [sailbot.teensy]: Actual tail angle: 8 -[teensy-2] [INFO] [1746050975.590018526] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050975.590385044] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050975.645045008] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050975.645684991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050975.646457873] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050975.647654460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050975.648831235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050975.744898908] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050975.745964556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050975.746566462] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050975.747784950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050975.748933728] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050975.835175003] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050975.837218580] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050975.838624938] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050975.838874911] [sailbot.teensy]: Wind angle: 218 -[teensy-2] [INFO] [1746050975.839866711] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050975.840794845] [sailbot.teensy]: Actual tail angle: 8 -[teensy-2] [INFO] [1746050975.841649991] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050975.844480254] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050975.844926178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050975.845662642] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050975.846660879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050975.847722741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050975.945159140] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050975.945809188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050975.946695487] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050975.947939246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050975.949068527] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050975.957157568] [sailbot.main_algo]: Wind Direction: 218 -[main_algo-3] [INFO] [1746050975.958142840] [sailbot.main_algo]: Target Bearing: -52.42431030834267 -[main_algo-3] [INFO] [1746050975.959028424] [sailbot.main_algo]: Heading Difference: -166.19068969165733 -[main_algo-3] [INFO] [1746050975.959875286] [sailbot.main_algo]: Wind Direction: 218 -[main_algo-3] [INFO] [1746050975.960730203] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050975.961529864] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050975.962517575] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050975.963272342] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050976.002213591] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890937 Long: -76.50350989 -[main_algo-3] [INFO] [1746050976.003103078] [sailbot.main_algo]: Distance to destination: 26.622616084209444 -[vectornav-1] [INFO] [1746050976.003224189] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (141.61, 5.317, 3.495) -[main_algo-3] [INFO] [1746050976.004277815] [sailbot.main_algo]: Target Bearing: -52.33782195212633 -[main_algo-3] [INFO] [1746050976.005660172] [sailbot.main_algo]: Heading Difference: -166.2771780478737 -[main_algo-3] [INFO] [1746050976.006623720] [sailbot.main_algo]: Wind Direction: 218 -[main_algo-3] [INFO] [1746050976.007506443] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050976.008370295] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050976.010099138] [sailbot.mux]: algo rudder angle: -15 -[teensy-2] [INFO] [1746050976.046055952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050976.046316694] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746050976.047854509] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050976.048041915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050976.049904633] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050976.085558760] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050976.087947350] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050976.088771133] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050976.089258425] [sailbot.teensy]: Wind angle: 218 -[teensy-2] [INFO] [1746050976.090269099] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050976.091171753] [sailbot.teensy]: Actual tail angle: 8 -[teensy-2] [INFO] [1746050976.092009652] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050976.145274163] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050976.146177377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050976.146843950] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050976.148306307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050976.149494870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050976.245003864] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050976.245793723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050976.246454011] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050976.247740366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050976.248875440] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050976.335323295] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050976.337354256] [sailbot.teensy]: Wind angle: 214 -[trim_sail-4] [INFO] [1746050976.337692637] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050976.339117187] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050976.339662751] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050976.340709584] [sailbot.teensy]: Actual tail angle: 8 -[teensy-2] [INFO] [1746050976.341607085] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050976.344278576] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050976.344780701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050976.345422246] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050976.346470231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050976.347513601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050976.445479655] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050976.446158120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050976.447210756] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050976.448467385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050976.449018754] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050976.456954043] [sailbot.main_algo]: Wind Direction: 214 -[main_algo-3] [INFO] [1746050976.457962943] [sailbot.main_algo]: Target Bearing: -52.33782195212633 -[main_algo-3] [INFO] [1746050976.458840054] [sailbot.main_algo]: Heading Difference: -166.05217804787367 -[main_algo-3] [INFO] [1746050976.459638616] [sailbot.main_algo]: Wind Direction: 214 -[main_algo-3] [INFO] [1746050976.460462094] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050976.461269883] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050976.462335471] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050976.462879242] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050976.503225194] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890837 Long: -76.50350879 -[main_algo-3] [INFO] [1746050976.503895917] [sailbot.main_algo]: Distance to destination: 26.479393107503 -[vectornav-1] [INFO] [1746050976.504659607] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (138.281, -5.222, 3.868) -[main_algo-3] [INFO] [1746050976.505309400] [sailbot.main_algo]: Target Bearing: -52.340425560342155 -[main_algo-3] [INFO] [1746050976.506315385] [sailbot.main_algo]: Heading Difference: -166.04957443965782 -[main_algo-3] [INFO] [1746050976.507260428] [sailbot.main_algo]: Wind Direction: 214 -[main_algo-3] [INFO] [1746050976.508128772] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050976.508988769] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050976.510756024] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050976.544993003] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050976.545658245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050976.546236154] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050976.547712522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050976.548908383] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050976.585124182] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050976.587128990] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050976.587791263] [sailbot.teensy]: Wind angle: 213 -[teensy-2] [INFO] [1746050976.588794095] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050976.589021115] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050976.589787533] [sailbot.teensy]: Actual tail angle: 8 -[teensy-2] [INFO] [1746050976.590640317] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050976.644762474] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050976.645323395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050976.645933015] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050976.647123364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050976.648335450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050976.745048931] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050976.745761629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050976.746598718] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050976.747723840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050976.748764437] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050976.835127808] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050976.836874355] [sailbot.teensy]: Wind angle: 213 -[trim_sail-4] [INFO] [1746050976.837429907] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050976.837739491] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050976.837759141] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050976.838629043] [sailbot.teensy]: Actual tail angle: 8 -[teensy-2] [INFO] [1746050976.839002671] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050976.844486934] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050976.845012208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050976.845604412] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050976.846743941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050976.847739957] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050976.945205655] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050976.946300159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050976.946756465] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050976.948691408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050976.949850568] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050976.957114028] [sailbot.main_algo]: Wind Direction: 213 -[main_algo-3] [INFO] [1746050976.958293381] [sailbot.main_algo]: Target Bearing: -52.340425560342155 -[main_algo-3] [INFO] [1746050976.959258973] [sailbot.main_algo]: Heading Difference: -169.37857443965783 -[main_algo-3] [INFO] [1746050976.960148464] [sailbot.main_algo]: Wind Direction: 213 -[main_algo-3] [INFO] [1746050976.961081686] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050976.961919604] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050976.962911609] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050976.963476981] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050977.002805468] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890775 Long: -76.50350861 -[main_algo-3] [INFO] [1746050977.003912352] [sailbot.main_algo]: Distance to destination: 26.41640674789313 -[vectornav-1] [INFO] [1746050977.004426015] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (134.75400000000002, 2.161, 3.069) -[main_algo-3] [INFO] [1746050977.005111945] [sailbot.main_algo]: Target Bearing: -52.2721601467691 -[main_algo-3] [INFO] [1746050977.006253869] [sailbot.main_algo]: Heading Difference: -169.44683985323093 -[main_algo-3] [INFO] [1746050977.007191721] [sailbot.main_algo]: Wind Direction: 213 -[main_algo-3] [INFO] [1746050977.008060615] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050977.008963926] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050977.010672160] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050977.045108848] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050977.045882657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050977.046539164] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050977.048093174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050977.049248050] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050977.085313222] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050977.087379570] [sailbot.teensy]: Wind angle: 213 -[trim_sail-4] [INFO] [1746050977.087631677] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050977.088318788] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050977.088353207] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050977.089274740] [sailbot.teensy]: Actual tail angle: 8 -[teensy-2] [INFO] [1746050977.090145045] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050977.144849573] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050977.145409114] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050977.146054694] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050977.147504592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050977.148646569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050977.245107233] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050977.245673373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050977.247044374] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050977.247547761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050977.248639069] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050977.335282167] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050977.337530965] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050977.338513856] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050977.338907914] [sailbot.teensy]: Wind angle: 212 -[teensy-2] [INFO] [1746050977.339871087] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050977.340425974] [sailbot.teensy]: Actual tail angle: 8 -[teensy-2] [INFO] [1746050977.340828809] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050977.344536655] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050977.344978237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050977.345856089] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050977.346640872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050977.347720190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050977.445201613] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050977.446001285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050977.446810100] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050977.448045700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050977.449213215] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050977.457126503] [sailbot.main_algo]: Wind Direction: 212 -[main_algo-3] [INFO] [1746050977.458119194] [sailbot.main_algo]: Target Bearing: -52.2721601467691 -[main_algo-3] [INFO] [1746050977.459001554] [sailbot.main_algo]: Heading Difference: -172.97383985323086 -[main_algo-3] [INFO] [1746050977.459854693] [sailbot.main_algo]: Wind Direction: 212 -[main_algo-3] [INFO] [1746050977.460665284] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050977.461458571] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746050977.462473481] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050977.463201726] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746050977.502739014] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890689 Long: -76.50350846 -[main_algo-3] [INFO] [1746050977.503786704] [sailbot.main_algo]: Distance to destination: 26.334241518838795 -[vectornav-1] [INFO] [1746050977.504133041] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (131.103, -1.398, 2.875) -[main_algo-3] [INFO] [1746050977.504927676] [sailbot.main_algo]: Target Bearing: -52.16303958403642 -[main_algo-3] [INFO] [1746050977.505899980] [sailbot.main_algo]: Heading Difference: -173.08296041596356 -[main_algo-3] [INFO] [1746050977.506802912] [sailbot.main_algo]: Wind Direction: 212 -[main_algo-3] [INFO] [1746050977.507667354] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746050977.508524162] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746050977.510259074] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746050977.544995492] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050977.545694448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050977.546295580] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050977.547549555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050977.548837119] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050977.585284852] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050977.587681468] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050977.587891089] [sailbot.teensy]: Wind angle: 205 -[mux-7] [INFO] [1746050977.588267258] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050977.588863960] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050977.589749747] [sailbot.teensy]: Actual tail angle: 8 -[teensy-2] [INFO] [1746050977.590650356] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050977.645367732] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050977.646033631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050977.646981212] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050977.648137760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050977.649242711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050977.745463382] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050977.746193569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050977.747034771] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050977.748581812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050977.749719026] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050977.835301808] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050977.837040402] [sailbot.teensy]: Wind angle: 199 -[teensy-2] [INFO] [1746050977.837945121] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050977.837489466] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050977.838217040] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050977.838837652] [sailbot.teensy]: Actual tail angle: 8 -[teensy-2] [INFO] [1746050977.839412953] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050977.844637777] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050977.844965866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050977.845800768] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050977.846669147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050977.847816348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050977.945390824] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050977.946090923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050977.947473116] [sailbot.mux]: Published rudder angle from controller_app: -17 -[teensy-2] [INFO] [1746050977.948275999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -17 -[teensy-2] [INFO] [1746050977.949272738] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050977.957065651] [sailbot.main_algo]: Wind Direction: 199 -[main_algo-3] [INFO] [1746050977.958081587] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746050977.958975910] [sailbot.main_algo]: Wind Direction: 199 -[main_algo-3] [INFO] [1746050977.960173947] [sailbot.main_algo]: Current Location: (42.46890689215145, -76.50350846005456) -[main_algo-3] [INFO] [1746050977.961065799] [sailbot.main_algo]: Target Bearing: -52.16303958403642 -[main_algo-3] [INFO] [1746050977.961909903] [sailbot.main_algo]: Heading Difference: -176.73396041596357 -[main_algo-3] [INFO] [1746050977.962710233] [sailbot.main_algo]: Wind Direction: 199 -[main_algo-3] [INFO] [1746050977.963503220] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746050977.964294523] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746050977.965311499] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050977.966269779] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746050978.002317721] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890598 Long: -76.50350808 -[main_algo-3] [INFO] [1746050978.003180983] [sailbot.main_algo]: Distance to destination: 26.235965621323917 -[vectornav-1] [INFO] [1746050978.003278501] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (124.56099999999998, 1.231, 5.234) -[main_algo-3] [INFO] [1746050978.004574997] [sailbot.main_algo]: Target Bearing: -52.07772373310966 -[main_algo-3] [INFO] [1746050978.005531264] [sailbot.main_algo]: Heading Difference: -176.81927626689037 -[main_algo-3] [INFO] [1746050978.006453250] [sailbot.main_algo]: Wind Direction: 199 -[main_algo-3] [INFO] [1746050978.007332598] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746050978.008197684] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746050978.009935585] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746050978.035057087] [sailbot.mux]: controller_app rudder angle: -18 -[mux-7] [INFO] [1746050978.044550535] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050978.045145428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050978.045857681] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050978.046910005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050978.047857640] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050978.085214466] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050978.087425616] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050978.087411628] [sailbot.teensy]: Wind angle: 196 -[mux-7] [INFO] [1746050978.088659422] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050978.088747864] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050978.089633077] [sailbot.teensy]: Actual tail angle: 8 -[teensy-2] [INFO] [1746050978.090492205] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050978.145038802] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050978.145785666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050978.146389212] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050978.147603926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050978.148661257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050978.245450370] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050978.245928169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050978.247253180] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050978.248145602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050978.249302127] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050978.335331710] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050978.337477610] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746050978.337790064] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050978.338639884] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050978.339455047] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050978.340397007] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050978.341238216] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050978.344446745] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050978.344966111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050978.345572248] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050978.346759065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050978.347835320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050978.445573629] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050978.446700109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050978.447443386] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050978.449026734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050978.450174649] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050978.457219939] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746050978.458412708] [sailbot.main_algo]: Target Bearing: -52.07772373310966 -[main_algo-3] [INFO] [1746050978.459400230] [sailbot.main_algo]: Heading Difference: 176.6387237331096 -[main_algo-3] [INFO] [1746050978.460293016] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746050978.461127835] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746050978.461983002] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746050978.463025740] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050978.463700706] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746050978.502850048] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890537 Long: -76.50350726 -[main_algo-3] [INFO] [1746050978.503818246] [sailbot.main_algo]: Distance to destination: 26.140899519313354 -[vectornav-1] [INFO] [1746050978.503978808] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (119.63299999999998, -1.824, 4.589) -[main_algo-3] [INFO] [1746050978.505019259] [sailbot.main_algo]: Target Bearing: -52.09934960141881 -[main_algo-3] [INFO] [1746050978.505998612] [sailbot.main_algo]: Heading Difference: 176.66034960141877 -[main_algo-3] [INFO] [1746050978.506901159] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746050978.507812702] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746050978.508684689] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746050978.510519757] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746050978.545044213] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050978.545865680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050978.546481806] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050978.548143795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050978.549328981] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050978.585170553] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050978.587698534] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050978.587894185] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746050978.588866171] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050978.588515363] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050978.589757110] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050978.590608708] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050978.645163426] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050978.646133466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050978.647036672] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050978.648303492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050978.649447489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050978.744714849] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050978.745323689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050978.745898245] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050978.747125100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050978.748298578] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050978.835292551] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050978.838059701] [sailbot.teensy]: Wind angle: 191 -[teensy-2] [INFO] [1746050978.839026131] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050978.838416244] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050978.839189596] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050978.839878609] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050978.840918447] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050978.844371239] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050978.845093243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050978.845725506] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050978.846806014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050978.847961419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050978.945280986] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050978.945895449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050978.946811281] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050978.948076978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050978.949357244] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050978.957012479] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746050978.957974895] [sailbot.main_algo]: Target Bearing: -52.09934960141881 -[main_algo-3] [INFO] [1746050978.958855128] [sailbot.main_algo]: Heading Difference: 171.73234960141878 -[main_algo-3] [INFO] [1746050978.959636561] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746050978.960463011] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746050978.961255692] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746050978.962362639] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050978.962861469] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746050979.003892604] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890462 Long: -76.5035074 -[main_algo-3] [INFO] [1746050979.004364144] [sailbot.main_algo]: Distance to destination: 26.083394011218136 -[vectornav-1] [INFO] [1746050979.005277988] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (114.69400000000002, 0.372, 3.38) -[main_algo-3] [INFO] [1746050979.005798236] [sailbot.main_algo]: Target Bearing: -51.96473926915184 -[main_algo-3] [INFO] [1746050979.006961549] [sailbot.main_algo]: Heading Difference: 171.59773926915182 -[main_algo-3] [INFO] [1746050979.007942322] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746050979.008872121] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746050979.009789307] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746050979.011653470] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746050979.045165732] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050979.045890655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050979.046676339] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050979.047882397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050979.049077352] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050979.085063612] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050979.086987395] [sailbot.teensy]: Wind angle: 187 -[teensy-2] [INFO] [1746050979.087923398] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050979.087012063] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050979.088455091] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050979.088802329] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050979.089715744] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050979.145154747] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050979.145885031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050979.146675383] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050979.147739554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050979.148813257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050979.245321433] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050979.246210268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050979.246849728] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050979.248359858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050979.249069467] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050979.335361843] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050979.337517575] [sailbot.teensy]: Wind angle: 179 -[trim_sail-4] [INFO] [1746050979.337553538] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050979.338536263] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050979.339424047] [sailbot.teensy]: Actual tail angle: 7 -[mux-7] [INFO] [1746050979.339972753] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050979.340333654] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050979.344418643] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050979.344884945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050979.345621804] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050979.346567000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050979.347609945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050979.445392992] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050979.445909083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050979.447034676] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050979.448033242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050979.448765848] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050979.456929763] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746050979.457918374] [sailbot.main_algo]: Target Bearing: -51.96473926915184 -[main_algo-3] [INFO] [1746050979.458815877] [sailbot.main_algo]: Heading Difference: 166.65873926915185 -[main_algo-3] [INFO] [1746050979.459621661] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746050979.460464828] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746050979.461251519] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746050979.462311369] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050979.463045191] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746050979.502861395] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890386 Long: -76.50350749 -[main_algo-3] [INFO] [1746050979.503393148] [sailbot.main_algo]: Distance to destination: 26.02257485962158 -[vectornav-1] [INFO] [1746050979.504451001] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (108.30799999999999, -0.63, 4.599) -[main_algo-3] [INFO] [1746050979.504485661] [sailbot.main_algo]: Target Bearing: -51.835005838341296 -[main_algo-3] [INFO] [1746050979.505472235] [sailbot.main_algo]: Heading Difference: 166.52900583834128 -[main_algo-3] [INFO] [1746050979.506402876] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746050979.507282938] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746050979.508126162] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746050979.509831171] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746050979.544866150] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050979.545552036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050979.546174476] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050979.547396515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050979.548570758] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050979.585330594] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050979.587570072] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050979.588308930] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050979.588533156] [sailbot.teensy]: Wind angle: 173 -[teensy-2] [INFO] [1746050979.589461036] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050979.590313754] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050979.591162080] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050979.645124208] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050979.645936438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050979.646617559] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050979.648003664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050979.649045915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050979.745279934] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050979.745955452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050979.746841364] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050979.748177166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050979.749288269] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050979.835194807] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050979.837552591] [sailbot.teensy]: Wind angle: 173 -[trim_sail-4] [INFO] [1746050979.837786382] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050979.838211140] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050979.838506961] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050979.839411983] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050979.840316316] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050979.844422721] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050979.845100867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050979.845866722] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050979.846806363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050979.847878531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050979.945210836] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050979.946099851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050979.947023583] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050979.948349108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050979.949425427] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050979.957119941] [sailbot.main_algo]: Wind Direction: 173 -[main_algo-3] [INFO] [1746050979.958203972] [sailbot.main_algo]: Target Bearing: -51.835005838341296 -[main_algo-3] [INFO] [1746050979.959088091] [sailbot.main_algo]: Heading Difference: 160.1430058383413 -[main_algo-3] [INFO] [1746050979.959992974] [sailbot.main_algo]: Wind Direction: 173 -[main_algo-3] [INFO] [1746050979.960874745] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746050979.961739318] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746050979.962737339] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050979.963579535] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746050980.003110983] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890313 Long: -76.50350634 -[vectornav-1] [INFO] [1746050980.004426417] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (97.238, 1.973, 7.543) -[main_algo-3] [INFO] [1746050980.003814977] [sailbot.main_algo]: Distance to destination: 25.9000028893031 -[main_algo-3] [INFO] [1746050980.004948983] [sailbot.main_algo]: Target Bearing: -51.88384460005261 -[main_algo-3] [INFO] [1746050980.005997497] [sailbot.main_algo]: Heading Difference: 160.1918446000526 -[main_algo-3] [INFO] [1746050980.006952344] [sailbot.main_algo]: Wind Direction: 173 -[main_algo-3] [INFO] [1746050980.007882772] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746050980.008753831] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746050980.010711941] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746050980.045232342] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050980.045886769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050980.046750742] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050980.048115301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050980.049328301] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050980.085418791] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050980.087103243] [sailbot.teensy]: Wind angle: 172 -[trim_sail-4] [INFO] [1746050980.087706105] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050980.088015715] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050980.089375444] [sailbot.teensy]: Actual tail angle: 7 -[mux-7] [INFO] [1746050980.090264230] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050980.091006670] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050980.144894226] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050980.145501598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050980.146130250] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050980.147368985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050980.148438282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050980.245366125] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050980.246056390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050980.247059899] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050980.248645278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050980.249957861] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050980.335301754] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050980.337785198] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050980.338285382] [sailbot.teensy]: Wind angle: 167 -[mux-7] [INFO] [1746050980.338464585] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050980.340066100] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050980.340520008] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050980.340868131] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050980.344457819] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050980.345020402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050980.345622167] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050980.346700450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050980.347923682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050980.445238019] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050980.446062336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050980.446797871] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050980.447868150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050980.448329778] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050980.457165306] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746050980.458266489] [sailbot.main_algo]: Target Bearing: -51.88384460005261 -[main_algo-3] [INFO] [1746050980.459205294] [sailbot.main_algo]: Heading Difference: 149.1218446000526 -[main_algo-3] [INFO] [1746050980.460089053] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746050980.460990321] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746050980.461851218] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746050980.463023414] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050980.463661591] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746050980.502684582] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890223 Long: -76.50350618 -[main_algo-3] [INFO] [1746050980.503558595] [sailbot.main_algo]: Distance to destination: 25.814221006964573 -[vectornav-1] [INFO] [1746050980.503740189] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (86.84500000000003, -3.418, 6.356) -[main_algo-3] [INFO] [1746050980.504654697] [sailbot.main_algo]: Target Bearing: -51.76648465076176 -[main_algo-3] [INFO] [1746050980.505619069] [sailbot.main_algo]: Heading Difference: 149.00448465076175 -[main_algo-3] [INFO] [1746050980.506497787] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746050980.507387310] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746050980.508333274] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746050980.510056659] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746050980.545105446] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050980.545928309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050980.546533798] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050980.548251127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050980.549303735] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050980.585119155] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050980.586862710] [sailbot.teensy]: Wind angle: 149 -[teensy-2] [INFO] [1746050980.587747790] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050980.587236038] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050980.587684659] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050980.588641548] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050980.589544928] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050980.645122205] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050980.645881523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050980.646666353] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050980.647993664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050980.649329646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050980.745612177] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050980.746605432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050980.747703995] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050980.749101517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050980.750240472] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050980.835473055] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050980.837409682] [sailbot.teensy]: Wind angle: 137 -[trim_sail-4] [INFO] [1746050980.838025907] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050980.838390646] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050980.839321755] [sailbot.teensy]: Actual tail angle: 7 -[mux-7] [INFO] [1746050980.838511871] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050980.840244950] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050980.844431769] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050980.845418933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050980.845917450] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050980.847196219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050980.848332427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050980.945411145] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050980.946378927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050980.946942736] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050980.948520332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050980.949695181] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050980.956931606] [sailbot.main_algo]: Wind Direction: 137 -[main_algo-3] [INFO] [1746050980.957875832] [sailbot.main_algo]: Target Bearing: -51.76648465076176 -[main_algo-3] [INFO] [1746050980.958689414] [sailbot.main_algo]: Heading Difference: 138.61148465076178 -[main_algo-3] [INFO] [1746050980.959465932] [sailbot.main_algo]: Wind Direction: 137 -[main_algo-3] [INFO] [1746050980.960245677] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050980.961029827] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050980.961994187] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050980.962875547] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050981.003515473] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890179 Long: -76.50350661 -[main_algo-3] [INFO] [1746050981.003669102] [sailbot.main_algo]: Distance to destination: 25.798813928299143 -[main_algo-3] [INFO] [1746050981.004757039] [sailbot.main_algo]: Target Bearing: -51.637015686489605 -[vectornav-1] [INFO] [1746050981.005379175] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (75.435, 1.518, 6.397) -[main_algo-3] [INFO] [1746050981.005766105] [sailbot.main_algo]: Heading Difference: 138.4820156864896 -[main_algo-3] [INFO] [1746050981.007119865] [sailbot.main_algo]: Wind Direction: 137 -[main_algo-3] [INFO] [1746050981.008017792] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050981.008880763] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050981.010673080] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050981.045079625] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050981.045690828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050981.046402328] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050981.047568054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050981.048658367] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050981.085336152] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050981.087590287] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050981.087788260] [sailbot.teensy]: Wind angle: 137 -[teensy-2] [INFO] [1746050981.088738807] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050981.088745974] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050981.089657149] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050981.090595673] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050981.144846643] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050981.145501913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050981.146034950] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050981.147349085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050981.148338405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050981.244866291] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050981.245404528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050981.246080431] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050981.247141714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050981.248341939] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050981.335183797] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050981.337284294] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050981.337400054] [sailbot.teensy]: Wind angle: 134 -[mux-7] [INFO] [1746050981.337751465] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050981.338284924] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050981.339171676] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050981.339976971] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050981.344552119] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050981.345165653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050981.345731853] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050981.346854806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050981.347906995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050981.445399095] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050981.446385784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050981.447057691] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050981.449059593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050981.450332753] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050981.457135808] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746050981.458283223] [sailbot.main_algo]: Target Bearing: -51.637015686489605 -[main_algo-3] [INFO] [1746050981.459236400] [sailbot.main_algo]: Heading Difference: 127.07201568648964 -[main_algo-3] [INFO] [1746050981.460125910] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746050981.461052876] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050981.461880830] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050981.462906861] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050981.463504790] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050981.502749144] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890119 Long: -76.50350659 -[main_algo-3] [INFO] [1746050981.503665526] [sailbot.main_algo]: Distance to destination: 25.74629590499873 -[vectornav-1] [INFO] [1746050981.504274484] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (62.024, -0.458, 6.923) -[main_algo-3] [INFO] [1746050981.504820774] [sailbot.main_algo]: Target Bearing: -51.545763582449794 -[main_algo-3] [INFO] [1746050981.505783090] [sailbot.main_algo]: Heading Difference: 126.98076358244981 -[main_algo-3] [INFO] [1746050981.506697831] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746050981.507581831] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050981.508437865] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050981.510131487] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050981.545046343] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050981.545868940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050981.546596509] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050981.547930301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050981.549064202] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050981.585250386] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050981.587606925] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050981.588319490] [sailbot.teensy]: Wind angle: 130 -[teensy-2] [INFO] [1746050981.589311784] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050981.589500851] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050981.590227134] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050981.591140392] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050981.645044349] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050981.645705183] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050981.646342223] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050981.647617031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050981.648718820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050981.745295955] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050981.746225325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050981.746828092] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050981.748372240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050981.749588364] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050981.835133745] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050981.837382713] [sailbot.teensy]: Wind angle: 120 -[trim_sail-4] [INFO] [1746050981.837515606] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050981.838399253] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050981.839341920] [sailbot.teensy]: Actual tail angle: 7 -[mux-7] [INFO] [1746050981.839357644] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050981.840337423] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050981.844399816] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050981.844950216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050981.845561149] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050981.846624671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050981.847678870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050981.945116488] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050981.945810002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050981.946548241] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050981.947814092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050981.948399068] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050981.957043373] [sailbot.main_algo]: Wind Direction: 120 -[main_algo-3] [INFO] [1746050981.958009145] [sailbot.main_algo]: Target Bearing: -51.545763582449794 -[main_algo-3] [INFO] [1746050981.958898393] [sailbot.main_algo]: Heading Difference: 113.56976358244981 -[main_algo-3] [INFO] [1746050981.959691197] [sailbot.main_algo]: Wind Direction: 120 -[main_algo-3] [INFO] [1746050981.960511257] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050981.961298449] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050981.962359753] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050981.963134712] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050982.003317944] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46889984 Long: -76.50350533 -[vectornav-1] [INFO] [1746050982.005323784] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.379999999999995, -3.141, 13.236) -[main_algo-3] [INFO] [1746050982.004193589] [sailbot.main_algo]: Distance to destination: 25.56470531760791 -[main_algo-3] [INFO] [1746050982.005339452] [sailbot.main_algo]: Target Bearing: -51.51140620358169 -[main_algo-3] [INFO] [1746050982.006486385] [sailbot.main_algo]: Heading Difference: 113.53540620358172 -[main_algo-3] [INFO] [1746050982.007572239] [sailbot.main_algo]: Wind Direction: 120 -[main_algo-3] [INFO] [1746050982.008561528] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050982.009417729] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050982.011305375] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050982.045062026] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050982.045728328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050982.046393675] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050982.047720121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050982.048767092] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050982.085381255] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050982.087335212] [sailbot.teensy]: Wind angle: 113 -[trim_sail-4] [INFO] [1746050982.088043215] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050982.088344039] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050982.088800683] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050982.089258452] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050982.090180546] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050982.145190947] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050982.146015966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050982.146718979] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050982.148177757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050982.148761078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050982.245414456] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050982.245938133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050982.247058708] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050982.248126952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050982.248734000] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050982.335215962] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050982.337388892] [sailbot.teensy]: Wind angle: 110 -[trim_sail-4] [INFO] [1746050982.337582439] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050982.338156471] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050982.338338328] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050982.339267191] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050982.340224609] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050982.344652825] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050982.345201034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050982.345823243] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050982.346905478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050982.348103525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050982.445225202] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050982.446055156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050982.447029078] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050982.448289640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050982.449402878] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050982.457151571] [sailbot.main_algo]: Wind Direction: 110 -[main_algo-3] [INFO] [1746050982.458151976] [sailbot.main_algo]: Target Bearing: -51.51140620358169 -[main_algo-3] [INFO] [1746050982.459027678] [sailbot.main_algo]: Heading Difference: 102.89140620358171 -[main_algo-3] [INFO] [1746050982.459870746] [sailbot.main_algo]: Wind Direction: 110 -[main_algo-3] [INFO] [1746050982.460669221] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050982.461466250] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050982.462440887] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050982.463092746] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050982.502756114] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46889989 Long: -76.50350465 -[vectornav-1] [INFO] [1746050982.503880410] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.834, 1.397, 13.45) -[main_algo-3] [INFO] [1746050982.504204577] [sailbot.main_algo]: Distance to destination: 25.533465733504226 -[main_algo-3] [INFO] [1746050982.505309247] [sailbot.main_algo]: Target Bearing: -51.61613675929653 -[main_algo-3] [INFO] [1746050982.506241460] [sailbot.main_algo]: Heading Difference: 102.99613675929652 -[main_algo-3] [INFO] [1746050982.507148489] [sailbot.main_algo]: Wind Direction: 110 -[main_algo-3] [INFO] [1746050982.508033955] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050982.508906132] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050982.510702834] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050982.545196304] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050982.545879329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050982.546960651] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050982.547919868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050982.549087352] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050982.585089064] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050982.587202563] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050982.588635417] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050982.589664290] [sailbot.teensy]: Wind angle: 105 -[teensy-2] [INFO] [1746050982.590559285] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050982.591407343] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050982.592314112] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050982.645178862] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050982.646002278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050982.646684732] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050982.647979525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050982.649121723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050982.745087826] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050982.745731290] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050982.746415159] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050982.747617256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050982.748798379] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050982.835244172] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050982.837976320] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050982.838502732] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050982.838822913] [sailbot.teensy]: Wind angle: 104 -[teensy-2] [INFO] [1746050982.839243469] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050982.839621388] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050982.839996736] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050982.844544285] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050982.844923129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050982.845790026] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050982.846625645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050982.847696261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050982.945392296] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050982.945983964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050982.947051779] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050982.948210164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050982.949463894] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050982.957120945] [sailbot.main_algo]: Wind Direction: 104 -[main_algo-3] [INFO] [1746050982.958301079] [sailbot.main_algo]: Target Bearing: -51.61613675929653 -[main_algo-3] [INFO] [1746050982.959203430] [sailbot.main_algo]: Heading Difference: 96.45013675929653 -[main_algo-3] [INFO] [1746050982.960055461] [sailbot.main_algo]: Wind Direction: 104 -[main_algo-3] [INFO] [1746050982.960945979] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050982.961744158] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050982.962730606] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050982.963367956] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050983.002698199] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890039 Long: -76.50350403 -[vectornav-1] [INFO] [1746050983.003794458] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.72399999999999, -2.535, 8.447) -[main_algo-3] [INFO] [1746050983.004001950] [sailbot.main_algo]: Distance to destination: 25.54412816289055 -[main_algo-3] [INFO] [1746050983.005184888] [sailbot.main_algo]: Target Bearing: -51.78355166213154 -[main_algo-3] [INFO] [1746050983.006148548] [sailbot.main_algo]: Heading Difference: 96.61755166213152 -[main_algo-3] [INFO] [1746050983.007129141] [sailbot.main_algo]: Wind Direction: 104 -[main_algo-3] [INFO] [1746050983.008046471] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050983.008937457] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050983.010660922] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050983.045016065] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050983.045702126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050983.046558006] [sailbot.mux]: Published rudder angle from controller_app: -18 -[teensy-2] [INFO] [1746050983.048321903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -18 -[teensy-2] [INFO] [1746050983.049433463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050983.049750714] [sailbot.mux]: controller_app rudder angle: 0 -[teensy-2] [INFO] [1746050983.085243429] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050983.087337673] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050983.087971390] [sailbot.teensy]: Wind angle: 104 -[mux-7] [INFO] [1746050983.088826411] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050983.089075972] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050983.090017376] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050983.090886124] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050983.144979458] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746050983.146320976] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050983.148505583] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050983.150004749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050983.150972885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050983.245253770] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050983.246039675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050983.247068774] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050983.248044820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050983.249140016] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050983.335187388] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050983.337322714] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050983.337419452] [sailbot.teensy]: Wind angle: 103 -[teensy-2] [INFO] [1746050983.338351670] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050983.338833481] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050983.339435472] [sailbot.teensy]: Actual tail angle: 7 -[teensy-2] [INFO] [1746050983.340911046] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050983.344431063] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050983.345014772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050983.345736763] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050983.346737620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050983.347893423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050983.445667623] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050983.446262855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050983.448097305] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050983.448831030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050983.449259030] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050983.457024259] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746050983.458001536] [sailbot.main_algo]: Target Bearing: -51.78355166213154 -[main_algo-3] [INFO] [1746050983.458915897] [sailbot.main_algo]: Heading Difference: 93.5075516621315 -[main_algo-3] [INFO] [1746050983.459747237] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746050983.460611479] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050983.461434900] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050983.462632708] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050983.463212931] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050983.502824367] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890074 Long: -76.50350207 -[main_algo-3] [INFO] [1746050983.503284129] [sailbot.main_algo]: Distance to destination: 25.472751055232123 -[vectornav-1] [INFO] [1746050983.503907952] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.146000000000015, 0.586, 10.401) -[main_algo-3] [INFO] [1746050983.504383040] [sailbot.main_algo]: Target Bearing: -52.11963078335 -[main_algo-3] [INFO] [1746050983.505395726] [sailbot.main_algo]: Heading Difference: 93.84363078335002 -[main_algo-3] [INFO] [1746050983.506346150] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746050983.507273443] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050983.508137066] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050983.509940937] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050983.544969384] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050983.545729885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050983.546277392] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050983.547694438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050983.548856791] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050983.585421027] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050983.587416825] [sailbot.teensy]: Wind angle: 105 -[teensy-2] [INFO] [1746050983.588408588] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050983.587965848] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050983.589308334] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050983.589654730] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050983.590552584] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050983.645257272] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050983.645859959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050983.646843282] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050983.647940749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050983.648660528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050983.745554776] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050983.746154999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050983.747194952] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050983.748676104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050983.749292597] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050983.835273844] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050983.837599229] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050983.837967125] [sailbot.teensy]: Wind angle: 115 -[mux-7] [INFO] [1746050983.838646274] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050983.839102805] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050983.839986249] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050983.840862456] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050983.844343829] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050983.844829019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050983.845497712] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050983.846544945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050983.847621399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050983.945679506] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050983.946801995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050983.947539062] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050983.948606662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050983.949096976] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050983.957129786] [sailbot.main_algo]: Wind Direction: 115 -[main_algo-3] [INFO] [1746050983.958197755] [sailbot.main_algo]: Target Bearing: -52.11963078335 -[main_algo-3] [INFO] [1746050983.959126686] [sailbot.main_algo]: Heading Difference: 94.26563078335005 -[main_algo-3] [INFO] [1746050983.959990638] [sailbot.main_algo]: Wind Direction: 115 -[main_algo-3] [INFO] [1746050983.960809888] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050983.961642690] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050983.962668506] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050983.963214112] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050984.002876306] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689012 Long: -76.50350029 -[vectornav-1] [INFO] [1746050984.004058266] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.55599999999998, -0.608, 11.953) -[main_algo-3] [INFO] [1746050984.004041513] [sailbot.main_algo]: Distance to destination: 25.42103352070643 -[main_algo-3] [INFO] [1746050984.005275608] [sailbot.main_algo]: Target Bearing: -52.44866437275605 -[main_algo-3] [INFO] [1746050984.006285692] [sailbot.main_algo]: Heading Difference: 94.59466437275603 -[main_algo-3] [INFO] [1746050984.007328939] [sailbot.main_algo]: Wind Direction: 115 -[main_algo-3] [INFO] [1746050984.008429355] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050984.009665264] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050984.011621044] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050984.044953399] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050984.045596192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050984.046250149] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050984.047707365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050984.048754582] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050984.085096284] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050984.087059029] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050984.087235367] [sailbot.teensy]: Wind angle: 121 -[teensy-2] [INFO] [1746050984.088111327] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050984.088571857] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050984.088944896] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050984.089853060] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050984.145159784] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050984.146063937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050984.146638518] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050984.148317134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050984.149472757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050984.245391681] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050984.246044064] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050984.246985094] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050984.247798330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050984.248346985] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050984.335222815] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050984.337348630] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050984.337816411] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050984.338460444] [sailbot.teensy]: Wind angle: 122 -[teensy-2] [INFO] [1746050984.339423237] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050984.340324724] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050984.341158061] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050984.344383800] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050984.345156648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050984.345564722] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050984.346890993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050984.347890937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050984.445556247] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050984.446482008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050984.447333750] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050984.448312356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050984.448843711] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050984.457033991] [sailbot.main_algo]: Wind Direction: 122 -[main_algo-3] [INFO] [1746050984.458003826] [sailbot.main_algo]: Target Bearing: -52.44866437275605 -[main_algo-3] [INFO] [1746050984.458902332] [sailbot.main_algo]: Heading Difference: 99.004664372756 -[main_algo-3] [INFO] [1746050984.459731012] [sailbot.main_algo]: Wind Direction: 122 -[main_algo-3] [INFO] [1746050984.460579659] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050984.461373408] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050984.462438297] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050984.462909760] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050984.503122201] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890245 Long: -76.50349871 -[main_algo-3] [INFO] [1746050984.503447029] [sailbot.main_algo]: Distance to destination: 25.44928294533901 -[vectornav-1] [INFO] [1746050984.504175834] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.738, -0.118, 9.821) -[main_algo-3] [INFO] [1746050984.504505407] [sailbot.main_algo]: Target Bearing: -52.8721993979373 -[main_algo-3] [INFO] [1746050984.505451150] [sailbot.main_algo]: Heading Difference: 99.4281993979373 -[main_algo-3] [INFO] [1746050984.506422187] [sailbot.main_algo]: Wind Direction: 122 -[main_algo-3] [INFO] [1746050984.507328636] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050984.508206831] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050984.509914728] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050984.544885713] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050984.545664733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050984.546675932] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050984.547672956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050984.548852530] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050984.585525709] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050984.587385999] [sailbot.teensy]: Wind angle: 121 -[teensy-2] [INFO] [1746050984.588378267] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050984.587914643] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050984.589278205] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050984.590121822] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050984.590142567] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050984.645084844] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050984.645831372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050984.646575885] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050984.647964766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050984.649045636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050984.745420343] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050984.746555275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050984.747033986] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050984.749261448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050984.750394619] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050984.835438244] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050984.838367237] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050984.839578215] [sailbot.teensy]: Wind angle: 125 -[mux-7] [INFO] [1746050984.839823737] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050984.840642168] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050984.841512093] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050984.842359986] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050984.844394187] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050984.844694108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050984.845703854] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050984.846301865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050984.847368292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050984.945357670] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050984.945863513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050984.946879674] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050984.947996311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050984.949161138] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050984.957324262] [sailbot.main_algo]: Wind Direction: 125 -[main_algo-3] [INFO] [1746050984.958448607] [sailbot.main_algo]: Target Bearing: -52.8721993979373 -[main_algo-3] [INFO] [1746050984.959498099] [sailbot.main_algo]: Heading Difference: 105.61019939793732 -[main_algo-3] [INFO] [1746050984.960391261] [sailbot.main_algo]: Wind Direction: 125 -[main_algo-3] [INFO] [1746050984.961362333] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050984.962191012] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050984.963277429] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050984.964002755] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050985.002928666] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689036 Long: -76.50349669 -[vectornav-1] [INFO] [1746050985.004185596] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.12900000000002, 0.381, 11.202) -[main_algo-3] [INFO] [1746050985.004540582] [sailbot.main_algo]: Distance to destination: 25.448010469220407 -[main_algo-3] [INFO] [1746050985.005683820] [sailbot.main_algo]: Target Bearing: -53.343904314212146 -[main_algo-3] [INFO] [1746050985.006648608] [sailbot.main_algo]: Heading Difference: 106.08190431421212 -[main_algo-3] [INFO] [1746050985.007586420] [sailbot.main_algo]: Wind Direction: 125 -[main_algo-3] [INFO] [1746050985.008513133] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050985.009357546] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050985.011072946] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050985.045220604] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050985.045737348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050985.046537282] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050985.047863944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050985.049018201] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050985.085111039] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050985.086801377] [sailbot.teensy]: Wind angle: 124 -[trim_sail-4] [INFO] [1746050985.087160456] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050985.087668574] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050985.088497888] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050985.088491689] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050985.089386470] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050985.145157848] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050985.145928560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050985.146579794] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050985.147888179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050985.148935914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050985.245108069] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050985.245779933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050985.246513671] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050985.247878906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050985.249026396] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050985.335093177] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050985.336788320] [sailbot.teensy]: Wind angle: 124 -[trim_sail-4] [INFO] [1746050985.337403795] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050985.337673649] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050985.338517933] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050985.338662451] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050985.339346007] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050985.344422386] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050985.344845410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050985.345873704] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050985.346486915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050985.347462037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050985.445022739] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050985.445837895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050985.446366479] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050985.447972895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050985.448733300] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050985.457026568] [sailbot.main_algo]: Wind Direction: 124 -[main_algo-3] [INFO] [1746050985.457983732] [sailbot.main_algo]: Target Bearing: -53.343904314212146 -[main_algo-3] [INFO] [1746050985.458798426] [sailbot.main_algo]: Heading Difference: 110.4729043142122 -[main_algo-3] [INFO] [1746050985.459608867] [sailbot.main_algo]: Wind Direction: 124 -[main_algo-3] [INFO] [1746050985.460417169] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050985.461215445] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050985.462212039] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050985.463027855] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050985.503380337] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890533 Long: -76.50349539 -[main_algo-3] [INFO] [1746050985.503589838] [sailbot.main_algo]: Distance to destination: 25.535564292517417 -[main_algo-3] [INFO] [1746050985.504617395] [sailbot.main_algo]: Target Bearing: -53.7972021858309 -[vectornav-1] [INFO] [1746050985.504808132] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (62.543000000000006, -1.738, 8.685) -[main_algo-3] [INFO] [1746050985.505606472] [sailbot.main_algo]: Heading Difference: 110.9262021858309 -[main_algo-3] [INFO] [1746050985.506549566] [sailbot.main_algo]: Wind Direction: 124 -[main_algo-3] [INFO] [1746050985.507484520] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050985.508373618] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050985.510133921] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050985.545051103] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050985.545731392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050985.546546127] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050985.547668106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050985.548938565] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050985.585610934] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050985.587525611] [sailbot.teensy]: Wind angle: 124 -[trim_sail-4] [INFO] [1746050985.588245291] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050985.588533976] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050985.589457566] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050985.590341261] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050985.590589923] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746050985.645946708] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050985.646387847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050985.648459245] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050985.648830385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050985.650005358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050985.745201334] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050985.745771898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050985.746754198] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050985.747828072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050985.748707282] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050985.835208811] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050985.837012807] [sailbot.teensy]: Wind angle: 124 -[trim_sail-4] [INFO] [1746050985.837733140] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746050985.838289838] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050985.839314418] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050985.839735748] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050985.840077432] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050985.844370236] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050985.844900331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050985.845499033] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050985.846651571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050985.847696574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050985.945075429] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050985.945895365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050985.946615992] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050985.947829527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050985.948494626] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050985.957032321] [sailbot.main_algo]: Wind Direction: 124 -[main_algo-3] [INFO] [1746050985.958004149] [sailbot.main_algo]: Target Bearing: -53.7972021858309 -[main_algo-3] [INFO] [1746050985.958875744] [sailbot.main_algo]: Heading Difference: 116.34020218583089 -[main_algo-3] [INFO] [1746050985.959688854] [sailbot.main_algo]: Wind Direction: 124 -[main_algo-3] [INFO] [1746050985.960510543] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050985.961281052] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050985.962274653] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050985.962879523] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050986.003174907] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890688 Long: -76.50349388 -[main_algo-3] [INFO] [1746050986.003728284] [sailbot.main_algo]: Distance to destination: 25.598356342829785 -[main_algo-3] [INFO] [1746050986.004814795] [sailbot.main_algo]: Target Bearing: -54.25155063676318 -[main_algo-3] [INFO] [1746050986.005775176] [sailbot.main_algo]: Heading Difference: 116.79455063676318 -[vectornav-1] [INFO] [1746050986.004307873] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (63.44900000000001, 1.42, 8.876) -[main_algo-3] [INFO] [1746050986.006802693] [sailbot.main_algo]: Wind Direction: 124 -[main_algo-3] [INFO] [1746050986.007844730] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050986.008797915] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050986.011952045] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050986.044956325] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050986.045764007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050986.046383596] [sailbot.mux]: Published rudder angle from controller_app: 0 -[mux-7] [INFO] [1746050986.048623673] [sailbot.mux]: controller_app rudder angle: -2 -[teensy-2] [INFO] [1746050986.048936326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050986.050253256] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050986.085349267] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050986.087604413] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050986.087992515] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050986.088239060] [sailbot.teensy]: Wind angle: 128 -[teensy-2] [INFO] [1746050986.089395634] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050986.090288543] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050986.091115794] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050986.145201373] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050986.145880023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050986.146626744] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050986.148072344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 -[teensy-2] [INFO] [1746050986.149135471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050986.245186415] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050986.246138147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050986.246885681] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050986.247814016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 -[teensy-2] [INFO] [1746050986.248326870] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050986.335246115] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050986.337226430] [sailbot.teensy]: Wind angle: 134 -[trim_sail-4] [INFO] [1746050986.337451046] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050986.338205867] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050986.339131355] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050986.339374622] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050986.339621797] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050986.344273642] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050986.344923105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050986.345584803] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050986.346696755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 -[teensy-2] [INFO] [1746050986.347752414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050986.445170505] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050986.446182949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050986.446747600] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050986.448424133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 -[teensy-2] [INFO] [1746050986.449571482] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050986.457169908] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746050986.458218283] [sailbot.main_algo]: Target Bearing: -54.25155063676318 -[main_algo-3] [INFO] [1746050986.459117622] [sailbot.main_algo]: Heading Difference: 117.70055063676318 -[main_algo-3] [INFO] [1746050986.460002166] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746050986.460846126] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050986.461656926] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050986.462642398] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050986.463258293] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050986.502688362] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890835 Long: -76.50349267 -[main_algo-3] [INFO] [1746050986.503703333] [sailbot.main_algo]: Distance to destination: 25.67021013505843 -[vectornav-1] [INFO] [1746050986.503817537] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (69.15899999999999, -1.643, 7.321) -[main_algo-3] [INFO] [1746050986.504888685] [sailbot.main_algo]: Target Bearing: -54.64753950923959 -[main_algo-3] [INFO] [1746050986.505841721] [sailbot.main_algo]: Heading Difference: 118.09653950923962 -[main_algo-3] [INFO] [1746050986.506758613] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746050986.507665922] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050986.508539969] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050986.510247485] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050986.545088551] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050986.545893983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050986.546506408] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050986.547991367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 -[teensy-2] [INFO] [1746050986.549099468] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050986.585162382] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050986.587064807] [sailbot.teensy]: Wind angle: 136 -[trim_sail-4] [INFO] [1746050986.587613052] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050986.588281839] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050986.589809108] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050986.590734361] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050986.591595865] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050986.645200857] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050986.645851709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050986.646684078] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050986.648277075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 -[teensy-2] [INFO] [1746050986.649453918] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050986.744802616] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050986.745667210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050986.746283825] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050986.747417976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 -[teensy-2] [INFO] [1746050986.747960253] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050986.835241914] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050986.836903948] [sailbot.teensy]: Wind angle: 134 -[trim_sail-4] [INFO] [1746050986.837600560] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050986.837875692] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050986.838746888] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746050986.838785247] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050986.839608262] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050986.844426304] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050986.845115540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050986.845542819] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050986.847069516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 -[teensy-2] [INFO] [1746050986.848103601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050986.945005936] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050986.945616405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050986.946369723] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746050986.947688292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 -[teensy-2] [INFO] [1746050986.948732869] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050986.957022449] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746050986.957995227] [sailbot.main_algo]: Target Bearing: -54.64753950923959 -[main_algo-3] [INFO] [1746050986.958833818] [sailbot.main_algo]: Heading Difference: 123.8065395092396 -[main_algo-3] [INFO] [1746050986.959703430] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746050986.960535659] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050986.961313566] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050986.962306780] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050986.963065455] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050987.002785154] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46890993 Long: -76.50349235 -[main_algo-3] [INFO] [1746050987.003708276] [sailbot.main_algo]: Distance to destination: 25.79620827222825 -[vectornav-1] [INFO] [1746050987.003891835] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (72.68, 2.865, 7.575) -[main_algo-3] [INFO] [1746050987.004793940] [sailbot.main_algo]: Target Bearing: -54.92570112882537 -[main_algo-3] [INFO] [1746050987.005738675] [sailbot.main_algo]: Heading Difference: 124.08470112882537 -[main_algo-3] [INFO] [1746050987.006659431] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746050987.007608300] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050987.008479703] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050987.010284641] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050987.036648119] [sailbot.mux]: controller_app rudder angle: -8 -[mux-7] [INFO] [1746050987.044558962] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050987.045295195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050987.045812740] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050987.047104928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050987.048269316] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050987.085174664] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050987.087300539] [sailbot.teensy]: Wind angle: 134 -[teensy-2] [INFO] [1746050987.088303464] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050987.087486865] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050987.088460951] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050987.089272248] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746050987.090246440] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050987.145126620] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050987.145942610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050987.147006028] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050987.148526052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050987.149585919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050987.244907719] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050987.245680881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050987.246190970] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050987.247588148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050987.248695079] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050987.335454154] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050987.337995034] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050987.338189078] [sailbot.teensy]: Wind angle: 135 -[teensy-2] [INFO] [1746050987.339159750] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050987.339714509] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050987.340013803] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050987.340921258] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050987.344284472] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050987.344956830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050987.345382890] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050987.346675790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050987.347747286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050987.445256618] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050987.446063478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050987.446867931] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050987.448293666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050987.449533133] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050987.457091213] [sailbot.main_algo]: Wind Direction: 135 -[main_algo-3] [INFO] [1746050987.458062110] [sailbot.main_algo]: Target Bearing: -54.92570112882537 -[main_algo-3] [INFO] [1746050987.458947876] [sailbot.main_algo]: Heading Difference: 127.60570112882539 -[main_algo-3] [INFO] [1746050987.459794511] [sailbot.main_algo]: Wind Direction: 135 -[main_algo-3] [INFO] [1746050987.460644078] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050987.461429493] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050987.462520820] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050987.463008948] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050987.502926203] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891111 Long: -76.5034921 -[vectornav-1] [INFO] [1746050987.504247089] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (76.25099999999998, -1.769, 5.924) -[main_algo-3] [INFO] [1746050987.504357871] [sailbot.main_algo]: Distance to destination: 25.890170638187637 -[main_algo-3] [INFO] [1746050987.505636663] [sailbot.main_algo]: Target Bearing: -55.133296106816864 -[main_algo-3] [INFO] [1746050987.506624051] [sailbot.main_algo]: Heading Difference: 127.81329610681689 -[main_algo-3] [INFO] [1746050987.507525553] [sailbot.main_algo]: Wind Direction: 135 -[main_algo-3] [INFO] [1746050987.508435042] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050987.509335838] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050987.511059356] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050987.544932151] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050987.545591271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050987.546164191] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050987.547443173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050987.548498629] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050987.585370303] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050987.587434284] [sailbot.teensy]: Wind angle: 135 -[trim_sail-4] [INFO] [1746050987.587640012] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050987.588421484] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050987.589284464] [sailbot.teensy]: Actual tail angle: 17 -[mux-7] [INFO] [1746050987.589244043] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050987.590169904] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050987.644962524] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050987.645800485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050987.646355726] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050987.647725195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050987.648742264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050987.745187943] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050987.745833885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050987.746737216] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050987.748413384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050987.749461327] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050987.835233370] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050987.837399368] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050987.838178577] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050987.839219523] [sailbot.teensy]: Wind angle: 134 -[teensy-2] [INFO] [1746050987.840217833] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050987.841073458] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050987.841892843] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050987.844425175] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050987.845141275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050987.845498844] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050987.846908018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050987.847934479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050987.945244384] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050987.945880432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050987.946718871] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050987.948217370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050987.949350693] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050987.957020084] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746050987.958030188] [sailbot.main_algo]: Target Bearing: -55.133296106816864 -[main_algo-3] [INFO] [1746050987.958951230] [sailbot.main_algo]: Heading Difference: 131.3842961068168 -[main_algo-3] [INFO] [1746050987.959818217] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746050987.960696237] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050987.961500526] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050987.962536492] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050987.963134741] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050988.002719915] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891218 Long: -76.50349139 -[main_algo-3] [INFO] [1746050988.003649509] [sailbot.main_algo]: Distance to destination: 25.95249944442959 -[vectornav-1] [INFO] [1746050988.003822966] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (78.75099999999998, 1.812, 6.814) -[main_algo-3] [INFO] [1746050988.004771264] [sailbot.main_algo]: Target Bearing: -55.391487980398026 -[main_algo-3] [INFO] [1746050988.005717834] [sailbot.main_algo]: Heading Difference: 131.64248798039802 -[main_algo-3] [INFO] [1746050988.006636512] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746050988.007554276] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050988.008555287] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050988.010462097] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050988.044877531] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050988.045546855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050988.046126785] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050988.047328591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050988.048455281] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050988.085066432] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050988.086990911] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050988.087192484] [sailbot.teensy]: Wind angle: 135 -[mux-7] [INFO] [1746050988.087479646] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050988.088276396] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050988.089135419] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050988.090018936] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050988.145007119] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050988.145711095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050988.146371868] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050988.147886707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050988.148996943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050988.244783186] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050988.245353925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050988.246034414] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050988.247164664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050988.248355542] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050988.335386783] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050988.337249626] [sailbot.teensy]: Wind angle: 140 -[trim_sail-4] [INFO] [1746050988.337708849] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050988.338186923] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050988.339102632] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050988.339997471] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050988.339466973] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050988.344443359] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050988.345078259] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050988.345545764] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050988.346794447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050988.347928560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050988.445118805] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050988.446115013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050988.446739616] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050988.448297863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050988.449502305] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050988.456997516] [sailbot.main_algo]: Wind Direction: 140 -[main_algo-3] [INFO] [1746050988.457965760] [sailbot.main_algo]: Target Bearing: -55.391487980398026 -[main_algo-3] [INFO] [1746050988.458850652] [sailbot.main_algo]: Heading Difference: 134.14248798039802 -[main_algo-3] [INFO] [1746050988.459674044] [sailbot.main_algo]: Wind Direction: 140 -[main_algo-3] [INFO] [1746050988.460470841] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050988.461286696] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050988.462256447] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050988.462946298] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050988.502592092] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891297 Long: -76.50349122 -[main_algo-3] [INFO] [1746050988.503423608] [sailbot.main_algo]: Distance to destination: 26.015750324637224 -[main_algo-3] [INFO] [1746050988.504505102] [sailbot.main_algo]: Target Bearing: -55.52905789313244 -[main_algo-3] [INFO] [1746050988.505507264] [sailbot.main_algo]: Heading Difference: 134.28005789313238 -[vectornav-1] [INFO] [1746050988.505857656] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (81.743, -1.289, 4.72) -[main_algo-3] [INFO] [1746050988.506411991] [sailbot.main_algo]: Wind Direction: 140 -[main_algo-3] [INFO] [1746050988.507309272] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050988.508179242] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050988.509971375] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050988.545138354] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050988.545690382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050988.546546646] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746050988.547632154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746050988.548674149] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050988.585650124] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050988.588228355] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050988.588703330] [sailbot.teensy]: Wind angle: 142 -[mux-7] [INFO] [1746050988.589167709] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050988.589646100] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050988.590545108] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746050988.591401289] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050988.632694695] [sailbot.mux]: controller_app rudder angle: -9 -[mux-7] [INFO] [1746050988.644957411] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050988.645747849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050988.646373876] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050988.647601511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 -[teensy-2] [INFO] [1746050988.648804111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050988.745118212] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050988.745775538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050988.746667505] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050988.747666917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 -[teensy-2] [INFO] [1746050988.748844431] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050988.835436614] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050988.837235309] [sailbot.teensy]: Wind angle: 142 -[trim_sail-4] [INFO] [1746050988.837757955] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050988.838174012] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050988.839087448] [sailbot.teensy]: Actual tail angle: 17 -[mux-7] [INFO] [1746050988.839366959] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050988.839986489] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050988.844453976] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050988.844960890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050988.845687453] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050988.846679370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 -[teensy-2] [INFO] [1746050988.847686754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050988.945319245] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050988.946120961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050988.946795553] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746050988.948074238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 -[teensy-2] [INFO] [1746050988.948591371] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050988.957157370] [sailbot.main_algo]: Wind Direction: 142 -[main_algo-3] [INFO] [1746050988.958188695] [sailbot.main_algo]: Target Bearing: -55.52905789313244 -[main_algo-3] [INFO] [1746050988.959084406] [sailbot.main_algo]: Heading Difference: 137.27205789313246 -[main_algo-3] [INFO] [1746050988.959968489] [sailbot.main_algo]: Wind Direction: 142 -[main_algo-3] [INFO] [1746050988.960902744] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050988.961779469] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050988.962878100] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050988.963584780] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050989.002992250] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891385 Long: -76.50349116 -[vectornav-1] [INFO] [1746050989.004294558] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (84.68, 2.433, 6.756) -[main_algo-3] [INFO] [1746050989.004347168] [sailbot.main_algo]: Distance to destination: 26.0925358252772 -[main_algo-3] [INFO] [1746050989.005551713] [sailbot.main_algo]: Target Bearing: -55.66245918422843 -[main_algo-3] [INFO] [1746050989.006566475] [sailbot.main_algo]: Heading Difference: 137.40545918422845 -[main_algo-3] [INFO] [1746050989.007505449] [sailbot.main_algo]: Wind Direction: 142 -[main_algo-3] [INFO] [1746050989.008422908] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050989.009314887] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050989.011059706] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050989.025563351] [sailbot.mux]: controller_app rudder angle: -10 -[mux-7] [INFO] [1746050989.044922723] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050989.045652728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050989.046153759] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050989.047497290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 -[teensy-2] [INFO] [1746050989.048744788] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050989.085355907] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050989.087601857] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050989.088325728] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050989.089509403] [sailbot.teensy]: Wind angle: 144 -[teensy-2] [INFO] [1746050989.090476230] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050989.091307692] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746050989.092178104] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050989.145062300] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050989.145879545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050989.146614694] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050989.147891748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 -[teensy-2] [INFO] [1746050989.149074025] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050989.245045547] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050989.245911578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050989.246426750] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050989.248141391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 -[teensy-2] [INFO] [1746050989.249319718] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050989.335166732] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050989.337207136] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050989.337856964] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050989.338434645] [sailbot.teensy]: Wind angle: 147 -[teensy-2] [INFO] [1746050989.339377131] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050989.340231721] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050989.341079519] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050989.344313925] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050989.345061401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050989.345487724] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050989.346860082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 -[teensy-2] [INFO] [1746050989.348012085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050989.445392816] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050989.446225142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050989.446983320] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050989.448783474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 -[teensy-2] [INFO] [1746050989.450242890] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050989.456964957] [sailbot.main_algo]: Wind Direction: 147 -[main_algo-3] [INFO] [1746050989.457981355] [sailbot.main_algo]: Target Bearing: -55.66245918422843 -[main_algo-3] [INFO] [1746050989.458902351] [sailbot.main_algo]: Heading Difference: 140.34245918422846 -[main_algo-3] [INFO] [1746050989.459799450] [sailbot.main_algo]: Wind Direction: 147 -[main_algo-3] [INFO] [1746050989.460699543] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050989.461511664] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050989.462519797] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050989.463027730] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050989.502746456] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891446 Long: -76.50349124 -[main_algo-3] [INFO] [1746050989.503279329] [sailbot.main_algo]: Distance to destination: 26.151617544630916 -[vectornav-1] [INFO] [1746050989.503744227] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (87.41199999999998, -3.151, 5.779) -[main_algo-3] [INFO] [1746050989.504299951] [sailbot.main_algo]: Target Bearing: -55.73658540655275 -[main_algo-3] [INFO] [1746050989.505250075] [sailbot.main_algo]: Heading Difference: 140.41658540655277 -[main_algo-3] [INFO] [1746050989.506326661] [sailbot.main_algo]: Wind Direction: 147 -[main_algo-3] [INFO] [1746050989.507245696] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050989.508194837] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050989.509906096] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050989.544879656] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050989.545642560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050989.546473679] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050989.547508747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 -[teensy-2] [INFO] [1746050989.548572973] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050989.585412867] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050989.587819458] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050989.587892397] [sailbot.teensy]: Wind angle: 148 -[teensy-2] [INFO] [1746050989.589066793] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050989.590047537] [sailbot.teensy]: Actual tail angle: 15 -[mux-7] [INFO] [1746050989.590065226] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050989.590960976] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050989.645240038] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050989.645951082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050989.646733373] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050989.648692918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 -[teensy-2] [INFO] [1746050989.649682512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050989.745075680] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050989.745726265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050989.746441873] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050989.747874112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 -[teensy-2] [INFO] [1746050989.748913480] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050989.835193240] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050989.837271324] [sailbot.teensy]: Wind angle: 146 -[trim_sail-4] [INFO] [1746050989.837452633] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050989.838599399] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050989.839180014] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050989.839785845] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050989.840177789] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050989.844519826] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050989.845100918] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050989.845597940] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050989.846885782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 -[teensy-2] [INFO] [1746050989.847982590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050989.945256186] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050989.946153077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050989.946938693] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050989.948563871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 -[teensy-2] [INFO] [1746050989.949764758] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050989.957162097] [sailbot.main_algo]: Wind Direction: 146 -[main_algo-3] [INFO] [1746050989.958164709] [sailbot.main_algo]: Target Bearing: -55.73658540655275 -[main_algo-3] [INFO] [1746050989.959087380] [sailbot.main_algo]: Heading Difference: 143.14858540655274 -[main_algo-3] [INFO] [1746050989.959998527] [sailbot.main_algo]: Wind Direction: 146 -[main_algo-3] [INFO] [1746050989.960906103] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050989.961793373] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050989.962880306] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050989.963578427] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050990.002783725] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891506 Long: -76.5034914 -[main_algo-3] [INFO] [1746050990.003664489] [sailbot.main_algo]: Distance to destination: 26.21362817485814 -[vectornav-1] [INFO] [1746050990.004138869] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (88.61099999999999, 4.025, 8.109) -[main_algo-3] [INFO] [1746050990.004795034] [sailbot.main_algo]: Target Bearing: -55.79723033940947 -[main_algo-3] [INFO] [1746050990.005795942] [sailbot.main_algo]: Heading Difference: 143.20923033940943 -[main_algo-3] [INFO] [1746050990.006705837] [sailbot.main_algo]: Wind Direction: 146 -[main_algo-3] [INFO] [1746050990.007599329] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050990.008490136] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050990.010323516] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050990.044939035] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746050990.046233375] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746050990.046366503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050990.048184564] [sailbot.mux]: controller_app rudder angle: 7 -[teensy-2] [INFO] [1746050990.048393146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 -[teensy-2] [INFO] [1746050990.049545525] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050990.085387677] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050990.087276898] [sailbot.teensy]: Wind angle: 146 -[trim_sail-4] [INFO] [1746050990.087841325] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050990.088282868] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050990.089244684] [sailbot.teensy]: Actual tail angle: 15 -[mux-7] [INFO] [1746050990.089367149] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050990.090138208] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050990.145308041] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050990.146124847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050990.146802581] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050990.148485745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746050990.149651668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050990.245080663] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050990.245987885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050990.246444554] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050990.247908275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746050990.249020228] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050990.335205795] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050990.337313198] [sailbot.teensy]: Wind angle: 149 -[trim_sail-4] [INFO] [1746050990.338168535] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050990.338828100] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050990.339289828] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050990.339668054] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746050990.340078501] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050990.344460947] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050990.344870115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050990.345739812] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050990.346557756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746050990.347676518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050990.445008054] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050990.445745583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050990.446546820] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050990.447747225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746050990.448831155] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050990.457033155] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746050990.458012331] [sailbot.main_algo]: Target Bearing: -55.79723033940947 -[main_algo-3] [INFO] [1746050990.458892815] [sailbot.main_algo]: Heading Difference: 144.40823033940944 -[main_algo-3] [INFO] [1746050990.459734877] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746050990.460546490] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050990.461346838] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050990.462397535] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050990.463090239] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050990.502451769] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891501 Long: -76.50349088 -[vectornav-1] [INFO] [1746050990.503552622] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (91.27600000000001, -3.408, 7.141) -[main_algo-3] [INFO] [1746050990.504070572] [sailbot.main_algo]: Distance to destination: 26.184454147960455 -[main_algo-3] [INFO] [1746050990.505135868] [sailbot.main_algo]: Target Bearing: -55.8666550333636 -[main_algo-3] [INFO] [1746050990.506078441] [sailbot.main_algo]: Heading Difference: 144.4776550333636 -[main_algo-3] [INFO] [1746050990.507090289] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746050990.507975540] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050990.508837843] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050990.510709296] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050990.545086781] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050990.545921216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050990.546653626] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050990.547935272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746050990.548964949] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050990.585129694] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050990.586755756] [sailbot.teensy]: Wind angle: 157 -[trim_sail-4] [INFO] [1746050990.587260948] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050990.587736209] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050990.588713244] [sailbot.teensy]: Actual tail angle: 32 -[mux-7] [INFO] [1746050990.589539637] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050990.589668432] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050990.645139180] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050990.645931435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050990.646632695] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050990.648115057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746050990.649250465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050990.745248111] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050990.745964369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050990.746728476] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050990.748024636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746050990.748487368] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050990.835046677] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050990.836682713] [sailbot.teensy]: Wind angle: 156 -[trim_sail-4] [INFO] [1746050990.837120227] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050990.838735144] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050990.839026879] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050990.839661018] [sailbot.teensy]: Actual tail angle: 32 -[teensy-2] [INFO] [1746050990.840591304] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050990.844423461] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050990.844933718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050990.845665060] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050990.846604506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746050990.847640941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050990.945087798] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050990.946142108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050990.946842737] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050990.948106526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746050990.949317431] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050990.957062264] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746050990.958035432] [sailbot.main_algo]: Target Bearing: -55.8666550333636 -[main_algo-3] [INFO] [1746050990.958937591] [sailbot.main_algo]: Heading Difference: 147.1426550333636 -[main_algo-3] [INFO] [1746050990.959818854] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746050990.960705304] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746050990.961627901] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746050990.962721347] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050990.963372599] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746050991.003098698] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891533 Long: -76.50349161 -[main_algo-3] [INFO] [1746050991.004401156] [sailbot.main_algo]: Distance to destination: 26.248083254244385 -[vectornav-1] [INFO] [1746050991.004487298] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (94.08800000000002, 0.15, 3.484) -[main_algo-3] [INFO] [1746050991.006110337] [sailbot.main_algo]: Target Bearing: -55.804185583070904 -[main_algo-3] [INFO] [1746050991.007174028] [sailbot.main_algo]: Heading Difference: 147.08018558307094 -[main_algo-3] [INFO] [1746050991.008127459] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746050991.009045881] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746050991.009911016] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746050991.011742893] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746050991.045502941] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050991.045584479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050991.046830370] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746050991.047395636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746050991.048576749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050991.063613480] [sailbot.mux]: controller_app rudder angle: 8 -[teensy-2] [INFO] [1746050991.085134428] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050991.086812143] [sailbot.teensy]: Wind angle: 156 -[trim_sail-4] [INFO] [1746050991.087095251] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050991.087689848] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050991.088560900] [sailbot.teensy]: Actual tail angle: 32 -[mux-7] [INFO] [1746050991.089140998] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050991.089531744] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050991.144451498] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050991.145230389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050991.145745249] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746050991.146900102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 -[teensy-2] [INFO] [1746050991.147950766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050991.245178389] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050991.245777717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050991.246529405] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746050991.247817933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 -[teensy-2] [INFO] [1746050991.248491674] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050991.335367551] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050991.337053907] [sailbot.teensy]: Wind angle: 157 -[teensy-2] [INFO] [1746050991.337994660] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050991.337555935] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050991.338862343] [sailbot.teensy]: Actual tail angle: 32 -[mux-7] [INFO] [1746050991.338964666] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050991.339736235] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050991.344363564] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050991.344998323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050991.345563920] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746050991.346776044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 -[teensy-2] [INFO] [1746050991.347848343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050991.445416432] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050991.446118156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050991.447245520] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746050991.448625008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 -[teensy-2] [INFO] [1746050991.449201350] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050991.457074694] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746050991.458098537] [sailbot.main_algo]: Target Bearing: -55.804185583070904 -[main_algo-3] [INFO] [1746050991.459014465] [sailbot.main_algo]: Heading Difference: 149.89218558307095 -[main_algo-3] [INFO] [1746050991.459876456] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746050991.460729081] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746050991.461540581] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746050991.462564622] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050991.463101704] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746050991.502995612] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891579 Long: -76.50349217 -[main_algo-3] [INFO] [1746050991.503540335] [sailbot.main_algo]: Distance to destination: 26.316373160943577 -[main_algo-3] [INFO] [1746050991.504649745] [sailbot.main_algo]: Target Bearing: -55.78641195212569 -[vectornav-1] [INFO] [1746050991.504868742] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (92.88999999999999, 2.053, 6.304) -[main_algo-3] [INFO] [1746050991.505651126] [sailbot.main_algo]: Heading Difference: 149.87441195212568 -[main_algo-3] [INFO] [1746050991.506589128] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746050991.507489405] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746050991.508392355] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746050991.510136812] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746050991.545280165] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050991.545958830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050991.546757085] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746050991.548074854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 -[teensy-2] [INFO] [1746050991.549185805] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050991.585585239] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050991.587483625] [sailbot.teensy]: Wind angle: 156 -[trim_sail-4] [INFO] [1746050991.587890892] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050991.588454275] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050991.589376758] [sailbot.teensy]: Actual tail angle: 33 -[mux-7] [INFO] [1746050991.590094053] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050991.590258497] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050991.645222709] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050991.646004966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050991.646718633] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746050991.648447733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 -[teensy-2] [INFO] [1746050991.648985864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050991.745318686] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050991.746024131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050991.746833481] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746050991.747879255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 -[teensy-2] [INFO] [1746050991.748411915] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050991.835127676] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050991.837427782] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050991.838420637] [sailbot.teensy]: Wind angle: 156 -[mux-7] [INFO] [1746050991.839185025] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050991.839326603] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050991.840275950] [sailbot.teensy]: Actual tail angle: 33 -[teensy-2] [INFO] [1746050991.841121353] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050991.844357316] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050991.844835762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050991.845478778] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746050991.846501270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 -[teensy-2] [INFO] [1746050991.847935469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050991.944624394] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050991.945349717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050991.945795260] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746050991.947108828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 -[teensy-2] [INFO] [1746050991.948247114] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050991.957033970] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746050991.958083323] [sailbot.main_algo]: Target Bearing: -55.78641195212569 -[main_algo-3] [INFO] [1746050991.958960647] [sailbot.main_algo]: Heading Difference: 148.6764119521257 -[main_algo-3] [INFO] [1746050991.959786315] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746050991.960687771] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746050991.961475065] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746050991.962469886] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050991.963178325] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746050992.002889796] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891577 Long: -76.50349167 -[main_algo-3] [INFO] [1746050992.003909337] [sailbot.main_algo]: Distance to destination: 26.29086391777991 -[vectornav-1] [INFO] [1746050992.004127747] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (90.41199999999998, -1.809, 6.152) -[main_algo-3] [INFO] [1746050992.005152249] [sailbot.main_algo]: Target Bearing: -55.856804669616544 -[main_algo-3] [INFO] [1746050992.006123050] [sailbot.main_algo]: Heading Difference: 148.7468046696165 -[main_algo-3] [INFO] [1746050992.007048617] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746050992.007926148] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746050992.008798164] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746050992.010694582] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746050992.045254632] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050992.045956319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050992.047131856] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746050992.047924628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 -[teensy-2] [INFO] [1746050992.049079230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050992.074055279] [sailbot.mux]: controller_app rudder angle: 9 -[teensy-2] [INFO] [1746050992.085328175] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050992.086942488] [sailbot.teensy]: Wind angle: 156 -[trim_sail-4] [INFO] [1746050992.087570207] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050992.087858109] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050992.088750909] [sailbot.teensy]: Actual tail angle: 33 -[mux-7] [INFO] [1746050992.088859099] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050992.089608108] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050992.145020875] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050992.145916428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050992.146516145] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050992.147982919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 -[teensy-2] [INFO] [1746050992.149182405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050992.245117018] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050992.246007629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050992.246584819] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050992.247982714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 -[teensy-2] [INFO] [1746050992.249157300] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050992.335484642] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050992.337343950] [sailbot.teensy]: Wind angle: 156 -[teensy-2] [INFO] [1746050992.338303342] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050992.337842770] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050992.339267690] [sailbot.teensy]: Actual tail angle: 33 -[mux-7] [INFO] [1746050992.339933239] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050992.340127570] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050992.344238644] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050992.344953629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050992.345400370] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050992.347012266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 -[teensy-2] [INFO] [1746050992.348139836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050992.445273509] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050992.446121510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050992.446745096] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050992.448099767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 -[teensy-2] [INFO] [1746050992.448689555] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050992.457324840] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746050992.458390659] [sailbot.main_algo]: Target Bearing: -55.856804669616544 -[main_algo-3] [INFO] [1746050992.459295160] [sailbot.main_algo]: Heading Difference: 146.26880466961654 -[main_algo-3] [INFO] [1746050992.460210220] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746050992.461088652] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746050992.461966844] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746050992.463062367] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050992.463912594] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746050992.502617710] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891597 Long: -76.50349182 -[main_algo-3] [INFO] [1746050992.503567630] [sailbot.main_algo]: Distance to destination: 26.316125595125474 -[vectornav-1] [INFO] [1746050992.503698604] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (88.58499999999998, -0.335, 5.118) -[main_algo-3] [INFO] [1746050992.505361688] [sailbot.main_algo]: Target Bearing: -55.86269869251428 -[main_algo-3] [INFO] [1746050992.506346636] [sailbot.main_algo]: Heading Difference: 146.27469869251422 -[main_algo-3] [INFO] [1746050992.507244656] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746050992.508101648] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746050992.508968192] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746050992.510651118] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746050992.545064808] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050992.545848142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050992.546448985] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050992.547835100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 -[teensy-2] [INFO] [1746050992.549038572] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050992.585623975] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050992.588213154] [sailbot.teensy]: Wind angle: 155 -[trim_sail-4] [INFO] [1746050992.588376724] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746050992.588834064] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050992.589228286] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050992.590151616] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746050992.591026565] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050992.645163745] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050992.646058292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050992.646820709] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050992.648658462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 -[teensy-2] [INFO] [1746050992.649721755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050992.745135565] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050992.746087294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050992.746786211] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050992.748299591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 -[teensy-2] [INFO] [1746050992.749349988] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050992.835254374] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050992.837528319] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050992.838534653] [sailbot.teensy]: Wind angle: 155 -[mux-7] [INFO] [1746050992.838856046] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050992.839490816] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050992.840428193] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746050992.841260353] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050992.844568433] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050992.845083377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050992.845691741] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050992.846766038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 -[teensy-2] [INFO] [1746050992.847925233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050992.945377717] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050992.946037819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050992.947111683] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050992.948302788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 -[teensy-2] [INFO] [1746050992.949450958] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050992.957267503] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746050992.958320473] [sailbot.main_algo]: Target Bearing: -55.86269869251428 -[main_algo-3] [INFO] [1746050992.959229475] [sailbot.main_algo]: Heading Difference: 144.44769869251422 -[main_algo-3] [INFO] [1746050992.960113176] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746050992.961004785] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746050992.961870340] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746050992.963025932] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050992.964171895] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746050993.003063594] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891631 Long: -76.50349198 -[vectornav-1] [INFO] [1746050993.004433296] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (84.08499999999998, 0.25, 6.511) -[main_algo-3] [INFO] [1746050993.004421731] [sailbot.main_algo]: Distance to destination: 26.354575680592387 -[main_algo-3] [INFO] [1746050993.005666318] [sailbot.main_algo]: Target Bearing: -55.886578870520026 -[main_algo-3] [INFO] [1746050993.006679697] [sailbot.main_algo]: Heading Difference: 144.47157887052003 -[main_algo-3] [INFO] [1746050993.007586155] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746050993.008489688] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746050993.009340706] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746050993.011088800] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746050993.045362679] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050993.046028810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050993.046971078] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050993.048194364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 -[teensy-2] [INFO] [1746050993.049404011] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050993.085132586] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050993.086859350] [sailbot.teensy]: Wind angle: 153 -[trim_sail-4] [INFO] [1746050993.087274625] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050993.087803764] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050993.088751733] [sailbot.teensy]: Actual tail angle: 34 -[mux-7] [INFO] [1746050993.089176403] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050993.089607521] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050993.145313180] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050993.146342357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050993.147333482] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050993.148454247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 -[teensy-2] [INFO] [1746050993.149512089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050993.245057974] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050993.245597588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050993.246355150] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050993.247485950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 -[teensy-2] [INFO] [1746050993.248638891] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050993.335476452] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050993.337301479] [sailbot.teensy]: Wind angle: 142 -[trim_sail-4] [INFO] [1746050993.337943148] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050993.338260645] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050993.339159181] [sailbot.teensy]: Actual tail angle: 34 -[mux-7] [INFO] [1746050993.339503684] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050993.340034852] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050993.344487856] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050993.344947153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050993.345731247] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746050993.346649816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 -[teensy-2] [INFO] [1746050993.347683452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050993.351236537] [sailbot.mux]: controller_app rudder angle: 10 -[mux-7] [INFO] [1746050993.445236297] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050993.446213856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050993.446737484] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050993.448283757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746050993.448816851] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050993.457101330] [sailbot.main_algo]: Wind Direction: 142 -[main_algo-3] [INFO] [1746050993.458101680] [sailbot.main_algo]: Target Bearing: -55.886578870520026 -[main_algo-3] [INFO] [1746050993.459017475] [sailbot.main_algo]: Heading Difference: 139.97157887052003 -[main_algo-3] [INFO] [1746050993.459888580] [sailbot.main_algo]: Wind Direction: 142 -[main_algo-3] [INFO] [1746050993.460742427] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050993.461560381] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050993.462570606] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050993.463060871] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050993.502807573] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891644 Long: -76.50349194 -[vectornav-1] [INFO] [1746050993.504046103] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (80.60699999999997, -0.136, 4.65) -[main_algo-3] [INFO] [1746050993.504904100] [sailbot.main_algo]: Distance to destination: 26.364493496933807 -[main_algo-3] [INFO] [1746050993.505976110] [sailbot.main_algo]: Target Bearing: -55.91047882321512 -[main_algo-3] [INFO] [1746050993.506949760] [sailbot.main_algo]: Heading Difference: 139.99547882321508 -[main_algo-3] [INFO] [1746050993.507864913] [sailbot.main_algo]: Wind Direction: 142 -[main_algo-3] [INFO] [1746050993.508766679] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050993.509627507] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050993.511357014] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050993.545204445] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050993.546132905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050993.546580258] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050993.548121890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746050993.549280438] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050993.585189244] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050993.587255762] [sailbot.teensy]: Wind angle: 140 -[trim_sail-4] [INFO] [1746050993.587379036] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050993.588256319] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050993.588814647] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050993.589118961] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746050993.590016473] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050993.645271234] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050993.646085185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050993.646861642] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050993.648303089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746050993.649374818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050993.745179662] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050993.746001039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050993.747050887] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050993.747991784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746050993.749036042] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050993.835257342] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050993.837319101] [sailbot.teensy]: Wind angle: 140 -[trim_sail-4] [INFO] [1746050993.837412993] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050993.838319139] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050993.839212323] [sailbot.teensy]: Actual tail angle: 35 -[mux-7] [INFO] [1746050993.839806996] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050993.840044185] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050993.844484487] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050993.845031343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050993.845676217] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050993.846731046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746050993.847913266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050993.945178611] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050993.945742251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050993.946696634] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050993.947720709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746050993.948862766] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050993.957151387] [sailbot.main_algo]: Wind Direction: 140 -[main_algo-3] [INFO] [1746050993.958196752] [sailbot.main_algo]: Target Bearing: -55.91047882321512 -[main_algo-3] [INFO] [1746050993.959175874] [sailbot.main_algo]: Heading Difference: 136.51747882321513 -[main_algo-3] [INFO] [1746050993.960072119] [sailbot.main_algo]: Wind Direction: 140 -[main_algo-3] [INFO] [1746050993.960932408] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050993.961740952] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050993.962781926] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050993.963547401] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050994.002904879] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891638 Long: -76.50349107 -[main_algo-3] [INFO] [1746050994.003964672] [sailbot.main_algo]: Distance to destination: 26.31796191043403 -[vectornav-1] [INFO] [1746050994.004202570] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (73.74000000000001, 0.232, 8.031) -[main_algo-3] [INFO] [1746050994.005266187] [sailbot.main_algo]: Target Bearing: -56.02954134341812 -[main_algo-3] [INFO] [1746050994.006287321] [sailbot.main_algo]: Heading Difference: 136.63654134341812 -[main_algo-3] [INFO] [1746050994.007227019] [sailbot.main_algo]: Wind Direction: 140 -[main_algo-3] [INFO] [1746050994.008115355] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050994.009003023] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050994.010780254] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050994.045756964] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050994.045842250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050994.047156692] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050994.047904299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746050994.049059425] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050994.085220955] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050994.087419895] [sailbot.teensy]: Wind angle: 140 -[trim_sail-4] [INFO] [1746050994.087456165] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050994.088423374] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050994.088940075] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050994.089323445] [sailbot.teensy]: Actual tail angle: 35 -[teensy-2] [INFO] [1746050994.090235931] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050994.145218457] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050994.146097008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050994.147225585] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050994.148327449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746050994.149450081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050994.244965968] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050994.245811735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050994.246218706] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050994.247853078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746050994.249024242] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050994.335249917] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050994.336981384] [sailbot.teensy]: Wind angle: 140 -[teensy-2] [INFO] [1746050994.338022933] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050994.338230321] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746050994.338931570] [sailbot.teensy]: Actual tail angle: 35 -[trim_sail-4] [INFO] [1746050994.339450410] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050994.339869581] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050994.344552304] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050994.345047711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050994.346034415] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050994.346741601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746050994.348023159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050994.445483456] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050994.446346146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050994.447561870] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050994.449028240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746050994.450198438] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050994.457022104] [sailbot.main_algo]: Wind Direction: 140 -[main_algo-3] [INFO] [1746050994.457983113] [sailbot.main_algo]: Target Bearing: -56.02954134341812 -[main_algo-3] [INFO] [1746050994.458879298] [sailbot.main_algo]: Heading Difference: 129.76954134341815 -[main_algo-3] [INFO] [1746050994.459755218] [sailbot.main_algo]: Wind Direction: 140 -[main_algo-3] [INFO] [1746050994.460574852] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050994.461381108] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050994.462494099] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050994.463018117] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050994.503371109] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891635 Long: -76.50349075 -[main_algo-3] [INFO] [1746050994.503514031] [sailbot.main_algo]: Distance to destination: 26.300153476302675 -[main_algo-3] [INFO] [1746050994.504560188] [sailbot.main_algo]: Target Bearing: -56.072341325764256 -[vectornav-1] [INFO] [1746050994.504659443] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (68.769, 0.061, 5.947) -[main_algo-3] [INFO] [1746050994.505530476] [sailbot.main_algo]: Heading Difference: 129.81234132576424 -[main_algo-3] [INFO] [1746050994.506471272] [sailbot.main_algo]: Wind Direction: 140 -[main_algo-3] [INFO] [1746050994.507368309] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050994.508249914] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050994.509985566] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050994.544799886] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050994.545570819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050994.546188194] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050994.547415315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746050994.548564148] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050994.585422167] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050994.587173483] [sailbot.teensy]: Wind angle: 135 -[trim_sail-4] [INFO] [1746050994.587719281] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746050994.588107462] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050994.589028302] [sailbot.teensy]: Actual tail angle: 35 -[teensy-2] [INFO] [1746050994.589941832] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050994.590088564] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746050994.644785694] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050994.645555228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050994.645960149] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050994.647328329] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746050994.648475643] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050994.745234921] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050994.746094917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050994.747212861] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050994.748591935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746050994.749757267] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050994.835235377] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050994.837052572] [sailbot.teensy]: Wind angle: 130 -[trim_sail-4] [INFO] [1746050994.837484723] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050994.838073354] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050994.839005844] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050994.839065485] [sailbot.teensy]: Actual tail angle: 35 -[teensy-2] [INFO] [1746050994.840125742] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050994.844368460] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050994.844835328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050994.845466698] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050994.846631687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746050994.847641655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050994.945341061] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050994.946157923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050994.946862629] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050994.948415730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746050994.949446902] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050994.956993496] [sailbot.main_algo]: Wind Direction: 130 -[main_algo-3] [INFO] [1746050994.958041135] [sailbot.main_algo]: Target Bearing: -56.072341325764256 -[main_algo-3] [INFO] [1746050994.958941609] [sailbot.main_algo]: Heading Difference: 124.84134132576423 -[main_algo-3] [INFO] [1746050994.959813785] [sailbot.main_algo]: Wind Direction: 130 -[main_algo-3] [INFO] [1746050994.960699190] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050994.961559699] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050994.962580193] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050994.963187831] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050995.003116598] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891659 Long: -76.5034909 -[main_algo-3] [INFO] [1746050995.004047782] [sailbot.main_algo]: Distance to destination: 26.329067024445255 -[vectornav-1] [INFO] [1746050995.004648909] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (62.668000000000006, -0.108, 6.902) -[main_algo-3] [INFO] [1746050995.005437502] [sailbot.main_algo]: Target Bearing: -56.083562596066955 -[main_algo-3] [INFO] [1746050995.006418509] [sailbot.main_algo]: Heading Difference: 124.85256259606695 -[main_algo-3] [INFO] [1746050995.007691807] [sailbot.main_algo]: Wind Direction: 130 -[main_algo-3] [INFO] [1746050995.008607101] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050995.009453403] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050995.011186550] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050995.045105734] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050995.045939480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050995.046513109] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746050995.047934197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746050995.049071771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050995.073827354] [sailbot.mux]: controller_app rudder angle: 11 -[teensy-2] [INFO] [1746050995.085309506] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050995.086876186] [sailbot.teensy]: Wind angle: 130 -[trim_sail-4] [INFO] [1746050995.087598831] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050995.087813983] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050995.088700087] [sailbot.teensy]: Actual tail angle: 35 -[mux-7] [INFO] [1746050995.088809532] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050995.089555932] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050995.144739419] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050995.145386606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050995.145844879] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050995.147936435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050995.149095514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050995.245262153] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050995.245769715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050995.247027446] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050995.248282865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050995.249453729] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050995.335563419] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050995.337771082] [sailbot.teensy]: Wind angle: 130 -[trim_sail-4] [INFO] [1746050995.338782930] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746050995.339271621] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050995.339619498] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050995.340000177] [sailbot.teensy]: Actual tail angle: 35 -[teensy-2] [INFO] [1746050995.340354738] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050995.344678076] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050995.345104569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050995.345960756] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050995.346829916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050995.347876120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050995.445384703] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050995.445976478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050995.447006608] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050995.448140452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050995.449305616] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050995.457109606] [sailbot.main_algo]: Wind Direction: 130 -[main_algo-3] [INFO] [1746050995.458107063] [sailbot.main_algo]: Target Bearing: -56.083562596066955 -[main_algo-3] [INFO] [1746050995.458996860] [sailbot.main_algo]: Heading Difference: 118.75156259606695 -[main_algo-3] [INFO] [1746050995.459852035] [sailbot.main_algo]: Wind Direction: 130 -[main_algo-3] [INFO] [1746050995.460705771] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050995.461475765] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050995.462500228] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050995.463248016] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050995.502719165] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689162 Long: -76.50349 -[main_algo-3] [INFO] [1746050995.503757182] [sailbot.main_algo]: Distance to destination: 26.251209649043858 -[vectornav-1] [INFO] [1746050995.503904152] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.48399999999998, -1.797, 7.782) -[main_algo-3] [INFO] [1746050995.505053468] [sailbot.main_algo]: Target Bearing: -56.16184547676381 -[main_algo-3] [INFO] [1746050995.506376991] [sailbot.main_algo]: Heading Difference: 118.82984547676381 -[main_algo-3] [INFO] [1746050995.507282732] [sailbot.main_algo]: Wind Direction: 130 -[main_algo-3] [INFO] [1746050995.508136750] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050995.509011379] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050995.510716499] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050995.545092265] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050995.545870867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050995.546503348] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050995.547898691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050995.548962473] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050995.585254623] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050995.586893139] [sailbot.teensy]: Wind angle: 129 -[teensy-2] [INFO] [1746050995.587814130] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050995.587973433] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746050995.588787164] [sailbot.teensy]: Actual tail angle: 36 -[mux-7] [INFO] [1746050995.589172051] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746050995.589714935] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050995.645327634] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050995.646311227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050995.646868514] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050995.648854964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050995.649912218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050995.745238850] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050995.746000036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050995.746824071] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050995.747937044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050995.748409879] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050995.835185601] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050995.836918031] [sailbot.teensy]: Wind angle: 124 -[trim_sail-4] [INFO] [1746050995.837508471] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746050995.837906543] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050995.838736339] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746050995.838884009] [sailbot.teensy]: Actual tail angle: 36 -[teensy-2] [INFO] [1746050995.840148685] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050995.844557416] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050995.845180820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050995.845753493] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050995.847069258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050995.848104727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050995.945282120] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050995.945992247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050995.946806680] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050995.948142710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050995.949259722] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050995.957072258] [sailbot.main_algo]: Wind Direction: 124 -[main_algo-3] [INFO] [1746050995.958164097] [sailbot.main_algo]: Target Bearing: -56.16184547676381 -[main_algo-3] [INFO] [1746050995.959096042] [sailbot.main_algo]: Heading Difference: 111.64584547676378 -[main_algo-3] [INFO] [1746050995.959948396] [sailbot.main_algo]: Wind Direction: 124 -[main_algo-3] [INFO] [1746050995.960834792] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050995.961624643] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050995.962774411] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050995.963404794] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050996.003003680] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891658 Long: -76.50348896 -[vectornav-1] [INFO] [1746050996.004306520] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.19, 2.253, 8.877) -[main_algo-3] [INFO] [1746050996.004303634] [sailbot.main_algo]: Distance to destination: 26.23714320381777 -[main_algo-3] [INFO] [1746050996.005528721] [sailbot.main_algo]: Target Bearing: -56.367752447556015 -[main_algo-3] [INFO] [1746050996.006517927] [sailbot.main_algo]: Heading Difference: 111.85175244755601 -[main_algo-3] [INFO] [1746050996.007449551] [sailbot.main_algo]: Wind Direction: 124 -[main_algo-3] [INFO] [1746050996.008323615] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050996.009166092] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050996.010857945] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050996.045135096] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050996.045860302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050996.046555986] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050996.047884315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050996.049046242] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050996.085261644] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050996.087463219] [sailbot.teensy]: Wind angle: 117 -[trim_sail-4] [INFO] [1746050996.087529668] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050996.088463762] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050996.089269944] [sailbot.teensy]: Actual tail angle: 36 -[mux-7] [INFO] [1746050996.088986036] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050996.090114431] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050996.145339336] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050996.145958615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050996.146963647] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050996.148473652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050996.149665195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050996.245561955] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050996.245983825] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050996.247171653] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050996.248358412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050996.249613770] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050996.335383358] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050996.337792963] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050996.338578644] [sailbot.teensy]: Wind angle: 117 -[mux-7] [INFO] [1746050996.338652869] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050996.338999145] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050996.339634479] [sailbot.teensy]: Actual tail angle: 36 -[teensy-2] [INFO] [1746050996.340388817] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050996.344578679] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050996.345060110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050996.346057693] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050996.346795871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050996.348050816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050996.445329598] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050996.445916088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050996.446969722] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050996.448179558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050996.449446870] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050996.457111205] [sailbot.main_algo]: Wind Direction: 117 -[main_algo-3] [INFO] [1746050996.458121193] [sailbot.main_algo]: Target Bearing: -56.367752447556015 -[main_algo-3] [INFO] [1746050996.459009528] [sailbot.main_algo]: Heading Difference: 104.55775244755603 -[main_algo-3] [INFO] [1746050996.459836754] [sailbot.main_algo]: Wind Direction: 117 -[main_algo-3] [INFO] [1746050996.460631962] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050996.461431759] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050996.462405738] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050996.463164779] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050996.502951857] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891684 Long: -76.50348764 -[vectornav-1] [INFO] [1746050996.504883312] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.71100000000001, -2.722, 10.312) -[main_algo-3] [INFO] [1746050996.505083216] [sailbot.main_algo]: Distance to destination: 26.199407058971317 -[main_algo-3] [INFO] [1746050996.506292757] [sailbot.main_algo]: Target Bearing: -56.59891619244621 -[main_algo-3] [INFO] [1746050996.507245982] [sailbot.main_algo]: Heading Difference: 104.78891619244621 -[main_algo-3] [INFO] [1746050996.508172101] [sailbot.main_algo]: Wind Direction: 117 -[main_algo-3] [INFO] [1746050996.509041777] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050996.509881024] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050996.511613679] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050996.545104018] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050996.545920717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050996.546508200] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050996.548066979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050996.549210466] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050996.585345537] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050996.587064368] [sailbot.teensy]: Wind angle: 114 -[teensy-2] [INFO] [1746050996.588040201] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050996.588569801] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050996.588953082] [sailbot.teensy]: Actual tail angle: 36 -[mux-7] [INFO] [1746050996.589310282] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050996.589838467] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050996.645047213] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050996.646222011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050996.646715679] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050996.647983744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050996.648438785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050996.745200009] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050996.745883105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050996.747188149] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050996.747912040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050996.748461273] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050996.835225250] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050996.837088431] [sailbot.teensy]: Wind angle: 109 -[teensy-2] [INFO] [1746050996.838006425] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050996.838140457] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050996.838349347] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050996.838612533] [sailbot.teensy]: Actual tail angle: 36 -[teensy-2] [INFO] [1746050996.839000297] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050996.844636106] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050996.845412962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050996.845855801] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050996.847171316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050996.848320542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050996.945057850] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050996.945743115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050996.946794876] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050996.947940322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050996.949011864] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050996.956969720] [sailbot.main_algo]: Wind Direction: 109 -[main_algo-3] [INFO] [1746050996.957922974] [sailbot.main_algo]: Target Bearing: -56.59891619244621 -[main_algo-3] [INFO] [1746050996.958792802] [sailbot.main_algo]: Heading Difference: 98.30991619244622 -[main_algo-3] [INFO] [1746050996.959570715] [sailbot.main_algo]: Wind Direction: 109 -[main_algo-3] [INFO] [1746050996.960374408] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050996.961193550] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050996.962170188] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050996.963024521] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050997.002914112] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891794 Long: -76.50348561 -[main_algo-3] [INFO] [1746050997.003824722] [sailbot.main_algo]: Distance to destination: 26.206663988199473 -[vectornav-1] [INFO] [1746050997.004244157] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.053999999999974, -1.898, 11.323) -[main_algo-3] [INFO] [1746050997.004994114] [sailbot.main_algo]: Target Bearing: -57.05092119099523 -[main_algo-3] [INFO] [1746050997.006042188] [sailbot.main_algo]: Heading Difference: 98.76192119099528 -[main_algo-3] [INFO] [1746050997.006960607] [sailbot.main_algo]: Wind Direction: 109 -[main_algo-3] [INFO] [1746050997.007861675] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050997.008729230] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050997.010451650] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050997.045199121] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050997.045874868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050997.046713430] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050997.047872350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050997.049036620] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050997.085253589] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050997.086976072] [sailbot.teensy]: Wind angle: 105 -[trim_sail-4] [INFO] [1746050997.087705240] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050997.087897191] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050997.088821643] [sailbot.teensy]: Actual tail angle: 36 -[mux-7] [INFO] [1746050997.089671291] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050997.089727607] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050997.144915969] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050997.145791498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050997.146194908] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050997.147624938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050997.148783861] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050997.245109724] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050997.245879118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050997.246561208] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050997.247859186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050997.248650597] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050997.335292929] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050997.337044859] [sailbot.teensy]: Wind angle: 106 -[teensy-2] [INFO] [1746050997.337968142] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050997.337776537] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050997.338801081] [sailbot.teensy]: Actual tail angle: 36 -[mux-7] [INFO] [1746050997.338849102] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050997.339174721] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050997.344464319] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050997.345086379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050997.345777029] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050997.346886265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050997.348030045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050997.445253841] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050997.445936307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050997.446824160] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050997.448116137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050997.449215168] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050997.456943960] [sailbot.main_algo]: Wind Direction: 106 -[main_algo-3] [INFO] [1746050997.457982621] [sailbot.main_algo]: Target Bearing: -57.05092119099523 -[main_algo-3] [INFO] [1746050997.458882992] [sailbot.main_algo]: Heading Difference: 94.10492119099524 -[main_algo-3] [INFO] [1746050997.459735560] [sailbot.main_algo]: Wind Direction: 106 -[main_algo-3] [INFO] [1746050997.460540870] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050997.461353761] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050997.462309561] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050997.462896916] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050997.503258744] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689188 Long: -76.50348192 -[main_algo-3] [INFO] [1746050997.503936539] [sailbot.main_algo]: Distance to destination: 26.1181572754086 -[vectornav-1] [INFO] [1746050997.504512707] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.49400000000003, 0.882, 14.967) -[main_algo-3] [INFO] [1746050997.505449626] [sailbot.main_algo]: Target Bearing: -57.72000888588109 -[main_algo-3] [INFO] [1746050997.506449535] [sailbot.main_algo]: Heading Difference: 94.77400888588107 -[main_algo-3] [INFO] [1746050997.507384644] [sailbot.main_algo]: Wind Direction: 106 -[main_algo-3] [INFO] [1746050997.508297499] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050997.509155705] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050997.510839880] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050997.545251697] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050997.546071323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050997.547063403] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050997.548289697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050997.549475797] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050997.585515284] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050997.587744378] [sailbot.teensy]: Wind angle: 103 -[trim_sail-4] [INFO] [1746050997.588097039] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050997.588707869] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050997.589569902] [sailbot.teensy]: Actual tail angle: 36 -[mux-7] [INFO] [1746050997.589599677] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050997.590488492] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050997.645128377] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050997.645678450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050997.646681294] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050997.647718947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050997.648957592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050997.745053246] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050997.745589504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050997.746397447] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050997.747638410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050997.748730933] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050997.835298636] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050997.837188897] [sailbot.teensy]: Wind angle: 88 -[teensy-2] [INFO] [1746050997.838187817] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050997.838294007] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746050997.839102248] [sailbot.teensy]: Actual tail angle: 36 -[mux-7] [INFO] [1746050997.839736827] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746050997.840008901] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050997.844413202] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050997.844841055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050997.845619681] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050997.846537609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050997.847555882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050997.945429858] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050997.946019591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050997.947048075] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746050997.948386280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746050997.949380391] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050997.957126914] [sailbot.main_algo]: Wind Direction: 88 -[main_algo-3] [INFO] [1746050997.958147700] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746050997.959096948] [sailbot.main_algo]: Target Bearing: -57.72000888588109 -[main_algo-3] [INFO] [1746050997.959998797] [sailbot.main_algo]: Heading Difference: 90.21400888588113 -[main_algo-3] [INFO] [1746050997.960895930] [sailbot.main_algo]: Wind Direction: 88 -[main_algo-3] [INFO] [1746050997.961720055] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050997.962511315] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050997.963577421] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050997.964104638] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050998.002982327] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892023 Long: -76.50347884 -[main_algo-3] [INFO] [1746050998.003824438] [sailbot.main_algo]: Distance to destination: 26.113593187730704 -[main_algo-3] [INFO] [1746050998.005128783] [sailbot.main_algo]: Target Bearing: -58.37574428919442 -[main_algo-3] [INFO] [1746050998.006307847] [sailbot.main_algo]: Heading Difference: 90.86974428919444 -[vectornav-1] [INFO] [1746050998.006351828] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (28.915999999999997, -0.363, 12.14) -[main_algo-3] [INFO] [1746050998.007298044] [sailbot.main_algo]: Wind Direction: 88 -[main_algo-3] [INFO] [1746050998.008216176] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050998.009079702] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050998.010818529] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050998.024035300] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746050998.045037076] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050998.045768591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050998.046312308] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050998.047835041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050998.048866803] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050998.085411163] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050998.087532366] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746050998.087971649] [sailbot.teensy]: Wind angle: 82 -[mux-7] [INFO] [1746050998.088717652] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746050998.089438599] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050998.090388810] [sailbot.teensy]: Actual tail angle: 36 -[teensy-2] [INFO] [1746050998.091238201] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050998.145262616] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050998.145793153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050998.146761899] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050998.148069000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050998.149259910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050998.245295855] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050998.245855915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050998.246836625] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050998.248138770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050998.249302314] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050998.335417908] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050998.337149312] [sailbot.teensy]: Wind angle: 100 -[trim_sail-4] [INFO] [1746050998.337994575] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746050998.338134616] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050998.339057884] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050998.339963720] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050998.339993354] [sailbot.mux]: algo sail angle: 25 -[mux-7] [INFO] [1746050998.344547309] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050998.345106668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050998.345983542] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050998.346860690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050998.347867973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050998.445571953] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050998.446459812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050998.447893750] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050998.448926833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050998.450316739] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050998.456968278] [sailbot.main_algo]: Wind Direction: 100 -[main_algo-3] [INFO] [1746050998.457984784] [sailbot.main_algo]: Target Bearing: -58.37574428919442 -[main_algo-3] [INFO] [1746050998.458866982] [sailbot.main_algo]: Heading Difference: 87.29174428919441 -[main_algo-3] [INFO] [1746050998.459704834] [sailbot.main_algo]: Wind Direction: 100 -[main_algo-3] [INFO] [1746050998.460565980] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050998.461407717] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050998.462431426] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050998.463158834] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050998.503958761] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892219 Long: -76.50347559 -[main_algo-3] [INFO] [1746050998.504260151] [sailbot.main_algo]: Distance to destination: 26.155008174627806 -[main_algo-3] [INFO] [1746050998.505417806] [sailbot.main_algo]: Target Bearing: -59.12589294767944 -[vectornav-1] [INFO] [1746050998.505612426] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.682999999999993, -2.709, 8.119) -[main_algo-3] [INFO] [1746050998.506449644] [sailbot.main_algo]: Heading Difference: 88.04189294767946 -[main_algo-3] [INFO] [1746050998.507387175] [sailbot.main_algo]: Wind Direction: 100 -[main_algo-3] [INFO] [1746050998.508283329] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050998.509125320] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050998.510801734] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050998.545130573] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050998.545969910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050998.546573118] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050998.548026508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050998.549072427] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050998.585465976] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050998.588030022] [sailbot.teensy]: Wind angle: 114 -[trim_sail-4] [INFO] [1746050998.588030012] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746050998.589097972] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050998.589831624] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746050998.590164289] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050998.591168488] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050998.644926515] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050998.645597073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050998.646300199] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050998.647447089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050998.648542560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050998.745364888] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050998.746125953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050998.746879027] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050998.748804555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050998.750004825] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050998.835371394] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050998.837149333] [sailbot.teensy]: Wind angle: 106 -[trim_sail-4] [INFO] [1746050998.837655552] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050998.838097298] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050998.839042055] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746050998.839771179] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050998.839834378] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050998.844403314] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050998.845129782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050998.845620806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050998.846998914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050998.848043186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050998.945474331] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050998.946207092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050998.947462339] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050998.948288599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050998.948809414] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050998.956993557] [sailbot.main_algo]: Wind Direction: 106 -[main_algo-3] [INFO] [1746050998.957939367] [sailbot.main_algo]: Target Bearing: -59.12589294767944 -[main_algo-3] [INFO] [1746050998.958827678] [sailbot.main_algo]: Heading Difference: 85.8088929476794 -[main_algo-3] [INFO] [1746050998.959609355] [sailbot.main_algo]: Wind Direction: 106 -[main_algo-3] [INFO] [1746050998.960426796] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050998.961211423] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050998.962325890] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050998.962911084] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050999.003676323] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892342 Long: -76.50347058 -[main_algo-3] [INFO] [1746050999.004280476] [sailbot.main_algo]: Distance to destination: 26.056792785585166 -[vectornav-1] [INFO] [1746050999.005447271] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (22.141999999999996, -0.948, 10.641) -[main_algo-3] [INFO] [1746050999.005514729] [sailbot.main_algo]: Target Bearing: -60.053695647755305 -[main_algo-3] [INFO] [1746050999.006588634] [sailbot.main_algo]: Heading Difference: 86.73669564775531 -[main_algo-3] [INFO] [1746050999.007554459] [sailbot.main_algo]: Wind Direction: 106 -[main_algo-3] [INFO] [1746050999.008493091] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050999.009360304] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050999.011079935] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050999.045163892] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050999.045889673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050999.046569009] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050999.048172199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050999.049359441] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050999.085435969] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050999.087997363] [sailbot.teensy]: Wind angle: 107 -[teensy-2] [INFO] [1746050999.088934857] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050999.088270049] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746050999.090013841] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050999.090037916] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050999.091417891] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050999.145056820] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050999.145757695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050999.146663664] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050999.147976622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050999.149169503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050999.244983804] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050999.245653188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050999.246310492] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050999.247501712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050999.248417681] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050999.335179586] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746050999.337460540] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746050999.338209983] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746050999.338776728] [sailbot.teensy]: Wind angle: 103 -[teensy-2] [INFO] [1746050999.339770865] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746050999.340638890] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050999.341474192] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050999.344249545] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050999.344875966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050999.345344281] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050999.346516730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050999.347677121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050999.445241081] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050999.445907605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050999.446785812] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050999.447732076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050999.448174998] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050999.457167740] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746050999.458304433] [sailbot.main_algo]: Target Bearing: -60.053695647755305 -[main_algo-3] [INFO] [1746050999.459285771] [sailbot.main_algo]: Heading Difference: 82.19569564775531 -[main_algo-3] [INFO] [1746050999.460212108] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746050999.461110966] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050999.461925181] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050999.463155556] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050999.463484803] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746050999.503111047] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892376 Long: -76.50346468 -[main_algo-3] [INFO] [1746050999.504108018] [sailbot.main_algo]: Distance to destination: 25.843268948729403 -[vectornav-1] [INFO] [1746050999.504407603] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (15.420999999999992, 0.928, 10.862) -[main_algo-3] [INFO] [1746050999.505363707] [sailbot.main_algo]: Target Bearing: -61.01907804236632 -[main_algo-3] [INFO] [1746050999.506359229] [sailbot.main_algo]: Heading Difference: 83.16107804236628 -[main_algo-3] [INFO] [1746050999.507261568] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746050999.508120438] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050999.508976921] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746050999.510770181] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746050999.545106397] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050999.545905549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050999.546630161] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050999.547899305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050999.549116661] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050999.585137101] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050999.586757498] [sailbot.teensy]: Wind angle: 104 -[teensy-2] [INFO] [1746050999.587725298] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746050999.587325756] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050999.588743259] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050999.589671293] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050999.588962021] [sailbot.mux]: algo sail angle: 20 -[mux-7] [INFO] [1746050999.644783117] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050999.645573106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050999.646097289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050999.647366086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050999.648416457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050999.745030151] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050999.745794912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050999.746641026] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050999.747933288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050999.748495689] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746050999.835220721] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746050999.837076331] [sailbot.teensy]: Wind angle: 106 -[trim_sail-4] [INFO] [1746050999.837766539] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746050999.838927988] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746050999.838982856] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746050999.839856777] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746050999.840758085] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746050999.844617689] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050999.845063591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050999.845807611] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050999.846854971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050999.847923315] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050999.945296876] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746050999.946236863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746050999.946863202] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746050999.948442839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746050999.949129613] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746050999.957300185] [sailbot.main_algo]: Wind Direction: 106 -[main_algo-3] [INFO] [1746050999.958408361] [sailbot.main_algo]: Target Bearing: -61.01907804236632 -[main_algo-3] [INFO] [1746050999.959358765] [sailbot.main_algo]: Heading Difference: 76.44007804236628 -[main_algo-3] [INFO] [1746050999.960236741] [sailbot.main_algo]: Wind Direction: 106 -[main_algo-3] [INFO] [1746050999.961116911] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746050999.961900345] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746050999.963028418] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746050999.963490108] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051000.002809275] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892473 Long: -76.50345958 -[main_algo-3] [INFO] [1746051000.003706452] [sailbot.main_algo]: Distance to destination: 25.730304110304314 -[vectornav-1] [INFO] [1746051000.003870482] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (11.730999999999995, 0.263, 8.832) -[main_algo-3] [INFO] [1746051000.004820779] [sailbot.main_algo]: Target Bearing: -61.94774207647315 -[main_algo-3] [INFO] [1746051000.005875210] [sailbot.main_algo]: Heading Difference: 77.36874207647315 -[main_algo-3] [INFO] [1746051000.006967958] [sailbot.main_algo]: Wind Direction: 106 -[main_algo-3] [INFO] [1746051000.007878635] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051000.008762628] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051000.010554836] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051000.045076864] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051000.045825265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051000.046668927] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051000.047904717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051000.049041063] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051000.084992629] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051000.086626657] [sailbot.teensy]: Wind angle: 98 -[teensy-2] [INFO] [1746051000.087487519] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051000.087142261] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746051000.088175620] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051000.088354716] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051000.089250834] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051000.145107043] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051000.145603848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051000.146470862] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051000.147659814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051000.148869813] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051000.244873810] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051000.245427624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051000.246113664] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051000.247243063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051000.248371011] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051000.335244482] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051000.337073125] [sailbot.teensy]: Wind angle: 95 -[trim_sail-4] [INFO] [1746051000.337437681] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746051000.338043184] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051000.339113281] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051000.339160440] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051000.340047296] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051000.344430490] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051000.345055724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051000.345609208] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051000.346773790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051000.347836477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051000.445386734] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051000.445956716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051000.447196303] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051000.448202588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051000.449494344] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051000.456962502] [sailbot.main_algo]: Wind Direction: 95 -[main_algo-3] [INFO] [1746051000.457944632] [sailbot.main_algo]: Target Bearing: -61.94774207647315 -[main_algo-3] [INFO] [1746051000.458783886] [sailbot.main_algo]: Heading Difference: 73.67874207647316 -[main_algo-3] [INFO] [1746051000.459584697] [sailbot.main_algo]: Wind Direction: 95 -[main_algo-3] [INFO] [1746051000.460384055] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051000.461217623] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051000.462226962] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051000.462793439] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051000.503174347] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892611 Long: -76.50345449 -[main_algo-3] [INFO] [1746051000.503563597] [sailbot.main_algo]: Distance to destination: 25.664708748011613 -[vectornav-1] [INFO] [1746051000.504574369] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (10.057000000000016, -1.269, 9.559) -[main_algo-3] [INFO] [1746051000.504610127] [sailbot.main_algo]: Target Bearing: -62.93065750956164 -[main_algo-3] [INFO] [1746051000.505581326] [sailbot.main_algo]: Heading Difference: 74.66165750956162 -[main_algo-3] [INFO] [1746051000.506508174] [sailbot.main_algo]: Wind Direction: 95 -[main_algo-3] [INFO] [1746051000.507409210] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051000.508289031] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051000.509959630] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051000.544953573] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051000.545667748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051000.546221152] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051000.547620091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051000.548766527] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051000.585241497] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051000.586996109] [sailbot.teensy]: Wind angle: 94 -[teensy-2] [INFO] [1746051000.587906876] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051000.587687195] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746051000.588206424] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051000.588811905] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051000.589715111] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051000.645111462] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051000.645933705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051000.647010857] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051000.648233777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051000.649352386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051000.745677544] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051000.746662210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051000.747332977] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051000.749053733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051000.750211938] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051000.835244870] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051000.837842583] [sailbot.teensy]: Wind angle: 97 -[trim_sail-4] [INFO] [1746051000.838123469] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051000.838794680] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051000.839022598] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051000.839783942] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051000.840527060] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051000.844448125] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051000.845018282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051000.845660375] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051000.846728280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051000.847850262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051000.945226655] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051000.945875349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051000.946976198] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051000.948027970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051000.948791895] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051000.957043961] [sailbot.main_algo]: Wind Direction: 97 -[main_algo-3] [INFO] [1746051000.958049493] [sailbot.main_algo]: Target Bearing: -62.93065750956164 -[main_algo-3] [INFO] [1746051000.958937004] [sailbot.main_algo]: Heading Difference: 72.98765750956164 -[main_algo-3] [INFO] [1746051000.959740803] [sailbot.main_algo]: Wind Direction: 97 -[main_algo-3] [INFO] [1746051000.960569521] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051000.961355639] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051000.962486400] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051000.963469499] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051001.003199269] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892628 Long: -76.50344818 -[main_algo-3] [INFO] [1746051001.003662581] [sailbot.main_algo]: Distance to destination: 25.44139679556343 -[vectornav-1] [INFO] [1746051001.004317390] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (6.699999999999989, -3.497, 12.584) -[main_algo-3] [INFO] [1746051001.004805134] [sailbot.main_algo]: Target Bearing: -63.98157951548372 -[main_algo-3] [INFO] [1746051001.006252272] [sailbot.main_algo]: Heading Difference: 74.03857951548375 -[main_algo-3] [INFO] [1746051001.007314255] [sailbot.main_algo]: Wind Direction: 97 -[main_algo-3] [INFO] [1746051001.008266257] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051001.009154999] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051001.010878238] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051001.044976855] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051001.045736705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051001.046310051] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051001.047783423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051001.048836921] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051001.085672995] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051001.088047425] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746051001.088125015] [sailbot.teensy]: Wind angle: 96 -[mux-7] [INFO] [1746051001.088658397] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051001.089125686] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051001.090055216] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051001.090910352] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051001.144994803] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051001.145955330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051001.146309637] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051001.147878841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051001.148983090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051001.245293929] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051001.245888697] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051001.246840812] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051001.247881703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051001.249120401] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051001.335311949] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051001.337545221] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746051001.338400417] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051001.338974703] [sailbot.teensy]: Wind angle: 94 -[teensy-2] [INFO] [1746051001.339498144] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051001.339863310] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051001.340307809] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051001.344660308] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051001.345085190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051001.345901144] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051001.346863997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051001.348047550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051001.445163925] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051001.445696211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051001.446750469] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051001.447733682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051001.448847741] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051001.457111873] [sailbot.main_algo]: Wind Direction: 94 -[main_algo-3] [INFO] [1746051001.458132729] [sailbot.main_algo]: Target Bearing: -63.98157951548372 -[main_algo-3] [INFO] [1746051001.459014585] [sailbot.main_algo]: Heading Difference: 70.68157951548372 -[main_algo-3] [INFO] [1746051001.459795961] [sailbot.main_algo]: Wind Direction: 94 -[main_algo-3] [INFO] [1746051001.460608566] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051001.461411697] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051001.462408989] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051001.463264799] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051001.502486536] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892544 Long: -76.50344094 -[main_algo-3] [INFO] [1746051001.503722872] [sailbot.main_algo]: Distance to destination: 25.09247580560214 -[vectornav-1] [INFO] [1746051001.503936387] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (1.7060000000000173, 0.648, 12.716) -[main_algo-3] [INFO] [1746051001.504823923] [sailbot.main_algo]: Target Bearing: -65.09559065109046 -[main_algo-3] [INFO] [1746051001.505793119] [sailbot.main_algo]: Heading Difference: 71.79559065109044 -[main_algo-3] [INFO] [1746051001.506685018] [sailbot.main_algo]: Wind Direction: 94 -[main_algo-3] [INFO] [1746051001.507575023] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051001.508434856] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051001.510109759] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051001.544916227] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051001.545721643] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051001.546230464] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051001.547621270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051001.548738865] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051001.585155900] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051001.586773507] [sailbot.teensy]: Wind angle: 92 -[trim_sail-4] [INFO] [1746051001.587340614] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746051001.587688086] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051001.588619963] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051001.588851848] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051001.589509463] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051001.645239285] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051001.646131207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051001.646747527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051001.648642565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051001.649664085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051001.745542207] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051001.746263747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051001.747119993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051001.748535706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051001.749591067] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051001.835185164] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051001.837577962] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746051001.838346522] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051001.838579599] [sailbot.teensy]: Wind angle: 90 -[teensy-2] [INFO] [1746051001.839376082] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051001.839731166] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051001.840093366] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051001.844419853] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051001.844835217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051001.845596334] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051001.846500359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051001.847540419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051001.945201142] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051001.946013961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051001.946663827] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051001.948079135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051001.949138822] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051001.957125291] [sailbot.main_algo]: Wind Direction: 90 -[main_algo-3] [INFO] [1746051001.958165722] [sailbot.main_algo]: Target Bearing: -65.09559065109046 -[main_algo-3] [INFO] [1746051001.959081493] [sailbot.main_algo]: Heading Difference: 66.80159065109046 -[main_algo-3] [INFO] [1746051001.959895158] [sailbot.main_algo]: Wind Direction: 90 -[main_algo-3] [INFO] [1746051001.960724519] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051001.961511063] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051001.962505482] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051001.963095416] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051002.002517229] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892527 Long: -76.50343413 -[main_algo-3] [INFO] [1746051002.003360563] [sailbot.main_algo]: Distance to destination: 24.835682820170454 -[vectornav-1] [INFO] [1746051002.003565547] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (358.17, 2.81, 9.443) -[main_algo-3] [INFO] [1746051002.004362475] [sailbot.main_algo]: Target Bearing: -66.23845016221992 -[main_algo-3] [INFO] [1746051002.005283812] [sailbot.main_algo]: Heading Difference: 67.94445016221994 -[main_algo-3] [INFO] [1746051002.006190964] [sailbot.main_algo]: Wind Direction: 90 -[main_algo-3] [INFO] [1746051002.007079289] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051002.007915481] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051002.009954911] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051002.044909412] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051002.045583439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051002.046452706] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051002.047422586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051002.048742874] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051002.085250235] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051002.087517467] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746051002.087846060] [sailbot.teensy]: Wind angle: 89 -[teensy-2] [INFO] [1746051002.089423971] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051002.090164119] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051002.090345841] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051002.091279592] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051002.144588365] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051002.145202199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051002.145796481] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051002.147100436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051002.148241924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051002.244953615] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051002.245498905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051002.246536075] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051002.247252575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051002.248453837] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051002.335386006] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051002.337948281] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746051002.338465523] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746051002.338580704] [sailbot.teensy]: Wind angle: 81 -[teensy-2] [INFO] [1746051002.338975395] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051002.339364661] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051002.339718410] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051002.344575586] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051002.345045234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051002.345837043] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051002.346873718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051002.347916497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051002.445416256] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051002.446256006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051002.447095227] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051002.448400645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051002.448922148] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051002.457039874] [sailbot.main_algo]: Wind Direction: 81 -[main_algo-3] [INFO] [1746051002.457988883] [sailbot.main_algo]: Target Bearing: -66.23845016221992 -[main_algo-3] [INFO] [1746051002.458878084] [sailbot.main_algo]: Heading Difference: 64.40845016221988 -[main_algo-3] [INFO] [1746051002.459683584] [sailbot.main_algo]: Wind Direction: 81 -[main_algo-3] [INFO] [1746051002.460517884] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051002.461305172] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051002.462564268] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051002.462874691] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051002.502746021] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892568 Long: -76.50342859 -[main_algo-3] [INFO] [1746051002.503706030] [sailbot.main_algo]: Distance to destination: 24.689919081409005 -[vectornav-1] [INFO] [1746051002.503888590] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (354.563, -2.046, 6.057) -[main_algo-3] [INFO] [1746051002.504835433] [sailbot.main_algo]: Target Bearing: -67.24254540226653 -[main_algo-3] [INFO] [1746051002.505799383] [sailbot.main_algo]: Heading Difference: 65.41254540226657 -[main_algo-3] [INFO] [1746051002.506742153] [sailbot.main_algo]: Wind Direction: 81 -[main_algo-3] [INFO] [1746051002.507620806] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051002.508526718] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051002.510392070] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051002.545072528] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051002.545725213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051002.546378067] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051002.547612249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051002.548703022] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051002.585107064] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051002.587068002] [sailbot.teensy]: Wind angle: 81 -[trim_sail-4] [INFO] [1746051002.587455030] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746051002.588002336] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051002.588934530] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051002.589149099] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746051002.589811595] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051002.644992005] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051002.645513448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051002.646458947] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051002.647433409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051002.648486697] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051002.745442512] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051002.746337854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051002.747954447] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051002.748843073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051002.750129534] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051002.835257299] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051002.838041170] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746051002.838075161] [sailbot.teensy]: Wind angle: 83 -[teensy-2] [INFO] [1746051002.839037176] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051002.839944546] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051002.840188492] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051002.840586462] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051002.844500071] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051002.845003626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051002.845875181] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051002.846812786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051002.847954291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051002.945084559] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051002.945650960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051002.946513687] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051002.947716324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051002.948886483] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051002.957048365] [sailbot.main_algo]: Wind Direction: 83 -[main_algo-3] [INFO] [1746051002.958009321] [sailbot.main_algo]: Target Bearing: -67.24254540226653 -[main_algo-3] [INFO] [1746051002.958900779] [sailbot.main_algo]: Heading Difference: 61.80554540226649 -[main_algo-3] [INFO] [1746051002.959710345] [sailbot.main_algo]: Wind Direction: 83 -[main_algo-3] [INFO] [1746051002.960514499] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051002.961311795] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051002.962313611] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051002.963022812] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051003.002747787] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892533 Long: -76.50342283 -[main_algo-3] [INFO] [1746051003.003668782] [sailbot.main_algo]: Distance to destination: 24.46700061611763 -[vectornav-1] [INFO] [1746051003.003838059] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (351.999, -2.059, 7.859) -[main_algo-3] [INFO] [1746051003.004804678] [sailbot.main_algo]: Target Bearing: -68.22085529149072 -[main_algo-3] [INFO] [1746051003.005754870] [sailbot.main_algo]: Heading Difference: 62.78385529149068 -[main_algo-3] [INFO] [1746051003.006655766] [sailbot.main_algo]: Wind Direction: 83 -[main_algo-3] [INFO] [1746051003.007543189] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051003.008491753] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051003.010319001] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051003.044968820] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051003.045673755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051003.046307651] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051003.047575139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051003.048633164] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051003.085143707] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051003.086827878] [sailbot.teensy]: Wind angle: 83 -[teensy-2] [INFO] [1746051003.087692073] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051003.087279354] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746051003.088556844] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051003.088583389] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051003.089477018] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051003.145278473] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051003.146291160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051003.146887534] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051003.148604865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051003.149637907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051003.244919998] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051003.245542506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051003.246165548] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051003.247315445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051003.248383515] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051003.335226722] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051003.337608945] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746051003.338346058] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051003.338492591] [sailbot.teensy]: Wind angle: 83 -[teensy-2] [INFO] [1746051003.339658562] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051003.340586873] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051003.341458965] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051003.344411894] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051003.345002297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051003.345772939] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051003.346740606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051003.347789919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051003.444907208] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051003.445483547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051003.446313806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051003.447565087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051003.448767012] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051003.456902410] [sailbot.main_algo]: Wind Direction: 83 -[main_algo-3] [INFO] [1746051003.457844304] [sailbot.main_algo]: Target Bearing: -68.22085529149072 -[main_algo-3] [INFO] [1746051003.458670874] [sailbot.main_algo]: Heading Difference: 60.21985529149072 -[main_algo-3] [INFO] [1746051003.459471676] [sailbot.main_algo]: Wind Direction: 83 -[main_algo-3] [INFO] [1746051003.460306890] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051003.461095958] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051003.462091570] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051003.462697828] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051003.503219910] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892411 Long: -76.50341639 -[main_algo-3] [INFO] [1746051003.504025249] [sailbot.main_algo]: Distance to destination: 24.140876133546843 -[vectornav-1] [INFO] [1746051003.504940437] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (347.431, -1.849, 8.341) -[main_algo-3] [INFO] [1746051003.505136802] [sailbot.main_algo]: Target Bearing: -69.25491388276848 -[main_algo-3] [INFO] [1746051003.506188756] [sailbot.main_algo]: Heading Difference: 61.25391388276853 -[main_algo-3] [INFO] [1746051003.507151917] [sailbot.main_algo]: Wind Direction: 83 -[main_algo-3] [INFO] [1746051003.508070704] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051003.508959998] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051003.510696386] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051003.545236393] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051003.545923593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051003.546998566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051003.547953549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051003.549110316] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051003.585501529] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051003.587363908] [sailbot.teensy]: Wind angle: 83 -[trim_sail-4] [INFO] [1746051003.587726602] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746051003.588345923] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051003.589271306] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051003.590239247] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051003.590434088] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051003.645256014] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051003.645757830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051003.646817304] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051003.648087334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051003.649280958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051003.745003977] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051003.745628633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051003.746375531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051003.747534382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051003.748659166] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051003.835248053] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051003.836983743] [sailbot.teensy]: Wind angle: 80 -[trim_sail-4] [INFO] [1746051003.837830483] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746051003.838827652] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746051003.839499943] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051003.840482926] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051003.840942804] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051003.844586427] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051003.845049299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051003.845735665] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051003.846756315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051003.847928653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051003.945279047] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051003.945901967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051003.946980177] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051003.948002363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051003.949074193] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051003.957135290] [sailbot.main_algo]: Wind Direction: 80 -[main_algo-3] [INFO] [1746051003.958205285] [sailbot.main_algo]: Target Bearing: -69.25491388276848 -[main_algo-3] [INFO] [1746051003.959114909] [sailbot.main_algo]: Heading Difference: 56.68591388276843 -[main_algo-3] [INFO] [1746051003.959981597] [sailbot.main_algo]: Wind Direction: 80 -[main_algo-3] [INFO] [1746051003.960878568] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051003.961746421] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051003.962971301] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051003.963326477] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051004.002847925] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689224 Long: -76.50340976 -[main_algo-3] [INFO] [1746051004.003776319] [sailbot.main_algo]: Distance to destination: 23.76640110223917 -[vectornav-1] [INFO] [1746051004.004029635] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (342.835, -0.329, 5.966) -[main_algo-3] [INFO] [1746051004.004879259] [sailbot.main_algo]: Target Bearing: -70.3057982816267 -[main_algo-3] [INFO] [1746051004.005845740] [sailbot.main_algo]: Heading Difference: 57.73679828162676 -[main_algo-3] [INFO] [1746051004.006780214] [sailbot.main_algo]: Wind Direction: 80 -[main_algo-3] [INFO] [1746051004.007852106] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051004.008765209] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051004.010514371] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051004.045079418] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051004.045769250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051004.046386535] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051004.047650287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051004.048741303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051004.060791553] [sailbot.mux]: controller_app rudder angle: -11 -[teensy-2] [INFO] [1746051004.085170440] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051004.086740861] [sailbot.teensy]: Wind angle: 78 -[teensy-2] [INFO] [1746051004.087624939] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051004.087285323] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746051004.088114208] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746051004.089375881] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051004.090283156] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051004.145299822] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051004.145902337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051004.146870635] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051004.147939590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051004.149035127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051004.245182630] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051004.245963984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051004.246752747] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051004.248205427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051004.249372771] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051004.335154735] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051004.337197931] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746051004.337369985] [sailbot.teensy]: Wind angle: 78 -[teensy-2] [INFO] [1746051004.338247778] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051004.338633073] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746051004.339117579] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051004.339548020] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051004.344370539] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051004.344917782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051004.345571140] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051004.346948091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051004.348057960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051004.445738979] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051004.446315157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051004.447416924] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051004.448485744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051004.448972951] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051004.457099880] [sailbot.main_algo]: Wind Direction: 78 -[main_algo-3] [INFO] [1746051004.458042056] [sailbot.main_algo]: Target Bearing: -70.3057982816267 -[main_algo-3] [INFO] [1746051004.458923193] [sailbot.main_algo]: Heading Difference: 53.14079828162676 -[main_algo-3] [INFO] [1746051004.459727452] [sailbot.main_algo]: Wind Direction: 78 -[main_algo-3] [INFO] [1746051004.460549273] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051004.461368738] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051004.462386945] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051004.463008429] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051004.503451740] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892028 Long: -76.50340353 -[vectornav-1] [INFO] [1746051004.505096539] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (339.911, 1.108, 6.722) -[main_algo-3] [INFO] [1746051004.504089041] [sailbot.main_algo]: Distance to destination: 23.368378661837756 -[main_algo-3] [INFO] [1746051004.505286920] [sailbot.main_algo]: Target Bearing: -71.2764994244905 -[main_algo-3] [INFO] [1746051004.506275623] [sailbot.main_algo]: Heading Difference: 54.11149942449049 -[main_algo-3] [INFO] [1746051004.507203435] [sailbot.main_algo]: Wind Direction: 78 -[main_algo-3] [INFO] [1746051004.508086135] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051004.508970697] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051004.510728789] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051004.544980433] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051004.545622211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051004.546452822] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051004.547723605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051004.548947009] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051004.585425702] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051004.587585164] [sailbot.teensy]: Wind angle: 77 -[teensy-2] [INFO] [1746051004.588554827] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051004.587923509] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746051004.588386626] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746051004.589420547] [sailbot.teensy]: Actual tail angle: 14 -[teensy-2] [INFO] [1746051004.590292788] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051004.645167522] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051004.645719933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051004.646613962] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051004.647610310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051004.648673318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051004.745347415] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051004.746038578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051004.746978699] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051004.748272386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051004.749242811] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051004.835207555] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051004.836896135] [sailbot.teensy]: Wind angle: 76 -[trim_sail-4] [INFO] [1746051004.837430649] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746051004.837805930] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051004.838680086] [sailbot.teensy]: Actual tail angle: 14 -[mux-7] [INFO] [1746051004.838897754] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746051004.839589709] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051004.844371653] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051004.844857276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051004.845499817] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051004.846533974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051004.847615147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051004.945143797] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051004.946186793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051004.946650191] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051004.948686421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051004.949729012] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051004.957175589] [sailbot.main_algo]: Wind Direction: 76 -[main_algo-3] [INFO] [1746051004.958220159] [sailbot.main_algo]: Target Bearing: -71.2764994244905 -[main_algo-3] [INFO] [1746051004.959137035] [sailbot.main_algo]: Heading Difference: 51.18749942449051 -[main_algo-3] [INFO] [1746051004.960018680] [sailbot.main_algo]: Wind Direction: 76 -[main_algo-3] [INFO] [1746051004.960908175] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051004.961753134] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051004.962889485] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051004.963422845] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051005.002891086] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689189 Long: -76.50339807 -[main_algo-3] [INFO] [1746051005.003925979] [sailbot.main_algo]: Distance to destination: 23.0754830838871 -[vectornav-1] [INFO] [1746051005.004087543] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (346.765, 2.246, 6.552) -[main_algo-3] [INFO] [1746051005.005145615] [sailbot.main_algo]: Target Bearing: -72.19721096205743 -[main_algo-3] [INFO] [1746051005.006111584] [sailbot.main_algo]: Heading Difference: 52.108210962057456 -[main_algo-3] [INFO] [1746051005.007059090] [sailbot.main_algo]: Wind Direction: 76 -[main_algo-3] [INFO] [1746051005.007987029] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051005.008873158] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051005.010758589] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051005.044411177] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051005.044873713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051005.045322837] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051005.046397923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051005.047645499] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051005.084438638] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051005.085496305] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051005.085785015] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051005.086493969] [sailbot.teensy]: Wind angle: 75 -[teensy-2] [INFO] [1746051005.086969383] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051005.087712929] [sailbot.teensy]: Actual tail angle: 14 -[teensy-2] [INFO] [1746051005.088141326] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051005.088458554] [sailbot.mux]: controller_app rudder angle: -12 -[mux-7] [INFO] [1746051005.144969439] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051005.145859310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051005.146213038] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746051005.147716856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -12 -[teensy-2] [INFO] [1746051005.148735505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051005.244956462] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051005.245513323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051005.246265625] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746051005.247320378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -12 -[teensy-2] [INFO] [1746051005.248363897] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051005.335170785] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051005.337312440] [sailbot.teensy]: Wind angle: 75 -[trim_sail-4] [INFO] [1746051005.337321777] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051005.338288072] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051005.338686313] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051005.338892309] [sailbot.teensy]: Actual tail angle: 14 -[teensy-2] [INFO] [1746051005.339291162] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051005.344720639] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051005.345142941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051005.346163562] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746051005.346948377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -12 -[teensy-2] [INFO] [1746051005.348018671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051005.445448242] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051005.446137776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051005.447204111] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746051005.448680242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -12 -[teensy-2] [INFO] [1746051005.449147533] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051005.456982905] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051005.457927584] [sailbot.main_algo]: Target Bearing: -72.19721096205743 -[main_algo-3] [INFO] [1746051005.458756185] [sailbot.main_algo]: Heading Difference: 58.962210962057384 -[main_algo-3] [INFO] [1746051005.459534201] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051005.460362164] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051005.461146646] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051005.462108943] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051005.462710731] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051005.503484417] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891864 Long: -76.50339368 -[main_algo-3] [INFO] [1746051005.503996881] [sailbot.main_algo]: Distance to destination: 22.934128474236708 -[vectornav-1] [INFO] [1746051005.504908534] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (1.0500000000000114, -1.271, 10.1) -[main_algo-3] [INFO] [1746051005.505373212] [sailbot.main_algo]: Target Bearing: -73.02753664012823 -[main_algo-3] [INFO] [1746051005.506386616] [sailbot.main_algo]: Heading Difference: 59.79253664012822 -[main_algo-3] [INFO] [1746051005.507287231] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051005.508127403] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051005.508978968] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051005.510707115] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051005.544970599] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051005.545683486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051005.546372294] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746051005.547789128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -12 -[teensy-2] [INFO] [1746051005.548898155] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051005.585418043] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051005.587873820] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746051005.588054936] [sailbot.teensy]: Wind angle: 76 -[mux-7] [INFO] [1746051005.588424868] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746051005.589032423] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051005.589917122] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746051005.590756534] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051005.645144701] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051005.645739440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051005.646603371] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746051005.647635419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -12 -[teensy-2] [INFO] [1746051005.648692353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051005.745226816] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051005.745829561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051005.746722501] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746051005.747706888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -12 -[teensy-2] [INFO] [1746051005.748183962] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051005.835140278] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051005.836804174] [sailbot.teensy]: Wind angle: 79 -[trim_sail-4] [INFO] [1746051005.837295026] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746051005.838784252] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051005.839322150] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746051005.839841204] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746051005.840783855] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051005.844302018] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051005.844791449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051005.845418624] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746051005.846430936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -12 -[teensy-2] [INFO] [1746051005.847652587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051005.945067789] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051005.945879588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051005.946412073] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746051005.947831493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -12 -[teensy-2] [INFO] [1746051005.948343444] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051005.957282596] [sailbot.main_algo]: Wind Direction: 79 -[main_algo-3] [INFO] [1746051005.958420678] [sailbot.main_algo]: Target Bearing: -73.02753664012823 -[main_algo-3] [INFO] [1746051005.959384720] [sailbot.main_algo]: Heading Difference: 74.07753664012824 -[main_algo-3] [INFO] [1746051005.960283354] [sailbot.main_algo]: Wind Direction: 79 -[main_algo-3] [INFO] [1746051005.961139287] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051005.961975450] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051005.963061471] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051005.963721380] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051006.002977527] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891903 Long: -76.50338914 -[main_algo-3] [INFO] [1746051006.003985724] [sailbot.main_algo]: Distance to destination: 22.863016748172406 -[vectornav-1] [INFO] [1746051006.004638182] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (20.85899999999998, -1.67, 16.114) -[main_algo-3] [INFO] [1746051006.005281916] [sailbot.main_algo]: Target Bearing: -73.95085276665951 -[main_algo-3] [INFO] [1746051006.006366325] [sailbot.main_algo]: Heading Difference: 75.00085276665953 -[main_algo-3] [INFO] [1746051006.007280371] [sailbot.main_algo]: Wind Direction: 79 -[main_algo-3] [INFO] [1746051006.008216185] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051006.009090604] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051006.010854563] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051006.045007593] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051006.045581484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051006.046260558] [sailbot.mux]: Published rudder angle from controller_app: -12 -[teensy-2] [INFO] [1746051006.047857068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -12 -[teensy-2] [INFO] [1746051006.048974581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051006.084523918] [sailbot.mux]: controller_app rudder angle: 0 -[teensy-2] [INFO] [1746051006.085080573] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051006.087109471] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746051006.087323262] [sailbot.teensy]: Wind angle: 89 -[teensy-2] [INFO] [1746051006.088399577] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051006.089199326] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051006.089600932] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746051006.090557975] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051006.144770237] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051006.145338419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051006.146041612] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051006.147149447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051006.148222118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051006.245038823] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051006.245703941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051006.246428159] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051006.247544450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051006.248095136] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051006.335123196] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051006.336868459] [sailbot.teensy]: Wind angle: 106 -[trim_sail-4] [INFO] [1746051006.337692915] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051006.337803080] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051006.338667024] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051006.338688796] [sailbot.teensy]: Actual tail angle: 13 -[teensy-2] [INFO] [1746051006.339631046] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051006.344364487] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051006.345074801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051006.345433968] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051006.346778025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051006.347930297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051006.445273703] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051006.446190170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051006.446721586] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051006.448085130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051006.448579516] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051006.456976965] [sailbot.main_algo]: Wind Direction: 106 -[main_algo-3] [INFO] [1746051006.457878818] [sailbot.main_algo]: Target Bearing: -73.95085276665951 -[main_algo-3] [INFO] [1746051006.458696253] [sailbot.main_algo]: Heading Difference: 94.8098527666595 -[main_algo-3] [INFO] [1746051006.459481094] [sailbot.main_algo]: Wind Direction: 106 -[main_algo-3] [INFO] [1746051006.460309168] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051006.461095639] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051006.462096027] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051006.462857950] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051006.503336975] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891912 Long: -76.50338389 -[main_algo-3] [INFO] [1746051006.503863356] [sailbot.main_algo]: Distance to destination: 22.74969770359628 -[vectornav-1] [INFO] [1746051006.504652441] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.40100000000001, 0.165, 21.694) -[main_algo-3] [INFO] [1746051006.505046156] [sailbot.main_algo]: Target Bearing: -74.99760217751049 -[main_algo-3] [INFO] [1746051006.506099110] [sailbot.main_algo]: Heading Difference: 95.85660217751047 -[main_algo-3] [INFO] [1746051006.507337819] [sailbot.main_algo]: Wind Direction: 106 -[main_algo-3] [INFO] [1746051006.508258847] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051006.509146534] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051006.510886201] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051006.545068320] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051006.545792830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051006.546388558] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051006.547928921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051006.549068284] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051006.585447727] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051006.587268941] [sailbot.teensy]: Wind angle: 123 -[teensy-2] [INFO] [1746051006.588189725] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051006.589126206] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051006.588233016] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746051006.589707413] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051006.589998666] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051006.644971376] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051006.645580088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051006.646238972] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051006.647353248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051006.648047308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051006.745222287] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051006.746191054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051006.746723058] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051006.748500984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051006.749109047] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051006.835369074] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051006.837218054] [sailbot.teensy]: Wind angle: 128 -[trim_sail-4] [INFO] [1746051006.837909744] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051006.838161283] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051006.839070923] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051006.839339747] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051006.840044379] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051006.844396149] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051006.845015068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051006.845549049] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051006.846727906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051006.847782428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051006.944763951] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051006.945199205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051006.945933738] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051006.947110420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051006.948196468] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051006.957076768] [sailbot.main_algo]: Wind Direction: 128 -[main_algo-3] [INFO] [1746051006.958059687] [sailbot.main_algo]: Target Bearing: -74.99760217751049 -[main_algo-3] [INFO] [1746051006.958992733] [sailbot.main_algo]: Heading Difference: 112.3986021775105 -[main_algo-3] [INFO] [1746051006.959787309] [sailbot.main_algo]: Wind Direction: 128 -[main_algo-3] [INFO] [1746051006.960621253] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051006.961404318] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051006.962370934] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051006.962978098] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051007.003916298] [sailbot.main_algo]: Distance to destination: 22.886131307952994 -[vectornav-1] [INFO] [1746051007.004144376] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892103 Long: -76.50338083 -[main_algo-3] [INFO] [1746051007.005398212] [sailbot.main_algo]: Target Bearing: -75.74958897119546 -[vectornav-1] [INFO] [1746051007.005732724] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.59800000000001, -1.743, 19.771) -[main_algo-3] [INFO] [1746051007.006421652] [sailbot.main_algo]: Heading Difference: 113.15058897119548 -[main_algo-3] [INFO] [1746051007.007402386] [sailbot.main_algo]: Wind Direction: 128 -[main_algo-3] [INFO] [1746051007.008418015] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051007.009298326] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051007.011090426] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051007.045023676] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051007.045589484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051007.046326081] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051007.047486161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051007.048903313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051007.049305582] [sailbot.mux]: controller_app rudder angle: 12 -[teensy-2] [INFO] [1746051007.085551811] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051007.087799308] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051007.088436133] [sailbot.teensy]: Wind angle: 125 -[mux-7] [INFO] [1746051007.089038476] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051007.089753057] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051007.090728537] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051007.091633028] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051007.145434348] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051007.145888520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051007.147570813] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051007.148001573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051007.149296190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051007.245187414] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051007.246503569] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051007.248759729] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051007.250284165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051007.251236142] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051007.335088654] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051007.337137405] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051007.338297472] [sailbot.teensy]: Wind angle: 112 -[mux-7] [INFO] [1746051007.338584007] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051007.339290488] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051007.339872310] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051007.340255226] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051007.344402693] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051007.345026686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051007.345517934] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051007.346862670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051007.347906918] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051007.445469470] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051007.446090734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051007.447154862] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051007.448363507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051007.449629895] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051007.457174365] [sailbot.main_algo]: Wind Direction: 112 -[main_algo-3] [INFO] [1746051007.458306156] [sailbot.main_algo]: Target Bearing: -75.74958897119546 -[main_algo-3] [INFO] [1746051007.459213839] [sailbot.main_algo]: Heading Difference: 129.34758897119548 -[main_algo-3] [INFO] [1746051007.460071353] [sailbot.main_algo]: Wind Direction: 112 -[main_algo-3] [INFO] [1746051007.460957941] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051007.461833281] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051007.462881504] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051007.463530562] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051007.502633033] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892445 Long: -76.50337986 -[main_algo-3] [INFO] [1746051007.503475566] [sailbot.main_algo]: Distance to destination: 23.232225478830127 -[vectornav-1] [INFO] [1746051007.503658346] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (65.81200000000001, -0.408, 9.708) -[main_algo-3] [INFO] [1746051007.504559828] [sailbot.main_algo]: Target Bearing: -76.1859812639526 -[main_algo-3] [INFO] [1746051007.505511698] [sailbot.main_algo]: Heading Difference: 129.78398126395263 -[main_algo-3] [INFO] [1746051007.506415350] [sailbot.main_algo]: Wind Direction: 112 -[main_algo-3] [INFO] [1746051007.507309024] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051007.508169443] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051007.509897732] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051007.545185797] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051007.545887510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051007.546664492] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051007.547848751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051007.548998300] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051007.585253623] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051007.586762288] [sailbot.teensy]: Wind angle: 118 -[trim_sail-4] [INFO] [1746051007.587244249] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051007.587620747] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051007.588546165] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051007.589397451] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051007.589395654] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746051007.645337752] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051007.646016949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051007.646869295] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051007.648121945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051007.648848365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051007.745344452] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051007.746220034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051007.746990371] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051007.748374094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051007.749153834] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051007.835201933] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051007.837401347] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746051007.838005183] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051007.839509158] [sailbot.teensy]: Wind angle: 124 -[teensy-2] [INFO] [1746051007.840135516] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051007.840513037] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051007.840869839] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051007.844530577] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051007.845091496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051007.845737493] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051007.846793135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051007.847799435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051007.945404617] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051007.946384968] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051007.947010367] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051007.948755141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051007.950001137] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051007.957172756] [sailbot.main_algo]: Wind Direction: 124 -[main_algo-3] [INFO] [1746051007.958241880] [sailbot.main_algo]: Target Bearing: -76.1859812639526 -[main_algo-3] [INFO] [1746051007.959154317] [sailbot.main_algo]: Heading Difference: 141.99798126395262 -[main_algo-3] [INFO] [1746051007.960010396] [sailbot.main_algo]: Wind Direction: 124 -[main_algo-3] [INFO] [1746051007.960896643] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051007.961730241] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051007.962730909] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051007.963390664] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051008.002901358] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.468927 Long: -76.50337852 -[main_algo-3] [INFO] [1746051008.004039697] [sailbot.main_algo]: Distance to destination: 23.47847649488661 -[vectornav-1] [INFO] [1746051008.004115084] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (64.661, 4.284, 12.395) -[main_algo-3] [INFO] [1746051008.005659039] [sailbot.main_algo]: Target Bearing: -76.62278430456512 -[main_algo-3] [INFO] [1746051008.006675835] [sailbot.main_algo]: Heading Difference: 142.43478430456514 -[main_algo-3] [INFO] [1746051008.007571387] [sailbot.main_algo]: Wind Direction: 124 -[main_algo-3] [INFO] [1746051008.008466347] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051008.009303808] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051008.011086868] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051008.045072016] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051008.045623756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051008.046374967] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051008.047654507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051008.048761280] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051008.085133504] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051008.086724261] [sailbot.teensy]: Wind angle: 127 -[trim_sail-4] [INFO] [1746051008.087171024] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051008.087661332] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051008.088533275] [sailbot.teensy]: Actual tail angle: 37 -[mux-7] [INFO] [1746051008.088962055] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051008.089446152] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051008.144758441] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051008.145261563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051008.146278487] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051008.147023322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051008.148212914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051008.245319173] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051008.246177483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051008.247007578] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051008.248387271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051008.249572058] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051008.335364704] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051008.337605544] [sailbot.teensy]: Wind angle: 130 -[trim_sail-4] [INFO] [1746051008.338095587] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051008.338362125] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051008.338547828] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051008.339456214] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051008.340338803] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051008.344488233] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051008.345131125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051008.345635837] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051008.346864645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051008.348011050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051008.445475804] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051008.446337585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051008.447077451] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051008.448612976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051008.449898284] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051008.457062805] [sailbot.main_algo]: Wind Direction: 130 -[main_algo-3] [INFO] [1746051008.458046805] [sailbot.main_algo]: Target Bearing: -76.62278430456512 -[main_algo-3] [INFO] [1746051008.458931565] [sailbot.main_algo]: Heading Difference: 141.28378430456513 -[main_algo-3] [INFO] [1746051008.459823971] [sailbot.main_algo]: Wind Direction: 130 -[main_algo-3] [INFO] [1746051008.460703119] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051008.461568052] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051008.462677968] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051008.463276797] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051008.502803664] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.468929 Long: -76.5033764 -[main_algo-3] [INFO] [1746051008.503733460] [sailbot.main_algo]: Distance to destination: 23.651357438492052 -[vectornav-1] [INFO] [1746051008.504405052] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (61.608000000000004, -5.392, 10.676) -[main_algo-3] [INFO] [1746051008.504981758] [sailbot.main_algo]: Target Bearing: -77.16555832841762 -[main_algo-3] [INFO] [1746051008.505969367] [sailbot.main_algo]: Heading Difference: 141.8265583284176 -[main_algo-3] [INFO] [1746051008.506886356] [sailbot.main_algo]: Wind Direction: 130 -[main_algo-3] [INFO] [1746051008.507786558] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051008.508665932] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051008.510376429] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051008.545071514] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051008.545849236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051008.546772662] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051008.547833090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051008.548889008] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051008.585029657] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051008.586534033] [sailbot.teensy]: Wind angle: 131 -[trim_sail-4] [INFO] [1746051008.587295081] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051008.587391081] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051008.587603786] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051008.588247622] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051008.589165933] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051008.645459406] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051008.646349573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051008.647066620] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051008.648685259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051008.649944568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051008.745396476] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051008.746305484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051008.747059231] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051008.748455701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051008.748987591] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051008.835184316] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051008.836745460] [sailbot.teensy]: Wind angle: 122 -[trim_sail-4] [INFO] [1746051008.837493082] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746051008.838536991] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051008.838857961] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051008.839822082] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051008.840736586] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051008.844463207] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051008.845010317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051008.845580843] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051008.846734789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051008.847810791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051008.945400670] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051008.946353454] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051008.947433458] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051008.948324099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051008.948855360] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051008.957249645] [sailbot.main_algo]: Wind Direction: 122 -[main_algo-3] [INFO] [1746051008.958310172] [sailbot.main_algo]: Target Bearing: -77.16555832841762 -[main_algo-3] [INFO] [1746051008.959204836] [sailbot.main_algo]: Heading Difference: 138.7735583284176 -[main_algo-3] [INFO] [1746051008.960043357] [sailbot.main_algo]: Wind Direction: 122 -[main_algo-3] [INFO] [1746051008.960903371] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051008.961720056] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051008.962813383] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051008.963312343] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051009.002873865] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893247 Long: -76.50337502 -[main_algo-3] [INFO] [1746051009.003892192] [sailbot.main_algo]: Distance to destination: 23.999220318871924 -[vectornav-1] [INFO] [1746051009.004438934] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.432000000000016, 1.603, 5.34) -[main_algo-3] [INFO] [1746051009.005429770] [sailbot.main_algo]: Target Bearing: -77.64881410827655 -[main_algo-3] [INFO] [1746051009.006412713] [sailbot.main_algo]: Heading Difference: 139.25681410827656 -[main_algo-3] [INFO] [1746051009.007281570] [sailbot.main_algo]: Wind Direction: 122 -[main_algo-3] [INFO] [1746051009.008213052] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051009.009083448] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051009.010897176] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051009.045166567] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051009.045900699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051009.046562837] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051009.047812714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051009.048955491] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051009.085125778] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051009.087175489] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051009.087238099] [sailbot.teensy]: Wind angle: 114 -[teensy-2] [INFO] [1746051009.088193713] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051009.088694113] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051009.089103590] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051009.089993941] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051009.145505227] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051009.146284314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051009.147119938] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051009.149030346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051009.150089847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051009.245208855] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051009.246002842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051009.246657485] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051009.247906625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051009.248400092] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051009.335175884] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051009.337342401] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051009.338150826] [sailbot.teensy]: Wind angle: 117 -[mux-7] [INFO] [1746051009.339041339] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051009.339098004] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051009.339959833] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051009.340853778] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051009.344299471] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051009.344932465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051009.345483609] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051009.346749339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051009.347747313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051009.445544332] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051009.446235334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051009.447127730] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051009.448530674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051009.449131662] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051009.456967912] [sailbot.main_algo]: Wind Direction: 117 -[main_algo-3] [INFO] [1746051009.457907927] [sailbot.main_algo]: Target Bearing: -77.64881410827655 -[main_algo-3] [INFO] [1746051009.458802412] [sailbot.main_algo]: Heading Difference: 131.08081410827657 -[main_algo-3] [INFO] [1746051009.459587560] [sailbot.main_algo]: Wind Direction: 117 -[main_algo-3] [INFO] [1746051009.460410255] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051009.461228166] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051009.462271070] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051009.462811365] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051009.503365352] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893503 Long: -76.50337335 -[main_algo-3] [INFO] [1746051009.504269665] [sailbot.main_algo]: Distance to destination: 24.24490558482841 -[vectornav-1] [INFO] [1746051009.504703103] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.36500000000001, 0.967, 8.004) -[main_algo-3] [INFO] [1746051009.505915453] [sailbot.main_algo]: Target Bearing: -78.11984883475706 -[main_algo-3] [INFO] [1746051009.506917956] [sailbot.main_algo]: Heading Difference: 131.5518488347571 -[main_algo-3] [INFO] [1746051009.507817387] [sailbot.main_algo]: Wind Direction: 117 -[main_algo-3] [INFO] [1746051009.508712535] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051009.509543495] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051009.511236701] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051009.544864937] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051009.545545439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051009.546148430] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051009.547364245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051009.548554519] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051009.585385265] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051009.587198751] [sailbot.teensy]: Wind angle: 119 -[trim_sail-4] [INFO] [1746051009.587698998] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051009.588144608] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051009.589075712] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051009.589966846] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051009.589293859] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746051009.644878843] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051009.645687831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051009.646136415] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051009.647518253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051009.648660652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051009.745047652] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051009.745643273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051009.746701444] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051009.747529159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051009.748651131] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051009.835198151] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051009.837361714] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051009.837852374] [sailbot.teensy]: Wind angle: 118 -[mux-7] [INFO] [1746051009.838801051] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051009.839062878] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051009.840382717] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051009.841211409] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051009.844408403] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051009.844892716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051009.845497468] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051009.846606040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051009.847637636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051009.945073588] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051009.945779236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051009.946697842] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051009.947821802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051009.948887656] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051009.957093101] [sailbot.main_algo]: Wind Direction: 118 -[main_algo-3] [INFO] [1746051009.958137306] [sailbot.main_algo]: Target Bearing: -78.11984883475706 -[main_algo-3] [INFO] [1746051009.959183616] [sailbot.main_algo]: Heading Difference: 122.48484883475709 -[main_algo-3] [INFO] [1746051009.960089559] [sailbot.main_algo]: Wind Direction: 118 -[main_algo-3] [INFO] [1746051009.961016936] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051009.961895592] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051009.962890732] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051009.963473435] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051010.002784560] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893588 Long: -76.50336897 -[main_algo-3] [INFO] [1746051010.003769883] [sailbot.main_algo]: Distance to destination: 24.259407629854138 -[vectornav-1] [INFO] [1746051010.003937918] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.286999999999978, -3.796, 10.513) -[main_algo-3] [INFO] [1746051010.004923775] [sailbot.main_algo]: Target Bearing: -78.99875016069198 -[main_algo-3] [INFO] [1746051010.005924101] [sailbot.main_algo]: Heading Difference: 123.363750160692 -[main_algo-3] [INFO] [1746051010.006927362] [sailbot.main_algo]: Wind Direction: 118 -[main_algo-3] [INFO] [1746051010.007827373] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051010.008735580] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051010.010440809] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051010.045027955] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051010.045720314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051010.046294841] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051010.047601514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051010.048673190] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051010.085310205] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051010.087380434] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051010.087883186] [sailbot.teensy]: Wind angle: 117 -[mux-7] [INFO] [1746051010.087948669] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051010.089553745] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051010.090556438] [sailbot.teensy]: Actual tail angle: 37 -[mux-7] [INFO] [1746051010.090552560] [sailbot.mux]: controller_app rudder angle: 5 -[teensy-2] [INFO] [1746051010.091461879] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051010.144903542] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051010.145760241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051010.146213130] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746051010.147691650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 5 -[teensy-2] [INFO] [1746051010.148806132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051010.244819672] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051010.245438801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051010.246093616] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746051010.247543566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 5 -[teensy-2] [INFO] [1746051010.248661563] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051010.335312703] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051010.337538780] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051010.337850715] [sailbot.teensy]: Wind angle: 113 -[teensy-2] [INFO] [1746051010.338947051] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051010.338961742] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051010.340303321] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051010.341322479] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051010.344438816] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051010.345044188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051010.345546901] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746051010.346892009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 5 -[teensy-2] [INFO] [1746051010.347958476] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051010.445591429] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051010.446221198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051010.447384402] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746051010.448484264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 5 -[teensy-2] [INFO] [1746051010.449038302] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051010.457075906] [sailbot.main_algo]: Wind Direction: 113 -[main_algo-3] [INFO] [1746051010.458035412] [sailbot.main_algo]: Target Bearing: -78.99875016069198 -[main_algo-3] [INFO] [1746051010.458896199] [sailbot.main_algo]: Heading Difference: 110.28575016069198 -[main_algo-3] [INFO] [1746051010.459680738] [sailbot.main_algo]: Wind Direction: 113 -[main_algo-3] [INFO] [1746051010.460502491] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051010.461292998] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051010.462284412] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051010.462926993] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051010.503243163] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893705 Long: -76.50336424 -[main_algo-3] [INFO] [1746051010.503969126] [sailbot.main_algo]: Distance to destination: 24.308945723853885 -[vectornav-1] [INFO] [1746051010.504545562] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (22.23599999999999, 1.673, 10.203) -[main_algo-3] [INFO] [1746051010.505177662] [sailbot.main_algo]: Target Bearing: -79.95912826488295 -[main_algo-3] [INFO] [1746051010.506170846] [sailbot.main_algo]: Heading Difference: 111.24612826488294 -[main_algo-3] [INFO] [1746051010.507370150] [sailbot.main_algo]: Wind Direction: 113 -[main_algo-3] [INFO] [1746051010.508293204] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051010.509138532] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051010.510830646] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051010.544906707] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051010.545626877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051010.546167674] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746051010.547443031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 5 -[teensy-2] [INFO] [1746051010.548493678] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051010.585229537] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051010.587271230] [sailbot.teensy]: Wind angle: 106 -[teensy-2] [INFO] [1746051010.588175841] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051010.587414298] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746051010.588596147] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051010.589012663] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746051010.589848060] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051010.645183712] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051010.645965460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051010.646867807] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746051010.648244026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 5 -[teensy-2] [INFO] [1746051010.649096164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051010.745317601] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051010.746302492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051010.747169967] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746051010.747909463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 5 -[teensy-2] [INFO] [1746051010.748438354] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051010.835384612] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051010.837725038] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746051010.838180384] [sailbot.teensy]: Wind angle: 93 -[mux-7] [INFO] [1746051010.838981016] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051010.840205279] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051010.841079430] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746051010.841931529] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051010.844326747] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051010.844812039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051010.845442017] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746051010.846536517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 5 -[teensy-2] [INFO] [1746051010.847573016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051010.945509435] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051010.946351948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051010.947562025] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746051010.948761139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 5 -[teensy-2] [INFO] [1746051010.949881466] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051010.957138828] [sailbot.main_algo]: Wind Direction: 93 -[main_algo-3] [INFO] [1746051010.958127323] [sailbot.main_algo]: Target Bearing: -79.95912826488295 -[main_algo-3] [INFO] [1746051010.959020868] [sailbot.main_algo]: Heading Difference: 102.19512826488295 -[main_algo-3] [INFO] [1746051010.959887683] [sailbot.main_algo]: Wind Direction: 93 -[main_algo-3] [INFO] [1746051010.960797930] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051010.961654807] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051010.962881738] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051010.963482127] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051011.003176944] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893857 Long: -76.50335959 -[main_algo-3] [INFO] [1746051011.004387975] [sailbot.main_algo]: Distance to destination: 24.404706462276703 -[vectornav-1] [INFO] [1746051011.004960374] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (10.45799999999997, 0.43, 7.488) -[main_algo-3] [INFO] [1746051011.005765515] [sailbot.main_algo]: Target Bearing: -80.91613250069985 -[main_algo-3] [INFO] [1746051011.006792715] [sailbot.main_algo]: Heading Difference: 103.15213250069985 -[main_algo-3] [INFO] [1746051011.007686725] [sailbot.main_algo]: Wind Direction: 93 -[main_algo-3] [INFO] [1746051011.008596160] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051011.009494465] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051011.011215533] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051011.045094238] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051011.046354793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051011.046565981] [sailbot.mux]: Published rudder angle from controller_app: 5 -[teensy-2] [INFO] [1746051011.048375443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 5 -[teensy-2] [INFO] [1746051011.049523839] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051011.085050397] [sailbot.teensy]: Check telemetry callback entered -[mux-7] [INFO] [1746051011.085107539] [sailbot.mux]: controller_app rudder angle: -1 -[teensy-2] [INFO] [1746051011.086650801] [sailbot.teensy]: Wind angle: 93 -[trim_sail-4] [INFO] [1746051011.087090648] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746051011.087342933] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051011.087509244] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051011.088417935] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746051011.089359362] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051011.145268858] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051011.146075696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051011.146800335] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746051011.148326352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -1 -[teensy-2] [INFO] [1746051011.149028081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051011.245059919] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051011.245685870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051011.246340852] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746051011.247696578] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -1 -[teensy-2] [INFO] [1746051011.248821318] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051011.335165492] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051011.336991488] [sailbot.teensy]: Wind angle: 91 -[teensy-2] [INFO] [1746051011.337943838] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051011.337312673] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746051011.337797137] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051011.338899357] [sailbot.teensy]: Actual tail angle: 30 -[teensy-2] [INFO] [1746051011.339765676] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051011.344426382] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051011.344978168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051011.345530240] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746051011.346689703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -1 -[teensy-2] [INFO] [1746051011.347713202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051011.445256209] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051011.446070866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051011.446761571] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746051011.448483740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -1 -[teensy-2] [INFO] [1746051011.448990682] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051011.457048403] [sailbot.main_algo]: Wind Direction: 91 -[main_algo-3] [INFO] [1746051011.458001469] [sailbot.main_algo]: Target Bearing: -80.91613250069985 -[main_algo-3] [INFO] [1746051011.458862731] [sailbot.main_algo]: Heading Difference: 91.37413250069983 -[main_algo-3] [INFO] [1746051011.459661952] [sailbot.main_algo]: Wind Direction: 91 -[main_algo-3] [INFO] [1746051011.460563252] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051011.461371137] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051011.462471183] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051011.463031229] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051011.503139504] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893911 Long: -76.50335457 -[main_algo-3] [INFO] [1746051011.503742206] [sailbot.main_algo]: Distance to destination: 24.394934370471976 -[vectornav-1] [INFO] [1746051011.504551600] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (2.856999999999971, -3.996, 8.994) -[main_algo-3] [INFO] [1746051011.504984500] [sailbot.main_algo]: Target Bearing: -81.8952877743396 -[main_algo-3] [INFO] [1746051011.506076021] [sailbot.main_algo]: Heading Difference: 92.35328777433955 -[main_algo-3] [INFO] [1746051011.507212734] [sailbot.main_algo]: Wind Direction: 91 -[main_algo-3] [INFO] [1746051011.508080668] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051011.508948505] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051011.510993535] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051011.545095699] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051011.545839836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051011.546495786] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746051011.547815716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -1 -[teensy-2] [INFO] [1746051011.548842263] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051011.585649144] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051011.587893999] [sailbot.teensy]: Wind angle: 90 -[trim_sail-4] [INFO] [1746051011.588281766] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746051011.588910105] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051011.589797032] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746051011.590536846] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051011.590662492] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051011.645370920] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051011.646115711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051011.646919646] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746051011.648672658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -1 -[teensy-2] [INFO] [1746051011.649681197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051011.745336788] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051011.745924925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051011.747054873] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746051011.748425759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -1 -[teensy-2] [INFO] [1746051011.749717236] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051011.835078283] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051011.836660910] [sailbot.teensy]: Wind angle: 89 -[trim_sail-4] [INFO] [1746051011.837169240] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746051011.837502850] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051011.837963125] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051011.838580216] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746051011.839055725] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051011.844457364] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051011.845036535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051011.845548118] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746051011.846734290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -1 -[teensy-2] [INFO] [1746051011.847759433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051011.945319080] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051011.945858284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051011.947250319] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746051011.948000983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -1 -[teensy-2] [INFO] [1746051011.948902659] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051011.957166907] [sailbot.main_algo]: Wind Direction: 89 -[main_algo-3] [INFO] [1746051011.958139042] [sailbot.main_algo]: Target Bearing: -81.8952877743396 -[main_algo-3] [INFO] [1746051011.959015923] [sailbot.main_algo]: Heading Difference: 84.75228777433955 -[main_algo-3] [INFO] [1746051011.959875698] [sailbot.main_algo]: Wind Direction: 89 -[main_algo-3] [INFO] [1746051011.960735466] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051011.961531784] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051011.962524336] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051011.963309612] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051012.002774007] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893868 Long: -76.50334814 -[main_algo-3] [INFO] [1746051012.003791362] [sailbot.main_algo]: Distance to destination: 24.26943795117032 -[vectornav-1] [INFO] [1746051012.003904572] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (356.506, -0.616, 8.556) -[main_algo-3] [INFO] [1746051012.004956559] [sailbot.main_algo]: Target Bearing: -83.10987088614935 -[main_algo-3] [INFO] [1746051012.005915480] [sailbot.main_algo]: Heading Difference: 85.96687088614931 -[main_algo-3] [INFO] [1746051012.006814152] [sailbot.main_algo]: Wind Direction: 89 -[main_algo-3] [INFO] [1746051012.007708324] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051012.008561626] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051012.010296786] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051012.044826050] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051012.045406499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051012.045987954] [sailbot.mux]: Published rudder angle from controller_app: -1 -[teensy-2] [INFO] [1746051012.047166985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -1 -[teensy-2] [INFO] [1746051012.048337648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051012.061936401] [sailbot.mux]: controller_app rudder angle: -5 -[teensy-2] [INFO] [1746051012.085103847] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051012.086716009] [sailbot.teensy]: Wind angle: 89 -[trim_sail-4] [INFO] [1746051012.087183413] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746051012.087594466] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051012.088483199] [sailbot.teensy]: Actual tail angle: 24 -[mux-7] [INFO] [1746051012.088923671] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051012.089349952] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051012.145377321] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051012.146245361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051012.147031371] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051012.148241492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051012.148761376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051012.245249193] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051012.245927316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051012.246718688] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051012.248064804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051012.249259068] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051012.335261794] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051012.337765706] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746051012.338685605] [sailbot.teensy]: Wind angle: 89 -[mux-7] [INFO] [1746051012.339198252] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051012.339697948] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051012.340698335] [sailbot.teensy]: Actual tail angle: 24 -[teensy-2] [INFO] [1746051012.341409582] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051012.344433248] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051012.345043622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051012.345722479] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051012.346981585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051012.348069050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051012.445659717] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051012.446645292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051012.447623909] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051012.448161298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051012.448685249] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051012.457041398] [sailbot.main_algo]: Wind Direction: 89 -[main_algo-3] [INFO] [1746051012.458032310] [sailbot.main_algo]: Target Bearing: -83.10987088614935 -[main_algo-3] [INFO] [1746051012.458916570] [sailbot.main_algo]: Heading Difference: 79.61587088614931 -[main_algo-3] [INFO] [1746051012.459767948] [sailbot.main_algo]: Wind Direction: 89 -[main_algo-3] [INFO] [1746051012.460591843] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051012.461399383] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051012.462496542] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051012.462960916] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051012.503446556] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893744 Long: -76.50334165 -[main_algo-3] [INFO] [1746051012.504095610] [sailbot.main_algo]: Distance to destination: 24.065037787724624 -[main_algo-3] [INFO] [1746051012.505301562] [sailbot.main_algo]: Target Bearing: -84.32327951911364 -[vectornav-1] [INFO] [1746051012.505351570] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (350.216, 1.493, 6.763) -[main_algo-3] [INFO] [1746051012.506348271] [sailbot.main_algo]: Heading Difference: 80.82927951911358 -[main_algo-3] [INFO] [1746051012.507258079] [sailbot.main_algo]: Wind Direction: 89 -[main_algo-3] [INFO] [1746051012.508203015] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051012.509128405] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051012.510957469] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051012.545105432] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051012.545752923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051012.546587683] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051012.547744103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051012.548777364] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051012.585446781] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051012.587595818] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746051012.588209442] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051012.588377256] [sailbot.teensy]: Wind angle: 89 -[teensy-2] [INFO] [1746051012.589641031] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051012.590508814] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746051012.591364909] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051012.645302930] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051012.646105006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051012.647145137] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051012.648319847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051012.649394547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051012.745269117] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051012.745878613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051012.746756351] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051012.747955783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051012.748989486] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051012.835325851] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051012.837563067] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746051012.838022169] [sailbot.teensy]: Wind angle: 85 -[teensy-2] [INFO] [1746051012.839017704] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051012.839908836] [sailbot.teensy]: Actual tail angle: 20 -[mux-7] [INFO] [1746051012.840027249] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051012.840754878] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051012.844563542] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051012.845121615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051012.845840912] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051012.846869217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051012.847916590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051012.945293118] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051012.945944716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051012.946937210] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051012.948071390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051012.949225665] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051012.957171680] [sailbot.main_algo]: Wind Direction: 85 -[main_algo-3] [INFO] [1746051012.958266835] [sailbot.main_algo]: Target Bearing: -84.32327951911364 -[main_algo-3] [INFO] [1746051012.959259515] [sailbot.main_algo]: Heading Difference: 74.53927951911362 -[main_algo-3] [INFO] [1746051012.960130966] [sailbot.main_algo]: Wind Direction: 85 -[main_algo-3] [INFO] [1746051012.961011618] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051012.961849539] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051012.962843635] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051012.963509599] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051013.002787697] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893678 Long: -76.50333574 -[main_algo-3] [INFO] [1746051013.003823943] [sailbot.main_algo]: Distance to destination: 23.940306929846635 -[vectornav-1] [INFO] [1746051013.003907939] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (351.23900000000003, -0.575, 5.311) -[main_algo-3] [INFO] [1746051013.004972282] [sailbot.main_algo]: Target Bearing: -85.45796156124963 -[main_algo-3] [INFO] [1746051013.005937637] [sailbot.main_algo]: Heading Difference: 75.6739615612496 -[main_algo-3] [INFO] [1746051013.006859395] [sailbot.main_algo]: Wind Direction: 85 -[main_algo-3] [INFO] [1746051013.007764954] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051013.008630992] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051013.010421266] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051013.045643364] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051013.045732773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051013.047027044] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051013.047619075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051013.048784254] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051013.085323743] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051013.086973967] [sailbot.teensy]: Wind angle: 83 -[trim_sail-4] [INFO] [1746051013.087841273] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746051013.087956182] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051013.088917012] [sailbot.teensy]: Actual tail angle: 20 -[mux-7] [INFO] [1746051013.088994945] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051013.089951629] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051013.145033305] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051013.145986075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051013.146517471] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051013.148006590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051013.149044959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051013.245303275] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051013.246219611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051013.247291957] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051013.248614646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051013.249680425] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051013.335461371] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051013.337380298] [sailbot.teensy]: Wind angle: 83 -[trim_sail-4] [INFO] [1746051013.337880425] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746051013.338353344] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051013.339219564] [sailbot.teensy]: Actual tail angle: 20 -[mux-7] [INFO] [1746051013.339212990] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051013.340125124] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051013.344442204] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051013.345217102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051013.346094697] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051013.346988132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051013.348258322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051013.363250399] [sailbot.mux]: controller_app rudder angle: -6 -[mux-7] [INFO] [1746051013.445673470] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051013.445805578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051013.447066489] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051013.447884897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051013.448509451] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051013.457342203] [sailbot.main_algo]: Wind Direction: 83 -[main_algo-3] [INFO] [1746051013.458406312] [sailbot.main_algo]: Target Bearing: -85.45796156124963 -[main_algo-3] [INFO] [1746051013.459324706] [sailbot.main_algo]: Heading Difference: 76.69696156124974 -[main_algo-3] [INFO] [1746051013.460201182] [sailbot.main_algo]: Wind Direction: 83 -[main_algo-3] [INFO] [1746051013.461046502] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051013.461880246] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051013.462960786] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051013.463545274] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051013.502586419] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689362 Long: -76.50333011 -[main_algo-3] [INFO] [1746051013.503477101] [sailbot.main_algo]: Distance to destination: 23.83570102705994 -[vectornav-1] [INFO] [1746051013.503659156] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (357.33299999999997, 0.163, 11.198) -[main_algo-3] [INFO] [1746051013.504557643] [sailbot.main_algo]: Target Bearing: -86.55054030476491 -[main_algo-3] [INFO] [1746051013.505482290] [sailbot.main_algo]: Heading Difference: 77.78954030476496 -[main_algo-3] [INFO] [1746051013.506354018] [sailbot.main_algo]: Wind Direction: 83 -[main_algo-3] [INFO] [1746051013.507254812] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051013.508141070] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051013.509865077] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051013.545104608] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051013.545858720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051013.546658309] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051013.547976413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051013.549048806] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051013.585181829] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051013.587265864] [sailbot.trim_sail]: Sail Angle: "40" -[mux-7] [INFO] [1746051013.587803797] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746051013.588177453] [sailbot.teensy]: Wind angle: 82 -[teensy-2] [INFO] [1746051013.589399049] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051013.590282192] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746051013.591164061] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051013.645119391] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051013.645719297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051013.646780723] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051013.647665858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051013.648736928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051013.745311661] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051013.746179912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051013.746829133] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051013.748368098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051013.749610594] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051013.835244972] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051013.837480711] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746051013.838087179] [sailbot.teensy]: Wind angle: 82 -[mux-7] [INFO] [1746051013.838738200] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746051013.838950584] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051013.839391181] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746051013.839996719] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051013.844376712] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051013.844895303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051013.845654291] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051013.846625938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051013.847770475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051013.945019504] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051013.945748500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051013.946663248] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051013.947695185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051013.948707234] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051013.957117124] [sailbot.main_algo]: Wind Direction: 82 -[main_algo-3] [INFO] [1746051013.958124953] [sailbot.main_algo]: Target Bearing: -86.55054030476491 -[main_algo-3] [INFO] [1746051013.959021820] [sailbot.main_algo]: Heading Difference: 83.88354030476489 -[main_algo-3] [INFO] [1746051013.959860628] [sailbot.main_algo]: Wind Direction: 82 -[main_algo-3] [INFO] [1746051013.960688879] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051013.961486213] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051013.962531077] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051013.963469294] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051014.003059873] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893606 Long: -76.50332473 -[main_algo-3] [INFO] [1746051014.004146964] [sailbot.main_algo]: Distance to destination: 23.789831131013432 -[vectornav-1] [INFO] [1746051014.004554795] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (2.576999999999998, -0.243, 10.705) -[main_algo-3] [INFO] [1746051014.005357479] [sailbot.main_algo]: Target Bearing: -87.6098288196965 -[main_algo-3] [INFO] [1746051014.006807039] [sailbot.main_algo]: Heading Difference: 84.9428288196965 -[main_algo-3] [INFO] [1746051014.007812774] [sailbot.main_algo]: Wind Direction: 82 -[main_algo-3] [INFO] [1746051014.008715288] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051014.009602871] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051014.011351696] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051014.044824356] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051014.045350050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051014.045996557] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051014.047216942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051014.048272042] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051014.085189003] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051014.086894566] [sailbot.teensy]: Wind angle: 84 -[teensy-2] [INFO] [1746051014.087824468] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051014.087409928] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746051014.088601381] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051014.088848429] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746051014.089757677] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051014.141676994] [sailbot.mux]: controller_app rudder angle: -2 -[mux-7] [INFO] [1746051014.144374630] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051014.144956987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051014.145500872] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746051014.146704738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 -[teensy-2] [INFO] [1746051014.147833166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051014.245358825] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051014.246126638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051014.246963019] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746051014.248289172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 -[teensy-2] [INFO] [1746051014.249546718] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051014.335303283] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051014.337024129] [sailbot.teensy]: Wind angle: 88 -[trim_sail-4] [INFO] [1746051014.337699339] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746051014.337953718] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051014.338863589] [sailbot.teensy]: Actual tail angle: 19 -[mux-7] [INFO] [1746051014.339403610] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051014.339718649] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051014.344468859] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051014.345026008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051014.345684928] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746051014.346738881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 -[teensy-2] [INFO] [1746051014.347960646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051014.445691340] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051014.446343387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051014.447753454] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746051014.448702320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 -[teensy-2] [INFO] [1746051014.450039063] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051014.457003383] [sailbot.main_algo]: Wind Direction: 88 -[main_algo-3] [INFO] [1746051014.457954102] [sailbot.main_algo]: Target Bearing: -87.6098288196965 -[main_algo-3] [INFO] [1746051014.458824903] [sailbot.main_algo]: Heading Difference: 90.18682881969653 -[main_algo-3] [INFO] [1746051014.459610822] [sailbot.main_algo]: Wind Direction: 88 -[main_algo-3] [INFO] [1746051014.460437319] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051014.461222280] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051014.462325977] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051014.462845415] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051014.503352543] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893642 Long: -76.50331925 -[main_algo-3] [INFO] [1746051014.504056178] [sailbot.main_algo]: Distance to destination: 23.807271913587545 -[main_algo-3] [INFO] [1746051014.505261031] [sailbot.main_algo]: Target Bearing: -88.69807847846472 -[vectornav-1] [INFO] [1746051014.505277264] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (11.283000000000015, -2.18, 11.372) -[main_algo-3] [INFO] [1746051014.506291034] [sailbot.main_algo]: Heading Difference: 91.2750784784647 -[main_algo-3] [INFO] [1746051014.507221897] [sailbot.main_algo]: Wind Direction: 88 -[main_algo-3] [INFO] [1746051014.508090601] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051014.508948657] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051014.510694803] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051014.544995217] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051014.545792541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051014.546330331] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746051014.547600499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 -[teensy-2] [INFO] [1746051014.548785883] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051014.585465601] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051014.587808382] [sailbot.teensy]: Wind angle: 89 -[trim_sail-4] [INFO] [1746051014.588040574] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746051014.588776959] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051014.589705632] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746051014.589156876] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051014.590556789] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051014.645120166] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051014.645832047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051014.646454962] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746051014.647668666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 -[teensy-2] [INFO] [1746051014.648905256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051014.745420976] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051014.745948140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051014.747054150] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746051014.748406444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 -[teensy-2] [INFO] [1746051014.749636761] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051014.835292674] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051014.837970544] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746051014.838204274] [sailbot.teensy]: Wind angle: 89 -[mux-7] [INFO] [1746051014.838517616] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051014.839484563] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051014.840463028] [sailbot.teensy]: Actual tail angle: 23 -[teensy-2] [INFO] [1746051014.840990790] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051014.844464848] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051014.845050590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051014.845556172] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746051014.846758074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 -[teensy-2] [INFO] [1746051014.847770602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051014.945792773] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051014.946508646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051014.947618218] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746051014.948815442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 -[teensy-2] [INFO] [1746051014.949318768] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051014.957088748] [sailbot.main_algo]: Wind Direction: 89 -[main_algo-3] [INFO] [1746051014.958100311] [sailbot.main_algo]: Target Bearing: -88.69807847846472 -[main_algo-3] [INFO] [1746051014.958990103] [sailbot.main_algo]: Heading Difference: 99.98107847846472 -[main_algo-3] [INFO] [1746051014.959838334] [sailbot.main_algo]: Wind Direction: 89 -[main_algo-3] [INFO] [1746051014.960724508] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051014.961573316] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051014.962681387] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051014.963218834] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051015.002998934] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893727 Long: -76.5033133 -[main_algo-3] [INFO] [1746051015.003944175] [sailbot.main_algo]: Distance to destination: 23.886896288228087 -[main_algo-3] [INFO] [1746051015.005156816] [sailbot.main_algo]: Target Bearing: -89.87981977819405 -[vectornav-1] [INFO] [1746051015.005536631] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (19.495000000000005, -0.88, 12.702) -[main_algo-3] [INFO] [1746051015.006207362] [sailbot.main_algo]: Heading Difference: 101.16281977819403 -[main_algo-3] [INFO] [1746051015.007468791] [sailbot.main_algo]: Wind Direction: 89 -[main_algo-3] [INFO] [1746051015.008386753] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051015.009231478] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051015.010971946] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051015.045157729] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051015.045839567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051015.046682967] [sailbot.mux]: Published rudder angle from controller_app: -2 -[teensy-2] [INFO] [1746051015.048074255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -2 -[teensy-2] [INFO] [1746051015.049276782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051015.073901554] [sailbot.mux]: controller_app rudder angle: 8 -[teensy-2] [INFO] [1746051015.085216723] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051015.086943714] [sailbot.teensy]: Wind angle: 94 -[trim_sail-4] [INFO] [1746051015.087683575] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746051015.087851860] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051015.088722346] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746051015.089104316] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051015.089552913] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051015.144952215] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051015.145765835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051015.146325397] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746051015.147790882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 -[teensy-2] [INFO] [1746051015.148813594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051015.245087252] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051015.245822385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051015.246375475] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746051015.247680482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 -[teensy-2] [INFO] [1746051015.248730560] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051015.335307481] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051015.337065743] [sailbot.teensy]: Wind angle: 102 -[trim_sail-4] [INFO] [1746051015.337605148] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051015.338010926] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051015.338926803] [sailbot.teensy]: Actual tail angle: 23 -[mux-7] [INFO] [1746051015.339365516] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051015.339818509] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051015.344467233] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051015.345289146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051015.345723849] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746051015.347161984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 -[teensy-2] [INFO] [1746051015.348191343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051015.445572851] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051015.446542592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051015.447839477] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746051015.448522746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 -[teensy-2] [INFO] [1746051015.449099898] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051015.457071677] [sailbot.main_algo]: Wind Direction: 102 -[main_algo-3] [INFO] [1746051015.458016881] [sailbot.main_algo]: Target Bearing: -89.87981977819405 -[main_algo-3] [INFO] [1746051015.458892463] [sailbot.main_algo]: Heading Difference: 109.37481977819402 -[main_algo-3] [INFO] [1746051015.459671347] [sailbot.main_algo]: Wind Direction: 102 -[main_algo-3] [INFO] [1746051015.460486150] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051015.461270844] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051015.462265814] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051015.462879666] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051015.503480178] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893864 Long: -76.5033077 -[main_algo-3] [INFO] [1746051015.504136280] [sailbot.main_algo]: Distance to destination: 24.034360969335726 -[main_algo-3] [INFO] [1746051015.505327833] [sailbot.main_algo]: Target Bearing: -90.98451840854881 -[vectornav-1] [INFO] [1746051015.505352311] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (28.331000000000017, -1.212, 11.166) -[main_algo-3] [INFO] [1746051015.506374995] [sailbot.main_algo]: Heading Difference: 110.47951840854881 -[main_algo-3] [INFO] [1746051015.507288858] [sailbot.main_algo]: Wind Direction: 102 -[main_algo-3] [INFO] [1746051015.508241486] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051015.509170082] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051015.511123151] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051015.545011616] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051015.545617139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051015.546335640] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746051015.547504675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 -[teensy-2] [INFO] [1746051015.548592366] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051015.585357589] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051015.587166504] [sailbot.teensy]: Wind angle: 108 -[trim_sail-4] [INFO] [1746051015.587986274] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051015.588354361] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051015.589291044] [sailbot.teensy]: Actual tail angle: 33 -[mux-7] [INFO] [1746051015.589293061] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051015.590225731] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051015.644892635] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051015.645435667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051015.646188556] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746051015.647311706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 -[teensy-2] [INFO] [1746051015.648501824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051015.744885699] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051015.745744754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051015.746172252] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746051015.747706534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 -[teensy-2] [INFO] [1746051015.748767682] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051015.835300355] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051015.837839372] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051015.838606109] [sailbot.teensy]: Wind angle: 109 -[mux-7] [INFO] [1746051015.838795087] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051015.839889431] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051015.840921822] [sailbot.teensy]: Actual tail angle: 33 -[teensy-2] [INFO] [1746051015.841909260] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051015.844311072] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051015.845086733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051015.845772223] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746051015.846889816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 -[teensy-2] [INFO] [1746051015.847928296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051015.945556789] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051015.946491267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051015.947224253] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746051015.949166832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 -[teensy-2] [INFO] [1746051015.950271912] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051015.957204358] [sailbot.main_algo]: Wind Direction: 109 -[main_algo-3] [INFO] [1746051015.958215058] [sailbot.main_algo]: Target Bearing: -90.98451840854881 -[main_algo-3] [INFO] [1746051015.959171046] [sailbot.main_algo]: Heading Difference: 119.31551840854883 -[main_algo-3] [INFO] [1746051015.960033823] [sailbot.main_algo]: Wind Direction: 109 -[main_algo-3] [INFO] [1746051015.960918345] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051015.961770101] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051015.962940516] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051015.963464202] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051016.002801674] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894154 Long: -76.50330276 -[main_algo-3] [INFO] [1746051016.003599791] [sailbot.main_algo]: Distance to destination: 24.35960389321862 -[vectornav-1] [INFO] [1746051016.003926054] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (27.99799999999999, 0.961, 8.259) -[main_algo-3] [INFO] [1746051016.004701897] [sailbot.main_algo]: Target Bearing: -91.94033108088308 -[main_algo-3] [INFO] [1746051016.005700101] [sailbot.main_algo]: Heading Difference: 120.2713310808831 -[main_algo-3] [INFO] [1746051016.006575443] [sailbot.main_algo]: Wind Direction: 109 -[main_algo-3] [INFO] [1746051016.007630850] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051016.008557258] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051016.010209754] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051016.044339648] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051016.044887507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051016.045303435] [sailbot.mux]: Published rudder angle from controller_app: 8 -[teensy-2] [INFO] [1746051016.046489696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 8 -[teensy-2] [INFO] [1746051016.047444755] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051016.085544825] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051016.087903141] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051016.088401791] [sailbot.teensy]: Wind angle: 109 -[mux-7] [INFO] [1746051016.088613839] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051016.089389218] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051016.090300990] [sailbot.teensy]: Actual tail angle: 33 -[teensy-2] [INFO] [1746051016.091153724] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051016.093220725] [sailbot.mux]: controller_app rudder angle: 12 -[mux-7] [INFO] [1746051016.146492410] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051016.147895698] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051016.148790994] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051016.150692036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051016.151761991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051016.245471583] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051016.246306605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051016.247111030] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051016.248834084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051016.249930809] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051016.335355434] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051016.337521056] [sailbot.teensy]: Wind angle: 109 -[trim_sail-4] [INFO] [1746051016.337875185] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051016.338472747] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051016.339368853] [sailbot.teensy]: Actual tail angle: 33 -[mux-7] [INFO] [1746051016.339567813] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051016.340302887] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051016.344336381] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051016.344916419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051016.345436137] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051016.346591165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051016.347631756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051016.445528056] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051016.446305329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051016.448042526] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051016.448302332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051016.448892966] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051016.457078165] [sailbot.main_algo]: Wind Direction: 109 -[main_algo-3] [INFO] [1746051016.458071134] [sailbot.main_algo]: Target Bearing: -91.94033108088308 -[main_algo-3] [INFO] [1746051016.458984486] [sailbot.main_algo]: Heading Difference: 119.93833108088307 -[main_algo-3] [INFO] [1746051016.459859792] [sailbot.main_algo]: Wind Direction: 109 -[main_algo-3] [INFO] [1746051016.460700878] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051016.461498516] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051016.462511744] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051016.463256030] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051016.503556003] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894343 Long: -76.50329741 -[main_algo-3] [INFO] [1746051016.503654782] [sailbot.main_algo]: Distance to destination: 24.580455541212157 -[main_algo-3] [INFO] [1746051016.504778386] [sailbot.main_algo]: Target Bearing: -92.95770928198885 -[vectornav-1] [INFO] [1746051016.504928608] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.523000000000025, -1.086, 10.074) -[main_algo-3] [INFO] [1746051016.505795497] [sailbot.main_algo]: Heading Difference: 120.95570928198885 -[main_algo-3] [INFO] [1746051016.506735836] [sailbot.main_algo]: Wind Direction: 109 -[main_algo-3] [INFO] [1746051016.507616915] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051016.508481903] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051016.510203936] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051016.545013959] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051016.545844332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051016.546634383] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051016.547874124] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051016.548913647] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051016.585546258] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051016.587371628] [sailbot.teensy]: Wind angle: 108 -[trim_sail-4] [INFO] [1746051016.588340595] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051016.588870033] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051016.589939981] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051016.590812089] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051016.590804654] [sailbot.mux]: algo sail angle: 20 -[mux-7] [INFO] [1746051016.645145464] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051016.645901040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051016.646675453] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051016.647993784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051016.649154027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051016.745686617] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051016.746519769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051016.747590646] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051016.748891049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051016.750099300] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051016.835349604] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051016.837108894] [sailbot.teensy]: Wind angle: 105 -[trim_sail-4] [INFO] [1746051016.837891660] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051016.838031095] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051016.838946259] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051016.840260181] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051016.840287027] [sailbot.mux]: algo sail angle: 20 -[mux-7] [INFO] [1746051016.844572948] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051016.845229741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051016.845958108] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051016.847112409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051016.848351581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051016.945656278] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051016.946782619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051016.947241035] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051016.949579787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051016.950797188] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051016.957298394] [sailbot.main_algo]: Wind Direction: 105 -[main_algo-3] [INFO] [1746051016.958391853] [sailbot.main_algo]: Target Bearing: -92.95770928198885 -[main_algo-3] [INFO] [1746051016.959316959] [sailbot.main_algo]: Heading Difference: 114.48070928198888 -[main_algo-3] [INFO] [1746051016.960207167] [sailbot.main_algo]: Wind Direction: 105 -[main_algo-3] [INFO] [1746051016.961086648] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051016.961957105] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051016.963046037] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051016.963804324] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051017.002851736] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894375 Long: -76.50329116 -[main_algo-3] [INFO] [1746051017.003614068] [sailbot.main_algo]: Distance to destination: 24.63872205114452 -[vectornav-1] [INFO] [1746051017.003959526] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (12.293999999999983, -0.313, 8.868) -[main_algo-3] [INFO] [1746051017.004775686] [sailbot.main_algo]: Target Bearing: -94.14932307865814 -[main_algo-3] [INFO] [1746051017.005785643] [sailbot.main_algo]: Heading Difference: 115.67232307865817 -[main_algo-3] [INFO] [1746051017.007239653] [sailbot.main_algo]: Wind Direction: 105 -[main_algo-3] [INFO] [1746051017.008208194] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051017.009149673] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051017.011060891] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051017.045835296] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051017.045941327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051017.047239919] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051017.048022703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051017.049145263] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051017.085412799] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051017.087846106] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746051017.088024519] [sailbot.mux]: controller_app rudder angle: 3 -[teensy-2] [INFO] [1746051017.088037272] [sailbot.teensy]: Wind angle: 93 -[teensy-2] [INFO] [1746051017.089008870] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051017.089907478] [sailbot.teensy]: Actual tail angle: 37 -[mux-7] [INFO] [1746051017.090209275] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051017.090806765] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051017.145108857] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051017.145951222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051017.146568858] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746051017.148007205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 3 -[teensy-2] [INFO] [1746051017.149195445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051017.245090132] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051017.245935752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051017.246399595] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746051017.247757784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 3 -[teensy-2] [INFO] [1746051017.248811737] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051017.335217288] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051017.337174238] [sailbot.teensy]: Wind angle: 88 -[trim_sail-4] [INFO] [1746051017.337585565] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746051017.338014188] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051017.338092310] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051017.338622433] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051017.338998764] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051017.344578481] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051017.345352001] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051017.345738895] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746051017.347092141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 3 -[teensy-2] [INFO] [1746051017.348265662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051017.445253508] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051017.445990625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051017.446857673] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746051017.447614610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 3 -[teensy-2] [INFO] [1746051017.448186975] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051017.457044088] [sailbot.main_algo]: Wind Direction: 88 -[main_algo-3] [INFO] [1746051017.458004967] [sailbot.main_algo]: Target Bearing: -94.14932307865814 -[main_algo-3] [INFO] [1746051017.458837752] [sailbot.main_algo]: Heading Difference: 106.44332307865812 -[main_algo-3] [INFO] [1746051017.459629200] [sailbot.main_algo]: Wind Direction: 88 -[main_algo-3] [INFO] [1746051017.460487502] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051017.461289114] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051017.462417927] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051017.463068338] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051017.502956489] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894459 Long: -76.50328496 -[main_algo-3] [INFO] [1746051017.503842507] [sailbot.main_algo]: Distance to destination: 24.76487120886556 -[vectornav-1] [INFO] [1746051017.504309588] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (0.36000000000001364, -0.62, 4.88) -[main_algo-3] [INFO] [1746051017.505050285] [sailbot.main_algo]: Target Bearing: -95.31525614845565 -[main_algo-3] [INFO] [1746051017.506057953] [sailbot.main_algo]: Heading Difference: 107.60925614845564 -[main_algo-3] [INFO] [1746051017.507183653] [sailbot.main_algo]: Wind Direction: 88 -[main_algo-3] [INFO] [1746051017.508075502] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051017.508935606] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051017.510686721] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051017.545768107] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051017.545928168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051017.547262818] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746051017.547988379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 3 -[teensy-2] [INFO] [1746051017.549150652] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051017.585462177] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051017.588245631] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746051017.588513567] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051017.588906675] [sailbot.teensy]: Wind angle: 88 -[teensy-2] [INFO] [1746051017.589849464] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051017.590675922] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746051017.591497313] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051017.644953309] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051017.645805016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051017.646465827] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746051017.647829977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 3 -[teensy-2] [INFO] [1746051017.649012781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051017.745491857] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051017.746210004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051017.747434705] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746051017.748751144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 3 -[teensy-2] [INFO] [1746051017.749345524] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051017.835187068] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051017.837493641] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746051017.837625885] [sailbot.teensy]: Wind angle: 88 -[mux-7] [INFO] [1746051017.838411965] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051017.838599362] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051017.839542194] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746051017.840462508] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051017.844302961] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051017.844928233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051017.845567286] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746051017.846645745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 3 -[teensy-2] [INFO] [1746051017.847663540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051017.945391761] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051017.946322351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051017.946943528] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746051017.948576031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 3 -[teensy-2] [INFO] [1746051017.949704377] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051017.957053264] [sailbot.main_algo]: Wind Direction: 88 -[main_algo-3] [INFO] [1746051017.958189110] [sailbot.main_algo]: Target Bearing: -95.31525614845565 -[main_algo-3] [INFO] [1746051017.959138704] [sailbot.main_algo]: Heading Difference: 95.67525614845567 -[main_algo-3] [INFO] [1746051017.959990124] [sailbot.main_algo]: Wind Direction: 88 -[main_algo-3] [INFO] [1746051017.960898786] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051017.961697622] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051017.962964915] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051017.963256299] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051018.003158693] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894465 Long: -76.50327891 -[main_algo-3] [INFO] [1746051018.004101039] [sailbot.main_algo]: Distance to destination: 24.813763473369946 -[vectornav-1] [INFO] [1746051018.004493720] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (348.38599999999997, -0.674, 5.232) -[main_algo-3] [INFO] [1746051018.005415800] [sailbot.main_algo]: Target Bearing: -96.45956056767344 -[main_algo-3] [INFO] [1746051018.006443172] [sailbot.main_algo]: Heading Difference: 96.81956056767342 -[main_algo-3] [INFO] [1746051018.007416900] [sailbot.main_algo]: Wind Direction: 88 -[main_algo-3] [INFO] [1746051018.008353306] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051018.009229441] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051018.011026538] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051018.044543153] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051018.045184676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051018.045606223] [sailbot.mux]: Published rudder angle from controller_app: 3 -[teensy-2] [INFO] [1746051018.046893937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 3 -[teensy-2] [INFO] [1746051018.047956731] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051018.085026216] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051018.087009521] [sailbot.teensy]: Wind angle: 83 -[teensy-2] [INFO] [1746051018.088235232] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051018.087276208] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746051018.088342121] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051018.089613236] [sailbot.teensy]: Actual tail angle: 28 -[teensy-2] [INFO] [1746051018.090488945] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051018.117349857] [sailbot.mux]: controller_app rudder angle: 9 -[mux-7] [INFO] [1746051018.144764542] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051018.145527250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051018.145989729] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746051018.147382242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 -[teensy-2] [INFO] [1746051018.148434533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051018.245101000] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051018.245931896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051018.246755029] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746051018.247940151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 -[teensy-2] [INFO] [1746051018.248437612] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051018.335467966] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051018.337406828] [sailbot.teensy]: Wind angle: 84 -[trim_sail-4] [INFO] [1746051018.338101933] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746051018.338416816] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051018.339322215] [sailbot.teensy]: Actual tail angle: 28 -[mux-7] [INFO] [1746051018.339725443] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051018.340243805] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051018.344490579] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051018.345050876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051018.345717004] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746051018.346765848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 -[teensy-2] [INFO] [1746051018.347936147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051018.445379553] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051018.446165339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051018.447033567] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746051018.448527782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 -[teensy-2] [INFO] [1746051018.449732006] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051018.457076224] [sailbot.main_algo]: Wind Direction: 84 -[main_algo-3] [INFO] [1746051018.458050362] [sailbot.main_algo]: Target Bearing: -96.45956056767344 -[main_algo-3] [INFO] [1746051018.458949594] [sailbot.main_algo]: Heading Difference: 84.84556056767337 -[main_algo-3] [INFO] [1746051018.459784533] [sailbot.main_algo]: Wind Direction: 84 -[main_algo-3] [INFO] [1746051018.460598594] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051018.461423252] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051018.462465289] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051018.463174713] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051018.502941220] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894255 Long: -76.50327283 -[main_algo-3] [INFO] [1746051018.503963602] [sailbot.main_algo]: Distance to destination: 24.63450811811151 -[main_algo-3] [INFO] [1746051018.505194904] [sailbot.main_algo]: Target Bearing: -97.66858227150666 -[vectornav-1] [INFO] [1746051018.505239185] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (332.03, -2.83, 4.98) -[main_algo-3] [INFO] [1746051018.506185920] [sailbot.main_algo]: Heading Difference: 86.05458227150666 -[main_algo-3] [INFO] [1746051018.507111305] [sailbot.main_algo]: Wind Direction: 84 -[main_algo-3] [INFO] [1746051018.508000369] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051018.508893972] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051018.510571939] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051018.544991967] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051018.545807455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051018.546324820] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746051018.547624954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 -[teensy-2] [INFO] [1746051018.548689123] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051018.585405228] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051018.587624859] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746051018.588778410] [sailbot.teensy]: Wind angle: 80 -[teensy-2] [INFO] [1746051018.589765602] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051018.589777025] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746051018.590814439] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746051018.591730485] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051018.644802579] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051018.645316652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051018.646025028] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746051018.647121349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 -[teensy-2] [INFO] [1746051018.648315558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051018.744943715] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051018.745919840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051018.746404957] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746051018.747760790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 -[teensy-2] [INFO] [1746051018.748938281] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051018.835237350] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051018.837565529] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746051018.837842025] [sailbot.teensy]: Wind angle: 67 -[mux-7] [INFO] [1746051018.838537300] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746051018.838707248] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051018.839125443] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746051018.839467155] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051018.844378331] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051018.844984825] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051018.845452181] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746051018.846677194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 -[teensy-2] [INFO] [1746051018.847705847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051018.945127898] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051018.945947883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051018.946580890] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746051018.947944994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 -[teensy-2] [INFO] [1746051018.948606133] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051018.957175604] [sailbot.main_algo]: Wind Direction: 67 -[main_algo-3] [INFO] [1746051018.958268344] [sailbot.main_algo]: Target Bearing: -97.66858227150666 -[main_algo-3] [INFO] [1746051018.959292106] [sailbot.main_algo]: Heading Difference: 69.69858227150667 -[main_algo-3] [INFO] [1746051018.960188273] [sailbot.main_algo]: Wind Direction: 67 -[main_algo-3] [INFO] [1746051018.961081680] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051018.961930240] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051018.963005758] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051018.963597127] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051019.003168354] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689394 Long: -76.50326705 -[main_algo-3] [INFO] [1746051019.003921076] [sailbot.main_algo]: Distance to destination: 24.347488745014157 -[vectornav-1] [INFO] [1746051019.004360901] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (313.985, 1.034, 4.003) -[main_algo-3] [INFO] [1746051019.005160902] [sailbot.main_algo]: Target Bearing: -98.87489459219375 -[main_algo-3] [INFO] [1746051019.006179414] [sailbot.main_algo]: Heading Difference: 70.90489459219373 -[main_algo-3] [INFO] [1746051019.007080245] [sailbot.main_algo]: Wind Direction: 67 -[main_algo-3] [INFO] [1746051019.007957410] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051019.008812419] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051019.010569995] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051019.045478978] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051019.045948009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051019.046990177] [sailbot.mux]: Published rudder angle from controller_app: 9 -[teensy-2] [INFO] [1746051019.048219695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 9 -[teensy-2] [INFO] [1746051019.049250262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051019.076018858] [sailbot.mux]: controller_app rudder angle: -4 -[teensy-2] [INFO] [1746051019.085230803] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051019.087351396] [sailbot.teensy]: Wind angle: 52 -[teensy-2] [INFO] [1746051019.088947026] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051019.087703956] [sailbot.trim_sail]: Sail Angle: "60" -[mux-7] [INFO] [1746051019.088563390] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746051019.089997239] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746051019.090856772] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051019.145023037] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051019.145935549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051019.146522102] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746051019.147938243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -4 -[teensy-2] [INFO] [1746051019.149081524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051019.245154092] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051019.246323440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051019.246583327] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746051019.248502055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -4 -[teensy-2] [INFO] [1746051019.249540971] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051019.335532120] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051019.338214242] [sailbot.teensy]: Wind angle: 39 -[trim_sail-4] [INFO] [1746051019.338214086] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746051019.339282363] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051019.339744472] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746051019.340238313] [sailbot.teensy]: Actual tail angle: 34 -[teensy-2] [INFO] [1746051019.341205270] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051019.344439933] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051019.345174263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051019.345628165] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746051019.347005310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -4 -[teensy-2] [INFO] [1746051019.348168890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051019.445471650] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051019.446519658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051019.447133335] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746051019.448458867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -4 -[teensy-2] [INFO] [1746051019.448995173] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051019.457166923] [sailbot.main_algo]: Wind Direction: 39 -[main_algo-3] [INFO] [1746051019.458188370] [sailbot.main_algo]: Target Bearing: -98.87489459219375 -[main_algo-3] [INFO] [1746051019.459066827] [sailbot.main_algo]: Heading Difference: 52.85989459219377 -[main_algo-3] [INFO] [1746051019.459912283] [sailbot.main_algo]: Wind Direction: 39 -[main_algo-3] [INFO] [1746051019.460803498] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051019.461591259] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051019.462599935] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051019.463492794] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051019.503007482] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893526 Long: -76.50326351 -[main_algo-3] [INFO] [1746051019.503910212] [sailbot.main_algo]: Distance to destination: 23.934404527128986 -[vectornav-1] [INFO] [1746051019.504388901] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (293.18399999999997, 1.211, 1.805) -[main_algo-3] [INFO] [1746051019.505074387] [sailbot.main_algo]: Target Bearing: -99.7156685073404 -[main_algo-3] [INFO] [1746051019.506425096] [sailbot.main_algo]: Heading Difference: 53.700668507340424 -[main_algo-3] [INFO] [1746051019.507375695] [sailbot.main_algo]: Wind Direction: 39 -[main_algo-3] [INFO] [1746051019.508311299] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051019.509202973] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051019.510927819] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051019.545474614] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051019.545563929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051019.547019997] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746051019.547453831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -4 -[teensy-2] [INFO] [1746051019.548710041] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051019.585226388] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051019.586880214] [sailbot.teensy]: Wind angle: 24 -[trim_sail-4] [INFO] [1746051019.587313945] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746051019.587756827] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051019.588630936] [sailbot.teensy]: Actual tail angle: 21 -[teensy-2] [INFO] [1746051019.589446679] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051019.589435319] [sailbot.mux]: algo sail angle: 80 -[mux-7] [INFO] [1746051019.645330993] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051019.646010898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051019.646987245] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746051019.648403126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -4 -[teensy-2] [INFO] [1746051019.648893844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051019.745168507] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051019.745948501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051019.746656778] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746051019.748079135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -4 -[teensy-2] [INFO] [1746051019.749127380] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051019.835144896] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051019.837496948] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746051019.837797114] [sailbot.teensy]: Wind angle: 4 -[teensy-2] [INFO] [1746051019.838563887] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051019.838609075] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746051019.838969314] [sailbot.teensy]: Actual tail angle: 21 -[teensy-2] [INFO] [1746051019.839329677] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051019.844425007] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051019.844927274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051019.845551000] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746051019.846621474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -4 -[teensy-2] [INFO] [1746051019.847651169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051019.945191117] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051019.945857094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051019.946821212] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746051019.947753473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -4 -[teensy-2] [INFO] [1746051019.948226645] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051019.957161993] [sailbot.main_algo]: Wind Direction: 4 -[main_algo-3] [INFO] [1746051019.958174995] [sailbot.main_algo]: Target Bearing: -99.7156685073404 -[main_algo-3] [INFO] [1746051019.959095910] [sailbot.main_algo]: Heading Difference: 32.89966850734038 -[main_algo-3] [INFO] [1746051019.959981121] [sailbot.main_algo]: Wind Direction: 4 -[main_algo-3] [INFO] [1746051019.960803059] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051019.961584118] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051019.962586103] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051019.963322926] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051020.002779024] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893115 Long: -76.50326243 -[main_algo-3] [INFO] [1746051020.003641806] [sailbot.main_algo]: Distance to destination: 23.497161523338832 -[vectornav-1] [INFO] [1746051020.004087906] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (280.947, 1.32, 2.897) -[main_algo-3] [INFO] [1746051020.004804439] [sailbot.main_algo]: Target Bearing: -100.09807732579905 -[main_algo-3] [INFO] [1746051020.005768333] [sailbot.main_algo]: Heading Difference: 33.28207732579904 -[main_algo-3] [INFO] [1746051020.006677171] [sailbot.main_algo]: Wind Direction: 4 -[main_algo-3] [INFO] [1746051020.007554687] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051020.008457881] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051020.010166733] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051020.044629512] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051020.045234855] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051020.047134518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -4 -[mux-7] [INFO] [1746051020.045804988] [sailbot.mux]: Published rudder angle from controller_app: -4 -[teensy-2] [INFO] [1746051020.048299270] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051020.085124597] [sailbot.teensy]: Check telemetry callback entered -[mux-7] [INFO] [1746051020.086697612] [sailbot.mux]: controller_app rudder angle: -9 -[trim_sail-4] [INFO] [1746051020.087156298] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746051020.087615280] [sailbot.teensy]: Wind angle: 359 -[mux-7] [INFO] [1746051020.088827222] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746051020.090143855] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051020.091093165] [sailbot.teensy]: Actual tail angle: 21 -[teensy-2] [INFO] [1746051020.091921500] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051020.145105568] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051020.145882785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051020.146427727] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746051020.148034880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 -[teensy-2] [INFO] [1746051020.149249093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051020.245371265] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051020.245920072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051020.247417900] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746051020.247982962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 -[teensy-2] [INFO] [1746051020.249223562] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051020.335394868] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051020.337746259] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746051020.338690350] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746051020.339274625] [sailbot.teensy]: Wind angle: 354 -[teensy-2] [INFO] [1746051020.340305085] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051020.341152059] [sailbot.teensy]: Actual tail angle: 21 -[teensy-2] [INFO] [1746051020.341992267] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051020.344378092] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051020.344736299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051020.345567062] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746051020.346399730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 -[teensy-2] [INFO] [1746051020.347528290] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051020.445224161] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051020.446078335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051020.446944404] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746051020.448116090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 -[teensy-2] [INFO] [1746051020.449205727] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051020.456961493] [sailbot.main_algo]: Wind Direction: 354 -[main_algo-3] [INFO] [1746051020.457904125] [sailbot.main_algo]: Target Bearing: -100.09807732579905 -[main_algo-3] [INFO] [1746051020.458775354] [sailbot.main_algo]: Heading Difference: 21.04507732579907 -[main_algo-3] [INFO] [1746051020.459569956] [sailbot.main_algo]: Wind Direction: 354 -[main_algo-3] [INFO] [1746051020.460358949] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051020.461155439] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051020.462141585] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051020.462822781] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051020.502445188] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892746 Long: -76.50326247 -[main_algo-3] [INFO] [1746051020.503142144] [sailbot.main_algo]: Distance to destination: 23.09205562294245 -[vectornav-1] [INFO] [1746051020.503521756] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (276.775, -2.809, 5.448) -[main_algo-3] [INFO] [1746051020.504219509] [sailbot.main_algo]: Target Bearing: -100.25053747982032 -[main_algo-3] [INFO] [1746051020.505185809] [sailbot.main_algo]: Heading Difference: 21.197537479820312 -[main_algo-3] [INFO] [1746051020.506108468] [sailbot.main_algo]: Wind Direction: 354 -[main_algo-3] [INFO] [1746051020.507008501] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051020.507855178] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051020.509629651] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051020.545115617] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051020.546191367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051020.546567653] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746051020.548278143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 -[teensy-2] [INFO] [1746051020.549434390] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051020.585523490] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051020.587548397] [sailbot.teensy]: Wind angle: 348 -[trim_sail-4] [INFO] [1746051020.588382603] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746051020.588592235] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051020.589272067] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746051020.589512253] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746051020.590391050] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051020.645360481] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051020.646326172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051020.646930198] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746051020.648582343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 -[teensy-2] [INFO] [1746051020.649713310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051020.745273042] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051020.746223063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051020.747240770] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746051020.748074150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 -[teensy-2] [INFO] [1746051020.748761550] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051020.835572553] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051020.837599493] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746051020.838070261] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051020.838927131] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051020.839670050] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051020.839964837] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746051020.840923112] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051020.844428110] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051020.845040108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051020.845534894] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746051020.846795814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 -[teensy-2] [INFO] [1746051020.847947188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051020.945576201] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051020.946403633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051020.947421843] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746051020.948438699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 -[teensy-2] [INFO] [1746051020.948897081] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051020.957121367] [sailbot.main_algo]: Wind Direction: 346 -[main_algo-3] [INFO] [1746051020.958073946] [sailbot.main_algo]: Target Bearing: -100.25053747982032 -[main_algo-3] [INFO] [1746051020.958952596] [sailbot.main_algo]: Heading Difference: 17.025537479820287 -[main_algo-3] [INFO] [1746051020.959748939] [sailbot.main_algo]: Rudder Angle Raw: 2.364657983308373 -[main_algo-3] [INFO] [1746051020.960614851] [sailbot.main_algo]: Rudder Angle: 2 -[main_algo-3] [INFO] [1746051020.961602131] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051020.962234996] [sailbot.mux]: algo rudder angle: 2 -[vectornav-1] [INFO] [1746051021.003264169] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892333 Long: -76.50326212 -[main_algo-3] [INFO] [1746051021.004146786] [sailbot.main_algo]: Distance to destination: 22.6441766962592 -[main_algo-3] [INFO] [1746051021.005213264] [sailbot.main_algo]: Target Bearing: -100.50867056046657 -[vectornav-1] [INFO] [1746051021.005213128] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (281.11400000000003, -3.804, 5.571) -[main_algo-3] [INFO] [1746051021.006223937] [sailbot.main_algo]: Heading Difference: 17.28367056046659 -[main_algo-3] [INFO] [1746051021.007459065] [sailbot.main_algo]: Rudder Angle Raw: 2.400509800064804 -[main_algo-3] [INFO] [1746051021.008411736] [sailbot.main_algo]: Rudder Angle: 2 -[mux-7] [INFO] [1746051021.010138003] [sailbot.mux]: algo rudder angle: 2 -[mux-7] [INFO] [1746051021.045145595] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051021.045963529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051021.046708873] [sailbot.mux]: Published rudder angle from controller_app: -9 -[teensy-2] [INFO] [1746051021.048116681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -9 -[teensy-2] [INFO] [1746051021.049177675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051021.076135184] [sailbot.mux]: controller_app rudder angle: -10 -[teensy-2] [INFO] [1746051021.085312323] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051021.086980630] [sailbot.teensy]: Wind angle: 346 -[trim_sail-4] [INFO] [1746051021.087391172] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051021.087889122] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051021.088961213] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746051021.089883495] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051021.090050156] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746051021.145056498] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051021.145872429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051021.146398026] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746051021.147908135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 -[teensy-2] [INFO] [1746051021.148926244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051021.245305284] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051021.246044924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051021.246883606] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746051021.248079873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 -[teensy-2] [INFO] [1746051021.249291083] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051021.335073148] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051021.336878274] [sailbot.teensy]: Wind angle: 346 -[teensy-2] [INFO] [1746051021.337855553] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051021.338130388] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051021.338551951] [sailbot.teensy]: Actual tail angle: 16 -[teensy-2] [INFO] [1746051021.338929725] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051021.338991769] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746051021.344514236] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051021.345068663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051021.345743192] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746051021.346791308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 -[teensy-2] [INFO] [1746051021.347793871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051021.445328679] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051021.445897443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051021.447143467] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746051021.447910322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 -[teensy-2] [INFO] [1746051021.449010362] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051021.457033548] [sailbot.main_algo]: Wind Direction: 346 -[main_algo-3] [INFO] [1746051021.457986997] [sailbot.main_algo]: Target Bearing: -100.50867056046657 -[main_algo-3] [INFO] [1746051021.458867574] [sailbot.main_algo]: Heading Difference: 21.62267056046653 -[main_algo-3] [INFO] [1746051021.459712626] [sailbot.main_algo]: Wind Direction: 346 -[main_algo-3] [INFO] [1746051021.460576901] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051021.461376146] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051021.462474639] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051021.462998222] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051021.502920624] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689187 Long: -76.50326105 -[main_algo-3] [INFO] [1746051021.503954600] [sailbot.main_algo]: Distance to destination: 22.152192010239162 -[vectornav-1] [INFO] [1746051021.504103059] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (297.05, 2.405, 9.419) -[main_algo-3] [INFO] [1746051021.505147827] [sailbot.main_algo]: Target Bearing: -100.95246959087605 -[main_algo-3] [INFO] [1746051021.506113782] [sailbot.main_algo]: Heading Difference: 22.066469590876068 -[main_algo-3] [INFO] [1746051021.507019838] [sailbot.main_algo]: Wind Direction: 346 -[main_algo-3] [INFO] [1746051021.507894563] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051021.508810421] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051021.510650593] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051021.545088860] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051021.545670798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051021.546445563] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746051021.547666279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 -[teensy-2] [INFO] [1746051021.548865489] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051021.585087299] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051021.587117737] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051021.587322470] [sailbot.teensy]: Wind angle: 346 -[teensy-2] [INFO] [1746051021.588289197] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051021.588778547] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051021.589198918] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746051021.590105557] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051021.645261493] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051021.646023588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051021.647118747] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746051021.648235770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 -[teensy-2] [INFO] [1746051021.648823131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051021.744929623] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051021.745628689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051021.746403159] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746051021.747554851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 -[teensy-2] [INFO] [1746051021.748930153] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051021.835409729] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051021.837899282] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051021.838034450] [sailbot.teensy]: Wind angle: 346 -[mux-7] [INFO] [1746051021.838569902] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051021.838626834] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051021.839014916] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746051021.839371414] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051021.844598202] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051021.845035406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051021.845899008] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746051021.846880305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 -[teensy-2] [INFO] [1746051021.847928670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051021.945547490] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051021.946253194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051021.947423646] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746051021.948615084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 -[teensy-2] [INFO] [1746051021.949832259] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051021.957075233] [sailbot.main_algo]: Wind Direction: 346 -[main_algo-3] [INFO] [1746051021.958046662] [sailbot.main_algo]: Target Bearing: -100.95246959087605 -[main_algo-3] [INFO] [1746051021.959001905] [sailbot.main_algo]: Heading Difference: 38.00246959087599 -[main_algo-3] [INFO] [1746051021.959848216] [sailbot.main_algo]: Wind Direction: 346 -[main_algo-3] [INFO] [1746051021.960672400] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051021.961492365] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051021.962481066] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051021.963074380] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051022.003157548] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891544 Long: -76.50325829 -[main_algo-3] [INFO] [1746051022.003632847] [sailbot.main_algo]: Distance to destination: 21.836607369797857 -[vectornav-1] [INFO] [1746051022.004368063] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (315.635, 3.202, 11.721) -[main_algo-3] [INFO] [1746051022.004746469] [sailbot.main_algo]: Target Bearing: -101.70293192269169 -[main_algo-3] [INFO] [1746051022.005739618] [sailbot.main_algo]: Heading Difference: 38.75293192269169 -[main_algo-3] [INFO] [1746051022.006763802] [sailbot.main_algo]: Wind Direction: 346 -[main_algo-3] [INFO] [1746051022.007667711] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051022.008600300] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051022.010482000] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051022.045183545] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051022.046298851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051022.046455550] [sailbot.mux]: Published rudder angle from controller_app: -10 -[teensy-2] [INFO] [1746051022.048331386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -10 -[teensy-2] [INFO] [1746051022.049535640] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051022.085863069] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051022.087726671] [sailbot.teensy]: Wind angle: 349 -[teensy-2] [INFO] [1746051022.088810564] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051022.088344250] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746051022.089783738] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746051022.090698320] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051022.091394958] [sailbot.mux]: algo sail angle: 90 -[mux-7] [INFO] [1746051022.093492689] [sailbot.mux]: controller_app rudder angle: -5 -[mux-7] [INFO] [1746051022.144628646] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051022.145137012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051022.145850162] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051022.147209096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051022.148229527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051022.245123407] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051022.245702596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051022.246524727] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051022.247902784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051022.249123832] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051022.335219431] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051022.337325670] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746051022.337921822] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746051022.339328768] [sailbot.teensy]: Wind angle: 353 -[teensy-2] [INFO] [1746051022.339773571] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051022.340160796] [sailbot.teensy]: Actual tail angle: 15 -[teensy-2] [INFO] [1746051022.340521881] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051022.344494239] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051022.345084185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051022.345754927] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051022.346832361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051022.347937181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051022.445290063] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051022.445808714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051022.446836008] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051022.448226684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051022.449370916] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051022.457039555] [sailbot.main_algo]: Wind Direction: 353 -[main_algo-3] [INFO] [1746051022.458008544] [sailbot.main_algo]: Target Bearing: -101.70293192269169 -[main_algo-3] [INFO] [1746051022.458901863] [sailbot.main_algo]: Heading Difference: 57.33793192269172 -[main_algo-3] [INFO] [1746051022.459739959] [sailbot.main_algo]: Wind Direction: 353 -[main_algo-3] [INFO] [1746051022.460588881] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051022.461375722] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051022.462376199] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051022.463010857] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051022.502696815] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891388 Long: -76.50325551 -[vectornav-1] [INFO] [1746051022.503794527] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (335.846, -1.53, 12.744) -[main_algo-3] [INFO] [1746051022.503796527] [sailbot.main_algo]: Distance to destination: 21.7102708185569 -[main_algo-3] [INFO] [1746051022.505376581] [sailbot.main_algo]: Target Bearing: -102.38052185656709 -[main_algo-3] [INFO] [1746051022.506422000] [sailbot.main_algo]: Heading Difference: 58.01552185656715 -[main_algo-3] [INFO] [1746051022.507349760] [sailbot.main_algo]: Wind Direction: 353 -[main_algo-3] [INFO] [1746051022.508254625] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051022.509124664] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051022.510953437] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051022.544956492] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051022.545512064] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051022.546311290] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051022.547321453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051022.548541008] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051022.585068067] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051022.586602556] [sailbot.teensy]: Wind angle: 359 -[teensy-2] [INFO] [1746051022.587470596] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051022.587173385] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746051022.588360307] [sailbot.teensy]: Actual tail angle: 20 -[mux-7] [INFO] [1746051022.588949991] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746051022.589312005] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051022.645277079] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051022.645751311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051022.646843295] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051022.648030031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051022.649108442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051022.745242284] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051022.746084253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051022.747081863] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051022.748342136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051022.749356236] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051022.835209775] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051022.837501482] [sailbot.trim_sail]: Sail Angle: "90" -[mux-7] [INFO] [1746051022.838000776] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746051022.838133555] [sailbot.teensy]: Wind angle: 0 -[teensy-2] [INFO] [1746051022.839088357] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051022.839960228] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746051022.840849799] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051022.844309110] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051022.844952773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051022.845652637] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051022.846862730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051022.848067623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051022.945321678] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051022.946147994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051022.946900938] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051022.948883701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051022.949954622] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051022.957051239] [sailbot.main_algo]: Wind Direction: 0 -[main_algo-3] [INFO] [1746051022.958020649] [sailbot.main_algo]: Target Bearing: -102.38052185656709 -[main_algo-3] [INFO] [1746051022.958915514] [sailbot.main_algo]: Heading Difference: 78.22652185656716 -[main_algo-3] [INFO] [1746051022.959767944] [sailbot.main_algo]: Wind Direction: 0 -[main_algo-3] [INFO] [1746051022.960586411] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051022.961392945] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051022.962603768] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051022.962957973] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051023.003131202] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891387 Long: -76.50325167 -[main_algo-3] [INFO] [1746051023.003704281] [sailbot.main_algo]: Distance to destination: 21.773605716246124 -[main_algo-3] [INFO] [1746051023.004789972] [sailbot.main_algo]: Target Bearing: -103.19566447726089 -[vectornav-1] [INFO] [1746051023.005613983] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (358.552, -2.37, 14.617) -[main_algo-3] [INFO] [1746051023.005743988] [sailbot.main_algo]: Heading Difference: 79.04166447726084 -[main_algo-3] [INFO] [1746051023.006674156] [sailbot.main_algo]: Wind Direction: 0 -[main_algo-3] [INFO] [1746051023.007586441] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051023.008488447] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051023.010210964] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051023.044603430] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051023.045245871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051023.046042089] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051023.046908091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051023.047865495] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051023.085400015] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051023.087747332] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051023.087916440] [sailbot.teensy]: Wind angle: 18 -[teensy-2] [INFO] [1746051023.088817701] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051023.089321998] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051023.089689440] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746051023.090613556] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051023.144990723] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051023.145855991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051023.146362449] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051023.147824857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051023.148900758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051023.245067362] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051023.245702089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051023.246438835] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051023.247606259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051023.248144937] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051023.335198594] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051023.336796995] [sailbot.teensy]: Wind angle: 42 -[trim_sail-4] [INFO] [1746051023.337490526] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746051023.338812185] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746051023.339712000] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051023.340535836] [sailbot.teensy]: Actual tail angle: 20 -[teensy-2] [INFO] [1746051023.340908875] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051023.344449016] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051023.344927346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051023.345602002] [sailbot.mux]: Published rudder angle from controller_app: -5 -[teensy-2] [INFO] [1746051023.346637241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -5 -[teensy-2] [INFO] [1746051023.347805019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051023.363305942] [sailbot.mux]: controller_app rudder angle: 12 -[mux-7] [INFO] [1746051023.445110323] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051023.446253235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051023.446637444] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051023.448368560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051023.449618044] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051023.457158690] [sailbot.main_algo]: Wind Direction: 42 -[main_algo-3] [INFO] [1746051023.458199084] [sailbot.main_algo]: Target Bearing: -103.19566447726089 -[main_algo-3] [INFO] [1746051023.459080567] [sailbot.main_algo]: Heading Difference: 101.74766447726097 -[main_algo-3] [INFO] [1746051023.459923145] [sailbot.main_algo]: Wind Direction: 42 -[main_algo-3] [INFO] [1746051023.460792352] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051023.461608148] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051023.462608712] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051023.463234892] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051023.503053464] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891386 Long: -76.50324682 -[main_algo-3] [INFO] [1746051023.504350205] [sailbot.main_algo]: Distance to destination: 21.860139379651503 -[vectornav-1] [INFO] [1746051023.504443614] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (22.233000000000004, -0.848, 17.146) -[main_algo-3] [INFO] [1746051023.505506559] [sailbot.main_algo]: Target Bearing: -104.21800646671542 -[main_algo-3] [INFO] [1746051023.506796487] [sailbot.main_algo]: Heading Difference: 102.77000646671547 -[main_algo-3] [INFO] [1746051023.507735424] [sailbot.main_algo]: Wind Direction: 42 -[main_algo-3] [INFO] [1746051023.508650553] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051023.509527627] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051023.511376222] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051023.545148002] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051023.545904301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051023.546592842] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051023.547991948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051023.549178144] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051023.585117124] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051023.586520798] [sailbot.teensy]: Wind angle: 73 -[trim_sail-4] [INFO] [1746051023.587364561] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051023.587380997] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051023.588265781] [sailbot.teensy]: Actual tail angle: 20 -[mux-7] [INFO] [1746051023.588961115] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051023.589093334] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051023.645166018] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051023.646154051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051023.646741120] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051023.648540525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051023.649167099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051023.744986315] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051023.745843209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051023.746344948] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051023.747835547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051023.748521604] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051023.835087510] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051023.837177533] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051023.837638217] [sailbot.teensy]: Wind angle: 99 -[mux-7] [INFO] [1746051023.838383652] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051023.839137846] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051023.839527749] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051023.839885730] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051023.844347566] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051023.844803153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051023.845462247] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051023.846456859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051023.847693146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051023.945260381] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051023.946200620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051023.946721186] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051023.948570689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051023.949675639] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051023.957162240] [sailbot.main_algo]: Wind Direction: 99 -[main_algo-3] [INFO] [1746051023.958205067] [sailbot.main_algo]: Target Bearing: -104.21800646671542 -[main_algo-3] [INFO] [1746051023.959102567] [sailbot.main_algo]: Heading Difference: 126.4510064667154 -[main_algo-3] [INFO] [1746051023.960002507] [sailbot.main_algo]: Wind Direction: 99 -[main_algo-3] [INFO] [1746051023.960849880] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051023.961658235] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051023.962669564] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051023.963219107] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051024.003078747] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891493 Long: -76.50324291 -[main_algo-3] [INFO] [1746051024.003940816] [sailbot.main_algo]: Distance to destination: 22.051112249539106 -[vectornav-1] [INFO] [1746051024.004343739] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.632000000000005, -0.448, 18.12) -[main_algo-3] [INFO] [1746051024.005161636] [sailbot.main_algo]: Target Bearing: -104.9607556657808 -[main_algo-3] [INFO] [1746051024.006141755] [sailbot.main_algo]: Heading Difference: 127.19375566578083 -[main_algo-3] [INFO] [1746051024.007037725] [sailbot.main_algo]: Wind Direction: 99 -[main_algo-3] [INFO] [1746051024.007895374] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051024.008752439] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051024.010451427] [sailbot.mux]: algo rudder angle: 15 -[teensy-2] [INFO] [1746051024.045906291] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051024.048219563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[mux-7] [INFO] [1746051024.045937889] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051024.047567269] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051024.049398277] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051024.085225659] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051024.087332016] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051024.088863515] [sailbot.teensy]: Wind angle: 118 -[mux-7] [INFO] [1746051024.089509738] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051024.089886587] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051024.090844022] [sailbot.teensy]: Actual tail angle: 37 -[mux-7] [INFO] [1746051024.091342125] [sailbot.mux]: controller_app rudder angle: 0 -[teensy-2] [INFO] [1746051024.091807397] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051024.144824223] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051024.145631820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051024.146081897] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051024.147511612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051024.148561811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051024.245059700] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051024.245518473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051024.246471265] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051024.247278086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051024.248471415] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051024.335463066] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051024.337820129] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051024.338361607] [sailbot.teensy]: Wind angle: 120 -[mux-7] [INFO] [1746051024.339291513] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051024.339365702] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051024.340389705] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051024.340993306] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051024.344435048] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051024.344871377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051024.345521233] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051024.346569505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051024.347735526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051024.445194554] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051024.446029503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051024.446714778] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051024.447845271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051024.448319268] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051024.457291237] [sailbot.main_algo]: Wind Direction: 120 -[main_algo-3] [INFO] [1746051024.458326883] [sailbot.main_algo]: Target Bearing: -104.9607556657808 -[main_algo-3] [INFO] [1746051024.459209513] [sailbot.main_algo]: Heading Difference: 144.59275566578083 -[main_algo-3] [INFO] [1746051024.460086998] [sailbot.main_algo]: Wind Direction: 120 -[main_algo-3] [INFO] [1746051024.460957182] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051024.461828314] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051024.462986649] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051024.463494952] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051024.503227938] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46891802 Long: -76.50324036 -[main_algo-3] [INFO] [1746051024.504591784] [sailbot.main_algo]: Distance to destination: 22.435024102756817 -[main_algo-3] [INFO] [1746051024.505778295] [sailbot.main_algo]: Target Bearing: -105.26921653792881 -[main_algo-3] [INFO] [1746051024.506811871] [sailbot.main_algo]: Heading Difference: 144.9012165379288 -[vectornav-1] [INFO] [1746051024.507331527] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.613, 0.752, 13.675) -[main_algo-3] [INFO] [1746051024.507729793] [sailbot.main_algo]: Wind Direction: 120 -[main_algo-3] [INFO] [1746051024.508719614] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051024.509610056] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051024.511409346] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051024.544968397] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051024.545502776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051024.546356407] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051024.547325090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051024.548546625] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051024.585085906] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051024.586594394] [sailbot.teensy]: Wind angle: 110 -[trim_sail-4] [INFO] [1746051024.587200372] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051024.587453816] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051024.588328086] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051024.588784171] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051024.589191168] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051024.645418366] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051024.645852221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051024.647046461] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051024.647961915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051024.648707175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051024.745499696] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051024.746072657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051024.747188459] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051024.748367026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051024.749113059] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051024.835116867] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051024.837474071] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051024.838159940] [sailbot.teensy]: Wind angle: 116 -[mux-7] [INFO] [1746051024.838648530] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051024.838786561] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051024.839171873] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051024.839523029] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051024.844445124] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051024.844975578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051024.845538357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051024.846738272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051024.847825589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051024.945235288] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051024.946617476] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051024.947581592] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051024.949108233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051024.950165599] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051024.957227830] [sailbot.main_algo]: Wind Direction: 116 -[main_algo-3] [INFO] [1746051024.958305775] [sailbot.main_algo]: Target Bearing: -105.26921653792881 -[main_algo-3] [INFO] [1746051024.959261380] [sailbot.main_algo]: Heading Difference: 151.8822165379288 -[main_algo-3] [INFO] [1746051024.960170377] [sailbot.main_algo]: Wind Direction: 116 -[main_algo-3] [INFO] [1746051024.961036218] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051024.961885371] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051024.963017673] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051024.963581728] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051025.003157777] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892068 Long: -76.50323722 -[main_algo-3] [INFO] [1746051025.004225459] [sailbot.main_algo]: Distance to destination: 22.78560631049596 -[vectornav-1] [INFO] [1746051025.004532967] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.629999999999995, -0.264, 9.612) -[main_algo-3] [INFO] [1746051025.005483794] [sailbot.main_algo]: Target Bearing: -105.71553319853462 -[main_algo-3] [INFO] [1746051025.006467039] [sailbot.main_algo]: Heading Difference: 152.32853319853461 -[main_algo-3] [INFO] [1746051025.007337826] [sailbot.main_algo]: Wind Direction: 116 -[main_algo-3] [INFO] [1746051025.008234912] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051025.009082873] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051025.010782098] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051025.045089917] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051025.045926815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051025.046411644] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051025.047921850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051025.049084095] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051025.085502635] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051025.088004837] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051025.089175605] [sailbot.teensy]: Wind angle: 125 -[mux-7] [INFO] [1746051025.089180378] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051025.090182882] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051025.091056708] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051025.091883459] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051025.145016736] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051025.145777964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051025.146296344] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051025.147875540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051025.149043429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051025.244931390] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051025.245488203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051025.246197717] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051025.247301723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051025.248412808] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051025.335374520] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051025.337942926] [sailbot.teensy]: Wind angle: 119 -[trim_sail-4] [INFO] [1746051025.337977566] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746051025.338624550] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051025.338902774] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051025.339795838] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051025.340645839] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051025.344385360] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051025.344886121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051025.345519614] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051025.346650736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051025.347765040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051025.445284174] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051025.446050423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051025.446768870] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051025.448438888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051025.448941840] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051025.457217815] [sailbot.main_algo]: Wind Direction: 119 -[main_algo-3] [INFO] [1746051025.458262424] [sailbot.main_algo]: Target Bearing: -105.71553319853462 -[main_algo-3] [INFO] [1746051025.459148481] [sailbot.main_algo]: Heading Difference: 150.3455331985346 -[main_algo-3] [INFO] [1746051025.460032543] [sailbot.main_algo]: Wind Direction: 119 -[main_algo-3] [INFO] [1746051025.460908716] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051025.461782161] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051025.462837284] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051025.463502425] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051025.503034624] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892327 Long: -76.50323381 -[main_algo-3] [INFO] [1746051025.503947923] [sailbot.main_algo]: Distance to destination: 23.13583218119143 -[vectornav-1] [INFO] [1746051025.504719063] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.38099999999997, -1.499, 6.931) -[main_algo-3] [INFO] [1746051025.505165971] [sailbot.main_algo]: Target Bearing: -106.20639622480643 -[main_algo-3] [INFO] [1746051025.506162335] [sailbot.main_algo]: Heading Difference: 150.83639622480644 -[main_algo-3] [INFO] [1746051025.507069118] [sailbot.main_algo]: Wind Direction: 119 -[main_algo-3] [INFO] [1746051025.507962917] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051025.508846821] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051025.510610839] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051025.544915157] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051025.545648556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051025.546266367] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051025.547424917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051025.548611393] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051025.585209010] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051025.587322238] [sailbot.teensy]: Wind angle: 115 -[trim_sail-4] [INFO] [1746051025.587579511] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051025.588313396] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051025.589231950] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051025.588495956] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051025.590151344] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051025.644843777] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051025.645712454] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051025.646079693] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051025.647528163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051025.648432240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051025.745245160] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051025.746248281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051025.746746661] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051025.747925737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051025.748427349] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051025.835116696] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051025.836662309] [sailbot.teensy]: Wind angle: 115 -[trim_sail-4] [INFO] [1746051025.837679226] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746051025.838508318] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051025.839471660] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051025.840397474] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051025.841293467] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051025.844360275] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051025.844877353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051025.845656529] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051025.846572041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051025.847674271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051025.945166835] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051025.946115662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051025.946689337] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051025.949089141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051025.950102189] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051025.957187853] [sailbot.main_algo]: Wind Direction: 115 -[main_algo-3] [INFO] [1746051025.958304909] [sailbot.main_algo]: Target Bearing: -106.20639622480643 -[main_algo-3] [INFO] [1746051025.959206540] [sailbot.main_algo]: Heading Difference: 148.5873962248064 -[main_algo-3] [INFO] [1746051025.960061673] [sailbot.main_algo]: Wind Direction: 115 -[main_algo-3] [INFO] [1746051025.960922289] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051025.961714904] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051025.962731996] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051025.963504622] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051026.002997482] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892579 Long: -76.50323007 -[vectornav-1] [INFO] [1746051026.004296934] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.12299999999999, 0.037, 7.329) -[main_algo-3] [INFO] [1746051026.004348606] [sailbot.main_algo]: Distance to destination: 23.487564594479412 -[main_algo-3] [INFO] [1746051026.006596496] [sailbot.main_algo]: Target Bearing: -106.75143733834086 -[main_algo-3] [INFO] [1746051026.007619395] [sailbot.main_algo]: Heading Difference: 149.13243733834082 -[main_algo-3] [INFO] [1746051026.008532263] [sailbot.main_algo]: Wind Direction: 115 -[main_algo-3] [INFO] [1746051026.009389971] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051026.010226173] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051026.011904329] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051026.045191072] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051026.046562041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051026.046610525] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051026.049152091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051026.052804642] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051026.085076487] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051026.087165883] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051026.087316476] [sailbot.teensy]: Wind angle: 115 -[mux-7] [INFO] [1746051026.087807024] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051026.088500857] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051026.089338084] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051026.090287651] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051026.144984209] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051026.145697200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051026.146289631] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051026.147593362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051026.148663044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051026.244902854] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051026.246297330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051026.246338962] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051026.247830667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051026.248356571] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051026.335300622] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051026.337153228] [sailbot.teensy]: Wind angle: 115 -[teensy-2] [INFO] [1746051026.338085211] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051026.338376620] [sailbot.mux]: algo sail angle: 15 -[trim_sail-4] [INFO] [1746051026.338482181] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051026.339013667] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051026.339953135] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051026.344569602] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051026.344962025] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051026.345901800] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051026.346701856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051026.347886470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051026.445465326] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051026.446238094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051026.447204048] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051026.448577210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051026.449739954] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051026.457062414] [sailbot.main_algo]: Wind Direction: 115 -[main_algo-3] [INFO] [1746051026.458047466] [sailbot.main_algo]: Target Bearing: -106.75143733834086 -[main_algo-3] [INFO] [1746051026.458929450] [sailbot.main_algo]: Heading Difference: 143.87443733834084 -[main_algo-3] [INFO] [1746051026.459777064] [sailbot.main_algo]: Wind Direction: 115 -[main_algo-3] [INFO] [1746051026.460610764] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051026.461399097] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051026.462372870] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051026.462976257] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051026.503101689] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892826 Long: -76.50322542 -[main_algo-3] [INFO] [1746051026.504485132] [sailbot.main_algo]: Distance to destination: 23.857098377370267 -[vectornav-1] [INFO] [1746051026.504793296] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.43099999999998, -1.181, 11.51) -[main_algo-3] [INFO] [1746051026.505835702] [sailbot.main_algo]: Target Bearing: -107.45658693378283 -[main_algo-3] [INFO] [1746051026.506885851] [sailbot.main_algo]: Heading Difference: 144.57958693378282 -[main_algo-3] [INFO] [1746051026.507827661] [sailbot.main_algo]: Wind Direction: 115 -[main_algo-3] [INFO] [1746051026.508740371] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051026.509593837] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051026.511302440] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051026.545108943] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051026.545876905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051026.546439789] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051026.548020271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051026.549142043] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051026.585105060] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051026.587068765] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746051026.587791364] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051026.588139597] [sailbot.teensy]: Wind angle: 114 -[teensy-2] [INFO] [1746051026.589059851] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051026.589962555] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051026.590860222] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051026.645155412] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051026.645840044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051026.646549987] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051026.647809499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051026.648891328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051026.745266679] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051026.746176185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051026.746863638] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051026.748344045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051026.749583111] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051026.835263821] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051026.837569681] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051026.838228460] [sailbot.teensy]: Wind angle: 107 -[mux-7] [INFO] [1746051026.838265334] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051026.839105528] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051026.839496414] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051026.839858365] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051026.844375172] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051026.845033458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051026.845474030] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051026.846773782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051026.847812800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051026.945152304] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051026.945849882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051026.946967832] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051026.948131558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051026.949400788] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051026.957047419] [sailbot.main_algo]: Wind Direction: 107 -[main_algo-3] [INFO] [1746051026.958023297] [sailbot.main_algo]: Target Bearing: -107.45658693378283 -[main_algo-3] [INFO] [1746051026.958905607] [sailbot.main_algo]: Heading Difference: 140.8875869337828 -[main_algo-3] [INFO] [1746051026.959745201] [sailbot.main_algo]: Wind Direction: 107 -[main_algo-3] [INFO] [1746051026.960583805] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051026.961387091] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051026.962371298] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051026.962846694] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051027.002825310] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893018 Long: -76.50321926 -[main_algo-3] [INFO] [1746051027.003790148] [sailbot.main_algo]: Distance to destination: 24.208705164857673 -[vectornav-1] [INFO] [1746051027.003946033] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (25.915999999999997, 0.903, 10.888) -[main_algo-3] [INFO] [1746051027.004900492] [sailbot.main_algo]: Target Bearing: -108.463511996411 -[main_algo-3] [INFO] [1746051027.005852737] [sailbot.main_algo]: Heading Difference: 141.89451199641098 -[main_algo-3] [INFO] [1746051027.006810344] [sailbot.main_algo]: Wind Direction: 107 -[main_algo-3] [INFO] [1746051027.007705765] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051027.008566731] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051027.010375776] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051027.045237172] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051027.046057575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051027.046875096] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051027.048206542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051027.049249350] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051027.085365307] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051027.087226949] [sailbot.teensy]: Wind angle: 103 -[teensy-2] [INFO] [1746051027.088191651] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051027.087780912] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051027.089085898] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051027.089410041] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051027.089971720] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051027.145495198] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051027.145858338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051027.147549905] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051027.148332644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051027.149496062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051027.245302628] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051027.245833122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051027.246734801] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051027.247727699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051027.248785959] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051027.335456607] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051027.338053175] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746051027.338475880] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051027.338787523] [sailbot.teensy]: Wind angle: 104 -[teensy-2] [INFO] [1746051027.339716311] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051027.340599387] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051027.341449338] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051027.344414019] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051027.344831002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051027.345542992] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051027.346487784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051027.347577502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051027.445251322] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051027.446121365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051027.447252261] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051027.447944582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051027.448435390] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051027.457249177] [sailbot.main_algo]: Wind Direction: 104 -[main_algo-3] [INFO] [1746051027.458282920] [sailbot.main_algo]: Target Bearing: -108.463511996411 -[main_algo-3] [INFO] [1746051027.459171568] [sailbot.main_algo]: Heading Difference: 134.379511996411 -[main_algo-3] [INFO] [1746051027.460049028] [sailbot.main_algo]: Wind Direction: 104 -[main_algo-3] [INFO] [1746051027.460925819] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051027.461783517] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051027.462879104] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051027.463544764] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051027.502815079] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893161 Long: -76.5032134 -[main_algo-3] [INFO] [1746051027.503803413] [sailbot.main_algo]: Distance to destination: 24.50814872546281 -[main_algo-3] [INFO] [1746051027.504965136] [sailbot.main_algo]: Target Bearing: -109.42681737612904 -[vectornav-1] [INFO] [1746051027.505454655] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (20.34899999999999, -1.471, 10.565) -[main_algo-3] [INFO] [1746051027.505995682] [sailbot.main_algo]: Heading Difference: 135.342817376129 -[main_algo-3] [INFO] [1746051027.506918859] [sailbot.main_algo]: Wind Direction: 104 -[main_algo-3] [INFO] [1746051027.507768192] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051027.508645305] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051027.510472615] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051027.545038377] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051027.545746470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051027.546406229] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051027.547691407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051027.548842217] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051027.585255553] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051027.587033680] [sailbot.teensy]: Wind angle: 103 -[trim_sail-4] [INFO] [1746051027.587590820] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051027.587961505] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051027.588901340] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051027.588986567] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051027.589802763] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051027.645046508] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051027.645684981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051027.646420769] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051027.647629626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051027.648650635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051027.745188830] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051027.745862249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051027.747047154] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051027.748094569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051027.748799673] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051027.835248840] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051027.836983386] [sailbot.teensy]: Wind angle: 101 -[trim_sail-4] [INFO] [1746051027.837471992] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746051027.839387726] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051027.839474298] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051027.840429233] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051027.841375914] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051027.844419806] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051027.844753372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051027.845571284] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051027.846428652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051027.847597004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051027.945396070] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051027.946069612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051027.947347154] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051027.948138618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051027.949374670] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051027.957237889] [sailbot.main_algo]: Wind Direction: 101 -[main_algo-3] [INFO] [1746051027.958320142] [sailbot.main_algo]: Target Bearing: -109.42681737612904 -[main_algo-3] [INFO] [1746051027.959413940] [sailbot.main_algo]: Heading Difference: 129.775817376129 -[main_algo-3] [INFO] [1746051027.960458370] [sailbot.main_algo]: Wind Direction: 101 -[main_algo-3] [INFO] [1746051027.961366113] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051027.962241990] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051027.963392953] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051027.964170134] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051028.003164096] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893429 Long: -76.50320748 -[main_algo-3] [INFO] [1746051028.004416764] [sailbot.main_algo]: Distance to destination: 24.947001212405663 -[vectornav-1] [INFO] [1746051028.004504649] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (20.836000000000013, -2.35, 8.79) -[main_algo-3] [INFO] [1746051028.005941570] [sailbot.main_algo]: Target Bearing: -110.27164877646855 -[main_algo-3] [INFO] [1746051028.006977487] [sailbot.main_algo]: Heading Difference: 130.62064877646856 -[main_algo-3] [INFO] [1746051028.007900835] [sailbot.main_algo]: Wind Direction: 101 -[main_algo-3] [INFO] [1746051028.008800377] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051028.009644145] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051028.011424956] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051028.045325278] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051028.046192893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051028.046788956] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051028.048553556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051028.049776913] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051028.085104221] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051028.086989313] [sailbot.teensy]: Wind angle: 98 -[trim_sail-4] [INFO] [1746051028.087035769] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051028.087917869] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051028.088851236] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051028.089126900] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051028.089732915] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051028.144844592] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051028.145535530] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051028.146121685] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051028.147428583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051028.148586150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051028.244934870] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051028.245660130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051028.246178341] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051028.247550753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051028.248680139] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051028.335468075] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051028.337392655] [sailbot.teensy]: Wind angle: 98 -[trim_sail-4] [INFO] [1746051028.337927158] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051028.338369055] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051028.339375126] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051028.340369265] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051028.340594893] [sailbot.mux]: algo sail angle: 25 -[mux-7] [INFO] [1746051028.344404635] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051028.344963405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051028.345535958] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051028.346668921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051028.347693926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051028.445386729] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051028.446223567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051028.447095597] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051028.447996900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051028.448462288] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051028.457237643] [sailbot.main_algo]: Wind Direction: 98 -[main_algo-3] [INFO] [1746051028.458297290] [sailbot.main_algo]: Target Bearing: -110.27164877646855 -[main_algo-3] [INFO] [1746051028.459192555] [sailbot.main_algo]: Heading Difference: 131.10764877646858 -[main_algo-3] [INFO] [1746051028.460043851] [sailbot.main_algo]: Wind Direction: 98 -[main_algo-3] [INFO] [1746051028.460921209] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051028.461782578] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051028.462835282] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051028.463389672] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051028.502669187] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893565 Long: -76.50320059 -[main_algo-3] [INFO] [1746051028.503503692] [sailbot.main_algo]: Distance to destination: 25.281078204496737 -[vectornav-1] [INFO] [1746051028.503721813] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (15.62299999999999, 2.307, 12.981) -[main_algo-3] [INFO] [1746051028.504617695] [sailbot.main_algo]: Target Bearing: -111.37090246720129 -[main_algo-3] [INFO] [1746051028.505603149] [sailbot.main_algo]: Heading Difference: 132.2069024672013 -[main_algo-3] [INFO] [1746051028.506529028] [sailbot.main_algo]: Wind Direction: 98 -[main_algo-3] [INFO] [1746051028.507419122] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051028.508300428] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051028.510174806] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051028.544903076] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051028.545648545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051028.546127793] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051028.547482023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051028.548676728] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051028.585372628] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051028.587527732] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051028.587888492] [sailbot.teensy]: Wind angle: 100 -[teensy-2] [INFO] [1746051028.588904969] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051028.588949666] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051028.589867593] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051028.590763519] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051028.644747519] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051028.645496009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051028.645906217] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051028.647319102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051028.648350677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051028.744935932] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051028.745603341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051028.746223884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051028.747611617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051028.748650742] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051028.835464117] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051028.837374372] [sailbot.teensy]: Wind angle: 100 -[trim_sail-4] [INFO] [1746051028.838106597] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746051028.838683429] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051028.839932376] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051028.840814198] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051028.841647400] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051028.844337310] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051028.845084617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051028.845591501] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051028.847119232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051028.848255373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051028.945470460] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051028.946220999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051028.947061086] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051028.948531411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051028.949802199] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051028.957258599] [sailbot.main_algo]: Wind Direction: 100 -[main_algo-3] [INFO] [1746051028.958331933] [sailbot.main_algo]: Target Bearing: -111.37090246720129 -[main_algo-3] [INFO] [1746051028.959238311] [sailbot.main_algo]: Heading Difference: 126.99390246720128 -[main_algo-3] [INFO] [1746051028.960087972] [sailbot.main_algo]: Wind Direction: 100 -[main_algo-3] [INFO] [1746051028.960981879] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051028.961837598] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051028.963058642] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051028.963620574] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051029.003231998] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893595 Long: -76.50319393 -[main_algo-3] [INFO] [1746051029.004395586] [sailbot.main_algo]: Distance to destination: 25.507734114233287 -[vectornav-1] [INFO] [1746051029.004640834] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (8.463999999999999, 0.767, 8.709) -[main_algo-3] [INFO] [1746051029.005659312] [sailbot.main_algo]: Target Bearing: -112.49815409638045 -[main_algo-3] [INFO] [1746051029.006693914] [sailbot.main_algo]: Heading Difference: 128.12115409638045 -[main_algo-3] [INFO] [1746051029.007582755] [sailbot.main_algo]: Wind Direction: 100 -[main_algo-3] [INFO] [1746051029.008500631] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051029.009350723] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051029.011039290] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051029.045731827] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051029.045850620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051029.047098168] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051029.047900525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051029.049049947] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051029.085153742] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051029.087285574] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051029.088245364] [sailbot.teensy]: Wind angle: 100 -[mux-7] [INFO] [1746051029.089162425] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051029.089289807] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051029.090230514] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051029.091136725] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051029.144777621] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051029.145366529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051029.145936405] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051029.147136338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051029.148285517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051029.245362831] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051029.246300151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051029.246845866] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051029.248588564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051029.249205746] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051029.335260178] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051029.337591607] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746051029.338052362] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051029.338166072] [sailbot.teensy]: Wind angle: 95 -[teensy-2] [INFO] [1746051029.339461476] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051029.340369384] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051029.341206260] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051029.344433208] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051029.344803314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051029.345561247] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051029.346407497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051029.347430473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051029.445467925] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051029.446415217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051029.447087614] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051029.448859265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051029.450142068] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051029.456997218] [sailbot.main_algo]: Wind Direction: 95 -[main_algo-3] [INFO] [1746051029.457951711] [sailbot.main_algo]: Target Bearing: -112.49815409638045 -[main_algo-3] [INFO] [1746051029.458811183] [sailbot.main_algo]: Heading Difference: 120.96215409638046 -[main_algo-3] [INFO] [1746051029.459601182] [sailbot.main_algo]: Wind Direction: 95 -[main_algo-3] [INFO] [1746051029.460401105] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051029.461196620] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051029.462185542] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051029.462780479] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051029.503642175] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689369 Long: -76.50318814 -[main_algo-3] [INFO] [1746051029.504232994] [sailbot.main_algo]: Distance to destination: 25.783429221004884 -[vectornav-1] [INFO] [1746051029.505170811] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (3.913000000000011, -1.444, 4.121) -[main_algo-3] [INFO] [1746051029.505491439] [sailbot.main_algo]: Target Bearing: -113.39674243236395 -[main_algo-3] [INFO] [1746051029.506553508] [sailbot.main_algo]: Heading Difference: 121.86074243236396 -[main_algo-3] [INFO] [1746051029.507463004] [sailbot.main_algo]: Wind Direction: 95 -[main_algo-3] [INFO] [1746051029.508399563] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051029.509240764] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051029.510948265] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051029.544896294] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051029.545560445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051029.546276386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051029.547377330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051029.548580852] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051029.585343327] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051029.587358069] [sailbot.teensy]: Wind angle: 88 -[trim_sail-4] [INFO] [1746051029.587711249] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746051029.588348029] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051029.589210512] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051029.589212044] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051029.590125201] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051029.645407298] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051029.646406291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051029.647036889] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051029.648750147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051029.650022935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051029.745573759] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051029.746633925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051029.747276979] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051029.748535423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051029.749037240] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051029.835254392] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051029.837659648] [sailbot.teensy]: Wind angle: 90 -[trim_sail-4] [INFO] [1746051029.838229417] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746051029.838708170] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051029.838783711] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051029.839357354] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051029.839696854] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051029.844503808] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051029.845194138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051029.845876598] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051029.847004192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051029.848056904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051029.945290523] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051029.945906822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051029.947168408] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051029.948093496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051029.949424919] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051029.957101746] [sailbot.main_algo]: Wind Direction: 90 -[main_algo-3] [INFO] [1746051029.958097024] [sailbot.main_algo]: Target Bearing: -113.39674243236395 -[main_algo-3] [INFO] [1746051029.958992748] [sailbot.main_algo]: Heading Difference: 117.30974243236398 -[main_algo-3] [INFO] [1746051029.959898590] [sailbot.main_algo]: Wind Direction: 90 -[main_algo-3] [INFO] [1746051029.960810027] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051029.961660214] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051029.962667635] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051029.963383979] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051030.002944549] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893763 Long: -76.50318199 -[main_algo-3] [INFO] [1746051030.004010776] [sailbot.main_algo]: Distance to destination: 26.054599958516018 -[vectornav-1] [INFO] [1746051030.004349388] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (2.3489999999999895, -2.725, 8.233) -[main_algo-3] [INFO] [1746051030.005411658] [sailbot.main_algo]: Target Bearing: -114.35712666563829 -[main_algo-3] [INFO] [1746051030.006438625] [sailbot.main_algo]: Heading Difference: 118.27012666563832 -[main_algo-3] [INFO] [1746051030.007337906] [sailbot.main_algo]: Wind Direction: 90 -[main_algo-3] [INFO] [1746051030.008220398] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051030.009078795] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051030.010823203] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051030.045101527] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051030.045835141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051030.046502936] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051030.047791403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051030.048866814] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051030.085185870] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051030.087200714] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746051030.088805663] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051030.089498886] [sailbot.teensy]: Wind angle: 92 -[teensy-2] [INFO] [1746051030.090393199] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051030.091241071] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051030.092051650] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051030.144405527] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051030.145085091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051030.145425543] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051030.146835396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051030.147761042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051030.245168819] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051030.246170865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051030.246999936] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051030.247975704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051030.248529663] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051030.335035915] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051030.337129373] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746051030.337600389] [sailbot.teensy]: Wind angle: 92 -[mux-7] [INFO] [1746051030.338298224] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051030.338517294] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051030.339025485] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051030.339390920] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051030.344405755] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051030.345029868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051030.345484102] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051030.346866863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051030.348055244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051030.445445643] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051030.446678279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051030.447177856] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051030.448402331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051030.448801693] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051030.456999700] [sailbot.main_algo]: Wind Direction: 92 -[main_algo-3] [INFO] [1746051030.458017923] [sailbot.main_algo]: Target Bearing: -114.35712666563829 -[main_algo-3] [INFO] [1746051030.458902596] [sailbot.main_algo]: Heading Difference: 116.7061266656383 -[main_algo-3] [INFO] [1746051030.459699198] [sailbot.main_algo]: Wind Direction: 92 -[main_algo-3] [INFO] [1746051030.460499332] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051030.461270499] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051030.462270534] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051030.463087298] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051030.503389895] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893679 Long: -76.50317463 -[main_algo-3] [INFO] [1746051030.504396956] [sailbot.main_algo]: Distance to destination: 26.21541887000657 -[vectornav-1] [INFO] [1746051030.504592391] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (354.877, -0.586, 10.734) -[main_algo-3] [INFO] [1746051030.505440056] [sailbot.main_algo]: Target Bearing: -115.65238782397394 -[main_algo-3] [INFO] [1746051030.506398973] [sailbot.main_algo]: Heading Difference: 118.00138782397391 -[main_algo-3] [INFO] [1746051030.507310962] [sailbot.main_algo]: Wind Direction: 92 -[main_algo-3] [INFO] [1746051030.508205051] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051030.509052384] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051030.510770312] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051030.545014720] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051030.545671163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051030.546306980] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051030.547511301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051030.548576568] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051030.585373410] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051030.587518737] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746051030.588108631] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051030.588457000] [sailbot.teensy]: Wind angle: 93 -[teensy-2] [INFO] [1746051030.589448364] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051030.590331439] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051030.591197763] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051030.645109035] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051030.646121904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051030.646700904] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051030.648424023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051030.649484463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051030.745115112] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051030.745894265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051030.746862624] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051030.747822010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051030.749065691] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051030.835339219] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051030.837609125] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746051030.838333848] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051030.838538161] [sailbot.teensy]: Wind angle: 92 -[teensy-2] [INFO] [1746051030.838926435] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051030.839309434] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051030.839665387] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051030.844491324] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051030.845194702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051030.845707751] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051030.846942357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051030.848073268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051030.945317589] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051030.946265496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051030.947035347] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051030.947688014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051030.948164486] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051030.957005791] [sailbot.main_algo]: Wind Direction: 92 -[main_algo-3] [INFO] [1746051030.957938898] [sailbot.main_algo]: Target Bearing: -115.65238782397394 -[main_algo-3] [INFO] [1746051030.958781014] [sailbot.main_algo]: Heading Difference: 110.52938782397393 -[main_algo-3] [INFO] [1746051030.959627496] [sailbot.main_algo]: Wind Direction: 92 -[main_algo-3] [INFO] [1746051030.960463134] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051030.961264965] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051030.962272249] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051030.963117466] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051031.003677833] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893539 Long: -76.50316779 -[main_algo-3] [INFO] [1746051031.004400691] [sailbot.main_algo]: Distance to destination: 26.31484553188446 -[vectornav-1] [INFO] [1746051031.005439097] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (347.831, 3.288, 8.073) -[main_algo-3] [INFO] [1746051031.005592209] [sailbot.main_algo]: Target Bearing: -116.90666281369727 -[main_algo-3] [INFO] [1746051031.006926684] [sailbot.main_algo]: Heading Difference: 111.78366281369722 -[main_algo-3] [INFO] [1746051031.008074309] [sailbot.main_algo]: Wind Direction: 92 -[main_algo-3] [INFO] [1746051031.009018696] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051031.009929585] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051031.011744257] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051031.045369205] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051031.045945487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051031.046956085] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051031.048253332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051031.049449552] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051031.085425788] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051031.087986703] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746051031.088481847] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051031.089107668] [sailbot.teensy]: Wind angle: 84 -[teensy-2] [INFO] [1746051031.090316035] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051031.091203527] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051031.092041008] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051031.144773162] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051031.145487665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051031.146363586] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051031.147267404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051031.148510486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051031.244949386] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051031.245803020] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051031.246356848] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051031.247606079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051031.248796166] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051031.335204269] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051031.338088115] [sailbot.teensy]: Wind angle: 73 -[trim_sail-4] [INFO] [1746051031.338306837] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051031.338649796] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051031.339378672] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051031.340299203] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051031.341169827] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051031.344335246] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051031.344861930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051031.345414991] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051031.346550218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051031.347702587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051031.445348216] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051031.446034414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051031.446865232] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051031.448363412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051031.449688497] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051031.457214134] [sailbot.main_algo]: Wind Direction: 73 -[main_algo-3] [INFO] [1746051031.458281347] [sailbot.main_algo]: Target Bearing: -116.90666281369727 -[main_algo-3] [INFO] [1746051031.459190757] [sailbot.main_algo]: Heading Difference: 104.73766281369728 -[main_algo-3] [INFO] [1746051031.460034523] [sailbot.main_algo]: Wind Direction: 73 -[main_algo-3] [INFO] [1746051031.460890148] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051031.461692751] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051031.462675823] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051031.463402209] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051031.503095729] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893445 Long: -76.5031619 -[vectornav-1] [INFO] [1746051031.504431944] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (343.418, -0.027, 5.201) -[main_algo-3] [INFO] [1746051031.504796524] [sailbot.main_algo]: Distance to destination: 26.436784672230072 -[main_algo-3] [INFO] [1746051031.505980399] [sailbot.main_algo]: Target Bearing: -117.94975013098637 -[main_algo-3] [INFO] [1746051031.506960087] [sailbot.main_algo]: Heading Difference: 105.78075013098646 -[main_algo-3] [INFO] [1746051031.507875963] [sailbot.main_algo]: Wind Direction: 73 -[main_algo-3] [INFO] [1746051031.508804746] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051031.509666138] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051031.511423845] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051031.545133999] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051031.545868923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051031.546582990] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051031.548201487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051031.549352137] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051031.585226247] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051031.586788407] [sailbot.teensy]: Wind angle: 72 -[trim_sail-4] [INFO] [1746051031.587753202] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051031.588643375] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051031.589110863] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051031.589690874] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051031.590630637] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051031.644675332] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051031.645273928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051031.645860625] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051031.647039409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051031.648077187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051031.745389101] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051031.746167675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051031.746875131] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051031.748283222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051031.749539313] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051031.835268725] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051031.837178265] [sailbot.teensy]: Wind angle: 73 -[trim_sail-4] [INFO] [1746051031.837707261] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051031.838129764] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051031.839042317] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051031.839559578] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051031.839927014] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051031.844447299] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051031.845238048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051031.845684289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051031.847011082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051031.848180930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051031.945333876] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051031.946120933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051031.946809976] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051031.948464531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051031.949553663] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051031.957151987] [sailbot.main_algo]: Wind Direction: 73 -[main_algo-3] [INFO] [1746051031.958156105] [sailbot.main_algo]: Target Bearing: -117.94975013098637 -[main_algo-3] [INFO] [1746051031.959043867] [sailbot.main_algo]: Heading Difference: 101.36775013098645 -[main_algo-3] [INFO] [1746051031.959896365] [sailbot.main_algo]: Wind Direction: 73 -[main_algo-3] [INFO] [1746051031.960864470] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051031.961726881] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051031.962846104] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051031.963630359] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051032.002826031] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893302 Long: -76.50315646 -[vectornav-1] [INFO] [1746051032.003954929] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (340.336, -2.604, 7.763) -[main_algo-3] [INFO] [1746051032.003945377] [sailbot.main_algo]: Distance to destination: 26.501989307868758 -[main_algo-3] [INFO] [1746051032.005130070] [sailbot.main_algo]: Target Bearing: -118.96744599751683 -[main_algo-3] [INFO] [1746051032.006120077] [sailbot.main_algo]: Heading Difference: 102.38544599751685 -[main_algo-3] [INFO] [1746051032.007061833] [sailbot.main_algo]: Wind Direction: 73 -[main_algo-3] [INFO] [1746051032.007983035] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051032.008880419] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051032.010589046] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051032.045341566] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051032.045704491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051032.046647064] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051032.047700328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051032.048813477] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051032.085107229] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051032.087268755] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051032.087273403] [sailbot.teensy]: Wind angle: 74 -[teensy-2] [INFO] [1746051032.088198735] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051032.088847753] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051032.089103297] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051032.090035825] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051032.107837496] [sailbot.mux]: controller_app rudder angle: -7 -[mux-7] [INFO] [1746051032.144977935] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051032.145902252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051032.146492273] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051032.147730633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051032.148897657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051032.245358372] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051032.246105841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051032.246978361] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051032.248278333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051032.249584416] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051032.335346581] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051032.337441887] [sailbot.teensy]: Wind angle: 70 -[trim_sail-4] [INFO] [1746051032.338173982] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051032.338431544] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051032.339289293] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051032.339317670] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051032.340221070] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051032.344592127] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051032.345211565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051032.345796737] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051032.347030515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051032.348078663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051032.445241978] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051032.445872891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051032.446896575] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051032.448057892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051032.449241239] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051032.456995695] [sailbot.main_algo]: Wind Direction: 70 -[main_algo-3] [INFO] [1746051032.457928202] [sailbot.main_algo]: Target Bearing: -118.96744599751683 -[main_algo-3] [INFO] [1746051032.458741580] [sailbot.main_algo]: Heading Difference: 99.30344599751686 -[main_algo-3] [INFO] [1746051032.459524637] [sailbot.main_algo]: Wind Direction: 70 -[main_algo-3] [INFO] [1746051032.460346158] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051032.461128309] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051032.462136735] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051032.462985466] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051032.503104112] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893092 Long: -76.50315057 -[main_algo-3] [INFO] [1746051032.503998068] [sailbot.main_algo]: Distance to destination: 26.528416789511027 -[vectornav-1] [INFO] [1746051032.504550223] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (337.712, -1.187, 6.71) -[main_algo-3] [INFO] [1746051032.505150423] [sailbot.main_algo]: Target Bearing: -120.127572248622 -[main_algo-3] [INFO] [1746051032.506145808] [sailbot.main_algo]: Heading Difference: 100.46357224862209 -[main_algo-3] [INFO] [1746051032.507059050] [sailbot.main_algo]: Wind Direction: 70 -[main_algo-3] [INFO] [1746051032.507926962] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051032.508778075] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051032.510464915] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051032.545106374] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051032.545960879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051032.546716685] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051032.548468267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051032.549512877] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051032.585376418] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051032.588114273] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051032.588503319] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051032.588894915] [sailbot.teensy]: Wind angle: 70 -[teensy-2] [INFO] [1746051032.589858761] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051032.590744504] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746051032.591597362] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051032.644822184] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051032.645694225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051032.646100159] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051032.647724400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051032.648792449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051032.745443260] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051032.746079121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051032.747062769] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051032.748239210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051032.749318072] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051032.835339693] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051032.837854794] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051032.838406212] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051032.838739204] [sailbot.teensy]: Wind angle: 70 -[teensy-2] [INFO] [1746051032.839726025] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051032.840601963] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746051032.841447105] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051032.844296038] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051032.844826075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051032.845604366] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051032.846552509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051032.847621181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051032.945008564] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051032.945774941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051032.946456369] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051032.947770049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051032.948401914] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051032.957088916] [sailbot.main_algo]: Wind Direction: 70 -[main_algo-3] [INFO] [1746051032.958091055] [sailbot.main_algo]: Target Bearing: -120.127572248622 -[main_algo-3] [INFO] [1746051032.958964520] [sailbot.main_algo]: Heading Difference: 97.83957224862206 -[main_algo-3] [INFO] [1746051032.959807369] [sailbot.main_algo]: Wind Direction: 70 -[main_algo-3] [INFO] [1746051032.960638433] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051032.961420602] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051032.962535067] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051032.963033712] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051033.003002826] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892891 Long: -76.50314427 -[vectornav-1] [INFO] [1746051033.004938445] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (339.479, 1.244, 9.014) -[main_algo-3] [INFO] [1746051033.004927282] [sailbot.main_algo]: Distance to destination: 26.59133259984256 -[main_algo-3] [INFO] [1746051033.006113470] [sailbot.main_algo]: Target Bearing: -121.33679341467014 -[main_algo-3] [INFO] [1746051033.007111641] [sailbot.main_algo]: Heading Difference: 99.04879341467017 -[main_algo-3] [INFO] [1746051033.008069279] [sailbot.main_algo]: Wind Direction: 70 -[main_algo-3] [INFO] [1746051033.008976159] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051033.009833425] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051033.011526847] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051033.045110394] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051033.045968043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051033.046521105] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051033.047949816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051033.049051844] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051033.085106340] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051033.086730533] [sailbot.teensy]: Wind angle: 70 -[teensy-2] [INFO] [1746051033.087667575] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051033.087495232] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051033.088352547] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051033.088595626] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746051033.089491840] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051033.144936507] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051033.145637192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051033.146745477] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051033.147476015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051033.148577294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051033.245256272] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051033.246276995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051033.246771507] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051033.248110762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051033.248628592] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051033.335296275] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051033.337460096] [sailbot.teensy]: Wind angle: 70 -[trim_sail-4] [INFO] [1746051033.337517977] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051033.338445356] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051033.339166706] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051033.339336462] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746051033.340235882] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051033.344356384] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051033.344858930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051033.345495229] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051033.346575663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051033.347637800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051033.363912468] [sailbot.mux]: controller_app rudder angle: -8 -[mux-7] [INFO] [1746051033.444896128] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051033.445637893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051033.446447751] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746051033.447510833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746051033.448672694] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051033.457049477] [sailbot.main_algo]: Wind Direction: 70 -[main_algo-3] [INFO] [1746051033.457994463] [sailbot.main_algo]: Target Bearing: -121.33679341467014 -[main_algo-3] [INFO] [1746051033.458865311] [sailbot.main_algo]: Heading Difference: 100.81579341467011 -[main_algo-3] [INFO] [1746051033.459692500] [sailbot.main_algo]: Wind Direction: 70 -[main_algo-3] [INFO] [1746051033.460516541] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051033.461322020] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051033.462341441] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051033.463641055] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051033.502841589] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892691 Long: -76.50313877 -[main_algo-3] [INFO] [1746051033.503526060] [sailbot.main_algo]: Distance to destination: 26.63264762783273 -[vectornav-1] [INFO] [1746051033.504099014] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (341.817, 0.957, 9.216) -[main_algo-3] [INFO] [1746051033.504589429] [sailbot.main_algo]: Target Bearing: -122.41789852002637 -[main_algo-3] [INFO] [1746051033.505568983] [sailbot.main_algo]: Heading Difference: 101.8968985200263 -[main_algo-3] [INFO] [1746051033.506483617] [sailbot.main_algo]: Wind Direction: 70 -[main_algo-3] [INFO] [1746051033.507353108] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051033.508214007] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051033.510036845] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051033.545192658] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051033.546020733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051033.546726071] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746051033.548270368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746051033.549556368] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051033.585480383] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051033.587716955] [sailbot.teensy]: Wind angle: 69 -[teensy-2] [INFO] [1746051033.588712185] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051033.588054966] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746051033.589663974] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746051033.589973269] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746051033.590605693] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051033.644886376] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051033.645400590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051033.646599582] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746051033.647308716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746051033.648422808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051033.744791691] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051033.745304032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051033.746041838] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746051033.747056243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746051033.748292900] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051033.835416019] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051033.837315438] [sailbot.teensy]: Wind angle: 70 -[trim_sail-4] [INFO] [1746051033.838048175] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051033.839159838] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051033.839477413] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051033.839554002] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746051033.839927988] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051033.844533212] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051033.845138294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051033.845751183] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746051033.846946869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746051033.847980509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051033.945303702] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051033.945940521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051033.946857046] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746051033.947887960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746051033.948820557] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051033.957097978] [sailbot.main_algo]: Wind Direction: 70 -[main_algo-3] [INFO] [1746051033.958096289] [sailbot.main_algo]: Target Bearing: -122.41789852002637 -[main_algo-3] [INFO] [1746051033.959088995] [sailbot.main_algo]: Heading Difference: 104.23489852002638 -[main_algo-3] [INFO] [1746051033.959966864] [sailbot.main_algo]: Wind Direction: 70 -[main_algo-3] [INFO] [1746051033.960783180] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051033.961583712] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051033.962719576] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051033.963244389] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051034.002873771] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892594 Long: -76.50313366 -[main_algo-3] [INFO] [1746051034.003764168] [sailbot.main_algo]: Distance to destination: 26.76283688696382 -[vectornav-1] [INFO] [1746051034.004006812] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (350.438, -1.406, 8.948) -[main_algo-3] [INFO] [1746051034.005786494] [sailbot.main_algo]: Target Bearing: -123.30584901064178 -[main_algo-3] [INFO] [1746051034.007100423] [sailbot.main_algo]: Heading Difference: 105.12284901064186 -[main_algo-3] [INFO] [1746051034.008045378] [sailbot.main_algo]: Wind Direction: 70 -[main_algo-3] [INFO] [1746051034.008924262] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051034.009753769] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051034.011289036] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051034.044935756] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051034.045679216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051034.046368004] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746051034.047647867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746051034.048686151] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051034.085334158] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051034.087108932] [sailbot.teensy]: Wind angle: 69 -[trim_sail-4] [INFO] [1746051034.087658034] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746051034.088045553] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051034.088974884] [sailbot.teensy]: Actual tail angle: 17 -[mux-7] [INFO] [1746051034.088607298] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746051034.089856570] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051034.108848008] [sailbot.mux]: controller_app rudder angle: -7 -[mux-7] [INFO] [1746051034.145202639] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051034.146140185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051034.147172042] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051034.148344658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051034.149518421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051034.245135145] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051034.245950110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051034.246416516] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051034.247646743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051034.248193805] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051034.335146728] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051034.337291597] [sailbot.teensy]: Wind angle: 70 -[trim_sail-4] [INFO] [1746051034.337330149] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051034.337898485] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051034.338441595] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051034.339564538] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746051034.340517677] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051034.344465263] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051034.344939050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051034.345644115] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051034.346655580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051034.347710862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051034.445647163] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051034.446451450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051034.447485473] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051034.448818445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051034.449985895] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051034.456944885] [sailbot.main_algo]: Wind Direction: 70 -[main_algo-3] [INFO] [1746051034.457899755] [sailbot.main_algo]: Target Bearing: -123.30584901064178 -[main_algo-3] [INFO] [1746051034.458777966] [sailbot.main_algo]: Heading Difference: 113.74384901064172 -[main_algo-3] [INFO] [1746051034.459566715] [sailbot.main_algo]: Wind Direction: 70 -[main_algo-3] [INFO] [1746051034.460354765] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051034.461160660] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051034.462120777] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051034.462746957] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051034.502893369] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892544 Long: -76.5031283 -[main_algo-3] [INFO] [1746051034.503535490] [sailbot.main_algo]: Distance to destination: 26.95433184114146 -[vectornav-1] [INFO] [1746051034.503983247] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (9.891999999999996, -1.119, 13.754) -[main_algo-3] [INFO] [1746051034.504579116] [sailbot.main_algo]: Target Bearing: -124.160861902207 -[main_algo-3] [INFO] [1746051034.505577265] [sailbot.main_algo]: Heading Difference: 114.59886190220698 -[main_algo-3] [INFO] [1746051034.506477961] [sailbot.main_algo]: Wind Direction: 70 -[main_algo-3] [INFO] [1746051034.507375518] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051034.508266474] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051034.509948551] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051034.544929574] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051034.545699127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051034.546236095] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051034.547559002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051034.548740239] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051034.585455763] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051034.587316802] [sailbot.teensy]: Wind angle: 76 -[trim_sail-4] [INFO] [1746051034.588122801] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746051034.588291667] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051034.589224086] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746051034.589325386] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746051034.590282255] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051034.645078730] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051034.645860023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051034.646954859] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051034.647909642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051034.649230750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051034.745212208] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051034.746575802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051034.746725639] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051034.748778900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051034.749907711] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051034.835573871] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051034.838073764] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746051034.838758581] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051034.839451117] [sailbot.teensy]: Wind angle: 89 -[teensy-2] [INFO] [1746051034.839877393] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051034.840532096] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746051034.841407218] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051034.844515142] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051034.844839009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051034.845814300] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051034.846540312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051034.847636219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051034.944971546] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051034.945695995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051034.946510034] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051034.947798179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051034.948840968] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051034.957036378] [sailbot.main_algo]: Wind Direction: 89 -[main_algo-3] [INFO] [1746051034.958001765] [sailbot.main_algo]: Target Bearing: -124.160861902207 -[main_algo-3] [INFO] [1746051034.958935526] [sailbot.main_algo]: Heading Difference: 134.05286190220698 -[main_algo-3] [INFO] [1746051034.959774108] [sailbot.main_algo]: Wind Direction: 89 -[main_algo-3] [INFO] [1746051034.960589005] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051034.961373074] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051034.962527891] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051034.962930468] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051035.003380012] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892642 Long: -76.50312364 -[main_algo-3] [INFO] [1746051035.003955096] [sailbot.main_algo]: Distance to destination: 27.256210953066223 -[vectornav-1] [INFO] [1746051035.005082312] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.244000000000028, 1.48, 16.68) -[main_algo-3] [INFO] [1746051035.005114087] [sailbot.main_algo]: Target Bearing: -124.71015346188176 -[main_algo-3] [INFO] [1746051035.006123513] [sailbot.main_algo]: Heading Difference: 134.60215346188176 -[main_algo-3] [INFO] [1746051035.007086965] [sailbot.main_algo]: Wind Direction: 89 -[main_algo-3] [INFO] [1746051035.007981116] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051035.008863275] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051035.010527702] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051035.045063835] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051035.045799931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051035.046931353] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051035.047822868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051035.048901242] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051035.085468210] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051035.087886386] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051035.088062416] [sailbot.teensy]: Wind angle: 101 -[teensy-2] [INFO] [1746051035.089195698] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051035.089646732] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051035.090104686] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746051035.091004958] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051035.143835438] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051035.144197601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051035.144463023] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051035.145070860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051035.145714534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051035.244866678] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051035.245569311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051035.246733519] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051035.247648742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051035.248739063] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051035.335238508] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051035.337513392] [sailbot.teensy]: Wind angle: 110 -[trim_sail-4] [INFO] [1746051035.337573478] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051035.338528513] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051035.339017048] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051035.339483113] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746051035.340429946] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051035.344363973] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051035.345061026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051035.345629493] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051035.346837453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051035.347987027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051035.444977630] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051035.445721348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051035.446257911] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051035.447690581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051035.448344876] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051035.457157817] [sailbot.main_algo]: Wind Direction: 110 -[main_algo-3] [INFO] [1746051035.458248763] [sailbot.main_algo]: Target Bearing: -124.71015346188176 -[main_algo-3] [INFO] [1746051035.459205061] [sailbot.main_algo]: Heading Difference: 154.9541534618818 -[main_algo-3] [INFO] [1746051035.460046116] [sailbot.main_algo]: Wind Direction: 110 -[main_algo-3] [INFO] [1746051035.460870826] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051035.461664893] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051035.462661782] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051035.463239225] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051035.502657512] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46892872 Long: -76.50312021 -[main_algo-3] [INFO] [1746051035.503639902] [sailbot.main_algo]: Distance to destination: 27.625348358123443 -[vectornav-1] [INFO] [1746051035.503804503] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.891999999999996, -1.543, 15.15) -[main_algo-3] [INFO] [1746051035.505284574] [sailbot.main_algo]: Target Bearing: -124.9029019136671 -[main_algo-3] [INFO] [1746051035.506550986] [sailbot.main_algo]: Heading Difference: 155.14690191366714 -[main_algo-3] [INFO] [1746051035.507436963] [sailbot.main_algo]: Wind Direction: 110 -[main_algo-3] [INFO] [1746051035.508314216] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051035.509158992] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051035.510865849] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051035.545091427] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051035.545941197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051035.546500416] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051035.547957926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051035.549113156] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051035.585242576] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051035.587288955] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051035.587532104] [sailbot.teensy]: Wind angle: 117 -[teensy-2] [INFO] [1746051035.588699562] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051035.589039060] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051035.589661860] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746051035.590618359] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051035.645181395] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051035.645896413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051035.646623539] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051035.647657103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051035.648190078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051035.745162263] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051035.746035155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051035.746716847] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051035.748280547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051035.749364738] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051035.835310195] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051035.837519098] [sailbot.teensy]: Wind angle: 127 -[trim_sail-4] [INFO] [1746051035.837552423] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051035.839007275] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051035.839513613] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051035.840447943] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746051035.841291881] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051035.844555132] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051035.844898078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051035.845869353] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051035.846647453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051035.847709470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051035.945350979] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051035.946105018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051035.947089010] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051035.948087149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[mux-7] [INFO] [1746051035.949285192] [sailbot.mux]: controller_app rudder angle: 10 -[teensy-2] [INFO] [1746051035.949651816] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051035.957127205] [sailbot.main_algo]: Wind Direction: 127 -[main_algo-3] [INFO] [1746051035.958158384] [sailbot.main_algo]: Target Bearing: -124.9029019136671 -[main_algo-3] [INFO] [1746051035.959099571] [sailbot.main_algo]: Heading Difference: 174.7949019136671 -[main_algo-3] [INFO] [1746051035.959988254] [sailbot.main_algo]: Wind Direction: 127 -[main_algo-3] [INFO] [1746051035.960913928] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051035.961788371] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051035.962819804] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051035.963523053] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051036.003125486] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893134 Long: -76.50311792 -[main_algo-3] [INFO] [1746051036.004085206] [sailbot.main_algo]: Distance to destination: 27.97187960422241 -[vectornav-1] [INFO] [1746051036.004404109] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (69.55200000000002, 1.949, 13.625) -[main_algo-3] [INFO] [1746051036.005360880] [sailbot.main_algo]: Target Bearing: -124.89074714915053 -[main_algo-3] [INFO] [1746051036.006376389] [sailbot.main_algo]: Heading Difference: 174.7827471491505 -[main_algo-3] [INFO] [1746051036.007261473] [sailbot.main_algo]: Wind Direction: 127 -[main_algo-3] [INFO] [1746051036.008163127] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051036.009038444] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051036.010748919] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051036.045240581] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051036.045805154] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051036.046676492] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746051036.047771312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746051036.048960326] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051036.085226600] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051036.086798191] [sailbot.teensy]: Wind angle: 137 -[teensy-2] [INFO] [1746051036.087734682] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051036.087718344] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051036.088692781] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746051036.089254807] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051036.089670213] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051036.144995248] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051036.145457074] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051036.146376223] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746051036.147461231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746051036.148520293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051036.174339726] [sailbot.mux]: controller_app rudder angle: 11 -[mux-7] [INFO] [1746051036.244902253] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051036.245667328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051036.246285069] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746051036.247908378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746051036.249095608] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051036.335064143] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051036.336595932] [sailbot.teensy]: Wind angle: 141 -[trim_sail-4] [INFO] [1746051036.337187285] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051036.337517138] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051036.338406013] [sailbot.teensy]: Actual tail angle: 35 -[mux-7] [INFO] [1746051036.338654355] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051036.339294351] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051036.344419914] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051036.345133045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051036.346074764] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746051036.347076226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746051036.348092587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051036.445115965] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051036.445765577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051036.446921489] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746051036.447757846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746051036.448350264] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051036.456927982] [sailbot.main_algo]: Wind Direction: 141 -[main_algo-3] [INFO] [1746051036.457867227] [sailbot.main_algo]: Target Bearing: -124.89074714915053 -[main_algo-3] [INFO] [1746051036.458693699] [sailbot.main_algo]: Heading Difference: -165.55725285084947 -[main_algo-3] [INFO] [1746051036.459468096] [sailbot.main_algo]: Wind Direction: 141 -[main_algo-3] [INFO] [1746051036.460290475] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051036.461071738] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051036.462354183] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051036.462613083] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051036.503387031] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46893382 Long: -76.5031176 -[main_algo-3] [INFO] [1746051036.503836939] [sailbot.main_algo]: Distance to destination: 28.21552444076011 -[vectornav-1] [INFO] [1746051036.504923406] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (83.65100000000001, -1.713, 9.776) -[main_algo-3] [INFO] [1746051036.505187268] [sailbot.main_algo]: Target Bearing: -124.62335901038999 -[main_algo-3] [INFO] [1746051036.506183545] [sailbot.main_algo]: Heading Difference: -165.82464098960997 -[main_algo-3] [INFO] [1746051036.507091208] [sailbot.main_algo]: Wind Direction: 141 -[main_algo-3] [INFO] [1746051036.507955665] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051036.508817316] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051036.510667572] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051036.545064821] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051036.545775190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051036.546511466] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746051036.547773515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746051036.548836262] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051036.585337277] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051036.587081490] [sailbot.teensy]: Wind angle: 143 -[teensy-2] [INFO] [1746051036.588012006] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051036.588054752] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051036.588885378] [sailbot.teensy]: Actual tail angle: 36 -[mux-7] [INFO] [1746051036.589383162] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051036.589784270] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051036.645351424] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051036.646065255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051036.646918180] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746051036.648630278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746051036.649945465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051036.745609106] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051036.746600181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051036.747404219] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746051036.749409655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746051036.750554955] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051036.835407409] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051036.837539835] [sailbot.teensy]: Wind angle: 147 -[trim_sail-4] [INFO] [1746051036.838051379] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051036.838588401] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051036.839157369] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051036.839539350] [sailbot.teensy]: Actual tail angle: 36 -[teensy-2] [INFO] [1746051036.840366721] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051036.844409547] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051036.845052956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051036.845607227] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746051036.846946666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746051036.847992232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051036.945140675] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051036.946166218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051036.946580601] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746051036.948387664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746051036.949476010] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051036.957110742] [sailbot.main_algo]: Wind Direction: 147 -[main_algo-3] [INFO] [1746051036.958156792] [sailbot.main_algo]: Target Bearing: -124.62335901038999 -[main_algo-3] [INFO] [1746051036.959186555] [sailbot.main_algo]: Heading Difference: -151.72564098960999 -[main_algo-3] [INFO] [1746051036.960093370] [sailbot.main_algo]: Wind Direction: 147 -[main_algo-3] [INFO] [1746051036.961000808] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051036.961858496] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051036.962965034] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051036.963897029] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051037.002906623] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689367 Long: -76.50311836 -[main_algo-3] [INFO] [1746051037.003860317] [sailbot.main_algo]: Distance to destination: 28.448242040241677 -[vectornav-1] [INFO] [1746051037.004076257] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (88.14999999999998, 0.722, 6.322) -[main_algo-3] [INFO] [1746051037.005112397] [sailbot.main_algo]: Target Bearing: -124.16197052129087 -[main_algo-3] [INFO] [1746051037.006068882] [sailbot.main_algo]: Heading Difference: -152.18702947870912 -[main_algo-3] [INFO] [1746051037.006968877] [sailbot.main_algo]: Wind Direction: 147 -[main_algo-3] [INFO] [1746051037.007864940] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051037.008729269] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051037.010464194] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051037.045085280] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051037.046158972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051037.046588678] [sailbot.mux]: Published rudder angle from controller_app: 11 -[teensy-2] [INFO] [1746051037.048308859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 11 -[teensy-2] [INFO] [1746051037.049494336] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051037.085213165] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051037.087089824] [sailbot.teensy]: Wind angle: 155 -[teensy-2] [INFO] [1746051037.088046200] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051037.088993081] [sailbot.teensy]: Actual tail angle: 36 -[trim_sail-4] [INFO] [1746051037.087681852] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051037.089028434] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051037.089956337] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051037.091098231] [sailbot.mux]: controller_app rudder angle: 12 -[mux-7] [INFO] [1746051037.145248882] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051037.146265394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051037.146820882] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051037.148719974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051037.149862570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051037.245236474] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051037.245996886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051037.246681444] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051037.248018680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051037.249221698] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051037.335328491] [sailbot.teensy]: Check telemetry callback entered -[mux-7] [INFO] [1746051037.338353815] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051037.338518514] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746051037.338902927] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051037.339567328] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051037.340566759] [sailbot.teensy]: Actual tail angle: 36 -[teensy-2] [INFO] [1746051037.341443924] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051037.344431189] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051037.344872630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051037.345805090] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051037.346552984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051037.347655398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051037.445380084] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051037.446494732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051037.446966969] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051037.448435533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051037.448960004] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051037.457056880] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051037.457934118] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746051037.458838578] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051037.459957634] [sailbot.main_algo]: Current Location: (42.46893670214936, -76.50311836005449) -[main_algo-3] [INFO] [1746051037.460867763] [sailbot.main_algo]: Target Bearing: -124.16197052129087 -[main_algo-3] [INFO] [1746051037.461686676] [sailbot.main_algo]: Heading Difference: -147.68802947870915 -[main_algo-3] [INFO] [1746051037.462473024] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051037.463250305] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051037.464035012] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051037.465051271] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051037.465610008] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051037.503120147] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.468939 Long: -76.50311841 -[main_algo-3] [INFO] [1746051037.503714589] [sailbot.main_algo]: Distance to destination: 28.66022000308538 -[vectornav-1] [INFO] [1746051037.504227352] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (86.37099999999998, 1.133, 7.131) -[main_algo-3] [INFO] [1746051037.504835373] [sailbot.main_algo]: Target Bearing: -123.875870183099 -[main_algo-3] [INFO] [1746051037.505786484] [sailbot.main_algo]: Heading Difference: -147.97412981690104 -[main_algo-3] [INFO] [1746051037.507005644] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051037.507943792] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051037.508849012] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051037.510561133] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051037.545043369] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051037.545855706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051037.546461554] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051037.547880181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051037.548938765] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051037.585377574] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051037.587667811] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051037.588146324] [sailbot.teensy]: Wind angle: 151 -[mux-7] [INFO] [1746051037.588471560] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051037.589170592] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051037.590087937] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051037.590898667] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051037.645229400] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051037.645979147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051037.646877270] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051037.647978919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051037.648850697] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051037.745483720] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051037.746145809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051037.747169472] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051037.748620910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051037.749830694] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051037.835131555] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051037.837248482] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051037.837683805] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051037.837958584] [sailbot.teensy]: Wind angle: 149 -[teensy-2] [INFO] [1746051037.839315721] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051037.839720564] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051037.840080323] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051037.844475740] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051037.844991284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051037.845608018] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051037.846680036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051037.847687386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051037.944766607] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051037.945471189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051037.946471539] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051037.947427139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051037.947985509] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051037.957123869] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051037.958072781] [sailbot.main_algo]: Target Bearing: -123.875870183099 -[main_algo-3] [INFO] [1746051037.958898139] [sailbot.main_algo]: Heading Difference: -149.75312981690104 -[main_algo-3] [INFO] [1746051037.959711164] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051037.960592255] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051037.961405754] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051037.962422074] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051037.963156576] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051038.003127781] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894067 Long: -76.50311889 -[main_algo-3] [INFO] [1746051038.003615816] [sailbot.main_algo]: Distance to destination: 28.794907790031218 -[vectornav-1] [INFO] [1746051038.004456111] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (84.41699999999997, -0.515, 3.738) -[main_algo-3] [INFO] [1746051038.004707927] [sailbot.main_algo]: Target Bearing: -123.60966171016804 -[main_algo-3] [INFO] [1746051038.005661294] [sailbot.main_algo]: Heading Difference: -150.01933828983198 -[main_algo-3] [INFO] [1746051038.006583100] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051038.007450108] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051038.008343266] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051038.010506378] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051038.045051856] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051038.045828526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051038.046590462] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051038.047832351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051038.049035053] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051038.085603359] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051038.087531474] [sailbot.teensy]: Wind angle: 143 -[trim_sail-4] [INFO] [1746051038.088310973] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051038.088526521] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051038.089436033] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051038.090383652] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051038.088813920] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051038.145281594] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051038.146188434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051038.146849448] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051038.148600047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051038.149757947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051038.245527863] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051038.246400487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051038.247202992] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051038.248166923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051038.248733595] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051038.335246845] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051038.337720784] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051038.338216097] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051038.338455790] [sailbot.teensy]: Wind angle: 137 -[teensy-2] [INFO] [1746051038.338950844] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051038.339342210] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051038.339813072] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051038.344485651] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051038.345056563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051038.345595494] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051038.346791617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051038.347763674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051038.445383093] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051038.446298603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051038.447063442] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051038.448560954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051038.449828517] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051038.457182329] [sailbot.main_algo]: Wind Direction: 137 -[main_algo-3] [INFO] [1746051038.458193285] [sailbot.main_algo]: Target Bearing: -123.60966171016804 -[main_algo-3] [INFO] [1746051038.459073367] [sailbot.main_algo]: Heading Difference: -151.973338289832 -[main_algo-3] [INFO] [1746051038.459922199] [sailbot.main_algo]: Wind Direction: 137 -[main_algo-3] [INFO] [1746051038.460804930] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051038.461671658] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051038.462742486] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051038.463381764] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051038.502891708] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894252 Long: -76.50311901 -[main_algo-3] [INFO] [1746051038.503943496] [sailbot.main_algo]: Distance to destination: 28.96293677174305 -[vectornav-1] [INFO] [1746051038.504093554] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (79.99700000000001, 0.024, 6.912) -[main_algo-3] [INFO] [1746051038.505113917] [sailbot.main_algo]: Target Bearing: -123.37426627056132 -[main_algo-3] [INFO] [1746051038.506052489] [sailbot.main_algo]: Heading Difference: -152.20873372943868 -[main_algo-3] [INFO] [1746051038.506951386] [sailbot.main_algo]: Wind Direction: 137 -[main_algo-3] [INFO] [1746051038.507826138] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051038.508673420] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051038.510344247] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051038.545557719] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051038.546590335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051038.547215874] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051038.549258081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051038.550338318] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051038.585415925] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051038.587349229] [sailbot.teensy]: Wind angle: 141 -[teensy-2] [INFO] [1746051038.588326531] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051038.587821787] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051038.588856575] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051038.589272197] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051038.590159879] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051038.645209643] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051038.646044291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051038.646740873] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051038.648552993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051038.649612590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051038.745570034] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051038.746309349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051038.747236655] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051038.747864015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051038.748500759] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051038.835247379] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051038.837564330] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051038.837997241] [sailbot.teensy]: Wind angle: 147 -[mux-7] [INFO] [1746051038.838109096] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051038.838674899] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051038.839052964] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051038.839416557] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051038.844895411] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051038.845206113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051038.846191040] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051038.846958903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051038.848021571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051038.945263751] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051038.945977199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051038.946802860] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051038.948278778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051038.949442824] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051038.957153506] [sailbot.main_algo]: Wind Direction: 147 -[main_algo-3] [INFO] [1746051038.958200337] [sailbot.main_algo]: Target Bearing: -123.37426627056132 -[main_algo-3] [INFO] [1746051038.959098692] [sailbot.main_algo]: Heading Difference: -156.62873372943864 -[main_algo-3] [INFO] [1746051038.959993211] [sailbot.main_algo]: Wind Direction: 147 -[main_algo-3] [INFO] [1746051038.960887474] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051038.961709014] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051038.962739594] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051038.963320718] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051039.003089137] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894379 Long: -76.50311837 -[main_algo-3] [INFO] [1746051039.004354813] [sailbot.main_algo]: Distance to destination: 29.11025983181328 -[vectornav-1] [INFO] [1746051039.004402199] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (76.04599999999999, -0.612, 6.664) -[main_algo-3] [INFO] [1746051039.005671488] [sailbot.main_algo]: Target Bearing: -123.31317160578367 -[main_algo-3] [INFO] [1746051039.006928383] [sailbot.main_algo]: Heading Difference: -156.6898283942163 -[main_algo-3] [INFO] [1746051039.007907967] [sailbot.main_algo]: Wind Direction: 147 -[main_algo-3] [INFO] [1746051039.008940903] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051039.009818322] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051039.011604147] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051039.045079758] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051039.045754572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051039.046514866] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051039.047760965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051039.048853376] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051039.085128678] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051039.086869065] [sailbot.teensy]: Wind angle: 138 -[trim_sail-4] [INFO] [1746051039.087397866] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051039.088898892] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051039.089045631] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051039.089938900] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051039.090828892] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051039.107823329] [sailbot.mux]: controller_app rudder angle: 12 -[mux-7] [INFO] [1746051039.144838802] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051039.145613561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051039.146075452] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051039.147409002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051039.148412639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051039.245384140] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051039.246486628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051039.246933960] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051039.248882001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051039.249485745] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051039.335205109] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051039.337357413] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051039.338346945] [sailbot.teensy]: Wind angle: 137 -[mux-7] [INFO] [1746051039.338387570] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051039.339305081] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051039.340197524] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051039.341185083] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051039.344373266] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051039.345041293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051039.345559016] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051039.346709752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051039.347762347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051039.445468227] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051039.446272654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051039.447164848] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051039.448601675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051039.449703661] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051039.456965927] [sailbot.main_algo]: Wind Direction: 137 -[main_algo-3] [INFO] [1746051039.457916746] [sailbot.main_algo]: Target Bearing: -123.31317160578367 -[main_algo-3] [INFO] [1746051039.458746497] [sailbot.main_algo]: Heading Difference: -160.64082839421633 -[main_algo-3] [INFO] [1746051039.459532354] [sailbot.main_algo]: Wind Direction: 137 -[main_algo-3] [INFO] [1746051039.460355537] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051039.461143351] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051039.462230693] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051039.462691349] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051039.503629916] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894559 Long: -76.50311781 -[main_algo-3] [INFO] [1746051039.504226290] [sailbot.main_algo]: Distance to destination: 29.303917459891466 -[vectornav-1] [INFO] [1746051039.504930473] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (69.40100000000001, 1.051, 4.968) -[main_algo-3] [INFO] [1746051039.505417186] [sailbot.main_algo]: Target Bearing: -123.1804227343281 -[main_algo-3] [INFO] [1746051039.506480722] [sailbot.main_algo]: Heading Difference: -160.77357726567192 -[main_algo-3] [INFO] [1746051039.507399355] [sailbot.main_algo]: Wind Direction: 137 -[main_algo-3] [INFO] [1746051039.508279934] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051039.509129231] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051039.510832706] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051039.544897956] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051039.545960666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051039.546812599] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051039.548068679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051039.549154208] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051039.585414947] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051039.587551995] [sailbot.teensy]: Wind angle: 136 -[trim_sail-4] [INFO] [1746051039.588046911] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051039.588765755] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051039.589753864] [sailbot.teensy]: Actual tail angle: 37 -[mux-7] [INFO] [1746051039.590011447] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051039.590655871] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051039.644948347] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051039.645905829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051039.646285140] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051039.647929997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051039.648941035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051039.745189019] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051039.746126967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051039.746739587] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051039.748258556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051039.749164953] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051039.835390059] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051039.837197537] [sailbot.teensy]: Wind angle: 134 -[teensy-2] [INFO] [1746051039.838127372] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051039.837714725] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051039.838997240] [sailbot.teensy]: Actual tail angle: 37 -[mux-7] [INFO] [1746051039.839066616] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051039.839891264] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051039.844516036] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051039.845103246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051039.845752519] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051039.847164537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051039.848234203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051039.945083486] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051039.945582387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051039.946889683] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051039.947439097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051039.948550728] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051039.957119617] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051039.958159516] [sailbot.main_algo]: Target Bearing: -123.1804227343281 -[main_algo-3] [INFO] [1746051039.959300053] [sailbot.main_algo]: Heading Difference: -167.4185772656719 -[main_algo-3] [INFO] [1746051039.960201810] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051039.961030340] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051039.961878093] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051039.963005343] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051039.963653405] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051040.002660979] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894686 Long: -76.50311704 -[main_algo-3] [INFO] [1746051040.003868433] [sailbot.main_algo]: Distance to destination: 29.457026373879255 -[vectornav-1] [INFO] [1746051040.004090306] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (63.136000000000024, -2.8, 6.95) -[main_algo-3] [INFO] [1746051040.005014512] [sailbot.main_algo]: Target Bearing: -123.13861649081734 -[main_algo-3] [INFO] [1746051040.005977556] [sailbot.main_algo]: Heading Difference: -167.46038350918263 -[main_algo-3] [INFO] [1746051040.006933700] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051040.007842972] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051040.008710496] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051040.010419198] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051040.045253069] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051040.045839122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051040.046820481] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051040.048189042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051040.049345671] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051040.085277613] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051040.087526514] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051040.087775843] [sailbot.teensy]: Wind angle: 130 -[mux-7] [INFO] [1746051040.088318179] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051040.088765013] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051040.089721477] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051040.090492002] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051040.107742344] [sailbot.mux]: controller_app rudder angle: 12 -[mux-7] [INFO] [1746051040.144981164] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051040.145789166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051040.146316368] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051040.147764076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051040.148799576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051040.245181193] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051040.246337987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051040.246679862] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051040.248531819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051040.249701395] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051040.335295984] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051040.337317046] [sailbot.teensy]: Wind angle: 125 -[teensy-2] [INFO] [1746051040.338261432] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051040.339129296] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051040.339976839] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051040.338437564] [sailbot.mux]: algo sail angle: 5 -[trim_sail-4] [INFO] [1746051040.338692638] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051040.344463164] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051040.345201814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051040.345592711] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051040.347029640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051040.348073736] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051040.445038019] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051040.445623205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051040.446425106] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051040.447754919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051040.448553190] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051040.457192985] [sailbot.main_algo]: Wind Direction: 125 -[main_algo-3] [INFO] [1746051040.458207229] [sailbot.main_algo]: Target Bearing: -123.13861649081734 -[main_algo-3] [INFO] [1746051040.459089084] [sailbot.main_algo]: Heading Difference: -173.72538350918262 -[main_algo-3] [INFO] [1746051040.459895760] [sailbot.main_algo]: Wind Direction: 125 -[main_algo-3] [INFO] [1746051040.460705476] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051040.461495295] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051040.462482606] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051040.463210295] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051040.502720571] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894808 Long: -76.50311556 -[vectornav-1] [INFO] [1746051040.503916378] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.40199999999999, 4.235, 8.67) -[main_algo-3] [INFO] [1746051040.503940004] [sailbot.main_algo]: Distance to destination: 29.636498748418884 -[main_algo-3] [INFO] [1746051040.505388032] [sailbot.main_algo]: Target Bearing: -123.19857013334091 -[main_algo-3] [INFO] [1746051040.506396231] [sailbot.main_algo]: Heading Difference: -173.66542986665905 -[main_algo-3] [INFO] [1746051040.507290400] [sailbot.main_algo]: Wind Direction: 125 -[main_algo-3] [INFO] [1746051040.508143273] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051040.509007631] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051040.510719497] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051040.545333173] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051040.546140437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051040.546942336] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051040.548448658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051040.549630258] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051040.585134735] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051040.587133338] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051040.587824589] [sailbot.teensy]: Wind angle: 125 -[teensy-2] [INFO] [1746051040.588809449] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051040.589035878] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051040.589834750] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051040.590701320] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051040.645107059] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051040.645986442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051040.646581196] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051040.648069015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051040.648960325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051040.745178168] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051040.745689225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051040.746554966] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051040.747586749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051040.748736784] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051040.835430711] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051040.837906124] [sailbot.teensy]: Wind angle: 114 -[trim_sail-4] [INFO] [1746051040.837943629] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746051040.838436487] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051040.839198912] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051040.840118672] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051040.840996210] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051040.844508347] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051040.844888645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051040.845642100] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051040.846540111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051040.847576304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051040.945359525] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051040.945998539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051040.947113086] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051040.948087269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051040.949327802] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051040.957092681] [sailbot.main_algo]: Wind Direction: 114 -[main_algo-3] [INFO] [1746051040.958153836] [sailbot.main_algo]: Target Bearing: -123.19857013334091 -[main_algo-3] [INFO] [1746051040.959041072] [sailbot.main_algo]: Heading Difference: 177.6005701333409 -[main_algo-3] [INFO] [1746051040.959895800] [sailbot.main_algo]: Wind Direction: 114 -[main_algo-3] [INFO] [1746051040.960830518] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051040.961694560] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051040.962831020] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051040.963337305] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051041.002918049] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46894928 Long: -76.50311429 -[main_algo-3] [INFO] [1746051041.003868603] [sailbot.main_algo]: Distance to destination: 29.80491563508574 -[vectornav-1] [INFO] [1746051041.004130069] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.45999999999998, -3.641, 8.242) -[main_algo-3] [INFO] [1746051041.005200207] [sailbot.main_algo]: Target Bearing: -123.23200570145143 -[main_algo-3] [INFO] [1746051041.006161424] [sailbot.main_algo]: Heading Difference: 177.63400570145143 -[main_algo-3] [INFO] [1746051041.007060539] [sailbot.main_algo]: Wind Direction: 114 -[main_algo-3] [INFO] [1746051041.007928012] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051041.008802016] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051041.010686678] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051041.044901508] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051041.045554300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051041.046562556] [sailbot.mux]: Published rudder angle from controller_app: 12 -[teensy-2] [INFO] [1746051041.047314104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 12 -[teensy-2] [INFO] [1746051041.048689194] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051041.085156235] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051041.086739671] [sailbot.teensy]: Wind angle: 107 -[trim_sail-4] [INFO] [1746051041.087265275] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051041.087696867] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051041.088686490] [sailbot.teensy]: Actual tail angle: 37 -[mux-7] [INFO] [1746051041.088695930] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051041.089624274] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051041.117981628] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746051041.145164833] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051041.145920833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051041.146490455] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051041.147937695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051041.149013207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051041.245096316] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051041.245739110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051041.246432635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051041.247601043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051041.248409745] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051041.335210581] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051041.337394202] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746051041.337969416] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051041.338042911] [sailbot.teensy]: Wind angle: 114 -[teensy-2] [INFO] [1746051041.338750351] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051041.339136770] [sailbot.teensy]: Actual tail angle: 37 -[teensy-2] [INFO] [1746051041.339494319] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051041.344402664] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051041.344994577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051041.345482156] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051041.346679051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051041.347830419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051041.445531182] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051041.446554676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051041.447450318] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051041.448439113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051041.448924761] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051041.456979820] [sailbot.main_algo]: Wind Direction: 114 -[main_algo-3] [INFO] [1746051041.457885349] [sailbot.main_algo]: Target Bearing: -123.23200570145143 -[main_algo-3] [INFO] [1746051041.458705705] [sailbot.main_algo]: Heading Difference: 168.69200570145142 -[main_algo-3] [INFO] [1746051041.459486319] [sailbot.main_algo]: Wind Direction: 114 -[main_algo-3] [INFO] [1746051041.460292647] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051041.461080308] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051041.462062026] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051041.462791618] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051041.503501434] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689506 Long: -76.50311162 -[main_algo-3] [INFO] [1746051041.504093995] [sailbot.main_algo]: Distance to destination: 30.046174175768734 -[vectornav-1] [INFO] [1746051041.504871382] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.464, 1.362, 10.284) -[main_algo-3] [INFO] [1746051041.505664488] [sailbot.main_algo]: Target Bearing: -123.43714869642885 -[main_algo-3] [INFO] [1746051041.506676083] [sailbot.main_algo]: Heading Difference: 168.89714869642881 -[main_algo-3] [INFO] [1746051041.507638960] [sailbot.main_algo]: Wind Direction: 114 -[main_algo-3] [INFO] [1746051041.508552380] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051041.509407641] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051041.511388574] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051041.544967095] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051041.545518037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051041.546387882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051041.547417483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051041.548486045] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051041.585204971] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051041.587356265] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051041.587472831] [sailbot.teensy]: Wind angle: 108 -[teensy-2] [INFO] [1746051041.588426968] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051041.588938980] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051041.589686495] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051041.590635444] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051041.645076919] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051041.645771955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051041.646431119] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051041.648175155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051041.649264313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051041.745178196] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051041.745841039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051041.746815961] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051041.747612143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051041.748177968] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051041.835228681] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051041.836949529] [sailbot.teensy]: Wind angle: 108 -[teensy-2] [INFO] [1746051041.837948113] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051041.838263332] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051041.838655426] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051041.838802294] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051041.839049013] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051041.844363566] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051041.844911484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051041.845695160] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051041.846595662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051041.847826755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051041.945208298] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051041.945902106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051041.947203669] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051041.947967909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051041.948556860] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051041.957172243] [sailbot.main_algo]: Wind Direction: 108 -[main_algo-3] [INFO] [1746051041.958246786] [sailbot.main_algo]: Target Bearing: -123.43714869642885 -[main_algo-3] [INFO] [1746051041.959130184] [sailbot.main_algo]: Heading Difference: 161.90114869642883 -[main_algo-3] [INFO] [1746051041.959973468] [sailbot.main_algo]: Wind Direction: 108 -[main_algo-3] [INFO] [1746051041.960852014] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051041.961687823] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051041.962734355] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051041.963366234] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051042.002793454] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895206 Long: -76.50310877 -[main_algo-3] [INFO] [1746051042.003755700] [sailbot.main_algo]: Distance to destination: 30.30888619780325 -[vectornav-1] [INFO] [1746051042.003907162] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.877999999999986, -2.732, 11.074) -[main_algo-3] [INFO] [1746051042.005010624] [sailbot.main_algo]: Target Bearing: -123.64673853709881 -[main_algo-3] [INFO] [1746051042.005997320] [sailbot.main_algo]: Heading Difference: 162.11073853709883 -[main_algo-3] [INFO] [1746051042.006934221] [sailbot.main_algo]: Wind Direction: 108 -[main_algo-3] [INFO] [1746051042.007839075] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051042.008722569] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051042.010474323] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051042.045015054] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051042.045540053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051042.046283584] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051042.047349308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051042.048527933] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051042.085123869] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051042.087098402] [sailbot.teensy]: Wind angle: 106 -[trim_sail-4] [INFO] [1746051042.087296483] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051042.088093270] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051042.088858731] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051042.089016943] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051042.089939740] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051042.145111848] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051042.145654811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051042.146535787] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051042.147732642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051042.148520902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051042.245378638] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051042.245881996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051042.246990681] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051042.247926834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051042.249156220] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051042.335270859] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051042.336982362] [sailbot.teensy]: Wind angle: 104 -[trim_sail-4] [INFO] [1746051042.337734494] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051042.337919144] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051042.338763451] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051042.338813702] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051042.339150887] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051042.344492177] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051042.345243798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051042.345884409] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051042.346990616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051042.348179770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051042.445288140] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051042.445916972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051042.446721958] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051042.447789583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051042.448357570] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051042.456983950] [sailbot.main_algo]: Wind Direction: 104 -[main_algo-3] [INFO] [1746051042.457885463] [sailbot.main_algo]: Target Bearing: -123.64673853709881 -[main_algo-3] [INFO] [1746051042.458697691] [sailbot.main_algo]: Heading Difference: 157.5247385370988 -[main_algo-3] [INFO] [1746051042.459484591] [sailbot.main_algo]: Wind Direction: 104 -[main_algo-3] [INFO] [1746051042.460321760] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051042.461108985] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051042.462114810] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051042.462775138] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051042.503663273] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895409 Long: -76.50310533 -[main_algo-3] [INFO] [1746051042.504081455] [sailbot.main_algo]: Distance to destination: 30.65149144440145 -[vectornav-1] [INFO] [1746051042.504867800] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.766999999999996, -0.257, 11.49) -[main_algo-3] [INFO] [1746051042.505321997] [sailbot.main_algo]: Target Bearing: -123.86474746343623 -[main_algo-3] [INFO] [1746051042.506422962] [sailbot.main_algo]: Heading Difference: 157.74274746343622 -[main_algo-3] [INFO] [1746051042.507391321] [sailbot.main_algo]: Wind Direction: 104 -[main_algo-3] [INFO] [1746051042.508339674] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051042.509209713] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051042.510949973] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051042.544987212] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051042.545561856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051042.546250548] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051042.547484844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051042.548660426] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051042.585252864] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051042.587498294] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051042.587619925] [sailbot.teensy]: Wind angle: 104 -[teensy-2] [INFO] [1746051042.588557901] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051042.589303207] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051042.589467963] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051042.590352077] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051042.644876991] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051042.645624462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051042.646246163] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051042.647447378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051042.648564966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051042.745004178] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051042.746150737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051042.746808992] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051042.748068867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051042.749249619] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051042.835215642] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051042.837267487] [sailbot.teensy]: Wind angle: 103 -[trim_sail-4] [INFO] [1746051042.837668244] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051042.838225445] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051042.839130424] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051042.839262949] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051042.840014342] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051042.844483231] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051042.845225223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051042.845600598] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051042.846984776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051042.848036844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051042.945117780] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051042.945751151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051042.946471985] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051042.947769901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051042.948384188] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051042.957158162] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746051042.958215046] [sailbot.main_algo]: Target Bearing: -123.86474746343623 -[main_algo-3] [INFO] [1746051042.959180370] [sailbot.main_algo]: Heading Difference: 157.63174746343623 -[main_algo-3] [INFO] [1746051042.960097350] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746051042.960998840] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051042.961854012] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051042.963062864] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051042.963758092] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051043.003124585] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895591 Long: -76.5031012 -[vectornav-1] [INFO] [1746051043.004450190] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.136000000000024, -0.129, 11.362) -[main_algo-3] [INFO] [1746051043.004565580] [sailbot.main_algo]: Distance to destination: 31.005994834067863 -[main_algo-3] [INFO] [1746051043.006112150] [sailbot.main_algo]: Target Bearing: -124.18930690671473 -[main_algo-3] [INFO] [1746051043.007316698] [sailbot.main_algo]: Heading Difference: 157.95630690671476 -[main_algo-3] [INFO] [1746051043.008364995] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746051043.009271066] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051043.010211616] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051043.011891842] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051043.044908852] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051043.045593097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051043.046156748] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051043.047485399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051043.048595841] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051043.085064393] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051043.086635401] [sailbot.teensy]: Wind angle: 103 -[teensy-2] [INFO] [1746051043.087507519] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051043.087360910] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051043.088439100] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051043.088696039] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051043.089377056] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051043.145002800] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051043.145598278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051043.146372935] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051043.147541378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051043.148666229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051043.244980127] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051043.245828138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051043.246213583] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051043.247665880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051043.248742954] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051043.335237833] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051043.337313611] [sailbot.teensy]: Wind angle: 103 -[trim_sail-4] [INFO] [1746051043.337453198] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051043.338288601] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051043.338942181] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051043.339185528] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051043.340080041] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051043.344196656] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051043.344991312] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051043.345354978] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051043.346928325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051043.347943048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051043.445422159] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051043.446305365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051043.447053492] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051043.448575098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051043.449844719] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051043.457009129] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746051043.457990781] [sailbot.main_algo]: Target Bearing: -124.18930690671473 -[main_algo-3] [INFO] [1746051043.458833801] [sailbot.main_algo]: Heading Difference: 157.3253069067148 -[main_algo-3] [INFO] [1746051043.459625496] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746051043.460424484] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051043.461208607] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051043.462178031] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051043.462868452] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051043.503560498] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895778 Long: -76.50309702 -[main_algo-3] [INFO] [1746051043.503991232] [sailbot.main_algo]: Distance to destination: 31.368370175733844 -[vectornav-1] [INFO] [1746051043.504679453] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.66300000000001, -0.658, 10.279) -[main_algo-3] [INFO] [1746051043.505068865] [sailbot.main_algo]: Target Bearing: -124.50718415818969 -[main_algo-3] [INFO] [1746051043.506074186] [sailbot.main_algo]: Heading Difference: 157.64318415818968 -[main_algo-3] [INFO] [1746051043.507038648] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746051043.507956156] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051043.508849608] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051043.510579739] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051043.545030490] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051043.545872933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051043.546383206] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051043.547766197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051043.548927612] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051043.585453437] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051043.587799992] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051043.587969491] [sailbot.teensy]: Wind angle: 104 -[mux-7] [INFO] [1746051043.589199459] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051043.589299230] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051043.590215249] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051043.591170861] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051043.644923610] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051043.645571309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051043.646154054] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051043.647433888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051043.648645762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051043.745298476] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051043.745994025] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051043.746785691] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051043.748496961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051043.749060542] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051043.835160519] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051043.836715382] [sailbot.teensy]: Wind angle: 105 -[trim_sail-4] [INFO] [1746051043.837516208] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051043.837648493] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051043.838529089] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051043.838675399] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051043.839512451] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051043.844336231] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051043.845080346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051043.845564320] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051043.846797277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051043.847937924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051043.944935193] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051043.945622030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051043.946203873] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051043.947510283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051043.948682041] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051043.957186864] [sailbot.main_algo]: Wind Direction: 105 -[main_algo-3] [INFO] [1746051043.958236652] [sailbot.main_algo]: Target Bearing: -124.50718415818969 -[main_algo-3] [INFO] [1746051043.959142978] [sailbot.main_algo]: Heading Difference: 157.17018415818973 -[main_algo-3] [INFO] [1746051043.960003536] [sailbot.main_algo]: Wind Direction: 105 -[main_algo-3] [INFO] [1746051043.960822042] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051043.961612910] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051043.962640199] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051043.963139166] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051044.003038571] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896011 Long: -76.50309284 -[main_algo-3] [INFO] [1746051044.004109267] [sailbot.main_algo]: Distance to destination: 31.774152865806744 -[vectornav-1] [INFO] [1746051044.004283898] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.040999999999997, -1.097, 8.276) -[main_algo-3] [INFO] [1746051044.005478098] [sailbot.main_algo]: Target Bearing: -124.76654118157855 -[main_algo-3] [INFO] [1746051044.006466429] [sailbot.main_algo]: Heading Difference: 157.42954118157854 -[main_algo-3] [INFO] [1746051044.007450118] [sailbot.main_algo]: Wind Direction: 105 -[main_algo-3] [INFO] [1746051044.008425489] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051044.009320148] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051044.011144966] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051044.045297136] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051044.045953569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051044.046612295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051044.047860398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051044.049048057] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051044.085201633] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051044.086720454] [sailbot.teensy]: Wind angle: 106 -[trim_sail-4] [INFO] [1746051044.087250052] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051044.087588480] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051044.088532945] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051044.089418714] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051044.089911944] [sailbot.mux]: algo sail angle: 20 -[mux-7] [INFO] [1746051044.107430743] [sailbot.mux]: controller_app rudder angle: 7 -[mux-7] [INFO] [1746051044.145118233] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051044.145875855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051044.146446290] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746051044.147904405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746051044.149012924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051044.245113173] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051044.245928784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051044.246508873] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746051044.247956521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746051044.248898813] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051044.335363658] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051044.337738446] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051044.337955004] [sailbot.teensy]: Wind angle: 105 -[teensy-2] [INFO] [1746051044.338882480] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051044.339262726] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051044.339777944] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051044.340506855] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051044.344355904] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051044.344689146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051044.345527370] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746051044.346333514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746051044.347462558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051044.445194205] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051044.446011534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051044.446690303] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746051044.448265748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746051044.448751353] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051044.457103435] [sailbot.main_algo]: Wind Direction: 105 -[main_algo-3] [INFO] [1746051044.458086130] [sailbot.main_algo]: Target Bearing: -124.76654118157855 -[main_algo-3] [INFO] [1746051044.458971117] [sailbot.main_algo]: Heading Difference: 154.80754118157853 -[main_algo-3] [INFO] [1746051044.459784870] [sailbot.main_algo]: Wind Direction: 105 -[main_algo-3] [INFO] [1746051044.460615479] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051044.461402767] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051044.462681974] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051044.462988702] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051044.502925240] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896219 Long: -76.50308795 -[main_algo-3] [INFO] [1746051044.503996489] [sailbot.main_algo]: Distance to destination: 32.19026496343696 -[main_algo-3] [INFO] [1746051044.505205428] [sailbot.main_algo]: Target Bearing: -125.1331285394072 -[vectornav-1] [INFO] [1746051044.505876635] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (28.351999999999975, -2.103, 9.934) -[main_algo-3] [INFO] [1746051044.506163297] [sailbot.main_algo]: Heading Difference: 155.1741285394072 -[main_algo-3] [INFO] [1746051044.507109502] [sailbot.main_algo]: Wind Direction: 105 -[main_algo-3] [INFO] [1746051044.508031281] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051044.508912592] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051044.510632346] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051044.545310496] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051044.545500312] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051044.546573272] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746051044.547273355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746051044.548564307] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051044.585124480] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051044.586761253] [sailbot.teensy]: Wind angle: 105 -[teensy-2] [INFO] [1746051044.587677826] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051044.587126378] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051044.588593689] [sailbot.teensy]: Actual tail angle: 32 -[mux-7] [INFO] [1746051044.588916253] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051044.589475220] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051044.644921465] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051044.645687123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051044.646196245] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746051044.647579410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746051044.648765364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051044.745450328] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051044.746261818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051044.747472593] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746051044.748652786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746051044.749641240] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051044.835231200] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051044.837419782] [sailbot.teensy]: Wind angle: 104 -[trim_sail-4] [INFO] [1746051044.837459415] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051044.838390971] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051044.838924324] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051044.839305955] [sailbot.teensy]: Actual tail angle: 32 -[teensy-2] [INFO] [1746051044.840251604] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051044.844497138] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051044.845170267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051044.845623249] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746051044.846921526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746051044.848101570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051044.945339707] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051044.946320517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051044.946885254] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746051044.948443911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746051044.949647691] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051044.957186778] [sailbot.main_algo]: Wind Direction: 104 -[main_algo-3] [INFO] [1746051044.958280386] [sailbot.main_algo]: Target Bearing: -125.1331285394072 -[main_algo-3] [INFO] [1746051044.959199580] [sailbot.main_algo]: Heading Difference: 153.48512853940719 -[main_algo-3] [INFO] [1746051044.960069016] [sailbot.main_algo]: Wind Direction: 104 -[main_algo-3] [INFO] [1746051044.960993239] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051044.961874509] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051044.962941652] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051044.963533724] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051045.003049697] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896399 Long: -76.50308228 -[main_algo-3] [INFO] [1746051045.004012990] [sailbot.main_algo]: Distance to destination: 32.618405058056794 -[vectornav-1] [INFO] [1746051045.004465564] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (25.081000000000017, 0.002, 9.054) -[main_algo-3] [INFO] [1746051045.005300728] [sailbot.main_algo]: Target Bearing: -125.61413224187248 -[main_algo-3] [INFO] [1746051045.006613441] [sailbot.main_algo]: Heading Difference: 153.96613224187246 -[main_algo-3] [INFO] [1746051045.007535625] [sailbot.main_algo]: Wind Direction: 104 -[main_algo-3] [INFO] [1746051045.008447619] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051045.009311677] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051045.010992060] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051045.045095453] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051045.045808690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051045.046470479] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746051045.047708708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746051045.048935075] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051045.085148620] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051045.086827223] [sailbot.teensy]: Wind angle: 104 -[trim_sail-4] [INFO] [1746051045.087643482] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051045.087792290] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051045.088720036] [sailbot.teensy]: Actual tail angle: 32 -[mux-7] [INFO] [1746051045.088965042] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051045.089612201] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051045.144931399] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051045.145378903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051045.146149300] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746051045.147126263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746051045.148297307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051045.245171883] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051045.245754396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051045.247252032] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746051045.248024109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746051045.249135900] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051045.335316747] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051045.336987410] [sailbot.teensy]: Wind angle: 103 -[trim_sail-4] [INFO] [1746051045.337505907] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051045.337912081] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051045.338669977] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051045.338832314] [sailbot.teensy]: Actual tail angle: 32 -[teensy-2] [INFO] [1746051045.339716006] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051045.344386654] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051045.345044041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051045.345954866] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746051045.346751842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746051045.347901891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051045.445570175] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051045.446187811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051045.447344523] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746051045.448467582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746051045.449703034] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051045.456924453] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746051045.457898363] [sailbot.main_algo]: Target Bearing: -125.61413224187248 -[main_algo-3] [INFO] [1746051045.458761338] [sailbot.main_algo]: Heading Difference: 150.6951322418725 -[main_algo-3] [INFO] [1746051045.459556093] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746051045.460383241] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051045.461176841] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051045.462167782] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051045.462771754] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051045.503781457] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896562 Long: -76.5030765 -[main_algo-3] [INFO] [1746051045.504022986] [sailbot.main_algo]: Distance to destination: 33.038533043657544 -[vectornav-1] [INFO] [1746051045.505119831] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (18.45799999999997, 2.649, 9.645) -[main_algo-3] [INFO] [1746051045.505176336] [sailbot.main_algo]: Target Bearing: -126.11428977428407 -[main_algo-3] [INFO] [1746051045.506188820] [sailbot.main_algo]: Heading Difference: 151.1952897742841 -[main_algo-3] [INFO] [1746051045.507117954] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746051045.508031307] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051045.508904119] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051045.510647838] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051045.544909796] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051045.545608507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051045.546157870] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746051045.547502648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746051045.548535893] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051045.585405982] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051045.587756808] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051045.588004031] [sailbot.teensy]: Wind angle: 102 -[mux-7] [INFO] [1746051045.588499151] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051045.589028701] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051045.589939327] [sailbot.teensy]: Actual tail angle: 32 -[teensy-2] [INFO] [1746051045.590802706] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051045.645139311] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051045.646107202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051045.646498784] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746051045.648430893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746051045.649502333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051045.745706333] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051045.746532077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051045.747561907] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746051045.748068661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746051045.748532050] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051045.835316847] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051045.837569524] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051045.837842321] [sailbot.teensy]: Wind angle: 99 -[teensy-2] [INFO] [1746051045.838779396] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051045.838947650] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051045.839896569] [sailbot.teensy]: Actual tail angle: 32 -[teensy-2] [INFO] [1746051045.841105736] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051045.844760316] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051045.845188908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051045.845975415] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746051045.846913128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746051045.848084925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051045.945228272] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051045.945790649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051045.946744699] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746051045.948135183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746051045.949304737] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051045.957192073] [sailbot.main_algo]: Wind Direction: 99 -[main_algo-3] [INFO] [1746051045.958305560] [sailbot.main_algo]: Target Bearing: -126.11428977428407 -[main_algo-3] [INFO] [1746051045.959377475] [sailbot.main_algo]: Heading Difference: 144.57228977428406 -[main_algo-3] [INFO] [1746051045.960339369] [sailbot.main_algo]: Wind Direction: 99 -[main_algo-3] [INFO] [1746051045.961244151] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051045.962122280] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051045.963181423] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051045.963794246] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051046.003255063] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896684 Long: -76.5030712 -[main_algo-3] [INFO] [1746051046.004308774] [sailbot.main_algo]: Distance to destination: 33.40111879802084 -[vectornav-1] [INFO] [1746051046.004880769] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (12.95799999999997, -3.043, 7.536) -[main_algo-3] [INFO] [1746051046.005637423] [sailbot.main_algo]: Target Bearing: -126.59224842985928 -[main_algo-3] [INFO] [1746051046.006725805] [sailbot.main_algo]: Heading Difference: 145.05024842985927 -[main_algo-3] [INFO] [1746051046.007759653] [sailbot.main_algo]: Wind Direction: 99 -[main_algo-3] [INFO] [1746051046.008711204] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051046.009576366] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051046.011359121] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051046.045212916] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051046.045778515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051046.046617525] [sailbot.mux]: Published rudder angle from controller_app: 7 -[teensy-2] [INFO] [1746051046.047723341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 7 -[teensy-2] [INFO] [1746051046.048760432] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051046.085214704] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051046.087366421] [sailbot.teensy]: Wind angle: 98 -[trim_sail-4] [INFO] [1746051046.087415576] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746051046.088517752] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051046.088564982] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051046.089469168] [sailbot.teensy]: Actual tail angle: 32 -[teensy-2] [INFO] [1746051046.090380004] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051046.119833187] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746051046.144901961] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051046.144931356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051046.146039682] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051046.146708647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051046.147763294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051046.244945807] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051046.245600056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051046.246217019] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051046.247640275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051046.248897525] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051046.335285840] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051046.337609034] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051046.338395569] [sailbot.teensy]: Wind angle: 97 -[mux-7] [INFO] [1746051046.338394466] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051046.338914244] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051046.339278986] [sailbot.teensy]: Actual tail angle: 32 -[teensy-2] [INFO] [1746051046.339693340] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051046.344348796] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051046.345179598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051046.345453806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051046.346960490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051046.348105161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051046.445457454] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051046.446319228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051046.447052128] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051046.448510589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051046.449031367] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051046.457126354] [sailbot.main_algo]: Wind Direction: 97 -[main_algo-3] [INFO] [1746051046.458108584] [sailbot.main_algo]: Target Bearing: -126.59224842985928 -[main_algo-3] [INFO] [1746051046.458985953] [sailbot.main_algo]: Heading Difference: 139.55024842985927 -[main_algo-3] [INFO] [1746051046.459822339] [sailbot.main_algo]: Wind Direction: 97 -[main_algo-3] [INFO] [1746051046.460714046] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051046.461500783] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051046.462599977] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051046.463185158] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051046.503937902] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896749 Long: -76.50306517 -[main_algo-3] [INFO] [1746051046.504217936] [sailbot.main_algo]: Distance to destination: 33.75022167390484 -[vectornav-1] [INFO] [1746051046.505208780] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (7.442000000000007, -0.685, 9.946) -[main_algo-3] [INFO] [1746051046.505334277] [sailbot.main_algo]: Target Bearing: -127.20553420438878 -[main_algo-3] [INFO] [1746051046.506333158] [sailbot.main_algo]: Heading Difference: 140.16353420438872 -[main_algo-3] [INFO] [1746051046.507230148] [sailbot.main_algo]: Wind Direction: 97 -[main_algo-3] [INFO] [1746051046.508132223] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051046.509057184] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051046.510730440] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051046.545060538] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051046.545809206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051046.546443221] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051046.547728592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051046.548908012] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051046.585156270] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051046.587186486] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746051046.587848835] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051046.589022720] [sailbot.teensy]: Wind angle: 97 -[teensy-2] [INFO] [1746051046.590081274] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051046.591145320] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051046.591990188] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051046.645239570] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051046.646228997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051046.646725533] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051046.648684819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051046.649823213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051046.744975650] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051046.746180523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051046.746411805] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051046.748226179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051046.749261544] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051046.835554767] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051046.838215694] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051046.838299520] [sailbot.teensy]: Wind angle: 98 -[teensy-2] [INFO] [1746051046.839458181] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051046.840258166] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051046.840373766] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051046.840779489] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051046.844509422] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051046.845080339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051046.845734615] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051046.846804885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051046.847849780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051046.945323619] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051046.945905398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051046.947634028] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051046.948131969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051046.949399384] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051046.958035789] [sailbot.main_algo]: Wind Direction: 98 -[main_algo-3] [INFO] [1746051046.959515410] [sailbot.main_algo]: Target Bearing: -127.20553420438878 -[main_algo-3] [INFO] [1746051046.960464286] [sailbot.main_algo]: Heading Difference: 134.64753420438876 -[main_algo-3] [INFO] [1746051046.961382834] [sailbot.main_algo]: Wind Direction: 98 -[main_algo-3] [INFO] [1746051046.962287259] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051046.963167954] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051046.964349996] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051046.964865366] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051047.002953312] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896754 Long: -76.50305843 -[main_algo-3] [INFO] [1746051047.004094916] [sailbot.main_algo]: Distance to destination: 34.08482155665396 -[vectornav-1] [INFO] [1746051047.004252214] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (359.174, -0.811, 7.013) -[main_algo-3] [INFO] [1746051047.005458225] [sailbot.main_algo]: Target Bearing: -127.95186586540837 -[main_algo-3] [INFO] [1746051047.006450631] [sailbot.main_algo]: Heading Difference: 135.39386586540837 -[main_algo-3] [INFO] [1746051047.007413838] [sailbot.main_algo]: Wind Direction: 98 -[main_algo-3] [INFO] [1746051047.008661061] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051047.009619770] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051047.011376915] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051047.045169943] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051047.046054726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051047.046558786] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051047.048014392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051047.049052267] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051047.085287973] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051047.086982298] [sailbot.teensy]: Wind angle: 91 -[trim_sail-4] [INFO] [1746051047.087494648] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746051047.087947722] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051047.088896811] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051047.089215686] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051047.089782917] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051047.145224219] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051047.145960890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051047.146866641] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051047.148097407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051047.149190957] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051047.245293416] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051047.246342117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051047.247090951] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051047.248503948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051047.249514835] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051047.335425639] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051047.337205537] [sailbot.teensy]: Wind angle: 90 -[trim_sail-4] [INFO] [1746051047.337748906] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746051047.338191362] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051047.339132011] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051047.339328931] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051047.340042593] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051047.344523235] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051047.345170089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051047.345762387] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051047.346945148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051047.347957008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051047.445214273] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051047.446183374] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051047.446770924] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051047.448177718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051047.448688431] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051047.456889593] [sailbot.main_algo]: Wind Direction: 90 -[main_algo-3] [INFO] [1746051047.457816568] [sailbot.main_algo]: Target Bearing: -127.95186586540837 -[main_algo-3] [INFO] [1746051047.458642153] [sailbot.main_algo]: Heading Difference: 127.12586586540829 -[main_algo-3] [INFO] [1746051047.459433243] [sailbot.main_algo]: Wind Direction: 90 -[main_algo-3] [INFO] [1746051047.460252687] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051047.461045179] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051047.462082857] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051047.462590004] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051047.503056294] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896724 Long: -76.50305169 -[main_algo-3] [INFO] [1746051047.503813060] [sailbot.main_algo]: Distance to destination: 34.394331680729564 -[vectornav-1] [INFO] [1746051047.504345426] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (352.702, 0.007, 7.057) -[main_algo-3] [INFO] [1746051047.504913118] [sailbot.main_algo]: Target Bearing: -128.7231354239936 -[main_algo-3] [INFO] [1746051047.505891818] [sailbot.main_algo]: Heading Difference: 127.89713542399363 -[main_algo-3] [INFO] [1746051047.506796603] [sailbot.main_algo]: Wind Direction: 90 -[main_algo-3] [INFO] [1746051047.507671646] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051047.508543650] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051047.510292084] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051047.545134146] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051047.545943300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051047.546520415] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051047.548054233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051047.549111801] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051047.585400731] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051047.587288571] [sailbot.teensy]: Wind angle: 90 -[trim_sail-4] [INFO] [1746051047.587791418] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746051047.588587189] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051047.589284066] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051047.589533559] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051047.590432388] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051047.645019579] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051047.645740450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051047.646439494] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051047.647707935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051047.648800583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051047.745302387] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051047.746058064] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051047.747085060] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051047.748192687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051047.748749198] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051047.835157961] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051047.837346854] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746051047.838122605] [sailbot.teensy]: Wind angle: 90 -[mux-7] [INFO] [1746051047.838715381] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051047.839121185] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051047.840048476] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051047.840950559] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051047.844329317] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051047.844959719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051047.845444774] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051047.846676882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051047.847707499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051047.945340453] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051047.945967801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051047.946838633] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051047.947840485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051047.948330581] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051047.957304938] [sailbot.main_algo]: Wind Direction: 90 -[main_algo-3] [INFO] [1746051047.958500101] [sailbot.main_algo]: Target Bearing: -128.7231354239936 -[main_algo-3] [INFO] [1746051047.959464550] [sailbot.main_algo]: Heading Difference: 121.42513542399365 -[main_algo-3] [INFO] [1746051047.960368342] [sailbot.main_algo]: Wind Direction: 90 -[main_algo-3] [INFO] [1746051047.961228611] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051047.962094320] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051047.963136805] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051047.963759152] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051048.002965058] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896587 Long: -76.50304523 -[main_algo-3] [INFO] [1746051048.004058880] [sailbot.main_algo]: Distance to destination: 34.60264262919427 -[vectornav-1] [INFO] [1746051048.004188130] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (343.646, -0.359, 8.747) -[main_algo-3] [INFO] [1746051048.005449644] [sailbot.main_algo]: Target Bearing: -129.57306261160977 -[main_algo-3] [INFO] [1746051048.006464503] [sailbot.main_algo]: Heading Difference: 122.27506261160977 -[main_algo-3] [INFO] [1746051048.007459630] [sailbot.main_algo]: Wind Direction: 90 -[main_algo-3] [INFO] [1746051048.008419307] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051048.009317481] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051048.011035650] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051048.045318856] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051048.046496220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051048.046759772] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051048.048518077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051048.049560227] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051048.085170394] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051048.087278532] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746051048.087773651] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051048.088194395] [sailbot.teensy]: Wind angle: 86 -[teensy-2] [INFO] [1746051048.089216611] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051048.090085113] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051048.090900835] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051048.145336868] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051048.146257564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051048.147319498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051048.148058760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051048.148601453] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051048.244993372] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051048.245879889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051048.246267515] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051048.247961357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051048.249098173] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051048.335325234] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051048.337558923] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746051048.337803312] [sailbot.teensy]: Wind angle: 77 -[mux-7] [INFO] [1746051048.338938467] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746051048.338977039] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051048.339383217] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051048.339769249] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051048.344359040] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051048.345259965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051048.345663459] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051048.347162204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051048.348136065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051048.445345215] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051048.446066289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051048.447334760] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051048.448401978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051048.449277736] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051048.457019612] [sailbot.main_algo]: Wind Direction: 77 -[main_algo-3] [INFO] [1746051048.458000992] [sailbot.main_algo]: Target Bearing: -129.57306261160977 -[main_algo-3] [INFO] [1746051048.458879789] [sailbot.main_algo]: Heading Difference: 113.21906261160984 -[main_algo-3] [INFO] [1746051048.459671281] [sailbot.main_algo]: Wind Direction: 77 -[main_algo-3] [INFO] [1746051048.460484632] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051048.461291404] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051048.462297809] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051048.462870052] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051048.503591834] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896376 Long: -76.50303886 -[main_algo-3] [INFO] [1746051048.503972891] [sailbot.main_algo]: Distance to destination: 34.75030196536003 -[vectornav-1] [INFO] [1746051048.505298019] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (335.626, -2.038, 5.221) -[main_algo-3] [INFO] [1746051048.505782437] [sailbot.main_algo]: Target Bearing: -130.48921077889239 -[main_algo-3] [INFO] [1746051048.506806368] [sailbot.main_algo]: Heading Difference: 114.13521077889243 -[main_algo-3] [INFO] [1746051048.507761201] [sailbot.main_algo]: Wind Direction: 77 -[main_algo-3] [INFO] [1746051048.508730960] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051048.509616666] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051048.511472126] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051048.545592430] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051048.545750779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051048.546972472] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051048.547642205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051048.548720522] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051048.585251588] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051048.587485289] [sailbot.teensy]: Wind angle: 70 -[trim_sail-4] [INFO] [1746051048.587520090] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051048.588421144] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051048.589060486] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051048.589360945] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051048.590291908] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051048.645258117] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051048.645971383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051048.646712294] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051048.647928282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051048.649127359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051048.745292559] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051048.746124873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051048.746885774] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051048.748268182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051048.749449084] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051048.835159794] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051048.836755734] [sailbot.teensy]: Wind angle: 62 -[teensy-2] [INFO] [1746051048.837633421] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051048.837812967] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746051048.838464514] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051048.839047025] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746051048.839351300] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051048.844425654] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051048.844938310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051048.845568980] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051048.846614857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051048.847696930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051048.945004006] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051048.945642886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051048.946328419] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051048.947478006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051048.948509669] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051048.957189331] [sailbot.main_algo]: Wind Direction: 62 -[main_algo-3] [INFO] [1746051048.958296898] [sailbot.main_algo]: Target Bearing: -130.48921077889239 -[main_algo-3] [INFO] [1746051048.959314878] [sailbot.main_algo]: Heading Difference: 106.11521077889233 -[main_algo-3] [INFO] [1746051048.960278213] [sailbot.main_algo]: Wind Direction: 62 -[main_algo-3] [INFO] [1746051048.961189769] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051048.962050967] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051048.963164050] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051048.963926231] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051049.003134626] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896143 Long: -76.5030321 -[main_algo-3] [INFO] [1746051049.004440705] [sailbot.main_algo]: Distance to destination: 34.90895688725721 -[vectornav-1] [INFO] [1746051049.004763199] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (333.624, -1.131, 9.123) -[main_algo-3] [INFO] [1746051049.005831655] [sailbot.main_algo]: Target Bearing: -131.46344836410088 -[main_algo-3] [INFO] [1746051049.006889174] [sailbot.main_algo]: Heading Difference: 107.08944836410092 -[main_algo-3] [INFO] [1746051049.007811623] [sailbot.main_algo]: Wind Direction: 62 -[main_algo-3] [INFO] [1746051049.008759531] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051049.009686060] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051049.011371565] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051049.045102557] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051049.045970052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051049.046535154] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051049.048021117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051049.049043484] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051049.085130712] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051049.087297027] [sailbot.teensy]: Wind angle: 55 -[trim_sail-4] [INFO] [1746051049.087341431] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746051049.088285493] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051049.088383671] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746051049.089238880] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051049.090148210] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051049.107789643] [sailbot.mux]: controller_app rudder angle: -6 -[mux-7] [INFO] [1746051049.145050214] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051049.146211093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051049.146589085] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051049.148125134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051049.149296297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051049.245203881] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051049.245993501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051049.246602829] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051049.248027228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051049.249098405] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051049.335147128] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051049.336790959] [sailbot.teensy]: Wind angle: 48 -[trim_sail-4] [INFO] [1746051049.337564987] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746051049.338576527] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746051049.339278860] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051049.340260534] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051049.341128588] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051049.344420057] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051049.345159374] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051049.345478383] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051049.346778445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051049.347897013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051049.445591182] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051049.446236614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051049.447474540] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051049.448128341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051049.448668567] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051049.457006930] [sailbot.main_algo]: Wind Direction: 48 -[main_algo-3] [INFO] [1746051049.457958962] [sailbot.main_algo]: Target Bearing: -131.46344836410088 -[main_algo-3] [INFO] [1746051049.458824304] [sailbot.main_algo]: Heading Difference: 105.08744836410096 -[main_algo-3] [INFO] [1746051049.459613994] [sailbot.main_algo]: Wind Direction: 48 -[main_algo-3] [INFO] [1746051049.460449900] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051049.461243266] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051049.462254955] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051049.462904953] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051049.503504710] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895861 Long: -76.50302544 -[main_algo-3] [INFO] [1746051049.504255647] [sailbot.main_algo]: Distance to destination: 35.03137408178713 -[main_algo-3] [INFO] [1746051049.505333600] [sailbot.main_algo]: Target Bearing: -132.47738513775943 -[main_algo-3] [INFO] [1746051049.506359147] [sailbot.main_algo]: Heading Difference: 106.10138513775951 -[vectornav-1] [INFO] [1746051049.506128864] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (330.823, -1.087, 6.584) -[main_algo-3] [INFO] [1746051049.507295207] [sailbot.main_algo]: Wind Direction: 48 -[main_algo-3] [INFO] [1746051049.508183727] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051049.509033003] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051049.510736873] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051049.545371254] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051049.545594516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051049.546785985] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051049.547535704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051049.548639844] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051049.585440193] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051049.587849235] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746051049.588187270] [sailbot.teensy]: Wind angle: 47 -[mux-7] [INFO] [1746051049.588623362] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746051049.589190138] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051049.590127385] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746051049.590985287] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051049.645076070] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051049.646033028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051049.646692866] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051049.648120519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051049.649012105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051049.745121894] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051049.745747247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051049.746554099] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051049.747706353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051049.748839319] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051049.835190527] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051049.837379264] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746051049.837889557] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746051049.838617713] [sailbot.teensy]: Wind angle: 47 -[teensy-2] [INFO] [1746051049.839011725] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051049.839374180] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746051049.839738516] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051049.844490826] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051049.845069465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051049.845876973] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051049.846800158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051049.847906700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051049.945206939] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051049.946154992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051049.946805801] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051049.948323697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051049.948838283] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051049.957430575] [sailbot.main_algo]: Wind Direction: 47 -[main_algo-3] [INFO] [1746051049.958595817] [sailbot.main_algo]: Target Bearing: -132.47738513775943 -[main_algo-3] [INFO] [1746051049.959562585] [sailbot.main_algo]: Heading Difference: 103.30038513775935 -[main_algo-3] [INFO] [1746051049.960495785] [sailbot.main_algo]: Wind Direction: 47 -[main_algo-3] [INFO] [1746051049.961385935] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051049.962262572] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051049.963346744] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051049.964005646] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051050.002993103] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895578 Long: -76.50301888 -[main_algo-3] [INFO] [1746051050.004019050] [sailbot.main_algo]: Distance to destination: 35.158313260068724 -[vectornav-1] [INFO] [1746051050.004274064] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (334.997, -0.207, 10.373) -[main_algo-3] [INFO] [1746051050.005284597] [sailbot.main_algo]: Target Bearing: -133.4752856258387 -[main_algo-3] [INFO] [1746051050.006290315] [sailbot.main_algo]: Heading Difference: 104.29828562583862 -[main_algo-3] [INFO] [1746051050.007184839] [sailbot.main_algo]: Wind Direction: 47 -[main_algo-3] [INFO] [1746051050.008162622] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051050.009020461] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051050.010710854] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051050.044997845] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051050.045669476] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051050.046338775] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051050.047689051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051050.048844276] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051050.085156359] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051050.086732259] [sailbot.teensy]: Wind angle: 48 -[teensy-2] [INFO] [1746051050.087602557] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051050.087404864] [sailbot.trim_sail]: Sail Angle: "65" -[teensy-2] [INFO] [1746051050.088480125] [sailbot.teensy]: Actual tail angle: 19 -[mux-7] [INFO] [1746051050.089045384] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746051050.089324950] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051050.145246291] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051050.145962170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051050.147421705] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051050.147960589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051050.149055646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051050.174937580] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746051050.245070967] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051050.245802631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051050.246336958] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051050.247680860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051050.248879327] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051050.335077049] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051050.336638602] [sailbot.teensy]: Wind angle: 50 -[teensy-2] [INFO] [1746051050.337494491] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051050.337140815] [sailbot.trim_sail]: Sail Angle: "60" -[mux-7] [INFO] [1746051050.338442640] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746051050.338514823] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746051050.339453045] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051050.344558885] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051050.345747551] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051050.345786431] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051050.347573167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051050.348623483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051050.445291248] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051050.446203344] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051050.446798614] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051050.448094855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051050.448633766] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051050.457015561] [sailbot.main_algo]: Wind Direction: 50 -[main_algo-3] [INFO] [1746051050.457954384] [sailbot.main_algo]: Target Bearing: -133.4752856258387 -[main_algo-3] [INFO] [1746051050.458780917] [sailbot.main_algo]: Heading Difference: 108.47228562583871 -[main_algo-3] [INFO] [1746051050.459570622] [sailbot.main_algo]: Wind Direction: 50 -[main_algo-3] [INFO] [1746051050.460403289] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051050.461203244] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051050.462337302] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051050.462976614] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051050.502991717] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895269 Long: -76.50301265 -[main_algo-3] [INFO] [1746051050.503448322] [sailbot.main_algo]: Distance to destination: 35.25621592041169 -[vectornav-1] [INFO] [1746051050.504119114] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (338.69, 1.72, 13.596) -[main_algo-3] [INFO] [1746051050.504528632] [sailbot.main_algo]: Target Bearing: -134.46596924395288 -[main_algo-3] [INFO] [1746051050.505525281] [sailbot.main_algo]: Heading Difference: 109.4629692439529 -[main_algo-3] [INFO] [1746051050.506443649] [sailbot.main_algo]: Wind Direction: 50 -[main_algo-3] [INFO] [1746051050.507329431] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051050.508206649] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051050.510103312] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051050.545095130] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051050.545817012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051050.546516152] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051050.548087406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051050.549216732] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051050.585491900] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051050.587863620] [sailbot.trim_sail]: Sail Angle: "60" -[mux-7] [INFO] [1746051050.588870361] [sailbot.mux]: algo sail angle: 60 -[teensy-2] [INFO] [1746051050.589214072] [sailbot.teensy]: Wind angle: 54 -[teensy-2] [INFO] [1746051050.590176869] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051050.591069954] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051050.591939874] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051050.645089991] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051050.645900299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051050.646712260] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051050.648054720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051050.648592117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051050.745308496] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051050.746258353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051050.746787122] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051050.748419647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051050.749622099] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051050.835403960] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051050.837793809] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746051050.838171671] [sailbot.teensy]: Wind angle: 59 -[mux-7] [INFO] [1746051050.838802635] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746051050.839260271] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051050.840205276] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051050.841041463] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051050.844367569] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051050.844864143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051050.845515485] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051050.846538333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051050.847587555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051050.945430749] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051050.945921940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051050.947029708] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051050.948067382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051050.948984149] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051050.957404624] [sailbot.main_algo]: Wind Direction: 59 -[main_algo-3] [INFO] [1746051050.958605667] [sailbot.main_algo]: Target Bearing: -134.46596924395288 -[main_algo-3] [INFO] [1746051050.959606003] [sailbot.main_algo]: Heading Difference: 113.15596924395288 -[main_algo-3] [INFO] [1746051050.960576417] [sailbot.main_algo]: Wind Direction: 59 -[main_algo-3] [INFO] [1746051050.961446280] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051050.962284558] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051050.963373004] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051050.964108272] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051051.002963675] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895124 Long: -76.50300624 -[main_algo-3] [INFO] [1746051051.004038029] [sailbot.main_algo]: Distance to destination: 35.5052047807981 -[vectornav-1] [INFO] [1746051051.004294713] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (346.168, 0.233, 13.869) -[main_algo-3] [INFO] [1746051051.005359604] [sailbot.main_algo]: Target Bearing: -135.26215065540953 -[main_algo-3] [INFO] [1746051051.006403189] [sailbot.main_algo]: Heading Difference: 113.95215065540947 -[main_algo-3] [INFO] [1746051051.007339129] [sailbot.main_algo]: Wind Direction: 59 -[main_algo-3] [INFO] [1746051051.008246113] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051051.009134363] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051051.011102025] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051051.045201968] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051051.045739881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051051.046784703] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051051.047791899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051051.048954589] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051051.085249221] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051051.087019698] [sailbot.teensy]: Wind angle: 59 -[trim_sail-4] [INFO] [1746051051.087450990] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746051051.087958098] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051051.088942190] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051051.089797518] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746051051.089846209] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051051.145362395] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051051.146121201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051051.146998231] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051051.148627193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051051.149794139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051051.245428247] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051051.246011819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051051.247383806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051051.248208172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051051.249596210] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051051.335373393] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051051.337080162] [sailbot.teensy]: Wind angle: 60 -[teensy-2] [INFO] [1746051051.338012359] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051051.337725310] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746051051.338876189] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051051.339013352] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746051051.339724629] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051051.344268014] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051051.344820990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051051.345474844] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051051.346473850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051051.347659509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051051.445590698] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051051.446586990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051051.447241759] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051051.449085079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051051.450237591] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051051.456980140] [sailbot.main_algo]: Wind Direction: 60 -[main_algo-3] [INFO] [1746051051.457943203] [sailbot.main_algo]: Target Bearing: -135.26215065540953 -[main_algo-3] [INFO] [1746051051.458852663] [sailbot.main_algo]: Heading Difference: 121.43015065540953 -[main_algo-3] [INFO] [1746051051.459647303] [sailbot.main_algo]: Wind Direction: 60 -[main_algo-3] [INFO] [1746051051.460449665] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051051.461248230] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051051.462229939] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051051.462967024] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051051.503350973] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895082 Long: -76.50299982 -[main_algo-3] [INFO] [1746051051.503931299] [sailbot.main_algo]: Distance to destination: 35.84246619807168 -[vectornav-1] [INFO] [1746051051.504706868] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (356.275, -1.609, 12.792) -[main_algo-3] [INFO] [1746051051.505119748] [sailbot.main_algo]: Target Bearing: -135.9186496342211 -[main_algo-3] [INFO] [1746051051.506185565] [sailbot.main_algo]: Heading Difference: 122.08664963422109 -[main_algo-3] [INFO] [1746051051.507127961] [sailbot.main_algo]: Wind Direction: 60 -[main_algo-3] [INFO] [1746051051.508022743] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051051.508891351] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051051.510710219] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051051.545167871] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051051.545950302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051051.546557946] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051051.547993419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051051.549252973] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051051.585245957] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051051.587173936] [sailbot.teensy]: Wind angle: 69 -[trim_sail-4] [INFO] [1746051051.587848270] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746051051.588123103] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051051.588613786] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746051051.589171080] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051051.590115237] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051051.644945121] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051051.645922940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051051.646240302] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051051.647768595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051051.648891683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051051.744991858] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051051.745680920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051051.746303564] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051051.747736880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051051.748764799] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051051.835473209] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051051.838178210] [sailbot.teensy]: Wind angle: 79 -[trim_sail-4] [INFO] [1746051051.838365596] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746051051.839151963] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051051.839533921] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746051051.840422434] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051051.841314176] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051051.844569880] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051051.844837773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051051.845701023] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051051.846505807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051051.847572429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051051.945309498] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051051.946182511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051051.946833357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051051.948657381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051051.949821561] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051051.957138495] [sailbot.main_algo]: Wind Direction: 79 -[main_algo-3] [INFO] [1746051051.958173589] [sailbot.main_algo]: Target Bearing: -135.9186496342211 -[main_algo-3] [INFO] [1746051051.959083653] [sailbot.main_algo]: Heading Difference: 132.19364963422106 -[main_algo-3] [INFO] [1746051051.960066679] [sailbot.main_algo]: Wind Direction: 79 -[main_algo-3] [INFO] [1746051051.961012726] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051051.961853319] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051051.963017900] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051051.963523504] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051052.003730434] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895048 Long: -76.50299287 -[main_algo-3] [INFO] [1746051052.004851611] [sailbot.main_algo]: Distance to destination: 36.22168276575489 -[vectornav-1] [INFO] [1746051052.005078864] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (6.73599999999999, -3.166, 16.102) -[main_algo-3] [INFO] [1746051052.006134839] [sailbot.main_algo]: Target Bearing: -136.60106786446332 -[main_algo-3] [INFO] [1746051052.007177436] [sailbot.main_algo]: Heading Difference: 132.87606786446327 -[main_algo-3] [INFO] [1746051052.008128012] [sailbot.main_algo]: Wind Direction: 79 -[main_algo-3] [INFO] [1746051052.009023311] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051052.010015430] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051052.011791916] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051052.045043683] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051052.045709022] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051052.046336306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051052.047527190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051052.048601101] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051052.085109109] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051052.087082336] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746051052.087684301] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051052.087885724] [sailbot.teensy]: Wind angle: 88 -[teensy-2] [INFO] [1746051052.088828466] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051052.089631112] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051052.090466328] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051052.144991546] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051052.145677048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051052.146270369] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051052.147559368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051052.148581596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051052.245643864] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051052.245722731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051052.246998765] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051052.248077505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051052.249182246] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051052.335380961] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051052.337083063] [sailbot.teensy]: Wind angle: 89 -[teensy-2] [INFO] [1746051052.338031378] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051052.338518502] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746051052.338894608] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051052.339746273] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051052.339139839] [sailbot.mux]: algo sail angle: 35 -[mux-7] [INFO] [1746051052.344373621] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051052.344900492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051052.345580251] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051052.346574014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051052.347627015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051052.444921895] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051052.445790539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051052.446234700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051052.447804339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051052.449013500] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051052.457019782] [sailbot.main_algo]: Wind Direction: 89 -[main_algo-3] [INFO] [1746051052.457975649] [sailbot.main_algo]: Target Bearing: -136.60106786446332 -[main_algo-3] [INFO] [1746051052.458888644] [sailbot.main_algo]: Heading Difference: 143.33706786446328 -[main_algo-3] [INFO] [1746051052.459742561] [sailbot.main_algo]: Wind Direction: 89 -[main_algo-3] [INFO] [1746051052.460637532] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051052.461425912] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051052.462422449] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051052.463005611] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051052.503104235] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895092 Long: -76.5029856 -[main_algo-3] [INFO] [1746051052.503395018] [sailbot.main_algo]: Distance to destination: 36.68486348114401 -[main_algo-3] [INFO] [1746051052.504422985] [sailbot.main_algo]: Target Bearing: -137.19992755405985 -[vectornav-1] [INFO] [1746051052.504608663] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (11.186000000000035, 0.473, 15.611) -[main_algo-3] [INFO] [1746051052.505447715] [sailbot.main_algo]: Heading Difference: 143.93592755405984 -[main_algo-3] [INFO] [1746051052.506373803] [sailbot.main_algo]: Wind Direction: 89 -[main_algo-3] [INFO] [1746051052.507277589] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051052.508171275] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051052.509852438] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051052.545250513] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051052.546015683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051052.546888108] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051052.548232401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051052.549365422] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051052.585374766] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051052.587110740] [sailbot.teensy]: Wind angle: 89 -[trim_sail-4] [INFO] [1746051052.587667968] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746051052.588056529] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051052.588982134] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051052.589272444] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051052.589912129] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051052.645155132] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051052.646072219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051052.646584388] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051052.648270935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051052.649378009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051052.745839899] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051052.745862356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051052.747499355] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051052.747944962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051052.749150892] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051052.835529551] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051052.837402111] [sailbot.teensy]: Wind angle: 93 -[trim_sail-4] [INFO] [1746051052.837907119] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746051052.838360037] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051052.839418176] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051052.840317416] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051052.840372666] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051052.844439090] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051052.845245344] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051052.845786541] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051052.847144201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051052.848323420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051052.945635145] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051052.946253131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051052.947446660] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051052.948664850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051052.949860945] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051052.957062183] [sailbot.main_algo]: Wind Direction: 93 -[main_algo-3] [INFO] [1746051052.958181112] [sailbot.main_algo]: Target Bearing: -137.19992755405985 -[main_algo-3] [INFO] [1746051052.959129485] [sailbot.main_algo]: Heading Difference: 148.3859275540599 -[main_algo-3] [INFO] [1746051052.959986916] [sailbot.main_algo]: Wind Direction: 93 -[main_algo-3] [INFO] [1746051052.960905521] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051052.961772647] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051052.962992270] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051052.963486258] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051053.002736727] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895309 Long: -76.50297909 -[main_algo-3] [INFO] [1746051053.003625417] [sailbot.main_algo]: Distance to destination: 37.2384704846141 -[vectornav-1] [INFO] [1746051053.003808930] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (16.170000000000016, 1.399, 11.957) -[main_algo-3] [INFO] [1746051053.004765702] [sailbot.main_algo]: Target Bearing: -137.502549618637 -[main_algo-3] [INFO] [1746051053.005698451] [sailbot.main_algo]: Heading Difference: 148.688549618637 -[main_algo-3] [INFO] [1746051053.006540628] [sailbot.main_algo]: Wind Direction: 93 -[main_algo-3] [INFO] [1746051053.007403806] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051053.008240973] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051053.009822415] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051053.045623433] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051053.045650689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051053.047035025] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051053.047608904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051053.048814416] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051053.085282069] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051053.086914987] [sailbot.teensy]: Wind angle: 93 -[teensy-2] [INFO] [1746051053.087834785] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051053.087435307] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746051053.089099527] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051053.089167396] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051053.090106487] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051053.145413298] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051053.146129986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051053.146952295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051053.148132865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051053.148655337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051053.245084463] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051053.245855136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051053.246510094] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051053.248011361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051053.249211544] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051053.335481982] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051053.338004614] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746051053.338733003] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051053.338952250] [sailbot.teensy]: Wind angle: 99 -[teensy-2] [INFO] [1746051053.339909223] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051053.340790727] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051053.341625255] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051053.344455659] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051053.344974795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051053.345631983] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051053.346671710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051053.347709853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051053.445201304] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051053.446057373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051053.446752886] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051053.448200971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051053.448712888] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051053.457168419] [sailbot.main_algo]: Wind Direction: 99 -[main_algo-3] [INFO] [1746051053.458185241] [sailbot.main_algo]: Target Bearing: -137.502549618637 -[main_algo-3] [INFO] [1746051053.459085978] [sailbot.main_algo]: Heading Difference: 153.67254961863705 -[main_algo-3] [INFO] [1746051053.459952669] [sailbot.main_algo]: Wind Direction: 99 -[main_algo-3] [INFO] [1746051053.460842777] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051053.461698988] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051053.462895732] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051053.463398748] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051053.502837861] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895411 Long: -76.50297307 -[vectornav-1] [INFO] [1746051053.504196773] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (20.96199999999999, -2.165, 12.908) -[main_algo-3] [INFO] [1746051053.504730524] [sailbot.main_algo]: Distance to destination: 37.67632340557855 -[main_algo-3] [INFO] [1746051053.506099230] [sailbot.main_algo]: Target Bearing: -137.89588244189682 -[main_algo-3] [INFO] [1746051053.507039751] [sailbot.main_algo]: Heading Difference: 154.06588244189686 -[main_algo-3] [INFO] [1746051053.507908614] [sailbot.main_algo]: Wind Direction: 99 -[main_algo-3] [INFO] [1746051053.508776881] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051053.509616968] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051053.511349128] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051053.545154056] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051053.545912890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051053.546674429] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051053.547855167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051053.548912496] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051053.585405698] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051053.587327779] [sailbot.teensy]: Wind angle: 107 -[trim_sail-4] [INFO] [1746051053.587881429] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051053.588335431] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051053.589280283] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051053.590112634] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051053.590155866] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051053.644817235] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051053.645498236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051053.646141878] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051053.647364689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051053.648636173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051053.745416228] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051053.746432099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051053.746954545] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051053.748581390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051053.749103800] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051053.835211137] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051053.837268384] [sailbot.teensy]: Wind angle: 109 -[trim_sail-4] [INFO] [1746051053.837378741] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051053.838268031] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051053.838857423] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051053.839208445] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051053.840386768] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051053.844526251] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051053.845394713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051053.845725588] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051053.847118517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051053.848300377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051053.945390587] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051053.946355398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051053.946930052] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051053.948160149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051053.948633269] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051053.957174386] [sailbot.main_algo]: Wind Direction: 109 -[main_algo-3] [INFO] [1746051053.958289050] [sailbot.main_algo]: Target Bearing: -137.89588244189682 -[main_algo-3] [INFO] [1746051053.959259749] [sailbot.main_algo]: Heading Difference: 158.85788244189678 -[main_algo-3] [INFO] [1746051053.960138282] [sailbot.main_algo]: Wind Direction: 109 -[main_algo-3] [INFO] [1746051053.961001445] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051053.961788833] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051053.962879070] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051053.963486836] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051054.002697646] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895635 Long: -76.50296702 -[main_algo-3] [INFO] [1746051054.003530052] [sailbot.main_algo]: Distance to destination: 38.20979358388477 -[vectornav-1] [INFO] [1746051054.003768709] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (27.512999999999977, -1.45, 13.073) -[main_algo-3] [INFO] [1746051054.004631887] [sailbot.main_algo]: Target Bearing: -138.13344084696655 -[main_algo-3] [INFO] [1746051054.005520178] [sailbot.main_algo]: Heading Difference: 159.09544084696654 -[main_algo-3] [INFO] [1746051054.006387955] [sailbot.main_algo]: Wind Direction: 109 -[main_algo-3] [INFO] [1746051054.007290044] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051054.008170959] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051054.010094815] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051054.045110878] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051054.045949930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051054.046712769] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051054.048105557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051054.049261973] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051054.085261587] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051054.086909460] [sailbot.teensy]: Wind angle: 100 -[trim_sail-4] [INFO] [1746051054.087556514] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051054.087866117] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051054.088829978] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051054.089751930] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051054.089951389] [sailbot.mux]: algo sail angle: 25 -[mux-7] [INFO] [1746051054.120182077] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746051054.145174636] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051054.146118896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051054.146900263] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051054.148121864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051054.149300047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051054.245001655] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051054.245895524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051054.246305612] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051054.247829103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051054.248967531] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051054.335405332] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051054.337953028] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051054.338430435] [sailbot.teensy]: Wind angle: 102 -[mux-7] [INFO] [1746051054.339281826] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051054.339365151] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051054.340213785] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051054.340584632] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051054.344385735] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051054.344959605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051054.345536215] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051054.346679719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051054.347797525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051054.445385620] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051054.446395039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051054.447315769] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051054.449064915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051054.449589877] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051054.457420296] [sailbot.main_algo]: Wind Direction: 102 -[main_algo-3] [INFO] [1746051054.458543301] [sailbot.main_algo]: Target Bearing: -138.13344084696655 -[main_algo-3] [INFO] [1746051054.459491265] [sailbot.main_algo]: Heading Difference: 165.64644084696653 -[main_algo-3] [INFO] [1746051054.460422920] [sailbot.main_algo]: Wind Direction: 102 -[main_algo-3] [INFO] [1746051054.461310225] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051054.462204624] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051054.463298382] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051054.463849090] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051054.502741107] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895869 Long: -76.50296091 -[main_algo-3] [INFO] [1746051054.503621029] [sailbot.main_algo]: Distance to destination: 38.75505579354648 -[vectornav-1] [INFO] [1746051054.503946807] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.930000000000007, 0.169, 13.352) -[main_algo-3] [INFO] [1746051054.504724197] [sailbot.main_algo]: Target Bearing: -138.35731857480846 -[main_algo-3] [INFO] [1746051054.505682396] [sailbot.main_algo]: Heading Difference: 165.87031857480844 -[main_algo-3] [INFO] [1746051054.506586295] [sailbot.main_algo]: Wind Direction: 102 -[main_algo-3] [INFO] [1746051054.507500904] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051054.508368592] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051054.510086218] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051054.544974333] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051054.545770196] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051054.546256405] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051054.547692555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051054.548749571] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051054.585355309] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051054.587277835] [sailbot.teensy]: Wind angle: 111 -[trim_sail-4] [INFO] [1746051054.587601741] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051054.588252168] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051054.589118922] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051054.588972608] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051054.589987957] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051054.645220128] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051054.646147250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051054.646776464] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051054.647854026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051054.648367757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051054.745398146] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051054.746118769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051054.746935360] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051054.748325198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051054.748822835] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051054.835201590] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051054.837415984] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746051054.838140870] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051054.838235474] [sailbot.teensy]: Wind angle: 114 -[teensy-2] [INFO] [1746051054.838724404] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051054.839123671] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051054.839637916] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051054.844368527] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051054.845105620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051054.845496155] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051054.846941269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051054.847997289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051054.945317845] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051054.946148663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051054.946883787] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051054.948441155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051054.949493332] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051054.956985477] [sailbot.main_algo]: Wind Direction: 114 -[main_algo-3] [INFO] [1746051054.957943449] [sailbot.main_algo]: Target Bearing: -138.35731857480846 -[main_algo-3] [INFO] [1746051054.958829528] [sailbot.main_algo]: Heading Difference: 169.28731857480847 -[main_algo-3] [INFO] [1746051054.959684516] [sailbot.main_algo]: Wind Direction: 114 -[main_algo-3] [INFO] [1746051054.960523900] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051054.961319166] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051054.962329781] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051054.963117466] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051055.003044268] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896065 Long: -76.50295508 -[main_algo-3] [INFO] [1746051055.003932507] [sailbot.main_algo]: Distance to destination: 39.25542746476766 -[vectornav-1] [INFO] [1746051055.004438702] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.175999999999988, 1.04, 12.213) -[main_algo-3] [INFO] [1746051055.005282756] [sailbot.main_algo]: Target Bearing: -138.5977629725433 -[main_algo-3] [INFO] [1746051055.006394698] [sailbot.main_algo]: Heading Difference: 169.52776297254331 -[main_algo-3] [INFO] [1746051055.007302137] [sailbot.main_algo]: Wind Direction: 114 -[main_algo-3] [INFO] [1746051055.008250109] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051055.009141825] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051055.010873090] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051055.045002202] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051055.045697812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051055.046321945] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051055.047588766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051055.048756429] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051055.085218088] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051055.087323815] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746051055.088017118] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051055.088199159] [sailbot.teensy]: Wind angle: 112 -[teensy-2] [INFO] [1746051055.089613300] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051055.090540485] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051055.091373386] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051055.120942690] [sailbot.mux]: controller_app rudder angle: 1 -[mux-7] [INFO] [1746051055.144937831] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051055.145926254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051055.146334021] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746051055.147791164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 1 -[teensy-2] [INFO] [1746051055.148963951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051055.245252654] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051055.246190997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051055.247298384] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746051055.248229799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 1 -[teensy-2] [INFO] [1746051055.249323062] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051055.335486823] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051055.338244072] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051055.339162729] [sailbot.teensy]: Wind angle: 111 -[teensy-2] [INFO] [1746051055.340198066] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051055.340406806] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051055.341157893] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051055.342067302] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051055.344345194] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051055.344934933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051055.345537372] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746051055.346645419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 1 -[teensy-2] [INFO] [1746051055.347704602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051055.445342531] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051055.446014172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051055.446899763] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746051055.448384616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 1 -[teensy-2] [INFO] [1746051055.449341234] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051055.457168127] [sailbot.main_algo]: Wind Direction: 111 -[main_algo-3] [INFO] [1746051055.458201984] [sailbot.main_algo]: Target Bearing: -138.5977629725433 -[main_algo-3] [INFO] [1746051055.459086882] [sailbot.main_algo]: Heading Difference: 168.7737629725433 -[main_algo-3] [INFO] [1746051055.459942667] [sailbot.main_algo]: Wind Direction: 111 -[main_algo-3] [INFO] [1746051055.460770358] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051055.461564916] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051055.462579490] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051055.463283255] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051055.503088027] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896386 Long: -76.50294984 -[main_algo-3] [INFO] [1746051055.503989259] [sailbot.main_algo]: Distance to destination: 39.813976059276925 -[vectornav-1] [INFO] [1746051055.504272134] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.00599999999997, -3.907, 12.168) -[main_algo-3] [INFO] [1746051055.505160993] [sailbot.main_algo]: Target Bearing: -138.63723430670723 -[main_algo-3] [INFO] [1746051055.506135644] [sailbot.main_algo]: Heading Difference: 168.81323430670722 -[main_algo-3] [INFO] [1746051055.507019264] [sailbot.main_algo]: Wind Direction: 111 -[main_algo-3] [INFO] [1746051055.507913521] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051055.508807235] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051055.510528507] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051055.545277363] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051055.546051934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051055.546795538] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746051055.548322799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 1 -[teensy-2] [INFO] [1746051055.549521992] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051055.585263970] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051055.587031540] [sailbot.teensy]: Wind angle: 109 -[trim_sail-4] [INFO] [1746051055.587522976] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051055.587966393] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051055.588862367] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746051055.589032291] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051055.589756987] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051055.645143306] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051055.645966946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051055.646823803] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746051055.647988953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 1 -[teensy-2] [INFO] [1746051055.648485036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051055.744827863] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051055.745611212] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051055.746057848] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746051055.747569305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 1 -[teensy-2] [INFO] [1746051055.748949860] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051055.835270612] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051055.837366812] [sailbot.teensy]: Wind angle: 110 -[trim_sail-4] [INFO] [1746051055.837396761] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051055.838389134] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051055.839328633] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746051055.839432210] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051055.840267991] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051055.844419119] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051055.845056941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051055.845590247] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746051055.846819789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 1 -[teensy-2] [INFO] [1746051055.847828666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051055.945156311] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051055.945888092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051055.946635513] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746051055.947922787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 1 -[teensy-2] [INFO] [1746051055.948703024] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051055.957210835] [sailbot.main_algo]: Wind Direction: 110 -[main_algo-3] [INFO] [1746051055.958219317] [sailbot.main_algo]: Target Bearing: -138.63723430670723 -[main_algo-3] [INFO] [1746051055.959088797] [sailbot.main_algo]: Heading Difference: 171.6432343067072 -[main_algo-3] [INFO] [1746051055.959892743] [sailbot.main_algo]: Wind Direction: 110 -[main_algo-3] [INFO] [1746051055.960715521] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051055.961515763] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051055.962543752] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051055.963303404] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051056.002942833] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896643 Long: -76.50294287 -[main_algo-3] [INFO] [1746051056.004000595] [sailbot.main_algo]: Distance to destination: 40.43008568233881 -[vectornav-1] [INFO] [1746051056.004108077] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.08299999999997, 1.446, 15.111) -[main_algo-3] [INFO] [1746051056.005231322] [sailbot.main_algo]: Target Bearing: -138.88583891316156 -[main_algo-3] [INFO] [1746051056.006488709] [sailbot.main_algo]: Heading Difference: 171.89183891316156 -[main_algo-3] [INFO] [1746051056.007434903] [sailbot.main_algo]: Wind Direction: 110 -[main_algo-3] [INFO] [1746051056.008524611] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051056.009441644] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051056.011120439] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051056.045468045] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051056.046270282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051056.047127035] [sailbot.mux]: Published rudder angle from controller_app: 1 -[teensy-2] [INFO] [1746051056.048703086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 1 -[teensy-2] [INFO] [1746051056.049913844] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051056.085223967] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051056.087023679] [sailbot.teensy]: Wind angle: 111 -[teensy-2] [INFO] [1746051056.087987347] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051056.087399096] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051056.088950601] [sailbot.teensy]: Actual tail angle: 26 -[mux-7] [INFO] [1746051056.089733980] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051056.089862813] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051056.122362799] [sailbot.mux]: controller_app rudder angle: 10 -[mux-7] [INFO] [1746051056.145028159] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051056.145887227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051056.146329387] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746051056.147732030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746051056.148825813] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051056.245191748] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051056.245940050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051056.246634695] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746051056.248117265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746051056.248858811] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051056.335354429] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051056.337133072] [sailbot.teensy]: Wind angle: 107 -[trim_sail-4] [INFO] [1746051056.338064173] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746051056.339327116] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051056.339440114] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051056.339821656] [sailbot.teensy]: Actual tail angle: 26 -[teensy-2] [INFO] [1746051056.340197771] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051056.344381560] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051056.345053197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051056.345470897] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746051056.346784164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746051056.347771949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051056.445448841] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051056.446870971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051056.447169062] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746051056.449426640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746051056.450481126] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051056.457278193] [sailbot.main_algo]: Wind Direction: 107 -[main_algo-3] [INFO] [1746051056.458384241] [sailbot.main_algo]: Target Bearing: -138.88583891316156 -[main_algo-3] [INFO] [1746051056.459294656] [sailbot.main_algo]: Heading Difference: 168.96883891316156 -[main_algo-3] [INFO] [1746051056.460196014] [sailbot.main_algo]: Wind Direction: 107 -[main_algo-3] [INFO] [1746051056.461104426] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051056.461988001] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051056.463100979] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051056.463741164] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051056.502720220] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896879 Long: -76.50293637 -[main_algo-3] [INFO] [1746051056.503640554] [sailbot.main_algo]: Distance to destination: 41.00259377175728 -[vectornav-1] [INFO] [1746051056.503890902] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.688999999999965, 1.428, 11.711) -[main_algo-3] [INFO] [1746051056.504749810] [sailbot.main_algo]: Target Bearing: -139.11518266909295 -[main_algo-3] [INFO] [1746051056.505688522] [sailbot.main_algo]: Heading Difference: 169.19818266909294 -[main_algo-3] [INFO] [1746051056.506595185] [sailbot.main_algo]: Wind Direction: 107 -[main_algo-3] [INFO] [1746051056.507488818] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051056.508351883] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051056.510080130] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051056.545132748] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051056.546037030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051056.546566965] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746051056.548281809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746051056.549322371] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051056.585353590] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051056.587375101] [sailbot.teensy]: Wind angle: 105 -[trim_sail-4] [INFO] [1746051056.587971318] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051056.589017816] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051056.589992358] [sailbot.teensy]: Actual tail angle: 35 -[mux-7] [INFO] [1746051056.589981678] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051056.590853332] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051056.645155599] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051056.645901265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051056.646648556] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746051056.647913819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746051056.648890826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051056.745459473] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051056.746079501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051056.747166869] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746051056.748421209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746051056.749661929] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051056.835228986] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051056.837925197] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051056.838543284] [sailbot.teensy]: Wind angle: 104 -[mux-7] [INFO] [1746051056.838591552] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051056.839530622] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051056.840460702] [sailbot.teensy]: Actual tail angle: 35 -[teensy-2] [INFO] [1746051056.840964176] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051056.844481093] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051056.844961687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051056.845652041] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746051056.846687894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746051056.847807904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051056.945402969] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051056.946186489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051056.947187860] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746051056.948324725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746051056.948862468] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051056.957270596] [sailbot.main_algo]: Wind Direction: 104 -[main_algo-3] [INFO] [1746051056.958371371] [sailbot.main_algo]: Target Bearing: -139.11518266909295 -[main_algo-3] [INFO] [1746051056.959334172] [sailbot.main_algo]: Heading Difference: 163.80418266909294 -[main_algo-3] [INFO] [1746051056.960216711] [sailbot.main_algo]: Wind Direction: 104 -[main_algo-3] [INFO] [1746051056.961094879] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051056.961935144] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051056.962993698] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051056.963606146] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051057.003079326] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46897128 Long: -76.50293067 -[main_algo-3] [INFO] [1746051057.004101897] [sailbot.main_algo]: Distance to destination: 41.536246493304176 -[vectornav-1] [INFO] [1746051057.004406697] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (18.432999999999993, -0.976, 9.584) -[main_algo-3] [INFO] [1746051057.005347244] [sailbot.main_algo]: Target Bearing: -139.26299939906679 -[main_algo-3] [INFO] [1746051057.006370262] [sailbot.main_algo]: Heading Difference: 163.95199939906672 -[main_algo-3] [INFO] [1746051057.007260766] [sailbot.main_algo]: Wind Direction: 104 -[main_algo-3] [INFO] [1746051057.008139589] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051057.009038904] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051057.010720513] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051057.045209591] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051057.046038393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051057.046641187] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746051057.048406735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[teensy-2] [INFO] [1746051057.049525183] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051057.085245496] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051057.087184368] [sailbot.teensy]: Wind angle: 102 -[trim_sail-4] [INFO] [1746051057.087569468] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051057.088128341] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051057.089110317] [sailbot.teensy]: Actual tail angle: 35 -[teensy-2] [INFO] [1746051057.090008706] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051057.090368217] [sailbot.mux]: algo sail angle: 25 -[mux-7] [INFO] [1746051057.144820836] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051057.145578454] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051057.146052456] [sailbot.mux]: Published rudder angle from controller_app: 10 -[teensy-2] [INFO] [1746051057.147401536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 10 -[mux-7] [INFO] [1746051057.148048323] [sailbot.mux]: controller_app rudder angle: 0 -[teensy-2] [INFO] [1746051057.148634217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051057.245688281] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051057.246566573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051057.247352310] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051057.249396356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051057.250660330] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051057.335373268] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051057.337189230] [sailbot.teensy]: Wind angle: 99 -[trim_sail-4] [INFO] [1746051057.337807477] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051057.338215537] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051057.339196098] [sailbot.teensy]: Actual tail angle: 35 -[mux-7] [INFO] [1746051057.339646687] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051057.339702006] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051057.345038326] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051057.345173246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051057.346378655] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051057.347329525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051057.348448562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051057.445525345] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051057.446196956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051057.447200993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051057.448381889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051057.449093043] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051057.457047297] [sailbot.main_algo]: Wind Direction: 99 -[main_algo-3] [INFO] [1746051057.457927768] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746051057.458792397] [sailbot.main_algo]: Target Bearing: -139.26299939906679 -[main_algo-3] [INFO] [1746051057.459621578] [sailbot.main_algo]: Heading Difference: 157.69599939906675 -[main_algo-3] [INFO] [1746051057.460448739] [sailbot.main_algo]: Wind Direction: 99 -[main_algo-3] [INFO] [1746051057.461248738] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051057.462006739] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051057.463011857] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051057.463690759] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051057.503239014] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46897277 Long: -76.5029238 -[main_algo-3] [INFO] [1746051057.503830041] [sailbot.main_algo]: Distance to destination: 42.06860841619389 -[vectornav-1] [INFO] [1746051057.504449443] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (9.742000000000019, -3.465, 8.932) -[main_algo-3] [INFO] [1746051057.504947620] [sailbot.main_algo]: Target Bearing: -139.60716333044732 -[main_algo-3] [INFO] [1746051057.506310472] [sailbot.main_algo]: Heading Difference: 158.04016333044729 -[main_algo-3] [INFO] [1746051057.507340562] [sailbot.main_algo]: Wind Direction: 99 -[main_algo-3] [INFO] [1746051057.508300223] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051057.509176057] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051057.510885311] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051057.545144756] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051057.545786821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051057.546667511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051057.547656903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051057.548741469] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051057.585056490] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051057.587172850] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051057.587247507] [sailbot.teensy]: Wind angle: 100 -[teensy-2] [INFO] [1746051057.588233125] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051057.589060278] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051057.589156683] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051057.590043999] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051057.645008679] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051057.645808372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051057.646351400] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051057.647682231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051057.648861873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051057.745144731] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051057.745759810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051057.746857764] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051057.747541349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051057.748034108] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051057.835449970] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051057.837477661] [sailbot.teensy]: Wind angle: 98 -[trim_sail-4] [INFO] [1746051057.838192203] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051057.838483015] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051057.839373901] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051057.839667514] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051057.840342806] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051057.844458330] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051057.845049268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051057.845600075] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051057.846775452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051057.847989767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051057.945670015] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051057.946562798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051057.947507848] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051057.948813225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051057.949338155] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051057.957145206] [sailbot.main_algo]: Wind Direction: 98 -[main_algo-3] [INFO] [1746051057.958091425] [sailbot.main_algo]: Target Bearing: -139.60716333044732 -[main_algo-3] [INFO] [1746051057.958977958] [sailbot.main_algo]: Heading Difference: 149.34916333044737 -[main_algo-3] [INFO] [1746051057.960075064] [sailbot.main_algo]: Wind Direction: 98 -[main_algo-3] [INFO] [1746051057.960971551] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051057.961830732] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051057.962910953] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051057.963654392] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051058.003202204] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46897244 Long: -76.50291546 -[main_algo-3] [INFO] [1746051058.003797514] [sailbot.main_algo]: Distance to destination: 42.56140136709806 -[vectornav-1] [INFO] [1746051058.004434791] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (354.884, -1.158, 8.23) -[main_algo-3] [INFO] [1746051058.005004189] [sailbot.main_algo]: Target Bearing: -140.25474968602865 -[main_algo-3] [INFO] [1746051058.006316367] [sailbot.main_algo]: Heading Difference: 149.9967496860287 -[main_algo-3] [INFO] [1746051058.007284658] [sailbot.main_algo]: Wind Direction: 98 -[main_algo-3] [INFO] [1746051058.008164428] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051058.009017399] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051058.010800850] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051058.045136527] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051058.045959331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051058.046727707] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051058.048450010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051058.049626604] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051058.085335823] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051058.087627692] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746051058.088071228] [sailbot.teensy]: Wind angle: 90 -[mux-7] [INFO] [1746051058.088202244] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051058.089460398] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051058.090340520] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051058.091174598] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051058.145164961] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051058.146046891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051058.146594436] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051058.148065124] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051058.149246477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051058.245478136] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051058.246431217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051058.247202215] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051058.248667376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051058.249744023] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051058.335293965] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051058.337505262] [sailbot.teensy]: Wind angle: 87 -[trim_sail-4] [INFO] [1746051058.337627729] [sailbot.trim_sail]: Sail Angle: "35" -[mux-7] [INFO] [1746051058.339434647] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051058.339803754] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051058.340630302] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051058.340985832] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051058.344466559] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051058.345106285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051058.345681927] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051058.346940850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051058.348007516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051058.445233826] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051058.446194448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051058.446959149] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051058.448576973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051058.449632969] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051058.457054439] [sailbot.main_algo]: Wind Direction: 87 -[main_algo-3] [INFO] [1746051058.458046363] [sailbot.main_algo]: Target Bearing: -140.25474968602865 -[main_algo-3] [INFO] [1746051058.459016568] [sailbot.main_algo]: Heading Difference: 135.13874968602863 -[main_algo-3] [INFO] [1746051058.459871970] [sailbot.main_algo]: Wind Direction: 87 -[main_algo-3] [INFO] [1746051058.460756399] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051058.461570632] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051058.462580076] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051058.463092230] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051058.503128121] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689713 Long: -76.50290762 -[main_algo-3] [INFO] [1746051058.504265353] [sailbot.main_algo]: Distance to destination: 42.97011653684418 -[vectornav-1] [INFO] [1746051058.504410439] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (341.254, 4.07, 5.891) -[main_algo-3] [INFO] [1746051058.505335454] [sailbot.main_algo]: Target Bearing: -140.94381795419955 -[main_algo-3] [INFO] [1746051058.506338216] [sailbot.main_algo]: Heading Difference: 135.82781795419953 -[main_algo-3] [INFO] [1746051058.507236424] [sailbot.main_algo]: Wind Direction: 87 -[main_algo-3] [INFO] [1746051058.508113246] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051058.508989550] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051058.510689775] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051058.545470414] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051058.546310080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051058.547024901] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051058.548497874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051058.549568526] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051058.585146803] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051058.587186004] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746051058.588434726] [sailbot.teensy]: Wind angle: 86 -[mux-7] [INFO] [1746051058.588433355] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051058.589571153] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051058.590555090] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051058.591429417] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051058.645119553] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051058.645970341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051058.646442429] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051058.647930064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051058.648999198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051058.745069878] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051058.745664170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051058.746402464] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051058.747561375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051058.748250962] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051058.835219488] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051058.837339795] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746051058.838334090] [sailbot.teensy]: Wind angle: 84 -[mux-7] [INFO] [1746051058.838507097] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051058.839429552] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051058.840316767] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051058.840660594] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051058.844451706] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051058.844894895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051058.845687144] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051058.846569451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051058.847641852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051058.945024001] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051058.945702437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051058.946373355] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051058.947613151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051058.948714777] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051058.956931741] [sailbot.main_algo]: Wind Direction: 84 -[main_algo-3] [INFO] [1746051058.957885882] [sailbot.main_algo]: Target Bearing: -140.94381795419955 -[main_algo-3] [INFO] [1746051058.958724563] [sailbot.main_algo]: Heading Difference: 122.19781795419954 -[main_algo-3] [INFO] [1746051058.959496523] [sailbot.main_algo]: Wind Direction: 84 -[main_algo-3] [INFO] [1746051058.960288755] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051058.961084682] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051058.962078320] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051058.962677642] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051059.003303392] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896942 Long: -76.50290176 -[main_algo-3] [INFO] [1746051059.003879424] [sailbot.main_algo]: Distance to destination: 43.20697874918979 -[main_algo-3] [INFO] [1746051059.005074816] [sailbot.main_algo]: Target Bearing: -141.56701091300494 -[vectornav-1] [INFO] [1746051059.005487438] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (329.416, 2.536, 3.538) -[main_algo-3] [INFO] [1746051059.006060048] [sailbot.main_algo]: Heading Difference: 122.82101091300501 -[main_algo-3] [INFO] [1746051059.007010496] [sailbot.main_algo]: Wind Direction: 84 -[main_algo-3] [INFO] [1746051059.007892259] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051059.008801069] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051059.010528054] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051059.044994946] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051059.045638132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051059.046332455] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051059.047779416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051059.048946363] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051059.085247885] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051059.087390306] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746051059.087883834] [sailbot.teensy]: Wind angle: 79 -[mux-7] [INFO] [1746051059.088511603] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746051059.089137599] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051059.090395896] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051059.091277124] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051059.144976443] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051059.145560343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051059.146402155] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051059.147571695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051059.148641644] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051059.245257035] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051059.246347336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051059.246745782] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051059.248222556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051059.248761625] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051059.335166442] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051059.336699848] [sailbot.teensy]: Wind angle: 74 -[trim_sail-4] [INFO] [1746051059.337295862] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051059.337573349] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051059.338448421] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051059.338759433] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051059.339302782] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051059.344227237] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051059.344868510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051059.345916935] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051059.346566526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051059.347636413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051059.445014602] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051059.445879306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051059.446740123] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051059.447990678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051059.448660893] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051059.457252023] [sailbot.main_algo]: Wind Direction: 74 -[main_algo-3] [INFO] [1746051059.458281417] [sailbot.main_algo]: Target Bearing: -141.56701091300494 -[main_algo-3] [INFO] [1746051059.459175002] [sailbot.main_algo]: Heading Difference: 110.98301091300493 -[main_algo-3] [INFO] [1746051059.459987089] [sailbot.main_algo]: Wind Direction: 74 -[main_algo-3] [INFO] [1746051059.460798695] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051059.461606422] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051059.462604742] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051059.463307151] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051059.502503373] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896716 Long: -76.50289752 -[main_algo-3] [INFO] [1746051059.503560047] [sailbot.main_algo]: Distance to destination: 43.31870200395622 -[vectornav-1] [INFO] [1746051059.503576152] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (322.903, -3.568, 4.757) -[main_algo-3] [INFO] [1746051059.505001212] [sailbot.main_algo]: Target Bearing: -142.11634991593564 -[main_algo-3] [INFO] [1746051059.505984650] [sailbot.main_algo]: Heading Difference: 111.53234991593558 -[main_algo-3] [INFO] [1746051059.506860928] [sailbot.main_algo]: Wind Direction: 74 -[main_algo-3] [INFO] [1746051059.507733049] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051059.508612788] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051059.510291215] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051059.545014324] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051059.545858723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051059.546346192] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051059.547813797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051059.548952108] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051059.585153414] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051059.586689942] [sailbot.teensy]: Wind angle: 72 -[trim_sail-4] [INFO] [1746051059.587213706] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051059.587567629] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051059.588511041] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051059.588660442] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051059.589437087] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051059.644896681] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051059.645702832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051059.646146320] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051059.647604047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051059.648676171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051059.745497734] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051059.746291229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051059.746976556] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051059.747948945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051059.748466122] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051059.835278482] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051059.837536699] [sailbot.trim_sail]: Sail Angle: "50" -[teensy-2] [INFO] [1746051059.838396874] [sailbot.teensy]: Wind angle: 66 -[mux-7] [INFO] [1746051059.838970680] [sailbot.mux]: algo sail angle: 50 -[teensy-2] [INFO] [1746051059.839411764] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051059.840395673] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051059.841278995] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051059.844326893] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051059.844831505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051059.845411177] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051059.846477775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051059.847623568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051059.945330450] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051059.946358143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051059.947251984] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051059.948681348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051059.949269650] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051059.957050653] [sailbot.main_algo]: Wind Direction: 66 -[main_algo-3] [INFO] [1746051059.958027717] [sailbot.main_algo]: Target Bearing: -142.11634991593564 -[main_algo-3] [INFO] [1746051059.958939614] [sailbot.main_algo]: Heading Difference: 105.01934991593566 -[main_algo-3] [INFO] [1746051059.959821945] [sailbot.main_algo]: Wind Direction: 66 -[main_algo-3] [INFO] [1746051059.960686155] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051059.961466861] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051059.962469042] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051059.963252953] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051060.003040769] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896396 Long: -76.50289307 -[main_algo-3] [INFO] [1746051060.003525946] [sailbot.main_algo]: Distance to destination: 43.383249786295124 -[vectornav-1] [INFO] [1746051060.004327701] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (314.349, -4.042, 4.687) -[main_algo-3] [INFO] [1746051060.004647482] [sailbot.main_algo]: Target Bearing: -142.78508475427202 -[main_algo-3] [INFO] [1746051060.005640783] [sailbot.main_algo]: Heading Difference: 105.68808475427204 -[main_algo-3] [INFO] [1746051060.006879312] [sailbot.main_algo]: Wind Direction: 66 -[main_algo-3] [INFO] [1746051060.007820864] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051060.008720180] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051060.010446833] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051060.045465446] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051060.045688086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051060.046946400] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051060.047694289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051060.048944105] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051060.085429552] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051060.087914097] [sailbot.trim_sail]: Sail Angle: "55" -[teensy-2] [INFO] [1746051060.089260044] [sailbot.teensy]: Wind angle: 56 -[teensy-2] [INFO] [1746051060.090365063] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051060.090557649] [sailbot.mux]: algo sail angle: 55 -[teensy-2] [INFO] [1746051060.091456634] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051060.092388879] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051060.133040762] [sailbot.mux]: controller_app rudder angle: -11 -[mux-7] [INFO] [1746051060.144949896] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051060.145794950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051060.146284092] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051060.147911382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051060.148934580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051060.245073541] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051060.245673674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051060.247077179] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051060.247631098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051060.248996278] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051060.335242099] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051060.337609511] [sailbot.teensy]: Wind angle: 46 -[trim_sail-4] [INFO] [1746051060.337810538] [sailbot.trim_sail]: Sail Angle: "65" -[mux-7] [INFO] [1746051060.338594785] [sailbot.mux]: algo sail angle: 65 -[teensy-2] [INFO] [1746051060.339404882] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051060.340349015] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051060.341281656] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051060.344329710] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051060.345006630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051060.345496835] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051060.346724684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051060.347778932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051060.444996587] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051060.445736227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051060.446361037] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051060.447779660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051060.448910038] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051060.456997378] [sailbot.main_algo]: Wind Direction: 46 -[main_algo-3] [INFO] [1746051060.457971192] [sailbot.main_algo]: Target Bearing: -142.78508475427202 -[main_algo-3] [INFO] [1746051060.458846220] [sailbot.main_algo]: Heading Difference: 97.13408475427195 -[main_algo-3] [INFO] [1746051060.459739455] [sailbot.main_algo]: Wind Direction: 46 -[main_algo-3] [INFO] [1746051060.460563178] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051060.461372186] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051060.462324059] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051060.462962288] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051060.502718948] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895974 Long: -76.50288813 -[main_algo-3] [INFO] [1746051060.503771506] [sailbot.main_algo]: Distance to destination: 43.416716964609996 -[vectornav-1] [INFO] [1746051060.503827152] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (308.35699999999997, -0.881, 3.41) -[main_algo-3] [INFO] [1746051060.504865962] [sailbot.main_algo]: Target Bearing: -143.60265530396055 -[main_algo-3] [INFO] [1746051060.505885982] [sailbot.main_algo]: Heading Difference: 97.95165530396048 -[main_algo-3] [INFO] [1746051060.506803320] [sailbot.main_algo]: Wind Direction: 46 -[main_algo-3] [INFO] [1746051060.507687090] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051060.508552570] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051060.510250311] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051060.545264238] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051060.545929263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051060.546723195] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051060.548378156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051060.549481231] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051060.585159464] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051060.586856024] [sailbot.teensy]: Wind angle: 40 -[teensy-2] [INFO] [1746051060.587787544] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051060.587286258] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746051060.588674458] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746051060.588701538] [sailbot.teensy]: Actual tail angle: 14 -[teensy-2] [INFO] [1746051060.589569442] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051060.645030430] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051060.645735738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051060.646379576] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051060.647630683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051060.648808634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051060.745172361] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051060.746268026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051060.746672309] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051060.748305835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051060.749463393] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051060.835355885] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051060.837558820] [sailbot.trim_sail]: Sail Angle: "70" -[mux-7] [INFO] [1746051060.838104077] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746051060.838801816] [sailbot.teensy]: Wind angle: 39 -[teensy-2] [INFO] [1746051060.839647371] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051060.840033747] [sailbot.teensy]: Actual tail angle: 14 -[teensy-2] [INFO] [1746051060.840404702] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051060.844454158] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051060.845019800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051060.845566523] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051060.846698536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051060.847838465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051060.945278565] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051060.946254619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051060.946897394] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051060.948314733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051060.949482923] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051060.956981628] [sailbot.main_algo]: Wind Direction: 39 -[main_algo-3] [INFO] [1746051060.957934976] [sailbot.main_algo]: Target Bearing: -143.60265530396055 -[main_algo-3] [INFO] [1746051060.958780478] [sailbot.main_algo]: Heading Difference: 91.95965530396052 -[main_algo-3] [INFO] [1746051060.959676867] [sailbot.main_algo]: Wind Direction: 39 -[main_algo-3] [INFO] [1746051060.960528190] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051060.961332229] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051060.962328759] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051060.962969721] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051061.003614889] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895513 Long: -76.50288398 -[main_algo-3] [INFO] [1746051061.004535302] [sailbot.main_algo]: Distance to destination: 43.38103794420796 -[vectornav-1] [INFO] [1746051061.004899271] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (317.36699999999996, 1.227, 8.483) -[main_algo-3] [INFO] [1746051061.005709469] [sailbot.main_algo]: Target Bearing: -144.41358307574825 -[main_algo-3] [INFO] [1746051061.006859193] [sailbot.main_algo]: Heading Difference: 92.77058307574816 -[main_algo-3] [INFO] [1746051061.007832917] [sailbot.main_algo]: Wind Direction: 39 -[main_algo-3] [INFO] [1746051061.008783017] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051061.009660487] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051061.011500220] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051061.045138600] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051061.045860356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051061.046495337] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051061.047764745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051061.048942655] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051061.085210616] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051061.087232432] [sailbot.teensy]: Wind angle: 39 -[trim_sail-4] [INFO] [1746051061.087854002] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746051061.088178734] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051061.089038691] [sailbot.teensy]: Actual tail angle: 14 -[mux-7] [INFO] [1746051061.089256364] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746051061.089954116] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051061.140666356] [sailbot.mux]: controller_app rudder angle: -20 -[mux-7] [INFO] [1746051061.145110752] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051061.146382009] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746051061.147114433] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051061.149409130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -20 -[teensy-2] [INFO] [1746051061.150529818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051061.245233036] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051061.245881294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051061.246521548] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746051061.247997312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -20 -[teensy-2] [INFO] [1746051061.249141617] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051061.335236811] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051061.337451119] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746051061.337821137] [sailbot.teensy]: Wind angle: 39 -[teensy-2] [INFO] [1746051061.338831163] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051061.339131256] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746051061.339767583] [sailbot.teensy]: Actual tail angle: 14 -[teensy-2] [INFO] [1746051061.340725342] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051061.344517430] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051061.345087758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051061.345685612] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746051061.346794791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -20 -[teensy-2] [INFO] [1746051061.347890075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051061.445325919] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051061.446170381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051061.446991475] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746051061.448298030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -20 -[teensy-2] [INFO] [1746051061.449453518] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051061.457208498] [sailbot.main_algo]: Wind Direction: 39 -[main_algo-3] [INFO] [1746051061.458289787] [sailbot.main_algo]: Target Bearing: -144.41358307574825 -[main_algo-3] [INFO] [1746051061.459200349] [sailbot.main_algo]: Heading Difference: 101.78058307574815 -[main_algo-3] [INFO] [1746051061.460062261] [sailbot.main_algo]: Wind Direction: 39 -[main_algo-3] [INFO] [1746051061.460968653] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051061.461873700] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051061.463102807] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051061.463780970] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051061.503428358] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895161 Long: -76.50288046 -[main_algo-3] [INFO] [1746051061.504938715] [sailbot.main_algo]: Distance to destination: 43.3830266811048 -[vectornav-1] [INFO] [1746051061.505264265] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (337.48, 4.493, 13.162) -[main_algo-3] [INFO] [1746051061.506208598] [sailbot.main_algo]: Target Bearing: -145.05598793976924 -[main_algo-3] [INFO] [1746051061.507236254] [sailbot.main_algo]: Heading Difference: 102.4229879397692 -[main_algo-3] [INFO] [1746051061.508238445] [sailbot.main_algo]: Wind Direction: 39 -[main_algo-3] [INFO] [1746051061.509133367] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051061.509987465] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051061.511634431] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051061.544859889] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051061.545607468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051061.546106753] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746051061.547495693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -20 -[teensy-2] [INFO] [1746051061.548461701] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051061.585386803] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051061.587165843] [sailbot.teensy]: Wind angle: 39 -[teensy-2] [INFO] [1746051061.588107257] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051061.587739556] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746051061.589029105] [sailbot.teensy]: Actual tail angle: 5 -[mux-7] [INFO] [1746051061.589272363] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746051061.589912935] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051061.645100306] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051061.645668340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051061.646383529] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746051061.647565534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -20 -[teensy-2] [INFO] [1746051061.648656058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051061.745284594] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051061.745997901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051061.746780193] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746051061.748408501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -20 -[teensy-2] [INFO] [1746051061.749661165] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051061.835148702] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051061.836705474] [sailbot.teensy]: Wind angle: 41 -[trim_sail-4] [INFO] [1746051061.837402549] [sailbot.trim_sail]: Sail Angle: "70" -[teensy-2] [INFO] [1746051061.837565672] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051061.837944558] [sailbot.mux]: algo sail angle: 70 -[teensy-2] [INFO] [1746051061.838459802] [sailbot.teensy]: Actual tail angle: 5 -[teensy-2] [INFO] [1746051061.839341683] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051061.844468282] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051061.845020953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051061.845532716] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746051061.846757398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -20 -[teensy-2] [INFO] [1746051061.847809689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051061.945448289] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051061.946274121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051061.947241156] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746051061.949160323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -20 -[teensy-2] [INFO] [1746051061.950304115] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051061.957084595] [sailbot.main_algo]: Wind Direction: 41 -[main_algo-3] [INFO] [1746051061.958077467] [sailbot.main_algo]: Target Bearing: -145.05598793976924 -[main_algo-3] [INFO] [1746051061.958983891] [sailbot.main_algo]: Heading Difference: 122.53598793976926 -[main_algo-3] [INFO] [1746051061.959795794] [sailbot.main_algo]: Wind Direction: 41 -[main_algo-3] [INFO] [1746051061.960641613] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051061.961450083] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051061.962483782] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051061.963185617] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051062.003217956] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895127 Long: -76.502877 -[main_algo-3] [INFO] [1746051062.003680096] [sailbot.main_algo]: Distance to destination: 43.59157809453327 -[vectornav-1] [INFO] [1746051062.004739116] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (5.699999999999989, -2.579, 17.436) -[main_algo-3] [INFO] [1746051062.004777145] [sailbot.main_algo]: Target Bearing: -145.31573278771182 -[main_algo-3] [INFO] [1746051062.005734796] [sailbot.main_algo]: Heading Difference: 122.79573278771181 -[main_algo-3] [INFO] [1746051062.006668176] [sailbot.main_algo]: Wind Direction: 41 -[main_algo-3] [INFO] [1746051062.007566502] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051062.008446703] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051062.010134369] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051062.045176705] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051062.046379216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051062.046429910] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746051062.048334641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -20 -[teensy-2] [INFO] [1746051062.049397861] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051062.085417041] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051062.088411313] [sailbot.trim_sail]: Sail Angle: "60" -[teensy-2] [INFO] [1746051062.088569791] [sailbot.teensy]: Wind angle: 52 -[teensy-2] [INFO] [1746051062.089515333] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051062.090431402] [sailbot.teensy]: Actual tail angle: 5 -[teensy-2] [INFO] [1746051062.091358133] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051062.093019468] [sailbot.mux]: algo sail angle: 60 -[mux-7] [INFO] [1746051062.144938795] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051062.145580594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051062.146262832] [sailbot.mux]: Published rudder angle from controller_app: -20 -[teensy-2] [INFO] [1746051062.147738437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -20 -[mux-7] [INFO] [1746051062.148295719] [sailbot.mux]: controller_app rudder angle: 0 -[teensy-2] [INFO] [1746051062.148826818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051062.245049741] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051062.246114120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051062.246463624] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051062.248334497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051062.248847840] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051062.335220520] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051062.337398925] [sailbot.teensy]: Wind angle: 77 -[trim_sail-4] [INFO] [1746051062.337596032] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746051062.338365018] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051062.338659589] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746051062.338886286] [sailbot.teensy]: Actual tail angle: 5 -[teensy-2] [INFO] [1746051062.339270857] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051062.344408235] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051062.344960647] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051062.345573614] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051062.346781013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051062.347800013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051062.445199316] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051062.445965033] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051062.446685655] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051062.448052454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051062.449261169] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051062.457242697] [sailbot.main_algo]: Wind Direction: 77 -[main_algo-3] [INFO] [1746051062.458295681] [sailbot.main_algo]: Target Bearing: -145.31573278771182 -[main_algo-3] [INFO] [1746051062.459178513] [sailbot.main_algo]: Heading Difference: 151.01573278771184 -[main_algo-3] [INFO] [1746051062.460030212] [sailbot.main_algo]: Wind Direction: 77 -[main_algo-3] [INFO] [1746051062.461016138] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051062.461881406] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051062.462989290] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051062.464113136] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051062.502917858] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689524 Long: -76.50287363 -[main_algo-3] [INFO] [1746051062.504196682] [sailbot.main_algo]: Distance to destination: 43.88987138483324 -[vectornav-1] [INFO] [1746051062.504299883] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.565, 2.075, 19.367) -[main_algo-3] [INFO] [1746051062.505452736] [sailbot.main_algo]: Target Bearing: -145.3937652014616 -[main_algo-3] [INFO] [1746051062.506424035] [sailbot.main_algo]: Heading Difference: 151.09376520146157 -[main_algo-3] [INFO] [1746051062.507322416] [sailbot.main_algo]: Wind Direction: 77 -[main_algo-3] [INFO] [1746051062.508207063] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051062.509068515] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051062.510843663] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051062.545172946] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051062.545716574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051062.546452091] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051062.547525155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051062.548604705] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051062.585266234] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051062.587075480] [sailbot.teensy]: Wind angle: 110 -[trim_sail-4] [INFO] [1746051062.587534452] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051062.588038800] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051062.588907909] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051062.589068638] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051062.589811304] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051062.644982011] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051062.645794996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051062.646235580] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051062.647780882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051062.648795639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051062.745196993] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051062.745903767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051062.746626461] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051062.748321851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051062.748933417] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051062.835150130] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051062.836801688] [sailbot.teensy]: Wind angle: 139 -[trim_sail-4] [INFO] [1746051062.837325840] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051062.837754749] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051062.838748442] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051062.838661315] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051062.839711094] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051062.844382929] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051062.845178921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051062.845507627] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051062.847400555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051062.848588158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051062.944891352] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051062.945409090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051062.946145264] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051062.947213635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051062.948335523] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051062.957109124] [sailbot.main_algo]: Wind Direction: 139 -[main_algo-3] [INFO] [1746051062.958160436] [sailbot.main_algo]: Target Bearing: -145.3937652014616 -[main_algo-3] [INFO] [1746051062.959070457] [sailbot.main_algo]: Heading Difference: -176.04123479853843 -[main_algo-3] [INFO] [1746051062.959914504] [sailbot.main_algo]: Wind Direction: 139 -[main_algo-3] [INFO] [1746051062.960727217] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051062.961523966] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051062.962533439] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051062.963179222] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051063.002819909] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895387 Long: -76.50287121 -[main_algo-3] [INFO] [1746051063.003757722] [sailbot.main_algo]: Distance to destination: 44.14670510691399 -[vectornav-1] [INFO] [1746051063.004036909] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (65.08499999999998, -2.363, 19.989) -[main_algo-3] [INFO] [1746051063.004866547] [sailbot.main_algo]: Target Bearing: -145.37193548422974 -[main_algo-3] [INFO] [1746051063.005826772] [sailbot.main_algo]: Heading Difference: -176.0630645157703 -[main_algo-3] [INFO] [1746051063.006731876] [sailbot.main_algo]: Wind Direction: 139 -[main_algo-3] [INFO] [1746051063.007639440] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051063.008527776] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051063.010225084] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051063.044944068] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051063.045680425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051063.046208973] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051063.047900063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051063.048965061] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051063.085054735] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051063.086571739] [sailbot.teensy]: Wind angle: 140 -[trim_sail-4] [INFO] [1746051063.087081968] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051063.087418443] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051063.088238721] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051063.088719905] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051063.089117515] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051063.144838189] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051063.145268620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051063.146083803] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051063.147184560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051063.148263538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051063.245304455] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051063.245777778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051063.246715987] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051063.247688248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051063.248923885] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051063.335367007] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051063.338007748] [sailbot.teensy]: Wind angle: 132 -[trim_sail-4] [INFO] [1746051063.338133452] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051063.338990750] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051063.339373191] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051063.339768054] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051063.339810121] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051063.344387657] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051063.344878123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051063.345487700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051063.346599168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051063.347731537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051063.445390306] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051063.446334563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051063.446844941] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051063.447939598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051063.448426500] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051063.457104547] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051063.458103990] [sailbot.main_algo]: Target Bearing: -145.37193548422974 -[main_algo-3] [INFO] [1746051063.458972438] [sailbot.main_algo]: Heading Difference: -149.5430645157703 -[main_algo-3] [INFO] [1746051063.459775894] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051063.460603513] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051063.461449237] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051063.462489010] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051063.463076851] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051063.502559644] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689563 Long: -76.50287038 -[main_algo-3] [INFO] [1746051063.503424910] [sailbot.main_algo]: Distance to destination: 44.359791864002794 -[vectornav-1] [INFO] [1746051063.503626572] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (82.25, -1.296, 13.732) -[main_algo-3] [INFO] [1746051063.504494459] [sailbot.main_algo]: Target Bearing: -145.1400279871078 -[main_algo-3] [INFO] [1746051063.505448176] [sailbot.main_algo]: Heading Difference: -149.77497201289225 -[main_algo-3] [INFO] [1746051063.506349758] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051063.507218746] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051063.508053032] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051063.509820151] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051063.544958482] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051063.545609333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051063.546181022] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051063.547425809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051063.548471317] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051063.585312309] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051063.587012015] [sailbot.teensy]: Wind angle: 134 -[teensy-2] [INFO] [1746051063.587917432] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051063.587543054] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051063.588709285] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051063.588827131] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051063.589717729] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051063.645031428] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051063.646021463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051063.646442029] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051063.648011995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051063.649123752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051063.698341849] [sailbot.mux]: controller_app rudder angle: 16 -[mux-7] [INFO] [1746051063.744829068] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051063.745904687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051063.746112671] [sailbot.mux]: Published rudder angle from controller_app: 16 -[teensy-2] [INFO] [1746051063.747843430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 16 -[teensy-2] [INFO] [1746051063.748856185] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051063.835344725] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051063.837063535] [sailbot.teensy]: Wind angle: 150 -[trim_sail-4] [INFO] [1746051063.838002003] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051063.838625333] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051063.839134038] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051063.839577133] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051063.840443713] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051063.844475381] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051063.845073373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051063.845582308] [sailbot.mux]: Published rudder angle from controller_app: 16 -[teensy-2] [INFO] [1746051063.846832801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 16 -[teensy-2] [INFO] [1746051063.847878885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051063.945299312] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051063.945985905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051063.947003303] [sailbot.mux]: Published rudder angle from controller_app: 16 -[teensy-2] [INFO] [1746051063.947876484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 16 -[teensy-2] [INFO] [1746051063.948446288] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051063.957125633] [sailbot.main_algo]: Wind Direction: 150 -[main_algo-3] [INFO] [1746051063.958102773] [sailbot.main_algo]: Target Bearing: -145.1400279871078 -[main_algo-3] [INFO] [1746051063.958945825] [sailbot.main_algo]: Heading Difference: -132.60997201289217 -[main_algo-3] [INFO] [1746051063.959785749] [sailbot.main_algo]: Wind Direction: 150 -[main_algo-3] [INFO] [1746051063.960675286] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051063.961459021] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051063.962459450] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051063.963116144] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051064.003556059] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46895884 Long: -76.50287226 -[main_algo-3] [INFO] [1746051064.003802226] [sailbot.main_algo]: Distance to destination: 44.40099376308653 -[main_algo-3] [INFO] [1746051064.004951286] [sailbot.main_algo]: Target Bearing: -144.7281725917837 -[vectornav-1] [INFO] [1746051064.005358487] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (95.13499999999999, 1.414, 5.075) -[main_algo-3] [INFO] [1746051064.006125798] [sailbot.main_algo]: Heading Difference: -133.02182740821627 -[main_algo-3] [INFO] [1746051064.007052165] [sailbot.main_algo]: Wind Direction: 150 -[main_algo-3] [INFO] [1746051064.007971768] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051064.008943496] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051064.010813371] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051064.045347944] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051064.046411855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051064.046658934] [sailbot.mux]: Published rudder angle from controller_app: 16 -[teensy-2] [INFO] [1746051064.048280517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 16 -[teensy-2] [INFO] [1746051064.049320861] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051064.085427949] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051064.088030191] [sailbot.teensy]: Wind angle: 158 -[teensy-2] [INFO] [1746051064.089070559] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051064.090023303] [sailbot.teensy]: Actual tail angle: 41 -[trim_sail-4] [INFO] [1746051064.089106325] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051064.090798406] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051064.090901640] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051064.121395729] [sailbot.mux]: controller_app rudder angle: 22 -[mux-7] [INFO] [1746051064.144889695] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051064.145643335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051064.146156008] [sailbot.mux]: Published rudder angle from controller_app: 22 -[teensy-2] [INFO] [1746051064.147580709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 22 -[teensy-2] [INFO] [1746051064.148770445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051064.245238379] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051064.246090608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051064.246678734] [sailbot.mux]: Published rudder angle from controller_app: 22 -[teensy-2] [INFO] [1746051064.247972825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 22 -[teensy-2] [INFO] [1746051064.249007197] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051064.335214544] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051064.337315702] [sailbot.teensy]: Wind angle: 155 -[trim_sail-4] [INFO] [1746051064.337665164] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051064.338293454] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051064.339193153] [sailbot.teensy]: Actual tail angle: 41 -[mux-7] [INFO] [1746051064.339671035] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051064.340047369] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051064.344463706] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051064.345127992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051064.345620061] [sailbot.mux]: Published rudder angle from controller_app: 22 -[teensy-2] [INFO] [1746051064.346899163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 22 -[teensy-2] [INFO] [1746051064.348126526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051064.445127964] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051064.445883755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051064.446512152] [sailbot.mux]: Published rudder angle from controller_app: 22 -[teensy-2] [INFO] [1746051064.447906826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 22 -[teensy-2] [INFO] [1746051064.448454162] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051064.457147399] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051064.458127005] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746051064.458981181] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051064.460122277] [sailbot.main_algo]: Current Location: (42.46895884214805, -76.50287226005446) -[main_algo-3] [INFO] [1746051064.461011583] [sailbot.main_algo]: Target Bearing: -144.7281725917837 -[main_algo-3] [INFO] [1746051064.461900001] [sailbot.main_algo]: Heading Difference: -120.13682740821628 -[main_algo-3] [INFO] [1746051064.462699832] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051064.463479326] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051064.464272805] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051064.465279400] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051064.465865553] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051064.503138432] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896129 Long: -76.50287386 -[main_algo-3] [INFO] [1746051064.503792621] [sailbot.main_algo]: Distance to destination: 44.45697698165412 -[vectornav-1] [INFO] [1746051064.504254031] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (99.11099999999999, 0.025, 5.187) -[main_algo-3] [INFO] [1746051064.504839888] [sailbot.main_algo]: Target Bearing: -144.34516181438278 -[main_algo-3] [INFO] [1746051064.505800753] [sailbot.main_algo]: Heading Difference: -120.51983818561723 -[main_algo-3] [INFO] [1746051064.506692886] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051064.507605008] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051064.508508742] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051064.510379816] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051064.545102757] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051064.545612681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051064.546433752] [sailbot.mux]: Published rudder angle from controller_app: 22 -[teensy-2] [INFO] [1746051064.547552398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 22 -[teensy-2] [INFO] [1746051064.548621056] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051064.585124092] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051064.586701035] [sailbot.teensy]: Wind angle: 160 -[trim_sail-4] [INFO] [1746051064.587286087] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051064.587564750] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051064.588518755] [sailbot.teensy]: Actual tail angle: 47 -[mux-7] [INFO] [1746051064.589219219] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051064.589896038] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051064.644880663] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051064.645428952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051064.646115291] [sailbot.mux]: Published rudder angle from controller_app: 22 -[teensy-2] [INFO] [1746051064.647274017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 22 -[teensy-2] [INFO] [1746051064.648479730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051064.745409953] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051064.745963341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051064.747414356] [sailbot.mux]: Published rudder angle from controller_app: 22 -[teensy-2] [INFO] [1746051064.748075698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 22 -[teensy-2] [INFO] [1746051064.749289580] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051064.835162032] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051064.837056633] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051064.837959761] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051064.837535265] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051064.838354468] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051064.838823056] [sailbot.teensy]: Actual tail angle: 47 -[teensy-2] [INFO] [1746051064.839705071] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051064.844515624] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051064.844947904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051064.845950059] [sailbot.mux]: Published rudder angle from controller_app: 22 -[teensy-2] [INFO] [1746051064.846671916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 22 -[teensy-2] [INFO] [1746051064.847867697] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051064.944775314] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051064.945421771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051064.945918314] [sailbot.mux]: Published rudder angle from controller_app: 22 -[teensy-2] [INFO] [1746051064.947317653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 22 -[teensy-2] [INFO] [1746051064.948348030] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051064.957304057] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051064.958358677] [sailbot.main_algo]: Target Bearing: -144.34516181438278 -[main_algo-3] [INFO] [1746051064.959301407] [sailbot.main_algo]: Heading Difference: -116.54383818561723 -[main_algo-3] [INFO] [1746051064.960194523] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051064.961083768] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051064.961898498] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051064.962903724] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051064.963528022] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051065.003054487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896361 Long: -76.50287377 -[main_algo-3] [INFO] [1746051065.004073606] [sailbot.main_algo]: Distance to destination: 44.617243530902165 -[vectornav-1] [INFO] [1746051065.004414026] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (91.32, -1.532, 4.213) -[main_algo-3] [INFO] [1746051065.005805157] [sailbot.main_algo]: Target Bearing: -144.08544575910474 -[main_algo-3] [INFO] [1746051065.006842160] [sailbot.main_algo]: Heading Difference: -116.80355424089527 -[main_algo-3] [INFO] [1746051065.007778239] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051065.008672553] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051065.009522101] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051065.011389342] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051065.044949058] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051065.045775713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051065.046817031] [sailbot.mux]: Published rudder angle from controller_app: 22 -[teensy-2] [INFO] [1746051065.047754943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 22 -[teensy-2] [INFO] [1746051065.048838682] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051065.085283923] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051065.087406176] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051065.088442077] [sailbot.teensy]: Wind angle: 162 -[mux-7] [INFO] [1746051065.088511425] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051065.089435595] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051065.090474048] [sailbot.teensy]: Actual tail angle: 47 -[teensy-2] [INFO] [1746051065.091331117] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051065.144651481] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051065.145119513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051065.146345734] [sailbot.mux]: Published rudder angle from controller_app: 22 -[teensy-2] [INFO] [1746051065.146925551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 22 -[teensy-2] [INFO] [1746051065.148041399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051065.148417741] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746051065.243746109] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051065.244121187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051065.244289428] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051065.245134832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051065.245677711] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051065.335409923] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051065.338030156] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051065.338554626] [sailbot.teensy]: Wind angle: 155 -[mux-7] [INFO] [1746051065.338645154] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051065.338979493] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051065.339380226] [sailbot.teensy]: Actual tail angle: 47 -[teensy-2] [INFO] [1746051065.339736209] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051065.344463326] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051065.344940613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051065.345555782] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051065.346619089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051065.347742691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051065.445321668] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051065.446124984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051065.446833849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051065.448417502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051065.449536146] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051065.457080706] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051065.458087120] [sailbot.main_algo]: Target Bearing: -144.08544575910474 -[main_algo-3] [INFO] [1746051065.458977174] [sailbot.main_algo]: Heading Difference: -124.59455424089526 -[main_algo-3] [INFO] [1746051065.459805163] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051065.460648610] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051065.461445638] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051065.462572137] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051065.463174841] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051065.502815941] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896588 Long: -76.50287424 -[main_algo-3] [INFO] [1746051065.503757248] [sailbot.main_algo]: Distance to destination: 44.738388113734665 -[vectornav-1] [INFO] [1746051065.504413907] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (78.42200000000003, 1.831, 3.676) -[main_algo-3] [INFO] [1746051065.504878816] [sailbot.main_algo]: Target Bearing: -143.79761782180614 -[main_algo-3] [INFO] [1746051065.505875022] [sailbot.main_algo]: Heading Difference: -124.8823821781939 -[main_algo-3] [INFO] [1746051065.506778950] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051065.507683238] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051065.508547780] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051065.510263396] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051065.545112378] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051065.545792158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051065.546636471] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051065.547734453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051065.548787902] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051065.585335379] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051065.587199379] [sailbot.teensy]: Wind angle: 137 -[teensy-2] [INFO] [1746051065.588195304] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051065.589155053] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051065.588240132] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051065.589577826] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051065.590028312] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051065.644905273] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051065.645503270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051065.646173581] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051065.647312670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051065.648177869] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051065.744620677] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051065.745066986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051065.745841142] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051065.746737390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051065.747834728] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051065.835271079] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051065.836968365] [sailbot.teensy]: Wind angle: 131 -[trim_sail-4] [INFO] [1746051065.837480124] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051065.837927050] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051065.838871574] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051065.839514544] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051065.839725867] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051065.844491576] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051065.845013504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051065.845967371] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051065.846703988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051065.847769586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051065.945309627] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051065.945981425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051065.946951671] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051065.948078609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051065.948792576] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051065.957058535] [sailbot.main_algo]: Wind Direction: 131 -[main_algo-3] [INFO] [1746051065.958035815] [sailbot.main_algo]: Target Bearing: -143.79761782180614 -[main_algo-3] [INFO] [1746051065.958931375] [sailbot.main_algo]: Heading Difference: -137.7803821781938 -[main_algo-3] [INFO] [1746051065.959782402] [sailbot.main_algo]: Wind Direction: 131 -[main_algo-3] [INFO] [1746051065.960597864] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051065.961387181] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051065.962379510] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051065.963142843] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051066.003689992] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896742 Long: -76.50287296 -[main_algo-3] [INFO] [1746051066.004368960] [sailbot.main_algo]: Distance to destination: 44.92570378212925 -[vectornav-1] [INFO] [1746051066.005166945] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (64.36099999999999, -2.64, 7.933) -[main_algo-3] [INFO] [1746051066.005535054] [sailbot.main_algo]: Target Bearing: -143.7050991719879 -[main_algo-3] [INFO] [1746051066.006565616] [sailbot.main_algo]: Heading Difference: -137.87290082801206 -[main_algo-3] [INFO] [1746051066.007566493] [sailbot.main_algo]: Wind Direction: 131 -[main_algo-3] [INFO] [1746051066.008484820] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051066.009354000] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051066.011049212] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051066.045442343] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051066.045685594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051066.046816021] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051066.047935375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051066.049087759] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051066.085435097] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051066.087105381] [sailbot.teensy]: Wind angle: 134 -[teensy-2] [INFO] [1746051066.087983609] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051066.088846047] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051066.087886630] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051066.088519634] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051066.089748291] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051066.145501735] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051066.145691243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051066.146809930] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051066.147593721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051066.148681997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051066.245294813] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051066.245987075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051066.246716001] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051066.247992056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051066.249083992] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051066.335227466] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051066.337349291] [sailbot.teensy]: Wind angle: 132 -[trim_sail-4] [INFO] [1746051066.337484436] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051066.338348524] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051066.339254740] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051066.339879822] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051066.340169159] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051066.344643171] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051066.345069483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051066.345859538] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051066.346871734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051066.347923060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051066.445289167] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051066.445765919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051066.446710058] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051066.447774847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051066.449038397] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051066.457018113] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051066.458014831] [sailbot.main_algo]: Target Bearing: -143.7050991719879 -[main_algo-3] [INFO] [1746051066.458908541] [sailbot.main_algo]: Heading Difference: -151.9339008280121 -[main_algo-3] [INFO] [1746051066.459811359] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051066.460667519] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051066.461458857] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051066.462466486] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051066.463156058] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051066.502894854] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896848 Long: -76.50287063 -[main_algo-3] [INFO] [1746051066.503956113] [sailbot.main_algo]: Distance to destination: 45.14943893135192 -[vectornav-1] [INFO] [1746051066.504143894] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.009000000000015, 4.141, 9.869) -[main_algo-3] [INFO] [1746051066.505506332] [sailbot.main_algo]: Target Bearing: -143.73363567812237 -[main_algo-3] [INFO] [1746051066.506919592] [sailbot.main_algo]: Heading Difference: -151.90536432187764 -[main_algo-3] [INFO] [1746051066.507828710] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051066.508701171] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051066.509538092] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051066.511227915] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051066.545334658] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051066.546252550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051066.547134195] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051066.548443036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051066.549530159] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051066.585298585] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051066.587596486] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051066.587870171] [sailbot.teensy]: Wind angle: 120 -[mux-7] [INFO] [1746051066.587896870] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051066.588854153] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051066.589777126] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051066.590716217] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051066.645048325] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051066.645962164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051066.646511283] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051066.648107328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051066.649139070] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051066.745287974] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051066.745977823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051066.746920288] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051066.748252008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051066.748961365] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051066.835168394] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051066.836756183] [sailbot.teensy]: Wind angle: 99 -[trim_sail-4] [INFO] [1746051066.837419830] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051066.838641972] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051066.838734970] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051066.839570433] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051066.840520080] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051066.844281918] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051066.844873499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051066.845390605] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051066.846584297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051066.847623094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051066.945448594] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051066.946274494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051066.947100639] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051066.948026985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051066.948493765] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051066.957290094] [sailbot.main_algo]: Wind Direction: 99 -[main_algo-3] [INFO] [1746051066.958361766] [sailbot.main_algo]: Target Bearing: -143.73363567812237 -[main_algo-3] [INFO] [1746051066.959274695] [sailbot.main_algo]: Heading Difference: -164.25736432187762 -[main_algo-3] [INFO] [1746051066.960233496] [sailbot.main_algo]: Wind Direction: 99 -[main_algo-3] [INFO] [1746051066.961093715] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051066.961908068] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051066.963083761] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051066.963526993] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051067.003608549] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46896982 Long: -76.50286908 -[main_algo-3] [INFO] [1746051067.004032375] [sailbot.main_algo]: Distance to destination: 45.341005284900966 -[vectornav-1] [INFO] [1746051067.004849884] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.42099999999999, -4.493, 7.963) -[main_algo-3] [INFO] [1746051067.005238273] [sailbot.main_algo]: Target Bearing: -143.68155453273178 -[main_algo-3] [INFO] [1746051067.006427316] [sailbot.main_algo]: Heading Difference: -164.30944546726823 -[main_algo-3] [INFO] [1746051067.007347741] [sailbot.main_algo]: Wind Direction: 99 -[main_algo-3] [INFO] [1746051067.008301584] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051067.009176067] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051067.010869142] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051067.044937068] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051067.045687138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051067.046220434] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051067.047721574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051067.048853952] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051067.085487622] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051067.088273208] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746051067.088304031] [sailbot.teensy]: Wind angle: 96 -[mux-7] [INFO] [1746051067.088815063] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051067.089250919] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051067.090148061] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051067.090995436] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051067.144782418] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051067.145322645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051067.145962147] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051067.147214561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051067.148413657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051067.245333571] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051067.246255885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051067.246959406] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051067.248327086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051067.248776304] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051067.335276902] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051067.337511835] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051067.338105845] [sailbot.teensy]: Wind angle: 108 -[mux-7] [INFO] [1746051067.338197140] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051067.339071287] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051067.339958803] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051067.340517726] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051067.344419042] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051067.345048728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051067.345780774] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051067.346747836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051067.347894191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051067.445448150] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051067.446368013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051067.446909848] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051067.448473911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051067.449226438] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051067.457198438] [sailbot.main_algo]: Wind Direction: 108 -[main_algo-3] [INFO] [1746051067.458271021] [sailbot.main_algo]: Target Bearing: -143.68155453273178 -[main_algo-3] [INFO] [1746051067.459183840] [sailbot.main_algo]: Heading Difference: -173.8974454672682 -[main_algo-3] [INFO] [1746051067.460028910] [sailbot.main_algo]: Wind Direction: 108 -[main_algo-3] [INFO] [1746051067.460887992] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051067.461749370] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051067.462817966] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051067.463554736] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051067.503673294] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46897137 Long: -76.50286541 -[main_algo-3] [INFO] [1746051067.504704346] [sailbot.main_algo]: Distance to destination: 45.68535583405344 -[vectornav-1] [INFO] [1746051067.504998711] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.81, 2.317, 11.294) -[main_algo-3] [INFO] [1746051067.506129100] [sailbot.main_algo]: Target Bearing: -143.73940377126186 -[main_algo-3] [INFO] [1746051067.507186471] [sailbot.main_algo]: Heading Difference: -173.83959622873817 -[main_algo-3] [INFO] [1746051067.508082218] [sailbot.main_algo]: Wind Direction: 108 -[main_algo-3] [INFO] [1746051067.508992420] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051067.509846796] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051067.511756920] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051067.545227360] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051067.545819598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051067.547008425] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051067.548004426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051067.549208394] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051067.585117241] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051067.587042445] [sailbot.teensy]: Wind angle: 108 -[trim_sail-4] [INFO] [1746051067.587325156] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051067.587927608] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051067.587989581] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051067.588848870] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051067.589763059] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051067.645195684] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051067.645862612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051067.646680132] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051067.648095947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051067.649185392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051067.744847082] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051067.745284812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051067.746128547] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051067.747033881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051067.748075713] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051067.835076967] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051067.836654972] [sailbot.teensy]: Wind angle: 105 -[trim_sail-4] [INFO] [1746051067.837457824] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051067.837588082] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051067.838513825] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051067.838873613] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051067.838942084] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051067.844473635] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051067.845160655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051067.845689926] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051067.846931009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051067.847894627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051067.945031282] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051067.945739409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051067.946604185] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051067.947713673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051067.948200784] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051067.957258032] [sailbot.main_algo]: Wind Direction: 105 -[main_algo-3] [INFO] [1746051067.958447868] [sailbot.main_algo]: Target Bearing: -143.73940377126186 -[main_algo-3] [INFO] [1746051067.959454174] [sailbot.main_algo]: Heading Difference: 177.54940377126184 -[main_algo-3] [INFO] [1746051067.960342367] [sailbot.main_algo]: Wind Direction: 105 -[main_algo-3] [INFO] [1746051067.961178197] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051067.961959105] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051067.962938383] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051067.963571275] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051068.002757784] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46897269 Long: -76.50286245 -[main_algo-3] [INFO] [1746051068.003639329] [sailbot.main_algo]: Distance to destination: 45.967816289091694 -[vectornav-1] [INFO] [1746051068.003891244] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.002999999999986, -0.859, 11.04) -[main_algo-3] [INFO] [1746051068.004822276] [sailbot.main_algo]: Target Bearing: -143.77772965075664 -[main_algo-3] [INFO] [1746051068.005815749] [sailbot.main_algo]: Heading Difference: 177.58772965075661 -[main_algo-3] [INFO] [1746051068.006789224] [sailbot.main_algo]: Wind Direction: 105 -[main_algo-3] [INFO] [1746051068.007715841] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051068.008623228] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051068.010415425] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051068.045170408] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051068.045942180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051068.046670963] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051068.047950703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051068.049095743] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051068.085212902] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051068.086754780] [sailbot.teensy]: Wind angle: 105 -[teensy-2] [INFO] [1746051068.087597722] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051068.087461496] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746051068.088528461] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051068.088629847] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051068.089534113] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051068.144916093] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051068.145448184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051068.146271720] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051068.147311804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051068.148424928] [sailbot.mux]: controller_app rudder angle: 0 -[teensy-2] [INFO] [1746051068.148505297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051068.245339792] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051068.245862524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051068.247431371] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051068.247842835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051068.248987336] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051068.335407128] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051068.337536602] [sailbot.teensy]: Wind angle: 105 -[trim_sail-4] [INFO] [1746051068.337928343] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746051068.339490684] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051068.339635346] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051068.340976374] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051068.341878212] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051068.344397833] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051068.344985946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051068.345606693] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051068.346720237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051068.347810878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051068.444940535] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051068.445670183] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051068.446355895] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051068.447700251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051068.448722159] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051068.457144877] [sailbot.main_algo]: Wind Direction: 105 -[main_algo-3] [INFO] [1746051068.458152792] [sailbot.main_algo]: Target Bearing: -143.77772965075664 -[main_algo-3] [INFO] [1746051068.459019338] [sailbot.main_algo]: Heading Difference: 172.7807296507566 -[main_algo-3] [INFO] [1746051068.459912484] [sailbot.main_algo]: Wind Direction: 105 -[main_algo-3] [INFO] [1746051068.460746267] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051068.461548955] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051068.462543409] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051068.463140666] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051068.502774647] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46897441 Long: -76.50285933 -[main_algo-3] [INFO] [1746051068.503839798] [sailbot.main_algo]: Distance to destination: 46.28764204647326 -[vectornav-1] [INFO] [1746051068.504026312] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.07299999999998, -2.805, 10.735) -[main_algo-3] [INFO] [1746051068.505126797] [sailbot.main_algo]: Target Bearing: -143.78163232164346 -[main_algo-3] [INFO] [1746051068.506273702] [sailbot.main_algo]: Heading Difference: 172.78463232164347 -[main_algo-3] [INFO] [1746051068.507277531] [sailbot.main_algo]: Wind Direction: 105 -[main_algo-3] [INFO] [1746051068.508201293] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051068.509071388] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051068.510781076] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051068.544950641] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051068.545717204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051068.546396972] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051068.547607702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051068.548702581] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051068.585396681] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051068.587850862] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051068.588245392] [sailbot.teensy]: Wind angle: 103 -[teensy-2] [INFO] [1746051068.589214875] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051068.589385335] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051068.590102567] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051068.590997396] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051068.645201493] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051068.645949226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051068.647066817] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051068.648103214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051068.649225596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051068.745055478] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051068.745689401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051068.746325736] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051068.747496106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051068.748674759] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051068.835185083] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051068.836918933] [sailbot.teensy]: Wind angle: 107 -[trim_sail-4] [INFO] [1746051068.837282500] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051068.837843703] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051068.838689388] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051068.838805441] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051068.839064628] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051068.844600928] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051068.845038447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051068.845729217] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051068.846718389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051068.847765176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051068.945242414] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051068.945845376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051068.946778049] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051068.948080702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051068.948730387] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051068.957100589] [sailbot.main_algo]: Wind Direction: 107 -[main_algo-3] [INFO] [1746051068.958124964] [sailbot.main_algo]: Target Bearing: -143.78163232164346 -[main_algo-3] [INFO] [1746051068.959038204] [sailbot.main_algo]: Heading Difference: 172.8546323216434 -[main_algo-3] [INFO] [1746051068.959871131] [sailbot.main_algo]: Wind Direction: 107 -[main_algo-3] [INFO] [1746051068.960742186] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051068.961555336] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051068.962881682] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051068.963162194] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051069.003062552] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46897591 Long: -76.50285427 -[main_algo-3] [INFO] [1746051069.004304869] [sailbot.main_algo]: Distance to destination: 46.7198356857398 -[vectornav-1] [INFO] [1746051069.004340108] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (27.851999999999975, 1.232, 11.71) -[main_algo-3] [INFO] [1746051069.005635055] [sailbot.main_algo]: Target Bearing: -143.92769053494558 -[main_algo-3] [INFO] [1746051069.006625157] [sailbot.main_algo]: Heading Difference: 173.00069053494553 -[main_algo-3] [INFO] [1746051069.007578769] [sailbot.main_algo]: Wind Direction: 107 -[main_algo-3] [INFO] [1746051069.008541339] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051069.009424939] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051069.011158309] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051069.045817734] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051069.046099452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051069.047524214] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051069.048578233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051069.049670945] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051069.085209461] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051069.087014762] [sailbot.teensy]: Wind angle: 103 -[trim_sail-4] [INFO] [1746051069.087669391] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051069.088053195] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051069.089284601] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051069.089355176] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051069.090263294] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051069.145089924] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051069.145611799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051069.146522025] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051069.147581607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051069.148482191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051069.245185746] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051069.245746621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051069.246530931] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051069.247532601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051069.248674407] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051069.335315684] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051069.337715940] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746051069.338147323] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051069.339400224] [sailbot.teensy]: Wind angle: 103 -[teensy-2] [INFO] [1746051069.340331713] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051069.341329406] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051069.342193272] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051069.344349665] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051069.345244090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051069.345563545] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051069.347039176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051069.348070767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051069.445265897] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051069.446105235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051069.446788111] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051069.448187594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051069.448705921] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051069.457341950] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746051069.458464586] [sailbot.main_algo]: Target Bearing: -143.92769053494558 -[main_algo-3] [INFO] [1746051069.459390565] [sailbot.main_algo]: Heading Difference: 171.77969053494553 -[main_algo-3] [INFO] [1746051069.460326220] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746051069.461228666] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051069.462096357] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051069.463131850] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051069.463682863] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051069.503036417] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46897735 Long: -76.50284937 -[main_algo-3] [INFO] [1746051069.504106803] [sailbot.main_algo]: Distance to destination: 47.13780819055876 -[vectornav-1] [INFO] [1746051069.504368917] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.505999999999972, -1.284, 9.816) -[main_algo-3] [INFO] [1746051069.505997329] [sailbot.main_algo]: Target Bearing: -144.06793279370558 -[main_algo-3] [INFO] [1746051069.507046213] [sailbot.main_algo]: Heading Difference: 171.91993279370558 -[main_algo-3] [INFO] [1746051069.507960019] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746051069.508854001] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051069.509700668] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051069.511525957] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051069.545018521] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051069.545668374] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051069.546336388] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051069.547620420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051069.548693115] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051069.585386830] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051069.587531507] [sailbot.teensy]: Wind angle: 105 -[teensy-2] [INFO] [1746051069.588510302] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051069.587853097] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051069.589467183] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051069.589472033] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051069.590394657] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051069.644797843] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051069.645385269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051069.645992820] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051069.647343236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051069.648633300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051069.744938589] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051069.745828032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051069.746260196] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051069.747626936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051069.748811434] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051069.835345170] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051069.837724893] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051069.838433742] [sailbot.teensy]: Wind angle: 105 -[mux-7] [INFO] [1746051069.838520573] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051069.839344879] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051069.839724876] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051069.840092098] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051069.844363765] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051069.844893449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051069.845477362] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051069.846587586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051069.847691504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051069.945075055] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051069.945704048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051069.946349553] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051069.947551260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051069.948674482] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051069.957024529] [sailbot.main_algo]: Wind Direction: 105 -[main_algo-3] [INFO] [1746051069.957997627] [sailbot.main_algo]: Target Bearing: -144.06793279370558 -[main_algo-3] [INFO] [1746051069.958887708] [sailbot.main_algo]: Heading Difference: 165.57393279370558 -[main_algo-3] [INFO] [1746051069.959903498] [sailbot.main_algo]: Wind Direction: 105 -[main_algo-3] [INFO] [1746051069.960765958] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051069.961572216] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051069.962577037] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051069.963333649] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051070.003326021] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46897954 Long: -76.50284434 -[main_algo-3] [INFO] [1746051070.003827313] [sailbot.main_algo]: Distance to destination: 47.61455997399726 -[vectornav-1] [INFO] [1746051070.004825480] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.226, -0.004, 9.093) -[main_algo-3] [INFO] [1746051070.004919652] [sailbot.main_algo]: Target Bearing: -144.13316774655632 -[main_algo-3] [INFO] [1746051070.005907665] [sailbot.main_algo]: Heading Difference: 165.63916774655627 -[main_algo-3] [INFO] [1746051070.006796475] [sailbot.main_algo]: Wind Direction: 105 -[main_algo-3] [INFO] [1746051070.007713713] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051070.008622525] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051070.010343380] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051070.045143389] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051070.045909601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051070.046557011] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051070.048069020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051070.049246142] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051070.085630999] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051070.087704190] [sailbot.teensy]: Wind angle: 101 -[trim_sail-4] [INFO] [1746051070.088295816] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051070.088688271] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051070.089613525] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051070.090816243] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051070.088837101] [sailbot.mux]: algo sail angle: 25 -[mux-7] [INFO] [1746051070.145010370] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051070.145636642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051070.146331021] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051070.147452295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051070.148637249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051070.245310787] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051070.246297115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051070.246844890] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051070.248823380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051070.249974540] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051070.335154443] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051070.336850871] [sailbot.teensy]: Wind angle: 97 -[teensy-2] [INFO] [1746051070.337703032] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051070.337346386] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051070.338560440] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051070.338602961] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051070.339447643] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051070.344348003] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051070.344940413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051070.345492577] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051070.346621294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051070.347808990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051070.445526764] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051070.446380618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051070.447196949] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051070.448771707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051070.450041428] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051070.457106354] [sailbot.main_algo]: Wind Direction: 97 -[main_algo-3] [INFO] [1746051070.458241779] [sailbot.main_algo]: Target Bearing: -144.13316774655632 -[main_algo-3] [INFO] [1746051070.459273048] [sailbot.main_algo]: Heading Difference: 165.3591677465563 -[main_algo-3] [INFO] [1746051070.460175011] [sailbot.main_algo]: Wind Direction: 97 -[main_algo-3] [INFO] [1746051070.461160256] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051070.462026490] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051070.463117943] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051070.463657080] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051070.503392501] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4689807 Long: -76.50283853 -[main_algo-3] [INFO] [1746051070.504206887] [sailbot.main_algo]: Distance to destination: 48.07433870350308 -[vectornav-1] [INFO] [1746051070.504586343] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (19.348000000000013, -2.01, 10.532) -[main_algo-3] [INFO] [1746051070.505361562] [sailbot.main_algo]: Target Bearing: -144.3520552121307 -[main_algo-3] [INFO] [1746051070.506767147] [sailbot.main_algo]: Heading Difference: 165.57805521213072 -[main_algo-3] [INFO] [1746051070.507754308] [sailbot.main_algo]: Wind Direction: 97 -[main_algo-3] [INFO] [1746051070.508671877] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051070.509546816] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051070.511370532] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051070.545889879] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051070.546025118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051070.547276894] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051070.548500165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051070.549651401] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051070.585106164] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051070.587146743] [sailbot.teensy]: Wind angle: 97 -[trim_sail-4] [INFO] [1746051070.587228509] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051070.588131308] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051070.589074450] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051070.589666152] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051070.589983130] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051070.644977864] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051070.645652014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051070.646389015] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051070.647542751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051070.648861369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051070.745127182] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051070.745836319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051070.746596716] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051070.748033610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051070.749068567] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051070.835172297] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051070.837424432] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746051070.838222466] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051070.838838449] [sailbot.teensy]: Wind angle: 90 -[teensy-2] [INFO] [1746051070.840031851] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051070.840602958] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051070.840989329] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051070.844392218] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051070.844949994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051070.845849914] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051070.846628515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051070.847854178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051070.945292801] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051070.945985285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051070.947148420] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051070.948048597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051070.948583783] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051070.957036081] [sailbot.main_algo]: Wind Direction: 90 -[main_algo-3] [INFO] [1746051070.957972260] [sailbot.main_algo]: Target Bearing: -144.3520552121307 -[main_algo-3] [INFO] [1746051070.958798364] [sailbot.main_algo]: Heading Difference: 163.70005521213068 -[main_algo-3] [INFO] [1746051070.959592580] [sailbot.main_algo]: Wind Direction: 90 -[main_algo-3] [INFO] [1746051070.960424139] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051070.961214386] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051070.962210353] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051070.963002090] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051071.003748063] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46898167 Long: -76.50283224 -[main_algo-3] [INFO] [1746051071.004051017] [sailbot.main_algo]: Distance to destination: 48.554033339845844 -[vectornav-1] [INFO] [1746051071.005239568] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (15.860000000000014, 0.366, 9.836) -[main_algo-3] [INFO] [1746051071.005269942] [sailbot.main_algo]: Target Bearing: -144.61449036295522 -[main_algo-3] [INFO] [1746051071.006334678] [sailbot.main_algo]: Heading Difference: 163.96249036295524 -[main_algo-3] [INFO] [1746051071.007288429] [sailbot.main_algo]: Wind Direction: 90 -[main_algo-3] [INFO] [1746051071.008180885] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051071.009075721] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051071.010839746] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051071.045170470] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051071.045810936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051071.046672293] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051071.047824730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051071.048897687] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051071.085307621] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051071.087201031] [sailbot.teensy]: Wind angle: 79 -[teensy-2] [INFO] [1746051071.088190753] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051071.087867029] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746051071.089086152] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051071.089394051] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746051071.089988629] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051071.133092806] [sailbot.mux]: controller_app rudder angle: -7 -[mux-7] [INFO] [1746051071.144806385] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051071.145299120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051071.146074254] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051071.147088662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051071.148281028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051071.245367037] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051071.245905830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051071.247159288] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051071.247923239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051071.248541119] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051071.335241143] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051071.337171212] [sailbot.teensy]: Wind angle: 81 -[trim_sail-4] [INFO] [1746051071.337881238] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746051071.338140660] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051071.339031123] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051071.339085128] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746051071.339941394] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051071.344622753] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051071.345324776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051071.345892298] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051071.347077198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051071.348194827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051071.445376818] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051071.445954179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051071.447060969] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051071.447898058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051071.448979925] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051071.457107852] [sailbot.main_algo]: Wind Direction: 81 -[main_algo-3] [INFO] [1746051071.458266127] [sailbot.main_algo]: Target Bearing: -144.61449036295522 -[main_algo-3] [INFO] [1746051071.459240547] [sailbot.main_algo]: Heading Difference: 160.47449036295524 -[main_algo-3] [INFO] [1746051071.460121862] [sailbot.main_algo]: Wind Direction: 81 -[main_algo-3] [INFO] [1746051071.461035277] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051071.461821774] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051071.462858763] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051071.463444840] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051071.502843129] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46898307 Long: -76.50282667 -[vectornav-1] [INFO] [1746051071.503989956] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (11.079000000000008, 0.297, 5.714) -[main_algo-3] [INFO] [1746051071.503974804] [sailbot.main_algo]: Distance to destination: 49.01514122888667 -[main_algo-3] [INFO] [1746051071.505203000] [sailbot.main_algo]: Target Bearing: -144.78589049449937 -[main_algo-3] [INFO] [1746051071.506171655] [sailbot.main_algo]: Heading Difference: 160.64589049449938 -[main_algo-3] [INFO] [1746051071.507093787] [sailbot.main_algo]: Wind Direction: 81 -[main_algo-3] [INFO] [1746051071.507945403] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051071.508824418] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051071.510720638] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051071.545674000] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051071.545790614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051071.547130097] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051071.548190104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051071.549358406] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051071.585496304] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051071.587552978] [sailbot.teensy]: Wind angle: 86 -[trim_sail-4] [INFO] [1746051071.587908008] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746051071.588525050] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051071.589397688] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746051071.589600446] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051071.590259386] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051071.644882959] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051071.645932303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051071.646205995] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051071.647803887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051071.648850424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051071.745387931] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051071.746181786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051071.747330936] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051071.748428988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051071.749731837] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051071.835341113] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051071.837273025] [sailbot.teensy]: Wind angle: 95 -[teensy-2] [INFO] [1746051071.838220137] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051071.837894533] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746051071.838657368] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051071.839105176] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746051071.839987402] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051071.844422080] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051071.845105053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051071.845504933] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051071.846836155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051071.847951206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051071.945365115] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051071.946152403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051071.947084832] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051071.948458864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051071.949049792] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051071.957177525] [sailbot.main_algo]: Wind Direction: 95 -[main_algo-3] [INFO] [1746051071.958245499] [sailbot.main_algo]: Target Bearing: -144.78589049449937 -[main_algo-3] [INFO] [1746051071.959166152] [sailbot.main_algo]: Heading Difference: 155.86489049449938 -[main_algo-3] [INFO] [1746051071.960054633] [sailbot.main_algo]: Wind Direction: 95 -[main_algo-3] [INFO] [1746051071.960959262] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051071.961772283] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051071.963087544] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051071.963461078] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051072.002775759] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46898398 Long: -76.50282115 -[main_algo-3] [INFO] [1746051072.003742065] [sailbot.main_algo]: Distance to destination: 49.44134043980509 -[vectornav-1] [INFO] [1746051072.004090115] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (12.411000000000001, -2.943, 9.695) -[main_algo-3] [INFO] [1746051072.005016918] [sailbot.main_algo]: Target Bearing: -145.00227041650936 -[main_algo-3] [INFO] [1746051072.006226242] [sailbot.main_algo]: Heading Difference: 156.08127041650937 -[main_algo-3] [INFO] [1746051072.007212703] [sailbot.main_algo]: Wind Direction: 95 -[main_algo-3] [INFO] [1746051072.008166861] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051072.009077812] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051072.010775659] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051072.045217023] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051072.046108230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051072.046674921] [sailbot.mux]: Published rudder angle from controller_app: -7 -[teensy-2] [INFO] [1746051072.048250485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -7 -[teensy-2] [INFO] [1746051072.049369846] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051072.085102491] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051072.086802389] [sailbot.teensy]: Wind angle: 97 -[teensy-2] [INFO] [1746051072.087705287] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051072.087772235] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051072.088612902] [sailbot.teensy]: Actual tail angle: 18 -[mux-7] [INFO] [1746051072.088677718] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051072.089529503] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051072.122069637] [sailbot.mux]: controller_app rudder angle: -8 -[mux-7] [INFO] [1746051072.145103073] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051072.145649168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051072.146445574] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746051072.147688027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746051072.148736596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051072.245064027] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051072.245599637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051072.246432311] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746051072.247431164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746051072.248594775] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051072.335162711] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051072.337596556] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051072.337826424] [sailbot.teensy]: Wind angle: 97 -[teensy-2] [INFO] [1746051072.338764599] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051072.339147786] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051072.339672727] [sailbot.teensy]: Actual tail angle: 18 -[teensy-2] [INFO] [1746051072.340398697] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051072.344448560] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051072.345084848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051072.345655645] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746051072.346784133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746051072.347869002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051072.445533354] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051072.446084489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051072.447491882] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746051072.448448255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746051072.449634900] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051072.456927438] [sailbot.main_algo]: Wind Direction: 97 -[main_algo-3] [INFO] [1746051072.457907630] [sailbot.main_algo]: Target Bearing: -145.00227041650936 -[main_algo-3] [INFO] [1746051072.458824319] [sailbot.main_algo]: Heading Difference: 157.41327041650936 -[main_algo-3] [INFO] [1746051072.459646792] [sailbot.main_algo]: Wind Direction: 97 -[main_algo-3] [INFO] [1746051072.460502033] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051072.461349784] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051072.462457849] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051072.463190165] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051072.503511832] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46898451 Long: -76.50281478 -[main_algo-3] [INFO] [1746051072.504455648] [sailbot.main_algo]: Distance to destination: 49.900287170460345 -[main_algo-3] [INFO] [1746051072.505564366] [sailbot.main_algo]: Target Bearing: -145.3011912852308 -[vectornav-1] [INFO] [1746051072.505290009] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (19.595000000000027, -0.966, 12.826) -[main_algo-3] [INFO] [1746051072.506586901] [sailbot.main_algo]: Heading Difference: 157.7121912852308 -[main_algo-3] [INFO] [1746051072.507550825] [sailbot.main_algo]: Wind Direction: 97 -[main_algo-3] [INFO] [1746051072.508506286] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051072.509412077] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051072.511162583] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051072.544957715] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051072.545675990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051072.546233489] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746051072.547751154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746051072.548903137] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051072.585347526] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051072.587192697] [sailbot.teensy]: Wind angle: 98 -[trim_sail-4] [INFO] [1746051072.587635231] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051072.588127441] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051072.589057535] [sailbot.teensy]: Actual tail angle: 17 -[mux-7] [INFO] [1746051072.589475634] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051072.589951600] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051072.645237780] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051072.646070027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051072.646801924] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746051072.648511664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746051072.649642290] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051072.745347301] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051072.746168620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051072.747031546] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746051072.748795162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746051072.749871136] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051072.835368106] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051072.837722484] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051072.837822096] [sailbot.teensy]: Wind angle: 103 -[mux-7] [INFO] [1746051072.839130893] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051072.839558450] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051072.840554540] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746051072.841452715] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051072.844494628] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051072.845125215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051072.845634798] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746051072.846887472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746051072.847914120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051072.945555828] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051072.946280959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051072.947208839] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746051072.948693635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746051072.949818864] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051072.957051122] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746051072.958045764] [sailbot.main_algo]: Target Bearing: -145.3011912852308 -[main_algo-3] [INFO] [1746051072.958934657] [sailbot.main_algo]: Heading Difference: 164.89619128523083 -[main_algo-3] [INFO] [1746051072.959765448] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746051072.960693294] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051072.961519861] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051072.962546491] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051072.963148397] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051073.003591349] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46898637 Long: -76.5028095 -[main_algo-3] [INFO] [1746051073.003977218] [sailbot.main_algo]: Distance to destination: 50.37343377547186 -[main_algo-3] [INFO] [1746051073.005088823] [sailbot.main_algo]: Target Bearing: -145.39866302922675 -[main_algo-3] [INFO] [1746051073.006161311] [sailbot.main_algo]: Heading Difference: 164.9936630292268 -[vectornav-1] [INFO] [1746051073.006666183] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (36.02999999999997, 0.978, 14.75) -[main_algo-3] [INFO] [1746051073.007173683] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746051073.008146448] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051073.009048811] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051073.010828456] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051073.045224632] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051073.045976835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051073.046889701] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746051073.047988078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746051073.049012861] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051073.085613209] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051073.088318678] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051073.088553769] [sailbot.teensy]: Wind angle: 109 -[teensy-2] [INFO] [1746051073.089498964] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051073.089766128] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051073.090456460] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746051073.091331892] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051073.144834694] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051073.146045862] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746051073.146361029] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051073.147994711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746051073.148942829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051073.245200608] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051073.246384151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051073.246685648] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746051073.247896828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746051073.248396377] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051073.335270845] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051073.337045056] [sailbot.teensy]: Wind angle: 114 -[trim_sail-4] [INFO] [1746051073.337943926] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746051073.338611987] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051073.338676133] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051073.339127724] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746051073.339530348] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051073.344382875] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051073.344944726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051073.345656742] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746051073.346627186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746051073.347692718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051073.445220866] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051073.446013322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051073.446811028] [sailbot.mux]: Published rudder angle from controller_app: -8 -[teensy-2] [INFO] [1746051073.448261108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -8 -[teensy-2] [INFO] [1746051073.448799274] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051073.457167046] [sailbot.main_algo]: Wind Direction: 114 -[main_algo-3] [INFO] [1746051073.458186358] [sailbot.main_algo]: Target Bearing: -145.39866302922675 -[main_algo-3] [INFO] [1746051073.459066563] [sailbot.main_algo]: Heading Difference: -178.57133697077325 -[main_algo-3] [INFO] [1746051073.459915591] [sailbot.main_algo]: Wind Direction: 114 -[main_algo-3] [INFO] [1746051073.460744417] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051073.461527306] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051073.462647517] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051073.463481311] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051073.503717273] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46898911 Long: -76.50280606 -[main_algo-3] [INFO] [1746051073.504390175] [sailbot.main_algo]: Distance to destination: 50.780645957459626 -[vectornav-1] [INFO] [1746051073.505444237] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.34300000000002, 0.382, 13.754) -[main_algo-3] [INFO] [1746051073.505637186] [sailbot.main_algo]: Target Bearing: -145.30539476376265 -[main_algo-3] [INFO] [1746051073.506658035] [sailbot.main_algo]: Heading Difference: -178.66460523623738 -[main_algo-3] [INFO] [1746051073.507561571] [sailbot.main_algo]: Wind Direction: 114 -[main_algo-3] [INFO] [1746051073.508489944] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051073.509347531] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051073.511153576] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051073.536841014] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746051073.544745421] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051073.545661829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051073.546219940] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051073.547527055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051073.548593890] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051073.585289167] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051073.587579590] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051073.587674465] [sailbot.teensy]: Wind angle: 130 -[mux-7] [INFO] [1746051073.588497006] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051073.588652860] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051073.589609970] [sailbot.teensy]: Actual tail angle: 17 -[teensy-2] [INFO] [1746051073.590533952] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051073.644825076] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051073.645764931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051073.646115945] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051073.647550134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051073.648640606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051073.745449306] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051073.746010213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051073.747108203] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051073.748246363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051073.749519381] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051073.835367869] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051073.837104331] [sailbot.teensy]: Wind angle: 147 -[trim_sail-4] [INFO] [1746051073.837727120] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051073.838015722] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051073.838904271] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051073.839309445] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051073.839777001] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051073.844557775] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051073.845082997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051073.846708324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051073.846780998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051073.847922809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051073.945180617] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051073.946002132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051073.946652918] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051073.948017369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051073.948491923] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051073.957062600] [sailbot.main_algo]: Wind Direction: 147 -[main_algo-3] [INFO] [1746051073.958025487] [sailbot.main_algo]: Target Bearing: -145.30539476376265 -[main_algo-3] [INFO] [1746051073.958923094] [sailbot.main_algo]: Heading Difference: -158.35160523623733 -[main_algo-3] [INFO] [1746051073.959741736] [sailbot.main_algo]: Wind Direction: 147 -[main_algo-3] [INFO] [1746051073.960583944] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051073.961386583] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051073.962413858] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051073.963106920] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051074.003548480] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899177 Long: -76.50280384 -[main_algo-3] [INFO] [1746051074.004113224] [sailbot.main_algo]: Distance to destination: 51.101461712003804 -[vectornav-1] [INFO] [1746051074.005162019] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (77.399, -1.64, 14.914) -[main_algo-3] [INFO] [1746051074.005270283] [sailbot.main_algo]: Target Bearing: -145.15589778360183 -[main_algo-3] [INFO] [1746051074.006316903] [sailbot.main_algo]: Heading Difference: -158.50110221639818 -[main_algo-3] [INFO] [1746051074.007294810] [sailbot.main_algo]: Wind Direction: 147 -[main_algo-3] [INFO] [1746051074.008222148] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051074.009086808] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051074.010784004] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051074.045537299] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051074.045720789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051074.047055300] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051074.047635477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051074.048889021] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051074.085271310] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051074.087228357] [sailbot.teensy]: Wind angle: 145 -[trim_sail-4] [INFO] [1746051074.087927203] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051074.088245015] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051074.089122878] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051074.089358166] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051074.089970373] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051074.131953721] [sailbot.mux]: controller_app rudder angle: 19 -[mux-7] [INFO] [1746051074.145023796] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051074.145585297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051074.146372815] [sailbot.mux]: Published rudder angle from controller_app: 19 -[teensy-2] [INFO] [1746051074.147508754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 19 -[teensy-2] [INFO] [1746051074.148673303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051074.245523242] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051074.246164540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051074.247306260] [sailbot.mux]: Published rudder angle from controller_app: 19 -[teensy-2] [INFO] [1746051074.248319285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 19 -[teensy-2] [INFO] [1746051074.249566125] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051074.335275702] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051074.336905005] [sailbot.teensy]: Wind angle: 147 -[teensy-2] [INFO] [1746051074.337927184] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051074.337575854] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051074.338559571] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051074.338764613] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051074.338938058] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051074.344527866] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051074.345202745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051074.345690360] [sailbot.mux]: Published rudder angle from controller_app: 19 -[teensy-2] [INFO] [1746051074.346922720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 19 -[teensy-2] [INFO] [1746051074.347949605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051074.445442980] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051074.445945026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051074.447150252] [sailbot.mux]: Published rudder angle from controller_app: 19 -[teensy-2] [INFO] [1746051074.448134111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 19 -[teensy-2] [INFO] [1746051074.449401760] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051074.457044900] [sailbot.main_algo]: Wind Direction: 147 -[main_algo-3] [INFO] [1746051074.458014107] [sailbot.main_algo]: Target Bearing: -145.15589778360183 -[main_algo-3] [INFO] [1746051074.458915330] [sailbot.main_algo]: Heading Difference: -137.44510221639814 -[main_algo-3] [INFO] [1746051074.459742891] [sailbot.main_algo]: Wind Direction: 147 -[main_algo-3] [INFO] [1746051074.460584654] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051074.461385782] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051074.462451883] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051074.463222620] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051074.502912074] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899508 Long: -76.50280388 -[vectornav-1] [INFO] [1746051074.504101764] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (94.096, 1.181, 10.653) -[main_algo-3] [INFO] [1746051074.504141183] [sailbot.main_algo]: Distance to destination: 51.315011931784504 -[main_algo-3] [INFO] [1746051074.505352594] [sailbot.main_algo]: Target Bearing: -144.82109138123286 -[main_algo-3] [INFO] [1746051074.506344085] [sailbot.main_algo]: Heading Difference: -137.77990861876714 -[main_algo-3] [INFO] [1746051074.507274305] [sailbot.main_algo]: Wind Direction: 147 -[main_algo-3] [INFO] [1746051074.508186530] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051074.509047427] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051074.510812562] [sailbot.mux]: algo rudder angle: -15 -[teensy-2] [INFO] [1746051074.545829556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051074.546153200] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051074.547705746] [sailbot.mux]: Published rudder angle from controller_app: 19 -[teensy-2] [INFO] [1746051074.547858169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 19 -[teensy-2] [INFO] [1746051074.549031461] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051074.585229329] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051074.587120756] [sailbot.teensy]: Wind angle: 146 -[trim_sail-4] [INFO] [1746051074.587509579] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051074.588071239] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051074.588936746] [sailbot.teensy]: Actual tail angle: 44 -[mux-7] [INFO] [1746051074.589074646] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051074.589840522] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051074.645163155] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051074.645960384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051074.646612339] [sailbot.mux]: Published rudder angle from controller_app: 19 -[teensy-2] [INFO] [1746051074.648321134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 19 -[teensy-2] [INFO] [1746051074.649331689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051074.745191428] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051074.746112091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051074.746658699] [sailbot.mux]: Published rudder angle from controller_app: 19 -[teensy-2] [INFO] [1746051074.747813412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 19 -[teensy-2] [INFO] [1746051074.748264837] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051074.835155897] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051074.836854528] [sailbot.teensy]: Wind angle: 149 -[trim_sail-4] [INFO] [1746051074.837172548] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051074.837736464] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051074.838576797] [sailbot.teensy]: Actual tail angle: 44 -[mux-7] [INFO] [1746051074.839356466] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051074.839434181] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051074.844420429] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051074.845137680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051074.845582591] [sailbot.mux]: Published rudder angle from controller_app: 19 -[teensy-2] [INFO] [1746051074.847019099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 19 -[teensy-2] [INFO] [1746051074.848212541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051074.945167896] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051074.945857780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051074.946597665] [sailbot.mux]: Published rudder angle from controller_app: 19 -[teensy-2] [INFO] [1746051074.947885339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 19 -[teensy-2] [INFO] [1746051074.949054667] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051074.957084384] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051074.958076381] [sailbot.main_algo]: Target Bearing: -144.82109138123286 -[main_algo-3] [INFO] [1746051074.958980051] [sailbot.main_algo]: Heading Difference: -121.08290861876714 -[main_algo-3] [INFO] [1746051074.959807682] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051074.960649556] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051074.961470075] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051074.962518070] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051074.963311344] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051075.002907973] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46899791 Long: -76.5028054 -[main_algo-3] [INFO] [1746051075.004384850] [sailbot.main_algo]: Distance to destination: 51.400792283553685 -[vectornav-1] [INFO] [1746051075.004622750] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (95.19200000000001, -0.862, 4.531) -[main_algo-3] [INFO] [1746051075.005593367] [sailbot.main_algo]: Target Bearing: -144.456088543244 -[main_algo-3] [INFO] [1746051075.006586469] [sailbot.main_algo]: Heading Difference: -121.447911456756 -[main_algo-3] [INFO] [1746051075.007522579] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051075.008435580] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051075.009307133] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051075.011046274] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051075.045037675] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051075.045746931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051075.046438638] [sailbot.mux]: Published rudder angle from controller_app: 19 -[teensy-2] [INFO] [1746051075.047624331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 19 -[teensy-2] [INFO] [1746051075.048688990] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051075.085123322] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051075.086628223] [sailbot.teensy]: Wind angle: 149 -[trim_sail-4] [INFO] [1746051075.087153252] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051075.087514436] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051075.088390587] [sailbot.teensy]: Actual tail angle: 44 -[mux-7] [INFO] [1746051075.088438402] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051075.089339199] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051075.134005183] [sailbot.mux]: controller_app rudder angle: 23 -[mux-7] [INFO] [1746051075.144442593] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051075.145011039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051075.145612333] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746051075.146750011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746051075.147803038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051075.245257803] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051075.246019614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051075.246811739] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746051075.248324792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746051075.248903548] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051075.335391636] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051075.337292140] [sailbot.teensy]: Wind angle: 147 -[teensy-2] [INFO] [1746051075.338284761] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051075.337849436] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051075.339249606] [sailbot.teensy]: Actual tail angle: 44 -[teensy-2] [INFO] [1746051075.340130243] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051075.340356644] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051075.344660195] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051075.345099558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051075.345807691] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746051075.346817966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746051075.347868563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051075.445536922] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051075.446115978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051075.447176736] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746051075.448306050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746051075.449304022] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051075.457339085] [sailbot.main_algo]: Wind Direction: 147 -[main_algo-3] [INFO] [1746051075.458474586] [sailbot.main_algo]: Target Bearing: -144.456088543244 -[main_algo-3] [INFO] [1746051075.459436069] [sailbot.main_algo]: Heading Difference: -120.351911456756 -[main_algo-3] [INFO] [1746051075.460332048] [sailbot.main_algo]: Wind Direction: 147 -[main_algo-3] [INFO] [1746051075.461240512] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051075.462113650] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051075.463432369] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051075.463920083] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051075.503398495] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900075 Long: -76.5028066 -[main_algo-3] [INFO] [1746051075.504380964] [sailbot.main_algo]: Distance to destination: 51.510355356257904 -[main_algo-3] [INFO] [1746051075.505602868] [sailbot.main_algo]: Target Bearing: -144.1089103070068 -[vectornav-1] [INFO] [1746051075.505761924] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (85.67000000000002, 0.589, 4.093) -[main_algo-3] [INFO] [1746051075.506634970] [sailbot.main_algo]: Heading Difference: -120.6990896929932 -[main_algo-3] [INFO] [1746051075.507574321] [sailbot.main_algo]: Wind Direction: 147 -[main_algo-3] [INFO] [1746051075.508485536] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051075.509348497] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051075.511071440] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051075.545239797] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051075.546065629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051075.546809922] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746051075.548657067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746051075.549699903] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051075.585232507] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051075.587365181] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051075.588970551] [sailbot.teensy]: Wind angle: 147 -[mux-7] [INFO] [1746051075.589281467] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051075.589958103] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051075.590860349] [sailbot.teensy]: Actual tail angle: 48 -[teensy-2] [INFO] [1746051075.591680131] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051075.644933273] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051075.645670196] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051075.646339038] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746051075.647565186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746051075.648087166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051075.745038508] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051075.745670986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051075.746347096] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746051075.747704203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746051075.748874583] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051075.835317219] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051075.837107224] [sailbot.teensy]: Wind angle: 145 -[trim_sail-4] [INFO] [1746051075.837790413] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051075.838049056] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051075.838958921] [sailbot.teensy]: Actual tail angle: 48 -[teensy-2] [INFO] [1746051075.839891808] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051075.840000604] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051075.844474469] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051075.845114989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051075.845762046] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746051075.846826158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746051075.847985597] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051075.945487560] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051075.946172574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051075.947144025] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746051075.948140806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746051075.948635102] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051075.957073876] [sailbot.main_algo]: Wind Direction: 145 -[main_algo-3] [INFO] [1746051075.958076160] [sailbot.main_algo]: Target Bearing: -144.1089103070068 -[main_algo-3] [INFO] [1746051075.958915655] [sailbot.main_algo]: Heading Difference: -130.2210896929932 -[main_algo-3] [INFO] [1746051075.959832149] [sailbot.main_algo]: Wind Direction: 145 -[main_algo-3] [INFO] [1746051075.960810502] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051075.961628525] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051075.962631330] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051075.963190252] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051076.003405273] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900313 Long: -76.5028064 -[main_algo-3] [INFO] [1746051076.003933037] [sailbot.main_algo]: Distance to destination: 51.68262227080582 -[vectornav-1] [INFO] [1746051076.004837131] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (68.387, -0.531, 2.831) -[main_algo-3] [INFO] [1746051076.005111820] [sailbot.main_algo]: Target Bearing: -143.8855458178651 -[main_algo-3] [INFO] [1746051076.006140615] [sailbot.main_algo]: Heading Difference: -130.4444541821349 -[main_algo-3] [INFO] [1746051076.007316586] [sailbot.main_algo]: Wind Direction: 145 -[main_algo-3] [INFO] [1746051076.008277866] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051076.009158237] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051076.010884107] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051076.045069665] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051076.045720217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051076.046374741] [sailbot.mux]: Published rudder angle from controller_app: 23 -[teensy-2] [INFO] [1746051076.047814429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 23 -[teensy-2] [INFO] [1746051076.049019812] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051076.085447042] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051076.087500551] [sailbot.teensy]: Wind angle: 136 -[trim_sail-4] [INFO] [1746051076.089189009] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051076.089321884] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051076.090074225] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051076.091048840] [sailbot.teensy]: Actual tail angle: 48 -[teensy-2] [INFO] [1746051076.091967452] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051076.144009998] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746051076.145801383] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051076.146579662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051076.146769256] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051076.148477673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051076.149564821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051076.245405972] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051076.246294188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051076.247031698] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051076.248182019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051076.248682816] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051076.335276923] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051076.337418761] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051076.337783104] [sailbot.teensy]: Wind angle: 127 -[mux-7] [INFO] [1746051076.339010078] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051076.339132202] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051076.339660536] [sailbot.teensy]: Actual tail angle: 48 -[teensy-2] [INFO] [1746051076.340029981] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051076.344430523] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051076.344989198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051076.345570812] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051076.346740593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051076.347820896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051076.445184706] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051076.445844514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051076.446667635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051076.447911394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051076.448511401] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051076.457296051] [sailbot.main_algo]: Wind Direction: 127 -[main_algo-3] [INFO] [1746051076.458426677] [sailbot.main_algo]: Target Bearing: -143.8855458178651 -[main_algo-3] [INFO] [1746051076.459382639] [sailbot.main_algo]: Heading Difference: -147.72745418213492 -[main_algo-3] [INFO] [1746051076.460289605] [sailbot.main_algo]: Wind Direction: 127 -[main_algo-3] [INFO] [1746051076.461158201] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051076.461969376] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051076.462975906] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051076.463641953] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051076.502623882] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900495 Long: -76.50280549 -[vectornav-1] [INFO] [1746051076.503641371] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.59100000000001, -0.635, 5.945) -[main_algo-3] [INFO] [1746051076.504052976] [sailbot.main_algo]: Distance to destination: 51.8644128336576 -[main_algo-3] [INFO] [1746051076.505144722] [sailbot.main_algo]: Target Bearing: -143.7574120425179 -[main_algo-3] [INFO] [1746051076.506100900] [sailbot.main_algo]: Heading Difference: -147.8555879574821 -[main_algo-3] [INFO] [1746051076.507008045] [sailbot.main_algo]: Wind Direction: 127 -[main_algo-3] [INFO] [1746051076.507873861] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051076.508746909] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051076.510483378] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051076.544792649] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051076.545462577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051076.546063285] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051076.547213265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051076.548380531] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051076.585292909] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051076.587080352] [sailbot.teensy]: Wind angle: 124 -[trim_sail-4] [INFO] [1746051076.587684277] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051076.588026457] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051076.588955955] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051076.589378725] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051076.589836553] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051076.644984963] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051076.645742154] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051076.646528027] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051076.647788852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051076.648948945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051076.745322816] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051076.746691541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051076.746973503] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051076.748964873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051076.749992844] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051076.835133443] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051076.836684649] [sailbot.teensy]: Wind angle: 116 -[trim_sail-4] [INFO] [1746051076.837144951] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051076.837551241] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051076.838404302] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051076.839256084] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051076.839281039] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051076.844252700] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051076.844920895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051076.845355001] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051076.846792987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051076.847847493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051076.945369551] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051076.946158944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051076.946933571] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051076.947971715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051076.948500932] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051076.957090098] [sailbot.main_algo]: Wind Direction: 116 -[main_algo-3] [INFO] [1746051076.958079355] [sailbot.main_algo]: Target Bearing: -143.7574120425179 -[main_algo-3] [INFO] [1746051076.958910812] [sailbot.main_algo]: Heading Difference: -166.6515879574821 -[main_algo-3] [INFO] [1746051076.959756581] [sailbot.main_algo]: Wind Direction: 116 -[main_algo-3] [INFO] [1746051076.960593148] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051076.961422871] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051076.962475558] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051076.963164418] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051077.003445817] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900556 Long: -76.50280204 -[main_algo-3] [INFO] [1746051077.004115189] [sailbot.main_algo]: Distance to destination: 52.13133594376592 -[vectornav-1] [INFO] [1746051077.004794656] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.61500000000001, -0.445, 8.837) -[main_algo-3] [INFO] [1746051077.005328351] [sailbot.main_algo]: Target Bearing: -143.88689327975655 -[main_algo-3] [INFO] [1746051077.006356234] [sailbot.main_algo]: Heading Difference: -166.5221067202434 -[main_algo-3] [INFO] [1746051077.007322046] [sailbot.main_algo]: Wind Direction: 116 -[main_algo-3] [INFO] [1746051077.008241410] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051077.009118360] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051077.010839296] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051077.045637510] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051077.045929103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051077.047265247] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051077.048001207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051077.049180657] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051077.085373218] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051077.087176068] [sailbot.teensy]: Wind angle: 110 -[teensy-2] [INFO] [1746051077.088179234] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051077.087728276] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746051077.088840343] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051077.089068467] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051077.089944016] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051077.133217040] [sailbot.mux]: controller_app rudder angle: -6 -[mux-7] [INFO] [1746051077.144899673] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051077.145652108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051077.146228284] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051077.147561520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051077.148737208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051077.245229577] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051077.245931995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051077.246750473] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051077.248029167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051077.249123373] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051077.335225694] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051077.337386087] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746051077.337750281] [sailbot.teensy]: Wind angle: 96 -[mux-7] [INFO] [1746051077.338231877] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051077.339327721] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051077.340260489] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051077.340767051] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051077.344604733] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051077.345004844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051077.345911189] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051077.346691784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051077.347866138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051077.444848792] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051077.445896527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051077.446111727] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051077.447726767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051077.448751628] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051077.457129075] [sailbot.main_algo]: Wind Direction: 96 -[main_algo-3] [INFO] [1746051077.458196502] [sailbot.main_algo]: Target Bearing: -143.88689327975655 -[main_algo-3] [INFO] [1746051077.459112235] [sailbot.main_algo]: Heading Difference: 177.5018932797566 -[main_algo-3] [INFO] [1746051077.459943682] [sailbot.main_algo]: Wind Direction: 96 -[main_algo-3] [INFO] [1746051077.460783459] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051077.461601803] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051077.462607216] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051077.463126370] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051077.502724397] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900698 Long: -76.50279885 -[main_algo-3] [INFO] [1746051077.503746355] [sailbot.main_algo]: Distance to destination: 52.435655460146094 -[vectornav-1] [INFO] [1746051077.503852403] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (23.85300000000001, -0.433, 7.83) -[main_algo-3] [INFO] [1746051077.505095876] [sailbot.main_algo]: Target Bearing: -143.92249418429026 -[main_algo-3] [INFO] [1746051077.506250097] [sailbot.main_algo]: Heading Difference: 177.53749418429027 -[main_algo-3] [INFO] [1746051077.507175179] [sailbot.main_algo]: Wind Direction: 96 -[main_algo-3] [INFO] [1746051077.508046394] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051077.508923409] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051077.510826566] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051077.545171720] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051077.546223325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051077.546618128] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051077.548553780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051077.549765040] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051077.585165116] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051077.587117232] [sailbot.teensy]: Wind angle: 94 -[trim_sail-4] [INFO] [1746051077.587141578] [sailbot.trim_sail]: Sail Angle: "30" -[teensy-2] [INFO] [1746051077.588002857] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051077.588884091] [sailbot.teensy]: Actual tail angle: 19 -[mux-7] [INFO] [1746051077.589089373] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051077.589808567] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051077.645194647] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051077.646012369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051077.646682109] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051077.648093519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051077.649274727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051077.745558757] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051077.746345534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051077.747372761] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051077.748763981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051077.749240730] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051077.835183353] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051077.836757643] [sailbot.teensy]: Wind angle: 102 -[trim_sail-4] [INFO] [1746051077.837485212] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051077.837692969] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051077.838596152] [sailbot.teensy]: Actual tail angle: 19 -[mux-7] [INFO] [1746051077.838925325] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051077.839017170] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051077.844537003] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051077.845262390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051077.845702081] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051077.847075967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051077.848194959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051077.944876351] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051077.945639873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051077.946142525] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051077.947452825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051077.947916627] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051077.957008283] [sailbot.main_algo]: Wind Direction: 102 -[main_algo-3] [INFO] [1746051077.957986491] [sailbot.main_algo]: Target Bearing: -143.92249418429026 -[main_algo-3] [INFO] [1746051077.958837442] [sailbot.main_algo]: Heading Difference: 167.77549418429027 -[main_algo-3] [INFO] [1746051077.959648180] [sailbot.main_algo]: Wind Direction: 102 -[main_algo-3] [INFO] [1746051077.960461227] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051077.961264728] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051077.962267175] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051077.963050575] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051078.003062089] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900828 Long: -76.50279492 -[main_algo-3] [INFO] [1746051078.004041646] [sailbot.main_algo]: Distance to destination: 52.78054110835636 -[vectornav-1] [INFO] [1746051078.004302889] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.430000000000007, -1.917, 10.904) -[main_algo-3] [INFO] [1746051078.005224308] [sailbot.main_algo]: Target Bearing: -144.00903164335176 -[main_algo-3] [INFO] [1746051078.006185216] [sailbot.main_algo]: Heading Difference: 167.86203164335177 -[main_algo-3] [INFO] [1746051078.007091631] [sailbot.main_algo]: Wind Direction: 102 -[main_algo-3] [INFO] [1746051078.007961629] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051078.008824599] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051078.010499464] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051078.045088990] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051078.045780681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051078.046420646] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051078.047886043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051078.049035758] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051078.085365696] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051078.087598232] [sailbot.teensy]: Wind angle: 102 -[trim_sail-4] [INFO] [1746051078.087903448] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051078.088533999] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051078.088546537] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051078.089470554] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746051078.090400689] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051078.144901212] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051078.145509634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051078.146142787] [sailbot.mux]: Published rudder angle from controller_app: -6 -[teensy-2] [INFO] [1746051078.147308512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -6 -[teensy-2] [INFO] [1746051078.148515489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051078.161585709] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746051078.245167174] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051078.245828515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051078.246487706] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051078.247792874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051078.248283249] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051078.335352973] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051078.337900420] [sailbot.teensy]: Wind angle: 103 -[trim_sail-4] [INFO] [1746051078.338109173] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746051078.338834220] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051078.338874474] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051078.339652298] [sailbot.teensy]: Actual tail angle: 19 -[teensy-2] [INFO] [1746051078.340034544] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051078.344441778] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051078.344918950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051078.345629406] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051078.346712409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051078.347909573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051078.445166531] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051078.445825364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051078.446487495] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051078.447787719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051078.448276579] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051078.457197967] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746051078.458247763] [sailbot.main_algo]: Target Bearing: -144.00903164335176 -[main_algo-3] [INFO] [1746051078.459135395] [sailbot.main_algo]: Heading Difference: 168.43903164335177 -[main_algo-3] [INFO] [1746051078.459952618] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746051078.460762739] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051078.461559168] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051078.462547536] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051078.463133522] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051078.502515554] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46900954 Long: -76.50279043 -[main_algo-3] [INFO] [1746051078.503417164] [sailbot.main_algo]: Distance to destination: 53.15969738681531 -[vectornav-1] [INFO] [1746051078.503535485] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.694999999999993, 0.334, 12.408) -[main_algo-3] [INFO] [1746051078.504499793] [sailbot.main_algo]: Target Bearing: -144.12808423853534 -[main_algo-3] [INFO] [1746051078.505501456] [sailbot.main_algo]: Heading Difference: 168.55808423853534 -[main_algo-3] [INFO] [1746051078.506409241] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746051078.507273159] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051078.508101806] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051078.509830217] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051078.545181083] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051078.545927270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051078.546629460] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051078.548050979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051078.549246559] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051078.585440528] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051078.587319932] [sailbot.teensy]: Wind angle: 107 -[teensy-2] [INFO] [1746051078.588248423] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051078.589143665] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051078.587848938] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746051078.588781907] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051078.589979353] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051078.645134465] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051078.645789935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051078.646614078] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051078.647858345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051078.648967019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051078.745194970] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051078.745982708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051078.746967086] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051078.748238774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051078.749415233] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051078.835350580] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051078.837651182] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051078.838188037] [sailbot.teensy]: Wind angle: 106 -[mux-7] [INFO] [1746051078.838553292] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051078.839148754] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051078.840044322] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051078.840909585] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051078.844515308] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051078.845089791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051078.845794251] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051078.847042795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051078.848099935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051078.944986713] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051078.945592380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051078.946230863] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051078.947511155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051078.948483384] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051078.957006717] [sailbot.main_algo]: Wind Direction: 106 -[main_algo-3] [INFO] [1746051078.958009789] [sailbot.main_algo]: Target Bearing: -144.12808423853534 -[main_algo-3] [INFO] [1746051078.958893622] [sailbot.main_algo]: Heading Difference: 170.82308423853533 -[main_algo-3] [INFO] [1746051078.959766303] [sailbot.main_algo]: Wind Direction: 106 -[main_algo-3] [INFO] [1746051078.960666306] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051078.961476460] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051078.962512956] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051078.963130393] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051079.002893595] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901132 Long: -76.50278674 -[main_algo-3] [INFO] [1746051079.003903601] [sailbot.main_algo]: Distance to destination: 53.52102631460817 -[vectornav-1] [INFO] [1746051079.004212280] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.459, -0.913, 9.531) -[main_algo-3] [INFO] [1746051079.005226113] [sailbot.main_algo]: Target Bearing: -144.1537748783975 -[main_algo-3] [INFO] [1746051079.006270951] [sailbot.main_algo]: Heading Difference: 170.84877487839753 -[main_algo-3] [INFO] [1746051079.007205298] [sailbot.main_algo]: Wind Direction: 106 -[main_algo-3] [INFO] [1746051079.008106084] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051079.009007653] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051079.010721516] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051079.045260816] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051079.045972563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051079.046728207] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051079.048072519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051079.049143868] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051079.085328813] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051079.087424170] [sailbot.trim_sail]: Sail Angle: "25" -[mux-7] [INFO] [1746051079.088409862] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051079.088853928] [sailbot.teensy]: Wind angle: 101 -[teensy-2] [INFO] [1746051079.090066341] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051079.090905289] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051079.091740714] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051079.145034584] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051079.145943603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051079.146566033] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051079.147922794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051079.148671593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051079.244997604] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051079.245683575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051079.246267258] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051079.247566156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051079.248633533] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051079.335410691] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051079.338168510] [sailbot.trim_sail]: Sail Angle: "25" -[teensy-2] [INFO] [1746051079.339069831] [sailbot.teensy]: Wind angle: 103 -[mux-7] [INFO] [1746051079.339262889] [sailbot.mux]: algo sail angle: 25 -[teensy-2] [INFO] [1746051079.340030708] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051079.340936130] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051079.341791017] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051079.344247249] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051079.344856921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051079.345379164] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051079.346623163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051079.347701433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051079.445562746] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051079.446255060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051079.447146225] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051079.448142121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051079.448697933] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051079.457339691] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746051079.458524049] [sailbot.main_algo]: Target Bearing: -144.1537748783975 -[main_algo-3] [INFO] [1746051079.459535476] [sailbot.main_algo]: Heading Difference: 177.61277487839754 -[main_algo-3] [INFO] [1746051079.460471949] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746051079.461385771] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051079.462274940] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051079.463331087] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051079.463820562] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051079.502838209] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690135 Long: -76.50278296 -[main_algo-3] [INFO] [1746051079.503843132] [sailbot.main_algo]: Distance to destination: 53.91493035999728 -[vectornav-1] [INFO] [1746051079.503947490] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.781000000000006, 0.155, 10.119) -[main_algo-3] [INFO] [1746051079.504960330] [sailbot.main_algo]: Target Bearing: -144.14605131432955 -[main_algo-3] [INFO] [1746051079.505905958] [sailbot.main_algo]: Heading Difference: 177.60505131432956 -[main_algo-3] [INFO] [1746051079.507047662] [sailbot.main_algo]: Wind Direction: 103 -[main_algo-3] [INFO] [1746051079.507940220] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051079.508816640] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051079.510651042] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051079.544929858] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051079.545741542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051079.546457876] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051079.547787816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051079.548983415] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051079.585226809] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051079.586911579] [sailbot.teensy]: Wind angle: 115 -[trim_sail-4] [INFO] [1746051079.587517438] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051079.587992680] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051079.588771740] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051079.588941695] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051079.589869330] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051079.645518653] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051079.646356053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051079.647093731] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051079.648940268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051079.650168902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051079.745265666] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051079.746042947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051079.746722136] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051079.747821158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051079.748367469] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051079.835219702] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051079.836947112] [sailbot.teensy]: Wind angle: 125 -[trim_sail-4] [INFO] [1746051079.837662931] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051079.837889563] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051079.838783748] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051079.838938531] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051079.839658055] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051079.844518470] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051079.844937429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051079.845685573] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051079.846639712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051079.847715355] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051079.945432711] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051079.946002582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051079.947150200] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051079.948079329] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051079.949441145] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051079.957070285] [sailbot.main_algo]: Wind Direction: 125 -[main_algo-3] [INFO] [1746051079.958060489] [sailbot.main_algo]: Target Bearing: -144.14605131432955 -[main_algo-3] [INFO] [1746051079.958959798] [sailbot.main_algo]: Heading Difference: -177.07294868567044 -[main_algo-3] [INFO] [1746051079.959808844] [sailbot.main_algo]: Wind Direction: 125 -[main_algo-3] [INFO] [1746051079.960648133] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051079.961447112] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051079.962414793] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051079.963092457] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051080.003018916] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901543 Long: -76.50277892 -[main_algo-3] [INFO] [1746051080.004020152] [sailbot.main_algo]: Distance to destination: 54.30928609860015 -[vectornav-1] [INFO] [1746051080.004322710] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.129999999999995, -0.95, 10.979) -[main_algo-3] [INFO] [1746051080.005354041] [sailbot.main_algo]: Target Bearing: -144.17540501872702 -[main_algo-3] [INFO] [1746051080.006409165] [sailbot.main_algo]: Heading Difference: -177.04359498127297 -[main_algo-3] [INFO] [1746051080.007348831] [sailbot.main_algo]: Wind Direction: 125 -[main_algo-3] [INFO] [1746051080.008265616] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051080.009116234] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051080.010958029] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051080.044954941] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051080.045591565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051080.046459549] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051080.047436937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051080.048526565] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051080.085310832] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051080.086962765] [sailbot.teensy]: Wind angle: 121 -[trim_sail-4] [INFO] [1746051080.087429867] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051080.087901963] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051080.088887406] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051080.089796050] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051080.090330645] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746051080.144976844] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051080.145491288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051080.146222344] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051080.147192711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051080.148252312] [sailbot.mux]: controller_app rudder angle: -11 -[teensy-2] [INFO] [1746051080.148407190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051080.245255280] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051080.245926573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051080.247023362] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051080.248314724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051080.248966817] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051080.335286590] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051080.337345595] [sailbot.teensy]: Wind angle: 120 -[trim_sail-4] [INFO] [1746051080.337552614] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746051080.338862052] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051080.339115894] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051080.340063731] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051080.340912272] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051080.344443995] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051080.345100235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051080.345571821] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051080.346825503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051080.347902395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051080.445052179] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051080.445723487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051080.446403832] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051080.447771927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051080.448948057] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051080.456960588] [sailbot.main_algo]: Wind Direction: 120 -[main_algo-3] [INFO] [1746051080.457913909] [sailbot.main_algo]: Target Bearing: -144.17540501872702 -[main_algo-3] [INFO] [1746051080.458802751] [sailbot.main_algo]: Heading Difference: -172.69459498127299 -[main_algo-3] [INFO] [1746051080.459640782] [sailbot.main_algo]: Wind Direction: 120 -[main_algo-3] [INFO] [1746051080.460476714] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051080.461276724] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051080.462280955] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051080.462860758] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051080.502479853] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46901793 Long: -76.50277539 -[main_algo-3] [INFO] [1746051080.503379941] [sailbot.main_algo]: Distance to destination: 54.70806524477644 -[vectornav-1] [INFO] [1746051080.503520550] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.738999999999976, -0.944, 9.767) -[main_algo-3] [INFO] [1746051080.504453652] [sailbot.main_algo]: Target Bearing: -144.1249423669755 -[main_algo-3] [INFO] [1746051080.505512882] [sailbot.main_algo]: Heading Difference: -172.74505763302454 -[main_algo-3] [INFO] [1746051080.506410875] [sailbot.main_algo]: Wind Direction: 120 -[main_algo-3] [INFO] [1746051080.507302597] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051080.508181312] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051080.509891236] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051080.544866643] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051080.545472116] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051080.546114214] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051080.547343305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051080.548575137] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051080.585416161] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051080.587235778] [sailbot.teensy]: Wind angle: 120 -[teensy-2] [INFO] [1746051080.588171572] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051080.589048416] [sailbot.teensy]: Actual tail angle: 14 -[trim_sail-4] [INFO] [1746051080.587794762] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746051080.588398842] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051080.589908637] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051080.644940037] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051080.645646552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051080.646601588] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051080.647570446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051080.648532325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051080.745090231] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051080.745784121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051080.746468722] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051080.747709512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051080.748254329] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051080.835249810] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051080.836969131] [sailbot.teensy]: Wind angle: 121 -[teensy-2] [INFO] [1746051080.838278639] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051080.838570044] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051080.839215442] [sailbot.teensy]: Actual tail angle: 14 -[mux-7] [INFO] [1746051080.839412686] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051080.840139636] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051080.844569218] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051080.845017935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051080.845704127] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051080.846796867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051080.847888171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051080.944930592] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051080.945764849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051080.946192844] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051080.947637953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051080.948695894] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051080.956979006] [sailbot.main_algo]: Wind Direction: 121 -[main_algo-3] [INFO] [1746051080.957982710] [sailbot.main_algo]: Target Bearing: -144.1249423669755 -[main_algo-3] [INFO] [1746051080.958870483] [sailbot.main_algo]: Heading Difference: -166.1360576330245 -[main_algo-3] [INFO] [1746051080.959708930] [sailbot.main_algo]: Wind Direction: 121 -[main_algo-3] [INFO] [1746051080.960540855] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051080.961367018] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051080.962408091] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051080.963123793] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051081.003133975] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902126 Long: -76.50277263 -[main_algo-3] [INFO] [1746051081.004345984] [sailbot.main_algo]: Distance to destination: 55.111793786734424 -[vectornav-1] [INFO] [1746051081.004471419] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.827999999999975, 0.623, 8.097) -[main_algo-3] [INFO] [1746051081.005648859] [sailbot.main_algo]: Target Bearing: -143.95905863161522 -[main_algo-3] [INFO] [1746051081.006711462] [sailbot.main_algo]: Heading Difference: -166.3019413683848 -[main_algo-3] [INFO] [1746051081.007661609] [sailbot.main_algo]: Wind Direction: 121 -[main_algo-3] [INFO] [1746051081.008572300] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051081.009441494] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051081.011233831] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051081.045337850] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051081.046747976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051081.047274224] [sailbot.mux]: Published rudder angle from controller_app: -11 -[teensy-2] [INFO] [1746051081.049144136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: -11 -[teensy-2] [INFO] [1746051081.050174575] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051081.085170733] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051081.086729909] [sailbot.teensy]: Wind angle: 123 -[trim_sail-4] [INFO] [1746051081.087236845] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051081.087637032] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051081.088545414] [sailbot.teensy]: Actual tail angle: 14 -[teensy-2] [INFO] [1746051081.089452252] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051081.089556560] [sailbot.mux]: algo sail angle: 10 -[mux-7] [INFO] [1746051081.144035922] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746051081.145882083] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051081.146579532] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051081.146860448] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051081.148437022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051081.149421968] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051081.244940355] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051081.245636921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051081.246201671] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051081.247458023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051081.248437910] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051081.335481102] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051081.337407383] [sailbot.teensy]: Wind angle: 132 -[trim_sail-4] [INFO] [1746051081.337836311] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051081.338363199] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051081.339365013] [sailbot.teensy]: Actual tail angle: 14 -[mux-7] [INFO] [1746051081.339849253] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051081.340272315] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051081.344495689] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051081.345215533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051081.345601435] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051081.346995351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051081.348177073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051081.445172838] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051081.445847057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051081.446547316] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051081.447796458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051081.448836419] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051081.457126931] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051081.458207469] [sailbot.main_algo]: Target Bearing: -143.95905863161522 -[main_algo-3] [INFO] [1746051081.459111136] [sailbot.main_algo]: Heading Difference: -156.2129413683848 -[main_algo-3] [INFO] [1746051081.459981043] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051081.460832268] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051081.461632341] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051081.462638649] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051081.463467113] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051081.502725937] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902418 Long: -76.5027707 -[main_algo-3] [INFO] [1746051081.503766263] [sailbot.main_algo]: Distance to destination: 55.43409089804536 -[vectornav-1] [INFO] [1746051081.503868397] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (75.07900000000001, -0.798, 9.006) -[main_algo-3] [INFO] [1746051081.505265219] [sailbot.main_algo]: Target Bearing: -143.79040178290404 -[main_algo-3] [INFO] [1746051081.506624992] [sailbot.main_algo]: Heading Difference: -156.38159821709598 -[main_algo-3] [INFO] [1746051081.507533780] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051081.508410557] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051081.509251888] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051081.510976919] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051081.545103574] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051081.545572149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051081.546390665] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051081.547366084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051081.548445462] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051081.585184056] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051081.586866934] [sailbot.teensy]: Wind angle: 145 -[trim_sail-4] [INFO] [1746051081.587401054] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051081.587786382] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051081.588763278] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051081.589727899] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051081.590746607] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051081.644803014] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051081.645505046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051081.646022411] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051081.647249648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051081.648291602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051081.745435323] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051081.745975710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051081.747286436] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051081.748008349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051081.749264062] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051081.835466102] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051081.837797760] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051081.838183407] [sailbot.teensy]: Wind angle: 148 -[mux-7] [INFO] [1746051081.839354211] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051081.840145174] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051081.841159669] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051081.841989157] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051081.844389557] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051081.844845946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051081.845560678] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051081.846711149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051081.847707002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051081.945234689] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051081.946165639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051081.947033343] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051081.948431942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051081.949553455] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051081.957039235] [sailbot.main_algo]: Wind Direction: 148 -[main_algo-3] [INFO] [1746051081.958047630] [sailbot.main_algo]: Target Bearing: -143.79040178290404 -[main_algo-3] [INFO] [1746051081.958963675] [sailbot.main_algo]: Heading Difference: -141.13059821709595 -[main_algo-3] [INFO] [1746051081.959843678] [sailbot.main_algo]: Wind Direction: 148 -[main_algo-3] [INFO] [1746051081.960788978] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051081.961629555] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051081.962753033] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051081.963204382] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051082.002768167] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902684 Long: -76.50277071 -[main_algo-3] [INFO] [1746051082.003774138] [sailbot.main_algo]: Distance to destination: 55.61264445838087 -[vectornav-1] [INFO] [1746051082.003898256] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (90.80399999999997, -0.399, 7.059) -[main_algo-3] [INFO] [1746051082.004933673] [sailbot.main_algo]: Target Bearing: -143.54753721027876 -[main_algo-3] [INFO] [1746051082.005963564] [sailbot.main_algo]: Heading Difference: -141.3734627897212 -[main_algo-3] [INFO] [1746051082.006885245] [sailbot.main_algo]: Wind Direction: 148 -[main_algo-3] [INFO] [1746051082.007818816] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051082.008745021] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051082.010493610] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051082.044941819] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051082.045744409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051082.046193659] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051082.047655824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051082.048684156] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051082.085353298] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051082.087078988] [sailbot.teensy]: Wind angle: 142 -[trim_sail-4] [INFO] [1746051082.087571008] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051082.088180534] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051082.089174654] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051082.090001018] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051082.090084960] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051082.144875065] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051082.145735086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051082.146485646] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051082.147778812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051082.149273264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051082.150331000] [sailbot.mux]: controller_app rudder angle: 25 -[mux-7] [INFO] [1746051082.244887455] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051082.245551258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051082.246172309] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746051082.247447942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746051082.248673740] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051082.335441642] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051082.337568536] [sailbot.teensy]: Wind angle: 134 -[trim_sail-4] [INFO] [1746051082.338008660] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051082.339034420] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051082.339673140] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051082.340081663] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051082.340441266] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051082.344277839] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051082.345051447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051082.345386059] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746051082.346873655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746051082.347918621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051082.444765156] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051082.445348872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051082.445910317] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746051082.447273714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746051082.448187832] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051082.457121472] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051082.458113969] [sailbot.main_algo]: Target Bearing: -143.54753721027876 -[main_algo-3] [INFO] [1746051082.458962377] [sailbot.main_algo]: Heading Difference: -125.6484627897213 -[main_algo-3] [INFO] [1746051082.459767275] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051082.460575713] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051082.461368062] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051082.462376123] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051082.463082478] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051082.502899933] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46902961 Long: -76.50277205 -[main_algo-3] [INFO] [1746051082.504010018] [sailbot.main_algo]: Distance to destination: 55.71320097011436 -[vectornav-1] [INFO] [1746051082.504513462] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (103.87299999999999, -0.02, 6.616) -[main_algo-3] [INFO] [1746051082.505386667] [sailbot.main_algo]: Target Bearing: -143.22750537460212 -[main_algo-3] [INFO] [1746051082.506715954] [sailbot.main_algo]: Heading Difference: -125.96849462539791 -[main_algo-3] [INFO] [1746051082.507695758] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051082.508588764] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051082.509435374] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051082.511182327] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051082.544969370] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051082.545602767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051082.546292453] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746051082.547704373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746051082.548847853] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051082.585394210] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051082.587764355] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051082.588722053] [sailbot.teensy]: Wind angle: 129 -[mux-7] [INFO] [1746051082.589087840] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051082.590071408] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051082.590961266] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051082.591802785] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051082.644871601] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051082.645670542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051082.646159402] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746051082.647709464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746051082.648737881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051082.744906559] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051082.745769959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051082.746221030] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746051082.748360271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746051082.749574162] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051082.835350041] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051082.837857342] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051082.838447233] [sailbot.teensy]: Wind angle: 132 -[mux-7] [INFO] [1746051082.839301653] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051082.839496131] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051082.839971544] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051082.840350527] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051082.844512738] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051082.844917711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051082.845650640] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746051082.846590301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746051082.847620894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051082.944967518] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051082.945505107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051082.946335812] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746051082.947260169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746051082.948379649] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051082.957081191] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051082.958055859] [sailbot.main_algo]: Target Bearing: -143.22750537460212 -[main_algo-3] [INFO] [1746051082.958911335] [sailbot.main_algo]: Heading Difference: -112.89949462539789 -[main_algo-3] [INFO] [1746051082.959715251] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051082.960514419] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051082.961320271] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051082.962323028] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051082.962938534] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051083.003038911] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903209 Long: -76.50277346 -[main_algo-3] [INFO] [1746051083.004023321] [sailbot.main_algo]: Distance to destination: 55.79108915920083 -[vectornav-1] [INFO] [1746051083.004303083] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (105.54399999999998, -0.208, 5.722) -[main_algo-3] [INFO] [1746051083.005259881] [sailbot.main_algo]: Target Bearing: -142.93101518473003 -[main_algo-3] [INFO] [1746051083.006210950] [sailbot.main_algo]: Heading Difference: -113.19598481526998 -[main_algo-3] [INFO] [1746051083.007094830] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051083.007989541] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051083.008872051] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051083.010561419] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051083.045093386] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051083.045603092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051083.046368059] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746051083.047443850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746051083.048476900] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051083.085163053] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051083.086699500] [sailbot.teensy]: Wind angle: 133 -[trim_sail-4] [INFO] [1746051083.087198542] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051083.087550925] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051083.087941807] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051083.088405559] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051083.089308083] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051083.144913351] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051083.145640740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051083.146194894] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746051083.147469277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746051083.148649178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051083.244937647] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051083.245707357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051083.246238553] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746051083.247551420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746051083.248877613] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051083.335316340] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051083.337169630] [sailbot.teensy]: Wind angle: 134 -[teensy-2] [INFO] [1746051083.338127482] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051083.337957242] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051083.338997958] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051083.339187289] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051083.339865076] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051083.344588463] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051083.345016925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051083.345840275] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746051083.346710936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746051083.347910508] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051083.445442011] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051083.445951553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051083.447116268] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746051083.448427648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746051083.449572171] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051083.457169140] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051083.458171203] [sailbot.main_algo]: Target Bearing: -142.93101518473003 -[main_algo-3] [INFO] [1746051083.459055677] [sailbot.main_algo]: Heading Difference: -111.52498481526999 -[main_algo-3] [INFO] [1746051083.459912966] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051083.460824955] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051083.461663788] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051083.462779626] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051083.463615204] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051083.502908694] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903248 Long: -76.50277437 -[vectornav-1] [INFO] [1746051083.504205379] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (98.71600000000001, 0.676, 2.808) -[main_algo-3] [INFO] [1746051083.504234937] [sailbot.main_algo]: Distance to destination: 55.75896966502815 -[main_algo-3] [INFO] [1746051083.505439022] [sailbot.main_algo]: Target Bearing: -142.8485602250815 -[main_algo-3] [INFO] [1746051083.506391326] [sailbot.main_algo]: Heading Difference: -111.60743977491848 -[main_algo-3] [INFO] [1746051083.507297404] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051083.508166083] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051083.509009250] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051083.510775028] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051083.544658231] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051083.545269929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051083.545944961] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746051083.546941957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746051083.547923918] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051083.585080235] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051083.587129573] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051083.587328579] [sailbot.teensy]: Wind angle: 134 -[teensy-2] [INFO] [1746051083.588201630] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051083.588323661] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051083.589058072] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051083.589921629] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051083.645280519] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051083.646105279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051083.646909195] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746051083.648502596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746051083.649002304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051083.744914644] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051083.745493947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051083.746200492] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746051083.747301900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746051083.748495823] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051083.835320641] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051083.836989785] [sailbot.teensy]: Wind angle: 134 -[teensy-2] [INFO] [1746051083.837873839] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051083.837508731] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051083.838707079] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051083.839049634] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051083.839586830] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051083.844578199] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051083.844926096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051083.845744212] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746051083.846765430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746051083.847836680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051083.945033808] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051083.945958456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051083.946442413] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746051083.947729715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746051083.948218141] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051083.957033027] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051083.958031048] [sailbot.main_algo]: Target Bearing: -142.8485602250815 -[main_algo-3] [INFO] [1746051083.958916095] [sailbot.main_algo]: Heading Difference: -118.43543977491845 -[main_algo-3] [INFO] [1746051083.959766947] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051083.960612531] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051083.961479646] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051083.962522133] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051083.963145088] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051084.002750950] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903205 Long: -76.50277446 -[main_algo-3] [INFO] [1746051084.003886621] [sailbot.main_algo]: Distance to destination: 55.72365124167173 -[vectornav-1] [INFO] [1746051084.004545355] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (93.38, -0.92, 3.677) -[main_algo-3] [INFO] [1746051084.005220090] [sailbot.main_algo]: Target Bearing: -142.88246394545894 -[main_algo-3] [INFO] [1746051084.006936384] [sailbot.main_algo]: Heading Difference: -118.40153605454105 -[main_algo-3] [INFO] [1746051084.007900924] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051084.008817217] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051084.009676252] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051084.011334664] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051084.045188330] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051084.046263976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051084.046583301] [sailbot.mux]: Published rudder angle from controller_app: 25 -[teensy-2] [INFO] [1746051084.048286770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 25 -[teensy-2] [INFO] [1746051084.049355126] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051084.085206762] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051084.087240930] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051084.087431123] [sailbot.teensy]: Wind angle: 134 -[teensy-2] [INFO] [1746051084.088492049] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051084.088991686] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051084.089418640] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051084.090372833] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051084.144192478] [sailbot.mux]: controller_app rudder angle: 0 -[mux-7] [INFO] [1746051084.146131040] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051084.146905926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051084.147211167] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051084.148875932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051084.149890816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051084.245108504] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051084.245851068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051084.246513314] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051084.247834332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051084.248902608] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051084.335383954] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051084.337805252] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051084.338068076] [sailbot.teensy]: Wind angle: 134 -[teensy-2] [INFO] [1746051084.339010006] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051084.339203158] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051084.339509735] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051084.339882846] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051084.344297277] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051084.344974544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051084.345694338] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051084.346669188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051084.347720310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051084.445236705] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051084.445915050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051084.446753966] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051084.447976107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051084.448523552] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051084.457100215] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051084.458028434] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746051084.458939583] [sailbot.main_algo]: Target Bearing: -142.88246394545894 -[main_algo-3] [INFO] [1746051084.459840270] [sailbot.main_algo]: Heading Difference: -123.73753605454107 -[main_algo-3] [INFO] [1746051084.460696274] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051084.461512370] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051084.462285900] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051084.463290880] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051084.463975554] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051084.502928093] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903191 Long: -76.50277446 -[main_algo-3] [INFO] [1746051084.503964961] [sailbot.main_algo]: Distance to destination: 55.7140518625383 -[vectornav-1] [INFO] [1746051084.504148789] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (90.601, 0.826, 3.597) -[main_algo-3] [INFO] [1746051084.505256118] [sailbot.main_algo]: Target Bearing: -142.89504119536542 -[main_algo-3] [INFO] [1746051084.506302919] [sailbot.main_algo]: Heading Difference: -123.72495880463458 -[main_algo-3] [INFO] [1746051084.507309441] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051084.508220220] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051084.509090277] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051084.510760974] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051084.545046424] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051084.545807049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051084.546307728] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051084.547741936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051084.548989721] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051084.585549648] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051084.587381698] [sailbot.teensy]: Wind angle: 134 -[trim_sail-4] [INFO] [1746051084.588283929] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051084.588336210] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051084.589215993] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051084.589550673] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051084.590116455] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051084.645114798] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051084.645867782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051084.646660831] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051084.647928652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051084.648968390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051084.744954438] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051084.745639950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051084.746652345] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051084.747675756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051084.748804874] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051084.835100771] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051084.837250356] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051084.837465131] [sailbot.teensy]: Wind angle: 134 -[teensy-2] [INFO] [1746051084.838426685] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051084.838629173] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051084.839310219] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051084.840200208] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051084.844365207] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051084.845030167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051084.845472598] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051084.846867988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051084.847898341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051084.944741893] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051084.945412731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051084.945894361] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051084.947169533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051084.948196216] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051084.957055481] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051084.958147293] [sailbot.main_algo]: Target Bearing: -142.89504119536542 -[main_algo-3] [INFO] [1746051084.959080569] [sailbot.main_algo]: Heading Difference: -126.50395880463458 -[main_algo-3] [INFO] [1746051084.959972414] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051084.961055355] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051084.961860884] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051084.962878540] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051084.963539337] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051085.002907475] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903217 Long: -76.50277469 -[main_algo-3] [INFO] [1746051085.003821984] [sailbot.main_algo]: Distance to destination: 55.71700962735234 -[vectornav-1] [INFO] [1746051085.004184890] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (87.11000000000001, -0.743, 4.159) -[main_algo-3] [INFO] [1746051085.004979434] [sailbot.main_algo]: Target Bearing: -142.85967592686646 -[main_algo-3] [INFO] [1746051085.005959749] [sailbot.main_algo]: Heading Difference: -126.53932407313357 -[main_algo-3] [INFO] [1746051085.007023154] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051085.008247530] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051085.009165362] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051085.010975093] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051085.044981447] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051085.045760430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051085.046411202] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051085.047606056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051085.048668881] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051085.085288549] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051085.086965566] [sailbot.teensy]: Wind angle: 134 -[teensy-2] [INFO] [1746051085.087883765] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051085.087756637] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051085.088802332] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051085.089698567] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051085.089917593] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051085.144895300] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051085.145527246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051085.146227093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051085.147630428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051085.148841672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051085.244992324] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051085.245655454] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051085.246423666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051085.247477991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051085.248058293] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051085.335267370] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051085.337006232] [sailbot.teensy]: Wind angle: 134 -[trim_sail-4] [INFO] [1746051085.337566675] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051085.338295342] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051085.339261809] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051085.340187419] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051085.340481342] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051085.344328205] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051085.345009536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051085.345881642] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051085.346791808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051085.347880955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051085.445180047] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051085.445741747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051085.446759233] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051085.447709018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051085.448473769] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051085.457248324] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051085.458327423] [sailbot.main_algo]: Target Bearing: -142.85967592686646 -[main_algo-3] [INFO] [1746051085.459244953] [sailbot.main_algo]: Heading Difference: -130.03032407313356 -[main_algo-3] [INFO] [1746051085.460102605] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051085.460962880] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051085.461744697] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051085.462743976] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051085.463401427] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051085.503116118] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903291 Long: -76.5027747 -[main_algo-3] [INFO] [1746051085.503981192] [sailbot.main_algo]: Distance to destination: 55.76717348874847 -[vectornav-1] [INFO] [1746051085.504408768] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (83.06400000000002, -0.1, 4.832) -[main_algo-3] [INFO] [1746051085.505091059] [sailbot.main_algo]: Target Bearing: -142.79275835237812 -[main_algo-3] [INFO] [1746051085.506057451] [sailbot.main_algo]: Heading Difference: -130.0972416476219 -[main_algo-3] [INFO] [1746051085.506968585] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051085.507849454] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051085.508718240] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051085.510571598] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051085.544956374] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051085.545648832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051085.546220637] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051085.547495005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051085.548653256] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051085.585205929] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051085.586858265] [sailbot.teensy]: Wind angle: 134 -[trim_sail-4] [INFO] [1746051085.587385584] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051085.587772722] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051085.587879963] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051085.588728518] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051085.589632058] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051085.645268814] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051085.646184510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051085.646756873] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051085.648683686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051085.649922385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051085.745325678] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051085.746134336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051085.746844574] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051085.748431405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051085.749411826] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051085.835305324] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051085.837025905] [sailbot.teensy]: Wind angle: 134 -[trim_sail-4] [INFO] [1746051085.837953138] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051085.838752192] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051085.839297249] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051085.840272611] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051085.841198949] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051085.844473431] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051085.845039019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051085.845573111] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051085.846819407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051085.847838052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051085.945249716] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051085.945859196] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051085.946881034] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051085.948141598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051085.949253959] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051085.957043049] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051085.958067791] [sailbot.main_algo]: Target Bearing: -142.79275835237812 -[main_algo-3] [INFO] [1746051085.958985444] [sailbot.main_algo]: Heading Difference: -134.14324164762183 -[main_algo-3] [INFO] [1746051085.959865903] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051085.960780968] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051085.961601961] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051085.962816235] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051085.963367705] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051086.002902114] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903327 Long: -76.50277443 -[main_algo-3] [INFO] [1746051086.003969642] [sailbot.main_algo]: Distance to destination: 55.80935378170894 -[vectornav-1] [INFO] [1746051086.004268039] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (82.58699999999999, -0.111, 4.82) -[main_algo-3] [INFO] [1746051086.005183142] [sailbot.main_algo]: Target Bearing: -142.7746129862309 -[main_algo-3] [INFO] [1746051086.006161786] [sailbot.main_algo]: Heading Difference: -134.16138701376906 -[main_algo-3] [INFO] [1746051086.007075158] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051086.007943625] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051086.008806156] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051086.010521647] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051086.045608670] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051086.045874515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051086.047138874] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051086.047838556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051086.048977662] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051086.085351843] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051086.087519223] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051086.088120439] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051086.088936562] [sailbot.teensy]: Wind angle: 134 -[teensy-2] [INFO] [1746051086.089908095] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051086.090798611] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051086.091671441] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051086.144958966] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051086.145625104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051086.146439985] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051086.147471587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051086.148571297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051086.245064858] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051086.245836365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051086.246421743] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051086.247798941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051086.248837385] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051086.335390556] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051086.337677248] [sailbot.teensy]: Wind angle: 133 -[trim_sail-4] [INFO] [1746051086.338349824] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051086.338608037] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051086.338752406] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051086.339529156] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051086.340462948] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051086.344607920] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051086.345182933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051086.345986252] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051086.346906008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051086.348046603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051086.445079923] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051086.445719876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051086.446342351] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051086.447569093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051086.448795615] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051086.457012443] [sailbot.main_algo]: Wind Direction: 133 -[main_algo-3] [INFO] [1746051086.457970992] [sailbot.main_algo]: Target Bearing: -142.7746129862309 -[main_algo-3] [INFO] [1746051086.458864158] [sailbot.main_algo]: Heading Difference: -134.63838701376915 -[main_algo-3] [INFO] [1746051086.459658077] [sailbot.main_algo]: Wind Direction: 133 -[main_algo-3] [INFO] [1746051086.460485036] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051086.461264928] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051086.462263085] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051086.462837127] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051086.502677012] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903385 Long: -76.50277457 -[main_algo-3] [INFO] [1746051086.503556687] [sailbot.main_algo]: Distance to destination: 55.84021224541427 -[vectornav-1] [INFO] [1746051086.503996938] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (80.35399999999998, -0.757, 4.785) -[main_algo-3] [INFO] [1746051086.504657401] [sailbot.main_algo]: Target Bearing: -142.7153912459412 -[main_algo-3] [INFO] [1746051086.505623840] [sailbot.main_algo]: Heading Difference: -134.69760875405882 -[main_algo-3] [INFO] [1746051086.506558088] [sailbot.main_algo]: Wind Direction: 133 -[main_algo-3] [INFO] [1746051086.507883141] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051086.508837863] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051086.510601279] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051086.544786666] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051086.545306768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051086.545990627] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051086.547030332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051086.548068734] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051086.585130200] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051086.586902233] [sailbot.teensy]: Wind angle: 132 -[trim_sail-4] [INFO] [1746051086.587568892] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051086.587830528] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051086.588490598] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051086.588760665] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051086.589736238] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051086.644839670] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051086.645372877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051086.646009519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051086.647126187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051086.648190533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051086.745254356] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051086.745925589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051086.746804935] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051086.748115025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051086.749426025] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051086.835135193] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051086.836722317] [sailbot.teensy]: Wind angle: 132 -[teensy-2] [INFO] [1746051086.837559705] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051086.837514388] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051086.837799409] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051086.838424978] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051086.839283848] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051086.844379045] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051086.844929097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051086.845474733] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051086.846630084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051086.847778779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051086.944944838] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051086.945504543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051086.946277131] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051086.947477443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051086.948368667] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051086.957181648] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051086.958250784] [sailbot.main_algo]: Target Bearing: -142.7153912459412 -[main_algo-3] [INFO] [1746051086.959173337] [sailbot.main_algo]: Heading Difference: -136.93060875405882 -[main_algo-3] [INFO] [1746051086.960040753] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051086.960918887] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051086.961711620] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051086.962689622] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051086.963384030] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051087.002970871] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690338 Long: -76.50277467 -[main_algo-3] [INFO] [1746051087.003939417] [sailbot.main_algo]: Distance to destination: 55.83031805095595 -[vectornav-1] [INFO] [1746051087.004195483] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (80.38, -0.951, 4.379) -[main_algo-3] [INFO] [1746051087.005032191] [sailbot.main_algo]: Target Bearing: -142.71463384282524 -[main_algo-3] [INFO] [1746051087.006017691] [sailbot.main_algo]: Heading Difference: -136.9313661571748 -[main_algo-3] [INFO] [1746051087.006939584] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051087.007832946] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051087.008729303] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051087.010439502] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051087.045079332] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051087.045904955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051087.046648736] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051087.047886993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051087.048950658] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051087.085315276] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051087.086985333] [sailbot.teensy]: Wind angle: 132 -[trim_sail-4] [INFO] [1746051087.087704026] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051087.087906329] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051087.088793436] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051087.088861905] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051087.089686478] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051087.144900752] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051087.145669886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051087.146286496] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051087.147642045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051087.148772601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051087.245335336] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051087.246075746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051087.246879661] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051087.247879974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051087.248422148] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051087.335306362] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051087.338359728] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051087.338672264] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051087.338804317] [sailbot.teensy]: Wind angle: 132 -[teensy-2] [INFO] [1746051087.339332261] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051087.339706432] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051087.340058877] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051087.344577531] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051087.345258903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051087.345825604] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051087.347014284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051087.348227133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051087.445414749] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051087.445999326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051087.446995876] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051087.448448618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051087.449328831] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051087.457125347] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051087.458148423] [sailbot.main_algo]: Target Bearing: -142.71463384282524 -[main_algo-3] [INFO] [1746051087.459033581] [sailbot.main_algo]: Heading Difference: -136.90536615717474 -[main_algo-3] [INFO] [1746051087.459890887] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051087.460780611] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051087.461575926] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051087.462590790] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051087.463306598] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051087.502865505] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903377 Long: -76.50277496 -[main_algo-3] [INFO] [1746051087.503789369] [sailbot.main_algo]: Distance to destination: 55.80954192140182 -[vectornav-1] [INFO] [1746051087.504471779] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (79.97899999999998, -0.522, 3.392) -[main_algo-3] [INFO] [1746051087.505051460] [sailbot.main_algo]: Target Bearing: -142.70214628681526 -[main_algo-3] [INFO] [1746051087.506020759] [sailbot.main_algo]: Heading Difference: -136.91785371318474 -[main_algo-3] [INFO] [1746051087.506948214] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051087.507845865] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051087.508706874] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051087.510396866] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051087.545069994] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051087.545787234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051087.546337863] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051087.547638254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051087.548809111] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051087.585355816] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051087.587023498] [sailbot.teensy]: Wind angle: 132 -[trim_sail-4] [INFO] [1746051087.587829759] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051087.587960388] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051087.588896472] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051087.589473985] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051087.589794293] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051087.645245729] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051087.646046112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051087.646770525] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051087.648597220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051087.649813798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051087.745050722] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051087.745661306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051087.746527578] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051087.747648745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051087.748250600] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051087.835283350] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051087.837027983] [sailbot.teensy]: Wind angle: 132 -[teensy-2] [INFO] [1746051087.837961121] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051087.837540304] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051087.838847001] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051087.838823809] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051087.839726719] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051087.844456579] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051087.844896543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051087.845586649] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051087.846601055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051087.847805059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051087.945329457] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051087.945968318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051087.946808834] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051087.947912327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051087.948501575] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051087.957371736] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051087.958557127] [sailbot.main_algo]: Target Bearing: -142.70214628681526 -[main_algo-3] [INFO] [1746051087.959548443] [sailbot.main_algo]: Heading Difference: -137.31885371318475 -[main_algo-3] [INFO] [1746051087.960504222] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051087.961413213] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051087.962204377] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051087.963229509] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051087.964171522] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051088.003129346] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903413 Long: -76.50277488 -[main_algo-3] [INFO] [1746051088.004074740] [sailbot.main_algo]: Distance to destination: 55.83949618608539 -[vectornav-1] [INFO] [1746051088.004501944] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (79.82400000000001, -1.03, 4.455) -[main_algo-3] [INFO] [1746051088.005512622] [sailbot.main_algo]: Target Bearing: -142.674141578197 -[main_algo-3] [INFO] [1746051088.006564340] [sailbot.main_algo]: Heading Difference: -137.346858421803 -[main_algo-3] [INFO] [1746051088.007503704] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051088.008406830] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051088.009255302] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051088.010949677] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051088.045029241] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051088.045781388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051088.046322876] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051088.047818526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051088.048959488] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051088.085202485] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051088.087316287] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051088.087335312] [sailbot.teensy]: Wind angle: 132 -[teensy-2] [INFO] [1746051088.088466208] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051088.089376787] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051088.088839291] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051088.090496813] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051088.144969984] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051088.145720357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051088.146294269] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051088.147598888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051088.148659074] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051088.245031768] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051088.245722288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051088.246412834] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051088.247562653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051088.248100909] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051088.335388252] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051088.337922934] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051088.338632890] [sailbot.teensy]: Wind angle: 132 -[mux-7] [INFO] [1746051088.338896705] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051088.340114421] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051088.341005903] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051088.341866100] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051088.344538979] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051088.345012281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051088.346022364] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051088.346828312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051088.348006383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051088.444897298] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051088.445543133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051088.446184945] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051088.447434807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051088.448629878] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051088.457018110] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051088.457963747] [sailbot.main_algo]: Target Bearing: -142.674141578197 -[main_algo-3] [INFO] [1746051088.458840529] [sailbot.main_algo]: Heading Difference: -137.50185842180298 -[main_algo-3] [INFO] [1746051088.459648173] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051088.460461822] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051088.461255379] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051088.462267786] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051088.463022503] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051088.502589940] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690342 Long: -76.50277507 -[vectornav-1] [INFO] [1746051088.503574935] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (79.25799999999998, -1.21, 3.734) -[main_algo-3] [INFO] [1746051088.503667427] [sailbot.main_algo]: Distance to destination: 55.8320679205215 -[main_algo-3] [INFO] [1746051088.504812957] [sailbot.main_algo]: Target Bearing: -142.65793912742117 -[main_algo-3] [INFO] [1746051088.505783888] [sailbot.main_algo]: Heading Difference: -137.51806087257881 -[main_algo-3] [INFO] [1746051088.506685863] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051088.507560768] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051088.508475470] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051088.510195789] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051088.545061616] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051088.545814538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051088.546322798] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051088.547651884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051088.548699732] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051088.585353684] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051088.587274217] [sailbot.teensy]: Wind angle: 132 -[trim_sail-4] [INFO] [1746051088.587855916] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051088.588272094] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051088.589165268] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051088.590048848] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051088.590068323] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051088.645086919] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051088.645795732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051088.646559205] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051088.647826493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051088.648433729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051088.745354193] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051088.746122228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051088.746882358] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051088.748004458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051088.748529075] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051088.835065047] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051088.836693771] [sailbot.teensy]: Wind angle: 132 -[trim_sail-4] [INFO] [1746051088.837184276] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051088.837553037] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051088.838225731] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051088.838382688] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051088.839175372] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051088.844438172] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051088.845025690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051088.845663306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051088.846602808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051088.847535920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051088.945281879] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051088.945869154] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051088.946761582] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051088.947844029] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051088.948540420] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051088.957254180] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051088.958343239] [sailbot.main_algo]: Target Bearing: -142.65793912742117 -[main_algo-3] [INFO] [1746051088.959277934] [sailbot.main_algo]: Heading Difference: -138.08406087257885 -[main_algo-3] [INFO] [1746051088.960132997] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051088.961032891] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051088.961821252] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051088.962911045] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051088.963548879] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051089.003221762] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903432 Long: -76.50277498 -[main_algo-3] [INFO] [1746051089.003676943] [sailbot.main_algo]: Distance to destination: 55.84614121616749 -[vectornav-1] [INFO] [1746051089.004404544] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (79.29399999999998, -1.556, 4.675) -[main_algo-3] [INFO] [1746051089.004787755] [sailbot.main_algo]: Target Bearing: -142.6519286140491 -[main_algo-3] [INFO] [1746051089.005821120] [sailbot.main_algo]: Heading Difference: -138.09007138595092 -[main_algo-3] [INFO] [1746051089.006734965] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051089.007607352] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051089.008472880] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051089.010279219] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051089.045134056] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051089.045965016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051089.046469088] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051089.047850360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051089.048865951] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051089.085454742] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051089.087885829] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051089.088484080] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051089.088854342] [sailbot.teensy]: Wind angle: 132 -[teensy-2] [INFO] [1746051089.089789815] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051089.090697851] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051089.091559705] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051089.144995592] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051089.145627815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051089.146585724] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051089.147822348] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051089.148881592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051089.245036729] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051089.245691825] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051089.246355015] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051089.247533450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051089.248574748] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051089.335215523] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051089.337374323] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051089.338186043] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051089.338606086] [sailbot.teensy]: Wind angle: 131 -[teensy-2] [INFO] [1746051089.339571085] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051089.340430461] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051089.340825194] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051089.344545971] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051089.344962268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051089.345905014] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051089.346634452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051089.347790363] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051089.445342716] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051089.446143252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051089.447433564] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051089.448360123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051089.449620323] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051089.457187974] [sailbot.main_algo]: Wind Direction: 131 -[main_algo-3] [INFO] [1746051089.458283813] [sailbot.main_algo]: Target Bearing: -142.6519286140491 -[main_algo-3] [INFO] [1746051089.459203676] [sailbot.main_algo]: Heading Difference: -138.05407138595092 -[main_algo-3] [INFO] [1746051089.460039714] [sailbot.main_algo]: Wind Direction: 131 -[main_algo-3] [INFO] [1746051089.460909815] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051089.461762407] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051089.462757614] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051089.463488873] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051089.503025198] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903449 Long: -76.50277474 -[main_algo-3] [INFO] [1746051089.504058056] [sailbot.main_algo]: Distance to destination: 55.873331754554705 -[vectornav-1] [INFO] [1746051089.504337716] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (79.327, -1.829, 4.782) -[main_algo-3] [INFO] [1746051089.505297523] [sailbot.main_algo]: Target Bearing: -142.64930707278072 -[main_algo-3] [INFO] [1746051089.506297430] [sailbot.main_algo]: Heading Difference: -138.05669292721927 -[main_algo-3] [INFO] [1746051089.507199279] [sailbot.main_algo]: Wind Direction: 131 -[main_algo-3] [INFO] [1746051089.508072078] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051089.508933526] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051089.510640500] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051089.544934151] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051089.545695000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051089.546215367] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051089.547813763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051089.548942417] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051089.585255650] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051089.586875209] [sailbot.teensy]: Wind angle: 132 -[teensy-2] [INFO] [1746051089.587791658] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051089.587416142] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051089.588099402] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051089.588697714] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051089.589660931] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051089.644756325] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051089.645308160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051089.645964179] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051089.647071177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051089.648087724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051089.745529394] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051089.746235188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051089.747210070] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051089.748574727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051089.749898380] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051089.835211316] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051089.837223498] [sailbot.teensy]: Wind angle: 132 -[trim_sail-4] [INFO] [1746051089.837300453] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051089.837775995] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051089.838111631] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051089.839101324] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051089.839451313] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051089.844513102] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051089.845060616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051089.845670198] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051089.846771031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051089.847780502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051089.945288199] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051089.945988353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051089.946837423] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051089.948021747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051089.948514451] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051089.957151038] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051089.958177842] [sailbot.main_algo]: Target Bearing: -142.64930707278072 -[main_algo-3] [INFO] [1746051089.959055743] [sailbot.main_algo]: Heading Difference: -138.02369292721926 -[main_algo-3] [INFO] [1746051089.960004793] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051089.960860648] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051089.961692699] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051089.962721186] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051089.963407982] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051090.002893422] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903445 Long: -76.50277472 -[main_algo-3] [INFO] [1746051090.004042200] [sailbot.main_algo]: Distance to destination: 55.87186403018599 -[vectornav-1] [INFO] [1746051090.004278254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (80.71100000000001, -0.709, 3.367) -[main_algo-3] [INFO] [1746051090.005285092] [sailbot.main_algo]: Target Bearing: -142.65392562103997 -[main_algo-3] [INFO] [1746051090.007062766] [sailbot.main_algo]: Heading Difference: -138.01907437896 -[main_algo-3] [INFO] [1746051090.008029025] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051090.008949275] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051090.009804301] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051090.011527087] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051090.045128226] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051090.045829265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051090.046657965] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051090.047857104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051090.049136038] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051090.085424026] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051090.087397074] [sailbot.teensy]: Wind angle: 132 -[teensy-2] [INFO] [1746051090.088377578] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051090.087668518] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051090.089198590] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051090.089286134] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051090.090205508] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051090.145026722] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051090.145679426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051090.146316107] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051090.147735095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051090.148779022] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051090.245113151] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051090.245913378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051090.246431069] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051090.247903554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051090.249171302] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051090.335627095] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051090.338186537] [sailbot.teensy]: Wind angle: 132 -[trim_sail-4] [INFO] [1746051090.338277638] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051090.339201653] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051090.340099482] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051090.340935369] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051090.341011538] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051090.344222008] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051090.344871421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051090.345421095] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051090.346553700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051090.347728197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051090.445331007] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051090.445894517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051090.446935476] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051090.448329306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051090.448858074] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051090.457148101] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051090.458186093] [sailbot.main_algo]: Target Bearing: -142.65392562103997 -[main_algo-3] [INFO] [1746051090.459070489] [sailbot.main_algo]: Heading Difference: -136.63507437895998 -[main_algo-3] [INFO] [1746051090.459943498] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051090.460866980] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051090.461696349] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051090.462758278] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051090.463408077] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051090.502780136] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690346 Long: -76.50277492 -[main_algo-3] [INFO] [1746051090.503753522] [sailbot.main_algo]: Distance to destination: 55.86931318690866 -[vectornav-1] [INFO] [1746051090.503852758] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (81.44299999999998, -1.025, 3.561) -[main_algo-3] [INFO] [1746051090.504960699] [sailbot.main_algo]: Target Bearing: -142.63006344966954 -[main_algo-3] [INFO] [1746051090.506002629] [sailbot.main_algo]: Heading Difference: -136.65893655033045 -[main_algo-3] [INFO] [1746051090.507165721] [sailbot.main_algo]: Wind Direction: 132 -[main_algo-3] [INFO] [1746051090.508078909] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051090.509000508] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051090.510803594] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051090.544972950] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051090.545739542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051090.546257818] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051090.547636759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051090.548815875] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051090.585417292] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051090.587523167] [sailbot.teensy]: Wind angle: 131 -[trim_sail-4] [INFO] [1746051090.588066963] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051090.588547961] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051090.589420181] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051090.589523934] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051090.590339543] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051090.645279550] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051090.645898688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051090.646797309] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051090.647905027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051090.649132025] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051090.745519193] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051090.746069502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051090.747313603] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051090.748406760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051090.749564214] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051090.835492958] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051090.837969913] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051090.838735412] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051090.839593097] [sailbot.teensy]: Wind angle: 131 -[teensy-2] [INFO] [1746051090.840017038] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051090.840387670] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051090.840753016] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051090.844386661] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051090.845106938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051090.845554328] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051090.846950178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051090.848081080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051090.945264869] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051090.946228640] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051090.946818996] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051090.948363891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051090.948890042] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051090.957104930] [sailbot.main_algo]: Wind Direction: 131 -[main_algo-3] [INFO] [1746051090.958062866] [sailbot.main_algo]: Target Bearing: -142.63006344966954 -[main_algo-3] [INFO] [1746051090.958945092] [sailbot.main_algo]: Heading Difference: -135.92693655033048 -[main_algo-3] [INFO] [1746051090.959746481] [sailbot.main_algo]: Wind Direction: 131 -[main_algo-3] [INFO] [1746051090.960687812] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051090.961510503] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051090.962519169] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051090.963115087] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051091.003437928] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903447 Long: -76.50277519 -[main_algo-3] [INFO] [1746051091.003959475] [sailbot.main_algo]: Distance to destination: 55.84294670153002 -[vectornav-1] [INFO] [1746051091.005064396] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (82.98000000000002, -0.633, 4.256) -[main_algo-3] [INFO] [1746051091.005159316] [sailbot.main_algo]: Target Bearing: -142.62753150551345 -[main_algo-3] [INFO] [1746051091.006137880] [sailbot.main_algo]: Heading Difference: -135.92946849448657 -[main_algo-3] [INFO] [1746051091.007045993] [sailbot.main_algo]: Wind Direction: 131 -[main_algo-3] [INFO] [1746051091.007936644] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051091.008830277] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051091.010493081] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051091.044950515] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051091.045851754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051091.046301611] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051091.047814093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051091.048849307] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051091.085385747] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051091.087710949] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051091.088493214] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051091.088800112] [sailbot.teensy]: Wind angle: 131 -[teensy-2] [INFO] [1746051091.089885966] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051091.090808747] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051091.091687375] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051091.144752790] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051091.145243371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051091.146030879] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051091.147179243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051091.148380648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051091.245348349] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051091.246150722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051091.246963759] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051091.248487552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051091.249605698] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051091.335188740] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051091.337378390] [sailbot.teensy]: Wind angle: 131 -[trim_sail-4] [INFO] [1746051091.337489076] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051091.338357595] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051091.339128144] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051091.339243059] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051091.340128712] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051091.344362960] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051091.344955723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051091.345610512] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051091.346723529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051091.347779354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051091.445408819] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051091.446199604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051091.446951659] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051091.448417746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051091.448943940] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051091.457393984] [sailbot.main_algo]: Wind Direction: 131 -[main_algo-3] [INFO] [1746051091.458536931] [sailbot.main_algo]: Target Bearing: -142.62753150551345 -[main_algo-3] [INFO] [1746051091.459488104] [sailbot.main_algo]: Heading Difference: -134.39246849448654 -[main_algo-3] [INFO] [1746051091.460454310] [sailbot.main_algo]: Wind Direction: 131 -[main_algo-3] [INFO] [1746051091.461346524] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051091.462242637] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051091.463349407] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051091.464119320] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051091.503043111] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903443 Long: -76.50277506 -[main_algo-3] [INFO] [1746051091.504040287] [sailbot.main_algo]: Distance to destination: 55.84856731052425 -[vectornav-1] [INFO] [1746051091.504507635] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (82.844, -0.015, 2.106) -[main_algo-3] [INFO] [1746051091.505174175] [sailbot.main_algo]: Target Bearing: -142.63791329807344 -[main_algo-3] [INFO] [1746051091.506139145] [sailbot.main_algo]: Heading Difference: -134.38208670192654 -[main_algo-3] [INFO] [1746051091.507044391] [sailbot.main_algo]: Wind Direction: 131 -[main_algo-3] [INFO] [1746051091.507922375] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051091.508788537] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051091.510546404] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051091.545009606] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051091.545950569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051091.546508085] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051091.547808288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051091.548859843] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051091.585257070] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051091.587012123] [sailbot.teensy]: Wind angle: 131 -[trim_sail-4] [INFO] [1746051091.587631392] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051091.587940016] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051091.588256328] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051091.588846796] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051091.589749536] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051091.645305721] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051091.646385701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051091.646855112] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051091.648741116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051091.649798104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051091.745235879] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051091.745906564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051091.746793282] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051091.747691765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051091.748193650] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051091.835446873] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051091.838050245] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051091.838766805] [sailbot.teensy]: Wind angle: 130 -[mux-7] [INFO] [1746051091.838900328] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051091.839840565] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051091.840894046] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051091.841817315] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051091.844423708] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051091.845040229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051091.845560287] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051091.846848231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051091.848008392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051091.945266013] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051091.946039600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051091.946817177] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051091.948099292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051091.948602451] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051091.957107119] [sailbot.main_algo]: Wind Direction: 130 -[main_algo-3] [INFO] [1746051091.958118492] [sailbot.main_algo]: Target Bearing: -142.63791329807344 -[main_algo-3] [INFO] [1746051091.959012327] [sailbot.main_algo]: Heading Difference: -134.51808670192656 -[main_algo-3] [INFO] [1746051091.959820803] [sailbot.main_algo]: Wind Direction: 130 -[main_algo-3] [INFO] [1746051091.960631890] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051091.961423263] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051091.962435715] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051091.963048614] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051092.003542422] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903447 Long: -76.50277523 -[main_algo-3] [INFO] [1746051092.003636909] [sailbot.main_algo]: Distance to destination: 55.8403688073006 -[vectornav-1] [INFO] [1746051092.004663005] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (82.95400000000001, -1.106, 4.685) -[main_algo-3] [INFO] [1746051092.004682238] [sailbot.main_algo]: Target Bearing: -142.62543596517992 -[main_algo-3] [INFO] [1746051092.006014476] [sailbot.main_algo]: Heading Difference: -134.5305640348201 -[main_algo-3] [INFO] [1746051092.006974705] [sailbot.main_algo]: Wind Direction: 130 -[main_algo-3] [INFO] [1746051092.008165723] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051092.009054117] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051092.010787289] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051092.044941622] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051092.045620985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051092.046251498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051092.047522722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051092.048569647] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051092.085362557] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051092.087098352] [sailbot.teensy]: Wind angle: 131 -[trim_sail-4] [INFO] [1746051092.087621263] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051092.088024270] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051092.088958309] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051092.089538797] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051092.089827420] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051092.144920434] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051092.145527752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051092.146210198] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051092.147417018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051092.148587726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051092.245190658] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051092.245930221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051092.246896846] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051092.248007663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051092.249164873] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051092.335155019] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051092.336841118] [sailbot.teensy]: Wind angle: 130 -[trim_sail-4] [INFO] [1746051092.337524583] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051092.339271562] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051092.339420831] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051092.340385281] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051092.341267343] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051092.344372505] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051092.344874288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051092.345556433] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051092.346561791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051092.347596392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051092.445245025] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051092.446464296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051092.446942333] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051092.447919610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051092.448439626] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051092.457151874] [sailbot.main_algo]: Wind Direction: 130 -[main_algo-3] [INFO] [1746051092.458190126] [sailbot.main_algo]: Target Bearing: -142.62543596517992 -[main_algo-3] [INFO] [1746051092.459078345] [sailbot.main_algo]: Heading Difference: -134.42056403482007 -[main_algo-3] [INFO] [1746051092.459890032] [sailbot.main_algo]: Wind Direction: 130 -[main_algo-3] [INFO] [1746051092.460714125] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051092.461519622] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051092.462535248] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051092.463284273] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051092.502875493] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903444 Long: -76.50277535 -[vectornav-1] [INFO] [1746051092.504069131] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (83.68799999999999, -0.057, 3.445) -[main_algo-3] [INFO] [1746051092.504089548] [sailbot.main_algo]: Distance to destination: 55.83056631536056 -[main_algo-3] [INFO] [1746051092.505202686] [sailbot.main_algo]: Target Bearing: -142.62182795035952 -[main_algo-3] [INFO] [1746051092.506160935] [sailbot.main_algo]: Heading Difference: -134.42417204964045 -[main_algo-3] [INFO] [1746051092.507063990] [sailbot.main_algo]: Wind Direction: 130 -[main_algo-3] [INFO] [1746051092.507940288] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051092.508802160] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051092.510669227] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051092.544834829] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051092.545584839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051092.546235335] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051092.548196663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051092.549310906] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051092.585265619] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051092.587294375] [sailbot.teensy]: Wind angle: 130 -[trim_sail-4] [INFO] [1746051092.587528096] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051092.588283838] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051092.589200076] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051092.589331269] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051092.590069070] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051092.644975473] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051092.645602837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051092.646260971] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051092.647500819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051092.648528462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051092.745477370] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051092.746082479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051092.747383755] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051092.748293102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051092.749507792] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051092.835256270] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051092.837444579] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051092.837763039] [sailbot.teensy]: Wind angle: 130 -[teensy-2] [INFO] [1746051092.838613461] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051092.838607789] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051092.839006553] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051092.839373401] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051092.844440479] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051092.844950130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051092.845728877] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051092.846740630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051092.847747084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051092.945336787] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051092.946270590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051092.946913245] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051092.948719630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051092.949857390] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051092.957020898] [sailbot.main_algo]: Wind Direction: 130 -[main_algo-3] [INFO] [1746051092.957977952] [sailbot.main_algo]: Target Bearing: -142.62182795035952 -[main_algo-3] [INFO] [1746051092.958882148] [sailbot.main_algo]: Heading Difference: -133.69017204964052 -[main_algo-3] [INFO] [1746051092.959739951] [sailbot.main_algo]: Wind Direction: 130 -[main_algo-3] [INFO] [1746051092.960602934] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051092.961421278] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051092.962436388] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051092.963001331] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051093.002939632] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903442 Long: -76.50277534 -[main_algo-3] [INFO] [1746051093.003945788] [sailbot.main_algo]: Distance to destination: 55.82983132781686 -[vectornav-1] [INFO] [1746051093.004116777] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (82.59899999999999, 0.07, 3.668) -[main_algo-3] [INFO] [1746051093.005128955] [sailbot.main_algo]: Target Bearing: -142.62413860510907 -[main_algo-3] [INFO] [1746051093.006068466] [sailbot.main_algo]: Heading Difference: -133.68786139489094 -[main_algo-3] [INFO] [1746051093.006972925] [sailbot.main_algo]: Wind Direction: 130 -[main_algo-3] [INFO] [1746051093.007874206] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051093.008741471] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051093.010435290] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051093.045296401] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051093.045946178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051093.047038034] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051093.048104505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051093.049402924] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051093.085215198] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051093.086828322] [sailbot.teensy]: Wind angle: 130 -[trim_sail-4] [INFO] [1746051093.087418551] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051093.087783305] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051093.088723105] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051093.089033070] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051093.089953991] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051093.145426913] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051093.146022666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051093.146933347] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051093.148286414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051093.149495002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051093.245255571] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051093.245963732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051093.246780009] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051093.248399646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051093.249655547] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051093.335433503] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051093.338005343] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051093.338202772] [sailbot.teensy]: Wind angle: 129 -[teensy-2] [INFO] [1746051093.338837683] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051093.339221349] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051093.339224941] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051093.339596172] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051093.344391096] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051093.345303461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051093.345615185] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051093.347341773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051093.348419465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051093.445177042] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051093.445972917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051093.446644534] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051093.447710147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051093.448251799] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051093.457359315] [sailbot.main_algo]: Wind Direction: 129 -[main_algo-3] [INFO] [1746051093.458476187] [sailbot.main_algo]: Target Bearing: -142.62413860510907 -[main_algo-3] [INFO] [1746051093.459416023] [sailbot.main_algo]: Heading Difference: -134.77686139489094 -[main_algo-3] [INFO] [1746051093.460335618] [sailbot.main_algo]: Wind Direction: 129 -[main_algo-3] [INFO] [1746051093.461199382] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051093.462048529] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051093.463130504] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051093.463777449] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051093.503043395] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903462 Long: -76.50277562 -[main_algo-3] [INFO] [1746051093.504659028] [sailbot.main_algo]: Distance to destination: 55.82558960723448 -[vectornav-1] [INFO] [1746051093.505275226] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (82.44299999999998, -0.457, 4.94) -[main_algo-3] [INFO] [1746051093.506240032] [sailbot.main_algo]: Target Bearing: -142.59159689022385 -[main_algo-3] [INFO] [1746051093.507241149] [sailbot.main_algo]: Heading Difference: -134.80940310977616 -[main_algo-3] [INFO] [1746051093.508179816] [sailbot.main_algo]: Wind Direction: 129 -[main_algo-3] [INFO] [1746051093.509086634] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051093.509936946] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051093.511747728] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051093.545125998] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051093.545691663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051093.546484814] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051093.547581485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051093.548835759] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051093.585411368] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051093.587678495] [sailbot.teensy]: Wind angle: 129 -[trim_sail-4] [INFO] [1746051093.588043609] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051093.588629585] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051093.588991865] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051093.589537286] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051093.590556971] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051093.645220574] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051093.645936878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051093.647225143] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051093.648289395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051093.649596266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051093.745305878] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051093.746053562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051093.746886245] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051093.748304951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051093.749565741] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051093.835256719] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051093.837639895] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051093.837850498] [sailbot.teensy]: Wind angle: 129 -[mux-7] [INFO] [1746051093.838247358] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051093.838752457] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051093.839660931] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051093.840505363] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051093.844420461] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051093.845064747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051093.845556823] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051093.846750661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051093.847906212] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051093.945625048] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051093.946480372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051093.947704526] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051093.948234892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051093.948759629] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051093.957077077] [sailbot.main_algo]: Wind Direction: 129 -[main_algo-3] [INFO] [1746051093.958037285] [sailbot.main_algo]: Target Bearing: -142.59159689022385 -[main_algo-3] [INFO] [1746051093.958928278] [sailbot.main_algo]: Heading Difference: -134.96540310977616 -[main_algo-3] [INFO] [1746051093.959741388] [sailbot.main_algo]: Wind Direction: 129 -[main_algo-3] [INFO] [1746051093.960698281] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051093.961539909] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051093.962546848] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051093.963219255] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051094.003583676] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903448 Long: -76.50277583 -[main_algo-3] [INFO] [1746051094.003975768] [sailbot.main_algo]: Distance to destination: 55.80239952909451 -[main_algo-3] [INFO] [1746051094.005092666] [sailbot.main_algo]: Target Bearing: -142.59308623591264 -[vectornav-1] [INFO] [1746051094.005172449] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (82.27999999999997, 0.909, 2.343) -[main_algo-3] [INFO] [1746051094.006109867] [sailbot.main_algo]: Heading Difference: -134.96391376408735 -[main_algo-3] [INFO] [1746051094.007057335] [sailbot.main_algo]: Wind Direction: 129 -[main_algo-3] [INFO] [1746051094.007934717] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051094.008845011] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051094.010543617] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051094.045509310] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051094.045667867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051094.047011484] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051094.047609852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051094.048806690] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051094.085427327] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051094.087481680] [sailbot.teensy]: Wind angle: 127 -[teensy-2] [INFO] [1746051094.088445589] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051094.089334205] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051094.088082017] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051094.088701685] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051094.090199501] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051094.145019002] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051094.145678822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051094.146353917] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051094.147869817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051094.149021300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051094.245041922] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051094.245827029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051094.246398313] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051094.247739540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051094.248744073] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051094.335165135] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051094.337165382] [sailbot.teensy]: Wind angle: 123 -[trim_sail-4] [INFO] [1746051094.337542681] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051094.338042678] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051094.338016964] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051094.338982019] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051094.339840110] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051094.344360106] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051094.344923473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051094.345515196] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051094.346821072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051094.348237017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051094.445499224] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051094.446251491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051094.447137730] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051094.448445923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051094.448971080] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051094.457080584] [sailbot.main_algo]: Wind Direction: 123 -[main_algo-3] [INFO] [1746051094.458031956] [sailbot.main_algo]: Target Bearing: -142.59308623591264 -[main_algo-3] [INFO] [1746051094.458927365] [sailbot.main_algo]: Heading Difference: -135.12691376408736 -[main_algo-3] [INFO] [1746051094.459780575] [sailbot.main_algo]: Wind Direction: 123 -[main_algo-3] [INFO] [1746051094.460635482] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051094.461416569] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051094.462433470] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051094.463235228] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051094.503321461] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903476 Long: -76.50277586 -[main_algo-3] [INFO] [1746051094.503971335] [sailbot.main_algo]: Distance to destination: 55.81979774185158 -[vectornav-1] [INFO] [1746051094.504578252] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (73.65499999999997, -1.268, 5.313) -[main_algo-3] [INFO] [1746051094.505139637] [sailbot.main_algo]: Target Bearing: -142.5665058263801 -[main_algo-3] [INFO] [1746051094.506513858] [sailbot.main_algo]: Heading Difference: -135.15349417361995 -[main_algo-3] [INFO] [1746051094.507464158] [sailbot.main_algo]: Wind Direction: 123 -[main_algo-3] [INFO] [1746051094.508436104] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051094.509292618] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051094.510995926] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051094.544632717] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051094.545297133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051094.546053038] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051094.547135589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051094.548291790] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051094.585120390] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051094.586639518] [sailbot.teensy]: Wind angle: 120 -[teensy-2] [INFO] [1746051094.587482255] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051094.587251523] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746051094.587904150] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051094.588355793] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051094.589216585] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051094.645236343] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051094.646223027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051094.646916317] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051094.648592527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051094.649807130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051094.745337199] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051094.746184261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051094.747141808] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051094.748539592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051094.749750151] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051094.835357366] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051094.838115217] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051094.838366433] [sailbot.teensy]: Wind angle: 120 -[teensy-2] [INFO] [1746051094.838781019] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051094.838661284] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051094.839168421] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051094.839715085] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051094.844322188] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051094.844864734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051094.845487635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051094.846596845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051094.847723616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051094.945604264] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051094.946256107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051094.947422911] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051094.948907125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051094.950209660] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051094.956941337] [sailbot.main_algo]: Wind Direction: 120 -[main_algo-3] [INFO] [1746051094.957960303] [sailbot.main_algo]: Target Bearing: -142.5665058263801 -[main_algo-3] [INFO] [1746051094.958838485] [sailbot.main_algo]: Heading Difference: -143.77849417361995 -[main_algo-3] [INFO] [1746051094.959642611] [sailbot.main_algo]: Wind Direction: 120 -[main_algo-3] [INFO] [1746051094.960432486] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051094.961211405] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051094.962197383] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051094.962818373] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051095.003372708] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903496 Long: -76.502775 -[main_algo-3] [INFO] [1746051095.003790118] [sailbot.main_algo]: Distance to destination: 55.88899423465301 -[vectornav-1] [INFO] [1746051095.004631651] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (65.548, 0.316, 3.679) -[main_algo-3] [INFO] [1746051095.005069176] [sailbot.main_algo]: Target Bearing: -142.59374778973086 -[main_algo-3] [INFO] [1746051095.006068075] [sailbot.main_algo]: Heading Difference: -143.75125221026917 -[main_algo-3] [INFO] [1746051095.006995076] [sailbot.main_algo]: Wind Direction: 120 -[main_algo-3] [INFO] [1746051095.007882967] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051095.008744428] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051095.010521073] [sailbot.mux]: algo rudder angle: -15 -[teensy-2] [INFO] [1746051095.045623227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051095.045658752] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051095.047127817] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051095.047525354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051095.048857151] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051095.085405077] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051095.087140855] [sailbot.teensy]: Wind angle: 119 -[teensy-2] [INFO] [1746051095.088050425] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051095.087710392] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051095.088957418] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051095.089477181] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051095.089882628] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051095.145289254] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051095.146407846] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051095.146854519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051095.148613231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051095.149815504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051095.245444781] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051095.246210691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051095.247004636] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051095.247958331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051095.248528822] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051095.334483195] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051095.335646897] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746051095.335912340] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051095.335991794] [sailbot.teensy]: Wind angle: 120 -[teensy-2] [INFO] [1746051095.336433252] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051095.336817491] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051095.337201118] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051095.343723403] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051095.343989386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051095.344256610] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051095.344906247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051095.345446141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051095.444456201] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051095.445008021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051095.445971401] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051095.446898710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051095.448076392] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051095.457166000] [sailbot.main_algo]: Wind Direction: 120 -[main_algo-3] [INFO] [1746051095.458238097] [sailbot.main_algo]: Target Bearing: -142.59374778973086 -[main_algo-3] [INFO] [1746051095.459155523] [sailbot.main_algo]: Heading Difference: -151.85825221026914 -[main_algo-3] [INFO] [1746051095.460019700] [sailbot.main_algo]: Wind Direction: 120 -[main_algo-3] [INFO] [1746051095.460842349] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051095.461626166] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051095.462616828] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051095.463295756] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051095.502450235] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903503 Long: -76.50277503 -[main_algo-3] [INFO] [1746051095.503232022] [sailbot.main_algo]: Distance to destination: 55.89189332408388 -[vectornav-1] [INFO] [1746051095.503460381] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (67.18200000000002, -0.629, 2.389) -[main_algo-3] [INFO] [1746051095.504293709] [sailbot.main_algo]: Target Bearing: -142.58593267718803 -[main_algo-3] [INFO] [1746051095.505256449] [sailbot.main_algo]: Heading Difference: -151.866067322812 -[main_algo-3] [INFO] [1746051095.506156441] [sailbot.main_algo]: Wind Direction: 120 -[main_algo-3] [INFO] [1746051095.507034386] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051095.507875693] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051095.509788662] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051095.545083952] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051095.546084045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051095.546540016] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051095.548121187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051095.549309476] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051095.585597255] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051095.588310870] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051095.588783812] [sailbot.teensy]: Wind angle: 119 -[teensy-2] [INFO] [1746051095.589853317] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051095.590526262] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051095.590747653] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051095.591596002] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051095.645032113] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051095.645828746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051095.646371813] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051095.647803165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051095.648852380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051095.745141402] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051095.745758727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051095.746836729] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051095.747841928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051095.749159081] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051095.835179419] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051095.836985298] [sailbot.teensy]: Wind angle: 120 -[trim_sail-4] [INFO] [1746051095.837570581] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051095.837903615] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051095.838792609] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051095.838546869] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051095.839733920] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051095.844337552] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051095.844766076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051095.845457949] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051095.846461556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051095.847592097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051095.944988913] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051095.945812607] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051095.946530912] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051095.947895163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051095.948951311] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051095.957219502] [sailbot.main_algo]: Wind Direction: 120 -[main_algo-3] [INFO] [1746051095.958261638] [sailbot.main_algo]: Target Bearing: -142.58593267718803 -[main_algo-3] [INFO] [1746051095.959155953] [sailbot.main_algo]: Heading Difference: -150.232067322812 -[main_algo-3] [INFO] [1746051095.960049252] [sailbot.main_algo]: Wind Direction: 120 -[main_algo-3] [INFO] [1746051095.960930915] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051095.961789648] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051095.962900488] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051095.963446254] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051096.002997891] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903552 Long: -76.5027751 -[main_algo-3] [INFO] [1746051096.003897748] [sailbot.main_algo]: Distance to destination: 55.92122723924398 -[vectornav-1] [INFO] [1746051096.004320268] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (65.31700000000001, 0.567, 4.144) -[main_algo-3] [INFO] [1746051096.005263283] [sailbot.main_algo]: Target Bearing: -142.538588909438 -[main_algo-3] [INFO] [1746051096.006259100] [sailbot.main_algo]: Heading Difference: -150.279411090562 -[main_algo-3] [INFO] [1746051096.007151436] [sailbot.main_algo]: Wind Direction: 120 -[main_algo-3] [INFO] [1746051096.008049970] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051096.008947696] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051096.010668013] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051096.045119355] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051096.045956202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051096.046925535] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051096.048172612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051096.049377107] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051096.085165028] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051096.086748714] [sailbot.teensy]: Wind angle: 120 -[trim_sail-4] [INFO] [1746051096.087142797] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051096.087665407] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051096.088348710] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051096.088577744] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051096.089491391] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051096.144921649] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051096.145663433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051096.146193797] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051096.147660174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051096.148758707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051096.245155183] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051096.246201158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051096.246619475] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051096.248013204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051096.248519816] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051096.335228911] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051096.336841913] [sailbot.teensy]: Wind angle: 120 -[trim_sail-4] [INFO] [1746051096.337410478] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051096.337774856] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051096.338651937] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051096.338653104] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051096.339579213] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051096.344498833] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051096.345678534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051096.345695451] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051096.347515028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051096.348695421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051096.445143723] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051096.446084553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051096.447277840] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051096.447822070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051096.448374276] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051096.457256753] [sailbot.main_algo]: Wind Direction: 120 -[main_algo-3] [INFO] [1746051096.458274328] [sailbot.main_algo]: Target Bearing: -142.538588909438 -[main_algo-3] [INFO] [1746051096.459163798] [sailbot.main_algo]: Heading Difference: -152.14441109056202 -[main_algo-3] [INFO] [1746051096.459981999] [sailbot.main_algo]: Wind Direction: 120 -[main_algo-3] [INFO] [1746051096.460792186] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051096.461591524] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051096.462585391] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051096.463260636] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051096.502969386] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903567 Long: -76.50277481 -[main_algo-3] [INFO] [1746051096.503585636] [sailbot.main_algo]: Distance to destination: 55.950259207583464 -[main_algo-3] [INFO] [1746051096.504687941] [sailbot.main_algo]: Target Bearing: -142.54042615813557 -[vectornav-1] [INFO] [1746051096.504747802] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (67.60199999999998, 0.373, 3.551) -[main_algo-3] [INFO] [1746051096.505700924] [sailbot.main_algo]: Heading Difference: -152.14257384186442 -[main_algo-3] [INFO] [1746051096.506619178] [sailbot.main_algo]: Wind Direction: 120 -[main_algo-3] [INFO] [1746051096.507521240] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051096.508409949] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051096.510082503] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051096.544838156] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051096.545551505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051096.546055643] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051096.547762680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051096.548832553] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051096.585347194] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051096.587648853] [sailbot.teensy]: Wind angle: 120 -[teensy-2] [INFO] [1746051096.588629704] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051096.587897401] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746051096.589109054] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051096.589508414] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051096.590404923] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051096.644811116] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051096.645487390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051096.646044187] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051096.647294750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051096.648361687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051096.745392233] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051096.746180811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051096.747107062] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051096.747932194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051096.748517515] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051096.835235368] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051096.836925462] [sailbot.teensy]: Wind angle: 118 -[teensy-2] [INFO] [1746051096.837868151] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051096.838750633] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051096.838096454] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746051096.838922227] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051096.839621097] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051096.844459145] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051096.845022491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051096.845537283] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051096.846734218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051096.847813285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051096.945053553] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051096.945626584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051096.946415402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051096.947873684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051096.949026289] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051096.957013376] [sailbot.main_algo]: Wind Direction: 118 -[main_algo-3] [INFO] [1746051096.957996658] [sailbot.main_algo]: Target Bearing: -142.54042615813557 -[main_algo-3] [INFO] [1746051096.958912946] [sailbot.main_algo]: Heading Difference: -149.85757384186445 -[main_algo-3] [INFO] [1746051096.959725119] [sailbot.main_algo]: Wind Direction: 118 -[main_algo-3] [INFO] [1746051096.960641622] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051096.961488421] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051096.962507126] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051096.963024730] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051097.002896485] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903583 Long: -76.50277492 -[main_algo-3] [INFO] [1746051097.003720188] [sailbot.main_algo]: Distance to destination: 55.954237348427306 -[vectornav-1] [INFO] [1746051097.004307372] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (72.88900000000001, -2.256, 5.051) -[main_algo-3] [INFO] [1746051097.004842553] [sailbot.main_algo]: Target Bearing: -142.52041914844855 -[main_algo-3] [INFO] [1746051097.005818140] [sailbot.main_algo]: Heading Difference: -149.87758085155144 -[main_algo-3] [INFO] [1746051097.006723940] [sailbot.main_algo]: Wind Direction: 118 -[main_algo-3] [INFO] [1746051097.007638927] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051097.008531486] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051097.010233099] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051097.045056919] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051097.045624862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051097.046304630] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051097.047591927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051097.048760822] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051097.085176011] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051097.087158093] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051097.087448881] [sailbot.teensy]: Wind angle: 117 -[teensy-2] [INFO] [1746051097.088436424] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051097.089177186] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051097.089413317] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051097.090334119] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051097.144789994] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051097.145648432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051097.146041666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051097.147510479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051097.148531402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051097.245052422] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051097.245973855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051097.246434328] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051097.247849278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051097.248432131] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051097.335396328] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051097.337756281] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051097.338779984] [sailbot.teensy]: Wind angle: 117 -[mux-7] [INFO] [1746051097.338976830] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051097.339511852] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051097.339890919] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051097.340274668] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051097.344270843] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051097.344876288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051097.345379208] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051097.346691471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051097.347808810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051097.445180286] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051097.446409312] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051097.446655776] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051097.448050779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051097.448644572] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051097.457193862] [sailbot.main_algo]: Wind Direction: 117 -[main_algo-3] [INFO] [1746051097.458231050] [sailbot.main_algo]: Target Bearing: -142.52041914844855 -[main_algo-3] [INFO] [1746051097.459131551] [sailbot.main_algo]: Heading Difference: -144.5905808515514 -[main_algo-3] [INFO] [1746051097.460006586] [sailbot.main_algo]: Wind Direction: 117 -[main_algo-3] [INFO] [1746051097.460922405] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051097.461735075] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051097.462914958] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051097.463338072] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051097.503373408] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903591 Long: -76.5027746 -[main_algo-3] [INFO] [1746051097.503846717] [sailbot.main_algo]: Distance to destination: 55.98036118818713 -[main_algo-3] [INFO] [1746051097.505005067] [sailbot.main_algo]: Target Bearing: -142.53006379215032 -[vectornav-1] [INFO] [1746051097.505354750] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (73.63299999999998, -0.385, 5.585) -[main_algo-3] [INFO] [1746051097.506059010] [sailbot.main_algo]: Heading Difference: -144.58093620784967 -[main_algo-3] [INFO] [1746051097.506996433] [sailbot.main_algo]: Wind Direction: 117 -[main_algo-3] [INFO] [1746051097.507900485] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051097.508758863] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051097.510464127] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051097.545451110] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051097.545562816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051097.546972025] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051097.547849289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051097.548897984] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051097.585148515] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051097.587088262] [sailbot.teensy]: Wind angle: 117 -[trim_sail-4] [INFO] [1746051097.587134912] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051097.587982501] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051097.588472912] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051097.588882394] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051097.589760198] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051097.645029582] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051097.645823919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051097.646712023] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051097.648053319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051097.649173979] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051097.745513061] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051097.746197477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051097.747016002] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051097.748318771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051097.749363369] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051097.835403218] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051097.837603247] [sailbot.teensy]: Wind angle: 117 -[trim_sail-4] [INFO] [1746051097.837808906] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051097.838591074] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051097.839540210] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051097.840198563] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051097.840553874] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051097.844336145] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051097.844914389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051097.845531084] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051097.846710829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051097.847775668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051097.945287718] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051097.945993685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051097.946754728] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051097.948192896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051097.949223671] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051097.957174314] [sailbot.main_algo]: Wind Direction: 117 -[main_algo-3] [INFO] [1746051097.958239670] [sailbot.main_algo]: Target Bearing: -142.53006379215032 -[main_algo-3] [INFO] [1746051097.959132814] [sailbot.main_algo]: Heading Difference: -143.8369362078497 -[main_algo-3] [INFO] [1746051097.960040210] [sailbot.main_algo]: Wind Direction: 117 -[main_algo-3] [INFO] [1746051097.960936830] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051097.961805502] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051097.963045664] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051097.963428679] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051098.002882754] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903588 Long: -76.50277455 -[main_algo-3] [INFO] [1746051098.003909724] [sailbot.main_algo]: Distance to destination: 55.98150611593128 -[vectornav-1] [INFO] [1746051098.004109274] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (75.418, -0.902, 5.224) -[main_algo-3] [INFO] [1746051098.005341202] [sailbot.main_algo]: Target Bearing: -142.53535146746458 -[main_algo-3] [INFO] [1746051098.006327613] [sailbot.main_algo]: Heading Difference: -143.83164853253544 -[main_algo-3] [INFO] [1746051098.007240579] [sailbot.main_algo]: Wind Direction: 117 -[main_algo-3] [INFO] [1746051098.008113690] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051098.009020764] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051098.010695472] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051098.045081174] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051098.045895735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051098.046431395] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051098.047975247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051098.049046376] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051098.085244463] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051098.087033197] [sailbot.teensy]: Wind angle: 117 -[trim_sail-4] [INFO] [1746051098.087710664] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051098.089029219] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051098.089303904] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051098.089997460] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051098.090907995] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051098.144886800] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051098.145532373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051098.146133011] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051098.147352213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051098.148392199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051098.245254849] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051098.245868495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051098.246872812] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051098.247956021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051098.248543454] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051098.335313271] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051098.337014404] [sailbot.teensy]: Wind angle: 117 -[teensy-2] [INFO] [1746051098.337958854] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051098.337592343] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051098.338939406] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051098.339071805] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051098.339843844] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051098.344401513] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051098.344960855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051098.345517713] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051098.346669838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051098.347802919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051098.445391149] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051098.446155864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051098.446991808] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051098.448139401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051098.448686451] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051098.457390747] [sailbot.main_algo]: Wind Direction: 117 -[main_algo-3] [INFO] [1746051098.458551114] [sailbot.main_algo]: Target Bearing: -142.53535146746458 -[main_algo-3] [INFO] [1746051098.459535477] [sailbot.main_algo]: Heading Difference: -142.04664853253541 -[main_algo-3] [INFO] [1746051098.460462057] [sailbot.main_algo]: Wind Direction: 117 -[main_algo-3] [INFO] [1746051098.461361258] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051098.462239426] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051098.463418444] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051098.463985700] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051098.502900133] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903616 Long: -76.50277472 -[main_algo-3] [INFO] [1746051098.503761379] [sailbot.main_algo]: Distance to destination: 55.989922907943665 -[vectornav-1] [INFO] [1746051098.504183888] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (77.32600000000002, -0.03, 3.029) -[main_algo-3] [INFO] [1746051098.504884102] [sailbot.main_algo]: Target Bearing: -142.50154012431005 -[main_algo-3] [INFO] [1746051098.505892241] [sailbot.main_algo]: Heading Difference: -142.08045987568994 -[main_algo-3] [INFO] [1746051098.507150003] [sailbot.main_algo]: Wind Direction: 117 -[main_algo-3] [INFO] [1746051098.508082343] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051098.508956870] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051098.510645151] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051098.544934666] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051098.545632052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051098.546153631] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051098.547578085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051098.548606390] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051098.585214923] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051098.587473411] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746051098.588239842] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051098.588580582] [sailbot.teensy]: Wind angle: 117 -[teensy-2] [INFO] [1746051098.589557625] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051098.590471877] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051098.591341744] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051098.644868884] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051098.645719356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051098.646154741] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051098.647540691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051098.648589776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051098.745330732] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051098.746140179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051098.746872494] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051098.748201533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051098.749352128] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051098.835010838] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051098.836497761] [sailbot.teensy]: Wind angle: 117 -[trim_sail-4] [INFO] [1746051098.837326429] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051098.837344688] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051098.838167297] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051098.838462607] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051098.839016612] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051098.844299819] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051098.844904156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051098.845322876] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051098.846546235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051098.847603550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051098.944998756] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051098.945539194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051098.946443606] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051098.947358964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051098.948454010] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051098.956969442] [sailbot.main_algo]: Wind Direction: 117 -[main_algo-3] [INFO] [1746051098.957912379] [sailbot.main_algo]: Target Bearing: -142.50154012431005 -[main_algo-3] [INFO] [1746051098.958765176] [sailbot.main_algo]: Heading Difference: -140.17245987568992 -[main_algo-3] [INFO] [1746051098.959627495] [sailbot.main_algo]: Wind Direction: 117 -[main_algo-3] [INFO] [1746051098.960438512] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051098.961244745] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051098.962236660] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051098.962851434] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051099.002986079] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903619 Long: -76.50277469 -[main_algo-3] [INFO] [1746051099.004008833] [sailbot.main_algo]: Distance to destination: 55.99392766964065 -[vectornav-1] [INFO] [1746051099.004406773] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (76.00400000000002, -0.83, 4.404) -[main_algo-3] [INFO] [1746051099.005603532] [sailbot.main_algo]: Target Bearing: -142.50044421748353 -[main_algo-3] [INFO] [1746051099.006613894] [sailbot.main_algo]: Heading Difference: -140.17355578251647 -[main_algo-3] [INFO] [1746051099.007522566] [sailbot.main_algo]: Wind Direction: 117 -[main_algo-3] [INFO] [1746051099.008416496] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051099.009266733] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051099.010990123] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051099.045245870] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051099.045857021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051099.046622971] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051099.048178490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051099.049364023] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051099.085325002] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051099.086963885] [sailbot.teensy]: Wind angle: 117 -[teensy-2] [INFO] [1746051099.087877829] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051099.087546973] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746051099.088243174] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051099.088797567] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051099.090021673] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051099.145011216] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051099.145619141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051099.146532618] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051099.147626067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051099.148700117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051099.244849478] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051099.245486007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051099.245986551] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051099.247318688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051099.248537826] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051099.335412086] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051099.337840188] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051099.338767305] [sailbot.teensy]: Wind angle: 117 -[mux-7] [INFO] [1746051099.339617591] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051099.339734839] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051099.340661070] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051099.341533623] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051099.344320044] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051099.344965566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051099.345644400] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051099.346794339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051099.347828514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051099.445142190] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051099.446051955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051099.446725275] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051099.448077982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051099.448574630] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051099.457075079] [sailbot.main_algo]: Wind Direction: 117 -[main_algo-3] [INFO] [1746051099.458069493] [sailbot.main_algo]: Target Bearing: -142.50044421748353 -[main_algo-3] [INFO] [1746051099.458954172] [sailbot.main_algo]: Heading Difference: -141.49555578251648 -[main_algo-3] [INFO] [1746051099.459809131] [sailbot.main_algo]: Wind Direction: 117 -[main_algo-3] [INFO] [1746051099.460684448] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051099.461476351] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051099.462473142] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051099.463268341] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051099.503527655] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690364 Long: -76.5027743 -[main_algo-3] [INFO] [1746051099.503720182] [sailbot.main_algo]: Distance to destination: 56.03354137411874 -[vectornav-1] [INFO] [1746051099.504695999] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (76.34699999999998, -1.937, 4.508) -[main_algo-3] [INFO] [1746051099.504807259] [sailbot.main_algo]: Target Bearing: -142.50220254789176 -[main_algo-3] [INFO] [1746051099.505749796] [sailbot.main_algo]: Heading Difference: -141.4937974521082 -[main_algo-3] [INFO] [1746051099.506595382] [sailbot.main_algo]: Wind Direction: 117 -[main_algo-3] [INFO] [1746051099.507463159] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051099.508257618] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051099.509851733] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051099.544758028] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051099.545464988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051099.546211330] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051099.547385065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051099.548489371] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051099.585156836] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051099.586741954] [sailbot.teensy]: Wind angle: 117 -[teensy-2] [INFO] [1746051099.587603883] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051099.587323471] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051099.588477897] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051099.588776564] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051099.589389328] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051099.644825470] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051099.645613589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051099.646093562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051099.647413100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051099.648547426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051099.745211031] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051099.745901956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051099.746687631] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051099.748226671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051099.749374537] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051099.835365577] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051099.837185375] [sailbot.teensy]: Wind angle: 116 -[trim_sail-4] [INFO] [1746051099.838032548] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051099.839065036] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051099.839205256] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051099.840088252] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051099.840820940] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051099.844549491] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051099.845210050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051099.845982289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051099.846961467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051099.848007144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051099.945204264] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051099.945867261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051099.946572893] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051099.947777542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051099.948827423] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051099.957172942] [sailbot.main_algo]: Wind Direction: 116 -[main_algo-3] [INFO] [1746051099.958294735] [sailbot.main_algo]: Target Bearing: -142.50220254789176 -[main_algo-3] [INFO] [1746051099.959212481] [sailbot.main_algo]: Heading Difference: -141.15079745210824 -[main_algo-3] [INFO] [1746051099.960069147] [sailbot.main_algo]: Wind Direction: 116 -[main_algo-3] [INFO] [1746051099.961005833] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051099.961859542] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051099.962930019] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051099.963574385] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051100.003000457] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903658 Long: -76.50277408 -[main_algo-3] [INFO] [1746051100.004058283] [sailbot.main_algo]: Distance to destination: 56.06014343203102 -[vectornav-1] [INFO] [1746051100.004940058] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (76.41000000000003, -0.31, 2.967) -[main_algo-3] [INFO] [1746051100.005377312] [sailbot.main_algo]: Target Bearing: -142.49772766984208 -[main_algo-3] [INFO] [1746051100.006385178] [sailbot.main_algo]: Heading Difference: -141.1552723301579 -[main_algo-3] [INFO] [1746051100.007300428] [sailbot.main_algo]: Wind Direction: 116 -[main_algo-3] [INFO] [1746051100.008185469] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051100.009044279] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051100.010813679] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051100.045262941] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051100.046017606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051100.046731491] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051100.047929883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051100.048975947] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051100.085153645] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051100.086854612] [sailbot.teensy]: Wind angle: 115 -[trim_sail-4] [INFO] [1746051100.087459510] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051100.087760514] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051100.087802790] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051100.089066575] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051100.090018963] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051100.144998430] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051100.145721009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051100.146348623] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051100.147540156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051100.148608737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051100.245334216] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051100.246439409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051100.246835253] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051100.248593586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051100.249786321] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051100.335137011] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051100.337190123] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051100.337656354] [sailbot.teensy]: Wind angle: 115 -[mux-7] [INFO] [1746051100.338031566] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051100.338627457] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051100.339489453] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051100.340363755] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051100.344443459] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051100.344830328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051100.345563487] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051100.346521148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051100.347556653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051100.444735102] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051100.445247430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051100.445887165] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051100.447197513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051100.448222136] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051100.457404237] [sailbot.main_algo]: Wind Direction: 115 -[main_algo-3] [INFO] [1746051100.458589240] [sailbot.main_algo]: Target Bearing: -142.49772766984208 -[main_algo-3] [INFO] [1746051100.459624259] [sailbot.main_algo]: Heading Difference: -141.09227233015793 -[main_algo-3] [INFO] [1746051100.460546260] [sailbot.main_algo]: Wind Direction: 115 -[main_algo-3] [INFO] [1746051100.461452745] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051100.462313035] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051100.463452759] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051100.463990762] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051100.502977080] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903691 Long: -76.50277446 -[main_algo-3] [INFO] [1746051100.503864226] [sailbot.main_algo]: Distance to destination: 56.05854110143357 -[main_algo-3] [INFO] [1746051100.504946980] [sailbot.main_algo]: Target Bearing: -142.4485326429191 -[vectornav-1] [INFO] [1746051100.505326733] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (71.54500000000002, -1.139, 3.244) -[main_algo-3] [INFO] [1746051100.505943333] [sailbot.main_algo]: Heading Difference: -141.14146735708084 -[main_algo-3] [INFO] [1746051100.506867933] [sailbot.main_algo]: Wind Direction: 115 -[main_algo-3] [INFO] [1746051100.507775957] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051100.508649719] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051100.510395605] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051100.544837602] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051100.545554165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051100.546086697] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051100.547453410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051100.548665389] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051100.585281557] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051100.586955056] [sailbot.teensy]: Wind angle: 114 -[trim_sail-4] [INFO] [1746051100.587446575] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051100.587826576] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051100.588716149] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051100.589247234] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051100.589568735] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051100.644989648] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051100.645728886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051100.646782711] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051100.647709033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051100.648887999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051100.745216106] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051100.745937656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051100.746746709] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051100.747765376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051100.748305143] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051100.835145265] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051100.836714008] [sailbot.teensy]: Wind angle: 114 -[trim_sail-4] [INFO] [1746051100.837444208] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051100.837627803] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051100.838526354] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051100.838662167] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051100.839404263] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051100.844432717] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051100.845107585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051100.845822670] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051100.847114889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051100.848270286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051100.945036585] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051100.945838269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051100.946450873] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051100.947626279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051100.948108030] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051100.957075432] [sailbot.main_algo]: Wind Direction: 114 -[main_algo-3] [INFO] [1746051100.958150409] [sailbot.main_algo]: Target Bearing: -142.4485326429191 -[main_algo-3] [INFO] [1746051100.959105380] [sailbot.main_algo]: Heading Difference: -146.00646735708085 -[main_algo-3] [INFO] [1746051100.960032129] [sailbot.main_algo]: Wind Direction: 114 -[main_algo-3] [INFO] [1746051100.960926045] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051100.961736305] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051100.962945722] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051100.963315466] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051101.002766288] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690372 Long: -76.50277409 -[main_algo-3] [INFO] [1746051101.003758996] [sailbot.main_algo]: Distance to destination: 56.10240667307193 -[vectornav-1] [INFO] [1746051101.003873295] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (62.627999999999986, -1.187, 2.878) -[main_algo-3] [INFO] [1746051101.004903919] [sailbot.main_algo]: Target Bearing: -142.44218387252104 -[main_algo-3] [INFO] [1746051101.005935308] [sailbot.main_algo]: Heading Difference: -146.0128161274789 -[main_algo-3] [INFO] [1746051101.007235629] [sailbot.main_algo]: Wind Direction: 114 -[main_algo-3] [INFO] [1746051101.008168696] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051101.009064761] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051101.010821358] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051101.045174883] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051101.046006766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051101.046602435] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051101.047969483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051101.049172034] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051101.085173565] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051101.087117187] [sailbot.teensy]: Wind angle: 114 -[trim_sail-4] [INFO] [1746051101.087211322] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051101.088342674] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051101.088705982] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051101.089265099] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051101.090149461] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051101.145047623] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051101.145872889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051101.146437597] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051101.148001136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051101.149149546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051101.244978384] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051101.245817462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051101.246250275] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051101.247681945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051101.248719550] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051101.335412615] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051101.337892048] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051101.338319881] [sailbot.teensy]: Wind angle: 113 -[teensy-2] [INFO] [1746051101.339264105] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051101.339391863] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051101.340169384] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051101.340930916] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051101.344492989] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051101.344995131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051101.345635093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051101.346652289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051101.347713825] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051101.445243045] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051101.445884051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051101.446850172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051101.448028551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051101.449302907] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051101.457109539] [sailbot.main_algo]: Wind Direction: 113 -[main_algo-3] [INFO] [1746051101.458107322] [sailbot.main_algo]: Target Bearing: -142.44218387252104 -[main_algo-3] [INFO] [1746051101.459000851] [sailbot.main_algo]: Heading Difference: -154.92981612747894 -[main_algo-3] [INFO] [1746051101.459884918] [sailbot.main_algo]: Wind Direction: 113 -[main_algo-3] [INFO] [1746051101.460772581] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051101.461600524] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051101.462650700] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051101.463350324] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051101.503290416] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903746 Long: -76.50277394 -[main_algo-3] [INFO] [1746051101.504228930] [sailbot.main_algo]: Distance to destination: 56.13005498005897 -[vectornav-1] [INFO] [1746051101.504823309] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.153999999999996, -1.236, 2.923) -[main_algo-3] [INFO] [1746051101.505362870] [sailbot.main_algo]: Target Bearing: -142.42698937938545 -[main_algo-3] [INFO] [1746051101.506436386] [sailbot.main_algo]: Heading Difference: -154.94501062061454 -[main_algo-3] [INFO] [1746051101.507369822] [sailbot.main_algo]: Wind Direction: 113 -[main_algo-3] [INFO] [1746051101.508302967] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051101.509210478] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051101.510992532] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051101.545038007] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051101.545655664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051101.546331745] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051101.547647955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051101.548904891] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051101.585251392] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051101.586922785] [sailbot.teensy]: Wind angle: 112 -[trim_sail-4] [INFO] [1746051101.587446258] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051101.587845635] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051101.588749692] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051101.589260644] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051101.589598261] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051101.644729176] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051101.645294489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051101.645868321] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051101.647339928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051101.648415343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051101.745311617] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051101.745927394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051101.746906620] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051101.747910849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051101.748407601] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051101.835382999] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051101.837673593] [sailbot.teensy]: Wind angle: 111 -[trim_sail-4] [INFO] [1746051101.837810406] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746051101.839139358] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051101.839689559] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051101.840627428] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051101.841451977] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051101.844475320] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051101.844879779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051101.845618707] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051101.846545942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051101.847571532] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051101.945330546] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051101.945861940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051101.946999241] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051101.948392855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051101.949526265] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051101.957167695] [sailbot.main_algo]: Wind Direction: 111 -[main_algo-3] [INFO] [1746051101.958253230] [sailbot.main_algo]: Target Bearing: -142.42698937938545 -[main_algo-3] [INFO] [1746051101.959177289] [sailbot.main_algo]: Heading Difference: -160.41901062061459 -[main_algo-3] [INFO] [1746051101.960059376] [sailbot.main_algo]: Wind Direction: 111 -[main_algo-3] [INFO] [1746051101.960953314] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051101.961828685] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051101.962876914] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051101.963613141] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051102.002734625] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903838 Long: -76.50277291 -[main_algo-3] [INFO] [1746051102.003693680] [sailbot.main_algo]: Distance to destination: 56.259986073645194 -[vectornav-1] [INFO] [1746051102.003874404] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.891999999999996, -0.947, 3.733) -[main_algo-3] [INFO] [1746051102.004863219] [sailbot.main_algo]: Target Bearing: -142.39944824727627 -[main_algo-3] [INFO] [1746051102.005824532] [sailbot.main_algo]: Heading Difference: -160.44655175272374 -[main_algo-3] [INFO] [1746051102.006727149] [sailbot.main_algo]: Wind Direction: 111 -[main_algo-3] [INFO] [1746051102.007578371] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051102.008448922] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051102.010339711] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051102.045079219] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051102.045646937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051102.046402193] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051102.047467952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051102.048505299] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051102.085099347] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051102.086795264] [sailbot.teensy]: Wind angle: 111 -[trim_sail-4] [INFO] [1746051102.087148104] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051102.087699905] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051102.088666591] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051102.089254628] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051102.089525764] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051102.145297812] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051102.146161706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051102.146800946] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051102.148269603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051102.149446216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051102.245462987] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051102.246112845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051102.247052000] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051102.248252876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051102.249481045] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051102.335145499] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051102.336730213] [sailbot.teensy]: Wind angle: 111 -[trim_sail-4] [INFO] [1746051102.337225794] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051102.337614316] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051102.338562434] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051102.338800096] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051102.338964031] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051102.344452520] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051102.344955718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051102.345562043] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051102.346741116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051102.347892133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051102.445301046] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051102.445759545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051102.446728922] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051102.447780193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051102.448828710] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051102.457118960] [sailbot.main_algo]: Wind Direction: 111 -[main_algo-3] [INFO] [1746051102.458252086] [sailbot.main_algo]: Target Bearing: -142.39944824727627 -[main_algo-3] [INFO] [1746051102.459191137] [sailbot.main_algo]: Heading Difference: -168.70855175272374 -[main_algo-3] [INFO] [1746051102.460039260] [sailbot.main_algo]: Wind Direction: 111 -[main_algo-3] [INFO] [1746051102.460913663] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051102.461726390] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051102.462812009] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051102.463297720] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051102.502885505] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903889 Long: -76.50277258 -[main_algo-3] [INFO] [1746051102.504046885] [sailbot.main_algo]: Distance to destination: 56.31654178397577 -[vectornav-1] [INFO] [1746051102.504636614] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.766999999999996, -0.161, 4.774) -[main_algo-3] [INFO] [1746051102.505173419] [sailbot.main_algo]: Target Bearing: -142.3716508893495 -[main_algo-3] [INFO] [1746051102.506136880] [sailbot.main_algo]: Heading Difference: -168.7363491106505 -[main_algo-3] [INFO] [1746051102.507183321] [sailbot.main_algo]: Wind Direction: 111 -[main_algo-3] [INFO] [1746051102.508143358] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051102.509042004] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051102.510787125] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051102.544947110] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051102.545579656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051102.546193979] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051102.547516709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051102.548669402] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051102.585451604] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051102.587416179] [sailbot.teensy]: Wind angle: 111 -[teensy-2] [INFO] [1746051102.588437245] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051102.587828828] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051102.589347576] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051102.589758004] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051102.590232734] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051102.645197933] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051102.645864375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051102.646569497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051102.647814416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051102.649058730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051102.745136148] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051102.746028060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051102.746521445] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051102.748109052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051102.749272250] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051102.835604367] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051102.838195032] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051102.839146800] [sailbot.teensy]: Wind angle: 111 -[mux-7] [INFO] [1746051102.839202360] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051102.839615033] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051102.839994758] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051102.840357814] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051102.844550078] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051102.844957747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051102.845705253] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051102.846611296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051102.847669099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051102.945152155] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051102.945906502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051102.946599438] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051102.947860449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051102.948965384] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051102.957176010] [sailbot.main_algo]: Wind Direction: 111 -[main_algo-3] [INFO] [1746051102.958256905] [sailbot.main_algo]: Target Bearing: -142.3716508893495 -[main_algo-3] [INFO] [1746051102.959170575] [sailbot.main_algo]: Heading Difference: -178.8613491106505 -[main_algo-3] [INFO] [1746051102.960045990] [sailbot.main_algo]: Wind Direction: 111 -[main_algo-3] [INFO] [1746051102.961203682] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051102.962049612] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051102.963093345] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051102.963857209] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051103.002958995] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904019 Long: -76.50277135 -[main_algo-3] [INFO] [1746051103.003976045] [sailbot.main_algo]: Distance to destination: 56.48571215596612 -[vectornav-1] [INFO] [1746051103.004246990] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.860000000000014, -0.535, 1.721) -[main_algo-3] [INFO] [1746051103.005294927] [sailbot.main_algo]: Target Bearing: -142.32132850170856 -[main_algo-3] [INFO] [1746051103.006279313] [sailbot.main_algo]: Heading Difference: -178.9116714982914 -[main_algo-3] [INFO] [1746051103.007188728] [sailbot.main_algo]: Wind Direction: 111 -[main_algo-3] [INFO] [1746051103.008082031] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051103.008964999] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051103.010743623] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051103.045001557] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051103.045586772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051103.046340588] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051103.047554885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051103.048708545] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051103.085180309] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051103.086923650] [sailbot.teensy]: Wind angle: 111 -[trim_sail-4] [INFO] [1746051103.087177398] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051103.087851037] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051103.088788784] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051103.089259582] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051103.089709736] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051103.145341793] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051103.145846463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051103.146998465] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051103.148172672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051103.149233313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051103.244995944] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051103.245787709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051103.246268810] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051103.247702142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051103.248379809] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051103.335267352] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051103.337117256] [sailbot.teensy]: Wind angle: 111 -[trim_sail-4] [INFO] [1746051103.337497336] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051103.338075897] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051103.339017042] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051103.339787927] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051103.340173362] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051103.344352517] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051103.344961821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051103.345832989] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051103.346733914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051103.347781702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051103.445254539] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051103.446409249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051103.446783616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051103.448568530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051103.449185306] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051103.457128498] [sailbot.main_algo]: Wind Direction: 111 -[main_algo-3] [INFO] [1746051103.458213588] [sailbot.main_algo]: Target Bearing: -142.32132850170856 -[main_algo-3] [INFO] [1746051103.459134782] [sailbot.main_algo]: Heading Difference: 178.18132850170855 -[main_algo-3] [INFO] [1746051103.459975411] [sailbot.main_algo]: Wind Direction: 111 -[main_algo-3] [INFO] [1746051103.460829889] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051103.461612899] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051103.462607709] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051103.463241827] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051103.502766025] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904114 Long: -76.50277039 -[vectornav-1] [INFO] [1746051103.503969640] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.57299999999998, -1.144, 2.753) -[main_algo-3] [INFO] [1746051103.504068531] [sailbot.main_algo]: Distance to destination: 56.61328666708207 -[main_algo-3] [INFO] [1746051103.505306380] [sailbot.main_algo]: Target Bearing: -142.2879284935944 -[main_algo-3] [INFO] [1746051103.506289620] [sailbot.main_algo]: Heading Difference: 178.1479284935944 -[main_algo-3] [INFO] [1746051103.507201915] [sailbot.main_algo]: Wind Direction: 111 -[main_algo-3] [INFO] [1746051103.508047670] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051103.508906362] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051103.510600237] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051103.544971693] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051103.545722845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051103.546210976] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051103.547661818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051103.548683383] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051103.585193790] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051103.586787996] [sailbot.teensy]: Wind angle: 111 -[teensy-2] [INFO] [1746051103.587663224] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051103.587338816] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051103.588573327] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051103.588794209] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051103.589530999] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051103.645031909] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051103.645810376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051103.646447214] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051103.648134622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051103.649351223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051103.745028256] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051103.745929698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051103.746497814] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051103.747932949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051103.748987211] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051103.835464074] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051103.837849372] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051103.837986819] [sailbot.teensy]: Wind angle: 112 -[mux-7] [INFO] [1746051103.838951017] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051103.839107428] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051103.839543170] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051103.839928505] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051103.844384639] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051103.844982642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051103.845495194] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051103.846753141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051103.847782349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051103.945274529] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051103.946031455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051103.946850151] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051103.947979157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051103.948415690] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051103.957108988] [sailbot.main_algo]: Wind Direction: 112 -[main_algo-3] [INFO] [1746051103.958102834] [sailbot.main_algo]: Target Bearing: -142.2879284935944 -[main_algo-3] [INFO] [1746051103.958965634] [sailbot.main_algo]: Heading Difference: 177.86092849359437 -[main_algo-3] [INFO] [1746051103.959779568] [sailbot.main_algo]: Wind Direction: 112 -[main_algo-3] [INFO] [1746051103.960577438] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051103.961382947] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051103.962528264] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051103.962957512] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051104.003060762] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904138 Long: -76.50277004 -[main_algo-3] [INFO] [1746051104.003621965] [sailbot.main_algo]: Distance to destination: 56.652412357749384 -[vectornav-1] [INFO] [1746051104.004549967] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.43399999999997, 1.875, 4.956) -[main_algo-3] [INFO] [1746051104.004701267] [sailbot.main_algo]: Target Bearing: -142.2851065279858 -[main_algo-3] [INFO] [1746051104.005825962] [sailbot.main_algo]: Heading Difference: 177.8581065279858 -[main_algo-3] [INFO] [1746051104.006765683] [sailbot.main_algo]: Wind Direction: 112 -[main_algo-3] [INFO] [1746051104.007695098] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051104.008618656] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051104.010354459] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051104.045158620] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051104.045760895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051104.046454503] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051104.047654215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051104.048685255] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051104.085547235] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051104.088015754] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746051104.088825725] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051104.089275562] [sailbot.teensy]: Wind angle: 112 -[teensy-2] [INFO] [1746051104.090248777] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051104.091092613] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051104.091932923] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051104.144946608] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051104.145594607] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051104.146213670] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051104.147440047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051104.148486976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051104.244802420] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051104.245356430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051104.246665655] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051104.247100339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051104.248250781] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051104.335385758] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051104.337052495] [sailbot.teensy]: Wind angle: 112 -[teensy-2] [INFO] [1746051104.337961082] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051104.337631199] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051104.338871815] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051104.339783411] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051104.340014541] [sailbot.mux]: algo sail angle: 15 -[mux-7] [INFO] [1746051104.344500019] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051104.345042429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051104.345612524] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051104.346787221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051104.347915295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051104.445269878] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051104.445987490] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051104.446737114] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051104.447874338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051104.448418428] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051104.457140970] [sailbot.main_algo]: Wind Direction: 112 -[main_algo-3] [INFO] [1746051104.458140185] [sailbot.main_algo]: Target Bearing: -142.2851065279858 -[main_algo-3] [INFO] [1746051104.458984141] [sailbot.main_algo]: Heading Difference: 171.7191065279858 -[main_algo-3] [INFO] [1746051104.459815360] [sailbot.main_algo]: Wind Direction: 112 -[main_algo-3] [INFO] [1746051104.460644122] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051104.461471077] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051104.462533195] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051104.463058974] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051104.502933107] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904165 Long: -76.50277047 -[main_algo-3] [INFO] [1746051104.503698074] [sailbot.main_algo]: Distance to destination: 56.64361016088216 -[vectornav-1] [INFO] [1746051104.504377951] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (23.293000000000006, -1.053, 4.954) -[main_algo-3] [INFO] [1746051104.504796975] [sailbot.main_algo]: Target Bearing: -142.23907027789426 -[main_algo-3] [INFO] [1746051104.505860674] [sailbot.main_algo]: Heading Difference: 171.67307027789423 -[main_algo-3] [INFO] [1746051104.506835945] [sailbot.main_algo]: Wind Direction: 112 -[main_algo-3] [INFO] [1746051104.507742050] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051104.508630623] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051104.510320610] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051104.544962094] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051104.545660303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051104.546213780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051104.547499418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051104.548611103] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051104.585351522] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051104.587190957] [sailbot.teensy]: Wind angle: 112 -[trim_sail-4] [INFO] [1746051104.587777461] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051104.588164927] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051104.589064753] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051104.589926938] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051104.590083638] [sailbot.mux]: algo sail angle: 15 -[mux-7] [INFO] [1746051104.644828229] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051104.645538950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051104.646080457] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051104.647493033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051104.648588527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051104.744924781] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051104.745610860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051104.746467049] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051104.747445289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051104.748169156] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051104.835023106] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051104.836636713] [sailbot.teensy]: Wind angle: 113 -[trim_sail-4] [INFO] [1746051104.837346708] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051104.838801425] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051104.839177856] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051104.839730830] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051104.840654982] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051104.844463621] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051104.844917413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051104.845664598] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051104.846612757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051104.847710959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051104.945191493] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051104.945731833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051104.946641037] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051104.947700014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051104.948748704] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051104.957158027] [sailbot.main_algo]: Wind Direction: 113 -[main_algo-3] [INFO] [1746051104.958221772] [sailbot.main_algo]: Target Bearing: -142.23907027789426 -[main_algo-3] [INFO] [1746051104.959139554] [sailbot.main_algo]: Heading Difference: 165.53207027789426 -[main_algo-3] [INFO] [1746051104.959958373] [sailbot.main_algo]: Wind Direction: 113 -[main_algo-3] [INFO] [1746051104.960789602] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051104.961638321] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051104.962762663] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051104.963390630] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051105.003040567] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904156 Long: -76.50277085 -[main_algo-3] [INFO] [1746051105.004102138] [sailbot.main_algo]: Distance to destination: 56.61299335804664 -[vectornav-1] [INFO] [1746051105.004570482] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (15.721000000000004, -0.59, 5.066) -[main_algo-3] [INFO] [1746051105.005442956] [sailbot.main_algo]: Target Bearing: -142.2271530923858 -[main_algo-3] [INFO] [1746051105.006468842] [sailbot.main_algo]: Heading Difference: 165.52015309238584 -[main_algo-3] [INFO] [1746051105.007701368] [sailbot.main_algo]: Wind Direction: 113 -[main_algo-3] [INFO] [1746051105.008654777] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051105.009543329] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051105.011312784] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051105.045651899] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051105.045798852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051105.047236468] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051105.047752408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051105.049004535] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051105.085299610] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051105.087450681] [sailbot.teensy]: Wind angle: 114 -[trim_sail-4] [INFO] [1746051105.087474943] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051105.088472853] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051105.089290977] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051105.089374497] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051105.090240126] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051105.145060353] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051105.145636282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051105.146483014] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051105.147711792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051105.148845798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051105.245026092] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051105.245705922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051105.246398487] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051105.247601607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051105.248696357] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051105.335331054] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051105.337531782] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051105.338994330] [sailbot.teensy]: Wind angle: 113 -[mux-7] [INFO] [1746051105.338989693] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051105.339595118] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051105.339982987] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051105.340345641] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051105.344436684] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051105.345431296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051105.345554559] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051105.347246450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051105.348296096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051105.445300139] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051105.446054871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051105.446805422] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051105.448021895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051105.448486895] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051105.457136525] [sailbot.main_algo]: Wind Direction: 113 -[main_algo-3] [INFO] [1746051105.458159239] [sailbot.main_algo]: Target Bearing: -142.2271530923858 -[main_algo-3] [INFO] [1746051105.459059214] [sailbot.main_algo]: Heading Difference: 157.94815309238584 -[main_algo-3] [INFO] [1746051105.459943846] [sailbot.main_algo]: Wind Direction: 113 -[main_algo-3] [INFO] [1746051105.460833850] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051105.461648644] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051105.462677238] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051105.463294963] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051105.503298929] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904145 Long: -76.50277094 -[main_algo-3] [INFO] [1746051105.503629608] [sailbot.main_algo]: Distance to destination: 56.599572644446475 -[vectornav-1] [INFO] [1746051105.504588176] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (13.106999999999971, 0.559, 5.152) -[main_algo-3] [INFO] [1746051105.504643522] [sailbot.main_algo]: Target Bearing: -142.2320999971891 -[main_algo-3] [INFO] [1746051105.505622601] [sailbot.main_algo]: Heading Difference: 157.9530999971891 -[main_algo-3] [INFO] [1746051105.506531668] [sailbot.main_algo]: Wind Direction: 113 -[main_algo-3] [INFO] [1746051105.507415553] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051105.508267089] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051105.509974424] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051105.544638071] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051105.545325314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051105.545882371] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051105.547183981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051105.548145711] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051105.585269934] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051105.586974976] [sailbot.teensy]: Wind angle: 115 -[trim_sail-4] [INFO] [1746051105.587517900] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051105.587972074] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051105.588973824] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051105.589313226] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051105.589878158] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051105.644924142] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051105.645653980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051105.646223582] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051105.647456597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051105.647906752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051105.744914860] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051105.745814474] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051105.746194532] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051105.747834542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051105.748947774] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051105.835413606] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051105.838159743] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051105.838189592] [sailbot.teensy]: Wind angle: 117 -[teensy-2] [INFO] [1746051105.839172895] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051105.839409130] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051105.840106431] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051105.841023403] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051105.844340497] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051105.844835132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051105.845427164] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051105.846606001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051105.847706609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051105.945361123] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051105.946302201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051105.946995222] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051105.948520035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051105.949692267] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051105.957194325] [sailbot.main_algo]: Wind Direction: 117 -[main_algo-3] [INFO] [1746051105.958293563] [sailbot.main_algo]: Target Bearing: -142.2320999971891 -[main_algo-3] [INFO] [1746051105.959219640] [sailbot.main_algo]: Heading Difference: 155.33909999718907 -[main_algo-3] [INFO] [1746051105.960064111] [sailbot.main_algo]: Wind Direction: 117 -[main_algo-3] [INFO] [1746051105.961004921] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051105.961908867] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051105.963122689] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051105.963668305] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051106.002806455] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690409 Long: -76.50277151 -[main_algo-3] [INFO] [1746051106.003741254] [sailbot.main_algo]: Distance to destination: 56.52478175414433 -[vectornav-1] [INFO] [1746051106.004002020] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (14.668000000000006, 0.408, 5.659) -[main_algo-3] [INFO] [1746051106.004877323] [sailbot.main_algo]: Target Bearing: -142.25060867144546 -[main_algo-3] [INFO] [1746051106.005847394] [sailbot.main_algo]: Heading Difference: 155.3576086714454 -[main_algo-3] [INFO] [1746051106.006747849] [sailbot.main_algo]: Wind Direction: 117 -[main_algo-3] [INFO] [1746051106.007652104] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051106.008540763] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051106.010342816] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051106.045024246] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051106.045691725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051106.046382132] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051106.047598701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051106.048686333] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051106.085124534] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051106.087308089] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746051106.087898557] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051106.089330246] [sailbot.teensy]: Wind angle: 119 -[teensy-2] [INFO] [1746051106.090317250] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051106.091189314] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051106.092113936] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051106.144410445] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051106.144773497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051106.145473826] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051106.146503900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051106.147414059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051106.245051620] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051106.245693020] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051106.246691592] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051106.247807394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051106.249118146] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051106.335096804] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051106.337384604] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051106.337493949] [sailbot.teensy]: Wind angle: 121 -[mux-7] [INFO] [1746051106.337839919] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051106.338696755] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051106.339605173] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051106.340447035] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051106.344478194] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051106.345109801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051106.345587688] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051106.346891658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051106.347889894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051106.444807232] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051106.445562012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051106.446144818] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051106.447393672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051106.448447686] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051106.457183347] [sailbot.main_algo]: Wind Direction: 121 -[main_algo-3] [INFO] [1746051106.458306043] [sailbot.main_algo]: Target Bearing: -142.25060867144546 -[main_algo-3] [INFO] [1746051106.459262593] [sailbot.main_algo]: Heading Difference: 156.91860867144544 -[main_algo-3] [INFO] [1746051106.460135427] [sailbot.main_algo]: Wind Direction: 121 -[main_algo-3] [INFO] [1746051106.461039454] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051106.461884280] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051106.462982333] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051106.463866119] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051106.502684111] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904096 Long: -76.50277177 -[vectornav-1] [INFO] [1746051106.503919030] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.976999999999975, -1.331, 6.594) -[main_algo-3] [INFO] [1746051106.504068634] [sailbot.main_algo]: Distance to destination: 56.51228809475065 -[main_algo-3] [INFO] [1746051106.505145946] [sailbot.main_algo]: Target Bearing: -142.23177035821266 -[main_algo-3] [INFO] [1746051106.506342773] [sailbot.main_algo]: Heading Difference: 156.89977035821266 -[main_algo-3] [INFO] [1746051106.507278593] [sailbot.main_algo]: Wind Direction: 121 -[main_algo-3] [INFO] [1746051106.508256347] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051106.509134607] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051106.510804992] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051106.544975194] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051106.545742999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051106.546228204] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051106.547654035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051106.548745054] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051106.585437934] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051106.587807839] [sailbot.teensy]: Wind angle: 122 -[trim_sail-4] [INFO] [1746051106.587816023] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051106.588833514] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051106.589633085] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051106.589763433] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051106.590694464] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051106.645107192] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051106.645710508] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051106.646551816] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051106.647667626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051106.648597271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051106.745626637] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051106.746620892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051106.747216779] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051106.748342568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051106.748891187] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051106.835373909] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051106.837110924] [sailbot.teensy]: Wind angle: 124 -[teensy-2] [INFO] [1746051106.838125232] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051106.837669182] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051106.839000710] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051106.839058557] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051106.839909703] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051106.844414493] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051106.845031757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051106.845529649] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051106.846712124] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051106.847723637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051106.945280525] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051106.946613645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051106.946829704] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051106.948782711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051106.949798597] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051106.957036630] [sailbot.main_algo]: Wind Direction: 124 -[main_algo-3] [INFO] [1746051106.958137090] [sailbot.main_algo]: Target Bearing: -142.23177035821266 -[main_algo-3] [INFO] [1746051106.959067201] [sailbot.main_algo]: Heading Difference: 164.20877035821263 -[main_algo-3] [INFO] [1746051106.959920595] [sailbot.main_algo]: Wind Direction: 124 -[main_algo-3] [INFO] [1746051106.960798828] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051106.961583816] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051106.962640859] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051106.963437144] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051107.002717055] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904108 Long: -76.50277184 -[main_algo-3] [INFO] [1746051107.003721218] [sailbot.main_algo]: Distance to destination: 56.51615095043252 -[vectornav-1] [INFO] [1746051107.003825151] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (18.798999999999978, -0.591, 6.415) -[main_algo-3] [INFO] [1746051107.004777730] [sailbot.main_algo]: Target Bearing: -142.21758343985812 -[main_algo-3] [INFO] [1746051107.005726612] [sailbot.main_algo]: Heading Difference: 164.1945834398581 -[main_algo-3] [INFO] [1746051107.006714823] [sailbot.main_algo]: Wind Direction: 124 -[main_algo-3] [INFO] [1746051107.007638584] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051107.008527584] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051107.010259087] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051107.045234124] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051107.045714040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051107.046524822] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051107.047560384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051107.048669368] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051107.085025102] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051107.087103941] [sailbot.teensy]: Wind angle: 131 -[trim_sail-4] [INFO] [1746051107.087241718] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051107.088145831] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051107.088962681] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051107.089133408] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051107.090013227] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051107.144946979] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051107.145765520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051107.146242266] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051107.147717429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051107.148791127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051107.245342589] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051107.246351658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051107.246896890] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051107.248548335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051107.249908776] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051107.335332329] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051107.337750784] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051107.338654825] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051107.339005734] [sailbot.teensy]: Wind angle: 133 -[teensy-2] [INFO] [1746051107.339436784] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051107.339782524] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051107.340314025] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051107.344389017] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051107.345050287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051107.345571309] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051107.346759963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051107.347809875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051107.445050528] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051107.445794966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051107.446498694] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051107.447845673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051107.448355981] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051107.457171428] [sailbot.main_algo]: Wind Direction: 133 -[main_algo-3] [INFO] [1746051107.458200835] [sailbot.main_algo]: Target Bearing: -142.21758343985812 -[main_algo-3] [INFO] [1746051107.459055628] [sailbot.main_algo]: Heading Difference: 161.0165834398581 -[main_algo-3] [INFO] [1746051107.459892148] [sailbot.main_algo]: Wind Direction: 133 -[main_algo-3] [INFO] [1746051107.460730872] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051107.461586397] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051107.462683546] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051107.463208803] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051107.503684162] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904115 Long: -76.50277167 -[main_algo-3] [INFO] [1746051107.504142196] [sailbot.main_algo]: Distance to destination: 56.53191583387628 -[main_algo-3] [INFO] [1746051107.505336245] [sailbot.main_algo]: Target Bearing: -142.22031899016056 -[main_algo-3] [INFO] [1746051107.506369842] [sailbot.main_algo]: Heading Difference: 161.0193189901605 -[main_algo-3] [INFO] [1746051107.507305281] [sailbot.main_algo]: Wind Direction: 133 -[vectornav-1] [INFO] [1746051107.506545790] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (15.836999999999989, 0.465, 7.272) -[main_algo-3] [INFO] [1746051107.508210834] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051107.509069142] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051107.510890770] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051107.544998950] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051107.545749269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051107.546267405] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051107.547659374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051107.548697708] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051107.585433695] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051107.587999737] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051107.588702040] [sailbot.teensy]: Wind angle: 133 -[teensy-2] [INFO] [1746051107.589674159] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051107.589963359] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051107.590610192] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051107.591714834] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051107.644816495] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051107.645524994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051107.645983098] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051107.647292501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051107.648335218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051107.745244252] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051107.745884611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051107.746997475] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051107.748076020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051107.748799188] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051107.835140584] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051107.836776463] [sailbot.teensy]: Wind angle: 133 -[trim_sail-4] [INFO] [1746051107.837318988] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051107.838809459] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051107.839159111] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051107.839774188] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051107.840840723] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051107.844359183] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051107.844961782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051107.845441682] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051107.846740797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051107.847776999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051107.945054654] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051107.945967160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051107.946516753] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051107.947952927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051107.949006054] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051107.957211787] [sailbot.main_algo]: Wind Direction: 133 -[main_algo-3] [INFO] [1746051107.958365882] [sailbot.main_algo]: Target Bearing: -142.22031899016056 -[main_algo-3] [INFO] [1746051107.959310562] [sailbot.main_algo]: Heading Difference: 158.05731899016052 -[main_algo-3] [INFO] [1746051107.960215303] [sailbot.main_algo]: Wind Direction: 133 -[main_algo-3] [INFO] [1746051107.961082682] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051107.961898902] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051107.962910186] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051107.963497461] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051108.002876412] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690409 Long: -76.50277171 -[main_algo-3] [INFO] [1746051108.003802530] [sailbot.main_algo]: Distance to destination: 56.51196049262157 -[vectornav-1] [INFO] [1746051108.004124332] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (13.906999999999982, -1.553, 8.009) -[main_algo-3] [INFO] [1746051108.004968682] [sailbot.main_algo]: Target Bearing: -142.24016974298044 -[main_algo-3] [INFO] [1746051108.005933843] [sailbot.main_algo]: Heading Difference: 158.07716974298046 -[main_algo-3] [INFO] [1746051108.006847854] [sailbot.main_algo]: Wind Direction: 133 -[main_algo-3] [INFO] [1746051108.007782116] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051108.008649944] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051108.010365888] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051108.045140123] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051108.045888765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051108.046677304] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051108.047895793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051108.048904220] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051108.085353549] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051108.087029796] [sailbot.teensy]: Wind angle: 133 -[teensy-2] [INFO] [1746051108.087943085] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051108.087718697] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051108.088790966] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051108.089212991] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051108.089724853] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051108.144746115] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051108.145184599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051108.145882522] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051108.146830594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051108.147785996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051108.245280083] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051108.245896205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051108.246784194] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051108.247916856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051108.248657354] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051108.335460653] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051108.337370969] [sailbot.teensy]: Wind angle: 134 -[trim_sail-4] [INFO] [1746051108.337904912] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051108.338322708] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051108.339248407] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051108.340129654] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051108.340240425] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051108.344427302] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051108.344920638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051108.345646343] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051108.346742674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051108.347918189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051108.445143357] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051108.445814269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051108.446861583] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051108.447581335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051108.448060789] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051108.457135251] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051108.458168838] [sailbot.main_algo]: Target Bearing: -142.24016974298044 -[main_algo-3] [INFO] [1746051108.459101559] [sailbot.main_algo]: Heading Difference: 156.1471697429804 -[main_algo-3] [INFO] [1746051108.459979415] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051108.460925712] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051108.461732608] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051108.462770040] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051108.463375300] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051108.503623823] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904087 Long: -76.50277174 -[main_algo-3] [INFO] [1746051108.504103408] [sailbot.main_algo]: Distance to destination: 56.50795090772613 -[main_algo-3] [INFO] [1746051108.505378142] [sailbot.main_algo]: Target Bearing: -142.24123714560818 -[vectornav-1] [INFO] [1746051108.505479040] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (15.314999999999998, 0.821, 7.352) -[main_algo-3] [INFO] [1746051108.506440214] [sailbot.main_algo]: Heading Difference: 156.14823714560816 -[main_algo-3] [INFO] [1746051108.507363612] [sailbot.main_algo]: Wind Direction: 134 -[main_algo-3] [INFO] [1746051108.508282373] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051108.509146450] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051108.510984841] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051108.545129959] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051108.545873583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051108.546544687] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051108.547857808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051108.549041514] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051108.585237383] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051108.586966839] [sailbot.teensy]: Wind angle: 135 -[trim_sail-4] [INFO] [1746051108.587875993] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051108.587960465] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051108.588893046] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051108.589782170] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051108.589864517] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051108.645088896] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051108.645922278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051108.646557245] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051108.648286524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051108.649407781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051108.745128066] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051108.746342777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051108.746551220] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051108.748052544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051108.748573352] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051108.835517363] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051108.838176810] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051108.838707829] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051108.839550538] [sailbot.teensy]: Wind angle: 135 -[teensy-2] [INFO] [1746051108.840504783] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051108.841391470] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051108.842251594] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051108.844319901] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051108.844964308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051108.845856764] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051108.846785364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051108.848005427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051108.945057075] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051108.945744204] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051108.947607090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051108.947621619] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051108.948799732] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051108.957163025] [sailbot.main_algo]: Wind Direction: 135 -[main_algo-3] [INFO] [1746051108.958194466] [sailbot.main_algo]: Target Bearing: -142.24123714560818 -[main_algo-3] [INFO] [1746051108.959121416] [sailbot.main_algo]: Heading Difference: 157.55623714560818 -[main_algo-3] [INFO] [1746051108.959965507] [sailbot.main_algo]: Wind Direction: 135 -[main_algo-3] [INFO] [1746051108.960861658] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051108.961691621] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051108.962864739] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051108.963272391] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051109.002845200] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904075 Long: -76.50277134 -[main_algo-3] [INFO] [1746051109.003730106] [sailbot.main_algo]: Distance to destination: 56.52525444244825 -[vectornav-1] [INFO] [1746051109.003963640] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (16.060000000000002, -1.267, 7.57) -[main_algo-3] [INFO] [1746051109.005062799] [sailbot.main_algo]: Target Bearing: -142.27264611751488 -[main_algo-3] [INFO] [1746051109.006022632] [sailbot.main_algo]: Heading Difference: 157.58764611751485 -[main_algo-3] [INFO] [1746051109.006944534] [sailbot.main_algo]: Wind Direction: 135 -[main_algo-3] [INFO] [1746051109.007812369] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051109.008712176] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051109.010542048] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051109.045321117] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051109.045839617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051109.046596101] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051109.048180014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051109.049388340] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051109.085162926] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051109.087245339] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051109.088284153] [sailbot.teensy]: Wind angle: 135 -[mux-7] [INFO] [1746051109.089443105] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051109.089665569] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051109.090596961] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051109.091459515] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051109.144971298] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051109.145849461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051109.146254737] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051109.147832646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051109.148888323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051109.245382661] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051109.246612673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051109.246934687] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051109.248814962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051109.250000353] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051109.335211043] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051109.336897885] [sailbot.teensy]: Wind angle: 135 -[trim_sail-4] [INFO] [1746051109.337355605] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051109.337882576] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051109.338824793] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051109.339070384] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051109.339757885] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051109.344282638] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051109.344866571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051109.345416525] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051109.346601197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051109.347661881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051109.445435625] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051109.446172679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051109.447197362] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051109.448115381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051109.448639551] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051109.457286154] [sailbot.main_algo]: Wind Direction: 135 -[main_algo-3] [INFO] [1746051109.458373403] [sailbot.main_algo]: Target Bearing: -142.27264611751488 -[main_algo-3] [INFO] [1746051109.459317364] [sailbot.main_algo]: Heading Difference: 158.33264611751486 -[main_algo-3] [INFO] [1746051109.460229248] [sailbot.main_algo]: Wind Direction: 135 -[main_algo-3] [INFO] [1746051109.461108143] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051109.461977123] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051109.463072518] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051109.463763255] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051109.503271211] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904033 Long: -76.50277111 -[main_algo-3] [INFO] [1746051109.503858492] [sailbot.main_algo]: Distance to destination: 56.51083406959949 -[vectornav-1] [INFO] [1746051109.504398499] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (16.093000000000018, 0.162, 8.299) -[main_algo-3] [INFO] [1746051109.504939857] [sailbot.main_algo]: Target Bearing: -142.3215322115951 -[main_algo-3] [INFO] [1746051109.505915075] [sailbot.main_algo]: Heading Difference: 158.38153221159507 -[main_algo-3] [INFO] [1746051109.506835831] [sailbot.main_algo]: Wind Direction: 135 -[main_algo-3] [INFO] [1746051109.507724987] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051109.508597655] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051109.510289995] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051109.544968027] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051109.545557966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051109.546247191] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051109.547597770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051109.548632421] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051109.585451794] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051109.587409102] [sailbot.teensy]: Wind angle: 136 -[trim_sail-4] [INFO] [1746051109.588137479] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051109.588427329] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051109.589374248] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051109.590045719] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051109.590232644] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051109.645229538] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051109.645768089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051109.646795570] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051109.648055941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051109.649295353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051109.745203437] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051109.745853357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051109.746909983] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051109.748049790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051109.748567106] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051109.835068455] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051109.837204188] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051109.838056636] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051109.838327493] [sailbot.teensy]: Wind angle: 136 -[teensy-2] [INFO] [1746051109.839000262] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051109.839436295] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051109.839817073] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051109.844378085] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051109.845173435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051109.845787943] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051109.846890381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051109.848027888] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051109.945075090] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051109.945906780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051109.946595588] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051109.947880874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051109.948957332] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051109.957053346] [sailbot.main_algo]: Wind Direction: 136 -[main_algo-3] [INFO] [1746051109.958041013] [sailbot.main_algo]: Target Bearing: -142.3215322115951 -[main_algo-3] [INFO] [1746051109.958916350] [sailbot.main_algo]: Heading Difference: 158.4145322115951 -[main_algo-3] [INFO] [1746051109.959755215] [sailbot.main_algo]: Wind Direction: 136 -[main_algo-3] [INFO] [1746051109.960562840] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051109.961344974] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051109.962330905] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051109.963126411] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051110.002759622] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904017 Long: -76.50277089 -[main_algo-3] [INFO] [1746051110.003703051] [sailbot.main_algo]: Distance to destination: 56.51384954615659 -[vectornav-1] [INFO] [1746051110.003938088] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (17.69100000000003, -1.213, 7.15) -[main_algo-3] [INFO] [1746051110.004845657] [sailbot.main_algo]: Target Bearing: -142.34705793191145 -[main_algo-3] [INFO] [1746051110.006637277] [sailbot.main_algo]: Heading Difference: 158.4400579319115 -[main_algo-3] [INFO] [1746051110.007613880] [sailbot.main_algo]: Wind Direction: 136 -[main_algo-3] [INFO] [1746051110.008508114] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051110.009351484] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051110.011046123] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051110.045170891] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051110.045891459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051110.046594666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051110.048278664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051110.049483344] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051110.085160623] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051110.087255913] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051110.087352264] [sailbot.teensy]: Wind angle: 136 -[teensy-2] [INFO] [1746051110.088325806] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051110.088983783] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051110.089271796] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051110.090171026] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051110.144439045] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051110.145241788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051110.145500739] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051110.146813007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051110.147778878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051110.245016737] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051110.245718131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051110.246532092] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051110.247758104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051110.248509921] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051110.335693881] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051110.337804555] [sailbot.teensy]: Wind angle: 137 -[teensy-2] [INFO] [1746051110.338804867] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051110.338340790] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051110.339308700] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051110.339690491] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051110.340622272] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051110.344554401] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051110.345123557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051110.345844066] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051110.346825051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051110.347882457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051110.445354199] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051110.445739566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051110.446873096] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051110.447735982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051110.448824080] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051110.457209606] [sailbot.main_algo]: Wind Direction: 137 -[main_algo-3] [INFO] [1746051110.458219030] [sailbot.main_algo]: Target Bearing: -142.34705793191145 -[main_algo-3] [INFO] [1746051110.459106117] [sailbot.main_algo]: Heading Difference: 160.03805793191145 -[main_algo-3] [INFO] [1746051110.459959758] [sailbot.main_algo]: Wind Direction: 137 -[main_algo-3] [INFO] [1746051110.460870610] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051110.461664053] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051110.462792426] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051110.463443289] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051110.503172913] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690398 Long: -76.50277045 -[main_algo-3] [INFO] [1746051110.503969885] [sailbot.main_algo]: Distance to destination: 56.5164486771701 -[vectornav-1] [INFO] [1746051110.504886445] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (18.706999999999994, 0.978, 6.567) -[main_algo-3] [INFO] [1746051110.505073627] [sailbot.main_algo]: Target Bearing: -142.40249973049376 -[main_algo-3] [INFO] [1746051110.506093926] [sailbot.main_algo]: Heading Difference: 160.09349973049382 -[main_algo-3] [INFO] [1746051110.506995617] [sailbot.main_algo]: Wind Direction: 137 -[main_algo-3] [INFO] [1746051110.507891071] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051110.508788719] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051110.510566461] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051110.545255586] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051110.545978070] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051110.546852838] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051110.547985320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051110.548994737] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051110.585271313] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051110.588098977] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051110.588517069] [sailbot.teensy]: Wind angle: 138 -[mux-7] [INFO] [1746051110.588883870] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051110.589557482] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051110.590495858] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051110.591304313] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051110.645005617] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051110.645663593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051110.646293085] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051110.647583763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051110.648129404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051110.744782523] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051110.745529873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051110.745982647] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051110.747407572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051110.748572522] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051110.835319622] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051110.837085355] [sailbot.teensy]: Wind angle: 138 -[teensy-2] [INFO] [1746051110.838009637] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051110.837742185] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051110.838896387] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051110.839362768] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051110.839838924] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051110.844410884] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051110.845303679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051110.845880132] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051110.847188584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051110.848234313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051110.945262965] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051110.946049547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051110.946920512] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051110.947781703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051110.948310579] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051110.957002229] [sailbot.main_algo]: Wind Direction: 138 -[main_algo-3] [INFO] [1746051110.957941113] [sailbot.main_algo]: Target Bearing: -142.40249973049376 -[main_algo-3] [INFO] [1746051110.958815470] [sailbot.main_algo]: Heading Difference: 161.10949973049378 -[main_algo-3] [INFO] [1746051110.959632146] [sailbot.main_algo]: Wind Direction: 138 -[main_algo-3] [INFO] [1746051110.960437371] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051110.961243244] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051110.962248253] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051110.963015585] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051111.002721967] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903988 Long: -76.50277007 -[main_algo-3] [INFO] [1746051111.003523783] [sailbot.main_algo]: Distance to destination: 56.54640850186838 -[vectornav-1] [INFO] [1746051111.003934209] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (19.507000000000005, -1.448, 5.722) -[main_algo-3] [INFO] [1746051111.004644266] [sailbot.main_algo]: Target Bearing: -142.41522170917142 -[main_algo-3] [INFO] [1746051111.006013382] [sailbot.main_algo]: Heading Difference: 161.1222217091714 -[main_algo-3] [INFO] [1746051111.007092950] [sailbot.main_algo]: Wind Direction: 138 -[main_algo-3] [INFO] [1746051111.008017295] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051111.008898495] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051111.010783216] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051111.045294315] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051111.045908526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051111.046769017] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051111.048325123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051111.049447894] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051111.085132972] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051111.087128063] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051111.087396500] [sailbot.teensy]: Wind angle: 138 -[mux-7] [INFO] [1746051111.088205634] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051111.088315543] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051111.089226442] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051111.090095003] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051111.145096214] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051111.146431904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051111.146567757] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051111.148673795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051111.149838880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051111.245123017] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051111.246263122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051111.246575764] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051111.248237136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051111.249277282] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051111.335426174] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051111.337329987] [sailbot.teensy]: Wind angle: 140 -[trim_sail-4] [INFO] [1746051111.337950812] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051111.338284286] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051111.338467668] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051111.339195076] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051111.340069604] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051111.344382707] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051111.344896507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051111.345484046] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051111.346766601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051111.347813918] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051111.445429619] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051111.446316801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051111.447041903] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051111.448432351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051111.448860359] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051111.457152090] [sailbot.main_algo]: Wind Direction: 140 -[main_algo-3] [INFO] [1746051111.458192887] [sailbot.main_algo]: Target Bearing: -142.41522170917142 -[main_algo-3] [INFO] [1746051111.459105815] [sailbot.main_algo]: Heading Difference: 161.92222170917142 -[main_algo-3] [INFO] [1746051111.459960414] [sailbot.main_algo]: Wind Direction: 140 -[main_algo-3] [INFO] [1746051111.460834902] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051111.461644222] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051111.462676363] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051111.463209842] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051111.502974665] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903965 Long: -76.50276968 -[main_algo-3] [INFO] [1746051111.503722820] [sailbot.main_algo]: Distance to destination: 56.555547562760324 -[vectornav-1] [INFO] [1746051111.504305414] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (20.21199999999999, 0.374, 4.551) -[main_algo-3] [INFO] [1746051111.504767741] [sailbot.main_algo]: Target Bearing: -142.45571327400995 -[main_algo-3] [INFO] [1746051111.505727377] [sailbot.main_algo]: Heading Difference: 161.96271327400996 -[main_algo-3] [INFO] [1746051111.506645092] [sailbot.main_algo]: Wind Direction: 140 -[main_algo-3] [INFO] [1746051111.507535524] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051111.508397368] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051111.510279256] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051111.544941653] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051111.545847846] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051111.546252087] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051111.547827846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051111.548887114] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051111.585498196] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051111.587938289] [sailbot.teensy]: Wind angle: 140 -[trim_sail-4] [INFO] [1746051111.587945982] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051111.588963425] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051111.589665856] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051111.589916071] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051111.590987535] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051111.645215842] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051111.646122177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051111.646790953] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051111.648352710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051111.649525666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051111.745539686] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051111.746454323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051111.747205167] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051111.749170967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051111.750399162] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051111.835156052] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051111.837519559] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051111.838157297] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051111.838488779] [sailbot.teensy]: Wind angle: 140 -[teensy-2] [INFO] [1746051111.839627037] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051111.840565140] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051111.841409725] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051111.844373305] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051111.844866818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051111.845573028] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051111.846559444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051111.847623366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051111.944890739] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051111.945768417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051111.946406243] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051111.947475152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051111.948007844] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051111.956968119] [sailbot.main_algo]: Wind Direction: 140 -[main_algo-3] [INFO] [1746051111.957989631] [sailbot.main_algo]: Target Bearing: -142.45571327400995 -[main_algo-3] [INFO] [1746051111.958872930] [sailbot.main_algo]: Heading Difference: 162.66771327400994 -[main_algo-3] [INFO] [1746051111.959696371] [sailbot.main_algo]: Wind Direction: 140 -[main_algo-3] [INFO] [1746051111.960502901] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051111.961335658] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051111.962333835] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051111.962951872] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051112.002881976] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903961 Long: -76.50276958 -[main_algo-3] [INFO] [1746051112.003634035] [sailbot.main_algo]: Distance to destination: 56.55920869211101 -[vectornav-1] [INFO] [1746051112.003978241] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.83299999999997, -0.047, 3.277) -[main_algo-3] [INFO] [1746051112.004724891] [sailbot.main_algo]: Target Bearing: -142.46442410213078 -[main_algo-3] [INFO] [1746051112.005682714] [sailbot.main_algo]: Heading Difference: 162.6764241021308 -[main_algo-3] [INFO] [1746051112.006597801] [sailbot.main_algo]: Wind Direction: 140 -[main_algo-3] [INFO] [1746051112.007494140] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051112.008375092] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051112.010055272] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051112.045316065] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051112.046018338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051112.046890866] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051112.048286608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051112.049497285] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051112.085108868] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051112.087098486] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051112.087291511] [sailbot.teensy]: Wind angle: 141 -[teensy-2] [INFO] [1746051112.088181813] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051112.088238233] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051112.089129011] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051112.090113692] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051112.144559990] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051112.144974921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051112.145726213] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051112.146696058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051112.147778624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051112.245023067] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051112.245707222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051112.246340860] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051112.247590641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051112.248781071] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051112.335486145] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051112.338005520] [sailbot.teensy]: Wind angle: 141 -[trim_sail-4] [INFO] [1746051112.338019375] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051112.338976503] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051112.339472279] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051112.339912096] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051112.340855302] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051112.344558018] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051112.345194376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051112.345985033] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051112.346883841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051112.347976816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051112.444976003] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051112.445849034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051112.446311679] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051112.447811047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051112.449076971] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051112.457226587] [sailbot.main_algo]: Wind Direction: 141 -[main_algo-3] [INFO] [1746051112.458242218] [sailbot.main_algo]: Target Bearing: -142.46442410213078 -[main_algo-3] [INFO] [1746051112.459155462] [sailbot.main_algo]: Heading Difference: 164.29742410213078 -[main_algo-3] [INFO] [1746051112.460026369] [sailbot.main_algo]: Wind Direction: 141 -[main_algo-3] [INFO] [1746051112.460912388] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051112.461777037] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051112.462858572] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051112.463793128] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051112.503036157] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903957 Long: -76.5027695 -[main_algo-3] [INFO] [1746051112.504183690] [sailbot.main_algo]: Distance to destination: 56.561584928073074 -[main_algo-3] [INFO] [1746051112.505298208] [sailbot.main_algo]: Target Bearing: -142.47209588020195 -[main_algo-3] [INFO] [1746051112.506291077] [sailbot.main_algo]: Heading Difference: 164.30509588020192 -[main_algo-3] [INFO] [1746051112.507234772] [sailbot.main_algo]: Wind Direction: 141 -[vectornav-1] [INFO] [1746051112.507288543] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (18.569000000000017, 1.166, 2.623) -[main_algo-3] [INFO] [1746051112.508140421] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051112.509014178] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051112.510751311] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051112.545396219] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051112.546226719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051112.546925958] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051112.548377369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051112.549589305] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051112.585353604] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051112.587609883] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051112.587910906] [sailbot.teensy]: Wind angle: 141 -[teensy-2] [INFO] [1746051112.588941839] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051112.589192987] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051112.589880365] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051112.590785936] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051112.644927725] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051112.645671642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051112.646229072] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051112.647742020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051112.648893857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051112.745691337] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051112.746418694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051112.747517478] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051112.748660033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051112.749193310] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051112.835100193] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051112.836885412] [sailbot.teensy]: Wind angle: 142 -[trim_sail-4] [INFO] [1746051112.837386969] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051112.837827086] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051112.838744755] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051112.839452368] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051112.839637397] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051112.844478649] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051112.845031159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051112.845629101] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051112.846727900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051112.847767570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051112.945000037] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051112.945670196] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051112.946324201] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051112.947549447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051112.948393377] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051112.957040861] [sailbot.main_algo]: Wind Direction: 142 -[main_algo-3] [INFO] [1746051112.958012706] [sailbot.main_algo]: Target Bearing: -142.47209588020195 -[main_algo-3] [INFO] [1746051112.958835817] [sailbot.main_algo]: Heading Difference: 161.04109588020196 -[main_algo-3] [INFO] [1746051112.959620195] [sailbot.main_algo]: Wind Direction: 142 -[main_algo-3] [INFO] [1746051112.960432965] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051112.961212507] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051112.962483909] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051112.962791684] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051113.002695869] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903918 Long: -76.50276985 -[main_algo-3] [INFO] [1746051113.003565646] [sailbot.main_algo]: Distance to destination: 56.5120906510514 -[vectornav-1] [INFO] [1746051113.003844777] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (18.05899999999997, -1.726, 4.806) -[main_algo-3] [INFO] [1746051113.004858876] [sailbot.main_algo]: Target Bearing: -142.48826263153464 -[main_algo-3] [INFO] [1746051113.005848595] [sailbot.main_algo]: Heading Difference: 161.05726263153463 -[main_algo-3] [INFO] [1746051113.006812378] [sailbot.main_algo]: Wind Direction: 142 -[main_algo-3] [INFO] [1746051113.007724752] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051113.008635659] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051113.010311095] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051113.045091975] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051113.045992978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051113.046572055] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051113.048239669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051113.049293298] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051113.085227705] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051113.087182505] [sailbot.teensy]: Wind angle: 143 -[trim_sail-4] [INFO] [1746051113.087646480] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051113.088199680] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051113.089175019] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051113.089520225] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051113.090042628] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051113.145017683] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051113.145982285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051113.146490012] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051113.148243313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051113.149369404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051113.244999013] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051113.245766497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051113.246482106] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051113.247701835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051113.248250511] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051113.335392654] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051113.337122604] [sailbot.teensy]: Wind angle: 143 -[trim_sail-4] [INFO] [1746051113.338346352] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051113.338975639] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051113.339122059] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051113.339526902] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051113.339917962] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051113.344548427] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051113.344926269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051113.345768690] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051113.346631689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051113.347849436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051113.445496715] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051113.446208820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051113.447133163] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051113.448415618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051113.449478104] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051113.457018155] [sailbot.main_algo]: Wind Direction: 143 -[main_algo-3] [INFO] [1746051113.457998421] [sailbot.main_algo]: Target Bearing: -142.48826263153464 -[main_algo-3] [INFO] [1746051113.458916708] [sailbot.main_algo]: Heading Difference: 160.54726263153464 -[main_algo-3] [INFO] [1746051113.459742543] [sailbot.main_algo]: Wind Direction: 143 -[main_algo-3] [INFO] [1746051113.460624220] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051113.461445234] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051113.462724484] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051113.463011615] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051113.503119691] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903887 Long: -76.50277015 -[main_algo-3] [INFO] [1746051113.503576545] [sailbot.main_algo]: Distance to destination: 56.47135008985857 -[main_algo-3] [INFO] [1746051113.504663246] [sailbot.main_algo]: Target Bearing: -142.50000115929694 -[vectornav-1] [INFO] [1746051113.504710594] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (19.12700000000001, 0.45, 4.922) -[main_algo-3] [INFO] [1746051113.505660463] [sailbot.main_algo]: Heading Difference: 160.55900115929694 -[main_algo-3] [INFO] [1746051113.506919893] [sailbot.main_algo]: Wind Direction: 143 -[main_algo-3] [INFO] [1746051113.507796226] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051113.508654490] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051113.510439940] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051113.545015385] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051113.546023382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051113.546765292] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051113.548097073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051113.549274058] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051113.585404272] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051113.587332191] [sailbot.teensy]: Wind angle: 143 -[teensy-2] [INFO] [1746051113.588311221] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051113.587875749] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051113.588413402] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051113.589209720] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051113.590074647] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051113.645021567] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051113.645844859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051113.646326110] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051113.647999704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051113.649037195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051113.745677356] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051113.746597214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051113.747442218] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051113.748527471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051113.749032967] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051113.835256719] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051113.837187221] [sailbot.teensy]: Wind angle: 143 -[trim_sail-4] [INFO] [1746051113.837660712] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051113.838144993] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051113.839046472] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051113.839208239] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051113.839951088] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051113.844629037] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051113.845017551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051113.845901188] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051113.846714953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051113.847899127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051113.945070840] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051113.945683626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051113.946537668] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051113.948021928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051113.948554161] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051113.957006527] [sailbot.main_algo]: Wind Direction: 143 -[main_algo-3] [INFO] [1746051113.957970244] [sailbot.main_algo]: Target Bearing: -142.50000115929694 -[main_algo-3] [INFO] [1746051113.958808098] [sailbot.main_algo]: Heading Difference: 161.62700115929692 -[main_algo-3] [INFO] [1746051113.959622230] [sailbot.main_algo]: Wind Direction: 143 -[main_algo-3] [INFO] [1746051113.960426266] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051113.961221963] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051113.962225325] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051113.962817449] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051114.002795781] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903881 Long: -76.50277048 -[main_algo-3] [INFO] [1746051114.003734880] [sailbot.main_algo]: Distance to destination: 56.44597143281134 -[vectornav-1] [INFO] [1746051114.004276731] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (20.096000000000004, -0.619, 5.56) -[main_algo-3] [INFO] [1746051114.004845403] [sailbot.main_algo]: Target Bearing: -142.4881427887646 -[main_algo-3] [INFO] [1746051114.006614245] [sailbot.main_algo]: Heading Difference: 161.61514278876462 -[main_algo-3] [INFO] [1746051114.007631892] [sailbot.main_algo]: Wind Direction: 143 -[main_algo-3] [INFO] [1746051114.008552425] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051114.009430179] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051114.011199736] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051114.045230778] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051114.045996167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051114.046784196] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051114.048017471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051114.049244661] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051114.085268967] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051114.086858013] [sailbot.teensy]: Wind angle: 143 -[trim_sail-4] [INFO] [1746051114.087481219] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051114.087810856] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051114.088752651] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051114.089551053] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051114.089620071] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051114.144450785] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051114.145008095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051114.145905033] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051114.146862499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051114.148010596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051114.245324301] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051114.246074866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051114.246887937] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051114.248306244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051114.248860233] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051114.335229684] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051114.337408817] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051114.338362707] [sailbot.teensy]: Wind angle: 143 -[mux-7] [INFO] [1746051114.338928922] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051114.339130556] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051114.339519887] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051114.339901818] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051114.344573435] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051114.345214145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051114.346073446] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051114.346997892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051114.348204464] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051114.445534879] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051114.446368670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051114.447247088] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051114.448572408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051114.449743371] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051114.457136896] [sailbot.main_algo]: Wind Direction: 143 -[main_algo-3] [INFO] [1746051114.458187167] [sailbot.main_algo]: Target Bearing: -142.4881427887646 -[main_algo-3] [INFO] [1746051114.459087669] [sailbot.main_algo]: Heading Difference: 162.5841427887646 -[main_algo-3] [INFO] [1746051114.459961997] [sailbot.main_algo]: Wind Direction: 143 -[main_algo-3] [INFO] [1746051114.460803919] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051114.461601623] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051114.462686556] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051114.463192429] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051114.503731478] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903851 Long: -76.5027706 -[main_algo-3] [INFO] [1746051114.503865166] [sailbot.main_algo]: Distance to destination: 56.417503236517604 -[main_algo-3] [INFO] [1746051114.504996922] [sailbot.main_algo]: Target Bearing: -142.50837217142066 -[vectornav-1] [INFO] [1746051114.505455461] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.04200000000003, -0.272, 5.17) -[main_algo-3] [INFO] [1746051114.505950633] [sailbot.main_algo]: Heading Difference: 162.60437217142066 -[main_algo-3] [INFO] [1746051114.506894553] [sailbot.main_algo]: Wind Direction: 143 -[main_algo-3] [INFO] [1746051114.507848735] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051114.508733190] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051114.510486754] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051114.545153621] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051114.545698606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051114.547071885] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051114.547583278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051114.548857645] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051114.585280637] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051114.587754101] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051114.588182168] [sailbot.teensy]: Wind angle: 143 -[mux-7] [INFO] [1746051114.588637702] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051114.589152638] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051114.590028851] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051114.590882081] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051114.645207002] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051114.645938665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051114.646671883] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051114.648016045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051114.649198784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051114.745419834] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051114.746239920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051114.746979381] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051114.748530469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051114.749592202] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051114.835245122] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051114.837786215] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051114.838076757] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051114.838428478] [sailbot.teensy]: Wind angle: 143 -[teensy-2] [INFO] [1746051114.839518451] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051114.840407978] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051114.841242902] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051114.844348776] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051114.844777848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051114.845431832] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051114.846441636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051114.847476774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051114.945152300] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051114.946079171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051114.946619616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051114.948312593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051114.948745116] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051114.957147037] [sailbot.main_algo]: Wind Direction: 143 -[main_algo-3] [INFO] [1746051114.958154506] [sailbot.main_algo]: Target Bearing: -142.50837217142066 -[main_algo-3] [INFO] [1746051114.959041138] [sailbot.main_algo]: Heading Difference: 163.5503721714207 -[main_algo-3] [INFO] [1746051114.959869552] [sailbot.main_algo]: Wind Direction: 143 -[main_algo-3] [INFO] [1746051114.960700055] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051114.961564733] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051114.962602950] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051114.963538012] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051115.002726977] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903858 Long: -76.5027708 -[main_algo-3] [INFO] [1746051115.003549146] [sailbot.main_algo]: Distance to destination: 56.40947739105242 -[vectornav-1] [INFO] [1746051115.003824136] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.278999999999996, -0.223, 5.691) -[main_algo-3] [INFO] [1746051115.004666272] [sailbot.main_algo]: Target Bearing: -142.4917938429526 -[main_algo-3] [INFO] [1746051115.005607367] [sailbot.main_algo]: Heading Difference: 163.5337938429526 -[main_algo-3] [INFO] [1746051115.006527472] [sailbot.main_algo]: Wind Direction: 143 -[main_algo-3] [INFO] [1746051115.007467991] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051115.008343243] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051115.010138131] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051115.045206168] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051115.045965940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051115.046632655] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051115.048017499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051115.049017197] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051115.085290563] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051115.087605981] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051115.088345656] [sailbot.teensy]: Wind angle: 143 -[mux-7] [INFO] [1746051115.088442427] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051115.089567913] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051115.090441898] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051115.091276934] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051115.144605367] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051115.145211163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051115.146096637] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051115.147048635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051115.148043674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051115.245029370] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051115.245735059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051115.246366716] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051115.248178410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051115.249407978] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051115.335504840] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051115.338761120] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051115.339615164] [sailbot.teensy]: Wind angle: 143 -[mux-7] [INFO] [1746051115.339869768] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051115.341145739] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051115.341559146] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051115.341916308] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051115.344394341] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051115.345114516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051115.345563834] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051115.346843132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051115.347883259] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051115.445687512] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051115.446393716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051115.447534913] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051115.447956034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051115.448432393] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051115.457183176] [sailbot.main_algo]: Wind Direction: 143 -[main_algo-3] [INFO] [1746051115.458222933] [sailbot.main_algo]: Target Bearing: -142.4917938429526 -[main_algo-3] [INFO] [1746051115.459122546] [sailbot.main_algo]: Heading Difference: 163.77079384295257 -[main_algo-3] [INFO] [1746051115.459981359] [sailbot.main_algo]: Wind Direction: 143 -[main_algo-3] [INFO] [1746051115.460863556] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051115.461743003] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051115.462778002] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051115.463386622] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051115.502955247] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903855 Long: -76.50277077 -[main_algo-3] [INFO] [1746051115.504236004] [sailbot.main_algo]: Distance to destination: 56.40933223907277 -[main_algo-3] [INFO] [1746051115.505644713] [sailbot.main_algo]: Target Bearing: -142.49600189062582 -[main_algo-3] [INFO] [1746051115.506611232] [sailbot.main_algo]: Heading Difference: 163.77500189062584 -[vectornav-1] [INFO] [1746051115.505018783] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.54000000000002, -1.013, 5.395) -[main_algo-3] [INFO] [1746051115.507497761] [sailbot.main_algo]: Wind Direction: 143 -[main_algo-3] [INFO] [1746051115.508375562] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051115.509211859] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051115.511000204] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051115.545159676] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051115.546173225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051115.546680931] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051115.548274935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051115.549316974] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051115.585680690] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051115.588334817] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051115.588525743] [sailbot.teensy]: Wind angle: 143 -[mux-7] [INFO] [1746051115.589307201] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051115.589698480] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051115.590579378] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051115.591450976] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051115.645127766] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051115.645786649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051115.646699020] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051115.647867808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051115.649072308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051115.745583026] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051115.746403580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051115.747267693] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051115.748442269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051115.748959170] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051115.835296283] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051115.836961166] [sailbot.teensy]: Wind angle: 143 -[teensy-2] [INFO] [1746051115.837872868] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051115.837744893] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051115.838076947] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051115.838751809] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051115.839589783] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051115.844377338] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051115.844988440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051115.845580866] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051115.846746912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051115.847835585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051115.944906565] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051115.945558139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051115.946264666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051115.947539685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051115.948134676] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051115.957032155] [sailbot.main_algo]: Wind Direction: 143 -[main_algo-3] [INFO] [1746051115.957987074] [sailbot.main_algo]: Target Bearing: -142.49600189062582 -[main_algo-3] [INFO] [1746051115.958825558] [sailbot.main_algo]: Heading Difference: 164.0360018906258 -[main_algo-3] [INFO] [1746051115.959619814] [sailbot.main_algo]: Wind Direction: 143 -[main_algo-3] [INFO] [1746051115.960441285] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051115.961223717] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051115.962316497] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051115.962820032] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051116.003148576] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690385 Long: -76.50277042 -[main_algo-3] [INFO] [1746051116.004233785] [sailbot.main_algo]: Distance to destination: 56.42839423627498 -[vectornav-1] [INFO] [1746051116.004468374] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.736999999999966, -0.295, 5.844) -[main_algo-3] [INFO] [1746051116.005440269] [sailbot.main_algo]: Target Bearing: -142.5186107470067 -[main_algo-3] [INFO] [1746051116.006464968] [sailbot.main_algo]: Heading Difference: 164.0586107470067 -[main_algo-3] [INFO] [1746051116.007377857] [sailbot.main_algo]: Wind Direction: 143 -[main_algo-3] [INFO] [1746051116.008278782] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051116.009126357] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051116.010825231] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051116.045297452] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051116.046091137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051116.046966699] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051116.049226900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051116.050421887] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051116.085383973] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051116.087816044] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051116.088600039] [sailbot.teensy]: Wind angle: 143 -[mux-7] [INFO] [1746051116.088865063] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051116.089600065] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051116.090459936] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051116.091321433] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051116.144635751] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051116.145397167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051116.145817755] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051116.147127740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051116.148176208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051116.245061414] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051116.245733495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051116.246562850] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051116.247864585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051116.249083803] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051116.335505682] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051116.338155373] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051116.338913585] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051116.339631093] [sailbot.teensy]: Wind angle: 143 -[teensy-2] [INFO] [1746051116.340858919] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051116.341723892] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051116.342574187] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051116.344427687] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051116.344852717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051116.345555636] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051116.346588692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051116.347595033] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051116.445331113] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051116.446032103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051116.447037382] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051116.448305798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051116.449428486] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051116.457146798] [sailbot.main_algo]: Wind Direction: 143 -[main_algo-3] [INFO] [1746051116.458180658] [sailbot.main_algo]: Target Bearing: -142.5186107470067 -[main_algo-3] [INFO] [1746051116.459069424] [sailbot.main_algo]: Heading Difference: 164.2556107470067 -[main_algo-3] [INFO] [1746051116.459920242] [sailbot.main_algo]: Wind Direction: 143 -[main_algo-3] [INFO] [1746051116.460802731] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051116.461631499] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051116.462725340] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051116.463245616] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051116.502776278] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903832 Long: -76.50276983 -[main_algo-3] [INFO] [1746051116.503390408] [sailbot.main_algo]: Distance to destination: 56.45393660952832 -[vectornav-1] [INFO] [1746051116.504035968] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.714, 0.364, 5.89) -[main_algo-3] [INFO] [1746051116.504432210] [sailbot.main_algo]: Target Bearing: -142.5651362737149 -[main_algo-3] [INFO] [1746051116.505343268] [sailbot.main_algo]: Heading Difference: 164.30213627371484 -[main_algo-3] [INFO] [1746051116.506178614] [sailbot.main_algo]: Wind Direction: 143 -[main_algo-3] [INFO] [1746051116.506990602] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051116.507770603] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051116.509353236] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051116.545004438] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051116.545971384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051116.546364896] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051116.547825104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051116.548869734] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051116.585466532] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051116.587592092] [sailbot.teensy]: Wind angle: 143 -[trim_sail-4] [INFO] [1746051116.587698331] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051116.588570997] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051116.588990631] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051116.589470552] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051116.590381121] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051116.645187181] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051116.646072538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051116.646647474] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051116.648099860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051116.649398176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051116.745395840] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051116.746288512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051116.747131272] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051116.748357629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051116.748865619] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051116.835122480] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051116.837195340] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051116.837388912] [sailbot.teensy]: Wind angle: 145 -[teensy-2] [INFO] [1746051116.838318148] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051116.838414061] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051116.839117099] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051116.839505417] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051116.844484776] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051116.844925372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051116.845827394] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051116.846591711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051116.847737624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051116.944986347] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051116.945480628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051116.946292658] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051116.947249073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051116.948308739] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051116.957013537] [sailbot.main_algo]: Wind Direction: 145 -[main_algo-3] [INFO] [1746051116.957966032] [sailbot.main_algo]: Target Bearing: -142.5651362737149 -[main_algo-3] [INFO] [1746051116.958795448] [sailbot.main_algo]: Heading Difference: 164.27913627371493 -[main_algo-3] [INFO] [1746051116.959617799] [sailbot.main_algo]: Wind Direction: 145 -[main_algo-3] [INFO] [1746051116.960418588] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051116.961216230] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051116.962213594] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051116.962855913] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051117.002727435] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903891 Long: -76.50276953 -[main_algo-3] [INFO] [1746051117.003681655] [sailbot.main_algo]: Distance to destination: 56.51401086345731 -[vectornav-1] [INFO] [1746051117.003901836] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.87900000000002, -1.179, 4.888) -[main_algo-3] [INFO] [1746051117.004863498] [sailbot.main_algo]: Target Bearing: -142.52866096006366 -[main_algo-3] [INFO] [1746051117.005865917] [sailbot.main_algo]: Heading Difference: 164.24266096006363 -[main_algo-3] [INFO] [1746051117.007053439] [sailbot.main_algo]: Wind Direction: 145 -[main_algo-3] [INFO] [1746051117.007984910] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051117.008905645] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051117.010755381] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051117.045202241] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051117.045761032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051117.046549376] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051117.047926301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051117.049075258] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051117.085262649] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051117.087365732] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051117.087647472] [sailbot.teensy]: Wind angle: 147 -[mux-7] [INFO] [1746051117.088449699] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051117.088594670] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051117.089503069] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051117.090380433] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051117.145102261] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051117.145725231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051117.146511967] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051117.147670303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051117.148713245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051117.245057889] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051117.245680337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051117.246310692] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051117.247478798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051117.248656385] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051117.335258485] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051117.337239507] [sailbot.teensy]: Wind angle: 147 -[trim_sail-4] [INFO] [1746051117.337728787] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051117.338198471] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051117.339117243] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051117.339202807] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051117.340099102] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051117.344457194] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051117.345255084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051117.345931025] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051117.347015145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051117.348109069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051117.445286182] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051117.446016614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051117.446740168] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051117.448162751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051117.448699817] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051117.457413951] [sailbot.main_algo]: Wind Direction: 147 -[main_algo-3] [INFO] [1746051117.458535267] [sailbot.main_algo]: Target Bearing: -142.52866096006366 -[main_algo-3] [INFO] [1746051117.459473862] [sailbot.main_algo]: Heading Difference: 167.4076609600637 -[main_algo-3] [INFO] [1746051117.460390003] [sailbot.main_algo]: Wind Direction: 147 -[main_algo-3] [INFO] [1746051117.461273278] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051117.462111819] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051117.463297537] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051117.463796072] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051117.502792392] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903904 Long: -76.50276898 -[main_algo-3] [INFO] [1746051117.503655785] [sailbot.main_algo]: Distance to destination: 56.55839632466556 -[vectornav-1] [INFO] [1746051117.503870707] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (27.32499999999999, -0.252, 6.374) -[main_algo-3] [INFO] [1746051117.504977089] [sailbot.main_algo]: Target Bearing: -142.54572221802155 -[main_algo-3] [INFO] [1746051117.505924347] [sailbot.main_algo]: Heading Difference: 167.42472221802154 -[main_algo-3] [INFO] [1746051117.507113777] [sailbot.main_algo]: Wind Direction: 147 -[main_algo-3] [INFO] [1746051117.507979830] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051117.508840441] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051117.510577527] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051117.545085661] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051117.545816216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051117.546839787] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051117.547952235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051117.549054223] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051117.585195135] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051117.586760469] [sailbot.teensy]: Wind angle: 148 -[teensy-2] [INFO] [1746051117.587602767] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051117.587339933] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051117.587694014] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051117.588485005] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051117.589440171] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051117.645136398] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051117.646036618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051117.646597840] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051117.648084157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051117.649169167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051117.745219821] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051117.746262402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051117.747487202] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051117.748209540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051117.748763997] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051117.835158298] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051117.837330572] [sailbot.teensy]: Wind angle: 148 -[teensy-2] [INFO] [1746051117.838232078] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051117.837334801] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051117.837691406] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051117.839061953] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051117.839912876] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051117.844279093] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051117.845003962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051117.845609316] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051117.846619501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051117.847693572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051117.945297616] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051117.946274073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051117.947024042] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051117.948058422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051117.948507135] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051117.956955709] [sailbot.main_algo]: Wind Direction: 148 -[main_algo-3] [INFO] [1746051117.957920226] [sailbot.main_algo]: Target Bearing: -142.54572221802155 -[main_algo-3] [INFO] [1746051117.958784208] [sailbot.main_algo]: Heading Difference: 169.87072221802157 -[main_algo-3] [INFO] [1746051117.959609376] [sailbot.main_algo]: Wind Direction: 148 -[main_algo-3] [INFO] [1746051117.960424886] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051117.961274505] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051117.962311075] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051117.962996734] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051118.003472913] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903908 Long: -76.50276834 -[main_algo-3] [INFO] [1746051118.003749011] [sailbot.main_algo]: Distance to destination: 56.602367639916444 -[vectornav-1] [INFO] [1746051118.004580094] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (28.86500000000001, 0.015, 5.427) -[main_algo-3] [INFO] [1746051118.004831192] [sailbot.main_algo]: Target Bearing: -142.5753383432715 -[main_algo-3] [INFO] [1746051118.005827622] [sailbot.main_algo]: Heading Difference: 169.90033834327153 -[main_algo-3] [INFO] [1746051118.007058708] [sailbot.main_algo]: Wind Direction: 148 -[main_algo-3] [INFO] [1746051118.008032710] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051118.009006359] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051118.010756254] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051118.044937922] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051118.045592198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051118.046175474] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051118.047472855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051118.048631118] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051118.085398219] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051118.087180620] [sailbot.teensy]: Wind angle: 148 -[teensy-2] [INFO] [1746051118.088115278] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051118.089035660] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051118.087740246] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051118.088814846] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051118.089912264] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051118.144690551] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051118.145276217] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051118.147196528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051118.146187997] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051118.148533195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051118.245285432] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051118.246076029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051118.246911890] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051118.248232221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051118.248772347] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051118.335140645] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051118.336664715] [sailbot.teensy]: Wind angle: 148 -[trim_sail-4] [INFO] [1746051118.337150924] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051118.337518921] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051118.338337473] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051118.338810833] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051118.339192708] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051118.344570360] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051118.345007657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051118.345723136] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051118.346651148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051118.347703676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051118.445232261] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051118.445783358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051118.446608333] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051118.447997922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051118.449170370] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051118.457189735] [sailbot.main_algo]: Wind Direction: 148 -[main_algo-3] [INFO] [1746051118.458252135] [sailbot.main_algo]: Target Bearing: -142.5753383432715 -[main_algo-3] [INFO] [1746051118.459196571] [sailbot.main_algo]: Heading Difference: 171.4403383432715 -[main_algo-3] [INFO] [1746051118.460069689] [sailbot.main_algo]: Wind Direction: 148 -[main_algo-3] [INFO] [1746051118.460978839] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051118.461831683] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051118.462913864] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051118.463707146] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051118.502797078] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903961 Long: -76.50276811 -[main_algo-3] [INFO] [1746051118.503754182] [sailbot.main_algo]: Distance to destination: 56.6537836912092 -[vectornav-1] [INFO] [1746051118.503969317] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.408999999999992, -0.841, 4.459) -[main_algo-3] [INFO] [1746051118.504881097] [sailbot.main_algo]: Target Bearing: -142.54060196114318 -[main_algo-3] [INFO] [1746051118.505856242] [sailbot.main_algo]: Heading Difference: 171.4056019611432 -[main_algo-3] [INFO] [1746051118.506759805] [sailbot.main_algo]: Wind Direction: 148 -[main_algo-3] [INFO] [1746051118.507643973] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051118.508527817] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051118.510209245] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051118.544949811] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051118.545790499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051118.546297724] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051118.547888457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051118.549034372] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051118.585128190] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051118.586904570] [sailbot.teensy]: Wind angle: 148 -[teensy-2] [INFO] [1746051118.587768178] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051118.587204156] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051118.587609194] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051118.588620531] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051118.589455613] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051118.645182482] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051118.646017227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051118.646726982] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051118.648689323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051118.649786692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051118.745051323] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051118.745746729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051118.747202629] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051118.747644337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051118.748314119] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051118.835288240] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051118.835985884] [sailbot.teensy]: Wind angle: 147 -[teensy-2] [INFO] [1746051118.836398993] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051118.836412183] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051118.836596895] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051118.836785081] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051118.837184250] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051118.844463293] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051118.845033628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051118.845559199] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051118.846733093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051118.847913348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051118.945356064] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051118.946012276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051118.946956633] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051118.948317459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051118.948946019] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051118.957088476] [sailbot.main_algo]: Wind Direction: 147 -[main_algo-3] [INFO] [1746051118.958055699] [sailbot.main_algo]: Target Bearing: -142.54060196114318 -[main_algo-3] [INFO] [1746051118.958886656] [sailbot.main_algo]: Heading Difference: 173.94960196114317 -[main_algo-3] [INFO] [1746051118.959671844] [sailbot.main_algo]: Wind Direction: 147 -[main_algo-3] [INFO] [1746051118.960483010] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051118.961264903] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051118.962264793] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051118.962956995] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051119.003208057] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903991 Long: -76.50276813 -[main_algo-3] [INFO] [1746051119.003746408] [sailbot.main_algo]: Distance to destination: 56.673231730066576 -[vectornav-1] [INFO] [1746051119.004813910] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.02999999999997, 0.412, 5.276) -[main_algo-3] [INFO] [1746051119.004891133] [sailbot.main_algo]: Target Bearing: -142.5131970764205 -[main_algo-3] [INFO] [1746051119.005884292] [sailbot.main_algo]: Heading Difference: 173.9221970764205 -[main_algo-3] [INFO] [1746051119.006801224] [sailbot.main_algo]: Wind Direction: 147 -[main_algo-3] [INFO] [1746051119.007662616] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051119.008515771] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051119.010285125] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051119.045200075] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051119.045783447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051119.046521213] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051119.047907850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051119.049062769] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051119.085394923] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051119.087268418] [sailbot.teensy]: Wind angle: 148 -[trim_sail-4] [INFO] [1746051119.087728856] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051119.088240918] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051119.089134347] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051119.089134163] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051119.090423011] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051119.145023233] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051119.145870917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051119.146615944] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051119.147783487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051119.148523210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051119.245004748] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051119.245718524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051119.246383188] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051119.247895524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051119.248906008] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051119.335421441] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051119.337201615] [sailbot.teensy]: Wind angle: 149 -[trim_sail-4] [INFO] [1746051119.337875534] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051119.338538432] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051119.338923906] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051119.339136932] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051119.339600979] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051119.344480482] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051119.345080475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051119.345555235] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051119.346776975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051119.347920720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051119.444826463] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051119.445652078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051119.446092200] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051119.447527137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051119.448635176] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051119.457211581] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051119.458246255] [sailbot.main_algo]: Target Bearing: -142.5131970764205 -[main_algo-3] [INFO] [1746051119.459133349] [sailbot.main_algo]: Heading Difference: 174.54319707642048 -[main_algo-3] [INFO] [1746051119.459998989] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051119.460833715] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051119.461618134] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051119.462583769] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051119.463162141] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051119.502887025] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903995 Long: -76.50276814 -[main_algo-3] [INFO] [1746051119.503803571] [sailbot.main_algo]: Distance to destination: 56.6753539353837 -[vectornav-1] [INFO] [1746051119.504471725] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.13799999999998, -1.545, 6.025) -[main_algo-3] [INFO] [1746051119.505009674] [sailbot.main_algo]: Target Bearing: -142.50916500991676 -[main_algo-3] [INFO] [1746051119.506051858] [sailbot.main_algo]: Heading Difference: 174.5391650099167 -[main_algo-3] [INFO] [1746051119.507010859] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051119.507898442] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051119.508764641] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051119.510478656] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051119.544844514] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051119.545625844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051119.546109177] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051119.547688975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051119.548808027] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051119.585189731] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051119.587330870] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051119.587736499] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051119.587764389] [sailbot.teensy]: Wind angle: 149 -[teensy-2] [INFO] [1746051119.589092967] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051119.590028658] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051119.590862088] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051119.645262075] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051119.646406782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051119.647025387] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051119.648565667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051119.649660619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051119.745292879] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051119.746106703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051119.746748787] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051119.748287427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051119.749409894] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051119.835458202] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051119.837306499] [sailbot.teensy]: Wind angle: 149 -[teensy-2] [INFO] [1746051119.838653216] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051119.837770982] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051119.839669923] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051119.840031640] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051119.840626542] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051119.844259223] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051119.844805608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051119.845340818] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051119.846525116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051119.847508786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051119.945336396] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051119.946288579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051119.946806537] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051119.948378918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051119.949460231] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051119.956985017] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051119.957953471] [sailbot.main_algo]: Target Bearing: -142.50916500991676 -[main_algo-3] [INFO] [1746051119.958802034] [sailbot.main_algo]: Heading Difference: 175.64716500991676 -[main_algo-3] [INFO] [1746051119.959580195] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051119.960471283] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051119.961274318] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051119.962406457] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051119.963140786] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051120.003707001] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903984 Long: -76.5027679 -[main_algo-3] [INFO] [1746051120.003839145] [sailbot.main_algo]: Distance to destination: 56.68319451481029 -[main_algo-3] [INFO] [1746051120.004873774] [sailbot.main_algo]: Target Bearing: -142.5312468500932 -[main_algo-3] [INFO] [1746051120.005850697] [sailbot.main_algo]: Heading Difference: 175.66924685009315 -[vectornav-1] [INFO] [1746051120.006498407] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.78800000000001, 0.479, 5.101) -[main_algo-3] [INFO] [1746051120.006789085] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051120.007716839] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051120.008616577] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051120.010375284] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051120.045107797] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051120.045879637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051120.046486507] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051120.048126691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051120.049147432] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051120.085426726] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051120.087308425] [sailbot.teensy]: Wind angle: 149 -[trim_sail-4] [INFO] [1746051120.087947763] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051120.088328867] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051120.089071632] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051120.089274063] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051120.090182273] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051120.144989072] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051120.146332710] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051120.147604962] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051120.149698003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051120.150959650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051120.246239085] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051120.246608474] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051120.247830222] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051120.248681202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051120.249895678] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051120.335251512] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051120.337452383] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051120.338004379] [sailbot.teensy]: Wind angle: 149 -[teensy-2] [INFO] [1746051120.339079444] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051120.338970563] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051120.339637178] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051120.340009229] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051120.344360960] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051120.344837771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051120.345564758] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051120.346638569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051120.347651486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051120.445290890] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051120.446271660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051120.446909856] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051120.448599795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051120.449592206] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051120.457243585] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051120.458302642] [sailbot.main_algo]: Target Bearing: -142.5312468500932 -[main_algo-3] [INFO] [1746051120.459198129] [sailbot.main_algo]: Heading Difference: 176.31924685009324 -[main_algo-3] [INFO] [1746051120.460064164] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051120.460950325] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051120.461817014] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051120.462922425] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051120.463851254] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051120.503128293] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903983 Long: -76.5027679 -[main_algo-3] [INFO] [1746051120.504306052] [sailbot.main_algo]: Distance to destination: 56.68250341438466 -[vectornav-1] [INFO] [1746051120.504599150] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.807000000000016, -0.418, 6.22) -[main_algo-3] [INFO] [1746051120.505576958] [sailbot.main_algo]: Target Bearing: -142.5321256093418 -[main_algo-3] [INFO] [1746051120.506671181] [sailbot.main_algo]: Heading Difference: 176.3201256093418 -[main_algo-3] [INFO] [1746051120.507651334] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051120.508636030] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051120.509511243] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051120.511261737] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051120.545163967] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051120.545977350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051120.546634739] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051120.548260781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051120.549295100] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051120.585112290] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051120.586767832] [sailbot.teensy]: Wind angle: 149 -[trim_sail-4] [INFO] [1746051120.587118892] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051120.587848307] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051120.588787903] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051120.589102334] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051120.590140018] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051120.644865211] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051120.645465348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051120.646238128] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051120.647270053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051120.648371935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051120.745319914] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051120.746303953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051120.746927505] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051120.748541203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051120.749063081] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051120.835255846] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051120.837305606] [sailbot.teensy]: Wind angle: 149 -[trim_sail-4] [INFO] [1746051120.837428060] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051120.838319666] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051120.839198048] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051120.839397816] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051120.840108990] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051120.844363082] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051120.845477525] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051120.845899534] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051120.847605916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051120.848773849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051120.945250292] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051120.946058559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051120.946812290] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051120.948183020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051120.949394686] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051120.957134641] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051120.958127959] [sailbot.main_algo]: Target Bearing: -142.5321256093418 -[main_algo-3] [INFO] [1746051120.959016715] [sailbot.main_algo]: Heading Difference: 176.3391256093418 -[main_algo-3] [INFO] [1746051120.959894334] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051120.960750972] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051120.961616229] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051120.962643921] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051120.963175385] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051121.003336360] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903987 Long: -76.5027679 -[main_algo-3] [INFO] [1746051121.003990011] [sailbot.main_algo]: Distance to destination: 56.685267898397655 -[main_algo-3] [INFO] [1746051121.005179499] [sailbot.main_algo]: Target Bearing: -142.52861069796248 -[vectornav-1] [INFO] [1746051121.005768618] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.03699999999998, -1.121, 4.426) -[main_algo-3] [INFO] [1746051121.006172743] [sailbot.main_algo]: Heading Difference: 176.33561069796247 -[main_algo-3] [INFO] [1746051121.007129795] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051121.008024731] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051121.008900056] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051121.010595170] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051121.044931320] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051121.045714248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051121.046336663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051121.047523819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051121.048569944] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051121.085426430] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051121.087231532] [sailbot.teensy]: Wind angle: 150 -[teensy-2] [INFO] [1746051121.088228936] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051121.088149086] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051121.089173798] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051121.089961152] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051121.090079866] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051121.144789301] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051121.145315990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051121.145938282] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051121.147074107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051121.148092591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051121.245168903] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051121.245991630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051121.246591603] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051121.247998916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051121.249038970] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051121.335125006] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051121.337328630] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051121.337437359] [sailbot.teensy]: Wind angle: 150 -[teensy-2] [INFO] [1746051121.337834357] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051121.337835490] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051121.338233409] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051121.338736392] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051121.344405246] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051121.344976480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051121.345534814] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051121.346821418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051121.347814445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051121.445203479] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051121.445963835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051121.447051232] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051121.448371033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051121.448914174] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051121.457222496] [sailbot.main_algo]: Wind Direction: 150 -[main_algo-3] [INFO] [1746051121.458384953] [sailbot.main_algo]: Target Bearing: -142.52861069796248 -[main_algo-3] [INFO] [1746051121.459313967] [sailbot.main_algo]: Heading Difference: 177.56561069796248 -[main_algo-3] [INFO] [1746051121.460222099] [sailbot.main_algo]: Wind Direction: 150 -[main_algo-3] [INFO] [1746051121.461129890] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051121.461981342] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051121.463364459] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051121.463730244] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051121.502529323] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904002 Long: -76.50276779 -[main_algo-3] [INFO] [1746051121.503440496] [sailbot.main_algo]: Distance to destination: 56.70271520135763 -[vectornav-1] [INFO] [1746051121.503587412] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.83499999999998, 0.541, 5.544) -[main_algo-3] [INFO] [1746051121.504581765] [sailbot.main_algo]: Target Bearing: -142.52112193058375 -[main_algo-3] [INFO] [1746051121.505507575] [sailbot.main_algo]: Heading Difference: 177.55812193058375 -[main_algo-3] [INFO] [1746051121.506411328] [sailbot.main_algo]: Wind Direction: 150 -[main_algo-3] [INFO] [1746051121.507303543] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051121.508182488] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051121.509910606] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051121.544868606] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051121.545531867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051121.546116848] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051121.547356125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051121.548545677] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051121.585043024] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051121.587061313] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051121.587107169] [sailbot.teensy]: Wind angle: 151 -[teensy-2] [INFO] [1746051121.587979442] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051121.588576712] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051121.588902649] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051121.589778701] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051121.645142186] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051121.645686974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051121.646713668] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051121.647651696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051121.648792911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051121.745247435] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051121.745784294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051121.746758264] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051121.748045023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051121.749390264] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051121.835368036] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051121.837189856] [sailbot.teensy]: Wind angle: 152 -[trim_sail-4] [INFO] [1746051121.837977341] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051121.838138364] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051121.839032104] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051121.839426999] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051121.839875195] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051121.844402032] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051121.845039544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051121.845751187] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051121.846760366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051121.847788008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051121.944985325] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051121.945609740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051121.946243554] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051121.947438148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051121.948570371] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051121.957077912] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051121.957990072] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746051121.958806345] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051121.959926491] [sailbot.main_algo]: Current Location: (42.46904002214751, -76.50276779005443) -[main_algo-3] [INFO] [1746051121.960804011] [sailbot.main_algo]: Target Bearing: -142.52112193058375 -[main_algo-3] [INFO] [1746051121.961609152] [sailbot.main_algo]: Heading Difference: 177.35612193058375 -[main_algo-3] [INFO] [1746051121.962387783] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051121.963160522] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051121.963925326] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051121.964938507] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051121.965547054] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051122.003342580] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904015 Long: -76.50276782 -[main_algo-3] [INFO] [1746051122.003799581] [sailbot.main_algo]: Distance to destination: 56.709772448992524 -[main_algo-3] [INFO] [1746051122.004915383] [sailbot.main_algo]: Target Bearing: -142.5081539629836 -[vectornav-1] [INFO] [1746051122.005160511] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.23700000000002, -1.048, 5.336) -[main_algo-3] [INFO] [1746051122.005915818] [sailbot.main_algo]: Heading Difference: 177.3431539629836 -[main_algo-3] [INFO] [1746051122.006848434] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051122.007800833] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051122.008716736] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051122.010652626] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051122.045197118] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051122.045833843] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051122.046618882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051122.047820818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051122.048986348] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051122.085370817] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051122.087146082] [sailbot.teensy]: Wind angle: 152 -[teensy-2] [INFO] [1746051122.088065495] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051122.087611333] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051122.088779140] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051122.088981707] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051122.089925592] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746051122.145701253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051122.145701686] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051122.148968518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051122.150150820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051122.151567874] [sailbot.mux]: Published rudder angle from controller_app: 0 -[mux-7] [INFO] [1746051122.245368277] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051122.245956631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051122.246821922] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051122.248173754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051122.248706211] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051122.335122212] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051122.336730393] [sailbot.teensy]: Wind angle: 153 -[trim_sail-4] [INFO] [1746051122.337671787] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051122.338630713] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051122.338911009] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051122.339950329] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051122.340842041] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051122.344419135] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051122.344897884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051122.345495946] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051122.346568217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051122.347572809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051122.445221839] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051122.445784483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051122.446620550] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051122.447715377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051122.448786156] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051122.457117817] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051122.458210728] [sailbot.main_algo]: Target Bearing: -142.5081539629836 -[main_algo-3] [INFO] [1746051122.459118026] [sailbot.main_algo]: Heading Difference: 177.74515396298364 -[main_algo-3] [INFO] [1746051122.459998577] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051122.460854493] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051122.461676549] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051122.462744732] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051122.463315243] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051122.502771434] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904005 Long: -76.50276799 -[main_algo-3] [INFO] [1746051122.503744479] [sailbot.main_algo]: Distance to destination: 56.691919770688905 -[vectornav-1] [INFO] [1746051122.503885726] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.49799999999999, 0.516, 5.738) -[main_algo-3] [INFO] [1746051122.504855766] [sailbot.main_algo]: Target Bearing: -142.50814196694623 -[main_algo-3] [INFO] [1746051122.505818316] [sailbot.main_algo]: Heading Difference: 177.74514196694622 -[main_algo-3] [INFO] [1746051122.506720473] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051122.507604338] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051122.508465334] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051122.510239552] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051122.545063222] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051122.545627628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051122.546468210] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051122.547588025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051122.548607424] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051122.585257767] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051122.587290531] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051122.587803978] [sailbot.teensy]: Wind angle: 154 -[mux-7] [INFO] [1746051122.588174040] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051122.589478178] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051122.590449698] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051122.591341599] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051122.645251561] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051122.646190178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051122.646737604] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051122.648671807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051122.649681224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051122.745116582] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051122.745824641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051122.746496290] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051122.747702977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051122.748221032] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051122.835504916] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051122.837832263] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051122.838385101] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051122.838644451] [sailbot.teensy]: Wind angle: 154 -[teensy-2] [INFO] [1746051122.839069435] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051122.839439109] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051122.840129492] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051122.844304050] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051122.844800994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051122.845390874] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051122.846467284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051122.847514549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051122.944700630] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051122.945492534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051122.945894732] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051122.947323078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051122.948354056] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051122.957105494] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051122.958116367] [sailbot.main_algo]: Target Bearing: -142.50814196694623 -[main_algo-3] [INFO] [1746051122.958976392] [sailbot.main_algo]: Heading Difference: 178.0061419669462 -[main_algo-3] [INFO] [1746051122.959769747] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051122.960582605] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051122.961376617] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051122.962365520] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051122.962927363] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051123.003601953] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903994 Long: -76.50276797 -[main_algo-3] [INFO] [1746051123.003996369] [sailbot.main_algo]: Distance to destination: 56.685601553181215 -[vectornav-1] [INFO] [1746051123.005214818] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (36.04399999999998, -1.128, 4.901) -[main_algo-3] [INFO] [1746051123.005303882] [sailbot.main_algo]: Target Bearing: -142.5188395575582 -[main_algo-3] [INFO] [1746051123.006319294] [sailbot.main_algo]: Heading Difference: 178.01683955755823 -[main_algo-3] [INFO] [1746051123.007209104] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051123.008120794] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051123.009082897] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051123.010754600] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051123.044949136] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051123.045643948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051123.046637835] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051123.047508866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051123.048555858] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051123.085138173] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051123.086688049] [sailbot.teensy]: Wind angle: 153 -[trim_sail-4] [INFO] [1746051123.087146446] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051123.087555483] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051123.088444755] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051123.088596631] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051123.089304086] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051123.144860001] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051123.145466962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051123.146104949] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051123.147370754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051123.148233471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051123.245105959] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051123.245925812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051123.246459056] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051123.247975520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051123.248445753] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051123.335137954] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051123.336999507] [sailbot.teensy]: Wind angle: 154 -[trim_sail-4] [INFO] [1746051123.337306818] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051123.339240251] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051123.339478832] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051123.340428351] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051123.341328936] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051123.344313886] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051123.344932879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051123.345425382] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051123.346692880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051123.347891473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051123.445452269] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051123.446183541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051123.446966095] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051123.448181204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051123.448700018] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051123.457146720] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051123.458124456] [sailbot.main_algo]: Target Bearing: -142.5188395575582 -[main_algo-3] [INFO] [1746051123.459004828] [sailbot.main_algo]: Heading Difference: 178.56283955755816 -[main_algo-3] [INFO] [1746051123.459872226] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051123.460717359] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051123.461515743] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051123.462588858] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051123.463181312] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051123.502562881] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904012 Long: -76.50276815 -[main_algo-3] [INFO] [1746051123.503416416] [sailbot.main_algo]: Distance to destination: 56.68646709415992 -[vectornav-1] [INFO] [1746051123.503602334] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (36.168000000000006, 0.434, 5.244) -[main_algo-3] [INFO] [1746051123.504486888] [sailbot.main_algo]: Target Bearing: -142.4937143010125 -[main_algo-3] [INFO] [1746051123.505464322] [sailbot.main_algo]: Heading Difference: 178.53771430101244 -[main_algo-3] [INFO] [1746051123.506418680] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051123.507310226] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051123.508214164] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051123.509905509] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051123.545544253] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051123.545533663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051123.546919196] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051123.547338861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051123.548534445] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051123.585325943] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051123.586964915] [sailbot.teensy]: Wind angle: 153 -[trim_sail-4] [INFO] [1746051123.587849878] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051123.587905988] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051123.588833039] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051123.589166312] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051123.589705869] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051123.644906259] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051123.645657987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051123.646166963] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051123.647565011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051123.648602508] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051123.744905029] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051123.745654527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051123.746240887] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051123.747664668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051123.748140437] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051123.835447414] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051123.837978325] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051123.838467306] [sailbot.teensy]: Wind angle: 153 -[teensy-2] [INFO] [1746051123.839490151] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051123.839569949] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051123.840482067] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051123.840878596] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051123.844530524] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051123.844949956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051123.845668560] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051123.846698878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051123.847796387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051123.945416442] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051123.946122470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051123.946968164] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051123.948273141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051123.948878695] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051123.957256343] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051123.958365836] [sailbot.main_algo]: Target Bearing: -142.4937143010125 -[main_algo-3] [INFO] [1746051123.959303655] [sailbot.main_algo]: Heading Difference: 178.66171430101247 -[main_algo-3] [INFO] [1746051123.960357272] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051123.961311479] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051123.962365922] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051123.963443837] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051123.964088507] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051124.002734132] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903999 Long: -76.50276821 -[main_algo-3] [INFO] [1746051124.003797995] [sailbot.main_algo]: Distance to destination: 56.67361615849989 -[vectornav-1] [INFO] [1746051124.003874305] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (36.08299999999997, -1.558, 5.188) -[main_algo-3] [INFO] [1746051124.005154405] [sailbot.main_algo]: Target Bearing: -142.5020278032597 -[main_algo-3] [INFO] [1746051124.006147748] [sailbot.main_algo]: Heading Difference: 178.6700278032597 -[main_algo-3] [INFO] [1746051124.007036587] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051124.007892538] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051124.008770172] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051124.010584057] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051124.044965561] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051124.045787874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051124.046228712] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051124.047674918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051124.048736889] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051124.085406433] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051124.088039863] [sailbot.teensy]: Wind angle: 153 -[trim_sail-4] [INFO] [1746051124.088009012] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051124.088402594] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051124.089036598] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051124.090190146] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051124.091076078] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051124.144967536] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051124.145764708] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051124.147575369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051124.146388561] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051124.148864932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051124.245136961] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051124.246167897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051124.246528804] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051124.248367706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051124.249404304] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051124.335111418] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051124.337286176] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051124.337365115] [sailbot.teensy]: Wind angle: 154 -[mux-7] [INFO] [1746051124.338008518] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051124.338239627] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051124.339126057] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051124.340020559] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051124.344302956] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051124.345456992] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051124.345773329] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051124.347467645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051124.348481789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051124.444928499] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051124.445654527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051124.446196222] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051124.447581677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051124.448639571] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051124.457038430] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051124.458042342] [sailbot.main_algo]: Target Bearing: -142.5020278032597 -[main_algo-3] [INFO] [1746051124.458954069] [sailbot.main_algo]: Heading Difference: 178.58502780325966 -[main_algo-3] [INFO] [1746051124.459845124] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051124.460657149] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051124.461435290] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051124.462407231] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051124.462969785] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051124.502742686] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904003 Long: -76.50276796 -[main_algo-3] [INFO] [1746051124.504189689] [sailbot.main_algo]: Distance to destination: 56.6924672026105 -[vectornav-1] [INFO] [1746051124.504416400] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.66899999999998, 1.503, 5.249) -[main_algo-3] [INFO] [1746051124.505324091] [sailbot.main_algo]: Target Bearing: -142.51145071516527 -[main_algo-3] [INFO] [1746051124.506286526] [sailbot.main_algo]: Heading Difference: 178.59445071516524 -[main_algo-3] [INFO] [1746051124.507186376] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051124.508086163] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051124.508963787] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051124.510698231] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051124.544962502] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051124.545753178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051124.546221952] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051124.547782018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051124.548819598] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051124.585108055] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051124.587171626] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051124.587375930] [sailbot.teensy]: Wind angle: 153 -[mux-7] [INFO] [1746051124.587915359] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051124.588409520] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051124.589472142] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051124.590381547] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051124.644916550] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051124.645513141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051124.646293904] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051124.647440411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051124.648586251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051124.745027678] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051124.745646864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051124.746268093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051124.747602067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051124.748741884] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051124.835290482] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051124.836970132] [sailbot.teensy]: Wind angle: 154 -[trim_sail-4] [INFO] [1746051124.837791001] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051124.837944599] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051124.838854457] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051124.839086072] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051124.839775874] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051124.844313466] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051124.844914139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051124.845713302] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051124.846639588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051124.847705621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051124.945067446] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051124.945806666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051124.946461441] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051124.947832758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051124.949050177] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051124.957090246] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051124.958098692] [sailbot.main_algo]: Target Bearing: -142.51145071516527 -[main_algo-3] [INFO] [1746051124.959004646] [sailbot.main_algo]: Heading Difference: 178.18045071516525 -[main_algo-3] [INFO] [1746051124.959883359] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051124.960696741] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051124.961477842] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051124.962493234] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051124.963148061] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051125.003212610] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904004 Long: -76.50276826 -[main_algo-3] [INFO] [1746051125.004197881] [sailbot.main_algo]: Distance to destination: 56.673857521475995 -[vectornav-1] [INFO] [1746051125.004630669] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.386000000000024, -1.959, 4.487) -[main_algo-3] [INFO] [1746051125.005556640] [sailbot.main_algo]: Target Bearing: -142.49504708479972 -[main_algo-3] [INFO] [1746051125.006916951] [sailbot.main_algo]: Heading Difference: 178.16404708479968 -[main_algo-3] [INFO] [1746051125.007851854] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051125.008759899] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051125.009599063] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051125.011525469] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051125.045345799] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051125.045757120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051125.046794061] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051125.047724949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051125.048807183] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051125.085039138] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051125.086606386] [sailbot.teensy]: Wind angle: 154 -[trim_sail-4] [INFO] [1746051125.087199487] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051125.087468749] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051125.088261350] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051125.088309916] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051125.089170119] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051125.144978643] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051125.145701211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051125.146275500] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051125.147658945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051125.148851285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051125.245170998] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051125.245947708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051125.246571277] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051125.248176182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051125.249307227] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051125.335482224] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051125.337873771] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051125.338693007] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051125.339668767] [sailbot.teensy]: Wind angle: 154 -[teensy-2] [INFO] [1746051125.340747575] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051125.341353198] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051125.341773996] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051125.344480722] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051125.345136358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051125.345703245] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051125.346991313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051125.348073210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051125.445001344] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051125.445611422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051125.446276823] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051125.447726644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051125.448449301] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051125.457061936] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051125.458158239] [sailbot.main_algo]: Target Bearing: -142.49504708479972 -[main_algo-3] [INFO] [1746051125.459085911] [sailbot.main_algo]: Heading Difference: 177.88104708479977 -[main_algo-3] [INFO] [1746051125.459925805] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051125.460739801] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051125.461528955] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051125.462519452] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051125.463284949] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051125.502766504] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904034 Long: -76.5027682 -[vectornav-1] [INFO] [1746051125.503960126] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.764999999999986, 0.206, 6.118) -[main_algo-3] [INFO] [1746051125.504378284] [sailbot.main_algo]: Distance to destination: 56.69847168941447 -[main_algo-3] [INFO] [1746051125.505652991] [sailbot.main_algo]: Target Bearing: -142.4718097148051 -[main_algo-3] [INFO] [1746051125.507537537] [sailbot.main_algo]: Heading Difference: 177.85780971480511 -[main_algo-3] [INFO] [1746051125.508551955] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051125.509460882] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051125.510325258] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051125.512119212] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051125.545611177] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051125.545735447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051125.546849983] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051125.547731810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051125.548955733] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051125.585195866] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051125.587229586] [sailbot.teensy]: Wind angle: 154 -[trim_sail-4] [INFO] [1746051125.587301873] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051125.588170987] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051125.588540415] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051125.589045898] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051125.589931783] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051125.645067823] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051125.645926100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051125.646500205] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051125.648110377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051125.649245552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051125.745169449] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051125.745907648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051125.746719683] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051125.748028492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051125.749261852] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051125.835277050] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051125.837792871] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051125.837915572] [sailbot.teensy]: Wind angle: 154 -[teensy-2] [INFO] [1746051125.838816622] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051125.839121835] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051125.839200004] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051125.839573080] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051125.844407030] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051125.844975947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051125.845528278] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051125.846688513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051125.847704726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051125.945196226] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051125.945941333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051125.946736954] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051125.947989721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051125.948458406] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051125.956899016] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051125.957782122] [sailbot.main_algo]: Target Bearing: -142.4718097148051 -[main_algo-3] [INFO] [1746051125.958616031] [sailbot.main_algo]: Heading Difference: 178.23680971480508 -[main_algo-3] [INFO] [1746051125.959400945] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051125.960212283] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051125.961014297] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051125.962010094] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051125.962718274] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051126.003436543] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904045 Long: -76.50276808 -[main_algo-3] [INFO] [1746051126.003720401] [sailbot.main_algo]: Distance to destination: 56.71380100632742 -[vectornav-1] [INFO] [1746051126.004670023] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.23399999999998, -0.219, 4.392) -[main_algo-3] [INFO] [1746051126.005046814] [sailbot.main_algo]: Target Bearing: -142.46836767533506 -[main_algo-3] [INFO] [1746051126.006548948] [sailbot.main_algo]: Heading Difference: 178.23336767533505 -[main_algo-3] [INFO] [1746051126.007466910] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051126.008376642] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051126.009248509] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051126.010993010] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051126.045347112] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051126.045618052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051126.046764690] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051126.047570734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051126.048801573] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051126.085232092] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051126.086933770] [sailbot.teensy]: Wind angle: 154 -[trim_sail-4] [INFO] [1746051126.087283240] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051126.087851981] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051126.088340959] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051126.088914994] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051126.089845628] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051126.145051104] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051126.145986641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051126.146457434] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051126.147996912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051126.149190186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051126.245151811] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051126.245977508] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051126.246696620] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051126.248009776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051126.249185070] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051126.335529853] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051126.337662914] [sailbot.teensy]: Wind angle: 155 -[trim_sail-4] [INFO] [1746051126.337985105] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051126.338679868] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051126.339459511] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051126.339851847] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051126.340797303] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051126.344366223] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051126.345083407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051126.345649713] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051126.346898695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051126.347916063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051126.445254255] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051126.446185549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051126.447183934] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051126.448354707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051126.449520491] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051126.457088945] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051126.458090945] [sailbot.main_algo]: Target Bearing: -142.46836767533506 -[main_algo-3] [INFO] [1746051126.458985099] [sailbot.main_algo]: Heading Difference: 177.70236767533504 -[main_algo-3] [INFO] [1746051126.459833477] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051126.460637375] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051126.461430942] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051126.462457288] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051126.463368122] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051126.503555069] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904043 Long: -76.50276813 -[main_algo-3] [INFO] [1746051126.503808638] [sailbot.main_algo]: Distance to destination: 56.70920157857097 -[main_algo-3] [INFO] [1746051126.504921552] [sailbot.main_algo]: Target Bearing: -142.46753450541462 -[vectornav-1] [INFO] [1746051126.504737432] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (36.14100000000002, -0.134, 5.174) -[main_algo-3] [INFO] [1746051126.505914964] [sailbot.main_algo]: Heading Difference: 177.7015345054146 -[main_algo-3] [INFO] [1746051126.506806180] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051126.507707764] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051126.508597415] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051126.510328048] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051126.544964989] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051126.545697550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051126.546237018] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051126.547804198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051126.548821590] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051126.585263249] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051126.586940747] [sailbot.teensy]: Wind angle: 155 -[trim_sail-4] [INFO] [1746051126.587838841] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051126.588295323] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051126.589257361] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051126.589912053] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051126.590152434] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051126.645189581] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051126.645678217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051126.646660041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051126.647903262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051126.649130822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051126.745713412] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051126.746192062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051126.747427466] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051126.748400090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051126.749750797] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051126.835172205] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051126.837514166] [sailbot.teensy]: Wind angle: 155 -[trim_sail-4] [INFO] [1746051126.837608752] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051126.838428042] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051126.838561630] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051126.839897469] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051126.840791810] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051126.844342231] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051126.844974978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051126.845467735] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051126.846766840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051126.847775031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051126.944937683] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051126.945791110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051126.946225423] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051126.947611393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051126.948639970] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051126.957262468] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051126.958347097] [sailbot.main_algo]: Target Bearing: -142.46753450541462 -[main_algo-3] [INFO] [1746051126.959260525] [sailbot.main_algo]: Heading Difference: 178.60853450541464 -[main_algo-3] [INFO] [1746051126.960106455] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051126.960971856] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051126.961817025] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051126.962839706] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051126.963492000] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051127.003035059] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904058 Long: -76.50276825 -[main_algo-3] [INFO] [1746051127.003919906] [sailbot.main_algo]: Distance to destination: 56.71186927626302 -[vectornav-1] [INFO] [1746051127.004345113] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (36.764999999999986, -0.793, 5.534) -[main_algo-3] [INFO] [1746051127.005177004] [sailbot.main_algo]: Target Bearing: -142.44815978031568 -[main_algo-3] [INFO] [1746051127.006186986] [sailbot.main_algo]: Heading Difference: 178.5891597803157 -[main_algo-3] [INFO] [1746051127.007088942] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051127.007980161] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051127.008852027] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051127.010543268] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051127.045185005] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051127.046089254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051127.046582026] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051127.048207665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051127.049307925] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051127.085120597] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051127.087299172] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051127.087431401] [sailbot.teensy]: Wind angle: 155 -[teensy-2] [INFO] [1746051127.088405001] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051127.088922801] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051127.089721196] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051127.090680889] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051127.145189425] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051127.145934384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051127.146664548] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051127.148183258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051127.149355548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051127.245148973] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051127.246255552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051127.246514695] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051127.248055267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051127.249115608] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051127.335200516] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051127.336941327] [sailbot.teensy]: Wind angle: 156 -[trim_sail-4] [INFO] [1746051127.337541792] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051127.337876329] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051127.338769535] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051127.338850044] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051127.339645227] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051127.344502359] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051127.345164275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051127.345650540] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051127.347224142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051127.348387501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051127.444765613] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051127.445581588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051127.446603704] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051127.447783846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051127.448716345] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051127.457178164] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051127.458345916] [sailbot.main_algo]: Target Bearing: -142.44815978031568 -[main_algo-3] [INFO] [1746051127.459291659] [sailbot.main_algo]: Heading Difference: 179.21315978031566 -[main_algo-3] [INFO] [1746051127.460116028] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051127.460964294] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051127.461755266] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051127.462761157] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051127.463870876] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051127.502738170] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904065 Long: -76.50276824 -[vectornav-1] [INFO] [1746051127.503900967] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.05500000000001, -0.22, 5.229) -[main_algo-3] [INFO] [1746051127.504057570] [sailbot.main_algo]: Distance to destination: 56.717359006293535 -[main_algo-3] [INFO] [1746051127.505336722] [sailbot.main_algo]: Target Bearing: -142.44253715397238 -[main_algo-3] [INFO] [1746051127.506378724] [sailbot.main_algo]: Heading Difference: 179.20753715397234 -[main_algo-3] [INFO] [1746051127.507368989] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051127.508313392] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051127.509197176] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051127.510923864] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051127.545376745] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051127.546224447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051127.546858086] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051127.548824936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051127.550001540] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051127.585569453] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051127.587387739] [sailbot.teensy]: Wind angle: 157 -[teensy-2] [INFO] [1746051127.588350642] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051127.589271093] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051127.588382877] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051127.589662601] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051127.590154027] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051127.645207251] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051127.645933693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051127.646720361] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051127.648551001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051127.649121665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051127.745086914] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051127.745740786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051127.746532912] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051127.747732833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051127.748820751] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051127.835314718] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051127.837049901] [sailbot.teensy]: Wind angle: 158 -[trim_sail-4] [INFO] [1746051127.837702628] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051127.837991839] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051127.838933021] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051127.839257093] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051127.839344912] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051127.844459915] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051127.845002611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051127.845560674] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051127.846729898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051127.847861533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051127.945389991] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051127.946190986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051127.946901128] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051127.947973385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051127.948558621] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051127.957093514] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051127.958095649] [sailbot.main_algo]: Target Bearing: -142.44253715397238 -[main_algo-3] [INFO] [1746051127.959002038] [sailbot.main_algo]: Heading Difference: 179.49753715397242 -[main_algo-3] [INFO] [1746051127.959844389] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051127.960678825] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051127.961474993] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051127.962506593] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051127.963150360] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051128.003020753] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904073 Long: -76.50276815 -[vectornav-1] [INFO] [1746051128.004486054] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.34800000000001, 0.221, 5.174) -[main_algo-3] [INFO] [1746051128.004509161] [sailbot.main_algo]: Distance to destination: 56.72868415391048 -[main_algo-3] [INFO] [1746051128.005795346] [sailbot.main_algo]: Target Bearing: -142.44018147361845 -[main_algo-3] [INFO] [1746051128.006762896] [sailbot.main_algo]: Heading Difference: 179.49518147361846 -[main_algo-3] [INFO] [1746051128.007672049] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051128.008584118] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051128.009433483] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051128.011159042] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051128.045147933] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051128.046018670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051128.046549022] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051128.048249899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051128.049457508] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051128.085285394] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051128.087394465] [sailbot.teensy]: Wind angle: 158 -[trim_sail-4] [INFO] [1746051128.087522783] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051128.088409407] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051128.089296451] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051128.089445149] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051128.090230616] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051128.144920405] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051128.145491379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051128.146176144] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051128.147280729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051128.148306109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051128.245261754] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051128.245868238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051128.246756584] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051128.247854469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051128.248969935] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051128.335259025] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051128.337774415] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051128.338386373] [sailbot.teensy]: Wind angle: 158 -[mux-7] [INFO] [1746051128.338855811] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051128.339336238] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051128.340270179] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051128.341088328] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051128.344501121] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051128.344918531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051128.345701227] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051128.346573218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051128.347748252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051128.445478356] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051128.446061406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051128.447151588] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051128.448198145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051128.449257700] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051128.457203437] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051128.458307869] [sailbot.main_algo]: Target Bearing: -142.44018147361845 -[main_algo-3] [INFO] [1746051128.459237053] [sailbot.main_algo]: Heading Difference: 179.78818147361847 -[main_algo-3] [INFO] [1746051128.460092796] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051128.460965403] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051128.461811958] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051128.462761401] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051128.463526908] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051128.503117116] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690408 Long: -76.50276834 -[main_algo-3] [INFO] [1746051128.504032301] [sailbot.main_algo]: Distance to destination: 56.72132039476345 -[vectornav-1] [INFO] [1746051128.504443357] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.543000000000006, -1.363, 4.881) -[main_algo-3] [INFO] [1746051128.505265280] [sailbot.main_algo]: Target Bearing: -142.42420252629452 -[main_algo-3] [INFO] [1746051128.506327364] [sailbot.main_algo]: Heading Difference: 179.77220252629456 -[main_algo-3] [INFO] [1746051128.507225156] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051128.508090533] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051128.508947919] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051128.510722205] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051128.545324025] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051128.546232531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051128.547221770] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051128.548309579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051128.549482136] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051128.585196512] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051128.586789486] [sailbot.teensy]: Wind angle: 158 -[trim_sail-4] [INFO] [1746051128.587279375] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051128.587669596] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051128.588540077] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051128.588609541] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051128.589533284] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051128.645064668] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051128.645947157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051128.646499716] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051128.648029457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051128.649136507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051128.745339775] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051128.746071026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051128.746857412] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051128.747979670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051128.748532254] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051128.835198879] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051128.836926153] [sailbot.teensy]: Wind angle: 158 -[trim_sail-4] [INFO] [1746051128.837456647] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051128.837887138] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051128.838842699] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051128.839699465] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051128.839758861] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051128.844494008] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051128.845011913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051128.845860114] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051128.846763826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051128.847943852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051128.945726013] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051128.946398185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051128.947455805] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051128.948681240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051128.949241003] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051128.957020017] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051128.957977131] [sailbot.main_algo]: Target Bearing: -142.42420252629452 -[main_algo-3] [INFO] [1746051128.958863204] [sailbot.main_algo]: Heading Difference: -179.0327974737055 -[main_algo-3] [INFO] [1746051128.959657804] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051128.960470108] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051128.961277526] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051128.962265617] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051128.962887638] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051129.003496049] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904107 Long: -76.50276829 -[main_algo-3] [INFO] [1746051129.003834739] [sailbot.main_algo]: Distance to destination: 56.74324129618259 -[vectornav-1] [INFO] [1746051129.004794781] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.09699999999998, 1.288, 5.09) -[main_algo-3] [INFO] [1746051129.004980986] [sailbot.main_algo]: Target Bearing: -142.40312592168544 -[main_algo-3] [INFO] [1746051129.005962571] [sailbot.main_algo]: Heading Difference: -179.05387407831455 -[main_algo-3] [INFO] [1746051129.006881665] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051129.007830653] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051129.008727052] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051129.010478194] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051129.045351958] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051129.045954947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051129.046812061] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051129.047942661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051129.049083425] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051129.085359848] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051129.087114192] [sailbot.teensy]: Wind angle: 159 -[trim_sail-4] [INFO] [1746051129.087944489] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051129.088058481] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051129.088951171] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051129.088811975] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051129.089910078] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051129.145272458] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051129.145823507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051129.146755280] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051129.147827917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051129.149171698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051129.245331310] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051129.245910397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051129.247101575] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051129.247828297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051129.249048037] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051129.335450865] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051129.337302176] [sailbot.teensy]: Wind angle: 160 -[trim_sail-4] [INFO] [1746051129.338425461] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051129.340385693] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051129.340390188] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051129.341404559] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051129.342321422] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051129.344266135] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051129.344713568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051129.345372141] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051129.346425914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051129.347502631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051129.445265605] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051129.445900773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051129.446811561] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051129.448068083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051129.449027474] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051129.457138417] [sailbot.main_algo]: Wind Direction: 160 -[main_algo-3] [INFO] [1746051129.458173219] [sailbot.main_algo]: Target Bearing: -142.40312592168544 -[main_algo-3] [INFO] [1746051129.459137779] [sailbot.main_algo]: Heading Difference: 179.50012592168542 -[main_algo-3] [INFO] [1746051129.460018303] [sailbot.main_algo]: Wind Direction: 160 -[main_algo-3] [INFO] [1746051129.460829807] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051129.461643687] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051129.462707733] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051129.463329181] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051129.503657100] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904113 Long: -76.50276846 -[main_algo-3] [INFO] [1746051129.504185008] [sailbot.main_algo]: Distance to destination: 56.7364791758962 -[main_algo-3] [INFO] [1746051129.505341450] [sailbot.main_algo]: Target Bearing: -142.38905910886353 -[main_algo-3] [INFO] [1746051129.506411203] [sailbot.main_algo]: Heading Difference: 179.48605910886351 -[vectornav-1] [INFO] [1746051129.506609630] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.27699999999999, -1.548, 4.968) -[main_algo-3] [INFO] [1746051129.507372121] [sailbot.main_algo]: Wind Direction: 160 -[main_algo-3] [INFO] [1746051129.508298985] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051129.509168372] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051129.510992864] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051129.545062882] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051129.545786512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051129.546313975] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051129.547787231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051129.548925407] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051129.585384483] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051129.587634906] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051129.587929571] [sailbot.teensy]: Wind angle: 162 -[mux-7] [INFO] [1746051129.588499001] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051129.588993795] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051129.589958950] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051129.590908373] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051129.645162304] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051129.646193068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051129.647110486] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051129.648264394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051129.649357506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051129.745542627] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051129.746348211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051129.747178316] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051129.748691200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051129.749949957] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051129.835251458] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051129.837017926] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051129.837356085] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051129.837930640] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051129.838790284] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051129.839117980] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051129.839196767] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051129.844401366] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051129.845106490] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051129.845546527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051129.846905260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051129.847925625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051129.945197248] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051129.946196049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051129.946741489] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051129.948306612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051129.948720455] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051129.957195131] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051129.958285461] [sailbot.main_algo]: Target Bearing: -142.38905910886353 -[main_algo-3] [INFO] [1746051129.959240691] [sailbot.main_algo]: Heading Difference: 179.66605910886352 -[main_algo-3] [INFO] [1746051129.960110679] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051129.961030029] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051129.962050330] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051129.963114331] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051129.963754054] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051130.002936236] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904127 Long: -76.50276867 -[main_algo-3] [INFO] [1746051130.003921311] [sailbot.main_algo]: Distance to destination: 56.73270009679283 -[vectornav-1] [INFO] [1746051130.004091939] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.43599999999998, 0.241, 5.251) -[main_algo-3] [INFO] [1746051130.005194228] [sailbot.main_algo]: Target Bearing: -142.36590630066667 -[main_algo-3] [INFO] [1746051130.006221930] [sailbot.main_algo]: Heading Difference: 179.64290630066665 -[main_algo-3] [INFO] [1746051130.007232385] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051130.008128807] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051130.009062217] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051130.010778041] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051130.045470212] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051130.046138085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051130.047038825] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051130.048853785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051130.050102234] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051130.085342207] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051130.087452847] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051130.088089332] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051130.088349048] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051130.089494928] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051130.090459845] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051130.091300117] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051130.144980772] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051130.145717411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051130.146304120] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051130.147631990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051130.148799410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051130.245364469] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051130.246416415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051130.246890483] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051130.249068299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051130.250117543] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051130.335207953] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051130.337272290] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051130.337384909] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051130.338263274] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051130.339542859] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051130.339749935] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051130.340520223] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051130.344408187] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051130.345000790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051130.345638727] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051130.346706498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051130.347830821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051130.445227121] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051130.446101850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051130.446784866] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051130.448427596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051130.449507379] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051130.457181753] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051130.458315402] [sailbot.main_algo]: Target Bearing: -142.36590630066667 -[main_algo-3] [INFO] [1746051130.459282124] [sailbot.main_algo]: Heading Difference: -179.19809369933336 -[main_algo-3] [INFO] [1746051130.460169802] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051130.461056442] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051130.461867529] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051130.462892265] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051130.463477269] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051130.502672234] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904138 Long: -76.50276874 -[main_algo-3] [INFO] [1746051130.503667652] [sailbot.main_algo]: Distance to destination: 56.73583635372805 -[vectornav-1] [INFO] [1746051130.503778938] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.01600000000002, -0.712, 4.833) -[main_algo-3] [INFO] [1746051130.504834255] [sailbot.main_algo]: Target Bearing: -142.35264114279616 -[main_algo-3] [INFO] [1746051130.505878400] [sailbot.main_algo]: Heading Difference: -179.2113588572039 -[main_algo-3] [INFO] [1746051130.506785935] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051130.507727008] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051130.508705424] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051130.510599614] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051130.545394748] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051130.546232152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051130.546912928] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051130.548530052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051130.549550331] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051130.585092701] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051130.587156510] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051130.587194893] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051130.588213394] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051130.589052253] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051130.589239421] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051130.590223410] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051130.644977075] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051130.645838600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051130.646299611] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051130.647954061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051130.649027400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051130.745224935] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051130.746285013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051130.747116250] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051130.748410001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051130.748956169] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051130.835340241] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051130.837839347] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051130.838009259] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051130.838983385] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051130.839358150] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051130.839871982] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051130.840517757] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051130.844488230] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051130.844959244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051130.845697351] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051130.846621385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051130.847739250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051130.945472218] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051130.946087507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051130.947428076] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051130.948284793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051130.949563238] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051130.957174919] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051130.958196503] [sailbot.main_algo]: Target Bearing: -142.35264114279616 -[main_algo-3] [INFO] [1746051130.959093048] [sailbot.main_algo]: Heading Difference: -178.63135885720385 -[main_algo-3] [INFO] [1746051130.959946979] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051130.960814929] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051130.961725703] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051130.962720393] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051130.963397988] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051131.003446580] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904144 Long: -76.50276882 -[main_algo-3] [INFO] [1746051131.004346440] [sailbot.main_algo]: Distance to destination: 56.73486379688108 -[vectornav-1] [INFO] [1746051131.004808043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.82400000000001, 0.543, 5.279) -[main_algo-3] [INFO] [1746051131.006023439] [sailbot.main_algo]: Target Bearing: -142.34323659293986 -[main_algo-3] [INFO] [1746051131.007016106] [sailbot.main_algo]: Heading Difference: -178.64076340706015 -[main_algo-3] [INFO] [1746051131.007888120] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051131.008833078] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051131.009748606] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051131.011438594] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051131.045174269] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051131.045889049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051131.046584995] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051131.047862026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051131.049046853] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051131.085230984] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051131.086811366] [sailbot.teensy]: Wind angle: 164 -[trim_sail-4] [INFO] [1746051131.087370559] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051131.087673242] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051131.088488702] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051131.088711861] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051131.089380768] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051131.145103015] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051131.145829752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051131.146431939] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051131.147681926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051131.148730849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051131.245469145] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051131.246209503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051131.247242330] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051131.248514218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051131.249111228] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051131.335283981] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051131.337582797] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051131.337937387] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051131.338934268] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051131.339300956] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051131.339456800] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051131.339801610] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051131.344495169] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051131.345165200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051131.345920269] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051131.346965206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051131.348038431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051131.445302036] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051131.446023700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051131.447071239] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051131.448220548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051131.449392405] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051131.457142436] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051131.458191928] [sailbot.main_algo]: Target Bearing: -142.34323659293986 -[main_algo-3] [INFO] [1746051131.459112154] [sailbot.main_algo]: Heading Difference: -179.83276340706016 -[main_algo-3] [INFO] [1746051131.460050008] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051131.460947344] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051131.461758410] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051131.462894903] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051131.463393594] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051131.503689955] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904135 Long: -76.50276884 -[main_algo-3] [INFO] [1746051131.504273467] [sailbot.main_algo]: Distance to destination: 56.72733470767878 -[vectornav-1] [INFO] [1746051131.505058580] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (36.76400000000001, -1.7, 4.943) -[main_algo-3] [INFO] [1746051131.505875276] [sailbot.main_algo]: Target Bearing: -142.35008069035592 -[main_algo-3] [INFO] [1746051131.506919016] [sailbot.main_algo]: Heading Difference: -179.82591930964406 -[main_algo-3] [INFO] [1746051131.507878055] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051131.508812907] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051131.509681760] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051131.511400737] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051131.545100361] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051131.545810657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051131.546373023] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051131.547938229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051131.548956113] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051131.585372466] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051131.587059394] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051131.587566236] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051131.587978195] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051131.589340725] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051131.590125355] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051131.590233559] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051131.645071136] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051131.645605667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051131.646423513] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051131.647461419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051131.648622773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051131.745672565] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051131.746100319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051131.747806456] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051131.748374150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051131.749528707] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051131.835153272] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051131.836766150] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051131.837387114] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051131.837707293] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051131.838608687] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051131.839107794] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051131.839465753] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051131.844607456] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051131.845124886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051131.846144794] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051131.846859848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051131.847994118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051131.945335723] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051131.945870081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051131.946827278] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051131.948165108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051131.949318607] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051131.957107083] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051131.958261023] [sailbot.main_algo]: Target Bearing: -142.35008069035592 -[main_algo-3] [INFO] [1746051131.959221894] [sailbot.main_algo]: Heading Difference: 179.11408069035593 -[main_algo-3] [INFO] [1746051131.960143389] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051131.961052677] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051131.961926708] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051131.962962944] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051131.963700883] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051132.003097018] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904156 Long: -76.50276884 -[main_algo-3] [INFO] [1746051132.004046033] [sailbot.main_algo]: Distance to destination: 56.74190854498853 -[vectornav-1] [INFO] [1746051132.004394392] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (36.117999999999995, 0.486, 4.663) -[main_algo-3] [INFO] [1746051132.005309037] [sailbot.main_algo]: Target Bearing: -142.33169248005768 -[main_algo-3] [INFO] [1746051132.006339017] [sailbot.main_algo]: Heading Difference: 179.09569248005766 -[main_algo-3] [INFO] [1746051132.007270682] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051132.008128237] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051132.009024143] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051132.010835937] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051132.045019184] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051132.045746890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051132.046321643] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051132.047948637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051132.049065238] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051132.085254301] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051132.087504343] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051132.088616071] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051132.089385859] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051132.090307384] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051132.091124889] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051132.091990963] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051132.145085401] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051132.145864705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051132.146565127] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051132.147952812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051132.148996055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051132.245274996] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051132.246041045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051132.246862947] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051132.248250005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051132.249655678] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051132.335307808] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051132.337241647] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051132.337855280] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051132.338341269] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051132.339305236] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051132.339893269] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051132.340222610] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051132.344512963] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051132.345027950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051132.345937983] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051132.346793135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051132.347998894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051132.445510592] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051132.446327517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051132.447107267] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051132.448328691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051132.448871789] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051132.457213002] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051132.458432200] [sailbot.main_algo]: Target Bearing: -142.33169248005768 -[main_algo-3] [INFO] [1746051132.459429465] [sailbot.main_algo]: Heading Difference: 178.4496924800577 -[main_algo-3] [INFO] [1746051132.460357238] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051132.461215205] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051132.462064691] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051132.463138145] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051132.463760692] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051132.502697421] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904171 Long: -76.50276886 -[vectornav-1] [INFO] [1746051132.503906917] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.331999999999994, -0.287, 5.267) -[main_algo-3] [INFO] [1746051132.503671768] [sailbot.main_algo]: Distance to destination: 56.751038573927296 -[main_algo-3] [INFO] [1746051132.505069576] [sailbot.main_algo]: Target Bearing: -142.31752586669785 -[main_algo-3] [INFO] [1746051132.506054450] [sailbot.main_algo]: Heading Difference: 178.43552586669784 -[main_algo-3] [INFO] [1746051132.507413871] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051132.508349766] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051132.509206018] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051132.510947678] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051132.545099210] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051132.545687112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051132.546442767] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051132.547574911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051132.548643243] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051132.585178988] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051132.586924020] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051132.587671939] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051132.587879081] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051132.588784600] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051132.588987881] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051132.589660008] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051132.644835264] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051132.645507067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051132.646019154] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051132.647287344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051132.648434160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051132.745301608] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051132.745861052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051132.746845502] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051132.747976579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051132.749143600] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051132.835141319] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051132.837354600] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051132.838082992] [sailbot.teensy]: Wind angle: 163 -[mux-7] [INFO] [1746051132.838661204] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051132.839231400] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051132.840173697] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051132.840776588] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051132.844607538] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051132.845137844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051132.845864410] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051132.846939887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051132.848062281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051132.945450854] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051132.946104932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051132.947210869] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051132.948323700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051132.948902938] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051132.956951184] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051132.957831183] [sailbot.main_algo]: Target Bearing: -142.31752586669785 -[main_algo-3] [INFO] [1746051132.958642838] [sailbot.main_algo]: Heading Difference: 177.64952586669784 -[main_algo-3] [INFO] [1746051132.959432568] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051132.960245252] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051132.961032404] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051132.962170949] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051132.963061033] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051133.003457271] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904175 Long: -76.50276884 -[main_algo-3] [INFO] [1746051133.003662333] [sailbot.main_algo]: Distance to destination: 56.75509943073406 -[vectornav-1] [INFO] [1746051133.004610834] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.238, -0.343, 4.518) -[main_algo-3] [INFO] [1746051133.004702961] [sailbot.main_algo]: Target Bearing: -142.31506366740885 -[main_algo-3] [INFO] [1746051133.005732920] [sailbot.main_algo]: Heading Difference: 177.64706366740882 -[main_algo-3] [INFO] [1746051133.006634721] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051133.007530510] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051133.008438043] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051133.010258821] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051133.045097151] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051133.045628166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051133.046436284] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051133.047491479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051133.048684479] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051133.085349358] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051133.087602665] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051133.088481854] [sailbot.teensy]: Wind angle: 163 -[mux-7] [INFO] [1746051133.088575249] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051133.090328373] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051133.091329663] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051133.092185065] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051133.145347100] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051133.145965159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051133.147167695] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051133.148527166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051133.149712302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051133.245139584] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051133.246236619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051133.246596560] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051133.248244943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051133.248773699] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051133.335268275] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051133.337855639] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051133.338792832] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051133.338901867] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051133.339320067] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051133.339689907] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051133.340059080] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051133.344434520] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051133.345051604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051133.345634069] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051133.346769277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051133.347782485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051133.445155707] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051133.445833942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051133.446601263] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051133.447953388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051133.449319951] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051133.457137742] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051133.458176257] [sailbot.main_algo]: Target Bearing: -142.31506366740885 -[main_algo-3] [INFO] [1746051133.459061995] [sailbot.main_algo]: Heading Difference: 177.55306366740888 -[main_algo-3] [INFO] [1746051133.459924743] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051133.460897801] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051133.461768524] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051133.462860162] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051133.463901831] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051133.502896088] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904192 Long: -76.50276894 -[vectornav-1] [INFO] [1746051133.504133105] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.75, -0.469, 4.388) -[main_algo-3] [INFO] [1746051133.504644319] [sailbot.main_algo]: Distance to destination: 56.76049053415017 -[main_algo-3] [INFO] [1746051133.505729025] [sailbot.main_algo]: Target Bearing: -142.2950007987612 -[main_algo-3] [INFO] [1746051133.507073622] [sailbot.main_algo]: Heading Difference: 177.53300079876124 -[main_algo-3] [INFO] [1746051133.508092304] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051133.509023787] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051133.509882608] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051133.511571809] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051133.545119583] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051133.545827496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051133.546548945] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051133.548136068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051133.549267501] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051133.585122583] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051133.586793507] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051133.587177736] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051133.587658824] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051133.588595917] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051133.589493350] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051133.589792351] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051133.644979137] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051133.645578874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051133.646351973] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051133.647705401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051133.648181674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051133.745028321] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051133.745661506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051133.746300426] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051133.747609732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051133.748673255] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051133.835206602] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051133.836831402] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051133.837376730] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051133.838463540] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051133.838869305] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051133.838948364] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051133.839259260] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051133.844555817] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051133.845058341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051133.845968599] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051133.847140118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051133.848209368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051133.944863515] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051133.945425203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051133.946065405] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051133.947262472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051133.948305258] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051133.957171757] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051133.958278610] [sailbot.main_algo]: Target Bearing: -142.2950007987612 -[main_algo-3] [INFO] [1746051133.959235623] [sailbot.main_algo]: Heading Difference: 177.04500079876118 -[main_algo-3] [INFO] [1746051133.960104240] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051133.960928077] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051133.961718424] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051133.962800343] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051133.963273904] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051134.002945117] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904188 Long: -76.50276908 -[main_algo-3] [INFO] [1746051134.003844107] [sailbot.main_algo]: Distance to destination: 56.748730789387956 -[vectornav-1] [INFO] [1746051134.004092539] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.84500000000003, -0.262, 5.309) -[main_algo-3] [INFO] [1746051134.005022491] [sailbot.main_algo]: Target Bearing: -142.29123046049386 -[main_algo-3] [INFO] [1746051134.006013905] [sailbot.main_algo]: Heading Difference: 177.04123046049386 -[main_algo-3] [INFO] [1746051134.006901436] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051134.007822747] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051134.008709882] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051134.010416403] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051134.045000125] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051134.045755378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051134.046287092] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051134.047734119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051134.048958241] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051134.085202344] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051134.087546696] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051134.088773376] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051134.088802940] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051134.089809471] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051134.090730682] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051134.091639221] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051134.144939830] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051134.145615913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051134.146599764] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051134.147476337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051134.148586456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051134.245173354] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051134.245957662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051134.246617106] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051134.248237798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051134.249128350] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051134.335160913] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051134.337335306] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051134.337694647] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051134.338702162] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051134.338998455] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051134.339630780] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051134.340566549] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051134.344336364] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051134.344858840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051134.345435193] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051134.346889274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051134.347900546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051134.444875240] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051134.445414755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051134.446207935] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051134.447283429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051134.448312426] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051134.457121699] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051134.458098987] [sailbot.main_algo]: Target Bearing: -142.29123046049386 -[main_algo-3] [INFO] [1746051134.458984180] [sailbot.main_algo]: Heading Difference: 177.1362304604939 -[main_algo-3] [INFO] [1746051134.459864861] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051134.460727271] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051134.461553339] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051134.462596448] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051134.463347775] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051134.503302994] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904184 Long: -76.50276897 -[main_algo-3] [INFO] [1746051134.503951088] [sailbot.main_algo]: Distance to destination: 56.75300877171071 -[vectornav-1] [INFO] [1746051134.504734002] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.625, -0.12, 5.13) -[main_algo-3] [INFO] [1746051134.505167244] [sailbot.main_algo]: Target Bearing: -142.30044138705395 -[main_algo-3] [INFO] [1746051134.506149210] [sailbot.main_algo]: Heading Difference: 177.145441387054 -[main_algo-3] [INFO] [1746051134.507068659] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051134.507964375] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051134.508848499] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051134.510632964] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051134.545123284] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051134.545811688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051134.546552620] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051134.548143446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051134.549385211] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051134.585351615] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051134.587586166] [sailbot.teensy]: Wind angle: 164 -[teensy-2] [INFO] [1746051134.588597174] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051134.587881067] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051134.589367230] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051134.589446352] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051134.590331532] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051134.645004344] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051134.645638699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051134.646332289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051134.647585012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051134.648541607] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051134.745332931] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051134.746062657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051134.747043391] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051134.747771402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051134.748335378] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051134.835187269] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051134.837543279] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051134.838314653] [sailbot.teensy]: Wind angle: 163 -[mux-7] [INFO] [1746051134.838541901] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051134.839251650] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051134.839640695] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051134.840131059] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051134.844479292] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051134.845092235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051134.845668241] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051134.846921784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051134.847933394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051134.944895227] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051134.945433051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051134.946299553] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051134.947243072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051134.948429093] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051134.957188096] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051134.958228160] [sailbot.main_algo]: Target Bearing: -142.30044138705395 -[main_algo-3] [INFO] [1746051134.959165908] [sailbot.main_algo]: Heading Difference: 176.92544138705398 -[main_algo-3] [INFO] [1746051134.960032305] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051134.960957208] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051134.961809522] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051134.962903154] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051134.963531845] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051135.003081686] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904189 Long: -76.50276899 -[vectornav-1] [INFO] [1746051135.004356818] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.726999999999975, -0.75, 4.525) -[main_algo-3] [INFO] [1746051135.004368220] [sailbot.main_algo]: Distance to destination: 56.75519892917563 -[main_algo-3] [INFO] [1746051135.005589523] [sailbot.main_algo]: Target Bearing: -142.29502900998398 -[main_algo-3] [INFO] [1746051135.006682680] [sailbot.main_algo]: Heading Difference: 176.92002900998398 -[main_algo-3] [INFO] [1746051135.007828602] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051135.008786337] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051135.009668436] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051135.011503131] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051135.045107433] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051135.045812719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051135.046704412] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051135.047683254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051135.048754587] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051135.085427145] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051135.087574326] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051135.088568581] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051135.088029311] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051135.089449520] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051135.089478853] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051135.090376015] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051135.144971783] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051135.145683465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051135.146588195] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051135.147556313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051135.148641705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051135.245322672] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051135.246359577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051135.246952402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051135.248639180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051135.249342111] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051135.335442228] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051135.338224444] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051135.338508965] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051135.338963605] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051135.339938348] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051135.340803597] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051135.341656942] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051135.344359538] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051135.344941143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051135.345544440] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051135.346622779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051135.347650779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051135.445152927] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051135.445758905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051135.446601818] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051135.447675233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051135.448163159] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051135.457212194] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051135.458246230] [sailbot.main_algo]: Target Bearing: -142.29502900998398 -[main_algo-3] [INFO] [1746051135.459141053] [sailbot.main_algo]: Heading Difference: 177.02202900998395 -[main_algo-3] [INFO] [1746051135.460016352] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051135.460828103] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051135.461686415] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051135.462662721] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051135.463253970] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051135.502837955] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904211 Long: -76.50276905 -[main_algo-3] [INFO] [1746051135.503872634] [sailbot.main_algo]: Distance to destination: 56.76663729061158 -[vectornav-1] [INFO] [1746051135.504036652] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.867999999999995, 0.219, 4.977) -[main_algo-3] [INFO] [1746051135.505060249] [sailbot.main_algo]: Target Bearing: -142.272673758255 -[main_algo-3] [INFO] [1746051135.506012950] [sailbot.main_algo]: Heading Difference: 176.99967375825497 -[main_algo-3] [INFO] [1746051135.506906659] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051135.507757727] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051135.508624844] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051135.510491632] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051135.544990863] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051135.545702830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051135.546319377] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051135.547701442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051135.548857744] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051135.585103102] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051135.586757185] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051135.587299695] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051135.587618973] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051135.588496813] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051135.588740695] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051135.589412495] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051135.645257356] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051135.645987689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051135.646822596] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051135.648314785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051135.649548159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051135.744836052] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051135.745412665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051135.746332093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051135.747187844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051135.748225768] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051135.835096481] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051135.837345895] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051135.837941646] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051135.838705159] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051135.839572652] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051135.840635891] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051135.841539451] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051135.844537089] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051135.844981751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051135.845717330] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051135.846771436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051135.847769091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051135.945383443] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051135.946388561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051135.946961145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051135.948074091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051135.948569820] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051135.957130655] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051135.958159659] [sailbot.main_algo]: Target Bearing: -142.272673758255 -[main_algo-3] [INFO] [1746051135.959044180] [sailbot.main_algo]: Heading Difference: 177.140673758255 -[main_algo-3] [INFO] [1746051135.959924375] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051135.960742762] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051135.961567801] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051135.962598686] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051135.963400523] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051136.003335619] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904213 Long: -76.50276902 -[main_algo-3] [INFO] [1746051136.004247364] [sailbot.main_algo]: Distance to destination: 56.76995126201212 -[vectornav-1] [INFO] [1746051136.004861280] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.584, -0.92, 5.404) -[main_algo-3] [INFO] [1746051136.005310426] [sailbot.main_algo]: Target Bearing: -142.2724832344856 -[main_algo-3] [INFO] [1746051136.006296751] [sailbot.main_algo]: Heading Difference: 177.1404832344856 -[main_algo-3] [INFO] [1746051136.007212373] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051136.008097313] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051136.008976559] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051136.010819816] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051136.045369422] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051136.045942450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051136.046873504] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051136.048079462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051136.049410860] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051136.085446777] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051136.087202172] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051136.088163384] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051136.087708068] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051136.089062257] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051136.089996502] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051136.089256058] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051136.145140629] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051136.145649812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051136.146491644] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051136.147607537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051136.148688127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051136.245284359] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051136.246005042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051136.247073755] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051136.247824179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051136.248987637] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051136.335500278] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051136.338576440] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051136.339055739] [sailbot.teensy]: Wind angle: 163 -[mux-7] [INFO] [1746051136.339461470] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051136.340056131] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051136.340942544] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051136.341351670] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051136.344613933] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051136.345130541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051136.345812562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051136.347090190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051136.348235351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051136.445283461] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051136.446061279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051136.446781099] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051136.448091666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051136.449075171] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051136.457171895] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051136.458216453] [sailbot.main_algo]: Target Bearing: -142.2724832344856 -[main_algo-3] [INFO] [1746051136.459112624] [sailbot.main_algo]: Heading Difference: 176.8564832344856 -[main_algo-3] [INFO] [1746051136.459981004] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051136.460892744] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051136.461759697] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051136.462768275] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051136.463368827] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051136.502918568] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904217 Long: -76.50276874 -[main_algo-3] [INFO] [1746051136.504306922] [sailbot.main_algo]: Distance to destination: 56.79068900741686 -[vectornav-1] [INFO] [1746051136.504575815] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.01600000000002, 0.404, 4.509) -[main_algo-3] [INFO] [1746051136.505455875] [sailbot.main_algo]: Target Bearing: -142.28352337964301 -[main_algo-3] [INFO] [1746051136.506571467] [sailbot.main_algo]: Heading Difference: 176.867523379643 -[main_algo-3] [INFO] [1746051136.507512730] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051136.508420079] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051136.509267181] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051136.510984596] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051136.545251080] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051136.545943314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051136.546735497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051136.548056121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051136.549017515] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051136.585057375] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051136.587274688] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051136.587660083] [sailbot.teensy]: Wind angle: 164 -[mux-7] [INFO] [1746051136.587893654] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051136.589097346] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051136.590112422] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051136.590942467] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051136.645124177] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051136.645619211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051136.646496198] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051136.647556731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051136.648917709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051136.745469963] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051136.746301417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051136.747176759] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051136.748624916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051136.749881881] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051136.835355864] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051136.837691213] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051136.838479136] [sailbot.teensy]: Wind angle: 164 -[mux-7] [INFO] [1746051136.839253003] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051136.839415000] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051136.840370556] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051136.840949098] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051136.844438896] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051136.845238784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051136.845846126] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051136.847281080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051136.848316202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051136.945539649] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051136.946085761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051136.947203266] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051136.948616364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051136.949443682] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051136.957283173] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051136.958362158] [sailbot.main_algo]: Target Bearing: -142.28352337964301 -[main_algo-3] [INFO] [1746051136.959267764] [sailbot.main_algo]: Heading Difference: 176.299523379643 -[main_algo-3] [INFO] [1746051136.960142982] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051136.961050712] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051136.961902931] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051136.963085065] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051136.963699086] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051137.003108756] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904232 Long: -76.50276877 -[main_algo-3] [INFO] [1746051137.004228626] [sailbot.main_algo]: Distance to destination: 56.79918955025455 -[vectornav-1] [INFO] [1746051137.004668227] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.079999999999984, -1.064, 4.17) -[main_algo-3] [INFO] [1746051137.005532976] [sailbot.main_algo]: Target Bearing: -142.26885758772212 -[main_algo-3] [INFO] [1746051137.006532563] [sailbot.main_algo]: Heading Difference: 176.28485758772217 -[main_algo-3] [INFO] [1746051137.007462830] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051137.008355698] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051137.009201183] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051137.010932874] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051137.045361708] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051137.045961183] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051137.046961163] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051137.048028937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051137.049070439] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051137.085331581] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051137.088353324] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051137.088596705] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051137.089264323] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051137.090174186] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051137.091036381] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051137.091846869] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051137.145150933] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051137.145617543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051137.146500574] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051137.147513062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051137.148617098] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051137.245367081] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051137.245892897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051137.246896939] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051137.248077435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051137.248917355] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051137.335535556] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051137.338749819] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051137.339224193] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051137.339552424] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051137.339964225] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051137.340350179] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051137.340722758] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051137.344388827] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051137.344841533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051137.345532156] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051137.346570370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051137.347642435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051137.445487847] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051137.446124854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051137.447182396] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051137.448651390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051137.449510815] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051137.457386972] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051137.458500725] [sailbot.main_algo]: Target Bearing: -142.26885758772212 -[main_algo-3] [INFO] [1746051137.459441453] [sailbot.main_algo]: Heading Difference: 175.34885758772214 -[main_algo-3] [INFO] [1746051137.460342135] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051137.461200248] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051137.462059414] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051137.463173740] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051137.463861131] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051137.503216588] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904236 Long: -76.50276871 -[main_algo-3] [INFO] [1746051137.504201270] [sailbot.main_algo]: Distance to destination: 56.80581752208662 -[vectornav-1] [INFO] [1746051137.504605924] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.093999999999994, 0.226, 6.087) -[main_algo-3] [INFO] [1746051137.505434711] [sailbot.main_algo]: Target Bearing: -142.26847722502413 -[main_algo-3] [INFO] [1746051137.506490890] [sailbot.main_algo]: Heading Difference: 175.3484772250241 -[main_algo-3] [INFO] [1746051137.507572694] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051137.508509386] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051137.509368881] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051137.511172173] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051137.545264789] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051137.545902627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051137.546857170] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051137.548267556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051137.549391719] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051137.585129122] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051137.586653238] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051137.587518300] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051137.587089572] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051137.589208247] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051137.589399201] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051137.590256433] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051137.645439671] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051137.645994094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051137.647242732] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051137.648260143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051137.649618886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051137.745258809] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051137.745723221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051137.746613900] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051137.747590882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051137.748795191] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051137.835212352] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051137.836868306] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051137.837741316] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051137.837351823] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051137.838592053] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051137.838875996] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051137.839478767] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051137.844513197] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051137.844969097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051137.845724454] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051137.846651830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051137.847825321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051137.945237518] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051137.945880506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051137.947119924] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051137.947964057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051137.948828779] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051137.957176063] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051137.958231897] [sailbot.main_algo]: Target Bearing: -142.26847722502413 -[main_algo-3] [INFO] [1746051137.959136934] [sailbot.main_algo]: Heading Difference: 174.36247722502412 -[main_algo-3] [INFO] [1746051137.959953936] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051137.960800038] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051137.961631062] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051137.962665327] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051137.963219958] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051138.002849811] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904239 Long: -76.50276865 -[main_algo-3] [INFO] [1746051138.003673578] [sailbot.main_algo]: Distance to destination: 56.811750408115856 -[vectornav-1] [INFO] [1746051138.003993319] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.701000000000022, -0.482, 5.45) -[main_algo-3] [INFO] [1746051138.004771293] [sailbot.main_algo]: Target Bearing: -142.26897050366006 -[main_algo-3] [INFO] [1746051138.005776799] [sailbot.main_algo]: Heading Difference: 174.36297050366005 -[main_algo-3] [INFO] [1746051138.006709749] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051138.007637477] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051138.008537533] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051138.010221315] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051138.045062028] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051138.045780705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051138.046394573] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051138.048003448] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051138.049015514] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051138.085289427] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051138.087389787] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051138.087575262] [sailbot.teensy]: Wind angle: 164 -[mux-7] [INFO] [1746051138.088409608] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051138.088520832] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051138.089420815] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051138.090275079] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051138.145192598] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051138.145872928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051138.146770686] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051138.148178963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051138.149316449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051138.244982284] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051138.245792959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051138.246228491] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051138.247664331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051138.248692638] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051138.335337440] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051138.337525880] [sailbot.teensy]: Wind angle: 164 -[trim_sail-4] [INFO] [1746051138.337648351] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051138.338457665] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051138.338630804] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051138.339375312] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051138.340314135] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051138.344444677] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051138.344883661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051138.345534626] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051138.346535910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051138.347620821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051138.445040147] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051138.445731590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051138.446359560] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051138.447686682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051138.448224708] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051138.457049173] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051138.458007408] [sailbot.main_algo]: Target Bearing: -142.26897050366006 -[main_algo-3] [INFO] [1746051138.458904414] [sailbot.main_algo]: Heading Difference: 173.96997050366008 -[main_algo-3] [INFO] [1746051138.459752222] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051138.460560979] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051138.461357970] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051138.462357567] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051138.463077206] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051138.503382164] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904242 Long: -76.50276864 -[main_algo-3] [INFO] [1746051138.503693069] [sailbot.main_algo]: Distance to destination: 56.8144769634813 -[vectornav-1] [INFO] [1746051138.504591781] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.47399999999999, -0.205, 4.785) -[main_algo-3] [INFO] [1746051138.504743025] [sailbot.main_algo]: Target Bearing: -142.26686890598802 -[main_algo-3] [INFO] [1746051138.505742317] [sailbot.main_algo]: Heading Difference: 173.96786890598804 -[main_algo-3] [INFO] [1746051138.506654352] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051138.507632869] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051138.508495821] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051138.510188310] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051138.545002902] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051138.545664324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051138.546270959] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051138.547702331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051138.548738821] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051138.585351236] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051138.587545063] [sailbot.teensy]: Wind angle: 164 -[trim_sail-4] [INFO] [1746051138.587816149] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051138.588517328] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051138.589458911] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051138.590038092] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051138.590403855] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051138.644818429] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051138.645592552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051138.646036991] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051138.647408525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051138.648504709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051138.745375757] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051138.746042455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051138.747109677] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051138.748031799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051138.748532020] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051138.835204634] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051138.836897640] [sailbot.teensy]: Wind angle: 164 -[trim_sail-4] [INFO] [1746051138.837480591] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051138.837838790] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051138.838736481] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051138.839585475] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051138.839604174] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051138.844353356] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051138.844867927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051138.845433584] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051138.846676784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051138.847725763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051138.945033258] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051138.945853489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051138.946354627] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051138.947935076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051138.948969487] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051138.957151875] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051138.958199734] [sailbot.main_algo]: Target Bearing: -142.26686890598802 -[main_algo-3] [INFO] [1746051138.959087443] [sailbot.main_algo]: Heading Difference: 175.740868905988 -[main_algo-3] [INFO] [1746051138.959974398] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051138.960843591] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051138.962149032] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051138.963172254] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051138.963887463] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051139.002842507] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904267 Long: -76.5027685 -[main_algo-3] [INFO] [1746051139.003651662] [sailbot.main_algo]: Distance to destination: 56.8408341779331 -[vectornav-1] [INFO] [1746051139.004098520] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.827, -0.99, 5.232) -[main_algo-3] [INFO] [1746051139.005095897] [sailbot.main_algo]: Target Bearing: -142.25230409621304 -[main_algo-3] [INFO] [1746051139.006105099] [sailbot.main_algo]: Heading Difference: 175.72630409621303 -[main_algo-3] [INFO] [1746051139.007242463] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051139.008139588] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051139.009010199] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051139.010807729] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051139.044934253] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051139.045701175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051139.046598337] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051139.047490095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051139.048685691] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051139.085228141] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051139.087344339] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051139.088085011] [sailbot.teensy]: Wind angle: 164 -[mux-7] [INFO] [1746051139.088143246] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051139.089004344] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051139.090107187] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051139.090935536] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051139.145212215] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051139.145757118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051139.146618788] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051139.147683930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051139.148848105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051139.245050227] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051139.245507334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051139.246325534] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051139.247274711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051139.248361775] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051139.335226548] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051139.336884599] [sailbot.teensy]: Wind angle: 164 -[trim_sail-4] [INFO] [1746051139.337411802] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051139.337831228] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051139.338763611] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051139.339638853] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051139.339119646] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051139.344438925] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051139.344923581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051139.345591529] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051139.346644536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051139.347670346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051139.445433215] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051139.445955578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051139.447151335] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051139.448325117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051139.449437369] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051139.457152293] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051139.458223143] [sailbot.main_algo]: Target Bearing: -142.25230409621304 -[main_algo-3] [INFO] [1746051139.459118862] [sailbot.main_algo]: Heading Difference: 176.07930409621304 -[main_algo-3] [INFO] [1746051139.459980991] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051139.460887198] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051139.461748666] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051139.462803392] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051139.463448007] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051139.502792720] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904272 Long: -76.50276821 -[main_algo-3] [INFO] [1746051139.503734976] [sailbot.main_algo]: Distance to destination: 56.86290445646826 -[vectornav-1] [INFO] [1746051139.504279304] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.34000000000003, 0.718, 6.753) -[main_algo-3] [INFO] [1746051139.505084402] [sailbot.main_algo]: Target Bearing: -142.26298371177765 -[main_algo-3] [INFO] [1746051139.506069096] [sailbot.main_algo]: Heading Difference: 176.08998371177768 -[main_algo-3] [INFO] [1746051139.506984171] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051139.507852139] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051139.508742006] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051139.510448949] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051139.545053841] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051139.545663652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051139.546471095] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051139.547609626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051139.548633721] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051139.584995623] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051139.586922953] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051139.587221379] [sailbot.teensy]: Wind angle: 164 -[mux-7] [INFO] [1746051139.588071140] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051139.588438713] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051139.589393320] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051139.590271475] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051139.645019991] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051139.645889686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051139.646519280] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051139.648024472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051139.649056772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051139.745252706] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051139.746250624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051139.746751772] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051139.748486849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051139.749770369] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051139.835327240] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051139.837117590] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051139.837480143] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051139.838114030] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051139.839055174] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051139.839293441] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051139.839916519] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051139.844379696] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051139.845060545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051139.845493529] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051139.846855651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051139.848014004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051139.945494368] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051139.946313467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051139.947076065] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051139.948461956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051139.948944182] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051139.957158751] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051139.958221215] [sailbot.main_algo]: Target Bearing: -142.26298371177765 -[main_algo-3] [INFO] [1746051139.959113468] [sailbot.main_algo]: Heading Difference: 174.6029837117777 -[main_algo-3] [INFO] [1746051139.959985798] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051139.960887001] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051139.961718627] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051139.962706601] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051139.963303923] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051140.003280655] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904301 Long: -76.50276833 -[main_algo-3] [INFO] [1746051140.003730103] [sailbot.main_algo]: Distance to destination: 56.875378355933215 -[vectornav-1] [INFO] [1746051140.004428675] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (34.74000000000001, -1.304, 4.215) -[main_algo-3] [INFO] [1746051140.004813904] [sailbot.main_algo]: Target Bearing: -142.23145924099126 -[main_algo-3] [INFO] [1746051140.005805885] [sailbot.main_algo]: Heading Difference: 174.57145924099132 -[main_algo-3] [INFO] [1746051140.006713853] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051140.007566434] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051140.008423496] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051140.010119883] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051140.045176678] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051140.045936338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051140.046762400] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051140.047844361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051140.048864013] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051140.085244558] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051140.086852331] [sailbot.teensy]: Wind angle: 164 -[trim_sail-4] [INFO] [1746051140.087471574] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051140.087747204] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051140.088660145] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051140.089146579] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051140.089514110] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051140.145029319] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051140.145882675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051140.146432701] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051140.147675800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051140.148167785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051140.245125573] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051140.245984015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051140.246498975] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051140.247918877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051140.249109941] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051140.335294240] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051140.337073374] [sailbot.teensy]: Wind angle: 162 -[teensy-2] [INFO] [1746051140.338076069] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051140.338247994] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051140.338995193] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051140.339908236] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051140.340096469] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051140.344444323] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051140.345076948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051140.345775039] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051140.346820591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051140.347952514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051140.445294378] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051140.445944412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051140.446757155] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051140.448043976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051140.449306091] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051140.457177854] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051140.458259074] [sailbot.main_algo]: Target Bearing: -142.23145924099126 -[main_algo-3] [INFO] [1746051140.459169081] [sailbot.main_algo]: Heading Difference: 176.9714592409913 -[main_algo-3] [INFO] [1746051140.460029515] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051140.460908088] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051140.461807710] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051140.462856940] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051140.463440298] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051140.502755817] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904311 Long: -76.50276835 -[main_algo-3] [INFO] [1746051140.503698968] [sailbot.main_algo]: Distance to destination: 56.8810537728822 -[vectornav-1] [INFO] [1746051140.503804338] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.72500000000002, 0.101, 5.527) -[main_algo-3] [INFO] [1746051140.505157474] [sailbot.main_algo]: Target Bearing: -142.2217013082522 -[main_algo-3] [INFO] [1746051140.506600880] [sailbot.main_algo]: Heading Difference: 176.9617013082522 -[main_algo-3] [INFO] [1746051140.507499712] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051140.508381392] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051140.509218747] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051140.510917194] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051140.545638798] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051140.545686635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051140.547001237] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051140.547956691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051140.549010613] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051140.585047483] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051140.586929077] [sailbot.teensy]: Wind angle: 161 -[trim_sail-4] [INFO] [1746051140.587182787] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051140.587581638] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051140.587817253] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051140.588726674] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051140.589834455] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051140.644872576] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051140.645573456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051140.646116252] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051140.647721706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051140.648776565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051140.745136061] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051140.745888106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051140.746647020] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051140.748040442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051140.749060725] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051140.835295112] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051140.837177909] [sailbot.teensy]: Wind angle: 161 -[trim_sail-4] [INFO] [1746051140.837578027] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051140.838684318] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051140.839183832] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051140.840108998] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051140.840996360] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051140.844259081] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051140.844804435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051140.845634162] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051140.846636855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051140.847724841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051140.945237008] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051140.946037895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051140.946714059] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051140.948446477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051140.949487189] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051140.957164754] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051140.958130096] [sailbot.main_algo]: Target Bearing: -142.2217013082522 -[main_algo-3] [INFO] [1746051140.959018490] [sailbot.main_algo]: Heading Difference: 174.94670130825222 -[main_algo-3] [INFO] [1746051140.959852204] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051140.960676191] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051140.961463566] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051140.962480015] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051140.963308666] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051141.002867978] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904307 Long: -76.50276846 -[main_algo-3] [INFO] [1746051141.003902868] [sailbot.main_algo]: Distance to destination: 56.87122128692139 -[vectornav-1] [INFO] [1746051141.004098205] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.36200000000002, -0.285, 5.35) -[main_algo-3] [INFO] [1746051141.005103666] [sailbot.main_algo]: Target Bearing: -142.21948086158088 -[main_algo-3] [INFO] [1746051141.006046177] [sailbot.main_algo]: Heading Difference: 174.94448086158093 -[main_algo-3] [INFO] [1746051141.006956340] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051141.007845071] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051141.008704823] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051141.010438993] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051141.045387226] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051141.045631868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051141.046749910] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051141.047511824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051141.048720287] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051141.085080199] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051141.086656845] [sailbot.teensy]: Wind angle: 162 -[teensy-2] [INFO] [1746051141.087540919] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051141.087047733] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051141.088326804] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051141.088436508] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051141.089454188] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051141.145241770] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051141.145972560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051141.146709003] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051141.148026781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051141.149217147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051141.245188105] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051141.245874187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051141.246549783] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051141.247828261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051141.248885050] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051141.335411305] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051141.337779442] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051141.338474311] [sailbot.teensy]: Wind angle: 163 -[mux-7] [INFO] [1746051141.338745311] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051141.339461370] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051141.340394182] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051141.341012551] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051141.344361942] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051141.345065824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051141.345530055] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051141.347319692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051141.348353389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051141.444888841] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051141.445519090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051141.446139044] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051141.447507269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051141.448548556] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051141.457146556] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051141.458201812] [sailbot.main_algo]: Target Bearing: -142.21948086158088 -[main_algo-3] [INFO] [1746051141.459103462] [sailbot.main_algo]: Heading Difference: 175.58148086158087 -[main_algo-3] [INFO] [1746051141.459985797] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051141.460859761] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051141.461716103] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051141.462832577] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051141.463479231] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051141.502931522] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904302 Long: -76.5027686 -[vectornav-1] [INFO] [1746051141.504329333] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.50999999999999, -0.745, 4.672) -[main_algo-3] [INFO] [1746051141.504624435] [sailbot.main_algo]: Distance to destination: 56.858770597728544 -[main_algo-3] [INFO] [1746051141.505861607] [sailbot.main_algo]: Target Bearing: -142.21657443670503 -[main_algo-3] [INFO] [1746051141.506918667] [sailbot.main_algo]: Heading Difference: 175.57857443670503 -[main_algo-3] [INFO] [1746051141.507887146] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051141.508806064] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051141.509683103] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051141.511544517] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051141.545239768] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051141.545864006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051141.546609145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051141.547837037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051141.548894662] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051141.585110813] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051141.587119182] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051141.587653220] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051141.588138311] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051141.589070581] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051141.590264835] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051141.591122459] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051141.645365156] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051141.645927505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051141.646920167] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051141.647982549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051141.649063181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051141.745272179] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051141.745778588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051141.746668956] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051141.747643884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051141.748851793] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051141.835434607] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051141.837756579] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051141.838000093] [sailbot.teensy]: Wind angle: 162 -[mux-7] [INFO] [1746051141.838882267] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051141.838895919] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051141.839823111] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051141.840678742] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051141.844307151] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051141.844857319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051141.845398218] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051141.846599625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051141.847642536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051141.945310658] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051141.946288250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051141.946894166] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051141.947959479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051141.948448370] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051141.956963173] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051141.957819825] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746051141.958697194] [sailbot.main_algo]: Target Bearing: -142.21657443670503 -[main_algo-3] [INFO] [1746051141.959539693] [sailbot.main_algo]: Heading Difference: 177.72657443670505 -[main_algo-3] [INFO] [1746051141.960398086] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051141.961229037] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051141.962107636] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051141.963111838] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051141.963634666] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051142.003437415] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904308 Long: -76.50276863 -[main_algo-3] [INFO] [1746051142.004060194] [sailbot.main_algo]: Distance to destination: 56.86102381427253 -[vectornav-1] [INFO] [1746051142.004677332] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.67099999999999, 0.398, 5.339) -[main_algo-3] [INFO] [1746051142.005322324] [sailbot.main_algo]: Target Bearing: -142.20978408021452 -[main_algo-3] [INFO] [1746051142.006356303] [sailbot.main_algo]: Heading Difference: 177.71978408021448 -[main_algo-3] [INFO] [1746051142.007295737] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051142.008218385] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051142.009141423] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051142.010863622] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051142.045395247] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051142.046024425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051142.046973175] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051142.048181892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051142.049375416] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051142.085303479] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051142.087443525] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051142.087696874] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051142.088710284] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051142.088923812] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051142.089770516] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051142.090838759] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051142.145112570] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051142.146076637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051142.146823983] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051142.147854576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051142.148641390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051142.245093544] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051142.245774763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051142.246396756] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051142.247602511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051142.248663657] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051142.335474304] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051142.337737121] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051142.337908286] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051142.338714539] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051142.339591292] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051142.339611439] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051142.340573443] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051142.344332410] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051142.344771633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051142.345544138] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051142.346491052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051142.347617691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051142.445218785] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051142.445769469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051142.446585078] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051142.448103954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051142.449210761] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051142.457205676] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051142.458217161] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746051142.459088703] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051142.460350258] [sailbot.main_algo]: Current Location: (42.46904308214751, -76.50276863005445) -[main_algo-3] [INFO] [1746051142.461328955] [sailbot.main_algo]: Target Bearing: -142.20978408021452 -[main_algo-3] [INFO] [1746051142.462236860] [sailbot.main_algo]: Heading Difference: 177.88078408021454 -[main_algo-3] [INFO] [1746051142.463096188] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051142.463878297] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051142.464679980] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051142.465710584] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051142.466244031] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051142.503215738] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904304 Long: -76.50276857 -[main_algo-3] [INFO] [1746051142.504510655] [sailbot.main_algo]: Distance to destination: 56.8620847539267 -[vectornav-1] [INFO] [1746051142.504625850] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.16199999999998, -1.479, 5.266) -[main_algo-3] [INFO] [1746051142.506390637] [sailbot.main_algo]: Target Bearing: -142.21638749246986 -[main_algo-3] [INFO] [1746051142.507608720] [sailbot.main_algo]: Heading Difference: 177.88738749246988 -[main_algo-3] [INFO] [1746051142.508594254] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051142.509633647] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051142.510553565] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051142.512453191] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051142.544987027] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051142.545757670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051142.546215819] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051142.547686925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051142.548750353] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051142.585272963] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051142.587271367] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051142.587457412] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051142.588228490] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051142.589115716] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051142.588861118] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051142.590006125] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051142.644891164] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051142.645545928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051142.646143664] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051142.647316512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051142.648389956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051142.745323673] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051142.746324726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051142.747024108] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051142.748401730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051142.749497125] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051142.835484395] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051142.837891967] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051142.838028526] [sailbot.teensy]: Wind angle: 163 -[mux-7] [INFO] [1746051142.838746775] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051142.838963179] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051142.839867081] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051142.840753685] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051142.844362274] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051142.844892377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051142.845438452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051142.846587020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051142.847627361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051142.945598331] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051142.946582611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051142.947167376] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051142.948190687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051142.948753372] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051142.957108725] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051142.958119374] [sailbot.main_algo]: Target Bearing: -142.21638749246986 -[main_algo-3] [INFO] [1746051142.958954218] [sailbot.main_algo]: Heading Difference: 177.37838749246987 -[main_algo-3] [INFO] [1746051142.959765368] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051142.960609260] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051142.961425477] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051142.962584829] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051142.963031559] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051143.003296764] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904313 Long: -76.50276848 -[main_algo-3] [INFO] [1746051143.003808822] [sailbot.main_algo]: Distance to destination: 56.87411493257197 -[vectornav-1] [INFO] [1746051143.004444649] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (36.01299999999998, 0.677, 6.364) -[main_algo-3] [INFO] [1746051143.004910140] [sailbot.main_algo]: Target Bearing: -142.21321092655748 -[main_algo-3] [INFO] [1746051143.005908929] [sailbot.main_algo]: Heading Difference: 177.37521092655743 -[main_algo-3] [INFO] [1746051143.006811302] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051143.007692310] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051143.008592246] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051143.010244303] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051143.044949903] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051143.045695258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051143.046309644] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051143.047717780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051143.048761905] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051143.085166482] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051143.086928218] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051143.087206734] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051143.088440751] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051143.088678480] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051143.089583510] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051143.090453966] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051143.144918411] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051143.145449201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051143.146787731] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051143.147152783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051143.148146319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051143.245107664] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051143.245819466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051143.246461010] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051143.247685945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051143.248208714] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051143.335308618] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051143.337008404] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051143.337964011] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051143.338350475] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051143.338893519] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051143.338960371] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051143.339791999] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051143.344488663] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051143.345144387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051143.345595552] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051143.346842860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051143.347968754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051143.445019002] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051143.445944882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051143.446444548] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051143.447932720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051143.449009917] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051143.456983179] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051143.457953344] [sailbot.main_algo]: Target Bearing: -142.21321092655748 -[main_algo-3] [INFO] [1746051143.458828060] [sailbot.main_algo]: Heading Difference: 178.22621092655743 -[main_algo-3] [INFO] [1746051143.459636678] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051143.460464056] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051143.461321549] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051143.462336083] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051143.463086576] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051143.503535478] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904305 Long: -76.50276829 -[main_algo-3] [INFO] [1746051143.503825322] [sailbot.main_algo]: Distance to destination: 56.88072471261697 -[vectornav-1] [INFO] [1746051143.505057941] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.68700000000001, -1.101, 5.072) -[main_algo-3] [INFO] [1746051143.505081191] [sailbot.main_algo]: Target Bearing: -142.23004618195134 -[main_algo-3] [INFO] [1746051143.506118716] [sailbot.main_algo]: Heading Difference: 178.24304618195129 -[main_algo-3] [INFO] [1746051143.507074923] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051143.507943014] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051143.508811758] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051143.510557135] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051143.545008760] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051143.545595933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051143.546295966] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051143.547441598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051143.548473109] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051143.585429066] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051143.587340990] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051143.587956121] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051143.588311900] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051143.589277026] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051143.590189486] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051143.590425632] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051143.644655151] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051143.645728631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051143.645805455] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051143.647453480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051143.648666129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051143.745399240] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051143.746047729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051143.746957667] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051143.748192512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051143.749284683] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051143.835258420] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051143.836979045] [sailbot.teensy]: Wind angle: 162 -[trim_sail-4] [INFO] [1746051143.837588222] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051143.837924840] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051143.838820226] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051143.839666627] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051143.839706002] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051143.844855011] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051143.844884783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051143.846012265] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051143.846593014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051143.847673854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051143.945037055] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051143.945903614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051143.946422151] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051143.947937561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051143.948964099] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051143.957213619] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051143.958294148] [sailbot.main_algo]: Target Bearing: -142.23004618195134 -[main_algo-3] [INFO] [1746051143.959189113] [sailbot.main_algo]: Heading Difference: -179.08295381804862 -[main_algo-3] [INFO] [1746051143.960081477] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051143.960976150] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051143.961815268] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051143.962821800] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051143.963704789] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051144.002793393] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904319 Long: -76.50276838 -[vectornav-1] [INFO] [1746051144.004036232] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.49599999999998, 0.073, 4.759) -[main_algo-3] [INFO] [1746051144.004426972] [sailbot.main_algo]: Distance to destination: 56.88469820691225 -[main_algo-3] [INFO] [1746051144.005637306] [sailbot.main_algo]: Target Bearing: -142.21316984809883 -[main_algo-3] [INFO] [1746051144.006664860] [sailbot.main_algo]: Heading Difference: -179.0998301519012 -[main_algo-3] [INFO] [1746051144.007618037] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051144.008536190] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051144.009428409] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051144.011107900] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051144.044968340] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051144.045779652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051144.046321983] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051144.047676737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051144.048794854] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051144.085271229] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051144.087543615] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051144.087715271] [sailbot.teensy]: Wind angle: 162 -[mux-7] [INFO] [1746051144.088035559] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051144.088632637] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051144.089608171] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051144.090477094] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051144.144786827] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051144.145329786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051144.145937215] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051144.147047552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051144.148229542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051144.244995510] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051144.245571785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051144.246589037] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051144.247507413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051144.248290736] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051144.335177074] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051144.336876876] [sailbot.teensy]: Wind angle: 162 -[teensy-2] [INFO] [1746051144.337748250] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051144.337306245] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051144.338647350] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051144.339522576] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051144.339668700] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051144.344355088] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051144.344789939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051144.345517008] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051144.346446164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051144.347611054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051144.445550953] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051144.445955678] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051144.447153531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051144.448022345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051144.448761576] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051144.457072642] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051144.458065366] [sailbot.main_algo]: Target Bearing: -142.21316984809883 -[main_algo-3] [INFO] [1746051144.458956369] [sailbot.main_algo]: Heading Difference: -179.29083015190122 -[main_algo-3] [INFO] [1746051144.459782090] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051144.460590722] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051144.461376238] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051144.462358662] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051144.463181477] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051144.503226320] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690434 Long: -76.50276839 -[main_algo-3] [INFO] [1746051144.503812626] [sailbot.main_algo]: Distance to destination: 56.898674892999786 -[vectornav-1] [INFO] [1746051144.504818829] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.59000000000003, -0.227, 5.048) -[main_algo-3] [INFO] [1746051144.504922522] [sailbot.main_algo]: Target Bearing: -142.19434859516775 -[main_algo-3] [INFO] [1746051144.505897256] [sailbot.main_algo]: Heading Difference: -179.30965140483227 -[main_algo-3] [INFO] [1746051144.506810332] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051144.507700049] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051144.508568730] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051144.510349940] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051144.545023848] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051144.545598255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051144.546333486] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051144.547393022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051144.548549860] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051144.585276684] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051144.586997997] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051144.587893222] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051144.587751129] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051144.588738583] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051144.589117105] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051144.589647672] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051144.644765655] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051144.645357170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051144.645899109] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051144.647095299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051144.648190363] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051144.745468320] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051144.746159354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051144.747079239] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051144.748041036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051144.748498435] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051144.835026377] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051144.836557498] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051144.837395210] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051144.837534696] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051144.838486702] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051144.839092237] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051144.839282111] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051144.844328500] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051144.844835199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051144.845423945] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051144.846505556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051144.847556908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051144.944945611] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051144.945560859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051144.946230148] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051144.947455209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051144.948636251] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051144.957121201] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051144.958196158] [sailbot.main_algo]: Target Bearing: -142.19434859516775 -[main_algo-3] [INFO] [1746051144.959097980] [sailbot.main_algo]: Heading Difference: -179.21565140483222 -[main_algo-3] [INFO] [1746051144.959987449] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051144.960902893] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051144.962005104] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051144.963157097] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051144.963925436] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051145.003234788] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904324 Long: -76.50276871 -[main_algo-3] [INFO] [1746051145.004004369] [sailbot.main_algo]: Distance to destination: 56.867036299725555 -[main_algo-3] [INFO] [1746051145.005264457] [sailbot.main_algo]: Target Bearing: -142.19167909502872 -[main_algo-3] [INFO] [1746051145.006405969] [sailbot.main_algo]: Heading Difference: -179.21832090497128 -[vectornav-1] [INFO] [1746051145.006928163] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.411, -0.14, 5.699) -[main_algo-3] [INFO] [1746051145.007429666] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051145.008420824] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051145.009293829] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051145.011072741] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051145.045016272] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051145.045631749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051145.046326686] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051145.047772100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051145.048776523] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051145.085351710] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051145.087004900] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051145.087911935] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051145.087959317] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051145.088901812] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051145.089646678] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051145.090069477] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051145.144757240] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051145.145622452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051145.145936417] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051145.147808016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051145.148865881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051145.245125189] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051145.245883644] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051145.246434159] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051145.248024833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051145.249041686] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051145.335516551] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051145.337811414] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051145.338133867] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051145.338753740] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051145.338996576] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051145.339401832] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051145.339736843] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051145.344444082] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051145.345023376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051145.345606272] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051145.346691404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051145.347709941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051145.445248187] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051145.446093609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051145.446895929] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051145.448375478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051145.449535779] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051145.457180403] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051145.458266368] [sailbot.main_algo]: Target Bearing: -142.19167909502872 -[main_algo-3] [INFO] [1746051145.459187771] [sailbot.main_algo]: Heading Difference: -178.39732090497125 -[main_algo-3] [INFO] [1746051145.460080606] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051145.460993810] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051145.461830109] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051145.462995306] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051145.463540448] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051145.502777662] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904299 Long: -76.50276881 -[vectornav-1] [INFO] [1746051145.503912220] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (40.031000000000006, 0.169, 4.541) -[main_algo-3] [INFO] [1746051145.503873987] [sailbot.main_algo]: Distance to destination: 56.84322668929236 -[main_algo-3] [INFO] [1746051145.505103410] [sailbot.main_algo]: Target Bearing: -142.20828668978982 -[main_algo-3] [INFO] [1746051145.506050723] [sailbot.main_algo]: Heading Difference: -178.38071331021018 -[main_algo-3] [INFO] [1746051145.506951119] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051145.507881262] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051145.508759491] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051145.510459290] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051145.545073634] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051145.545650427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051145.546385638] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051145.547649272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051145.548728319] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051145.585135191] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051145.586676954] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051145.587523947] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051145.587428279] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051145.588005746] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051145.588447184] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051145.589360213] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051145.644782049] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051145.645412283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051145.645942139] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051145.647158099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051145.648211183] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051145.744952084] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051145.745626606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051145.746208265] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051145.747444975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051145.748538920] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051145.835225131] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051145.836898693] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051145.837447134] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051145.838985516] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051145.839139672] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051145.839409306] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051145.839792903] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051145.844393185] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051145.845115110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051145.845489524] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051145.846842022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051145.847871758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051145.944908444] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051145.945732090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051145.946177970] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051145.947628991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051145.948647576] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051145.957129934] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051145.958116470] [sailbot.main_algo]: Target Bearing: -142.20828668978982 -[main_algo-3] [INFO] [1746051145.959004461] [sailbot.main_algo]: Heading Difference: -177.76071331021018 -[main_algo-3] [INFO] [1746051145.959860875] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051145.960674810] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051145.961475639] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051145.962472376] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051145.963151115] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051146.003251341] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690429 Long: -76.50276905 -[main_algo-3] [INFO] [1746051146.003816510] [sailbot.main_algo]: Distance to destination: 56.821585393349 -[main_algo-3] [INFO] [1746051146.004988816] [sailbot.main_algo]: Target Bearing: -142.2036707833485 -[vectornav-1] [INFO] [1746051146.005052733] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (40.52999999999997, -1.689, 5.566) -[main_algo-3] [INFO] [1746051146.006044074] [sailbot.main_algo]: Heading Difference: -177.76532921665148 -[main_algo-3] [INFO] [1746051146.007392369] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051146.008333944] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051146.009188738] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051146.010957344] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051146.044950736] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051146.045838855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051146.046462952] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051146.047738619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051146.048787963] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051146.085468470] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051146.087645618] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051146.087688271] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051146.088678531] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051146.089444604] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051146.089614601] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051146.090602807] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051146.145129584] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051146.146049031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051146.146529301] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051146.148174008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051146.149229186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051146.244301280] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051146.244869599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051146.245248143] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051146.246462513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051146.247456947] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051146.334412422] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051146.335403946] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051146.335960305] [sailbot.teensy]: Wind angle: 163 -[mux-7] [INFO] [1746051146.336439817] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051146.336811423] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051146.337198353] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051146.337541715] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051146.343698345] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051146.344177502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051146.344281771] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051146.345074978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051146.346307811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051146.443715957] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051146.444233975] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051146.444124752] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051146.444917563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051146.445435884] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051146.456302449] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051146.456754965] [sailbot.main_algo]: Target Bearing: -142.2036707833485 -[main_algo-3] [INFO] [1746051146.457127441] [sailbot.main_algo]: Heading Difference: -177.2663292166515 -[main_algo-3] [INFO] [1746051146.457520277] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051146.457902285] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051146.458270821] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051146.458744783] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051146.459046501] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051146.502320994] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904288 Long: -76.50276897 -[main_algo-3] [INFO] [1746051146.502731560] [sailbot.main_algo]: Distance to destination: 56.82531906550431 -[vectornav-1] [INFO] [1746051146.502756072] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.11200000000002, 0.718, 4.759) -[main_algo-3] [INFO] [1746051146.503271039] [sailbot.main_algo]: Target Bearing: -142.20957266786442 -[main_algo-3] [INFO] [1746051146.503697801] [sailbot.main_algo]: Heading Difference: -177.26042733213558 -[main_algo-3] [INFO] [1746051146.504142610] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051146.504718477] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051146.505141116] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051146.505966543] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051146.543696030] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051146.544191366] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051146.545465183] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051146.546014996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051146.546589398] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051146.584421712] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051146.585403108] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051146.585812755] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051146.586211406] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051146.586550858] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051146.585538578] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051146.586515939] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051146.643720382] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051146.644121226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051146.644279980] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051146.645078107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051146.645682065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051146.743976103] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051146.744571652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051146.744733322] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051146.745842174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051146.746655285] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051146.835203331] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051146.836831301] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051146.837262105] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051146.837752199] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051146.838658189] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051146.838710812] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051146.839639650] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051146.844411578] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051146.845180737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051146.845739383] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051146.846995440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051146.847984914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051146.945193088] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051146.946095480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051146.946697469] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051146.948085282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051146.948571881] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051146.957035137] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051146.958031189] [sailbot.main_algo]: Target Bearing: -142.20957266786442 -[main_algo-3] [INFO] [1746051146.958912124] [sailbot.main_algo]: Heading Difference: -176.67842733213558 -[main_algo-3] [INFO] [1746051146.959770214] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051146.960597105] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051146.961398436] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051146.962452791] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051146.963091671] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051147.002839059] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904323 Long: -76.50276899 -[main_algo-3] [INFO] [1746051147.003742503] [sailbot.main_algo]: Distance to destination: 56.84840542403416 -[vectornav-1] [INFO] [1746051147.004080829] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.28699999999998, -0.594, 6.234) -[main_algo-3] [INFO] [1746051147.004878729] [sailbot.main_algo]: Target Bearing: -142.17800453945543 -[main_algo-3] [INFO] [1746051147.005840612] [sailbot.main_algo]: Heading Difference: -176.70999546054452 -[main_algo-3] [INFO] [1746051147.006737025] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051147.007613912] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051147.008477123] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051147.010250862] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051147.044939091] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051147.045691572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051147.046208746] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051147.047581794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051147.048729226] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051147.084983141] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051147.087013133] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051147.087409539] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051147.088303485] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051147.089312335] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051147.090159666] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051147.091329350] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051147.145103688] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051147.145836992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051147.146511624] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051147.148124141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051147.149384633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051147.245114608] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051147.245850557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051147.246710143] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051147.248111005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051147.248654051] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051147.335361836] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051147.337103916] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051147.337618034] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051147.338004189] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051147.338023532] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051147.338882666] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051147.339838003] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051147.344299178] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051147.344800755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051147.345377692] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051147.346676972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051147.347700953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051147.445118753] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051147.445816625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051147.446534684] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051147.447770049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051147.448251551] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051147.457087967] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051147.458081109] [sailbot.main_algo]: Target Bearing: -142.17800453945543 -[main_algo-3] [INFO] [1746051147.458989304] [sailbot.main_algo]: Heading Difference: -176.53499546054456 -[main_algo-3] [INFO] [1746051147.459838895] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051147.460653684] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051147.461430713] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051147.462428463] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051147.463238606] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051147.503213381] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904318 Long: -76.50276868 -[main_algo-3] [INFO] [1746051147.503908386] [sailbot.main_algo]: Distance to destination: 56.864780952181896 -[vectornav-1] [INFO] [1746051147.504523678] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.096000000000004, -0.334, 4.342) -[main_algo-3] [INFO] [1746051147.505315176] [sailbot.main_algo]: Target Bearing: -142.1984680146543 -[main_algo-3] [INFO] [1746051147.506399401] [sailbot.main_algo]: Heading Difference: -176.51453198534568 -[main_algo-3] [INFO] [1746051147.507308900] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051147.508187111] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051147.509033995] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051147.510714441] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051147.544817244] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051147.545643801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051147.546328094] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051147.547483040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051147.548497511] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051147.585384980] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051147.587770514] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051147.588265404] [sailbot.teensy]: Wind angle: 163 -[mux-7] [INFO] [1746051147.588591363] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051147.589256313] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051147.590193637] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051147.591041122] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051147.645133447] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051147.646121163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051147.646944162] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051147.648252280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051147.649475129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051147.745610743] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051147.746366463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051147.747309334] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051147.748690566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051147.749817197] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051147.835230238] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051147.837493855] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051147.837976573] [sailbot.teensy]: Wind angle: 163 -[mux-7] [INFO] [1746051147.838342544] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051147.838932926] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051147.839788187] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051147.840165992] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051147.844543404] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051147.845153095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051147.845721676] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051147.846825572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051147.847862694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051147.945352748] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051147.946122159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051147.946906152] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051147.948501036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051147.949768917] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051147.957043110] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051147.958049053] [sailbot.main_algo]: Target Bearing: -142.1984680146543 -[main_algo-3] [INFO] [1746051147.958942478] [sailbot.main_algo]: Heading Difference: -175.70553198534571 -[main_algo-3] [INFO] [1746051147.959803703] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051147.960650101] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051147.961455065] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051147.962775955] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051147.963250023] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051148.003040526] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904296 Long: -76.50276871 -[main_algo-3] [INFO] [1746051148.004122213] [sailbot.main_algo]: Distance to destination: 56.847546523572504 -[vectornav-1] [INFO] [1746051148.004374427] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.38099999999997, -0.107, 3.905) -[main_algo-3] [INFO] [1746051148.005751738] [sailbot.main_algo]: Target Bearing: -142.21609691999106 -[main_algo-3] [INFO] [1746051148.006723683] [sailbot.main_algo]: Heading Difference: -175.68790308000894 -[main_algo-3] [INFO] [1746051148.007633858] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051148.008546378] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051148.009391832] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051148.011100217] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051148.045085369] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051148.045575905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051148.046373217] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051148.047374010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051148.048435902] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051148.085057040] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051148.087047671] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051148.088189851] [sailbot.teensy]: Wind angle: 163 -[mux-7] [INFO] [1746051148.088442417] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051148.089119791] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051148.090048860] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051148.090954064] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051148.145107800] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051148.145686991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051148.146508761] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051148.147503844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051148.148669233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051148.245237709] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051148.245727396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051148.246901761] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051148.248074746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051148.249367689] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051148.335448902] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051148.337686580] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051148.337909560] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051148.338619150] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051148.339051861] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051148.338694183] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051148.339427509] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051148.344343382] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051148.344935103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051148.345563257] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051148.346677754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051148.347731708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051148.445440006] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051148.446443806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051148.447170524] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051148.448275122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051148.448781554] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051148.457129789] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051148.458151294] [sailbot.main_algo]: Target Bearing: -142.21609691999106 -[main_algo-3] [INFO] [1746051148.459053865] [sailbot.main_algo]: Heading Difference: -175.40290308000897 -[main_algo-3] [INFO] [1746051148.459918872] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051148.460818354] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051148.461643258] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051148.462827407] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051148.463485381] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051148.503174689] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904302 Long: -76.50276882 -[main_algo-3] [INFO] [1746051148.503904744] [sailbot.main_algo]: Distance to destination: 56.844674038573615 -[main_algo-3] [INFO] [1746051148.505040388] [sailbot.main_algo]: Target Bearing: -142.20515038400853 -[vectornav-1] [INFO] [1746051148.505219485] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.20799999999997, -0.788, 5.052) -[main_algo-3] [INFO] [1746051148.506044723] [sailbot.main_algo]: Heading Difference: -175.41384961599147 -[main_algo-3] [INFO] [1746051148.506967532] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051148.507952445] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051148.508829059] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051148.510449867] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051148.544948591] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051148.545728875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051148.546647718] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051148.547598610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051148.548645963] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051148.585427092] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051148.587656606] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051148.587905928] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051148.588645433] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051148.589533910] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051148.589633147] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051148.590429937] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051148.645103090] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051148.645809217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051148.646624897] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051148.647830016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051148.648571368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051148.745490230] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051148.746455060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051148.747227291] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051148.748021029] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051148.748503097] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051148.835352902] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051148.837504425] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051148.837552377] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051148.838439798] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051148.838917570] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051148.839346976] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051148.839892817] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051148.844420187] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051148.844942759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051148.845556264] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051148.846613174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051148.847650277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051148.944912235] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051148.945603714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051148.946179387] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051148.947598800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051148.948644224] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051148.957165595] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051148.958262108] [sailbot.main_algo]: Target Bearing: -142.20515038400853 -[main_algo-3] [INFO] [1746051148.959212974] [sailbot.main_algo]: Heading Difference: -174.58684961599147 -[main_algo-3] [INFO] [1746051148.960067349] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051148.960961619] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051148.961805982] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051148.962930977] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051148.963424347] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051149.003042080] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904307 Long: -76.50276857 -[main_algo-3] [INFO] [1746051149.003894436] [sailbot.main_algo]: Distance to destination: 56.86417243702563 -[vectornav-1] [INFO] [1746051149.004503935] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.32499999999999, 0.13, 5.396) -[main_algo-3] [INFO] [1746051149.005177681] [sailbot.main_algo]: Target Bearing: -142.21377115457466 -[main_algo-3] [INFO] [1746051149.006289265] [sailbot.main_algo]: Heading Difference: -174.57822884542537 -[main_algo-3] [INFO] [1746051149.007392364] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051149.008321006] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051149.009218400] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051149.010899365] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051149.044924116] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051149.045857690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051149.046225051] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051149.047790660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051149.048829350] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051149.085067937] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051149.086674308] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051149.087109010] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051149.087544849] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051149.088439925] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051149.088503845] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051149.089347846] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051149.145024523] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051149.145755930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051149.146446200] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051149.147982584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051149.149098872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051149.244925758] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051149.245730875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051149.246229816] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051149.247683450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051149.248553527] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051149.335234471] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051149.337747293] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051149.337838813] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051149.338928346] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051149.339594531] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051149.340558593] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051149.341513021] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051149.344446230] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051149.344978908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051149.345747754] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051149.346713266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051149.347888009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051149.445142756] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051149.445971024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051149.446815209] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051149.447790045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051149.448342849] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051149.457235944] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051149.458317552] [sailbot.main_algo]: Target Bearing: -142.21377115457466 -[main_algo-3] [INFO] [1746051149.459232429] [sailbot.main_algo]: Heading Difference: -174.46122884542535 -[main_algo-3] [INFO] [1746051149.460135425] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051149.461016174] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051149.461874228] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051149.463010544] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051149.463850410] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051149.502814146] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904286 Long: -76.50276817 -[main_algo-3] [INFO] [1746051149.503786000] [sailbot.main_algo]: Distance to destination: 56.87520261817845 -[vectornav-1] [INFO] [1746051149.504135363] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.38499999999999, 0.175, 4.737) -[main_algo-3] [INFO] [1746051149.504973767] [sailbot.main_algo]: Target Bearing: -142.25284241990815 -[main_algo-3] [INFO] [1746051149.505956842] [sailbot.main_algo]: Heading Difference: -174.42215758009183 -[main_algo-3] [INFO] [1746051149.506875097] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051149.507761401] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051149.508632825] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051149.510267468] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051149.544899964] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051149.545641616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051149.546175695] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051149.547475994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051149.548602436] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051149.585141024] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051149.586707442] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051149.587551246] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051149.587407790] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051149.588386221] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051149.588619902] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051149.589253159] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051149.644972520] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051149.645600790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051149.646276537] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051149.647535894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051149.648704249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051149.745037193] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051149.745983779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051149.746501893] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051149.747826560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051149.748363911] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051149.835330720] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051149.837592165] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051149.838058338] [sailbot.teensy]: Wind angle: 163 -[mux-7] [INFO] [1746051149.838689501] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051149.839024295] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051149.839577983] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051149.839945709] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051149.844500820] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051149.844955680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051149.845664474] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051149.846661510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051149.847672506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051149.945256076] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051149.946097290] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051149.946827298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051149.947958148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051149.948401411] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051149.956902066] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051149.957803840] [sailbot.main_algo]: Target Bearing: -142.25284241990815 -[main_algo-3] [INFO] [1746051149.958624946] [sailbot.main_algo]: Heading Difference: -174.3621575800919 -[main_algo-3] [INFO] [1746051149.959413328] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051149.960238306] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051149.961033268] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051149.962049298] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051149.962850023] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051150.003342871] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904278 Long: -76.5027682 -[main_algo-3] [INFO] [1746051150.004046971] [sailbot.main_algo]: Distance to destination: 56.86771689377765 -[main_algo-3] [INFO] [1746051150.005258859] [sailbot.main_algo]: Target Bearing: -142.25826648283694 -[vectornav-1] [INFO] [1746051150.006028415] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.091999999999985, -1.851, 4.289) -[main_algo-3] [INFO] [1746051150.006273641] [sailbot.main_algo]: Heading Difference: -174.3567335171631 -[main_algo-3] [INFO] [1746051150.007218170] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051150.008216503] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051150.009110522] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051150.010869034] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051150.045063041] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051150.045688527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051150.046476621] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051150.047574592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051150.048623351] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051150.085080875] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051150.087227808] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051150.088094094] [sailbot.teensy]: Wind angle: 163 -[mux-7] [INFO] [1746051150.088088841] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051150.089094021] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051150.089947726] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051150.090785676] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051150.145050947] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051150.145707824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051150.146325114] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051150.147780370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051150.148785538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051150.245340841] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051150.245893985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051150.246774383] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051150.248104105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051150.249269400] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051150.335252127] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051150.337039248] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051150.337458615] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051150.338209908] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051150.338372624] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051150.339117570] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051150.339521173] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051150.344321717] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051150.344928944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051150.345465443] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051150.346610580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051150.347645527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051150.445132258] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051150.445722075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051150.446614333] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051150.447736248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051150.448609350] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051150.457193046] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051150.458406794] [sailbot.main_algo]: Target Bearing: -142.25826648283694 -[main_algo-3] [INFO] [1746051150.459463941] [sailbot.main_algo]: Heading Difference: -172.6497335171631 -[main_algo-3] [INFO] [1746051150.460372007] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051150.461251434] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051150.462089904] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051150.463277746] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051150.463782293] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051150.503117437] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904293 Long: -76.50276792 -[main_algo-3] [INFO] [1746051150.504348781] [sailbot.main_algo]: Distance to destination: 56.89609854387576 -[vectornav-1] [INFO] [1746051150.505010216] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.766999999999996, 0.71, 5.658) -[main_algo-3] [INFO] [1746051150.506173419] [sailbot.main_algo]: Target Bearing: -142.25969786711593 -[main_algo-3] [INFO] [1746051150.507202900] [sailbot.main_algo]: Heading Difference: -172.64830213288406 -[main_algo-3] [INFO] [1746051150.508113450] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051150.509033135] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051150.509887478] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051150.511545520] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051150.545084264] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051150.545803022] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051150.546509225] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051150.547807712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051150.548948115] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051150.585114327] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051150.586830158] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051150.587789711] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051150.587683131] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051150.588708464] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051150.589624234] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051150.590113902] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051150.645112416] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051150.646200777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051150.646611523] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051150.648489812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051150.649651524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051150.745115854] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051150.745851571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051150.746644780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051150.748007394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051150.749034294] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051150.835208218] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051150.836937720] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051150.837804430] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051150.837531406] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051150.838216055] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051150.838707459] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051150.839156170] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051150.844527804] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051150.845188825] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051150.845711459] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051150.846926957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051150.847917457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051150.945183715] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051150.945806568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051150.946935702] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051150.947933345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051150.949084962] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051150.957073981] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051150.958090430] [sailbot.main_algo]: Target Bearing: -142.25969786711593 -[main_algo-3] [INFO] [1746051150.958990246] [sailbot.main_algo]: Heading Difference: -170.9733021328841 -[main_algo-3] [INFO] [1746051150.959878001] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051150.960687654] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051150.961501053] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051150.962538765] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051150.963388933] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051151.002792074] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904301 Long: -76.5027679 -[main_algo-3] [INFO] [1746051151.003678878] [sailbot.main_algo]: Distance to destination: 56.902942995226304 -[vectornav-1] [INFO] [1746051151.003958853] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.269000000000005, -0.22, 3.944) -[main_algo-3] [INFO] [1746051151.004798514] [sailbot.main_algo]: Target Bearing: -142.2537580002843 -[main_algo-3] [INFO] [1746051151.005740076] [sailbot.main_algo]: Heading Difference: -170.97924199971567 -[main_algo-3] [INFO] [1746051151.006667265] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051151.007545421] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051151.008469675] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051151.010380151] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051151.045209958] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051151.045690625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051151.046557122] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051151.047803017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051151.048980894] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051151.085163227] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051151.087246106] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051151.087421443] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051151.088339538] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051151.088582634] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051151.089513377] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051151.090655520] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051151.144791892] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051151.145410103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051151.146071557] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051151.147193282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051151.148353370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051151.245275585] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051151.245775328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051151.246871477] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051151.247881235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051151.248934039] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051151.335624776] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051151.338077528] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051151.338912393] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051151.339127161] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051151.340058825] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051151.340941699] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051151.341790645] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051151.344431198] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051151.344824086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051151.345611631] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051151.346485306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051151.347540535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051151.445283419] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051151.445820590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051151.447260844] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051151.447800143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051151.448906888] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051151.457209952] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051151.458308815] [sailbot.main_algo]: Target Bearing: -142.2537580002843 -[main_algo-3] [INFO] [1746051151.459242655] [sailbot.main_algo]: Heading Difference: -170.47724199971572 -[main_algo-3] [INFO] [1746051151.460090637] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051151.460989863] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051151.461850997] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051151.462951833] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051151.463629933] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051151.502847005] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904296 Long: -76.50276809 -[vectornav-1] [INFO] [1746051151.504192533] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.786, -0.703, 5.728) -[main_algo-3] [INFO] [1746051151.504292580] [sailbot.main_algo]: Distance to destination: 56.887285078410315 -[main_algo-3] [INFO] [1746051151.505387461] [sailbot.main_algo]: Target Bearing: -142.24826819977406 -[main_algo-3] [INFO] [1746051151.506386514] [sailbot.main_algo]: Heading Difference: -170.4827318002259 -[main_algo-3] [INFO] [1746051151.507364698] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051151.508285435] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051151.509140590] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051151.511010994] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051151.544910192] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051151.545673871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051151.546376852] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051151.547790401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051151.548948467] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051151.585227453] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051151.586843879] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051151.587773563] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051151.587366929] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051151.588718889] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051151.589077755] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051151.589895356] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051151.645301157] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051151.646062197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051151.647109874] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051151.648283945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051151.649417829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051151.745173856] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051151.746146827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051151.746593046] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051151.748254637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051151.749291264] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051151.835323404] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051151.837578738] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051151.838007300] [sailbot.teensy]: Wind angle: 163 -[mux-7] [INFO] [1746051151.838378698] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051151.839085099] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051151.840005056] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051151.840839368] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051151.844586666] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051151.845027402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051151.845898780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051151.846799434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051151.847841072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051151.945333640] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051151.946024069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051151.947086254] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051151.947993068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051151.948487192] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051151.957210306] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051151.958343986] [sailbot.main_algo]: Target Bearing: -142.24826819977406 -[main_algo-3] [INFO] [1746051151.959293498] [sailbot.main_algo]: Heading Difference: -169.96573180022597 -[main_algo-3] [INFO] [1746051151.960201015] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051151.961061707] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051151.961859528] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051151.962846645] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051151.963446447] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051152.002840711] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904278 Long: -76.5027679 -[vectornav-1] [INFO] [1746051152.004036257] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.79200000000003, -0.221, 4.92) -[main_algo-3] [INFO] [1746051152.004138912] [sailbot.main_algo]: Distance to destination: 56.88695435413807 -[main_algo-3] [INFO] [1746051152.005571808] [sailbot.main_algo]: Target Bearing: -142.2738190681446 -[main_algo-3] [INFO] [1746051152.006707581] [sailbot.main_algo]: Heading Difference: -169.94018093185537 -[main_algo-3] [INFO] [1746051152.007662679] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051152.008560835] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051152.009429157] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051152.011115839] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051152.045926058] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051152.046135341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051152.047218283] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051152.048412128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051152.049897129] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051152.085710158] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051152.087771904] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051152.088745482] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051152.088184515] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051152.089485396] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051152.089664159] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051152.090590342] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051152.145018133] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051152.146058086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051152.146699311] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051152.148050123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051152.149172199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051152.245201228] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051152.246029994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051152.246648892] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051152.247984308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051152.248478403] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051152.335345189] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051152.337088956] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051152.337794568] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051152.339171490] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051152.339211322] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051152.340191408] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051152.341124705] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051152.344407284] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051152.345029856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051152.345676045] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051152.346742400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051152.347748640] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051152.445130528] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051152.446064498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051152.446581776] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051152.447597139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051152.448146592] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051152.457141809] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051152.458261500] [sailbot.main_algo]: Target Bearing: -142.2738190681446 -[main_algo-3] [INFO] [1746051152.459196573] [sailbot.main_algo]: Heading Difference: -170.9341809318554 -[main_algo-3] [INFO] [1746051152.460071969] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051152.460937713] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051152.461736016] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051152.462744590] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051152.463498745] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051152.502703474] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904285 Long: -76.50276768 -[main_algo-3] [INFO] [1746051152.503637839] [sailbot.main_algo]: Distance to destination: 56.90592864955234 -[vectornav-1] [INFO] [1746051152.503762334] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.56400000000002, -0.299, 4.128) -[main_algo-3] [INFO] [1746051152.504711343] [sailbot.main_algo]: Target Bearing: -142.2791114144806 -[main_algo-3] [INFO] [1746051152.505643470] [sailbot.main_algo]: Heading Difference: -170.92888858551936 -[main_algo-3] [INFO] [1746051152.506551771] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051152.507434398] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051152.508289353] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051152.509973131] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051152.545105962] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051152.545934780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051152.546710384] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051152.547919722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051152.548985303] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051152.585211062] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051152.586789904] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051152.587429049] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051152.587717599] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051152.588626822] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051152.589110738] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051152.589517040] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051152.645511471] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051152.646058314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051152.647137480] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051152.648240227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051152.649425406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051152.745395379] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051152.745935949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051152.747122875] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051152.748170540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051152.749317302] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051152.835223862] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051152.837060497] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051152.837498626] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051152.838016267] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051152.838898430] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051152.838753061] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051152.839758023] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051152.844312659] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051152.844998446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051152.845596389] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051152.846724638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051152.847865333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051152.945108150] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051152.946165357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051152.946599333] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051152.948275677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051152.949315112] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051152.957172523] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051152.958181474] [sailbot.main_algo]: Target Bearing: -142.2791114144806 -[main_algo-3] [INFO] [1746051152.959091148] [sailbot.main_algo]: Heading Difference: -171.15688858551937 -[main_algo-3] [INFO] [1746051152.959932627] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051152.960824443] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051152.961627799] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051152.962623931] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051152.963362008] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051153.003491617] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904288 Long: -76.50276747 -[main_algo-3] [INFO] [1746051153.003691697] [sailbot.main_algo]: Distance to destination: 56.92148270861531 -[vectornav-1] [INFO] [1746051153.004720590] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.39699999999999, 0.481, 5.153) -[main_algo-3] [INFO] [1746051153.004944475] [sailbot.main_algo]: Target Bearing: -142.28737068510674 -[main_algo-3] [INFO] [1746051153.005943480] [sailbot.main_algo]: Heading Difference: -171.14862931489324 -[main_algo-3] [INFO] [1746051153.006878270] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051153.007783505] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051153.008666343] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051153.010378306] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051153.045442352] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051153.046028473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051153.046887986] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051153.048073063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051153.049146889] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051153.085463478] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051153.088024714] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051153.088636125] [sailbot.teensy]: Wind angle: 163 -[mux-7] [INFO] [1746051153.089191568] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051153.089623289] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051153.090550721] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051153.091385406] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051153.144859720] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051153.145472454] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051153.146070871] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051153.147227428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051153.148470417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051153.245366100] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051153.246066654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051153.246905990] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051153.248302765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051153.248859234] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051153.335304394] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051153.337572015] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051153.337884383] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051153.338567439] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051153.339454150] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051153.339521158] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051153.339845629] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051153.344502970] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051153.345152750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051153.345729082] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051153.346911391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051153.348135303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051153.445327295] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051153.446247630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051153.446968067] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051153.448164970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051153.448691649] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051153.457165206] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051153.458273699] [sailbot.main_algo]: Target Bearing: -142.28737068510674 -[main_algo-3] [INFO] [1746051153.459218147] [sailbot.main_algo]: Heading Difference: -171.31562931489327 -[main_algo-3] [INFO] [1746051153.460047274] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051153.460871506] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051153.461661939] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051153.462936479] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051153.463234360] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051153.502844010] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904265 Long: -76.50276743 -[main_algo-3] [INFO] [1746051153.503898123] [sailbot.main_algo]: Distance to destination: 56.908072273611204 -[vectornav-1] [INFO] [1746051153.503982518] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.08800000000002, -1.275, 4.773) -[main_algo-3] [INFO] [1746051153.505114338] [sailbot.main_algo]: Target Bearing: -142.30950534721887 -[main_algo-3] [INFO] [1746051153.506122158] [sailbot.main_algo]: Heading Difference: -171.29349465278113 -[main_algo-3] [INFO] [1746051153.507038394] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051153.507938579] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051153.508826679] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051153.510516421] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051153.545545543] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051153.545574206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051153.546909340] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051153.547444428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051153.548756599] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051153.585086042] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051153.587056406] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051153.587160919] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051153.587970133] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051153.588631769] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051153.588815038] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051153.589006147] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051153.645182531] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051153.645746709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051153.646783133] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051153.648062287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051153.649398949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051153.745482557] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051153.746128039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051153.747261874] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051153.748531848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051153.749424673] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051153.835442575] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051153.837341831] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051153.838238972] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051153.838293532] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051153.838783289] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051153.839005990] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051153.839185519] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051153.844246543] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051153.845051625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051153.845379870] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051153.846973114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051153.848026357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051153.945342357] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051153.946274302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051153.946884201] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051153.948445206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051153.949361802] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051153.957112403] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051153.958138491] [sailbot.main_algo]: Target Bearing: -142.30950534721887 -[main_algo-3] [INFO] [1746051153.959026869] [sailbot.main_algo]: Heading Difference: -171.6024946527811 -[main_algo-3] [INFO] [1746051153.959869078] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051153.960750432] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051153.961556351] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051153.962929480] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051153.963573925] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051154.003748466] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904258 Long: -76.50276714 -[main_algo-3] [INFO] [1746051154.004929166] [sailbot.main_algo]: Distance to destination: 56.92182239668068 -[vectornav-1] [INFO] [1746051154.005131484] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.52800000000002, -0.041, 4.933) -[main_algo-3] [INFO] [1746051154.006153945] [sailbot.main_algo]: Target Bearing: -142.33062012442565 -[main_algo-3] [INFO] [1746051154.007155070] [sailbot.main_algo]: Heading Difference: -171.58137987557433 -[main_algo-3] [INFO] [1746051154.008102623] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051154.009007351] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051154.009848693] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051154.011508477] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051154.045151486] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051154.046073917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051154.046596721] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051154.048075895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051154.049102241] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051154.085389529] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051154.087998462] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051154.088145559] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051154.088970643] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051154.089157155] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051154.090371813] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051154.091267481] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051154.144906934] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051154.145589611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051154.146232553] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051154.147608975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051154.148642741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051154.245131672] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051154.245944872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051154.246673739] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051154.247942987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051154.248590705] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051154.335161852] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051154.337449038] [sailbot.teensy]: Wind angle: 162 -[trim_sail-4] [INFO] [1746051154.337745599] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051154.338401369] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051154.339249761] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051154.338854191] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051154.339639207] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051154.344470458] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051154.345162543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051154.345614747] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051154.346914369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051154.348029232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051154.445162472] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051154.446197984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051154.446830759] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051154.448221530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051154.449279578] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051154.456922117] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051154.457962280] [sailbot.main_algo]: Target Bearing: -142.33062012442565 -[main_algo-3] [INFO] [1746051154.458853111] [sailbot.main_algo]: Heading Difference: -170.14137987557433 -[main_algo-3] [INFO] [1746051154.459703941] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051154.460568086] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051154.461395009] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051154.462432231] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051154.463053269] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051154.502847202] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904265 Long: -76.50276707 -[main_algo-3] [INFO] [1746051154.503884517] [sailbot.main_algo]: Distance to destination: 56.93117428199977 -[vectornav-1] [INFO] [1746051154.504340733] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.297000000000025, -0.197, 3.994) -[main_algo-3] [INFO] [1746051154.505061124] [sailbot.main_algo]: Target Bearing: -142.3281331700822 -[main_algo-3] [INFO] [1746051154.506364798] [sailbot.main_algo]: Heading Difference: -170.14386682991778 -[main_algo-3] [INFO] [1746051154.507278499] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051154.508201937] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051154.509079382] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051154.510786163] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051154.545418751] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051154.545604587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051154.546887950] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051154.547567193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051154.548686455] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051154.585074635] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051154.587047876] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051154.587060215] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051154.587941054] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051154.588357914] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051154.588871653] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051154.589876268] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051154.645310316] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051154.646132462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051154.646850628] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051154.648708978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051154.650020849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051154.744717799] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051154.745233444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051154.745877234] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051154.746956975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051154.748069455] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051154.835222445] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051154.837385667] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051154.837692642] [sailbot.teensy]: Wind angle: 161 -[teensy-2] [INFO] [1746051154.838636328] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051154.838699515] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051154.839542912] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051154.840406391] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051154.844592235] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051154.845080068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051154.845842606] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051154.846820153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051154.848049219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051154.945030527] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051154.945639340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051154.946281162] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051154.947421138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051154.948538089] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051154.957151158] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051154.958176716] [sailbot.main_algo]: Target Bearing: -142.3281331700822 -[main_algo-3] [INFO] [1746051154.959042235] [sailbot.main_algo]: Heading Difference: -168.37486682991778 -[main_algo-3] [INFO] [1746051154.959831801] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051154.960654707] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051154.961447231] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051154.962466805] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051154.963113617] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051155.002694519] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904283 Long: -76.50276735 -[main_algo-3] [INFO] [1746051155.003576824] [sailbot.main_algo]: Distance to destination: 56.92570695004086 -[vectornav-1] [INFO] [1746051155.003780735] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.478999999999985, -0.655, 5.656) -[main_algo-3] [INFO] [1746051155.004800983] [sailbot.main_algo]: Target Bearing: -142.2979437335886 -[main_algo-3] [INFO] [1746051155.005681082] [sailbot.main_algo]: Heading Difference: -168.4050562664114 -[main_algo-3] [INFO] [1746051155.006519979] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051155.007346086] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051155.008136537] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051155.009714562] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051155.045099076] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051155.045884868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051155.047410503] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051155.047900646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051155.048970126] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051155.085380936] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051155.087111870] [sailbot.teensy]: Wind angle: 159 -[teensy-2] [INFO] [1746051155.088025376] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051155.087625755] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051155.088957006] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051155.089772081] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051155.089892486] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051155.145184340] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051155.145734074] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051155.146612127] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051155.147811225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051155.149003388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051155.244933885] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051155.245558608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051155.246145469] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051155.247419738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051155.248703317] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051155.335403238] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051155.337342322] [sailbot.teensy]: Wind angle: 159 -[teensy-2] [INFO] [1746051155.338332996] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051155.338454122] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051155.339039694] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051155.339417973] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051155.339824849] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051155.344757809] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051155.345320091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051155.346107303] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051155.347079624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051155.348304052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051155.443830767] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051155.444662317] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051155.445684873] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051155.447080921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051155.447991968] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051155.456275935] [sailbot.main_algo]: Wind Direction: 159 -[main_algo-3] [INFO] [1746051155.456752707] [sailbot.main_algo]: Target Bearing: -142.2979437335886 -[main_algo-3] [INFO] [1746051155.457196234] [sailbot.main_algo]: Heading Difference: -170.2230562664114 -[main_algo-3] [INFO] [1746051155.457595643] [sailbot.main_algo]: Wind Direction: 159 -[main_algo-3] [INFO] [1746051155.458026942] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051155.458432162] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051155.458930711] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051155.459739572] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051155.501846923] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690428 Long: -76.50276719 -[main_algo-3] [INFO] [1746051155.502828524] [sailbot.main_algo]: Distance to destination: 56.93388861445941 -[vectornav-1] [INFO] [1746051155.502844361] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.156000000000006, 0.039, 5.958) -[main_algo-3] [INFO] [1746051155.504353010] [sailbot.main_algo]: Target Bearing: -142.30884057766016 -[main_algo-3] [INFO] [1746051155.505127270] [sailbot.main_algo]: Heading Difference: -170.21215942233982 -[main_algo-3] [INFO] [1746051155.505931427] [sailbot.main_algo]: Wind Direction: 159 -[main_algo-3] [INFO] [1746051155.506817518] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051155.507280263] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051155.508477973] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051155.544689238] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051155.545228818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051155.545806790] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051155.546953100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051155.547966466] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051155.585353705] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051155.587566755] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051155.588061407] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051155.588890554] [sailbot.teensy]: Wind angle: 159 -[teensy-2] [INFO] [1746051155.589894867] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051155.590801020] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051155.591845483] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051155.645037939] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051155.645672016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051155.646366812] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051155.647530708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051155.648830261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051155.745160255] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051155.746173002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051155.746598401] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051155.748218605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051155.749501140] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051155.835417397] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051155.837914121] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051155.837908914] [sailbot.teensy]: Wind angle: 159 -[mux-7] [INFO] [1746051155.839241721] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051155.839767544] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051155.840677791] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051155.841235521] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051155.844444330] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051155.845077706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051155.845607496] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051155.846872752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051155.847860889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051155.945134320] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051155.945794950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051155.946630702] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051155.947657728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051155.948122906] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051155.957201537] [sailbot.main_algo]: Wind Direction: 159 -[main_algo-3] [INFO] [1746051155.958269585] [sailbot.main_algo]: Target Bearing: -142.30884057766016 -[main_algo-3] [INFO] [1746051155.959190665] [sailbot.main_algo]: Heading Difference: -171.5351594223398 -[main_algo-3] [INFO] [1746051155.960068365] [sailbot.main_algo]: Wind Direction: 159 -[main_algo-3] [INFO] [1746051155.961014637] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051155.961821313] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051155.963089498] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051155.963369700] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051156.003073521] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904269 Long: -76.50276718 -[main_algo-3] [INFO] [1746051156.004129743] [sailbot.main_algo]: Distance to destination: 56.92689188891165 -[vectornav-1] [INFO] [1746051156.004418592] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.22000000000003, -0.167, 4.629) -[main_algo-3] [INFO] [1746051156.005421196] [sailbot.main_algo]: Target Bearing: -142.3189531521994 -[main_algo-3] [INFO] [1746051156.006401656] [sailbot.main_algo]: Heading Difference: -171.52504684780058 -[main_algo-3] [INFO] [1746051156.007409597] [sailbot.main_algo]: Wind Direction: 159 -[main_algo-3] [INFO] [1746051156.008445148] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051156.009334089] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051156.010963194] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051156.045008573] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051156.045868931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051156.046302145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051156.047801426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051156.048996801] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051156.085232189] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051156.087350666] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051156.087586851] [sailbot.teensy]: Wind angle: 159 -[teensy-2] [INFO] [1746051156.088593147] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051156.089106148] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051156.089471964] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051156.090367567] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051156.145118269] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051156.145977417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051156.146694732] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051156.147985298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051156.149165080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051156.245200298] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051156.246035392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051156.246651453] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051156.248318916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051156.249371030] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051156.335483517] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051156.338322213] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051156.338793014] [sailbot.teensy]: Wind angle: 159 -[mux-7] [INFO] [1746051156.339495608] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051156.339763073] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051156.340717053] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051156.341497514] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051156.344540572] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051156.345181124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051156.346060683] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051156.346971062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051156.347974509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051156.445642882] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051156.446465657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051156.447255510] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051156.448893973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051156.449413468] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051156.457257790] [sailbot.main_algo]: Wind Direction: 159 -[main_algo-3] [INFO] [1746051156.458273970] [sailbot.main_algo]: Target Bearing: -142.3189531521994 -[main_algo-3] [INFO] [1746051156.459170624] [sailbot.main_algo]: Heading Difference: -169.46104684780056 -[main_algo-3] [INFO] [1746051156.460019380] [sailbot.main_algo]: Wind Direction: 159 -[main_algo-3] [INFO] [1746051156.460908339] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051156.461709879] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051156.462758119] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051156.463485464] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051156.503730080] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904286 Long: -76.50276741 -[main_algo-3] [INFO] [1746051156.504174889] [sailbot.main_algo]: Distance to destination: 56.92394194931042 -[vectornav-1] [INFO] [1746051156.505565975] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.52999999999997, -0.955, 3.474) -[main_algo-3] [INFO] [1746051156.505883036] [sailbot.main_algo]: Target Bearing: -142.29222134162282 -[main_algo-3] [INFO] [1746051156.506886256] [sailbot.main_algo]: Heading Difference: -169.48777865837712 -[main_algo-3] [INFO] [1746051156.507827959] [sailbot.main_algo]: Wind Direction: 159 -[main_algo-3] [INFO] [1746051156.508717644] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051156.509557374] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051156.511248017] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051156.545145271] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051156.546022700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051156.546583497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051156.548068828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051156.549082790] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051156.585213554] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051156.587530593] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051156.587871492] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051156.587930356] [sailbot.teensy]: Wind angle: 158 -[teensy-2] [INFO] [1746051156.588950809] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051156.589823954] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051156.590653698] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051156.645130529] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051156.645954425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051156.646579658] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051156.648328482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051156.648955207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051156.744986000] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051156.745729129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051156.746323584] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051156.747792378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051156.748921529] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051156.835478817] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051156.837477442] [sailbot.teensy]: Wind angle: 158 -[trim_sail-4] [INFO] [1746051156.837734208] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051156.838464778] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051156.839407197] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051156.839976623] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051156.840384096] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051156.844456742] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051156.845247506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051156.845632167] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051156.847289516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051156.848360189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051156.945272797] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051156.946082052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051156.946860138] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051156.947716770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051156.948238885] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051156.957166905] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051156.958181995] [sailbot.main_algo]: Target Bearing: -142.29222134162282 -[main_algo-3] [INFO] [1746051156.959054037] [sailbot.main_algo]: Heading Difference: -169.17777865837718 -[main_algo-3] [INFO] [1746051156.959868640] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051156.960673493] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051156.961465837] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051156.962585346] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051156.963320868] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051157.002898677] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904291 Long: -76.50276743 -[main_algo-3] [INFO] [1746051157.003930726] [sailbot.main_algo]: Distance to destination: 56.92613287622673 -[vectornav-1] [INFO] [1746051157.004130225] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.250999999999976, 0.485, 6.356) -[main_algo-3] [INFO] [1746051157.005101005] [sailbot.main_algo]: Target Bearing: -142.2868255312285 -[main_algo-3] [INFO] [1746051157.006051087] [sailbot.main_algo]: Heading Difference: -169.18317446877154 -[main_algo-3] [INFO] [1746051157.006989249] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051157.007885429] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051157.008749795] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051157.010497901] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051157.045303749] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051157.046343191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051157.047183749] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051157.048883725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051157.049959569] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051157.085494392] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051157.087403175] [sailbot.teensy]: Wind angle: 159 -[trim_sail-4] [INFO] [1746051157.088008166] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051157.088400689] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051157.089225619] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051157.089307221] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051157.090520940] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051157.144905603] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051157.145610208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051157.146264133] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051157.147732911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051157.148781104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051157.244872145] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051157.245544537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051157.246102266] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051157.247457987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051157.248444206] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051157.335563444] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051157.337584400] [sailbot.teensy]: Wind angle: 161 -[trim_sail-4] [INFO] [1746051157.338455833] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051157.338596401] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051157.339530330] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051157.339561944] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051157.340515599] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051157.344512350] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051157.345183572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051157.345601763] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051157.347013222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051157.348046398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051157.445422763] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051157.446380254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051157.447015542] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051157.448023131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051157.448522595] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051157.457193695] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051157.458239471] [sailbot.main_algo]: Target Bearing: -142.2868255312285 -[main_algo-3] [INFO] [1746051157.459122657] [sailbot.main_algo]: Heading Difference: -172.46217446877154 -[main_algo-3] [INFO] [1746051157.459980929] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051157.460880233] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051157.461743292] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051157.462819480] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051157.463509042] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051157.503139833] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904256 Long: -76.50276719 -[main_algo-3] [INFO] [1746051157.504267965] [sailbot.main_algo]: Distance to destination: 56.91722496613883 -[vectornav-1] [INFO] [1746051157.505006393] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.78399999999999, -0.456, 4.659) -[main_algo-3] [INFO] [1746051157.505533840] [sailbot.main_algo]: Target Bearing: -142.3297788728915 -[main_algo-3] [INFO] [1746051157.506629735] [sailbot.main_algo]: Heading Difference: -172.41922112710853 -[main_algo-3] [INFO] [1746051157.507831191] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051157.508802164] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051157.509660196] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051157.511358214] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051157.545120992] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051157.545873665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051157.546684113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051157.548273580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051157.549398451] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051157.585463947] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051157.587933428] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051157.589413264] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051157.589670882] [sailbot.teensy]: Wind angle: 162 -[teensy-2] [INFO] [1746051157.590644346] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051157.591485875] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051157.592344790] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051157.644657962] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051157.645529579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051157.645825735] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051157.647156122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051157.648089812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051157.745168260] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051157.745866019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051157.746616328] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051157.748139329] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051157.749254711] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051157.835383142] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051157.837709737] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051157.838269636] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051157.838508773] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051157.838966679] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051157.839349403] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051157.839695691] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051157.844512637] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051157.845110189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051157.845775313] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051157.846920600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051157.848123988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051157.945422458] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051157.946275193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051157.946995880] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051157.947981357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051157.948460476] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051157.957179326] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051157.958233207] [sailbot.main_algo]: Target Bearing: -142.3297788728915 -[main_algo-3] [INFO] [1746051157.959140459] [sailbot.main_algo]: Heading Difference: -170.8862211271085 -[main_algo-3] [INFO] [1746051157.959923831] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051157.960782322] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051157.961597687] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051157.962644517] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051157.963162633] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051158.002931338] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904268 Long: -76.50276752 -[main_algo-3] [INFO] [1746051158.004024394] [sailbot.main_algo]: Distance to destination: 56.90438138296095 -[vectornav-1] [INFO] [1746051158.004446066] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.065, -0.901, 4.426) -[main_algo-3] [INFO] [1746051158.005577296] [sailbot.main_algo]: Target Bearing: -142.3022282979173 -[main_algo-3] [INFO] [1746051158.006588294] [sailbot.main_algo]: Heading Difference: -170.91377170208273 -[main_algo-3] [INFO] [1746051158.007515891] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051158.008457303] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051158.009331196] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051158.011073747] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051158.045353130] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051158.046361703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051158.047026422] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051158.048913988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051158.049984244] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051158.085611849] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051158.087556733] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051158.088420287] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051158.088597291] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051158.089535738] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051158.090096917] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051158.090424825] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051158.145074402] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051158.145785695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051158.146561673] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051158.147867375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051158.148471395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051158.245161770] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051158.245823248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051158.246634285] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051158.247893919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051158.249063144] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051158.335493891] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051158.338333117] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051158.338349751] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051158.339301965] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051158.339336225] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051158.340275011] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051158.341171879] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051158.344562728] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051158.345071293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051158.345735642] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051158.346749695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051158.347916081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051158.445350646] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051158.446042968] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051158.446933971] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051158.448313011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051158.449594642] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051158.457122678] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051158.458178820] [sailbot.main_algo]: Target Bearing: -142.3022282979173 -[main_algo-3] [INFO] [1746051158.459072698] [sailbot.main_algo]: Heading Difference: -168.63277170208266 -[main_algo-3] [INFO] [1746051158.459921983] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051158.460837265] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051158.461646020] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051158.462781654] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051158.463207641] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051158.503177603] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904287 Long: -76.50276773 -[main_algo-3] [INFO] [1746051158.504175978] [sailbot.main_algo]: Distance to destination: 56.904111835950175 -[vectornav-1] [INFO] [1746051158.504654561] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.39699999999999, -0.041, 4.231) -[main_algo-3] [INFO] [1746051158.505411032] [sailbot.main_algo]: Target Bearing: -142.27477673893705 -[main_algo-3] [INFO] [1746051158.506456763] [sailbot.main_algo]: Heading Difference: -168.66022326106292 -[main_algo-3] [INFO] [1746051158.507372003] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051158.508265003] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051158.509118807] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051158.510912154] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051158.545000853] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051158.545817989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051158.546330539] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051158.548008238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051158.549061446] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051158.585162870] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051158.586868053] [sailbot.teensy]: Wind angle: 162 -[trim_sail-4] [INFO] [1746051158.587257188] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051158.587870077] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051158.588722622] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051158.588858942] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051158.589844077] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051158.645309364] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051158.646429407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051158.647137268] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051158.648769057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051158.649818659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051158.745401928] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051158.746373831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051158.746948145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051158.749015107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051158.749613549] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051158.835241188] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051158.837070998] [sailbot.teensy]: Wind angle: 164 -[trim_sail-4] [INFO] [1746051158.837429903] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051158.838049719] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051158.838937428] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051158.839097034] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051158.839826813] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051158.844379446] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051158.844935618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051158.845531022] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051158.846625052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051158.847676775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051158.945145372] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051158.945883910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051158.946618413] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051158.947785992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051158.948325577] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051158.957108829] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051158.958138392] [sailbot.main_algo]: Target Bearing: -142.27477673893705 -[main_algo-3] [INFO] [1746051158.959020582] [sailbot.main_algo]: Heading Difference: -169.32822326106293 -[main_algo-3] [INFO] [1746051158.959876505] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051158.960718683] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051158.961506973] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051158.962673356] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051158.963093043] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051159.003259720] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904265 Long: -76.50276789 -[main_algo-3] [INFO] [1746051159.004188673] [sailbot.main_algo]: Distance to destination: 56.878561803927674 -[vectornav-1] [INFO] [1746051159.004647171] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.298, -0.362, 5.518) -[main_algo-3] [INFO] [1746051159.005413739] [sailbot.main_algo]: Target Bearing: -142.2856811141678 -[main_algo-3] [INFO] [1746051159.006482153] [sailbot.main_algo]: Heading Difference: -169.3173188858322 -[main_algo-3] [INFO] [1746051159.007723358] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051159.008667716] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051159.009527016] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051159.011229918] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051159.045861060] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051159.046026299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051159.047301153] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051159.048785200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051159.049914946] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051159.085101370] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051159.086622810] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051159.087155506] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051159.088211953] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051159.088480747] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051159.089477603] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051159.090327274] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051159.144960739] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051159.145872501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051159.146585762] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051159.147767239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051159.148840824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051159.244840851] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051159.245593994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051159.246380890] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051159.247437474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051159.248529518] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051159.335276875] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051159.337422357] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051159.337437881] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746051159.338369558] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051159.339324327] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051159.339518266] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051159.340276390] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051159.344408411] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051159.344989044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051159.345625194] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051159.346748572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051159.347916264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051159.444993904] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051159.445708232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051159.446362133] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051159.447845260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051159.448977996] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051159.457114004] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051159.458173354] [sailbot.main_algo]: Target Bearing: -142.2856811141678 -[main_algo-3] [INFO] [1746051159.459075025] [sailbot.main_algo]: Heading Difference: -172.4163188858322 -[main_algo-3] [INFO] [1746051159.459978544] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051159.460817639] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051159.461613692] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051159.462580698] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051159.463173378] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051159.503016019] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904247 Long: -76.5027679 -[main_algo-3] [INFO] [1746051159.504040937] [sailbot.main_algo]: Distance to destination: 56.86541548820025 -[vectornav-1] [INFO] [1746051159.504908054] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.98599999999999, 0.038, 4.544) -[main_algo-3] [INFO] [1746051159.505314675] [sailbot.main_algo]: Target Bearing: -142.3008757430918 -[main_algo-3] [INFO] [1746051159.506322978] [sailbot.main_algo]: Heading Difference: -172.4011242569082 -[main_algo-3] [INFO] [1746051159.507211514] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051159.508108088] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051159.509059918] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051159.510758105] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051159.545090042] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051159.545796956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051159.546405242] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051159.547791910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051159.548841566] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051159.585462143] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051159.587449662] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051159.587912643] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051159.588468578] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051159.589416592] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051159.589689271] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051159.590311222] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051159.644690725] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051159.645335990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051159.646028319] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051159.647147296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051159.648412218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051159.744750040] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051159.745342750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051159.746158575] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051159.747243557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051159.748292873] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051159.835574319] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051159.838085827] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051159.838637490] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051159.839065957] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746051159.839468363] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051159.839829071] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051159.840194716] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051159.844468736] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051159.845230439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051159.845728993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051159.847011533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051159.848044212] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051159.945139084] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051159.946032751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051159.946746163] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051159.947960274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051159.949021138] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051159.957152973] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051159.958214981] [sailbot.main_algo]: Target Bearing: -142.3008757430918 -[main_algo-3] [INFO] [1746051159.959112426] [sailbot.main_algo]: Heading Difference: -173.7131242569082 -[main_algo-3] [INFO] [1746051159.959988605] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051159.960871600] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051159.961735195] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051159.963127451] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051159.963742236] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051160.002772789] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904242 Long: -76.50276821 -[main_algo-3] [INFO] [1746051160.003688872] [sailbot.main_algo]: Distance to destination: 56.84205528055024 -[vectornav-1] [INFO] [1746051160.003922967] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.906000000000006, -0.712, 4.552) -[main_algo-3] [INFO] [1746051160.004815270] [sailbot.main_algo]: Target Bearing: -142.28917437708824 -[main_algo-3] [INFO] [1746051160.005786611] [sailbot.main_algo]: Heading Difference: -173.7248256229118 -[main_algo-3] [INFO] [1746051160.006913762] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051160.007813354] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051160.008680186] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051160.010382738] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051160.045087681] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051160.045681298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051160.046319165] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051160.047522745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051160.048619544] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051160.085189010] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051160.086760129] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051160.087676851] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051160.087120943] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051160.088377729] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051160.088618526] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051160.089524573] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051160.144690652] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051160.145264775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051160.145868327] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051160.147016622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051160.148032974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051160.244995799] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051160.246195435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051160.246449273] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051160.248174324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051160.249344632] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051160.335278116] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051160.337402023] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051160.338800241] [sailbot.teensy]: Wind angle: 165 -[mux-7] [INFO] [1746051160.338835017] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051160.339235846] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051160.339610878] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051160.339964060] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051160.344312718] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051160.344848515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051160.345505142] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051160.346637025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051160.347778930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051160.445212938] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051160.445854606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051160.446723468] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051160.447914183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051160.449123715] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051160.457096455] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051160.458066964] [sailbot.main_algo]: Target Bearing: -142.28917437708824 -[main_algo-3] [INFO] [1746051160.458953410] [sailbot.main_algo]: Heading Difference: -172.80482562291172 -[main_algo-3] [INFO] [1746051160.459778147] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051160.460577031] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051160.461383278] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051160.462354884] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051160.463040166] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051160.502986329] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904247 Long: -76.50276835 -[main_algo-3] [INFO] [1746051160.503532886] [sailbot.main_algo]: Distance to destination: 56.83654993391696 -[main_algo-3] [INFO] [1746051160.504820376] [sailbot.main_algo]: Target Bearing: -142.27754781577178 -[main_algo-3] [INFO] [1746051160.505798713] [sailbot.main_algo]: Heading Difference: -172.81645218422818 -[vectornav-1] [INFO] [1746051160.505171862] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.821000000000026, -1.152, 5.076) -[main_algo-3] [INFO] [1746051160.506721230] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051160.507597576] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051160.508465508] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051160.510453328] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051160.545142172] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051160.545857372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051160.546618984] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051160.547868155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051160.548922134] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051160.585448950] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051160.587757708] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051160.588148887] [sailbot.teensy]: Wind angle: 165 -[mux-7] [INFO] [1746051160.588633236] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051160.589105649] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051160.590249456] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051160.591134435] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051160.645278883] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051160.645816401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051160.646929951] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051160.647874564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051160.648990411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051160.745389266] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051160.745917244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051160.747234993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051160.747999069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051160.749037988] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051160.835403097] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051160.837375340] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051160.837785168] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051160.839187367] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051160.839518081] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051160.840479777] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051160.841312619] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051160.844470922] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051160.845028236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051160.845615184] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051160.846781021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051160.847847395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051160.945098840] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051160.945760645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051160.946487069] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051160.947644530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051160.948667204] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051160.957245420] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051160.958279491] [sailbot.main_algo]: Target Bearing: -142.27754781577178 -[main_algo-3] [INFO] [1746051160.959162840] [sailbot.main_algo]: Heading Difference: -171.90145218422822 -[main_algo-3] [INFO] [1746051160.959982131] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051160.960801868] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051160.961602075] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051160.962599419] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051160.963212893] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051161.002825056] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904246 Long: -76.50276847 -[main_algo-3] [INFO] [1746051161.003617229] [sailbot.main_algo]: Distance to destination: 56.82815900838876 -[vectornav-1] [INFO] [1746051161.003957365] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.968999999999994, 1.688, 4.724) -[main_algo-3] [INFO] [1746051161.004851650] [sailbot.main_algo]: Target Bearing: -142.27219637160985 -[main_algo-3] [INFO] [1746051161.005910730] [sailbot.main_algo]: Heading Difference: -171.9068036283901 -[main_algo-3] [INFO] [1746051161.006844421] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051161.007753843] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051161.008664544] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051161.010326670] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051161.045296062] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051161.046054365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051161.046886054] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051161.048186904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051161.049343853] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051161.085303317] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051161.086902666] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051161.087533115] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051161.087814317] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051161.088695426] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051161.088852400] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051161.089571298] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051161.145007112] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051161.145604461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051161.146424149] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051161.147515399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051161.148806165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051161.245136123] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051161.245967815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051161.246722052] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051161.247847360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051161.248992819] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051161.335387492] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051161.337137440] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746051161.338048383] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051161.337650452] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051161.338926639] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051161.339071682] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051161.339805303] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051161.344485270] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051161.344991479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051161.345609914] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051161.346679483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051161.347705053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051161.445273498] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051161.445796495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051161.446688295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051161.447696835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051161.448772466] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051161.457231842] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051161.458315448] [sailbot.main_algo]: Target Bearing: -142.27219637160985 -[main_algo-3] [INFO] [1746051161.459224713] [sailbot.main_algo]: Heading Difference: -171.75880362839018 -[main_algo-3] [INFO] [1746051161.460117864] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051161.460983537] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051161.461781830] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051161.462815688] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051161.463407515] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051161.502516503] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904237 Long: -76.50276885 -[main_algo-3] [INFO] [1746051161.503424101] [sailbot.main_algo]: Distance to destination: 56.79753539446554 -[vectornav-1] [INFO] [1746051161.503520133] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.06900000000002, -2.136, 3.798) -[main_algo-3] [INFO] [1746051161.504653312] [sailbot.main_algo]: Target Bearing: -142.26033576772807 -[main_algo-3] [INFO] [1746051161.506027643] [sailbot.main_algo]: Heading Difference: -171.77066423227194 -[main_algo-3] [INFO] [1746051161.507068440] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051161.507970150] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051161.508884305] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051161.510664499] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051161.545048872] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051161.545743793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051161.546392754] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051161.548050709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051161.549192444] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051161.585308430] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051161.586989072] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051161.587723349] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051161.587903456] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051161.588826919] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051161.589404879] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051161.589688965] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051161.644911080] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051161.645714655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051161.646156993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051161.647828832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051161.648960282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051161.745124484] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051161.745902071] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051161.746836890] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051161.747915826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051161.749079787] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051161.835382273] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051161.837203323] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051161.837586578] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051161.838185584] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051161.839122174] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051161.839326679] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051161.840070100] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051161.844416082] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051161.844967049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051161.845527885] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051161.846666957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051161.847781401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051161.944930081] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051161.945555533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051161.946179664] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051161.947468280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051161.948498352] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051161.956956042] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051161.957944889] [sailbot.main_algo]: Target Bearing: -142.26033576772807 -[main_algo-3] [INFO] [1746051161.958787781] [sailbot.main_algo]: Heading Difference: -171.67066423227192 -[main_algo-3] [INFO] [1746051161.959608957] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051161.960416777] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051161.961222622] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051161.962414528] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051161.962845033] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051162.002951797] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690423 Long: -76.5027688 -[main_algo-3] [INFO] [1746051162.004134077] [sailbot.main_algo]: Distance to destination: 56.7958755647337 -[vectornav-1] [INFO] [1746051162.004450876] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.44200000000001, 0.612, 5.813) -[main_algo-3] [INFO] [1746051162.005369883] [sailbot.main_algo]: Target Bearing: -142.26904780134348 -[main_algo-3] [INFO] [1746051162.006430327] [sailbot.main_algo]: Heading Difference: -171.66195219865654 -[main_algo-3] [INFO] [1746051162.007333406] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051162.008222316] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051162.009076632] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051162.010794188] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051162.045242030] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051162.046147388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051162.046685969] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051162.048350624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051162.049437231] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051162.085537895] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051162.087371358] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051162.088340542] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051162.088022862] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051162.089265627] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051162.089287964] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051162.090389920] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051162.145030752] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051162.145733228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051162.146426876] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051162.147830491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051162.149008199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051162.244939453] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051162.245628768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051162.246434966] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051162.247409842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051162.248487888] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051162.335412991] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051162.337848750] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051162.338836943] [sailbot.teensy]: Wind angle: 166 -[mux-7] [INFO] [1746051162.339112333] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051162.340209557] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051162.341150750] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051162.342134540] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051162.344433169] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051162.345108066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051162.345573437] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051162.346883775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051162.348000571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051162.444825691] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051162.445306336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051162.447102512] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051162.447464175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051162.448531040] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051162.457182795] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051162.458166529] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746051162.459122191] [sailbot.main_algo]: Target Bearing: -142.26904780134348 -[main_algo-3] [INFO] [1746051162.460012114] [sailbot.main_algo]: Heading Difference: -171.2889521986565 -[main_algo-3] [INFO] [1746051162.460921059] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051162.461747748] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051162.462521393] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051162.463811817] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051162.464084566] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051162.502757827] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904214 Long: -76.50276873 -[main_algo-3] [INFO] [1746051162.503708610] [sailbot.main_algo]: Distance to destination: 56.7892459169806 -[vectornav-1] [INFO] [1746051162.503940889] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.54200000000003, -0.761, 4.921) -[main_algo-3] [INFO] [1746051162.504955355] [sailbot.main_algo]: Target Bearing: -142.2866646597594 -[main_algo-3] [INFO] [1746051162.506002067] [sailbot.main_algo]: Heading Difference: -171.27133534024063 -[main_algo-3] [INFO] [1746051162.506902651] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051162.507797834] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051162.508696705] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051162.510406942] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051162.545062907] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051162.545863378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051162.546393796] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051162.547866174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051162.548948328] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051162.585441785] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051162.587413242] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746051162.588406636] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051162.587769999] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051162.589201452] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051162.589331229] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051162.590233803] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051162.644803103] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051162.645902310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051162.646082534] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051162.647724310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051162.648820180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051162.745055576] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051162.745780931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051162.746428670] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051162.747846539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051162.748346610] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051162.835283197] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051162.837140797] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051162.837482053] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051162.838831148] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051162.838913270] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051162.839252079] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051162.839626081] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051162.844244226] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051162.844918367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051162.845504111] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051162.846698321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051162.847717260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051162.944902695] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051162.945583227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051162.946144719] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051162.947425170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051162.948554289] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051162.957134163] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051162.958048920] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746051162.958850379] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051162.959993298] [sailbot.main_algo]: Current Location: (42.46904214214751, -76.50276873005446) -[main_algo-3] [INFO] [1746051162.960884741] [sailbot.main_algo]: Target Bearing: -142.2866646597594 -[main_algo-3] [INFO] [1746051162.961725245] [sailbot.main_algo]: Heading Difference: -172.1713353402406 -[main_algo-3] [INFO] [1746051162.962814463] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051162.963653407] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051162.964471594] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051162.965533170] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051162.966055185] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051163.003088749] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904194 Long: -76.50276884 -[main_algo-3] [INFO] [1746051163.003802348] [sailbot.main_algo]: Distance to destination: 56.76829509428481 -[vectornav-1] [INFO] [1746051163.004415964] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.41500000000002, 0.621, 5.077) -[main_algo-3] [INFO] [1746051163.005095418] [sailbot.main_algo]: Target Bearing: -142.29844258476544 -[main_algo-3] [INFO] [1746051163.006094238] [sailbot.main_algo]: Heading Difference: -172.15955741523453 -[main_algo-3] [INFO] [1746051163.007057732] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051163.007977830] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051163.008845332] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051163.010591515] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051163.045037662] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051163.045740472] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051163.046261538] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051163.047614039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051163.048745127] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051163.085410620] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051163.087780636] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051163.088279473] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051163.088512202] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051163.089521663] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051163.090576339] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051163.091495479] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051163.145025630] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051163.145693494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051163.146366344] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051163.147611512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051163.148654330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051163.244955425] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051163.245620604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051163.246165073] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051163.247441620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051163.248575130] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051163.334990818] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051163.336639562] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051163.336952566] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051163.337517659] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051163.338477047] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051163.338635430] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051163.339560133] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051163.344411928] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051163.345029091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051163.345542474] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051163.346905011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051163.347992880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051163.445089160] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051163.445734389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051163.446465127] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051163.447642669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051163.448855868] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051163.457303811] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051163.458372077] [sailbot.main_algo]: Target Bearing: -142.29844258476544 -[main_algo-3] [INFO] [1746051163.459295326] [sailbot.main_algo]: Heading Difference: -172.28655741523454 -[main_algo-3] [INFO] [1746051163.460207003] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051163.461076469] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051163.461874092] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051163.462967103] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051163.463572934] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051163.502735813] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904194 Long: -76.50276903 -[vectornav-1] [INFO] [1746051163.503934315] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.524, -2.417, 4.78) -[main_algo-3] [INFO] [1746051163.504913794] [sailbot.main_algo]: Distance to destination: 56.75610668384025 -[main_algo-3] [INFO] [1746051163.506061760] [sailbot.main_algo]: Target Bearing: -142.2885785320552 -[main_algo-3] [INFO] [1746051163.507091298] [sailbot.main_algo]: Heading Difference: -172.2964214679448 -[main_algo-3] [INFO] [1746051163.508068300] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051163.508999662] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051163.509842502] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051163.511523224] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051163.545090321] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051163.545785615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051163.546438364] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051163.547705252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051163.548738665] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051163.585132279] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051163.586668190] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746051163.587576673] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051163.587658729] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051163.588510819] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051163.589118947] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051163.589381938] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051163.645121253] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051163.645736322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051163.646484774] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051163.647633837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051163.648246759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051163.745255457] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051163.745874077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051163.746694775] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051163.747783654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051163.748855890] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051163.835375635] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051163.837742805] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051163.838185031] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051163.838545616] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746051163.839531048] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051163.840393436] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051163.841002463] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051163.844468196] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051163.844999966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051163.845542318] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051163.846745162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051163.847749397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051163.945002953] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051163.945798296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051163.946524413] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051163.947750929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051163.948390713] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051163.957101584] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051163.958091740] [sailbot.main_algo]: Target Bearing: -142.2885785320552 -[main_algo-3] [INFO] [1746051163.958949889] [sailbot.main_algo]: Heading Difference: -173.18742146794477 -[main_algo-3] [INFO] [1746051163.959745338] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051163.960571455] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051163.961355000] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051163.962320728] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051163.962910695] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051164.003012032] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904195 Long: -76.50276861 -[main_algo-3] [INFO] [1746051164.003436366] [sailbot.main_algo]: Distance to destination: 56.783746196678074 -[vectornav-1] [INFO] [1746051164.004266713] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.71300000000002, 1.552, 5.96) -[main_algo-3] [INFO] [1746051164.004454882] [sailbot.main_algo]: Target Bearing: -142.30950311220266 -[main_algo-3] [INFO] [1746051164.005382756] [sailbot.main_algo]: Heading Difference: -173.16649688779734 -[main_algo-3] [INFO] [1746051164.006601710] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051164.007512428] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051164.008409955] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051164.010042960] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051164.044974915] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051164.045728393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051164.046236118] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051164.047711011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051164.048766816] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051164.085419723] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051164.088219975] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051164.088869210] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051164.089263697] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051164.090417423] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051164.091304555] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051164.092191084] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051164.144899633] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051164.145756622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051164.146190471] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051164.147622327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051164.148775502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051164.245163752] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051164.246041073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051164.246742984] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051164.247833393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051164.248302011] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051164.335218089] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051164.337727437] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051164.337988928] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051164.338649374] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051164.338659022] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051164.339550357] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051164.340432049] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051164.344473213] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051164.345105639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051164.345568609] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051164.346864368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051164.347909774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051164.444955374] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051164.445514237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051164.446274791] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051164.447340768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051164.448229779] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051164.457207958] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051164.458403410] [sailbot.main_algo]: Target Bearing: -142.30950311220266 -[main_algo-3] [INFO] [1746051164.459370902] [sailbot.main_algo]: Heading Difference: -173.97749688779732 -[main_algo-3] [INFO] [1746051164.460277981] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051164.461083319] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051164.461853835] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051164.463020706] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051164.463399149] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051164.502776231] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904183 Long: -76.50276845 -[main_algo-3] [INFO] [1746051164.503847800] [sailbot.main_algo]: Distance to destination: 56.78568187034234 -[vectornav-1] [INFO] [1746051164.503903402] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.271000000000015, -0.7, 4.664) -[main_algo-3] [INFO] [1746051164.504944086] [sailbot.main_algo]: Target Bearing: -142.3282968530764 -[main_algo-3] [INFO] [1746051164.505941735] [sailbot.main_algo]: Heading Difference: -173.95870314692354 -[main_algo-3] [INFO] [1746051164.506860457] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051164.507725122] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051164.508584046] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051164.510326214] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051164.545008403] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051164.545676414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051164.546247358] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051164.547590149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051164.548630272] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051164.585140918] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051164.586781053] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051164.587567051] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051164.587992006] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051164.588919193] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051164.589015352] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051164.589774950] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051164.645004568] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051164.645725755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051164.646501581] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051164.647734374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051164.648830389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051164.745118737] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051164.745769144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051164.746496193] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051164.747753133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051164.748952950] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051164.835257280] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051164.837021741] [sailbot.teensy]: Wind angle: 169 -[trim_sail-4] [INFO] [1746051164.837755971] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051164.837967487] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051164.838843615] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051164.838775949] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051164.839696094] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051164.844314045] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051164.845244348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051164.845777772] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051164.847025119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051164.848087996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051164.945093229] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051164.945718962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051164.946414442] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051164.947544650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051164.948099455] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051164.957056368] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051164.958047081] [sailbot.main_algo]: Target Bearing: -142.3282968530764 -[main_algo-3] [INFO] [1746051164.958890908] [sailbot.main_algo]: Heading Difference: -175.40070314692355 -[main_algo-3] [INFO] [1746051164.959694164] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051164.960500544] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051164.961297803] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051164.962288955] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051164.962904848] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051165.002805017] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904184 Long: -76.50276851 -[main_algo-3] [INFO] [1746051165.003903412] [sailbot.main_algo]: Distance to destination: 56.78252534606342 -[vectornav-1] [INFO] [1746051165.004059286] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.906000000000006, -1.785, 5.732) -[main_algo-3] [INFO] [1746051165.005004646] [sailbot.main_algo]: Target Bearing: -142.32431062677077 -[main_algo-3] [INFO] [1746051165.006023134] [sailbot.main_algo]: Heading Difference: -175.4046893732292 -[main_algo-3] [INFO] [1746051165.006929072] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051165.007845813] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051165.008738967] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051165.010432465] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051165.045105840] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051165.045896552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051165.046452665] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051165.047917174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051165.048913232] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051165.085163566] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051165.086851888] [sailbot.teensy]: Wind angle: 170 -[trim_sail-4] [INFO] [1746051165.087273039] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051165.087706308] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051165.088367538] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051165.088555084] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051165.089454365] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051165.144594852] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051165.145373829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051165.146092267] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051165.147123912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051165.148181084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051165.244805246] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051165.245518415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051165.246031344] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051165.247310024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051165.248497808] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051165.335266569] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051165.338130715] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051165.338562621] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051165.338691374] [sailbot.teensy]: Wind angle: 170 -[teensy-2] [INFO] [1746051165.339607236] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051165.340490269] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051165.341355835] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051165.344304357] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051165.344812548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051165.345758199] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051165.346463491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051165.347551679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051165.444981775] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051165.445896237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051165.446772570] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051165.447796544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051165.448628012] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051165.457265735] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051165.458325139] [sailbot.main_algo]: Target Bearing: -142.32431062677077 -[main_algo-3] [INFO] [1746051165.459228183] [sailbot.main_algo]: Heading Difference: -173.7696893732292 -[main_algo-3] [INFO] [1746051165.460114149] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051165.461003670] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051165.461867802] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051165.462884734] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051165.464107409] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051165.502756247] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904201 Long: -76.5027681 -[main_algo-3] [INFO] [1746051165.503751375] [sailbot.main_algo]: Distance to destination: 56.820640469701644 -[vectornav-1] [INFO] [1746051165.503858743] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.293000000000006, 2.082, 3.782) -[main_algo-3] [INFO] [1746051165.504933962] [sailbot.main_algo]: Target Bearing: -142.33070034363018 -[main_algo-3] [INFO] [1746051165.505900826] [sailbot.main_algo]: Heading Difference: -173.76329965636978 -[main_algo-3] [INFO] [1746051165.506878982] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051165.507793895] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051165.508669059] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051165.510408912] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051165.545077739] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051165.545678741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051165.546356419] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051165.547494372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051165.548686681] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051165.585344365] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051165.587187357] [sailbot.teensy]: Wind angle: 170 -[trim_sail-4] [INFO] [1746051165.587630927] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051165.588149050] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051165.589086202] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051165.588993361] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051165.589987815] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051165.644798301] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051165.645665156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051165.646063354] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051165.647534345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051165.648691053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051165.744949890] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051165.745662599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051165.746401207] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051165.747656894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051165.748682058] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051165.835308622] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051165.837596437] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051165.837755451] [sailbot.teensy]: Wind angle: 171 -[teensy-2] [INFO] [1746051165.838718894] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051165.838955952] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051165.839612587] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051165.840524044] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051165.844447231] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051165.844987719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051165.845564898] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051165.846735657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051165.847855166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051165.945346775] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051165.945923477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051165.946969222] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051165.948123514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051165.949173455] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051165.957204526] [sailbot.main_algo]: Wind Direction: 171 -[main_algo-3] [INFO] [1746051165.958193526] [sailbot.main_algo]: Target Bearing: -142.33070034363018 -[main_algo-3] [INFO] [1746051165.959085195] [sailbot.main_algo]: Heading Difference: -173.37629965636984 -[main_algo-3] [INFO] [1746051165.959939281] [sailbot.main_algo]: Wind Direction: 171 -[main_algo-3] [INFO] [1746051165.960810338] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051165.961609233] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051165.962648688] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051165.963269593] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051166.003286542] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904212 Long: -76.50276814 -[main_algo-3] [INFO] [1746051166.003870402] [sailbot.main_algo]: Distance to destination: 56.82570994614407 -[vectornav-1] [INFO] [1746051166.004521096] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.71300000000002, -2.567, 5.992) -[main_algo-3] [INFO] [1746051166.005010614] [sailbot.main_algo]: Target Bearing: -142.3190125926973 -[main_algo-3] [INFO] [1746051166.006033438] [sailbot.main_algo]: Heading Difference: -173.38798740730272 -[main_algo-3] [INFO] [1746051166.006997826] [sailbot.main_algo]: Wind Direction: 171 -[main_algo-3] [INFO] [1746051166.007910700] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051166.008807987] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051166.010558901] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051166.045088994] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051166.045874162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051166.046508396] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051166.047822559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051166.049004808] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051166.085465472] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051166.087891359] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051166.088091694] [sailbot.teensy]: Wind angle: 171 -[mux-7] [INFO] [1746051166.088711674] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051166.089416095] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051166.090655977] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051166.091504710] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051166.144835406] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051166.145400667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051166.146087703] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051166.147333131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051166.148494787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051166.245224558] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051166.245750035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051166.247066640] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051166.248002114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051166.249171388] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051166.335324187] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051166.337043501] [sailbot.teensy]: Wind angle: 171 -[trim_sail-4] [INFO] [1746051166.337689981] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051166.338063325] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051166.338974042] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051166.339195059] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051166.339363628] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051166.344445221] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051166.345108751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051166.345567945] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051166.347155918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051166.348231009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051166.445272254] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051166.446186868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051166.447426657] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051166.448390059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051166.449736445] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051166.457395341] [sailbot.main_algo]: Wind Direction: 171 -[main_algo-3] [INFO] [1746051166.458447959] [sailbot.main_algo]: Target Bearing: -142.3190125926973 -[main_algo-3] [INFO] [1746051166.459379166] [sailbot.main_algo]: Heading Difference: -172.96798740730264 -[main_algo-3] [INFO] [1746051166.460280316] [sailbot.main_algo]: Wind Direction: 171 -[main_algo-3] [INFO] [1746051166.461152292] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051166.462012451] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051166.463135673] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051166.463664867] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051166.502447983] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904212 Long: -76.50276764 -[main_algo-3] [INFO] [1746051166.503291195] [sailbot.main_algo]: Distance to destination: 56.8578019631487 -[vectornav-1] [INFO] [1746051166.503497197] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.16899999999998, 1.453, 4.93) -[main_algo-3] [INFO] [1746051166.504389005] [sailbot.main_algo]: Target Bearing: -142.34491258926707 -[main_algo-3] [INFO] [1746051166.505346668] [sailbot.main_algo]: Heading Difference: -172.94208741073294 -[main_algo-3] [INFO] [1746051166.506254885] [sailbot.main_algo]: Wind Direction: 171 -[main_algo-3] [INFO] [1746051166.507152314] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051166.508027287] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051166.509789361] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051166.545068746] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051166.545825115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051166.546498056] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051166.547978740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051166.549139686] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051166.585014320] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051166.586887428] [sailbot.teensy]: Wind angle: 171 -[trim_sail-4] [INFO] [1746051166.587256794] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051166.587794377] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051166.588656306] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051166.588760578] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051166.589573820] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051166.645062467] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051166.645833488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051166.646624510] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051166.647806697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051166.649000175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051166.745153053] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051166.745753850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051166.746530551] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051166.747697729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051166.748584250] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051166.835179785] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051166.837346001] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051166.837484298] [sailbot.teensy]: Wind angle: 170 -[mux-7] [INFO] [1746051166.838291931] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051166.838337516] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051166.839211053] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051166.839580536] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051166.844462331] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051166.845003898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051166.845611498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051166.846711926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051166.847769431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051166.945440681] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051166.946056243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051166.947040284] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051166.948244271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051166.949312497] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051166.957134817] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051166.958116658] [sailbot.main_algo]: Target Bearing: -142.34491258926707 -[main_algo-3] [INFO] [1746051166.958997569] [sailbot.main_algo]: Heading Difference: -172.48608741073292 -[main_algo-3] [INFO] [1746051166.959845933] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051166.960728979] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051166.961525148] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051166.962661850] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051166.963361433] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051167.003320938] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904206 Long: -76.50276762 -[main_algo-3] [INFO] [1746051167.003822537] [sailbot.main_algo]: Distance to destination: 56.85492262931769 -[main_algo-3] [INFO] [1746051167.005211796] [sailbot.main_algo]: Target Bearing: -142.3511910084629 -[main_algo-3] [INFO] [1746051167.006188669] [sailbot.main_algo]: Heading Difference: -172.47980899153708 -[vectornav-1] [INFO] [1746051167.006333965] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.490999999999985, -1.904, 4.684) -[main_algo-3] [INFO] [1746051167.007143059] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051167.008051892] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051167.009005700] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051167.010746812] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051167.045219192] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051167.045816442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051167.046649588] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051167.047762167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051167.048920097] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051167.085370856] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051167.087770179] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051167.088329860] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051167.088779182] [sailbot.teensy]: Wind angle: 171 -[teensy-2] [INFO] [1746051167.089996719] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051167.090893180] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051167.091820540] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051167.145062036] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051167.145642731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051167.146404085] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051167.147455087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051167.148725301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051167.245104038] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051167.245611421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051167.246392781] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051167.247578614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051167.248781031] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051167.335164680] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051167.336777519] [sailbot.teensy]: Wind angle: 170 -[teensy-2] [INFO] [1746051167.337624562] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051167.337506429] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051167.338410779] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051167.338411605] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051167.339288775] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051167.344396634] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051167.344916677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051167.345819670] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051167.346664263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051167.347721129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051167.444882467] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051167.445530069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051167.446182159] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051167.447328869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051167.448568298] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051167.457035751] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051167.458121584] [sailbot.main_algo]: Target Bearing: -142.3511910084629 -[main_algo-3] [INFO] [1746051167.459032638] [sailbot.main_algo]: Heading Difference: -173.15780899153708 -[main_algo-3] [INFO] [1746051167.459862254] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051167.460691096] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051167.461486443] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051167.462495783] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051167.463245116] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051167.502978322] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904208 Long: -76.50276721 -[main_algo-3] [INFO] [1746051167.504121329] [sailbot.main_algo]: Distance to destination: 56.88263610968353 -[vectornav-1] [INFO] [1746051167.504236832] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.75400000000002, 1.351, 5.51) -[main_algo-3] [INFO] [1746051167.505493972] [sailbot.main_algo]: Target Bearing: -142.3706578937374 -[main_algo-3] [INFO] [1746051167.506519014] [sailbot.main_algo]: Heading Difference: -173.1383421062626 -[main_algo-3] [INFO] [1746051167.507415558] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051167.508336563] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051167.509183606] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051167.510852206] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051167.545017976] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051167.545851210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051167.546428808] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051167.548029228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051167.549179216] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051167.585139625] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051167.587449432] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051167.587565146] [sailbot.teensy]: Wind angle: 171 -[teensy-2] [INFO] [1746051167.588551745] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051167.588557477] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051167.589483159] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051167.590382921] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051167.645105439] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051167.645752409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051167.646490370] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051167.647709687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051167.648787420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051167.745102251] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051167.745888037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051167.746533623] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051167.747918022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051167.748935664] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051167.835144975] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051167.837217313] [sailbot.teensy]: Wind angle: 171 -[trim_sail-4] [INFO] [1746051167.837334258] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051167.837651484] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051167.838094310] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051167.838918591] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051167.839375618] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051167.844459816] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051167.845129710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051167.845703128] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051167.846853706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051167.847896696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051167.945502217] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051167.946235394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051167.948143053] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051167.948837471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051167.950042445] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051167.957104211] [sailbot.main_algo]: Wind Direction: 171 -[main_algo-3] [INFO] [1746051167.958097451] [sailbot.main_algo]: Target Bearing: -142.3706578937374 -[main_algo-3] [INFO] [1746051167.958980737] [sailbot.main_algo]: Heading Difference: -172.87534210626256 -[main_algo-3] [INFO] [1746051167.959837744] [sailbot.main_algo]: Wind Direction: 171 -[main_algo-3] [INFO] [1746051167.960722034] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051167.961516754] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051167.962644857] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051167.963225176] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051168.003489183] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904212 Long: -76.50276696 -[main_algo-3] [INFO] [1746051168.004307850] [sailbot.main_algo]: Distance to destination: 56.90146572800754 -[vectornav-1] [INFO] [1746051168.005175969] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.834, -1.978, 4.12) -[main_algo-3] [INFO] [1746051168.005643523] [sailbot.main_algo]: Target Bearing: -142.38008968978465 -[main_algo-3] [INFO] [1746051168.006998137] [sailbot.main_algo]: Heading Difference: -172.86591031021533 -[main_algo-3] [INFO] [1746051168.007875158] [sailbot.main_algo]: Wind Direction: 171 -[main_algo-3] [INFO] [1746051168.008783651] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051168.009639780] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051168.011513896] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051168.045350014] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051168.045880423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051168.046782744] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051168.047848294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051168.049024595] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051168.085305991] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051168.087152069] [sailbot.teensy]: Wind angle: 172 -[trim_sail-4] [INFO] [1746051168.088085166] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051168.088140716] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051168.089076257] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051168.089998222] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051168.090314671] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051168.145052035] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051168.145928902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051168.146485145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051168.148033797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051168.149042309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051168.245102093] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051168.245994719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051168.246491941] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051168.248132147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051168.248668191] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051168.335223573] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051168.337014533] [sailbot.teensy]: Wind angle: 169 -[trim_sail-4] [INFO] [1746051168.337582425] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051168.338003799] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051168.338908881] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051168.339314254] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051168.339801377] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051168.344410174] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051168.344961885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051168.345503780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051168.346619768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051168.347744984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051168.445017115] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051168.445684986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051168.446441733] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051168.447586482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051168.448600614] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051168.457070647] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051168.458060697] [sailbot.main_algo]: Target Bearing: -142.38008968978465 -[main_algo-3] [INFO] [1746051168.458909513] [sailbot.main_algo]: Heading Difference: -171.78591031021534 -[main_algo-3] [INFO] [1746051168.459694253] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051168.460479738] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051168.461277394] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051168.462244085] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051168.462902114] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051168.502958023] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904223 Long: -76.50276702 -[vectornav-1] [INFO] [1746051168.504282604] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.331999999999994, 1.289, 5.164) -[main_algo-3] [INFO] [1746051168.504264541] [sailbot.main_algo]: Distance to destination: 56.90524088653499 -[main_algo-3] [INFO] [1746051168.505620702] [sailbot.main_algo]: Target Bearing: -142.36738011951635 -[main_algo-3] [INFO] [1746051168.506671434] [sailbot.main_algo]: Heading Difference: -171.79861988048367 -[main_algo-3] [INFO] [1746051168.507722307] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051168.508609865] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051168.509458638] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051168.511207762] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051168.545300862] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051168.546032727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051168.546786513] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051168.548597170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051168.549735382] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051168.585165968] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051168.587261375] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051168.587407569] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746051168.588347666] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051168.589274996] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051168.589502064] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051168.590179232] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051168.645075857] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051168.645712560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051168.646503553] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051168.647764574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051168.648948714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051168.745110837] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051168.745911360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051168.746883286] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051168.747866281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051168.748909934] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051168.835320180] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051168.837413321] [sailbot.teensy]: Wind angle: 164 -[trim_sail-4] [INFO] [1746051168.837581647] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051168.838371973] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051168.839286304] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051168.839621395] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051168.840216371] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051168.844570738] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051168.845000912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051168.845731269] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051168.846714628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051168.847775265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051168.945682836] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051168.946431746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051168.947673047] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051168.948709091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051168.949234355] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051168.957355005] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051168.958451003] [sailbot.main_algo]: Target Bearing: -142.36738011951635 -[main_algo-3] [INFO] [1746051168.959421617] [sailbot.main_algo]: Heading Difference: -173.30061988048362 -[main_algo-3] [INFO] [1746051168.960322716] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051168.961234298] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051168.962099241] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051168.963412027] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051168.964111407] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051169.003474307] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904224 Long: -76.50276743 -[main_algo-3] [INFO] [1746051169.003781375] [sailbot.main_algo]: Distance to destination: 56.87961022522139 -[main_algo-3] [INFO] [1746051169.004981380] [sailbot.main_algo]: Target Bearing: -142.34529892515886 -[vectornav-1] [INFO] [1746051169.005916256] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.523000000000025, -2.174, 5.172) -[main_algo-3] [INFO] [1746051169.005991278] [sailbot.main_algo]: Heading Difference: -173.32270107484112 -[main_algo-3] [INFO] [1746051169.006907413] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051169.007809591] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051169.008678778] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051169.010299652] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051169.044954900] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051169.045616272] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051169.046354955] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051169.047541611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051169.048776357] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051169.085527563] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051169.087545195] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746051169.088512171] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051169.088007769] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051169.089353857] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051169.089378334] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051169.090354090] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051169.145330089] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051169.145703698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051169.146912826] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051169.147680157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051169.148775516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051169.245493430] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051169.246203076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051169.247085402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051169.248444409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051169.249362856] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051169.335537444] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051169.337751707] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051169.337781891] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051169.338871079] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051169.339056880] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051169.339475444] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051169.339864873] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051169.344635483] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051169.345288259] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051169.345817036] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051169.347118852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051169.348140316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051169.445140125] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051169.445619682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051169.446644542] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051169.447584491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051169.448789722] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051169.457190055] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051169.458204279] [sailbot.main_algo]: Target Bearing: -142.34529892515886 -[main_algo-3] [INFO] [1746051169.459175670] [sailbot.main_algo]: Heading Difference: -173.1317010748411 -[main_algo-3] [INFO] [1746051169.460023080] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051169.460852674] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051169.461657864] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051169.462704481] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051169.463758930] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051169.502906729] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904208 Long: -76.50276721 -[main_algo-3] [INFO] [1746051169.504203711] [sailbot.main_algo]: Distance to destination: 56.88263610968353 -[vectornav-1] [INFO] [1746051169.504603053] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.553999999999974, 1.909, 4.747) -[main_algo-3] [INFO] [1746051169.505495526] [sailbot.main_algo]: Target Bearing: -142.3706578937374 -[main_algo-3] [INFO] [1746051169.507324129] [sailbot.main_algo]: Heading Difference: -173.10634210626256 -[main_algo-3] [INFO] [1746051169.508342253] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051169.509270370] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051169.510182663] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051169.511989988] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051169.544880615] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051169.545601149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051169.546375176] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051169.547468881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051169.548709269] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051169.585168299] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051169.587239160] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051169.587579659] [sailbot.teensy]: Wind angle: 164 -[teensy-2] [INFO] [1746051169.588697058] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051169.588741396] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051169.589655151] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051169.590514092] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051169.645257120] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051169.645726669] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051169.646717033] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051169.647693920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051169.648778954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051169.745276278] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051169.745872758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051169.746845052] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051169.747839828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051169.748938587] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051169.835285188] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051169.837478598] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051169.837966855] [sailbot.teensy]: Wind angle: 164 -[mux-7] [INFO] [1746051169.838390573] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051169.839033548] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051169.840000636] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051169.840978688] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051169.844342592] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051169.844879423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051169.845536662] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051169.846633150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051169.847720792] [sailbot.teensy]: Message sent to servo -[rosbridge_websocket-8] [INFO] [1746051169.860338956] [rosbridge_websocket]: Client disconnected. 1 clients total. -[mux-7] [INFO] [1746051169.945625458] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051169.946268364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051169.947368078] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051169.948694388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051169.949925209] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051169.957013276] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051169.958021805] [sailbot.main_algo]: Target Bearing: -142.3706578937374 -[main_algo-3] [INFO] [1746051169.958905334] [sailbot.main_algo]: Heading Difference: -174.0753421062626 -[main_algo-3] [INFO] [1746051169.959751333] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051169.960642050] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051169.961431902] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051169.962527147] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051169.963240480] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051170.003048168] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904202 Long: -76.50276766 -[main_algo-3] [INFO] [1746051170.004010260] [sailbot.main_algo]: Distance to destination: 56.84957925352928 -[vectornav-1] [INFO] [1746051170.004396755] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.57900000000001, -2.82, 5.399) -[main_algo-3] [INFO] [1746051170.005664763] [sailbot.main_algo]: Target Bearing: -142.35261609840893 -[main_algo-3] [INFO] [1746051170.006648037] [sailbot.main_algo]: Heading Difference: -174.0933839015911 -[main_algo-3] [INFO] [1746051170.007564771] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051170.008478600] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051170.009330464] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051170.011031323] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051170.045343725] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051170.046265156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051170.046807703] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051170.048761553] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051170.049988456] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051170.085565455] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051170.087671068] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746051170.088724735] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051170.087939310] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051170.089465680] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051170.089604251] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051170.090528517] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051170.145080846] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051170.145967740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051170.146606023] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051170.148211272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051170.149269561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051170.245185774] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051170.246003743] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051170.246691020] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051170.248018380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051170.249296355] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051170.335424786] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051170.337301682] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051170.337832605] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051170.338261551] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051170.339133530] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051170.339171445] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051170.340080292] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051170.344532739] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051170.345100108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051170.345661358] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051170.346767580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051170.347917484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051170.445080280] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051170.445799270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051170.446613492] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051170.447811689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051170.448353668] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051170.457334465] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051170.458408617] [sailbot.main_algo]: Target Bearing: -142.35261609840893 -[main_algo-3] [INFO] [1746051170.459338737] [sailbot.main_algo]: Heading Difference: -173.06838390159106 -[main_algo-3] [INFO] [1746051170.460245869] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051170.461129765] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051170.461982738] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051170.463205732] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051170.463718125] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051170.503006606] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904204 Long: -76.50276757 -[main_algo-3] [INFO] [1746051170.504103919] [sailbot.main_algo]: Distance to destination: 56.85674518361179 -[vectornav-1] [INFO] [1746051170.504335071] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.39300000000003, 1.331, 4.207) -[main_algo-3] [INFO] [1746051170.505368599] [sailbot.main_algo]: Target Bearing: -142.35552698757706 -[main_algo-3] [INFO] [1746051170.506338856] [sailbot.main_algo]: Heading Difference: -173.0654730124229 -[main_algo-3] [INFO] [1746051170.507238857] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051170.508099106] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051170.508960504] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051170.510655072] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051170.545120190] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051170.545886964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051170.546774748] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051170.547873848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051170.548904350] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051170.585077716] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051170.587024335] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051170.587285259] [sailbot.teensy]: Wind angle: 162 -[teensy-2] [INFO] [1746051170.588255213] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051170.588351937] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051170.589135688] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051170.590033428] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051170.644810607] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051170.645398093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051170.646001857] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051170.647249643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051170.648386861] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051170.745538208] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051170.746487511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051170.747167500] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051170.748222886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051170.748800843] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051170.835329310] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051170.837136732] [sailbot.teensy]: Wind angle: 161 -[trim_sail-4] [INFO] [1746051170.837464266] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051170.837665226] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051170.838063791] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051170.838309960] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051170.838458263] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051170.844729778] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051170.845272093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051170.845939343] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051170.846990286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051170.848118552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051170.945035615] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051170.945764167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051170.946477961] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051170.947770906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051170.948303062] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051170.957172229] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051170.958255425] [sailbot.main_algo]: Target Bearing: -142.35552698757706 -[main_algo-3] [INFO] [1746051170.959193457] [sailbot.main_algo]: Heading Difference: -173.25147301242293 -[main_algo-3] [INFO] [1746051170.960052965] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051170.960869891] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051170.961694329] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051170.962709997] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051170.963398243] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051171.002849158] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904204 Long: -76.50276776 -[main_algo-3] [INFO] [1746051171.003857286] [sailbot.main_algo]: Distance to destination: 56.844547041818416 -[vectornav-1] [INFO] [1746051171.003996120] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.26800000000003, -0.863, 5.621) -[main_algo-3] [INFO] [1746051171.005068991] [sailbot.main_algo]: Target Bearing: -142.34569052924354 -[main_algo-3] [INFO] [1746051171.006045873] [sailbot.main_algo]: Heading Difference: -173.26130947075643 -[main_algo-3] [INFO] [1746051171.006941074] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051171.007845464] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051171.008729707] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051171.010437106] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051171.045149412] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051171.045956832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051171.046543579] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051171.047979981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051171.049016454] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051171.085370906] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051171.087177859] [sailbot.teensy]: Wind angle: 160 -[trim_sail-4] [INFO] [1746051171.087884572] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051171.088206927] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051171.089164998] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051171.089461160] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051171.090142081] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051171.144737915] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051171.145732541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051171.145912268] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051171.147587525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051171.148657154] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051171.244960005] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051171.245650483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051171.246264263] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051171.247536682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051171.248579354] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051171.335419327] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051171.337461766] [sailbot.teensy]: Wind angle: 160 -[trim_sail-4] [INFO] [1746051171.337912839] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051171.339680020] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051171.339678871] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051171.340647623] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051171.341240132] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051171.344340994] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051171.344823324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051171.345519995] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051171.346502066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051171.347563908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051171.445199276] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051171.446080663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051171.446737517] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051171.448351358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051171.449619491] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051171.456992560] [sailbot.main_algo]: Wind Direction: 160 -[main_algo-3] [INFO] [1746051171.457956178] [sailbot.main_algo]: Target Bearing: -142.34569052924354 -[main_algo-3] [INFO] [1746051171.458858925] [sailbot.main_algo]: Heading Difference: -173.38630947075643 -[main_algo-3] [INFO] [1746051171.459720097] [sailbot.main_algo]: Wind Direction: 160 -[main_algo-3] [INFO] [1746051171.460593387] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051171.461413296] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051171.462407034] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051171.463044294] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051171.503243704] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904209 Long: -76.50276789 -[main_algo-3] [INFO] [1746051171.504557358] [sailbot.main_algo]: Distance to destination: 56.839672181856855 -[vectornav-1] [INFO] [1746051171.505109094] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.047000000000025, -0.956, 3.939) -[main_algo-3] [INFO] [1746051171.505985287] [sailbot.main_algo]: Target Bearing: -142.33458795052954 -[main_algo-3] [INFO] [1746051171.507110330] [sailbot.main_algo]: Heading Difference: -173.3974120494704 -[main_algo-3] [INFO] [1746051171.508107643] [sailbot.main_algo]: Wind Direction: 160 -[main_algo-3] [INFO] [1746051171.509053408] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051171.509972323] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051171.511700717] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051171.545308391] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051171.546143994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051171.546837502] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051171.548799783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051171.549917099] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051171.585105713] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051171.586652506] [sailbot.teensy]: Wind angle: 161 -[trim_sail-4] [INFO] [1746051171.587253685] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051171.587941648] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051171.588984470] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051171.589173042] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051171.589876643] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051171.644849981] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051171.645414854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051171.646056944] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051171.647165572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051171.648320821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051171.745171028] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051171.745890523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051171.746617904] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051171.747753833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051171.748230880] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051171.835322674] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051171.837649027] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051171.838448601] [sailbot.teensy]: Wind angle: 160 -[mux-7] [INFO] [1746051171.838469699] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051171.839527116] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051171.840462018] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051171.841350818] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051171.844450127] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051171.845651301] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051171.845743025] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051171.847876512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051171.848950107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051171.945233180] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051171.945987089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051171.946871407] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051171.948213225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051171.948762517] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051171.957083578] [sailbot.main_algo]: Wind Direction: 160 -[main_algo-3] [INFO] [1746051171.958194727] [sailbot.main_algo]: Target Bearing: -142.33458795052954 -[main_algo-3] [INFO] [1746051171.959120544] [sailbot.main_algo]: Heading Difference: -172.6184120494704 -[main_algo-3] [INFO] [1746051171.959962702] [sailbot.main_algo]: Wind Direction: 160 -[main_algo-3] [INFO] [1746051171.960795566] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051171.961575463] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051171.962604426] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051171.963713890] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051172.002974855] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904219 Long: -76.50276819 -[main_algo-3] [INFO] [1746051172.004114107] [sailbot.main_algo]: Distance to destination: 56.8273622449039 -[vectornav-1] [INFO] [1746051172.004274209] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.524, 0.477, 5.372) -[main_algo-3] [INFO] [1746051172.005419693] [sailbot.main_algo]: Target Bearing: -142.310303674692 -[main_algo-3] [INFO] [1746051172.006927309] [sailbot.main_algo]: Heading Difference: -172.64269632530795 -[main_algo-3] [INFO] [1746051172.007875096] [sailbot.main_algo]: Wind Direction: 160 -[main_algo-3] [INFO] [1746051172.008813102] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051172.009689171] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051172.011417949] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051172.045306627] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051172.046150319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051172.046844706] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051172.048409452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051172.049495218] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051172.085363696] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051172.087028044] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051172.087947913] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051172.087853785] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051172.088860977] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051172.089387202] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051172.089741433] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051172.144941558] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051172.145541140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051172.146272126] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051172.147472091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051172.148669958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051172.245487772] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051172.246094078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051172.247072755] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051172.248251024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051172.248790069] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051172.335383099] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051172.338145923] [sailbot.teensy]: Wind angle: 164 -[teensy-2] [INFO] [1746051172.338897133] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051172.338325036] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051172.339267392] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051172.339273964] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051172.339640783] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051172.344664814] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051172.345333992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051172.345909542] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051172.347074749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051172.348228728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051172.445773946] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051172.446226673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051172.447718055] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051172.448766503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051172.450022659] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051172.457234427] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051172.458282472] [sailbot.main_algo]: Target Bearing: -142.310303674692 -[main_algo-3] [INFO] [1746051172.459190231] [sailbot.main_algo]: Heading Difference: -174.16569632530798 -[main_algo-3] [INFO] [1746051172.460060416] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051172.460982293] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051172.461828781] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051172.463262164] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051172.463551983] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051172.502848327] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904214 Long: -76.5027684 -[main_algo-3] [INFO] [1746051172.503832062] [sailbot.main_algo]: Distance to destination: 56.810415770162095 -[vectornav-1] [INFO] [1746051172.504289792] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.80099999999999, -0.014, 4.932) -[main_algo-3] [INFO] [1746051172.505223110] [sailbot.main_algo]: Target Bearing: -142.30378497182608 -[main_algo-3] [INFO] [1746051172.506206930] [sailbot.main_algo]: Heading Difference: -174.17221502817392 -[main_algo-3] [INFO] [1746051172.507081864] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051172.507974639] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051172.508871961] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051172.510659017] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051172.545003974] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051172.545748974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051172.546277603] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051172.547716392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051172.548761658] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051172.585440849] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051172.587861637] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051172.588021317] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746051172.588976781] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051172.589218954] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051172.589891611] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051172.590797339] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051172.644830570] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051172.645529708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051172.646113448] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051172.648090905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051172.649281769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051172.745293573] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051172.746025928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051172.746731701] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051172.747925394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051172.748415294] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051172.835525360] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051172.837554577] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051172.838022635] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051172.838551254] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051172.839325142] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051172.839487470] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051172.840437809] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051172.844313888] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051172.844840009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051172.845418763] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051172.846690298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051172.847704372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051172.945584258] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051172.946291812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051172.947233836] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051172.948908100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051172.949976985] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051172.957145975] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051172.958151307] [sailbot.main_algo]: Target Bearing: -142.30378497182608 -[main_algo-3] [INFO] [1746051172.959036333] [sailbot.main_algo]: Heading Difference: -172.89521502817394 -[main_algo-3] [INFO] [1746051172.959871938] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051172.960750112] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051172.961544608] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051172.962594909] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051172.963145117] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051173.003665952] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469042 Long: -76.50276902 -[main_algo-3] [INFO] [1746051173.003877303] [sailbot.main_algo]: Distance to destination: 56.76091702922371 -[vectornav-1] [INFO] [1746051173.005051991] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.257000000000005, -0.939, 3.371) -[main_algo-3] [INFO] [1746051173.005192803] [sailbot.main_algo]: Target Bearing: -142.2838502586332 -[main_algo-3] [INFO] [1746051173.006174995] [sailbot.main_algo]: Heading Difference: -172.9151497413668 -[main_algo-3] [INFO] [1746051173.007071491] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051173.007962503] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051173.008873161] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051173.010538149] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051173.045726572] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051173.045814484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051173.047261767] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051173.048211229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051173.049300346] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051173.085545957] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051173.087818411] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051173.088140732] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051173.088793846] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051173.089276117] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051173.089723068] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051173.090574920] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051173.145241744] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051173.145896503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051173.146692741] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051173.147965057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051173.149128683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051173.245756679] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051173.246245622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051173.247540751] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051173.248699515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051173.249895077] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051173.335172153] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051173.337449209] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051173.338249520] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746051173.339031542] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051173.339104438] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051173.339417147] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051173.339787368] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051173.344397441] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051173.344949039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051173.345487708] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051173.346680224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051173.347761152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051173.445374131] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051173.446160309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051173.446916939] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051173.448719595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051173.449770978] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051173.457056789] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051173.458078330] [sailbot.main_algo]: Target Bearing: -142.2838502586332 -[main_algo-3] [INFO] [1746051173.458963127] [sailbot.main_algo]: Heading Difference: -171.4591497413668 -[main_algo-3] [INFO] [1746051173.459814931] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051173.460650367] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051173.461430080] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051173.462511338] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051173.462957427] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051173.502658999] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904217 Long: -76.50276934 -[main_algo-3] [INFO] [1746051173.503705753] [sailbot.main_algo]: Distance to destination: 56.75221306041886 -[vectornav-1] [INFO] [1746051173.503931258] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.64699999999999, -0.753, 5.725) -[main_algo-3] [INFO] [1746051173.504810748] [sailbot.main_algo]: Target Bearing: -142.2523614830791 -[main_algo-3] [INFO] [1746051173.505784073] [sailbot.main_algo]: Heading Difference: -171.49063851692085 -[main_algo-3] [INFO] [1746051173.506660451] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051173.507517804] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051173.508374980] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051173.510153283] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051173.545086785] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051173.545894238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051173.546488069] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051173.547972720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051173.548997771] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051173.585385714] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051173.587093731] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051173.587674495] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051173.587982057] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051173.589492202] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051173.589843382] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051173.590456695] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051173.645079221] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051173.645836601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051173.646621586] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051173.648221644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051173.648729592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051173.745100233] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051173.745750954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051173.746899316] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051173.748002647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051173.748914440] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051173.835186684] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051173.836848760] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051173.837341312] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051173.837791700] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051173.838685590] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051173.839593628] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051173.839009942] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051173.844488676] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051173.844915600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051173.845681090] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051173.846650055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051173.847734026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051173.945315671] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051173.945856485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051173.946908456] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051173.947866796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051173.949049104] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051173.957016109] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051173.957985358] [sailbot.main_algo]: Target Bearing: -142.2523614830791 -[main_algo-3] [INFO] [1746051173.958867521] [sailbot.main_algo]: Heading Difference: -171.10063851692087 -[main_algo-3] [INFO] [1746051173.959675251] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051173.960486938] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051173.961300662] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051173.962293889] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051173.963026015] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051174.002981714] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904194 Long: -76.50276958 -[main_algo-3] [INFO] [1746051174.003658856] [sailbot.main_algo]: Distance to destination: 56.72083393326291 -[vectornav-1] [INFO] [1746051174.004115964] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.721000000000004, 1.006, 4.736) -[main_algo-3] [INFO] [1746051174.004844678] [sailbot.main_algo]: Target Bearing: -142.2600008043898 -[main_algo-3] [INFO] [1746051174.005833712] [sailbot.main_algo]: Heading Difference: -171.09299919561022 -[main_algo-3] [INFO] [1746051174.006763561] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051174.007627923] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051174.008491878] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051174.010148516] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051174.045049390] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051174.045789941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051174.046330242] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051174.047682745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051174.048716913] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051174.085264946] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051174.086997198] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051174.087495635] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051174.087919895] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051174.088901481] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051174.089434907] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051174.089799893] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051174.145235034] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051174.145616732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051174.146725295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051174.147667391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051174.148432460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051174.245486598] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051174.246151764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051174.247114764] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051174.248390869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051174.248946057] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051174.335197290] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051174.337509494] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051174.337807562] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051174.338774726] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051174.339375239] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051174.339491799] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051174.339870975] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051174.344572283] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051174.345278493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051174.345813301] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051174.347042682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051174.348023082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051174.445356110] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051174.446002762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051174.447021217] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051174.448087411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051174.448558556] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051174.457057107] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051174.458183295] [sailbot.main_algo]: Target Bearing: -142.2600008043898 -[main_algo-3] [INFO] [1746051174.459157449] [sailbot.main_algo]: Heading Difference: -171.0189991956102 -[main_algo-3] [INFO] [1746051174.460031977] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051174.460854472] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051174.461664534] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051174.462714738] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051174.463272382] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051174.502885713] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904175 Long: -76.50277001 -[main_algo-3] [INFO] [1746051174.504026125] [sailbot.main_algo]: Distance to destination: 56.68005376352558 -[vectornav-1] [INFO] [1746051174.504426420] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.31299999999999, -1.03, 4.336) -[main_algo-3] [INFO] [1746051174.505181428] [sailbot.main_algo]: Target Bearing: -142.2542623723286 -[main_algo-3] [INFO] [1746051174.506232518] [sailbot.main_algo]: Heading Difference: -171.02473762767136 -[main_algo-3] [INFO] [1746051174.507279194] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051174.508224606] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051174.509145090] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051174.510865951] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051174.544974758] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051174.545643578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051174.546338100] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051174.547669023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051174.548711795] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051174.585044910] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051174.586526846] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051174.587150458] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051174.587386994] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051174.588266192] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051174.589161257] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051174.589445607] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051174.645333288] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051174.645999134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051174.646762334] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051174.647987276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051174.648556453] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051174.745358436] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051174.745999118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051174.746917212] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051174.748219583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051174.749334980] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051174.835377439] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051174.837119361] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051174.837911936] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051174.838133212] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051174.839045060] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051174.839388644] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051174.839502671] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051174.844506176] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051174.845069802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051174.845711042] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051174.846840303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051174.847980025] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051174.945373660] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051174.946093489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051174.946901936] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051174.948495018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051174.949626543] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051174.957199870] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051174.958216197] [sailbot.main_algo]: Target Bearing: -142.2542623723286 -[main_algo-3] [INFO] [1746051174.959097119] [sailbot.main_algo]: Heading Difference: -170.43273762767137 -[main_algo-3] [INFO] [1746051174.959952399] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051174.960846983] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051174.961696992] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051174.962817992] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051174.963478336] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051175.003330708] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904149 Long: -76.50277068 -[main_algo-3] [INFO] [1746051175.003600811] [sailbot.main_algo]: Distance to destination: 56.61902059985975 -[main_algo-3] [INFO] [1746051175.004671141] [sailbot.main_algo]: Target Bearing: -142.24214606538666 -[vectornav-1] [INFO] [1746051175.004866575] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.52999999999997, -0.338, 4.861) -[main_algo-3] [INFO] [1746051175.005661470] [sailbot.main_algo]: Heading Difference: -170.44485393461332 -[main_algo-3] [INFO] [1746051175.006586381] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051175.007492694] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051175.008370697] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051175.010164791] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051175.045143574] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051175.046080143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051175.046557282] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051175.048091603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051175.049329899] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051175.085463298] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051175.087794076] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051175.087862823] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051175.088797542] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051175.089426940] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051175.089680233] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051175.090560735] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051175.145142297] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051175.145776306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051175.146325658] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051175.147568610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051175.148065798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051175.245372483] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051175.246353652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051175.246919979] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051175.248541280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051175.249726481] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051175.335060092] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051175.336783432] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051175.337338136] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051175.337742109] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051175.338775489] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051175.338783863] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051175.340071039] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051175.344510561] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051175.345107767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051175.345735698] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051175.346890818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051175.348029706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051175.444975629] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051175.445647633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051175.446356126] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051175.447951247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051175.448973803] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051175.457089185] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051175.458123429] [sailbot.main_algo]: Target Bearing: -142.24214606538666 -[main_algo-3] [INFO] [1746051175.459024542] [sailbot.main_algo]: Heading Difference: -170.22785393461334 -[main_algo-3] [INFO] [1746051175.459926607] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051175.460817454] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051175.461660134] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051175.462684475] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051175.463382995] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051175.502682524] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904137 Long: -76.50277088 -[main_algo-3] [INFO] [1746051175.503655321] [sailbot.main_algo]: Distance to destination: 56.59785409278243 -[vectornav-1] [INFO] [1746051175.503753169] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.79899999999998, -0.295, 4.915) -[main_algo-3] [INFO] [1746051175.505035870] [sailbot.main_algo]: Target Bearing: -142.24223945800276 -[main_algo-3] [INFO] [1746051175.506022690] [sailbot.main_algo]: Heading Difference: -170.22776054199727 -[main_algo-3] [INFO] [1746051175.506912842] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051175.507782973] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051175.508643961] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051175.510279117] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051175.545119160] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051175.545940934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051175.546531059] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051175.548049517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051175.549181702] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051175.585338848] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051175.587350315] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051175.587440276] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051175.588316677] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051175.588443198] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051175.589252403] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051175.590774786] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051175.645353933] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051175.646187355] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051175.646997974] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051175.648469490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051175.649573840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051175.745359841] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051175.746017575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051175.746849612] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051175.748233694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051175.749414158] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051175.835384414] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051175.837780648] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051175.837839372] [sailbot.teensy]: Wind angle: 165 -[mux-7] [INFO] [1746051175.838482991] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051175.838601780] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051175.839006675] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051175.839389425] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051175.844489391] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051175.844948236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051175.845694869] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051175.846599773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051175.847661322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051175.945514152] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051175.946172963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051175.947477325] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051175.948894727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051175.950183084] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051175.957066018] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051175.958116187] [sailbot.main_algo]: Target Bearing: -142.24223945800276 -[main_algo-3] [INFO] [1746051175.959021651] [sailbot.main_algo]: Heading Difference: -169.95876054199726 -[main_algo-3] [INFO] [1746051175.959866060] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051175.960753267] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051175.961581373] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051175.962656959] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051175.963205399] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051176.003248354] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904108 Long: -76.50277088 -[main_algo-3] [INFO] [1746051176.003821975] [sailbot.main_algo]: Distance to destination: 56.5776906279969 -[main_algo-3] [INFO] [1746051176.004938434] [sailbot.main_algo]: Target Bearing: -142.26766800551255 -[vectornav-1] [INFO] [1746051176.005085818] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.923, -0.042, 3.408) -[main_algo-3] [INFO] [1746051176.006225117] [sailbot.main_algo]: Heading Difference: -169.9333319944875 -[main_algo-3] [INFO] [1746051176.007204818] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051176.008173807] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051176.009096895] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051176.011039574] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051176.045562584] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051176.045701757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051176.046981623] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051176.047965449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051176.049005899] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051176.085393896] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051176.087423887] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051176.087900593] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051176.088439719] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051176.089324420] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051176.089381632] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051176.090213336] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051176.145210585] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051176.145751023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051176.146740902] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051176.147758822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051176.148899315] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051176.245342370] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051176.245978398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051176.247053452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051176.248065132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051176.249303759] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051176.335448024] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051176.337311810] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051176.338117523] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051176.338547057] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051176.339479505] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051176.340072885] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051176.340384472] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051176.344565128] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051176.345030228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051176.345718093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051176.346776816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051176.347836651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051176.445463017] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051176.446040255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051176.447085746] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051176.448227547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051176.449352798] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051176.457008085] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051176.458070346] [sailbot.main_algo]: Target Bearing: -142.26766800551255 -[main_algo-3] [INFO] [1746051176.458974028] [sailbot.main_algo]: Heading Difference: -169.80933199448748 -[main_algo-3] [INFO] [1746051176.459831952] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051176.460678645] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051176.461488497] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051176.462523351] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051176.463223118] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051176.502726084] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904102 Long: -76.50277111 -[main_algo-3] [INFO] [1746051176.503642333] [sailbot.main_algo]: Distance to destination: 56.55877136631351 -[vectornav-1] [INFO] [1746051176.503831436] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.51800000000003, -0.984, 5.577) -[main_algo-3] [INFO] [1746051176.504726661] [sailbot.main_algo]: Target Bearing: -142.26094233675764 -[main_algo-3] [INFO] [1746051176.505703026] [sailbot.main_algo]: Heading Difference: -169.81605766324236 -[main_algo-3] [INFO] [1746051176.506582338] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051176.507436387] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051176.508285925] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051176.509923750] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051176.545131764] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051176.545869331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051176.546561315] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051176.548022604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051176.549055518] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051176.585357899] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051176.587113916] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051176.587605070] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051176.588045489] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051176.589004740] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051176.589885832] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051176.590020880] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051176.645133951] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051176.645900983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051176.646575739] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051176.647845607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051176.648389258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051176.745102865] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051176.745957001] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051176.746562663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051176.747999430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051176.749198077] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051176.835331824] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051176.837283122] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051176.837769518] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051176.838512858] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051176.838586143] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051176.839450785] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051176.840348862] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051176.844424491] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051176.844985357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051176.845615527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051176.846695458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051176.847732042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051176.945418202] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051176.946008059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051176.947356071] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051176.948374711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051176.949478003] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051176.957162642] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051176.958193374] [sailbot.main_algo]: Target Bearing: -142.26094233675764 -[main_algo-3] [INFO] [1746051176.959073997] [sailbot.main_algo]: Heading Difference: -169.22105766324233 -[main_algo-3] [INFO] [1746051176.959926081] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051176.960746527] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051176.961570256] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051176.962572263] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051176.963215158] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051177.002872690] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904083 Long: -76.50277128 -[main_algo-3] [INFO] [1746051177.003827802] [sailbot.main_algo]: Distance to destination: 56.534662616539634 -[vectornav-1] [INFO] [1746051177.003984260] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.230999999999995, 0.321, 4.206) -[main_algo-3] [INFO] [1746051177.005049446] [sailbot.main_algo]: Target Bearing: -142.2687519355567 -[main_algo-3] [INFO] [1746051177.006149910] [sailbot.main_algo]: Heading Difference: -169.2132480644433 -[main_algo-3] [INFO] [1746051177.007073870] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051177.007993140] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051177.008899095] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051177.010615791] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051177.045311146] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051177.045937269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051177.046809894] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051177.047965259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051177.049151316] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051177.085342435] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051177.087282254] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051177.088031066] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051177.088239599] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051177.088566776] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051177.089150771] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051177.090055873] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051177.144902733] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051177.146105198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051177.146303098] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051177.147964868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051177.149031796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051177.245885932] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051177.246051148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051177.247600860] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051177.248337690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051177.248833916] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051177.335462692] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051177.338113967] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051177.338320822] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051177.339080039] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051177.339311889] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051177.340013958] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051177.340875403] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051177.344584496] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051177.345087974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051177.345823154] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051177.346823126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051177.347834344] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051177.445514173] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051177.446199455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051177.447183409] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051177.448659934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051177.449164860] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051177.457378462] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051177.458492685] [sailbot.main_algo]: Target Bearing: -142.2687519355567 -[main_algo-3] [INFO] [1746051177.459418752] [sailbot.main_algo]: Heading Difference: -169.50024806444333 -[main_algo-3] [INFO] [1746051177.460290827] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051177.461160426] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051177.462003482] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051177.463223623] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051177.463886450] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051177.502854200] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904077 Long: -76.50277137 -[main_algo-3] [INFO] [1746051177.503950393] [sailbot.main_algo]: Distance to destination: 56.52472066159037 -[vectornav-1] [INFO] [1746051177.504030345] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.577999999999975, -0.609, 6.501) -[main_algo-3] [INFO] [1746051177.505131981] [sailbot.main_algo]: Target Bearing: -142.26932529705465 -[main_algo-3] [INFO] [1746051177.506069471] [sailbot.main_algo]: Heading Difference: -169.49967470294536 -[main_algo-3] [INFO] [1746051177.506972792] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051177.507853719] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051177.508722875] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051177.510500838] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051177.545119478] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051177.545897443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051177.546569907] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051177.548047579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051177.549207809] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051177.585238445] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051177.587648446] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051177.587757034] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051177.588670270] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051177.588693467] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051177.589585916] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051177.590494105] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051177.645138447] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051177.645736345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051177.646574328] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051177.648025446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051177.649064207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051177.745367722] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051177.746348871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051177.746950749] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051177.748568904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051177.749769474] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051177.835438865] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051177.838493628] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051177.838884847] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051177.839011720] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051177.839484230] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051177.839851487] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051177.840218077] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051177.844403892] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051177.844941105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051177.845554666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051177.846607728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051177.847647827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051177.945377567] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051177.946733947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051177.947185276] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051177.949158081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051177.950297507] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051177.957056340] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051177.958042517] [sailbot.main_algo]: Target Bearing: -142.26932529705465 -[main_algo-3] [INFO] [1746051177.958998282] [sailbot.main_algo]: Heading Difference: -169.15267470294538 -[main_algo-3] [INFO] [1746051177.959852536] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051177.960726606] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051177.961562507] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051177.962704955] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051177.963197255] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051178.002801701] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904066 Long: -76.50277152 -[main_algo-3] [INFO] [1746051178.003675632] [sailbot.main_algo]: Distance to destination: 56.507455699436996 -[vectornav-1] [INFO] [1746051178.003876718] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.03399999999999, -0.374, 4.585) -[main_algo-3] [INFO] [1746051178.004770745] [sailbot.main_algo]: Target Bearing: -142.27115962894612 -[main_algo-3] [INFO] [1746051178.005757625] [sailbot.main_algo]: Heading Difference: -169.1508403710539 -[main_algo-3] [INFO] [1746051178.006644268] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051178.007541948] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051178.008433326] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051178.010246608] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051178.044944953] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051178.045719848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051178.046215114] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051178.047671227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051178.048847175] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051178.085219916] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051178.087488807] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051178.087748183] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051178.088744648] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051178.088368882] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051178.089627377] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051178.090604950] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051178.145337125] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051178.146214477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051178.146895470] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051178.148538864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051178.149721443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051178.245288837] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051178.246041572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051178.246998144] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051178.248338203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051178.248878411] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051178.335138231] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051178.336871689] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051178.337428929] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051178.337835322] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051178.338736972] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051178.339144056] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051178.339620947] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051178.344442933] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051178.345017608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051178.345525747] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051178.346678802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051178.347723769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051178.445559360] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051178.446176437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051178.447483588] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051178.448691955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051178.449862550] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051178.457116498] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051178.458069024] [sailbot.main_algo]: Target Bearing: -142.27115962894612 -[main_algo-3] [INFO] [1746051178.458952330] [sailbot.main_algo]: Heading Difference: -168.69484037105389 -[main_algo-3] [INFO] [1746051178.459791698] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051178.460651976] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051178.461430626] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051178.462411193] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051178.463216935] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051178.503250880] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904073 Long: -76.50277177 -[main_algo-3] [INFO] [1746051178.503883869] [sailbot.main_algo]: Distance to destination: 56.496291832845614 -[main_algo-3] [INFO] [1746051178.505172868] [sailbot.main_algo]: Target Bearing: -142.2519639181925 -[main_algo-3] [INFO] [1746051178.506170097] [sailbot.main_algo]: Heading Difference: -168.71403608180754 -[vectornav-1] [INFO] [1746051178.506442019] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.372000000000014, -0.513, 4.678) -[main_algo-3] [INFO] [1746051178.507144141] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051178.508050661] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051178.508934961] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051178.510767363] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051178.545266053] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051178.545980908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051178.546759546] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051178.548032369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051178.549135992] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051178.585220047] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051178.587184414] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051178.587752149] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051178.588192235] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051178.589143070] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051178.590011336] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051178.590378381] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051178.645342341] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051178.646055109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051178.646999279] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051178.648104814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051178.648745854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051178.745310837] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051178.745944894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051178.746819562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051178.748356774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051178.749539817] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051178.835308886] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051178.837686065] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051178.838642975] [sailbot.teensy]: Wind angle: 166 -[mux-7] [INFO] [1746051178.838810616] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051178.839108328] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051178.839504600] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051178.839881713] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051178.844484465] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051178.844956441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051178.845594651] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051178.846612730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051178.847774793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051178.945463306] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051178.946042014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051178.947198996] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051178.948268929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051178.949413294] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051178.957147937] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051178.958184707] [sailbot.main_algo]: Target Bearing: -142.2519639181925 -[main_algo-3] [INFO] [1746051178.959083209] [sailbot.main_algo]: Heading Difference: -167.37603608180746 -[main_algo-3] [INFO] [1746051178.959937869] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051178.960775703] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051178.961582163] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051178.962581948] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051178.963262220] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051179.003160988] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690407 Long: -76.50277197 -[main_algo-3] [INFO] [1746051179.003658900] [sailbot.main_algo]: Distance to destination: 56.48138390256776 -[vectornav-1] [INFO] [1746051179.004545339] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.11099999999999, -0.19, 3.975) -[main_algo-3] [INFO] [1746051179.004722762] [sailbot.main_algo]: Target Bearing: -142.244155030759 -[main_algo-3] [INFO] [1746051179.005721998] [sailbot.main_algo]: Heading Difference: -167.38384496924095 -[main_algo-3] [INFO] [1746051179.006620777] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051179.007506801] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051179.008409657] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051179.010231477] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051179.045211900] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051179.045921901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051179.046706244] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051179.048386871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051179.049713734] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051179.085531294] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051179.088253702] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051179.088714065] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051179.088989876] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051179.089913633] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051179.090768114] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051179.091590916] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051179.144935570] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051179.145748822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051179.146449147] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051179.148117118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051179.149398570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051179.245448326] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051179.246377870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051179.247057139] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051179.248693746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051179.249897360] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051179.335315326] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051179.337041067] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051179.337511850] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051179.337937829] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051179.338815655] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051179.339028748] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051179.339731290] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051179.344403272] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051179.344819371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051179.345557221] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051179.346514525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051179.347670504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051179.445128288] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051179.445713334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051179.446565849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051179.447607378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051179.448433040] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051179.457154732] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051179.458187831] [sailbot.main_algo]: Target Bearing: -142.244155030759 -[main_algo-3] [INFO] [1746051179.459067555] [sailbot.main_algo]: Heading Difference: -166.64484496924103 -[main_algo-3] [INFO] [1746051179.459859544] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051179.460700472] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051179.461483339] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051179.462511055] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051179.463368656] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051179.502849248] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904073 Long: -76.50277204 -[main_algo-3] [INFO] [1746051179.504320036] [sailbot.main_algo]: Distance to destination: 56.47898324328884 -[vectornav-1] [INFO] [1746051179.504478547] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.946000000000026, -0.037, 5.489) -[main_algo-3] [INFO] [1746051179.505508442] [sailbot.main_algo]: Target Bearing: -142.23786355170932 -[main_algo-3] [INFO] [1746051179.506712088] [sailbot.main_algo]: Heading Difference: -166.65113644829069 -[main_algo-3] [INFO] [1746051179.507640168] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051179.508582226] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051179.509480259] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051179.511404117] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051179.545101020] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051179.545714373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051179.546474975] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051179.547956573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051179.548946009] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051179.585275747] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051179.587027708] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051179.587887541] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051179.587374625] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051179.588138089] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051179.588719616] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051179.589647677] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051179.644929413] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051179.645596756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051179.646394915] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051179.647524604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051179.648390500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051179.745541085] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051179.746276653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051179.747987102] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051179.748981996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051179.750094508] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051179.835532989] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051179.837965876] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051179.838013493] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051179.838680720] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051179.838960317] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051179.839360192] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051179.839738697] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051179.844511029] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051179.844896306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051179.845843460] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051179.846550411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051179.847681626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051179.945150166] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051179.945654383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051179.946538303] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051179.947692577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051179.948785444] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051179.957089269] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051179.958045919] [sailbot.main_algo]: Target Bearing: -142.23786355170932 -[main_algo-3] [INFO] [1746051179.958957447] [sailbot.main_algo]: Heading Difference: -165.81613644829065 -[main_algo-3] [INFO] [1746051179.959894861] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051179.960770784] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051179.961557852] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051179.962632748] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051179.963233364] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051180.003393577] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904043 Long: -76.50277203 -[main_algo-3] [INFO] [1746051180.003991333] [sailbot.main_algo]: Distance to destination: 56.45876394896666 -[vectornav-1] [INFO] [1746051180.004776924] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.533000000000015, -1.032, 5.055) -[main_algo-3] [INFO] [1746051180.005148484] [sailbot.main_algo]: Target Bearing: -142.26474532308956 -[main_algo-3] [INFO] [1746051180.006129046] [sailbot.main_algo]: Heading Difference: -165.78925467691045 -[main_algo-3] [INFO] [1746051180.007044827] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051180.007918519] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051180.008783650] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051180.010504310] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051180.045021676] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051180.045596853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051180.046477404] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051180.047499726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051180.048671292] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051180.085283230] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051180.087254196] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051180.088296071] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051180.087856344] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051180.089288800] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051180.090301190] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051180.090478663] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051180.145267052] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051180.145762414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051180.146781629] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051180.147852759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051180.149107332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051180.245363149] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051180.245948399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051180.247755687] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051180.248216178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051180.249412762] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051180.335252613] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051180.337577016] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051180.337748499] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051180.338532654] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051180.339078970] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051180.339629803] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051180.340555298] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051180.344356636] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051180.344852927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051180.345414251] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051180.346595701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051180.347649644] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051180.446110760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051180.446125739] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051180.447976817] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051180.448394927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051180.448964984] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051180.457134465] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051180.458167147] [sailbot.main_algo]: Target Bearing: -142.26474532308956 -[main_algo-3] [INFO] [1746051180.459055455] [sailbot.main_algo]: Heading Difference: -165.20225467691046 -[main_algo-3] [INFO] [1746051180.459943603] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051180.460775423] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051180.461574439] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051180.462580240] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051180.463234769] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051180.502734375] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904062 Long: -76.50277196 -[vectornav-1] [INFO] [1746051180.503848254] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.178999999999974, 0.184, 3.79) -[main_algo-3] [INFO] [1746051180.503882300] [sailbot.main_algo]: Distance to destination: 56.47646180423333 -[main_algo-3] [INFO] [1746051180.504951600] [sailbot.main_algo]: Target Bearing: -142.25170491117578 -[main_algo-3] [INFO] [1746051180.505903140] [sailbot.main_algo]: Heading Difference: -165.21529508882418 -[main_algo-3] [INFO] [1746051180.506821114] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051180.507722310] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051180.508592326] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051180.510284938] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051180.545206159] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051180.546072062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051180.546983694] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051180.548057473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051180.549170862] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051180.585219720] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051180.587044232] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051180.587609242] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051180.587944040] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051180.588854129] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051180.589099105] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051180.589743009] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051180.645299219] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051180.645958605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051180.647135712] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051180.647752015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051180.648332280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051180.745181204] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051180.746674415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051180.746752795] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051180.748719930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051180.749859972] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051180.835403472] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051180.837181568] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051180.837848479] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051180.839131043] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051180.839628432] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051180.839795950] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051180.840180252] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051180.844593346] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051180.845055329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051180.845762521] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051180.846784727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051180.847944586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051180.945571337] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051180.946163648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051180.947230329] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051180.948425159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051180.948886080] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051180.957091290] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051180.958082372] [sailbot.main_algo]: Target Bearing: -142.25170491117578 -[main_algo-3] [INFO] [1746051180.959004961] [sailbot.main_algo]: Heading Difference: -163.56929508882422 -[main_algo-3] [INFO] [1746051180.959806361] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051180.960642034] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051180.961454197] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051180.962477908] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051180.963501700] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051181.003357039] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904069 Long: -76.5027721 -[main_algo-3] [INFO] [1746051181.004331340] [sailbot.main_algo]: Distance to destination: 56.47235507068657 -[main_algo-3] [INFO] [1746051181.005566647] [sailbot.main_algo]: Target Bearing: -142.2382425225007 -[main_algo-3] [INFO] [1746051181.006586284] [sailbot.main_algo]: Heading Difference: -163.58275747749929 -[vectornav-1] [INFO] [1746051181.006634999] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.110000000000014, -0.338, 4.522) -[main_algo-3] [INFO] [1746051181.007591874] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051181.008531898] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051181.009403798] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051181.011135298] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051181.045940738] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051181.046081531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051181.047723419] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051181.048733907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051181.049780174] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051181.085383821] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051181.087133147] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051181.087844469] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051181.088083996] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051181.088989358] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051181.088912117] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051181.089906029] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051181.144867593] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051181.145748262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051181.146142515] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051181.147569463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051181.148785584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051181.245514196] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051181.246303519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051181.247075180] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051181.248452637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051181.248898469] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051181.335338160] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051181.337551161] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051181.337908910] [sailbot.teensy]: Wind angle: 166 -[mux-7] [INFO] [1746051181.338094292] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051181.338962560] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051181.339947383] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051181.340608823] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051181.344375527] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051181.344986745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051181.345460560] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051181.346735441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051181.347742750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051181.445040482] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051181.445742295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051181.446687177] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051181.447736905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051181.448772598] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051181.457109061] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051181.458115111] [sailbot.main_algo]: Target Bearing: -142.2382425225007 -[main_algo-3] [INFO] [1746051181.459037101] [sailbot.main_algo]: Heading Difference: -162.65175747749925 -[main_algo-3] [INFO] [1746051181.459868815] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051181.460696316] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051181.461504965] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051181.462539164] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051181.463280832] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051181.502738166] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904062 Long: -76.50277223 -[main_algo-3] [INFO] [1746051181.503794112] [sailbot.main_algo]: Distance to destination: 56.45915327812909 -[vectornav-1] [INFO] [1746051181.503820882] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.52699999999999, -0.082, 5.138) -[main_algo-3] [INFO] [1746051181.505226820] [sailbot.main_algo]: Target Bearing: -142.2375995128555 -[main_algo-3] [INFO] [1746051181.506299437] [sailbot.main_algo]: Heading Difference: -162.65240048714452 -[main_algo-3] [INFO] [1746051181.507206819] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051181.508077402] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051181.508952445] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051181.510552207] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051181.545058094] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051181.545846874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051181.546815509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051181.547851535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051181.548966935] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051181.585331790] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051181.587648304] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051181.588065819] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051181.588605151] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746051181.589521787] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051181.590355782] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051181.591188452] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051181.645243525] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051181.646217775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051181.646722343] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051181.648347910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051181.649402629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051181.745317512] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051181.746329978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051181.746810285] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051181.747956008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051181.748423274] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051181.835258058] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051181.837687020] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051181.837790556] [sailbot.teensy]: Wind angle: 166 -[mux-7] [INFO] [1746051181.838056411] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051181.838739516] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051181.839179308] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051181.839514253] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051181.844540311] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051181.845063976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051181.845632606] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051181.846864492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051181.847860011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051181.945239003] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051181.945943369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051181.946728215] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051181.948023719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051181.948968625] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051181.957041607] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051181.958013446] [sailbot.main_algo]: Target Bearing: -142.2375995128555 -[main_algo-3] [INFO] [1746051181.958896185] [sailbot.main_algo]: Heading Difference: -161.2354004871445 -[main_algo-3] [INFO] [1746051181.959770433] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051181.960608455] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051181.961393075] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051181.962397446] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051181.962973922] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051182.003657954] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904036 Long: -76.50277232 -[main_algo-3] [INFO] [1746051182.004192101] [sailbot.main_algo]: Distance to destination: 56.435302761661184 -[vectornav-1] [INFO] [1746051182.004902533] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.002999999999986, -0.975, 4.217) -[main_algo-3] [INFO] [1746051182.005412786] [sailbot.main_algo]: Target Bearing: -142.25574832674744 -[main_algo-3] [INFO] [1746051182.006494335] [sailbot.main_algo]: Heading Difference: -161.21725167325258 -[main_algo-3] [INFO] [1746051182.007678451] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051182.008616038] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051182.009463610] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051182.011265555] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051182.044935947] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051182.045613174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051182.046395730] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051182.047627762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051182.048760884] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051182.085474158] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051182.087287127] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051182.087850412] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051182.088275193] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051182.089182371] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051182.089520413] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051182.090075750] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051182.145466317] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051182.146553223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051182.147041829] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051182.148185217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051182.148637387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051182.245472125] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051182.246505709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051182.247059620] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051182.248837002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051182.249954404] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051182.335398852] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051182.337948804] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051182.338289653] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051182.339350982] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051182.339784005] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051182.340162920] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051182.340790437] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051182.344486670] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051182.344952812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051182.345605591] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051182.346748388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051182.347756571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051182.445025757] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051182.446199462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051182.446625057] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051182.448024726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051182.449247834] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051182.457020603] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051182.457986954] [sailbot.main_algo]: Target Bearing: -142.25574832674744 -[main_algo-3] [INFO] [1746051182.458862946] [sailbot.main_algo]: Heading Difference: -160.74125167325258 -[main_algo-3] [INFO] [1746051182.459673327] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051182.460471744] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051182.461265645] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051182.462401102] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051182.462843019] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051182.502741972] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904044 Long: -76.50277246 -[main_algo-3] [INFO] [1746051182.503740152] [sailbot.main_algo]: Distance to destination: 56.431890587415815 -[vectornav-1] [INFO] [1746051182.503944112] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.148000000000025, -0.003, 4.312) -[main_algo-3] [INFO] [1746051182.504839267] [sailbot.main_algo]: Target Bearing: -142.24139729844316 -[main_algo-3] [INFO] [1746051182.505826676] [sailbot.main_algo]: Heading Difference: -160.75560270155688 -[main_algo-3] [INFO] [1746051182.506701569] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051182.507562397] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051182.508420104] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051182.510132301] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051182.545005984] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051182.545700121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051182.546220011] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051182.547501046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051182.548650189] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051182.585116308] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051182.586670814] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746051182.587557120] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051182.587133889] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051182.588474304] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051182.588563413] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051182.589338815] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051182.645007488] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051182.645517304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051182.646312622] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051182.647264363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051182.648431745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051182.745324373] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051182.746091605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051182.746875179] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051182.748212308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051182.749358981] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051182.835208980] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051182.837403303] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051182.837578226] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051182.838509677] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051182.838894589] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051182.839402056] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051182.840221719] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051182.844406135] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051182.845394738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051182.845804452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051182.847245146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051182.848481148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051182.945383461] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051182.946061156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051182.946953342] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051182.948020062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051182.948538491] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051182.957097169] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051182.958006741] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746051182.958917770] [sailbot.main_algo]: Target Bearing: -142.24139729844316 -[main_algo-3] [INFO] [1746051182.959766549] [sailbot.main_algo]: Heading Difference: -159.6106027015568 -[main_algo-3] [INFO] [1746051182.960597045] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051182.961446669] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051182.962244514] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051182.963337993] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051182.963780997] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051183.003016284] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690404 Long: -76.5027725 -[main_algo-3] [INFO] [1746051183.003947422] [sailbot.main_algo]: Distance to destination: 56.42654450582075 -[vectornav-1] [INFO] [1746051183.004547206] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.410000000000025, -0.015, 4.507) -[main_algo-3] [INFO] [1746051183.005186549] [sailbot.main_algo]: Target Bearing: -142.24282267284062 -[main_algo-3] [INFO] [1746051183.006214841] [sailbot.main_algo]: Heading Difference: -159.6091773271594 -[main_algo-3] [INFO] [1746051183.007114539] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051183.008051124] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051183.008986345] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051183.010751187] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051183.045070876] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051183.045828525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051183.046434407] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051183.047820202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051183.048856247] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051183.085516401] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051183.087738585] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051183.087829949] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051183.088755186] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051183.089361800] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051183.089759456] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051183.090659492] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051183.145070767] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051183.145803866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051183.146438228] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051183.147707804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051183.148752716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051183.245145170] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051183.246124400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051183.246639914] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051183.248049745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051183.249208693] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051183.335414003] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051183.337881396] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051183.337911651] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051183.339022998] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051183.339967512] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051183.340139660] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051183.340909523] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051183.344351447] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051183.344869970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051183.345463358] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051183.346720561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051183.347717588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051183.445037426] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051183.445739159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051183.446407830] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051183.447887689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051183.448919751] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051183.457300947] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051183.458312534] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746051183.459182227] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051183.460448100] [sailbot.main_algo]: Current Location: (42.46904040214752, -76.50277250005446) -[main_algo-3] [INFO] [1746051183.461368537] [sailbot.main_algo]: Target Bearing: -142.24282267284062 -[main_algo-3] [INFO] [1746051183.462199310] [sailbot.main_algo]: Heading Difference: -159.34717732715933 -[main_algo-3] [INFO] [1746051183.462999855] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051183.463782000] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051183.464588610] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051183.465616881] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051183.466132917] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051183.503050352] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904039 Long: -76.50277247 -[main_algo-3] [INFO] [1746051183.503917181] [sailbot.main_algo]: Distance to destination: 56.42777220296889 -[vectornav-1] [INFO] [1746051183.504298544] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.781000000000006, -0.579, 5.542) -[main_algo-3] [INFO] [1746051183.505018181] [sailbot.main_algo]: Target Bearing: -142.24527029726426 -[main_algo-3] [INFO] [1746051183.506052773] [sailbot.main_algo]: Heading Difference: -159.34472970273572 -[main_algo-3] [INFO] [1746051183.506957724] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051183.507838223] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051183.508772408] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051183.510534590] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051183.544896583] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051183.545686851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051183.546147318] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051183.547471886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051183.548501872] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051183.585113291] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051183.586694799] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051183.587116917] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051183.587564834] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051183.588415388] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051183.588984954] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051183.589199059] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051183.644800240] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051183.645451966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051183.645985153] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051183.647177278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051183.648246638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051183.744606634] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051183.745196657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051183.745694957] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051183.747018919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051183.748016945] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051183.835135489] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051183.837249082] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051183.837776459] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051183.838418261] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051183.839445567] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051183.840350356] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051183.841186911] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051183.844332353] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051183.844943587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051183.845592652] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051183.846523262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051183.847626307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051183.945261974] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051183.946303084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051183.946842410] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051183.948437436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051183.949461834] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051183.957128396] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051183.958111156] [sailbot.main_algo]: Target Bearing: -142.24527029726426 -[main_algo-3] [INFO] [1746051183.958995004] [sailbot.main_algo]: Heading Difference: -159.97372970273574 -[main_algo-3] [INFO] [1746051183.959800383] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051183.960625774] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051183.961412329] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051183.962532701] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051183.963285891] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051184.003346372] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904026 Long: -76.50277234 -[main_algo-3] [INFO] [1746051184.003782965] [sailbot.main_algo]: Distance to destination: 56.42706816807896 -[vectornav-1] [INFO] [1746051184.004821431] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.27499999999998, -0.291, 4.148) -[main_algo-3] [INFO] [1746051184.004955196] [sailbot.main_algo]: Target Bearing: -142.26349651458946 -[main_algo-3] [INFO] [1746051184.005975110] [sailbot.main_algo]: Heading Difference: -159.95550348541053 -[main_algo-3] [INFO] [1746051184.006869530] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051184.007777492] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051184.008656128] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051184.010355272] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051184.044997523] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051184.045776003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051184.046393547] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051184.047754727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051184.048806306] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051184.085402336] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051184.087269998] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051184.087780247] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051184.088268126] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051184.089210945] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051184.089615453] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051184.090141961] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051184.145221412] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051184.146074625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051184.146682751] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051184.148053673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051184.149199019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051184.245417264] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051184.246481948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051184.246890853] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051184.248568373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051184.249636903] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051184.335352702] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051184.337301633] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051184.337552461] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051184.338886346] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051184.339165014] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051184.340458325] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051184.341328740] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051184.344528372] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051184.344887123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051184.345692422] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051184.346593241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051184.347609715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051184.445211591] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051184.445835570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051184.446625177] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051184.448257355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051184.449389215] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051184.457247557] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051184.458302359] [sailbot.main_algo]: Target Bearing: -142.26349651458946 -[main_algo-3] [INFO] [1746051184.459197451] [sailbot.main_algo]: Heading Difference: -160.46150348541056 -[main_algo-3] [INFO] [1746051184.460087221] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051184.460954934] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051184.461762977] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051184.462765749] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051184.463538115] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051184.502396111] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904027 Long: -76.50277245 -[main_algo-3] [INFO] [1746051184.503290597] [sailbot.main_algo]: Distance to destination: 56.42071022522691 -[vectornav-1] [INFO] [1746051184.503734293] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.697, -0.521, 4.657) -[main_algo-3] [INFO] [1746051184.504759583] [sailbot.main_algo]: Target Bearing: -142.25686788162778 -[main_algo-3] [INFO] [1746051184.505826426] [sailbot.main_algo]: Heading Difference: -160.46813211837224 -[main_algo-3] [INFO] [1746051184.506760834] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051184.507681158] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051184.508555479] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051184.510307656] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051184.545063772] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051184.545688198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051184.546351456] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051184.547511457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051184.548680169] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051184.585059792] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051184.587240600] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051184.587240173] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051184.588133249] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051184.588192715] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051184.588971729] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051184.589821687] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051184.645251636] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051184.646030636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051184.646712618] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051184.648399878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051184.648946741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051184.744953319] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051184.745642511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051184.746489432] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051184.747496683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051184.748585720] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051184.835305983] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051184.837475263] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051184.837635185] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746051184.838528566] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051184.839207855] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051184.839393484] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051184.840306348] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051184.844498065] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051184.845102090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051184.845654752] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051184.846807875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051184.847952120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051184.945605132] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051184.946136199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051184.947336214] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051184.948402896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051184.949578054] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051184.957092587] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051184.958075887] [sailbot.main_algo]: Target Bearing: -142.25686788162778 -[main_algo-3] [INFO] [1746051184.958973762] [sailbot.main_algo]: Heading Difference: -161.0461321183722 -[main_algo-3] [INFO] [1746051184.959835306] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051184.960694577] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051184.961483664] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051184.962471502] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051184.963186287] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051185.003660695] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904024 Long: -76.50277286 -[main_algo-3] [INFO] [1746051185.004106460] [sailbot.main_algo]: Distance to destination: 56.39233965732563 -[main_algo-3] [INFO] [1746051185.005246684] [sailbot.main_algo]: Target Bearing: -142.23806532973296 -[vectornav-1] [INFO] [1746051185.005464791] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.923, 0.579, 5.635) -[main_algo-3] [INFO] [1746051185.006240508] [sailbot.main_algo]: Heading Difference: -161.064934670267 -[main_algo-3] [INFO] [1746051185.007171639] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051185.008067189] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051185.008972703] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051185.010715578] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051185.045101362] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051185.045766992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051185.046578475] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051185.047556436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051185.048654242] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051185.085331281] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051185.087742419] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051185.088700748] [sailbot.teensy]: Wind angle: 166 -[mux-7] [INFO] [1746051185.089123146] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051185.089747728] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051185.090652492] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051185.091536524] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051185.145060494] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051185.145833215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051185.146429248] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051185.148094365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051185.149301782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051185.245459163] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051185.247035950] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051185.247170954] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051185.248843929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051185.249402074] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051185.335358478] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051185.337572201] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051185.337969796] [sailbot.teensy]: Wind angle: 166 -[mux-7] [INFO] [1746051185.338721198] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051185.339311865] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051185.340367181] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051185.341234821] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051185.344541180] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051185.344920102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051185.345789019] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051185.346619771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051185.347793743] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051185.445072689] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051185.445694131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051185.446380720] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051185.447524487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051185.448552389] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051185.457189066] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051185.458282281] [sailbot.main_algo]: Target Bearing: -142.23806532973296 -[main_algo-3] [INFO] [1746051185.459211693] [sailbot.main_algo]: Heading Difference: -161.838934670267 -[main_algo-3] [INFO] [1746051185.460076959] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051185.460986814] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051185.461810815] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051185.462790387] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051185.463494987] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051185.502269712] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903995 Long: -76.5027728 -[vectornav-1] [INFO] [1746051185.503148980] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.966999999999985, -1.554, 4.401) -[main_algo-3] [INFO] [1746051185.503207186] [sailbot.main_algo]: Distance to destination: 56.376021824645505 -[main_algo-3] [INFO] [1746051185.504123745] [sailbot.main_algo]: Target Bearing: -142.26672343079267 -[main_algo-3] [INFO] [1746051185.505088529] [sailbot.main_algo]: Heading Difference: -161.8102765692073 -[main_algo-3] [INFO] [1746051185.506036246] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051185.506987554] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051185.507848362] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051185.509820286] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051185.543662597] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051185.544245640] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051185.543930515] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051185.544712295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051185.545276277] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051185.584594238] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051185.586584989] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051185.586774209] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746051185.587715923] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051185.587724046] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051185.588632840] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051185.589427258] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051185.645016020] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051185.645408643] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051185.646349211] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051185.647353437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051185.648595585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051185.745073529] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051185.745918673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051185.746475963] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051185.748061758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051185.749196406] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051185.835236679] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051185.837146281] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051185.837188762] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051185.838052932] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051185.838476622] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051185.838929420] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051185.839338625] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051185.844436298] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051185.844987335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051185.845527043] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051185.846699966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051185.847781497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051185.945237839] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051185.946192429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051185.946823886] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051185.948005698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051185.948528871] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051185.957250996] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051185.958359216] [sailbot.main_algo]: Target Bearing: -142.26672343079267 -[main_algo-3] [INFO] [1746051185.959255741] [sailbot.main_algo]: Heading Difference: -161.76627656920732 -[main_algo-3] [INFO] [1746051185.960058414] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051185.960866310] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051185.961682096] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051185.962692046] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051185.963420903] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051186.003315344] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903993 Long: -76.50277295 -[main_algo-3] [INFO] [1746051186.003766194] [sailbot.main_algo]: Distance to destination: 56.365013093241785 -[main_algo-3] [INFO] [1746051186.004865004] [sailbot.main_algo]: Target Bearing: -142.26063748695708 -[vectornav-1] [INFO] [1746051186.004495447] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.07400000000001, 0.192, 5.322) -[main_algo-3] [INFO] [1746051186.005879039] [sailbot.main_algo]: Heading Difference: -161.77236251304294 -[main_algo-3] [INFO] [1746051186.006800944] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051186.007726464] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051186.008625790] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051186.010407972] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051186.045092471] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051186.045558923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051186.046558450] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051186.047424117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051186.048775689] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051186.085558203] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051186.087706854] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051186.087823591] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051186.088684773] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051186.089460139] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051186.089592884] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051186.090494248] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051186.145317127] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051186.145720888] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051186.146765980] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051186.147632169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051186.148709898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051186.245374813] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051186.246155695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051186.246985557] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051186.248434316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051186.249517620] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051186.335279520] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051186.337589287] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051186.337650620] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746051186.338589368] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051186.339468311] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051186.338648066] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051186.339842331] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051186.344418965] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051186.344843633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051186.345563881] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051186.346559335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051186.347584426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051186.445359933] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051186.445876645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051186.447055766] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051186.448162077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051186.448681328] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051186.457342743] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051186.458491365] [sailbot.main_algo]: Target Bearing: -142.26063748695708 -[main_algo-3] [INFO] [1746051186.459519510] [sailbot.main_algo]: Heading Difference: -161.6653625130429 -[main_algo-3] [INFO] [1746051186.460438704] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051186.461292416] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051186.462121417] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051186.463282116] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051186.463833883] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051186.503197640] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903997 Long: -76.5027728 -[main_algo-3] [INFO] [1746051186.503818706] [sailbot.main_algo]: Distance to destination: 56.37741207866173 -[vectornav-1] [INFO] [1746051186.504575414] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.136000000000024, -0.285, 4.787) -[main_algo-3] [INFO] [1746051186.505002863] [sailbot.main_algo]: Target Bearing: -142.2649629048617 -[main_algo-3] [INFO] [1746051186.506016088] [sailbot.main_algo]: Heading Difference: -161.66103709513828 -[main_algo-3] [INFO] [1746051186.506909695] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051186.507760121] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051186.508650869] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051186.510546819] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051186.545191098] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051186.546543182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051186.547074412] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051186.548680754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051186.549697743] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051186.585291031] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051186.586898574] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746051186.587781228] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051186.587471143] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051186.588644037] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051186.589847816] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051186.590405799] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051186.645032577] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051186.645567499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051186.646447174] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051186.647386530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051186.648518585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051186.745048858] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051186.745741972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051186.746698991] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051186.747504957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051186.748660711] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051186.835228750] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051186.837458488] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051186.837617741] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051186.838870139] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051186.839119609] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051186.839782509] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051186.840686898] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051186.844419765] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051186.844906415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051186.845556844] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051186.846683542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051186.847800395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051186.944966362] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051186.945738806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051186.946414077] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051186.947772850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051186.948824723] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051186.957217416] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051186.958325464] [sailbot.main_algo]: Target Bearing: -142.2649629048617 -[main_algo-3] [INFO] [1746051186.959255931] [sailbot.main_algo]: Heading Difference: -161.59903709513827 -[main_algo-3] [INFO] [1746051186.960186045] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051186.961080940] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051186.961924467] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051186.963010576] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051186.964049158] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051187.002884573] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904019 Long: -76.50277295 -[main_algo-3] [INFO] [1746051187.003845021] [sailbot.main_algo]: Distance to destination: 56.38309294534931 -[vectornav-1] [INFO] [1746051187.004012383] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.769000000000005, -0.24, 4.717) -[main_algo-3] [INFO] [1746051187.005209315] [sailbot.main_algo]: Target Bearing: -142.23775489631524 -[main_algo-3] [INFO] [1746051187.006289122] [sailbot.main_algo]: Heading Difference: -161.6262451036847 -[main_algo-3] [INFO] [1746051187.007238948] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051187.008196659] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051187.009154700] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051187.010906517] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051187.044966774] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051187.045659755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051187.046214568] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051187.047505802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051187.048529282] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051187.085433695] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051187.087605920] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051187.088644107] [sailbot.teensy]: Wind angle: 165 -[mux-7] [INFO] [1746051187.089062643] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051187.089590681] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051187.090516306] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051187.091454158] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051187.145251811] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051187.145991930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051187.146731028] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051187.148254005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051187.148717862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051187.244963175] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051187.245878363] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051187.246237583] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051187.247803654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051187.248865795] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051187.335354410] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051187.337613395] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051187.337730168] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746051187.338659637] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051187.339473252] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051187.339547430] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051187.340468033] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051187.344386974] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051187.344947053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051187.345494459] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051187.346695256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051187.347747309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051187.445588292] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051187.446280414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051187.447488721] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051187.448678520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051187.449946426] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051187.457189897] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051187.458221592] [sailbot.main_algo]: Target Bearing: -142.23775489631524 -[main_algo-3] [INFO] [1746051187.459143722] [sailbot.main_algo]: Heading Difference: -161.99324510368479 -[main_algo-3] [INFO] [1746051187.460023617] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051187.460888826] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051187.461746180] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051187.462850448] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051187.463411454] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051187.503606715] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904019 Long: -76.50277295 -[main_algo-3] [INFO] [1746051187.503940627] [sailbot.main_algo]: Distance to destination: 56.38309294534931 -[main_algo-3] [INFO] [1746051187.505133361] [sailbot.main_algo]: Target Bearing: -142.23775489631524 -[vectornav-1] [INFO] [1746051187.504877924] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.59899999999999, -0.84, 5.285) -[main_algo-3] [INFO] [1746051187.506138177] [sailbot.main_algo]: Heading Difference: -161.99324510368479 -[main_algo-3] [INFO] [1746051187.507055114] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051187.507953816] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051187.508814469] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051187.510565438] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051187.545156493] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051187.546353171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051187.546949767] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051187.548518659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051187.549672146] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051187.585188975] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051187.586754057] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051187.587218153] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051187.587632839] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051187.588490287] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051187.588531252] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051187.589327173] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051187.645352524] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051187.646150692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051187.647088703] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051187.648402191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051187.649593466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051187.745070618] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051187.745581812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051187.746577398] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051187.747482912] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051187.748656386] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051187.835375324] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051187.837702370] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051187.837867037] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051187.838791758] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051187.839089965] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051187.839287139] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051187.839665269] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051187.844514027] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051187.844989459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051187.845635578] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051187.846695068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051187.847834797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051187.945557835] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051187.946155457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051187.947268242] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051187.948623708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051187.949780899] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051187.957120588] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051187.958201929] [sailbot.main_algo]: Target Bearing: -142.23775489631524 -[main_algo-3] [INFO] [1746051187.959176481] [sailbot.main_algo]: Heading Difference: -162.16324510368474 -[main_algo-3] [INFO] [1746051187.960054322] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051187.960932181] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051187.961714881] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051187.962751175] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051187.963337094] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051188.003830269] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904036 Long: -76.50277302 -[main_algo-3] [INFO] [1746051188.004811308] [sailbot.main_algo]: Distance to destination: 56.390433342405686 -[vectornav-1] [INFO] [1746051188.005637606] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.85899999999998, 0.364, 4.5) -[main_algo-3] [INFO] [1746051188.006011093] [sailbot.main_algo]: Target Bearing: -142.21913742601006 -[main_algo-3] [INFO] [1746051188.007426580] [sailbot.main_algo]: Heading Difference: -162.18186257398997 -[main_algo-3] [INFO] [1746051188.008344569] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051188.009213452] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051188.010052114] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051188.011750406] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051188.045549542] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051188.045832342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051188.046916315] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051188.047783510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051188.048874533] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051188.085167098] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051188.087163242] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051188.088911808] [sailbot.teensy]: Wind angle: 165 -[mux-7] [INFO] [1746051188.089114533] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051188.089852624] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051188.090712457] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051188.091474769] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051188.144925614] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051188.145795159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051188.146213590] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051188.147795969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051188.148872505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051188.245489576] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051188.246063439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051188.247197731] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051188.248286457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051188.249483511] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051188.335406010] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051188.337701549] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051188.337980968] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051188.338738722] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051188.339778973] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051188.340723999] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051188.341570257] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051188.344365698] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051188.345064063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051188.345485122] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051188.346804617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051188.347839482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051188.445617584] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051188.446608983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051188.447603486] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051188.449373130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051188.450620557] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051188.457381836] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051188.458555859] [sailbot.main_algo]: Target Bearing: -142.21913742601006 -[main_algo-3] [INFO] [1746051188.459527499] [sailbot.main_algo]: Heading Difference: -161.92186257398998 -[main_algo-3] [INFO] [1746051188.460466715] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051188.461345297] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051188.462205601] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051188.463258193] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051188.463885511] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051188.503435873] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904034 Long: -76.50277319 -[main_algo-3] [INFO] [1746051188.504787848] [sailbot.main_algo]: Distance to destination: 56.378148053909456 -[main_algo-3] [INFO] [1746051188.506172943] [sailbot.main_algo]: Target Bearing: -142.2119965240373 -[main_algo-3] [INFO] [1746051188.507302223] [sailbot.main_algo]: Heading Difference: -161.92900347596276 -[vectornav-1] [INFO] [1746051188.507708767] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.94200000000001, -0.625, 5.059) -[main_algo-3] [INFO] [1746051188.508299714] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051188.509306450] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051188.510167743] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051188.512064851] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051188.545296281] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051188.545824882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051188.546813509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051188.547774144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051188.548947728] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051188.585347194] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051188.587012325] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051188.587944778] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051188.587642353] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051188.588930402] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051188.589345268] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051188.589816463] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051188.645129178] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051188.645868839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051188.647150903] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051188.648086104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051188.649428691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051188.745295249] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051188.745813479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051188.746759091] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051188.748031067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051188.749138343] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051188.835442326] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051188.838051604] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051188.838584145] [sailbot.teensy]: Wind angle: 165 -[mux-7] [INFO] [1746051188.838707018] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051188.839006296] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051188.839384691] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051188.839923040] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051188.844338402] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051188.845027347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051188.845849003] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051188.846771453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051188.847819189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051188.945525539] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051188.946286279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051188.947146637] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051188.948754959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051188.949981505] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051188.957173065] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051188.958162614] [sailbot.main_algo]: Target Bearing: -142.2119965240373 -[main_algo-3] [INFO] [1746051188.959040419] [sailbot.main_algo]: Heading Difference: -161.84600347596268 -[main_algo-3] [INFO] [1746051188.959882859] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051188.960798001] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051188.961652061] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051188.963021525] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051188.963267226] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051189.003791496] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904042 Long: -76.5027732 -[main_algo-3] [INFO] [1746051189.004343011] [sailbot.main_algo]: Distance to destination: 56.38307530796069 -[main_algo-3] [INFO] [1746051189.005592638] [sailbot.main_algo]: Target Bearing: -142.2044369464895 -[vectornav-1] [INFO] [1746051189.005581994] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.28399999999999, -0.298, 5.087) -[main_algo-3] [INFO] [1746051189.006677595] [sailbot.main_algo]: Heading Difference: -161.85356305351047 -[main_algo-3] [INFO] [1746051189.007602126] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051189.008550924] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051189.009401894] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051189.011070973] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051189.045133647] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051189.046078484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051189.046734803] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051189.048116704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051189.049325069] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051189.085590474] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051189.088307875] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051189.088708111] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051189.089315936] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051189.090294660] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051189.091210800] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051189.092068998] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051189.145046081] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051189.145809572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051189.146454915] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051189.147845637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051189.148850276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051189.245532608] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051189.246450803] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051189.247193350] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051189.248741897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051189.249326160] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051189.335196739] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051189.337323799] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051189.337512077] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051189.338471534] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051189.339387419] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051189.339712606] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051189.340120865] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051189.344417126] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051189.344947688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051189.345535577] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051189.346617539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051189.347672087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051189.445198833] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051189.446166194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051189.446926479] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051189.448084151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051189.448635586] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051189.457348190] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051189.458522062] [sailbot.main_algo]: Target Bearing: -142.2044369464895 -[main_algo-3] [INFO] [1746051189.459495513] [sailbot.main_algo]: Heading Difference: -161.51156305351049 -[main_algo-3] [INFO] [1746051189.460391680] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051189.461210477] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051189.462011187] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051189.463018103] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051189.463638026] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051189.502856764] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904051 Long: -76.50277298 -[main_algo-3] [INFO] [1746051189.503821739] [sailbot.main_algo]: Distance to destination: 56.40343520440942 -[vectornav-1] [INFO] [1746051189.503988321] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.24400000000003, -0.523, 5.308) -[main_algo-3] [INFO] [1746051189.504961211] [sailbot.main_algo]: Target Bearing: -142.2080416005794 -[main_algo-3] [INFO] [1746051189.505920080] [sailbot.main_algo]: Heading Difference: -161.5079583994206 -[main_algo-3] [INFO] [1746051189.506809375] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051189.507673718] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051189.508527270] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051189.510212575] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051189.544967211] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051189.545594033] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051189.546206300] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051189.547548814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051189.548704495] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051189.585135763] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051189.587282548] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051189.587945523] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051189.588061319] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051189.589076592] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051189.589994475] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051189.590811571] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051189.645051797] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051189.645629996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051189.646461452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051189.647670482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051189.648955840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051189.745325037] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051189.746321890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051189.747620236] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051189.748230687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051189.748766842] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051189.835117599] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051189.836908223] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051189.837562271] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051189.837891179] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051189.838798134] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051189.839211129] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051189.839376081] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051189.844330219] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051189.844855885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051189.845406323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051189.846553431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051189.847615260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051189.944607912] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051189.945214635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051189.945810405] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051189.946951744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051189.948074576] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051189.956998405] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051189.958002109] [sailbot.main_algo]: Target Bearing: -142.2080416005794 -[main_algo-3] [INFO] [1746051189.958881822] [sailbot.main_algo]: Heading Difference: -161.54795839942057 -[main_algo-3] [INFO] [1746051189.959751141] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051189.960609423] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051189.961415222] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051189.962424313] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051189.963599770] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051190.002831709] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904045 Long: -76.5027732 -[main_algo-3] [INFO] [1746051190.003796066] [sailbot.main_algo]: Distance to destination: 56.38516353380206 -[vectornav-1] [INFO] [1746051190.004420705] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.64499999999998, -0.311, 4.136) -[main_algo-3] [INFO] [1746051190.004979612] [sailbot.main_algo]: Target Bearing: -142.20179882389735 -[main_algo-3] [INFO] [1746051190.006065516] [sailbot.main_algo]: Heading Difference: -161.55420117610265 -[main_algo-3] [INFO] [1746051190.006986835] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051190.007920693] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051190.008824162] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051190.010801351] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051190.045214175] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051190.045903849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051190.046689392] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051190.048041844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051190.049195831] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051190.085186161] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051190.087233234] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051190.088339348] [sailbot.teensy]: Wind angle: 166 -[mux-7] [INFO] [1746051190.088563385] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051190.089630319] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051190.090583456] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051190.091450412] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051190.144932515] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051190.145818081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051190.146212468] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051190.147972379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051190.148993150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051190.245188902] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051190.245901268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051190.247106479] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051190.247829445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051190.248952400] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051190.335139640] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051190.337324323] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051190.337718977] [sailbot.teensy]: Wind angle: 166 -[mux-7] [INFO] [1746051190.338121186] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051190.338704746] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051190.339681477] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051190.340371395] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051190.344502796] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051190.345073977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051190.345821230] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051190.346782486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051190.347805035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051190.445216195] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051190.446024736] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051190.446788111] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051190.448194300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051190.449293889] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051190.457174337] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051190.458197016] [sailbot.main_algo]: Target Bearing: -142.20179882389735 -[main_algo-3] [INFO] [1746051190.459083025] [sailbot.main_algo]: Heading Difference: -162.1532011761027 -[main_algo-3] [INFO] [1746051190.459930467] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051190.460858412] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051190.461716256] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051190.462904731] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051190.463544598] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051190.502958542] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904043 Long: -76.50277336 -[main_algo-3] [INFO] [1746051190.503579579] [sailbot.main_algo]: Distance to destination: 56.37352097990614 -[vectornav-1] [INFO] [1746051190.504407464] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.48399999999998, 0.121, 5.034) -[main_algo-3] [INFO] [1746051190.504922398] [sailbot.main_algo]: Target Bearing: -142.1951773392236 -[main_algo-3] [INFO] [1746051190.505908295] [sailbot.main_algo]: Heading Difference: -162.1598226607764 -[main_algo-3] [INFO] [1746051190.506835714] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051190.507727175] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051190.508590611] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051190.510293138] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051190.545178830] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051190.545969377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051190.546712169] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051190.548096243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051190.549294873] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051190.585095577] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051190.586623538] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051190.587167519] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051190.587475763] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051190.588436739] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051190.589361596] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051190.589610957] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051190.645205480] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051190.646209591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051190.646732787] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051190.648367112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051190.649606524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051190.745028793] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051190.745811858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051190.746292137] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051190.747913254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051190.748934614] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051190.835485011] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051190.837342337] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051190.837916591] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051190.838299926] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051190.839227060] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051190.839531194] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051190.839640613] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051190.844598629] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051190.845145570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051190.845828728] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051190.846888085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051190.848132567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051190.945290958] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051190.945962527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051190.947028993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051190.948138926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051190.948679558] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051190.957121541] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051190.958121677] [sailbot.main_algo]: Target Bearing: -142.1951773392236 -[main_algo-3] [INFO] [1746051190.958998480] [sailbot.main_algo]: Heading Difference: -163.32082266077646 -[main_algo-3] [INFO] [1746051190.959842885] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051190.960723392] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051190.961508410] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051190.962524862] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051190.963220753] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051191.003046916] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904025 Long: -76.50277356 -[main_algo-3] [INFO] [1746051191.003491390] [sailbot.main_algo]: Distance to destination: 56.3481774847418 -[main_algo-3] [INFO] [1746051191.004536575] [sailbot.main_algo]: Target Bearing: -142.20053252290933 -[vectornav-1] [INFO] [1746051191.004714746] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.06400000000002, -0.651, 4.74) -[main_algo-3] [INFO] [1746051191.005434416] [sailbot.main_algo]: Heading Difference: -163.3154674770907 -[main_algo-3] [INFO] [1746051191.006352761] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051191.007227765] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051191.008059010] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051191.009883988] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051191.044945633] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051191.045673656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051191.046232270] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051191.047781212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051191.048812294] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051191.085472214] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051191.087523079] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051191.088325811] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051191.088515870] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051191.089352224] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051191.089410243] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051191.090325670] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051191.145050990] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051191.145638889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051191.146477936] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051191.147622525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051191.148699654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051191.245117473] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051191.245965051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051191.246949144] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051191.247933976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051191.248935764] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051191.335205706] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051191.336916493] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051191.337681895] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051191.337857062] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051191.338769669] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051191.338977774] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051191.339701444] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051191.344360121] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051191.344943365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051191.345541089] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051191.346714441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051191.347740251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051191.444805187] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051191.445585202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051191.446040942] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051191.447420953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051191.448597309] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051191.457082246] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051191.458197044] [sailbot.main_algo]: Target Bearing: -142.20053252290933 -[main_algo-3] [INFO] [1746051191.459144817] [sailbot.main_algo]: Heading Difference: -162.73546747709065 -[main_algo-3] [INFO] [1746051191.460030687] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051191.460854492] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051191.461641517] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051191.462646643] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051191.463406197] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051191.502765329] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904008 Long: -76.50277381 -[main_algo-3] [INFO] [1746051191.503857374] [sailbot.main_algo]: Distance to destination: 56.32032707617961 -[vectornav-1] [INFO] [1746051191.503976598] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.714, -0.003, 4.745) -[main_algo-3] [INFO] [1746051191.505134500] [sailbot.main_algo]: Target Bearing: -142.2023909640259 -[main_algo-3] [INFO] [1746051191.506111357] [sailbot.main_algo]: Heading Difference: -162.73360903597404 -[main_algo-3] [INFO] [1746051191.507051819] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051191.507960437] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051191.508845574] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051191.510622747] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051191.545011073] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051191.545735257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051191.546266339] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051191.547693133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051191.548846171] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051191.585166212] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051191.586893380] [sailbot.teensy]: Wind angle: 167 -[trim_sail-4] [INFO] [1746051191.587797088] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051191.587845874] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051191.588759332] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051191.588973883] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051191.589624250] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051191.645017759] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051191.645971640] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051191.646571915] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051191.647964285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051191.649025285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051191.745272049] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051191.746179079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051191.746776814] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051191.748675006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051191.749891072] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051191.835151670] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051191.837215615] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051191.837649515] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051191.838181015] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051191.839094147] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051191.839791537] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051191.839971657] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051191.844515362] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051191.844974970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051191.845679512] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051191.846681542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051191.847782618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051191.945434805] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051191.946017224] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051191.948188026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051191.947256221] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051191.950046977] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051191.957168654] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051191.958260334] [sailbot.main_algo]: Target Bearing: -142.2023909640259 -[main_algo-3] [INFO] [1746051191.959177107] [sailbot.main_algo]: Heading Difference: -162.08360903597406 -[main_algo-3] [INFO] [1746051191.960073983] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051191.960989332] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051191.961842576] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051191.963099014] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051191.963627991] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051192.002898917] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904 Long: -76.50277403 -[main_algo-3] [INFO] [1746051192.003774248] [sailbot.main_algo]: Distance to destination: 56.300663678742644 -[vectornav-1] [INFO] [1746051192.004044386] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.524, -1.0, 4.98) -[main_algo-3] [INFO] [1746051192.005101556] [sailbot.main_algo]: Target Bearing: -142.19789831922066 -[main_algo-3] [INFO] [1746051192.006054918] [sailbot.main_algo]: Heading Difference: -162.08810168077935 -[main_algo-3] [INFO] [1746051192.006963380] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051192.007842203] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051192.008713317] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051192.010500483] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051192.045655858] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051192.045872187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051192.047069938] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051192.048111042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051192.049255796] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051192.085428572] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051192.087332767] [sailbot.teensy]: Wind angle: 167 -[teensy-2] [INFO] [1746051192.088399458] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051192.087621109] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051192.088843094] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051192.089301717] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051192.090222421] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051192.145214236] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051192.145969180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051192.146670767] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051192.147904658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051192.149563374] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051192.244979731] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051192.245477577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051192.246582565] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051192.247268270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051192.248427860] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051192.335394917] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051192.337375944] [sailbot.teensy]: Wind angle: 167 -[teensy-2] [INFO] [1746051192.338330295] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051192.337838776] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051192.338478359] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051192.339242245] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051192.339623771] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051192.344399840] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051192.344960722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051192.345465637] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051192.346735562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051192.347989593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051192.445099255] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051192.445793238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051192.446684336] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051192.447945033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051192.449108803] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051192.457223158] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051192.458249296] [sailbot.main_algo]: Target Bearing: -142.19789831922066 -[main_algo-3] [INFO] [1746051192.459212792] [sailbot.main_algo]: Heading Difference: -162.27810168077934 -[main_algo-3] [INFO] [1746051192.460114776] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051192.461089936] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051192.461954622] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051192.463054625] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051192.463604502] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051192.503198934] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904015 Long: -76.50277407 -[main_algo-3] [INFO] [1746051192.504431916] [sailbot.main_algo]: Distance to destination: 56.30854545141616 -[vectornav-1] [INFO] [1746051192.504466521] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.947, 0.471, 5.458) -[main_algo-3] [INFO] [1746051192.505581145] [sailbot.main_algo]: Target Bearing: -142.1825932471939 -[main_algo-3] [INFO] [1746051192.506606663] [sailbot.main_algo]: Heading Difference: -162.2934067528061 -[main_algo-3] [INFO] [1746051192.507519456] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051192.508454616] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051192.509338425] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051192.511055949] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051192.544996077] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051192.545735245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051192.546261391] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051192.547563395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051192.548592981] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051192.585188114] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051192.587236266] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051192.587527374] [sailbot.teensy]: Wind angle: 167 -[teensy-2] [INFO] [1746051192.588493438] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051192.589001684] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051192.589451824] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051192.590294639] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051192.645062257] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051192.645806554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051192.646489888] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051192.647831307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051192.649003798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051192.745163814] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051192.746031340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051192.746605576] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051192.747921631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051192.748475917] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051192.835294608] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051192.837042865] [sailbot.teensy]: Wind angle: 167 -[teensy-2] [INFO] [1746051192.837956885] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051192.837644091] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051192.838413136] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051192.838838073] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051192.839701971] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051192.844406510] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051192.844958471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051192.845723916] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051192.846624211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051192.847684685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051192.945231210] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051192.946225446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051192.947391541] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051192.948376804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051192.948904485] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051192.957246283] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051192.958459990] [sailbot.main_algo]: Target Bearing: -142.1825932471939 -[main_algo-3] [INFO] [1746051192.959486664] [sailbot.main_algo]: Heading Difference: -162.8704067528061 -[main_algo-3] [INFO] [1746051192.960401366] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051192.961294579] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051192.962136147] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051192.963351304] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051192.964552026] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051193.003017751] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904009 Long: -76.50277422 -[main_algo-3] [INFO] [1746051193.004083731] [sailbot.main_algo]: Distance to destination: 56.2947597211535 -[vectornav-1] [INFO] [1746051193.004331671] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.398000000000025, -0.91, 6.356) -[main_algo-3] [INFO] [1746051193.005414429] [sailbot.main_algo]: Target Bearing: -142.1800053242482 -[main_algo-3] [INFO] [1746051193.006448139] [sailbot.main_algo]: Heading Difference: -162.87299467575178 -[main_algo-3] [INFO] [1746051193.007364871] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051193.008261007] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051193.009110977] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051193.010975448] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051193.044998872] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051193.045737267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051193.046446979] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051193.047710621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051193.048826958] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051193.085260519] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051193.087140963] [sailbot.teensy]: Wind angle: 167 -[trim_sail-4] [INFO] [1746051193.087471632] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051193.088341341] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051193.089033832] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051193.089635848] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051193.090652030] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051193.145101115] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051193.145963039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051193.146520428] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051193.148177775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051193.149299513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051193.245165445] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051193.246130361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051193.246869347] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051193.248137138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051193.249327074] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051193.335188424] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051193.337365794] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051193.337772990] [sailbot.teensy]: Wind angle: 167 -[teensy-2] [INFO] [1746051193.338743024] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051193.338811860] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051193.339491361] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051193.339868807] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051193.344436945] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051193.344862882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051193.346388848] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051193.346524097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051193.347782485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051193.445087633] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051193.445741248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051193.446722641] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051193.447758363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051193.448826427] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051193.457097962] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051193.458132631] [sailbot.main_algo]: Target Bearing: -142.1800053242482 -[main_algo-3] [INFO] [1746051193.459026833] [sailbot.main_algo]: Heading Difference: -163.42199467575176 -[main_algo-3] [INFO] [1746051193.459881559] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051193.460786643] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051193.461635575] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051193.462656993] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051193.463615357] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051193.502996397] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904019 Long: -76.50277426 -[main_algo-3] [INFO] [1746051193.504056817] [sailbot.main_algo]: Distance to destination: 56.29916308212126 -[vectornav-1] [INFO] [1746051193.504602703] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.057000000000016, -0.364, 4.358) -[main_algo-3] [INFO] [1746051193.505454098] [sailbot.main_algo]: Target Bearing: -142.16910228359413 -[main_algo-3] [INFO] [1746051193.506866864] [sailbot.main_algo]: Heading Difference: -163.43289771640582 -[main_algo-3] [INFO] [1746051193.507840322] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051193.508731849] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051193.509571629] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051193.511336171] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051193.544998705] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051193.545596193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051193.546300211] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051193.547451190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051193.548565488] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051193.585119297] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051193.586672671] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051193.587269785] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051193.587537309] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051193.588434354] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051193.588597180] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051193.589512601] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051193.645434668] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051193.645942188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051193.647066051] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051193.648141957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051193.649375305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051193.745206557] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051193.745751771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051193.746542910] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051193.747772175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051193.748806573] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051193.835226127] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051193.836915648] [sailbot.teensy]: Wind angle: 154 -[teensy-2] [INFO] [1746051193.837937692] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051193.837300958] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051193.838835621] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051193.839142312] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051193.839367685] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051193.844412096] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051193.844962963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051193.845592266] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051193.846708015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051193.847741981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051193.945086608] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051193.945869688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051193.946602543] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051193.947937455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051193.949054488] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051193.957179115] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051193.958213579] [sailbot.main_algo]: Target Bearing: -142.16910228359413 -[main_algo-3] [INFO] [1746051193.959151475] [sailbot.main_algo]: Heading Difference: -162.77389771640583 -[main_algo-3] [INFO] [1746051193.960169190] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051193.961075882] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051193.961864902] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051193.963072972] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051193.963534109] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051194.003716666] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904038 Long: -76.50277438 -[main_algo-3] [INFO] [1746051194.004077450] [sailbot.main_algo]: Distance to destination: 56.3047182905714 -[vectornav-1] [INFO] [1746051194.005019593] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.88799999999998, -0.035, 4.519) -[main_algo-3] [INFO] [1746051194.005296190] [sailbot.main_algo]: Target Bearing: -142.14608106778434 -[main_algo-3] [INFO] [1746051194.007007501] [sailbot.main_algo]: Heading Difference: -162.79691893221565 -[main_algo-3] [INFO] [1746051194.007971384] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051194.008891767] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051194.009735432] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051194.011531190] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051194.045814793] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051194.046471260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051194.047164389] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051194.048722620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051194.049749774] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051194.085737498] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051194.088085509] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051194.088078421] [sailbot.teensy]: Wind angle: 153 -[teensy-2] [INFO] [1746051194.089352176] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051194.090370574] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051194.090489770] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051194.091485774] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051194.145240055] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051194.146392167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051194.147030482] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051194.148011217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051194.148528079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051194.245404608] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051194.246180481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051194.246960310] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051194.248571684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051194.249740755] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051194.335172373] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051194.336929891] [sailbot.teensy]: Wind angle: 152 -[trim_sail-4] [INFO] [1746051194.337318754] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051194.337884736] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051194.338804372] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051194.339193049] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051194.339659876] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051194.344442318] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051194.344928769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051194.345579176] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051194.346671054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051194.347694558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051194.445375689] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051194.446331824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051194.447058278] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051194.448634947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051194.449905101] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051194.457159864] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051194.458178980] [sailbot.main_algo]: Target Bearing: -142.14608106778434 -[main_algo-3] [INFO] [1746051194.459066744] [sailbot.main_algo]: Heading Difference: -164.9659189322157 -[main_algo-3] [INFO] [1746051194.459916087] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051194.460829599] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051194.461686471] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051194.462787974] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051194.463485401] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051194.503529981] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904013 Long: -76.50277445 -[main_algo-3] [INFO] [1746051194.503818948] [sailbot.main_algo]: Distance to destination: 56.2828165755571 -[vectornav-1] [INFO] [1746051194.504879634] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.84000000000003, -0.148, 5.305) -[main_algo-3] [INFO] [1746051194.504930249] [sailbot.main_algo]: Target Bearing: -142.1644105108559 -[main_algo-3] [INFO] [1746051194.505904825] [sailbot.main_algo]: Heading Difference: -164.9475894891441 -[main_algo-3] [INFO] [1746051194.506829971] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051194.507685459] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051194.508531445] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051194.510273041] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051194.544987476] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051194.545553661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051194.546333618] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051194.547437674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051194.548594602] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051194.585304825] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051194.586977147] [sailbot.teensy]: Wind angle: 153 -[trim_sail-4] [INFO] [1746051194.587682417] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051194.587903868] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051194.588834212] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051194.589497418] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051194.589729549] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051194.644934314] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051194.645858759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051194.646253136] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051194.647761694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051194.648813297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051194.745080306] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051194.746377610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051194.746501908] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051194.748505428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051194.749553527] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051194.835624524] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051194.838391422] [sailbot.teensy]: Wind angle: 153 -[trim_sail-4] [INFO] [1746051194.838772257] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051194.839830309] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051194.840789290] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051194.841713598] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051194.842538143] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051194.844256992] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051194.844702621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051194.845365312] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051194.846372951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051194.847464907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051194.945226904] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051194.945978351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051194.946650764] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051194.948077345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051194.949088068] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051194.957195512] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051194.958316851] [sailbot.main_algo]: Target Bearing: -142.1644105108559 -[main_algo-3] [INFO] [1746051194.959253836] [sailbot.main_algo]: Heading Difference: -165.9955894891441 -[main_algo-3] [INFO] [1746051194.960173368] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051194.961048739] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051194.961923256] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051194.963079127] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051194.963490558] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051195.003227952] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904001 Long: -76.50277444 -[main_algo-3] [INFO] [1746051195.004328679] [sailbot.main_algo]: Distance to destination: 56.27509804951524 -[vectornav-1] [INFO] [1746051195.004551132] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.952, -0.814, 3.964) -[main_algo-3] [INFO] [1746051195.005599231] [sailbot.main_algo]: Target Bearing: -142.17550281829048 -[main_algo-3] [INFO] [1746051195.006606772] [sailbot.main_algo]: Heading Difference: -165.98449718170946 -[main_algo-3] [INFO] [1746051195.007543031] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051195.008570088] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051195.009460044] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051195.011262857] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051195.045084984] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051195.046152076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051195.046753476] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051195.048252743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051195.049465737] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051195.085075199] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051195.086748277] [sailbot.teensy]: Wind angle: 153 -[trim_sail-4] [INFO] [1746051195.087228560] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051195.087619647] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051195.087959982] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051195.088536985] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051195.089420429] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051195.144984981] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051195.145689421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051195.146271596] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051195.147596926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051195.148631494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051195.245022773] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051195.245905252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051195.246343578] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051195.247756382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051195.248813717] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051195.335292214] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051195.337075836] [sailbot.teensy]: Wind angle: 153 -[trim_sail-4] [INFO] [1746051195.337842575] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051195.338009834] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051195.338912364] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051195.339357531] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051195.339810423] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051195.344396700] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051195.345112510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051195.345579227] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051195.346857266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051195.347914152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051195.445355062] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051195.445948917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051195.447072851] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051195.448106712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051195.449343821] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051195.457226790] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051195.458377484] [sailbot.main_algo]: Target Bearing: -142.17550281829048 -[main_algo-3] [INFO] [1746051195.459343624] [sailbot.main_algo]: Heading Difference: -163.8724971817095 -[main_algo-3] [INFO] [1746051195.460253042] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051195.461148507] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051195.462030817] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051195.463117335] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051195.463774454] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051195.503080105] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904007 Long: -76.5027747 -[main_algo-3] [INFO] [1746051195.504070947] [sailbot.main_algo]: Distance to destination: 56.26262877675588 -[vectornav-1] [INFO] [1746051195.504657879] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.42599999999999, 0.006, 5.483) -[main_algo-3] [INFO] [1746051195.505665352] [sailbot.main_algo]: Target Bearing: -142.15656424549974 -[main_algo-3] [INFO] [1746051195.506662227] [sailbot.main_algo]: Heading Difference: -163.89143575450026 -[main_algo-3] [INFO] [1746051195.507564685] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051195.508465197] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051195.509313592] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051195.511098675] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051195.545112356] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051195.545861234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051195.546521692] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051195.547882151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051195.548869984] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051195.585285420] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051195.587130973] [sailbot.teensy]: Wind angle: 152 -[trim_sail-4] [INFO] [1746051195.587682001] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051195.588042361] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051195.588978668] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051195.589728011] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051195.589827250] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051195.644783632] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051195.645546588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051195.646293965] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051195.647393319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051195.648600789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051195.745690197] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051195.746458025] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051195.747429788] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051195.748765223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051195.749982292] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051195.835560052] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051195.837966436] [sailbot.teensy]: Wind angle: 152 -[trim_sail-4] [INFO] [1746051195.837996841] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051195.839031661] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051195.839307122] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051195.839966401] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051195.840858454] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051195.844420633] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051195.845149285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051195.845604893] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051195.846959064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051195.848118336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051195.945443602] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051195.946191483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051195.947085648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051195.948673877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051195.949849673] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051195.957126069] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051195.958167632] [sailbot.main_algo]: Target Bearing: -142.15656424549974 -[main_algo-3] [INFO] [1746051195.959067394] [sailbot.main_algo]: Heading Difference: -164.41743575450027 -[main_algo-3] [INFO] [1746051195.959943909] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051195.960786247] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051195.961687309] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051195.962780910] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051195.963287016] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051196.002112549] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690401 Long: -76.50277473 -[main_algo-3] [INFO] [1746051196.002801276] [sailbot.main_algo]: Distance to destination: 56.26279847176269 -[vectornav-1] [INFO] [1746051196.002928033] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.125999999999976, -0.558, 5.227) -[main_algo-3] [INFO] [1746051196.003972684] [sailbot.main_algo]: Target Bearing: -142.15234617834264 -[main_algo-3] [INFO] [1746051196.004869724] [sailbot.main_algo]: Heading Difference: -164.4216538216574 -[main_algo-3] [INFO] [1746051196.005769521] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051196.006629608] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051196.007551259] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051196.009285369] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051196.044083261] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051196.044185555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051196.044644169] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051196.045531489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051196.046100823] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051196.085385398] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051196.087207401] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746051196.088619618] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051196.090418163] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051196.091115159] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051196.093669386] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051196.094827352] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746051196.145545463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051196.146510763] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051196.147701430] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051196.149365405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051196.151126927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051196.245047587] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051196.245891723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051196.246354714] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051196.247736973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051196.248802235] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051196.335395950] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051196.337897737] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051196.338607364] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051196.338683026] [sailbot.teensy]: Wind angle: 151 -[teensy-2] [INFO] [1746051196.339206320] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051196.339704883] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051196.340595053] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051196.344357225] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051196.344903153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051196.345497512] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051196.346583442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051196.347757258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051196.444930623] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051196.445342432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051196.446306168] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051196.447098441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051196.448283268] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051196.457156990] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051196.458209140] [sailbot.main_algo]: Target Bearing: -142.15234617834264 -[main_algo-3] [INFO] [1746051196.459153342] [sailbot.main_algo]: Heading Difference: -165.72165382165736 -[main_algo-3] [INFO] [1746051196.460020858] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051196.460972147] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051196.462517204] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051196.463951735] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051196.465162979] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051196.503367704] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904003 Long: -76.50277482 -[main_algo-3] [INFO] [1746051196.504561341] [sailbot.main_algo]: Distance to destination: 56.25215856049896 -[vectornav-1] [INFO] [1746051196.505422779] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.33299999999997, -0.189, 5.25) -[main_algo-3] [INFO] [1746051196.505812372] [sailbot.main_algo]: Target Bearing: -142.15378254855685 -[main_algo-3] [INFO] [1746051196.507177207] [sailbot.main_algo]: Heading Difference: -165.7202174514432 -[main_algo-3] [INFO] [1746051196.508122328] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051196.509052094] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051196.509890415] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051196.511600043] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051196.545186712] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051196.545797360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051196.547205732] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051196.547816817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051196.548998211] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051196.585409606] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051196.587288201] [sailbot.teensy]: Wind angle: 152 -[teensy-2] [INFO] [1746051196.588297713] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051196.588002939] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051196.589179987] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051196.589245261] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051196.590091947] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051196.645070146] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051196.645749137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051196.646510251] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051196.647769791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051196.648956453] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051196.745490672] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051196.745939164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051196.747371910] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051196.748265779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051196.749218990] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051196.835228997] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051196.836856243] [sailbot.teensy]: Wind angle: 150 -[teensy-2] [INFO] [1746051196.837791577] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051196.837461552] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051196.838649448] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051196.838666460] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051196.839594975] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051196.844338404] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051196.844977572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051196.845640093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051196.846694840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051196.847722169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051196.945771129] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051196.946215113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051196.947407910] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051196.948361895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051196.949483835] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051196.957024218] [sailbot.main_algo]: Wind Direction: 150 -[main_algo-3] [INFO] [1746051196.957980074] [sailbot.main_algo]: Target Bearing: -142.15378254855685 -[main_algo-3] [INFO] [1746051196.958857832] [sailbot.main_algo]: Heading Difference: -163.5132174514432 -[main_algo-3] [INFO] [1746051196.959657036] [sailbot.main_algo]: Wind Direction: 150 -[main_algo-3] [INFO] [1746051196.960457423] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051196.961256069] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051196.962219771] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051196.962814972] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051197.001794689] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904003 Long: -76.5027747 -[main_algo-3] [INFO] [1746051197.002492575] [sailbot.main_algo]: Distance to destination: 56.259841771048556 -[vectornav-1] [INFO] [1746051197.003261776] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.44999999999999, -0.827, 4.938) -[main_algo-3] [INFO] [1746051197.003322856] [sailbot.main_algo]: Target Bearing: -142.1600872062567 -[main_algo-3] [INFO] [1746051197.004125719] [sailbot.main_algo]: Heading Difference: -163.50691279374337 -[main_algo-3] [INFO] [1746051197.004984134] [sailbot.main_algo]: Wind Direction: 150 -[main_algo-3] [INFO] [1746051197.005833805] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051197.006632873] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051197.008393530] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051197.044743205] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051197.045502140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051197.045984467] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051197.047367060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051197.048457509] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051197.085032966] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051197.087216622] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051197.087482328] [sailbot.teensy]: Wind angle: 149 -[mux-7] [INFO] [1746051197.087857791] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051197.088480172] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051197.089704606] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051197.090564422] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051197.145171988] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051197.145719207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051197.146530982] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051197.147572192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051197.148794276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051197.245200564] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051197.245868064] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051197.247390963] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051197.247863999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051197.248783983] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051197.335317193] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051197.338142790] [sailbot.teensy]: Wind angle: 150 -[trim_sail-4] [INFO] [1746051197.338188800] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051197.338926535] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051197.339103297] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051197.340069968] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051197.340978189] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051197.344444282] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051197.345038035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051197.345625466] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051197.346708354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051197.347879876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051197.445409515] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051197.446164640] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051197.446969633] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051197.448371454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051197.449631671] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051197.457202473] [sailbot.main_algo]: Wind Direction: 150 -[main_algo-3] [INFO] [1746051197.458240805] [sailbot.main_algo]: Target Bearing: -142.1600872062567 -[main_algo-3] [INFO] [1746051197.459131678] [sailbot.main_algo]: Heading Difference: -165.3899127937433 -[main_algo-3] [INFO] [1746051197.459982911] [sailbot.main_algo]: Wind Direction: 150 -[main_algo-3] [INFO] [1746051197.460858102] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051197.461739785] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051197.462929210] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051197.463401401] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051197.503500798] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904015 Long: -76.50277474 -[main_algo-3] [INFO] [1746051197.503952598] [sailbot.main_algo]: Distance to destination: 56.2656426604157 -[main_algo-3] [INFO] [1746051197.505097140] [sailbot.main_algo]: Target Bearing: -142.14741784186347 -[vectornav-1] [INFO] [1746051197.505123366] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.827, 0.477, 5.296) -[main_algo-3] [INFO] [1746051197.506102467] [sailbot.main_algo]: Heading Difference: -165.4025821581365 -[main_algo-3] [INFO] [1746051197.507031759] [sailbot.main_algo]: Wind Direction: 150 -[main_algo-3] [INFO] [1746051197.507928057] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051197.508790654] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051197.510482998] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051197.544927236] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051197.545684477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051197.546204284] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051197.549151906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051197.550293961] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051197.585414656] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051197.588261002] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746051197.588259991] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051197.588590360] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051197.589273570] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051197.590189500] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051197.591013558] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051197.644959025] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051197.645658632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051197.646446326] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051197.647942567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051197.649085140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051197.745581197] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051197.746501390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051197.747223146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051197.748084245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051197.748540342] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051197.835354039] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051197.837676721] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051197.838161318] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051197.838608636] [sailbot.teensy]: Wind angle: 151 -[teensy-2] [INFO] [1746051197.839208750] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051197.839587964] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051197.839947055] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051197.844420136] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051197.845134818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051197.845914493] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051197.846947590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051197.847980200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051197.945333648] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051197.946266906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051197.946902454] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051197.948533184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051197.949619640] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051197.957026877] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051197.957978696] [sailbot.main_algo]: Target Bearing: -142.14741784186347 -[main_algo-3] [INFO] [1746051197.958858270] [sailbot.main_algo]: Heading Difference: -166.02558215813656 -[main_algo-3] [INFO] [1746051197.959655732] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051197.960453956] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051197.961231832] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051197.962291174] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051197.962867503] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051198.002922097] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904016 Long: -76.50277467 -[main_algo-3] [INFO] [1746051198.003880294] [sailbot.main_algo]: Distance to destination: 56.27082091703238 -[vectornav-1] [INFO] [1746051198.004218203] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.403999999999996, -1.111, 5.426) -[main_algo-3] [INFO] [1746051198.005111923] [sailbot.main_algo]: Target Bearing: -142.15021489322862 -[main_algo-3] [INFO] [1746051198.006079637] [sailbot.main_algo]: Heading Difference: -166.02278510677138 -[main_algo-3] [INFO] [1746051198.007105060] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051198.008197051] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051198.009076163] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051198.010779176] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051198.045037865] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051198.045646341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051198.046350863] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051198.047514816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051198.048554172] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051198.085145189] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051198.086827872] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746051198.087638156] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051198.087783511] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051198.088691000] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051198.088659856] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051198.089610644] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051198.145092719] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051198.145786406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051198.146565662] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051198.147942950] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051198.148976632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051198.245024977] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051198.245693090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051198.246352762] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051198.247817306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051198.248918692] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051198.335247415] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051198.337040795] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746051198.337603015] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051198.339171808] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051198.339483203] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051198.340177440] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051198.341121671] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051198.344348594] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051198.344910338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051198.345992136] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051198.346993655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051198.348303635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051198.444844514] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051198.445556094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051198.446062580] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051198.447456254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051198.448516632] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051198.457123991] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051198.458178466] [sailbot.main_algo]: Target Bearing: -142.15021489322862 -[main_algo-3] [INFO] [1746051198.459072512] [sailbot.main_algo]: Heading Difference: -164.44578510677138 -[main_algo-3] [INFO] [1746051198.459883820] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051198.460695391] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051198.461491922] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051198.462485313] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051198.463306886] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051198.502768399] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904023 Long: -76.50277462 -[main_algo-3] [INFO] [1746051198.503669235] [sailbot.main_algo]: Distance to destination: 56.278900175235094 -[vectornav-1] [INFO] [1746051198.503958690] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.077999999999975, 0.538, 5.274) -[main_algo-3] [INFO] [1746051198.504803153] [sailbot.main_algo]: Target Bearing: -142.14667860106383 -[main_algo-3] [INFO] [1746051198.505788972] [sailbot.main_algo]: Heading Difference: -164.44932139893615 -[main_algo-3] [INFO] [1746051198.506717521] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051198.507601819] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051198.508469071] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051198.510331484] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051198.545033395] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051198.545623380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051198.546376518] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051198.547779819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051198.548926512] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051198.585120553] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051198.587265875] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051198.587838924] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051198.588215886] [sailbot.teensy]: Wind angle: 151 -[teensy-2] [INFO] [1746051198.589752403] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051198.590612033] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051198.591445226] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051198.645326280] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051198.646083288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051198.647211232] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051198.648635110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051198.649848052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051198.745159908] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051198.745891206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051198.746521191] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051198.747975892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051198.749139060] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051198.835222965] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051198.837246052] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746051198.837493059] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051198.838221516] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051198.839017601] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051198.839131143] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051198.839987628] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051198.844422870] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051198.844991788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051198.845546961] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051198.846775522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051198.847825537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051198.945110065] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051198.945808536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051198.946770127] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051198.947510788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051198.948045627] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051198.956926607] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051198.957820788] [sailbot.main_algo]: Target Bearing: -142.14667860106383 -[main_algo-3] [INFO] [1746051198.958649715] [sailbot.main_algo]: Heading Difference: -164.77532139893617 -[main_algo-3] [INFO] [1746051198.959474567] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051198.960266211] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051198.961007963] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051198.962019900] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051198.962885309] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051199.003159629] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904044 Long: -76.50277451 -[main_algo-3] [INFO] [1746051199.003678654] [sailbot.main_algo]: Distance to destination: 56.30057895834468 -[main_algo-3] [INFO] [1746051199.004781952] [sailbot.main_algo]: Target Bearing: -142.13397498586377 -[vectornav-1] [INFO] [1746051199.005218467] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.50799999999998, -0.945, 5.187) -[main_algo-3] [INFO] [1746051199.005988023] [sailbot.main_algo]: Heading Difference: -164.78802501413622 -[main_algo-3] [INFO] [1746051199.006990188] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051199.007919664] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051199.008824674] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051199.010701910] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051199.044684103] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051199.045343065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051199.045992786] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051199.047258412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051199.048246741] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051199.085153361] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051199.086920323] [sailbot.teensy]: Wind angle: 152 -[trim_sail-4] [INFO] [1746051199.087692017] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051199.087867887] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051199.088755478] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051199.089176596] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051199.089563882] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051199.144691308] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051199.145370334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051199.146134618] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051199.147249165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051199.148403096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051199.244746204] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051199.245557922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051199.245853845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051199.247340372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051199.248306302] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051199.335068207] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051199.337394855] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051199.337837525] [sailbot.teensy]: Wind angle: 151 -[mux-7] [INFO] [1746051199.338132004] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051199.338870963] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051199.339605754] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051199.339973547] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051199.344420010] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051199.344832894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051199.345544263] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051199.346444839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051199.347514803] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051199.444970708] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051199.445291799] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051199.447328793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051199.447363706] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051199.448482759] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051199.457031722] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051199.457983710] [sailbot.main_algo]: Target Bearing: -142.13397498586377 -[main_algo-3] [INFO] [1746051199.458824787] [sailbot.main_algo]: Heading Difference: -165.35802501413627 -[main_algo-3] [INFO] [1746051199.459655814] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051199.460474147] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051199.461291875] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051199.462540588] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051199.463015707] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051199.503003295] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904063 Long: -76.5027744 -[main_algo-3] [INFO] [1746051199.503612083] [sailbot.main_algo]: Distance to destination: 56.32086591044531 -[vectornav-1] [INFO] [1746051199.504062699] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.37299999999999, -0.522, 6.116) -[main_algo-3] [INFO] [1746051199.505012803] [sailbot.main_algo]: Target Bearing: -142.12303984855689 -[main_algo-3] [INFO] [1746051199.505979010] [sailbot.main_algo]: Heading Difference: -165.36896015144316 -[main_algo-3] [INFO] [1746051199.507159521] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051199.507970749] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051199.508770226] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051199.510344454] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051199.544617839] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051199.545196292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051199.545875345] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051199.547007579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051199.548053150] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051199.584999355] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051199.586893665] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051199.587358202] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051199.588200126] [sailbot.teensy]: Wind angle: 151 -[teensy-2] [INFO] [1746051199.589566644] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051199.590500997] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051199.591339409] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051199.644701199] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051199.645481130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051199.645958178] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051199.647343857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051199.648315078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051199.744759837] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051199.745560521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051199.746016760] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051199.747486733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051199.748463332] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051199.835007623] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051199.836970864] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746051199.836997899] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051199.837810182] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051199.838292080] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051199.839457662] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051199.840546897] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051199.844222195] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051199.844943863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051199.845251534] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051199.846624436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051199.847664041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051199.944764030] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051199.945375886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051199.946003450] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051199.947180131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051199.948110942] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051199.956937635] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051199.957840836] [sailbot.main_algo]: Target Bearing: -142.12303984855689 -[main_algo-3] [INFO] [1746051199.958664128] [sailbot.main_algo]: Heading Difference: -165.50396015144315 -[main_algo-3] [INFO] [1746051199.959447535] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051199.960201219] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051199.960940614] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051199.961865182] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051199.962517770] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051200.002963465] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904043 Long: -76.50277455 -[main_algo-3] [INFO] [1746051200.003327252] [sailbot.main_algo]: Distance to destination: 56.2973216085488 -[vectornav-1] [INFO] [1746051200.004070001] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.50200000000001, 0.17, 4.122) -[main_algo-3] [INFO] [1746051200.004345599] [sailbot.main_algo]: Target Bearing: -142.1327538064394 -[main_algo-3] [INFO] [1746051200.005260155] [sailbot.main_algo]: Heading Difference: -165.49424619356057 -[main_algo-3] [INFO] [1746051200.006098919] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051200.006965745] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051200.007784107] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051200.009565480] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051200.044714424] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051200.045597444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051200.045998330] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051200.047370839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051200.048330876] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051200.085114994] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051200.087076703] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746051200.087264956] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051200.087954963] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051200.088791075] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051200.088426392] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051200.089623864] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051200.144668035] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051200.145431322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051200.145933958] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051200.147214945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051200.148295818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051200.244797446] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051200.245414595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051200.246140195] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051200.247330728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051200.248458908] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051200.335023493] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051200.336518174] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746051200.337094256] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051200.337340179] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051200.338098542] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051200.338169909] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051200.338940902] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051200.344420417] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051200.344965029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051200.345480604] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051200.346575925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051200.347626883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051200.444689156] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051200.445386394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051200.445881630] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051200.447080343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051200.448035285] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051200.457089493] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051200.458068162] [sailbot.main_algo]: Target Bearing: -142.1327538064394 -[main_algo-3] [INFO] [1746051200.458909986] [sailbot.main_algo]: Heading Difference: -165.36524619356055 -[main_algo-3] [INFO] [1746051200.459721319] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051200.460568564] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051200.461370885] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051200.462352266] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051200.463167740] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051200.503159891] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904052 Long: -76.50277514 -[main_algo-3] [INFO] [1746051200.504071688] [sailbot.main_algo]: Distance to destination: 56.265845902249545 -[vectornav-1] [INFO] [1746051200.504550860] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.315, -0.477, 4.513) -[main_algo-3] [INFO] [1746051200.505090817] [sailbot.main_algo]: Target Bearing: -142.09382193725975 -[main_algo-3] [INFO] [1746051200.506050603] [sailbot.main_algo]: Heading Difference: -165.40417806274024 -[main_algo-3] [INFO] [1746051200.507340780] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051200.508243937] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051200.509047367] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051200.510641136] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051200.545218264] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051200.545655846] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051200.546602154] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051200.547519992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051200.548585942] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051200.585080876] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051200.586601214] [sailbot.teensy]: Wind angle: 151 -[teensy-2] [INFO] [1746051200.587463558] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051200.587312512] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051200.588275675] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051200.588473565] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051200.589136915] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746051200.645338511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051200.645402420] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051200.646721614] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051200.647147306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051200.648229793] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051200.745319237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051200.745320703] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051200.746619726] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051200.747144988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051200.748264173] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051200.835022426] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051200.837453878] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051200.837965640] [sailbot.teensy]: Wind angle: 151 -[mux-7] [INFO] [1746051200.838464033] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051200.838893909] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051200.839732092] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051200.840532498] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051200.844343569] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051200.844900249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051200.845451830] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051200.846476361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051200.847463416] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051200.944767967] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051200.945314844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051200.946324563] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051200.947006468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051200.948079152] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051200.956958554] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051200.957880506] [sailbot.main_algo]: Target Bearing: -142.09382193725975 -[main_algo-3] [INFO] [1746051200.958700821] [sailbot.main_algo]: Heading Difference: -166.59117806274025 -[main_algo-3] [INFO] [1746051200.959449609] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051200.960227326] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051200.960960088] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051200.962051005] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051200.962752149] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051201.002999010] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904052 Long: -76.50277573 -[main_algo-3] [INFO] [1746051201.003341406] [sailbot.main_algo]: Distance to destination: 56.2281119286537 -[main_algo-3] [INFO] [1746051201.004371560] [sailbot.main_algo]: Target Bearing: -142.06276628049224 -[vectornav-1] [INFO] [1746051201.004536439] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.44499999999999, 0.281, 5.741) -[main_algo-3] [INFO] [1746051201.005297646] [sailbot.main_algo]: Heading Difference: -166.6222337195078 -[main_algo-3] [INFO] [1746051201.006157997] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051201.007011203] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051201.007866900] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051201.009557130] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051201.045364190] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051201.045710055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051201.047408950] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051201.047655915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051201.048763721] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051201.085345758] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051201.087184915] [sailbot.teensy]: Wind angle: 151 -[teensy-2] [INFO] [1746051201.088111165] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051201.087763492] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051201.088485290] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051201.089007015] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051201.089905404] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051201.145043520] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051201.145517293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051201.146316975] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051201.147313181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051201.148418682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051201.244756771] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051201.245321090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051201.246790192] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051201.246992918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051201.248217016] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051201.335177853] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051201.337612384] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051201.337708344] [sailbot.teensy]: Wind angle: 151 -[mux-7] [INFO] [1746051201.338413425] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051201.338908555] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051201.339859276] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051201.340669904] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051201.344351345] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051201.344962977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051201.345464641] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051201.346653136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051201.347703395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051201.444659545] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051201.445496254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051201.445891874] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051201.447192362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051201.447842320] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051201.457180044] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051201.458280207] [sailbot.main_algo]: Target Bearing: -142.06276628049224 -[main_algo-3] [INFO] [1746051201.459176231] [sailbot.main_algo]: Heading Difference: -167.4922337195078 -[main_algo-3] [INFO] [1746051201.459981632] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051201.460788559] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051201.461578628] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051201.462792583] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051201.463170319] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051201.502629857] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904019 Long: -76.50277606 -[main_algo-3] [INFO] [1746051201.503375817] [sailbot.main_algo]: Distance to destination: 56.18397190911189 -[vectornav-1] [INFO] [1746051201.503709903] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.33499999999998, -0.929, 4.713) -[main_algo-3] [INFO] [1746051201.504427426] [sailbot.main_algo]: Target Bearing: -142.07443610448723 -[main_algo-3] [INFO] [1746051201.505329541] [sailbot.main_algo]: Heading Difference: -167.48056389551277 -[main_algo-3] [INFO] [1746051201.506150089] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051201.507223491] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051201.508048440] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051201.509762890] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051201.544598659] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051201.545252151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051201.545793882] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051201.546953845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051201.547984387] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051201.585012360] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051201.586455995] [sailbot.teensy]: Wind angle: 151 -[teensy-2] [INFO] [1746051201.587261929] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051201.587085337] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051201.588025225] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051201.588618358] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051201.588859583] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051201.644661236] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051201.645350739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051201.645919113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051201.647162149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051201.648297867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051201.744669250] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051201.745480226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051201.745813268] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051201.747233831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051201.748175280] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051201.835318011] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051201.837315997] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051201.837667595] [sailbot.teensy]: Wind angle: 151 -[mux-7] [INFO] [1746051201.838301026] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051201.838527175] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051201.839596938] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051201.840409271] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051201.844300893] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051201.844925587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051201.845729531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051201.846650844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051201.847793392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051201.945100529] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051201.946555298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051201.948428020] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051201.950267984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051201.951281782] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051201.957021537] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051201.957987322] [sailbot.main_algo]: Target Bearing: -142.07443610448723 -[main_algo-3] [INFO] [1746051201.958854099] [sailbot.main_algo]: Heading Difference: -166.5905638955128 -[main_algo-3] [INFO] [1746051201.959724295] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051201.960639466] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051201.961461014] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051201.962692862] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051201.963141857] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051202.001527973] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904037 Long: -76.50277637 -[vectornav-1] [INFO] [1746051202.001989231] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.44799999999998, -0.353, 4.315) -[main_algo-3] [INFO] [1746051202.001953471] [sailbot.main_algo]: Distance to destination: 56.176719840639834 -[main_algo-3] [INFO] [1746051202.002503224] [sailbot.main_algo]: Target Bearing: -142.0422385263634 -[main_algo-3] [INFO] [1746051202.002904379] [sailbot.main_algo]: Heading Difference: -166.62276147363661 -[main_algo-3] [INFO] [1746051202.003279972] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051202.003674814] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051202.004077487] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051202.005015349] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051202.043739923] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051202.044095794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051202.044235319] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051202.044891611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051202.045425337] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051202.084454251] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051202.085160231] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746051202.085445090] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051202.085553423] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051202.085935434] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051202.086294438] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051202.087461781] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051202.143698187] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051202.143989323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051202.144229650] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051202.144802928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051202.145341211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051202.244985909] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051202.245556552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051202.246207869] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051202.247348677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051202.248482280] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051202.335408320] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051202.337250568] [sailbot.teensy]: Wind angle: 149 -[trim_sail-4] [INFO] [1746051202.337788461] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051202.338942813] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051202.339603432] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051202.340005572] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051202.340381502] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051202.344339235] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051202.344951909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051202.345416746] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051202.346553415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051202.347547651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051202.445236136] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051202.446891927] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051202.448411156] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051202.449524762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051202.450753777] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051202.457061614] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051202.458208116] [sailbot.main_algo]: Target Bearing: -142.0422385263634 -[main_algo-3] [INFO] [1746051202.459247098] [sailbot.main_algo]: Heading Difference: -163.50976147363662 -[main_algo-3] [INFO] [1746051202.460241430] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051202.461275559] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051202.462235920] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051202.463807532] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051202.465203387] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051202.501485216] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690407 Long: -76.50277697 -[main_algo-3] [INFO] [1746051202.502245888] [sailbot.main_algo]: Distance to destination: 56.16144794435875 -[vectornav-1] [INFO] [1746051202.502321690] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.18099999999998, 0.611, 5.796) -[main_algo-3] [INFO] [1746051202.503390370] [sailbot.main_algo]: Target Bearing: -141.98151528296574 -[main_algo-3] [INFO] [1746051202.504260318] [sailbot.main_algo]: Heading Difference: -163.57048471703428 -[main_algo-3] [INFO] [1746051202.504867336] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051202.505417530] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051202.506237283] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051202.507714598] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051202.544806008] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051202.545473154] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051202.546069766] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051202.547253820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051202.548457297] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051202.585000933] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051202.586526295] [sailbot.teensy]: Wind angle: 148 -[trim_sail-4] [INFO] [1746051202.587047258] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051202.587386394] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051202.587951639] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051202.588252383] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051202.589135819] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051202.644982434] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051202.645678446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051202.646328509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051202.647729766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051202.648880381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051202.745039398] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051202.745700685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051202.746877403] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051202.747612714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051202.748495877] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051202.835118207] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051202.836645696] [sailbot.teensy]: Wind angle: 149 -[trim_sail-4] [INFO] [1746051202.837108182] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051202.837500135] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051202.838343755] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051202.838891166] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051202.839134636] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051202.844387570] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051202.844891418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051202.845648345] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051202.846657381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051202.847801716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051202.945095817] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051202.945741929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051202.946484302] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051202.947708461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051202.948816542] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051202.956963668] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051202.957856389] [sailbot.main_algo]: Target Bearing: -141.98151528296574 -[main_algo-3] [INFO] [1746051202.958696986] [sailbot.main_algo]: Heading Difference: -165.83748471703427 -[main_algo-3] [INFO] [1746051202.959498519] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051202.960329848] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051202.961141611] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051202.962195362] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051202.962924495] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051203.003458169] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904033 Long: -76.502777 -[main_algo-3] [INFO] [1746051203.004075685] [sailbot.main_algo]: Distance to destination: 56.13366167536803 -[main_algo-3] [INFO] [1746051203.005417787] [sailbot.main_algo]: Target Bearing: -142.01250978160323 -[main_algo-3] [INFO] [1746051203.006447785] [sailbot.main_algo]: Heading Difference: -165.8064902183968 -[vectornav-1] [INFO] [1746051203.006735121] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.71500000000003, -1.38, 5.217) -[main_algo-3] [INFO] [1746051203.007457036] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051203.008430851] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051203.009308448] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051203.011027200] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051203.045547819] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051203.045746416] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051203.046880902] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051203.047655220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051203.048723093] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051203.085402753] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051203.087515326] [sailbot.teensy]: Wind angle: 150 -[trim_sail-4] [INFO] [1746051203.087830864] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051203.088510654] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051203.088990982] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051203.089422331] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051203.090270027] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051203.145030861] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051203.146017964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051203.146409261] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051203.148120979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051203.149166162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051203.245038049] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051203.245704500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051203.246264650] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051203.247554402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051203.248639649] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051203.335259705] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051203.337854302] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051203.338277911] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051203.338759052] [sailbot.teensy]: Wind angle: 151 -[teensy-2] [INFO] [1746051203.339782025] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051203.340669487] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051203.341527904] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051203.344454029] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051203.344837161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051203.345594226] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051203.346512779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051203.347535763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051203.445239854] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051203.446025306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051203.446504522] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051203.448173816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051203.449389968] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051203.456841308] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051203.457683982] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746051203.458590744] [sailbot.main_algo]: Target Bearing: -142.01250978160323 -[main_algo-3] [INFO] [1746051203.459442207] [sailbot.main_algo]: Heading Difference: -167.27249021839674 -[main_algo-3] [INFO] [1746051203.460316978] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051203.461098805] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051203.461820735] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051203.462832208] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051203.463382388] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051203.501416258] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690403 Long: -76.50277735 -[vectornav-1] [INFO] [1746051203.502067447] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.447, -0.398, 4.812) -[main_algo-3] [INFO] [1746051203.502057927] [sailbot.main_algo]: Distance to destination: 56.10920319208645 -[main_algo-3] [INFO] [1746051203.502923754] [sailbot.main_algo]: Target Bearing: -141.99665940267562 -[main_algo-3] [INFO] [1746051203.503429894] [sailbot.main_algo]: Heading Difference: -167.28834059732435 -[main_algo-3] [INFO] [1746051203.503781137] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051203.504180531] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051203.504759356] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051203.506021967] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051203.544083334] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051203.544984983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051203.545245715] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051203.546791771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051203.547764390] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051203.585196337] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051203.587109148] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746051203.587158471] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051203.587956386] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051203.588488424] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051203.588748266] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051203.589112973] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051203.645310278] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051203.645791108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051203.647180200] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051203.647823140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051203.649089511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051203.745082505] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051203.745809725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051203.746679731] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051203.747795214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051203.748893032] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051203.835424348] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051203.837950746] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051203.837977255] [sailbot.teensy]: Wind angle: 151 -[teensy-2] [INFO] [1746051203.838676419] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051203.839078363] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051203.839324983] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051203.839554883] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051203.844605814] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051203.844944645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051203.845903516] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051203.846698671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051203.847734665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051203.945481722] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051203.946230560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051203.947185296] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051203.948598507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051203.949844547] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051203.957147990] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051203.958042732] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746051203.958866347] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051203.960016993] [sailbot.main_algo]: Current Location: (42.469040302147555, -76.50277735005446) -[main_algo-3] [INFO] [1746051203.960899775] [sailbot.main_algo]: Target Bearing: -141.99665940267562 -[main_algo-3] [INFO] [1746051203.961728573] [sailbot.main_algo]: Heading Difference: -164.55634059732438 -[main_algo-3] [INFO] [1746051203.962517230] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051203.963365829] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051203.964170849] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051203.965180158] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051203.965756732] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051204.003132562] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904057 Long: -76.50277748 -[main_algo-3] [INFO] [1746051204.003715554] [sailbot.main_algo]: Distance to destination: 56.11978464046364 -[vectornav-1] [INFO] [1746051204.004453887] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.07499999999999, -0.174, 4.705) -[main_algo-3] [INFO] [1746051204.004843897] [sailbot.main_algo]: Target Bearing: -141.96600339794279 -[main_algo-3] [INFO] [1746051204.005921993] [sailbot.main_algo]: Heading Difference: -164.58699660205718 -[main_algo-3] [INFO] [1746051204.006885550] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051204.007752008] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051204.008638793] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051204.010334708] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051204.045200813] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051204.045714669] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051204.046825055] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051204.047740167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051204.048854056] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051204.085322130] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051204.087571227] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051204.088146896] [sailbot.teensy]: Wind angle: 151 -[mux-7] [INFO] [1746051204.088213719] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051204.089111523] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051204.089996928] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051204.090854546] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051204.144827234] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051204.145486211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051204.146507213] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051204.147320929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051204.148363149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051204.245051402] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051204.245678390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051204.246332883] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051204.247459020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051204.248533489] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051204.335297770] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051204.337240645] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746051204.337554869] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051204.338159588] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051204.339048151] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051204.339174370] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051204.339830866] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051204.344342383] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051204.344842450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051204.345459660] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051204.346616074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051204.347782039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051204.445127666] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051204.445781143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051204.446480791] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051204.447880038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051204.448887239] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051204.456986260] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051204.457965077] [sailbot.main_algo]: Target Bearing: -141.96600339794279 -[main_algo-3] [INFO] [1746051204.458806419] [sailbot.main_algo]: Heading Difference: -162.95899660205725 -[main_algo-3] [INFO] [1746051204.459587332] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051204.460429203] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051204.461224080] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051204.462234084] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051204.463036651] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051204.502706881] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690407 Long: -76.50277772 -[main_algo-3] [INFO] [1746051204.503703176] [sailbot.main_algo]: Distance to destination: 56.113560002891965 -[vectornav-1] [INFO] [1746051204.504185342] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.99400000000003, 0.593, 5.339) -[main_algo-3] [INFO] [1746051204.504916068] [sailbot.main_algo]: Target Bearing: -141.9418612153158 -[main_algo-3] [INFO] [1746051204.505908608] [sailbot.main_algo]: Heading Difference: -162.98313878468423 -[main_algo-3] [INFO] [1746051204.506785187] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051204.507675039] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051204.508564835] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051204.510567680] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051204.545044811] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051204.545597905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051204.546397215] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051204.547405980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051204.548504126] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051204.585143174] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051204.586678156] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746051204.587305473] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051204.587546651] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051204.588384691] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051204.588439732] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051204.589262600] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051204.645071957] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051204.645815881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051204.646649705] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051204.648001022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051204.648742388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051204.744796268] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051204.745271189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051204.746060884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051204.746884612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051204.747850307] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051204.835284726] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051204.836965809] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746051204.837724960] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051204.837871752] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051204.838681722] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051204.838714742] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051204.839485163] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051204.844462310] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051204.844977626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051204.845526367] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051204.846639979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051204.847585562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051204.944901356] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051204.945591415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051204.946164638] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051204.948149083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051204.949220537] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051204.957095681] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051204.958152102] [sailbot.main_algo]: Target Bearing: -141.9418612153158 -[main_algo-3] [INFO] [1746051204.959082371] [sailbot.main_algo]: Heading Difference: -162.06413878468413 -[main_algo-3] [INFO] [1746051204.959975400] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051204.960828178] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051204.961651044] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051204.962728366] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051204.963247467] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051205.002722715] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904059 Long: -76.5027777 -[main_algo-3] [INFO] [1746051205.003724727] [sailbot.main_algo]: Distance to destination: 56.10713748854788 -[vectornav-1] [INFO] [1746051205.003882588] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.90199999999999, -1.615, 5.726) -[main_algo-3] [INFO] [1746051205.004908575] [sailbot.main_algo]: Target Bearing: -141.95260479300165 -[main_algo-3] [INFO] [1746051205.005828882] [sailbot.main_algo]: Heading Difference: -162.0533952069983 -[main_algo-3] [INFO] [1746051205.006655858] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051205.007470840] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051205.008278526] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051205.009878044] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051205.044712283] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051205.045394379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051205.045852806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051205.047182707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051205.048146261] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051205.085161538] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051205.087447306] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051205.087676755] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051205.087776978] [sailbot.teensy]: Wind angle: 151 -[teensy-2] [INFO] [1746051205.088673281] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051205.089567883] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051205.090377312] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051205.144727224] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051205.145252171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051205.146094339] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051205.147037111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051205.147988000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051205.244689659] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051205.245276055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051205.246071140] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051205.247348591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051205.248359737] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051205.335115848] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051205.336697721] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746051205.337217485] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051205.337567781] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051205.338371413] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051205.338352345] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051205.339173319] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051205.344269517] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051205.344734610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051205.345469421] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051205.346282353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051205.347364152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051205.444715463] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051205.445286373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051205.445937702] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051205.447063675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051205.448013678] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051205.457011700] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051205.458083347] [sailbot.main_algo]: Target Bearing: -141.95260479300165 -[main_algo-3] [INFO] [1746051205.458950832] [sailbot.main_algo]: Heading Difference: -162.1453952069984 -[main_algo-3] [INFO] [1746051205.459740115] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051205.460707541] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051205.461527613] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051205.462522933] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051205.463357022] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051205.503175138] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904048 Long: -76.50277743 -[main_algo-3] [INFO] [1746051205.503945320] [sailbot.main_algo]: Distance to destination: 56.116681466340715 -[main_algo-3] [INFO] [1746051205.505164244] [sailbot.main_algo]: Target Bearing: -141.97657328440715 -[main_algo-3] [INFO] [1746051205.506122459] [sailbot.main_algo]: Heading Difference: -162.12142671559286 -[vectornav-1] [INFO] [1746051205.506769691] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.91199999999998, 0.187, 5.037) -[main_algo-3] [INFO] [1746051205.507215839] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051205.508105328] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051205.508974011] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051205.510805470] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051205.544693746] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051205.545271033] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051205.545856278] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051205.547046306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051205.548252038] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051205.585143271] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051205.587180240] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051205.588699463] [sailbot.teensy]: Wind angle: 151 -[mux-7] [INFO] [1746051205.588762226] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051205.589706436] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051205.591107204] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051205.592139094] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051205.644770098] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051205.645996795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051205.646317097] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051205.648050013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051205.649221432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051205.744817063] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051205.745653852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051205.746014014] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051205.747461224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051205.748597552] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051205.834979416] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051205.836844238] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051205.837873030] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051205.838095141] [sailbot.teensy]: Wind angle: 151 -[teensy-2] [INFO] [1746051205.839035202] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051205.839682489] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051205.840055616] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051205.844358391] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051205.844800162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051205.845374591] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051205.846366841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051205.847369874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051205.944817240] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051205.945262768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051205.946100050] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051205.946987215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051205.947927823] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051205.956977859] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051205.957894926] [sailbot.main_algo]: Target Bearing: -141.97657328440715 -[main_algo-3] [INFO] [1746051205.958695303] [sailbot.main_algo]: Heading Difference: -162.11142671559287 -[main_algo-3] [INFO] [1746051205.959455586] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051205.960215324] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051205.961012938] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051205.961989428] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051205.962508203] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051206.003643910] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904066 Long: -76.5027772 -[main_algo-3] [INFO] [1746051206.003783854] [sailbot.main_algo]: Distance to destination: 56.1439611574564 -[main_algo-3] [INFO] [1746051206.004832839] [sailbot.main_algo]: Target Bearing: -141.9728828152943 -[vectornav-1] [INFO] [1746051206.005198635] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.411, -0.766, 4.92) -[main_algo-3] [INFO] [1746051206.005771405] [sailbot.main_algo]: Heading Difference: -162.1151171847057 -[main_algo-3] [INFO] [1746051206.006658690] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051206.007565264] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051206.008481856] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051206.010409785] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051206.045079798] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051206.045431367] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051206.047402889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051206.046776950] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051206.049131550] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051206.085898034] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051206.087539998] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746051206.088020902] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051206.088438869] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051206.089351791] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051206.089570566] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051206.091324637] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051206.144509633] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051206.145504877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051206.145567291] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051206.147168994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051206.148261182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051206.244733553] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051206.245459397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051206.245910818] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051206.247938600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051206.248947916] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051206.335456024] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051206.337554875] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051206.337556367] [sailbot.teensy]: Wind angle: 151 -[teensy-2] [INFO] [1746051206.338454009] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051206.339347757] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051206.339551711] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051206.340220399] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051206.344232211] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051206.344745130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051206.345251876] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051206.346336076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051206.347340135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051206.444718098] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051206.445308960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051206.445882110] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051206.447026915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051206.448076283] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051206.457046212] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051206.457995860] [sailbot.main_algo]: Target Bearing: -141.9728828152943 -[main_algo-3] [INFO] [1746051206.458845515] [sailbot.main_algo]: Heading Difference: -162.61611718470567 -[main_algo-3] [INFO] [1746051206.459668033] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051206.460658000] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051206.461640198] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051206.462925784] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051206.463229928] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051206.503295873] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904082 Long: -76.50277699 -[main_algo-3] [INFO] [1746051206.503581648] [sailbot.main_algo]: Distance to destination: 56.16856473180302 -[main_algo-3] [INFO] [1746051206.504575807] [sailbot.main_algo]: Target Bearing: -141.96989892877036 -[main_algo-3] [INFO] [1746051206.505533387] [sailbot.main_algo]: Heading Difference: -162.61910107122964 -[vectornav-1] [INFO] [1746051206.505755375] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.97000000000003, 0.416, 5.743) -[main_algo-3] [INFO] [1746051206.506511678] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051206.507345271] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051206.508127353] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051206.509718425] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051206.544644338] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051206.545241026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051206.545806925] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051206.546934714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051206.548059945] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051206.585113698] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051206.586670153] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746051206.587205934] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051206.587538442] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051206.588382530] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051206.588581370] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051206.589219964] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051206.644689386] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051206.645258601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051206.645933685] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051206.647040564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051206.648171433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051206.744775441] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051206.745394609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051206.746121659] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051206.747043157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051206.748108364] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051206.835142732] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051206.836758346] [sailbot.teensy]: Wind angle: 151 -[teensy-2] [INFO] [1746051206.837667718] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051206.837366080] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051206.838521397] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051206.838787940] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051206.839337495] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051206.844893193] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051206.845829583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051206.846046599] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051206.848033550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051206.849113848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051206.944928643] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051206.945917052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051206.946297459] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051206.947614501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051206.948592801] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051206.956973265] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051206.957970070] [sailbot.main_algo]: Target Bearing: -141.96989892877036 -[main_algo-3] [INFO] [1746051206.958852366] [sailbot.main_algo]: Heading Difference: -164.0601010712296 -[main_algo-3] [INFO] [1746051206.959655052] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051206.960478195] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051206.961209588] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051206.962304012] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051206.963110249] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051207.002630148] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904069 Long: -76.50277647 -[vectornav-1] [INFO] [1746051207.003695974] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.15899999999999, -0.639, 5.571) -[main_algo-3] [INFO] [1746051207.003752357] [sailbot.main_algo]: Distance to destination: 56.192689150871956 -[main_algo-3] [INFO] [1746051207.005383209] [sailbot.main_algo]: Target Bearing: -142.00879372017818 -[main_algo-3] [INFO] [1746051207.006359024] [sailbot.main_algo]: Heading Difference: -164.0212062798218 -[main_algo-3] [INFO] [1746051207.007218514] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051207.008043738] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051207.008851186] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051207.010418658] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051207.044509511] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051207.045151003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051207.045588039] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051207.046894055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051207.048500049] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051207.085260054] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051207.087030350] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746051207.087431417] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051207.087957877] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051207.088856136] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051207.088913511] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051207.089763002] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051207.144819400] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051207.146455480] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051207.146993837] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051207.150168851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051207.151715321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051207.244727534] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051207.245413948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051207.245895760] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051207.247161998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051207.248285085] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051207.335157926] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051207.337221117] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051207.337236161] [sailbot.teensy]: Wind angle: 151 -[mux-7] [INFO] [1746051207.338629267] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051207.338897249] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051207.339804615] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051207.340656438] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051207.344525296] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051207.344772936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051207.345568531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051207.346335971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051207.347496504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051207.444736204] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051207.445402515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051207.445923329] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051207.447107243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051207.448063325] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051207.456961566] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051207.457898673] [sailbot.main_algo]: Target Bearing: -142.00879372017818 -[main_algo-3] [INFO] [1746051207.458720976] [sailbot.main_algo]: Heading Difference: -165.83220627982183 -[main_algo-3] [INFO] [1746051207.459537343] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051207.460296703] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051207.461038938] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051207.462108264] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051207.462657145] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051207.502512450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904085 Long: -76.50277632 -[main_algo-3] [INFO] [1746051207.503382332] [sailbot.main_algo]: Distance to destination: 56.213457549962406 -[vectornav-1] [INFO] [1746051207.503542473] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.15699999999998, -1.185, 4.802) -[main_algo-3] [INFO] [1746051207.504430433] [sailbot.main_algo]: Target Bearing: -142.00263167190812 -[main_algo-3] [INFO] [1746051207.505303951] [sailbot.main_algo]: Heading Difference: -165.83836832809186 -[main_algo-3] [INFO] [1746051207.506118474] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051207.506947564] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051207.507942124] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051207.509555705] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051207.544714717] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051207.545250792] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051207.545949617] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051207.547002334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051207.548053187] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051207.585000135] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051207.586485330] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746051207.586947970] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051207.587338871] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051207.588203459] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051207.588659593] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051207.589015884] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051207.644911770] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051207.645533863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051207.646367577] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051207.647278079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051207.648441406] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051207.745445629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051207.745483806] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051207.746717284] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051207.747233520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051207.748461435] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051207.835267244] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051207.837500933] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051207.838841104] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051207.839167801] [sailbot.teensy]: Wind angle: 151 -[teensy-2] [INFO] [1746051207.839656112] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051207.840036263] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051207.840464684] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051207.844671988] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051207.844832701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051207.846120394] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051207.846567293] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051207.847587576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051207.944821123] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051207.945248208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051207.945978952] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051207.946845233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051207.947732565] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051207.957060081] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051207.958132102] [sailbot.main_algo]: Target Bearing: -142.00263167190812 -[main_algo-3] [INFO] [1746051207.959059235] [sailbot.main_algo]: Heading Difference: -163.84036832809193 -[main_algo-3] [INFO] [1746051207.959858310] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051207.960656489] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051207.961467523] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051207.962471649] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051207.963697216] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051208.002556858] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904098 Long: -76.50277579 -[main_algo-3] [INFO] [1746051208.003521751] [sailbot.main_algo]: Distance to destination: 56.25640859307099 -[vectornav-1] [INFO] [1746051208.003645932] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.197, 0.954, 4.651) -[main_algo-3] [INFO] [1746051208.004753427] [sailbot.main_algo]: Target Bearing: -142.01914451888996 -[main_algo-3] [INFO] [1746051208.005687006] [sailbot.main_algo]: Heading Difference: -163.82385548111006 -[main_algo-3] [INFO] [1746051208.006789062] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051208.007684529] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051208.008526759] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051208.010197182] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051208.044687239] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051208.045241943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051208.045897899] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051208.047003991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051208.048031231] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051208.085119203] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051208.087226776] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051208.087485507] [sailbot.teensy]: Wind angle: 151 -[mux-7] [INFO] [1746051208.087767214] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051208.089115231] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051208.089961818] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051208.090745244] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051208.144680788] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051208.145275116] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051208.145864870] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051208.147000209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051208.147974188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051208.244767470] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051208.245295881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051208.245938529] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051208.247168482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051208.248229522] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051208.335043899] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051208.337127159] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051208.338356994] [sailbot.teensy]: Wind angle: 155 -[mux-7] [INFO] [1746051208.338520950] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051208.339445884] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051208.340343460] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051208.341178093] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051208.344393930] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051208.344796754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051208.345499762] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051208.346461261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051208.347652709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051208.444911694] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051208.444994442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051208.446007439] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051208.446887114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051208.447785313] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051208.456983118] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051208.457974380] [sailbot.main_algo]: Target Bearing: -142.01914451888996 -[main_algo-3] [INFO] [1746051208.458832132] [sailbot.main_algo]: Heading Difference: -164.78385548111004 -[main_algo-3] [INFO] [1746051208.459648109] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051208.460465504] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051208.461192733] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051208.462325266] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051208.463660840] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051208.502985748] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904101 Long: -76.50277555 -[main_algo-3] [INFO] [1746051208.503725096] [sailbot.main_algo]: Distance to destination: 56.27384260236777 -[main_algo-3] [INFO] [1746051208.505217546] [sailbot.main_algo]: Target Bearing: -142.02915097385957 -[vectornav-1] [INFO] [1746051208.505692313] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.334, -1.147, 6.306) -[main_algo-3] [INFO] [1746051208.506272795] [sailbot.main_algo]: Heading Difference: -164.7738490261404 -[main_algo-3] [INFO] [1746051208.507211300] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051208.508082066] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051208.508923000] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051208.510477403] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051208.544952028] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051208.545642673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051208.546445772] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051208.547781182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051208.548822560] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051208.585435683] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051208.587783713] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051208.588453842] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051208.588503099] [sailbot.teensy]: Wind angle: 157 -[teensy-2] [INFO] [1746051208.589515375] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051208.590505600] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051208.591335637] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051208.644705885] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051208.645461377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051208.646162514] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051208.647215270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051208.648507922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051208.744797167] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051208.745403084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051208.746046545] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051208.747193125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051208.748222417] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051208.835174832] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051208.836863799] [sailbot.teensy]: Wind angle: 158 -[teensy-2] [INFO] [1746051208.837777952] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051208.837335738] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051208.838634695] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051208.839693941] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051208.839986796] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051208.844390680] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051208.845424427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051208.845664113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051208.847214625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051208.848349995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051208.944891086] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051208.946244312] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051208.946401606] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051208.948046865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051208.948521893] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051208.957026755] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051208.958218198] [sailbot.main_algo]: Target Bearing: -142.02915097385957 -[main_algo-3] [INFO] [1746051208.959092729] [sailbot.main_algo]: Heading Difference: -166.63684902614045 -[main_algo-3] [INFO] [1746051208.959934385] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051208.961291901] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051208.962132045] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051208.963186145] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051208.963793057] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051209.002711487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469041 Long: -76.50277524 -[vectornav-1] [INFO] [1746051209.003980293] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.80200000000002, -0.098, 4.863) -[main_algo-3] [INFO] [1746051209.004491388] [sailbot.main_algo]: Distance to destination: 56.292959016999944 -[main_algo-3] [INFO] [1746051209.005855120] [sailbot.main_algo]: Target Bearing: -142.0463509701365 -[main_algo-3] [INFO] [1746051209.006823862] [sailbot.main_algo]: Heading Difference: -166.61964902986347 -[main_algo-3] [INFO] [1746051209.007761270] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051209.008601895] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051209.009428375] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051209.011023330] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051209.044808446] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051209.045619190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051209.046194512] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051209.047372227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051209.048380370] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051209.085255426] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051209.087530999] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051209.088305302] [sailbot.teensy]: Wind angle: 158 -[mux-7] [INFO] [1746051209.088468642] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051209.090414213] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051209.091337236] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051209.092187421] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051209.145197274] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051209.146155893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051209.146563652] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051209.148343969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051209.149509006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051209.244721046] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051209.245300540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051209.246031251] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051209.247125094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051209.248148607] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051209.335139756] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051209.337182392] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051209.337594961] [sailbot.teensy]: Wind angle: 158 -[mux-7] [INFO] [1746051209.338141872] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051209.339078355] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051209.339962595] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051209.340797711] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051209.344358005] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051209.344710477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051209.346177311] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051209.346586455] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051209.347716169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051209.444829781] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051209.445316237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051209.446112970] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051209.447041976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051209.448128191] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051209.457027461] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051209.458051664] [sailbot.main_algo]: Target Bearing: -142.0463509701365 -[main_algo-3] [INFO] [1746051209.458973125] [sailbot.main_algo]: Heading Difference: -166.1516490298635 -[main_algo-3] [INFO] [1746051209.459777638] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051209.460583476] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051209.461351924] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051209.462343738] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051209.462996600] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051209.502523396] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904104 Long: -76.50277488 -[vectornav-1] [INFO] [1746051209.503557154] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.521000000000015, -0.729, 5.021) -[main_algo-3] [INFO] [1746051209.503639695] [sailbot.main_algo]: Distance to destination: 56.31876856193544 -[main_algo-3] [INFO] [1746051209.504707730] [sailbot.main_algo]: Target Bearing: -142.06177526941275 -[main_algo-3] [INFO] [1746051209.505647465] [sailbot.main_algo]: Heading Difference: -166.13622473058723 -[main_algo-3] [INFO] [1746051209.506535969] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051209.507374486] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051209.508199702] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051209.509742399] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051209.544986476] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051209.545560616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051209.546278227] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051209.547487177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051209.548607191] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051209.585129993] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051209.586701444] [sailbot.teensy]: Wind angle: 158 -[trim_sail-4] [INFO] [1746051209.587318003] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051209.587584599] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051209.588485275] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051209.589085569] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051209.589305835] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051209.644848477] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051209.645500917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051209.646114734] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051209.647433396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051209.648084765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051209.744488531] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051209.745001100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051209.745636297] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051209.746622852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051209.748083962] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051209.835070090] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051209.836563066] [sailbot.teensy]: Wind angle: 156 -[trim_sail-4] [INFO] [1746051209.837107853] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051209.837362764] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051209.838109773] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051209.838478127] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051209.838951882] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051209.844895529] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051209.845519716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051209.846020347] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051209.847356810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051209.849031791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051209.944719540] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051209.945480448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051209.946387675] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051209.947209982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051209.947932671] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051209.956895761] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051209.957789095] [sailbot.main_algo]: Target Bearing: -142.06177526941275 -[main_algo-3] [INFO] [1746051209.958630381] [sailbot.main_algo]: Heading Difference: -165.41722473058724 -[main_algo-3] [INFO] [1746051209.959393509] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051209.960126227] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051209.960861830] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051209.961842635] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051209.962515263] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051210.003162711] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904126 Long: -76.50277462 -[main_algo-3] [INFO] [1746051210.003405421] [sailbot.main_algo]: Distance to destination: 56.35075406297975 -[vectornav-1] [INFO] [1746051210.004300706] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.85699999999997, 0.273, 4.846) -[main_algo-3] [INFO] [1746051210.004472168] [sailbot.main_algo]: Target Bearing: -142.0561212701411 -[main_algo-3] [INFO] [1746051210.005428386] [sailbot.main_algo]: Heading Difference: -165.4228787298589 -[main_algo-3] [INFO] [1746051210.006246834] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051210.007089692] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051210.007880056] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051210.009514605] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051210.044663027] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051210.045274489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051210.045895633] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051210.046968662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051210.048030609] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051210.085024718] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051210.086493997] [sailbot.teensy]: Wind angle: 156 -[teensy-2] [INFO] [1746051210.087378363] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051210.087495894] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051210.088245599] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051210.089114519] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051210.089889009] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051210.144994766] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051210.145524625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051210.146762093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051210.147420664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051210.148421866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051210.244671430] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051210.245448316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051210.245779371] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051210.247424512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051210.248394934] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051210.335711729] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051210.337471733] [sailbot.teensy]: Wind angle: 157 -[teensy-2] [INFO] [1746051210.338398803] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051210.338423880] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051210.339678267] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051210.339693105] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051210.341214196] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051210.344694659] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051210.345032521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051210.345836075] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051210.346712055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051210.347817007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051210.444836370] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051210.445449114] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051210.446217910] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051210.447643018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051210.448736581] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051210.457143043] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051210.458145102] [sailbot.main_algo]: Target Bearing: -142.0561212701411 -[main_algo-3] [INFO] [1746051210.459041163] [sailbot.main_algo]: Heading Difference: -166.08687872985894 -[main_algo-3] [INFO] [1746051210.459927567] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051210.460801418] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051210.461601779] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051210.462723817] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051210.463312299] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051210.502582248] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904141 Long: -76.50277468 -[vectornav-1] [INFO] [1746051210.503547441] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.19200000000001, -0.645, 5.658) -[main_algo-3] [INFO] [1746051210.503620330] [sailbot.main_algo]: Distance to destination: 56.35739459482743 -[main_algo-3] [INFO] [1746051210.505549299] [sailbot.main_algo]: Target Bearing: -142.03979816001907 -[main_algo-3] [INFO] [1746051210.506531179] [sailbot.main_algo]: Heading Difference: -166.10320183998095 -[main_algo-3] [INFO] [1746051210.507376506] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051210.508204191] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051210.508998331] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051210.510593418] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051210.544656435] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051210.545228099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051210.545843454] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051210.546953314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051210.548014519] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051210.585123184] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051210.586906376] [sailbot.teensy]: Wind angle: 156 -[trim_sail-4] [INFO] [1746051210.587743497] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051210.587810240] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051210.588350719] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051210.588646976] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051210.589452746] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051210.644697970] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051210.645336858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051210.645908790] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051210.647082119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051210.648170799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051210.744714382] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051210.745295123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051210.745914768] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051210.747108075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051210.748043975] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051210.835196965] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051210.836806961] [sailbot.teensy]: Wind angle: 157 -[trim_sail-4] [INFO] [1746051210.837385719] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051210.838695177] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051210.838715907] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051210.839127737] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051210.839507339] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051210.844301731] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051210.844878634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051210.845446445] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051210.846492045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051210.847603804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051210.944752210] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051210.945323615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051210.945926183] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051210.947034294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051210.947991608] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051210.957278610] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051210.958409334] [sailbot.main_algo]: Target Bearing: -142.03979816001907 -[main_algo-3] [INFO] [1746051210.959549576] [sailbot.main_algo]: Heading Difference: -166.76820183998092 -[main_algo-3] [INFO] [1746051210.960469384] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051210.961313148] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051210.962128228] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051210.963373292] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051210.963661550] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051211.002763133] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904128 Long: -76.50277459 -[vectornav-1] [INFO] [1746051211.003926653] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.56299999999999, -0.336, 5.231) -[main_algo-3] [INFO] [1746051211.004072129] [sailbot.main_algo]: Distance to destination: 56.35406872651942 -[main_algo-3] [INFO] [1746051211.005234283] [sailbot.main_algo]: Target Bearing: -142.05594207699312 -[main_algo-3] [INFO] [1746051211.006182170] [sailbot.main_algo]: Heading Difference: -166.75205792300687 -[main_algo-3] [INFO] [1746051211.007129239] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051211.008045952] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051211.008907658] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051211.010624254] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051211.044667018] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051211.045287301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051211.045880783] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051211.047340725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051211.048410938] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051211.085253590] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051211.087429479] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051211.088422581] [sailbot.teensy]: Wind angle: 156 -[mux-7] [INFO] [1746051211.088810529] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051211.089364998] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051211.090540540] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051211.091617894] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051211.144721528] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051211.145496101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051211.145927324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051211.147382477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051211.148349802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051211.245092081] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051211.246250564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051211.246426082] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051211.248195050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051211.249351187] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051211.335117469] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051211.337150118] [sailbot.teensy]: Wind angle: 157 -[trim_sail-4] [INFO] [1746051211.337186956] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051211.337918077] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051211.338038411] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051211.338700869] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051211.339040686] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051211.344296410] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051211.344836955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051211.345888888] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051211.347011328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051211.347963587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051211.444989981] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051211.445834411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051211.446285865] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051211.448084635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051211.449140925] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051211.457402794] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051211.458547748] [sailbot.main_algo]: Target Bearing: -142.05594207699312 -[main_algo-3] [INFO] [1746051211.459499747] [sailbot.main_algo]: Heading Difference: -167.3810579230069 -[main_algo-3] [INFO] [1746051211.460412223] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051211.461267863] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051211.462067998] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051211.463089610] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051211.463699028] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051211.502367978] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904137 Long: -76.50277473 -[vectornav-1] [INFO] [1746051211.503480776] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.40499999999997, -0.383, 4.78) -[main_algo-3] [INFO] [1746051211.503563109] [sailbot.main_algo]: Distance to destination: 56.3514043869388 -[main_algo-3] [INFO] [1746051211.504664325] [sailbot.main_algo]: Target Bearing: -142.0406804733347 -[main_algo-3] [INFO] [1746051211.506591299] [sailbot.main_algo]: Heading Difference: -167.3963195266653 -[main_algo-3] [INFO] [1746051211.507580393] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051211.508491962] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051211.509342457] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051211.510984528] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051211.544664255] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051211.545357032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051211.545943743] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051211.547349821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051211.548437292] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051211.585254238] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051211.586712237] [sailbot.teensy]: Wind angle: 157 -[trim_sail-4] [INFO] [1746051211.587140325] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051211.587607244] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051211.588484606] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051211.589267987] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051211.589335796] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051211.644720958] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051211.645481610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051211.645916153] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051211.647274982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051211.648552549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051211.744711258] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051211.745321125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051211.745905584] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051211.747339681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051211.748431231] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051211.835371874] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051211.837340243] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051211.837670101] [sailbot.teensy]: Wind angle: 154 -[mux-7] [INFO] [1746051211.838455503] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051211.839264592] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051211.840473552] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051211.841274337] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051211.844216255] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051211.844728610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051211.845562803] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051211.846270283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051211.847190599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051211.944745273] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051211.945316399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051211.945934119] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051211.947364168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051211.948350272] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051211.956999341] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051211.958039358] [sailbot.main_algo]: Target Bearing: -142.0406804733347 -[main_algo-3] [INFO] [1746051211.958919604] [sailbot.main_algo]: Heading Difference: -166.55431952666532 -[main_algo-3] [INFO] [1746051211.959730445] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051211.960553805] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051211.961354354] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051211.962356254] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051211.962928800] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051212.002553210] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904147 Long: -76.50277477 -[vectornav-1] [INFO] [1746051212.003619003] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.58499999999998, -0.239, 5.076) -[main_algo-3] [INFO] [1746051212.003645403] [sailbot.main_algo]: Distance to destination: 56.35583378248118 -[main_algo-3] [INFO] [1746051212.004786507] [sailbot.main_algo]: Target Bearing: -142.02979930699067 -[main_algo-3] [INFO] [1746051212.006297690] [sailbot.main_algo]: Heading Difference: -166.5652006930094 -[main_algo-3] [INFO] [1746051212.007317031] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051212.008169301] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051212.008986296] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051212.010622870] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051212.045034371] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051212.045662906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051212.046347271] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051212.047506079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051212.048634904] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051212.085145191] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051212.086710016] [sailbot.teensy]: Wind angle: 152 -[teensy-2] [INFO] [1746051212.087524581] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051212.087152207] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051212.087752454] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051212.088354929] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051212.089125427] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051212.144967604] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051212.145844568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051212.146263229] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051212.147735646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051212.148811264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051212.244793594] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051212.245951192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051212.246009294] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051212.247656935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051212.248629133] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051212.335167497] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051212.337605820] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051212.338097250] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051212.338311917] [sailbot.teensy]: Wind angle: 152 -[teensy-2] [INFO] [1746051212.339499247] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051212.340345403] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051212.341113726] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051212.344376444] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051212.344710428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051212.345430432] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051212.346249338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051212.347222125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051212.444810700] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051212.445331139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051212.446135017] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051212.447162358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051212.448174636] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051212.457057897] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051212.458227234] [sailbot.main_algo]: Target Bearing: -142.02979930699067 -[main_algo-3] [INFO] [1746051212.459269197] [sailbot.main_algo]: Heading Difference: -169.38520069300932 -[main_algo-3] [INFO] [1746051212.460297978] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051212.461093313] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051212.461838769] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051212.462800924] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051212.463408198] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051212.503011059] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904147 Long: -76.50277489 -[main_algo-3] [INFO] [1746051212.504083938] [sailbot.main_algo]: Distance to destination: 56.348164670320344 -[vectornav-1] [INFO] [1746051212.504119125] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.18299999999999, -0.321, 5.244) -[main_algo-3] [INFO] [1746051212.505174990] [sailbot.main_algo]: Target Bearing: -142.02348764306063 -[main_algo-3] [INFO] [1746051212.506111320] [sailbot.main_algo]: Heading Difference: -169.39151235693942 -[main_algo-3] [INFO] [1746051212.506985437] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051212.507783392] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051212.508596511] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051212.510351079] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051212.544691452] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051212.545274339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051212.545915716] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051212.547205620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051212.548293769] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051212.585290433] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051212.587805817] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051212.588103457] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051212.588538877] [sailbot.teensy]: Wind angle: 153 -[teensy-2] [INFO] [1746051212.589506007] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051212.590312329] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051212.591099825] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051212.645315358] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051212.645546026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051212.646702823] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051212.647589911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051212.648958125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051212.745103337] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051212.745579643] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051212.746496482] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051212.747544385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051212.748609183] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051212.835148599] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051212.836764096] [sailbot.teensy]: Wind angle: 153 -[trim_sail-4] [INFO] [1746051212.837571813] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051212.837817876] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051212.838924430] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051212.839827991] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051212.840027019] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051212.844362791] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051212.844833013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051212.845660084] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051212.846545491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051212.847625989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051212.944894333] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051212.945539142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051212.946128721] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051212.947308027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051212.948398369] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051212.957230881] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051212.958501533] [sailbot.main_algo]: Target Bearing: -142.02348764306063 -[main_algo-3] [INFO] [1746051212.959440737] [sailbot.main_algo]: Heading Difference: -169.79351235693935 -[main_algo-3] [INFO] [1746051212.960373709] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051212.961315629] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051212.962148149] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051212.963240131] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051212.963757943] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051213.002780819] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904154 Long: -76.50277479 -[vectornav-1] [INFO] [1746051213.003932322] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.18099999999998, -0.458, 4.917) -[main_algo-3] [INFO] [1746051213.003931810] [sailbot.main_algo]: Distance to destination: 56.359446813135385 -[main_algo-3] [INFO] [1746051213.005149525] [sailbot.main_algo]: Target Bearing: -142.02260427365442 -[main_algo-3] [INFO] [1746051213.006115717] [sailbot.main_algo]: Heading Difference: -169.79439572634556 -[main_algo-3] [INFO] [1746051213.007134462] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051213.008065572] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051213.008948338] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051213.010496024] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051213.044627703] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051213.045220215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051213.045883398] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051213.047113249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051213.048134913] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051213.085123907] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051213.087383789] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051213.087762198] [sailbot.teensy]: Wind angle: 153 -[mux-7] [INFO] [1746051213.088126260] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051213.088757670] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051213.089698175] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051213.090556645] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051213.145160317] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051213.146439505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051213.146671361] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051213.148585688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051213.149727085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051213.244678433] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051213.245227574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051213.245902136] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051213.247105878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051213.248275505] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051213.335389149] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051213.338601823] [sailbot.teensy]: Wind angle: 153 -[trim_sail-4] [INFO] [1746051213.338765576] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051213.339343819] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051213.339642209] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051213.340632892] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051213.341630060] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051213.344446753] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051213.345070338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051213.345563112] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051213.346802015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051213.347953833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051213.445304995] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051213.446063522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051213.446930751] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051213.448320414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051213.449403034] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051213.456979091] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051213.457935610] [sailbot.main_algo]: Target Bearing: -142.02260427365442 -[main_algo-3] [INFO] [1746051213.458820834] [sailbot.main_algo]: Heading Difference: -168.79639572634562 -[main_algo-3] [INFO] [1746051213.459673894] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051213.460489367] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051213.461301662] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051213.462243623] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051213.462824553] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051213.503708713] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904173 Long: -76.50277467 -[main_algo-3] [INFO] [1746051213.503809449] [sailbot.main_algo]: Distance to destination: 56.38039357304918 -[vectornav-1] [INFO] [1746051213.505168141] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.798, -0.238, 4.839) -[main_algo-3] [INFO] [1746051213.505207334] [sailbot.main_algo]: Target Bearing: -142.01224652904338 -[main_algo-3] [INFO] [1746051213.506224334] [sailbot.main_algo]: Heading Difference: -168.80675347095666 -[main_algo-3] [INFO] [1746051213.507146972] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051213.508028788] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051213.508899523] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051213.510686075] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051213.545167753] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051213.545917512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051213.546667466] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051213.548127583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051213.549322544] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051213.585349012] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051213.587599810] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051213.588629763] [sailbot.teensy]: Wind angle: 154 -[mux-7] [INFO] [1746051213.588808076] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051213.589838811] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051213.590740247] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051213.591642088] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051213.644740259] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051213.645360673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051213.645928732] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051213.647174444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051213.648253279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051213.744734078] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051213.745589096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051213.746104449] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051213.747401101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051213.748419626] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051213.835563341] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051213.837469292] [sailbot.teensy]: Wind angle: 155 -[trim_sail-4] [INFO] [1746051213.838094361] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051213.838461809] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051213.839288487] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051213.839374964] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051213.840311711] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051213.844405545] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051213.845071838] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051213.845545413] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051213.846822508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051213.847890102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051213.944796849] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051213.945760127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051213.946100653] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051213.947546364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051213.948404595] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051213.957128195] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051213.958142523] [sailbot.main_algo]: Target Bearing: -142.01224652904338 -[main_algo-3] [INFO] [1746051213.959039577] [sailbot.main_algo]: Heading Difference: -168.1897534709566 -[main_algo-3] [INFO] [1746051213.959839601] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051213.960664587] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051213.961478155] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051213.962491135] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051213.963302995] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051214.002782404] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904184 Long: -76.50277452 -[main_algo-3] [INFO] [1746051214.003274641] [sailbot.main_algo]: Distance to destination: 56.39766653547398 -[vectornav-1] [INFO] [1746051214.003880109] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.72300000000001, -1.192, 5.923) -[main_algo-3] [INFO] [1746051214.004336144] [sailbot.main_algo]: Target Bearing: -142.01048734259274 -[main_algo-3] [INFO] [1746051214.005265062] [sailbot.main_algo]: Heading Difference: -168.19151265740726 -[main_algo-3] [INFO] [1746051214.006219644] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051214.007084280] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051214.007866011] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051214.009502466] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051214.045399126] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051214.045671720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051214.046753249] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051214.048953902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051214.050013726] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051214.085289401] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051214.087324410] [sailbot.teensy]: Wind angle: 155 -[trim_sail-4] [INFO] [1746051214.087680487] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051214.088345112] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051214.088958402] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051214.089990642] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051214.090823847] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051214.144909133] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051214.145658992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051214.146215146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051214.147767604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051214.148940684] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051214.244963740] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051214.245930470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051214.246751895] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051214.247901884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051214.248995337] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051214.335084890] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051214.337061039] [sailbot.teensy]: Wind angle: 155 -[trim_sail-4] [INFO] [1746051214.337605506] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051214.338459079] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051214.339022874] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051214.340168768] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051214.340945222] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051214.344328541] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051214.344833513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051214.345464003] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051214.346524331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051214.347560536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051214.444864319] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051214.445486575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051214.446079674] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051214.447447074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051214.448532415] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051214.456988036] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051214.458060390] [sailbot.main_algo]: Target Bearing: -142.01048734259274 -[main_algo-3] [INFO] [1746051214.458963917] [sailbot.main_algo]: Heading Difference: -168.26651265740725 -[main_algo-3] [INFO] [1746051214.459783674] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051214.460590861] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051214.461390753] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051214.462361917] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051214.462903162] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051214.502513800] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904193 Long: -76.50277414 -[vectornav-1] [INFO] [1746051214.503598090] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.860000000000014, 1.069, 4.468) -[main_algo-3] [INFO] [1746051214.503582120] [sailbot.main_algo]: Distance to destination: 56.42823859529987 -[main_algo-3] [INFO] [1746051214.504758409] [sailbot.main_algo]: Target Bearing: -142.02256748236812 -[main_algo-3] [INFO] [1746051214.506346030] [sailbot.main_algo]: Heading Difference: -168.25443251763187 -[main_algo-3] [INFO] [1746051214.507239531] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051214.508070746] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051214.508890900] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051214.510478109] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051214.544933048] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051214.545796572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051214.546392949] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051214.547805809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051214.548924339] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051214.585109641] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051214.586705731] [sailbot.teensy]: Wind angle: 155 -[teensy-2] [INFO] [1746051214.587646170] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051214.587189001] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051214.588498992] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051214.588561943] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051214.590017477] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051214.644902734] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051214.645481365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051214.646206341] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051214.647466316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051214.648522577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051214.745088957] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051214.746127399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051214.746442606] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051214.748014993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051214.749052531] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051214.835340397] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051214.837053036] [sailbot.teensy]: Wind angle: 155 -[trim_sail-4] [INFO] [1746051214.837529676] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051214.838016454] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051214.838956821] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051214.839062778] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051214.839810788] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051214.844356196] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051214.845160676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051214.845844884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051214.847127579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051214.848211209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051214.944711800] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051214.945306168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051214.946094426] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051214.947048468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051214.947982703] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051214.957081340] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051214.958219655] [sailbot.main_algo]: Target Bearing: -142.02256748236812 -[main_algo-3] [INFO] [1746051214.959190620] [sailbot.main_algo]: Heading Difference: -169.11743251763187 -[main_algo-3] [INFO] [1746051214.960057295] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051214.960883884] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051214.961659667] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051214.962673135] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051214.963528287] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051215.002497007] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904197 Long: -76.50277405 -[vectornav-1] [INFO] [1746051215.003544157] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.94499999999999, -1.482, 6.495) -[main_algo-3] [INFO] [1746051215.003807641] [sailbot.main_algo]: Distance to destination: 56.43678530727846 -[main_algo-3] [INFO] [1746051215.004900089] [sailbot.main_algo]: Target Bearing: -142.02378924855864 -[main_algo-3] [INFO] [1746051215.006129253] [sailbot.main_algo]: Heading Difference: -169.11621075144137 -[main_algo-3] [INFO] [1746051215.007022543] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051215.007913584] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051215.008757856] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051215.010420170] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051215.045062802] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051215.045651949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051215.047020697] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051215.048302560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051215.049334362] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051215.085424473] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051215.087661087] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051215.088272039] [sailbot.teensy]: Wind angle: 155 -[teensy-2] [INFO] [1746051215.089250856] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051215.089675424] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051215.090131424] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051215.091015874] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051215.145230797] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051215.145804783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051215.147635502] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051215.148059048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051215.149490852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051215.245255469] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051215.246781193] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051215.249014808] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051215.250518019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051215.251594368] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051215.335276128] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051215.337026145] [sailbot.teensy]: Wind angle: 155 -[trim_sail-4] [INFO] [1746051215.337558574] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051215.338726055] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051215.339332917] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051215.339814112] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051215.340210776] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051215.344357772] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051215.345232320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051215.345419609] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051215.346977734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051215.348008706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051215.444754034] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051215.445687790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051215.446000509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051215.447654957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051215.448619045] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051215.457089884] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051215.458455447] [sailbot.main_algo]: Target Bearing: -142.02378924855864 -[main_algo-3] [INFO] [1746051215.459353915] [sailbot.main_algo]: Heading Difference: -169.03121075144134 -[main_algo-3] [INFO] [1746051215.460190812] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051215.461035711] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051215.461813994] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051215.462817163] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051215.463391506] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051215.502713503] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904209 Long: -76.50277362 -[main_algo-3] [INFO] [1746051215.503718235] [sailbot.main_algo]: Distance to destination: 56.4726518022184 -[vectornav-1] [INFO] [1746051215.503770091] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.55899999999997, -0.507, 4.476) -[main_algo-3] [INFO] [1746051215.505283239] [sailbot.main_algo]: Target Bearing: -142.035849745612 -[main_algo-3] [INFO] [1746051215.506556076] [sailbot.main_algo]: Heading Difference: -169.01915025438802 -[main_algo-3] [INFO] [1746051215.507536821] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051215.508444081] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051215.509305599] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051215.511297484] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051215.544968612] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051215.545691369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051215.546251403] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051215.547535840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051215.548617374] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051215.585144348] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051215.587272879] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051215.588476966] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051215.588902351] [sailbot.teensy]: Wind angle: 155 -[teensy-2] [INFO] [1746051215.589866593] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051215.590763795] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051215.591660244] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051215.643635437] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051215.644139815] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051215.644800512] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051215.645615606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051215.646176059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051215.744749129] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051215.745566099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051215.745959113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051215.747861756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051215.748835603] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051215.835358518] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051215.837743607] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051215.838442888] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051215.840072869] [sailbot.teensy]: Wind angle: 153 -[teensy-2] [INFO] [1746051215.840997462] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051215.841819223] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051215.842653477] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051215.844324291] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051215.844840580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051215.845422386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051215.846476810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051215.847517779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051215.945128576] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051215.946534990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051215.946772802] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051215.948506075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051215.949511756] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051215.957112036] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051215.958256959] [sailbot.main_algo]: Target Bearing: -142.035849745612 -[main_algo-3] [INFO] [1746051215.959413234] [sailbot.main_algo]: Heading Difference: -168.405150254388 -[main_algo-3] [INFO] [1746051215.960636493] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051215.961548872] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051215.962399768] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051215.963440639] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051215.964004937] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051216.002744044] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904225 Long: -76.50277331 -[main_algo-3] [INFO] [1746051216.003682857] [sailbot.main_algo]: Distance to destination: 56.50364387222409 -[vectornav-1] [INFO] [1746051216.003855431] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.17700000000002, 0.687, 4.813) -[main_algo-3] [INFO] [1746051216.004782311] [sailbot.main_algo]: Target Bearing: -142.0381007000132 -[main_algo-3] [INFO] [1746051216.006146091] [sailbot.main_algo]: Heading Difference: -168.40289929998687 -[main_algo-3] [INFO] [1746051216.007102988] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051216.008026194] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051216.008831187] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051216.010457353] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051216.045171689] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051216.045656197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051216.047427511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051216.047766293] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051216.049040463] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051216.085188837] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051216.086900397] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746051216.087413590] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051216.087933406] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051216.088987728] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051216.089291949] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051216.089896491] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051216.145114902] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051216.145818271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051216.146556062] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051216.147895026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051216.148943476] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051216.244824222] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051216.245377481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051216.246096628] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051216.247671730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051216.248813129] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051216.335279611] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051216.337025132] [sailbot.teensy]: Wind angle: 150 -[trim_sail-4] [INFO] [1746051216.337542477] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051216.337948703] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051216.338848707] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051216.339692584] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051216.339755003] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051216.344335060] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051216.345117638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051216.345509885] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051216.346815618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051216.348031218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051216.444862460] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051216.445411745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051216.446068700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051216.447173968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051216.448207460] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051216.457035164] [sailbot.main_algo]: Wind Direction: 150 -[main_algo-3] [INFO] [1746051216.458179186] [sailbot.main_algo]: Target Bearing: -142.0381007000132 -[main_algo-3] [INFO] [1746051216.459214416] [sailbot.main_algo]: Heading Difference: -168.78489929998682 -[main_algo-3] [INFO] [1746051216.460033488] [sailbot.main_algo]: Wind Direction: 150 -[main_algo-3] [INFO] [1746051216.460881608] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051216.461668672] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051216.462655646] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051216.463218619] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051216.502214533] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904232 Long: -76.50277337 -[vectornav-1] [INFO] [1746051216.503106043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.036, -0.917, 5.291) -[main_algo-3] [INFO] [1746051216.502892358] [sailbot.main_algo]: Distance to destination: 56.50469938831685 -[main_algo-3] [INFO] [1746051216.504895507] [sailbot.main_algo]: Target Bearing: -142.02882594731034 -[main_algo-3] [INFO] [1746051216.505967443] [sailbot.main_algo]: Heading Difference: -168.79417405268964 -[main_algo-3] [INFO] [1746051216.506817086] [sailbot.main_algo]: Wind Direction: 150 -[main_algo-3] [INFO] [1746051216.507633006] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051216.508507009] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051216.510103088] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051216.544733024] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051216.545492769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051216.546414694] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051216.547398416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051216.548461855] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051216.585242092] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051216.587517097] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051216.587804598] [sailbot.teensy]: Wind angle: 150 -[mux-7] [INFO] [1746051216.588618398] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051216.589144283] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051216.590087756] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051216.590956449] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051216.645111896] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051216.645707044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051216.646508143] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051216.647795147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051216.649056599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051216.745261051] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051216.745628886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051216.746634807] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051216.747676175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051216.748789550] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051216.835456535] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051216.837358872] [sailbot.teensy]: Wind angle: 151 -[teensy-2] [INFO] [1746051216.838339224] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051216.837855549] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051216.839228650] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051216.839359914] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051216.840473259] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051216.844402360] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051216.845137361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051216.845762972] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051216.847126908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051216.848190595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051216.945020082] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051216.945748231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051216.946908272] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051216.947801597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051216.948597651] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051216.957135641] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051216.958157882] [sailbot.main_algo]: Target Bearing: -142.02882594731034 -[main_algo-3] [INFO] [1746051216.959029812] [sailbot.main_algo]: Heading Difference: -168.93517405268966 -[main_algo-3] [INFO] [1746051216.959812806] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051216.960657930] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051216.961449083] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051216.962634991] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051216.964542322] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051217.003644198] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904244 Long: -76.50277344 -[main_algo-3] [INFO] [1746051217.003772123] [sailbot.main_algo]: Distance to destination: 56.50861178157615 -[vectornav-1] [INFO] [1746051217.004782295] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.942999999999984, -0.898, 5.034) -[main_algo-3] [INFO] [1746051217.004840063] [sailbot.main_algo]: Target Bearing: -142.0146510916553 -[main_algo-3] [INFO] [1746051217.005755545] [sailbot.main_algo]: Heading Difference: -168.9493489083447 -[main_algo-3] [INFO] [1746051217.006618489] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051217.007743735] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051217.008666299] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051217.010991951] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051217.045539008] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051217.046130196] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051217.047386123] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051217.047980074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051217.049061235] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051217.085353118] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051217.087672834] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051217.088278685] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051217.088405005] [sailbot.teensy]: Wind angle: 152 -[teensy-2] [INFO] [1746051217.089366700] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051217.090294928] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051217.091100947] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051217.144735499] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051217.145371222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051217.146153806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051217.147038628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051217.148308595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051217.245391174] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051217.246876228] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051217.246900487] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051217.248794640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051217.249783509] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051217.335068141] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051217.337533168] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051217.338320065] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051217.338689415] [sailbot.teensy]: Wind angle: 152 -[teensy-2] [INFO] [1746051217.339647385] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051217.340541561] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051217.341303772] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051217.344349870] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051217.344740807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051217.345406874] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051217.346362609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051217.347330315] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051217.445021345] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051217.445915979] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051217.446493305] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051217.447893312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051217.448947769] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051217.457073273] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051217.458311182] [sailbot.main_algo]: Target Bearing: -142.0146510916553 -[main_algo-3] [INFO] [1746051217.459202693] [sailbot.main_algo]: Heading Difference: -169.0423489083447 -[main_algo-3] [INFO] [1746051217.460050872] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051217.460922409] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051217.461847323] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051217.463111733] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051217.463452685] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051217.502745167] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904245 Long: -76.50277315 -[main_algo-3] [INFO] [1746051217.503969459] [sailbot.main_algo]: Distance to destination: 56.52784301799499 -[vectornav-1] [INFO] [1746051217.504267461] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.153999999999996, 1.071, 5.264) -[main_algo-3] [INFO] [1746051217.505423939] [sailbot.main_algo]: Target Bearing: -142.0289859505327 -[main_algo-3] [INFO] [1746051217.506427695] [sailbot.main_algo]: Heading Difference: -169.0280140494673 -[main_algo-3] [INFO] [1746051217.507340952] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051217.508242816] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051217.509084464] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051217.510832531] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051217.544895031] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051217.545366537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051217.546095906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051217.547139154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051217.548321177] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051217.585281426] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051217.586854771] [sailbot.teensy]: Wind angle: 152 -[teensy-2] [INFO] [1746051217.587737745] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051217.588617595] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051217.589462759] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051217.587356454] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051217.590646566] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051217.643856666] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051217.644457202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051217.644729765] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051217.646175147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051217.647182250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051217.744737261] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051217.746054637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051217.746172008] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051217.748108908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051217.749287393] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051217.835392718] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051217.837935080] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051217.837984243] [sailbot.teensy]: Wind angle: 152 -[mux-7] [INFO] [1746051217.838191423] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051217.839080458] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051217.840065688] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051217.840953827] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051217.844368830] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051217.844889860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051217.845731839] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051217.846710133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051217.847789173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051217.944981980] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051217.945533770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051217.946216336] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051217.947379484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051217.948521714] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051217.957239207] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051217.958475819] [sailbot.main_algo]: Target Bearing: -142.0289859505327 -[main_algo-3] [INFO] [1746051217.959378904] [sailbot.main_algo]: Heading Difference: -169.81701404946728 -[main_algo-3] [INFO] [1746051217.960282497] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051217.961090997] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051217.962000726] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051217.963091939] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051217.963872637] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051218.003263906] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904242 Long: -76.50277303 -[main_algo-3] [INFO] [1746051218.003707123] [sailbot.main_algo]: Distance to destination: 56.53341696307659 -[vectornav-1] [INFO] [1746051218.004430387] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.86900000000003, -1.84, 5.134) -[main_algo-3] [INFO] [1746051218.004761866] [sailbot.main_algo]: Target Bearing: -142.03790175220544 -[main_algo-3] [INFO] [1746051218.005750860] [sailbot.main_algo]: Heading Difference: -169.80809824779453 -[main_algo-3] [INFO] [1746051218.006610255] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051218.007420394] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051218.008223392] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051218.009737409] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051218.044727689] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051218.045566291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051218.046123466] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051218.047502273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051218.048560998] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051218.085281087] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051218.087537420] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051218.087537431] [sailbot.teensy]: Wind angle: 152 -[teensy-2] [INFO] [1746051218.088775240] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051218.089340175] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051218.089871335] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051218.090925332] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051218.144711755] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051218.145461791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051218.146052705] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051218.147906907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051218.148971090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051218.244800766] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051218.245534111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051218.246332452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051218.247723705] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051218.248858535] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051218.335143172] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051218.337366100] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051218.338299735] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051218.339040014] [sailbot.teensy]: Wind angle: 153 -[teensy-2] [INFO] [1746051218.339979638] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051218.340889908] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051218.341782808] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051218.344381803] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051218.344954747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051218.345488628] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051218.346648810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051218.347678521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051218.445295063] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051218.446136619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051218.446890699] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051218.448452150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051218.449024003] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051218.457085123] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051218.458101332] [sailbot.main_algo]: Target Bearing: -142.03790175220544 -[main_algo-3] [INFO] [1746051218.458994424] [sailbot.main_algo]: Heading Difference: -168.0930982477945 -[main_algo-3] [INFO] [1746051218.459807776] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051218.460662801] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051218.461461546] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051218.462462582] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051218.463017517] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051218.502678251] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904247 Long: -76.50277308 -[main_algo-3] [INFO] [1746051218.503617976] [sailbot.main_algo]: Distance to destination: 56.5337142523833 -[vectornav-1] [INFO] [1746051218.503764152] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.887, 0.445, 5.689) -[main_algo-3] [INFO] [1746051218.504773080] [sailbot.main_algo]: Target Bearing: -142.03090593695163 -[main_algo-3] [INFO] [1746051218.505767231] [sailbot.main_algo]: Heading Difference: -168.10009406304835 -[main_algo-3] [INFO] [1746051218.506631553] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051218.507430185] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051218.508258213] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051218.509783346] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051218.544403277] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051218.544966828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051218.545429149] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051218.546619027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051218.547569266] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051218.585008095] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051218.586434237] [sailbot.teensy]: Wind angle: 155 -[trim_sail-4] [INFO] [1746051218.587012632] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051218.588227712] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051218.588983452] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051218.589399841] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051218.590261789] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051218.644701299] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051218.645333636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051218.646062932] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051218.647216844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051218.648183596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051218.745093205] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051218.745767355] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051218.747857466] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051218.748484533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051218.750678397] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051218.835276768] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051218.837112960] [sailbot.teensy]: Wind angle: 156 -[trim_sail-4] [INFO] [1746051218.838058448] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051218.838125545] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051218.838887381] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051218.839058736] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051218.839965197] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051218.844402495] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051218.845101632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051218.845580838] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051218.846779120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051218.847843624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051218.944769751] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051218.945743017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051218.946035934] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051218.947817695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051218.949151533] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051218.956890979] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051218.957778629] [sailbot.main_algo]: Target Bearing: -142.03090593695163 -[main_algo-3] [INFO] [1746051218.958568982] [sailbot.main_algo]: Heading Difference: -169.08209406304837 -[main_algo-3] [INFO] [1746051218.959331393] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051218.960086704] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051218.960845978] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051218.961782673] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051218.962555878] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051219.002945316] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904247 Long: -76.50277291 -[main_algo-3] [INFO] [1746051219.003631844] [sailbot.main_algo]: Distance to destination: 56.54458016583621 -[vectornav-1] [INFO] [1746051219.004240904] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.30000000000001, -0.683, 6.235) -[main_algo-3] [INFO] [1746051219.004699692] [sailbot.main_algo]: Target Bearing: -142.03981618885908 -[main_algo-3] [INFO] [1746051219.005601864] [sailbot.main_algo]: Heading Difference: -169.0731838111409 -[main_algo-3] [INFO] [1746051219.006457840] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051219.007274324] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051219.008043208] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051219.009891943] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051219.045061205] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051219.045590113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051219.046427784] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051219.047854756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051219.049037116] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051219.085234779] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051219.087013881] [sailbot.teensy]: Wind angle: 157 -[trim_sail-4] [INFO] [1746051219.087486901] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051219.087951556] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051219.088821054] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051219.089061605] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051219.089653037] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051219.144716064] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051219.145180186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051219.145952968] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051219.146922468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051219.147876824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051219.244728725] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051219.245209188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051219.245949109] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051219.246881940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051219.247811532] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051219.335148837] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051219.337194998] [sailbot.teensy]: Wind angle: 158 -[trim_sail-4] [INFO] [1746051219.338622046] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051219.339153907] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051219.339319739] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051219.340351254] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051219.341306592] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051219.344252893] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051219.345082972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051219.345365199] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051219.346798010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051219.347850150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051219.444954167] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051219.445184451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051219.446141277] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051219.446812893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051219.447829449] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051219.456948515] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051219.457831020] [sailbot.main_algo]: Target Bearing: -142.03981618885908 -[main_algo-3] [INFO] [1746051219.458675616] [sailbot.main_algo]: Heading Difference: -168.66018381114088 -[main_algo-3] [INFO] [1746051219.459434629] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051219.460192207] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051219.460917419] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051219.461955868] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051219.462734439] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051219.502494312] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904244 Long: -76.50277289 -[main_algo-3] [INFO] [1746051219.503318315] [sailbot.main_algo]: Distance to destination: 56.54376308985856 -[vectornav-1] [INFO] [1746051219.503512449] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.922000000000025, 0.652, 5.039) -[main_algo-3] [INFO] [1746051219.504362771] [sailbot.main_algo]: Target Bearing: -142.04348890060473 -[main_algo-3] [INFO] [1746051219.505217336] [sailbot.main_algo]: Heading Difference: -168.6565110993953 -[main_algo-3] [INFO] [1746051219.506690679] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051219.507539401] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051219.508348383] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051219.509979243] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051219.544622306] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051219.545324284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051219.546094790] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051219.546971104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051219.548092689] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051219.585073160] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051219.586983887] [sailbot.teensy]: Wind angle: 158 -[teensy-2] [INFO] [1746051219.588044469] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051219.587388141] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051219.588059600] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051219.588988093] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051219.589818740] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051219.644881821] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051219.645399297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051219.646129661] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051219.647220085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051219.648409401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051219.744766734] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051219.745314820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051219.746145748] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051219.747120441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051219.748184784] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051219.835282826] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051219.837459546] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051219.838531101] [sailbot.teensy]: Wind angle: 158 -[mux-7] [INFO] [1746051219.838742939] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051219.838970520] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051219.839327899] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051219.839658449] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051219.844657602] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051219.845151300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051219.846034249] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051219.847013361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051219.848282803] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051219.944896119] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051219.945503073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051219.946218131] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051219.947357918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051219.948403721] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051219.957029973] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051219.958000653] [sailbot.main_algo]: Target Bearing: -142.04348890060473 -[main_algo-3] [INFO] [1746051219.958834708] [sailbot.main_algo]: Heading Difference: -168.03451109939522 -[main_algo-3] [INFO] [1746051219.959637245] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051219.960448174] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051219.961253922] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051219.962243149] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051219.963022145] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051220.003391471] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904256 Long: -76.50277282 -[main_algo-3] [INFO] [1746051220.004316597] [sailbot.main_algo]: Distance to destination: 56.55662000465287 -[vectornav-1] [INFO] [1746051220.004561536] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.31999999999999, -1.888, 5.481) -[main_algo-3] [INFO] [1746051220.005400388] [sailbot.main_algo]: Target Bearing: -142.03665936628187 -[main_algo-3] [INFO] [1746051220.006620942] [sailbot.main_algo]: Heading Difference: -168.0413406337181 -[main_algo-3] [INFO] [1746051220.007654122] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051220.008552874] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051220.009367725] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051220.010994526] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051220.045266034] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051220.045817394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051220.046848419] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051220.047714403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051220.049010621] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051220.085570728] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051220.088248169] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051220.088277155] [sailbot.teensy]: Wind angle: 158 -[mux-7] [INFO] [1746051220.089377162] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051220.089525137] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051220.090459476] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051220.091697563] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051220.144732001] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051220.145770087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051220.146047186] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051220.148333396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051220.149342827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051220.244584897] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051220.245141962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051220.245819555] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051220.246915187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051220.247776370] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051220.335172845] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051220.337454625] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051220.338003983] [sailbot.teensy]: Wind angle: 158 -[mux-7] [INFO] [1746051220.338012641] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051220.339330617] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051220.340096612] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051220.340499165] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051220.344374904] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051220.344965977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051220.345395358] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051220.346572599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051220.347621618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051220.444708301] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051220.445260348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051220.446257026] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051220.446965496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051220.448040211] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051220.456971874] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051220.458009905] [sailbot.main_algo]: Target Bearing: -142.03665936628187 -[main_algo-3] [INFO] [1746051220.458879560] [sailbot.main_algo]: Heading Difference: -168.64334063371814 -[main_algo-3] [INFO] [1746051220.459684734] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051220.460518543] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051220.461314591] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051220.462411915] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051220.462939920] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051220.502798318] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904274 Long: -76.50277232 -[main_algo-3] [INFO] [1746051220.503824185] [sailbot.main_algo]: Distance to destination: 56.60115465737113 -[vectornav-1] [INFO] [1746051220.503902426] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.533000000000015, 0.582, 5.25) -[main_algo-3] [INFO] [1746051220.505600867] [sailbot.main_algo]: Target Bearing: -142.04710542362778 -[main_algo-3] [INFO] [1746051220.506634993] [sailbot.main_algo]: Heading Difference: -168.63289457637222 -[main_algo-3] [INFO] [1746051220.507526182] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051220.508382848] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051220.509190481] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051220.510772092] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051220.545015312] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051220.545691948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051220.546361419] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051220.547649294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051220.548716964] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051220.585277860] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051220.587056009] [sailbot.teensy]: Wind angle: 157 -[teensy-2] [INFO] [1746051220.588015836] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051220.588305238] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051220.588956819] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051220.589728172] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051220.589828588] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051220.645007348] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051220.646229732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051220.646738739] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051220.648426060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051220.649426994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051220.744735797] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051220.745381853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051220.746092686] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051220.747316824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051220.747996064] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051220.834975412] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051220.836942413] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051220.837853559] [sailbot.teensy]: Wind angle: 157 -[mux-7] [INFO] [1746051220.837892776] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051220.838759387] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051220.839602709] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051220.840407000] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051220.844367522] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051220.844733302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051220.845466903] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051220.846260157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051220.847337017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051220.944926421] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051220.945506032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051220.946169819] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051220.947407582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051220.948453601] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051220.956938821] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051220.957859011] [sailbot.main_algo]: Target Bearing: -142.04710542362778 -[main_algo-3] [INFO] [1746051220.958685108] [sailbot.main_algo]: Heading Difference: -169.4198945763722 -[main_algo-3] [INFO] [1746051220.959493319] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051220.960309856] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051220.961068249] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051220.962160018] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051220.962793758] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051221.003144851] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904261 Long: -76.50277217 -[main_algo-3] [INFO] [1746051221.003894364] [sailbot.main_algo]: Distance to destination: 56.60166742621628 -[main_algo-3] [INFO] [1746051221.004967103] [sailbot.main_algo]: Target Bearing: -142.06631967647274 -[vectornav-1] [INFO] [1746051221.005522357] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.88900000000001, 0.2, 4.941) -[main_algo-3] [INFO] [1746051221.005938043] [sailbot.main_algo]: Heading Difference: -169.40068032352724 -[main_algo-3] [INFO] [1746051221.006879396] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051221.007786797] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051221.008690424] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051221.010409913] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051221.044726623] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051221.045519296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051221.045977003] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051221.047407522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051221.048438732] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051221.085240970] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051221.087385591] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051221.088510492] [sailbot.teensy]: Wind angle: 157 -[mux-7] [INFO] [1746051221.088882378] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051221.089712482] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051221.090540574] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051221.091313664] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051221.145066319] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051221.145714835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051221.146360593] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051221.147821268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051221.148897090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051221.244721689] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051221.245431700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051221.245854908] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051221.247195764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051221.248132094] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051221.335176828] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051221.337371745] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051221.337734332] [sailbot.teensy]: Wind angle: 157 -[teensy-2] [INFO] [1746051221.339043750] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051221.339269857] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051221.339933516] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051221.340591048] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051221.344384674] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051221.344873083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051221.345480096] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051221.346487469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051221.347481433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051221.445473194] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051221.446509442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051221.447164668] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051221.448668121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051221.449202311] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051221.457372977] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051221.458518970] [sailbot.main_algo]: Target Bearing: -142.06631967647274 -[main_algo-3] [INFO] [1746051221.459484628] [sailbot.main_algo]: Heading Difference: -169.04468032352725 -[main_algo-3] [INFO] [1746051221.460404136] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051221.461291525] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051221.462164758] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051221.463271488] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051221.464993634] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051221.502756265] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904257 Long: -76.50277238 -[vectornav-1] [INFO] [1746051221.503935899] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.903999999999996, -1.085, 5.23) -[main_algo-3] [INFO] [1746051221.504217015] [sailbot.main_algo]: Distance to destination: 56.585446887733234 -[main_algo-3] [INFO] [1746051221.505309557] [sailbot.main_algo]: Target Bearing: -142.05882748729704 -[main_algo-3] [INFO] [1746051221.506677743] [sailbot.main_algo]: Heading Difference: -169.05217251270295 -[main_algo-3] [INFO] [1746051221.507637067] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051221.508524200] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051221.509368464] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051221.511082055] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051221.544750199] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051221.545441267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051221.546279619] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051221.547293803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051221.548426170] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051221.585246073] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051221.586880538] [sailbot.teensy]: Wind angle: 157 -[teensy-2] [INFO] [1746051221.587771988] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051221.587617078] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051221.588616250] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051221.588809431] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051221.589433834] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051221.644828326] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051221.645426555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051221.646988446] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051221.647259186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051221.648286014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051221.744940293] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051221.745385409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051221.746299695] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051221.747224503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051221.748470842] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051221.835292220] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051221.837137011] [sailbot.teensy]: Wind angle: 157 -[teensy-2] [INFO] [1746051221.838042003] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051221.837741609] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051221.838905453] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051221.839275159] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051221.839718347] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051221.844304076] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051221.844997329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051221.845335053] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051221.846609078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051221.847567978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051221.944919020] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051221.945548970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051221.946146482] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051221.947454902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051221.948928413] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051221.957289480] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051221.958366613] [sailbot.main_algo]: Target Bearing: -142.05882748729704 -[main_algo-3] [INFO] [1746051221.959308500] [sailbot.main_algo]: Heading Difference: -169.03717251270297 -[main_algo-3] [INFO] [1746051221.960211572] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051221.961284874] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051221.962099788] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051221.963117673] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051221.963601309] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051222.002825588] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904253 Long: -76.50277241 -[main_algo-3] [INFO] [1746051222.003747985] [sailbot.main_algo]: Distance to destination: 56.58073576110021 -[vectornav-1] [INFO] [1746051222.003941017] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.685, -0.371, 5.379) -[main_algo-3] [INFO] [1746051222.004834573] [sailbot.main_algo]: Target Bearing: -142.06075520100313 -[main_algo-3] [INFO] [1746051222.005789310] [sailbot.main_algo]: Heading Difference: -169.03524479899687 -[main_algo-3] [INFO] [1746051222.006671140] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051222.007608723] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051222.008488945] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051222.010161445] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051222.045500203] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051222.045755873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051222.046872984] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051222.047556512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051222.048736863] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051222.085100099] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051222.087126092] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051222.088094555] [sailbot.teensy]: Wind angle: 157 -[mux-7] [INFO] [1746051222.088671256] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051222.089116491] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051222.089981803] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051222.090868031] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051222.145156970] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051222.145548224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051222.146562987] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051222.147614389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051222.148746916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051222.244540386] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051222.245086639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051222.245705802] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051222.246815243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051222.247800285] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051222.335036281] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051222.336995261] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051222.337711111] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051222.337842922] [sailbot.teensy]: Wind angle: 158 -[teensy-2] [INFO] [1746051222.338699224] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051222.339531639] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051222.340315247] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051222.344403676] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051222.344801417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051222.345554378] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051222.346370833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051222.347452819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051222.444989259] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051222.445699014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051222.446334392] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051222.447514097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051222.448540228] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051222.457059537] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051222.458067336] [sailbot.main_algo]: Target Bearing: -142.06075520100313 -[main_algo-3] [INFO] [1746051222.458918591] [sailbot.main_algo]: Heading Difference: -170.25424479899687 -[main_algo-3] [INFO] [1746051222.459737273] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051222.460553732] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051222.461352250] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051222.462355131] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051222.462956343] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051222.503045832] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904263 Long: -76.50277247 -[main_algo-3] [INFO] [1746051222.503788680] [sailbot.main_algo]: Distance to destination: 56.58388280496763 -[main_algo-3] [INFO] [1746051222.505031370] [sailbot.main_algo]: Target Bearing: -142.04886945895706 -[vectornav-1] [INFO] [1746051222.504583141] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.615999999999985, -0.533, 5.087) -[main_algo-3] [INFO] [1746051222.506121915] [sailbot.main_algo]: Heading Difference: -170.2661305410429 -[main_algo-3] [INFO] [1746051222.507080787] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051222.508024661] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051222.508943406] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051222.511029256] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051222.544637760] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051222.545337369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051222.545861605] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051222.547337202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051222.548469786] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051222.585450693] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051222.587566016] [sailbot.teensy]: Wind angle: 157 -[trim_sail-4] [INFO] [1746051222.587805624] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051222.588722928] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051222.589674349] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051222.589772334] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051222.591631011] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051222.645192114] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051222.645987121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051222.646505785] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051222.648602826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051222.649681847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051222.744681181] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051222.745783180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051222.745969920] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051222.747509750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051222.748490929] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051222.835328102] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051222.837522238] [sailbot.teensy]: Wind angle: 157 -[trim_sail-4] [INFO] [1746051222.837591450] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051222.838467990] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051222.838837507] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051222.839378461] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051222.840374501] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051222.844357634] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051222.844910246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051222.845445658] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051222.846669303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051222.847961008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051222.945410588] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051222.946260101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051222.946892063] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051222.948315155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051222.949459906] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051222.957176180] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051222.958232055] [sailbot.main_algo]: Target Bearing: -142.04886945895706 -[main_algo-3] [INFO] [1746051222.959120585] [sailbot.main_algo]: Heading Difference: -169.335130541043 -[main_algo-3] [INFO] [1746051222.959987213] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051222.960873655] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051222.961735856] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051222.962782526] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051222.963360973] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051223.002773994] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904261 Long: -76.50277243 -[main_algo-3] [INFO] [1746051223.003755198] [sailbot.main_algo]: Distance to destination: 56.58504330303823 -[vectornav-1] [INFO] [1746051223.003874388] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.761000000000024, 0.146, 5.026) -[main_algo-3] [INFO] [1746051223.004951760] [sailbot.main_algo]: Target Bearing: -142.052712381162 -[main_algo-3] [INFO] [1746051223.005867412] [sailbot.main_algo]: Heading Difference: -169.33128761883802 -[main_algo-3] [INFO] [1746051223.006919118] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051223.007829991] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051223.008705171] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051223.010359701] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051223.044587918] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051223.045203859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051223.045761631] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051223.046875999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051223.047812230] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051223.085202490] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051223.086846531] [sailbot.teensy]: Wind angle: 158 -[trim_sail-4] [INFO] [1746051223.087170822] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051223.088024753] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051223.088740986] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051223.088919110] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051223.089746230] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051223.144949601] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051223.145638382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051223.146272729] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051223.147470670] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051223.148624871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051223.244917251] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051223.245587115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051223.246196977] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051223.247443608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051223.248712418] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051223.335467381] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051223.337850163] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051223.338475744] [sailbot.teensy]: Wind angle: 158 -[mux-7] [INFO] [1746051223.339367572] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051223.340035294] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051223.341121126] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051223.341970446] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051223.344543700] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051223.345200359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051223.345619865] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051223.346931849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051223.347951297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051223.445067500] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051223.445715862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051223.446653355] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051223.447621243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051223.448711989] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051223.457333483] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051223.458585395] [sailbot.main_algo]: Target Bearing: -142.052712381162 -[main_algo-3] [INFO] [1746051223.459535197] [sailbot.main_algo]: Heading Difference: -169.18628761883798 -[main_algo-3] [INFO] [1746051223.460476947] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051223.461472956] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051223.462386290] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051223.463406584] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051223.463938641] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051223.502750232] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904256 Long: -76.50277243 -[main_algo-3] [INFO] [1746051223.503723207] [sailbot.main_algo]: Distance to destination: 56.58155174473239 -[vectornav-1] [INFO] [1746051223.503960340] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.70400000000001, -0.586, 5.488) -[main_algo-3] [INFO] [1746051223.504844639] [sailbot.main_algo]: Target Bearing: -142.05708464355823 -[main_algo-3] [INFO] [1746051223.505831801] [sailbot.main_algo]: Heading Difference: -169.18191535644178 -[main_algo-3] [INFO] [1746051223.506719089] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051223.507616319] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051223.508514102] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051223.510059359] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051223.544904064] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051223.545593722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051223.546159210] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051223.547401565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051223.548395537] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051223.585489525] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051223.587661429] [sailbot.teensy]: Wind angle: 158 -[trim_sail-4] [INFO] [1746051223.588094048] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051223.588639468] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051223.588661485] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051223.589543408] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051223.590446624] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051223.644799245] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051223.645247501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051223.646054495] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051223.647016779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051223.648050415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051223.745606249] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051223.747811141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051223.748478301] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051223.749040479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051223.749620382] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051223.835305944] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051223.837503597] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051223.837802911] [sailbot.teensy]: Wind angle: 158 -[teensy-2] [INFO] [1746051223.838664422] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051223.839014621] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051223.839515348] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051223.840376398] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051223.844386250] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051223.845017307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051223.845447742] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051223.846901129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051223.847839730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051223.944693440] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051223.945417897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051223.945854452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051223.947312463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051223.948702499] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051223.957070893] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051223.958025681] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746051223.958939235] [sailbot.main_algo]: Target Bearing: -142.05708464355823 -[main_algo-3] [INFO] [1746051223.959766976] [sailbot.main_algo]: Heading Difference: -169.2389153564418 -[main_algo-3] [INFO] [1746051223.960615165] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051223.961434994] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051223.962233575] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051223.963327976] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051223.963894803] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051224.002766541] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690426 Long: -76.50277232 -[main_algo-3] [INFO] [1746051224.004088492] [sailbot.main_algo]: Distance to destination: 56.59137794422838 -[vectornav-1] [INFO] [1746051224.004353195] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.81700000000001, -0.643, 5.993) -[main_algo-3] [INFO] [1746051224.005684173] [sailbot.main_algo]: Target Bearing: -142.05934465989833 -[main_algo-3] [INFO] [1746051224.006884967] [sailbot.main_algo]: Heading Difference: -169.23665534010166 -[main_algo-3] [INFO] [1746051224.007791703] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051224.008788082] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051224.009633237] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051224.011204219] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051224.044716417] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051224.045308891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051224.045854805] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051224.047342669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051224.048438881] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051224.085091621] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051224.086613276] [sailbot.teensy]: Wind angle: 158 -[trim_sail-4] [INFO] [1746051224.087158331] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051224.087486128] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051224.088368318] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051224.089156219] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051224.089199101] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051224.144966989] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051224.145762657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051224.146224810] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051224.147765763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051224.148901833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051224.244664565] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051224.245654282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051224.245791604] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051224.247553775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051224.248641171] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051224.335467839] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051224.337735567] [sailbot.teensy]: Wind angle: 158 -[trim_sail-4] [INFO] [1746051224.337763963] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051224.338754795] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051224.339124803] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051224.339731389] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051224.340890466] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051224.344478028] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051224.344938640] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051224.345545038] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051224.346611836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051224.347744024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051224.445077332] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051224.445757173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051224.446430096] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051224.447670902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051224.448843936] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051224.457145557] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051224.458041273] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746051224.458827880] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051224.459928558] [sailbot.main_algo]: Current Location: (42.469042602147525, -76.50277232005445) -[main_algo-3] [INFO] [1746051224.460810293] [sailbot.main_algo]: Target Bearing: -142.05934465989833 -[main_algo-3] [INFO] [1746051224.461645479] [sailbot.main_algo]: Heading Difference: -169.12365534010166 -[main_algo-3] [INFO] [1746051224.462439958] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051224.463213862] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051224.463989697] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051224.465004595] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051224.465584651] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051224.503087844] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904257 Long: -76.5027723 -[main_algo-3] [INFO] [1746051224.503590967] [sailbot.main_algo]: Distance to destination: 56.59056210406351 -[vectornav-1] [INFO] [1746051224.504255822] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.66899999999998, -0.056, 4.947) -[main_algo-3] [INFO] [1746051224.504838828] [sailbot.main_algo]: Target Bearing: -142.06301461537123 -[main_algo-3] [INFO] [1746051224.505810426] [sailbot.main_algo]: Heading Difference: -169.11998538462876 -[main_algo-3] [INFO] [1746051224.506791657] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051224.507719826] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051224.508612747] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051224.510236558] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051224.545073301] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051224.545764845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051224.546407279] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051224.547817454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051224.548906583] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051224.585290945] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051224.586937668] [sailbot.teensy]: Wind angle: 154 -[trim_sail-4] [INFO] [1746051224.587466172] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051224.587818724] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051224.588715720] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051224.589580569] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051224.589602226] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051224.644930161] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051224.645541585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051224.646195901] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051224.647460195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051224.648462675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051224.744655738] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051224.745223503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051224.746048709] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051224.747103909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051224.748091699] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051224.835274301] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051224.837064710] [sailbot.teensy]: Wind angle: 150 -[trim_sail-4] [INFO] [1746051224.837598436] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051224.837962649] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051224.838770583] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051224.839046522] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051224.839577246] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051224.844292057] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051224.844821806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051224.845506943] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051224.846602351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051224.847754744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051224.944954041] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051224.946231965] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051224.946733010] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051224.948784541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051224.949838327] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051224.957254617] [sailbot.main_algo]: Wind Direction: 150 -[main_algo-3] [INFO] [1746051224.958345588] [sailbot.main_algo]: Target Bearing: -142.06301461537123 -[main_algo-3] [INFO] [1746051224.959287205] [sailbot.main_algo]: Heading Difference: -169.2679853846288 -[main_algo-3] [INFO] [1746051224.960225662] [sailbot.main_algo]: Wind Direction: 150 -[main_algo-3] [INFO] [1746051224.961160765] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051224.962064080] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051224.963141236] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051224.963667095] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051225.002755635] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904257 Long: -76.50277229 -[main_algo-3] [INFO] [1746051225.003733114] [sailbot.main_algo]: Distance to destination: 56.59120152696026 -[vectornav-1] [INFO] [1746051225.004058354] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.27999999999997, -0.612, 6.153) -[main_algo-3] [INFO] [1746051225.004935790] [sailbot.main_algo]: Target Bearing: -142.06353795329602 -[main_algo-3] [INFO] [1746051225.006154909] [sailbot.main_algo]: Heading Difference: -169.267462046704 -[main_algo-3] [INFO] [1746051225.007079508] [sailbot.main_algo]: Wind Direction: 150 -[main_algo-3] [INFO] [1746051225.008095221] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051225.009006861] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051225.010762421] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051225.044890763] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051225.045395329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051225.046026718] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051225.047128206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051225.048132336] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051225.085124945] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051225.086679398] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746051225.087150801] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051225.088862563] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051225.088954633] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051225.089809339] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051225.090683105] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051225.144945108] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051225.145777940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051225.146370315] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051225.147620138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051225.148642583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051225.244887276] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051225.245598469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051225.246151532] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051225.247408722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051225.248367961] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051225.335342964] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051225.337087347] [sailbot.teensy]: Wind angle: 152 -[teensy-2] [INFO] [1746051225.338051030] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051225.338053341] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051225.338985176] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051225.339199329] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051225.339868151] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051225.344287089] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051225.344801124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051225.345370375] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051225.346491279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051225.347515112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051225.445143975] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051225.445756746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051225.446510419] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051225.447689017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051225.448856382] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051225.457208220] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051225.458307083] [sailbot.main_algo]: Target Bearing: -142.06353795329602 -[main_algo-3] [INFO] [1746051225.459212740] [sailbot.main_algo]: Heading Difference: -169.656462046704 -[main_algo-3] [INFO] [1746051225.460107823] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051225.460961080] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051225.461746809] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051225.462740883] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051225.463490961] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051225.502690905] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904245 Long: -76.50277194 -[main_algo-3] [INFO] [1746051225.503707320] [sailbot.main_algo]: Distance to destination: 56.60521040457416 -[vectornav-1] [INFO] [1746051225.503807822] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.89300000000003, -0.489, 4.149) -[main_algo-3] [INFO] [1746051225.504818922] [sailbot.main_algo]: Target Bearing: -142.09234068635055 -[main_algo-3] [INFO] [1746051225.505746450] [sailbot.main_algo]: Heading Difference: -169.62765931364947 -[main_algo-3] [INFO] [1746051225.506633169] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051225.507514529] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051225.508386081] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051225.510090363] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051225.544630863] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051225.545214263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051225.545997007] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051225.546941543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051225.547853576] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051225.585200681] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051225.586827285] [sailbot.teensy]: Wind angle: 153 -[teensy-2] [INFO] [1746051225.587731349] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051225.587711422] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051225.588569128] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051225.589379604] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051225.589388693] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051225.644918988] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051225.645514016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051225.646183246] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051225.647443615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051225.648487556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051225.744580011] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051225.745103187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051225.745644218] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051225.746717643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051225.747721425] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051225.835194652] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051225.836952227] [sailbot.teensy]: Wind angle: 153 -[trim_sail-4] [INFO] [1746051225.837617907] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051225.837898997] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051225.838808468] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051225.839278410] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051225.839671434] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051225.844289720] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051225.844851203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051225.845629030] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051225.846642060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051225.847705864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051225.944981504] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051225.945711079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051225.946326287] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051225.947767962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051225.948885104] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051225.956974820] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051225.957975278] [sailbot.main_algo]: Target Bearing: -142.09234068635055 -[main_algo-3] [INFO] [1746051225.958844643] [sailbot.main_algo]: Heading Difference: -169.01465931364942 -[main_algo-3] [INFO] [1746051225.959662131] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051225.960465399] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051225.961243282] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051225.962233481] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051225.962950511] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051226.002812748] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904267 Long: -76.50277203 -[main_algo-3] [INFO] [1746051226.003712250] [sailbot.main_algo]: Distance to destination: 56.6148086124247 -[vectornav-1] [INFO] [1746051226.003987976] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.956999999999994, 0.381, 6.009) -[main_algo-3] [INFO] [1746051226.004926132] [sailbot.main_algo]: Target Bearing: -142.06839819359044 -[main_algo-3] [INFO] [1746051226.005975781] [sailbot.main_algo]: Heading Difference: -169.03860180640953 -[main_algo-3] [INFO] [1746051226.006956976] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051226.007919883] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051226.008840722] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051226.010552145] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051226.044656396] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051226.045254024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051226.045816012] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051226.046960847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051226.047878766] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051226.085179424] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051226.087208514] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051226.087482897] [sailbot.teensy]: Wind angle: 153 -[teensy-2] [INFO] [1746051226.088445564] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051226.088701133] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051226.089367292] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051226.090303864] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051226.144770542] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051226.145273717] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051226.145939670] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051226.147010974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051226.148069702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051226.245133815] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051226.245938585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051226.246514460] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051226.248447615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051226.249940107] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051226.335443604] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051226.337862182] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051226.338181968] [sailbot.teensy]: Wind angle: 153 -[mux-7] [INFO] [1746051226.338877116] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051226.339184527] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051226.339747525] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051226.340177500] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051226.344323645] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051226.344897358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051226.345419449] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051226.346614678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051226.347642769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051226.445326404] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051226.446064318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051226.446814412] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051226.447893133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051226.448453421] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051226.457272308] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051226.458511410] [sailbot.main_algo]: Target Bearing: -142.06839819359044 -[main_algo-3] [INFO] [1746051226.459473646] [sailbot.main_algo]: Heading Difference: -169.97460180640957 -[main_algo-3] [INFO] [1746051226.460391302] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051226.461248253] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051226.462119401] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051226.463330122] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051226.463847441] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051226.502828566] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904254 Long: -76.50277205 -[main_algo-3] [INFO] [1746051226.503853657] [sailbot.main_algo]: Distance to destination: 56.6044551870557 -[vectornav-1] [INFO] [1746051226.504310252] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.78399999999999, -1.261, 5.854) -[main_algo-3] [INFO] [1746051226.504979187] [sailbot.main_algo]: Target Bearing: -142.07871767808282 -[main_algo-3] [INFO] [1746051226.506151781] [sailbot.main_algo]: Heading Difference: -169.96428232191715 -[main_algo-3] [INFO] [1746051226.507064091] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051226.507932776] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051226.508805089] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051226.510483483] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051226.544917137] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051226.545654868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051226.546168894] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051226.547899537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051226.548979482] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051226.585082885] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051226.586909418] [sailbot.teensy]: Wind angle: 153 -[trim_sail-4] [INFO] [1746051226.586955732] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051226.587807589] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051226.588928760] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051226.588966426] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051226.589818124] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051226.645078814] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051226.645731742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051226.646462421] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051226.647897000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051226.648904220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051226.744907072] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051226.745598058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051226.746328169] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051226.747406341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051226.748688607] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051226.835452955] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051226.837964056] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051226.838160036] [sailbot.teensy]: Wind angle: 154 -[mux-7] [INFO] [1746051226.839328177] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051226.839350660] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051226.840388077] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051226.841327336] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051226.844412998] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051226.844975927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051226.845945541] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051226.846982659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051226.848088090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051226.945425224] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051226.946142074] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051226.947100834] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051226.948239268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051226.949444025] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051226.957330365] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051226.958419973] [sailbot.main_algo]: Target Bearing: -142.07871767808282 -[main_algo-3] [INFO] [1746051226.959348406] [sailbot.main_algo]: Heading Difference: -169.13728232191716 -[main_algo-3] [INFO] [1746051226.960244352] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051226.961124173] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051226.961995130] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051226.963093187] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051226.963817204] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051227.002900060] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904237 Long: -76.50277213 -[main_algo-3] [INFO] [1746051227.003824977] [sailbot.main_algo]: Distance to destination: 56.58747448027121 -[vectornav-1] [INFO] [1746051227.004052130] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.75599999999997, -0.077, 5.319) -[main_algo-3] [INFO] [1746051227.005032119] [sailbot.main_algo]: Target Bearing: -142.08940170532614 -[main_algo-3] [INFO] [1746051227.006004289] [sailbot.main_algo]: Heading Difference: -169.12659829467384 -[main_algo-3] [INFO] [1746051227.006919039] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051227.007790711] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051227.008651474] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051227.010298829] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051227.045110233] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051227.045650537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051227.046429059] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051227.047433071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051227.048518962] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051227.085224464] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051227.086921231] [sailbot.teensy]: Wind angle: 153 -[teensy-2] [INFO] [1746051227.087831507] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051227.087602315] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051227.088210439] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051227.088782212] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051227.089833909] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051227.144704135] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051227.145258806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051227.145877513] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051227.146961256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051227.147892353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051227.244601919] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051227.245105346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051227.245671343] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051227.246739895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051227.247674315] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051227.335046468] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051227.336877140] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746051227.337414288] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051227.337601359] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051227.337957190] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051227.338832547] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051227.339634859] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051227.344377584] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051227.344802810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051227.345437952] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051227.346352653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051227.347298667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051227.444896134] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051227.445561678] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051227.446540885] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051227.447392918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051227.448035970] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051227.457128679] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051227.458196936] [sailbot.main_algo]: Target Bearing: -142.08940170532614 -[main_algo-3] [INFO] [1746051227.459111441] [sailbot.main_algo]: Heading Difference: -167.15459829467386 -[main_algo-3] [INFO] [1746051227.459946192] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051227.460785717] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051227.461590685] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051227.462602560] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051227.463212806] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051227.503261204] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904233 Long: -76.5027722 -[main_algo-3] [INFO] [1746051227.504084390] [sailbot.main_algo]: Distance to destination: 56.58020570273348 -[vectornav-1] [INFO] [1746051227.504559670] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.620000000000005, -0.066, 5.563) -[main_algo-3] [INFO] [1746051227.505203602] [sailbot.main_algo]: Target Bearing: -142.08923941590416 -[main_algo-3] [INFO] [1746051227.506200447] [sailbot.main_algo]: Heading Difference: -167.15476058409587 -[main_algo-3] [INFO] [1746051227.507119412] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051227.508049798] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051227.509017681] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051227.510738001] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051227.544961524] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051227.545592776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051227.546203807] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051227.547488911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051227.548544230] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051227.585061340] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051227.586594063] [sailbot.teensy]: Wind angle: 151 -[teensy-2] [INFO] [1746051227.587463724] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051227.587534696] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051227.588230772] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051227.588301951] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051227.589206924] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051227.645102471] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051227.646368316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051227.646470693] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051227.648314350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051227.649295965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051227.744836701] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051227.745621675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051227.746145896] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051227.747462467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051227.748497283] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051227.835272311] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051227.837420829] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051227.838208580] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051227.838338677] [sailbot.teensy]: Wind angle: 152 -[teensy-2] [INFO] [1746051227.839284859] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051227.840204435] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051227.840744499] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051227.844341929] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051227.845034562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051227.845478930] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051227.846887836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051227.848038816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051227.945331567] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051227.946997157] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051227.947066254] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051227.949027920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051227.949534392] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051227.957175017] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051227.958212927] [sailbot.main_algo]: Target Bearing: -142.08923941590416 -[main_algo-3] [INFO] [1746051227.959145988] [sailbot.main_algo]: Heading Difference: -168.29076058409584 -[main_algo-3] [INFO] [1746051227.960055649] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051227.960944569] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051227.961929877] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051227.963197347] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051227.963529306] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051228.003948022] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904218 Long: -76.50277228 -[main_algo-3] [INFO] [1746051228.004342978] [sailbot.main_algo]: Distance to destination: 56.56462222457852 -[main_algo-3] [INFO] [1746051228.005456902] [sailbot.main_algo]: Target Bearing: -142.09818059096318 -[vectornav-1] [INFO] [1746051228.005455962] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.50200000000001, -1.0, 5.518) -[main_algo-3] [INFO] [1746051228.006536650] [sailbot.main_algo]: Heading Difference: -168.2818194090368 -[main_algo-3] [INFO] [1746051228.007438706] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051228.008360173] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051228.009261034] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051228.010954181] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051228.044982634] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051228.045791963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051228.046242063] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051228.047712926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051228.048751226] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051228.085349148] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051228.087752949] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051228.087911694] [sailbot.teensy]: Wind angle: 151 -[mux-7] [INFO] [1746051228.088309062] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051228.088844247] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051228.089858062] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051228.090719288] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051228.145048737] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051228.145911341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051228.146431290] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051228.147994931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051228.149137146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051228.245400702] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051228.246977976] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051228.247894169] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051228.248783761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051228.249956211] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051228.335195080] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051228.337642918] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051228.337678198] [sailbot.teensy]: Wind angle: 151 -[mux-7] [INFO] [1746051228.338613545] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051228.338635043] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051228.339559596] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051228.340449432] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051228.344453414] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051228.344930916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051228.345588497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051228.346679605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051228.347768621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051228.445257086] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051228.446072177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051228.447126538] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051228.448568982] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051228.449787355] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051228.457141111] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051228.458222226] [sailbot.main_algo]: Target Bearing: -142.09818059096318 -[main_algo-3] [INFO] [1746051228.459127952] [sailbot.main_algo]: Heading Difference: -168.3998194090368 -[main_algo-3] [INFO] [1746051228.460004216] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051228.460882521] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051228.462040924] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051228.463179682] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051228.463784107] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051228.503766662] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904212 Long: -76.50277221 -[main_algo-3] [INFO] [1746051228.504028242] [sailbot.main_algo]: Distance to destination: 56.56491512279612 -[vectornav-1] [INFO] [1746051228.505000805] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.202, 0.239, 5.701) -[main_algo-3] [INFO] [1746051228.505185813] [sailbot.main_algo]: Target Bearing: -142.1070944971197 -[main_algo-3] [INFO] [1746051228.506170749] [sailbot.main_algo]: Heading Difference: -168.3909055028803 -[main_algo-3] [INFO] [1746051228.507060753] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051228.507916758] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051228.508778740] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051228.510476468] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051228.545102315] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051228.545885361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051228.546474863] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051228.547858125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051228.548899184] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051228.585330022] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051228.587768067] [sailbot.teensy]: Wind angle: 152 -[trim_sail-4] [INFO] [1746051228.587783648] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051228.588771990] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051228.588990868] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051228.589687879] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051228.590548170] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051228.644602565] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051228.645159953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051228.645878519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051228.646849754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051228.648001896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051228.745089638] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051228.745805179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051228.746591973] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051228.747628773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051228.748193173] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051228.835305914] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051228.837674589] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051228.837947460] [sailbot.teensy]: Wind angle: 152 -[mux-7] [INFO] [1746051228.838549839] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051228.838909201] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051228.839812765] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051228.840696080] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051228.844229764] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051228.844758178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051228.845213857] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051228.846330942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051228.847293788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051228.945244189] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051228.946016234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051228.946809027] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051228.948390050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051228.949799490] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051228.957010484] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051228.957999511] [sailbot.main_algo]: Target Bearing: -142.1070944971197 -[main_algo-3] [INFO] [1746051228.958883003] [sailbot.main_algo]: Heading Difference: -167.6909055028803 -[main_algo-3] [INFO] [1746051228.959736119] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051228.960610971] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051228.961431100] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051228.962412186] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051228.963026742] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051229.002955864] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904215 Long: -76.50277222 -[main_algo-3] [INFO] [1746051229.004360341] [sailbot.main_algo]: Distance to destination: 56.56636796127039 -[vectornav-1] [INFO] [1746051229.004457002] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.44799999999998, -0.042, 4.838) -[main_algo-3] [INFO] [1746051229.005557484] [sailbot.main_algo]: Target Bearing: -142.1039453536339 -[main_algo-3] [INFO] [1746051229.007390107] [sailbot.main_algo]: Heading Difference: -167.6940546463661 -[main_algo-3] [INFO] [1746051229.008389710] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051229.009277388] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051229.010132479] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051229.011871009] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051229.044777110] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051229.045436560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051229.045964706] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051229.047237755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051229.048379406] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051229.085223866] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051229.086930639] [sailbot.teensy]: Wind angle: 152 -[trim_sail-4] [INFO] [1746051229.087642863] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051229.087875235] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051229.088477688] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051229.088799338] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051229.089673556] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051229.145043731] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051229.145778343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051229.146451408] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051229.147866666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051229.148905753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051229.244918404] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051229.245625410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051229.246424225] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051229.247460504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051229.248586228] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051229.335275385] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051229.337176860] [sailbot.teensy]: Wind angle: 152 -[trim_sail-4] [INFO] [1746051229.337626683] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051229.338083045] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051229.338818801] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051229.338959238] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051229.339823530] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051229.344386383] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051229.344931068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051229.345459364] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051229.346610910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051229.347731962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051229.444404529] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051229.444879741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051229.445467767] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051229.446598731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051229.447561389] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051229.456991135] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051229.457976052] [sailbot.main_algo]: Target Bearing: -142.1039453536339 -[main_algo-3] [INFO] [1746051229.458834609] [sailbot.main_algo]: Heading Difference: -166.44805464636613 -[main_algo-3] [INFO] [1746051229.459635818] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051229.460470934] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051229.461254897] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051229.462278521] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051229.462873844] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051229.502648465] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690421 Long: -76.50277244 -[main_algo-3] [INFO] [1746051229.503444115] [sailbot.main_algo]: Distance to destination: 56.54880515915096 -[vectornav-1] [INFO] [1746051229.503887090] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.877999999999986, -0.645, 4.435) -[main_algo-3] [INFO] [1746051229.504517329] [sailbot.main_algo]: Target Bearing: -142.09681142585677 -[main_algo-3] [INFO] [1746051229.505445840] [sailbot.main_algo]: Heading Difference: -166.45518857414322 -[main_algo-3] [INFO] [1746051229.506345623] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051229.507169204] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051229.507951825] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051229.509501401] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051229.544640507] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051229.545342792] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051229.545828531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051229.547268090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051229.548412302] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051229.585371830] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051229.587846445] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051229.588264624] [sailbot.teensy]: Wind angle: 152 -[mux-7] [INFO] [1746051229.588747473] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051229.589492131] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051229.590519376] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051229.591347646] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051229.645104104] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051229.645919904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051229.646583467] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051229.647906224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051229.648804358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051229.745335088] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051229.746026090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051229.746954380] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051229.748507026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051229.749342966] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051229.835293504] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051229.838215797] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051229.838345207] [sailbot.teensy]: Wind angle: 153 -[mux-7] [INFO] [1746051229.838966866] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051229.839306287] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051229.840240374] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051229.841066703] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051229.844332293] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051229.844876934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051229.845466262] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051229.846604075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051229.847654659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051229.945259853] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051229.945898125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051229.947532954] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051229.948375006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051229.949671537] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051229.957067004] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051229.958056917] [sailbot.main_algo]: Target Bearing: -142.09681142585677 -[main_algo-3] [INFO] [1746051229.958983065] [sailbot.main_algo]: Heading Difference: -167.02518857414327 -[main_algo-3] [INFO] [1746051229.959854859] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051229.960753144] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051229.961545203] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051229.962776528] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051229.963214562] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051230.003032297] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904202 Long: -76.50277265 -[main_algo-3] [INFO] [1746051230.003997663] [sailbot.main_algo]: Distance to destination: 56.529789619663646 -[vectornav-1] [INFO] [1746051230.004286193] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.81600000000003, 0.123, 5.481) -[main_algo-3] [INFO] [1746051230.005199308] [sailbot.main_algo]: Target Bearing: -142.0928237974806 -[main_algo-3] [INFO] [1746051230.006177543] [sailbot.main_algo]: Heading Difference: -167.0291762025194 -[main_algo-3] [INFO] [1746051230.007116867] [sailbot.main_algo]: Wind Direction: 153 -[main_algo-3] [INFO] [1746051230.008062246] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051230.009011609] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051230.010729219] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051230.044897785] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051230.045603514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051230.046170091] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051230.047535815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051230.048740869] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051230.085204402] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051230.086836494] [sailbot.teensy]: Wind angle: 153 -[teensy-2] [INFO] [1746051230.087709604] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051230.087328013] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051230.088213970] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051230.088645331] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051230.089499037] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051230.144901336] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051230.145649066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051230.146247785] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051230.147594501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051230.148697614] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051230.246012992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051230.247675515] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051230.248290555] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051230.248953426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051230.249480897] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051230.335412768] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051230.337809301] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051230.338074731] [sailbot.teensy]: Wind angle: 152 -[teensy-2] [INFO] [1746051230.338854739] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051230.338877803] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051230.339269342] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051230.339660731] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051230.344622802] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051230.345099716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051230.345750498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051230.346791952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051230.347842333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051230.445207695] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051230.446090285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051230.446805650] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051230.448320968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051230.449436557] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051230.456984713] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051230.457940223] [sailbot.main_algo]: Target Bearing: -142.0928237974806 -[main_algo-3] [INFO] [1746051230.458834490] [sailbot.main_algo]: Heading Difference: -168.09117620251936 -[main_algo-3] [INFO] [1746051230.459678925] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051230.460493050] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051230.461299378] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051230.462306981] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051230.463397377] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051230.502629027] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904181 Long: -76.50277268 -[main_algo-3] [INFO] [1746051230.503315141] [sailbot.main_algo]: Distance to destination: 56.51322045199323 -[vectornav-1] [INFO] [1746051230.503676476] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.53699999999998, -1.108, 5.509) -[main_algo-3] [INFO] [1746051230.504360890] [sailbot.main_algo]: Target Bearing: -142.10964873447318 -[main_algo-3] [INFO] [1746051230.505270113] [sailbot.main_algo]: Heading Difference: -168.0743512655268 -[main_algo-3] [INFO] [1746051230.506127313] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051230.506953314] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051230.507752314] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051230.509329414] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051230.544881071] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051230.545652311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051230.546471337] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051230.547446145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051230.548623217] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051230.585344540] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051230.587122920] [sailbot.teensy]: Wind angle: 153 -[teensy-2] [INFO] [1746051230.588020169] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051230.587610839] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051230.588888760] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051230.589337506] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051230.589734772] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051230.644617618] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051230.645107566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051230.645714084] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051230.646824389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051230.647838252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051230.745079139] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051230.745797565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051230.746485710] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051230.747784637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051230.748868737] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051230.835387668] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051230.837985132] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051230.838636161] [sailbot.teensy]: Wind angle: 154 -[mux-7] [INFO] [1746051230.838893879] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051230.839912799] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051230.840791617] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051230.841623017] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051230.844419888] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051230.845012970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051230.845496133] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051230.846718526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051230.847759470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051230.945330180] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051230.946104290] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051230.946853843] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051230.948090404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051230.948511907] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051230.957084682] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051230.958131799] [sailbot.main_algo]: Target Bearing: -142.10964873447318 -[main_algo-3] [INFO] [1746051230.959016944] [sailbot.main_algo]: Heading Difference: -166.35335126552684 -[main_algo-3] [INFO] [1746051230.959864556] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051230.960675686] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051230.961492755] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051230.962472852] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051230.963076721] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051231.003218277] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904176 Long: -76.50277257 -[main_algo-3] [INFO] [1746051231.004482359] [sailbot.main_algo]: Distance to destination: 56.516772163670986 -[vectornav-1] [INFO] [1746051231.004574426] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.33800000000002, 0.325, 5.175) -[main_algo-3] [INFO] [1746051231.005620521] [sailbot.main_algo]: Target Bearing: -142.11978801541784 -[main_algo-3] [INFO] [1746051231.006681268] [sailbot.main_algo]: Heading Difference: -166.34321198458218 -[main_algo-3] [INFO] [1746051231.007636149] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051231.008556350] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051231.009413924] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051231.011187363] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051231.044701940] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051231.045704732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051231.046070839] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051231.047489358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051231.048492350] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051231.085009271] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051231.086468858] [sailbot.teensy]: Wind angle: 153 -[trim_sail-4] [INFO] [1746051231.087035192] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051231.087335624] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051231.088229826] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051231.088220969] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051231.089046566] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051231.145297559] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051231.146064386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051231.146794443] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051231.148682852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051231.149872845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051231.244622660] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051231.245214767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051231.245699287] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051231.247027601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051231.248177996] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051231.335067234] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051231.336618594] [sailbot.teensy]: Wind angle: 154 -[trim_sail-4] [INFO] [1746051231.337169558] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051231.337478830] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051231.338301235] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051231.338963962] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051231.339106615] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051231.344407700] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051231.345070252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051231.345535611] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051231.346757712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051231.347777563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051231.444450483] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051231.445154563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051231.445528386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051231.446823386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051231.447732136] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051231.457225572] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051231.458374829] [sailbot.main_algo]: Target Bearing: -142.11978801541784 -[main_algo-3] [INFO] [1746051231.459318835] [sailbot.main_algo]: Heading Difference: -165.54221198458214 -[main_algo-3] [INFO] [1746051231.460252645] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051231.461088753] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051231.461874847] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051231.462902238] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051231.463606410] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051231.503565597] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904184 Long: -76.50277264 -[main_algo-3] [INFO] [1746051231.504593590] [sailbot.main_algo]: Distance to destination: 56.51787227901813 -[vectornav-1] [INFO] [1746051231.504952341] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.08600000000001, -0.992, 4.925) -[main_algo-3] [INFO] [1746051231.506142961] [sailbot.main_algo]: Target Bearing: -142.1091142692749 -[main_algo-3] [INFO] [1746051231.507172756] [sailbot.main_algo]: Heading Difference: -165.55288573072505 -[main_algo-3] [INFO] [1746051231.508079897] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051231.508959156] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051231.509795011] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051231.511545325] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051231.544883033] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051231.545942779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051231.546351197] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051231.547809086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051231.548858728] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051231.585105204] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051231.586758151] [sailbot.teensy]: Wind angle: 154 -[trim_sail-4] [INFO] [1746051231.587078019] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051231.587678118] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051231.588418695] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051231.588533240] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051231.589392050] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051231.644933714] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051231.645749133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051231.646195020] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051231.647637662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051231.648679411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051231.745109507] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051231.746254659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051231.746550270] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051231.748195855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051231.749237465] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051231.835419636] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051231.837340062] [sailbot.teensy]: Wind angle: 154 -[trim_sail-4] [INFO] [1746051231.837644092] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051231.838320335] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051231.839603392] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051231.839142436] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051231.840385574] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051231.844739556] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051231.845294072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051231.846038978] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051231.847074106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051231.848147968] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051231.945111171] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051231.945887407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051231.946537140] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051231.947888550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051231.948917828] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051231.957158760] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051231.958176752] [sailbot.main_algo]: Target Bearing: -142.1091142692749 -[main_algo-3] [INFO] [1746051231.959077903] [sailbot.main_algo]: Heading Difference: -165.80488573072512 -[main_algo-3] [INFO] [1746051231.959961995] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051231.960786957] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051231.961605597] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051231.962623418] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051231.963311180] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051232.003406979] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904179 Long: -76.50277275 -[main_algo-3] [INFO] [1746051232.003834869] [sailbot.main_algo]: Distance to destination: 56.50734662010648 -[vectornav-1] [INFO] [1746051232.004663376] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.37900000000002, 0.312, 5.342) -[main_algo-3] [INFO] [1746051232.004946498] [sailbot.main_algo]: Target Bearing: -142.10773623425433 -[main_algo-3] [INFO] [1746051232.005982367] [sailbot.main_algo]: Heading Difference: -165.80626376574565 -[main_algo-3] [INFO] [1746051232.006882952] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051232.007855290] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051232.008754625] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051232.010353883] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051232.045321280] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051232.046782184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051232.046931673] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051232.048871415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051232.050048803] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051232.085531111] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051232.087251318] [sailbot.teensy]: Wind angle: 154 -[trim_sail-4] [INFO] [1746051232.087538164] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051232.088202230] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051232.089138019] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051232.089584760] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051232.090149785] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051232.144738913] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051232.145786706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051232.145980390] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051232.147608805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051232.148706605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051232.245011727] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051232.245668760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051232.246283514] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051232.247598784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051232.248547663] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051232.335221158] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051232.336868847] [sailbot.teensy]: Wind angle: 154 -[trim_sail-4] [INFO] [1746051232.337352767] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051232.337731561] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051232.338567021] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051232.339091566] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051232.339455868] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051232.344371583] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051232.344931993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051232.345520469] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051232.346611780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051232.347758340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051232.445313399] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051232.445706554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051232.446772433] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051232.447640744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051232.448913086] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051232.457129227] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051232.458275611] [sailbot.main_algo]: Target Bearing: -142.10773623425433 -[main_algo-3] [INFO] [1746051232.459215883] [sailbot.main_algo]: Heading Difference: -165.51326376574565 -[main_algo-3] [INFO] [1746051232.460074010] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051232.461012306] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051232.461846335] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051232.463020215] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051232.463847542] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051232.502622929] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904167 Long: -76.50277285 -[main_algo-3] [INFO] [1746051232.503399364] [sailbot.main_algo]: Distance to destination: 56.492578440202784 -[vectornav-1] [INFO] [1746051232.503720731] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.851999999999975, -0.858, 5.111) -[main_algo-3] [INFO] [1746051232.504498361] [sailbot.main_algo]: Target Bearing: -142.1130168922855 -[main_algo-3] [INFO] [1746051232.505420792] [sailbot.main_algo]: Heading Difference: -165.5079831077145 -[main_algo-3] [INFO] [1746051232.506446345] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051232.507306333] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051232.508111429] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051232.509706227] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051232.544634150] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051232.545223478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051232.545876404] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051232.547199858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051232.548302424] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051232.585086594] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051232.586633583] [sailbot.teensy]: Wind angle: 154 -[teensy-2] [INFO] [1746051232.587484239] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051232.587155267] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051232.588399007] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051232.588660767] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051232.589272271] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051232.644490584] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051232.645062835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051232.646558033] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051232.646862844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051232.647994426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051232.744973409] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051232.745797069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051232.746275477] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051232.747698674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051232.748851260] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051232.835197045] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051232.836958607] [sailbot.teensy]: Wind angle: 154 -[trim_sail-4] [INFO] [1746051232.837702012] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051232.837951882] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051232.838696267] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051232.838866475] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051232.840011481] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051232.844539695] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051232.844950004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051232.845853563] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051232.846878041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051232.847910828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051232.944770082] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051232.945354263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051232.945947428] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051232.947138527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051232.948050170] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051232.957129256] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051232.958074341] [sailbot.main_algo]: Target Bearing: -142.1130168922855 -[main_algo-3] [INFO] [1746051232.958894256] [sailbot.main_algo]: Heading Difference: -165.03498310771454 -[main_algo-3] [INFO] [1746051232.959698161] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051232.960510397] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051232.961306799] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051232.962316835] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051232.963019385] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051233.003264068] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904177 Long: -76.50277317 -[main_algo-3] [INFO] [1746051233.003946895] [sailbot.main_algo]: Distance to destination: 56.47908249938604 -[vectornav-1] [INFO] [1746051233.004669873] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.843999999999994, -0.45, 4.996) -[main_algo-3] [INFO] [1746051233.005200157] [sailbot.main_algo]: Target Bearing: -142.0874871146465 -[main_algo-3] [INFO] [1746051233.006303496] [sailbot.main_algo]: Heading Difference: -165.06051288535355 -[main_algo-3] [INFO] [1746051233.007258442] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051233.008186320] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051233.009089543] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051233.010879341] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051233.045584249] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051233.046192102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051233.047742388] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051233.048339801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051233.049430173] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051233.085338573] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051233.087081112] [sailbot.teensy]: Wind angle: 155 -[trim_sail-4] [INFO] [1746051233.088364822] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051233.088749150] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051233.089826002] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051233.090710883] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051233.091565414] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051233.145175364] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051233.146288496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051233.146833356] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051233.148528099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051233.149601268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051233.245084881] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051233.245842476] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051233.246645457] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051233.247955528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051233.248501438] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051233.335198919] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051233.337569070] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051233.338593587] [sailbot.teensy]: Wind angle: 160 -[mux-7] [INFO] [1746051233.338638873] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051233.339163270] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051233.339529075] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051233.339869257] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051233.344603244] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051233.344995313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051233.345753155] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051233.346661073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051233.347745813] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051233.445047320] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051233.445547810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051233.446408299] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051233.447462088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051233.448679314] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051233.457375613] [sailbot.main_algo]: Wind Direction: 160 -[main_algo-3] [INFO] [1746051233.458464331] [sailbot.main_algo]: Target Bearing: -142.0874871146465 -[main_algo-3] [INFO] [1746051233.459373258] [sailbot.main_algo]: Heading Difference: -165.06851288535347 -[main_algo-3] [INFO] [1746051233.460258819] [sailbot.main_algo]: Wind Direction: 160 -[main_algo-3] [INFO] [1746051233.461142266] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051233.462003295] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051233.463107059] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051233.464080787] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051233.503463561] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904177 Long: -76.50277325 -[main_algo-3] [INFO] [1746051233.504103470] [sailbot.main_algo]: Distance to destination: 56.47396551627635 -[vectornav-1] [INFO] [1746051233.505096179] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.69499999999999, 0.282, 5.537) -[main_algo-3] [INFO] [1746051233.505323438] [sailbot.main_algo]: Target Bearing: -142.0832939360451 -[main_algo-3] [INFO] [1746051233.506320650] [sailbot.main_algo]: Heading Difference: -165.0727060639549 -[main_algo-3] [INFO] [1746051233.507230642] [sailbot.main_algo]: Wind Direction: 160 -[main_algo-3] [INFO] [1746051233.508107695] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051233.508965132] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051233.510904826] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051233.545022364] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051233.545580446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051233.546356239] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051233.547449544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051233.548572184] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051233.585261571] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051233.586817538] [sailbot.teensy]: Wind angle: 164 -[trim_sail-4] [INFO] [1746051233.587430300] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051233.587691601] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051233.588590079] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051233.588653368] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051233.589490393] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051233.645250455] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051233.646038031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051233.646812398] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051233.648265127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051233.649361565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051233.744934707] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051233.745886649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051233.746274899] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051233.747687762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051233.748844823] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051233.835333985] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051233.837113302] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051233.837746573] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051233.838059844] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051233.838926203] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051233.839275580] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051233.839836109] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051233.844410615] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051233.845082678] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051233.845569308] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051233.846819768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051233.847858240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051233.945105712] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051233.945831411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051233.946504629] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051233.947899759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051233.948791367] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051233.957148345] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051233.958182738] [sailbot.main_algo]: Target Bearing: -142.0832939360451 -[main_algo-3] [INFO] [1746051233.959082064] [sailbot.main_algo]: Heading Difference: -165.2217060639549 -[main_algo-3] [INFO] [1746051233.959940955] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051233.960778024] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051233.961588878] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051233.962591273] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051233.963194766] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051234.003489220] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904166 Long: -76.50277294 -[main_algo-3] [INFO] [1746051234.004113266] [sailbot.main_algo]: Distance to destination: 56.48612228661776 -[vectornav-1] [INFO] [1746051234.005190735] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.20799999999997, -1.008, 6.226) -[main_algo-3] [INFO] [1746051234.005572226] [sailbot.main_algo]: Target Bearing: -142.10917985995707 -[main_algo-3] [INFO] [1746051234.006601048] [sailbot.main_algo]: Heading Difference: -165.19582014004294 -[main_algo-3] [INFO] [1746051234.007684549] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051234.008642230] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051234.009574818] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051234.011297807] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051234.045037552] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051234.045744609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051234.046337791] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051234.047568489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051234.048737374] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051234.085380895] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051234.087328534] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051234.088103761] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051234.088264120] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051234.088292054] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051234.089178574] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051234.090047686] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051234.144751118] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051234.145341152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051234.146566164] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051234.147157350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051234.148258682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051234.245241413] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051234.246206509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051234.246869434] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051234.248704665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051234.249394409] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051234.335198299] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051234.337653865] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051234.337811280] [sailbot.teensy]: Wind angle: 165 -[mux-7] [INFO] [1746051234.338618918] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051234.338784803] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051234.339879981] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051234.340798989] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051234.344490053] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051234.344973491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051234.345616078] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051234.346670100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051234.347684503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051234.445071355] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051234.445615153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051234.446428330] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051234.447571097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051234.448825605] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051234.457236883] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051234.458380371] [sailbot.main_algo]: Target Bearing: -142.10917985995707 -[main_algo-3] [INFO] [1746051234.459311551] [sailbot.main_algo]: Heading Difference: -164.68282014004296 -[main_algo-3] [INFO] [1746051234.460336197] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051234.461230459] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051234.462090006] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051234.463370959] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051234.464170341] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051234.502654222] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904164 Long: -76.50277276 -[main_algo-3] [INFO] [1746051234.503633095] [sailbot.main_algo]: Distance to destination: 56.4962454478289 -[vectornav-1] [INFO] [1746051234.503718383] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.476, -0.529, 5.044) -[main_algo-3] [INFO] [1746051234.504701198] [sailbot.main_algo]: Target Bearing: -142.12035930890877 -[main_algo-3] [INFO] [1746051234.505611777] [sailbot.main_algo]: Heading Difference: -164.67164069109128 -[main_algo-3] [INFO] [1746051234.506457185] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051234.507273553] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051234.508050801] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051234.509626572] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051234.544896517] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051234.545571365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051234.546201038] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051234.547414675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051234.548722373] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051234.585176382] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051234.587409671] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051234.588597660] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051234.588642447] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051234.589632695] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051234.590586942] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051234.591430896] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051234.644642095] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051234.645159790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051234.645762509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051234.646808227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051234.647864465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051234.744727194] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051234.745280163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051234.745925298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051234.747045232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051234.748227541] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051234.835060779] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051234.837228185] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051234.837783982] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051234.838414284] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051234.838856216] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051234.839224560] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051234.839585970] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051234.844308860] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051234.844820840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051234.845585560] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051234.846501764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051234.847675488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051234.944611964] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051234.945142401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051234.945717359] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051234.947141680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051234.948224272] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051234.956917810] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051234.957799312] [sailbot.main_algo]: Target Bearing: -142.12035930890877 -[main_algo-3] [INFO] [1746051234.958616776] [sailbot.main_algo]: Heading Difference: -164.40364069109125 -[main_algo-3] [INFO] [1746051234.959380533] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051234.960304384] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051234.961067473] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051234.962029882] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051234.962515347] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051235.003217036] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690419 Long: -76.50277299 -[main_algo-3] [INFO] [1746051235.003631550] [sailbot.main_algo]: Distance to destination: 56.49966774595012 -[vectornav-1] [INFO] [1746051235.004350404] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.35000000000002, 0.66, 5.383) -[main_algo-3] [INFO] [1746051235.004728195] [sailbot.main_algo]: Target Bearing: -142.08552753438488 -[main_algo-3] [INFO] [1746051235.005754586] [sailbot.main_algo]: Heading Difference: -164.43847246561512 -[main_algo-3] [INFO] [1746051235.006719940] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051235.007683666] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051235.008558704] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051235.010388831] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051235.045110403] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051235.045691342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051235.046427021] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051235.047565723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051235.048742963] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051235.085388563] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051235.087339384] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051235.087852600] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051235.088471452] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051235.089007283] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051235.089664253] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051235.091225115] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051235.145043098] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051235.146020365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051235.146387843] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051235.147860874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051235.148908135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051235.244966047] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051235.245735891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051235.246223237] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051235.247645515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051235.248698222] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051235.335570449] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051235.337658602] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051235.338147827] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051235.338577579] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051235.339527347] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051235.339799394] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051235.340763435] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051235.344232039] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051235.344942601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051235.345376592] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051235.347622125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051235.348716131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051235.444768217] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051235.445557403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051235.445968195] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051235.447544857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051235.448284898] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051235.457071141] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051235.458157088] [sailbot.main_algo]: Target Bearing: -142.08552753438488 -[main_algo-3] [INFO] [1746051235.459122701] [sailbot.main_algo]: Heading Difference: -165.5644724656151 -[main_algo-3] [INFO] [1746051235.459923160] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051235.460753464] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051235.461538040] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051235.462553199] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051235.463075506] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051235.502525011] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904167 Long: -76.50277313 -[main_algo-3] [INFO] [1746051235.503406701] [sailbot.main_algo]: Distance to destination: 56.47466388004825 -[vectornav-1] [INFO] [1746051235.503502546] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.334, -1.338, 5.592) -[main_algo-3] [INFO] [1746051235.504605675] [sailbot.main_algo]: Target Bearing: -142.09834904887998 -[main_algo-3] [INFO] [1746051235.506196515] [sailbot.main_algo]: Heading Difference: -165.55165095112 -[main_algo-3] [INFO] [1746051235.507327591] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051235.508220420] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051235.509105803] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051235.510861619] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051235.545153927] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051235.545945591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051235.546586666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051235.548009519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051235.549139719] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051235.585293024] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051235.587314775] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051235.587418163] [sailbot.teensy]: Wind angle: 167 -[teensy-2] [INFO] [1746051235.588361572] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051235.589005063] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051235.589259838] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051235.590099606] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051235.644787497] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051235.645371952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051235.645975494] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051235.647259939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051235.648332510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051235.744808612] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051235.745413823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051235.746036493] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051235.747154389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051235.748084022] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051235.835081591] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051235.836846776] [sailbot.teensy]: Wind angle: 170 -[trim_sail-4] [INFO] [1746051235.837196988] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051235.837704528] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051235.838637616] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051235.839106568] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051235.839744689] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051235.844377383] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051235.844962044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051235.845514946] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051235.846672004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051235.847794388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051235.945523872] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051235.946877690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051235.947185875] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051235.948378438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051235.948866082] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051235.957151597] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051235.958165553] [sailbot.main_algo]: Target Bearing: -142.09834904887998 -[main_algo-3] [INFO] [1746051235.959056140] [sailbot.main_algo]: Heading Difference: -165.56765095112002 -[main_algo-3] [INFO] [1746051235.960118046] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051235.960963103] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051235.961768967] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051235.962908564] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051235.963325863] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051236.003207078] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904168 Long: -76.50277288 -[main_algo-3] [INFO] [1746051236.004073455] [sailbot.main_algo]: Distance to destination: 56.49135631159048 -[main_algo-3] [INFO] [1746051236.005130285] [sailbot.main_algo]: Target Bearing: -142.11056921031386 -[vectornav-1] [INFO] [1746051236.005857287] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.769000000000005, -0.21, 4.681) -[main_algo-3] [INFO] [1746051236.006048109] [sailbot.main_algo]: Heading Difference: -165.55543078968617 -[main_algo-3] [INFO] [1746051236.006985534] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051236.007849126] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051236.008924610] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051236.010528380] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051236.044859874] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051236.046133942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051236.046330957] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051236.048059947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051236.049404761] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051236.085286854] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051236.087183439] [sailbot.teensy]: Wind angle: 170 -[trim_sail-4] [INFO] [1746051236.087670123] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051236.088121646] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051236.089012923] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051236.089162094] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051236.089906154] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051236.145054622] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051236.145597704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051236.146327546] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051236.147596623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051236.148842277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051236.244764408] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051236.245595808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051236.245975772] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051236.247887035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051236.248897749] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051236.335143731] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051236.337359913] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051236.337666729] [sailbot.teensy]: Wind angle: 170 -[teensy-2] [INFO] [1746051236.338797585] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051236.339692170] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051236.339814752] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051236.340578744] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051236.344230307] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051236.344829939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051236.345348504] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051236.346533828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051236.347600416] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051236.444545009] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051236.445183332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051236.445592642] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051236.446916934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051236.448080785] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051236.457031291] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051236.458120408] [sailbot.main_algo]: Target Bearing: -142.11056921031386 -[main_algo-3] [INFO] [1746051236.459040835] [sailbot.main_algo]: Heading Difference: -164.1204307896861 -[main_algo-3] [INFO] [1746051236.459911533] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051236.460799444] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051236.461598115] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051236.462781688] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051236.463328814] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051236.502448674] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904176 Long: -76.50277307 -[main_algo-3] [INFO] [1746051236.503344676] [sailbot.main_algo]: Distance to destination: 56.484781418557105 -[vectornav-1] [INFO] [1746051236.503590623] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.68700000000001, -0.686, 5.718) -[main_algo-3] [INFO] [1746051236.504332157] [sailbot.main_algo]: Target Bearing: -142.0936039633131 -[main_algo-3] [INFO] [1746051236.505219027] [sailbot.main_algo]: Heading Difference: -164.13739603668694 -[main_algo-3] [INFO] [1746051236.506078816] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051236.506901642] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051236.507720640] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051236.509353800] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051236.544674305] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051236.545267394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051236.546045215] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051236.547079195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051236.548142286] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051236.585211458] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051236.586815221] [sailbot.teensy]: Wind angle: 169 -[trim_sail-4] [INFO] [1746051236.587399481] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051236.587748841] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051236.588694169] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051236.589482538] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051236.589540280] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051236.645172710] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051236.645911808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051236.647444650] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051236.648367403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051236.649624768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051236.744914595] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051236.745438871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051236.746284240] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051236.747353229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051236.748476451] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051236.835333446] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051236.837240395] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051236.838218200] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051236.837921976] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051236.839251053] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051236.839329520] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051236.840265970] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051236.844307967] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051236.844867038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051236.845453435] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051236.847307446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051236.848372838] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051236.944966538] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051236.945630963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051236.946363356] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051236.947544585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051236.948083845] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051236.957160416] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051236.958185377] [sailbot.main_algo]: Target Bearing: -142.0936039633131 -[main_algo-3] [INFO] [1746051236.959087231] [sailbot.main_algo]: Heading Difference: -164.21939603668693 -[main_algo-3] [INFO] [1746051236.959962664] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051236.960859036] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051236.961653795] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051236.962654357] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051236.963419608] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051237.002697838] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904207 Long: -76.50277257 -[main_algo-3] [INFO] [1746051237.003556566] [sailbot.main_algo]: Distance to destination: 56.538395835234674 -[vectornav-1] [INFO] [1746051237.003786757] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.29000000000002, -0.337, 6.002) -[main_algo-3] [INFO] [1746051237.004730335] [sailbot.main_algo]: Target Bearing: -142.09263363952664 -[main_algo-3] [INFO] [1746051237.005669381] [sailbot.main_algo]: Heading Difference: -164.22036636047335 -[main_algo-3] [INFO] [1746051237.006530467] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051237.007344912] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051237.008144922] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051237.009902896] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051237.045052342] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051237.045728112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051237.046496368] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051237.047658917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051237.048865621] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051237.085094573] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051237.087036858] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051237.087204572] [sailbot.teensy]: Wind angle: 169 -[teensy-2] [INFO] [1746051237.088072182] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051237.088117282] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051237.088996640] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051237.089882884] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051237.145116303] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051237.145597053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051237.146493679] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051237.147480701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051237.148669883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051237.245170963] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051237.245470696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051237.246569986] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051237.247547706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051237.248798172] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051237.335296667] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051237.338127407] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051237.338855129] [sailbot.teensy]: Wind angle: 175 -[teensy-2] [INFO] [1746051237.339428323] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051237.339469021] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051237.339805430] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051237.340182102] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051237.344399951] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051237.345025434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051237.345590862] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051237.347084573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051237.348106748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051237.445660570] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051237.446493220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051237.447278649] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051237.448920402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051237.450305860] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051237.457156765] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051237.458199375] [sailbot.main_algo]: Target Bearing: -142.09263363952664 -[main_algo-3] [INFO] [1746051237.459090336] [sailbot.main_algo]: Heading Difference: -163.61736636047334 -[main_algo-3] [INFO] [1746051237.459988166] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051237.460889728] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051237.461742759] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051237.462914068] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051237.463541355] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051237.502494184] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904176 Long: -76.50277233 -[vectornav-1] [INFO] [1746051237.503582611] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.96600000000001, 0.533, 5.479) -[main_algo-3] [INFO] [1746051237.503712232] [sailbot.main_algo]: Distance to destination: 56.53213191219479 -[main_algo-3] [INFO] [1746051237.504936843] [sailbot.main_algo]: Target Bearing: -142.13234583475432 -[main_algo-3] [INFO] [1746051237.505845374] [sailbot.main_algo]: Heading Difference: -163.5776541652457 -[main_algo-3] [INFO] [1746051237.506691543] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051237.507523406] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051237.508342278] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051237.510177074] [sailbot.mux]: algo rudder angle: -25 -[teensy-2] [INFO] [1746051237.545716162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051237.545717762] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051237.547084891] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051237.547566318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051237.548797647] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051237.585151823] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051237.587228147] [sailbot.teensy]: Wind angle: 177 -[teensy-2] [INFO] [1746051237.588304374] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051237.588434536] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051237.589044069] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051237.589223095] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051237.590125205] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051237.644803669] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051237.645811140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051237.646122209] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051237.647726233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051237.648676552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051237.745119530] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051237.746157667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051237.746569415] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051237.748388886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051237.749413087] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051237.835366092] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051237.837714651] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051237.838304869] [sailbot.teensy]: Wind angle: 177 -[teensy-2] [INFO] [1746051237.839631812] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051237.839935495] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051237.840958483] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051237.841850516] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051237.844358192] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051237.844818440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051237.845682047] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051237.846520703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051237.847565418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051237.945268160] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051237.945802571] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051237.947833252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051237.947808118] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051237.948902913] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051237.957097663] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051237.958088422] [sailbot.main_algo]: Target Bearing: -142.13234583475432 -[main_algo-3] [INFO] [1746051237.958921879] [sailbot.main_algo]: Heading Difference: -162.90165416524565 -[main_algo-3] [INFO] [1746051237.959782442] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051237.960606367] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051237.961447868] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051237.962452720] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051237.963103178] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051238.003133784] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904194 Long: -76.50277253 -[main_algo-3] [INFO] [1746051238.003693324] [sailbot.main_algo]: Distance to destination: 56.531885498326545 -[vectornav-1] [INFO] [1746051238.004283655] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.52800000000002, -1.279, 4.048) -[main_algo-3] [INFO] [1746051238.004820895] [sailbot.main_algo]: Target Bearing: -142.1061121233203 -[main_algo-3] [INFO] [1746051238.005751153] [sailbot.main_algo]: Heading Difference: -162.92788787667973 -[main_algo-3] [INFO] [1746051238.006726679] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051238.007562970] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051238.008434733] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051238.010253439] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051238.045006566] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051238.045592888] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051238.046379062] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051238.047481045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051238.048701426] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051238.085263534] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051238.087425871] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051238.087534477] [sailbot.teensy]: Wind angle: 177 -[teensy-2] [INFO] [1746051238.088502446] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051238.089351092] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051238.089446263] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051238.090379321] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051238.145273971] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051238.145802000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051238.146928846] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051238.148147913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051238.149367837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051238.244960626] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051238.245362851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051238.246530808] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051238.247254484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051238.248262395] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051238.335094160] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051238.336646751] [sailbot.teensy]: Wind angle: 177 -[trim_sail-4] [INFO] [1746051238.337312353] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051238.338185786] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051238.339582003] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051238.340806024] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051238.341629594] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051238.344222345] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051238.344938487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051238.345226743] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051238.346481032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051238.347520232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051238.444743827] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051238.445318565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051238.446158486] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051238.447110345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051238.448401270] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051238.457062107] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051238.458076929] [sailbot.main_algo]: Target Bearing: -142.1061121233203 -[main_algo-3] [INFO] [1746051238.458952769] [sailbot.main_algo]: Heading Difference: -163.36588787667972 -[main_algo-3] [INFO] [1746051238.459751963] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051238.460584560] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051238.461370044] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051238.462398014] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051238.462982570] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051238.502831749] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904221 Long: -76.50277248 -[main_algo-3] [INFO] [1746051238.503351222] [sailbot.main_algo]: Distance to destination: 56.55392191411464 -[main_algo-3] [INFO] [1746051238.504365391] [sailbot.main_algo]: Target Bearing: -142.08508856188539 -[vectornav-1] [INFO] [1746051238.504681078] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.47500000000002, -0.275, 5.822) -[main_algo-3] [INFO] [1746051238.505259282] [sailbot.main_algo]: Heading Difference: -163.38691143811457 -[main_algo-3] [INFO] [1746051238.506366646] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051238.507266461] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051238.508078294] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051238.509667645] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051238.545196418] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051238.545269453] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051238.546445031] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051238.547039365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051238.548418530] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051238.585252794] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051238.586996993] [sailbot.teensy]: Wind angle: 177 -[trim_sail-4] [INFO] [1746051238.587618898] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051238.587877677] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051238.588812917] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051238.589023118] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051238.589682577] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051238.644763723] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051238.645499478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051238.645999017] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051238.647418513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051238.648501056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051238.744714718] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051238.745282101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051238.745936993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051238.747055360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051238.747999075] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051238.835050031] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051238.837338689] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051238.837417565] [sailbot.teensy]: Wind angle: 177 -[mux-7] [INFO] [1746051238.837616898] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051238.838981495] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051238.839830260] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051238.840733166] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051238.844293162] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051238.844788672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051238.845466979] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051238.846972508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051238.848082238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051238.945403072] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051238.946212098] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051238.946951812] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051238.947880679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051238.948341830] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051238.957084681] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051238.958047452] [sailbot.main_algo]: Target Bearing: -142.08508856188539 -[main_algo-3] [INFO] [1746051238.958929702] [sailbot.main_algo]: Heading Difference: -164.43991143811456 -[main_algo-3] [INFO] [1746051238.959737686] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051238.960545914] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051238.961351128] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051238.962340108] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051238.962944811] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051239.003764571] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904225 Long: -76.50277221 -[main_algo-3] [INFO] [1746051239.004640636] [sailbot.main_algo]: Distance to destination: 56.57398405580878 -[vectornav-1] [INFO] [1746051239.005053987] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.408000000000015, -0.09, 5.881) -[main_algo-3] [INFO] [1746051239.005772360] [sailbot.main_algo]: Target Bearing: -142.09571637635153 -[main_algo-3] [INFO] [1746051239.006827253] [sailbot.main_algo]: Heading Difference: -164.42928362364842 -[main_algo-3] [INFO] [1746051239.007755456] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051239.008684961] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051239.009541002] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051239.011300202] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051239.044989282] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051239.045640322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051239.046377586] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051239.047620300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051239.048845818] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051239.085227961] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051239.086983749] [sailbot.teensy]: Wind angle: 177 -[trim_sail-4] [INFO] [1746051239.087556677] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051239.087890322] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051239.087913287] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051239.088879055] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051239.089869445] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051239.145160716] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051239.145844705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051239.146646637] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051239.147912373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051239.149123671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051239.244982440] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051239.245658554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051239.246617426] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051239.247502297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051239.248708840] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051239.335195858] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051239.337013092] [sailbot.teensy]: Wind angle: 176 -[trim_sail-4] [INFO] [1746051239.337371906] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051239.337932459] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051239.338901003] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051239.339817300] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051239.339943656] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051239.344454010] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051239.345196112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051239.345592144] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051239.346958103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051239.348103789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051239.445450636] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051239.446498434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051239.447374960] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051239.448719076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051239.449807628] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051239.457148357] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051239.458179368] [sailbot.main_algo]: Target Bearing: -142.09571637635153 -[main_algo-3] [INFO] [1746051239.459059715] [sailbot.main_algo]: Heading Difference: -162.49628362364842 -[main_algo-3] [INFO] [1746051239.459910100] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051239.460718681] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051239.461488062] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051239.462452138] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051239.463072986] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051239.502795934] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904229 Long: -76.50277227 -[main_algo-3] [INFO] [1746051239.503715007] [sailbot.main_algo]: Distance to destination: 56.57293692496819 -[vectornav-1] [INFO] [1746051239.503917556] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.512, -0.664, 4.815) -[main_algo-3] [INFO] [1746051239.504815923] [sailbot.main_algo]: Target Bearing: -142.0890770890231 -[main_algo-3] [INFO] [1746051239.505681431] [sailbot.main_algo]: Heading Difference: -162.50292291097685 -[main_algo-3] [INFO] [1746051239.506537324] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051239.507378607] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051239.508186003] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051239.509769278] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051239.544659878] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051239.545270662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051239.545923118] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051239.547137072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051239.548216344] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051239.585131729] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051239.586627862] [sailbot.teensy]: Wind angle: 175 -[teensy-2] [INFO] [1746051239.587503602] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051239.587089463] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051239.587748596] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051239.588342213] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051239.589137915] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051239.644819706] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051239.645369889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051239.646060327] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051239.647488550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051239.648516943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051239.744682959] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051239.745191791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051239.745829168] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051239.746892803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051239.747890336] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051239.835154641] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051239.837190725] [sailbot.teensy]: Wind angle: 175 -[teensy-2] [INFO] [1746051239.838151719] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051239.837227838] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051239.837925602] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051239.838993739] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051239.839356739] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051239.844316165] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051239.845015541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051239.845422466] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051239.846661693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051239.847591779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051239.944695080] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051239.945301625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051239.945935900] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051239.947072674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051239.948025106] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051239.957068557] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051239.958067481] [sailbot.main_algo]: Target Bearing: -142.0890770890231 -[main_algo-3] [INFO] [1746051239.958952185] [sailbot.main_algo]: Heading Difference: -162.39892291097692 -[main_algo-3] [INFO] [1746051239.959753642] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051239.960608596] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051239.961378983] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051239.962370566] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051239.962845793] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051240.002923283] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904257 Long: -76.50277251 -[main_algo-3] [INFO] [1746051240.004074266] [sailbot.main_algo]: Distance to destination: 56.57713530415094 -[vectornav-1] [INFO] [1746051240.004345120] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.11099999999999, -0.339, 5.809) -[main_algo-3] [INFO] [1746051240.005266206] [sailbot.main_algo]: Target Bearing: -142.0520217870187 -[main_algo-3] [INFO] [1746051240.006271437] [sailbot.main_algo]: Heading Difference: -162.4359782129813 -[main_algo-3] [INFO] [1746051240.007227424] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051240.008137749] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051240.009025399] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051240.010706775] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051240.044908670] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051240.045797567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051240.046570211] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051240.047678687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051240.048870672] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051240.085018385] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051240.086665012] [sailbot.teensy]: Wind angle: 175 -[trim_sail-4] [INFO] [1746051240.087602227] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051240.088324511] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051240.088437921] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051240.089291504] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051240.090134310] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051240.144966147] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051240.145592111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051240.146299475] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051240.147676554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051240.148701123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051240.244718632] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051240.245359369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051240.246277906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051240.247149318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051240.248140186] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051240.335413077] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051240.337711472] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051240.338197026] [sailbot.teensy]: Wind angle: 175 -[teensy-2] [INFO] [1746051240.339136120] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051240.339342898] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051240.340041085] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051240.340779829] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051240.344544517] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051240.345255549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051240.345777139] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051240.347154365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051240.348230730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051240.444815476] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051240.445543414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051240.446169909] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051240.447368069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051240.448482654] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051240.457117451] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051240.458149501] [sailbot.main_algo]: Target Bearing: -142.0520217870187 -[main_algo-3] [INFO] [1746051240.459221185] [sailbot.main_algo]: Heading Difference: -163.8369782129813 -[main_algo-3] [INFO] [1746051240.460073783] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051240.460904824] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051240.461687644] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051240.462673670] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051240.463301498] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051240.502747938] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904277 Long: -76.5027725 -[vectornav-1] [INFO] [1746051240.503931522] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.27199999999999, -0.301, 5.267) -[main_algo-3] [INFO] [1746051240.504243377] [sailbot.main_algo]: Distance to destination: 56.59174419951377 -[main_algo-3] [INFO] [1746051240.505645559] [sailbot.main_algo]: Target Bearing: -142.03505951918243 -[main_algo-3] [INFO] [1746051240.506707145] [sailbot.main_algo]: Heading Difference: -163.85394048081758 -[main_algo-3] [INFO] [1746051240.507628191] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051240.508534009] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051240.509396405] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051240.511101386] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051240.545429146] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051240.546382227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051240.547264270] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051240.548413258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051240.549468537] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051240.585158939] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051240.587153612] [sailbot.teensy]: Wind angle: 175 -[trim_sail-4] [INFO] [1746051240.587253861] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051240.588148868] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051240.589067327] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051240.589369534] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051240.589952175] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051240.645229684] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051240.645989557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051240.646924755] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051240.648302869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051240.649482923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051240.745270818] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051240.745651069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051240.746622884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051240.747680102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051240.748921540] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051240.835301723] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051240.837649105] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051240.837984905] [sailbot.teensy]: Wind angle: 175 -[mux-7] [INFO] [1746051240.838184100] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051240.838789032] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051240.839151043] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051240.839486715] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051240.844297086] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051240.845000735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051240.845380905] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051240.846864524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051240.848048399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051240.945349939] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051240.946180509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051240.946899346] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051240.948212893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051240.949380823] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051240.957158000] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051240.958220978] [sailbot.main_algo]: Target Bearing: -142.03505951918243 -[main_algo-3] [INFO] [1746051240.959125561] [sailbot.main_algo]: Heading Difference: -163.69294048081758 -[main_algo-3] [INFO] [1746051240.959987551] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051240.960894865] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051240.961753209] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051240.962794933] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051240.963617999] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051241.003149693] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904298 Long: -76.50277226 -[main_algo-3] [INFO] [1746051241.004344455] [sailbot.main_algo]: Distance to destination: 56.62175535847953 -[vectornav-1] [INFO] [1746051241.004446881] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.53800000000001, -0.162, 5.677) -[main_algo-3] [INFO] [1746051241.005713106] [sailbot.main_algo]: Target Bearing: -142.029274544047 -[main_algo-3] [INFO] [1746051241.006759063] [sailbot.main_algo]: Heading Difference: -163.69872545595297 -[main_algo-3] [INFO] [1746051241.007733575] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051241.008677542] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051241.009558084] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051241.011275246] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051241.044901578] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051241.046076548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051241.046293765] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051241.048438476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051241.049502897] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051241.085475394] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051241.087461980] [sailbot.teensy]: Wind angle: 175 -[trim_sail-4] [INFO] [1746051241.088241202] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051241.088518393] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051241.088705566] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051241.089472518] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051241.090441379] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051241.144749113] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051241.145506463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051241.146014357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051241.147483827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051241.148538417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051241.244728227] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051241.245257180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051241.245869689] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051241.246927782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051241.247879383] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051241.335050231] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051241.337027214] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051241.337303038] [sailbot.teensy]: Wind angle: 175 -[mux-7] [INFO] [1746051241.337731936] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051241.338688982] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051241.339708657] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051241.340576567] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051241.344304456] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051241.344895894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051241.345429669] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051241.346559802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051241.347572305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051241.445181456] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051241.445906977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051241.446669443] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051241.447961695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051241.449206742] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051241.457159850] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051241.458236517] [sailbot.main_algo]: Target Bearing: -142.029274544047 -[main_algo-3] [INFO] [1746051241.459129883] [sailbot.main_algo]: Heading Difference: -162.432725455953 -[main_algo-3] [INFO] [1746051241.460011061] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051241.460907396] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051241.461748765] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051241.462943595] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051241.463575794] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051241.502980231] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904322 Long: -76.50277212 -[main_algo-3] [INFO] [1746051241.503551959] [sailbot.main_algo]: Distance to destination: 56.6474733333444 -[main_algo-3] [INFO] [1746051241.504663791] [sailbot.main_algo]: Target Bearing: -142.01564383246557 -[vectornav-1] [INFO] [1746051241.504994745] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.85500000000002, -0.7, 4.71) -[main_algo-3] [INFO] [1746051241.505616122] [sailbot.main_algo]: Heading Difference: -162.44635616753442 -[main_algo-3] [INFO] [1746051241.506719785] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051241.507557890] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051241.508387514] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051241.510059999] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051241.544632529] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051241.545244388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051241.545882551] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051241.547061212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051241.548003422] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051241.585290522] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051241.586965548] [sailbot.teensy]: Wind angle: 174 -[teensy-2] [INFO] [1746051241.587903200] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051241.587627895] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051241.588862773] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051241.589554963] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051241.589787823] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051241.644755558] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051241.645334328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051241.646112636] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051241.647914653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051241.649077546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051241.744951064] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051241.745787461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051241.746320323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051241.747916807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051241.748962523] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051241.835097096] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051241.836960484] [sailbot.teensy]: Wind angle: 172 -[trim_sail-4] [INFO] [1746051241.837080133] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051241.837875318] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051241.838731252] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051241.839263458] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051241.839597385] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051241.844184767] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051241.845096938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051241.845265056] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051241.847079491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051241.848274445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051241.945140008] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051241.945924942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051241.946633480] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051241.947734365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051241.948269556] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051241.957134340] [sailbot.main_algo]: Wind Direction: 172 -[main_algo-3] [INFO] [1746051241.958180854] [sailbot.main_algo]: Target Bearing: -142.01564383246557 -[main_algo-3] [INFO] [1746051241.959086244] [sailbot.main_algo]: Heading Difference: -162.1293561675344 -[main_algo-3] [INFO] [1746051241.959925574] [sailbot.main_algo]: Wind Direction: 172 -[main_algo-3] [INFO] [1746051241.960742809] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051241.961542220] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051241.962550486] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051241.963148687] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051242.002926417] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904368 Long: -76.50277214 -[main_algo-3] [INFO] [1746051242.004123968] [sailbot.main_algo]: Distance to destination: 56.67835952110634 -[vectornav-1] [INFO] [1746051242.004338332] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.603999999999985, -0.27, 5.704) -[main_algo-3] [INFO] [1746051242.005497048] [sailbot.main_algo]: Target Bearing: -141.9744626169966 -[main_algo-3] [INFO] [1746051242.006474749] [sailbot.main_algo]: Heading Difference: -162.17053738300342 -[main_algo-3] [INFO] [1746051242.007651623] [sailbot.main_algo]: Wind Direction: 172 -[main_algo-3] [INFO] [1746051242.008624007] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051242.009547804] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051242.011261588] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051242.045058101] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051242.046019615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051242.046398495] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051242.047961052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051242.049016856] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051242.086446609] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051242.088018969] [sailbot.teensy]: Wind angle: 170 -[trim_sail-4] [INFO] [1746051242.088488219] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051242.088953642] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051242.089894292] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051242.090550533] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051242.090735317] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051242.144737592] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051242.145408320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051242.146004708] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051242.147287770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051242.148226115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051242.244576826] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051242.245148349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051242.245745351] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051242.246983516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051242.248213659] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051242.335229400] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051242.336786263] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051242.336887703] [sailbot.teensy]: Wind angle: 170 -[teensy-2] [INFO] [1746051242.337307316] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051242.337438092] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051242.337679955] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051242.338094708] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051242.344424544] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051242.344950787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051242.345500404] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051242.346541083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051242.347621164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051242.444703806] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051242.445295686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051242.446031676] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051242.446956931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051242.447991603] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051242.457048710] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051242.458039058] [sailbot.main_algo]: Target Bearing: -141.9744626169966 -[main_algo-3] [INFO] [1746051242.458992336] [sailbot.main_algo]: Heading Difference: -163.4215373830034 -[main_algo-3] [INFO] [1746051242.459809313] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051242.460615675] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051242.461359234] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051242.462427813] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051242.462798513] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051242.502968529] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904377 Long: -76.50277207 -[main_algo-3] [INFO] [1746051242.503511678] [sailbot.main_algo]: Distance to destination: 56.689125729195844 -[vectornav-1] [INFO] [1746051242.504054198] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.76800000000003, 0.025, 6.043) -[main_algo-3] [INFO] [1746051242.504506983] [sailbot.main_algo]: Target Bearing: -141.97028018806643 -[main_algo-3] [INFO] [1746051242.505415296] [sailbot.main_algo]: Heading Difference: -163.42571981193362 -[main_algo-3] [INFO] [1746051242.506277895] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051242.507147636] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051242.507933740] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051242.509535871] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051242.544614169] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051242.545598240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051242.546039653] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051242.547469266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051242.548475998] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051242.585399900] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051242.587357810] [sailbot.teensy]: Wind angle: 170 -[teensy-2] [INFO] [1746051242.588356379] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051242.589238404] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051242.587798084] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051242.589076987] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051242.590177337] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051242.644788154] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051242.645361866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051242.646085064] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051242.647278626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051242.648405525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051242.744724620] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051242.745234252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051242.745892641] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051242.746996243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051242.747943889] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051242.835071295] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051242.837119774] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051242.837417335] [sailbot.teensy]: Wind angle: 170 -[mux-7] [INFO] [1746051242.838172561] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051242.838507526] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051242.839359338] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051242.840204051] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051242.844358396] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051242.844856480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051242.845423685] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051242.846426771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051242.847399323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051242.944777059] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051242.945386230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051242.946195916] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051242.947249245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051242.948460086] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051242.956976723] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051242.957964269] [sailbot.main_algo]: Target Bearing: -141.97028018806643 -[main_algo-3] [INFO] [1746051242.958811962] [sailbot.main_algo]: Heading Difference: -163.26171981193352 -[main_algo-3] [INFO] [1746051242.959640009] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051242.960453394] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051242.961262311] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051242.962271173] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051242.963149067] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051243.002801134] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904374 Long: -76.50277192 -[main_algo-3] [INFO] [1746051243.003758993] [sailbot.main_algo]: Distance to destination: 56.69660667146823 -[vectornav-1] [INFO] [1746051243.003882725] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.75999999999999, -0.425, 4.29) -[main_algo-3] [INFO] [1746051243.004958188] [sailbot.main_algo]: Target Bearing: -141.9807463264036 -[main_algo-3] [INFO] [1746051243.005861198] [sailbot.main_algo]: Heading Difference: -163.25125367359635 -[main_algo-3] [INFO] [1746051243.006745963] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051243.007625768] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051243.008464762] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051243.010062716] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051243.045216391] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051243.045285206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051243.046710796] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051243.048146297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051243.049255726] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051243.085230174] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051243.087326521] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051243.087683746] [sailbot.teensy]: Wind angle: 170 -[mux-7] [INFO] [1746051243.088409683] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051243.088921518] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051243.089770830] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051243.090571043] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051243.144993042] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051243.145661790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051243.146342140] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051243.147566408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051243.148721431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051243.245096485] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051243.245833034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051243.246413005] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051243.247729178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051243.248905013] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051243.335224124] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051243.337526200] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051243.338067993] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051243.338825007] [sailbot.teensy]: Wind angle: 170 -[teensy-2] [INFO] [1746051243.339750214] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051243.340513043] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051243.340888425] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051243.344540454] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051243.344892356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051243.345740070] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051243.346615951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051243.347660431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051243.445021051] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051243.445596270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051243.446293551] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051243.447483356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051243.448031341] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051243.457187682] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051243.458268683] [sailbot.main_algo]: Target Bearing: -141.9807463264036 -[main_algo-3] [INFO] [1746051243.459177198] [sailbot.main_algo]: Heading Difference: -162.2592536735964 -[main_algo-3] [INFO] [1746051243.459998100] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051243.460819582] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051243.461601667] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051243.462601630] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051243.463275046] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051243.503579009] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904376 Long: -76.50277191 -[main_algo-3] [INFO] [1746051243.503891229] [sailbot.main_algo]: Distance to destination: 56.698644218904356 -[vectornav-1] [INFO] [1746051243.505026892] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.706999999999994, -1.21, 4.815) -[main_algo-3] [INFO] [1746051243.505125315] [sailbot.main_algo]: Target Bearing: -141.97952608137595 -[main_algo-3] [INFO] [1746051243.506090339] [sailbot.main_algo]: Heading Difference: -162.26047391862403 -[main_algo-3] [INFO] [1746051243.506977804] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051243.507845455] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051243.508702747] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051243.510571117] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051243.544873639] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051243.545660559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051243.546135139] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051243.547500257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051243.548733793] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051243.585387139] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051243.587684225] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051243.589184329] [sailbot.teensy]: Wind angle: 172 -[mux-7] [INFO] [1746051243.589287930] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051243.590148840] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051243.591065464] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051243.591944616] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051243.644872761] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051243.645682722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051243.646130926] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051243.647548198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051243.648580204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051243.745043171] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051243.745960276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051243.746496849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051243.748062941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051243.749277323] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051243.835304502] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051243.837611142] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051243.839093194] [sailbot.teensy]: Wind angle: 175 -[mux-7] [INFO] [1746051243.839337664] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051243.840070793] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051243.840989000] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051243.841885465] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051243.844342816] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051243.844998377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051243.845444088] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051243.846596168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051243.847649006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051243.944687439] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051243.945341465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051243.946078693] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051243.947152204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051243.948216899] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051243.957062678] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051243.958071328] [sailbot.main_algo]: Target Bearing: -141.97952608137595 -[main_algo-3] [INFO] [1746051243.958965004] [sailbot.main_algo]: Heading Difference: -162.31347391862403 -[main_algo-3] [INFO] [1746051243.959842297] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051243.960703951] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051243.961495521] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051243.962534819] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051243.964029513] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051244.002773940] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904414 Long: -76.50277201 -[main_algo-3] [INFO] [1746051244.003728539] [sailbot.main_algo]: Distance to destination: 56.718849231665395 -[vectornav-1] [INFO] [1746051244.003854253] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.315, 0.852, 5.936) -[main_algo-3] [INFO] [1746051244.005038068] [sailbot.main_algo]: Target Bearing: -141.9411805915859 -[main_algo-3] [INFO] [1746051244.006000368] [sailbot.main_algo]: Heading Difference: -162.35181940841414 -[main_algo-3] [INFO] [1746051244.006954375] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051244.007814057] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051244.008686102] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051244.010444623] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051244.044962806] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051244.045654138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051244.046309600] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051244.047480772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051244.048622543] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051244.085365347] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051244.087263093] [sailbot.teensy]: Wind angle: 179 -[teensy-2] [INFO] [1746051244.088218243] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051244.087725917] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051244.088556660] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051244.089089035] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051244.089990751] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051244.145029894] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051244.145688189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051244.146806335] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051244.147577523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051244.148193159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051244.244713410] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051244.245310111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051244.246252282] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051244.247114270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051244.248079902] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051244.335200159] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051244.337271897] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051244.337730329] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051244.338337309] [sailbot.teensy]: Wind angle: 181 -[teensy-2] [INFO] [1746051244.339793700] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051244.340738806] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051244.341547697] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051244.344258466] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051244.344879277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051244.345410041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051244.346487934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051244.347552298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051244.444764443] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051244.445510791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051244.445992171] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051244.447195187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051244.448342905] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051244.457082418] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051244.458072668] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746051244.459008030] [sailbot.main_algo]: Target Bearing: -141.9411805915859 -[main_algo-3] [INFO] [1746051244.459917665] [sailbot.main_algo]: Heading Difference: -162.74381940841408 -[main_algo-3] [INFO] [1746051244.460783434] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051244.461613140] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051244.462425455] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051244.463513522] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051244.463947626] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051244.502763983] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904402 Long: -76.50277223 -[main_algo-3] [INFO] [1746051244.503780909] [sailbot.main_algo]: Distance to destination: 56.69640590231734 -[vectornav-1] [INFO] [1746051244.503863409] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.726999999999975, -0.715, 5.631) -[main_algo-3] [INFO] [1746051244.504967729] [sailbot.main_algo]: Target Bearing: -141.94011398243205 -[main_algo-3] [INFO] [1746051244.505961877] [sailbot.main_algo]: Heading Difference: -162.74488601756798 -[main_algo-3] [INFO] [1746051244.506880155] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051244.507706083] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051244.508523711] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051244.510139332] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051244.545091501] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051244.545118849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051244.546446972] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051244.546893532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051244.547913615] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051244.585098739] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051244.586546860] [sailbot.teensy]: Wind angle: 181 -[teensy-2] [INFO] [1746051244.587393568] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051244.587050813] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051244.588243054] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051244.588551439] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051244.589058985] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051244.644898446] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051244.645792036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051244.646318147] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051244.647660288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051244.648785143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051244.744717135] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051244.745561248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051244.745891444] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051244.747460698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051244.748562681] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051244.835363812] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051244.837630542] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051244.838945456] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051244.839273877] [sailbot.teensy]: Wind angle: 181 -[teensy-2] [INFO] [1746051244.840219448] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051244.841098667] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051244.841922038] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051244.844298934] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051244.844969449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051244.845319568] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051244.846628292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051244.847641710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051244.945215422] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051244.945801442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051244.946459599] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051244.947590527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051244.948639708] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051244.957209345] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051244.958214088] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746051244.959069444] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051244.960284672] [sailbot.main_algo]: Current Location: (42.4690440221475, -76.50277223005445) -[main_algo-3] [INFO] [1746051244.961139321] [sailbot.main_algo]: Target Bearing: -141.94011398243205 -[main_algo-3] [INFO] [1746051244.961954819] [sailbot.main_algo]: Heading Difference: -162.33288601756794 -[main_algo-3] [INFO] [1746051244.962732450] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051244.963507701] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051244.964282293] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051244.965269855] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051244.966187918] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051245.002527475] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904399 Long: -76.50277209 -[vectornav-1] [INFO] [1746051245.003620137] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.64699999999999, -0.841, 5.439) -[main_algo-3] [INFO] [1746051245.003655066] [sailbot.main_algo]: Distance to destination: 56.703242987091045 -[main_algo-3] [INFO] [1746051245.005097749] [sailbot.main_algo]: Target Bearing: -141.95005918391212 -[main_algo-3] [INFO] [1746051245.006223717] [sailbot.main_algo]: Heading Difference: -162.3229408160879 -[main_algo-3] [INFO] [1746051245.007209067] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051245.008138126] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051245.008993980] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051245.010628113] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051245.044628988] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051245.045268102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051245.045791367] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051245.046962492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051245.048008211] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051245.085044727] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051245.086920575] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051245.087098359] [sailbot.teensy]: Wind angle: 181 -[teensy-2] [INFO] [1746051245.087916365] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051245.088737697] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051245.088855364] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051245.089556640] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051245.144701500] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051245.145238924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051245.145876128] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051245.146912826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051245.148052796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051245.244666477] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051245.245281124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051245.245837263] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051245.247191096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051245.248279222] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051245.335074543] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051245.337206652] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051245.337593277] [sailbot.teensy]: Wind angle: 181 -[mux-7] [INFO] [1746051245.338173040] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051245.339246522] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051245.340143854] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051245.341179123] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051245.344201682] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051245.344672744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051245.345226346] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051245.346252376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051245.347224824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051245.444666779] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051245.445291473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051245.445903252] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051245.447044144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051245.447774112] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051245.456987458] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051245.457905615] [sailbot.main_algo]: Target Bearing: -141.95005918391212 -[main_algo-3] [INFO] [1746051245.458742581] [sailbot.main_algo]: Heading Difference: -161.4029408160879 -[main_algo-3] [INFO] [1746051245.459565488] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051245.460331821] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051245.461082847] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051245.462167338] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051245.462540067] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051245.502872191] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904414 Long: -76.50277222 -[main_algo-3] [INFO] [1746051245.503532436] [sailbot.main_algo]: Distance to destination: 56.70544554646558 -[vectornav-1] [INFO] [1746051245.504366748] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.178, 0.16, 4.897) -[main_algo-3] [INFO] [1746051245.504571656] [sailbot.main_algo]: Target Bearing: -141.93018381000118 -[main_algo-3] [INFO] [1746051245.505433284] [sailbot.main_algo]: Heading Difference: -161.4228161899988 -[main_algo-3] [INFO] [1746051245.506266684] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051245.507092292] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051245.507926002] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051245.509720016] [sailbot.mux]: algo rudder angle: -25 -[teensy-2] [INFO] [1746051245.545311884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051245.545870992] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051245.547033726] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051245.547522458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051245.548564573] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051245.585311863] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051245.587392956] [sailbot.teensy]: Wind angle: 180 -[trim_sail-4] [INFO] [1746051245.587438008] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051245.588309854] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051245.589225716] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051245.589461749] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051245.590128677] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051245.644879519] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051245.645416359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051245.646098556] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051245.647514146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051245.648593490] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051245.744488042] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051245.745235837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051245.746173692] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051245.746960939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051245.747905091] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051245.835110643] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051245.836643100] [sailbot.teensy]: Wind angle: 182 -[teensy-2] [INFO] [1746051245.837445180] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051245.837272924] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051245.837794325] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051245.838251480] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051245.839032888] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051245.844421642] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051245.844885724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051245.845474601] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051245.846443079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051245.847442682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051245.944797755] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051245.945379857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051245.946035251] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051245.947078241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051245.948205535] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051245.956999134] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051245.957989230] [sailbot.main_algo]: Target Bearing: -141.93018381000118 -[main_algo-3] [INFO] [1746051245.958857861] [sailbot.main_algo]: Heading Difference: -161.89181618999885 -[main_algo-3] [INFO] [1746051245.959652003] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051245.960484580] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051245.961276046] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051245.962243932] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051245.962999374] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051246.002754599] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904432 Long: -76.50277218 -[main_algo-3] [INFO] [1746051246.003674580] [sailbot.main_algo]: Distance to destination: 56.72060343620898 -[vectornav-1] [INFO] [1746051246.003856933] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.113999999999976, -1.324, 6.084) -[main_algo-3] [INFO] [1746051246.004824285] [sailbot.main_algo]: Target Bearing: -141.91660400969752 -[main_algo-3] [INFO] [1746051246.005815174] [sailbot.main_algo]: Heading Difference: -161.9053959903025 -[main_algo-3] [INFO] [1746051246.006921978] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051246.007844570] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051246.009006046] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051246.010834876] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051246.044813190] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051246.045294458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051246.046123186] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051246.047142119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051246.048172163] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051246.085209988] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051246.086864226] [sailbot.teensy]: Wind angle: 184 -[trim_sail-4] [INFO] [1746051246.087316311] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051246.087728165] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051246.088424386] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051246.088583907] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051246.089490220] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051246.144685846] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051246.145604606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051246.145886849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051246.147276581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051246.148226043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051246.244703778] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051246.245291703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051246.245937036] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051246.247125318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051246.248201717] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051246.335235706] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051246.337374836] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051246.337787494] [sailbot.teensy]: Wind angle: 184 -[mux-7] [INFO] [1746051246.338425380] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051246.338674599] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051246.339558351] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051246.340432078] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051246.344338044] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051246.344839778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051246.345488273] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051246.346575302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051246.347652133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051246.445020520] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051246.445493408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051246.446333171] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051246.447386664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051246.448425371] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051246.457105622] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051246.458077530] [sailbot.main_algo]: Target Bearing: -141.91660400969752 -[main_algo-3] [INFO] [1746051246.458940801] [sailbot.main_algo]: Heading Difference: -161.96939599030247 -[main_algo-3] [INFO] [1746051246.459754515] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051246.460615031] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051246.461473486] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051246.462502492] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051246.463219901] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051246.502859272] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904464 Long: -76.50277192 -[main_algo-3] [INFO] [1746051246.503404357] [sailbot.main_algo]: Distance to destination: 56.759608338169336 -[vectornav-1] [INFO] [1746051246.503978467] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.80099999999999, 1.151, 5.349) -[main_algo-3] [INFO] [1746051246.504747737] [sailbot.main_algo]: Target Bearing: -141.90237224049747 -[main_algo-3] [INFO] [1746051246.505762140] [sailbot.main_algo]: Heading Difference: -161.98362775950255 -[main_algo-3] [INFO] [1746051246.506619609] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051246.507442816] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051246.508237514] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051246.509851316] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051246.544653039] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051246.545200951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051246.545906267] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051246.546911961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051246.547966029] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051246.585279432] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051246.587423225] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051246.588180958] [sailbot.teensy]: Wind angle: 184 -[mux-7] [INFO] [1746051246.589067987] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051246.589116602] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051246.589966539] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051246.590764611] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051246.644747242] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051246.645347658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051246.645910967] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051246.647206197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051246.648202886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051246.744953509] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051246.746716585] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051246.746926650] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051246.748250524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051246.748759757] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051246.835065298] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051246.837312825] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051246.837618398] [sailbot.teensy]: Wind angle: 182 -[teensy-2] [INFO] [1746051246.838768324] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051246.839195323] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051246.839746996] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051246.840610335] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051246.844322029] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051246.845098295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051246.845355482] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051246.846689615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051246.847648362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051246.944692551] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051246.945264908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051246.946165555] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051246.947317747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051246.948288826] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051246.957045895] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051246.958064387] [sailbot.main_algo]: Target Bearing: -141.90237224049747 -[main_algo-3] [INFO] [1746051246.958928527] [sailbot.main_algo]: Heading Difference: -161.29662775950254 -[main_algo-3] [INFO] [1746051246.959728459] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051246.960548354] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051246.961337924] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051246.962342871] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051246.963104282] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051247.002991008] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904475 Long: -76.50277204 -[vectornav-1] [INFO] [1746051247.004098280] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.894000000000005, -0.837, 4.345) -[main_algo-3] [INFO] [1746051247.004261801] [sailbot.main_algo]: Distance to destination: 56.75966156510822 -[main_algo-3] [INFO] [1746051247.005351210] [sailbot.main_algo]: Target Bearing: -141.88652072165934 -[main_algo-3] [INFO] [1746051247.006285796] [sailbot.main_algo]: Heading Difference: -161.31247927834067 -[main_algo-3] [INFO] [1746051247.007224087] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051247.008094554] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051247.009512156] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051247.011193157] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051247.044604160] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051247.045191263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051247.045768782] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051247.046919965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051247.047937962] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051247.085150746] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051247.087156360] [sailbot.teensy]: Wind angle: 180 -[trim_sail-4] [INFO] [1746051247.087905852] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051247.088805802] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051247.089628232] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051247.090558025] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051247.091535117] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051247.145190771] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051247.145801698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051247.146576906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051247.147733904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051247.148869589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051247.245256419] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051247.245887517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051247.246763367] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051247.247892911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051247.248959476] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051247.335593265] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051247.337640924] [sailbot.teensy]: Wind angle: 176 -[teensy-2] [INFO] [1746051247.338663325] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051247.338720718] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051247.339283632] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051247.339555669] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051247.339660809] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051247.344577772] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051247.345173480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051247.345751811] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051247.346939624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051247.348094586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051247.445512379] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051247.446218986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051247.447094750] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051247.448553647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051247.449842846] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051247.457111588] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051247.458199050] [sailbot.main_algo]: Target Bearing: -141.88652072165934 -[main_algo-3] [INFO] [1746051247.459144981] [sailbot.main_algo]: Heading Difference: -161.21947927834066 -[main_algo-3] [INFO] [1746051247.460026376] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051247.460938421] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051247.461843136] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051247.462988307] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051247.463563548] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051247.502880911] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904493 Long: -76.5027723 -[main_algo-3] [INFO] [1746051247.503991840] [sailbot.main_algo]: Distance to destination: 56.75570074010408 -[vectornav-1] [INFO] [1746051247.504323301] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.372000000000014, -0.766, 5.979) -[main_algo-3] [INFO] [1746051247.505122772] [sailbot.main_algo]: Target Bearing: -141.85724676671802 -[main_algo-3] [INFO] [1746051247.506655670] [sailbot.main_algo]: Heading Difference: -161.24875323328195 -[main_algo-3] [INFO] [1746051247.507654573] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051247.508591214] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051247.509463423] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051247.511150247] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051247.544907389] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051247.545729723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051247.546165948] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051247.547538236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051247.548614517] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051247.585449332] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051247.587720498] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051247.588144432] [sailbot.teensy]: Wind angle: 172 -[teensy-2] [INFO] [1746051247.589358168] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051247.590160697] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051247.590244730] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051247.591111783] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051247.645010860] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051247.645961091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051247.646305722] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051247.647742037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051247.648787400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051247.745210797] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051247.746459806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051247.747306777] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051247.748143745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051247.748615702] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051247.835166355] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051247.836915377] [sailbot.teensy]: Wind angle: 168 -[trim_sail-4] [INFO] [1746051247.837470923] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051247.838606610] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051247.838718884] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051247.839129969] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051247.839497189] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051247.844384787] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051247.844907059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051247.845511368] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051247.846570456] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051247.847758235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051247.945002175] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051247.945675492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051247.946460222] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051247.947809367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051247.948996735] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051247.957254745] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051247.958382141] [sailbot.main_algo]: Target Bearing: -141.85724676671802 -[main_algo-3] [INFO] [1746051247.959319082] [sailbot.main_algo]: Heading Difference: -161.770753233282 -[main_algo-3] [INFO] [1746051247.960232452] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051247.961160920] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051247.962122521] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051247.963376379] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051247.963780362] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051248.002904004] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904499 Long: -76.50277192 -[main_algo-3] [INFO] [1746051248.003804173] [sailbot.main_algo]: Distance to destination: 56.78413762296992 -[vectornav-1] [INFO] [1746051248.004037421] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.728999999999985, 1.08, 4.951) -[main_algo-3] [INFO] [1746051248.004942181] [sailbot.main_algo]: Target Bearing: -141.87194042035705 -[main_algo-3] [INFO] [1746051248.005894915] [sailbot.main_algo]: Heading Difference: -161.75605957964297 -[main_algo-3] [INFO] [1746051248.006806488] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051248.007710407] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051248.008577838] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051248.010339951] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051248.044745159] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051248.045646055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051248.045921265] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051248.047526734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051248.048577095] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051248.085400496] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051248.087627271] [sailbot.teensy]: Wind angle: 169 -[trim_sail-4] [INFO] [1746051248.087725609] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051248.088714201] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051248.089318601] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051248.089644140] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051248.090601301] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051248.145067075] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051248.145864036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051248.146543325] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051248.147834357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051248.148306624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051248.244944825] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051248.246130580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051248.246252887] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051248.248118433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051248.249704945] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051248.335354239] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051248.337568688] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051248.337597738] [sailbot.teensy]: Wind angle: 171 -[teensy-2] [INFO] [1746051248.338523752] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051248.339161413] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051248.339639940] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051248.341047572] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051248.344325050] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051248.345003813] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051248.345665931] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051248.346632048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051248.347757967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051248.444920783] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051248.445541360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051248.446183747] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051248.447312289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051248.448518486] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051248.457317956] [sailbot.main_algo]: Wind Direction: 171 -[main_algo-3] [INFO] [1746051248.458386119] [sailbot.main_algo]: Target Bearing: -141.87194042035705 -[main_algo-3] [INFO] [1746051248.459284879] [sailbot.main_algo]: Heading Difference: -162.399059579643 -[main_algo-3] [INFO] [1746051248.460173850] [sailbot.main_algo]: Wind Direction: 171 -[main_algo-3] [INFO] [1746051248.461046650] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051248.461874529] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051248.462881392] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051248.463811513] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051248.502668360] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690449 Long: -76.50277229 -[vectornav-1] [INFO] [1746051248.503722673] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.012, -1.597, 4.632) -[main_algo-3] [INFO] [1746051248.503782392] [sailbot.main_algo]: Distance to destination: 56.75423452530685 -[main_algo-3] [INFO] [1746051248.504817672] [sailbot.main_algo]: Target Bearing: -141.8603790608415 -[main_algo-3] [INFO] [1746051248.505748848] [sailbot.main_algo]: Heading Difference: -162.41062093915855 -[main_algo-3] [INFO] [1746051248.506658015] [sailbot.main_algo]: Wind Direction: 171 -[main_algo-3] [INFO] [1746051248.507600603] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051248.508484867] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051248.510142043] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051248.544940535] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051248.545620028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051248.546182899] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051248.547512078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051248.548569192] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051248.585188686] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051248.586712979] [sailbot.teensy]: Wind angle: 172 -[teensy-2] [INFO] [1746051248.587614313] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051248.587597400] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051248.588579880] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051248.589258472] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051248.589495508] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051248.645129975] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051248.645763205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051248.646613050] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051248.647746320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051248.648844134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051248.745017266] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051248.746575893] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051248.748743515] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051248.750295432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051248.751155114] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051248.835349934] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051248.837567435] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051248.838660910] [sailbot.teensy]: Wind angle: 172 -[mux-7] [INFO] [1746051248.839164488] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051248.839676985] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051248.840641210] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051248.841457488] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051248.844260105] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051248.844918464] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051248.845428164] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051248.847094443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051248.848298218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051248.945243266] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051248.945788858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051248.946670172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051248.947730538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051248.948776120] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051248.957155469] [sailbot.main_algo]: Wind Direction: 172 -[main_algo-3] [INFO] [1746051248.958161038] [sailbot.main_algo]: Target Bearing: -141.8603790608415 -[main_algo-3] [INFO] [1746051248.959053405] [sailbot.main_algo]: Heading Difference: -160.12762093915853 -[main_algo-3] [INFO] [1746051248.959883059] [sailbot.main_algo]: Wind Direction: 172 -[main_algo-3] [INFO] [1746051248.960702133] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051248.961522556] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051248.962559229] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051248.963169597] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051249.003160969] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904517 Long: -76.50277239 -[main_algo-3] [INFO] [1746051249.003966503] [sailbot.main_algo]: Distance to destination: 56.76679922248223 -[vectornav-1] [INFO] [1746051249.005054205] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.84500000000003, 0.158, 6.445) -[main_algo-3] [INFO] [1746051249.005994352] [sailbot.main_algo]: Target Bearing: -141.83166993184932 -[main_algo-3] [INFO] [1746051249.007223802] [sailbot.main_algo]: Heading Difference: -160.15633006815068 -[main_algo-3] [INFO] [1746051249.008628066] [sailbot.main_algo]: Wind Direction: 172 -[main_algo-3] [INFO] [1746051249.009646605] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051249.010480779] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051249.012080541] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051249.045153893] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051249.045215942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051249.046372176] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051249.047088192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051249.048198734] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051249.085119479] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051249.086651318] [sailbot.teensy]: Wind angle: 173 -[trim_sail-4] [INFO] [1746051249.087190545] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051249.087511962] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051249.088393173] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051249.088875649] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051249.089246674] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051249.144880240] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051249.145576696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051249.146176839] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051249.147496253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051249.148443778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051249.244703231] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051249.245503665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051249.245908919] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051249.247417914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051249.248599626] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051249.335355060] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051249.338307722] [sailbot.teensy]: Wind angle: 174 -[trim_sail-4] [INFO] [1746051249.338600833] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051249.339124043] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051249.339713842] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051249.340104081] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051249.340475569] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051249.344347594] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051249.344887384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051249.345488756] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051249.346785469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051249.347844687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051249.444765256] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051249.445279362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051249.445941595] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051249.446996612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051249.448075397] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051249.457038223] [sailbot.main_algo]: Wind Direction: 174 -[main_algo-3] [INFO] [1746051249.457997121] [sailbot.main_algo]: Target Bearing: -141.83166993184932 -[main_algo-3] [INFO] [1746051249.458907192] [sailbot.main_algo]: Heading Difference: -162.32333006815065 -[main_algo-3] [INFO] [1746051249.459733074] [sailbot.main_algo]: Wind Direction: 174 -[main_algo-3] [INFO] [1746051249.460571969] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051249.461385938] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051249.462399864] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051249.462937782] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051249.503185086] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690453 Long: -76.50277215 -[main_algo-3] [INFO] [1746051249.503506920] [sailbot.main_algo]: Distance to destination: 56.79121684266855 -[main_algo-3] [INFO] [1746051249.504791875] [sailbot.main_algo]: Target Bearing: -141.8329577290233 -[vectornav-1] [INFO] [1746051249.504813525] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.418000000000006, -0.592, 5.113) -[main_algo-3] [INFO] [1746051249.505736207] [sailbot.main_algo]: Heading Difference: -162.32204227097668 -[main_algo-3] [INFO] [1746051249.506604875] [sailbot.main_algo]: Wind Direction: 174 -[main_algo-3] [INFO] [1746051249.507433946] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051249.508220396] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051249.509911564] [sailbot.mux]: algo rudder angle: -25 -[teensy-2] [INFO] [1746051249.545176093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051249.545231554] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051249.546529416] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051249.546867785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051249.548201261] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051249.585299949] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051249.587663593] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051249.589120713] [sailbot.teensy]: Wind angle: 175 -[mux-7] [INFO] [1746051249.589342906] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051249.590021012] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051249.590857941] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051249.591632286] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051249.644770023] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051249.645301673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051249.646005147] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051249.647212315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051249.648194368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051249.744764620] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051249.745264446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051249.746025280] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051249.746995447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051249.747955501] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051249.835134046] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051249.836824875] [sailbot.teensy]: Wind angle: 175 -[trim_sail-4] [INFO] [1746051249.837524115] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051249.837721291] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051249.838563202] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051249.838729408] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051249.839393659] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051249.844249765] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051249.844856759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051249.845268867] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051249.846444372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051249.847355685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051249.944946574] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051249.945716221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051249.946224691] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051249.947688136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051249.948752636] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051249.957241932] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051249.958357263] [sailbot.main_algo]: Target Bearing: -141.8329577290233 -[main_algo-3] [INFO] [1746051249.959323749] [sailbot.main_algo]: Heading Difference: -161.7490422709767 -[main_algo-3] [INFO] [1746051249.960216999] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051249.961066744] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051249.961890015] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051249.962938350] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051249.963658755] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051250.002832765] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904537 Long: -76.50277238 -[main_algo-3] [INFO] [1746051250.003885434] [sailbot.main_algo]: Distance to destination: 56.78147242105793 -[vectornav-1] [INFO] [1746051250.004030991] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.045000000000016, 0.296, 5.437) -[main_algo-3] [INFO] [1746051250.005028130] [sailbot.main_algo]: Target Bearing: -141.81482115189831 -[main_algo-3] [INFO] [1746051250.005990253] [sailbot.main_algo]: Heading Difference: -161.7671788481017 -[main_algo-3] [INFO] [1746051250.006902583] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051250.007799479] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051250.008728412] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051250.010445138] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051250.045252976] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051250.045725251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051250.046942293] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051250.047954558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051250.049155569] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051250.085747387] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051250.088292014] [sailbot.teensy]: Wind angle: 175 -[trim_sail-4] [INFO] [1746051250.088689460] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051250.089318108] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051250.090241830] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051250.091039066] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051250.091110215] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051250.145062349] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051250.145742192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051250.146408589] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051250.147638802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051250.148840156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051250.244875038] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051250.245389620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051250.246133110] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051250.247172546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051250.248116240] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051250.335184658] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051250.337307586] [sailbot.teensy]: Wind angle: 175 -[trim_sail-4] [INFO] [1746051250.337413131] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051250.338608246] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051250.338884647] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051250.339754015] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051250.340263988] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051250.344307761] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051250.344930187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051250.345452217] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051250.346533379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051250.347525411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051250.444693367] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051250.445302795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051250.446125054] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051250.447048273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051250.448140882] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051250.457128577] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051250.458356756] [sailbot.main_algo]: Target Bearing: -141.81482115189831 -[main_algo-3] [INFO] [1746051250.459526219] [sailbot.main_algo]: Heading Difference: -160.14017884810164 -[main_algo-3] [INFO] [1746051250.460450819] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051250.461251801] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051250.462020171] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051250.463047654] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051250.463936489] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051250.502630930] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904544 Long: -76.50277246 -[main_algo-3] [INFO] [1746051250.503495138] [sailbot.main_algo]: Distance to destination: 56.78128939311711 -[vectornav-1] [INFO] [1746051250.503704516] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.281000000000006, -1.314, 5.063) -[main_algo-3] [INFO] [1746051250.504721776] [sailbot.main_algo]: Target Bearing: -141.80454704327843 -[main_algo-3] [INFO] [1746051250.505653001] [sailbot.main_algo]: Heading Difference: -160.15045295672155 -[main_algo-3] [INFO] [1746051250.506562126] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051250.507434908] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051250.508462224] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051250.510486367] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051250.544779041] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051250.545286503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051250.546012697] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051250.547032234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051250.548051716] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051250.585058721] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051250.587217093] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051250.587264356] [sailbot.teensy]: Wind angle: 176 -[mux-7] [INFO] [1746051250.587934505] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051250.588117744] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051250.589431308] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051250.590390727] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051250.644753376] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051250.645268216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051250.645984362] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051250.647057743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051250.648037593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051250.744851247] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051250.745482862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051250.746694100] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051250.747489756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051250.748517848] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051250.835332358] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051250.837553941] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051250.839118143] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051250.839421811] [sailbot.teensy]: Wind angle: 176 -[teensy-2] [INFO] [1746051250.840433989] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051250.841324570] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051250.842841502] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051250.844436651] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051250.845594934] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051250.845681230] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051250.847349574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051250.848423973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051250.944741768] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051250.945306068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051250.945943215] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051250.946992211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051250.948079306] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051250.957022577] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051250.958028017] [sailbot.main_algo]: Target Bearing: -141.80454704327843 -[main_algo-3] [INFO] [1746051250.958889042] [sailbot.main_algo]: Heading Difference: -160.91445295672156 -[main_algo-3] [INFO] [1746051250.959703212] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051250.960528369] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051250.961628607] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051250.962649566] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051250.963516945] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051251.002242004] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904574 Long: -76.50277256 -[main_algo-3] [INFO] [1746051251.003197379] [sailbot.main_algo]: Distance to destination: 56.79598937736153 -[vectornav-1] [INFO] [1746051251.003243274] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.666, 0.406, 5.736) -[main_algo-3] [INFO] [1746051251.004675984] [sailbot.main_algo]: Target Bearing: -141.77326075374063 -[main_algo-3] [INFO] [1746051251.005637255] [sailbot.main_algo]: Heading Difference: -160.94573924625934 -[main_algo-3] [INFO] [1746051251.006477359] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051251.007324186] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051251.008144388] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051251.009759467] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051251.045087774] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051251.045642802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051251.046404956] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051251.047479126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051251.048569278] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051251.085140292] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051251.086850993] [sailbot.teensy]: Wind angle: 175 -[teensy-2] [INFO] [1746051251.087794912] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051251.087441087] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051251.088517892] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051251.088722949] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051251.089625519] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051251.144714631] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051251.145409748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051251.146035233] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051251.147218669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051251.148319178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051251.244797468] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051251.245976126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051251.246009528] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051251.247681862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051251.248628577] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051251.335458773] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051251.337708838] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051251.337728334] [sailbot.teensy]: Wind angle: 177 -[teensy-2] [INFO] [1746051251.338591501] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051251.338773627] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051251.339632864] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051251.340530850] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051251.344298164] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051251.344802949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051251.345335994] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051251.346354363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051251.347427251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051251.444606584] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051251.445645403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051251.445727745] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051251.447362601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051251.448347756] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051251.457064779] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051251.458071802] [sailbot.main_algo]: Target Bearing: -141.77326075374063 -[main_algo-3] [INFO] [1746051251.458981591] [sailbot.main_algo]: Heading Difference: -163.56073924625935 -[main_algo-3] [INFO] [1746051251.459849244] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051251.460687450] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051251.461465542] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051251.462449314] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051251.463160634] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051251.502537165] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904582 Long: -76.50277267 -[main_algo-3] [INFO] [1746051251.503558628] [sailbot.main_algo]: Distance to destination: 56.79460637251811 -[vectornav-1] [INFO] [1746051251.503582562] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.726, -0.492, 3.905) -[main_algo-3] [INFO] [1746051251.504684988] [sailbot.main_algo]: Target Bearing: -141.760547037584 -[main_algo-3] [INFO] [1746051251.505607966] [sailbot.main_algo]: Heading Difference: -163.573452962416 -[main_algo-3] [INFO] [1746051251.506442402] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051251.507318527] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051251.508168441] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051251.509737080] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051251.544654230] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051251.545363289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051251.545962584] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051251.547130392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051251.548189428] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051251.585106521] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051251.586730376] [sailbot.teensy]: Wind angle: 177 -[trim_sail-4] [INFO] [1746051251.587551210] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051251.588257408] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051251.588629083] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051251.589372744] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051251.590185992] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051251.645033392] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051251.646089395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051251.646466817] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051251.649459245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051251.650491423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051251.745016020] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051251.745807216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051251.746304462] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051251.747704165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051251.749057810] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051251.835050605] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051251.837114938] [sailbot.teensy]: Wind angle: 177 -[trim_sail-4] [INFO] [1746051251.837225162] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051251.838122120] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051251.838868726] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051251.838994892] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051251.839838794] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051251.844596635] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051251.845058218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051251.845713690] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051251.846701686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051251.847758415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051251.944767619] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051251.945751420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051251.946362780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051251.947639464] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051251.948409611] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051251.956964426] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051251.957936755] [sailbot.main_algo]: Target Bearing: -141.760547037584 -[main_algo-3] [INFO] [1746051251.958758584] [sailbot.main_algo]: Heading Difference: -162.513452962416 -[main_algo-3] [INFO] [1746051251.959574567] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051251.960580599] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051251.961350885] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051251.962275271] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051251.963195141] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051252.003025731] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904596 Long: -76.50277289 -[main_algo-3] [INFO] [1746051252.004146228] [sailbot.main_algo]: Distance to destination: 56.7904425391686 -[vectornav-1] [INFO] [1746051252.004266890] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.071000000000026, -0.348, 4.767) -[main_algo-3] [INFO] [1746051252.005439068] [sailbot.main_algo]: Target Bearing: -141.73685239024394 -[main_algo-3] [INFO] [1746051252.006767044] [sailbot.main_algo]: Heading Difference: -162.53714760975606 -[main_algo-3] [INFO] [1746051252.007693039] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051252.008575994] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051252.009421816] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051252.011106166] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051252.045240781] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051252.045344232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051252.046456398] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051252.047857333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051252.048868934] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051252.085358014] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051252.087547936] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051252.087936527] [sailbot.teensy]: Wind angle: 176 -[teensy-2] [INFO] [1746051252.088890373] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051252.089701220] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051252.089740694] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051252.090565069] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051252.144880936] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051252.145689046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051252.146154813] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051252.147668074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051252.148672792] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051252.244734454] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051252.245485345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051252.245924921] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051252.247309707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051252.248111349] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051252.335297664] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051252.337484948] [sailbot.teensy]: Wind angle: 175 -[trim_sail-4] [INFO] [1746051252.337636653] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051252.338907801] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051252.339241033] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051252.340266247] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051252.341312301] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051252.344363926] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051252.344842283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051252.345452576] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051252.346591855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051252.347629931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051252.444762355] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051252.445407953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051252.445950164] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051252.447156325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051252.448084628] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051252.456989293] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051252.457929980] [sailbot.main_algo]: Target Bearing: -141.73685239024394 -[main_algo-3] [INFO] [1746051252.458830034] [sailbot.main_algo]: Heading Difference: -162.19214760975603 -[main_algo-3] [INFO] [1746051252.459863436] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051252.460700596] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051252.461508672] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051252.462509659] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051252.463203952] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051252.502985898] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904606 Long: -76.50277298 -[main_algo-3] [INFO] [1746051252.503479299] [sailbot.main_algo]: Distance to destination: 56.791746821582194 -[vectornav-1] [INFO] [1746051252.504227604] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.51600000000002, -0.222, 5.186) -[main_algo-3] [INFO] [1746051252.504538377] [sailbot.main_algo]: Target Bearing: -141.7234528193284 -[main_algo-3] [INFO] [1746051252.505524081] [sailbot.main_algo]: Heading Difference: -162.2055471806716 -[main_algo-3] [INFO] [1746051252.506392778] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051252.507215370] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051252.507991144] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051252.509627781] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051252.544769060] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051252.545355570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051252.546043047] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051252.547096257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051252.548124153] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051252.585232773] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051252.587427840] [sailbot.teensy]: Wind angle: 174 -[trim_sail-4] [INFO] [1746051252.587773441] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051252.588325231] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051252.589060026] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051252.589579779] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051252.590662587] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051252.644498826] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051252.644936201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051252.645566348] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051252.646549258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051252.647894228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051252.744983987] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051252.745456783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051252.746197244] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051252.747193657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051252.748277019] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051252.835019501] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051252.836489831] [sailbot.teensy]: Wind angle: 174 -[trim_sail-4] [INFO] [1746051252.836959101] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051252.837296091] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051252.838112918] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051252.838907425] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051252.838966267] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051252.844461161] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051252.845060876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051252.845577998] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051252.846678525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051252.847754369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051252.944618519] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051252.945116865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051252.945703399] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051252.946750815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051252.947804210] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051252.957006035] [sailbot.main_algo]: Wind Direction: 174 -[main_algo-3] [INFO] [1746051252.957961608] [sailbot.main_algo]: Target Bearing: -141.7234528193284 -[main_algo-3] [INFO] [1746051252.958809061] [sailbot.main_algo]: Heading Difference: -163.76054718067155 -[main_algo-3] [INFO] [1746051252.959633493] [sailbot.main_algo]: Wind Direction: 174 -[main_algo-3] [INFO] [1746051252.960444245] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051252.961221740] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051252.962212664] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051252.962642619] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051253.003096421] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690461 Long: -76.50277309 -[main_algo-3] [INFO] [1746051253.003972010] [sailbot.main_algo]: Distance to destination: 56.787560934405015 -[vectornav-1] [INFO] [1746051253.004667184] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.28699999999998, -0.626, 5.019) -[main_algo-3] [INFO] [1746051253.005343996] [sailbot.main_algo]: Target Bearing: -141.71420518727876 -[main_algo-3] [INFO] [1746051253.006537908] [sailbot.main_algo]: Heading Difference: -163.76979481272122 -[main_algo-3] [INFO] [1746051253.007524710] [sailbot.main_algo]: Wind Direction: 174 -[main_algo-3] [INFO] [1746051253.008455712] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051253.009325211] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051253.011392356] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051253.044705354] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051253.045427591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051253.046107807] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051253.047672951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051253.048714093] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051253.085296616] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051253.086969540] [sailbot.teensy]: Wind angle: 174 -[teensy-2] [INFO] [1746051253.087877024] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051253.087506622] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051253.088729688] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051253.088974015] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051253.089584131] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051253.144706219] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051253.145151932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051253.146030464] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051253.147162487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051253.148056705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051253.245623265] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051253.246391610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051253.247504141] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051253.248961683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051253.250137432] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051253.335498377] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051253.337842203] [sailbot.teensy]: Wind angle: 174 -[trim_sail-4] [INFO] [1746051253.337893134] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051253.338834435] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051253.339520524] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051253.339734841] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051253.340619275] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051253.344488466] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051253.345003996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051253.345948337] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051253.346768163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051253.347873847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051253.445020807] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051253.445610047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051253.446363713] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051253.447441301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051253.448317601] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051253.457180315] [sailbot.main_algo]: Wind Direction: 174 -[main_algo-3] [INFO] [1746051253.458419281] [sailbot.main_algo]: Target Bearing: -141.71420518727876 -[main_algo-3] [INFO] [1746051253.459376253] [sailbot.main_algo]: Heading Difference: -162.99879481272126 -[main_algo-3] [INFO] [1746051253.460237943] [sailbot.main_algo]: Wind Direction: 174 -[main_algo-3] [INFO] [1746051253.461052163] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051253.461865352] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051253.462920358] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051253.463630413] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051253.503269111] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904617 Long: -76.50277335 -[main_algo-3] [INFO] [1746051253.504289401] [sailbot.main_algo]: Distance to destination: 56.77594552085862 -[vectornav-1] [INFO] [1746051253.504394528] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.87900000000002, 0.362, 4.819) -[main_algo-3] [INFO] [1746051253.505364260] [sailbot.main_algo]: Target Bearing: -141.69446983355334 -[main_algo-3] [INFO] [1746051253.506360861] [sailbot.main_algo]: Heading Difference: -163.01853016644668 -[main_algo-3] [INFO] [1746051253.507227175] [sailbot.main_algo]: Wind Direction: 174 -[main_algo-3] [INFO] [1746051253.508026307] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051253.508841357] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051253.510472137] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051253.545496833] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051253.545562690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051253.546803630] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051253.547346504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051253.548636245] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051253.585142897] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051253.586766869] [sailbot.teensy]: Wind angle: 174 -[trim_sail-4] [INFO] [1746051253.587318020] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051253.587686307] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051253.588506402] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051253.588548573] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051253.589506356] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051253.644994797] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051253.645707362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051253.646290615] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051253.648008656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051253.649104426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051253.744820559] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051253.745612463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051253.746191449] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051253.747432677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051253.748549725] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051253.835185979] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051253.837298191] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051253.838012456] [sailbot.teensy]: Wind angle: 174 -[mux-7] [INFO] [1746051253.838757874] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051253.838957908] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051253.840046769] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051253.841048210] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051253.844289199] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051253.844945723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051253.845567402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051253.846581522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051253.847553100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051253.944706884] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051253.945267545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051253.945960305] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051253.947021223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051253.948082278] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051253.956943313] [sailbot.main_algo]: Wind Direction: 174 -[main_algo-3] [INFO] [1746051253.957894439] [sailbot.main_algo]: Target Bearing: -141.69446983355334 -[main_algo-3] [INFO] [1746051253.958720049] [sailbot.main_algo]: Heading Difference: -162.42653016644664 -[main_algo-3] [INFO] [1746051253.959522634] [sailbot.main_algo]: Wind Direction: 174 -[main_algo-3] [INFO] [1746051253.960324809] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051253.961082992] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051253.961999521] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051253.962654912] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051254.002732383] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690462 Long: -76.50277356 -[main_algo-3] [INFO] [1746051254.003607670] [sailbot.main_algo]: Distance to destination: 56.764700581276294 -[vectornav-1] [INFO] [1746051254.003891483] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.072, -1.055, 5.624) -[main_algo-3] [INFO] [1746051254.004880706] [sailbot.main_algo]: Target Bearing: -141.6808247548428 -[main_algo-3] [INFO] [1746051254.005769744] [sailbot.main_algo]: Heading Difference: -162.4401752451572 -[main_algo-3] [INFO] [1746051254.006637351] [sailbot.main_algo]: Wind Direction: 174 -[main_algo-3] [INFO] [1746051254.007497589] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051254.008443997] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051254.010032178] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051254.044743292] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051254.045449410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051254.046192195] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051254.047414406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051254.048719355] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051254.085252099] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051254.087512482] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051254.088183088] [sailbot.teensy]: Wind angle: 174 -[mux-7] [INFO] [1746051254.088852147] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051254.089101374] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051254.089912417] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051254.090692862] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051254.144826347] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051254.145445196] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051254.146004561] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051254.147272860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051254.148233052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051254.244982477] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051254.245779391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051254.246621578] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051254.247632111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051254.248398432] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051254.335266601] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051254.337275610] [sailbot.teensy]: Wind angle: 174 -[trim_sail-4] [INFO] [1746051254.337628778] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051254.338194099] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051254.339044844] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051254.339591316] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051254.339940617] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051254.344301918] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051254.344789150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051254.345412358] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051254.346459434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051254.347635773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051254.444759041] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051254.445281828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051254.446002441] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051254.447151192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051254.448261751] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051254.457038046] [sailbot.main_algo]: Wind Direction: 174 -[main_algo-3] [INFO] [1746051254.458083331] [sailbot.main_algo]: Target Bearing: -141.6808247548428 -[main_algo-3] [INFO] [1746051254.458992641] [sailbot.main_algo]: Heading Difference: -162.24717524515722 -[main_algo-3] [INFO] [1746051254.459874955] [sailbot.main_algo]: Wind Direction: 174 -[main_algo-3] [INFO] [1746051254.460711456] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051254.461525257] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051254.462563367] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051254.463439691] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051254.502834420] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904633 Long: -76.50277354 -[vectornav-1] [INFO] [1746051254.504029560] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.46800000000002, 0.149, 5.41) -[main_algo-3] [INFO] [1746051254.504581810] [sailbot.main_algo]: Distance to destination: 56.775124551827176 -[main_algo-3] [INFO] [1746051254.505910398] [sailbot.main_algo]: Target Bearing: -141.67060720858169 -[main_algo-3] [INFO] [1746051254.507147553] [sailbot.main_algo]: Heading Difference: -162.25739279141828 -[main_algo-3] [INFO] [1746051254.508078868] [sailbot.main_algo]: Wind Direction: 174 -[main_algo-3] [INFO] [1746051254.508975405] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051254.509828918] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051254.511703582] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051254.544929882] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051254.546079001] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051254.546328376] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051254.548141397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051254.549381853] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051254.585232582] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051254.587200071] [sailbot.teensy]: Wind angle: 174 -[teensy-2] [INFO] [1746051254.588105208] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051254.587476443] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051254.589031238] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051254.589229867] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051254.589947355] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051254.645235245] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051254.646256521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051254.646765160] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051254.649195525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051254.650316638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051254.745397244] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051254.746179652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051254.747281651] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051254.748585769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051254.749631458] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051254.835083418] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051254.837166916] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051254.837423013] [sailbot.teensy]: Wind angle: 176 -[mux-7] [INFO] [1746051254.838130666] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051254.838883684] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051254.839336352] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051254.839678642] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051254.844274796] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051254.844775698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051254.845441529] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051254.846494774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051254.847532415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051254.944742860] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051254.945422588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051254.945999281] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051254.947221843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051254.948191788] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051254.956986504] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051254.958010446] [sailbot.main_algo]: Target Bearing: -141.67060720858169 -[main_algo-3] [INFO] [1746051254.958904237] [sailbot.main_algo]: Heading Difference: -162.86139279141833 -[main_algo-3] [INFO] [1746051254.959696318] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051254.960517185] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051254.961360037] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051254.962621902] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051254.963450711] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051255.002101787] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904648 Long: -76.50277353 -[main_algo-3] [INFO] [1746051255.002894316] [sailbot.main_algo]: Distance to destination: 56.78632308023962 -[vectornav-1] [INFO] [1746051255.002959395] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.24400000000003, -0.904, 5.47) -[main_algo-3] [INFO] [1746051255.003762699] [sailbot.main_algo]: Target Bearing: -141.65813444653656 -[main_algo-3] [INFO] [1746051255.004613967] [sailbot.main_algo]: Heading Difference: -162.87386555346342 -[main_algo-3] [INFO] [1746051255.005461240] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051255.006260279] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051255.007069136] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051255.008736038] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051255.044683275] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051255.045270354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051255.045890216] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051255.047301149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051255.048302573] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051255.085228375] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051255.087002967] [sailbot.teensy]: Wind angle: 175 -[teensy-2] [INFO] [1746051255.087916719] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051255.087973147] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051255.088247791] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051255.088774749] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051255.089632623] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051255.144977985] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051255.145634923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051255.146715359] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051255.147532042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051255.148689260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051255.244836755] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051255.245431115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051255.246027029] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051255.247182147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051255.248293666] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051255.335051954] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051255.337198030] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051255.337279002] [sailbot.teensy]: Wind angle: 175 -[teensy-2] [INFO] [1746051255.338140000] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051255.338599184] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051255.338965585] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051255.339764769] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051255.344625548] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051255.344857733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051255.346135942] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051255.346646060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051255.347835178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051255.445657373] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051255.445775178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051255.447753905] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051255.448014357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051255.449107926] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051255.457135140] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051255.458176777] [sailbot.main_algo]: Target Bearing: -141.65813444653656 -[main_algo-3] [INFO] [1746051255.459091116] [sailbot.main_algo]: Heading Difference: -164.0978655534634 -[main_algo-3] [INFO] [1746051255.460001150] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051255.460910712] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051255.461722692] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051255.462915013] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051255.463871698] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051255.502749053] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904671 Long: -76.50277344 -[main_algo-3] [INFO] [1746051255.503822384] [sailbot.main_algo]: Distance to destination: 56.80824516825072 -[vectornav-1] [INFO] [1746051255.503917964] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.124000000000024, -0.087, 3.84) -[main_algo-3] [INFO] [1746051255.504994728] [sailbot.main_algo]: Target Bearing: -141.64294728451006 -[main_algo-3] [INFO] [1746051255.505935122] [sailbot.main_algo]: Heading Difference: -164.1130527154899 -[main_algo-3] [INFO] [1746051255.506828397] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051255.507686802] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051255.508536267] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051255.510123905] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051255.544671534] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051255.545361972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051255.545942619] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051255.547538194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051255.548580344] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051255.585322760] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051255.587199830] [sailbot.teensy]: Wind angle: 174 -[trim_sail-4] [INFO] [1746051255.587574903] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051255.588311684] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051255.589309623] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051255.589643720] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051255.590243473] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051255.644772691] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051255.645555437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051255.645988128] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051255.647373745] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051255.648663112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051255.744856097] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051255.745585693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051255.746047657] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051255.747666935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051255.748888499] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051255.835090917] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051255.837237073] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051255.837759028] [sailbot.teensy]: Wind angle: 170 -[mux-7] [INFO] [1746051255.838597532] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051255.838741000] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051255.839676957] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051255.840560473] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051255.844447713] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051255.844981425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051255.845576264] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051255.846647006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051255.848090795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051255.945129959] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051255.946000051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051255.946880671] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051255.948178852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051255.948714411] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051255.957328100] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051255.958580333] [sailbot.main_algo]: Target Bearing: -141.64294728451006 -[main_algo-3] [INFO] [1746051255.959643689] [sailbot.main_algo]: Heading Difference: -163.23305271548992 -[main_algo-3] [INFO] [1746051255.960553505] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051255.961413463] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051255.962273573] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051255.963379476] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051255.964263282] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051256.002700489] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904675 Long: -76.50277363 -[main_algo-3] [INFO] [1746051256.003721270] [sailbot.main_algo]: Distance to destination: 56.79898807541036 -[vectornav-1] [INFO] [1746051256.003840904] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.846000000000004, 0.158, 5.11) -[main_algo-3] [INFO] [1746051256.005398227] [sailbot.main_algo]: Target Bearing: -141.62948648105743 -[main_algo-3] [INFO] [1746051256.006407419] [sailbot.main_algo]: Heading Difference: -163.24651351894255 -[main_algo-3] [INFO] [1746051256.007311201] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051256.008195543] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051256.009053495] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051256.010728366] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051256.044781342] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051256.045266092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051256.046074082] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051256.047042298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051256.048121515] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051256.084980330] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051256.086426957] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746051256.087244435] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051256.086898494] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051256.088045430] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051256.088388723] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051256.088872975] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051256.144562310] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051256.144998297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051256.146086634] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051256.146958492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051256.148026245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051256.244964725] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051256.245908938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051256.246578473] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051256.247820109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051256.248480412] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051256.335028826] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051256.337046198] [sailbot.teensy]: Wind angle: 156 -[trim_sail-4] [INFO] [1746051256.337226493] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051256.337904912] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051256.338383701] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051256.338743773] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051256.339592752] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051256.344390540] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051256.345009922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051256.345544524] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051256.346680993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051256.347690327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051256.445127702] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051256.445684133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051256.447184491] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051256.447548343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051256.448783731] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051256.457190165] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051256.458335624] [sailbot.main_algo]: Target Bearing: -141.62948648105743 -[main_algo-3] [INFO] [1746051256.459318806] [sailbot.main_algo]: Heading Difference: -165.52451351894257 -[main_algo-3] [INFO] [1746051256.460317895] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051256.461233646] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051256.462351968] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051256.463455806] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051256.464046141] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051256.503113611] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904702 Long: -76.50277388 -[main_algo-3] [INFO] [1746051256.503400638] [sailbot.main_algo]: Distance to destination: 56.80213934613992 -[vectornav-1] [INFO] [1746051256.504102331] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.40699999999998, -0.871, 4.572) -[main_algo-3] [INFO] [1746051256.504520443] [sailbot.main_algo]: Target Bearing: -141.59295259158785 -[main_algo-3] [INFO] [1746051256.505502165] [sailbot.main_algo]: Heading Difference: -165.56104740841215 -[main_algo-3] [INFO] [1746051256.506953694] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051256.507846003] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051256.508674055] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051256.510291495] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051256.545373117] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051256.545387570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051256.546872906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051256.547410624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051256.548566234] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051256.585337385] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051256.587698997] [sailbot.teensy]: Wind angle: 154 -[trim_sail-4] [INFO] [1746051256.587761269] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051256.588787553] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051256.589782060] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051256.589981577] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051256.590715704] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051256.644923644] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051256.645491317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051256.646137125] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051256.647237746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051256.648485463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051256.745390880] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051256.746061297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051256.747002278] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051256.748475373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051256.749757215] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051256.835074306] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051256.836703713] [sailbot.teensy]: Wind angle: 154 -[trim_sail-4] [INFO] [1746051256.837180956] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051256.837582926] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051256.838477104] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051256.839186327] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051256.839225789] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051256.844342075] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051256.845279689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051256.845483527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051256.847071055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051256.848282383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051256.945011329] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051256.945628688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051256.946278261] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051256.947624560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051256.948813695] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051256.957241243] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051256.958660157] [sailbot.main_algo]: Target Bearing: -141.59295259158785 -[main_algo-3] [INFO] [1746051256.959685548] [sailbot.main_algo]: Heading Difference: -165.00004740841217 -[main_algo-3] [INFO] [1746051256.960602430] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051256.961482273] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051256.962304461] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051256.963369042] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051256.963900635] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051257.002488451] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904672 Long: -76.502774 -[main_algo-3] [INFO] [1746051257.003319763] [sailbot.main_algo]: Distance to destination: 56.77336324258943 -[vectornav-1] [INFO] [1746051257.003507717] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.250999999999976, 0.544, 5.347) -[main_algo-3] [INFO] [1746051257.004528054] [sailbot.main_algo]: Target Bearing: -141.61260380489912 -[main_algo-3] [INFO] [1746051257.005957410] [sailbot.main_algo]: Heading Difference: -164.98039619510087 -[main_algo-3] [INFO] [1746051257.006933788] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051257.007867526] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051257.008693764] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051257.010362377] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051257.045023461] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051257.045736017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051257.046300460] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051257.047605644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051257.048691308] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051257.085025252] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051257.086573366] [sailbot.teensy]: Wind angle: 153 -[trim_sail-4] [INFO] [1746051257.087191073] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051257.087529577] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051257.088411774] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051257.088658661] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051257.089535863] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051257.144936580] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051257.145554688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051257.146254029] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051257.147463297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051257.148052822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051257.244657252] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051257.245202700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051257.245899060] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051257.247000733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051257.247949620] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051257.335202852] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051257.337775285] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051257.337848090] [sailbot.teensy]: Wind angle: 154 -[teensy-2] [INFO] [1746051257.339082403] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051257.339557702] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051257.340003812] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051257.340892189] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051257.344257780] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051257.344802083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051257.345384465] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051257.346452264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051257.347437096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051257.444962948] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051257.445768628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051257.446267207] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051257.447727703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051257.448890987] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051257.457044050] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051257.458024543] [sailbot.main_algo]: Target Bearing: -141.61260380489912 -[main_algo-3] [INFO] [1746051257.458870183] [sailbot.main_algo]: Heading Difference: -165.13639619510093 -[main_algo-3] [INFO] [1746051257.459653034] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051257.460496328] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051257.461274150] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051257.462331290] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051257.462780523] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051257.502539642] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904677 Long: -76.50277421 -[main_algo-3] [INFO] [1746051257.503202199] [sailbot.main_algo]: Distance to destination: 56.763547981204354 -[vectornav-1] [INFO] [1746051257.503916736] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.476999999999975, -1.826, 4.24) -[main_algo-3] [INFO] [1746051257.504174301] [sailbot.main_algo]: Target Bearing: -141.5972098258451 -[main_algo-3] [INFO] [1746051257.505113092] [sailbot.main_algo]: Heading Difference: -165.15179017415494 -[main_algo-3] [INFO] [1746051257.505950464] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051257.506786909] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051257.507613550] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051257.509265365] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051257.545040974] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051257.545743849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051257.546315700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051257.547663680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051257.548834812] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051257.585208434] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051257.587309496] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051257.588426702] [sailbot.teensy]: Wind angle: 154 -[mux-7] [INFO] [1746051257.588764767] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051257.589348752] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051257.590175771] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051257.590965466] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051257.645003366] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051257.645741608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051257.646445799] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051257.648040515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051257.649212108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051257.744750754] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051257.745295080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051257.746208756] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051257.747253443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051257.748478821] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051257.835040903] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051257.836589489] [sailbot.teensy]: Wind angle: 152 -[trim_sail-4] [INFO] [1746051257.837248389] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051257.837468499] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051257.838303885] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051257.838952268] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051257.839025597] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051257.844328606] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051257.844958353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051257.845490996] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051257.846727959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051257.847898783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051257.944727091] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051257.945517556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051257.946037211] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051257.947729773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051257.948825446] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051257.956973964] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051257.957940211] [sailbot.main_algo]: Target Bearing: -141.5972098258451 -[main_algo-3] [INFO] [1746051257.958769246] [sailbot.main_algo]: Heading Difference: -163.92579017415494 -[main_algo-3] [INFO] [1746051257.959593654] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051257.960422355] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051257.961275454] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051257.962279630] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051257.963052528] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051258.002640427] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904715 Long: -76.50277436 -[main_algo-3] [INFO] [1746051258.003492940] [sailbot.main_algo]: Distance to destination: 56.78083154205683 -[vectornav-1] [INFO] [1746051258.003848830] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.363999999999976, 1.232, 5.827) -[main_algo-3] [INFO] [1746051258.004574777] [sailbot.main_algo]: Target Bearing: -141.55640891214452 -[main_algo-3] [INFO] [1746051258.005692656] [sailbot.main_algo]: Heading Difference: -163.96659108785548 -[main_algo-3] [INFO] [1746051258.006581864] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051258.007426147] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051258.008244953] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051258.009831376] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051258.044889004] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051258.045528740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051258.046158127] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051258.047292945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051258.048425924] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051258.085295192] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051258.087214807] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746051258.087924742] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051258.088146058] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051258.088679563] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051258.089026460] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051258.089919377] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051258.144761140] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051258.145363036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051258.145952109] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051258.147203003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051258.148343901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051258.244963081] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051258.245654412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051258.246297021] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051258.247844904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051258.248916071] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051258.335077487] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051258.337348394] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051258.338188335] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051258.338735975] [sailbot.teensy]: Wind angle: 152 -[teensy-2] [INFO] [1746051258.339433405] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051258.339779943] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051258.340137781] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051258.344315329] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051258.345163242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051258.345417197] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051258.346942167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051258.347951899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051258.445514350] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051258.446371892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051258.447191570] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051258.449560328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051258.450780602] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051258.457269785] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051258.458376612] [sailbot.main_algo]: Target Bearing: -141.55640891214452 -[main_algo-3] [INFO] [1746051258.459314349] [sailbot.main_algo]: Heading Difference: -167.07959108785553 -[main_algo-3] [INFO] [1746051258.460178768] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051258.461393400] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051258.462284762] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051258.463391943] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051258.464113359] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051258.502697420] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904715 Long: -76.50277433 -[main_algo-3] [INFO] [1746051258.503757199] [sailbot.main_algo]: Distance to destination: 56.78273604123601 -[vectornav-1] [INFO] [1746051258.503825618] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.03399999999999, -0.89, 4.896) -[main_algo-3] [INFO] [1746051258.505037102] [sailbot.main_algo]: Target Bearing: -141.55799068349248 -[main_algo-3] [INFO] [1746051258.506353585] [sailbot.main_algo]: Heading Difference: -167.07800931650752 -[main_algo-3] [INFO] [1746051258.507312080] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051258.508221296] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051258.509074515] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051258.510828372] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051258.544986511] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051258.545752809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051258.546278486] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051258.548518871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051258.549571534] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051258.585471762] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051258.587767199] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051258.589180370] [sailbot.teensy]: Wind angle: 151 -[mux-7] [INFO] [1746051258.589448109] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051258.590247404] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051258.591129113] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051258.591981876] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051258.645105100] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051258.645936083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051258.646541050] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051258.647994236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051258.649072148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051258.745110071] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051258.745977696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051258.747174250] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051258.748343648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051258.748869693] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051258.835088848] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051258.836761510] [sailbot.teensy]: Wind angle: 151 -[trim_sail-4] [INFO] [1746051258.837388613] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051258.837680880] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051258.838329672] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051258.838495894] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051258.839327330] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051258.844372024] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051258.845127537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051258.845681903] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051258.846788908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051258.847789511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051258.944972835] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051258.945808688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051258.946269674] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051258.947682771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051258.948900867] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051258.957093444] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051258.958039217] [sailbot.main_algo]: Target Bearing: -141.55799068349248 -[main_algo-3] [INFO] [1746051258.958863993] [sailbot.main_algo]: Heading Difference: -166.40800931650756 -[main_algo-3] [INFO] [1746051258.959657386] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051258.960484872] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051258.961262708] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051258.962306893] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051258.963195348] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051259.002459857] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904701 Long: -76.5027745 -[vectornav-1] [INFO] [1746051259.003518443] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.45100000000002, 0.01, 4.67) -[main_algo-3] [INFO] [1746051259.003586581] [sailbot.main_algo]: Distance to destination: 56.76206300022933 -[main_algo-3] [INFO] [1746051259.004632283] [sailbot.main_algo]: Target Bearing: -141.56114208344889 -[main_algo-3] [INFO] [1746051259.005562073] [sailbot.main_algo]: Heading Difference: -166.40485791655112 -[main_algo-3] [INFO] [1746051259.007709730] [sailbot.main_algo]: Wind Direction: 151 -[main_algo-3] [INFO] [1746051259.008709466] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051259.009683097] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051259.011772077] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051259.044668495] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051259.045396417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051259.046177078] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051259.047141995] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051259.048131296] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051259.085198169] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051259.087289459] [sailbot.teensy]: Wind angle: 150 -[trim_sail-4] [INFO] [1746051259.087326796] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051259.087993469] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051259.088262473] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051259.089164129] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051259.090022749] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051259.145128614] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051259.145672617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051259.146638719] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051259.147833576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051259.149040955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051259.244972410] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051259.245422541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051259.246236664] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051259.247247671] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051259.248816047] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051259.335359556] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051259.337420672] [sailbot.teensy]: Wind angle: 152 -[trim_sail-4] [INFO] [1746051259.337903289] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051259.338461137] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051259.339422406] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051259.339641645] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051259.340748306] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051259.344358953] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051259.345647013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051259.345698958] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051259.347653689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051259.348708124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051259.444852043] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051259.445677914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051259.446092687] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051259.447656462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051259.448732104] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051259.457159005] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051259.458226800] [sailbot.main_algo]: Target Bearing: -141.56114208344889 -[main_algo-3] [INFO] [1746051259.459137266] [sailbot.main_algo]: Heading Difference: -163.9878579165511 -[main_algo-3] [INFO] [1746051259.460004803] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051259.460892823] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051259.461749529] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051259.462861570] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051259.463678321] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051259.502725830] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904712 Long: -76.50277463 -[vectornav-1] [INFO] [1746051259.503931397] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.24000000000001, -0.753, 3.448) -[main_algo-3] [INFO] [1746051259.503972581] [sailbot.main_algo]: Distance to destination: 56.76157502824037 -[main_algo-3] [INFO] [1746051259.505591043] [sailbot.main_algo]: Target Bearing: -141.54476428467476 -[main_algo-3] [INFO] [1746051259.507296254] [sailbot.main_algo]: Heading Difference: -164.0042357153252 -[main_algo-3] [INFO] [1746051259.508255907] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051259.509121384] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051259.509918777] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051259.511509577] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051259.544730848] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051259.545622022] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051259.546123006] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051259.547525388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051259.548695198] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051259.585004782] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051259.586450128] [sailbot.teensy]: Wind angle: 159 -[trim_sail-4] [INFO] [1746051259.586935073] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051259.587301568] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051259.587635893] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051259.588146128] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051259.589309078] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051259.644740213] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051259.645347228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051259.645975925] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051259.647136979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051259.648126566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051259.744851319] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051259.745456591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051259.746075639] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051259.747221046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051259.748254011] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051259.835182752] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051259.837111541] [sailbot.teensy]: Wind angle: 170 -[teensy-2] [INFO] [1746051259.838042349] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051259.838370808] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051259.839014408] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051259.839693550] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051259.839907816] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051259.844374528] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051259.844956950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051259.845458672] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051259.846662017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051259.847795488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051259.944985192] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051259.945730798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051259.946354631] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051259.948346999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051259.949573268] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051259.957159637] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051259.958254748] [sailbot.main_algo]: Target Bearing: -141.54476428467476 -[main_algo-3] [INFO] [1746051259.959211868] [sailbot.main_algo]: Heading Difference: -163.2152357153252 -[main_algo-3] [INFO] [1746051259.960049300] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051259.960871251] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051259.961758088] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051259.962790141] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051259.963377675] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051260.002891334] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904725 Long: -76.50277496 -[vectornav-1] [INFO] [1746051260.003964324] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.92700000000002, 0.678, 5.515) -[main_algo-3] [INFO] [1746051260.004063344] [sailbot.main_algo]: Distance to destination: 56.74981403583573 -[main_algo-3] [INFO] [1746051260.005111335] [sailbot.main_algo]: Target Bearing: -141.51609794174948 -[main_algo-3] [INFO] [1746051260.006104252] [sailbot.main_algo]: Heading Difference: -163.2439020582505 -[main_algo-3] [INFO] [1746051260.007443828] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051260.008627058] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051260.009541946] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051260.011296696] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051260.045138529] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051260.045830566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051260.046456840] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051260.047716565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051260.048807035] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051260.085102862] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051260.086748213] [sailbot.teensy]: Wind angle: 177 -[trim_sail-4] [INFO] [1746051260.087301839] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051260.087723664] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051260.088692935] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051260.089555219] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051260.089580604] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051260.145038163] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051260.145651845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051260.146438894] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051260.147573296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051260.148665589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051260.244989025] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051260.245472018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051260.246249506] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051260.247324738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051260.248566648] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051260.335318686] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051260.337125225] [sailbot.teensy]: Wind angle: 179 -[teensy-2] [INFO] [1746051260.338086649] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051260.338260066] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051260.339066166] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051260.339941583] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051260.339994011] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051260.344362523] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051260.345018118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051260.345920922] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051260.346782780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051260.347811562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051260.445700723] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051260.445930469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051260.447361398] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051260.448027749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051260.449293088] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051260.457343393] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051260.458517685] [sailbot.main_algo]: Target Bearing: -141.51609794174948 -[main_algo-3] [INFO] [1746051260.459502337] [sailbot.main_algo]: Heading Difference: -164.5569020582505 -[main_algo-3] [INFO] [1746051260.460428262] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051260.461310113] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051260.462322251] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051260.463372916] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051260.464070961] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051260.502758171] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904704 Long: -76.50277504 -[main_algo-3] [INFO] [1746051260.503640889] [sailbot.main_algo]: Distance to destination: 56.72990562534591 -[vectornav-1] [INFO] [1746051260.503850118] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.666, -1.333, 5.421) -[main_algo-3] [INFO] [1746051260.504782703] [sailbot.main_algo]: Target Bearing: -141.53004830072038 -[main_algo-3] [INFO] [1746051260.505916561] [sailbot.main_algo]: Heading Difference: -164.54295169927957 -[main_algo-3] [INFO] [1746051260.506744229] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051260.507575113] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051260.508390822] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051260.509994012] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051260.544642956] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051260.545400119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051260.545880855] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051260.547278211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051260.548468304] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051260.585247518] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051260.587084011] [sailbot.teensy]: Wind angle: 180 -[trim_sail-4] [INFO] [1746051260.587410912] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051260.588739487] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051260.588940375] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051260.589903763] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051260.590687095] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051260.645090609] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051260.646090768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051260.646612359] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051260.647951949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051260.649021059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051260.745657296] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051260.745893039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051260.747212780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051260.748326030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051260.749529341] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051260.835421246] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051260.837815446] [sailbot.teensy]: Wind angle: 180 -[trim_sail-4] [INFO] [1746051260.837916690] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051260.838928117] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051260.839337443] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051260.839567651] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051260.839975405] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051260.844332795] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051260.844821551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051260.845429346] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051260.846532169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051260.847595071] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051260.945021267] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051260.945857314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051260.946348776] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051260.947887726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051260.948667655] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051260.957191839] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051260.958221225] [sailbot.main_algo]: Target Bearing: -141.53004830072038 -[main_algo-3] [INFO] [1746051260.959128601] [sailbot.main_algo]: Heading Difference: -166.80395169927965 -[main_algo-3] [INFO] [1746051260.959930567] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051260.960754377] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051260.961546768] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051260.962571794] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051260.963459702] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051261.003061299] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904704 Long: -76.50277508 -[main_algo-3] [INFO] [1746051261.003651739] [sailbot.main_algo]: Distance to destination: 56.727367321523054 -[vectornav-1] [INFO] [1746051261.004294403] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.52999999999997, 0.307, 4.728) -[main_algo-3] [INFO] [1746051261.004785294] [sailbot.main_algo]: Target Bearing: -141.52793603286474 -[main_algo-3] [INFO] [1746051261.005944481] [sailbot.main_algo]: Heading Difference: -166.8060639671353 -[main_algo-3] [INFO] [1746051261.006912458] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051261.007791277] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051261.008695021] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051261.010300631] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051261.043639266] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051261.043977280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051261.044123646] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051261.044748930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051261.045313820] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051261.084457215] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051261.085246925] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051261.085638829] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051261.086009530] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051261.085486385] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051261.086375232] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051261.086569731] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051261.143616144] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051261.144007681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051261.144101587] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051261.144788076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051261.145311127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051261.243609693] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051261.243955864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051261.244127369] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051261.244715031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051261.245236163] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051261.334419795] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051261.335373409] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051261.336402540] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051261.337403428] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051261.337789944] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051261.338195485] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051261.338590214] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051261.343548029] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051261.343997359] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051261.345187287] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051261.345681423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051261.346190333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051261.443645725] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051261.444113594] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051261.445345709] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051261.445845372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051261.446289225] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051261.456207971] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051261.456660688] [sailbot.main_algo]: Target Bearing: -141.52793603286474 -[main_algo-3] [INFO] [1746051261.457086189] [sailbot.main_algo]: Heading Difference: -166.94206396713525 -[main_algo-3] [INFO] [1746051261.457468624] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051261.457870858] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051261.458257433] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051261.458721131] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051261.459099026] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051261.501286007] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904715 Long: -76.50277521 -[vectornav-1] [INFO] [1746051261.501696567] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.58800000000002, -0.825, 3.921) -[main_algo-3] [INFO] [1746051261.501743975] [sailbot.main_algo]: Distance to destination: 56.72688875608234 -[main_algo-3] [INFO] [1746051261.502326603] [sailbot.main_algo]: Target Bearing: -141.51154794037552 -[main_algo-3] [INFO] [1746051261.502761356] [sailbot.main_algo]: Heading Difference: -166.9584520596245 -[main_algo-3] [INFO] [1746051261.503175378] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051261.503557506] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051261.504055380] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051261.504844519] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051261.543618587] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051261.544089962] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051261.543983591] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051261.544681964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051261.545249328] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051261.584385457] [sailbot.teensy]: Check telemetry callback entered -[mux-7] [INFO] [1746051261.585652118] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051261.585904115] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051261.586294524] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051261.585990504] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051261.586672850] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051261.587068822] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051261.643646860] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051261.643989014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051261.644118093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051261.644733163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051261.645202698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051261.743645081] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051261.744068168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051261.744124267] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051261.744899409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051261.745372536] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051261.834381286] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051261.835709476] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051261.835892688] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051261.836295323] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051261.836201117] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051261.836676029] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051261.837083439] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051261.843542791] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051261.844007071] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051261.843927703] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051261.844640673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051261.845136681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051261.943682220] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051261.944010598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051261.944184536] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051261.944772883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051261.945297284] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051261.956302156] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051261.956765697] [sailbot.main_algo]: Target Bearing: -141.51154794037552 -[main_algo-3] [INFO] [1746051261.957203765] [sailbot.main_algo]: Heading Difference: -166.90045205962446 -[main_algo-3] [INFO] [1746051261.957588708] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051261.957983981] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051261.958382397] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051261.958875589] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051261.959205380] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051262.001347072] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904721 Long: -76.50277527 -[vectornav-1] [INFO] [1746051262.001767701] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.146000000000015, 0.468, 5.076) -[main_algo-3] [INFO] [1746051262.001767074] [sailbot.main_algo]: Distance to destination: 56.727321678009346 -[main_algo-3] [INFO] [1746051262.002245866] [sailbot.main_algo]: Target Bearing: -141.50318527043996 -[main_algo-3] [INFO] [1746051262.002663259] [sailbot.main_algo]: Heading Difference: -166.90881472956005 -[main_algo-3] [INFO] [1746051262.003072625] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051262.003458764] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051262.003878565] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051262.004700669] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051262.043650717] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051262.044071424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051262.044135601] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051262.044899012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051262.045481185] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051262.084483336] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051262.085199076] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051262.085586531] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051262.085580197] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051262.086528530] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051262.088043156] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051262.088473950] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051262.143602683] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051262.143965605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051262.144171993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051262.144721449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051262.145258007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051262.243707381] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051262.244113475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051262.244212031] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051262.245066436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051262.245605392] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051262.334428192] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051262.335130530] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051262.335513314] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051262.335508607] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051262.336551593] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051262.337115357] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051262.337528088] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051262.343564086] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051262.344059834] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051262.345263946] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051262.345779127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051262.346219691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051262.443639847] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051262.444068337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051262.444121223] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051262.444867675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051262.445356246] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051262.456278420] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051262.456742855] [sailbot.main_algo]: Target Bearing: -141.50318527043996 -[main_algo-3] [INFO] [1746051262.457147791] [sailbot.main_algo]: Heading Difference: -167.35081472956006 -[main_algo-3] [INFO] [1746051262.457538427] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051262.457959346] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051262.458357496] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051262.458856700] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051262.459152686] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051262.501363212] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904709 Long: -76.50277511 -[vectornav-1] [INFO] [1746051262.501789921] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.245000000000005, -0.825, 5.935) -[main_algo-3] [INFO] [1746051262.501798575] [sailbot.main_algo]: Distance to destination: 56.72899504965007 -[main_algo-3] [INFO] [1746051262.502267681] [sailbot.main_algo]: Target Bearing: -141.52202339669992 -[main_algo-3] [INFO] [1746051262.502694908] [sailbot.main_algo]: Heading Difference: -167.33197660330006 -[main_algo-3] [INFO] [1746051262.503120033] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051262.503686259] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051262.504079382] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051262.505745192] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051262.543671687] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051262.544057399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051262.544179666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051262.544833872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051262.545300275] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051262.584472895] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051262.585924140] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051262.586692004] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051262.587137277] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051262.587696597] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051262.588339873] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051262.588867073] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051262.643702626] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051262.644063965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051262.644227966] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051262.645291065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051262.645834646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051262.743645119] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051262.744108149] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051262.744001095] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051262.744710690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051262.745262315] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051262.834434024] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051262.835715995] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051262.836071561] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051262.837354259] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051262.837783186] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051262.838172805] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051262.838568277] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051262.843880841] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051262.844075614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051262.845413364] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051262.845687843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051262.846198665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051262.944730864] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051262.945316275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051262.946132013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051262.947132590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051262.948264893] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051262.956887450] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051262.957794296] [sailbot.main_algo]: Target Bearing: -141.52202339669992 -[main_algo-3] [INFO] [1746051262.958627379] [sailbot.main_algo]: Heading Difference: -168.23297660330007 -[main_algo-3] [INFO] [1746051262.959559307] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051262.960396689] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051262.961195762] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051262.962404336] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051262.962823143] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051263.002639681] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904706 Long: -76.50277494 -[main_algo-3] [INFO] [1746051263.003252051] [sailbot.main_algo]: Distance to destination: 56.73766396980798 -[main_algo-3] [INFO] [1746051263.004265076] [sailbot.main_algo]: Target Bearing: -141.53359685555938 -[vectornav-1] [INFO] [1746051263.004287232] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.730999999999995, -0.427, 5.413) -[main_algo-3] [INFO] [1746051263.005258637] [sailbot.main_algo]: Heading Difference: -168.22140314444061 -[main_algo-3] [INFO] [1746051263.006126258] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051263.007001083] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051263.007855144] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051263.009470214] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051263.044869152] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051263.045560055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051263.046107772] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051263.047515069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051263.048553957] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051263.085278649] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051263.087023021] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051263.087922049] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051263.087506916] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051263.088190775] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051263.088781132] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051263.089699073] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051263.145025376] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051263.145781689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051263.146340345] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051263.147900418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051263.149035548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051263.245289966] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051263.246201976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051263.246905203] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051263.247824865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051263.248324201] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051263.335192451] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051263.336793754] [sailbot.teensy]: Wind angle: 180 -[trim_sail-4] [INFO] [1746051263.337567884] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051263.337797282] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051263.338567052] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051263.338734795] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051263.339637489] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051263.344454310] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051263.345020440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051263.345584822] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051263.346729551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051263.347978352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051263.445159390] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051263.446010161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051263.446607755] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051263.448063531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051263.449147186] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051263.457360650] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051263.458466113] [sailbot.main_algo]: Target Bearing: -141.53359685555938 -[main_algo-3] [INFO] [1746051263.459402226] [sailbot.main_algo]: Heading Difference: -167.73540314444062 -[main_algo-3] [INFO] [1746051263.460275117] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051263.461154687] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051263.462009875] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051263.463100146] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051263.463688883] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051263.502573047] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904744 Long: -76.50277486 -[main_algo-3] [INFO] [1746051263.503521820] [sailbot.main_algo]: Distance to destination: 56.76958131619759 -[vectornav-1] [INFO] [1746051263.503563414] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.05099999999999, -0.073, 4.025) -[main_algo-3] [INFO] [1746051263.504609139] [sailbot.main_algo]: Target Bearing: -141.50494282460278 -[main_algo-3] [INFO] [1746051263.505558266] [sailbot.main_algo]: Heading Difference: -167.76405717539723 -[main_algo-3] [INFO] [1746051263.506461639] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051263.507341145] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051263.508197107] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051263.509877679] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051263.544698066] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051263.545355507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051263.546137740] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051263.547138732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051263.548189569] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051263.585303124] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051263.587421357] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051263.587777087] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051263.588837269] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051263.589245435] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051263.589827703] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051263.590694843] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051263.645075993] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051263.645966647] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051263.646591771] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051263.647997048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051263.649131220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051263.744524834] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051263.745046576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051263.745618983] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051263.746765575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051263.747813751] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051263.835250209] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051263.837047527] [sailbot.teensy]: Wind angle: 181 -[trim_sail-4] [INFO] [1746051263.838109746] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051263.838636623] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051263.839113139] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051263.839507973] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051263.839889086] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051263.844525544] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051263.845211955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051263.845663422] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051263.846993953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051263.848108721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051263.945169383] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051263.945938267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051263.946632296] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051263.948131088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051263.949278071] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051263.956931947] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051263.957949757] [sailbot.main_algo]: Target Bearing: -141.50494282460278 -[main_algo-3] [INFO] [1746051263.958842137] [sailbot.main_algo]: Heading Difference: -165.44405717539723 -[main_algo-3] [INFO] [1746051263.959751671] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051263.960734490] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051263.961707532] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051263.963066030] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051263.965861625] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051264.001442014] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904747 Long: -76.50277497 -[main_algo-3] [INFO] [1746051264.001821024] [sailbot.main_algo]: Distance to destination: 56.764723715020885 -[main_algo-3] [INFO] [1746051264.002378557] [sailbot.main_algo]: Target Bearing: -141.49654027130984 -[main_algo-3] [INFO] [1746051264.002848476] [sailbot.main_algo]: Heading Difference: -165.4524597286902 -[vectornav-1] [INFO] [1746051264.003035925] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.531000000000006, -0.24, 5.238) -[main_algo-3] [INFO] [1746051264.003269385] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051264.003683821] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051264.004167673] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051264.004989265] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051264.043662511] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051264.044049890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051264.044166986] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051264.044859226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051264.045437536] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051264.084410713] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051264.085452133] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051264.085506883] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051264.085915288] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051264.086300209] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051264.086683446] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051264.087008993] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051264.143874589] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051264.144324019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051264.144589152] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051264.145423474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051264.146156390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051264.243669302] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051264.243991916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051264.244202830] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051264.244999523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051264.245508556] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051264.334447108] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051264.335478711] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051264.336097025] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051264.337912699] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051264.337438267] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051264.338561757] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051264.339245510] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051264.343950536] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051264.344565415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051264.344807796] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051264.345867405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051264.346772367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051264.443756349] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051264.444032667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051264.444276220] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051264.445449332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051264.445967274] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051264.456314793] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051264.456819288] [sailbot.main_algo]: Target Bearing: -141.49654027130984 -[main_algo-3] [INFO] [1746051264.457247180] [sailbot.main_algo]: Heading Difference: -164.97245972869018 -[main_algo-3] [INFO] [1746051264.457670461] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051264.458090062] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051264.458473562] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051264.458985358] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051264.459381276] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051264.501347898] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904734 Long: -76.50277472 -[vectornav-1] [INFO] [1746051264.501791949] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.32299999999998, -0.993, 6.142) -[main_algo-3] [INFO] [1746051264.501791778] [sailbot.main_algo]: Distance to destination: 56.771398841474074 -[main_algo-3] [INFO] [1746051264.502317920] [sailbot.main_algo]: Target Bearing: -141.5209814491166 -[main_algo-3] [INFO] [1746051264.502755884] [sailbot.main_algo]: Heading Difference: -164.94801855088338 -[main_algo-3] [INFO] [1746051264.503163573] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051264.503563726] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051264.503956479] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051264.504859805] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051264.543675751] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051264.544625487] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051264.545229316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051264.545752787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051264.546270085] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051264.584428954] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051264.585273714] [sailbot.teensy]: Wind angle: 181 -[teensy-2] [INFO] [1746051264.585694681] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051264.585951573] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051264.586095439] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051264.586478912] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051264.587544101] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051264.643947922] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051264.644374513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051264.644715519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051264.645518304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051264.646231698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051264.744769649] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051264.745425055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051264.745929809] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051264.747092927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051264.748049033] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051264.835473189] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051264.837273914] [sailbot.teensy]: Wind angle: 182 -[trim_sail-4] [INFO] [1746051264.837893018] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051264.838406540] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051264.839037657] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051264.840079913] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051264.840987575] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051264.844279282] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051264.844827841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051264.845284837] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051264.846386696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051264.847541786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051264.944953667] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051264.945608555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051264.946194011] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051264.947504232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051264.948539045] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051264.957122014] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051264.958824818] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746051264.959998363] [sailbot.main_algo]: Target Bearing: -141.5209814491166 -[main_algo-3] [INFO] [1746051264.960967771] [sailbot.main_algo]: Heading Difference: -167.15601855088346 -[main_algo-3] [INFO] [1746051264.961787413] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051264.962583231] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051264.963366995] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051264.964382947] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051264.965358330] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051265.002852281] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904738 Long: -76.50277442 -[main_algo-3] [INFO] [1746051265.003760193] [sailbot.main_algo]: Distance to destination: 56.79326054912238 -[vectornav-1] [INFO] [1746051265.003980214] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.807000000000016, 0.785, 4.829) -[main_algo-3] [INFO] [1746051265.004915338] [sailbot.main_algo]: Target Bearing: -141.53334964124136 -[main_algo-3] [INFO] [1746051265.005957485] [sailbot.main_algo]: Heading Difference: -167.1436503587587 -[main_algo-3] [INFO] [1746051265.006872936] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051265.007767453] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051265.008687822] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051265.011595362] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051265.045045077] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051265.045591154] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051265.046256428] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051265.047379204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051265.048394241] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051265.085116045] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051265.086573627] [sailbot.teensy]: Wind angle: 183 -[teensy-2] [INFO] [1746051265.087500906] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051265.087156741] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051265.087702742] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051265.088360118] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051265.089219896] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051265.145054807] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051265.145569226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051265.146406766] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051265.147358363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051265.148355906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051265.244485431] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051265.245541951] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051265.247506484] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051265.249001557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051265.249991189] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051265.335087145] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051265.336601249] [sailbot.teensy]: Wind angle: 184 -[trim_sail-4] [INFO] [1746051265.337284882] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051265.337463817] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051265.338441923] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051265.338478414] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051265.339408481] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051265.344326241] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051265.344978383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051265.345441657] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051265.346732231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051265.347750596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051265.445122882] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051265.445828383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051265.446471513] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051265.447893583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051265.448911828] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051265.456984943] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051265.457925117] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746051265.458840774] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051265.459949920] [sailbot.main_algo]: Current Location: (42.46904738214753, -76.50277442005444) -[main_algo-3] [INFO] [1746051265.460879371] [sailbot.main_algo]: Target Bearing: -141.53334964124136 -[main_algo-3] [INFO] [1746051265.461852439] [sailbot.main_algo]: Heading Difference: -168.65965035875865 -[main_algo-3] [INFO] [1746051265.462662192] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051265.463465731] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051265.464240845] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051265.465243793] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051265.465928694] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051265.502796099] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904759 Long: -76.50277444 -[main_algo-3] [INFO] [1746051265.503736188] [sailbot.main_algo]: Distance to destination: 56.80682352112263 -[vectornav-1] [INFO] [1746051265.503924123] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.920000000000016, -1.473, 4.821) -[main_algo-3] [INFO] [1746051265.504951756] [sailbot.main_algo]: Target Bearing: -141.51413921199412 -[main_algo-3] [INFO] [1746051265.505990018] [sailbot.main_algo]: Heading Difference: -168.67886078800586 -[main_algo-3] [INFO] [1746051265.507054510] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051265.508005807] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051265.508927123] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051265.510608217] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051265.544902056] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051265.545572532] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051265.546133364] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051265.547467695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051265.548616920] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051265.585184322] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051265.586813405] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051265.587758664] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051265.587881842] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051265.588627256] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051265.589485849] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051265.590033700] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051265.645297347] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051265.645679825] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051265.646829766] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051265.647587691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051265.648707239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051265.745008407] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051265.745698657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051265.746300291] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051265.747530973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051265.748685969] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051265.835457995] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051265.838003171] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051265.838385891] [sailbot.teensy]: Wind angle: 184 -[mux-7] [INFO] [1746051265.838537523] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051265.838982106] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051265.839359184] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051265.839694838] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051265.844365282] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051265.845015415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051265.845661289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051265.846733976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051265.847734965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051265.945184599] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051265.946042211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051265.946742561] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051265.947871150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051265.948325081] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051265.957200616] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051265.958265278] [sailbot.main_algo]: Target Bearing: -141.51413921199412 -[main_algo-3] [INFO] [1746051265.959164042] [sailbot.main_algo]: Heading Difference: -168.56586078800586 -[main_algo-3] [INFO] [1746051265.960030421] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051265.960904320] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051265.961758654] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051265.962825846] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051265.963514940] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051266.002772632] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904757 Long: -76.502774 -[main_algo-3] [INFO] [1746051266.003719649] [sailbot.main_algo]: Distance to destination: 56.833331396710285 -[vectornav-1] [INFO] [1746051266.003903434] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.639999999999986, 0.968, 5.287) -[main_algo-3] [INFO] [1746051266.004840698] [sailbot.main_algo]: Target Bearing: -141.5390664810525 -[main_algo-3] [INFO] [1746051266.005795022] [sailbot.main_algo]: Heading Difference: -168.5409335189475 -[main_algo-3] [INFO] [1746051266.006673789] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051266.007556230] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051266.008463860] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051266.010035772] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051266.044969868] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051266.045639119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051266.046315234] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051266.047516086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051266.048690970] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051266.085173516] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051266.087318313] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051266.088644341] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051266.087516810] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051266.087777755] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051266.089644130] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051266.090494515] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051266.145146641] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051266.146136786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051266.146613010] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051266.148435298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051266.149560373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051266.245236851] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051266.246025645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051266.246563851] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051266.248174562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051266.248926393] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051266.335495955] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051266.337740014] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051266.338092652] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051266.338280047] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051266.338685327] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051266.339591968] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051266.340501035] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051266.344464445] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051266.344918933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051266.345895294] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051266.346613066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051266.347726979] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051266.445105955] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051266.445700606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051266.446480835] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051266.447703709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051266.448720348] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051266.457165576] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051266.458230320] [sailbot.main_algo]: Target Bearing: -141.5390664810525 -[main_algo-3] [INFO] [1746051266.459133219] [sailbot.main_algo]: Heading Difference: -169.82093351894753 -[main_algo-3] [INFO] [1746051266.460073441] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051266.460954451] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051266.461815431] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051266.462816047] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051266.463348188] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051266.502676609] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904752 Long: -76.5027739 -[vectornav-1] [INFO] [1746051266.504087301] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.80200000000002, -1.484, 4.75) -[main_algo-3] [INFO] [1746051266.505413751] [sailbot.main_algo]: Distance to destination: 56.836148576869604 -[main_algo-3] [INFO] [1746051266.506411964] [sailbot.main_algo]: Target Bearing: -141.54865697912786 -[main_algo-3] [INFO] [1746051266.507321389] [sailbot.main_algo]: Heading Difference: -169.8113430208722 -[main_algo-3] [INFO] [1746051266.508199022] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051266.509057817] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051266.509845212] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051266.511472727] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051266.545174671] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051266.545793506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051266.546643346] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051266.547744323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051266.548786931] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051266.585422917] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051266.587203714] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051266.588129807] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051266.587760294] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051266.588535313] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051266.589056302] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051266.589906964] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051266.644551507] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051266.645138884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051266.645635549] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051266.646852330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051266.647964096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051266.744863016] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051266.745622003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051266.746450562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051266.747430818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051266.748491717] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051266.835308069] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051266.837580384] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051266.838340613] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051266.838387005] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051266.839347436] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051266.840224879] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051266.841060126] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051266.844283377] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051266.844851543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051266.845334075] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051266.846690839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051266.847663011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051266.944569543] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051266.945188840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051266.945725906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051266.946896533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051266.947929474] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051266.957176811] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051266.958234743] [sailbot.main_algo]: Target Bearing: -141.54865697912786 -[main_algo-3] [INFO] [1746051266.959141394] [sailbot.main_algo]: Heading Difference: -167.64934302087215 -[main_algo-3] [INFO] [1746051266.959992603] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051266.960881266] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051266.961701488] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051266.962694742] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051266.963296428] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051267.001411218] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904751 Long: -76.50277341 -[main_algo-3] [INFO] [1746051267.001846783] [sailbot.main_algo]: Distance to destination: 56.866551809639816 -[vectornav-1] [INFO] [1746051267.001855605] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.58100000000002, -0.201, 5.32) -[main_algo-3] [INFO] [1746051267.002323416] [sailbot.main_algo]: Target Bearing: -141.57532257771564 -[main_algo-3] [INFO] [1746051267.002756083] [sailbot.main_algo]: Heading Difference: -167.62267742228437 -[main_algo-3] [INFO] [1746051267.003169218] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051267.003570526] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051267.003959540] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051267.004902375] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051267.043786005] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051267.044126090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051267.044400734] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051267.045038575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051267.045584106] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051267.085097605] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051267.086562153] [sailbot.teensy]: Wind angle: 181 -[teensy-2] [INFO] [1746051267.087440014] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051267.087322795] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051267.088091510] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051267.088288251] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051267.089235191] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051267.145128934] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051267.145802864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051267.146548933] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051267.147729649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051267.148787982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051267.245481075] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051267.245820249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051267.246899877] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051267.247884686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051267.249076960] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051267.335179578] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051267.337344339] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051267.337547524] [sailbot.teensy]: Wind angle: 181 -[teensy-2] [INFO] [1746051267.338419993] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051267.338441251] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051267.339347799] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051267.340239516] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051267.344384645] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051267.344978437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051267.345584540] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051267.346725918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051267.347777746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051267.445171059] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051267.445781122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051267.447114634] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051267.447894635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051267.449000157] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051267.457176454] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051267.458222535] [sailbot.main_algo]: Target Bearing: -141.57532257771564 -[main_algo-3] [INFO] [1746051267.459145419] [sailbot.main_algo]: Heading Difference: -167.84367742228437 -[main_algo-3] [INFO] [1746051267.460021408] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051267.460863168] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051267.461648448] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051267.462606348] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051267.463201824] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051267.502676152] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904751 Long: -76.5027728 -[main_algo-3] [INFO] [1746051267.503665069] [sailbot.main_algo]: Distance to destination: 56.9052956107063 -[vectornav-1] [INFO] [1746051267.503776189] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.93700000000001, 0.671, 4.664) -[main_algo-3] [INFO] [1746051267.504948778] [sailbot.main_algo]: Target Bearing: -141.60740311466836 -[main_algo-3] [INFO] [1746051267.506698084] [sailbot.main_algo]: Heading Difference: -167.8115968853316 -[main_algo-3] [INFO] [1746051267.507638094] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051267.508538837] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051267.509389875] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051267.510998894] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051267.544995929] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051267.545488588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051267.546299901] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051267.547300104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051267.548473677] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051267.585313027] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051267.587434867] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051267.588392810] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051267.587484498] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051267.588686749] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051267.589423556] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051267.590319850] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051267.644432615] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051267.644990111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051267.645522804] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051267.646751502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051267.647791331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051267.745020956] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051267.745498465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051267.746294474] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051267.747338212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051267.748513638] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051267.835471417] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051267.837447641] [sailbot.teensy]: Wind angle: 179 -[trim_sail-4] [INFO] [1746051267.838063804] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051267.839353219] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051267.839531222] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051267.840542384] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051267.841391280] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051267.844309857] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051267.844760038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051267.845391866] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051267.846371541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051267.847387052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051267.945323188] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051267.946215961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051267.946778306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051267.948282416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051267.949450525] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051267.956983178] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051267.957937640] [sailbot.main_algo]: Target Bearing: -141.60740311466836 -[main_algo-3] [INFO] [1746051267.958823848] [sailbot.main_algo]: Heading Difference: -167.4555968853316 -[main_algo-3] [INFO] [1746051267.959673509] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051267.960481195] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051267.961286919] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051267.962266342] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051267.962916530] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051268.003352608] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904746 Long: -76.50277299 -[main_algo-3] [INFO] [1746051268.003874855] [sailbot.main_algo]: Distance to destination: 56.88970019852277 -[vectornav-1] [INFO] [1746051268.004518016] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.87299999999999, -1.621, 4.771) -[main_algo-3] [INFO] [1746051268.005031045] [sailbot.main_algo]: Target Bearing: -141.6017359995464 -[main_algo-3] [INFO] [1746051268.006086779] [sailbot.main_algo]: Heading Difference: -167.46126400045358 -[main_algo-3] [INFO] [1746051268.007037647] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051268.007944158] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051268.008853692] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051268.010585531] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051268.045076529] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051268.045830162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051268.046736802] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051268.047645068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051268.048776127] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051268.085491694] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051268.087600597] [sailbot.teensy]: Wind angle: 178 -[trim_sail-4] [INFO] [1746051268.088105259] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051268.088621530] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051268.089866266] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051268.090186307] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051268.090764944] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051268.144929962] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051268.145833354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051268.146364651] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051268.147762591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051268.148845137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051268.244902073] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051268.245592460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051268.246169889] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051268.247504111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051268.248563796] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051268.335209262] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051268.336958530] [sailbot.teensy]: Wind angle: 177 -[teensy-2] [INFO] [1746051268.337850541] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051268.337297931] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051268.338525851] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051268.338674291] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051268.339586775] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051268.344291396] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051268.345067225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051268.345394395] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051268.346850640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051268.347997254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051268.443741862] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051268.444748751] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051268.444124629] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051268.444987432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051268.446604583] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051268.456374788] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051268.456889894] [sailbot.main_algo]: Target Bearing: -141.6017359995464 -[main_algo-3] [INFO] [1746051268.457370008] [sailbot.main_algo]: Heading Difference: -168.5252640004536 -[main_algo-3] [INFO] [1746051268.457811350] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051268.458310349] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051268.458739617] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051268.459243639] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051268.459605297] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051268.501443289] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690475 Long: -76.50277276 -[vectornav-1] [INFO] [1746051268.501907533] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.55200000000002, 0.878, 5.804) -[main_algo-3] [INFO] [1746051268.502547193] [sailbot.main_algo]: Distance to destination: 56.907131815622236 -[main_algo-3] [INFO] [1746051268.503971221] [sailbot.main_algo]: Target Bearing: -141.61036921604557 -[main_algo-3] [INFO] [1746051268.505421832] [sailbot.main_algo]: Heading Difference: -168.51663078395444 -[main_algo-3] [INFO] [1746051268.506533694] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051268.507016019] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051268.508213211] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051268.509607633] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051268.543699091] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051268.544076063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051268.544221354] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051268.544918505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051268.546019228] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051268.585207884] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051268.587826971] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051268.587908659] [sailbot.teensy]: Wind angle: 178 -[mux-7] [INFO] [1746051268.588341061] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051268.588992004] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051268.589997496] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051268.590783183] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051268.643634205] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051268.644013085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051268.644141912] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051268.644878205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051268.645361841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051268.743962428] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051268.744180047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051268.744541871] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051268.745303423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051268.745907849] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051268.835171302] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051268.837307841] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051268.837917665] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051268.838124514] [sailbot.teensy]: Wind angle: 178 -[teensy-2] [INFO] [1746051268.838983155] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051268.839768790] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051268.841179364] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051268.844327841] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051268.844961205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051268.845741504] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051268.846683984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051268.847744737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051268.944678539] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051268.945376838] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051268.946333369] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051268.947072830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051268.948173900] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051268.957004106] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051268.958003584] [sailbot.main_algo]: Target Bearing: -141.61036921604557 -[main_algo-3] [INFO] [1746051268.958870076] [sailbot.main_algo]: Heading Difference: -169.8376307839544 -[main_algo-3] [INFO] [1746051268.959676699] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051268.960475514] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051268.961253925] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051268.962240465] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051268.962832643] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051269.002798490] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904725 Long: -76.50277254 -[main_algo-3] [INFO] [1746051269.003757538] [sailbot.main_algo]: Distance to destination: 56.90349356958932 -[vectornav-1] [INFO] [1746051269.003932170] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.25799999999998, -1.237, 5.402) -[main_algo-3] [INFO] [1746051269.004893053] [sailbot.main_algo]: Target Bearing: -141.6435322639872 -[main_algo-3] [INFO] [1746051269.005857854] [sailbot.main_algo]: Heading Difference: -169.80446773601278 -[main_algo-3] [INFO] [1746051269.006850983] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051269.007773845] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051269.008682871] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051269.010376512] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051269.044858951] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051269.045585265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051269.046164278] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051269.047491853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051269.048565061] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051269.085067762] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051269.087016745] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051269.087882396] [sailbot.teensy]: Wind angle: 178 -[mux-7] [INFO] [1746051269.088536613] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051269.089249750] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051269.090133266] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051269.090971584] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051269.145161080] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051269.145845453] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051269.146674433] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051269.147978465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051269.149142851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051269.244905675] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051269.245623369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051269.246109291] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051269.247414743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051269.248565768] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051269.335424276] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051269.336159565] [sailbot.teensy]: Wind angle: 178 -[trim_sail-4] [INFO] [1746051269.336445282] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051269.336574351] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051269.336962083] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051269.337018208] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051269.337378971] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051269.344480504] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051269.345083377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051269.345661736] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051269.346772986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051269.347946060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051269.444916780] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051269.445659553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051269.446250723] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051269.447432630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051269.448661736] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051269.457078381] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051269.458263764] [sailbot.main_algo]: Target Bearing: -141.6435322639872 -[main_algo-3] [INFO] [1746051269.459223287] [sailbot.main_algo]: Heading Difference: -168.09846773601282 -[main_algo-3] [INFO] [1746051269.460075214] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051269.460912809] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051269.461726355] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051269.462734311] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051269.463303169] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051269.502770628] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904708 Long: -76.5027724 -[main_algo-3] [INFO] [1746051269.503744757] [sailbot.main_algo]: Distance to destination: 56.90042006343154 -[vectornav-1] [INFO] [1746051269.503919046] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.49200000000002, -0.275, 4.995) -[main_algo-3] [INFO] [1746051269.504854553] [sailbot.main_algo]: Target Bearing: -141.6655816110698 -[main_algo-3] [INFO] [1746051269.505819108] [sailbot.main_algo]: Heading Difference: -168.07641838893022 -[main_algo-3] [INFO] [1746051269.506730717] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051269.507601955] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051269.508470480] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051269.510173107] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051269.544923359] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051269.545625698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051269.546177616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051269.547442954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051269.548546891] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051269.585492213] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051269.587648155] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051269.588119234] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051269.589168314] [sailbot.teensy]: Wind angle: 177 -[teensy-2] [INFO] [1746051269.590115378] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051269.590986664] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051269.592076295] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051269.645212710] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051269.645969554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051269.646747146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051269.648061865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051269.649345083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051269.744945287] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051269.745675292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051269.746226761] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051269.747649219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051269.748743877] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051269.835172612] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051269.837342436] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051269.837603368] [sailbot.teensy]: Wind angle: 177 -[teensy-2] [INFO] [1746051269.838578711] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051269.839385568] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051269.839821814] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051269.840783331] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051269.844296886] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051269.844927786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051269.845401445] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051269.846594392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051269.847748758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051269.944462072] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051269.945348687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051269.945564503] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051269.947111011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051269.948165527] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051269.956985875] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051269.957908167] [sailbot.main_algo]: Target Bearing: -141.6655816110698 -[main_algo-3] [INFO] [1746051269.958719003] [sailbot.main_algo]: Heading Difference: -167.84241838893018 -[main_algo-3] [INFO] [1746051269.959535432] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051269.960345197] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051269.961159055] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051269.962156654] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051269.962730051] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051270.003293327] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904703 Long: -76.50277231 -[main_algo-3] [INFO] [1746051270.003773400] [sailbot.main_algo]: Distance to destination: 56.902622338048026 -[main_algo-3] [INFO] [1746051270.004857674] [sailbot.main_algo]: Target Bearing: -141.67462969251838 -[vectornav-1] [INFO] [1746051270.005558130] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.185, 0.267, 4.474) -[main_algo-3] [INFO] [1746051270.005837661] [sailbot.main_algo]: Heading Difference: -167.83337030748157 -[main_algo-3] [INFO] [1746051270.006786992] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051270.007699613] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051270.008592486] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051270.010251029] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051270.044918512] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051270.045563480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051270.046176878] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051270.047368033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051270.048538154] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051270.085471285] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051270.087365042] [sailbot.teensy]: Wind angle: 178 -[trim_sail-4] [INFO] [1746051270.087902471] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051270.088343719] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051270.089244789] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051270.090023343] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051270.090084687] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051270.145040025] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051270.145630118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051270.146522808] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051270.147413591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051270.148590232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051270.245217339] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051270.245750191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051270.246629041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051270.247672175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051270.248775383] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051270.335559347] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051270.337526001] [sailbot.teensy]: Wind angle: 179 -[trim_sail-4] [INFO] [1746051270.337570166] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051270.338424971] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051270.339301803] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051270.339275081] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051270.340229098] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051270.344309984] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051270.344882702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051270.345655275] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051270.346840598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051270.348008797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051270.445194247] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051270.445719611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051270.446847424] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051270.447670550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051270.448732571] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051270.457171090] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051270.458450898] [sailbot.main_algo]: Target Bearing: -141.67462969251838 -[main_algo-3] [INFO] [1746051270.459378625] [sailbot.main_algo]: Heading Difference: -169.1403703074816 -[main_algo-3] [INFO] [1746051270.460294209] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051270.461196702] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051270.462298368] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051270.463675328] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051270.464016329] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051270.502919590] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904687 Long: -76.50277233 -[main_algo-3] [INFO] [1746051270.503894262] [sailbot.main_algo]: Distance to destination: 56.8900875102629 -[vectornav-1] [INFO] [1746051270.505116007] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.452, -0.218, 6.381) -[main_algo-3] [INFO] [1746051270.505188656] [sailbot.main_algo]: Target Bearing: -141.6874206062659 -[main_algo-3] [INFO] [1746051270.506284158] [sailbot.main_algo]: Heading Difference: -169.1275793937341 -[main_algo-3] [INFO] [1746051270.507178402] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051270.508050733] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051270.508939357] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051270.510664515] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051270.545255665] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051270.546093525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051270.546752218] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051270.548398325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051270.549633729] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051270.585349520] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051270.587121763] [sailbot.teensy]: Wind angle: 180 -[trim_sail-4] [INFO] [1746051270.587612922] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051270.588978732] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051270.589236150] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051270.589929393] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051270.590818045] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051270.645002272] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051270.645662817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051270.646283207] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051270.647480516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051270.648116765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051270.744901826] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051270.745703503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051270.746252298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051270.747555412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051270.748820653] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051270.835476960] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051270.837858329] [sailbot.teensy]: Wind angle: 180 -[trim_sail-4] [INFO] [1746051270.837964844] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051270.838839309] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051270.839046100] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051270.839774634] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051270.840737816] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051270.844352879] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051270.844859109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051270.845442127] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051270.846699261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051270.847720327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051270.944973382] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051270.945566247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051270.946287440] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051270.947563180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051270.948336046] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051270.957178818] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051270.958262865] [sailbot.main_algo]: Target Bearing: -141.6874206062659 -[main_algo-3] [INFO] [1746051270.959227592] [sailbot.main_algo]: Heading Difference: -169.8605793937341 -[main_algo-3] [INFO] [1746051270.960096483] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051270.960997499] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051270.961816398] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051270.962815806] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051270.963400486] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051271.002863773] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904648 Long: -76.50277221 -[main_algo-3] [INFO] [1746051271.003715159] [sailbot.main_algo]: Distance to destination: 56.87028403740433 -[vectornav-1] [INFO] [1746051271.004105013] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.64100000000002, -0.535, 4.99) -[main_algo-3] [INFO] [1746051271.004864936] [sailbot.main_algo]: Target Bearing: -141.72747524804421 -[main_algo-3] [INFO] [1746051271.005910563] [sailbot.main_algo]: Heading Difference: -169.82052475195576 -[main_algo-3] [INFO] [1746051271.007018901] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051271.008883847] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051271.010132365] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051271.012983094] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051271.044119163] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051271.044591745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051271.045044137] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051271.045882784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051271.046705028] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051271.085132292] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051271.086677283] [sailbot.teensy]: Wind angle: 180 -[trim_sail-4] [INFO] [1746051271.087079241] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051271.087765962] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051271.088407201] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051271.088669733] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051271.089502906] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051271.144484039] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051271.145155676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051271.145591164] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051271.146955975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051271.148014001] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051271.245237636] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051271.246690572] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051271.248148976] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051271.250094576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051271.251188119] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051271.335223493] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051271.337280637] [sailbot.teensy]: Wind angle: 180 -[trim_sail-4] [INFO] [1746051271.337480988] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051271.338307802] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051271.339190614] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051271.340105214] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051271.340986663] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051271.344299690] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051271.344722123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051271.345413986] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051271.346333979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051271.347367725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051271.444911519] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051271.445610384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051271.446196511] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051271.447455810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051271.448552879] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051271.457241924] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051271.458662236] [sailbot.main_algo]: Target Bearing: -141.72747524804421 -[main_algo-3] [INFO] [1746051271.459692124] [sailbot.main_algo]: Heading Difference: -170.6315247519558 -[main_algo-3] [INFO] [1746051271.460528007] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051271.461525147] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051271.462394694] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051271.463397528] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051271.464407196] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051271.502146325] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904648 Long: -76.50277219 -[vectornav-1] [INFO] [1746051271.503157968] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.170000000000016, -0.877, 4.249) -[main_algo-3] [INFO] [1746051271.503364749] [sailbot.main_algo]: Distance to destination: 56.87155681178692 -[main_algo-3] [INFO] [1746051271.504390206] [sailbot.main_algo]: Target Bearing: -141.72852429130077 -[main_algo-3] [INFO] [1746051271.505299568] [sailbot.main_algo]: Heading Difference: -170.63047570869924 -[main_algo-3] [INFO] [1746051271.506157591] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051271.507175927] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051271.507955700] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051271.509591259] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051271.544872598] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051271.545553899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051271.546152507] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051271.547407178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051271.548431814] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051271.585031516] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051271.586435468] [sailbot.teensy]: Wind angle: 180 -[trim_sail-4] [INFO] [1746051271.586866056] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051271.587247916] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051271.588139671] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051271.589095603] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051271.589108783] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051271.644969214] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051271.645631059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051271.646227182] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051271.647440421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051271.648499442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051271.744928993] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051271.745632496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051271.746208336] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051271.747418400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051271.748506856] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051271.835241916] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051271.836994577] [sailbot.teensy]: Wind angle: 180 -[trim_sail-4] [INFO] [1746051271.837455635] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051271.837965606] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051271.838956899] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051271.839853086] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051271.839869666] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051271.844463132] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051271.845736528] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051271.847916280] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051271.851317530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051271.855114034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051271.943697642] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051271.944061993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051271.944219716] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051271.945144892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051271.945648451] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051271.956817685] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051271.957316425] [sailbot.main_algo]: Target Bearing: -141.72852429130077 -[main_algo-3] [INFO] [1746051271.957724529] [sailbot.main_algo]: Heading Difference: -168.10147570869924 -[main_algo-3] [INFO] [1746051271.958124799] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051271.958528389] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051271.958932491] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051271.959411215] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051271.968669965] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051272.001375649] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904651 Long: -76.50277248 -[vectornav-1] [INFO] [1746051272.001829648] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.49200000000002, 0.224, 6.158) -[main_algo-3] [INFO] [1746051272.004291599] [sailbot.main_algo]: Distance to destination: 56.85521383760802 -[main_algo-3] [INFO] [1746051272.004762278] [sailbot.main_algo]: Target Bearing: -141.71071038783285 -[main_algo-3] [INFO] [1746051272.005177710] [sailbot.main_algo]: Heading Difference: -168.1192896121671 -[main_algo-3] [INFO] [1746051272.005580360] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051272.005982421] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051272.006374220] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051272.007209280] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051272.044677240] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051272.045289371] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051272.047035136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051272.048022864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051272.045754249] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051272.085399556] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051272.087497307] [sailbot.teensy]: Wind angle: 177 -[teensy-2] [INFO] [1746051272.088547736] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051272.087933370] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051272.089580352] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051272.090380133] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051272.090541631] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051272.145050119] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051272.145844301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051272.146499833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051272.147775516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051272.148950912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051272.245244004] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051272.246219847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051272.247118992] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051272.247965650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051272.248432057] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051272.335324502] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051272.337619524] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051272.338312477] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051272.338589985] [sailbot.teensy]: Wind angle: 175 -[teensy-2] [INFO] [1746051272.339579807] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051272.340495086] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051272.341323012] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051272.344299986] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051272.344864571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051272.345490369] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051272.346626151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051272.347697108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051272.444740508] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051272.445418521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051272.445932825] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051272.447303069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051272.448329341] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051272.457057476] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051272.458105056] [sailbot.main_algo]: Target Bearing: -141.71071038783285 -[main_algo-3] [INFO] [1746051272.459021989] [sailbot.main_algo]: Heading Difference: -169.7972896121671 -[main_algo-3] [INFO] [1746051272.459830619] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051272.460670353] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051272.461464854] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051272.462517749] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051272.463012482] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051272.502504214] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904636 Long: -76.50277237 -[main_algo-3] [INFO] [1746051272.503548655] [sailbot.main_algo]: Distance to destination: 56.85166312458115 -[vectornav-1] [INFO] [1746051272.503786317] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.442999999999984, 0.071, 5.381) -[main_algo-3] [INFO] [1746051272.504731439] [sailbot.main_algo]: Target Bearing: -141.72947542452772 -[main_algo-3] [INFO] [1746051272.505720368] [sailbot.main_algo]: Heading Difference: -169.77852457547226 -[main_algo-3] [INFO] [1746051272.506609768] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051272.507432360] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051272.508248971] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051272.509927712] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051272.544936134] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051272.545708691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051272.546204600] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051272.547658637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051272.548775929] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051272.586096321] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051272.588381476] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051272.588924355] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051272.588962302] [sailbot.teensy]: Wind angle: 177 -[teensy-2] [INFO] [1746051272.590867223] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051272.591960744] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051272.593114461] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051272.643719688] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051272.644058434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051272.644264590] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051272.645040523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051272.645631539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051272.744490485] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051272.745527936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051272.745615324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051272.747719234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051272.749057716] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051272.835296075] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051272.837300439] [sailbot.teensy]: Wind angle: 179 -[trim_sail-4] [INFO] [1746051272.837472848] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051272.838201681] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051272.839644792] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051272.840634050] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051272.841439415] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051272.844356891] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051272.844907985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051272.845467011] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051272.846501330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051272.847479181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051272.944745052] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051272.945499175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051272.946000144] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051272.947557900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051272.948735219] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051272.957087029] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051272.958216102] [sailbot.main_algo]: Target Bearing: -141.72947542452772 -[main_algo-3] [INFO] [1746051272.959176890] [sailbot.main_algo]: Heading Difference: -170.8275245754723 -[main_algo-3] [INFO] [1746051272.960132768] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051272.961072489] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051272.961926250] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051272.963382203] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051272.963571843] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051273.002406411] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904614 Long: -76.5027723 -[vectornav-1] [INFO] [1746051273.002905430] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.39300000000003, -1.48, 6.057) -[main_algo-3] [INFO] [1746051273.002539010] [sailbot.main_algo]: Distance to destination: 56.84065189820057 -[main_algo-3] [INFO] [1746051273.003193744] [sailbot.main_algo]: Target Bearing: -141.75221149904144 -[main_algo-3] [INFO] [1746051273.004060320] [sailbot.main_algo]: Heading Difference: -170.80478850095858 -[main_algo-3] [INFO] [1746051273.004573558] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051273.005252810] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051273.005689761] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051273.006882971] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051273.045001103] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051273.046288619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051273.046350715] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051273.048476533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051273.049620595] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051273.085175565] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051273.087266335] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051273.087400887] [sailbot.teensy]: Wind angle: 179 -[mux-7] [INFO] [1746051273.088970197] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051273.089645048] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051273.090805545] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051273.091910230] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051273.144833005] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051273.145774903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051273.146187574] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051273.147641177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051273.148728442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051273.244827098] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051273.245525373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051273.246114169] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051273.247479766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051273.248578327] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051273.334990891] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051273.337041567] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051273.338570629] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051273.338598851] [sailbot.teensy]: Wind angle: 179 -[teensy-2] [INFO] [1746051273.339701679] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051273.340766838] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051273.341647702] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051273.344550361] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051273.344957760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051273.345904946] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051273.346596618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051273.347853951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051273.444917697] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051273.445208627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051273.446042473] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051273.446830757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051273.447794781] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051273.457005689] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051273.457967407] [sailbot.main_algo]: Target Bearing: -141.75221149904144 -[main_algo-3] [INFO] [1746051273.458810895] [sailbot.main_algo]: Heading Difference: -168.85478850095853 -[main_algo-3] [INFO] [1746051273.459597648] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051273.460346077] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051273.461075770] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051273.462001080] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051273.462497472] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051273.503388078] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904631 Long: -76.50277199 -[main_algo-3] [INFO] [1746051273.503946659] [sailbot.main_algo]: Distance to destination: 56.87233543823573 -[vectornav-1] [INFO] [1746051273.504656343] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.78699999999998, -0.29, 5.006) -[main_algo-3] [INFO] [1746051273.505163248] [sailbot.main_algo]: Target Bearing: -141.7537361182993 -[main_algo-3] [INFO] [1746051273.506139259] [sailbot.main_algo]: Heading Difference: -168.85326388170068 -[main_algo-3] [INFO] [1746051273.507044116] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051273.507930738] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051273.508801496] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051273.510895914] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051273.545141356] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051273.545830390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051273.546580573] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051273.547639534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051273.548739558] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051273.585404184] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051273.587303644] [sailbot.teensy]: Wind angle: 179 -[trim_sail-4] [INFO] [1746051273.587578757] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051273.588415292] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051273.589223985] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051273.589479108] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051273.590489509] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051273.645092629] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051273.646375476] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051273.646657973] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051273.648590655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051273.649815903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051273.745147028] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051273.745480652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051273.746407989] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051273.747231583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051273.748831571] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051273.835276488] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051273.837644848] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051273.838359612] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051273.839837930] [sailbot.teensy]: Wind angle: 178 -[teensy-2] [INFO] [1746051273.840822553] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051273.841660875] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051273.842445542] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746051273.844995503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051273.845055084] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051273.846647388] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051273.846761977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051273.848261298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051273.944760063] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051273.945368928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051273.945945180] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051273.947102413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051273.948031433] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051273.956963080] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051273.958029344] [sailbot.main_algo]: Target Bearing: -141.7537361182993 -[main_algo-3] [INFO] [1746051273.958963824] [sailbot.main_algo]: Heading Difference: -167.45926388170074 -[main_algo-3] [INFO] [1746051273.959759817] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051273.960671098] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051273.962252925] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051273.963559740] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051273.964103552] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051274.002706344] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904629 Long: -76.50277174 -[main_algo-3] [INFO] [1746051274.003662869] [sailbot.main_algo]: Distance to destination: 56.886847199904025 -[vectornav-1] [INFO] [1746051274.004499103] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.72199999999998, 1.256, 6.109) -[main_algo-3] [INFO] [1746051274.004761900] [sailbot.main_algo]: Target Bearing: -141.76857044336643 -[main_algo-3] [INFO] [1746051274.005724741] [sailbot.main_algo]: Heading Difference: -167.44442955663362 -[main_algo-3] [INFO] [1746051274.006715920] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051274.007654226] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051274.008543086] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051274.010189054] [sailbot.mux]: algo rudder angle: -25 -[teensy-2] [INFO] [1746051274.045458926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051274.045490395] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051274.047080462] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051274.047237766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051274.048330849] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051274.085102196] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051274.087234374] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051274.087842254] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051274.087966324] [sailbot.teensy]: Wind angle: 179 -[teensy-2] [INFO] [1746051274.088875441] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051274.089658709] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051274.090442731] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051274.144712960] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051274.145202243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051274.145920185] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051274.146836212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051274.147807683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051274.244968033] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051274.245394647] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051274.247205507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051274.247205699] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051274.248721115] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051274.335050330] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051274.337320292] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051274.337753116] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051274.338068428] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051274.339462071] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051274.340806156] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051274.341792272] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051274.344365801] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051274.344846890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051274.345461282] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051274.347123002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051274.348470187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051274.444847570] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051274.445405230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051274.446078141] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051274.447309942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051274.448308488] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051274.457048702] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051274.458086982] [sailbot.main_algo]: Target Bearing: -141.76857044336643 -[main_algo-3] [INFO] [1746051274.459011727] [sailbot.main_algo]: Heading Difference: -170.50942955663356 -[main_algo-3] [INFO] [1746051274.460051362] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051274.460970305] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051274.461840803] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051274.463134834] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051274.463437661] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051274.503205809] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904634 Long: -76.50277198 -[main_algo-3] [INFO] [1746051274.503508591] [sailbot.main_algo]: Distance to destination: 56.875080621002915 -[main_algo-3] [INFO] [1746051274.504569216] [sailbot.main_algo]: Target Bearing: -141.75166154572366 -[vectornav-1] [INFO] [1746051274.504871572] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.673, -2.607, 6.154) -[main_algo-3] [INFO] [1746051274.505536095] [sailbot.main_algo]: Heading Difference: -170.52633845427636 -[main_algo-3] [INFO] [1746051274.506378453] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051274.507277398] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051274.508092942] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051274.509663916] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051274.544764359] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051274.545459708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051274.545949313] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051274.547175422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051274.548290358] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051274.585147970] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051274.587499103] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051274.588422794] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051274.589336201] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051274.589519330] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051274.590245087] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051274.591098022] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051274.643744478] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051274.644034249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051274.644457515] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051274.644883734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051274.645382570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051274.743696554] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051274.744075412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051274.744223069] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051274.744924362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051274.745413183] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051274.835086358] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051274.836820810] [sailbot.teensy]: Wind angle: 182 -[trim_sail-4] [INFO] [1746051274.837266967] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051274.837716309] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051274.838207440] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051274.838781671] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051274.839658589] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051274.844380284] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051274.844903010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051274.845478181] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051274.846647012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051274.847693493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051274.945039552] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051274.945509260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051274.946313562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051274.947170779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051274.948273872] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051274.957040647] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051274.958006723] [sailbot.main_algo]: Target Bearing: -141.75166154572366 -[main_algo-3] [INFO] [1746051274.958873180] [sailbot.main_algo]: Heading Difference: -168.57533845427633 -[main_algo-3] [INFO] [1746051274.959675503] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051274.960518795] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051274.961318593] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051274.962622980] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051274.963482809] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051275.003408334] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904621 Long: -76.50277148 -[main_algo-3] [INFO] [1746051275.004068241] [sailbot.main_algo]: Distance to destination: 56.89778557426747 -[vectornav-1] [INFO] [1746051275.004732530] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.62900000000002, 1.21, 5.264) -[main_algo-3] [INFO] [1746051275.005265428] [sailbot.main_algo]: Target Bearing: -141.78911851817494 -[main_algo-3] [INFO] [1746051275.006259437] [sailbot.main_algo]: Heading Difference: -168.53788148182502 -[main_algo-3] [INFO] [1746051275.007182642] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051275.008104267] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051275.009076325] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051275.010821516] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051275.045007601] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051275.045699414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051275.046547878] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051275.047605606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051275.048796506] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051275.085363567] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051275.087112848] [sailbot.teensy]: Wind angle: 182 -[trim_sail-4] [INFO] [1746051275.087719402] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051275.088049702] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051275.088999178] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051275.088558906] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051275.089881987] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051275.145046082] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051275.145482284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051275.146368116] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051275.147704616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051275.148764540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051275.244919578] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051275.245538520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051275.246163863] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051275.247346170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051275.248374693] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051275.335146252] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051275.337264237] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051275.338319663] [sailbot.teensy]: Wind angle: 182 -[mux-7] [INFO] [1746051275.338840256] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051275.339546794] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051275.340437738] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051275.341257534] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051275.344313129] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051275.344976326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051275.345438953] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051275.346615533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051275.347656270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051275.444742179] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051275.445408542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051275.446120392] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051275.447304205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051275.447915547] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051275.457288089] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051275.458347606] [sailbot.main_algo]: Target Bearing: -141.78911851817494 -[main_algo-3] [INFO] [1746051275.459269306] [sailbot.main_algo]: Heading Difference: -167.581881481825 -[main_algo-3] [INFO] [1746051275.460087116] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051275.461024690] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051275.461853246] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051275.462904773] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051275.463326719] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051275.502576775] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904641 Long: -76.50277144 -[main_algo-3] [INFO] [1746051275.503506906] [sailbot.main_algo]: Distance to destination: 56.91438154864354 -[vectornav-1] [INFO] [1746051275.503723906] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.71300000000002, -1.417, 3.84) -[main_algo-3] [INFO] [1746051275.504605077] [sailbot.main_algo]: Target Bearing: -141.77389036880172 -[main_algo-3] [INFO] [1746051275.505526004] [sailbot.main_algo]: Heading Difference: -167.59710963119824 -[main_algo-3] [INFO] [1746051275.506365900] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051275.507225732] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051275.508055884] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051275.509649305] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051275.544716778] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051275.545787562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051275.545954482] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051275.547871201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051275.549067625] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051275.585152660] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051275.586906212] [sailbot.teensy]: Wind angle: 187 -[trim_sail-4] [INFO] [1746051275.587350218] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051275.587805587] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051275.588669491] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051275.588842862] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051275.589512123] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051275.644660501] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051275.645468305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051275.645722719] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051275.647500337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051275.648650226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051275.744333771] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051275.745363379] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051275.745411734] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051275.747706651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051275.749036638] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051275.835259721] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051275.837129036] [sailbot.teensy]: Wind angle: 190 -[trim_sail-4] [INFO] [1746051275.837307172] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051275.838034937] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051275.838354094] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051275.839011505] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051275.840024686] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051275.844421540] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051275.845003735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051275.845512093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051275.846641760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051275.848034352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051275.944788651] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051275.945530010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051275.946015217] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051275.947312077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051275.948501354] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051275.956907765] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051275.957998787] [sailbot.main_algo]: Target Bearing: -141.77389036880172 -[main_algo-3] [INFO] [1746051275.958929843] [sailbot.main_algo]: Heading Difference: -168.5131096311983 -[main_algo-3] [INFO] [1746051275.959819053] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051275.960668858] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051275.961480380] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051275.962604813] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051275.963525902] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051276.001687781] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904642 Long: -76.50277178 -[vectornav-1] [INFO] [1746051276.002507939] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.69499999999999, 1.23, 4.91) -[main_algo-3] [INFO] [1746051276.003812115] [sailbot.main_algo]: Distance to destination: 56.893435759641754 -[main_algo-3] [INFO] [1746051276.004673630] [sailbot.main_algo]: Target Bearing: -141.7552149227475 -[main_algo-3] [INFO] [1746051276.005577717] [sailbot.main_algo]: Heading Difference: -168.5317850772525 -[main_algo-3] [INFO] [1746051276.006547085] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051276.007494014] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051276.008552581] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051276.010039286] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051276.043766637] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051276.044098490] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051276.044411396] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051276.045078053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051276.045663740] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051276.085049160] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051276.087147318] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051276.088199606] [sailbot.teensy]: Wind angle: 190 -[teensy-2] [INFO] [1746051276.089178398] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051276.089294480] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051276.090083456] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051276.091068775] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051276.144714253] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051276.145357424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051276.146098450] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051276.147208859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051276.148193131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051276.245323237] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051276.245521142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051276.247037327] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051276.247519237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051276.248648862] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051276.335297783] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051276.337203113] [sailbot.teensy]: Wind angle: 190 -[trim_sail-4] [INFO] [1746051276.338000363] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051276.338218795] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051276.339154445] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051276.340047942] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051276.340239751] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051276.344366653] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051276.345512457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051276.345572576] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051276.347851864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051276.349118012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051276.444710033] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051276.446296879] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051276.446243442] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051276.448744030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051276.450026203] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051276.456823520] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051276.457643453] [sailbot.main_algo]: Target Bearing: -141.7552149227475 -[main_algo-3] [INFO] [1746051276.458487401] [sailbot.main_algo]: Heading Difference: -170.54978507725252 -[main_algo-3] [INFO] [1746051276.459283073] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051276.460064613] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051276.460903584] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051276.461921534] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051276.462503546] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051276.502790262] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904605 Long: -76.50277184 -[main_algo-3] [INFO] [1746051276.503787100] [sailbot.main_algo]: Distance to destination: 56.8636188962399 -[vectornav-1] [INFO] [1746051276.504077054] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.89100000000002, -1.529, 6.981) -[main_algo-3] [INFO] [1746051276.504899889] [sailbot.main_algo]: Target Bearing: -141.78412784051497 -[main_algo-3] [INFO] [1746051276.506452374] [sailbot.main_algo]: Heading Difference: -170.52087215948507 -[main_algo-3] [INFO] [1746051276.507396894] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051276.508284078] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051276.509132088] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051276.510764192] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051276.545051981] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051276.545413359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051276.546359675] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051276.547216350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051276.548436701] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051276.585131770] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051276.586962819] [sailbot.teensy]: Wind angle: 190 -[trim_sail-4] [INFO] [1746051276.587182702] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051276.587893489] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051276.588819482] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051276.589395571] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051276.589712450] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051276.644911165] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051276.645397583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051276.646155115] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051276.647226312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051276.648344633] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051276.744105277] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051276.744945817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051276.744232771] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051276.744774164] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051276.745490583] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051276.835033405] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051276.836886177] [sailbot.teensy]: Wind angle: 190 -[teensy-2] [INFO] [1746051276.837920531] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051276.838502837] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051276.838784096] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051276.839620207] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051276.840147801] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051276.844405171] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051276.844858518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051276.845510316] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051276.846404268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051276.847479378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051276.944670841] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051276.945653442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051276.945919355] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051276.947529220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051276.948743044] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051276.957348977] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051276.958558136] [sailbot.main_algo]: Target Bearing: -141.78412784051497 -[main_algo-3] [INFO] [1746051276.959632056] [sailbot.main_algo]: Heading Difference: -170.32487215948504 -[main_algo-3] [INFO] [1746051276.960692060] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051276.961641907] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051276.962568103] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051276.963832850] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051276.964221544] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051277.002583402] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904563 Long: -76.5027718 -[main_algo-3] [INFO] [1746051277.003403447] [sailbot.main_algo]: Distance to destination: 56.83667916938214 -[vectornav-1] [INFO] [1746051277.003621040] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.601, -0.176, 5.346) -[main_algo-3] [INFO] [1746051277.004451732] [sailbot.main_algo]: Target Bearing: -141.82264780774761 -[main_algo-3] [INFO] [1746051277.005298538] [sailbot.main_algo]: Heading Difference: -170.28635219225237 -[main_algo-3] [INFO] [1746051277.006140908] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051277.006963312] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051277.007787132] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051277.009418943] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051277.044708201] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051277.045579936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051277.045951067] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051277.047354878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051277.048355963] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051277.085051918] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051277.086713900] [sailbot.teensy]: Wind angle: 190 -[teensy-2] [INFO] [1746051277.087638678] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051277.088540985] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051277.087653897] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051277.088300718] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051277.089474002] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051277.144768894] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051277.145477848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051277.146008075] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051277.147347236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051277.148346502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051277.244729158] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051277.245447250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051277.246002684] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051277.247334264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051277.248561402] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051277.335518778] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051277.337927784] [sailbot.teensy]: Wind angle: 190 -[trim_sail-4] [INFO] [1746051277.337943783] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051277.339203170] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051277.339203485] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051277.340244618] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051277.340644740] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051277.344346260] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051277.344832034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051277.345414042] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051277.346518869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051277.347574885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051277.444862199] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051277.445324940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051277.446091033] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051277.447046311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051277.448004191] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051277.457102114] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051277.458166645] [sailbot.main_algo]: Target Bearing: -141.82264780774761 -[main_algo-3] [INFO] [1746051277.459150547] [sailbot.main_algo]: Heading Difference: -167.5763521922524 -[main_algo-3] [INFO] [1746051277.459955155] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051277.460807095] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051277.461605723] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051277.462813913] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051277.463209820] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051277.502542906] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904596 Long: -76.50277201 -[main_algo-3] [INFO] [1746051277.503520929] [sailbot.main_algo]: Distance to destination: 56.84647018762874 -[vectornav-1] [INFO] [1746051277.503570181] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.023000000000025, -0.44, 3.536) -[main_algo-3] [INFO] [1746051277.504903504] [sailbot.main_algo]: Target Bearing: -141.78302143434007 -[main_algo-3] [INFO] [1746051277.506157197] [sailbot.main_algo]: Heading Difference: -167.61597856565993 -[main_algo-3] [INFO] [1746051277.507602271] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051277.508646100] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051277.509668281] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051277.511295543] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051277.544786633] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051277.545294441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051277.546163135] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051277.547029539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051277.548114431] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051277.585028399] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051277.586845983] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051277.587997649] [sailbot.teensy]: Wind angle: 188 -[mux-7] [INFO] [1746051277.588123238] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051277.588953359] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051277.589827848] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051277.590593610] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051277.644857015] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051277.645414137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051277.646137686] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051277.647208347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051277.648394158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051277.745251443] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051277.746004090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051277.746895399] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051277.748265291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051277.749009422] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051277.835029857] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051277.836618979] [sailbot.teensy]: Wind angle: 190 -[teensy-2] [INFO] [1746051277.837543058] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051277.838286211] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051277.838404279] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051277.838498463] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051277.839320665] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051277.844296407] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051277.844829092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051277.845715643] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051277.846538944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051277.847656566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051277.945119187] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051277.945642743] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051277.946448184] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051277.947522281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051277.948577410] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051277.957074955] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051277.958141930] [sailbot.main_algo]: Target Bearing: -141.78302143434007 -[main_algo-3] [INFO] [1746051277.959040587] [sailbot.main_algo]: Heading Difference: -168.1939785656599 -[main_algo-3] [INFO] [1746051277.959859931] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051277.960667930] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051277.961506635] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051277.962542456] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051277.963237142] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051278.002976918] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904567 Long: -76.50277178 -[main_algo-3] [INFO] [1746051278.004470012] [sailbot.main_algo]: Distance to destination: 56.84076094007034 -[vectornav-1] [INFO] [1746051278.004507313] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.238999999999976, 0.135, 6.253) -[main_algo-3] [INFO] [1746051278.005706754] [sailbot.main_algo]: Target Bearing: -141.8202247639242 -[main_algo-3] [INFO] [1746051278.006787661] [sailbot.main_algo]: Heading Difference: -168.15677523607576 -[main_algo-3] [INFO] [1746051278.007663777] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051278.008539651] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051278.009400787] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051278.011257568] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051278.045194750] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051278.045838576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051278.046670111] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051278.047950158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051278.048968055] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051278.085239757] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051278.087316400] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051278.087525184] [sailbot.teensy]: Wind angle: 192 -[teensy-2] [INFO] [1746051278.088478012] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051278.088204129] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051278.089355651] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051278.090215188] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051278.145000343] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051278.145721667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051278.146381741] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051278.147684753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051278.148734979] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051278.245207826] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051278.246102249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051278.246610014] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051278.248024291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051278.248518498] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051278.335310181] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051278.337082282] [sailbot.teensy]: Wind angle: 192 -[teensy-2] [INFO] [1746051278.338041808] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051278.338029945] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051278.338980758] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051278.339803923] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051278.339838242] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051278.344291054] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051278.344923017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051278.345399996] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051278.346611642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051278.347606982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051278.445279510] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051278.446374391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051278.446854145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051278.448666071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051278.449682624] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051278.457185648] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051278.458280191] [sailbot.main_algo]: Target Bearing: -141.8202247639242 -[main_algo-3] [INFO] [1746051278.459190884] [sailbot.main_algo]: Heading Difference: -170.94077523607586 -[main_algo-3] [INFO] [1746051278.460043098] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051278.460934772] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051278.461782348] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051278.462907806] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051278.463423139] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051278.502937576] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904539 Long: -76.50277187 -[main_algo-3] [INFO] [1746051278.503914363] [sailbot.main_algo]: Distance to destination: 56.81537764172307 -[vectornav-1] [INFO] [1746051278.504148547] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.372000000000014, -0.632, 5.898) -[main_algo-3] [INFO] [1746051278.505122484] [sailbot.main_algo]: Target Bearing: -141.83981243831263 -[main_algo-3] [INFO] [1746051278.506138720] [sailbot.main_algo]: Heading Difference: -170.92118756168736 -[main_algo-3] [INFO] [1746051278.507079505] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051278.508017358] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051278.508915163] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051278.510556230] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051278.545511602] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051278.546002629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051278.546832909] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051278.547932057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051278.549020298] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051278.585237640] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051278.587110782] [sailbot.teensy]: Wind angle: 193 -[trim_sail-4] [INFO] [1746051278.587356262] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051278.588022663] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051278.588523203] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051278.588922217] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051278.589738275] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051278.644713895] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051278.645378457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051278.645956255] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051278.647362824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051278.648328825] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051278.744708018] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051278.745376605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051278.745826075] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051278.747134975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051278.748257059] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051278.834469504] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051278.835552675] [sailbot.teensy]: Wind angle: 195 -[trim_sail-4] [INFO] [1746051278.836119128] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051278.836407736] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051278.837210703] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051278.836770479] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051278.838011247] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051278.843927147] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051278.844188160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051278.844922540] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051278.845833717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051278.846903499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051278.945016977] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051278.945655939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051278.946389091] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051278.947559432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051278.948570349] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051278.956991608] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051278.957933579] [sailbot.main_algo]: Target Bearing: -141.83981243831263 -[main_algo-3] [INFO] [1746051278.958754721] [sailbot.main_algo]: Heading Difference: -169.78818756168732 -[main_algo-3] [INFO] [1746051278.959570042] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051278.960356317] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051278.961099771] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051278.962036053] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051278.962580398] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051279.002282435] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904544 Long: -76.5027717 -[main_algo-3] [INFO] [1746051279.002996202] [sailbot.main_algo]: Distance to destination: 56.82972140605523 -[vectornav-1] [INFO] [1746051279.003192547] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.168000000000006, -2.062, 6.023) -[main_algo-3] [INFO] [1746051279.003951713] [sailbot.main_algo]: Target Bearing: -141.8443744131073 -[main_algo-3] [INFO] [1746051279.004863434] [sailbot.main_algo]: Heading Difference: -169.7836255868927 -[main_algo-3] [INFO] [1746051279.005672807] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051279.006511830] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051279.007320513] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051279.008971226] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051279.044746552] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051279.045422589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051279.046061165] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051279.047171193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051279.048454094] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051279.085254636] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051279.087526362] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051279.087854524] [sailbot.teensy]: Wind angle: 195 -[mux-7] [INFO] [1746051279.088464100] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051279.088829702] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051279.089761922] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051279.090594603] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051279.144612495] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051279.145135482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051279.145850209] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051279.146971789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051279.148022987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051279.244901105] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051279.245498706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051279.246200326] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051279.247334309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051279.248493983] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051279.335275327] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051279.337094390] [sailbot.teensy]: Wind angle: 195 -[trim_sail-4] [INFO] [1746051279.337749476] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051279.338057176] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051279.338907478] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051279.339317991] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051279.339358793] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051279.344355903] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051279.344924558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051279.345515428] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051279.346769435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051279.347816632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051279.445067569] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051279.445966747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051279.446387113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051279.447867309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051279.449015146] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051279.457128052] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051279.458152526] [sailbot.main_algo]: Target Bearing: -141.8443744131073 -[main_algo-3] [INFO] [1746051279.459042080] [sailbot.main_algo]: Heading Difference: -167.9876255868927 -[main_algo-3] [INFO] [1746051279.459993765] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051279.461270450] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051279.462227047] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051279.463370269] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051279.463836276] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051279.502763971] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904561 Long: -76.50277146 -[main_algo-3] [INFO] [1746051279.503670928] [sailbot.main_algo]: Distance to destination: 56.85694525488135 -[vectornav-1] [INFO] [1746051279.503981476] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.74200000000002, 2.46, 5.037) -[main_algo-3] [INFO] [1746051279.504825362] [sailbot.main_algo]: Target Bearing: -141.8421846537583 -[main_algo-3] [INFO] [1746051279.505795164] [sailbot.main_algo]: Heading Difference: -167.9898153462417 -[main_algo-3] [INFO] [1746051279.506717167] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051279.507738949] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051279.509062947] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051279.510913928] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051279.544997701] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051279.545456518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051279.546377468] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051279.547300889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051279.548408391] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051279.585296403] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051279.586833640] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746051279.587731759] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051279.587478304] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051279.588658007] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051279.589525081] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051279.589818123] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051279.645466395] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051279.645568155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051279.647178573] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051279.647673623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051279.648930882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051279.744058533] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051279.744523887] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051279.746717573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051279.747193938] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051279.747692753] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051279.835322814] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051279.837260249] [sailbot.teensy]: Wind angle: 191 -[trim_sail-4] [INFO] [1746051279.838040261] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051279.838495682] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051279.839197298] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051279.839419314] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051279.840401214] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051279.844409381] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051279.845274363] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051279.845740115] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051279.847464619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051279.849538862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051279.943924336] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051279.944134690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051279.944500319] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051279.945175717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051279.945790510] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051279.956262339] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051279.956741182] [sailbot.main_algo]: Target Bearing: -141.8421846537583 -[main_algo-3] [INFO] [1746051279.957179129] [sailbot.main_algo]: Heading Difference: -168.4158153462417 -[main_algo-3] [INFO] [1746051279.957590686] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051279.958102854] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051279.958563866] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051279.959330753] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051279.959455460] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051280.001431465] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904563 Long: -76.50277169 -[main_algo-3] [INFO] [1746051280.001860721] [sailbot.main_algo]: Distance to destination: 56.843689171612574 -[vectornav-1] [INFO] [1746051280.001887013] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.59300000000002, -2.496, 6.558) -[main_algo-3] [INFO] [1746051280.002333725] [sailbot.main_algo]: Target Bearing: -141.8284086462704 -[main_algo-3] [INFO] [1746051280.002780162] [sailbot.main_algo]: Heading Difference: -168.42959135372962 -[main_algo-3] [INFO] [1746051280.003190635] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051280.003586526] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051280.003995854] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051280.004962615] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051280.043627620] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051280.044008410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051280.044128661] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051280.044839076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051280.045344199] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051280.084411896] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051280.085313772] [sailbot.teensy]: Wind angle: 193 -[trim_sail-4] [INFO] [1746051280.085499697] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051280.085721335] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051280.085729261] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051280.086123345] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051280.086531306] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051280.143603659] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051280.144021344] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051280.144104774] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051280.144875161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051280.145425290] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051280.243645441] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051280.244009755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051280.244178971] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051280.245126844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051280.245713966] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051280.334445020] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051280.335246958] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051280.335508320] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051280.335661249] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051280.336083822] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051280.336502429] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051280.337581492] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051280.343621984] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051280.344128615] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051280.345426950] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051280.345961674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051280.346457391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051280.443711351] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051280.444107954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051280.444240660] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051280.445036196] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051280.445644329] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051280.456295228] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051280.456762488] [sailbot.main_algo]: Target Bearing: -141.8284086462704 -[main_algo-3] [INFO] [1746051280.457198307] [sailbot.main_algo]: Heading Difference: -168.57859135372962 -[main_algo-3] [INFO] [1746051280.457601045] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051280.457968428] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051280.458358256] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051280.458851275] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051280.459168502] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051280.501341843] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904568 Long: -76.50277121 -[main_algo-3] [INFO] [1746051280.501748428] [sailbot.main_algo]: Distance to destination: 56.87779186784111 -[vectornav-1] [INFO] [1746051280.501775652] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.39699999999999, 0.141, 4.849) -[main_algo-3] [INFO] [1746051280.502213712] [sailbot.main_algo]: Target Bearing: -141.84919299756217 -[main_algo-3] [INFO] [1746051280.502660372] [sailbot.main_algo]: Heading Difference: -168.5578070024378 -[main_algo-3] [INFO] [1746051280.503069764] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051280.503464078] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051280.503853016] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051280.505134920] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051280.543735587] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051280.544055472] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051280.544311748] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051280.544881275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051280.545378423] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051280.584442995] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051280.585401706] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051280.585981025] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051280.586649197] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746051280.587051104] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051280.587450410] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051280.588031230] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051280.643680218] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051280.644034923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051280.644197417] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051280.644841985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051280.645387061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051280.743648099] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051280.744088076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051280.744142259] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051280.744890199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051280.745449705] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051280.834666237] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051280.836271550] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051280.836868989] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051280.837940979] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746051280.838349235] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051280.839109976] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051280.839574260] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051280.843690013] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051280.844246645] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051280.844639648] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051280.845878856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051280.846365798] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051280.944667832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051280.944883932] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051280.945750834] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051280.946416033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051280.947235695] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051280.956586123] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051280.957591290] [sailbot.main_algo]: Target Bearing: -141.84919299756217 -[main_algo-3] [INFO] [1746051280.958573593] [sailbot.main_algo]: Heading Difference: -168.75380700243784 -[main_algo-3] [INFO] [1746051280.959456905] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051280.960350990] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051280.961199149] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051280.962373769] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051280.963241925] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051281.001451331] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904567 Long: -76.50277112 -[vectornav-1] [INFO] [1746051281.001893113] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.59000000000003, 0.536, 4.769) -[main_algo-3] [INFO] [1746051281.001919414] [sailbot.main_algo]: Distance to destination: 56.88282812001715 -[main_algo-3] [INFO] [1746051281.002379900] [sailbot.main_algo]: Target Bearing: -141.85476780811132 -[main_algo-3] [INFO] [1746051281.002837699] [sailbot.main_algo]: Heading Difference: -168.7482321918887 -[main_algo-3] [INFO] [1746051281.003276371] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051281.003708583] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051281.004114626] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051281.005527984] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051281.044103968] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051281.044831469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051281.045094514] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051281.046670716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051281.048086332] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051281.084634112] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051281.086071633] [sailbot.teensy]: Wind angle: 195 -[trim_sail-4] [INFO] [1746051281.086584885] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051281.087355103] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051281.090561898] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051281.093110395] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051281.095139000] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051281.144325449] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051281.145350832] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051281.145272603] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051281.147404194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051281.149059371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051281.244951435] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051281.245489401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051281.246401217] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051281.247249511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051281.248303372] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051281.335132395] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051281.337269697] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051281.337692966] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051281.338075252] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746051281.338597229] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051281.338942972] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051281.339272692] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051281.344328718] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051281.344998025] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051281.345452484] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051281.346845266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051281.347902552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051281.444611236] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051281.445558051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051281.445910326] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051281.447545371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051281.448509183] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051281.456965720] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051281.457880127] [sailbot.main_algo]: Target Bearing: -141.85476780811132 -[main_algo-3] [INFO] [1746051281.458819994] [sailbot.main_algo]: Heading Difference: -168.55523219188865 -[main_algo-3] [INFO] [1746051281.459618629] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051281.460439034] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051281.461283153] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051281.462261185] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051281.463357986] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051281.502635882] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904556 Long: -76.50277155 -[vectornav-1] [INFO] [1746051281.503714094] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.82400000000001, -0.776, 5.197) -[main_algo-3] [INFO] [1746051281.504144295] [sailbot.main_algo]: Distance to destination: 56.847700877950786 -[main_algo-3] [INFO] [1746051281.505436582] [sailbot.main_algo]: Target Bearing: -141.8418123760597 -[main_algo-3] [INFO] [1746051281.506614898] [sailbot.main_algo]: Heading Difference: -168.56818762394028 -[main_algo-3] [INFO] [1746051281.507771212] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051281.508875196] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051281.509848556] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051281.511819132] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051281.544908907] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051281.545366515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051281.546243823] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051281.547293070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051281.548644819] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051281.585076893] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051281.586538250] [sailbot.teensy]: Wind angle: 197 -[teensy-2] [INFO] [1746051281.587325573] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051281.588091962] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051281.586924137] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051281.587766165] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051281.588950317] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051281.644802130] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051281.645604338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051281.646119520] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051281.647766327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051281.648847076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051281.744976583] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051281.745778687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051281.746433183] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051281.747909320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051281.749083915] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051281.835082239] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051281.836559776] [sailbot.teensy]: Wind angle: 197 -[teensy-2] [INFO] [1746051281.837364031] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051281.838171273] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051281.837401939] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051281.838435943] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051281.839036403] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051281.844321807] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051281.844920800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051281.845324984] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051281.846562712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051281.847447526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051281.944762799] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051281.945487432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051281.945919750] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051281.947354344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051281.948375135] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051281.957027816] [sailbot.main_algo]: Wind Direction: 197 -[main_algo-3] [INFO] [1746051281.958038779] [sailbot.main_algo]: Target Bearing: -141.8418123760597 -[main_algo-3] [INFO] [1746051281.958911197] [sailbot.main_algo]: Heading Difference: -169.3341876239403 -[main_algo-3] [INFO] [1746051281.959769139] [sailbot.main_algo]: Wind Direction: 197 -[main_algo-3] [INFO] [1746051281.960639021] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051281.961483989] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051281.962734106] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051281.963736748] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051282.002837500] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904543 Long: -76.5027716 -[vectornav-1] [INFO] [1746051282.003928715] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.870000000000005, -0.017, 5.107) -[main_algo-3] [INFO] [1746051282.004732627] [sailbot.main_algo]: Distance to destination: 56.83539468708737 -[main_algo-3] [INFO] [1746051282.006059585] [sailbot.main_algo]: Target Bearing: -141.85047784798752 -[main_algo-3] [INFO] [1746051282.007094704] [sailbot.main_algo]: Heading Difference: -169.32552215201247 -[main_algo-3] [INFO] [1746051282.008185473] [sailbot.main_algo]: Wind Direction: 197 -[main_algo-3] [INFO] [1746051282.009263321] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051282.010256341] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051282.012105762] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051282.044906710] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051282.045437338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051282.046256081] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051282.047487829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051282.048601574] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051282.085366474] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051282.087943929] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051282.087981019] [sailbot.teensy]: Wind angle: 197 -[mux-7] [INFO] [1746051282.088824993] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051282.089389041] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051282.090551458] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051282.091807603] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051282.144822423] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051282.145733686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051282.146421178] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051282.147627932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051282.148686763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051282.244485982] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051282.245201517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051282.245562832] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051282.248101125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051282.250427003] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051282.335118109] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051282.336742801] [sailbot.teensy]: Wind angle: 198 -[teensy-2] [INFO] [1746051282.337640373] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051282.337312507] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051282.338516153] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051282.338524749] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051282.339773363] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051282.344284168] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051282.344706779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051282.345345204] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051282.346271713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051282.347249131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051282.445123405] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051282.445272537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051282.446474411] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051282.446877994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051282.447915450] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051282.457274922] [sailbot.main_algo]: Wind Direction: 198 -[main_algo-3] [INFO] [1746051282.458438810] [sailbot.main_algo]: Target Bearing: -141.85047784798752 -[main_algo-3] [INFO] [1746051282.459575772] [sailbot.main_algo]: Heading Difference: -171.27952215201248 -[main_algo-3] [INFO] [1746051282.460431489] [sailbot.main_algo]: Wind Direction: 198 -[main_algo-3] [INFO] [1746051282.461231580] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051282.462035414] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051282.463169373] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051282.463546095] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051282.502690287] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690454 Long: -76.50277191 -[main_algo-3] [INFO] [1746051282.503724168] [sailbot.main_algo]: Distance to destination: 56.813529655939206 -[vectornav-1] [INFO] [1746051282.503755811] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.178, -0.942, 5.879) -[main_algo-3] [INFO] [1746051282.504802044] [sailbot.main_algo]: Target Bearing: -141.83684898696333 -[main_algo-3] [INFO] [1746051282.505739478] [sailbot.main_algo]: Heading Difference: -171.29315101303666 -[main_algo-3] [INFO] [1746051282.506583983] [sailbot.main_algo]: Wind Direction: 198 -[main_algo-3] [INFO] [1746051282.507404705] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051282.508195635] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051282.509718551] [sailbot.mux]: algo rudder angle: -25 -[teensy-2] [INFO] [1746051282.545229595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051282.547238358] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051282.549141241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051282.550132528] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051282.550985919] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051282.584456752] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051282.585368520] [sailbot.teensy]: Wind angle: 197 -[teensy-2] [INFO] [1746051282.585802164] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051282.586188582] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051282.586577335] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051282.585835854] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051282.585968829] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051282.643750398] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051282.644216157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051282.644292103] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051282.645063311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051282.645632976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051282.743693625] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051282.744067659] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051282.744206251] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051282.744899132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051282.745445130] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051282.834406481] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051282.835578833] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051282.835835187] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051282.836426691] [sailbot.teensy]: Wind angle: 197 -[teensy-2] [INFO] [1746051282.836879080] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051282.837285524] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051282.837667907] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051282.843691854] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051282.844268297] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051282.846287840] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051282.847161097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051282.847914858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051282.943685443] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051282.944276305] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051282.946314952] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051282.947507450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051282.949273518] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051282.956379786] [sailbot.main_algo]: Wind Direction: 197 -[main_algo-3] [INFO] [1746051282.956887410] [sailbot.main_algo]: Target Bearing: -141.83684898696333 -[main_algo-3] [INFO] [1746051282.957343848] [sailbot.main_algo]: Heading Difference: -170.98515101303667 -[main_algo-3] [INFO] [1746051282.957758448] [sailbot.main_algo]: Wind Direction: 197 -[main_algo-3] [INFO] [1746051282.958168270] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051282.958575568] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051282.959068533] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051282.959554435] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051283.001703437] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904525 Long: -76.50277177 -[vectornav-1] [INFO] [1746051283.002213436] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.423, -0.125, 5.586) -[main_algo-3] [INFO] [1746051283.003631744] [sailbot.main_algo]: Distance to destination: 56.81193260789634 -[main_algo-3] [INFO] [1746051283.004115611] [sailbot.main_algo]: Target Bearing: -141.85720653034335 -[main_algo-3] [INFO] [1746051283.005416981] [sailbot.main_algo]: Heading Difference: -170.96479346965668 -[main_algo-3] [INFO] [1746051283.006557051] [sailbot.main_algo]: Wind Direction: 197 -[main_algo-3] [INFO] [1746051283.007029314] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051283.007418627] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051283.009009447] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051283.043663721] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051283.044196677] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051283.045506775] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051283.046183425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051283.046690818] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051283.084456485] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051283.085235222] [sailbot.teensy]: Wind angle: 197 -[teensy-2] [INFO] [1746051283.085647997] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051283.085467687] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051283.086069828] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051283.086454162] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051283.087693356] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051283.143845612] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051283.144487487] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051283.144199455] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051283.145403719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051283.146065252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051283.243751798] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051283.244035915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051283.244286645] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051283.244991063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051283.245464339] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051283.334930909] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051283.336537037] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746051283.337684223] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051283.338764264] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051283.339050614] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051283.339208239] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051283.339642373] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051283.343620166] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051283.344372284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051283.344498930] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051283.346186607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051283.346662375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051283.444903505] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051283.445517138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051283.446166171] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051283.447413166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051283.448456045] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051283.457034820] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051283.458017186] [sailbot.main_algo]: Target Bearing: -141.85720653034335 -[main_algo-3] [INFO] [1746051283.459012819] [sailbot.main_algo]: Heading Difference: -170.71979346965668 -[main_algo-3] [INFO] [1746051283.459854563] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051283.460682468] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051283.461497259] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051283.462651244] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051283.463112957] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051283.502482101] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904532 Long: -76.50277168 -[main_algo-3] [INFO] [1746051283.503430514] [sailbot.main_algo]: Distance to destination: 56.82257967420348 -[vectornav-1] [INFO] [1746051283.503525329] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.920000000000016, -0.623, 5.078) -[main_algo-3] [INFO] [1746051283.504527144] [sailbot.main_algo]: Target Bearing: -141.85583985970655 -[main_algo-3] [INFO] [1746051283.505393661] [sailbot.main_algo]: Heading Difference: -170.72116014029348 -[main_algo-3] [INFO] [1746051283.506324305] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051283.507418187] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051283.508306626] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051283.509921281] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051283.544767036] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051283.545345702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051283.546121470] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051283.547230190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051283.548381864] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051283.585019209] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051283.586803539] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746051283.587615213] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051283.587346060] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051283.587461797] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051283.588487413] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051283.589340014] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051283.644718617] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051283.645192313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051283.645947877] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051283.646883167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051283.647842714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051283.743832615] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051283.744047602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051283.744462087] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051283.745120585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051283.745635087] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051283.835088559] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051283.837158557] [sailbot.teensy]: Wind angle: 196 -[trim_sail-4] [INFO] [1746051283.837257500] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051283.837604717] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051283.838690168] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051283.839107419] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051283.839481578] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051283.844232315] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051283.844640823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051283.845935270] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051283.846290759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051283.847414538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051283.944822434] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051283.945218670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051283.945947577] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051283.946890925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051283.947954013] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051283.957005387] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051283.957985743] [sailbot.main_algo]: Target Bearing: -141.85583985970655 -[main_algo-3] [INFO] [1746051283.958827245] [sailbot.main_algo]: Heading Difference: -170.2241601402934 -[main_algo-3] [INFO] [1746051283.959635735] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051283.960462401] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051283.961259169] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051283.962167821] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051283.962725631] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051284.002860055] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904543 Long: -76.50277178 -[main_algo-3] [INFO] [1746051284.003780870] [sailbot.main_algo]: Distance to destination: 56.82392047062883 -[vectornav-1] [INFO] [1746051284.004406620] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.02699999999999, 0.61, 5.594) -[main_algo-3] [INFO] [1746051284.005714515] [sailbot.main_algo]: Target Bearing: -141.84105335973956 -[main_algo-3] [INFO] [1746051284.006841413] [sailbot.main_algo]: Heading Difference: -170.23894664026045 -[main_algo-3] [INFO] [1746051284.009112225] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051284.010339426] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051284.011272220] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051284.013156190] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051284.043977701] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051284.044744633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051284.044903225] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051284.046394931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051284.047274222] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051284.084841430] [sailbot.teensy]: Check telemetry callback entered -[mux-7] [INFO] [1746051284.087530888] [sailbot.mux]: algo sail angle: 0 -[trim_sail-4] [INFO] [1746051284.087768925] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051284.087984785] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746051284.088891023] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051284.089663066] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051284.090445096] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051284.144704340] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051284.145484829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051284.145976616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051284.147230397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051284.148975407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051284.244991579] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051284.245592626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051284.246236848] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051284.247376713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051284.248494362] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051284.335060891] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051284.336565030] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746051284.337581319] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051284.337932545] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051284.338948097] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051284.339284700] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051284.341905605] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051284.344833329] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051284.346083724] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051284.346092020] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051284.347677598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051284.348686062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051284.445305808] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051284.445387994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051284.446486776] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051284.447170652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051284.448328992] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051284.457134701] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051284.458203287] [sailbot.main_algo]: Target Bearing: -141.84105335973956 -[main_algo-3] [INFO] [1746051284.459195032] [sailbot.main_algo]: Heading Difference: -170.13194664026048 -[main_algo-3] [INFO] [1746051284.460101120] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051284.461042152] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051284.461792703] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051284.462729405] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051284.463253243] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051284.502549292] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690454 Long: -76.50277165 -[vectornav-1] [INFO] [1746051284.503864266] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.97800000000001, -1.868, 6.163) -[main_algo-3] [INFO] [1746051284.503948342] [sailbot.main_algo]: Distance to destination: 56.830103027448004 -[main_algo-3] [INFO] [1746051284.505001832] [sailbot.main_algo]: Target Bearing: -141.8504646307577 -[main_algo-3] [INFO] [1746051284.505883615] [sailbot.main_algo]: Heading Difference: -170.1225353692423 -[main_algo-3] [INFO] [1746051284.506799329] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051284.507685922] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051284.508584825] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051284.510155931] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051284.544590629] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051284.544994689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051284.545636671] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051284.546636423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051284.547738039] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051284.584586138] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051284.586474360] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051284.587853290] [sailbot.teensy]: Wind angle: 196 -[mux-7] [INFO] [1746051284.587960167] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051284.589221099] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051284.589653310] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051284.590054494] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051284.643672608] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051284.644733769] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051284.644779074] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051284.645518734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051284.646220108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051284.743698604] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051284.744127104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051284.745096198] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051284.745278098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051284.745898822] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051284.834479144] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051284.836336777] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051284.836560293] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051284.838590213] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746051284.839148839] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051284.839562977] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051284.840355620] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051284.843667687] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051284.844158434] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051284.843942085] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051284.844947767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051284.845454553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051284.943739049] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051284.944292485] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051284.945239607] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051284.945393873] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051284.945818969] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051284.956254770] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051284.957062953] [sailbot.main_algo]: Target Bearing: -141.8504646307577 -[main_algo-3] [INFO] [1746051284.957534129] [sailbot.main_algo]: Heading Difference: -170.1715353692423 -[main_algo-3] [INFO] [1746051284.957895098] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051284.958350449] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051284.959000269] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051284.959810081] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051284.960195784] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051285.003034303] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904535 Long: -76.50277164 -[main_algo-3] [INFO] [1746051285.003514301] [sailbot.main_algo]: Distance to destination: 56.82723378844727 -[vectornav-1] [INFO] [1746051285.004314773] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.53800000000001, 0.536, 5.149) -[main_algo-3] [INFO] [1746051285.004607607] [sailbot.main_algo]: Target Bearing: -141.85532908511178 -[main_algo-3] [INFO] [1746051285.005551198] [sailbot.main_algo]: Heading Difference: -170.1666709148882 -[main_algo-3] [INFO] [1746051285.006598469] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051285.007555130] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051285.008407805] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051285.010002296] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051285.045218114] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051285.045421015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051285.046731678] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051285.047246714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051285.048335812] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051285.085510718] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051285.087658378] [sailbot.teensy]: Wind angle: 196 -[trim_sail-4] [INFO] [1746051285.087758706] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051285.089023906] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051285.090349847] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051285.090629909] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051285.092119667] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051285.144437931] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051285.145497349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051285.145566646] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051285.148120274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051285.149192232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051285.244767472] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051285.245903570] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051285.246125211] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051285.248180767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051285.249456208] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051285.335002310] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051285.336845142] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051285.337189972] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746051285.338037185] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051285.338957568] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051285.337846053] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051285.341053042] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051285.344608807] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051285.345779998] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051285.347262438] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051285.349356783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051285.350514923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051285.444468966] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051285.445513454] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051285.445535375] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051285.447604205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051285.448873703] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051285.456939514] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051285.457842484] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746051285.458791357] [sailbot.main_algo]: Target Bearing: -141.85532908511178 -[main_algo-3] [INFO] [1746051285.459645575] [sailbot.main_algo]: Heading Difference: -169.60667091488824 -[main_algo-3] [INFO] [1746051285.460485851] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051285.461301655] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051285.462090021] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051285.463097828] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051285.463959504] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051285.502788790] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904564 Long: -76.50277183 -[main_algo-3] [INFO] [1746051285.503821972] [sailbot.main_algo]: Distance to destination: 56.83546928751585 -[vectornav-1] [INFO] [1746051285.504939941] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.947, -1.052, 4.368) -[main_algo-3] [INFO] [1746051285.505032531] [sailbot.main_algo]: Target Bearing: -141.8202087319725 -[main_algo-3] [INFO] [1746051285.506114928] [sailbot.main_algo]: Heading Difference: -169.64179126802748 -[main_algo-3] [INFO] [1746051285.507094034] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051285.508100541] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051285.509028146] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051285.510649824] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051285.545534378] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051285.545681253] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051285.547456965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051285.547418109] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051285.548592412] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051285.585306795] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051285.587203605] [sailbot.teensy]: Wind angle: 196 -[trim_sail-4] [INFO] [1746051285.587454003] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051285.588302375] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051285.589147956] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051285.589170157] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051285.589962370] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051285.644118113] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051285.644735094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051285.645238400] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051285.646477955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051285.647455829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051285.744970820] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051285.746319422] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051285.746864309] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051285.748815534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051285.750360603] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051285.835357414] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051285.837541699] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051285.837816923] [sailbot.teensy]: Wind angle: 195 -[mux-7] [INFO] [1746051285.838988635] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051285.839106099] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051285.840420392] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051285.841496775] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051285.844516805] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051285.844878137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051285.845614600] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051285.846496009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051285.847549342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051285.944776347] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051285.945373907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051285.946065785] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051285.947425927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051285.948454510] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051285.957154942] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051285.958304420] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746051285.959268630] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051285.960667972] [sailbot.main_algo]: Current Location: (42.46904564214752, -76.50277183005443) -[main_algo-3] [INFO] [1746051285.961988501] [sailbot.main_algo]: Target Bearing: -141.8202087319725 -[main_algo-3] [INFO] [1746051285.962905852] [sailbot.main_algo]: Heading Difference: -168.23279126802748 -[main_algo-3] [INFO] [1746051285.963839470] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051285.964731845] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051285.965861840] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051285.966996091] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051285.967401690] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051286.003431545] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904565 Long: -76.50277175 -[main_algo-3] [INFO] [1746051286.003509213] [sailbot.main_algo]: Distance to destination: 56.84126902421981 -[vectornav-1] [INFO] [1746051286.004522041] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.35899999999998, 0.89, 6.095) -[main_algo-3] [INFO] [1746051286.004521713] [sailbot.main_algo]: Target Bearing: -141.82353123765722 -[main_algo-3] [INFO] [1746051286.005479249] [sailbot.main_algo]: Heading Difference: -168.22946876234278 -[main_algo-3] [INFO] [1746051286.006375806] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051286.007266949] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051286.008132069] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051286.009900894] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051286.044936997] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051286.045487313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051286.046169775] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051286.047238772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051286.048263398] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051286.085168551] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051286.087140495] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051286.087619086] [sailbot.teensy]: Wind angle: 194 -[mux-7] [INFO] [1746051286.088073017] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051286.088679172] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051286.089727554] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051286.090512697] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051286.145184101] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051286.145483405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051286.146785695] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051286.147218881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051286.148536578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051286.245406906] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051286.245491683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051286.246910313] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051286.247406846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051286.248788108] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051286.335081394] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051286.337010506] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051286.337837391] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051286.337875825] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051286.338808295] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051286.339366156] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051286.339696375] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051286.344450987] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051286.344933979] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051286.346318761] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051286.346624124] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051286.347957715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051286.445087215] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051286.445905662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051286.446551832] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051286.447834976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051286.449044324] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051286.457047798] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051286.458052615] [sailbot.main_algo]: Target Bearing: -141.82353123765722 -[main_algo-3] [INFO] [1746051286.459071095] [sailbot.main_algo]: Heading Difference: -170.8174687623428 -[main_algo-3] [INFO] [1746051286.459936112] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051286.460845234] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051286.461659540] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051286.462670224] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051286.463350899] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051286.502548488] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904549 Long: -76.50277177 -[main_algo-3] [INFO] [1746051286.503360773] [sailbot.main_algo]: Distance to destination: 56.82876725307713 -[vectornav-1] [INFO] [1746051286.503613778] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.53499999999997, -1.477, 5.344) -[main_algo-3] [INFO] [1746051286.504405512] [sailbot.main_algo]: Target Bearing: -141.83636875447607 -[main_algo-3] [INFO] [1746051286.505317054] [sailbot.main_algo]: Heading Difference: -170.80463124552398 -[main_algo-3] [INFO] [1746051286.506189312] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051286.507021181] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051286.507896548] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051286.509643970] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051286.544493608] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051286.545046406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051286.545570132] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051286.546664202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051286.547721894] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051286.584417436] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051286.585210930] [sailbot.teensy]: Wind angle: 195 -[trim_sail-4] [INFO] [1746051286.585505762] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051286.585634551] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051286.586034995] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051286.586427727] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051286.586770166] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051286.643760505] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051286.644038779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051286.644445816] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051286.645197922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051286.645879587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051286.743707288] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051286.744010919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051286.744282230] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051286.745094078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051286.745631229] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051286.834490604] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051286.835891438] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051286.836086281] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746051286.836542128] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051286.836939211] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051286.836139849] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051286.837323087] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051286.843667478] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051286.843933640] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051286.844204588] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051286.844711814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051286.845234465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051286.943674372] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051286.944041601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051286.944249267] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051286.944907083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051286.945468275] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051286.956280864] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051286.956734771] [sailbot.main_algo]: Target Bearing: -141.83636875447607 -[main_algo-3] [INFO] [1746051286.957147485] [sailbot.main_algo]: Heading Difference: -168.62863124552393 -[main_algo-3] [INFO] [1746051286.957577144] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051286.957978830] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051286.958370488] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051286.958884512] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051286.959351715] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051287.001414265] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904544 Long: -76.50277171 -[main_algo-3] [INFO] [1746051287.001797152] [sailbot.main_algo]: Distance to destination: 56.82908396343582 -[vectornav-1] [INFO] [1746051287.001912004] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.06299999999999, -0.509, 5.222) -[main_algo-3] [INFO] [1746051287.002284991] [sailbot.main_algo]: Target Bearing: -141.84385080830725 -[main_algo-3] [INFO] [1746051287.002719662] [sailbot.main_algo]: Heading Difference: -168.62114919169278 -[main_algo-3] [INFO] [1746051287.003127040] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051287.003520852] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051287.003911390] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051287.004832207] [sailbot.mux]: algo rudder angle: -25 -[teensy-2] [INFO] [1746051287.044076377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051287.044573096] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051287.045149294] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051287.046507760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051287.047111984] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051287.084424596] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051287.085237110] [sailbot.teensy]: Wind angle: 192 -[teensy-2] [INFO] [1746051287.085663040] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051287.086264938] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051287.085515595] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051287.085767381] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051287.086691531] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051287.143662850] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051287.144035240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051287.144194756] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051287.145030623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051287.145546067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051287.243680704] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051287.244176306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051287.244170581] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051287.244985166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051287.245577473] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051287.334419473] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051287.335129761] [sailbot.teensy]: Wind angle: 191 -[trim_sail-4] [INFO] [1746051287.335454048] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051287.336329661] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051287.337044516] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051287.337495645] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051287.337883170] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051287.343615573] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051287.344088157] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051287.345352219] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051287.345882334] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051287.346405291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051287.443711366] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051287.444136874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051287.444258708] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051287.445506769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051287.446052937] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051287.456379368] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051287.456924525] [sailbot.main_algo]: Target Bearing: -141.84385080830725 -[main_algo-3] [INFO] [1746051287.457372443] [sailbot.main_algo]: Heading Difference: -168.09314919169276 -[main_algo-3] [INFO] [1746051287.457788535] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051287.458272672] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051287.458678908] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051287.459267864] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051287.459706418] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051287.501707295] [sailbot.main_algo]: Distance to destination: 56.8351466155879 -[main_algo-3] [INFO] [1746051287.502191736] [sailbot.main_algo]: Target Bearing: -141.82716625793105 -[main_algo-3] [INFO] [1746051287.502615903] [sailbot.main_algo]: Heading Difference: -168.109833742069 -[main_algo-3] [INFO] [1746051287.503069062] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051287.503464936] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051287.503870967] [sailbot.main_algo]: Rudder Angle: -25 -[vectornav-1] [INFO] [1746051287.504653474] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904559 Long: -76.50277178 -[vectornav-1] [INFO] [1746051287.505141306] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.32600000000002, 0.569, 6.28) -[mux-7] [INFO] [1746051287.504724936] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051287.544208141] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051287.545433290] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051287.545005211] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051287.546750647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051287.547843127] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051287.584518561] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051287.585541529] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051287.586020573] [sailbot.teensy]: Wind angle: 192 -[mux-7] [INFO] [1746051287.586193181] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051287.586445925] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051287.586834676] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051287.587210416] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051287.644134065] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051287.644518002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051287.645197067] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051287.646322520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051287.647093100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051287.744436024] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051287.744851638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051287.745499037] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051287.746620452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051287.747600711] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051287.834466903] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051287.835215088] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746051287.835622269] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051287.836022971] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051287.835619722] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051287.836329965] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051287.836431703] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051287.843842254] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051287.844357897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051287.844684663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051287.845915663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051287.847037023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051287.945096478] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051287.945621605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051287.946354468] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051287.947652888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051287.948723131] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051287.957030504] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051287.958001271] [sailbot.main_algo]: Target Bearing: -141.82716625793105 -[main_algo-3] [INFO] [1746051287.958836736] [sailbot.main_algo]: Heading Difference: -168.84683374206895 -[main_algo-3] [INFO] [1746051287.959622075] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051287.960453543] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051287.961250714] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051287.962258345] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051287.962981193] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051288.002220725] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904558 Long: -76.50277191 -[vectornav-1] [INFO] [1746051288.003265081] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.668000000000006, -1.064, 4.198) -[main_algo-3] [INFO] [1746051288.003560427] [sailbot.main_algo]: Distance to destination: 56.82616044036322 -[main_algo-3] [INFO] [1746051288.004651626] [sailbot.main_algo]: Target Bearing: -141.82122446198193 -[main_algo-3] [INFO] [1746051288.005606245] [sailbot.main_algo]: Heading Difference: -168.85277553801802 -[main_algo-3] [INFO] [1746051288.006498566] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051288.007368928] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051288.008294594] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051288.009953136] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051288.043795643] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051288.044255853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051288.044534627] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051288.045606453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051288.046243708] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051288.084432322] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051288.085461215] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051288.085747558] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051288.086533141] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746051288.086985502] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051288.088319932] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051288.088758477] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051288.143667285] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051288.144104077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051288.144193402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051288.144974031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051288.146001584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051288.244081017] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051288.244499215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051288.244989000] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051288.245901959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051288.246914048] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051288.335112952] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051288.336685545] [sailbot.teensy]: Wind angle: 198 -[teensy-2] [INFO] [1746051288.337581073] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051288.338406309] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051288.338763261] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051288.339016558] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051288.339246965] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051288.344690272] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051288.345285850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051288.346106835] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051288.348190706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051288.349375450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051288.444010495] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051288.444501280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051288.444844128] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051288.445918863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051288.446910067] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051288.458526763] [sailbot.main_algo]: Wind Direction: 198 -[main_algo-3] [INFO] [1746051288.459529797] [sailbot.main_algo]: Target Bearing: -141.82122446198193 -[main_algo-3] [INFO] [1746051288.460478196] [sailbot.main_algo]: Heading Difference: -168.51077553801804 -[main_algo-3] [INFO] [1746051288.461356059] [sailbot.main_algo]: Wind Direction: 198 -[main_algo-3] [INFO] [1746051288.462348936] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051288.463197456] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051288.464802153] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051288.467140699] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051288.501911744] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904555 Long: -76.50277193 -[main_algo-3] [INFO] [1746051288.502502302] [sailbot.main_algo]: Distance to destination: 56.82278051102901 -[vectornav-1] [INFO] [1746051288.502662295] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.96500000000003, -0.636, 6.997) -[main_algo-3] [INFO] [1746051288.503376551] [sailbot.main_algo]: Target Bearing: -141.82278028378343 -[main_algo-3] [INFO] [1746051288.504244369] [sailbot.main_algo]: Heading Difference: -168.50921971621653 -[main_algo-3] [INFO] [1746051288.505043034] [sailbot.main_algo]: Wind Direction: 198 -[main_algo-3] [INFO] [1746051288.505889729] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051288.507380458] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051288.508955885] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051288.544316690] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051288.545307173] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051288.548220291] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051288.549429373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051288.551417226] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051288.585086660] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051288.587200159] [sailbot.teensy]: Wind angle: 200 -[teensy-2] [INFO] [1746051288.587981888] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051288.587412660] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051288.588697564] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051288.589100761] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051288.589420940] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051288.643686396] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051288.644039827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051288.644205763] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051288.644885692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051288.645518006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051288.745126731] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051288.745968351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051288.746370283] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051288.747849991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051288.748885999] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051288.835002307] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051288.836930941] [sailbot.teensy]: Wind angle: 200 -[trim_sail-4] [INFO] [1746051288.836973068] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051288.838307410] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051288.838573100] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051288.839383926] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051288.839729958] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051288.844368082] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051288.844983758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051288.845434382] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051288.846640673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051288.847830854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051288.944301141] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051288.944774162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051288.945293119] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051288.946359331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051288.947418839] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051288.957135512] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051288.958234179] [sailbot.main_algo]: Target Bearing: -141.82278028378343 -[main_algo-3] [INFO] [1746051288.959447096] [sailbot.main_algo]: Heading Difference: -169.2122197162165 -[main_algo-3] [INFO] [1746051288.960328262] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051288.961166468] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051288.961965626] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051288.962956930] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051288.964127123] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051289.002535026] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904541 Long: -76.50277193 -[main_algo-3] [INFO] [1746051289.003721717] [sailbot.main_algo]: Distance to destination: 56.81295653034562 -[vectornav-1] [INFO] [1746051289.003866352] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.351999999999975, -0.201, 4.229) -[main_algo-3] [INFO] [1746051289.004781928] [sailbot.main_algo]: Target Bearing: -141.83493308297832 -[main_algo-3] [INFO] [1746051289.005816695] [sailbot.main_algo]: Heading Difference: -169.20006691702167 -[main_algo-3] [INFO] [1746051289.006665758] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051289.007484042] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051289.008332993] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051289.009893107] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051289.044958718] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051289.045712124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051289.046214613] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051289.047511817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051289.048696513] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051289.085302878] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051289.086993821] [sailbot.teensy]: Wind angle: 200 -[trim_sail-4] [INFO] [1746051289.087790458] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051289.087895227] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051289.088776866] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051289.089442659] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051289.089673238] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051289.143690003] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051289.144061122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051289.144572134] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051289.145764373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051289.146766321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051289.243676742] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051289.244073999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051289.244261542] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051289.244944953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051289.245912816] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051289.334492380] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051289.335421241] [sailbot.teensy]: Wind angle: 201 -[teensy-2] [INFO] [1746051289.336038370] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051289.336572071] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051289.336241907] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051289.337221877] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051289.337622849] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051289.343637135] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051289.344187695] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051289.344271040] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051289.345758424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051289.346259024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051289.443665949] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051289.444000809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051289.444176102] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051289.444844667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051289.445400925] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051289.456315097] [sailbot.main_algo]: Wind Direction: 201 -[main_algo-3] [INFO] [1746051289.456807004] [sailbot.main_algo]: Target Bearing: -141.83493308297832 -[main_algo-3] [INFO] [1746051289.457222610] [sailbot.main_algo]: Heading Difference: -168.81306691702173 -[main_algo-3] [INFO] [1746051289.457625820] [sailbot.main_algo]: Wind Direction: 201 -[main_algo-3] [INFO] [1746051289.458027311] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051289.458429433] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051289.458922106] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051289.459519375] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051289.501422460] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904541 Long: -76.50277191 -[main_algo-3] [INFO] [1746051289.501876272] [sailbot.main_algo]: Distance to destination: 56.81423125526894 -[main_algo-3] [INFO] [1746051289.502336539] [sailbot.main_algo]: Target Bearing: -141.83598077550755 -[vectornav-1] [INFO] [1746051289.502359076] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.067999999999984, -0.051, 5.884) -[main_algo-3] [INFO] [1746051289.502773970] [sailbot.main_algo]: Heading Difference: -168.81201922449247 -[main_algo-3] [INFO] [1746051289.503199237] [sailbot.main_algo]: Wind Direction: 201 -[main_algo-3] [INFO] [1746051289.503595992] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051289.503987849] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051289.504855743] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051289.543714278] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051289.544295499] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051289.543965054] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051289.544691530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051289.545316156] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051289.584432865] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051289.585186235] [sailbot.teensy]: Wind angle: 200 -[teensy-2] [INFO] [1746051289.585571432] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051289.585933824] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051289.586310054] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051289.585605503] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051289.586611360] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051289.643722228] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051289.644038243] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051289.644276263] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051289.644821735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051289.645319470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051289.743677832] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051289.744019006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051289.744187779] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051289.744826227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051289.745324518] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051289.834444568] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051289.835514763] [sailbot.teensy]: Wind angle: 200 -[teensy-2] [INFO] [1746051289.836289798] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051289.835678992] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051289.836855131] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051289.837322761] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051289.838678337] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051289.844049469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051289.844770648] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051289.845352124] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051289.847064180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051289.848087762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051289.943785579] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051289.944551500] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051289.944431562] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051289.945785391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051289.946638517] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051289.956379112] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051289.956943833] [sailbot.main_algo]: Target Bearing: -141.83598077550755 -[main_algo-3] [INFO] [1746051289.957434792] [sailbot.main_algo]: Heading Difference: -169.09601922449247 -[main_algo-3] [INFO] [1746051289.957891684] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051289.958314009] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051289.958724358] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051289.960718232] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051289.960806349] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051290.001427053] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904531 Long: -76.50277198 -[main_algo-3] [INFO] [1746051290.001816395] [sailbot.main_algo]: Distance to destination: 56.80275384100482 -[vectornav-1] [INFO] [1746051290.001916403] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.358000000000004, -1.123, 4.612) -[main_algo-3] [INFO] [1746051290.002285022] [sailbot.main_algo]: Target Bearing: -141.84099695348095 -[main_algo-3] [INFO] [1746051290.002709517] [sailbot.main_algo]: Heading Difference: -169.09100304651906 -[main_algo-3] [INFO] [1746051290.003110607] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051290.003528068] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051290.003945406] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051290.005096189] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051290.043701468] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051290.044257968] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051290.045133257] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051290.046574202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051290.047732545] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051290.084584394] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051290.086611873] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051290.087644843] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051290.089559831] [sailbot.teensy]: Wind angle: 201 -[teensy-2] [INFO] [1746051290.091020047] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051290.091522756] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051290.093100708] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051290.143759534] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051290.144264819] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051290.144111800] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051290.144942764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051290.145447297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051290.243617409] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051290.244176762] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051290.245421228] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051290.245953994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051290.246474358] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051290.334549498] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051290.336515203] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051290.336950998] [sailbot.teensy]: Wind angle: 201 -[mux-7] [INFO] [1746051290.337388359] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051290.337841011] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051290.338671521] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051290.339595958] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051290.344064127] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051290.344469391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051290.344919463] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051290.346066304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051290.347179288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051290.444260386] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051290.445164531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051290.444770851] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051290.446294217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051290.447425427] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051290.457032503] [sailbot.main_algo]: Wind Direction: 201 -[main_algo-3] [INFO] [1746051290.458040069] [sailbot.main_algo]: Target Bearing: -141.84099695348095 -[main_algo-3] [INFO] [1746051290.458925747] [sailbot.main_algo]: Heading Difference: -168.80100304651904 -[main_algo-3] [INFO] [1746051290.459766828] [sailbot.main_algo]: Wind Direction: 201 -[main_algo-3] [INFO] [1746051290.460583423] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051290.461378204] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051290.462370469] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051290.462928676] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051290.503384024] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904537 Long: -76.50277192 -[main_algo-3] [INFO] [1746051290.504539508] [sailbot.main_algo]: Distance to destination: 56.810787539676866 -[main_algo-3] [INFO] [1746051290.505584635] [sailbot.main_algo]: Target Bearing: -141.8389299225116 -[main_algo-3] [INFO] [1746051290.506558248] [sailbot.main_algo]: Heading Difference: -168.80307007748843 -[vectornav-1] [INFO] [1746051290.506707417] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.089, 0.054, 5.701) -[main_algo-3] [INFO] [1746051290.507535004] [sailbot.main_algo]: Wind Direction: 201 -[main_algo-3] [INFO] [1746051290.508476342] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051290.509433155] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051290.511317752] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051290.544090184] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051290.544579262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051290.544906847] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051290.545841199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051290.546647359] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051290.584424933] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051290.585168211] [sailbot.teensy]: Wind angle: 201 -[trim_sail-4] [INFO] [1746051290.585438870] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051290.586532065] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051290.587096639] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051290.587538365] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051290.587926951] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051290.643690377] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051290.644014779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051290.644188439] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051290.644803779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051290.645292779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051290.743660355] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051290.744134856] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051290.744099488] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051290.744858031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051290.745467185] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051290.835104191] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051290.837738527] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051290.838368456] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051290.838878301] [sailbot.teensy]: Wind angle: 200 -[teensy-2] [INFO] [1746051290.840073876] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051290.841014536] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051290.842290297] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051290.844387268] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051290.845281725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051290.845496429] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051290.847575367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051290.848623963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051290.944927752] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051290.945615078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051290.946214338] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051290.947499446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051290.948568469] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051290.956949840] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051290.957893939] [sailbot.main_algo]: Target Bearing: -141.8389299225116 -[main_algo-3] [INFO] [1746051290.958749455] [sailbot.main_algo]: Heading Difference: -169.07207007748843 -[main_algo-3] [INFO] [1746051290.959545531] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051290.960344111] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051290.961150809] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051290.962129124] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051290.963166279] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051291.002869895] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904521 Long: -76.50277178 -[main_algo-3] [INFO] [1746051291.003623444] [sailbot.main_algo]: Distance to destination: 56.80848997527925 -[vectornav-1] [INFO] [1746051291.004091019] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.120000000000005, -0.475, 5.626) -[main_algo-3] [INFO] [1746051291.004775207] [sailbot.main_algo]: Target Bearing: -141.8601570838506 -[main_algo-3] [INFO] [1746051291.005742070] [sailbot.main_algo]: Heading Difference: -169.0508429161494 -[main_algo-3] [INFO] [1746051291.006673572] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051291.007569641] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051291.008396666] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051291.009999609] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051291.044217964] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051291.044868712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051291.045230608] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051291.046511936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051291.047619647] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051291.085255557] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051291.087414077] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051291.087895611] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051291.088205424] [sailbot.teensy]: Wind angle: 201 -[teensy-2] [INFO] [1746051291.089148217] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051291.090004580] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051291.090838983] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051291.145398976] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051291.145925702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051291.146869978] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051291.147935992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051291.149001250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051291.243741051] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051291.244063515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051291.245136818] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051291.245650700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051291.246110526] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051291.335484774] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051291.337383371] [sailbot.teensy]: Wind angle: 200 -[teensy-2] [INFO] [1746051291.338368967] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051291.338519524] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051291.339260649] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051291.339378157] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051291.340224131] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051291.344379708] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051291.344988101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051291.345586145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051291.346882894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051291.347913332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051291.443688028] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051291.444071541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051291.444218341] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051291.444907704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051291.445481878] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051291.456262455] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051291.456726834] [sailbot.main_algo]: Target Bearing: -141.8601570838506 -[main_algo-3] [INFO] [1746051291.457151628] [sailbot.main_algo]: Heading Difference: -169.0198429161494 -[main_algo-3] [INFO] [1746051291.457555670] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051291.457943860] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051291.458348940] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051291.458823339] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051291.459156151] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051291.502073913] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904529 Long: -76.5027718 -[main_algo-3] [INFO] [1746051291.503047201] [sailbot.main_algo]: Distance to destination: 56.81282529469449 -[vectornav-1] [INFO] [1746051291.503319797] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.65999999999997, -0.422, 5.952) -[main_algo-3] [INFO] [1746051291.504191976] [sailbot.main_algo]: Target Bearing: -141.8521617647597 -[main_algo-3] [INFO] [1746051291.505117237] [sailbot.main_algo]: Heading Difference: -169.02783823524032 -[main_algo-3] [INFO] [1746051291.505945596] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051291.506783886] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051291.507548299] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051291.508880388] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051291.545027275] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051291.545607973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051291.546373003] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051291.547446201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051291.548702404] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051291.585160017] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051291.586717301] [sailbot.teensy]: Wind angle: 201 -[trim_sail-4] [INFO] [1746051291.587302898] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051291.587587298] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051291.588411882] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051291.588562890] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051291.589188705] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051291.644733813] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051291.645270303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051291.645909564] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051291.646979804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051291.648031494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051291.744514863] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051291.745041803] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051291.745595354] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051291.746750428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051291.747815797] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051291.835480700] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051291.837279948] [sailbot.teensy]: Wind angle: 200 -[teensy-2] [INFO] [1746051291.838210415] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051291.839260457] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051291.838029633] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051291.839243636] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051291.840327822] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051291.844632000] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051291.845825868] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051291.846565417] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051291.848579654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051291.849727604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051291.944044159] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051291.944630044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051291.945089090] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051291.946139030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051291.947249499] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051291.956417892] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051291.957217588] [sailbot.main_algo]: Target Bearing: -141.8521617647597 -[main_algo-3] [INFO] [1746051291.958017718] [sailbot.main_algo]: Heading Difference: -168.48783823524036 -[main_algo-3] [INFO] [1746051291.958695021] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051291.959497116] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051291.960341601] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051291.961511958] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051291.962095619] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051292.001472329] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904514 Long: -76.50277189 -[main_algo-3] [INFO] [1746051292.001866268] [sailbot.main_algo]: Distance to destination: 56.796567821434515 -[vectornav-1] [INFO] [1746051292.002006710] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.394000000000005, -0.538, 5.398) -[main_algo-3] [INFO] [1746051292.002317285] [sailbot.main_algo]: Target Bearing: -141.8604774799892 -[main_algo-3] [INFO] [1746051292.002740977] [sailbot.main_algo]: Heading Difference: -168.47952252001085 -[main_algo-3] [INFO] [1746051292.003150214] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051292.003539764] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051292.003917110] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051292.004850993] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051292.043760566] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051292.044093892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051292.045162266] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051292.045224499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051292.045763143] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051292.084448691] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051292.085530594] [sailbot.teensy]: Wind angle: 201 -[trim_sail-4] [INFO] [1746051292.086160589] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051292.086206809] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051292.086887533] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051292.087578369] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051292.089411284] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051292.143645228] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051292.144115009] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051292.143964514] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051292.144935959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051292.145493285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051292.244978249] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051292.246300930] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051292.246311096] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051292.248206076] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051292.249285262] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051292.335394175] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051292.337835243] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051292.338344754] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051292.338702929] [sailbot.teensy]: Wind angle: 201 -[teensy-2] [INFO] [1746051292.339732407] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051292.340652496] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051292.341506952] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051292.344365614] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051292.344954012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051292.345461295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051292.347538204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051292.348673129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051292.445371060] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051292.446320358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051292.446894331] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051292.448625392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051292.449255801] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051292.457340772] [sailbot.main_algo]: Wind Direction: 201 -[main_algo-3] [INFO] [1746051292.458554035] [sailbot.main_algo]: Target Bearing: -141.8604774799892 -[main_algo-3] [INFO] [1746051292.459624553] [sailbot.main_algo]: Heading Difference: -168.7455225200108 -[main_algo-3] [INFO] [1746051292.460552692] [sailbot.main_algo]: Wind Direction: 201 -[main_algo-3] [INFO] [1746051292.461434275] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051292.462281122] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051292.463339694] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051292.464037015] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051292.502869108] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904505 Long: -76.50277191 -[main_algo-3] [INFO] [1746051292.503741251] [sailbot.main_algo]: Distance to destination: 56.78898189968879 -[vectornav-1] [INFO] [1746051292.504119054] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.79899999999998, 0.001, 5.529) -[main_algo-3] [INFO] [1746051292.505059684] [sailbot.main_algo]: Target Bearing: -141.8672498985408 -[main_algo-3] [INFO] [1746051292.506107537] [sailbot.main_algo]: Heading Difference: -168.73875010145923 -[main_algo-3] [INFO] [1746051292.507126739] [sailbot.main_algo]: Wind Direction: 201 -[main_algo-3] [INFO] [1746051292.508135395] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051292.509057563] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051292.510819644] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051292.544581808] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051292.545064050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051292.545692907] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051292.546751273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051292.547767060] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051292.585153707] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051292.586735323] [sailbot.teensy]: Wind angle: 200 -[trim_sail-4] [INFO] [1746051292.587565357] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051292.587717100] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051292.588641397] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051292.588712580] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051292.589592938] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051292.645206175] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051292.646264693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051292.646739541] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051292.648583401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051292.649712261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051292.745098964] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051292.745881799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051292.746377641] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051292.747693657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051292.748731478] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051292.835333495] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051292.837412428] [sailbot.teensy]: Wind angle: 200 -[trim_sail-4] [INFO] [1746051292.837718238] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051292.838363259] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051292.838777556] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051292.839269371] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051292.840182945] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051292.844389494] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051292.844985348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051292.845472287] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051292.846746388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051292.847741866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051292.945009723] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051292.946021474] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051292.946739777] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051292.947922387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051292.948367367] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051292.957177244] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051292.958261529] [sailbot.main_algo]: Target Bearing: -141.8672498985408 -[main_algo-3] [INFO] [1746051292.959175915] [sailbot.main_algo]: Heading Difference: -169.33375010145926 -[main_algo-3] [INFO] [1746051292.960059871] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051292.960935892] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051292.961787658] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051292.962791364] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051292.963839799] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051293.002887641] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904483 Long: -76.50277181 -[main_algo-3] [INFO] [1746051293.003866676] [sailbot.main_algo]: Distance to destination: 56.779938550434615 -[vectornav-1] [INFO] [1746051293.004046299] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.47199999999998, -0.373, 5.694) -[main_algo-3] [INFO] [1746051293.005033902] [sailbot.main_algo]: Target Bearing: -141.8916083473045 -[main_algo-3] [INFO] [1746051293.006001409] [sailbot.main_algo]: Heading Difference: -169.30939165269552 -[main_algo-3] [INFO] [1746051293.006886730] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051293.007795609] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051293.008675870] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051293.010334955] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051293.044971885] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051293.045685931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051293.046236873] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051293.047464980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051293.048524277] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051293.085094211] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051293.086605126] [sailbot.teensy]: Wind angle: 201 -[trim_sail-4] [INFO] [1746051293.087229618] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051293.087542162] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051293.088548988] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051293.089441828] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051293.090091634] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051293.144828392] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051293.145585501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051293.146095003] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051293.147421470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051293.148310579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051293.245090744] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051293.245746892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051293.246507774] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051293.247682634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051293.248217558] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051293.335263485] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051293.337748989] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051293.337748844] [sailbot.teensy]: Wind angle: 211 -[teensy-2] [INFO] [1746051293.338707396] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051293.338697885] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051293.339620092] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051293.340509818] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051293.344338582] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051293.344897776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051293.345427078] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051293.346642052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051293.347700682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051293.445624741] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051293.446291881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051293.447309509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051293.448729486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051293.449867062] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051293.457063659] [sailbot.main_algo]: Wind Direction: 211 -[main_algo-3] [INFO] [1746051293.458062948] [sailbot.main_algo]: Target Bearing: -141.8916083473045 -[main_algo-3] [INFO] [1746051293.458941949] [sailbot.main_algo]: Heading Difference: -168.63639165269552 -[main_algo-3] [INFO] [1746051293.459768714] [sailbot.main_algo]: Wind Direction: 211 -[main_algo-3] [INFO] [1746051293.460583631] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051293.461361950] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051293.462450283] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051293.463084804] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051293.504001884] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690446 Long: -76.5027717 -[vectornav-1] [INFO] [1746051293.505726552] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.86700000000002, -0.399, 4.258) -[main_algo-3] [INFO] [1746051293.504082787] [sailbot.main_algo]: Distance to destination: 56.770843173909 -[main_algo-3] [INFO] [1746051293.505233151] [sailbot.main_algo]: Target Bearing: -141.9173677416775 -[main_algo-3] [INFO] [1746051293.506249388] [sailbot.main_algo]: Heading Difference: -168.61063225832254 -[main_algo-3] [INFO] [1746051293.507159009] [sailbot.main_algo]: Wind Direction: 211 -[main_algo-3] [INFO] [1746051293.508030591] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051293.508889362] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051293.510633283] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051293.545117936] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051293.545865615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051293.546540624] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051293.547815514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051293.548851708] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051293.585345128] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051293.587191298] [sailbot.teensy]: Wind angle: 216 -[teensy-2] [INFO] [1746051293.588428088] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051293.588004400] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051293.588979810] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051293.589340820] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051293.590252654] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051293.645204964] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051293.645924700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051293.646733489] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051293.648064577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051293.648914165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051293.744950163] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051293.745650619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051293.746267361] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051293.747563239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051293.748645889] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051293.835292863] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051293.837825011] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051293.838069041] [sailbot.teensy]: Wind angle: 217 -[mux-7] [INFO] [1746051293.838587402] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051293.838977445] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051293.839888526] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051293.840756933] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051293.844449227] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051293.844845198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051293.845586333] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051293.846497862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051293.847528837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051293.944959917] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051293.945627639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051293.946251042] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051293.947413759] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051293.948592851] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051293.957173020] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051293.958307586] [sailbot.main_algo]: Target Bearing: -141.9173677416775 -[main_algo-3] [INFO] [1746051293.959279405] [sailbot.main_algo]: Heading Difference: -168.21563225832244 -[main_algo-3] [INFO] [1746051293.960184980] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051293.961074808] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051293.961924918] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051293.963044632] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051293.963528788] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051294.002895928] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904429 Long: -76.50277149 -[main_algo-3] [INFO] [1746051294.003669857] [sailbot.main_algo]: Distance to destination: 56.76254398374382 -[vectornav-1] [INFO] [1746051294.004068874] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.62299999999999, -0.878, 6.273) -[main_algo-3] [INFO] [1746051294.004856316] [sailbot.main_algo]: Target Bearing: -141.95532897325992 -[main_algo-3] [INFO] [1746051294.005901886] [sailbot.main_algo]: Heading Difference: -168.1776710267401 -[main_algo-3] [INFO] [1746051294.006774902] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051294.007679484] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051294.008564334] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051294.010327877] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051294.044982983] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051294.045635148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051294.046234998] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051294.047546750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051294.048600193] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051294.085365156] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051294.087193899] [sailbot.teensy]: Wind angle: 216 -[trim_sail-4] [INFO] [1746051294.087605094] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051294.088173292] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051294.089108660] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051294.089246474] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051294.089988185] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051294.144897901] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051294.145610285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051294.146179799] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051294.147431381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051294.148521441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051294.244981903] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051294.245750407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051294.246624799] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051294.247726562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051294.248845174] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051294.334613840] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051294.335518259] [sailbot.teensy]: Wind angle: 215 -[teensy-2] [INFO] [1746051294.336043666] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051294.336093579] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051294.336541870] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051294.336655394] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051294.337016101] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051294.344108490] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051294.345039004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051294.345100681] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051294.346701906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051294.347689199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051294.445101646] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051294.446014462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051294.446627102] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051294.448131483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051294.449152132] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051294.457033856] [sailbot.main_algo]: Wind Direction: 215 -[main_algo-3] [INFO] [1746051294.458002061] [sailbot.main_algo]: Target Bearing: -141.95532897325992 -[main_algo-3] [INFO] [1746051294.458882999] [sailbot.main_algo]: Heading Difference: -168.4216710267401 -[main_algo-3] [INFO] [1746051294.459670994] [sailbot.main_algo]: Wind Direction: 215 -[main_algo-3] [INFO] [1746051294.460527538] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051294.461344365] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051294.462393520] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051294.463056142] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051294.503353487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904407 Long: -76.50277127 -[main_algo-3] [INFO] [1746051294.503676399] [sailbot.main_algo]: Distance to destination: 56.76120212952208 -[vectornav-1] [INFO] [1746051294.504622057] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.68799999999999, 0.304, 4.951) -[main_algo-3] [INFO] [1746051294.504806421] [sailbot.main_algo]: Target Bearing: -141.9859852676136 -[main_algo-3] [INFO] [1746051294.505809295] [sailbot.main_algo]: Heading Difference: -168.39101473238645 -[main_algo-3] [INFO] [1746051294.506796221] [sailbot.main_algo]: Wind Direction: 215 -[main_algo-3] [INFO] [1746051294.507706951] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051294.508615792] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051294.510308863] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051294.544839455] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051294.545634072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051294.546180785] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051294.547592769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051294.548650016] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051294.585349478] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051294.587167658] [sailbot.teensy]: Wind angle: 214 -[trim_sail-4] [INFO] [1746051294.587790379] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051294.588147821] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051294.589100979] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051294.589448408] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051294.589990298] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051294.645143308] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051294.645826121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051294.646535337] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051294.647818598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051294.648861999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051294.745096880] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051294.745875679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051294.746493589] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051294.748406842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051294.749454186] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051294.835376268] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051294.837172744] [sailbot.teensy]: Wind angle: 214 -[teensy-2] [INFO] [1746051294.838232898] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051294.839374246] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051294.837758229] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051294.838600317] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051294.840292620] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051294.844340913] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051294.844902802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051294.845511991] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051294.846669141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051294.847674136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051294.945141787] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051294.945872455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051294.946571415] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051294.947796920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051294.948334823] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051294.957181570] [sailbot.main_algo]: Wind Direction: 214 -[main_algo-3] [INFO] [1746051294.958269105] [sailbot.main_algo]: Target Bearing: -141.9859852676136 -[main_algo-3] [INFO] [1746051294.959199080] [sailbot.main_algo]: Heading Difference: -168.3260147323864 -[main_algo-3] [INFO] [1746051294.960089183] [sailbot.main_algo]: Wind Direction: 214 -[main_algo-3] [INFO] [1746051294.960975952] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051294.961819029] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051294.962810171] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051294.963388332] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051295.002903245] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904367 Long: -76.50277099 -[main_algo-3] [INFO] [1746051295.004136432] [sailbot.main_algo]: Distance to destination: 56.75113361740861 -[vectornav-1] [INFO] [1746051295.004285306] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.992999999999995, -0.246, 5.943) -[main_algo-3] [INFO] [1746051295.005407575] [sailbot.main_algo]: Target Bearing: -142.0354624282115 -[main_algo-3] [INFO] [1746051295.006367971] [sailbot.main_algo]: Heading Difference: -168.27653757178848 -[main_algo-3] [INFO] [1746051295.007265387] [sailbot.main_algo]: Wind Direction: 214 -[main_algo-3] [INFO] [1746051295.008115156] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051295.008966612] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051295.010834769] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051295.045047459] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051295.045578698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051295.046357234] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051295.047739919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051295.048731329] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051295.085310068] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051295.087506509] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051295.087898965] [sailbot.teensy]: Wind angle: 216 -[mux-7] [INFO] [1746051295.088790541] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051295.088975443] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051295.090114859] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051295.091050303] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051295.144488244] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051295.145003435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051295.145634836] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051295.146806191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051295.147788380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051295.245131069] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051295.245653194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051295.246754828] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051295.247745795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051295.248887280] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051295.335183416] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051295.337254244] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051295.338185379] [sailbot.teensy]: Wind angle: 217 -[mux-7] [INFO] [1746051295.338818689] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051295.339162833] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051295.340143108] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051295.341080503] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051295.344407383] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051295.344816991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051295.345508666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051295.346469454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051295.347544003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051295.445040560] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051295.445602944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051295.446383532] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051295.447467257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051295.448406397] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051295.457170352] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051295.458168131] [sailbot.main_algo]: Target Bearing: -142.0354624282115 -[main_algo-3] [INFO] [1746051295.459141207] [sailbot.main_algo]: Heading Difference: -167.97153757178853 -[main_algo-3] [INFO] [1746051295.460018933] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051295.460934454] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051295.461786423] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051295.462800786] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051295.463811825] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051295.503321478] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904329 Long: -76.50277075 -[main_algo-3] [INFO] [1746051295.503986677] [sailbot.main_algo]: Distance to destination: 56.73994480852172 -[vectornav-1] [INFO] [1746051295.504649432] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.480999999999995, -0.915, 4.98) -[main_algo-3] [INFO] [1746051295.505213553] [sailbot.main_algo]: Target Bearing: -142.08112542240696 -[main_algo-3] [INFO] [1746051295.506241345] [sailbot.main_algo]: Heading Difference: -167.92587457759305 -[main_algo-3] [INFO] [1746051295.507174478] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051295.508095338] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051295.508993486] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051295.510747812] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051295.544173510] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051295.544625844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051295.544998544] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051295.546298424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051295.547278973] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051295.584472435] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051295.585424855] [sailbot.teensy]: Wind angle: 218 -[teensy-2] [INFO] [1746051295.585869168] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051295.585572755] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051295.586267896] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051295.586648996] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051295.586674919] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051295.643732342] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051295.644066043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051295.644256777] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051295.645165917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051295.645701654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051295.743656861] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051295.743989358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051295.744574863] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051295.744875255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051295.745422552] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051295.834505033] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051295.835406664] [sailbot.teensy]: Wind angle: 218 -[teensy-2] [INFO] [1746051295.835881367] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051295.837260860] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051295.837394116] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051295.837879583] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051295.838542592] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051295.843946149] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051295.844501469] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051295.844427832] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051295.845375665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051295.846051917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051295.943721303] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051295.944040957] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051295.944241902] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051295.945527453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051295.946057923] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051295.956338260] [sailbot.main_algo]: Wind Direction: 218 -[main_algo-3] [INFO] [1746051295.956834546] [sailbot.main_algo]: Target Bearing: -142.08112542240696 -[main_algo-3] [INFO] [1746051295.957258627] [sailbot.main_algo]: Heading Difference: -167.43787457759305 -[main_algo-3] [INFO] [1746051295.957668486] [sailbot.main_algo]: Wind Direction: 218 -[main_algo-3] [INFO] [1746051295.958080523] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051295.958534393] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051295.959132211] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051295.959508226] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051296.001420929] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904304 Long: -76.50277036 -[vectornav-1] [INFO] [1746051296.001864758] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.34800000000001, -0.014, 4.809) -[main_algo-3] [INFO] [1746051296.001867089] [sailbot.main_algo]: Distance to destination: 56.7474560563448 -[main_algo-3] [INFO] [1746051296.002336712] [sailbot.main_algo]: Target Bearing: -142.1232775793457 -[main_algo-3] [INFO] [1746051296.002751614] [sailbot.main_algo]: Heading Difference: -167.3957224206543 -[main_algo-3] [INFO] [1746051296.003157035] [sailbot.main_algo]: Wind Direction: 218 -[main_algo-3] [INFO] [1746051296.003558427] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051296.003967974] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051296.005053454] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051296.043630895] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051296.044116932] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051296.045725254] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051296.046441549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051296.047165655] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051296.084635314] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051296.085425781] [sailbot.teensy]: Wind angle: 217 -[trim_sail-4] [INFO] [1746051296.085759060] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051296.085831187] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051296.086228659] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051296.086534195] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051296.086594435] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051296.143616997] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051296.144101857] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051296.143938677] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051296.144673731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051296.145187405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051296.243687808] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051296.243983485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051296.244244793] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051296.245074249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051296.245588377] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051296.334419336] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051296.335119191] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746051296.335465177] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051296.335507139] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051296.335892854] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051296.336282840] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051296.336523682] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051296.343656636] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051296.344194325] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051296.343979126] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051296.344774842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051296.345356307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051296.443668761] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051296.444173041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051296.444128796] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051296.444926344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051296.445393179] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051296.456251693] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051296.456732326] [sailbot.main_algo]: Target Bearing: -142.1232775793457 -[main_algo-3] [INFO] [1746051296.457140951] [sailbot.main_algo]: Heading Difference: -167.52872242065428 -[main_algo-3] [INFO] [1746051296.457539866] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051296.457938704] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051296.458317738] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051296.458780940] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051296.459134822] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051296.501344087] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904283 Long: -76.50277007 -[vectornav-1] [INFO] [1746051296.501847378] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.08299999999997, -0.412, 4.996) -[main_algo-3] [INFO] [1746051296.501858087] [sailbot.main_algo]: Distance to destination: 56.75138180042746 -[main_algo-3] [INFO] [1746051296.502303601] [sailbot.main_algo]: Target Bearing: -142.1567186095077 -[main_algo-3] [INFO] [1746051296.502729396] [sailbot.main_algo]: Heading Difference: -167.49528139049232 -[main_algo-3] [INFO] [1746051296.503906487] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051296.504348853] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051296.504780168] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051296.506257252] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051296.543660088] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051296.543955399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051296.544141473] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051296.544702438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051296.545200635] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051296.584392460] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051296.585143422] [sailbot.teensy]: Wind angle: 219 -[trim_sail-4] [INFO] [1746051296.585394453] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051296.585538412] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051296.585916165] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051296.586276475] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051296.587839145] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051296.643954429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051296.644745788] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051296.645482082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051296.646000202] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051296.646067436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051296.744685472] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051296.745369594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051296.745922077] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051296.747102639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051296.748069469] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051296.835207730] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051296.836858710] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746051296.837551306] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051296.837816668] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051296.838654194] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051296.838690836] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051296.839578221] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051296.844338252] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051296.844914432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051296.845447929] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051296.846603944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051296.847709314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051296.945130282] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051296.946032572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051296.946591859] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051296.948293967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051296.949405316] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051296.956962680] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051296.957970596] [sailbot.main_algo]: Target Bearing: -142.1567186095077 -[main_algo-3] [INFO] [1746051296.958864651] [sailbot.main_algo]: Heading Difference: -168.7602813904923 -[main_algo-3] [INFO] [1746051296.959719044] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051296.960613091] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051296.961408557] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051296.962417571] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051296.962994508] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051297.002895900] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904261 Long: -76.50276984 -[main_algo-3] [INFO] [1746051297.003924369] [sailbot.main_algo]: Distance to destination: 56.75078725063793 -[vectornav-1] [INFO] [1746051297.004146120] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.446000000000026, -0.354, 4.381) -[main_algo-3] [INFO] [1746051297.005136072] [sailbot.main_algo]: Target Bearing: -142.18790594222278 -[main_algo-3] [INFO] [1746051297.006088940] [sailbot.main_algo]: Heading Difference: -168.72909405777727 -[main_algo-3] [INFO] [1746051297.007017821] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051297.007883690] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051297.008741481] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051297.010434429] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051297.045155613] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051297.045875216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051297.046546851] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051297.047962558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051297.049025215] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051297.085393980] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051297.087828522] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051297.088314525] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051297.088512059] [sailbot.teensy]: Wind angle: 220 -[teensy-2] [INFO] [1746051297.089509060] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051297.090379783] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051297.091238339] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051297.145120143] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051297.146182314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051297.146573505] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051297.148207634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051297.149249797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051297.244964981] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051297.245821911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051297.246242302] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051297.247815593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051297.248879502] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051297.335527782] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051297.338053516] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051297.338196478] [sailbot.teensy]: Wind angle: 220 -[teensy-2] [INFO] [1746051297.339187530] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051297.339391120] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051297.340571221] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051297.341749104] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051297.344303654] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051297.344764960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051297.345444557] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051297.346457801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051297.347494111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051297.445195383] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051297.445893547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051297.446776429] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051297.448070452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051297.449392092] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051297.457250922] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051297.458347402] [sailbot.main_algo]: Target Bearing: -142.18790594222278 -[main_algo-3] [INFO] [1746051297.459273373] [sailbot.main_algo]: Heading Difference: -167.36609405777722 -[main_algo-3] [INFO] [1746051297.460148669] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051297.461046860] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051297.461879555] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051297.462910401] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051297.463559037] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051297.502679854] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904241 Long: -76.50276986 -[main_algo-3] [INFO] [1746051297.503669210] [sailbot.main_algo]: Distance to destination: 56.73558239640942 -[vectornav-1] [INFO] [1746051297.503738420] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.896000000000015, -0.195, 4.117) -[main_algo-3] [INFO] [1746051297.504964901] [sailbot.main_algo]: Target Bearing: -142.20433954456306 -[main_algo-3] [INFO] [1746051297.506058385] [sailbot.main_algo]: Heading Difference: -167.34966045543695 -[main_algo-3] [INFO] [1746051297.507021526] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051297.507915034] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051297.508803984] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051297.510562143] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051297.545074061] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051297.545840771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051297.546507848] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051297.548022509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051297.549137202] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051297.585238370] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051297.587471968] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051297.587498466] [sailbot.teensy]: Wind angle: 220 -[teensy-2] [INFO] [1746051297.588516378] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051297.588886867] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051297.589437399] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051297.590301861] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051297.645420425] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051297.646414502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051297.647063321] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051297.648941119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051297.650223945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051297.745321763] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051297.746276462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051297.746839397] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051297.748360780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051297.748868615] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051297.835350889] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051297.837088555] [sailbot.teensy]: Wind angle: 219 -[trim_sail-4] [INFO] [1746051297.837569624] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051297.838039889] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051297.838968112] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051297.839272933] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051297.839810914] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051297.844430670] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051297.845023981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051297.845742498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051297.846773700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051297.847816095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051297.944923791] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051297.945340712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051297.946459101] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051297.947043147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051297.948264728] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051297.957062597] [sailbot.main_algo]: Wind Direction: 219 -[main_algo-3] [INFO] [1746051297.958128918] [sailbot.main_algo]: Target Bearing: -142.20433954456306 -[main_algo-3] [INFO] [1746051297.959054257] [sailbot.main_algo]: Heading Difference: -165.8996604554369 -[main_algo-3] [INFO] [1746051297.959905651] [sailbot.main_algo]: Wind Direction: 219 -[main_algo-3] [INFO] [1746051297.960730871] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051297.961537862] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051297.962571034] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051297.963104798] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051298.002754816] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904214 Long: -76.50276987 -[vectornav-1] [INFO] [1746051298.003880160] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.757000000000005, -0.658, 4.914) -[main_algo-3] [INFO] [1746051298.004133836] [sailbot.main_algo]: Distance to destination: 56.7161527769156 -[main_algo-3] [INFO] [1746051298.005241089] [sailbot.main_algo]: Target Bearing: -142.2274234586839 -[main_algo-3] [INFO] [1746051298.006217226] [sailbot.main_algo]: Heading Difference: -165.87657654131613 -[main_algo-3] [INFO] [1746051298.007170777] [sailbot.main_algo]: Wind Direction: 219 -[main_algo-3] [INFO] [1746051298.008095177] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051298.008941719] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051298.010584664] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051298.044967911] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051298.045667101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051298.046340943] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051298.047536594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051298.048722532] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051298.085251848] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051298.087284820] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051298.087624654] [sailbot.teensy]: Wind angle: 217 -[mux-7] [INFO] [1746051298.088026258] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051298.088594082] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051298.089465096] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051298.090310587] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051298.144907869] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051298.145987261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051298.146264671] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051298.147820739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051298.148858793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051298.244857932] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051298.245426372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051298.246076690] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051298.247175084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051298.248327802] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051298.335503959] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051298.337919859] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051298.338706595] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051298.339043749] [sailbot.teensy]: Wind angle: 217 -[teensy-2] [INFO] [1746051298.339969709] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051298.340850814] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051298.341705437] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051298.344372360] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051298.344796488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051298.345618664] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051298.346430378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051298.347596251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051298.444691207] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051298.445440349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051298.445924118] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051298.447249766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051298.448408433] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051298.457325989] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051298.458469243] [sailbot.main_algo]: Target Bearing: -142.2274234586839 -[main_algo-3] [INFO] [1746051298.459546574] [sailbot.main_algo]: Heading Difference: -166.01557654131614 -[main_algo-3] [INFO] [1746051298.460455039] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051298.461363600] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051298.462216930] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051298.463247491] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051298.463939916] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051298.502869307] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690418 Long: -76.50276965 -[main_algo-3] [INFO] [1746051298.503936503] [sailbot.main_algo]: Distance to destination: 56.70661319470754 -[vectornav-1] [INFO] [1746051298.504033933] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.283000000000015, 0.75, 5.013) -[main_algo-3] [INFO] [1746051298.505144526] [sailbot.main_algo]: Target Bearing: -142.2686114533229 -[main_algo-3] [INFO] [1746051298.506164678] [sailbot.main_algo]: Heading Difference: -165.97438854667712 -[main_algo-3] [INFO] [1746051298.507277069] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051298.508276725] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051298.509221326] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051298.510966951] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051298.545156018] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051298.545732479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051298.546504657] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051298.547555550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051298.548642168] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051298.585169012] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051298.587260985] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051298.588891922] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051298.588948727] [sailbot.teensy]: Wind angle: 217 -[teensy-2] [INFO] [1746051298.589850571] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051298.590720332] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051298.591529607] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051298.645139393] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051298.645660510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051298.646509072] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051298.647548189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051298.648613051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051298.744139970] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051298.744625952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051298.745058338] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051298.746116896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051298.747159741] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051298.835083207] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051298.836604116] [sailbot.teensy]: Wind angle: 217 -[trim_sail-4] [INFO] [1746051298.837096946] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051298.837464720] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051298.837956077] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051298.838286356] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051298.839132659] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051298.844303972] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051298.844767895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051298.845345848] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051298.846339025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051298.847237394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051298.945061046] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051298.945716854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051298.946426980] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051298.947762387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051298.948806613] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051298.956917357] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051298.957869779] [sailbot.main_algo]: Target Bearing: -142.2686114533229 -[main_algo-3] [INFO] [1746051298.958762926] [sailbot.main_algo]: Heading Difference: -167.44838854667705 -[main_algo-3] [INFO] [1746051298.959576191] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051298.960416685] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051298.961210843] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051298.962352218] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051298.962993353] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051299.002881779] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904149 Long: -76.50276952 -[vectornav-1] [INFO] [1746051299.004120712] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.76800000000003, -1.514, 5.66) -[main_algo-3] [INFO] [1746051299.004759840] [sailbot.main_algo]: Distance to destination: 56.693412002736586 -[main_algo-3] [INFO] [1746051299.005776604] [sailbot.main_algo]: Target Bearing: -142.3025091763632 -[main_algo-3] [INFO] [1746051299.006727896] [sailbot.main_algo]: Heading Difference: -167.4144908236368 -[main_algo-3] [INFO] [1746051299.007621976] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051299.008546087] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051299.009405177] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051299.011073666] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051299.045536604] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051299.046313172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051299.047264474] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051299.049114416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051299.050373611] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051299.085505631] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051299.087681647] [sailbot.teensy]: Wind angle: 217 -[trim_sail-4] [INFO] [1746051299.087848345] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051299.089286174] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051299.089653195] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051299.090577415] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051299.091390293] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051299.144823532] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051299.145430458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051299.146014206] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051299.147209012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051299.148362621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051299.244744688] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051299.245420524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051299.245959700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051299.247254535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051299.248332360] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051299.335221859] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051299.337284614] [sailbot.teensy]: Wind angle: 217 -[trim_sail-4] [INFO] [1746051299.337820474] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051299.338276806] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051299.338286522] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051299.339235168] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051299.340101526] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051299.344394823] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051299.345536223] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051299.345954291] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051299.347622243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051299.348646223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051299.445333830] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051299.446219249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051299.446885899] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051299.448490285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051299.449018081] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051299.457102835] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051299.458124155] [sailbot.main_algo]: Target Bearing: -142.3025091763632 -[main_algo-3] [INFO] [1746051299.459008785] [sailbot.main_algo]: Heading Difference: -167.9294908236368 -[main_algo-3] [INFO] [1746051299.459879463] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051299.460755022] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051299.461562728] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051299.462555834] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051299.463094072] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051299.502505998] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904122 Long: -76.50276933 -[main_algo-3] [INFO] [1746051299.503277880] [sailbot.main_algo]: Distance to destination: 56.68685818449938 -[vectornav-1] [INFO] [1746051299.503495677] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.281000000000006, 0.347, 5.238) -[main_algo-3] [INFO] [1746051299.504340851] [sailbot.main_algo]: Target Bearing: -142.3360336201736 -[main_algo-3] [INFO] [1746051299.505331643] [sailbot.main_algo]: Heading Difference: -167.8959663798264 -[main_algo-3] [INFO] [1746051299.506212641] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051299.507104941] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051299.507973561] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051299.509642902] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051299.544923040] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051299.545612749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051299.546227624] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051299.547935307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051299.549111352] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051299.585467809] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051299.587940759] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051299.588510358] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051299.588525941] [sailbot.teensy]: Wind angle: 217 -[teensy-2] [INFO] [1746051299.589535437] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051299.590403086] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051299.591260019] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051299.644653301] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051299.645338219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051299.645893242] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051299.647190244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051299.648220151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051299.745012232] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051299.745698511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051299.746275386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051299.747639171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051299.748659701] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051299.835494445] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051299.837649749] [sailbot.teensy]: Wind angle: 217 -[trim_sail-4] [INFO] [1746051299.838274915] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051299.838666302] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051299.839372956] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051299.839619247] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051299.840548464] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051299.844322859] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051299.845359032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051299.845434440] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051299.847187495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051299.848252901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051299.945096092] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051299.945777042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051299.946391601] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051299.947633050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051299.948699990] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051299.957113342] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051299.958230320] [sailbot.main_algo]: Target Bearing: -142.3360336201736 -[main_algo-3] [INFO] [1746051299.959205415] [sailbot.main_algo]: Heading Difference: -168.38296637982637 -[main_algo-3] [INFO] [1746051299.960073103] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051299.960954045] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051299.961797003] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051299.962964975] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051299.963443879] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051300.002787960] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469041 Long: -76.50276898 -[main_algo-3] [INFO] [1746051300.003637031] [sailbot.main_algo]: Distance to destination: 56.69406653976325 -[vectornav-1] [INFO] [1746051300.003882746] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.14300000000003, -0.313, 4.674) -[main_algo-3] [INFO] [1746051300.004799830] [sailbot.main_algo]: Target Bearing: -142.37348555044235 -[main_algo-3] [INFO] [1746051300.005846949] [sailbot.main_algo]: Heading Difference: -168.34551444955764 -[main_algo-3] [INFO] [1746051300.006786462] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051300.007686920] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051300.008587251] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051300.010347819] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051300.045170936] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051300.046152878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051300.046623391] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051300.048233254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051300.049381743] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051300.085455919] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051300.087551325] [sailbot.teensy]: Wind angle: 217 -[trim_sail-4] [INFO] [1746051300.087639748] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051300.088442981] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051300.088534536] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051300.089429433] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051300.090324963] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051300.145154689] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051300.146053986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051300.146615644] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051300.148092504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051300.149285849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051300.244904121] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051300.245539467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051300.246112718] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051300.247375026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051300.248474588] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051300.335462353] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051300.337899101] [sailbot.teensy]: Wind angle: 217 -[trim_sail-4] [INFO] [1746051300.338454853] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051300.338881152] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051300.339804939] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051300.339967148] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051300.340709183] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051300.344313873] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051300.344988888] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051300.345380886] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051300.346705045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051300.347873332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051300.445069117] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051300.445727725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051300.446641669] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051300.447893561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051300.448442887] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051300.457268483] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051300.458277143] [sailbot.main_algo]: Target Bearing: -142.37348555044235 -[main_algo-3] [INFO] [1746051300.459160717] [sailbot.main_algo]: Heading Difference: -168.48351444955762 -[main_algo-3] [INFO] [1746051300.460021793] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051300.460928931] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051300.461736333] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051300.462812191] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051300.463543340] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051300.502813936] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904091 Long: -76.50276888 -[vectornav-1] [INFO] [1746051300.504091226] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.79399999999998, -0.658, 4.872) -[main_algo-3] [INFO] [1746051300.504372161] [sailbot.main_algo]: Distance to destination: 56.694248654095475 -[main_algo-3] [INFO] [1746051300.505464772] [sailbot.main_algo]: Target Bearing: -142.38656418771717 -[main_algo-3] [INFO] [1746051300.506398686] [sailbot.main_algo]: Heading Difference: -168.4704358122828 -[main_algo-3] [INFO] [1746051300.507424247] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051300.508333586] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051300.509186609] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051300.510912437] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051300.545050408] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051300.545552774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051300.546378703] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051300.547418439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051300.548560962] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051300.585164463] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051300.587370947] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051300.588054701] [sailbot.teensy]: Wind angle: 217 -[mux-7] [INFO] [1746051300.588742033] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051300.589107269] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051300.590209577] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051300.591376287] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051300.645186332] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051300.646380820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051300.646738612] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051300.648567785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051300.649615147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051300.745001222] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051300.745665869] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051300.746328326] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051300.747516867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051300.748449280] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051300.834867194] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051300.836328810] [sailbot.teensy]: Wind angle: 217 -[teensy-2] [INFO] [1746051300.837227093] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051300.837463615] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051300.838109977] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051300.838659403] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051300.839200744] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051300.844260947] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051300.845334755] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051300.844888014] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051300.846655726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051300.847841612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051300.944979507] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051300.945659128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051300.946324453] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051300.947560501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051300.948532926] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051300.957212867] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051300.958246983] [sailbot.main_algo]: Target Bearing: -142.38656418771717 -[main_algo-3] [INFO] [1746051300.959147080] [sailbot.main_algo]: Heading Difference: -166.81943581228285 -[main_algo-3] [INFO] [1746051300.959999170] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051300.960901101] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051300.961754728] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051300.962985068] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051300.963551021] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051301.002722878] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904079 Long: -76.50276877 -[main_algo-3] [INFO] [1746051301.003592080] [sailbot.main_algo]: Distance to destination: 56.69299694760995 -[vectornav-1] [INFO] [1746051301.003815200] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.238, -0.068, 4.503) -[main_algo-3] [INFO] [1746051301.004696332] [sailbot.main_algo]: Target Bearing: -142.40279230704127 -[main_algo-3] [INFO] [1746051301.005627179] [sailbot.main_algo]: Heading Difference: -166.80320769295872 -[main_algo-3] [INFO] [1746051301.006538883] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051301.007432764] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051301.008298538] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051301.009926316] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051301.045007836] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051301.046018816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051301.046322423] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051301.047927682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051301.048959292] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051301.085440249] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051301.087477274] [sailbot.teensy]: Wind angle: 217 -[trim_sail-4] [INFO] [1746051301.087939979] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051301.088455035] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051301.089156406] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051301.089386288] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051301.090344304] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051301.145508168] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051301.146398412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051301.147165294] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051301.148909278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051301.150259144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051301.245126161] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051301.245911398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051301.246552115] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051301.247768969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051301.248786670] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051301.335687720] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051301.338528374] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051301.339065550] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051301.339285371] [sailbot.teensy]: Wind angle: 217 -[teensy-2] [INFO] [1746051301.340305102] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051301.341164676] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051301.341500833] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051301.344418227] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051301.344980591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051301.345623998] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051301.346737907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051301.347898855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051301.445239736] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051301.446240840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051301.446966339] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051301.448682065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051301.449803917] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051301.457068816] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051301.458029900] [sailbot.main_algo]: Target Bearing: -142.40279230704127 -[main_algo-3] [INFO] [1746051301.458994901] [sailbot.main_algo]: Heading Difference: -166.35920769295876 -[main_algo-3] [INFO] [1746051301.459902568] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051301.460798255] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051301.461685469] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051301.462787273] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051301.463281615] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051301.503139740] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904066 Long: -76.50276879 -[main_algo-3] [INFO] [1746051301.503695878] [sailbot.main_algo]: Distance to destination: 56.68270320890583 -[vectornav-1] [INFO] [1746051301.504346149] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.454999999999984, -0.725, 5.226) -[main_algo-3] [INFO] [1746051301.504768956] [sailbot.main_algo]: Target Bearing: -142.4131584548095 -[main_algo-3] [INFO] [1746051301.505844637] [sailbot.main_algo]: Heading Difference: -166.3488415451905 -[main_algo-3] [INFO] [1746051301.506793259] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051301.508050066] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051301.508945865] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051301.510674565] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051301.544978495] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051301.545778483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051301.546418296] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051301.547685880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051301.548738392] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051301.585412408] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051301.587275710] [sailbot.teensy]: Wind angle: 217 -[trim_sail-4] [INFO] [1746051301.587780434] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051301.588254988] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051301.589179062] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051301.589573861] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051301.590034904] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051301.645081401] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051301.646579767] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051301.647263040] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051301.649135194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051301.650145000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051301.745191666] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051301.745845211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051301.746623472] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051301.747782958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051301.748264450] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051301.835443941] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051301.837341328] [sailbot.teensy]: Wind angle: 217 -[trim_sail-4] [INFO] [1746051301.837930995] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051301.838431877] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051301.838974213] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051301.839344600] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051301.839414790] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051301.844460297] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051301.845422714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051301.845592680] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051301.847410954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051301.848489537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051301.945163854] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051301.946022050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051301.946704664] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051301.948109336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051301.949146518] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051301.957163929] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051301.958212066] [sailbot.main_algo]: Target Bearing: -142.4131584548095 -[main_algo-3] [INFO] [1746051301.959116413] [sailbot.main_algo]: Heading Difference: -166.13184154519053 -[main_algo-3] [INFO] [1746051301.960003227] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051301.960891431] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051301.961767276] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051301.962865002] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051301.963394781] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051302.002965538] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904037 Long: -76.5027684 -[main_algo-3] [INFO] [1746051302.004060356] [sailbot.main_algo]: Distance to destination: 56.6876873198339 -[vectornav-1] [INFO] [1746051302.004100519] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.327999999999975, 0.207, 5.104) -[main_algo-3] [INFO] [1746051302.005223571] [sailbot.main_algo]: Target Bearing: -142.45881939333887 -[main_algo-3] [INFO] [1746051302.006206576] [sailbot.main_algo]: Heading Difference: -166.08618060666117 -[main_algo-3] [INFO] [1746051302.007156778] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051302.008077327] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051302.008961886] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051302.011034199] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051302.045198727] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051302.046012689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051302.046637666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051302.048109261] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051302.049122314] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051302.085393800] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051302.087134359] [sailbot.teensy]: Wind angle: 217 -[trim_sail-4] [INFO] [1746051302.087640400] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051302.088072812] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051302.089001814] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051302.089115577] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051302.090000319] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051302.144903067] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051302.145728410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051302.146137870] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051302.147546312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051302.148708716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051302.245013357] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051302.245897994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051302.246400251] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051302.247913434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051302.248972222] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051302.335316723] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051302.337766964] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051302.337916705] [sailbot.teensy]: Wind angle: 217 -[mux-7] [INFO] [1746051302.338325637] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051302.338946577] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051302.339854215] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051302.340586222] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051302.344455525] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051302.345054828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051302.345771660] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051302.346726928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051302.347752610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051302.445353466] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051302.446326154] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051302.446921590] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051302.447914542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051302.448354994] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051302.457324574] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051302.458486152] [sailbot.main_algo]: Target Bearing: -142.45881939333887 -[main_algo-3] [INFO] [1746051302.459458023] [sailbot.main_algo]: Heading Difference: -166.21318060666113 -[main_algo-3] [INFO] [1746051302.460341733] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051302.461214085] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051302.462025535] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051302.463070758] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051302.463633885] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051302.502708945] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904018 Long: -76.50276805 -[vectornav-1] [INFO] [1746051302.503794383] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.28499999999997, -1.363, 5.256) -[main_algo-3] [INFO] [1746051302.503835805] [sailbot.main_algo]: Distance to destination: 56.69705004177734 -[main_algo-3] [INFO] [1746051302.504940739] [sailbot.main_algo]: Target Bearing: -142.49362072849848 -[main_algo-3] [INFO] [1746051302.505913808] [sailbot.main_algo]: Heading Difference: -166.1783792715015 -[main_algo-3] [INFO] [1746051302.506883640] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051302.507770730] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051302.508663370] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051302.510388753] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051302.545151985] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051302.545954986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051302.546591371] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051302.548212425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051302.549234248] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051302.585046056] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051302.586904067] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051302.587203776] [sailbot.teensy]: Wind angle: 217 -[mux-7] [INFO] [1746051302.587702548] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051302.588047840] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051302.588909360] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051302.589755268] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051302.645290300] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051302.646473431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051302.647321988] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051302.648405075] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051302.648944315] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051302.745049925] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051302.745680770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051302.746498838] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051302.747444427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051302.747973007] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051302.835411659] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051302.837211696] [sailbot.teensy]: Wind angle: 216 -[trim_sail-4] [INFO] [1746051302.837945648] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051302.839156133] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051302.839331045] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051302.840752560] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051302.841612498] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051302.844454560] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051302.845114617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051302.845767319] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051302.846886821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051302.847955723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051302.944082251] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051302.944560731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051302.945030118] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051302.946198546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051302.947069422] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051302.957131119] [sailbot.main_algo]: Wind Direction: 216 -[main_algo-3] [INFO] [1746051302.958205093] [sailbot.main_algo]: Target Bearing: -142.49362072849848 -[main_algo-3] [INFO] [1746051302.959110999] [sailbot.main_algo]: Heading Difference: -166.22137927150152 -[main_algo-3] [INFO] [1746051302.959920519] [sailbot.main_algo]: Wind Direction: 216 -[main_algo-3] [INFO] [1746051302.960769366] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051302.961547329] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051302.962556211] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051302.963117198] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051303.002776153] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904029 Long: -76.50276813 -[main_algo-3] [INFO] [1746051303.003766863] [sailbot.main_algo]: Distance to destination: 56.699513847097435 -[vectornav-1] [INFO] [1746051303.003858648] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.77699999999999, 0.603, 4.858) -[main_algo-3] [INFO] [1746051303.005100033] [sailbot.main_algo]: Target Bearing: -142.47982257453663 -[main_algo-3] [INFO] [1746051303.006353269] [sailbot.main_algo]: Heading Difference: -166.2351774254634 -[main_algo-3] [INFO] [1746051303.007382702] [sailbot.main_algo]: Wind Direction: 216 -[main_algo-3] [INFO] [1746051303.008333684] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051303.009237377] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051303.010922900] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051303.045152729] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051303.045854277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051303.046608869] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051303.047920801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051303.048966467] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051303.085492385] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051303.087325403] [sailbot.teensy]: Wind angle: 217 -[teensy-2] [INFO] [1746051303.088249516] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051303.088054459] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051303.089125203] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051303.089589178] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051303.090032116] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051303.145045368] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051303.145817313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051303.146382615] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051303.147714258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051303.148720635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051303.245185422] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051303.246216366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051303.246674336] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051303.248268605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051303.248766044] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051303.335634361] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051303.338295984] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051303.338824517] [sailbot.teensy]: Wind angle: 217 -[mux-7] [INFO] [1746051303.339107587] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051303.339789339] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051303.340759238] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051303.341727049] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051303.344319354] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051303.344963313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051303.345485807] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051303.346625546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051303.347682811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051303.445172424] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051303.445979372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051303.446679871] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051303.448278054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051303.449471852] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051303.456964594] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051303.457939517] [sailbot.main_algo]: Target Bearing: -142.47982257453663 -[main_algo-3] [INFO] [1746051303.458776769] [sailbot.main_algo]: Heading Difference: -165.7431774254634 -[main_algo-3] [INFO] [1746051303.459584887] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051303.460401688] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051303.461224312] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051303.462193354] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051303.462726071] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051303.502871586] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904028 Long: -76.50276793 -[main_algo-3] [INFO] [1746051303.503923050] [sailbot.main_algo]: Distance to destination: 56.71168633751338 -[vectornav-1] [INFO] [1746051303.504079467] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.666, -0.327, 5.215) -[main_algo-3] [INFO] [1746051303.505151358] [sailbot.main_algo]: Target Bearing: -142.49105051377308 -[main_algo-3] [INFO] [1746051303.506158251] [sailbot.main_algo]: Heading Difference: -165.73194948622694 -[main_algo-3] [INFO] [1746051303.507086839] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051303.508014736] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051303.508909507] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051303.510652673] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051303.545115076] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051303.545871736] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051303.546554077] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051303.548204892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051303.549326408] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051303.585218940] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051303.586948066] [sailbot.teensy]: Wind angle: 218 -[teensy-2] [INFO] [1746051303.587803908] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051303.587328843] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051303.588108526] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051303.588690688] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051303.589599082] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051303.644824805] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051303.645575301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051303.646089943] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051303.647359355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051303.648491302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051303.744953946] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051303.745671359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051303.746608475] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051303.747535272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051303.748745055] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051303.835269265] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051303.836918497] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746051303.837517286] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051303.837852608] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051303.838786259] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051303.839345721] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051303.839671982] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051303.844586599] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051303.845078506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051303.845868249] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051303.846770306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051303.847809448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051303.944906213] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051303.945574397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051303.946128911] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051303.947557411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051303.948563467] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051303.957337271] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051303.958402516] [sailbot.main_algo]: Target Bearing: -142.49105051377308 -[main_algo-3] [INFO] [1746051303.959346312] [sailbot.main_algo]: Heading Difference: -167.84294948622693 -[main_algo-3] [INFO] [1746051303.960275368] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051303.961188351] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051303.962001275] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051303.963027845] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051303.963588832] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051304.002916425] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904005 Long: -76.50276775 -[main_algo-3] [INFO] [1746051304.004072627] [sailbot.main_algo]: Distance to destination: 56.707363120264844 -[vectornav-1] [INFO] [1746051304.004124021] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.56099999999998, -0.823, 4.691) -[main_algo-3] [INFO] [1746051304.005257454] [sailbot.main_algo]: Target Bearing: -142.52055551073053 -[main_algo-3] [INFO] [1746051304.006294385] [sailbot.main_algo]: Heading Difference: -167.8134444892695 -[main_algo-3] [INFO] [1746051304.007256828] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051304.008172166] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051304.009040881] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051304.010764927] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051304.045154561] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051304.045840513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051304.046489480] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051304.047848818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051304.048879624] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051304.085314845] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051304.087390839] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051304.087993805] [sailbot.teensy]: Wind angle: 220 -[mux-7] [INFO] [1746051304.088077407] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051304.089015572] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051304.089905642] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051304.090809000] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051304.145164665] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051304.145997714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051304.146610590] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051304.148146047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051304.149246280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051304.244960792] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051304.245761324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051304.246191859] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051304.247765121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051304.248818194] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051304.335351322] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051304.337867782] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051304.338000203] [sailbot.teensy]: Wind angle: 219 -[teensy-2] [INFO] [1746051304.338937903] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051304.339148740] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051304.339823972] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051304.340749268] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051304.344354823] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051304.344824429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051304.345507832] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051304.346483129] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051304.347719004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051304.445276683] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051304.445828256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051304.447080626] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051304.447891691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051304.449192390] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051304.456983683] [sailbot.main_algo]: Wind Direction: 219 -[main_algo-3] [INFO] [1746051304.457971172] [sailbot.main_algo]: Target Bearing: -142.52055551073053 -[main_algo-3] [INFO] [1746051304.458879865] [sailbot.main_algo]: Heading Difference: -165.91844448926952 -[main_algo-3] [INFO] [1746051304.459676394] [sailbot.main_algo]: Wind Direction: 219 -[main_algo-3] [INFO] [1746051304.460519342] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051304.461341005] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051304.462332652] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051304.462928908] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051304.503432838] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904007 Long: -76.50276779 -[main_algo-3] [INFO] [1746051304.504104817] [sailbot.main_algo]: Distance to destination: 56.706171674895174 -[main_algo-3] [INFO] [1746051304.505267281] [sailbot.main_algo]: Target Bearing: -142.51673058084944 -[main_algo-3] [INFO] [1746051304.506251227] [sailbot.main_algo]: Heading Difference: -165.92226941915055 -[vectornav-1] [INFO] [1746051304.506412824] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.644000000000005, -0.651, 3.79) -[main_algo-3] [INFO] [1746051304.507223315] [sailbot.main_algo]: Wind Direction: 219 -[main_algo-3] [INFO] [1746051304.508141974] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051304.509011322] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051304.510807392] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051304.545370066] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051304.545484715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051304.546735901] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051304.547216162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051304.548384941] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051304.585479675] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051304.587195762] [sailbot.teensy]: Wind angle: 214 -[trim_sail-4] [INFO] [1746051304.587675080] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051304.588095970] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051304.589047794] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051304.589927771] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051304.590357042] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051304.644644793] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051304.645193135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051304.645783047] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051304.646920325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051304.647961313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051304.745096230] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051304.746003081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051304.746701323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051304.748565994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051304.749593731] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051304.835479518] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051304.837358711] [sailbot.teensy]: Wind angle: 205 -[teensy-2] [INFO] [1746051304.838321536] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051304.838063474] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051304.838590493] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051304.839230852] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051304.840146626] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051304.844342929] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051304.845090653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051304.845468699] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051304.848367425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051304.849434904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051304.944558802] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051304.945208173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051304.945622365] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051304.947233132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051304.948695240] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051304.956933986] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051304.957964847] [sailbot.main_algo]: Target Bearing: -142.51673058084944 -[main_algo-3] [INFO] [1746051304.958837627] [sailbot.main_algo]: Heading Difference: -165.83926941915058 -[main_algo-3] [INFO] [1746051304.959649953] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051304.960514243] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051304.961340031] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051304.962478832] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051304.963941013] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051305.001759493] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904008 Long: -76.50276776 -[main_algo-3] [INFO] [1746051305.002382183] [sailbot.main_algo]: Distance to destination: 56.70879348954347 -[vectornav-1] [INFO] [1746051305.002441100] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.990999999999985, 0.8, 5.084) -[main_algo-3] [INFO] [1746051305.003127972] [sailbot.main_algo]: Target Bearing: -142.51740376808397 -[main_algo-3] [INFO] [1746051305.003792330] [sailbot.main_algo]: Heading Difference: -165.83859623191603 -[main_algo-3] [INFO] [1746051305.004420922] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051305.004967719] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051305.005546349] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051305.007002211] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051305.044931764] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051305.045677035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051305.046262110] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051305.047518064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051305.048531076] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051305.085244760] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051305.086959757] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746051305.087945631] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051305.088045975] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051305.088916671] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051305.089253435] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051305.089859446] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051305.144945941] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051305.145663215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051305.146217844] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051305.147651465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051305.148657460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051305.244961288] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051305.245848137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051305.246324918] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051305.247620095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051305.248145277] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051305.335181205] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051305.337296028] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051305.338251738] [sailbot.teensy]: Wind angle: 190 -[mux-7] [INFO] [1746051305.338607184] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051305.339247729] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051305.340170244] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051305.341086141] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051305.344442884] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051305.344870199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051305.345664182] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051305.346543037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051305.347600696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051305.445081859] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051305.445994167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051305.446428031] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051305.447944610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051305.448446864] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051305.457089392] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051305.458156680] [sailbot.main_algo]: Target Bearing: -142.51740376808397 -[main_algo-3] [INFO] [1746051305.459055529] [sailbot.main_algo]: Heading Difference: -167.49159623191605 -[main_algo-3] [INFO] [1746051305.459937464] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051305.460779589] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051305.461588552] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051305.462555964] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051305.463109993] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051305.502686280] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690399 Long: -76.50276778 -[main_algo-3] [INFO] [1746051305.503665270] [sailbot.main_algo]: Distance to destination: 56.69506465429187 -[vectornav-1] [INFO] [1746051305.503775188] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.942999999999984, -1.624, 5.853) -[main_algo-3] [INFO] [1746051305.504785993] [sailbot.main_algo]: Target Bearing: -142.53218042956328 -[main_algo-3] [INFO] [1746051305.505720383] [sailbot.main_algo]: Heading Difference: -167.47681957043676 -[main_algo-3] [INFO] [1746051305.506606959] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051305.507472292] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051305.508336050] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051305.509973668] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051305.545014848] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051305.545731953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051305.546378506] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051305.547902794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051305.549082144] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051305.585158578] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051305.586705131] [sailbot.teensy]: Wind angle: 188 -[trim_sail-4] [INFO] [1746051305.587127886] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051305.587562621] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051305.588437224] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051305.589120848] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051305.589316757] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051305.645146746] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051305.645942180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051305.646622435] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051305.648056876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051305.648739415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051305.745045621] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051305.745727260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051305.746418636] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051305.747634734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051305.748514968] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051305.834800826] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051305.836048143] [sailbot.teensy]: Wind angle: 188 -[trim_sail-4] [INFO] [1746051305.836978033] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051305.837504065] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051305.837701075] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051305.838496820] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051305.839352936] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051305.844724373] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051305.845810320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051305.845981000] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051305.848067145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051305.849186026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051305.944946920] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051305.945596000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051305.946184003] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051305.947508214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051305.948557003] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051305.957254164] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051305.958268191] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746051305.959257368] [sailbot.main_algo]: Target Bearing: -142.53218042956328 -[main_algo-3] [INFO] [1746051305.960125397] [sailbot.main_algo]: Heading Difference: -168.52481957043676 -[main_algo-3] [INFO] [1746051305.960992707] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051305.961811547] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051305.962605066] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051305.963618202] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051305.964137514] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051306.001937933] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903979 Long: -76.50276765 -[vectornav-1] [INFO] [1746051306.002727060] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.012, 0.792, 3.923) -[main_algo-3] [INFO] [1746051306.002609610] [sailbot.main_algo]: Distance to destination: 56.695832164242056 -[main_algo-3] [INFO] [1746051306.003601857] [sailbot.main_algo]: Target Bearing: -142.54856646629256 -[main_algo-3] [INFO] [1746051306.004507540] [sailbot.main_algo]: Heading Difference: -168.5084335337075 -[main_algo-3] [INFO] [1746051306.005409361] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051306.006289945] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051306.007124353] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051306.008732696] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051306.044834330] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051306.045597672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051306.046091021] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051306.047526766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051306.048652838] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051306.085325665] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051306.087088555] [sailbot.teensy]: Wind angle: 186 -[teensy-2] [INFO] [1746051306.087999030] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051306.087477106] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051306.088907579] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051306.088908157] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051306.089776140] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051306.144986990] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051306.145547695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051306.146263519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051306.147361313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051306.148551424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051306.245180226] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051306.245880771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051306.246544671] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051306.247774758] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051306.248832943] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051306.335055593] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051306.337003385] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051306.337035290] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051306.337921449] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051306.338386216] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051306.338742140] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051306.339540582] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051306.344392199] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051306.345150633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051306.345398497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051306.346746901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051306.347685188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051306.445042322] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051306.445864780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051306.446425873] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051306.447806056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051306.448855910] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051306.457003717] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051306.457918276] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746051306.458729785] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051306.459848436] [sailbot.main_algo]: Current Location: (42.46903979214749, -76.50276765005444) -[main_algo-3] [INFO] [1746051306.460755285] [sailbot.main_algo]: Target Bearing: -142.54856646629256 -[main_algo-3] [INFO] [1746051306.461596988] [sailbot.main_algo]: Heading Difference: -168.43943353370742 -[main_algo-3] [INFO] [1746051306.462414974] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051306.463213534] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051306.463995821] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051306.465028749] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051306.465525416] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051306.503836239] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903988 Long: -76.50276787 -[main_algo-3] [INFO] [1746051306.503832154] [sailbot.main_algo]: Distance to destination: 56.687889849428785 -[main_algo-3] [INFO] [1746051306.504965863] [sailbot.main_algo]: Target Bearing: -142.52928358264123 -[vectornav-1] [INFO] [1746051306.505099928] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.79899999999998, -1.524, 4.532) -[main_algo-3] [INFO] [1746051306.505964405] [sailbot.main_algo]: Heading Difference: -168.4587164173588 -[main_algo-3] [INFO] [1746051306.507069045] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051306.508209378] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051306.509102543] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051306.510775480] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051306.544912411] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051306.545633562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051306.546158730] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051306.547514488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051306.548587263] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051306.585458700] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051306.587307107] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051306.588268797] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051306.587772315] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051306.588368625] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051306.589221573] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051306.590178087] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051306.645218613] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051306.646570046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051306.646758607] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051306.648383615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051306.648917534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051306.744992294] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051306.745686388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051306.746230108] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051306.747628163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051306.748829709] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051306.835430753] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051306.837761936] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051306.838486084] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051306.838847212] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051306.839829159] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051306.840703736] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051306.841349390] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051306.844303947] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051306.844897390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051306.845581020] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051306.846845812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051306.847976230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051306.944857391] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051306.945551656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051306.946163137] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051306.947339990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051306.948530384] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051306.957168931] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051306.958266047] [sailbot.main_algo]: Target Bearing: -142.52928358264123 -[main_algo-3] [INFO] [1746051306.959187173] [sailbot.main_algo]: Heading Difference: -167.67171641735877 -[main_algo-3] [INFO] [1746051306.960019321] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051306.960829903] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051306.961618973] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051306.962598517] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051306.963349279] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051307.002661330] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903989 Long: -76.50276773 -[main_algo-3] [INFO] [1746051307.003836494] [sailbot.main_algo]: Distance to destination: 56.69759182565782 -[vectornav-1] [INFO] [1746051307.003912464] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.91500000000002, 0.819, 5.27) -[main_algo-3] [INFO] [1746051307.004946731] [sailbot.main_algo]: Target Bearing: -142.53564420346555 -[main_algo-3] [INFO] [1746051307.005993019] [sailbot.main_algo]: Heading Difference: -167.66535579653447 -[main_algo-3] [INFO] [1746051307.006839131] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051307.007661925] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051307.008462499] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051307.010043511] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051307.044036241] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051307.044415624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051307.044779545] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051307.046005656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051307.047047427] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051307.084456970] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051307.085444514] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051307.086029950] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051307.086588524] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051307.085798031] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051307.086368463] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051307.087148488] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051307.144898201] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051307.145531886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051307.146156824] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051307.147345140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051307.148390374] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051307.244923929] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051307.245547135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051307.246202399] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051307.247478894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051307.248548130] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051307.334393140] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051307.335504278] [sailbot.teensy]: Wind angle: 184 -[teensy-2] [INFO] [1746051307.336321743] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051307.336975260] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051307.337588595] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051307.337126801] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051307.337283220] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051307.343614369] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051307.343966519] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051307.344775122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051307.344248368] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051307.346054531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051307.445092812] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051307.446336410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051307.446625945] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051307.448449103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051307.449462929] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051307.457175135] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051307.458164856] [sailbot.main_algo]: Target Bearing: -142.53564420346555 -[main_algo-3] [INFO] [1746051307.459148675] [sailbot.main_algo]: Heading Difference: -168.54935579653443 -[main_algo-3] [INFO] [1746051307.460077500] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051307.460938743] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051307.461725927] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051307.462726242] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051307.463261723] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051307.503558338] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903973 Long: -76.50276769 -[main_algo-3] [INFO] [1746051307.503848364] [sailbot.main_algo]: Distance to destination: 56.68911206853485 -[main_algo-3] [INFO] [1746051307.504897395] [sailbot.main_algo]: Target Bearing: -142.55177192475475 -[vectornav-1] [INFO] [1746051307.504897469] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.048, -1.047, 4.591) -[main_algo-3] [INFO] [1746051307.505903444] [sailbot.main_algo]: Heading Difference: -168.53322807524523 -[main_algo-3] [INFO] [1746051307.506835763] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051307.507934925] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051307.508819814] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051307.510546434] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051307.544545995] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051307.545153663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051307.545893079] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051307.546846595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051307.547890704] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051307.585302384] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051307.587142300] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051307.587396529] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051307.588144464] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051307.588688626] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051307.589270492] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051307.590141250] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051307.644082832] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051307.644600775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051307.644959308] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051307.645999521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051307.647784751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051307.744708192] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051307.745459830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051307.745862916] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051307.747139828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051307.748265042] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051307.835457059] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051307.837856118] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051307.838501433] [sailbot.teensy]: Wind angle: 185 -[mux-7] [INFO] [1746051307.838771889] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051307.839518658] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051307.839963875] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051307.840333329] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051307.844483239] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051307.844943829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051307.845698094] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051307.846626786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051307.847699124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051307.945400405] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051307.946196592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051307.947034993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051307.948368991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051307.949387010] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051307.957210423] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051307.958277178] [sailbot.main_algo]: Target Bearing: -142.55177192475475 -[main_algo-3] [INFO] [1746051307.959179299] [sailbot.main_algo]: Heading Difference: -169.40022807524525 -[main_algo-3] [INFO] [1746051307.960052172] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051307.960930132] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051307.961790016] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051307.962894133] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051307.963607712] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051308.003108162] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903984 Long: -76.5027676 -[main_algo-3] [INFO] [1746051308.004183265] [sailbot.main_algo]: Distance to destination: 56.70250530840149 -[vectornav-1] [INFO] [1746051308.005097685] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.84500000000003, -0.558, 4.724) -[main_algo-3] [INFO] [1746051308.005291163] [sailbot.main_algo]: Target Bearing: -142.54675724477787 -[main_algo-3] [INFO] [1746051308.006344480] [sailbot.main_algo]: Heading Difference: -169.40524275522216 -[main_algo-3] [INFO] [1746051308.007322513] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051308.008293710] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051308.009179741] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051308.010854469] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051308.045074908] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051308.045841222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051308.046422427] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051308.047763632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051308.048891401] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051308.085358785] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051308.087029756] [sailbot.teensy]: Wind angle: 184 -[trim_sail-4] [INFO] [1746051308.087489461] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051308.087929630] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051308.088780058] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051308.089421619] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051308.089604990] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051308.144860334] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051308.145507922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051308.146117972] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051308.147494220] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051308.148539454] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051308.245055883] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051308.245837999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051308.246432810] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051308.247755591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051308.248937678] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051308.335124838] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051308.337160772] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051308.337526638] [sailbot.teensy]: Wind angle: 185 -[mux-7] [INFO] [1746051308.338003154] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051308.338403669] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051308.339308986] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051308.340194591] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051308.344359920] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051308.344879891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051308.345426513] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051308.346541692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051308.347569147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051308.445014160] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051308.445868182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051308.446392812] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051308.447742775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051308.448355391] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051308.457157513] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051308.458253533] [sailbot.main_algo]: Target Bearing: -142.54675724477787 -[main_algo-3] [INFO] [1746051308.459176587] [sailbot.main_algo]: Heading Difference: -169.60824275522214 -[main_algo-3] [INFO] [1746051308.460009782] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051308.460860412] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051308.461660796] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051308.462686908] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051308.463407812] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051308.502743584] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903977 Long: -76.50276768 -[main_algo-3] [INFO] [1746051308.503658478] [sailbot.main_algo]: Distance to destination: 56.692519138142366 -[vectornav-1] [INFO] [1746051308.503881906] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.521000000000015, 0.551, 5.472) -[main_algo-3] [INFO] [1746051308.504789633] [sailbot.main_algo]: Target Bearing: -142.54877337557312 -[main_algo-3] [INFO] [1746051308.505781940] [sailbot.main_algo]: Heading Difference: -169.60622662442688 -[main_algo-3] [INFO] [1746051308.506742657] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051308.507664317] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051308.508610212] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051308.510306190] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051308.545043128] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051308.545841920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051308.546537694] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051308.547821247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051308.548899469] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051308.585298098] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051308.587163997] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051308.587399139] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051308.588116431] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051308.588659464] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051308.589116239] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051308.590034534] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051308.644969858] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051308.645732500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051308.646494751] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051308.647875861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051308.648963722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051308.745042632] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051308.745739899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051308.746436990] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051308.747716902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051308.748869876] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051308.835720450] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051308.838267334] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051308.839369914] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051308.839795393] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051308.839901073] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051308.840216727] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051308.840561939] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051308.844577122] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051308.845100345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051308.845774336] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051308.846810263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051308.847973592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051308.945026534] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051308.945894191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051308.946443458] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051308.947787209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051308.948583709] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051308.957270264] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051308.958337826] [sailbot.main_algo]: Target Bearing: -142.54877337557312 -[main_algo-3] [INFO] [1746051308.959232771] [sailbot.main_algo]: Heading Difference: -169.93022662442684 -[main_algo-3] [INFO] [1746051308.960079868] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051308.960968233] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051308.961816277] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051308.962894455] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051308.963681205] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051309.002822400] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903993 Long: -76.50276751 -[vectornav-1] [INFO] [1746051309.003995535] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.82400000000001, -0.699, 4.44) -[main_algo-3] [INFO] [1746051309.004067581] [sailbot.main_algo]: Distance to destination: 56.71451711344499 -[main_algo-3] [INFO] [1746051309.005270648] [sailbot.main_algo]: Target Bearing: -142.54350171545124 -[main_algo-3] [INFO] [1746051309.006263279] [sailbot.main_algo]: Heading Difference: -169.93549828454877 -[main_algo-3] [INFO] [1746051309.007176537] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051309.008088739] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051309.009017054] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051309.010698318] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051309.045093740] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051309.045875742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051309.046801694] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051309.048092942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051309.049116856] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051309.085317013] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051309.087025030] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051309.087519361] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051309.087958448] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051309.088962756] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051309.089091509] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051309.089897982] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051309.145199399] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051309.145988358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051309.146699324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051309.147950411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051309.148373900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051309.244884559] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051309.245561988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051309.246175456] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051309.247452417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051309.248570455] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051309.335379041] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051309.337171599] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051309.337589484] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051309.338091412] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051309.339039459] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051309.339381988] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051309.339933300] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051309.344525398] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051309.345273136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051309.345664590] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051309.347099885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051309.348145889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051309.445428637] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051309.446512401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051309.447014795] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051309.448103393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051309.448603301] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051309.457067849] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051309.458058229] [sailbot.main_algo]: Target Bearing: -142.54350171545124 -[main_algo-3] [INFO] [1746051309.458943627] [sailbot.main_algo]: Heading Difference: -169.63249828454877 -[main_algo-3] [INFO] [1746051309.459802683] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051309.460665043] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051309.461467609] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051309.462467022] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051309.463226685] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051309.503916686] [sailbot.main_algo]: Distance to destination: 56.70355783906154 -[vectornav-1] [INFO] [1746051309.503920350] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903979 Long: -76.50276753 -[main_algo-3] [INFO] [1746051309.505094968] [sailbot.main_algo]: Target Bearing: -142.55476815078438 -[vectornav-1] [INFO] [1746051309.505403181] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.42500000000001, -0.468, 4.86) -[main_algo-3] [INFO] [1746051309.506136681] [sailbot.main_algo]: Heading Difference: -169.62123184921563 -[main_algo-3] [INFO] [1746051309.507079634] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051309.507993119] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051309.508870968] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051309.510590573] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051309.545295776] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051309.545503240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051309.546666399] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051309.547392250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051309.548478574] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051309.585267120] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051309.587116984] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051309.587501069] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051309.588179065] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051309.589130232] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051309.589585596] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051309.590038932] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051309.645008739] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051309.645871081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051309.646419893] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051309.647856948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051309.648922123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051309.745158091] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051309.745929332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051309.746959883] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051309.747728361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051309.748269293] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051309.835247170] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051309.837426293] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051309.838644617] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051309.838867096] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051309.839845387] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051309.840740045] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051309.841633553] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051309.844267464] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051309.844880080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051309.845343218] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051309.846578542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051309.847711067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051309.945084776] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051309.945741019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051309.946522321] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051309.947900100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051309.948494355] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051309.957170655] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051309.958232159] [sailbot.main_algo]: Target Bearing: -142.55476815078438 -[main_algo-3] [INFO] [1746051309.959135357] [sailbot.main_algo]: Heading Difference: -170.02023184921563 -[main_algo-3] [INFO] [1746051309.959974475] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051309.960801846] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051309.961602555] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051309.962593349] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051309.963268851] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051310.002838378] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903999 Long: -76.50276739 -[main_algo-3] [INFO] [1746051310.003747496] [sailbot.main_algo]: Distance to destination: 56.726387449584685 -[vectornav-1] [INFO] [1746051310.004000326] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.76299999999998, -0.812, 5.139) -[main_algo-3] [INFO] [1746051310.004973217] [sailbot.main_algo]: Target Bearing: -142.5444322157535 -[main_algo-3] [INFO] [1746051310.006036124] [sailbot.main_algo]: Heading Difference: -170.0305677842465 -[main_algo-3] [INFO] [1746051310.006953203] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051310.007847303] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051310.008736828] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051310.010560973] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051310.045271507] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051310.047302525] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051310.051038652] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051310.052411905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051310.053528051] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051310.085452440] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051310.087927404] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051310.088352961] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051310.088368702] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051310.089438593] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051310.090337395] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051310.091173168] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051310.145015733] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051310.145654247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051310.146312722] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051310.147619862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051310.148715219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051310.244815512] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051310.245264654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051310.246089155] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051310.246979838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051310.248226795] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051310.335328525] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051310.336999625] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051310.337628141] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051310.337896924] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051310.338668629] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051310.338984546] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051310.339039301] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051310.344353517] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051310.344905146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051310.345486868] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051310.346718657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051310.347716066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051310.445000855] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051310.445707307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051310.446437033] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051310.447683658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051310.448699955] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051310.457196992] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051310.458292046] [sailbot.main_algo]: Target Bearing: -142.5444322157535 -[main_algo-3] [INFO] [1746051310.459350650] [sailbot.main_algo]: Heading Difference: -169.69256778424653 -[main_algo-3] [INFO] [1746051310.460264784] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051310.461147945] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051310.462004401] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051310.463179170] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051310.463834697] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051310.502799640] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904007 Long: -76.50276714 -[main_algo-3] [INFO] [1746051310.503697041] [sailbot.main_algo]: Distance to destination: 56.74800855113252 -[vectornav-1] [INFO] [1746051310.503929758] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.89300000000003, 0.832, 4.678) -[main_algo-3] [INFO] [1746051310.504843063] [sailbot.main_algo]: Target Bearing: -142.55032019004085 -[main_algo-3] [INFO] [1746051310.505804447] [sailbot.main_algo]: Heading Difference: -169.68667980995917 -[main_algo-3] [INFO] [1746051310.506975755] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051310.508000897] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051310.509000619] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051310.510748376] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051310.545032995] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051310.545623039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051310.546338053] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051310.547401575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051310.548609907] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051310.585395576] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051310.587232039] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051310.588240844] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051310.588840760] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051310.589193670] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051310.589993454] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051310.590093069] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051310.645019362] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051310.645766102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051310.646474627] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051310.647917343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051310.649028771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051310.745302165] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051310.746070626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051310.746820255] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051310.748163253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051310.748696028] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051310.835305805] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051310.837868205] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051310.838217381] [sailbot.teensy]: Wind angle: 185 -[mux-7] [INFO] [1746051310.838337866] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051310.839190770] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051310.840057008] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051310.840917176] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051310.844313201] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051310.844828562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051310.845392233] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051310.846549032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051310.847539217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051310.945138844] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051310.946026267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051310.946531322] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051310.948056171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051310.948824277] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051310.957198445] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051310.958289432] [sailbot.main_algo]: Target Bearing: -142.55032019004085 -[main_algo-3] [INFO] [1746051310.959202625] [sailbot.main_algo]: Heading Difference: -170.55667980995912 -[main_algo-3] [INFO] [1746051310.960083729] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051310.960970074] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051310.961827151] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051310.962927770] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051310.963626367] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051311.002999247] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904017 Long: -76.50276702 -[main_algo-3] [INFO] [1746051311.004083516] [sailbot.main_algo]: Distance to destination: 56.762642323158616 -[vectornav-1] [INFO] [1746051311.004478112] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.798, -0.815, 5.192) -[main_algo-3] [INFO] [1746051311.005587249] [sailbot.main_algo]: Target Bearing: -142.54773766658832 -[main_algo-3] [INFO] [1746051311.006570465] [sailbot.main_algo]: Heading Difference: -170.55926233341165 -[main_algo-3] [INFO] [1746051311.007812555] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051311.008727543] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051311.009578598] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051311.011402979] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051311.045060762] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051311.045855256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051311.046477976] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051311.047905514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051311.048930516] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051311.085361088] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051311.087127898] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051311.087544079] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051311.088092705] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051311.089041364] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051311.089682471] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051311.089961779] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051311.145357022] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051311.145845385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051311.147176926] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051311.147808692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051311.148948003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051311.245347571] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051311.246293828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051311.246854305] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051311.248560055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051311.249648135] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051311.335116397] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051311.337193252] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051311.337195487] [sailbot.teensy]: Wind angle: 185 -[mux-7] [INFO] [1746051311.337625833] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051311.338169617] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051311.339215094] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051311.340127611] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051311.344432552] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051311.345190316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051311.345633690] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051311.346989011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051311.347995679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051311.445174339] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051311.445772054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051311.446461510] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051311.447582612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051311.448687408] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051311.456958741] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051311.457910653] [sailbot.main_algo]: Target Bearing: -142.54773766658832 -[main_algo-3] [INFO] [1746051311.458766232] [sailbot.main_algo]: Heading Difference: -169.65426233341168 -[main_algo-3] [INFO] [1746051311.459548426] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051311.460349966] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051311.461155546] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051311.462135516] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051311.462764343] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051311.502641568] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904037 Long: -76.50276698 -[main_algo-3] [INFO] [1746051311.503551280] [sailbot.main_algo]: Distance to destination: 56.77903662805306 -[vectornav-1] [INFO] [1746051311.503676534] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.476999999999975, -1.005, 4.235) -[main_algo-3] [INFO] [1746051311.504613185] [sailbot.main_algo]: Target Bearing: -142.5322528497625 -[main_algo-3] [INFO] [1746051311.505529800] [sailbot.main_algo]: Heading Difference: -169.66974715023753 -[main_algo-3] [INFO] [1746051311.506437387] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051311.507487361] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051311.508386939] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051311.510026376] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051311.545495335] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051311.546640131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051311.547125094] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051311.548904777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051311.550078154] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051311.585155725] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051311.587038348] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051311.587189394] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051311.587957739] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051311.588457761] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051311.588818417] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051311.589680434] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051311.644738250] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051311.645303817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051311.645904538] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051311.647072087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051311.648317813] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051311.744929861] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051311.745560929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051311.746475607] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051311.747426964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051311.747984880] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051311.835227041] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051311.837465566] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051311.837828527] [sailbot.teensy]: Wind angle: 185 -[mux-7] [INFO] [1746051311.838315074] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051311.838778811] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051311.839429806] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051311.839756814] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051311.844481441] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051311.844889764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051311.845649087] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051311.846589855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051311.847734173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051311.945384684] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051311.945879948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051311.947327467] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051311.947980544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051311.949182075] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051311.957095447] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051311.958208338] [sailbot.main_algo]: Target Bearing: -142.5322528497625 -[main_algo-3] [INFO] [1746051311.959146572] [sailbot.main_algo]: Heading Difference: -168.99074715023755 -[main_algo-3] [INFO] [1746051311.960004374] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051311.960902893] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051311.961741572] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051311.962815086] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051311.963345254] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051312.002944592] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904058 Long: -76.50276693 -[main_algo-3] [INFO] [1746051312.003806192] [sailbot.main_algo]: Distance to destination: 56.79676990237452 -[vectornav-1] [INFO] [1746051312.004092835] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.49799999999999, 0.772, 5.46) -[main_algo-3] [INFO] [1746051312.004977325] [sailbot.main_algo]: Target Bearing: -142.51641647715326 -[main_algo-3] [INFO] [1746051312.005974803] [sailbot.main_algo]: Heading Difference: -169.00658352284677 -[main_algo-3] [INFO] [1746051312.007013502] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051312.007929168] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051312.008828732] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051312.010652996] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051312.045295568] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051312.045757562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051312.047002051] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051312.047694152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051312.048778715] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051312.085617032] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051312.087645932] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051312.088094818] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051312.088629121] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051312.089514868] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051312.089708732] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051312.090385760] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051312.145100271] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051312.146306372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051312.146733815] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051312.148438066] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051312.149479117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051312.245266734] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051312.246156014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051312.246950160] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051312.248512383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051312.249545705] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051312.335068340] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051312.337168666] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051312.337568750] [sailbot.teensy]: Wind angle: 185 -[mux-7] [INFO] [1746051312.337898911] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051312.338615852] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051312.339556257] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051312.340410247] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051312.344405291] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051312.345042638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051312.345550869] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051312.346769085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051312.347786372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051312.445026998] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051312.445696887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051312.446536486] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051312.447667720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051312.448353978] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051312.457119824] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051312.458208464] [sailbot.main_algo]: Target Bearing: -142.51641647715326 -[main_algo-3] [INFO] [1746051312.459129598] [sailbot.main_algo]: Heading Difference: -168.98558352284675 -[main_algo-3] [INFO] [1746051312.459956538] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051312.460783508] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051312.461577222] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051312.462596920] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051312.463501699] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051312.502868867] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904059 Long: -76.5027668 -[main_algo-3] [INFO] [1746051312.503984732] [sailbot.main_algo]: Distance to destination: 56.805826918479134 -[vectornav-1] [INFO] [1746051312.504128611] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.110000000000014, -0.951, 5.153) -[main_algo-3] [INFO] [1746051312.505208284] [sailbot.main_algo]: Target Bearing: -142.5222509360619 -[main_algo-3] [INFO] [1746051312.506178188] [sailbot.main_algo]: Heading Difference: -168.97974906393813 -[main_algo-3] [INFO] [1746051312.507183796] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051312.508071437] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051312.508930002] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051312.510663061] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051312.545089067] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051312.545774242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051312.546593033] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051312.547766207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051312.548795734] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051312.585332572] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051312.587191819] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051312.587488225] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051312.588174001] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051312.589096809] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051312.589532529] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051312.589957097] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051312.645106080] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051312.645831658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051312.646362179] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051312.647729929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051312.648424999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051312.745234195] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051312.746034848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051312.746736256] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051312.748307328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051312.748741581] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051312.835346191] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051312.837205085] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051312.838133144] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051312.838950375] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051312.839359239] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051312.840063031] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051312.840858078] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051312.844349316] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051312.844989483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051312.845726772] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051312.846689195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051312.847777644] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051312.945215022] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051312.946042135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051312.946634103] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051312.948171801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051312.949321381] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051312.957194809] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051312.958279290] [sailbot.main_algo]: Target Bearing: -142.5222509360619 -[main_algo-3] [INFO] [1746051312.959231344] [sailbot.main_algo]: Heading Difference: -169.36774906393805 -[main_algo-3] [INFO] [1746051312.960110237] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051312.961008909] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051312.961865788] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051312.962934773] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051312.963518765] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051313.002844584] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904079 Long: -76.5027665 -[main_algo-3] [INFO] [1746051313.003950391] [sailbot.main_algo]: Distance to destination: 56.83895814419559 -[vectornav-1] [INFO] [1746051313.004009831] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.84899999999999, -0.446, 5.064) -[main_algo-3] [INFO] [1746051313.005106173] [sailbot.main_algo]: Target Bearing: -142.52020251431378 -[main_algo-3] [INFO] [1746051313.006384219] [sailbot.main_algo]: Heading Difference: -169.3697974856862 -[main_algo-3] [INFO] [1746051313.007373785] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051313.008310944] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051313.009176997] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051313.010804873] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051313.043943854] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051313.044528219] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051313.044394923] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051313.045653120] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051313.046184889] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051313.084500244] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051313.086245811] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051313.086548504] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051313.087432139] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051313.087458601] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051313.088324841] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051313.089152176] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051313.144717254] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051313.146254348] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051313.146640735] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051313.149029006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051313.150422496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051313.244972638] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051313.245631885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051313.246271133] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051313.247425687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051313.248528354] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051313.335383118] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051313.337794961] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051313.338447470] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051313.339044418] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051313.339481495] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051313.340105747] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051313.340973616] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051313.344367844] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051313.344820334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051313.345480011] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051313.346494190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051313.347474994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051313.445191090] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051313.446115823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051313.446821611] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051313.448483596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051313.449500704] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051313.457093852] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051313.458094344] [sailbot.main_algo]: Target Bearing: -142.52020251431378 -[main_algo-3] [INFO] [1746051313.459005202] [sailbot.main_algo]: Heading Difference: -169.63079748568623 -[main_algo-3] [INFO] [1746051313.459923084] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051313.460776510] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051313.461646510] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051313.462717794] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051313.463459765] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051313.503089735] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904094 Long: -76.50276638 -[main_algo-3] [INFO] [1746051313.503609316] [sailbot.main_algo]: Distance to destination: 56.85704999294087 -[vectornav-1] [INFO] [1746051313.504279541] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.44200000000001, 0.438, 4.395) -[main_algo-3] [INFO] [1746051313.505102673] [sailbot.main_algo]: Target Bearing: -142.5132523874538 -[main_algo-3] [INFO] [1746051313.506589766] [sailbot.main_algo]: Heading Difference: -169.6377476125462 -[main_algo-3] [INFO] [1746051313.507647077] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051313.508577338] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051313.509425905] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051313.511127632] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051313.545092486] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051313.545596008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051313.546349676] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051313.547420689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051313.548484763] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051313.585520078] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051313.587323420] [sailbot.teensy]: Wind angle: 184 -[trim_sail-4] [INFO] [1746051313.587791464] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051313.588302924] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051313.589214328] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051313.588623153] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051313.590111664] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051313.644765579] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051313.645447100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051313.645962429] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051313.647297267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051313.648389062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051313.744960922] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051313.745647065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051313.746369785] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051313.747512853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051313.748678538] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051313.835290077] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051313.837027514] [sailbot.teensy]: Wind angle: 184 -[trim_sail-4] [INFO] [1746051313.837520353] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051313.839235011] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051313.840019397] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051313.840241519] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051313.841110729] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051313.844458592] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051313.844877334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051313.845560376] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051313.846517197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051313.847640780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051313.945084430] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051313.945761156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051313.946493510] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051313.947846801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051313.948414944] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051313.957166847] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051313.958242591] [sailbot.main_algo]: Target Bearing: -142.5132523874538 -[main_algo-3] [INFO] [1746051313.959171011] [sailbot.main_algo]: Heading Difference: -170.0447476125462 -[main_algo-3] [INFO] [1746051313.960050548] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051313.960929322] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051313.961777188] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051313.962778646] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051313.963453294] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051314.003191842] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904112 Long: -76.5027665 -[vectornav-1] [INFO] [1746051314.004613469] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.59000000000003, -1.156, 4.868) -[main_algo-3] [INFO] [1746051314.004725102] [sailbot.main_algo]: Distance to destination: 56.86177746205396 -[main_algo-3] [INFO] [1746051314.006053800] [sailbot.main_algo]: Target Bearing: -142.49129929115045 -[main_algo-3] [INFO] [1746051314.007060452] [sailbot.main_algo]: Heading Difference: -170.06670070884957 -[main_algo-3] [INFO] [1746051314.008148391] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051314.009077803] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051314.009950677] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051314.011640792] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051314.044850461] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051314.045554786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051314.046332471] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051314.047436552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051314.048674654] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051314.085319034] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051314.087129386] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051314.087934317] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051314.088079968] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051314.089050630] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051314.089664822] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051314.089950994] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051314.145058173] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051314.146033366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051314.146894086] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051314.148177123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051314.149348824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051314.244388442] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051314.245048540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051314.245672399] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051314.246820735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051314.247804851] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051314.335165027] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051314.337130621] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051314.337227235] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051314.338070973] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051314.338775897] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051314.339094203] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051314.339686109] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051314.344421569] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051314.344938265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051314.345553467] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051314.346565801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051314.347763699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051314.445212563] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051314.446153935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051314.446755691] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051314.448415974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051314.449415275] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051314.457075944] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051314.458097729] [sailbot.main_algo]: Target Bearing: -142.49129929115045 -[main_algo-3] [INFO] [1746051314.459015887] [sailbot.main_algo]: Heading Difference: -169.91870070884954 -[main_algo-3] [INFO] [1746051314.459902443] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051314.460815040] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051314.461610397] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051314.462636141] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051314.463214165] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051314.503054539] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904126 Long: -76.50276636 -[main_algo-3] [INFO] [1746051314.504311758] [sailbot.main_algo]: Distance to destination: 56.88046741013036 -[vectornav-1] [INFO] [1746051314.504567798] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.86099999999999, 0.574, 4.746) -[main_algo-3] [INFO] [1746051314.505729832] [sailbot.main_algo]: Target Bearing: -142.48626813084775 -[main_algo-3] [INFO] [1746051314.507053678] [sailbot.main_algo]: Heading Difference: -169.92373186915222 -[main_algo-3] [INFO] [1746051314.508015431] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051314.509058107] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051314.509948428] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051314.511642248] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051314.543991452] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051314.544458553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051314.544978053] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051314.545908979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051314.546817959] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051314.584679848] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051314.586505059] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051314.588367242] [sailbot.teensy]: Wind angle: 185 -[mux-7] [INFO] [1746051314.588389636] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051314.589235277] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051314.590049328] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051314.590814479] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051314.645037952] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051314.645913436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051314.646451699] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051314.647870522] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051314.649003653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051314.745084685] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051314.745900915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051314.746516589] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051314.747496247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051314.747990815] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051314.835342709] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051314.837164276] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051314.837736239] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051314.838162287] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051314.839076828] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051314.839175415] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051314.840041580] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051314.844485928] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051314.845005924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051314.845626406] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051314.846893713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051314.847988187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051314.945200675] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051314.945946704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051314.946599774] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051314.948000501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051314.949040155] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051314.957200559] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051314.958506246] [sailbot.main_algo]: Target Bearing: -142.48626813084775 -[main_algo-3] [INFO] [1746051314.959528571] [sailbot.main_algo]: Heading Difference: -170.65273186915226 -[main_algo-3] [INFO] [1746051314.960434758] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051314.961323700] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051314.962169003] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051314.963212861] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051314.963811977] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051315.002584414] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904137 Long: -76.50276623 -[main_algo-3] [INFO] [1746051315.003440121] [sailbot.main_algo]: Distance to destination: 56.89643905780733 -[vectornav-1] [INFO] [1746051315.003642954] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.375999999999976, -1.153, 4.894) -[main_algo-3] [INFO] [1746051315.004536608] [sailbot.main_algo]: Target Bearing: -142.48334900300458 -[main_algo-3] [INFO] [1746051315.005517916] [sailbot.main_algo]: Heading Difference: -170.6556509969954 -[main_algo-3] [INFO] [1746051315.006436465] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051315.007351437] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051315.008274936] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051315.009977585] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051315.044699115] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051315.045278589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051315.045886863] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051315.047046942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051315.048407095] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051315.084986034] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051315.086349468] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051315.087106979] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051315.086872044] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051315.087326777] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051315.087833760] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051315.088603251] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051315.144932665] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051315.145572718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051315.146237614] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051315.147594331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051315.148686111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051315.245120476] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051315.245997227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051315.246758465] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051315.248237380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051315.248661049] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051315.335172385] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051315.337322832] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051315.337742957] [sailbot.teensy]: Wind angle: 185 -[mux-7] [INFO] [1746051315.338210030] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051315.338844202] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051315.339778044] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051315.340325949] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051315.344363641] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051315.344943998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051315.345492181] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051315.346652603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051315.347680503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051315.444952912] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051315.445839591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051315.446226058] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051315.447583753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051315.448007495] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051315.457128425] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051315.458161104] [sailbot.main_algo]: Target Bearing: -142.48334900300458 -[main_algo-3] [INFO] [1746051315.459102859] [sailbot.main_algo]: Heading Difference: -171.14065099699542 -[main_algo-3] [INFO] [1746051315.459933421] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051315.460801073] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051315.461591237] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051315.462630572] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051315.463186371] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051315.503693887] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904154 Long: -76.50276606 -[main_algo-3] [INFO] [1746051315.504199646] [sailbot.main_algo]: Distance to destination: 56.91913489365477 -[vectornav-1] [INFO] [1746051315.504966832] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.365999999999985, -0.526, 3.879) -[main_algo-3] [INFO] [1746051315.505387192] [sailbot.main_algo]: Target Bearing: -142.47724705687904 -[main_algo-3] [INFO] [1746051315.506447429] [sailbot.main_algo]: Heading Difference: -171.146752943121 -[main_algo-3] [INFO] [1746051315.507416087] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051315.508348013] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051315.509255558] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051315.510953678] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051315.545096744] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051315.545877145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051315.546642581] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051315.547870736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051315.549062526] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051315.585419662] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051315.587230864] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051315.588179637] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051315.588181479] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051315.589098719] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051315.589364947] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051315.589958624] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051315.644951533] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051315.645911617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051315.646258644] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051315.647769055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051315.648849299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051315.745470611] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051315.746180239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051315.747139844] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051315.748163470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051315.748708085] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051315.835366790] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051315.837674816] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051315.837965474] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051315.839145653] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051315.839752539] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051315.840199013] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051315.841160994] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051315.844549104] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051315.845126606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051315.845833172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051315.847143870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051315.848484592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051315.943692366] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051315.944304203] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051315.945009019] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051315.945798820] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051315.946322925] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051315.956336407] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051315.956813152] [sailbot.main_algo]: Target Bearing: -142.47724705687904 -[main_algo-3] [INFO] [1746051315.957223975] [sailbot.main_algo]: Heading Difference: -171.15675294312098 -[main_algo-3] [INFO] [1746051315.957630934] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051315.958026543] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051315.958427941] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051315.958919473] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051315.960213276] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051316.001403854] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904167 Long: -76.50276602 -[vectornav-1] [INFO] [1746051316.001861332] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.83800000000002, 0.802, 6.183) -[main_algo-3] [INFO] [1746051316.001870575] [sailbot.main_algo]: Distance to destination: 56.93070325726042 -[main_algo-3] [INFO] [1746051316.002341909] [sailbot.main_algo]: Target Bearing: -142.46794371203717 -[main_algo-3] [INFO] [1746051316.002798236] [sailbot.main_algo]: Heading Difference: -171.16605628796287 -[main_algo-3] [INFO] [1746051316.003183679] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051316.003563477] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051316.003955057] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051316.004858085] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051316.043707433] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051316.044211336] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051316.044040245] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051316.044823729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051316.045405810] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051316.084449368] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051316.085243102] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051316.085583450] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051316.085663258] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051316.086067753] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051316.086519673] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051316.087129190] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051316.144877096] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051316.145990837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051316.146211210] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051316.147918854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051316.149112376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051316.244807453] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051316.245574581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051316.246161902] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051316.247415314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051316.249312938] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051316.334467624] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051316.335595714] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051316.336009604] [sailbot.teensy]: Wind angle: 185 -[mux-7] [INFO] [1746051316.336259041] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051316.336443438] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051316.336885458] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051316.337282204] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051316.344222235] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051316.345602798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051316.346242553] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051316.347233993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051316.348214374] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051316.444995200] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051316.445495459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051316.446176766] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051316.447301364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051316.448254612] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051316.457067193] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051316.458106409] [sailbot.main_algo]: Target Bearing: -142.46794371203717 -[main_algo-3] [INFO] [1746051316.459267731] [sailbot.main_algo]: Heading Difference: -171.69405628796278 -[main_algo-3] [INFO] [1746051316.460120273] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051316.460987723] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051316.461778669] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051316.462784463] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051316.463504202] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051316.502657135] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904159 Long: -76.50276592 -[main_algo-3] [INFO] [1746051316.503556399] [sailbot.main_algo]: Distance to destination: 56.93159857623872 -[vectornav-1] [INFO] [1746051316.503723613] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.709, -1.236, 4.807) -[main_algo-3] [INFO] [1746051316.504750393] [sailbot.main_algo]: Target Bearing: -142.4800933620634 -[main_algo-3] [INFO] [1746051316.505708726] [sailbot.main_algo]: Heading Difference: -171.68190663793655 -[main_algo-3] [INFO] [1746051316.506636979] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051316.507669267] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051316.508609222] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051316.510249961] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051316.545169451] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051316.545860122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051316.546584272] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051316.548129609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051316.549278932] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051316.585405120] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051316.587553134] [sailbot.teensy]: Wind angle: 184 -[trim_sail-4] [INFO] [1746051316.587857405] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051316.588512682] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051316.588920324] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051316.589414276] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051316.590262336] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051316.644936475] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051316.645636288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051316.646247490] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051316.647517152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051316.648698901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051316.744910052] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051316.745622080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051316.746383127] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051316.747518309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051316.748589261] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051316.835361867] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051316.837956539] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051316.838085317] [sailbot.teensy]: Wind angle: 185 -[mux-7] [INFO] [1746051316.838373896] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051316.839935713] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051316.840904199] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051316.841932637] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051316.844280758] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051316.844715312] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051316.845699048] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051316.846357399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051316.847682797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051316.945204191] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051316.946163536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051316.946724542] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051316.947739024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051316.948272717] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051316.957262035] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051316.958387384] [sailbot.main_algo]: Target Bearing: -142.4800933620634 -[main_algo-3] [INFO] [1746051316.959415065] [sailbot.main_algo]: Heading Difference: -171.81090663793657 -[main_algo-3] [INFO] [1746051316.960339398] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051316.961238296] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051316.962110160] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051316.963211043] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051316.964041807] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051317.002880747] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904162 Long: -76.50276573 -[main_algo-3] [INFO] [1746051317.003965332] [sailbot.main_algo]: Distance to destination: 56.94589484206658 -[vectornav-1] [INFO] [1746051317.004445845] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.14699999999999, -0.137, 4.698) -[main_algo-3] [INFO] [1746051317.005216111] [sailbot.main_algo]: Target Bearing: -142.48726338473193 -[main_algo-3] [INFO] [1746051317.006351538] [sailbot.main_algo]: Heading Difference: -171.80373661526806 -[main_algo-3] [INFO] [1746051317.007390935] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051317.008340352] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051317.009267914] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051317.010997325] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051317.045583991] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051317.045635227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051317.046972767] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051317.047540875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051317.048623285] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051317.085225523] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051317.087362365] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051317.087868204] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051317.088480484] [sailbot.teensy]: Wind angle: 184 -[teensy-2] [INFO] [1746051317.089430114] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051317.090256944] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051317.091281036] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051317.143702742] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051317.144235614] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051317.144624480] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051317.145204944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051317.145884969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051317.243725046] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051317.244051641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051317.244291715] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051317.245146872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051317.245747025] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051317.334930962] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051317.336929850] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051317.337295191] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051317.338409244] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051317.339393425] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051317.340335954] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051317.342823376] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051317.344511519] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051317.345407848] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051317.347303001] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051317.349559342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051317.350790770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051317.444939013] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051317.445595960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051317.446256139] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051317.447477528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051317.448511661] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051317.457179351] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051317.458300469] [sailbot.main_algo]: Target Bearing: -142.48726338473193 -[main_algo-3] [INFO] [1746051317.459274644] [sailbot.main_algo]: Heading Difference: -171.36573661526808 -[main_algo-3] [INFO] [1746051317.460141211] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051317.461003436] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051317.461822284] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051317.462924822] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051317.463365758] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051317.502688787] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904185 Long: -76.50276556 -[main_algo-3] [INFO] [1746051317.503614825] [sailbot.main_algo]: Distance to destination: 56.97274170612457 -[vectornav-1] [INFO] [1746051317.503748342] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.182000000000016, -0.424, 6.136) -[main_algo-3] [INFO] [1746051317.504734066] [sailbot.main_algo]: Target Bearing: -142.47592312277027 -[main_algo-3] [INFO] [1746051317.505740053] [sailbot.main_algo]: Heading Difference: -171.37707687722974 -[main_algo-3] [INFO] [1746051317.506710385] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051317.507614563] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051317.508506925] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051317.510176890] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051317.545099167] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051317.545856514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051317.546515174] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051317.547853519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051317.548992297] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051317.585318230] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051317.587520356] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051317.587767111] [sailbot.teensy]: Wind angle: 184 -[mux-7] [INFO] [1746051317.588341450] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051317.589399491] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051317.590318442] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051317.591130934] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051317.645162885] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051317.645910479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051317.646707514] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051317.648328502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051317.648820712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051317.744993409] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051317.745869016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051317.746422150] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051317.748137975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051317.749176135] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051317.835229616] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051317.837168921] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051317.837483951] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051317.838109308] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051317.839002079] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051317.839270732] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051317.839859928] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051317.844422267] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051317.844980510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051317.845570390] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051317.846707965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051317.847832445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051317.945435427] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051317.946179941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051317.947149838] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051317.948700958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051317.949867678] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051317.957193064] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051317.958339001] [sailbot.main_algo]: Target Bearing: -142.47592312277027 -[main_algo-3] [INFO] [1746051317.959564133] [sailbot.main_algo]: Heading Difference: -171.34207687722972 -[main_algo-3] [INFO] [1746051317.960499831] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051317.961410507] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051317.962317015] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051317.963442909] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051317.964268485] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051318.002644209] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904178 Long: -76.50276559 -[main_algo-3] [INFO] [1746051318.003500660] [sailbot.main_algo]: Distance to destination: 56.96596887088377 -[vectornav-1] [INFO] [1746051318.003728267] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.331999999999994, 0.052, 3.932) -[main_algo-3] [INFO] [1746051318.004592849] [sailbot.main_algo]: Target Bearing: -142.48049339154423 -[main_algo-3] [INFO] [1746051318.005545229] [sailbot.main_algo]: Heading Difference: -171.33750660845578 -[main_algo-3] [INFO] [1746051318.006455430] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051318.007333792] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051318.008198746] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051318.009883085] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051318.044984666] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051318.045631752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051318.046245524] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051318.047561626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051318.048710707] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051318.085354530] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051318.087802078] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051318.088219026] [sailbot.teensy]: Wind angle: 184 -[mux-7] [INFO] [1746051318.089005507] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051318.089563121] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051318.090499139] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051318.091308502] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051318.145355179] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051318.145904534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051318.146983066] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051318.148062612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051318.149195892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051318.245077048] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051318.245659063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051318.246458869] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051318.248344582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051318.249427302] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051318.335133611] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051318.337235713] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051318.337699905] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051318.338115482] [sailbot.teensy]: Wind angle: 184 -[teensy-2] [INFO] [1746051318.339428066] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051318.340505061] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051318.341385220] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051318.344429102] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051318.345070506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051318.345590292] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051318.346972313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051318.348068368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051318.445280925] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051318.446056352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051318.447111899] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051318.448036999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051318.449005422] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051318.457075801] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051318.458186019] [sailbot.main_algo]: Target Bearing: -142.48049339154423 -[main_algo-3] [INFO] [1746051318.459136101] [sailbot.main_algo]: Heading Difference: -171.1875066084558 -[main_algo-3] [INFO] [1746051318.460046312] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051318.460937539] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051318.461811804] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051318.462842312] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051318.463618575] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051318.502833742] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904159 Long: -76.50276553 -[vectornav-1] [INFO] [1746051318.504263448] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.49000000000001, -1.328, 5.669) -[main_algo-3] [INFO] [1746051318.504338122] [sailbot.main_algo]: Distance to destination: 56.956685585200745 -[main_algo-3] [INFO] [1746051318.505498736] [sailbot.main_algo]: Target Bearing: -142.50018942626156 -[main_algo-3] [INFO] [1746051318.506596826] [sailbot.main_algo]: Heading Difference: -171.16781057373845 -[main_algo-3] [INFO] [1746051318.507579725] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051318.508879844] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051318.509746243] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051318.511462651] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051318.545173550] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051318.545949301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051318.546662674] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051318.548276100] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051318.549370798] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051318.585329308] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051318.587101011] [sailbot.teensy]: Wind angle: 182 -[trim_sail-4] [INFO] [1746051318.587751668] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051318.588040737] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051318.588938789] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051318.589021657] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051318.589826808] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051318.645139055] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051318.645790772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051318.646727349] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051318.647834183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051318.648600765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051318.745278710] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051318.745882785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051318.746918059] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051318.747785692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051318.748303326] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051318.835279002] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051318.835964971] [sailbot.teensy]: Wind angle: 181 -[trim_sail-4] [INFO] [1746051318.836256712] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051318.836382268] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051318.836756950] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051318.836900249] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051318.837114999] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051318.844584601] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051318.845176823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051318.845683813] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051318.846877337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051318.847915883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051318.945161673] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051318.946092517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051318.946597779] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051318.948062479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051318.948605264] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051318.957112627] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051318.958246769] [sailbot.main_algo]: Target Bearing: -142.50018942626156 -[main_algo-3] [INFO] [1746051318.959264070] [sailbot.main_algo]: Heading Difference: -171.00981057373843 -[main_algo-3] [INFO] [1746051318.960123036] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051318.961032565] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051318.961891452] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051318.962891296] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051318.963440859] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051319.002841760] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904172 Long: -76.50276538 -[main_algo-3] [INFO] [1746051319.003761242] [sailbot.main_algo]: Distance to destination: 56.97532642163402 -[vectornav-1] [INFO] [1746051319.004048621] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.13799999999998, 0.646, 3.56) -[main_algo-3] [INFO] [1746051319.004950380] [sailbot.main_algo]: Target Bearing: -142.49655247958927 -[main_algo-3] [INFO] [1746051319.005926821] [sailbot.main_algo]: Heading Difference: -171.01344752041075 -[main_algo-3] [INFO] [1746051319.006804271] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051319.007704204] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051319.008591237] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051319.010349577] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051319.044717322] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051319.045465496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051319.046169470] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051319.047424052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051319.048518374] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051319.085194624] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051319.087102284] [sailbot.teensy]: Wind angle: 181 -[trim_sail-4] [INFO] [1746051319.087496614] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051319.088036620] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051319.089081487] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051319.089219280] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051319.090176840] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051319.144885707] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051319.145730141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051319.146075731] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051319.147559787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051319.148581205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051319.244198419] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051319.245118242] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051319.246132002] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051319.247904199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051319.249335851] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051319.335137938] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051319.336693281] [sailbot.teensy]: Wind angle: 181 -[teensy-2] [INFO] [1746051319.337582874] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051319.338011651] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051319.338417618] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051319.338803039] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051319.339272229] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051319.344325913] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051319.344988537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051319.345485659] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051319.346813305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051319.347874840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051319.444664700] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051319.445428402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051319.445798077] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051319.447324457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051319.448458069] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051319.457172837] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051319.458267717] [sailbot.main_algo]: Target Bearing: -142.49655247958927 -[main_algo-3] [INFO] [1746051319.459278032] [sailbot.main_algo]: Heading Difference: -171.36544752041073 -[main_algo-3] [INFO] [1746051319.460144099] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051319.460975088] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051319.461752269] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051319.462746160] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051319.463348700] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051319.502766271] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904167 Long: -76.50276568 -[main_algo-3] [INFO] [1746051319.503687649] [sailbot.main_algo]: Distance to destination: 56.952569899290204 -[vectornav-1] [INFO] [1746051319.504104824] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.33600000000001, -0.494, 5.606) -[main_algo-3] [INFO] [1746051319.505127964] [sailbot.main_algo]: Target Bearing: -142.4854692885811 -[main_algo-3] [INFO] [1746051319.506079310] [sailbot.main_algo]: Heading Difference: -171.37653071141892 -[main_algo-3] [INFO] [1746051319.506980213] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051319.508033953] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051319.508931772] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051319.510634416] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051319.544497834] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051319.545173568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051319.546264122] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051319.546962354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051319.548076493] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051319.585145838] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051319.587215507] [sailbot.teensy]: Wind angle: 181 -[trim_sail-4] [INFO] [1746051319.587783882] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051319.588469440] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051319.588505720] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051319.590144364] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051319.591039635] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051319.644967463] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051319.645817870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051319.646389622] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051319.647749386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051319.648818489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051319.744833806] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051319.745408246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051319.746350319] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051319.747313592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051319.748447372] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051319.835103576] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051319.843514284] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051319.843624526] [sailbot.teensy]: Wind angle: 181 -[mux-7] [INFO] [1746051319.844532618] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051319.845698176] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051319.846603213] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051319.847638863] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051319.849544151] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051319.852715049] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746051319.857159632] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051319.858533027] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051319.859741618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051319.943671561] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051319.943949448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051319.944191652] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051319.944966011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051319.945461209] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051319.956328365] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051319.956842424] [sailbot.main_algo]: Target Bearing: -142.4854692885811 -[main_algo-3] [INFO] [1746051319.957301861] [sailbot.main_algo]: Heading Difference: -172.1785307114189 -[main_algo-3] [INFO] [1746051319.957717769] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051319.958139213] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051319.958556402] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051319.959112304] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051319.959421412] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051320.002428749] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904157 Long: -76.50276567 -[main_algo-3] [INFO] [1746051320.003339777] [sailbot.main_algo]: Distance to destination: 56.94629583662805 -[vectornav-1] [INFO] [1746051320.003467893] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.56, -0.645, 4.898) -[main_algo-3] [INFO] [1746051320.004400457] [sailbot.main_algo]: Target Bearing: -142.49472594036453 -[main_algo-3] [INFO] [1746051320.005255471] [sailbot.main_algo]: Heading Difference: -172.16927405963543 -[main_algo-3] [INFO] [1746051320.006192273] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051320.007034500] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051320.007864051] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051320.009898281] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051320.045121158] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051320.045607560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051320.046457967] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051320.047446880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051320.048548338] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051320.085396910] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051320.087643167] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051320.088088546] [sailbot.teensy]: Wind angle: 181 -[mux-7] [INFO] [1746051320.088866780] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051320.089061222] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051320.089927908] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051320.090803950] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051320.144772615] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051320.145324009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051320.146304662] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051320.147133432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051320.148257334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051320.244844670] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051320.245510006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051320.246124481] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051320.247285697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051320.248343039] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051320.335100753] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051320.337143245] [sailbot.teensy]: Wind angle: 182 -[trim_sail-4] [INFO] [1746051320.337245338] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051320.338049599] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051320.338947548] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051320.339388405] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051320.339498814] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051320.344329863] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051320.344791959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051320.345469561] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051320.346488634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051320.347513909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051320.444737603] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051320.445313714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051320.445947183] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051320.446961709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051320.448115197] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051320.457025526] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051320.458019041] [sailbot.main_algo]: Target Bearing: -142.49472594036453 -[main_algo-3] [INFO] [1746051320.458846926] [sailbot.main_algo]: Heading Difference: -172.9452740596355 -[main_algo-3] [INFO] [1746051320.459659367] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051320.460473228] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051320.461288917] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051320.462265731] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051320.462925341] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051320.502945148] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904137 Long: -76.50276561 -[main_algo-3] [INFO] [1746051320.504176412] [sailbot.main_algo]: Distance to destination: 56.93632606290893 -[vectornav-1] [INFO] [1746051320.504383105] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.432000000000016, -0.243, 5.167) -[main_algo-3] [INFO] [1746051320.505767582] [sailbot.main_algo]: Target Bearing: -142.51530573846748 -[main_algo-3] [INFO] [1746051320.506830140] [sailbot.main_algo]: Heading Difference: -172.92469426153252 -[main_algo-3] [INFO] [1746051320.507730960] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051320.508691906] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051320.509591147] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051320.511285694] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051320.545199732] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051320.545990108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051320.546756507] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051320.547975623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051320.549149820] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051320.585414009] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051320.587941759] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051320.588444878] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051320.588789033] [sailbot.teensy]: Wind angle: 181 -[teensy-2] [INFO] [1746051320.589704344] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051320.590621975] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051320.591441870] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051320.645432306] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051320.646308219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051320.646984426] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051320.648510263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051320.649682144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051320.744971483] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051320.745689139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051320.746315896] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051320.747547082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051320.748749699] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051320.835145862] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051320.837400343] [sailbot.teensy]: Wind angle: 181 -[trim_sail-4] [INFO] [1746051320.837589728] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051320.838161253] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051320.838599619] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051320.839537084] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051320.840407671] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051320.844413641] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051320.844958817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051320.845580386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051320.846734656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051320.847897826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051320.944518928] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051320.944990565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051320.945556361] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051320.946577628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051320.947506059] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051320.957048045] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051320.958068704] [sailbot.main_algo]: Target Bearing: -142.51530573846748 -[main_algo-3] [INFO] [1746051320.958935162] [sailbot.main_algo]: Heading Difference: -172.0526942615325 -[main_algo-3] [INFO] [1746051320.959786149] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051320.960629188] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051320.961415553] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051320.962459549] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051320.963139023] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051321.002760784] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904124 Long: -76.50276582 -[main_algo-3] [INFO] [1746051321.003602703] [sailbot.main_algo]: Distance to destination: 56.91382541017868 -[vectornav-1] [INFO] [1746051321.003863239] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.88299999999998, -0.334, 4.591) -[main_algo-3] [INFO] [1746051321.004781772] [sailbot.main_algo]: Target Bearing: -142.51585992056556 -[main_algo-3] [INFO] [1746051321.005676780] [sailbot.main_algo]: Heading Difference: -172.05214007943442 -[main_algo-3] [INFO] [1746051321.006585114] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051321.007650477] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051321.008535089] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051321.010391031] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051321.045101824] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051321.045848480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051321.046717508] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051321.047991349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051321.049012189] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051321.085155247] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051321.087905883] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051321.088540758] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051321.088837432] [sailbot.teensy]: Wind angle: 181 -[teensy-2] [INFO] [1746051321.089697224] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051321.090524173] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051321.091368330] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051321.144665691] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051321.145309852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051321.145923248] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051321.147100881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051321.148087331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051321.244662681] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051321.245591235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051321.245796312] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051321.247341623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051321.248383285] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051321.335406542] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051321.337716072] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051321.338151948] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051321.338527438] [sailbot.teensy]: Wind angle: 181 -[teensy-2] [INFO] [1746051321.338941933] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051321.339297502] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051321.339803080] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051321.344566886] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051321.344959645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051321.345936879] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051321.346663906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051321.348263613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051321.444914313] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051321.445788892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051321.446272849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051321.447666629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051321.448225173] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051321.457193747] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051321.458255745] [sailbot.main_algo]: Target Bearing: -142.51585992056556 -[main_algo-3] [INFO] [1746051321.459166115] [sailbot.main_algo]: Heading Difference: -171.60114007943446 -[main_algo-3] [INFO] [1746051321.460007894] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051321.460851769] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051321.461650736] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051321.462686615] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051321.463408375] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051321.503573662] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690413 Long: -76.50276603 -[main_algo-3] [INFO] [1746051321.504223966] [sailbot.main_algo]: Distance to destination: 56.90446247989003 -[vectornav-1] [INFO] [1746051321.505174882] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.278999999999996, -0.725, 5.798) -[main_algo-3] [INFO] [1746051321.505347805] [sailbot.main_algo]: Target Bearing: -142.499786649265 -[main_algo-3] [INFO] [1746051321.506349581] [sailbot.main_algo]: Heading Difference: -171.61721335073503 -[main_algo-3] [INFO] [1746051321.507264351] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051321.508186071] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051321.509049600] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051321.510757969] [sailbot.mux]: algo rudder angle: -25 -[teensy-2] [INFO] [1746051321.545963649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051321.546016410] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051321.547361876] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051321.548123147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051321.549225264] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051321.585450426] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051321.587892153] [sailbot.teensy]: Wind angle: 181 -[teensy-2] [INFO] [1746051321.588859165] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051321.588185027] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051321.588614433] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051321.589711826] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051321.590594429] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051321.645215100] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051321.645767419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051321.647159652] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051321.648492601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051321.649639906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051321.745049854] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051321.745687664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051321.746468463] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051321.747812915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051321.748851547] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051321.835175249] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051321.837523274] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051321.838184018] [sailbot.teensy]: Wind angle: 181 -[mux-7] [INFO] [1746051321.838983190] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051321.839148651] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051321.840022754] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051321.840456128] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051321.844425098] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051321.845003373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051321.846170251] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051321.848232929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051321.849484208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051321.945093577] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051321.945705024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051321.946423452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051321.947555709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051321.948644942] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051321.957214656] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051321.958186454] [sailbot.main_algo]: Target Bearing: -142.499786649265 -[main_algo-3] [INFO] [1746051321.959088200] [sailbot.main_algo]: Heading Difference: -171.221213350735 -[main_algo-3] [INFO] [1746051321.959882056] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051321.960726153] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051321.961513510] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051321.962582313] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051321.963072422] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051322.002757013] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904132 Long: -76.50276618 -[main_algo-3] [INFO] [1746051322.003575590] [sailbot.main_algo]: Distance to destination: 56.89619628511608 -[vectornav-1] [INFO] [1746051322.003767953] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.742999999999995, 0.944, 4.508) -[main_algo-3] [INFO] [1746051322.004643218] [sailbot.main_algo]: Target Bearing: -142.49030236408726 -[main_algo-3] [INFO] [1746051322.005621084] [sailbot.main_algo]: Heading Difference: -171.23069763591275 -[main_algo-3] [INFO] [1746051322.006531750] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051322.007551976] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051322.008913685] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051322.012013115] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051322.043710691] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051322.044041425] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051322.044310008] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051322.044879852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051322.045384626] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051322.085013402] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051322.086940249] [sailbot.teensy]: Wind angle: 181 -[trim_sail-4] [INFO] [1746051322.087350322] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051322.088020563] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051322.088955141] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051322.089014527] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051322.089839172] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051322.145033770] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051322.146287121] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051322.149329603] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051322.151334343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051322.152561804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051322.245029933] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051322.245662936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051322.246361192] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051322.247562186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051322.248759428] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051322.334458772] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051322.335428368] [sailbot.teensy]: Wind angle: 182 -[trim_sail-4] [INFO] [1746051322.335557527] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051322.335880678] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051322.336292672] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051322.336757354] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051322.337173695] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051322.343626530] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051322.343986060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051322.344145095] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051322.344955236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051322.345462584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051322.444449920] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051322.445241160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051322.445791533] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051322.447197214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051322.448242576] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051322.456911146] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051322.457920878] [sailbot.main_algo]: Target Bearing: -142.49030236408726 -[main_algo-3] [INFO] [1746051322.458786229] [sailbot.main_algo]: Heading Difference: -171.76669763591275 -[main_algo-3] [INFO] [1746051322.459815897] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051322.460651788] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051322.461426523] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051322.462427598] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051322.462934155] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051322.503102783] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904121 Long: -76.50276614 -[main_algo-3] [INFO] [1746051322.503591088] [sailbot.main_algo]: Distance to destination: 56.89116148586414 -[main_algo-3] [INFO] [1746051322.504646815] [sailbot.main_algo]: Target Bearing: -142.50199084410508 -[vectornav-1] [INFO] [1746051322.504721615] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.81999999999999, -1.934, 5.359) -[main_algo-3] [INFO] [1746051322.505566384] [sailbot.main_algo]: Heading Difference: -171.75500915589492 -[main_algo-3] [INFO] [1746051322.506420908] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051322.507368238] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051322.508265991] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051322.510031467] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051322.544885370] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051322.545545569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051322.546197644] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051322.547649309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051322.548933115] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051322.585401506] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051322.587804288] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051322.590435647] [sailbot.teensy]: Wind angle: 182 -[teensy-2] [INFO] [1746051322.591410795] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051322.592462823] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051322.594506005] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051322.596564021] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051322.643669190] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051322.644202067] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051322.643990899] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051322.644927598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051322.645418266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051322.743712710] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051322.744041179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051322.744215169] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051322.745040298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051322.745579138] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051322.834400938] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051322.835212614] [sailbot.teensy]: Wind angle: 182 -[trim_sail-4] [INFO] [1746051322.835432591] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051322.836381879] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051322.836784418] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051322.837128670] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051322.837164249] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051322.843622600] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051322.843896856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051322.844114153] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051322.844661657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051322.845141962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051322.943653524] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051322.944008487] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051322.944829676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051322.945461604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051322.945058541] [sailbot.mux]: Published rudder angle from controller_app: 0 -[main_algo-3] [INFO] [1746051322.956275203] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051322.956779280] [sailbot.main_algo]: Target Bearing: -142.50199084410508 -[main_algo-3] [INFO] [1746051322.957220077] [sailbot.main_algo]: Heading Difference: -171.67800915589493 -[main_algo-3] [INFO] [1746051322.957611114] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051322.958033017] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051322.958415638] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051322.959059917] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051322.960195202] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051323.001441669] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904132 Long: -76.50276579 -[main_algo-3] [INFO] [1746051323.001841695] [sailbot.main_algo]: Distance to destination: 56.921286855584015 -[vectornav-1] [INFO] [1746051323.001895670] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.08600000000001, 0.097, 4.578) -[main_algo-3] [INFO] [1746051323.002311087] [sailbot.main_algo]: Target Bearing: -142.51040642804472 -[main_algo-3] [INFO] [1746051323.002749801] [sailbot.main_algo]: Heading Difference: -171.66959357195526 -[main_algo-3] [INFO] [1746051323.003163465] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051323.003561439] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051323.003955474] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051323.004865299] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051323.043761771] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051323.044287079] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051323.044073477] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051323.045214807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051323.045765204] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051323.084384356] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051323.085109405] [sailbot.teensy]: Wind angle: 182 -[teensy-2] [INFO] [1746051323.085512917] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051323.085387434] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051323.085972930] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051323.086347808] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051323.086356839] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051323.143674504] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051323.144058094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051323.144146661] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051323.145376653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051323.145911542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051323.245366383] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051323.245986978] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051323.251640026] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051323.252242271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051323.252788094] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051323.334462765] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051323.335401351] [sailbot.teensy]: Wind angle: 182 -[trim_sail-4] [INFO] [1746051323.335690233] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051323.335885688] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051323.336698456] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051323.337611416] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051323.338116501] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051323.343852096] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051323.344656791] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051323.344543092] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051323.345816492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051323.346677136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051323.443764750] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051323.444130321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051323.444338739] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051323.444995847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051323.445568324] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051323.456318028] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051323.456803534] [sailbot.main_algo]: Target Bearing: -142.51040642804472 -[main_algo-3] [INFO] [1746051323.457247397] [sailbot.main_algo]: Heading Difference: -172.4035935719553 -[main_algo-3] [INFO] [1746051323.457669998] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051323.458071235] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051323.458450038] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051323.458955698] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051323.460394147] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051323.501570999] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904134 Long: -76.50276558 -[vectornav-1] [INFO] [1746051323.502870196] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.31700000000001, -0.086, 6.411) -[main_algo-3] [INFO] [1746051323.502923587] [sailbot.main_algo]: Distance to destination: 56.93618260863232 -[main_algo-3] [INFO] [1746051323.503400201] [sailbot.main_algo]: Target Bearing: -142.51947490530375 -[main_algo-3] [INFO] [1746051323.503804672] [sailbot.main_algo]: Heading Difference: -172.39452509469623 -[main_algo-3] [INFO] [1746051323.504243607] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051323.504673510] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051323.505088791] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051323.505970035] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051323.543682876] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051323.544108124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051323.544236969] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051323.545063347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051323.545588466] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051323.584504254] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051323.585717392] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051323.586294563] [sailbot.teensy]: Wind angle: 182 -[mux-7] [INFO] [1746051323.586388860] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051323.586763417] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051323.587234995] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051323.587676791] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051323.643689547] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051323.644053141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051323.644203947] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051323.645090955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051323.645682263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051323.743750483] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051323.744285174] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051323.744063827] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051323.744944437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051323.745443098] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051323.835039044] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051323.836558797] [sailbot.teensy]: Wind angle: 182 -[teensy-2] [INFO] [1746051323.837410381] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051323.837205110] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051323.837617493] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051323.838215866] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051323.839010423] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051323.844319090] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051323.844785623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051323.845402851] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051323.846382223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051323.847366913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051323.945133232] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051323.945877634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051323.946778320] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051323.948022281] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051323.949209645] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051323.957014185] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051323.958060188] [sailbot.main_algo]: Target Bearing: -142.51947490530375 -[main_algo-3] [INFO] [1746051323.958974848] [sailbot.main_algo]: Heading Difference: -173.16352509469624 -[main_algo-3] [INFO] [1746051323.959782349] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051323.960601787] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051323.961402172] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051323.962609867] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051323.962992684] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051324.002799741] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904122 Long: -76.50276544 -[vectornav-1] [INFO] [1746051324.003942458] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.81099999999998, -0.538, 5.044) -[main_algo-3] [INFO] [1746051324.004768481] [sailbot.main_algo]: Distance to destination: 56.93689915523053 -[main_algo-3] [INFO] [1746051324.005872590] [sailbot.main_algo]: Target Bearing: -142.53718144364302 -[main_algo-3] [INFO] [1746051324.006924374] [sailbot.main_algo]: Heading Difference: -173.14581855635697 -[main_algo-3] [INFO] [1746051324.007753001] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051324.008619724] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051324.009432048] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051324.010953904] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051324.044981278] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051324.045704676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051324.046405877] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051324.047691136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051324.049793423] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051324.085644395] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051324.088106032] [sailbot.teensy]: Wind angle: 182 -[trim_sail-4] [INFO] [1746051324.088425335] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051324.089419360] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051324.090011533] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051324.091024333] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051324.092033453] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051324.144858388] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051324.145449439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051324.146101112] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051324.147413668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051324.148429914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051324.245244362] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051324.245814580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051324.246844501] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051324.247764033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051324.248897704] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051324.335245647] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051324.337431289] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051324.339707017] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051324.341588029] [sailbot.teensy]: Wind angle: 182 -[teensy-2] [INFO] [1746051324.342533466] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051324.343407135] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051324.344404674] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051324.345196443] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051324.345521763] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051324.346954300] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051324.348080388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051324.349050858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051324.444930637] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051324.445824334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051324.446171250] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051324.447610822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051324.448659436] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051324.457161714] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051324.458307542] [sailbot.main_algo]: Target Bearing: -142.53718144364302 -[main_algo-3] [INFO] [1746051324.459383446] [sailbot.main_algo]: Heading Difference: -171.651818556357 -[main_algo-3] [INFO] [1746051324.460556525] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051324.461718515] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051324.462809402] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051324.464198271] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051324.464728661] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051324.502227243] [sailbot.main_algo]: Distance to destination: 56.942598041867626 -[vectornav-1] [INFO] [1746051324.502412555] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690412 Long: -76.50276533 -[main_algo-3] [INFO] [1746051324.502767252] [sailbot.main_algo]: Target Bearing: -142.54459350654733 -[vectornav-1] [INFO] [1746051324.503086466] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.45799999999997, -0.033, 4.606) -[main_algo-3] [INFO] [1746051324.503244400] [sailbot.main_algo]: Heading Difference: -171.64440649345272 -[main_algo-3] [INFO] [1746051324.503715502] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051324.504339765] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051324.504856869] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051324.505738764] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051324.543658791] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051324.544074207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051324.544222574] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051324.545010767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051324.545581391] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051324.584435411] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051324.585477806] [sailbot.teensy]: Wind angle: 181 -[trim_sail-4] [INFO] [1746051324.585492935] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051324.585943426] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051324.586363222] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051324.586676029] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051324.586761367] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051324.643658486] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051324.643996364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051324.644142030] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051324.644815335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051324.645345569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051324.743834351] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051324.744222744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051324.744469884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051324.745564366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051324.746295430] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051324.835225355] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051324.836876293] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051324.837825661] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051324.837363566] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051324.838253485] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051324.838682185] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051324.839478095] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051324.844339513] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051324.844924443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051324.845477371] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051324.846562891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051324.847623391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051324.945009110] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051324.945945218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051324.946345085] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051324.948002659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051324.949162399] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051324.957053649] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051324.958111564] [sailbot.main_algo]: Target Bearing: -142.54459350654733 -[main_algo-3] [INFO] [1746051324.959096279] [sailbot.main_algo]: Heading Difference: -170.99740649345267 -[main_algo-3] [INFO] [1746051324.959926862] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051324.960788562] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051324.961684236] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051324.962681288] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051324.963365200] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051325.002429915] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904123 Long: -76.50276538 -[vectornav-1] [INFO] [1746051325.003452352] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.86500000000001, -1.231, 5.488) -[main_algo-3] [INFO] [1746051325.003497542] [sailbot.main_algo]: Distance to destination: 56.94145227618996 -[main_algo-3] [INFO] [1746051325.004849384] [sailbot.main_algo]: Target Bearing: -142.5393952663864 -[main_algo-3] [INFO] [1746051325.005743664] [sailbot.main_algo]: Heading Difference: -171.00260473361362 -[main_algo-3] [INFO] [1746051325.006617933] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051325.007456293] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051325.008332774] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051325.010164560] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051325.045445991] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051325.046738742] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051325.047205867] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051325.049604202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051325.052544404] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051325.084461570] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051325.085567059] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051325.086335894] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051325.085968108] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051325.086358615] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051325.087138596] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051325.087989349] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051325.143671869] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051325.144044729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051325.144204713] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051325.144932619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051325.145423716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051325.243705074] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051325.244242041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051325.244528052] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051325.245317271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051325.245817687] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051325.334429072] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051325.335125738] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051325.335503095] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051325.335869517] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051325.336230709] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051325.335442828] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051325.336045116] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051325.343641328] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051325.344090181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051325.344310942] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051325.344891096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051325.345364328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051325.444991912] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051325.445688199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051325.446300302] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051325.447510656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051325.448533139] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051325.457068677] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051325.458063017] [sailbot.main_algo]: Target Bearing: -142.5393952663864 -[main_algo-3] [INFO] [1746051325.458939928] [sailbot.main_algo]: Heading Difference: -171.59560473361358 -[main_algo-3] [INFO] [1746051325.459827264] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051325.460672433] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051325.461479054] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051325.462646828] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051325.463025180] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051325.503394330] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904129 Long: -76.50276543 -[main_algo-3] [INFO] [1746051325.504120801] [sailbot.main_algo]: Distance to destination: 56.94238022927467 -[vectornav-1] [INFO] [1746051325.505044625] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.603999999999985, 0.975, 5.286) -[main_algo-3] [INFO] [1746051325.505237566] [sailbot.main_algo]: Target Bearing: -142.53157246252113 -[main_algo-3] [INFO] [1746051325.506215534] [sailbot.main_algo]: Heading Difference: -171.60342753747886 -[main_algo-3] [INFO] [1746051325.507363511] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051325.508401820] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051325.509227816] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051325.510787621] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051325.544864234] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051325.545826765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051325.546117106] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051325.548104493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051325.549504930] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051325.584549943] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051325.585424890] [sailbot.teensy]: Wind angle: 180 -[trim_sail-4] [INFO] [1746051325.586551240] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051325.586949428] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051325.587121833] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051325.587602865] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051325.588103100] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051325.643840277] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051325.644169115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051325.644424947] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051325.645056194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051325.645587230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051325.743637655] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051325.743987107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051325.744246883] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051325.745010242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051325.745572216] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051325.836780175] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051325.837578925] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051325.838044109] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051325.838049242] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051325.838465336] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051325.838904561] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051325.839197630] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051325.844636015] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051325.845082896] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051325.846656195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051325.848395922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051325.847081837] [sailbot.mux]: Published rudder angle from controller_app: 0 -[mux-7] [INFO] [1746051325.948382745] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051325.949012016] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051325.950666397] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051325.951447269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051325.953090728] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051325.956289671] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051325.956756719] [sailbot.main_algo]: Target Bearing: -142.53157246252113 -[main_algo-3] [INFO] [1746051325.957182962] [sailbot.main_algo]: Heading Difference: -171.8644275374789 -[main_algo-3] [INFO] [1746051325.957578062] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051325.957991817] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051325.958385698] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051325.958903399] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051325.960063177] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051326.002639684] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904104 Long: -76.50276559 -[main_algo-3] [INFO] [1746051326.003489551] [sailbot.main_algo]: Distance to destination: 56.91480624382909 -[vectornav-1] [INFO] [1746051326.003955838] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.31200000000001, -1.815, 4.361) -[main_algo-3] [INFO] [1746051326.004555146] [sailbot.main_algo]: Target Bearing: -142.5452105983714 -[main_algo-3] [INFO] [1746051326.005455178] [sailbot.main_algo]: Heading Difference: -171.85078940162862 -[main_algo-3] [INFO] [1746051326.006306389] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051326.007098506] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051326.007923066] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051326.009583395] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051326.044626384] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051326.045128210] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051326.045984460] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051326.046776332] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051326.047771838] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051326.085313204] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051326.087724599] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051326.088035536] [sailbot.teensy]: Wind angle: 181 -[teensy-2] [INFO] [1746051326.088923502] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051326.088998983] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051326.089806114] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051326.090613005] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051326.144087362] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051326.144618476] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051326.145052020] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051326.146227043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051326.147068650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051326.244732265] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051326.245261723] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051326.245881835] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051326.246947831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051326.247943648] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051326.334397626] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051326.335189653] [sailbot.teensy]: Wind angle: 181 -[trim_sail-4] [INFO] [1746051326.335465403] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051326.336376089] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051326.337262140] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051326.337726536] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051326.338135988] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051326.343622998] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051326.344038342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051326.344115741] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051326.344876841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051326.345373053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051326.444719728] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051326.445522296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051326.445975628] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051326.447461921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051326.448637841] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051326.457033093] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051326.458017996] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746051326.458961153] [sailbot.main_algo]: Target Bearing: -142.5452105983714 -[main_algo-3] [INFO] [1746051326.459865336] [sailbot.main_algo]: Heading Difference: -171.1427894016286 -[main_algo-3] [INFO] [1746051326.460626860] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051326.461468162] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051326.462271434] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051326.463286486] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051326.463945965] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051326.502372180] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904109 Long: -76.50276561 -[vectornav-1] [INFO] [1746051326.503418786] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.27699999999999, 0.676, 6.147) -[main_algo-3] [INFO] [1746051326.503850211] [sailbot.main_algo]: Distance to destination: 56.91697348047218 -[main_algo-3] [INFO] [1746051326.505014066] [sailbot.main_algo]: Target Bearing: -142.53980423617855 -[main_algo-3] [INFO] [1746051326.506229379] [sailbot.main_algo]: Heading Difference: -171.14819576382143 -[main_algo-3] [INFO] [1746051326.507179696] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051326.508028450] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051326.508857128] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051326.510443544] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051326.545105210] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051326.545907054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051326.546413126] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051326.547843785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051326.549261226] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051326.585153705] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051326.586708444] [sailbot.teensy]: Wind angle: 181 -[teensy-2] [INFO] [1746051326.587570202] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051326.587178060] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051326.587734250] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051326.588880410] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051326.589831442] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051326.644901151] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051326.645591849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051326.646167235] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051326.647465356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051326.648515488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051326.744565682] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051326.745124468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051326.745713672] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051326.746893819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051326.747923050] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051326.834668480] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051326.836061437] [sailbot.teensy]: Wind angle: 181 -[trim_sail-4] [INFO] [1746051326.836479119] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051326.837812565] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051326.838111439] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051326.839029951] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051326.839897207] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051326.844456986] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051326.845539144] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051326.848676982] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051326.850313240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051326.851359904] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051326.944120887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051326.945092805] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051326.945643744] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051326.946139865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051326.947359665] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051326.956641810] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051326.957182159] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746051326.957637274] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051326.958125388] [sailbot.main_algo]: Current Location: (42.469041092147506, -76.50276561005442) -[main_algo-3] [INFO] [1746051326.958476319] [sailbot.main_algo]: Target Bearing: -142.53980423617855 -[main_algo-3] [INFO] [1746051326.958913844] [sailbot.main_algo]: Heading Difference: -171.18319576382146 -[main_algo-3] [INFO] [1746051326.959309726] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051326.959705120] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051326.960098541] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051326.960999489] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051326.961976988] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051327.001392466] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904105 Long: -76.50276572 -[vectornav-1] [INFO] [1746051327.002041888] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.105999999999995, -0.826, 4.705) -[main_algo-3] [INFO] [1746051327.002845498] [sailbot.main_algo]: Distance to destination: 56.90712890414183 -[main_algo-3] [INFO] [1746051327.003324949] [sailbot.main_algo]: Target Bearing: -142.5376401878767 -[main_algo-3] [INFO] [1746051327.003765610] [sailbot.main_algo]: Heading Difference: -171.18535981212335 -[main_algo-3] [INFO] [1746051327.004181359] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051327.004559612] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051327.004924086] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051327.006040329] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051327.043714113] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051327.044073519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051327.044263619] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051327.045146051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051327.045699928] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051327.084483629] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051327.085247425] [sailbot.teensy]: Wind angle: 182 -[teensy-2] [INFO] [1746051327.085673693] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051327.086453215] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051327.086714243] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051327.087133578] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051327.087603040] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051327.144792227] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051327.145290356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051327.146002920] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051327.147429842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051327.148476037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051327.245074624] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051327.245720671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051327.246685542] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051327.247553156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051327.248749769] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051327.335039889] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051327.336579548] [sailbot.teensy]: Wind angle: 182 -[trim_sail-4] [INFO] [1746051327.337122867] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051327.337446929] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051327.338296430] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051327.338420895] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051327.339097785] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051327.344274138] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051327.344976787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051327.345314666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051327.346523757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051327.347537699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051327.444677549] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051327.445238420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051327.446045377] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051327.446933558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051327.447993975] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051327.456913278] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051327.457831411] [sailbot.main_algo]: Target Bearing: -142.5376401878767 -[main_algo-3] [INFO] [1746051327.458680975] [sailbot.main_algo]: Heading Difference: -170.3563598121233 -[main_algo-3] [INFO] [1746051327.459482116] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051327.460262287] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051327.461003166] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051327.461952280] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051327.462660742] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051327.502475422] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904107 Long: -76.50276588 -[main_algo-3] [INFO] [1746051327.503404632] [sailbot.main_algo]: Distance to destination: 56.89821289666697 -[vectornav-1] [INFO] [1746051327.503526664] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.87099999999998, -0.242, 5.125) -[main_algo-3] [INFO] [1746051327.504457468] [sailbot.main_algo]: Target Bearing: -142.52764657531847 -[main_algo-3] [INFO] [1746051327.505364018] [sailbot.main_algo]: Heading Difference: -170.3663534246815 -[main_algo-3] [INFO] [1746051327.507106125] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051327.508027403] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051327.508839576] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051327.510468053] [sailbot.mux]: algo rudder angle: -25 -[teensy-2] [INFO] [1746051327.545213541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051327.545847896] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051327.547068745] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051327.547294790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051327.548423229] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051327.584956029] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051327.586344826] [sailbot.teensy]: Wind angle: 182 -[trim_sail-4] [INFO] [1746051327.586844300] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051327.587158657] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051327.587996866] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051327.588846358] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051327.589168349] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051327.643726378] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051327.644102543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051327.644722685] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051327.645043189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051327.645572308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051327.745033120] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051327.745596408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051327.746321906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051327.747293346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051327.748243698] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051327.835010176] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051327.836472716] [sailbot.teensy]: Wind angle: 181 -[trim_sail-4] [INFO] [1746051327.837296205] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051327.838005320] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051327.838396739] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051327.839109070] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051327.839998589] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051327.844661052] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051327.845356070] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051327.846221726] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051327.847067346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051327.848139209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051327.944436842] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051327.944984118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051327.945466164] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051327.946567159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051327.947663688] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051327.956970352] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051327.957964876] [sailbot.main_algo]: Target Bearing: -142.52764657531847 -[main_algo-3] [INFO] [1746051327.958809201] [sailbot.main_algo]: Heading Difference: -170.60135342468152 -[main_algo-3] [INFO] [1746051327.959616747] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051327.960428959] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051327.961235462] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051327.962215198] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051327.963120707] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051328.002890874] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904118 Long: -76.50276592 -[vectornav-1] [INFO] [1746051328.004056903] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.29200000000003, 0.002, 6.334) -[main_algo-3] [INFO] [1746051328.003977636] [sailbot.main_algo]: Distance to destination: 56.90324249891668 -[main_algo-3] [INFO] [1746051328.005117187] [sailbot.main_algo]: Target Bearing: -142.51595727356792 -[main_algo-3] [INFO] [1746051328.006056396] [sailbot.main_algo]: Heading Difference: -170.61304272643213 -[main_algo-3] [INFO] [1746051328.006986897] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051328.007882369] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051328.008731257] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051328.010369964] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051328.045411556] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051328.045918141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051328.046663633] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051328.047938326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051328.049085021] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051328.085188763] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051328.086751254] [sailbot.teensy]: Wind angle: 181 -[teensy-2] [INFO] [1746051328.087627319] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051328.087231428] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051328.088211022] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051328.088480246] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051328.089302691] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051328.143986189] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051328.144650558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051328.144945054] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051328.146389024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051328.147658809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051328.244651424] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051328.245211957] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051328.245951591] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051328.246890563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051328.247814015] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051328.335174983] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051328.336933411] [sailbot.teensy]: Wind angle: 181 -[teensy-2] [INFO] [1746051328.337826987] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051328.337212414] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051328.338449471] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051328.338679073] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051328.340346878] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051328.344819070] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051328.345863269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051328.346084641] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051328.347785819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051328.348864144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051328.443714993] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051328.444011068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051328.444252137] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051328.444860865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051328.445424580] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051328.456307698] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051328.456798418] [sailbot.main_algo]: Target Bearing: -142.51595727356792 -[main_algo-3] [INFO] [1746051328.457237805] [sailbot.main_algo]: Heading Difference: -171.19204272643208 -[main_algo-3] [INFO] [1746051328.457635785] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051328.458031945] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051328.458430173] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051328.458935884] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051328.459309274] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051328.502046696] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904107 Long: -76.50276599 -[main_algo-3] [INFO] [1746051328.503120431] [sailbot.main_algo]: Distance to destination: 56.89113366633459 -[vectornav-1] [INFO] [1746051328.503600737] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.384000000000015, -1.027, 5.441) -[main_algo-3] [INFO] [1746051328.504461561] [sailbot.main_algo]: Target Bearing: -142.52197783981316 -[main_algo-3] [INFO] [1746051328.505439258] [sailbot.main_algo]: Heading Difference: -171.18602216018678 -[main_algo-3] [INFO] [1746051328.506308589] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051328.506938035] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051328.507500703] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051328.509024722] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051328.544962049] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051328.545480199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051328.546440403] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051328.547224559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051328.548433450] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051328.585289960] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051328.586950852] [sailbot.teensy]: Wind angle: 181 -[trim_sail-4] [INFO] [1746051328.587442421] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051328.587841716] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051328.588843233] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051328.589667375] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051328.589741405] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051328.644954820] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051328.645633955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051328.646222208] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051328.647582614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051328.648630369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051328.744938169] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051328.745633784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051328.746201939] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051328.747469372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051328.748502155] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051328.835132225] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051328.836721674] [sailbot.teensy]: Wind angle: 180 -[trim_sail-4] [INFO] [1746051328.837316986] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051328.837645063] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051328.838616143] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051328.838883288] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051328.839506910] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051328.844459326] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051328.845028521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051328.845655827] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051328.846840277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051328.848173663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051328.945054494] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051328.945758083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051328.946473130] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051328.948067381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051328.949185462] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051328.957093276] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051328.958231275] [sailbot.main_algo]: Target Bearing: -142.52197783981316 -[main_algo-3] [INFO] [1746051328.959213374] [sailbot.main_algo]: Heading Difference: -170.0940221601868 -[main_algo-3] [INFO] [1746051328.960094641] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051328.960927901] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051328.961700645] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051328.962674810] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051328.963288093] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051329.003270110] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904117 Long: -76.50276598 -[main_algo-3] [INFO] [1746051329.003755493] [sailbot.main_algo]: Distance to destination: 56.89869027614561 -[vectornav-1] [INFO] [1746051329.004456627] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.466999999999985, -0.056, 4.873) -[main_algo-3] [INFO] [1746051329.004880508] [sailbot.main_algo]: Target Bearing: -142.5137400882714 -[main_algo-3] [INFO] [1746051329.005833310] [sailbot.main_algo]: Heading Difference: -170.1022599117286 -[main_algo-3] [INFO] [1746051329.006681128] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051329.007521946] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051329.008446857] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051329.010066720] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051329.044670057] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051329.045270230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051329.045834180] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051329.046956888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051329.047994979] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051329.084822697] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051329.086298004] [sailbot.teensy]: Wind angle: 180 -[trim_sail-4] [INFO] [1746051329.086966993] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051329.087199682] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051329.088068830] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051329.088912973] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051329.089259980] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051329.143660804] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051329.143989566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051329.144170467] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051329.144804168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051329.145294564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051329.244967252] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051329.245649558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051329.246200944] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051329.247469829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051329.248520094] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051329.335136502] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051329.337248655] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051329.337662981] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051329.337670421] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051329.338772781] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051329.339160241] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051329.339524144] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051329.344285919] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051329.344812289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051329.345323296] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051329.346319369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051329.347339896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051329.444302052] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051329.445270303] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051329.445267029] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051329.447018530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051329.448083435] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051329.457038264] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051329.458033426] [sailbot.main_algo]: Target Bearing: -142.5137400882714 -[main_algo-3] [INFO] [1746051329.458930910] [sailbot.main_algo]: Heading Difference: -171.01925991172862 -[main_algo-3] [INFO] [1746051329.459757241] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051329.460554804] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051329.461351591] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051329.462364110] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051329.462908204] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051329.502909305] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904114 Long: -76.50276602 -[main_algo-3] [INFO] [1746051329.503762300] [sailbot.main_algo]: Distance to destination: 56.894042290669766 -[vectornav-1] [INFO] [1746051329.504336220] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.31200000000001, -0.064, 4.577) -[main_algo-3] [INFO] [1746051329.505007850] [sailbot.main_algo]: Target Bearing: -142.514304046616 -[main_algo-3] [INFO] [1746051329.506025251] [sailbot.main_algo]: Heading Difference: -171.01869595338405 -[main_algo-3] [INFO] [1746051329.507038604] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051329.507968302] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051329.508861171] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051329.510537859] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051329.544836354] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051329.545499126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051329.546096484] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051329.547313391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051329.548387433] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051329.585013821] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051329.586513046] [sailbot.teensy]: Wind angle: 181 -[trim_sail-4] [INFO] [1746051329.587064448] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051329.587410952] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051329.588296832] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051329.588764410] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051329.589092953] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051329.645246882] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051329.645555068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051329.646717564] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051329.647335866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051329.648549201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051329.743743220] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051329.744195633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051329.744319692] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051329.745172721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051329.745735957] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051329.834661013] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051329.835445258] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051329.835864803] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051329.836256457] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051329.836635187] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051329.837951640] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051329.838108890] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051329.843707486] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051329.844322981] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051329.844076364] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051329.844966004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051329.845563357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051329.943845060] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051329.944179050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051329.944903410] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051329.945142314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051329.945724411] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051329.956364402] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051329.957072018] [sailbot.main_algo]: Target Bearing: -142.514304046616 -[main_algo-3] [INFO] [1746051329.957701992] [sailbot.main_algo]: Heading Difference: -171.17369595338403 -[main_algo-3] [INFO] [1746051329.958305770] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051329.958929262] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051329.959568757] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051329.962064548] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051329.962327691] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051330.001487000] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904119 Long: -76.50276614 -[vectornav-1] [INFO] [1746051330.002042936] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.411, -0.559, 5.897) -[main_algo-3] [INFO] [1746051330.002483184] [sailbot.main_algo]: Distance to destination: 56.889778408899886 -[main_algo-3] [INFO] [1746051330.002963990] [sailbot.main_algo]: Target Bearing: -142.5037412503638 -[main_algo-3] [INFO] [1746051330.003423588] [sailbot.main_algo]: Heading Difference: -171.18425874963623 -[main_algo-3] [INFO] [1746051330.003846812] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051330.005150218] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051330.005604873] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051330.006733752] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051330.043775371] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051330.044353455] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051330.044168003] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051330.045350929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051330.045949044] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051330.084510178] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051330.085315128] [sailbot.teensy]: Wind angle: 179 -[teensy-2] [INFO] [1746051330.085747271] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051330.086191772] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051330.086599770] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051330.087948857] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051330.090329642] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051330.143715954] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051330.145631863] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051330.146253433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051330.146588440] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051330.147696629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051330.243617705] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051330.244106472] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051330.245468467] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051330.246355016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051330.246872042] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051330.334480170] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051330.335805951] [sailbot.teensy]: Wind angle: 177 -[teensy-2] [INFO] [1746051330.336950872] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051330.335833525] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051330.336585172] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051330.337464898] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051330.337936371] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051330.343742618] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051330.344287740] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051330.344046707] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051330.344831446] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051330.345320567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051330.443708594] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051330.443983777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051330.444249577] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051330.444815592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051330.445343592] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051330.456398828] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051330.456923510] [sailbot.main_algo]: Target Bearing: -142.5037412503638 -[main_algo-3] [INFO] [1746051330.457376137] [sailbot.main_algo]: Heading Difference: -172.08525874963618 -[main_algo-3] [INFO] [1746051330.457786266] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051330.458212772] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051330.458618685] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051330.459133828] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051330.460340166] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051330.501429705] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904112 Long: -76.50276612 -[vectornav-1] [INFO] [1746051330.502090280] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.870000000000005, -0.482, 4.891) -[main_algo-3] [INFO] [1746051330.502840731] [sailbot.main_algo]: Distance to destination: 56.88622493651067 -[main_algo-3] [INFO] [1746051330.503427424] [sailbot.main_algo]: Target Bearing: -142.5108995101615 -[main_algo-3] [INFO] [1746051330.503939288] [sailbot.main_algo]: Heading Difference: -172.0781004898385 -[main_algo-3] [INFO] [1746051330.504455623] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051330.504980805] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051330.505491273] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051330.506594279] [sailbot.mux]: algo rudder angle: -25 -[teensy-2] [INFO] [1746051330.544274258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051330.545146692] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051330.545755832] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051330.547373649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051330.548524684] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051330.584394224] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051330.585542957] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051330.586352450] [sailbot.teensy]: Wind angle: 176 -[mux-7] [INFO] [1746051330.586569701] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051330.586794701] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051330.587185551] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051330.587561637] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051330.643765746] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051330.644107144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051330.645515921] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051330.646363773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051330.646974028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051330.743748063] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051330.744208469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051330.745448699] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051330.745646512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051330.746252643] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051330.834485365] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051330.835365132] [sailbot.teensy]: Wind angle: 175 -[teensy-2] [INFO] [1746051330.835757874] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051330.836125415] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051330.836459156] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051330.837658960] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051330.837887435] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051330.843763924] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051330.844409338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051330.844648734] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051330.845770213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051330.846658406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051330.943700114] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051330.944232058] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051330.944046241] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051330.944835665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051330.945344826] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051330.956334160] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051330.956835721] [sailbot.main_algo]: Target Bearing: -142.5108995101615 -[main_algo-3] [INFO] [1746051330.957279556] [sailbot.main_algo]: Heading Difference: -170.6191004898385 -[main_algo-3] [INFO] [1746051330.957729207] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051330.958141607] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051330.958551426] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051330.959122035] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051330.960298802] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051331.001360612] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904129 Long: -76.50276625 -[vectornav-1] [INFO] [1746051331.001787326] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.02699999999999, -0.245, 5.898) -[main_algo-3] [INFO] [1746051331.001818902] [sailbot.main_algo]: Distance to destination: 56.889618302312414 -[main_algo-3] [INFO] [1746051331.002266512] [sailbot.main_algo]: Target Bearing: -142.48931712289684 -[main_algo-3] [INFO] [1746051331.002675287] [sailbot.main_algo]: Heading Difference: -170.64068287710313 -[main_algo-3] [INFO] [1746051331.003075148] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051331.003489792] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051331.003907190] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051331.004700867] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051331.043713938] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051331.044228061] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051331.044075907] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051331.044839874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051331.045327621] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051331.084435501] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051331.085250831] [sailbot.teensy]: Wind angle: 173 -[trim_sail-4] [INFO] [1746051331.085443317] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051331.085668399] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051331.086067957] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051331.086445192] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051331.088086097] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051331.143884589] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051331.143894970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051331.144402092] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051331.144650453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051331.145155962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051331.243740969] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051331.244313130] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051331.244060857] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051331.244878630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051331.245440624] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051331.334389648] [sailbot.teensy]: Check telemetry callback entered -[mux-7] [INFO] [1746051331.335718120] [sailbot.mux]: algo sail angle: 0 -[trim_sail-4] [INFO] [1746051331.335863158] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051331.336807346] [sailbot.teensy]: Wind angle: 173 -[teensy-2] [INFO] [1746051331.337219223] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051331.337613797] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051331.337989576] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051331.343682238] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051331.344046262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051331.344277054] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051331.344890736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051331.345423809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051331.444199683] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051331.444645676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051331.446501054] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051331.446913809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051331.448224461] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051331.456516437] [sailbot.main_algo]: Wind Direction: 173 -[main_algo-3] [INFO] [1746051331.457848526] [sailbot.main_algo]: Target Bearing: -142.48931712289684 -[main_algo-3] [INFO] [1746051331.458380214] [sailbot.main_algo]: Heading Difference: -170.4836828771032 -[main_algo-3] [INFO] [1746051331.458876055] [sailbot.main_algo]: Wind Direction: 173 -[main_algo-3] [INFO] [1746051331.459339882] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051331.459790239] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051331.461386718] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051331.462080130] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051331.501459167] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904126 Long: -76.50276636 -[vectornav-1] [INFO] [1746051331.501946007] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.327, -0.627, 6.637) -[main_algo-3] [INFO] [1746051331.505699737] [sailbot.main_algo]: Distance to destination: 56.88046741013036 -[main_algo-3] [INFO] [1746051331.508280042] [sailbot.main_algo]: Target Bearing: -142.48626813084775 -[main_algo-3] [INFO] [1746051331.509401666] [sailbot.main_algo]: Heading Difference: -170.48673186915227 -[main_algo-3] [INFO] [1746051331.509825663] [sailbot.main_algo]: Wind Direction: 173 -[main_algo-3] [INFO] [1746051331.510226337] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051331.510626427] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051331.511949008] [sailbot.mux]: algo rudder angle: -25 -[teensy-2] [INFO] [1746051331.544858810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051331.545585516] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051331.547575029] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051331.549402496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051331.550586173] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051331.584372404] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051331.585290854] [sailbot.teensy]: Wind angle: 184 -[trim_sail-4] [INFO] [1746051331.585413172] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051331.586388527] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051331.585763375] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051331.587038146] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051331.587380481] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051331.644932774] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051331.645563954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051331.646595828] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051331.647415608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051331.648531502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051331.745025177] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051331.745614307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051331.746441710] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051331.747563878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051331.748707992] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051331.835161151] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051331.836744509] [sailbot.teensy]: Wind angle: 205 -[trim_sail-4] [INFO] [1746051331.837407321] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051331.837635504] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051331.838479012] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051331.839144834] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051331.839367863] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051331.844340631] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051331.844934470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051331.845443884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051331.846693130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051331.847668207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051331.945256425] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051331.946053430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051331.946769924] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051331.948684273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051331.949872279] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051331.957167504] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051331.958266602] [sailbot.main_algo]: Target Bearing: -142.48626813084775 -[main_algo-3] [INFO] [1746051331.959188966] [sailbot.main_algo]: Heading Difference: -170.18673186915225 -[main_algo-3] [INFO] [1746051331.960083575] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051331.960991727] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051331.961826485] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051331.962922714] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051331.963596843] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051332.003006036] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904109 Long: -76.50276643 -[main_algo-3] [INFO] [1746051332.003927675] [sailbot.main_algo]: Distance to destination: 56.86420552733545 -[vectornav-1] [INFO] [1746051332.004405227] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.903999999999996, -0.57, 4.273) -[main_algo-3] [INFO] [1746051332.005163580] [sailbot.main_algo]: Target Bearing: -142.49753765297464 -[main_algo-3] [INFO] [1746051332.006255059] [sailbot.main_algo]: Heading Difference: -170.17546234702536 -[main_algo-3] [INFO] [1746051332.008202117] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051332.009234944] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051332.010138442] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051332.012120868] [sailbot.mux]: algo rudder angle: -25 -[teensy-2] [INFO] [1746051332.043995303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051332.044230853] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051332.044802238] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051332.045009829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051332.045510690] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051332.084370832] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051332.085621820] [sailbot.teensy]: Wind angle: 224 -[trim_sail-4] [INFO] [1746051332.086115794] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051332.086642685] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051332.087619812] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051332.087853981] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051332.088506785] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051332.144957580] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051332.145845477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051332.146314811] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051332.147879993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051332.149025630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051332.244977898] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051332.245718580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051332.246524404] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051332.247607510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051332.249020094] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051332.335309320] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051332.337519541] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051332.337997945] [sailbot.teensy]: Wind angle: 229 -[teensy-2] [INFO] [1746051332.338904615] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051332.338981377] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051332.339754979] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051332.340611080] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051332.345978328] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051332.346609817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051332.350711508] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051332.351402785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051332.353070690] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051332.445110532] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051332.445800010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051332.446543947] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051332.448018728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051332.448619584] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051332.457149054] [sailbot.main_algo]: Wind Direction: 229 -[main_algo-3] [INFO] [1746051332.458235835] [sailbot.main_algo]: Target Bearing: -142.49753765297464 -[main_algo-3] [INFO] [1746051332.459162651] [sailbot.main_algo]: Heading Difference: -169.59846234702536 -[main_algo-3] [INFO] [1746051332.460034391] [sailbot.main_algo]: Wind Direction: 229 -[main_algo-3] [INFO] [1746051332.460915317] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051332.461772648] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051332.462953147] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051332.463665052] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051332.502887321] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690414 Long: -76.5027669 -[main_algo-3] [INFO] [1746051332.503943000] [sailbot.main_algo]: Distance to destination: 56.8554324256115 -[vectornav-1] [INFO] [1746051332.504147450] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.127999999999986, 0.34, 5.121) -[main_algo-3] [INFO] [1746051332.505188032] [sailbot.main_algo]: Target Bearing: -142.4461394634505 -[main_algo-3] [INFO] [1746051332.506159029] [sailbot.main_algo]: Heading Difference: -169.6498605365495 -[main_algo-3] [INFO] [1746051332.507058571] [sailbot.main_algo]: Wind Direction: 229 -[main_algo-3] [INFO] [1746051332.507937344] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051332.508800538] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051332.510515805] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051332.544480150] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051332.544831872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051332.545447038] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051332.546340617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051332.547343393] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051332.585429860] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051332.587751036] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051332.588116982] [sailbot.teensy]: Wind angle: 228 -[mux-7] [INFO] [1746051332.589073559] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051332.589127816] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051332.590082432] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051332.590960262] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051332.645060261] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051332.645548833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051332.646420025] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051332.647370219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051332.648546873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051332.744848519] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051332.745288155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051332.746167275] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051332.747038355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051332.748201066] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051332.835321515] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051332.837485079] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051332.837887914] [sailbot.teensy]: Wind angle: 226 -[mux-7] [INFO] [1746051332.838481737] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051332.838848357] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051332.839759077] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051332.840614167] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051332.844391705] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051332.845011471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051332.845861582] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051332.846766972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051332.847771097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051332.945122244] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051332.945960002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051332.946499065] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051332.947862312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051332.948392352] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051332.957218863] [sailbot.main_algo]: Wind Direction: 226 -[main_algo-3] [INFO] [1746051332.958405193] [sailbot.main_algo]: Target Bearing: -142.4461394634505 -[main_algo-3] [INFO] [1746051332.959429652] [sailbot.main_algo]: Heading Difference: -171.42586053654952 -[main_algo-3] [INFO] [1746051332.960326905] [sailbot.main_algo]: Wind Direction: 226 -[main_algo-3] [INFO] [1746051332.961255342] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051332.962052375] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051332.963070676] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051332.963544831] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051333.002836085] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904129 Long: -76.50276734 -[main_algo-3] [INFO] [1746051333.003781432] [sailbot.main_algo]: Distance to destination: 56.81953155273555 -[vectornav-1] [INFO] [1746051333.004012308] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.81200000000001, -1.208, 5.953) -[main_algo-3] [INFO] [1746051333.005021447] [sailbot.main_algo]: Target Bearing: -142.43302699556529 -[main_algo-3] [INFO] [1746051333.006068881] [sailbot.main_algo]: Heading Difference: -171.43897300443473 -[main_algo-3] [INFO] [1746051333.007077728] [sailbot.main_algo]: Wind Direction: 226 -[main_algo-3] [INFO] [1746051333.008026525] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051333.009069905] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051333.010849918] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051333.045254238] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051333.045574774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051333.046591370] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051333.047426549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051333.048491415] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051333.085362836] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051333.087548171] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051333.087960186] [sailbot.teensy]: Wind angle: 225 -[mux-7] [INFO] [1746051333.088877333] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051333.088928479] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051333.089854205] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051333.090703255] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051333.145356106] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051333.146452900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051333.147018752] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051333.148328954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051333.148881347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051333.245189448] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051333.245723201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051333.246652859] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051333.247836710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051333.248557384] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051333.339985747] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051333.342946853] [sailbot.teensy]: Wind angle: 225 -[trim_sail-4] [INFO] [1746051333.343203494] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051333.345974949] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051333.346149924] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051333.347404249] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051333.349593050] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051333.349594387] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051333.352518429] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746051333.354332143] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051333.355497644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051333.356524335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051333.445085138] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051333.445710560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051333.446414509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051333.447531683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051333.448561974] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051333.457169972] [sailbot.main_algo]: Wind Direction: 225 -[main_algo-3] [INFO] [1746051333.458260987] [sailbot.main_algo]: Target Bearing: -142.43302699556529 -[main_algo-3] [INFO] [1746051333.459223863] [sailbot.main_algo]: Heading Difference: -171.7549730044347 -[main_algo-3] [INFO] [1746051333.460098128] [sailbot.main_algo]: Wind Direction: 225 -[main_algo-3] [INFO] [1746051333.461029013] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051333.461910645] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051333.462977198] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051333.463599786] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051333.502832650] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904122 Long: -76.50276727 -[main_algo-3] [INFO] [1746051333.503769972] [sailbot.main_algo]: Distance to destination: 56.819183416132965 -[vectornav-1] [INFO] [1746051333.504006286] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.88499999999999, 0.019, 4.949) -[main_algo-3] [INFO] [1746051333.504924835] [sailbot.main_algo]: Target Bearing: -142.44277458919825 -[main_algo-3] [INFO] [1746051333.505895534] [sailbot.main_algo]: Heading Difference: -171.7452254108017 -[main_algo-3] [INFO] [1746051333.506827552] [sailbot.main_algo]: Wind Direction: 225 -[main_algo-3] [INFO] [1746051333.507722216] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051333.508602452] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051333.510312321] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051333.545026324] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051333.545638175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051333.546353926] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051333.547471690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051333.548488394] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051333.585244763] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051333.587086599] [sailbot.teensy]: Wind angle: 225 -[trim_sail-4] [INFO] [1746051333.587691319] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051333.588043097] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051333.588863143] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051333.588976110] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051333.589864898] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051333.645214068] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051333.645807277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051333.646872682] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051333.647793186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051333.648837385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051333.745265406] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051333.745762568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051333.746689445] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051333.747800721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051333.748882092] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051333.835656632] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051333.838472131] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051333.838711961] [sailbot.teensy]: Wind angle: 225 -[mux-7] [INFO] [1746051333.839318916] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051333.839647088] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051333.840625590] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051333.841477813] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051333.844316974] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051333.844865697] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051333.845418729] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051333.846566778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051333.847601356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051333.945294456] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051333.946108545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051333.946933764] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051333.948376025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051333.949392068] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051333.957325624] [sailbot.main_algo]: Wind Direction: 225 -[main_algo-3] [INFO] [1746051333.958391911] [sailbot.main_algo]: Target Bearing: -142.44277458919825 -[main_algo-3] [INFO] [1746051333.959302695] [sailbot.main_algo]: Heading Difference: -170.67222541080173 -[main_algo-3] [INFO] [1746051333.960175552] [sailbot.main_algo]: Wind Direction: 225 -[main_algo-3] [INFO] [1746051333.961076049] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051333.961932318] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051333.963307894] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051333.963684470] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051334.003186140] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904156 Long: -76.50276755 -[main_algo-3] [INFO] [1746051334.003822080] [sailbot.main_algo]: Distance to destination: 56.82474430617443 -[main_algo-3] [INFO] [1746051334.004914575] [sailbot.main_algo]: Target Bearing: -142.3985348862946 -[main_algo-3] [INFO] [1746051334.005863057] [sailbot.main_algo]: Heading Difference: -170.7164651137054 -[vectornav-1] [INFO] [1746051334.005995928] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.44499999999999, -0.755, 4.373) -[main_algo-3] [INFO] [1746051334.006808152] [sailbot.main_algo]: Wind Direction: 225 -[main_algo-3] [INFO] [1746051334.007727032] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051334.008711914] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051334.010471899] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051334.045008539] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051334.045593250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051334.046325290] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051334.047547478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051334.048599962] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051334.085245228] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051334.086982876] [sailbot.teensy]: Wind angle: 225 -[teensy-2] [INFO] [1746051334.087901864] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051334.087531308] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051334.088108068] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051334.088845279] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051334.089801473] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051334.145035691] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051334.145923431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051334.146323489] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051334.147997289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051334.148981429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051334.244856481] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051334.245739169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051334.246441477] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051334.248031333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051334.249166951] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051334.335037304] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051334.336487650] [sailbot.teensy]: Wind angle: 224 -[trim_sail-4] [INFO] [1746051334.337223466] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051334.337371941] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051334.338203214] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051334.338315761] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051334.339057636] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051334.344285372] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051334.345003954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051334.345413082] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051334.346697229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051334.348212091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051334.445109339] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051334.446411665] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051334.446412694] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051334.448327702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051334.449094575] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051334.456962626] [sailbot.main_algo]: Wind Direction: 224 -[main_algo-3] [INFO] [1746051334.457983703] [sailbot.main_algo]: Target Bearing: -142.3985348862946 -[main_algo-3] [INFO] [1746051334.458868885] [sailbot.main_algo]: Heading Difference: -170.1564651137054 -[main_algo-3] [INFO] [1746051334.459748473] [sailbot.main_algo]: Wind Direction: 224 -[main_algo-3] [INFO] [1746051334.460609469] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051334.461417819] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051334.462413955] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051334.463090258] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051334.502757843] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904155 Long: -76.50276779 -[main_algo-3] [INFO] [1746051334.503762188] [sailbot.main_algo]: Distance to destination: 56.80863385124768 -[vectornav-1] [INFO] [1746051334.504337971] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.06900000000002, 0.216, 6.538) -[main_algo-3] [INFO] [1746051334.505158886] [sailbot.main_algo]: Target Bearing: -142.38698889226276 -[main_algo-3] [INFO] [1746051334.506899546] [sailbot.main_algo]: Heading Difference: -170.16801110773724 -[main_algo-3] [INFO] [1746051334.508445701] [sailbot.main_algo]: Wind Direction: 224 -[main_algo-3] [INFO] [1746051334.509383206] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051334.510227641] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051334.511978908] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051334.544812212] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051334.545513857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051334.546099610] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051334.547458200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051334.548579428] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051334.585858113] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051334.588468906] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051334.589427889] [sailbot.teensy]: Wind angle: 226 -[mux-7] [INFO] [1746051334.589729727] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051334.590470418] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051334.591397688] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051334.592323851] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051334.645241512] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051334.646118835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051334.646653419] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051334.648005902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051334.649182581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051334.744924234] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051334.745668544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051334.746228913] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051334.747532233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051334.748586876] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051334.835388462] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051334.837339340] [sailbot.teensy]: Wind angle: 227 -[trim_sail-4] [INFO] [1746051334.837708890] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051334.838333072] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051334.839255763] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051334.839316239] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051334.840208480] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051334.844474369] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051334.844923951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051334.845691547] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051334.846653587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051334.847691511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051334.944879654] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051334.945617162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051334.946300536] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051334.947648238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051334.948832350] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051334.957075823] [sailbot.main_algo]: Wind Direction: 227 -[main_algo-3] [INFO] [1746051334.958079781] [sailbot.main_algo]: Target Bearing: -142.38698889226276 -[main_algo-3] [INFO] [1746051334.958982910] [sailbot.main_algo]: Heading Difference: -171.54401110773722 -[main_algo-3] [INFO] [1746051334.959837632] [sailbot.main_algo]: Wind Direction: 227 -[main_algo-3] [INFO] [1746051334.960719749] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051334.961554946] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051334.962560587] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051334.963309937] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051335.002848955] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904154 Long: -76.5027677 -[main_algo-3] [INFO] [1746051335.003800773] [sailbot.main_algo]: Distance to destination: 56.813721823912296 -[vectornav-1] [INFO] [1746051335.004004034] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.06299999999999, -0.926, 4.417) -[main_algo-3] [INFO] [1746051335.004961231] [sailbot.main_algo]: Target Bearing: -142.3925225652448 -[main_algo-3] [INFO] [1746051335.005915102] [sailbot.main_algo]: Heading Difference: -171.53847743475518 -[main_algo-3] [INFO] [1746051335.006818700] [sailbot.main_algo]: Wind Direction: 227 -[main_algo-3] [INFO] [1746051335.007726143] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051335.008627677] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051335.010275777] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051335.045164771] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051335.046047835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051335.046674538] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051335.048211092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051335.049378860] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051335.085210543] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051335.086804036] [sailbot.teensy]: Wind angle: 227 -[teensy-2] [INFO] [1746051335.087659339] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051335.087127568] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051335.088510648] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051335.088612629] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051335.089417225] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051335.144804777] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051335.145465908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051335.145972834] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051335.147300679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051335.148321860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051335.244771560] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051335.245434301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051335.245937364] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051335.247285325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051335.248400649] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051335.335465385] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051335.337518788] [sailbot.teensy]: Wind angle: 227 -[trim_sail-4] [INFO] [1746051335.337933887] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051335.338880424] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051335.339868246] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051335.340801285] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051335.341642056] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051335.344299404] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051335.344862711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051335.345400953] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051335.346544409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051335.347540412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051335.445163242] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051335.445884293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051335.446727460] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051335.447571853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051335.448110334] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051335.457151434] [sailbot.main_algo]: Wind Direction: 227 -[main_algo-3] [INFO] [1746051335.458270252] [sailbot.main_algo]: Target Bearing: -142.3925225652448 -[main_algo-3] [INFO] [1746051335.459219210] [sailbot.main_algo]: Heading Difference: -170.5444774347552 -[main_algo-3] [INFO] [1746051335.460116188] [sailbot.main_algo]: Wind Direction: 227 -[main_algo-3] [INFO] [1746051335.461019876] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051335.461874046] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051335.462958001] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051335.463407318] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051335.502653123] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904152 Long: -76.50276799 -[main_algo-3] [INFO] [1746051335.503556717] [sailbot.main_algo]: Distance to destination: 56.79370781393503 -[vectornav-1] [INFO] [1746051335.503704191] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.07900000000001, 0.236, 5.207) -[main_algo-3] [INFO] [1746051335.504769846] [sailbot.main_algo]: Target Bearing: -142.37925841406332 -[main_algo-3] [INFO] [1746051335.505776544] [sailbot.main_algo]: Heading Difference: -170.5577415859367 -[main_algo-3] [INFO] [1746051335.506670477] [sailbot.main_algo]: Wind Direction: 227 -[main_algo-3] [INFO] [1746051335.507525939] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051335.508378330] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051335.510048671] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051335.545077400] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051335.545896855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051335.546467435] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051335.547878580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051335.548882836] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051335.585252429] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051335.587428151] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051335.588213967] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051335.588310070] [sailbot.teensy]: Wind angle: 225 -[teensy-2] [INFO] [1746051335.589362833] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051335.590230353] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051335.591059082] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051335.645027103] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051335.645606711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051335.646352373] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051335.647469831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051335.648532552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051335.744932475] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051335.745610016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051335.746230693] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051335.747600704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051335.748805349] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051335.835337301] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051335.837067147] [sailbot.teensy]: Wind angle: 225 -[trim_sail-4] [INFO] [1746051335.837587629] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051335.838007134] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051335.839563669] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051335.839829644] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051335.840470488] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051335.844500777] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051335.844954770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051335.845667803] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051335.846729918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051335.847785753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051335.943691948] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051335.944045038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051335.944215013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051335.944842878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051335.945305280] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051335.956288571] [sailbot.main_algo]: Wind Direction: 225 -[main_algo-3] [INFO] [1746051335.956766100] [sailbot.main_algo]: Target Bearing: -142.37925841406332 -[main_algo-3] [INFO] [1746051335.957185066] [sailbot.main_algo]: Heading Difference: -170.54174158593668 -[main_algo-3] [INFO] [1746051335.957579018] [sailbot.main_algo]: Wind Direction: 225 -[main_algo-3] [INFO] [1746051335.957966144] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051335.958363114] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051335.958848896] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051335.959195872] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051336.002812452] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690416 Long: -76.5027682 -[main_algo-3] [INFO] [1746051336.003880824] [sailbot.main_algo]: Distance to destination: 56.78577031897683 -[vectornav-1] [INFO] [1746051336.003973819] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.908000000000015, -0.976, 5.906) -[main_algo-3] [INFO] [1746051336.005059554] [sailbot.main_algo]: Target Bearing: -142.36137844536765 -[main_algo-3] [INFO] [1746051336.006062256] [sailbot.main_algo]: Heading Difference: -170.55962155463237 -[main_algo-3] [INFO] [1746051336.007070627] [sailbot.main_algo]: Wind Direction: 225 -[main_algo-3] [INFO] [1746051336.007951007] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051336.009588627] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051336.011275292] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051336.045163168] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051336.045540778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051336.046508725] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051336.047498542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051336.048615103] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051336.084895687] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051336.086806792] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051336.087112916] [sailbot.teensy]: Wind angle: 224 -[mux-7] [INFO] [1746051336.087999880] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051336.088032045] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051336.088911118] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051336.089720366] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051336.144921006] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051336.145549458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051336.146205037] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051336.147571878] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051336.148573621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051336.245096811] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051336.245819616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051336.246531842] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051336.247965832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051336.248434915] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051336.335508389] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051336.337915326] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051336.337944703] [sailbot.teensy]: Wind angle: 224 -[teensy-2] [INFO] [1746051336.338954104] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051336.339352421] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051336.339842560] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051336.340769809] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051336.344534639] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051336.345004251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051336.345712276] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051336.346751927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051336.347875084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051336.443952639] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051336.444171090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051336.444702657] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051336.445703121] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051336.446702330] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051336.456840929] [sailbot.main_algo]: Wind Direction: 224 -[main_algo-3] [INFO] [1746051336.457944307] [sailbot.main_algo]: Target Bearing: -142.36137844536765 -[main_algo-3] [INFO] [1746051336.458903948] [sailbot.main_algo]: Heading Difference: -171.7306215546323 -[main_algo-3] [INFO] [1746051336.459523884] [sailbot.main_algo]: Wind Direction: 224 -[main_algo-3] [INFO] [1746051336.460166394] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051336.460731664] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051336.461822036] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051336.462132932] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051336.502626913] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904169 Long: -76.50276801 -[main_algo-3] [INFO] [1746051336.503575861] [sailbot.main_algo]: Distance to destination: 56.8042134699621 -[vectornav-1] [INFO] [1746051336.503730452] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.89100000000002, -0.143, 4.486) -[main_algo-3] [INFO] [1746051336.504654644] [sailbot.main_algo]: Target Bearing: -142.36334737545138 -[main_algo-3] [INFO] [1746051336.505536295] [sailbot.main_algo]: Heading Difference: -171.7286526245486 -[main_algo-3] [INFO] [1746051336.506380383] [sailbot.main_algo]: Wind Direction: 224 -[main_algo-3] [INFO] [1746051336.507192968] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051336.507973166] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051336.509558536] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051336.544998824] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051336.545606901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051336.546325383] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051336.547493514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051336.548541910] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051336.585233592] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051336.586741625] [sailbot.teensy]: Wind angle: 224 -[trim_sail-4] [INFO] [1746051336.587119586] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051336.587721380] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051336.588719353] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051336.589684329] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051336.590030202] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051336.645127628] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051336.645595966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051336.646621008] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051336.647626889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051336.648836660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051336.745240649] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051336.745738058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051336.746738917] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051336.747703731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051336.748790842] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051336.835372532] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051336.837065315] [sailbot.teensy]: Wind angle: 224 -[teensy-2] [INFO] [1746051336.838025252] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051336.837561846] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051336.838937008] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051336.839712977] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051336.839824195] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051336.844314893] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051336.845085382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051336.845466010] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051336.846748324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051336.847718288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051336.945141634] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051336.945920748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051336.946674030] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051336.947885158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051336.949076100] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051336.957258301] [sailbot.main_algo]: Wind Direction: 224 -[main_algo-3] [INFO] [1746051336.958377630] [sailbot.main_algo]: Target Bearing: -142.36334737545138 -[main_algo-3] [INFO] [1746051336.959351646] [sailbot.main_algo]: Heading Difference: -171.7456526245486 -[main_algo-3] [INFO] [1746051336.960267525] [sailbot.main_algo]: Wind Direction: 224 -[main_algo-3] [INFO] [1746051336.961162929] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051336.962087480] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051336.963127186] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051336.963628130] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051337.002952391] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904167 Long: -76.50276817 -[main_algo-3] [INFO] [1746051337.003795464] [sailbot.main_algo]: Distance to destination: 56.79255258703665 -[vectornav-1] [INFO] [1746051337.004088716] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.822, -0.368, 5.318) -[main_algo-3] [INFO] [1746051337.004950826] [sailbot.main_algo]: Target Bearing: -142.35680789106155 -[main_algo-3] [INFO] [1746051337.006014262] [sailbot.main_algo]: Heading Difference: -171.7521921089384 -[main_algo-3] [INFO] [1746051337.006904874] [sailbot.main_algo]: Wind Direction: 224 -[main_algo-3] [INFO] [1746051337.007801267] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051337.008750130] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051337.010511460] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051337.045240258] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051337.045678405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051337.046600955] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051337.047545302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051337.048567869] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051337.085076623] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051337.086728138] [sailbot.teensy]: Wind angle: 224 -[trim_sail-4] [INFO] [1746051337.087221383] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051337.087926704] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051337.088325144] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051337.088799962] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051337.089703772] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051337.145327991] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051337.146170549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051337.146957682] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051337.148738419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051337.149779119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051337.245161906] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051337.245937392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051337.246603691] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051337.248100676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051337.249137070] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051337.335195119] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051337.337344442] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051337.337358068] [sailbot.teensy]: Wind angle: 224 -[mux-7] [INFO] [1746051337.338016770] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051337.338630755] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051337.339824287] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051337.340687150] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051337.344322458] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051337.344760808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051337.345695445] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051337.346426482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051337.347621194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051337.445351085] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051337.446235671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051337.447293389] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051337.448438316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051337.449348560] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051337.457064042] [sailbot.main_algo]: Wind Direction: 224 -[main_algo-3] [INFO] [1746051337.458009656] [sailbot.main_algo]: Target Bearing: -142.35680789106155 -[main_algo-3] [INFO] [1746051337.458885039] [sailbot.main_algo]: Heading Difference: -170.82119210893848 -[main_algo-3] [INFO] [1746051337.459714967] [sailbot.main_algo]: Wind Direction: 224 -[main_algo-3] [INFO] [1746051337.460576080] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051337.461379699] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051337.462337590] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051337.463074142] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051337.503393992] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904166 Long: -76.50276823 -[main_algo-3] [INFO] [1746051337.504020559] [sailbot.main_algo]: Distance to destination: 56.78800649891281 -[vectornav-1] [INFO] [1746051337.504833256] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.615999999999985, -0.084, 4.64) -[main_algo-3] [INFO] [1746051337.505085939] [sailbot.main_algo]: Target Bearing: -142.35457363435555 -[main_algo-3] [INFO] [1746051337.506245830] [sailbot.main_algo]: Heading Difference: -170.82342636564442 -[main_algo-3] [INFO] [1746051337.507190437] [sailbot.main_algo]: Wind Direction: 224 -[main_algo-3] [INFO] [1746051337.508361615] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051337.509239251] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051337.510949045] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051337.544954006] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051337.545803230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051337.546257570] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051337.547792443] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051337.548785459] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051337.585446148] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051337.587905077] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051337.588557974] [sailbot.teensy]: Wind angle: 224 -[mux-7] [INFO] [1746051337.588743132] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051337.589615013] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051337.590501691] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051337.591336599] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051337.645219464] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051337.645880828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051337.646680167] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051337.647961416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051337.649022825] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051337.745220191] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051337.745874973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051337.746716703] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051337.747858684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051337.748512630] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051337.835055029] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051337.836669467] [sailbot.teensy]: Wind angle: 223 -[trim_sail-4] [INFO] [1746051337.837178541] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051337.837605336] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051337.838630273] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051337.839178690] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051337.839592534] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051337.844526029] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051337.845227606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051337.845742435] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051337.846977260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051337.848031344] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051337.945088555] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051337.945736241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051337.946435099] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051337.948022922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051337.949081008] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051337.956997282] [sailbot.main_algo]: Wind Direction: 223 -[main_algo-3] [INFO] [1746051337.958033935] [sailbot.main_algo]: Target Bearing: -142.35457363435555 -[main_algo-3] [INFO] [1746051337.958911453] [sailbot.main_algo]: Heading Difference: -171.02942636564444 -[main_algo-3] [INFO] [1746051337.959695356] [sailbot.main_algo]: Wind Direction: 223 -[main_algo-3] [INFO] [1746051337.960518714] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051337.961304678] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051337.962394154] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051337.963007291] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051338.002734279] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904172 Long: -76.50276858 -[main_algo-3] [INFO] [1746051338.003813543] [sailbot.main_algo]: Distance to destination: 56.76970243430311 -[vectornav-1] [INFO] [1746051338.003922348] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.52699999999999, -0.359, 4.872) -[main_algo-3] [INFO] [1746051338.004904435] [sailbot.main_algo]: Target Bearing: -142.33117804242775 -[main_algo-3] [INFO] [1746051338.005819158] [sailbot.main_algo]: Heading Difference: -171.0528219575723 -[main_algo-3] [INFO] [1746051338.007426772] [sailbot.main_algo]: Wind Direction: 223 -[main_algo-3] [INFO] [1746051338.008424325] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051338.009325289] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051338.011015364] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051338.045105457] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051338.045640408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051338.046422393] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051338.047665462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051338.048717853] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051338.085343984] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051338.087139101] [sailbot.teensy]: Wind angle: 222 -[teensy-2] [INFO] [1746051338.088134004] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051338.087521976] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051338.089099751] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051338.089940378] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051338.089958067] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051338.145263506] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051338.145880322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051338.146745438] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051338.148102371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051338.149293898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051338.245128455] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051338.245769743] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051338.246641698] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051338.247781423] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051338.248834158] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051338.335546166] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051338.337412558] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746051338.338054048] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051338.338380921] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051338.339292957] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051338.339723137] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051338.340189204] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051338.344227121] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051338.345032333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051338.345408365] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051338.346786398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051338.347761624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051338.444840528] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051338.445454209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051338.445986513] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051338.447301134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051338.448544086] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051338.457093764] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051338.458091021] [sailbot.main_algo]: Target Bearing: -142.33117804242775 -[main_algo-3] [INFO] [1746051338.459009635] [sailbot.main_algo]: Heading Difference: -171.14182195757223 -[main_algo-3] [INFO] [1746051338.459855107] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051338.460729442] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051338.461588517] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051338.462781000] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051338.463276045] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051338.501560636] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904184 Long: -76.50276844 -[vectornav-1] [INFO] [1746051338.502109381] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.887, -0.871, 5.385) -[main_algo-3] [INFO] [1746051338.502145871] [sailbot.main_algo]: Distance to destination: 56.787017862750005 -[main_algo-3] [INFO] [1746051338.502769425] [sailbot.main_algo]: Target Bearing: -142.32794072780086 -[main_algo-3] [INFO] [1746051338.503315248] [sailbot.main_algo]: Heading Difference: -171.14505927219915 -[main_algo-3] [INFO] [1746051338.503798101] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051338.504290912] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051338.504801565] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051338.505813610] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051338.545142851] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051338.545732211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051338.546651025] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051338.547617994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051338.548645400] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051338.585169112] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051338.587628918] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051338.587846012] [sailbot.teensy]: Wind angle: 220 -[mux-7] [INFO] [1746051338.588373408] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051338.588854232] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051338.589764395] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051338.590661483] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051338.645097649] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051338.645781509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051338.646549592] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051338.647824504] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051338.648998672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051338.745052485] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051338.745768708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051338.746501375] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051338.747758286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051338.748380616] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051338.835302553] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051338.837510861] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051338.838253122] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051338.838269784] [sailbot.teensy]: Wind angle: 220 -[teensy-2] [INFO] [1746051338.839322397] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051338.840092573] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051338.840455171] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051338.844400126] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051338.844940764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051338.845542484] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051338.846637325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051338.847752523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051338.944885068] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051338.945513724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051338.946193476] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051338.947337325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051338.948596387] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051338.957072355] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051338.958174621] [sailbot.main_algo]: Target Bearing: -142.32794072780086 -[main_algo-3] [INFO] [1746051338.959115607] [sailbot.main_algo]: Heading Difference: -171.78505927219913 -[main_algo-3] [INFO] [1746051338.960002337] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051338.960891933] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051338.961753603] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051338.962813300] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051338.963438940] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051339.002717045] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904201 Long: -76.50276843 -[main_algo-3] [INFO] [1746051339.003716363] [sailbot.main_algo]: Distance to destination: 56.79946264344548 -[vectornav-1] [INFO] [1746051339.004313448] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.90199999999999, 0.197, 4.864) -[main_algo-3] [INFO] [1746051339.004789449] [sailbot.main_algo]: Target Bearing: -142.31359314654208 -[main_algo-3] [INFO] [1746051339.005831154] [sailbot.main_algo]: Heading Difference: -171.79940685345792 -[main_algo-3] [INFO] [1746051339.006775698] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051339.007670764] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051339.008728653] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051339.010388008] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051339.044997565] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051339.045730835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051339.046318701] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051339.047736515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051339.048803886] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051339.085341185] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051339.087046107] [sailbot.teensy]: Wind angle: 219 -[trim_sail-4] [INFO] [1746051339.087508350] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051339.087935014] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051339.088791643] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051339.089694479] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051339.089324847] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051339.145084340] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051339.146017951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051339.146534784] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051339.148189324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051339.148680961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051339.245196355] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051339.245973560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051339.246643898] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051339.248147356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051339.249204778] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051339.335372080] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051339.337328752] [sailbot.teensy]: Wind angle: 219 -[trim_sail-4] [INFO] [1746051339.337962683] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051339.339168003] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051339.339415847] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051339.340071087] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051339.340910303] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051339.344494781] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051339.345026177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051339.345625886] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051339.346686630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051339.347715514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051339.445288364] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051339.446132641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051339.446859209] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051339.448366836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051339.449526929] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051339.457276879] [sailbot.main_algo]: Wind Direction: 219 -[main_algo-3] [INFO] [1746051339.458390352] [sailbot.main_algo]: Target Bearing: -142.31359314654208 -[main_algo-3] [INFO] [1746051339.459325861] [sailbot.main_algo]: Heading Difference: -172.78440685345794 -[main_algo-3] [INFO] [1746051339.460199790] [sailbot.main_algo]: Wind Direction: 219 -[main_algo-3] [INFO] [1746051339.461087149] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051339.461934329] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051339.463136056] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051339.463689203] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051339.502798413] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904205 Long: -76.5027685 -[main_algo-3] [INFO] [1746051339.503620047] [sailbot.main_algo]: Distance to destination: 56.79774897618489 -[vectornav-1] [INFO] [1746051339.503948337] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.577999999999975, -0.703, 5.752) -[main_algo-3] [INFO] [1746051339.504707849] [sailbot.main_algo]: Target Bearing: -142.30646559536711 -[main_algo-3] [INFO] [1746051339.505663527] [sailbot.main_algo]: Heading Difference: -172.7915344046329 -[main_algo-3] [INFO] [1746051339.506590083] [sailbot.main_algo]: Wind Direction: 219 -[main_algo-3] [INFO] [1746051339.507488701] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051339.508348229] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051339.510004519] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051339.546625522] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051339.549539434] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051339.547144237] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051339.550701476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051339.551761535] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051339.585198702] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051339.587089205] [sailbot.teensy]: Wind angle: 219 -[teensy-2] [INFO] [1746051339.588020459] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051339.587467286] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051339.588425537] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051339.588943097] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051339.589841267] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051339.645191531] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051339.645719138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051339.646719587] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051339.647733407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051339.648859279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051339.745808829] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051339.745992235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051339.747484064] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051339.748353543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051339.749362345] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051339.835106764] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051339.837248737] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051339.837869596] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051339.838434702] [sailbot.teensy]: Wind angle: 219 -[teensy-2] [INFO] [1746051339.839376577] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051339.840235860] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051339.841073105] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051339.844287368] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051339.844769927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051339.845391949] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051339.846297276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051339.847358669] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051339.944727294] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051339.945229530] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051339.946409222] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051339.947022195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051339.948065955] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051339.957185379] [sailbot.main_algo]: Wind Direction: 219 -[main_algo-3] [INFO] [1746051339.958232424] [sailbot.main_algo]: Target Bearing: -142.30646559536711 -[main_algo-3] [INFO] [1746051339.959186757] [sailbot.main_algo]: Heading Difference: -172.1155344046329 -[main_algo-3] [INFO] [1746051339.960072718] [sailbot.main_algo]: Wind Direction: 219 -[main_algo-3] [INFO] [1746051339.960963452] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051339.961807750] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051339.962831897] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051339.963448298] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051340.003067397] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904221 Long: -76.50276855 -[main_algo-3] [INFO] [1746051340.003969127] [sailbot.main_algo]: Distance to destination: 56.80565550378395 -[vectornav-1] [INFO] [1746051340.004909882] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.25200000000001, -0.298, 5.276) -[main_algo-3] [INFO] [1746051340.005310925] [sailbot.main_algo]: Target Bearing: -142.2898866952406 -[main_algo-3] [INFO] [1746051340.006516121] [sailbot.main_algo]: Heading Difference: -172.1321133047594 -[main_algo-3] [INFO] [1746051340.007458659] [sailbot.main_algo]: Wind Direction: 219 -[main_algo-3] [INFO] [1746051340.008374182] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051340.009225813] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051340.011026035] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051340.045156724] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051340.045647009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051340.046530881] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051340.047568688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051340.048728602] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051340.085266156] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051340.086853011] [sailbot.teensy]: Wind angle: 219 -[trim_sail-4] [INFO] [1746051340.087377545] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051340.087713376] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051340.088656209] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051340.089528063] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051340.089668556] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051340.145279273] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051340.146185902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051340.146868060] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051340.148740288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051340.153569482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051340.245050905] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051340.245950808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051340.246338102] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051340.247926226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051340.248944761] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051340.335652761] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051340.338900728] [sailbot.teensy]: Wind angle: 219 -[trim_sail-4] [INFO] [1746051340.338939991] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051340.339933914] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051340.339997887] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051340.340931334] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051340.341886691] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051340.344380207] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051340.344924392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051340.345516533] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051340.346656725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051340.347622343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051340.444899639] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051340.445693163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051340.446104454] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051340.447542072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051340.448565572] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051340.457189625] [sailbot.main_algo]: Wind Direction: 219 -[main_algo-3] [INFO] [1746051340.458224133] [sailbot.main_algo]: Target Bearing: -142.2898866952406 -[main_algo-3] [INFO] [1746051340.459148212] [sailbot.main_algo]: Heading Difference: -171.45811330475942 -[main_algo-3] [INFO] [1746051340.460015924] [sailbot.main_algo]: Wind Direction: 219 -[main_algo-3] [INFO] [1746051340.461007479] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051340.461853996] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051340.462942656] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051340.463964809] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051340.503620346] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904245 Long: -76.50276848 -[main_algo-3] [INFO] [1746051340.503903000] [sailbot.main_algo]: Distance to destination: 56.826822673206976 -[vectornav-1] [INFO] [1746051340.504909780] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.995000000000005, -0.113, 4.933) -[main_algo-3] [INFO] [1746051340.505410049] [sailbot.main_algo]: Target Bearing: -142.2725509283491 -[main_algo-3] [INFO] [1746051340.506402163] [sailbot.main_algo]: Heading Difference: -171.47544907165093 -[main_algo-3] [INFO] [1746051340.507334695] [sailbot.main_algo]: Wind Direction: 219 -[main_algo-3] [INFO] [1746051340.508457270] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051340.509335159] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051340.511050808] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051340.544264211] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051340.544732769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051340.545103604] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051340.546466658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051340.547633893] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051340.584523305] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051340.585690340] [sailbot.teensy]: Wind angle: 219 -[trim_sail-4] [INFO] [1746051340.585735123] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051340.586203448] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051340.586269879] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051340.586805616] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051340.587223200] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051340.645058678] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051340.646035301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051340.646440728] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051340.648034117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051340.649104822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051340.744762788] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051340.745485528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051340.745994139] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051340.747366538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051340.748421921] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051340.835070356] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051340.837106286] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051340.837296522] [sailbot.teensy]: Wind angle: 219 -[teensy-2] [INFO] [1746051340.838187441] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051340.838353538] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051340.839080345] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051340.839450439] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051340.844685890] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051340.845056120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051340.846010249] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051340.846752161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051340.847806602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051340.945424006] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051340.946073564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051340.947066457] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051340.948430990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051340.949662938] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051340.957121178] [sailbot.main_algo]: Wind Direction: 219 -[main_algo-3] [INFO] [1746051340.958153983] [sailbot.main_algo]: Target Bearing: -142.2725509283491 -[main_algo-3] [INFO] [1746051340.959041937] [sailbot.main_algo]: Heading Difference: -172.73244907165088 -[main_algo-3] [INFO] [1746051340.959916280] [sailbot.main_algo]: Wind Direction: 219 -[main_algo-3] [INFO] [1746051340.960793376] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051340.961611480] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051340.962600315] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051340.963225247] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051341.002884254] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904251 Long: -76.50276854 -[main_algo-3] [INFO] [1746051341.003727795] [sailbot.main_algo]: Distance to destination: 56.82714558983093 -[vectornav-1] [INFO] [1746051341.004422145] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.91300000000001, -0.399, 6.04) -[main_algo-3] [INFO] [1746051341.004891892] [sailbot.main_algo]: Target Bearing: -142.2641978963327 -[main_algo-3] [INFO] [1746051341.005792609] [sailbot.main_algo]: Heading Difference: -172.7408021036673 -[main_algo-3] [INFO] [1746051341.006637715] [sailbot.main_algo]: Wind Direction: 219 -[main_algo-3] [INFO] [1746051341.007449474] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051341.008242212] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051341.009879884] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051341.045106892] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051341.045856749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051341.046551217] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051341.048213459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051341.049222610] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051341.085393334] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051341.087837225] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051341.088330365] [sailbot.teensy]: Wind angle: 219 -[teensy-2] [INFO] [1746051341.089295715] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051341.089476745] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051341.090222894] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051341.091069956] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051341.145137778] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051341.145712008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051341.146505031] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051341.147611146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051341.148683688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051341.245133371] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051341.245607966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051341.246590330] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051341.247607898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051341.248814445] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051341.335207413] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051341.336893880] [sailbot.teensy]: Wind angle: 220 -[teensy-2] [INFO] [1746051341.337795832] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051341.337392746] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051341.337930442] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051341.338713534] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051341.339568659] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051341.344606784] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051341.345103744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051341.345810212] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051341.346777531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051341.347821385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051341.445149527] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051341.445622558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051341.446498805] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051341.447543477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051341.448766452] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051341.457038472] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051341.457974496] [sailbot.main_algo]: Target Bearing: -142.2641978963327 -[main_algo-3] [INFO] [1746051341.458782541] [sailbot.main_algo]: Heading Difference: -171.8228021036673 -[main_algo-3] [INFO] [1746051341.459618127] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051341.460432568] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051341.461236855] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051341.462343224] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051341.462830128] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051341.502748633] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690426 Long: -76.50276854 -[vectornav-1] [INFO] [1746051341.503896003] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.46500000000003, -0.575, 4.562) -[main_algo-3] [INFO] [1746051341.503994831] [sailbot.main_algo]: Distance to destination: 56.833402494020945 -[main_algo-3] [INFO] [1746051341.505188395] [sailbot.main_algo]: Target Bearing: -142.25633936658662 -[main_algo-3] [INFO] [1746051341.506161838] [sailbot.main_algo]: Heading Difference: -171.83066063341334 -[main_algo-3] [INFO] [1746051341.507070491] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051341.507932447] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051341.508793794] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051341.510459713] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051341.545091305] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051341.545842270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051341.546548160] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051341.547902788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051341.549053145] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051341.585074610] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051341.587089669] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051341.588126458] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051341.588246647] [sailbot.teensy]: Wind angle: 221 -[teensy-2] [INFO] [1746051341.589149597] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051341.590033410] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051341.590913849] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051341.644850123] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051341.645379735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051341.646219584] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051341.647308119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051341.648454679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051341.745228969] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051341.746127350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051341.746701563] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051341.747752440] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051341.748305732] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051341.835351482] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051341.837151912] [sailbot.teensy]: Wind angle: 221 -[trim_sail-4] [INFO] [1746051341.837710623] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051341.838083264] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051341.839038187] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051341.839893504] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051341.839907610] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051341.844354273] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051341.844939181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051341.845528736] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051341.846650722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051341.847822532] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051341.945577224] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051341.946646114] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051341.947442867] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051341.949138938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051341.950328873] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051341.957147063] [sailbot.main_algo]: Wind Direction: 221 -[main_algo-3] [INFO] [1746051341.958183994] [sailbot.main_algo]: Target Bearing: -142.25633936658662 -[main_algo-3] [INFO] [1746051341.959092221] [sailbot.main_algo]: Heading Difference: -172.27866063341332 -[main_algo-3] [INFO] [1746051341.959964023] [sailbot.main_algo]: Wind Direction: 221 -[main_algo-3] [INFO] [1746051341.960865290] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051341.961714856] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051341.962933416] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051341.963436412] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051342.002814412] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904282 Long: -76.50276868 -[main_algo-3] [INFO] [1746051342.003676640] [sailbot.main_algo]: Distance to destination: 56.83972825816632 -[vectornav-1] [INFO] [1746051342.003936669] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.47000000000003, -0.655, 5.04) -[main_algo-3] [INFO] [1746051342.004810014] [sailbot.main_algo]: Target Bearing: -142.22986967422025 -[main_algo-3] [INFO] [1746051342.005737959] [sailbot.main_algo]: Heading Difference: -172.30513032577971 -[main_algo-3] [INFO] [1746051342.006667437] [sailbot.main_algo]: Wind Direction: 221 -[main_algo-3] [INFO] [1746051342.007535639] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051342.008434184] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051342.010129506] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051342.045076504] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051342.045760681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051342.046364355] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051342.047661150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051342.048809913] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051342.085286213] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051342.087072072] [sailbot.teensy]: Wind angle: 222 -[trim_sail-4] [INFO] [1746051342.087555432] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051342.088017509] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051342.088914734] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051342.089056017] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051342.089747434] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051342.145101386] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051342.145919510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051342.146467427] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051342.147798333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051342.148953093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051342.245481858] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051342.246312741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051342.247127247] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051342.248533784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051342.249685788] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051342.335405102] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051342.337284594] [sailbot.teensy]: Wind angle: 222 -[teensy-2] [INFO] [1746051342.338227623] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051342.338228714] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051342.339045140] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051342.339129332] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051342.340052487] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051342.344440690] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051342.345126489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051342.345749049] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051342.347118435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051342.348300168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051342.444770594] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051342.445484786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051342.446015002] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051342.447345935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051342.448382589] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051342.457000401] [sailbot.main_algo]: Wind Direction: 222 -[main_algo-3] [INFO] [1746051342.457974749] [sailbot.main_algo]: Target Bearing: -142.22986967422025 -[main_algo-3] [INFO] [1746051342.458818611] [sailbot.main_algo]: Heading Difference: -172.30013032577972 -[main_algo-3] [INFO] [1746051342.459649355] [sailbot.main_algo]: Wind Direction: 222 -[main_algo-3] [INFO] [1746051342.460467821] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051342.461273581] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051342.462416516] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051342.462840501] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051342.502853590] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904304 Long: -76.50276876 -[main_algo-3] [INFO] [1746051342.503920333] [sailbot.main_algo]: Distance to destination: 56.84991035076541 -[vectornav-1] [INFO] [1746051342.504086326] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.464, 0.175, 4.257) -[main_algo-3] [INFO] [1746051342.505151062] [sailbot.main_algo]: Target Bearing: -142.20652213314293 -[main_algo-3] [INFO] [1746051342.506201294] [sailbot.main_algo]: Heading Difference: -172.32347786685705 -[main_algo-3] [INFO] [1746051342.507130045] [sailbot.main_algo]: Wind Direction: 222 -[main_algo-3] [INFO] [1746051342.508137934] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051342.509026046] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051342.510853767] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051342.545132125] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051342.545929754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051342.546595154] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051342.548077022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051342.549245275] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051342.585291269] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051342.587116600] [sailbot.teensy]: Wind angle: 221 -[teensy-2] [INFO] [1746051342.587996596] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051342.587427133] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051342.588896134] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051342.589206609] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051342.590155491] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051342.644121907] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051342.644710030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051342.645249929] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051342.646318484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051342.647438791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051342.744894391] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051342.745493003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051342.746109076] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051342.747268993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051342.748547989] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051342.835496403] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051342.838022726] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051342.838987154] [sailbot.teensy]: Wind angle: 221 -[teensy-2] [INFO] [1746051342.839929342] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051342.840285346] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051342.840858841] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051342.841697667] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051342.844272469] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051342.844885705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051342.845436348] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051342.846619442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051342.847734824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051342.945139797] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051342.945782610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051342.946734751] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051342.947619191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051342.948175554] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051342.957142165] [sailbot.main_algo]: Wind Direction: 221 -[main_algo-3] [INFO] [1746051342.958176570] [sailbot.main_algo]: Target Bearing: -142.20652213314293 -[main_algo-3] [INFO] [1746051342.959061489] [sailbot.main_algo]: Heading Difference: -173.32947786685708 -[main_algo-3] [INFO] [1746051342.959923856] [sailbot.main_algo]: Wind Direction: 221 -[main_algo-3] [INFO] [1746051342.960734992] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051342.961538693] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051342.962526370] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051342.963205438] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051343.002979114] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904324 Long: -76.50276888 -[main_algo-3] [INFO] [1746051343.003670055] [sailbot.main_algo]: Distance to destination: 56.856147111476986 -[vectornav-1] [INFO] [1746051343.004387572] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.622000000000014, -0.515, 5.819) -[main_algo-3] [INFO] [1746051343.004847393] [sailbot.main_algo]: Target Bearing: -142.18284842876747 -[main_algo-3] [INFO] [1746051343.005830514] [sailbot.main_algo]: Heading Difference: -173.3531515712325 -[main_algo-3] [INFO] [1746051343.006710824] [sailbot.main_algo]: Wind Direction: 221 -[main_algo-3] [INFO] [1746051343.007592352] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051343.008483055] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051343.010257463] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051343.044890100] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051343.045725884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051343.046411035] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051343.047602345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051343.048650874] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051343.085329037] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051343.087468880] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051343.087528266] [sailbot.teensy]: Wind angle: 222 -[mux-7] [INFO] [1746051343.088230855] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051343.088682261] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051343.089748973] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051343.090587249] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051343.145079697] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051343.145976666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051343.146550726] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051343.148139269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051343.149243235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051343.245334071] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051343.246038773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051343.246903018] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051343.248282514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051343.249486852] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051343.335437492] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051343.337683989] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051343.338014057] [sailbot.teensy]: Wind angle: 221 -[teensy-2] [INFO] [1746051343.338939605] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051343.339113075] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051343.339796468] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051343.340722702] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051343.344378921] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051343.344889149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051343.345441815] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051343.346600981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051343.347670480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051343.445100117] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051343.446014675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051343.446409405] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051343.447861712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051343.448881763] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051343.457327171] [sailbot.main_algo]: Wind Direction: 221 -[main_algo-3] [INFO] [1746051343.458345906] [sailbot.main_algo]: Target Bearing: -142.18284842876747 -[main_algo-3] [INFO] [1746051343.459243294] [sailbot.main_algo]: Heading Difference: -174.1951515712325 -[main_algo-3] [INFO] [1746051343.460137065] [sailbot.main_algo]: Wind Direction: 221 -[main_algo-3] [INFO] [1746051343.461034344] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051343.461893434] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051343.462955492] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051343.463567738] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051343.502664822] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904319 Long: -76.50276909 -[main_algo-3] [INFO] [1746051343.503711955] [sailbot.main_algo]: Distance to destination: 56.83921506332459 -[vectornav-1] [INFO] [1746051343.503782604] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.918000000000006, -0.818, 5.076) -[main_algo-3] [INFO] [1746051343.504922333] [sailbot.main_algo]: Target Bearing: -142.17629504438463 -[main_algo-3] [INFO] [1746051343.505894644] [sailbot.main_algo]: Heading Difference: -174.20170495561536 -[main_algo-3] [INFO] [1746051343.507456857] [sailbot.main_algo]: Wind Direction: 221 -[main_algo-3] [INFO] [1746051343.508588301] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051343.509466993] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051343.511128162] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051343.544967971] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051343.545639117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051343.546290911] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051343.547796099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051343.548836281] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051343.585369974] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051343.587902709] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051343.588034892] [sailbot.teensy]: Wind angle: 221 -[mux-7] [INFO] [1746051343.588287269] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051343.589239960] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051343.590129560] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051343.590957826] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051343.645178618] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051343.645705095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051343.646498591] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051343.647647564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051343.648114718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051343.744898963] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051343.745547274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051343.746223307] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051343.747437294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051343.748515333] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051343.835222538] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051343.837594316] [sailbot.teensy]: Wind angle: 221 -[trim_sail-4] [INFO] [1746051343.837727740] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051343.839411582] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051343.840030639] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051343.840828804] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051343.841529984] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051343.844389798] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051343.844964472] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051343.845532402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051343.846659518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051343.847755948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051343.945447281] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051343.946583896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051343.947487781] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051343.948725257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051343.949279714] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051343.957423878] [sailbot.main_algo]: Wind Direction: 221 -[main_algo-3] [INFO] [1746051343.958553908] [sailbot.main_algo]: Target Bearing: -142.17629504438463 -[main_algo-3] [INFO] [1746051343.959526315] [sailbot.main_algo]: Heading Difference: -172.90570495561536 -[main_algo-3] [INFO] [1746051343.960403840] [sailbot.main_algo]: Wind Direction: 221 -[main_algo-3] [INFO] [1746051343.961293787] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051343.962132624] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051343.963222830] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051343.963915375] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051344.002890778] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904338 Long: -76.50276938 -[vectornav-1] [INFO] [1746051344.004073167] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.52999999999997, 0.176, 4.7) -[main_algo-3] [INFO] [1746051344.004293431] [sailbot.main_algo]: Distance to destination: 56.833884044172905 -[main_algo-3] [INFO] [1746051344.005887859] [sailbot.main_algo]: Target Bearing: -142.14465039667462 -[main_algo-3] [INFO] [1746051344.006866933] [sailbot.main_algo]: Heading Difference: -172.9373496033254 -[main_algo-3] [INFO] [1746051344.007769156] [sailbot.main_algo]: Wind Direction: 221 -[main_algo-3] [INFO] [1746051344.008675053] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051344.009528600] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051344.011183310] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051344.045091865] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051344.045767334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051344.046516550] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051344.047652343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051344.048817217] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051344.085384744] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051344.087303978] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746051344.087850833] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051344.088300862] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051344.089191596] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051344.089429871] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051344.090063376] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051344.145157847] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051344.145913793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051344.146636561] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051344.147998506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051344.149243426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051344.245084886] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051344.245848058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051344.246563089] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051344.247978174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051344.248433102] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051344.335368785] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051344.337154553] [sailbot.teensy]: Wind angle: 220 -[teensy-2] [INFO] [1746051344.338075607] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051344.337659979] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051344.338963971] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051344.339145144] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051344.339855487] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051344.344399724] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051344.345155169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051344.345518094] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051344.347002616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051344.348053017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051344.444894529] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051344.445545470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051344.446125897] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051344.447457073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051344.448018465] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051344.457175507] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051344.458273705] [sailbot.main_algo]: Target Bearing: -142.14465039667462 -[main_algo-3] [INFO] [1746051344.459181625] [sailbot.main_algo]: Heading Difference: -173.32534960332544 -[main_algo-3] [INFO] [1746051344.460070433] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051344.460899674] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051344.461689995] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051344.462704764] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051344.463454023] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051344.502887928] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904343 Long: -76.50276976 -[main_algo-3] [INFO] [1746051344.503928420] [sailbot.main_algo]: Distance to destination: 56.81304791227772 -[vectornav-1] [INFO] [1746051344.504089082] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.44499999999999, -0.93, 6.348) -[main_algo-3] [INFO] [1746051344.505129461] [sailbot.main_algo]: Target Bearing: -142.12051605366892 -[main_algo-3] [INFO] [1746051344.506077626] [sailbot.main_algo]: Heading Difference: -173.34948394633113 -[main_algo-3] [INFO] [1746051344.506986231] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051344.507866600] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051344.508724557] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051344.510400216] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051344.544809205] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051344.545522193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051344.546059284] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051344.547430666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051344.548457258] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051344.585426517] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051344.587600423] [sailbot.teensy]: Wind angle: 221 -[trim_sail-4] [INFO] [1746051344.587679570] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051344.588542719] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051344.588575436] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051344.589445746] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051344.590351145] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051344.645256721] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051344.646036352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051344.646824502] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051344.648190865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051344.649424830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051344.743755685] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051344.744319268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051344.744606324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051344.745552528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051344.746414469] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051344.835289361] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051344.837534177] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051344.837985973] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051344.838783737] [sailbot.teensy]: Wind angle: 221 -[teensy-2] [INFO] [1746051344.839225673] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051344.839658841] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051344.840024559] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051344.844329021] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051344.844761689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051344.845393861] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051344.846256034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051344.847365902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051344.945005646] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051344.945556327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051344.946774484] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051344.947456875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051344.948698682] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051344.957169272] [sailbot.main_algo]: Wind Direction: 221 -[main_algo-3] [INFO] [1746051344.958217848] [sailbot.main_algo]: Target Bearing: -142.12051605366892 -[main_algo-3] [INFO] [1746051344.959160575] [sailbot.main_algo]: Heading Difference: -174.43448394633106 -[main_algo-3] [INFO] [1746051344.960056866] [sailbot.main_algo]: Wind Direction: 221 -[main_algo-3] [INFO] [1746051344.960936433] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051344.961775228] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051344.962927387] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051344.963851378] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051345.002754726] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690435 Long: -76.50276974 -[main_algo-3] [INFO] [1746051345.003600291] [sailbot.main_algo]: Distance to destination: 56.81920926646571 -[vectornav-1] [INFO] [1746051345.003862356] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.89100000000002, 0.313, 4.224) -[main_algo-3] [INFO] [1746051345.004778132] [sailbot.main_algo]: Target Bearing: -142.11545584145995 -[main_algo-3] [INFO] [1746051345.005811938] [sailbot.main_algo]: Heading Difference: -174.43954415854006 -[main_algo-3] [INFO] [1746051345.006700886] [sailbot.main_algo]: Wind Direction: 221 -[main_algo-3] [INFO] [1746051345.007557089] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051345.008415867] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051345.010156813] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051345.044973741] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051345.045591120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051345.046438657] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051345.047993254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051345.049065820] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051345.085413384] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051345.087665124] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051345.088419906] [sailbot.teensy]: Wind angle: 220 -[mux-7] [INFO] [1746051345.089057214] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051345.089408391] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051345.090344536] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051345.091207266] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051345.144951123] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051345.145596273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051345.146206457] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051345.147636133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051345.148806355] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051345.244941199] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051345.245598917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051345.246179303] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051345.247486409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051345.248591283] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051345.335342358] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051345.337592717] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051345.338004683] [sailbot.teensy]: Wind angle: 220 -[mux-7] [INFO] [1746051345.338868433] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051345.339046257] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051345.339991240] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051345.340579674] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051345.344394809] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051345.344964681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051345.345639542] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051345.346744829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051345.347766888] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051345.444962900] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051345.445545417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051345.446218859] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051345.447293051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051345.448416351] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051345.457283788] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051345.458301483] [sailbot.main_algo]: Target Bearing: -142.11545584145995 -[main_algo-3] [INFO] [1746051345.459204579] [sailbot.main_algo]: Heading Difference: -175.99354415854003 -[main_algo-3] [INFO] [1746051345.460025319] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051345.460834530] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051345.461641031] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051345.462639937] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051345.463217710] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051345.502936612] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904373 Long: -76.50277015 -[main_algo-3] [INFO] [1746051345.503925184] [sailbot.main_algo]: Distance to destination: 56.80902860840516 -[vectornav-1] [INFO] [1746051345.504574027] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.65199999999999, -0.296, 4.88) -[main_algo-3] [INFO] [1746051345.505202181] [sailbot.main_algo]: Target Bearing: -142.0740558709884 -[main_algo-3] [INFO] [1746051345.506199727] [sailbot.main_algo]: Heading Difference: -176.0349441290116 -[main_algo-3] [INFO] [1746051345.507170291] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051345.508053957] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051345.508968595] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051345.510724812] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051345.545091035] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051345.545841536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051345.546522382] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051345.547844285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051345.549012691] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051345.585290427] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051345.587429887] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051345.588562244] [sailbot.teensy]: Wind angle: 220 -[mux-7] [INFO] [1746051345.589012326] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051345.589572614] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051345.590548352] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051345.591399457] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051345.645012652] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051345.646083244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051345.646380158] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051345.648051188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051345.649144460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051345.744955396] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051345.745545537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051345.746432617] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051345.747306754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051345.748481021] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051345.835232100] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051345.837401377] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051345.837977299] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051345.838326431] [sailbot.teensy]: Wind angle: 220 -[teensy-2] [INFO] [1746051345.839261141] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051345.840213423] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051345.841074245] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051345.844324386] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051345.844831108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051345.845503697] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051345.846538222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051345.847480746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051345.945058155] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051345.945720037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051345.946401998] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051345.947611520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051345.948636981] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051345.957057343] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051345.958122316] [sailbot.main_algo]: Target Bearing: -142.0740558709884 -[main_algo-3] [INFO] [1746051345.959016532] [sailbot.main_algo]: Heading Difference: -174.27394412901162 -[main_algo-3] [INFO] [1746051345.959862897] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051345.960744904] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051345.961562943] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051345.962573279] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051345.963206048] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051346.003002885] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904366 Long: -76.5027701 -[main_algo-3] [INFO] [1746051346.003731951] [sailbot.main_algo]: Distance to destination: 56.80734070837151 -[vectornav-1] [INFO] [1746051346.004402143] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.20999999999998, -1.106, 5.679) -[main_algo-3] [INFO] [1746051346.004912161] [sailbot.main_algo]: Target Bearing: -142.08276065588166 -[main_algo-3] [INFO] [1746051346.005963807] [sailbot.main_algo]: Heading Difference: -174.26523934411836 -[main_algo-3] [INFO] [1746051346.006910892] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051346.007803418] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051346.008657523] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051346.010404201] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051346.045007200] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051346.045679182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051346.046277838] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051346.047491603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051346.048726042] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051346.085373340] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051346.087375857] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746051346.087851136] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051346.088336665] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051346.089241880] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051346.089269448] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051346.090219321] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051346.145592469] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051346.147481659] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051346.148636918] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051346.150388984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051346.157952939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051346.244792115] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051346.245221614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051346.246011991] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051346.246985439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051346.247943661] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051346.335367898] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051346.337337760] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746051346.337810062] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051346.338316260] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051346.339194530] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051346.339184875] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051346.340282286] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051346.344464528] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051346.345030422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051346.345924909] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051346.346825592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051346.347958930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051346.445243106] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051346.445965314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051346.446576013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051346.448634936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051346.450509868] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051346.456902455] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051346.457832319] [sailbot.main_algo]: Target Bearing: -142.08276065588166 -[main_algo-3] [INFO] [1746051346.458695189] [sailbot.main_algo]: Heading Difference: -175.70723934411836 -[main_algo-3] [INFO] [1746051346.459535865] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051346.460487238] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051346.461370357] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051346.462364169] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051346.463078587] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051346.502331419] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904397 Long: -76.50277018 -[main_algo-3] [INFO] [1746051346.503193585] [sailbot.main_algo]: Distance to destination: 56.82386695954306 -[vectornav-1] [INFO] [1746051346.503285803] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.43099999999998, -0.026, 4.787) -[main_algo-3] [INFO] [1746051346.504173553] [sailbot.main_algo]: Target Bearing: -142.05158900586648 -[main_algo-3] [INFO] [1746051346.505066870] [sailbot.main_algo]: Heading Difference: -175.73841099413357 -[main_algo-3] [INFO] [1746051346.505919465] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051346.506774878] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051346.507590306] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051346.509484947] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051346.544853753] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051346.545527442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051346.546133527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051346.547333472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051346.548517989] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051346.585073640] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051346.587135201] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051346.587133160] [sailbot.teensy]: Wind angle: 220 -[teensy-2] [INFO] [1746051346.588232232] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051346.588478502] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051346.589225748] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051346.590103237] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051346.645010340] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051346.645851050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051346.646375919] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051346.647876364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051346.649046193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051346.745367402] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051346.746819214] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051346.747803622] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051346.750300658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051346.751561080] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051346.835092242] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051346.836585068] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746051346.837172429] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051346.838378687] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051346.838477376] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051346.839420535] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051346.840348203] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051346.844253182] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051346.844750119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051346.845474078] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051346.846413649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051346.847391832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051346.945124766] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051346.945640454] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051346.946555137] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051346.947757806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051346.948814046] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051346.957166265] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051346.958134862] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746051346.959052457] [sailbot.main_algo]: Target Bearing: -142.05158900586648 -[main_algo-3] [INFO] [1746051346.959958635] [sailbot.main_algo]: Heading Difference: -174.51741099413357 -[main_algo-3] [INFO] [1746051346.960838053] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051346.961673923] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051346.962445405] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051346.963446741] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051346.964098982] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051347.002761068] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904425 Long: -76.50277055 -[vectornav-1] [INFO] [1746051347.003929095] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.047000000000025, -0.055, 5.542) -[main_algo-3] [INFO] [1746051347.003940752] [sailbot.main_algo]: Distance to destination: 56.81978281788387 -[main_algo-3] [INFO] [1746051347.005266290] [sailbot.main_algo]: Target Bearing: -142.00791702133205 -[main_algo-3] [INFO] [1746051347.006344525] [sailbot.main_algo]: Heading Difference: -174.56108297866797 -[main_algo-3] [INFO] [1746051347.007237174] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051347.008147935] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051347.009042048] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051347.010900468] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051347.045015532] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051347.045573318] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051347.048142284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051347.049447257] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051347.050379393] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051347.085292612] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051347.087419703] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051347.087903518] [sailbot.teensy]: Wind angle: 216 -[mux-7] [INFO] [1746051347.088570203] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051347.089850154] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051347.090721203] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051347.091561365] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051347.145177199] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051347.145997000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051347.146730386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051347.148182838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051347.149389875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051347.245058938] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051347.245681879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051347.246496785] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051347.247704880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051347.248263580] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051347.335425081] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051347.337775021] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051347.338173307] [sailbot.teensy]: Wind angle: 214 -[mux-7] [INFO] [1746051347.338306837] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051347.339347332] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051347.340538023] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051347.341433264] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051347.344420279] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051347.345005260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051347.345552497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051347.346802234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051347.347848320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051347.444982295] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051347.445731704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051347.446470236] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051347.447555949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051347.448597712] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051347.457084054] [sailbot.main_algo]: Wind Direction: 214 -[main_algo-3] [INFO] [1746051347.458071030] [sailbot.main_algo]: Target Bearing: -142.00791702133205 -[main_algo-3] [INFO] [1746051347.458928509] [sailbot.main_algo]: Heading Difference: -175.94508297866793 -[main_algo-3] [INFO] [1746051347.459741040] [sailbot.main_algo]: Wind Direction: 214 -[main_algo-3] [INFO] [1746051347.460560550] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051347.461352668] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051347.462354778] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051347.462872941] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051347.503236511] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904429 Long: -76.5027706 -[main_algo-3] [INFO] [1746051347.503984462] [sailbot.main_algo]: Distance to destination: 56.8193845982179 -[vectornav-1] [INFO] [1746051347.504796896] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (40.70600000000002, -0.612, 5.975) -[main_algo-3] [INFO] [1746051347.505222838] [sailbot.main_algo]: Target Bearing: -142.0018267763137 -[main_algo-3] [INFO] [1746051347.506218532] [sailbot.main_algo]: Heading Difference: -175.95117322368628 -[main_algo-3] [INFO] [1746051347.507157764] [sailbot.main_algo]: Wind Direction: 214 -[main_algo-3] [INFO] [1746051347.508041992] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051347.508912203] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051347.510554034] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051347.544862011] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051347.545610965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051347.546195295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051347.547418672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051347.548497791] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051347.585419782] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051347.587740164] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051347.588118583] [sailbot.teensy]: Wind angle: 213 -[mux-7] [INFO] [1746051347.588419008] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051347.589124866] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051347.590042455] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051347.590932966] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051347.645234337] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051347.645867275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051347.646574278] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051347.647934227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051347.648998470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051347.744913384] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051347.745652635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051347.746470678] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051347.747561092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051347.748758974] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051347.835439725] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051347.837738655] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051347.838177223] [sailbot.teensy]: Wind angle: 214 -[mux-7] [INFO] [1746051347.838981707] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051347.839062616] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051347.839467141] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051347.839821491] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051347.844448937] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051347.844991055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051347.845574696] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051347.846918617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051347.847978227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051347.945142285] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051347.945696325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051347.946648562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051347.947770936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051347.948922772] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051347.957116735] [sailbot.main_algo]: Wind Direction: 214 -[main_algo-3] [INFO] [1746051347.958182257] [sailbot.main_algo]: Target Bearing: -142.0018267763137 -[main_algo-3] [INFO] [1746051347.959105355] [sailbot.main_algo]: Heading Difference: -177.2921732236863 -[main_algo-3] [INFO] [1746051347.959980739] [sailbot.main_algo]: Wind Direction: 214 -[main_algo-3] [INFO] [1746051347.960877578] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051347.961728930] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051347.962787353] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051347.963443686] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051348.003042789] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904436 Long: -76.5027704 -[main_algo-3] [INFO] [1746051348.003831600] [sailbot.main_algo]: Distance to destination: 56.83705591106837 -[vectornav-1] [INFO] [1746051348.004292243] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.56, -0.691, 4.022) -[main_algo-3] [INFO] [1746051348.005023287] [sailbot.main_algo]: Target Bearing: -142.0061727517058 -[main_algo-3] [INFO] [1746051348.006002382] [sailbot.main_algo]: Heading Difference: -177.2878272482942 -[main_algo-3] [INFO] [1746051348.006876033] [sailbot.main_algo]: Wind Direction: 214 -[main_algo-3] [INFO] [1746051348.007756899] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051348.008635342] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051348.010337898] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051348.045134729] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051348.045620447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051348.046417039] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051348.047428475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051348.048606884] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051348.085255970] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051348.086922222] [sailbot.teensy]: Wind angle: 214 -[trim_sail-4] [INFO] [1746051348.087397390] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051348.087879088] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051348.088249461] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051348.088772979] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051348.089664091] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051348.145183171] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051348.145628496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051348.146700005] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051348.147539732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051348.148780523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051348.245034543] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051348.245530799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051348.246333670] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051348.247333467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051348.248426985] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051348.335128012] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051348.336695442] [sailbot.teensy]: Wind angle: 214 -[teensy-2] [INFO] [1746051348.337739476] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051348.338663652] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051348.337870562] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051348.338487325] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051348.339562779] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051348.344657789] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051348.345124495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051348.345910758] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051348.346891674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051348.348053765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051348.444985016] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051348.445534506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051348.446329126] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051348.447298200] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051348.448428213] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051348.456978805] [sailbot.main_algo]: Wind Direction: 214 -[main_algo-3] [INFO] [1746051348.457965321] [sailbot.main_algo]: Target Bearing: -142.0061727517058 -[main_algo-3] [INFO] [1746051348.458837486] [sailbot.main_algo]: Heading Difference: -176.43382724829416 -[main_algo-3] [INFO] [1746051348.459635331] [sailbot.main_algo]: Wind Direction: 214 -[main_algo-3] [INFO] [1746051348.460466395] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051348.461253435] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051348.462252677] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051348.463009199] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051348.502760833] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904455 Long: -76.50277042 -[main_algo-3] [INFO] [1746051348.503780928] [sailbot.main_algo]: Distance to destination: 56.84906263343389 -[vectornav-1] [INFO] [1746051348.504074133] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.65199999999999, 0.194, 4.867) -[main_algo-3] [INFO] [1746051348.504933428] [sailbot.main_algo]: Target Bearing: -141.98860400472182 -[main_algo-3] [INFO] [1746051348.505970821] [sailbot.main_algo]: Heading Difference: -176.45139599527818 -[main_algo-3] [INFO] [1746051348.506887309] [sailbot.main_algo]: Wind Direction: 214 -[main_algo-3] [INFO] [1746051348.507786086] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051348.508686701] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051348.510435049] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051348.545153270] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051348.545774277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051348.546642859] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051348.548003286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051348.549021424] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051348.585456595] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051348.587200942] [sailbot.teensy]: Wind angle: 214 -[trim_sail-4] [INFO] [1746051348.587685107] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051348.588133981] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051348.589056100] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051348.589213810] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051348.589939761] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051348.645132986] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051348.645843886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051348.646561138] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051348.647965122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051348.649056502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051348.745232756] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051348.745898493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051348.746640682] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051348.747826984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051348.748870814] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051348.835036731] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051348.837709539] [sailbot.teensy]: Wind angle: 213 -[trim_sail-4] [INFO] [1746051348.838164145] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051348.838344310] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051348.840423220] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051348.841348240] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051348.842202319] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051348.844506414] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051348.845012153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051348.845805888] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051348.846627843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051348.848464975] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051348.945114116] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051348.945796951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051348.946492957] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051348.947752955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051348.948329004] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051348.957079312] [sailbot.main_algo]: Wind Direction: 213 -[main_algo-3] [INFO] [1746051348.958058030] [sailbot.main_algo]: Target Bearing: -141.98860400472182 -[main_algo-3] [INFO] [1746051348.958899542] [sailbot.main_algo]: Heading Difference: -174.3593959952782 -[main_algo-3] [INFO] [1746051348.959680940] [sailbot.main_algo]: Wind Direction: 213 -[main_algo-3] [INFO] [1746051348.960514052] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051348.961304113] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051348.962325082] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051348.963004548] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051349.002785845] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904472 Long: -76.50277037 -[main_algo-3] [INFO] [1746051349.003865013] [sailbot.main_algo]: Distance to destination: 56.8641459353559 -[vectornav-1] [INFO] [1746051349.003899904] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.416, -0.87, 4.753) -[main_algo-3] [INFO] [1746051349.005016518] [sailbot.main_algo]: Target Bearing: -141.97643389784832 -[main_algo-3] [INFO] [1746051349.006013297] [sailbot.main_algo]: Heading Difference: -174.3715661021517 -[main_algo-3] [INFO] [1746051349.007000958] [sailbot.main_algo]: Wind Direction: 213 -[main_algo-3] [INFO] [1746051349.007925895] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051349.008821858] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051349.010545931] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051349.045285855] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051349.046137493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051349.046751901] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051349.048448721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051349.049579992] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051349.085472151] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051349.087942300] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051349.088700239] [sailbot.teensy]: Wind angle: 213 -[mux-7] [INFO] [1746051349.089549716] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051349.089655667] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051349.090566754] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051349.091404751] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051349.145283761] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051349.146223151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051349.146864978] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051349.148489069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051349.149608716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051349.244888400] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051349.245599487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051349.246174691] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051349.247400952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051349.248478964] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051349.335426889] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051349.337817583] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051349.337898015] [sailbot.teensy]: Wind angle: 210 -[teensy-2] [INFO] [1746051349.338896223] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051349.339470589] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051349.339655207] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051349.340032092] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051349.344396170] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051349.345174287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051349.345513352] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051349.346979412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051349.348101094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051349.445125218] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051349.446125031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051349.446763621] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051349.448028345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051349.449006613] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051349.457285674] [sailbot.main_algo]: Wind Direction: 210 -[main_algo-3] [INFO] [1746051349.458381257] [sailbot.main_algo]: Target Bearing: -141.97643389784832 -[main_algo-3] [INFO] [1746051349.459317686] [sailbot.main_algo]: Heading Difference: -175.60756610215168 -[main_algo-3] [INFO] [1746051349.460317095] [sailbot.main_algo]: Wind Direction: 210 -[main_algo-3] [INFO] [1746051349.461341996] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051349.462232611] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051349.463475542] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051349.463913377] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051349.502903751] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904482 Long: -76.50277035 -[main_algo-3] [INFO] [1746051349.504208483] [sailbot.main_algo]: Distance to destination: 56.87241865367847 -[vectornav-1] [INFO] [1746051349.504346523] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (40.887, 0.357, 5.888) -[main_algo-3] [INFO] [1746051349.505529744] [sailbot.main_algo]: Target Bearing: -141.96878691783178 -[main_algo-3] [INFO] [1746051349.506708461] [sailbot.main_algo]: Heading Difference: -175.61521308216822 -[main_algo-3] [INFO] [1746051349.507682015] [sailbot.main_algo]: Wind Direction: 210 -[main_algo-3] [INFO] [1746051349.509191262] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051349.510119287] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051349.511773458] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051349.544934172] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051349.545669197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051349.546219297] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051349.547685086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051349.548797878] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051349.585162580] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051349.587018137] [sailbot.teensy]: Wind angle: 209 -[trim_sail-4] [INFO] [1746051349.587319730] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051349.588045555] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051349.589288804] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051349.589238469] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051349.590232818] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051349.645207129] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051349.646001984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051349.646689658] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051349.648196241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051349.649353072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051349.745154559] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051349.745983634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051349.746668611] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051349.748185848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051349.749397298] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051349.835374796] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051349.836785228] [sailbot.teensy]: Wind angle: 209 -[trim_sail-4] [INFO] [1746051349.837047576] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051349.837194466] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051349.837573038] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051349.837947476] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051349.838149572] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051349.844642924] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051349.845365353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051349.845844921] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051349.847138915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051349.848187241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051349.945357652] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051349.946305791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051349.946861227] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051349.948402679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051349.949684040] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051349.957203602] [sailbot.main_algo]: Wind Direction: 209 -[main_algo-3] [INFO] [1746051349.958186119] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746051349.959057236] [sailbot.main_algo]: Wind Direction: 209 -[main_algo-3] [INFO] [1746051349.960247235] [sailbot.main_algo]: Current Location: (42.46904482214751, -76.50277035005446) -[main_algo-3] [INFO] [1746051349.961224300] [sailbot.main_algo]: Target Bearing: -141.96878691783178 -[main_algo-3] [INFO] [1746051349.962125995] [sailbot.main_algo]: Heading Difference: -177.14421308216822 -[main_algo-3] [INFO] [1746051349.962996069] [sailbot.main_algo]: Wind Direction: 209 -[main_algo-3] [INFO] [1746051349.963842020] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051349.964695292] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051349.965782484] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051349.966401932] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051350.002711854] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904467 Long: -76.50277034 -[vectornav-1] [INFO] [1746051350.003859783] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.33699999999999, -1.336, 4.793) -[main_algo-3] [INFO] [1746051350.004322938] [sailbot.main_algo]: Distance to destination: 56.86256468978277 -[main_algo-3] [INFO] [1746051350.005373561] [sailbot.main_algo]: Target Bearing: -141.98234530341597 -[main_algo-3] [INFO] [1746051350.006307040] [sailbot.main_algo]: Heading Difference: -177.13065469658403 -[main_algo-3] [INFO] [1746051350.007147811] [sailbot.main_algo]: Wind Direction: 209 -[main_algo-3] [INFO] [1746051350.008005122] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051350.008841239] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051350.010437053] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051350.045023389] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051350.045588912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051350.046312497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051350.047522125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051350.048602908] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051350.085215269] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051350.086856997] [sailbot.teensy]: Wind angle: 208 -[teensy-2] [INFO] [1746051350.087725227] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051350.087445682] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051350.088111955] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051350.088621748] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051350.089499303] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051350.144885445] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051350.145598988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051350.146222158] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051350.147681812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051350.148717905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051350.244983219] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051350.245913459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051350.246402662] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051350.247856146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051350.248342986] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051350.335407390] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051350.337252181] [sailbot.teensy]: Wind angle: 209 -[trim_sail-4] [INFO] [1746051350.338088629] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051350.338195239] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051350.339081548] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051350.339302791] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051350.339998581] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051350.344355410] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051350.344976153] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051350.345467250] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051350.346676203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051350.347732938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051350.444704171] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051350.445299708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051350.445887332] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051350.447209574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051350.448162405] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051350.457014901] [sailbot.main_algo]: Wind Direction: 209 -[main_algo-3] [INFO] [1746051350.457931987] [sailbot.main_algo]: Target Bearing: -141.98234530341597 -[main_algo-3] [INFO] [1746051350.458748514] [sailbot.main_algo]: Heading Difference: -175.68065469658404 -[main_algo-3] [INFO] [1746051350.459568011] [sailbot.main_algo]: Wind Direction: 209 -[main_algo-3] [INFO] [1746051350.460381820] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051350.461183203] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051350.462225036] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051350.462772960] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051350.502638878] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904493 Long: -76.50277017 -[main_algo-3] [INFO] [1746051350.503097903] [sailbot.main_algo]: Distance to destination: 56.89160860967005 -[main_algo-3] [INFO] [1746051350.504130539] [sailbot.main_algo]: Target Bearing: -141.96862109977954 -[vectornav-1] [INFO] [1746051350.503625664] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.55799999999999, -0.231, 4.304) -[main_algo-3] [INFO] [1746051350.505134124] [sailbot.main_algo]: Heading Difference: -175.6943789002205 -[main_algo-3] [INFO] [1746051350.506025835] [sailbot.main_algo]: Wind Direction: 209 -[main_algo-3] [INFO] [1746051350.506922989] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051350.507777283] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051350.509580427] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051350.545010583] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051350.545797641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051350.546419664] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051350.547745565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051350.548808424] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051350.585489863] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051350.588007218] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051350.588066255] [sailbot.teensy]: Wind angle: 209 -[teensy-2] [INFO] [1746051350.589054366] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051350.589368653] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051350.589959948] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051350.590880522] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051350.644924148] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051350.645728831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051350.646185974] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051350.647552349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051350.648608884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051350.745559287] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051350.746548321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051350.747140948] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051350.748632713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051350.749157031] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051350.835309376] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051350.837603819] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051350.838624075] [sailbot.teensy]: Wind angle: 205 -[mux-7] [INFO] [1746051350.838957732] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051350.839645309] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051350.840599824] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051350.841522819] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051350.844505162] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051350.845070837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051350.845625575] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051350.846874132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051350.847920536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051350.944195845] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051350.944711027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051350.945124601] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051350.946580391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051350.947559524] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051350.956438339] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051350.957011211] [sailbot.main_algo]: Target Bearing: -141.96862109977954 -[main_algo-3] [INFO] [1746051350.957470765] [sailbot.main_algo]: Heading Difference: -173.4733789002205 -[main_algo-3] [INFO] [1746051350.957893275] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051350.958299543] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051350.958728894] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051350.959258987] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051350.960359271] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051351.002507527] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904522 Long: -76.50277017 -[main_algo-3] [INFO] [1746051351.003427073] [sailbot.main_algo]: Distance to destination: 56.91190282459736 -[vectornav-1] [INFO] [1746051351.003720807] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.97800000000001, 0.504, 6.588) -[main_algo-3] [INFO] [1746051351.004630159] [sailbot.main_algo]: Target Bearing: -141.94343913707723 -[main_algo-3] [INFO] [1746051351.005568053] [sailbot.main_algo]: Heading Difference: -173.49856086292277 -[main_algo-3] [INFO] [1746051351.006455635] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051351.007370091] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051351.008209897] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051351.009849164] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051351.044951654] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051351.045722233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051351.046208992] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051351.047597046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051351.048676731] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051351.085223973] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051351.087116177] [sailbot.teensy]: Wind angle: 199 -[trim_sail-4] [INFO] [1746051351.087604708] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051351.087892075] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051351.088032738] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051351.089027019] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051351.090114800] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051351.145166828] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051351.145867342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051351.146520656] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051351.147853894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051351.149086887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051351.245301867] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051351.246252285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051351.246785468] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051351.248605918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051351.249696389] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051351.335464329] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051351.337390618] [sailbot.teensy]: Wind angle: 196 -[trim_sail-4] [INFO] [1746051351.338235309] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051351.338353244] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051351.339182052] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051351.339253724] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051351.340185265] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051351.344387210] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051351.345043557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051351.345505599] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051351.346767378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051351.347805986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051351.445347135] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051351.445866027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051351.446749962] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051351.447768628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051351.448898770] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051351.457112002] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051351.458094747] [sailbot.main_algo]: Target Bearing: -141.94343913707723 -[main_algo-3] [INFO] [1746051351.458975027] [sailbot.main_algo]: Heading Difference: -176.07856086292276 -[main_algo-3] [INFO] [1746051351.459796813] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051351.460603798] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051351.461408347] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051351.462391038] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051351.463030575] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051351.502847034] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904512 Long: -76.50277013 -[main_algo-3] [INFO] [1746051351.503773851] [sailbot.main_algo]: Distance to destination: 56.90745729282321 -[vectornav-1] [INFO] [1746051351.503964194] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.02499999999998, -1.197, 5.785) -[main_algo-3] [INFO] [1746051351.505020850] [sailbot.main_algo]: Target Bearing: -141.95420724274967 -[main_algo-3] [INFO] [1746051351.505972995] [sailbot.main_algo]: Heading Difference: -176.06779275725034 -[main_algo-3] [INFO] [1746051351.506871482] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051351.508034623] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051351.508916255] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051351.510642425] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051351.545059974] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051351.545818605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051351.546475570] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051351.547814005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051351.548838453] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051351.585349711] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051351.587069742] [sailbot.teensy]: Wind angle: 197 -[trim_sail-4] [INFO] [1746051351.587492524] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051351.587948124] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051351.588821314] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051351.589685794] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051351.589690053] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051351.645118762] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051351.645837785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051351.646497079] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051351.647827562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051351.648987487] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051351.744923062] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051351.745731573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051351.746179601] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051351.747545536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051351.748575725] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051351.835441276] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051351.837816827] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051351.838184388] [sailbot.teensy]: Wind angle: 198 -[teensy-2] [INFO] [1746051351.839140210] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051351.839300969] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051351.840011444] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051351.840916930] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051351.844435069] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051351.845092143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051351.845737750] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051351.847081413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051351.848117856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051351.945205122] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051351.945975101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051351.946683174] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051351.948079624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051351.949224023] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051351.957108066] [sailbot.main_algo]: Wind Direction: 198 -[main_algo-3] [INFO] [1746051351.958205424] [sailbot.main_algo]: Target Bearing: -141.95420724274967 -[main_algo-3] [INFO] [1746051351.959134339] [sailbot.main_algo]: Heading Difference: -176.02079275725032 -[main_algo-3] [INFO] [1746051351.960011329] [sailbot.main_algo]: Wind Direction: 198 -[main_algo-3] [INFO] [1746051351.960858710] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051351.961663291] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051351.962664893] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051351.963268832] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051352.002873017] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904531 Long: -76.50277032 -[main_algo-3] [INFO] [1746051352.003813985] [sailbot.main_algo]: Distance to destination: 56.90862974399396 -[vectornav-1] [INFO] [1746051352.004056876] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.12299999999999, -0.259, 4.866) -[main_algo-3] [INFO] [1746051352.004957224] [sailbot.main_algo]: Target Bearing: -141.9277999621545 -[main_algo-3] [INFO] [1746051352.005899546] [sailbot.main_algo]: Heading Difference: -176.04720003784553 -[main_algo-3] [INFO] [1746051352.006802241] [sailbot.main_algo]: Wind Direction: 198 -[main_algo-3] [INFO] [1746051352.007707755] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051352.008568950] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051352.010328495] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051352.044975694] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051352.045737463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051352.046244455] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051352.047785204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051352.048816364] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051352.085305334] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051352.087041444] [sailbot.teensy]: Wind angle: 198 -[teensy-2] [INFO] [1746051352.087977170] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051352.087546610] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051352.088700727] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051352.088895456] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051352.089829869] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051352.145017667] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051352.145699301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051352.146352845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051352.147583683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051352.148724194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051352.245078523] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051352.245666784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051352.246628469] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051352.247649916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051352.248714280] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051352.335411828] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051352.337293497] [sailbot.teensy]: Wind angle: 199 -[trim_sail-4] [INFO] [1746051352.337925226] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051352.339015940] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051352.339392162] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051352.339876975] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051352.340251734] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051352.344335655] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051352.344999329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051352.345520202] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051352.346797004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051352.347950937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051352.444942490] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051352.445649305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051352.446213927] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051352.447497001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051352.448738988] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051352.457004220] [sailbot.main_algo]: Wind Direction: 199 -[main_algo-3] [INFO] [1746051352.458021272] [sailbot.main_algo]: Target Bearing: -141.9277999621545 -[main_algo-3] [INFO] [1746051352.458968461] [sailbot.main_algo]: Heading Difference: -173.94920003784551 -[main_algo-3] [INFO] [1746051352.459822517] [sailbot.main_algo]: Wind Direction: 199 -[main_algo-3] [INFO] [1746051352.460925233] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051352.461729554] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051352.462860246] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051352.463325308] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051352.502938835] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904566 Long: -76.50277037 -[vectornav-1] [INFO] [1746051352.504413359] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.839, -0.713, 4.343) -[main_algo-3] [INFO] [1746051352.504458046] [sailbot.main_algo]: Distance to destination: 56.9299560623884 -[main_algo-3] [INFO] [1746051352.505706414] [sailbot.main_algo]: Target Bearing: -141.89482643289637 -[main_algo-3] [INFO] [1746051352.506695339] [sailbot.main_algo]: Heading Difference: -173.98217356710364 -[main_algo-3] [INFO] [1746051352.507596593] [sailbot.main_algo]: Wind Direction: 199 -[main_algo-3] [INFO] [1746051352.508618173] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051352.509513504] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051352.511306580] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051352.545095006] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051352.546444550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051352.546599850] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051352.548875000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051352.549910362] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051352.585224668] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051352.586994164] [sailbot.teensy]: Wind angle: 195 -[teensy-2] [INFO] [1746051352.587924459] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051352.587291381] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051352.588534104] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051352.588988127] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051352.590380436] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051352.644432131] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051352.645062875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051352.645454772] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051352.646693233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051352.647638058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051352.744967517] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051352.745659436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051352.746246326] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051352.747584686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051352.748588523] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051352.835536629] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051352.837923346] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051352.838472431] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051352.838600314] [sailbot.teensy]: Wind angle: 190 -[teensy-2] [INFO] [1746051352.839091240] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051352.839441872] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051352.839814662] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051352.844512649] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051352.844941854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051352.845790660] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051352.846702359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051352.847699835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051352.945245045] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051352.946245246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051352.946734336] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051352.947960282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051352.948439483] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051352.957344654] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051352.958578181] [sailbot.main_algo]: Target Bearing: -141.89482643289637 -[main_algo-3] [INFO] [1746051352.959624811] [sailbot.main_algo]: Heading Difference: -174.26617356710364 -[main_algo-3] [INFO] [1746051352.960550532] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051352.961432617] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051352.962290734] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051352.963462599] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051352.963975728] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051353.001835894] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904586 Long: -76.50277012 -[main_algo-3] [INFO] [1746051353.002486942] [sailbot.main_algo]: Distance to destination: 56.9599181703999 -[vectornav-1] [INFO] [1746051353.002632108] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.09699999999998, 0.826, 5.949) -[main_algo-3] [INFO] [1746051353.003437182] [sailbot.main_algo]: Target Bearing: -141.8905382440562 -[main_algo-3] [INFO] [1746051353.004342980] [sailbot.main_algo]: Heading Difference: -174.2704617559438 -[main_algo-3] [INFO] [1746051353.005240681] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051353.006111534] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051353.007003347] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051353.008809201] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051353.043892208] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051353.044422119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051353.044818006] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051353.046129869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051353.046616687] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051353.085235883] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051353.086990476] [sailbot.teensy]: Wind angle: 188 -[teensy-2] [INFO] [1746051353.087923028] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051353.087397881] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051353.088221842] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051353.088860718] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051353.089897704] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051353.144898915] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051353.145586587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051353.146440646] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051353.147587922] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051353.148605963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051353.245480357] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051353.246461704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051353.247074824] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051353.248115853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051353.248653011] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051353.335298813] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051353.337442898] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051353.338612520] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051353.338951150] [sailbot.teensy]: Wind angle: 188 -[teensy-2] [INFO] [1746051353.339956308] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051353.340912613] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051353.341731790] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051353.344333648] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051353.344853788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051353.345626020] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051353.346536355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051353.347639133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051353.444940534] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051353.445682834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051353.446245230] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051353.447503167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051353.448630666] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051353.457012542] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051353.458023348] [sailbot.main_algo]: Target Bearing: -141.8905382440562 -[main_algo-3] [INFO] [1746051353.458894008] [sailbot.main_algo]: Heading Difference: -176.01246175594383 -[main_algo-3] [INFO] [1746051353.459690668] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051353.460507497] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051353.461310619] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051353.462309703] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051353.463108438] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051353.502803192] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904588 Long: -76.50277024 -[main_algo-3] [INFO] [1746051353.503893102] [sailbot.main_algo]: Distance to destination: 56.953665953656085 -[vectornav-1] [INFO] [1746051353.504045942] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.68799999999999, -1.636, 6.286) -[main_algo-3] [INFO] [1746051353.505114936] [sailbot.main_algo]: Target Bearing: -141.8825414537699 -[main_algo-3] [INFO] [1746051353.506094073] [sailbot.main_algo]: Heading Difference: -176.0204585462301 -[main_algo-3] [INFO] [1746051353.507012843] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051353.507897722] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051353.508759943] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051353.510579245] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051353.545040168] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051353.546006714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051353.546452437] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051353.549142011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051353.550262892] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051353.585421580] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051353.587990562] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051353.588330402] [sailbot.teensy]: Wind angle: 190 -[mux-7] [INFO] [1746051353.588616518] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051353.589251086] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051353.590124151] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051353.590973628] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051353.645250321] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051353.646027592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051353.646733856] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051353.647927857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051353.648986325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051353.743857427] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051353.744126529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051353.744424880] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051353.745203860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051353.745795917] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051353.834400710] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051353.835133038] [sailbot.teensy]: Wind angle: 190 -[teensy-2] [INFO] [1746051353.835551023] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051353.835947707] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051353.836324665] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051353.837449288] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051353.837713977] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051353.843523156] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051353.843992761] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051353.843884680] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051353.844611915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051353.845087993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051353.943760787] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051353.944308622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051353.944692454] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051353.945893050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051353.946823562] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051353.956636722] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051353.957728304] [sailbot.main_algo]: Target Bearing: -141.8825414537699 -[main_algo-3] [INFO] [1746051353.958747616] [sailbot.main_algo]: Heading Difference: -175.42945854623008 -[main_algo-3] [INFO] [1746051353.959595903] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051353.960388022] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051353.961066074] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051353.961958190] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051353.962732809] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051354.002814721] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904599 Long: -76.50277015 -[main_algo-3] [INFO] [1746051354.003764900] [sailbot.main_algo]: Distance to destination: 56.96711622743885 -[vectornav-1] [INFO] [1746051354.003959508] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.778999999999996, -0.111, 4.529) -[main_algo-3] [INFO] [1746051354.005152654] [sailbot.main_algo]: Target Bearing: -141.87770774043798 -[main_algo-3] [INFO] [1746051354.006364068] [sailbot.main_algo]: Heading Difference: -175.43429225956203 -[main_algo-3] [INFO] [1746051354.007390384] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051354.008336241] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051354.009213712] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051354.010879183] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051354.045085069] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051354.045731067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051354.046350359] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051354.047668294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051354.048732465] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051354.085336977] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051354.087205292] [sailbot.teensy]: Wind angle: 190 -[trim_sail-4] [INFO] [1746051354.087692710] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051354.088257050] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051354.089112830] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051354.089216892] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051354.090033999] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051354.145200758] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051354.145809029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051354.146681942] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051354.147740587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051354.148959596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051354.244562235] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051354.245088895] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051354.246822957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051354.245713631] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051354.248204389] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051354.335186873] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051354.337310440] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051354.337594903] [sailbot.teensy]: Wind angle: 188 -[teensy-2] [INFO] [1746051354.338522163] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051354.338702410] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051354.339503569] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051354.340388394] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051354.344331841] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051354.344878450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051354.345440865] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051354.346557407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051354.347709551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051354.444964457] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051354.445606256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051354.446180113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051354.447369089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051354.448529938] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051354.457062812] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051354.458195588] [sailbot.main_algo]: Target Bearing: -141.87770774043798 -[main_algo-3] [INFO] [1746051354.459234902] [sailbot.main_algo]: Heading Difference: -173.34329225956202 -[main_algo-3] [INFO] [1746051354.460289691] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051354.461269074] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051354.462179450] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051354.463577049] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051354.464347964] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051354.501720690] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904623 Long: -76.50277018 -[main_algo-3] [INFO] [1746051354.502329233] [sailbot.main_algo]: Distance to destination: 56.98203081746637 -[vectornav-1] [INFO] [1746051354.502448026] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.26299999999998, 0.067, 5.365) -[main_algo-3] [INFO] [1746051354.503430161] [sailbot.main_algo]: Target Bearing: -141.85535448250005 -[main_algo-3] [INFO] [1746051354.504355816] [sailbot.main_algo]: Heading Difference: -173.36564551749996 -[main_algo-3] [INFO] [1746051354.504969381] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051354.505974472] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051354.508185401] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051354.509795898] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051354.544939303] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051354.545664335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051354.546216438] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051354.547469131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051354.548497890] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051354.585167516] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051354.587168756] [sailbot.teensy]: Wind angle: 186 -[trim_sail-4] [INFO] [1746051354.587225103] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051354.588053271] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051354.588630014] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051354.588931933] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051354.589770203] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051354.645070073] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051354.645978648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051354.646498194] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051354.648011415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051354.649158483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051354.745380011] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051354.746256185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051354.746943248] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051354.748351677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051354.749472400] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051354.835169496] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051354.836831147] [sailbot.teensy]: Wind angle: 183 -[teensy-2] [INFO] [1746051354.837776438] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051354.839564914] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051354.839590863] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051354.840011272] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051354.840710303] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051354.844376755] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051354.845172389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051354.845616324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051354.846935981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051354.848564305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051354.944874527] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051354.945412645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051354.946135428] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051354.947235080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051354.948399703] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051354.957248387] [sailbot.main_algo]: Wind Direction: 183 -[main_algo-3] [INFO] [1746051354.958367807] [sailbot.main_algo]: Target Bearing: -141.85535448250005 -[main_algo-3] [INFO] [1746051354.959342337] [sailbot.main_algo]: Heading Difference: -173.88164551749998 -[main_algo-3] [INFO] [1746051354.960249062] [sailbot.main_algo]: Wind Direction: 183 -[main_algo-3] [INFO] [1746051354.961148717] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051354.962021604] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051354.963081382] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051354.963624534] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051355.002326689] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904629 Long: -76.50277042 -[main_algo-3] [INFO] [1746051355.003193493] [sailbot.main_algo]: Distance to destination: 56.970940393469526 -[vectornav-1] [INFO] [1746051355.003293539] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.47500000000002, -0.056, 5.163) -[main_algo-3] [INFO] [1746051355.004354660] [sailbot.main_algo]: Target Bearing: -141.8376259291325 -[main_algo-3] [INFO] [1746051355.005472104] [sailbot.main_algo]: Heading Difference: -173.8993740708675 -[main_algo-3] [INFO] [1746051355.006397249] [sailbot.main_algo]: Wind Direction: 183 -[main_algo-3] [INFO] [1746051355.007333928] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051355.008211402] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051355.009878370] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051355.044392921] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051355.044994648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051355.045380402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051355.046647389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051355.047915570] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051355.084864587] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051355.086143315] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051355.086910773] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051355.087719035] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051355.086918273] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051355.088586451] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051355.089445584] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051355.144502226] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051355.145137331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051355.145557834] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051355.146759277] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051355.147744927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051355.245212694] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051355.245971962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051355.246729763] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051355.248394554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051355.249396146] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051355.335337685] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051355.337665624] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051355.338295332] [sailbot.teensy]: Wind angle: 203 -[teensy-2] [INFO] [1746051355.339235632] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051355.339642413] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051355.340180393] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051355.340936730] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051355.344866869] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051355.345921754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051355.346165270] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051355.347927058] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051355.349105866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051355.445129659] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051355.445644221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051355.446469778] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051355.447711760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051355.448833440] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051355.457195175] [sailbot.main_algo]: Wind Direction: 203 -[main_algo-3] [INFO] [1746051355.458181906] [sailbot.main_algo]: Target Bearing: -141.8376259291325 -[main_algo-3] [INFO] [1746051355.459075376] [sailbot.main_algo]: Heading Difference: -173.68737407086746 -[main_algo-3] [INFO] [1746051355.459935812] [sailbot.main_algo]: Wind Direction: 203 -[main_algo-3] [INFO] [1746051355.460821697] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051355.461622115] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051355.462584605] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051355.463186760] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051355.502749027] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904606 Long: -76.50277063 -[main_algo-3] [INFO] [1746051355.503875222] [sailbot.main_algo]: Distance to destination: 56.9414196835928 -[vectornav-1] [INFO] [1746051355.504369387] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.78800000000001, -0.776, 4.909) -[main_algo-3] [INFO] [1746051355.505427002] [sailbot.main_algo]: Target Bearing: -141.846574839971 -[main_algo-3] [INFO] [1746051355.506450801] [sailbot.main_algo]: Heading Difference: -173.67842516002895 -[main_algo-3] [INFO] [1746051355.507353158] [sailbot.main_algo]: Wind Direction: 203 -[main_algo-3] [INFO] [1746051355.508244594] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051355.509159842] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051355.510895340] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051355.544216742] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051355.544685813] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051355.545104255] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051355.546214902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051355.547300151] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051355.585224585] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051355.587409798] [sailbot.teensy]: Wind angle: 214 -[teensy-2] [INFO] [1746051355.588420116] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051355.587691210] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051355.589249324] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051355.590051656] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051355.590940604] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051355.645019187] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051355.645968979] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051355.646664782] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051355.647894325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051355.649042854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051355.744517007] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051355.745033634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051355.745666700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051355.746981416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051355.748064128] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051355.835309897] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051355.837676153] [sailbot.teensy]: Wind angle: 215 -[teensy-2] [INFO] [1746051355.838881594] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051355.838075689] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051355.838735464] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051355.839893185] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051355.840567698] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051355.844393644] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051355.844980062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051355.845580500] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051355.846655646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051355.847690833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051355.945191250] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051355.946005101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051355.946616564] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051355.948258255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051355.949255846] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051355.957257532] [sailbot.main_algo]: Wind Direction: 215 -[main_algo-3] [INFO] [1746051355.958352764] [sailbot.main_algo]: Target Bearing: -141.846574839971 -[main_algo-3] [INFO] [1746051355.959284427] [sailbot.main_algo]: Heading Difference: -173.36542516002896 -[main_algo-3] [INFO] [1746051355.960208575] [sailbot.main_algo]: Wind Direction: 215 -[main_algo-3] [INFO] [1746051355.961087377] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051355.961949597] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051355.963036458] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051355.963785788] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051356.002822536] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904591 Long: -76.50277066 -[main_algo-3] [INFO] [1746051356.003822747] [sailbot.main_algo]: Distance to destination: 56.928986727269276 -[vectornav-1] [INFO] [1746051356.003977456] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.521000000000015, -0.539, 5.444) -[main_algo-3] [INFO] [1746051356.004949882] [sailbot.main_algo]: Target Bearing: -141.85800557952444 -[main_algo-3] [INFO] [1746051356.005897898] [sailbot.main_algo]: Heading Difference: -173.35399442047554 -[main_algo-3] [INFO] [1746051356.006810150] [sailbot.main_algo]: Wind Direction: 215 -[main_algo-3] [INFO] [1746051356.007682154] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051356.008547663] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051356.010279724] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051356.044873893] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051356.045565447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051356.046162229] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051356.047566079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051356.048608750] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051356.085302352] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051356.086989900] [sailbot.teensy]: Wind angle: 214 -[teensy-2] [INFO] [1746051356.087891950] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051356.088787807] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051356.087534208] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051356.088772033] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051356.089656743] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051356.144986226] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051356.145556522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051356.146203451] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051356.147433470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051356.148597187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051356.244973182] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051356.245645997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051356.246399363] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051356.247639651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051356.248803613] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051356.335385175] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051356.337713723] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051356.338065054] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051356.338474554] [sailbot.teensy]: Wind angle: 213 -[teensy-2] [INFO] [1746051356.339061004] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051356.339421189] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051356.339725732] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051356.344342276] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051356.344946774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051356.345608333] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051356.346605133] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051356.347825483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051356.445155691] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051356.445984295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051356.446596716] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051356.448333747] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051356.449316921] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051356.457110875] [sailbot.main_algo]: Wind Direction: 213 -[main_algo-3] [INFO] [1746051356.458127789] [sailbot.main_algo]: Target Bearing: -141.85800557952444 -[main_algo-3] [INFO] [1746051356.459019129] [sailbot.main_algo]: Heading Difference: -173.62099442047554 -[main_algo-3] [INFO] [1746051356.459905811] [sailbot.main_algo]: Wind Direction: 213 -[main_algo-3] [INFO] [1746051356.460728366] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051356.461540492] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051356.462548848] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051356.463207391] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051356.503487692] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904592 Long: -76.50277036 -[main_algo-3] [INFO] [1746051356.503927029] [sailbot.main_algo]: Distance to destination: 56.94881692353255 -[main_algo-3] [INFO] [1746051356.505089230] [sailbot.main_algo]: Target Bearing: -141.87280966231322 -[vectornav-1] [INFO] [1746051356.505241996] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.32900000000001, -0.158, 5.16) -[main_algo-3] [INFO] [1746051356.506533599] [sailbot.main_algo]: Heading Difference: -173.60619033768677 -[main_algo-3] [INFO] [1746051356.507829068] [sailbot.main_algo]: Wind Direction: 213 -[main_algo-3] [INFO] [1746051356.508771696] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051356.509626163] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051356.511327205] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051356.545129064] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051356.545853092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051356.546600205] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051356.547836654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051356.548904775] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051356.585578809] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051356.588000883] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051356.588137469] [sailbot.teensy]: Wind angle: 208 -[teensy-2] [INFO] [1746051356.589164466] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051356.589528255] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051356.590099274] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051356.590991711] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051356.644815827] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051356.645700951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051356.646145546] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051356.647690125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051356.648728721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051356.745557264] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051356.746740008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051356.747536906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051356.748567872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051356.749033744] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051356.835304280] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051356.837043382] [sailbot.teensy]: Wind angle: 207 -[trim_sail-4] [INFO] [1746051356.837550338] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051356.837994579] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051356.838951480] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051356.839785270] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051356.839797380] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051356.844305953] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051356.844990992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051356.845465946] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051356.846699690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051356.847837132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051356.945126354] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051356.945876411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051356.946640939] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051356.948084180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051356.948633064] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051356.957178705] [sailbot.main_algo]: Wind Direction: 207 -[main_algo-3] [INFO] [1746051356.958289809] [sailbot.main_algo]: Target Bearing: -141.87280966231322 -[main_algo-3] [INFO] [1746051356.959235044] [sailbot.main_algo]: Heading Difference: -173.79819033768678 -[main_algo-3] [INFO] [1746051356.960110598] [sailbot.main_algo]: Wind Direction: 207 -[main_algo-3] [INFO] [1746051356.960995337] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051356.961847685] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051356.963045060] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051356.963466232] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051357.003072734] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904609 Long: -76.50277043 -[main_algo-3] [INFO] [1746051357.004026755] [sailbot.main_algo]: Distance to destination: 56.956273835298745 -[vectornav-1] [INFO] [1746051357.004282203] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.773000000000025, -0.008, 5.497) -[main_algo-3] [INFO] [1746051357.005157934] [sailbot.main_algo]: Target Bearing: -141.85442453581857 -[main_algo-3] [INFO] [1746051357.006170652] [sailbot.main_algo]: Heading Difference: -173.81657546418143 -[main_algo-3] [INFO] [1746051357.007076678] [sailbot.main_algo]: Wind Direction: 207 -[main_algo-3] [INFO] [1746051357.007975947] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051357.008837717] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051357.010593953] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051357.044942073] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051357.045656161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051357.046238658] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051357.047695664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051357.048841479] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051357.085358678] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051357.087064365] [sailbot.teensy]: Wind angle: 207 -[trim_sail-4] [INFO] [1746051357.087611129] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051357.088028939] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051357.088971545] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051357.089513480] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051357.089862744] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051357.144025923] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051357.144949230] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051357.144511765] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051357.146364118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051357.147597524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051357.244993310] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051357.245582757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051357.246289175] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051357.247565683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051357.248618508] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051357.335454957] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051357.338067273] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051357.338069882] [sailbot.teensy]: Wind angle: 207 -[mux-7] [INFO] [1746051357.338845288] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051357.338870639] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051357.339287003] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051357.339625736] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051357.344485971] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051357.345691262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051357.345738387] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051357.347436545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051357.348644441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051357.444985780] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051357.445706571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051357.446282355] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051357.447662588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051357.448763573] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051357.457041735] [sailbot.main_algo]: Wind Direction: 207 -[main_algo-3] [INFO] [1746051357.458012461] [sailbot.main_algo]: Target Bearing: -141.85442453581857 -[main_algo-3] [INFO] [1746051357.458907600] [sailbot.main_algo]: Heading Difference: -172.3725754641814 -[main_algo-3] [INFO] [1746051357.459708828] [sailbot.main_algo]: Wind Direction: 207 -[main_algo-3] [INFO] [1746051357.460563899] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051357.461370457] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051357.462379172] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051357.463125445] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051357.502584673] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904596 Long: -76.50277018 -[main_algo-3] [INFO] [1746051357.503411584] [sailbot.main_algo]: Distance to destination: 56.96310006444982 -[vectornav-1] [INFO] [1746051357.503992544] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.73199999999997, -0.981, 5.041) -[main_algo-3] [INFO] [1746051357.504630681] [sailbot.main_algo]: Target Bearing: -141.87874108126147 -[main_algo-3] [INFO] [1746051357.505651227] [sailbot.main_algo]: Heading Difference: -172.3482589187385 -[main_algo-3] [INFO] [1746051357.506599234] [sailbot.main_algo]: Wind Direction: 207 -[main_algo-3] [INFO] [1746051357.507483612] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051357.508358259] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051357.510042055] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051357.545118147] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051357.545984984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051357.546529065] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051357.548101884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051357.549104932] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051357.585198982] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051357.586890170] [sailbot.teensy]: Wind angle: 208 -[teensy-2] [INFO] [1746051357.587828673] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051357.587605241] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051357.588792251] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051357.589152284] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051357.589689673] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051357.645163677] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051357.645736492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051357.646778274] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051357.648055434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051357.649110805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051357.744950482] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051357.745655661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051357.746610164] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051357.747471062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051357.748591451] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051357.835337639] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051357.837078521] [sailbot.teensy]: Wind angle: 207 -[trim_sail-4] [INFO] [1746051357.837705257] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051357.838005965] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051357.838641483] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051357.838665336] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051357.839037701] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051357.844298744] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051357.845040545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051357.845512019] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051357.846805185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051357.847972097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051357.945119310] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051357.945893447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051357.946559692] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051357.948200896] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051357.949196924] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051357.957208452] [sailbot.main_algo]: Wind Direction: 207 -[main_algo-3] [INFO] [1746051357.958310257] [sailbot.main_algo]: Target Bearing: -141.87874108126147 -[main_algo-3] [INFO] [1746051357.959256128] [sailbot.main_algo]: Heading Difference: -173.38925891873856 -[main_algo-3] [INFO] [1746051357.960139934] [sailbot.main_algo]: Wind Direction: 207 -[main_algo-3] [INFO] [1746051357.961019408] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051357.961879299] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051357.962964786] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051357.963584971] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051358.002929323] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904601 Long: -76.50277004 -[vectornav-1] [INFO] [1746051358.004082629] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.658000000000015, -0.009, 5.218) -[main_algo-3] [INFO] [1746051358.004176040] [sailbot.main_algo]: Distance to destination: 56.97553352990813 -[main_algo-3] [INFO] [1746051358.005370238] [sailbot.main_algo]: Target Bearing: -141.88171595990005 -[main_algo-3] [INFO] [1746051358.006650463] [sailbot.main_algo]: Heading Difference: -173.3862840401 -[main_algo-3] [INFO] [1746051358.007703287] [sailbot.main_algo]: Wind Direction: 207 -[main_algo-3] [INFO] [1746051358.008669879] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051358.009566179] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051358.011289911] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051358.045395389] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051358.045624226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051358.046957965] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051358.047563526] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051358.048657836] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051358.085251316] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051358.086961772] [sailbot.teensy]: Wind angle: 207 -[teensy-2] [INFO] [1746051358.087929661] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051358.087334722] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051358.088596712] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051358.088859093] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051358.089802866] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051358.145321150] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051358.145868318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051358.146783577] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051358.147913193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051358.148989693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051358.244929856] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051358.245644429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051358.246591582] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051358.247655091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051358.248734863] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051358.335458796] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051358.337282361] [sailbot.teensy]: Wind angle: 207 -[teensy-2] [INFO] [1746051358.339210122] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051358.339648899] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051358.339211921] [sailbot.mux]: algo sail angle: 0 -[trim_sail-4] [INFO] [1746051358.339227680] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051358.340037262] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051358.344427757] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051358.345168263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051358.345530734] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051358.347174415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051358.348346831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051358.445394513] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051358.446106533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051358.446928985] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051358.448312301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051358.448806290] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051358.457093380] [sailbot.main_algo]: Wind Direction: 207 -[main_algo-3] [INFO] [1746051358.458125908] [sailbot.main_algo]: Target Bearing: -141.88171595990005 -[main_algo-3] [INFO] [1746051358.459015193] [sailbot.main_algo]: Heading Difference: -173.46028404009996 -[main_algo-3] [INFO] [1746051358.459873564] [sailbot.main_algo]: Wind Direction: 207 -[main_algo-3] [INFO] [1746051358.460742618] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051358.461561715] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051358.462539171] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051358.463116486] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051358.503012282] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904614 Long: -76.50277018 -[main_algo-3] [INFO] [1746051358.503557501] [sailbot.main_algo]: Distance to destination: 56.975719513025645 -[vectornav-1] [INFO] [1746051358.504481446] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.01400000000001, -0.755, 4.827) -[main_algo-3] [INFO] [1746051358.504653525] [sailbot.main_algo]: Target Bearing: -141.86314828714865 -[main_algo-3] [INFO] [1746051358.505642333] [sailbot.main_algo]: Heading Difference: -173.47885171285134 -[main_algo-3] [INFO] [1746051358.506527051] [sailbot.main_algo]: Wind Direction: 207 -[main_algo-3] [INFO] [1746051358.507380881] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051358.508253254] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051358.509936418] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051358.544353976] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051358.545150846] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051358.545371234] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051358.547291732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051358.548421772] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051358.585395414] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051358.587696293] [sailbot.teensy]: Wind angle: 204 -[trim_sail-4] [INFO] [1746051358.587791885] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051358.588177681] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051358.588678402] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051358.589587806] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051358.590444208] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051358.645156650] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051358.645706821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051358.646613069] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051358.647735069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051358.648925671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051358.745337220] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051358.746118168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051358.746906262] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051358.748325890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051358.749503631] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051358.835350588] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051358.837585923] [sailbot.teensy]: Wind angle: 198 -[trim_sail-4] [INFO] [1746051358.837627193] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051358.838393934] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051358.838751875] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051358.839249066] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051358.839623418] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051358.844628999] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051358.845381518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051358.845860552] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051358.847220581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051358.848373383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051358.945256971] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051358.945999780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051358.946784444] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051358.947984373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051358.949156974] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051358.957032504] [sailbot.main_algo]: Wind Direction: 198 -[main_algo-3] [INFO] [1746051358.958033499] [sailbot.main_algo]: Target Bearing: -141.86314828714865 -[main_algo-3] [INFO] [1746051358.958938909] [sailbot.main_algo]: Heading Difference: -172.12285171285134 -[main_algo-3] [INFO] [1746051358.959719907] [sailbot.main_algo]: Wind Direction: 198 -[main_algo-3] [INFO] [1746051358.960554519] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051358.961404010] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051358.962421235] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051358.962992406] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051359.002816915] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904599 Long: -76.50277011 -[main_algo-3] [INFO] [1746051359.003726033] [sailbot.main_algo]: Distance to destination: 56.96966725058817 -[vectornav-1] [INFO] [1746051359.004438488] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.21199999999999, 0.385, 6.756) -[main_algo-3] [INFO] [1746051359.004808129] [sailbot.main_algo]: Target Bearing: -141.87979549564665 -[main_algo-3] [INFO] [1746051359.005830904] [sailbot.main_algo]: Heading Difference: -172.10620450435334 -[main_algo-3] [INFO] [1746051359.006812552] [sailbot.main_algo]: Wind Direction: 198 -[main_algo-3] [INFO] [1746051359.007704873] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051359.008573943] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051359.010283280] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051359.045033592] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051359.045758574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051359.046921489] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051359.047691388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051359.048911042] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051359.085312234] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051359.087533152] [sailbot.teensy]: Wind angle: 196 -[trim_sail-4] [INFO] [1746051359.087848866] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051359.088419446] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051359.088485905] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051359.089406795] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051359.090262598] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051359.144999760] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051359.145615437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051359.146656398] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051359.147460642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051359.148261960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051359.243932046] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051359.244873022] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051359.245150412] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051359.247156173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051359.248357949] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051359.335098506] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051359.336661998] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746051359.337589252] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051359.338469564] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051359.337973980] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051359.338408808] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051359.339351754] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051359.344285988] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051359.344905349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051359.345377940] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051359.346601213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051359.347634600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051359.445290202] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051359.446091075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051359.446863611] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051359.448362501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051359.449485435] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051359.457088291] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051359.458111008] [sailbot.main_algo]: Target Bearing: -141.87979549564665 -[main_algo-3] [INFO] [1746051359.458984524] [sailbot.main_algo]: Heading Difference: -172.90820450435336 -[main_algo-3] [INFO] [1746051359.459768946] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051359.460588179] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051359.461380873] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051359.462390154] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051359.463305841] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051359.502943179] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904598 Long: -76.50277019 -[main_algo-3] [INFO] [1746051359.503946849] [sailbot.main_algo]: Distance to destination: 56.963864279659525 -[vectornav-1] [INFO] [1746051359.504411615] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.74000000000001, -0.97, 4.302) -[main_algo-3] [INFO] [1746051359.505216899] [sailbot.main_algo]: Target Bearing: -141.87648620899748 -[main_algo-3] [INFO] [1746051359.506236465] [sailbot.main_algo]: Heading Difference: -172.91151379100256 -[main_algo-3] [INFO] [1746051359.507170450] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051359.508035759] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051359.508892239] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051359.510599786] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051359.544891711] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051359.545580948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051359.546247031] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051359.547494258] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051359.548484208] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051359.585411970] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051359.587382577] [sailbot.teensy]: Wind angle: 196 -[trim_sail-4] [INFO] [1746051359.587844601] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051359.588349323] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051359.589258185] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051359.589552477] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051359.590653946] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051359.645115878] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051359.645865949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051359.646567656] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051359.648261616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051359.649299802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051359.745132811] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051359.745875743] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051359.746942283] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051359.747875097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051359.748935274] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051359.835373954] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051359.837458154] [sailbot.teensy]: Wind angle: 197 -[trim_sail-4] [INFO] [1746051359.838383344] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051359.838440203] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051359.839351624] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051359.839841083] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051359.840263346] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051359.844343646] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051359.845000604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051359.845738964] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051359.846784597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051359.847822578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051359.945087123] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051359.945884098] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051359.946589953] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051359.948214056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051359.949387808] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051359.957287701] [sailbot.main_algo]: Wind Direction: 197 -[main_algo-3] [INFO] [1746051359.958312025] [sailbot.main_algo]: Target Bearing: -141.87648620899748 -[main_algo-3] [INFO] [1746051359.959211024] [sailbot.main_algo]: Heading Difference: -171.38351379100254 -[main_algo-3] [INFO] [1746051359.960090847] [sailbot.main_algo]: Wind Direction: 197 -[main_algo-3] [INFO] [1746051359.960986143] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051359.961845246] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051359.962833764] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051359.963390529] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051360.002821008] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904598 Long: -76.50277031 -[main_algo-3] [INFO] [1746051360.003696687] [sailbot.main_algo]: Distance to destination: 56.956211803038954 -[vectornav-1] [INFO] [1746051360.004012462] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.24400000000003, -0.189, 4.577) -[main_algo-3] [INFO] [1746051360.004905644] [sailbot.main_algo]: Target Bearing: -141.87022130559868 -[main_algo-3] [INFO] [1746051360.005911684] [sailbot.main_algo]: Heading Difference: -171.38977869440134 -[main_algo-3] [INFO] [1746051360.006853679] [sailbot.main_algo]: Wind Direction: 197 -[main_algo-3] [INFO] [1746051360.007725668] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051360.008611563] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051360.010200853] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051360.045267382] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051360.046027879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051360.046749230] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051360.048175458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051360.049352280] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051360.085235105] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051360.087247179] [sailbot.teensy]: Wind angle: 198 -[trim_sail-4] [INFO] [1746051360.087463568] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051360.088143826] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051360.088706594] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051360.089062755] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051360.089943815] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051360.144978692] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051360.146305902] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051360.146682863] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051360.148434810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051360.149471335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051360.244939570] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051360.246397929] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051360.246575175] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051360.248447996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051360.249427945] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051360.335257243] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051360.337504306] [sailbot.teensy]: Wind angle: 196 -[trim_sail-4] [INFO] [1746051360.337551588] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051360.339056052] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051360.339205479] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051360.339611044] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051360.340011180] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051360.344566884] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051360.345154678] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051360.345727034] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051360.346872333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051360.347957815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051360.445095608] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051360.445959297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051360.446409322] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051360.447837395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051360.448923169] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051360.457209520] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051360.458256329] [sailbot.main_algo]: Target Bearing: -141.87022130559868 -[main_algo-3] [INFO] [1746051360.459141168] [sailbot.main_algo]: Heading Difference: -171.88577869440132 -[main_algo-3] [INFO] [1746051360.459986546] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051360.460823989] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051360.461640523] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051360.462663552] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051360.463326479] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051360.502840201] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690459 Long: -76.50277044 -[vectornav-1] [INFO] [1746051360.503930004] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.161, -0.156, 5.251) -[main_algo-3] [INFO] [1746051360.504262457] [sailbot.main_algo]: Distance to destination: 56.94231325880712 -[main_algo-3] [INFO] [1746051360.505372304] [sailbot.main_algo]: Target Bearing: -141.870365111979 -[main_algo-3] [INFO] [1746051360.506441399] [sailbot.main_algo]: Heading Difference: -171.88563488802095 -[main_algo-3] [INFO] [1746051360.507372475] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051360.508427087] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051360.509337045] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051360.511019840] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051360.544982485] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051360.545637792] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051360.546417802] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051360.547621781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051360.548784102] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051360.585269672] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051360.587207964] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051360.587707019] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051360.588208454] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051360.589178404] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051360.590199965] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051360.590256327] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051360.645165780] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051360.645711999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051360.646679733] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051360.648046126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051360.649170943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051360.745497296] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051360.746138485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051360.747142249] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051360.748336754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051360.749516436] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051360.835447495] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051360.837231401] [sailbot.teensy]: Wind angle: 192 -[trim_sail-4] [INFO] [1746051360.837859514] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051360.839442837] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051360.840029066] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051360.841002605] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051360.841846245] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051360.844438959] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051360.844854836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051360.845561859] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051360.846516719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051360.847651324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051360.944878451] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051360.945412214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051360.946126179] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051360.947295556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051360.948445087] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051360.957259498] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051360.958324066] [sailbot.main_algo]: Target Bearing: -141.870365111979 -[main_algo-3] [INFO] [1746051360.959260973] [sailbot.main_algo]: Heading Difference: -171.96863488802103 -[main_algo-3] [INFO] [1746051360.960189528] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051360.961082559] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051360.961972669] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051360.963012361] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051360.963556458] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051361.002953408] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690458 Long: -76.50277035 -[vectornav-1] [INFO] [1746051361.004103653] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.129999999999995, -0.68, 6.377) -[main_algo-3] [INFO] [1746051361.004100123] [sailbot.main_algo]: Distance to destination: 56.9410430291429 -[main_algo-3] [INFO] [1746051361.005367106] [sailbot.main_algo]: Target Bearing: -141.88373256587923 -[main_algo-3] [INFO] [1746051361.006396772] [sailbot.main_algo]: Heading Difference: -171.95526743412074 -[main_algo-3] [INFO] [1746051361.007360190] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051361.008399909] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051361.009285872] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051361.011012135] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051361.045175526] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051361.046192390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051361.046560653] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051361.048416079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051361.049548032] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051361.085178720] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051361.087273555] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051361.087468938] [sailbot.teensy]: Wind angle: 189 -[mux-7] [INFO] [1746051361.088310900] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051361.088349349] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051361.089266543] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051361.090135631] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051361.145036141] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051361.145784725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051361.146418606] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051361.147716919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051361.148968353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051361.245123311] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051361.245870982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051361.246743562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051361.248211630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051361.249331707] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051361.334560680] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051361.335438423] [sailbot.teensy]: Wind angle: 190 -[teensy-2] [INFO] [1746051361.335875409] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051361.336285364] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051361.336144047] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051361.336681243] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051361.337565910] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051361.343714506] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051361.344125459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051361.344317909] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051361.345052206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051361.346216756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051361.445147642] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051361.446033707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051361.446720739] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051361.448109215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051361.449182029] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051361.456997122] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051361.457967863] [sailbot.main_algo]: Target Bearing: -141.88373256587923 -[main_algo-3] [INFO] [1746051361.458850805] [sailbot.main_algo]: Heading Difference: -172.9862674341208 -[main_algo-3] [INFO] [1746051361.459710711] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051361.460597672] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051361.461405410] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051361.462416184] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051361.463232717] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051361.503138981] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904577 Long: -76.50277037 -[main_algo-3] [INFO] [1746051361.503923927] [sailbot.main_algo]: Distance to destination: 56.937664784740306 -[vectornav-1] [INFO] [1746051361.504291879] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.375999999999976, -0.188, 4.832) -[main_algo-3] [INFO] [1746051361.505070694] [sailbot.main_algo]: Target Bearing: -141.88528895897693 -[main_algo-3] [INFO] [1746051361.506015038] [sailbot.main_algo]: Heading Difference: -172.98471104102305 -[main_algo-3] [INFO] [1746051361.506932124] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051361.507818989] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051361.508852123] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051361.510575029] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051361.545014682] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051361.545791484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051361.546358390] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051361.547689764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051361.548732138] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051361.585434852] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051361.587570810] [sailbot.teensy]: Wind angle: 190 -[teensy-2] [INFO] [1746051361.588540241] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051361.587982624] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051361.588764817] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051361.589438918] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051361.590283956] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051361.645053395] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051361.645633369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051361.646400148] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051361.647507163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051361.648650449] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051361.745323585] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051361.745892032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051361.746836184] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051361.748423986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051361.749595633] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051361.835271389] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051361.837578924] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051361.838198848] [sailbot.teensy]: Wind angle: 190 -[mux-7] [INFO] [1746051361.838894541] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051361.839264060] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051361.840661625] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051361.841610323] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051361.844423293] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051361.845091579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051361.845621302] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051361.846915931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051361.847979091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051361.945211799] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051361.945921740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051361.946675057] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051361.948225931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051361.949659912] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051361.957268029] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051361.958293020] [sailbot.main_algo]: Target Bearing: -141.88528895897693 -[main_algo-3] [INFO] [1746051361.959186867] [sailbot.main_algo]: Heading Difference: -171.73871104102307 -[main_algo-3] [INFO] [1746051361.960063840] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051361.960963552] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051361.961811617] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051361.962903607] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051361.963772096] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051362.002933820] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904577 Long: -76.5027704 -[main_algo-3] [INFO] [1746051362.003923541] [sailbot.main_algo]: Distance to destination: 56.93575136168127 -[vectornav-1] [INFO] [1746051362.004335978] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.06400000000002, -0.433, 4.231) -[main_algo-3] [INFO] [1746051362.005162402] [sailbot.main_algo]: Target Bearing: -141.88372246541107 -[main_algo-3] [INFO] [1746051362.006197050] [sailbot.main_algo]: Heading Difference: -171.74027753458893 -[main_algo-3] [INFO] [1746051362.007116531] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051362.007982952] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051362.008849461] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051362.010560445] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051362.045149720] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051362.046021018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051362.047041199] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051362.048047508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051362.049118933] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051362.085387170] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051362.087671209] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051362.088328043] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051362.089062268] [sailbot.teensy]: Wind angle: 188 -[teensy-2] [INFO] [1746051362.090014205] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051362.090863447] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051362.091696128] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051362.145436360] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051362.146004367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051362.147443953] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051362.148374431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051362.149652735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051362.245455442] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051362.246037908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051362.247126096] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051362.248328919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051362.249448215] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051362.335543088] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051362.338144366] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051362.338477643] [sailbot.teensy]: Wind angle: 185 -[mux-7] [INFO] [1746051362.338571765] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051362.338895344] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051362.339296366] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051362.339671955] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051362.344470978] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051362.344995510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051362.345609163] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051362.346734886] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051362.347893381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051362.445172180] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051362.446638614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051362.446672626] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051362.448737680] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051362.449736982] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051362.457141964] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051362.458178950] [sailbot.main_algo]: Target Bearing: -141.88372246541107 -[main_algo-3] [INFO] [1746051362.459071034] [sailbot.main_algo]: Heading Difference: -172.05227753458894 -[main_algo-3] [INFO] [1746051362.459919910] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051362.460745756] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051362.461541509] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051362.462605362] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051362.463206679] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051362.503266775] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690459 Long: -76.50277055 -[main_algo-3] [INFO] [1746051362.503708904] [sailbot.main_algo]: Distance to destination: 56.935299071151526 -[vectornav-1] [INFO] [1746051362.504765782] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.26800000000003, -0.06, 5.577) -[main_algo-3] [INFO] [1746051362.504781107] [sailbot.main_algo]: Target Bearing: -141.8646194183324 -[main_algo-3] [INFO] [1746051362.505766661] [sailbot.main_algo]: Heading Difference: -172.07138058166754 -[main_algo-3] [INFO] [1746051362.506661606] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051362.507540930] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051362.508399948] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051362.510106399] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051362.544553548] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051362.545215906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051362.545682847] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051362.547257801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051362.548278891] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051362.585259040] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051362.587400515] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051362.587499446] [sailbot.teensy]: Wind angle: 184 -[teensy-2] [INFO] [1746051362.588450677] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051362.588701246] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051362.589379095] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051362.590302287] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051362.645305311] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051362.645999364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051362.646892726] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051362.648389009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051362.649490173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051362.745406976] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051362.746329863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051362.746999627] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051362.748235841] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051362.748796811] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051362.835126692] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051362.836637904] [sailbot.teensy]: Wind angle: 184 -[trim_sail-4] [INFO] [1746051362.837160972] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051362.837448702] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051362.837829225] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051362.837894882] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051362.838197518] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051362.844419552] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051362.845007524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051362.845516648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051362.846741386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051362.847842306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051362.945085772] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051362.945791149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051362.946605014] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051362.948108191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051362.949325763] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051362.957148500] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051362.958193516] [sailbot.main_algo]: Target Bearing: -141.8646194183324 -[main_algo-3] [INFO] [1746051362.959082805] [sailbot.main_algo]: Heading Difference: -172.8673805816676 -[main_algo-3] [INFO] [1746051362.959950450] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051362.960823970] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051362.961685047] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051362.962973989] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051362.963355583] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051363.002914044] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904593 Long: -76.50277055 -[main_algo-3] [INFO] [1746051363.004057848] [sailbot.main_algo]: Distance to destination: 56.93740265679804 -[vectornav-1] [INFO] [1746051363.004102090] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.63499999999999, -0.818, 5.498) -[main_algo-3] [INFO] [1746051363.005348394] [sailbot.main_algo]: Target Bearing: -141.86201939157505 -[main_algo-3] [INFO] [1746051363.006518880] [sailbot.main_algo]: Heading Difference: -172.86998060842495 -[main_algo-3] [INFO] [1746051363.007536535] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051363.008576452] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051363.009484015] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051363.011220928] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051363.045556245] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051363.045742121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051363.047367702] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051363.047650289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051363.048761285] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051363.085228665] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051363.087349330] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051363.087647636] [sailbot.teensy]: Wind angle: 184 -[mux-7] [INFO] [1746051363.087810437] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051363.088779680] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051363.089651869] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051363.090502852] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051363.145160601] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051363.145894700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051363.146616443] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051363.147999055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051363.149059984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051363.244380066] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051363.244908168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051363.245436354] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051363.246597706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051363.247768285] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051363.335244539] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051363.337124690] [sailbot.teensy]: Wind angle: 184 -[trim_sail-4] [INFO] [1746051363.337405665] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051363.338783414] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051363.338798083] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051363.339189512] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051363.339542881] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051363.344412291] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051363.345426750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051363.345563147] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051363.347150964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051363.348193362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051363.445096787] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051363.445661370] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051363.446494110] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051363.447595699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051363.448650340] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051363.457200824] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051363.458261924] [sailbot.main_algo]: Target Bearing: -141.86201939157505 -[main_algo-3] [INFO] [1746051363.459193744] [sailbot.main_algo]: Heading Difference: -173.502980608425 -[main_algo-3] [INFO] [1746051363.460014786] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051363.460867227] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051363.461645095] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051363.463078738] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051363.463354470] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051363.503214892] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904592 Long: -76.50277046 -[main_algo-3] [INFO] [1746051363.503775696] [sailbot.main_algo]: Distance to destination: 56.94244014515413 -[vectornav-1] [INFO] [1746051363.504603032] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.96800000000002, 0.118, 4.652) -[main_algo-3] [INFO] [1746051363.504993331] [sailbot.main_algo]: Target Bearing: -141.8675872343983 -[main_algo-3] [INFO] [1746051363.506047155] [sailbot.main_algo]: Heading Difference: -173.49741276560172 -[main_algo-3] [INFO] [1746051363.506980012] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051363.507878851] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051363.508745429] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051363.510441740] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051363.545049167] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051363.545823377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051363.546610287] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051363.547875998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051363.548936400] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051363.585444659] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051363.587293228] [sailbot.teensy]: Wind angle: 184 -[teensy-2] [INFO] [1746051363.588264764] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051363.589203833] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051363.587724419] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051363.588481217] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051363.590159923] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051363.644613623] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051363.645725895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051363.645853773] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051363.647515437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051363.648679156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051363.745252550] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051363.746191451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051363.746797244] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051363.748273677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051363.748799378] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051363.835269018] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051363.837383233] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051363.838010902] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051363.838643379] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051363.839576910] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051363.840492964] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051363.841202228] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051363.844414136] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051363.844948907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051363.845493212] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051363.846669346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051363.847703683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051363.945182721] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051363.946076831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051363.946642101] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051363.948201028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051363.949361780] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051363.957251237] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051363.958284761] [sailbot.main_algo]: Target Bearing: -141.8675872343983 -[main_algo-3] [INFO] [1746051363.959181295] [sailbot.main_algo]: Heading Difference: -172.1644127656017 -[main_algo-3] [INFO] [1746051363.960034347] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051363.960936404] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051363.961781612] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051363.962859140] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051363.963422338] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051364.002780737] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904612 Long: -76.50277059 -[main_algo-3] [INFO] [1746051364.003729080] [sailbot.main_algo]: Distance to destination: 56.94817830510257 -[vectornav-1] [INFO] [1746051364.003977568] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.82900000000001, -0.585, 5.086) -[main_algo-3] [INFO] [1746051364.004936524] [sailbot.main_algo]: Target Bearing: -141.84346704177068 -[main_algo-3] [INFO] [1746051364.005934238] [sailbot.main_algo]: Heading Difference: -172.1885329582293 -[main_algo-3] [INFO] [1746051364.006849497] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051364.007735521] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051364.008648059] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051364.010349641] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051364.044923148] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051364.045650759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051364.046135927] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051364.047529171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051364.048682585] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051364.085216999] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051364.086897221] [sailbot.teensy]: Wind angle: 184 -[teensy-2] [INFO] [1746051364.087762585] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051364.087329792] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051364.088447497] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051364.088879249] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051364.089904982] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051364.144830314] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051364.145869713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051364.146169597] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051364.147866216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051364.148889928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051364.245168177] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051364.245915259] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051364.246676114] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051364.248007835] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051364.249046105] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051364.335283537] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051364.337492504] [sailbot.teensy]: Wind angle: 184 -[trim_sail-4] [INFO] [1746051364.337890038] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051364.338369387] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051364.339751670] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051364.340641113] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051364.341486103] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051364.344316937] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051364.344932749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051364.345554426] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051364.346607770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051364.347765614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051364.444917936] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051364.445524455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051364.446182540] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051364.447302662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051364.448358248] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051364.457093940] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051364.458055522] [sailbot.main_algo]: Target Bearing: -141.84346704177068 -[main_algo-3] [INFO] [1746051364.458892818] [sailbot.main_algo]: Heading Difference: -171.3275329582293 -[main_algo-3] [INFO] [1746051364.459683215] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051364.460540383] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051364.461379587] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051364.462400335] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051364.463231725] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051364.502701903] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904622 Long: -76.50277057 -[main_algo-3] [INFO] [1746051364.503716963] [sailbot.main_algo]: Distance to destination: 56.95646861254232 -[vectornav-1] [INFO] [1746051364.504205864] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.94, -0.56, 5.634) -[main_algo-3] [INFO] [1746051364.504811577] [sailbot.main_algo]: Target Bearing: -141.83585067935564 -[main_algo-3] [INFO] [1746051364.505773578] [sailbot.main_algo]: Heading Difference: -171.33514932064435 -[main_algo-3] [INFO] [1746051364.506720144] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051364.507601899] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051364.508523505] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051364.510307896] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051364.545432422] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051364.545484325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051364.546686769] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051364.548006582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051364.549115612] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051364.585288504] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051364.587429698] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051364.587721481] [sailbot.teensy]: Wind angle: 183 -[teensy-2] [INFO] [1746051364.588660202] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051364.588927713] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051364.589583233] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051364.590485525] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051364.645441988] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051364.645836797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051364.647208854] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051364.647990167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051364.649139985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051364.745448977] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051364.746275110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051364.747659975] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051364.748704241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051364.749876194] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051364.835435576] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051364.837420247] [sailbot.teensy]: Wind angle: 184 -[trim_sail-4] [INFO] [1746051364.837710474] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051364.838368428] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051364.839257524] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051364.839801203] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051364.840180498] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051364.844345023] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051364.844896616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051364.845423025] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051364.846607746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051364.847664054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051364.945205571] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051364.945965854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051364.946709946] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051364.948338863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051364.949490913] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051364.957223911] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051364.958300724] [sailbot.main_algo]: Target Bearing: -141.83585067935564 -[main_algo-3] [INFO] [1746051364.959224840] [sailbot.main_algo]: Heading Difference: -172.22414932064436 -[main_algo-3] [INFO] [1746051364.960147917] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051364.961079326] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051364.961973225] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051364.962995932] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051364.963907474] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051365.002690775] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904623 Long: -76.50277054 -[main_algo-3] [INFO] [1746051365.003742069] [sailbot.main_algo]: Distance to destination: 56.95908232445199 -[vectornav-1] [INFO] [1746051365.004060187] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.226999999999975, 0.461, 5.924) -[main_algo-3] [INFO] [1746051365.004912623] [sailbot.main_algo]: Target Bearing: -141.8365522009497 -[main_algo-3] [INFO] [1746051365.005914308] [sailbot.main_algo]: Heading Difference: -172.2234477990503 -[main_algo-3] [INFO] [1746051365.006842782] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051365.007739199] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051365.008697562] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051365.010397257] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051365.044945954] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051365.045663733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051365.046162367] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051365.047467524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051365.048705072] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051365.085322986] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051365.087081535] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051365.087584776] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051365.088036200] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051365.088967113] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051365.089530962] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051365.089829753] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051365.145103948] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051365.145762231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051365.146972935] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051365.147667594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051365.148331713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051365.244855494] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051365.245545596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051365.246071634] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051365.247447711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051365.248457257] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051365.335210663] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051365.336854344] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051365.337373643] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051365.337791537] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051365.338693186] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051365.339624355] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051365.338953130] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051365.344467030] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051365.345095113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051365.345995046] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051365.346852782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051365.347969405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051365.444032316] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051365.444509855] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051365.446315605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051365.447631491] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051365.448373556] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051365.456955827] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051365.458014296] [sailbot.main_algo]: Target Bearing: -141.8365522009497 -[main_algo-3] [INFO] [1746051365.459020687] [sailbot.main_algo]: Heading Difference: -172.9364477990503 -[main_algo-3] [INFO] [1746051365.459926759] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051365.460881923] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051365.461768374] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051365.462991082] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051365.464709472] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051365.501938228] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904621 Long: -76.50277058 -[main_algo-3] [INFO] [1746051365.502691151] [sailbot.main_algo]: Distance to destination: 56.95512963860956 -[vectornav-1] [INFO] [1746051365.502832026] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.66500000000002, -1.333, 5.207) -[main_algo-3] [INFO] [1746051365.503765111] [sailbot.main_algo]: Target Bearing: -141.83619418853485 -[main_algo-3] [INFO] [1746051365.504644939] [sailbot.main_algo]: Heading Difference: -172.9368058114652 -[main_algo-3] [INFO] [1746051365.505192222] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051365.506053871] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051365.506892984] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051365.508353390] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051365.544651215] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051365.545299327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051365.545835078] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051365.547022583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051365.548003182] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051365.585315096] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051365.587428395] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051365.587611763] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051365.588547789] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051365.589022279] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051365.589422486] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051365.590313111] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051365.644725082] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051365.645488326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051365.645871056] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051365.647389931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051365.648455015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051365.745221154] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051365.746186996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051365.746744658] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051365.748328999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051365.749471909] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051365.835427427] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051365.837231471] [sailbot.teensy]: Wind angle: 184 -[trim_sail-4] [INFO] [1746051365.837766829] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051365.838168485] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051365.839065154] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051365.839374300] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051365.839949914] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051365.844527811] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051365.844852119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051365.845832038] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051365.846525195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051365.847570195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051365.945157348] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051365.945686098] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051365.946748990] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051365.947607182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051365.948610714] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051365.957062386] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051365.958075958] [sailbot.main_algo]: Target Bearing: -141.83619418853485 -[main_algo-3] [INFO] [1746051365.958939254] [sailbot.main_algo]: Heading Difference: -171.4988058114651 -[main_algo-3] [INFO] [1746051365.959754148] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051365.960598096] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051365.961437159] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051365.962484472] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051365.963165142] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051366.001645164] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904639 Long: -76.50277057 -[vectornav-1] [INFO] [1746051366.002594547] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.84899999999999, -0.026, 4.276) -[main_algo-3] [INFO] [1746051366.002324576] [sailbot.main_algo]: Distance to destination: 56.96839782535078 -[main_algo-3] [INFO] [1746051366.003383318] [sailbot.main_algo]: Target Bearing: -141.82113123684843 -[main_algo-3] [INFO] [1746051366.004178958] [sailbot.main_algo]: Heading Difference: -171.51386876315155 -[main_algo-3] [INFO] [1746051366.004991482] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051366.005845478] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051366.006676410] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051366.009132543] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051366.043583073] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051366.043960829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051366.044077840] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051366.044879229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051366.045425855] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051366.085223738] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051366.086885420] [sailbot.teensy]: Wind angle: 181 -[trim_sail-4] [INFO] [1746051366.087133891] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051366.087742049] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051366.088599907] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051366.088656797] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051366.089139029] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051366.144892020] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051366.145524109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051366.146166151] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051366.147330926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051366.148549400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051366.245060908] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051366.245757758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051366.246876165] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051366.247577625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051366.248066965] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051366.335167228] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051366.337212603] [sailbot.teensy]: Wind angle: 181 -[trim_sail-4] [INFO] [1746051366.337288269] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051366.338698357] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051366.339164230] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051366.340010158] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051366.340367098] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051366.344384337] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051366.344993576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051366.345456867] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051366.346714740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051366.347877559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051366.444984551] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051366.445745266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051366.446233101] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051366.447626194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051366.448705703] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051366.457237458] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051366.458374752] [sailbot.main_algo]: Target Bearing: -141.82113123684843 -[main_algo-3] [INFO] [1746051366.459343725] [sailbot.main_algo]: Heading Difference: -172.32986876315158 -[main_algo-3] [INFO] [1746051366.460254450] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051366.461125574] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051366.461925292] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051366.462929061] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051366.463581523] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051366.502710211] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904661 Long: -76.50277072 -[main_algo-3] [INFO] [1746051366.503734735] [sailbot.main_algo]: Distance to destination: 56.974285837964764 -[vectornav-1] [INFO] [1746051366.503997721] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.009000000000015, 0.311, 6.243) -[main_algo-3] [INFO] [1746051366.504906356] [sailbot.main_algo]: Target Bearing: -141.7942505642769 -[main_algo-3] [INFO] [1746051366.505914425] [sailbot.main_algo]: Heading Difference: -172.35674943572315 -[main_algo-3] [INFO] [1746051366.506855985] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051366.507738691] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051366.508634715] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051366.510375750] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051366.544939467] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051366.545715598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051366.546177039] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051366.547662809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051366.548812854] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051366.585280542] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051366.587425117] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051366.587560166] [sailbot.teensy]: Wind angle: 181 -[teensy-2] [INFO] [1746051366.588759736] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051366.588935831] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051366.589751992] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051366.590725501] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051366.645290786] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051366.645809674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051366.646872987] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051366.648315078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051366.649337333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051366.745133155] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051366.745755640] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051366.746608789] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051366.747715594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051366.748790135] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051366.835290288] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051366.837470037] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051366.837835980] [sailbot.teensy]: Wind angle: 181 -[mux-7] [INFO] [1746051366.838392789] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051366.838727299] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051366.839169310] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051366.839516887] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051366.844313286] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051366.844989194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051366.845645720] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051366.846846623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051366.847860390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051366.945068495] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051366.945753057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051366.946414937] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051366.947901249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051366.948646616] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051366.957201444] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051366.958286057] [sailbot.main_algo]: Target Bearing: -141.7942505642769 -[main_algo-3] [INFO] [1746051366.959218062] [sailbot.main_algo]: Heading Difference: -173.19674943572306 -[main_algo-3] [INFO] [1746051366.960129713] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051366.961025309] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051366.961876788] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051366.962872445] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051366.963434878] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051367.002879487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690465 Long: -76.50277075 -[main_algo-3] [INFO] [1746051367.003981791] [sailbot.main_algo]: Distance to destination: 56.96465085793636 -[vectornav-1] [INFO] [1746051367.004204412] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.216999999999985, -1.623, 5.29) -[main_algo-3] [INFO] [1746051367.005468850] [sailbot.main_algo]: Target Bearing: -141.80220114296495 -[main_algo-3] [INFO] [1746051367.006823233] [sailbot.main_algo]: Heading Difference: -173.18879885703507 -[main_algo-3] [INFO] [1746051367.007770371] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051367.008699603] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051367.009577741] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051367.011348706] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051367.045003947] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051367.045703315] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051367.046474913] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051367.047953688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051367.049074351] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051367.085452423] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051367.087732054] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051367.087846466] [sailbot.teensy]: Wind angle: 181 -[teensy-2] [INFO] [1746051367.088839816] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051367.089564214] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051367.089736384] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051367.090638549] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051367.144694530] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051367.145339894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051367.145838260] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051367.147153773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051367.148237224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051367.244917511] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051367.246072836] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051367.245605165] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051367.248634462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051367.249839833] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051367.335392897] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051367.337770136] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051367.338669243] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051367.339252040] [sailbot.teensy]: Wind angle: 184 -[teensy-2] [INFO] [1746051367.340233960] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051367.341122342] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051367.341999780] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051367.344318608] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051367.344803786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051367.345382704] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051367.346533217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051367.347590116] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051367.444998489] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051367.445767476] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051367.446547952] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051367.447705117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051367.448746671] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051367.457244086] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051367.458350967] [sailbot.main_algo]: Target Bearing: -141.80220114296495 -[main_algo-3] [INFO] [1746051367.459308345] [sailbot.main_algo]: Heading Difference: -171.9807988570351 -[main_algo-3] [INFO] [1746051367.460235412] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051367.461348463] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051367.462161503] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051367.463264163] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051367.463643338] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051367.502606958] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904651 Long: -76.50277065 -[main_algo-3] [INFO] [1746051367.503522298] [sailbot.main_algo]: Distance to destination: 56.97172375020617 -[vectornav-1] [INFO] [1746051367.503611289] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.58100000000002, 0.949, 5.195) -[main_algo-3] [INFO] [1746051367.504673510] [sailbot.main_algo]: Target Bearing: -141.80656340142036 -[main_algo-3] [INFO] [1746051367.505763520] [sailbot.main_algo]: Heading Difference: -171.97643659857965 -[main_algo-3] [INFO] [1746051367.506758449] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051367.507759434] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051367.509188279] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051367.511981508] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051367.543831712] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051367.544368461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051367.544726711] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051367.545782018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051367.546736889] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051367.584948403] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051367.586369665] [sailbot.teensy]: Wind angle: 184 -[trim_sail-4] [INFO] [1746051367.586861109] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051367.587169854] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051367.588025469] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051367.588345928] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051367.588884156] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051367.645001742] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051367.645687925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051367.646324931] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051367.647514865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051367.648683185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051367.744988508] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051367.745555705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051367.746276153] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051367.747431179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051367.748525567] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051367.835488698] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051367.837750807] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051367.838739980] [sailbot.teensy]: Wind angle: 184 -[mux-7] [INFO] [1746051367.839668727] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051367.839773903] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051367.840751307] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051367.841606740] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051367.844389811] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051367.844845345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051367.845543812] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051367.846535552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051367.847538906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051367.945031967] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051367.945731741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051367.946339433] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051367.947603868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051367.948650889] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051367.957021456] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051367.958043271] [sailbot.main_algo]: Target Bearing: -141.80656340142036 -[main_algo-3] [INFO] [1746051367.958921161] [sailbot.main_algo]: Heading Difference: -171.61243659857962 -[main_algo-3] [INFO] [1746051367.959754263] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051367.960610248] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051367.961445839] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051367.962489615] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051367.963008404] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051368.002762137] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904656 Long: -76.50277074 -[vectornav-1] [INFO] [1746051368.003860202] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.298, -1.361, 5.473) -[main_algo-3] [INFO] [1746051368.003846084] [sailbot.main_algo]: Distance to destination: 56.96950079024638 -[main_algo-3] [INFO] [1746051368.004965929] [sailbot.main_algo]: Target Bearing: -141.79753141856173 -[main_algo-3] [INFO] [1746051368.005953486] [sailbot.main_algo]: Heading Difference: -171.62146858143825 -[main_algo-3] [INFO] [1746051368.006887737] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051368.007743930] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051368.008641264] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051368.010543169] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051368.044788248] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051368.045369444] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051368.045913240] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051368.047202065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051368.048246586] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051368.085305220] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051368.087024450] [sailbot.teensy]: Wind angle: 184 -[trim_sail-4] [INFO] [1746051368.087510521] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051368.089297214] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051368.089417835] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051368.090376456] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051368.091321444] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051368.145136585] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051368.145831170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051368.146489172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051368.147737665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051368.148765918] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051368.245200382] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051368.245897008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051368.246714163] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051368.248704720] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051368.249910979] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051368.335443275] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051368.337765756] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051368.338291030] [sailbot.teensy]: Wind angle: 184 -[mux-7] [INFO] [1746051368.338970769] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051368.339195697] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051368.339582532] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051368.340045529] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051368.344460060] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051368.344921215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051368.345584908] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051368.346583962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051368.347774800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051368.444998778] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051368.445659942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051368.446640590] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051368.447440126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051368.448507087] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051368.457222374] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051368.458293088] [sailbot.main_algo]: Target Bearing: -141.79753141856173 -[main_algo-3] [INFO] [1746051368.459197572] [sailbot.main_algo]: Heading Difference: -171.90446858143827 -[main_algo-3] [INFO] [1746051368.460061081] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051368.460940676] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051368.461730784] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051368.462748505] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051368.463502068] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051368.503738263] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904661 Long: -76.50277071 -[main_algo-3] [INFO] [1746051368.504023521] [sailbot.main_algo]: Distance to destination: 56.97492283070753 -[vectornav-1] [INFO] [1746051368.505017477] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.245000000000005, 0.036, 5.754) -[main_algo-3] [INFO] [1746051368.505302939] [sailbot.main_algo]: Target Bearing: -141.79477338936218 -[main_algo-3] [INFO] [1746051368.506642100] [sailbot.main_algo]: Heading Difference: -171.90722661063785 -[main_algo-3] [INFO] [1746051368.507586152] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051368.508521088] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051368.509383365] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051368.511095708] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051368.545641345] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051368.545818907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051368.547235198] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051368.547727959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051368.548944208] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051368.585370549] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051368.587175656] [sailbot.teensy]: Wind angle: 187 -[teensy-2] [INFO] [1746051368.588125152] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051368.587916370] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051368.589050660] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051368.589198084] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051368.589964991] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051368.644959739] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051368.645592799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051368.646304491] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051368.647532405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051368.648589099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051368.745570110] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051368.746149475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051368.747465991] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051368.748412785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051368.749734925] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051368.835227495] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051368.837273076] [sailbot.teensy]: Wind angle: 191 -[trim_sail-4] [INFO] [1746051368.837473378] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051368.838303052] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051368.839215122] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051368.839726410] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051368.840171792] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051368.844468770] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051368.845186017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051368.845689044] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051368.846901396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051368.847914108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051368.945182943] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051368.945697635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051368.946578756] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051368.947836932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051368.948893529] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051368.957269286] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051368.958333097] [sailbot.main_algo]: Target Bearing: -141.79477338936218 -[main_algo-3] [INFO] [1746051368.959221983] [sailbot.main_algo]: Heading Difference: -172.96022661063785 -[main_algo-3] [INFO] [1746051368.960094245] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051368.960973430] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051368.961841390] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051368.962936348] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051368.964060454] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051369.003251013] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904672 Long: -76.50277071 -[main_algo-3] [INFO] [1746051369.003934513] [sailbot.main_algo]: Distance to destination: 56.98264809097471 -[main_algo-3] [INFO] [1746051369.005156840] [sailbot.main_algo]: Target Bearing: -141.7852569908618 -[vectornav-1] [INFO] [1746051369.006223292] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.043000000000006, 0.163, 5.42) -[main_algo-3] [INFO] [1746051369.006320203] [sailbot.main_algo]: Heading Difference: -172.9697430091382 -[main_algo-3] [INFO] [1746051369.007337910] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051369.008265159] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051369.009139440] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051369.010912959] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051369.045497282] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051369.045722825] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051369.046712648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051369.048027226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051369.048996830] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051369.085241012] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051369.086910463] [sailbot.teensy]: Wind angle: 195 -[teensy-2] [INFO] [1746051369.087825601] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051369.087640896] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051369.088369869] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051369.088721020] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051369.089642665] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051369.145071867] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051369.145813135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051369.146658559] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051369.147709849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051369.148662227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051369.245503193] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051369.246250997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051369.247084054] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051369.248869178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051369.249500446] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051369.335386195] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051369.337964118] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051369.338381301] [sailbot.teensy]: Wind angle: 198 -[mux-7] [INFO] [1746051369.338831406] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051369.339666183] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051369.340608405] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051369.341488009] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051369.344302451] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051369.344835191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051369.345511048] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051369.346661364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051369.347842251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051369.444969542] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051369.445656336] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051369.446215558] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051369.447619914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051369.448675709] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051369.457183046] [sailbot.main_algo]: Wind Direction: 198 -[main_algo-3] [INFO] [1746051369.458301419] [sailbot.main_algo]: Target Bearing: -141.7852569908618 -[main_algo-3] [INFO] [1746051369.459220541] [sailbot.main_algo]: Heading Difference: -171.1717430091382 -[main_algo-3] [INFO] [1746051369.460088993] [sailbot.main_algo]: Wind Direction: 198 -[main_algo-3] [INFO] [1746051369.460931491] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051369.461711798] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051369.462694986] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051369.463397026] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051369.502720717] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904664 Long: -76.50277073 -[vectornav-1] [INFO] [1746051369.503856792] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.264999999999986, -1.093, 4.779) -[main_algo-3] [INFO] [1746051369.504056015] [sailbot.main_algo]: Distance to destination: 56.97575563241059 -[main_algo-3] [INFO] [1746051369.505136344] [sailbot.main_algo]: Target Bearing: -141.79113207156655 -[main_algo-3] [INFO] [1746051369.506134635] [sailbot.main_algo]: Heading Difference: -171.16586792843344 -[main_algo-3] [INFO] [1746051369.507222661] [sailbot.main_algo]: Wind Direction: 198 -[main_algo-3] [INFO] [1746051369.508173693] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051369.509051973] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051369.510652770] [sailbot.mux]: algo rudder angle: -25 -[teensy-2] [INFO] [1746051369.545465373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051369.546042611] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051369.547286061] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051369.547590589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051369.548642329] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051369.585081519] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051369.586780838] [sailbot.teensy]: Wind angle: 200 -[teensy-2] [INFO] [1746051369.587661616] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051369.588555964] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051369.587093349] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051369.587532449] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051369.589437268] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051369.644123647] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051369.644333650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051369.644857760] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051369.645544043] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051369.646379158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051369.744519429] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051369.745192586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051369.745933982] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051369.746951056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051369.748903048] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051369.835256463] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051369.837149899] [sailbot.teensy]: Wind angle: 191 -[trim_sail-4] [INFO] [1746051369.837491111] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051369.839039588] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051369.839319898] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051369.840329991] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051369.841177669] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051369.844477042] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051369.844898735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051369.845619513] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051369.846587684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051369.847828769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051369.945047909] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051369.945538737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051369.946441416] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051369.947462337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051369.948617993] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051369.957259451] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051369.958296790] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746051369.959268503] [sailbot.main_algo]: Target Bearing: -141.79113207156655 -[main_algo-3] [INFO] [1746051369.960168709] [sailbot.main_algo]: Heading Difference: -170.94386792843346 -[main_algo-3] [INFO] [1746051369.961026086] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051369.961870919] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051369.962702781] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051369.963813704] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051369.964424084] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051370.002733534] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904662 Long: -76.50277059 -[vectornav-1] [INFO] [1746051370.003943384] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.75599999999997, -0.007, 5.131) -[main_algo-3] [INFO] [1746051370.004058215] [sailbot.main_algo]: Distance to destination: 56.98326923742054 -[main_algo-3] [INFO] [1746051370.005190724] [sailbot.main_algo]: Target Bearing: -141.80018116714973 -[main_algo-3] [INFO] [1746051370.006177208] [sailbot.main_algo]: Heading Difference: -170.93481883285028 -[main_algo-3] [INFO] [1746051370.007156815] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051370.008054261] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051370.008939122] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051370.010624876] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051370.044964899] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051370.045765145] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051370.047894262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051370.047999414] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051370.049929728] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051370.085224719] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051370.087865317] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051370.088431009] [sailbot.teensy]: Wind angle: 175 -[mux-7] [INFO] [1746051370.088860684] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051370.089361600] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051370.090245003] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051370.091117398] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051370.144858353] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051370.145880552] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051370.146232034] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051370.148247489] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051370.149358657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051370.245036228] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051370.245947474] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051370.246443138] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051370.248117892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051370.249354844] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051370.335513894] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051370.337593184] [sailbot.teensy]: Wind angle: 168 -[trim_sail-4] [INFO] [1746051370.337631162] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051370.338597208] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051370.339288490] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051370.339297230] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051370.339683793] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051370.344847495] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051370.345200342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051370.346037971] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051370.347020494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051370.348069375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051370.444969046] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051370.445611252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051370.446440476] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051370.447419710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051370.448505911] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051370.457165385] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051370.458131204] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746051370.458982314] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051370.460114434] [sailbot.main_algo]: Current Location: (42.469046622147516, -76.50277059005442) -[main_algo-3] [INFO] [1746051370.461164515] [sailbot.main_algo]: Target Bearing: -141.80018116714973 -[main_algo-3] [INFO] [1746051370.462000171] [sailbot.main_algo]: Heading Difference: -172.4438188328503 -[main_algo-3] [INFO] [1746051370.462776720] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051370.463548030] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051370.464330048] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051370.465290015] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051370.465823542] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051370.502565896] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904676 Long: -76.50277075 -[main_algo-3] [INFO] [1746051370.503512806] [sailbot.main_algo]: Distance to destination: 56.98291019716375 -[vectornav-1] [INFO] [1746051370.503633674] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.82900000000001, -0.381, 6.166) -[main_algo-3] [INFO] [1746051370.504554415] [sailbot.main_algo]: Target Bearing: -141.77970556160685 -[main_algo-3] [INFO] [1746051370.505478068] [sailbot.main_algo]: Heading Difference: -172.46429443839315 -[main_algo-3] [INFO] [1746051370.506377436] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051370.507271921] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051370.508143649] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051370.509912967] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051370.544498327] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051370.545081062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051370.546006639] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051370.546807302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051370.547840760] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051370.585143304] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051370.587177695] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051370.587584555] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051370.588196292] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746051370.589337534] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051370.590336720] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051370.591219785] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051370.644908770] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051370.645645223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051370.646228141] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051370.647708429] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051370.648780564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051370.744643016] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051370.745284060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051370.747425465] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051370.747894804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051370.748413025] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051370.834349707] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051370.835645022] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051370.835783472] [sailbot.teensy]: Wind angle: 164 -[mux-7] [INFO] [1746051370.835968439] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051370.836211225] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051370.836603198] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051370.837008020] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051370.843661908] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051370.844038419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051370.844193538] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051370.844905225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051370.845838519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051370.943632164] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051370.944069475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051370.944129087] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051370.944903908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051370.945461618] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051370.956314647] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051370.956808686] [sailbot.main_algo]: Target Bearing: -141.77970556160685 -[main_algo-3] [INFO] [1746051370.957238001] [sailbot.main_algo]: Heading Difference: -172.39129443839317 -[main_algo-3] [INFO] [1746051370.957649027] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051370.958043365] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051370.958427485] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051370.958919742] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051370.959249011] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051371.001435924] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904673 Long: -76.50277068 -[vectornav-1] [INFO] [1746051371.001892905] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.11700000000002, -0.328, 5.239) -[main_algo-3] [INFO] [1746051371.001989595] [sailbot.main_algo]: Distance to destination: 56.98526118499962 -[main_algo-3] [INFO] [1746051371.002453035] [sailbot.main_algo]: Target Bearing: -141.78596050841549 -[main_algo-3] [INFO] [1746051371.002905153] [sailbot.main_algo]: Heading Difference: -172.3850394915845 -[main_algo-3] [INFO] [1746051371.003305696] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051371.003733494] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051371.004171881] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051371.005797303] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051371.043617571] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051371.043963560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051371.044133878] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051371.044994687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051371.045507777] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051371.084405820] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051371.085730874] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746051371.086624965] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051371.086172542] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051371.086796545] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051371.087525219] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051371.088613670] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051371.145053718] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051371.145890184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051371.146312819] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051371.147710218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051371.148753784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051371.245257988] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051371.245972627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051371.246757005] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051371.248393373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051371.249555554] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051371.335341542] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051371.337108805] [sailbot.teensy]: Wind angle: 176 -[trim_sail-4] [INFO] [1746051371.337849864] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051371.338211857] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051371.339115522] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051371.339972243] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051371.340023378] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051371.344386727] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051371.345147275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051371.345548897] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051371.347084213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051371.348224896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051371.445019183] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051371.445773949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051371.446592266] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051371.447757812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051371.448834897] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051371.456988127] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051371.458000564] [sailbot.main_algo]: Target Bearing: -141.78596050841549 -[main_algo-3] [INFO] [1746051371.458892718] [sailbot.main_algo]: Heading Difference: -172.0970394915845 -[main_algo-3] [INFO] [1746051371.459764516] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051371.460639238] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051371.461440522] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051371.462451073] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051371.463187547] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051371.502886773] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904669 Long: -76.50277043 -[main_algo-3] [INFO] [1746051371.503974247] [sailbot.main_algo]: Distance to destination: 56.99837697740301 -[vectornav-1] [INFO] [1746051371.504221152] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.478999999999985, -0.748, 4.888) -[main_algo-3] [INFO] [1746051371.505703977] [sailbot.main_algo]: Target Bearing: -141.8024871615595 -[main_algo-3] [INFO] [1746051371.506686249] [sailbot.main_algo]: Heading Difference: -172.08051283844048 -[main_algo-3] [INFO] [1746051371.507602267] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051371.508538425] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051371.509404024] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051371.511046614] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051371.545807619] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051371.545887789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051371.547515328] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051371.548407122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051371.549481693] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051371.585152034] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051371.587103032] [sailbot.teensy]: Wind angle: 187 -[trim_sail-4] [INFO] [1746051371.587140091] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051371.588066337] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051371.588923279] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051371.588959758] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051371.589868667] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051371.645505494] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051371.646788485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051371.647237094] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051371.649391193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051371.649885307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051371.744809581] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051371.745321273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051371.746031537] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051371.747053510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051371.747999842] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051371.835530402] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051371.837369043] [sailbot.teensy]: Wind angle: 182 -[trim_sail-4] [INFO] [1746051371.837968554] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051371.839191845] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051371.839391618] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051371.840356640] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051371.841276496] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051371.844565520] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051371.844892972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051371.845746155] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051371.846653544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051371.847699495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051371.945039765] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051371.945504795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051371.946362831] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051371.947278814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051371.948408662] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051371.957075400] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051371.958100925] [sailbot.main_algo]: Target Bearing: -141.8024871615595 -[main_algo-3] [INFO] [1746051371.958984994] [sailbot.main_algo]: Heading Difference: -170.71851283844052 -[main_algo-3] [INFO] [1746051371.959812902] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051371.960715499] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051371.961562331] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051371.962602201] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051371.963162189] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051372.002722630] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904693 Long: -76.50277065 -[main_algo-3] [INFO] [1746051372.003682332] [sailbot.main_algo]: Distance to destination: 57.00122121762958 -[vectornav-1] [INFO] [1746051372.003863625] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.59699999999998, 0.222, 4.976) -[main_algo-3] [INFO] [1746051372.004829348] [sailbot.main_algo]: Target Bearing: -141.7702338012066 -[main_algo-3] [INFO] [1746051372.005762772] [sailbot.main_algo]: Heading Difference: -170.75076619879343 -[main_algo-3] [INFO] [1746051372.006678284] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051372.007562929] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051372.008430006] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051372.010142786] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051372.044920714] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051372.045876738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051372.046172229] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051372.047895175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051372.048917856] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051372.084842512] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051372.086162237] [sailbot.teensy]: Wind angle: 172 -[trim_sail-4] [INFO] [1746051372.086507993] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051372.088015628] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051372.088238416] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051372.089113465] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051372.089980701] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051372.145064620] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051372.145588126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051372.146409995] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051372.147535866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051372.148599880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051372.245285779] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051372.245850940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051372.246909017] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051372.248190271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051372.249378349] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051372.335417980] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051372.337228449] [sailbot.teensy]: Wind angle: 172 -[teensy-2] [INFO] [1746051372.338160701] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051372.337760351] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051372.338893660] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051372.339058290] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051372.339946848] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051372.344481924] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051372.345111029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051372.345632474] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051372.346846568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051372.347883206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051372.444948344] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051372.445449884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051372.446334410] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051372.447340028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051372.448508470] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051372.457023578] [sailbot.main_algo]: Wind Direction: 172 -[main_algo-3] [INFO] [1746051372.458053974] [sailbot.main_algo]: Target Bearing: -141.7702338012066 -[main_algo-3] [INFO] [1746051372.458956753] [sailbot.main_algo]: Heading Difference: -172.63276619879343 -[main_algo-3] [INFO] [1746051372.459833271] [sailbot.main_algo]: Wind Direction: 172 -[main_algo-3] [INFO] [1746051372.460705523] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051372.461510082] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051372.462512897] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051372.463091778] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051372.502753534] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904702 Long: -76.50277082 -[main_algo-3] [INFO] [1746051372.503725204] [sailbot.main_algo]: Distance to destination: 56.99672185993453 -[vectornav-1] [INFO] [1746051372.503906245] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.956999999999994, -0.473, 5.458) -[main_algo-3] [INFO] [1746051372.504861256] [sailbot.main_algo]: Target Bearing: -141.7535631333524 -[main_algo-3] [INFO] [1746051372.505815397] [sailbot.main_algo]: Heading Difference: -172.64943686664765 -[main_algo-3] [INFO] [1746051372.506979623] [sailbot.main_algo]: Wind Direction: 172 -[main_algo-3] [INFO] [1746051372.507883715] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051372.508748302] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051372.510406507] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051372.544955831] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051372.545656280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051372.546199636] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051372.547669355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051372.548699674] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051372.591737152] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051372.597215994] [sailbot.teensy]: Wind angle: 172 -[teensy-2] [INFO] [1746051372.598130010] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051372.598969818] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051372.599802575] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051372.593778472] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051372.596109324] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051372.644290256] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051372.645176946] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051372.645000853] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051372.648003944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051372.650093508] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051372.743696051] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051372.744213786] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051372.744306496] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051372.745206534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051372.745719466] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051372.835406452] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051372.837222530] [sailbot.teensy]: Wind angle: 173 -[trim_sail-4] [INFO] [1746051372.837618032] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051372.838310843] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051372.838545943] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051372.839547167] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051372.840426904] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051372.844384821] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051372.845040851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051372.845506075] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051372.846782465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051372.847899768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051372.944924423] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051372.945650160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051372.946217520] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051372.947432856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051372.948613436] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051372.957163461] [sailbot.main_algo]: Wind Direction: 173 -[main_algo-3] [INFO] [1746051372.958268015] [sailbot.main_algo]: Target Bearing: -141.7535631333524 -[main_algo-3] [INFO] [1746051372.959217077] [sailbot.main_algo]: Heading Difference: -173.28943686664763 -[main_algo-3] [INFO] [1746051372.960095829] [sailbot.main_algo]: Wind Direction: 173 -[main_algo-3] [INFO] [1746051372.960972604] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051372.961835145] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051372.962917824] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051372.963534941] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051373.003182972] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904688 Long: -76.50277074 -[main_algo-3] [INFO] [1746051373.004266389] [sailbot.main_algo]: Distance to destination: 56.99197731208684 -[vectornav-1] [INFO] [1746051373.004626344] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.90999999999997, -1.071, 5.68) -[main_algo-3] [INFO] [1746051373.005620016] [sailbot.main_algo]: Target Bearing: -141.76985079559674 -[main_algo-3] [INFO] [1746051373.006682218] [sailbot.main_algo]: Heading Difference: -173.27314920440324 -[main_algo-3] [INFO] [1746051373.007693162] [sailbot.main_algo]: Wind Direction: 173 -[main_algo-3] [INFO] [1746051373.008720604] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051373.009613007] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051373.011552149] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051373.044949125] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051373.045706094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051373.046370905] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051373.047723934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051373.048765137] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051373.085197323] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051373.086726955] [sailbot.teensy]: Wind angle: 173 -[trim_sail-4] [INFO] [1746051373.087290077] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051373.087556113] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051373.087982189] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051373.088421065] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051373.089312873] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051373.145147051] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051373.145858741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051373.146576303] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051373.147808059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051373.148976560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051373.245269748] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051373.246028692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051373.246824118] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051373.248240441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051373.249281364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051373.344660093] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051373.345108191] [sailbot.teensy]: Check telemetry callback entered -[mux-7] [INFO] [1746051373.346043278] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051373.346934461] [sailbot.teensy]: Wind angle: 173 -[teensy-2] [INFO] [1746051373.347914087] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051373.348924790] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051373.349928107] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051373.351004930] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051373.351475907] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051373.352769651] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051373.365389475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051373.371479442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051373.443725035] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051373.444018024] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051373.444944361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051373.445459148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051373.445712775] [sailbot.mux]: Published rudder angle from controller_app: 0 -[main_algo-3] [INFO] [1746051373.456361964] [sailbot.main_algo]: Wind Direction: 173 -[main_algo-3] [INFO] [1746051373.456893744] [sailbot.main_algo]: Target Bearing: -141.76985079559674 -[main_algo-3] [INFO] [1746051373.457323101] [sailbot.main_algo]: Heading Difference: -172.32014920440326 -[main_algo-3] [INFO] [1746051373.457735835] [sailbot.main_algo]: Wind Direction: 173 -[main_algo-3] [INFO] [1746051373.458139820] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051373.458532695] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051373.459007704] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051373.460517514] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051373.502043421] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904674 Long: -76.50277073 -[main_algo-3] [INFO] [1746051373.505088857] [sailbot.main_algo]: Distance to destination: 56.98277907748936 -[main_algo-3] [INFO] [1746051373.505582869] [sailbot.main_algo]: Target Bearing: -141.78248126948267 -[main_algo-3] [INFO] [1746051373.506027849] [sailbot.main_algo]: Heading Difference: -172.30751873051736 -[main_algo-3] [INFO] [1746051373.506437157] [sailbot.main_algo]: Wind Direction: 173 -[main_algo-3] [INFO] [1746051373.506839460] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051373.507230035] [sailbot.main_algo]: Rudder Angle: -25 -[vectornav-1] [INFO] [1746051373.508982959] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.56299999999999, 0.545, 4.719) -[mux-7] [INFO] [1746051373.511702313] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051373.544540897] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051373.545779053] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051373.545221720] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051373.546653797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051373.547645844] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051373.585454269] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051373.588296658] [sailbot.teensy]: Wind angle: 173 -[trim_sail-4] [INFO] [1746051373.588298211] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051373.588656723] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051373.589252970] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051373.590110174] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051373.590973308] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051373.644985600] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051373.645641165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051373.646332163] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051373.647506765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051373.648904849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051373.744108914] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051373.744579738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051373.745029278] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051373.746068340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051373.747076596] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051373.835253780] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051373.836930924] [sailbot.teensy]: Wind angle: 172 -[trim_sail-4] [INFO] [1746051373.837590225] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051373.837810413] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051373.838035963] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051373.838938349] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051373.839793356] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051373.844506834] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051373.845272604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051373.845632318] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051373.847115373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051373.848283989] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051373.945245859] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051373.946208369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051373.946806117] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051373.948851956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051373.950034098] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051373.957238040] [sailbot.main_algo]: Wind Direction: 172 -[main_algo-3] [INFO] [1746051373.958329051] [sailbot.main_algo]: Target Bearing: -141.78248126948267 -[main_algo-3] [INFO] [1746051373.959257978] [sailbot.main_algo]: Heading Difference: -170.65451873051734 -[main_algo-3] [INFO] [1746051373.960103483] [sailbot.main_algo]: Wind Direction: 172 -[main_algo-3] [INFO] [1746051373.961010687] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051373.961861175] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051373.962913488] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051373.963522053] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051374.003118991] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904687 Long: -76.50277104 -[main_algo-3] [INFO] [1746051374.004267197] [sailbot.main_algo]: Distance to destination: 56.97217358647716 -[vectornav-1] [INFO] [1746051374.004535718] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.894000000000005, -1.088, 5.114) -[main_algo-3] [INFO] [1746051374.005568010] [sailbot.main_algo]: Target Bearing: -141.75502211753016 -[main_algo-3] [INFO] [1746051374.006634110] [sailbot.main_algo]: Heading Difference: -170.68197788246982 -[main_algo-3] [INFO] [1746051374.007539806] [sailbot.main_algo]: Wind Direction: 172 -[main_algo-3] [INFO] [1746051374.008448019] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051374.009291144] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051374.010944263] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051374.044457441] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051374.045184136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051374.045806795] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051374.047061113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051374.048505709] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051374.085338595] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051374.087436051] [sailbot.teensy]: Wind angle: 170 -[trim_sail-4] [INFO] [1746051374.087511498] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051374.087940686] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051374.088431549] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051374.089325570] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051374.090197421] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051374.144950491] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051374.145747541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051374.146231415] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051374.147603832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051374.148072546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051374.244956767] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051374.245631311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051374.246339635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051374.247473167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051374.248035861] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051374.335377735] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051374.337079229] [sailbot.teensy]: Wind angle: 172 -[trim_sail-4] [INFO] [1746051374.337603995] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051374.338010508] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051374.338905852] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051374.339217612] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051374.339755767] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051374.344673136] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051374.345253182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051374.345819521] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051374.346958452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051374.348091692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051374.445071410] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051374.445861842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051374.446686241] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051374.447686514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051374.448790182] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051374.457042913] [sailbot.main_algo]: Wind Direction: 172 -[main_algo-3] [INFO] [1746051374.458003501] [sailbot.main_algo]: Target Bearing: -141.75502211753016 -[main_algo-3] [INFO] [1746051374.458899218] [sailbot.main_algo]: Heading Difference: -172.3509778824698 -[main_algo-3] [INFO] [1746051374.459747127] [sailbot.main_algo]: Wind Direction: 172 -[main_algo-3] [INFO] [1746051374.460598378] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051374.461408972] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051374.463119072] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051374.463352232] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051374.503795652] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904701 Long: -76.502771 -[main_algo-3] [INFO] [1746051374.504079828] [sailbot.main_algo]: Distance to destination: 56.98456049230619 -[vectornav-1] [INFO] [1746051374.505087954] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.28699999999998, 0.354, 6.422) -[main_algo-3] [INFO] [1746051374.505311192] [sailbot.main_algo]: Target Bearing: -141.74501030152808 -[main_algo-3] [INFO] [1746051374.506349116] [sailbot.main_algo]: Heading Difference: -172.36098969847194 -[main_algo-3] [INFO] [1746051374.507248747] [sailbot.main_algo]: Wind Direction: 172 -[main_algo-3] [INFO] [1746051374.508113726] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051374.508977162] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051374.510671846] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051374.545325769] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051374.545376278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051374.546644407] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051374.547829592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051374.548953986] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051374.585463732] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051374.587423882] [sailbot.teensy]: Wind angle: 173 -[trim_sail-4] [INFO] [1746051374.587855609] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051374.588423400] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051374.589512403] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051374.589953621] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051374.590556614] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051374.644965443] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051374.645608506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051374.646283441] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051374.647680321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051374.648836663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051374.744957898] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051374.745889976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051374.746287953] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051374.747475008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051374.747961853] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051374.835403885] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051374.837645586] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051374.838345827] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051374.838646479] [sailbot.teensy]: Wind angle: 173 -[teensy-2] [INFO] [1746051374.839603934] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051374.840516154] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051374.841358048] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051374.844534308] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051374.845206436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051374.845712331] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051374.847026259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051374.848233642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051374.945037463] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051374.946224906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051374.946459027] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051374.948555910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051374.949763549] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051374.957104726] [sailbot.main_algo]: Wind Direction: 173 -[main_algo-3] [INFO] [1746051374.958109527] [sailbot.main_algo]: Target Bearing: -141.74501030152808 -[main_algo-3] [INFO] [1746051374.959008119] [sailbot.main_algo]: Heading Difference: -172.9679896984719 -[main_algo-3] [INFO] [1746051374.959850101] [sailbot.main_algo]: Wind Direction: 173 -[main_algo-3] [INFO] [1746051374.960732567] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051374.961582477] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051374.962567748] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051374.963237700] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051375.003102280] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904688 Long: -76.50277111 -[main_algo-3] [INFO] [1746051375.004110692] [sailbot.main_algo]: Distance to destination: 56.968420154804086 -[vectornav-1] [INFO] [1746051375.004512684] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.101999999999975, -0.71, 4.624) -[main_algo-3] [INFO] [1746051375.005491782] [sailbot.main_algo]: Target Bearing: -141.75049401091934 -[main_algo-3] [INFO] [1746051375.006561774] [sailbot.main_algo]: Heading Difference: -172.96250598908068 -[main_algo-3] [INFO] [1746051375.007448130] [sailbot.main_algo]: Wind Direction: 173 -[main_algo-3] [INFO] [1746051375.008386089] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051375.009442048] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051375.011247219] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051375.045088607] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051375.045817102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051375.046503325] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051375.047806953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051375.048831510] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051375.085098051] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051375.086609396] [sailbot.teensy]: Wind angle: 173 -[teensy-2] [INFO] [1746051375.087466089] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051375.087032765] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051375.087890144] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051375.088302695] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051375.089186594] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051375.144849663] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051375.145541929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051375.146134295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051375.147532786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051375.148582701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051375.244995773] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051375.245681085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051375.246278496] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051375.247554254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051375.248579264] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051375.335073158] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051375.336593708] [sailbot.teensy]: Wind angle: 173 -[trim_sail-4] [INFO] [1746051375.337353421] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051375.337480436] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051375.338255810] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051375.338283281] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051375.339129328] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051375.344311843] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051375.344892048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051375.345421567] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051375.346595454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051375.347724928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051375.444991869] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051375.445693637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051375.446294153] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051375.447538413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051375.448608530] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051375.456943348] [sailbot.main_algo]: Wind Direction: 173 -[main_algo-3] [INFO] [1746051375.457963149] [sailbot.main_algo]: Target Bearing: -141.75049401091934 -[main_algo-3] [INFO] [1746051375.458876963] [sailbot.main_algo]: Heading Difference: -171.14750598908068 -[main_algo-3] [INFO] [1746051375.459688192] [sailbot.main_algo]: Wind Direction: 173 -[main_algo-3] [INFO] [1746051375.460532770] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051375.461328997] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051375.462361987] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051375.463286705] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051375.502830852] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904688 Long: -76.50277102 -[main_algo-3] [INFO] [1746051375.503806107] [sailbot.main_algo]: Distance to destination: 56.97414967592211 -[vectornav-1] [INFO] [1746051375.503955606] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.68000000000001, -0.318, 5.641) -[main_algo-3] [INFO] [1746051375.504933394] [sailbot.main_algo]: Target Bearing: -141.75520389086162 -[main_algo-3] [INFO] [1746051375.505872061] [sailbot.main_algo]: Heading Difference: -171.14279610913843 -[main_algo-3] [INFO] [1746051375.506779446] [sailbot.main_algo]: Wind Direction: 173 -[main_algo-3] [INFO] [1746051375.507640093] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051375.508508301] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051375.511217968] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051375.545779888] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051375.546023864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051375.547190355] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051375.548259250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051375.549287703] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051375.585414350] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051375.587722786] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051375.587722645] [sailbot.teensy]: Wind angle: 172 -[teensy-2] [INFO] [1746051375.588678990] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051375.589086472] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051375.589648283] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051375.590633770] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051375.644473408] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051375.645061707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051375.645592060] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051375.646672453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051375.647775917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051375.744479347] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051375.745025321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051375.745496304] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051375.746678013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051375.747667635] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051375.834589488] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051375.835733944] [sailbot.teensy]: Wind angle: 172 -[trim_sail-4] [INFO] [1746051375.836428429] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051375.837028262] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051375.837744675] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051375.838450091] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051375.839228112] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051375.843737548] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051375.844378676] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051375.844610014] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051375.845792620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051375.846474849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051375.944726755] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051375.945306901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051375.945911978] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051375.947064941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051375.948044339] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051375.956779569] [sailbot.main_algo]: Wind Direction: 172 -[main_algo-3] [INFO] [1746051375.957599401] [sailbot.main_algo]: Target Bearing: -141.75520389086162 -[main_algo-3] [INFO] [1746051375.958357078] [sailbot.main_algo]: Heading Difference: -171.56479610913834 -[main_algo-3] [INFO] [1746051375.959076762] [sailbot.main_algo]: Wind Direction: 172 -[main_algo-3] [INFO] [1746051375.959832959] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051375.960607063] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051375.961623752] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051375.962193968] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051376.002948004] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904702 Long: -76.50277125 -[main_algo-3] [INFO] [1746051376.004336448] [sailbot.main_algo]: Distance to destination: 56.96935159859229 -[vectornav-1] [INFO] [1746051376.004475919] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.21199999999999, -1.036, 3.855) -[main_algo-3] [INFO] [1746051376.005748086] [sailbot.main_algo]: Target Bearing: -141.73105995159491 -[main_algo-3] [INFO] [1746051376.006779196] [sailbot.main_algo]: Heading Difference: -171.5889400484051 -[main_algo-3] [INFO] [1746051376.007688450] [sailbot.main_algo]: Wind Direction: 172 -[main_algo-3] [INFO] [1746051376.008609761] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051376.009477331] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051376.011062183] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051376.045115226] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051376.045937431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051376.046615808] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051376.048053792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051376.049201155] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051376.085182782] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051376.086777981] [sailbot.teensy]: Wind angle: 175 -[trim_sail-4] [INFO] [1746051376.087266132] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051376.087634660] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051376.088480388] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051376.088574986] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051376.089392875] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051376.145175686] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051376.145876737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051376.146669972] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051376.148017438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051376.149155710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051376.245058525] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051376.245764790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051376.246387969] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051376.247879516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051376.248867956] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051376.335481693] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051376.337897144] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051376.338147840] [sailbot.teensy]: Wind angle: 177 -[teensy-2] [INFO] [1746051376.339111234] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051376.339509324] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051376.340044486] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051376.340969179] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051376.344416848] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051376.344992068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051376.345544986] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051376.346845293] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051376.347854385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051376.445092132] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051376.445870644] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051376.446529500] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051376.448005803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051376.449071257] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051376.456992175] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051376.457964522] [sailbot.main_algo]: Target Bearing: -141.73105995159491 -[main_algo-3] [INFO] [1746051376.458856342] [sailbot.main_algo]: Heading Difference: -172.05694004840507 -[main_algo-3] [INFO] [1746051376.459660400] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051376.460519370] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051376.461389898] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051376.462421622] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051376.463257886] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051376.503251618] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904706 Long: -76.50277116 -[main_algo-3] [INFO] [1746051376.503942723] [sailbot.main_algo]: Distance to destination: 56.97789207626281 -[vectornav-1] [INFO] [1746051376.504653831] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.11900000000003, 1.42, 7.216) -[main_algo-3] [INFO] [1746051376.505261465] [sailbot.main_algo]: Target Bearing: -141.73231382278016 -[main_algo-3] [INFO] [1746051376.506303499] [sailbot.main_algo]: Heading Difference: -172.05568617721985 -[main_algo-3] [INFO] [1746051376.507230989] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051376.508108251] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051376.509190694] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051376.511058045] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051376.545072685] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051376.545623001] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051376.546424601] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051376.547496087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051376.548675361] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051376.585264973] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051376.587949556] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051376.588069413] [sailbot.teensy]: Wind angle: 177 -[mux-7] [INFO] [1746051376.588515297] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051376.589030820] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051376.589938867] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051376.590843333] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051376.645070706] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051376.645950446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051376.646939871] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051376.647899697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051376.649017466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051376.745110658] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051376.746057098] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051376.746810620] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051376.748000873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051376.748995867] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051376.835294280] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051376.837069798] [sailbot.teensy]: Wind angle: 176 -[trim_sail-4] [INFO] [1746051376.837909520] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051376.838018528] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051376.838926009] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051376.839955473] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051376.839984033] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051376.844459522] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051376.845059900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051376.845932908] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051376.846874700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051376.847926590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051376.944328424] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051376.944948798] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051376.946498012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051376.945431789] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051376.947616281] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051376.957091660] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051376.958119719] [sailbot.main_algo]: Target Bearing: -141.73231382278016 -[main_algo-3] [INFO] [1746051376.959041252] [sailbot.main_algo]: Heading Difference: -173.14868617721982 -[main_algo-3] [INFO] [1746051376.959904621] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051376.960829890] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051376.961684890] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051376.962685236] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051376.963356046] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051377.002757677] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904689 Long: -76.50277151 -[main_algo-3] [INFO] [1746051377.003630574] [sailbot.main_algo]: Distance to destination: 56.943663487971065 -[vectornav-1] [INFO] [1746051377.003734947] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.735000000000014, -1.892, 4.384) -[main_algo-3] [INFO] [1746051377.004750701] [sailbot.main_algo]: Target Bearing: -141.7286848288242 -[main_algo-3] [INFO] [1746051377.005780265] [sailbot.main_algo]: Heading Difference: -173.15231517117576 -[main_algo-3] [INFO] [1746051377.006795081] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051377.007837628] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051377.008910516] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051377.010868833] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051377.044966288] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051377.045636637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051377.046225989] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051377.047506306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051377.048554713] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051377.085208323] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051377.086948765] [sailbot.teensy]: Wind angle: 176 -[trim_sail-4] [INFO] [1746051377.087768279] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051377.087895953] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051377.088827874] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051377.089480227] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051377.089725464] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051377.144906228] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051377.145410357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051377.146091691] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051377.147142373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051377.148313450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051377.244813280] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051377.245430221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051377.246043481] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051377.247673582] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051377.248844542] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051377.335409455] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051377.338087342] [sailbot.teensy]: Wind angle: 176 -[trim_sail-4] [INFO] [1746051377.338290125] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051377.339004649] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051377.339126350] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051377.340099896] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051377.340999678] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051377.344524428] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051377.345173559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051377.345663148] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051377.346931616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051377.347985923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051377.444517954] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051377.445034542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051377.445620227] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051377.446781694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051377.447824981] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051377.457137488] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051377.458177559] [sailbot.main_algo]: Target Bearing: -141.7286848288242 -[main_algo-3] [INFO] [1746051377.459120622] [sailbot.main_algo]: Heading Difference: -170.53631517117577 -[main_algo-3] [INFO] [1746051377.460001721] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051377.460898048] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051377.461687178] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051377.462689931] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051377.463385755] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051377.503207855] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904699 Long: -76.50277202 -[main_algo-3] [INFO] [1746051377.503574493] [sailbot.main_algo]: Distance to destination: 56.91825042139731 -[vectornav-1] [INFO] [1746051377.504311727] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.47399999999999, 0.289, 5.266) -[main_algo-3] [INFO] [1746051377.504672225] [sailbot.main_algo]: Target Bearing: -141.69330395756057 -[main_algo-3] [INFO] [1746051377.505682449] [sailbot.main_algo]: Heading Difference: -170.57169604243938 -[main_algo-3] [INFO] [1746051377.506596590] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051377.507487035] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051377.508378431] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051377.510223904] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051377.545271090] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051377.545820021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051377.546752445] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051377.547795636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051377.548848345] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051377.585284365] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051377.587093263] [sailbot.teensy]: Wind angle: 178 -[trim_sail-4] [INFO] [1746051377.587655567] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051377.588034151] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051377.588957302] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051377.589320240] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051377.589852319] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051377.645071113] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051377.645763588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051377.646517952] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051377.647777113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051377.648955589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051377.745566508] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051377.747015428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051377.747585184] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051377.748157263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051377.748673688] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051377.835352613] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051377.837215288] [sailbot.teensy]: Wind angle: 178 -[teensy-2] [INFO] [1746051377.838197105] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051377.837607860] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051377.838338708] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051377.839106749] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051377.840131374] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051377.844243029] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051377.844761748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051377.845506890] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051377.846437020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051377.847614014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051377.943889447] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051377.944215195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051377.944700433] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051377.945795634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051377.946475916] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051377.956762762] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051377.957848503] [sailbot.main_algo]: Target Bearing: -141.69330395756057 -[main_algo-3] [INFO] [1746051377.958851423] [sailbot.main_algo]: Heading Difference: -171.83269604243947 -[main_algo-3] [INFO] [1746051377.959736397] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051377.960344269] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051377.960885561] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051377.961780562] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051377.962890775] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051378.002707519] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904704 Long: -76.50277224 -[main_algo-3] [INFO] [1746051378.003591176] [sailbot.main_algo]: Distance to destination: 56.90777775081204 -[vectornav-1] [INFO] [1746051378.003785060] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.749000000000024, -0.963, 5.686) -[main_algo-3] [INFO] [1746051378.004707151] [sailbot.main_algo]: Target Bearing: -141.67743836022865 -[main_algo-3] [INFO] [1746051378.005631002] [sailbot.main_algo]: Heading Difference: -171.84856163977133 -[main_algo-3] [INFO] [1746051378.006561098] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051378.007445941] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051378.008305612] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051378.010238529] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051378.045064806] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051378.045587393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051378.046424303] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051378.047950362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051378.049013791] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051378.085249778] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051378.086960513] [sailbot.teensy]: Wind angle: 178 -[trim_sail-4] [INFO] [1746051378.087595291] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051378.087893054] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051378.088810634] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051378.088780358] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051378.089697390] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051378.145217049] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051378.145713696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051378.146747418] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051378.147750437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051378.148809437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051378.245091600] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051378.245617955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051378.246456877] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051378.247615931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051378.248704849] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051378.335207401] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051378.336841740] [sailbot.teensy]: Wind angle: 178 -[trim_sail-4] [INFO] [1746051378.337319022] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051378.337709797] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051378.338623106] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051378.339490480] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051378.339581463] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051378.344550105] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051378.345872958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051378.346115945] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051378.347633919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051378.348773945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051378.445358163] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051378.445882207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051378.446886616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051378.447935542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051378.449114869] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051378.457011231] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051378.457991140] [sailbot.main_algo]: Target Bearing: -141.67743836022865 -[main_algo-3] [INFO] [1746051378.458899604] [sailbot.main_algo]: Heading Difference: -173.57356163977136 -[main_algo-3] [INFO] [1746051378.459705601] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051378.460560789] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051378.461374314] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051378.462421968] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051378.463062162] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051378.501803567] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904708 Long: -76.50277228 -[main_algo-3] [INFO] [1746051378.502483479] [sailbot.main_algo]: Distance to destination: 56.908050249215634 -[main_algo-3] [INFO] [1746051378.503304528] [sailbot.main_algo]: Target Bearing: -141.6718801376705 -[vectornav-1] [INFO] [1746051378.503717790] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.416, 0.536, 4.466) -[main_algo-3] [INFO] [1746051378.504218605] [sailbot.main_algo]: Heading Difference: -173.57911986232943 -[main_algo-3] [INFO] [1746051378.505090273] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051378.505969913] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051378.506836734] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051378.509247916] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051378.544822819] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051378.545546946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051378.546059459] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051378.547302219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051378.548391795] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051378.585292178] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051378.587266980] [sailbot.teensy]: Wind angle: 178 -[trim_sail-4] [INFO] [1746051378.587758526] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051378.589467717] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051378.589686883] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051378.590623596] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051378.591515092] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051378.645189536] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051378.645777618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051378.646891719] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051378.647875874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051378.649049363] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051378.745358794] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051378.746510463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051378.747644905] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051378.748459740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051378.749004182] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051378.835079381] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051378.836985883] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051378.837236025] [sailbot.teensy]: Wind angle: 178 -[teensy-2] [INFO] [1746051378.838099294] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051378.838918203] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051378.839653927] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051378.839756633] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051378.844224375] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051378.844926421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051378.845401494] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051378.846729698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051378.847781938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051378.945209666] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051378.945792702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051378.946868399] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051378.947899931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051378.949070797] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051378.957051777] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051378.958061666] [sailbot.main_algo]: Target Bearing: -141.6718801376705 -[main_algo-3] [INFO] [1746051378.958948583] [sailbot.main_algo]: Heading Difference: -170.91211986232952 -[main_algo-3] [INFO] [1746051378.959826381] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051378.960705366] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051378.961511745] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051378.962505613] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051378.963443326] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051379.002690321] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904709 Long: -76.50277257 -[vectornav-1] [INFO] [1746051379.003786335] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.428999999999974, -0.884, 5.396) -[main_algo-3] [INFO] [1746051379.004086655] [sailbot.main_algo]: Distance to destination: 56.89031611501321 -[main_algo-3] [INFO] [1746051379.005162223] [sailbot.main_algo]: Target Bearing: -141.6557909827554 -[main_algo-3] [INFO] [1746051379.006050904] [sailbot.main_algo]: Heading Difference: -170.92820901724463 -[main_algo-3] [INFO] [1746051379.006913982] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051379.007756169] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051379.008670962] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051379.010254524] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051379.045220036] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051379.045829950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051379.046932185] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051379.048191357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051379.049331733] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051379.085435096] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051379.087988543] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051379.089075073] [sailbot.teensy]: Wind angle: 181 -[mux-7] [INFO] [1746051379.089811724] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051379.090028991] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051379.090893601] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051379.091734420] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051379.144975737] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051379.145585594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051379.146294512] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051379.147655585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051379.149048600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051379.245125976] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051379.245608732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051379.246506841] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051379.247565803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051379.248616307] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051379.335368769] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051379.337689245] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051379.338098729] [sailbot.teensy]: Wind angle: 182 -[mux-7] [INFO] [1746051379.338972672] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051379.339655203] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051379.341877739] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051379.342940126] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746051379.345553134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051379.345639850] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051379.346970047] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051379.347377164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051379.348625004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051379.445084108] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051379.445769170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051379.446388223] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051379.447621245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051379.448836881] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051379.457284771] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051379.458460315] [sailbot.main_algo]: Target Bearing: -141.6557909827554 -[main_algo-3] [INFO] [1746051379.459398146] [sailbot.main_algo]: Heading Difference: -171.9152090172446 -[main_algo-3] [INFO] [1746051379.460307733] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051379.461244636] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051379.462108097] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051379.463202276] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051379.464027669] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051379.502528659] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904698 Long: -76.50277271 -[main_algo-3] [INFO] [1746051379.503622006] [sailbot.main_algo]: Distance to destination: 56.873668513774646 -[vectornav-1] [INFO] [1746051379.503964457] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.73599999999999, -0.181, 6.508) -[main_algo-3] [INFO] [1746051379.505989468] [sailbot.main_algo]: Target Bearing: -141.65795245780345 -[main_algo-3] [INFO] [1746051379.507059079] [sailbot.main_algo]: Heading Difference: -171.91304754219658 -[main_algo-3] [INFO] [1746051379.507963244] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051379.508869760] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051379.509787390] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051379.511703656] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051379.545171627] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051379.545701760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051379.546378519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051379.547511564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051379.548611011] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051379.585207785] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051379.587436254] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051379.588650458] [sailbot.teensy]: Wind angle: 184 -[mux-7] [INFO] [1746051379.588895731] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051379.589651057] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051379.590590622] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051379.591460010] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051379.645109782] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051379.645896081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051379.646532142] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051379.648064534] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051379.649176288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051379.745004831] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051379.745712649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051379.746386790] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051379.747574262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051379.748664584] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051379.835401770] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051379.837734020] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051379.838265049] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051379.838627883] [sailbot.teensy]: Wind angle: 184 -[teensy-2] [INFO] [1746051379.839078664] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051379.839437588] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051379.839770943] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051379.844416581] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051379.845178037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051379.845685036] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051379.847019938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051379.848030073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051379.944363560] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051379.945224207] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051379.945413001] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051379.947145442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051379.948434819] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051379.956916390] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051379.957895850] [sailbot.main_algo]: Target Bearing: -141.65795245780345 -[main_algo-3] [INFO] [1746051379.958787057] [sailbot.main_algo]: Heading Difference: -172.60604754219656 -[main_algo-3] [INFO] [1746051379.959657202] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051379.960642337] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051379.961460657] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051379.962483969] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051379.963083241] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051380.001582855] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690468 Long: -76.50277258 -[vectornav-1] [INFO] [1746051380.002144001] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.44999999999999, -1.183, 5.448) -[main_algo-3] [INFO] [1746051380.002147980] [sailbot.main_algo]: Distance to destination: 56.869260622363434 -[main_algo-3] [INFO] [1746051380.002753135] [sailbot.main_algo]: Target Bearing: -141.6803545048238 -[main_algo-3] [INFO] [1746051380.003316901] [sailbot.main_algo]: Heading Difference: -172.5836454951762 -[main_algo-3] [INFO] [1746051380.003826140] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051380.004355452] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051380.004830012] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051380.005787173] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051380.044738902] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051380.045476272] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051380.045973563] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051380.047297636] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051380.048269609] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051380.085113842] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051380.086745747] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051380.087207375] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051380.088286726] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051380.088928979] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051380.089875097] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051380.090696179] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051380.144976512] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051380.145669376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051380.146288019] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051380.147579171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051380.148740801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051380.245201397] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051380.246140949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051380.246691289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051380.248134512] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051380.249273814] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051380.335428238] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051380.337378554] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051380.337843695] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051380.338990695] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051380.339177041] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051380.339583259] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051380.339947539] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051380.344382373] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051380.345067772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051380.345549242] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051380.346771189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051380.347806188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051380.444762147] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051380.445336367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051380.446008692] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051380.447119313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051380.448203413] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051380.457003955] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051380.457968610] [sailbot.main_algo]: Target Bearing: -141.6803545048238 -[main_algo-3] [INFO] [1746051380.458860484] [sailbot.main_algo]: Heading Difference: -170.8696454951762 -[main_algo-3] [INFO] [1746051380.459680618] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051380.460491525] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051380.461288939] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051380.462922525] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051380.462943833] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051380.503594147] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904678 Long: -76.50277243 -[main_algo-3] [INFO] [1746051380.503805462] [sailbot.main_algo]: Distance to destination: 56.87739285713613 -[main_algo-3] [INFO] [1746051380.504825076] [sailbot.main_algo]: Target Bearing: -141.68996005682607 -[vectornav-1] [INFO] [1746051380.504899213] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.99599999999998, 0.601, 4.477) -[main_algo-3] [INFO] [1746051380.505842536] [sailbot.main_algo]: Heading Difference: -170.86003994317394 -[main_algo-3] [INFO] [1746051380.506787305] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051380.507693579] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051380.508604836] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051380.510358648] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051380.544888976] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051380.545596826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051380.546272229] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051380.547499353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051380.548582747] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051380.585407022] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051380.587899884] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051380.588332205] [sailbot.teensy]: Wind angle: 184 -[mux-7] [INFO] [1746051380.588823134] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051380.589291915] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051380.590410070] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051380.591317225] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051380.645141619] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051380.645826638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051380.647202194] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051380.648104702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051380.649302822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051380.744976314] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051380.745665273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051380.746284737] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051380.747587572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051380.748608478] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051380.835251902] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051380.837371378] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051380.837830300] [sailbot.teensy]: Wind angle: 185 -[mux-7] [INFO] [1746051380.838380887] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051380.838776318] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051380.839238972] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051380.839577364] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051380.844429461] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051380.844936317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051380.845578643] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051380.847001520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051380.847995724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051380.945221657] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051380.946048592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051380.946782569] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051380.948118495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051380.949170278] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051380.957084067] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051380.958174690] [sailbot.main_algo]: Target Bearing: -141.68996005682607 -[main_algo-3] [INFO] [1746051380.959101744] [sailbot.main_algo]: Heading Difference: -172.31403994317395 -[main_algo-3] [INFO] [1746051380.959996791] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051380.960850103] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051380.961648036] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051380.962722565] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051380.963246696] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051381.002919019] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904672 Long: -76.50277263 -[main_algo-3] [INFO] [1746051381.004053901] [sailbot.main_algo]: Distance to destination: 56.860449475915914 -[vectornav-1] [INFO] [1746051381.004079913] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.99599999999998, -0.69, 5.521) -[main_algo-3] [INFO] [1746051381.005283629] [sailbot.main_algo]: Target Bearing: -141.68465332059066 -[main_algo-3] [INFO] [1746051381.006273896] [sailbot.main_algo]: Heading Difference: -172.31934667940936 -[main_algo-3] [INFO] [1746051381.007252210] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051381.008164715] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051381.009041596] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051381.010789418] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051381.045503201] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051381.046093407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051381.047069305] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051381.048797861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051381.049823201] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051381.085141444] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051381.087119853] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051381.088012074] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051381.088021039] [sailbot.teensy]: Wind angle: 186 -[teensy-2] [INFO] [1746051381.089005359] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051381.089853816] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051381.090695198] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051381.144971942] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051381.145540221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051381.146280050] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051381.147859156] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051381.148893284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051381.245055202] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051381.245624931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051381.246524692] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051381.247618098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051381.248753575] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051381.335366555] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051381.337894250] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051381.338270342] [sailbot.teensy]: Wind angle: 186 -[mux-7] [INFO] [1746051381.338411308] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051381.339237646] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051381.340331579] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051381.341306304] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051381.344292193] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051381.344747321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051381.345518932] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051381.346410750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051381.348075315] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051381.445120212] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051381.445971505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051381.446931946] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051381.448084030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051381.449318103] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051381.457241312] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051381.458308851] [sailbot.main_algo]: Target Bearing: -141.68465332059066 -[main_algo-3] [INFO] [1746051381.459325328] [sailbot.main_algo]: Heading Difference: -172.31934667940936 -[main_algo-3] [INFO] [1746051381.460235984] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051381.461137542] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051381.461935887] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051381.462972243] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051381.463613015] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051381.502719918] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904658 Long: -76.5027725 -[main_algo-3] [INFO] [1746051381.503822667] [sailbot.main_algo]: Distance to destination: 56.85886621817807 -[vectornav-1] [INFO] [1746051381.504052194] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.490999999999985, -0.13, 5.746) -[main_algo-3] [INFO] [1746051381.505214357] [sailbot.main_algo]: Target Bearing: -141.70359893627898 -[main_algo-3] [INFO] [1746051381.506165515] [sailbot.main_algo]: Heading Difference: -172.30040106372104 -[main_algo-3] [INFO] [1746051381.507094742] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051381.507979076] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051381.508845283] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051381.510644980] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051381.545076425] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051381.545890745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051381.546528084] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051381.547972893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051381.549038915] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051381.585257727] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051381.587366236] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051381.587703719] [sailbot.teensy]: Wind angle: 186 -[mux-7] [INFO] [1746051381.587949640] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051381.588655960] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051381.589561692] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051381.590429778] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051381.645168371] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051381.646027563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051381.646597528] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051381.648206068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051381.649275139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051381.745233811] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051381.746012930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051381.746683766] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051381.748011577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051381.749151560] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051381.835558519] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051381.837557835] [sailbot.teensy]: Wind angle: 186 -[trim_sail-4] [INFO] [1746051381.838461980] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051381.838889419] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051381.839267958] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051381.839601891] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051381.839996430] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051381.844438204] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051381.845068363] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051381.845557803] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051381.846897934] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051381.848019340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051381.944705755] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051381.945577089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051381.946045289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051381.948005092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051381.949074232] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051381.957068245] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051381.958043310] [sailbot.main_algo]: Target Bearing: -141.70359893627898 -[main_algo-3] [INFO] [1746051381.958968771] [sailbot.main_algo]: Heading Difference: -171.80540106372104 -[main_algo-3] [INFO] [1746051381.959815654] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051381.960631620] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051381.961446975] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051381.962496752] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051381.963247066] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051382.002931461] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904647 Long: -76.50277258 -[vectornav-1] [INFO] [1746051382.004088536] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.374000000000024, -0.814, 4.854) -[main_algo-3] [INFO] [1746051382.004083087] [sailbot.main_algo]: Distance to destination: 56.846037613836245 -[main_algo-3] [INFO] [1746051382.005372279] [sailbot.main_algo]: Target Bearing: -141.7089256069939 -[main_algo-3] [INFO] [1746051382.006374723] [sailbot.main_algo]: Heading Difference: -171.80007439300613 -[main_algo-3] [INFO] [1746051382.007971579] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051382.008911538] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051382.009775339] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051382.011535773] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051382.044406872] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051382.045358416] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051382.044998566] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051382.046589479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051382.047663534] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051382.085209733] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051382.086856118] [sailbot.teensy]: Wind angle: 186 -[teensy-2] [INFO] [1746051382.087776268] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051382.088459181] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051382.088631185] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051382.089558105] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051382.090547611] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051382.144367453] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051382.144787451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051382.145447198] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051382.146647511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051382.147746808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051382.245013894] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051382.245686202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051382.246372761] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051382.247561209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051382.248685302] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051382.335419897] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051382.337248320] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051382.338192669] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051382.338466047] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051382.339120085] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051382.340382349] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051382.340887302] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051382.344268299] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051382.344851144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051382.345427339] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051382.346655984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051382.347724097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051382.444992547] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051382.446337764] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051382.446414451] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051382.448235579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051382.449215771] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051382.457162308] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051382.458226384] [sailbot.main_algo]: Target Bearing: -141.7089256069939 -[main_algo-3] [INFO] [1746051382.459125413] [sailbot.main_algo]: Heading Difference: -170.9170743930061 -[main_algo-3] [INFO] [1746051382.459952234] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051382.461038020] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051382.461873799] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051382.463157393] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051382.463408701] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051382.502887702] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904641 Long: -76.50277274 -[main_algo-3] [INFO] [1746051382.503941276] [sailbot.main_algo]: Distance to destination: 56.83163719425709 -[vectornav-1] [INFO] [1746051382.504100768] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.134000000000015, -0.196, 4.59) -[main_algo-3] [INFO] [1746051382.505300131] [sailbot.main_algo]: Target Bearing: -141.70572222772878 -[main_algo-3] [INFO] [1746051382.506236815] [sailbot.main_algo]: Heading Difference: -170.92027777227122 -[main_algo-3] [INFO] [1746051382.507138462] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051382.508025488] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051382.508888422] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051382.510607744] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051382.544954171] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051382.545758173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051382.546343350] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051382.547894673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051382.548898080] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051382.585269266] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051382.587299850] [sailbot.teensy]: Wind angle: 186 -[trim_sail-4] [INFO] [1746051382.587533901] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051382.588322726] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051382.588980632] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051382.589270382] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051382.590179121] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051382.644958127] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051382.645690792] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051382.646294137] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051382.647684235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051382.648841783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051382.744994707] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051382.745684955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051382.746339524] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051382.747604507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051382.748746001] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051382.835093340] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051382.837157696] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051382.837709106] [sailbot.teensy]: Wind angle: 190 -[mux-7] [INFO] [1746051382.837792905] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051382.838740893] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051382.839150569] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051382.839485751] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051382.844301502] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051382.845072614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051382.845795243] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051382.846865079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051382.847946763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051382.945026039] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051382.946134664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051382.947025673] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051382.947786452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051382.948320570] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051382.957511000] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051382.958703271] [sailbot.main_algo]: Target Bearing: -141.70572222772878 -[main_algo-3] [INFO] [1746051382.959664309] [sailbot.main_algo]: Heading Difference: -172.16027777227123 -[main_algo-3] [INFO] [1746051382.960541012] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051382.961387317] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051382.962212715] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051382.963356061] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051382.963927684] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051383.002886961] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904643 Long: -76.50277301 -[main_algo-3] [INFO] [1746051383.003902559] [sailbot.main_algo]: Distance to destination: 56.815869508402955 -[vectornav-1] [INFO] [1746051383.004083352] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.72399999999999, -0.174, 6.115) -[main_algo-3] [INFO] [1746051383.005107075] [sailbot.main_algo]: Target Bearing: -141.6898065533032 -[main_algo-3] [INFO] [1746051383.006078916] [sailbot.main_algo]: Heading Difference: -172.17619344669674 -[main_algo-3] [INFO] [1746051383.006958572] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051383.007824813] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051383.008684590] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051383.010354598] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051383.045027111] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051383.046060844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051383.046422382] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051383.048250565] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051383.049407214] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051383.085383427] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051383.087973645] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051383.088904690] [sailbot.teensy]: Wind angle: 195 -[mux-7] [INFO] [1746051383.089708805] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051383.089857753] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051383.090716564] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051383.091568832] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051383.145459654] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051383.146077087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051383.147109615] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051383.148814375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051383.149967985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051383.245269101] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051383.245776653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051383.246842063] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051383.247928542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051383.249100077] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051383.335358819] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051383.337334887] [sailbot.teensy]: Wind angle: 196 -[trim_sail-4] [INFO] [1746051383.337919918] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051383.338562995] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051383.338766161] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051383.339149769] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051383.339486001] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051383.344467658] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051383.344856438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051383.345622940] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051383.346516877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051383.347551242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051383.443632476] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051383.443980869] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051383.444138874] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051383.444762868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051383.445343754] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051383.456263409] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051383.456739707] [sailbot.main_algo]: Target Bearing: -141.6898065533032 -[main_algo-3] [INFO] [1746051383.457234322] [sailbot.main_algo]: Heading Difference: -172.58619344669683 -[main_algo-3] [INFO] [1746051383.457660451] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051383.458078920] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051383.458472908] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051383.458964875] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051383.459387496] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051383.501344629] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904623 Long: -76.50277289 -[main_algo-3] [INFO] [1746051383.501767395] [sailbot.main_algo]: Distance to destination: 56.8094308286816 -[vectornav-1] [INFO] [1746051383.501782665] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.34000000000003, -0.675, 5.09) -[main_algo-3] [INFO] [1746051383.502300057] [sailbot.main_algo]: Target Bearing: -141.71344207950918 -[main_algo-3] [INFO] [1746051383.502733423] [sailbot.main_algo]: Heading Difference: -172.5625579204908 -[main_algo-3] [INFO] [1746051383.503123976] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051383.503489948] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051383.503902961] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051383.504678833] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051383.543616247] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051383.544022007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051383.544137721] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051383.544934380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051383.545470983] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051383.584424166] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051383.585378681] [sailbot.teensy]: Wind angle: 196 -[trim_sail-4] [INFO] [1746051383.585470080] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051383.585793735] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051383.586203000] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051383.586593197] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051383.586611425] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051383.643686933] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051383.643942514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051383.644260515] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051383.644767060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051383.645243548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051383.743704310] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051383.743971919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051383.744384825] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051383.744767503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051383.745338540] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051383.834392192] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051383.835137436] [sailbot.teensy]: Wind angle: 195 -[teensy-2] [INFO] [1746051383.835549907] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051383.835921662] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051383.835535432] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051383.836056895] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051383.836328190] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051383.843655079] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051383.844192504] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051383.844380579] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051383.845227173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051383.845822688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051383.943704227] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051383.944231912] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051383.944299974] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051383.946473755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051383.947228461] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051383.956343982] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051383.956841803] [sailbot.main_algo]: Target Bearing: -141.71344207950918 -[main_algo-3] [INFO] [1746051383.957277664] [sailbot.main_algo]: Heading Difference: -171.94655792049082 -[main_algo-3] [INFO] [1746051383.957683470] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051383.958086994] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051383.958491251] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051383.958975111] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051383.959325952] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051384.001458440] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904612 Long: -76.50277284 -[vectornav-1] [INFO] [1746051384.001916411] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.514999999999986, -0.328, 4.974) -[main_algo-3] [INFO] [1746051384.001884698] [sailbot.main_algo]: Distance to destination: 56.804875484637854 -[main_algo-3] [INFO] [1746051384.002342145] [sailbot.main_algo]: Target Bearing: -141.72560366222402 -[main_algo-3] [INFO] [1746051384.002762665] [sailbot.main_algo]: Heading Difference: -171.93439633777598 -[main_algo-3] [INFO] [1746051384.003167442] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051384.003574822] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051384.003965459] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051384.004842713] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051384.043678428] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051384.044267986] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051384.044504993] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051384.045352350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051384.047173189] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051384.084484535] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051384.086509821] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051384.087530024] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051384.088964096] [sailbot.teensy]: Wind angle: 195 -[teensy-2] [INFO] [1746051384.089403136] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051384.089774140] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051384.091262290] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051384.143755215] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051384.144255484] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051384.145007723] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051384.145768876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051384.146750831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051384.243663506] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051384.244231594] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051384.245095718] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051384.246717909] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051384.248083830] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051384.334330747] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051384.335536407] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051384.336254792] [sailbot.teensy]: Wind angle: 194 -[mux-7] [INFO] [1746051384.336614919] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051384.336684975] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051384.337086217] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051384.337462329] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051384.343569594] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051384.343895306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051384.344066510] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051384.344720918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051384.345224409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051384.443634018] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051384.443993491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051384.444126402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051384.445043695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051384.445523246] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051384.456252544] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051384.456723495] [sailbot.main_algo]: Target Bearing: -141.72560366222402 -[main_algo-3] [INFO] [1746051384.457133890] [sailbot.main_algo]: Heading Difference: -170.75939633777602 -[main_algo-3] [INFO] [1746051384.457528913] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051384.457937218] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051384.458328292] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051384.458797565] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051384.459911619] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051384.501473487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904624 Long: -76.5027731 -[main_algo-3] [INFO] [1746051384.501913906] [sailbot.main_algo]: Distance to destination: 56.79677413641295 -[vectornav-1] [INFO] [1746051384.501934982] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.889999999999986, 0.274, 4.173) -[main_algo-3] [INFO] [1746051384.502412085] [sailbot.main_algo]: Target Bearing: -141.70154236545707 -[main_algo-3] [INFO] [1746051384.502887890] [sailbot.main_algo]: Heading Difference: -170.78345763454297 -[main_algo-3] [INFO] [1746051384.503326034] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051384.503774650] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051384.504219881] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051384.505109954] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051384.543659323] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051384.544037327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051384.544185712] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051384.544889812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051384.545496457] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051384.584482713] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051384.585483824] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051384.586432257] [sailbot.teensy]: Wind angle: 194 -[mux-7] [INFO] [1746051384.586551535] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051384.586862582] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051384.587277769] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051384.587709080] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051384.643621781] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051384.644058214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051384.644135497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051384.645035294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051384.645543435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051384.743626879] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051384.744044887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051384.744103060] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051384.744913032] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051384.745417227] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051384.834510428] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051384.835278232] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746051384.835689564] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051384.836123437] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051384.836530868] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051384.835547717] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051384.839054591] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051384.843683134] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051384.844199986] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051384.844093084] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051384.844976850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051384.845908384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051384.943652540] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051384.944136880] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051384.945446338] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051384.946323174] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051384.948536217] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051384.956310656] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051384.956783777] [sailbot.main_algo]: Target Bearing: -141.70154236545707 -[main_algo-3] [INFO] [1746051384.958165240] [sailbot.main_algo]: Heading Difference: -172.40845763454297 -[main_algo-3] [INFO] [1746051384.958578554] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051384.959616887] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051384.960618353] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051384.961915915] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051384.963647491] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051385.001381658] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904616 Long: -76.50277326 -[vectornav-1] [INFO] [1746051385.001831536] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.387, -0.991, 6.26) -[main_algo-3] [INFO] [1746051385.002584562] [sailbot.main_algo]: Distance to destination: 56.78096680773314 -[main_algo-3] [INFO] [1746051385.003539427] [sailbot.main_algo]: Target Bearing: -141.70006834726954 -[main_algo-3] [INFO] [1746051385.004506684] [sailbot.main_algo]: Heading Difference: -172.4099316527305 -[main_algo-3] [INFO] [1746051385.004947128] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051385.005362504] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051385.005761546] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051385.007271130] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051385.043651089] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051385.044041061] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051385.044837604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051385.045142338] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051385.046063632] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051385.084490604] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051385.085277454] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746051385.085681729] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051385.086106719] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051385.086541381] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051385.085528549] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051385.086388715] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051385.143661928] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051385.144285439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051385.144998799] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051385.145179622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051385.145658289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051385.243811021] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051385.244432086] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051385.244722137] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051385.246674537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051385.247511258] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051385.334505062] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051385.335317439] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051385.336272557] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051385.336553139] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051385.337332912] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051385.337847901] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051385.338288262] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051385.343723251] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051385.344295298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051385.344096372] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051385.345861606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051385.346426707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051385.443620990] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051385.443928608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051385.444113440] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051385.444925132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051385.445423592] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051385.456263206] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051385.456723997] [sailbot.main_algo]: Target Bearing: -141.70006834726954 -[main_algo-3] [INFO] [1746051385.457124355] [sailbot.main_algo]: Heading Difference: -172.91293165273044 -[main_algo-3] [INFO] [1746051385.457550508] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051385.457936321] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051385.458314199] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051385.458789900] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051385.459966986] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051385.501311068] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904586 Long: -76.50277312 -[vectornav-1] [INFO] [1746051385.501748919] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.954999999999984, 0.104, 4.976) -[main_algo-3] [INFO] [1746051385.501777649] [sailbot.main_algo]: Distance to destination: 56.768772929564186 -[main_algo-3] [INFO] [1746051385.502225937] [sailbot.main_algo]: Target Bearing: -141.73344566094156 -[main_algo-3] [INFO] [1746051385.502658804] [sailbot.main_algo]: Heading Difference: -172.87955433905847 -[main_algo-3] [INFO] [1746051385.503202910] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051385.503618655] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051385.503999643] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051385.504842844] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051385.543710063] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051385.544035963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051385.544288758] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051385.545188431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051385.545705309] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051385.584503191] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051385.585275975] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746051385.585700933] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051385.585557978] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051385.586100782] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051385.586505781] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051385.586735454] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051385.643686200] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051385.643960459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051385.644306158] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051385.644810868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051385.645301778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051385.743686986] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051385.744008255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051385.744223007] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051385.745445689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051385.745981578] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051385.834469472] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051385.835247130] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746051385.835665619] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051385.836065367] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051385.835527967] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051385.836640822] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051385.837856361] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051385.843697000] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051385.843962830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051385.845347567] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051385.846037472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051385.846588333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051385.943756929] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051385.944071308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051385.945388575] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051385.946297362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051385.946892287] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051385.957001104] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051385.957632389] [sailbot.main_algo]: Target Bearing: -141.73344566094156 -[main_algo-3] [INFO] [1746051385.958193250] [sailbot.main_algo]: Heading Difference: -171.3115543390585 -[main_algo-3] [INFO] [1746051385.958921186] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051385.959404210] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051385.968608643] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051385.970234834] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051385.972044961] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051386.001447634] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904602 Long: -76.50277336 -[vectornav-1] [INFO] [1746051386.001934568] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.483000000000004, -1.04, 3.919) -[main_algo-3] [INFO] [1746051386.003401193] [sailbot.main_algo]: Distance to destination: 56.7647548328452 -[main_algo-3] [INFO] [1746051386.003889445] [sailbot.main_algo]: Target Bearing: -141.70695203938004 -[main_algo-3] [INFO] [1746051386.004344903] [sailbot.main_algo]: Heading Difference: -171.33804796061997 -[main_algo-3] [INFO] [1746051386.004988079] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051386.005416027] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051386.005856023] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051386.007151043] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051386.043631538] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051386.043978658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051386.044171868] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051386.044843727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051386.045411417] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051386.084391572] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051386.085149557] [sailbot.teensy]: Wind angle: 193 -[teensy-2] [INFO] [1746051386.085567904] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051386.085431428] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051386.085998217] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051386.086394333] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051386.086498732] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051386.143610676] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051386.144041386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051386.144114290] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051386.145758954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051386.146296733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051386.243640528] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051386.244072236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051386.244129847] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051386.244875844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051386.245351673] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051386.334355441] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051386.335135594] [sailbot.teensy]: Wind angle: 193 -[teensy-2] [INFO] [1746051386.335537234] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051386.335937209] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051386.336308226] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051386.335356926] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051386.336352322] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051386.343616043] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051386.343982064] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051386.344121332] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051386.345215798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051386.345710393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051386.443798543] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051386.444128864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051386.444434283] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051386.445191395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051386.445809373] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051386.456722277] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051386.457327482] [sailbot.main_algo]: Target Bearing: -141.70695203938004 -[main_algo-3] [INFO] [1746051386.457869887] [sailbot.main_algo]: Heading Difference: -171.81004796061995 -[main_algo-3] [INFO] [1746051386.458521631] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051386.458967736] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051386.459369247] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051386.460246342] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051386.460299795] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051386.502314949] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904607 Long: -76.50277345 -[vectornav-1] [INFO] [1746051386.503444080] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.091999999999985, 0.897, 5.449) -[main_algo-3] [INFO] [1746051386.503256371] [sailbot.main_algo]: Distance to destination: 56.762547492042195 -[main_algo-3] [INFO] [1746051386.504341805] [sailbot.main_algo]: Target Bearing: -141.6978832386268 -[main_algo-3] [INFO] [1746051386.505658512] [sailbot.main_algo]: Heading Difference: -171.8191167613732 -[main_algo-3] [INFO] [1746051386.507096041] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051386.508023555] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051386.509086942] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051386.510621149] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051386.543845689] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051386.544144600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051386.544565028] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051386.545534451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051386.546286361] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051386.584466274] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051386.585611023] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051386.586734381] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051386.587352354] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051386.588884929] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051386.589328930] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051386.589751800] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051386.644873214] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051386.645470900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051386.646123765] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051386.647436956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051386.648441178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051386.745030053] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051386.745681648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051386.746362865] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051386.747540259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051386.748183634] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051386.835442221] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051386.837255885] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051386.837719591] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051386.839051256] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051386.839430504] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051386.840022172] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051386.840994408] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051386.844430938] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051386.844954216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051386.845527493] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051386.846617105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051386.847654545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051386.945238776] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051386.945917617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051386.946855131] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051386.947990919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051386.949071257] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051386.957650165] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051386.958680503] [sailbot.main_algo]: Target Bearing: -141.6978832386268 -[main_algo-3] [INFO] [1746051386.959602080] [sailbot.main_algo]: Heading Difference: -173.21011676137323 -[main_algo-3] [INFO] [1746051386.961097085] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051386.961982535] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051386.962775518] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051386.964312340] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051386.964373862] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051387.003578524] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904597 Long: -76.50277357 -[main_algo-3] [INFO] [1746051387.003648674] [sailbot.main_algo]: Distance to destination: 56.74787738656195 -[main_algo-3] [INFO] [1746051387.004766697] [sailbot.main_algo]: Target Bearing: -141.7002463374075 -[vectornav-1] [INFO] [1746051387.005028183] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.42599999999999, -0.913, 5.82) -[main_algo-3] [INFO] [1746051387.005803828] [sailbot.main_algo]: Heading Difference: -173.2077536625925 -[main_algo-3] [INFO] [1746051387.007317241] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051387.008245267] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051387.009093726] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051387.010765755] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051387.044916506] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051387.045526521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051387.046147052] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051387.047420551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051387.048564673] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051387.084630031] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051387.085785220] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746051387.086575399] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051387.087328716] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051387.088113609] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051387.087473690] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051387.087741573] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051387.144948841] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051387.145692990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051387.146274400] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051387.147556823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051387.148650471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051387.245017423] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051387.245775975] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051387.246426149] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051387.247783821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051387.248903134] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051387.335158155] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051387.337275714] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051387.338217535] [sailbot.teensy]: Wind angle: 194 -[mux-7] [INFO] [1746051387.338572259] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051387.339206327] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051387.339941017] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051387.340302452] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051387.344291301] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051387.344753045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051387.345365342] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051387.346542683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051387.347660762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051387.445002313] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051387.445834909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051387.446508537] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051387.447715769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051387.448544756] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051387.457606161] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051387.458612030] [sailbot.main_algo]: Target Bearing: -141.7002463374075 -[main_algo-3] [INFO] [1746051387.459490370] [sailbot.main_algo]: Heading Difference: -172.87375366259255 -[main_algo-3] [INFO] [1746051387.460710169] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051387.461591739] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051387.462380682] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051387.463918566] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051387.463936464] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051387.504038357] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904599 Long: -76.50277363 -[main_algo-3] [INFO] [1746051387.504994279] [sailbot.main_algo]: Distance to destination: 56.74546806513229 -[vectornav-1] [INFO] [1746051387.505382503] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.56099999999998, -0.942, 4.529) -[main_algo-3] [INFO] [1746051387.506397704] [sailbot.main_algo]: Target Bearing: -141.69535523910795 -[main_algo-3] [INFO] [1746051387.507348064] [sailbot.main_algo]: Heading Difference: -172.87864476089203 -[main_algo-3] [INFO] [1746051387.508727806] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051387.509594974] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051387.510435717] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051387.512184739] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051387.544966531] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051387.545570541] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051387.546244446] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051387.547484558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051387.548584382] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051387.585351139] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051387.586973997] [sailbot.teensy]: Wind angle: 193 -[trim_sail-4] [INFO] [1746051387.587473308] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051387.587893445] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051387.588783362] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051387.589457752] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051387.589683568] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051387.645275937] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051387.645865011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051387.647184525] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051387.647984388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051387.649101051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051387.745335596] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051387.746046941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051387.746900200] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051387.748137574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051387.749213998] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051387.835557799] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051387.838307463] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051387.838360726] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051387.839285249] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051387.839423975] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051387.840231771] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051387.841116576] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051387.844212056] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051387.844754592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051387.845333537] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051387.846425131] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051387.847565032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051387.945173571] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051387.946001572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051387.946667081] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051387.948176703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051387.949276404] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051387.957647788] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051387.958669367] [sailbot.main_algo]: Target Bearing: -141.69535523910795 -[main_algo-3] [INFO] [1746051387.959569637] [sailbot.main_algo]: Heading Difference: -171.74364476089204 -[main_algo-3] [INFO] [1746051387.960873372] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051387.961683725] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051387.962484572] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051387.963994823] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051387.964171339] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051388.003593159] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904612 Long: -76.50277357 -[main_algo-3] [INFO] [1746051388.004001278] [sailbot.main_algo]: Distance to destination: 56.758433501003076 -[main_algo-3] [INFO] [1746051388.005177303] [sailbot.main_algo]: Target Bearing: -141.6872357295613 -[vectornav-1] [INFO] [1746051388.005571378] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.21500000000003, -0.122, 6.212) -[main_algo-3] [INFO] [1746051388.006194889] [sailbot.main_algo]: Heading Difference: -171.75176427043868 -[main_algo-3] [INFO] [1746051388.007959561] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051388.008852017] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051388.009696680] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051388.011368568] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051388.044963823] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051388.045668707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051388.046208947] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051388.047844185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051388.048901856] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051388.085342772] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051388.087856073] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051388.087954601] [sailbot.teensy]: Wind angle: 193 -[mux-7] [INFO] [1746051388.089207190] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051388.089497856] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051388.090432486] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051388.091269557] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051388.145057885] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051388.145746828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051388.146487483] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051388.147984992] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051388.149135476] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051388.245093718] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051388.245717406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051388.246445199] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051388.247808776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051388.249021391] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051388.335163169] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051388.336860846] [sailbot.teensy]: Wind angle: 195 -[trim_sail-4] [INFO] [1746051388.337218028] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051388.337800889] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051388.338703017] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051388.339182255] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051388.339547151] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051388.344310590] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051388.344958187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051388.345396095] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051388.346673605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051388.347751038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051388.444917176] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051388.445780354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051388.446215627] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051388.447585490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051388.448133157] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051388.457486801] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051388.458457658] [sailbot.main_algo]: Target Bearing: -141.6872357295613 -[main_algo-3] [INFO] [1746051388.459298159] [sailbot.main_algo]: Heading Difference: -172.0977642704387 -[main_algo-3] [INFO] [1746051388.460548906] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051388.461418218] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051388.462202562] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051388.463719174] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051388.463719856] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051388.502690652] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904603 Long: -76.50277344 -[main_algo-3] [INFO] [1746051388.503681344] [sailbot.main_algo]: Distance to destination: 56.76036902848031 -[vectornav-1] [INFO] [1746051388.503807299] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.56700000000001, 0.399, 4.554) -[main_algo-3] [INFO] [1746051388.504946694] [sailbot.main_algo]: Target Bearing: -141.70187837878223 -[main_algo-3] [INFO] [1746051388.505879698] [sailbot.main_algo]: Heading Difference: -172.08312162121774 -[main_algo-3] [INFO] [1746051388.507276286] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051388.508144954] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051388.509009557] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051388.510851939] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051388.544905275] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051388.545568535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051388.546138641] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051388.547484742] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051388.548660094] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051388.585035237] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051388.587243611] [sailbot.teensy]: Wind angle: 195 -[trim_sail-4] [INFO] [1746051388.587317329] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051388.588382025] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051388.589370879] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051388.590294561] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051388.590318505] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051388.643746196] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051388.644393412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051388.645344013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051388.645412977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051388.645917354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051388.745067827] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051388.745737278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051388.746457597] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051388.747826804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051388.748348073] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051388.835257218] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051388.836934870] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051388.837413000] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051388.837882784] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051388.838779498] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051388.839327759] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051388.839674375] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051388.844439962] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051388.844911007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051388.845545862] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051388.846625382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051388.847743968] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051388.945279829] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051388.945981543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051388.946767557] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051388.948078320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051388.949349877] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051388.957438903] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051388.958400081] [sailbot.main_algo]: Target Bearing: -141.70187837878223 -[main_algo-3] [INFO] [1746051388.959291631] [sailbot.main_algo]: Heading Difference: -170.73112162121777 -[main_algo-3] [INFO] [1746051388.960544920] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051388.961361941] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051388.962161181] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051388.963713160] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051388.963899739] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051389.002959808] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.469046 Long: -76.5027735 -[main_algo-3] [INFO] [1746051389.003971010] [sailbot.main_algo]: Distance to destination: 56.7544412735141 -[vectornav-1] [INFO] [1746051389.004244354] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.696000000000026, -1.142, 5.275) -[main_algo-3] [INFO] [1746051389.005307608] [sailbot.main_algo]: Target Bearing: -141.70132539793642 -[main_algo-3] [INFO] [1746051389.006314898] [sailbot.main_algo]: Heading Difference: -170.73167460206355 -[main_algo-3] [INFO] [1746051389.008362452] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051389.009300345] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051389.010172538] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051389.011859114] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051389.045273357] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051389.046041141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051389.046736907] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051389.048440056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051389.049569542] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051389.085457695] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051389.087335774] [sailbot.teensy]: Wind angle: 195 -[trim_sail-4] [INFO] [1746051389.087800000] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051389.088300922] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051389.089235505] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051389.089604493] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051389.090109156] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051389.144753705] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051389.145324538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051389.146177789] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051389.147047750] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051389.148170142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051389.245175105] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051389.245719710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051389.246794308] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051389.247839509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051389.248432657] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051389.335232289] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051389.336903649] [sailbot.teensy]: Wind angle: 195 -[trim_sail-4] [INFO] [1746051389.337506653] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051389.337831206] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051389.338732233] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051389.338891028] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051389.339674424] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051389.344396830] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051389.344881661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051389.345612112] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051389.346950026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051389.347937325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051389.445057312] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051389.445528682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051389.446347708] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051389.447408441] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051389.448775415] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051389.457989514] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051389.459093478] [sailbot.main_algo]: Target Bearing: -141.70132539793642 -[main_algo-3] [INFO] [1746051389.460032812] [sailbot.main_algo]: Heading Difference: -170.60267460206353 -[main_algo-3] [INFO] [1746051389.461370702] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051389.462224987] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051389.463056438] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051389.464585996] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051389.464674100] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051389.502902499] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904608 Long: -76.50277363 -[main_algo-3] [INFO] [1746051389.503909315] [sailbot.main_algo]: Distance to destination: 56.751802043103865 -[vectornav-1] [INFO] [1746051389.504146074] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.21600000000001, -0.292, 5.122) -[main_algo-3] [INFO] [1746051389.505117362] [sailbot.main_algo]: Target Bearing: -141.6875485076829 -[main_algo-3] [INFO] [1746051389.506017774] [sailbot.main_algo]: Heading Difference: -170.61645149231708 -[main_algo-3] [INFO] [1746051389.507422411] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051389.508318065] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051389.509155820] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051389.511012508] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051389.544813236] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051389.545533106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051389.546083102] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051389.547355872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051389.548495004] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051389.585122606] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051389.587476959] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051389.588137167] [sailbot.teensy]: Wind angle: 195 -[teensy-2] [INFO] [1746051389.589089483] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051389.589331389] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051389.590006026] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051389.590849778] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051389.644967172] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051389.646402724] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051389.646398853] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051389.648289888] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051389.649390644] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051389.745378575] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051389.746414510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051389.747074001] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051389.748685087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051389.749832251] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051389.835561119] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051389.838470947] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051389.838765815] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051389.839009196] [sailbot.teensy]: Wind angle: 195 -[teensy-2] [INFO] [1746051389.839944774] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051389.840814235] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051389.841656874] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051389.844330758] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051389.844881608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051389.845803462] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051389.846633493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051389.847820777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051389.945038409] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051389.945661524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051389.946416510] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051389.947471708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051389.949148305] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051389.957612866] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051389.958620947] [sailbot.main_algo]: Target Bearing: -141.6875485076829 -[main_algo-3] [INFO] [1746051389.959522576] [sailbot.main_algo]: Heading Difference: -171.0964514923171 -[main_algo-3] [INFO] [1746051389.960750938] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051389.961572882] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051389.962341453] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051389.963929623] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051389.964254182] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051390.002784116] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690462 Long: -76.50277357 -[main_algo-3] [INFO] [1746051390.003706238] [sailbot.main_algo]: Distance to destination: 56.76406462540613 -[vectornav-1] [INFO] [1746051390.003940088] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.34300000000002, 0.183, 4.951) -[main_algo-3] [INFO] [1746051390.004858941] [sailbot.main_algo]: Target Bearing: -141.68029871715729 -[main_algo-3] [INFO] [1746051390.005795106] [sailbot.main_algo]: Heading Difference: -171.10370128284274 -[main_algo-3] [INFO] [1746051390.007134425] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051390.008011452] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051390.008884024] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051390.010558119] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051390.044980353] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051390.045588037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051390.046229452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051390.047528926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051390.048549220] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051390.085605916] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051390.087541194] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746051390.088557852] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051390.088196287] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051390.088768425] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051390.089465208] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051390.090335014] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051390.145093092] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051390.145910373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051390.146488321] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051390.147945171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051390.148660189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051390.245027118] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051390.245859498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051390.246719632] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051390.247886733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051390.248958177] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051390.334499107] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051390.335413840] [sailbot.teensy]: Wind angle: 195 -[trim_sail-4] [INFO] [1746051390.335974844] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051390.336269734] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051390.336370596] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051390.336778064] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051390.337176108] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051390.343661494] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051390.343959350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051390.344183242] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051390.344765245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051390.345271019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051390.443590401] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051390.444077806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051390.444292041] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051390.445044555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051390.445532241] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051390.456387703] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051390.457703428] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746051390.458157833] [sailbot.main_algo]: Target Bearing: -141.68029871715729 -[main_algo-3] [INFO] [1746051390.458523509] [sailbot.main_algo]: Heading Difference: -170.97670128284267 -[main_algo-3] [INFO] [1746051390.459074832] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051390.459445684] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051390.459809305] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051390.460840005] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051390.460891414] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051390.502794135] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904627 Long: -76.50277358 -[vectornav-1] [INFO] [1746051390.504005199] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.70400000000001, -1.36, 5.625) -[main_algo-3] [INFO] [1746051390.504422728] [sailbot.main_algo]: Distance to destination: 56.76835664354599 -[main_algo-3] [INFO] [1746051390.505758498] [sailbot.main_algo]: Target Bearing: -141.67370388789274 -[main_algo-3] [INFO] [1746051390.506771260] [sailbot.main_algo]: Heading Difference: -170.98329611210727 -[main_algo-3] [INFO] [1746051390.508189669] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051390.509094324] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051390.509920537] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051390.511480187] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051390.545009785] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051390.545589204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051390.546355684] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051390.547404837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051390.548701593] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051390.585132108] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051390.586663125] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746051390.587603743] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051390.587990475] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051390.588901429] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051390.589104310] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051390.590088513] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051390.644989976] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051390.645501848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051390.646292638] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051390.647379279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051390.648515081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051390.744739692] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051390.745210479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051390.746139301] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051390.746907689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051390.747870224] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051390.835254460] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051390.837369798] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051390.837458597] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051390.838451653] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051390.840003725] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051390.840953983] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051390.841017618] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051390.844327117] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051390.844782400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051390.845483360] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051390.846500567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051390.847517433] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051390.945065526] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051390.945693781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051390.946376331] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051390.947502981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051390.948397331] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051390.957998835] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051390.959653084] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746051390.961102649] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051390.962539747] [sailbot.main_algo]: Current Location: (42.46904627214753, -76.50277358005445) -[main_algo-3] [INFO] [1746051390.963430005] [sailbot.main_algo]: Target Bearing: -141.67370388789274 -[main_algo-3] [INFO] [1746051390.964279454] [sailbot.main_algo]: Heading Difference: -170.62229611210728 -[main_algo-3] [INFO] [1746051390.965489706] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051390.966285503] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051390.967055112] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051390.968925497] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051390.969402684] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051391.002557307] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904633 Long: -76.50277347 -[main_algo-3] [INFO] [1746051391.003460704] [sailbot.main_algo]: Distance to destination: 56.779575730856685 -[vectornav-1] [INFO] [1746051391.003605331] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.15300000000002, 0.831, 5.102) -[main_algo-3] [INFO] [1746051391.004547082] [sailbot.main_algo]: Target Bearing: -141.67428926874663 -[main_algo-3] [INFO] [1746051391.005491467] [sailbot.main_algo]: Heading Difference: -170.62171073125336 -[main_algo-3] [INFO] [1746051391.006908096] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051391.007805172] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051391.008669586] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051391.010445937] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051391.045375104] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051391.046327678] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051391.046627362] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051391.048141060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051391.049247887] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051391.085340914] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051391.087503504] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051391.087860712] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051391.088507955] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051391.089906435] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051391.090196949] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051391.090893757] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051391.145012818] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051391.145708549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051391.146332754] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051391.147523780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051391.148706115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051391.244843144] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051391.245449580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051391.246405886] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051391.247186706] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051391.248384981] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051391.335064322] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051391.336930598] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051391.337406166] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051391.337883768] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051391.338801906] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051391.339102324] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051391.339689721] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051391.344319024] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051391.344966574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051391.345688629] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051391.346673960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051391.347857503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051391.444494728] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051391.444995176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051391.445880962] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051391.446639561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051391.447693650] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051391.457415769] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051391.458365858] [sailbot.main_algo]: Target Bearing: -141.67428926874663 -[main_algo-3] [INFO] [1746051391.459207007] [sailbot.main_algo]: Heading Difference: -171.17271073125335 -[main_algo-3] [INFO] [1746051391.460456221] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051391.461274751] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051391.462045697] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051391.463612413] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051391.463658564] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051391.502513767] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904619 Long: -76.50277379 -[main_algo-3] [INFO] [1746051391.503087870] [sailbot.main_algo]: Distance to destination: 56.74937068306706 -[vectornav-1] [INFO] [1746051391.503837858] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.882000000000005, -1.051, 6.039) -[main_algo-3] [INFO] [1746051391.504253307] [sailbot.main_algo]: Target Bearing: -141.66959002367665 -[main_algo-3] [INFO] [1746051391.505182054] [sailbot.main_algo]: Heading Difference: -171.17740997632336 -[main_algo-3] [INFO] [1746051391.506447508] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051391.507253934] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051391.508024520] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051391.509976687] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051391.544529729] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051391.544901500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051391.545608392] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051391.546556911] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051391.547545263] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051391.585172044] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051391.586705985] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051391.587283637] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051391.587580834] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051391.588424996] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051391.587923939] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051391.589320922] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051391.644308142] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051391.644772420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051391.645212839] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051391.646197018] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051391.647243022] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051391.744656325] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051391.745172343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051391.745752327] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051391.746786395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051391.747738628] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051391.835528393] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051391.837946467] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051391.837962197] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746051391.839006161] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051391.839198848] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051391.840282624] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051391.841223973] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051391.844284770] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051391.844853590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051391.845367746] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051391.846563519] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051391.847692321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051391.945344696] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051391.945962144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051391.946906585] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051391.948308017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051391.949464733] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051391.957632977] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051391.958655964] [sailbot.main_algo]: Target Bearing: -141.66959002367665 -[main_algo-3] [INFO] [1746051391.959542344] [sailbot.main_algo]: Heading Difference: -171.44840997632332 -[main_algo-3] [INFO] [1746051391.960896477] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051391.961772652] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051391.962609707] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051391.964123000] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051391.964134218] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051392.003414528] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904618 Long: -76.50277388 -[main_algo-3] [INFO] [1746051392.005063700] [sailbot.main_algo]: Distance to destination: 56.742944002452326 -[main_algo-3] [INFO] [1746051392.006187457] [sailbot.main_algo]: Target Bearing: -141.66572001881346 -[vectornav-1] [INFO] [1746051392.006329763] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.372000000000014, -0.313, 4.774) -[main_algo-3] [INFO] [1746051392.007261273] [sailbot.main_algo]: Heading Difference: -171.4522799811865 -[main_algo-3] [INFO] [1746051392.008858953] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051392.009815790] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051392.010673663] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051392.012550901] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051392.045374717] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051392.045492640] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051392.046656127] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051392.047179477] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051392.048345226] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051392.085384657] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051392.087734126] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051392.088072529] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746051392.089021978] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051392.089010428] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051392.089885612] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051392.090754932] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051392.144979496] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051392.145782429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051392.146229970] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051392.147582598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051392.148774387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051392.245475980] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051392.245765159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051392.246619913] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051392.247029472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051392.247552762] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051392.335144762] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051392.336717657] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746051392.337558150] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051392.337130112] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051392.337663746] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051392.338397856] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051392.339280757] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051392.344350918] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051392.344924246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051392.345472643] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051392.346670972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051392.347823869] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051392.445024942] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051392.445612318] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051392.446293571] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051392.447680535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051392.448862091] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051392.457419099] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051392.458410496] [sailbot.main_algo]: Target Bearing: -141.66572001881346 -[main_algo-3] [INFO] [1746051392.459293926] [sailbot.main_algo]: Heading Difference: -172.9622799811865 -[main_algo-3] [INFO] [1746051392.460550812] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051392.461380795] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051392.462171206] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051392.463726544] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051392.463728550] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051392.502759046] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904629 Long: -76.50277393 -[main_algo-3] [INFO] [1746051392.503753944] [sailbot.main_algo]: Distance to destination: 56.74751194809179 -[vectornav-1] [INFO] [1746051392.503884765] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.88299999999998, -0.598, 6.224) -[main_algo-3] [INFO] [1746051392.505089115] [sailbot.main_algo]: Target Bearing: -141.65354997800137 -[main_algo-3] [INFO] [1746051392.506094819] [sailbot.main_algo]: Heading Difference: -172.97445002199862 -[main_algo-3] [INFO] [1746051392.507533847] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051392.508509467] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051392.509400329] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051392.510952974] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051392.544865617] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051392.545713203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051392.546021648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051392.547481390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051392.548716885] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051392.585446567] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051392.587161924] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051392.587644597] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051392.588028717] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051392.588897227] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051392.589749697] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051392.589820864] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051392.644881329] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051392.645603222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051392.646250778] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051392.647502898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051392.648609285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051392.744404823] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051392.745054384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051392.745803065] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051392.746962865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051392.748225793] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051392.835182592] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051392.836845204] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051392.837471596] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051392.838122308] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051392.838624654] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051392.839032712] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051392.840027271] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051392.844478291] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051392.845017677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051392.845540089] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051392.846625366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051392.847568858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051392.945069401] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051392.945826454] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051392.946454770] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051392.948016020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051392.949169188] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051392.957447069] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051392.958428257] [sailbot.main_algo]: Target Bearing: -141.65354997800137 -[main_algo-3] [INFO] [1746051392.959265797] [sailbot.main_algo]: Heading Difference: -173.46345002199865 -[main_algo-3] [INFO] [1746051392.960494973] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051392.961306716] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051392.962114476] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051392.963671525] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051392.963828931] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051393.002754959] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904632 Long: -76.50277386 -[main_algo-3] [INFO] [1746051393.003652300] [sailbot.main_algo]: Distance to destination: 56.754074961256435 -[vectornav-1] [INFO] [1746051393.003882510] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.55099999999999, -0.38, 4.933) -[main_algo-3] [INFO] [1746051393.004837871] [sailbot.main_algo]: Target Bearing: -141.65463444652792 -[main_algo-3] [INFO] [1746051393.005774040] [sailbot.main_algo]: Heading Difference: -173.46236555347207 -[main_algo-3] [INFO] [1746051393.007151942] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051393.008041885] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051393.008916289] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051393.010607889] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051393.044898983] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051393.045590942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051393.046154001] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051393.047507955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051393.048540096] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051393.085575074] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051393.088066245] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051393.088437533] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051393.088447388] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746051393.089450076] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051393.090396902] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051393.091288611] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051393.145155811] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051393.146100045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051393.146671108] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051393.148371004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051393.149396891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051393.245134404] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051393.246056347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051393.246645574] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051393.248198656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051393.249331828] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051393.335349985] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051393.337711288] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051393.337736057] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051393.338690714] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051393.339039422] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051393.339580082] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051393.340477617] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051393.344389624] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051393.345007374] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051393.345554427] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051393.346877584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051393.347908748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051393.445330356] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051393.446122067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051393.446845122] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051393.448272837] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051393.449585184] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051393.457690724] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051393.458739808] [sailbot.main_algo]: Target Bearing: -141.65463444652792 -[main_algo-3] [INFO] [1746051393.459687763] [sailbot.main_algo]: Heading Difference: -171.79436555347206 -[main_algo-3] [INFO] [1746051393.461034195] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051393.461921922] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051393.462774784] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051393.464346317] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051393.464376678] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051393.502809320] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904644 Long: -76.50277369 -[vectornav-1] [INFO] [1746051393.504093875] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.39499999999998, 0.15, 5.819) -[main_algo-3] [INFO] [1746051393.504371815] [sailbot.main_algo]: Distance to destination: 56.773334155839606 -[main_algo-3] [INFO] [1746051393.505496080] [sailbot.main_algo]: Target Bearing: -141.6531816474968 -[main_algo-3] [INFO] [1746051393.506692617] [sailbot.main_algo]: Heading Difference: -171.7958183525032 -[main_algo-3] [INFO] [1746051393.508134439] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051393.509064151] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051393.509936006] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051393.511526482] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051393.544886813] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051393.545656227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051393.546162030] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051393.547533701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051393.548566982] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051393.585314027] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051393.587173155] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746051393.588133653] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051393.587915040] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051393.588726409] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051393.589071984] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051393.589992364] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051393.644649952] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051393.645317313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051393.646264405] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051393.647138954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051393.648482719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051393.745093893] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051393.745763718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051393.746429202] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051393.747553090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051393.748595546] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051393.835383879] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051393.837626161] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051393.837854732] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746051393.838744212] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051393.838956847] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051393.839664448] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051393.840550110] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051393.844361995] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051393.844696280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051393.845527811] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051393.846341560] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051393.847391201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051393.945125881] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051393.945814755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051393.946447673] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051393.947644146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051393.948697538] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051393.957683784] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051393.958752249] [sailbot.main_algo]: Target Bearing: -141.6531816474968 -[main_algo-3] [INFO] [1746051393.959690992] [sailbot.main_algo]: Heading Difference: -170.9518183525032 -[main_algo-3] [INFO] [1746051393.960977954] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051393.961781739] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051393.962574563] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051393.964063760] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051393.964168362] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051394.003029700] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904652 Long: -76.50277355 -[main_algo-3] [INFO] [1746051394.004221922] [sailbot.main_algo]: Distance to destination: 56.787868852266676 -[vectornav-1] [INFO] [1746051394.004488576] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.432000000000016, -1.299, 6.426) -[main_algo-3] [INFO] [1746051394.005342010] [sailbot.main_algo]: Target Bearing: -141.65361669494206 -[main_algo-3] [INFO] [1746051394.006321634] [sailbot.main_algo]: Heading Difference: -170.95138330505796 -[main_algo-3] [INFO] [1746051394.007644288] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051394.008518873] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051394.009356022] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051394.011028691] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051394.044899040] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051394.045637661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051394.046168961] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051394.047667754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051394.048693626] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051394.085482481] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051394.087851580] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051394.088050084] [sailbot.teensy]: Wind angle: 195 -[teensy-2] [INFO] [1746051394.089286027] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051394.089350552] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051394.090442972] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051394.091512666] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051394.145018648] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051394.145878452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051394.146421479] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051394.148042821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051394.148990702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051394.245645952] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051394.246528105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051394.247261217] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051394.248099687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051394.248559571] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051394.335182874] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051394.337240189] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051394.337580987] [sailbot.teensy]: Wind angle: 195 -[mux-7] [INFO] [1746051394.337878353] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051394.338589275] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051394.339549102] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051394.340353944] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051394.344425920] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051394.345058615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051394.345762068] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051394.346964235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051394.348109798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051394.445153809] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051394.446159445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051394.446932294] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051394.448630109] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051394.449969155] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051394.457507482] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051394.458478632] [sailbot.main_algo]: Target Bearing: -141.65361669494206 -[main_algo-3] [INFO] [1746051394.459378424] [sailbot.main_algo]: Heading Difference: -170.91438330505792 -[main_algo-3] [INFO] [1746051394.460637746] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051394.461526709] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051394.462309293] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051394.463809681] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051394.463836290] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051394.502641944] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904663 Long: -76.50277348 -[main_algo-3] [INFO] [1746051394.503549115] [sailbot.main_algo]: Distance to destination: 56.80006689320216 -[vectornav-1] [INFO] [1746051394.503696066] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.65199999999999, 0.741, 4.767) -[main_algo-3] [INFO] [1746051394.504626788] [sailbot.main_algo]: Target Bearing: -141.64777099459195 -[main_algo-3] [INFO] [1746051394.505545821] [sailbot.main_algo]: Heading Difference: -170.92022900540803 -[main_algo-3] [INFO] [1746051394.506898481] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051394.507772084] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051394.508645662] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051394.511045631] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051394.545346306] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051394.546211009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051394.546877055] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051394.548590439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051394.549631066] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051394.585530942] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051394.587914860] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051394.587936634] [sailbot.teensy]: Wind angle: 194 -[mux-7] [INFO] [1746051394.588670638] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051394.588961432] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051394.589919726] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051394.590748078] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051394.645008277] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051394.645752833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051394.646451201] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051394.647734157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051394.648247531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051394.744453990] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051394.744940353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051394.745554500] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051394.747178364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051394.748615376] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051394.834419028] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051394.835436157] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746051394.836166119] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051394.836885399] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051394.837625366] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051394.835965679] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051394.837302347] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051394.844205520] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051394.845230399] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051394.845796722] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051394.847201405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051394.847765533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051394.944969880] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051394.945659547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051394.946270942] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051394.947690675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051394.948723935] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051394.957741821] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051394.958803127] [sailbot.main_algo]: Target Bearing: -141.64777099459195 -[main_algo-3] [INFO] [1746051394.959711175] [sailbot.main_algo]: Heading Difference: -170.70022900540806 -[main_algo-3] [INFO] [1746051394.960950217] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051394.961772612] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051394.962570014] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051394.964075121] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051394.964295635] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051395.002827419] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690466 Long: -76.50277355 -[main_algo-3] [INFO] [1746051395.003854348] [sailbot.main_algo]: Distance to destination: 56.793504007068414 -[vectornav-1] [INFO] [1746051395.004104993] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.12700000000001, -1.64, 5.861) -[main_algo-3] [INFO] [1746051395.005072065] [sailbot.main_algo]: Target Bearing: -141.64668661339925 -[main_algo-3] [INFO] [1746051395.006094579] [sailbot.main_algo]: Heading Difference: -170.70131338660076 -[main_algo-3] [INFO] [1746051395.007507974] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051395.008413363] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051395.009259577] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051395.010928300] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051395.045592246] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051395.046203328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051395.047237765] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051395.049097854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051395.050383799] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051395.085551315] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051395.087749279] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051395.087899234] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051395.088276038] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051395.088648001] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051395.089555449] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051395.090382263] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051395.145157144] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051395.146515034] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051395.145599157] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051395.147526089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051395.148612774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051395.245083695] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051395.245932371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051395.246562199] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051395.247917259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051395.249175349] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051395.335340418] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051395.337229765] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051395.338059482] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051395.338185566] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051395.339089861] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051395.339388720] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051395.339969647] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051395.344453535] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051395.345099339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051395.345667469] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051395.347047030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051395.348204651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051395.445164614] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051395.445860503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051395.446583492] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051395.448121737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051395.448584518] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051395.457729386] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051395.458775426] [sailbot.main_algo]: Target Bearing: -141.64668661339925 -[main_algo-3] [INFO] [1746051395.459684601] [sailbot.main_algo]: Heading Difference: -171.22631338660074 -[main_algo-3] [INFO] [1746051395.461059720] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051395.461897435] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051395.462677656] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051395.464209689] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051395.464209673] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051395.502741318] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904659 Long: -76.50277333 -[main_algo-3] [INFO] [1746051395.503502982] [sailbot.main_algo]: Distance to destination: 56.806785158332225 -[vectornav-1] [INFO] [1746051395.503813420] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.32400000000001, 0.734, 4.462) -[main_algo-3] [INFO] [1746051395.504583250] [sailbot.main_algo]: Target Bearing: -141.65912511760962 -[main_algo-3] [INFO] [1746051395.505570532] [sailbot.main_algo]: Heading Difference: -171.21387488239037 -[main_algo-3] [INFO] [1746051395.506944704] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051395.507812045] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051395.508671245] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051395.510332474] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051395.545162861] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051395.545723308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051395.546744099] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051395.547702963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051395.548747280] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051395.585347488] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051395.587043320] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746051395.587947489] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051395.587562041] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051395.588139355] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051395.588848922] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051395.589689274] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051395.645093452] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051395.645890423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051395.646996739] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051395.648458169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051395.649480973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051395.745218060] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051395.746136866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051395.746733737] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051395.748456291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051395.749790730] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051395.835253501] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051395.837017665] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051395.837728019] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051395.837981618] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051395.838736587] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051395.838747460] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051395.839118172] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051395.844283611] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051395.844960020] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051395.845605406] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051395.846635034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051395.847687326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051395.945096297] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051395.946140385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051395.946551845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051395.948139577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051395.949177903] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051395.957545288] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051395.958617987] [sailbot.main_algo]: Target Bearing: -141.65912511760962 -[main_algo-3] [INFO] [1746051395.959523617] [sailbot.main_algo]: Heading Difference: -171.01687488239037 -[main_algo-3] [INFO] [1746051395.960784052] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051395.961604583] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051395.962392052] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051395.963997583] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051395.964043146] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051396.002715796] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904659 Long: -76.50277351 -[main_algo-3] [INFO] [1746051396.003710858] [sailbot.main_algo]: Distance to destination: 56.79534223046042 -[vectornav-1] [INFO] [1746051396.003872805] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.093999999999994, -0.265, 6.065) -[main_algo-3] [INFO] [1746051396.004912992] [sailbot.main_algo]: Target Bearing: -141.64965728021667 -[main_algo-3] [INFO] [1746051396.005863165] [sailbot.main_algo]: Heading Difference: -171.02634271978332 -[main_algo-3] [INFO] [1746051396.007201076] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051396.008073968] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051396.008913790] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051396.010504471] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051396.045208302] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051396.045668445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051396.046558521] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051396.047546973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051396.048717080] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051396.084437190] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051396.085927762] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051396.086019706] [sailbot.teensy]: Wind angle: 194 -[mux-7] [INFO] [1746051396.086743191] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051396.087952509] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051396.088584733] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051396.089158630] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051396.144141402] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051396.144907584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051396.145511092] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051396.146689930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051396.147327555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051396.244749892] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051396.245330428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051396.245919711] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051396.247102768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051396.248088906] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051396.335240427] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051396.336977882] [sailbot.teensy]: Wind angle: 195 -[teensy-2] [INFO] [1746051396.337880833] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051396.337735179] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051396.337946260] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051396.338760887] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051396.339225174] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051396.344416748] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051396.344946178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051396.345523579] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051396.346631791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051396.347665726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051396.444727669] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051396.445340896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051396.445820259] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051396.447097057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051396.448094351] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051396.457719494] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051396.458798320] [sailbot.main_algo]: Target Bearing: -141.64965728021667 -[main_algo-3] [INFO] [1746051396.459714339] [sailbot.main_algo]: Heading Difference: -170.25634271978333 -[main_algo-3] [INFO] [1746051396.461079232] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051396.461882733] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051396.462654020] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051396.464176057] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051396.464178687] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051396.502902754] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904664 Long: -76.5027736 -[main_algo-3] [INFO] [1746051396.503829665] [sailbot.main_algo]: Distance to destination: 56.79314387336851 -[vectornav-1] [INFO] [1746051396.504084245] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.89300000000003, -0.713, 5.181) -[main_algo-3] [INFO] [1746051396.505071331] [sailbot.main_algo]: Target Bearing: -141.640591140835 -[main_algo-3] [INFO] [1746051396.506075370] [sailbot.main_algo]: Heading Difference: -170.265408859165 -[main_algo-3] [INFO] [1746051396.507531601] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051396.508454249] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051396.509314574] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051396.511011331] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051396.544764685] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051396.545371798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051396.545947591] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051396.547136630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051396.548122864] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051396.585328660] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051396.587230555] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746051396.588169873] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051396.587562901] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051396.588193144] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051396.589122473] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051396.590086911] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051396.644334509] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051396.645055264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051396.645373773] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051396.646659827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051396.647685238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051396.745007320] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051396.746021059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051396.746787302] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051396.747999376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051396.749061286] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051396.835462856] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051396.838100029] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051396.838400492] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746051396.839491550] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051396.839618491] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051396.840471128] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051396.841026336] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051396.844343555] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051396.844888694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051396.845417499] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051396.846615216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051396.847760105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051396.944139299] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051396.944705421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051396.945188464] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051396.947129002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051396.948269380] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051396.956999418] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051396.957731666] [sailbot.main_algo]: Target Bearing: -141.640591140835 -[main_algo-3] [INFO] [1746051396.958574992] [sailbot.main_algo]: Heading Difference: -169.46640885916497 -[main_algo-3] [INFO] [1746051396.959890876] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051396.960682681] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051396.961562289] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051396.963209408] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051396.963382653] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051397.002434880] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904673 Long: -76.50277357 -[main_algo-3] [INFO] [1746051397.003334162] [sailbot.main_algo]: Distance to destination: 56.80139182607804 -[vectornav-1] [INFO] [1746051397.004004655] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.74000000000001, -0.177, 5.387) -[main_algo-3] [INFO] [1746051397.004515190] [sailbot.main_algo]: Target Bearing: -141.63437576171637 -[main_algo-3] [INFO] [1746051397.005676517] [sailbot.main_algo]: Heading Difference: -169.47262423828363 -[main_algo-3] [INFO] [1746051397.006942443] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051397.007752444] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051397.008521814] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051397.010028424] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051397.044957193] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051397.045638392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051397.046343485] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051397.047494625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051397.048580129] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051397.084791394] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051397.086034390] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746051397.086798761] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051397.086801712] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051397.087622024] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051397.088538258] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051397.089982176] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051397.144665294] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051397.145270411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051397.145778709] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051397.147034122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051397.148128945] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051397.245145802] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051397.245859178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051397.246726800] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051397.248178970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051397.249336882] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051397.335232331] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051397.336999449] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746051397.337913064] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051397.337474865] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051397.338192502] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051397.338800207] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051397.339673629] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051397.344411299] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051397.345164163] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051397.345543489] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051397.346931103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051397.348044938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051397.445725283] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051397.447128726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051397.448088081] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051397.448592412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051397.449236337] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051397.457505245] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051397.458514289] [sailbot.main_algo]: Target Bearing: -141.63437576171637 -[main_algo-3] [INFO] [1746051397.459440806] [sailbot.main_algo]: Heading Difference: -169.62562423828365 -[main_algo-3] [INFO] [1746051397.460990501] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051397.461962790] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051397.462743314] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051397.464327550] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051397.464334824] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051397.502871381] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904684 Long: -76.50277359 -[main_algo-3] [INFO] [1746051397.503951113] [sailbot.main_algo]: Distance to destination: 56.80787265826238 -[vectornav-1] [INFO] [1746051397.503986042] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.28199999999998, -0.565, 5.843) -[main_algo-3] [INFO] [1746051397.505090874] [sailbot.main_algo]: Target Bearing: -141.6237996306309 -[main_algo-3] [INFO] [1746051397.506126689] [sailbot.main_algo]: Heading Difference: -169.63620036936908 -[main_algo-3] [INFO] [1746051397.507528860] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051397.508447649] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051397.509346481] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051397.511287756] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051397.545326416] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051397.546181222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051397.546863698] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051397.548459375] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051397.549643300] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051397.585570271] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051397.587982175] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051397.589175575] [sailbot.teensy]: Wind angle: 196 -[mux-7] [INFO] [1746051397.589356515] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051397.590144840] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051397.591094419] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051397.592070714] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051397.645129682] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051397.645882987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051397.646546221] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051397.647917810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051397.648985950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051397.745096041] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051397.746098641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051397.747098463] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051397.748421561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051397.749643637] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051397.835368939] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051397.837598113] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051397.837888383] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746051397.838822552] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051397.839142126] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051397.839576320] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051397.840002839] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051397.844454435] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051397.845064192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051397.845539580] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051397.846793331] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051397.847788829] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051397.944873194] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051397.945581795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051397.946339479] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051397.947411001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051397.948528425] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051397.957627545] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051397.958719107] [sailbot.main_algo]: Target Bearing: -141.6237996306309 -[main_algo-3] [INFO] [1746051397.959657133] [sailbot.main_algo]: Heading Difference: -170.0942003693691 -[main_algo-3] [INFO] [1746051397.960950313] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051397.961767453] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051397.962610284] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051397.964341228] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051397.964447744] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051398.002661543] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904677 Long: -76.50277351 -[vectornav-1] [INFO] [1746051398.003789649] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.76400000000001, 0.347, 5.679) -[main_algo-3] [INFO] [1746051398.003833720] [sailbot.main_algo]: Distance to destination: 56.80802356521291 -[main_algo-3] [INFO] [1746051398.005116764] [sailbot.main_algo]: Target Bearing: -141.6340694647213 -[main_algo-3] [INFO] [1746051398.006115746] [sailbot.main_algo]: Heading Difference: -170.08393053527868 -[main_algo-3] [INFO] [1746051398.007455769] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051398.008365033] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051398.009200459] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051398.010765824] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051398.045137097] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051398.045816108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051398.046574683] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051398.048087384] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051398.049214342] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051398.085182193] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051398.086747370] [sailbot.teensy]: Wind angle: 196 -[trim_sail-4] [INFO] [1746051398.087112941] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051398.087756215] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051398.088727493] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051398.088940452] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051398.089631257] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051398.144968825] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051398.145744802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051398.146261854] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051398.147605622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051398.148753151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051398.244908522] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051398.245666798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051398.246305941] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051398.248762596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051398.249994041] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051398.335445025] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051398.337912537] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051398.338601450] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051398.338847972] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746051398.339785902] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051398.340706800] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051398.341572916] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051398.344270045] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051398.344931688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051398.345345088] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051398.346556289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051398.347572908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051398.445349806] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051398.445926624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051398.446686803] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051398.447637546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051398.448204083] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051398.457684724] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051398.458773713] [sailbot.main_algo]: Target Bearing: -141.6340694647213 -[main_algo-3] [INFO] [1746051398.459705003] [sailbot.main_algo]: Heading Difference: -169.6019305352787 -[main_algo-3] [INFO] [1746051398.461022628] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051398.461846277] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051398.462621980] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051398.464133054] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051398.464177475] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051398.502657502] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904669 Long: -76.50277351 -[main_algo-3] [INFO] [1746051398.503689111] [sailbot.main_algo]: Distance to destination: 56.80238689774113 -[vectornav-1] [INFO] [1746051398.503984728] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.40899999999999, -1.11, 4.978) -[main_algo-3] [INFO] [1746051398.504859035] [sailbot.main_algo]: Target Bearing: -141.64099652305296 -[main_algo-3] [INFO] [1746051398.505873537] [sailbot.main_algo]: Heading Difference: -169.595003476947 -[main_algo-3] [INFO] [1746051398.507263171] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051398.508400721] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051398.509355235] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051398.511509450] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051398.545044485] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051398.545780317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051398.546719557] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051398.547997941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051398.549140387] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051398.585660529] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051398.588276750] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051398.588802446] [sailbot.teensy]: Wind angle: 195 -[mux-7] [INFO] [1746051398.589078419] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051398.589874806] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051398.590800681] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051398.591630413] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051398.645020560] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051398.645849511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051398.646325743] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051398.647686701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051398.648751610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051398.744921671] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051398.745698055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051398.746256319] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051398.747549308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051398.748064911] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051398.835523009] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051398.838181277] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051398.839042386] [sailbot.teensy]: Wind angle: 196 -[mux-7] [INFO] [1746051398.839443739] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051398.839963161] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051398.840900971] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051398.841775459] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051398.844408192] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051398.844930732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051398.845870909] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051398.846838301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051398.847845485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051398.945154995] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051398.945712724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051398.946511928] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051398.947841891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051398.948827833] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051398.957549790] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051398.958492948] [sailbot.main_algo]: Target Bearing: -141.64099652305296 -[main_algo-3] [INFO] [1746051398.959340649] [sailbot.main_algo]: Heading Difference: -168.95000347694702 -[main_algo-3] [INFO] [1746051398.960592607] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051398.961457979] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051398.962264229] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051398.963806993] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051398.963851859] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051399.001871145] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904665 Long: -76.50277363 -[main_algo-3] [INFO] [1746051399.002453938] [sailbot.main_algo]: Distance to destination: 56.79194168460569 -[vectornav-1] [INFO] [1746051399.002556062] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.02600000000001, 0.368, 5.113) -[main_algo-3] [INFO] [1746051399.003200900] [sailbot.main_algo]: Target Bearing: -141.6381463272789 -[main_algo-3] [INFO] [1746051399.003894100] [sailbot.main_algo]: Heading Difference: -168.95285367272112 -[main_algo-3] [INFO] [1746051399.005800548] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051399.006994609] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051399.007861464] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051399.009623920] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051399.043946570] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051399.044408608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051399.046050428] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051399.046091289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051399.046965718] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051399.085092838] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051399.086496836] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746051399.087375126] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051399.088230126] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051399.087734226] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051399.088397327] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051399.089117032] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051399.143698938] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051399.144048927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051399.144240866] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051399.144873161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051399.145403714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051399.245076911] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051399.245941965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051399.246660913] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051399.248170850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051399.249297118] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051399.335293948] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051399.336980027] [sailbot.teensy]: Wind angle: 196 -[trim_sail-4] [INFO] [1746051399.337469081] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051399.338005280] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051399.338947616] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051399.339678295] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051399.340107059] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051399.343604202] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051399.343987643] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051399.344146107] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051399.344858960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051399.345577903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051399.445432052] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051399.446283465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051399.446622007] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051399.448050182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051399.449358115] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051399.457709047] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051399.458811673] [sailbot.main_algo]: Target Bearing: -141.6381463272789 -[main_algo-3] [INFO] [1746051399.459724302] [sailbot.main_algo]: Heading Difference: -169.3358536727211 -[main_algo-3] [INFO] [1746051399.461045502] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051399.462000558] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051399.462892231] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051399.464437776] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051399.464453264] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051399.503041643] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904665 Long: -76.50277368 -[main_algo-3] [INFO] [1746051399.504507131] [sailbot.main_algo]: Distance to destination: 56.78876389216781 -[vectornav-1] [INFO] [1746051399.504689550] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.22800000000001, -1.073, 5.463) -[main_algo-3] [INFO] [1746051399.505730841] [sailbot.main_algo]: Target Bearing: -141.63551489391568 -[main_algo-3] [INFO] [1746051399.506707125] [sailbot.main_algo]: Heading Difference: -169.3384851060843 -[main_algo-3] [INFO] [1746051399.508089972] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051399.508985955] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051399.509826728] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051399.511491637] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051399.544943711] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051399.545654182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051399.546245497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051399.547642932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051399.548763288] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051399.585552511] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051399.587773908] [sailbot.teensy]: Wind angle: 195 -[trim_sail-4] [INFO] [1746051399.587955094] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051399.588789674] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051399.589348599] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051399.589661818] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051399.590549549] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051399.645946918] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051399.647261643] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051399.647503547] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051399.649273319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051399.650252251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051399.745141992] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051399.746368841] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051399.746232167] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051399.748417389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051399.749018189] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051399.835224856] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051399.836876824] [sailbot.teensy]: Wind angle: 191 -[teensy-2] [INFO] [1746051399.837724633] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051399.837360650] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051399.838116472] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051399.838624565] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051399.839514016] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051399.844357706] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051399.844872753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051399.845423741] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051399.846561697] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051399.847589654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051399.944701479] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051399.945396893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051399.946116414] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051399.947110616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051399.948217982] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051399.957590635] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051399.958708559] [sailbot.main_algo]: Target Bearing: -141.63551489391568 -[main_algo-3] [INFO] [1746051399.959644838] [sailbot.main_algo]: Heading Difference: -169.1364851060843 -[main_algo-3] [INFO] [1746051399.960969505] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051399.961781421] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051399.962555900] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051399.964084766] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051399.964112208] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051400.002715419] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690467 Long: -76.50277386 -[main_algo-3] [INFO] [1746051400.003684516] [sailbot.main_algo]: Distance to destination: 56.7808487728543 -[vectornav-1] [INFO] [1746051400.003821206] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.132000000000005, 0.232, 5.496) -[main_algo-3] [INFO] [1746051400.004821363] [sailbot.main_algo]: Target Bearing: -141.6217087370568 -[main_algo-3] [INFO] [1746051400.005709937] [sailbot.main_algo]: Heading Difference: -169.1502912629432 -[main_algo-3] [INFO] [1746051400.006981175] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051400.007793896] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051400.008598572] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051400.010456341] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051400.045099964] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051400.045629159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051400.046543377] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051400.047524619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051400.048636539] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051400.085271359] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051400.087031894] [sailbot.teensy]: Wind angle: 186 -[trim_sail-4] [INFO] [1746051400.087399581] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051400.087921842] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051400.088753977] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051400.088826244] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051400.089761400] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051400.144779581] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051400.145221752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051400.146018954] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051400.146821546] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051400.147940138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051400.245114912] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051400.245662156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051400.247059700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051400.248688373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051400.249997790] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051400.335122687] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051400.336822955] [sailbot.teensy]: Wind angle: 186 -[trim_sail-4] [INFO] [1746051400.337191236] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051400.337774244] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051400.338637233] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051400.338666378] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051400.339578591] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051400.344467703] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051400.345050973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051400.345672293] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051400.346684110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051400.347725711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051400.445205919] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051400.446377046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051400.446767987] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051400.448190996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051400.449449172] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051400.457777721] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051400.458769190] [sailbot.main_algo]: Target Bearing: -141.6217087370568 -[main_algo-3] [INFO] [1746051400.459685055] [sailbot.main_algo]: Heading Difference: -169.2462912629432 -[main_algo-3] [INFO] [1746051400.461037190] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051400.461948187] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051400.462753245] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051400.464300945] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051400.464373459] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051400.502692489] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690466 Long: -76.50277378 -[main_algo-3] [INFO] [1746051400.503746806] [sailbot.main_algo]: Distance to destination: 56.77888536645375 -[vectornav-1] [INFO] [1746051400.503787513] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.15100000000001, -0.942, 5.533) -[main_algo-3] [INFO] [1746051400.505026963] [sailbot.main_algo]: Target Bearing: -141.63458210983512 -[main_algo-3] [INFO] [1746051400.505962623] [sailbot.main_algo]: Heading Difference: -169.2334178901649 -[main_algo-3] [INFO] [1746051400.507382496] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051400.508290474] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051400.509143463] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051400.510910075] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051400.544912888] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051400.545589073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051400.546208273] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051400.547474324] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051400.548575617] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051400.585542555] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051400.587999346] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051400.588669157] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051400.588981973] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051400.589952363] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051400.590845632] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051400.591658980] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051400.644746295] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051400.645367300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051400.645982430] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051400.647177478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051400.648386793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051400.745077088] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051400.746048341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051400.746239445] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051400.747827508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051400.748845417] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051400.835403272] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051400.837796956] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051400.841003802] [sailbot.teensy]: Wind angle: 185 -[mux-7] [INFO] [1746051400.841101591] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051400.842125114] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051400.843172520] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051400.844189257] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051400.844489566] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051400.845661177] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051400.847019806] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051400.848340213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051400.849374390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051400.943674464] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051400.943983441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051400.944184497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051400.944770147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051400.945394691] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051400.956517329] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051400.956985842] [sailbot.main_algo]: Target Bearing: -141.63458210983512 -[main_algo-3] [INFO] [1746051400.957395519] [sailbot.main_algo]: Heading Difference: -168.2144178901649 -[main_algo-3] [INFO] [1746051400.957996294] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051400.958412289] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051400.958798400] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051400.959563337] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051400.960780013] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051401.001330534] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904655 Long: -76.50277382 -[vectornav-1] [INFO] [1746051401.001775963] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.584, 0.009, 5.263) -[main_algo-3] [INFO] [1746051401.001912798] [sailbot.main_algo]: Distance to destination: 56.77282011977614 -[main_algo-3] [INFO] [1746051401.002474587] [sailbot.main_algo]: Target Bearing: -141.6368079085746 -[main_algo-3] [INFO] [1746051401.002933767] [sailbot.main_algo]: Heading Difference: -168.21219209142538 -[main_algo-3] [INFO] [1746051401.003572898] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051401.003999887] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051401.004450319] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051401.005375105] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051401.043603475] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051401.044074936] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051401.045372486] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051401.046434854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051401.047297194] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051401.084459974] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051401.085445234] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051401.086476628] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051401.086954725] [sailbot.teensy]: Wind angle: 182 -[teensy-2] [INFO] [1746051401.087380653] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051401.087768144] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051401.088214684] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051401.143688831] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051401.144222546] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051401.144142727] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051401.144962368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051401.145456779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051401.243636940] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051401.244119435] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051401.244083842] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051401.245176968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051401.245785597] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051401.334417518] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051401.335414805] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051401.336464300] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051401.337224856] [sailbot.teensy]: Wind angle: 179 -[teensy-2] [INFO] [1746051401.337613751] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051401.338499025] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051401.339285153] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051401.343571006] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051401.344006919] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051401.344634227] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051401.345730173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051401.346509305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051401.443699917] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051401.444300118] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051401.445169350] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051401.446753601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051401.447905261] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051401.457700558] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051401.458936451] [sailbot.main_algo]: Target Bearing: -141.6368079085746 -[main_algo-3] [INFO] [1746051401.459368263] [sailbot.main_algo]: Heading Difference: -168.7791920914254 -[main_algo-3] [INFO] [1746051401.460501624] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051401.461309104] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051401.461733426] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051401.463133436] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051401.463305471] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051401.501300115] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904651 Long: -76.50277396 -[vectornav-1] [INFO] [1746051401.501701063] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.18099999999998, -0.263, 5.663) -[main_algo-3] [INFO] [1746051401.501700393] [sailbot.main_algo]: Distance to destination: 56.76110405819829 -[main_algo-3] [INFO] [1746051401.502171123] [sailbot.main_algo]: Target Bearing: -141.63290227869527 -[main_algo-3] [INFO] [1746051401.502596615] [sailbot.main_algo]: Heading Difference: -168.78309772130473 -[main_algo-3] [INFO] [1746051401.503858038] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051401.504258548] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051401.504619501] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051401.505400613] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051401.543628347] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051401.544091238] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051401.543983592] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051401.544705219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051401.545197330] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051401.584374247] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051401.585037702] [sailbot.teensy]: Wind angle: 179 -[teensy-2] [INFO] [1746051401.585422201] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051401.585779696] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051401.585789340] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051401.586842085] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051401.586818777] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051401.643525181] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051401.643928261] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051401.643784433] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051401.644476619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051401.644940561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051401.745167287] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051401.746473605] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051401.748368584] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051401.750616884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051401.751863405] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051401.835376624] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051401.837845996] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051401.838280752] [sailbot.teensy]: Wind angle: 179 -[mux-7] [INFO] [1746051401.838926274] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051401.839236639] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051401.839765658] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051401.840128103] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051401.844329387] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051401.844896066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051401.845574448] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051401.846601557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051401.847723931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051401.944239625] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051401.944827855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051401.945289490] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051401.946574620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051401.947590137] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051401.957730548] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051401.958792751] [sailbot.main_algo]: Target Bearing: -141.63290227869527 -[main_algo-3] [INFO] [1746051401.959733032] [sailbot.main_algo]: Heading Difference: -170.18609772130475 -[main_algo-3] [INFO] [1746051401.961298807] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051401.962236840] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051401.963161843] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051401.964743474] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051401.965011256] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051402.002430996] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904646 Long: -76.50277387 -[vectornav-1] [INFO] [1746051402.003501114] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.02199999999999, -1.079, 5.107) -[main_algo-3] [INFO] [1746051402.003696384] [sailbot.main_algo]: Distance to destination: 56.7633012101929 -[main_algo-3] [INFO] [1746051402.004912314] [sailbot.main_algo]: Target Bearing: -141.64197383600208 -[main_algo-3] [INFO] [1746051402.006136657] [sailbot.main_algo]: Heading Difference: -170.17702616399794 -[main_algo-3] [INFO] [1746051402.007496491] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051402.008382241] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051402.009229006] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051402.010773580] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051402.045040970] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051402.045719994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051402.046358229] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051402.047618487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051402.048646055] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051402.084850979] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051402.086156743] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051402.087008330] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051402.087948904] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051402.088974255] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051402.088279613] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051402.088415313] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051402.145016271] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051402.145740488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051402.146365233] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051402.147608217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051402.148727815] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051402.245145388] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051402.246009592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051402.246579283] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051402.248412407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051402.249549732] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051402.335643532] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051402.337617041] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051402.338743160] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051402.338079692] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051402.340054229] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051402.340450350] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051402.341146023] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051402.344538741] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051402.345255524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051402.345621617] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051402.347045789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051402.348123758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051402.445079751] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051402.446391970] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051402.447142320] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051402.449045986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051402.450205012] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051402.457499480] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051402.458512885] [sailbot.main_algo]: Target Bearing: -141.64197383600208 -[main_algo-3] [INFO] [1746051402.459482575] [sailbot.main_algo]: Heading Difference: -168.33602616399793 -[main_algo-3] [INFO] [1746051402.460835822] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051402.461729854] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051402.462550631] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051402.464433361] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051402.465042128] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051402.502879317] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904653 Long: -76.50277391 -[main_algo-3] [INFO] [1746051402.503878693] [sailbot.main_algo]: Distance to destination: 56.76569098462035 -[vectornav-1] [INFO] [1746051402.504051603] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.27999999999997, 0.353, 4.816) -[main_algo-3] [INFO] [1746051402.505044700] [sailbot.main_algo]: Target Bearing: -141.6338022199469 -[main_algo-3] [INFO] [1746051402.505971087] [sailbot.main_algo]: Heading Difference: -168.34419778005315 -[main_algo-3] [INFO] [1746051402.507370087] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051402.508287930] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051402.509144442] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051402.510775865] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051402.544721842] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051402.545275660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051402.546427113] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051402.547007416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051402.548090312] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051402.585192360] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051402.587462836] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051402.587862799] [sailbot.teensy]: Wind angle: 180 -[mux-7] [INFO] [1746051402.588534436] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051402.588831253] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051402.589951759] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051402.590790755] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051402.644914812] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051402.645386051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051402.646184462] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051402.647246419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051402.648399883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051402.745509761] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051402.746150655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051402.747145732] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051402.748381091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051402.749488813] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051402.835288852] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051402.837480983] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051402.837963447] [sailbot.teensy]: Wind angle: 180 -[mux-7] [INFO] [1746051402.838522405] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051402.839466281] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051402.840512388] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051402.841357113] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051402.844461319] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051402.844859922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051402.845694214] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051402.846539030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051402.847691792] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051402.945102719] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051402.945630194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051402.946686859] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051402.948012907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051402.949153704] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051402.957487220] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051402.958451909] [sailbot.main_algo]: Target Bearing: -141.6338022199469 -[main_algo-3] [INFO] [1746051402.959325117] [sailbot.main_algo]: Heading Difference: -168.0861977800531 -[main_algo-3] [INFO] [1746051402.960554979] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051402.961369874] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051402.962152989] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051402.963668219] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051402.963675524] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051403.002701999] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904637 Long: -76.50277393 -[main_algo-3] [INFO] [1746051403.003551019] [sailbot.main_algo]: Distance to destination: 56.75314711123265 -[vectornav-1] [INFO] [1746051403.003820451] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.71300000000002, -0.622, 5.849) -[main_algo-3] [INFO] [1746051403.004820009] [sailbot.main_algo]: Target Bearing: -141.64661497517062 -[main_algo-3] [INFO] [1746051403.005861468] [sailbot.main_algo]: Heading Difference: -168.0733850248294 -[main_algo-3] [INFO] [1746051403.007315364] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051403.008266595] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051403.009132856] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051403.010917590] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051403.045054319] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051403.045609688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051403.046567189] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051403.047703106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051403.048761196] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051403.085240968] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051403.087289261] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051403.087459947] [sailbot.teensy]: Wind angle: 181 -[mux-7] [INFO] [1746051403.088110297] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051403.088645827] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051403.089548177] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051403.090406402] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051403.144942878] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051403.145682118] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051403.146258986] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051403.147624937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051403.148774347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051403.243938105] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051403.244894106] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051403.245180110] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051403.246893746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051403.248290268] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051403.335503260] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051403.337367758] [sailbot.teensy]: Wind angle: 183 -[trim_sail-4] [INFO] [1746051403.338084676] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051403.338336325] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051403.338390513] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051403.339274556] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051403.340237316] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051403.344286929] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051403.344907117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051403.345570488] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051403.346987584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051403.348040530] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051403.445241843] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051403.446088628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051403.447091697] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051403.448269062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051403.449339125] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051403.457616472] [sailbot.main_algo]: Wind Direction: 183 -[main_algo-3] [INFO] [1746051403.458627541] [sailbot.main_algo]: Target Bearing: -141.64661497517062 -[main_algo-3] [INFO] [1746051403.459533777] [sailbot.main_algo]: Heading Difference: -168.64038502482936 -[main_algo-3] [INFO] [1746051403.460835857] [sailbot.main_algo]: Wind Direction: 183 -[main_algo-3] [INFO] [1746051403.461835306] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051403.462657054] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051403.464217145] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051403.464269231] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051403.502684770] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690463 Long: -76.50277424 -[main_algo-3] [INFO] [1746051403.503650324] [sailbot.main_algo]: Distance to destination: 56.72851181760909 -[vectornav-1] [INFO] [1746051403.503772359] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.61200000000002, -0.096, 4.521) -[main_algo-3] [INFO] [1746051403.504922000] [sailbot.main_algo]: Target Bearing: -141.6363558581632 -[main_algo-3] [INFO] [1746051403.505850929] [sailbot.main_algo]: Heading Difference: -168.65064414183678 -[main_algo-3] [INFO] [1746051403.507204037] [sailbot.main_algo]: Wind Direction: 183 -[main_algo-3] [INFO] [1746051403.508080526] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051403.508951182] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051403.510835993] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051403.545205586] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051403.546012082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051403.546660378] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051403.548069213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051403.549264623] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051403.585474020] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051403.587390108] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051403.588209965] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051403.588523902] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051403.589495991] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051403.589752917] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051403.590438743] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051403.644773464] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051403.645509699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051403.646197931] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051403.647539108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051403.648440182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051403.745013990] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051403.745710465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051403.746340255] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051403.747624318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051403.748683422] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051403.835200019] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051403.837368527] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051403.838092454] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051403.838669324] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051403.839829348] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051403.840690491] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051403.841532454] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051403.844302594] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051403.844812427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051403.845411806] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051403.846519045] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051403.847621809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051403.945158428] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051403.945870511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051403.946642831] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051403.947983195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051403.949126193] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051403.957914909] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051403.958989526] [sailbot.main_algo]: Target Bearing: -141.6363558581632 -[main_algo-3] [INFO] [1746051403.959903293] [sailbot.main_algo]: Heading Difference: -168.75164414183678 -[main_algo-3] [INFO] [1746051403.961240113] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051403.962128400] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051403.962973338] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051403.964612463] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051403.964838372] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051404.002768284] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904617 Long: -76.50277422 -[main_algo-3] [INFO] [1746051404.003612798] [sailbot.main_algo]: Distance to destination: 56.7206244209141 -[vectornav-1] [INFO] [1746051404.003856650] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.84500000000003, -0.728, 6.348) -[main_algo-3] [INFO] [1746051404.004749411] [sailbot.main_algo]: Target Bearing: -141.64868280117304 -[main_algo-3] [INFO] [1746051404.005687181] [sailbot.main_algo]: Heading Difference: -168.73931719882694 -[main_algo-3] [INFO] [1746051404.007070695] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051404.007956859] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051404.008824472] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051404.010506226] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051404.045081676] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051404.046066788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051404.046764722] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051404.047880291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051404.048932761] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051404.085342845] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051404.087157801] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051404.087435273] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051404.088523043] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051404.088678450] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051404.089652321] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051404.090495091] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051404.145043039] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051404.145509357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051404.146307132] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051404.147318182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051404.148376907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051404.244927996] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051404.245664591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051404.246295495] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051404.247481628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051404.248713175] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051404.335605447] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051404.338092769] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051404.338642865] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051404.339173616] [sailbot.teensy]: Wind angle: 186 -[teensy-2] [INFO] [1746051404.340136930] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051404.341098668] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051404.341815679] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051404.344505796] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051404.344992714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051404.345770497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051404.346818663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051404.347926844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051404.445325116] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051404.446193123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051404.446920779] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051404.448423319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051404.449733645] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051404.457624821] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051404.458646639] [sailbot.main_algo]: Target Bearing: -141.64868280117304 -[main_algo-3] [INFO] [1746051404.459549764] [sailbot.main_algo]: Heading Difference: -168.50631719882693 -[main_algo-3] [INFO] [1746051404.460899428] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051404.461782218] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051404.462617833] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051404.464170951] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051404.464189717] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051404.502895937] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904601 Long: -76.50277423 -[main_algo-3] [INFO] [1746051404.503923502] [sailbot.main_algo]: Distance to destination: 56.70871963253043 -[vectornav-1] [INFO] [1746051404.504698965] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.911, -0.711, 4.113) -[main_algo-3] [INFO] [1746051404.505209116] [sailbot.main_algo]: Target Bearing: -141.66203579860348 -[main_algo-3] [INFO] [1746051404.506243772] [sailbot.main_algo]: Heading Difference: -168.4929642013965 -[main_algo-3] [INFO] [1746051404.507638970] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051404.508533507] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051404.509378701] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051404.511171339] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051404.545089231] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051404.545601601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051404.546505508] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051404.547536862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051404.548708649] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051404.585277373] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051404.587251764] [sailbot.teensy]: Wind angle: 186 -[teensy-2] [INFO] [1746051404.588114180] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051404.587441435] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051404.587939178] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051404.589084397] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051404.590014626] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051404.644974856] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051404.645535853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051404.646377858] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051404.647378351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051404.648570459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051404.745338609] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051404.746040427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051404.746949981] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051404.748112191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051404.749253139] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051404.835435045] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051404.837598083] [sailbot.teensy]: Wind angle: 187 -[trim_sail-4] [INFO] [1746051404.837653279] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051404.838585612] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051404.839496578] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051404.840004080] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051404.840401927] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051404.844297022] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051404.844918667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051404.845369982] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051404.846667803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051404.847856842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051404.944858037] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051404.945583017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051404.946926787] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051404.947621351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051404.948505115] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051404.957588925] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051404.958695367] [sailbot.main_algo]: Target Bearing: -141.66203579860348 -[main_algo-3] [INFO] [1746051404.959647082] [sailbot.main_algo]: Heading Difference: -168.42696420139652 -[main_algo-3] [INFO] [1746051404.961086391] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051404.962096270] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051404.963040411] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051404.965351942] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051404.965416984] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051405.002840809] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904589 Long: -76.50277438 -[main_algo-3] [INFO] [1746051405.003665312] [sailbot.main_algo]: Distance to destination: 56.69073227470869 -[vectornav-1] [INFO] [1746051405.004009490] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.48599999999999, 0.239, 5.96) -[main_algo-3] [INFO] [1746051405.004816732] [sailbot.main_algo]: Target Bearing: -141.66454708565752 -[main_algo-3] [INFO] [1746051405.005762282] [sailbot.main_algo]: Heading Difference: -168.4244529143425 -[main_algo-3] [INFO] [1746051405.007131169] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051405.008020844] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051405.008895465] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051405.010517066] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051405.045424004] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051405.045945014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051405.047168768] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051405.048223262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051405.049368164] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051405.085283283] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051405.087210869] [sailbot.teensy]: Wind angle: 187 -[trim_sail-4] [INFO] [1746051405.087383849] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051405.087831770] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051405.088111560] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051405.089004602] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051405.090032651] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051405.144926846] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051405.145765624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051405.146680336] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051405.147602096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051405.148669637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051405.244909287] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051405.245506811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051405.246155892] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051405.247283563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051405.248370211] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051405.335541668] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051405.338081392] [sailbot.teensy]: Wind angle: 187 -[trim_sail-4] [INFO] [1746051405.338280139] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051405.339150626] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051405.339970703] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051405.340059038] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051405.340924795] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051405.344360209] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051405.344985721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051405.345478772] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051405.346705170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051405.347829115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051405.445221128] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051405.445900050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051405.446884872] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051405.447769947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051405.448822119] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051405.457493441] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051405.458466321] [sailbot.main_algo]: Target Bearing: -141.66454708565752 -[main_algo-3] [INFO] [1746051405.459345026] [sailbot.main_algo]: Heading Difference: -168.84945291434246 -[main_algo-3] [INFO] [1746051405.460599014] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051405.461410144] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051405.462211692] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051405.463719596] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051405.463735990] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051405.502384280] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904575 Long: -76.50277454 -[main_algo-3] [INFO] [1746051405.503172234] [sailbot.main_algo]: Distance to destination: 56.670700918861726 -[vectornav-1] [INFO] [1746051405.503376846] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.608000000000004, -0.057, 4.667) -[main_algo-3] [INFO] [1746051405.504173834] [sailbot.main_algo]: Target Bearing: -141.66826951937327 -[main_algo-3] [INFO] [1746051405.505030703] [sailbot.main_algo]: Heading Difference: -168.84573048062674 -[main_algo-3] [INFO] [1746051405.506278387] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051405.507092919] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051405.507890087] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051405.509638560] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051405.545117246] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051405.545869233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051405.546590708] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051405.548295307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051405.549412870] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051405.585268628] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051405.586879372] [sailbot.teensy]: Wind angle: 187 -[trim_sail-4] [INFO] [1746051405.587534218] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051405.587754501] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051405.588692816] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051405.589579728] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051405.590247886] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051405.645056819] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051405.645814891] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051405.646399780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051405.647757026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051405.648828373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051405.744331096] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051405.745253436] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051405.744909882] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051405.746556352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051405.747614711] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051405.835366960] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051405.837041017] [sailbot.teensy]: Wind angle: 187 -[teensy-2] [INFO] [1746051405.837903612] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051405.837530596] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051405.838186410] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051405.838732530] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051405.839686998] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051405.844385985] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051405.844901102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051405.845464907] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051405.846745031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051405.847767824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051405.945159960] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051405.946550749] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051405.946635112] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051405.948997483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051405.950114783] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051405.957563410] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051405.958578615] [sailbot.main_algo]: Target Bearing: -141.66826951937327 -[main_algo-3] [INFO] [1746051405.959499716] [sailbot.main_algo]: Heading Difference: -168.72373048062673 -[main_algo-3] [INFO] [1746051405.960827726] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051405.961834841] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051405.962641046] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051405.964223863] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051405.964281517] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051406.002767419] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904585 Long: -76.50277493 -[main_algo-3] [INFO] [1746051406.004074242] [sailbot.main_algo]: Distance to destination: 56.65295159267424 -[vectornav-1] [INFO] [1746051406.004141511] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.091999999999985, -1.116, 5.809) -[main_algo-3] [INFO] [1746051406.005167761] [sailbot.main_algo]: Target Bearing: -141.63902239368306 -[main_algo-3] [INFO] [1746051406.006164624] [sailbot.main_algo]: Heading Difference: -168.7529776063169 -[main_algo-3] [INFO] [1746051406.007601301] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051406.008534061] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051406.009396873] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051406.011063230] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051406.045066591] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051406.045877307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051406.046501625] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051406.047983381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051406.049024458] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051406.085204146] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051406.087197553] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051406.087376020] [sailbot.teensy]: Wind angle: 187 -[teensy-2] [INFO] [1746051406.088290464] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051406.088553668] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051406.089185852] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051406.090066445] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051406.144987173] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051406.145642979] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051406.146291019] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051406.147467014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051406.148675023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051406.245012624] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051406.245492763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051406.246729917] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051406.247444877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051406.248524275] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051406.335399566] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051406.337226450] [sailbot.teensy]: Wind angle: 187 -[trim_sail-4] [INFO] [1746051406.337752708] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051406.338166245] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051406.339086883] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051406.339356427] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051406.339659694] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051406.344514207] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051406.344981473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051406.345748421] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051406.346688487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051406.347819041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051406.444899245] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051406.445396598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051406.446063811] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051406.447061153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051406.448238791] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051406.457642725] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051406.458663618] [sailbot.main_algo]: Target Bearing: -141.63902239368306 -[main_algo-3] [INFO] [1746051406.459568926] [sailbot.main_algo]: Heading Difference: -168.26897760631698 -[main_algo-3] [INFO] [1746051406.460793790] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051406.461898395] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051406.462688258] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051406.464247017] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051406.464345876] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051406.502822382] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904583 Long: -76.50277486 -[main_algo-3] [INFO] [1746051406.503711238] [sailbot.main_algo]: Distance to destination: 56.65599177362971 -[vectornav-1] [INFO] [1746051406.504024604] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.858000000000004, 0.139, 5.291) -[main_algo-3] [INFO] [1746051406.504936451] [sailbot.main_algo]: Target Bearing: -141.6444513298001 -[main_algo-3] [INFO] [1746051406.505872317] [sailbot.main_algo]: Heading Difference: -168.26354867019995 -[main_algo-3] [INFO] [1746051406.507237523] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051406.508059575] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051406.508864816] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051406.511043480] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051406.545001254] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051406.545555964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051406.546394795] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051406.547399620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051406.548789534] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051406.585435492] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051406.587190340] [sailbot.teensy]: Wind angle: 187 -[trim_sail-4] [INFO] [1746051406.587740197] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051406.588353095] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051406.589277204] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051406.589386987] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051406.590175180] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051406.644965952] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051406.645794241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051406.646319445] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051406.647766718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051406.648872811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051406.745068220] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051406.745733432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051406.746402034] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051406.747661811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051406.748831701] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051406.835180161] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051406.836760329] [sailbot.teensy]: Wind angle: 187 -[trim_sail-4] [INFO] [1746051406.837334292] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051406.837637553] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051406.838455964] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051406.838520280] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051406.839387298] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051406.844499870] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051406.845268734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051406.845654178] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051406.847029487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051406.848214125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051406.945050209] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051406.945789373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051406.946387964] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051406.947895991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051406.949051074] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051406.957637692] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051406.958640918] [sailbot.main_algo]: Target Bearing: -141.6444513298001 -[main_algo-3] [INFO] [1746051406.959559008] [sailbot.main_algo]: Heading Difference: -168.49754867019988 -[main_algo-3] [INFO] [1746051406.960789094] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051406.961608780] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051406.962396891] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051406.963964048] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051406.964187913] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051407.002952554] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904575 Long: -76.50277492 -[main_algo-3] [INFO] [1746051407.004215688] [sailbot.main_algo]: Distance to destination: 56.6465422892898 -[vectornav-1] [INFO] [1746051407.004312117] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.02499999999998, -0.86, 5.916) -[main_algo-3] [INFO] [1746051407.005284979] [sailbot.main_algo]: Target Bearing: -141.64823325508738 -[main_algo-3] [INFO] [1746051407.006242584] [sailbot.main_algo]: Heading Difference: -168.4937667449126 -[main_algo-3] [INFO] [1746051407.007907204] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051407.008889931] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051407.009792981] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051407.011610568] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051407.046065408] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051407.046926251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051407.047346403] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051407.049702732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051407.050819177] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051407.085291976] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051407.087509978] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051407.087926945] [sailbot.teensy]: Wind angle: 187 -[mux-7] [INFO] [1746051407.088542054] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051407.088878436] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051407.089731656] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051407.090586636] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051407.144928498] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051407.145604763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051407.146173175] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051407.147437134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051407.148389840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051407.244385814] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051407.244970117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051407.245480413] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051407.246884836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051407.248563574] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051407.335225027] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051407.337714937] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051407.337962478] [sailbot.teensy]: Wind angle: 186 -[mux-7] [INFO] [1746051407.338401023] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051407.338701705] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051407.339103967] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051407.339472476] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051407.344401955] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051407.344973132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051407.345994929] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051407.346750236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051407.347918510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051407.445067198] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051407.446235116] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051407.446499252] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051407.448132272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051407.449412099] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051407.457671205] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051407.458713992] [sailbot.main_algo]: Target Bearing: -141.64823325508738 -[main_algo-3] [INFO] [1746051407.459619283] [sailbot.main_algo]: Heading Difference: -168.32676674491267 -[main_algo-3] [INFO] [1746051407.460956295] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051407.461802580] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051407.462626182] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051407.464182866] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051407.464225109] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051407.502901060] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904558 Long: -76.50277477 -[main_algo-3] [INFO] [1746051407.503723752] [sailbot.main_algo]: Distance to destination: 56.64410646561431 -[vectornav-1] [INFO] [1746051407.504087841] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.02499999999998, 0.125, 4.481) -[main_algo-3] [INFO] [1746051407.505043494] [sailbot.main_algo]: Target Bearing: -141.67091014638564 -[main_algo-3] [INFO] [1746051407.506018626] [sailbot.main_algo]: Heading Difference: -168.3040898536144 -[main_algo-3] [INFO] [1746051407.507399778] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051407.508318544] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051407.509174405] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051407.510801862] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051407.544929925] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051407.545603212] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051407.546180686] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051407.547570105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051407.548959564] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051407.585284555] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051407.586883005] [sailbot.teensy]: Wind angle: 186 -[trim_sail-4] [INFO] [1746051407.587737056] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051407.587840764] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051407.588771142] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051407.589175585] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051407.589667026] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051407.644894655] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051407.645698631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051407.646155326] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051407.647600792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051407.648628929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051407.745059252] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051407.745755402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051407.746452497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051407.747650157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051407.748202593] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051407.834751532] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051407.836059674] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051407.836852057] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051407.836881518] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051407.837177301] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051407.837672899] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051407.838539971] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051407.844119018] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051407.845214432] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051407.845060932] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051407.847084599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051407.848308956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051407.945186541] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051407.946006603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051407.946524433] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051407.948213339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051407.949268454] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051407.957561928] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051407.958545907] [sailbot.main_algo]: Target Bearing: -141.67091014638564 -[main_algo-3] [INFO] [1746051407.959438149] [sailbot.main_algo]: Heading Difference: -168.3040898536144 -[main_algo-3] [INFO] [1746051407.960733814] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051407.961571306] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051407.962518026] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051407.964126607] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051407.964143983] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051408.003195245] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904572 Long: -76.50277505 -[main_algo-3] [INFO] [1746051408.003786676] [sailbot.main_algo]: Distance to destination: 56.6361655664626 -[main_algo-3] [INFO] [1746051408.004915316] [sailbot.main_algo]: Target Bearing: -141.64398036313764 -[vectornav-1] [INFO] [1746051408.005032895] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.13900000000001, -0.27, 6.268) -[main_algo-3] [INFO] [1746051408.005921481] [sailbot.main_algo]: Heading Difference: -168.33101963686238 -[main_algo-3] [INFO] [1746051408.007331493] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051408.008257586] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051408.009164609] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051408.010849258] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051408.045011835] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051408.045558406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051408.046289813] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051408.047398648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051408.048598914] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051408.085470439] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051408.087306258] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051408.088253475] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051408.088078958] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051408.088587854] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051408.089121703] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051408.089998411] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051408.144992497] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051408.145684575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051408.146271829] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051408.147581304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051408.148636760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051408.244209263] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051408.244745167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051408.245092992] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051408.246789836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051408.247923492] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051408.335222480] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051408.336839100] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051408.337780033] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051408.337682888] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051408.338648134] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051408.338716560] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051408.339565261] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051408.344290349] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051408.344963814] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051408.345602802] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051408.346706418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051408.347716876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051408.445245163] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051408.446261069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051408.446675103] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051408.448395656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051408.449574197] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051408.457678202] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051408.458712767] [sailbot.main_algo]: Target Bearing: -141.64398036313764 -[main_algo-3] [INFO] [1746051408.459614354] [sailbot.main_algo]: Heading Difference: -169.21701963686235 -[main_algo-3] [INFO] [1746051408.460944744] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051408.461813290] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051408.462620245] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051408.464330128] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051408.464626489] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051408.503059789] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904569 Long: -76.50277504 -[main_algo-3] [INFO] [1746051408.504017269] [sailbot.main_algo]: Distance to destination: 56.63468781623012 -[vectornav-1] [INFO] [1746051408.504400418] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.87900000000002, -1.129, 5.328) -[main_algo-3] [INFO] [1746051408.505357961] [sailbot.main_algo]: Target Bearing: -141.6471137247897 -[main_algo-3] [INFO] [1746051408.506377419] [sailbot.main_algo]: Heading Difference: -169.21388627521026 -[main_algo-3] [INFO] [1746051408.507745095] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051408.508634182] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051408.509477529] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051408.511179906] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051408.544926047] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051408.545600159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051408.546233115] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051408.547395404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051408.548421973] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051408.585413281] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051408.587334005] [sailbot.teensy]: Wind angle: 186 -[trim_sail-4] [INFO] [1746051408.587774123] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051408.588320601] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051408.589236569] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051408.589486470] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051408.590113234] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051408.644878501] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051408.645623599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051408.646315902] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051408.647491773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051408.648897790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051408.745253092] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051408.746091304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051408.746708279] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051408.748063044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051408.748536224] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051408.835416769] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051408.837890924] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051408.837957999] [sailbot.teensy]: Wind angle: 188 -[mux-7] [INFO] [1746051408.838390485] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051408.838876709] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051408.839862477] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051408.840853509] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051408.844377392] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051408.844947378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051408.845526323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051408.847146078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051408.848252273] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051408.945223069] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051408.945855234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051408.946563092] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051408.947994162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051408.949014263] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051408.957597182] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051408.958623702] [sailbot.main_algo]: Target Bearing: -141.6471137247897 -[main_algo-3] [INFO] [1746051408.959536278] [sailbot.main_algo]: Heading Difference: -168.47388627521025 -[main_algo-3] [INFO] [1746051408.960769790] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051408.961598553] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051408.962386700] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051408.963916615] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051408.963973588] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051409.002935192] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690456 Long: -76.50277494 -[main_algo-3] [INFO] [1746051409.003922751] [sailbot.main_algo]: Distance to destination: 56.634705854769074 -[vectornav-1] [INFO] [1746051409.004113421] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.79200000000003, 0.319, 5.757) -[main_algo-3] [INFO] [1746051409.005030073] [sailbot.main_algo]: Target Bearing: -141.6602073782591 -[main_algo-3] [INFO] [1746051409.005981231] [sailbot.main_algo]: Heading Difference: -168.4607926217409 -[main_algo-3] [INFO] [1746051409.007349768] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051409.008275305] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051409.009100393] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051409.010640765] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051409.045004479] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051409.045714861] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051409.046262365] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051409.047508811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051409.048601433] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051409.085154919] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051409.086612715] [sailbot.teensy]: Wind angle: 189 -[trim_sail-4] [INFO] [1746051409.087115794] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051409.087433623] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051409.088299380] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051409.089164325] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051409.089322982] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051409.145461572] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051409.146577404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051409.146720208] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051409.148548361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051409.149616143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051409.244781493] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051409.245535044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051409.245951567] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051409.247366152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051409.248437997] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051409.335500714] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051409.337842369] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051409.338459884] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051409.339441228] [sailbot.teensy]: Wind angle: 189 -[teensy-2] [INFO] [1746051409.340443331] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051409.341337353] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051409.342181001] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051409.344258533] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051409.344845224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051409.345372035] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051409.346577776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051409.347610638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051409.445022551] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051409.445847022] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051409.446331637] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051409.447640714] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051409.448738748] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051409.457449974] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051409.458437596] [sailbot.main_algo]: Target Bearing: -141.6602073782591 -[main_algo-3] [INFO] [1746051409.459289126] [sailbot.main_algo]: Heading Difference: -168.54779262174088 -[main_algo-3] [INFO] [1746051409.460568415] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051409.461917347] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051409.462898009] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051409.465277548] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051409.465635139] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051409.503017298] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904541 Long: -76.5027751 -[main_algo-3] [INFO] [1746051409.504039797] [sailbot.main_algo]: Distance to destination: 56.61115344664584 -[vectornav-1] [INFO] [1746051409.504507294] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.08299999999997, -0.756, 4.518) -[main_algo-3] [INFO] [1746051409.505466178] [sailbot.main_algo]: Target Bearing: -141.66827785378598 -[main_algo-3] [INFO] [1746051409.506696230] [sailbot.main_algo]: Heading Difference: -168.539722146214 -[main_algo-3] [INFO] [1746051409.508101056] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051409.509048833] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051409.510199414] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051409.511941356] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051409.544767423] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051409.545476474] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051409.546033939] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051409.547309595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051409.548527876] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051409.585274567] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051409.586897255] [sailbot.teensy]: Wind angle: 192 -[teensy-2] [INFO] [1746051409.587741557] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051409.587312899] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051409.587766975] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051409.589242165] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051409.590123746] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051409.644836272] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051409.645613514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051409.646106490] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051409.647438580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051409.648675656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051409.745110175] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051409.745858789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051409.746822501] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051409.747616352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051409.748706743] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051409.835335237] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051409.837600990] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051409.838548715] [sailbot.teensy]: Wind angle: 192 -[mux-7] [INFO] [1746051409.838880046] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051409.839932573] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051409.840885356] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051409.841801500] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051409.844406506] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051409.844884205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051409.845508342] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051409.846658232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051409.847699032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051409.944229971] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051409.945155818] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051409.944739589] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051409.946765686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051409.947792975] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051409.957070504] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051409.957835929] [sailbot.main_algo]: Target Bearing: -141.66827785378598 -[main_algo-3] [INFO] [1746051409.958536711] [sailbot.main_algo]: Heading Difference: -168.24872214621405 -[main_algo-3] [INFO] [1746051409.959623604] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051409.960298201] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051409.960754476] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051409.961856776] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051409.961906764] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051410.002889986] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904528 Long: -76.50277556 -[main_algo-3] [INFO] [1746051410.003797211] [sailbot.main_algo]: Distance to destination: 56.572752448653794 -[vectornav-1] [INFO] [1746051410.004264003] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.235000000000014, -0.171, 5.707) -[main_algo-3] [INFO] [1746051410.004920460] [sailbot.main_algo]: Target Bearing: -141.65529949506893 -[main_algo-3] [INFO] [1746051410.005922073] [sailbot.main_algo]: Heading Difference: -168.26170050493113 -[main_algo-3] [INFO] [1746051410.007305289] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051410.008245625] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051410.009100382] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051410.010687473] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051410.045137520] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051410.045964851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051410.046676183] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051410.048001713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051410.049061279] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051410.085179007] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051410.086916402] [sailbot.teensy]: Wind angle: 191 -[teensy-2] [INFO] [1746051410.087834110] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051410.087407232] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051410.088707568] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051410.088760371] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051410.089667363] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051410.144767707] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051410.145460211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051410.145966143] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051410.147309609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051410.148479012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051410.244904804] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051410.245757032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051410.246546766] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051410.247529508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051410.248590669] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051410.335363818] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051410.337397857] [sailbot.teensy]: Wind angle: 192 -[trim_sail-4] [INFO] [1746051410.337594804] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051410.338434647] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051410.338750334] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051410.339579938] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051410.340523825] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051410.344446283] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051410.345112300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051410.345609797] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051410.346984690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051410.348000980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051410.444972955] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051410.445650120] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051410.446275814] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051410.447757086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051410.448892857] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051410.457569468] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051410.458617211] [sailbot.main_algo]: Target Bearing: -141.65529949506893 -[main_algo-3] [INFO] [1746051410.459511064] [sailbot.main_algo]: Heading Difference: -169.10970050493108 -[main_algo-3] [INFO] [1746051410.460775086] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051410.461611459] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051410.462400855] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051410.463922490] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051410.464617618] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051410.502895438] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904545 Long: -76.5027758 -[main_algo-3] [INFO] [1746051410.503788898] [sailbot.main_algo]: Distance to destination: 56.56947490277048 -[vectornav-1] [INFO] [1746051410.504092392] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.97500000000002, -0.349, 5.294) -[main_algo-3] [INFO] [1746051410.504979759] [sailbot.main_algo]: Target Bearing: -141.62783917256098 -[main_algo-3] [INFO] [1746051410.505949782] [sailbot.main_algo]: Heading Difference: -169.137160827439 -[main_algo-3] [INFO] [1746051410.507306808] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051410.508199798] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051410.509056609] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051410.510977518] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051410.544870539] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051410.545628127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051410.546143664] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051410.547475197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051410.548477201] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051410.585536408] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051410.587543480] [sailbot.teensy]: Wind angle: 192 -[trim_sail-4] [INFO] [1746051410.587801129] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051410.588524126] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051410.589422601] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051410.589629713] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051410.590356028] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051410.644952474] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051410.645697323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051410.646219103] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051410.647516811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051410.648353385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051410.745078721] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051410.745973036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051410.746527819] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051410.747957865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051410.748989623] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051410.835244550] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051410.837504761] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051410.837762237] [sailbot.teensy]: Wind angle: 193 -[mux-7] [INFO] [1746051410.838263929] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051410.838711004] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051410.839598087] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051410.840462254] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051410.844381224] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051410.844922496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051410.845462156] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051410.846746596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051410.847772301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051410.945115337] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051410.945708472] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051410.946496663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051410.947670709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051410.948840820] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051410.957590731] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051410.959082677] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746051410.959957617] [sailbot.main_algo]: Target Bearing: -141.62783917256098 -[main_algo-3] [INFO] [1746051410.960817906] [sailbot.main_algo]: Heading Difference: -169.397160827439 -[main_algo-3] [INFO] [1746051410.962034625] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051410.962844452] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051410.963616958] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051410.965160434] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051410.965177503] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051411.002790855] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904533 Long: -76.50277596 -[vectornav-1] [INFO] [1746051411.004257335] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.928999999999974, -0.494, 6.255) -[main_algo-3] [INFO] [1746051411.004257559] [sailbot.main_algo]: Distance to destination: 56.550850566864284 -[main_algo-3] [INFO] [1746051411.005287738] [sailbot.main_algo]: Target Bearing: -141.6298171784605 -[main_algo-3] [INFO] [1746051411.006280869] [sailbot.main_algo]: Heading Difference: -169.3951828215395 -[main_algo-3] [INFO] [1746051411.007665945] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051411.008516850] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051411.009357378] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051411.010979952] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051411.045153001] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051411.045871132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051411.046533199] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051411.047839765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051411.048868139] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051411.085495755] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051411.087931771] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051411.088526566] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051411.088637418] [sailbot.teensy]: Wind angle: 193 -[teensy-2] [INFO] [1746051411.089613009] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051411.090520651] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051411.091382307] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051411.144848841] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051411.145567971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051411.146148139] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051411.147540011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051411.148661209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051411.245115166] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051411.245915373] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051411.246544369] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051411.247837842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051411.248863040] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051411.335167335] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051411.337502740] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051411.337707788] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051411.338240483] [sailbot.teensy]: Wind angle: 193 -[teensy-2] [INFO] [1746051411.338932959] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051411.339314052] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051411.339674097] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051411.344268881] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051411.344818556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051411.345595585] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051411.346477276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051411.347518966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051411.445255267] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051411.446139613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051411.446836608] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051411.448357713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051411.449206001] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051411.457701931] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051411.459211700] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746051411.460519727] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051411.461798201] [sailbot.main_algo]: Current Location: (42.469045332147545, -76.50277596005444) -[main_algo-3] [INFO] [1746051411.462675205] [sailbot.main_algo]: Target Bearing: -141.6298171784605 -[main_algo-3] [INFO] [1746051411.463510469] [sailbot.main_algo]: Heading Difference: -169.44118282153954 -[main_algo-3] [INFO] [1746051411.464710978] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051411.465489263] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051411.466306149] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051411.467839890] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051411.467851339] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051411.503243603] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904529 Long: -76.50277591 -[main_algo-3] [INFO] [1746051411.504067116] [sailbot.main_algo]: Distance to destination: 56.55120956574497 -[vectornav-1] [INFO] [1746051411.504615323] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.71300000000002, -0.303, 4.252) -[main_algo-3] [INFO] [1746051411.505245384] [sailbot.main_algo]: Target Bearing: -141.63593883556706 -[main_algo-3] [INFO] [1746051411.506231204] [sailbot.main_algo]: Heading Difference: -169.43506116443297 -[main_algo-3] [INFO] [1746051411.507581978] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051411.508477444] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051411.509316901] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051411.511053755] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051411.545001933] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051411.545735121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051411.546246792] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051411.547620330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051411.548645838] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051411.585456340] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051411.587313814] [sailbot.teensy]: Wind angle: 192 -[teensy-2] [INFO] [1746051411.588272164] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051411.588086632] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051411.588420815] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051411.589164785] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051411.590021033] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051411.644960427] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051411.645543081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051411.646235364] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051411.647383997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051411.648483432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051411.745021423] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051411.745670199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051411.746447198] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051411.747876792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051411.749113147] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051411.835272488] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051411.836967526] [sailbot.teensy]: Wind angle: 190 -[teensy-2] [INFO] [1746051411.837923043] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051411.837913324] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051411.838859106] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051411.839736328] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051411.839752998] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051411.844322913] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051411.845144254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051411.845766452] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051411.846953730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051411.848101010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051411.945080328] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051411.945781071] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051411.946595076] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051411.947697688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051411.948245284] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051411.957681333] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051411.958721153] [sailbot.main_algo]: Target Bearing: -141.63593883556706 -[main_algo-3] [INFO] [1746051411.959637572] [sailbot.main_algo]: Heading Difference: -168.65106116443292 -[main_algo-3] [INFO] [1746051411.960872010] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051411.961754817] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051411.962638655] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051411.964511109] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051411.964569292] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051412.002043062] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904541 Long: -76.50277645 -[main_algo-3] [INFO] [1746051412.002681206] [sailbot.main_algo]: Distance to destination: 56.525358230764546 -[main_algo-3] [INFO] [1746051412.003584528] [sailbot.main_algo]: Target Bearing: -141.59694377860293 -[vectornav-1] [INFO] [1746051412.004285987] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.65300000000002, -0.293, 5.569) -[main_algo-3] [INFO] [1746051412.004799657] [sailbot.main_algo]: Heading Difference: -168.69005622139707 -[main_algo-3] [INFO] [1746051412.006730559] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051412.008187351] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051412.010797116] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051412.012645419] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051412.043942007] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051412.044263143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051412.044743096] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051412.045730237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051412.046599656] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051412.084517803] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051412.085723064] [sailbot.teensy]: Wind angle: 189 -[teensy-2] [INFO] [1746051412.086550382] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051412.086814749] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051412.087369967] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051412.087457105] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051412.088406780] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051412.145043773] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051412.145752831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051412.146483816] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051412.147934270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051412.148932999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051412.244976231] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051412.245870220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051412.246268602] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051412.247868089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051412.248910407] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051412.335449921] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051412.337401084] [sailbot.teensy]: Wind angle: 189 -[trim_sail-4] [INFO] [1746051412.337857011] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051412.339258065] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051412.339261375] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051412.340372423] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051412.341257153] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051412.344893345] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051412.345297113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051412.346351548] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051412.347102011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051412.348190625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051412.445326575] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051412.446194394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051412.446804198] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051412.448560006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051412.449582360] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051412.457732097] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051412.458760937] [sailbot.main_algo]: Target Bearing: -141.59694377860293 -[main_algo-3] [INFO] [1746051412.459661354] [sailbot.main_algo]: Heading Difference: -169.75005622139702 -[main_algo-3] [INFO] [1746051412.461074635] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051412.462204165] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051412.463034384] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051412.464565150] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051412.464595429] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051412.502791145] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904524 Long: -76.50277682 -[vectornav-1] [INFO] [1746051412.504003721] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.66700000000003, 0.025, 5.889) -[main_algo-3] [INFO] [1746051412.504068548] [sailbot.main_algo]: Distance to destination: 56.48986795307367 -[main_algo-3] [INFO] [1746051412.505523338] [sailbot.main_algo]: Target Bearing: -141.5921445465502 -[main_algo-3] [INFO] [1746051412.506653222] [sailbot.main_algo]: Heading Difference: -169.75485545344975 -[main_algo-3] [INFO] [1746051412.507974425] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051412.508849467] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051412.509856077] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051412.511602056] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051412.544958525] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051412.545868986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051412.546588018] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051412.547700222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051412.548725087] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051412.585413140] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051412.587589596] [sailbot.teensy]: Wind angle: 190 -[trim_sail-4] [INFO] [1746051412.587778242] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051412.588723378] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051412.589492396] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051412.589670267] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051412.590645376] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051412.644726823] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051412.645535889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051412.645918135] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051412.647229899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051412.648569386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051412.745493015] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051412.746506222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051412.747107065] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051412.748763682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051412.750077972] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051412.835268587] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051412.836147602] [sailbot.teensy]: Wind angle: 191 -[trim_sail-4] [INFO] [1746051412.836447440] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051412.836583752] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051412.836955631] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051412.836963323] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051412.837342650] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051412.844659675] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051412.845217198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051412.845841855] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051412.847112140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051412.848116144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051412.945027874] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051412.945984012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051412.946440866] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051412.948134834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051412.949176793] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051412.957544251] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051412.958505824] [sailbot.main_algo]: Target Bearing: -141.5921445465502 -[main_algo-3] [INFO] [1746051412.959353677] [sailbot.main_algo]: Heading Difference: -171.74085545344974 -[main_algo-3] [INFO] [1746051412.960613802] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051412.961454590] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051412.962266232] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051412.963798042] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051412.963878929] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051413.002781450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904498 Long: -76.50277695 -[main_algo-3] [INFO] [1746051413.003803909] [sailbot.main_algo]: Distance to destination: 56.46327626906831 -[vectornav-1] [INFO] [1746051413.003932836] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.172000000000025, -1.057, 5.678) -[main_algo-3] [INFO] [1746051413.005065687] [sailbot.main_algo]: Target Bearing: -141.6078911899951 -[main_algo-3] [INFO] [1746051413.006037779] [sailbot.main_algo]: Heading Difference: -171.72510881000488 -[main_algo-3] [INFO] [1746051413.007498521] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051413.008393009] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051413.009203735] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051413.010760688] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051413.045128730] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051413.045951810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051413.046536562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051413.048148831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051413.049188128] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051413.085208497] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051413.086872302] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051413.087242977] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051413.087736346] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051413.087950586] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051413.088674133] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051413.089641303] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051413.144945218] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051413.145704330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051413.146203615] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051413.147693013] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051413.148717167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051413.245070868] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051413.245722944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051413.246489346] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051413.247669122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051413.248839770] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051413.335206023] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051413.337476520] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051413.337768613] [sailbot.teensy]: Wind angle: 194 -[mux-7] [INFO] [1746051413.338699869] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051413.338961038] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051413.339883454] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051413.340743367] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051413.344523782] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051413.344891819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051413.345790953] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051413.346518794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051413.347715338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051413.445249168] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051413.445728114] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051413.446738144] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051413.447685595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051413.448809770] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051413.457697470] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051413.458749727] [sailbot.main_algo]: Target Bearing: -141.6078911899951 -[main_algo-3] [INFO] [1746051413.459662560] [sailbot.main_algo]: Heading Difference: -170.2201088100049 -[main_algo-3] [INFO] [1746051413.461003906] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051413.461906771] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051413.462753000] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051413.464423421] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051413.464419961] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051413.502849402] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904494 Long: -76.50277712 -[main_algo-3] [INFO] [1746051413.503914485] [sailbot.main_algo]: Distance to destination: 56.44965640807633 -[vectornav-1] [INFO] [1746051413.504010010] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.815, -0.355, 4.999) -[main_algo-3] [INFO] [1746051413.505124738] [sailbot.main_algo]: Target Bearing: -141.60236864095393 -[main_algo-3] [INFO] [1746051413.506574376] [sailbot.main_algo]: Heading Difference: -170.22563135904602 -[main_algo-3] [INFO] [1746051413.507981814] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051413.508889407] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051413.509745338] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051413.511407563] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051413.545063140] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051413.545657644] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051413.546587234] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051413.547492914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051413.548675588] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051413.585458507] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051413.587311549] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051413.587794117] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051413.588277043] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051413.589168071] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051413.589431450] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051413.590147931] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051413.645140768] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051413.646079065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051413.646869566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051413.648219317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051413.649376655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051413.745299261] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051413.745975309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051413.746978218] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051413.747919115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051413.749012776] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051413.835307851] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051413.837581320] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051413.839313457] [sailbot.teensy]: Wind angle: 190 -[mux-7] [INFO] [1746051413.839377858] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051413.840112120] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051413.840501498] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051413.840858605] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051413.844278374] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051413.844781248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051413.845599755] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051413.846456221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051413.847701679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051413.945526515] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051413.946128075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051413.947382752] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051413.948236931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051413.949564586] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051413.957643708] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051413.958677804] [sailbot.main_algo]: Target Bearing: -141.60236864095393 -[main_algo-3] [INFO] [1746051413.959564304] [sailbot.main_algo]: Heading Difference: -168.5826313590461 -[main_algo-3] [INFO] [1746051413.960999062] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051413.962002782] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051413.963033338] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051413.964996875] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051413.965452607] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051414.002932867] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904504 Long: -76.50277705 -[main_algo-3] [INFO] [1746051414.004009276] [sailbot.main_algo]: Distance to destination: 56.4611544359623 -[vectornav-1] [INFO] [1746051414.004234827] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.33600000000001, -0.221, 6.515) -[main_algo-3] [INFO] [1746051414.005246455] [sailbot.main_algo]: Target Bearing: -141.5973696468379 -[main_algo-3] [INFO] [1746051414.006209631] [sailbot.main_algo]: Heading Difference: -168.58763035316213 -[main_algo-3] [INFO] [1746051414.007582675] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051414.008514084] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051414.009375898] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051414.011119521] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051414.045996098] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051414.046191019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051414.047799764] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051414.048579095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051414.049766629] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051414.084932419] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051414.086255923] [sailbot.teensy]: Wind angle: 187 -[teensy-2] [INFO] [1746051414.087032118] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051414.087728808] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051414.087172762] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051414.087654867] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051414.088720595] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051414.145389099] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051414.145682253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051414.146735459] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051414.147663620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051414.148861187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051414.245154012] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051414.245754068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051414.246673599] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051414.247729183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051414.248773629] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051414.335304235] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051414.336975184] [sailbot.teensy]: Wind angle: 189 -[teensy-2] [INFO] [1746051414.337933062] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051414.338228830] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051414.338815964] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051414.338816406] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051414.339733055] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051414.344377473] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051414.344951628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051414.345470398] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051414.346700789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051414.347712959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051414.445224836] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051414.445906453] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051414.446612640] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051414.448087118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051414.449168447] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051414.457690378] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051414.458733158] [sailbot.main_algo]: Target Bearing: -141.5973696468379 -[main_algo-3] [INFO] [1746051414.459638456] [sailbot.main_algo]: Heading Difference: -171.06663035316205 -[main_algo-3] [INFO] [1746051414.460988259] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051414.461875295] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051414.462733245] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051414.464262874] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051414.464283873] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051414.503164501] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904503 Long: -76.50277713 -[main_algo-3] [INFO] [1746051414.504302947] [sailbot.main_algo]: Distance to destination: 56.45536775898308 -[vectornav-1] [INFO] [1746051414.504579839] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.35000000000002, -0.046, 4.294) -[main_algo-3] [INFO] [1746051414.505793951] [sailbot.main_algo]: Target Bearing: -141.59400156583564 -[main_algo-3] [INFO] [1746051414.506882704] [sailbot.main_algo]: Heading Difference: -171.06999843416435 -[main_algo-3] [INFO] [1746051414.508634433] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051414.509656597] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051414.510524010] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051414.512214770] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051414.544756282] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051414.545478274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051414.546489570] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051414.547406936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051414.548593594] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051414.585514067] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051414.587804244] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051414.588569761] [sailbot.teensy]: Wind angle: 191 -[mux-7] [INFO] [1746051414.588942628] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051414.589489258] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051414.590411409] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051414.591281614] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051414.645645576] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051414.646388374] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051414.647478848] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051414.649115434] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051414.650305733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051414.745089297] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051414.745606958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051414.746431524] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051414.747437785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051414.748482605] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051414.835501447] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051414.837528677] [sailbot.teensy]: Wind angle: 191 -[trim_sail-4] [INFO] [1746051414.838142802] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051414.838495594] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051414.838930766] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051414.839052343] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051414.839504199] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051414.844339591] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051414.844875933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051414.845431115] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051414.846667313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051414.847699539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051414.945187094] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051414.945901887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051414.946739907] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051414.948308493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051414.949285491] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051414.957596433] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051414.958558570] [sailbot.main_algo]: Target Bearing: -141.59400156583564 -[main_algo-3] [INFO] [1746051414.959443769] [sailbot.main_algo]: Heading Difference: -170.05599843416434 -[main_algo-3] [INFO] [1746051414.960701341] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051414.961513730] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051414.962303962] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051414.963845564] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051414.963900911] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051415.003053206] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904504 Long: -76.50277717 -[main_algo-3] [INFO] [1746051415.003782994] [sailbot.main_algo]: Distance to destination: 56.45353239628366 -[vectornav-1] [INFO] [1746051415.004276210] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.754999999999995, -0.651, 5.839) -[main_algo-3] [INFO] [1746051415.004929900] [sailbot.main_algo]: Target Bearing: -141.59101119624654 -[main_algo-3] [INFO] [1746051415.005909598] [sailbot.main_algo]: Heading Difference: -170.05898880375344 -[main_algo-3] [INFO] [1746051415.007284727] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051415.008206411] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051415.009074179] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051415.010904165] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051415.045078619] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051415.045592543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051415.046688926] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051415.047444025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051415.048498937] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051415.085339302] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051415.087549684] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051415.088429219] [sailbot.teensy]: Wind angle: 192 -[mux-7] [INFO] [1746051415.088999655] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051415.089363244] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051415.090268467] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051415.091101923] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051415.144915462] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051415.145614706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051415.146219611] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051415.147457863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051415.148655119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051415.245129549] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051415.245815635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051415.246537099] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051415.248053235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051415.249136927] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051415.335210219] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051415.336813792] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746051415.337715637] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051415.337714333] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051415.338541742] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051415.338550263] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051415.339430558] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051415.344351718] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051415.344854674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051415.345598358] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051415.346615303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051415.347669963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051415.445571980] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051415.446585239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051415.447444840] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051415.448874226] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051415.449516168] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051415.457749583] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051415.458804563] [sailbot.main_algo]: Target Bearing: -141.59101119624654 -[main_algo-3] [INFO] [1746051415.459719368] [sailbot.main_algo]: Heading Difference: -169.65398880375346 -[main_algo-3] [INFO] [1746051415.461061826] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051415.462095208] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051415.462989486] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051415.464667385] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051415.464842707] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051415.502746039] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690451 Long: -76.50277695 -[main_algo-3] [INFO] [1746051415.503772008] [sailbot.main_algo]: Distance to destination: 56.471737538783934 -[vectornav-1] [INFO] [1746051415.503910512] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.99400000000003, -0.916, 4.909) -[main_algo-3] [INFO] [1746051415.505046241] [sailbot.main_algo]: Target Bearing: -141.5974436842966 -[main_algo-3] [INFO] [1746051415.505982062] [sailbot.main_algo]: Heading Difference: -169.6475563157034 -[main_algo-3] [INFO] [1746051415.507365934] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051415.508249345] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051415.509097461] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051415.511003604] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051415.544990804] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051415.545698087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051415.546257587] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051415.547724533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051415.548899222] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051415.585145236] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051415.586966597] [sailbot.teensy]: Wind angle: 195 -[trim_sail-4] [INFO] [1746051415.587382362] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051415.588429709] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051415.589210640] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051415.590562340] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051415.591445945] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051415.645072699] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051415.645974983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051415.646490905] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051415.647956221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051415.649047050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051415.745022068] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051415.745772514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051415.746370529] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051415.747674772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051415.748727171] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051415.835556084] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051415.837964832] [sailbot.teensy]: Wind angle: 195 -[trim_sail-4] [INFO] [1746051415.838127467] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051415.839262218] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051415.840069510] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051415.840175576] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051415.841348828] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051415.844326184] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051415.844927816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051415.845609949] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051415.847074987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051415.848228769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051415.945673502] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051415.946252421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051415.947405183] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051415.948913214] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051415.949564870] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051415.957872117] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051415.958907591] [sailbot.main_algo]: Target Bearing: -141.5974436842966 -[main_algo-3] [INFO] [1746051415.959788571] [sailbot.main_algo]: Heading Difference: -169.40855631570338 -[main_algo-3] [INFO] [1746051415.961107827] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051415.961985577] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051415.962852241] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051415.964576042] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051415.964591222] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051416.003375341] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904515 Long: -76.5027772 -[main_algo-3] [INFO] [1746051416.004408284] [sailbot.main_algo]: Distance to destination: 56.45938613059867 -[vectornav-1] [INFO] [1746051416.004634594] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.24400000000003, 0.277, 5.2) -[main_algo-3] [INFO] [1746051416.005536961] [sailbot.main_algo]: Target Bearing: -141.57984487763 -[main_algo-3] [INFO] [1746051416.006851187] [sailbot.main_algo]: Heading Difference: -169.42615512237 -[main_algo-3] [INFO] [1746051416.008432794] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051416.009338881] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051416.010183166] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051416.011994966] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051416.045276148] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051416.045885087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051416.046755132] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051416.048098770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051416.049274699] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051416.085288908] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051416.087655112] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051416.087775132] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051416.088633464] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051416.089099340] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051416.089562793] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051416.090466442] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051416.144217690] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051416.144617850] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051416.146086161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051416.145141394] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051416.146975173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051416.244736092] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051416.245229239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051416.246134219] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051416.247058589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051416.248298670] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051416.335152041] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051416.336795306] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051416.337579538] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051416.338628859] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051416.338751167] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051416.339777876] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051416.340677239] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051416.344379952] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051416.344984245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051416.345481518] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051416.346668219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051416.347798111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051416.444767986] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051416.445790474] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051416.445987489] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051416.447523049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051416.448722065] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051416.457797391] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051416.458907462] [sailbot.main_algo]: Target Bearing: -141.57984487763 -[main_algo-3] [INFO] [1746051416.459848148] [sailbot.main_algo]: Heading Difference: -170.17615512237 -[main_algo-3] [INFO] [1746051416.461096088] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051416.461890107] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051416.462658307] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051416.464228890] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051416.464226556] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051416.502846898] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904497 Long: -76.50277726 -[main_algo-3] [INFO] [1746051416.503650174] [sailbot.main_algo]: Distance to destination: 56.44287918143214 -[vectornav-1] [INFO] [1746051416.504173994] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.12099999999998, -0.412, 5.961) -[main_algo-3] [INFO] [1746051416.504731134] [sailbot.main_algo]: Target Bearing: -141.59233683199508 -[main_algo-3] [INFO] [1746051416.505696961] [sailbot.main_algo]: Heading Difference: -170.16366316800486 -[main_algo-3] [INFO] [1746051416.507078151] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051416.507978129] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051416.508860301] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051416.510483699] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051416.544976624] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051416.545723186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051416.546314663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051416.547580955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051416.548749075] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051416.585202004] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051416.587190646] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051416.587492976] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051416.588026034] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051416.588888137] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051416.588369817] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051416.589765937] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051416.645255186] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051416.646193584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051416.646892838] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051416.648435274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051416.648882205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051416.744947828] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051416.745679664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051416.746305914] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051416.748289202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051416.749365631] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051416.835489082] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051416.837493191] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051416.838878715] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051416.838984160] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051416.840130774] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051416.841099897] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051416.841937553] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051416.844375682] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051416.845160514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051416.845539850] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051416.846954539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051416.847967377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051416.945704888] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051416.946476721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051416.947462182] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051416.948415387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051416.948957917] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051416.957855904] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051416.958912063] [sailbot.main_algo]: Target Bearing: -141.59233683199508 -[main_algo-3] [INFO] [1746051416.959801462] [sailbot.main_algo]: Heading Difference: -170.2866631680049 -[main_algo-3] [INFO] [1746051416.961130551] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051416.961986910] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051416.962809949] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051416.964480254] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051416.964528575] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051417.003085320] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904488 Long: -76.50277737 -[main_algo-3] [INFO] [1746051417.003745865] [sailbot.main_algo]: Distance to destination: 56.429545185537975 -[vectornav-1] [INFO] [1746051417.004308492] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.90899999999999, -0.608, 4.356) -[main_algo-3] [INFO] [1746051417.004870174] [sailbot.main_algo]: Target Bearing: -141.5943448887241 -[main_algo-3] [INFO] [1746051417.005895915] [sailbot.main_algo]: Heading Difference: -170.28465511127592 -[main_algo-3] [INFO] [1746051417.007260839] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051417.008144811] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051417.009016292] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051417.010726530] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051417.045233014] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051417.045882116] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051417.046703289] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051417.048242874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051417.049462605] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051417.085439639] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051417.087283006] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051417.087831263] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051417.088251997] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051417.089152087] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051417.089152440] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051417.090024457] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051417.145248631] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051417.145843184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051417.147124351] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051417.148020568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051417.148950179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051417.245154182] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051417.245747933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051417.246709398] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051417.247783595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051417.248939563] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051417.335308165] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051417.337135339] [sailbot.teensy]: Wind angle: 193 -[teensy-2] [INFO] [1746051417.338059024] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051417.338136788] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051417.338627000] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051417.338960751] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051417.339843384] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051417.344478504] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051417.344886558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051417.345697573] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051417.346560041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051417.347648258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051417.445290304] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051417.445890689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051417.446922512] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051417.447900019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051417.449138368] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051417.457645352] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051417.458740473] [sailbot.main_algo]: Target Bearing: -141.5943448887241 -[main_algo-3] [INFO] [1746051417.459656477] [sailbot.main_algo]: Heading Difference: -169.4966551112759 -[main_algo-3] [INFO] [1746051417.460979578] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051417.461852458] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051417.462648408] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051417.464248321] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051417.464336758] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051417.502864120] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904496 Long: -76.50277745 -[main_algo-3] [INFO] [1746051417.503724223] [sailbot.main_algo]: Distance to destination: 56.430106737491435 -[vectornav-1] [INFO] [1746051417.504025525] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.033000000000015, -0.891, 6.092) -[main_algo-3] [INFO] [1746051417.505015033] [sailbot.main_algo]: Target Bearing: -141.5831350999303 -[main_algo-3] [INFO] [1746051417.506068940] [sailbot.main_algo]: Heading Difference: -169.5078649000697 -[main_algo-3] [INFO] [1746051417.507417496] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051417.508338475] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051417.509233238] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051417.510977678] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051417.544910454] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051417.545338662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051417.546235445] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051417.547226719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051417.548389858] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051417.585234281] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051417.587028361] [sailbot.teensy]: Wind angle: 193 -[trim_sail-4] [INFO] [1746051417.587479926] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051417.587901337] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051417.588587057] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051417.588821376] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051417.590873151] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051417.645105449] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051417.645588880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051417.646944269] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051417.647438421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051417.648538972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051417.745076437] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051417.745810721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051417.746430476] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051417.747836104] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051417.748828137] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051417.835169907] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051417.836836577] [sailbot.teensy]: Wind angle: 193 -[trim_sail-4] [INFO] [1746051417.837691005] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051417.837724950] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051417.838653666] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051417.838675381] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051417.839526705] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051417.844477325] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051417.845220303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051417.845669568] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051417.847284993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051417.848341050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051417.945330023] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051417.946353520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051417.947043528] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051417.948520797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051417.949020629] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051417.957651606] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051417.958731661] [sailbot.main_algo]: Target Bearing: -141.5831350999303 -[main_algo-3] [INFO] [1746051417.959636006] [sailbot.main_algo]: Heading Difference: -170.38386490006968 -[main_algo-3] [INFO] [1746051417.960980972] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051417.961872199] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051417.962730373] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051417.964278318] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051417.964299512] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051418.002895017] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904484 Long: -76.50277731 -[main_algo-3] [INFO] [1746051418.003674102] [sailbot.main_algo]: Distance to destination: 56.430535676440286 -[vectornav-1] [INFO] [1746051418.004036062] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.242999999999995, 0.503, 4.83) -[main_algo-3] [INFO] [1746051418.004779238] [sailbot.main_algo]: Target Bearing: -141.60100998165774 -[main_algo-3] [INFO] [1746051418.005671260] [sailbot.main_algo]: Heading Difference: -170.36599001834225 -[main_algo-3] [INFO] [1746051418.006953918] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051418.007769650] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051418.008580182] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051418.010223450] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051418.044904951] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051418.045846327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051418.046222364] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051418.048023169] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051418.049062249] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051418.085392879] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051418.087701425] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051418.087744495] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746051418.088861375] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051418.089003913] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051418.089761778] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051418.090693115] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051418.146183531] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051418.146465757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051418.148092701] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051418.148668616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051418.149783933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051418.244703280] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051418.245679358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051418.245821761] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051418.248428478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051418.249534675] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051418.335594947] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051418.337495023] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051418.338264721] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051418.338606964] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051418.338677145] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051418.339658246] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051418.340564914] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051418.344395270] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051418.345021874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051418.345591926] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051418.346763860] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051418.347749223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051418.445220913] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051418.446180445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051418.446971441] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051418.448269088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051418.449349285] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051418.457675273] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051418.458748833] [sailbot.main_algo]: Target Bearing: -141.60100998165774 -[main_algo-3] [INFO] [1746051418.459671212] [sailbot.main_algo]: Heading Difference: -169.15599001834227 -[main_algo-3] [INFO] [1746051418.461007830] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051418.461958539] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051418.462742444] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051418.464382146] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051418.464486753] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051418.502807836] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904477 Long: -76.50277747 -[main_algo-3] [INFO] [1746051418.503595644] [sailbot.main_algo]: Distance to destination: 56.41543609474135 -[vectornav-1] [INFO] [1746051418.503961486] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.009000000000015, -0.787, 5.148) -[main_algo-3] [INFO] [1746051418.504658086] [sailbot.main_algo]: Target Bearing: -141.59862683486563 -[main_algo-3] [INFO] [1746051418.505631515] [sailbot.main_algo]: Heading Difference: -169.15837316513438 -[main_algo-3] [INFO] [1746051418.507262926] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051418.508140905] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051418.509019355] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051418.510900576] [sailbot.mux]: algo rudder angle: -25 -[teensy-2] [INFO] [1746051418.546332726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051418.546435666] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051418.547674514] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051418.548179653] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051418.549403574] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051418.585512885] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051418.587448426] [sailbot.teensy]: Wind angle: 195 -[teensy-2] [INFO] [1746051418.588613120] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051418.588180653] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051418.588537381] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051418.589550149] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051418.590386188] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051418.644946834] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051418.645548391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051418.646245592] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051418.647384134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051418.647925223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051418.745124309] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051418.745764997] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051418.746796169] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051418.747773984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051418.748862178] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051418.835634609] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051418.838185276] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051418.838784176] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051418.839066418] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746051418.839982747] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051418.840868699] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051418.841698423] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051418.844222005] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051418.844724705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051418.845431108] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051418.846413525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051418.847437705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051418.944955821] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051418.945576850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051418.946671835] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051418.947403525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051418.948020489] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051418.957705642] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051418.958788945] [sailbot.main_algo]: Target Bearing: -141.59862683486563 -[main_algo-3] [INFO] [1746051418.959715550] [sailbot.main_algo]: Heading Difference: -169.39237316513436 -[main_algo-3] [INFO] [1746051418.961028012] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051418.961903037] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051418.962671521] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051418.964189993] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051418.964222492] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051419.002753737] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904473 Long: -76.50277761 -[main_algo-3] [INFO] [1746051419.003628804] [sailbot.main_algo]: Distance to destination: 56.403722617313804 -[vectornav-1] [INFO] [1746051419.004395060] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.35899999999998, 0.135, 5.27) -[main_algo-3] [INFO] [1746051419.004737762] [sailbot.main_algo]: Target Bearing: -141.59468852854175 -[main_algo-3] [INFO] [1746051419.005725241] [sailbot.main_algo]: Heading Difference: -169.39631147145826 -[main_algo-3] [INFO] [1746051419.007194813] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051419.008147736] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051419.009030859] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051419.010699292] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051419.045362896] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051419.046117437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051419.046889145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051419.048869564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051419.050185727] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051419.085374993] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051419.087185538] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746051419.088264379] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051419.089265757] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051419.087637235] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051419.088061835] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051419.090145861] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051419.145137473] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051419.145992578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051419.146584647] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051419.148196970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051419.149172002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051419.244959875] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051419.245628112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051419.246246912] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051419.247519599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051419.248742559] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051419.335335276] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051419.337463318] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051419.337913417] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051419.338585094] [sailbot.teensy]: Wind angle: 197 -[teensy-2] [INFO] [1746051419.339009344] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051419.339363326] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051419.339736542] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051419.344395106] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051419.345334762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051419.345550857] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051419.347055451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051419.348095493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051419.445073552] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051419.445830096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051419.446352224] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051419.447878947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051419.448871127] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051419.457622022] [sailbot.main_algo]: Wind Direction: 197 -[main_algo-3] [INFO] [1746051419.458620507] [sailbot.main_algo]: Target Bearing: -141.59468852854175 -[main_algo-3] [INFO] [1746051419.459516130] [sailbot.main_algo]: Heading Difference: -170.04631147145824 -[main_algo-3] [INFO] [1746051419.460743386] [sailbot.main_algo]: Wind Direction: 197 -[main_algo-3] [INFO] [1746051419.461559209] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051419.462345385] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051419.463843933] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051419.463881583] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051419.502847371] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904442 Long: -76.5027777 -[vectornav-1] [INFO] [1746051419.503997422] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.192999999999984, -0.8, 6.036) -[main_algo-3] [INFO] [1746051419.504139400] [sailbot.main_algo]: Distance to destination: 56.37614831210737 -[main_algo-3] [INFO] [1746051419.505555174] [sailbot.main_algo]: Target Bearing: -141.61694290434934 -[main_algo-3] [INFO] [1746051419.508111293] [sailbot.main_algo]: Heading Difference: -170.02405709565068 -[main_algo-3] [INFO] [1746051419.509608666] [sailbot.main_algo]: Wind Direction: 197 -[main_algo-3] [INFO] [1746051419.510509115] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051419.511401231] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051419.513103626] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051419.544851524] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051419.545492397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051419.546198673] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051419.547409755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051419.548574981] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051419.585408947] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051419.588126241] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051419.588614708] [sailbot.teensy]: Wind angle: 197 -[teensy-2] [INFO] [1746051419.589570918] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051419.589879728] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051419.590491878] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051419.591370876] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051419.644992443] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051419.645839236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051419.646324706] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051419.647865050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051419.649028345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051419.745480266] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051419.746543341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051419.747318163] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051419.749266613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051419.750394649] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051419.835549763] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051419.837779850] [sailbot.teensy]: Wind angle: 197 -[trim_sail-4] [INFO] [1746051419.838389237] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051419.838594439] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051419.838927899] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051419.839019177] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051419.839401507] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051419.844427818] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051419.845020635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051419.845775732] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051419.846814428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051419.847851582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051419.945148727] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051419.945887106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051419.946637524] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051419.948117620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051419.948730297] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051419.957723841] [sailbot.main_algo]: Wind Direction: 197 -[main_algo-3] [INFO] [1746051419.958813996] [sailbot.main_algo]: Target Bearing: -141.61694290434934 -[main_algo-3] [INFO] [1746051419.959739059] [sailbot.main_algo]: Heading Difference: -170.19005709565067 -[main_algo-3] [INFO] [1746051419.961091691] [sailbot.main_algo]: Wind Direction: 197 -[main_algo-3] [INFO] [1746051419.961962694] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051419.962803067] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051419.964350042] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051419.964355669] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051420.003263861] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904443 Long: -76.5027776 -[vectornav-1] [INFO] [1746051420.004475857] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.04399999999998, -0.928, 5.121) -[main_algo-3] [INFO] [1746051420.003910411] [sailbot.main_algo]: Distance to destination: 56.38320714507407 -[main_algo-3] [INFO] [1746051420.005071663] [sailbot.main_algo]: Target Bearing: -141.6213739126943 -[main_algo-3] [INFO] [1746051420.006088277] [sailbot.main_algo]: Heading Difference: -170.1856260873057 -[main_algo-3] [INFO] [1746051420.007517736] [sailbot.main_algo]: Wind Direction: 197 -[main_algo-3] [INFO] [1746051420.008500783] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051420.009444420] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051420.011181063] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051420.045011946] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051420.045671157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051420.046315889] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051420.047760306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051420.048789303] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051420.085174214] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051420.086756573] [sailbot.teensy]: Wind angle: 197 -[teensy-2] [INFO] [1746051420.087608970] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051420.087394055] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051420.088094211] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051420.088592301] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051420.089551149] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051420.145141800] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051420.145784990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051420.146503093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051420.147820022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051420.148915629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051420.245120228] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051420.245954361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051420.246482153] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051420.247898293] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051420.249072925] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051420.334660658] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051420.335546830] [sailbot.teensy]: Wind angle: 195 -[teensy-2] [INFO] [1746051420.336041618] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051420.336483377] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051420.336430733] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051420.336735585] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051420.336886135] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051420.344209088] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051420.345084797] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051420.344701939] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051420.346072458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051420.346945379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051420.444921615] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051420.445464569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051420.446093344] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051420.447246709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051420.448272795] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051420.457641399] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051420.458639243] [sailbot.main_algo]: Target Bearing: -141.6213739126943 -[main_algo-3] [INFO] [1746051420.459562904] [sailbot.main_algo]: Heading Difference: -168.3346260873057 -[main_algo-3] [INFO] [1746051420.460941390] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051420.461749913] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051420.462522526] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051420.464007689] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051420.464063147] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051420.504061803] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904442 Long: -76.50277762 -[main_algo-3] [INFO] [1746051420.504989723] [sailbot.main_algo]: Distance to destination: 56.38123148592855 -[vectornav-1] [INFO] [1746051420.505396091] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.661, 0.679, 4.278) -[main_algo-3] [INFO] [1746051420.506199341] [sailbot.main_algo]: Target Bearing: -141.6211855438643 -[main_algo-3] [INFO] [1746051420.507178241] [sailbot.main_algo]: Heading Difference: -168.33481445613575 -[main_algo-3] [INFO] [1746051420.508610895] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051420.509492846] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051420.510333601] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051420.512029586] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051420.544975122] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051420.545623293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051420.546287345] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051420.547516363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051420.548688024] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051420.585358011] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051420.587343746] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051420.588164135] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051420.588318090] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051420.589205644] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051420.590094391] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051420.590558700] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051420.645104651] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051420.645690916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051420.646526487] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051420.647751199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051420.648846361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051420.745288014] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051420.745969252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051420.747327987] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051420.748287330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051420.748812413] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051420.835267445] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051420.837101710] [sailbot.teensy]: Wind angle: 193 -[trim_sail-4] [INFO] [1746051420.837464863] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051420.838056304] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051420.838776477] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051420.838943096] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051420.839784457] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051420.844325642] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051420.845020909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051420.845651299] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051420.846736115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051420.847840979] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051420.945211243] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051420.945849530] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051420.946618996] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051420.947711473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051420.948774293] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051420.957738407] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051420.958784762] [sailbot.main_algo]: Target Bearing: -141.6211855438643 -[main_algo-3] [INFO] [1746051420.959707158] [sailbot.main_algo]: Heading Difference: -169.71781445613567 -[main_algo-3] [INFO] [1746051420.961026109] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051420.961865368] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051420.962745111] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051420.964449561] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051420.964941709] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051421.002745939] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690441 Long: -76.50277802 -[main_algo-3] [INFO] [1746051421.003636161] [sailbot.main_algo]: Distance to destination: 56.333260722398 -[vectornav-1] [INFO] [1746051421.003937881] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.668000000000006, -0.871, 5.919) -[main_algo-3] [INFO] [1746051421.004904992] [sailbot.main_algo]: Target Bearing: -141.6278900220326 -[main_algo-3] [INFO] [1746051421.005879998] [sailbot.main_algo]: Heading Difference: -169.7111099779674 -[main_algo-3] [INFO] [1746051421.007099343] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051421.007912296] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051421.008746848] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051421.010361636] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051421.045082121] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051421.045654061] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051421.046432994] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051421.047504559] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051421.048596375] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051421.085154865] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051421.087049916] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051421.087574183] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051421.088310800] [sailbot.teensy]: Wind angle: 193 -[teensy-2] [INFO] [1746051421.089231269] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051421.090111503] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051421.091025179] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051421.145095974] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051421.145636040] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051421.147607895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051421.148116614] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051421.148809912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051421.245083192] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051421.245722767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051421.246458254] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051421.247781969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051421.248712990] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051421.335280668] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051421.337201065] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051421.337367269] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051421.337939358] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051421.338341511] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051421.339167713] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051421.339589532] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051421.344435465] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051421.344789316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051421.345643762] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051421.346483326] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051421.347710531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051421.445439008] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051421.446236511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051421.447128155] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051421.448519832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051421.449102739] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051421.457627805] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051421.458628158] [sailbot.main_algo]: Target Bearing: -141.6278900220326 -[main_algo-3] [INFO] [1746051421.459514135] [sailbot.main_algo]: Heading Difference: -171.7041099779674 -[main_algo-3] [INFO] [1746051421.460848577] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051421.461734398] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051421.462532868] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051421.464062938] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051421.464090286] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051421.502687871] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904391 Long: -76.50277811 -[main_algo-3] [INFO] [1746051421.503975696] [sailbot.main_algo]: Distance to destination: 56.314152795081824 -[vectornav-1] [INFO] [1746051421.504399504] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.85000000000002, -1.315, 5.187) -[main_algo-3] [INFO] [1746051421.505082838] [sailbot.main_algo]: Target Bearing: -141.63970540700493 -[main_algo-3] [INFO] [1746051421.506167386] [sailbot.main_algo]: Heading Difference: -171.69229459299504 -[main_algo-3] [INFO] [1746051421.507694876] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051421.508624160] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051421.509442239] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051421.511155725] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051421.545141476] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051421.545588739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051421.546536229] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051421.547667034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051421.548793543] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051421.585134830] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051421.587453960] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051421.587991951] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051421.588395047] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746051421.589913729] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051421.590826850] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051421.591696454] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051421.645076885] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051421.645833919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051421.646452494] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051421.647874019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051421.648909167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051421.745308874] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051421.746633881] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051421.746700824] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051421.749501541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051421.750724582] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051421.835101014] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051421.836550903] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051421.837210480] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051421.837602146] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051421.838425656] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051421.839327485] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051421.840115837] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051421.844494442] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051421.844949040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051421.845892054] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051421.846690698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051421.847724032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051421.945282883] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051421.946058381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051421.946910194] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051421.947914415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051421.949073465] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051421.957457641] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051421.958392248] [sailbot.main_algo]: Target Bearing: -141.63970540700493 -[main_algo-3] [INFO] [1746051421.959245153] [sailbot.main_algo]: Heading Difference: -168.51029459299502 -[main_algo-3] [INFO] [1746051421.960491224] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051421.961312907] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051421.962096355] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051421.963618705] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051421.963844451] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051422.002761272] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904382 Long: -76.50277814 -[main_algo-3] [INFO] [1746051422.003750214] [sailbot.main_algo]: Distance to destination: 56.305905417385304 -[vectornav-1] [INFO] [1746051422.003848787] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.14499999999998, 0.475, 5.444) -[main_algo-3] [INFO] [1746051422.004857484] [sailbot.main_algo]: Target Bearing: -141.6459753514432 -[main_algo-3] [INFO] [1746051422.005724054] [sailbot.main_algo]: Heading Difference: -168.50402464855676 -[main_algo-3] [INFO] [1746051422.007034224] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051422.007896783] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051422.008737375] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051422.010391552] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051422.045074842] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051422.045914329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051422.046370644] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051422.048148127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051422.049188886] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051422.085277108] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051422.087157251] [sailbot.teensy]: Wind angle: 192 -[trim_sail-4] [INFO] [1746051422.087738924] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051422.088138609] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051422.089094826] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051422.089942250] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051422.089423095] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051422.144970485] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051422.145669128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051422.146302694] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051422.147568549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051422.148656774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051422.244061071] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051422.244900723] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051422.244626643] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051422.246402648] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051422.247509381] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051422.334399732] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051422.335628000] [sailbot.teensy]: Wind angle: 190 -[trim_sail-4] [INFO] [1746051422.336279486] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051422.336653741] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051422.337568086] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051422.338281096] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051422.338379366] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051422.343829771] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051422.344634719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051422.345007672] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051422.346402461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051422.346910432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051422.444745665] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051422.445284109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051422.446076488] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051422.447095552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051422.448206416] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051422.457703977] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051422.458719270] [sailbot.main_algo]: Target Bearing: -141.6459753514432 -[main_algo-3] [INFO] [1746051422.459634626] [sailbot.main_algo]: Heading Difference: -169.2090246485568 -[main_algo-3] [INFO] [1746051422.460898961] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051422.461731969] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051422.462544387] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051422.464050823] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051422.464114410] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051422.502553208] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904386 Long: -76.50277837 -[main_algo-3] [INFO] [1746051422.503513051] [sailbot.main_algo]: Distance to destination: 56.29410560296841 -[vectornav-1] [INFO] [1746051422.503845125] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.31099999999998, -0.348, 5.413) -[main_algo-3] [INFO] [1746051422.504590626] [sailbot.main_algo]: Target Bearing: -141.63027102679888 -[main_algo-3] [INFO] [1746051422.505529999] [sailbot.main_algo]: Heading Difference: -169.22472897320114 -[main_algo-3] [INFO] [1746051422.506807256] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051422.507646002] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051422.508474123] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051422.509986011] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051422.544756583] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051422.545406512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051422.545993959] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051422.547133675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051422.548185694] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051422.585381629] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051422.588118709] [sailbot.teensy]: Wind angle: 189 -[trim_sail-4] [INFO] [1746051422.588213529] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051422.588592728] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051422.589118970] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051422.589976771] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051422.590879111] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051422.644562195] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051422.645354025] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051422.645834144] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051422.647245106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051422.648361511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051422.745400259] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051422.746184837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051422.747134469] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051422.748433336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051422.749623534] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051422.835717603] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051422.838117047] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051422.838739410] [sailbot.teensy]: Wind angle: 189 -[mux-7] [INFO] [1746051422.839243782] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051422.839697394] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051422.840646251] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051422.841497812] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051422.844430287] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051422.845042903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051422.845659254] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051422.846853823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051422.847872372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051422.944967522] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051422.945625824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051422.946436141] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051422.947495124] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051422.948693318] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051422.957472806] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051422.958423270] [sailbot.main_algo]: Target Bearing: -141.63027102679888 -[main_algo-3] [INFO] [1746051422.959289632] [sailbot.main_algo]: Heading Difference: -169.05872897320114 -[main_algo-3] [INFO] [1746051422.960500740] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051422.961339866] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051422.962136413] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051422.963633867] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051422.963661282] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051423.002719349] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904388 Long: -76.50277825 -[main_algo-3] [INFO] [1746051423.003591971] [sailbot.main_algo]: Distance to destination: 56.30314115542329 -[vectornav-1] [INFO] [1746051423.003898159] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.73599999999999, -0.995, 5.922) -[main_algo-3] [INFO] [1746051423.004998314] [sailbot.main_algo]: Target Bearing: -141.63489498020854 -[main_algo-3] [INFO] [1746051423.006003011] [sailbot.main_algo]: Heading Difference: -169.05410501979145 -[main_algo-3] [INFO] [1746051423.007350779] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051423.008253416] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051423.009118946] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051423.010938390] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051423.044823749] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051423.045397900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051423.046292140] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051423.047144142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051423.048304446] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051423.085207052] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051423.086957278] [sailbot.teensy]: Wind angle: 189 -[trim_sail-4] [INFO] [1746051423.087497575] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051423.088339536] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051423.089232272] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051423.089235409] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051423.090135843] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051423.145331817] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051423.145675432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051423.147056679] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051423.147861769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051423.149003548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051423.244143981] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051423.244603437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051423.245197141] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051423.246685265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051423.247953421] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051423.335187579] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051423.336805899] [sailbot.teensy]: Wind angle: 190 -[teensy-2] [INFO] [1746051423.337739510] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051423.337511551] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051423.337981973] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051423.338622982] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051423.339469827] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051423.344620539] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051423.345119845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051423.345747509] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051423.346888772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051423.347949133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051423.445156463] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051423.445717377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051423.446504422] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051423.447616687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051423.448703911] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051423.457452748] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051423.458410370] [sailbot.main_algo]: Target Bearing: -141.63489498020854 -[main_algo-3] [INFO] [1746051423.459245076] [sailbot.main_algo]: Heading Difference: -168.6291050197915 -[main_algo-3] [INFO] [1746051423.460486206] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051423.461310334] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051423.462128277] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051423.463662363] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051423.463841747] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051423.502915036] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904382 Long: -76.50277792 -[main_algo-3] [INFO] [1746051423.503835544] [sailbot.main_algo]: Distance to destination: 56.319890703236425 -[vectornav-1] [INFO] [1746051423.504185782] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.52699999999999, 0.305, 5.062) -[main_algo-3] [INFO] [1746051423.505009787] [sailbot.main_algo]: Target Bearing: -141.65764811085765 -[main_algo-3] [INFO] [1746051423.505962487] [sailbot.main_algo]: Heading Difference: -168.6063518891424 -[main_algo-3] [INFO] [1746051423.507402843] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051423.508294701] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051423.509139809] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051423.510878069] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051423.544955364] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051423.545488159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051423.546289619] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051423.547282570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051423.548389628] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051423.585390310] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051423.587333952] [sailbot.teensy]: Wind angle: 190 -[teensy-2] [INFO] [1746051423.588299377] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051423.587761189] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051423.589195891] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051423.590098497] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051423.589894591] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051423.645013473] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051423.645796405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051423.646482763] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051423.647781884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051423.648954242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051423.744885364] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051423.745493650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051423.746128606] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051423.747275336] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051423.748356576] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051423.835211494] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051423.836745861] [sailbot.teensy]: Wind angle: 190 -[trim_sail-4] [INFO] [1746051423.837433187] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051423.837635080] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051423.838500978] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051423.838519166] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051423.839622079] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051423.844309748] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051423.844811518] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051423.845416427] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051423.846515008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051423.847650782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051423.945967035] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051423.946412450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051423.947135167] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051423.948133084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051423.949200458] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051423.957451195] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051423.958432295] [sailbot.main_algo]: Target Bearing: -141.65764811085765 -[main_algo-3] [INFO] [1746051423.959340400] [sailbot.main_algo]: Heading Difference: -168.81535188914233 -[main_algo-3] [INFO] [1746051423.960618121] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051423.961444039] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051423.962236524] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051423.963779976] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051423.963781164] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051424.003185221] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904387 Long: -76.5027778 -[main_algo-3] [INFO] [1746051424.003981314] [sailbot.main_algo]: Distance to destination: 56.33104112304905 -[vectornav-1] [INFO] [1746051424.004383503] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.17599999999999, -0.474, 5.514) -[main_algo-3] [INFO] [1746051424.005240781] [sailbot.main_algo]: Target Bearing: -141.65964511509947 -[main_algo-3] [INFO] [1746051424.006316347] [sailbot.main_algo]: Heading Difference: -168.81335488490055 -[main_algo-3] [INFO] [1746051424.007722093] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051424.008624988] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051424.009491612] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051424.011172367] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051424.044906591] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051424.045681353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051424.046203612] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051424.047905994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051424.049012795] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051424.085412265] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051424.087919845] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051424.088215743] [sailbot.teensy]: Wind angle: 188 -[mux-7] [INFO] [1746051424.088917870] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051424.089161465] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051424.090072986] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051424.090897400] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051424.145087289] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051424.145750641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051424.146636936] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051424.148098306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051424.149363578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051424.245200975] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051424.246689963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051424.246711617] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051424.248538314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051424.249632861] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051424.335196129] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051424.336843266] [sailbot.teensy]: Wind angle: 187 -[teensy-2] [INFO] [1746051424.337821201] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051424.337992036] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051424.339022609] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051424.339195920] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051424.340339626] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051424.344378604] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051424.345102426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051424.346018997] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051424.346854529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051424.348506726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051424.445165524] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051424.446333180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051424.448018574] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051424.449918619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051424.451214639] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051424.457117521] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051424.458122876] [sailbot.main_algo]: Target Bearing: -141.65964511509947 -[main_algo-3] [INFO] [1746051424.459073365] [sailbot.main_algo]: Heading Difference: -169.16435488490055 -[main_algo-3] [INFO] [1746051424.460492840] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051424.461534543] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051424.462756751] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051424.464446058] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051424.464696764] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051424.501603649] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904389 Long: -76.50277781 -[main_algo-3] [INFO] [1746051424.502273687] [sailbot.main_algo]: Distance to destination: 56.33181390683514 -[vectornav-1] [INFO] [1746051424.502291169] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.928, -0.687, 5.806) -[main_algo-3] [INFO] [1746051424.503205910] [sailbot.main_algo]: Target Bearing: -141.6573679302765 -[main_algo-3] [INFO] [1746051424.503880047] [sailbot.main_algo]: Heading Difference: -169.1666320697235 -[main_algo-3] [INFO] [1746051424.504473282] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051424.504999246] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051424.505684755] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051424.506595284] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051424.544719581] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051424.545218188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051424.546275202] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051424.546902250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051424.547884485] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051424.585058308] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051424.586709332] [sailbot.teensy]: Wind angle: 186 -[trim_sail-4] [INFO] [1746051424.587198683] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051424.587567355] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051424.587723391] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051424.588472559] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051424.589375934] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051424.645356643] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051424.646065887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051424.647204794] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051424.647881633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051424.648467439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051424.745016950] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051424.745684988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051424.746595631] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051424.747540132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051424.748017682] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051424.835179079] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051424.837179800] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051424.837362842] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051424.837888654] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051424.838425973] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051424.839423162] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051424.840260813] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051424.844394514] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051424.844853845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051424.845504757] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051424.846507887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051424.847562927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051424.945044277] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051424.945725574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051424.946609264] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051424.947625600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051424.948700055] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051424.957596517] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051424.958627820] [sailbot.main_algo]: Target Bearing: -141.6573679302765 -[main_algo-3] [INFO] [1746051424.959510737] [sailbot.main_algo]: Heading Difference: -169.4146320697235 -[main_algo-3] [INFO] [1746051424.960743065] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051424.961591962] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051424.962409243] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051424.963864649] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051424.963991383] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051425.002684073] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904392 Long: -76.50277783 -[vectornav-1] [INFO] [1746051425.003747079] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.46500000000003, -0.054, 4.883) -[main_algo-3] [INFO] [1746051425.003917776] [sailbot.main_algo]: Distance to destination: 56.33265539005304 -[main_algo-3] [INFO] [1746051425.005196549] [sailbot.main_algo]: Target Bearing: -141.65368708602404 -[main_algo-3] [INFO] [1746051425.006286505] [sailbot.main_algo]: Heading Difference: -169.41831291397597 -[main_algo-3] [INFO] [1746051425.007748321] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051425.008688690] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051425.009614582] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051425.011371953] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051425.045177644] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051425.046017256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051425.047016637] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051425.048046819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051425.049222139] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051425.085464149] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051425.087402596] [sailbot.teensy]: Wind angle: 186 -[trim_sail-4] [INFO] [1746051425.087789711] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051425.088229023] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051425.088350850] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051425.089676636] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051425.090937084] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051425.144631529] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051425.145153057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051425.145785243] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051425.146894916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051425.147927565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051425.244047315] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051425.244584660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051425.244963742] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051425.245981499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051425.246907041] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051425.334469506] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051425.335429857] [sailbot.teensy]: Wind angle: 190 -[trim_sail-4] [INFO] [1746051425.335498783] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051425.336576962] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051425.336602515] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051425.337526468] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051425.337950872] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051425.343643864] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051425.344140068] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051425.343854218] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051425.344597463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051425.345133835] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051425.445085377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051425.446371237] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051425.447959848] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051425.449028072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051425.449892320] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051425.456524092] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051425.458346384] [sailbot.main_algo]: Target Bearing: -141.65368708602404 -[main_algo-3] [INFO] [1746051425.458792623] [sailbot.main_algo]: Heading Difference: -168.88131291397593 -[main_algo-3] [INFO] [1746051425.459891301] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051425.460315880] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051425.460701410] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051425.461500590] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051425.463672927] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051425.501352647] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904382 Long: -76.502778 -[vectornav-1] [INFO] [1746051425.501794184] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.274, -0.423, 5.7) -[main_algo-3] [INFO] [1746051425.503250063] [sailbot.main_algo]: Distance to destination: 56.31480487426062 -[main_algo-3] [INFO] [1746051425.503717598] [sailbot.main_algo]: Target Bearing: -141.65340414127695 -[main_algo-3] [INFO] [1746051425.504849362] [sailbot.main_algo]: Heading Difference: -168.88159585872302 -[main_algo-3] [INFO] [1746051425.505484634] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051425.507393795] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051425.507804673] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051425.509111995] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051425.543743973] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051425.545375722] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051425.547636800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051425.549062713] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051425.550764470] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051425.584502309] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051425.585610662] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051425.586732025] [sailbot.teensy]: Wind angle: 191 -[teensy-2] [INFO] [1746051425.587194638] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051425.587358068] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051425.587601086] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051425.588009746] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051425.643664269] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051425.644089671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051425.644249864] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051425.644887693] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051425.645444865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051425.743788115] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051425.744313456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051425.744537215] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051425.745715998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051425.746456242] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051425.834484849] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051425.835556741] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051425.835777706] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051425.835952014] [sailbot.teensy]: Wind angle: 192 -[teensy-2] [INFO] [1746051425.836386711] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051425.836774108] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051425.837148504] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051425.843572884] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051425.843848284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051425.844094201] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051425.844691118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051425.845201477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051425.943787738] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051425.944170285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051425.944530718] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051425.945473955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051425.946249648] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051425.956454520] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051425.956898751] [sailbot.main_algo]: Target Bearing: -141.65340414127695 -[main_algo-3] [INFO] [1746051425.957270054] [sailbot.main_algo]: Heading Difference: -169.07259585872305 -[main_algo-3] [INFO] [1746051425.957889593] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051425.958248658] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051425.958593543] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051425.959556146] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051425.959569942] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051426.002177522] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904378 Long: -76.50277815 -[main_algo-3] [INFO] [1746051426.002940887] [sailbot.main_algo]: Distance to destination: 56.30245202327835 -[vectornav-1] [INFO] [1746051426.003134055] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.615999999999985, -0.283, 4.931) -[main_algo-3] [INFO] [1746051426.004363880] [sailbot.main_algo]: Target Bearing: -141.64893948682953 -[main_algo-3] [INFO] [1746051426.005432817] [sailbot.main_algo]: Heading Difference: -169.07706051317047 -[main_algo-3] [INFO] [1746051426.006842813] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051426.007776835] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051426.008668778] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051426.010321530] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051426.043911792] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051426.044479531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051426.044776590] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051426.046113949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051426.047081886] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051426.084996260] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051426.086437093] [sailbot.teensy]: Wind angle: 192 -[teensy-2] [INFO] [1746051426.087256567] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051426.088088598] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051426.088935496] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051426.087683972] [sailbot.mux]: algo sail angle: 0 -[trim_sail-4] [INFO] [1746051426.088511869] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051426.144539409] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051426.145110141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051426.145629016] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051426.146798505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051426.147941326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051426.244563647] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051426.245101411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051426.245637658] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051426.246695827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051426.247754595] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051426.335250568] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051426.337294362] [sailbot.teensy]: Wind angle: 193 -[trim_sail-4] [INFO] [1746051426.337665299] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051426.338344735] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051426.339244333] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051426.338751732] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051426.339726459] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051426.344312311] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051426.345022768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051426.345408482] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051426.346746499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051426.347754386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051426.444317383] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051426.445085658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051426.445367209] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051426.446648741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051426.447753468] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051426.457669371] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051426.458713124] [sailbot.main_algo]: Target Bearing: -141.64893948682953 -[main_algo-3] [INFO] [1746051426.459658589] [sailbot.main_algo]: Heading Difference: -169.73506051317048 -[main_algo-3] [INFO] [1746051426.460937087] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051426.461742152] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051426.462519723] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051426.464040868] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051426.464066253] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051426.502887532] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904383 Long: -76.50277821 -[vectornav-1] [INFO] [1746051426.503991134] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.77499999999998, -0.5, 6.986) -[main_algo-3] [INFO] [1746051426.504366883] [sailbot.main_algo]: Distance to destination: 56.302160562746785 -[main_algo-3] [INFO] [1746051426.505442044] [sailbot.main_algo]: Target Bearing: -141.6413863969265 -[main_algo-3] [INFO] [1746051426.506497624] [sailbot.main_algo]: Heading Difference: -169.74261360307355 -[main_algo-3] [INFO] [1746051426.508048538] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051426.509127817] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051426.510153962] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051426.512526954] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051426.543992333] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051426.544489953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051426.545780402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051426.546287685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051426.547344882] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051426.584519790] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051426.585647707] [sailbot.teensy]: Wind angle: 192 -[trim_sail-4] [INFO] [1746051426.586266569] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051426.586457175] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051426.587218693] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051426.587360286] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051426.588035968] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051426.644832697] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051426.645512330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051426.646073286] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051426.647492472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051426.648527607] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051426.744992897] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051426.745794719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051426.746377967] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051426.747690775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051426.748911322] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051426.835408208] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051426.837661977] [sailbot.teensy]: Wind angle: 192 -[trim_sail-4] [INFO] [1746051426.837800062] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051426.838643601] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051426.839027842] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051426.839135411] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051426.839504293] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051426.844378991] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051426.844997199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051426.845464582] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051426.846716549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051426.847718241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051426.944890248] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051426.945433442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051426.946144236] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051426.947232359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051426.948419921] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051426.957450651] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051426.958397064] [sailbot.main_algo]: Target Bearing: -141.6413863969265 -[main_algo-3] [INFO] [1746051426.959224069] [sailbot.main_algo]: Heading Difference: -169.58361360307356 -[main_algo-3] [INFO] [1746051426.960472302] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051426.961278735] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051426.962061632] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051426.963593068] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051426.963782914] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051427.003056171] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904403 Long: -76.50277817 -[main_algo-3] [INFO] [1746051427.003693630] [sailbot.main_algo]: Distance to destination: 56.31879550124108 -[vectornav-1] [INFO] [1746051427.004437639] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.67700000000002, -0.876, 5.353) -[main_algo-3] [INFO] [1746051427.004814665] [sailbot.main_algo]: Target Bearing: -141.62604078687545 -[main_algo-3] [INFO] [1746051427.005825869] [sailbot.main_algo]: Heading Difference: -169.59895921312454 -[main_algo-3] [INFO] [1746051427.007204599] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051427.008076047] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051427.008942432] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051427.010638070] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051427.044633651] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051427.045142261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051427.045864849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051427.046831172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051427.047773237] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051427.084799967] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051427.085960078] [sailbot.teensy]: Wind angle: 192 -[trim_sail-4] [INFO] [1746051427.086460168] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051427.086704133] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051427.087493196] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051427.088287403] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051427.088316345] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051427.145023531] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051427.145481455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051427.146323041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051427.147250802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051427.148421265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051427.245023062] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051427.245827577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051427.246475180] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051427.247744426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051427.248929625] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051427.335287406] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051427.337641517] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051427.337946775] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051427.338956891] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051427.339345237] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051427.339777833] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051427.340146152] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051427.344594012] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051427.345032151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051427.345822121] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051427.346717846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051427.347760852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051427.444727899] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051427.445576380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051427.445899272] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051427.447280357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051427.448311615] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051427.457764835] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051427.458793012] [sailbot.main_algo]: Target Bearing: -141.62604078687545 -[main_algo-3] [INFO] [1746051427.459736795] [sailbot.main_algo]: Heading Difference: -168.6969592131245 -[main_algo-3] [INFO] [1746051427.461062921] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051427.462003529] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051427.462809898] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051427.464403116] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051427.464615176] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051427.502741063] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904418 Long: -76.5027782 -[main_algo-3] [INFO] [1746051427.503731004] [sailbot.main_algo]: Distance to destination: 56.32746230617481 -[vectornav-1] [INFO] [1746051427.503898321] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.011000000000024, 0.455, 5.732) -[main_algo-3] [INFO] [1746051427.505046797] [sailbot.main_algo]: Target Bearing: -141.61135234795694 -[main_algo-3] [INFO] [1746051427.506038675] [sailbot.main_algo]: Heading Difference: -168.71164765204304 -[main_algo-3] [INFO] [1746051427.507603809] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051427.508546867] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051427.509454397] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051427.511494448] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051427.544852208] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051427.545522935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051427.546165998] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051427.547403118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051427.548547198] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051427.585308775] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051427.586898665] [sailbot.teensy]: Wind angle: 199 -[trim_sail-4] [INFO] [1746051427.587515426] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051427.587776132] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051427.589017846] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051427.588076413] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051427.589948634] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051427.645067001] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051427.645766720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051427.646452545] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051427.648042808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051427.649061687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051427.744963986] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051427.745602718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051427.746198402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051427.747547694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051427.748624173] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051427.835436569] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051427.837243275] [sailbot.teensy]: Wind angle: 200 -[teensy-2] [INFO] [1746051427.838198417] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051427.838353141] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051427.839117779] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051427.839954046] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051427.839964764] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051427.844545241] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051427.844995371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051427.846172291] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051427.846682478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051427.847842543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051427.945436609] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051427.945977095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051427.947532442] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051427.947985556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051427.949139434] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051427.957669218] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051427.958719203] [sailbot.main_algo]: Target Bearing: -141.61135234795694 -[main_algo-3] [INFO] [1746051427.959656369] [sailbot.main_algo]: Heading Difference: -169.37764765204304 -[main_algo-3] [INFO] [1746051427.961007162] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051427.961840444] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051427.962630755] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051427.964121502] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051427.964244813] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051428.003056479] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904412 Long: -76.50277835 -[main_algo-3] [INFO] [1746051428.003634552] [sailbot.main_algo]: Distance to destination: 56.3137026205283 -[vectornav-1] [INFO] [1746051428.004498938] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.632000000000005, -0.555, 4.93) -[main_algo-3] [INFO] [1746051428.004734589] [sailbot.main_algo]: Target Bearing: -141.60862558561476 -[main_algo-3] [INFO] [1746051428.005727281] [sailbot.main_algo]: Heading Difference: -169.3803744143852 -[main_algo-3] [INFO] [1746051428.007115898] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051428.007983817] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051428.008840550] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051428.010419638] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051428.044964125] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051428.045591026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051428.046238580] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051428.047466418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051428.048658505] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051428.085235972] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051428.087069331] [sailbot.teensy]: Wind angle: 200 -[trim_sail-4] [INFO] [1746051428.087491694] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051428.087956019] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051428.088832912] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051428.088577199] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051428.089708128] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051428.144913415] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051428.145628420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051428.146187284] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051428.147521052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051428.148555868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051428.244853996] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051428.245574682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051428.246541780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051428.247853810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051428.248884860] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051428.335116808] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051428.336672796] [sailbot.teensy]: Wind angle: 200 -[teensy-2] [INFO] [1746051428.337555994] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051428.337274015] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051428.338439841] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051428.338484696] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051428.339340227] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051428.344448809] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051428.344937844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051428.345589108] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051428.346712402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051428.347791183] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051428.443899344] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051428.444263084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051428.444420381] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051428.445012973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051428.445728715] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051428.457771182] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051428.458849848] [sailbot.main_algo]: Target Bearing: -141.60862558561476 -[main_algo-3] [INFO] [1746051428.459755371] [sailbot.main_algo]: Heading Difference: -169.7593744143852 -[main_algo-3] [INFO] [1746051428.461087505] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051428.461943070] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051428.462745394] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051428.464228727] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051428.464327477] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051428.502896344] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904414 Long: -76.50277849 -[vectornav-1] [INFO] [1746051428.504042666] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.028999999999996, 0.049, 5.873) -[main_algo-3] [INFO] [1746051428.504206415] [sailbot.main_algo]: Distance to destination: 56.306219154864486 -[main_algo-3] [INFO] [1746051428.505304401] [sailbot.main_algo]: Target Bearing: -141.59944337367264 -[main_algo-3] [INFO] [1746051428.506287214] [sailbot.main_algo]: Heading Difference: -169.76855662632738 -[main_algo-3] [INFO] [1746051428.507647228] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051428.508531013] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051428.509377560] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051428.511085524] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051428.544967618] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051428.545709684] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051428.546205233] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051428.547637438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051428.548645247] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051428.585357260] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051428.588262452] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051428.588435159] [sailbot.teensy]: Wind angle: 200 -[mux-7] [INFO] [1746051428.589589240] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051428.589771707] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051428.590937970] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051428.591913834] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051428.643877520] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051428.644375113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051428.644574181] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051428.645425999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051428.646103862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051428.744960982] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051428.745757952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051428.746257866] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051428.747598161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051428.748632911] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051428.835398471] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051428.837236000] [sailbot.teensy]: Wind angle: 200 -[trim_sail-4] [INFO] [1746051428.837959150] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051428.838888643] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051428.838961131] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051428.839298700] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051428.839669159] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051428.844383630] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051428.844812435] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051428.845534966] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051428.846529725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051428.847736736] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051428.944768311] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051428.945332006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051428.946130406] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051428.947132206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051428.948369613] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051428.957816979] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051428.958883823] [sailbot.main_algo]: Target Bearing: -141.59944337367264 -[main_algo-3] [INFO] [1746051428.959789482] [sailbot.main_algo]: Heading Difference: -170.37155662632733 -[main_algo-3] [INFO] [1746051428.961130355] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051428.961988505] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051428.962787366] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051428.964328381] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051428.964333176] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051429.002814867] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904412 Long: -76.50277833 -[main_algo-3] [INFO] [1746051429.003751900] [sailbot.main_algo]: Distance to destination: 56.31497323295805 -[vectornav-1] [INFO] [1746051429.003993385] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.627999999999986, -1.437, 5.743) -[main_algo-3] [INFO] [1746051429.004922007] [sailbot.main_algo]: Target Bearing: -141.60968768006524 -[main_algo-3] [INFO] [1746051429.005923540] [sailbot.main_algo]: Heading Difference: -170.36131231993477 -[main_algo-3] [INFO] [1746051429.007270776] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051429.008204348] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051429.009056918] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051429.010945896] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051429.044769155] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051429.045317000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051429.046000837] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051429.047006858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051429.047967251] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051429.085169938] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051429.086749270] [sailbot.teensy]: Wind angle: 202 -[trim_sail-4] [INFO] [1746051429.087262814] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051429.087685503] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051429.088687769] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051429.089803084] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051429.089899204] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051429.145124763] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051429.145877986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051429.146563162] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051429.147900602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051429.148715949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051429.245009731] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051429.245725386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051429.246423245] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051429.247592744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051429.248642977] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051429.335245251] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051429.337230621] [sailbot.teensy]: Wind angle: 203 -[trim_sail-4] [INFO] [1746051429.337268201] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051429.338479014] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051429.339071257] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051429.340041831] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051429.340956333] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051429.344368427] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051429.345005782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051429.345956830] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051429.346812295] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051429.347863567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051429.445079407] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051429.445519516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051429.446513149] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051429.447565117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051429.448517668] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051429.457807846] [sailbot.main_algo]: Wind Direction: 203 -[main_algo-3] [INFO] [1746051429.458900542] [sailbot.main_algo]: Target Bearing: -141.60968768006524 -[main_algo-3] [INFO] [1746051429.459855286] [sailbot.main_algo]: Heading Difference: -169.76231231993478 -[main_algo-3] [INFO] [1746051429.461238119] [sailbot.main_algo]: Wind Direction: 203 -[main_algo-3] [INFO] [1746051429.462161056] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051429.462990848] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051429.464515956] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051429.464718469] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051429.502931301] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690442 Long: -76.50277828 -[main_algo-3] [INFO] [1746051429.504034321] [sailbot.main_algo]: Distance to destination: 56.32378995399514 -[vectornav-1] [INFO] [1746051429.504490841] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.13900000000001, -0.081, 4.432) -[main_algo-3] [INFO] [1746051429.505429437] [sailbot.main_algo]: Target Bearing: -141.60535896575368 -[main_algo-3] [INFO] [1746051429.506408984] [sailbot.main_algo]: Heading Difference: -169.76664103424633 -[main_algo-3] [INFO] [1746051429.507792875] [sailbot.main_algo]: Wind Direction: 203 -[main_algo-3] [INFO] [1746051429.508687170] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051429.509579502] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051429.511433836] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051429.544924134] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051429.545673560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051429.546305212] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051429.547934791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051429.549107385] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051429.585349221] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051429.587129222] [sailbot.teensy]: Wind angle: 202 -[trim_sail-4] [INFO] [1746051429.587506648] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051429.588235319] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051429.589215115] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051429.590068202] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051429.590147122] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051429.644922808] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051429.645592779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051429.646191502] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051429.647405611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051429.648613823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051429.744816314] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051429.745375587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051429.745942304] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051429.747138510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051429.748242067] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051429.835339431] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051429.837241177] [sailbot.teensy]: Wind angle: 196 -[trim_sail-4] [INFO] [1746051429.837684855] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051429.838193344] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051429.838857854] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051429.839059176] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051429.839946269] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051429.844339920] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051429.845321264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051429.845534307] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051429.846980119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051429.848146897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051429.944967579] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051429.945851161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051429.946324523] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051429.947692923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051429.948896377] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051429.957689653] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051429.958719255] [sailbot.main_algo]: Target Bearing: -141.60535896575368 -[main_algo-3] [INFO] [1746051429.959635277] [sailbot.main_algo]: Heading Difference: -169.2556410342463 -[main_algo-3] [INFO] [1746051429.960925662] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051429.961755552] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051429.962547404] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051429.964112516] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051429.964166941] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051430.002037649] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904435 Long: -76.50277804 -[main_algo-3] [INFO] [1746051430.002770236] [sailbot.main_algo]: Distance to destination: 56.34961246286325 -[vectornav-1] [INFO] [1746051430.003027775] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.31, 0.746, 6.625) -[main_algo-3] [INFO] [1746051430.003775412] [sailbot.main_algo]: Target Bearing: -141.60500995077675 -[main_algo-3] [INFO] [1746051430.004630846] [sailbot.main_algo]: Heading Difference: -169.25599004922321 -[main_algo-3] [INFO] [1746051430.006022129] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051430.006877850] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051430.007706748] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051430.009297428] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051430.045437928] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051430.045820172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051430.046767477] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051430.047681266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051430.048845229] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051430.084552488] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051430.085454484] [sailbot.teensy]: Wind angle: 195 -[teensy-2] [INFO] [1746051430.085980465] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051430.086476667] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051430.086782901] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051430.086953914] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051430.087731775] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051430.143709149] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051430.144020298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051430.144252786] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051430.145016303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051430.145529845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051430.243618759] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051430.244112206] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051430.243940193] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051430.244685250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051430.245209084] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051430.334444233] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051430.335216240] [sailbot.teensy]: Wind angle: 195 -[trim_sail-4] [INFO] [1746051430.335517472] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051430.335628874] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051430.336021750] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051430.336475844] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051430.337519141] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051430.343695357] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051430.343903964] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051430.344843304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051430.345321747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051430.345390225] [sailbot.mux]: Published rudder angle from controller_app: 0 -[mux-7] [INFO] [1746051430.444356853] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051430.444871479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051430.445424980] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051430.446444588] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051430.447230313] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051430.457387915] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051430.458404058] [sailbot.main_algo]: Target Bearing: -141.60500995077675 -[main_algo-3] [INFO] [1746051430.459283103] [sailbot.main_algo]: Heading Difference: -171.08499004922328 -[main_algo-3] [INFO] [1746051430.460581796] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051430.461683456] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051430.462500318] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051430.464029098] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051430.464115987] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051430.502805557] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904437 Long: -76.50277797 -[main_algo-3] [INFO] [1746051430.503508923] [sailbot.main_algo]: Distance to destination: 56.35546951690856 -[vectornav-1] [INFO] [1746051430.503904051] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.245000000000005, -1.7, 4.763) -[main_algo-3] [INFO] [1746051430.504551471] [sailbot.main_algo]: Target Bearing: -141.60698012737467 -[main_algo-3] [INFO] [1746051430.505449184] [sailbot.main_algo]: Heading Difference: -171.0830198726253 -[main_algo-3] [INFO] [1746051430.506731493] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051430.507545945] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051430.508340666] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051430.509895494] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051430.544851706] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051430.545588145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051430.546186026] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051430.547383698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051430.548520188] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051430.585304539] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051430.587283673] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746051430.588361681] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051430.587745051] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051430.589040604] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051430.589573912] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051430.590679468] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051430.645032627] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051430.645549614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051430.646359465] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051430.647407513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051430.648598073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051430.744833990] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051430.745523205] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051430.746070073] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051430.747211785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051430.748201421] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051430.835285265] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051430.836949932] [sailbot.teensy]: Wind angle: 203 -[trim_sail-4] [INFO] [1746051430.837468346] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051430.837904630] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051430.838774321] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051430.839516112] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051430.839658705] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051430.844465758] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051430.844971124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051430.845687833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051430.846667606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051430.847719316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051430.945275901] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051430.945879064] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051430.947929491] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051430.948465279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051430.949707323] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051430.957689094] [sailbot.main_algo]: Wind Direction: 203 -[main_algo-3] [INFO] [1746051430.958751856] [sailbot.main_algo]: Target Bearing: -141.60698012737467 -[main_algo-3] [INFO] [1746051430.959659683] [sailbot.main_algo]: Heading Difference: -169.14801987262535 -[main_algo-3] [INFO] [1746051430.960981026] [sailbot.main_algo]: Wind Direction: 203 -[main_algo-3] [INFO] [1746051430.961860524] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051430.962715366] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051430.964303578] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051430.964327607] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051431.002986360] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904451 Long: -76.50277781 -[main_algo-3] [INFO] [1746051431.003827536] [sailbot.main_algo]: Distance to destination: 56.37550479834261 -[vectornav-1] [INFO] [1746051431.004357513] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.136000000000024, 0.087, 6.618) -[main_algo-3] [INFO] [1746051431.004985498] [sailbot.main_algo]: Target Bearing: -141.60325865953274 -[main_algo-3] [INFO] [1746051431.005964115] [sailbot.main_algo]: Heading Difference: -169.15174134046725 -[main_algo-3] [INFO] [1746051431.007465090] [sailbot.main_algo]: Wind Direction: 203 -[main_algo-3] [INFO] [1746051431.008440449] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051431.009303943] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051431.011165170] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051431.044993367] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051431.045643701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051431.046246255] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051431.047463689] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051431.048647286] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051431.084789633] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051431.086231451] [sailbot.teensy]: Wind angle: 205 -[trim_sail-4] [INFO] [1746051431.086466167] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051431.087015137] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051431.087848418] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051431.088664603] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051431.088461850] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051431.145044670] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051431.145814014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051431.146451043] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051431.147773678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051431.148936606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051431.244904307] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051431.245592087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051431.246164704] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051431.247345869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051431.248399692] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051431.335259199] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051431.336986309] [sailbot.teensy]: Wind angle: 208 -[teensy-2] [INFO] [1746051431.337950074] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051431.338209290] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051431.338857409] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051431.339189718] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051431.339742710] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051431.344659833] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051431.344960244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051431.345980634] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051431.346696305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051431.347728285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051431.445406755] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051431.445936842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051431.446996114] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051431.448059652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051431.449401142] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051431.457910075] [sailbot.main_algo]: Wind Direction: 208 -[main_algo-3] [INFO] [1746051431.459590473] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746051431.460584766] [sailbot.main_algo]: Target Bearing: -141.60325865953274 -[main_algo-3] [INFO] [1746051431.461552213] [sailbot.main_algo]: Heading Difference: -169.26074134046723 -[main_algo-3] [INFO] [1746051431.462871584] [sailbot.main_algo]: Wind Direction: 208 -[main_algo-3] [INFO] [1746051431.463712999] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051431.464582689] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051431.466074814] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051431.466152076] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051431.503304004] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904461 Long: -76.50277771 -[main_algo-3] [INFO] [1746051431.504242814] [sailbot.main_algo]: Distance to destination: 56.38890839381779 -[vectornav-1] [INFO] [1746051431.504754686] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.55200000000002, -0.712, 4.873) -[main_algo-3] [INFO] [1746051431.505618423] [sailbot.main_algo]: Target Bearing: -141.59984431514508 -[main_algo-3] [INFO] [1746051431.506694829] [sailbot.main_algo]: Heading Difference: -169.26415568485493 -[main_algo-3] [INFO] [1746051431.508094585] [sailbot.main_algo]: Wind Direction: 208 -[main_algo-3] [INFO] [1746051431.508989851] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051431.509899518] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051431.511567799] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051431.545028902] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051431.545618241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051431.546416492] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051431.547567016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051431.548730323] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051431.585281745] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051431.586989944] [sailbot.teensy]: Wind angle: 208 -[trim_sail-4] [INFO] [1746051431.587458841] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051431.587948513] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051431.588982785] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051431.589189449] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051431.589864640] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051431.645133903] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051431.645684629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051431.646605736] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051431.648067562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051431.649230506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051431.745031691] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051431.745491943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051431.746343153] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051431.747593241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051431.748607814] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051431.835594568] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051431.838051380] [sailbot.teensy]: Wind angle: 204 -[trim_sail-4] [INFO] [1746051431.838155144] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051431.839088443] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051431.839995470] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051431.840549801] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051431.840927667] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051431.844416190] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051431.845067782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051431.845627706] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051431.846791716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051431.847988235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051431.945413468] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051431.946166975] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051431.947013762] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051431.948324141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051431.949503903] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051431.957724073] [sailbot.main_algo]: Wind Direction: 204 -[main_algo-3] [INFO] [1746051431.959252965] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746051431.960589944] [sailbot.main_algo]: Wind Direction: 204 -[main_algo-3] [INFO] [1746051431.961806850] [sailbot.main_algo]: Current Location: (42.46904461214755, -76.50277771005445) -[main_algo-3] [INFO] [1746051431.962733954] [sailbot.main_algo]: Target Bearing: -141.59984431514508 -[main_algo-3] [INFO] [1746051431.963574283] [sailbot.main_algo]: Heading Difference: -168.84815568485487 -[main_algo-3] [INFO] [1746051431.964787420] [sailbot.main_algo]: Wind Direction: 204 -[main_algo-3] [INFO] [1746051431.965598036] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051431.966340297] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051431.967848025] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051431.968979017] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051432.002930319] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904496 Long: -76.50277818 -[main_algo-3] [INFO] [1746051432.004054689] [sailbot.main_algo]: Distance to destination: 56.38375956962325 -[vectornav-1] [INFO] [1746051432.004544052] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.38900000000001, 0.327, 5.181) -[main_algo-3] [INFO] [1746051432.005318742] [sailbot.main_algo]: Target Bearing: -141.54439494612907 -[main_algo-3] [INFO] [1746051432.006280967] [sailbot.main_algo]: Heading Difference: -168.90360505387093 -[main_algo-3] [INFO] [1746051432.007668994] [sailbot.main_algo]: Wind Direction: 204 -[main_algo-3] [INFO] [1746051432.008579120] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051432.009435916] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051432.011169027] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051432.045262594] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051432.045828394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051432.046684607] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051432.047984219] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051432.049397039] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051432.084900721] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051432.086198094] [sailbot.teensy]: Wind angle: 192 -[teensy-2] [INFO] [1746051432.086989493] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051432.087768775] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051432.087171773] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051432.088692051] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051432.089363009] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051432.144929936] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051432.145633019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051432.146231072] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051432.147555346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051432.148718684] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051432.244931916] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051432.245744990] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051432.246218816] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051432.247933000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051432.248716946] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051432.335380356] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051432.337767586] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051432.338237751] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051432.339627098] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051432.340551252] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051432.341379942] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051432.342276870] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051432.344484086] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051432.344896708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051432.345678505] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051432.346587390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051432.347620021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051432.445781948] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051432.447122932] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051432.447906052] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051432.451005179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051432.452280011] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051432.457565367] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051432.458725696] [sailbot.main_algo]: Target Bearing: -141.54439494612907 -[main_algo-3] [INFO] [1746051432.459629553] [sailbot.main_algo]: Heading Difference: -170.06660505387094 -[main_algo-3] [INFO] [1746051432.460995481] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051432.461889573] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051432.462753752] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051432.464360242] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051432.464416435] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051432.502706941] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904495 Long: -76.50277817 -[main_algo-3] [INFO] [1746051432.503542048] [sailbot.main_algo]: Distance to destination: 56.38368832556933 -[vectornav-1] [INFO] [1746051432.504554540] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.120000000000005, -0.78, 5.403) -[main_algo-3] [INFO] [1746051432.504636640] [sailbot.main_algo]: Target Bearing: -141.54579726176456 -[main_algo-3] [INFO] [1746051432.505650611] [sailbot.main_algo]: Heading Difference: -170.06520273823543 -[main_algo-3] [INFO] [1746051432.507044463] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051432.507921283] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051432.508784721] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051432.510484170] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051432.545064934] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051432.545683405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051432.546471177] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051432.547654149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051432.548699256] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051432.585260010] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051432.587471289] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051432.588702152] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051432.588919175] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051432.589883930] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051432.590764877] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051432.591694592] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051432.645246253] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051432.646118081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051432.646839226] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051432.648611293] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051432.649748260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051432.744400038] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051432.745148667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051432.747194114] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051432.747566022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051432.748961592] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051432.835160565] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051432.836872449] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051432.837741979] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051432.837198613] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051432.837998062] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051432.839426643] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051432.840780505] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051432.844277177] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051432.844931507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051432.845709794] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051432.846617809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051432.847664008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051432.945250715] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051432.946145052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051432.946805251] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051432.948343726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051432.949440849] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051432.957664390] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051432.958721981] [sailbot.main_algo]: Target Bearing: -141.54579726176456 -[main_algo-3] [INFO] [1746051432.959621828] [sailbot.main_algo]: Heading Difference: -170.33420273823543 -[main_algo-3] [INFO] [1746051432.960985760] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051432.961851278] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051432.962669170] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051432.964197407] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051432.964231187] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051433.002961398] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904497 Long: -76.50277796 -[main_algo-3] [INFO] [1746051433.003835465] [sailbot.main_algo]: Distance to destination: 56.39843030479405 -[vectornav-1] [INFO] [1746051433.004385280] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.93700000000001, 0.07, 5.151) -[main_algo-3] [INFO] [1746051433.005082439] [sailbot.main_algo]: Target Bearing: -141.5552056552117 -[main_algo-3] [INFO] [1746051433.006075654] [sailbot.main_algo]: Heading Difference: -170.3247943447883 -[main_algo-3] [INFO] [1746051433.007432718] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051433.008343113] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051433.009238409] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051433.010772407] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051433.045090645] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051433.045570987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051433.046267957] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051433.047449223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051433.048601515] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051433.085120102] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051433.086680808] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051433.087541107] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051433.087290910] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051433.088404496] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051433.088433931] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051433.089299392] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051433.145032202] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051433.145753263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051433.146374413] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051433.147633280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051433.148879874] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051433.245014182] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051433.245544521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051433.246400905] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051433.247487369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051433.248662932] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051433.335481567] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051433.337398348] [sailbot.teensy]: Wind angle: 187 -[trim_sail-4] [INFO] [1746051433.338005395] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051433.339352161] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051433.339543999] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051433.340321379] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051433.341209192] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051433.344276040] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051433.345075467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051433.345381500] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051433.346822398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051433.347937499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051433.445177254] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051433.445766580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051433.446696741] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051433.447802652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051433.448853035] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051433.457589767] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051433.458564553] [sailbot.main_algo]: Target Bearing: -141.5552056552117 -[main_algo-3] [INFO] [1746051433.459564218] [sailbot.main_algo]: Heading Difference: -169.5077943447883 -[main_algo-3] [INFO] [1746051433.460849622] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051433.461954483] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051433.462813091] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051433.464340145] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051433.464379491] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051433.502904864] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904516 Long: -76.50277806 -[main_algo-3] [INFO] [1746051433.503755295] [sailbot.main_algo]: Distance to destination: 56.40549677347111 -[vectornav-1] [INFO] [1746051433.504081560] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.58100000000002, -1.51, 5.391) -[main_algo-3] [INFO] [1746051433.504956202] [sailbot.main_algo]: Target Bearing: -141.533348894894 -[main_algo-3] [INFO] [1746051433.507048128] [sailbot.main_algo]: Heading Difference: -169.52965110510598 -[main_algo-3] [INFO] [1746051433.508859186] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051433.509779405] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051433.510828980] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051433.512557529] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051433.545005433] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051433.545585124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051433.546327531] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051433.547421808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051433.548627589] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051433.585311955] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051433.587084834] [sailbot.teensy]: Wind angle: 188 -[trim_sail-4] [INFO] [1746051433.587891992] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051433.588016974] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051433.588543681] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051433.589111303] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051433.590135808] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051433.645083507] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051433.645591958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051433.646408931] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051433.647658916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051433.648827595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051433.745052905] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051433.745558011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051433.746360450] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051433.747571892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051433.748664393] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051433.835386111] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051433.837263847] [sailbot.teensy]: Wind angle: 188 -[trim_sail-4] [INFO] [1746051433.838269720] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051433.839036225] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051433.839356797] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051433.840483147] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051433.841359161] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051433.844361709] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051433.844922820] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051433.845506946] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051433.846546244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051433.847516498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051433.945100330] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051433.945842461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051433.946521224] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051433.947879811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051433.948395020] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051433.957653762] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051433.958687848] [sailbot.main_algo]: Target Bearing: -141.533348894894 -[main_algo-3] [INFO] [1746051433.959598794] [sailbot.main_algo]: Heading Difference: -168.88565110510598 -[main_algo-3] [INFO] [1746051433.960911438] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051433.961734761] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051433.962528035] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051433.964038372] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051433.964060722] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051434.003395076] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904522 Long: -76.502778 -[vectornav-1] [INFO] [1746051434.005015874] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.93799999999999, 0.886, 5.354) -[main_algo-3] [INFO] [1746051434.004052008] [sailbot.main_algo]: Distance to destination: 56.41354136031455 -[main_algo-3] [INFO] [1746051434.005337171] [sailbot.main_algo]: Target Bearing: -141.53131114979894 -[main_algo-3] [INFO] [1746051434.006344736] [sailbot.main_algo]: Heading Difference: -168.88768885020102 -[main_algo-3] [INFO] [1746051434.007772036] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051434.008784585] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051434.009696932] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051434.011503231] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051434.044989507] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051434.045694392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051434.046255965] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051434.047605486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051434.048633091] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051434.085645564] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051434.087781641] [sailbot.teensy]: Wind angle: 186 -[trim_sail-4] [INFO] [1746051434.088032351] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051434.088872852] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051434.089908441] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051434.090669089] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051434.090762519] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051434.143677802] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051434.144030577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051434.144200571] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051434.144843953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051434.145315715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051434.243605177] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051434.243998475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051434.244113689] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051434.244804865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051434.245774815] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051434.334379221] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051434.335414459] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051434.335906544] [sailbot.teensy]: Wind angle: 186 -[mux-7] [INFO] [1746051434.336478148] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051434.337441483] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051434.337909346] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051434.338304503] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051434.343602636] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051434.343897042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051434.345001825] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051434.345235870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051434.345744789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051434.443597086] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051434.444125643] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051434.444900587] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051434.446282651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051434.446811063] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051434.456555122] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051434.457056543] [sailbot.main_algo]: Target Bearing: -141.53131114979894 -[main_algo-3] [INFO] [1746051434.457474858] [sailbot.main_algo]: Heading Difference: -169.53068885020105 -[main_algo-3] [INFO] [1746051434.458091380] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051434.458498236] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051434.458945584] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051434.459702771] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051434.459796515] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051434.501305816] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904512 Long: -76.50277822 -[vectornav-1] [INFO] [1746051434.501695629] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.37900000000002, -0.559, 5.171) -[main_algo-3] [INFO] [1746051434.502974137] [sailbot.main_algo]: Distance to destination: 56.392518571794355 -[main_algo-3] [INFO] [1746051434.503430154] [sailbot.main_algo]: Target Bearing: -141.52833391898693 -[main_algo-3] [INFO] [1746051434.503876339] [sailbot.main_algo]: Heading Difference: -169.53366608101305 -[main_algo-3] [INFO] [1746051434.504502306] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051434.504923644] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051434.505321052] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051434.506144016] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051434.543749412] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051434.544126924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051434.544334661] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051434.544952867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051434.545450439] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051434.584453312] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051434.585801159] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051434.586015671] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051434.586458461] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051434.586909488] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051434.586916893] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051434.587319960] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051434.643705073] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051434.644068034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051434.644264243] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051434.645395352] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051434.646991742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051434.743695363] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051434.744562952] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051434.744674342] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051434.746274494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051434.747766173] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051434.834445347] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051434.835193296] [sailbot.teensy]: Wind angle: 184 -[teensy-2] [INFO] [1746051434.835598856] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051434.836044211] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051434.837664536] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051434.838342372] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051434.838372775] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051434.843801685] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051434.844514148] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051434.847257717] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051434.848666408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051434.850192404] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051434.943664791] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051434.944626806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051434.945316219] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051434.947150338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051434.948204649] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051434.956521786] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051434.957044326] [sailbot.main_algo]: Target Bearing: -141.52833391898693 -[main_algo-3] [INFO] [1746051434.957798885] [sailbot.main_algo]: Heading Difference: -169.09266608101302 -[main_algo-3] [INFO] [1746051434.958492753] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051434.958937195] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051434.959352398] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051434.960905618] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051434.962358478] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051435.001443902] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904477 Long: -76.50277825 -[vectornav-1] [INFO] [1746051435.001997462] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.15699999999998, -0.355, 5.285) -[main_algo-3] [INFO] [1746051435.004034197] [sailbot.main_algo]: Distance to destination: 56.36590438934793 -[main_algo-3] [INFO] [1746051435.005469966] [sailbot.main_algo]: Target Bearing: -141.55723374882203 -[main_algo-3] [INFO] [1746051435.006055971] [sailbot.main_algo]: Heading Difference: -169.06376625117798 -[main_algo-3] [INFO] [1746051435.007778265] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051435.008362032] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051435.008825349] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051435.009795370] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051435.043560593] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051435.044046823] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051435.045257928] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051435.045773046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051435.046310799] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051435.084446971] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051435.085159362] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051435.085554349] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051435.085927080] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051435.085507192] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051435.086321980] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051435.086622930] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051435.143642451] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051435.143935000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051435.144138252] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051435.144925062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051435.145512582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051435.243846224] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051435.244300291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051435.244604831] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051435.245476099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051435.246245613] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051435.334440887] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051435.335246657] [sailbot.teensy]: Wind angle: 177 -[trim_sail-4] [INFO] [1746051435.335460666] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051435.335656962] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051435.336059887] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051435.336475734] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051435.337219133] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051435.343560748] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051435.344016685] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051435.345224229] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051435.345728855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051435.346178077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051435.443611712] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051435.444088832] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051435.445431004] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051435.445970094] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051435.446493988] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051435.456571137] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051435.457089845] [sailbot.main_algo]: Target Bearing: -141.55723374882203 -[main_algo-3] [INFO] [1746051435.457517059] [sailbot.main_algo]: Heading Difference: -169.28576625117796 -[main_algo-3] [INFO] [1746051435.458134832] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051435.458543735] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051435.458952264] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051435.459945364] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051435.460211537] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051435.501493557] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904466 Long: -76.50277846 -[vectornav-1] [INFO] [1746051435.501995653] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.56999999999999, -0.822, 5.219) -[main_algo-3] [INFO] [1746051435.503509802] [sailbot.main_algo]: Distance to destination: 56.34480926821865 -[main_algo-3] [INFO] [1746051435.504073972] [sailbot.main_algo]: Target Bearing: -141.55566696464305 -[main_algo-3] [INFO] [1746051435.504614871] [sailbot.main_algo]: Heading Difference: -169.28733303535694 -[main_algo-3] [INFO] [1746051435.505296145] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051435.505774654] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051435.506217345] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051435.507157106] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051435.543703044] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051435.545844563] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051435.547001605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051435.547593688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051435.547774995] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051435.584528789] [sailbot.teensy]: Check telemetry callback entered -[mux-7] [INFO] [1746051435.586375057] [sailbot.mux]: algo sail angle: 0 -[trim_sail-4] [INFO] [1746051435.586874652] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051435.587927998] [sailbot.teensy]: Wind angle: 177 -[teensy-2] [INFO] [1746051435.588382830] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051435.588776457] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051435.589960592] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051435.643670000] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051435.644104814] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051435.644949641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051435.645661986] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051435.647291029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051435.743713306] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051435.744408556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051435.745180011] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051435.745293900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051435.745813858] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051435.834515973] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051435.835859406] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051435.836468913] [sailbot.teensy]: Wind angle: 178 -[teensy-2] [INFO] [1746051435.836950313] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051435.837341846] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051435.836862584] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051435.837727658] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051435.843672528] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051435.844200214] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051435.844021364] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051435.844856544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051435.845341569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051435.943700627] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051435.944056279] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051435.944947257] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051435.945434128] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051435.945465736] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051435.956699659] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051435.957340558] [sailbot.main_algo]: Target Bearing: -141.55566696464305 -[main_algo-3] [INFO] [1746051435.957822235] [sailbot.main_algo]: Heading Difference: -168.87433303535693 -[main_algo-3] [INFO] [1746051435.958567050] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051435.959184022] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051435.959766031] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051435.960609469] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051435.960868298] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051436.001705459] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904454 Long: -76.50277839 -[main_algo-3] [INFO] [1746051436.003106900] [sailbot.main_algo]: Distance to destination: 56.340785011852894 -[main_algo-3] [INFO] [1746051436.003713327] [sailbot.main_algo]: Target Bearing: -141.56985071957624 -[vectornav-1] [INFO] [1746051436.004488893] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.476, 0.251, 4.969) -[main_algo-3] [INFO] [1746051436.005394654] [sailbot.main_algo]: Heading Difference: -168.8601492804238 -[main_algo-3] [INFO] [1746051436.007815444] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051436.008656460] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051436.009258384] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051436.010491847] [sailbot.mux]: algo rudder angle: -25 -[teensy-2] [INFO] [1746051436.044269105] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051436.045048166] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051436.045679961] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051436.045922637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051436.046512659] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051436.084432604] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051436.085654538] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051436.085892404] [sailbot.teensy]: Wind angle: 178 -[teensy-2] [INFO] [1746051436.086310732] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051436.086727584] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051436.086767190] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051436.087141610] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051436.143721197] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051436.143978909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051436.144293544] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051436.145809809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051436.146322970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051436.243700687] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051436.245057162] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051436.245140970] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051436.245774935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051436.246368309] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051436.334498885] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051436.335867710] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051436.336120226] [sailbot.teensy]: Wind angle: 177 -[teensy-2] [INFO] [1746051436.336579884] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051436.337568676] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051436.339015702] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051436.339444438] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051436.343649959] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051436.344145168] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051436.344063914] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051436.344806035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051436.346588303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051436.443671882] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051436.444529522] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051436.445379682] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051436.444778850] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051436.450356200] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051436.456562871] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051436.457648941] [sailbot.main_algo]: Target Bearing: -141.56985071957624 -[main_algo-3] [INFO] [1746051436.458626186] [sailbot.main_algo]: Heading Difference: -168.95414928042374 -[main_algo-3] [INFO] [1746051436.461108127] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051436.461588078] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051436.462875972] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051436.464282303] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051436.464860017] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051436.501428292] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904434 Long: -76.50277853 -[vectornav-1] [INFO] [1746051436.501920085] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.04399999999998, -0.376, 4.922) -[main_algo-3] [INFO] [1746051436.503385245] [sailbot.main_algo]: Distance to destination: 56.31778465491253 -[main_algo-3] [INFO] [1746051436.503879849] [sailbot.main_algo]: Target Bearing: -141.57986087986677 -[main_algo-3] [INFO] [1746051436.504359508] [sailbot.main_algo]: Heading Difference: -168.94413912013323 -[main_algo-3] [INFO] [1746051436.505055955] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051436.505500412] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051436.505958735] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051436.507056455] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051436.543667551] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051436.544183263] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051436.544504245] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051436.545333035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051436.546801609] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051436.584549200] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051436.585344688] [sailbot.teensy]: Wind angle: 178 -[trim_sail-4] [INFO] [1746051436.585603681] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051436.585770242] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051436.586202428] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051436.586601711] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051436.587275958] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051436.643713817] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051436.644241005] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051436.644037420] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051436.644947049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051436.646685445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051436.743622455] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051436.743939043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051436.744121673] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051436.744758161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051436.745619722] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051436.834362866] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051436.835584168] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051436.835853850] [sailbot.teensy]: Wind angle: 178 -[teensy-2] [INFO] [1746051436.836262067] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051436.836640223] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051436.837021644] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051436.836617397] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051436.843571528] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051436.844048184] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051436.843858638] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051436.844598280] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051436.845194591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051436.943674729] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051436.944035685] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051436.944235635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051436.945613812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051436.946226975] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051436.956490925] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051436.956981085] [sailbot.main_algo]: Target Bearing: -141.57986087986677 -[main_algo-3] [INFO] [1746051436.957397679] [sailbot.main_algo]: Heading Difference: -169.37613912013325 -[main_algo-3] [INFO] [1746051436.958542260] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051436.959424154] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051436.960402326] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051436.961665212] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051436.961739938] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051437.001430527] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904419 Long: -76.50277841 -[vectornav-1] [INFO] [1746051437.001878307] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.613999999999976, -0.311, 5.286) -[main_algo-3] [INFO] [1746051437.003161282] [sailbot.main_algo]: Distance to destination: 56.31482666714829 -[main_algo-3] [INFO] [1746051437.003680148] [sailbot.main_algo]: Target Bearing: -141.59932786709103 -[main_algo-3] [INFO] [1746051437.004117353] [sailbot.main_algo]: Heading Difference: -169.356672132909 -[main_algo-3] [INFO] [1746051437.004816581] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051437.005322677] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051437.005738943] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051437.006591960] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051437.043669315] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051437.044205009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051437.044404162] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051437.045314779] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051437.046095902] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051437.084943690] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051437.086810131] [sailbot.teensy]: Wind angle: 178 -[teensy-2] [INFO] [1746051437.087503102] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051437.088032547] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051437.088162098] [sailbot.mux]: algo sail angle: 0 -[trim_sail-4] [INFO] [1746051437.088146111] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051437.089771021] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051437.144100110] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051437.144884426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051437.145203549] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051437.146770300] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051437.147607409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051437.245089086] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051437.245616482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051437.246754793] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051437.247431233] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051437.248548745] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051437.335305110] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051437.337081723] [sailbot.teensy]: Wind angle: 178 -[trim_sail-4] [INFO] [1746051437.338366975] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051437.339374836] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051437.339628561] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051437.340044669] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051437.340738317] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051437.344395284] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051437.344767706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051437.345575451] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051437.346399882] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051437.347503053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051437.444985841] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051437.445470103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051437.446236332] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051437.447197955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051437.448419677] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051437.457613298] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051437.458694866] [sailbot.main_algo]: Target Bearing: -141.59932786709103 -[main_algo-3] [INFO] [1746051437.459637383] [sailbot.main_algo]: Heading Difference: -169.78667213290896 -[main_algo-3] [INFO] [1746051437.461033769] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051437.461844708] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051437.462620453] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051437.464177379] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051437.464192181] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051437.502748587] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904404 Long: -76.50277834 -[main_algo-3] [INFO] [1746051437.503582583] [sailbot.main_algo]: Distance to destination: 56.308698272801216 -[vectornav-1] [INFO] [1746051437.504179730] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.807000000000016, -0.46, 4.506) -[main_algo-3] [INFO] [1746051437.504650776] [sailbot.main_algo]: Target Bearing: -141.61614193720402 -[main_algo-3] [INFO] [1746051437.505558824] [sailbot.main_algo]: Heading Difference: -169.769858062796 -[main_algo-3] [INFO] [1746051437.506895909] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051437.507758542] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051437.508627938] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051437.510476612] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051437.545002792] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051437.545765244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051437.546280414] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051437.548015822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051437.549111382] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051437.585283446] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051437.587468047] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051437.587684326] [sailbot.teensy]: Wind angle: 178 -[mux-7] [INFO] [1746051437.588592685] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051437.588729856] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051437.589646929] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051437.590493289] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051437.645202270] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051437.645987040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051437.646646621] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051437.648240087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051437.649259995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051437.744919384] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051437.745905033] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051437.746284856] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051437.747800660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051437.748492203] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051437.835324940] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051437.837086486] [sailbot.teensy]: Wind angle: 178 -[trim_sail-4] [INFO] [1746051437.837808463] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051437.838920946] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051437.839772505] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051437.840760711] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051437.841611984] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051437.844364302] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051437.844827725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051437.845495094] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051437.846514250] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051437.847562881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051437.945448339] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051437.945954348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051437.947273649] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051437.948145498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051437.948857373] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051437.957653943] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051437.958636503] [sailbot.main_algo]: Target Bearing: -141.61614193720402 -[main_algo-3] [INFO] [1746051437.959527189] [sailbot.main_algo]: Heading Difference: -169.57685806279596 -[main_algo-3] [INFO] [1746051437.960781948] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051437.961604091] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051437.962404262] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051437.963939326] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051437.963955008] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051438.003022864] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904413 Long: -76.50277826 -[main_algo-3] [INFO] [1746051438.003757766] [sailbot.main_algo]: Distance to destination: 56.32012547997583 -[vectornav-1] [INFO] [1746051438.004661784] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.057000000000016, -0.429, 5.946) -[main_algo-3] [INFO] [1746051438.005173880] [sailbot.main_algo]: Target Bearing: -141.6125315989662 -[main_algo-3] [INFO] [1746051438.006427440] [sailbot.main_algo]: Heading Difference: -169.58046840103378 -[main_algo-3] [INFO] [1746051438.007762818] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051438.008652522] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051438.009501245] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051438.011227015] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051438.045279248] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051438.045714736] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051438.046616644] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051438.047545203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051438.048593450] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051438.085544304] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051438.087608052] [sailbot.teensy]: Wind angle: 177 -[teensy-2] [INFO] [1746051438.088584619] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051438.088197655] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051438.088498438] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051438.089470961] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051438.090325806] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051438.144957594] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051438.145376396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051438.146239025] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051438.147121278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051438.148357615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051438.245285670] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051438.245914743] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051438.246911601] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051438.248049893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051438.249271658] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051438.335137012] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051438.337298910] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051438.337744331] [sailbot.teensy]: Wind angle: 176 -[teensy-2] [INFO] [1746051438.338685288] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051438.338430848] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051438.339541008] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051438.340124014] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051438.344329910] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051438.344788485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051438.345482909] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051438.346465182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051438.347586418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051438.444878654] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051438.445567868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051438.446145387] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051438.447277874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051438.448261330] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051438.457619442] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051438.458761940] [sailbot.main_algo]: Target Bearing: -141.6125315989662 -[main_algo-3] [INFO] [1746051438.459765176] [sailbot.main_algo]: Heading Difference: -169.33046840103378 -[main_algo-3] [INFO] [1746051438.461116094] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051438.461939791] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051438.462737507] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051438.464297891] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051438.464332879] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051438.502825410] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904407 Long: -76.50277804 -[main_algo-3] [INFO] [1746051438.503633610] [sailbot.main_algo]: Distance to destination: 56.32987560665626 -[vectornav-1] [INFO] [1746051438.503992107] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.33499999999998, -0.552, 4.858) -[main_algo-3] [INFO] [1746051438.504732161] [sailbot.main_algo]: Target Bearing: -141.62944784663264 -[main_algo-3] [INFO] [1746051438.505614500] [sailbot.main_algo]: Heading Difference: -169.31355215336737 -[main_algo-3] [INFO] [1746051438.506884720] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051438.507704127] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051438.508512571] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051438.510118002] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051438.545028106] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051438.545615889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051438.546377766] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051438.547750437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051438.548887455] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051438.585412958] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051438.587199396] [sailbot.teensy]: Wind angle: 176 -[trim_sail-4] [INFO] [1746051438.587611845] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051438.588112105] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051438.589098666] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051438.589797258] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051438.589999197] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051438.644999276] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051438.645662797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051438.646313687] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051438.647573266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051438.648775866] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051438.745273100] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051438.746034092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051438.746767233] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051438.748016752] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051438.749102908] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051438.835486107] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051438.837676139] [sailbot.teensy]: Wind angle: 175 -[trim_sail-4] [INFO] [1746051438.837959059] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051438.838840128] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051438.839614668] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051438.839806162] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051438.840681716] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051438.844259613] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051438.844857141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051438.845418423] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051438.846576664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051438.847807226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051438.945299079] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051438.945876000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051438.946924642] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051438.947907871] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051438.948650838] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051438.957638580] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051438.958649786] [sailbot.main_algo]: Target Bearing: -141.62944784663264 -[main_algo-3] [INFO] [1746051438.959578673] [sailbot.main_algo]: Heading Difference: -169.03555215336735 -[main_algo-3] [INFO] [1746051438.960879473] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051438.961722186] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051438.962532313] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051438.964399090] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051438.965213068] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051439.001817423] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690442 Long: -76.50277822 -[main_algo-3] [INFO] [1746051439.002555513] [sailbot.main_algo]: Distance to destination: 56.32760167347966 -[vectornav-1] [INFO] [1746051439.002756088] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.85699999999997, 0.569, 5.814) -[main_algo-3] [INFO] [1746051439.003470353] [sailbot.main_algo]: Target Bearing: -141.60854475919763 -[main_algo-3] [INFO] [1746051439.004435793] [sailbot.main_algo]: Heading Difference: -169.0564552408024 -[main_algo-3] [INFO] [1746051439.005828655] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051439.006784365] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051439.007686358] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051439.009433122] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051439.043986746] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051439.044395422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051439.044985298] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051439.046037117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051439.046754424] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051439.085222387] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051439.087255056] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051439.088280899] [sailbot.teensy]: Wind angle: 174 -[mux-7] [INFO] [1746051439.088282139] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051439.089319350] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051439.090206721] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051439.091041370] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051439.144787234] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051439.145771092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051439.146069844] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051439.147626769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051439.148657361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051439.245265111] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051439.245884090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051439.247230799] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051439.247915647] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051439.249032728] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051439.335285767] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051439.337579188] [sailbot.teensy]: Wind angle: 175 -[trim_sail-4] [INFO] [1746051439.337684743] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051439.338376328] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051439.338524351] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051439.339217180] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051439.339566218] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051439.344513323] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051439.345148149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051439.345754254] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051439.347015989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051439.348116280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051439.444992283] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051439.445860187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051439.446306512] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051439.447692449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051439.448718561] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051439.457595834] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051439.458604720] [sailbot.main_algo]: Target Bearing: -141.60854475919763 -[main_algo-3] [INFO] [1746051439.459657061] [sailbot.main_algo]: Heading Difference: -169.5344552408024 -[main_algo-3] [INFO] [1746051439.462404572] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051439.463475105] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051439.464442907] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051439.466152522] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051439.466286654] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051439.502889522] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904427 Long: -76.50277834 -[main_algo-3] [INFO] [1746051439.503834260] [sailbot.main_algo]: Distance to destination: 56.32491452433262 -[vectornav-1] [INFO] [1746051439.504085479] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.077999999999975, -1.311, 3.382) -[main_algo-3] [INFO] [1746051439.505031022] [sailbot.main_algo]: Target Bearing: -141.59606297750003 -[main_algo-3] [INFO] [1746051439.506027577] [sailbot.main_algo]: Heading Difference: -169.5469370225 -[main_algo-3] [INFO] [1746051439.507478846] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051439.508413661] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051439.509327374] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051439.511070697] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051439.545023509] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051439.545699359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051439.546314395] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051439.547773370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051439.548813587] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051439.585683297] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051439.587284727] [sailbot.teensy]: Wind angle: 176 -[trim_sail-4] [INFO] [1746051439.588097109] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051439.590241460] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051439.592148120] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051439.593215632] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051439.593927324] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051439.644685598] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051439.645283049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051439.646093749] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051439.647192364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051439.648584588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051439.745026510] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051439.745643899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051439.746333359] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051439.747526978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051439.748556385] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051439.835247761] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051439.836998574] [sailbot.teensy]: Wind angle: 176 -[trim_sail-4] [INFO] [1746051439.837921742] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051439.838390027] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051439.838947406] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051439.839822359] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051439.840710178] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051439.844370920] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051439.845044020] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051439.845525922] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051439.846733319] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051439.847895935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051439.944996342] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051439.946013898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051439.946353120] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051439.947946394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051439.948482359] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051439.957469536] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051439.958422962] [sailbot.main_algo]: Target Bearing: -141.59606297750003 -[main_algo-3] [INFO] [1746051439.959267733] [sailbot.main_algo]: Heading Difference: -169.3259370225 -[main_algo-3] [INFO] [1746051439.960532030] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051439.961380994] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051439.962193004] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051439.963738197] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051439.963738388] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051440.002705282] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904412 Long: -76.50277842 -[main_algo-3] [INFO] [1746051440.003613161] [sailbot.main_algo]: Distance to destination: 56.30925562860555 -[vectornav-1] [INFO] [1746051440.003789217] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.77800000000002, 0.338, 6.329) -[main_algo-3] [INFO] [1746051440.004683631] [sailbot.main_algo]: Target Bearing: -141.6049078751053 -[main_algo-3] [INFO] [1746051440.005631056] [sailbot.main_algo]: Heading Difference: -169.3170921248947 -[main_algo-3] [INFO] [1746051440.006994186] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051440.007909244] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051440.008725439] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051440.010381345] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051440.044980115] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051440.045570578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051440.046285515] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051440.047557654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051440.048616985] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051440.085232255] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051440.087295901] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051440.087676370] [sailbot.teensy]: Wind angle: 176 -[teensy-2] [INFO] [1746051440.088699990] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051440.089597171] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051440.089595366] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051440.090494378] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051440.144961639] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051440.145617501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051440.146313244] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051440.147919879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051440.149048776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051440.244917831] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051440.245529877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051440.246118652] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051440.247318916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051440.248360654] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051440.335368645] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051440.337272555] [sailbot.teensy]: Wind angle: 176 -[trim_sail-4] [INFO] [1746051440.337643502] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051440.338383400] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051440.338884253] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051440.339303719] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051440.339268017] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051440.344487736] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051440.345050527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051440.345855315] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051440.346908834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051440.348052200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051440.445272975] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051440.445931316] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051440.448121462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051440.446742640] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051440.449276860] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051440.457450537] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051440.458442111] [sailbot.main_algo]: Target Bearing: -141.6049078751053 -[main_algo-3] [INFO] [1746051440.459327135] [sailbot.main_algo]: Heading Difference: -169.61709212489467 -[main_algo-3] [INFO] [1746051440.460639865] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051440.461500117] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051440.462296679] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051440.463877967] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051440.463907203] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051440.502877922] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904418 Long: -76.50277871 -[main_algo-3] [INFO] [1746051440.503814845] [sailbot.main_algo]: Distance to destination: 56.295066953129016 -[main_algo-3] [INFO] [1746051440.505083692] [sailbot.main_algo]: Target Bearing: -141.58426090499827 -[vectornav-1] [INFO] [1746051440.505350692] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.829999999999984, -1.208, 4.718) -[main_algo-3] [INFO] [1746051440.506086160] [sailbot.main_algo]: Heading Difference: -169.63773909500173 -[main_algo-3] [INFO] [1746051440.507493368] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051440.508386359] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051440.509221721] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051440.511012606] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051440.545039956] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051440.545655204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051440.546366388] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051440.547561134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051440.548623737] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051440.585427293] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051440.587667159] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051440.588076588] [sailbot.teensy]: Wind angle: 176 -[teensy-2] [INFO] [1746051440.588972585] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051440.589052885] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051440.590006233] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051440.590975800] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051440.645035317] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051440.645585772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051440.646306663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051440.647401906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051440.648674908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051440.745460220] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051440.746057347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051440.747109884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051440.748253180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051440.749420058] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051440.835213962] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051440.837371734] [sailbot.teensy]: Wind angle: 175 -[trim_sail-4] [INFO] [1746051440.837416808] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051440.838373386] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051440.838779716] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051440.838810311] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051440.839185207] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051440.844418292] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051440.845153159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051440.845576717] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051440.846851740] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051440.847879940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051440.945288530] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051440.946161013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051440.946976741] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051440.948443958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051440.949685706] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051440.957589098] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051440.958574820] [sailbot.main_algo]: Target Bearing: -141.58426090499827 -[main_algo-3] [INFO] [1746051440.959656541] [sailbot.main_algo]: Heading Difference: -168.5857390950017 -[main_algo-3] [INFO] [1746051440.960939670] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051440.961748811] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051440.962692045] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051440.965447929] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051440.965763198] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051441.002664706] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904421 Long: -76.50277855 -[vectornav-1] [INFO] [1746051441.003839157] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.514999999999986, 0.987, 5.476) -[main_algo-3] [INFO] [1746051441.003808675] [sailbot.main_algo]: Distance to destination: 56.307344668299784 -[main_algo-3] [INFO] [1746051441.005286397] [sailbot.main_algo]: Target Bearing: -141.59014460357008 -[main_algo-3] [INFO] [1746051441.006305208] [sailbot.main_algo]: Heading Difference: -168.57985539642993 -[main_algo-3] [INFO] [1746051441.007722580] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051441.008641108] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051441.009507621] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051441.011220621] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051441.044439165] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051441.044834889] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051441.046404614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051441.045405555] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051441.047441645] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051441.084533781] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051441.085526215] [sailbot.teensy]: Wind angle: 170 -[trim_sail-4] [INFO] [1746051441.086079136] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051441.086275987] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051441.087078299] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051441.087919204] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051441.089379855] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051441.145102183] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051441.145659605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051441.146540477] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051441.148148254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051441.149377119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051441.245068916] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051441.245630379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051441.246668131] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051441.247671030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051441.248768223] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051441.335513838] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051441.338119922] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051441.338727708] [sailbot.teensy]: Wind angle: 169 -[teensy-2] [INFO] [1746051441.339663613] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051441.340403695] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051441.340513720] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051441.340862156] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051441.344410549] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051441.345106779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051441.345497211] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051441.346867730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051441.347861955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051441.445160399] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051441.445984979] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051441.446556561] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051441.448008074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051441.449161607] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051441.457802789] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051441.458820873] [sailbot.main_algo]: Target Bearing: -141.59014460357008 -[main_algo-3] [INFO] [1746051441.459748404] [sailbot.main_algo]: Heading Difference: -169.89485539642993 -[main_algo-3] [INFO] [1746051441.461242209] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051441.462131288] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051441.462936407] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051441.464469829] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051441.464653911] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051441.502774586] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690442 Long: -76.50277872 -[main_algo-3] [INFO] [1746051441.503737590] [sailbot.main_algo]: Distance to destination: 56.295842682453994 -[vectornav-1] [INFO] [1746051441.504393989] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.49200000000002, -0.933, 5.374) -[main_algo-3] [INFO] [1746051441.504907631] [sailbot.main_algo]: Target Bearing: -141.58198330470094 -[main_algo-3] [INFO] [1746051441.505938322] [sailbot.main_algo]: Heading Difference: -169.90301669529907 -[main_algo-3] [INFO] [1746051441.507310016] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051441.508244407] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051441.509118615] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051441.510823155] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051441.545665774] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051441.545798148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051441.547152989] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051441.548515248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051441.549543433] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051441.585539477] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051441.587548248] [sailbot.teensy]: Wind angle: 170 -[teensy-2] [INFO] [1746051441.588528835] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051441.588254666] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051441.589526818] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051441.589527219] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051441.590414209] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051441.645017087] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051441.645752115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051441.646337007] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051441.647657803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051441.648891369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051441.745154716] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051441.745905017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051441.746791762] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051441.747896641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051441.749029051] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051441.835465990] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051441.837414070] [sailbot.teensy]: Wind angle: 170 -[teensy-2] [INFO] [1746051441.838392026] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051441.837927171] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051441.839282902] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051441.839595827] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051441.840128010] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051441.844363983] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051441.844995804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051441.845441780] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051441.846689275] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051441.847828934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051441.945014711] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051441.945692613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051441.946537734] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051441.947530031] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051441.948642290] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051441.957449956] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051441.958417015] [sailbot.main_algo]: Target Bearing: -141.58198330470094 -[main_algo-3] [INFO] [1746051441.959291288] [sailbot.main_algo]: Heading Difference: -169.92601669529904 -[main_algo-3] [INFO] [1746051441.960547363] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051441.961404752] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051441.962213242] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051441.963700189] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051441.963771513] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051442.002753560] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904424 Long: -76.50277884 -[main_algo-3] [INFO] [1746051442.003798547] [sailbot.main_algo]: Distance to destination: 56.29104447319496 -[vectornav-1] [INFO] [1746051442.004012551] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.83299999999997, -0.925, 5.617) -[main_algo-3] [INFO] [1746051442.005041202] [sailbot.main_algo]: Target Bearing: -141.57211203025838 -[main_algo-3] [INFO] [1746051442.005989231] [sailbot.main_algo]: Heading Difference: -169.9358879697416 -[main_algo-3] [INFO] [1746051442.007453415] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051442.008506622] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051442.009430580] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051442.011183607] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051442.045105223] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051442.045841950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051442.046398385] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051442.047738057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051442.048781754] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051442.085394373] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051442.087267664] [sailbot.teensy]: Wind angle: 170 -[trim_sail-4] [INFO] [1746051442.087593112] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051442.088227097] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051442.089150782] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051442.089799501] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051442.090039840] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051442.145018755] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051442.145630410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051442.146344089] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051442.147531407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051442.148062780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051442.244855925] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051442.245519954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051442.246105270] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051442.247263315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051442.248451332] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051442.335388074] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051442.337181542] [sailbot.teensy]: Wind angle: 171 -[trim_sail-4] [INFO] [1746051442.337732091] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051442.338217248] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051442.339116500] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051442.339439495] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051442.339990702] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051442.344326781] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051442.344833331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051442.345520007] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051442.346483237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051442.347620184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051442.445072117] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051442.445735976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051442.446405920] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051442.447684593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051442.448776026] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051442.457475908] [sailbot.main_algo]: Wind Direction: 171 -[main_algo-3] [INFO] [1746051442.458550095] [sailbot.main_algo]: Target Bearing: -141.57211203025838 -[main_algo-3] [INFO] [1746051442.459565683] [sailbot.main_algo]: Heading Difference: -169.59488796974165 -[main_algo-3] [INFO] [1746051442.461056048] [sailbot.main_algo]: Wind Direction: 171 -[main_algo-3] [INFO] [1746051442.461977832] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051442.463135916] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051442.464817498] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051442.464940726] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051442.502847412] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904437 Long: -76.50277873 -[vectornav-1] [INFO] [1746051442.503923633] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.81900000000002, 1.262, 4.795) -[main_algo-3] [INFO] [1746051442.503982320] [sailbot.main_algo]: Distance to destination: 56.30720171315677 -[main_algo-3] [INFO] [1746051442.505132729] [sailbot.main_algo]: Target Bearing: -141.5666135154526 -[main_algo-3] [INFO] [1746051442.506206114] [sailbot.main_algo]: Heading Difference: -169.60038648454747 -[main_algo-3] [INFO] [1746051442.507613851] [sailbot.main_algo]: Wind Direction: 171 -[main_algo-3] [INFO] [1746051442.508524585] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051442.509373024] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051442.511263180] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051442.544998550] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051442.545682974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051442.546332640] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051442.547552972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051442.548785674] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051442.585290236] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051442.586874239] [sailbot.teensy]: Wind angle: 171 -[trim_sail-4] [INFO] [1746051442.587325583] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051442.587752103] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051442.588692404] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051442.589841368] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051442.589094316] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051442.644996157] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051442.645571233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051442.646283833] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051442.647329989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051442.648591865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051442.745253295] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051442.745822562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051442.746930159] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051442.748030223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051442.748764004] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051442.835199429] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051442.837266127] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051442.838320221] [sailbot.teensy]: Wind angle: 171 -[mux-7] [INFO] [1746051442.838647110] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051442.839559682] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051442.840571017] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051442.841573807] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051442.845049921] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051442.846283935] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051442.845919262] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051442.847821061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051442.849415845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051442.945192955] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051442.945740193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051442.946549386] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051442.947796311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051442.948893947] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051442.957561656] [sailbot.main_algo]: Wind Direction: 171 -[main_algo-3] [INFO] [1746051442.958566717] [sailbot.main_algo]: Target Bearing: -141.5666135154526 -[main_algo-3] [INFO] [1746051442.959455540] [sailbot.main_algo]: Heading Difference: -170.61438648454737 -[main_algo-3] [INFO] [1746051442.960726550] [sailbot.main_algo]: Wind Direction: 171 -[main_algo-3] [INFO] [1746051442.961552858] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051442.962362217] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051442.963961917] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051442.964035543] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051443.002790467] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904437 Long: -76.50277869 -[main_algo-3] [INFO] [1746051443.003751544] [sailbot.main_algo]: Distance to destination: 56.309741426298636 -[vectornav-1] [INFO] [1746051443.003976420] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.75200000000001, -2.159, 5.801) -[main_algo-3] [INFO] [1746051443.004877560] [sailbot.main_algo]: Target Bearing: -141.5687397998819 -[main_algo-3] [INFO] [1746051443.005806058] [sailbot.main_algo]: Heading Difference: -170.61226020011804 -[main_algo-3] [INFO] [1746051443.007221423] [sailbot.main_algo]: Wind Direction: 171 -[main_algo-3] [INFO] [1746051443.008116696] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051443.009004847] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051443.010659562] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051443.045473408] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051443.045680931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051443.046905508] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051443.047551114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051443.048694412] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051443.085560193] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051443.087505315] [sailbot.teensy]: Wind angle: 171 -[teensy-2] [INFO] [1746051443.088447426] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051443.087903927] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051443.088637717] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051443.089292269] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051443.090192717] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051443.144540013] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051443.144844614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051443.145645447] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051443.147097908] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051443.148401396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051443.244911492] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051443.245568408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051443.246158260] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051443.247470291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051443.248539761] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051443.335439554] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051443.337571225] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051443.337981009] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051443.338848440] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051443.339136262] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051443.339515753] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051443.340206906] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051443.344473411] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051443.344872124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051443.345742116] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051443.346579810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051443.347741246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051443.445197595] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051443.445924072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051443.446547981] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051443.448124004] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051443.449268048] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051443.457613280] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051443.458668086] [sailbot.main_algo]: Target Bearing: -141.5687397998819 -[main_algo-3] [INFO] [1746051443.459581408] [sailbot.main_algo]: Heading Difference: -170.67926020011805 -[main_algo-3] [INFO] [1746051443.460931248] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051443.461787033] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051443.462589332] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051443.464260653] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051443.464275123] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051443.502879153] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904443 Long: -76.5027783 -[main_algo-3] [INFO] [1746051443.503897530] [sailbot.main_algo]: Distance to destination: 56.338739750266974 -[main_algo-3] [INFO] [1746051443.505105546] [sailbot.main_algo]: Target Bearing: -141.58422631658357 -[vectornav-1] [INFO] [1746051443.505959669] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.48700000000002, 0.863, 4.085) -[main_algo-3] [INFO] [1746051443.506087478] [sailbot.main_algo]: Heading Difference: -170.66377368341642 -[main_algo-3] [INFO] [1746051443.507514987] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051443.508429638] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051443.509278345] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051443.510958566] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051443.544946168] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051443.545484978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051443.546210169] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051443.547317863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051443.548448287] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051443.585214371] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051443.587282453] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051443.587736087] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051443.588192402] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051443.589085739] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051443.589949059] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051443.590764687] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051443.644942645] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051443.645548583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051443.646214991] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051443.647342320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051443.648519222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051443.744738738] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051443.745255530] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051443.746426469] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051443.747165726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051443.748342944] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051443.835159853] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051443.836684738] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051443.837248294] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051443.837556766] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051443.838406213] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051443.838433339] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051443.838960426] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051443.844325111] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051443.844866732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051443.845726467] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051443.846535183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051443.847673542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051443.945177461] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051443.945858931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051443.946685618] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051443.947967598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051443.948685207] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051443.957437077] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051443.958462775] [sailbot.main_algo]: Target Bearing: -141.58422631658357 -[main_algo-3] [INFO] [1746051443.959340528] [sailbot.main_algo]: Heading Difference: -170.9287736834164 -[main_algo-3] [INFO] [1746051443.960570867] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051443.961390791] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051443.962184506] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051443.963794949] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051443.963805844] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051444.002898868] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904458 Long: -76.50277822 -[main_algo-3] [INFO] [1746051444.003820977] [sailbot.main_algo]: Distance to destination: 56.35440178386791 -[vectornav-1] [INFO] [1746051444.004129579] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.22800000000001, -0.13, 5.662) -[main_algo-3] [INFO] [1746051444.005142807] [sailbot.main_algo]: Target Bearing: -141.57539179529624 -[main_algo-3] [INFO] [1746051444.006187488] [sailbot.main_algo]: Heading Difference: -170.93760820470374 -[main_algo-3] [INFO] [1746051444.007573313] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051444.008517755] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051444.009396041] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051444.011090091] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051444.045637273] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051444.045876996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051444.047355899] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051444.048093212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051444.049320523] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051444.085482507] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051444.087423718] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051444.088220378] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051444.089588184] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051444.089928283] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051444.090912815] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051444.091797419] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051444.145055166] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051444.145980519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051444.146612239] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051444.147945986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051444.148763559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051444.244964309] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051444.245729241] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051444.246172974] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051444.247560086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051444.248596972] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051444.335282700] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051444.337087263] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051444.338015899] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051444.338967273] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051444.338153916] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051444.338755042] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051444.339934496] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051444.344545272] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051444.344844253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051444.345660094] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051444.346516020] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051444.347520285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051444.445262639] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051444.446039142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051444.446698722] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051444.448312001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051444.449446803] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051444.457764478] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051444.458888806] [sailbot.main_algo]: Target Bearing: -141.57539179529624 -[main_algo-3] [INFO] [1746051444.460054516] [sailbot.main_algo]: Heading Difference: -170.19660820470375 -[main_algo-3] [INFO] [1746051444.461662306] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051444.462603675] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051444.463446795] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051444.465160807] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051444.465266434] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051444.502887322] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690444 Long: -76.50277808 -[main_algo-3] [INFO] [1746051444.503831058] [sailbot.main_algo]: Distance to destination: 56.35059710107604 -[vectornav-1] [INFO] [1746051444.504145828] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.81400000000002, -1.347, 6.02) -[main_algo-3] [INFO] [1746051444.504991966] [sailbot.main_algo]: Target Bearing: -141.59852463305478 -[main_algo-3] [INFO] [1746051444.506008322] [sailbot.main_algo]: Heading Difference: -170.17347536694524 -[main_algo-3] [INFO] [1746051444.507462899] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051444.508371442] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051444.509222576] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051444.510890616] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051444.544795946] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051444.545458799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051444.546114315] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051444.547255958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051444.548391898] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051444.585393275] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051444.587259222] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051444.588214221] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051444.587780681] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051444.588595303] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051444.589186604] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051444.590023263] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051444.645051202] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051444.645834599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051444.646368527] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051444.647746717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051444.648790819] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051444.745094689] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051444.745815859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051444.746426666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051444.747856606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051444.748896971] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051444.835271071] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051444.837446778] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051444.837834397] [sailbot.teensy]: Wind angle: 163 -[mux-7] [INFO] [1746051444.838768665] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051444.838800357] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051444.839715942] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051444.840173822] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051444.844255709] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051444.844858599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051444.845364008] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051444.846559620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051444.847611684] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051444.945329261] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051444.946244542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051444.947098101] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051444.948641010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051444.949767223] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051444.957829071] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051444.959076177] [sailbot.main_algo]: Target Bearing: -141.59852463305478 -[main_algo-3] [INFO] [1746051444.960107797] [sailbot.main_algo]: Heading Difference: -170.58747536694523 -[main_algo-3] [INFO] [1746051444.961477153] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051444.962364516] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051444.963218736] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051444.964809622] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051444.964907472] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051445.002654581] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690445 Long: -76.50277803 -[main_algo-3] [INFO] [1746051445.003647839] [sailbot.main_algo]: Distance to destination: 56.360825143891006 -[vectornav-1] [INFO] [1746051445.003770421] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.15699999999998, 0.065, 5.038) -[main_algo-3] [INFO] [1746051445.004807293] [sailbot.main_algo]: Target Bearing: -141.5924560641334 -[main_algo-3] [INFO] [1746051445.005749331] [sailbot.main_algo]: Heading Difference: -170.5935439358666 -[main_algo-3] [INFO] [1746051445.007112760] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051445.007937712] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051445.008781125] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051445.010368081] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051445.044923967] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051445.045648607] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051445.046158616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051445.047461616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051445.048611401] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051445.085216014] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051445.087088143] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051445.087354497] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051445.088044444] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051445.089108607] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051445.089659043] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051445.090539947] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051445.143907285] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051445.144565413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051445.144674499] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051445.145783026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051445.146573249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051445.243860072] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051445.244407971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051445.244685443] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051445.245681381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051445.246462789] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051445.335141483] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051445.337235784] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051445.337992875] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051445.338081530] [sailbot.teensy]: Wind angle: 162 -[teensy-2] [INFO] [1746051445.338959660] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051445.339491268] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051445.339822540] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051445.344386472] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051445.344783454] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051445.345831161] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051445.347628244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051445.349947864] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051445.445090348] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051445.445578029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051445.446380686] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051445.447377784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051445.448424866] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051445.457617382] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051445.458638358] [sailbot.main_algo]: Target Bearing: -141.5924560641334 -[main_algo-3] [INFO] [1746051445.459560305] [sailbot.main_algo]: Heading Difference: -169.25054393586663 -[main_algo-3] [INFO] [1746051445.460806827] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051445.461642812] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051445.462576323] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051445.464134429] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051445.464136491] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051445.502696437] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904476 Long: -76.50277862 -[main_algo-3] [INFO] [1746051445.503673739] [sailbot.main_algo]: Distance to destination: 56.341712806259665 -[vectornav-1] [INFO] [1746051445.504448861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.40300000000002, -0.106, 5.003) -[main_algo-3] [INFO] [1746051445.504867021] [sailbot.main_algo]: Target Bearing: -141.53844487625184 -[main_algo-3] [INFO] [1746051445.505850032] [sailbot.main_algo]: Heading Difference: -169.30455512374817 -[main_algo-3] [INFO] [1746051445.507204869] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051445.508080833] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051445.508895929] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051445.510743040] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051445.544970818] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051445.545506905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051445.546258736] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051445.547308623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051445.548530773] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051445.585117324] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051445.587143966] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051445.587198251] [sailbot.teensy]: Wind angle: 164 -[teensy-2] [INFO] [1746051445.588630057] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051445.589628038] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051445.589756823] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051445.590552943] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051445.644947561] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051445.645884991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051445.646189634] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051445.647964036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051445.649025835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051445.744516567] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051445.745049673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051445.745611418] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051445.746873510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051445.747852714] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051445.835162768] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051445.836755331] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746051445.837574313] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051445.837184762] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051445.838412178] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051445.839249820] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051445.839250434] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051445.844310569] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051445.844932353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051445.845562221] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051445.846688952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051445.847728602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051445.944956693] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051445.945616432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051445.946205892] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051445.947532381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051445.948576588] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051445.957653860] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051445.958695497] [sailbot.main_algo]: Target Bearing: -141.53844487625184 -[main_algo-3] [INFO] [1746051445.959701004] [sailbot.main_algo]: Heading Difference: -171.05855512374814 -[main_algo-3] [INFO] [1746051445.960996270] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051445.961808420] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051445.962591127] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051445.964096055] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051445.964096313] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051446.002993947] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904456 Long: -76.50277876 -[vectornav-1] [INFO] [1746051446.004615542] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.942999999999984, 0.439, 5.52) -[main_algo-3] [INFO] [1746051446.006111998] [sailbot.main_algo]: Distance to destination: 56.31870705599897 -[main_algo-3] [INFO] [1746051446.007598868] [sailbot.main_algo]: Target Bearing: -141.54844204595108 -[main_algo-3] [INFO] [1746051446.008715608] [sailbot.main_algo]: Heading Difference: -171.04855795404887 -[main_algo-3] [INFO] [1746051446.010607162] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051446.011750668] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051446.012823634] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051446.014688655] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051446.044918419] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051446.045287971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051446.046016006] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051446.047000834] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051446.048269772] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051446.085329337] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051446.087328032] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051446.087527998] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051446.088007030] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051446.088245238] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051446.089143312] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051446.089999960] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051446.144840648] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051446.145481689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051446.146113510] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051446.147319005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051446.148634919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051446.244941251] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051446.245575976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051446.246538945] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051446.247588083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051446.248775207] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051446.335148595] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051446.337275887] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051446.337530061] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051446.338150275] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051446.338612062] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051446.339081911] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051446.339565972] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051446.344359560] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051446.344750584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051446.345500357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051446.346420114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051446.347498247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051446.445033260] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051446.445699563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051446.446336624] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051446.447486511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051446.448575835] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051446.457722465] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051446.458954976] [sailbot.main_algo]: Target Bearing: -141.54844204595108 -[main_algo-3] [INFO] [1746051446.460200685] [sailbot.main_algo]: Heading Difference: -172.5085579540489 -[main_algo-3] [INFO] [1746051446.461731172] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051446.462748624] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051446.463627849] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051446.465440307] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051446.465473620] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051446.502531981] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904432 Long: -76.50277895 -[vectornav-1] [INFO] [1746051446.503608302] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.649, -2.355, 4.22) -[main_algo-3] [INFO] [1746051446.503654572] [sailbot.main_algo]: Distance to destination: 56.28970573554987 -[main_algo-3] [INFO] [1746051446.504954388] [sailbot.main_algo]: Target Bearing: -141.5592794104592 -[main_algo-3] [INFO] [1746051446.505950795] [sailbot.main_algo]: Heading Difference: -172.4977205895408 -[main_algo-3] [INFO] [1746051446.507337804] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051446.508279114] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051446.509161888] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051446.510956101] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051446.544884748] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051446.545355751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051446.546091790] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051446.547002272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051446.548077966] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051446.585267164] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051446.587204674] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051446.587543202] [sailbot.teensy]: Wind angle: 165 -[mux-7] [INFO] [1746051446.589233108] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051446.589492809] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051446.590444512] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051446.591213784] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051446.645039455] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051446.645531147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051446.646247237] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051446.647279110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051446.648492143] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051446.745024492] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051446.745578615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051446.746338540] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051446.747433646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051446.748555437] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051446.835325111] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051446.837513235] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051446.837938666] [sailbot.teensy]: Wind angle: 165 -[mux-7] [INFO] [1746051446.838395735] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051446.838944497] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051446.839868029] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051446.840731510] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051446.844321429] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051446.844990459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051446.845397906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051446.846688419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051446.847668691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051446.944877178] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051446.946184661] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051446.946257987] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051446.948143373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051446.949229977] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051446.957361976] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051446.958337075] [sailbot.main_algo]: Target Bearing: -141.5592794104592 -[main_algo-3] [INFO] [1746051446.959232582] [sailbot.main_algo]: Heading Difference: -170.79172058954077 -[main_algo-3] [INFO] [1746051446.960656364] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051446.961596187] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051446.962546822] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051446.964366342] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051446.964493697] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051447.002737939] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904439 Long: -76.50277912 -[main_algo-3] [INFO] [1746051447.003700809] [sailbot.main_algo]: Distance to destination: 56.28385551198094 -[vectornav-1] [INFO] [1746051447.003890996] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.209, 1.847, 4.785) -[main_algo-3] [INFO] [1746051447.004826723] [sailbot.main_algo]: Target Bearing: -141.54412668617772 -[main_algo-3] [INFO] [1746051447.005795624] [sailbot.main_algo]: Heading Difference: -170.80687331382228 -[main_algo-3] [INFO] [1746051447.007144983] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051447.008007257] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051447.008878366] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051447.010737556] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051447.045060842] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051447.045502753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051447.046384592] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051447.047502061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051447.048538227] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051447.085350469] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051447.086965797] [sailbot.teensy]: Wind angle: 164 -[teensy-2] [INFO] [1746051447.087903118] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051447.087583118] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051447.089593360] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051447.091041369] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051447.091086160] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051447.145263145] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051447.146019576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051447.146877487] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051447.147909471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051447.149051401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051447.245460863] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051447.246153424] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051447.247975077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051447.246688885] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051447.250311218] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051447.334998917] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051447.336649860] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051447.337944874] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051447.338353850] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051447.338647522] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051447.339593747] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051447.340430837] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051447.344375519] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051447.344820901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051447.345372873] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051447.346430568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051447.347464473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051447.445116267] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051447.445810346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051447.446835857] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051447.447671053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051447.448813476] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051447.457489103] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051447.458442828] [sailbot.main_algo]: Target Bearing: -141.54412668617772 -[main_algo-3] [INFO] [1746051447.459265297] [sailbot.main_algo]: Heading Difference: -170.24687331382228 -[main_algo-3] [INFO] [1746051447.460501602] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051447.461320709] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051447.462158476] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051447.463764547] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051447.463908111] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051447.502311620] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904426 Long: -76.50277945 -[main_algo-3] [INFO] [1746051447.503128435] [sailbot.main_algo]: Distance to destination: 56.25373252487934 -[vectornav-1] [INFO] [1746051447.503260455] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.21199999999999, -1.964, 4.611) -[main_algo-3] [INFO] [1746051447.504491739] [sailbot.main_algo]: Target Bearing: -141.53791060295552 -[main_algo-3] [INFO] [1746051447.505493479] [sailbot.main_algo]: Heading Difference: -170.2530893970445 -[main_algo-3] [INFO] [1746051447.506848806] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051447.507727577] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051447.508581694] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051447.510120586] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051447.544874488] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051447.545599713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051447.546099941] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051447.547431629] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051447.548607829] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051447.585227245] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051447.586757065] [sailbot.teensy]: Wind angle: 167 -[teensy-2] [INFO] [1746051447.587623646] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051447.587625382] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051447.588602161] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051447.589418233] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051447.589463869] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051447.644621148] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051447.645203386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051447.645781302] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051447.646945757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051447.647940571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051447.744877056] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051447.745471310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051447.746151012] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051447.747245736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051447.748251313] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051447.835661360] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051447.837768896] [sailbot.teensy]: Wind angle: 167 -[trim_sail-4] [INFO] [1746051447.839012844] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051447.839342406] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051447.839374832] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051447.839745952] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051447.840135955] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051447.844361470] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051447.844959389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051447.845697128] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051447.846646698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051447.847687524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051447.944906286] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051447.945658335] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051447.946151589] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051447.947523650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051447.948489528] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051447.957601136] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051447.958633778] [sailbot.main_algo]: Target Bearing: -141.53791060295552 -[main_algo-3] [INFO] [1746051447.959593377] [sailbot.main_algo]: Heading Difference: -172.25008939704446 -[main_algo-3] [INFO] [1746051447.960835459] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051447.961640503] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051447.962409716] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051447.963958006] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051447.964060126] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051448.002756060] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904407 Long: -76.50277959 -[main_algo-3] [INFO] [1746051448.003718746] [sailbot.main_algo]: Distance to destination: 56.2314326187884 -[main_algo-3] [INFO] [1746051448.004839503] [sailbot.main_algo]: Target Bearing: -141.54704960193334 -[vectornav-1] [INFO] [1746051448.004477260] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.446000000000026, 1.266, 6.39) -[main_algo-3] [INFO] [1746051448.005853596] [sailbot.main_algo]: Heading Difference: -172.24095039806667 -[main_algo-3] [INFO] [1746051448.007273704] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051448.008168002] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051448.009063672] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051448.010632794] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051448.044948874] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051448.045655702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051448.046218574] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051448.047446053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051448.048492466] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051448.085377960] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051448.087658137] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051448.087671703] [sailbot.teensy]: Wind angle: 167 -[teensy-2] [INFO] [1746051448.088876118] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051448.089643763] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051448.089727475] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051448.090615151] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051448.145017633] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051448.145732584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051448.146348571] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051448.147500252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051448.148520862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051448.245150618] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051448.245771805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051448.247052159] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051448.247822051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051448.248708630] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051448.335490912] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051448.337626075] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051448.337939123] [sailbot.teensy]: Wind angle: 168 -[mux-7] [INFO] [1746051448.338505686] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051448.339015937] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051448.339437956] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051448.339809718] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051448.344585254] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051448.344983766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051448.345725662] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051448.346679612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051448.347726827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051448.445085313] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051448.445729396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051448.446398675] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051448.447533678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051448.448553976] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051448.457705811] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051448.458851630] [sailbot.main_algo]: Target Bearing: -141.54704960193334 -[main_algo-3] [INFO] [1746051448.459904472] [sailbot.main_algo]: Heading Difference: -171.00695039806664 -[main_algo-3] [INFO] [1746051448.461382210] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051448.463191980] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051448.464224413] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051448.465932273] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051448.465928395] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051448.502582289] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904374 Long: -76.50277963 -[main_algo-3] [INFO] [1746051448.503488476] [sailbot.main_algo]: Distance to destination: 56.20560379672437 -[vectornav-1] [INFO] [1746051448.504031070] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.452, -1.697, 5.204) -[main_algo-3] [INFO] [1746051448.504542592] [sailbot.main_algo]: Target Bearing: -141.5737599746798 -[main_algo-3] [INFO] [1746051448.505609173] [sailbot.main_algo]: Heading Difference: -170.9802400253202 -[main_algo-3] [INFO] [1746051448.506989133] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051448.507992567] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051448.508834725] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051448.510431488] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051448.545007850] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051448.545614289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051448.546608589] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051448.547407417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051448.548652431] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051448.585708689] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051448.588185287] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051448.589187287] [sailbot.teensy]: Wind angle: 168 -[mux-7] [INFO] [1746051448.589536675] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051448.590351096] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051448.591252562] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051448.592250880] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051448.645070291] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051448.645556462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051448.646478964] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051448.647463533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051448.648555707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051448.745011132] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051448.745665497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051448.746261375] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051448.747632586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051448.748715776] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051448.835481764] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051448.837374892] [sailbot.teensy]: Wind angle: 168 -[trim_sail-4] [INFO] [1746051448.838418207] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051448.839031991] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051448.839509345] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051448.840527059] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051448.841389663] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051448.844346409] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051448.844794015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051448.845471269] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051448.846456631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051448.847468977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051448.944940114] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051448.945715641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051448.946281308] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051448.947571501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051448.948604584] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051448.957678753] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051448.958710964] [sailbot.main_algo]: Target Bearing: -141.5737599746798 -[main_algo-3] [INFO] [1746051448.959649859] [sailbot.main_algo]: Heading Difference: -170.97424002532023 -[main_algo-3] [INFO] [1746051448.960939628] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051448.961745301] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051448.962526418] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051448.964059773] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051448.964097395] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051449.002915552] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690437 Long: -76.50277966 -[main_algo-3] [INFO] [1746051449.003867801] [sailbot.main_algo]: Distance to destination: 56.20087672242744 -[vectornav-1] [INFO] [1746051449.004147477] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.17599999999999, 0.096, 5.036) -[main_algo-3] [INFO] [1746051449.005339548] [sailbot.main_algo]: Target Bearing: -141.57565998871254 -[main_algo-3] [INFO] [1746051449.006294870] [sailbot.main_algo]: Heading Difference: -170.97234001128743 -[main_algo-3] [INFO] [1746051449.007672940] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051449.008612479] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051449.009470108] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051449.011109606] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051449.045107256] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051449.045608905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051449.046416221] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051449.047418999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051449.048555033] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051449.085221220] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051449.087090147] [sailbot.teensy]: Wind angle: 168 -[teensy-2] [INFO] [1746051449.088038585] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051449.087320228] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051449.088115753] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051449.088973520] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051449.089887204] [sailbot.teensy]: Dropped packets: 3 -[teensy-2] [INFO] [1746051449.146535802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051449.146535635] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051449.147851721] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051449.149087246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051449.149636199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051449.245107713] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051449.245625049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051449.246592158] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051449.247539873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051449.248932647] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051449.335104027] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051449.337166876] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051449.338732575] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051449.340404824] [sailbot.teensy]: Wind angle: 168 -[teensy-2] [INFO] [1746051449.341382208] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051449.342296965] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051449.343164405] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051449.344949922] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051449.346406848] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051449.347667323] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051449.349638361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051449.350776240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051449.444912428] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051449.445964671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051449.446413551] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051449.448052243] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051449.449221608] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051449.457375893] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051449.458332030] [sailbot.main_algo]: Target Bearing: -141.57565998871254 -[main_algo-3] [INFO] [1746051449.459187215] [sailbot.main_algo]: Heading Difference: -170.2483400112875 -[main_algo-3] [INFO] [1746051449.460414522] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051449.461235493] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051449.462015603] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051449.463594191] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051449.463607402] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051449.502631230] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904375 Long: -76.50277961 -[main_algo-3] [INFO] [1746051449.503578143] [sailbot.main_algo]: Distance to destination: 56.207579303451105 -[vectornav-1] [INFO] [1746051449.504062126] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.24799999999999, -0.563, 5.807) -[main_algo-3] [INFO] [1746051449.504781225] [sailbot.main_algo]: Target Bearing: -141.57395060036913 -[main_algo-3] [INFO] [1746051449.505683239] [sailbot.main_algo]: Heading Difference: -170.25004939963088 -[main_algo-3] [INFO] [1746051449.507006064] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051449.507851069] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051449.508685650] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051449.510264177] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051449.544826346] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051449.545590916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051449.546095065] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051449.547493597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051449.548461670] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051449.585439378] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051449.587278955] [sailbot.teensy]: Wind angle: 168 -[trim_sail-4] [INFO] [1746051449.587522426] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051449.588253650] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051449.589418248] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051449.589963927] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051449.590368317] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051449.644894454] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051449.645669073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051449.646186579] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051449.647652677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051449.648695270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051449.745038988] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051449.745917699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051449.746523665] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051449.748004097] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051449.749007108] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051449.835299050] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051449.836988286] [sailbot.teensy]: Wind angle: 167 -[teensy-2] [INFO] [1746051449.837940371] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051449.838309135] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051449.838840345] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051449.839238776] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051449.839727905] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051449.844219872] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051449.844765634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051449.845561222] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051449.846463116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051449.847626170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051449.944945898] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051449.945569800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051449.946207707] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051449.947516963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051449.948330773] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051449.957680232] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051449.958769289] [sailbot.main_algo]: Target Bearing: -141.57395060036913 -[main_algo-3] [INFO] [1746051449.959709630] [sailbot.main_algo]: Heading Difference: -171.17804939963088 -[main_algo-3] [INFO] [1746051449.961104822] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051449.961974270] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051449.962787723] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051449.964425024] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051449.964450531] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051450.002719768] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690437 Long: -76.50277944 -[main_algo-3] [INFO] [1746051450.003816936] [sailbot.main_algo]: Distance to destination: 56.21484792120112 -[vectornav-1] [INFO] [1746051450.003898675] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.19900000000001, 0.642, 5.564) -[main_algo-3] [INFO] [1746051450.004964755] [sailbot.main_algo]: Target Bearing: -141.58737204073114 -[main_algo-3] [INFO] [1746051450.005915485] [sailbot.main_algo]: Heading Difference: -171.16462795926884 -[main_algo-3] [INFO] [1746051450.007243393] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051450.008109761] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051450.008964735] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051450.010604161] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051450.044702343] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051450.045093059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051450.045903824] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051450.047438557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051450.049170896] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051450.085168369] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051450.086693919] [sailbot.teensy]: Wind angle: 167 -[trim_sail-4] [INFO] [1746051450.087282024] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051450.087546974] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051450.088408961] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051450.089172234] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051450.089287604] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051450.144931786] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051450.145576009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051450.146334618] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051450.147549581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051450.148587137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051450.244916064] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051450.245709532] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051450.246216602] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051450.247586356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051450.248696312] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051450.335385293] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051450.337117738] [sailbot.teensy]: Wind angle: 167 -[trim_sail-4] [INFO] [1746051450.337675704] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051450.338020917] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051450.338844753] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051450.338867244] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051450.339772104] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051450.344740810] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051450.345579944] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051450.345991475] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051450.347354260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051450.348462166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051450.445242898] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051450.446683849] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051450.446688104] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051450.449618155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051450.450768772] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051450.457505135] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051450.458511124] [sailbot.main_algo]: Target Bearing: -141.58737204073114 -[main_algo-3] [INFO] [1746051450.459397219] [sailbot.main_algo]: Heading Difference: -172.21362795926882 -[main_algo-3] [INFO] [1746051450.460812608] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051450.462105380] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051450.463442088] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051450.465433252] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051450.465735515] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051450.503149256] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904381 Long: -76.5027791 -[main_algo-3] [INFO] [1746051450.504456785] [sailbot.main_algo]: Distance to destination: 56.24420088963417 -[vectornav-1] [INFO] [1746051450.504492651] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.718999999999994, -1.749, 5.638) -[main_algo-3] [INFO] [1746051450.506044738] [sailbot.main_algo]: Target Bearing: -141.59584575163768 -[main_algo-3] [INFO] [1746051450.507089667] [sailbot.main_algo]: Heading Difference: -172.2051542483623 -[main_algo-3] [INFO] [1746051450.508555270] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051450.509466104] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051450.510330583] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051450.512044249] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051450.544938059] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051450.545730064] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051450.546191532] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051450.547629449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051450.548706936] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051450.585301380] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051450.587871838] [sailbot.teensy]: Wind angle: 167 -[teensy-2] [INFO] [1746051450.588929079] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051450.588519687] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051450.589901169] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051450.590697966] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051450.590825861] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051450.646396615] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051450.646467730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051450.647950499] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051450.648409197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051450.649504783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051450.745053735] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051450.745685637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051450.746324843] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051450.747712458] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051450.748847476] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051450.835413867] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051450.837872677] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051450.838498573] [sailbot.teensy]: Wind angle: 167 -[mux-7] [INFO] [1746051450.838792723] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051450.839676771] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051450.840668952] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051450.841558187] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051450.844327471] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051450.844810779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051450.845406762] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051450.846513743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051450.847556296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051450.944639984] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051450.945604783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051450.945871692] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051450.947357518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051450.948505235] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051450.957689863] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051450.958731451] [sailbot.main_algo]: Target Bearing: -141.59584575163768 -[main_algo-3] [INFO] [1746051450.959642602] [sailbot.main_algo]: Heading Difference: -172.68515424836232 -[main_algo-3] [INFO] [1746051450.960883097] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051450.961698220] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051450.962479067] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051450.964006856] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051450.964017986] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051451.002917918] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904403 Long: -76.50277905 -[main_algo-3] [INFO] [1746051451.003948673] [sailbot.main_algo]: Distance to destination: 56.26289373996471 -[vectornav-1] [INFO] [1746051451.004137175] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.841999999999985, 0.655, 4.02) -[main_algo-3] [INFO] [1746051451.005249270] [sailbot.main_algo]: Target Bearing: -141.5792826317155 -[main_algo-3] [INFO] [1746051451.006238610] [sailbot.main_algo]: Heading Difference: -172.7017173682845 -[main_algo-3] [INFO] [1746051451.007604122] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051451.008536866] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051451.009431269] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051451.011232574] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051451.044961829] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051451.045621102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051451.046221481] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051451.047448712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051451.048512863] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051451.085271272] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051451.087557581] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051451.087631567] [sailbot.teensy]: Wind angle: 167 -[mux-7] [INFO] [1746051451.088668064] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051451.088672425] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051451.089680462] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051451.090556607] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051451.144884060] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051451.145560344] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051451.146095233] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051451.147420394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051451.148385204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051451.244880515] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051451.245352991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051451.246090590] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051451.247072690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051451.248133204] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051451.335429581] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051451.337382935] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051451.337720294] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051451.337784893] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051451.337797130] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051451.338186947] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051451.338569657] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051451.344727355] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051451.345393503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051451.345947378] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051451.347522513] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051451.348767974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051451.443747572] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051451.444083054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051451.444372962] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051451.444997356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051451.445490733] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051451.456710053] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051451.457597596] [sailbot.main_algo]: Target Bearing: -141.5792826317155 -[main_algo-3] [INFO] [1746051451.458414845] [sailbot.main_algo]: Heading Difference: -170.57871736828452 -[main_algo-3] [INFO] [1746051451.459631402] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051451.460581591] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051451.461476103] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051451.463353026] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051451.465469938] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051451.503055805] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904406 Long: -76.502779 -[vectornav-1] [INFO] [1746051451.504314418] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.067999999999984, -0.787, 5.765) -[main_algo-3] [INFO] [1746051451.505996378] [sailbot.main_algo]: Distance to destination: 56.26818527856427 -[main_algo-3] [INFO] [1746051451.506990387] [sailbot.main_algo]: Target Bearing: -141.57932148507402 -[main_algo-3] [INFO] [1746051451.507956413] [sailbot.main_algo]: Heading Difference: -170.57867851492597 -[main_algo-3] [INFO] [1746051451.509350281] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051451.510254199] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051451.511857127] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051451.513547374] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051451.545527408] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051451.546602785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051451.547144133] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051451.548676952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051451.549884178] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051451.585374879] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051451.587748186] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051451.588124638] [sailbot.teensy]: Wind angle: 161 -[mux-7] [INFO] [1746051451.588242593] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051451.589387692] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051451.590368315] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051451.591375743] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051451.644749228] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051451.645423833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051451.646179025] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051451.647355178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051451.648501137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051451.745106104] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051451.746015824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051451.746682704] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051451.748020166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051451.748448893] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051451.835392165] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051451.837811388] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051451.838167131] [sailbot.teensy]: Wind angle: 156 -[mux-7] [INFO] [1746051451.838797890] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051451.839554062] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051451.840816264] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051451.841703506] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051451.844312012] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051451.844836312] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051451.846307111] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051451.846693802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051451.847921065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051451.945262267] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051451.946072045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051451.946794459] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051451.948130294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051451.948672637] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051451.957721008] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051451.959272050] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746051451.960239941] [sailbot.main_algo]: Target Bearing: -141.57932148507402 -[main_algo-3] [INFO] [1746051451.961115801] [sailbot.main_algo]: Heading Difference: -173.35267851492597 -[main_algo-3] [INFO] [1746051451.962355410] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051451.963172989] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051451.963964203] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051451.965467294] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051451.965535162] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051452.002738100] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904401 Long: -76.50277877 -[main_algo-3] [INFO] [1746051452.003798151] [sailbot.main_algo]: Distance to destination: 56.27926615665342 -[vectornav-1] [INFO] [1746051452.004120521] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.072, 0.375, 4.496) -[main_algo-3] [INFO] [1746051452.004959501] [sailbot.main_algo]: Target Bearing: -141.59591716364466 -[main_algo-3] [INFO] [1746051452.005896431] [sailbot.main_algo]: Heading Difference: -173.33608283635533 -[main_algo-3] [INFO] [1746051452.007258308] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051452.008175578] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051452.009053108] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051452.010888829] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051452.045447240] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051452.045547162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051452.046774823] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051452.047321172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051452.048468628] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051452.085195280] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051452.086762159] [sailbot.teensy]: Wind angle: 156 -[teensy-2] [INFO] [1746051452.087623974] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051452.087261065] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051452.088453048] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051452.088511962] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051452.089326190] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051452.145155583] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051452.146114310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051452.146567012] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051452.147983831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051452.148420628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051452.244971032] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051452.245826049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051452.246223136] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051452.247158627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051452.247673939] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051452.335623362] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051452.337847424] [sailbot.teensy]: Wind angle: 161 -[trim_sail-4] [INFO] [1746051452.338225615] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051452.338804369] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051452.339696800] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051452.340758142] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051452.339196907] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051452.344340152] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051452.344916052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051452.345457526] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051452.346782451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051452.348321641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051452.445523255] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051452.446644219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051452.447152388] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051452.448891885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051452.450127305] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051452.457692766] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051452.459213357] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746051452.460533111] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051452.461915648] [sailbot.main_algo]: Current Location: (42.469044012147556, -76.50277877005445) -[main_algo-3] [INFO] [1746051452.463082455] [sailbot.main_algo]: Target Bearing: -141.59591716364466 -[main_algo-3] [INFO] [1746051452.464278932] [sailbot.main_algo]: Heading Difference: -174.3320828363553 -[main_algo-3] [INFO] [1746051452.465824976] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051452.466798683] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051452.467673045] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051452.469389674] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051452.469489619] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051452.502791282] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904397 Long: -76.50277886 -[main_algo-3] [INFO] [1746051452.503854596] [sailbot.main_algo]: Distance to destination: 56.27072867113377 -[vectornav-1] [INFO] [1746051452.504254660] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.92700000000002, -1.23, 5.076) -[main_algo-3] [INFO] [1746051452.505063892] [sailbot.main_algo]: Target Bearing: -141.59462702669367 -[main_algo-3] [INFO] [1746051452.506056721] [sailbot.main_algo]: Heading Difference: -174.33337297330633 -[main_algo-3] [INFO] [1746051452.507420727] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051452.508313671] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051452.509165747] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051452.510819496] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051452.545067569] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051452.545828525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051452.546416678] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051452.548092622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051452.549283484] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051452.585368948] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051452.587299504] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051452.587791417] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051452.588869488] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051452.588888708] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051452.590111748] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051452.590990325] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051452.644962363] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051452.646020341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051452.646654608] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051452.647920499] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051452.648956745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051452.745101515] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051452.746572340] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051452.746667672] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051452.748298810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051452.748738407] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051452.835304028] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051452.837010741] [sailbot.teensy]: Wind angle: 164 -[teensy-2] [INFO] [1746051452.837967693] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051452.837864471] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051452.838881840] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051452.839682379] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051452.839758480] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051452.844507881] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051452.845183978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051452.845738074] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051452.846908753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051452.848090514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051452.944882020] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051452.945351767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051452.946083985] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051452.947163150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051452.948238521] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051452.957636456] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051452.958696758] [sailbot.main_algo]: Target Bearing: -141.59462702669367 -[main_algo-3] [INFO] [1746051452.959606176] [sailbot.main_algo]: Heading Difference: -172.4783729733063 -[main_algo-3] [INFO] [1746051452.960892957] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051452.961724448] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051452.962529835] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051452.964029685] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051452.964107524] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051453.003051112] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904409 Long: -76.50277857 -[main_algo-3] [INFO] [1746051453.004284084] [sailbot.main_algo]: Distance to destination: 56.29761164054328 -[vectornav-1] [INFO] [1746051453.004397399] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.94900000000001, 0.459, 4.753) -[main_algo-3] [INFO] [1746051453.005508114] [sailbot.main_algo]: Target Bearing: -141.5995589149559 -[main_algo-3] [INFO] [1746051453.006584662] [sailbot.main_algo]: Heading Difference: -172.4734410850441 -[main_algo-3] [INFO] [1746051453.008145881] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051453.009151500] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051453.010050608] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051453.011736837] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051453.045327305] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051453.046618065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051453.046919906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051453.048783284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051453.049891682] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051453.085312706] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051453.087644957] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051453.088038772] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051453.089144783] [sailbot.teensy]: Wind angle: 164 -[teensy-2] [INFO] [1746051453.090104853] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051453.091040686] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051453.091886912] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051453.144609179] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051453.145240628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051453.145812517] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051453.147069093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051453.148119881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051453.244941730] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051453.245769980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051453.246379149] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051453.247681627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051453.248718338] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051453.335558633] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051453.338082316] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051453.338195728] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746051453.339146193] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051453.339832038] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051453.340037324] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051453.340976052] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051453.344381344] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051453.344772924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051453.345572623] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051453.346450254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051453.347465899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051453.445543645] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051453.446095543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051453.447309310] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051453.448206953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051453.449372546] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051453.457653875] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051453.458728714] [sailbot.main_algo]: Target Bearing: -141.5995589149559 -[main_algo-3] [INFO] [1746051453.459644953] [sailbot.main_algo]: Heading Difference: -171.45144108504405 -[main_algo-3] [INFO] [1746051453.460992745] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051453.461868084] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051453.462704493] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051453.464398840] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051453.465059343] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051453.501829130] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904406 Long: -76.50277846 -[main_algo-3] [INFO] [1746051453.502540414] [sailbot.main_algo]: Distance to destination: 56.30248420542758 -[vectornav-1] [INFO] [1746051453.502567063] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.83100000000002, -0.495, 4.872) -[main_algo-3] [INFO] [1746051453.503410429] [sailbot.main_algo]: Target Bearing: -141.60802227577648 -[main_algo-3] [INFO] [1746051453.504273134] [sailbot.main_algo]: Heading Difference: -171.4429777242235 -[main_algo-3] [INFO] [1746051453.505568219] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051453.506770193] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051453.508368148] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051453.510125562] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051453.544040649] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051453.546095041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051453.547936472] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051453.549882663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051453.550505376] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051453.584392163] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051453.585499227] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051453.585496487] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051453.585704073] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051453.585909112] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051453.586290486] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051453.586635306] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051453.643640418] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051453.644066960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051453.644135071] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051453.644873071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051453.645553908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051453.743614179] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051453.744013617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051453.744101379] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051453.744933413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051453.745482389] [sailbot.teensy]: Message sent to servo -Package 'sailboat_launch' not found: "package 'sailboat_launch' not found, searching: ['/opt/ros/humble']" -[teensy-2] [INFO] [1746051453.835162748] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051453.837208278] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051453.837797537] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051453.838124382] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051453.838123780] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051453.838991976] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051453.839815387] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051453.844276796] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051453.845101510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051453.845753733] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051453.846825618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051453.847838094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051453.945185256] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051453.946130476] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051453.946577928] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051453.948094724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051453.948667189] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051453.957684368] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051453.958791349] [sailbot.main_algo]: Target Bearing: -141.60802227577648 -[main_algo-3] [INFO] [1746051453.959728873] [sailbot.main_algo]: Heading Difference: -172.5609777242235 -[main_algo-3] [INFO] [1746051453.960987782] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051453.961823901] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051453.962616970] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051453.964096477] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051453.964183839] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051454.002736584] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904394 Long: -76.50277808 -[main_algo-3] [INFO] [1746051454.003764714] [sailbot.main_algo]: Distance to destination: 56.31817320897911 -[vectornav-1] [INFO] [1746051454.003870938] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.468999999999994, -0.264, 5.681) -[main_algo-3] [INFO] [1746051454.004930862] [sailbot.main_algo]: Target Bearing: -141.63867721532816 -[main_algo-3] [INFO] [1746051454.005890319] [sailbot.main_algo]: Heading Difference: -172.53032278467185 -[main_algo-3] [INFO] [1746051454.007213858] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051454.008049718] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051454.008845085] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051454.010364750] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051454.045409005] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051454.045927966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051454.046717462] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051454.047963548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051454.049039053] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051454.085550443] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051454.087587275] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051454.088376508] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051454.088529615] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051454.088913494] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051454.089421145] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051454.090314846] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051454.145025254] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051454.145542311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051454.146430093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051454.147465287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051454.148650071] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051454.244911077] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051454.245531549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051454.246232863] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051454.247410792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051454.248461109] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051454.335494548] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051454.337872657] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051454.338018897] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051454.339205952] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051454.339193633] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051454.339623200] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051454.339992158] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051454.344210360] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051454.344978693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051454.345349107] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051454.346668454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051454.347654178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051454.445248861] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051454.445948042] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051454.446774402] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051454.448202228] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051454.448655331] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051454.457999869] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051454.459106641] [sailbot.main_algo]: Target Bearing: -141.63867721532816 -[main_algo-3] [INFO] [1746051454.460035451] [sailbot.main_algo]: Heading Difference: -172.89232278467182 -[main_algo-3] [INFO] [1746051454.461405453] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051454.462283732] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051454.463139832] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051454.466100496] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051454.466251399] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051454.502827487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904394 Long: -76.50277779 -[main_algo-3] [INFO] [1746051454.503875320] [sailbot.main_algo]: Distance to destination: 56.336606923096184 -[vectornav-1] [INFO] [1746051454.504017470] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.261000000000024, -0.609, 4.803) -[main_algo-3] [INFO] [1746051454.505111645] [sailbot.main_algo]: Target Bearing: -141.65406185686476 -[main_algo-3] [INFO] [1746051454.506148997] [sailbot.main_algo]: Heading Difference: -172.87693814313525 -[main_algo-3] [INFO] [1746051454.507566575] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051454.508496180] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051454.509355989] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051454.511422432] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051454.545673232] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051454.545768310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051454.547264819] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051454.547672847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051454.549242533] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051454.585506748] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051454.587404368] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051454.587931535] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051454.588390611] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051454.589348335] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051454.589899895] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051454.590210339] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051454.644807299] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051454.645446596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051454.646037324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051454.647979702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051454.649132862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051454.745337803] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051454.746360807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051454.747376031] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051454.748529210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051454.749592704] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051454.835497910] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051454.837431919] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051454.838199439] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051454.839727958] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051454.839791369] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051454.840755078] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051454.841618104] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051454.844316353] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051454.844848169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051454.845405958] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051454.846553943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051454.847568984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051454.945362555] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051454.946294863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051454.946907344] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051454.948741498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051454.949946973] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051454.957699283] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051454.958740200] [sailbot.main_algo]: Target Bearing: -141.65406185686476 -[main_algo-3] [INFO] [1746051454.959625216] [sailbot.main_algo]: Heading Difference: -173.08493814313522 -[main_algo-3] [INFO] [1746051454.960963535] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051454.961844152] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051454.962710666] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051454.964269183] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051454.965446568] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051455.002942564] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904398 Long: -76.50277771 -[main_algo-3] [INFO] [1746051455.004178327] [sailbot.main_algo]: Distance to destination: 56.3445099932606 -[vectornav-1] [INFO] [1746051455.004228140] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.367999999999995, 0.459, 4.639) -[main_algo-3] [INFO] [1746051455.005397627] [sailbot.main_algo]: Target Bearing: -141.6548112346889 -[main_algo-3] [INFO] [1746051455.006403635] [sailbot.main_algo]: Heading Difference: -173.08418876531107 -[main_algo-3] [INFO] [1746051455.007888528] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051455.008796838] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051455.009684192] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051455.011468120] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051455.044985555] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051455.045996674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051455.046629093] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051455.048038736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051455.049232956] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051455.085673151] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051455.088079924] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051455.088835845] [sailbot.teensy]: Wind angle: 161 -[mux-7] [INFO] [1746051455.089457940] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051455.089835235] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051455.090814146] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051455.091713109] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051455.145227030] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051455.145703655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051455.146791666] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051455.147915263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051455.148981569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051455.245369458] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051455.246022115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051455.246992753] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051455.248354091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051455.249471494] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051455.335274134] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051455.337019320] [sailbot.teensy]: Wind angle: 159 -[teensy-2] [INFO] [1746051455.337968667] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051455.338175424] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051455.338841075] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051455.338887932] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051455.339776365] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051455.344385013] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051455.344985007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051455.345602483] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051455.346783142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051455.347844441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051455.445219452] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051455.445768623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051455.446750673] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051455.447968817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051455.449047075] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051455.457791409] [sailbot.main_algo]: Wind Direction: 159 -[main_algo-3] [INFO] [1746051455.458864175] [sailbot.main_algo]: Target Bearing: -141.6548112346889 -[main_algo-3] [INFO] [1746051455.459759196] [sailbot.main_algo]: Heading Difference: -173.9771887653111 -[main_algo-3] [INFO] [1746051455.461089981] [sailbot.main_algo]: Wind Direction: 159 -[main_algo-3] [INFO] [1746051455.461921224] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051455.462719271] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051455.464283583] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051455.464322942] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051455.502754710] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904381 Long: -76.50277772 -[main_algo-3] [INFO] [1746051455.503885302] [sailbot.main_algo]: Distance to destination: 56.33190251086791 -[vectornav-1] [INFO] [1746051455.504656043] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.024, -1.399, 4.992) -[main_algo-3] [INFO] [1746051455.505082771] [sailbot.main_algo]: Target Bearing: -141.6691282196974 -[main_algo-3] [INFO] [1746051455.506119585] [sailbot.main_algo]: Heading Difference: -173.96287178030263 -[main_algo-3] [INFO] [1746051455.507517358] [sailbot.main_algo]: Wind Direction: 159 -[main_algo-3] [INFO] [1746051455.508423920] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051455.509298939] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051455.510950742] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051455.545094625] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051455.545827008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051455.546492157] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051455.547973829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051455.549123861] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051455.584795764] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051455.586133098] [sailbot.teensy]: Wind angle: 159 -[teensy-2] [INFO] [1746051455.586909915] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051455.586619912] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051455.587719324] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051455.589387847] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051455.589550215] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051455.644139596] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051455.644686812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051455.645245863] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051455.646391314] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051455.647513059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051455.745330518] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051455.746311093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051455.746966330] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051455.748452010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051455.748970178] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051455.835358957] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051455.837155989] [sailbot.teensy]: Wind angle: 160 -[trim_sail-4] [INFO] [1746051455.837566184] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051455.838142536] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051455.839093792] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051455.839104179] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051455.840131297] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051455.844469053] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051455.845090434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051455.845699720] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051455.846900465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051455.847944349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051455.945241261] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051455.945715790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051455.946746313] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051455.947707555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051455.948926976] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051455.957683062] [sailbot.main_algo]: Wind Direction: 160 -[main_algo-3] [INFO] [1746051455.958803827] [sailbot.main_algo]: Target Bearing: -141.6691282196974 -[main_algo-3] [INFO] [1746051455.959809650] [sailbot.main_algo]: Heading Difference: -175.30687178030257 -[main_algo-3] [INFO] [1746051455.961133730] [sailbot.main_algo]: Wind Direction: 160 -[main_algo-3] [INFO] [1746051455.961946445] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051455.962732686] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051455.964347684] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051455.964369245] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051456.002926166] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904365 Long: -76.50277757 -[main_algo-3] [INFO] [1746051456.003924699] [sailbot.main_algo]: Distance to destination: 56.330178661187674 -[vectornav-1] [INFO] [1746051456.004127258] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.25599999999997, 0.391, 3.524) -[main_algo-3] [INFO] [1746051456.005121683] [sailbot.main_algo]: Target Bearing: -141.6910588155994 -[main_algo-3] [INFO] [1746051456.006074761] [sailbot.main_algo]: Heading Difference: -175.28494118440062 -[main_algo-3] [INFO] [1746051456.007565868] [sailbot.main_algo]: Wind Direction: 160 -[main_algo-3] [INFO] [1746051456.008584428] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051456.009484809] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051456.011430943] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051456.045304093] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051456.045682191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051456.046666269] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051456.047552286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051456.048737451] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051456.085199361] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051456.087203635] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051456.087436769] [sailbot.teensy]: Wind angle: 161 -[mux-7] [INFO] [1746051456.087781699] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051456.088445355] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051456.089354572] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051456.090229942] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051456.145118323] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051456.145911673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051456.146570436] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051456.147932969] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051456.149008933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051456.243805709] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051456.244288885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051456.244488268] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051456.245308799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051456.246344195] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051456.335358827] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051456.337737761] [sailbot.teensy]: Wind angle: 160 -[trim_sail-4] [INFO] [1746051456.337906805] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051456.338805020] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051456.339497524] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051456.340453657] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051456.341338657] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051456.344294731] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051456.345385750] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051456.345442597] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051456.347118055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051456.348147841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051456.445012880] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051456.445728736] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051456.446283007] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051456.447887341] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051456.448975378] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051456.457668495] [sailbot.main_algo]: Wind Direction: 160 -[main_algo-3] [INFO] [1746051456.458734103] [sailbot.main_algo]: Target Bearing: -141.6910588155994 -[main_algo-3] [INFO] [1746051456.459633628] [sailbot.main_algo]: Heading Difference: -174.05294118440065 -[main_algo-3] [INFO] [1746051456.460964253] [sailbot.main_algo]: Wind Direction: 160 -[main_algo-3] [INFO] [1746051456.461836878] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051456.462611469] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051456.464108119] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051456.464175012] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051456.502715477] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904368 Long: -76.5027778 -[main_algo-3] [INFO] [1746051456.503626914] [sailbot.main_algo]: Distance to destination: 56.317662694298505 -[vectornav-1] [INFO] [1746051456.504203917] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.867999999999995, -0.199, 5.885) -[main_algo-3] [INFO] [1746051456.504708081] [sailbot.main_algo]: Target Bearing: -141.67624455864978 -[main_algo-3] [INFO] [1746051456.505705384] [sailbot.main_algo]: Heading Difference: -174.06775544135024 -[main_algo-3] [INFO] [1746051456.507079134] [sailbot.main_algo]: Wind Direction: 160 -[main_algo-3] [INFO] [1746051456.507955561] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051456.508819452] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051456.510437544] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051456.544995850] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051456.545726894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051456.546262994] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051456.547825436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051456.548934219] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051456.585237906] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051456.586903999] [sailbot.teensy]: Wind angle: 160 -[teensy-2] [INFO] [1746051456.587767128] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051456.587322621] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051456.588538261] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051456.588848907] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051456.589791229] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051456.645068804] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051456.645645257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051456.646572018] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051456.647584567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051456.648402104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051456.745266907] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051456.746208835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051456.746933916] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051456.748149210] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051456.748669542] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051456.835152906] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051456.835977643] [sailbot.teensy]: Wind angle: 159 -[teensy-2] [INFO] [1746051456.836392370] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051456.836344048] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051456.836752482] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051456.837115467] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051456.836816977] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051456.844505897] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051456.845064326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051456.845737532] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051456.846761259] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051456.847795773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051456.945214740] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051456.945801846] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051456.946794497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051456.947802851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051456.948850245] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051456.957567753] [sailbot.main_algo]: Wind Direction: 159 -[main_algo-3] [INFO] [1746051456.958629790] [sailbot.main_algo]: Target Bearing: -141.67624455864978 -[main_algo-3] [INFO] [1746051456.959535257] [sailbot.main_algo]: Heading Difference: -174.45575544135022 -[main_algo-3] [INFO] [1746051456.960843508] [sailbot.main_algo]: Wind Direction: 159 -[main_algo-3] [INFO] [1746051456.961657766] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051456.962454726] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051456.963971672] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051456.964017777] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051457.002924056] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904341 Long: -76.5027776 -[main_algo-3] [INFO] [1746051457.003859727] [sailbot.main_algo]: Distance to destination: 56.311382978264476 -[vectornav-1] [INFO] [1746051457.004104491] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.51299999999998, -0.858, 5.263) -[main_algo-3] [INFO] [1746051457.005244528] [sailbot.main_algo]: Target Bearing: -141.7104478444912 -[main_algo-3] [INFO] [1746051457.006195520] [sailbot.main_algo]: Heading Difference: -174.42155215550883 -[main_algo-3] [INFO] [1746051457.007557195] [sailbot.main_algo]: Wind Direction: 159 -[main_algo-3] [INFO] [1746051457.008479730] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051457.009333012] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051457.011143665] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051457.045235436] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051457.045894624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051457.046735231] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051457.048321138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051457.049455980] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051457.084911584] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051457.087144124] [sailbot.teensy]: Wind angle: 160 -[trim_sail-4] [INFO] [1746051457.087140466] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051457.087325637] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051457.090158333] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051457.091111499] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051457.092033217] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051457.145092636] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051457.145607769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051457.146483748] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051457.147475598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051457.148579753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051457.245044730] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051457.245717941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051457.246386145] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051457.247601889] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051457.248756966] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051457.335493237] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051457.337913159] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051457.338375741] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051457.338843566] [sailbot.teensy]: Wind angle: 162 -[teensy-2] [INFO] [1746051457.339252316] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051457.339587117] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051457.339923072] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051457.344431958] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051457.344910185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051457.345665108] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051457.346724480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051457.347785976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051457.445365664] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051457.446137868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051457.447022394] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051457.448301405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051457.448727999] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051457.457977042] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051457.459117590] [sailbot.main_algo]: Target Bearing: -141.7104478444912 -[main_algo-3] [INFO] [1746051457.460102332] [sailbot.main_algo]: Heading Difference: -176.77655215550885 -[main_algo-3] [INFO] [1746051457.461443567] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051457.462328378] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051457.463169702] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051457.464905824] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051457.465200844] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051457.502645915] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904334 Long: -76.50277763 -[main_algo-3] [INFO] [1746051457.503718612] [sailbot.main_algo]: Distance to destination: 56.304550036739954 -[vectornav-1] [INFO] [1746051457.503744307] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.96300000000002, 0.0, 4.853) -[main_algo-3] [INFO] [1746051457.504893594] [sailbot.main_algo]: Target Bearing: -141.71497931145737 -[main_algo-3] [INFO] [1746051457.506026147] [sailbot.main_algo]: Heading Difference: -176.77202068854263 -[main_algo-3] [INFO] [1746051457.507419970] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051457.508337355] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051457.509207232] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051457.511012624] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051457.545046113] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051457.545729733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051457.546321815] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051457.547608182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051457.548758144] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051457.585286306] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051457.587706852] [sailbot.teensy]: Wind angle: 167 -[trim_sail-4] [INFO] [1746051457.587757998] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051457.588673772] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051457.588756356] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051457.589576128] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051457.590508162] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051457.644338467] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051457.645181961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051457.645395062] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051457.647317202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051457.649147478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051457.744960737] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051457.745410655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051457.746192364] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051457.747184084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051457.748239815] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051457.835210103] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051457.837327083] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051457.838576032] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051457.838725696] [sailbot.teensy]: Wind angle: 167 -[teensy-2] [INFO] [1746051457.839699869] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051457.840606198] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051457.841452304] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051457.844370566] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051457.844782827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051457.845559708] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051457.846478017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051457.847543170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051457.944870606] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051457.945604622] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051457.946066893] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051457.947546083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051457.948552261] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051457.957412001] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051457.958402954] [sailbot.main_algo]: Target Bearing: -141.71497931145737 -[main_algo-3] [INFO] [1746051457.959373585] [sailbot.main_algo]: Heading Difference: -176.32202068854258 -[main_algo-3] [INFO] [1746051457.960609885] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051457.961423084] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051457.962193613] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051457.963663754] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051457.963704777] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051458.002325216] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904331 Long: -76.50277762 -[vectornav-1] [INFO] [1746051458.003270400] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.985000000000014, -0.915, 4.309) -[main_algo-3] [INFO] [1746051458.003358706] [sailbot.main_algo]: Distance to destination: 56.30307612503456 -[main_algo-3] [INFO] [1746051458.004603459] [sailbot.main_algo]: Target Bearing: -141.7181329868735 -[main_algo-3] [INFO] [1746051458.005884431] [sailbot.main_algo]: Heading Difference: -176.31886701312646 -[main_algo-3] [INFO] [1746051458.007319340] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051458.008282746] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051458.009107348] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051458.010669993] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051458.044996258] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051458.045725533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051458.046332428] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051458.047618014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051458.048688352] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051458.085222411] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051458.086975933] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051458.087430109] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051458.087869230] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051458.088675180] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051458.088799906] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051458.089669661] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051458.145206446] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051458.145681008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051458.146715512] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051458.147649624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051458.148867801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051458.245263562] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051458.245818046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051458.247062371] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051458.247858248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051458.249063858] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051458.335436789] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051458.337833627] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051458.337983930] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051458.338959759] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051458.338965995] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051458.339917187] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051458.340816001] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051458.344356032] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051458.344919660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051458.345455262] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051458.346701349] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051458.347878759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051458.444991040] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051458.445656538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051458.446280124] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051458.447686794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051458.448712367] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051458.457788190] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051458.458948708] [sailbot.main_algo]: Target Bearing: -141.7181329868735 -[main_algo-3] [INFO] [1746051458.459902848] [sailbot.main_algo]: Heading Difference: -176.29686701312647 -[main_algo-3] [INFO] [1746051458.461228587] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051458.462047814] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051458.462908907] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051458.464572455] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051458.466144633] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051458.502924400] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690433 Long: -76.5027777 -[main_algo-3] [INFO] [1746051458.504081670] [sailbot.main_algo]: Distance to destination: 56.29728246167473 -[vectornav-1] [INFO] [1746051458.504112804] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.40999999999997, 1.111, 5.399) -[main_algo-3] [INFO] [1746051458.505960734] [sailbot.main_algo]: Target Bearing: -141.71476786688388 -[main_algo-3] [INFO] [1746051458.506989422] [sailbot.main_algo]: Heading Difference: -176.30023213311608 -[main_algo-3] [INFO] [1746051458.509440523] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051458.510553410] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051458.511446859] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051458.513170327] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051458.545207907] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051458.546009087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051458.546649829] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051458.548006113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051458.549168637] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051458.585354842] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051458.587562066] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051458.588178364] [sailbot.teensy]: Wind angle: 157 -[teensy-2] [INFO] [1746051458.589129606] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051458.589407842] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051458.590041084] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051458.590897927] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051458.644985840] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051458.645918129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051458.646398112] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051458.647757608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051458.648935624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051458.745469293] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051458.746406384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051458.747120840] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051458.749241531] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051458.750326017] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051458.835623067] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051458.837590890] [sailbot.teensy]: Wind angle: 156 -[trim_sail-4] [INFO] [1746051458.838036135] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051458.838630170] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051458.839577270] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051458.840324495] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051458.840604346] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051458.844349008] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051458.845192657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051458.845866137] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051458.846993223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051458.848010892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051458.945089286] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051458.945701341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051458.946444415] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051458.947547807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051458.948761332] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051458.957428263] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051458.958384608] [sailbot.main_algo]: Target Bearing: -141.71476786688388 -[main_algo-3] [INFO] [1746051458.959248048] [sailbot.main_algo]: Heading Difference: -176.87523213311613 -[main_algo-3] [INFO] [1746051458.960471662] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051458.961278237] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051458.962110732] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051458.963732323] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051458.963919517] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051459.002764864] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904331 Long: -76.50277782 -[main_algo-3] [INFO] [1746051459.003586096] [sailbot.main_algo]: Distance to destination: 56.29035112845734 -[vectornav-1] [INFO] [1746051459.003827966] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (40.78499999999997, -1.958, 4.648) -[main_algo-3] [INFO] [1746051459.004685202] [sailbot.main_algo]: Target Bearing: -141.70753212522754 -[main_algo-3] [INFO] [1746051459.005603176] [sailbot.main_algo]: Heading Difference: -176.8824678747725 -[main_algo-3] [INFO] [1746051459.006971602] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051459.007865717] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051459.008747557] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051459.010472959] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051459.045353819] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051459.046060624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051459.046825933] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051459.048049274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051459.049063722] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051459.085470168] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051459.087677157] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051459.087992939] [sailbot.teensy]: Wind angle: 157 -[teensy-2] [INFO] [1746051459.088972577] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051459.089785032] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051459.089880852] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051459.090740351] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051459.144809682] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051459.146010280] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051459.148396924] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051459.150107543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051459.151181066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051459.244974553] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051459.245666674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051459.246310672] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051459.247431263] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051459.248476915] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051459.335298941] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051459.337157970] [sailbot.teensy]: Wind angle: 157 -[trim_sail-4] [INFO] [1746051459.337756495] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051459.338122889] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051459.339029611] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051459.339180859] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051459.339998385] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051459.344410122] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051459.344894900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051459.345556612] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051459.346622488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051459.347664475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051459.445408229] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051459.446263547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051459.447714686] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051459.448444712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051459.448966054] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051459.457990831] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051459.459077139] [sailbot.main_algo]: Target Bearing: -141.70753212522754 -[main_algo-3] [INFO] [1746051459.460007056] [sailbot.main_algo]: Heading Difference: -177.5074678747725 -[main_algo-3] [INFO] [1746051459.461357591] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051459.462222856] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051459.463031559] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051459.464588556] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051459.464806232] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051459.501354583] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904346 Long: -76.50277766 -[vectornav-1] [INFO] [1746051459.501791040] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.34899999999999, 0.828, 5.768) -[main_algo-3] [INFO] [1746051459.501833057] [sailbot.main_algo]: Distance to destination: 56.3110835520651 -[main_algo-3] [INFO] [1746051459.502330869] [sailbot.main_algo]: Target Bearing: -141.7028962751564 -[main_algo-3] [INFO] [1746051459.502774615] [sailbot.main_algo]: Heading Difference: -177.51210372484366 -[main_algo-3] [INFO] [1746051459.503443020] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051459.503870433] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051459.504345431] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051459.505339554] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051459.543701232] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051459.544036417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051459.544249378] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051459.545114365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051459.545710406] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051459.585189081] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051459.587139461] [sailbot.teensy]: Wind angle: 157 -[teensy-2] [INFO] [1746051459.588042521] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051459.587344055] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051459.588085208] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051459.588950441] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051459.589787963] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051459.645008626] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051459.645767460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051459.646335867] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051459.647615524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051459.648823082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051459.744049399] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051459.744576650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051459.744939799] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051459.746436216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051459.747932821] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051459.835416241] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051459.837277204] [sailbot.teensy]: Wind angle: 157 -[teensy-2] [INFO] [1746051459.838230486] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051459.838268644] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051459.838333470] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051459.840094250] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051459.841144652] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051459.844383681] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051459.844927806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051459.845534646] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051459.846733961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051459.847804478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051459.944694489] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051459.945185892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051459.946044057] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051459.946936294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051459.948125682] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051459.957623034] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051459.958619452] [sailbot.main_algo]: Target Bearing: -141.7028962751564 -[main_algo-3] [INFO] [1746051459.959499393] [sailbot.main_algo]: Heading Difference: -178.94810372484358 -[main_algo-3] [INFO] [1746051459.960789052] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051459.961606810] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051459.962377948] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051459.963901534] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051459.964007908] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051460.002969601] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904328 Long: -76.5027774 -[vectornav-1] [INFO] [1746051460.004225564] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (40.83100000000002, -1.01, 5.521) -[main_algo-3] [INFO] [1746051460.004603132] [sailbot.main_algo]: Distance to destination: 56.31496630287661 -[main_algo-3] [INFO] [1746051460.005665985] [sailbot.main_algo]: Target Bearing: -141.73241212148696 -[main_algo-3] [INFO] [1746051460.006890602] [sailbot.main_algo]: Heading Difference: -178.91858787851305 -[main_algo-3] [INFO] [1746051460.008322745] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051460.009223245] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051460.010068832] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051460.011790461] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051460.045139600] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051460.045617738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051460.046494127] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051460.047521315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051460.048637484] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051460.085265588] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051460.087280709] [sailbot.teensy]: Wind angle: 157 -[trim_sail-4] [INFO] [1746051460.087313095] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051460.088232164] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051460.088783525] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051460.089121459] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051460.089981479] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051460.145086837] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051460.145797422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051460.146486377] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051460.148385839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051460.149508877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051460.245133249] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051460.245578676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051460.246481878] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051460.247718430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051460.248587904] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051460.335564804] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051460.338011367] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051460.338710516] [sailbot.teensy]: Wind angle: 157 -[mux-7] [INFO] [1746051460.338733497] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051460.339148299] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051460.339536682] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051460.339893045] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051460.344528704] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051460.344965372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051460.345738723] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051460.346728078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051460.347791948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051460.445204569] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051460.445824223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051460.446712550] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051460.447819583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051460.449028149] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051460.457551142] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051460.458560823] [sailbot.main_algo]: Target Bearing: -141.73241212148696 -[main_algo-3] [INFO] [1746051460.459468914] [sailbot.main_algo]: Heading Difference: -177.43658787851302 -[main_algo-3] [INFO] [1746051460.460752899] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051460.461598170] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051460.462417395] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051460.464041168] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051460.464262465] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051460.502320914] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904334 Long: -76.50277726 -[main_algo-3] [INFO] [1746051460.503253678] [sailbot.main_algo]: Distance to destination: 56.32809529896339 -[vectornav-1] [INFO] [1746051460.503294588] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.303999999999974, -0.138, 4.758) -[main_algo-3] [INFO] [1746051460.504408849] [sailbot.main_algo]: Target Bearing: -141.73457908364216 -[main_algo-3] [INFO] [1746051460.505350350] [sailbot.main_algo]: Heading Difference: -177.4344209163578 -[main_algo-3] [INFO] [1746051460.506552559] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051460.507258558] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051460.507880408] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051460.509521637] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051460.544893590] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051460.545467593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051460.546108134] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051460.547256885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051460.548406052] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051460.585313185] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051460.587762963] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051460.588863858] [sailbot.teensy]: Wind angle: 157 -[teensy-2] [INFO] [1746051460.590038821] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051460.590042537] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051460.590971561] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051460.591853210] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051460.644804021] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051460.645550488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051460.646080731] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051460.647337459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051460.648412863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051460.745010774] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051460.745871308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051460.746399408] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051460.747934453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051460.749068639] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051460.835214896] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051460.836442648] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051460.836752344] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051460.836900198] [sailbot.teensy]: Wind angle: 157 -[teensy-2] [INFO] [1746051460.837314711] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051460.837677865] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051460.838036938] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051460.844342404] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051460.845030384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051460.845387757] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051460.846787372] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051460.847941898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051460.945023914] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051460.945707254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051460.946358206] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051460.947569861] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051460.948770523] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051460.957425057] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051460.958385927] [sailbot.main_algo]: Target Bearing: -141.73457908364216 -[main_algo-3] [INFO] [1746051460.959261966] [sailbot.main_algo]: Heading Difference: -174.96142091635784 -[main_algo-3] [INFO] [1746051460.960492351] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051460.961301674] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051460.962108775] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051460.963633396] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051460.963736374] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051461.002811027] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904358 Long: -76.50277703 -[main_algo-3] [INFO] [1746051461.003682632] [sailbot.main_algo]: Distance to destination: 56.3596093382672 -[vectornav-1] [INFO] [1746051461.003903448] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.903999999999996, -0.415, 5.882) -[main_algo-3] [INFO] [1746051461.004790565] [sailbot.main_algo]: Target Bearing: -141.7257762553488 -[main_algo-3] [INFO] [1746051461.005759534] [sailbot.main_algo]: Heading Difference: -174.9702237446512 -[main_algo-3] [INFO] [1746051461.007096073] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051461.008008287] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051461.008836258] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051461.010528103] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051461.045220542] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051461.045776549] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051461.046931399] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051461.048169791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051461.049323254] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051461.085440351] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051461.087198171] [sailbot.teensy]: Wind angle: 155 -[teensy-2] [INFO] [1746051461.088121508] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051461.087783835] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051461.088971786] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051461.089049542] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051461.089899679] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051461.144814755] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051461.145306913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051461.146231659] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051461.147120424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051461.148277358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051461.245172036] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051461.245934885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051461.246637981] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051461.247779727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051461.248846534] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051461.335477246] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051461.337898910] [sailbot.teensy]: Wind angle: 155 -[teensy-2] [INFO] [1746051461.338857458] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051461.338209241] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051461.339323758] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051461.339751518] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051461.340597816] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051461.344428706] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051461.344966926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051461.345569542] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051461.346686492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051461.347869126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051461.445182869] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051461.445931492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051461.446570707] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051461.447758306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051461.448818258] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051461.457669423] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051461.458709543] [sailbot.main_algo]: Target Bearing: -141.7257762553488 -[main_algo-3] [INFO] [1746051461.459623140] [sailbot.main_algo]: Heading Difference: -176.37022374465118 -[main_algo-3] [INFO] [1746051461.460930669] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051461.461737902] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051461.462518896] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051461.464035840] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051461.464064670] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051461.502177367] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904349 Long: -76.5027767 -[vectornav-1] [INFO] [1746051461.503185465] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.81200000000001, 0.267, 5.795) -[main_algo-3] [INFO] [1746051461.503511140] [sailbot.main_algo]: Distance to destination: 56.37428562814337 -[main_algo-3] [INFO] [1746051461.504527004] [sailbot.main_algo]: Target Bearing: -141.7511012173322 -[main_algo-3] [INFO] [1746051461.505761070] [sailbot.main_algo]: Heading Difference: -176.34489878266777 -[main_algo-3] [INFO] [1746051461.507166579] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051461.508105848] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051461.508937481] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051461.510620780] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051461.544963442] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051461.545705876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051461.546272698] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051461.547716894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051461.548875620] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051461.585961238] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051461.588033702] [sailbot.teensy]: Wind angle: 155 -[trim_sail-4] [INFO] [1746051461.589289590] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051461.589708837] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051461.590800672] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051461.591669774] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051461.591928995] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051461.645012831] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051461.645747100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051461.646355220] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051461.647885128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051461.648947018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051461.745140813] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051461.745893387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051461.746907566] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051461.747902401] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051461.749083957] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051461.834514662] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051461.835407908] [sailbot.teensy]: Wind angle: 156 -[teensy-2] [INFO] [1746051461.835974831] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051461.836757094] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051461.836957658] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051461.837262742] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051461.837348485] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051461.843686871] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051461.844025870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051461.844245148] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051461.844871842] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051461.845397121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051461.945502855] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051461.946064508] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051461.946697090] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051461.947600024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051461.948065188] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051461.957459219] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051461.958414843] [sailbot.main_algo]: Target Bearing: -141.7511012173322 -[main_algo-3] [INFO] [1746051461.959255664] [sailbot.main_algo]: Heading Difference: -176.43689878266775 -[main_algo-3] [INFO] [1746051461.960513709] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051461.961409562] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051461.962205403] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051461.963722177] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051461.963976920] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051462.002642218] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690436 Long: -76.50277659 -[vectornav-1] [INFO] [1746051462.003632927] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.58800000000002, -1.832, 5.271) -[main_algo-3] [INFO] [1746051462.003686424] [sailbot.main_algo]: Distance to destination: 56.38902000892188 -[main_algo-3] [INFO] [1746051462.004789626] [sailbot.main_algo]: Target Bearing: -141.7473067995873 -[main_algo-3] [INFO] [1746051462.005679161] [sailbot.main_algo]: Heading Difference: -176.44069320041268 -[main_algo-3] [INFO] [1746051462.006937293] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051462.007854013] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051462.008698362] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051462.010329064] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051462.045104315] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051462.045656308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051462.046545047] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051462.047560463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051462.048694680] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051462.085203830] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051462.086737767] [sailbot.teensy]: Wind angle: 155 -[teensy-2] [INFO] [1746051462.087551793] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051462.087301947] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051462.087652512] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051462.088351724] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051462.089125160] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051462.145140809] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051462.145974531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051462.147311073] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051462.147979537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051462.149184599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051462.245120623] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051462.245663343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051462.246550190] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051462.247680948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051462.248819777] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051462.335316183] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051462.337699588] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051462.338204723] [sailbot.teensy]: Wind angle: 156 -[teensy-2] [INFO] [1746051462.339173629] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051462.339375895] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051462.340116878] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051462.341081219] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051462.344431147] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051462.344958770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051462.345631257] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051462.346633092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051462.347718280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051462.445510382] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051462.446312826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051462.447223237] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051462.448620482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051462.449895302] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051462.457799866] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051462.458784846] [sailbot.main_algo]: Target Bearing: -141.7473067995873 -[main_algo-3] [INFO] [1746051462.459679512] [sailbot.main_algo]: Heading Difference: -174.66469320041267 -[main_algo-3] [INFO] [1746051462.461001610] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051462.461877290] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051462.462742365] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051462.464366609] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051462.464425320] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051462.502666951] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904387 Long: -76.50277633 -[main_algo-3] [INFO] [1746051462.503682456] [sailbot.main_algo]: Distance to destination: 56.42455079377032 -[main_algo-3] [INFO] [1746051462.504796206] [sailbot.main_algo]: Target Bearing: -141.73747307722934 -[vectornav-1] [INFO] [1746051462.504822938] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.79000000000002, 1.106, 4.952) -[main_algo-3] [INFO] [1746051462.505807273] [sailbot.main_algo]: Heading Difference: -174.6745269227706 -[main_algo-3] [INFO] [1746051462.507361713] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051462.508270708] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051462.509135668] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051462.511037549] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051462.545101233] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051462.545141730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051462.546276581] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051462.546823006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051462.548809798] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051462.585231030] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051462.586997224] [sailbot.teensy]: Wind angle: 159 -[trim_sail-4] [INFO] [1746051462.587581436] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051462.587894438] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051462.588837713] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051462.589414143] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051462.589786149] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051462.645136468] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051462.646063396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051462.646617979] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051462.648138469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051462.648676993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051462.744932213] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051462.745701064] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051462.746239126] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051462.747635962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051462.748767736] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051462.835331817] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051462.837437909] [sailbot.teensy]: Wind angle: 161 -[trim_sail-4] [INFO] [1746051462.837478997] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051462.838413159] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051462.838702258] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051462.839297857] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051462.840233880] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051462.844531288] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051462.845149587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051462.845669952] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051462.846863431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051462.847918534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051462.944900384] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051462.945719533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051462.946125397] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051462.947651022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051462.948742388] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051462.957421175] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051462.958376631] [sailbot.main_algo]: Target Bearing: -141.73747307722934 -[main_algo-3] [INFO] [1746051462.959200805] [sailbot.main_algo]: Heading Difference: -175.4725269227706 -[main_algo-3] [INFO] [1746051462.960435370] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051462.961228057] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051462.962005002] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051462.963523316] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051462.963583588] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051463.001411127] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904371 Long: -76.50277645 -[main_algo-3] [INFO] [1746051463.001828816] [sailbot.main_algo]: Distance to destination: 56.40566424843895 -[vectornav-1] [INFO] [1746051463.001856358] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.742999999999995, -0.687, 6.084) -[main_algo-3] [INFO] [1746051463.002303272] [sailbot.main_algo]: Target Bearing: -141.7451003865941 -[main_algo-3] [INFO] [1746051463.002740733] [sailbot.main_algo]: Heading Difference: -175.46489961340592 -[main_algo-3] [INFO] [1746051463.003365166] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051463.003769250] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051463.004175541] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051463.005037621] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051463.043663895] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051463.043989624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051463.044195560] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051463.044850875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051463.045403785] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051463.084406044] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051463.085376105] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051463.085652771] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051463.086254677] [sailbot.teensy]: Wind angle: 161 -[teensy-2] [INFO] [1746051463.086668306] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051463.087033898] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051463.087388875] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051463.143619315] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051463.144023418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051463.144112027] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051463.144845523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051463.145364627] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051463.243629552] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051463.243955749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051463.244131872] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051463.244981074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051463.245472321] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051463.334468237] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051463.335797689] [sailbot.teensy]: Wind angle: 161 -[teensy-2] [INFO] [1746051463.336778236] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051463.336521881] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051463.337127264] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051463.337624870] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051463.338418814] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051463.343917669] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051463.344679466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051463.345082851] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051463.346307895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051463.346784328] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051463.445328315] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051463.446204775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051463.446802786] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051463.447880535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051463.448343629] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051463.458075083] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051463.459335668] [sailbot.main_algo]: Target Bearing: -141.7451003865941 -[main_algo-3] [INFO] [1746051463.460314882] [sailbot.main_algo]: Heading Difference: -175.51189961340594 -[main_algo-3] [INFO] [1746051463.461669771] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051463.462567855] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051463.463431909] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051463.465103896] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051463.465271089] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051463.502553921] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690435 Long: -76.50277632 -[main_algo-3] [INFO] [1746051463.503477534] [sailbot.main_algo]: Distance to destination: 56.39918238762353 -[vectornav-1] [INFO] [1746051463.503680216] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.339, -0.796, 5.626) -[main_algo-3] [INFO] [1746051463.504654508] [sailbot.main_algo]: Target Bearing: -141.77031631799827 -[main_algo-3] [INFO] [1746051463.505618698] [sailbot.main_algo]: Heading Difference: -175.48668368200174 -[main_algo-3] [INFO] [1746051463.507068443] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051463.508045685] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051463.508912691] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051463.510485466] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051463.545021513] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051463.545747114] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051463.546358146] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051463.547628507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051463.548798734] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051463.585163547] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051463.586676507] [sailbot.teensy]: Wind angle: 161 -[trim_sail-4] [INFO] [1746051463.587498057] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051463.587548985] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051463.588465043] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051463.589239458] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051463.589340731] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051463.644855174] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051463.645770798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051463.645992263] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051463.647694626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051463.648712725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051463.745012067] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051463.745883440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051463.746379317] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051463.747755439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051463.748311397] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051463.835517895] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051463.837455654] [sailbot.teensy]: Wind angle: 162 -[trim_sail-4] [INFO] [1746051463.838088404] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051463.838471626] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051463.839360408] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051463.839383259] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051463.840339028] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051463.844425100] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051463.844944528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051463.845487530] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051463.846629192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051463.847600583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051463.945023475] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051463.945759364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051463.946369729] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051463.947759070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051463.948908931] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051463.957460908] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051463.958417993] [sailbot.main_algo]: Target Bearing: -141.77031631799827 -[main_algo-3] [INFO] [1746051463.959239660] [sailbot.main_algo]: Heading Difference: -175.89068368200174 -[main_algo-3] [INFO] [1746051463.960478337] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051463.961295006] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051463.962146696] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051463.963750618] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051463.963820916] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051464.001807545] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904351 Long: -76.50277602 -[main_algo-3] [INFO] [1746051464.002478306] [sailbot.main_algo]: Distance to destination: 56.41899006612212 -[vectornav-1] [INFO] [1746051464.002518974] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.182000000000016, -0.445, 5.803) -[main_algo-3] [INFO] [1746051464.003338381] [sailbot.main_algo]: Target Bearing: -141.78529022765417 -[main_algo-3] [INFO] [1746051464.004108394] [sailbot.main_algo]: Heading Difference: -175.87570977234583 -[main_algo-3] [INFO] [1746051464.005315224] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051464.006037072] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051464.006682683] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051464.008181340] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051464.044569492] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051464.045028124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051464.045661435] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051464.046650913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051464.047677996] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051464.085411308] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051464.087408352] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051464.087963299] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051464.088438202] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051464.089331708] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051464.089706589] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051464.090237796] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051464.145017678] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051464.145881297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051464.146371952] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051464.147792343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051464.148786844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051464.244752176] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051464.245259139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051464.245914901] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051464.246990050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051464.248028567] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051464.335293402] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051464.336954577] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051464.337472085] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051464.338313586] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051464.339189795] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051464.340176179] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051464.341058099] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051464.344375057] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051464.345017505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051464.345452579] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051464.346800415] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051464.347917002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051464.445142521] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051464.445813985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051464.446468758] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051464.447784473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051464.448797166] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051464.457702567] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051464.458795151] [sailbot.main_algo]: Target Bearing: -141.78529022765417 -[main_algo-3] [INFO] [1746051464.459756590] [sailbot.main_algo]: Heading Difference: -174.0327097723458 -[main_algo-3] [INFO] [1746051464.461145937] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051464.461994269] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051464.462778356] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051464.464299283] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051464.464465874] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051464.502734650] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904365 Long: -76.50277564 -[main_algo-3] [INFO] [1746051464.503624328] [sailbot.main_algo]: Distance to destination: 56.45302623854235 -[vectornav-1] [INFO] [1746051464.503829350] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.567999999999984, 0.066, 5.834) -[main_algo-3] [INFO] [1746051464.504752427] [sailbot.main_algo]: Target Bearing: -141.79312129184336 -[main_algo-3] [INFO] [1746051464.505747695] [sailbot.main_algo]: Heading Difference: -174.02487870815662 -[main_algo-3] [INFO] [1746051464.507180505] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051464.508081138] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051464.508968098] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051464.510649191] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051464.545667559] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051464.545671588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051464.547062294] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051464.547503755] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051464.548710486] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051464.585403572] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051464.587648758] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051464.588309532] [sailbot.teensy]: Wind angle: 162 -[mux-7] [INFO] [1746051464.588975289] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051464.589279050] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051464.590167108] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051464.591038673] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051464.644962082] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051464.645728283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051464.646541149] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051464.647563506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051464.648038169] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051464.744968747] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051464.745657353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051464.746534843] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051464.747601848] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051464.748689440] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051464.835130743] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051464.836913711] [sailbot.teensy]: Wind angle: 162 -[trim_sail-4] [INFO] [1746051464.837255560] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051464.837864690] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051464.838754401] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051464.838845565] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051464.839646144] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051464.844357351] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051464.845042334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051464.845514939] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051464.846760010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051464.847905615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051464.945180022] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051464.946072650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051464.946966980] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051464.948647833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051464.949162596] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051464.957686411] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051464.958734501] [sailbot.main_algo]: Target Bearing: -141.79312129184336 -[main_algo-3] [INFO] [1746051464.959686167] [sailbot.main_algo]: Heading Difference: -173.63887870815665 -[main_algo-3] [INFO] [1746051464.961098342] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051464.962028757] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051464.962839758] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051464.964487948] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051464.964510524] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051465.003023450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904361 Long: -76.50277539 -[vectornav-1] [INFO] [1746051465.004513084] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.08699999999999, 0.117, 5.222) -[main_algo-3] [INFO] [1746051465.004004216] [sailbot.main_algo]: Distance to destination: 56.46614410688054 -[main_algo-3] [INFO] [1746051465.005232031] [sailbot.main_algo]: Target Bearing: -141.8098020590554 -[main_algo-3] [INFO] [1746051465.007086646] [sailbot.main_algo]: Heading Difference: -173.6221979409446 -[main_algo-3] [INFO] [1746051465.008752810] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051465.010700532] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051465.011617378] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051465.013354833] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051465.044978719] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051465.045636033] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051465.046232748] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051465.047428382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051465.048604161] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051465.085278801] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051465.087343591] [sailbot.teensy]: Wind angle: 163 -[teensy-2] [INFO] [1746051465.088294421] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051465.087805837] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051465.088674701] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051465.089532874] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051465.090485735] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051465.144944802] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051465.145669993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051465.146198306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051465.147648190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051465.148689584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051465.245165048] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051465.245722044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051465.246599201] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051465.247629321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051465.248713725] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051465.335725385] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051465.337893206] [sailbot.teensy]: Wind angle: 163 -[trim_sail-4] [INFO] [1746051465.338994173] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051465.339441919] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051465.339661590] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051465.339829444] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051465.340254648] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051465.344499542] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051465.345059224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051465.345637907] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051465.346831424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051465.347952679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051465.445381323] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051465.446134489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051465.447550368] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051465.448211704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051465.449418273] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051465.457782037] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051465.458871554] [sailbot.main_algo]: Target Bearing: -141.8098020590554 -[main_algo-3] [INFO] [1746051465.459815209] [sailbot.main_algo]: Heading Difference: -173.1031979409446 -[main_algo-3] [INFO] [1746051465.461227404] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051465.462145645] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051465.462959457] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051465.464488978] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051465.464537660] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051465.502726110] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904359 Long: -76.5027756 -[main_algo-3] [INFO] [1746051465.503870527] [sailbot.main_algo]: Distance to destination: 56.451361119302526 -[vectornav-1] [INFO] [1746051465.503932892] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.091999999999985, -1.073, 6.184) -[main_algo-3] [INFO] [1746051465.505039587] [sailbot.main_algo]: Target Bearing: -141.80047152447682 -[main_algo-3] [INFO] [1746051465.506085064] [sailbot.main_algo]: Heading Difference: -173.11252847552316 -[main_algo-3] [INFO] [1746051465.507513567] [sailbot.main_algo]: Wind Direction: 163 -[main_algo-3] [INFO] [1746051465.508404013] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051465.509261174] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051465.510917881] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051465.545029935] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051465.545760524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051465.546526620] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051465.547700360] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051465.548762885] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051465.585202667] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051465.587324564] [sailbot.teensy]: Wind angle: 164 -[trim_sail-4] [INFO] [1746051465.587687248] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051465.587854219] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051465.588297700] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051465.589201986] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051465.590057047] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051465.644986716] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051465.645686637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051465.646281621] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051465.647497675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051465.648545853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051465.745358490] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051465.745939641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051465.747457072] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051465.747986900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051465.749211170] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051465.835545695] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051465.838285762] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051465.838685173] [sailbot.teensy]: Wind angle: 164 -[mux-7] [INFO] [1746051465.839124648] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051465.839606895] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051465.840585205] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051465.841548190] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051465.844465292] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051465.844968582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051465.845673016] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051465.846703404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051465.847904635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051465.944132835] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051465.944514295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051465.946205175] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051465.948020450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051465.949028816] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051465.956765402] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051465.957473090] [sailbot.main_algo]: Target Bearing: -141.80047152447682 -[main_algo-3] [INFO] [1746051465.958341304] [sailbot.main_algo]: Heading Difference: -173.10752847552317 -[main_algo-3] [INFO] [1746051465.959594296] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051465.960547929] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051465.961521392] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051465.963239927] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051465.963431867] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051466.001689758] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904352 Long: -76.5027753 -[main_algo-3] [INFO] [1746051466.002299652] [sailbot.main_algo]: Distance to destination: 56.465561652575566 -[vectornav-1] [INFO] [1746051466.002406776] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.678999999999974, 0.031, 4.664) -[main_algo-3] [INFO] [1746051466.003048521] [sailbot.main_algo]: Target Bearing: -141.8224074669977 -[main_algo-3] [INFO] [1746051466.003791627] [sailbot.main_algo]: Heading Difference: -173.08559253300234 -[main_algo-3] [INFO] [1746051466.005010259] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051466.005903732] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051466.006780141] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051466.008173968] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051466.044673402] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051466.045336557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051466.046174111] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051466.047065622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051466.048099925] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051466.085319064] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051466.086953991] [sailbot.teensy]: Wind angle: 164 -[teensy-2] [INFO] [1746051466.087845024] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051466.088745531] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051466.087910647] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051466.089155187] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051466.089764473] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051466.144597361] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051466.145225485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051466.145707886] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051466.146946913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051466.148091104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051466.245062696] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051466.245875049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051466.246552256] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051466.247734990] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051466.248804805] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051466.335273518] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051466.336927779] [sailbot.teensy]: Wind angle: 164 -[trim_sail-4] [INFO] [1746051466.337473185] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051466.338004727] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051466.338862417] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051466.339135670] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051466.339237797] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051466.344371422] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051466.344796342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051466.345749627] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051466.346489859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051466.347641946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051466.444945885] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051466.445757875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051466.446208634] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051466.447539497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051466.448583511] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051466.457675190] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051466.458722327] [sailbot.main_algo]: Target Bearing: -141.8224074669977 -[main_algo-3] [INFO] [1746051466.459661218] [sailbot.main_algo]: Heading Difference: -172.49859253300235 -[main_algo-3] [INFO] [1746051466.460999252] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051466.461867742] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051466.462687247] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051466.464333344] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051466.464453626] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051466.502819054] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904342 Long: -76.50277506 -[main_algo-3] [INFO] [1746051466.503763255] [sailbot.main_algo]: Distance to destination: 56.47384135775129 -[vectornav-1] [INFO] [1746051466.504096887] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.0, -0.327, 6.022) -[main_algo-3] [INFO] [1746051466.505454250] [sailbot.main_algo]: Target Bearing: -141.8437916037651 -[main_algo-3] [INFO] [1746051466.506424367] [sailbot.main_algo]: Heading Difference: -172.47720839623491 -[main_algo-3] [INFO] [1746051466.507750953] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051466.508639956] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051466.509490948] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051466.511115426] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051466.544946654] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051466.545627043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051466.546809153] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051466.547425449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051466.548683707] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051466.585241101] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051466.587397626] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051466.587655592] [sailbot.teensy]: Wind angle: 166 -[mux-7] [INFO] [1746051466.588188413] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051466.588605619] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051466.589555373] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051466.590410516] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051466.645054009] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051466.645610178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051466.646549843] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051466.647490852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051466.648616130] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051466.745305819] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051466.746226639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051466.746777464] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051466.748301417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051466.749360442] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051466.835167452] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051466.837031869] [sailbot.teensy]: Wind angle: 167 -[trim_sail-4] [INFO] [1746051466.837155420] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051466.837977188] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051466.838487621] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051466.838892618] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051466.839781819] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051466.844361862] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051466.844857366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051466.845478958] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051466.846511472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051466.847621072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051466.945057953] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051466.945837086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051466.946409636] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051466.947724234] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051466.948818186] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051466.957485108] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051466.958469021] [sailbot.main_algo]: Target Bearing: -141.8437916037651 -[main_algo-3] [INFO] [1746051466.959367316] [sailbot.main_algo]: Heading Difference: -172.1562083962349 -[main_algo-3] [INFO] [1746051466.960601471] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051466.961501212] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051466.962323043] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051466.963926497] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051466.963946216] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051467.002888217] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904323 Long: -76.50277499 -[main_algo-3] [INFO] [1746051467.003717908] [sailbot.main_algo]: Distance to destination: 56.464978685305255 -[vectornav-1] [INFO] [1746051467.004078806] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.358000000000004, -0.283, 5.671) -[main_algo-3] [INFO] [1746051467.004962350] [sailbot.main_algo]: Target Bearing: -141.86408019921572 -[main_algo-3] [INFO] [1746051467.005935844] [sailbot.main_algo]: Heading Difference: -172.13591980078428 -[main_algo-3] [INFO] [1746051467.007303914] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051467.008230810] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051467.009100617] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051467.010832879] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051467.044913009] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051467.045630633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051467.047313801] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051467.047939821] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051467.049135656] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051467.084899363] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051467.087044115] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051467.087725118] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051467.089689508] [sailbot.teensy]: Wind angle: 168 -[teensy-2] [INFO] [1746051467.090746699] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051467.091803777] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051467.092980172] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051467.145010312] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051467.145733617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051467.146270815] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051467.147612017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051467.148656161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051467.244938105] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051467.245516107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051467.246215540] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051467.247387460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051467.248477554] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051467.335386311] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051467.337201672] [sailbot.teensy]: Wind angle: 168 -[teensy-2] [INFO] [1746051467.338307142] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051467.337978747] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051467.339220743] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051467.339372537] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051467.340273021] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051467.344502202] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051467.344961080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051467.345597563] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051467.346617859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051467.347748414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051467.445173308] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051467.445908561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051467.446613173] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051467.447966853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051467.449059596] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051467.457645568] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051467.458694082] [sailbot.main_algo]: Target Bearing: -141.86408019921572 -[main_algo-3] [INFO] [1746051467.459625025] [sailbot.main_algo]: Heading Difference: -171.77791980078428 -[main_algo-3] [INFO] [1746051467.461001257] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051467.461885539] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051467.462682505] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051467.464246281] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051467.464280828] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051467.503115180] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904309 Long: -76.50277512 -[main_algo-3] [INFO] [1746051467.504110439] [sailbot.main_algo]: Distance to destination: 56.44687327330706 -[vectornav-1] [INFO] [1746051467.504667926] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.63499999999999, 0.056, 5.205) -[main_algo-3] [INFO] [1746051467.505385795] [sailbot.main_algo]: Target Bearing: -141.86946895499906 -[main_algo-3] [INFO] [1746051467.506424375] [sailbot.main_algo]: Heading Difference: -171.77253104500096 -[main_algo-3] [INFO] [1746051467.507832254] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051467.508735021] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051467.509578038] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051467.511302841] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051467.544988818] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051467.546303108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051467.546404153] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051467.548272195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051467.549430828] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051467.585494472] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051467.587305103] [sailbot.teensy]: Wind angle: 168 -[trim_sail-4] [INFO] [1746051467.588010710] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051467.588260621] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051467.589374300] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051467.589382127] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051467.590265188] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051467.645260041] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051467.645753779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051467.646674581] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051467.647760184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051467.648839783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051467.745335512] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051467.745855833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051467.746979724] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051467.747986030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051467.748818262] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051467.835556263] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051467.837994306] [sailbot.teensy]: Wind angle: 168 -[trim_sail-4] [INFO] [1746051467.838586412] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051467.838744102] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051467.839121080] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051467.839133106] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051467.839529494] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051467.844394057] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051467.845039995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051467.845727679] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051467.846722696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051467.847784419] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051467.945432718] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051467.946185505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051467.947215302] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051467.948072505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051467.948625913] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051467.957656272] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051467.958682588] [sailbot.main_algo]: Target Bearing: -141.86946895499906 -[main_algo-3] [INFO] [1746051467.959570242] [sailbot.main_algo]: Heading Difference: -171.49553104500092 -[main_algo-3] [INFO] [1746051467.960908459] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051467.961783459] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051467.962620248] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051467.964191566] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051467.964332573] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051468.003058269] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690429 Long: -76.5027751 -[main_algo-3] [INFO] [1746051468.003788947] [sailbot.main_algo]: Distance to destination: 56.43483034910746 -[vectornav-1] [INFO] [1746051468.004490248] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.39100000000002, -1.088, 7.165) -[main_algo-3] [INFO] [1746051468.004903843] [sailbot.main_algo]: Target Bearing: -141.88713753151728 -[main_algo-3] [INFO] [1746051468.005900331] [sailbot.main_algo]: Heading Difference: -171.47786246848273 -[main_algo-3] [INFO] [1746051468.007337198] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051468.008368120] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051468.009319606] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051468.011141022] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051468.044053451] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051468.044662613] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051468.046027268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051468.044963346] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051468.047132673] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051468.084528384] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051468.085683139] [sailbot.teensy]: Wind angle: 168 -[teensy-2] [INFO] [1746051468.086497782] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051468.086743748] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051468.087267129] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051468.088070785] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051468.087548938] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051468.144999063] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051468.145675125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051468.146279272] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051468.147470505] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051468.148402601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051468.244870329] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051468.245457180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051468.246152172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051468.247241188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051468.248408682] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051468.335073486] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051468.337322715] [sailbot.teensy]: Wind angle: 168 -[trim_sail-4] [INFO] [1746051468.337382185] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051468.338297102] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051468.338978742] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051468.339045059] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051468.339374555] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051468.344396943] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051468.344891656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051468.345501796] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051468.346711818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051468.347755900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051468.444680015] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051468.445321828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051468.445854159] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051468.447148202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051468.448363595] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051468.457672710] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051468.458698147] [sailbot.main_algo]: Target Bearing: -141.88713753151728 -[main_algo-3] [INFO] [1746051468.459640773] [sailbot.main_algo]: Heading Difference: -171.7218624684827 -[main_algo-3] [INFO] [1746051468.460978980] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051468.461816139] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051468.462625676] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051468.464163115] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051468.464220593] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051468.502899427] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690427 Long: -76.50277475 -[main_algo-3] [INFO] [1746051468.503794923] [sailbot.main_algo]: Distance to destination: 56.44314879888789 -[vectornav-1] [INFO] [1746051468.504096609] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.92599999999999, -0.702, 5.195) -[main_algo-3] [INFO] [1746051468.504897479] [sailbot.main_algo]: Target Bearing: -141.92306294028668 -[main_algo-3] [INFO] [1746051468.505845145] [sailbot.main_algo]: Heading Difference: -171.6859370597133 -[main_algo-3] [INFO] [1746051468.507297516] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051468.508205692] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051468.509059933] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051468.510754723] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051468.545447714] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051468.545541213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051468.546687895] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051468.547935244] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051468.548963688] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051468.585352885] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051468.586960018] [sailbot.teensy]: Wind angle: 170 -[trim_sail-4] [INFO] [1746051468.587491293] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051468.587847113] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051468.588696370] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051468.589016321] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051468.589666692] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051468.645216152] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051468.646321284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051468.646945362] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051468.648045335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051468.648480769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051468.744894518] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051468.745699182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051468.746301308] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051468.747523147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051468.748464533] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051468.835508993] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051468.837767014] [sailbot.teensy]: Wind angle: 176 -[trim_sail-4] [INFO] [1746051468.838074462] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051468.838799199] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051468.839284292] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051468.839672218] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051468.840439491] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051468.844540327] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051468.845020537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051468.845837321] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051468.846690914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051468.847860242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051468.945195796] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051468.946041391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051468.946694260] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051468.948496544] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051468.949654871] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051468.957528512] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051468.958491623] [sailbot.main_algo]: Target Bearing: -141.92306294028668 -[main_algo-3] [INFO] [1746051468.959381682] [sailbot.main_algo]: Heading Difference: -170.15093705971333 -[main_algo-3] [INFO] [1746051468.960707317] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051468.961587953] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051468.962372767] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051468.963876428] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051468.963912514] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051469.003950725] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904285 Long: -76.5027746 -[main_algo-3] [INFO] [1746051469.003993975] [sailbot.main_algo]: Distance to destination: 56.46322583119941 -[main_algo-3] [INFO] [1746051469.005205675] [sailbot.main_algo]: Target Bearing: -141.91783436803868 -[vectornav-1] [INFO] [1746051469.005424269] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.846000000000004, 0.947, 4.451) -[main_algo-3] [INFO] [1746051469.006275406] [sailbot.main_algo]: Heading Difference: -170.15616563196136 -[main_algo-3] [INFO] [1746051469.007720943] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051469.008635438] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051469.009478189] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051469.011202136] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051469.045003477] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051469.045661003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051469.046250309] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051469.047466624] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051469.048590535] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051469.085461372] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051469.087804429] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051469.088814884] [sailbot.teensy]: Wind angle: 181 -[mux-7] [INFO] [1746051469.089234468] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051469.089882082] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051469.090860829] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051469.091722053] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051469.145093970] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051469.145913913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051469.146480223] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051469.147867124] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051469.148763568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051469.244925938] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051469.245598053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051469.246217884] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051469.247639368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051469.248745776] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051469.335336046] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051469.337115201] [sailbot.teensy]: Wind angle: 182 -[teensy-2] [INFO] [1746051469.338073027] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051469.337594518] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051469.338112510] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051469.339020689] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051469.339886410] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051469.344422053] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051469.345021733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051469.345487725] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051469.346706355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051469.347828695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051469.445208255] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051469.446241362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051469.446740580] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051469.448461351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051469.449695437] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051469.457643112] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051469.458682389] [sailbot.main_algo]: Target Bearing: -141.91783436803868 -[main_algo-3] [INFO] [1746051469.459572377] [sailbot.main_algo]: Heading Difference: -171.23616563196128 -[main_algo-3] [INFO] [1746051469.460904374] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051469.461789045] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051469.462650901] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051469.464480557] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051469.464501008] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051469.502904475] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904256 Long: -76.50277461 -[main_algo-3] [INFO] [1746051469.503777235] [sailbot.main_algo]: Distance to destination: 56.44228214383122 -[main_algo-3] [INFO] [1746051469.505074775] [sailbot.main_algo]: Target Bearing: -141.94268122919803 -[vectornav-1] [INFO] [1746051469.505904149] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.63799999999998, -1.193, 6.702) -[main_algo-3] [INFO] [1746051469.506057211] [sailbot.main_algo]: Heading Difference: -171.211318770802 -[main_algo-3] [INFO] [1746051469.507512217] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051469.508436184] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051469.509295916] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051469.510982176] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051469.544948111] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051469.545580878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051469.546203347] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051469.547555445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051469.548567080] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051469.585240196] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051469.586951405] [sailbot.teensy]: Wind angle: 182 -[trim_sail-4] [INFO] [1746051469.587468067] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051469.587890276] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051469.588849518] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051469.589743231] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051469.589845308] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051469.645102945] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051469.646317507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051469.646606736] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051469.648231191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051469.649268150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051469.745267358] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051469.746517765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051469.746900313] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051469.748627125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051469.749735763] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051469.835497733] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051469.837772743] [sailbot.teensy]: Wind angle: 183 -[trim_sail-4] [INFO] [1746051469.837915116] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051469.838747742] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051469.839029157] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051469.839136975] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051469.839499296] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051469.844621463] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051469.845180952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051469.845792913] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051469.847022825] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051469.848036171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051469.945188638] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051469.945974280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051469.946723267] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051469.948089353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051469.949265999] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051469.957477657] [sailbot.main_algo]: Wind Direction: 183 -[main_algo-3] [INFO] [1746051469.958431000] [sailbot.main_algo]: Target Bearing: -141.94268122919803 -[main_algo-3] [INFO] [1746051469.959320379] [sailbot.main_algo]: Heading Difference: -171.41931877080197 -[main_algo-3] [INFO] [1746051469.960563908] [sailbot.main_algo]: Wind Direction: 183 -[main_algo-3] [INFO] [1746051469.961377574] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051469.962171321] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051469.963702091] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051469.963722504] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051470.002774347] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904219 Long: -76.50277424 -[main_algo-3] [INFO] [1746051470.003699507] [sailbot.main_algo]: Distance to destination: 56.44002355893609 -[vectornav-1] [INFO] [1746051470.003901262] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.35899999999998, -1.072, 5.634) -[main_algo-3] [INFO] [1746051470.004981424] [sailbot.main_algo]: Target Bearing: -141.99453243604498 -[main_algo-3] [INFO] [1746051470.006044826] [sailbot.main_algo]: Heading Difference: -171.36746756395507 -[main_algo-3] [INFO] [1746051470.007421534] [sailbot.main_algo]: Wind Direction: 183 -[main_algo-3] [INFO] [1746051470.008361717] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051470.009231403] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051470.010969549] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051470.045007069] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051470.045661415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051470.046344866] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051470.047703766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051470.048737186] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051470.085706893] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051470.088520055] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051470.089448921] [sailbot.teensy]: Wind angle: 184 -[teensy-2] [INFO] [1746051470.090398301] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051470.090403898] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051470.091410248] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051470.092384042] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051470.144250787] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051470.144716329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051470.145153838] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051470.148077919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051470.149224366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051470.245342940] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051470.246083558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051470.246816633] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051470.248219162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051470.249417280] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051470.335518518] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051470.337390741] [sailbot.teensy]: Wind angle: 184 -[trim_sail-4] [INFO] [1746051470.337952252] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051470.338353022] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051470.339261360] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051470.339801010] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051470.340114878] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051470.344347635] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051470.344804961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051470.345532307] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051470.346529287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051470.347676349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051470.445432335] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051470.446006244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051470.447031642] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051470.448089468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051470.449407599] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051470.457690634] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051470.458736284] [sailbot.main_algo]: Target Bearing: -141.99453243604498 -[main_algo-3] [INFO] [1746051470.459623647] [sailbot.main_algo]: Heading Difference: -168.64646756395507 -[main_algo-3] [INFO] [1746051470.460968592] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051470.461853616] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051470.462693612] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051470.464267122] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051470.464385066] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051470.502540562] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904215 Long: -76.5027741 -[vectornav-1] [INFO] [1746051470.503563666] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.20600000000002, 0.584, 4.942) -[main_algo-3] [INFO] [1746051470.503609413] [sailbot.main_algo]: Distance to destination: 56.44617092647417 -[main_algo-3] [INFO] [1746051470.504639239] [sailbot.main_algo]: Target Bearing: -142.00539216648667 -[main_algo-3] [INFO] [1746051470.505601733] [sailbot.main_algo]: Heading Difference: -168.63560783351335 -[main_algo-3] [INFO] [1746051470.506969210] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051470.507862276] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051470.508763433] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051470.510633427] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051470.545044509] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051470.545611905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051470.546392301] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051470.547411264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051470.548531709] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051470.585169438] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051470.587061910] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051470.587322887] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051470.587943418] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051470.588449166] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051470.588809002] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051470.589711235] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051470.644942973] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051470.645740899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051470.646304534] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051470.649218472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051470.650237319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051470.745157423] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051470.745881017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051470.746551587] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051470.748135444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051470.749325078] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051470.835341379] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051470.837726592] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051470.838338389] [sailbot.teensy]: Wind angle: 189 -[mux-7] [INFO] [1746051470.838424372] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051470.839327838] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051470.839804427] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051470.840142906] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051470.844442526] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051470.844929793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051470.845687914] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051470.846623400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051470.847689670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051470.945152758] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051470.945829389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051470.946572542] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051470.947864727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051470.948702970] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051470.957632597] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051470.958680257] [sailbot.main_algo]: Target Bearing: -142.00539216648667 -[main_algo-3] [INFO] [1746051470.959562870] [sailbot.main_algo]: Heading Difference: -169.7886078335133 -[main_algo-3] [INFO] [1746051470.960783411] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051470.961596587] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051470.962396050] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051470.963916440] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051470.963940634] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051471.003192001] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904187 Long: -76.50277424 -[main_algo-3] [INFO] [1746051471.004312788] [sailbot.main_algo]: Distance to destination: 56.41765524495916 -[vectornav-1] [INFO] [1746051471.004546742] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.894000000000005, -0.348, 5.726) -[main_algo-3] [INFO] [1746051471.005910956] [sailbot.main_algo]: Target Bearing: -142.02257313917707 -[main_algo-3] [INFO] [1746051471.006925728] [sailbot.main_algo]: Heading Difference: -169.77142686082288 -[main_algo-3] [INFO] [1746051471.008348353] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051471.009244237] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051471.010090483] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051471.011798612] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051471.045072088] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051471.045835438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051471.046480499] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051471.048008248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051471.049001672] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051471.085611537] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051471.087571005] [sailbot.teensy]: Wind angle: 189 -[teensy-2] [INFO] [1746051471.088568412] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051471.088433537] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051471.089435847] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051471.089471781] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051471.090318199] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051471.145217194] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051471.145945221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051471.146750394] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051471.148265014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051471.148786225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051471.245167618] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051471.246053695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051471.246702496] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051471.247994272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051471.248616697] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051471.335630376] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051471.337671772] [sailbot.teensy]: Wind angle: 189 -[trim_sail-4] [INFO] [1746051471.338687967] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051471.339725535] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051471.339725655] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051471.340679987] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051471.341547853] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051471.344453172] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051471.345102721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051471.346101262] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051471.346913323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051471.347979797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051471.445444160] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051471.446040721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051471.447065070] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051471.448447687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051471.449649699] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051471.457825606] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051471.458850665] [sailbot.main_algo]: Target Bearing: -142.02257313917707 -[main_algo-3] [INFO] [1746051471.459750091] [sailbot.main_algo]: Heading Difference: -170.0834268608229 -[main_algo-3] [INFO] [1746051471.461110172] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051471.461992364] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051471.462838160] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051471.464524892] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051471.464642875] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051471.502825810] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904161 Long: -76.50277421 -[vectornav-1] [INFO] [1746051471.504295330] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.922000000000025, -0.074, 5.881) -[main_algo-3] [INFO] [1746051471.504592064] [sailbot.main_algo]: Distance to destination: 56.40140875380687 -[main_algo-3] [INFO] [1746051471.505816444] [sailbot.main_algo]: Target Bearing: -142.04694847860296 -[main_algo-3] [INFO] [1746051471.506832909] [sailbot.main_algo]: Heading Difference: -170.059051521397 -[main_algo-3] [INFO] [1746051471.508265491] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051471.509166804] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051471.510100412] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051471.511944933] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051471.545040966] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051471.545626582] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051471.546359357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051471.547540253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051471.548766664] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051471.585174720] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051471.586910469] [sailbot.teensy]: Wind angle: 188 -[trim_sail-4] [INFO] [1746051471.587411989] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051471.587848017] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051471.588818626] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051471.589608542] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051471.589689515] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051471.645090794] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051471.645569253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051471.646997089] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051471.647663547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051471.648731546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051471.745454858] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051471.747127139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051471.747166907] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051471.749240684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051471.750271260] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051471.835131357] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051471.837305794] [sailbot.teensy]: Wind angle: 189 -[trim_sail-4] [INFO] [1746051471.837792808] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051471.838255595] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051471.838465142] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051471.839013782] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051471.839392343] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051471.844592220] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051471.845582270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051471.846539673] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051471.847397884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051471.848595757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051471.945374426] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051471.946169770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051471.946863111] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051471.948569966] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051471.949709373] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051471.957529412] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051471.958560004] [sailbot.main_algo]: Target Bearing: -142.04694847860296 -[main_algo-3] [INFO] [1746051471.959472340] [sailbot.main_algo]: Heading Difference: -170.031051521397 -[main_algo-3] [INFO] [1746051471.960722682] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051471.961589434] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051471.962414197] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051471.963951940] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051471.964035243] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051472.002763209] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904141 Long: -76.50277414 -[main_algo-3] [INFO] [1746051472.003720636] [sailbot.main_algo]: Distance to destination: 56.39191892919381 -[vectornav-1] [INFO] [1746051472.003909317] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.24200000000002, -1.329, 4.894) -[main_algo-3] [INFO] [1746051472.004991032] [sailbot.main_algo]: Target Bearing: -142.06817249257156 -[main_algo-3] [INFO] [1746051472.005945059] [sailbot.main_algo]: Heading Difference: -170.00982750742844 -[main_algo-3] [INFO] [1746051472.007307686] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051472.008209222] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051472.009078684] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051472.010764473] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051472.044988189] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051472.045775670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051472.046276940] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051472.047648317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051472.048730349] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051472.085227638] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051472.086822650] [sailbot.teensy]: Wind angle: 188 -[trim_sail-4] [INFO] [1746051472.087342741] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051472.087824297] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051472.088742047] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051472.089159849] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051472.089630420] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051472.144944609] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051472.145677168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051472.146224589] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051472.147576540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051472.148651140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051472.244737364] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051472.245339612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051472.245938788] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051472.247175015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051472.248092205] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051472.335262983] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051472.336967793] [sailbot.teensy]: Wind angle: 188 -[trim_sail-4] [INFO] [1746051472.337506545] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051472.337921902] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051472.338741247] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051472.338804645] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051472.339674507] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051472.344405158] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051472.344868981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051472.345496205] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051472.346538977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051472.347689173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051472.445311229] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051472.445932853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051472.446813048] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051472.448258252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051472.449430125] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051472.457661422] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051472.459206039] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746051472.460168700] [sailbot.main_algo]: Target Bearing: -142.06817249257156 -[main_algo-3] [INFO] [1746051472.461075760] [sailbot.main_algo]: Heading Difference: -169.6898275074284 -[main_algo-3] [INFO] [1746051472.462330766] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051472.463124778] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051472.463895049] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051472.465635643] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051472.465853542] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051472.502640563] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904147 Long: -76.50277388 -[main_algo-3] [INFO] [1746051472.503642364] [sailbot.main_algo]: Distance to destination: 56.41273435852845 -[vectornav-1] [INFO] [1746051472.503722780] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.50999999999999, 0.118, 5.481) -[main_algo-3] [INFO] [1746051472.505083927] [sailbot.main_algo]: Target Bearing: -142.07655724503292 -[main_algo-3] [INFO] [1746051472.506294808] [sailbot.main_algo]: Heading Difference: -169.68144275496707 -[main_algo-3] [INFO] [1746051472.507720792] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051472.508634529] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051472.509502881] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051472.511088561] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051472.544951669] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051472.545654593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051472.546201280] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051472.547548454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051472.548583038] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051472.585292924] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051472.587192503] [sailbot.teensy]: Wind angle: 187 -[trim_sail-4] [INFO] [1746051472.587925086] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051472.588171151] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051472.588495775] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051472.589149497] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051472.590089481] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051472.645056920] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051472.645804887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051472.646536042] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051472.647749171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051472.649036701] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051472.745383801] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051472.746209151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051472.747634314] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051472.748443564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051472.749744344] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051472.835338839] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051472.837598352] [sailbot.teensy]: Wind angle: 182 -[trim_sail-4] [INFO] [1746051472.837712437] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051472.838523395] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051472.839772044] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051472.840181192] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051472.840545380] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051472.844288949] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051472.844893234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051472.845420025] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051472.846608864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051472.847724311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051472.944824781] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051472.945436987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051472.946126537] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051472.947266117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051472.948347726] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051472.957696958] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051472.959211131] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746051472.960477534] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051472.961691114] [sailbot.main_algo]: Current Location: (42.46904147214754, -76.50277388005443) -[main_algo-3] [INFO] [1746051472.962546531] [sailbot.main_algo]: Target Bearing: -142.07655724503292 -[main_algo-3] [INFO] [1746051472.963353410] [sailbot.main_algo]: Heading Difference: -168.4134427549671 -[main_algo-3] [INFO] [1746051472.964572977] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051472.965358734] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051472.966123202] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051472.967669967] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051472.967731092] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051473.002774948] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904127 Long: -76.50277367 -[main_algo-3] [INFO] [1746051473.003785671] [sailbot.main_algo]: Distance to destination: 56.412212079834376 -[vectornav-1] [INFO] [1746051473.003900637] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.35699999999997, 0.247, 6.643) -[main_algo-3] [INFO] [1746051473.005003342] [sailbot.main_algo]: Target Bearing: -142.10512643628323 -[main_algo-3] [INFO] [1746051473.005994799] [sailbot.main_algo]: Heading Difference: -168.38487356371678 -[main_algo-3] [INFO] [1746051473.007413080] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051473.008319484] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051473.009131881] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051473.010681700] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051473.045270783] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051473.045881631] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051473.046768529] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051473.047856895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051473.049011404] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051473.085472012] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051473.087328568] [sailbot.teensy]: Wind angle: 181 -[trim_sail-4] [INFO] [1746051473.088270884] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051473.088311462] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051473.089194241] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051473.089216122] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051473.090104365] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051473.145196658] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051473.145894688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051473.146672230] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051473.148049421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051473.149075939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051473.245226217] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051473.245830360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051473.246791605] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051473.247862350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051473.248940542] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051473.335284751] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051473.337666518] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051473.337765513] [sailbot.teensy]: Wind angle: 183 -[teensy-2] [INFO] [1746051473.338734437] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051473.338959261] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051473.339636699] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051473.340515406] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051473.344245041] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051473.344966041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051473.345310989] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051473.346646723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051473.347799121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051473.444954288] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051473.445736875] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051473.446506491] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051473.447601667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051473.448820577] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051473.457700020] [sailbot.main_algo]: Wind Direction: 183 -[main_algo-3] [INFO] [1746051473.458760537] [sailbot.main_algo]: Target Bearing: -142.10512643628323 -[main_algo-3] [INFO] [1746051473.459660315] [sailbot.main_algo]: Heading Difference: -168.5378735637168 -[main_algo-3] [INFO] [1746051473.460988781] [sailbot.main_algo]: Wind Direction: 183 -[main_algo-3] [INFO] [1746051473.461834199] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051473.462609876] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051473.464132323] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051473.464203349] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051473.502641549] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904102 Long: -76.50277359 -[main_algo-3] [INFO] [1746051473.503571871] [sailbot.main_algo]: Distance to destination: 56.399897501883764 -[vectornav-1] [INFO] [1746051473.504145747] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.952999999999975, -1.303, 5.324) -[main_algo-3] [INFO] [1746051473.504634625] [sailbot.main_algo]: Target Bearing: -142.1312714543118 -[main_algo-3] [INFO] [1746051473.505613391] [sailbot.main_algo]: Heading Difference: -168.51172854568824 -[main_algo-3] [INFO] [1746051473.507049491] [sailbot.main_algo]: Wind Direction: 183 -[main_algo-3] [INFO] [1746051473.507933596] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051473.508800749] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051473.510472107] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051473.545021645] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051473.545756159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051473.546274699] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051473.547722014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051473.548763260] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051473.585626819] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051473.588001075] [sailbot.teensy]: Wind angle: 184 -[teensy-2] [INFO] [1746051473.589028748] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051473.588643073] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051473.589695492] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051473.589908384] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051473.590829300] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051473.645090368] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051473.646055097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051473.646779371] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051473.647816741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051473.648381096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051473.744942231] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051473.745741626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051473.746680966] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051473.747648311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051473.748932185] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051473.835501201] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051473.837526699] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051473.838019864] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051473.838486322] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051473.839242170] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051473.839350767] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051473.840137824] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051473.844525929] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051473.845149472] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051473.845720292] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051473.846967687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051473.848022900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051473.945207278] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051473.945844683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051473.946602440] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051473.948722090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051473.949762929] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051473.957730146] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051473.958805617] [sailbot.main_algo]: Target Bearing: -142.1312714543118 -[main_algo-3] [INFO] [1746051473.959739024] [sailbot.main_algo]: Heading Difference: -166.91572854568824 -[main_algo-3] [INFO] [1746051473.961075982] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051473.962011311] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051473.962839599] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051473.964420353] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051473.964601988] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051474.003205767] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904118 Long: -76.50277355 -[main_algo-3] [INFO] [1746051474.004538888] [sailbot.main_algo]: Distance to destination: 56.413613431860384 -[vectornav-1] [INFO] [1746051474.004699529] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.182000000000016, -0.429, 5.464) -[main_algo-3] [INFO] [1746051474.006090189] [sailbot.main_algo]: Target Bearing: -142.11931986588817 -[main_algo-3] [INFO] [1746051474.007162514] [sailbot.main_algo]: Heading Difference: -166.92768013411182 -[main_algo-3] [INFO] [1746051474.008618619] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051474.009522898] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051474.010380631] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051474.012243429] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051474.045494088] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051474.045756880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051474.046797587] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051474.047610118] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051474.048711849] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051474.085601654] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051474.087781489] [sailbot.teensy]: Wind angle: 182 -[trim_sail-4] [INFO] [1746051474.088107659] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051474.089651256] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051474.090099804] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051474.090732220] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051474.091640157] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051474.144997345] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051474.145664010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051474.146285928] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051474.147452086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051474.148586123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051474.244506924] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051474.245109276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051474.245551344] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051474.246840874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051474.248829587] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051474.335166947] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051474.336710578] [sailbot.teensy]: Wind angle: 182 -[trim_sail-4] [INFO] [1746051474.337194532] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051474.337632078] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051474.338428741] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051474.338485312] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051474.339396619] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051474.344416418] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051474.345126624] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051474.345534635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051474.346942964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051474.347971264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051474.445476366] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051474.446147071] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051474.447026106] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051474.448677322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051474.449386497] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051474.457670778] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051474.458646742] [sailbot.main_algo]: Target Bearing: -142.11931986588817 -[main_algo-3] [INFO] [1746051474.459537796] [sailbot.main_algo]: Heading Difference: -167.69868013411178 -[main_algo-3] [INFO] [1746051474.460851433] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051474.461668659] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051474.462462495] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051474.464007417] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051474.464065190] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051474.502991657] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904111 Long: -76.50277337 -[main_algo-3] [INFO] [1746051474.503755784] [sailbot.main_algo]: Distance to destination: 56.42025285414447 -[vectornav-1] [INFO] [1746051474.504143966] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.608000000000004, 0.105, 5.367) -[main_algo-3] [INFO] [1746051474.504857429] [sailbot.main_algo]: Target Bearing: -142.13490143397453 -[main_algo-3] [INFO] [1746051474.505911762] [sailbot.main_algo]: Heading Difference: -167.68309856602548 -[main_algo-3] [INFO] [1746051474.507289149] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051474.508202294] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051474.509076216] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051474.510696383] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051474.544844041] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051474.545529601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051474.546133304] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051474.547352843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051474.548535799] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051474.585438975] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051474.588025458] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051474.588557053] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051474.589052221] [sailbot.teensy]: Wind angle: 181 -[teensy-2] [INFO] [1746051474.590022218] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051474.590887349] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051474.591733543] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051474.645014051] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051474.645810699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051474.646639321] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051474.648132913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051474.649300488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051474.745039008] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051474.745744252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051474.746493845] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051474.747779766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051474.748490815] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051474.835318317] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051474.837515567] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051474.838593948] [sailbot.teensy]: Wind angle: 181 -[mux-7] [INFO] [1746051474.838636377] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051474.839145885] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051474.839580106] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051474.839939639] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051474.844382425] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051474.844978391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051474.845508611] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051474.846705188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051474.847739774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051474.945241974] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051474.946169155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051474.946906866] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051474.948116217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051474.948648463] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051474.957748908] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051474.958813077] [sailbot.main_algo]: Target Bearing: -142.13490143397453 -[main_algo-3] [INFO] [1746051474.959744695] [sailbot.main_algo]: Heading Difference: -167.25709856602543 -[main_algo-3] [INFO] [1746051474.961344458] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051474.962240971] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051474.963047296] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051474.964560261] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051474.964604342] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051475.002760425] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904115 Long: -76.50277336 -[main_algo-3] [INFO] [1746051475.003759184] [sailbot.main_algo]: Distance to destination: 56.42368141748237 -[vectornav-1] [INFO] [1746051475.003949196] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.435, -0.504, 5.443) -[main_algo-3] [INFO] [1746051475.004970415] [sailbot.main_algo]: Target Bearing: -142.13191384857416 -[main_algo-3] [INFO] [1746051475.006006299] [sailbot.main_algo]: Heading Difference: -167.26008615142587 -[main_algo-3] [INFO] [1746051475.007399656] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051475.008316268] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051475.009191817] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051475.010856642] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051475.044963598] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051475.045729295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051475.046256320] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051475.047633106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051475.048692592] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051475.085355946] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051475.087186979] [sailbot.teensy]: Wind angle: 181 -[teensy-2] [INFO] [1746051475.088112846] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051475.087591776] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051475.089034154] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051475.089026981] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051475.089938458] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051475.145158721] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051475.146113862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051475.146588157] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051475.148455153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051475.149502889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051475.244989309] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051475.245766721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051475.246285237] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051475.247708571] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051475.248760793] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051475.335376658] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051475.337218952] [sailbot.teensy]: Wind angle: 183 -[trim_sail-4] [INFO] [1746051475.337602324] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051475.338149612] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051475.338406103] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051475.339052213] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051475.339955069] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051475.344417830] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051475.344926054] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051475.345617972] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051475.346659528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051475.347845569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051475.445049479] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051475.445690468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051475.446529862] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051475.447530673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051475.448719443] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051475.457429485] [sailbot.main_algo]: Wind Direction: 183 -[main_algo-3] [INFO] [1746051475.458426963] [sailbot.main_algo]: Target Bearing: -142.13191384857416 -[main_algo-3] [INFO] [1746051475.459317558] [sailbot.main_algo]: Heading Difference: -166.43308615142587 -[main_algo-3] [INFO] [1746051475.460576321] [sailbot.main_algo]: Wind Direction: 183 -[main_algo-3] [INFO] [1746051475.461394237] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051475.462183465] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051475.463778859] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051475.463842503] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051475.502683007] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904105 Long: -76.50277337 -[main_algo-3] [INFO] [1746051475.503729800] [sailbot.main_algo]: Distance to destination: 56.41607046247841 -[vectornav-1] [INFO] [1746051475.503778882] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.97300000000001, -0.172, 5.046) -[main_algo-3] [INFO] [1746051475.505004252] [sailbot.main_algo]: Target Bearing: -142.14016963643616 -[main_algo-3] [INFO] [1746051475.506027958] [sailbot.main_algo]: Heading Difference: -166.42483036356384 -[main_algo-3] [INFO] [1746051475.507441912] [sailbot.main_algo]: Wind Direction: 183 -[main_algo-3] [INFO] [1746051475.508380229] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051475.509250330] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051475.510972265] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051475.545074834] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051475.545597520] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051475.547530715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051475.547568030] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051475.548654061] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051475.585196705] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051475.586856861] [sailbot.teensy]: Wind angle: 186 -[trim_sail-4] [INFO] [1746051475.587277275] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051475.587919659] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051475.588636194] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051475.588856849] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051475.589726554] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051475.645069350] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051475.645552515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051475.646461020] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051475.647668709] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051475.648904285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051475.745256185] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051475.745859119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051475.746864243] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051475.747911862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051475.749004828] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051475.835107764] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051475.836601484] [sailbot.teensy]: Wind angle: 186 -[trim_sail-4] [INFO] [1746051475.837234958] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051475.837452373] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051475.838293289] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051475.838318297] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051475.839122117] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051475.844620665] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051475.845052981] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051475.846072507] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051475.846845956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051475.847915706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051475.945230084] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051475.945903452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051475.946774448] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051475.947985715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051475.948472231] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051475.957849861] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051475.959007773] [sailbot.main_algo]: Target Bearing: -142.14016963643616 -[main_algo-3] [INFO] [1746051475.959971568] [sailbot.main_algo]: Heading Difference: -165.88683036356383 -[main_algo-3] [INFO] [1746051475.961317379] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051475.962179722] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051475.963055642] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051475.964620169] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051475.964624345] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051476.003347827] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904133 Long: -76.5027737 -[main_algo-3] [INFO] [1746051476.004129491] [sailbot.main_algo]: Distance to destination: 56.414478404052765 -[vectornav-1] [INFO] [1746051476.004856932] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.273000000000025, -0.746, 6.228) -[main_algo-3] [INFO] [1746051476.005361169] [sailbot.main_algo]: Target Bearing: -142.09828679325585 -[main_algo-3] [INFO] [1746051476.006400204] [sailbot.main_algo]: Heading Difference: -165.92871320674413 -[main_algo-3] [INFO] [1746051476.007797996] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051476.008692195] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051476.009537189] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051476.011182190] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051476.045030767] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051476.045698008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051476.046463059] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051476.047642286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051476.048697082] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051476.085195865] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051476.086868302] [sailbot.teensy]: Wind angle: 186 -[trim_sail-4] [INFO] [1746051476.087415658] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051476.087754710] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051476.088662493] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051476.088747064] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051476.089582166] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051476.145317515] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051476.146126777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051476.146785334] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051476.147695378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051476.148233635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051476.244826970] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051476.245333828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051476.246021186] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051476.247326193] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051476.248387776] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051476.334525583] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051476.335798942] [sailbot.teensy]: Wind angle: 186 -[trim_sail-4] [INFO] [1746051476.336240699] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051476.337081146] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051476.337659844] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051476.338481839] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051476.339196615] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051476.343770752] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051476.344330789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051476.344505245] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051476.345592968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051476.346274821] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051476.445089417] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051476.445815001] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051476.446351507] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051476.447921425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051476.449017179] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051476.457742442] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051476.458842326] [sailbot.main_algo]: Target Bearing: -142.09828679325585 -[main_algo-3] [INFO] [1746051476.459790267] [sailbot.main_algo]: Heading Difference: -166.62871320674412 -[main_algo-3] [INFO] [1746051476.461142550] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051476.461981737] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051476.462758657] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051476.464434877] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051476.464447792] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051476.502692060] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904136 Long: -76.50277352 -[vectornav-1] [INFO] [1746051476.503821193] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.97000000000003, 0.335, 4.833) -[main_algo-3] [INFO] [1746051476.504042030] [sailbot.main_algo]: Distance to destination: 56.42808707812537 -[main_algo-3] [INFO] [1746051476.505136933] [sailbot.main_algo]: Target Bearing: -142.10509472959774 -[main_algo-3] [INFO] [1746051476.506147525] [sailbot.main_algo]: Heading Difference: -166.62190527040224 -[main_algo-3] [INFO] [1746051476.507530419] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051476.508451028] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051476.509279068] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051476.510859481] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051476.545076034] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051476.545847982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051476.546343523] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051476.547690112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051476.548791307] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051476.585551869] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051476.587999270] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051476.588577933] [sailbot.teensy]: Wind angle: 186 -[mux-7] [INFO] [1746051476.588920311] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051476.589571469] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051476.590449801] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051476.591315918] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051476.645059893] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051476.645697749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051476.646393818] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051476.647738181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051476.648841615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051476.745409368] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051476.746238684] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051476.747317037] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051476.748504236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051476.749711025] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051476.835537682] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051476.837864254] [sailbot.teensy]: Wind angle: 186 -[trim_sail-4] [INFO] [1746051476.838013541] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051476.838913230] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051476.839653486] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051476.839837439] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051476.841283624] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051476.844442806] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051476.844994746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051476.845592990] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051476.846704080] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051476.847745887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051476.945190277] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051476.946208897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051476.947036304] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051476.947986201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051476.948452780] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051476.957881544] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051476.959027152] [sailbot.main_algo]: Target Bearing: -142.10509472959774 -[main_algo-3] [INFO] [1746051476.960007228] [sailbot.main_algo]: Heading Difference: -166.92490527040223 -[main_algo-3] [INFO] [1746051476.961346697] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051476.962183980] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051476.962957696] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051476.964624037] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051476.964634904] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051477.002782681] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904146 Long: -76.50277367 -[main_algo-3] [INFO] [1746051477.003541254] [sailbot.main_algo]: Distance to destination: 56.42546799660589 -[vectornav-1] [INFO] [1746051477.003860442] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.85500000000002, -0.876, 5.394) -[main_algo-3] [INFO] [1746051477.004665256] [sailbot.main_algo]: Target Bearing: -142.08845356802973 -[main_algo-3] [INFO] [1746051477.005670281] [sailbot.main_algo]: Heading Difference: -166.9415464319702 -[main_algo-3] [INFO] [1746051477.007124277] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051477.008035269] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051477.008919298] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051477.010647474] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051477.045132199] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051477.045833956] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051477.046551293] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051477.048117490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051477.049268747] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051477.085300995] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051477.087343079] [sailbot.teensy]: Wind angle: 186 -[trim_sail-4] [INFO] [1746051477.087513260] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051477.088347675] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051477.088680322] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051477.089303825] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051477.090217555] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051477.145208167] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051477.145679620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051477.146574163] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051477.147655906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051477.148733925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051477.245139469] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051477.245621590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051477.246469256] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051477.247538704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051477.248755450] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051477.335251620] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051477.336986131] [sailbot.teensy]: Wind angle: 186 -[trim_sail-4] [INFO] [1746051477.337609279] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051477.337912769] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051477.338861106] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051477.339752430] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051477.340131999] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051477.344528341] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051477.344949184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051477.345803835] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051477.346690937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051477.347748434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051477.445177696] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051477.445555978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051477.446551701] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051477.447413278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051477.448871850] [sailbot.teensy]: Message sent to servo -[rosbridge_websocket-8] [INFO] [1746051477.448959385] [rosbridge_websocket]: Calling services in existing thread -[rosbridge_websocket-8] [INFO] [1746051477.450060736] [rosbridge_websocket]: Sending action goals in existing thread -[rosbridge_websocket-8] [INFO] [1746051477.451624337] [rosbridge_websocket]: Client connected. 2 clients total. -[main_algo-3] [INFO] [1746051477.457371591] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051477.458280885] [sailbot.main_algo]: Target Bearing: -142.08845356802973 -[main_algo-3] [INFO] [1746051477.459114490] [sailbot.main_algo]: Heading Difference: -166.05654643197022 -[main_algo-3] [INFO] [1746051477.460329818] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051477.461124404] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051477.461902457] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051477.463450401] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051477.463469207] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051477.502290645] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904144 Long: -76.50277357 -[main_algo-3] [INFO] [1746051477.503101874] [sailbot.main_algo]: Distance to destination: 56.43046931057265 -[vectornav-1] [INFO] [1746051477.503204841] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.95600000000002, 0.537, 4.824) -[main_algo-3] [INFO] [1746051477.504110191] [sailbot.main_algo]: Target Bearing: -142.09545344256202 -[main_algo-3] [INFO] [1746051477.505130313] [sailbot.main_algo]: Heading Difference: -166.04954655743796 -[main_algo-3] [INFO] [1746051477.506496375] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051477.507367371] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051477.508203079] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051477.510090223] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051477.544996769] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051477.545747375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051477.546275004] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051477.547693388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051477.548815562] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051477.585281331] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051477.587001166] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051477.587524011] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051477.587948431] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051477.588896232] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051477.589723089] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051477.589754239] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051477.644970889] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051477.645703616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051477.646281021] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051477.647696463] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051477.648796516] [sailbot.teensy]: Message sent to servo -[rosbridge_websocket-8] [INFO] [1746051477.689999840] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/algo_rudder -[rosbridge_websocket-8] [INFO] [1746051477.693573592] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/algo_sail -[rosbridge_websocket-8] [INFO] [1746051477.697111919] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/control_mode -[rosbridge_websocket-8] [INFO] [1746051477.700212870] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/radio_rudder -[rosbridge_websocket-8] [INFO] [1746051477.704356988] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/radio_sail -[rosbridge_websocket-8] [INFO] [1746051477.708080670] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/rudder_angle -[rosbridge_websocket-8] [INFO] [1746051477.711851498] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/sail -[rosbridge_websocket-8] [INFO] [1746051477.715110342] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /gps -[rosbridge_websocket-8] [INFO] [1746051477.718820652] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /imu -[rosbridge_websocket-8] [INFO] [1746051477.721785400] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/actual_rudder_angle -[rosbridge_websocket-8] [INFO] [1746051477.724699669] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/wind -[rosbridge_websocket-8] [INFO] [1746051477.727570708] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/actual_sail_angle -[rosbridge_websocket-8] [INFO] [1746051477.731035851] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/tacking_point -[rosbridge_websocket-8] [INFO] [1746051477.733407933] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/main_algo_debug -[rosbridge_websocket-8] [INFO] [1746051477.735921424] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to /sailbot/dropped_packets -[rosbridge_websocket-8] [INFO] [1746051477.738155381] [rosbridge_websocket]: [Client 75ad6611-c6f9-451f-8977-c6682d2f73a7] Subscribed to sailbot/current_waypoint -[waypoint_service-5] [INFO] [1746051477.741009863] [sailbot.waypoint_service]: Received request: command=get, argument= -[mux-7] [INFO] [1746051477.744075697] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051477.744781737] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051477.745312853] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051477.746532931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051477.747547183] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051477.835283484] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051477.837312780] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051477.837372515] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051477.838259667] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051477.839184409] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051477.839927979] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051477.840955130] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051477.844267471] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051477.845088830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051477.845481283] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051477.846844688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051477.847979220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051477.945279576] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051477.946683441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051477.946963162] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051477.948867556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051477.949971206] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051477.957630962] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051477.958709263] [sailbot.main_algo]: Target Bearing: -142.09545344256202 -[main_algo-3] [INFO] [1746051477.959626168] [sailbot.main_algo]: Heading Difference: -165.94854655743796 -[main_algo-3] [INFO] [1746051477.960883559] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051477.961705156] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051477.962497228] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051477.964068793] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051477.964113578] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051478.002623873] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904144 Long: -76.50277349 -[main_algo-3] [INFO] [1746051478.003866533] [sailbot.main_algo]: Distance to destination: 56.435587170856245 -[vectornav-1] [INFO] [1746051478.003973174] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.327999999999975, -1.067, 6.247) -[main_algo-3] [INFO] [1746051478.005076112] [sailbot.main_algo]: Target Bearing: -142.09964875035627 -[main_algo-3] [INFO] [1746051478.006049123] [sailbot.main_algo]: Heading Difference: -165.94435124964372 -[main_algo-3] [INFO] [1746051478.008232516] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051478.009236672] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051478.010128533] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051478.011876702] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051478.045086979] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051478.045824213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051478.046344846] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051478.047975869] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051478.049010469] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051478.085455705] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051478.088002063] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051478.088354733] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051478.089345008] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051478.090165379] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051478.090238231] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051478.091150207] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051478.144608885] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051478.145191360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051478.145731781] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051478.146923073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051478.147938111] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051478.244964517] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051478.245696317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051478.246290351] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051478.247617957] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051478.248659956] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051478.335370033] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051478.337413981] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051478.337661752] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051478.338408331] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051478.339418937] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051478.340301414] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051478.340445256] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051478.344406465] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051478.345243401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051478.345502519] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051478.347067180] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051478.348068633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051478.444014015] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051478.444477919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051478.444872584] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051478.446326967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051478.447704490] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051478.456726096] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051478.457577035] [sailbot.main_algo]: Target Bearing: -142.09964875035627 -[main_algo-3] [INFO] [1746051478.458313201] [sailbot.main_algo]: Heading Difference: -166.57235124964376 -[main_algo-3] [INFO] [1746051478.459116009] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051478.459600816] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051478.460147643] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051478.461616525] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051478.461758064] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051478.502445113] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904148 Long: -76.50277358 -[vectornav-1] [INFO] [1746051478.503709075] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.033000000000015, -0.201, 5.651) -[main_algo-3] [INFO] [1746051478.503724968] [sailbot.main_algo]: Distance to destination: 56.432620536318474 -[main_algo-3] [INFO] [1746051478.504932568] [sailbot.main_algo]: Target Bearing: -142.09141984517942 -[main_algo-3] [INFO] [1746051478.505825572] [sailbot.main_algo]: Heading Difference: -166.5805801548206 -[main_algo-3] [INFO] [1746051478.507221179] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051478.508061610] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051478.508861714] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051478.510527434] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051478.545527389] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051478.545590275] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051478.546983361] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051478.547775426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051478.548868096] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051478.585599689] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051478.587678285] [sailbot.teensy]: Wind angle: 183 -[trim_sail-4] [INFO] [1746051478.587838691] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051478.588189177] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051478.588586799] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051478.589578382] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051478.590451480] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051478.645053891] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051478.645761437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051478.646860227] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051478.647868493] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051478.649049160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051478.745106870] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051478.745841920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051478.746786778] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051478.747710729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051478.748802710] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051478.835388557] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051478.837886892] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051478.838154190] [sailbot.teensy]: Wind angle: 182 -[mux-7] [INFO] [1746051478.838566320] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051478.839345388] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051478.840292462] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051478.840684527] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051478.844347164] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051478.844957809] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051478.845554719] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051478.846629153] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051478.847836845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051478.945401898] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051478.946465959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051478.947807542] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051478.948657462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051478.949965547] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051478.957672482] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051478.958785498] [sailbot.main_algo]: Target Bearing: -142.09141984517942 -[main_algo-3] [INFO] [1746051478.959724592] [sailbot.main_algo]: Heading Difference: -166.87558015482057 -[main_algo-3] [INFO] [1746051478.961063770] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051478.961955541] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051478.962811293] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051478.964377159] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051478.964539283] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051479.002703688] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904157 Long: -76.50277331 -[main_algo-3] [INFO] [1746051479.003523836] [sailbot.main_algo]: Distance to destination: 56.4561720065522 -[vectornav-1] [INFO] [1746051479.003771844] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.398000000000025, -0.375, 5.441) -[main_algo-3] [INFO] [1746051479.004641896] [sailbot.main_algo]: Target Bearing: -142.09768322327568 -[main_algo-3] [INFO] [1746051479.005611092] [sailbot.main_algo]: Heading Difference: -166.8693167767243 -[main_algo-3] [INFO] [1746051479.006973591] [sailbot.main_algo]: Wind Direction: 182 -[main_algo-3] [INFO] [1746051479.007886140] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051479.008786600] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051479.010507693] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051479.045090033] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051479.045775438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051479.046363709] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051479.047805065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051479.048825400] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051479.085235652] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051479.087659916] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051479.089253794] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051479.089283689] [sailbot.teensy]: Wind angle: 183 -[teensy-2] [INFO] [1746051479.090446154] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051479.091527512] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051479.092481253] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051479.145015941] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051479.145735746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051479.146311630] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051479.147933221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051479.149101282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051479.244688655] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051479.245347157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051479.245823543] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051479.247083521] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051479.248078719] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051479.335360642] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051479.337593525] [sailbot.teensy]: Wind angle: 183 -[trim_sail-4] [INFO] [1746051479.337634586] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051479.338802609] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051479.338888672] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051479.339460031] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051479.339815438] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051479.344589467] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051479.345370388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051479.345846652] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051479.347134175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051479.348225908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051479.445459614] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051479.446426781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051479.447116571] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051479.448429604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051479.448880072] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051479.457670284] [sailbot.main_algo]: Wind Direction: 183 -[main_algo-3] [INFO] [1746051479.458688818] [sailbot.main_algo]: Target Bearing: -142.09768322327568 -[main_algo-3] [INFO] [1746051479.459646263] [sailbot.main_algo]: Heading Difference: -166.5043167767243 -[main_algo-3] [INFO] [1746051479.460933729] [sailbot.main_algo]: Wind Direction: 183 -[main_algo-3] [INFO] [1746051479.461736851] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051479.462524540] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051479.464072012] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051479.464097958] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051479.502942123] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904164 Long: -76.50277342 -[main_algo-3] [INFO] [1746051479.503751690] [sailbot.main_algo]: Distance to destination: 56.45401981945842 -[vectornav-1] [INFO] [1746051479.504604864] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.92399999999998, -0.608, 5.938) -[main_algo-3] [INFO] [1746051479.505305769] [sailbot.main_algo]: Target Bearing: -142.08577795293496 -[main_algo-3] [INFO] [1746051479.506680058] [sailbot.main_algo]: Heading Difference: -166.516222047065 -[main_algo-3] [INFO] [1746051479.508178908] [sailbot.main_algo]: Wind Direction: 183 -[main_algo-3] [INFO] [1746051479.509140228] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051479.510024930] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051479.511812255] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051479.544999295] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051479.545759914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051479.546284753] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051479.547689604] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051479.548729172] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051479.585596332] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051479.588088529] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051479.589020231] [sailbot.teensy]: Wind angle: 186 -[mux-7] [INFO] [1746051479.589173153] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051479.590367573] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051479.591285089] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051479.592277722] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051479.644813440] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051479.645556102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051479.646050971] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051479.647446459] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051479.648685316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051479.745066513] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051479.745734146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051479.746376851] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051479.747777299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051479.748889098] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051479.835360971] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051479.837141117] [sailbot.teensy]: Wind angle: 186 -[trim_sail-4] [INFO] [1746051479.837774789] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051479.838086074] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051479.839030594] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051479.839465855] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051479.839903737] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051479.844522751] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051479.845033528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051479.845710694] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051479.846857618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051479.847928515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051479.945037300] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051479.945840338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051479.946505398] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051479.947843194] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051479.948951650] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051479.957669826] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051479.958738155] [sailbot.main_algo]: Target Bearing: -142.08577795293496 -[main_algo-3] [INFO] [1746051479.959632098] [sailbot.main_algo]: Heading Difference: -166.99022204706506 -[main_algo-3] [INFO] [1746051479.960903642] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051479.961718428] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051479.962510003] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051479.964033679] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051479.964161545] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051480.002707783] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904166 Long: -76.50277345 -[main_algo-3] [INFO] [1746051480.003713418] [sailbot.main_algo]: Distance to destination: 56.45349672733498 -[vectornav-1] [INFO] [1746051480.003802787] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.636000000000024, 0.481, 4.511) -[main_algo-3] [INFO] [1746051480.004827912] [sailbot.main_algo]: Target Bearing: -142.08245119265274 -[main_algo-3] [INFO] [1746051480.005841920] [sailbot.main_algo]: Heading Difference: -166.99354880734728 -[main_algo-3] [INFO] [1746051480.007262289] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051480.008280794] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051480.009129655] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051480.010785073] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051480.045133503] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051480.045879525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051480.046923261] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051480.048062306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051480.049220310] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051480.085299685] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051480.087257681] [sailbot.teensy]: Wind angle: 186 -[trim_sail-4] [INFO] [1746051480.087386763] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051480.087903560] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051480.088131004] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051480.089037548] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051480.089888823] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051480.144880046] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051480.145657768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051480.146099281] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051480.147450010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051480.148626079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051480.244875860] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051480.245726526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051480.246189408] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051480.247698890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051480.248726757] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051480.335403969] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051480.337221351] [sailbot.teensy]: Wind angle: 186 -[teensy-2] [INFO] [1746051480.338175955] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051480.338389200] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051480.339128693] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051480.340101160] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051480.341823171] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051480.344273002] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051480.344948623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051480.345371483] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051480.346696915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051480.347751896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051480.445050910] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051480.445780727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051480.446400614] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051480.447637230] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051480.448768968] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051480.457414440] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051480.458456977] [sailbot.main_algo]: Target Bearing: -142.08245119265274 -[main_algo-3] [INFO] [1746051480.459396679] [sailbot.main_algo]: Heading Difference: -167.28154880734724 -[main_algo-3] [INFO] [1746051480.460788456] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051480.461752940] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051480.462678644] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051480.464861232] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051480.464991280] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051480.501435163] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904163 Long: -76.50277344 -[vectornav-1] [INFO] [1746051480.501865336] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.94400000000002, -1.429, 6.958) -[main_algo-3] [INFO] [1746051480.501916830] [sailbot.main_algo]: Distance to destination: 56.45204272052019 -[main_algo-3] [INFO] [1746051480.502425625] [sailbot.main_algo]: Target Bearing: -142.08560607863654 -[main_algo-3] [INFO] [1746051480.502859980] [sailbot.main_algo]: Heading Difference: -167.27839392136343 -[main_algo-3] [INFO] [1746051480.503540483] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051480.504015568] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051480.504438498] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051480.505427260] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051480.545145516] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051480.545266996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051480.546293152] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051480.546908991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051480.548017632] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051480.585455998] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051480.587776527] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051480.588169128] [sailbot.teensy]: Wind angle: 186 -[teensy-2] [INFO] [1746051480.589165179] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051480.590002819] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051480.590017808] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051480.590909442] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051480.645118337] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051480.645803340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051480.646596071] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051480.648013390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051480.649049206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051480.745263952] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051480.745806052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051480.747316536] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051480.747924824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051480.749085066] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051480.835411696] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051480.837341906] [sailbot.teensy]: Wind angle: 186 -[teensy-2] [INFO] [1746051480.838295639] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051480.837690522] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051480.839044531] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051480.839154998] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051480.839597658] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051480.844445789] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051480.844950412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051480.845598973] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051480.846817858] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051480.847885313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051480.945431698] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051480.946003526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051480.947211476] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051480.948242698] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051480.949383211] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051480.957734321] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051480.958731116] [sailbot.main_algo]: Target Bearing: -142.08560607863654 -[main_algo-3] [INFO] [1746051480.959679834] [sailbot.main_algo]: Heading Difference: -166.97039392136344 -[main_algo-3] [INFO] [1746051480.961137958] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051480.961966880] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051480.962747904] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051480.964378592] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051480.964420424] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051481.002966678] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904173 Long: -76.50277319 -[main_algo-3] [INFO] [1746051481.003970528] [sailbot.main_algo]: Distance to destination: 56.47501198779403 -[vectornav-1] [INFO] [1746051481.004394277] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.14499999999998, 0.075, 4.966) -[main_algo-3] [INFO] [1746051481.005722504] [sailbot.main_algo]: Target Bearing: -142.08994496717693 -[main_algo-3] [INFO] [1746051481.007052983] [sailbot.main_algo]: Heading Difference: -166.96605503282308 -[main_algo-3] [INFO] [1746051481.008430777] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051481.009335233] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051481.010186101] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051481.012050050] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051481.045170928] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051481.046075602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051481.046602365] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051481.048575204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051481.049590609] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051481.085209790] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051481.087378260] [sailbot.teensy]: Wind angle: 186 -[trim_sail-4] [INFO] [1746051481.087445547] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051481.088407498] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051481.088764953] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051481.089335850] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051481.090328064] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051481.144941839] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051481.145683267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051481.146330810] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051481.147468566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051481.148552364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051481.245190213] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051481.246033893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051481.246920458] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051481.248149254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051481.249369499] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051481.335550710] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051481.337564495] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051481.337935472] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051481.339198352] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051481.339602138] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051481.340211159] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051481.341431212] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051481.344740699] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051481.345263648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051481.345980224] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051481.347049771] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051481.348259491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051481.445276521] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051481.445853128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051481.446919750] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051481.447874187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051481.448834231] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051481.457453803] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051481.458424822] [sailbot.main_algo]: Target Bearing: -142.08994496717693 -[main_algo-3] [INFO] [1746051481.459297836] [sailbot.main_algo]: Heading Difference: -166.76505503282306 -[main_algo-3] [INFO] [1746051481.460535182] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051481.461352503] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051481.462155172] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051481.463729757] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051481.463989359] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051481.502532211] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904184 Long: -76.50277338 -[main_algo-3] [INFO] [1746051481.503415947] [sailbot.main_algo]: Distance to destination: 56.47053729116079 -[vectornav-1] [INFO] [1746051481.503538155] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.091999999999985, -0.306, 5.782) -[main_algo-3] [INFO] [1746051481.504497181] [sailbot.main_algo]: Target Bearing: -142.07034314455188 -[main_algo-3] [INFO] [1746051481.505429380] [sailbot.main_algo]: Heading Difference: -166.78465685544813 -[main_algo-3] [INFO] [1746051481.506775352] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051481.507659426] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051481.508536135] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051481.510304519] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051481.545286453] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051481.545868571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051481.546813420] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051481.548252182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051481.549422031] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051481.585373073] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051481.587297098] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051481.587459874] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051481.589118612] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051481.589251908] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051481.590297318] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051481.591275988] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051481.645207762] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051481.645661670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051481.647018248] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051481.647527119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051481.648627897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051481.745057404] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051481.745803432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051481.746529852] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051481.747871798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051481.748933677] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051481.835233728] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051481.836416104] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051481.836565434] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051481.836825890] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051481.836954668] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051481.837203092] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051481.837589142] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051481.844752597] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051481.845267322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051481.846104588] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051481.847111811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051481.848243854] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051481.945227149] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051481.945956249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051481.946730424] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051481.947975949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051481.949050675] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051481.957477616] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051481.958431865] [sailbot.main_algo]: Target Bearing: -142.07034314455188 -[main_algo-3] [INFO] [1746051481.959309246] [sailbot.main_algo]: Heading Difference: -167.83765685544813 -[main_algo-3] [INFO] [1746051481.960518461] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051481.961325930] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051481.962125621] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051481.963654168] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051481.963690478] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051482.002904039] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904185 Long: -76.50277348 -[main_algo-3] [INFO] [1746051482.003812363] [sailbot.main_algo]: Distance to destination: 56.464840820787444 -[vectornav-1] [INFO] [1746051482.004209395] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.471000000000004, 0.023, 5.926) -[main_algo-3] [INFO] [1746051482.005123952] [sailbot.main_algo]: Target Bearing: -142.0642224058428 -[main_algo-3] [INFO] [1746051482.006166169] [sailbot.main_algo]: Heading Difference: -167.84377759415725 -[main_algo-3] [INFO] [1746051482.007603380] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051482.008627729] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051482.009508738] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051482.011522027] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051482.045227332] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051482.045893902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051482.046970353] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051482.048037350] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051482.049236802] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051482.085550135] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051482.088058825] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051482.088718413] [sailbot.teensy]: Wind angle: 185 -[mux-7] [INFO] [1746051482.089143292] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051482.090050683] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051482.090948150] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051482.091839737] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051482.145167556] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051482.145766855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051482.147465514] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051482.147739838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051482.148823250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051482.245221444] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051482.245985749] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051482.246586660] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051482.248000716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051482.249090176] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051482.335225189] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051482.337482065] [sailbot.teensy]: Wind angle: 186 -[trim_sail-4] [INFO] [1746051482.337528997] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051482.338455039] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051482.339092541] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051482.339380548] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051482.340321007] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051482.344608492] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051482.345165213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051482.346129903] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051482.346891175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051482.347948402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051482.445136535] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051482.445862835] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051482.446515072] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051482.447812087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051482.448680554] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051482.457655715] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051482.458675374] [sailbot.main_algo]: Target Bearing: -142.0642224058428 -[main_algo-3] [INFO] [1746051482.459573748] [sailbot.main_algo]: Heading Difference: -168.46477759415723 -[main_algo-3] [INFO] [1746051482.460827879] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051482.461656125] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051482.462444770] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051482.464097229] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051482.464094194] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051482.502368943] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904155 Long: -76.50277327 -[main_algo-3] [INFO] [1746051482.503232719] [sailbot.main_algo]: Distance to destination: 56.457335735031265 -[vectornav-1] [INFO] [1746051482.503301929] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.238, -1.509, 4.928) -[main_algo-3] [INFO] [1746051482.504225733] [sailbot.main_algo]: Target Bearing: -142.10153383375922 -[main_algo-3] [INFO] [1746051482.505085178] [sailbot.main_algo]: Heading Difference: -168.42746616624078 -[main_algo-3] [INFO] [1746051482.506344776] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051482.507173175] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051482.507952288] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051482.509604701] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051482.544256413] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051482.545142161] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051482.544793890] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051482.546299652] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051482.547296753] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051482.584536890] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051482.585392577] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051482.586270090] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051482.586709397] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051482.587227965] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051482.587617152] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051482.587468141] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051482.645214206] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051482.646045515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051482.646696368] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051482.648190480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051482.649243295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051482.745183265] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051482.745783030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051482.746747171] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051482.747671619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051482.748777142] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051482.835270518] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051482.837389125] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051482.838672824] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051482.838717352] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051482.839135131] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051482.839530466] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051482.839965434] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051482.844391706] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051482.844838115] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051482.845747037] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051482.846501023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051482.847705085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051482.945131824] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051482.945630472] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051482.946556862] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051482.947594865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051482.948671590] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051482.957659955] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051482.958667982] [sailbot.main_algo]: Target Bearing: -142.10153383375922 -[main_algo-3] [INFO] [1746051482.959582413] [sailbot.main_algo]: Heading Difference: -166.66046616624078 -[main_algo-3] [INFO] [1746051482.960821153] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051482.961638056] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051482.962427115] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051482.964014323] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051482.964207247] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051483.002766791] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904166 Long: -76.50277292 -[main_algo-3] [INFO] [1746051483.003703360] [sailbot.main_algo]: Distance to destination: 56.48740197021509 -[vectornav-1] [INFO] [1746051483.003862277] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.516999999999996, 0.608, 5.325) -[main_algo-3] [INFO] [1746051483.004884522] [sailbot.main_algo]: Target Bearing: -142.1102274128712 -[main_algo-3] [INFO] [1746051483.005825390] [sailbot.main_algo]: Heading Difference: -166.6517725871288 -[main_algo-3] [INFO] [1746051483.007176336] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051483.008003033] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051483.008821434] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051483.010447493] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051483.044833999] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051483.045518313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051483.046177305] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051483.047377735] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051483.048478518] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051483.085510807] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051483.087752187] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051483.088668555] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051483.089070685] [sailbot.teensy]: Wind angle: 186 -[teensy-2] [INFO] [1746051483.090055750] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051483.090965988] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051483.091781662] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051483.145100861] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051483.145914641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051483.146578418] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051483.147705936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051483.148218663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051483.245130163] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051483.245816832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051483.246632892] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051483.247608865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051483.248697503] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051483.335230388] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051483.337483065] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051483.338327301] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051483.339507650] [sailbot.teensy]: Wind angle: 190 -[teensy-2] [INFO] [1746051483.340459474] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051483.341458417] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051483.342330409] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051483.344331456] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051483.344832695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051483.345421056] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051483.346514810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051483.347528346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051483.445184603] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051483.446078008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051483.446498185] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051483.448076143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051483.449114402] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051483.457663419] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051483.458677702] [sailbot.main_algo]: Target Bearing: -142.1102274128712 -[main_algo-3] [INFO] [1746051483.459571369] [sailbot.main_algo]: Heading Difference: -167.3727725871288 -[main_algo-3] [INFO] [1746051483.460877994] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051483.461773179] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051483.462601203] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051483.464194089] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051483.464405360] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051483.502907771] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904158 Long: -76.50277292 -[main_algo-3] [INFO] [1746051483.504013596] [sailbot.main_algo]: Distance to destination: 56.48182257601543 -[vectornav-1] [INFO] [1746051483.504320018] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.257000000000005, -0.628, 6.077) -[main_algo-3] [INFO] [1746051483.505431808] [sailbot.main_algo]: Target Bearing: -142.1172410678283 -[main_algo-3] [INFO] [1746051483.506516804] [sailbot.main_algo]: Heading Difference: -167.36575893217173 -[main_algo-3] [INFO] [1746051483.507867170] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051483.508817057] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051483.509696954] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051483.511439496] [sailbot.mux]: algo rudder angle: -25 -[teensy-2] [INFO] [1746051483.545639208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051483.546748832] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051483.548498734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051483.548529483] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051483.549604158] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051483.585293068] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051483.586911195] [sailbot.teensy]: Wind angle: 197 -[trim_sail-4] [INFO] [1746051483.587639019] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051483.587812095] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051483.588705112] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051483.589611758] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051483.588910852] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051483.644900062] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051483.645626380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051483.646433791] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051483.647731480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051483.648835947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051483.745068921] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051483.745756430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051483.746740588] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051483.747751787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051483.748934980] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051483.835426422] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051483.837364646] [sailbot.teensy]: Wind angle: 203 -[trim_sail-4] [INFO] [1746051483.837889087] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051483.838303064] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051483.839248755] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051483.840223209] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051483.840271417] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051483.844421749] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051483.844914909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051483.846024679] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051483.846773301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051483.847957971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051483.944937961] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051483.945745781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051483.946172491] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051483.947775132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051483.948879426] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051483.957697698] [sailbot.main_algo]: Wind Direction: 203 -[main_algo-3] [INFO] [1746051483.958785793] [sailbot.main_algo]: Target Bearing: -142.1172410678283 -[main_algo-3] [INFO] [1746051483.959798951] [sailbot.main_algo]: Heading Difference: -167.62575893217172 -[main_algo-3] [INFO] [1746051483.961136764] [sailbot.main_algo]: Wind Direction: 203 -[main_algo-3] [INFO] [1746051483.962028203] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051483.962977926] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051483.964557023] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051483.964589456] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051484.002808533] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904164 Long: -76.50277299 -[main_algo-3] [INFO] [1746051484.003742831] [sailbot.main_algo]: Distance to destination: 56.481528120326665 -[vectornav-1] [INFO] [1746051484.003898745] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.92599999999999, 0.007, 4.862) -[main_algo-3] [INFO] [1746051484.004947161] [sailbot.main_algo]: Target Bearing: -142.10831410061692 -[main_algo-3] [INFO] [1746051484.005801849] [sailbot.main_algo]: Heading Difference: -167.63468589938304 -[main_algo-3] [INFO] [1746051484.007085918] [sailbot.main_algo]: Wind Direction: 203 -[main_algo-3] [INFO] [1746051484.007918213] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051484.008717081] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051484.010301728] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051484.044719350] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051484.045574662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051484.046143834] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051484.047480514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051484.048651542] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051484.085165118] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051484.086662398] [sailbot.teensy]: Wind angle: 204 -[teensy-2] [INFO] [1746051484.087611321] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051484.087869662] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051484.088585426] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051484.089494381] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051484.089791805] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051484.145752701] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051484.147234751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051484.147320498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051484.149263197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051484.150333633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051484.245118641] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051484.245691190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051484.246707015] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051484.247522322] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051484.248610273] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051484.335400800] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051484.338074545] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051484.338344692] [sailbot.teensy]: Wind angle: 204 -[mux-7] [INFO] [1746051484.339210453] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051484.339606077] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051484.340431799] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051484.340773440] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051484.344723786] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051484.345001423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051484.346079900] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051484.346697944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051484.347919702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051484.445287321] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051484.445838012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051484.446626726] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051484.447995231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051484.449043503] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051484.457677239] [sailbot.main_algo]: Wind Direction: 204 -[main_algo-3] [INFO] [1746051484.458719750] [sailbot.main_algo]: Target Bearing: -142.10831410061692 -[main_algo-3] [INFO] [1746051484.459631565] [sailbot.main_algo]: Heading Difference: -167.96568589938306 -[main_algo-3] [INFO] [1746051484.460904818] [sailbot.main_algo]: Wind Direction: 204 -[main_algo-3] [INFO] [1746051484.461750972] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051484.462549670] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051484.464404801] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051484.464752326] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051484.503114025] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904154 Long: -76.50277278 -[main_algo-3] [INFO] [1746051484.503762639] [sailbot.main_algo]: Distance to destination: 56.48799284059557 -[vectornav-1] [INFO] [1746051484.504386153] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.161, -0.935, 5.216) -[main_algo-3] [INFO] [1746051484.504858127] [sailbot.main_algo]: Target Bearing: -142.12807938014913 -[main_algo-3] [INFO] [1746051484.505855146] [sailbot.main_algo]: Heading Difference: -167.94592061985088 -[main_algo-3] [INFO] [1746051484.507240155] [sailbot.main_algo]: Wind Direction: 204 -[main_algo-3] [INFO] [1746051484.508180791] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051484.509044898] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051484.510700102] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051484.545372746] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051484.545516942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051484.546766343] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051484.547486822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051484.548539613] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051484.585318486] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051484.587138037] [sailbot.teensy]: Wind angle: 203 -[trim_sail-4] [INFO] [1746051484.587574480] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051484.588006732] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051484.589122994] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051484.590102438] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051484.590289301] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051484.643835056] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051484.644256797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051484.644465097] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051484.645277211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051484.645921711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051484.744913541] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051484.745547553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051484.746169155] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051484.747353590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051484.748529952] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051484.835331978] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051484.837539003] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051484.837836617] [sailbot.teensy]: Wind angle: 203 -[mux-7] [INFO] [1746051484.838643668] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051484.838823401] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051484.839694498] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051484.840432420] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051484.844426322] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051484.844783551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051484.845713683] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051484.846437269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051484.847607691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051484.945005816] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051484.945585687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051484.946383922] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051484.947799150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051484.949016324] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051484.957616530] [sailbot.main_algo]: Wind Direction: 203 -[main_algo-3] [INFO] [1746051484.958634232] [sailbot.main_algo]: Target Bearing: -142.12807938014913 -[main_algo-3] [INFO] [1746051484.959547974] [sailbot.main_algo]: Heading Difference: -166.71092061985087 -[main_algo-3] [INFO] [1746051484.960871589] [sailbot.main_algo]: Wind Direction: 203 -[main_algo-3] [INFO] [1746051484.961777021] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051484.962591271] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051484.964105570] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051484.964126602] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051485.002731659] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904178 Long: -76.50277284 -[vectornav-1] [INFO] [1746051485.003888733] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.25, -0.113, 5.648) -[main_algo-3] [INFO] [1746051485.004325867] [sailbot.main_algo]: Distance to destination: 56.50089081519784 -[main_algo-3] [INFO] [1746051485.005462906] [sailbot.main_algo]: Target Bearing: -142.10389960147424 -[main_algo-3] [INFO] [1746051485.006712852] [sailbot.main_algo]: Heading Difference: -166.7351003985258 -[main_algo-3] [INFO] [1746051485.008142808] [sailbot.main_algo]: Wind Direction: 203 -[main_algo-3] [INFO] [1746051485.009077300] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051485.009947504] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051485.011625030] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051485.044769890] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051485.046029107] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051485.046270719] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051485.048557085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051485.049860079] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051485.085225695] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051485.086815148] [sailbot.teensy]: Wind angle: 200 -[teensy-2] [INFO] [1746051485.087775242] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051485.087224875] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051485.088698774] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051485.089029788] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051485.089642845] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051485.144910584] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051485.145708662] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051485.146383282] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051485.147895879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051485.149022882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051485.244911636] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051485.245492669] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051485.246362676] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051485.247254064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051485.248399934] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051485.335260485] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051485.337413124] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051485.338490475] [sailbot.teensy]: Wind angle: 196 -[mux-7] [INFO] [1746051485.338615354] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051485.338943423] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051485.339347110] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051485.339944138] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051485.344390743] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051485.344912796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051485.345484640] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051485.346573646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051485.347736187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051485.445021770] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051485.445583515] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051485.446399734] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051485.447902386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051485.449013378] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051485.457563208] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051485.458582809] [sailbot.main_algo]: Target Bearing: -142.10389960147424 -[main_algo-3] [INFO] [1746051485.459469485] [sailbot.main_algo]: Heading Difference: -167.64610039852573 -[main_algo-3] [INFO] [1746051485.460818501] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051485.461678400] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051485.462477232] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051485.463987676] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051485.464034223] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051485.502771019] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904184 Long: -76.50277279 -[main_algo-3] [INFO] [1746051485.503711866] [sailbot.main_algo]: Distance to destination: 56.5082752596533 -[vectornav-1] [INFO] [1746051485.504330990] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.536, 0.153, 6.61) -[main_algo-3] [INFO] [1746051485.504845519] [sailbot.main_algo]: Target Bearing: -142.10126050687444 -[main_algo-3] [INFO] [1746051485.505836397] [sailbot.main_algo]: Heading Difference: -167.64873949312556 -[main_algo-3] [INFO] [1746051485.507196628] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051485.508066195] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051485.508932963] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051485.510828138] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051485.545049746] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051485.545721923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051485.546283471] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051485.547663684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051485.548780441] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051485.585367146] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051485.587175301] [sailbot.teensy]: Wind angle: 195 -[teensy-2] [INFO] [1746051485.588106093] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051485.587647734] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051485.589008447] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051485.589197853] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051485.589932067] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051485.644782718] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051485.645466963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051485.646078481] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051485.647245756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051485.648353230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051485.744925334] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051485.745455686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051485.746173221] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051485.747217166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051485.748421629] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051485.835391589] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051485.837798558] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051485.838794154] [sailbot.teensy]: Wind angle: 191 -[mux-7] [INFO] [1746051485.839034268] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051485.839753180] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051485.840755194] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051485.841637585] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051485.844441760] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051485.845052705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051485.845571855] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051485.846813715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051485.847896017] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051485.944976626] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051485.945696358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051485.946686005] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051485.947633887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051485.948694141] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051485.957708673] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051485.958724639] [sailbot.main_algo]: Target Bearing: -142.10126050687444 -[main_algo-3] [INFO] [1746051485.959630382] [sailbot.main_algo]: Heading Difference: -168.36273949312556 -[main_algo-3] [INFO] [1746051485.960958101] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051485.961807136] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051485.962588182] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051485.964125143] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051485.964209803] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051486.002883138] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904158 Long: -76.50277276 -[vectornav-1] [INFO] [1746051486.004032623] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.523000000000025, -1.357, 5.227) -[main_algo-3] [INFO] [1746051486.004046088] [sailbot.main_algo]: Distance to destination: 56.492061739960995 -[main_algo-3] [INFO] [1746051486.005204063] [sailbot.main_algo]: Target Bearing: -142.12561934722575 -[main_algo-3] [INFO] [1746051486.006949124] [sailbot.main_algo]: Heading Difference: -168.33838065277428 -[main_algo-3] [INFO] [1746051486.008384695] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051486.009303153] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051486.010188598] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051486.011861842] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051486.044901853] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051486.045708500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051486.046150421] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051486.047961811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051486.050224824] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051486.085255057] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051486.087530532] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051486.087903640] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051486.088043813] [sailbot.teensy]: Wind angle: 190 -[teensy-2] [INFO] [1746051486.089048477] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051486.089952180] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051486.090775018] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051486.144734509] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051486.145384199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051486.145946245] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051486.147233462] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051486.148277908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051486.244867619] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051486.245703132] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051486.246209041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051486.248595996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051486.251022772] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051486.334465335] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051486.335322246] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051486.335729803] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051486.336111610] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051486.336499622] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051486.335668270] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051486.336488592] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051486.343625694] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051486.344122727] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051486.344136408] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051486.345038086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051486.345600096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051486.443669952] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051486.444270694] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051486.444734843] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051486.445552554] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051486.446064494] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051486.456515286] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051486.456966869] [sailbot.main_algo]: Target Bearing: -142.12561934722575 -[main_algo-3] [INFO] [1746051486.457384135] [sailbot.main_algo]: Heading Difference: -166.3513806527742 -[main_algo-3] [INFO] [1746051486.457983689] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051486.458380959] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051486.458780709] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051486.459696139] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051486.460912890] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051486.501328152] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904149 Long: -76.50277258 -[vectornav-1] [INFO] [1746051486.501762566] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.92099999999999, 0.15, 4.019) -[main_algo-3] [INFO] [1746051486.501829300] [sailbot.main_algo]: Distance to destination: 56.49730885103913 -[main_algo-3] [INFO] [1746051486.502297181] [sailbot.main_algo]: Target Bearing: -142.14293223473763 -[main_algo-3] [INFO] [1746051486.502729263] [sailbot.main_algo]: Heading Difference: -166.33406776526238 -[main_algo-3] [INFO] [1746051486.503372179] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051486.503928155] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051486.504367079] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051486.505858793] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051486.543720581] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051486.544247411] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051486.544201083] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051486.545019254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051486.545558860] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051486.584428452] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051486.585203734] [sailbot.teensy]: Wind angle: 182 -[teensy-2] [INFO] [1746051486.585602892] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051486.585972286] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051486.586344985] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051486.587529175] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051486.588087095] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051486.643609485] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051486.644118272] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051486.645417392] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051486.646403827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051486.647206177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051486.743721398] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051486.744259105] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051486.744076929] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051486.745003482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051486.745520787] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051486.835365723] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051486.837028766] [sailbot.teensy]: Wind angle: 181 -[trim_sail-4] [INFO] [1746051486.837530935] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051486.837947806] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051486.838805875] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051486.839688389] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051486.840573041] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051486.844306495] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051486.844745355] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051486.845387213] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051486.846295486] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051486.847368880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051486.945136638] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051486.945650124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051486.946414257] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051486.947554719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051486.948757150] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051486.957653274] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051486.958698720] [sailbot.main_algo]: Target Bearing: -142.14293223473763 -[main_algo-3] [INFO] [1746051486.959597803] [sailbot.main_algo]: Heading Difference: -167.93606776526235 -[main_algo-3] [INFO] [1746051486.960901513] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051486.961724365] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051486.962540872] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051486.964140082] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051486.964495910] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051487.002610615] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904143 Long: -76.50277263 -[vectornav-1] [INFO] [1746051487.003782517] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.96600000000001, -0.221, 5.476) -[main_algo-3] [INFO] [1746051487.004226368] [sailbot.main_algo]: Distance to destination: 56.489926301603624 -[main_algo-3] [INFO] [1746051487.005223826] [sailbot.main_algo]: Target Bearing: -142.14557728831105 -[main_algo-3] [INFO] [1746051487.006151032] [sailbot.main_algo]: Heading Difference: -167.933422711689 -[main_algo-3] [INFO] [1746051487.007490280] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051487.008320810] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051487.009112588] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051487.010770537] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051487.045372487] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051487.045541828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051487.046934319] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051487.047516247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051487.048606118] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051487.085473627] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051487.087274007] [sailbot.teensy]: Wind angle: 180 -[trim_sail-4] [INFO] [1746051487.087762967] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051487.088238340] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051487.089232946] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051487.089455913] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051487.090951323] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051487.145090252] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051487.145652575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051487.146452866] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051487.147454535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051487.148602302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051487.244851234] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051487.245450883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051487.246148196] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051487.247121307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051487.248213214] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051487.335332844] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051487.337071245] [sailbot.teensy]: Wind angle: 180 -[trim_sail-4] [INFO] [1746051487.337466455] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051487.338005155] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051487.338826509] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051487.339141710] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051487.339197687] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051487.344480192] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051487.345190256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051487.345688685] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051487.347063449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051487.348189470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051487.444935367] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051487.445539753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051487.446230653] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051487.447346046] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051487.448452547] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051487.457463182] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051487.458432182] [sailbot.main_algo]: Target Bearing: -142.14557728831105 -[main_algo-3] [INFO] [1746051487.459260693] [sailbot.main_algo]: Heading Difference: -168.88842271168892 -[main_algo-3] [INFO] [1746051487.460487023] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051487.461309480] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051487.462097393] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051487.463619231] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051487.463718814] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051487.502799144] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690414 Long: -76.50277266 -[main_algo-3] [INFO] [1746051487.503796283] [sailbot.main_algo]: Distance to destination: 56.48591498348549 -[vectornav-1] [INFO] [1746051487.503949345] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.12700000000001, -0.222, 5.542) -[main_algo-3] [INFO] [1746051487.505231396] [sailbot.main_algo]: Target Bearing: -142.14663839209246 -[main_algo-3] [INFO] [1746051487.506323926] [sailbot.main_algo]: Heading Difference: -168.88736160790756 -[main_algo-3] [INFO] [1746051487.507864045] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051487.508837231] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051487.509730803] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051487.511409191] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051487.544977585] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051487.545711000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051487.546654405] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051487.547570634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051487.548804640] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051487.585211573] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051487.587062686] [sailbot.teensy]: Wind angle: 180 -[trim_sail-4] [INFO] [1746051487.587296757] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051487.588595399] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051487.589010357] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051487.589987452] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051487.591151141] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051487.645113609] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051487.645953460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051487.646526186] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051487.648222764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051487.649287830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051487.744808713] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051487.745464079] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051487.746043099] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051487.747138655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051487.748203388] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051487.835325389] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051487.837701203] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051487.838564110] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051487.837945752] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051487.838379616] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051487.839182626] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051487.839554262] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051487.844419655] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051487.845081427] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051487.845504897] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051487.846852973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051487.847891755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051487.945032039] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051487.945720485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051487.947535292] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051487.947785213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051487.949031706] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051487.957695414] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051487.958724275] [sailbot.main_algo]: Target Bearing: -142.14663839209246 -[main_algo-3] [INFO] [1746051487.959638657] [sailbot.main_algo]: Heading Difference: -167.7263616079075 -[main_algo-3] [INFO] [1746051487.960972519] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051487.961799837] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051487.962605769] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051487.964130120] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051487.964191543] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051488.002792819] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904111 Long: -76.50277241 -[main_algo-3] [INFO] [1746051488.003753178] [sailbot.main_algo]: Distance to destination: 56.48172121401271 -[vectornav-1] [INFO] [1746051488.004277748] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.81700000000001, -1.172, 5.274) -[main_algo-3] [INFO] [1746051488.004854345] [sailbot.main_algo]: Target Bearing: -142.18516110317705 -[main_algo-3] [INFO] [1746051488.005863984] [sailbot.main_algo]: Heading Difference: -167.68783889682294 -[main_algo-3] [INFO] [1746051488.007246719] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051488.008148353] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051488.009045032] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051488.010993924] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051488.045118610] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051488.045768190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051488.046467319] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051488.047799880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051488.048838571] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051488.085156703] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051488.086691140] [sailbot.teensy]: Wind angle: 180 -[trim_sail-4] [INFO] [1746051488.087164232] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051488.087543819] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051488.088415923] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051488.089116816] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051488.089386187] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051488.145019539] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051488.145593691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051488.146332075] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051488.147512001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051488.148711403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051488.245157480] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051488.245660465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051488.246677075] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051488.247587265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051488.248724057] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051488.335290532] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051488.336310097] [sailbot.teensy]: Wind angle: 179 -[teensy-2] [INFO] [1746051488.336705688] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051488.336589853] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051488.336948299] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051488.337082075] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051488.337459711] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051488.344538463] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051488.344916329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051488.345807635] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051488.346598181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051488.347795075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051488.444834832] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051488.445486285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051488.445979526] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051488.447326444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051488.448526784] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051488.457437183] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051488.458408101] [sailbot.main_algo]: Target Bearing: -142.18516110317705 -[main_algo-3] [INFO] [1746051488.459295481] [sailbot.main_algo]: Heading Difference: -166.99783889682294 -[main_algo-3] [INFO] [1746051488.460535692] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051488.461348418] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051488.462155265] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051488.463684583] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051488.463720314] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051488.502543039] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904133 Long: -76.50277254 -[main_algo-3] [INFO] [1746051488.503377831] [sailbot.main_algo]: Distance to destination: 56.48871991429452 -[vectornav-1] [INFO] [1746051488.503579479] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.908000000000015, 0.297, 4.662) -[main_algo-3] [INFO] [1746051488.504603660] [sailbot.main_algo]: Target Bearing: -142.15905782024083 -[main_algo-3] [INFO] [1746051488.505555110] [sailbot.main_algo]: Heading Difference: -167.02394217975916 -[main_algo-3] [INFO] [1746051488.506868101] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051488.507693323] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051488.508499731] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051488.510023275] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051488.544935867] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051488.545667469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051488.546199751] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051488.547554925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051488.548614718] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051488.585314133] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051488.586950304] [sailbot.teensy]: Wind angle: 179 -[trim_sail-4] [INFO] [1746051488.587781134] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051488.587856341] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051488.588485517] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051488.589818446] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051488.590793134] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051488.645026803] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051488.645614615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051488.646375456] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051488.647451730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051488.648560833] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051488.744574359] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051488.745710390] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051488.745906190] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051488.748238270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051488.749523734] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051488.834541392] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051488.835311557] [sailbot.teensy]: Wind angle: 179 -[teensy-2] [INFO] [1746051488.835745840] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051488.836167257] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051488.836574041] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051488.837796536] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051488.838216039] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051488.843942315] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051488.844470627] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051488.845076525] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051488.845199203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051488.845700011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051488.943666794] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051488.943896824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051488.944169760] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051488.944668822] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051488.945401461] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051488.956516250] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051488.957500423] [sailbot.main_algo]: Target Bearing: -142.15905782024083 -[main_algo-3] [INFO] [1746051488.958428574] [sailbot.main_algo]: Heading Difference: -168.93294217975915 -[main_algo-3] [INFO] [1746051488.959314919] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051488.959692396] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051488.960063262] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051488.961007334] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051488.961035398] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051489.002800086] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904123 Long: -76.5027724 -[main_algo-3] [INFO] [1746051489.003888254] [sailbot.main_algo]: Distance to destination: 56.49071875187462 -[vectornav-1] [INFO] [1746051489.004108437] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.954999999999984, 0.289, 6.038) -[main_algo-3] [INFO] [1746051489.005158850] [sailbot.main_algo]: Target Bearing: -142.1751540692141 -[main_algo-3] [INFO] [1746051489.006279179] [sailbot.main_algo]: Heading Difference: -168.91684593078588 -[main_algo-3] [INFO] [1746051489.007753706] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051489.008688533] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051489.009538259] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051489.011188230] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051489.044927843] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051489.045594127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051489.046205765] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051489.047598405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051489.048640139] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051489.085003990] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051489.086523070] [sailbot.teensy]: Wind angle: 179 -[trim_sail-4] [INFO] [1746051489.087370715] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051489.087465463] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051489.088354406] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051489.089098596] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051489.089263424] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051489.144852343] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051489.145553569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051489.146332752] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051489.147339980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051489.148568337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051489.244986272] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051489.245832771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051489.246429781] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051489.247706461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051489.248783312] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051489.335400471] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051489.337277083] [sailbot.teensy]: Wind angle: 178 -[teensy-2] [INFO] [1746051489.338238775] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051489.337745072] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051489.339163395] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051489.339789688] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051489.340762899] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051489.344419817] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051489.344768293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051489.345585906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051489.346429881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051489.347597795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051489.445288829] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051489.445961705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051489.446910655] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051489.447978813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051489.448952938] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051489.457756382] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051489.458879776] [sailbot.main_algo]: Target Bearing: -142.1751540692141 -[main_algo-3] [INFO] [1746051489.459837017] [sailbot.main_algo]: Heading Difference: -169.8698459307859 -[main_algo-3] [INFO] [1746051489.461186115] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051489.462062381] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051489.462855896] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051489.464393521] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051489.464562319] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051489.502603838] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904098 Long: -76.50277221 -[main_algo-3] [INFO] [1746051489.503586066] [sailbot.main_algo]: Distance to destination: 56.48548325585649 -[vectornav-1] [INFO] [1746051489.503620765] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.56200000000001, -1.686, 5.232) -[main_algo-3] [INFO] [1746051489.504730267] [sailbot.main_algo]: Target Bearing: -142.2070282453181 -[main_algo-3] [INFO] [1746051489.505694017] [sailbot.main_algo]: Heading Difference: -169.83797175468192 -[main_algo-3] [INFO] [1746051489.507166282] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051489.508079402] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051489.508965017] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051489.510531616] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051489.544572355] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051489.545206505] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051489.545749522] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051489.546906766] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051489.548000224] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051489.585122623] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051489.586665368] [sailbot.teensy]: Wind angle: 179 -[trim_sail-4] [INFO] [1746051489.587096628] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051489.587531973] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051489.588499657] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051489.588918073] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051489.589358006] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051489.645219546] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051489.646301940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051489.646638754] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051489.648638692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051489.649768323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051489.745512114] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051489.745598206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051489.746962080] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051489.747628570] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051489.748824299] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051489.835502483] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051489.837367602] [sailbot.teensy]: Wind angle: 179 -[trim_sail-4] [INFO] [1746051489.837804645] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051489.838358806] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051489.839332645] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051489.840265886] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051489.840261682] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051489.844512827] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051489.845382765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051489.846083362] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051489.847267852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051489.848410479] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051489.945111306] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051489.945762808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051489.946607841] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051489.947711405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051489.948928892] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051489.957460960] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051489.958434037] [sailbot.main_algo]: Target Bearing: -142.2070282453181 -[main_algo-3] [INFO] [1746051489.959321102] [sailbot.main_algo]: Heading Difference: -167.2309717546819 -[main_algo-3] [INFO] [1746051489.960584068] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051489.961398277] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051489.962200759] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051489.963752548] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051489.963770494] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051490.002470059] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904102 Long: -76.50277208 -[main_algo-3] [INFO] [1746051490.003587568] [sailbot.main_algo]: Distance to destination: 56.496596749954435 -[vectornav-1] [INFO] [1746051490.004063204] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.273000000000025, 0.268, 5.003) -[main_algo-3] [INFO] [1746051490.004769352] [sailbot.main_algo]: Target Bearing: -142.21031113608004 -[main_algo-3] [INFO] [1746051490.005685266] [sailbot.main_algo]: Heading Difference: -167.22768886391998 -[main_algo-3] [INFO] [1746051490.006991620] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051490.007796325] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051490.008599345] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051490.010146098] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051490.045603447] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051490.045763754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051490.046917816] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051490.047680040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051490.048818005] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051490.085634412] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051490.087636168] [sailbot.teensy]: Wind angle: 178 -[trim_sail-4] [INFO] [1746051490.088137529] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051490.088671195] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051490.089566132] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051490.090004815] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051490.090490556] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051490.145165993] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051490.145701993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051490.146624792] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051490.147767411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051490.148852126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051490.244793753] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051490.245099547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051490.246226578] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051490.246922958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051490.248246541] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051490.335340604] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051490.337125733] [sailbot.teensy]: Wind angle: 177 -[trim_sail-4] [INFO] [1746051490.338407087] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051490.338668563] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051490.340352148] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051490.341467565] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051490.342418144] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051490.344561321] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051490.345065904] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051490.345754595] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051490.346817936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051490.347872164] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051490.445461142] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051490.446309649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051490.447177987] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051490.448409602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051490.449671149] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051490.457615945] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051490.458688618] [sailbot.main_algo]: Target Bearing: -142.21031113608004 -[main_algo-3] [INFO] [1746051490.459596003] [sailbot.main_algo]: Heading Difference: -167.51668886391997 -[main_algo-3] [INFO] [1746051490.460926284] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051490.461812857] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051490.462614131] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051490.464488720] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051490.464750932] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051490.502349237] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904116 Long: -76.50277192 -[main_algo-3] [INFO] [1746051490.503196714] [sailbot.main_algo]: Distance to destination: 56.516592377322475 -[vectornav-1] [INFO] [1746051490.503512382] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.56, -0.866, 6.94) -[main_algo-3] [INFO] [1746051490.504367827] [sailbot.main_algo]: Target Bearing: -142.20638528610925 -[main_algo-3] [INFO] [1746051490.505583089] [sailbot.main_algo]: Heading Difference: -167.52061471389072 -[main_algo-3] [INFO] [1746051490.507192851] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051490.508110458] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051490.508992644] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051490.510681754] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051490.544709980] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051490.545401049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051490.545866383] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051490.547281333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051490.548568484] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051490.585214249] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051490.587138071] [sailbot.teensy]: Wind angle: 177 -[trim_sail-4] [INFO] [1746051490.588288338] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051490.588587946] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051490.589578638] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051490.589823145] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051490.590530538] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051490.645611986] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051490.646352269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051490.646896307] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051490.647907593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051490.648420112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051490.745329312] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051490.746043674] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051490.746884230] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051490.748502240] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051490.749224722] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051490.835444167] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051490.837864182] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051490.838357106] [sailbot.teensy]: Wind angle: 175 -[mux-7] [INFO] [1746051490.839173285] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051490.839298719] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051490.840178623] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051490.840578297] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051490.844562888] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051490.845036512] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051490.845693861] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051490.846771595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051490.847844145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051490.944081874] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051490.944651645] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051490.945097259] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051490.946146839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051490.947160476] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051490.956522616] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051490.957218939] [sailbot.main_algo]: Target Bearing: -142.20638528610925 -[main_algo-3] [INFO] [1746051490.957878318] [sailbot.main_algo]: Heading Difference: -168.23361471389074 -[main_algo-3] [INFO] [1746051490.958878309] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051490.959563743] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051490.960214561] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051490.961390277] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051490.961485954] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051491.002214312] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904096 Long: -76.5027718 -[vectornav-1] [INFO] [1746051491.003364177] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.202999999999975, 0.503, 4.846) -[main_algo-3] [INFO] [1746051491.003392426] [sailbot.main_algo]: Distance to destination: 56.5103652930458 -[main_algo-3] [INFO] [1746051491.004638747] [sailbot.main_algo]: Target Bearing: -142.2302038333427 -[main_algo-3] [INFO] [1746051491.005497671] [sailbot.main_algo]: Heading Difference: -168.20979616665727 -[main_algo-3] [INFO] [1746051491.006791547] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051491.007707519] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051491.008420576] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051491.009878388] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051491.044917317] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051491.045565917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051491.046184403] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051491.047376864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051491.048447632] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051491.085124232] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051491.087030863] [sailbot.teensy]: Wind angle: 177 -[trim_sail-4] [INFO] [1746051491.087407114] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051491.087711043] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051491.088242693] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051491.089155740] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051491.090003250] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051491.145070486] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051491.145754396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051491.146616544] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051491.147632518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051491.148742955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051491.244999845] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051491.245698565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051491.246544441] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051491.247535211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051491.248569050] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051491.335434681] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051491.337479944] [sailbot.teensy]: Wind angle: 181 -[trim_sail-4] [INFO] [1746051491.337908373] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051491.338479935] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051491.339377059] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051491.339418564] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051491.340297700] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051491.344495391] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051491.344983396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051491.345650982] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051491.346657710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051491.347819715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051491.444993372] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051491.445808325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051491.446338751] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051491.447641383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051491.448637577] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051491.457725469] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051491.458797302] [sailbot.main_algo]: Target Bearing: -142.2302038333427 -[main_algo-3] [INFO] [1746051491.459741447] [sailbot.main_algo]: Heading Difference: -167.56679616665735 -[main_algo-3] [INFO] [1746051491.461152279] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051491.462050555] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051491.462862677] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051491.464570719] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051491.464568548] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051491.502772373] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904074 Long: -76.50277186 -[main_algo-3] [INFO] [1746051491.503811968] [sailbot.main_algo]: Distance to destination: 56.491217336848315 -[vectornav-1] [INFO] [1746051491.503906740] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.261000000000024, -1.381, 5.2) -[main_algo-3] [INFO] [1746051491.504982558] [sailbot.main_algo]: Target Bearing: -142.24638650658665 -[main_algo-3] [INFO] [1746051491.505980219] [sailbot.main_algo]: Heading Difference: -167.55061349341338 -[main_algo-3] [INFO] [1746051491.507453039] [sailbot.main_algo]: Wind Direction: 181 -[main_algo-3] [INFO] [1746051491.508397903] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051491.509273033] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051491.511037134] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051491.544942834] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051491.545700768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051491.546217026] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051491.548255953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051491.549352387] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051491.585415175] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051491.587428872] [sailbot.teensy]: Wind angle: 192 -[trim_sail-4] [INFO] [1746051491.587569137] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051491.588667316] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051491.589021392] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051491.590109345] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051491.591056342] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051491.645185202] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051491.646006156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051491.647046964] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051491.648945501] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051491.649990531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051491.745012964] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051491.745618495] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051491.746514697] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051491.747580814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051491.748674906] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051491.835349744] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051491.837058310] [sailbot.teensy]: Wind angle: 208 -[trim_sail-4] [INFO] [1746051491.838000902] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051491.838741568] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051491.839052282] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051491.839707498] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051491.840608737] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051491.844485382] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051491.845245499] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051491.846012668] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051491.847172798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051491.848197361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051491.945463727] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051491.945944124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051491.947073329] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051491.948415296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051491.949107340] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051491.957687946] [sailbot.main_algo]: Wind Direction: 208 -[main_algo-3] [INFO] [1746051491.958749200] [sailbot.main_algo]: Target Bearing: -142.24638650658665 -[main_algo-3] [INFO] [1746051491.959663864] [sailbot.main_algo]: Heading Difference: -167.49261349341333 -[main_algo-3] [INFO] [1746051491.961052614] [sailbot.main_algo]: Wind Direction: 208 -[main_algo-3] [INFO] [1746051491.961971841] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051491.962799401] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051491.964392770] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051491.964547144] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051492.003327206] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904063 Long: -76.50277176 -[main_algo-3] [INFO] [1746051492.004205966] [sailbot.main_algo]: Distance to destination: 56.48998032826275 -[vectornav-1] [INFO] [1746051492.004989767] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.94999999999999, 0.353, 5.518) -[main_algo-3] [INFO] [1746051492.005429901] [sailbot.main_algo]: Target Bearing: -142.261269328977 -[main_algo-3] [INFO] [1746051492.006470176] [sailbot.main_algo]: Heading Difference: -167.47773067102298 -[main_algo-3] [INFO] [1746051492.007823532] [sailbot.main_algo]: Wind Direction: 208 -[main_algo-3] [INFO] [1746051492.008794657] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051492.009672949] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051492.011368079] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051492.045000755] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051492.045793155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051492.046366213] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051492.047670430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051492.048896535] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051492.085368567] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051492.087578096] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051492.087787549] [sailbot.teensy]: Wind angle: 210 -[teensy-2] [INFO] [1746051492.088769318] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051492.089136222] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051492.089649217] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051492.090544594] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051492.145197063] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051492.145967991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051492.146674886] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051492.148111079] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051492.149246830] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051492.244973773] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051492.245632284] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051492.246258391] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051492.247537803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051492.248708689] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051492.335658001] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051492.338432916] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051492.338580957] [sailbot.teensy]: Wind angle: 210 -[teensy-2] [INFO] [1746051492.339544209] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051492.340180813] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051492.340479565] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051492.341403094] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051492.344389281] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051492.345054653] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051492.345632185] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051492.346863605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051492.348016455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051492.445098966] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051492.445836983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051492.446394435] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051492.447699641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051492.448261773] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051492.457836140] [sailbot.main_algo]: Wind Direction: 210 -[main_algo-3] [INFO] [1746051492.459075363] [sailbot.main_algo]: Target Bearing: -142.261269328977 -[main_algo-3] [INFO] [1746051492.460076162] [sailbot.main_algo]: Heading Difference: -167.78873067102302 -[main_algo-3] [INFO] [1746051492.461433061] [sailbot.main_algo]: Wind Direction: 210 -[main_algo-3] [INFO] [1746051492.462312020] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051492.463122861] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051492.464793773] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051492.464954049] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051492.502039792] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904051 Long: -76.50277186 -[vectornav-1] [INFO] [1746051492.503063229] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.649, -1.034, 5.325) -[main_algo-3] [INFO] [1746051492.503258929] [sailbot.main_algo]: Distance to destination: 56.475226157090226 -[main_algo-3] [INFO] [1746051492.504275919] [sailbot.main_algo]: Target Bearing: -142.26659173980994 -[main_algo-3] [INFO] [1746051492.505184863] [sailbot.main_algo]: Heading Difference: -167.78340826019007 -[main_algo-3] [INFO] [1746051492.506432370] [sailbot.main_algo]: Wind Direction: 210 -[main_algo-3] [INFO] [1746051492.507308413] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051492.508127308] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051492.509690393] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051492.545187690] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051492.545971795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051492.547077755] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051492.547925746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051492.549043590] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051492.585549545] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051492.587859671] [sailbot.teensy]: Wind angle: 207 -[trim_sail-4] [INFO] [1746051492.588003663] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051492.588829554] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051492.589134595] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051492.589724318] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051492.590582938] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051492.644597345] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051492.645211413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051492.645707816] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051492.647029461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051492.648086857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051492.745625255] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051492.746132151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051492.747301680] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051492.748355843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051492.749541401] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051492.835204335] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051492.836947421] [sailbot.teensy]: Wind angle: 205 -[trim_sail-4] [INFO] [1746051492.837473681] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051492.837889991] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051492.838823807] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051492.839382231] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051492.839699136] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051492.844350912] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051492.845031033] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051492.845852265] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051492.846807436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051492.847872696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051492.945240398] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051492.945980519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051492.946657299] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051492.947933359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051492.949001062] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051492.957611360] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051492.959115191] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746051492.960001932] [sailbot.main_algo]: Target Bearing: -142.26659173980994 -[main_algo-3] [INFO] [1746051492.960852321] [sailbot.main_algo]: Heading Difference: -168.08440826019006 -[main_algo-3] [INFO] [1746051492.962067040] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051492.962871328] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051492.963649785] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051492.965221465] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051492.965301067] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051493.002169921] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904036 Long: -76.50277182 -[vectornav-1] [INFO] [1746051493.003137575] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.411, 0.766, 5.633) -[main_algo-3] [INFO] [1746051493.003795970] [sailbot.main_algo]: Distance to destination: 56.46736643585179 -[main_algo-3] [INFO] [1746051493.004892787] [sailbot.main_algo]: Target Bearing: -142.28186333988387 -[main_algo-3] [INFO] [1746051493.005911284] [sailbot.main_algo]: Heading Difference: -168.0691366601161 -[main_algo-3] [INFO] [1746051493.007270241] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051493.009528479] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051493.010425750] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051493.012197676] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051493.043760055] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051493.044169228] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051493.045255991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051493.045300361] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051493.045832682] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051493.085093297] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051493.086594110] [sailbot.teensy]: Wind angle: 205 -[teensy-2] [INFO] [1746051493.087466085] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051493.087245178] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051493.088414954] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051493.089004702] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051493.089936724] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051493.145182845] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051493.145918777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051493.146754653] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051493.147937205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051493.148986629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051493.244846296] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051493.245544272] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051493.246075028] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051493.247583266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051493.248729266] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051493.335621318] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051493.337666735] [sailbot.teensy]: Wind angle: 205 -[teensy-2] [INFO] [1746051493.338712741] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051493.339229753] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051493.339688899] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051493.340787134] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051493.341688212] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051493.344465504] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051493.344849996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051493.345654654] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051493.346506625] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051493.347696699] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051493.445416459] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051493.445941053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051493.447032567] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051493.448365055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051493.449527901] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051493.457686445] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051493.459203604] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746051493.460517720] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051493.461840342] [sailbot.main_algo]: Current Location: (42.46904036214751, -76.50277182005446) -[main_algo-3] [INFO] [1746051493.462735669] [sailbot.main_algo]: Target Bearing: -142.28186333988387 -[main_algo-3] [INFO] [1746051493.463537851] [sailbot.main_algo]: Heading Difference: -168.30713666011616 -[main_algo-3] [INFO] [1746051493.464844176] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051493.465671408] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051493.466442862] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051493.467987805] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051493.468136045] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051493.502886798] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904037 Long: -76.50277191 -[main_algo-3] [INFO] [1746051493.503814100] [sailbot.main_algo]: Distance to destination: 56.46228907412708 -[vectornav-1] [INFO] [1746051493.504036391] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.93399999999997, -1.775, 6.271) -[main_algo-3] [INFO] [1746051493.504985869] [sailbot.main_algo]: Target Bearing: -142.2762857578525 -[main_algo-3] [INFO] [1746051493.505912453] [sailbot.main_algo]: Heading Difference: -168.31271424214754 -[main_algo-3] [INFO] [1746051493.507253840] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051493.508139754] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051493.509009939] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051493.510669720] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051493.545134141] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051493.545725280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051493.546755966] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051493.547539673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051493.548644645] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051493.585252781] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051493.587067808] [sailbot.teensy]: Wind angle: 205 -[trim_sail-4] [INFO] [1746051493.587623147] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051493.589391904] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051493.589680422] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051493.590405997] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051493.591545936] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051493.645048203] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051493.646093366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051493.646389618] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051493.647924410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051493.648403312] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051493.745263729] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051493.746042928] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051493.746651257] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051493.748111137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051493.749200320] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051493.835228402] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051493.836965882] [sailbot.teensy]: Wind angle: 205 -[teensy-2] [INFO] [1746051493.837929319] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051493.837883027] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051493.838858801] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051493.839787525] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051493.840249253] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051493.844346467] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051493.845003886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051493.846112898] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051493.846726010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051493.847875583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051493.945341415] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051493.946360858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051493.946975459] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051493.948593875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051493.949794317] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051493.957698990] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051493.958733842] [sailbot.main_algo]: Target Bearing: -142.2762857578525 -[main_algo-3] [INFO] [1746051493.959611692] [sailbot.main_algo]: Heading Difference: -168.7897142421475 -[main_algo-3] [INFO] [1746051493.960918750] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051493.961724352] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051493.962514707] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051493.964047033] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051493.964210705] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051494.003077260] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904005 Long: -76.50277174 -[main_algo-3] [INFO] [1746051494.004007649] [sailbot.main_algo]: Distance to destination: 56.45096462208124 -[vectornav-1] [INFO] [1746051494.004410055] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.577999999999975, 0.293, 5.719) -[main_algo-3] [INFO] [1746051494.005597502] [sailbot.main_algo]: Target Bearing: -142.31329897133844 -[main_algo-3] [INFO] [1746051494.006648610] [sailbot.main_algo]: Heading Difference: -168.7527010286616 -[main_algo-3] [INFO] [1746051494.008258713] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051494.009192896] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051494.010078179] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051494.011848073] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051494.045426236] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051494.046080429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051494.047080712] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051494.048458212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051494.049623670] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051494.085059217] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051494.086537326] [sailbot.teensy]: Wind angle: 209 -[teensy-2] [INFO] [1746051494.087404089] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051494.087385203] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051494.088244174] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051494.088532987] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051494.089127989] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051494.144794120] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051494.145210379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051494.145926212] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051494.146924699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051494.147940580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051494.244725387] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051494.245332114] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051494.246165776] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051494.247073161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051494.248319831] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051494.335503006] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051494.338092785] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051494.338554118] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051494.338901781] [sailbot.teensy]: Wind angle: 212 -[teensy-2] [INFO] [1746051494.339894644] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051494.340790165] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051494.341608775] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051494.344284331] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051494.344815767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051494.345383798] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051494.346489287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051494.347525522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051494.445373177] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051494.446380513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051494.448322227] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051494.448779292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051494.450022618] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051494.457734804] [sailbot.main_algo]: Wind Direction: 212 -[main_algo-3] [INFO] [1746051494.458776498] [sailbot.main_algo]: Target Bearing: -142.31329897133844 -[main_algo-3] [INFO] [1746051494.459717138] [sailbot.main_algo]: Heading Difference: -168.10870102866159 -[main_algo-3] [INFO] [1746051494.461048492] [sailbot.main_algo]: Wind Direction: 212 -[main_algo-3] [INFO] [1746051494.461939022] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051494.462771356] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051494.464347396] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051494.464366860] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051494.502401873] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904 Long: -76.50277152 -[main_algo-3] [INFO] [1746051494.503316631] [sailbot.main_algo]: Distance to destination: 56.46161154783594 -[vectornav-1] [INFO] [1746051494.503777334] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.920000000000016, -0.324, 5.542) -[main_algo-3] [INFO] [1746051494.504679158] [sailbot.main_algo]: Target Bearing: -142.32917398509252 -[main_algo-3] [INFO] [1746051494.505676993] [sailbot.main_algo]: Heading Difference: -168.09282601490747 -[main_algo-3] [INFO] [1746051494.507006050] [sailbot.main_algo]: Wind Direction: 212 -[main_algo-3] [INFO] [1746051494.507868022] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051494.508725097] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051494.510489656] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051494.544772863] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051494.545799710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051494.546072447] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051494.547744381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051494.548878372] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051494.585475619] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051494.588098094] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051494.588864403] [sailbot.teensy]: Wind angle: 213 -[mux-7] [INFO] [1746051494.588908328] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051494.589795530] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051494.590711100] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051494.591619040] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051494.645056432] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051494.645857058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051494.646376717] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051494.647842741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051494.649007412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051494.745231098] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051494.746121378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051494.746644156] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051494.747995743] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051494.748540628] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051494.835308726] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051494.837396015] [sailbot.teensy]: Wind angle: 212 -[trim_sail-4] [INFO] [1746051494.837664037] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051494.838348749] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051494.839239602] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051494.839242766] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051494.840250020] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051494.844463702] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051494.845007602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051494.845731657] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051494.846685775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051494.847836047] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051494.945189326] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051494.945800377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051494.946598728] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051494.947804543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051494.948831982] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051494.957514171] [sailbot.main_algo]: Wind Direction: 212 -[main_algo-3] [INFO] [1746051494.958513267] [sailbot.main_algo]: Target Bearing: -142.32917398509252 -[main_algo-3] [INFO] [1746051494.959422237] [sailbot.main_algo]: Heading Difference: -168.7508260149075 -[main_algo-3] [INFO] [1746051494.960702676] [sailbot.main_algo]: Wind Direction: 212 -[main_algo-3] [INFO] [1746051494.961526145] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051494.962327710] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051494.963849050] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051494.963906733] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051495.002702886] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903992 Long: -76.50277144 -[main_algo-3] [INFO] [1746051495.003529241] [sailbot.main_algo]: Distance to destination: 56.46119379184203 -[vectornav-1] [INFO] [1746051495.003765892] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.053, -0.763, 5.124) -[main_algo-3] [INFO] [1746051495.004633550] [sailbot.main_algo]: Target Bearing: -142.34038397280128 -[main_algo-3] [INFO] [1746051495.005494055] [sailbot.main_algo]: Heading Difference: -168.73961602719874 -[main_algo-3] [INFO] [1746051495.006731759] [sailbot.main_algo]: Wind Direction: 212 -[main_algo-3] [INFO] [1746051495.007555918] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051495.008363147] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051495.009945488] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051495.045059300] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051495.045786609] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051495.046446931] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051495.048003311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051495.049143936] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051495.084870469] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051495.086179664] [sailbot.teensy]: Wind angle: 212 -[teensy-2] [INFO] [1746051495.086962498] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051495.087676115] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051495.087502526] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051495.088474938] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051495.089613212] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051495.144456249] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051495.145009407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051495.145664658] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051495.146690413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051495.147559230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051495.245115169] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051495.246002651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051495.246828050] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051495.247975273] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051495.248452381] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051495.335489690] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051495.337884573] [sailbot.teensy]: Wind angle: 212 -[trim_sail-4] [INFO] [1746051495.338197458] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051495.338852528] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051495.339513335] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051495.339901210] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051495.340601521] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051495.344377770] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051495.344928887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051495.345514213] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051495.346638944] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051495.347681558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051495.445260299] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051495.446052639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051495.446681736] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051495.448369953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051495.449388065] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051495.457639925] [sailbot.main_algo]: Wind Direction: 212 -[main_algo-3] [INFO] [1746051495.458764428] [sailbot.main_algo]: Target Bearing: -142.34038397280128 -[main_algo-3] [INFO] [1746051495.459694313] [sailbot.main_algo]: Heading Difference: -169.6066160271987 -[main_algo-3] [INFO] [1746051495.461057389] [sailbot.main_algo]: Wind Direction: 212 -[main_algo-3] [INFO] [1746051495.461873652] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051495.462700691] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051495.464228491] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051495.464328718] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051495.502714571] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903989 Long: -76.50277147 -[main_algo-3] [INFO] [1746051495.504296977] [sailbot.main_algo]: Distance to destination: 56.457186056687625 -[vectornav-1] [INFO] [1746051495.504362549] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.03699999999998, 0.255, 7.061) -[main_algo-3] [INFO] [1746051495.505853034] [sailbot.main_algo]: Target Bearing: -142.3414594548914 -[main_algo-3] [INFO] [1746051495.506870263] [sailbot.main_algo]: Heading Difference: -169.60554054510862 -[main_algo-3] [INFO] [1746051495.508310009] [sailbot.main_algo]: Wind Direction: 212 -[main_algo-3] [INFO] [1746051495.509227594] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051495.510069476] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051495.511666142] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051495.544990184] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051495.545713947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051495.546278427] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051495.547697396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051495.548852803] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051495.585440988] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051495.587333559] [sailbot.teensy]: Wind angle: 212 -[trim_sail-4] [INFO] [1746051495.588075794] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051495.588400725] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051495.589311539] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051495.589869990] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051495.590280173] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051495.644990549] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051495.645598721] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051495.646222094] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051495.647380383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051495.648525363] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051495.745524371] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051495.746328389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051495.747440003] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051495.748609381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051495.749809952] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051495.835387593] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051495.837067514] [sailbot.teensy]: Wind angle: 212 -[trim_sail-4] [INFO] [1746051495.837684473] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051495.839213593] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051495.839446400] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051495.840388432] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051495.841266100] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051495.844395814] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051495.845260197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051495.845561211] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051495.847014469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051495.848019199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051495.944828246] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051495.945423849] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051495.946025405] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051495.947194108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051495.948296285] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051495.957447769] [sailbot.main_algo]: Wind Direction: 212 -[main_algo-3] [INFO] [1746051495.958436374] [sailbot.main_algo]: Target Bearing: -142.3414594548914 -[main_algo-3] [INFO] [1746051495.959287714] [sailbot.main_algo]: Heading Difference: -169.6215405451086 -[main_algo-3] [INFO] [1746051495.960504467] [sailbot.main_algo]: Wind Direction: 212 -[main_algo-3] [INFO] [1746051495.961313047] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051495.962120977] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051495.963644182] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051495.963861732] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051496.002797227] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903972 Long: -76.50277107 -[main_algo-3] [INFO] [1746051496.003726941] [sailbot.main_algo]: Distance to destination: 56.47107638339198 -[vectornav-1] [INFO] [1746051496.003858892] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.613, -0.818, 4.083) -[main_algo-3] [INFO] [1746051496.004962647] [sailbot.main_algo]: Target Bearing: -142.37726642873733 -[main_algo-3] [INFO] [1746051496.006024295] [sailbot.main_algo]: Heading Difference: -169.58573357126272 -[main_algo-3] [INFO] [1746051496.007480750] [sailbot.main_algo]: Wind Direction: 212 -[main_algo-3] [INFO] [1746051496.008448411] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051496.009276591] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051496.010982606] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051496.045198918] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051496.045671712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051496.046558585] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051496.047469470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051496.048687553] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051496.085185599] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051496.086814288] [sailbot.teensy]: Wind angle: 212 -[trim_sail-4] [INFO] [1746051496.087412297] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051496.087685475] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051496.088531949] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051496.088953347] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051496.089438174] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051496.144114210] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051496.144694720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051496.145152975] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051496.146503508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051496.147338933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051496.244995580] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051496.245698926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051496.246303704] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051496.247580941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051496.248671929] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051496.335429578] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051496.337779899] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051496.338095673] [sailbot.teensy]: Wind angle: 212 -[teensy-2] [INFO] [1746051496.339029958] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051496.340042794] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051496.340098721] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051496.341039699] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051496.344328795] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051496.344885857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051496.345460045] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051496.346534887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051496.347548597] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051496.445070878] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051496.445868698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051496.446359371] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051496.447697890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051496.448744501] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051496.457503034] [sailbot.main_algo]: Wind Direction: 212 -[main_algo-3] [INFO] [1746051496.458576640] [sailbot.main_algo]: Target Bearing: -142.37726642873733 -[main_algo-3] [INFO] [1746051496.459458849] [sailbot.main_algo]: Heading Difference: -169.0097335712627 -[main_algo-3] [INFO] [1746051496.460719817] [sailbot.main_algo]: Wind Direction: 212 -[main_algo-3] [INFO] [1746051496.461541531] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051496.462343132] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051496.463866442] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051496.463926731] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051496.502441438] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903958 Long: -76.50277107 -[main_algo-3] [INFO] [1746051496.503383093] [sailbot.main_algo]: Distance to destination: 56.46136950828527 -[vectornav-1] [INFO] [1746051496.503447671] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.25, -0.089, 5.546) -[main_algo-3] [INFO] [1746051496.504550786] [sailbot.main_algo]: Target Bearing: -142.38959082005044 -[main_algo-3] [INFO] [1746051496.505775197] [sailbot.main_algo]: Heading Difference: -168.99740917994956 -[main_algo-3] [INFO] [1746051496.507294139] [sailbot.main_algo]: Wind Direction: 212 -[main_algo-3] [INFO] [1746051496.508298303] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051496.509187093] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051496.511002433] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051496.545184018] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051496.545667400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051496.546507041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051496.547523442] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051496.548707906] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051496.585599177] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051496.587850377] [sailbot.teensy]: Wind angle: 212 -[teensy-2] [INFO] [1746051496.588885433] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051496.588480009] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051496.589442499] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051496.589872514] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051496.590745151] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051496.644870936] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051496.645580058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051496.646111413] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051496.647524701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051496.648608921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051496.745091283] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051496.745795747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051496.746382081] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051496.747629595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051496.748541424] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051496.835047107] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051496.836700307] [sailbot.teensy]: Wind angle: 211 -[trim_sail-4] [INFO] [1746051496.837549537] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051496.837635414] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051496.838510198] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051496.838662058] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051496.839431410] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051496.844279014] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051496.844848257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051496.845347925] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051496.846451329] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051496.847826729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051496.945141520] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051496.945856448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051496.946423574] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051496.947762600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051496.948806930] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051496.957672568] [sailbot.main_algo]: Wind Direction: 211 -[main_algo-3] [INFO] [1746051496.958750782] [sailbot.main_algo]: Target Bearing: -142.38959082005044 -[main_algo-3] [INFO] [1746051496.959682694] [sailbot.main_algo]: Heading Difference: -170.36040917994956 -[main_algo-3] [INFO] [1746051496.961003915] [sailbot.main_algo]: Wind Direction: 211 -[main_algo-3] [INFO] [1746051496.961887255] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051496.962660844] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051496.964407685] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051496.964427845] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051497.002783306] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903933 Long: -76.50277128 -[vectornav-1] [INFO] [1746051497.003907308] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.959, -0.837, 5.957) -[main_algo-3] [INFO] [1746051497.003901588] [sailbot.main_algo]: Distance to destination: 56.430549692658964 -[main_algo-3] [INFO] [1746051497.005412101] [sailbot.main_algo]: Target Bearing: -142.4006709720788 -[main_algo-3] [INFO] [1746051497.006634633] [sailbot.main_algo]: Heading Difference: -170.34932902792116 -[main_algo-3] [INFO] [1746051497.007981170] [sailbot.main_algo]: Wind Direction: 211 -[main_algo-3] [INFO] [1746051497.008885643] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051497.009734599] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051497.011469856] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051497.045299973] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051497.046859415] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051497.047326042] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051497.049490419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051497.050660424] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051497.085419791] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051497.087590475] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051497.087970503] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051497.088844630] [sailbot.teensy]: Wind angle: 207 -[teensy-2] [INFO] [1746051497.089758857] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051497.090621297] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051497.091396862] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051497.144270446] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051497.144872965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051497.145260248] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051497.146598312] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051497.148638683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051497.244750446] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051497.245422553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051497.245964357] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051497.247248694] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051497.248226196] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051497.335578919] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051497.338376746] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051497.338481591] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051497.339677944] [sailbot.teensy]: Wind angle: 206 -[teensy-2] [INFO] [1746051497.340700340] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051497.341196154] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051497.341559572] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051497.344480491] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051497.344878665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051497.345642921] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051497.346538340] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051497.347568152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051497.445542923] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051497.446397725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051497.447162785] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051497.448536248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051497.449483444] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051497.457675322] [sailbot.main_algo]: Wind Direction: 206 -[main_algo-3] [INFO] [1746051497.458742033] [sailbot.main_algo]: Target Bearing: -142.4006709720788 -[main_algo-3] [INFO] [1746051497.459670921] [sailbot.main_algo]: Heading Difference: -170.6403290279212 -[main_algo-3] [INFO] [1746051497.461002607] [sailbot.main_algo]: Wind Direction: 206 -[main_algo-3] [INFO] [1746051497.461880522] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051497.462723182] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051497.464271194] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051497.464429517] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051497.502730099] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903924 Long: -76.50277104 -[main_algo-3] [INFO] [1746051497.503601008] [sailbot.main_algo]: Distance to destination: 56.439734444457294 -[vectornav-1] [INFO] [1746051497.504121548] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.04399999999998, -0.023, 5.963) -[main_algo-3] [INFO] [1746051497.504717523] [sailbot.main_algo]: Target Bearing: -142.42110121089718 -[main_algo-3] [INFO] [1746051497.505725034] [sailbot.main_algo]: Heading Difference: -170.61989878910282 -[main_algo-3] [INFO] [1746051497.507517815] [sailbot.main_algo]: Wind Direction: 206 -[main_algo-3] [INFO] [1746051497.508508348] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051497.509369025] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051497.511156322] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051497.545090819] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051497.545622046] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051497.546596362] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051497.547585410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051497.548689034] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051497.585245706] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051497.587180522] [sailbot.teensy]: Wind angle: 205 -[trim_sail-4] [INFO] [1746051497.587867132] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051497.588195451] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051497.589077677] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051497.589424662] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051497.589943481] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051497.644763398] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051497.645549212] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051497.646012339] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051497.647462575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051497.648497015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051497.744896201] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051497.745650319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051497.746112601] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051497.747654628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051497.748725516] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051497.835237315] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051497.837385727] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051497.837439816] [sailbot.teensy]: Wind angle: 205 -[teensy-2] [INFO] [1746051497.838391633] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051497.838460863] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051497.839344859] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051497.840220648] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051497.844400201] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051497.845114369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051497.845533512] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051497.846841851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051497.848115341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051497.944899697] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051497.945662330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051497.946107427] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051497.947517998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051497.948664124] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051497.957611889] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051497.958631850] [sailbot.main_algo]: Target Bearing: -142.42110121089718 -[main_algo-3] [INFO] [1746051497.959580602] [sailbot.main_algo]: Heading Difference: -170.53489878910284 -[main_algo-3] [INFO] [1746051497.960920881] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051497.961789119] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051497.962628635] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051497.964194742] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051497.964899295] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051498.002807316] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903901 Long: -76.50277106 -[main_algo-3] [INFO] [1746051498.003674030] [sailbot.main_algo]: Distance to destination: 56.42251845874229 -[vectornav-1] [INFO] [1746051498.003930168] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.81999999999999, -0.235, 5.727) -[main_algo-3] [INFO] [1746051498.004815021] [sailbot.main_algo]: Target Bearing: -142.440333085663 -[main_algo-3] [INFO] [1746051498.005832078] [sailbot.main_algo]: Heading Difference: -170.51566691433698 -[main_algo-3] [INFO] [1746051498.007270769] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051498.008177622] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051498.009086573] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051498.010765293] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051498.045001952] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051498.045650214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051498.046278587] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051498.047642537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051498.048710331] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051498.085229079] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051498.087134697] [sailbot.teensy]: Wind angle: 207 -[teensy-2] [INFO] [1746051498.088134027] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051498.087725271] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051498.089024898] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051498.089089526] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051498.089936700] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051498.144717453] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051498.145339886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051498.146131533] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051498.147161700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051498.148226357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051498.244876652] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051498.245417982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051498.246076870] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051498.247780873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051498.248336238] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051498.335540007] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051498.338203893] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051498.338640210] [sailbot.teensy]: Wind angle: 207 -[mux-7] [INFO] [1746051498.338970553] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051498.339571049] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051498.340474940] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051498.341309558] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051498.344558394] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051498.345061377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051498.345879042] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051498.346981611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051498.348033977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051498.445363352] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051498.446000174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051498.446884114] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051498.448099396] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051498.449308859] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051498.457654014] [sailbot.main_algo]: Wind Direction: 207 -[main_algo-3] [INFO] [1746051498.458637289] [sailbot.main_algo]: Target Bearing: -142.440333085663 -[main_algo-3] [INFO] [1746051498.459528204] [sailbot.main_algo]: Heading Difference: -169.73966691433702 -[main_algo-3] [INFO] [1746051498.460837750] [sailbot.main_algo]: Wind Direction: 207 -[main_algo-3] [INFO] [1746051498.461732161] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051498.462595192] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051498.464277663] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051498.464312508] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051498.502575243] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903899 Long: -76.50277104 -[main_algo-3] [INFO] [1746051498.503649751] [sailbot.main_algo]: Distance to destination: 56.42241917514572 -[vectornav-1] [INFO] [1746051498.503696863] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.286, -0.816, 5.269) -[main_algo-3] [INFO] [1746051498.504942793] [sailbot.main_algo]: Target Bearing: -142.4431377097138 -[main_algo-3] [INFO] [1746051498.505919396] [sailbot.main_algo]: Heading Difference: -169.73686229028624 -[main_algo-3] [INFO] [1746051498.507343261] [sailbot.main_algo]: Wind Direction: 207 -[main_algo-3] [INFO] [1746051498.508552106] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051498.509466749] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051498.511146713] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051498.544993007] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051498.545683668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051498.546281224] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051498.547713144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051498.548878016] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051498.585268944] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051498.587509293] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051498.589058041] [sailbot.teensy]: Wind angle: 207 -[mux-7] [INFO] [1746051498.589807176] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051498.590036265] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051498.590981788] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051498.591877667] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051498.644997346] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051498.645745247] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051498.646370565] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051498.647655761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051498.648712716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051498.745282355] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051498.746276985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051498.746838822] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051498.748447356] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051498.748939363] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051498.835485790] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051498.838220658] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051498.838217833] [sailbot.teensy]: Wind angle: 207 -[teensy-2] [INFO] [1746051498.839198508] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051498.839385575] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051498.840127772] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051498.841039237] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051498.844379226] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051498.844985502] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051498.845475590] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051498.846739145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051498.847803991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051498.944878197] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051498.945607734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051498.946097015] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051498.947415895] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051498.948579027] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051498.957418883] [sailbot.main_algo]: Wind Direction: 207 -[main_algo-3] [INFO] [1746051498.958352681] [sailbot.main_algo]: Target Bearing: -142.4431377097138 -[main_algo-3] [INFO] [1746051498.959229255] [sailbot.main_algo]: Heading Difference: -170.27086229028623 -[main_algo-3] [INFO] [1746051498.960461451] [sailbot.main_algo]: Wind Direction: 207 -[main_algo-3] [INFO] [1746051498.961265148] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051498.962036709] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051498.963516792] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051498.963537352] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051499.002736083] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903881 Long: -76.502771 -[main_algo-3] [INFO] [1746051499.003635358] [sailbot.main_algo]: Distance to destination: 56.412529302448334 -[vectornav-1] [INFO] [1746051499.003800674] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.06, 0.047, 5.579) -[main_algo-3] [INFO] [1746051499.004749220] [sailbot.main_algo]: Target Bearing: -142.46109434250226 -[main_algo-3] [INFO] [1746051499.005666857] [sailbot.main_algo]: Heading Difference: -170.25290565749776 -[main_algo-3] [INFO] [1746051499.007032078] [sailbot.main_algo]: Wind Direction: 207 -[main_algo-3] [INFO] [1746051499.007926747] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051499.008797270] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051499.010534880] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051499.045224229] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051499.045794341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051499.046685358] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051499.048164782] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051499.049236939] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051499.085347999] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051499.087675336] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051499.087933532] [sailbot.teensy]: Wind angle: 207 -[mux-7] [INFO] [1746051499.088601967] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051499.088844185] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051499.089749960] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051499.090576742] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051499.145256413] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051499.146677069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051499.146794231] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051499.148399619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051499.148928724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051499.243953984] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051499.244515097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051499.244916538] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051499.246097619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051499.247269989] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051499.335346862] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051499.337080872] [sailbot.teensy]: Wind angle: 207 -[teensy-2] [INFO] [1746051499.337961607] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051499.337517228] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051499.338253471] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051499.338768505] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051499.339612713] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051499.344323969] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051499.345051405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051499.345426753] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051499.346838658] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051499.347961679] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051499.445149437] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051499.445939052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051499.446686855] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051499.448019175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051499.449055876] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051499.457625750] [sailbot.main_algo]: Wind Direction: 207 -[main_algo-3] [INFO] [1746051499.458651649] [sailbot.main_algo]: Target Bearing: -142.46109434250226 -[main_algo-3] [INFO] [1746051499.459571417] [sailbot.main_algo]: Heading Difference: -170.47890565749776 -[main_algo-3] [INFO] [1746051499.460951641] [sailbot.main_algo]: Wind Direction: 207 -[main_algo-3] [INFO] [1746051499.461780468] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051499.462567607] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051499.464107285] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051499.464239312] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051499.502681944] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903868 Long: -76.50277084 -[main_algo-3] [INFO] [1746051499.503813797] [sailbot.main_algo]: Distance to destination: 56.413822390285034 -[vectornav-1] [INFO] [1746051499.504103866] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.478999999999985, -0.449, 5.756) -[main_algo-3] [INFO] [1746051499.505125829] [sailbot.main_algo]: Target Bearing: -142.4808887916248 -[main_algo-3] [INFO] [1746051499.506118493] [sailbot.main_algo]: Heading Difference: -170.4591112083752 -[main_algo-3] [INFO] [1746051499.507557269] [sailbot.main_algo]: Wind Direction: 207 -[main_algo-3] [INFO] [1746051499.508524433] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051499.509413792] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051499.511080702] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051499.544958480] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051499.545767589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051499.546395718] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051499.547644816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051499.548713425] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051499.585330502] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051499.587410601] [sailbot.teensy]: Wind angle: 207 -[trim_sail-4] [INFO] [1746051499.587676351] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051499.588374367] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051499.589258359] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051499.589380835] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051499.590104205] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051499.644873578] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051499.645716604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051499.646109777] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051499.647570516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051499.648655577] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051499.744971561] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051499.746266218] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051499.746270948] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051499.748043887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051499.749071391] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051499.835376417] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051499.837656174] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051499.837877910] [sailbot.teensy]: Wind angle: 207 -[teensy-2] [INFO] [1746051499.838885750] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051499.838884613] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051499.839813519] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051499.840814185] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051499.844540452] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051499.845100310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051499.845780224] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051499.846943816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051499.847954038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051499.945137681] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051499.945849451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051499.946580260] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051499.947957635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051499.948812600] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051499.957718700] [sailbot.main_algo]: Wind Direction: 207 -[main_algo-3] [INFO] [1746051499.958746560] [sailbot.main_algo]: Target Bearing: -142.4808887916248 -[main_algo-3] [INFO] [1746051499.959710189] [sailbot.main_algo]: Heading Difference: -170.0401112083752 -[main_algo-3] [INFO] [1746051499.961175853] [sailbot.main_algo]: Wind Direction: 207 -[main_algo-3] [INFO] [1746051499.962085577] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051499.962949566] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051499.964511225] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051499.964727147] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051500.002918511] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690386 Long: -76.50277086 -[main_algo-3] [INFO] [1746051500.004377994] [sailbot.main_algo]: Distance to destination: 56.407001379133774 -[vectornav-1] [INFO] [1746051500.004632765] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.90499999999997, -0.581, 5.15) -[main_algo-3] [INFO] [1746051500.005563071] [sailbot.main_algo]: Target Bearing: -142.48690767769082 -[main_algo-3] [INFO] [1746051500.006481162] [sailbot.main_algo]: Heading Difference: -170.03409232230922 -[main_algo-3] [INFO] [1746051500.007886336] [sailbot.main_algo]: Wind Direction: 207 -[main_algo-3] [INFO] [1746051500.008796647] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051500.009638365] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051500.011302078] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051500.044909840] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051500.045700333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051500.046434088] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051500.047612666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051500.048761466] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051500.085570890] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051500.087665297] [sailbot.teensy]: Wind angle: 206 -[trim_sail-4] [INFO] [1746051500.088229755] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051500.088779116] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051500.089382636] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051500.089669433] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051500.090577617] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051500.145267755] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051500.146905798] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051500.147608329] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051500.150133044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051500.151267648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051500.245221690] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051500.246198201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051500.246690515] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051500.248257395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051500.249272463] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051500.335549079] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051500.337587309] [sailbot.teensy]: Wind angle: 202 -[trim_sail-4] [INFO] [1746051500.338080108] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051500.338623832] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051500.339597343] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051500.339852597] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051500.340511404] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051500.344444073] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051500.345096062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051500.345584345] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051500.346789537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051500.347844933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051500.445378155] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051500.445816667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051500.446971830] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051500.447652917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051500.448228766] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051500.457741712] [sailbot.main_algo]: Wind Direction: 202 -[main_algo-3] [INFO] [1746051500.458722875] [sailbot.main_algo]: Target Bearing: -142.48690767769082 -[main_algo-3] [INFO] [1746051500.459598448] [sailbot.main_algo]: Heading Difference: -169.60809232230918 -[main_algo-3] [INFO] [1746051500.460842349] [sailbot.main_algo]: Wind Direction: 202 -[main_algo-3] [INFO] [1746051500.461666101] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051500.462448547] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051500.463975409] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051500.464046732] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051500.502947464] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903853 Long: -76.50277094 -[vectornav-1] [INFO] [1746051500.504088519] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.44, 0.039, 4.762) -[main_algo-3] [INFO] [1746051500.505983562] [sailbot.main_algo]: Distance to destination: 56.39701312999577 -[main_algo-3] [INFO] [1746051500.507031584] [sailbot.main_algo]: Target Bearing: -142.48892377359468 -[main_algo-3] [INFO] [1746051500.508088193] [sailbot.main_algo]: Heading Difference: -169.60607622640532 -[main_algo-3] [INFO] [1746051500.509614237] [sailbot.main_algo]: Wind Direction: 202 -[main_algo-3] [INFO] [1746051500.510533797] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051500.511422426] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051500.513200718] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051500.545080833] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051500.545785334] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051500.546344818] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051500.547809012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051500.548961088] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051500.585074284] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051500.586732761] [sailbot.teensy]: Wind angle: 196 -[trim_sail-4] [INFO] [1746051500.587319181] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051500.587626860] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051500.588550241] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051500.589056713] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051500.589441122] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051500.645110439] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051500.645605722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051500.646385353] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051500.647681227] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051500.648740263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051500.745179873] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051500.745739043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051500.746731297] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051500.747623699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051500.748717274] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051500.835655399] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051500.838421874] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051500.839075899] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051500.839396009] [sailbot.teensy]: Wind angle: 190 -[teensy-2] [INFO] [1746051500.839811848] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051500.840190357] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051500.840542828] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051500.844597072] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051500.844993171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051500.845812655] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051500.846690981] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051500.847833548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051500.945220174] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051500.945948836] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051500.946680777] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051500.948213346] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051500.948809134] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051500.957645664] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051500.958648663] [sailbot.main_algo]: Target Bearing: -142.48892377359468 -[main_algo-3] [INFO] [1746051500.959548858] [sailbot.main_algo]: Heading Difference: -170.07107622640535 -[main_algo-3] [INFO] [1746051500.960897416] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051500.961739514] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051500.962525483] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051500.964041576] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051500.964044197] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051501.003727625] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903846 Long: -76.50277088 -[main_algo-3] [INFO] [1746051501.003971967] [sailbot.main_algo]: Distance to destination: 56.396031099524755 -[vectornav-1] [INFO] [1746051501.004979587] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.19499999999999, -0.964, 6.196) -[main_algo-3] [INFO] [1746051501.005132228] [sailbot.main_algo]: Target Bearing: -142.4982245411987 -[main_algo-3] [INFO] [1746051501.006312725] [sailbot.main_algo]: Heading Difference: -170.06177545880132 -[main_algo-3] [INFO] [1746051501.007765149] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051501.008718060] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051501.009593044] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051501.011366294] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051501.045091828] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051501.046047812] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051501.046463742] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051501.048146487] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051501.049435952] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051501.085769361] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051501.088283403] [sailbot.teensy]: Wind angle: 189 -[teensy-2] [INFO] [1746051501.089290007] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051501.088726432] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051501.089849466] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051501.090196278] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051501.091039235] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051501.144900134] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051501.145526855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051501.146140442] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051501.147328643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051501.148473863] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051501.245305086] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051501.245957964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051501.246890610] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051501.248082991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051501.249266219] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051501.334478756] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051501.335261822] [sailbot.teensy]: Wind angle: 189 -[teensy-2] [INFO] [1746051501.335687927] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051501.336078731] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051501.336503203] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051501.336976154] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051501.337508561] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051501.344047144] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051501.344555910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051501.344862412] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051501.346382589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051501.347154964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051501.445023689] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051501.445545903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051501.446291639] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051501.447348870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051501.448408083] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051501.457823373] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051501.458947209] [sailbot.main_algo]: Target Bearing: -142.4982245411987 -[main_algo-3] [INFO] [1746051501.459852263] [sailbot.main_algo]: Heading Difference: -170.30677545880133 -[main_algo-3] [INFO] [1746051501.461179810] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051501.462036867] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051501.462868177] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051501.464438058] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051501.464456686] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051501.502564750] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903851 Long: -76.5027707 -[main_algo-3] [INFO] [1746051501.503425749] [sailbot.main_algo]: Distance to destination: 56.41106927329428 -[main_algo-3] [INFO] [1746051501.504440897] [sailbot.main_algo]: Target Bearing: -142.50317271994464 -[vectornav-1] [INFO] [1746051501.505241111] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.795000000000016, -0.149, 4.709) -[main_algo-3] [INFO] [1746051501.505358757] [sailbot.main_algo]: Heading Difference: -170.30182728005536 -[main_algo-3] [INFO] [1746051501.506764363] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051501.507685469] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051501.508562095] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051501.510638601] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051501.545111952] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051501.545707203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051501.546481634] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051501.547639893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051501.548735056] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051501.585227747] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051501.587373917] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051501.587445131] [sailbot.teensy]: Wind angle: 189 -[teensy-2] [INFO] [1746051501.588366714] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051501.588632194] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051501.589275025] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051501.590137269] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051501.645104591] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051501.645777021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051501.646400725] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051501.647653130] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051501.648856101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051501.745415351] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051501.746098736] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051501.746993680] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051501.748547741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051501.749788026] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051501.835393890] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051501.837722239] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051501.838563496] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051501.838862938] [sailbot.teensy]: Wind angle: 188 -[teensy-2] [INFO] [1746051501.839895967] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051501.840858372] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051501.841717280] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051501.844423057] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051501.845288149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051501.845854728] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051501.847125147] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051501.848233931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051501.945056282] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051501.946172771] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051501.946767596] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051501.947798833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051501.948285472] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051501.957692381] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051501.958731151] [sailbot.main_algo]: Target Bearing: -142.50317271994464 -[main_algo-3] [INFO] [1746051501.959632892] [sailbot.main_algo]: Heading Difference: -169.70182728005534 -[main_algo-3] [INFO] [1746051501.960908697] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051501.961742141] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051501.962554492] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051501.964192224] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051501.964253636] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051502.002827249] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903821 Long: -76.50277049 -[main_algo-3] [INFO] [1746051502.004461750] [sailbot.main_algo]: Distance to destination: 56.403846121024706 -[vectornav-1] [INFO] [1746051502.004816953] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.26299999999998, 0.015, 5.029) -[main_algo-3] [INFO] [1746051502.005663027] [sailbot.main_algo]: Target Bearing: -142.54057693457088 -[main_algo-3] [INFO] [1746051502.006956693] [sailbot.main_algo]: Heading Difference: -169.6644230654291 -[main_algo-3] [INFO] [1746051502.008393630] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051502.009356648] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051502.010212042] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051502.011903138] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051502.044991323] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051502.045793036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051502.046340931] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051502.047740948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051502.048900640] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051502.085326044] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051502.087364151] [sailbot.teensy]: Wind angle: 187 -[trim_sail-4] [INFO] [1746051502.087911978] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051502.088663441] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051502.088849850] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051502.089824319] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051502.090704215] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051502.144726705] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051502.145855110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051502.146264953] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051502.147594425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051502.148647952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051502.244870943] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051502.245636224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051502.246133858] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051502.247439710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051502.248508814] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051502.335385244] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051502.337963740] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051502.338492481] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051502.338695685] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051502.339624482] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051502.340550584] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051502.341486364] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051502.344290193] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051502.344823651] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051502.345441769] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051502.346495318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051502.347684150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051502.445158428] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051502.445745395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051502.446635320] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051502.447734726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051502.448845483] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051502.457485160] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051502.458423831] [sailbot.main_algo]: Target Bearing: -142.54057693457088 -[main_algo-3] [INFO] [1746051502.459239445] [sailbot.main_algo]: Heading Difference: -170.19642306542914 -[main_algo-3] [INFO] [1746051502.460475467] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051502.461283094] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051502.462084963] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051502.463613995] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051502.463791856] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051502.502832151] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690381 Long: -76.50277044 -[main_algo-3] [INFO] [1746051502.503723854] [sailbot.main_algo]: Distance to destination: 56.39946533258005 -[vectornav-1] [INFO] [1746051502.504368879] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.103999999999985, -0.643, 5.71) -[main_algo-3] [INFO] [1746051502.504901750] [sailbot.main_algo]: Target Bearing: -142.55289148479017 -[main_algo-3] [INFO] [1746051502.505963007] [sailbot.main_algo]: Heading Difference: -170.18410851520986 -[main_algo-3] [INFO] [1746051502.507472400] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051502.508458547] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051502.509809892] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051502.511763650] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051502.545074200] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051502.545850166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051502.546590762] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051502.547886795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051502.548884729] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051502.585309419] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051502.587449000] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051502.587684921] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051502.588777149] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051502.588796631] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051502.589711790] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051502.590579660] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051502.645206233] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051502.645886362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051502.646753713] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051502.648037107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051502.649286031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051502.745378467] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051502.746024859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051502.746867801] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051502.748266354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051502.749490823] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051502.835263705] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051502.837891136] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051502.838353008] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051502.839318410] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051502.839553683] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051502.840237254] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051502.841158095] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051502.844448789] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051502.845061181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051502.845957438] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051502.846901035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051502.847964705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051502.945113325] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051502.945803709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051502.946725691] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051502.947966296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051502.949155743] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051502.957739353] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051502.958756884] [sailbot.main_algo]: Target Bearing: -142.55289148479017 -[main_algo-3] [INFO] [1746051502.959681891] [sailbot.main_algo]: Heading Difference: -170.34310851520985 -[main_algo-3] [INFO] [1746051502.961050860] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051502.961881514] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051502.962705569] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051502.964281199] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051502.964366307] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051503.003004945] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903803 Long: -76.50277033 -[main_algo-3] [INFO] [1746051503.003909348] [sailbot.main_algo]: Distance to destination: 56.40171308265401 -[main_algo-3] [INFO] [1746051503.005091136] [sailbot.main_algo]: Target Bearing: -142.56479004087836 -[main_algo-3] [INFO] [1746051503.006304010] [sailbot.main_algo]: Heading Difference: -170.33120995912168 -[vectornav-1] [INFO] [1746051503.006322073] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.24599999999998, -0.534, 5.333) -[main_algo-3] [INFO] [1746051503.007756050] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051503.008704524] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051503.009584993] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051503.011294757] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051503.045120764] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051503.045853530] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051503.046431132] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051503.047966672] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051503.049050454] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051503.085272392] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051503.086939921] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051503.087605556] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051503.088056116] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051503.089090253] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051503.089206519] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051503.090081289] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051503.145162893] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051503.145692000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051503.146579827] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051503.148618899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051503.149234915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051503.245214028] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051503.245739548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051503.246631896] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051503.247601472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051503.248628628] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051503.335553630] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051503.338388494] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051503.338939870] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051503.338837466] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051503.338955652] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051503.339331040] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051503.339710226] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051503.344420695] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051503.344869276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051503.345530969] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051503.346551516] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051503.347734428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051503.444597446] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051503.445602591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051503.445833853] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051503.447308069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051503.448358052] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051503.457388703] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051503.458318843] [sailbot.main_algo]: Target Bearing: -142.56479004087836 -[main_algo-3] [INFO] [1746051503.459146996] [sailbot.main_algo]: Heading Difference: -170.18920995912163 -[main_algo-3] [INFO] [1746051503.460308161] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051503.461059893] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051503.461756684] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051503.463186557] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051503.463363282] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051503.502573415] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903792 Long: -76.5027702 -[main_algo-3] [INFO] [1746051503.503476842] [sailbot.main_algo]: Distance to destination: 56.40248982994894 -[vectornav-1] [INFO] [1746051503.503994018] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.38299999999998, 0.081, 5.673) -[main_algo-3] [INFO] [1746051503.504597224] [sailbot.main_algo]: Target Bearing: -142.58126085445141 -[main_algo-3] [INFO] [1746051503.505511193] [sailbot.main_algo]: Heading Difference: -170.17273914554858 -[main_algo-3] [INFO] [1746051503.506746860] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051503.507561993] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051503.508371712] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051503.509928377] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051503.545231975] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051503.545875976] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051503.546900183] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051503.547930170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051503.549141143] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051503.585473811] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051503.587212689] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051503.588132797] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051503.587785528] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051503.589037782] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051503.589193434] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051503.589957677] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051503.644836447] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051503.645428752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051503.646446814] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051503.647171864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051503.647990467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051503.744899784] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051503.745539978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051503.746492920] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051503.747279530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051503.747848450] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051503.835247197] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051503.837481900] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051503.837703372] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051503.838698048] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051503.838792951] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051503.839661735] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051503.840380855] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051503.844380534] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051503.845080890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051503.845483179] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051503.846802138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051503.847809313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051503.945020125] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051503.945915940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051503.946512010] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051503.947956880] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051503.949090832] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051503.957665633] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051503.958682891] [sailbot.main_algo]: Target Bearing: -142.58126085445141 -[main_algo-3] [INFO] [1746051503.959604854] [sailbot.main_algo]: Heading Difference: -170.03573914554863 -[main_algo-3] [INFO] [1746051503.960933251] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051503.961794315] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051503.962580423] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051503.964101171] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051503.964127630] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051504.002835055] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903754 Long: -76.50277024 -[main_algo-3] [INFO] [1746051504.003698232] [sailbot.main_algo]: Distance to destination: 56.37368883489147 -[vectornav-1] [INFO] [1746051504.004677191] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.32900000000001, -0.44, 5.391) -[main_algo-3] [INFO] [1746051504.004811393] [sailbot.main_algo]: Target Bearing: -142.61278211936028 -[main_algo-3] [INFO] [1746051504.005808098] [sailbot.main_algo]: Heading Difference: -170.00421788063977 -[main_algo-3] [INFO] [1746051504.007190203] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051504.008061739] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051504.009001551] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051504.010943807] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051504.045045717] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051504.045727828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051504.046639497] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051504.047928303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051504.049069116] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051504.085271797] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051504.086882655] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051504.087635188] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051504.087925361] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051504.088879596] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051504.089667540] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051504.089739668] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051504.144924552] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051504.145524620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051504.146164575] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051504.147399181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051504.148645952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051504.244910298] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051504.245729080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051504.246378913] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051504.247854939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051504.248949378] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051504.335293180] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051504.337566919] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051504.338311874] [sailbot.teensy]: Wind angle: 186 -[mux-7] [INFO] [1746051504.338334712] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051504.339444589] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051504.340350698] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051504.341211336] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051504.344572003] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051504.345100110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051504.345678327] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051504.346805875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051504.347843482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051504.445205235] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051504.446401234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051504.446938459] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051504.448324171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051504.448746141] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051504.457892588] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051504.458985650] [sailbot.main_algo]: Target Bearing: -142.61278211936028 -[main_algo-3] [INFO] [1746051504.459919301] [sailbot.main_algo]: Heading Difference: -170.05821788063975 -[main_algo-3] [INFO] [1746051504.461256417] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051504.462148821] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051504.462989598] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051504.464607747] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051504.464620128] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051504.502597434] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903733 Long: -76.50277039 -[main_algo-3] [INFO] [1746051504.503431600] [sailbot.main_algo]: Distance to destination: 56.34953729671075 -[vectornav-1] [INFO] [1746051504.503717065] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.58100000000002, 0.024, 6.0) -[main_algo-3] [INFO] [1746051504.504531969] [sailbot.main_algo]: Target Bearing: -142.62357630646537 -[main_algo-3] [INFO] [1746051504.505598795] [sailbot.main_algo]: Heading Difference: -170.0474236935346 -[main_algo-3] [INFO] [1746051504.507314487] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051504.509003096] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051504.510089745] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051504.511980351] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051504.544813212] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051504.545537983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051504.546061877] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051504.547419619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051504.548461732] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051504.585162925] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051504.587491664] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051504.588105150] [sailbot.teensy]: Wind angle: 191 -[mux-7] [INFO] [1746051504.588351019] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051504.589191722] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051504.590159099] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051504.591192611] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051504.645026474] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051504.645691616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051504.646479382] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051504.647862794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051504.648999109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051504.745114269] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051504.745916452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051504.746462993] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051504.747961711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051504.748473442] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051504.835407300] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051504.838075074] [sailbot.teensy]: Wind angle: 192 -[trim_sail-4] [INFO] [1746051504.838367201] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051504.838627361] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051504.838662221] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051504.839042957] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051504.839407683] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051504.844431430] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051504.845025198] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051504.845546240] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051504.846730976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051504.847894059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051504.944913710] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051504.945394139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051504.946140938] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051504.947229008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051504.948320062] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051504.957742873] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051504.958887869] [sailbot.main_algo]: Target Bearing: -142.62357630646537 -[main_algo-3] [INFO] [1746051504.959839061] [sailbot.main_algo]: Heading Difference: -170.79542369353464 -[main_algo-3] [INFO] [1746051504.961130302] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051504.961947382] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051504.962717036] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051504.964229824] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051504.964341219] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051505.002735443] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903709 Long: -76.50277031 -[main_algo-3] [INFO] [1746051505.003706186] [sailbot.main_algo]: Distance to destination: 56.338145472981395 -[vectornav-1] [INFO] [1746051505.003847318] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.61500000000001, -1.434, 5.183) -[main_algo-3] [INFO] [1746051505.004841507] [sailbot.main_algo]: Target Bearing: -142.6489770246245 -[main_algo-3] [INFO] [1746051505.005777812] [sailbot.main_algo]: Heading Difference: -170.77002297537547 -[main_algo-3] [INFO] [1746051505.007113261] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051505.007956739] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051505.008768546] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051505.010425089] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051505.045060570] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051505.045637581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051505.046313844] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051505.047565945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051505.048553384] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051505.085469958] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051505.088145706] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051505.088320035] [sailbot.teensy]: Wind angle: 192 -[mux-7] [INFO] [1746051505.088676890] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051505.089285281] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051505.090192522] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051505.091039888] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051505.145237569] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051505.145777349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051505.146498912] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051505.147850949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051505.148997005] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051505.245172026] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051505.246011155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051505.246554905] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051505.247904344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051505.248964640] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051505.335436265] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051505.338058167] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051505.338483083] [sailbot.teensy]: Wind angle: 192 -[mux-7] [INFO] [1746051505.338502078] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051505.339119209] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051505.339515307] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051505.339854338] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051505.344319061] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051505.344939015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051505.345422138] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051505.346658918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051505.347701912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051505.444311473] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051505.444875739] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051505.447245077] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051505.447456355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051505.448955051] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051505.457312586] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051505.458260895] [sailbot.main_algo]: Target Bearing: -142.6489770246245 -[main_algo-3] [INFO] [1746051505.459126737] [sailbot.main_algo]: Heading Difference: -170.73602297537548 -[main_algo-3] [INFO] [1746051505.460368501] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051505.461184454] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051505.462028670] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051505.463692351] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051505.463904391] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051505.501554471] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903712 Long: -76.5027701 -[vectornav-1] [INFO] [1746051505.502044045] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.728999999999985, 0.396, 5.858) -[main_algo-3] [INFO] [1746051505.502142761] [sailbot.main_algo]: Distance to destination: 56.353752165341966 -[main_algo-3] [INFO] [1746051505.502640330] [sailbot.main_algo]: Target Bearing: -142.65721724599086 -[main_algo-3] [INFO] [1746051505.503161734] [sailbot.main_algo]: Heading Difference: -170.72778275400913 -[main_algo-3] [INFO] [1746051505.504244562] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051505.504693770] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051505.505136367] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051505.506051761] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051505.545157879] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051505.545717496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051505.546514948] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051505.547807139] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051505.548849261] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051505.585232203] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051505.587308452] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051505.587502089] [sailbot.teensy]: Wind angle: 192 -[mux-7] [INFO] [1746051505.587932930] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051505.588639695] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051505.589600928] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051505.590643912] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051505.645054754] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051505.645842391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051505.646512591] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051505.648137255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051505.649195773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051505.745167448] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051505.746058837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051505.746516660] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051505.747936392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051505.749098495] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051505.835435169] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051505.837830624] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051505.838444379] [sailbot.teensy]: Wind angle: 192 -[mux-7] [INFO] [1746051505.838560557] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051505.839020982] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051505.839463430] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051505.839911499] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051505.844824469] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051505.845614388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051505.846237311] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051505.847826535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051505.849029029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051505.945089395] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051505.945883451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051505.946534383] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051505.947774030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051505.948815268] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051505.957485425] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051505.958485704] [sailbot.main_algo]: Target Bearing: -142.65721724599086 -[main_algo-3] [INFO] [1746051505.959317140] [sailbot.main_algo]: Heading Difference: -169.61378275400915 -[main_algo-3] [INFO] [1746051505.960570308] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051505.961377360] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051505.962160619] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051505.963711526] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051505.963703875] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051506.002875196] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903711 Long: -76.50276979 -[main_algo-3] [INFO] [1746051506.003450853] [sailbot.main_algo]: Distance to destination: 56.373052608011115 -[vectornav-1] [INFO] [1746051506.004082805] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.745000000000005, -0.159, 6.571) -[main_algo-3] [INFO] [1746051506.004586803] [sailbot.main_algo]: Target Bearing: -142.67417882356 -[main_algo-3] [INFO] [1746051506.005565563] [sailbot.main_algo]: Heading Difference: -169.59682117644002 -[main_algo-3] [INFO] [1746051506.006953127] [sailbot.main_algo]: Wind Direction: 192 -[main_algo-3] [INFO] [1746051506.007838227] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051506.008713407] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051506.010495577] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051506.044952669] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051506.045722954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051506.046203779] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051506.047795256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051506.049070590] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051506.085378400] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051506.087293027] [sailbot.teensy]: Wind angle: 196 -[trim_sail-4] [INFO] [1746051506.087685672] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051506.088290005] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051506.089087124] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051506.089203478] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051506.090168763] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051506.144477540] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051506.145137032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051506.145513503] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051506.146997479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051506.148053390] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051506.244946555] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051506.245628027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051506.246265419] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051506.247638849] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051506.248713347] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051506.335338096] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051506.337740137] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051506.338224454] [sailbot.teensy]: Wind angle: 212 -[mux-7] [INFO] [1746051506.338412164] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051506.339230175] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051506.340126647] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051506.341213175] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051506.344336361] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051506.344911359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051506.345701793] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051506.346712691] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051506.347763146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051506.445229614] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051506.446275446] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051506.446483743] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051506.448218482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051506.448686762] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051506.457669907] [sailbot.main_algo]: Wind Direction: 212 -[main_algo-3] [INFO] [1746051506.458749147] [sailbot.main_algo]: Target Bearing: -142.67417882356 -[main_algo-3] [INFO] [1746051506.459632750] [sailbot.main_algo]: Heading Difference: -168.58082117644 -[main_algo-3] [INFO] [1746051506.460874481] [sailbot.main_algo]: Wind Direction: 212 -[main_algo-3] [INFO] [1746051506.461676698] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051506.462447936] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051506.464107578] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051506.464230043] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051506.502625361] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903705 Long: -76.50276968 -[main_algo-3] [INFO] [1746051506.503462340] [sailbot.main_algo]: Distance to destination: 56.37601391159632 -[vectornav-1] [INFO] [1746051506.503703719] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.011000000000024, -0.899, 5.224) -[main_algo-3] [INFO] [1746051506.504510933] [sailbot.main_algo]: Target Bearing: -142.68519265832902 -[main_algo-3] [INFO] [1746051506.505457234] [sailbot.main_algo]: Heading Difference: -168.56980734167098 -[main_algo-3] [INFO] [1746051506.507878912] [sailbot.main_algo]: Wind Direction: 212 -[main_algo-3] [INFO] [1746051506.509007501] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051506.509968782] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051506.511873768] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051506.545076368] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051506.546017733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051506.546665212] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051506.548053751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051506.549125247] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051506.585343896] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051506.587139567] [sailbot.teensy]: Wind angle: 226 -[teensy-2] [INFO] [1746051506.588031657] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051506.587456023] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051506.588889172] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051506.588892375] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051506.589785598] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051506.645170254] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051506.646459976] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051506.646969608] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051506.648800367] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051506.649806405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051506.745066736] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051506.745799482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051506.746447057] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051506.747614890] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051506.748750774] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051506.835165569] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051506.837216952] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051506.837489310] [sailbot.teensy]: Wind angle: 228 -[teensy-2] [INFO] [1746051506.838380101] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051506.838498192] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051506.839084036] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051506.839464026] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051506.844392732] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051506.845143338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051506.845704354] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051506.847034005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051506.848097424] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051506.945076754] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051506.946002826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051506.946486710] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051506.947972556] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051506.949051553] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051506.957530906] [sailbot.main_algo]: Wind Direction: 228 -[main_algo-3] [INFO] [1746051506.958502833] [sailbot.main_algo]: Target Bearing: -142.68519265832902 -[main_algo-3] [INFO] [1746051506.959393468] [sailbot.main_algo]: Heading Difference: -168.30380734167096 -[main_algo-3] [INFO] [1746051506.960679012] [sailbot.main_algo]: Wind Direction: 228 -[main_algo-3] [INFO] [1746051506.961533208] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051506.962320982] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051506.963860212] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051506.963951631] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051507.002847564] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903702 Long: -76.50276947 -[main_algo-3] [INFO] [1746051507.003728291] [sailbot.main_algo]: Distance to destination: 56.387494098469254 -[vectornav-1] [INFO] [1746051507.004202967] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.92399999999998, -0.281, 5.459) -[main_algo-3] [INFO] [1746051507.004875954] [sailbot.main_algo]: Target Bearing: -142.69872937430657 -[main_algo-3] [INFO] [1746051507.005919644] [sailbot.main_algo]: Heading Difference: -168.29027062569344 -[main_algo-3] [INFO] [1746051507.007306983] [sailbot.main_algo]: Wind Direction: 228 -[main_algo-3] [INFO] [1746051507.008240309] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051507.009108817] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051507.010702972] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051507.045183645] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051507.045992077] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051507.046506350] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051507.047928942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051507.048921130] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051507.085333718] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051507.087587472] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051507.087728374] [sailbot.teensy]: Wind angle: 226 -[teensy-2] [INFO] [1746051507.088773084] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051507.088817287] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051507.089780477] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051507.090663648] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051507.144615508] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051507.145159101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051507.145687194] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051507.146897974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051507.147910886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051507.245042123] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051507.245798371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051507.246288088] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051507.247728688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051507.248757808] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051507.335331146] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051507.337300233] [sailbot.teensy]: Wind angle: 219 -[trim_sail-4] [INFO] [1746051507.337697939] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051507.338253258] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051507.339188260] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051507.339723045] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051507.340097174] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051507.344431545] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051507.345123127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051507.346077155] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051507.347077110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051507.348179927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051507.445068678] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051507.445707310] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051507.446453436] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051507.447620778] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051507.448702341] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051507.457626804] [sailbot.main_algo]: Wind Direction: 219 -[main_algo-3] [INFO] [1746051507.458653109] [sailbot.main_algo]: Target Bearing: -142.69872937430657 -[main_algo-3] [INFO] [1746051507.459541795] [sailbot.main_algo]: Heading Difference: -169.37727062569343 -[main_algo-3] [INFO] [1746051507.460856527] [sailbot.main_algo]: Wind Direction: 219 -[main_algo-3] [INFO] [1746051507.461669945] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051507.462454751] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051507.464041143] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051507.464258508] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051507.502837014] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903698 Long: -76.5027695 -[vectornav-1] [INFO] [1746051507.503982348] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.408000000000015, -0.344, 5.376) -[main_algo-3] [INFO] [1746051507.504002995] [sailbot.main_algo]: Distance to destination: 56.38280452952252 -[main_algo-3] [INFO] [1746051507.505606988] [sailbot.main_algo]: Target Bearing: -142.70071720279094 -[main_algo-3] [INFO] [1746051507.506626756] [sailbot.main_algo]: Heading Difference: -169.37528279720908 -[main_algo-3] [INFO] [1746051507.508006424] [sailbot.main_algo]: Wind Direction: 219 -[main_algo-3] [INFO] [1746051507.508932948] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051507.509804521] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051507.511506270] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051507.544026733] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051507.544516482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051507.544966672] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051507.546010325] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051507.547071546] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051507.584485057] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051507.585464567] [sailbot.teensy]: Wind angle: 210 -[teensy-2] [INFO] [1746051507.586124984] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051507.585929503] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051507.586612332] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051507.586761705] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051507.587432298] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051507.645138688] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051507.645416202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051507.646413881] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051507.647186596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051507.648275698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051507.745043904] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051507.745519166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051507.746386606] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051507.747331548] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051507.748428325] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051507.835461029] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051507.837389441] [sailbot.teensy]: Wind angle: 202 -[trim_sail-4] [INFO] [1746051507.838209347] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051507.839716299] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051507.840997676] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051507.841904221] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051507.842739772] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051507.844413514] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051507.845471626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051507.845712792] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051507.847286393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051507.848312156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051507.945043725] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051507.945619672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051507.946349293] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051507.947487496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051507.948261497] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051507.957663349] [sailbot.main_algo]: Wind Direction: 202 -[main_algo-3] [INFO] [1746051507.958707728] [sailbot.main_algo]: Target Bearing: -142.70071720279094 -[main_algo-3] [INFO] [1746051507.959612310] [sailbot.main_algo]: Heading Difference: -169.89128279720904 -[main_algo-3] [INFO] [1746051507.960890993] [sailbot.main_algo]: Wind Direction: 202 -[main_algo-3] [INFO] [1746051507.961732885] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051507.962547334] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051507.964089907] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051507.964132404] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051508.002785432] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903679 Long: -76.5027694 -[main_algo-3] [INFO] [1746051508.003723024] [sailbot.main_algo]: Distance to destination: 56.376177898943595 -[vectornav-1] [INFO] [1746051508.003934898] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.05799999999999, -0.299, 5.793) -[main_algo-3] [INFO] [1746051508.004864242] [sailbot.main_algo]: Target Bearing: -142.72272445059318 -[main_algo-3] [INFO] [1746051508.005799056] [sailbot.main_algo]: Heading Difference: -169.86927554940678 -[main_algo-3] [INFO] [1746051508.007170040] [sailbot.main_algo]: Wind Direction: 202 -[main_algo-3] [INFO] [1746051508.008067466] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051508.008937342] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051508.010694556] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051508.044928259] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051508.045848590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051508.046193047] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051508.047655188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051508.048673849] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051508.085326233] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051508.087660245] [sailbot.teensy]: Wind angle: 199 -[trim_sail-4] [INFO] [1746051508.087805764] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051508.087988929] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051508.088794686] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051508.089793728] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051508.090649000] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051508.145113974] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051508.145871224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051508.146483331] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051508.147865365] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051508.148887519] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051508.244917826] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051508.245583647] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051508.246362306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051508.247404711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051508.248607317] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051508.335314198] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051508.337273026] [sailbot.teensy]: Wind angle: 199 -[trim_sail-4] [INFO] [1746051508.337807727] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051508.338159040] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051508.338444632] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051508.339000838] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051508.339393603] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051508.344405792] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051508.344971183] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051508.345578998] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051508.346637062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051508.347809534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051508.445220990] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051508.445835759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051508.446775189] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051508.448705117] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051508.449265802] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051508.457690244] [sailbot.main_algo]: Wind Direction: 199 -[main_algo-3] [INFO] [1746051508.458737803] [sailbot.main_algo]: Target Bearing: -142.72272445059318 -[main_algo-3] [INFO] [1746051508.459635455] [sailbot.main_algo]: Heading Difference: -170.2192755494068 -[main_algo-3] [INFO] [1746051508.460959190] [sailbot.main_algo]: Wind Direction: 199 -[main_algo-3] [INFO] [1746051508.461812752] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051508.462618374] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051508.464252411] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051508.464486679] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051508.502513266] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903668 Long: -76.50276919 -[vectornav-1] [INFO] [1746051508.503560950] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.101, -0.901, 4.882) -[main_algo-3] [INFO] [1746051508.503717845] [sailbot.main_algo]: Distance to destination: 56.38216330048914 -[main_algo-3] [INFO] [1746051508.505214185] [sailbot.main_algo]: Target Bearing: -142.74334106846243 -[main_algo-3] [INFO] [1746051508.506385185] [sailbot.main_algo]: Heading Difference: -170.19865893153758 -[main_algo-3] [INFO] [1746051508.507732350] [sailbot.main_algo]: Wind Direction: 199 -[main_algo-3] [INFO] [1746051508.508665385] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051508.509600810] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051508.511784774] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051508.544999354] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051508.545706747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051508.546261159] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051508.547734518] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051508.548836481] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051508.585069157] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051508.586653541] [sailbot.teensy]: Wind angle: 199 -[teensy-2] [INFO] [1746051508.587529550] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051508.587599926] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051508.588471753] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051508.588916414] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051508.589399419] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051508.644820377] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051508.645661000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051508.646046027] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051508.647769293] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051508.648971407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051508.745473996] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051508.746169946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051508.747061872] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051508.748520579] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051508.749355158] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051508.835427163] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051508.837915186] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051508.838536683] [sailbot.teensy]: Wind angle: 199 -[mux-7] [INFO] [1746051508.838596899] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051508.839540608] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051508.840434797] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051508.841289649] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051508.844452503] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051508.845218418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051508.845537004] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051508.846958181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051508.848121902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051508.944659222] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051508.945321803] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051508.945836505] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051508.947156549] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051508.948223155] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051508.957739580] [sailbot.main_algo]: Wind Direction: 199 -[main_algo-3] [INFO] [1746051508.958767502] [sailbot.main_algo]: Target Bearing: -142.74334106846243 -[main_algo-3] [INFO] [1746051508.959679547] [sailbot.main_algo]: Heading Difference: -170.15565893153757 -[main_algo-3] [INFO] [1746051508.960916473] [sailbot.main_algo]: Wind Direction: 199 -[main_algo-3] [INFO] [1746051508.961743903] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051508.962514211] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051508.964040338] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051508.964048322] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051509.002764442] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903663 Long: -76.50276892 -[main_algo-3] [INFO] [1746051509.003715968] [sailbot.main_algo]: Distance to destination: 56.396155650515205 -[vectornav-1] [INFO] [1746051509.004424809] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.72199999999998, 0.125, 5.503) -[main_algo-3] [INFO] [1746051509.004960435] [sailbot.main_algo]: Target Bearing: -142.76173987717348 -[main_algo-3] [INFO] [1746051509.005954272] [sailbot.main_algo]: Heading Difference: -170.13726012282655 -[main_algo-3] [INFO] [1746051509.007954279] [sailbot.main_algo]: Wind Direction: 199 -[main_algo-3] [INFO] [1746051509.008847546] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051509.009647243] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051509.011249368] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051509.045242433] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051509.046015442] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051509.047883303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051509.046554163] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051509.049091078] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051509.085424664] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051509.087522264] [sailbot.teensy]: Wind angle: 199 -[trim_sail-4] [INFO] [1746051509.087775277] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051509.089050593] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051509.089723713] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051509.090999322] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051509.091855725] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051509.144922891] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051509.145578730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051509.146182000] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051509.147435411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051509.148489128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051509.245095336] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051509.245759156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051509.246528310] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051509.247693315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051509.248562065] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051509.335408285] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051509.337438129] [sailbot.teensy]: Wind angle: 199 -[trim_sail-4] [INFO] [1746051509.338149536] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051509.338371166] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051509.339247474] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051509.339091263] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051509.340087114] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051509.344383972] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051509.344956142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051509.345523119] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051509.346623386] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051509.347783037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051509.445195908] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051509.445970650] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051509.446481043] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051509.447780681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051509.448832037] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051509.457500606] [sailbot.main_algo]: Wind Direction: 199 -[main_algo-3] [INFO] [1746051509.458504256] [sailbot.main_algo]: Target Bearing: -142.76173987717348 -[main_algo-3] [INFO] [1746051509.459342258] [sailbot.main_algo]: Heading Difference: -169.51626012282657 -[main_algo-3] [INFO] [1746051509.460579055] [sailbot.main_algo]: Wind Direction: 199 -[main_algo-3] [INFO] [1746051509.461386868] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051509.462169575] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051509.463707404] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051509.463729196] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051509.502461432] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903658 Long: -76.50276865 -[main_algo-3] [INFO] [1746051509.503284097] [sailbot.main_algo]: Distance to destination: 56.410153810878164 -[vectornav-1] [INFO] [1746051509.503522828] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.77199999999999, -0.644, 7.201) -[main_algo-3] [INFO] [1746051509.504378493] [sailbot.main_algo]: Target Bearing: -142.78012955592828 -[main_algo-3] [INFO] [1746051509.505371482] [sailbot.main_algo]: Heading Difference: -169.49787044407174 -[main_algo-3] [INFO] [1746051509.506782901] [sailbot.main_algo]: Wind Direction: 199 -[main_algo-3] [INFO] [1746051509.507712313] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051509.508600054] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051509.510347755] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051509.544932666] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051509.545639069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051509.546225235] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051509.547527387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051509.548988305] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051509.585663859] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051509.587822190] [sailbot.teensy]: Wind angle: 199 -[teensy-2] [INFO] [1746051509.588847498] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051509.589449893] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051509.589767263] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051509.589759185] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051509.590663675] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051509.644054776] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051509.644622137] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051509.644484292] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051509.645447454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051509.646007365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051509.744936332] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051509.745668844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051509.746093082] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051509.747613508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051509.748619942] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051509.835341091] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051509.837499095] [sailbot.teensy]: Wind angle: 198 -[trim_sail-4] [INFO] [1746051509.837559780] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051509.839003164] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051509.839574012] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051509.840599957] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051509.841468124] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051509.844333331] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051509.844997539] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051509.845419835] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051509.846841832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051509.847935297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051509.945462333] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051509.946225741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051509.946944184] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051509.948841086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051509.950050182] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051509.957725164] [sailbot.main_algo]: Wind Direction: 198 -[main_algo-3] [INFO] [1746051509.958770509] [sailbot.main_algo]: Target Bearing: -142.78012955592828 -[main_algo-3] [INFO] [1746051509.959665923] [sailbot.main_algo]: Heading Difference: -169.44787044407173 -[main_algo-3] [INFO] [1746051509.960985466] [sailbot.main_algo]: Wind Direction: 198 -[main_algo-3] [INFO] [1746051509.961855574] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051509.962731468] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051509.964423099] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051509.964448688] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051510.002800061] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903641 Long: -76.50276817 -[main_algo-3] [INFO] [1746051510.003857417] [sailbot.main_algo]: Distance to destination: 56.429483281535035 -[main_algo-3] [INFO] [1746051510.005329119] [sailbot.main_algo]: Target Bearing: -142.81998734862677 -[vectornav-1] [INFO] [1746051510.005909954] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.62900000000002, -0.085, 5.861) -[main_algo-3] [INFO] [1746051510.006360178] [sailbot.main_algo]: Heading Difference: -169.40801265137327 -[main_algo-3] [INFO] [1746051510.007729852] [sailbot.main_algo]: Wind Direction: 198 -[main_algo-3] [INFO] [1746051510.008629172] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051510.009478609] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051510.011217413] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051510.044922353] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051510.045695760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051510.046179811] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051510.047649402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051510.048679009] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051510.085640500] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051510.087871390] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746051510.088883719] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051510.088409079] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051510.088859340] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051510.089761011] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051510.090605586] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051510.144109810] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051510.145048197] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051510.144640337] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051510.146197983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051510.147313211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051510.243764387] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051510.244360684] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051510.244526218] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051510.245537963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051510.246335814] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051510.334409527] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051510.335217118] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051510.336000219] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051510.336415891] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051510.336945525] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051510.337725528] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051510.338116227] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051510.343630080] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051510.344001775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051510.344138182] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051510.345018235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051510.345519128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051510.443653553] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051510.443980934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051510.444141700] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051510.444808664] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051510.445382766] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051510.456803240] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051510.457552184] [sailbot.main_algo]: Target Bearing: -142.81998734862677 -[main_algo-3] [INFO] [1746051510.458223952] [sailbot.main_algo]: Heading Difference: -168.55101265137318 -[main_algo-3] [INFO] [1746051510.459097422] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051510.459494955] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051510.460131687] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051510.461269435] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051510.461360606] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051510.501336434] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903652 Long: -76.5027683 -[vectornav-1] [INFO] [1746051510.501749031] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.411, -0.558, 3.967) -[main_algo-3] [INFO] [1746051510.501754778] [sailbot.main_algo]: Distance to destination: 56.42863898065496 -[main_algo-3] [INFO] [1746051510.502202291] [sailbot.main_algo]: Target Bearing: -142.8035278323832 -[main_algo-3] [INFO] [1746051510.502640113] [sailbot.main_algo]: Heading Difference: -168.56747216761676 -[main_algo-3] [INFO] [1746051510.503249577] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051510.503662301] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051510.504075379] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051510.504874454] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051510.543676363] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051510.544022437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051510.544198574] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051510.544837885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051510.545300615] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051510.584450904] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051510.585217185] [sailbot.teensy]: Wind angle: 195 -[trim_sail-4] [INFO] [1746051510.585432105] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051510.585624174] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051510.586017916] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051510.586386422] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051510.586590052] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051510.643708819] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051510.644229608] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051510.644351545] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051510.645134514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051510.645639827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051510.743816801] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051510.744332644] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051510.745704990] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051510.745993633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051510.746795249] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051510.835334762] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051510.837002856] [sailbot.teensy]: Wind angle: 195 -[teensy-2] [INFO] [1746051510.837862507] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051510.838215653] [sailbot.mux]: algo sail angle: 0 -[trim_sail-4] [INFO] [1746051510.838709868] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051510.840344304] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051510.841363260] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051510.844340233] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051510.844938969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051510.845453129] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051510.846643789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051510.847678610] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051510.945263300] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051510.945909030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051510.946936127] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051510.947824033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051510.949033818] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051510.957470076] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051510.958445773] [sailbot.main_algo]: Target Bearing: -142.8035278323832 -[main_algo-3] [INFO] [1746051510.959277716] [sailbot.main_algo]: Heading Difference: -169.78547216761683 -[main_algo-3] [INFO] [1746051510.960498684] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051510.961318394] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051510.962122223] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051510.963745690] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051510.963766865] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051511.002732913] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903646 Long: -76.50276817 -[main_algo-3] [INFO] [1746051511.003752850] [sailbot.main_algo]: Distance to destination: 56.43291703945396 -[vectornav-1] [INFO] [1746051511.003875406] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (45.916, 0.076, 5.391) -[main_algo-3] [INFO] [1746051511.004953816] [sailbot.main_algo]: Target Bearing: -142.81555649197838 -[main_algo-3] [INFO] [1746051511.005952129] [sailbot.main_algo]: Heading Difference: -169.77344350802161 -[main_algo-3] [INFO] [1746051511.007324484] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051511.008227234] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051511.009086082] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051511.010888995] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051511.045204754] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051511.045883774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051511.046587934] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051511.048020068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051511.049035763] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051511.085479233] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051511.087735922] [sailbot.teensy]: Wind angle: 195 -[teensy-2] [INFO] [1746051511.088761394] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051511.087762415] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051511.088706912] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051511.089666911] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051511.090753421] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051511.145273008] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051511.146221712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051511.146879848] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051511.148096472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051511.148528776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051511.245625103] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051511.245634951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051511.246943049] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051511.247560773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051511.248632662] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051511.335486175] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051511.338673862] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051511.338874374] [sailbot.teensy]: Wind angle: 195 -[mux-7] [INFO] [1746051511.339420918] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051511.339662329] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051511.340109094] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051511.340525313] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051511.344429162] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051511.345074406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051511.345534685] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051511.346790843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051511.347938634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051511.444907608] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051511.445682361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051511.446235954] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051511.447466543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051511.448561608] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051511.457529690] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051511.458505040] [sailbot.main_algo]: Target Bearing: -142.81555649197838 -[main_algo-3] [INFO] [1746051511.459388046] [sailbot.main_algo]: Heading Difference: -171.26844350802162 -[main_algo-3] [INFO] [1746051511.460695209] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051511.461504344] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051511.462306821] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051511.463841321] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051511.463951555] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051511.502612718] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903633 Long: -76.50276814 -[main_algo-3] [INFO] [1746051511.503565457] [sailbot.main_algo]: Distance to destination: 56.42592876310052 -[vectornav-1] [INFO] [1746051511.503696602] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.488, -0.654, 5.651) -[main_algo-3] [INFO] [1746051511.504694591] [sailbot.main_algo]: Target Bearing: -142.82862634028356 -[main_algo-3] [INFO] [1746051511.506078987] [sailbot.main_algo]: Heading Difference: -171.25537365971644 -[main_algo-3] [INFO] [1746051511.507432087] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051511.508290957] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051511.509079370] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051511.510649375] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051511.544938508] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051511.545708323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051511.546214795] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051511.547550061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051511.548720020] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051511.585335035] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051511.587687127] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051511.587826012] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746051511.589150457] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051511.589319444] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051511.590068962] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051511.590980173] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051511.644940151] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051511.645608566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051511.646270188] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051511.647513103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051511.648689166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051511.744869579] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051511.745557850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051511.746974786] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051511.747261358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051511.748471485] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051511.835433715] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051511.837439753] [sailbot.teensy]: Wind angle: 196 -[trim_sail-4] [INFO] [1746051511.837843183] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051511.839119021] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051511.839216428] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051511.839615130] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051511.839980094] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051511.844492438] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051511.845094088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051511.846102487] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051511.846854444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051511.847956295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051511.945085976] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051511.945597051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051511.946695689] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051511.947365968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051511.948468342] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051511.957896354] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051511.959029977] [sailbot.main_algo]: Target Bearing: -142.82862634028356 -[main_algo-3] [INFO] [1746051511.959993912] [sailbot.main_algo]: Heading Difference: -169.68337365971644 -[main_algo-3] [INFO] [1746051511.961337603] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051511.962225889] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051511.963042399] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051511.964776321] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051511.964973371] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051512.002721361] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903626 Long: -76.5027678 -[main_algo-3] [INFO] [1746051512.003685915] [sailbot.main_algo]: Distance to destination: 56.44310071577256 -[vectornav-1] [INFO] [1746051512.003895491] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.125999999999976, -1.204, 5.443) -[main_algo-3] [INFO] [1746051512.004824674] [sailbot.main_algo]: Target Bearing: -142.85237285878242 -[main_algo-3] [INFO] [1746051512.005752285] [sailbot.main_algo]: Heading Difference: -169.65962714121758 -[main_algo-3] [INFO] [1746051512.007036566] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051512.007886412] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051512.008697592] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051512.010320313] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051512.045167022] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051512.045888527] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051512.046589665] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051512.047711457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051512.048823865] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051512.085225026] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051512.087141987] [sailbot.teensy]: Wind angle: 195 -[trim_sail-4] [INFO] [1746051512.087555839] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051512.088108270] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051512.089055580] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051512.089295551] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051512.089929549] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051512.144887719] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051512.145271914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051512.146113209] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051512.147448668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051512.148470023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051512.245454691] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051512.246240984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051512.247034960] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051512.248561143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051512.249409915] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051512.335336907] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051512.337652893] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051512.337724532] [sailbot.teensy]: Wind angle: 191 -[teensy-2] [INFO] [1746051512.338683407] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051512.339246549] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051512.339590795] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051512.340560733] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051512.344432532] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051512.344937173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051512.345698116] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051512.346636753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051512.347689406] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051512.445406531] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051512.445908497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051512.447069877] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051512.448058651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051512.449319615] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051512.457629291] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051512.458680647] [sailbot.main_algo]: Target Bearing: -142.85237285878242 -[main_algo-3] [INFO] [1746051512.459628222] [sailbot.main_algo]: Heading Difference: -169.0216271412176 -[main_algo-3] [INFO] [1746051512.460924238] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051512.461752479] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051512.462539879] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051512.464093240] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051512.464110571] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051512.502717259] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903632 Long: -76.50276764 -[main_algo-3] [INFO] [1746051512.503744622] [sailbot.main_algo]: Distance to destination: 56.45756184040044 -[vectornav-1] [INFO] [1746051512.503945210] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.394000000000005, 1.168, 5.571) -[main_algo-3] [INFO] [1746051512.505280364] [sailbot.main_algo]: Target Bearing: -142.85530518658186 -[main_algo-3] [INFO] [1746051512.506269665] [sailbot.main_algo]: Heading Difference: -169.01869481341816 -[main_algo-3] [INFO] [1746051512.507810989] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051512.508805272] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051512.509683121] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051512.511416010] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051512.545308714] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051512.545900497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051512.546745306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051512.547858433] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051512.548937525] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051512.585325766] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051512.586984802] [sailbot.teensy]: Wind angle: 189 -[trim_sail-4] [INFO] [1746051512.587818957] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051512.588004346] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051512.588929324] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051512.589036592] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051512.589857653] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051512.644986342] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051512.645929044] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051512.646728998] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051512.647915555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051512.649151975] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051512.745006159] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051512.746025283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051512.746492144] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051512.747902148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051512.749042013] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051512.835341379] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051512.837692904] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051512.838189731] [sailbot.teensy]: Wind angle: 188 -[mux-7] [INFO] [1746051512.838973573] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051512.839226136] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051512.840352469] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051512.841192531] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051512.844361633] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051512.844865023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051512.845505466] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051512.846545022] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051512.847582432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051512.945420501] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051512.946145002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051512.947203512] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051512.948173114] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051512.948677511] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051512.957750081] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051512.958803681] [sailbot.main_algo]: Target Bearing: -142.85530518658186 -[main_algo-3] [INFO] [1746051512.959736446] [sailbot.main_algo]: Heading Difference: -169.75069481341814 -[main_algo-3] [INFO] [1746051512.961062253] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051512.961929642] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051512.962757588] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051512.964295196] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051512.964303967] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051513.002795539] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903619 Long: -76.50276761 -[main_algo-3] [INFO] [1746051513.004004389] [sailbot.main_algo]: Distance to destination: 56.45058249634163 -[vectornav-1] [INFO] [1746051513.004384714] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.94900000000001, -1.481, 5.165) -[main_algo-3] [INFO] [1746051513.005174165] [sailbot.main_algo]: Target Bearing: -142.8683742447564 -[main_algo-3] [INFO] [1746051513.006144730] [sailbot.main_algo]: Heading Difference: -169.73762575524358 -[main_algo-3] [INFO] [1746051513.007502144] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051513.008389550] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051513.009231258] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051513.010919485] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051513.044952486] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051513.045647600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051513.046281577] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051513.047574756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051513.048710434] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051513.085337466] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051513.087027315] [sailbot.teensy]: Wind angle: 193 -[teensy-2] [INFO] [1746051513.087948597] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051513.087730625] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051513.088561449] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051513.088849362] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051513.089761283] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051513.144960613] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051513.145630715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051513.146338171] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051513.147635638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051513.148781978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051513.244913010] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051513.245542019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051513.246201648] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051513.247361940] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051513.248378192] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051513.335607938] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051513.337607465] [sailbot.teensy]: Wind angle: 196 -[teensy-2] [INFO] [1746051513.338737293] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051513.338945650] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051513.339309008] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051513.339317052] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051513.339713393] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051513.344668391] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051513.345313509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051513.346387597] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051513.347150847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051513.348234307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051513.444771295] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051513.445355899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051513.445950982] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051513.447073009] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051513.448260562] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051513.457784600] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051513.459375879] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746051513.460461271] [sailbot.main_algo]: Target Bearing: -142.8683742447564 -[main_algo-3] [INFO] [1746051513.461393454] [sailbot.main_algo]: Heading Difference: -169.18262575524358 -[main_algo-3] [INFO] [1746051513.462769545] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051513.463626290] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051513.464473000] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051513.466019722] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051513.466042575] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051513.502950141] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690362 Long: -76.50276742 -[main_algo-3] [INFO] [1746051513.503965247] [sailbot.main_algo]: Distance to destination: 56.46355500052094 -[vectornav-1] [INFO] [1746051513.504184274] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.03699999999998, -0.241, 6.499) -[main_algo-3] [INFO] [1746051513.505166367] [sailbot.main_algo]: Target Bearing: -142.87727960213127 -[main_algo-3] [INFO] [1746051513.506556284] [sailbot.main_algo]: Heading Difference: -169.1737203978687 -[main_algo-3] [INFO] [1746051513.508208157] [sailbot.main_algo]: Wind Direction: 196 -[main_algo-3] [INFO] [1746051513.509140875] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051513.509997450] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051513.511662275] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051513.544381757] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051513.544773498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051513.545440905] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051513.546274875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051513.547318184] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051513.585221439] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051513.587124369] [sailbot.teensy]: Wind angle: 195 -[trim_sail-4] [INFO] [1746051513.587480996] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051513.588550580] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051513.589450756] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051513.589460288] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051513.590390099] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051513.645145486] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051513.646023882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051513.646567074] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051513.648114088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051513.648624478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051513.744278396] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051513.744850469] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051513.745218157] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051513.747849721] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051513.748967915] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051513.835053025] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051513.836634765] [sailbot.teensy]: Wind angle: 195 -[trim_sail-4] [INFO] [1746051513.837389421] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051513.838216286] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051513.838409965] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051513.839223688] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051513.840145487] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051513.844316141] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051513.844834876] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051513.845421058] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051513.846429265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051513.847497448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051513.944815787] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051513.945517676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051513.946076347] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051513.947346399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051513.948399498] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051513.957572507] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051513.959103789] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746051513.960370630] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051513.961570931] [sailbot.main_algo]: Current Location: (42.46903620214748, -76.50276742005445) -[main_algo-3] [INFO] [1746051513.962414040] [sailbot.main_algo]: Target Bearing: -142.87727960213127 -[main_algo-3] [INFO] [1746051513.963208939] [sailbot.main_algo]: Heading Difference: -169.08572039786873 -[main_algo-3] [INFO] [1746051513.964401391] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051513.965152026] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051513.965860773] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051513.967225635] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051513.967267757] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051514.002467579] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903621 Long: -76.50276717 -[main_algo-3] [INFO] [1746051514.003421820] [sailbot.main_algo]: Distance to destination: 56.48040964198266 -[vectornav-1] [INFO] [1746051514.003560192] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.543000000000006, -0.547, 5.627) -[main_algo-3] [INFO] [1746051514.004526788] [sailbot.main_algo]: Target Bearing: -142.88927081786466 -[main_algo-3] [INFO] [1746051514.005391603] [sailbot.main_algo]: Heading Difference: -169.07372918213537 -[main_algo-3] [INFO] [1746051514.006657275] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051514.007496815] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051514.008359518] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051514.010033287] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051514.045101220] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051514.045731522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051514.046403483] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051514.047676150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051514.048712096] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051514.085134918] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051514.086811043] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051514.087328262] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051514.087767277] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051514.088603124] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051514.088749872] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051514.089666574] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051514.144914564] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051514.145766528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051514.146196467] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051514.147646643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051514.148744285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051514.245220546] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051514.246130301] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051514.246757466] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051514.248178323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051514.249214775] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051514.335070015] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051514.336769183] [sailbot.teensy]: Wind angle: 187 -[trim_sail-4] [INFO] [1746051514.337097209] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051514.337700860] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051514.338177843] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051514.338545626] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051514.339459182] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051514.344380580] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051514.345177927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051514.345542489] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051514.347009140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051514.347977900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051514.445252428] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051514.446239939] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051514.446712676] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051514.448350630] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051514.449431499] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051514.457369664] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051514.458369168] [sailbot.main_algo]: Target Bearing: -142.88927081786466 -[main_algo-3] [INFO] [1746051514.459207948] [sailbot.main_algo]: Heading Difference: -168.56772918213534 -[main_algo-3] [INFO] [1746051514.460417760] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051514.461236724] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051514.462027929] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051514.463591803] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051514.463858075] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051514.502692252] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903616 Long: -76.50276691 -[main_algo-3] [INFO] [1746051514.503399651] [sailbot.main_algo]: Distance to destination: 56.49380108511946 -[vectornav-1] [INFO] [1746051514.503707257] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.47000000000003, 0.319, 4.601) -[main_algo-3] [INFO] [1746051514.504453209] [sailbot.main_algo]: Target Bearing: -142.9070867952346 -[main_algo-3] [INFO] [1746051514.505397197] [sailbot.main_algo]: Heading Difference: -168.5499132047654 -[main_algo-3] [INFO] [1746051514.506721515] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051514.507606266] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051514.508479644] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051514.510080851] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051514.544873173] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051514.545593491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051514.546194533] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051514.547565355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051514.548776931] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051514.585352001] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051514.587189057] [sailbot.teensy]: Wind angle: 184 -[trim_sail-4] [INFO] [1746051514.587558575] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051514.588107791] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051514.589002191] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051514.589477849] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051514.589860900] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051514.644834751] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051514.645405660] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051514.646138794] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051514.647181584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051514.648318857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051514.745295605] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051514.745969908] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051514.746772337] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051514.747998564] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051514.749276776] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051514.835243480] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051514.837484738] [sailbot.teensy]: Wind angle: 184 -[trim_sail-4] [INFO] [1746051514.837669120] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051514.838487972] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051514.839470709] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051514.840064449] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051514.840354987] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051514.844382540] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051514.844880248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051514.845564736] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051514.846553713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051514.847619344] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051514.945282726] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051514.946052682] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051514.946766474] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051514.948015017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051514.949164844] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051514.957651147] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051514.958753037] [sailbot.main_algo]: Target Bearing: -142.9070867952346 -[main_algo-3] [INFO] [1746051514.959680457] [sailbot.main_algo]: Heading Difference: -169.62291320476538 -[main_algo-3] [INFO] [1746051514.961040672] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051514.961870728] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051514.962683791] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051514.964216244] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051514.964268458] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051515.002720459] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903618 Long: -76.50276701 -[main_algo-3] [INFO] [1746051515.003881524] [sailbot.main_algo]: Distance to destination: 56.48870261403561 -[vectornav-1] [INFO] [1746051515.004113926] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.31299999999999, -0.828, 5.625) -[main_algo-3] [INFO] [1746051515.005446176] [sailbot.main_algo]: Target Bearing: -142.90016732106324 -[main_algo-3] [INFO] [1746051515.006538941] [sailbot.main_algo]: Heading Difference: -169.62983267893674 -[main_algo-3] [INFO] [1746051515.007903563] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051515.008835301] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051515.009684379] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051515.011340695] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051515.044900492] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051515.045549677] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051515.046207997] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051515.047527932] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051515.048624464] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051515.085204188] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051515.086794272] [sailbot.teensy]: Wind angle: 184 -[trim_sail-4] [INFO] [1746051515.087496129] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051515.087666012] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051515.088496555] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051515.088486275] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051515.089395237] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051515.144876836] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051515.145524911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051515.146061219] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051515.147238628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051515.148424353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051515.244851725] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051515.245623451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051515.246050888] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051515.247406762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051515.248559290] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051515.335509035] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051515.337981023] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051515.338305353] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051515.338984034] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051515.339089674] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051515.339373967] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051515.339751159] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051515.344446616] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051515.345165983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051515.345654923] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051515.346983850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051515.348039162] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051515.445362150] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051515.446583695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051515.446906148] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051515.448775593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051515.449797726] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051515.457800980] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051515.458861515] [sailbot.main_algo]: Target Bearing: -142.90016732106324 -[main_algo-3] [INFO] [1746051515.459755323] [sailbot.main_algo]: Heading Difference: -170.78683267893678 -[main_algo-3] [INFO] [1746051515.461090233] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051515.461964713] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051515.462819780] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051515.464435184] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051515.464597915] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051515.502901644] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903605 Long: -76.50276668 -[main_algo-3] [INFO] [1746051515.504411740] [sailbot.main_algo]: Distance to destination: 56.501146028810076 -[vectornav-1] [INFO] [1746051515.504704409] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.88499999999999, -0.439, 6.046) -[main_algo-3] [INFO] [1746051515.505421934] [sailbot.main_algo]: Target Bearing: -142.92866949744857 -[main_algo-3] [INFO] [1746051515.506387961] [sailbot.main_algo]: Heading Difference: -170.75833050255142 -[main_algo-3] [INFO] [1746051515.507735561] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051515.508623325] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051515.509465957] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051515.511131896] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051515.545175771] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051515.545879031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051515.546602790] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051515.547809140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051515.548873536] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051515.585236495] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051515.586955816] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051515.587521724] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051515.587901525] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051515.588878261] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051515.589805852] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051515.589886533] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051515.645212529] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051515.645881159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051515.646787172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051515.647892093] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051515.648981222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051515.745324308] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051515.746124409] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051515.746874267] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051515.748616688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051515.749782292] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051515.834981143] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051515.836503850] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051515.836901223] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051515.837436695] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051515.838359257] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051515.838807620] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051515.839286941] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051515.844523257] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051515.845008014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051515.845650512] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051515.846741683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051515.847867535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051515.945150219] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051515.945723899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051515.946532829] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051515.947758621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051515.948864547] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051515.957408598] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051515.958364318] [sailbot.main_algo]: Target Bearing: -142.92866949744857 -[main_algo-3] [INFO] [1746051515.959212690] [sailbot.main_algo]: Heading Difference: -170.1863305025514 -[main_algo-3] [INFO] [1746051515.960427239] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051515.961265480] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051515.962061285] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051515.963584145] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051515.963616679] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051516.002594723] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903625 Long: -76.50276642 -[main_algo-3] [INFO] [1746051516.003510739] [sailbot.main_algo]: Distance to destination: 56.531673506282985 -[vectornav-1] [INFO] [1746051516.004061439] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.476, -0.387, 3.899) -[main_algo-3] [INFO] [1746051516.004550717] [sailbot.main_algo]: Target Bearing: -142.92431565696853 -[main_algo-3] [INFO] [1746051516.005555805] [sailbot.main_algo]: Heading Difference: -170.19068434303148 -[main_algo-3] [INFO] [1746051516.007012213] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051516.007905091] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051516.008852836] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051516.010488945] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051516.045114241] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051516.045658465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051516.046462581] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051516.047869255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051516.049128144] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051516.085288053] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051516.087159084] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051516.087504672] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051516.088064338] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051516.088695886] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051516.088952637] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051516.089865941] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051516.145156440] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051516.146013117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051516.146428312] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051516.147885413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051516.148965603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051516.244990843] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051516.245744296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051516.246281574] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051516.247775668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051516.248848302] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051516.335369301] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051516.337663062] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051516.337874146] [sailbot.teensy]: Wind angle: 184 -[mux-7] [INFO] [1746051516.338739962] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051516.338798943] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051516.339200717] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051516.339553185] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051516.344331938] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051516.344906715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051516.345465275] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051516.346648297] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051516.347701421] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051516.444188337] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051516.444705842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051516.445189426] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051516.446486838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051516.447251553] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051516.456810871] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051516.457685533] [sailbot.main_algo]: Target Bearing: -142.92431565696853 -[main_algo-3] [INFO] [1746051516.458640929] [sailbot.main_algo]: Heading Difference: -168.59968434303147 -[main_algo-3] [INFO] [1746051516.459710843] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051516.460477872] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051516.461199044] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051516.462583813] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051516.462760817] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051516.503019172] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903646 Long: -76.50276641 -[main_algo-3] [INFO] [1746051516.503874321] [sailbot.main_algo]: Distance to destination: 56.546711115148945 -[vectornav-1] [INFO] [1746051516.504198923] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.10000000000002, -0.048, 5.887) -[main_algo-3] [INFO] [1746051516.504997165] [sailbot.main_algo]: Target Bearing: -142.90623088162175 -[main_algo-3] [INFO] [1746051516.505968956] [sailbot.main_algo]: Heading Difference: -168.61776911837825 -[main_algo-3] [INFO] [1746051516.507320874] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051516.508277776] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051516.509214048] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051516.511384661] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051516.544439329] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051516.544870535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051516.545476252] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051516.546478465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051516.547561645] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051516.585133959] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051516.587251708] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051516.587330360] [sailbot.teensy]: Wind angle: 184 -[mux-7] [INFO] [1746051516.587753106] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051516.588280321] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051516.589219403] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051516.590144422] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051516.645284042] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051516.646145667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051516.646989025] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051516.648126001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051516.649317262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051516.745292490] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051516.745844960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051516.746799613] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051516.747922603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051516.748976110] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051516.835378457] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051516.837136137] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051516.837988756] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051516.838593084] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051516.838705787] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051516.839113050] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051516.839492476] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051516.844644613] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051516.844964197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051516.845782440] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051516.846636187] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051516.847692311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051516.945774231] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051516.946590006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051516.947560243] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051516.948949621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051516.949531542] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051516.957584733] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051516.958561760] [sailbot.main_algo]: Target Bearing: -142.90623088162175 -[main_algo-3] [INFO] [1746051516.959460776] [sailbot.main_algo]: Heading Difference: -169.99376911837822 -[main_algo-3] [INFO] [1746051516.960792369] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051516.961622212] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051516.962403945] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051516.963918923] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051516.963955779] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051517.003191670] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903642 Long: -76.50276625 -[main_algo-3] [INFO] [1746051517.003917171] [sailbot.main_algo]: Distance to destination: 56.554322036365726 -[vectornav-1] [INFO] [1746051517.004603445] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.16500000000002, -0.595, 5.903) -[main_algo-3] [INFO] [1746051517.005060074] [sailbot.main_algo]: Target Bearing: -142.91799757108672 -[main_algo-3] [INFO] [1746051517.006037813] [sailbot.main_algo]: Heading Difference: -169.98200242891323 -[main_algo-3] [INFO] [1746051517.007426552] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051517.008329008] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051517.009183424] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051517.010960677] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051517.045138813] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051517.045697633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051517.046583026] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051517.047557245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051517.048745310] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051517.085397421] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051517.087053680] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051517.087967456] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051517.087620535] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051517.088253593] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051517.088872453] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051517.089767527] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051517.145194254] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051517.145692520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051517.146603578] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051517.147562105] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051517.148781746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051517.245174802] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051517.245681909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051517.246521481] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051517.247529598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051517.248577741] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051517.335335482] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051517.337618791] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051517.338024278] [sailbot.teensy]: Wind angle: 186 -[teensy-2] [INFO] [1746051517.339046800] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051517.339570861] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051517.340047637] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051517.340987913] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051517.344415766] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051517.344931534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051517.345703496] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051517.346595812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051517.347640955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051517.445389869] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051517.445950276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051517.446532775] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051517.447677284] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051517.448828954] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051517.457521826] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051517.458536833] [sailbot.main_algo]: Target Bearing: -142.91799757108672 -[main_algo-3] [INFO] [1746051517.459428411] [sailbot.main_algo]: Heading Difference: -169.9170024289133 -[main_algo-3] [INFO] [1746051517.460727173] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051517.461529236] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051517.462330733] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051517.463902874] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051517.463933063] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051517.502759712] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903636 Long: -76.50276616 -[vectornav-1] [INFO] [1746051517.503934071] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.92599999999999, -0.437, 5.731) -[main_algo-3] [INFO] [1746051517.504435891] [sailbot.main_algo]: Distance to destination: 56.55603511167624 -[main_algo-3] [INFO] [1746051517.505992675] [sailbot.main_algo]: Target Bearing: -142.92793560847826 -[main_algo-3] [INFO] [1746051517.507070673] [sailbot.main_algo]: Heading Difference: -169.90706439152171 -[main_algo-3] [INFO] [1746051517.508407260] [sailbot.main_algo]: Wind Direction: 186 -[main_algo-3] [INFO] [1746051517.509280313] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051517.510124788] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051517.512122098] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051517.545170925] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051517.545697220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051517.546515165] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051517.547548729] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051517.548628469] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051517.585328155] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051517.588571511] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051517.589682733] [sailbot.teensy]: Wind angle: 186 -[mux-7] [INFO] [1746051517.590794701] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051517.591226367] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051517.592188593] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051517.593102255] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051517.645119361] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051517.645803537] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051517.646475742] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051517.647644218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051517.648783594] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051517.744544722] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051517.745059930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051517.745553443] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051517.746633673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051517.747627183] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051517.835235908] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051517.837176403] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051517.838127325] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051517.838261545] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051517.839176230] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051517.839248187] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051517.839731027] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051517.844379085] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051517.844950268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051517.845511880] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051517.846582977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051517.847652276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051517.943887838] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051517.944719130] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051517.944520725] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051517.945848956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051517.946679325] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051517.957038505] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051517.958008602] [sailbot.main_algo]: Target Bearing: -142.92793560847826 -[main_algo-3] [INFO] [1746051517.958733053] [sailbot.main_algo]: Heading Difference: -168.14606439152175 -[main_algo-3] [INFO] [1746051517.959858816] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051517.960597635] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051517.961291316] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051517.962798787] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051517.962826833] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051518.002482589] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903659 Long: -76.50276619 -[vectornav-1] [INFO] [1746051518.003481557] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.34500000000003, -0.561, 4.404) -[main_algo-3] [INFO] [1746051518.003481559] [sailbot.main_algo]: Distance to destination: 56.56985445123126 -[main_algo-3] [INFO] [1746051518.004633351] [sailbot.main_algo]: Target Bearing: -142.90603180176447 -[main_algo-3] [INFO] [1746051518.005679462] [sailbot.main_algo]: Heading Difference: -168.16796819823554 -[main_algo-3] [INFO] [1746051518.007058788] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051518.007906819] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051518.008758276] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051518.010406137] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051518.045033279] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051518.045941693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051518.046777155] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051518.047800041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051518.048976759] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051518.085233847] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051518.086847635] [sailbot.teensy]: Wind angle: 182 -[trim_sail-4] [INFO] [1746051518.087628525] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051518.088565935] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051518.088867795] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051518.090032169] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051518.090891825] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051518.144966186] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051518.145656634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051518.146274885] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051518.147653301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051518.148694193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051518.245203592] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051518.245852022] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051518.246648231] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051518.247862007] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051518.248892776] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051518.335304381] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051518.337469149] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051518.338577691] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051518.338798201] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051518.339761398] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051518.340651418] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051518.341508438] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051518.344391770] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051518.345175666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051518.345496927] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051518.346861070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051518.347875852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051518.445383166] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051518.446087996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051518.446941906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051518.448233688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051518.448765535] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051518.457657418] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051518.458678836] [sailbot.main_algo]: Target Bearing: -142.90603180176447 -[main_algo-3] [INFO] [1746051518.459589184] [sailbot.main_algo]: Heading Difference: -168.7489681982355 -[main_algo-3] [INFO] [1746051518.460964963] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051518.461775653] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051518.462585869] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051518.464167935] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051518.464602211] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051518.503340871] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903655 Long: -76.5027664 -[main_algo-3] [INFO] [1746051518.504419056] [sailbot.main_algo]: Distance to destination: 56.55352718213398 -[vectornav-1] [INFO] [1746051518.504642625] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.22199999999998, 0.703, 6.1) -[main_algo-3] [INFO] [1746051518.505492392] [sailbot.main_algo]: Target Bearing: -142.89877703104128 -[main_algo-3] [INFO] [1746051518.506448319] [sailbot.main_algo]: Heading Difference: -168.7562229689587 -[main_algo-3] [INFO] [1746051518.507791398] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051518.508687618] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051518.509556885] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051518.511250024] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051518.545383174] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051518.545404346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051518.546720448] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051518.547421776] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051518.548477255] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051518.585139683] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051518.586915705] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051518.587870870] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051518.587580483] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051518.589184133] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051518.589612207] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051518.590453081] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051518.645288516] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051518.645734633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051518.646857724] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051518.647739073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051518.649020962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051518.745085909] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051518.746014901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051518.746390916] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051518.748280271] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051518.749357118] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051518.835297123] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051518.837175948] [sailbot.teensy]: Wind angle: 180 -[trim_sail-4] [INFO] [1746051518.837413028] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051518.838332279] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051518.838830913] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051518.839402365] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051518.840486597] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051518.844403123] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051518.844992896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051518.845780507] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051518.846697289] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051518.847729442] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051518.945098696] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051518.945768795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051518.946837285] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051518.947644657] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051518.948827478] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051518.957427795] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051518.958389615] [sailbot.main_algo]: Target Bearing: -142.89877703104128 -[main_algo-3] [INFO] [1746051518.959276389] [sailbot.main_algo]: Heading Difference: -169.87922296895874 -[main_algo-3] [INFO] [1746051518.960509898] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051518.961331727] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051518.962126960] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051518.963702443] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051518.963863718] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051519.002804668] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903631 Long: -76.50276634 -[main_algo-3] [INFO] [1746051519.003775556] [sailbot.main_algo]: Distance to destination: 56.54096123449344 -[vectornav-1] [INFO] [1746051519.004069061] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.18299999999999, -1.71, 5.742) -[main_algo-3] [INFO] [1746051519.005353528] [sailbot.main_algo]: Target Bearing: -142.92311322609316 -[main_algo-3] [INFO] [1746051519.006381581] [sailbot.main_algo]: Heading Difference: -169.85488677390686 -[main_algo-3] [INFO] [1746051519.007743221] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051519.008650770] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051519.009500662] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051519.011177905] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051519.045226294] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051519.045924106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051519.047013284] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051519.048441355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051519.049484668] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051519.085157458] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051519.086854844] [sailbot.teensy]: Wind angle: 180 -[trim_sail-4] [INFO] [1746051519.087284455] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051519.087727261] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051519.088616435] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051519.088820056] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051519.089512509] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051519.144745505] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051519.145510251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051519.145988739] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051519.147306756] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051519.148459171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051519.244997418] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051519.245896296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051519.246308913] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051519.247889676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051519.248605430] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051519.335378178] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051519.337144490] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051519.338058097] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051519.338195742] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051519.338925691] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051519.339318536] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051519.339849481] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051519.344386268] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051519.345080314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051519.345418777] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051519.346705098] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051519.347685398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051519.445500104] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051519.447089246] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051519.447194483] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051519.448243159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051519.449077094] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051519.457611547] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051519.458613358] [sailbot.main_algo]: Target Bearing: -142.92311322609316 -[main_algo-3] [INFO] [1746051519.459510251] [sailbot.main_algo]: Heading Difference: -168.89388677390684 -[main_algo-3] [INFO] [1746051519.460773501] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051519.461600549] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051519.462382971] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051519.463943745] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051519.463984441] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051519.502676865] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690364 Long: -76.50276611 -[main_algo-3] [INFO] [1746051519.503841097] [sailbot.main_algo]: Distance to destination: 56.56201116278728 -[vectornav-1] [INFO] [1746051519.504232503] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.06299999999999, -0.127, 5.195) -[main_algo-3] [INFO] [1746051519.504935406] [sailbot.main_algo]: Target Bearing: -142.92696263276767 -[main_algo-3] [INFO] [1746051519.505898858] [sailbot.main_algo]: Heading Difference: -168.89003736723237 -[main_algo-3] [INFO] [1746051519.507265784] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051519.508139887] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051519.509011258] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051519.510906353] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051519.545119307] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051519.545657481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051519.546483176] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051519.547581788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051519.548666193] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051519.585221889] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051519.587030031] [sailbot.teensy]: Wind angle: 180 -[trim_sail-4] [INFO] [1746051519.587668763] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051519.587952261] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051519.588430890] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051519.588898891] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051519.589786334] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051519.645426051] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051519.646059458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051519.646915363] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051519.648087573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051519.649273683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051519.745026065] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051519.745728246] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051519.746259281] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051519.747494863] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051519.748575096] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051519.835133560] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051519.836821365] [sailbot.teensy]: Wind angle: 180 -[teensy-2] [INFO] [1746051519.837734417] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051519.838976863] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051519.837291706] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051519.837872908] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051519.839941525] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051519.844672844] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051519.846000927] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051519.848565923] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051519.850714933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051519.851791858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051519.945189188] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051519.945811422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051519.946543839] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051519.947733971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051519.948826042] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051519.957388778] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051519.958411458] [sailbot.main_algo]: Target Bearing: -142.92696263276767 -[main_algo-3] [INFO] [1746051519.959352898] [sailbot.main_algo]: Heading Difference: -168.01003736723237 -[main_algo-3] [INFO] [1746051519.960731603] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051519.961664904] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051519.962582016] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051519.964607868] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051519.964635450] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051520.001596509] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690364 Long: -76.50276582 -[vectornav-1] [INFO] [1746051520.002189763] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.636000000000024, 0.686, 6.986) -[main_algo-3] [INFO] [1746051520.002314687] [sailbot.main_algo]: Distance to destination: 56.58078020364584 -[main_algo-3] [INFO] [1746051520.002927160] [sailbot.main_algo]: Target Bearing: -142.94185737202858 -[main_algo-3] [INFO] [1746051520.003436963] [sailbot.main_algo]: Heading Difference: -167.9951426279714 -[main_algo-3] [INFO] [1746051520.004176115] [sailbot.main_algo]: Wind Direction: 180 -[main_algo-3] [INFO] [1746051520.004644462] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051520.005095457] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051520.006103165] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051520.044990955] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051520.045547603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051520.046307755] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051520.047311488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051520.048419665] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051520.085309080] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051520.087560160] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051520.088411943] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051520.088646525] [sailbot.teensy]: Wind angle: 179 -[teensy-2] [INFO] [1746051520.089635472] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051520.090512079] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051520.091356891] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051520.145186191] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051520.145742714] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051520.147811591] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051520.149097408] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051520.149849912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051520.245135000] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051520.245645119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051520.246505343] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051520.247809663] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051520.248849208] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051520.335376690] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051520.337968571] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051520.338541853] [sailbot.teensy]: Wind angle: 179 -[mux-7] [INFO] [1746051520.338535087] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051520.338923033] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051520.339296698] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051520.340034065] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051520.344473926] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051520.345035975] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051520.345666922] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051520.346724377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051520.347854639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051520.445239274] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051520.446007305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051520.446579137] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051520.447866315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051520.448941430] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051520.457447527] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051520.458442941] [sailbot.main_algo]: Target Bearing: -142.94185737202858 -[main_algo-3] [INFO] [1746051520.459283229] [sailbot.main_algo]: Heading Difference: -168.42214262797143 -[main_algo-3] [INFO] [1746051520.460567060] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051520.461386990] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051520.462180554] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051520.463686392] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051520.463710055] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051520.502911677] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903622 Long: -76.50276575 -[main_algo-3] [INFO] [1746051520.503840702] [sailbot.main_algo]: Distance to destination: 56.57298693380794 -[vectornav-1] [INFO] [1746051520.504283289] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.613999999999976, -1.754, 5.648) -[main_algo-3] [INFO] [1746051520.505071559] [sailbot.main_algo]: Target Bearing: -142.96139014014125 -[main_algo-3] [INFO] [1746051520.506145458] [sailbot.main_algo]: Heading Difference: -168.40260985985873 -[main_algo-3] [INFO] [1746051520.507567399] [sailbot.main_algo]: Wind Direction: 179 -[main_algo-3] [INFO] [1746051520.508486617] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051520.509336138] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051520.511094133] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051520.545200278] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051520.545712716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051520.546673380] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051520.547965514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051520.549112008] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051520.585220031] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051520.586841929] [sailbot.teensy]: Wind angle: 177 -[teensy-2] [INFO] [1746051520.587764258] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051520.587335924] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051520.588665436] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051520.589002413] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051520.589521010] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051520.644782446] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051520.645667761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051520.646035077] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051520.647482783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051520.648518338] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051520.744910657] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051520.745536080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051520.746150254] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051520.747338599] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051520.748524503] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051520.834921869] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051520.836264500] [sailbot.teensy]: Wind angle: 175 -[teensy-2] [INFO] [1746051520.837251416] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051520.837933139] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051520.838322068] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051520.837794001] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051520.838059473] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051520.844338262] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051520.845353170] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051520.845086631] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051520.846738942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051520.847734895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051520.944996732] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051520.945749726] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051520.946352119] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051520.947762838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051520.948833277] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051520.957634974] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051520.958640187] [sailbot.main_algo]: Target Bearing: -142.96139014014125 -[main_algo-3] [INFO] [1746051520.959496559] [sailbot.main_algo]: Heading Difference: -167.42460985985878 -[main_algo-3] [INFO] [1746051520.960736118] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051520.961547944] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051520.962351823] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051520.963869321] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051520.963960505] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051521.003403782] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903635 Long: -76.50276561 -[main_algo-3] [INFO] [1746051521.003647931] [sailbot.main_algo]: Distance to destination: 56.5909506564117 -[vectornav-1] [INFO] [1746051521.004727460] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.024, 0.089, 5.288) -[main_algo-3] [INFO] [1746051521.004738749] [sailbot.main_algo]: Target Bearing: -142.95706357200996 -[main_algo-3] [INFO] [1746051521.005741153] [sailbot.main_algo]: Heading Difference: -167.42893642799004 -[main_algo-3] [INFO] [1746051521.007146690] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051521.008036262] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051521.008898890] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051521.010573797] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051521.045072967] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051521.045821388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051521.046870801] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051521.047753157] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051521.049095835] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051521.085284268] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051521.086969380] [sailbot.teensy]: Wind angle: 176 -[teensy-2] [INFO] [1746051521.087979977] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051521.088870145] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051521.089721946] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051521.087432449] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051521.089659889] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051521.145107153] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051521.145918984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051521.146390646] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051521.148572406] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051521.149877182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051521.245086079] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051521.245816893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051521.246540450] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051521.247687408] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051521.248788852] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051521.335083020] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051521.337059121] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051521.337347045] [sailbot.teensy]: Wind angle: 176 -[mux-7] [INFO] [1746051521.338424122] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051521.338489143] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051521.339322355] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051521.340132503] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051521.344345011] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051521.344949848] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051521.345531729] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051521.346623677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051521.347774865] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051521.445211769] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051521.445793666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051521.446871841] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051521.448141323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051521.449305018] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051521.457556345] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051521.458520798] [sailbot.main_algo]: Target Bearing: -142.95706357200996 -[main_algo-3] [INFO] [1746051521.459418598] [sailbot.main_algo]: Heading Difference: -168.01893642799007 -[main_algo-3] [INFO] [1746051521.460704067] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051521.461508750] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051521.462301368] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051521.463818061] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051521.463959750] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051521.502670264] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690363 Long: -76.50276559 -[main_algo-3] [INFO] [1746051521.503474232] [sailbot.main_algo]: Distance to destination: 56.58882259019672 -[main_algo-3] [INFO] [1746051521.504737087] [sailbot.main_algo]: Target Bearing: -142.96251691566505 -[vectornav-1] [INFO] [1746051521.503993811] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.103999999999985, -0.306, 6.299) -[main_algo-3] [INFO] [1746051521.505739234] [sailbot.main_algo]: Heading Difference: -168.01348308433495 -[main_algo-3] [INFO] [1746051521.507127792] [sailbot.main_algo]: Wind Direction: 176 -[main_algo-3] [INFO] [1746051521.507998514] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051521.508860735] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051521.510761552] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051521.545118678] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051521.545663720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051521.546457866] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051521.547751535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051521.548819237] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051521.585072756] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051521.586551561] [sailbot.teensy]: Wind angle: 175 -[teensy-2] [INFO] [1746051521.587378445] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051521.587075006] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051521.587604141] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051521.588207500] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051521.589023654] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051521.645076339] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051521.645568800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051521.646411968] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051521.647455884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051521.648624154] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051521.745330488] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051521.745918504] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051521.746841641] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051521.748331369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051521.749502092] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051521.835131596] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051521.836747122] [sailbot.teensy]: Wind angle: 175 -[trim_sail-4] [INFO] [1746051521.837174326] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051521.837639641] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051521.838449173] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051521.838473817] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051521.839246911] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051521.844318396] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051521.844917349] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051521.845473919] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051521.846649344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051521.847694668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051521.944740758] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051521.945238933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051521.945909003] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051521.946908154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051521.948104746] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051521.957451167] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051521.958397350] [sailbot.main_algo]: Target Bearing: -142.96251691566505 -[main_algo-3] [INFO] [1746051521.959241146] [sailbot.main_algo]: Heading Difference: -167.93348308433497 -[main_algo-3] [INFO] [1746051521.960462206] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051521.961280595] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051521.962056278] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051521.963547252] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051521.963696659] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051522.002858975] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690363 Long: -76.50276526 -[main_algo-3] [INFO] [1746051522.003703961] [sailbot.main_algo]: Distance to destination: 56.61019114086271 -[vectornav-1] [INFO] [1746051522.004253521] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.75200000000001, -0.927, 5.931) -[main_algo-3] [INFO] [1746051522.004845400] [sailbot.main_algo]: Target Bearing: -142.97944388165044 -[main_algo-3] [INFO] [1746051522.005904065] [sailbot.main_algo]: Heading Difference: -167.9165561183496 -[main_algo-3] [INFO] [1746051522.007273548] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051522.008191282] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051522.009051561] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051522.010753843] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051522.044033102] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051522.044496277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051522.044833792] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051522.046098216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051522.046976620] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051522.084847833] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051522.086273589] [sailbot.teensy]: Wind angle: 176 -[teensy-2] [INFO] [1746051522.087096939] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051522.087971163] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051522.087617356] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051522.088673936] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051522.089055060] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051522.144949286] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051522.145646888] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051522.146392815] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051522.147818417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051522.148989548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051522.245203658] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051522.246400240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051522.246833742] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051522.248484397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051522.249036045] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051522.335265909] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051522.336858230] [sailbot.teensy]: Wind angle: 175 -[trim_sail-4] [INFO] [1746051522.337283118] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051522.337724397] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051522.338564909] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051522.339334458] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051522.339384219] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051522.344439114] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051522.344908125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051522.345505015] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051522.346496562] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051522.347517185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051522.445280561] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051522.446198283] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051522.446556575] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051522.448404867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051522.449586724] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051522.457624299] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051522.458638572] [sailbot.main_algo]: Target Bearing: -142.97944388165044 -[main_algo-3] [INFO] [1746051522.459587694] [sailbot.main_algo]: Heading Difference: -167.26855611834958 -[main_algo-3] [INFO] [1746051522.460846933] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051522.461678427] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051522.462480262] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051522.464079251] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051522.464178053] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051522.503390735] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903639 Long: -76.50276505 -[vectornav-1] [INFO] [1746051522.504734122] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.02999999999997, 0.228, 5.634) -[main_algo-3] [INFO] [1746051522.506986717] [sailbot.main_algo]: Distance to destination: 56.629949524842 -[main_algo-3] [INFO] [1746051522.508141251] [sailbot.main_algo]: Target Bearing: -142.98224259862172 -[main_algo-3] [INFO] [1746051522.509256945] [sailbot.main_algo]: Heading Difference: -167.26575740137827 -[main_algo-3] [INFO] [1746051522.510580714] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051522.511454767] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051522.512299388] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051522.513997390] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051522.545292507] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051522.545523879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051522.546647890] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051522.547898873] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051522.548985371] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051522.585252211] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051522.586778299] [sailbot.teensy]: Wind angle: 176 -[teensy-2] [INFO] [1746051522.587670470] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051522.587226330] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051522.588344250] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051522.588540744] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051522.589431649] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051522.644910922] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051522.645579366] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051522.646305257] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051522.647616361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051522.648766193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051522.744854475] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051522.745436567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051522.746513914] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051522.747160060] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051522.748533346] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051522.835291253] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051522.837630737] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051522.838098374] [sailbot.teensy]: Wind angle: 177 -[mux-7] [INFO] [1746051522.838547469] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051522.839397528] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051522.840376185] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051522.841259346] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051522.844398329] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051522.845184271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051522.845482252] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051522.846973529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051522.847988331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051522.945042743] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051522.945932494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051522.946712183] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051522.947676914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051522.948118698] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051522.957609709] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051522.958625824] [sailbot.main_algo]: Target Bearing: -142.98224259862172 -[main_algo-3] [INFO] [1746051522.959495011] [sailbot.main_algo]: Heading Difference: -166.9877574013783 -[main_algo-3] [INFO] [1746051522.960716499] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051522.961524472] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051522.962324664] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051522.963840175] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051522.963933864] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051523.002696824] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903639 Long: -76.50276506 -[main_algo-3] [INFO] [1746051523.003659006] [sailbot.main_algo]: Distance to destination: 56.629301894033 -[vectornav-1] [INFO] [1746051523.003856457] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.97800000000001, -0.635, 5.205) -[main_algo-3] [INFO] [1746051523.004895174] [sailbot.main_algo]: Target Bearing: -142.98173005844967 -[main_algo-3] [INFO] [1746051523.005820606] [sailbot.main_algo]: Heading Difference: -166.98826994155036 -[main_algo-3] [INFO] [1746051523.007082188] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051523.007890265] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051523.008691593] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051523.010385784] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051523.044590398] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051523.045241307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051523.045825139] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051523.047015569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051523.047991205] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051523.085019886] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051523.086544930] [sailbot.teensy]: Wind angle: 181 -[trim_sail-4] [INFO] [1746051523.086904522] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051523.088069366] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051523.088999376] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051523.089053600] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051523.089858931] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051523.144906337] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051523.145751912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051523.146147375] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051523.147528774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051523.148603934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051523.244853135] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051523.245497564] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051523.246891023] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051523.247638221] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051523.248840842] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051523.335308492] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051523.336998689] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051523.337818710] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051523.338779155] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051523.339288390] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051523.340304808] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051523.341203430] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051523.344333695] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051523.344994817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051523.345412819] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051523.346713302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051523.347880578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051523.445444558] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051523.446520113] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051523.446988624] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051523.448987065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051523.450463636] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051523.457412800] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051523.458447872] [sailbot.main_algo]: Target Bearing: -142.98173005844967 -[main_algo-3] [INFO] [1746051523.459374139] [sailbot.main_algo]: Heading Difference: -167.04026994155032 -[main_algo-3] [INFO] [1746051523.460713553] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051523.461609120] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051523.462473881] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051523.464249380] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051523.465226308] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051523.502778466] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903644 Long: -76.502765 -[main_algo-3] [INFO] [1746051523.503739154] [sailbot.main_algo]: Distance to destination: 56.63660892673746 -[vectornav-1] [INFO] [1746051523.504061468] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.86200000000002, -0.463, 6.936) -[main_algo-3] [INFO] [1746051523.504850554] [sailbot.main_algo]: Target Bearing: -142.98038022449933 -[main_algo-3] [INFO] [1746051523.505835165] [sailbot.main_algo]: Heading Difference: -167.04161977550064 -[main_algo-3] [INFO] [1746051523.507302290] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051523.508167553] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051523.509003935] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051523.510548316] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051523.544735096] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051523.545407313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051523.545863172] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051523.547210267] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051523.548381658] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051523.585241644] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051523.587272148] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051523.588429700] [sailbot.teensy]: Wind angle: 185 -[mux-7] [INFO] [1746051523.588816967] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051523.590068968] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051523.591064024] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051523.591897591] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051523.645163218] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051523.645953560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051523.646625585] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051523.648279674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051523.649409727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051523.745219542] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051523.745745686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051523.746751793] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051523.747697538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051523.748869390] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051523.835271636] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051523.837363848] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051523.837382377] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051523.838369975] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051523.839074423] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051523.839480699] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051523.839845545] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051523.844593583] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051523.845066632] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051523.847208804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051523.847228306] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051523.848988361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051523.945262276] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051523.945757926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051523.946634768] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051523.947837527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051523.948871439] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051523.957659035] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051523.958670089] [sailbot.main_algo]: Target Bearing: -142.98038022449933 -[main_algo-3] [INFO] [1746051523.959563968] [sailbot.main_algo]: Heading Difference: -167.15761977550062 -[main_algo-3] [INFO] [1746051523.960881452] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051523.961728811] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051523.962533298] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051523.964070120] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051523.964272197] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051524.003242004] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903643 Long: -76.50276454 -[main_algo-3] [INFO] [1746051524.003942428] [sailbot.main_algo]: Distance to destination: 56.66572010061122 -[vectornav-1] [INFO] [1746051524.004589265] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.09500000000003, -0.266, 5.042) -[main_algo-3] [INFO] [1746051524.005613683] [sailbot.main_algo]: Target Bearing: -143.00482734651513 -[main_algo-3] [INFO] [1746051524.006571247] [sailbot.main_algo]: Heading Difference: -167.13317265348485 -[main_algo-3] [INFO] [1746051524.008054045] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051524.009009992] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051524.009874177] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051524.011580780] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051524.045127994] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051524.045765225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051524.046459870] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051524.047773056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051524.048837955] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051524.085439115] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051524.087167300] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051524.088109335] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051524.089075483] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051524.089911977] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051524.087787800] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051524.092532002] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051524.144072290] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051524.144438434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051524.145011740] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051524.145942282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051524.147103188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051524.246613512] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051524.247243886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051524.247929671] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051524.249065838] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051524.250264657] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051524.335456503] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051524.337318395] [sailbot.teensy]: Wind angle: 187 -[trim_sail-4] [INFO] [1746051524.337748500] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051524.338304871] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051524.339369615] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051524.339558448] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051524.340542704] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051524.344477742] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051524.344979239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051524.345678742] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051524.346715168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051524.347781759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051524.444796359] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051524.445462935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051524.445959992] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051524.447098189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051524.448184015] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051524.457488316] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051524.458443715] [sailbot.main_algo]: Target Bearing: -143.00482734651513 -[main_algo-3] [INFO] [1746051524.459328711] [sailbot.main_algo]: Heading Difference: -165.90017265348484 -[main_algo-3] [INFO] [1746051524.460561052] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051524.461387915] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051524.462179609] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051524.463710120] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051524.463733708] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051524.502269383] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903633 Long: -76.5027646 -[main_algo-3] [INFO] [1746051524.503246969] [sailbot.main_algo]: Distance to destination: 56.654994417921536 -[vectornav-1] [INFO] [1746051524.503674275] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.954999999999984, -0.429, 5.146) -[main_algo-3] [INFO] [1746051524.504354716] [sailbot.main_algo]: Target Bearing: -143.01060438918014 -[main_algo-3] [INFO] [1746051524.505256331] [sailbot.main_algo]: Heading Difference: -165.89439561081986 -[main_algo-3] [INFO] [1746051524.506515165] [sailbot.main_algo]: Wind Direction: 187 -[main_algo-3] [INFO] [1746051524.507334991] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051524.508123879] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051524.509751103] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051524.544869972] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051524.545537300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051524.546149788] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051524.547475472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051524.548562393] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051524.585161743] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051524.587393706] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051524.587484469] [sailbot.teensy]: Wind angle: 198 -[mux-7] [INFO] [1746051524.587732500] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051524.588581879] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051524.589645403] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051524.590506543] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051524.644987392] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051524.645668080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051524.646265632] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051524.647713872] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051524.648771331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051524.744873120] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051524.745683410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051524.746054740] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051524.747629206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051524.748717321] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051524.835260060] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051524.836956053] [sailbot.teensy]: Wind angle: 211 -[trim_sail-4] [INFO] [1746051524.837409777] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051524.837846064] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051524.838733969] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051524.839175594] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051524.839614351] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051524.844363769] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051524.844874171] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051524.845571792] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051524.846767492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051524.847855103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051524.945153096] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051524.945673038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051524.946427773] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051524.947541517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051524.948695501] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051524.957656688] [sailbot.main_algo]: Wind Direction: 211 -[main_algo-3] [INFO] [1746051524.958706445] [sailbot.main_algo]: Target Bearing: -143.01060438918014 -[main_algo-3] [INFO] [1746051524.959602298] [sailbot.main_algo]: Heading Difference: -166.03439561081984 -[main_algo-3] [INFO] [1746051524.960845055] [sailbot.main_algo]: Wind Direction: 211 -[main_algo-3] [INFO] [1746051524.961697007] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051524.962509575] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051524.964065999] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051524.964114101] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051525.002631954] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903641 Long: -76.5027646 -[main_algo-3] [INFO] [1746051525.003462498] [sailbot.main_algo]: Distance to destination: 56.66046533201112 -[vectornav-1] [INFO] [1746051525.003791389] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.55200000000002, -0.221, 6.162) -[main_algo-3] [INFO] [1746051525.004632011] [sailbot.main_algo]: Target Bearing: -143.00352504624234 -[main_algo-3] [INFO] [1746051525.005668878] [sailbot.main_algo]: Heading Difference: -166.04147495375764 -[main_algo-3] [INFO] [1746051525.007084858] [sailbot.main_algo]: Wind Direction: 211 -[main_algo-3] [INFO] [1746051525.007980779] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051525.008844200] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051525.010442874] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051525.044636043] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051525.045245426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051525.045795193] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051525.046929438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051525.047880943] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051525.085351741] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051525.087051268] [sailbot.teensy]: Wind angle: 220 -[trim_sail-4] [INFO] [1746051525.087503011] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051525.087987309] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051525.088887938] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051525.089678308] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051525.089761759] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051525.144587451] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051525.145066367] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051525.145686489] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051525.146798262] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051525.147861948] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051525.244765362] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051525.245359053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051525.246043891] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051525.247118675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051525.248329360] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051525.335293916] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051525.336935649] [sailbot.teensy]: Wind angle: 220 -[teensy-2] [INFO] [1746051525.337847008] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051525.337446564] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051525.338770261] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051525.339717815] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051525.340052145] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051525.344635998] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051525.345112595] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051525.345932223] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051525.347149484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051525.348414393] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051525.445089431] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051525.445638226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051525.446520920] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051525.447574557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051525.448810119] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051525.457441734] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051525.458396072] [sailbot.main_algo]: Target Bearing: -143.00352504624234 -[main_algo-3] [INFO] [1746051525.459221864] [sailbot.main_algo]: Heading Difference: -167.44447495375766 -[main_algo-3] [INFO] [1746051525.460467186] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051525.461282212] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051525.462082063] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051525.463612582] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051525.463605397] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051525.502578168] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903643 Long: -76.50276432 -[main_algo-3] [INFO] [1746051525.503418224] [sailbot.main_algo]: Distance to destination: 56.67997348083689 -[vectornav-1] [INFO] [1746051525.503902015] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.75200000000001, -0.916, 6.363) -[main_algo-3] [INFO] [1746051525.504534545] [sailbot.main_algo]: Target Bearing: -143.01608746237753 -[main_algo-3] [INFO] [1746051525.505521184] [sailbot.main_algo]: Heading Difference: -167.43191253762245 -[main_algo-3] [INFO] [1746051525.506781102] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051525.507711796] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051525.508549964] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051525.510167498] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051525.544705717] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051525.545337312] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051525.545850368] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051525.547073535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051525.548267716] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051525.585114012] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051525.587025606] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051525.588010032] [sailbot.teensy]: Wind angle: 219 -[mux-7] [INFO] [1746051525.588497887] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051525.589373187] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051525.590308066] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051525.591244286] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051525.644895384] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051525.645748993] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051525.646197080] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051525.647764726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051525.648923223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051525.745842555] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051525.746087844] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051525.748275914] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051525.747479712] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051525.748912199] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051525.835284035] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051525.837397639] [sailbot.teensy]: Wind angle: 218 -[trim_sail-4] [INFO] [1746051525.837437047] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051525.837868833] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051525.838275445] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051525.839090786] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051525.839888288] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051525.844313963] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051525.844820026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051525.845392255] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051525.846465113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051525.847551599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051525.945066919] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051525.945823374] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051525.946303437] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051525.947644374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051525.948546132] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051525.957548458] [sailbot.main_algo]: Wind Direction: 218 -[main_algo-3] [INFO] [1746051525.958539879] [sailbot.main_algo]: Target Bearing: -143.01608746237753 -[main_algo-3] [INFO] [1746051525.959404168] [sailbot.main_algo]: Heading Difference: -166.23191253762246 -[main_algo-3] [INFO] [1746051525.960673803] [sailbot.main_algo]: Wind Direction: 218 -[main_algo-3] [INFO] [1746051525.961517578] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051525.962352098] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051525.963859220] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051525.963951545] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051526.002904768] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903645 Long: -76.50276414 -[main_algo-3] [INFO] [1746051526.003933341] [sailbot.main_algo]: Distance to destination: 56.693004160000214 -[vectornav-1] [INFO] [1746051526.004137272] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.52800000000002, 0.063, 5.056) -[main_algo-3] [INFO] [1746051526.005155501] [sailbot.main_algo]: Target Bearing: -143.02352689642484 -[main_algo-3] [INFO] [1746051526.006135585] [sailbot.main_algo]: Heading Difference: -166.22447310357518 -[main_algo-3] [INFO] [1746051526.007528071] [sailbot.main_algo]: Wind Direction: 218 -[main_algo-3] [INFO] [1746051526.008511318] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051526.009407110] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051526.011582624] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051526.044977700] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051526.045719004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051526.046239765] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051526.047524357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051526.048547899] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051526.085122883] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051526.087082737] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051526.087386223] [sailbot.teensy]: Wind angle: 219 -[teensy-2] [INFO] [1746051526.088349828] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051526.088978043] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051526.089247713] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051526.090157916] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051526.145093452] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051526.146218796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051526.146481450] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051526.148068082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051526.149267732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051526.243939055] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051526.244590357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051526.244789383] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051526.246022719] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051526.246869937] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051526.335212995] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051526.336797352] [sailbot.teensy]: Wind angle: 218 -[trim_sail-4] [INFO] [1746051526.337261374] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051526.337806762] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051526.339073350] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051526.339991299] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051526.340909950] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051526.344357975] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051526.344855238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051526.345867574] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051526.346651947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051526.347797399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051526.445477456] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051526.445696587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051526.446972053] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051526.447572999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051526.448669774] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051526.457403686] [sailbot.main_algo]: Wind Direction: 218 -[main_algo-3] [INFO] [1746051526.458365581] [sailbot.main_algo]: Target Bearing: -143.02352689642484 -[main_algo-3] [INFO] [1746051526.459185658] [sailbot.main_algo]: Heading Difference: -165.4484731035751 -[main_algo-3] [INFO] [1746051526.460443396] [sailbot.main_algo]: Wind Direction: 218 -[main_algo-3] [INFO] [1746051526.461254427] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051526.462044470] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051526.463616274] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051526.463615979] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051526.502732898] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903654 Long: -76.50276435 -[vectornav-1] [INFO] [1746051526.504057523] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.00599999999997, -0.85, 6.388) -[main_algo-3] [INFO] [1746051526.504695160] [sailbot.main_algo]: Distance to destination: 56.685551774118835 -[main_algo-3] [INFO] [1746051526.505828758] [sailbot.main_algo]: Target Bearing: -143.00482201417202 -[main_algo-3] [INFO] [1746051526.506793466] [sailbot.main_algo]: Heading Difference: -165.46717798582796 -[main_algo-3] [INFO] [1746051526.508191642] [sailbot.main_algo]: Wind Direction: 218 -[main_algo-3] [INFO] [1746051526.509077555] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051526.509912036] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051526.511570190] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051526.544891007] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051526.545449544] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051526.546089826] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051526.547183177] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051526.548497510] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051526.585436478] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051526.587756756] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051526.588226737] [sailbot.teensy]: Wind angle: 217 -[mux-7] [INFO] [1746051526.588740279] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051526.589636447] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051526.590724328] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051526.591587841] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051526.645262149] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051526.645888791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051526.646511693] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051526.647991345] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051526.649430837] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051526.744752241] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051526.745593859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051526.745937167] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051526.747438269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051526.748455608] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051526.835452837] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051526.837756757] [sailbot.teensy]: Wind angle: 217 -[teensy-2] [INFO] [1746051526.839185429] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051526.838066134] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051526.839345766] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051526.840179136] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051526.841108880] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051526.844450934] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051526.845375260] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051526.845532294] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051526.847209828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051526.848353734] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051526.945040353] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051526.945879764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051526.946690417] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051526.947706678] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051526.948750344] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051526.957512007] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051526.958487836] [sailbot.main_algo]: Target Bearing: -143.00482201417202 -[main_algo-3] [INFO] [1746051526.959320511] [sailbot.main_algo]: Heading Difference: -165.989177985828 -[main_algo-3] [INFO] [1746051526.960567846] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051526.961398814] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051526.962217914] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051526.963761381] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051526.963793473] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051527.002779943] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903655 Long: -76.50276406 -[main_algo-3] [INFO] [1746051527.004040861] [sailbot.main_algo]: Distance to destination: 56.7050244515995 -[vectornav-1] [INFO] [1746051527.004115907] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.129999999999995, -0.361, 5.465) -[main_algo-3] [INFO] [1746051527.005218902] [sailbot.main_algo]: Target Bearing: -143.01877418184299 -[main_algo-3] [INFO] [1746051527.006163739] [sailbot.main_algo]: Heading Difference: -165.975225818157 -[main_algo-3] [INFO] [1746051527.007577475] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051527.008516901] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051527.009324899] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051527.010866155] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051527.044934873] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051527.045673119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051527.046205956] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051527.047546723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051527.048591048] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051527.085223023] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051527.086958238] [sailbot.teensy]: Wind angle: 216 -[trim_sail-4] [INFO] [1746051527.087925134] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051527.090035711] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051527.090630971] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051527.091071695] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051527.091994979] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051527.145128373] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051527.145866031] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051527.146594241] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051527.147844208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051527.148964453] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051527.244983888] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051527.245859702] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051527.246279880] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051527.247796634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051527.248844155] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051527.335139675] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051527.337213465] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051527.337828525] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051527.338732527] [sailbot.teensy]: Wind angle: 217 -[teensy-2] [INFO] [1746051527.339796948] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051527.340623053] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051527.341472559] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051527.344397818] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051527.344858339] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051527.345439143] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051527.346412057] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051527.347512202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051527.444935904] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051527.445758501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051527.446219479] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051527.447563253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051527.448296301] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051527.457700026] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051527.458729392] [sailbot.main_algo]: Target Bearing: -143.01877418184299 -[main_algo-3] [INFO] [1746051527.459806416] [sailbot.main_algo]: Heading Difference: -165.851225818157 -[main_algo-3] [INFO] [1746051527.461231708] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051527.462144523] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051527.463018370] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051527.464594946] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051527.464728638] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051527.502755957] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903657 Long: -76.50276376 -[main_algo-3] [INFO] [1746051527.503693682] [sailbot.main_algo]: Distance to destination: 56.725832043747026 -[vectornav-1] [INFO] [1746051527.504301233] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.678, -0.381, 6.236) -[main_algo-3] [INFO] [1746051527.506098014] [sailbot.main_algo]: Target Bearing: -143.032343697791 -[main_algo-3] [INFO] [1746051527.507066181] [sailbot.main_algo]: Heading Difference: -165.83765630220898 -[main_algo-3] [INFO] [1746051527.508447924] [sailbot.main_algo]: Wind Direction: 217 -[main_algo-3] [INFO] [1746051527.509275656] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051527.510057339] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051527.511681532] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051527.544985359] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051527.545701289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051527.546320997] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051527.547507884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051527.548656091] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051527.585341004] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051527.587460091] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051527.587686631] [sailbot.teensy]: Wind angle: 222 -[teensy-2] [INFO] [1746051527.588669630] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051527.589241858] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051527.589601670] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051527.590534507] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051527.644951598] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051527.645788735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051527.646563244] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051527.647595977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051527.648772995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051527.744648519] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051527.745149362] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051527.746963669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051527.748531268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051527.748533729] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051527.835368281] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051527.837210419] [sailbot.teensy]: Wind angle: 229 -[trim_sail-4] [INFO] [1746051527.838046944] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051527.839011405] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051527.839227640] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051527.839965933] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051527.840852964] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051527.844442604] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051527.844904057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051527.845591619] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051527.846606413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051527.847622041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051527.945201589] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051527.945885973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051527.946519347] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051527.947657040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051527.948725835] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051527.957843617] [sailbot.main_algo]: Wind Direction: 229 -[main_algo-3] [INFO] [1746051527.959094610] [sailbot.main_algo]: Target Bearing: -143.032343697791 -[main_algo-3] [INFO] [1746051527.960062522] [sailbot.main_algo]: Heading Difference: -165.28965630220898 -[main_algo-3] [INFO] [1746051527.961408714] [sailbot.main_algo]: Wind Direction: 229 -[main_algo-3] [INFO] [1746051527.962295401] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051527.963108653] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051527.964633739] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051527.964655006] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051528.001923762] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903641 Long: -76.50276377 -[main_algo-3] [INFO] [1746051528.002787002] [sailbot.main_algo]: Distance to destination: 56.71424992603286 -[vectornav-1] [INFO] [1746051528.002851342] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.17700000000002, -0.494, 5.574) -[main_algo-3] [INFO] [1746051528.003943288] [sailbot.main_algo]: Target Bearing: -143.04598195118626 -[main_algo-3] [INFO] [1746051528.005015904] [sailbot.main_algo]: Heading Difference: -165.27601804881374 -[main_algo-3] [INFO] [1746051528.006079034] [sailbot.main_algo]: Wind Direction: 229 -[main_algo-3] [INFO] [1746051528.006979293] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051528.007818380] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051528.009191649] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051528.044985364] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051528.045656220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051528.046464424] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051528.047528918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051528.048607605] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051528.085195014] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051528.086710366] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746051528.087184166] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051528.087594808] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051528.088474813] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051528.089405467] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051528.089781369] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746051528.144995651] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051528.145622076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051528.146264593] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051528.147422017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051528.148662897] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051528.244715529] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051528.245362146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051528.245894162] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051528.247117856] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051528.248125105] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051528.334882311] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051528.336271781] [sailbot.teensy]: Wind angle: 236 -[trim_sail-4] [INFO] [1746051528.336768042] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051528.337083490] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051528.337353721] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051528.337893110] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051528.338719064] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051528.344330107] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051528.345215877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051528.345738763] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051528.346900862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051528.347949410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051528.444963293] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051528.445642987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051528.446456722] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051528.447705976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051528.448486607] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051528.457359389] [sailbot.main_algo]: Wind Direction: 236 -[main_algo-3] [INFO] [1746051528.458338756] [sailbot.main_algo]: Target Bearing: -143.04598195118626 -[main_algo-3] [INFO] [1746051528.459218624] [sailbot.main_algo]: Heading Difference: -164.77701804881372 -[main_algo-3] [INFO] [1746051528.460523958] [sailbot.main_algo]: Wind Direction: 236 -[main_algo-3] [INFO] [1746051528.461457300] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051528.462367365] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051528.463983826] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051528.464194014] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051528.502534721] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903657 Long: -76.50276377 -[main_algo-3] [INFO] [1746051528.503395130] [sailbot.main_algo]: Distance to destination: 56.72518397244436 -[vectornav-1] [INFO] [1746051528.503570980] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.13799999999998, -0.268, 5.537) -[main_algo-3] [INFO] [1746051528.504550369] [sailbot.main_algo]: Target Bearing: -143.03183259668353 -[main_algo-3] [INFO] [1746051528.505492290] [sailbot.main_algo]: Heading Difference: -164.79116740331642 -[main_algo-3] [INFO] [1746051528.506847685] [sailbot.main_algo]: Wind Direction: 236 -[main_algo-3] [INFO] [1746051528.507707494] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051528.508521238] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051528.510094805] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051528.544980106] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051528.546131126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051528.546273795] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051528.548801595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051528.550076116] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051528.585406176] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051528.587049995] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746051528.588147140] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051528.587459693] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051528.589268291] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051528.589574976] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051528.590191320] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051528.645081697] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051528.645893718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051528.646468510] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051528.647805503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051528.648873886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051528.744916756] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051528.745796825] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051528.746211950] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051528.748006084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051528.749053832] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051528.835346120] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051528.837773930] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051528.838583152] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051528.838765475] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746051528.839697138] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051528.840598336] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051528.841430680] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051528.844350669] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051528.844892712] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051528.845679089] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051528.846545167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051528.847594172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051528.944622587] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051528.945218676] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051528.945766887] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051528.947304063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051528.948541783] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051528.957472952] [sailbot.main_algo]: Wind Direction: 235 -[main_algo-3] [INFO] [1746051528.958456497] [sailbot.main_algo]: Target Bearing: -143.03183259668353 -[main_algo-3] [INFO] [1746051528.959292577] [sailbot.main_algo]: Heading Difference: -165.83016740331652 -[main_algo-3] [INFO] [1746051528.960535131] [sailbot.main_algo]: Wind Direction: 235 -[main_algo-3] [INFO] [1746051528.961362636] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051528.962152425] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051528.963693866] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051528.963795551] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051529.002744874] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903649 Long: -76.50276361 -[main_algo-3] [INFO] [1746051529.003733593] [sailbot.main_algo]: Distance to destination: 56.73008720811106 -[vectornav-1] [INFO] [1746051529.003958315] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.97800000000001, -0.571, 6.588) -[main_algo-3] [INFO] [1746051529.004975465] [sailbot.main_algo]: Target Bearing: -143.0470823022978 -[main_algo-3] [INFO] [1746051529.005963500] [sailbot.main_algo]: Heading Difference: -165.81491769770219 -[main_algo-3] [INFO] [1746051529.007977645] [sailbot.main_algo]: Wind Direction: 235 -[main_algo-3] [INFO] [1746051529.008931790] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051529.009833409] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051529.011577656] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051529.045023552] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051529.045645240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051529.046252558] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051529.047473938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051529.048647270] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051529.085212733] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051529.088178623] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051529.088211470] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746051529.089199779] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051529.089583028] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051529.090168717] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051529.091046095] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051529.145067217] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051529.145853188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051529.146478268] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051529.148216761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051529.149259289] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051529.244962318] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051529.245592804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051529.246240378] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051529.247388427] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051529.248452399] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051529.335221193] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051529.336823397] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746051529.337283666] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051529.337727408] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051529.338754140] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051529.338770596] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051529.339703298] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051529.344524202] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051529.345368842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051529.345678139] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051529.347231479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051529.348257194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051529.444932960] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051529.445848722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051529.446189488] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051529.447923239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051529.449048453] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051529.457577386] [sailbot.main_algo]: Wind Direction: 235 -[main_algo-3] [INFO] [1746051529.458678188] [sailbot.main_algo]: Target Bearing: -143.0470823022978 -[main_algo-3] [INFO] [1746051529.459585995] [sailbot.main_algo]: Heading Difference: -165.97491769770215 -[main_algo-3] [INFO] [1746051529.460844979] [sailbot.main_algo]: Wind Direction: 235 -[main_algo-3] [INFO] [1746051529.461656234] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051529.462440199] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051529.463943276] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051529.463987190] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051529.502630882] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903632 Long: -76.50276366 -[main_algo-3] [INFO] [1746051529.503717862] [sailbot.main_algo]: Distance to destination: 56.71523223125963 -[main_algo-3] [INFO] [1746051529.504959085] [sailbot.main_algo]: Target Bearing: -143.059563743706 -[vectornav-1] [INFO] [1746051529.505461131] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.63499999999999, -0.508, 4.537) -[main_algo-3] [INFO] [1746051529.505948261] [sailbot.main_algo]: Heading Difference: -165.96243625629398 -[main_algo-3] [INFO] [1746051529.507438989] [sailbot.main_algo]: Wind Direction: 235 -[main_algo-3] [INFO] [1746051529.508361964] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051529.509252999] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051529.510830945] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051529.544572325] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051529.545237828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051529.545732236] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051529.546954973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051529.547914218] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051529.585304869] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051529.586974327] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746051529.587921327] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051529.588781304] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051529.587565707] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051529.588709758] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051529.589643434] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051529.644957679] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051529.645773082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051529.646302100] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051529.647796734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051529.648967858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051529.744838113] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051529.745614415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051529.746430934] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051529.748229483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051529.749574254] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051529.835142974] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051529.836769492] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746051529.837433162] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051529.838493813] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051529.839543533] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051529.839753852] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051529.840709029] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051529.844388423] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051529.845072191] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051529.845489201] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051529.846734796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051529.847766352] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051529.944873534] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051529.945607156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051529.946164514] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051529.947436208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051529.948622561] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051529.957547105] [sailbot.main_algo]: Wind Direction: 235 -[main_algo-3] [INFO] [1746051529.958527150] [sailbot.main_algo]: Target Bearing: -143.059563743706 -[main_algo-3] [INFO] [1746051529.959379263] [sailbot.main_algo]: Heading Difference: -165.305436256294 -[main_algo-3] [INFO] [1746051529.960631941] [sailbot.main_algo]: Wind Direction: 235 -[main_algo-3] [INFO] [1746051529.961466759] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051529.962291243] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051529.963877174] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051529.963869558] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051530.002918786] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903641 Long: -76.5027638 -[main_algo-3] [INFO] [1746051530.003756121] [sailbot.main_algo]: Distance to destination: 56.71230536260491 -[vectornav-1] [INFO] [1746051530.004163556] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.40199999999999, -0.369, 5.967) -[main_algo-3] [INFO] [1746051530.004890763] [sailbot.main_algo]: Target Bearing: -143.0444487659199 -[main_algo-3] [INFO] [1746051530.005867955] [sailbot.main_algo]: Heading Difference: -165.32055123408009 -[main_algo-3] [INFO] [1746051530.007449887] [sailbot.main_algo]: Wind Direction: 235 -[main_algo-3] [INFO] [1746051530.008403241] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051530.009293420] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051530.011023295] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051530.045059980] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051530.045129663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051530.046178938] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051530.046773107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051530.047794922] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051530.085351377] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051530.087494526] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051530.087714616] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746051530.088037523] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051530.088635856] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051530.089580514] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051530.090462176] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051530.144667429] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051530.147010761] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051530.150723800] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051530.152220581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051530.153437508] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051530.245054486] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051530.245667255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051530.246302186] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051530.247678049] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051530.248717547] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051530.334946372] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051530.336384972] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746051530.337229098] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051530.337062486] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051530.337379934] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051530.338047755] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051530.338844893] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051530.344270137] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051530.344912890] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051530.345283489] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051530.346553718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051530.347740500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051530.444907783] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051530.445566578] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051530.446034683] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051530.447228764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051530.448299648] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051530.457402184] [sailbot.main_algo]: Wind Direction: 235 -[main_algo-3] [INFO] [1746051530.458345384] [sailbot.main_algo]: Target Bearing: -143.0444487659199 -[main_algo-3] [INFO] [1746051530.459230470] [sailbot.main_algo]: Heading Difference: -165.55355123408015 -[main_algo-3] [INFO] [1746051530.460517773] [sailbot.main_algo]: Wind Direction: 235 -[main_algo-3] [INFO] [1746051530.461389709] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051530.462208678] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051530.463645539] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051530.463663375] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051530.502473754] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903633 Long: -76.50276385 -[main_algo-3] [INFO] [1746051530.503299809] [sailbot.main_algo]: Distance to destination: 56.70359828819609 -[vectornav-1] [INFO] [1746051530.503690329] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.656000000000006, -0.08, 5.539) -[main_algo-3] [INFO] [1746051530.504748772] [sailbot.main_algo]: Target Bearing: -143.04897020204095 -[main_algo-3] [INFO] [1746051530.505690427] [sailbot.main_algo]: Heading Difference: -165.54902979795907 -[main_algo-3] [INFO] [1746051530.506913526] [sailbot.main_algo]: Wind Direction: 235 -[main_algo-3] [INFO] [1746051530.507790014] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051530.508618989] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051530.510214954] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051530.544836489] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051530.545483934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051530.545994908] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051530.547288113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051530.548480447] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051530.585354567] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051530.587551204] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051530.587776618] [sailbot.teensy]: Wind angle: 235 -[mux-7] [INFO] [1746051530.589461638] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051530.589570993] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051530.590493043] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051530.591493336] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051530.644957051] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051530.645763686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051530.646261259] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051530.647844941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051530.648867955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051530.745040975] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051530.745706538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051530.746445226] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051530.747775053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051530.749091742] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051530.835315537] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051530.837557183] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051530.837693521] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746051530.838627416] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051530.838772447] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051530.839548268] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051530.839942334] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051530.844344087] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051530.845254766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051530.845466814] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051530.847024583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051530.848060384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051530.944742048] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051530.945401218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051530.945975693] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051530.947285965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051530.948242202] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051530.957485940] [sailbot.main_algo]: Wind Direction: 235 -[main_algo-3] [INFO] [1746051530.958485390] [sailbot.main_algo]: Target Bearing: -143.04897020204095 -[main_algo-3] [INFO] [1746051530.959377616] [sailbot.main_algo]: Heading Difference: -165.29502979795905 -[main_algo-3] [INFO] [1746051530.960682894] [sailbot.main_algo]: Wind Direction: 235 -[main_algo-3] [INFO] [1746051530.961487743] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051530.962267781] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051530.963776339] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051530.963875009] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051531.002887474] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903652 Long: -76.50276392 -[main_algo-3] [INFO] [1746051531.003798051] [sailbot.main_algo]: Distance to destination: 56.712045588801516 -[vectornav-1] [INFO] [1746051531.004501894] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.589, -0.927, 5.577) -[main_algo-3] [INFO] [1746051531.004914697] [sailbot.main_algo]: Target Bearing: -143.02858606209082 -[main_algo-3] [INFO] [1746051531.005915934] [sailbot.main_algo]: Heading Difference: -165.31541393790917 -[main_algo-3] [INFO] [1746051531.007299546] [sailbot.main_algo]: Wind Direction: 235 -[main_algo-3] [INFO] [1746051531.008498251] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051531.009391766] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051531.011410060] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051531.044957566] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051531.045683811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051531.046321282] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051531.047615167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051531.048762660] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051531.085241792] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051531.086821729] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746051531.087397293] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051531.087740988] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051531.088749782] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051531.089696026] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051531.090247359] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051531.144508909] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051531.145124753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051531.145586744] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051531.146822807] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051531.147822924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051531.245233042] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051531.246023455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051531.246759546] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051531.248349794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051531.249500028] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051531.335391384] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051531.337091739] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746051531.337618955] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051531.338043755] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051531.338806070] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051531.338965391] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051531.339189787] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051531.344252965] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051531.344956585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051531.345360675] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051531.346638887] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051531.347779810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051531.445100982] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051531.445804280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051531.446557848] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051531.447810536] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051531.449396958] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051531.457669478] [sailbot.main_algo]: Wind Direction: 235 -[main_algo-3] [INFO] [1746051531.458624084] [sailbot.main_algo]: Target Bearing: -143.02858606209082 -[main_algo-3] [INFO] [1746051531.459555965] [sailbot.main_algo]: Heading Difference: -165.38241393790918 -[main_algo-3] [INFO] [1746051531.460881937] [sailbot.main_algo]: Wind Direction: 235 -[main_algo-3] [INFO] [1746051531.461743620] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051531.462511965] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051531.464026422] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051531.464034109] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051531.502424651] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690367 Long: -76.50276388 -[vectornav-1] [INFO] [1746051531.503467330] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.93099999999998, -0.217, 6.311) -[main_algo-3] [INFO] [1746051531.503279260] [sailbot.main_algo]: Distance to destination: 56.72694305271462 -[main_algo-3] [INFO] [1746051531.505164974] [sailbot.main_algo]: Target Bearing: -143.01471681719195 -[main_algo-3] [INFO] [1746051531.506078365] [sailbot.main_algo]: Heading Difference: -165.39628318280802 -[main_algo-3] [INFO] [1746051531.507458085] [sailbot.main_algo]: Wind Direction: 235 -[main_algo-3] [INFO] [1746051531.508341197] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051531.509142804] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051531.510694991] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051531.545050293] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051531.545741110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051531.546537640] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051531.547681472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051531.548874839] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051531.585469692] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051531.588206068] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051531.590561334] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746051531.591564461] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051531.592129433] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051531.592539821] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051531.593506828] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051531.645374974] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051531.646190268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051531.646846240] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051531.648320651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051531.649517879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051531.745107931] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051531.745604086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051531.746639558] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051531.747422528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051531.748830645] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051531.834648144] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051531.836619124] [sailbot.teensy]: Wind angle: 237 -[trim_sail-4] [INFO] [1746051531.837058015] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051531.840068350] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051531.840354574] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051531.841055176] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051531.843707115] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051531.844407237] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051531.845604785] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051531.847018871] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051531.847703112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051531.848512365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051531.944841964] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051531.945616642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051531.945992201] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051531.947469769] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051531.948528333] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051531.957623940] [sailbot.main_algo]: Wind Direction: 237 -[main_algo-3] [INFO] [1746051531.958688075] [sailbot.main_algo]: Target Bearing: -143.01471681719195 -[main_algo-3] [INFO] [1746051531.959651226] [sailbot.main_algo]: Heading Difference: -165.05428318280804 -[main_algo-3] [INFO] [1746051531.960886933] [sailbot.main_algo]: Wind Direction: 237 -[main_algo-3] [INFO] [1746051531.961707683] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051531.962479692] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051531.964080574] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051531.964135199] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051532.002892338] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903655 Long: -76.50276403 -[main_algo-3] [INFO] [1746051532.003864391] [sailbot.main_algo]: Distance to destination: 56.70696833540842 -[vectornav-1] [INFO] [1746051532.004472779] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.209, -0.254, 4.647) -[main_algo-3] [INFO] [1746051532.005439888] [sailbot.main_algo]: Target Bearing: -143.02030844352046 -[main_algo-3] [INFO] [1746051532.006434208] [sailbot.main_algo]: Heading Difference: -165.04869155647953 -[main_algo-3] [INFO] [1746051532.007783149] [sailbot.main_algo]: Wind Direction: 237 -[main_algo-3] [INFO] [1746051532.008686443] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051532.009533909] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051532.011143423] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051532.045020014] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051532.045795156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051532.046310847] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051532.047651286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051532.048892628] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051532.088403400] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051532.090304130] [sailbot.teensy]: Wind angle: 237 -[trim_sail-4] [INFO] [1746051532.090517134] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746051532.092889787] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051532.094579397] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051532.096188300] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051532.097157267] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051532.145142886] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051532.145822493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051532.146393095] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051532.147799929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051532.148854194] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051532.244904094] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051532.245541258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051532.246198013] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051532.247348965] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051532.248283409] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051532.335226183] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051532.337511269] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051532.338144739] [sailbot.teensy]: Wind angle: 237 -[mux-7] [INFO] [1746051532.338534379] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051532.339111882] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051532.339992079] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051532.340852888] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051532.344490732] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051532.345055071] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051532.345678036] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051532.346747304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051532.347901754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051532.443875693] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051532.444539743] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051532.444317283] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051532.445318879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051532.445907891] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051532.456509483] [sailbot.main_algo]: Wind Direction: 237 -[main_algo-3] [INFO] [1746051532.457014378] [sailbot.main_algo]: Target Bearing: -143.02030844352046 -[main_algo-3] [INFO] [1746051532.457453094] [sailbot.main_algo]: Heading Difference: -164.7706915564795 -[main_algo-3] [INFO] [1746051532.458090707] [sailbot.main_algo]: Wind Direction: 237 -[main_algo-3] [INFO] [1746051532.458508870] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051532.458958891] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051532.459763568] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051532.459771580] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051532.502925743] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903648 Long: -76.50276426 -[main_algo-3] [INFO] [1746051532.503832813] [sailbot.main_algo]: Distance to destination: 56.687279709407036 -[vectornav-1] [INFO] [1746051532.504214137] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.27999999999997, -0.461, 5.567) -[main_algo-3] [INFO] [1746051532.505020481] [sailbot.main_algo]: Target Bearing: -143.01473440678365 -[main_algo-3] [INFO] [1746051532.506136038] [sailbot.main_algo]: Heading Difference: -164.77626559321635 -[main_algo-3] [INFO] [1746051532.507574114] [sailbot.main_algo]: Wind Direction: 237 -[main_algo-3] [INFO] [1746051532.508516413] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051532.509371796] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051532.511001452] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051532.544830654] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051532.545423999] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051532.546417717] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051532.547212796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051532.548433877] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051532.585350466] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051532.587599736] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051532.587969033] [sailbot.teensy]: Wind angle: 236 -[mux-7] [INFO] [1746051532.588740763] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051532.588890967] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051532.589758888] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051532.590716586] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051532.645432674] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051532.645867586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051532.647161989] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051532.647812087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051532.649054253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051532.745013163] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051532.745428543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051532.746240411] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051532.747175753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051532.748273934] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051532.835532949] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051532.838128168] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051532.838714078] [sailbot.teensy]: Wind angle: 232 -[mux-7] [INFO] [1746051532.838740093] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051532.839878492] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051532.840758243] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051532.841615298] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051532.844440164] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051532.845036020] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051532.845610610] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051532.847050092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051532.848326443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051532.945317501] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051532.945862485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051532.946766721] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051532.947791724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051532.948960331] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051532.957540789] [sailbot.main_algo]: Wind Direction: 232 -[main_algo-3] [INFO] [1746051532.958533048] [sailbot.main_algo]: Target Bearing: -143.01473440678365 -[main_algo-3] [INFO] [1746051532.959420507] [sailbot.main_algo]: Heading Difference: -165.70526559321638 -[main_algo-3] [INFO] [1746051532.960717136] [sailbot.main_algo]: Wind Direction: 232 -[main_algo-3] [INFO] [1746051532.961543807] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051532.962333400] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051532.963922440] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051532.963981729] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051533.002627696] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903657 Long: -76.50276423 -[main_algo-3] [INFO] [1746051533.003395261] [sailbot.main_algo]: Distance to destination: 56.69537754683178 -[vectornav-1] [INFO] [1746051533.004102341] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.26800000000003, -0.569, 6.035) -[main_algo-3] [INFO] [1746051533.004482633] [sailbot.main_algo]: Target Bearing: -143.0083093150125 -[main_algo-3] [INFO] [1746051533.005434473] [sailbot.main_algo]: Heading Difference: -165.7116906849875 -[main_algo-3] [INFO] [1746051533.006734704] [sailbot.main_algo]: Wind Direction: 232 -[main_algo-3] [INFO] [1746051533.007581857] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051533.008403446] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051533.009967579] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051533.044746155] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051533.045242167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051533.045892590] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051533.047035366] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051533.048336001] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051533.085555363] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051533.087953754] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051533.088679835] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051533.089882252] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746051533.090808578] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051533.091638035] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051533.092521122] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051533.145089754] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051533.145650574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051533.146423725] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051533.147465550] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051533.148703062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051533.245122390] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051533.245649337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051533.246479214] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051533.247466175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051533.248530496] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051533.335326422] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051533.337461081] [sailbot.teensy]: Wind angle: 231 -[trim_sail-4] [INFO] [1746051533.337839595] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051533.338414263] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051533.338557918] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051533.339178405] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051533.339572658] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051533.344611151] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051533.345239155] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051533.345848909] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051533.346994428] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051533.348145372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051533.444898839] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051533.445520331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051533.446188048] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051533.447695509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051533.448979028] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051533.457321999] [sailbot.main_algo]: Wind Direction: 231 -[main_algo-3] [INFO] [1746051533.458284356] [sailbot.main_algo]: Target Bearing: -143.0083093150125 -[main_algo-3] [INFO] [1746051533.459128977] [sailbot.main_algo]: Heading Difference: -165.72369068498745 -[main_algo-3] [INFO] [1746051533.460368187] [sailbot.main_algo]: Wind Direction: 231 -[main_algo-3] [INFO] [1746051533.461231260] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051533.462048271] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051533.463717278] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051533.463850306] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051533.502897030] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903646 Long: -76.50276414 -[main_algo-3] [INFO] [1746051533.503890137] [sailbot.main_algo]: Distance to destination: 56.693687779542415 -[vectornav-1] [INFO] [1746051533.504226187] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.64999999999998, 0.113, 4.272) -[main_algo-3] [INFO] [1746051533.505134157] [sailbot.main_algo]: Target Bearing: -143.02264234126102 -[main_algo-3] [INFO] [1746051533.506171928] [sailbot.main_algo]: Heading Difference: -165.70935765873895 -[main_algo-3] [INFO] [1746051533.508533883] [sailbot.main_algo]: Wind Direction: 231 -[main_algo-3] [INFO] [1746051533.509585888] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051533.510496924] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051533.512193850] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051533.545320815] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051533.545944083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051533.547408782] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051533.547963086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051533.549053140] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051533.585193365] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051533.587222907] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051533.587533181] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746051533.588674250] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051533.588864328] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051533.589505218] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051533.590360907] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051533.645074235] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051533.645630745] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051533.646622885] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051533.647759238] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051533.648903655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051533.745022470] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051533.745571530] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051533.746588438] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051533.747425960] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051533.748490982] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051533.835192923] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051533.836797998] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746051533.837573629] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051533.837673803] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051533.838551536] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051533.838713213] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051533.839337073] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051533.844368015] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051533.845118952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051533.845472132] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051533.846919201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051533.848087319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051533.944919521] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051533.945616124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051533.946610644] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051533.947408474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051533.948474354] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051533.957503759] [sailbot.main_algo]: Wind Direction: 230 -[main_algo-3] [INFO] [1746051533.959015376] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746051533.960026873] [sailbot.main_algo]: Target Bearing: -143.02264234126102 -[main_algo-3] [INFO] [1746051533.961047337] [sailbot.main_algo]: Heading Difference: -165.327357658739 -[main_algo-3] [INFO] [1746051533.962490815] [sailbot.main_algo]: Wind Direction: 230 -[main_algo-3] [INFO] [1746051533.964021274] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051533.965188504] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051533.967567990] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051533.967589093] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051534.002435482] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903621 Long: -76.5027643 -[main_algo-3] [INFO] [1746051534.003331418] [sailbot.main_algo]: Distance to destination: 56.66623098246167 -[vectornav-1] [INFO] [1746051534.003654190] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.58499999999998, -0.935, 6.322) -[main_algo-3] [INFO] [1746051534.004459005] [sailbot.main_algo]: Target Bearing: -143.0365787688868 -[main_algo-3] [INFO] [1746051534.005425891] [sailbot.main_algo]: Heading Difference: -165.31342123111324 -[main_algo-3] [INFO] [1746051534.006765541] [sailbot.main_algo]: Wind Direction: 230 -[main_algo-3] [INFO] [1746051534.007682465] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051534.008579891] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051534.010212967] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051534.044771589] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051534.045346633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051534.045976639] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051534.047140828] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051534.048181127] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051534.085156574] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051534.087086782] [sailbot.teensy]: Wind angle: 230 -[teensy-2] [INFO] [1746051534.087967157] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051534.087204736] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051534.088861947] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051534.089035237] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051534.089738645] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051534.145291959] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051534.145947073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051534.146766680] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051534.147903254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051534.148950140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051534.245135061] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051534.245756257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051534.246504963] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051534.247761353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051534.249515312] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051534.335356378] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051534.337498373] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746051534.338740875] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051534.337948779] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051534.339089392] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051534.339344573] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051534.339731511] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051534.344565692] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051534.345002722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051534.345741467] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051534.346713818] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051534.347756542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051534.444911633] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051534.445382439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051534.446212877] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051534.447083859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051534.448296362] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051534.457444210] [sailbot.main_algo]: Wind Direction: 231 -[main_algo-3] [INFO] [1746051534.458376303] [sailbot.main_algo]: Target Bearing: -143.0365787688868 -[main_algo-3] [INFO] [1746051534.459208872] [sailbot.main_algo]: Heading Difference: -165.37842123111318 -[main_algo-3] [INFO] [1746051534.460455709] [sailbot.main_algo]: Wind Direction: 231 -[main_algo-3] [INFO] [1746051534.461289919] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051534.462137605] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051534.463629218] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051534.463659243] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051534.501937130] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903623 Long: -76.50276447 -[main_algo-3] [INFO] [1746051534.502686975] [sailbot.main_algo]: Distance to destination: 56.65658085694559 -[main_algo-3] [INFO] [1746051534.503550478] [sailbot.main_algo]: Target Bearing: -143.02610976933514 -[vectornav-1] [INFO] [1746051534.503902085] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.80099999999999, -0.094, 4.806) -[main_algo-3] [INFO] [1746051534.504588699] [sailbot.main_algo]: Heading Difference: -165.38889023066486 -[main_algo-3] [INFO] [1746051534.505915389] [sailbot.main_algo]: Wind Direction: 231 -[main_algo-3] [INFO] [1746051534.506741072] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051534.507565145] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051534.511104698] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051534.543732699] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051534.544177454] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051534.544487556] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051534.545299667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051534.546008264] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051534.585182553] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051534.586652389] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746051534.587343937] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051534.587535888] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051534.588593880] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051534.588708697] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051534.589489968] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051534.645160384] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051534.645860987] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051534.646644150] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051534.647893813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051534.648932778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051534.744885850] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051534.745440204] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051534.746162593] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051534.747182811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051534.748211673] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051534.835190866] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051534.837520691] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051534.837863305] [sailbot.teensy]: Wind angle: 230 -[mux-7] [INFO] [1746051534.838680913] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051534.838845418] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051534.839844785] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051534.840581677] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051534.844572642] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051534.845186970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051534.845842238] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051534.846846617] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051534.847935423] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051534.950361583] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051534.952621311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051534.950816207] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051534.952091617] [sailbot.mux]: Published rudder angle from controller_app: 0 -[main_algo-3] [INFO] [1746051534.957852897] [sailbot.main_algo]: Wind Direction: 230 -[main_algo-3] [INFO] [1746051534.959405709] [sailbot.main_algo]: Target Bearing: -143.02610976933514 -[main_algo-3] [INFO] [1746051534.960829707] [sailbot.main_algo]: Heading Difference: -165.17289023066485 -[teensy-2] [INFO] [1746051534.961480813] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051534.963051175] [sailbot.main_algo]: Wind Direction: 230 -[main_algo-3] [INFO] [1746051534.964067118] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051534.964922448] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051534.966574784] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051534.966626729] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051535.003225394] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903604 Long: -76.50276454 -[vectornav-1] [INFO] [1746051535.004473486] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.884000000000015, -0.368, 5.634) -[main_algo-3] [INFO] [1746051535.003799173] [sailbot.main_algo]: Distance to destination: 56.63905834174728 -[main_algo-3] [INFO] [1746051535.005088419] [sailbot.main_algo]: Target Bearing: -143.03934947044536 -[main_algo-3] [INFO] [1746051535.006307200] [sailbot.main_algo]: Heading Difference: -165.15965052955465 -[main_algo-3] [INFO] [1746051535.007690777] [sailbot.main_algo]: Wind Direction: 230 -[main_algo-3] [INFO] [1746051535.008583070] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051535.009435915] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051535.011189654] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051535.044958379] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051535.045722346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051535.046238403] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051535.047701087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051535.048886178] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051535.085276482] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051535.086985192] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746051535.087921829] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051535.087939999] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051535.088530056] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051535.088826034] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051535.089697180] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051535.145049815] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051535.146003372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051535.146353901] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051535.147980496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051535.148649482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051535.244655977] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051535.245237669] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051535.245762482] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051535.246918476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051535.247901883] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051535.335246065] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051535.337292337] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746051535.337392704] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051535.338636355] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051535.339183767] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051535.340117949] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051535.340638168] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051535.344509834] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051535.345080441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051535.345627254] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051535.346763953] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051535.347755823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051535.444996394] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051535.445795590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051535.446295857] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051535.447633606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051535.448678282] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051535.457413132] [sailbot.main_algo]: Wind Direction: 230 -[main_algo-3] [INFO] [1746051535.458373849] [sailbot.main_algo]: Target Bearing: -143.03934947044536 -[main_algo-3] [INFO] [1746051535.459220551] [sailbot.main_algo]: Heading Difference: -165.07665052955463 -[main_algo-3] [INFO] [1746051535.460449031] [sailbot.main_algo]: Wind Direction: 230 -[main_algo-3] [INFO] [1746051535.461262158] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051535.462063195] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051535.463568030] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051535.463624838] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051535.502356365] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690361 Long: -76.50276467 -[main_algo-3] [INFO] [1746051535.503200848] [sailbot.main_algo]: Distance to destination: 56.634734036535 -[vectornav-1] [INFO] [1746051535.503582467] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.85000000000002, -0.436, 5.472) -[main_algo-3] [INFO] [1746051535.504192975] [sailbot.main_algo]: Target Bearing: -143.0273815863306 -[main_algo-3] [INFO] [1746051535.505186951] [sailbot.main_algo]: Heading Difference: -165.0886184136694 -[main_algo-3] [INFO] [1746051535.506607476] [sailbot.main_algo]: Wind Direction: 230 -[main_algo-3] [INFO] [1746051535.507561117] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051535.508420728] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051535.510085246] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051535.544695694] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051535.545058822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051535.546234352] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051535.546707985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051535.549055236] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051535.585510703] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051535.587713392] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746051535.588212547] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051535.589314092] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051535.589837616] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051535.591074755] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051535.591921253] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051535.644817130] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051535.645407142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051535.646146245] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051535.647413099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051535.648574383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051535.744896222] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051535.745525058] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051535.746196023] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051535.747546152] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051535.748578336] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051535.835575840] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051535.837481409] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746051535.838028461] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051535.838476089] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051535.839373900] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051535.839765632] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051535.840322007] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051535.844350399] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051535.844877053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051535.845479634] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051535.846627209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051535.847789750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051535.944262031] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051535.944722152] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051535.945154840] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051535.946275447] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051535.947331133] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051535.956846429] [sailbot.main_algo]: Wind Direction: 230 -[main_algo-3] [INFO] [1746051535.957695340] [sailbot.main_algo]: Target Bearing: -143.0273815863306 -[main_algo-3] [INFO] [1746051535.958532732] [sailbot.main_algo]: Heading Difference: -165.1226184136694 -[main_algo-3] [INFO] [1746051535.959805368] [sailbot.main_algo]: Wind Direction: 230 -[main_algo-3] [INFO] [1746051535.960565938] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051535.961468889] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051535.963129886] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051535.963354670] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051536.002367083] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903615 Long: -76.50276469 -[main_algo-3] [INFO] [1746051536.003238725] [sailbot.main_algo]: Distance to destination: 56.63685600124024 -[vectornav-1] [INFO] [1746051536.003298965] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.14499999999998, -0.299, 5.745) -[main_algo-3] [INFO] [1746051536.004271220] [sailbot.main_algo]: Target Bearing: -143.02193022866376 -[main_algo-3] [INFO] [1746051536.005146544] [sailbot.main_algo]: Heading Difference: -165.1280697713362 -[main_algo-3] [INFO] [1746051536.006469592] [sailbot.main_algo]: Wind Direction: 230 -[main_algo-3] [INFO] [1746051536.007334529] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051536.008171399] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051536.009750235] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051536.045339712] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051536.045939995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051536.046876753] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051536.048894612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051536.050059320] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051536.085255811] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051536.087290942] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746051536.087329436] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051536.087825404] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051536.088208617] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051536.089108978] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051536.089957230] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051536.145004016] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051536.145801218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051536.146313002] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051536.147820929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051536.148975824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051536.245166365] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051536.245870428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051536.246530091] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051536.247726343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051536.248870353] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051536.335333441] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051536.337541895] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051536.338022029] [sailbot.teensy]: Wind angle: 230 -[mux-7] [INFO] [1746051536.338530428] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051536.338958645] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051536.339855535] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051536.340706104] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051536.344635786] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051536.345167305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051536.345921732] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051536.346944191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051536.348054517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051536.445126757] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051536.445350078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051536.446290382] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051536.446992876] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051536.448074520] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051536.457447620] [sailbot.main_algo]: Wind Direction: 230 -[main_algo-3] [INFO] [1746051536.458405440] [sailbot.main_algo]: Target Bearing: -143.02193022866376 -[main_algo-3] [INFO] [1746051536.459280443] [sailbot.main_algo]: Heading Difference: -164.83306977133623 -[main_algo-3] [INFO] [1746051536.460552899] [sailbot.main_algo]: Wind Direction: 230 -[main_algo-3] [INFO] [1746051536.461415446] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051536.462227308] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051536.464063721] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051536.464191216] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051536.502821804] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903615 Long: -76.50276488 -[main_algo-3] [INFO] [1746051536.503730291] [sailbot.main_algo]: Distance to destination: 56.62454515816628 -[vectornav-1] [INFO] [1746051536.504235914] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.185, -0.319, 4.812) -[main_algo-3] [INFO] [1746051536.504981364] [sailbot.main_algo]: Target Bearing: -143.01219978498153 -[main_algo-3] [INFO] [1746051536.505901002] [sailbot.main_algo]: Heading Difference: -164.84280021501849 -[main_algo-3] [INFO] [1746051536.507291253] [sailbot.main_algo]: Wind Direction: 230 -[main_algo-3] [INFO] [1746051536.508167184] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051536.509007078] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051536.510781971] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051536.544900675] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051536.544941091] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051536.545986072] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051536.546544205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051536.547594822] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051536.584650535] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051536.585929987] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746051536.586382326] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051536.588064302] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051536.588369391] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051536.589464492] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051536.590383550] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051536.644196009] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051536.644777576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051536.645265617] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051536.646395330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051536.647198491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051536.744592634] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051536.745956597] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051536.746161870] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051536.747826178] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051536.748781261] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051536.835424532] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051536.837438472] [sailbot.teensy]: Wind angle: 230 -[teensy-2] [INFO] [1746051536.838427030] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051536.837913389] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051536.838579976] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051536.839500724] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051536.840421936] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051536.844409196] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051536.844988313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051536.845700233] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051536.846721936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051536.847749028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051536.944899259] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051536.945526831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051536.946097438] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051536.947358746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051536.948610943] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051536.957697606] [sailbot.main_algo]: Wind Direction: 230 -[main_algo-3] [INFO] [1746051536.958797647] [sailbot.main_algo]: Target Bearing: -143.01219978498153 -[main_algo-3] [INFO] [1746051536.959729939] [sailbot.main_algo]: Heading Difference: -165.80280021501846 -[main_algo-3] [INFO] [1746051536.961051934] [sailbot.main_algo]: Wind Direction: 230 -[main_algo-3] [INFO] [1746051536.961950900] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051536.962734766] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051536.964296071] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051536.964387461] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051537.002662279] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903624 Long: -76.50276489 -[main_algo-3] [INFO] [1746051537.003342472] [sailbot.main_algo]: Distance to destination: 56.630051954265156 -[vectornav-1] [INFO] [1746051537.003825243] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.322, -0.189, 6.613) -[main_algo-3] [INFO] [1746051537.004499868] [sailbot.main_algo]: Target Bearing: -143.0037188813133 -[main_algo-3] [INFO] [1746051537.005390870] [sailbot.main_algo]: Heading Difference: -165.81128111868668 -[main_algo-3] [INFO] [1746051537.006651646] [sailbot.main_algo]: Wind Direction: 230 -[main_algo-3] [INFO] [1746051537.007490254] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051537.008329561] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051537.009850782] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051537.045145348] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051537.045869362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051537.046452887] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051537.047790572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051537.049024678] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051537.085265723] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051537.087257888] [sailbot.teensy]: Wind angle: 230 -[trim_sail-4] [INFO] [1746051537.087674341] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051537.088460453] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051537.088657462] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051537.089385930] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051537.090276376] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051537.144785320] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051537.145564790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051537.146005032] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051537.147449605] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051537.148483417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051537.244870003] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051537.245411744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051537.246069963] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051537.247161256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051537.248229389] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051537.335509170] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051537.338209804] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051537.338669835] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051537.339050818] [sailbot.teensy]: Wind angle: 230 -[teensy-2] [INFO] [1746051537.339485244] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051537.339846600] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051537.340215653] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051537.344432929] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051537.344962190] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051537.345504117] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051537.346648650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051537.347716910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051537.445243902] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051537.445965407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051537.446576890] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051537.447977303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051537.449021956] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051537.457389681] [sailbot.main_algo]: Wind Direction: 230 -[main_algo-3] [INFO] [1746051537.458310254] [sailbot.main_algo]: Target Bearing: -143.0037188813133 -[main_algo-3] [INFO] [1746051537.459129986] [sailbot.main_algo]: Heading Difference: -166.67428111868674 -[main_algo-3] [INFO] [1746051537.460357601] [sailbot.main_algo]: Wind Direction: 230 -[main_algo-3] [INFO] [1746051537.461168041] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051537.461975033] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051537.463482298] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051537.463509733] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051537.502937089] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903618 Long: -76.50276465 -[main_algo-3] [INFO] [1746051537.503927091] [sailbot.main_algo]: Distance to destination: 56.64149884642812 -[vectornav-1] [INFO] [1746051537.504460129] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.91300000000001, -1.32, 4.339) -[main_algo-3] [INFO] [1746051537.505466241] [sailbot.main_algo]: Target Bearing: -143.0213220793936 -[main_algo-3] [INFO] [1746051537.506442492] [sailbot.main_algo]: Heading Difference: -166.6566779206064 -[main_algo-3] [INFO] [1746051537.507777622] [sailbot.main_algo]: Wind Direction: 230 -[main_algo-3] [INFO] [1746051537.508676305] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051537.509530170] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051537.511293059] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051537.544997720] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051537.545721763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051537.546288079] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051537.547673407] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051537.548783598] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051537.585167806] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051537.587220446] [sailbot.teensy]: Wind angle: 230 -[teensy-2] [INFO] [1746051537.588368302] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051537.587511951] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051537.589296534] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051537.590243117] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051537.591401948] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051537.645732251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051537.645983512] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051537.647219854] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051537.647518854] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051537.648624599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051537.745057525] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051537.745881804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051537.746817022] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051537.747991955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051537.748515023] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051537.835297870] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051537.837221534] [sailbot.teensy]: Wind angle: 228 -[trim_sail-4] [INFO] [1746051537.838175714] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051537.839528559] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051537.839584551] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051537.840625095] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051537.841713060] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051537.844762292] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051537.845725828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051537.845932873] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051537.847888216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051537.848911101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051537.945170212] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051537.945928916] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051537.946814409] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051537.947963460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051537.949121827] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051537.957489701] [sailbot.main_algo]: Wind Direction: 228 -[main_algo-3] [INFO] [1746051537.958464478] [sailbot.main_algo]: Target Bearing: -143.0213220793936 -[main_algo-3] [INFO] [1746051537.959324258] [sailbot.main_algo]: Heading Difference: -165.0656779206064 -[main_algo-3] [INFO] [1746051537.960551295] [sailbot.main_algo]: Wind Direction: 228 -[main_algo-3] [INFO] [1746051537.961361749] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051537.962161821] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051537.963681277] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051537.963793785] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051538.002819162] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903621 Long: -76.50276449 -[main_algo-3] [INFO] [1746051538.003665223] [sailbot.main_algo]: Distance to destination: 56.653917676892355 -[vectornav-1] [INFO] [1746051538.004026956] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.259000000000015, 0.857, 5.395) -[main_algo-3] [INFO] [1746051538.004778590] [sailbot.main_algo]: Target Bearing: -143.02685655109832 -[main_algo-3] [INFO] [1746051538.005770420] [sailbot.main_algo]: Heading Difference: -165.06014344890167 -[main_algo-3] [INFO] [1746051538.007330587] [sailbot.main_algo]: Wind Direction: 228 -[main_algo-3] [INFO] [1746051538.008225138] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051538.009064923] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051538.010793697] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051538.044691390] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051538.045156109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051538.045951616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051538.046791939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051538.047876374] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051538.085357207] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051538.087535613] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051538.087952365] [sailbot.teensy]: Wind angle: 228 -[mux-7] [INFO] [1746051538.088713896] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051538.089840050] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051538.090772449] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051538.091586749] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051538.145082711] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051538.145648732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051538.146317431] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051538.147625641] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051538.148747571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051538.245182205] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051538.245737905] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051538.246558271] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051538.247569483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051538.248709954] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051538.335164314] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051538.337149572] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051538.337499314] [sailbot.teensy]: Wind angle: 229 -[teensy-2] [INFO] [1746051538.338337505] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051538.338766083] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051538.339175207] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051538.339954500] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051538.344318954] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051538.344814706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051538.345753632] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051538.346542186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051538.347550200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051538.445374023] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051538.445976320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051538.446916553] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051538.447976073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051538.449192163] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051538.457468599] [sailbot.main_algo]: Wind Direction: 229 -[main_algo-3] [INFO] [1746051538.458559371] [sailbot.main_algo]: Target Bearing: -143.02685655109832 -[main_algo-3] [INFO] [1746051538.459574684] [sailbot.main_algo]: Heading Difference: -166.71414344890167 -[main_algo-3] [INFO] [1746051538.460957948] [sailbot.main_algo]: Wind Direction: 229 -[main_algo-3] [INFO] [1746051538.461874866] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051538.462759374] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051538.464630389] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051538.464958833] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051538.502885512] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903625 Long: -76.50276454 -[main_algo-3] [INFO] [1746051538.503659810] [sailbot.main_algo]: Distance to destination: 56.65341211779059 -[vectornav-1] [INFO] [1746051538.504050820] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.773000000000025, -0.833, 5.353) -[main_algo-3] [INFO] [1746051538.504782500] [sailbot.main_algo]: Target Bearing: -143.0207565968972 -[main_algo-3] [INFO] [1746051538.505782176] [sailbot.main_algo]: Heading Difference: -166.7202434031028 -[main_algo-3] [INFO] [1746051538.507265699] [sailbot.main_algo]: Wind Direction: 229 -[main_algo-3] [INFO] [1746051538.508197080] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051538.509089538] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051538.510855479] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051538.544600563] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051538.545024877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051538.545732033] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051538.546768987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051538.547760186] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051538.585148470] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051538.587219754] [sailbot.teensy]: Wind angle: 237 -[trim_sail-4] [INFO] [1746051538.587258347] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051538.588237857] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051538.588887658] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051538.589140984] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051538.590192714] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051538.644490913] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051538.644936493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051538.645593634] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051538.646697000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051538.648007023] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051538.744714918] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051538.745169088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051538.746199651] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051538.746885695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051538.747947790] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051538.835361153] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051538.837105277] [sailbot.teensy]: Wind angle: 249 -[trim_sail-4] [INFO] [1746051538.837786048] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051538.837998288] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051538.838996272] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051538.840122423] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051538.840354607] [sailbot.mux]: algo sail angle: 15 -[mux-7] [INFO] [1746051538.844691364] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051538.845165926] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051538.846178827] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051538.846954184] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051538.848047576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051538.945222930] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051538.946001666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051538.946670249] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051538.947993424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051538.949106192] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051538.957692981] [sailbot.main_algo]: Wind Direction: 249 -[main_algo-3] [INFO] [1746051538.958685586] [sailbot.main_algo]: Target Bearing: -143.0207565968972 -[main_algo-3] [INFO] [1746051538.959605821] [sailbot.main_algo]: Heading Difference: -167.2062434031028 -[main_algo-3] [INFO] [1746051538.960922287] [sailbot.main_algo]: Wind Direction: 249 -[main_algo-3] [INFO] [1746051538.961806128] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051538.962648709] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051538.964231189] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051538.964531166] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051539.002874854] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903622 Long: -76.50276458 -[main_algo-3] [INFO] [1746051539.003687205] [sailbot.main_algo]: Distance to destination: 56.64876926950292 -[vectornav-1] [INFO] [1746051539.004211466] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.511000000000024, -0.65, 5.167) -[main_algo-3] [INFO] [1746051539.004783520] [sailbot.main_algo]: Target Bearing: -143.0213645752647 -[main_algo-3] [INFO] [1746051539.005736232] [sailbot.main_algo]: Heading Difference: -167.2056354247353 -[main_algo-3] [INFO] [1746051539.007354086] [sailbot.main_algo]: Wind Direction: 249 -[main_algo-3] [INFO] [1746051539.008358221] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051539.009232938] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051539.010932385] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051539.044999871] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051539.045654136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051539.046299685] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051539.047558151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051539.048610929] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051539.085207043] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051539.086850030] [sailbot.teensy]: Wind angle: 254 -[teensy-2] [INFO] [1746051539.087698598] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051539.087343124] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746051539.088311085] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051539.088547923] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051539.089352396] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051539.144721099] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051539.145305605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051539.145851043] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051539.147153039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051539.148090478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051539.245274791] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051539.245909762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051539.246727408] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051539.248380768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051539.249434240] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051539.335305369] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051539.337506485] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051539.337682432] [sailbot.teensy]: Wind angle: 254 -[teensy-2] [INFO] [1746051539.338738204] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051539.339315442] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051539.339762927] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051539.340755428] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051539.344214018] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051539.344730086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051539.345294095] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051539.346385140] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051539.347399161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051539.445113720] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051539.446121389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051539.446592582] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051539.448350246] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051539.449530304] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051539.457639065] [sailbot.main_algo]: Wind Direction: 254 -[main_algo-3] [INFO] [1746051539.458662295] [sailbot.main_algo]: Target Bearing: -143.0213645752647 -[main_algo-3] [INFO] [1746051539.459559143] [sailbot.main_algo]: Heading Difference: -166.46763542473525 -[main_algo-3] [INFO] [1746051539.460919226] [sailbot.main_algo]: Wind Direction: 254 -[main_algo-3] [INFO] [1746051539.461806293] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051539.462634315] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051539.464135332] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051539.464287118] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051539.502372999] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903632 Long: -76.50276437 -[main_algo-3] [INFO] [1746051539.503219519] [sailbot.main_algo]: Distance to destination: 56.66921328024947 -[vectornav-1] [INFO] [1746051539.503358028] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.09100000000001, -0.373, 4.655) -[main_algo-3] [INFO] [1746051539.504279576] [sailbot.main_algo]: Target Bearing: -143.02326182664817 -[main_algo-3] [INFO] [1746051539.505145839] [sailbot.main_algo]: Heading Difference: -166.46573817335184 -[main_algo-3] [INFO] [1746051539.506420804] [sailbot.main_algo]: Wind Direction: 254 -[main_algo-3] [INFO] [1746051539.507334564] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051539.508317308] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051539.509975307] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051539.544735846] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051539.545479166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051539.545981986] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051539.547314268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051539.548305804] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051539.585337057] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051539.586973391] [sailbot.teensy]: Wind angle: 254 -[teensy-2] [INFO] [1746051539.587908775] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051539.587503285] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746051539.588716715] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051539.588850609] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051539.589758445] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051539.645286194] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051539.645878765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051539.646841900] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051539.648015127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051539.649172788] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051539.745258823] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051539.746336616] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051539.749212769] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051539.750580145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051539.752454960] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051539.835380041] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051539.837086540] [sailbot.teensy]: Wind angle: 249 -[trim_sail-4] [INFO] [1746051539.837514119] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051539.838071112] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051539.839028472] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051539.839028963] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051539.839910168] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051539.844257650] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051539.844783551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051539.845580853] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051539.846498970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051539.847600324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051539.945096018] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051539.946075969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051539.946802967] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051539.948249794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051539.949356860] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051539.957501977] [sailbot.main_algo]: Wind Direction: 249 -[main_algo-3] [INFO] [1746051539.958521264] [sailbot.main_algo]: Target Bearing: -143.02326182664817 -[main_algo-3] [INFO] [1746051539.960509097] [sailbot.main_algo]: Heading Difference: -166.8857381733518 -[main_algo-3] [INFO] [1746051539.962563838] [sailbot.main_algo]: Wind Direction: 249 -[main_algo-3] [INFO] [1746051539.963690248] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051539.964733019] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051539.966489518] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051539.966506257] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051540.002836358] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903634 Long: -76.50276443 -[main_algo-3] [INFO] [1746051540.003746850] [sailbot.main_algo]: Distance to destination: 56.66669275201708 -[vectornav-1] [INFO] [1746051540.004108486] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.62900000000002, 0.315, 4.565) -[main_algo-3] [INFO] [1746051540.005183293] [sailbot.main_algo]: Target Bearing: -143.01842148289063 -[main_algo-3] [INFO] [1746051540.006435665] [sailbot.main_algo]: Heading Difference: -166.89057851710936 -[main_algo-3] [INFO] [1746051540.007819335] [sailbot.main_algo]: Wind Direction: 249 -[main_algo-3] [INFO] [1746051540.008726944] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051540.009584663] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051540.011219553] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051540.045002969] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051540.045723311] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051540.046333792] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051540.047742963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051540.048779411] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051540.085255216] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051540.086925752] [sailbot.teensy]: Wind angle: 242 -[teensy-2] [INFO] [1746051540.087885177] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051540.088933249] [sailbot.teensy]: Actual tail angle: 25 -[trim_sail-4] [INFO] [1746051540.087384135] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746051540.088934608] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051540.089975725] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051540.144913858] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051540.145581556] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051540.146270922] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051540.147421495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051540.148515733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051540.244685294] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051540.245231839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051540.245801680] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051540.246875358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051540.247957093] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051540.335386384] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051540.337296487] [sailbot.teensy]: Wind angle: 239 -[trim_sail-4] [INFO] [1746051540.337806436] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746051540.338855078] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051540.338956911] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051540.339388837] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051540.339756848] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051540.344452142] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051540.345053689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051540.346404243] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051540.346670218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051540.347716602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051540.445158563] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051540.446128982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051540.446609156] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051540.448125569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051540.449409599] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051540.457628696] [sailbot.main_algo]: Wind Direction: 239 -[main_algo-3] [INFO] [1746051540.458618430] [sailbot.main_algo]: Target Bearing: -143.01842148289063 -[main_algo-3] [INFO] [1746051540.459482417] [sailbot.main_algo]: Heading Difference: -167.35257851710935 -[main_algo-3] [INFO] [1746051540.460719783] [sailbot.main_algo]: Wind Direction: 239 -[main_algo-3] [INFO] [1746051540.461534067] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051540.462325259] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051540.463839835] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051540.463847731] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051540.502497015] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903636 Long: -76.50276455 -[main_algo-3] [INFO] [1746051540.503455499] [sailbot.main_algo]: Distance to destination: 56.66028526082936 -[vectornav-1] [INFO] [1746051540.503708811] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.168000000000006, -0.481, 5.839) -[main_algo-3] [INFO] [1746051540.504628046] [sailbot.main_algo]: Target Bearing: -143.01050930400555 -[main_algo-3] [INFO] [1746051540.505583919] [sailbot.main_algo]: Heading Difference: -167.36049069599443 -[main_algo-3] [INFO] [1746051540.507101343] [sailbot.main_algo]: Wind Direction: 239 -[main_algo-3] [INFO] [1746051540.508025404] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051540.508871692] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051540.510453067] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051540.544874841] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051540.545926384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051540.546361826] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051540.549635138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051540.550859685] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051540.585284155] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051540.586868080] [sailbot.teensy]: Wind angle: 236 -[trim_sail-4] [INFO] [1746051540.587369536] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051540.587739906] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051540.588628405] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051540.588650029] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051540.589491314] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051540.645069053] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051540.645588963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051540.646397028] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051540.647486218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051540.648617380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051540.743981154] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051540.744439004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051540.744897392] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051540.745906373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051540.746848503] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051540.835311630] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051540.836977081] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746051540.837869546] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051540.838057790] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051540.838715967] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051540.838859668] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051540.839506122] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051540.844347320] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051540.844858280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051540.845415702] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051540.846415413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051540.847446961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051540.944762649] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051540.945542010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051540.946056854] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051540.947351696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051540.948383466] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051540.957613991] [sailbot.main_algo]: Wind Direction: 235 -[main_algo-3] [INFO] [1746051540.958648330] [sailbot.main_algo]: Target Bearing: -143.01050930400555 -[main_algo-3] [INFO] [1746051540.959515554] [sailbot.main_algo]: Heading Difference: -167.82149069599444 -[main_algo-3] [INFO] [1746051540.960731916] [sailbot.main_algo]: Wind Direction: 235 -[main_algo-3] [INFO] [1746051540.961521408] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051540.962289781] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051540.963790840] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051540.963834597] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051541.002510943] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903616 Long: -76.50276473 -[main_algo-3] [INFO] [1746051541.003447028] [sailbot.main_algo]: Distance to destination: 56.63494778455135 -[vectornav-1] [INFO] [1746051541.004061429] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.69499999999999, -1.063, 5.959) -[main_algo-3] [INFO] [1746051541.004617304] [sailbot.main_algo]: Target Bearing: -143.0189966391451 -[main_algo-3] [INFO] [1746051541.005532614] [sailbot.main_algo]: Heading Difference: -167.8130033608549 -[main_algo-3] [INFO] [1746051541.006800091] [sailbot.main_algo]: Wind Direction: 235 -[main_algo-3] [INFO] [1746051541.007670914] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051541.008538313] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051541.010175241] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051541.044878723] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051541.045752534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051541.046766925] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051541.048113695] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051541.049279866] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051541.085252381] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051541.087058195] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746051541.087702179] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051541.088433708] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051541.089494920] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051541.089781997] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051541.090591731] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051541.144432152] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051541.144886963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051541.145603624] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051541.146630802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051541.147657430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051541.245489062] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051541.246056015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051541.246820089] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051541.248084524] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051541.249747128] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051541.335266144] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051541.337503409] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051541.337974189] [sailbot.teensy]: Wind angle: 235 -[teensy-2] [INFO] [1746051541.339221537] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051541.339448505] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051541.339750483] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051541.340108984] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051541.344557833] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051541.345238590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051541.345724734] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051541.347014223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051541.348110547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051541.444532912] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051541.445216986] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051541.445629738] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051541.447051942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051541.448118127] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051541.457347446] [sailbot.main_algo]: Wind Direction: 235 -[main_algo-3] [INFO] [1746051541.458280244] [sailbot.main_algo]: Target Bearing: -143.0189966391451 -[main_algo-3] [INFO] [1746051541.459114558] [sailbot.main_algo]: Heading Difference: -168.28600336085492 -[main_algo-3] [INFO] [1746051541.460348710] [sailbot.main_algo]: Wind Direction: 235 -[main_algo-3] [INFO] [1746051541.461145678] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051541.461875439] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051541.463332140] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051541.464136812] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051541.502531555] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903636 Long: -76.50276461 -[vectornav-1] [INFO] [1746051541.503653701] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.76299999999998, 0.277, 4.901) -[main_algo-3] [INFO] [1746051541.503643987] [sailbot.main_algo]: Distance to destination: 56.65639805295722 -[main_algo-3] [INFO] [1746051541.505050819] [sailbot.main_algo]: Target Bearing: -143.00743747547574 -[main_algo-3] [INFO] [1746051541.506002837] [sailbot.main_algo]: Heading Difference: -168.29756252452427 -[main_algo-3] [INFO] [1746051541.507288547] [sailbot.main_algo]: Wind Direction: 235 -[main_algo-3] [INFO] [1746051541.508239499] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051541.509083884] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051541.510674041] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051541.545012114] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051541.545805341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051541.546431500] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051541.547848541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051541.549269613] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051541.585385251] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051541.587709689] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746051541.587731666] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051541.588829790] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051541.589075810] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051541.590010194] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051541.590940165] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051541.644972210] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051541.645687202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051541.646327118] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051541.647592337] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051541.648708751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051541.745192509] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051541.745820096] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051541.746681422] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051541.747697864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051541.748762057] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051541.835357324] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051541.837303598] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746051541.837871966] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051541.838242897] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051541.838587243] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051541.839163237] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051541.839575502] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051541.844483958] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051541.844922012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051541.845663105] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051541.846622993] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051541.847646494] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051541.945084485] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051541.945937331] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051541.946559646] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051541.947814141] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051541.948862057] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051541.957603539] [sailbot.main_algo]: Wind Direction: 233 -[main_algo-3] [INFO] [1746051541.958646791] [sailbot.main_algo]: Target Bearing: -143.00743747547574 -[main_algo-3] [INFO] [1746051541.959519814] [sailbot.main_algo]: Heading Difference: -166.22956252452428 -[main_algo-3] [INFO] [1746051541.960771863] [sailbot.main_algo]: Wind Direction: 233 -[main_algo-3] [INFO] [1746051541.961596455] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051541.962388063] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051541.963929430] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051541.963926442] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051542.002666023] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903652 Long: -76.50276476 -[main_algo-3] [INFO] [1746051542.003605689] [sailbot.main_algo]: Distance to destination: 56.65762609482916 -[vectornav-1] [INFO] [1746051542.003766062] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.35699999999997, -0.713, 5.405) -[main_algo-3] [INFO] [1746051542.004773530] [sailbot.main_algo]: Target Bearing: -142.985598759287 -[main_algo-3] [INFO] [1746051542.006043697] [sailbot.main_algo]: Heading Difference: -166.251401240713 -[main_algo-3] [INFO] [1746051542.007435139] [sailbot.main_algo]: Wind Direction: 233 -[main_algo-3] [INFO] [1746051542.008355435] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051542.009216376] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051542.010861857] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051542.045139609] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051542.045985804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051542.047009617] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051542.047846491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051542.049396651] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051542.085323075] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051542.087467878] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051542.087548647] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746051542.088436380] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051542.087971581] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051542.089323431] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051542.090160540] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051542.144854852] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051542.145588921] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051542.146157573] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051542.147416283] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051542.148495643] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051542.244626929] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051542.245998866] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051542.245416052] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051542.247144975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051542.248280088] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051542.335365672] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051542.336992925] [sailbot.teensy]: Wind angle: 234 -[trim_sail-4] [INFO] [1746051542.337693432] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051542.337875785] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051542.338839918] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051542.339554387] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051542.339742368] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051542.344339835] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051542.344824154] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051542.345629757] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051542.346516092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051542.347627369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051542.445053576] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051542.445932710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051542.446571816] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051542.448639162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051542.449334406] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051542.457484344] [sailbot.main_algo]: Wind Direction: 234 -[main_algo-3] [INFO] [1746051542.458508608] [sailbot.main_algo]: Target Bearing: -142.985598759287 -[main_algo-3] [INFO] [1746051542.459357752] [sailbot.main_algo]: Heading Difference: -167.65740124071306 -[main_algo-3] [INFO] [1746051542.460789511] [sailbot.main_algo]: Wind Direction: 234 -[main_algo-3] [INFO] [1746051542.461788069] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051542.462733404] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051542.464445526] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051542.464603839] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051542.502710605] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903647 Long: -76.50276476 -[main_algo-3] [INFO] [1746051542.503722980] [sailbot.main_algo]: Distance to destination: 56.65420530281673 -[vectornav-1] [INFO] [1746051542.503879013] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.297000000000025, 0.054, 5.955) -[main_algo-3] [INFO] [1746051542.505297895] [sailbot.main_algo]: Target Bearing: -142.99002232874957 -[main_algo-3] [INFO] [1746051542.506328997] [sailbot.main_algo]: Heading Difference: -167.65297767125048 -[main_algo-3] [INFO] [1746051542.507675502] [sailbot.main_algo]: Wind Direction: 234 -[main_algo-3] [INFO] [1746051542.508582522] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051542.509431384] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051542.511044209] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051542.545110949] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051542.545862513] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051542.548173877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051542.546500562] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051542.549401649] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051542.585309810] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051542.587413961] [sailbot.teensy]: Wind angle: 233 -[trim_sail-4] [INFO] [1746051542.587556258] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051542.588409593] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051542.588836133] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051542.589342203] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051542.590250159] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051542.645063834] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051542.645920078] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051542.646398457] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051542.648002253] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051542.649033286] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051542.744875071] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051542.745595037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051542.746159475] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051542.747459347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051542.748991119] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051542.834541496] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051542.835839143] [sailbot.teensy]: Wind angle: 233 -[teensy-2] [INFO] [1746051542.836701011] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051542.837221020] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051542.837500050] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051542.838368807] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051542.838885657] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746051542.844329774] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051542.845812900] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051542.844881229] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051542.846582255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051542.847685063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051542.945245497] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051542.945767035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051542.946669906] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051542.947656931] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051542.948737649] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051542.957652405] [sailbot.main_algo]: Wind Direction: 233 -[main_algo-3] [INFO] [1746051542.958684473] [sailbot.main_algo]: Target Bearing: -142.99002232874957 -[main_algo-3] [INFO] [1746051542.959602757] [sailbot.main_algo]: Heading Difference: -168.71297767125043 -[main_algo-3] [INFO] [1746051542.961004470] [sailbot.main_algo]: Wind Direction: 233 -[main_algo-3] [INFO] [1746051542.961918960] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051542.962737765] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051542.964269801] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051542.964330199] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051543.002271046] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903625 Long: -76.50276442 -[main_algo-3] [INFO] [1746051543.003040633] [sailbot.main_algo]: Distance to destination: 56.661188105618855 -[vectornav-1] [INFO] [1746051543.003208519] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.55899999999997, -1.397, 5.304) -[main_algo-3] [INFO] [1746051543.005031960] [sailbot.main_algo]: Target Bearing: -143.02689832874395 -[main_algo-3] [INFO] [1746051543.007968314] [sailbot.main_algo]: Heading Difference: -168.676101671256 -[main_algo-3] [INFO] [1746051543.009566292] [sailbot.main_algo]: Wind Direction: 233 -[main_algo-3] [INFO] [1746051543.010503049] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051543.011362994] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051543.013035568] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051543.045201420] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051543.045269063] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051543.046372349] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051543.046924542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051543.047966075] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051543.085023916] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051543.086950822] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051543.087412624] [sailbot.teensy]: Wind angle: 233 -[mux-7] [INFO] [1746051543.087590893] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051543.088448783] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051543.089322963] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051543.090194742] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051543.145066155] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051543.145793629] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051543.146561218] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051543.147744368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051543.148841186] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051543.244874544] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051543.245467766] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051543.246152003] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051543.247234803] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051543.248323716] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051543.335419580] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051543.337793419] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051543.338234136] [sailbot.teensy]: Wind angle: 233 -[mux-7] [INFO] [1746051543.339121241] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051543.339218675] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051543.340256378] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051543.341278166] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051543.344736518] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051543.345048847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051543.345948242] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051543.346841405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051543.347930099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051543.444992291] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051543.445426343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051543.446257698] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051543.447075642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051543.448511281] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051543.457301538] [sailbot.main_algo]: Wind Direction: 233 -[main_algo-3] [INFO] [1746051543.458195841] [sailbot.main_algo]: Target Bearing: -143.02689832874395 -[main_algo-3] [INFO] [1746051543.458992591] [sailbot.main_algo]: Heading Difference: -167.41410167125605 -[main_algo-3] [INFO] [1746051543.460239348] [sailbot.main_algo]: Wind Direction: 233 -[main_algo-3] [INFO] [1746051543.461082952] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051543.461957403] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051543.463607597] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051543.463754670] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051543.502357945] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903656 Long: -76.50276432 -[main_algo-3] [INFO] [1746051543.503199072] [sailbot.main_algo]: Distance to destination: 56.688863065730246 -[vectornav-1] [INFO] [1746051543.503293506] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.34899999999999, 0.391, 5.062) -[main_algo-3] [INFO] [1746051543.504177075] [sailbot.main_algo]: Target Bearing: -143.0045884337746 -[main_algo-3] [INFO] [1746051543.505026437] [sailbot.main_algo]: Heading Difference: -167.43641156622544 -[main_algo-3] [INFO] [1746051543.506262510] [sailbot.main_algo]: Wind Direction: 233 -[main_algo-3] [INFO] [1746051543.507067861] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051543.507856348] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051543.509509128] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051543.545142365] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051543.545745149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051543.546532446] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051543.547642278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051543.548765098] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051543.585420903] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051543.587169759] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746051543.588100872] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051543.587643565] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051543.588460927] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051543.589049532] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051543.589993887] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051543.645120739] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051543.645815327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051543.646546930] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051543.647696215] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051543.648790665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051543.745116403] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051543.745593791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051543.746402872] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051543.747464378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051543.748616307] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051543.835199012] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051543.836759011] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746051543.837627649] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051543.837535601] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051543.838403162] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051543.838421146] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051543.839242585] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051543.844322627] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051543.844905022] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051543.845321069] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051543.846479786] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051543.847404016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051543.945060574] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051543.945811671] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051543.946338921] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051543.947573303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051543.948617557] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051543.957484980] [sailbot.main_algo]: Wind Direction: 231 -[main_algo-3] [INFO] [1746051543.958466767] [sailbot.main_algo]: Target Bearing: -143.0045884337746 -[main_algo-3] [INFO] [1746051543.959379783] [sailbot.main_algo]: Heading Difference: -167.64641156622542 -[main_algo-3] [INFO] [1746051543.960626439] [sailbot.main_algo]: Wind Direction: 231 -[main_algo-3] [INFO] [1746051543.961454882] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051543.962242785] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051543.963760585] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051543.963773416] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051544.002746505] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903664 Long: -76.50276455 -[vectornav-1] [INFO] [1746051544.003935821] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.898000000000025, -0.116, 5.323) -[main_algo-3] [INFO] [1746051544.005102246] [sailbot.main_algo]: Distance to destination: 56.67943728399613 -[main_algo-3] [INFO] [1746051544.006146987] [sailbot.main_algo]: Target Bearing: -142.98573992806723 -[main_algo-3] [INFO] [1746051544.007144012] [sailbot.main_algo]: Heading Difference: -167.66526007193278 -[main_algo-3] [INFO] [1746051544.009271611] [sailbot.main_algo]: Wind Direction: 231 -[main_algo-3] [INFO] [1746051544.010793349] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051544.011783386] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051544.013657820] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051544.044672117] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051544.045145322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051544.045724339] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051544.046889164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051544.047988703] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051544.085217508] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051544.086966412] [sailbot.teensy]: Wind angle: 230 -[teensy-2] [INFO] [1746051544.087922434] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051544.088887997] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051544.089768725] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051544.087507022] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051544.089934481] [sailbot.mux]: algo sail angle: 5 -[mux-7] [INFO] [1746051544.145101706] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051544.145644244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051544.146377617] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051544.147546353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051544.148615097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051544.245064467] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051544.245730398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051544.246601398] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051544.247523971] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051544.248725797] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051544.335220018] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051544.337395008] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051544.337761624] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051544.338016813] [sailbot.teensy]: Wind angle: 229 -[teensy-2] [INFO] [1746051544.338957524] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051544.339517680] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051544.339882633] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051544.344342043] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051544.344910638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051544.345805365] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051544.346592302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051544.347629374] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051544.445071703] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051544.445596476] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051544.446317453] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051544.447518685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051544.448640973] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051544.457656004] [sailbot.main_algo]: Wind Direction: 229 -[main_algo-3] [INFO] [1746051544.458662391] [sailbot.main_algo]: Target Bearing: -142.98573992806723 -[main_algo-3] [INFO] [1746051544.459533056] [sailbot.main_algo]: Heading Difference: -168.11626007193274 -[main_algo-3] [INFO] [1746051544.460776008] [sailbot.main_algo]: Wind Direction: 229 -[main_algo-3] [INFO] [1746051544.461611819] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051544.462391137] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051544.463890046] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051544.463912482] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051544.502569736] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690366 Long: -76.50276452 -[vectornav-1] [INFO] [1746051544.503617298] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (47.999000000000024, -0.991, 5.893) -[main_algo-3] [INFO] [1746051544.503891367] [sailbot.main_algo]: Distance to destination: 56.678643732539236 -[main_algo-3] [INFO] [1746051544.505257687] [sailbot.main_algo]: Target Bearing: -142.99081342379665 -[main_algo-3] [INFO] [1746051544.506340579] [sailbot.main_algo]: Heading Difference: -168.1111865762033 -[main_algo-3] [INFO] [1746051544.508132851] [sailbot.main_algo]: Wind Direction: 229 -[main_algo-3] [INFO] [1746051544.509091713] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051544.509892330] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051544.511578614] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051544.544974764] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051544.546064074] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051544.546246130] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051544.548327373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051544.550001505] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051544.585476143] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051544.587236638] [sailbot.teensy]: Wind angle: 229 -[teensy-2] [INFO] [1746051544.588192871] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051544.589151134] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051544.588275946] [sailbot.mux]: algo sail angle: 5 -[trim_sail-4] [INFO] [1746051544.588296721] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051544.590043556] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051544.644910755] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051544.645559392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051544.646164830] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051544.647650146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051544.648696145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051544.744925264] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051544.745561789] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051544.746432594] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051544.747324843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051544.747973092] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051544.835324150] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051544.837179892] [sailbot.teensy]: Wind angle: 229 -[trim_sail-4] [INFO] [1746051544.837731618] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051544.839542217] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051544.840037110] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051544.840500536] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051544.841475295] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051544.844244654] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051544.844785161] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051544.845419809] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051544.846682975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051544.847715233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051544.944745118] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051544.945368526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051544.945892646] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051544.947072186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051544.948019373] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051544.957460073] [sailbot.main_algo]: Wind Direction: 229 -[main_algo-3] [INFO] [1746051544.958454108] [sailbot.main_algo]: Target Bearing: -142.99081342379665 -[main_algo-3] [INFO] [1746051544.959318440] [sailbot.main_algo]: Heading Difference: -169.0101865762033 -[main_algo-3] [INFO] [1746051544.960555173] [sailbot.main_algo]: Wind Direction: 229 -[main_algo-3] [INFO] [1746051544.961380180] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051544.962169842] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051544.963647688] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051544.963697934] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051545.002989968] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903653 Long: -76.50276422 -[main_algo-3] [INFO] [1746051545.004205814] [sailbot.main_algo]: Distance to destination: 56.693290168130034 -[vectornav-1] [INFO] [1746051545.004141993] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.62900000000002, -0.459, 3.984) -[main_algo-3] [INFO] [1746051545.005470591] [sailbot.main_algo]: Target Bearing: -143.01235849043132 -[main_algo-3] [INFO] [1746051545.006478283] [sailbot.main_algo]: Heading Difference: -168.98864150956865 -[main_algo-3] [INFO] [1746051545.007897401] [sailbot.main_algo]: Wind Direction: 229 -[main_algo-3] [INFO] [1746051545.008813703] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051545.009686188] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051545.011618944] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051545.044728861] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051545.045252451] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051545.045951796] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051545.047797042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051545.049288840] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051545.085150311] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051545.086849005] [sailbot.teensy]: Wind angle: 228 -[trim_sail-4] [INFO] [1746051545.087076374] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051545.087749439] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051545.088754429] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051545.088814116] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051545.089710861] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051545.145051517] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051545.145553765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051545.146418035] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051545.147344655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051545.148478303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051545.245131486] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051545.246439074] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051545.246545022] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051545.248422041] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051545.249425978] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051545.335392098] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051545.337116090] [sailbot.teensy]: Wind angle: 227 -[trim_sail-4] [INFO] [1746051545.337667629] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051545.338201776] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051545.338290021] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051545.339095577] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051545.339470336] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051545.344583215] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051545.345180735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051545.346088662] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051545.346884619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051545.348056938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051545.445092935] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051545.445571418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051545.446416363] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051545.447431996] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051545.448617757] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051545.457547413] [sailbot.main_algo]: Wind Direction: 227 -[main_algo-3] [INFO] [1746051545.458590922] [sailbot.main_algo]: Target Bearing: -143.01235849043132 -[main_algo-3] [INFO] [1746051545.459485286] [sailbot.main_algo]: Heading Difference: -167.35864150956866 -[main_algo-3] [INFO] [1746051545.460714339] [sailbot.main_algo]: Wind Direction: 227 -[main_algo-3] [INFO] [1746051545.461582134] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051545.462366367] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051545.463869382] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051545.464027179] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051545.502567525] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903661 Long: -76.5027642 -[main_algo-3] [INFO] [1746051545.503366943] [sailbot.main_algo]: Distance to destination: 56.7000565479506 -[vectornav-1] [INFO] [1746051545.503595504] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.110000000000014, 0.279, 5.972) -[main_algo-3] [INFO] [1746051545.504438249] [sailbot.main_algo]: Target Bearing: -143.00630703403706 -[main_algo-3] [INFO] [1746051545.505411677] [sailbot.main_algo]: Heading Difference: -167.36469296596294 -[main_algo-3] [INFO] [1746051545.506851467] [sailbot.main_algo]: Wind Direction: 227 -[main_algo-3] [INFO] [1746051545.507770608] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051545.508663982] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051545.510448561] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051545.545049794] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051545.545636022] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051545.546349421] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051545.547666248] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051545.548875306] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051545.585213864] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051545.586828207] [sailbot.teensy]: Wind angle: 223 -[trim_sail-4] [INFO] [1746051545.587507708] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051545.587739236] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051545.588729219] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051545.588991472] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051545.589637323] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051545.645343785] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051545.645971408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051545.647040930] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051545.648184426] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051545.649381188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051545.745086835] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051545.745881566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051545.746476293] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051545.747889808] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051545.749055216] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051545.835432449] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051545.838267213] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051545.838751930] [sailbot.teensy]: Wind angle: 220 -[mux-7] [INFO] [1746051545.839450525] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051545.839943658] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051545.840888686] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051545.841768369] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051545.844333437] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051545.844891936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051545.845414667] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051545.846635088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051545.847704146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051545.945150756] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051545.945981251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051545.946504412] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051545.948108768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051545.949127893] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051545.957662531] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051545.958681932] [sailbot.main_algo]: Target Bearing: -143.00630703403706 -[main_algo-3] [INFO] [1746051545.959569233] [sailbot.main_algo]: Heading Difference: -167.88369296596295 -[main_algo-3] [INFO] [1746051545.960910417] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051545.961800093] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051545.962639287] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051545.964199372] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051545.964334490] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051546.002798366] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903652 Long: -76.50276411 -[main_algo-3] [INFO] [1746051546.003722102] [sailbot.main_algo]: Distance to destination: 56.69973362463767 -[vectornav-1] [INFO] [1746051546.003928862] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.488, -0.242, 5.749) -[main_algo-3] [INFO] [1746051546.004862359] [sailbot.main_algo]: Target Bearing: -143.01886996380546 -[main_algo-3] [INFO] [1746051546.005832698] [sailbot.main_algo]: Heading Difference: -167.87113003619453 -[main_algo-3] [INFO] [1746051546.007448000] [sailbot.main_algo]: Wind Direction: 220 -[main_algo-3] [INFO] [1746051546.008386282] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051546.009275274] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051546.010945409] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051546.044260631] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051546.044709927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051546.045149104] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051546.046203377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051546.047284391] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051546.085255747] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051546.086878390] [sailbot.teensy]: Wind angle: 215 -[teensy-2] [INFO] [1746051546.087768495] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051546.087769594] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051546.088651557] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051546.089445795] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051546.089488696] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051546.144926767] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051546.145760432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051546.146210705] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051546.147723520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051546.148749878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051546.244988967] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051546.245703881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051546.246342303] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051546.247524453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051546.248577616] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051546.335507205] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051546.338115409] [sailbot.teensy]: Wind angle: 216 -[trim_sail-4] [INFO] [1746051546.338145552] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051546.338789109] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051546.339079337] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051546.339976985] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051546.340567150] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051546.344350619] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051546.345062445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051546.345740203] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051546.346879955] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051546.348047758] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051546.444428904] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051546.444999181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051546.445549475] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051546.446717048] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051546.447735753] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051546.457127449] [sailbot.main_algo]: Wind Direction: 216 -[main_algo-3] [INFO] [1746051546.458030022] [sailbot.main_algo]: Target Bearing: -143.01886996380546 -[main_algo-3] [INFO] [1746051546.458861461] [sailbot.main_algo]: Heading Difference: -168.49313003619454 -[main_algo-3] [INFO] [1746051546.460100649] [sailbot.main_algo]: Wind Direction: 216 -[main_algo-3] [INFO] [1746051546.460971491] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051546.461741122] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051546.463307057] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051546.463352465] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051546.501308460] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903657 Long: -76.50276404 -[vectornav-1] [INFO] [1746051546.501741128] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.637, -1.65, 5.221) -[main_algo-3] [INFO] [1746051546.501756004] [sailbot.main_algo]: Distance to destination: 56.707687737513005 -[main_algo-3] [INFO] [1746051546.502201384] [sailbot.main_algo]: Target Bearing: -143.0180284504665 -[main_algo-3] [INFO] [1746051546.502685888] [sailbot.main_algo]: Heading Difference: -168.4939715495335 -[main_algo-3] [INFO] [1746051546.503323511] [sailbot.main_algo]: Wind Direction: 216 -[main_algo-3] [INFO] [1746051546.503730127] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051546.504132611] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051546.505230309] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051546.544792397] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051546.545709800] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051546.546098547] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051546.547959952] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051546.548478544] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051546.585438683] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051546.587316661] [sailbot.teensy]: Wind angle: 215 -[trim_sail-4] [INFO] [1746051546.587535422] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051546.588327375] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051546.588803844] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051546.589303024] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051546.590268929] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051546.644980565] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051546.645626517] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051546.646252659] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051546.647411947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051546.648557501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051546.744730059] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051546.745383760] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051546.745868169] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051546.747095142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051546.748142725] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051546.835295052] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051546.837036295] [sailbot.teensy]: Wind angle: 215 -[trim_sail-4] [INFO] [1746051546.837545789] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051546.839422530] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051546.840097078] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051546.840881048] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051546.841307031] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051546.844483111] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051546.845056628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051546.845573469] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051546.846713028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051546.847864678] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051546.944337132] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051546.944807046] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051546.946312466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[mux-7] [INFO] [1746051546.945241235] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051546.947381681] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051546.956898808] [sailbot.main_algo]: Wind Direction: 215 -[main_algo-3] [INFO] [1746051546.957741836] [sailbot.main_algo]: Target Bearing: -143.0180284504665 -[main_algo-3] [INFO] [1746051546.958619741] [sailbot.main_algo]: Heading Difference: -167.3449715495335 -[main_algo-3] [INFO] [1746051546.959908950] [sailbot.main_algo]: Wind Direction: 215 -[main_algo-3] [INFO] [1746051546.960762195] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051546.961540820] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051546.963092031] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051546.963282105] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051547.001734332] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903688 Long: -76.50276387 -[main_algo-3] [INFO] [1746051547.002382366] [sailbot.main_algo]: Distance to destination: 56.73990047409977 -[vectornav-1] [INFO] [1746051547.002504624] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.49400000000003, 0.585, 5.583) -[main_algo-3] [INFO] [1746051547.003175084] [sailbot.main_algo]: Target Bearing: -142.99932087340028 -[main_algo-3] [INFO] [1746051547.003962751] [sailbot.main_algo]: Heading Difference: -167.36367912659972 -[main_algo-3] [INFO] [1746051547.005187955] [sailbot.main_algo]: Wind Direction: 215 -[main_algo-3] [INFO] [1746051547.006064888] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051547.006889137] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051547.009135367] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051547.044817172] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051547.045515796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051547.045972148] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051547.047296925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051547.048320514] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051547.085119078] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051547.087173639] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051547.088027985] [sailbot.teensy]: Wind angle: 213 -[mux-7] [INFO] [1746051547.088190718] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051547.089216687] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051547.090168988] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051547.091024640] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051547.145041612] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051547.145660648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051547.146282451] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051547.147442699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051547.148710530] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051547.244865188] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051547.245530816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051547.246136871] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051547.247388527] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051547.248438688] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051547.335360894] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051547.337062146] [sailbot.teensy]: Wind angle: 215 -[trim_sail-4] [INFO] [1746051547.337881045] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051547.339176516] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051547.339354535] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051547.340085567] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051547.340994693] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051547.344208665] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051547.344788521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051547.346233412] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051547.346438621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051547.347660929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051547.444965267] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051547.445745555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051547.446443523] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051547.447749432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051547.448891155] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051547.457745710] [sailbot.main_algo]: Wind Direction: 215 -[main_algo-3] [INFO] [1746051547.458818125] [sailbot.main_algo]: Target Bearing: -142.99932087340028 -[main_algo-3] [INFO] [1746051547.459727552] [sailbot.main_algo]: Heading Difference: -167.5066791265997 -[main_algo-3] [INFO] [1746051547.461062500] [sailbot.main_algo]: Wind Direction: 215 -[main_algo-3] [INFO] [1746051547.461924185] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051547.462730780] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051547.464273719] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051547.464367377] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051547.502753905] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903695 Long: -76.50276363 -[main_algo-3] [INFO] [1746051547.503730897] [sailbot.main_algo]: Distance to destination: 56.7602354471177 -[vectornav-1] [INFO] [1746051547.503959969] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.93399999999997, 0.104, 5.511) -[main_algo-3] [INFO] [1746051547.505447788] [sailbot.main_algo]: Target Bearing: -143.00540618651365 -[main_algo-3] [INFO] [1746051547.506416507] [sailbot.main_algo]: Heading Difference: -167.50059381348632 -[main_algo-3] [INFO] [1746051547.507802975] [sailbot.main_algo]: Wind Direction: 215 -[main_algo-3] [INFO] [1746051547.508720382] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051547.509568935] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051547.511347071] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051547.544888151] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051547.545664772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051547.546156876] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051547.547668370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051547.548715039] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051547.585292179] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051547.586967803] [sailbot.teensy]: Wind angle: 216 -[trim_sail-4] [INFO] [1746051547.587626711] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051547.587954980] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051547.588909011] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051547.589200579] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051547.589797563] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051547.644687646] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051547.645418122] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051547.645923945] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051547.647233307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051547.648023881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051547.744733553] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051547.745294666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051547.745881097] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051547.747155292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051547.748226988] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051547.835252419] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051547.837483599] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051547.838133421] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051547.838541151] [sailbot.teensy]: Wind angle: 215 -[teensy-2] [INFO] [1746051547.839747023] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051547.840656340] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051547.841569907] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051547.844393065] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051547.845050688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051547.845920839] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051547.846797751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051547.847811683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051547.944934150] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051547.945709576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051547.946323524] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051547.947590530] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051547.948693097] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051547.957315120] [sailbot.main_algo]: Wind Direction: 215 -[main_algo-3] [INFO] [1746051547.958275757] [sailbot.main_algo]: Target Bearing: -143.00540618651365 -[main_algo-3] [INFO] [1746051547.959121491] [sailbot.main_algo]: Heading Difference: -167.06059381348638 -[main_algo-3] [INFO] [1746051547.960374884] [sailbot.main_algo]: Wind Direction: 215 -[main_algo-3] [INFO] [1746051547.961194707] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051547.961990603] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051547.963479919] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051547.963579892] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051548.002528611] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903686 Long: -76.50276361 -[main_algo-3] [INFO] [1746051548.003422262] [sailbot.main_algo]: Distance to destination: 56.75537681088357 -[vectornav-1] [INFO] [1746051548.003605029] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.235000000000014, -1.439, 5.459) -[main_algo-3] [INFO] [1746051548.004537540] [sailbot.main_algo]: Target Bearing: -143.01437883846256 -[main_algo-3] [INFO] [1746051548.005391336] [sailbot.main_algo]: Heading Difference: -167.05162116153747 -[main_algo-3] [INFO] [1746051548.006673895] [sailbot.main_algo]: Wind Direction: 215 -[main_algo-3] [INFO] [1746051548.007521046] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051548.008354981] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051548.010046964] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051548.044939966] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051548.045717983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051548.046194597] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051548.047608323] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051548.048817872] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051548.085411834] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051548.087175612] [sailbot.teensy]: Wind angle: 214 -[trim_sail-4] [INFO] [1746051548.087810052] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051548.088188745] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051548.089159089] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051548.089418473] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051548.090200544] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051548.144662821] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051548.145230670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051548.145750924] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051548.147033474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051548.148055641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051548.244771543] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051548.245466529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051548.245977864] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051548.247255039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051548.248329518] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051548.335464039] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051548.337271749] [sailbot.teensy]: Wind angle: 208 -[trim_sail-4] [INFO] [1746051548.337926079] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051548.338228434] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051548.339182931] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051548.339264955] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051548.340164088] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051548.344358265] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051548.344832654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051548.345482896] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051548.346496378] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051548.347672801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051548.444950488] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051548.445530861] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051548.446882318] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051548.447463640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051548.449750401] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051548.457405746] [sailbot.main_algo]: Wind Direction: 208 -[main_algo-3] [INFO] [1746051548.458958144] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746051548.460301093] [sailbot.main_algo]: Wind Direction: 208 -[main_algo-3] [INFO] [1746051548.461682378] [sailbot.main_algo]: Current Location: (42.469036862147476, -76.50276361005444) -[main_algo-3] [INFO] [1746051548.462736724] [sailbot.main_algo]: Target Bearing: -143.01437883846256 -[main_algo-3] [INFO] [1746051548.463692429] [sailbot.main_algo]: Heading Difference: -166.75062116153742 -[main_algo-3] [INFO] [1746051548.465075245] [sailbot.main_algo]: Wind Direction: 208 -[main_algo-3] [INFO] [1746051548.465960648] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051548.466851150] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051548.468635085] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051548.468704873] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051548.502863516] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903701 Long: -76.50276353 -[main_algo-3] [INFO] [1746051548.503747219] [sailbot.main_algo]: Distance to destination: 56.770817148897855 -[vectornav-1] [INFO] [1746051548.503986715] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.733000000000004, 0.762, 5.847) -[main_algo-3] [INFO] [1746051548.504944390] [sailbot.main_algo]: Target Bearing: -143.00521735323878 -[main_algo-3] [INFO] [1746051548.505880066] [sailbot.main_algo]: Heading Difference: -166.7597826467612 -[main_algo-3] [INFO] [1746051548.507245063] [sailbot.main_algo]: Wind Direction: 208 -[main_algo-3] [INFO] [1746051548.508077431] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051548.508908185] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051548.510513429] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051548.544948344] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051548.545630182] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051548.546290572] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051548.547456610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051548.548680409] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051548.585502987] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051548.587550395] [sailbot.teensy]: Wind angle: 197 -[teensy-2] [INFO] [1746051548.588494355] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051548.588095525] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051548.588601477] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051548.589394053] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051548.590249346] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051548.644902958] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051548.645664016] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051548.646186834] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051548.647624044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051548.648743211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051548.744177740] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051548.744747104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051548.745038149] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051548.746240148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051548.747184587] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051548.835341111] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051548.837614069] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051548.838062542] [sailbot.teensy]: Wind angle: 189 -[mux-7] [INFO] [1746051548.838538345] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051548.838980022] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051548.839889051] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051548.840739566] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051548.844474537] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051548.845191915] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051548.845578303] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051548.846934853] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051548.847934958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051548.944497427] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051548.945174941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051548.945603557] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051548.946905062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051548.947963041] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051548.957441079] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051548.958444227] [sailbot.main_algo]: Target Bearing: -143.00521735323878 -[main_algo-3] [INFO] [1746051548.959314621] [sailbot.main_algo]: Heading Difference: -167.26178264676122 -[main_algo-3] [INFO] [1746051548.960555795] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051548.961395673] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051548.962189172] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051548.963709305] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051548.963787419] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051549.002757696] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690371 Long: -76.50276361 -[main_algo-3] [INFO] [1746051549.003881717] [sailbot.main_algo]: Distance to destination: 56.77179075710436 -[vectornav-1] [INFO] [1746051549.003949192] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.85699999999997, -1.326, 5.54) -[main_algo-3] [INFO] [1746051549.005551126] [sailbot.main_algo]: Target Bearing: -142.99318136423764 -[main_algo-3] [INFO] [1746051549.006520638] [sailbot.main_algo]: Heading Difference: -167.27381863576238 -[main_algo-3] [INFO] [1746051549.007952722] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051549.008929257] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051549.009807255] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051549.011467799] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051549.044061643] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051549.044973191] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051549.044583408] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051549.045981498] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051549.046747222] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051549.084457547] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051549.085450285] [sailbot.teensy]: Wind angle: 187 -[teensy-2] [INFO] [1746051549.086135901] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051549.085935068] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051549.086372376] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051549.086798011] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051549.087492976] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051549.145133357] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051549.145862220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051549.146397653] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051549.147674078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051549.148745447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051549.244571775] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051549.245174860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051549.245677587] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051549.246917302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051549.247944884] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051549.335685227] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051549.337765769] [sailbot.teensy]: Wind angle: 193 -[trim_sail-4] [INFO] [1746051549.338615725] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051549.339696023] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051549.340045371] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051549.341297139] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051549.342189956] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051549.344361235] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051549.344927639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051549.345476802] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051549.346855111] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051549.347859902] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051549.445126011] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051549.445848475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051549.446525084] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051549.447961143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051549.448422573] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051549.457780288] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051549.458939384] [sailbot.main_algo]: Target Bearing: -142.99318136423764 -[main_algo-3] [INFO] [1746051549.459920038] [sailbot.main_algo]: Heading Difference: -167.14981863576236 -[main_algo-3] [INFO] [1746051549.461267618] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051549.462134587] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051549.462933184] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051549.464440188] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051549.464464976] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051549.502612862] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903705 Long: -76.50276361 -[main_algo-3] [INFO] [1746051549.503549991] [sailbot.main_algo]: Distance to destination: 56.76837054429036 -[vectornav-1] [INFO] [1746051549.503648391] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.053, 0.142, 6.195) -[main_algo-3] [INFO] [1746051549.504759964] [sailbot.main_algo]: Target Bearing: -142.99759649377364 -[main_algo-3] [INFO] [1746051549.506053974] [sailbot.main_algo]: Heading Difference: -167.1454035062264 -[main_algo-3] [INFO] [1746051549.507478607] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051549.508412031] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051549.509296139] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051549.510937882] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051549.545068832] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051549.546191392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051549.546407734] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051549.548049077] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051549.549187500] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051549.585256893] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051549.586956156] [sailbot.teensy]: Wind angle: 205 -[trim_sail-4] [INFO] [1746051549.587824300] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051549.587883967] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051549.589105173] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051549.588681768] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051549.590011001] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051549.644964542] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051549.645580157] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051549.646255335] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051549.647450956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051549.648509443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051549.744780352] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051549.745275538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051549.745938394] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051549.747030941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051549.748178504] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051549.835356600] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051549.837479849] [sailbot.teensy]: Wind angle: 211 -[trim_sail-4] [INFO] [1746051549.837531040] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051549.837975115] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051549.838342545] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051549.838923979] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051549.839291870] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051549.844737872] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051549.845115972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051549.845899184] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051549.846822954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051549.848018635] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051549.945206399] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051549.946252251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051549.946612825] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051549.948212371] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051549.949270801] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051549.957405693] [sailbot.main_algo]: Wind Direction: 211 -[main_algo-3] [INFO] [1746051549.958405110] [sailbot.main_algo]: Target Bearing: -142.99759649377364 -[main_algo-3] [INFO] [1746051549.959262824] [sailbot.main_algo]: Heading Difference: -166.94940350622636 -[main_algo-3] [INFO] [1746051549.960512833] [sailbot.main_algo]: Wind Direction: 211 -[main_algo-3] [INFO] [1746051549.961341078] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051549.962160749] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051549.963692577] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051549.963725478] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051550.002208761] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903717 Long: -76.50276345 -[main_algo-3] [INFO] [1746051550.003035832] [sailbot.main_algo]: Distance to destination: 56.78694297434771 -[vectornav-1] [INFO] [1746051550.003148965] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.132000000000005, -0.59, 5.739) -[main_algo-3] [INFO] [1746051550.004049781] [sailbot.main_algo]: Target Bearing: -142.99517807794803 -[main_algo-3] [INFO] [1746051550.005025685] [sailbot.main_algo]: Heading Difference: -166.95182192205198 -[main_algo-3] [INFO] [1746051550.006415059] [sailbot.main_algo]: Wind Direction: 211 -[main_algo-3] [INFO] [1746051550.007406871] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051550.008338853] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051550.010114919] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051550.044979311] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051550.045678606] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051550.046260705] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051550.047735757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051550.048797367] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051550.085343516] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051550.087003532] [sailbot.teensy]: Wind angle: 210 -[teensy-2] [INFO] [1746051550.087908096] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051550.087646388] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051550.088851450] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051550.089741640] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051550.090069344] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051550.144630836] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051550.145160276] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051550.145737917] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051550.146883142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051550.147936587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051550.244931136] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051550.245529938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051550.247403287] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051550.247620730] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051550.248386246] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051550.335304465] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051550.337194781] [sailbot.teensy]: Wind angle: 200 -[trim_sail-4] [INFO] [1746051550.338096924] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051550.338167055] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051550.339042929] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051550.338891118] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051550.339916440] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051550.344348736] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051550.345070534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051550.345422917] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051550.346745959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051550.347882288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051550.445278407] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051550.445968975] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051550.446649120] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051550.448004411] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051550.449050704] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051550.457608162] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051550.458689046] [sailbot.main_algo]: Target Bearing: -142.99517807794803 -[main_algo-3] [INFO] [1746051550.459598572] [sailbot.main_algo]: Heading Difference: -166.87282192205197 -[main_algo-3] [INFO] [1746051550.460933776] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051550.461763381] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051550.462583213] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051550.464084559] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051550.464176641] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051550.502660089] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903736 Long: -76.50276342 -[vectornav-1] [INFO] [1746051550.503751436] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.490999999999985, 0.326, 5.702) -[main_algo-3] [INFO] [1746051550.503891628] [sailbot.main_algo]: Distance to destination: 56.801885090128536 -[main_algo-3] [INFO] [1746051550.505535427] [sailbot.main_algo]: Target Bearing: -142.97994253292617 -[main_algo-3] [INFO] [1746051550.506676514] [sailbot.main_algo]: Heading Difference: -166.88805746707385 -[main_algo-3] [INFO] [1746051550.508028170] [sailbot.main_algo]: Wind Direction: 200 -[main_algo-3] [INFO] [1746051550.508972894] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051550.509848441] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051550.511560120] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051550.544981159] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051550.545651686] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051550.546239370] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051550.547469805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051550.548661062] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051550.585344831] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051550.587124386] [sailbot.teensy]: Wind angle: 188 -[trim_sail-4] [INFO] [1746051550.587519250] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051550.588061357] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051550.588984790] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051550.589003135] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051550.589900334] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051550.644922164] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051550.646015608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051550.646287119] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051550.648750072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051550.649784039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051550.745137429] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051550.745905920] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051550.746553742] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051550.748279688] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051550.749320457] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051550.835109386] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051550.836631176] [sailbot.teensy]: Wind angle: 178 -[trim_sail-4] [INFO] [1746051550.837081019] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051550.838539918] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051550.838913072] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051550.839522992] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051550.840454190] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051550.844353387] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051550.844815454] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051550.845486278] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051550.846504523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051550.847582041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051550.945043073] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051550.945801672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051550.946297026] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051550.947620175] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051550.948688743] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051550.957552333] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051550.958532004] [sailbot.main_algo]: Target Bearing: -142.97994253292617 -[main_algo-3] [INFO] [1746051550.959449319] [sailbot.main_algo]: Heading Difference: -167.5290574670738 -[main_algo-3] [INFO] [1746051550.960707410] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051550.961552292] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051550.962341382] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051550.963878870] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051550.963898217] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051551.002774279] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903758 Long: -76.50276349 -[main_algo-3] [INFO] [1746051551.003768982] [sailbot.main_algo]: Distance to destination: 56.8124105103264 -[vectornav-1] [INFO] [1746051551.003931807] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.014999999999986, -1.742, 5.672) -[main_algo-3] [INFO] [1746051551.004925720] [sailbot.main_algo]: Target Bearing: -142.95695813075173 -[main_algo-3] [INFO] [1746051551.005875567] [sailbot.main_algo]: Heading Difference: -167.55204186924828 -[main_algo-3] [INFO] [1746051551.007228178] [sailbot.main_algo]: Wind Direction: 178 -[main_algo-3] [INFO] [1746051551.008115013] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051551.009004978] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051551.010549881] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051551.045205614] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051551.045959639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051551.046599588] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051551.047930662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051551.048966149] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051551.085644498] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051551.088292168] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051551.088379308] [sailbot.teensy]: Wind angle: 179 -[mux-7] [INFO] [1746051551.089734759] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051551.089945144] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051551.090904123] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051551.091831246] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051551.143884962] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051551.144271187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051551.144528248] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051551.145406819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051551.145945319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051551.244987548] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051551.245722860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051551.246282972] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051551.247574542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051551.248614823] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051551.335331018] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051551.338017272] [sailbot.teensy]: Wind angle: 177 -[trim_sail-4] [INFO] [1746051551.338095581] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051551.338761295] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051551.338987128] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051551.339889979] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051551.340774159] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051551.344449756] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051551.345042065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051551.345654498] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051551.346814581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051551.347852298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051551.445335391] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051551.446171147] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051551.446839752] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051551.448136840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051551.448658991] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051551.457822884] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051551.458857952] [sailbot.main_algo]: Target Bearing: -142.95695813075173 -[main_algo-3] [INFO] [1746051551.459761306] [sailbot.main_algo]: Heading Difference: -167.02804186924828 -[main_algo-3] [INFO] [1746051551.461097482] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051551.462014689] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051551.462850814] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051551.464600284] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051551.464612069] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051551.502563131] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903775 Long: -76.50276314 -[main_algo-3] [INFO] [1746051551.503448994] [sailbot.main_algo]: Distance to destination: 56.8467085523228 -[vectornav-1] [INFO] [1746051551.503759621] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.63799999999998, 1.035, 5.045) -[main_algo-3] [INFO] [1746051551.504542983] [sailbot.main_algo]: Target Bearing: -142.95985515233184 -[main_algo-3] [INFO] [1746051551.505501870] [sailbot.main_algo]: Heading Difference: -167.02514484766817 -[main_algo-3] [INFO] [1746051551.506855036] [sailbot.main_algo]: Wind Direction: 177 -[main_algo-3] [INFO] [1746051551.507754098] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051551.508622284] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051551.510448560] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051551.545169150] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051551.545714632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051551.546572728] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051551.547536547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051551.548746345] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051551.585169859] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051551.586931387] [sailbot.teensy]: Wind angle: 175 -[trim_sail-4] [INFO] [1746051551.587635710] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051551.587869141] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051551.588048148] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051551.588803109] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051551.589700355] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051551.645142537] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051551.645628417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051551.646486503] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051551.647454460] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051551.648608172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051551.745375345] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051551.746051081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051551.746955372] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051551.748001800] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051551.749056011] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051551.835477278] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051551.837841030] [sailbot.teensy]: Wind angle: 174 -[trim_sail-4] [INFO] [1746051551.837921695] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051551.839272794] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051551.839726965] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051551.840709954] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051551.841581502] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051551.844349675] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051551.844917290] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051551.845430354] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051551.846603651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051551.847764513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051551.945035464] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051551.945766536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051551.946309798] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051551.947676774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051551.948826824] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051551.957447562] [sailbot.main_algo]: Wind Direction: 174 -[main_algo-3] [INFO] [1746051551.958479725] [sailbot.main_algo]: Target Bearing: -142.95985515233184 -[main_algo-3] [INFO] [1746051551.959400438] [sailbot.main_algo]: Heading Difference: -167.40214484766818 -[main_algo-3] [INFO] [1746051551.960672270] [sailbot.main_algo]: Wind Direction: 174 -[main_algo-3] [INFO] [1746051551.961522392] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051551.962357261] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051551.964035043] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051551.964075601] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051552.003010412] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903782 Long: -76.50276311 -[main_algo-3] [INFO] [1746051552.004237433] [sailbot.main_algo]: Distance to destination: 56.8534431351124 -[vectornav-1] [INFO] [1746051552.004327177] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.19400000000002, -1.228, 5.713) -[main_algo-3] [INFO] [1746051552.005826909] [sailbot.main_algo]: Target Bearing: -142.95521834982694 -[main_algo-3] [INFO] [1746051552.006960985] [sailbot.main_algo]: Heading Difference: -167.40678165017312 -[main_algo-3] [INFO] [1746051552.008382493] [sailbot.main_algo]: Wind Direction: 174 -[main_algo-3] [INFO] [1746051552.009344431] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051552.010232242] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051552.012077934] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051552.045022268] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051552.045752900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051552.046548074] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051552.047597811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051552.048704451] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051552.085353825] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051552.087034792] [sailbot.teensy]: Wind angle: 175 -[trim_sail-4] [INFO] [1746051552.087528779] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051552.087962177] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051552.088873841] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051552.089044496] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051552.089736661] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051552.144954402] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051552.145527859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051552.146351389] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051552.147538827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051552.148753177] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051552.244982714] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051552.245674263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051552.246250350] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051552.247614181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051552.248697148] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051552.335420442] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051552.337722566] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051552.338445335] [sailbot.teensy]: Wind angle: 175 -[mux-7] [INFO] [1746051552.339393907] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051552.339438766] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051552.340169051] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051552.340571257] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051552.344340769] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051552.344841569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051552.345462730] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051552.346569840] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051552.347611638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051552.444742948] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051552.445227201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051552.445976295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051552.446960572] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051552.448044714] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051552.457409953] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051552.458393626] [sailbot.main_algo]: Target Bearing: -142.95521834982694 -[main_algo-3] [INFO] [1746051552.459260780] [sailbot.main_algo]: Heading Difference: -167.85078165017308 -[main_algo-3] [INFO] [1746051552.460472000] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051552.461301350] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051552.462094433] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051552.463620309] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051552.463644214] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051552.502910531] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690379 Long: -76.50276296 -[vectornav-1] [INFO] [1746051552.504511874] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.617999999999995, 0.051, 5.968) -[main_algo-3] [INFO] [1746051552.505043506] [sailbot.main_algo]: Distance to destination: 56.86863127093997 -[main_algo-3] [INFO] [1746051552.506230371] [sailbot.main_algo]: Target Bearing: -142.9558306064044 -[waypoint_service-5] [INFO] [1746051552.507033441] [sailbot.waypoint_service]: Received request: command=pop, argument= -[main_algo-3] [INFO] [1746051552.507454622] [sailbot.main_algo]: Heading Difference: -167.8501693935956 -[waypoint_service-5] [INFO] [1746051552.508101892] [sailbot.waypoint_service]: Popped waypoint: (42.468722228966215, -76.50330754375084) -[main_algo-3] [INFO] [1746051552.509094013] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051552.510156376] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051552.511182253] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051552.513381907] [sailbot.mux]: algo rudder angle: -25 -[waypoint_service-5] [INFO] [1746051552.518202842] [sailbot.waypoint_service]: Received request: command=get, argument= -[mux-7] [INFO] [1746051552.545021008] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051552.545705826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051552.546292419] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051552.547933207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051552.548936516] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051552.585733032] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051552.587783614] [sailbot.teensy]: Wind angle: 175 -[trim_sail-4] [INFO] [1746051552.588338569] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051552.588812976] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051552.589712068] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051552.590145473] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051552.590582489] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051552.645078039] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051552.645913099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051552.646414237] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051552.647705256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051552.648995867] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051552.745217773] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051552.745660134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051552.746672933] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051552.748054166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051552.748501559] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051552.835207101] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051552.837499220] [sailbot.teensy]: Wind angle: 175 -[trim_sail-4] [INFO] [1746051552.837576000] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051552.838475717] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051552.839621261] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051552.840176665] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051552.840403887] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051552.844541272] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051552.845063214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051552.845728854] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051552.846747212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051552.847797227] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051552.945498974] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051552.946070795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051552.947121155] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051552.948229110] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051552.949504166] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051552.957884001] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051552.958929136] [sailbot.main_algo]: Target Bearing: -142.9558306064044 -[main_algo-3] [INFO] [1746051552.959819319] [sailbot.main_algo]: Heading Difference: -167.42616939359561 -[main_algo-3] [INFO] [1746051552.961140609] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051552.962017103] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051552.962880121] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051552.964618362] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051552.964933875] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051553.002783846] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903819 Long: -76.50276271 -[vectornav-1] [INFO] [1746051553.003940512] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.23700000000002, -1.3, 4.394) -[main_algo-3] [INFO] [1746051553.004080873] [sailbot.main_algo]: Distance to destination: 56.9046723775899 -[main_algo-3] [INFO] [1746051553.005246951] [sailbot.main_algo]: Target Bearing: -142.94305621702216 -[main_algo-3] [INFO] [1746051553.006232838] [sailbot.main_algo]: Heading Difference: -167.43894378297784 -[main_algo-3] [INFO] [1746051553.007601781] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051553.008518240] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051553.009388765] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051553.011013039] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051553.045248650] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051553.045702533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051553.046555207] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051553.047730552] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051553.048946182] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051553.085285672] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051553.087634582] [sailbot.teensy]: Wind angle: 175 -[trim_sail-4] [INFO] [1746051553.088086572] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051553.088621072] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051553.089567948] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051553.090206850] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051553.090418981] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051553.144872678] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051553.145478094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051553.146044696] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051553.147329320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051553.148449236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051553.244666992] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051553.245245254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051553.245878653] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051553.247068207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051553.248032791] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051553.335585325] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051553.338326232] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051553.339334963] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051553.339708290] [sailbot.teensy]: Wind angle: 170 -[teensy-2] [INFO] [1746051553.340549896] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051553.340925874] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051553.341299719] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051553.344743729] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051553.345059621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051553.345944364] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051553.346746813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051553.348047794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051553.445744181] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051553.446381754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051553.447743533] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051553.448917614] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051553.450120791] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051553.458086647] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051553.459202631] [sailbot.main_algo]: Target Bearing: -142.94305621702216 -[main_algo-3] [INFO] [1746051553.460165644] [sailbot.main_algo]: Heading Difference: -166.81994378297782 -[main_algo-3] [INFO] [1746051553.461493978] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051553.462395281] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051553.463235899] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051553.464993659] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051553.465419402] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051553.502932853] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903835 Long: -76.50276259 -[vectornav-1] [INFO] [1746051553.504106848] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.139999999999986, 0.823, 7.55) -[main_algo-3] [INFO] [1746051553.504571333] [sailbot.main_algo]: Distance to destination: 56.92339780581252 -[main_algo-3] [INFO] [1746051553.505777356] [sailbot.main_algo]: Target Bearing: -142.93509997030822 -[main_algo-3] [INFO] [1746051553.506810034] [sailbot.main_algo]: Heading Difference: -166.82790002969176 -[main_algo-3] [INFO] [1746051553.508665594] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051553.509613865] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051553.510496605] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051553.512121671] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051553.545029949] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051553.545595832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051553.546381616] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051553.547475335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051553.548531211] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051553.585269332] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051553.586957201] [sailbot.teensy]: Wind angle: 161 -[trim_sail-4] [INFO] [1746051553.587467755] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051553.587864932] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051553.588812817] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051553.589687498] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051553.589781018] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051553.644524927] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051553.645321329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051553.645650541] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051553.647116163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051553.648193648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051553.745326893] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051553.746770871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051553.746925545] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051553.748956106] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051553.750009475] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051553.835439190] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051553.837675631] [sailbot.teensy]: Wind angle: 160 -[trim_sail-4] [INFO] [1746051553.837826211] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051553.839343764] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051553.839469835] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051553.840418142] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051553.841278139] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051553.844344678] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051553.844784511] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051553.846390979] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051553.846886381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051553.847944496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051553.945260833] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051553.946042025] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051553.946751307] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051553.948066247] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051553.949275762] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051553.957565653] [sailbot.main_algo]: Wind Direction: 160 -[main_algo-3] [INFO] [1746051553.958558871] [sailbot.main_algo]: Target Bearing: -142.93509997030822 -[main_algo-3] [INFO] [1746051553.959466798] [sailbot.main_algo]: Heading Difference: -167.9249000296918 -[main_algo-3] [INFO] [1746051553.960767714] [sailbot.main_algo]: Wind Direction: 160 -[main_algo-3] [INFO] [1746051553.961641564] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051553.962453405] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051553.964009004] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051553.964031510] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051554.002673560] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903822 Long: -76.50276216 -[vectornav-1] [INFO] [1746051554.003764333] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.298, -1.244, 5.481) -[main_algo-3] [INFO] [1746051554.004258679] [sailbot.main_algo]: Distance to destination: 56.94233316935932 -[main_algo-3] [INFO] [1746051554.005284554] [sailbot.main_algo]: Target Bearing: -142.9684762581626 -[main_algo-3] [INFO] [1746051554.006297779] [sailbot.main_algo]: Heading Difference: -167.89152374183743 -[main_algo-3] [INFO] [1746051554.007690284] [sailbot.main_algo]: Wind Direction: 160 -[main_algo-3] [INFO] [1746051554.008603705] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051554.009474959] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051554.011178380] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051554.044868805] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051554.045473566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051554.046106142] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051554.047244798] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051554.048584219] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051554.085434294] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051554.087396974] [sailbot.teensy]: Wind angle: 160 -[teensy-2] [INFO] [1746051554.088388790] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051554.087789892] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051554.088962187] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051554.089708014] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051554.090688721] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051554.144931751] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051554.145753861] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051554.146213127] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051554.147609813] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051554.148803378] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051554.245031579] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051554.245625501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051554.246399187] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051554.247554673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051554.248770550] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051554.335190783] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051554.336800248] [sailbot.teensy]: Wind angle: 161 -[trim_sail-4] [INFO] [1746051554.337573659] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051554.338941435] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051554.339098719] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051554.339615443] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051554.340011803] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051554.344468435] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051554.344960727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051554.345625717] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051554.346668302] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051554.347726966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051554.445483485] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051554.446053643] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051554.447129540] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051554.448276471] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051554.448788156] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051554.457702976] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051554.458807321] [sailbot.main_algo]: Target Bearing: -142.9684762581626 -[main_algo-3] [INFO] [1746051554.459758397] [sailbot.main_algo]: Heading Difference: -165.73352374183742 -[main_algo-3] [INFO] [1746051554.461107378] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051554.461987442] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051554.462787723] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051554.464417121] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051554.464512757] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051554.502635617] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903836 Long: -76.50276213 -[main_algo-3] [INFO] [1746051554.503672610] [sailbot.main_algo]: Distance to destination: 56.95385905664763 -[vectornav-1] [INFO] [1746051554.503775475] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.093999999999994, -0.353, 5.131) -[main_algo-3] [INFO] [1746051554.505100564] [sailbot.main_algo]: Target Bearing: -142.95768763940762 -[main_algo-3] [INFO] [1746051554.506063611] [sailbot.main_algo]: Heading Difference: -165.7443123605924 -[main_algo-3] [INFO] [1746051554.507551850] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051554.508533897] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051554.509414662] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051554.511061695] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051554.544673311] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051554.545389554] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051554.545863680] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051554.547238751] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051554.548304928] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051554.585129974] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051554.586629332] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051554.587109160] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051554.587546653] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051554.588475055] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051554.589453950] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051554.589444280] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051554.645303273] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051554.646128329] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051554.646923752] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051554.648632748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051554.649655313] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051554.745330311] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051554.746317909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051554.746962544] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051554.748553884] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051554.749734598] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051554.835474874] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051554.837502239] [sailbot.teensy]: Wind angle: 169 -[trim_sail-4] [INFO] [1746051554.838405733] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051554.838468534] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051554.839164555] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051554.839200125] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051554.839573684] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051554.844457274] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051554.845072731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051554.845735147] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051554.846790650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051554.847928844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051554.945491380] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051554.946071038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051554.947307719] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051554.948230014] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051554.949482443] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051554.957762229] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051554.958857773] [sailbot.main_algo]: Target Bearing: -142.95768763940762 -[main_algo-3] [INFO] [1746051554.959779627] [sailbot.main_algo]: Heading Difference: -165.94831236059235 -[main_algo-3] [INFO] [1746051554.961157018] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051554.962062430] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051554.962912714] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051554.964613744] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051554.964641426] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051555.002837357] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903829 Long: -76.50276208 -[main_algo-3] [INFO] [1746051555.003675291] [sailbot.main_algo]: Distance to destination: 56.95230445949329 -[vectornav-1] [INFO] [1746051555.003941491] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.44100000000003, -0.278, 5.459) -[main_algo-3] [INFO] [1746051555.005004445] [sailbot.main_algo]: Target Bearing: -142.9663954315723 -[main_algo-3] [INFO] [1746051555.006566861] [sailbot.main_algo]: Heading Difference: -165.93960456842774 -[main_algo-3] [INFO] [1746051555.007949576] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051555.008867475] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051555.009722363] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051555.011986887] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051555.044862468] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051555.045750282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051555.046155295] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051555.047744975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051555.048778897] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051555.085525615] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051555.087540360] [sailbot.teensy]: Wind angle: 169 -[teensy-2] [INFO] [1746051555.088575187] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051555.087948170] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051555.089476293] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051555.090061514] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051555.090439730] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051555.144448745] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051555.145248971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051555.145563317] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051555.146966814] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051555.148013074] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051555.244485952] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051555.245235080] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051555.247297702] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051555.248063843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051555.249461178] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051555.334492667] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051555.335526128] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051555.336359734] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051555.336456096] [sailbot.teensy]: Wind angle: 170 -[teensy-2] [INFO] [1746051555.336888476] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051555.338291282] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051555.338702030] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051555.343636833] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051555.344112663] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051555.343883495] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051555.344700339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051555.345220785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051555.443921974] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051555.444265713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051555.444648796] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051555.446271430] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051555.446711001] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051555.456682076] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051555.457263143] [sailbot.main_algo]: Target Bearing: -142.9663954315723 -[main_algo-3] [INFO] [1746051555.458034563] [sailbot.main_algo]: Heading Difference: -166.59260456842765 -[main_algo-3] [INFO] [1746051555.458644583] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051555.459237322] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051555.459646921] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051555.460559057] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051555.460568388] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051555.502744152] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903835 Long: -76.50276214 -[main_algo-3] [INFO] [1746051555.503623274] [sailbot.main_algo]: Distance to destination: 56.952527024375655 -[vectornav-1] [INFO] [1746051555.503787665] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.56099999999998, 0.052, 6.446) -[main_algo-3] [INFO] [1746051555.504799696] [sailbot.main_algo]: Target Bearing: -142.95805747230276 -[main_algo-3] [INFO] [1746051555.505733463] [sailbot.main_algo]: Heading Difference: -166.6009425276972 -[main_algo-3] [INFO] [1746051555.507066667] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051555.507955216] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051555.508773211] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051555.510396735] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051555.545023211] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051555.545681618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051555.546397314] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051555.547730203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051555.548917150] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051555.585336261] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051555.587541486] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051555.587875045] [sailbot.teensy]: Wind angle: 170 -[teensy-2] [INFO] [1746051555.588932920] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051555.589900801] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051555.590174248] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051555.590786100] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051555.644937708] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051555.645795399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051555.646666867] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051555.647722563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051555.648765763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051555.745072119] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051555.746217368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051555.746638646] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051555.748301382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051555.748831509] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051555.835257486] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051555.836904293] [sailbot.teensy]: Wind angle: 172 -[trim_sail-4] [INFO] [1746051555.837405423] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051555.838708386] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051555.839048872] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051555.839964653] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051555.840840449] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051555.844246521] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051555.844836400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051555.845545220] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051555.846540373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051555.847582212] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051555.944959324] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051555.945584655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051555.946267250] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051555.947441635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051555.947969523] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051555.957677076] [sailbot.main_algo]: Wind Direction: 172 -[main_algo-3] [INFO] [1746051555.958781543] [sailbot.main_algo]: Target Bearing: -142.95805747230276 -[main_algo-3] [INFO] [1746051555.959783513] [sailbot.main_algo]: Heading Difference: -167.48094252769727 -[main_algo-3] [INFO] [1746051555.961112183] [sailbot.main_algo]: Wind Direction: 172 -[main_algo-3] [INFO] [1746051555.961935059] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051555.962723861] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051555.964233941] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051555.964270653] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051556.002643097] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903803 Long: -76.50276175 -[main_algo-3] [INFO] [1746051556.003603728] [sailbot.main_algo]: Distance to destination: 56.95588872735326 -[vectornav-1] [INFO] [1746051556.003731635] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.399, -0.506, 5.562) -[main_algo-3] [INFO] [1746051556.004840632] [sailbot.main_algo]: Target Bearing: -143.00609292400395 -[main_algo-3] [INFO] [1746051556.005793531] [sailbot.main_algo]: Heading Difference: -167.43290707599607 -[main_algo-3] [INFO] [1746051556.007146485] [sailbot.main_algo]: Wind Direction: 172 -[main_algo-3] [INFO] [1746051556.008048853] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051556.008902972] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051556.010485559] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051556.045007536] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051556.045673165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051556.046274315] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051556.047539679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051556.048769863] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051556.085385177] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051556.087583564] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051556.088119974] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051556.088997223] [sailbot.teensy]: Wind angle: 179 -[teensy-2] [INFO] [1746051556.090155496] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051556.091023874] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051556.091845687] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051556.144906927] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051556.145699032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051556.146203487] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051556.147732712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051556.148950001] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051556.244985001] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051556.245638176] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051556.246292397] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051556.247625533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051556.248709446] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051556.335171895] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051556.337218151] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051556.338155599] [sailbot.teensy]: Wind angle: 194 -[mux-7] [INFO] [1746051556.339151356] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051556.339261460] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051556.340207507] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051556.341105423] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051556.344245696] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051556.344748998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051556.345358405] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051556.346440151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051556.347612927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051556.444566692] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051556.445044346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051556.445616173] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051556.446735019] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051556.447753673] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051556.457364313] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051556.458358533] [sailbot.main_algo]: Target Bearing: -143.00609292400395 -[main_algo-3] [INFO] [1746051556.459283979] [sailbot.main_algo]: Heading Difference: -166.59490707599605 -[main_algo-3] [INFO] [1746051556.460553834] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051556.461406422] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051556.462209369] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051556.463870953] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051556.463992405] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051556.502678779] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903823 Long: -76.50276154 -[main_algo-3] [INFO] [1746051556.503621478] [sailbot.main_algo]: Distance to destination: 56.98317141121347 -[vectornav-1] [INFO] [1746051556.503742042] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.06600000000003, -1.077, 5.015) -[main_algo-3] [INFO] [1746051556.504743753] [sailbot.main_algo]: Target Bearing: -142.9991866761329 -[main_algo-3] [INFO] [1746051556.505648852] [sailbot.main_algo]: Heading Difference: -166.60181332386708 -[main_algo-3] [INFO] [1746051556.506981610] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051556.507942574] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051556.508821859] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051556.510478244] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051556.545052770] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051556.545808319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051556.546342242] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051556.547676616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051556.548850452] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051556.585609134] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051556.588012844] [sailbot.teensy]: Wind angle: 204 -[trim_sail-4] [INFO] [1746051556.588009127] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051556.589342097] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051556.589440079] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051556.590306831] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051556.591487588] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051556.645016671] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051556.645619923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051556.646328607] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051556.647478581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051556.648560861] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051556.744650648] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051556.745335615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051556.745782279] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051556.747155373] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051556.748223058] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051556.835297646] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051556.837590686] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051556.837935090] [sailbot.teensy]: Wind angle: 205 -[mux-7] [INFO] [1746051556.838789910] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051556.838934773] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051556.839840260] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051556.840754904] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051556.844376497] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051556.844916471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051556.845577324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051556.846687012] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051556.847832796] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051556.945346098] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051556.946057033] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051556.946869708] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051556.948363168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051556.948880432] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051556.957703946] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051556.958694451] [sailbot.main_algo]: Target Bearing: -142.9991866761329 -[main_algo-3] [INFO] [1746051556.959581651] [sailbot.main_algo]: Heading Difference: -164.93481332386705 -[main_algo-3] [INFO] [1746051556.960922936] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051556.961800971] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051556.962666882] [sailbot.main_algo]: Rudder Angle: -25 -[main_algo-3] [INFO] [1746051556.964380729] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051556.964381336] [sailbot.mux]: algo rudder angle: -25 -[vectornav-1] [INFO] [1746051557.002813178] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903836 Long: -76.50276133 -[main_algo-3] [INFO] [1746051557.003710115] [sailbot.main_algo]: Distance to destination: 57.00566661737476 -[vectornav-1] [INFO] [1746051557.003901195] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.523000000000025, 0.526, 6.645) -[main_algo-3] [INFO] [1746051557.004826303] [sailbot.main_algo]: Target Bearing: -142.99844241348632 -[main_algo-3] [INFO] [1746051557.005804738] [sailbot.main_algo]: Heading Difference: -164.93555758651365 -[main_algo-3] [INFO] [1746051557.007210038] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051557.008101009] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051557.008999751] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051557.010662730] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051557.045034459] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051557.045796600] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051557.046318109] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051557.047912146] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051557.049157138] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051557.085440547] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051557.087237217] [sailbot.teensy]: Wind angle: 208 -[trim_sail-4] [INFO] [1746051557.087621222] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051557.088218948] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051557.089061819] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051557.089642834] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051557.089897785] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051557.144985200] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051557.145721083] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051557.146321609] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051557.147702085] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051557.148731274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051557.244956590] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051557.245696463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051557.247286257] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051557.247693879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051557.249109047] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051557.335380855] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051557.337670739] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051557.337963129] [sailbot.teensy]: Wind angle: 209 -[mux-7] [INFO] [1746051557.338170383] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051557.338955087] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051557.339548376] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051557.339917607] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051557.344488898] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051557.345029127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051557.345759464] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051557.346714065] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051557.347892004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051557.444576822] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051557.445113746] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051557.445699742] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051557.447584943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051557.449110285] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051557.457432374] [sailbot.main_algo]: Wind Direction: 209 -[main_algo-3] [INFO] [1746051557.458423940] [sailbot.main_algo]: Target Bearing: -142.99844241348632 -[main_algo-3] [INFO] [1746051557.459298306] [sailbot.main_algo]: Heading Difference: -166.47855758651366 -[main_algo-3] [INFO] [1746051557.460551428] [sailbot.main_algo]: Wind Direction: 209 -[main_algo-3] [INFO] [1746051557.461440242] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051557.462463614] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051557.464263297] [sailbot.mux]: algo rudder angle: -25 -[main_algo-3] [INFO] [1746051557.465175951] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051557.501428610] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903836 Long: -76.50276102 -[vectornav-1] [INFO] [1746051557.501901263] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.62099999999998, -0.967, 5.773) -[main_algo-3] [INFO] [1746051557.501934105] [sailbot.main_algo]: Distance to destination: 57.02574979235492 -[main_algo-3] [INFO] [1746051557.502413711] [sailbot.main_algo]: Target Bearing: -143.01421497922817 -[main_algo-3] [INFO] [1746051557.502865679] [sailbot.main_algo]: Heading Difference: -166.46278502077178 -[main_algo-3] [INFO] [1746051557.503711124] [sailbot.main_algo]: Wind Direction: 209 -[main_algo-3] [INFO] [1746051557.504196440] [sailbot.main_algo]: Rudder Angle Raw: -25.0 -[main_algo-3] [INFO] [1746051557.504989218] [sailbot.main_algo]: Rudder Angle: -25 -[mux-7] [INFO] [1746051557.505844667] [sailbot.mux]: algo rudder angle: -25 -[mux-7] [INFO] [1746051557.544923339] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051557.545614219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051557.546218673] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051557.547495639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051557.548591115] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051557.585121021] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051557.586610649] [sailbot.teensy]: Wind angle: 209 -[teensy-2] [INFO] [1746051557.587456590] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051557.587203206] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051557.587964857] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051557.588333233] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051557.589227022] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051557.645160922] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051557.645786203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051557.646385118] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051557.647843998] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051557.648680893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051557.745349144] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051557.746097521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051557.746848753] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051557.748199294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051557.749357344] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051557.835271837] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051557.836938137] [sailbot.teensy]: Wind angle: 211 -[trim_sail-4] [INFO] [1746051557.837399859] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051557.838239838] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051557.839207514] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051557.839873450] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051557.840087045] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051557.844544582] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051557.845077195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051557.845665181] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051557.846777905] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051557.847759693] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051557.945177046] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051557.945933668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051557.946616287] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051557.948209083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051557.949317096] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051557.957660055] [sailbot.main_algo]: Wind Direction: 211 -[main_algo-3] [INFO] [1746051557.958672498] [sailbot.main_algo]: Target Bearing: -143.01421497922817 -[main_algo-3] [INFO] [1746051557.959572036] [sailbot.main_algo]: Heading Difference: -165.36478502077182 -[main_algo-3] [INFO] [1746051557.960887501] [sailbot.main_algo]: Wind Direction: 211 -[main_algo-3] [INFO] [1746051557.961770288] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051557.962582416] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051557.964117977] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051557.964242851] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051558.002768123] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903819 Long: -76.50276084 -[main_algo-3] [INFO] [1746051558.003551708] [sailbot.main_algo]: Distance to destination: 57.025793454955746 -[vectornav-1] [INFO] [1746051558.003863166] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.851, 0.034, 4.82) -[main_algo-3] [INFO] [1746051558.004665082] [sailbot.main_algo]: Target Bearing: -143.0383179774655 -[main_algo-3] [INFO] [1746051558.005635116] [sailbot.main_algo]: Heading Difference: -165.3406820225345 -[main_algo-3] [INFO] [1746051558.007016709] [sailbot.main_algo]: Wind Direction: 211 -[main_algo-3] [INFO] [1746051558.007938781] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051558.008824002] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051558.010559463] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051558.045264652] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051558.045789302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051558.046715743] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051558.047869251] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051558.049035013] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051558.085405095] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051558.087183866] [sailbot.teensy]: Wind angle: 215 -[teensy-2] [INFO] [1746051558.088131119] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051558.087860468] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051558.088428818] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051558.089042696] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051558.089962522] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051558.145167017] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051558.145655470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051558.146544861] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051558.147486382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051558.148628946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051558.244998830] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051558.245533385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051558.246263377] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051558.247341716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051558.248425852] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051558.335494349] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051558.337448630] [sailbot.teensy]: Wind angle: 216 -[trim_sail-4] [INFO] [1746051558.337998262] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051558.338445562] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051558.339402611] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051558.340295928] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051558.340401352] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051558.344444749] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051558.344965752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051558.345565212] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051558.346658308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051558.347698175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051558.445270510] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051558.445840369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051558.446786438] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051558.448113618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051558.448942371] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051558.457552126] [sailbot.main_algo]: Wind Direction: 216 -[main_algo-3] [INFO] [1746051558.458551285] [sailbot.main_algo]: Target Bearing: -143.0383179774655 -[main_algo-3] [INFO] [1746051558.459439328] [sailbot.main_algo]: Heading Difference: -165.1106820225345 -[main_algo-3] [INFO] [1746051558.460687871] [sailbot.main_algo]: Wind Direction: 216 -[main_algo-3] [INFO] [1746051558.461516261] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051558.462342890] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051558.463886042] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051558.464037636] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051558.502530348] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903828 Long: -76.50276098 -[main_algo-3] [INFO] [1746051558.503531231] [sailbot.main_algo]: Distance to destination: 57.022872120885076 -[vectornav-1] [INFO] [1746051558.503562977] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.178, -0.78, 5.906) -[main_algo-3] [INFO] [1746051558.504974613] [sailbot.main_algo]: Target Bearing: -143.0232842311941 -[main_algo-3] [INFO] [1746051558.506209872] [sailbot.main_algo]: Heading Difference: -165.1257157688059 -[main_algo-3] [INFO] [1746051558.507622531] [sailbot.main_algo]: Wind Direction: 216 -[main_algo-3] [INFO] [1746051558.508629519] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051558.509566033] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051558.511292619] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051558.545034291] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051558.545773068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051558.546352868] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051558.547878963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051558.549034872] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051558.585615865] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051558.588861667] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051558.588919019] [sailbot.teensy]: Wind angle: 215 -[teensy-2] [INFO] [1746051558.589918558] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051558.590156090] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051558.590844824] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051558.591768356] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051558.645149042] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051558.646084351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051558.646621685] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051558.648070746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051558.649253719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051558.745408742] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051558.746239859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051558.746879100] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051558.748286222] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051558.748732997] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051558.835220962] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051558.837275089] [sailbot.teensy]: Wind angle: 216 -[trim_sail-4] [INFO] [1746051558.837632576] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051558.838267642] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051558.839338557] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051558.840322587] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051558.841196013] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051558.844297506] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051558.844923885] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051558.845850041] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051558.846965154] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051558.848284019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051558.945397925] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051558.946118741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051558.946989486] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051558.948312586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051558.949581034] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051558.957725743] [sailbot.main_algo]: Wind Direction: 216 -[main_algo-3] [INFO] [1746051558.958757258] [sailbot.main_algo]: Target Bearing: -143.0232842311941 -[main_algo-3] [INFO] [1746051558.959691012] [sailbot.main_algo]: Heading Difference: -165.7987157688059 -[main_algo-3] [INFO] [1746051558.961061093] [sailbot.main_algo]: Wind Direction: 216 -[main_algo-3] [INFO] [1746051558.961943203] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051558.962772189] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051558.964379554] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051558.964432528] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051559.002682026] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903815 Long: -76.50276041 -[main_algo-3] [INFO] [1746051559.003714482] [sailbot.main_algo]: Distance to destination: 57.05093495609304 -[vectornav-1] [INFO] [1746051559.003757263] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.952, -0.431, 6.02) -[main_algo-3] [INFO] [1746051559.004872054] [sailbot.main_algo]: Target Bearing: -143.06368369265655 -[main_algo-3] [INFO] [1746051559.005899020] [sailbot.main_algo]: Heading Difference: -165.75831630734342 -[main_algo-3] [INFO] [1746051559.007267988] [sailbot.main_algo]: Wind Direction: 216 -[main_algo-3] [INFO] [1746051559.008185028] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051559.009052125] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051559.010726435] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051559.045029055] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051559.045734185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051559.046958324] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051559.047695976] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051559.048804112] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051559.085545783] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051559.088027556] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051559.088027301] [sailbot.teensy]: Wind angle: 217 -[teensy-2] [INFO] [1746051559.089000458] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051559.089102046] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051559.089905116] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051559.090772748] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051559.145326400] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051559.146162930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051559.146917883] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051559.148508574] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051559.149726324] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051559.245125299] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051559.245755055] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051559.246578053] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051559.247913576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051559.248949053] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051559.335531231] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051559.337956221] [sailbot.teensy]: Wind angle: 219 -[trim_sail-4] [INFO] [1746051559.338157977] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051559.338903979] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051559.338948424] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051559.339940860] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051559.340862994] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051559.344422519] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051559.345078871] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051559.345568755] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051559.346767609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051559.347815850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051559.445094333] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051559.445628295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051559.446604385] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051559.447525529] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051559.448459726] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051559.457686892] [sailbot.main_algo]: Wind Direction: 219 -[main_algo-3] [INFO] [1746051559.458730425] [sailbot.main_algo]: Target Bearing: -143.06368369265655 -[main_algo-3] [INFO] [1746051559.459669133] [sailbot.main_algo]: Heading Difference: -165.98431630734342 -[main_algo-3] [INFO] [1746051559.460925994] [sailbot.main_algo]: Wind Direction: 219 -[main_algo-3] [INFO] [1746051559.461785100] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051559.462595947] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051559.464116989] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051559.464232785] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051559.502809310] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903819 Long: -76.50276018 -[main_algo-3] [INFO] [1746051559.503822094] [sailbot.main_algo]: Distance to destination: 57.06857960022789 -[vectornav-1] [INFO] [1746051559.504054439] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.90300000000002, -0.041, 5.77) -[main_algo-3] [INFO] [1746051559.505616908] [sailbot.main_algo]: Target Bearing: -143.0718431957968 -[main_algo-3] [INFO] [1746051559.506882596] [sailbot.main_algo]: Heading Difference: -165.97615680420324 -[main_algo-3] [INFO] [1746051559.508356669] [sailbot.main_algo]: Wind Direction: 219 -[main_algo-3] [INFO] [1746051559.509270219] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051559.510156482] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051559.511956535] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051559.544075568] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051559.544619104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051559.544900040] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051559.546537089] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051559.547503060] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051559.584499525] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051559.585527333] [sailbot.teensy]: Wind angle: 221 -[trim_sail-4] [INFO] [1746051559.586121041] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051559.586267707] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051559.586975881] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051559.587533041] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051559.587688557] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051559.645178353] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051559.645728850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051559.646557898] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051559.647727203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051559.648662006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051559.745406543] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051559.745928067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051559.746906159] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051559.747928224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051559.749028106] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051559.835249775] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051559.836909688] [sailbot.teensy]: Wind angle: 224 -[teensy-2] [INFO] [1746051559.837810511] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051559.837412331] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051559.838716339] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051559.838977238] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051559.839571180] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051559.844647692] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051559.845207858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051559.845796546] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051559.846913618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051559.847934447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051559.945581025] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051559.946224506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051559.947555644] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051559.948533138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051559.949764652] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051559.957681662] [sailbot.main_algo]: Wind Direction: 224 -[main_algo-3] [INFO] [1746051559.958720752] [sailbot.main_algo]: Target Bearing: -143.0718431957968 -[main_algo-3] [INFO] [1746051559.959670649] [sailbot.main_algo]: Heading Difference: -165.02515680420322 -[main_algo-3] [INFO] [1746051559.961056888] [sailbot.main_algo]: Wind Direction: 224 -[main_algo-3] [INFO] [1746051559.961878824] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051559.962685202] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051559.964240256] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051559.964357619] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051560.002892713] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903819 Long: -76.50276029 -[main_algo-3] [INFO] [1746051560.003837551] [sailbot.main_algo]: Distance to destination: 57.06144721853732 -[vectornav-1] [INFO] [1746051560.004382300] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.113, -0.87, 5.392) -[main_algo-3] [INFO] [1746051560.004964460] [sailbot.main_algo]: Target Bearing: -143.06625915065152 -[main_algo-3] [INFO] [1746051560.006037735] [sailbot.main_algo]: Heading Difference: -165.0307408493485 -[main_algo-3] [INFO] [1746051560.007403565] [sailbot.main_algo]: Wind Direction: 224 -[main_algo-3] [INFO] [1746051560.008392622] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051560.009293814] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051560.011049209] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051560.045018078] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051560.045924851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051560.046340062] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051560.047982083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051560.049083144] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051560.085470662] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051560.087327562] [sailbot.teensy]: Wind angle: 225 -[trim_sail-4] [INFO] [1746051560.088075132] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051560.088296291] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051560.089266514] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051560.090174847] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051560.090489491] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051560.144828902] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051560.145539062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051560.146391507] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051560.147974190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051560.149172440] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051560.244435820] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051560.245116670] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051560.245432323] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051560.246867963] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051560.248493094] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051560.335292901] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051560.336927668] [sailbot.teensy]: Wind angle: 224 -[teensy-2] [INFO] [1746051560.338071484] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051560.338167117] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051560.338940972] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051560.339314763] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051560.340280679] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051560.344269617] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051560.344828300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051560.345372997] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051560.346488654] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051560.347575048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051560.444776091] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051560.445441140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051560.446022670] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051560.447353601] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051560.448365523] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051560.457628282] [sailbot.main_algo]: Wind Direction: 224 -[main_algo-3] [INFO] [1746051560.458667237] [sailbot.main_algo]: Target Bearing: -143.06625915065152 -[main_algo-3] [INFO] [1746051560.459579550] [sailbot.main_algo]: Heading Difference: -165.82074084934845 -[main_algo-3] [INFO] [1746051560.460823510] [sailbot.main_algo]: Wind Direction: 224 -[main_algo-3] [INFO] [1746051560.461651680] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051560.462449409] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051560.463994659] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051560.464018065] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051560.502988450] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903798 Long: -76.50276017 -[vectornav-1] [INFO] [1746051560.504357776] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (50.803999999999974, -0.159, 6.845) -[main_algo-3] [INFO] [1746051560.504395869] [sailbot.main_algo]: Distance to destination: 57.05489078809788 -[main_algo-3] [INFO] [1746051560.505739331] [sailbot.main_algo]: Target Bearing: -143.0908211035407 -[main_algo-3] [INFO] [1746051560.506895904] [sailbot.main_algo]: Heading Difference: -165.7961788964593 -[main_algo-3] [INFO] [1746051560.508318319] [sailbot.main_algo]: Wind Direction: 224 -[main_algo-3] [INFO] [1746051560.509278910] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051560.510237908] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051560.512193568] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051560.544998034] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051560.545795668] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051560.546359702] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051560.548086797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051560.549097875] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051560.585283611] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051560.586853524] [sailbot.teensy]: Wind angle: 223 -[teensy-2] [INFO] [1746051560.587739266] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051560.587397271] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051560.588011903] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051560.588613430] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051560.589529583] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051560.645082394] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051560.645767757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051560.646427213] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051560.647989732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051560.648828677] [sailbot.teensy]: Message sent to servo -[waypoint_service-5] [INFO] [1746051560.689668856] [sailbot.waypoint_service]: Received request: command=set, argument=42.468570155967555,-76.50269544545851 -[waypoint_service-5] [INFO] [1746051560.690660775] [sailbot.waypoint_service]: New waypoint queue: [(42.468570155967555, -76.50269544545851)] -[waypoint_service-5] [INFO] [1746051560.692099183] [sailbot.waypoint_service]: Published current waypoint: Lat=42.468570155967555, Lon=-76.50269544545851 -[main_algo-3] [INFO] [1746051560.693527803] [sailbot.main_algo]: Updated current waypoint to: (42.468570155967555, -76.50269544545851) -[waypoint_service-5] [INFO] [1746051560.705862341] [sailbot.waypoint_service]: Received request: command=get, argument= -[mux-7] [INFO] [1746051560.744875359] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051560.745523231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051560.746126485] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051560.747475927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051560.748570789] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051560.835560527] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051560.837742609] [sailbot.teensy]: Wind angle: 224 -[trim_sail-4] [INFO] [1746051560.838300182] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051560.838703635] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051560.838733293] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051560.839366625] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051560.839759713] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051560.844578933] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051560.845298340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051560.845934769] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051560.847061639] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051560.848217329] [sailbot.teensy]: Message sent to servo -[waypoint_service-5] [INFO] [1746051560.904345806] [sailbot.waypoint_service]: Received request: command=get, argument= -[waypoint_service-5] [INFO] [1746051560.912759063] [sailbot.waypoint_service]: Received request: command=get, argument= -[mux-7] [INFO] [1746051560.945192636] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051560.946077362] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051560.946500216] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051560.948293566] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051560.949292157] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051560.957672462] [sailbot.main_algo]: Wind Direction: 224 -[main_algo-3] [INFO] [1746051560.958707806] [sailbot.main_algo]: Target Bearing: -143.0908211035407 -[main_algo-3] [INFO] [1746051560.959664615] [sailbot.main_algo]: Heading Difference: -166.10517889645934 -[main_algo-3] [INFO] [1746051560.960958807] [sailbot.main_algo]: Wind Direction: 224 -[main_algo-3] [INFO] [1746051560.961805523] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051560.962607951] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051560.964172686] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051560.964288585] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051561.002717856] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903809 Long: -76.50275993 -[main_algo-3] [INFO] [1746051561.003792633] [sailbot.main_algo]: Distance to destination: 52.2379740458845 -[vectornav-1] [INFO] [1746051561.003915782] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.00999999999999, -0.395, 5.571) -[main_algo-3] [INFO] [1746051561.004958629] [sailbot.main_algo]: Target Bearing: -143.0933223167561 -[main_algo-3] [INFO] [1746051561.005904149] [sailbot.main_algo]: Heading Difference: -166.10267768324394 -[main_algo-3] [INFO] [1746051561.007233813] [sailbot.main_algo]: Wind Direction: 224 -[main_algo-3] [INFO] [1746051561.008087574] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051561.008899644] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051561.010517839] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051561.045087723] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051561.045926488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051561.046426139] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051561.048189662] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051561.049234786] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051561.085274973] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051561.087616297] [sailbot.teensy]: Wind angle: 223 -[trim_sail-4] [INFO] [1746051561.087626390] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051561.088612810] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051561.089482466] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051561.089060839] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051561.090361479] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051561.145068386] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051561.145570282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051561.146431259] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051561.147498983] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051561.148674807] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051561.245438533] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051561.246171011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051561.247007109] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051561.248668309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051561.249820551] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051561.335026324] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051561.336533026] [sailbot.teensy]: Wind angle: 222 -[trim_sail-4] [INFO] [1746051561.337114304] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051561.338200435] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051561.339101049] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051561.339931678] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051561.340347585] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051561.344451534] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051561.344992666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051561.345535307] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051561.346823974] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051561.347877050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051561.445161945] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051561.445811716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051561.446921011] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051561.447968715] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051561.449266653] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051561.457640816] [sailbot.main_algo]: Wind Direction: 222 -[main_algo-3] [INFO] [1746051561.458697564] [sailbot.main_algo]: Target Bearing: -143.0933223167561 -[main_algo-3] [INFO] [1746051561.459631578] [sailbot.main_algo]: Heading Difference: -164.89667768324392 -[main_algo-3] [INFO] [1746051561.460954271] [sailbot.main_algo]: Wind Direction: 222 -[main_algo-3] [INFO] [1746051561.461819652] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051561.462626870] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051561.464160732] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051561.464222631] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051561.502953490] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903823 Long: -76.50275993 -[main_algo-3] [INFO] [1746051561.503958656] [sailbot.main_algo]: Distance to destination: 52.253442009290445 -[vectornav-1] [INFO] [1746051561.504208638] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.11700000000002, -0.949, 5.638) -[main_algo-3] [INFO] [1746051561.505110578] [sailbot.main_algo]: Target Bearing: -143.08101228444127 -[main_algo-3] [INFO] [1746051561.506065358] [sailbot.main_algo]: Heading Difference: -164.90898771555874 -[main_algo-3] [INFO] [1746051561.507433745] [sailbot.main_algo]: Wind Direction: 222 -[main_algo-3] [INFO] [1746051561.508325074] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051561.509175459] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051561.510877657] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051561.544994129] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051561.545674253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051561.546318689] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051561.547577042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051561.548640698] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051561.585593276] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051561.588620926] [sailbot.teensy]: Wind angle: 222 -[trim_sail-4] [INFO] [1746051561.589056194] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051561.589516402] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051561.589563509] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051561.590481670] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051561.591371881] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051561.643935746] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051561.644447009] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051561.644810989] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051561.646406395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051561.647344971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051561.744881499] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051561.745493811] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051561.746155514] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051561.747443997] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051561.748625783] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051561.835407183] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051561.837177267] [sailbot.teensy]: Wind angle: 223 -[trim_sail-4] [INFO] [1746051561.838124886] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051561.838887336] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051561.838891782] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051561.839300963] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051561.839699525] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051561.844404789] [sailbot.mux]: Published sail angle from controller_app: 22 -[mux-7] [INFO] [1746051561.845587888] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051561.845673427] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051561.847414188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051561.848429481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051561.945040384] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051561.945454269] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051561.946337409] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051561.947190412] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051561.948505930] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051561.957531242] [sailbot.main_algo]: Wind Direction: 223 -[main_algo-3] [INFO] [1746051561.958479418] [sailbot.main_algo]: Target Bearing: -143.08101228444127 -[main_algo-3] [INFO] [1746051561.959314651] [sailbot.main_algo]: Heading Difference: -165.8019877155587 -[main_algo-3] [INFO] [1746051561.960535504] [sailbot.main_algo]: Wind Direction: 223 -[main_algo-3] [INFO] [1746051561.961365438] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051561.962146821] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051561.963719244] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051561.963838216] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051562.002799368] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903836 Long: -76.50275999 -[main_algo-3] [INFO] [1746051562.003775003] [sailbot.main_algo]: Distance to destination: 52.26830583143174 -[vectornav-1] [INFO] [1746051562.003971338] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (51.18099999999998, 0.143, 5.915) -[main_algo-3] [INFO] [1746051562.004931489] [sailbot.main_algo]: Target Bearing: -143.0665408914722 -[main_algo-3] [INFO] [1746051562.006304714] [sailbot.main_algo]: Heading Difference: -165.8164591085278 -[main_algo-3] [INFO] [1746051562.007725016] [sailbot.main_algo]: Wind Direction: 223 -[main_algo-3] [INFO] [1746051562.008640650] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051562.009540402] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051562.011314840] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051562.045092199] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051562.045651730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051562.046340139] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051562.047471150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051562.048667549] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051562.085298429] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051562.086925976] [sailbot.teensy]: Wind angle: 223 -[teensy-2] [INFO] [1746051562.087812741] [sailbot.teensy]: Actual sail angle: 22 -[trim_sail-4] [INFO] [1746051562.087678971] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051562.088674663] [sailbot.teensy]: Actual tail angle: 25 -[mux-7] [INFO] [1746051562.088667327] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051562.089586958] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051562.144886384] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051562.145536202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051562.146132230] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051562.147346204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051562.148516562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051562.245265508] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051562.245943959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051562.246860851] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051562.248021739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051562.249035129] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051562.335181039] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051562.336902331] [sailbot.teensy]: Wind angle: 223 -[trim_sail-4] [INFO] [1746051562.337533047] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051562.337895732] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051562.338565933] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051562.338794043] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051562.339247059] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051562.344318890] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051562.344769477] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051562.345550325] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051562.346533746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051562.348025357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051562.445063423] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051562.445848133] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051562.446432329] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051562.447678542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051562.448122969] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051562.457758198] [sailbot.main_algo]: Wind Direction: 223 -[main_algo-3] [INFO] [1746051562.458768871] [sailbot.main_algo]: Target Bearing: -143.0665408914722 -[main_algo-3] [INFO] [1746051562.459685149] [sailbot.main_algo]: Heading Difference: -165.75245910852783 -[main_algo-3] [INFO] [1746051562.461010478] [sailbot.main_algo]: Wind Direction: 223 -[main_algo-3] [INFO] [1746051562.461908971] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051562.462718017] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051562.464403568] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051562.464449367] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051562.502801635] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903825 Long: -76.50276002 -[main_algo-3] [INFO] [1746051562.503711559] [sailbot.main_algo]: Distance to destination: 52.256403077123096 -[vectornav-1] [INFO] [1746051562.503918913] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.25200000000001, -0.243, 5.802) -[main_algo-3] [INFO] [1746051562.504845563] [sailbot.main_algo]: Target Bearing: -143.07468776809407 -[main_algo-3] [INFO] [1746051562.505812337] [sailbot.main_algo]: Heading Difference: -165.74431223190595 -[main_algo-3] [INFO] [1746051562.507172883] [sailbot.main_algo]: Wind Direction: 223 -[main_algo-3] [INFO] [1746051562.508084822] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051562.509041647] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051562.510788463] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051562.544950192] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051562.545610035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051562.546225987] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051562.547512170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051562.548731926] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051562.585269823] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051562.587411478] [sailbot.teensy]: Wind angle: 223 -[trim_sail-4] [INFO] [1746051562.587720471] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051562.588312181] [sailbot.teensy]: Actual sail angle: 22 -[mux-7] [INFO] [1746051562.588569805] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051562.589143495] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051562.590024073] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051562.644933667] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051562.645522213] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051562.646451907] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051562.647290815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051562.648425868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051562.745069320] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051562.745776724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051562.746426073] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051562.747860399] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051562.748381749] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051562.835142447] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051562.837290802] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051562.837851526] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051562.838217286] [sailbot.teensy]: Wind angle: 223 -[teensy-2] [INFO] [1746051562.839181249] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051562.840069537] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051562.840989236] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051562.844361063] [sailbot.mux]: Published sail angle from controller_app: 22 -[teensy-2] [INFO] [1746051562.844828619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051562.845493005] [sailbot.mux]: Published rudder angle from controller_app: 0 -[teensy-2] [INFO] [1746051562.846482394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:22, rudder: 0 -[teensy-2] [INFO] [1746051562.847669261] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051562.937737308] [sailbot.mux]: Switched control mode to algo -[mux-7] [INFO] [1746051562.944538014] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051562.945136248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051562.945666481] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051562.946999403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746051562.948043600] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051562.957629959] [sailbot.main_algo]: Wind Direction: 223 -[main_algo-3] [INFO] [1746051562.958672918] [sailbot.main_algo]: Target Bearing: -143.07468776809407 -[main_algo-3] [INFO] [1746051562.959582397] [sailbot.main_algo]: Heading Difference: -164.67331223190592 -[main_algo-3] [INFO] [1746051562.960807934] [sailbot.main_algo]: Wind Direction: 223 -[main_algo-3] [INFO] [1746051562.961609852] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051562.962390167] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051562.964031161] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051562.964110691] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051563.002738207] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903824 Long: -76.50275997 -[main_algo-3] [INFO] [1746051563.003642179] [sailbot.main_algo]: Distance to destination: 52.25488068090133 -[vectornav-1] [INFO] [1746051563.003838394] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.43399999999997, -0.981, 5.394) -[main_algo-3] [INFO] [1746051563.004765305] [sailbot.main_algo]: Target Bearing: -143.07810382801733 -[main_algo-3] [INFO] [1746051563.005695159] [sailbot.main_algo]: Heading Difference: -164.66989617198266 -[main_algo-3] [INFO] [1746051563.007029527] [sailbot.main_algo]: Wind Direction: 223 -[main_algo-3] [INFO] [1746051563.007864296] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051563.008675362] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051563.010327252] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051563.044886530] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051563.045486748] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051563.046199214] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051563.047636351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: -15 -[teensy-2] [INFO] [1746051563.048767297] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051563.085585865] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051563.087962598] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051563.088780185] [sailbot.teensy]: Wind angle: 231 -[mux-7] [INFO] [1746051563.089457599] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051563.089718493] [sailbot.teensy]: Actual sail angle: 22 -[teensy-2] [INFO] [1746051563.090594330] [sailbot.teensy]: Actual tail angle: 25 -[teensy-2] [INFO] [1746051563.091444835] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051563.144648206] [sailbot.mux]: Published sail angle from algo: 5 -[teensy-2] [INFO] [1746051563.145271405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051563.145798918] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051563.147165492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:5, rudder: -15 -[teensy-2] [INFO] [1746051563.148221901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051563.244915707] [sailbot.mux]: Published sail angle from algo: 5 -[teensy-2] [INFO] [1746051563.245805952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051563.246171463] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051563.247817230] [sailbot.teensy]: Rudder callback-sent to Teensy sail:5, rudder: -15 -[teensy-2] [INFO] [1746051563.248837314] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051563.335491306] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051563.337344243] [sailbot.teensy]: Wind angle: 245 -[teensy-2] [INFO] [1746051563.338260453] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051563.339115618] [sailbot.teensy]: Actual tail angle: 10 -[trim_sail-4] [INFO] [1746051563.338357579] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051563.340031217] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051563.340449531] [sailbot.mux]: algo sail angle: 15 -[mux-7] [INFO] [1746051563.344275889] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051563.344880082] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051563.345353279] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051563.346664924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051563.347957381] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051563.445062551] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051563.445659262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051563.446304097] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051563.447428986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051563.447933644] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051563.457616306] [sailbot.main_algo]: Wind Direction: 245 -[main_algo-3] [INFO] [1746051563.458650182] [sailbot.main_algo]: Target Bearing: -143.07810382801733 -[main_algo-3] [INFO] [1746051563.459546919] [sailbot.main_algo]: Heading Difference: -163.4878961719827 -[main_algo-3] [INFO] [1746051563.460773021] [sailbot.main_algo]: Wind Direction: 245 -[main_algo-3] [INFO] [1746051563.461595337] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051563.462368252] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051563.463901772] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051563.464097281] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051563.502740603] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903842 Long: -76.50276 -[main_algo-3] [INFO] [1746051563.503726383] [sailbot.main_algo]: Distance to destination: 52.275018407932635 -[vectornav-1] [INFO] [1746051563.504019562] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.90499999999997, -0.277, 5.812) -[main_algo-3] [INFO] [1746051563.505397128] [sailbot.main_algo]: Target Bearing: -143.06076047213986 -[main_algo-3] [INFO] [1746051563.506789760] [sailbot.main_algo]: Heading Difference: -163.50523952786017 -[main_algo-3] [INFO] [1746051563.508187144] [sailbot.main_algo]: Wind Direction: 245 -[main_algo-3] [INFO] [1746051563.509066330] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051563.509901868] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051563.511601279] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051563.544916920] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051563.545558372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051563.546126940] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051563.547430930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051563.548574493] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051563.585254139] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051563.586950786] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746051563.587538186] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051563.589267845] [sailbot.teensy]: Actual sail angle: 5 -[mux-7] [INFO] [1746051563.590113814] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051563.590203272] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746051563.591194820] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051563.644912028] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746051563.645632648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051563.646136570] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051563.647488916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746051563.648592991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051563.744527792] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746051563.745010179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051563.745611065] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051563.746837970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746051563.747738753] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051563.835168157] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051563.837351983] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051563.837662811] [sailbot.teensy]: Wind angle: 252 -[mux-7] [INFO] [1746051563.838101285] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051563.838621408] [sailbot.teensy]: Actual sail angle: 15 -[teensy-2] [INFO] [1746051563.839564420] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746051563.840496330] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051563.844365212] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746051563.844942964] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051563.845459430] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051563.846584268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746051563.847521738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051563.944895376] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746051563.945522347] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051563.946139410] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051563.947416061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746051563.948582411] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051563.957581062] [sailbot.main_algo]: Wind Direction: 252 -[main_algo-3] [INFO] [1746051563.958621471] [sailbot.main_algo]: Target Bearing: -143.06076047213986 -[main_algo-3] [INFO] [1746051563.959529664] [sailbot.main_algo]: Heading Difference: -164.03423952786017 -[main_algo-3] [INFO] [1746051563.960752539] [sailbot.main_algo]: Wind Direction: 252 -[main_algo-3] [INFO] [1746051563.961580381] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051563.962360575] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051563.963881906] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051563.963886461] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051564.003002471] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690385 Long: -76.5027599 -[main_algo-3] [INFO] [1746051564.003990749] [sailbot.main_algo]: Distance to destination: 52.2830231258088 -[vectornav-1] [INFO] [1746051564.004253028] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.77499999999998, 0.497, 6.416) -[main_algo-3] [INFO] [1746051564.005202497] [sailbot.main_algo]: Target Bearing: -143.05880532566704 -[main_algo-3] [INFO] [1746051564.006143935] [sailbot.main_algo]: Heading Difference: -164.036194674333 -[main_algo-3] [INFO] [1746051564.007487448] [sailbot.main_algo]: Wind Direction: 252 -[main_algo-3] [INFO] [1746051564.008421098] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051564.009326675] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051564.011083740] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051564.044907644] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746051564.045646463] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051564.046165425] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051564.047449632] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746051564.048637037] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051564.085313155] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051564.087452139] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051564.087451662] [sailbot.teensy]: Wind angle: 252 -[mux-7] [INFO] [1746051564.087934886] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051564.088515248] [sailbot.teensy]: Actual sail angle: 20 -[teensy-2] [INFO] [1746051564.089422191] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746051564.090300458] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051564.144929603] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746051564.145536486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051564.146189891] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051564.147584928] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746051564.148729591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051564.244920193] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746051564.245629592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051564.246624900] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051564.248341494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746051564.248877012] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051564.335597377] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051564.337845850] [sailbot.teensy]: Wind angle: 252 -[trim_sail-4] [INFO] [1746051564.338562679] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746051564.338943047] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051564.339273197] [sailbot.teensy]: Actual sail angle: 20 -[teensy-2] [INFO] [1746051564.339670080] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746051564.340471923] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051564.344395914] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746051564.344992573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051564.345477393] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051564.346699404] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746051564.347693648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051564.445034252] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746051564.445712980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051564.446348737] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051564.447659163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746051564.448862561] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051564.457658711] [sailbot.main_algo]: Wind Direction: 252 -[main_algo-3] [INFO] [1746051564.458731856] [sailbot.main_algo]: Target Bearing: -143.05880532566704 -[main_algo-3] [INFO] [1746051564.459641384] [sailbot.main_algo]: Heading Difference: -164.16619467433298 -[main_algo-3] [INFO] [1746051564.460929495] [sailbot.main_algo]: Wind Direction: 252 -[main_algo-3] [INFO] [1746051564.461767507] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051564.462674626] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051564.464229879] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051564.464305565] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051564.502788433] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903848 Long: -76.50275992 -[main_algo-3] [INFO] [1746051564.503851838] [sailbot.main_algo]: Distance to destination: 52.280980109604826 -[vectornav-1] [INFO] [1746051564.503873075] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.33499999999998, -0.968, 4.549) -[main_algo-3] [INFO] [1746051564.504988748] [sailbot.main_algo]: Target Bearing: -143.05954773230926 -[main_algo-3] [INFO] [1746051564.506080239] [sailbot.main_algo]: Heading Difference: -164.16545226769074 -[main_algo-3] [INFO] [1746051564.507590017] [sailbot.main_algo]: Wind Direction: 252 -[main_algo-3] [INFO] [1746051564.508518855] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051564.509428154] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051564.511131151] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051564.544955581] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746051564.545594236] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051564.546196376] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051564.547412514] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746051564.548504433] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051564.585352159] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051564.587177561] [sailbot.teensy]: Wind angle: 252 -[teensy-2] [INFO] [1746051564.588379811] [sailbot.teensy]: Actual sail angle: 20 -[trim_sail-4] [INFO] [1746051564.587651742] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051564.589319144] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746051564.589502333] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051564.590278332] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051564.645069188] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746051564.645671035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051564.646502671] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051564.647486749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746051564.648544200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051564.745078573] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746051564.745950385] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051564.746453594] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051564.747877006] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746051564.749072262] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051564.835444855] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051564.837639943] [sailbot.teensy]: Wind angle: 250 -[trim_sail-4] [INFO] [1746051564.837764379] [sailbot.trim_sail]: Sail Angle: "20" -[mux-7] [INFO] [1746051564.839211680] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051564.839632733] [sailbot.teensy]: Actual sail angle: 20 -[teensy-2] [INFO] [1746051564.840046140] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746051564.840398028] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051564.844440434] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746051564.845088394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051564.845811386] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051564.846832355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746051564.847859788] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051564.944797640] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746051564.945418510] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051564.945963072] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051564.947247183] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746051564.948313610] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051564.957385618] [sailbot.main_algo]: Wind Direction: 250 -[main_algo-3] [INFO] [1746051564.958485298] [sailbot.main_algo]: Target Bearing: -143.05954773230926 -[main_algo-3] [INFO] [1746051564.959509902] [sailbot.main_algo]: Heading Difference: -162.6054522676908 -[main_algo-3] [INFO] [1746051564.960774405] [sailbot.main_algo]: Wind Direction: 250 -[main_algo-3] [INFO] [1746051564.961622579] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051564.962433850] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051564.963949981] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051564.964064138] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051565.002777236] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903853 Long: -76.50275984 -[main_algo-3] [INFO] [1746051565.003890520] [sailbot.main_algo]: Distance to destination: 52.285837928644895 -[vectornav-1] [INFO] [1746051565.003920803] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.52800000000002, -0.182, 6.445) -[main_algo-3] [INFO] [1746051565.005331537] [sailbot.main_algo]: Target Bearing: -143.05921385245847 -[main_algo-3] [INFO] [1746051565.006387993] [sailbot.main_algo]: Heading Difference: -162.60578614754155 -[main_algo-3] [INFO] [1746051565.007786300] [sailbot.main_algo]: Wind Direction: 250 -[main_algo-3] [INFO] [1746051565.008720187] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051565.009598419] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051565.011358427] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051565.045014718] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746051565.045703738] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051565.046248104] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051565.047780056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746051565.048815097] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051565.085504211] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051565.087743172] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051565.087768869] [sailbot.teensy]: Wind angle: 250 -[mux-7] [INFO] [1746051565.088372421] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051565.088968476] [sailbot.teensy]: Actual sail angle: 20 -[teensy-2] [INFO] [1746051565.089903251] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746051565.090763436] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051565.144929365] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746051565.145559066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051565.146201173] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051565.147345946] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746051565.148556052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051565.245023919] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746051565.246040680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051565.246466295] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051565.247880962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: -15 -[teensy-2] [INFO] [1746051565.249084298] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051565.335219938] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051565.336954935] [sailbot.teensy]: Wind angle: 249 -[trim_sail-4] [INFO] [1746051565.337439515] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051565.337918361] [sailbot.teensy]: Actual sail angle: 20 -[teensy-2] [INFO] [1746051565.338816049] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746051565.339542209] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051565.339669351] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051565.344607025] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051565.345172604] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051565.345728859] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051565.346879916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051565.347955724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051565.445284393] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051565.445944363] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051565.446756680] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051565.447911795] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051565.449045717] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051565.457797790] [sailbot.main_algo]: Wind Direction: 249 -[main_algo-3] [INFO] [1746051565.458842764] [sailbot.main_algo]: Target Bearing: -143.05921385245847 -[main_algo-3] [INFO] [1746051565.459779533] [sailbot.main_algo]: Heading Difference: -162.4127861475415 -[main_algo-3] [INFO] [1746051565.461124030] [sailbot.main_algo]: Wind Direction: 249 -[main_algo-3] [INFO] [1746051565.461994741] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051565.462834639] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051565.464493417] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051565.464538916] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051565.502828242] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903847 Long: -76.50275962 -[main_algo-3] [INFO] [1746051565.503773353] [sailbot.main_algo]: Distance to destination: 52.27737976447275 -[vectornav-1] [INFO] [1746051565.504069938] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.05799999999999, -1.1, 5.395) -[main_algo-3] [INFO] [1746051565.504901372] [sailbot.main_algo]: Target Bearing: -143.0756427737963 -[main_algo-3] [INFO] [1746051565.505841220] [sailbot.main_algo]: Heading Difference: -162.3963572262037 -[main_algo-3] [INFO] [1746051565.507202602] [sailbot.main_algo]: Wind Direction: 249 -[main_algo-3] [INFO] [1746051565.508082729] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051565.508948063] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051565.510678316] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051565.545115685] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051565.545634538] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051565.546501872] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051565.547553500] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051565.548723383] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051565.585266969] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051565.587674042] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051565.587680839] [sailbot.teensy]: Wind angle: 248 -[mux-7] [INFO] [1746051565.588345204] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051565.588669344] [sailbot.teensy]: Actual sail angle: 20 -[teensy-2] [INFO] [1746051565.589615923] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746051565.590467676] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051565.644939490] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051565.645672098] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051565.646196114] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051565.647561333] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051565.648691898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051565.744435299] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051565.744964140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051565.745466924] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051565.747309832] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051565.748651819] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051565.835109570] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051565.836623812] [sailbot.teensy]: Wind angle: 246 -[trim_sail-4] [INFO] [1746051565.837106145] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051565.837481799] [sailbot.teensy]: Actual sail angle: 15 -[mux-7] [INFO] [1746051565.838175776] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051565.838611614] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746051565.839627755] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051565.844412290] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051565.844858984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051565.845606165] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051565.846520306] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051565.847600551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051565.944992415] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051565.945502363] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051565.946274799] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051565.947277642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051565.948364803] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051565.957682406] [sailbot.main_algo]: Wind Direction: 246 -[main_algo-3] [INFO] [1746051565.958704802] [sailbot.main_algo]: Target Bearing: -143.0756427737963 -[main_algo-3] [INFO] [1746051565.959597573] [sailbot.main_algo]: Heading Difference: -161.86635722620372 -[main_algo-3] [INFO] [1746051565.960818896] [sailbot.main_algo]: Wind Direction: 246 -[main_algo-3] [INFO] [1746051565.961650494] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051565.962430497] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051565.963948314] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051565.964046932] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051566.002834457] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903838 Long: -76.5027596 -[vectornav-1] [INFO] [1746051566.004241911] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.899, 0.586, 4.739) -[main_algo-3] [INFO] [1746051566.004351763] [sailbot.main_algo]: Distance to destination: 52.267269537431496 -[main_algo-3] [INFO] [1746051566.005591860] [sailbot.main_algo]: Target Bearing: -143.08456424996766 -[main_algo-3] [INFO] [1746051566.006602319] [sailbot.main_algo]: Heading Difference: -161.85743575003232 -[main_algo-3] [INFO] [1746051566.007979543] [sailbot.main_algo]: Wind Direction: 246 -[main_algo-3] [INFO] [1746051566.008947393] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051566.009823428] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051566.011533268] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051566.045087422] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051566.045674580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051566.046380424] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051566.047663651] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051566.048860758] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051566.085328440] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051566.086947949] [sailbot.teensy]: Wind angle: 244 -[teensy-2] [INFO] [1746051566.087832511] [sailbot.teensy]: Actual sail angle: 15 -[trim_sail-4] [INFO] [1746051566.087529896] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051566.088712481] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746051566.089142261] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051566.089597610] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051566.144866685] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051566.145547413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051566.146105778] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051566.147313358] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051566.148490317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051566.245078316] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051566.245662828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051566.246493582] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051566.247523492] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051566.248587948] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051566.335765166] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051566.338528398] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051566.338856628] [sailbot.teensy]: Wind angle: 244 -[teensy-2] [INFO] [1746051566.339286281] [sailbot.teensy]: Actual sail angle: 15 -[mux-7] [INFO] [1746051566.339578692] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051566.339680897] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746051566.340279897] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051566.344705681] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051566.345214634] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051566.345940086] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051566.346900789] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051566.348068750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051566.445182525] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051566.445809967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051566.446744227] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051566.448234330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051566.449498030] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051566.457527140] [sailbot.main_algo]: Wind Direction: 244 -[main_algo-3] [INFO] [1746051566.458490490] [sailbot.main_algo]: Target Bearing: -143.08456424996766 -[main_algo-3] [INFO] [1746051566.459310185] [sailbot.main_algo]: Heading Difference: -162.01643575003231 -[main_algo-3] [INFO] [1746051566.460543189] [sailbot.main_algo]: Wind Direction: 244 -[main_algo-3] [INFO] [1746051566.461361513] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051566.462153440] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051566.463726433] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051566.463724430] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051566.502661624] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903823 Long: -76.50275983 -[main_algo-3] [INFO] [1746051566.503553662] [sailbot.main_algo]: Distance to destination: 52.25260835207712 -[vectornav-1] [INFO] [1746051566.504055669] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.32499999999999, -0.25, 6.152) -[main_algo-3] [INFO] [1746051566.504676951] [sailbot.main_algo]: Target Bearing: -143.08608475141048 -[main_algo-3] [INFO] [1746051566.505660243] [sailbot.main_algo]: Heading Difference: -162.01491524858955 -[main_algo-3] [INFO] [1746051566.506987743] [sailbot.main_algo]: Wind Direction: 244 -[main_algo-3] [INFO] [1746051566.507907890] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051566.508870963] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051566.510715449] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051566.545102267] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051566.545732048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051566.546503646] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051566.547597537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051566.548799242] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051566.585444579] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051566.587188331] [sailbot.teensy]: Wind angle: 244 -[trim_sail-4] [INFO] [1746051566.587818707] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051566.588182826] [sailbot.teensy]: Actual sail angle: 15 -[teensy-2] [INFO] [1746051566.589084355] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746051566.589336267] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051566.589978274] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051566.645096896] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051566.645796104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051566.646421221] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051566.647797188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051566.648852159] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051566.745116337] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051566.745741963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051566.746515165] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051566.747593587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051566.748827131] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051566.835230043] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051566.837343900] [sailbot.teensy]: Wind angle: 243 -[trim_sail-4] [INFO] [1746051566.837584735] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746051566.839046610] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051566.839210746] [sailbot.teensy]: Actual sail angle: 15 -[teensy-2] [INFO] [1746051566.839615038] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746051566.839978186] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051566.844682404] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051566.845245906] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051566.845809103] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051566.847048717] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051566.848215264] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051566.945256338] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051566.945793516] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051566.946686851] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051566.947824000] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051566.948872882] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051566.957436706] [sailbot.main_algo]: Wind Direction: 243 -[main_algo-3] [INFO] [1746051566.958416233] [sailbot.main_algo]: Target Bearing: -143.08608475141048 -[main_algo-3] [INFO] [1746051566.959268952] [sailbot.main_algo]: Heading Difference: -161.5889152485895 -[main_algo-3] [INFO] [1746051566.960516365] [sailbot.main_algo]: Wind Direction: 243 -[main_algo-3] [INFO] [1746051566.961334314] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051566.962142616] [sailbot.main_algo]: Rudder Angle: -15 -[main_algo-3] [INFO] [1746051566.963700363] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051566.963894618] [sailbot.mux]: algo rudder angle: -15 -[vectornav-1] [INFO] [1746051567.002820958] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903834 Long: -76.50276008 -[main_algo-3] [INFO] [1746051567.003767476] [sailbot.main_algo]: Distance to destination: 52.26684803852904 -[vectornav-1] [INFO] [1746051567.003951246] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.45799999999997, -1.338, 5.277) -[main_algo-3] [INFO] [1746051567.004949748] [sailbot.main_algo]: Target Bearing: -143.0637314994395 -[main_algo-3] [INFO] [1746051567.005963058] [sailbot.main_algo]: Heading Difference: -161.61126850056053 -[main_algo-3] [INFO] [1746051567.007337222] [sailbot.main_algo]: Wind Direction: 243 -[main_algo-3] [INFO] [1746051567.008331923] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051567.009185814] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051567.010902709] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051567.046141808] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051567.046845551] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051567.047250215] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051567.048797811] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051567.049922346] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051567.085442390] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051567.087434102] [sailbot.teensy]: Wind angle: 243 -[trim_sail-4] [INFO] [1746051567.087535026] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051567.088392065] [sailbot.teensy]: Actual sail angle: 15 -[teensy-2] [INFO] [1746051567.089306470] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746051567.089605956] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051567.090240718] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051567.145007367] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051567.145890448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051567.146440578] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051567.147906951] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051567.149013326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051567.245168964] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051567.246103049] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051567.246571896] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051567.247921637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051567.248378607] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051567.334970376] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051567.336876189] [sailbot.teensy]: Wind angle: 244 -[trim_sail-4] [INFO] [1746051567.336964662] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051567.337835547] [sailbot.teensy]: Actual sail angle: 15 -[teensy-2] [INFO] [1746051567.338716156] [sailbot.teensy]: Actual tail angle: 10 -[mux-7] [INFO] [1746051567.338991708] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051567.339656541] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051567.344425092] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051567.345106590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051567.345539381] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051567.346918661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051567.347927501] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051567.444902461] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051567.445725287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051567.446218634] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051567.447736918] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051567.449070218] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051567.457738444] [sailbot.main_algo]: Wind Direction: 244 -[main_algo-3] [INFO] [1746051567.458788814] [sailbot.main_algo]: Target Bearing: -143.0637314994395 -[main_algo-3] [INFO] [1746051567.459742590] [sailbot.main_algo]: Heading Difference: -160.4782685005605 -[main_algo-3] [INFO] [1746051567.461070914] [sailbot.main_algo]: Wind Direction: 244 -[main_algo-3] [INFO] [1746051567.461934542] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051567.462746472] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051567.464501416] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051567.464675291] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051567.502925433] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903812 Long: -76.50275965 -[main_algo-3] [INFO] [1746051567.504033030] [sailbot.main_algo]: Distance to destination: 52.238957046862566 -[vectornav-1] [INFO] [1746051567.504223000] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.959, -0.008, 5.513) -[main_algo-3] [INFO] [1746051567.505679157] [sailbot.main_algo]: Target Bearing: -143.10488290354473 -[main_algo-3] [INFO] [1746051567.506619744] [sailbot.main_algo]: Heading Difference: -160.43711709645527 -[main_algo-3] [INFO] [1746051567.507999701] [sailbot.main_algo]: Wind Direction: 244 -[main_algo-3] [INFO] [1746051567.508931528] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051567.509782850] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051567.511501400] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051567.545006481] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051567.545684985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051567.546339800] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051567.547663920] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051567.548886887] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051567.585475593] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051567.587812441] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051567.588078494] [sailbot.teensy]: Wind angle: 244 -[mux-7] [INFO] [1746051567.588702674] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051567.589066112] [sailbot.teensy]: Actual sail angle: 15 -[teensy-2] [INFO] [1746051567.590209122] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746051567.591190506] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051567.645190262] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051567.646108938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051567.646674667] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051567.648080068] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051567.649277396] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051567.745239793] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051567.745884711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051567.746544594] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051567.747923491] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051567.749073438] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051567.834660794] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051567.835826568] [sailbot.teensy]: Wind angle: 243 -[teensy-2] [INFO] [1746051567.836656028] [sailbot.teensy]: Actual sail angle: 15 -[teensy-2] [INFO] [1746051567.837415548] [sailbot.teensy]: Actual tail angle: 10 -[trim_sail-4] [INFO] [1746051567.836367114] [sailbot.trim_sail]: Sail Angle: "15" -[teensy-2] [INFO] [1746051567.838232414] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051567.838757988] [sailbot.mux]: algo sail angle: 15 -[mux-7] [INFO] [1746051567.844413230] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051567.844933466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051567.845484666] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051567.846688213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051567.847854694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051567.945049689] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051567.945709936] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051567.946317392] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051567.947525972] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051567.948698632] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051567.957569232] [sailbot.main_algo]: Wind Direction: 243 -[main_algo-3] [INFO] [1746051567.958583087] [sailbot.main_algo]: Target Bearing: -143.10488290354473 -[main_algo-3] [INFO] [1746051567.959527063] [sailbot.main_algo]: Heading Difference: -159.9361170964553 -[main_algo-3] [INFO] [1746051567.960769985] [sailbot.main_algo]: Wind Direction: 243 -[main_algo-3] [INFO] [1746051567.961627769] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051567.962432348] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051567.963937485] [sailbot.mux]: algo rudder angle: -15 -[main_algo-3] [INFO] [1746051567.963989990] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051568.002821571] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903819 Long: -76.5027596 -[vectornav-1] [INFO] [1746051568.004313161] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.56900000000002, 0.177, 4.592) -[main_algo-3] [INFO] [1746051568.004366463] [sailbot.main_algo]: Distance to destination: 52.246276140922 -[main_algo-3] [INFO] [1746051568.005440435] [sailbot.main_algo]: Target Bearing: -143.1012632703137 -[main_algo-3] [INFO] [1746051568.006431543] [sailbot.main_algo]: Heading Difference: -159.93973672968627 -[main_algo-3] [INFO] [1746051568.007797093] [sailbot.main_algo]: Wind Direction: 243 -[main_algo-3] [INFO] [1746051568.008706354] [sailbot.main_algo]: Rudder Angle Raw: -15.0 -[main_algo-3] [INFO] [1746051568.009567710] [sailbot.main_algo]: Rudder Angle: -15 -[mux-7] [INFO] [1746051568.011157840] [sailbot.mux]: algo rudder angle: -15 -[mux-7] [INFO] [1746051568.044800667] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051568.045347214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051568.045993385] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051568.047075589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: -15 -[teensy-2] [INFO] [1746051568.048036891] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051568.085264923] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051568.087392936] [sailbot.teensy]: Wind angle: 242 -[trim_sail-4] [INFO] [1746051568.087779810] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051568.089287761] [sailbot.teensy]: Actual sail angle: 15 -[mux-7] [INFO] [1746051568.089505564] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051568.090255051] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746051568.091176315] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051568.144955868] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051568.145646695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051568.146202997] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051568.147535746] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: -15 -[teensy-2] [INFO] [1746051568.148634938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051568.245148879] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051568.245798649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051568.246539521] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051568.247686021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: -15 -[teensy-2] [INFO] [1746051568.248146024] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051568.335177658] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051568.336781417] [sailbot.teensy]: Wind angle: 242 -[trim_sail-4] [INFO] [1746051568.337352285] [sailbot.trim_sail]: Sail Angle: "10" -[mux-7] [INFO] [1746051568.338719640] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051568.338826715] [sailbot.teensy]: Actual sail angle: 15 -[teensy-2] [INFO] [1746051568.339772768] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746051568.340690438] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051568.344379524] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051568.344913218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051568.345505015] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051568.346712468] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: -15 -[teensy-2] [INFO] [1746051568.347906360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051568.445193602] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051568.445722467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051568.446681728] [sailbot.mux]: Published rudder angle from algo: -15 -[teensy-2] [INFO] [1746051568.447642242] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: -15 -[teensy-2] [INFO] [1746051568.448885124] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051568.457737883] [sailbot.main_algo]: Wind Direction: 242 -[main_algo-3] [INFO] [1746051568.459328043] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746051568.460366279] [sailbot.main_algo]: Target Bearing: -85.22012564456503 -[main_algo-3] [INFO] [1746051568.461319966] [sailbot.main_algo]: Heading Difference: 141.78912564456505 -[main_algo-3] [INFO] [1746051568.462572216] [sailbot.main_algo]: Wind Direction: 242 -[main_algo-3] [INFO] [1746051568.463390187] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051568.464208631] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051568.465798394] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051568.465947417] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051568.502667996] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903836 Long: -76.50275981 -[vectornav-1] [INFO] [1746051568.503701269] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.47199999999998, 0.027, 4.992) -[main_algo-3] [INFO] [1746051568.503702959] [sailbot.main_algo]: Distance to destination: 52.26680519804244 -[main_algo-3] [INFO] [1746051568.504855535] [sailbot.main_algo]: Target Bearing: -85.20338396928273 -[main_algo-3] [INFO] [1746051568.506136577] [sailbot.main_algo]: Heading Difference: 141.7723839692827 -[main_algo-3] [INFO] [1746051568.507550351] [sailbot.main_algo]: Wind Direction: 242 -[main_algo-3] [INFO] [1746051568.508674224] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051568.509627219] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051568.511279890] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051568.544965516] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051568.545827942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051568.546207489] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051568.547813703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 -[teensy-2] [INFO] [1746051568.549033719] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051568.585568115] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051568.587971203] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051568.588041475] [sailbot.teensy]: Wind angle: 242 -[mux-7] [INFO] [1746051568.588543180] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051568.588982375] [sailbot.teensy]: Actual sail angle: 10 -[teensy-2] [INFO] [1746051568.589889666] [sailbot.teensy]: Actual tail angle: 10 -[teensy-2] [INFO] [1746051568.590725897] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051568.644880311] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051568.645725391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051568.646236456] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051568.647535929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 -[teensy-2] [INFO] [1746051568.648877802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051568.745275026] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051568.746228000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051568.746880458] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051568.748603862] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 -[teensy-2] [INFO] [1746051568.749094291] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051568.835175696] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051568.837278625] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051568.837604136] [sailbot.teensy]: Wind angle: 242 -[mux-7] [INFO] [1746051568.838379675] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051568.838557727] [sailbot.teensy]: Actual sail angle: 10 -[teensy-2] [INFO] [1746051568.839473333] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051568.839953398] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051568.844395746] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051568.844951412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051568.845516062] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051568.846625650] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 -[teensy-2] [INFO] [1746051568.847764898] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051568.945345490] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051568.946147461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051568.947367253] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051568.948141260] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 -[teensy-2] [INFO] [1746051568.948683480] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051568.957509860] [sailbot.main_algo]: Wind Direction: 242 -[main_algo-3] [INFO] [1746051568.958492398] [sailbot.main_algo]: Target Bearing: -85.20338396928273 -[main_algo-3] [INFO] [1746051568.959409423] [sailbot.main_algo]: Heading Difference: 140.67538396928273 -[main_algo-3] [INFO] [1746051568.960705575] [sailbot.main_algo]: Wind Direction: 242 -[main_algo-3] [INFO] [1746051568.961550611] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051568.962372388] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051568.963917092] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051568.963963673] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051569.002846235] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903807 Long: -76.50275974 -[main_algo-3] [INFO] [1746051569.003745927] [sailbot.main_algo]: Distance to destination: 52.23418095098039 -[vectornav-1] [INFO] [1746051569.003943562] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.942999999999984, -1.003, 6.055) -[main_algo-3] [INFO] [1746051569.004999064] [sailbot.main_algo]: Target Bearing: -85.2060876874062 -[main_algo-3] [INFO] [1746051569.005939402] [sailbot.main_algo]: Heading Difference: 140.67808768740616 -[main_algo-3] [INFO] [1746051569.007310377] [sailbot.main_algo]: Wind Direction: 242 -[main_algo-3] [INFO] [1746051569.008260009] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051569.009127708] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051569.010781056] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051569.045027199] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051569.045790763] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051569.046323058] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051569.047651171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 -[teensy-2] [INFO] [1746051569.048849771] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051569.085579283] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051569.087698960] [sailbot.teensy]: Wind angle: 242 -[teensy-2] [INFO] [1746051569.088661573] [sailbot.teensy]: Actual sail angle: 10 -[trim_sail-4] [INFO] [1746051569.087865095] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051569.089621460] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051569.089767541] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051569.090576861] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051569.144885512] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051569.145600401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051569.146132079] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051569.147349827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 -[teensy-2] [INFO] [1746051569.148550949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051569.245173790] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051569.245714483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051569.246494114] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051569.247561867] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 -[teensy-2] [INFO] [1746051569.248800313] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051569.335347277] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051569.337150521] [sailbot.teensy]: Wind angle: 241 -[trim_sail-4] [INFO] [1746051569.337705274] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051569.338104409] [sailbot.teensy]: Actual sail angle: 10 -[teensy-2] [INFO] [1746051569.338999299] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051569.339416967] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051569.339888859] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051569.344377598] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051569.344914478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051569.345453669] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051569.346591421] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 -[teensy-2] [INFO] [1746051569.347601580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051569.445166113] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051569.445714144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051569.446549155] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051569.447642723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 -[teensy-2] [INFO] [1746051569.448690999] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051569.457570118] [sailbot.main_algo]: Wind Direction: 241 -[main_algo-3] [INFO] [1746051569.458651563] [sailbot.main_algo]: Target Bearing: -85.2060876874062 -[main_algo-3] [INFO] [1746051569.459568821] [sailbot.main_algo]: Heading Difference: 142.14908768740617 -[main_algo-3] [INFO] [1746051569.460827793] [sailbot.main_algo]: Wind Direction: 241 -[main_algo-3] [INFO] [1746051569.461707519] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051569.462488052] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051569.464017460] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051569.464181215] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051569.502725190] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903801 Long: -76.50275967 -[main_algo-3] [INFO] [1746051569.503757730] [sailbot.main_algo]: Distance to destination: 52.22696937699161 -[vectornav-1] [INFO] [1746051569.503870783] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.875, -0.601, 4.738) -[main_algo-3] [INFO] [1746051569.504894680] [sailbot.main_algo]: Target Bearing: -85.21162956098469 -[main_algo-3] [INFO] [1746051569.505817365] [sailbot.main_algo]: Heading Difference: 142.1546295609847 -[main_algo-3] [INFO] [1746051569.507172980] [sailbot.main_algo]: Wind Direction: 241 -[main_algo-3] [INFO] [1746051569.508055798] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051569.508932579] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051569.510664399] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051569.544798661] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051569.545909923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051569.546190549] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051569.547637830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 -[teensy-2] [INFO] [1746051569.548812978] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051569.585315592] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051569.586991343] [sailbot.teensy]: Wind angle: 235 -[trim_sail-4] [INFO] [1746051569.587544614] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051569.588195308] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051569.589380362] [sailbot.teensy]: Actual sail angle: 10 -[teensy-2] [INFO] [1746051569.590319591] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051569.591142096] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051569.644855943] [sailbot.mux]: Published sail angle from algo: 5 -[teensy-2] [INFO] [1746051569.645502946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051569.646043927] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051569.647625389] [sailbot.teensy]: Rudder callback-sent to Teensy sail:5, rudder: 15 -[teensy-2] [INFO] [1746051569.648845003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051569.744636404] [sailbot.mux]: Published sail angle from algo: 5 -[teensy-2] [INFO] [1746051569.745218470] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051569.745723249] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051569.747157138] [sailbot.teensy]: Rudder callback-sent to Teensy sail:5, rudder: 15 -[teensy-2] [INFO] [1746051569.748336240] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051569.835249296] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051569.837004462] [sailbot.teensy]: Wind angle: 231 -[teensy-2] [INFO] [1746051569.837934320] [sailbot.teensy]: Actual sail angle: 10 -[trim_sail-4] [INFO] [1746051569.837321335] [sailbot.trim_sail]: Sail Angle: "5" -[mux-7] [INFO] [1746051569.837799077] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051569.838836671] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051569.839718139] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051569.844351412] [sailbot.mux]: Published sail angle from algo: 5 -[teensy-2] [INFO] [1746051569.844902277] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051569.845431734] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051569.846631432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:5, rudder: 15 -[teensy-2] [INFO] [1746051569.847721649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051569.943889604] [sailbot.mux]: Published sail angle from algo: 5 -[teensy-2] [INFO] [1746051569.944396327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051569.944475591] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051569.945336947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:5, rudder: 15 -[teensy-2] [INFO] [1746051569.945884908] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051569.956776472] [sailbot.main_algo]: Wind Direction: 231 -[main_algo-3] [INFO] [1746051569.957566624] [sailbot.main_algo]: Target Bearing: -85.21162956098469 -[main_algo-3] [INFO] [1746051569.958360934] [sailbot.main_algo]: Heading Difference: 144.0866295609847 -[main_algo-3] [INFO] [1746051569.959509675] [sailbot.main_algo]: Wind Direction: 231 -[main_algo-3] [INFO] [1746051569.960016110] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051569.960425754] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051569.961485423] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051569.961995442] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051570.002647082] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903822 Long: -76.50275987 -[main_algo-3] [INFO] [1746051570.003689128] [sailbot.main_algo]: Distance to destination: 52.251836793788954 -[vectornav-1] [INFO] [1746051570.003730204] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.14300000000003, 0.39, 4.26) -[main_algo-3] [INFO] [1746051570.004870455] [sailbot.main_algo]: Target Bearing: -85.19627592972668 -[main_algo-3] [INFO] [1746051570.006405875] [sailbot.main_algo]: Heading Difference: 144.07127592972665 -[main_algo-3] [INFO] [1746051570.007831380] [sailbot.main_algo]: Wind Direction: 231 -[main_algo-3] [INFO] [1746051570.008758088] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051570.009660552] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051570.011304892] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051570.044930524] [sailbot.mux]: Published sail angle from algo: 5 -[teensy-2] [INFO] [1746051570.045622432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051570.046329609] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051570.047719894] [sailbot.teensy]: Rudder callback-sent to Teensy sail:5, rudder: 15 -[teensy-2] [INFO] [1746051570.048736961] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051570.085154280] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051570.086887539] [sailbot.teensy]: Wind angle: 219 -[trim_sail-4] [INFO] [1746051570.087517598] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051570.087822251] [sailbot.teensy]: Actual sail angle: 5 -[mux-7] [INFO] [1746051570.088251714] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051570.088735356] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051570.089625157] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051570.145106107] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051570.145735306] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051570.146388108] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051570.147524216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051570.148699045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051570.245293865] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051570.246206716] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051570.246772618] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051570.248461799] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051570.249635990] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051570.335161708] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051570.336748220] [sailbot.teensy]: Wind angle: 209 -[teensy-2] [INFO] [1746051570.337597011] [sailbot.teensy]: Actual sail angle: 5 -[trim_sail-4] [INFO] [1746051570.337205514] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051570.338249459] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051570.338467096] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051570.339346055] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051570.344505405] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051570.345079377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051570.345673742] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051570.346764209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051570.347916543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051570.444974177] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051570.445549694] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051570.446231953] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051570.447296785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051570.448472231] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051570.457593622] [sailbot.main_algo]: Wind Direction: 209 -[main_algo-3] [INFO] [1746051570.459171253] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746051570.460453876] [sailbot.main_algo]: Wind Direction: 209 -[main_algo-3] [INFO] [1746051570.461680877] [sailbot.main_algo]: Current Location: (42.46903822214745, -76.50275987005445) -[main_algo-3] [INFO] [1746051570.462548118] [sailbot.main_algo]: Target Bearing: -85.19627592972668 -[main_algo-3] [INFO] [1746051570.463370313] [sailbot.main_algo]: Heading Difference: 142.33927592972668 -[main_algo-3] [INFO] [1746051570.464579736] [sailbot.main_algo]: Wind Direction: 209 -[main_algo-3] [INFO] [1746051570.465376437] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051570.466150468] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051570.467634125] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051570.467658944] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051570.502482732] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903822 Long: -76.5027602 -[vectornav-1] [INFO] [1746051570.503568816] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.56999999999999, -0.344, 5.632) -[main_algo-3] [INFO] [1746051570.503606610] [sailbot.main_algo]: Distance to destination: 52.25459447252118 -[main_algo-3] [INFO] [1746051570.504760216] [sailbot.main_algo]: Target Bearing: -85.16667826894405 -[main_algo-3] [INFO] [1746051570.505676972] [sailbot.main_algo]: Heading Difference: 142.30967826894408 -[main_algo-3] [INFO] [1746051570.506924524] [sailbot.main_algo]: Wind Direction: 209 -[main_algo-3] [INFO] [1746051570.507843545] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051570.508694957] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051570.510302959] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051570.545005844] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051570.545641991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051570.547169498] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051570.547502439] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051570.548696881] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051570.585477348] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051570.587877034] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051570.588768505] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051570.589095090] [sailbot.teensy]: Wind angle: 206 -[teensy-2] [INFO] [1746051570.590083117] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051570.591022853] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051570.591892685] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051570.645087217] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051570.645688500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051570.646416280] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051570.647534475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051570.648805656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051570.745291202] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051570.745817271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051570.746932736] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051570.748116040] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051570.749303393] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051570.835187455] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051570.836825118] [sailbot.teensy]: Wind angle: 205 -[trim_sail-4] [INFO] [1746051570.837459847] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051570.837686254] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051570.838533968] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051570.838846453] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051570.839409224] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051570.844542552] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051570.845118991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051570.845680443] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051570.846739517] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051570.847957256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051570.945047477] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051570.945848912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051570.946775537] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051570.947767954] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051570.948838334] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051570.957372271] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051570.958328765] [sailbot.main_algo]: Target Bearing: -85.16667826894405 -[main_algo-3] [INFO] [1746051570.959180710] [sailbot.main_algo]: Heading Difference: 141.73667826894405 -[main_algo-3] [INFO] [1746051570.960407992] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051570.961225373] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051570.962004305] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051570.963527615] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051570.963574805] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051571.002815657] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903786 Long: -76.50276017 -[main_algo-3] [INFO] [1746051571.003815865] [sailbot.main_algo]: Distance to destination: 52.21457007271963 -[vectornav-1] [INFO] [1746051571.003951192] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.55599999999998, -0.44, 5.198) -[main_algo-3] [INFO] [1746051571.005021659] [sailbot.main_algo]: Target Bearing: -85.16490070884586 -[main_algo-3] [INFO] [1746051571.006044617] [sailbot.main_algo]: Heading Difference: 141.73490070884588 -[main_algo-3] [INFO] [1746051571.007434283] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051571.008371051] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051571.009335760] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051571.011258944] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051571.045109304] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051571.045698681] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051571.046546667] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051571.047560379] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051571.048587429] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051571.085218974] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051571.086786837] [sailbot.teensy]: Wind angle: 205 -[teensy-2] [INFO] [1746051571.087641925] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746051571.087267986] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051571.088431590] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051571.088477724] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051571.089327737] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051571.145537554] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051571.145888754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051571.146835337] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051571.147702784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051571.148756903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051571.244935715] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051571.245531839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051571.246172041] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051571.247537748] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051571.248605376] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051571.335423831] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051571.338347990] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051571.338569517] [sailbot.teensy]: Wind angle: 205 -[mux-7] [INFO] [1746051571.338838067] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051571.339252847] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051571.339628958] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051571.340051736] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051571.344546313] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051571.344968392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051571.345707935] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051571.346679202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051571.347831589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051571.444971993] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051571.445869847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051571.446263953] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051571.447757436] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051571.448796784] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051571.457700542] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051571.458775761] [sailbot.main_algo]: Target Bearing: -85.16490070884586 -[main_algo-3] [INFO] [1746051571.459706339] [sailbot.main_algo]: Heading Difference: 143.72090070884587 -[main_algo-3] [INFO] [1746051571.461017806] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051571.461850745] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051571.462636445] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051571.464180510] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051571.464352346] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051571.502659421] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903785 Long: -76.50276026 -[main_algo-3] [INFO] [1746051571.503659471] [sailbot.main_algo]: Distance to destination: 52.21422002673803 -[vectornav-1] [INFO] [1746051571.503941107] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (60.117999999999995, -1.086, 4.227) -[main_algo-3] [INFO] [1746051571.504704104] [sailbot.main_algo]: Target Bearing: -85.15669862162305 -[main_algo-3] [INFO] [1746051571.505679523] [sailbot.main_algo]: Heading Difference: 143.71269862162302 -[main_algo-3] [INFO] [1746051571.507040093] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051571.507907669] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051571.508770950] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051571.510499204] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051571.545131045] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051571.545912040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051571.546751256] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051571.547792577] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051571.548865289] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051571.585343285] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051571.587819658] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051571.588898370] [sailbot.teensy]: Wind angle: 205 -[mux-7] [INFO] [1746051571.589907359] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051571.590004826] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051571.591172959] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051571.592105082] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051571.644874553] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051571.645551008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051571.646096181] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051571.647302239] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051571.648429531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051571.745310276] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051571.746159757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051571.746951842] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051571.748615707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051571.749674638] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051571.835413330] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051571.837364835] [sailbot.teensy]: Wind angle: 205 -[trim_sail-4] [INFO] [1746051571.837660160] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051571.838306299] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051571.838941247] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051571.839228884] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051571.840105012] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051571.844278499] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051571.845028747] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051571.845791982] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051571.846806343] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051571.847956900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051571.945154665] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051571.945788952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051571.946583938] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051571.947877171] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051571.949026176] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051571.957388595] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051571.958346971] [sailbot.main_algo]: Target Bearing: -85.15669862162305 -[main_algo-3] [INFO] [1746051571.959205733] [sailbot.main_algo]: Heading Difference: 145.27469862162303 -[main_algo-3] [INFO] [1746051571.960441315] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051571.961357759] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051571.962549123] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051571.964319222] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051571.966443964] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051572.001786089] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903791 Long: -76.50276041 -[main_algo-3] [INFO] [1746051572.002407658] [sailbot.main_algo]: Distance to destination: 52.22210883822703 -[vectornav-1] [INFO] [1746051572.002537135] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.12900000000002, 0.908, 4.048) -[main_algo-3] [INFO] [1746051572.003261954] [sailbot.main_algo]: Target Bearing: -85.1439839089606 -[main_algo-3] [INFO] [1746051572.004213290] [sailbot.main_algo]: Heading Difference: 145.2619839089606 -[main_algo-3] [INFO] [1746051572.005561701] [sailbot.main_algo]: Wind Direction: 205 -[main_algo-3] [INFO] [1746051572.006484251] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051572.007375933] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051572.009806642] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051572.043845100] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051572.044443722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051572.044875531] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051572.046045948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051572.046726241] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051572.085200616] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051572.087254212] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051572.087718533] [sailbot.teensy]: Wind angle: 203 -[teensy-2] [INFO] [1746051572.088672262] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051572.088786223] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051572.089683351] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051572.090575808] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051572.144613968] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051572.145322795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051572.145856956] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051572.147149028] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051572.148322307] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051572.245279605] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051572.245961117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051572.246714727] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051572.247963929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051572.249139268] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051572.335418267] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051572.338124378] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051572.338622292] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051572.338893900] [sailbot.teensy]: Wind angle: 203 -[teensy-2] [INFO] [1746051572.339866192] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051572.340764202] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051572.341630864] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051572.344764508] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051572.344998010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051572.345906426] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051572.346708207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051572.347812398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051572.445415551] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051572.446027839] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051572.446975687] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051572.448198508] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051572.448832296] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051572.457702877] [sailbot.main_algo]: Wind Direction: 203 -[main_algo-3] [INFO] [1746051572.458781771] [sailbot.main_algo]: Target Bearing: -85.1439839089606 -[main_algo-3] [INFO] [1746051572.459690587] [sailbot.main_algo]: Heading Difference: 144.2729839089606 -[main_algo-3] [INFO] [1746051572.461027997] [sailbot.main_algo]: Wind Direction: 203 -[main_algo-3] [INFO] [1746051572.461911056] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051572.462734645] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051572.464296329] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051572.464296416] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051572.503006827] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903775 Long: -76.50276068 -[main_algo-3] [INFO] [1746051572.504225653] [sailbot.main_algo]: Distance to destination: 52.20670883130067 -[vectornav-1] [INFO] [1746051572.504280937] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (57.153999999999996, -0.633, 6.402) -[main_algo-3] [INFO] [1746051572.505560935] [sailbot.main_algo]: Target Bearing: -85.11775296626922 -[main_algo-3] [INFO] [1746051572.506560101] [sailbot.main_algo]: Heading Difference: 144.24675296626924 -[main_algo-3] [INFO] [1746051572.508139280] [sailbot.main_algo]: Wind Direction: 203 -[main_algo-3] [INFO] [1746051572.509100545] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051572.510069780] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051572.511805926] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051572.545027299] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051572.545825434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051572.546300409] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051572.547718209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051572.548790928] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051572.585409098] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051572.587293397] [sailbot.teensy]: Wind angle: 203 -[trim_sail-4] [INFO] [1746051572.587696143] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051572.588313725] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051572.589041526] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051572.589300208] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051572.590346862] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051572.644951821] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051572.645850625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051572.646804894] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051572.648253598] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051572.649283962] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051572.745100711] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051572.745784356] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051572.746534350] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051572.747809968] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051572.749091313] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051572.835381921] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051572.837524915] [sailbot.teensy]: Wind angle: 204 -[trim_sail-4] [INFO] [1746051572.837726123] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051572.838504583] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051572.838928151] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051572.839228753] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051572.839598569] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051572.844396372] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051572.844951937] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051572.845532470] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051572.846637303] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051572.847803214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051572.945243597] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051572.945989684] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051572.946796907] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051572.948424864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051572.949415196] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051572.957352377] [sailbot.main_algo]: Wind Direction: 204 -[main_algo-3] [INFO] [1746051572.958312940] [sailbot.main_algo]: Target Bearing: -85.11775296626922 -[main_algo-3] [INFO] [1746051572.959159221] [sailbot.main_algo]: Heading Difference: 142.27175296626922 -[main_algo-3] [INFO] [1746051572.960374302] [sailbot.main_algo]: Wind Direction: 204 -[main_algo-3] [INFO] [1746051572.961190511] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051572.961995138] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051572.963522186] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051572.963652266] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051573.002915731] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690375 Long: -76.50276048 -[main_algo-3] [INFO] [1746051573.003924500] [sailbot.main_algo]: Distance to destination: 52.17740328553664 -[vectornav-1] [INFO] [1746051573.004077124] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (60.38299999999998, -0.902, 4.803) -[main_algo-3] [INFO] [1746051573.005082885] [sailbot.main_algo]: Target Bearing: -85.13258255619002 -[main_algo-3] [INFO] [1746051573.006010712] [sailbot.main_algo]: Heading Difference: 142.28658255619 -[main_algo-3] [INFO] [1746051573.007333645] [sailbot.main_algo]: Wind Direction: 204 -[main_algo-3] [INFO] [1746051573.008241236] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051573.009095358] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051573.010881373] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051573.045038185] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051573.045701581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051573.046284378] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051573.047793034] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051573.048929903] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051573.085642418] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051573.087691324] [sailbot.teensy]: Wind angle: 205 -[teensy-2] [INFO] [1746051573.088709799] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746051573.088472365] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051573.089149993] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051573.089692613] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051573.090580960] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051573.144938368] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051573.145801346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051573.146248313] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051573.147670763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051573.148218785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051573.244815868] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051573.245754041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051573.246010111] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051573.247487328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051573.248536994] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051573.335456092] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051573.337683624] [sailbot.teensy]: Wind angle: 206 -[trim_sail-4] [INFO] [1746051573.337802598] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051573.338127276] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051573.338404177] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051573.338509831] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051573.339147658] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051573.344303461] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051573.344916768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051573.345418399] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051573.346617445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051573.347634522] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051573.444856958] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051573.445539223] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051573.446031509] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051573.447315622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051573.448347358] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051573.457751659] [sailbot.main_algo]: Wind Direction: 206 -[main_algo-3] [INFO] [1746051573.458839078] [sailbot.main_algo]: Target Bearing: -85.13258255619002 -[main_algo-3] [INFO] [1746051573.459821563] [sailbot.main_algo]: Heading Difference: 145.51558255619 -[main_algo-3] [INFO] [1746051573.461202036] [sailbot.main_algo]: Wind Direction: 206 -[main_algo-3] [INFO] [1746051573.462081667] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051573.462859179] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051573.464436617] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051573.464527682] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051573.502860979] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903756 Long: -76.50276073 -[main_algo-3] [INFO] [1746051573.504084657] [sailbot.main_algo]: Distance to destination: 52.186142075045 -[vectornav-1] [INFO] [1746051573.504456721] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (63.15499999999997, -0.074, 3.06) -[main_algo-3] [INFO] [1746051573.505244345] [sailbot.main_algo]: Target Bearing: -85.11088299667242 -[main_algo-3] [INFO] [1746051573.506246615] [sailbot.main_algo]: Heading Difference: 145.49388299667237 -[main_algo-3] [INFO] [1746051573.507642675] [sailbot.main_algo]: Wind Direction: 206 -[main_algo-3] [INFO] [1746051573.508560087] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051573.509429163] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051573.511049916] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051573.544904305] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051573.545715534] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051573.546194848] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051573.547706913] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051573.548776450] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051573.585427604] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051573.587808141] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051573.588263203] [sailbot.teensy]: Wind angle: 206 -[mux-7] [INFO] [1746051573.588686104] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051573.589217506] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051573.590122061] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051573.590946507] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051573.644963098] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051573.645686931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051573.646370332] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051573.647946368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051573.649141858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051573.745497240] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051573.746221967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051573.747064162] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051573.748284699] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051573.748840464] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051573.835388236] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051573.837304006] [sailbot.teensy]: Wind angle: 202 -[trim_sail-4] [INFO] [1746051573.837699814] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051573.838236664] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051573.838408707] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051573.839163748] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051573.840130437] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051573.844379326] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051573.844957027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051573.845541411] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051573.846853692] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051573.848023762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051573.944940933] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051573.945789893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051573.946230557] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051573.947642844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051573.948412851] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051573.957425068] [sailbot.main_algo]: Wind Direction: 202 -[main_algo-3] [INFO] [1746051573.958446336] [sailbot.main_algo]: Target Bearing: -85.11088299667242 -[main_algo-3] [INFO] [1746051573.959315114] [sailbot.main_algo]: Heading Difference: 148.26588299667242 -[main_algo-3] [INFO] [1746051573.960574522] [sailbot.main_algo]: Wind Direction: 202 -[main_algo-3] [INFO] [1746051573.961426059] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051573.962246955] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051573.963803010] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051573.963850273] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051574.002783284] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903759 Long: -76.50276091 -[vectornav-1] [INFO] [1746051574.003902266] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (60.43000000000001, -0.169, 5.75) -[main_algo-3] [INFO] [1746051574.004201586] [sailbot.main_algo]: Distance to destination: 52.190980475787136 -[main_algo-3] [INFO] [1746051574.005462196] [sailbot.main_algo]: Target Bearing: -85.09509783789694 -[main_algo-3] [INFO] [1746051574.006467743] [sailbot.main_algo]: Heading Difference: 148.25009783789693 -[main_algo-3] [INFO] [1746051574.007862372] [sailbot.main_algo]: Wind Direction: 202 -[main_algo-3] [INFO] [1746051574.008779896] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051574.009644164] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051574.011389882] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051574.044511057] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051574.045070431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051574.045522679] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051574.046729991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051574.047847589] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051574.084484030] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051574.085648643] [sailbot.teensy]: Wind angle: 197 -[trim_sail-4] [INFO] [1746051574.086189511] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051574.086375089] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051574.087142605] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051574.087952043] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051574.088718522] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051574.145014862] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051574.145580947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051574.146431586] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051574.147507827] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051574.148532070] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051574.245105917] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051574.245655316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051574.246446098] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051574.247531074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051574.248569437] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051574.335341861] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051574.337152999] [sailbot.teensy]: Wind angle: 195 -[teensy-2] [INFO] [1746051574.338132510] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746051574.338164228] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051574.338740626] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051574.338932088] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051574.339131442] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051574.344401668] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051574.344956028] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051574.345561181] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051574.346652764] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051574.347677791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051574.444951062] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051574.445481642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051574.446323753] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051574.447710645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051574.448878591] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051574.457703740] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051574.458851664] [sailbot.main_algo]: Target Bearing: -85.09509783789694 -[main_algo-3] [INFO] [1746051574.459769673] [sailbot.main_algo]: Heading Difference: 145.52509783789696 -[main_algo-3] [INFO] [1746051574.461061966] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051574.461865322] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051574.462656267] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051574.464180354] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051574.464328958] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051574.502763211] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903712 Long: -76.50276095 -[main_algo-3] [INFO] [1746051574.503632780] [sailbot.main_algo]: Distance to destination: 52.1394010892553 -[vectornav-1] [INFO] [1746051574.504193505] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.79599999999999, -0.062, 5.176) -[main_algo-3] [INFO] [1746051574.504790494] [sailbot.main_algo]: Target Bearing: -85.08558721142325 -[main_algo-3] [INFO] [1746051574.505746538] [sailbot.main_algo]: Heading Difference: 145.51558721142328 -[main_algo-3] [INFO] [1746051574.507091711] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051574.507962949] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051574.508829910] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051574.510390836] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051574.544717528] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051574.545406149] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051574.546226535] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051574.547280988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051574.548361583] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051574.584989536] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051574.586413546] [sailbot.teensy]: Wind angle: 195 -[teensy-2] [INFO] [1746051574.587260153] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746051574.586975140] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051574.587404566] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051574.588088934] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051574.589010454] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051574.644860531] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051574.645452507] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051574.646169312] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051574.647437425] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051574.648640817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051574.744923019] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051574.745554035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051574.746235602] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051574.747422645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051574.748457504] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051574.835246361] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051574.837013330] [sailbot.teensy]: Wind angle: 195 -[trim_sail-4] [INFO] [1746051574.837566588] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051574.837966180] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051574.838877845] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051574.839310211] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051574.840168571] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051574.844529784] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051574.845516426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051574.845712655] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051574.847676618] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051574.848747220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051574.945351827] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051574.946001569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051574.946903454] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051574.948198359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051574.949465180] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051574.957825829] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051574.959121247] [sailbot.main_algo]: Target Bearing: -85.08558721142325 -[main_algo-3] [INFO] [1746051574.960176597] [sailbot.main_algo]: Heading Difference: 144.88158721142327 -[main_algo-3] [INFO] [1746051574.961518350] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051574.962400826] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051574.963254385] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051574.964942145] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051574.965119140] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051575.002829540] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903727 Long: -76.50276161 -[main_algo-3] [INFO] [1746051575.003731112] [sailbot.main_algo]: Distance to destination: 52.16160267043939 -[vectornav-1] [INFO] [1746051575.003955259] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (63.084, -0.925, 5.361) -[main_algo-3] [INFO] [1746051575.004825517] [sailbot.main_algo]: Target Bearing: -85.0281883586076 -[main_algo-3] [INFO] [1746051575.005800219] [sailbot.main_algo]: Heading Difference: 144.82418835860756 -[main_algo-3] [INFO] [1746051575.007942856] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051575.008971508] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051575.009865359] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051575.011848433] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051575.045005508] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051575.045695192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051575.046289549] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051575.047584405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051575.048629615] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051575.085527857] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051575.087972288] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051575.088340382] [sailbot.teensy]: Wind angle: 195 -[mux-7] [INFO] [1746051575.088798235] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051575.089399400] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051575.090305268] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051575.091154938] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051575.144548548] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051575.145105970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051575.145747850] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051575.146839159] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051575.148008782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051575.245044755] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051575.245777460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051575.246353748] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051575.247835767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051575.248924954] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051575.335651145] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051575.338238007] [sailbot.teensy]: Wind angle: 195 -[trim_sail-4] [INFO] [1746051575.338286316] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051575.339617030] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051575.340246326] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051575.341048292] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051575.341392131] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051575.344390350] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051575.345083014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051575.345537389] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051575.346802037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051575.347929093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051575.445065252] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051575.445722112] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051575.446349699] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051575.447677095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051575.448980100] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051575.457706197] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051575.458843053] [sailbot.main_algo]: Target Bearing: -85.0281883586076 -[main_algo-3] [INFO] [1746051575.459803988] [sailbot.main_algo]: Heading Difference: 148.11218835860757 -[main_algo-3] [INFO] [1746051575.461121528] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051575.462015144] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051575.462826058] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051575.464384150] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051575.464539622] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051575.502843580] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690371 Long: -76.50276175 -[main_algo-3] [INFO] [1746051575.503629800] [sailbot.main_algo]: Distance to destination: 52.144027920360195 -[vectornav-1] [INFO] [1746051575.503947965] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (65.19200000000001, 0.254, 3.805) -[main_algo-3] [INFO] [1746051575.504815778] [sailbot.main_algo]: Target Bearing: -85.01344531755754 -[main_algo-3] [INFO] [1746051575.505819798] [sailbot.main_algo]: Heading Difference: 148.09744531755757 -[main_algo-3] [INFO] [1746051575.507193078] [sailbot.main_algo]: Wind Direction: 195 -[main_algo-3] [INFO] [1746051575.508074059] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051575.508945212] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051575.510596082] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051575.545590965] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051575.545654034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051575.547002293] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051575.547814898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051575.548921461] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051575.585739694] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051575.588398032] [sailbot.teensy]: Wind angle: 194 -[trim_sail-4] [INFO] [1746051575.588655600] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051575.589490747] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051575.590415964] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051575.590660162] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051575.591297356] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051575.644966089] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051575.645646358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051575.646282639] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051575.647481137] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051575.648561540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051575.745114525] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051575.745768856] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051575.746565386] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051575.747970476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051575.748503621] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051575.835465488] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051575.838056497] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051575.838944467] [sailbot.teensy]: Wind angle: 194 -[mux-7] [INFO] [1746051575.838989946] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051575.839931500] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051575.840857012] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051575.841746875] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051575.844535339] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051575.844979216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051575.845792861] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051575.846776380] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051575.847845386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051575.945179552] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051575.945834125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051575.946582760] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051575.947862254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051575.949047829] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051575.957551948] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051575.958543162] [sailbot.main_algo]: Target Bearing: -85.01344531755754 -[main_algo-3] [INFO] [1746051575.959453076] [sailbot.main_algo]: Heading Difference: 150.20544531755752 -[main_algo-3] [INFO] [1746051575.960796360] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051575.961676842] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051575.962501969] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051575.964052390] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051575.964071258] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051576.002934194] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903725 Long: -76.50276196 -[main_algo-3] [INFO] [1746051576.003891959] [sailbot.main_algo]: Distance to destination: 52.16240298233432 -[vectornav-1] [INFO] [1746051576.004259535] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (65.37299999999999, -0.881, 4.046) -[main_algo-3] [INFO] [1746051576.005035960] [sailbot.main_algo]: Target Bearing: -84.99649649408387 -[main_algo-3] [INFO] [1746051576.005988959] [sailbot.main_algo]: Heading Difference: 150.1884964940839 -[main_algo-3] [INFO] [1746051576.007370719] [sailbot.main_algo]: Wind Direction: 194 -[main_algo-3] [INFO] [1746051576.008269860] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051576.009126282] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051576.011004166] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051576.044974759] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051576.045672222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051576.046255630] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051576.047729810] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051576.048764161] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051576.085356740] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051576.087079339] [sailbot.teensy]: Wind angle: 194 -[teensy-2] [INFO] [1746051576.088021843] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051576.088969567] [sailbot.teensy]: Actual tail angle: 50 -[trim_sail-4] [INFO] [1746051576.087935441] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051576.089870619] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051576.089932914] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051576.144082975] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051576.144647583] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051576.144901615] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051576.145976410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051576.147171794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051576.245087968] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051576.245646020] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051576.246405478] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051576.247528417] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051576.248733318] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051576.335160531] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051576.337150691] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051576.337344324] [sailbot.teensy]: Wind angle: 193 -[teensy-2] [INFO] [1746051576.338240956] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051576.338506235] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051576.338856355] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051576.339236922] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051576.344445299] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051576.345020076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051576.345668163] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051576.346744472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051576.347770166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051576.445196699] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051576.445650715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051576.446561225] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051576.447675645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051576.448695927] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051576.457570622] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051576.458622476] [sailbot.main_algo]: Target Bearing: -84.99649649408387 -[main_algo-3] [INFO] [1746051576.459537121] [sailbot.main_algo]: Heading Difference: 150.36949649408388 -[main_algo-3] [INFO] [1746051576.460778255] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051576.461623895] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051576.462426674] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051576.464179676] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051576.464233595] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051576.502837676] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690373 Long: -76.50276234 -[main_algo-3] [INFO] [1746051576.503939650] [sailbot.main_algo]: Distance to destination: 52.17121007108419 -[vectornav-1] [INFO] [1746051576.504138934] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (63.53199999999998, 0.65, 6.347) -[main_algo-3] [INFO] [1746051576.505486984] [sailbot.main_algo]: Target Bearing: -84.96301158976334 -[main_algo-3] [INFO] [1746051576.506632065] [sailbot.main_algo]: Heading Difference: 150.3360115897633 -[main_algo-3] [INFO] [1746051576.507999898] [sailbot.main_algo]: Wind Direction: 193 -[main_algo-3] [INFO] [1746051576.508930742] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051576.509780480] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051576.511496332] [sailbot.mux]: algo rudder angle: 25 -[teensy-2] [INFO] [1746051576.544371633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051576.545651881] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051576.546887005] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[mux-7] [INFO] [1746051576.547300691] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051576.548105929] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051576.584376046] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051576.585202541] [sailbot.teensy]: Wind angle: 193 -[teensy-2] [INFO] [1746051576.585601972] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051576.585983895] [sailbot.teensy]: Actual tail angle: 50 -[trim_sail-4] [INFO] [1746051576.585379478] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051576.586359367] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051576.586371248] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051576.644961866] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051576.645656509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051576.646278142] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051576.647778956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051576.648588770] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051576.745123325] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051576.745792346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051576.746570011] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051576.747983274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051576.748584747] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051576.835484918] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051576.837470626] [sailbot.teensy]: Wind angle: 191 -[teensy-2] [INFO] [1746051576.838403210] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051576.838608200] [sailbot.mux]: algo sail angle: 0 -[trim_sail-4] [INFO] [1746051576.839020006] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051576.839294793] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051576.840221799] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051576.844438272] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051576.844893250] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051576.845651185] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051576.847121088] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051576.848147673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051576.945246663] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051576.945824818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051576.947190868] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051576.947686403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051576.948884802] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051576.957460691] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051576.958413594] [sailbot.main_algo]: Target Bearing: -84.96301158976334 -[main_algo-3] [INFO] [1746051576.959319071] [sailbot.main_algo]: Heading Difference: 148.4950115897633 -[main_algo-3] [INFO] [1746051576.960557244] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051576.961412812] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051576.962234653] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051576.963763025] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051576.963796074] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051577.002791990] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903704 Long: -76.50276254 -[main_algo-3] [INFO] [1746051577.003594828] [sailbot.main_algo]: Distance to destination: 52.14423299305111 -[vectornav-1] [INFO] [1746051577.003925856] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (61.71600000000001, -1.504, 5.675) -[main_algo-3] [INFO] [1746051577.004716579] [sailbot.main_algo]: Target Bearing: -84.9416982657543 -[main_algo-3] [INFO] [1746051577.005627066] [sailbot.main_algo]: Heading Difference: 148.47369826575425 -[main_algo-3] [INFO] [1746051577.006904223] [sailbot.main_algo]: Wind Direction: 191 -[main_algo-3] [INFO] [1746051577.007771304] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051577.008597126] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051577.010201178] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051577.045292374] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051577.045725938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051577.047115999] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051577.047787232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051577.048973107] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051577.085328276] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051577.087237167] [sailbot.teensy]: Wind angle: 190 -[teensy-2] [INFO] [1746051577.088195836] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746051577.087610850] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051577.089089323] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051577.089205688] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051577.090001896] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051577.145073613] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051577.145972136] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051577.146386194] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051577.147946772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051577.149007233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051577.244988406] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051577.245841585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051577.246294822] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051577.247966555] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051577.248995925] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051577.335846311] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051577.338667565] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051577.339117909] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051577.339119516] [sailbot.teensy]: Wind angle: 190 -[teensy-2] [INFO] [1746051577.339552104] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051577.339944447] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051577.340320307] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051577.344436448] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051577.344946013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051577.345555422] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051577.346722831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051577.347923125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051577.445200834] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051577.446156922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051577.446639145] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051577.448231173] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051577.449397291] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051577.457611698] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051577.458599787] [sailbot.main_algo]: Target Bearing: -84.9416982657543 -[main_algo-3] [INFO] [1746051577.459441336] [sailbot.main_algo]: Heading Difference: 146.65769826575433 -[main_algo-3] [INFO] [1746051577.460671464] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051577.461481892] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051577.462292239] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051577.463819967] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051577.463893174] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051577.502916664] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903713 Long: -76.50276282 -[main_algo-3] [INFO] [1746051577.503960872] [sailbot.main_algo]: Distance to destination: 52.156612437980776 -[vectornav-1] [INFO] [1746051577.504209804] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (60.668000000000006, 0.177, 4.296) -[main_algo-3] [INFO] [1746051577.505145178] [sailbot.main_algo]: Target Bearing: -84.91771122683997 -[main_algo-3] [INFO] [1746051577.506122452] [sailbot.main_algo]: Heading Difference: 146.63371122683998 -[main_algo-3] [INFO] [1746051577.507448029] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051577.508346675] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051577.509210068] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051577.510896416] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051577.545090688] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051577.545759053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051577.546527291] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051577.547857568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051577.549067833] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051577.585529450] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051577.587979428] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051577.588183455] [sailbot.teensy]: Wind angle: 190 -[mux-7] [INFO] [1746051577.589340262] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051577.589414885] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051577.590323424] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051577.591426239] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051577.644987566] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051577.645602303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051577.646266274] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051577.647478962] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051577.648735325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051577.745181255] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051577.745920882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051577.746664632] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051577.747766686] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051577.748821842] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051577.835348421] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051577.837559210] [sailbot.teensy]: Wind angle: 190 -[trim_sail-4] [INFO] [1746051577.837654317] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051577.838709916] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051577.838870833] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051577.839266624] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051577.839607082] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051577.844441660] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051577.844999030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051577.845596277] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051577.846804595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051577.847793081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051577.945061737] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051577.945830621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051577.946577250] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051577.948003199] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051577.949104348] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051577.957634413] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051577.958636077] [sailbot.main_algo]: Target Bearing: -84.91771122683997 -[main_algo-3] [INFO] [1746051577.959526670] [sailbot.main_algo]: Heading Difference: 145.58571122683998 -[main_algo-3] [INFO] [1746051577.960754610] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051577.961581677] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051577.962372980] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051577.963849671] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051577.963936482] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051578.002740769] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903735 Long: -76.50276286 -[main_algo-3] [INFO] [1746051578.003662304] [sailbot.main_algo]: Distance to destination: 52.18125649776433 -[vectornav-1] [INFO] [1746051578.004065207] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.791, 0.25, 5.843) -[main_algo-3] [INFO] [1746051578.005233174] [sailbot.main_algo]: Target Bearing: -84.91696987253982 -[main_algo-3] [INFO] [1746051578.006279201] [sailbot.main_algo]: Heading Difference: 145.58496987253983 -[main_algo-3] [INFO] [1746051578.007656216] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051578.008554716] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051578.009402436] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051578.011051074] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051578.045218564] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051578.045739392] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051578.046514422] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051578.047726836] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051578.048771005] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051578.085605070] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051578.088317223] [sailbot.teensy]: Wind angle: 190 -[trim_sail-4] [INFO] [1746051578.088357804] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051578.088771836] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051578.089436909] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051578.090453576] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051578.091401578] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051578.145325671] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051578.146215070] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051578.146902539] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051578.148919926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051578.149973233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051578.243807875] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051578.244194718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051578.244466336] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051578.245160042] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051578.245727245] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051578.335133302] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051578.336744448] [sailbot.teensy]: Wind angle: 190 -[trim_sail-4] [INFO] [1746051578.337287620] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051578.337673852] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051578.338578444] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051578.338749343] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051578.339447132] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051578.344280164] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051578.344922960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051578.345454854] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051578.347064596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051578.348144759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051578.445226438] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051578.445873471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051578.446680052] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051578.447913480] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051578.448499419] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051578.457703409] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051578.458697021] [sailbot.main_algo]: Target Bearing: -84.91696987253982 -[main_algo-3] [INFO] [1746051578.459552387] [sailbot.main_algo]: Heading Difference: 144.70796987253982 -[main_algo-3] [INFO] [1746051578.460858194] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051578.461728450] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051578.462559647] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051578.464108542] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051578.464298201] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051578.502531565] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903733 Long: -76.50276303 -[main_algo-3] [INFO] [1746051578.503284096] [sailbot.main_algo]: Distance to destination: 52.180534605665294 -[vectornav-1] [INFO] [1746051578.503587297] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (62.88299999999998, -1.782, 4.125) -[main_algo-3] [INFO] [1746051578.504345503] [sailbot.main_algo]: Target Bearing: -84.9014496425318 -[main_algo-3] [INFO] [1746051578.505272858] [sailbot.main_algo]: Heading Difference: 144.6924496425318 -[main_algo-3] [INFO] [1746051578.506604257] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051578.507501358] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051578.508380513] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051578.510064360] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051578.545068214] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051578.545789931] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051578.546376275] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051578.547783844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051578.548995102] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051578.585072776] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051578.586577422] [sailbot.teensy]: Wind angle: 190 -[trim_sail-4] [INFO] [1746051578.587279748] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051578.587443980] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051578.588338406] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051578.588981338] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051578.589230081] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051578.644994315] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051578.645612131] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051578.646325788] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051578.647578483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051578.648617291] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051578.745205230] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051578.746118755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051578.746901462] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051578.748478622] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051578.749578075] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051578.835537125] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051578.837682225] [sailbot.teensy]: Wind angle: 190 -[trim_sail-4] [INFO] [1746051578.838267433] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051578.838673683] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051578.839318860] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051578.839508835] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051578.839714549] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051578.844447357] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051578.845121959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051578.845631929] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051578.846832585] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051578.847930073] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051578.945111530] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051578.945883242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051578.946641365] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051578.947989875] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051578.949122512] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051578.957667789] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051578.958679091] [sailbot.main_algo]: Target Bearing: -84.9014496425318 -[main_algo-3] [INFO] [1746051578.959587107] [sailbot.main_algo]: Heading Difference: 147.7844496425318 -[main_algo-3] [INFO] [1746051578.961008749] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051578.961906881] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051578.962759292] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051578.964456984] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051578.964684041] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051579.002814311] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903761 Long: -76.50276325 -[main_algo-3] [INFO] [1746051579.003666980] [sailbot.main_algo]: Distance to destination: 52.213382682735435 -[main_algo-3] [INFO] [1746051579.004775977] [sailbot.main_algo]: Target Bearing: -84.8853468896721 -[vectornav-1] [INFO] [1746051579.005174355] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (64.38400000000001, 1.67, 5.325) -[main_algo-3] [INFO] [1746051579.005792530] [sailbot.main_algo]: Heading Difference: 147.7683468896721 -[main_algo-3] [INFO] [1746051579.007233162] [sailbot.main_algo]: Wind Direction: 190 -[main_algo-3] [INFO] [1746051579.008132185] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051579.009000949] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051579.010730835] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051579.045012915] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051579.046376503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051579.046406917] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051579.048487690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051579.049513119] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051579.085342406] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051579.087843918] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051579.087873498] [sailbot.teensy]: Wind angle: 190 -[teensy-2] [INFO] [1746051579.088913093] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051579.089211025] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051579.089875988] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051579.090797977] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051579.144848999] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051579.145473596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051579.146145485] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051579.147323330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051579.148391221] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051579.245159935] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051579.246095769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051579.246889918] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051579.248204266] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051579.248710438] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051579.335105568] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051579.336716672] [sailbot.teensy]: Wind angle: 189 -[teensy-2] [INFO] [1746051579.337681473] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746051579.337532959] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051579.338578513] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051579.339083563] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051579.339460157] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051579.344309081] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051579.344939178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051579.345377433] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051579.346647241] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051579.347684117] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051579.445127030] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051579.445755858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051579.446577025] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051579.447595833] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051579.448140036] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051579.457762396] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051579.458851199] [sailbot.main_algo]: Target Bearing: -84.8853468896721 -[main_algo-3] [INFO] [1746051579.459791172] [sailbot.main_algo]: Heading Difference: 149.26934688967214 -[main_algo-3] [INFO] [1746051579.461036659] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051579.461941158] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051579.462743631] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051579.464261545] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051579.464324537] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051579.502807383] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903764 Long: -76.50276327 -[main_algo-3] [INFO] [1746051579.503639755] [sailbot.main_algo]: Distance to destination: 52.21687100089403 -[vectornav-1] [INFO] [1746051579.503943015] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (63.738, -2.147, 6.212) -[main_algo-3] [INFO] [1746051579.504744292] [sailbot.main_algo]: Target Bearing: -84.883943167047 -[main_algo-3] [INFO] [1746051579.505723756] [sailbot.main_algo]: Heading Difference: 149.267943167047 -[main_algo-3] [INFO] [1746051579.507043907] [sailbot.main_algo]: Wind Direction: 189 -[main_algo-3] [INFO] [1746051579.507955033] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051579.508839042] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051579.510525905] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051579.545563391] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051579.545649646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051579.547030077] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051579.547668050] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051579.548759710] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051579.585523949] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051579.588129643] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051579.588506786] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051579.589091487] [sailbot.teensy]: Wind angle: 188 -[teensy-2] [INFO] [1746051579.590116361] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051579.591014252] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051579.591870177] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051579.645074252] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051579.646047181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051579.646711574] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051579.648089307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051579.649260941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051579.745247100] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051579.745993828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051579.746701385] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051579.748255943] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051579.749314132] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051579.835795774] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051579.838276558] [sailbot.teensy]: Wind angle: 188 -[teensy-2] [INFO] [1746051579.839331836] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746051579.838518406] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051579.839217924] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051579.840290938] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051579.841205418] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051579.844236338] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051579.844762041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051579.845323665] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051579.846461984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051579.847488134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051579.945046517] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051579.945703741] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051579.946371237] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051579.947607942] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051579.948648250] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051579.957646833] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051579.958659617] [sailbot.main_algo]: Target Bearing: -84.883943167047 -[main_algo-3] [INFO] [1746051579.959548981] [sailbot.main_algo]: Heading Difference: 148.621943167047 -[main_algo-3] [INFO] [1746051579.960765349] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051579.961585128] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051579.962364226] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051579.963871419] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051579.963874745] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051580.002916681] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903777 Long: -76.50276314 -[main_algo-3] [INFO] [1746051580.003782291] [sailbot.main_algo]: Distance to destination: 52.23008592776844 -[vectornav-1] [INFO] [1746051580.004637094] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (61.44200000000001, 1.056, 6.636) -[main_algo-3] [INFO] [1746051580.004920527] [sailbot.main_algo]: Target Bearing: -84.89729314900838 -[main_algo-3] [INFO] [1746051580.005881493] [sailbot.main_algo]: Heading Difference: 148.63529314900836 -[main_algo-3] [INFO] [1746051580.007240380] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051580.008196040] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051580.009188149] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051580.011193076] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051580.045133693] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051580.046064655] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051580.046542412] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051580.048000677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051580.049095449] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051580.085258053] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051580.086867847] [sailbot.teensy]: Wind angle: 188 -[trim_sail-4] [INFO] [1746051580.087377257] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051580.087743068] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051580.088760639] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051580.089364943] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051580.089643054] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051580.144868132] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051580.145478158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051580.146103888] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051580.147285525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051580.147950455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051580.244863683] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051580.245465678] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051580.246324336] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051580.247599054] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051580.248599754] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051580.334449206] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051580.335515392] [sailbot.teensy]: Wind angle: 188 -[teensy-2] [INFO] [1746051580.336222503] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051580.336950682] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051580.337743126] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051580.335962232] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051580.338301086] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051580.343597008] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051580.344355850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051580.344507878] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051580.345997710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051580.346682128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051580.445014752] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051580.445661847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051580.446439264] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051580.447572690] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051580.448455252] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051580.457932094] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051580.459003745] [sailbot.main_algo]: Target Bearing: -84.89729314900838 -[main_algo-3] [INFO] [1746051580.459958605] [sailbot.main_algo]: Heading Difference: 146.33929314900837 -[main_algo-3] [INFO] [1746051580.461304542] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051580.462189157] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051580.463029948] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051580.464671823] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051580.464689529] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051580.502876157] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903789 Long: -76.50276311 -[main_algo-3] [INFO] [1746051580.504632321] [sailbot.main_algo]: Distance to destination: 52.243074373134455 -[vectornav-1] [INFO] [1746051580.504663330] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (61.02600000000001, -1.443, 6.783) -[main_algo-3] [INFO] [1746051580.505702249] [sailbot.main_algo]: Target Bearing: -84.90154056243966 -[main_algo-3] [INFO] [1746051580.506660582] [sailbot.main_algo]: Heading Difference: 146.34354056243967 -[main_algo-3] [INFO] [1746051580.508013355] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051580.508893502] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051580.509731348] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051580.511304763] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051580.544884922] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051580.545593713] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051580.546129157] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051580.547517819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051580.548547784] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051580.585213401] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051580.587010107] [sailbot.teensy]: Wind angle: 188 -[trim_sail-4] [INFO] [1746051580.587305996] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051580.588025745] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051580.588831612] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051580.588987354] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051580.589920533] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051580.644625135] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051580.645244831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051580.645820596] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051580.646912316] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051580.647920353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051580.745049429] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051580.745736761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051580.746393384] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051580.747653707] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051580.748107402] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051580.835548058] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051580.837985417] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051580.838388594] [sailbot.teensy]: Wind angle: 188 -[teensy-2] [INFO] [1746051580.838950805] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051580.839112682] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051580.839364141] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051580.839758740] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051580.844648949] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051580.845224963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051580.845909220] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051580.846942538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051580.848025400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051580.944844531] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051580.945443323] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051580.946480849] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051580.947549364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051580.949263081] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051580.957624941] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051580.958605582] [sailbot.main_algo]: Target Bearing: -84.90154056243966 -[main_algo-3] [INFO] [1746051580.959485476] [sailbot.main_algo]: Heading Difference: 145.92754056243967 -[main_algo-3] [INFO] [1746051580.960702987] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051580.961590291] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051580.962368160] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051580.963901461] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051580.963931236] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051581.002724497] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903801 Long: -76.50276319 -[main_algo-3] [INFO] [1746051581.003645883] [sailbot.main_algo]: Distance to destination: 52.25702638848396 -[vectornav-1] [INFO] [1746051581.003872127] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (60.69400000000002, 0.68, 4.859) -[main_algo-3] [INFO] [1746051581.004749336] [sailbot.main_algo]: Target Bearing: -84.89592565831249 -[main_algo-3] [INFO] [1746051581.005657158] [sailbot.main_algo]: Heading Difference: 145.9219256583125 -[main_algo-3] [INFO] [1746051581.006892585] [sailbot.main_algo]: Wind Direction: 188 -[main_algo-3] [INFO] [1746051581.007705427] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051581.008513161] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051581.010257663] [sailbot.mux]: algo rudder angle: 25 -[teensy-2] [INFO] [1746051581.045848974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051581.046258321] [sailbot.mux]: Published sail angle from algo: 0 -[mux-7] [INFO] [1746051581.048574313] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051581.051441649] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051581.052561455] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051581.085581990] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051581.087652928] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051581.088093104] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051581.089520780] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051581.089916220] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051581.090797111] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051581.091644269] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051581.144661590] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051581.145254878] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051581.145770911] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051581.146958472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051581.148001282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051581.244748554] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051581.245364491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051581.245901545] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051581.247122596] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051581.248132221] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051581.335262104] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051581.337267611] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051581.337381651] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051581.338193357] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051581.339090063] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051581.339156840] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051581.340012272] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051581.344324295] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051581.344881388] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051581.345422687] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051581.346639339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051581.347672927] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051581.445121805] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051581.445805994] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051581.446442314] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051581.447859575] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051581.448938605] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051581.457630692] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051581.458656599] [sailbot.main_algo]: Target Bearing: -84.89592565831249 -[main_algo-3] [INFO] [1746051581.459561613] [sailbot.main_algo]: Heading Difference: 145.5899256583125 -[main_algo-3] [INFO] [1746051581.460841353] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051581.461670792] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051581.462464877] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051581.464055522] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051581.464204576] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051581.502854281] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903807 Long: -76.50276338 -[main_algo-3] [INFO] [1746051581.503893666] [sailbot.main_algo]: Distance to destination: 52.26531924677296 -[main_algo-3] [INFO] [1746051581.505130966] [sailbot.main_algo]: Target Bearing: -84.87967604699706 -[vectornav-1] [INFO] [1746051581.505148374] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.56999999999999, -0.956, 5.324) -[main_algo-3] [INFO] [1746051581.506210994] [sailbot.main_algo]: Heading Difference: 145.5736760469971 -[main_algo-3] [INFO] [1746051581.507603743] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051581.508537271] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051581.509407702] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051581.511241895] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051581.545119483] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051581.545698857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051581.546498702] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051581.547630787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051581.548674841] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051581.585245613] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051581.587364243] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051581.588143635] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051581.588621756] [sailbot.teensy]: Wind angle: 185 -[teensy-2] [INFO] [1746051581.589609544] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051581.590584292] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051581.591514453] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051581.645093622] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051581.645616842] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051581.646435548] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051581.647523084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051581.648623222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051581.745242041] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051581.745750587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051581.746614645] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051581.747658823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051581.748570478] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051581.835454010] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051581.837400673] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051581.837878632] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051581.838334671] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051581.839234937] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051581.839405519] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051581.840641710] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051581.844641615] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051581.845089401] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051581.845737268] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051581.846787557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051581.847802240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051581.945049360] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051581.945729002] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051581.946400069] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051581.947636132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051581.948829122] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051581.957656907] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051581.958614738] [sailbot.main_algo]: Target Bearing: -84.87967604699706 -[main_algo-3] [INFO] [1746051581.959479449] [sailbot.main_algo]: Heading Difference: 144.44967604699707 -[main_algo-3] [INFO] [1746051581.960700601] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051581.961516690] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051581.962313275] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051581.963836216] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051581.963860327] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051582.003014700] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903799 Long: -76.50276356 -[main_algo-3] [INFO] [1746051582.004035288] [sailbot.main_algo]: Distance to destination: 52.25806949630351 -[vectornav-1] [INFO] [1746051582.004323700] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.93299999999999, 0.149, 4.299) -[main_algo-3] [INFO] [1746051582.005262444] [sailbot.main_algo]: Target Bearing: -84.8625012055795 -[main_algo-3] [INFO] [1746051582.006211215] [sailbot.main_algo]: Heading Difference: 144.4325012055795 -[main_algo-3] [INFO] [1746051582.007532091] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051582.008463813] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051582.009365490] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051582.011052697] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051582.044876193] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051582.045519912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051582.046111127] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051582.047318640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051582.048490405] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051582.085723085] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051582.088378564] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051582.088404372] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051582.089426558] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051582.089792186] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051582.090316328] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051582.091170875] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051582.145088435] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051582.146370069] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051582.146537223] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051582.148113063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051582.148631222] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051582.244887954] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051582.245997841] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051582.246191243] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051582.247850904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051582.248900654] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051582.335817954] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051582.338617485] [sailbot.teensy]: Wind angle: 185 -[trim_sail-4] [INFO] [1746051582.339053528] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051582.339692262] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051582.340742566] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051582.341824903] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051582.342514074] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051582.343833380] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051582.344186187] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051582.344565907] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051582.345250351] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051582.345765039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051582.445002947] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051582.445719251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051582.446224151] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051582.447545640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051582.448747667] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051582.457366956] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051582.458348489] [sailbot.main_algo]: Target Bearing: -84.8625012055795 -[main_algo-3] [INFO] [1746051582.459177248] [sailbot.main_algo]: Heading Difference: 144.7955012055795 -[main_algo-3] [INFO] [1746051582.460408913] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051582.461248314] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051582.462039972] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051582.463551405] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051582.463711498] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051582.502841199] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690381 Long: -76.50276381 -[main_algo-3] [INFO] [1746051582.503752213] [sailbot.main_algo]: Distance to destination: 52.27242207052298 -[vectornav-1] [INFO] [1746051582.504017750] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.65699999999998, -0.691, 4.52) -[main_algo-3] [INFO] [1746051582.504887359] [sailbot.main_algo]: Target Bearing: -84.84153514048263 -[main_algo-3] [INFO] [1746051582.505894146] [sailbot.main_algo]: Heading Difference: 144.7745351404826 -[main_algo-3] [INFO] [1746051582.507375398] [sailbot.main_algo]: Wind Direction: 185 -[main_algo-3] [INFO] [1746051582.508287746] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051582.509161380] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051582.510882123] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051582.545042228] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051582.545678678] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051582.546271932] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051582.547495593] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051582.548680859] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051582.585691288] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051582.588586904] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051582.589836074] [sailbot.teensy]: Wind angle: 185 -[mux-7] [INFO] [1746051582.591055486] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051582.592659527] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051582.593584982] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051582.594432632] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051582.645012376] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051582.645637664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051582.646348304] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051582.647425136] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051582.648554439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051582.745045108] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051582.745616971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051582.746360301] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051582.747573039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051582.748665048] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051582.835335789] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051582.837626667] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051582.838097348] [sailbot.teensy]: Wind angle: 184 -[mux-7] [INFO] [1746051582.838436381] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051582.839082425] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051582.839759145] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051582.840135323] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051582.844469347] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051582.844981648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051582.845623957] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051582.846694431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051582.847865559] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051582.945242133] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051582.945913636] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051582.946700689] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051582.948259357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051582.948751862] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051582.957664850] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051582.958702973] [sailbot.main_algo]: Target Bearing: -84.84153514048263 -[main_algo-3] [INFO] [1746051582.959705586] [sailbot.main_algo]: Heading Difference: 144.4985351404826 -[main_algo-3] [INFO] [1746051582.960958051] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051582.961792058] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051582.962577958] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051582.964162533] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051582.964266397] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051583.002807254] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903817 Long: -76.50276423 -[main_algo-3] [INFO] [1746051583.003645233] [sailbot.main_algo]: Distance to destination: 52.283875378881255 -[vectornav-1] [INFO] [1746051583.003945853] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.34800000000001, 0.538, 5.802) -[main_algo-3] [INFO] [1746051583.004785615] [sailbot.main_algo]: Target Bearing: -84.80482708838274 -[main_algo-3] [INFO] [1746051583.005721062] [sailbot.main_algo]: Heading Difference: 144.46182708838273 -[main_algo-3] [INFO] [1746051583.007079486] [sailbot.main_algo]: Wind Direction: 184 -[main_algo-3] [INFO] [1746051583.007977688] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051583.008865030] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051583.010565885] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051583.044852351] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051583.045572391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051583.046130568] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051583.047503496] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051583.048671460] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051583.085448399] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051583.087390555] [sailbot.teensy]: Wind angle: 182 -[teensy-2] [INFO] [1746051583.088357935] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746051583.087767553] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051583.088910816] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051583.089238411] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051583.090125834] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051583.145152609] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051583.145830724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051583.146812254] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051583.147694485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051583.148783548] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051583.245335750] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051583.245942455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051583.246762912] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051583.248111506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051583.249022391] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051583.335318443] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051583.337016534] [sailbot.teensy]: Wind angle: 174 -[trim_sail-4] [INFO] [1746051583.337656871] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051583.338805408] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051583.339255426] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051583.340216892] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051583.341063174] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051583.344607797] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051583.345113607] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051583.345856254] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051583.346806390] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051583.347947775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051583.444971005] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051583.445528586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051583.446558238] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051583.447286026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051583.448476734] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051583.457714277] [sailbot.main_algo]: Wind Direction: 174 -[main_algo-3] [INFO] [1746051583.458752787] [sailbot.main_algo]: Target Bearing: -84.80482708838274 -[main_algo-3] [INFO] [1746051583.459679321] [sailbot.main_algo]: Heading Difference: 144.15282708838276 -[main_algo-3] [INFO] [1746051583.461013364] [sailbot.main_algo]: Wind Direction: 174 -[main_algo-3] [INFO] [1746051583.461912614] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051583.462750352] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051583.464408696] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051583.464407767] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051583.502996487] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903891 Long: -76.50276437 -[main_algo-3] [INFO] [1746051583.503998869] [sailbot.main_algo]: Distance to destination: 52.36682191292478 -[vectornav-1] [INFO] [1746051583.504342747] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.435, 0.086, 5.797) -[main_algo-3] [INFO] [1746051583.505269097] [sailbot.main_algo]: Target Bearing: -84.80203315238063 -[main_algo-3] [INFO] [1746051583.506271211] [sailbot.main_algo]: Heading Difference: 144.15003315238062 -[main_algo-3] [INFO] [1746051583.507627309] [sailbot.main_algo]: Wind Direction: 174 -[main_algo-3] [INFO] [1746051583.508523715] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051583.509375692] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051583.511110873] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051583.545055772] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051583.545751862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051583.546374675] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051583.547588801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051583.548628589] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051583.585092064] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051583.586611486] [sailbot.teensy]: Wind angle: 156 -[trim_sail-4] [INFO] [1746051583.587162186] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051583.587480010] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051583.588415460] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051583.589289386] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051583.589468079] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051583.644903455] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051583.645568266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051583.646202487] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051583.647469310] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051583.648595532] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051583.745119291] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051583.745850735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051583.746491641] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051583.747831763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051583.748971538] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051583.835476572] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051583.837941380] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051583.838656935] [sailbot.teensy]: Wind angle: 149 -[mux-7] [INFO] [1746051583.838819451] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051583.840140438] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051583.841072778] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051583.841956887] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051583.844291053] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051583.844862300] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051583.845415378] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051583.846582642] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051583.847705193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051583.945013727] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051583.945705489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051583.946276894] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051583.947661843] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051583.948811361] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051583.957573608] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051583.958601966] [sailbot.main_algo]: Target Bearing: -84.80203315238063 -[main_algo-3] [INFO] [1746051583.959498253] [sailbot.main_algo]: Heading Difference: 138.2370331523806 -[main_algo-3] [INFO] [1746051583.960725809] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051583.961550926] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051583.962332550] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051583.963869180] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051583.963894616] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051584.003093659] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690396 Long: -76.50276499 -[main_algo-3] [INFO] [1746051584.004027817] [sailbot.main_algo]: Distance to destination: 52.44853640606814 -[vectornav-1] [INFO] [1746051584.004469064] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.084, -0.993, 4.392) -[main_algo-3] [INFO] [1746051584.005973248] [sailbot.main_algo]: Target Bearing: -84.75573063751072 -[main_algo-3] [INFO] [1746051584.007010361] [sailbot.main_algo]: Heading Difference: 138.19073063751074 -[main_algo-3] [INFO] [1746051584.008420219] [sailbot.main_algo]: Wind Direction: 149 -[main_algo-3] [INFO] [1746051584.009323075] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051584.010172807] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051584.011933797] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051584.045127472] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051584.045664137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051584.046398131] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051584.047482935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051584.048655761] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051584.085592144] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051584.087633718] [sailbot.teensy]: Wind angle: 149 -[trim_sail-4] [INFO] [1746051584.088429197] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051584.088633213] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051584.089552458] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051584.090291980] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051584.090420749] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051584.144882661] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051584.145732081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051584.146498772] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051584.147871431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051584.148902743] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051584.244871114] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051584.245582794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051584.246613368] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051584.247453354] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051584.247982892] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051584.335540852] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051584.338085570] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051584.338350875] [sailbot.teensy]: Wind angle: 148 -[mux-7] [INFO] [1746051584.339027546] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051584.339491067] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051584.340431006] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051584.341252796] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051584.344622551] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051584.345310759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051584.345863350] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051584.347131470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051584.348315214] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051584.443954368] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051584.444593917] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051584.444863252] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051584.446341866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051584.447526288] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051584.456873647] [sailbot.main_algo]: Wind Direction: 148 -[main_algo-3] [INFO] [1746051584.457794606] [sailbot.main_algo]: Target Bearing: -84.75573063751072 -[main_algo-3] [INFO] [1746051584.458740510] [sailbot.main_algo]: Heading Difference: 132.83973063751074 -[main_algo-3] [INFO] [1746051584.460141131] [sailbot.main_algo]: Wind Direction: 148 -[main_algo-3] [INFO] [1746051584.461148308] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051584.462077378] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051584.463733645] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051584.464007206] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051584.502573316] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903978 Long: -76.50276516 -[main_algo-3] [INFO] [1746051584.503454663] [sailbot.main_algo]: Distance to destination: 52.46993305115881 -[vectornav-1] [INFO] [1746051584.503643259] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.238999999999976, 0.83, 4.841) -[main_algo-3] [INFO] [1746051584.504641429] [sailbot.main_algo]: Target Bearing: -84.74293818501329 -[main_algo-3] [INFO] [1746051584.505537250] [sailbot.main_algo]: Heading Difference: 132.82693818501332 -[main_algo-3] [INFO] [1746051584.506788339] [sailbot.main_algo]: Wind Direction: 148 -[main_algo-3] [INFO] [1746051584.507571186] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051584.508398638] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051584.509987004] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051584.544630077] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051584.545332348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051584.545772960] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051584.547171451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051584.548188439] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051584.585216805] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051584.587427715] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051584.589359449] [sailbot.teensy]: Wind angle: 148 -[mux-7] [INFO] [1746051584.589712121] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051584.590378836] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051584.591320360] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051584.592181759] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051584.644870764] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051584.645545922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051584.646173999] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051584.647400830] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051584.648545173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051584.745044375] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051584.745685626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051584.746448421] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051584.747658627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051584.748855337] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051584.835425986] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051584.837239004] [sailbot.teensy]: Wind angle: 148 -[trim_sail-4] [INFO] [1746051584.837794358] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051584.839272221] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051584.839504739] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051584.840513975] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051584.841469528] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051584.844399841] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051584.844801799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051584.845517785] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051584.846512107] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051584.847559268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051584.945254634] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051584.945736524] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051584.946745786] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051584.947937737] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051584.948970681] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051584.957818718] [sailbot.main_algo]: Wind Direction: 148 -[main_algo-3] [INFO] [1746051584.958825656] [sailbot.main_algo]: Target Bearing: -84.74293818501329 -[main_algo-3] [INFO] [1746051584.959753094] [sailbot.main_algo]: Heading Difference: 128.9819381850133 -[main_algo-3] [INFO] [1746051584.961039388] [sailbot.main_algo]: Wind Direction: 148 -[main_algo-3] [INFO] [1746051584.961867459] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051584.962647937] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051584.964236147] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051584.964722776] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051585.002791537] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903994 Long: -76.50276578 -[main_algo-3] [INFO] [1746051585.003664837] [sailbot.main_algo]: Distance to destination: 52.4931878313694 -[vectornav-1] [INFO] [1746051585.003944217] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (42.113999999999976, -1.339, 5.975) -[main_algo-3] [INFO] [1746051585.004822712] [sailbot.main_algo]: Target Bearing: -84.6897484003988 -[main_algo-3] [INFO] [1746051585.005813997] [sailbot.main_algo]: Heading Difference: 128.92874840039877 -[main_algo-3] [INFO] [1746051585.007269001] [sailbot.main_algo]: Wind Direction: 148 -[main_algo-3] [INFO] [1746051585.008175530] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051585.009010268] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051585.010709989] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051585.044936129] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051585.045603638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051585.046206276] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051585.047446082] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051585.048674044] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051585.085181409] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051585.086717499] [sailbot.teensy]: Wind angle: 148 -[trim_sail-4] [INFO] [1746051585.087202514] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051585.087578997] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051585.088398409] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051585.087839093] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051585.089202450] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051585.145020836] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051585.145706348] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051585.146677982] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051585.147960252] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051585.148991482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051585.244877626] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051585.245522590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051585.246139836] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051585.247316318] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051585.248559848] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051585.335242463] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051585.336919404] [sailbot.teensy]: Wind angle: 148 -[trim_sail-4] [INFO] [1746051585.337527882] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051585.337840825] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051585.338728121] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051585.339650729] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051585.339884707] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051585.344457405] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051585.344961520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051585.345598888] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051585.346674126] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051585.347764613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051585.445222874] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051585.445682015] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051585.446522275] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051585.447493844] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051585.448587606] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051585.457726895] [sailbot.main_algo]: Wind Direction: 148 -[main_algo-3] [INFO] [1746051585.458772267] [sailbot.main_algo]: Target Bearing: -84.6897484003988 -[main_algo-3] [INFO] [1746051585.459724262] [sailbot.main_algo]: Heading Difference: 126.80374840039877 -[main_algo-3] [INFO] [1746051585.461030241] [sailbot.main_algo]: Wind Direction: 148 -[main_algo-3] [INFO] [1746051585.461877070] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051585.462689716] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051585.464289193] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051585.464304340] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051585.502678040] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904023 Long: -76.50276613 -[main_algo-3] [INFO] [1746051585.503566746] [sailbot.main_algo]: Distance to destination: 52.52837522220632 -[vectornav-1] [INFO] [1746051585.504376681] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.567999999999984, 0.026, 5.947) -[main_algo-3] [INFO] [1746051585.504704610] [sailbot.main_algo]: Target Bearing: -84.66242014565998 -[main_algo-3] [INFO] [1746051585.505701611] [sailbot.main_algo]: Heading Difference: 126.77642014565993 -[main_algo-3] [INFO] [1746051585.507076504] [sailbot.main_algo]: Wind Direction: 148 -[main_algo-3] [INFO] [1746051585.507984652] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051585.508854350] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051585.510506285] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051585.544902549] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051585.545510450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051585.546055377] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051585.547243646] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051585.548298607] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051585.585364023] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051585.587228035] [sailbot.teensy]: Wind angle: 149 -[teensy-2] [INFO] [1746051585.588185838] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746051585.587759396] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051585.588684515] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051585.589094004] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051585.590030899] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051585.645136277] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051585.645618240] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051585.646518344] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051585.647563710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051585.648732377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051585.745239776] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051585.745836325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051585.746717925] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051585.747923656] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051585.749040397] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051585.835449954] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051585.837488738] [sailbot.teensy]: Wind angle: 148 -[teensy-2] [INFO] [1746051585.838425597] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746051585.837890478] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051585.839180014] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051585.839309940] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051585.839706997] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051585.844554113] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051585.845020006] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051585.845718480] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051585.846751223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051585.847787228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051585.945037044] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051585.945726840] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051585.946374743] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051585.947534090] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051585.948645647] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051585.957526394] [sailbot.main_algo]: Wind Direction: 148 -[main_algo-3] [INFO] [1746051585.958502424] [sailbot.main_algo]: Target Bearing: -84.66242014565998 -[main_algo-3] [INFO] [1746051585.959348699] [sailbot.main_algo]: Heading Difference: 126.23042014565999 -[main_algo-3] [INFO] [1746051585.960602786] [sailbot.main_algo]: Wind Direction: 148 -[main_algo-3] [INFO] [1746051585.961468908] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051585.962269536] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051585.963821856] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051585.963823403] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051586.002905378] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904031 Long: -76.50276651 -[main_algo-3] [INFO] [1746051586.003830295] [sailbot.main_algo]: Distance to destination: 52.540670944594346 -[vectornav-1] [INFO] [1746051586.004192092] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (38.646000000000015, -0.279, 6.89) -[main_algo-3] [INFO] [1746051586.004964779] [sailbot.main_algo]: Target Bearing: -84.62962921167947 -[main_algo-3] [INFO] [1746051586.005949621] [sailbot.main_algo]: Heading Difference: 126.19762921167944 -[main_algo-3] [INFO] [1746051586.007274728] [sailbot.main_algo]: Wind Direction: 148 -[main_algo-3] [INFO] [1746051586.008215752] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051586.009046773] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051586.010636763] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051586.044787902] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051586.045448067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051586.046072796] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051586.047240542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051586.048421194] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051586.085456543] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051586.087785538] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051586.088567662] [sailbot.teensy]: Wind angle: 147 -[mux-7] [INFO] [1746051586.089083566] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051586.089572616] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051586.090615731] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051586.091460971] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051586.144891937] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051586.146288028] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051586.148203092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[mux-7] [INFO] [1746051586.148473807] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051586.149413226] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051586.244948762] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051586.246045589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051586.246255779] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051586.247985723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051586.249089838] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051586.335293919] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051586.336982896] [sailbot.teensy]: Wind angle: 146 -[trim_sail-4] [INFO] [1746051586.337549244] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051586.338927258] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051586.339577732] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051586.340571690] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051586.341431289] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051586.344295626] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051586.344840791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051586.345356622] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051586.346560611] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051586.347633412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051586.444999229] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051586.445794229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051586.446270087] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051586.447089687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051586.447546266] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051586.457698523] [sailbot.main_algo]: Wind Direction: 146 -[main_algo-3] [INFO] [1746051586.458755225] [sailbot.main_algo]: Target Bearing: -84.62962921167947 -[main_algo-3] [INFO] [1746051586.459652405] [sailbot.main_algo]: Heading Difference: 123.27562921167947 -[main_algo-3] [INFO] [1746051586.460890243] [sailbot.main_algo]: Wind Direction: 146 -[main_algo-3] [INFO] [1746051586.461714699] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051586.462512489] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051586.464058078] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051586.464071002] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051586.502189583] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904072 Long: -76.50276689 -[main_algo-3] [INFO] [1746051586.502836903] [sailbot.main_algo]: Distance to destination: 52.589403759591484 -[vectornav-1] [INFO] [1746051586.503087382] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.798, 0.18, 4.534) -[main_algo-3] [INFO] [1746051586.503777148] [sailbot.main_algo]: Target Bearing: -84.60131692358105 -[main_algo-3] [INFO] [1746051586.504708915] [sailbot.main_algo]: Heading Difference: 123.24731692358108 -[main_algo-3] [INFO] [1746051586.506062825] [sailbot.main_algo]: Wind Direction: 146 -[main_algo-3] [INFO] [1746051586.507024193] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051586.507953669] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051586.509789081] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051586.543760046] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051586.544088868] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051586.544301246] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051586.545008768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051586.545536724] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051586.585275042] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051586.587013754] [sailbot.teensy]: Wind angle: 146 -[teensy-2] [INFO] [1746051586.587899468] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746051586.587570689] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051586.589570499] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051586.589799270] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051586.590744455] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051586.645029385] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051586.645615638] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051586.646349352] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051586.647432225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051586.648627178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051586.744926268] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051586.745625010] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051586.746202188] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051586.747467533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051586.748620327] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051586.835296317] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051586.837478044] [sailbot.teensy]: Wind angle: 146 -[trim_sail-4] [INFO] [1746051586.837732738] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051586.838471239] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051586.838709314] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051586.839709519] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051586.840631809] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051586.844367860] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051586.844917589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051586.846345236] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051586.846608638] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051586.847937173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051586.945253443] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051586.945738411] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051586.946811064] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051586.947841619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051586.948901783] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051586.957667006] [sailbot.main_algo]: Wind Direction: 146 -[main_algo-3] [INFO] [1746051586.958704711] [sailbot.main_algo]: Target Bearing: -84.60131692358105 -[main_algo-3] [INFO] [1746051586.959601518] [sailbot.main_algo]: Heading Difference: 117.39931692358107 -[main_algo-3] [INFO] [1746051586.960930027] [sailbot.main_algo]: Wind Direction: 146 -[main_algo-3] [INFO] [1746051586.961819372] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051586.962616783] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051586.964146027] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051586.964146321] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051587.002880948] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904087 Long: -76.50276742 -[main_algo-3] [INFO] [1746051587.003792903] [sailbot.main_algo]: Distance to destination: 52.61084239151679 -[vectornav-1] [INFO] [1746051587.004572676] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.00999999999999, -0.67, 3.699) -[main_algo-3] [INFO] [1746051587.005011328] [sailbot.main_algo]: Target Bearing: -84.55618220668718 -[main_algo-3] [INFO] [1746051587.006076506] [sailbot.main_algo]: Heading Difference: 117.3541822066872 -[main_algo-3] [INFO] [1746051587.007488738] [sailbot.main_algo]: Wind Direction: 146 -[main_algo-3] [INFO] [1746051587.008412752] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051587.009295871] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051587.011043623] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051587.044953916] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051587.045841173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051587.046722464] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051587.047932061] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051587.048981372] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051587.085269201] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051587.087242969] [sailbot.teensy]: Wind angle: 146 -[trim_sail-4] [INFO] [1746051587.087305058] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051587.088254806] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051587.089044042] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051587.089176991] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051587.090108235] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051587.144900324] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051587.145659158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051587.146134995] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051587.147449615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051587.148634952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051587.244955669] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051587.245540299] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051587.246657435] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051587.247407198] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051587.248270583] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051587.335319425] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051587.337617589] [sailbot.trim_sail]: Sail Angle: "15" -[mux-7] [INFO] [1746051587.338256030] [sailbot.mux]: algo sail angle: 15 -[teensy-2] [INFO] [1746051587.338675018] [sailbot.teensy]: Wind angle: 116 -[teensy-2] [INFO] [1746051587.339769367] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051587.340741260] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051587.341237661] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051587.344423306] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051587.344937345] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051587.345850066] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051587.346656431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 15 -[teensy-2] [INFO] [1746051587.347766197] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051587.445040407] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051587.446070067] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051587.446544680] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051587.447936205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 15 -[teensy-2] [INFO] [1746051587.448970454] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051587.457707112] [sailbot.main_algo]: Wind Direction: 116 -[main_algo-3] [INFO] [1746051587.458785827] [sailbot.main_algo]: Target Bearing: -84.55618220668718 -[main_algo-3] [INFO] [1746051587.459735114] [sailbot.main_algo]: Heading Difference: 113.56618220668719 -[main_algo-3] [INFO] [1746051587.461058086] [sailbot.main_algo]: Wind Direction: 116 -[main_algo-3] [INFO] [1746051587.461920808] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051587.462739808] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051587.464283750] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051587.464317478] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051587.502875115] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904079 Long: -76.50276737 -[main_algo-3] [INFO] [1746051587.503780565] [sailbot.main_algo]: Distance to destination: 52.601551724555605 -[main_algo-3] [INFO] [1746051587.504902941] [sailbot.main_algo]: Target Bearing: -84.55954318508662 -[vectornav-1] [INFO] [1746051587.505075148] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.918999999999983, -1.209, 5.416) -[main_algo-3] [INFO] [1746051587.505886123] [sailbot.main_algo]: Heading Difference: 113.56954318508662 -[main_algo-3] [INFO] [1746051587.507292401] [sailbot.main_algo]: Wind Direction: 116 -[main_algo-3] [INFO] [1746051587.508200171] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051587.509050612] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051587.510722636] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051587.544968788] [sailbot.mux]: Published sail angle from algo: 15 -[teensy-2] [INFO] [1746051587.545563844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051587.546254216] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051587.547543540] [sailbot.teensy]: Rudder callback-sent to Teensy sail:15, rudder: 15 -[teensy-2] [INFO] [1746051587.548568884] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051587.585623112] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051587.588138202] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051587.588532441] [sailbot.teensy]: Wind angle: 71 -[teensy-2] [INFO] [1746051587.589878264] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051587.590237364] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051587.590784615] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051587.591682387] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051587.644773592] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051587.645343439] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051587.645926907] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051587.647156525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051587.648325320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051587.744961160] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051587.745827278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051587.746384510] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051587.747676125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051587.748836760] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051587.835259491] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051587.837383347] [sailbot.teensy]: Wind angle: 73 -[trim_sail-4] [INFO] [1746051587.837449401] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051587.839062830] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051587.839304971] [sailbot.teensy]: Actual sail angle: 15 -[teensy-2] [INFO] [1746051587.840273761] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051587.841200356] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051587.844353682] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051587.844987754] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051587.845477603] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051587.846704453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051587.847731201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051587.945101897] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051587.945804687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051587.946665745] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051587.947761668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051587.948345701] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051587.957851246] [sailbot.main_algo]: Wind Direction: 73 -[main_algo-3] [INFO] [1746051587.958885873] [sailbot.main_algo]: Target Bearing: -84.55954318508662 -[main_algo-3] [INFO] [1746051587.959799243] [sailbot.main_algo]: Heading Difference: 115.47854318508661 -[main_algo-3] [INFO] [1746051587.961127611] [sailbot.main_algo]: Wind Direction: 73 -[main_algo-3] [INFO] [1746051587.962018969] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051587.962835629] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051587.964359820] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051587.964449559] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051588.002762339] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904084 Long: -76.50276763 -[main_algo-3] [INFO] [1746051588.003685926] [sailbot.main_algo]: Distance to destination: 52.60947693515152 -[vectornav-1] [INFO] [1746051588.003931550] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.273000000000025, 1.36, 3.837) -[main_algo-3] [INFO] [1746051588.004826185] [sailbot.main_algo]: Target Bearing: -84.53708869346745 -[main_algo-3] [INFO] [1746051588.005812348] [sailbot.main_algo]: Heading Difference: 115.45608869346745 -[main_algo-3] [INFO] [1746051588.007403806] [sailbot.main_algo]: Wind Direction: 73 -[main_algo-3] [INFO] [1746051588.008303233] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051588.009098082] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051588.010725671] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051588.045082553] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051588.045729218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051588.046405489] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051588.047819935] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051588.048840161] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051588.085076292] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051588.086596272] [sailbot.teensy]: Wind angle: 73 -[teensy-2] [INFO] [1746051588.087438953] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746051588.087247222] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051588.087777036] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051588.088277304] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051588.089115785] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051588.144915864] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051588.145788084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051588.146205962] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051588.147786919] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051588.148858029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051588.244835383] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051588.245480727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051588.245990568] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051588.247331207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051588.248339815] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051588.335205743] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051588.337447268] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051588.337940898] [sailbot.teensy]: Wind angle: 72 -[mux-7] [INFO] [1746051588.338106013] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051588.338859110] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051588.339700328] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051588.340604866] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051588.344606436] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051588.345213056] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051588.345706227] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051588.347001279] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051588.348029913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051588.445070168] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051588.445697057] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051588.446333752] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051588.447713603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051588.448872979] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051588.457697229] [sailbot.main_algo]: Wind Direction: 72 -[main_algo-3] [INFO] [1746051588.458759175] [sailbot.main_algo]: Target Bearing: -84.53708869346745 -[main_algo-3] [INFO] [1746051588.459734808] [sailbot.main_algo]: Heading Difference: 115.81008869346749 -[main_algo-3] [INFO] [1746051588.461114025] [sailbot.main_algo]: Wind Direction: 72 -[main_algo-3] [INFO] [1746051588.461975274] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051588.462764054] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051588.464543438] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051588.464711494] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051588.503012077] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904083 Long: -76.50276794 -[main_algo-3] [INFO] [1746051588.504096634] [sailbot.main_algo]: Distance to destination: 52.611255155111394 -[main_algo-3] [INFO] [1746051588.505488517] [sailbot.main_algo]: Target Bearing: -84.50937107022132 -[vectornav-1] [INFO] [1746051588.504366354] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.105000000000018, -1.536, 5.176) -[main_algo-3] [INFO] [1746051588.506413847] [sailbot.main_algo]: Heading Difference: 115.78237107022136 -[main_algo-3] [INFO] [1746051588.507817936] [sailbot.main_algo]: Wind Direction: 72 -[main_algo-3] [INFO] [1746051588.508729863] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051588.509574394] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051588.511286076] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051588.544924119] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051588.545438372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051588.546352310] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051588.547235583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051588.548453291] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051588.584969257] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051588.586306292] [sailbot.teensy]: Wind angle: 72 -[teensy-2] [INFO] [1746051588.587087355] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051588.587877649] [sailbot.teensy]: Actual tail angle: 40 -[trim_sail-4] [INFO] [1746051588.587235911] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051588.589304416] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051588.592106062] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051588.643757090] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051588.644208035] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051588.644604649] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051588.645704537] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051588.646325555] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051588.744962209] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051588.745927491] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051588.746370118] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051588.747736608] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051588.748240160] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051588.835372355] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051588.837666396] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051588.838041770] [sailbot.teensy]: Wind angle: 73 -[mux-7] [INFO] [1746051588.838777334] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051588.838918078] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051588.840058395] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051588.840957361] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051588.844514241] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051588.844969719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051588.845758700] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051588.846660063] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051588.847833862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051588.944919662] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051588.945509612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051588.946223092] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051588.947322987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051588.948589611] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051588.957372218] [sailbot.main_algo]: Wind Direction: 73 -[main_algo-3] [INFO] [1746051588.958362577] [sailbot.main_algo]: Target Bearing: -84.50937107022132 -[main_algo-3] [INFO] [1746051588.959241881] [sailbot.main_algo]: Heading Difference: 115.61437107022135 -[main_algo-3] [INFO] [1746051588.960502829] [sailbot.main_algo]: Wind Direction: 73 -[main_algo-3] [INFO] [1746051588.961366194] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051588.962167679] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051588.963697498] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051588.963737578] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051589.002849956] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904075 Long: -76.50276801 -[main_algo-3] [INFO] [1746051589.003832561] [sailbot.main_algo]: Distance to destination: 52.60308017227214 -[vectornav-1] [INFO] [1746051589.003991293] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.89699999999999, 0.116, 5.036) -[main_algo-3] [INFO] [1746051589.004977279] [sailbot.main_algo]: Target Bearing: -84.50204602875785 -[main_algo-3] [INFO] [1746051589.005992108] [sailbot.main_algo]: Heading Difference: 115.60704602875785 -[main_algo-3] [INFO] [1746051589.007338169] [sailbot.main_algo]: Wind Direction: 73 -[main_algo-3] [INFO] [1746051589.008240486] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051589.009110174] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051589.010708665] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051589.045217540] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051589.045675321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051589.046511630] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051589.047611466] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051589.048737086] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051589.085323373] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051589.087452439] [sailbot.teensy]: Wind angle: 73 -[trim_sail-4] [INFO] [1746051589.087526646] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051589.088430961] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746051589.088830477] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051589.089345785] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051589.090235678] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051589.145399089] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051589.145987971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051589.146804559] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051589.148097994] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051589.149287735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051589.245222747] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051589.245691573] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051589.246748342] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051589.247542666] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051589.248658545] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051589.335134031] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051589.337430466] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051589.337843757] [sailbot.teensy]: Wind angle: 73 -[mux-7] [INFO] [1746051589.338026087] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051589.338488755] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051589.338877066] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051589.339251967] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051589.344344759] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051589.344965971] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051589.346017256] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051589.346716376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051589.347840768] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051589.444908674] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051589.445567718] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051589.446209880] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051589.447334891] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051589.448563277] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051589.457748308] [sailbot.main_algo]: Wind Direction: 73 -[main_algo-3] [INFO] [1746051589.458858412] [sailbot.main_algo]: Target Bearing: -84.50204602875785 -[main_algo-3] [INFO] [1746051589.459789904] [sailbot.main_algo]: Heading Difference: 115.39904602875782 -[main_algo-3] [INFO] [1746051589.461143239] [sailbot.main_algo]: Wind Direction: 73 -[main_algo-3] [INFO] [1746051589.461986304] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051589.462780753] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051589.464378026] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051589.464411758] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051589.502750596] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904032 Long: -76.50276823 -[main_algo-3] [INFO] [1746051589.503793051] [sailbot.main_algo]: Distance to destination: 52.557689975852504 -[vectornav-1] [INFO] [1746051589.503905411] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.15699999999998, -0.38, 4.841) -[main_algo-3] [INFO] [1746051589.505009059] [sailbot.main_algo]: Target Bearing: -84.476548794764 -[main_algo-3] [INFO] [1746051589.506333342] [sailbot.main_algo]: Heading Difference: 115.37354879476402 -[main_algo-3] [INFO] [1746051589.507712658] [sailbot.main_algo]: Wind Direction: 73 -[main_algo-3] [INFO] [1746051589.508601308] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051589.509456870] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051589.511155917] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051589.544678316] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051589.545265966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051589.545841871] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051589.547008765] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051589.548030907] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051589.585288589] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051589.586942230] [sailbot.teensy]: Wind angle: 73 -[teensy-2] [INFO] [1746051589.587851570] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051589.589037412] [sailbot.teensy]: Actual tail angle: 40 -[trim_sail-4] [INFO] [1746051589.587669294] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051589.588075902] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051589.589907782] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051589.645039870] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051589.646051828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051589.646446013] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051589.648041538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051589.649215297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051589.745211100] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051589.745939341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051589.746600981] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051589.747716008] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051589.748219008] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051589.835432958] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051589.837450333] [sailbot.teensy]: Wind angle: 73 -[trim_sail-4] [INFO] [1746051589.837961140] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051589.839466284] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051589.839990907] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051589.841011172] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051589.841874420] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051589.844251279] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051589.844778200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051589.845657491] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051589.846478203] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051589.847494271] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051589.944872907] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051589.945557666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051589.946038748] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051589.947327494] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051589.948288797] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051589.957468345] [sailbot.main_algo]: Wind Direction: 73 -[main_algo-3] [INFO] [1746051589.958458121] [sailbot.main_algo]: Target Bearing: -84.476548794764 -[main_algo-3] [INFO] [1746051589.959315185] [sailbot.main_algo]: Heading Difference: 116.63354879476401 -[main_algo-3] [INFO] [1746051589.960542552] [sailbot.main_algo]: Wind Direction: 73 -[main_algo-3] [INFO] [1746051589.961370320] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051589.962145187] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051589.963678806] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051589.963695192] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051590.002879923] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690405 Long: -76.50276828 -[main_algo-3] [INFO] [1746051590.003884720] [sailbot.main_algo]: Distance to destination: 52.57801869537199 -[vectornav-1] [INFO] [1746051590.004058731] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.90100000000001, -0.463, 5.08) -[main_algo-3] [INFO] [1746051590.005552442] [sailbot.main_algo]: Target Bearing: -84.47457844392409 -[main_algo-3] [INFO] [1746051590.006500660] [sailbot.main_algo]: Heading Difference: 116.63157844392407 -[main_algo-3] [INFO] [1746051590.007850946] [sailbot.main_algo]: Wind Direction: 73 -[main_algo-3] [INFO] [1746051590.008779150] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051590.009638525] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051590.011354980] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051590.044999849] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051590.045670141] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051590.046266885] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051590.047521637] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051590.048624724] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051590.085313331] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051590.087028831] [sailbot.teensy]: Wind angle: 73 -[trim_sail-4] [INFO] [1746051590.087824232] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051590.087950739] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051590.088873068] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051590.088099507] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051590.089871301] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051590.144961119] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051590.145671298] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051590.146254268] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051590.147660634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051590.148840613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051590.245087611] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051590.245750217] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051590.246375961] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051590.247556600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051590.248603936] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051590.335415527] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051590.337761385] [sailbot.teensy]: Wind angle: 73 -[trim_sail-4] [INFO] [1746051590.338059227] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051590.338722969] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746051590.339205648] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051590.339630864] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051590.340325753] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051590.344409951] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051590.345130218] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051590.345534174] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051590.346869388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051590.347871483] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051590.445118986] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051590.446100756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051590.447051498] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051590.447915783] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051590.448530734] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051590.458073905] [sailbot.main_algo]: Wind Direction: 73 -[main_algo-3] [INFO] [1746051590.459750229] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746051590.460722389] [sailbot.main_algo]: Target Bearing: -84.47457844392409 -[main_algo-3] [INFO] [1746051590.461614639] [sailbot.main_algo]: Heading Difference: 117.3755784439241 -[main_algo-3] [INFO] [1746051590.462895835] [sailbot.main_algo]: Wind Direction: 73 -[main_algo-3] [INFO] [1746051590.463732732] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051590.464519685] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051590.466096380] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051590.466123784] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051590.502981152] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690404 Long: -76.50276834 -[vectornav-1] [INFO] [1746051590.504284574] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.27499999999998, 0.203, 5.604) -[main_algo-3] [INFO] [1746051590.504387041] [sailbot.main_algo]: Distance to destination: 52.5675473566103 -[main_algo-3] [INFO] [1746051590.505483139] [sailbot.main_algo]: Target Bearing: -84.46785763656341 -[main_algo-3] [INFO] [1746051590.506912767] [sailbot.main_algo]: Heading Difference: 117.3688576365634 -[main_algo-3] [INFO] [1746051590.508374499] [sailbot.main_algo]: Wind Direction: 73 -[main_algo-3] [INFO] [1746051590.509273838] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051590.510131934] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051590.511795877] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051590.545095823] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051590.545716615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051590.546366490] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051590.547554812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051590.548661929] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051590.585251825] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051590.587157198] [sailbot.teensy]: Wind angle: 74 -[teensy-2] [INFO] [1746051590.588073342] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051590.588981556] [sailbot.teensy]: Actual tail angle: 40 -[trim_sail-4] [INFO] [1746051590.587771079] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051590.589774406] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051590.589869495] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051590.644636510] [sailbot.mux]: Published sail angle from algo: 45 -[mux-7] [INFO] [1746051590.645690502] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051590.645430055] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051590.647154363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051590.648744263] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051590.744895468] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051590.745557965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051590.746199665] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051590.747540381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051590.748550730] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051590.835242304] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051590.836832337] [sailbot.teensy]: Wind angle: 74 -[trim_sail-4] [INFO] [1746051590.837717730] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051590.838617490] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051590.839332173] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051590.839740686] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051590.840125815] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051590.844423575] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051590.844948420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051590.845522264] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051590.846825850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051590.847836970] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051590.945199803] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051590.945911935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051590.946759793] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051590.947910985] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051590.948636333] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051590.957721574] [sailbot.main_algo]: Wind Direction: 74 -[main_algo-3] [INFO] [1746051590.958706577] [sailbot.main_algo]: Target Bearing: -84.46785763656341 -[main_algo-3] [INFO] [1746051590.959592513] [sailbot.main_algo]: Heading Difference: 116.74285763656337 -[main_algo-3] [INFO] [1746051590.960921634] [sailbot.main_algo]: Wind Direction: 74 -[main_algo-3] [INFO] [1746051590.961791979] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051590.962594724] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051590.964124610] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051590.964200562] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051591.002862354] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904017 Long: -76.50276862 -[main_algo-3] [INFO] [1746051591.003847070] [sailbot.main_algo]: Distance to destination: 52.544801646334975 -[vectornav-1] [INFO] [1746051591.004002730] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.18799999999999, -0.846, 6.189) -[main_algo-3] [INFO] [1746051591.005010831] [sailbot.main_algo]: Target Bearing: -84.43974181493688 -[main_algo-3] [INFO] [1746051591.005959804] [sailbot.main_algo]: Heading Difference: 116.71474181493687 -[main_algo-3] [INFO] [1746051591.007372263] [sailbot.main_algo]: Wind Direction: 74 -[main_algo-3] [INFO] [1746051591.008237995] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051591.009043789] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051591.010609452] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051591.045011678] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051591.045756398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051591.046293734] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051591.047634796] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051591.048668743] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051591.085550883] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051591.087514522] [sailbot.teensy]: Wind angle: 74 -[teensy-2] [INFO] [1746051591.088485348] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746051591.087953951] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051591.088584468] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051591.089380726] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051591.090262777] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051591.144955818] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051591.145500870] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051591.146277675] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051591.147346910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051591.147914369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051591.244987266] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051591.245669351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051591.246584098] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051591.247493865] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051591.248633198] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051591.335202198] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051591.337085277] [sailbot.teensy]: Wind angle: 74 -[trim_sail-4] [INFO] [1746051591.337550848] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051591.338010651] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051591.338904173] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051591.339059645] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051591.339786084] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051591.344564634] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051591.345097068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051591.345763774] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051591.346808103] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051591.347978592] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051591.445310620] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051591.446437957] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051591.446778297] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051591.448234010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051591.448723013] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051591.457661925] [sailbot.main_algo]: Wind Direction: 74 -[main_algo-3] [INFO] [1746051591.458745210] [sailbot.main_algo]: Target Bearing: -84.43974181493688 -[main_algo-3] [INFO] [1746051591.459640217] [sailbot.main_algo]: Heading Difference: 117.62774181493688 -[main_algo-3] [INFO] [1746051591.460849860] [sailbot.main_algo]: Wind Direction: 74 -[main_algo-3] [INFO] [1746051591.461684750] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051591.462470669] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051591.464036242] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051591.464127275] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051591.502577222] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690402 Long: -76.50276857 -[main_algo-3] [INFO] [1746051591.503441464] [sailbot.main_algo]: Distance to destination: 52.54764094751163 -[vectornav-1] [INFO] [1746051591.503682909] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.511000000000024, -0.625, 4.818) -[main_algo-3] [INFO] [1746051591.504617150] [sailbot.main_algo]: Target Bearing: -84.44461088485708 -[main_algo-3] [INFO] [1746051591.505648243] [sailbot.main_algo]: Heading Difference: 117.63261088485706 -[main_algo-3] [INFO] [1746051591.507116733] [sailbot.main_algo]: Wind Direction: 74 -[main_algo-3] [INFO] [1746051591.508029507] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051591.508916589] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051591.510611931] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051591.545095092] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051591.545848587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051591.546378841] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051591.547910978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051591.549059050] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051591.585237132] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051591.587001523] [sailbot.teensy]: Wind angle: 74 -[teensy-2] [INFO] [1746051591.587902244] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746051591.587535789] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051591.588903544] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051591.589320481] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051591.589860291] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051591.644560092] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051591.645240982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051591.645905893] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051591.646899391] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051591.647946174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051591.745084843] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051591.745753851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051591.746835837] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051591.747884558] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051591.749099233] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051591.835389670] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051591.837358941] [sailbot.teensy]: Wind angle: 74 -[trim_sail-4] [INFO] [1746051591.838243477] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051591.839766002] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746051591.840555055] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051591.840897721] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051591.841939874] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051591.844254244] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051591.845164575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051591.845372346] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051591.846879127] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051591.847996242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051591.945046112] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051591.945727598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051591.946324530] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051591.947758883] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051591.948454143] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051591.957806776] [sailbot.main_algo]: Wind Direction: 74 -[main_algo-3] [INFO] [1746051591.958850492] [sailbot.main_algo]: Target Bearing: -84.44461088485708 -[main_algo-3] [INFO] [1746051591.959761510] [sailbot.main_algo]: Heading Difference: 117.9556108848571 -[main_algo-3] [INFO] [1746051591.961099361] [sailbot.main_algo]: Wind Direction: 74 -[main_algo-3] [INFO] [1746051591.961978121] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051591.962826711] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051591.964383717] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051591.964404660] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051592.002686965] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690404 Long: -76.50276864 -[main_algo-3] [INFO] [1746051592.003653821] [sailbot.main_algo]: Distance to destination: 52.570365481331635 -[vectornav-1] [INFO] [1746051592.003753286] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.46300000000002, 0.421, 4.968) -[main_algo-3] [INFO] [1746051592.004791491] [sailbot.main_algo]: Target Bearing: -84.4411491021673 -[main_algo-3] [INFO] [1746051592.005719471] [sailbot.main_algo]: Heading Difference: 117.95214910216731 -[main_algo-3] [INFO] [1746051592.007023096] [sailbot.main_algo]: Wind Direction: 74 -[main_algo-3] [INFO] [1746051592.007870823] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051592.008710019] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051592.010453693] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051592.045024373] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051592.045843895] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051592.046307747] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051592.047877204] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051592.048885705] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051592.085389508] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051592.087769913] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051592.088239539] [sailbot.teensy]: Wind angle: 75 -[mux-7] [INFO] [1746051592.088238278] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051592.089183762] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051592.090049872] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051592.090901544] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051592.144821368] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051592.145300380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051592.145942528] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051592.146923212] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051592.148023029] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051592.245364035] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051592.245882708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051592.247035582] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051592.247818135] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051592.249048457] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051592.335179951] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051592.337410884] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051592.337445123] [sailbot.teensy]: Wind angle: 75 -[teensy-2] [INFO] [1746051592.338349168] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746051592.338582706] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051592.339264319] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051592.340143073] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051592.344655026] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051592.345172188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051592.345881980] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051592.346881191] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051592.348063861] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051592.444878873] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051592.446114960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051592.446165492] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051592.447974294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051592.449093611] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051592.457672417] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051592.458756608] [sailbot.main_algo]: Target Bearing: -84.4411491021673 -[main_algo-3] [INFO] [1746051592.459709751] [sailbot.main_algo]: Heading Difference: 116.90414910216731 -[main_algo-3] [INFO] [1746051592.461024372] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051592.461901938] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051592.462681877] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051592.464224812] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051592.464252456] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051592.502381550] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904011 Long: -76.50276906 -[main_algo-3] [INFO] [1746051592.503217921] [sailbot.main_algo]: Distance to destination: 52.54233727659147 -[vectornav-1] [INFO] [1746051592.503394180] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.076999999999998, -0.717, 5.725) -[main_algo-3] [INFO] [1746051592.504262637] [sailbot.main_algo]: Target Bearing: -84.39971857749742 -[main_algo-3] [INFO] [1746051592.505168647] [sailbot.main_algo]: Heading Difference: 116.86271857749745 -[main_algo-3] [INFO] [1746051592.506441529] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051592.507344685] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051592.508203006] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051592.509750849] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051592.544833100] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051592.545586166] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051592.546199335] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051592.547477299] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051592.548582261] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051592.585206907] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051592.586939351] [sailbot.teensy]: Wind angle: 75 -[trim_sail-4] [INFO] [1746051592.587421891] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051592.587813365] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746051592.588213914] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051592.588772584] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051592.589627370] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051592.644995174] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051592.645721533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051592.646313711] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051592.647587930] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051592.648638279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051592.744244821] [sailbot.mux]: Published sail angle from algo: 45 -[mux-7] [INFO] [1746051592.745252257] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051592.745843550] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051592.748028122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051592.749328704] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051592.835399428] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051592.837142052] [sailbot.teensy]: Wind angle: 75 -[teensy-2] [INFO] [1746051592.838031187] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746051592.837672231] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051592.838881015] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051592.838873012] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051592.839759330] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051592.844356780] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051592.844900189] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051592.845495250] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051592.846598290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051592.847747341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051592.945295147] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051592.945812106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051592.946812527] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051592.947757017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051592.948853897] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051592.957375906] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051592.958338672] [sailbot.main_algo]: Target Bearing: -84.39971857749742 -[main_algo-3] [INFO] [1746051592.959196292] [sailbot.main_algo]: Heading Difference: 115.47671857749742 -[main_algo-3] [INFO] [1746051592.960435629] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051592.961265526] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051592.962045971] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051592.963620669] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051592.963804043] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051593.002819673] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903991 Long: -76.50276907 -[vectornav-1] [INFO] [1746051593.004029116] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.841999999999985, -0.456, 4.477) -[main_algo-3] [INFO] [1746051593.004902402] [sailbot.main_algo]: Distance to destination: 52.520368211840136 -[main_algo-3] [INFO] [1746051593.006192656] [sailbot.main_algo]: Target Bearing: -84.39603615624192 -[main_algo-3] [INFO] [1746051593.007150080] [sailbot.main_algo]: Heading Difference: 115.4730361562419 -[main_algo-3] [INFO] [1746051593.008639282] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051593.009657997] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051593.010535083] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051593.012241902] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051593.045110577] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051593.045780724] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051593.046342162] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051593.047637857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051593.048797308] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051593.085800531] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051593.088529738] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051593.089059986] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051593.089342069] [sailbot.teensy]: Wind angle: 75 -[teensy-2] [INFO] [1746051593.090568667] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051593.091455735] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051593.092371023] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051593.145240115] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051593.145694293] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051593.146869162] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051593.147747986] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051593.148844667] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051593.245296291] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051593.245861846] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051593.247142394] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051593.247955702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051593.249213241] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051593.335568014] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051593.337497082] [sailbot.teensy]: Wind angle: 75 -[trim_sail-4] [INFO] [1746051593.338181504] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051593.339000660] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746051593.339566517] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051593.339953601] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051593.340862122] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051593.344335888] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051593.344912116] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051593.345520081] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051593.346650021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051593.347664930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051593.445057363] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051593.445939052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051593.446359865] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051593.447920712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051593.448943147] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051593.457701951] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051593.458774971] [sailbot.main_algo]: Target Bearing: -84.39603615624192 -[main_algo-3] [INFO] [1746051593.459732608] [sailbot.main_algo]: Heading Difference: 116.23803615624189 -[main_algo-3] [INFO] [1746051593.461055283] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051593.461953353] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051593.462727984] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051593.464321104] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051593.464355303] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051593.502723756] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903984 Long: -76.50276919 -[main_algo-3] [INFO] [1746051593.503675941] [sailbot.main_algo]: Distance to destination: 52.51378424740752 -[vectornav-1] [INFO] [1746051593.503820764] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.670000000000016, -0.501, 4.993) -[main_algo-3] [INFO] [1746051593.504855822] [sailbot.main_algo]: Target Bearing: -84.38436511838522 -[main_algo-3] [INFO] [1746051593.505836934] [sailbot.main_algo]: Heading Difference: 116.22636511838522 -[main_algo-3] [INFO] [1746051593.507205189] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051593.508089519] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051593.508959953] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051593.510769142] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051593.544999181] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051593.545729591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051593.546507837] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051593.547772134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051593.548841195] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051593.585329524] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051593.588002905] [sailbot.teensy]: Wind angle: 75 -[trim_sail-4] [INFO] [1746051593.588052429] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051593.588974880] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746051593.589125433] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051593.589883846] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051593.590768330] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051593.645003835] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051593.645948292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051593.646763762] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051593.647786815] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051593.648940753] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051593.744966448] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051593.745526649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051593.746337839] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051593.747337977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051593.748331448] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051593.835496350] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051593.837376654] [sailbot.teensy]: Wind angle: 75 -[trim_sail-4] [INFO] [1746051593.838157025] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051593.838309557] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051593.839233523] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051593.839814900] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051593.840122444] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051593.844465553] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051593.845059691] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051593.845663870] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051593.846776826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051593.847833003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051593.945097620] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051593.945736309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051593.946387374] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051593.947801702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051593.948825647] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051593.957453240] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051593.958435769] [sailbot.main_algo]: Target Bearing: -84.38436511838522 -[main_algo-3] [INFO] [1746051593.959305276] [sailbot.main_algo]: Heading Difference: 117.05436511838525 -[main_algo-3] [INFO] [1746051593.960534465] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051593.961358640] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051593.962154859] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051593.963837273] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051593.964041505] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051594.002785062] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903967 Long: -76.50276934 -[main_algo-3] [INFO] [1746051594.003739733] [sailbot.main_algo]: Distance to destination: 52.49645656921018 -[vectornav-1] [INFO] [1746051594.004270326] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.87700000000001, 0.093, 5.506) -[main_algo-3] [INFO] [1746051594.004854805] [sailbot.main_algo]: Target Bearing: -84.36861503092899 -[main_algo-3] [INFO] [1746051594.005830983] [sailbot.main_algo]: Heading Difference: 117.03861503092901 -[main_algo-3] [INFO] [1746051594.007284479] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051594.008227115] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051594.009115770] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051594.010853053] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051594.045100686] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051594.045813402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051594.046386867] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051594.047677634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051594.048826171] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051594.085383056] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051594.087982203] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051594.088108093] [sailbot.teensy]: Wind angle: 75 -[mux-7] [INFO] [1746051594.088963596] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051594.089058255] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051594.089940685] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051594.090828830] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051594.145334561] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051594.145813722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051594.146870326] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051594.148190704] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051594.149319224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051594.245045898] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051594.245796625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051594.246419298] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051594.247836317] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051594.249005906] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051594.335265851] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051594.337307084] [sailbot.teensy]: Wind angle: 75 -[trim_sail-4] [INFO] [1746051594.337665353] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051594.338319723] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746051594.339097811] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051594.339253248] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051594.339650193] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051594.344461586] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051594.344957208] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051594.345749337] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051594.346636095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051594.347713127] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051594.445803492] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051594.446295216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051594.447804611] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051594.448657245] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051594.449891213] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051594.457557073] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051594.458640362] [sailbot.main_algo]: Target Bearing: -84.36861503092899 -[main_algo-3] [INFO] [1746051594.459566540] [sailbot.main_algo]: Heading Difference: 117.245615030929 -[main_algo-3] [INFO] [1746051594.460863143] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051594.461772482] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051594.462576055] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051594.464174143] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051594.464182748] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051594.502681463] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903923 Long: -76.50276931 -[main_algo-3] [INFO] [1746051594.503696698] [sailbot.main_algo]: Distance to destination: 52.44763368676061 -[vectornav-1] [INFO] [1746051594.504290843] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.596000000000004, -0.803, 5.267) -[main_algo-3] [INFO] [1746051594.504848047] [sailbot.main_algo]: Target Bearing: -84.36511318601313 -[main_algo-3] [INFO] [1746051594.505845114] [sailbot.main_algo]: Heading Difference: 117.24211318601317 -[main_algo-3] [INFO] [1746051594.507190001] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051594.508088502] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051594.508959226] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051594.510533153] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051594.545742318] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051594.545816389] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051594.547277611] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051594.547717328] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051594.548828659] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051594.585223423] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051594.587108540] [sailbot.teensy]: Wind angle: 75 -[trim_sail-4] [INFO] [1746051594.587861336] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051594.588111544] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746051594.588896859] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051594.589043379] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051594.590059406] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051594.644660530] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051594.645414540] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051594.646080123] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051594.647267792] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051594.648281066] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051594.745358931] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051594.746041560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051594.746892453] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051594.748028249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051594.749365598] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051594.834478230] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051594.835719799] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051594.836029901] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051594.836403057] [sailbot.teensy]: Wind angle: 75 -[teensy-2] [INFO] [1746051594.837482050] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051594.838025852] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051594.838433685] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051594.844385962] [sailbot.mux]: Published sail angle from algo: 45 -[mux-7] [INFO] [1746051594.845405439] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051594.846606830] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051594.849230398] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051594.850030005] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051594.944932630] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051594.945987395] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051594.946321942] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051594.947772936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051594.948236918] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051594.957339276] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051594.958297466] [sailbot.main_algo]: Target Bearing: -84.36511318601313 -[main_algo-3] [INFO] [1746051594.959173214] [sailbot.main_algo]: Heading Difference: 116.96111318601311 -[main_algo-3] [INFO] [1746051594.960402390] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051594.961221519] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051594.962000056] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051594.963542681] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051594.963668679] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051595.002888682] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903895 Long: -76.50276915 -[main_algo-3] [INFO] [1746051595.003791011] [sailbot.main_algo]: Distance to destination: 52.41522387431713 -[vectornav-1] [INFO] [1746051595.004083166] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.011000000000024, -0.556, 5.458) -[main_algo-3] [INFO] [1746051595.005057251] [sailbot.main_algo]: Target Bearing: -84.3754607256603 -[main_algo-3] [INFO] [1746051595.006104753] [sailbot.main_algo]: Heading Difference: 116.97146072566034 -[main_algo-3] [INFO] [1746051595.007524223] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051595.008441228] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051595.009355539] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051595.011260494] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051595.045144152] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051595.045821467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051595.046590264] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051595.047869383] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051595.048917156] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051595.085532360] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051595.088036226] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051595.089516704] [sailbot.teensy]: Wind angle: 75 -[mux-7] [INFO] [1746051595.089717248] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051595.090664232] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051595.091583736] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051595.092458583] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051595.144980143] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051595.145944123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051595.146272786] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051595.148142269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051595.149208224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051595.245001841] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051595.245797140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051595.246388307] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051595.247790304] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051595.248876426] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051595.335473245] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051595.338115510] [sailbot.teensy]: Wind angle: 75 -[trim_sail-4] [INFO] [1746051595.338495092] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051595.339529406] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051595.341023322] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051595.341877223] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051595.342746487] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051595.344618527] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051595.345276571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051595.345782418] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051595.346968339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051595.348092081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051595.445080675] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051595.445761179] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051595.446535774] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051595.447902381] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051595.449209248] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051595.457829042] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051595.459032222] [sailbot.main_algo]: Target Bearing: -84.3754607256603 -[main_algo-3] [INFO] [1746051595.460051899] [sailbot.main_algo]: Heading Difference: 116.3864607256603 -[main_algo-3] [INFO] [1746051595.461410418] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051595.462309549] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051595.463158414] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051595.464824395] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051595.464938129] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051595.502846644] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903873 Long: -76.50276901 -[main_algo-3] [INFO] [1746051595.503871846] [sailbot.main_algo]: Distance to destination: 52.389624597239404 -[vectornav-1] [INFO] [1746051595.504129199] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.284999999999968, 0.421, 4.549) -[main_algo-3] [INFO] [1746051595.504941284] [sailbot.main_algo]: Target Bearing: -84.38487591963086 -[main_algo-3] [INFO] [1746051595.505890552] [sailbot.main_algo]: Heading Difference: 116.3958759196309 -[main_algo-3] [INFO] [1746051595.507241250] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051595.508138924] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051595.509057388] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051595.510742525] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051595.544765681] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051595.545343521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051595.545988049] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051595.547212305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051595.548260245] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051595.585385650] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051595.587291600] [sailbot.teensy]: Wind angle: 75 -[trim_sail-4] [INFO] [1746051595.587711697] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051595.588243730] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051595.589151959] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051595.589930235] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051595.590027814] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051595.644934847] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051595.645471759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051595.646202476] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051595.647485382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051595.648647317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051595.745289571] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051595.745785769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051595.747427900] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051595.747824145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051595.749006360] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051595.835216701] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051595.836900838] [sailbot.teensy]: Wind angle: 75 -[teensy-2] [INFO] [1746051595.837760539] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746051595.837467492] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051595.838573958] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051595.838598757] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051595.839377276] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051595.844408084] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051595.844915566] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051595.845887078] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051595.847079342] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051595.848220024] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051595.945386702] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051595.946041137] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051595.947077112] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051595.948593857] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051595.949783966] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051595.957720576] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051595.958706140] [sailbot.main_algo]: Target Bearing: -84.38487591963086 -[main_algo-3] [INFO] [1746051595.959598355] [sailbot.main_algo]: Heading Difference: 115.66987591963084 -[main_algo-3] [INFO] [1746051595.960914893] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051595.961798559] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051595.962583157] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051595.964113064] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051595.964170473] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051596.002829501] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690385 Long: -76.50276899 -[main_algo-3] [INFO] [1746051596.003703742] [sailbot.main_algo]: Distance to destination: 52.364062042812364 -[main_algo-3] [INFO] [1746051596.004762476] [sailbot.main_algo]: Target Bearing: -84.38343630343626 -[vectornav-1] [INFO] [1746051596.004957242] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.735000000000014, -1.341, 5.283) -[main_algo-3] [INFO] [1746051596.005650926] [sailbot.main_algo]: Heading Difference: 115.66843630343624 -[main_algo-3] [INFO] [1746051596.007015824] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051596.007922299] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051596.008826489] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051596.010425456] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051596.044944712] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051596.045680173] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051596.046234407] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051596.047785001] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051596.048846980] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051596.085322492] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051596.087513381] [sailbot.teensy]: Wind angle: 75 -[trim_sail-4] [INFO] [1746051596.087717894] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051596.089245495] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051596.090074162] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051596.091108576] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051596.091991129] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051596.144868745] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051596.145288894] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051596.146150061] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051596.147046684] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051596.148124988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051596.245162939] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051596.245641225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051596.246519370] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051596.247497482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051596.248607345] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051596.335411678] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051596.338033260] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051596.338045083] [sailbot.teensy]: Wind angle: 75 -[teensy-2] [INFO] [1746051596.339029600] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746051596.339203448] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051596.339431060] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051596.339819626] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051596.344449135] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051596.345170601] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051596.345712432] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051596.346953339] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051596.347958879] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051596.445468601] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051596.446151305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051596.446776013] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051596.447780551] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051596.448268793] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051596.457728877] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051596.458733125] [sailbot.main_algo]: Target Bearing: -84.38343630343626 -[main_algo-3] [INFO] [1746051596.459607543] [sailbot.main_algo]: Heading Difference: 115.11843630343628 -[main_algo-3] [INFO] [1746051596.460917251] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051596.461816547] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051596.462674563] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051596.464557130] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051596.465015936] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051596.503088879] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903844 Long: -76.50276889 -[main_algo-3] [INFO] [1746051596.504227370] [sailbot.main_algo]: Distance to destination: 52.356494110505 -[vectornav-1] [INFO] [1746051596.504413731] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.91300000000001, 0.702, 4.756) -[main_algo-3] [INFO] [1746051596.505720292] [sailbot.main_algo]: Target Bearing: -84.39153189263978 -[main_algo-3] [INFO] [1746051596.506899688] [sailbot.main_algo]: Heading Difference: 115.12653189263978 -[main_algo-3] [INFO] [1746051596.508356433] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051596.509261754] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051596.510105797] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051596.511776804] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051596.545118311] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051596.545981666] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051596.546569566] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051596.548107716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051596.549164785] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051596.585417381] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051596.587992723] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051596.588444384] [sailbot.teensy]: Wind angle: 75 -[mux-7] [INFO] [1746051596.589327384] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051596.589394024] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051596.590292368] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051596.591206862] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051596.644863947] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051596.645561391] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051596.646288802] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051596.647471542] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051596.648575092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051596.745242047] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051596.746104333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051596.746682129] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051596.748109347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051596.748626519] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051596.835556391] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051596.838116450] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051596.838314997] [sailbot.teensy]: Wind angle: 75 -[mux-7] [INFO] [1746051596.839433896] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051596.839480818] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051596.840434232] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051596.841297254] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051596.844437018] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051596.844975416] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051596.845539148] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051596.846797762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051596.847806778] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051596.944341591] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051596.944866228] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051596.945405805] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051596.946466602] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051596.947492090] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051596.958018908] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051596.958957020] [sailbot.main_algo]: Target Bearing: -84.39153189263978 -[main_algo-3] [INFO] [1746051596.959839030] [sailbot.main_algo]: Heading Difference: 114.30453189263977 -[main_algo-3] [INFO] [1746051596.961065352] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051596.961854947] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051596.962568190] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051596.963929726] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051596.964598165] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051597.002813691] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903831 Long: -76.50276926 -[main_algo-3] [INFO] [1746051597.003811416] [sailbot.main_algo]: Distance to destination: 52.345671433687876 -[vectornav-1] [INFO] [1746051597.003981661] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.817000000000007, -0.799, 6.2) -[main_algo-3] [INFO] [1746051597.004947753] [sailbot.main_algo]: Target Bearing: -84.35663233586374 -[main_algo-3] [INFO] [1746051597.005980921] [sailbot.main_algo]: Heading Difference: 114.26963233586378 -[main_algo-3] [INFO] [1746051597.007380140] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051597.008342963] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051597.009244061] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051597.010888426] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051597.045170926] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051597.045978436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051597.046616733] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051597.048057533] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051597.049290871] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051597.085483892] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051597.087357200] [sailbot.teensy]: Wind angle: 74 -[trim_sail-4] [INFO] [1746051597.088108836] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051597.088352104] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051597.089260413] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051597.089544981] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051597.090118102] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051597.145106847] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051597.145661342] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051597.146582520] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051597.147543924] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051597.148610403] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051597.244985888] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051597.245728174] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051597.246429124] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051597.247667595] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051597.248726593] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051597.335159889] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051597.337137563] [sailbot.teensy]: Wind angle: 75 -[trim_sail-4] [INFO] [1746051597.337206996] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051597.338048174] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746051597.338600177] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051597.338971408] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051597.339822115] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051597.344477508] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051597.345196728] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051597.345677560] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051597.346936904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051597.348081317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051597.444961123] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051597.445380464] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051597.446343678] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051597.447546321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051597.448697204] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051597.457636501] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051597.458745293] [sailbot.main_algo]: Target Bearing: -84.35663233586374 -[main_algo-3] [INFO] [1746051597.459666453] [sailbot.main_algo]: Heading Difference: 114.17363233586377 -[main_algo-3] [INFO] [1746051597.460926632] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051597.461759556] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051597.462554782] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051597.464105343] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051597.464230241] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051597.502795329] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903822 Long: -76.50276913 -[main_algo-3] [INFO] [1746051597.503683015] [sailbot.main_algo]: Distance to destination: 52.33450508073498 -[vectornav-1] [INFO] [1746051597.503919075] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.92500000000001, -0.795, 3.749) -[main_algo-3] [INFO] [1746051597.504795468] [sailbot.main_algo]: Target Bearing: -84.36698681182206 -[main_algo-3] [INFO] [1746051597.505756354] [sailbot.main_algo]: Heading Difference: 114.18398681182208 -[main_algo-3] [INFO] [1746051597.507091181] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051597.507960987] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051597.508778761] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051597.510340412] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051597.545087681] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051597.545658966] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051597.546667645] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051597.547661633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051597.548770180] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051597.585428754] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051597.587137531] [sailbot.teensy]: Wind angle: 75 -[teensy-2] [INFO] [1746051597.588045803] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746051597.587707137] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051597.588928576] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051597.588923568] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051597.589830140] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051597.645154461] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051597.646090062] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051597.646634848] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051597.648128506] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051597.649146953] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051597.744913973] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051597.745625968] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051597.746151443] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051597.747465330] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051597.748439254] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051597.835373137] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051597.837543779] [sailbot.teensy]: Wind angle: 75 -[trim_sail-4] [INFO] [1746051597.837646758] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051597.838521563] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051597.838883977] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051597.839275782] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051597.839990601] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051597.844401819] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051597.844935808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051597.845607550] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051597.846688307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051597.847682893] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051597.945519928] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051597.946175632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051597.947203663] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051597.949117587] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051597.950234416] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051597.957754810] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051597.958750428] [sailbot.main_algo]: Target Bearing: -84.36698681182206 -[main_algo-3] [INFO] [1746051597.959648050] [sailbot.main_algo]: Heading Difference: 114.29198681182208 -[main_algo-3] [INFO] [1746051597.960986620] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051597.961882763] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051597.962728635] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051597.964283041] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051597.964386760] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051598.002852010] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903821 Long: -76.50276894 -[main_algo-3] [INFO] [1746051598.003820298] [sailbot.main_algo]: Distance to destination: 52.331595705588875 -[vectornav-1] [INFO] [1746051598.004568839] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.742999999999995, 0.595, 5.58) -[main_algo-3] [INFO] [1746051598.005464802] [sailbot.main_algo]: Target Bearing: -84.38383517250024 -[main_algo-3] [INFO] [1746051598.006443306] [sailbot.main_algo]: Heading Difference: 114.30883517250027 -[main_algo-3] [INFO] [1746051598.007811633] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051598.008706914] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051598.009517491] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051598.011167981] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051598.045135444] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051598.045751641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051598.046507265] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051598.047710038] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051598.048735361] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051598.085278327] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051598.087815099] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051598.088605218] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051598.089815947] [sailbot.teensy]: Wind angle: 75 -[teensy-2] [INFO] [1746051598.090794587] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051598.091651798] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051598.092496186] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051598.144886628] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051598.145793399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051598.146673361] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051598.147739414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051598.148438929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051598.245093762] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051598.245838266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051598.246568289] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051598.248038899] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051598.249054704] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051598.335607156] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051598.338353541] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051598.338838863] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051598.339673106] [sailbot.teensy]: Wind angle: 75 -[teensy-2] [INFO] [1746051598.340118292] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051598.340504408] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051598.340858452] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051598.344544498] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051598.345102128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051598.346031358] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051598.346938301] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051598.348213431] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051598.445354525] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051598.445876751] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051598.446859458] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051598.447892725] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051598.449063173] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051598.457701572] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051598.458708371] [sailbot.main_algo]: Target Bearing: -84.38383517250024 -[main_algo-3] [INFO] [1746051598.459563160] [sailbot.main_algo]: Heading Difference: 115.12683517250025 -[main_algo-3] [INFO] [1746051598.460855831] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051598.461726286] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051598.462583190] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051598.464185748] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051598.464229207] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051598.502848902] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903818 Long: -76.50276893 -[main_algo-3] [INFO] [1746051598.503859605] [sailbot.main_algo]: Distance to destination: 52.328191285240344 -[vectornav-1] [INFO] [1746051598.503971762] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.117999999999995, -1.237, 4.583) -[main_algo-3] [INFO] [1746051598.504966472] [sailbot.main_algo]: Target Bearing: -84.38430817084974 -[main_algo-3] [INFO] [1746051598.505925863] [sailbot.main_algo]: Heading Difference: 115.12730817084974 -[main_algo-3] [INFO] [1746051598.507304226] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051598.508199627] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051598.509042838] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051598.510755312] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051598.545108433] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051598.545701229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051598.546290624] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051598.547508870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051598.548673276] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051598.585263225] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051598.586900148] [sailbot.teensy]: Wind angle: 75 -[teensy-2] [INFO] [1746051598.587819066] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746051598.587628092] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051598.588680558] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051598.588801335] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051598.589697525] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051598.644923606] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051598.645570211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051598.646152741] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051598.647484615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051598.648417772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051598.745352143] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051598.746281696] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051598.747033592] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051598.748433511] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051598.748934240] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051598.835399737] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051598.837166374] [sailbot.teensy]: Wind angle: 75 -[trim_sail-4] [INFO] [1746051598.837806807] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051598.839093212] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051598.839414289] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051598.840478099] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051598.841377213] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051598.844319932] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051598.844830882] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051598.845515822] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051598.846584437] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051598.847620402] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051598.944516326] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051598.945368579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051598.945906666] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051598.947431626] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051598.948577697] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051598.956522870] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051598.957002505] [sailbot.main_algo]: Target Bearing: -84.38430817084974 -[main_algo-3] [INFO] [1746051598.957418338] [sailbot.main_algo]: Heading Difference: 115.50230817084974 -[main_algo-3] [INFO] [1746051598.958004098] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051598.958405439] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051598.958786837] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051598.959635314] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051598.959637556] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051599.001384407] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903814 Long: -76.50276883 -[main_algo-3] [INFO] [1746051599.002079047] [sailbot.main_algo]: Distance to destination: 52.32282982210574 -[vectornav-1] [INFO] [1746051599.002156431] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.312999999999988, -0.159, 5.856) -[main_algo-3] [INFO] [1746051599.003026614] [sailbot.main_algo]: Target Bearing: -84.39268993767064 -[main_algo-3] [INFO] [1746051599.003876591] [sailbot.main_algo]: Heading Difference: 115.51068993767063 -[main_algo-3] [INFO] [1746051599.004784211] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051599.005164670] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051599.005833721] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051599.007071376] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051599.044735331] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051599.045513267] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051599.046002535] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051599.047371879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051599.048481976] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051599.085560920] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051599.088062847] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051599.088773939] [sailbot.teensy]: Wind angle: 75 -[mux-7] [INFO] [1746051599.089048294] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051599.089729690] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051599.090735137] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051599.091603485] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051599.145160201] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051599.145703688] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051599.146530585] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051599.147630270] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051599.148916192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051599.245190845] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051599.246014817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051599.246674989] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051599.247986586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051599.249155191] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051599.335293666] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051599.337553403] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051599.337553443] [sailbot.teensy]: Wind angle: 75 -[teensy-2] [INFO] [1746051599.338762260] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746051599.338897921] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051599.339707445] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051599.340471797] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051599.344473169] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051599.345073708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051599.345634790] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051599.346770202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051599.347754621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051599.445154192] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051599.445645588] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051599.446546388] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051599.447562696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051599.448657156] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051599.457650521] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051599.458681679] [sailbot.main_algo]: Target Bearing: -84.39268993767064 -[main_algo-3] [INFO] [1746051599.459638429] [sailbot.main_algo]: Heading Difference: 115.70568993767063 -[main_algo-3] [INFO] [1746051599.460898840] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051599.461745624] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051599.462539493] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051599.464116336] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051599.464163008] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051599.503221349] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903812 Long: -76.50276862 -[main_algo-3] [INFO] [1746051599.504149015] [sailbot.main_algo]: Distance to destination: 52.31863500009577 -[vectornav-1] [INFO] [1746051599.504571927] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.03800000000001, -0.125, 4.684) -[main_algo-3] [INFO] [1746051599.505397816] [sailbot.main_algo]: Target Bearing: -84.41119251055991 -[main_algo-3] [INFO] [1746051599.506425674] [sailbot.main_algo]: Heading Difference: 115.72419251055987 -[main_algo-3] [INFO] [1746051599.507787975] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051599.508721265] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051599.509578252] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051599.511496664] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051599.545517786] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051599.545889426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051599.546885636] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051599.547903902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051599.548985769] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051599.585507976] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051599.587523834] [sailbot.teensy]: Wind angle: 75 -[trim_sail-4] [INFO] [1746051599.588247173] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051599.589254366] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051599.590204404] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051599.591099652] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051599.591919272] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051599.644846467] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051599.645496492] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051599.646095110] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051599.647458405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051599.648663683] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051599.745061305] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051599.745999960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051599.746540556] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051599.748358385] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051599.749468928] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051599.835163030] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051599.836648956] [sailbot.teensy]: Wind angle: 75 -[teensy-2] [INFO] [1746051599.837531570] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051599.838381015] [sailbot.teensy]: Actual tail angle: 40 -[trim_sail-4] [INFO] [1746051599.837720889] [sailbot.trim_sail]: Sail Angle: "45" -[mux-7] [INFO] [1746051599.838557701] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051599.838872140] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051599.844451473] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051599.845008924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051599.845536053] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051599.846765101] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051599.847876068] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051599.945065241] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051599.945766375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051599.946399454] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051599.947742612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051599.948905198] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051599.957709090] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051599.958733763] [sailbot.main_algo]: Target Bearing: -84.41119251055991 -[main_algo-3] [INFO] [1746051599.959643208] [sailbot.main_algo]: Heading Difference: 115.4491925105599 -[main_algo-3] [INFO] [1746051599.960973590] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051599.961811321] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051599.962612735] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051599.964129798] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051599.964230721] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051600.003129927] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903818 Long: -76.50276839 -[main_algo-3] [INFO] [1746051600.003973484] [sailbot.main_algo]: Distance to destination: 52.32308320974288 -[vectornav-1] [INFO] [1746051600.004483721] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.363999999999976, -1.011, 6.034) -[main_algo-3] [INFO] [1746051600.005191348] [sailbot.main_algo]: Target Bearing: -84.43260261328957 -[main_algo-3] [INFO] [1746051600.006193126] [sailbot.main_algo]: Heading Difference: 115.4706026132896 -[main_algo-3] [INFO] [1746051600.007898330] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051600.008862802] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051600.009723759] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051600.011463013] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051600.045016973] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051600.045854467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051600.046584843] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051600.047997142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051600.049111203] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051600.085277294] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051600.087135968] [sailbot.teensy]: Wind angle: 75 -[trim_sail-4] [INFO] [1746051600.087517503] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051600.088014058] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051600.088986116] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051600.089703482] [sailbot.mux]: algo sail angle: 45 -[teensy-2] [INFO] [1746051600.090013355] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051600.144727877] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051600.145350732] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051600.145868608] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051600.147189454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051600.148296317] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051600.244922100] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051600.245589014] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051600.246924100] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051600.247412804] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051600.248058872] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051600.335393189] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051600.337074609] [sailbot.teensy]: Wind angle: 75 -[teensy-2] [INFO] [1746051600.337988942] [sailbot.teensy]: Actual sail angle: 45 -[trim_sail-4] [INFO] [1746051600.338212377] [sailbot.trim_sail]: Sail Angle: "45" -[teensy-2] [INFO] [1746051600.338936544] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051600.339821760] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051600.340530492] [sailbot.mux]: algo sail angle: 45 -[mux-7] [INFO] [1746051600.344451145] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051600.345012386] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051600.345623584] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051600.347163461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051600.348364237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051600.445330384] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051600.446096880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051600.447052567] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051600.448494660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051600.449209710] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051600.457973428] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051600.459055279] [sailbot.main_algo]: Target Bearing: -84.43260261328957 -[main_algo-3] [INFO] [1746051600.460027860] [sailbot.main_algo]: Heading Difference: 115.79660261328956 -[main_algo-3] [INFO] [1746051600.461351983] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051600.462236300] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051600.463077466] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051600.464778576] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051600.464793214] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051600.502858211] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903836 Long: -76.50276828 -[main_algo-3] [INFO] [1746051600.503729840] [sailbot.main_algo]: Distance to destination: 52.34190649637441 -[vectornav-1] [INFO] [1746051600.504324818] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.225000000000023, 0.519, 4.706) -[main_algo-3] [INFO] [1746051600.505104111] [sailbot.main_algo]: Target Bearing: -84.44494615230614 -[main_algo-3] [INFO] [1746051600.506104821] [sailbot.main_algo]: Heading Difference: 115.80894615230613 -[main_algo-3] [INFO] [1746051600.507456871] [sailbot.main_algo]: Wind Direction: 75 -[main_algo-3] [INFO] [1746051600.508400740] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051600.509311903] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051600.511029215] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051600.546032829] [sailbot.mux]: Published sail angle from algo: 45 -[teensy-2] [INFO] [1746051600.546121206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051600.547411453] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051600.548532859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:45, rudder: 15 -[teensy-2] [INFO] [1746051600.549603358] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051600.585470079] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051600.587926464] [sailbot.trim_sail]: Sail Angle: "40" -[teensy-2] [INFO] [1746051600.588000866] [sailbot.teensy]: Wind angle: 76 -[teensy-2] [INFO] [1746051600.588973140] [sailbot.teensy]: Actual sail angle: 45 -[mux-7] [INFO] [1746051600.589315977] [sailbot.mux]: algo sail angle: 40 -[teensy-2] [INFO] [1746051600.589886792] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051600.590759174] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051600.644898083] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746051600.645735972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051600.646201657] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051600.647637115] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 -[teensy-2] [INFO] [1746051600.648670007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051600.745455200] [sailbot.mux]: Published sail angle from algo: 40 -[teensy-2] [INFO] [1746051600.746392782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051600.747146066] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051600.748729497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:40, rudder: 15 -[teensy-2] [INFO] [1746051600.750019481] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051600.835673777] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051600.838633900] [sailbot.trim_sail]: Sail Angle: "35" -[teensy-2] [INFO] [1746051600.838784949] [sailbot.teensy]: Wind angle: 83 -[mux-7] [INFO] [1746051600.839172688] [sailbot.mux]: algo sail angle: 35 -[teensy-2] [INFO] [1746051600.839242817] [sailbot.teensy]: Actual sail angle: 45 -[teensy-2] [INFO] [1746051600.839639066] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051600.840051653] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051600.844535954] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746051600.845036193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051600.845664901] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051600.846731893] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 -[teensy-2] [INFO] [1746051600.847916632] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051600.945086323] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746051600.945755475] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051600.946432440] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051600.947768903] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 -[teensy-2] [INFO] [1746051600.948972514] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051600.957762810] [sailbot.main_algo]: Wind Direction: 83 -[main_algo-3] [INFO] [1746051600.958894504] [sailbot.main_algo]: Target Bearing: -84.44494615230614 -[main_algo-3] [INFO] [1746051600.959837065] [sailbot.main_algo]: Heading Difference: 114.66994615230618 -[main_algo-3] [INFO] [1746051600.961170195] [sailbot.main_algo]: Wind Direction: 83 -[main_algo-3] [INFO] [1746051600.962043079] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051600.962881033] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051600.964474702] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051600.964496360] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051601.002929880] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903836 Long: -76.5027682 -[vectornav-1] [INFO] [1746051601.004309882] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.939999999999998, -1.425, 5.971) -[main_algo-3] [INFO] [1746051601.004252688] [sailbot.main_algo]: Distance to destination: 52.341154314773 -[main_algo-3] [INFO] [1746051601.005244848] [sailbot.main_algo]: Target Bearing: -84.45209928768533 -[main_algo-3] [INFO] [1746051601.006150693] [sailbot.main_algo]: Heading Difference: 114.67709928768534 -[main_algo-3] [INFO] [1746051601.007808354] [sailbot.main_algo]: Wind Direction: 83 -[main_algo-3] [INFO] [1746051601.008884696] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051601.009858409] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051601.011740207] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051601.043955020] [sailbot.mux]: Published sail angle from algo: 35 -[teensy-2] [INFO] [1746051601.044479372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051601.045165575] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051601.045874921] [sailbot.teensy]: Rudder callback-sent to Teensy sail:35, rudder: 15 -[teensy-2] [INFO] [1746051601.047019436] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051601.085144681] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051601.086680211] [sailbot.teensy]: Wind angle: 94 -[teensy-2] [INFO] [1746051601.087592207] [sailbot.teensy]: Actual sail angle: 40 -[trim_sail-4] [INFO] [1746051601.087704549] [sailbot.trim_sail]: Sail Angle: "30" -[mux-7] [INFO] [1746051601.088764997] [sailbot.mux]: algo sail angle: 30 -[teensy-2] [INFO] [1746051601.088820932] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051601.089752340] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051601.144685634] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746051601.145287761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051601.145843178] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051601.147047033] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 -[teensy-2] [INFO] [1746051601.148243288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051601.244917293] [sailbot.mux]: Published sail angle from algo: 30 -[teensy-2] [INFO] [1746051601.245518591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051601.246229548] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051601.247315744] [sailbot.teensy]: Rudder callback-sent to Teensy sail:30, rudder: 15 -[teensy-2] [INFO] [1746051601.248436696] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051601.335200892] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051601.337240269] [sailbot.trim_sail]: Sail Angle: "20" -[teensy-2] [INFO] [1746051601.337920667] [sailbot.teensy]: Wind angle: 108 -[mux-7] [INFO] [1746051601.338034328] [sailbot.mux]: algo sail angle: 20 -[teensy-2] [INFO] [1746051601.338839147] [sailbot.teensy]: Actual sail angle: 35 -[teensy-2] [INFO] [1746051601.339255694] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051601.339622706] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051601.344406157] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746051601.344939802] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051601.345675025] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051601.346699205] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 15 -[teensy-2] [INFO] [1746051601.347913238] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051601.444814285] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746051601.445502376] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051601.446541705] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051601.447360003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 15 -[teensy-2] [INFO] [1746051601.448468933] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051601.457624046] [sailbot.main_algo]: Wind Direction: 108 -[main_algo-3] [INFO] [1746051601.458646836] [sailbot.main_algo]: Target Bearing: -84.45209928768533 -[main_algo-3] [INFO] [1746051601.459556680] [sailbot.main_algo]: Heading Difference: 115.39209928768531 -[main_algo-3] [INFO] [1746051601.460851511] [sailbot.main_algo]: Wind Direction: 108 -[main_algo-3] [INFO] [1746051601.461694380] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051601.462482447] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051601.464018287] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051601.464197742] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051601.502681317] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903846 Long: -76.50276807 -[main_algo-3] [INFO] [1746051601.503632033] [sailbot.main_algo]: Distance to destination: 52.350967141253285 -[vectornav-1] [INFO] [1746051601.503823411] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.03399999999999, 0.246, 5.509) -[main_algo-3] [INFO] [1746051601.504806685] [sailbot.main_algo]: Target Bearing: -84.46511030828879 -[main_algo-3] [INFO] [1746051601.505799581] [sailbot.main_algo]: Heading Difference: 115.40511030828878 -[main_algo-3] [INFO] [1746051601.507028900] [sailbot.main_algo]: Wind Direction: 108 -[main_algo-3] [INFO] [1746051601.507883246] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051601.508700796] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051601.510287381] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051601.544845233] [sailbot.mux]: Published sail angle from algo: 20 -[teensy-2] [INFO] [1746051601.545767088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051601.547395053] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051601.547916790] [sailbot.teensy]: Rudder callback-sent to Teensy sail:20, rudder: 15 -[teensy-2] [INFO] [1746051601.549190362] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051601.585450530] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051601.587858236] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051601.588613145] [sailbot.teensy]: Wind angle: 119 -[mux-7] [INFO] [1746051601.589191543] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051601.589610218] [sailbot.teensy]: Actual sail angle: 30 -[teensy-2] [INFO] [1746051601.590524818] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051601.591415840] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051601.645034227] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051601.645900598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051601.646635188] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051601.647803362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 -[teensy-2] [INFO] [1746051601.648860626] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051601.745244963] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051601.745755735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051601.746559080] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051601.747653362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 -[teensy-2] [INFO] [1746051601.748658528] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051601.835632401] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051601.838257499] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051601.838704926] [sailbot.teensy]: Wind angle: 123 -[mux-7] [INFO] [1746051601.839381576] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051601.839714715] [sailbot.teensy]: Actual sail angle: 20 -[teensy-2] [INFO] [1746051601.841103471] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051601.842112226] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051601.844290716] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051601.844809019] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051601.845395860] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051601.846463925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 -[teensy-2] [INFO] [1746051601.847626295] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051601.945308361] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051601.946120923] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051601.946751951] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051601.947804708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 -[teensy-2] [INFO] [1746051601.948293121] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051601.957805819] [sailbot.main_algo]: Wind Direction: 123 -[main_algo-3] [INFO] [1746051601.958916812] [sailbot.main_algo]: Target Bearing: -84.46511030828879 -[main_algo-3] [INFO] [1746051601.959852837] [sailbot.main_algo]: Heading Difference: 116.49911030828878 -[main_algo-3] [INFO] [1746051601.961191972] [sailbot.main_algo]: Wind Direction: 123 -[main_algo-3] [INFO] [1746051601.962086974] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051601.962890164] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051601.964400368] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051601.964475926] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051602.002840659] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903854 Long: -76.50276779 -[main_algo-3] [INFO] [1746051602.003664437] [sailbot.main_algo]: Distance to destination: 52.35717329281075 -[vectornav-1] [INFO] [1746051602.005112533] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.80000000000001, -0.518, 4.968) -[main_algo-3] [INFO] [1746051602.005216817] [sailbot.main_algo]: Target Bearing: -84.49124866375602 -[main_algo-3] [INFO] [1746051602.006253310] [sailbot.main_algo]: Heading Difference: 116.52524866375603 -[main_algo-3] [INFO] [1746051602.007660956] [sailbot.main_algo]: Wind Direction: 123 -[main_algo-3] [INFO] [1746051602.008570376] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051602.009421608] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051602.011130999] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051602.044966314] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051602.045670465] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051602.046518468] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051602.047531495] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 -[teensy-2] [INFO] [1746051602.048634177] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051602.085230412] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051602.087364917] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051602.088436418] [sailbot.teensy]: Wind angle: 123 -[mux-7] [INFO] [1746051602.088565031] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051602.089328967] [sailbot.teensy]: Actual sail angle: 10 -[teensy-2] [INFO] [1746051602.090162737] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051602.090964898] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051602.144922944] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051602.145762558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051602.146214756] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051602.147595364] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 -[teensy-2] [INFO] [1746051602.148711500] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051602.245285316] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051602.245899955] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051602.246975702] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051602.247970785] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 -[teensy-2] [INFO] [1746051602.248727794] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051602.335289261] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051602.337627650] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051602.337727419] [sailbot.teensy]: Wind angle: 123 -[teensy-2] [INFO] [1746051602.338711569] [sailbot.teensy]: Actual sail angle: 10 -[teensy-2] [INFO] [1746051602.339768447] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051602.339855180] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051602.340744190] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051602.344372472] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051602.344881827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051602.345468795] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051602.346576845] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 -[teensy-2] [INFO] [1746051602.347728175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051602.444977288] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051602.445763251] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051602.446311431] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051602.447580294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 -[teensy-2] [INFO] [1746051602.448112941] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051602.457591360] [sailbot.main_algo]: Wind Direction: 123 -[main_algo-3] [INFO] [1746051602.458646818] [sailbot.main_algo]: Target Bearing: -84.49124866375602 -[main_algo-3] [INFO] [1746051602.459569428] [sailbot.main_algo]: Heading Difference: 116.29124866375605 -[main_algo-3] [INFO] [1746051602.460822900] [sailbot.main_algo]: Wind Direction: 123 -[main_algo-3] [INFO] [1746051602.461670413] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051602.462460988] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051602.463970021] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051602.464052229] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051602.503090027] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903846 Long: -76.50276789 -[main_algo-3] [INFO] [1746051602.504271275] [sailbot.main_algo]: Distance to destination: 52.3492810531659 -[vectornav-1] [INFO] [1746051602.504445375] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.716999999999985, -0.041, 7.6) -[main_algo-3] [INFO] [1746051602.505532471] [sailbot.main_algo]: Target Bearing: -84.48120301958946 -[main_algo-3] [INFO] [1746051602.506619322] [sailbot.main_algo]: Heading Difference: 116.2812030195895 -[main_algo-3] [INFO] [1746051602.508027384] [sailbot.main_algo]: Wind Direction: 123 -[main_algo-3] [INFO] [1746051602.508945994] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051602.509795098] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051602.511488742] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051602.544973371] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051602.545574252] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051602.546304163] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051602.547404877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 -[teensy-2] [INFO] [1746051602.548624744] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051602.585311029] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051602.586963659] [sailbot.teensy]: Wind angle: 123 -[teensy-2] [INFO] [1746051602.587841816] [sailbot.teensy]: Actual sail angle: 10 -[trim_sail-4] [INFO] [1746051602.587510068] [sailbot.trim_sail]: Sail Angle: "10" -[teensy-2] [INFO] [1746051602.588720682] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051602.589333936] [sailbot.mux]: algo sail angle: 10 -[teensy-2] [INFO] [1746051602.589663279] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051602.644889072] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051602.645548974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051602.646236277] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051602.647424035] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 -[teensy-2] [INFO] [1746051602.648697460] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051602.744990563] [sailbot.mux]: Published sail angle from algo: 10 -[teensy-2] [INFO] [1746051602.745662257] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051602.746426322] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051602.747493621] [sailbot.teensy]: Rudder callback-sent to Teensy sail:10, rudder: 15 -[teensy-2] [INFO] [1746051602.748622400] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051602.835580836] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051602.837599808] [sailbot.teensy]: Wind angle: 125 -[trim_sail-4] [INFO] [1746051602.838190612] [sailbot.trim_sail]: Sail Angle: "5" -[teensy-2] [INFO] [1746051602.838640818] [sailbot.teensy]: Actual sail angle: 10 -[teensy-2] [INFO] [1746051602.839552048] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051602.839874361] [sailbot.mux]: algo sail angle: 5 -[teensy-2] [INFO] [1746051602.840568351] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051602.844319943] [sailbot.mux]: Published sail angle from algo: 5 -[teensy-2] [INFO] [1746051602.844886355] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051602.845480952] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051602.846806359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:5, rudder: 15 -[teensy-2] [INFO] [1746051602.848005203] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051602.945287310] [sailbot.mux]: Published sail angle from algo: 5 -[teensy-2] [INFO] [1746051602.946304896] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051602.946751516] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051602.948428186] [sailbot.teensy]: Rudder callback-sent to Teensy sail:5, rudder: 15 -[teensy-2] [INFO] [1746051602.949417975] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051602.958054801] [sailbot.main_algo]: Wind Direction: 125 -[main_algo-3] [INFO] [1746051602.959084407] [sailbot.main_algo]: Target Bearing: -84.48120301958946 -[main_algo-3] [INFO] [1746051602.959993021] [sailbot.main_algo]: Heading Difference: 116.19820301958941 -[main_algo-3] [INFO] [1746051602.961337317] [sailbot.main_algo]: Wind Direction: 125 -[main_algo-3] [INFO] [1746051602.962228952] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051602.963070254] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051602.964694372] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051602.964862709] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051603.002737449] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903831 Long: -76.50276772 -[main_algo-3] [INFO] [1746051603.003900988] [sailbot.main_algo]: Distance to destination: 52.331141331240474 -[vectornav-1] [INFO] [1746051603.004265168] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.43700000000001, -1.056, 5.547) -[main_algo-3] [INFO] [1746051603.005071572] [sailbot.main_algo]: Target Bearing: -84.49433208591134 -[main_algo-3] [INFO] [1746051603.006048274] [sailbot.main_algo]: Heading Difference: 116.2113320859113 -[main_algo-3] [INFO] [1746051603.007383518] [sailbot.main_algo]: Wind Direction: 125 -[main_algo-3] [INFO] [1746051603.008227869] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051603.009017072] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051603.010610566] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051603.044862563] [sailbot.mux]: Published sail angle from algo: 5 -[teensy-2] [INFO] [1746051603.045639869] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051603.046113763] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051603.047528984] [sailbot.teensy]: Rudder callback-sent to Teensy sail:5, rudder: 15 -[teensy-2] [INFO] [1746051603.048585310] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051603.085025335] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051603.086836718] [sailbot.teensy]: Wind angle: 132 -[teensy-2] [INFO] [1746051603.087756633] [sailbot.teensy]: Actual sail angle: 10 -[teensy-2] [INFO] [1746051603.088782996] [sailbot.teensy]: Actual tail angle: 40 -[trim_sail-4] [INFO] [1746051603.087082044] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051603.087558068] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051603.089728116] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051603.144004416] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051603.144530656] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051603.144830396] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051603.146182292] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051603.147660960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051603.245057368] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051603.245819572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051603.246446378] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051603.247769264] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051603.248953328] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051603.335417965] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051603.337526325] [sailbot.teensy]: Wind angle: 142 -[trim_sail-4] [INFO] [1746051603.337797139] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051603.339398500] [sailbot.teensy]: Actual sail angle: 5 -[mux-7] [INFO] [1746051603.339543755] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051603.340529932] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051603.341618817] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051603.344307669] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051603.344965943] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051603.345493746] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051603.346740749] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051603.347784498] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051603.445108302] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051603.446137235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051603.446745591] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051603.448055467] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051603.448711905] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051603.457662257] [sailbot.main_algo]: Wind Direction: 142 -[main_algo-3] [INFO] [1746051603.458750426] [sailbot.main_algo]: Target Bearing: -84.49433208591134 -[main_algo-3] [INFO] [1746051603.459677042] [sailbot.main_algo]: Heading Difference: 117.93133208591132 -[main_algo-3] [INFO] [1746051603.460948764] [sailbot.main_algo]: Wind Direction: 142 -[main_algo-3] [INFO] [1746051603.461858637] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051603.462691597] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051603.464502943] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051603.464537770] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051603.502786347] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903843 Long: -76.50276751 -[main_algo-3] [INFO] [1746051603.504056872] [sailbot.main_algo]: Distance to destination: 52.34242474680657 -[vectornav-1] [INFO] [1746051603.504274553] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (35.14699999999999, -0.228, 5.813) -[main_algo-3] [INFO] [1746051603.505572123] [sailbot.main_algo]: Target Bearing: -84.51476708315248 -[main_algo-3] [INFO] [1746051603.506549122] [sailbot.main_algo]: Heading Difference: 117.9517670831525 -[main_algo-3] [INFO] [1746051603.507905734] [sailbot.main_algo]: Wind Direction: 142 -[main_algo-3] [INFO] [1746051603.508796689] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051603.509638828] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051603.511357215] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051603.544916663] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051603.545587473] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051603.546147440] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051603.547575308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051603.548762938] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051603.585315034] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051603.587495152] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051603.587852766] [sailbot.teensy]: Wind angle: 150 -[mux-7] [INFO] [1746051603.588742284] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051603.588812965] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051603.589717799] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051603.590629096] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051603.644874180] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051603.645276767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051603.646054137] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051603.646995683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051603.648080279] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051603.745077943] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051603.746609358] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051603.746623270] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051603.748034802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051603.748502196] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051603.835580940] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051603.838417226] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051603.838886133] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051603.839346931] [sailbot.teensy]: Wind angle: 155 -[teensy-2] [INFO] [1746051603.840312104] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051603.841168941] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051603.841989750] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051603.844441010] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051603.844906232] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051603.845531215] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051603.846620144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051603.847917615] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051603.945362781] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051603.946084220] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051603.946924365] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051603.948213539] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 15 -[teensy-2] [INFO] [1746051603.948762366] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051603.957845315] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051603.959479589] [sailbot.main_algo]: Beginning Tacking -[main_algo-3] [INFO] [1746051603.960847093] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051603.962156510] [sailbot.main_algo]: Current Location: (42.469038432147485, -76.50276751005444) -[main_algo-3] [INFO] [1746051603.963031402] [sailbot.main_algo]: Target Bearing: -84.51476708315248 -[main_algo-3] [INFO] [1746051603.963867260] [sailbot.main_algo]: Heading Difference: 119.66176708315248 -[main_algo-3] [INFO] [1746051603.965106806] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051603.965895345] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051603.966683383] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051603.968204251] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051603.968253407] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051604.002753844] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903828 Long: -76.50276719 -[main_algo-3] [INFO] [1746051604.003846033] [sailbot.main_algo]: Distance to destination: 52.32290012675481 -[vectornav-1] [INFO] [1746051604.004837885] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.273000000000025, -0.513, 6.389) -[main_algo-3] [INFO] [1746051604.005268897] [sailbot.main_algo]: Target Bearing: -84.54132853672498 -[main_algo-3] [INFO] [1746051604.006311842] [sailbot.main_algo]: Heading Difference: 119.68832853672495 -[main_algo-3] [INFO] [1746051604.007731821] [sailbot.main_algo]: Wind Direction: 155 -[main_algo-3] [INFO] [1746051604.008671070] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051604.009545739] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051604.011210487] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051604.044973838] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051604.045713801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051604.046238896] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051604.047555387] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051604.048689902] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051604.085262552] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051604.087261073] [sailbot.teensy]: Wind angle: 155 -[trim_sail-4] [INFO] [1746051604.087553013] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051604.088243298] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051604.089451185] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051604.089799364] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051604.090154216] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051604.144654178] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051604.145351145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051604.146176132] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051604.147019361] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051604.148120910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051604.244914014] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051604.245702824] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051604.246167319] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051604.247627754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051604.248775417] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051604.335524342] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051604.337413736] [sailbot.teensy]: Wind angle: 156 -[trim_sail-4] [INFO] [1746051604.337895092] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051604.338378088] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051604.339490201] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051604.340121890] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051604.340938560] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051604.344320911] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051604.344826913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051604.345387948] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051604.346526224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051604.347532138] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051604.445131522] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051604.446352620] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051604.446926517] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051604.448572868] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051604.449707716] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051604.457450826] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051604.458397599] [sailbot.main_algo]: Target Bearing: -84.54132853672498 -[main_algo-3] [INFO] [1746051604.459226164] [sailbot.main_algo]: Heading Difference: 121.81432853672499 -[main_algo-3] [INFO] [1746051604.460457559] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051604.461283622] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051604.462075240] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051604.463633533] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051604.463712357] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051604.502609593] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903825 Long: -76.50276693 -[main_algo-3] [INFO] [1746051604.503543025] [sailbot.main_algo]: Distance to destination: 52.3171835773167 -[vectornav-1] [INFO] [1746051604.503636930] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (39.72800000000001, -0.126, 6.612) -[main_algo-3] [INFO] [1746051604.504607840] [sailbot.main_algo]: Target Bearing: -84.56417997942481 -[main_algo-3] [INFO] [1746051604.505518416] [sailbot.main_algo]: Heading Difference: 121.83717997942483 -[main_algo-3] [INFO] [1746051604.506845846] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051604.507712879] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051604.508574840] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051604.510283538] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051604.544969433] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051604.545561933] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051604.546357000] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051604.547505523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051604.549139851] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051604.585686881] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051604.588120189] [sailbot.teensy]: Wind angle: 160 -[trim_sail-4] [INFO] [1746051604.588563921] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051604.589098561] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051604.589702993] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051604.590029885] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051604.590899888] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051604.644953559] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051604.645621719] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051604.646226464] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051604.647421445] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051604.648613041] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051604.744899817] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051604.745505630] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051604.746597462] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051604.747326510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051604.748439230] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051604.835150315] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051604.836818877] [sailbot.teensy]: Wind angle: 164 -[teensy-2] [INFO] [1746051604.837662633] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746051604.837243060] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051604.837883812] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051604.838479837] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051604.838947856] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051604.844445689] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051604.844992085] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051604.845557361] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051604.846678217] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051604.847713794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051604.944637271] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051604.945397884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051604.945808463] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051604.947142967] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051604.948367304] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051604.957772113] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051604.958797630] [sailbot.main_algo]: Target Bearing: -84.56417997942481 -[main_algo-3] [INFO] [1746051604.959706344] [sailbot.main_algo]: Heading Difference: 124.29217997942482 -[main_algo-3] [INFO] [1746051604.960930868] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051604.961732998] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051604.962511457] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051604.964032326] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051604.964083321] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051605.002863287] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903827 Long: -76.50276691 -[main_algo-3] [INFO] [1746051605.003803643] [sailbot.main_algo]: Distance to destination: 52.31920597855102 -[vectornav-1] [INFO] [1746051605.004041921] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (41.28199999999998, -0.327, 5.896) -[main_algo-3] [INFO] [1746051605.005021879] [sailbot.main_algo]: Target Bearing: -84.5662427156882 -[main_algo-3] [INFO] [1746051605.005946172] [sailbot.main_algo]: Heading Difference: 124.2942427156882 -[main_algo-3] [INFO] [1746051605.007362268] [sailbot.main_algo]: Wind Direction: 164 -[main_algo-3] [INFO] [1746051605.008357974] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051605.009281545] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051605.010971097] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051605.044985508] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051605.045776102] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051605.046238589] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051605.047587162] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051605.048756605] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051605.085044203] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051605.086510978] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051605.087025744] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051605.087363092] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051605.088213147] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051605.088569201] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051605.089036786] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051605.145362057] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051605.145900853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051605.146965458] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051605.147691631] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051605.148789004] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051605.245039968] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051605.245683361] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051605.246533178] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051605.247741298] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051605.248815627] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051605.335122620] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051605.337304163] [sailbot.teensy]: Wind angle: 167 -[trim_sail-4] [INFO] [1746051605.337354582] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051605.338222921] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051605.338510525] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051605.339120572] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051605.340007717] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051605.344338267] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051605.344798359] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051605.345442564] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051605.346489278] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051605.347641168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051605.445128996] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051605.445920360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051605.446516913] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051605.447870961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051605.448941731] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051605.457643183] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051605.458690683] [sailbot.main_algo]: Target Bearing: -84.5662427156882 -[main_algo-3] [INFO] [1746051605.459582711] [sailbot.main_algo]: Heading Difference: 125.84824271568817 -[main_algo-3] [INFO] [1746051605.460977273] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051605.461858276] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051605.462694598] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051605.464219431] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051605.464364935] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051605.502961580] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903806 Long: -76.50276687 -[main_algo-3] [INFO] [1746051605.503986676] [sailbot.main_algo]: Distance to destination: 52.29566181072208 -[vectornav-1] [INFO] [1746051605.504213430] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (43.18799999999999, 0.127, 5.371) -[main_algo-3] [INFO] [1746051605.505191376] [sailbot.main_algo]: Target Bearing: -84.56695346545281 -[main_algo-3] [INFO] [1746051605.506157051] [sailbot.main_algo]: Heading Difference: 125.84895346545278 -[main_algo-3] [INFO] [1746051605.507525737] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051605.508428867] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051605.509283547] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051605.511111788] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051605.544985620] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051605.545865533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051605.546294209] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051605.547734431] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051605.549334218] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051605.585091849] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051605.586520469] [sailbot.teensy]: Wind angle: 167 -[trim_sail-4] [INFO] [1746051605.587188741] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051605.588379368] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051605.588520720] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051605.589710463] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051605.590702697] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051605.645120804] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051605.646045777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051605.646542253] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051605.648040581] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051605.649113941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051605.745115086] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051605.746002051] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051605.746670102] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051605.748071025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051605.749198591] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051605.835319017] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051605.837088505] [sailbot.teensy]: Wind angle: 167 -[trim_sail-4] [INFO] [1746051605.837795279] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051605.838030074] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051605.838800073] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051605.838900477] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051605.839333918] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051605.844304237] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051605.845104090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051605.845469985] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051605.846895374] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051605.847955104] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051605.945431186] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051605.946424873] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051605.946905950] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051605.948219359] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051605.948659604] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051605.957988799] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051605.959043972] [sailbot.main_algo]: Target Bearing: -84.56695346545281 -[main_algo-3] [INFO] [1746051605.959994698] [sailbot.main_algo]: Heading Difference: 127.75495346545279 -[main_algo-3] [INFO] [1746051605.961347437] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051605.962251456] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051605.963061086] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051605.964636175] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051605.964726682] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051606.002771458] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903794 Long: -76.50276694 -[main_algo-3] [INFO] [1746051606.003719640] [sailbot.main_algo]: Distance to destination: 52.283065888629054 -[vectornav-1] [INFO] [1746051606.004239243] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.96300000000002, -0.884, 5.654) -[main_algo-3] [INFO] [1746051606.004883424] [sailbot.main_algo]: Target Bearing: -84.5590458948955 -[main_algo-3] [INFO] [1746051606.005874473] [sailbot.main_algo]: Heading Difference: 127.7470458948955 -[main_algo-3] [INFO] [1746051606.007216085] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051606.008080273] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051606.008946976] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051606.010611136] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051606.045117772] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051606.045728043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051606.046491518] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051606.047576025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051606.048670446] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051606.085180876] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051606.086961703] [sailbot.teensy]: Wind angle: 166 -[trim_sail-4] [INFO] [1746051606.087680915] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051606.088823896] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051606.088997644] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051606.090012078] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051606.090883222] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051606.144891214] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051606.145536664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051606.146387011] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051606.147425787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051606.148674100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051606.244983385] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051606.245858529] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051606.246239816] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051606.247867149] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051606.248919120] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051606.335592637] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051606.338507169] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051606.339030746] [sailbot.teensy]: Wind angle: 166 -[mux-7] [INFO] [1746051606.339058174] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051606.340042347] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051606.340948882] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051606.341858466] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051606.344290328] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051606.345262996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051606.345700529] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051606.347052902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051606.348198776] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051606.445132537] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051606.446128775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051606.446933608] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051606.448011655] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051606.448504540] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051606.457986900] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051606.459078108] [sailbot.main_algo]: Target Bearing: -84.5590458948955 -[main_algo-3] [INFO] [1746051606.460033160] [sailbot.main_algo]: Heading Difference: 129.52204589489554 -[main_algo-3] [INFO] [1746051606.461391788] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051606.462253101] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051606.463101948] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051606.464752059] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051606.464869156] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051606.502789847] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903779 Long: -76.50276676 -[main_algo-3] [INFO] [1746051606.503806662] [sailbot.main_algo]: Distance to destination: 52.26485022846518 -[vectornav-1] [INFO] [1746051606.503978643] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.803999999999974, -0.241, 5.6) -[main_algo-3] [INFO] [1746051606.505496487] [sailbot.main_algo]: Target Bearing: -84.57311427389405 -[main_algo-3] [INFO] [1746051606.506847892] [sailbot.main_algo]: Heading Difference: 129.5361142738941 -[main_algo-3] [INFO] [1746051606.508232150] [sailbot.main_algo]: Wind Direction: 166 -[main_algo-3] [INFO] [1746051606.509158928] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051606.510013946] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051606.511737334] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051606.545017402] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051606.545739258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051606.546845125] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051606.547561344] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051606.549039968] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051606.585286639] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051606.587064870] [sailbot.teensy]: Wind angle: 166 -[teensy-2] [INFO] [1746051606.588034180] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746051606.587653017] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051606.588953153] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051606.589530910] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051606.589812400] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051606.643770266] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051606.644099124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051606.644349165] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051606.644907286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051606.645375344] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051606.744959286] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051606.745672900] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051606.746228111] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051606.747856809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051606.748998014] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051606.835319159] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051606.836998804] [sailbot.teensy]: Wind angle: 169 -[trim_sail-4] [INFO] [1746051606.837687457] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051606.837918032] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051606.838789129] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051606.839271982] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051606.839795253] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051606.844511585] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051606.844899910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051606.845694222] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051606.846543454] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051606.847623408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051606.945142606] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051606.945704426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051606.946454356] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051606.947573497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051606.948779219] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051606.957357422] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051606.958343476] [sailbot.main_algo]: Target Bearing: -84.57311427389405 -[main_algo-3] [INFO] [1746051606.959197700] [sailbot.main_algo]: Heading Difference: 131.377114273894 -[main_algo-3] [INFO] [1746051606.960426805] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051606.961268318] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051606.962058041] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051606.963629798] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051606.963718176] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051607.002830925] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903781 Long: -76.50276653 -[main_algo-3] [INFO] [1746051607.003835323] [sailbot.main_algo]: Distance to destination: 52.264939184215 -[vectornav-1] [INFO] [1746051607.003959262] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (48.372000000000014, -0.095, 5.582) -[main_algo-3] [INFO] [1746051607.005033487] [sailbot.main_algo]: Target Bearing: -84.59398797126336 -[main_algo-3] [INFO] [1746051607.006038052] [sailbot.main_algo]: Heading Difference: 131.39798797126332 -[main_algo-3] [INFO] [1746051607.007447358] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051607.008370791] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051607.009253370] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051607.010897088] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051607.044843086] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051607.045570996] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051607.046098352] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051607.047380450] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051607.048531483] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051607.085329090] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051607.086975892] [sailbot.teensy]: Wind angle: 169 -[trim_sail-4] [INFO] [1746051607.087593827] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051607.087971818] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051607.088901584] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051607.089706656] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051607.089774980] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051607.145041548] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051607.145804481] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051607.146413480] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051607.147779716] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051607.148930316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051607.244323336] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051607.244713830] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051607.246628612] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[mux-7] [INFO] [1746051607.246982873] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051607.248712511] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051607.335206684] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051607.336818640] [sailbot.teensy]: Wind angle: 169 -[trim_sail-4] [INFO] [1746051607.337361781] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051607.337671099] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051607.338557367] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051607.339343553] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051607.339463723] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051607.344274030] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051607.344892036] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051607.345277721] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051607.346468376] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051607.347432452] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051607.444906622] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051607.445556330] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051607.446105859] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051607.447349095] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051607.448449431] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051607.457553815] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051607.458554547] [sailbot.main_algo]: Target Bearing: -84.59398797126336 -[main_algo-3] [INFO] [1746051607.459427035] [sailbot.main_algo]: Heading Difference: 132.96598797126336 -[main_algo-3] [INFO] [1746051607.460696801] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051607.461602747] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051607.462409205] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051607.463944741] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051607.463970188] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051607.502719800] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903773 Long: -76.50276643 -[main_algo-3] [INFO] [1746051607.503812333] [sailbot.main_algo]: Distance to destination: 52.25519121466102 -[vectornav-1] [INFO] [1746051607.503843133] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (49.47199999999998, -0.694, 5.806) -[main_algo-3] [INFO] [1746051607.505013450] [sailbot.main_algo]: Target Bearing: -84.6018573398903 -[main_algo-3] [INFO] [1746051607.505952577] [sailbot.main_algo]: Heading Difference: 132.9738573398903 -[main_algo-3] [INFO] [1746051607.507210815] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051607.508038924] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051607.508860072] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051607.510410858] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051607.544918247] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051607.545852715] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051607.546181312] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051607.547782619] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051607.549053917] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051607.585336942] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051607.587589510] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051607.588236085] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051607.589778759] [sailbot.teensy]: Wind angle: 170 -[teensy-2] [INFO] [1746051607.590703114] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051607.591607279] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051607.592715803] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051607.644798997] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051607.645752206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051607.646580684] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051607.647818949] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051607.648898669] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051607.744913914] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051607.745628665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051607.746260966] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051607.747532609] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051607.748589779] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051607.835293106] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051607.837651114] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051607.838553230] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051607.838839684] [sailbot.teensy]: Wind angle: 170 -[teensy-2] [INFO] [1746051607.839819162] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051607.840697235] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051607.841524268] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051607.844294307] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051607.844656816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051607.845322892] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051607.846149167] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051607.847134580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051607.945142093] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051607.945580740] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051607.946447987] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051607.947468113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051607.948578464] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051607.957679344] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051607.958740638] [sailbot.main_algo]: Target Bearing: -84.6018573398903 -[main_algo-3] [INFO] [1746051607.959663763] [sailbot.main_algo]: Heading Difference: 134.0738573398903 -[main_algo-3] [INFO] [1746051607.960979778] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051607.961822168] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051607.962595317] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051607.964077224] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051607.964165824] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051608.002733566] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903772 Long: -76.50276623 -[vectornav-1] [INFO] [1746051608.003886924] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (52.29599999999999, 0.021, 5.45) -[main_algo-3] [INFO] [1746051608.004198811] [sailbot.main_algo]: Distance to destination: 52.25225336497312 -[main_algo-3] [INFO] [1746051608.005364338] [sailbot.main_algo]: Target Bearing: -84.61964017222371 -[main_algo-3] [INFO] [1746051608.006687574] [sailbot.main_algo]: Heading Difference: 134.09164017222372 -[main_algo-3] [INFO] [1746051608.008213330] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051608.009122172] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051608.009964614] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051608.011765020] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051608.045002262] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051608.045860168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051608.046349254] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051608.047690313] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051608.048858515] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051608.085060239] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051608.086668697] [sailbot.teensy]: Wind angle: 170 -[teensy-2] [INFO] [1746051608.087552366] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051608.088390142] [sailbot.teensy]: Actual tail angle: 50 -[trim_sail-4] [INFO] [1746051608.087009306] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051608.087369716] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051608.089248608] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051608.145032872] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051608.145709957] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051608.146333015] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051608.147572583] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051608.148790493] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051608.244898321] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051608.245790899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051608.246183487] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051608.247650170] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051608.248296435] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051608.335430632] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051608.337811859] [sailbot.teensy]: Wind angle: 170 -[trim_sail-4] [INFO] [1746051608.337829050] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051608.338796324] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051608.339391048] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051608.339702940] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051608.340603957] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051608.344510881] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051608.344989698] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051608.345947795] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051608.346726044] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051608.347962287] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051608.444973246] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051608.445683526] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051608.446316769] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051608.447559026] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051608.448589416] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051608.457654098] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051608.458718057] [sailbot.main_algo]: Target Bearing: -84.61964017222371 -[main_algo-3] [INFO] [1746051608.459617765] [sailbot.main_algo]: Heading Difference: 136.91564017222368 -[main_algo-3] [INFO] [1746051608.460879940] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051608.461720025] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051608.462539513] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051608.464033301] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051608.464113202] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051608.502639555] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903777 Long: -76.50276612 -[main_algo-3] [INFO] [1746051608.503629577] [sailbot.main_algo]: Distance to destination: 52.25676522421717 -[vectornav-1] [INFO] [1746051608.503680341] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (53.42599999999999, -0.506, 5.274) -[main_algo-3] [INFO] [1746051608.504741279] [sailbot.main_algo]: Target Bearing: -84.63017318864843 -[main_algo-3] [INFO] [1746051608.505688085] [sailbot.main_algo]: Heading Difference: 136.92617318864842 -[main_algo-3] [INFO] [1746051608.507063717] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051608.508002765] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051608.508897255] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051608.510450721] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051608.544996896] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051608.545717769] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051608.546341345] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051608.547618839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051608.548681470] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051608.585527082] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051608.587486356] [sailbot.teensy]: Wind angle: 165 -[teensy-2] [INFO] [1746051608.588489848] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746051608.587959211] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051608.589328891] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051608.589410971] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051608.590316250] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051608.644997893] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051608.645711612] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051608.646294127] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051608.648008805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051608.649249525] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051608.744986118] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051608.745884199] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051608.746699782] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051608.747713563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051608.748917357] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051608.835237940] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051608.837800901] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051608.837879192] [sailbot.teensy]: Wind angle: 154 -[mux-7] [INFO] [1746051608.838131928] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051608.838875746] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051608.839424665] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051608.839793236] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051608.844443866] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051608.844991574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051608.845563135] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051608.846710557] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051608.847817762] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051608.945088504] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051608.945905447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051608.946628719] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051608.947778078] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051608.948251318] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051608.957940261] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051608.959082389] [sailbot.main_algo]: Target Bearing: -84.63017318864843 -[main_algo-3] [INFO] [1746051608.960059995] [sailbot.main_algo]: Heading Difference: 138.05617318864842 -[main_algo-3] [INFO] [1746051608.961391272] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051608.962289843] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051608.963090704] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051608.964588147] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051608.964647754] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051609.002785453] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903797 Long: -76.50276594 -[main_algo-3] [INFO] [1746051609.003710028] [sailbot.main_algo]: Distance to destination: 52.27719626270823 -[vectornav-1] [INFO] [1746051609.004023476] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.478999999999985, -0.306, 5.318) -[main_algo-3] [INFO] [1746051609.004903171] [sailbot.main_algo]: Target Bearing: -84.649000464301 -[main_algo-3] [INFO] [1746051609.005866948] [sailbot.main_algo]: Heading Difference: 138.07500046430096 -[main_algo-3] [INFO] [1746051609.007213387] [sailbot.main_algo]: Wind Direction: 154 -[main_algo-3] [INFO] [1746051609.008137661] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051609.009032482] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051609.010723294] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051609.045190514] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051609.046289938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051609.046514304] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051609.048492700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051609.049701029] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051609.085161494] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051609.087128633] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051609.087130513] [sailbot.teensy]: Wind angle: 150 -[mux-7] [INFO] [1746051609.087599154] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051609.088008709] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051609.088908796] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051609.089790802] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051609.145073586] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051609.145772810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051609.146344386] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051609.147583224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051609.148755059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051609.244979982] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051609.245728167] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051609.246334842] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051609.247732064] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051609.248790019] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051609.334858975] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051609.336503321] [sailbot.teensy]: Wind angle: 152 -[teensy-2] [INFO] [1746051609.337316319] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051609.338150534] [sailbot.teensy]: Actual tail angle: 50 -[trim_sail-4] [INFO] [1746051609.336902164] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051609.337320343] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051609.339009204] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051609.344018230] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051609.344512088] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051609.345109107] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051609.346470409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051609.347583209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051609.444978989] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051609.445703193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051609.446242663] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051609.447602070] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051609.448680623] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051609.457872119] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051609.458943964] [sailbot.main_algo]: Target Bearing: -84.649000464301 -[main_algo-3] [INFO] [1746051609.459873643] [sailbot.main_algo]: Heading Difference: 139.12800046430095 -[main_algo-3] [INFO] [1746051609.461228239] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051609.462122431] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051609.463024715] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051609.464570352] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051609.464699068] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051609.502681903] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903799 Long: -76.50276591 -[main_algo-3] [INFO] [1746051609.503887866] [sailbot.main_algo]: Distance to destination: 52.27913032035994 -[vectornav-1] [INFO] [1746051609.504168105] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (55.454999999999984, -0.173, 5.014) -[main_algo-3] [INFO] [1746051609.505121353] [sailbot.main_algo]: Target Bearing: -84.65195706442417 -[main_algo-3] [INFO] [1746051609.506166941] [sailbot.main_algo]: Heading Difference: 139.13095706442414 -[main_algo-3] [INFO] [1746051609.507676619] [sailbot.main_algo]: Wind Direction: 152 -[main_algo-3] [INFO] [1746051609.508728876] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051609.509611883] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051609.511297186] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051609.544973192] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051609.545678468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051609.547180981] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051609.547500338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051609.548629939] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051609.585553125] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051609.587718533] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051609.587845523] [sailbot.teensy]: Wind angle: 159 -[mux-7] [INFO] [1746051609.588265292] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051609.588796388] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051609.589690148] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051609.590527448] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051609.644834367] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051609.645658855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051609.646033971] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051609.647603037] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051609.649055224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051609.744852923] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051609.745930039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051609.746438870] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051609.747679520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051609.748302985] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051609.835178864] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051609.836793226] [sailbot.teensy]: Wind angle: 165 -[trim_sail-4] [INFO] [1746051609.837501346] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051609.837658131] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051609.838509106] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051609.839293314] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051609.839658145] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051609.844333352] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051609.844894026] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051609.845550405] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051609.846561444] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051609.847605365] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051609.945086639] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051609.945729482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051609.946548140] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051609.947734490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051609.948699196] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051609.957738111] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051609.958855489] [sailbot.main_algo]: Target Bearing: -84.65195706442417 -[main_algo-3] [INFO] [1746051609.959794307] [sailbot.main_algo]: Heading Difference: 140.10695706442414 -[main_algo-3] [INFO] [1746051609.961045150] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051609.961894679] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051609.962700918] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051609.964269039] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051609.964285672] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051610.002855033] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903794 Long: -76.50276582 -[main_algo-3] [INFO] [1746051610.003958270] [sailbot.main_algo]: Distance to destination: 52.272791923172505 -[vectornav-1] [INFO] [1746051610.004062914] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (56.33499999999998, -0.161, 5.787) -[main_algo-3] [INFO] [1746051610.005186347] [sailbot.main_algo]: Target Bearing: -84.65934363122335 -[main_algo-3] [INFO] [1746051610.006175497] [sailbot.main_algo]: Heading Difference: 140.11434363122333 -[main_algo-3] [INFO] [1746051610.007554168] [sailbot.main_algo]: Wind Direction: 165 -[main_algo-3] [INFO] [1746051610.008493461] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051610.009367703] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051610.011075054] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051610.044978020] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051610.045934720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051610.046259841] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051610.047988941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051610.049042788] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051610.085297656] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051610.087569199] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051610.088555169] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051610.088643665] [sailbot.teensy]: Wind angle: 168 -[teensy-2] [INFO] [1746051610.089607888] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051610.090492603] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051610.091344309] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051610.144915254] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051610.145623736] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051610.146214389] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051610.147574817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051610.148589687] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051610.245242855] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051610.245812140] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051610.246801113] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051610.248409382] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051610.249462176] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051610.335216697] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051610.337454503] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051610.337959928] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051610.338363277] [sailbot.teensy]: Wind angle: 169 -[teensy-2] [INFO] [1746051610.339343839] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051610.340524423] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051610.341409505] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051610.344379439] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051610.345034798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051610.345449853] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051610.346774644] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051610.347827506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051610.445141278] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051610.446521158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051610.446984241] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051610.448631859] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051610.449675178] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051610.457690680] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051610.458803496] [sailbot.main_algo]: Target Bearing: -84.65934363122335 -[main_algo-3] [INFO] [1746051610.459801124] [sailbot.main_algo]: Heading Difference: 140.99434363122333 -[main_algo-3] [INFO] [1746051610.461079573] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051610.461983062] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051610.462789821] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051610.464330904] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051610.464383542] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051610.502984683] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903785 Long: -76.50276574 -[vectornav-1] [INFO] [1746051610.504326046] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.26800000000003, -1.041, 5.538) -[main_algo-3] [INFO] [1746051610.504936518] [sailbot.main_algo]: Distance to destination: 52.26213020582653 -[main_algo-3] [INFO] [1746051610.506080281] [sailbot.main_algo]: Target Bearing: -84.66529761567418 -[main_algo-3] [INFO] [1746051610.507129369] [sailbot.main_algo]: Heading Difference: 141.00029761567419 -[main_algo-3] [INFO] [1746051610.508556623] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051610.509472268] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051610.510344560] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051610.512086440] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051610.544972448] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051610.545686587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051610.546276846] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051610.547548368] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051610.548603480] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051610.585109677] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051610.586569856] [sailbot.teensy]: Wind angle: 167 -[teensy-2] [INFO] [1746051610.587427867] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746051610.587072893] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051610.588272607] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051610.588700882] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051610.589112237] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051610.645012831] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051610.645677603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051610.646332989] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051610.647500216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051610.648539535] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051610.745276438] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051610.746069978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051610.746649031] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051610.747938627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051610.748966817] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051610.835477710] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051610.837754003] [sailbot.teensy]: Wind angle: 167 -[trim_sail-4] [INFO] [1746051610.838024113] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051610.838722480] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051610.839086126] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051610.839179970] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051610.839569100] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051610.844517464] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051610.845157817] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051610.845951392] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051610.847410294] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051610.848455135] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051610.945198805] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051610.946036255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051610.946716553] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051610.948285363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051610.948793085] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051610.957830641] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051610.958874320] [sailbot.main_algo]: Target Bearing: -84.66529761567418 -[main_algo-3] [INFO] [1746051610.959771798] [sailbot.main_algo]: Heading Difference: 142.93329761567418 -[main_algo-3] [INFO] [1746051610.961092875] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051610.961983059] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051610.962840651] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051610.964408121] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051610.964410462] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051611.002706236] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903807 Long: -76.50276569 -[main_algo-3] [INFO] [1746051611.003578281] [sailbot.main_algo]: Distance to destination: 52.28595905309983 -[vectornav-1] [INFO] [1746051611.003915363] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.610000000000014, 0.321, 5.849) -[main_algo-3] [INFO] [1746051611.004666427] [sailbot.main_algo]: Target Bearing: -84.672736005055 -[main_algo-3] [INFO] [1746051611.005655009] [sailbot.main_algo]: Heading Difference: 142.94073600505504 -[main_algo-3] [INFO] [1746051611.007199206] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051611.008141262] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051611.009014730] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051611.010932785] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051611.045042050] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051611.045805764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051611.046303595] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051611.047703673] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051611.048737404] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051611.085282665] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051611.087229676] [sailbot.teensy]: Wind angle: 167 -[trim_sail-4] [INFO] [1746051611.087767304] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051611.088218063] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051611.088974346] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051611.089112994] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051611.089982615] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051611.144895888] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051611.145389919] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051611.146143825] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051611.147121634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051611.148266255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051611.245304520] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051611.245888410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051611.246791444] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051611.247845225] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051611.249044965] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051611.335320797] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051611.337770130] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051611.338470607] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051611.339091219] [sailbot.teensy]: Wind angle: 167 -[teensy-2] [INFO] [1746051611.339544785] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051611.339897452] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051611.340640412] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051611.344323560] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051611.344883076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051611.345629258] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051611.346596881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051611.347740857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051611.444061591] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051611.444562799] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051611.444935733] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051611.446216668] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051611.447129253] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051611.456740979] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051611.457566408] [sailbot.main_algo]: Target Bearing: -84.672736005055 -[main_algo-3] [INFO] [1746051611.458406887] [sailbot.main_algo]: Heading Difference: 143.28273600505503 -[main_algo-3] [INFO] [1746051611.459361736] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051611.459899097] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051611.460495821] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051611.461953745] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051611.461965183] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051611.502659392] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903795 Long: -76.5027652 -[main_algo-3] [INFO] [1746051611.503588208] [sailbot.main_algo]: Distance to destination: 52.26827733082808 -[vectornav-1] [INFO] [1746051611.503709431] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (59.966999999999985, -0.033, 4.851) -[main_algo-3] [INFO] [1746051611.504685888] [sailbot.main_algo]: Target Bearing: -84.71501604387768 -[main_algo-3] [INFO] [1746051611.505565418] [sailbot.main_algo]: Heading Difference: 143.32501604387767 -[main_algo-3] [INFO] [1746051611.506885877] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051611.507701866] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051611.508511073] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051611.510094567] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051611.544861984] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051611.546150003] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051611.546263143] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051611.548171502] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051611.549201717] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051611.585205425] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051611.587622989] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051611.587994488] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051611.588695194] [sailbot.teensy]: Wind angle: 168 -[teensy-2] [INFO] [1746051611.589688665] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051611.590534696] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051611.591364057] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051611.644890710] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051611.645593426] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051611.646479971] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051611.647478640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051611.648654253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051611.745274040] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051611.745994884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051611.746798413] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051611.748238850] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051611.749401228] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051611.835471324] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051611.837949346] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051611.838289527] [sailbot.teensy]: Wind angle: 170 -[teensy-2] [INFO] [1746051611.839344303] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051611.839848230] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051611.840237902] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051611.840255872] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051611.844397602] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051611.844949215] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051611.845535479] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051611.846656207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051611.847782458] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051611.945141325] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051611.946082428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051611.946596200] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051611.948023092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051611.948521224] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051611.957542256] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051611.958558282] [sailbot.main_algo]: Target Bearing: -84.71501604387768 -[main_algo-3] [INFO] [1746051611.959453855] [sailbot.main_algo]: Heading Difference: 144.68201604387764 -[main_algo-3] [INFO] [1746051611.960772642] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051611.961576573] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051611.962373210] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051611.963898953] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051611.963897537] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051612.002894305] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903799 Long: -76.50276555 -[main_algo-3] [INFO] [1746051612.004045058] [sailbot.main_algo]: Distance to destination: 52.27585820794967 -[vectornav-1] [INFO] [1746051612.004100746] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (60.12700000000001, -0.459, 4.636) -[main_algo-3] [INFO] [1746051612.005352440] [sailbot.main_algo]: Target Bearing: -84.68419958555363 -[main_algo-3] [INFO] [1746051612.006498204] [sailbot.main_algo]: Heading Difference: 144.65119958555363 -[main_algo-3] [INFO] [1746051612.007876192] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051612.008791141] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051612.009655057] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051612.011318876] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051612.045499382] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051612.045648590] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051612.046916371] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051612.047502024] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051612.048589815] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051612.085511871] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051612.087504737] [sailbot.teensy]: Wind angle: 170 -[trim_sail-4] [INFO] [1746051612.088078100] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051612.088494965] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051612.089379381] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051612.088790346] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051612.090286764] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051612.144861968] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051612.145389664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051612.146130776] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051612.147133036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051612.148199930] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051612.244781295] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051612.245310793] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051612.246197224] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051612.247095503] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051612.248191697] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051612.335178925] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051612.337104420] [sailbot.teensy]: Wind angle: 169 -[trim_sail-4] [INFO] [1746051612.337632243] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051612.338339302] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051612.339063939] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051612.339116172] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051612.339488213] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051612.344338695] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051612.344906781] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051612.345622114] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051612.346677973] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051612.347912053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051612.445243229] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051612.446131884] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051612.446830790] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051612.448377701] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051612.449175524] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051612.457764609] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051612.458826213] [sailbot.main_algo]: Target Bearing: -84.68419958555363 -[main_algo-3] [INFO] [1746051612.459726856] [sailbot.main_algo]: Heading Difference: 144.81119958555365 -[main_algo-3] [INFO] [1746051612.461043261] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051612.461930315] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051612.462803422] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051612.464567436] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051612.464652365] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051612.502737593] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903788 Long: -76.50276565 -[main_algo-3] [INFO] [1746051612.503679579] [sailbot.main_algo]: Distance to destination: 52.26462371853213 -[vectornav-1] [INFO] [1746051612.503797106] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (60.58699999999999, 0.437, 5.745) -[main_algo-3] [INFO] [1746051612.504788123] [sailbot.main_algo]: Target Bearing: -84.67376412516982 -[main_algo-3] [INFO] [1746051612.505731546] [sailbot.main_algo]: Heading Difference: 144.80076412516985 -[main_algo-3] [INFO] [1746051612.507076737] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051612.507945548] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051612.508808475] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051612.510542049] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051612.545562833] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051612.545658377] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051612.546866198] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051612.547639223] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051612.548742754] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051612.585227848] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051612.586904204] [sailbot.teensy]: Wind angle: 169 -[teensy-2] [INFO] [1746051612.587756230] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746051612.587329876] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051612.588697451] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051612.589612293] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051612.589995635] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051612.645049783] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051612.646017372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051612.646571505] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051612.647863414] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051612.648442150] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051612.745082949] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051612.745751603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051612.746519672] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051612.747853816] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051612.749078020] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051612.835433090] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051612.837760823] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051612.838074911] [sailbot.teensy]: Wind angle: 173 -[mux-7] [INFO] [1746051612.838307664] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051612.839020528] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051612.839907379] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051612.841072886] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051612.844329234] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051612.844856181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051612.845544605] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051612.846612400] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051612.847629700] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051612.945018575] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051612.945794852] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051612.946494639] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051612.947738762] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051612.948796968] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051612.957445902] [sailbot.main_algo]: Wind Direction: 173 -[main_algo-3] [INFO] [1746051612.958469888] [sailbot.main_algo]: Target Bearing: -84.67376412516982 -[main_algo-3] [INFO] [1746051612.959359309] [sailbot.main_algo]: Heading Difference: 145.26076412516983 -[main_algo-3] [INFO] [1746051612.960608036] [sailbot.main_algo]: Wind Direction: 173 -[main_algo-3] [INFO] [1746051612.961458644] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051612.962253363] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051612.963883646] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051612.963972560] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051613.002671079] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903773 Long: -76.50276567 -[main_algo-3] [INFO] [1746051613.003669318] [sailbot.main_algo]: Distance to destination: 52.24824854747772 -[vectornav-1] [INFO] [1746051613.003827231] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (63.673, -1.852, 4.81) -[main_algo-3] [INFO] [1746051613.004772295] [sailbot.main_algo]: Target Bearing: -84.66995420744365 -[main_algo-3] [INFO] [1746051613.005748200] [sailbot.main_algo]: Heading Difference: 145.25695420744364 -[main_algo-3] [INFO] [1746051613.007146689] [sailbot.main_algo]: Wind Direction: 173 -[main_algo-3] [INFO] [1746051613.008059072] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051613.008965021] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051613.010580432] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051613.045195141] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051613.045984520] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051613.046751524] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051613.048137645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051613.049211881] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051613.085515471] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051613.087385005] [sailbot.teensy]: Wind angle: 175 -[trim_sail-4] [INFO] [1746051613.088266036] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051613.088360835] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051613.089270531] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051613.090160767] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051613.090681935] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051613.144807402] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051613.145483060] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051613.146038870] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051613.147346003] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051613.148558563] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051613.244961551] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051613.245737742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051613.246250604] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051613.247698915] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051613.248742826] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051613.335337652] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051613.337152375] [sailbot.teensy]: Wind angle: 175 -[teensy-2] [INFO] [1746051613.338408034] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746051613.337931368] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051613.339352863] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051613.339567860] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051613.340449111] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051613.344457558] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051613.345016398] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051613.345612343] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051613.346742784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051613.347769432] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051613.445281087] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051613.446019757] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051613.446769922] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051613.448015739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051613.448745560] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051613.457661071] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051613.458765329] [sailbot.main_algo]: Target Bearing: -84.66995420744365 -[main_algo-3] [INFO] [1746051613.459830556] [sailbot.main_algo]: Heading Difference: 148.34295420744365 -[main_algo-3] [INFO] [1746051613.461287528] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051613.462268668] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051613.463186254] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051613.464991035] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051613.465355229] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051613.501855527] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903786 Long: -76.5027658 -[vectornav-1] [INFO] [1746051613.502614207] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (64.55599999999998, 0.9, 5.25) -[main_algo-3] [INFO] [1746051613.502624168] [sailbot.main_algo]: Distance to destination: 52.2637797912357 -[main_algo-3] [INFO] [1746051613.503668050] [sailbot.main_algo]: Target Bearing: -84.66005712737761 -[main_algo-3] [INFO] [1746051613.504975026] [sailbot.main_algo]: Heading Difference: 148.33305712737763 -[main_algo-3] [INFO] [1746051613.506496104] [sailbot.main_algo]: Wind Direction: 175 -[main_algo-3] [INFO] [1746051613.507488310] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051613.508459246] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051613.510254141] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051613.544350897] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051613.544838910] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051613.545469984] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051613.546531675] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051613.547276216] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051613.585157084] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051613.586634889] [sailbot.teensy]: Wind angle: 174 -[trim_sail-4] [INFO] [1746051613.587122829] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051613.587496200] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051613.588381033] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051613.588819697] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051613.589613891] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051613.644941509] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051613.645617597] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051613.646175010] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051613.647418394] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051613.648802960] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051613.745240143] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051613.746330084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051613.746812091] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051613.748661791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051613.749769072] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051613.835379438] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051613.837755596] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051613.837899169] [sailbot.teensy]: Wind angle: 173 -[mux-7] [INFO] [1746051613.838558928] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051613.838847393] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051613.839758951] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051613.840745986] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051613.844579784] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051613.845095752] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051613.845742853] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051613.846779472] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051613.847938765] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051613.944997189] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051613.945597268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051613.946434991] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051613.947499116] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051613.947985163] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051613.957520418] [sailbot.main_algo]: Wind Direction: 173 -[main_algo-3] [INFO] [1746051613.958538065] [sailbot.main_algo]: Target Bearing: -84.66005712737761 -[main_algo-3] [INFO] [1746051613.959425848] [sailbot.main_algo]: Heading Difference: 149.2160571273776 -[main_algo-3] [INFO] [1746051613.960684330] [sailbot.main_algo]: Wind Direction: 173 -[main_algo-3] [INFO] [1746051613.961520384] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051613.962321215] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051613.964031469] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051613.964034583] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051614.002701762] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903788 Long: -76.50276603 -[main_algo-3] [INFO] [1746051614.003613396] [sailbot.main_algo]: Distance to destination: 52.268083757870265 -[vectornav-1] [INFO] [1746051614.003771205] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (65.08600000000001, -0.734, 6.183) -[main_algo-3] [INFO] [1746051614.004740654] [sailbot.main_algo]: Target Bearing: -84.63972384429118 -[main_algo-3] [INFO] [1746051614.005638132] [sailbot.main_algo]: Heading Difference: 149.19572384429114 -[main_algo-3] [INFO] [1746051614.006871380] [sailbot.main_algo]: Wind Direction: 173 -[main_algo-3] [INFO] [1746051614.007764817] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051614.008619689] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051614.010224528] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051614.045044343] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051614.045771618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051614.046473830] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051614.047679274] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051614.048851653] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051614.085304606] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051614.087605137] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051614.088003212] [sailbot.teensy]: Wind angle: 171 -[mux-7] [INFO] [1746051614.088663130] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051614.088986472] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051614.089869008] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051614.090741853] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051614.145323547] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051614.145984672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051614.146937661] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051614.148341543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051614.149505434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051614.245149851] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051614.245984759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051614.246674399] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051614.248084236] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051614.249238330] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051614.335402496] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051614.337674961] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051614.338940412] [sailbot.teensy]: Wind angle: 170 -[mux-7] [INFO] [1746051614.338966709] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051614.339363337] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051614.339747441] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051614.340114908] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051614.344546128] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051614.345033255] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051614.345672176] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051614.346779523] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051614.347954231] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051614.445247196] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051614.445962806] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051614.447266728] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051614.447896988] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051614.448985565] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051614.457594523] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051614.458674812] [sailbot.main_algo]: Target Bearing: -84.63972384429118 -[main_algo-3] [INFO] [1746051614.459588442] [sailbot.main_algo]: Heading Difference: 149.72572384429122 -[main_algo-3] [INFO] [1746051614.460913990] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051614.461721772] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051614.462512516] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051614.464182918] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051614.464200137] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051614.502698798] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903782 Long: -76.50276566 -[main_algo-3] [INFO] [1746051614.503647740] [sailbot.main_algo]: Distance to destination: 52.25809178885 -[vectornav-1] [INFO] [1746051614.503782906] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (66.70799999999997, -0.116, 5.259) -[main_algo-3] [INFO] [1746051614.504762301] [sailbot.main_algo]: Target Bearing: -84.67206125381361 -[main_algo-3] [INFO] [1746051614.505706059] [sailbot.main_algo]: Heading Difference: 149.7580612538136 -[main_algo-3] [INFO] [1746051614.507051404] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051614.507934847] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051614.508802624] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051614.510895571] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051614.545059729] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051614.545638603] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051614.546457359] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051614.547506669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051614.548769037] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051614.585231857] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051614.587313822] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051614.587764509] [sailbot.teensy]: Wind angle: 170 -[mux-7] [INFO] [1746051614.588705303] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051614.588861866] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051614.589826197] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051614.590706823] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051614.645156974] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051614.645643360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051614.646396250] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051614.647489202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051614.648550484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051614.745225776] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051614.745826547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051614.746731633] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051614.747822416] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051614.748936870] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051614.834998122] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051614.836672113] [sailbot.teensy]: Wind angle: 170 -[trim_sail-4] [INFO] [1746051614.837235799] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051614.837583684] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051614.838444357] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051614.838493145] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051614.839308831] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051614.844481621] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051614.845334639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051614.845715013] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051614.847450937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051614.848490613] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051614.945033984] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051614.945658727] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051614.946324434] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051614.947513805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051614.948044195] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051614.957463482] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051614.958378660] [sailbot.main_algo]: Target Bearing: -84.67206125381361 -[main_algo-3] [INFO] [1746051614.959334714] [sailbot.main_algo]: Heading Difference: 151.38006125381355 -[main_algo-3] [INFO] [1746051614.960570370] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051614.961390074] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051614.962172304] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051614.963689714] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051614.963765888] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051615.002760081] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903811 Long: -76.50276563 -[main_algo-3] [INFO] [1746051615.003551049] [sailbot.main_algo]: Distance to destination: 52.2898295442584 -[vectornav-1] [INFO] [1746051615.003867824] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (68.07100000000003, -0.512, 4.956) -[main_algo-3] [INFO] [1746051615.004747744] [sailbot.main_algo]: Target Bearing: -84.67864623689334 -[main_algo-3] [INFO] [1746051615.005791669] [sailbot.main_algo]: Heading Difference: 151.38664623689328 -[main_algo-3] [INFO] [1746051615.007218563] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051615.008106601] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051615.009028681] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051615.010895976] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051615.044977258] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051615.045639652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051615.046382042] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051615.047561419] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051615.048765724] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051615.085545885] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051615.087451216] [sailbot.teensy]: Wind angle: 170 -[trim_sail-4] [INFO] [1746051615.088351940] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051615.088413248] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051615.088796435] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051615.088905107] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051615.089195610] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051615.145023220] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051615.145656654] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051615.146302642] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051615.147505112] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051615.148705844] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051615.244960042] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051615.245726818] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051615.246293913] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051615.247838722] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051615.249022471] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051615.335475622] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051615.337582855] [sailbot.teensy]: Wind angle: 170 -[trim_sail-4] [INFO] [1746051615.338434641] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051615.338568943] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051615.339473088] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051615.340187758] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051615.340405720] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051615.344421028] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051615.345185899] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051615.345571644] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051615.346937255] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051615.347948422] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051615.445221422] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051615.446176368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051615.446673165] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051615.447916237] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051615.448390285] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051615.457731104] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051615.458728943] [sailbot.main_algo]: Target Bearing: -84.67864623689334 -[main_algo-3] [INFO] [1746051615.459592672] [sailbot.main_algo]: Heading Difference: 152.74964623689334 -[main_algo-3] [INFO] [1746051615.460902754] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051615.461803941] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051615.462599649] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051615.464118418] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051615.464135166] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051615.502767315] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903823 Long: -76.50276558 -[main_algo-3] [INFO] [1746051615.503738881] [sailbot.main_algo]: Distance to destination: 52.30262178528586 -[vectornav-1] [INFO] [1746051615.503835853] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (68.20799999999997, -0.567, 5.062) -[main_algo-3] [INFO] [1746051615.504827425] [sailbot.main_algo]: Target Bearing: -84.68473350706559 -[main_algo-3] [INFO] [1746051615.505756559] [sailbot.main_algo]: Heading Difference: 152.7557335070656 -[main_algo-3] [INFO] [1746051615.507096481] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051615.507982326] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051615.508775162] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051615.510334344] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051615.544424682] [sailbot.mux]: Published sail angle from algo: 0 -[mux-7] [INFO] [1746051615.545656368] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051615.544971356] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051615.547172176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051615.548451707] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051615.584571634] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051615.585838054] [sailbot.teensy]: Wind angle: 169 -[teensy-2] [INFO] [1746051615.586696788] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746051615.587567815] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051615.587589783] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051615.589431373] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051615.589896367] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051615.645000690] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051615.645629619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051615.646208279] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051615.647394288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051615.648585256] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051615.745064002] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051615.745688084] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051615.746508326] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051615.747784846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051615.748831624] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051615.835406253] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051615.837177489] [sailbot.teensy]: Wind angle: 169 -[trim_sail-4] [INFO] [1746051615.837889469] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051615.839336607] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051615.839337544] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051615.839734395] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051615.840101532] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051615.844218751] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051615.844753959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051615.845519835] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051615.846412589] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051615.847623108] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051615.945000343] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051615.945836201] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051615.946541986] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051615.947749881] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051615.949220328] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051615.957433706] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051615.958372556] [sailbot.main_algo]: Target Bearing: -84.68473350706559 -[main_algo-3] [INFO] [1746051615.959219748] [sailbot.main_algo]: Heading Difference: 152.89273350706554 -[main_algo-3] [INFO] [1746051615.960447018] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051615.961261907] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051615.962037242] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051615.963632496] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051615.964007271] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051616.002693574] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903831 Long: -76.50276566 -[main_algo-3] [INFO] [1746051616.003659324] [sailbot.main_algo]: Distance to destination: 52.31217785307694 -[vectornav-1] [INFO] [1746051616.003817104] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (67.55799999999999, 0.052, 5.824) -[main_algo-3] [INFO] [1746051616.004936133] [sailbot.main_algo]: Target Bearing: -84.67864593293746 -[main_algo-3] [INFO] [1746051616.005875282] [sailbot.main_algo]: Heading Difference: 152.88664593293743 -[main_algo-3] [INFO] [1746051616.007230399] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051616.008145582] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051616.009049613] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051616.010650571] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051616.045344363] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051616.046012170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051616.046774698] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051616.047856592] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051616.049043424] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051616.085383658] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051616.087511203] [sailbot.teensy]: Wind angle: 168 -[teensy-2] [INFO] [1746051616.088499367] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746051616.087738254] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051616.088960729] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051616.089434803] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051616.090495390] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051616.144748959] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051616.145489382] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051616.145977955] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051616.147551809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051616.148603089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051616.244682504] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051616.245258506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051616.245848776] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051616.247008718] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051616.248004023] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051616.335007709] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051616.336651005] [sailbot.teensy]: Wind angle: 168 -[trim_sail-4] [INFO] [1746051616.337421214] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051616.337598570] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051616.338506693] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051616.338936382] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051616.339404828] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051616.344320029] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051616.344972657] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051616.345420922] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051616.346832569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051616.347981450] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051616.445306239] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051616.446381565] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051616.446810022] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051616.448762069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051616.449786071] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051616.457698362] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051616.458701346] [sailbot.main_algo]: Target Bearing: -84.67864593293746 -[main_algo-3] [INFO] [1746051616.459604422] [sailbot.main_algo]: Heading Difference: 152.23664593293745 -[main_algo-3] [INFO] [1746051616.460917972] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051616.461790244] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051616.462663318] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051616.464325410] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051616.464495392] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051616.502848965] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903839 Long: -76.50276552 -[main_algo-3] [INFO] [1746051616.503932495] [sailbot.main_algo]: Distance to destination: 52.319739383968674 -[main_algo-3] [INFO] [1746051616.505090777] [sailbot.main_algo]: Target Bearing: -84.6922486056571 -[vectornav-1] [INFO] [1746051616.505632595] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (69.13299999999998, 0.201, 4.944) -[main_algo-3] [INFO] [1746051616.506909596] [sailbot.main_algo]: Heading Difference: 152.25024860565708 -[main_algo-3] [INFO] [1746051616.508317309] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051616.509210660] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051616.510057773] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051616.511790896] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051616.545148928] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051616.545983984] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051616.546495596] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051616.548002917] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051616.549144706] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051616.585499677] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051616.588279431] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051616.588448661] [sailbot.teensy]: Wind angle: 168 -[mux-7] [INFO] [1746051616.589557622] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051616.589692700] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051616.590601007] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051616.591455505] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051616.645005730] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051616.645996805] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051616.646373830] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051616.648048791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051616.649102922] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051616.744683103] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051616.745406810] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051616.745808927] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051616.747217185] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051616.748220328] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051616.835184033] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051616.836957818] [sailbot.teensy]: Wind angle: 167 -[teensy-2] [INFO] [1746051616.837906945] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746051616.837499927] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051616.838605068] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051616.838771254] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051616.839652024] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051616.844543803] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051616.845096859] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051616.845771497] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051616.846810760] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051616.847939086] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051616.945112948] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051616.945933407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051616.946426662] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051616.947588870] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051616.948129750] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051616.957755738] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051616.958766125] [sailbot.main_algo]: Target Bearing: -84.6922486056571 -[main_algo-3] [INFO] [1746051616.959671923] [sailbot.main_algo]: Heading Difference: 153.82524860565707 -[main_algo-3] [INFO] [1746051616.960900104] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051616.961707781] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051616.962481663] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051616.964065053] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051616.964065030] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051617.002694629] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903838 Long: -76.50276569 -[main_algo-3] [INFO] [1746051617.003553778] [sailbot.main_algo]: Distance to destination: 52.32017673107503 -[vectornav-1] [INFO] [1746051617.003787548] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (70.60500000000002, -0.942, 4.974) -[main_algo-3] [INFO] [1746051617.004709892] [sailbot.main_algo]: Target Bearing: -84.67690074415589 -[main_algo-3] [INFO] [1746051617.005643397] [sailbot.main_algo]: Heading Difference: 153.80990074415587 -[main_algo-3] [INFO] [1746051617.006995975] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051617.007885147] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051617.008709132] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051617.010267408] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051617.045146223] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051617.045885558] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051617.046477047] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051617.047752959] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051617.048971197] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051617.085445263] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051617.087772543] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051617.088747553] [sailbot.teensy]: Wind angle: 167 -[mux-7] [INFO] [1746051617.088825020] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051617.089735888] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051617.090598502] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051617.091434625] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051617.144945658] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051617.145412827] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051617.146259744] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051617.147266723] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051617.148356193] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051617.245215250] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051617.245646316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051617.246554681] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051617.247522711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051617.248707616] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051617.334973611] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051617.336472802] [sailbot.teensy]: Wind angle: 167 -[trim_sail-4] [INFO] [1746051617.337105554] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051617.338227498] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051617.338392591] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051617.339288822] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051617.340222868] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051617.344657572] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051617.345157375] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051617.345868432] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051617.346878805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051617.348029075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051617.444658648] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051617.445271914] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051617.446026310] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051617.447053420] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051617.448256666] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051617.457557564] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051617.458552740] [sailbot.main_algo]: Target Bearing: -84.67690074415589 -[main_algo-3] [INFO] [1746051617.459427894] [sailbot.main_algo]: Heading Difference: 155.2819007441559 -[main_algo-3] [INFO] [1746051617.460689318] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051617.461515801] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051617.462315774] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051617.463880493] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051617.463919098] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051617.502693880] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690384 Long: -76.50276588 -[main_algo-3] [INFO] [1746051617.503719800] [sailbot.main_algo]: Distance to destination: 52.32411112053352 -[vectornav-1] [INFO] [1746051617.503783158] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (70.43099999999998, -0.259, 5.908) -[main_algo-3] [INFO] [1746051617.504888277] [sailbot.main_algo]: Target Bearing: -84.66016722282667 -[main_algo-3] [INFO] [1746051617.505857162] [sailbot.main_algo]: Heading Difference: 155.26516722282668 -[main_algo-3] [INFO] [1746051617.507412612] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051617.508350679] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051617.509235072] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051617.510939152] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051617.544985021] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051617.545731092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051617.546336173] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051617.547859661] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051617.548918672] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051617.585436891] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051617.587721088] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051617.587885829] [sailbot.teensy]: Wind angle: 167 -[mux-7] [INFO] [1746051617.588685703] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051617.588827801] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051617.589683312] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051617.590558233] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051617.644015460] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051617.644574907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051617.644951134] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051617.646139806] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051617.647093506] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051617.744684100] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051617.745363195] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051617.745808749] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051617.747077724] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051617.748176760] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051617.835535971] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051617.837484319] [sailbot.teensy]: Wind angle: 167 -[teensy-2] [INFO] [1746051617.838398810] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746051617.838123749] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051617.838790273] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051617.839162048] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051617.839313683] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051617.844453924] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051617.845176151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051617.845627589] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051617.846939145] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051617.847961434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051617.945444789] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051617.946381488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051617.947004117] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051617.948521069] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051617.949045916] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051617.957794539] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051617.958855562] [sailbot.main_algo]: Target Bearing: -84.66016722282667 -[main_algo-3] [INFO] [1746051617.959798550] [sailbot.main_algo]: Heading Difference: 155.09116722282664 -[main_algo-3] [INFO] [1746051617.961164160] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051617.962008356] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051617.962841250] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051617.964571765] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051617.964650530] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051618.002726281] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903858 Long: -76.5027661 -[main_algo-3] [INFO] [1746051618.003710677] [sailbot.main_algo]: Distance to destination: 52.34598336739788 -[vectornav-1] [INFO] [1746051618.003923091] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (70.928, -0.088, 5.22) -[main_algo-3] [INFO] [1746051618.004885478] [sailbot.main_algo]: Target Bearing: -84.64291135394743 -[main_algo-3] [INFO] [1746051618.005890354] [sailbot.main_algo]: Heading Difference: 155.07391135394744 -[main_algo-3] [INFO] [1746051618.007474334] [sailbot.main_algo]: Wind Direction: 167 -[main_algo-3] [INFO] [1746051618.008429064] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051618.009291057] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051618.011066324] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051618.044936311] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051618.045639148] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051618.046281283] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051618.047546397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051618.048712966] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051618.085231806] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051618.087060253] [sailbot.teensy]: Wind angle: 168 -[trim_sail-4] [INFO] [1746051618.088104771] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051618.089133652] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051618.090050383] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051618.090155050] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051618.090959786] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051618.145298439] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051618.145794980] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051618.146862801] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051618.147863736] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051618.149067913] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051618.245309202] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051618.245850413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051618.246852736] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051618.248394738] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051618.249343818] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051618.335133283] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051618.336639021] [sailbot.teensy]: Wind angle: 169 -[trim_sail-4] [INFO] [1746051618.337334734] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051618.338349958] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051618.338833408] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051618.339270503] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051618.340181518] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051618.344499286] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051618.345015951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051618.345914451] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051618.346751036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051618.347762443] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051618.445185713] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051618.445703245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051618.446574395] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051618.447579545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051618.448752761] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051618.457663377] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051618.458675513] [sailbot.main_algo]: Target Bearing: -84.64291135394743 -[main_algo-3] [INFO] [1746051618.459587894] [sailbot.main_algo]: Heading Difference: 155.5709113539474 -[main_algo-3] [INFO] [1746051618.460920492] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051618.461849825] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051618.462657458] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051618.464283745] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051618.464357820] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051618.502882064] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903878 Long: -76.50276618 -[main_algo-3] [INFO] [1746051618.504029643] [sailbot.main_algo]: Distance to destination: 52.36878808498384 -[vectornav-1] [INFO] [1746051618.504327745] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (71.92399999999998, -0.074, 5.458) -[main_algo-3] [INFO] [1746051618.505195928] [sailbot.main_algo]: Target Bearing: -84.6384561951649 -[main_algo-3] [INFO] [1746051618.506131395] [sailbot.main_algo]: Heading Difference: 155.5664561951649 -[main_algo-3] [INFO] [1746051618.507479005] [sailbot.main_algo]: Wind Direction: 169 -[main_algo-3] [INFO] [1746051618.508363651] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051618.509231847] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051618.510938392] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051618.545164007] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051618.545718593] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051618.546538175] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051618.547624817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051618.548739757] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051618.585256176] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051618.586922991] [sailbot.teensy]: Wind angle: 169 -[trim_sail-4] [INFO] [1746051618.587523107] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051618.587811614] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051618.588694797] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051618.589571442] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051618.590179789] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051618.644454598] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051618.645194575] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051618.645621745] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051618.646991879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051618.647995725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051618.745110073] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051618.745824011] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051618.746519863] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051618.747727166] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051618.748788393] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051618.835442720] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051618.837805502] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051618.837805727] [sailbot.teensy]: Wind angle: 170 -[teensy-2] [INFO] [1746051618.839007205] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051618.839409785] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051618.840009355] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051618.840785752] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051618.844419002] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051618.845213160] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051618.845555451] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051618.846935851] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051618.847960675] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051618.945180844] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051618.945891254] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051618.946634964] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051618.947979211] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051618.949229105] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051618.957416567] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051618.958359845] [sailbot.main_algo]: Target Bearing: -84.6384561951649 -[main_algo-3] [INFO] [1746051618.959184187] [sailbot.main_algo]: Heading Difference: 156.56245619516488 -[main_algo-3] [INFO] [1746051618.960386106] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051618.961208005] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051618.962000425] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051618.963554448] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051618.963749333] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051619.003002555] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903877 Long: -76.50276626 -[main_algo-3] [INFO] [1746051619.003949326] [sailbot.main_algo]: Distance to destination: 52.36841530506587 -[vectornav-1] [INFO] [1746051619.004288906] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (73.30200000000002, -0.559, 4.666) -[main_algo-3] [INFO] [1746051619.005628926] [sailbot.main_algo]: Target Bearing: -84.6311690981081 -[main_algo-3] [INFO] [1746051619.006627321] [sailbot.main_algo]: Heading Difference: 156.55516909810808 -[main_algo-3] [INFO] [1746051619.008070665] [sailbot.main_algo]: Wind Direction: 170 -[main_algo-3] [INFO] [1746051619.009017081] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051619.009886131] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051619.011653702] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051619.045818263] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051619.045992708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051619.047444169] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051619.048564977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051619.049728059] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051619.085419178] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051619.087687406] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051619.087873613] [sailbot.teensy]: Wind angle: 169 -[teensy-2] [INFO] [1746051619.089046213] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051619.089362617] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051619.089970086] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051619.090835399] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051619.145017358] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051619.145576039] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051619.146329216] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051619.147399525] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051619.148516437] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051619.244929437] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051619.245620576] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051619.246172824] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051619.247552403] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051619.248755443] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051619.335335712] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051619.337122940] [sailbot.teensy]: Wind angle: 168 -[trim_sail-4] [INFO] [1746051619.337633632] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051619.338061365] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051619.338964552] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051619.339648993] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051619.339843262] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051619.344540602] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051619.344956561] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051619.346264630] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051619.346674164] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051619.347701941] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051619.445328501] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051619.446011297] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051619.446888172] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051619.448189906] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051619.449368597] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051619.457737126] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051619.458738547] [sailbot.main_algo]: Target Bearing: -84.6311690981081 -[main_algo-3] [INFO] [1746051619.459636759] [sailbot.main_algo]: Heading Difference: 157.93316909810812 -[main_algo-3] [INFO] [1746051619.460970943] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051619.461849244] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051619.462677414] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051619.464241047] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051619.464437909] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051619.502934175] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903895 Long: -76.50276671 -[main_algo-3] [INFO] [1746051619.503880896] [sailbot.main_algo]: Distance to destination: 52.3924071669247 -[vectornav-1] [INFO] [1746051619.504138355] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (70.50999999999999, -0.053, 5.43) -[main_algo-3] [INFO] [1746051619.505147628] [sailbot.main_algo]: Target Bearing: -84.5933878908643 -[main_algo-3] [INFO] [1746051619.506112960] [sailbot.main_algo]: Heading Difference: 157.8953878908643 -[main_algo-3] [INFO] [1746051619.507545155] [sailbot.main_algo]: Wind Direction: 168 -[main_algo-3] [INFO] [1746051619.508516434] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051619.509370755] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051619.511182586] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051619.544729571] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051619.545256546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051619.546316453] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051619.546935635] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051619.548061929] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051619.585138953] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051619.586654869] [sailbot.teensy]: Wind angle: 161 -[trim_sail-4] [INFO] [1746051619.587138207] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051619.587522666] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051619.588432888] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051619.589006256] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051619.589307759] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051619.644892940] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051619.645468942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051619.646136036] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051619.647260432] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051619.648432158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051619.743915458] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051619.744309093] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051619.744522849] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051619.745252071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051619.745839483] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051619.835364121] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051619.837501160] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051619.837895070] [sailbot.teensy]: Wind angle: 156 -[mux-7] [INFO] [1746051619.838372940] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051619.838856658] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051619.839786086] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051619.840525619] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051619.844499242] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051619.845196714] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051619.845761404] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051619.846968520] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051619.848128975] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051619.944914649] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051619.945570560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051619.946238594] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051619.947383547] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051619.948558619] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051619.957399956] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051619.958386169] [sailbot.main_algo]: Target Bearing: -84.5933878908643 -[main_algo-3] [INFO] [1746051619.959239573] [sailbot.main_algo]: Heading Difference: 155.10338789086427 -[main_algo-3] [INFO] [1746051619.960500019] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051619.961353715] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051619.962146935] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051619.963623890] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051619.963714321] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051620.002780687] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903971 Long: -76.50276715 -[main_algo-3] [INFO] [1746051620.003762022] [sailbot.main_algo]: Distance to destination: 52.48033514988386 -[vectornav-1] [INFO] [1746051620.003894917] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (63.32900000000001, 0.179, 3.612) -[main_algo-3] [INFO] [1746051620.004887210] [sailbot.main_algo]: Target Bearing: -84.56444439777623 -[main_algo-3] [INFO] [1746051620.005873140] [sailbot.main_algo]: Heading Difference: 155.07444439777623 -[main_algo-3] [INFO] [1746051620.007257478] [sailbot.main_algo]: Wind Direction: 156 -[main_algo-3] [INFO] [1746051620.008801157] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051620.009669623] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051620.011255755] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051620.045274186] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051620.046138774] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051620.046953506] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051620.048560202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051620.049786819] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051620.085607248] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051620.087819165] [sailbot.teensy]: Wind angle: 158 -[teensy-2] [INFO] [1746051620.088916515] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746051620.088109902] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051620.089371776] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051620.089779754] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051620.090692588] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051620.145329744] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051620.145956777] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051620.146901422] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051620.148015357] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051620.149088043] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051620.245085040] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051620.245677521] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051620.246745454] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051620.247856056] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051620.249313768] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051620.335325602] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051620.337552862] [sailbot.teensy]: Wind angle: 159 -[trim_sail-4] [INFO] [1746051620.337980595] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051620.338481242] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051620.339420588] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051620.339808943] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051620.339856559] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051620.344431269] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051620.345253988] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051620.345627210] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051620.346983956] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051620.348006209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051620.445387651] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051620.445867387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051620.447339403] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051620.447901485] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051620.449040317] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051620.457588624] [sailbot.main_algo]: Wind Direction: 159 -[main_algo-3] [INFO] [1746051620.458612977] [sailbot.main_algo]: Target Bearing: -84.56444439777623 -[main_algo-3] [INFO] [1746051620.459520011] [sailbot.main_algo]: Heading Difference: 147.89344439777625 -[main_algo-3] [INFO] [1746051620.460873748] [sailbot.main_algo]: Wind Direction: 159 -[main_algo-3] [INFO] [1746051620.461732116] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051620.462508312] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051620.464112034] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051620.464123928] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051620.503061371] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904016 Long: -76.50276728 -[main_algo-3] [INFO] [1746051620.504257620] [sailbot.main_algo]: Distance to destination: 52.53119630016862 -[vectornav-1] [INFO] [1746051620.504474361] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (58.94200000000001, -0.521, 4.729) -[main_algo-3] [INFO] [1746051620.506130925] [sailbot.main_algo]: Target Bearing: -84.55898353370614 -[main_algo-3] [INFO] [1746051620.507256031] [sailbot.main_algo]: Heading Difference: 147.88798353370612 -[main_algo-3] [INFO] [1746051620.508665863] [sailbot.main_algo]: Wind Direction: 159 -[main_algo-3] [INFO] [1746051620.509556979] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051620.510404594] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051620.512282007] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051620.545016381] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051620.545552357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051620.546343017] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051620.547354291] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051620.548551349] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051620.585163334] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051620.586826910] [sailbot.teensy]: Wind angle: 161 -[trim_sail-4] [INFO] [1746051620.587442589] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051620.587722160] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051620.588637525] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051620.589377077] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051620.589485522] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051620.644929360] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051620.645389791] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051620.646180243] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051620.647064817] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051620.648132553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051620.745383961] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051620.745968883] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051620.747458944] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051620.748227091] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051620.748847962] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051620.835243705] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051620.836995827] [sailbot.teensy]: Wind angle: 162 -[trim_sail-4] [INFO] [1746051620.837451498] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051620.837875039] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051620.838737123] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051620.839357754] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051620.839637482] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051620.844374559] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051620.845235628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051620.845743243] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051620.847000017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051620.848045266] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051620.945308243] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051620.945976949] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051620.946780895] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051620.948026311] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051620.948753383] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051620.957574386] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051620.958598197] [sailbot.main_algo]: Target Bearing: -84.55898353370614 -[main_algo-3] [INFO] [1746051620.959434274] [sailbot.main_algo]: Heading Difference: 143.50098353370618 -[main_algo-3] [INFO] [1746051620.960662388] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051620.961481207] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051620.962284405] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051620.963819430] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051620.963952298] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051621.002814925] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904061 Long: -76.50276755 -[main_algo-3] [INFO] [1746051621.003707109] [sailbot.main_algo]: Distance to destination: 52.58335452599104 -[vectornav-1] [INFO] [1746051621.003896916] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (54.641999999999996, -0.451, 4.636) -[main_algo-3] [INFO] [1746051621.004949681] [sailbot.main_algo]: Target Bearing: -84.54107020548777 -[main_algo-3] [INFO] [1746051621.005900882] [sailbot.main_algo]: Heading Difference: 143.48307020548776 -[main_algo-3] [INFO] [1746051621.007209835] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051621.008138957] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051621.009012807] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051621.010671437] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051621.045133652] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051621.045914248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051621.046485545] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051621.047930201] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051621.048979766] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051621.085586365] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051621.088500524] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051621.088848768] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051621.088845239] [sailbot.teensy]: Wind angle: 161 -[teensy-2] [INFO] [1746051621.090014147] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051621.090960049] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051621.091782045] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051621.144982410] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051621.145883489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051621.146613070] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051621.148091603] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051621.149090684] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051621.244911581] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051621.245589569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051621.246154135] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051621.247577847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051621.248820503] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051621.335446080] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051621.336989289] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051621.337541658] [sailbot.teensy]: Wind angle: 162 -[mux-7] [INFO] [1746051621.337942315] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051621.337968006] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051621.338395497] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051621.338777858] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051621.344381085] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051621.344988119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051621.345496458] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051621.346683305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051621.347827202] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051621.444979811] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051621.445600052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051621.446214961] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051621.447484561] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051621.448487934] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051621.457713393] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051621.458785688] [sailbot.main_algo]: Target Bearing: -84.54107020548777 -[main_algo-3] [INFO] [1746051621.459752403] [sailbot.main_algo]: Heading Difference: 139.18307020548775 -[main_algo-3] [INFO] [1746051621.461149038] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051621.462058309] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051621.462919713] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051621.464609744] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051621.464751593] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051621.503127425] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904135 Long: -76.50276801 -[main_algo-3] [INFO] [1746051621.504475083] [sailbot.main_algo]: Distance to destination: 52.669285989236684 -[vectornav-1] [INFO] [1746051621.504508765] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (46.90499999999997, 0.326, 4.33) -[main_algo-3] [INFO] [1746051621.505924722] [sailbot.main_algo]: Target Bearing: -84.51026798016542 -[main_algo-3] [INFO] [1746051621.506964848] [sailbot.main_algo]: Heading Difference: 139.15226798016545 -[main_algo-3] [INFO] [1746051621.508571529] [sailbot.main_algo]: Wind Direction: 162 -[main_algo-3] [INFO] [1746051621.509524446] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051621.510457653] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051621.512190092] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051621.545021584] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051621.545765586] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051621.546235233] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051621.547587484] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051621.548734760] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051621.585260920] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051621.586904050] [sailbot.teensy]: Wind angle: 161 -[trim_sail-4] [INFO] [1746051621.587522441] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051621.587801757] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051621.588683387] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051621.589002167] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051621.589575412] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051621.644857079] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051621.645610532] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051621.646131077] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051621.647416476] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051621.648617661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051621.745238978] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051621.746281158] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051621.746721930] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051621.748332939] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051621.748774134] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051621.834671162] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051621.835814969] [sailbot.teensy]: Wind angle: 161 -[teensy-2] [INFO] [1746051621.836666683] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051621.837464683] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051621.837613876] [sailbot.mux]: algo sail angle: 0 -[trim_sail-4] [INFO] [1746051621.837643010] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051621.838295577] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051621.844067011] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051621.844710229] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051621.845557680] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051621.846283134] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051621.847162925] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051621.944911635] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051621.945616170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051621.946200514] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051621.947397475] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051621.948399523] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051621.957500267] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051621.958467064] [sailbot.main_algo]: Target Bearing: -84.51026798016542 -[main_algo-3] [INFO] [1746051621.959288782] [sailbot.main_algo]: Heading Difference: 131.41526798016537 -[main_algo-3] [INFO] [1746051621.960520416] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051621.961337459] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051621.962133607] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051621.963664387] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051621.963700418] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051622.002722198] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904145 Long: -76.50276806 -[main_algo-3] [INFO] [1746051622.003803329] [sailbot.main_algo]: Distance to destination: 52.680786171716434 -[vectornav-1] [INFO] [1746051622.003841103] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (44.29899999999998, -0.915, 5.908) -[main_algo-3] [INFO] [1746051622.004916130] [sailbot.main_algo]: Target Bearing: -84.50719381636475 -[main_algo-3] [INFO] [1746051622.005904163] [sailbot.main_algo]: Heading Difference: 131.41219381636472 -[main_algo-3] [INFO] [1746051622.007324123] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051622.008243074] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051622.009051694] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051622.010650577] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051622.044869017] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051622.045520983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051622.046133389] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051622.047443362] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051622.048556747] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051622.085533687] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051622.087467624] [sailbot.teensy]: Wind angle: 161 -[teensy-2] [INFO] [1746051622.088527361] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746051622.088745287] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051622.090057014] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051622.090502157] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051622.091468598] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051622.144588086] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051622.145381309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051622.145685690] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051622.147004727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051622.147959969] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051622.244972604] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051622.245690639] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051622.246605363] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051622.247502074] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051622.248577825] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051622.335267128] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051622.336962273] [sailbot.teensy]: Wind angle: 161 -[trim_sail-4] [INFO] [1746051622.337418300] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051622.337910485] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051622.338847918] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051622.339600015] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051622.339684692] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051622.344244371] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051622.344909322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051622.345403624] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051622.346673784] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051622.347739053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051622.445071644] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051622.445744783] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051622.447066402] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051622.447683999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051622.448906498] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051622.457740947] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051622.458800598] [sailbot.main_algo]: Target Bearing: -84.50719381636475 -[main_algo-3] [INFO] [1746051622.459783435] [sailbot.main_algo]: Heading Difference: 128.80619381636473 -[main_algo-3] [INFO] [1746051622.461175685] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051622.462065729] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051622.462894728] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051622.464426211] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051622.464550645] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051622.502900034] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904205 Long: -76.50276822 -[main_algo-3] [INFO] [1746051622.504113107] [sailbot.main_algo]: Distance to destination: 52.74848339456979 -[vectornav-1] [INFO] [1746051622.504252953] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (37.786, 0.042, 4.713) -[main_algo-3] [INFO] [1746051622.505430561] [sailbot.main_algo]: Target Bearing: -84.50119939459215 -[main_algo-3] [INFO] [1746051622.506576014] [sailbot.main_algo]: Heading Difference: 128.80019939459214 -[main_algo-3] [INFO] [1746051622.507939475] [sailbot.main_algo]: Wind Direction: 161 -[main_algo-3] [INFO] [1746051622.508852681] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051622.509727655] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051622.511434709] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051622.544997514] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051622.545641951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051622.546245849] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051622.547437482] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051622.548496565] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051622.585387748] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051622.587210272] [sailbot.teensy]: Wind angle: 159 -[teensy-2] [INFO] [1746051622.588181643] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746051622.587708929] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051622.589096788] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051622.590033667] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051622.590369439] [sailbot.mux]: algo sail angle: 0 -[mux-7] [INFO] [1746051622.645049816] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051622.645631574] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051622.646641542] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051622.647542287] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051622.648614567] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051622.745028383] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051622.745522265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051622.746362249] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051622.747328793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051622.748515174] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051622.835424985] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051622.837403833] [sailbot.teensy]: Wind angle: 157 -[trim_sail-4] [INFO] [1746051622.837846614] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051622.839583778] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051622.839843046] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051622.840757971] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051622.841627322] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051622.844460188] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051622.844985343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051622.845598929] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051622.846818964] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051622.847865722] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051622.945023082] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051622.945540982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051622.946380114] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051622.947295052] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051622.948492583] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051622.957429639] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051622.958403802] [sailbot.main_algo]: Target Bearing: -84.50119939459215 -[main_algo-3] [INFO] [1746051622.959248630] [sailbot.main_algo]: Heading Difference: 122.28719939459216 -[main_algo-3] [INFO] [1746051622.960512903] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051622.961351838] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051622.962177632] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051622.963719488] [sailbot.mux]: algo rudder angle: 25 -[main_algo-3] [INFO] [1746051622.963742835] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051623.002779307] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690424 Long: -76.50276846 -[main_algo-3] [INFO] [1746051623.003884724] [sailbot.main_algo]: Distance to destination: 52.78934378321876 -[vectornav-1] [INFO] [1746051623.003982096] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.951000000000022, -0.332, 5.366) -[main_algo-3] [INFO] [1746051623.005544396] [sailbot.main_algo]: Target Bearing: -84.48470563341051 -[main_algo-3] [INFO] [1746051623.006549104] [sailbot.main_algo]: Heading Difference: 122.2707056334105 -[main_algo-3] [INFO] [1746051623.007946604] [sailbot.main_algo]: Wind Direction: 157 -[main_algo-3] [INFO] [1746051623.008873374] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051623.009730798] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051623.011333403] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051623.045567788] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051623.045978591] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051623.046998545] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051623.047864989] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051623.049005746] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051623.085849608] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051623.088460662] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051623.089072704] [sailbot.teensy]: Wind angle: 158 -[mux-7] [INFO] [1746051623.089309362] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051623.090023282] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051623.090916716] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051623.091731379] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051623.144974394] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051623.145570761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051623.146215094] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051623.147484189] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051623.148570341] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051623.245274370] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051623.246154285] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051623.246851394] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051623.248433794] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051623.248937485] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051623.335404633] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051623.337645785] [sailbot.teensy]: Wind angle: 158 -[trim_sail-4] [INFO] [1746051623.338273931] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051623.338611463] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051623.339113037] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051623.339123099] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051623.339493072] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051623.344438866] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051623.345009400] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051623.345492031] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051623.346696010] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051623.347859172] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051623.445247048] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051623.445984664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051623.446892680] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051623.447930791] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051623.448515312] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051623.457837151] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051623.458993367] [sailbot.main_algo]: Target Bearing: -84.48470563341051 -[main_algo-3] [INFO] [1746051623.459998776] [sailbot.main_algo]: Heading Difference: 116.43570563341052 -[main_algo-3] [INFO] [1746051623.461390455] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051623.462291434] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051623.463154282] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051623.464755333] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051623.464760087] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051623.502944935] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690425 Long: -76.50276849 -[main_algo-3] [INFO] [1746051623.504016624] [sailbot.main_algo]: Distance to destination: 52.80065814674601 -[vectornav-1] [INFO] [1746051623.504286255] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (28.59699999999998, 0.342, 5.891) -[main_algo-3] [INFO] [1746051623.505207756] [sailbot.main_algo]: Target Bearing: -84.48341688043968 -[main_algo-3] [INFO] [1746051623.506169328] [sailbot.main_algo]: Heading Difference: 116.4344168804397 -[main_algo-3] [INFO] [1746051623.507615260] [sailbot.main_algo]: Wind Direction: 158 -[main_algo-3] [INFO] [1746051623.508493170] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051623.509328354] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051623.511113788] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051623.545035662] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051623.545732303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051623.546282138] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051623.547658703] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051623.548756069] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051623.585359181] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051623.587215928] [sailbot.teensy]: Wind angle: 158 -[teensy-2] [INFO] [1746051623.588180566] [sailbot.teensy]: Actual sail angle: 0 -[trim_sail-4] [INFO] [1746051623.588200792] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051623.589235820] [sailbot.teensy]: Actual tail angle: 50 -[mux-7] [INFO] [1746051623.589342904] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051623.590292296] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051623.644967890] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051623.645725523] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051623.646477765] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051623.647756615] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051623.648981581] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051623.744880282] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051623.745868886] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051623.746191214] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051623.747982787] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051623.749140660] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051623.835379762] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051623.837261728] [sailbot.teensy]: Wind angle: 159 -[trim_sail-4] [INFO] [1746051623.837677741] [sailbot.trim_sail]: Sail Angle: "0" -[teensy-2] [INFO] [1746051623.839880247] [sailbot.teensy]: Actual sail angle: 0 -[mux-7] [INFO] [1746051623.840083416] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051623.840995267] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051623.842062798] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051623.844796651] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051623.846030072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051623.846201213] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051623.848411938] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051623.849585139] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051623.945030078] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051623.945767633] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051623.946271826] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051623.947605780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051623.948742667] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051623.957552803] [sailbot.main_algo]: Wind Direction: 159 -[main_algo-3] [INFO] [1746051623.959070875] [sailbot.main_algo]: End Tack -[main_algo-3] [INFO] [1746051623.959965919] [sailbot.main_algo]: Target Bearing: -84.48341688043968 -[main_algo-3] [INFO] [1746051623.960857727] [sailbot.main_algo]: Heading Difference: 113.08041688043966 -[main_algo-3] [INFO] [1746051623.962080210] [sailbot.main_algo]: Wind Direction: 159 -[main_algo-3] [INFO] [1746051623.962901749] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051623.963697896] [sailbot.main_algo]: Rudder Angle: 25 -[main_algo-3] [INFO] [1746051623.965298793] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051623.965345271] [sailbot.mux]: algo rudder angle: 25 -[vectornav-1] [INFO] [1746051624.002749770] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904257 Long: -76.50276879 -[main_algo-3] [INFO] [1746051624.003711141] [sailbot.main_algo]: Distance to destination: 52.811192851405046 -[vectornav-1] [INFO] [1746051624.003902827] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (27.081999999999994, -1.039, 6.039) -[main_algo-3] [INFO] [1746051624.004852869] [sailbot.main_algo]: Target Bearing: -84.45778868732592 -[main_algo-3] [INFO] [1746051624.005850952] [sailbot.main_algo]: Heading Difference: 113.05478868732587 -[main_algo-3] [INFO] [1746051624.007229188] [sailbot.main_algo]: Wind Direction: 159 -[main_algo-3] [INFO] [1746051624.008125537] [sailbot.main_algo]: Rudder Angle Raw: 25.0 -[main_algo-3] [INFO] [1746051624.009008414] [sailbot.main_algo]: Rudder Angle: 25 -[mux-7] [INFO] [1746051624.010615494] [sailbot.mux]: algo rudder angle: 25 -[mux-7] [INFO] [1746051624.045028911] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051624.045791021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051624.046289171] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051624.047674288] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051624.048735419] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051624.085360149] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051624.087283881] [sailbot.teensy]: Wind angle: 133 -[trim_sail-4] [INFO] [1746051624.087894623] [sailbot.trim_sail]: Sail Angle: "0" -[mux-7] [INFO] [1746051624.088864320] [sailbot.mux]: algo sail angle: 0 -[teensy-2] [INFO] [1746051624.089967098] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051624.090929336] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051624.091769076] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051624.144742869] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051624.145286978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051624.145896574] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051624.147008039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051624.148174503] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051624.245054314] [sailbot.mux]: Published sail angle from algo: 0 -[teensy-2] [INFO] [1746051624.245853514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051624.246493933] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051624.248113958] [sailbot.teensy]: Rudder callback-sent to Teensy sail:0, rudder: 25 -[teensy-2] [INFO] [1746051624.248643863] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051624.335470729] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051624.337896011] [sailbot.trim_sail]: Sail Angle: "90" -[teensy-2] [INFO] [1746051624.338234560] [sailbot.teensy]: Wind angle: 10 -[mux-7] [INFO] [1746051624.338383373] [sailbot.mux]: algo sail angle: 90 -[teensy-2] [INFO] [1746051624.339259889] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051624.340138071] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051624.341013866] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051624.344334223] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746051624.344886513] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051624.346365003] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051624.346546409] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 25 -[teensy-2] [INFO] [1746051624.347651225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051624.445508063] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746051624.446405705] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051624.447075605] [sailbot.mux]: Published rudder angle from algo: 25 -[teensy-2] [INFO] [1746051624.448683307] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 25 -[teensy-2] [INFO] [1746051624.449230134] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051624.457841809] [sailbot.main_algo]: Wind Direction: 10 -[main_algo-3] [INFO] [1746051624.458985707] [sailbot.main_algo]: Target Bearing: -84.45778868732592 -[main_algo-3] [INFO] [1746051624.459973282] [sailbot.main_algo]: Heading Difference: 111.53978868732588 -[main_algo-3] [INFO] [1746051624.461374136] [sailbot.main_algo]: Wind Direction: 10 -[main_algo-3] [INFO] [1746051624.462261883] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051624.463096687] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051624.464707817] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051624.464804557] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051624.502774103] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904247 Long: -76.50276884 -[main_algo-3] [INFO] [1746051624.503833281] [sailbot.main_algo]: Distance to destination: 52.80062934058402 -[vectornav-1] [INFO] [1746051624.504342542] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.283999999999992, 0.07, 6.663) -[main_algo-3] [INFO] [1746051624.505478645] [sailbot.main_algo]: Target Bearing: -84.45198060235606 -[main_algo-3] [INFO] [1746051624.506499905] [sailbot.main_algo]: Heading Difference: 111.53398060235605 -[main_algo-3] [INFO] [1746051624.507934968] [sailbot.main_algo]: Wind Direction: 10 -[main_algo-3] [INFO] [1746051624.508894649] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051624.509771574] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051624.511410816] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051624.544870089] [sailbot.mux]: Published sail angle from algo: 90 -[teensy-2] [INFO] [1746051624.545666110] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051624.546145238] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051624.547993710] [sailbot.teensy]: Rudder callback-sent to Teensy sail:90, rudder: 15 -[teensy-2] [INFO] [1746051624.548996514] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051624.585463653] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051624.587591593] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746051624.587112103] [sailbot.teensy]: Wind angle: 338 -[mux-7] [INFO] [1746051624.588504836] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051624.589414465] [sailbot.teensy]: Actual sail angle: 0 -[teensy-2] [INFO] [1746051624.590360537] [sailbot.teensy]: Actual tail angle: 50 -[teensy-2] [INFO] [1746051624.591372881] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051624.644953967] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051624.645685497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051624.646282622] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051624.647755113] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051624.648999972] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051624.745028793] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051624.745786364] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051624.746354058] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051624.747819809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051624.748890325] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051624.835222462] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051624.836892604] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746051624.837919118] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746051624.838638530] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051624.839291794] [sailbot.teensy]: Actual sail angle: 90 -[teensy-2] [INFO] [1746051624.840217173] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051624.841075230] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051624.844424042] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051624.845037710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051624.845505687] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051624.846712933] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051624.847736090] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051624.945129019] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051624.945812447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051624.946488938] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051624.947866569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051624.948903676] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051624.957558840] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051624.958584894] [sailbot.main_algo]: Target Bearing: -84.45198060235606 -[main_algo-3] [INFO] [1746051624.959535067] [sailbot.main_algo]: Heading Difference: 110.73598060235605 -[main_algo-3] [INFO] [1746051624.960904073] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051624.961788508] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051624.962645946] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051624.964219163] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051624.964332263] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051625.002819034] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904226 Long: -76.50276878 -[main_algo-3] [INFO] [1746051625.003705760] [sailbot.main_algo]: Distance to destination: 52.77689601995356 -[vectornav-1] [INFO] [1746051625.003943499] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.773000000000025, 0.903, 7.203) -[main_algo-3] [INFO] [1746051625.004918625] [sailbot.main_algo]: Target Bearing: -84.45440743929184 -[main_algo-3] [INFO] [1746051625.005881684] [sailbot.main_algo]: Heading Difference: 110.73840743929185 -[main_algo-3] [INFO] [1746051625.007212636] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051625.008074527] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051625.008958390] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051625.010653637] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051625.045141303] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051625.045626973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051625.046624763] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051625.047442305] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051625.048693875] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051625.085345075] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051625.087007777] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746051625.087653802] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051625.087956240] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746051625.088906865] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051625.089476248] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051625.089751736] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051625.145398175] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051625.145889268] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051625.146733935] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051625.147784036] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051625.149173087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051625.245102943] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051625.245821978] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051625.246354761] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051625.247928083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051625.248469090] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051625.335624569] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051625.338520551] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746051625.338731924] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051625.339180231] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746051625.339669652] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746051625.340062595] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051625.340771536] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051625.344611980] [sailbot.mux]: Published sail angle from algo: 80 -[mux-7] [INFO] [1746051625.345763858] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051625.345920678] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051625.347850904] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051625.348924468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051625.445079069] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051625.445771845] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051625.446410154] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051625.447859925] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051625.448886139] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051625.457363701] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051625.458325918] [sailbot.main_algo]: Target Bearing: -84.45440743929184 -[main_algo-3] [INFO] [1746051625.459166113] [sailbot.main_algo]: Heading Difference: 109.22740743929188 -[main_algo-3] [INFO] [1746051625.460398310] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051625.461224746] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051625.462022841] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051625.463579894] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051625.463597544] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051625.502613103] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904236 Long: -76.50276887 -[vectornav-1] [INFO] [1746051625.503635141] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (25.41500000000002, -2.152, 7.067) -[main_algo-3] [INFO] [1746051625.503625515] [sailbot.main_algo]: Distance to destination: 52.78877498195316 -[main_algo-3] [INFO] [1746051625.504766861] [sailbot.main_algo]: Target Bearing: -84.44780542871801 -[main_algo-3] [INFO] [1746051625.505792574] [sailbot.main_algo]: Heading Difference: 109.22080542871805 -[main_algo-3] [INFO] [1746051625.507074362] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051625.507924898] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051625.508806938] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051625.510436615] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051625.545141187] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051625.545886744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051625.546567715] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051625.547737202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051625.548816386] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051625.585176188] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051625.587385169] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051625.587392587] [sailbot.teensy]: Wind angle: 340 -[mux-7] [INFO] [1746051625.588254369] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051625.588286683] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051625.589114104] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051625.589916802] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051625.644843596] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051625.645709761] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051625.646118191] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051625.647529839] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051625.648532327] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051625.744910834] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051625.745609265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051625.746181824] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051625.747536616] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051625.748593866] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051625.835372178] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051625.837786202] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746051625.838439010] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051625.838513485] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746051625.839087017] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746051625.839477418] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051625.839929191] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051625.844232540] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051625.844885764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051625.845302096] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051625.846569402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051625.847600585] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051625.944361761] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051625.944703833] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051625.946940681] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[mux-7] [INFO] [1746051625.947204494] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051625.947971425] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051625.957202394] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051625.958195183] [sailbot.main_algo]: Target Bearing: -84.44780542871801 -[main_algo-3] [INFO] [1746051625.959086079] [sailbot.main_algo]: Heading Difference: 109.86280542871805 -[main_algo-3] [INFO] [1746051625.960409168] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051625.961332327] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051625.962249118] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051625.964064302] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051625.964085357] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051626.001855795] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690421 Long: -76.50276853 -[main_algo-3] [INFO] [1746051626.002796115] [sailbot.main_algo]: Distance to destination: 52.75689769506616 -[vectornav-1] [INFO] [1746051626.002837857] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.375, 0.618, 6.263) -[main_algo-3] [INFO] [1746051626.003956251] [sailbot.main_algo]: Target Bearing: -84.47438043700839 -[main_algo-3] [INFO] [1746051626.004651990] [sailbot.main_algo]: Heading Difference: 109.88938043700841 -[main_algo-3] [INFO] [1746051626.005232617] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051626.005797203] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051626.006664791] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051626.008119959] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051626.044926938] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051626.045675560] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051626.046193061] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051626.047576509] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051626.048597028] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051626.085365293] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051626.087304918] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746051626.087591587] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746051626.088325179] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746051626.089279374] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051626.089293428] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051626.090200933] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051626.145138340] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051626.145809239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051626.146554955] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051626.148069388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051626.149070881] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051626.244860805] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051626.245599967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051626.246143273] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051626.247507081] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051626.247983332] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051626.335437274] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051626.337776218] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051626.338437693] [sailbot.teensy]: Wind angle: 340 -[mux-7] [INFO] [1746051626.338480625] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051626.339697061] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051626.340205491] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051626.340567444] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051626.344468645] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051626.345015415] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051626.345593552] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051626.346773687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051626.347882075] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051626.445070606] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051626.445940414] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051626.446727460] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051626.448072677] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051626.448583638] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051626.457804618] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051626.458950206] [sailbot.main_algo]: Target Bearing: -84.47438043700839 -[main_algo-3] [INFO] [1746051626.459953064] [sailbot.main_algo]: Heading Difference: 110.84938043700839 -[main_algo-3] [INFO] [1746051626.461289909] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051626.462170606] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051626.463014856] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051626.464637412] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051626.464892395] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051626.502781238] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904201 Long: -76.50276838 -[main_algo-3] [INFO] [1746051626.503714360] [sailbot.main_algo]: Distance to destination: 52.74556381114215 -[vectornav-1] [INFO] [1746051626.503911933] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (27.829000000000008, 0.046, 6.529) -[main_algo-3] [INFO] [1746051626.504850828] [sailbot.main_algo]: Target Bearing: -84.48645380206713 -[main_algo-3] [INFO] [1746051626.505835994] [sailbot.main_algo]: Heading Difference: 110.8614538020671 -[main_algo-3] [INFO] [1746051626.507495711] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051626.508445528] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051626.509301476] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051626.511003521] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051626.544888816] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051626.545580985] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051626.546137181] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051626.547400801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051626.548497839] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051626.585239018] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051626.587414820] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746051626.588220421] [sailbot.teensy]: Wind angle: 339 -[mux-7] [INFO] [1746051626.589073239] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051626.589223811] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746051626.590235670] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051626.591301005] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051626.644968344] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051626.645813846] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051626.646431813] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051626.647595296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051626.648656351] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051626.744824421] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051626.745455237] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051626.745997979] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051626.747243338] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051626.748404503] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051626.835362873] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051626.837098600] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746051626.837560863] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746051626.838076634] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051626.839025434] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051626.838854345] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051626.840176647] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051626.844486004] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051626.845065831] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051626.845587004] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051626.846739308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051626.847768282] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051626.944894115] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051626.945754183] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051626.946203369] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051626.947543640] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051626.948605644] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051626.957940909] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051626.958979937] [sailbot.main_algo]: Target Bearing: -84.48645380206713 -[main_algo-3] [INFO] [1746051626.959868087] [sailbot.main_algo]: Heading Difference: 112.31545380206717 -[main_algo-3] [INFO] [1746051626.961181547] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051626.961997568] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051626.962790919] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051626.964346305] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051626.964418972] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051627.002841656] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904184 Long: -76.50276837 -[main_algo-3] [INFO] [1746051627.003803773] [sailbot.main_algo]: Distance to destination: 52.72671276896759 -[vectornav-1] [INFO] [1746051627.004049134] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.488, -0.098, 5.656) -[main_algo-3] [INFO] [1746051627.005103921] [sailbot.main_algo]: Target Bearing: -84.48500891868737 -[main_algo-3] [INFO] [1746051627.006066216] [sailbot.main_algo]: Heading Difference: 112.31400891868736 -[main_algo-3] [INFO] [1746051627.007457775] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051627.008370183] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051627.009276311] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051627.011030404] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051627.044974186] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051627.045798280] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051627.046302254] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051627.047635087] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051627.048787801] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051627.085459658] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051627.087936065] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746051627.088057928] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746051627.089271583] [sailbot.teensy]: Actual sail angle: 80 -[mux-7] [INFO] [1746051627.089482778] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051627.090215829] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051627.091086042] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051627.144783457] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051627.145405225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051627.145941406] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051627.147144213] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051627.148294405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051627.244973617] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051627.245680413] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051627.246256814] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051627.247616866] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051627.248786415] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051627.335408672] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051627.337385178] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746051627.338335103] [sailbot.teensy]: Actual sail angle: 80 -[trim_sail-4] [INFO] [1746051627.338887030] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746051627.339216131] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051627.339282008] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051627.340108956] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051627.344567993] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051627.345027605] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051627.345787585] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051627.346737155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051627.347869032] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051627.445002697] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051627.445536037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051627.446270543] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051627.447353600] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051627.448459056] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051627.457703889] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051627.458737823] [sailbot.main_algo]: Target Bearing: -84.48500891868737 -[main_algo-3] [INFO] [1746051627.459657828] [sailbot.main_algo]: Heading Difference: 110.97300891868736 -[main_algo-3] [INFO] [1746051627.460891453] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051627.461719069] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051627.462495828] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051627.464054127] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051627.464118105] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051627.502819017] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904172 Long: -76.50276849 -[main_algo-3] [INFO] [1746051627.503740575] [sailbot.main_algo]: Distance to destination: 52.71459541011003 -[vectornav-1] [INFO] [1746051627.503956057] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (25.976999999999975, -1.055, 4.8) -[main_algo-3] [INFO] [1746051627.504870272] [sailbot.main_algo]: Target Bearing: -84.47270711488333 -[main_algo-3] [INFO] [1746051627.505846182] [sailbot.main_algo]: Heading Difference: 110.96070711488335 -[main_algo-3] [INFO] [1746051627.507307482] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051627.508244744] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051627.509108045] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051627.510895333] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051627.545077844] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051627.545782258] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051627.546545811] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051627.547580285] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051627.548863109] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051627.585191857] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051627.586888865] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746051627.587457053] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746051627.587791048] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746051627.588665071] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051627.589065434] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051627.589481669] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051627.644945393] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051627.645664782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051627.646353810] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051627.647522892] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051627.648598909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051627.745058931] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051627.745832292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051627.746499619] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051627.747760168] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051627.748346853] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051627.835377345] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051627.837311218] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746051627.837629579] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746051627.838715654] [sailbot.teensy]: Actual sail angle: 80 -[mux-7] [INFO] [1746051627.839396926] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051627.839679514] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051627.840595224] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051627.844378876] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051627.844949599] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051627.845463453] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051627.846619610] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051627.847755637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051627.944990057] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051627.945680320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051627.946281080] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051627.947687268] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051627.948749219] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051627.957603928] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051627.958572584] [sailbot.main_algo]: Target Bearing: -84.47270711488333 -[main_algo-3] [INFO] [1746051627.959498651] [sailbot.main_algo]: Heading Difference: 110.44970711488332 -[main_algo-3] [INFO] [1746051627.960744674] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051627.961570371] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051627.962352019] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051627.963921324] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051627.963923388] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051628.002125105] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690415 Long: -76.50276842 -[main_algo-3] [INFO] [1746051628.002868659] [sailbot.main_algo]: Distance to destination: 52.68966590109197 -[vectornav-1] [INFO] [1746051628.003004322] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.845000000000027, -0.052, 4.169) -[main_algo-3] [INFO] [1746051628.003863159] [sailbot.main_algo]: Target Bearing: -84.47589798855445 -[main_algo-3] [INFO] [1746051628.005615698] [sailbot.main_algo]: Heading Difference: 110.45289798855441 -[main_algo-3] [INFO] [1746051628.007796567] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051628.008853166] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051628.010434887] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051628.012369696] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051628.043817044] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051628.044123786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051628.044428042] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051628.045242970] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051628.045825227] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051628.085401949] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051628.086957223] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746051628.087809943] [sailbot.teensy]: Actual sail angle: 80 -[trim_sail-4] [INFO] [1746051628.087534801] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746051628.088055129] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051628.088670921] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051628.089462896] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051628.145116155] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051628.145670059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051628.146446789] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051628.147653936] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051628.148859597] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051628.245207204] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051628.245865040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051628.246504876] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051628.247668855] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051628.248789067] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051628.335324052] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051628.337416401] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746051628.337562383] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746051628.338385655] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746051628.339254062] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051628.339252168] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051628.340249627] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051628.344464052] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051628.345051892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051628.345502577] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051628.346908229] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051628.348001343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051628.445016170] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051628.445935744] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051628.446353969] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051628.447685788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051628.448146818] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051628.457748274] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051628.458834416] [sailbot.main_algo]: Target Bearing: -84.47589798855445 -[main_algo-3] [INFO] [1746051628.459773603] [sailbot.main_algo]: Heading Difference: 109.32089798855446 -[main_algo-3] [INFO] [1746051628.461081360] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051628.461913459] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051628.462719303] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051628.464296940] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051628.464313015] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051628.502752097] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904129 Long: -76.50276856 -[vectornav-1] [INFO] [1746051628.503965068] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.057000000000016, 0.404, 5.852) -[main_algo-3] [INFO] [1746051628.503949245] [sailbot.main_algo]: Distance to destination: 52.667808004717386 -[main_algo-3] [INFO] [1746051628.505388158] [sailbot.main_algo]: Target Bearing: -84.46056759563773 -[main_algo-3] [INFO] [1746051628.506405664] [sailbot.main_algo]: Heading Difference: 109.30556759563774 -[main_algo-3] [INFO] [1746051628.507786742] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051628.508719155] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051628.509590375] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051628.511273457] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051628.544941161] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051628.545623353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051628.546218850] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051628.547492190] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051628.548719300] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051628.585428271] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051628.587621439] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746051628.588227344] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051628.588363654] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746051628.589280749] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746051628.590170734] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051628.591039030] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051628.645000327] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051628.645727034] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051628.646660062] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051628.647859780] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051628.648972813] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051628.744851407] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051628.745457350] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051628.746021304] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051628.747212772] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051628.748323536] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051628.835840168] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051628.838446674] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746051628.838621008] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746051628.839538019] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051628.839693195] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746051628.840125157] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051628.840521535] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051628.844461687] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051628.845154123] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051628.845786533] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051628.846821125] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051628.847880775] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051628.945237451] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051628.946050012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051628.946771669] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051628.948218315] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051628.949274974] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051628.957691428] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051628.958786837] [sailbot.main_algo]: Target Bearing: -84.46056759563773 -[main_algo-3] [INFO] [1746051628.959725977] [sailbot.main_algo]: Heading Difference: 108.51756759563773 -[main_algo-3] [INFO] [1746051628.961047159] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051628.961890058] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051628.962723963] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051628.964359992] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051628.964443711] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051629.002762847] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904092 Long: -76.5027687 -[vectornav-1] [INFO] [1746051629.003912260] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (25.60899999999998, -1.394, 6.562) -[main_algo-3] [INFO] [1746051629.003947415] [sailbot.main_algo]: Distance to destination: 52.628301187817655 -[main_algo-3] [INFO] [1746051629.005294721] [sailbot.main_algo]: Target Bearing: -84.44301118985001 -[main_algo-3] [INFO] [1746051629.006408993] [sailbot.main_algo]: Heading Difference: 108.50001118985006 -[main_algo-3] [INFO] [1746051629.007835102] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051629.008768965] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051629.009645956] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051629.011343540] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051629.044918257] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051629.045769030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051629.046181064] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051629.047739029] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051629.048833575] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051629.085211600] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051629.086990917] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746051629.087459654] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746051629.087947297] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746051629.088952316] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051629.089266317] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051629.089875056] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051629.145064188] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051629.145961938] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051629.146484861] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051629.148072207] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051629.149270860] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051629.245277314] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051629.245790309] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051629.246848049] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051629.247996620] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051629.248647525] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051629.335349507] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051629.337584567] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746051629.337812294] [sailbot.teensy]: Wind angle: 339 -[teensy-2] [INFO] [1746051629.338811610] [sailbot.teensy]: Actual sail angle: 80 -[mux-7] [INFO] [1746051629.339007820] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051629.339967880] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051629.340902971] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051629.344426256] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051629.344840707] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051629.345563346] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051629.346544150] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051629.348280259] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051629.444974324] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051629.445934889] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051629.446899074] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051629.447893773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051629.448430441] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051629.457448165] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051629.458416146] [sailbot.main_algo]: Target Bearing: -84.44301118985001 -[main_algo-3] [INFO] [1746051629.459273281] [sailbot.main_algo]: Heading Difference: 110.05201118984996 -[main_algo-3] [INFO] [1746051629.460505531] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051629.461333417] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051629.462115039] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051629.463634171] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051629.463809043] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051629.502722831] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904055 Long: -76.50276816 -[main_algo-3] [INFO] [1746051629.503670342] [sailbot.main_algo]: Distance to destination: 52.582412718104194 -[vectornav-1] [INFO] [1746051629.503776826] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.412000000000035, 0.337, 4.145) -[main_algo-3] [INFO] [1746051629.504743762] [sailbot.main_algo]: Target Bearing: -84.48594872891242 -[main_algo-3] [INFO] [1746051629.505737391] [sailbot.main_algo]: Heading Difference: 110.09494872891241 -[main_algo-3] [INFO] [1746051629.507091105] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051629.508020344] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051629.508901812] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051629.510510216] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051629.545385722] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051629.545633144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051629.546826271] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051629.547467335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051629.548656695] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051629.585273333] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051629.587138037] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746051629.587356085] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746051629.588001822] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746051629.588876989] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051629.589623093] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051629.589697188] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051629.645113085] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051629.645756184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051629.646379420] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051629.647792453] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051629.648956368] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051629.744858121] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051629.745752533] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051629.746130151] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051629.747480907] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051629.748531511] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051629.835451397] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051629.837949774] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051629.838130903] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746051629.839359650] [sailbot.teensy]: Actual sail angle: 80 -[mux-7] [INFO] [1746051629.839718590] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051629.840307102] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051629.841227349] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051629.844440774] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051629.845277975] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051629.845554500] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051629.847190711] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051629.848252459] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051629.944889938] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051629.945533991] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051629.946067447] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051629.947382249] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051629.948561219] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051629.957617996] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051629.958699355] [sailbot.main_algo]: Target Bearing: -84.48594872891242 -[main_algo-3] [INFO] [1746051629.959615646] [sailbot.main_algo]: Heading Difference: 108.89794872891247 -[main_algo-3] [INFO] [1746051629.960920210] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051629.961746692] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051629.962534481] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051629.964119093] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051629.964269157] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051630.002842041] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46904015 Long: -76.50276778 -[main_algo-3] [INFO] [1746051630.003889330] [sailbot.main_algo]: Distance to destination: 52.53473112439524 -[vectornav-1] [INFO] [1746051630.004653831] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (23.66500000000002, -0.767, 5.86) -[main_algo-3] [INFO] [1746051630.005748354] [sailbot.main_algo]: Target Bearing: -84.51429484851619 -[main_algo-3] [INFO] [1746051630.006758417] [sailbot.main_algo]: Heading Difference: 108.92629484851625 -[main_algo-3] [INFO] [1746051630.008103311] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051630.009020475] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051630.009887132] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051630.011690854] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051630.045109495] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051630.045734546] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051630.046464222] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051630.047605073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051630.048755383] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051630.084867641] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051630.086181525] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746051630.087006715] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746051630.087833614] [sailbot.teensy]: Actual tail angle: 40 -[trim_sail-4] [INFO] [1746051630.086798433] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051630.088743283] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051630.090614845] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746051630.144664512] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051630.144712692] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051630.145771968] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051630.146301683] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051630.147279580] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051630.245098224] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051630.245815967] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051630.246686612] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051630.247672643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051630.248873281] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051630.335375244] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051630.337371903] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746051630.337872625] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051630.338361741] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051630.339315655] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051630.340303145] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051630.340505504] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746051630.344676315] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051630.345172596] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051630.345978641] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051630.346915979] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051630.348053053] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051630.445152254] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051630.445712977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051630.446511942] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051630.447570479] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051630.448425013] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051630.457742001] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051630.458826316] [sailbot.main_algo]: Target Bearing: -84.51429484851619 -[main_algo-3] [INFO] [1746051630.459767708] [sailbot.main_algo]: Heading Difference: 108.17929484851618 -[main_algo-3] [INFO] [1746051630.461019375] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051630.461872564] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051630.462680740] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051630.464256520] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051630.464318688] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051630.503195131] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903977 Long: -76.50276767 -[main_algo-3] [INFO] [1746051630.504081048] [sailbot.main_algo]: Distance to destination: 52.4917763282095 -[vectornav-1] [INFO] [1746051630.504569570] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.29000000000002, -0.248, 5.1) -[main_algo-3] [INFO] [1746051630.505364609] [sailbot.main_algo]: Target Bearing: -84.51888848762428 -[main_algo-3] [INFO] [1746051630.506384577] [sailbot.main_algo]: Heading Difference: 108.1838884876243 -[main_algo-3] [INFO] [1746051630.507691683] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051630.508590545] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051630.509453773] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051630.511275599] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051630.545036275] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051630.545878584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051630.546371524] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051630.547810948] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051630.548989626] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051630.585223631] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051630.587467581] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051630.587792072] [sailbot.teensy]: Wind angle: 343 -[mux-7] [INFO] [1746051630.588199184] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051630.588825232] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051630.589738379] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051630.590622172] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051630.644654875] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051630.645422709] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051630.645819742] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051630.647300025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051630.648477089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051630.744938067] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051630.745823012] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051630.746380437] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051630.748070108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051630.749297812] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051630.835428351] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051630.837838171] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746051630.837838991] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051630.838856336] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746051630.839678757] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051630.839793262] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051630.840762017] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051630.844776923] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051630.845236095] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051630.846469649] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051630.847223874] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051630.848384156] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051630.945166736] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051630.946101720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051630.946582827] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051630.948291702] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051630.949325705] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051630.957713132] [sailbot.main_algo]: Wind Direction: 343 -[main_algo-3] [INFO] [1746051630.958776746] [sailbot.main_algo]: Target Bearing: -84.51888848762428 -[main_algo-3] [INFO] [1746051630.959688624] [sailbot.main_algo]: Heading Difference: 110.8088884876243 -[main_algo-3] [INFO] [1746051630.961022298] [sailbot.main_algo]: Wind Direction: 343 -[main_algo-3] [INFO] [1746051630.961910771] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051630.962756011] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051630.964339273] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051630.964533883] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051631.002821251] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903951 Long: -76.50276705 -[main_algo-3] [INFO] [1746051631.003810329] [sailbot.main_algo]: Distance to destination: 52.45734060464956 -[vectornav-1] [INFO] [1746051631.004027223] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.024, -0.075, 5.741) -[main_algo-3] [INFO] [1746051631.004975971] [sailbot.main_algo]: Target Bearing: -84.57064266700068 -[main_algo-3] [INFO] [1746051631.005938047] [sailbot.main_algo]: Heading Difference: 110.86064266700072 -[main_algo-3] [INFO] [1746051631.007263353] [sailbot.main_algo]: Wind Direction: 343 -[main_algo-3] [INFO] [1746051631.008134942] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051631.009036966] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051631.010591050] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051631.044968591] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051631.045790584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051631.046399366] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051631.047853055] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051631.048940669] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051631.085769684] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051631.088062228] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746051631.089114296] [sailbot.teensy]: Actual sail angle: 85 -[trim_sail-4] [INFO] [1746051631.088568130] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746051631.089095376] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051631.090032013] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051631.090961215] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051631.144953035] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051631.145716872] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051631.146240136] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051631.147636563] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051631.148817568] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051631.245306946] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051631.245966441] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051631.246601140] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051631.247856402] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051631.248969237] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051631.335348263] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051631.337764540] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746051631.338352520] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051631.338658447] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746051631.339513030] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051631.339891508] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051631.340276356] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051631.344459465] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051631.345555397] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051631.345624598] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051631.347304757] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051631.348372708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051631.445435480] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051631.446003642] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051631.447018555] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051631.448187590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051631.449296528] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051631.457707253] [sailbot.main_algo]: Wind Direction: 343 -[main_algo-3] [INFO] [1746051631.458783843] [sailbot.main_algo]: Target Bearing: -84.57064266700068 -[main_algo-3] [INFO] [1746051631.459695342] [sailbot.main_algo]: Heading Difference: 110.5946426670007 -[main_algo-3] [INFO] [1746051631.461011630] [sailbot.main_algo]: Wind Direction: 343 -[main_algo-3] [INFO] [1746051631.461904981] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051631.462699668] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051631.464261299] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051631.464369776] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051631.502829059] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903927 Long: -76.50276683 -[main_algo-3] [INFO] [1746051631.503709299] [sailbot.main_algo]: Distance to destination: 52.42882684101123 -[vectornav-1] [INFO] [1746051631.504014563] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.76400000000001, -0.83, 3.828) -[main_algo-3] [INFO] [1746051631.504864743] [sailbot.main_algo]: Target Bearing: -84.58701659902951 -[main_algo-3] [INFO] [1746051631.505899752] [sailbot.main_algo]: Heading Difference: 110.61101659902954 -[main_algo-3] [INFO] [1746051631.507378884] [sailbot.main_algo]: Wind Direction: 343 -[main_algo-3] [INFO] [1746051631.508321597] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051631.509175761] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051631.511087295] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051631.545197357] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051631.545738200] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051631.546535418] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051631.547732900] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051631.548861480] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051631.585374827] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051631.587523249] [sailbot.teensy]: Wind angle: 343 -[teensy-2] [INFO] [1746051631.588490416] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051631.589397115] [sailbot.teensy]: Actual tail angle: 40 -[trim_sail-4] [INFO] [1746051631.587606742] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746051631.588291953] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051631.590278567] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051631.644999521] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051631.645708858] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051631.646358011] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051631.647579568] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051631.648825249] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051631.744821343] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051631.745549934] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051631.746222126] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051631.747323980] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051631.748556521] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051631.835848609] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051631.838767894] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051631.839238953] [sailbot.teensy]: Wind angle: 342 -[mux-7] [INFO] [1746051631.839358789] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051631.839657045] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051631.840050401] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051631.840437525] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051631.844515568] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051631.845088468] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051631.845739275] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051631.846861945] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051631.848023973] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051631.944957306] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051631.945653206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051631.946327932] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051631.947493363] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051631.948001267] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051631.957881596] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051631.959016272] [sailbot.main_algo]: Target Bearing: -84.58701659902951 -[main_algo-3] [INFO] [1746051631.960039763] [sailbot.main_algo]: Heading Difference: 111.35101659902955 -[main_algo-3] [INFO] [1746051631.961376578] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051631.962310580] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051631.963156246] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051631.964793204] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051631.964789357] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051632.003000793] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903905 Long: -76.50276638 -[main_algo-3] [INFO] [1746051632.003924471] [sailbot.main_algo]: Distance to destination: 52.400416376311135 -[main_algo-3] [INFO] [1746051632.005032810] [sailbot.main_algo]: Target Bearing: -84.62422802682326 -[vectornav-1] [INFO] [1746051632.005425075] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.60699999999997, 0.352, 6.21) -[main_algo-3] [INFO] [1746051632.006046811] [sailbot.main_algo]: Heading Difference: 111.3882280268233 -[main_algo-3] [INFO] [1746051632.007431172] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051632.008357815] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051632.009214479] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051632.010920313] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051632.045611596] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051632.045697616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051632.046970615] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051632.047581490] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051632.048766871] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051632.085207832] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051632.086980682] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746051632.087871970] [sailbot.teensy]: Actual sail angle: 85 -[trim_sail-4] [INFO] [1746051632.087315110] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746051632.088846206] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051632.089331067] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051632.090266055] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051632.144469937] [sailbot.mux]: Published sail angle from algo: 85 -[mux-7] [INFO] [1746051632.145554589] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051632.147342779] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051632.149188659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051632.150267509] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051632.244996143] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051632.245750466] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051632.246316680] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051632.247634660] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051632.248710914] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051632.335479982] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051632.337924973] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051632.338488691] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746051632.339904752] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746051632.339993040] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051632.340888201] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051632.341537891] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051632.344447806] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051632.344979292] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051632.345605011] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051632.346627877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051632.347766703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051632.445161819] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051632.446048826] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051632.446608943] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051632.448104674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051632.448625413] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051632.457516545] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051632.458515858] [sailbot.main_algo]: Target Bearing: -84.62422802682326 -[main_algo-3] [INFO] [1746051632.459363866] [sailbot.main_algo]: Heading Difference: 111.23122802682326 -[main_algo-3] [INFO] [1746051632.460632495] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051632.461441908] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051632.462242101] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051632.463760972] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051632.463764235] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051632.502712289] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903879 Long: -76.5027663 -[main_algo-3] [INFO] [1746051632.503698688] [sailbot.main_algo]: Distance to destination: 52.370988471785545 -[vectornav-1] [INFO] [1746051632.503783567] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.658999999999992, -0.631, 6.591) -[main_algo-3] [INFO] [1746051632.504832215] [sailbot.main_algo]: Target Bearing: -84.62786343197075 -[main_algo-3] [INFO] [1746051632.505801725] [sailbot.main_algo]: Heading Difference: 111.23486343197072 -[main_algo-3] [INFO] [1746051632.507220195] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051632.508116593] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051632.509011782] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051632.510756163] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051632.544898866] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051632.545699887] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051632.546205788] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051632.547876195] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051632.548921922] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051632.585464810] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051632.587189851] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746051632.587662492] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051632.588226121] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051632.589096195] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051632.589706430] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051632.590049940] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051632.644749748] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051632.645429614] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051632.645951115] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051632.647216158] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051632.648267178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051632.745034168] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051632.745735165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051632.746331120] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051632.747570206] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051632.748778454] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051632.835947834] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051632.838724091] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746051632.839469973] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051632.839912767] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051632.840704998] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051632.840953374] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051632.841095581] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051632.844591907] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051632.845130680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051632.845854561] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051632.846953202] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051632.847992094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051632.945157972] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051632.946071394] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051632.946630149] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051632.948144335] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051632.949275806] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051632.957830527] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051632.959001586] [sailbot.main_algo]: Target Bearing: -84.62786343197075 -[main_algo-3] [INFO] [1746051632.959928347] [sailbot.main_algo]: Heading Difference: 111.28686343197074 -[main_algo-3] [INFO] [1746051632.961275550] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051632.962118965] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051632.962892622] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051632.964454200] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051632.964485577] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051633.002762744] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903834 Long: -76.50276599 -[main_algo-3] [INFO] [1746051633.003594518] [sailbot.main_algo]: Distance to destination: 52.31849049051615 -[main_algo-3] [INFO] [1746051633.004769426] [sailbot.main_algo]: Target Bearing: -84.64951551673806 -[vectornav-1] [INFO] [1746051633.005399636] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.295999999999992, -0.383, 4.364) -[main_algo-3] [INFO] [1746051633.005735612] [sailbot.main_algo]: Heading Difference: 111.30851551673805 -[main_algo-3] [INFO] [1746051633.007338948] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051633.008298341] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051633.009253731] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051633.011306400] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051633.045206338] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051633.045684954] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051633.046588740] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051633.047544819] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051633.048729100] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051633.085096226] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051633.086605804] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746051633.087449487] [sailbot.teensy]: Actual sail angle: 85 -[trim_sail-4] [INFO] [1746051633.087380889] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746051633.087685327] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051633.088324861] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051633.089242809] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051633.145033073] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051633.145774325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051633.146311955] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051633.147882148] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051633.149022484] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051633.245132189] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051633.246156861] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051633.246600037] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051633.247676015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051633.248214884] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051633.335228999] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051633.337410802] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746051633.337967331] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051633.338582015] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746051633.339547033] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051633.340595898] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051633.341679733] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051633.344521972] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051633.344980543] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051633.345624378] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051633.346668209] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051633.347735816] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051633.444953185] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051633.445869099] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051633.446245504] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051633.447711586] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051633.448554093] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051633.457374996] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051633.458321743] [sailbot.main_algo]: Target Bearing: -84.64951551673806 -[main_algo-3] [INFO] [1746051633.459139225] [sailbot.main_algo]: Heading Difference: 110.94551551673806 -[main_algo-3] [INFO] [1746051633.460406263] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051633.461248690] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051633.462052343] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051633.463623201] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051633.463767061] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051633.502887283] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903813 Long: -76.50276585 -[main_algo-3] [INFO] [1746051633.503862507] [sailbot.main_algo]: Distance to destination: 52.294036467319245 -[vectornav-1] [INFO] [1746051633.504046600] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (24.99799999999999, -0.389, 5.463) -[main_algo-3] [INFO] [1746051633.505269343] [sailbot.main_algo]: Target Bearing: -84.65921687758362 -[main_algo-3] [INFO] [1746051633.506258655] [sailbot.main_algo]: Heading Difference: 110.95521687758361 -[main_algo-3] [INFO] [1746051633.507657202] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051633.508625172] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051633.509512100] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051633.511218051] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051633.545207940] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051633.545763951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051633.546507067] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051633.547655165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051633.548872435] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051633.585257441] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051633.587308630] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051633.587553182] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746051633.588460781] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746051633.589144552] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051633.589336065] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051633.590235475] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051633.644849400] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051633.645513230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051633.646112343] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051633.647466457] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051633.648566673] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051633.744686177] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051633.745302305] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051633.746143734] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051633.747034685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051633.748112806] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051633.835373615] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051633.837148065] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746051633.837785890] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746051633.838948844] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051633.839135124] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051633.840106289] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051633.840973909] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051633.844389992] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051633.845092294] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051633.845538791] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051633.846768231] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051633.847799641] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051633.945364954] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051633.946514704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051633.947596818] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051633.949280847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051633.950511370] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051633.957829376] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051633.958888624] [sailbot.main_algo]: Target Bearing: -84.65921687758362 -[main_algo-3] [INFO] [1746051633.959835945] [sailbot.main_algo]: Heading Difference: 109.65721687758361 -[main_algo-3] [INFO] [1746051633.961177580] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051633.962056972] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051633.962961930] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051633.964672675] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051633.964868399] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051634.002661195] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903779 Long: -76.50276551 -[vectornav-1] [INFO] [1746051634.003795391] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (25.798999999999978, -0.427, 7.125) -[main_algo-3] [INFO] [1746051634.003942401] [sailbot.main_algo]: Distance to destination: 52.253419243870525 -[main_algo-3] [INFO] [1746051634.004997589] [sailbot.main_algo]: Target Bearing: -84.68509833555771 -[main_algo-3] [INFO] [1746051634.005920077] [sailbot.main_algo]: Heading Difference: 109.6830983355577 -[main_algo-3] [INFO] [1746051634.007246618] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051634.008105610] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051634.008938984] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051634.010566110] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051634.045102476] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051634.045734225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051634.046510198] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051634.047637535] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051634.048672501] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051634.085456996] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051634.087950813] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051634.088422272] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746051634.089375718] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746051634.089879804] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051634.090299263] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051634.091188083] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051634.144787037] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051634.145537181] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051634.146265494] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051634.147359708] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051634.148481303] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051634.244336796] [sailbot.mux]: Published sail angle from algo: 85 -[mux-7] [INFO] [1746051634.245372305] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051634.246488413] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051634.248165286] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051634.249357432] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051634.335108450] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051634.336624633] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746051634.337500907] [sailbot.teensy]: Actual sail angle: 85 -[trim_sail-4] [INFO] [1746051634.337699724] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051634.338370628] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051634.338728376] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051634.339177190] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051634.344228097] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051634.344883230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051634.345200783] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051634.346537879] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051634.347486353] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051634.444859688] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051634.445693184] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051634.446170654] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051634.447569753] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051634.448618240] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051634.457343004] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051634.458277589] [sailbot.main_algo]: Target Bearing: -84.68509833555771 -[main_algo-3] [INFO] [1746051634.459112173] [sailbot.main_algo]: Heading Difference: 110.48409833555769 -[main_algo-3] [INFO] [1746051634.460347114] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051634.461177030] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051634.461969426] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051634.463545830] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051634.463583564] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051634.503089427] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903759 Long: -76.50276515 -[main_algo-3] [INFO] [1746051634.504258299] [sailbot.main_algo]: Distance to destination: 52.22808647239684 -[vectornav-1] [INFO] [1746051634.504488399] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.090000000000032, -0.834, 4.424) -[main_algo-3] [INFO] [1746051634.505911269] [sailbot.main_algo]: Target Bearing: -84.71468598559879 -[main_algo-3] [INFO] [1746051634.506932610] [sailbot.main_algo]: Heading Difference: 110.51368598559878 -[main_algo-3] [INFO] [1746051634.508334759] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051634.509228989] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051634.510069956] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051634.511853584] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051634.545034642] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051634.545765230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051634.546295804] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051634.547794218] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051634.548811943] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051634.585255746] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051634.587347618] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051634.587568356] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746051634.588544972] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746051634.589288320] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051634.589580440] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051634.590526649] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051634.644400455] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051634.644983233] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051634.645415563] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051634.646724831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051634.647813621] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051634.744931783] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051634.745747119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051634.746254217] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051634.747705898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051634.748716547] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051634.835399819] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051634.837996752] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051634.838691119] [sailbot.teensy]: Wind angle: 340 -[mux-7] [INFO] [1746051634.839025535] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051634.839658696] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051634.840633335] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051634.841541512] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051634.844447947] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051634.844878729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051634.845574444] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051634.846510727] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051634.847566206] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051634.945357454] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051634.946254050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051634.946939258] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051634.948577092] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051634.949186293] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051634.957875689] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051634.958957998] [sailbot.main_algo]: Target Bearing: -84.71468598559879 -[main_algo-3] [INFO] [1746051634.959854297] [sailbot.main_algo]: Heading Difference: 110.80468598559884 -[main_algo-3] [INFO] [1746051634.961158649] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051634.962035695] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051634.962897602] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051634.964559889] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051634.964583440] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051635.002906992] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690372 Long: -76.50276485 -[main_algo-3] [INFO] [1746051635.003901077] [sailbot.main_algo]: Distance to destination: 52.182332034032946 -[vectornav-1] [INFO] [1746051635.004103861] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.148000000000025, 0.261, 7.273) -[main_algo-3] [INFO] [1746051635.005100525] [sailbot.main_algo]: Target Bearing: -84.73638743891527 -[main_algo-3] [INFO] [1746051635.006023138] [sailbot.main_algo]: Heading Difference: 110.82638743891528 -[main_algo-3] [INFO] [1746051635.007364518] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051635.008299295] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051635.009200361] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051635.010884214] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051635.044889460] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051635.045638992] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051635.046299019] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051635.047650470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051635.049026645] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051635.085197550] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051635.087063289] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746051635.087188686] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051635.087993119] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746051635.089563028] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051635.089744259] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051635.090703718] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051635.145124716] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051635.145966619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051635.146434075] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051635.147869208] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051635.148882097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051635.244869922] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051635.245515145] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051635.246102351] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051635.247361929] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051635.248570740] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051635.335254888] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051635.337434858] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051635.338029408] [sailbot.teensy]: Wind angle: 340 -[mux-7] [INFO] [1746051635.338770829] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051635.338798802] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051635.339271120] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051635.339655411] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051635.344634723] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051635.345124795] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051635.345803367] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051635.346866086] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051635.347888755] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051635.445466103] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051635.446295107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051635.447072700] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051635.448405438] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051635.448925467] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051635.457653983] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051635.458637862] [sailbot.main_algo]: Target Bearing: -84.73638743891527 -[main_algo-3] [INFO] [1746051635.459500670] [sailbot.main_algo]: Heading Difference: 110.88438743891527 -[main_algo-3] [INFO] [1746051635.460730687] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051635.461549529] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051635.462326442] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051635.463918900] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051635.464128786] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051635.502871548] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903704 Long: -76.50276478 -[main_algo-3] [INFO] [1746051635.503845148] [sailbot.main_algo]: Distance to destination: 52.16403991207699 -[vectornav-1] [INFO] [1746051635.504081424] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (27.327999999999975, -1.502, 5.01) -[main_algo-3] [INFO] [1746051635.505091921] [sailbot.main_algo]: Target Bearing: -84.7405368589824 -[main_algo-3] [INFO] [1746051635.506053648] [sailbot.main_algo]: Heading Difference: 110.88853685898243 -[main_algo-3] [INFO] [1746051635.507548544] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051635.508536130] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051635.509389418] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051635.511234332] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051635.545248449] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051635.545779672] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051635.546571455] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051635.547759470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051635.548880323] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051635.585148563] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051635.586954542] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746051635.587873615] [sailbot.teensy]: Actual sail angle: 85 -[trim_sail-4] [INFO] [1746051635.587563712] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051635.588775225] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051635.588801227] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051635.589655367] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051635.645250286] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051635.645878832] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051635.646562703] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051635.647817667] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051635.648854106] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051635.745004753] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051635.745863625] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051635.746331023] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051635.747737473] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051635.748767495] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051635.835405897] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051635.837589505] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746051635.838052181] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746051635.839264454] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051635.839670727] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051635.840049240] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051635.840412847] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051635.844409956] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051635.844987711] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051635.845562514] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051635.846667369] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051635.847751764] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051635.945343509] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051635.945853059] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051635.946963562] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051635.947881047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051635.948926705] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051635.957842745] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051635.958932892] [sailbot.main_algo]: Target Bearing: -84.7405368589824 -[main_algo-3] [INFO] [1746051635.959900080] [sailbot.main_algo]: Heading Difference: 112.06853685898238 -[main_algo-3] [INFO] [1746051635.961309898] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051635.962222940] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051635.963057713] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051635.964722358] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051635.964759135] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051636.002727044] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903701 Long: -76.50276417 -[vectornav-1] [INFO] [1746051636.003817882] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (27.454000000000008, 0.547, 6.324) -[main_algo-3] [INFO] [1746051636.003809047] [sailbot.main_algo]: Distance to destination: 52.15527021743828 -[main_algo-3] [INFO] [1746051636.004925658] [sailbot.main_algo]: Target Bearing: -84.79490571359428 -[main_algo-3] [INFO] [1746051636.005929602] [sailbot.main_algo]: Heading Difference: 112.12290571359426 -[main_algo-3] [INFO] [1746051636.007351446] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051636.008251584] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051636.009083713] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051636.010659647] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051636.045077043] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051636.046154211] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051636.046834210] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051636.048043478] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051636.049201370] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051636.085226183] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051636.087000227] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746051636.087507853] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051636.087938902] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051636.088881964] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051636.089323317] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051636.089783287] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051636.144996597] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051636.145703628] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051636.146294269] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051636.147674877] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051636.148867405] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051636.245210024] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051636.246125952] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051636.246684618] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051636.248491073] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051636.249560454] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051636.334444339] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051636.335220428] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746051636.335634065] [sailbot.teensy]: Actual sail angle: 85 -[trim_sail-4] [INFO] [1746051636.335834667] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051636.336013033] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051636.336246121] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051636.336431211] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051636.344004035] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051636.344573797] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051636.345023062] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051636.346464108] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051636.347537730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051636.444785780] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051636.445439618] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051636.446103101] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051636.447230731] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051636.448242181] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051636.457393593] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051636.458350058] [sailbot.main_algo]: Target Bearing: -84.79490571359428 -[main_algo-3] [INFO] [1746051636.459202312] [sailbot.main_algo]: Heading Difference: 112.2489057135943 -[main_algo-3] [INFO] [1746051636.460357412] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051636.461144646] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051636.461932210] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051636.463427106] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051636.463463689] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051636.502782983] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903689 Long: -76.50276407 -[main_algo-3] [INFO] [1746051636.503646249] [sailbot.main_algo]: Distance to destination: 52.141131212963444 -[vectornav-1] [INFO] [1746051636.503899778] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (28.245000000000005, -0.984, 7.07) -[main_algo-3] [INFO] [1746051636.504767196] [sailbot.main_algo]: Target Bearing: -84.80230093019017 -[main_algo-3] [INFO] [1746051636.505669534] [sailbot.main_algo]: Heading Difference: 112.25630093019015 -[main_algo-3] [INFO] [1746051636.506903927] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051636.507754409] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051636.508599218] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051636.510214526] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051636.545113556] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051636.545795225] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051636.546439155] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051636.548026802] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051636.549047201] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051636.585161055] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051636.587509785] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051636.587645533] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746051636.588814870] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051636.589794015] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051636.589939031] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051636.590917719] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051636.644615943] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051636.645246855] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051636.645786358] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051636.647083181] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051636.648120274] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051636.743701425] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051636.743962637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051636.744181865] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051636.744708975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051636.745164582] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051636.835212930] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051636.836837090] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746051636.837518363] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051636.837688188] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051636.838109653] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051636.838130860] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051636.838513666] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051636.844713364] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051636.845401478] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051636.845890999] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051636.847119510] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051636.848265410] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051636.945394659] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051636.945915514] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051636.946905317] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051636.948182235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051636.949211652] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051636.957762781] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051636.958795123] [sailbot.main_algo]: Target Bearing: -84.80230093019017 -[main_algo-3] [INFO] [1746051636.959722969] [sailbot.main_algo]: Heading Difference: 113.0473009301902 -[main_algo-3] [INFO] [1746051636.961093133] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051636.961946589] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051636.962752616] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051636.964300199] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051636.964347085] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051637.002634356] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903684 Long: -76.50276373 -[main_algo-3] [INFO] [1746051637.003762043] [sailbot.main_algo]: Distance to destination: 52.13259274316063 -[vectornav-1] [INFO] [1746051637.004055467] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (28.511000000000024, -0.549, 6.667) -[main_algo-3] [INFO] [1746051637.005747648] [sailbot.main_algo]: Target Bearing: -84.83218428304104 -[main_algo-3] [INFO] [1746051637.006799214] [sailbot.main_algo]: Heading Difference: 113.07718428304105 -[main_algo-3] [INFO] [1746051637.008212759] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051637.009096928] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051637.009975273] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051637.011553472] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051637.045048875] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051637.045982430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051637.046408006] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051637.048365712] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051637.049393052] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051637.085246444] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051637.087419226] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746051637.088064823] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051637.088409516] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746051637.089393319] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051637.090263957] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051637.091094879] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051637.145020435] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051637.145850843] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051637.146788082] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051637.148440590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051637.149627418] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051637.245431458] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051637.246355399] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051637.246963006] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051637.248763767] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051637.249963428] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051637.335417018] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051637.337251780] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746051637.337668837] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051637.338303714] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051637.338909542] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051637.339304628] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051637.339461997] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746051637.344500513] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051637.344994302] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051637.345712746] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051637.346685470] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051637.347719710] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051637.445107206] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051637.445670436] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051637.446526089] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051637.447688254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051637.448736129] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051637.457524037] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051637.458490768] [sailbot.main_algo]: Target Bearing: -84.83218428304104 -[main_algo-3] [INFO] [1746051637.459352626] [sailbot.main_algo]: Heading Difference: 113.34318428304107 -[main_algo-3] [INFO] [1746051637.460613722] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051637.461474100] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051637.462279569] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051637.463815115] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051637.463838630] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051637.502909127] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903678 Long: -76.50276341 -[main_algo-3] [INFO] [1746051637.503960610] [sailbot.main_algo]: Distance to destination: 52.12314054385927 -[vectornav-1] [INFO] [1746051637.504186178] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (27.16300000000001, 0.349, 6.529) -[main_algo-3] [INFO] [1746051637.505247242] [sailbot.main_algo]: Target Bearing: -84.8601493550301 -[main_algo-3] [INFO] [1746051637.506239718] [sailbot.main_algo]: Heading Difference: 113.37114935503013 -[main_algo-3] [INFO] [1746051637.507591509] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051637.508510695] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051637.509397398] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051637.511169712] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051637.545039276] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051637.545838780] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051637.546423015] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051637.547963846] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051637.548980764] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051637.585436590] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051637.587295186] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746051637.587732398] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051637.588259189] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051637.589168049] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051637.589558704] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051637.590055297] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051637.644753335] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051637.645263357] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051637.646017483] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051637.646915991] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051637.647900935] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051637.745202354] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051637.745706052] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051637.746543856] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051637.747657047] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051637.748846010] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051637.835673906] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051637.838299582] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746051637.838330857] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051637.839344724] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051637.840330873] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051637.840838540] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051637.841266775] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051637.844435228] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051637.845254125] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051637.845630566] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051637.847462669] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051637.848533553] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051637.945120572] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051637.945976658] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051637.946585136] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051637.948050978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051637.949215697] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051637.957607465] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051637.958639882] [sailbot.main_algo]: Target Bearing: -84.8601493550301 -[main_algo-3] [INFO] [1746051637.959551075] [sailbot.main_algo]: Heading Difference: 112.02314935503011 -[main_algo-3] [INFO] [1746051637.960830467] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051637.961649556] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051637.962449791] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051637.963973562] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051637.964020823] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051638.002734394] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903655 Long: -76.50276335 -[main_algo-3] [INFO] [1746051638.003654259] [sailbot.main_algo]: Distance to destination: 52.097215375713084 -[vectornav-1] [INFO] [1746051638.004137128] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.072000000000003, -1.662, 5.989) -[main_algo-3] [INFO] [1746051638.004818650] [sailbot.main_algo]: Target Bearing: -84.86253183706798 -[main_algo-3] [INFO] [1746051638.005797774] [sailbot.main_algo]: Heading Difference: 112.025531837068 -[main_algo-3] [INFO] [1746051638.007109695] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051638.007926156] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051638.008718153] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051638.010282800] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051638.045228317] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051638.045770958] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051638.046603930] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051638.047934937] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051638.048991771] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051638.085240513] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051638.086882266] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746051638.087350437] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746051638.089059782] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051638.089082958] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051638.090052740] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051638.090899724] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051638.144661770] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051638.145523278] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051638.145950097] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051638.147400452] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051638.148475531] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051638.244845998] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051638.245605423] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051638.246891396] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051638.247580594] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051638.248508358] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051638.335542830] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051638.338004401] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746051638.338036377] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051638.339001476] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746051638.339714486] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051638.339912065] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051638.340805373] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051638.344335768] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051638.344946847] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051638.345534424] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051638.346613072] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051638.347636239] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051638.444491601] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051638.444977571] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051638.445544635] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051638.446609188] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051638.447510056] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051638.457458902] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051638.458439381] [sailbot.main_algo]: Target Bearing: -84.86253183706798 -[main_algo-3] [INFO] [1746051638.459261981] [sailbot.main_algo]: Heading Difference: 110.934531837068 -[main_algo-3] [INFO] [1746051638.460413634] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051638.461152373] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051638.461862976] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051638.463217218] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051638.463334383] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051638.502691555] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903642 Long: -76.50276313 -[main_algo-3] [INFO] [1746051638.503669288] [sailbot.main_algo]: Distance to destination: 52.08092487673006 -[vectornav-1] [INFO] [1746051638.503832784] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (23.04200000000003, 0.031, 6.982) -[main_algo-3] [INFO] [1746051638.504840508] [sailbot.main_algo]: Target Bearing: -84.88061509941188 -[main_algo-3] [INFO] [1746051638.505812085] [sailbot.main_algo]: Heading Difference: 110.9526150994119 -[main_algo-3] [INFO] [1746051638.507259040] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051638.508198037] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051638.509064551] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051638.510639185] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051638.545018558] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051638.545659951] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051638.546344276] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051638.547893062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051638.548917829] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051638.585189204] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051638.586714643] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746051638.587372973] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051638.587590114] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051638.588471074] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051638.589247950] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051638.589290983] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051638.644625871] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051638.645390786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051638.645780286] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051638.647121197] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051638.648309547] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051638.745005719] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051638.745673665] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051638.746348155] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051638.747577144] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051638.748627627] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051638.835486055] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051638.837421862] [sailbot.teensy]: Wind angle: 340 -[trim_sail-4] [INFO] [1746051638.838806661] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051638.838846848] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746051638.839400851] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051638.839780267] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051638.840676975] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051638.844303995] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051638.844771482] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051638.845430378] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051638.846604151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051638.847709372] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051638.945235153] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051638.945921857] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051638.946709860] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051638.948048282] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051638.948719498] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051638.957371564] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051638.958567600] [sailbot.main_algo]: Target Bearing: -84.88061509941188 -[main_algo-3] [INFO] [1746051638.959409235] [sailbot.main_algo]: Heading Difference: 107.92261509941193 -[main_algo-3] [INFO] [1746051638.960642708] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051638.961451389] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051638.962251928] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051638.963813967] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051638.963960511] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051639.002978095] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903608 Long: -76.50276305 -[main_algo-3] [INFO] [1746051639.003934922] [sailbot.main_algo]: Distance to destination: 52.042678254473515 -[vectornav-1] [INFO] [1746051639.004202739] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.52199999999999, 0.273, 4.869) -[main_algo-3] [INFO] [1746051639.005139935] [sailbot.main_algo]: Target Bearing: -84.88337315625296 -[main_algo-3] [INFO] [1746051639.006061342] [sailbot.main_algo]: Heading Difference: 107.92537315625299 -[main_algo-3] [INFO] [1746051639.007400430] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051639.008334101] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051639.009223710] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051639.010951180] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051639.045650227] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051639.045768862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051639.047000416] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051639.048037224] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051639.049196364] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051639.085765351] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051639.088050281] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746051639.089210091] [sailbot.teensy]: Actual sail angle: 85 -[trim_sail-4] [INFO] [1746051639.089473420] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051639.090232123] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051639.090899861] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051639.091148435] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051639.144827216] [sailbot.mux]: Published sail angle from algo: 85 -[mux-7] [INFO] [1746051639.146085786] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051639.148228437] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051639.149842497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051639.150893784] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051639.245179096] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051639.245676270] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051639.246907553] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051639.248013413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051639.249167730] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051639.335250686] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051639.336896097] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746051639.337437370] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051639.338666681] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051639.339396641] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051639.339469069] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051639.339776017] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051639.344443469] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051639.344865903] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051639.345563466] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051639.346586370] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051639.347731808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051639.444828147] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051639.445630790] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051639.446072120] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051639.447549122] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051639.448590760] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051639.457643356] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051639.458663310] [sailbot.main_algo]: Target Bearing: -84.88337315625296 -[main_algo-3] [INFO] [1746051639.459556829] [sailbot.main_algo]: Heading Difference: 106.40537315625295 -[main_algo-3] [INFO] [1746051639.460780359] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051639.461605643] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051639.462389465] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051639.463873889] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051639.463999508] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051639.502767155] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903601 Long: -76.50276319 -[main_algo-3] [INFO] [1746051639.503661134] [sailbot.main_algo]: Distance to destination: 52.036179546357026 -[vectornav-1] [INFO] [1746051639.504237954] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (21.259000000000015, -2.482, 4.632) -[main_algo-3] [INFO] [1746051639.504860808] [sailbot.main_algo]: Target Bearing: -84.86985679786102 -[main_algo-3] [INFO] [1746051639.505824933] [sailbot.main_algo]: Heading Difference: 106.39185679786101 -[main_algo-3] [INFO] [1746051639.507235439] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051639.508164113] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051639.509032666] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051639.511051735] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051639.544890809] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051639.545467175] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051639.546164193] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051639.547273176] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051639.548335306] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051639.585424537] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051639.587245142] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746051639.587832530] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051639.588190882] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051639.589073578] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051639.588573156] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051639.589955604] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051639.644842036] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051639.645534786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051639.646125132] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051639.647483327] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051639.648621767] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051639.745258132] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051639.746087081] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051639.746719150] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051639.748234864] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051639.749367480] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051639.835376270] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051639.837150345] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746051639.837710154] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746051639.839156676] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051639.839150693] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051639.840145284] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051639.841103118] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051639.844281468] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051639.844856407] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051639.845355621] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051639.846521025] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051639.847523637] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051639.944928766] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051639.945508455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051639.946197205] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051639.947417685] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051639.948450007] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051639.957523058] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051639.958482592] [sailbot.main_algo]: Target Bearing: -84.86985679786102 -[main_algo-3] [INFO] [1746051639.959359435] [sailbot.main_algo]: Heading Difference: 106.12885679786103 -[main_algo-3] [INFO] [1746051639.960587965] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051639.961402039] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051639.962195357] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051639.963716009] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051639.963786479] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051640.002831477] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903598 Long: -76.50276286 -[main_algo-3] [INFO] [1746051640.003793934] [sailbot.main_algo]: Distance to destination: 52.02996928650614 -[vectornav-1] [INFO] [1746051640.003940059] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (19.947000000000003, 1.208, 5.92) -[main_algo-3] [INFO] [1746051640.004904274] [sailbot.main_algo]: Target Bearing: -84.8991717628173 -[main_algo-3] [INFO] [1746051640.005890720] [sailbot.main_algo]: Heading Difference: 106.15817176281735 -[main_algo-3] [INFO] [1746051640.007236270] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051640.008122053] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051640.009026272] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051640.010805685] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051640.044837561] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051640.045497343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051640.046091275] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051640.047391726] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051640.048429486] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051640.085496484] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051640.087388705] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746051640.088396414] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051640.088873464] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746051640.089431267] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051640.089801796] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051640.090650232] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051640.144870605] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051640.145721262] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051640.146123695] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051640.147572182] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051640.148697759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051640.245145824] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051640.245833296] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051640.246440636] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051640.247666422] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051640.248775500] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051640.335220334] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051640.336923214] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746051640.337781597] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051640.337847306] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051640.338742145] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051640.339059540] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051640.339598003] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051640.344744791] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051640.345300013] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051640.345873079] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051640.347115613] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051640.348389572] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051640.444496991] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051640.444999587] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051640.447003772] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051640.447635410] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051640.450898944] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051640.457335007] [sailbot.main_algo]: Wind Direction: 345 -[main_algo-3] [INFO] [1746051640.458277490] [sailbot.main_algo]: Target Bearing: -84.8991717628173 -[main_algo-3] [INFO] [1746051640.459129160] [sailbot.main_algo]: Heading Difference: 104.84617176281733 -[main_algo-3] [INFO] [1746051640.460451023] [sailbot.main_algo]: Wind Direction: 345 -[main_algo-3] [INFO] [1746051640.461366820] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051640.462252792] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051640.463983509] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051640.464865058] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051640.501768988] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903572 Long: -76.50276277 -[main_algo-3] [INFO] [1746051640.502437280] [sailbot.main_algo]: Distance to destination: 52.000470142624884 -[vectornav-1] [INFO] [1746051640.502732426] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (22.711000000000013, -0.808, 6.729) -[main_algo-3] [INFO] [1746051640.503258171] [sailbot.main_algo]: Target Bearing: -84.90388941686379 -[main_algo-3] [INFO] [1746051640.504072686] [sailbot.main_algo]: Heading Difference: 104.85088941686377 -[main_algo-3] [INFO] [1746051640.505339061] [sailbot.main_algo]: Wind Direction: 345 -[main_algo-3] [INFO] [1746051640.506117321] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051640.506809930] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051640.508913875] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051640.544734283] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051640.545419027] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051640.545880472] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051640.547137353] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051640.548223126] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051640.585212023] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051640.586742475] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746051640.587599489] [sailbot.teensy]: Actual sail angle: 85 -[trim_sail-4] [INFO] [1746051640.587268399] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746051640.588293107] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051640.588428259] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051640.589235637] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051640.644553969] [sailbot.mux]: Published sail angle from algo: 85 -[mux-7] [INFO] [1746051640.645791159] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051640.646142722] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051640.648039987] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051640.648777412] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051640.744924503] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051640.745599759] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051640.746296382] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051640.747386488] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051640.748453483] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051640.835170803] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051640.836737353] [sailbot.teensy]: Wind angle: 345 -[trim_sail-4] [INFO] [1746051640.837251852] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051640.837678517] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051640.838608558] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051640.839460764] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051640.839527444] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746051640.844417582] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051640.844903623] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051640.845532158] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051640.846562645] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051640.847739562] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051640.945279094] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051640.946169321] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051640.946865536] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051640.948285923] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051640.949459000] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051640.957649240] [sailbot.main_algo]: Wind Direction: 345 -[main_algo-3] [INFO] [1746051640.958723759] [sailbot.main_algo]: Target Bearing: -84.90388941686379 -[main_algo-3] [INFO] [1746051640.959648606] [sailbot.main_algo]: Heading Difference: 107.61488941686378 -[main_algo-3] [INFO] [1746051640.960939921] [sailbot.main_algo]: Wind Direction: 345 -[main_algo-3] [INFO] [1746051640.961859237] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051640.962701815] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051640.964286880] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051640.964614766] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051641.002969113] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690358 Long: -76.50276278 -[main_algo-3] [INFO] [1746051641.004219197] [sailbot.main_algo]: Distance to destination: 52.00939189043245 -[vectornav-1] [INFO] [1746051641.004245932] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (27.033000000000015, -1.274, 5.423) -[main_algo-3] [INFO] [1746051641.005835840] [sailbot.main_algo]: Target Bearing: -84.9040307112505 -[main_algo-3] [INFO] [1746051641.006976907] [sailbot.main_algo]: Heading Difference: 107.61503071125048 -[main_algo-3] [INFO] [1746051641.008459151] [sailbot.main_algo]: Wind Direction: 345 -[main_algo-3] [INFO] [1746051641.009389694] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051641.010256096] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051641.011989760] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051641.044848735] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051641.045510979] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051641.046124981] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051641.047324309] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051641.048479010] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051641.085496664] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051641.087946203] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051641.088513555] [sailbot.teensy]: Wind angle: 344 -[mux-7] [INFO] [1746051641.088706438] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051641.090223415] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051641.091115952] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051641.091963366] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051641.144550080] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051641.145125982] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051641.145634712] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051641.146877696] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051641.147959773] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051641.244914467] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051641.245755589] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051641.246187467] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051641.247540265] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051641.248707061] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051641.335469427] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051641.337275435] [sailbot.teensy]: Wind angle: 344 -[teensy-2] [INFO] [1746051641.338207708] [sailbot.teensy]: Actual sail angle: 85 -[trim_sail-4] [INFO] [1746051641.338018933] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746051641.338577754] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051641.339098686] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051641.340026212] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051641.344563594] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051641.345060602] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051641.345867242] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051641.346853761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051641.347956652] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051641.445266541] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051641.446032785] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051641.447195524] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051641.448304687] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051641.449338211] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051641.457681335] [sailbot.main_algo]: Wind Direction: 344 -[main_algo-3] [INFO] [1746051641.458694494] [sailbot.main_algo]: Target Bearing: -84.9040307112505 -[main_algo-3] [INFO] [1746051641.459598593] [sailbot.main_algo]: Heading Difference: 111.93703071125049 -[main_algo-3] [INFO] [1746051641.460913121] [sailbot.main_algo]: Wind Direction: 344 -[main_algo-3] [INFO] [1746051641.461803295] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051641.462614858] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051641.464162847] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051641.464165658] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051641.502902068] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903574 Long: -76.50276246 -[main_algo-3] [INFO] [1746051641.504362527] [sailbot.main_algo]: Distance to destination: 51.99997162220871 -[vectornav-1] [INFO] [1746051641.504406753] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.668000000000006, -0.018, 3.989) -[main_algo-3] [INFO] [1746051641.505614712] [sailbot.main_algo]: Target Bearing: -84.93207506702423 -[main_algo-3] [INFO] [1746051641.506688453] [sailbot.main_algo]: Heading Difference: 111.96507506702426 -[main_algo-3] [INFO] [1746051641.508037672] [sailbot.main_algo]: Wind Direction: 344 -[main_algo-3] [INFO] [1746051641.508953143] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051641.509818957] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051641.511512682] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051641.545014162] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051641.545735438] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051641.546263072] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051641.547612465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051641.548789302] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051641.585561103] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051641.588135617] [sailbot.teensy]: Wind angle: 344 -[trim_sail-4] [INFO] [1746051641.588136380] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746051641.588822088] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051641.589200271] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051641.590112927] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051641.591000914] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051641.645095802] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051641.645845528] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051641.646810714] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051641.647769852] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051641.648858344] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051641.744990508] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051641.745664456] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051641.746201574] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051641.747531021] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051641.748618916] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051641.835396846] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051641.837217115] [sailbot.teensy]: Wind angle: 343 -[trim_sail-4] [INFO] [1746051641.837827726] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051641.838276871] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746051641.838705127] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051641.839211243] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051641.840097640] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051641.844495907] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051641.844972192] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051641.845639557] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051641.846714543] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051641.847928387] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051641.945006526] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051641.945757862] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051641.946380430] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051641.947830847] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051641.948882790] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051641.957457461] [sailbot.main_algo]: Wind Direction: 343 -[main_algo-3] [INFO] [1746051641.958527478] [sailbot.main_algo]: Target Bearing: -84.93207506702423 -[main_algo-3] [INFO] [1746051641.959367085] [sailbot.main_algo]: Heading Difference: 115.60007506702425 -[main_algo-3] [INFO] [1746051641.960612420] [sailbot.main_algo]: Wind Direction: 343 -[main_algo-3] [INFO] [1746051641.961439089] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051641.962257856] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051641.963800133] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051641.963937367] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051642.002764822] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903539 Long: -76.50276218 -[main_algo-3] [INFO] [1746051642.003770286] [sailbot.main_algo]: Distance to destination: 51.95888374524269 -[vectornav-1] [INFO] [1746051642.003868038] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.071000000000026, -0.087, 6.564) -[main_algo-3] [INFO] [1746051642.004909038] [sailbot.main_algo]: Target Bearing: -84.95277707894317 -[main_algo-3] [INFO] [1746051642.005905502] [sailbot.main_algo]: Heading Difference: 115.6207770789432 -[main_algo-3] [INFO] [1746051642.007345082] [sailbot.main_algo]: Wind Direction: 343 -[main_algo-3] [INFO] [1746051642.008305345] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051642.009110872] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051642.010718987] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051642.045073221] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051642.045653735] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051642.046319476] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051642.047652192] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051642.048694218] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051642.085441196] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051642.087757106] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051642.088394705] [sailbot.teensy]: Wind angle: 343 -[mux-7] [INFO] [1746051642.089257307] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051642.089740822] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051642.091102974] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051642.092055234] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051642.144934318] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051642.145621445] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051642.146160106] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051642.147600051] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051642.148637180] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051642.244847773] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051642.245671608] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051642.246117898] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051642.247633700] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051642.248694659] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051642.335165571] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051642.337424272] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051642.337737590] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746051642.338762151] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746051642.339080829] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051642.340129220] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051642.341165779] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051642.344363428] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051642.344885497] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051642.345528736] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051642.346538067] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051642.347732853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051642.445224074] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051642.445980704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051642.446700394] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051642.448452119] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051642.449604813] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051642.457642326] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051642.458687915] [sailbot.main_algo]: Target Bearing: -84.95277707894317 -[main_algo-3] [INFO] [1746051642.459607277] [sailbot.main_algo]: Heading Difference: 114.02377707894323 -[main_algo-3] [INFO] [1746051642.460947465] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051642.461842149] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051642.462660959] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051642.464266530] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051642.464283891] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051642.502630790] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903505 Long: -76.50276187 -[vectornav-1] [INFO] [1746051642.503723619] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (27.327999999999975, -1.172, 6.322) -[main_algo-3] [INFO] [1746051642.504198204] [sailbot.main_algo]: Distance to destination: 51.91864754457947 -[main_algo-3] [INFO] [1746051642.505220925] [sailbot.main_algo]: Target Bearing: -84.97634785935898 -[main_algo-3] [INFO] [1746051642.506218352] [sailbot.main_algo]: Heading Difference: 114.04734785935898 -[main_algo-3] [INFO] [1746051642.507662807] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051642.508613901] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051642.509481481] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051642.511270810] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051642.543997161] [sailbot.mux]: Published sail angle from algo: 85 -[mux-7] [INFO] [1746051642.544892535] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051642.545051345] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051642.546495781] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051642.547567667] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051642.584613070] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051642.585805896] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746051642.586546485] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051642.587272853] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051642.588042065] [sailbot.teensy]: Dropped packets: 3 -[trim_sail-4] [INFO] [1746051642.587676717] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746051642.589318134] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746051642.644847944] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051642.645702007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051642.646150174] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051642.647698809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051642.649039853] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051642.745226966] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051642.746145489] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051642.746646160] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051642.748265393] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051642.749437595] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051642.835409276] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051642.837925377] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051642.837959305] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746051642.838875463] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746051642.839236175] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051642.839266957] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051642.839631419] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051642.844504890] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051642.845074828] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051642.845740319] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051642.846825977] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051642.847895168] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051642.944899677] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051642.945783584] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051642.946181283] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051642.947647659] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051642.948679232] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051642.957342658] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051642.958230505] [sailbot.main_algo]: Target Bearing: -84.97634785935898 -[main_algo-3] [INFO] [1746051642.959065631] [sailbot.main_algo]: Heading Difference: 112.30434785935893 -[main_algo-3] [INFO] [1746051642.960301377] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051642.961130227] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051642.961917883] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051642.963453929] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051642.963636679] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051643.002764915] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903516 Long: -76.50276143 -[vectornav-1] [INFO] [1746051643.003880530] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (26.617999999999995, -0.23, 4.987) -[main_algo-3] [INFO] [1746051643.003873879] [sailbot.main_algo]: Distance to destination: 51.92700386728637 -[main_algo-3] [INFO] [1746051643.004960977] [sailbot.main_algo]: Target Bearing: -85.0174625349216 -[main_algo-3] [INFO] [1746051643.005918475] [sailbot.main_algo]: Heading Difference: 112.34546253492158 -[main_algo-3] [INFO] [1746051643.007254586] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051643.008124369] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051643.008964792] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051643.010531414] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051643.044931018] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051643.045684617] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051643.046313191] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051643.047894161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051643.048962634] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051643.085616854] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051643.088083682] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746051643.088122742] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051643.089148773] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746051643.090017502] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051643.090079542] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051643.091009223] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051643.144392725] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051643.144910188] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051643.145376117] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051643.146692308] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051643.147674880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051643.245437385] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051643.245919129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051643.246680096] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051643.247724545] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051643.248384831] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051643.335179346] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051643.337421041] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746051643.337957605] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051643.338091474] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746051643.339630935] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051643.340296808] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051643.340658472] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051643.344402233] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051643.345058772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051643.345710416] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051643.346743418] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051643.347833308] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051643.445265827] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051643.445748965] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051643.446803114] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051643.447695741] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051643.449100551] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051643.457772855] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051643.458786114] [sailbot.main_algo]: Target Bearing: -85.0174625349216 -[main_algo-3] [INFO] [1746051643.459701951] [sailbot.main_algo]: Heading Difference: 111.6354625349216 -[main_algo-3] [INFO] [1746051643.461028692] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051643.461922423] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051643.462757899] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051643.464493298] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051643.464883513] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051643.503186363] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903526 Long: -76.50276116 -[main_algo-3] [INFO] [1746051643.504393341] [sailbot.main_algo]: Distance to destination: 51.935734668609484 -[vectornav-1] [INFO] [1746051643.504590828] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (28.019999999999982, -0.599, 5.052) -[main_algo-3] [INFO] [1746051643.506091801] [sailbot.main_algo]: Target Bearing: -85.04309973423335 -[main_algo-3] [INFO] [1746051643.507118732] [sailbot.main_algo]: Heading Difference: 111.66109973423335 -[main_algo-3] [INFO] [1746051643.508492837] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051643.509359497] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051643.510195770] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051643.511991408] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051643.544955580] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051643.545604536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051643.546361575] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051643.547895679] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051643.548998587] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051643.585290671] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051643.586931882] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746051643.587697807] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051643.587919386] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051643.588849645] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051643.588892997] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051643.589777023] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051643.645062823] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051643.645853909] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051643.646541161] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051643.648104123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051643.649208995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051643.744866730] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051643.745576959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051643.746152162] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051643.747660084] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051643.748738461] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051643.835240343] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051643.837001218] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746051643.837482589] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051643.838005291] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051643.838973324] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051643.839177394] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051643.840147979] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051643.844653718] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051643.845525619] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051643.845808047] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051643.847244497] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051643.848301089] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051643.944889224] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051643.945534942] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051643.946132087] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051643.947360927] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051643.948415390] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051643.957616651] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051643.958650903] [sailbot.main_algo]: Target Bearing: -85.04309973423335 -[main_algo-3] [INFO] [1746051643.959579555] [sailbot.main_algo]: Heading Difference: 113.06309973423333 -[main_algo-3] [INFO] [1746051643.960807270] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051643.961622670] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051643.962389706] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051643.963941595] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051643.964043386] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051644.002644864] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.4690354 Long: -76.50276082 -[main_algo-3] [INFO] [1746051644.003620436] [sailbot.main_algo]: Distance to destination: 51.94829845806923 -[vectornav-1] [INFO] [1746051644.003772496] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.394999999999982, 0.108, 4.765) -[main_algo-3] [INFO] [1746051644.004762139] [sailbot.main_algo]: Target Bearing: -85.07554973457302 -[main_algo-3] [INFO] [1746051644.005723590] [sailbot.main_algo]: Heading Difference: 113.09554973457301 -[main_algo-3] [INFO] [1746051644.007005917] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051644.007911500] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051644.008978478] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051644.010571415] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051644.044995440] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051644.045822929] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051644.046360043] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051644.047715538] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051644.048797412] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051644.085344030] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051644.087264445] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746051644.087510750] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051644.088221891] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051644.089026504] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051644.089317732] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051644.089953681] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051644.145259087] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051644.146114877] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051644.146748476] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051644.148365099] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051644.149397786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051644.245018956] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051644.245663008] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051644.246283533] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051644.247550763] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051644.248663151] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051644.335607422] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051644.338692718] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051644.338848164] [sailbot.teensy]: Wind angle: 342 -[mux-7] [INFO] [1746051644.339167321] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051644.339255716] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051644.339649136] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051644.340013501] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051644.344377421] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051644.344977146] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051644.345487270] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051644.346692347] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051644.347843467] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051644.444826995] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051644.445479448] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051644.446021404] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051644.447218801] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051644.448415326] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051644.457688218] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051644.458729773] [sailbot.main_algo]: Target Bearing: -85.07554973457302 -[main_algo-3] [INFO] [1746051644.459653591] [sailbot.main_algo]: Heading Difference: 114.47054973457301 -[main_algo-3] [INFO] [1746051644.460985174] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051644.461838487] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051644.462604201] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051644.464123577] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051644.464309600] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051644.502803905] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903558 Long: -76.5027604 -[main_algo-3] [INFO] [1746051644.503488016] [sailbot.main_algo]: Distance to destination: 51.96462121820037 -[vectornav-1] [INFO] [1746051644.503857229] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.312000000000012, -1.147, 5.476) -[main_algo-3] [INFO] [1746051644.504538406] [sailbot.main_algo]: Target Bearing: -85.11570218741113 -[main_algo-3] [INFO] [1746051644.505436644] [sailbot.main_algo]: Heading Difference: 114.51070218741108 -[main_algo-3] [INFO] [1746051644.506673326] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051644.507497386] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051644.508325178] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051644.510350861] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051644.545025047] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051644.545677030] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051644.546585242] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051644.547535567] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051644.548720389] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051644.585649302] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051644.587769465] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746051644.588775874] [sailbot.teensy]: Actual sail angle: 85 -[trim_sail-4] [INFO] [1746051644.588465048] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746051644.588983185] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051644.589665861] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051644.590559615] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051644.643950732] [sailbot.mux]: Published sail angle from algo: 85 -[mux-7] [INFO] [1746051644.644803959] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051644.644440136] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051644.645606142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051644.646373720] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051644.745057564] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051644.745702947] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051644.746502078] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051644.747638449] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051644.748408307] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051644.835389545] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051644.837746296] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051644.837988567] [sailbot.teensy]: Wind angle: 342 -[teensy-2] [INFO] [1746051644.838946325] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746051644.839241563] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051644.839823618] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051644.840741022] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051644.844286762] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051644.844847648] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051644.846174563] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051644.846623461] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051644.847821050] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051644.944881830] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051644.945572434] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051644.946183148] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051644.947375507] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051644.948442672] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051644.957727174] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051644.958852465] [sailbot.main_algo]: Target Bearing: -85.11570218741113 -[main_algo-3] [INFO] [1746051644.959781375] [sailbot.main_algo]: Heading Difference: 116.42770218741111 -[main_algo-3] [INFO] [1746051644.961163478] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051644.962070383] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051644.962922068] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051644.964477925] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051644.964620545] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051645.002893844] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903573 Long: -76.50275982 -[vectornav-1] [INFO] [1746051645.004214727] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.03899999999999, -0.056, 5.339) -[main_algo-3] [INFO] [1746051645.004467920] [sailbot.main_algo]: Distance to destination: 51.976313770808446 -[main_algo-3] [INFO] [1746051645.005613048] [sailbot.main_algo]: Target Bearing: -85.1698806635846 -[main_algo-3] [INFO] [1746051645.006616446] [sailbot.main_algo]: Heading Difference: 116.4818806635846 -[main_algo-3] [INFO] [1746051645.008005821] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051645.008922741] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051645.009784921] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051645.011448743] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051645.044614127] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051645.045430360] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051645.045768872] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051645.047331826] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051645.048392709] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051645.085264782] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051645.087601656] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746051645.088348291] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746051645.089143789] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051645.090479354] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051645.091388885] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051645.092258251] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051645.145080247] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051645.145563946] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051645.146632715] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051645.147550975] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051645.148695346] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051645.245335889] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051645.245812461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051645.247156823] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051645.247919424] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051645.248823818] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051645.335560623] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051645.337654376] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746051645.338881919] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746051645.340034564] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051645.340297937] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051645.341296145] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051645.342193979] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051645.344479533] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051645.344974786] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051645.346663170] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051645.346783732] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051645.347883253] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051645.445067591] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051645.445641647] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051645.446417967] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051645.447592269] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051645.448675297] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051645.457631938] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051645.458679374] [sailbot.main_algo]: Target Bearing: -85.1698806635846 -[main_algo-3] [INFO] [1746051645.459595149] [sailbot.main_algo]: Heading Difference: 117.20888066358458 -[main_algo-3] [INFO] [1746051645.460833026] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051645.461681979] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051645.462498816] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051645.464049072] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051645.464228745] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051645.502686124] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903579 Long: -76.50275946 -[main_algo-3] [INFO] [1746051645.503579769] [sailbot.main_algo]: Distance to destination: 51.97993705023333 -[vectornav-1] [INFO] [1746051645.503720907] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.173, 0.222, 5.815) -[main_algo-3] [INFO] [1746051645.504669686] [sailbot.main_algo]: Target Bearing: -85.20308608858711 -[main_algo-3] [INFO] [1746051645.505611532] [sailbot.main_algo]: Heading Difference: 117.24208608858709 -[main_algo-3] [INFO] [1746051645.507056380] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051645.507999234] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051645.508883748] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051645.510698203] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051645.545055037] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051645.545921462] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051645.546322731] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051645.547798774] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051645.548808516] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051645.585361365] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051645.587574755] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051645.587792114] [sailbot.teensy]: Wind angle: 342 -[mux-7] [INFO] [1746051645.588428270] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051645.588770665] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051645.589674654] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051645.590527210] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051645.644991035] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051645.645702343] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051645.646510304] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051645.647552773] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051645.648695557] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051645.745258205] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051645.745756072] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051645.746564447] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051645.747587128] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051645.748665854] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051645.835086821] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051645.836901171] [sailbot.teensy]: Wind angle: 342 -[trim_sail-4] [INFO] [1746051645.837379905] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051645.837828987] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051645.838244136] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051645.838269393] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051645.838647381] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051645.844461117] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051645.845026772] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051645.845910688] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051645.846728272] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051645.847826316] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051645.945322301] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051645.945845124] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051645.946794006] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051645.947915627] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051645.949053177] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051645.957645932] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051645.958716987] [sailbot.main_algo]: Target Bearing: -85.20308608858711 -[main_algo-3] [INFO] [1746051645.959630543] [sailbot.main_algo]: Heading Difference: 118.3760860885871 -[main_algo-3] [INFO] [1746051645.960891404] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051645.961731718] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051645.962538957] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051645.964252401] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051645.964344247] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051646.002702915] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903582 Long: -76.50275952 -[main_algo-3] [INFO] [1746051646.003706867] [sailbot.main_algo]: Distance to destination: 51.98375143549285 -[vectornav-1] [INFO] [1746051646.004003251] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (33.11200000000002, -1.518, 5.66) -[main_algo-3] [INFO] [1746051646.004986387] [sailbot.main_algo]: Target Bearing: -85.19804843965014 -[main_algo-3] [INFO] [1746051646.006453515] [sailbot.main_algo]: Heading Difference: 118.37104843965017 -[main_algo-3] [INFO] [1746051646.007854093] [sailbot.main_algo]: Wind Direction: 342 -[main_algo-3] [INFO] [1746051646.008815415] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051646.009689064] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051646.011354307] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051646.044961407] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051646.045642219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051646.046237349] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051646.047502451] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051646.048667028] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051646.085267060] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051646.087464412] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051646.087923937] [sailbot.teensy]: Wind angle: 341 -[mux-7] [INFO] [1746051646.088841968] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051646.088917216] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051646.089797505] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051646.090669295] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051646.145059932] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051646.145763134] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051646.146348783] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051646.147670634] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051646.148683983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051646.245007856] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051646.245855447] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051646.246473167] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051646.247762831] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051646.248830773] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051646.335119220] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051646.337440693] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746051646.337637599] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051646.338346787] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746051646.338408824] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051646.339220757] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051646.340050064] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051646.344433037] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051646.344900128] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051646.345500074] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051646.346582469] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051646.347548569] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051646.445214996] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051646.445874689] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051646.446610444] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051646.447831515] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051646.448342175] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051646.457523909] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051646.458501205] [sailbot.main_algo]: Target Bearing: -85.19804843965014 -[main_algo-3] [INFO] [1746051646.459389272] [sailbot.main_algo]: Heading Difference: 118.31004843965013 -[main_algo-3] [INFO] [1746051646.460638260] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051646.461452974] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051646.462242885] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051646.463778611] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051646.463778808] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051646.502698371] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903595 Long: -76.50275948 -[main_algo-3] [INFO] [1746051646.503638915] [sailbot.main_algo]: Distance to destination: 51.99778164445847 -[vectornav-1] [INFO] [1746051646.503729110] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.363999999999976, 0.42, 4.928) -[main_algo-3] [INFO] [1746051646.504720182] [sailbot.main_algo]: Target Bearing: -85.20326605754406 -[main_algo-3] [INFO] [1746051646.505689328] [sailbot.main_algo]: Heading Difference: 118.31526605754408 -[main_algo-3] [INFO] [1746051646.506988826] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051646.507859434] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051646.508753215] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051646.510317727] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051646.544846215] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051646.545474488] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051646.546045922] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051646.547226910] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051646.548292325] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051646.585089574] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051646.587064810] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051646.587344829] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746051646.588411919] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746051646.588789784] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051646.589288394] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051646.590105681] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051646.644714315] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051646.645486822] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051646.645912633] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051646.647287569] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051646.648642100] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051646.744336816] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051646.744883663] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051646.745394033] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051646.746609713] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051646.747469529] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051646.835191718] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051646.836878608] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746051646.837541226] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746051646.838665141] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051646.839023765] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051646.839955487] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051646.840759777] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051646.844327127] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051646.844786977] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051646.845374273] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051646.846362916] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051646.847277018] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051646.944920952] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051646.945845428] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051646.946578643] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051646.947801733] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051646.948589594] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051646.957372784] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051646.958351746] [sailbot.main_algo]: Target Bearing: -85.20326605754406 -[main_algo-3] [INFO] [1746051646.959226962] [sailbot.main_algo]: Heading Difference: 117.56726605754403 -[main_algo-3] [INFO] [1746051646.960468591] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051646.961301104] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051646.962088532] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051646.963685426] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051646.963843903] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051647.002504235] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903609 Long: -76.50275951 -[main_algo-3] [INFO] [1746051647.003433753] [sailbot.main_algo]: Distance to destination: 52.01349974029889 -[vectornav-1] [INFO] [1746051647.003586357] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.839, -0.419, 5.601) -[main_algo-3] [INFO] [1746051647.004576447] [sailbot.main_algo]: Target Bearing: -85.2022970948839 -[main_algo-3] [INFO] [1746051647.005532416] [sailbot.main_algo]: Heading Difference: 117.56629709488391 -[main_algo-3] [INFO] [1746051647.006783170] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051647.007582838] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051647.008394777] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051647.009961762] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051647.044964078] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051647.045746661] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051647.046224485] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051647.047565597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051647.048574054] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051647.085290847] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051647.087077774] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746051647.087728680] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051647.087998959] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051647.088874350] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051647.089102877] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051647.089808786] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051647.144777241] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051647.145478611] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051647.146040895] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051647.147193435] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051647.148334265] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051647.244906859] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051647.245560649] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051647.246168693] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051647.247581465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051647.248637705] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051647.335155811] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051647.337307015] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051647.338607695] [sailbot.teensy]: Wind angle: 341 -[mux-7] [INFO] [1746051647.338789363] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051647.339588202] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051647.340236110] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051647.340594355] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051647.344550096] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051647.345567974] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051647.345646989] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051647.347430017] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051647.348479103] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051647.444807094] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051647.445872371] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051647.446002411] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051647.447598734] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051647.448801747] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051647.457662843] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051647.458753670] [sailbot.main_algo]: Target Bearing: -85.2022970948839 -[main_algo-3] [INFO] [1746051647.459684498] [sailbot.main_algo]: Heading Difference: 117.04129709488393 -[main_algo-3] [INFO] [1746051647.460943962] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051647.461776055] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051647.462592048] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051647.464179024] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051647.464264893] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051647.502805514] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903609 Long: -76.50275982 -[main_algo-3] [INFO] [1746051647.503830776] [sailbot.main_algo]: Distance to destination: 52.01608725460465 -[vectornav-1] [INFO] [1746051647.504225671] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.973000000000013, -0.745, 5.686) -[main_algo-3] [INFO] [1746051647.505067210] [sailbot.main_algo]: Target Bearing: -85.17436544556112 -[main_algo-3] [INFO] [1746051647.506063303] [sailbot.main_algo]: Heading Difference: 117.01336544556113 -[main_algo-3] [INFO] [1746051647.507444194] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051647.508387209] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051647.509268062] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051647.511013270] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051647.544942266] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051647.545802708] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051647.546188273] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051647.547829163] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051647.548869577] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051647.585098412] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051647.587074446] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051647.587383735] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746051647.588356411] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746051647.589115615] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051647.589338089] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051647.590262394] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051647.644779614] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051647.645393363] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051647.647419199] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051647.647580532] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051647.648710730] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051647.745272006] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051647.745752750] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051647.746905763] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051647.748002096] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051647.748467717] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051647.835314325] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051647.837018377] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746051647.837885949] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051647.838155276] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746051647.838489147] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051647.838559203] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051647.839118156] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051647.844501466] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051647.845477119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051647.845713021] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051647.847234770] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051647.848248045] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051647.944796869] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051647.945446107] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051647.946272249] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051647.947413388] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051647.948804635] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051647.957464005] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051647.958762645] [sailbot.main_algo]: Target Bearing: -85.17436544556112 -[main_algo-3] [INFO] [1746051647.959644275] [sailbot.main_algo]: Heading Difference: 117.14736544556115 -[main_algo-3] [INFO] [1746051647.960880865] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051647.961694874] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051647.962468948] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051647.964036915] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051647.964215156] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051648.002889938] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903606 Long: -76.50275982 -[vectornav-1] [INFO] [1746051648.004020677] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.82499999999999, -0.306, 5.024) -[main_algo-3] [INFO] [1746051648.004013937] [sailbot.main_algo]: Distance to destination: 52.012772785611645 -[main_algo-3] [INFO] [1746051648.005351395] [sailbot.main_algo]: Target Bearing: -85.17399197572725 -[main_algo-3] [INFO] [1746051648.006409637] [sailbot.main_algo]: Heading Difference: 117.14699197572725 -[main_algo-3] [INFO] [1746051648.007793868] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051648.008722511] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051648.009603291] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051648.011250746] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051648.044932841] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051648.045733340] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051648.046180882] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051648.047625392] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051648.048747458] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051648.085506466] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051648.087360909] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746051648.088345260] [sailbot.teensy]: Actual sail angle: 85 -[trim_sail-4] [INFO] [1746051648.087700030] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746051648.088525405] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051648.089310200] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051648.090430944] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051648.144956142] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051648.145853779] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051648.146250816] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051648.147748775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051648.148845235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051648.244926942] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051648.245657325] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051648.246206634] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051648.247612143] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051648.248493470] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051648.335129286] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051648.336823255] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746051648.337712213] [sailbot.teensy]: Actual sail angle: 85 -[trim_sail-4] [INFO] [1746051648.337843886] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051648.338657251] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051648.339540107] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051648.339755859] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746051648.344392649] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051648.345097892] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051648.345542174] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051648.346819474] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051648.348089384] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051648.445319855] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051648.445967496] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051648.446829215] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051648.448430059] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051648.449601488] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051648.457582217] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051648.458649394] [sailbot.main_algo]: Target Bearing: -85.17399197572725 -[main_algo-3] [INFO] [1746051648.459552246] [sailbot.main_algo]: Heading Difference: 116.99899197572722 -[main_algo-3] [INFO] [1746051648.460874529] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051648.461747169] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051648.462621401] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051648.464148871] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051648.464306924] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051648.502768941] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903637 Long: -76.50275993 -[main_algo-3] [INFO] [1746051648.503621573] [sailbot.main_algo]: Distance to destination: 52.04794297860349 -[vectornav-1] [INFO] [1746051648.503851211] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.23399999999998, -0.188, 5.195) -[main_algo-3] [INFO] [1746051648.504686162] [sailbot.main_algo]: Target Bearing: -85.16794413478962 -[main_algo-3] [INFO] [1746051648.505628179] [sailbot.main_algo]: Heading Difference: 116.99294413478958 -[main_algo-3] [INFO] [1746051648.506989509] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051648.507861463] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051648.508715925] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051648.510424594] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051648.544897383] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051648.545686304] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051648.546282010] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051648.547757728] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051648.548947604] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051648.585388699] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051648.587860617] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051648.588458844] [sailbot.teensy]: Wind angle: 341 -[mux-7] [INFO] [1746051648.588644036] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051648.589464612] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051648.590360125] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051648.591174525] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051648.645165696] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051648.645724968] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051648.646821140] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051648.647810590] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051648.648925880] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051648.744475667] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051648.745308065] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051648.745587552] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051648.747223023] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051648.748463296] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051648.835397784] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051648.837106933] [sailbot.teensy]: Wind angle: 341 -[mux-7] [INFO] [1746051648.838681758] [sailbot.mux]: algo sail angle: 85 -[trim_sail-4] [INFO] [1746051648.838709036] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051648.838758949] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051648.839713135] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051648.840582745] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051648.844309452] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051648.844824242] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051648.845499111] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051648.846433829] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051648.847481471] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051648.945195077] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051648.945887109] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051648.946739208] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051648.948050584] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051648.949171821] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051648.957716926] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051648.958751142] [sailbot.main_algo]: Target Bearing: -85.16794413478962 -[main_algo-3] [INFO] [1746051648.959654082] [sailbot.main_algo]: Heading Difference: 117.40194413478957 -[main_algo-3] [INFO] [1746051648.960987052] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051648.961860315] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051648.962635189] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051648.964248564] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051648.964535949] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051649.002762137] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903639 Long: -76.50275982 -[vectornav-1] [INFO] [1746051649.003982575] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.634000000000015, -1.099, 5.94) -[main_algo-3] [INFO] [1746051649.004088646] [sailbot.main_algo]: Distance to destination: 52.04923206598312 -[main_algo-3] [INFO] [1746051649.005539761] [sailbot.main_algo]: Target Bearing: -85.17809752808836 -[main_algo-3] [INFO] [1746051649.006683045] [sailbot.main_algo]: Heading Difference: 117.41209752808834 -[main_algo-3] [INFO] [1746051649.008112294] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051649.009052397] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051649.009910164] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051649.011529457] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051649.045021083] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051649.046191092] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051649.046912493] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051649.048238573] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051649.049363280] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051649.085145940] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051649.086769418] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746051649.087595458] [sailbot.teensy]: Actual sail angle: 85 -[trim_sail-4] [INFO] [1746051649.087175322] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746051649.087627429] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051649.088432114] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051649.089205908] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051649.144940508] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051649.145636808] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051649.146238876] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051649.147572824] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051649.148658851] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051649.245172281] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051649.245865121] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051649.246497373] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051649.247599597] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051649.248086185] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051649.335301901] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051649.337037979] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746051649.337579732] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051649.337978015] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746051649.338809066] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051649.338894638] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051649.339804017] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051649.344412916] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051649.345078924] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051649.345550293] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051649.346788030] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051649.347908224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051649.445418160] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051649.446126798] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051649.446916283] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051649.448321775] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051649.449515124] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051649.457516125] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051649.458521268] [sailbot.main_algo]: Target Bearing: -85.17809752808836 -[main_algo-3] [INFO] [1746051649.459432126] [sailbot.main_algo]: Heading Difference: 116.81209752808837 -[main_algo-3] [INFO] [1746051649.460670008] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051649.461515300] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051649.462330608] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051649.463955776] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051649.464047065] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051649.502956038] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903642 Long: -76.5027596 -[main_algo-3] [INFO] [1746051649.504049601] [sailbot.main_algo]: Distance to destination: 52.050710272833655 -[vectornav-1] [INFO] [1746051649.504272686] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.836000000000013, 0.553, 4.941) -[main_algo-3] [INFO] [1746051649.505326058] [sailbot.main_algo]: Target Bearing: -85.19827891046995 -[main_algo-3] [INFO] [1746051649.506347991] [sailbot.main_algo]: Heading Difference: 116.83227891047 -[main_algo-3] [INFO] [1746051649.507720060] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051649.508638501] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051649.509514131] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051649.511209601] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051649.544911059] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051649.545568244] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051649.546232859] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051649.547479155] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051649.548630766] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051649.585222460] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051649.587361210] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746051649.587949620] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051649.588658257] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746051649.589793180] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051649.590651913] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051649.591476638] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051649.644858568] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051649.645510998] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051649.646339081] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051649.647322941] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051649.648502224] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051649.744925681] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051649.745708669] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051649.746439102] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051649.747657132] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051649.748849946] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051649.835636813] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051649.838345113] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051649.839103135] [sailbot.teensy]: Wind angle: 341 -[mux-7] [INFO] [1746051649.839862168] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051649.840051220] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051649.841417448] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051649.842364415] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051649.844637069] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051649.845223959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051649.845834790] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051649.847103276] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051649.848316480] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051649.945391914] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051649.945895782] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051649.947085639] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051649.948039254] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051649.949222692] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051649.957643082] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051649.958751596] [sailbot.main_algo]: Target Bearing: -85.19827891046995 -[main_algo-3] [INFO] [1746051649.959674108] [sailbot.main_algo]: Heading Difference: 116.03427891047 -[main_algo-3] [INFO] [1746051649.961023613] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051649.961927084] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051649.962765053] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051649.964494818] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051649.964628994] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051650.002751982] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903667 Long: -76.5027595 -[vectornav-1] [INFO] [1746051650.003867459] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.12900000000002, -1.319, 5.713) -[main_algo-3] [INFO] [1746051650.003827843] [sailbot.main_algo]: Distance to destination: 52.077499933289594 -[main_algo-3] [INFO] [1746051650.005129498] [sailbot.main_algo]: Target Bearing: -85.21037412804868 -[main_algo-3] [INFO] [1746051650.006108284] [sailbot.main_algo]: Heading Difference: 116.04637412804868 -[main_algo-3] [INFO] [1746051650.007516118] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051650.008443437] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051650.009277032] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051650.010817069] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051650.044915211] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051650.045606320] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051650.046213628] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051650.047568576] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051650.048602445] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051650.085253733] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051650.087124316] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746051650.087727214] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051650.088099653] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051650.089070053] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051650.089990301] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051650.090123108] [sailbot.mux]: algo sail angle: 85 -[mux-7] [INFO] [1746051650.144903040] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051650.145651616] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051650.146686894] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051650.147869885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051650.149041319] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051650.244992751] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051650.245762995] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051650.246488945] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051650.247635172] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051650.248694048] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051650.335430417] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051650.337678982] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051650.337838242] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746051650.338528484] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051650.338913656] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051650.339008088] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051650.339311814] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051650.344471794] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051650.345020461] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051650.345946234] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051650.346698321] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051650.347743369] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051650.444939097] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051650.445646332] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051650.446241309] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051650.447564768] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051650.448615495] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051650.457397935] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051650.458384291] [sailbot.main_algo]: Target Bearing: -85.21037412804868 -[main_algo-3] [INFO] [1746051650.459335731] [sailbot.main_algo]: Heading Difference: 116.33937412804869 -[main_algo-3] [INFO] [1746051650.460591849] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051650.461442060] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051650.462238396] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051650.463760426] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051650.463786815] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051650.502918460] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903682 Long: -76.50275925 -[vectornav-1] [INFO] [1746051650.504292451] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.055000000000007, -0.079, 4.618) -[main_algo-3] [INFO] [1746051650.504334834] [sailbot.main_algo]: Distance to destination: 52.09199921119137 -[main_algo-3] [INFO] [1746051650.505431880] [sailbot.main_algo]: Target Bearing: -85.23472020353178 -[main_algo-3] [INFO] [1746051650.506431526] [sailbot.main_algo]: Heading Difference: 116.36372020353178 -[main_algo-3] [INFO] [1746051650.507931518] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051650.508940337] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051650.509849139] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051650.511543222] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051650.544940493] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051650.545793007] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051650.546224879] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051650.547745102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051650.548800824] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051650.585260766] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051650.586912376] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746051650.587806607] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051650.588857353] [sailbot.teensy]: Actual tail angle: 40 -[trim_sail-4] [INFO] [1746051650.587492092] [sailbot.trim_sail]: Sail Angle: "85" -[mux-7] [INFO] [1746051650.587959553] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051650.589740557] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051650.645105755] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051650.645800706] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051650.646416904] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051650.648293623] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051650.649468064] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051650.745175260] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051650.745930536] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051650.746608760] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051650.747625016] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051650.748099350] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051650.834833852] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051650.836170370] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746051650.837089900] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051650.837943309] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051650.838473235] [sailbot.mux]: algo sail angle: 85 -[trim_sail-4] [INFO] [1746051650.838517081] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051650.838772178] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051650.844343643] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051650.844858733] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051650.845437719] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051650.846807071] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051650.847866165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051650.944744987] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051650.945351288] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051650.945963230] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051650.947098541] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051650.948203859] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051650.957495925] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051650.958836790] [sailbot.main_algo]: Target Bearing: -85.23472020353178 -[main_algo-3] [INFO] [1746051650.959720378] [sailbot.main_algo]: Heading Difference: 116.28972020353177 -[main_algo-3] [INFO] [1746051650.960955161] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051650.961809517] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051650.962590600] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051650.964174462] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051650.964239568] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051651.002734414] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903721 Long: -76.50275893 -[main_algo-3] [INFO] [1746051651.003856562] [sailbot.main_algo]: Distance to destination: 52.13245109861024 -[vectornav-1] [INFO] [1746051651.004221828] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.06099999999998, 0.162, 5.356) -[main_algo-3] [INFO] [1746051651.004947606] [sailbot.main_algo]: Target Bearing: -85.26828424725518 -[main_algo-3] [INFO] [1746051651.005916789] [sailbot.main_algo]: Heading Difference: 116.32328424725517 -[main_algo-3] [INFO] [1746051651.007241335] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051651.008104431] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051651.008968570] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051651.010595330] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051651.044987652] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051651.045743142] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051651.046264245] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051651.047610320] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051651.048790291] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051651.085360351] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051651.087161911] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746051651.087895830] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051651.088127042] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051651.089039848] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051651.089148606] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051651.089879410] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051651.145038754] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051651.145654579] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051651.146333691] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051651.147734413] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051651.148769430] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051651.244911004] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051651.245687607] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051651.246225877] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051651.247688902] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051651.248956867] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051651.335502107] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051651.338202849] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051651.338437741] [sailbot.teensy]: Wind angle: 341 -[teensy-2] [INFO] [1746051651.338846635] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746051651.338917667] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051651.339197052] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051651.339584858] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051651.344634526] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051651.345580940] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051651.345889724] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051651.347352179] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051651.348495087] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051651.445280460] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051651.446002185] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051651.446730642] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051651.448066062] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051651.449245702] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051651.457749328] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051651.458852255] [sailbot.main_algo]: Target Bearing: -85.26828424725518 -[main_algo-3] [INFO] [1746051651.459796601] [sailbot.main_algo]: Heading Difference: 116.32928424725515 -[main_algo-3] [INFO] [1746051651.461148215] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051651.462065936] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051651.462932013] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051651.464510074] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051651.464549489] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051651.502903110] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903739 Long: -76.50275889 -[main_algo-3] [INFO] [1746051651.503935328] [sailbot.main_algo]: Distance to destination: 52.15201218705198 -[vectornav-1] [INFO] [1746051651.504114214] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.406999999999982, -1.015, 5.784) -[main_algo-3] [INFO] [1746051651.505292765] [sailbot.main_algo]: Target Bearing: -85.27407837936236 -[main_algo-3] [INFO] [1746051651.506225384] [sailbot.main_algo]: Heading Difference: 116.33507837936236 -[main_algo-3] [INFO] [1746051651.507638640] [sailbot.main_algo]: Wind Direction: 341 -[main_algo-3] [INFO] [1746051651.508571150] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051651.509416301] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051651.511132854] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051651.544980684] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051651.545797151] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051651.546269899] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051651.547766805] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051651.548801108] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051651.585127913] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051651.586756707] [sailbot.teensy]: Wind angle: 341 -[trim_sail-4] [INFO] [1746051651.587073879] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051651.587602659] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746051651.587715240] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051651.588499956] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051651.589360574] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051651.645244664] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051651.645669021] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051651.646575423] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051651.647582395] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051651.648679680] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051651.744948276] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051651.746365076] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051651.746402401] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051651.748220978] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051651.749357699] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051651.835085198] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051651.837225994] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051651.837784568] [sailbot.teensy]: Wind angle: 340 -[mux-7] [INFO] [1746051651.838053665] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051651.838754962] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051651.839398357] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051651.839759192] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051651.844559623] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051651.844985486] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051651.845743584] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051651.846695812] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051651.847729126] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051651.944884639] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051651.945404230] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051651.946138054] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051651.947208083] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051651.948440002] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051651.957595596] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051651.958671095] [sailbot.main_algo]: Target Bearing: -85.27407837936236 -[main_algo-3] [INFO] [1746051651.959589656] [sailbot.main_algo]: Heading Difference: 116.68107837936236 -[main_algo-3] [INFO] [1746051651.960853819] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051651.961675677] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051651.962454339] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051651.963968670] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051651.964010080] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051652.002446491] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903753 Long: -76.50275873 -[main_algo-3] [INFO] [1746051652.003303356] [sailbot.main_algo]: Distance to destination: 52.1661685982269 -[vectornav-1] [INFO] [1746051652.003447133] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (32.21199999999999, -0.792, 4.678) -[main_algo-3] [INFO] [1746051652.004425745] [sailbot.main_algo]: Target Bearing: -85.29016322746757 -[main_algo-3] [INFO] [1746051652.005442095] [sailbot.main_algo]: Heading Difference: 116.69716322746757 -[main_algo-3] [INFO] [1746051652.006779709] [sailbot.main_algo]: Wind Direction: 340 -[main_algo-3] [INFO] [1746051652.007665977] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051652.008542046] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051652.010216302] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051652.044770221] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051652.045319485] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051652.046030954] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051652.047179151] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051652.048310761] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051652.085215439] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051652.087281811] [sailbot.trim_sail]: Sail Angle: "85" -[teensy-2] [INFO] [1746051652.087415854] [sailbot.teensy]: Wind angle: 340 -[teensy-2] [INFO] [1746051652.088350711] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746051652.089060195] [sailbot.mux]: algo sail angle: 85 -[teensy-2] [INFO] [1746051652.089172597] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051652.090077722] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051652.144849462] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051652.145649322] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051652.146045981] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051652.147428676] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051652.148446234] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051652.245359599] [sailbot.mux]: Published sail angle from algo: 85 -[teensy-2] [INFO] [1746051652.245792983] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051652.246758980] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051652.247628377] [sailbot.teensy]: Rudder callback-sent to Teensy sail:85, rudder: 15 -[teensy-2] [INFO] [1746051652.248714360] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051652.335673091] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051652.338230714] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746051652.338465547] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746051652.338727495] [sailbot.teensy]: Actual sail angle: 85 -[mux-7] [INFO] [1746051652.339056184] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051652.339158799] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051652.339533170] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051652.344486186] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051652.344951542] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051652.345969521] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051652.346720235] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051652.347787646] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051652.445055047] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051652.445875725] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051652.446701980] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051652.447732739] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051652.448782979] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051652.457541983] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051652.458560085] [sailbot.main_algo]: Target Bearing: -85.29016322746757 -[main_algo-3] [INFO] [1746051652.459481207] [sailbot.main_algo]: Heading Difference: 117.50216322746758 -[main_algo-3] [INFO] [1746051652.460868464] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051652.461686335] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051652.462464920] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051652.464190926] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051652.464449529] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051652.502925041] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903793 Long: -76.50275855 -[main_algo-3] [INFO] [1746051652.503960100] [sailbot.main_algo]: Distance to destination: 52.208897835457044 -[vectornav-1] [INFO] [1746051652.504194172] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (31.403999999999996, 0.36, 4.669) -[main_algo-3] [INFO] [1746051652.505269262] [sailbot.main_algo]: Target Bearing: -85.31118707473975 -[main_algo-3] [INFO] [1746051652.506367269] [sailbot.main_algo]: Heading Difference: 117.52318707473972 -[main_algo-3] [INFO] [1746051652.507747365] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051652.508635164] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051652.509473562] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051652.511278448] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051652.545048183] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051652.545624038] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051652.546438568] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051652.547536628] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051652.548621289] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051652.585194614] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051652.587329096] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746051652.588459179] [sailbot.teensy]: Wind angle: 339 -[mux-7] [INFO] [1746051652.588741985] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051652.589433185] [sailbot.teensy]: Actual sail angle: 85 -[teensy-2] [INFO] [1746051652.590385574] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051652.591344428] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051652.645059596] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051652.645787901] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051652.646460449] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051652.647769901] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051652.648828000] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051652.744729886] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051652.745498532] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051652.746035787] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051652.747331165] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051652.748456764] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051652.835373137] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051652.837815222] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746051652.837828364] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746051652.838687320] [sailbot.teensy]: Actual sail angle: 80 -[mux-7] [INFO] [1746051652.838957188] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051652.839076647] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051652.839454103] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051652.844461583] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051652.845021420] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051652.845655087] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051652.846801897] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051652.847842950] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051652.943792827] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051652.944095704] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051652.944386884] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051652.945109296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051652.945655093] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051652.956572559] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051652.957149988] [sailbot.main_algo]: Target Bearing: -85.31118707473975 -[main_algo-3] [INFO] [1746051652.957857475] [sailbot.main_algo]: Heading Difference: 116.71518707473973 -[main_algo-3] [INFO] [1746051652.958913875] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051652.959672795] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051652.960448350] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051652.962031638] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051652.963018318] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051653.002439839] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903779 Long: -76.50275897 -[main_algo-3] [INFO] [1746051653.003356101] [sailbot.main_algo]: Distance to destination: 52.19687091686478 -[vectornav-1] [INFO] [1746051653.003481271] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.564999999999998, -0.595, 5.452) -[main_algo-3] [INFO] [1746051653.004496118] [sailbot.main_algo]: Target Bearing: -85.27177186990266 -[main_algo-3] [INFO] [1746051653.005747147] [sailbot.main_algo]: Heading Difference: 116.67577186990263 -[main_algo-3] [INFO] [1746051653.007057276] [sailbot.main_algo]: Wind Direction: 339 -[main_algo-3] [INFO] [1746051653.007901565] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051653.008746560] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051653.010325540] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051653.045065706] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051653.045702664] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051653.046313699] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051653.048024754] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051653.049303420] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051653.085284580] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051653.086981349] [sailbot.teensy]: Wind angle: 339 -[trim_sail-4] [INFO] [1746051653.087516199] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746051653.087865455] [sailbot.teensy]: Actual sail angle: 80 -[mux-7] [INFO] [1746051653.088648711] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051653.088688917] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051653.089500407] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051653.145083541] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051653.145707787] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051653.146546126] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051653.147829898] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051653.149039144] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051653.244934591] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051653.245562333] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051653.246241035] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051653.247471885] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051653.247992463] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051653.335730487] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051653.338707168] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746051653.338881298] [sailbot.teensy]: Wind angle: 338 -[mux-7] [INFO] [1746051653.339724716] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051653.339806134] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746051653.340739702] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051653.341614812] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051653.344416386] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051653.345011850] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051653.345573936] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051653.346785296] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051653.347983429] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051653.445057641] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051653.445861097] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051653.446584385] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051653.447683761] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051653.448781055] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051653.457439923] [sailbot.main_algo]: Wind Direction: 338 -[main_algo-3] [INFO] [1746051653.458483804] [sailbot.main_algo]: Target Bearing: -85.27177186990266 -[main_algo-3] [INFO] [1746051653.459361943] [sailbot.main_algo]: Heading Difference: 115.83677186990269 -[main_algo-3] [INFO] [1746051653.460606850] [sailbot.main_algo]: Wind Direction: 338 -[main_algo-3] [INFO] [1746051653.461439265] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051653.462260949] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051653.463780473] [sailbot.mux]: algo rudder angle: 15 -[main_algo-3] [INFO] [1746051653.463812408] [sailbot.main_algo]: Sailing -[vectornav-1] [INFO] [1746051653.502689748] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903783 Long: -76.50275925 -[main_algo-3] [INFO] [1746051653.503699401] [sailbot.main_algo]: Distance to destination: 52.203599557834046 -[vectornav-1] [INFO] [1746051653.503749110] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.668000000000006, -0.69, 6.017) -[main_algo-3] [INFO] [1746051653.505069557] [sailbot.main_algo]: Target Bearing: -85.24711870902989 -[main_algo-3] [INFO] [1746051653.505988521] [sailbot.main_algo]: Heading Difference: 115.8121187090299 -[main_algo-3] [INFO] [1746051653.507242981] [sailbot.main_algo]: Wind Direction: 338 -[main_algo-3] [INFO] [1746051653.508076219] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051653.508906096] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051653.510696572] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051653.545035125] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051653.545810040] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051653.546332565] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051653.547718643] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051653.548784478] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051653.585144817] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051653.586869095] [sailbot.teensy]: Wind angle: 336 -[teensy-2] [INFO] [1746051653.587722967] [sailbot.teensy]: Actual sail angle: 80 -[trim_sail-4] [INFO] [1746051653.587108042] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746051653.588251893] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051653.588601051] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051653.589513954] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051653.645026715] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051653.645929129] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051653.646429546] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051653.647925290] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051653.648986794] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051653.745006863] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051653.745898959] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051653.746361337] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051653.747701102] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051653.748162973] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051653.835321558] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051653.837665170] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746051653.837887601] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746051653.838629470] [sailbot.teensy]: Actual sail angle: 80 -[mux-7] [INFO] [1746051653.839366393] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051653.839494364] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051653.840397896] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051653.844395074] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051653.845032245] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051653.845537701] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051653.846788793] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051653.847782756] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051653.945080725] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051653.945714961] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051653.946452419] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051653.947534788] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051653.947977275] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051653.957486359] [sailbot.main_algo]: Wind Direction: 334 -[main_algo-3] [INFO] [1746051653.958513986] [sailbot.main_algo]: Target Bearing: -85.24711870902989 -[main_algo-3] [INFO] [1746051653.959401833] [sailbot.main_algo]: Heading Difference: 115.91511870902991 -[main_algo-3] [INFO] [1746051653.960649734] [sailbot.main_algo]: Wind Direction: 334 -[main_algo-3] [INFO] [1746051653.961495301] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051653.962296400] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051653.963843859] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051653.963848864] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051654.002619441] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903779 Long: -76.50275929 -[vectornav-1] [INFO] [1746051654.003773384] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.500999999999976, -0.421, 6.189) -[main_algo-3] [INFO] [1746051654.004330195] [sailbot.main_algo]: Distance to destination: 52.199510341575376 -[main_algo-3] [INFO] [1746051654.005363374] [sailbot.main_algo]: Target Bearing: -85.24303698555251 -[main_algo-3] [INFO] [1746051654.006292948] [sailbot.main_algo]: Heading Difference: 115.91103698555253 -[main_algo-3] [INFO] [1746051654.007713301] [sailbot.main_algo]: Wind Direction: 334 -[main_algo-3] [INFO] [1746051654.008629291] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051654.009456001] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051654.011102259] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051654.044957911] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051654.045689742] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051654.046245259] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051654.047574606] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051654.048741911] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051654.085415412] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051654.087667462] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746051654.087905043] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746051654.088822953] [sailbot.teensy]: Actual sail angle: 80 -[mux-7] [INFO] [1746051654.088865053] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051654.090038322] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051654.090943876] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051654.145098063] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051654.145839804] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051654.146568850] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051654.147949256] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051654.149046912] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051654.245012668] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051654.245723695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051654.246353127] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051654.247965216] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051654.248592621] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051654.335578904] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051654.338089473] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746051654.338583230] [sailbot.teensy]: Wind angle: 334 -[teensy-2] [INFO] [1746051654.339537853] [sailbot.teensy]: Actual sail angle: 80 -[mux-7] [INFO] [1746051654.339949632] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051654.340472008] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051654.341372170] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051654.344370345] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051654.344798695] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051654.345500208] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051654.346561405] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051654.347611550] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051654.445306846] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051654.445879326] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051654.447651427] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051654.447930123] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051654.449137840] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051654.457645526] [sailbot.main_algo]: Wind Direction: 334 -[main_algo-3] [INFO] [1746051654.458676880] [sailbot.main_algo]: Target Bearing: -85.24303698555251 -[main_algo-3] [INFO] [1746051654.459620929] [sailbot.main_algo]: Heading Difference: 115.7440369855525 -[main_algo-3] [INFO] [1746051654.460967479] [sailbot.main_algo]: Wind Direction: 334 -[main_algo-3] [INFO] [1746051654.461927643] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051654.462729287] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051654.464290278] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051654.464316364] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051654.502872634] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903792 Long: -76.50275953 -[main_algo-3] [INFO] [1746051654.503928444] [sailbot.main_algo]: Distance to destination: 52.21586245359276 -[vectornav-1] [INFO] [1746051654.504056039] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.624000000000024, -0.328, 4.176) -[main_algo-3] [INFO] [1746051654.505105776] [sailbot.main_algo]: Target Bearing: -85.22308684635526 -[main_algo-3] [INFO] [1746051654.506027212] [sailbot.main_algo]: Heading Difference: 115.72408684635525 -[main_algo-3] [INFO] [1746051654.507400352] [sailbot.main_algo]: Wind Direction: 334 -[main_algo-3] [INFO] [1746051654.508351865] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051654.509213605] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051654.511007657] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051654.545126513] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051654.545696337] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051654.546525687] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051654.547570961] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051654.548617422] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051654.585574555] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051654.587505052] [sailbot.teensy]: Wind angle: 334 -[teensy-2] [INFO] [1746051654.588490040] [sailbot.teensy]: Actual sail angle: 80 -[trim_sail-4] [INFO] [1746051654.588357398] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746051654.589319463] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051654.589355593] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051654.590319060] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051654.644831218] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051654.645351731] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051654.646118014] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051654.647087809] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051654.648170457] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051654.745345500] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051654.745835729] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051654.746884451] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051654.747844355] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051654.748948472] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051654.835632693] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051654.838653207] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746051654.839251207] [sailbot.teensy]: Wind angle: 334 -[mux-7] [INFO] [1746051654.839545817] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051654.840266096] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746051654.841152257] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051654.842071962] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051654.844450468] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051654.845061037] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051654.845646917] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051654.846799823] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051654.847940314] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051654.945036521] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051654.945878281] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051654.946340962] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051654.947648665] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051654.948060554] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051654.957605394] [sailbot.main_algo]: Wind Direction: 334 -[main_algo-3] [INFO] [1746051654.958598657] [sailbot.main_algo]: Target Bearing: -85.22308684635526 -[main_algo-3] [INFO] [1746051654.959451289] [sailbot.main_algo]: Heading Difference: 115.8470868463553 -[main_algo-3] [INFO] [1746051654.960681046] [sailbot.main_algo]: Wind Direction: 334 -[main_algo-3] [INFO] [1746051654.961496232] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051654.962307882] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051654.963974104] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051654.964783000] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051655.001511921] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903802 Long: -76.50275977 -[vectornav-1] [INFO] [1746051655.002049307] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.87900000000002, 0.165, 5.504) -[main_algo-3] [INFO] [1746051655.002153515] [sailbot.main_algo]: Distance to destination: 52.22890625153487 -[main_algo-3] [INFO] [1746051655.002762703] [sailbot.main_algo]: Target Bearing: -85.2027791032073 -[main_algo-3] [INFO] [1746051655.003297959] [sailbot.main_algo]: Heading Difference: 115.82677910320734 -[main_algo-3] [INFO] [1746051655.004072818] [sailbot.main_algo]: Wind Direction: 334 -[main_algo-3] [INFO] [1746051655.004589483] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051655.005062833] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051655.006171573] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051655.044546091] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051655.045120598] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051655.045781414] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051655.046962397] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051655.047870486] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051655.085505905] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051655.088249056] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746051655.088260836] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746051655.089224763] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051655.089274323] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746051655.090199312] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051655.091056672] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051655.144788036] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051655.145514907] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051655.146019209] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051655.147295947] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051655.148404703] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051655.245374131] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051655.245921219] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051655.246825293] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051655.247894999] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051655.248979897] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051655.335256190] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051655.337560402] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746051655.338190319] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746051655.338635189] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746051655.339051086] [sailbot.teensy]: Actual tail angle: 40 -[mux-7] [INFO] [1746051655.339299615] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051655.339429150] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051655.344673364] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051655.345841170] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051655.345986737] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051655.347730053] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051655.348776165] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051655.445082223] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051655.445794235] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051655.446934919] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051655.447702483] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051655.448270491] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051655.457935350] [sailbot.main_algo]: Wind Direction: 334 -[main_algo-3] [INFO] [1746051655.459009753] [sailbot.main_algo]: Target Bearing: -85.2027791032073 -[main_algo-3] [INFO] [1746051655.459965847] [sailbot.main_algo]: Heading Difference: 116.08177910320734 -[main_algo-3] [INFO] [1746051655.461300836] [sailbot.main_algo]: Wind Direction: 334 -[main_algo-3] [INFO] [1746051655.462187205] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051655.463026174] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051655.464651803] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051655.464758197] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051655.502480437] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903794 Long: -76.50275975 -[main_algo-3] [INFO] [1746051655.503649288] [sailbot.main_algo]: Distance to destination: 52.219900699691365 -[vectornav-1] [INFO] [1746051655.503979516] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.44799999999998, -1.292, 5.278) -[main_algo-3] [INFO] [1746051655.505123643] [sailbot.main_algo]: Target Bearing: -85.20358695480473 -[main_algo-3] [INFO] [1746051655.506102109] [sailbot.main_algo]: Heading Difference: 116.08258695480475 -[main_algo-3] [INFO] [1746051655.507532176] [sailbot.main_algo]: Wind Direction: 334 -[main_algo-3] [INFO] [1746051655.508412553] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051655.509208717] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051655.510815118] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051655.545499771] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051655.545615216] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051655.547024691] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051655.547484926] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051655.548585762] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051655.585565137] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051655.587822130] [sailbot.teensy]: Wind angle: 334 -[trim_sail-4] [INFO] [1746051655.588419649] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746051655.588910072] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051655.589146491] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746051655.590232235] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051655.591085399] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051655.644955268] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051655.645707094] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051655.646469464] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051655.647707161] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051655.648799417] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051655.744807806] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051655.745443209] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051655.746371461] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051655.747493777] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051655.748082071] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051655.835567854] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051655.838027495] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746051655.838501336] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051655.838579046] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746051655.839629627] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746051655.840663684] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051655.841527119] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051655.844502329] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051655.845096834] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051655.845595594] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051655.846877633] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051655.847961963] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051655.945132621] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051655.945806248] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051655.946598079] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051655.948424580] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051655.949424398] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051655.957587670] [sailbot.main_algo]: Wind Direction: 333 -[main_algo-3] [INFO] [1746051655.958565905] [sailbot.main_algo]: Target Bearing: -85.20358695480473 -[main_algo-3] [INFO] [1746051655.959429696] [sailbot.main_algo]: Heading Difference: 115.65158695480471 -[main_algo-3] [INFO] [1746051655.960662840] [sailbot.main_algo]: Wind Direction: 333 -[main_algo-3] [INFO] [1746051655.961485348] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051655.962274913] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051655.963856019] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051655.964039032] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051656.002525229] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903799 Long: -76.50275964 -[main_algo-3] [INFO] [1746051656.003333798] [sailbot.main_algo]: Distance to destination: 52.224510224341394 -[vectornav-1] [INFO] [1746051656.003583615] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (30.05000000000001, -0.035, 4.846) -[main_algo-3] [INFO] [1746051656.004371094] [sailbot.main_algo]: Target Bearing: -85.21407548799961 -[main_algo-3] [INFO] [1746051656.005260648] [sailbot.main_algo]: Heading Difference: 115.66207548799957 -[main_algo-3] [INFO] [1746051656.006471930] [sailbot.main_algo]: Wind Direction: 333 -[main_algo-3] [INFO] [1746051656.007299770] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051656.008093416] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051656.009994723] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051656.044857326] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051656.045615178] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051656.046187674] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051656.047582002] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051656.048809230] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051656.085599982] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051656.087592274] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746051656.088568106] [sailbot.teensy]: Actual sail angle: 80 -[trim_sail-4] [INFO] [1746051656.088177878] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746051656.088613835] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051656.089485376] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051656.090381084] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051656.145070326] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051656.145767379] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051656.146829935] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051656.147892015] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051656.148502354] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051656.244642799] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051656.245279801] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051656.245761472] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051656.247073465] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051656.248072127] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051656.335270400] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051656.337783292] [sailbot.trim_sail]: Sail Angle: "80" -[teensy-2] [INFO] [1746051656.338067531] [sailbot.teensy]: Wind angle: 333 -[mux-7] [INFO] [1746051656.338467515] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051656.339026964] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746051656.339942045] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051656.340817519] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051656.344631494] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051656.345079119] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051656.345787325] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051656.346809011] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051656.347879048] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051656.445262819] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051656.446184380] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051656.447058628] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051656.448291232] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051656.449440797] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051656.457645460] [sailbot.main_algo]: Wind Direction: 333 -[main_algo-3] [INFO] [1746051656.458669808] [sailbot.main_algo]: Target Bearing: -85.21407548799961 -[main_algo-3] [INFO] [1746051656.459626501] [sailbot.main_algo]: Heading Difference: 115.2640754879996 -[main_algo-3] [INFO] [1746051656.460965086] [sailbot.main_algo]: Wind Direction: 333 -[main_algo-3] [INFO] [1746051656.461847937] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051656.462759561] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051656.464411085] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051656.464639227] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051656.502919713] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903822 Long: -76.50275974 -[main_algo-3] [INFO] [1746051656.503942665] [sailbot.main_algo]: Distance to destination: 52.25075426373654 -[vectornav-1] [INFO] [1746051656.504174836] [sailbot.vectornav]: Publishing IMU Data (Yaw, Pitch, Roll) = (29.745000000000005, -0.019, 6.435) -[main_algo-3] [INFO] [1746051656.505644027] [sailbot.main_algo]: Target Bearing: -85.20793646996744 -[main_algo-3] [INFO] [1746051656.506610422] [sailbot.main_algo]: Heading Difference: 115.25793646996743 -[main_algo-3] [INFO] [1746051656.508276883] [sailbot.main_algo]: Wind Direction: 333 -[main_algo-3] [INFO] [1746051656.509228824] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051656.510090145] [sailbot.main_algo]: Rudder Angle: 15 -[mux-7] [INFO] [1746051656.511826267] [sailbot.mux]: algo rudder angle: 15 -[mux-7] [INFO] [1746051656.545106649] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051656.545700383] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051656.546477304] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051656.547680039] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051656.548825779] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051656.585167786] [sailbot.teensy]: Check telemetry callback entered -[teensy-2] [INFO] [1746051656.586733784] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746051656.587589828] [sailbot.teensy]: Actual sail angle: 80 -[trim_sail-4] [INFO] [1746051656.587352429] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746051656.588147650] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051656.588417346] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051656.589227927] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051656.645110444] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051656.645828455] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051656.646454009] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051656.647875528] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051656.648640911] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051656.744909386] [sailbot.mux]: Published sail angle from algo: 80 -[mux-7] [INFO] [1746051656.746234882] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051656.746281499] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051656.747991797] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051656.749006522] [sailbot.teensy]: Message sent to servo -[teensy-2] [INFO] [1746051656.835470836] [sailbot.teensy]: Check telemetry callback entered -[trim_sail-4] [INFO] [1746051656.838365982] [sailbot.trim_sail]: Sail Angle: "80" -[mux-7] [INFO] [1746051656.838970380] [sailbot.mux]: algo sail angle: 80 -[teensy-2] [INFO] [1746051656.839060602] [sailbot.teensy]: Wind angle: 333 -[teensy-2] [INFO] [1746051656.839496741] [sailbot.teensy]: Actual sail angle: 80 -[teensy-2] [INFO] [1746051656.839881533] [sailbot.teensy]: Actual tail angle: 40 -[teensy-2] [INFO] [1746051656.840266383] [sailbot.teensy]: Dropped packets: 3 -[mux-7] [INFO] [1746051656.844636663] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051656.845199408] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051656.845897010] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051656.846962142] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051656.848118545] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051656.945050247] [sailbot.mux]: Published sail angle from algo: 80 -[teensy-2] [INFO] [1746051656.945782101] [sailbot.teensy]: Message sent to servo -[mux-7] [INFO] [1746051656.946468322] [sailbot.mux]: Published rudder angle from algo: 15 -[teensy-2] [INFO] [1746051656.947848674] [sailbot.teensy]: Rudder callback-sent to Teensy sail:80, rudder: 15 -[teensy-2] [INFO] [1746051656.948508538] [sailbot.teensy]: Message sent to servo -[main_algo-3] [INFO] [1746051656.957479532] [sailbot.main_algo]: Wind Direction: 333 -[main_algo-3] [INFO] [1746051656.958598978] [sailbot.main_algo]: Target Bearing: -85.20793646996744 -[main_algo-3] [INFO] [1746051656.959728142] [sailbot.main_algo]: Heading Difference: 114.95293646996743 -[main_algo-3] [INFO] [1746051656.960986437] [sailbot.main_algo]: Wind Direction: 333 -[main_algo-3] [INFO] [1746051656.961826412] [sailbot.main_algo]: Rudder Angle Raw: 15.0 -[main_algo-3] [INFO] [1746051656.962610847] [sailbot.main_algo]: Rudder Angle: 15 -[main_algo-3] [INFO] [1746051656.964270470] [sailbot.main_algo]: Sailing -[mux-7] [INFO] [1746051656.964295970] [sailbot.mux]: algo rudder angle: 15 -[vectornav-1] [INFO] [1746051657.002735452] [sailbot.vectornav]: Publishing GPS Data: Lat: 42.46903803 Long: -76.50275951 -[main_algo-3] [INFO] [1746051657.003633802] [sailbot.main_algo]: Distance to destination: 52.22785069836483 - \ No newline at end of file